+ python -m lidar_slam --no-model /working/e10599d4-6ad0-43a3-9c30-60b4ca5b8dc4 Lidar SLAM 0.0.12 ===================================================== The recording path: /working/e10599d4-6ad0-43a3-9c30-60b4ca5b8dc4 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 0.006559995 Adjusted end_distance from 9.223372036854776e+18 to 1382.796559995 -=-=-> Lidar cleaning parameters file not found. --> Creating a generic default one. SLAMing on 0.006559995 meters 0.19252018643710428 Centerline is valid? [0, False] SLAMing on 0.036559995 meters 0.19600067855639847 Centerline is valid? [False, False] Translation: X:0.00, Y:0.00, Z:-0.00 [[ 9.99999742e-01 -5.81665109e-04 -4.21235666e-04 1.71045956e-03] [ 5.81449225e-04 9.99999700e-01 -5.12441424e-04 7.12291878e-04] [ 4.21533609e-04 5.12196365e-04 9.99999780e-01 -1.01799967e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.066559995 meters 0.19851966296593695 Centerline is valid? [False, False] Translation: X:0.00, Y:0.00, Z:-0.00 [[ 9.99999335e-01 -9.70211484e-04 -6.22908420e-04 2.60593725e-03] [ 9.69577617e-04 9.99999013e-01 -1.01708978e-03 1.79260688e-03] [ 6.23894597e-04 1.01648514e-03 9.99999289e-01 -1.60134376e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.096559995 meters 0.2028220040080502 Centerline is valid? [False, False] Translation: X:0.00, Y:0.00, Z:-0.00 [[ 9.99998948e-01 -1.13368020e-03 -9.04553836e-04 3.51078271e-03] [ 1.13275779e-03 9.99998839e-01 -1.01960272e-03 1.44273466e-03] [ 9.05708689e-04 1.01857700e-03 9.99999071e-01 -1.96252563e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.126559995 meters 0.2028220040080502 Centerline is valid? [False, False] Translation: X:0.00, Y:0.00, Z:-0.00 [[ 9.99998948e-01 -1.13368020e-03 -9.04553836e-04 3.51078271e-03] [ 1.13275779e-03 9.99998839e-01 -1.01960272e-03 1.44273466e-03] [ 9.05708689e-04 1.01857700e-03 9.99999071e-01 -1.96252563e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.156559995 meters 0.20950792304569854 Centerline is valid? [False, False] Translation: X:0.00, Y:0.00, Z:-0.00 [[ 0.99999598 0.00247792 -0.00138045 0.00474814] [-0.00247459 0.99999404 0.0024087 0.00390663] [ 0.00138641 -0.00240528 0.99999615 -0.00203532] [ 0. 0. 0. 1. ]] SLAMing on 0.186559995 meters 0.2194783858621376 Centerline is valid? [False, False] Translation: X:0.01, Y:0.01, Z:-0.00 [[ 0.9999971 0.0014557 -0.00191657 0.00700564] [-0.00145325 0.99999813 0.00127914 0.00616736] [ 0.00191843 -0.00127635 0.99999735 -0.0033234 ] [ 0. 0. 0. 1. ]] SLAMing on 0.216559995 meters 0.22327914502354204 Centerline is valid? [False, False] Translation: X:0.01, Y:0.01, Z:-0.00 [[ 9.99997412e-01 7.93625722e-04 -2.13216799e-03 8.27197661e-03] [-7.92697280e-04 9.99999591e-01 4.36254578e-04 7.73533695e-03] [ 2.13251334e-03 -4.34563285e-04 9.99997632e-01 -4.31591043e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.246559995 meters 0.22949633037981632 Centerline is valid? [False, False] Translation: X:0.01, Y:0.01, Z:-0.00 [[ 9.99995664e-01 -3.36938933e-04 -2.92559264e-03 1.08406011e-02] [ 3.38231494e-04 9.99999845e-01 4.41328146e-04 6.16011546e-03] [ 2.92544349e-03 -4.42315760e-04 9.99995623e-01 -4.74329710e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.276559995 meters 0.23382347456223077 Centerline is valid? [False, False] Translation: X:0.01, Y:0.00, Z:-0.00 [[ 9.99994205e-01 -3.90109341e-04 -3.38210296e-03 1.18295095e-02] [ 3.93752686e-04 9.99999343e-01 1.07664351e-03 4.19956320e-03] [ 3.38168073e-03 -1.07796898e-03 9.99993701e-01 -4.46140349e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.306559995 meters 0.23382347456223077 Centerline is valid? [False, False] Translation: X:0.01, Y:0.00, Z:-0.00 [[ 9.99994205e-01 -3.90109341e-04 -3.38210296e-03 1.18295095e-02] [ 3.93752686e-04 9.99999343e-01 1.07664351e-03 4.19956320e-03] [ 3.38168073e-03 -1.07796898e-03 9.99993701e-01 -4.46140349e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.33655999499999995 meters 0.23059700872009598 Centerline is valid? [False, False] Translation: X:0.01, Y:0.00, Z:-0.00 [[ 9.99992621e-01 -4.31341719e-04 -3.81725854e-03 1.24826623e-02] [ 4.37311298e-04 9.99998683e-01 1.56314290e-03 3.21968318e-03] [ 3.81657926e-03 -1.56480069e-03 9.99991493e-01 -3.73706417e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.36655999499999997 meters 0.23059700872009598 Centerline is valid? [False, False] Translation: X:0.01, Y:0.00, Z:-0.00 [[ 9.99992621e-01 -4.31341719e-04 -3.81725854e-03 1.24826623e-02] [ 4.37311298e-04 9.99998683e-01 1.56314290e-03 3.21968318e-03] [ 3.81657926e-03 -1.56480069e-03 9.99991493e-01 -3.73706417e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.396559995 meters 0.2253597795741936 Centerline is valid? [False, False] Translation: X:0.01, Y:0.00, Z:-0.00 [[ 9.99991451e-01 -6.61091108e-04 -4.08183365e-03 1.31735014e-02] [ 6.66545910e-04 9.99998887e-01 1.33514482e-03 4.15065691e-03] [ 4.08094645e-03 -1.33785413e-03 9.99990778e-01 -3.78475245e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.42655999499999997 meters 0.16814886321244213 Centerline is valid? [False, False] Translation: X:0.01, Y:0.01, Z:-0.00 [[ 9.99943985e-01 9.38827607e-03 -4.88739399e-03 1.18325225e-02] [-9.33772140e-03 9.99903704e-01 1.02659359e-02 8.32787638e-03] [ 4.98330279e-03 -1.02197237e-02 9.99935360e-01 -3.83723041e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.45655999499999994 meters 0.16814886321244213 Centerline is valid? [False, False] Translation: X:0.01, Y:0.01, Z:0.00 [[ 0.99997155 0.00611083 -0.00442134 0.00955352] [-0.00608252 0.99996109 0.00638995 0.01010508] [ 0.00446022 -0.00636287 0.99996981 0.00130814] [ 0. 0. 0. 1. ]] SLAMing on 0.48655999499999997 meters 0.16814886321244213 Centerline is valid? [False, False] Translation: X:0.01, Y:0.01, Z:0.00 [[ 0.99998835 0.00278797 -0.00394037 0.0072975 ] [-0.00277822 0.99999307 0.0024782 0.01181917] [ 0.00394725 -0.00246722 0.99998917 0.00296697] [ 0. 0. 0. 1. ]] SLAMing on 0.516559995 meters 0.16814886321244213 Centerline is valid? [False, False] Translation: X:0.01, Y:0.01, Z:0.00 [[ 0.99998835 0.00278797 -0.00394037 0.0072975 ] [-0.00277822 0.99999307 0.0024782 0.01181917] [ 0.00394725 -0.00246722 0.99998917 0.00296697] [ 0. 0. 0. 1. ]] SLAMing on 0.5465599950000001 meters 0.16814886321244213 Centerline is valid? [False, False] Translation: X:0.01, Y:0.01, Z:0.00 [[ 0.99998835 0.00278797 -0.00394037 0.0072975 ] [-0.00277822 0.99999307 0.0024782 0.01181917] [ 0.00394725 -0.00246722 0.99998917 0.00296697] [ 0. 0. 0. 1. ]] SLAMing on 0.576559995 meters 0.16814886321244213 Centerline is valid? [False, False] Translation: X:0.01, Y:0.01, Z:0.00 [[ 0.99998835 0.00278797 -0.00394037 0.0072975 ] [-0.00277822 0.99999307 0.0024782 0.01181917] [ 0.00394725 -0.00246722 0.99998917 0.00296697] [ 0. 0. 0. 1. ]] SLAMing on 0.606559995 meters 0.16814886321244213 Centerline is valid? [False, False] Translation: X:0.01, Y:0.01, Z:0.00 [[ 0.99998835 0.00278797 -0.00394037 0.0072975 ] [-0.00277822 0.99999307 0.0024782 0.01181917] [ 0.00394725 -0.00246722 0.99998917 0.00296697] [ 0. 0. 0. 1. ]] SLAMing on 0.636559995 meters 0.16814886321244213 Centerline is valid? [False, False] Translation: X:0.01, Y:0.01, Z:0.00 [[ 0.99998835 0.00278797 -0.00394037 0.0072975 ] [-0.00277822 0.99999307 0.0024782 0.01181917] [ 0.00394725 -0.00246722 0.99998917 0.00296697] [ 0. 0. 0. 1. ]] SLAMing on 0.666559995 meters 0.16814886321244213 Centerline is valid? [False, False] Translation: X:0.01, Y:0.01, Z:0.00 [[ 0.99998835 0.00278797 -0.00394037 0.0072975 ] [-0.00277822 0.99999307 0.0024782 0.01181917] [ 0.00394725 -0.00246722 0.99998917 0.00296697] [ 0. 0. 0. 1. ]] SLAMing on 0.696559995 meters 0.16814886321244213 Centerline is valid? [False, False] Translation: X:0.01, Y:0.01, Z:0.00 [[ 0.99998835 0.00278797 -0.00394037 0.0072975 ] [-0.00277822 0.99999307 0.0024782 0.01181917] [ 0.00394725 -0.00246722 0.99998917 0.00296697] [ 0. 0. 0. 1. ]] SLAMing on 0.726559995 meters 0.1628805108305595 Centerline is valid? [False, False] Translation: X:0.01, Y:0.01, Z:0.00 [[ 0.9999883 0.00271799 -0.00400067 0.00749071] [-0.00270864 0.99999359 0.00234056 0.01196989] [ 0.00400701 -0.0023297 0.99998926 0.00284958] [ 0. 0. 0. 1. ]] SLAMing on 0.756559995 meters 0.15758549568991348 Centerline is valid? [False, False] Translation: X:0.01, Y:0.01, Z:0.00 [[ 0.99998803 0.00265375 -0.00411075 0.00780117] [-0.00264453 0.99999398 0.00224854 0.01196655] [ 0.0041167 -0.00223764 0.99998902 0.00270559] [ 0. 0. 0. 1. ]] SLAMing on 0.7865599950000001 meters 0.15454283706184507 Centerline is valid? [False, False] Translation: X:0.01, Y:0.01, Z:0.00 [[ 0.9999881 0.00240634 -0.00424304 0.00850081] [-0.00239836 0.99999535 0.00188423 0.01214242] [ 0.00424755 -0.00187403 0.99998922 0.00200083] [ 0. 0. 0. 1. ]] SLAMing on 0.816559995 meters 0.14706342901919597 Centerline is valid? [False, False] Translation: X:0.01, Y:0.01, Z:0.00 [[ 0.99998958 0.00287762 -0.00354372 0.00657813] [-0.00287249 0.99999482 0.00145195 0.01489422] [ 0.00354788 -0.00144175 0.99999267 0.00250393] [ 0. 0. 0. 1. ]] SLAMing on 0.846559995 meters 0.14431804289677402 Centerline is valid? [False, False] Translation: X:0.01, Y:0.02, Z:0.00 [[ 9.99990519e-01 2.50992111e-03 -3.55845690e-03 6.94184246e-03] [-2.50785006e-03 9.99996683e-01 5.86351103e-04 1.65080507e-02] [ 3.55991679e-03 -5.77421468e-04 9.99993497e-01 1.82824233e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.876559995 meters 0.13672022103342504 Centerline is valid? [False, False] Translation: X:0.01, Y:0.02, Z:0.00 [[ 9.99991290e-01 2.88392340e-03 -3.01703940e-03 5.50314167e-03] [-2.88307180e-03 9.99995803e-01 2.86576073e-04 1.83658024e-02] [ 3.01785320e-03 -2.77875236e-04 9.99995408e-01 2.30764793e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.906559995 meters 0.1360440272813537 Centerline is valid? [False, False] Translation: X:0.01, Y:0.02, Z:0.00 [[ 9.99992153e-01 2.53465381e-03 -3.04469254e-03 5.90888184e-03] [-2.53618781e-03 9.99996659e-01 -5.00073097e-04 1.98240170e-02] [ 3.04341486e-03 5.07791085e-04 9.99995240e-01 1.59573382e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.936559995 meters 0.1322553561001045 Centerline is valid? [False, False] Translation: X:0.01, Y:0.02, Z:0.00 [[ 9.99992657e-01 2.44637237e-03 -2.94977772e-03 5.72922345e-03] [-2.44887292e-03 9.99996645e-01 -8.44394559e-04 2.07287208e-02] [ 2.94770212e-03 8.51611989e-04 9.99995293e-01 1.50727628e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.966559995 meters 0.13226535107897955 Centerline is valid? [False, False] Translation: X:0.01, Y:0.02, Z:0.00 [[ 9.99993696e-01 2.03993591e-03 -2.90644477e-03 6.06187838e-03] [-2.04518447e-03 9.99996281e-01 -1.80400876e-03 2.25768858e-02] [ 2.90275390e-03 1.80994160e-03 9.99994149e-01 6.91646355e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.996559995 meters 0.12838823620259598 Centerline is valid? [False, False] Translation: X:0.01, Y:0.02, Z:0.00 [[ 9.99994229e-01 1.73534627e-03 -2.92063740e-03 6.29729715e-03] [-1.74277827e-03 9.99995245e-01 -2.54403377e-03 2.41359453e-02] [ 2.91620873e-03 2.54910911e-03 9.99992499e-01 2.21562292e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.026559995 meters 0.12838823620259598 Centerline is valid? [False, False] Translation: X:0.01, Y:0.02, Z:0.00 [[ 9.99994229e-01 1.73534627e-03 -2.92063740e-03 6.29729715e-03] [-1.74277827e-03 9.99995245e-01 -2.54403377e-03 2.41359453e-02] [ 2.91620873e-03 2.54910911e-03 9.99992499e-01 2.21562292e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.056559995 meters 0.11512743081468535 Centerline is valid? [False, False] Translation: X:0.01, Y:0.03, Z:0.00 [[ 9.99995068e-01 1.62322390e-03 -2.68865396e-03 5.81318639e-03] [-1.63155180e-03 9.99993870e-01 -3.09813227e-03 2.58761663e-02] [ 2.68360851e-03 3.10250367e-03 9.99991586e-01 1.36024155e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.086559995 meters 0.11253917645923885 Centerline is valid? [False, False] Translation: X:0.01, Y:0.03, Z:0.00 [[ 9.99995286e-01 1.64350989e-03 -2.59366374e-03 5.43985136e-03] [-1.65183134e-03 9.99993485e-01 -3.20950287e-03 2.65003435e-02] [ 2.58837199e-03 3.21377204e-03 9.99991486e-01 4.06683122e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.1165599949999998 meters 0.10828976552511568 Centerline is valid? [False, False] Translation: X:0.01, Y:0.03, Z:0.00 [[ 9.99994997e-01 1.81501414e-03 -2.59058437e-03 5.31145180e-03] [-1.82229119e-03 9.99994393e-01 -2.80944636e-03 2.56844527e-02] [ 2.58547066e-03 2.81415310e-03 9.99992698e-01 6.55674973e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.1465599949999998 meters 0.10471907961180642 Centerline is valid? [False, False] Translation: X:0.01, Y:0.03, Z:0.00 [[ 9.99994912e-01 1.76336573e-03 -2.65833011e-03 5.55076543e-03] [-1.77096235e-03 9.99994348e-01 -2.85802569e-03 2.56221182e-02] [ 2.65327534e-03 2.86271895e-03 9.99992382e-01 4.74374754e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.1765599949999999 meters 0.09365257643970326 Centerline is valid? [False, True] Translation: X:0.01, Y:0.02, Z:0.00 [[ 9.99994108e-01 1.96498522e-03 -2.81489115e-03 5.74760598e-03] [-1.97093327e-03 9.99995828e-01 -2.11185145e-03 2.37585540e-02] [ 2.81072965e-03 2.11738697e-03 9.99993808e-01 7.69664210e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.2065599949999999 meters 0.08954213643565967 Centerline is valid? [True, True] Translation: X:0.03, Y:0.02, Z:-0.00 [[ 9.99994142e-01 -4.22890695e-04 -3.39666296e-03 3.49862937e-02] [ 4.22912658e-04 9.99999911e-01 5.74774779e-06 1.95837793e-02] [ 3.39666023e-03 -7.18420588e-06 9.99994231e-01 -8.38103177e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.236559995 meters 0.08644850397316595 Centerline is valid? [True, True] Translation: X:0.06, Y:0.02, Z:-0.00 [[ 9.99987056e-01 -2.60223364e-03 -4.37232131e-03 6.37335916e-02] [ 2.60228563e-03 9.99996614e-01 6.20099494e-06 1.68508828e-02] [ 4.37229037e-03 -1.75789436e-05 9.99990441e-01 -1.57384782e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.266559995 meters 0.08447684057728969 Centerline is valid? [True, True] Translation: X:0.09, Y:0.02, Z:-0.00 [[ 9.99985898e-01 -2.90614150e-03 -4.44501811e-03 9.05571243e-02] [ 2.90619164e-03 9.99995777e-01 4.82006167e-06 1.63574688e-02] [ 4.44498533e-03 -1.77380682e-05 9.99990121e-01 -2.77747543e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.296559995 meters 0.07228756507829052 Centerline is valid? [True, True] Translation: X:0.12, Y:0.02, Z:-0.00 [[ 9.99984900e-01 -1.98642748e-03 -5.12381156e-03 1.19608795e-01] [ 1.98646564e-03 9.99998027e-01 2.35904037e-06 1.82830685e-02] [ 5.12379676e-03 -1.25372804e-05 9.99986873e-01 -1.88510883e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.3265599949999998 meters 0.06520409908068116 Centerline is valid? [True, True] Translation: X:0.15, Y:0.01, Z:-0.00 [[ 9.99973355e-01 -4.80452818e-03 -5.49596193e-03 1.48209363e-01] [ 4.80463251e-03 9.99988458e-01 5.78092420e-06 1.45203464e-02] [ 5.49587072e-03 -3.21868475e-05 9.99984897e-01 -1.67958477e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.3565599949999998 meters 0.05621595871928179 Centerline is valid? [True, True] Translation: X:0.18, Y:0.02, Z:-0.00 [[ 9.99976202e-01 -1.71015931e-03 -6.68363400e-03 1.76296792e-01] [ 1.71024045e-03 9.99998538e-01 6.42583889e-06 1.87681244e-02] [ 6.68361324e-03 -1.78563072e-05 9.99977664e-01 -3.34162153e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.3865599949999998 meters 0.057970008203198906 Centerline is valid? [True, True] Translation: X:0.21, Y:0.02, Z:-0.00 [[ 9.99965580e-01 -1.56283647e-03 -8.14839494e-03 2.05448958e-01] [ 1.56291447e-03 9.99998779e-01 3.20447107e-06 1.84206784e-02] [ 8.14837998e-03 -1.59396051e-05 9.99966801e-01 -3.86504528e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.4165599949999998 meters 0.057970008203198906 Centerline is valid? [True, True] Translation: X:0.23, Y:0.02, Z:-0.00 [[ 9.99965112e-01 -1.83796174e-03 -8.14839672e-03 2.33036191e-01] [ 1.83802507e-03 9.99998311e-01 2.84110884e-07 1.84682763e-02] [ 8.14838244e-03 -1.52610585e-05 9.99966801e-01 -4.40504648e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.4465599949999999 meters 0.056374186277972936 Centerline is valid? [True, True] Translation: X:0.26, Y:0.02, Z:-0.00 [[ 9.99970822e-01 -1.41581327e-03 -7.50676991e-03 2.61892056e-01] [ 1.41584290e-03 9.99998998e-01 -1.36754923e-06 1.93525925e-02] [ 7.50676432e-03 -9.26089757e-06 9.99971824e-01 -4.17089159e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.476559995 meters 0.05541840784064576 Centerline is valid? [True, True] Translation: X:0.29, Y:0.02, Z:-0.01 [[ 9.99967947e-01 -1.62412370e-03 -7.84009513e-03 2.89548157e-01] [ 1.62418298e-03 9.99998681e-01 1.19380348e-06 1.93669581e-02] [ 7.84008285e-03 -1.39275143e-05 9.99969266e-01 -7.50058184e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.506559995 meters 0.055515979482195756 Centerline is valid? [True, True] Translation: X:0.32, Y:0.02, Z:-0.01 [[ 9.99955761e-01 -2.87557467e-03 -8.95580678e-03 3.17970531e-01] [ 2.87570230e-03 9.99995865e-01 1.37342118e-06 1.78588778e-02] [ 8.95576580e-03 -2.71275946e-05 9.99959896e-01 -8.84611452e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.536559995 meters 0.051656833808568205 Centerline is valid? [True, True] Translation: X:0.35, Y:0.02, Z:-0.01 [[ 9.99950526e-01 -4.20750256e-03 -9.01342892e-03 3.46741648e-01] [ 4.20768044e-03 9.99991148e-01 7.71245922e-07 1.64757774e-02] [ 9.01334589e-03 -3.86968363e-05 9.99959378e-01 -9.18839681e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.566559995 meters 0.0500485767244906 Centerline is valid? [True, True] Translation: X:0.38, Y:0.02, Z:-0.01 [[ 9.99944001e-01 -4.72894717e-03 -9.46745004e-03 3.75274779e-01] [ 4.72911384e-03 9.99988818e-01 -4.78186868e-06 1.61729938e-02] [ 9.46736679e-03 -3.99910481e-05 9.99955183e-01 -9.61918388e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.5965599949999998 meters 0.04868649705273742 Centerline is valid? [True, True] Translation: X:0.40, Y:0.02, Z:-0.01 [[ 9.99940630e-01 -6.36159884e-03 -8.84679348e-03 4.03907247e-01] [ 6.36182987e-03 9.99979763e-01 -2.02717126e-06 1.54674164e-02] [ 8.84662734e-03 -5.42547441e-05 9.99960866e-01 -1.02410325e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.6265599949999998 meters 0.04636625480640335 Centerline is valid? [True, True] Translation: X:0.43, Y:0.01, Z:-0.01 [[ 9.99928049e-01 -7.78997952e-03 -9.12214110e-03 4.33074281e-01] [ 7.79023362e-03 9.99969656e-01 -7.67739638e-06 1.45435263e-02] [ 9.12192411e-03 -6.33867664e-05 9.99958392e-01 -1.03914243e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.6565599949999998 meters 0.04468005106454304 Centerline is valid? [True, True] Translation: X:0.46, Y:0.02, Z:-0.01 [[ 9.99938884e-01 -8.61580420e-03 -6.92799313e-03 4.61625605e-01] [ 8.61595099e-03 9.99962882e-01 -8.65759625e-06 1.56005465e-02] [ 6.92781057e-03 -5.10341822e-05 9.99976001e-01 -9.60881559e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.6865599949999999 meters 0.042437146062151924 Centerline is valid? [True, True] Translation: X:0.49, Y:0.02, Z:-0.01 [[ 9.99942973e-01 -9.27588296e-03 -5.29240638e-03 4.90327412e-01] [ 9.27596475e-03 9.99956977e-01 -9.09266389e-06 1.64264680e-02] [ 5.29226303e-03 -4.00000297e-05 9.99985995e-01 -9.24005877e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.716559995 meters 0.043643236297878904 Centerline is valid? [True, True] Translation: X:0.52, Y:0.02, Z:-0.01 [[ 9.99937248e-01 -9.70649789e-03 -5.59312533e-03 5.17767471e-01] [ 9.70661219e-03 9.99952890e-01 -6.70837660e-06 1.63404192e-02] [ 5.59292695e-03 -4.75823429e-05 9.99984358e-01 -1.03673785e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.746559995 meters 0.04165949485865668 Centerline is valid? [True, True] Translation: X:0.55, Y:0.02, Z:-0.01 [[ 9.99943783e-01 -9.29351671e-03 -5.10503878e-03 5.46250501e-01] [ 9.29358409e-03 9.99956814e-01 -1.05230804e-05 1.75686766e-02] [ 5.10491611e-03 -3.69216183e-05 9.99986969e-01 -1.04499710e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.776559995 meters 0.04175255417977793 Centerline is valid? [True, True] Translation: X:0.57, Y:0.02, Z:-0.01 [[ 9.99942139e-01 -9.57204328e-03 -4.90869381e-03 5.74814086e-01] [ 9.57209792e-03 9.99954186e-01 -1.23619919e-05 1.80399178e-02] [ 4.90858725e-03 -3.46252212e-05 9.99987952e-01 -1.09554797e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.8065599949999998 meters 0.0420777128483784 Centerline is valid? [True, True] Translation: X:0.60, Y:0.02, Z:-0.01 [[ 9.99939195e-01 -1.02665985e-02 -4.02523779e-03 6.03784352e-01] [ 1.02666357e-02 9.99947297e-01 -1.14172959e-05 1.76205764e-02] [ 4.02514287e-03 -2.99090484e-05 9.99991899e-01 -1.17972332e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.8365599949999998 meters 0.04008517650690665 Centerline is valid? [True, True] Translation: X:0.63, Y:0.02, Z:-0.01 [[ 9.99923836e-01 -1.17603384e-02 -3.74389854e-03 6.31853442e-01] [ 1.17603862e-02 9.99930844e-01 -9.25263588e-06 1.53098593e-02] [ 3.74374844e-03 -3.47777614e-05 9.99992992e-01 -1.37357646e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.8665599949999998 meters 0.03843215172173077 Centerline is valid? [True, True] Translation: X:0.66, Y:0.01, Z:-0.01 [[ 9.99906313e-01 -1.33687517e-02 -2.93976547e-03 6.59567120e-01] [ 1.33687760e-02 9.99910634e-01 -1.13941770e-05 1.37413637e-02] [ 2.93965508e-03 -2.79079566e-05 9.99995679e-01 -1.41791681e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.8965599949999998 meters 0.03869635320421561 Centerline is valid? [True, True] Translation: X:0.69, Y:0.01, Z:-0.01 [[ 9.99902987e-01 -1.36861921e-02 -2.58936903e-03 6.88127885e-01] [ 1.36862085e-02 9.99906339e-01 -1.13720161e-05 1.31439291e-02] [ 2.58928215e-03 -2.40677317e-05 9.99996648e-01 -1.45549055e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.9265599949999999 meters 0.0374188761449802 Centerline is valid? [True, True] Translation: X:0.72, Y:0.01, Z:-0.01 [[ 9.99923490e-01 -1.22925864e-02 -1.38105245e-03 7.16549949e-01] [ 1.22925869e-02 9.99924443e-01 -8.17383331e-06 1.46105440e-02] [ 1.38104858e-03 -8.80349924e-06 9.99999046e-01 -1.49129822e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.9565599949999999 meters 0.03110508733511406 Centerline is valid? [True, True] Translation: X:0.75, Y:0.02, Z:-0.01 [[ 9.99938906e-01 -1.09841753e-02 1.23761197e-03 7.45824633e-01] [ 1.09841848e-02 9.99939672e-01 -9.12785008e-07 1.50813677e-02] [-1.23752728e-03 1.45068879e-05 9.99999234e-01 -1.41177673e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.986559995 meters 0.030222835780304505 Centerline is valid? [True, True] Translation: X:0.77, Y:0.01, Z:-0.01 [[ 9.99934145e-01 -1.12205166e-02 2.40951879e-03 7.74534535e-01] [ 1.12205429e-02 9.99937048e-01 2.62165421e-06 1.39859726e-02] [-2.40939653e-03 2.44146273e-05 9.99997097e-01 -1.48756022e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.0165599949999997 meters 0.030981813393465292 Centerline is valid? [True, True] Translation: X:0.80, Y:0.01, Z:-0.02 [[ 9.99945016e-01 -1.03901841e-02 1.41746214e-03 8.03026083e-01] [ 1.03901945e-02 9.99946020e-01 -2.13834941e-08 1.30928329e-02] [-1.41738541e-03 1.47490897e-05 9.99998995e-01 -1.58041508e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.046559995 meters 0.029468189464234334 Centerline is valid? [True, True] Translation: X:0.83, Y:0.01, Z:-0.02 [[ 9.99940301e-01 -1.06171094e-02 2.58279707e-03 8.30899439e-01] [ 1.06171285e-02 9.99943637e-01 6.31873742e-06 1.18676851e-02] [-2.58271858e-03 2.11035282e-05 9.99996665e-01 -1.70626042e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.0765599949999998 meters 0.02837000859755739 Centerline is valid? [True, True] Translation: X:0.86, Y:0.01, Z:-0.02 [[ 9.99964250e-01 -8.01592642e-03 2.69146979e-03 8.60106877e-01] [ 8.01594155e-03 9.99967872e-01 5.16836159e-06 1.20287515e-02] [-2.69142474e-03 1.64064877e-05 9.99996378e-01 -1.66534682e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.106559995 meters 0.02481323518116729 Centerline is valid? [True, True] Translation: X:0.89, Y:0.01, Z:-0.02 [[ 9.99947850e-01 -7.68464127e-03 6.72630332e-03 8.88791941e-01] [ 7.68465567e-03 9.99970472e-01 2.37040788e-05 1.34392795e-02] [-6.72628686e-03 2.79864823e-05 9.99977378e-01 -1.60575284e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.136559995 meters 0.02453579740788147 Centerline is valid? [True, True] Translation: X:0.92, Y:0.01, Z:-0.02 [[ 9.99946974e-01 -6.40737776e-03 8.06190269e-03 9.19734775e-01] [ 6.40734756e-03 9.99979472e-01 2.95750690e-05 1.45237083e-02] [-8.06192670e-03 2.20819118e-05 9.99967502e-01 -1.60956822e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.166559995 meters 0.0246283580973202 Centerline is valid? [True, True] Translation: X:0.95, Y:0.01, Z:-0.02 [[ 9.99929547e-01 -6.27559631e-03 1.00755951e-02 9.50742570e-01] [ 6.27553769e-03 9.99980308e-01 3.74332104e-05 1.43859929e-02] [-1.00756316e-02 2.57992035e-05 9.99949239e-01 -1.64774646e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.196559995 meters 0.02199469481113955 Centerline is valid? [True, True] Translation: X:0.98, Y:0.01, Z:-0.02 [[ 9.99919824e-01 -6.38721997e-03 1.09338374e-02 9.82360846e-01] [ 6.38716446e-03 9.99979601e-01 3.99959333e-05 1.39407748e-02] [-1.09338699e-02 2.98434913e-05 9.99940223e-01 -1.69609385e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.2265599949999997 meters 0.021886467745783362 Centerline is valid? [True, True] Translation: X:1.01, Y:0.01, Z:-0.02 [[ 9.99903863e-01 -4.93010042e-03 1.29598858e-02 1.01363324e+00] [ 4.92991058e-03 9.99987847e-01 4.65956959e-05 1.42765995e-02] [-1.29599580e-02 1.72998617e-05 9.99916016e-01 -1.68494037e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.256559995 meters 0.020362041416835095 Centerline is valid? [True, True] Translation: X:1.05, Y:0.02, Z:-0.02 [[ 9.99901651e-01 -3.12560987e-03 1.36718240e-02 1.04621876e+00] [ 3.12523842e-03 9.99995115e-01 4.85337931e-05 1.58914872e-02] [-1.36719089e-02 -5.80131017e-06 9.99906535e-01 -1.71436975e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.2865599949999997 meters 0.019810635740425103 Centerline is valid? [True, True] Translation: X:1.08, Y:0.01, Z:-0.02 [[ 9.99885826e-01 -3.24729813e-03 1.47577256e-02 1.07807060e+00] [ 3.24689401e-03 9.99994728e-01 5.13434169e-05 1.46289212e-02] [-1.47578145e-02 -3.42078416e-06 9.99891098e-01 -1.77063976e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.316559995 meters 0.020481276237275445 Centerline is valid? [True, True] Translation: X:1.11, Y:0.01, Z:-0.02 [[ 9.99891626e-01 -2.48994509e-03 1.45098777e-02 1.11067955e+00] [ 2.48948542e-03 9.99996900e-01 4.97417885e-05 1.36433292e-02] [-1.45099566e-02 -1.36142689e-05 9.99894725e-01 -1.84520956e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.346559995 meters 0.018958299874040203 Centerline is valid? [True, True] Translation: X:1.14, Y:0.02, Z:-0.02 [[ 9.99893553e-01 1.49904565e-03 1.45132911e-02 1.14132197e+00] [-1.49990725e-03 9.99998874e-01 4.84815962e-05 1.75180459e-02] [-1.45132021e-02 -7.02450260e-05 9.99894675e-01 -1.91344807e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.376559995 meters 0.018708726596223732 Centerline is valid? [True, True] Translation: X:1.17, Y:0.02, Z:-0.02 [[ 9.99891372e-01 3.13269919e-03 1.44024707e-02 1.17296755e+00] [-3.13368796e-03 9.99995089e-01 4.60852743e-05 1.87906129e-02] [-1.44022556e-02 -9.12131171e-05 9.99896278e-01 -2.00066718e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.406559995 meters 0.018772110838128055 Centerline is valid? [True, True] Translation: X:1.21, Y:0.02, Z:-0.02 [[ 9.99890806e-01 4.53289276e-03 1.40651702e-02 1.20507987e+00] [-4.53396647e-03 9.99989721e-01 4.44524743e-05 1.91197541e-02] [-1.40648241e-02 -1.08218630e-04 9.99901080e-01 -2.08247810e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.4365599949999996 meters 0.019104150420773482 Centerline is valid? [True, True] Translation: X:1.24, Y:0.02, Z:-0.02 [[ 9.99918203e-01 5.69730593e-03 1.14511434e-02 1.23659066e+00] [-5.69810131e-03 9.99983765e-01 3.68331652e-05 1.89227988e-02] [-1.14507476e-02 -1.02079927e-04 9.99934433e-01 -2.33520618e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.466559995 meters 0.020000216197440003 Centerline is valid? [True, True] Translation: X:1.27, Y:0.02, Z:-0.03 [[ 9.99924518e-01 5.32341995e-03 1.10733858e-02 1.26859876e+00] [-5.32412050e-03 9.99985826e-01 3.37864697e-05 1.76822960e-02] [-1.10730490e-02 -9.27399598e-05 9.99938688e-01 -2.64895644e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.4965599949999997 meters 0.020100328287605097 Centerline is valid? [True, True] Translation: X:1.30, Y:0.02, Z:-0.03 [[ 9.99932922e-01 4.51837307e-03 1.06647357e-02 1.30142329e+00] [-4.51895406e-03 9.99989789e-01 3.03809989e-05 1.58308849e-02] [-1.06644895e-02 -7.85724116e-05 9.99943130e-01 -2.78930779e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.526559995 meters 0.01777343494216827 Centerline is valid? [True, True] Translation: X:1.33, Y:0.01, Z:-0.03 [[ 9.99938176e-01 3.18105544e-03 1.06547769e-02 1.33356590e+00] [-3.18152899e-03 9.99994939e-01 2.74955658e-05 1.39088531e-02] [-1.06546355e-02 -6.13923474e-05 9.99943236e-01 -2.74434280e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.5565599949999998 meters 0.019923911411800957 Centerline is valid? [True, True] Translation: X:1.37, Y:0.01, Z:-0.03 [[ 9.99918305e-01 3.81285900e-03 1.22002510e-02 1.36599709e+00] [-3.81348823e-03 9.99992728e-01 2.83115981e-05 1.36913506e-02] [-1.22000543e-02 -7.48347986e-05 9.99925574e-01 -2.76692933e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.586559995 meters 0.019458612157489133 Centerline is valid? [True, True] Translation: X:1.40, Y:0.01, Z:-0.03 [[ 9.99910138e-01 4.12599658e-03 1.27550674e-02 1.39848848e+00] [-4.12667602e-03 9.99991485e-01 2.69496329e-05 1.38829571e-02] [-1.27548476e-02 -7.95832420e-05 9.99918650e-01 -2.73101698e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.616559995 meters 0.019071081607477634 Centerline is valid? [True, True] Translation: X:1.43, Y:0.01, Z:-0.03 [[ 9.99888730e-01 3.53552870e-03 1.44923612e-02 1.43028061e+00] [-3.53628223e-03 9.99993747e-01 2.63693336e-05 1.27725318e-02] [-1.44921773e-02 -7.76154787e-05 9.99894980e-01 -2.57799475e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.6465599949999996 meters 0.01700859178928391 Centerline is valid? [True, True] Translation: X:1.46, Y:0.01, Z:-0.02 [[ 9.99898060e-01 3.71405740e-03 1.37867518e-02 1.46330106e+00] [-3.71472191e-03 9.99993100e-01 2.25915160e-05 1.34270297e-02] [-1.37865727e-02 -7.38031619e-05 9.99904958e-01 -2.45308936e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.676559995 meters 0.018758208580182623 Centerline is valid? [True, True] Translation: X:1.50, Y:0.01, Z:-0.03 [[ 9.99861866e-01 3.47707919e-03 1.62529428e-02 1.49532743e+00] [-3.47789378e-03 9.99993952e-01 2.18548159e-05 1.29339455e-02] [-1.62527685e-02 -7.83778056e-05 9.99867912e-01 -2.52358879e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.7065599949999997 meters 0.01783637542501574 Centerline is valid? [True, True] Translation: X:1.53, Y:0.01, Z:-0.03 [[ 9.99858904e-01 3.39313782e-03 1.64517181e-02 1.52833205e+00] [-3.39390613e-03 9.99994241e-01 1.87815010e-05 1.24568901e-02] [-1.64515596e-02 -7.46144378e-05 9.99864661e-01 -2.54151353e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.736559995 meters 0.017987753328146977 Centerline is valid? [True, True] Translation: X:1.56, Y:0.01, Z:-0.03 [[ 9.99856681e-01 1.85027295e-03 1.68283378e-02 1.55973078e+00] [-1.85078458e-03 9.99998287e-01 1.48287995e-05 9.28128398e-03] [-1.68282815e-02 -4.59723024e-05 9.99858393e-01 -2.63119090e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.7665599949999997 meters 0.017284437078683462 Centerline is valid? [True, True] Translation: X:1.59, Y:0.01, Z:-0.03 [[ 9.99865701e-01 1.69519657e-03 1.63004870e-02 1.59290697e+00] [-1.69563286e-03 9.99998562e-01 1.29450123e-05 7.93875006e-03] [-1.63004417e-02 -4.05829153e-05 9.99867138e-01 -2.65732925e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.796559995 meters 0.01678563547171458 Centerline is valid? [True, True] Translation: X:1.63, Y:0.01, Z:-0.03 [[ 9.99869286e-01 2.22358876e-03 1.60145668e-02 1.62601519e+00] [-2.22401974e-03 9.99997527e-01 9.10221290e-06 8.03167768e-03] [-1.60145070e-02 -4.47177360e-05 9.99871759e-01 -2.70312609e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.8265599949999998 meters 0.01689438544883971 Centerline is valid? [True, True] Translation: X:1.66, Y:0.01, Z:-0.03 [[ 9.99878597e-01 2.83026079e-03 1.53225385e-02 1.65938990e+00] [-2.83067650e-03 9.99995994e-01 5.44274307e-06 7.74828713e-03] [-1.53224617e-02 -4.88152320e-05 9.99882603e-01 -2.85392441e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.856559995 meters 0.018653262082539673 Centerline is valid? [True, True] Translation: X:1.69, Y:0.01, Z:-0.03 [[ 9.99863420e-01 4.17070663e-03 1.59921042e-02 1.69256360e+00] [-4.17126508e-03 9.99991300e-01 1.56501218e-06 9.34344979e-03] [-1.59919586e-02 -6.82721045e-05 9.99872118e-01 -3.09982752e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.886559995 meters 0.018653262082539673 Centerline is valid? [True, True] Translation: X:1.72, Y:0.01, Z:-0.03 [[ 9.99862378e-01 4.41342221e-03 1.59921036e-02 1.72498685e+00] [-4.41394958e-03 9.99990258e-01 -2.31959335e-06 9.21958062e-03] [-1.59919580e-02 -6.82690647e-05 9.99872118e-01 -3.16366793e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.9165599949999996 meters 0.01873951675605324 Centerline is valid? [True, True] Translation: X:1.76, Y:0.01, Z:-0.03 [[ 9.99871511e-01 5.14238330e-03 1.51828235e-02 1.75750769e+00] [-5.14289030e-03 9.99986775e-01 -5.65121926e-06 9.61471338e-03] [-1.51826517e-02 -7.24331024e-05 9.99884734e-01 -3.32949665e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.946559995 meters 0.019084501214092574 Centerline is valid? [True, True] Translation: X:1.79, Y:0.01, Z:-0.04 [[ 9.99885333e-01 5.02758439e-03 1.42843823e-02 1.79058625e+00] [-5.02797606e-03 9.99987360e-01 -8.49317879e-06 8.27172401e-03] [-1.42842445e-02 -6.33293276e-05 9.99897973e-01 -3.50048521e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.9765599949999997 meters 0.017768254748845295 Centerline is valid? [True, True] Translation: X:1.82, Y:0.01, Z:-0.03 [[ 9.99895829e-01 6.07566497e-03 1.30926331e-02 1.82284041e+00] [-6.07604512e-03 9.99981541e-01 -1.07423852e-05 8.75694421e-03] [-1.30924567e-02 -6.88101631e-05 9.99914288e-01 -3.42343422e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.006559995 meters 0.02075350201192191 Centerline is valid? [True, True] Translation: X:1.85, Y:0.01, Z:-0.04 [[ 9.99834101e-01 1.03747189e-02 1.49711719e-02 1.85443882e+00] [-1.03756306e-02 9.99946172e-01 -1.67767204e-05 1.44405390e-02] [-1.49705400e-02 -1.38561411e-04 9.99887926e-01 -3.51591162e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.0365599949999997 meters 0.020149676784359683 Centerline is valid? [True, True] Translation: X:1.89, Y:0.01, Z:-0.04 [[ 9.99840410e-01 1.10419775e-02 1.40438672e-02 1.88699555e+00] [-1.10428524e-02 9.99939026e-01 -1.52488522e-05 1.43443452e-02] [-1.40431793e-02 -1.39837934e-04 9.99901380e-01 -3.58975481e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.066559995 meters 0.01960392008840855 Centerline is valid? [True, True] Translation: X:1.92, Y:0.01, Z:-0.04 [[ 9.99850302e-01 1.08386592e-02 1.34869554e-02 1.91848200e+00] [-1.08394000e-02 9.99941252e-01 -1.81750893e-05 1.34364488e-02] [-1.34863601e-02 -1.28018136e-04 9.99909047e-01 -3.68237755e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.096559995 meters 0.020371776129557914 Centerline is valid? [True, True] Translation: X:1.95, Y:0.01, Z:-0.04 [[ 9.99863849e-01 9.66796887e-03 1.33721371e-02 1.95032980e+00] [-9.66857131e-03 9.99953258e-01 -1.95961509e-05 1.11102674e-02] [-1.33717015e-02 -1.09695978e-04 9.99910589e-01 -3.84650014e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.126559995 meters 0.020410163819970177 Centerline is valid? [True, True] Translation: X:1.98, Y:0.01, Z:-0.04 [[ 9.99874242e-01 8.18021130e-03 1.35862121e-02 1.98283605e+00] [-8.18065750e-03 9.99966538e-01 -2.27330501e-05 8.21812435e-03] [-1.35859434e-02 -8.84139563e-05 9.99907703e-01 -3.92664094e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.156559995 meters 0.017995235578118697 Centerline is valid? [True, True] Translation: X:2.02, Y:0.01, Z:-0.04 [[ 9.99864474e-01 8.29260359e-03 1.42220378e-02 2.01631104e+00] [-8.29306333e-03 9.99965612e-01 -2.66500670e-05 7.30620479e-03] [-1.42217698e-02 -9.12978053e-05 9.99898861e-01 -3.60351817e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.1865599949999996 meters 0.019553590381638633 Centerline is valid? [True, True] Translation: X:2.05, Y:0.01, Z:-0.04 [[ 9.99868617e-01 8.01392318e-03 1.40898887e-02 2.04879820e+00] [-8.01429965e-03 9.99967885e-01 -2.97440210e-05 7.08314965e-03] [-1.40896745e-02 -8.31804768e-05 9.99900732e-01 -3.77833293e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.216559995 meters 0.019243375484157797 Centerline is valid? [True, True] Translation: X:2.08, Y:0.01, Z:-0.04 [[ 9.99868741e-01 8.19030006e-03 1.39792823e-02 2.08164368e+00] [-8.19064164e-03 9.99966456e-01 -3.28184485e-05 7.28023891e-03] [-1.39790822e-02 -8.16851510e-05 9.99902285e-01 -3.83444087e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.2465599949999997 meters 0.01964617324858505 Centerline is valid? [True, True] Translation: X:2.11, Y:0.01, Z:-0.04 [[ 9.99887487e-01 8.58371017e-03 1.23017913e-02 2.11284895e+00] [-8.58397121e-03 9.99963157e-01 -3.15826768e-05 7.87951053e-03] [-1.23016092e-02 -7.40190991e-05 9.99924330e-01 -3.98733884e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.276559995 meters 0.019944361251100842 Centerline is valid? [True, True] Translation: X:2.15, Y:0.01, Z:-0.04 [[ 9.99893895e-01 9.40026321e-03 1.11281006e-02 2.14533646e+00] [-9.40050879e-03 9.99955814e-01 -3.02396254e-05 9.04477168e-03] [-1.11278931e-02 -7.43733902e-05 9.99938080e-01 -4.17727790e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.3065599949999998 meters 0.019773372935206052 Centerline is valid? [True, True] Translation: X:2.18, Y:0.01, Z:-0.04 [[ 9.99895021e-01 1.03696162e-02 1.01202274e-02 2.17767184e+00] [-1.03698516e-02 9.99946231e-01 -2.92135954e-05 9.69343741e-03] [-1.01199862e-02 -7.57347272e-05 9.99948789e-01 -4.32144243e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.336559995 meters 0.02115211505203915 Centerline is valid? [True, True] Translation: X:2.21, Y:0.01, Z:-0.05 [[ 9.99905113e-01 1.14921717e-02 7.59567150e-03 2.20880849e+00] [-1.14923311e-02 9.99933961e-01 -2.26625276e-05 1.19182105e-02] [-7.59543033e-03 -6.46315944e-05 9.99971152e-01 -4.67459653e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.366559995 meters 0.01980527820057367 Centerline is valid? [True, True] Translation: X:2.24, Y:0.01, Z:-0.05 [[ 9.99910215e-01 1.16408985e-02 6.63705767e-03 2.24077169e+00] [-1.16410194e-02 9.99932241e-01 -2.04220936e-05 1.23615965e-02] [-6.63684568e-03 -5.68418568e-05 9.99977974e-01 -4.82086204e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.3965599949999996 meters 0.02044674983020359 Centerline is valid? [True, True] Translation: X:2.27, Y:0.01, Z:-0.05 [[ 9.99929473e-01 1.04988519e-02 5.55177177e-03 2.27231369e+00] [-1.04989117e-02 9.99944885e-01 -1.83620766e-05 1.27035796e-02] [-5.55165856e-03 -3.99267802e-05 9.99984589e-01 -5.15216049e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.426559995 meters 0.0203800046671886 Centerline is valid? [True, True] Translation: X:2.31, Y:0.01, Z:-0.05 [[ 9.99938571e-01 9.86272569e-03 5.05766790e-03 2.30500809e+00] [-9.86277092e-03 9.99951362e-01 -1.59999578e-05 1.23732536e-02] [-5.05757971e-03 -3.38836450e-05 9.99987210e-01 -5.29828678e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.4565599949999997 meters 0.021158404925609244 Centerline is valid? [True, True] Translation: X:2.34, Y:0.01, Z:-0.05 [[ 9.99950236e-01 8.78996345e-03 4.71826091e-03 2.33814349e+00] [-8.78998720e-03 9.99961367e-01 -1.57039232e-05 1.13097313e-02] [-4.71821666e-03 -2.57703113e-05 9.99988869e-01 -5.40493014e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.486559995 meters 0.019070416477118837 Centerline is valid? [True, True] Translation: X:2.37, Y:0.01, Z:-0.05 [[ 9.99970053e-01 5.46393017e-03 5.48079642e-03 2.36965235e+00] [-5.46389829e-03 9.99985073e-01 -2.07911867e-05 8.43151782e-03] [-5.48082821e-03 -9.15595012e-06 9.99984980e-01 -5.26361698e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.5165599949999997 meters 0.01993501973606927 Centerline is valid? [True, True] Translation: X:2.40, Y:0.01, Z:-0.05 [[ 9.99968784e-01 4.46724202e-03 6.51722553e-03 2.40189814e+00] [-4.46716480e-03 9.99990022e-01 -2.64044257e-05 8.77164426e-03] [-6.51727845e-03 -2.70991900e-06 9.99978762e-01 -5.26092811e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.546559995 meters 0.01993501973606927 Centerline is valid? [True, True] Translation: X:2.43, Y:0.01, Z:-0.05 [[ 9.99967775e-01 4.68771900e-03 6.51722170e-03 2.43433157e+00] [-4.68764064e-03 9.99989013e-01 -2.72986137e-05 8.47407838e-03] [-6.51727806e-03 -3.25265936e-06 9.99978762e-01 -5.32475297e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.5765599949999998 meters 0.020327841478317274 Centerline is valid? [True, True] Translation: X:2.47, Y:0.01, Z:-0.05 [[ 9.99972640e-01 3.36858663e-03 6.58576729e-03 2.46698488e+00] [-3.36846804e-03 9.99994326e-01 -2.90984342e-05 7.72181571e-03] [-6.58582795e-03 6.91369138e-06 9.99978313e-01 -5.37981600e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.6065599949999996 meters 0.02069372242862215 Centerline is valid? [True, True] Translation: X:2.50, Y:0.01, Z:-0.05 [[ 9.99976720e-01 9.92887805e-04 6.75077639e-03 2.49870028e+00] [-9.92691132e-04 9.99999507e-01 -3.24840893e-05 6.07845630e-03] [-6.75080532e-03 2.57818972e-05 9.99977213e-01 -5.41102029e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.636559995 meters 0.019652873939029942 Centerline is valid? [True, True] Translation: X:2.53, Y:0.01, Z:-0.05 [[ 9.99979375e-01 -7.58297889e-04 6.37768032e-03 2.53100708e+00] [ 7.58507701e-04 9.99999712e-01 -3.04790559e-05 5.15198155e-03] [-6.37765537e-03 3.53159469e-05 9.99979662e-01 -5.30151024e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.6665599949999996 meters 0.02128173102043345 Centerline is valid? [True, True] Translation: X:2.56, Y:0.00, Z:-0.06 [[ 9.99974397e-01 -4.69747427e-03 5.39803221e-03 2.56330552e+00] [ 4.69768470e-03 9.99988965e-01 -2.63047907e-05 1.88369711e-04] [-5.39784908e-03 5.16623705e-05 9.99985430e-01 -5.52118004e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.696559995 meters 0.025303484452651733 Centerline is valid? [True, True] Translation: X:2.59, Y:-0.01, Z:-0.06 [[ 9.99944332e-01 -9.66460402e-03 4.23412697e-03 2.59398828e+00] [ 9.66478950e-03 9.99953295e-01 -2.33482381e-05 -9.06850975e-03] [-4.23370357e-03 6.42688843e-05 9.99991036e-01 -6.05537191e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.7265599949999997 meters 0.026932776352484547 Centerline is valid? [True, True] Translation: X:2.62, Y:-0.01, Z:-0.06 [[ 9.99824126e-01 -1.79986841e-02 5.26925087e-03 2.62461200e+00] [ 1.79990908e-02 9.99838003e-01 -2.97730303e-05 -1.39171064e-02] [-5.26786139e-03 1.24609519e-04 9.99986117e-01 -5.76326883e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.756559995 meters 0.02893138999632244 Centerline is valid? [True, True] Translation: X:2.65, Y:-0.02, Z:-0.06 [[ 9.99742445e-01 -2.19039967e-02 5.93787412e-03 2.65394253e+00] [ 2.19045855e-02 9.99760065e-01 -3.41377840e-05 -1.76310722e-02] [-5.93570167e-03 1.64195663e-04 9.99982370e-01 -5.76401196e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.7865599949999997 meters 0.022885039759664834 Centerline is valid? [True, True] Translation: X:2.68, Y:-0.01, Z:-0.05 [[ 9.99650159e-01 -2.54786210e-02 7.09931383e-03 2.68333733e+00] [ 2.54795520e-02 9.99675343e-01 -4.07167530e-05 -7.52224520e-03] [-7.09597158e-03 2.21589845e-04 9.99974799e-01 -5.24891469e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.816559995 meters 0.02180521520079435 Centerline is valid? [True, True] Translation: X:2.71, Y:-0.01, Z:-0.05 [[ 9.99564611e-01 -2.83149658e-02 8.29764805e-03 2.71245805e+00] [ 2.83163446e-02 9.99599011e-01 -4.87102272e-05 -8.34260338e-03] [-8.29294155e-03 2.83648081e-04 9.99965573e-01 -5.15775212e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.846559995 meters 0.022466341472328417 Centerline is valid? [True, True] Translation: X:2.74, Y:-0.01, Z:-0.05 [[ 9.99443412e-01 -3.20961099e-02 9.09431278e-03 2.74167367e+00] [ 3.20978796e-02 9.99484729e-01 -4.86628341e-05 -1.24525147e-02] [-9.08806486e-03 3.40543906e-04 9.99958645e-01 -5.10873787e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.8765599949999996 meters 0.02178011898313021 Centerline is valid? [True, True] Translation: X:2.77, Y:-0.01, Z:-0.05 [[ 9.99469028e-01 -3.11127328e-02 9.67779933e-03 2.77005730e+00] [ 3.11147037e-02 9.99515819e-01 -5.31191951e-05 -1.29088405e-02] [-9.67146084e-03 3.54212849e-04 9.99953168e-01 -5.12546287e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.906559995 meters 0.022917660580531546 Centerline is valid? [True, True] Translation: X:2.80, Y:-0.01, Z:-0.05 [[ 9.99463888e-01 -3.13771369e-02 9.34939186e-03 2.79851871e+00] [ 3.13789714e-02 9.99507558e-01 -4.95514460e-05 -1.34763224e-02] [-9.34323304e-03 3.42899181e-04 9.99956292e-01 -5.26946469e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.9365599949999996 meters 0.023819009937708416 Centerline is valid? [True, True] Translation: X:2.83, Y:-0.02, Z:-0.05 [[ 9.99450217e-01 -3.18750076e-02 9.12397072e-03 2.82646104e+00] [ 3.18767347e-02 9.99491807e-01 -4.38919073e-05 -1.55569108e-02] [-9.11793493e-03 3.34710171e-04 9.99958375e-01 -5.46872466e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.966559995 meters 0.023953193766875092 Centerline is valid? [True, True] Translation: X:2.86, Y:-0.01, Z:-0.06 [[ 9.99456325e-01 -3.15339920e-02 9.62613187e-03 2.85543837e+00] [ 3.15359046e-02 9.99502619e-01 -4.69237582e-05 -1.45299621e-02] [-9.61986431e-03 3.50467023e-04 9.99953667e-01 -5.60677676e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.9965599949999997 meters 0.023808268031363055 Centerline is valid? [True, True] Translation: X:2.88, Y:-0.02, Z:-0.06 [[ 9.99445053e-01 -3.16211565e-02 1.04732480e-02 2.88409076e+00] [ 3.16233943e-02 9.99499854e-01 -4.80911857e-05 -1.50667870e-02] [-1.04664892e-02 3.79264149e-04 9.99945153e-01 -5.81180468e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.0265599949999995 meters 0.02302707050996523 Centerline is valid? [True, True] Translation: X:2.91, Y:-0.01, Z:-0.06 [[ 9.99428115e-01 -3.19993607e-02 1.09309065e-02 2.91207914e+00] [ 3.20017940e-02 9.99487810e-01 -4.77320000e-05 -1.46247170e-02] [-1.09237804e-02 3.97513320e-04 9.99940255e-01 -5.83657594e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.056559995 meters 0.022894610510259043 Centerline is valid? [True, True] Translation: X:2.94, Y:-0.01, Z:-0.06 [[ 9.99466326e-01 -3.02777483e-02 1.22605226e-02 2.93998441e+00] [ 3.02806124e-02 9.99541436e-01 -4.79946698e-05 -1.46328864e-02] [-1.22534472e-02 4.19225190e-04 9.99924836e-01 -5.78994774e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.086559995 meters 0.021483143948366 Centerline is valid? [True, True] Translation: X:2.97, Y:-0.01, Z:-0.06 [[ 9.99492468e-01 -2.88860751e-02 1.34313709e-02 2.96887657e+00] [ 2.88893822e-02 9.99582613e-01 -5.22264180e-05 -1.32579326e-02] [-1.34242562e-02 4.40223920e-04 9.99909794e-01 -5.76084858e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.116559994999999 meters 0.02053141570503704 Centerline is valid? [True, True] Translation: X:3.00, Y:-0.01, Z:-0.06 [[ 9.99589961e-01 -2.49202401e-02 1.41029134e-02 2.99745564e+00] [ 2.49234247e-02 9.99689362e-01 -5.00737815e-05 -1.39496863e-02] [-1.40972846e-02 4.01546149e-04 9.99900548e-01 -5.73181166e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.146559995 meters 0.02048704542370038 Centerline is valid? [True, True] Translation: X:3.03, Y:-0.01, Z:-0.06 [[ 9.99602264e-01 -2.43801357e-02 1.41747147e-02 3.02603896e+00] [ 2.43833028e-02 9.99702682e-01 -5.06263650e-05 -1.37931241e-02] [-1.41692660e-02 3.96232589e-04 9.99899532e-01 -5.85676939e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.176559995 meters 0.01936342456491831 Centerline is valid? [True, True] Translation: X:3.06, Y:-0.01, Z:-0.06 [[ 9.99624527e-01 -2.30144874e-02 1.48707523e-02 3.05504765e+00] [ 2.30177655e-02 9.99735055e-01 -4.93004535e-05 -1.17450762e-02] [-1.48656777e-02 3.91573432e-04 9.99889423e-01 -5.89536678e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.206559995 meters 0.018840928852681592 Centerline is valid? [True, True] Translation: X:3.08, Y:-0.01, Z:-0.06 [[ 9.99717769e-01 -1.80167989e-02 1.54847660e-02 3.08383497e+00] [ 1.80196785e-02 9.99837631e-01 -4.64517175e-05 -8.98766194e-03] [-1.54814149e-02 3.25469113e-04 9.99880103e-01 -6.02683560e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.2365599949999995 meters 0.0174262566906386 Centerline is valid? [True, True] Translation: X:3.11, Y:-0.01, Z:-0.06 [[ 9.99743572e-01 -1.63665989e-02 1.56500746e-02 3.11477659e+00] [ 1.63693224e-02 9.99866013e-01 -4.59290609e-05 -7.82032462e-03] [-1.56472260e-02 3.02098400e-04 9.99877529e-01 -6.15036962e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.266559995 meters 0.017560226297312145 Centerline is valid? [True, True] Translation: X:3.15, Y:-0.01, Z:-0.06 [[ 9.99770827e-01 -1.46422632e-02 1.56171950e-02 3.14604241e+00] [ 1.46447602e-02 9.99892759e-01 -4.55279468e-05 -6.35416843e-03] [-1.56148536e-02 2.74227589e-04 9.99878043e-01 -6.32628746e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.296559995 meters 0.01780605776464261 Centerline is valid? [True, True] Translation: X:3.18, Y:-0.01, Z:-0.07 [[ 9.99783491e-01 -1.44525111e-02 1.49698422e-02 3.17858348e+00] [ 1.44547889e-02 9.99895523e-01 -4.39713973e-05 -6.88530950e-03] [-1.49676427e-02 2.60347787e-04 9.99887945e-01 -6.52874130e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.326559995 meters 0.017958649655453938 Centerline is valid? [True, True] Translation: X:3.21, Y:-0.01, Z:-0.07 [[ 9.99794452e-01 -1.44286011e-02 1.42432099e-02 3.20968229e+00] [ 1.44306753e-02 9.99895871e-01 -4.28595816e-05 -8.43131519e-03] [-1.42411083e-02 2.48389909e-04 9.99898559e-01 -6.67007468e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.356559995 meters 0.018372143688542314 Centerline is valid? [True, True] Translation: X:3.24, Y:-0.01, Z:-0.07 [[ 9.99809928e-01 -1.32175615e-02 1.43318952e-02 3.24062266e+00] [ 1.32195481e-02 9.99912617e-01 -4.38822009e-05 -7.65001091e-03] [-1.43300628e-02 2.33335038e-04 9.99897292e-01 -6.82906062e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.386559995 meters 0.017520584419133022 Centerline is valid? [True, True] Translation: X:3.27, Y:-0.01, Z:-0.07 [[ 9.99824691e-01 -1.22792911e-02 1.41352845e-02 3.27241954e+00] [ 1.22811384e-02 9.99924583e-01 -4.38931619e-05 -6.89180408e-03] [-1.41336794e-02 2.17482852e-04 9.99900091e-01 -6.86399345e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.416559995 meters 0.01779029401394125 Centerline is valid? [True, True] Translation: X:3.30, Y:-0.01, Z:-0.07 [[ 9.99846407e-01 -1.09455706e-02 1.36878129e-02 3.30447272e+00] [ 1.09471899e-02 9.99940077e-01 -4.33841357e-05 -5.29996901e-03] [-1.36865178e-02 1.93220560e-04 9.99906317e-01 -6.92732564e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.446559994999999 meters 0.017349237541376235 Centerline is valid? [True, True] Translation: X:3.34, Y:-0.01, Z:-0.07 [[ 9.99855388e-01 -1.06549382e-02 1.32542965e-02 3.33598779e+00] [ 1.06564443e-02 9.99943218e-01 -4.30146218e-05 -6.72930418e-03] [-1.32530856e-02 1.84252074e-04 9.99912157e-01 -7.04768325e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.476559995 meters 0.0169559705951994 Centerline is valid? [True, True] Translation: X:3.37, Y:-0.01, Z:-0.07 [[ 9.99853947e-01 -1.19645626e-02 1.22038793e-02 3.36841377e+00] [ 1.19659423e-02 9.99928405e-01 -4.00417720e-05 -8.38336900e-03] [-1.22025265e-02 1.86066840e-04 9.99925529e-01 -7.12176896e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.506559995 meters 0.016319786242539186 Centerline is valid? [True, True] Translation: X:3.40, Y:-0.00, Z:-0.07 [[ 9.99851338e-01 -9.92169983e-03 1.41018712e-02 3.40018631e+00] [ 9.92335710e-03 9.99950761e-01 -4.75523115e-05 -4.75552089e-03] [-1.41007050e-02 1.87483145e-04 9.99900563e-01 -7.14734365e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.536559995 meters 0.01689620721132496 Centerline is valid? [True, True] Translation: X:3.43, Y:-0.01, Z:-0.07 [[ 9.99858572e-01 -1.04752195e-02 1.31569411e-02 3.43253256e+00] [ 1.04767165e-02 9.99945117e-01 -4.48602698e-05 -6.68101011e-03] [-1.31557491e-02 1.82695467e-04 9.99913443e-01 -7.23502921e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.5665599949999995 meters 0.017020243819359144 Centerline is valid? [True, True] Translation: X:3.47, Y:-0.00, Z:-0.07 [[ 9.99861874e-01 -9.06696241e-03 1.39292266e-02 3.46515392e+00] [ 9.06851684e-03 9.99958879e-01 -4.84357512e-05 -4.87363136e-03] [-1.39282147e-02 1.74746487e-04 9.99902982e-01 -7.20142600e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.596559995 meters 0.01720327154632241 Centerline is valid? [True, True] Translation: X:3.50, Y:-0.00, Z:-0.07 [[ 9.99863621e-01 -8.11246055e-03 1.43849507e-02 3.49710471e+00] [ 8.11403955e-03 9.99967079e-01 -5.14070590e-05 -3.60758150e-03] [-1.43840601e-02 1.68120107e-04 9.99896530e-01 -7.27504012e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.626559995 meters 0.016737858877297923 Centerline is valid? [True, True] Translation: X:3.53, Y:-0.01, Z:-0.07 [[ 9.99862983e-01 -1.04969605e-02 1.27996084e-02 3.52858831e+00] [ 1.04984019e-02 9.99944889e-01 -4.54247874e-05 -9.95552407e-03] [-1.27984262e-02 1.79793997e-04 9.99918081e-01 -7.41134671e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.656559994999999 meters 0.016167232833955575 Centerline is valid? [True, True] Translation: X:3.56, Y:-0.01, Z:-0.07 [[ 9.99847739e-01 -1.14868334e-02 1.31359172e-02 3.56036796e+00] [ 1.14884909e-02 9.99934004e-01 -5.07233977e-05 -1.08191558e-02] [-1.31344676e-02 2.01627539e-04 9.99913719e-01 -7.34830521e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.686559995 meters 0.016956921176006327 Centerline is valid? [True, True] Translation: X:3.59, Y:-0.01, Z:-0.07 [[ 9.99835396e-01 -1.22201599e-02 1.34107350e-02 3.59163945e+00] [ 1.22219678e-02 9.99925308e-01 -5.28569434e-05 -1.23454848e-02] [-1.34090874e-02 2.16753813e-04 9.99910071e-01 -7.40138184e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.716559995 meters 0.017201123135303583 Centerline is valid? [True, True] Translation: X:3.62, Y:-0.01, Z:-0.07 [[ 9.99835449e-01 -1.28179119e-02 1.28365278e-02 3.62331088e+00] [ 1.28196256e-02 9.99917824e-01 -5.12238512e-05 -1.40588508e-02] [-1.28348163e-02 2.15774902e-04 9.99917607e-01 -7.43537674e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.746559995 meters 0.016139638114428038 Centerline is valid? [True, True] Translation: X:3.66, Y:-0.01, Z:-0.07 [[ 9.99840766e-01 -1.15720578e-02 1.35841784e-02 3.65515719e+00] [ 1.15738728e-02 9.99933019e-01 -5.49991324e-05 -1.22604206e-02] [-1.35826321e-02 2.12211927e-04 9.99907729e-01 -7.43592401e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.7765599949999995 meters 0.016945795641724447 Centerline is valid? [True, True] Translation: X:3.69, Y:-0.01, Z:-0.08 [[ 9.99842970e-01 -1.14139967e-02 1.35556740e-02 3.68647997e+00] [ 1.14157969e-02 9.99934836e-01 -5.54273956e-05 -1.25512295e-02] [-1.35541580e-02 2.10167512e-04 9.99908116e-01 -7.56711983e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.806559995 meters 0.016945795641724447 Centerline is valid? [True, True] Translation: X:3.72, Y:-0.01, Z:-0.08 [[ 9.99843746e-01 -1.13458124e-02 1.35556715e-02 3.71812292e+00] [ 1.13476144e-02 9.99935612e-01 -5.60237896e-05 -1.27437658e-02] [-1.35541630e-02 2.09839569e-04 9.99908116e-01 -7.62929184e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.836559995 meters 0.017303958131257992 Centerline is valid? [True, True] Translation: X:3.75, Y:-0.01, Z:-0.08 [[ 9.99853375e-01 -1.01654156e-02 1.37801595e-02 3.74982428e+00] [ 1.01671790e-02 9.99948311e-01 -5.79105550e-05 -1.04355305e-02] [-1.37788586e-02 1.98007412e-04 9.99905047e-01 -7.71320129e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.866559994999999 meters 0.01711779284563217 Centerline is valid? [True, True] Translation: X:3.78, Y:-0.01, Z:-0.08 [[ 9.99879618e-01 -8.38324392e-03 1.30564495e-02 3.78156843e+00] [ 8.38468575e-03 9.99964846e-01 -5.56941427e-05 -9.98523824e-03] [-1.30555236e-02 1.65161664e-04 9.99914759e-01 -7.87769568e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.896559995 meters 0.018383937060567835 Centerline is valid? [True, True] Translation: X:3.81, Y:-0.01, Z:-0.08 [[ 9.99887487e-01 -7.36015263e-03 1.30705990e-02 3.81365846e+00] [ 7.36152201e-03 9.99972902e-01 -5.66592113e-05 -8.78244989e-03] [-1.30698278e-02 1.52872339e-04 9.99914574e-01 -7.92942553e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.926559995 meters 0.017951290517706796 Centerline is valid? [True, True] Translation: X:3.85, Y:-0.01, Z:-0.08 [[ 9.99892982e-01 -5.44212724e-03 1.35796722e-02 3.84579189e+00] [ 5.44344181e-03 9.99985183e-01 -5.98442209e-05 -6.27673735e-03] [-1.35791453e-02 1.33757972e-04 9.99907790e-01 -8.00757015e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.956559995 meters 0.017179971923814097 Centerline is valid? [True, True] Translation: X:3.88, Y:-0.01, Z:-0.08 [[ 9.99901129e-01 -4.71787767e-03 1.32466445e-02 3.87723028e+00] [ 4.71907307e-03 9.99988863e-01 -5.89858973e-05 -6.79353403e-03] [-1.32462187e-02 1.21491949e-04 9.99912258e-01 -8.12201377e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.9865599949999995 meters 0.016476390899676438 Centerline is valid? [True, True] Translation: X:3.91, Y:-0.01, Z:-0.08 [[ 9.99910869e-01 -5.18768569e-03 1.23020980e-02 3.90901554e+00] [ 5.18877116e-03 9.99986537e-01 -5.63181405e-05 -8.82748126e-03] [-1.23016402e-02 1.20145892e-04 9.99924325e-01 -8.16737609e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.016559995 meters 0.016014581011444706 Centerline is valid? [True, True] Translation: X:3.94, Y:-0.01, Z:-0.08 [[ 9.99909634e-01 -5.06466814e-03 1.24528021e-02 3.94084238e+00] [ 5.06578133e-03 9.99987167e-01 -5.78516568e-05 -9.05959410e-03] [-1.24523493e-02 1.20929602e-04 9.99922459e-01 -8.14150872e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.046559995 meters 0.016807506878364017 Centerline is valid? [True, True] Translation: X:3.97, Y:-0.01, Z:-0.08 [[ 9.99909430e-01 -5.51241819e-03 1.22778266e-02 3.97216908e+00] [ 5.51354582e-03 9.99984799e-01 -5.79959937e-05 -1.01289938e-02] [-1.22773203e-02 1.25685101e-04 9.99924623e-01 -8.16162388e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.076559994999999 meters 0.01578792514704041 Centerline is valid? [True, True] Translation: X:4.00, Y:-0.01, Z:-0.08 [[ 9.99912560e-01 -6.35664877e-03 1.15959469e-02 4.00432513e+00] [ 6.35771595e-03 9.99979788e-01 -5.51690195e-05 -1.11932642e-02] [-1.15953618e-02 1.28887932e-04 9.99932763e-01 -8.14876219e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.106559995 meters 0.016806528306265115 Centerline is valid? [True, True] Translation: X:4.04, Y:-0.01, Z:-0.08 [[ 9.99911008e-01 -4.87858816e-03 1.24167274e-02 4.03587029e+00] [ 4.87971137e-03 9.99988092e-01 -6.01641696e-05 -9.76673079e-03] [-1.24162860e-02 1.20748861e-04 9.99922908e-01 -8.27453942e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.136559995 meters 0.016592102117806238 Centerline is valid? [True, True] Translation: X:4.07, Y:-0.01, Z:-0.08 [[ 9.99920937e-01 -5.62379156e-03 1.12469153e-02 4.06762147e+00] [ 5.62476414e-03 9.99984179e-01 -5.48454110e-05 -9.98646565e-03] [-1.12464289e-02 1.18102321e-04 9.99936750e-01 -8.44661501e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.166559995 meters 0.017006172535101914 Centerline is valid? [True, True] Translation: X:4.10, Y:-0.01, Z:-0.09 [[ 9.99914970e-01 -7.58005365e-03 1.06111058e-02 4.09849542e+00] [ 7.58102185e-03 9.99971262e-01 -5.10239402e-05 -1.28881219e-02] [-1.06104141e-02 1.31462626e-04 9.99943699e-01 -8.63395993e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.196559994999999 meters 0.01812254190769488 Centerline is valid? [True, True] Translation: X:4.13, Y:-0.02, Z:-0.09 [[ 9.99897040e-01 -9.88760345e-03 1.03992940e-02 4.12992919e+00] [ 9.88869076e-03 9.99951104e-01 -5.31407281e-05 -1.63004603e-02] [-1.03982601e-02 1.55970660e-04 9.99945924e-01 -8.78736653e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.226559995 meters 0.0188739793956342 Centerline is valid? [True, True] Translation: X:4.16, Y:-0.02, Z:-0.09 [[ 9.99875576e-01 -1.07856804e-02 1.15109754e-02 4.16145831e+00] [ 1.07870991e-02 9.99941816e-01 -6.11712207e-05 -1.67289012e-02] [-1.15096458e-02 1.85333642e-04 9.99933745e-01 -8.75130887e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.256559995 meters 0.01762098937306828 Centerline is valid? [True, True] Translation: X:4.19, Y:-0.02, Z:-0.09 [[ 9.99853614e-01 -1.15557958e-02 1.26180232e-02 4.19410337e+00] [ 1.15575649e-02 9.99933207e-01 -6.72972223e-05 -1.76140193e-02] [-1.26164027e-02 2.13120993e-04 9.99920387e-01 -8.66281617e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.286559994999999 meters 0.017851996792433475 Centerline is valid? [True, True] Translation: X:4.23, Y:-0.02, Z:-0.09 [[ 9.99834814e-01 -1.28378767e-02 1.28659554e-02 4.22654395e+00] [ 1.28398337e-02 9.99917564e-01 -6.95140516e-05 -1.93584462e-02] [-1.28640024e-02 2.34699297e-04 9.99917228e-01 -8.70256081e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.3165599949999995 meters 0.0182239702471226 Centerline is valid? [True, True] Translation: X:4.26, Y:-0.02, Z:-0.09 [[ 9.99813929e-01 -1.40905275e-02 1.31744112e-02 4.25758106e+00] [ 1.40927033e-02 9.99900690e-01 -7.23263665e-05 -2.05815154e-02] [-1.31720838e-02 2.57975977e-04 9.99913211e-01 -8.73987393e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.346559995 meters 0.019195804777399073 Centerline is valid? [True, True] Translation: X:4.29, Y:-0.02, Z:-0.09 [[ 9.99791920e-01 -1.47496501e-02 1.40913131e-02 4.28904752e+00] [ 1.47522120e-02 9.99891177e-01 -7.78801117e-05 -2.07138589e-02] [-1.40886309e-02 2.85741945e-04 9.99900709e-01 -8.77610608e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.376559995 meters 0.019268072504516613 Centerline is valid? [True, True] Translation: X:4.32, Y:-0.02, Z:-0.09 [[ 9.99782095e-01 -1.45452457e-02 1.49732775e-02 4.32044217e+00] [ 1.45481226e-02 9.99894167e-01 -8.32240775e-05 -2.14518252e-02] [-1.49704824e-02 3.01039020e-04 9.99887891e-01 -8.77411930e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.406559994999999 meters 0.018119867202553784 Centerline is valid? [True, True] Translation: X:4.35, Y:-0.02, Z:-0.09 [[ 9.99790648e-01 -1.33934631e-02 1.54685425e-02 4.35259237e+00] [ 1.33964071e-02 9.99910260e-01 -8.67179823e-05 -1.94256694e-02] [-1.54659930e-02 2.93922722e-04 9.99880351e-01 -8.81633484e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.436559995 meters 0.018062299961706555 Centerline is valid? [True, True] Translation: X:4.38, Y:-0.02, Z:-0.09 [[ 9.99787312e-01 -1.41102436e-02 1.50410174e-02 4.38472189e+00] [ 1.41131231e-02 9.99900401e-01 -8.53113088e-05 -2.10265021e-02] [-1.50383155e-02 2.97568893e-04 9.99886874e-01 -8.91848045e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.466559995 meters 0.018315566641668665 Centerline is valid? [True, True] Translation: X:4.42, Y:-0.02, Z:-0.09 [[ 9.99784460e-01 -1.40220344e-02 1.53106562e-02 4.41721520e+00] [ 1.40250240e-02 9.99901641e-01 -8.79049907e-05 -2.03365175e-02] [-1.53079176e-02 3.02618365e-04 9.99882781e-01 -9.00761036e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.496559995 meters 0.018226210948542314 Centerline is valid? [True, True] Translation: X:4.45, Y:-0.02, Z:-0.09 [[ 9.99780010e-01 -1.37002218e-02 1.58819222e-02 4.44791294e+00] [ 1.37034175e-02 9.99906099e-01 -9.24032666e-05 -1.88869745e-02] [-1.58791649e-02 3.10019549e-04 9.99873870e-01 -9.17950925e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.5265599949999995 meters 0.018006001300582115 Centerline is valid? [True, True] Translation: X:4.48, Y:-0.02, Z:-0.09 [[ 9.99786666e-01 -1.25645898e-02 1.63936776e-02 4.47900824e+00] [ 1.25678566e-02 9.99921017e-01 -9.62617009e-05 -1.68983113e-02] [-1.63911733e-02 3.02274556e-04 9.99865610e-01 -9.32493921e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.556559995 meters 0.018004003485621492 Centerline is valid? [True, True] Translation: X:4.51, Y:-0.02, Z:-0.09 [[ 9.99791304e-01 -1.30682836e-02 1.57024727e-02 4.51060222e+00] [ 1.30713513e-02 9.99914562e-01 -9.27417252e-05 -1.75985008e-02] [-1.56999192e-02 2.97974907e-04 9.99876704e-01 -9.44035046e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.586559995 meters 0.01890956158519383 Centerline is valid? [True, True] Translation: X:4.54, Y:-0.02, Z:-0.10 [[ 9.99790023e-01 -1.38233754e-02 1.51269361e-02 4.54262433e+00] [ 1.38263347e-02 9.99904408e-01 -9.10597987e-05 -1.95658643e-02] [-1.51242313e-02 3.00190759e-04 9.99885577e-01 -9.52533741e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.616559994999999 meters 0.01741633065626847 Centerline is valid? [True, True] Translation: X:4.57, Y:-0.02, Z:-0.09 [[ 9.99822204e-01 -1.28800053e-02 1.37718863e-02 4.57418776e+00] [ 1.28823761e-02 9.99917015e-01 -8.34403607e-05 -2.18637342e-02] [-1.37696687e-02 2.60840143e-04 9.99905160e-01 -9.49562568e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.646559995 meters 0.019998207459527302 Centerline is valid? [True, True] Translation: X:4.60, Y:-0.03, Z:-0.10 [[ 9.99826206e-01 -1.43189954e-02 1.19383560e-02 4.60488279e+00] [ 1.43208981e-02 9.99897448e-01 -7.39043412e-05 -2.53964500e-02] [-1.19360735e-02 2.44859477e-04 9.99928733e-01 -9.78300166e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.676559995 meters 0.019998207459527302 Centerline is valid? [True, True] Translation: X:4.63, Y:-0.03, Z:-0.10 [[ 9.99826206e-01 -1.43189762e-02 1.19383499e-02 4.63488366e+00] [ 1.43208906e-02 9.99897448e-01 -7.48817226e-05 -2.55841312e-02] [-1.19360533e-02 2.45836511e-04 9.99928733e-01 -9.84194883e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.706559995 meters 0.01855721644781342 Centerline is valid? [True, True] Translation: X:4.67, Y:-0.02, Z:-0.10 [[ 9.99829079e-01 -1.34355828e-02 1.27003035e-02 4.66556819e+00] [ 1.34376782e-02 9.99909707e-01 -7.96609759e-05 -2.14834628e-02] [-1.26980864e-02 2.50309951e-04 9.99919345e-01 -9.82393722e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.7365599949999995 meters 0.018603301791158235 Centerline is valid? [True, True] Translation: X:4.70, Y:-0.02, Z:-0.10 [[ 9.99817443e-01 -1.36322833e-02 1.33880963e-02 4.69654676e+00] [ 1.36346265e-02 9.99907041e-01 -8.37618484e-05 -2.05871439e-02] [-1.33857099e-02 2.66288250e-04 9.99910372e-01 -9.94676177e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.766559995 meters 0.019596149013143598 Centerline is valid? [True, True] Translation: X:4.73, Y:-0.02, Z:-0.10 [[ 9.99797114e-01 -1.43463950e-02 1.41389965e-02 4.72801975e+00] [ 1.43490859e-02 9.99897043e-01 -8.88869877e-05 -2.36144119e-02] [-1.41362656e-02 2.91750630e-04 9.99900035e-01 -1.00633685e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.796559995 meters 0.01946815673189099 Centerline is valid? [True, True] Translation: X:4.76, Y:-0.02, Z:-0.10 [[ 9.99792900e-01 -1.32140769e-02 1.54772470e-02 4.75985744e+00] [ 1.32171795e-02 9.99912644e-01 -9.81850508e-05 -1.96924450e-02] [-1.54745975e-02 3.02730267e-04 9.99880215e-01 -1.00433453e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.826559994999999 meters 0.01863690829541867 Centerline is valid? [True, True] Translation: X:4.79, Y:-0.02, Z:-0.10 [[ 9.99786597e-01 -1.26474455e-02 1.63341183e-02 4.79113808e+00] [ 1.26508402e-02 9.99919969e-01 -1.04519470e-04 -1.97564853e-02] [-1.63314892e-02 3.11137486e-04 9.99866584e-01 -1.00976950e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.856559995 meters 0.01815487409546703 Centerline is valid? [True, True] Translation: X:4.82, Y:-0.02, Z:-0.10 [[ 9.99796693e-01 -1.20078984e-02 1.61982620e-02 4.82303327e+00] [ 1.20111653e-02 9.99927858e-01 -1.04410055e-04 -1.86654967e-02] [-1.61958396e-02 2.98948830e-04 9.99868794e-01 -1.01231560e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.886559995 meters 0.018412852942724302 Centerline is valid? [True, True] Translation: X:4.85, Y:-0.02, Z:-0.10 [[ 9.99808546e-01 -1.01009892e-02 1.67583198e-02 4.85389265e+00] [ 1.01042396e-02 9.99948945e-01 -1.09295596e-04 -1.67969801e-02] [-1.67563602e-02 2.78604750e-04 9.99859564e-01 -1.02473604e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.916559995 meters 0.01911360142911323 Centerline is valid? [True, True] Translation: X:4.89, Y:-0.02, Z:-0.10 [[ 9.99825379e-01 -9.08529112e-03 1.63299959e-02 4.88619312e+00] [ 9.08825463e-03 9.99958695e-01 -1.07273282e-04 -1.57560825e-02] [-1.63283468e-02 2.55665711e-04 9.99866651e-01 -1.03914704e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.946559994999999 meters 0.01808121879700937 Centerline is valid? [True, True] Translation: X:4.92, Y:-0.02, Z:-0.10 [[ 9.99846424e-01 -8.30031354e-03 1.54347926e-02 4.91771040e+00] [ 8.30288409e-03 9.99965525e-01 -1.02468876e-04 -1.66961904e-02] [-1.54334099e-02 2.30606433e-04 9.99880871e-01 -1.04650986e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.976559995 meters 0.01826365752945462 Centerline is valid? [True, True] Translation: X:4.95, Y:-0.02, Z:-0.11 [[ 9.99850008e-01 -8.17918274e-03 1.52663787e-02 4.94986990e+00] [ 8.18169423e-03 9.99966524e-01 -1.02061435e-04 -1.84904610e-02] [-1.52650329e-02 2.26950969e-04 9.99883457e-01 -1.05982375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.006559995 meters 0.01853634096271754 Centerline is valid? [True, True] Translation: X:4.98, Y:-0.02, Z:-0.11 [[ 9.99851627e-01 -7.95127472e-03 1.52807173e-02 4.98176394e+00] [ 7.95378031e-03 9.99968363e-01 -1.03203556e-04 -2.05028886e-02] [-1.52794133e-02 2.24727711e-04 9.99883238e-01 -1.07117706e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.036559994999999 meters 0.01789979267166023 Centerline is valid? [True, True] Translation: X:5.01, Y:-0.02, Z:-0.11 [[ 9.99852867e-01 -7.59104052e-03 1.53824838e-02 5.01401584e+00] [ 7.59355354e-03 9.99971163e-01 -1.04967243e-04 -2.05277822e-02] [-1.53812434e-02 2.21759513e-04 9.99881677e-01 -1.08074700e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.0665599949999995 meters 0.01867922188178622 Centerline is valid? [True, True] Translation: X:5.05, Y:-0.02, Z:-0.11 [[ 9.99859510e-01 -7.11974649e-03 1.51746063e-02 5.04605325e+00] [ 7.12215354e-03 9.99974632e-01 -1.04587785e-04 -2.00575170e-02] [-1.51734767e-02 2.12648968e-04 9.99884854e-01 -1.09692300e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.096559995 meters 0.01892182680718344 Centerline is valid? [True, True] Translation: X:5.08, Y:-0.02, Z:-0.11 [[ 9.99852579e-01 -6.91886321e-03 1.57146309e-02 5.07942631e+00] [ 6.92143605e-03 9.99976041e-01 -1.09340443e-04 -2.00824032e-02] [-1.57134979e-02 2.18092137e-04 9.99876512e-01 -1.10771743e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.126559995 meters 0.017798607772454962 Centerline is valid? [True, True] Translation: X:5.11, Y:-0.02, Z:-0.11 [[ 9.99834674e-01 -4.72357003e-03 1.75588570e-02 5.11093289e+00] [ 4.72648278e-03 9.99988822e-01 -1.24389588e-04 -1.88285433e-02] [-1.75580732e-02 2.07360659e-04 9.99845824e-01 -1.11043642e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.156559994999999 meters 0.017410419787008587 Centerline is valid? [True, True] Translation: X:5.14, Y:-0.02, Z:-0.11 [[ 9.99838007e-01 -3.66495151e-03 1.76217860e-02 5.14324424e+00] [ 3.66773652e-03 9.99993266e-01 -1.25727564e-04 -1.85151076e-02] [-1.76212066e-02 1.90339265e-04 9.99844716e-01 -1.11405794e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.186559995 meters 0.017528785632742273 Centerline is valid? [True, True] Translation: X:5.17, Y:-0.02, Z:-0.11 [[ 9.99839343e-01 -1.91504252e-03 1.78219232e-02 5.17400105e+00] [ 1.91763669e-03 9.99998153e-01 -1.28472289e-04 -1.94939864e-02] [-1.78216442e-02 1.62627623e-04 9.99841169e-01 -1.11742696e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.216559995 meters 0.01643537636030349 Centerline is valid? [True, True] Translation: X:5.21, Y:-0.02, Z:-0.11 [[ 9.99839253e-01 -2.14933908e-04 1.79282466e-02 5.20606189e+00] [ 2.17302456e-04 9.99999968e-01 -1.30164646e-04 -1.91744626e-02] [-1.79282180e-02 1.34039574e-04 9.99839268e-01 -1.11677494e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.246559995 meters 0.017630546402702032 Centerline is valid? [True, True] Translation: X:5.24, Y:-0.02, Z:-0.11 [[ 9.99821297e-01 3.64591119e-03 1.85494188e-02 5.23699364e+00] [-3.64401419e-03 9.99993351e-01 -1.36066431e-04 -1.69155882e-02] [-1.85497915e-02 6.84477698e-05 9.99827935e-01 -1.13110923e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.2765599949999995 meters 0.016806793817436105 Centerline is valid? [True, True] Translation: X:5.27, Y:-0.01, Z:-0.11 [[ 9.99801333e-01 6.05618344e-03 1.89899265e-02 5.27012692e+00] [-6.05461309e-03 9.99981661e-01 -1.40186824e-04 -1.49355754e-02] [-1.89904272e-02 2.51823162e-05 9.99819665e-01 -1.13758647e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.306559995 meters 0.01821329341786046 Centerline is valid? [True, True] Translation: X:5.30, Y:-0.01, Z:-0.12 [[ 9.99785733e-01 8.72776464e-03 1.87700124e-02 5.30304732e+00] [-8.72660395e-03 9.99961912e-01 -1.43744582e-04 -1.27805256e-02] [-1.87705521e-02 -2.00846823e-05 9.99823817e-01 -1.15863231e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.336559995 meters 0.01600832950981771 Centerline is valid? [True, True] Translation: X:5.34, Y:-0.01, Z:-0.12 [[ 9.99761079e-01 1.09222131e-02 1.89338312e-02 5.33576577e+00] [-1.09213249e-02 9.99940349e-01 -1.50314232e-04 -1.16578646e-02] [-1.89343435e-02 -5.65042034e-05 9.99820728e-01 -1.16204213e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.366559994999999 meters 0.016381400109002717 Centerline is valid? [True, True] Translation: X:5.37, Y:-0.01, Z:-0.12 [[ 9.99719463e-01 1.34110506e-02 1.95227943e-02 5.36738448e+00] [-1.34104700e-02 9.99910063e-01 -1.60664997e-04 -9.82375837e-03] [-1.95231932e-02 -1.01189922e-04 9.99809399e-01 -1.18007139e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.396559995 meters 0.016992871402486367 Centerline is valid? [True, True] Translation: X:5.40, Y:-0.01, Z:-0.12 [[ 9.99705164e-01 1.44610054e-02 1.95054944e-02 5.40009634e+00] [-1.44605259e-02 9.99895427e-01 -1.65633108e-04 -1.05049520e-02] [-1.95058499e-02 -1.16475434e-04 9.99809736e-01 -1.19050203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.426559995 meters 0.017840488553854204 Centerline is valid? [True, True] Translation: X:5.43, Y:-0.01, Z:-0.12 [[ 9.99681587e-01 1.52883479e-02 2.00746181e-02 5.43340726e+00] [-1.52878892e-02 9.99883118e-01 -1.76323596e-04 -1.05543346e-02] [-2.00749675e-02 -1.30631085e-04 9.99798469e-01 -1.20465352e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.456559995 meters 0.01757570981495142 Centerline is valid? [True, True] Translation: X:5.47, Y:-0.01, Z:-0.12 [[ 9.99662269e-01 1.63199490e-02 2.02239317e-02 5.46512777e+00] [-1.63195787e-02 9.99866810e-01 -1.83360387e-04 -1.09739648e-02] [-2.02242305e-02 -1.46747585e-04 9.99795459e-01 -1.21208588e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.4865599949999995 meters 0.016568195143266646 Centerline is valid? [True, True] Translation: X:5.50, Y:-0.01, Z:-0.12 [[ 9.99664288e-01 1.65499381e-02 1.99351498e-02 5.49821064e+00] [-1.65495212e-02 9.99863030e-01 -1.85901885e-04 -1.13344885e-02] [-1.99354960e-02 -1.44077709e-04 9.99801258e-01 -1.22430565e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.516559995 meters 0.017145787275507453 Centerline is valid? [True, True] Translation: X:5.53, Y:-0.01, Z:-0.12 [[ 9.99605451e-01 1.88467454e-02 2.08264936e-02 5.53030015e+00] [-1.88466621e-02 9.99822366e-01 -2.00291540e-04 -8.50613757e-03] [-2.08265690e-02 -1.92297373e-04 9.99783085e-01 -1.22933881e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.546559995 meters 0.01651652278571304 Centerline is valid? [True, True] Translation: X:5.56, Y:-0.01, Z:-0.13 [[ 9.99618061e-01 1.93076172e-02 1.97724196e-02 5.56183125e+00] [-1.93075409e-02 9.99813573e-01 -1.94772106e-04 -9.17167342e-03] [-1.97724941e-02 -1.87059087e-04 9.99804488e-01 -1.25418569e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.576559994999999 meters 0.017424244761882524 Centerline is valid? [True, True] Translation: X:5.59, Y:-0.01, Z:-0.13 [[ 9.99603175e-01 2.12854154e-02 1.84505659e-02 5.59322639e+00] [-2.12856003e-02 9.99773419e-01 -1.86382691e-04 -7.88824940e-03] [-1.84503526e-02 -2.06422642e-04 9.99829756e-01 -1.27360945e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.606559995 meters 0.016930198764185212 Centerline is valid? [True, True] Translation: X:5.63, Y:-0.01, Z:-0.13 [[ 9.99560785e-01 2.34674152e-02 1.80974263e-02 5.62565248e+00] [-2.34679116e-02 9.99724574e-01 -1.84972694e-04 -7.43325922e-03] [-1.80967826e-02 -2.39817349e-04 9.99836211e-01 -1.28124791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.636559995 meters 0.017359063256547843 Centerline is valid? [True, True] Translation: X:5.66, Y:-0.01, Z:-0.13 [[ 9.99551107e-01 2.41513684e-02 1.77283677e-02 5.65708126e+00] [-2.41518769e-02 9.99708284e-01 -1.85451821e-04 -7.63393396e-03] [-1.77276750e-02 -2.42804780e-04 9.99842823e-01 -1.29294696e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.666559995 meters 0.017359063256547843 Centerline is valid? [True, True] Translation: X:5.69, Y:-0.01, Z:-0.13 [[ 9.99544287e-01 2.44320634e-02 1.77283180e-02 5.68949329e+00] [-2.44325338e-02 9.99701463e-01 -1.90085302e-04 -8.05177321e-03] [-1.77276696e-02 -2.43149050e-04 9.99842823e-01 -1.29933027e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.696559994999999 meters 0.017359063256547843 Centerline is valid? [True, True] Translation: X:5.72, Y:-0.01, Z:-0.13 [[ 9.99537387e-01 2.47127632e-02 1.77282631e-02 5.72190519e+00] [-2.47131895e-02 9.99694563e-01 -1.95063125e-04 -8.47853501e-03] [-1.77276688e-02 -2.43149040e-04 9.99842823e-01 -1.30571481e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.726559995 meters 0.018248661987279056 Centerline is valid? [True, True] Translation: X:5.75, Y:-0.01, Z:-0.13 [[ 9.99550872e-01 2.47589052e-02 1.68834552e-02 5.75464576e+00] [-2.47592232e-02 9.99693425e-01 -1.90223740e-04 -1.01485736e-02] [-1.68829889e-02 -2.27882931e-04 9.99857446e-01 -1.31794017e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.756559995 meters 0.017902205297135692 Centerline is valid? [True, True] Translation: X:5.79, Y:-0.01, Z:-0.13 [[ 9.99557632e-01 2.45502681e-02 1.67876140e-02 5.78614009e+00] [-2.45504712e-02 9.99698573e-01 -1.94019935e-04 -1.00339655e-02] [-1.67873170e-02 -2.18209727e-04 9.99859059e-01 -1.32233893e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.786559994999999 meters 0.017124457866747007 Centerline is valid? [True, True] Translation: X:5.82, Y:-0.01, Z:-0.13 [[ 9.99526860e-01 2.50549407e-02 1.78411608e-02 5.81941972e+00] [-2.50551594e-02 9.99686048e-01 -2.11305282e-04 -1.01261918e-02] [-1.78408538e-02 -2.35807822e-04 9.99840811e-01 -1.31860474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.8165599949999995 meters 0.017326873123794356 Centerline is valid? [True, True] Translation: X:5.85, Y:-0.01, Z:-0.13 [[ 9.99531825e-01 2.43638645e-02 1.85076443e-02 5.85146218e+00] [-2.43638793e-02 9.99703131e-01 -2.24712067e-04 -1.17387513e-02] [-1.85076248e-02 -2.26311151e-04 9.99828694e-01 -1.32068760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.846559995 meters 0.018274106786692987 Centerline is valid? [True, True] Translation: X:5.88, Y:-0.01, Z:-0.13 [[ 9.99521785e-01 2.45197268e-02 1.88410434e-02 5.88455361e+00] [-2.45196807e-02 9.99699320e-01 -2.33488613e-04 -1.23392676e-02] [-1.88411034e-02 -2.28599414e-04 9.99822465e-01 -1.32333615e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.876559995 meters 0.017564539259072948 Centerline is valid? [True, True] Translation: X:5.92, Y:-0.01, Z:-0.13 [[ 9.99532157e-01 2.38356813e-02 1.91657669e-02 5.91638952e+00] [-2.38354018e-02 9.99715867e-01 -2.43048237e-04 -1.41235349e-02] [-1.91661145e-02 -2.13889227e-04 9.99816290e-01 -1.32513466e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.906559994999999 meters 0.01741820033113985 Centerline is valid? [True, True] Translation: X:5.95, Y:-0.01, Z:-0.13 [[ 9.99486081e-01 2.52562768e-02 1.97406657e-02 5.94883489e+00] [-2.52561585e-02 9.99680980e-01 -2.55342627e-04 -1.38936199e-02] [-1.97408171e-02 -2.43361981e-04 9.99805101e-01 -1.32546988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.936559995 meters 0.017201574789908962 Centerline is valid? [True, True] Translation: X:5.98, Y:-0.01, Z:-0.13 [[ 9.99474182e-01 2.57292547e-02 1.97323192e-02 5.98197953e+00] [-2.57291323e-02 9.99668917e-01 -2.60119167e-04 -1.47430697e-02] [-1.97324789e-02 -2.47713061e-04 9.99805265e-01 -1.33157822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.966559995 meters 0.018037977096289674 Centerline is valid? [True, True] Translation: X:6.01, Y:-0.02, Z:-0.14 [[ 9.99519877e-01 2.52606397e-02 1.79419916e-02 6.01392209e+00] [-2.52603806e-02 9.99680877e-01 -2.41110778e-04 -1.51448779e-02] [-1.79423565e-02 -2.12226521e-04 9.99839000e-01 -1.35257270e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.996559994999999 meters 0.018880907237340597 Centerline is valid? [True, True] Translation: X:6.05, Y:-0.02, Z:-0.14 [[ 9.99537673e-01 2.48357013e-02 1.75393354e-02 6.04554320e+00] [-2.48353093e-02 9.99691527e-01 -2.40194487e-04 -1.55777417e-02] [-1.75398904e-02 -1.95511382e-04 9.99846145e-01 -1.36905864e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.0265599949999995 meters 0.017786365795703498 Centerline is valid? [True, True] Translation: X:6.08, Y:-0.02, Z:-0.14 [[ 9.99554071e-01 2.42959190e-02 1.73599608e-02 6.07818775e+00] [-2.42953775e-02 9.99704794e-01 -2.42123697e-04 -1.79022372e-02] [-1.73607187e-02 -1.79751075e-04 9.99849275e-01 -1.37089092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.056559995 meters 0.018600345938398852 Centerline is valid? [True, True] Translation: X:6.11, Y:-0.02, Z:-0.14 [[ 9.99575467e-01 2.34318716e-02 1.73157107e-02 6.10973933e+00] [-2.34311169e-02 9.99725423e-01 -2.46492428e-04 -1.79805227e-02] [-1.73167320e-02 -1.59338658e-04 9.99850041e-01 -1.37998254e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.086559995 meters 0.016942718353813346 Centerline is valid? [True, True] Translation: X:6.14, Y:-0.02, Z:-0.14 [[ 9.99573729e-01 2.30404993e-02 1.79302834e-02 6.14258600e+00] [-2.30395528e-02 9.99734521e-01 -2.59380063e-04 -1.90100193e-02] [-1.79314995e-02 -1.53836214e-04 9.99839206e-01 -1.37820276e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.116559994999999 meters 0.01711216289540966 Centerline is valid? [True, True] Translation: X:6.18, Y:-0.02, Z:-0.14 [[ 9.99546683e-01 2.40227627e-02 1.81475808e-02 6.17584278e+00] [-2.40218635e-02 9.99711398e-01 -2.67564218e-04 -1.86648167e-02] [-1.81487710e-02 -1.68495782e-04 9.99835283e-01 -1.38312724e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.146559995 meters 0.018591987822089834 Centerline is valid? [True, True] Translation: X:6.21, Y:-0.02, Z:-0.14 [[ 9.99541031e-01 2.42006694e-02 1.82223867e-02 6.20729771e+00] [-2.41996983e-02 9.99707107e-01 -2.73831403e-04 -1.88024837e-02] [-1.82236764e-02 -1.67270537e-04 9.99833921e-01 -1.39722562e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.176559995 meters 0.018386615304349818 Centerline is valid? [True, True] Translation: X:6.24, Y:-0.02, Z:-0.14 [[ 9.99522059e-01 2.46897414e-02 1.86029855e-02 6.24069914e+00] [-2.46887217e-02 9.99695147e-01 -2.84507981e-04 -1.89274298e-02] [-1.86043388e-02 -1.74911930e-04 9.99826909e-01 -1.39844241e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.206559994999999 meters 0.0162923707823515 Centerline is valid? [True, True] Translation: X:6.27, Y:-0.02, Z:-0.14 [[ 9.99518044e-01 2.45004727e-02 1.90632110e-02 6.27323794e+00] [-2.44992643e-02 9.99699804e-01 -2.96957043e-04 -2.03666077e-02] [-1.90647639e-02 -1.70220724e-04 9.99818236e-01 -1.39808647e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.2365599949999995 meters 0.017432740853077024 Centerline is valid? [True, True] Translation: X:6.31, Y:-0.02, Z:-0.14 [[ 9.99546944e-01 2.38945193e-02 1.83019004e-02 6.30575714e+00] [-2.38932154e-02 9.99714474e-01 -2.89937458e-04 -2.28513015e-02] [-1.83036026e-02 -1.47485148e-04 9.99832464e-01 -1.40962129e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.266559995 meters 0.01743474067729897 Centerline is valid? [True, True] Translation: X:6.34, Y:-0.02, Z:-0.14 [[ 9.99532469e-01 2.40977215e-02 1.88187007e-02 6.33758146e+00] [-2.40962749e-02 9.99709596e-01 -3.03649343e-04 -2.16909803e-02] [-1.88205530e-02 -1.49953209e-04 9.99822866e-01 -1.40889121e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.296559995 meters 0.017625769377039822 Centerline is valid? [True, True] Translation: X:6.37, Y:-0.02, Z:-0.14 [[ 9.99516773e-01 2.48025749e-02 1.87363869e-02 6.36981708e+00] [-2.48011721e-02 9.99692356e-01 -3.07263010e-04 -2.07166907e-02] [-1.87382437e-02 -1.57569825e-04 9.99824411e-01 -1.41774257e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.326559994999999 meters 0.017720650992232353 Centerline is valid? [True, True] Translation: X:6.40, Y:-0.02, Z:-0.14 [[ 9.99490955e-01 2.59221090e-02 1.85977262e-02 6.40294516e+00] [-2.59208318e-02 9.99663951e-01 -3.09765733e-04 -2.02628515e-02] [-1.85995063e-02 -1.72460486e-04 9.99826999e-01 -1.43049491e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.356559995 meters 0.017952766863222492 Centerline is valid? [True, True] Translation: X:6.44, Y:-0.02, Z:-0.14 [[ 9.99485166e-01 2.65083921e-02 1.80750816e-02 6.43628325e+00] [-2.65071943e-02 9.99648576e-01 -3.05886493e-04 -2.05582742e-02] [-1.80768381e-02 -1.73390688e-04 9.99836586e-01 -1.43965545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.386559995 meters 0.019037378223174212 Centerline is valid? [True, True] Translation: X:6.47, Y:-0.02, Z:-0.14 [[ 9.99466761e-01 2.72056783e-02 1.80567256e-02 6.46891324e+00] [-2.72045044e-02 9.99629841e-01 -3.10686736e-04 -2.05238378e-02] [-1.80584942e-02 -1.80703205e-04 9.99836916e-01 -1.44841315e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.416559995 meters 0.018144771712954942 Centerline is valid? [True, True] Translation: X:6.50, Y:-0.02, Z:-0.14 [[ 9.99452736e-01 2.78446722e-02 1.78578304e-02 6.50054370e+00] [-2.78435358e-02 9.99612245e-01 -3.12312893e-04 -2.06185223e-02] [-1.78596022e-02 -1.85083165e-04 9.99840487e-01 -1.44995500e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.446559994999999 meters 0.019235579538733533 Centerline is valid? [True, True] Translation: X:6.53, Y:-0.02, Z:-0.15 [[ 9.99433083e-01 2.88731258e-02 1.73163505e-02 6.53376769e+00] [-2.88721357e-02 9.99583066e-01 -3.07228481e-04 -2.06630009e-02] [-1.73180014e-02 -1.92905713e-04 9.99850014e-01 -1.46184489e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.476559995 meters 0.0181572811333795 Centerline is valid? [True, True] Translation: X:6.57, Y:-0.02, Z:-0.15 [[ 9.99410329e-01 2.97452710e-02 1.71526476e-02 6.56621903e+00] [-2.97443459e-02 9.99557491e-01 -3.09102929e-04 -2.08121908e-02] [-1.71542517e-02 -2.01273623e-04 9.99852835e-01 -1.46368145e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.506559995 meters 0.01913876238051903 Centerline is valid? [True, True] Translation: X:6.60, Y:-0.02, Z:-0.15 [[ 9.99396615e-01 3.02576553e-02 1.70552236e-02 6.59784427e+00] [-3.02567292e-02 9.99542112e-01 -3.12390487e-04 -2.11145594e-02] [-1.70568664e-02 -2.03833286e-04 9.99854500e-01 -1.47552325e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.536559994999999 meters 0.020127609640432614 Centerline is valid? [True, True] Translation: X:6.63, Y:-0.02, Z:-0.15 [[ 9.99382294e-01 3.07538141e-02 1.70068685e-02 6.63107652e+00] [-3.07529194e-02 9.99526968e-01 -3.14188104e-04 -2.16568161e-02] [-1.70084862e-02 -2.09016830e-04 9.99855323e-01 -1.49101500e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.5665599949999995 meters 0.020008031516054153 Centerline is valid? [True, True] Translation: X:6.66, Y:-0.02, Z:-0.15 [[ 9.99368430e-01 3.12926424e-02 1.68377911e-02 6.66317801e+00] [-3.12917618e-02 9.99510243e-01 -3.15819078e-04 -2.11494514e-02] [-1.68394275e-02 -2.11264534e-04 9.99858184e-01 -1.49779230e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.596559995 meters 0.018307029560456073 Centerline is valid? [True, True] Translation: X:6.70, Y:-0.02, Z:-0.15 [[ 9.99370403e-01 3.14911047e-02 1.63434420e-02 6.69605698e+00] [-3.14902348e-02 9.99504011e-01 -3.10632255e-04 -2.18844379e-02] [-1.63451180e-02 -2.04222145e-04 9.99866389e-01 -1.49749714e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.626559995 meters 0.019067461594154934 Centerline is valid? [True, True] Translation: X:6.73, Y:-0.02, Z:-0.15 [[ 9.99357472e-01 3.20702417e-02 1.60044402e-02 6.72894400e+00] [-3.20694117e-02 9.99485597e-01 -3.08566730e-04 -2.18715468e-02] [-1.60061033e-02 -2.04884515e-04 9.99871873e-01 -1.51488404e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.656559994999999 meters 0.01925411827336565 Centerline is valid? [True, True] Translation: X:6.76, Y:-0.02, Z:-0.15 [[ 9.99344645e-01 3.26814256e-02 1.55629262e-02 6.76215740e+00] [-3.26806494e-02 9.99465799e-01 -3.04263351e-04 -2.16629176e-02] [-1.55645563e-02 -2.04542585e-04 9.99878844e-01 -1.52284318e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.686559995 meters 0.01944572942707458 Centerline is valid? [True, True] Translation: X:6.79, Y:-0.02, Z:-0.15 [[ 9.99325069e-01 3.33719717e-02 1.53531355e-02 6.79412696e+00] [-3.33712319e-02 9.99442979e-01 -3.04446606e-04 -2.10326614e-02] [-1.53547434e-02 -2.08111920e-04 9.99882087e-01 -1.53039811e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.716559995 meters 0.01963389227214568 Centerline is valid? [True, True] Translation: X:6.83, Y:-0.02, Z:-0.15 [[ 9.99296249e-01 3.44644077e-02 1.48057642e-02 6.82643531e+00] [-3.44637845e-02 9.99405903e-01 -2.97312076e-04 -2.14427419e-02] [-1.48072148e-02 -2.13159822e-04 9.99890344e-01 -1.53471892e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.746559994999999 meters 0.02034085313473026 Centerline is valid? [True, True] Translation: X:6.86, Y:-0.02, Z:-0.15 [[ 9.99258454e-01 3.59013266e-02 1.39153667e-02 6.85845162e+00] [-3.59008717e-02 9.99355316e-01 -2.82565288e-04 -2.07990179e-02] [-1.39165402e-02 -2.17218043e-04 9.99903137e-01 -1.54619049e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.7765599949999995 meters 0.019857806369040873 Centerline is valid? [True, True] Translation: X:6.89, Y:-0.02, Z:-0.15 [[ 9.99225531e-01 3.67531989e-02 1.40548888e-02 6.89110043e+00] [-3.67527727e-02 9.99324347e-01 -2.88703468e-04 -2.07829097e-02] [-1.40560034e-02 -2.28076258e-04 9.99901183e-01 -1.54931111e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.806559995 meters 0.020738323099413918 Centerline is valid? [True, True] Translation: X:6.92, Y:-0.02, Z:-0.16 [[ 9.99201668e-01 3.74801665e-02 1.38298312e-02 6.92353411e+00] [-3.74797698e-02 9.99297345e-01 -2.87955300e-04 -2.09812162e-02] [-1.38309062e-02 -2.30613473e-04 9.99904322e-01 -1.55937441e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.836559995 meters 0.021519819905084857 Centerline is valid? [True, True] Translation: X:6.96, Y:-0.02, Z:-0.16 [[ 9.99190634e-01 3.80342356e-02 1.30947719e-02 6.95682461e+00] [-3.80338879e-02 9.99276412e-01 -2.75673074e-04 -2.15799163e-02] [-1.30957817e-02 -2.22595133e-04 9.99914222e-01 -1.56346036e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.866559994999999 meters 0.020797814669906812 Centerline is valid? [True, True] Translation: X:6.99, Y:-0.02, Z:-0.16 [[ 9.99184882e-01 3.84895268e-02 1.21708208e-02 6.98937994e+00] [-3.84892235e-02 9.99258982e-01 -2.59232956e-04 -2.13539464e-02] [-1.21717797e-02 -2.09423792e-04 9.99925899e-01 -1.56290641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.896559995 meters 0.021871953704183007 Centerline is valid? [True, True] Translation: X:7.02, Y:-0.02, Z:-0.16 [[ 9.99178805e-01 3.89433519e-02 1.11862380e-02 7.02078633e+00] [-3.89430904e-02 9.99241401e-01 -2.41281791e-04 -2.07633612e-02] [-1.11871485e-02 -1.94543027e-04 9.99937403e-01 -1.57743072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.926559995 meters 0.0209461845509345 Centerline is valid? [True, True] Translation: X:7.05, Y:-0.02, Z:-0.16 [[ 9.99210717e-01 3.85276289e-02 9.67289833e-03 7.05331543e+00] [-3.85274004e-02 9.99257522e-01 -2.10033950e-04 -2.25572720e-02] [-9.67380853e-03 -1.62803453e-04 9.99953194e-01 -1.57716123e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.956559994999999 meters 0.022725112603406046 Centerline is valid? [True, True] Translation: X:7.09, Y:-0.02, Z:-0.16 [[ 9.99039895e-01 4.28064795e-02 9.32165515e-03 7.08528438e+00] [-4.28064111e-02 9.99083364e-01 -2.06946268e-04 -1.75790578e-02] [-9.32196923e-03 -1.92279025e-04 9.99956531e-01 -1.58166849e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.9865599949999995 meters 0.023394941010719938 Centerline is valid? [True, True] Translation: X:7.12, Y:-0.02, Z:-0.16 [[ 9.99032972e-01 4.32809831e-02 7.73808652e-03 7.11616758e+00] [-4.32809620e-02 9.99062926e-01 -1.70258874e-04 -1.81051180e-02] [-7.73820433e-03 -1.64817600e-04 9.99970046e-01 -1.60064259e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.016559995 meters 0.022339802278228044 Centerline is valid? [True, True] Translation: X:7.15, Y:-0.02, Z:-0.16 [[ 9.99069220e-01 4.27131866e-02 6.02310057e-03 7.14876306e+00] [-4.27131656e-02 9.99087368e-01 -1.32168042e-04 -1.98345880e-02] [-6.02324901e-03 -1.25220669e-04 9.99981852e-01 -1.60405364e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.046559994999999 meters 0.022234093972352324 Centerline is valid? [True, True] Translation: X:7.18, Y:-0.02, Z:-0.16 [[ 9.99130165e-01 4.13867327e-02 5.10409250e-03 7.18126246e+00] [-4.13866947e-02 9.99143197e-01 -1.13111785e-04 -2.18033245e-02] [-5.10440062e-03 -9.82281212e-05 9.99986968e-01 -1.61361827e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.076559995 meters 0.022784850737627625 Centerline is valid? [True, True] Translation: X:7.21, Y:-0.02, Z:-0.16 [[ 9.99141424e-01 4.11759529e-02 4.57766564e-03 7.21386678e+00] [-4.11759200e-02 9.99151907e-01 -1.01482286e-04 -2.30444265e-02] [-4.57796198e-03 -8.70944385e-05 9.99989517e-01 -1.61967924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.106559995 meters 0.0217120091391456 Centerline is valid? [True, True] Translation: X:7.25, Y:-0.02, Z:-0.16 [[ 9.99208305e-01 3.95947873e-02 3.87494968e-03 7.24628584e+00] [-3.95947487e-02 9.99215817e-01 -8.67043954e-05 -2.46957339e-02] [-3.87534405e-03 -6.67919067e-05 9.99992489e-01 -1.61389679e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.136559994999999 meters 0.02263622532691084 Centerline is valid? [True, True] Translation: X:7.28, Y:-0.02, Z:-0.16 [[ 9.99233557e-01 3.90273906e-02 3.02676788e-03 7.27895488e+00] [-3.90273672e-02 9.99238140e-01 -6.68425244e-05 -2.47997552e-02] [-3.02707059e-03 -5.13354878e-05 9.99995417e-01 -1.62014713e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.166559995 meters 0.0221574946327182 Centerline is valid? [True, True] Translation: X:7.31, Y:-0.03, Z:-0.16 [[ 9.99317775e-01 3.68926616e-02 1.70743230e-03 7.31115280e+00] [-3.68926531e-02 9.99319234e-01 -3.64567954e-05 -2.65916448e-02] [-1.70761492e-03 -2.65597839e-05 9.99998542e-01 -1.62793031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.196559995 meters 0.021561988756261898 Centerline is valid? [True, True] Translation: X:7.34, Y:-0.03, Z:-0.16 [[ 9.99454717e-01 3.30191130e-02 8.69089075e-05 7.34174016e+00] [-3.30191133e-02 9.99454720e-01 2.26637236e-06 -3.18149686e-02] [-8.67866842e-05 -5.13479161e-06 9.99999996e-01 -1.63888408e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.226559994999999 meters 0.021078603503189023 Centerline is valid? [True, True] Translation: X:7.37, Y:-0.04, Z:-0.16 [[ 9.99663511e-01 2.59171624e-02 -1.07966888e-03 7.37389418e+00] [-2.59171437e-02 9.99664094e-01 3.13154050e-05 -4.07302242e-02] [ 1.08011782e-03 -3.32293412e-06 9.99999417e-01 -1.62182609e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.256559995 meters 0.02198061802157992 Centerline is valid? [True, True] Translation: X:7.41, Y:-0.04, Z:-0.16 [[ 9.99737371e-01 2.28850934e-02 -1.20908177e-03 7.40630710e+00] [-2.28850672e-02 9.99738102e-01 3.54836368e-05 -4.47976841e-02] [ 1.20957716e-03 -7.80440013e-06 9.99999268e-01 -1.62847273e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.286559995 meters 0.021277149842565672 Centerline is valid? [True, True] Translation: X:7.44, Y:-0.05, Z:-0.16 [[ 9.99847600e-01 1.74575342e-02 1.06960495e-04 7.43867962e+00] [-1.74575346e-02 9.99847606e-01 2.35801810e-06 -4.83455848e-02] [-1.06903029e-04 -4.22492527e-06 9.99999994e-01 -1.61867116e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.316559995 meters 0.022310491255939535 Centerline is valid? [True, True] Translation: X:7.47, Y:-0.05, Z:-0.16 [[ 9.99925770e-01 1.21031403e-02 1.40320027e-03 7.47026393e+00] [-1.21031085e-02 9.99926754e-01 -3.11868445e-05 -5.19258850e-02] [-1.40347495e-03 1.42014444e-05 9.99999015e-01 -1.60879226e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.346559995 meters 0.022310491255939535 Centerline is valid? [True, True] Translation: X:7.50, Y:-0.05, Z:-0.16 [[ 9.99922395e-01 1.23787785e-02 1.40321680e-03 7.50267115e+00] [-1.23787478e-02 9.99923380e-01 -3.05627341e-05 -5.28184722e-02] [-1.40348761e-03 1.31902954e-05 9.99999015e-01 -1.61517410e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.376559995 meters 0.02374149055874105 Centerline is valid? [True, True] Translation: X:7.53, Y:-0.06, Z:-0.16 [[ 9.99949284e-01 9.89464717e-03 1.87758255e-03 7.53389229e+00] [-9.89458163e-03 9.99951046e-01 -4.41951517e-05 -5.61246481e-02] [-1.87792793e-03 2.56150164e-05 9.99998236e-01 -1.61813644e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.406559995 meters 0.02387550468841156 Centerline is valid? [True, True] Translation: X:7.57, Y:-0.06, Z:-0.16 [[ 9.99961872e-01 8.46266919e-03 2.15372411e-03 7.56584353e+00] [-8.46257780e-03 9.99964190e-01 -5.15408177e-05 -5.83518390e-02] [-2.15408315e-03 3.33127947e-05 9.99997679e-01 -1.61060814e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.436559995 meters 0.023733899845060028 Centerline is valid? [True, True] Translation: X:7.60, Y:-0.06, Z:-0.16 [[ 9.99978983e-01 6.09585676e-03 2.20760285e-03 7.59703557e+00] [-6.09575284e-03 9.99981419e-01 -5.37989706e-05 -6.27339569e-02] [-2.20788978e-03 4.03408386e-05 9.99997562e-01 -1.60947649e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.466559994999999 meters 0.023977412980013497 Centerline is valid? [True, True] Translation: X:7.63, Y:-0.06, Z:-0.16 [[ 9.99995371e-01 2.52772813e-03 1.69360594e-03 7.62928555e+00] [-2.52765838e-03 9.99996805e-01 -4.33267346e-05 -6.30830070e-02] [-1.69371005e-03 3.90456768e-05 9.99998565e-01 -1.59370014e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.496559995 meters 0.02492474536704237 Centerline is valid? [True, True] Translation: X:7.66, Y:-0.07, Z:-0.16 [[ 9.99999064e-01 -9.56853025e-04 9.78466210e-04 7.66068709e+00] [ 9.56874665e-04 9.99999542e-01 -2.16481786e-05 -6.72568260e-02] [-9.78445048e-04 2.25844278e-05 9.99999521e-01 -1.60623159e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.526559995 meters 0.02695400132367061 Centerline is valid? [True, True] Translation: X:7.69, Y:-0.07, Z:-0.16 [[ 9.99995178e-01 -2.77524679e-03 1.39340618e-03 7.69110144e+00] [ 2.77530072e-03 9.99996148e-01 -3.67676131e-05 -7.02930240e-02] [-1.39329877e-03 4.06345570e-05 9.99999029e-01 -1.62345891e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.556559994999999 meters 0.02565144512642367 Centerline is valid? [True, True] Translation: X:7.72, Y:-0.07, Z:-0.16 [[ 9.99966599e-01 -7.89876309e-03 2.10022416e-03 7.72115200e+00] [ 7.89889858e-03 9.99968802e-01 -5.62259451e-05 -7.10801276e-02] [-2.09971452e-03 7.28135247e-05 9.99997793e-01 -1.60560569e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.586559995 meters 0.028162249248812412 Centerline is valid? [True, True] Translation: X:7.75, Y:-0.08, Z:-0.16 [[ 9.99941664e-01 -1.04921217e-02 2.56577804e-03 7.74961921e+00] [ 1.04923337e-02 9.99944952e-01 -6.91514249e-05 -7.68547907e-02] [-2.56491125e-03 9.60683901e-05 9.99996706e-01 -1.61386139e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.616559995 meters 0.028162249248812412 Centerline is valid? [True, True] Translation: X:7.78, Y:-0.08, Z:-0.16 [[ 9.99938853e-01 -1.07567325e-02 2.56568548e-03 7.77721422e+00] [ 1.07569543e-02 9.99942140e-01 -7.26589793e-05 -7.75043011e-02] [-2.56475546e-03 1.00253498e-04 9.99996706e-01 -1.61927741e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.646559995 meters 0.027614738309896032 Centerline is valid? [True, True] Translation: X:7.81, Y:-0.08, Z:-0.16 [[ 9.99925339e-01 -1.17162532e-02 3.47056726e-03 7.80630974e+00] [ 1.17166536e-02 9.99931353e-01 -9.50492062e-05 -7.64463572e-02] [-3.46921539e-03 1.35705544e-04 9.99993973e-01 -1.61211153e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.676559995 meters 0.028118038813743352 Centerline is valid? [True, True] Translation: X:7.84, Y:-0.08, Z:-0.16 [[ 9.99887374e-01 -1.45182874e-02 3.80234023e-03 7.83554385e+00] [ 1.45187721e-02 9.99894592e-01 -9.98952680e-05 -7.80480529e-02] [-3.80048912e-03 1.55089328e-04 9.99992766e-01 -1.61338817e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.706559995 meters 0.028255549734079486 Centerline is valid? [True, True] Translation: X:7.86, Y:-0.08, Z:-0.16 [[ 9.99865345e-01 -1.60917221e-02 3.21679935e-03 7.86368589e+00] [ 1.60920788e-02 9.99870510e-01 -8.50506570e-05 -8.14294938e-02] [-3.21501420e-03 1.36804193e-04 9.99994822e-01 -1.61081629e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.736559995 meters 0.029855689962443994 Centerline is valid? [True, True] Translation: X:7.89, Y:-0.08, Z:-0.16 [[ 9.99790742e-01 -2.01769558e-02 3.37079575e-03 7.89373097e+00] [ 2.01773657e-02 9.99796412e-01 -8.76541708e-05 -8.27828022e-02] [-3.36834091e-03 1.55649607e-04 9.99994315e-01 -1.62723420e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.766559995 meters 0.029295539105713305 Centerline is valid? [True, True] Translation: X:7.92, Y:-0.09, Z:-0.16 [[ 9.99732991e-01 -2.29857062e-02 2.36734183e-03 7.92301106e+00] [ 2.29859178e-02 9.99735787e-01 -6.22050813e-05 -8.51797040e-02] [-2.36528652e-03 1.16603997e-04 9.99997196e-01 -1.63074031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.796559994999999 meters 0.030389024992806445 Centerline is valid? [True, True] Translation: X:7.95, Y:-0.09, Z:-0.16 [[ 9.99633215e-01 -2.69552696e-02 2.61686363e-03 7.95343558e+00] [ 2.69555388e-02 9.99636631e-01 -6.76589536e-05 -8.75859875e-02] [-2.61408898e-03 1.38173107e-04 9.99996574e-01 -1.63653907e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.826559995 meters 0.03189194107635671 Centerline is valid? [True, True] Translation: X:7.98, Y:-0.09, Z:-0.16 [[ 9.99596247e-01 -2.81101283e-02 4.14281903e-03 7.98106213e+00] [ 2.81108184e-02 9.99604807e-01 -1.08427496e-04 -8.92708489e-02] [-4.13813391e-03 2.24841751e-04 9.99991413e-01 -1.63866439e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.856559995 meters 0.03208540777100591 Centerline is valid? [True, True] Translation: X:8.01, Y:-0.09, Z:-0.16 [[ 9.99511231e-01 -3.08212345e-02 5.22972861e-03 8.01037801e+00] [ 3.08223657e-02 9.99524869e-01 -1.35823020e-04 -9.06002426e-02] [-5.22305757e-03 2.96949242e-04 9.99986316e-01 -1.64320471e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.886559994999999 meters 0.03318195701366673 Centerline is valid? [True, True] Translation: X:8.04, Y:-0.10, Z:-0.16 [[ 9.99374533e-01 -3.47231230e-02 6.69685915e-03 8.03927655e+00] [ 3.47250558e-02 9.99396888e-01 -1.72522986e-04 -9.59247427e-02] [-6.68682966e-03 4.04963886e-04 9.99977561e-01 -1.63718549e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.916559995 meters 0.03254443021965672 Centerline is valid? [True, True] Translation: X:8.07, Y:-0.10, Z:-0.16 [[ 9.99313708e-01 -3.62872548e-02 7.43963261e-03 8.06844067e+00] [ 3.62896995e-02 9.99341293e-01 -1.93823486e-04 -9.55653071e-02] [-7.42769875e-03 4.63672498e-04 9.99972307e-01 -1.63372784e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.946559995 meters 0.034687619656210034 Centerline is valid? [True, True] Translation: X:8.10, Y:-0.10, Z:-0.17 [[ 9.99198409e-01 -3.90835316e-02 8.66121121e-03 8.09912168e+00] [ 3.90869026e-02 9.99235791e-01 -2.20214839e-04 -9.68918698e-02] [-8.64598545e-03 5.58578235e-04 9.99962467e-01 -1.65261861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.976559994999999 meters 0.03269703544021757 Centerline is valid? [True, True] Translation: X:8.13, Y:-0.10, Z:-0.16 [[ 9.99183830e-01 -3.96166998e-02 7.88616019e-03 8.12806175e+00] [ 3.96195331e-02 9.99214817e-01 -2.03314146e-04 -9.84971309e-02] [-7.87191347e-03 5.15594191e-04 9.99968883e-01 -1.64778901e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.006559995 meters 0.03408645089781928 Centerline is valid? [True, True] Translation: X:8.16, Y:-0.10, Z:-0.17 [[ 9.99116129e-01 -4.11776638e-02 8.44747880e-03 8.15669815e+00] [ 4.11809504e-02 9.99151682e-01 -2.15413663e-04 -9.99762311e-02] [-8.43144241e-03 5.63098471e-04 9.99964296e-01 -1.65924578e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.036559995 meters 0.03427248463850731 Centerline is valid? [True, True] Translation: X:8.19, Y:-0.10, Z:-0.17 [[ 9.99062303e-01 -4.25237158e-02 8.13936864e-03 8.18658577e+00] [ 4.25267781e-02 9.99095307e-01 -2.03458590e-04 -1.02354323e-01] [-8.12335319e-03 5.49408932e-04 9.99966854e-01 -1.66558173e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.066559995 meters 0.03433264140870667 Centerline is valid? [True, True] Translation: X:8.22, Y:-0.10, Z:-0.17 [[ 9.99135058e-01 -4.05742846e-02 9.10297824e-03 8.21670790e+00] [ 4.05780293e-02 9.99176347e-01 -2.26980201e-04 -1.02762215e-01] [-9.08627099e-03 5.96164794e-04 9.99958541e-01 -1.66554184e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.096559995 meters 0.03423750578214011 Centerline is valid? [True, True] Translation: X:8.25, Y:-0.10, Z:-0.17 [[ 9.99144593e-01 -4.02890637e-02 9.32064118e-03 8.24554093e+00] [ 4.02929968e-02 9.99187880e-01 -2.34496023e-04 -1.03215312e-01] [-9.30362407e-03 6.09851998e-04 9.99956534e-01 -1.67089489e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.126559995 meters 0.03506726706529672 Centerline is valid? [True, True] Translation: X:8.27, Y:-0.10, Z:-0.17 [[ 9.99199084e-01 -3.87602879e-02 9.94135919e-03 8.27375918e+00] [ 3.87646443e-02 9.99248338e-01 -2.45824354e-04 -1.03176094e-01] [-9.92435843e-03 6.31000723e-04 9.99950553e-01 -1.68467633e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.156559995 meters 0.03260945373212593 Centerline is valid? [True, True] Translation: X:8.30, Y:-0.10, Z:-0.17 [[ 9.99277559e-01 -3.67848073e-02 9.55191090e-03 8.30375267e+00] [ 3.67887289e-02 9.99323038e-01 -2.35120350e-04 -1.00981428e-01] [-9.53679576e-03 5.86353150e-04 9.99954352e-01 -1.69586411e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.186559995 meters 0.0313413682840773 Centerline is valid? [True, True] Translation: X:8.33, Y:-0.10, Z:-0.17 [[ 9.99295422e-01 -3.62408756e-02 9.76003656e-03 8.33271607e+00] [ 3.62449638e-02 9.99342906e-01 -2.42260473e-04 -1.00909695e-01] [-9.74484356e-03 5.95841953e-04 9.99952340e-01 -1.70053994e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.216559994999999 meters 0.03292643336423079 Centerline is valid? [True, True] Translation: X:8.36, Y:-0.10, Z:-0.17 [[ 9.99332083e-01 -3.50857890e-02 1.02164683e-02 8.36057060e+00] [ 3.50901664e-02 9.99384119e-01 -2.49476645e-04 -1.02134674e-01] [-1.02014231e-02 6.07807589e-04 9.99947779e-01 -1.71241535e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.246559995 meters 0.030738402536840185 Centerline is valid? [True, True] Translation: X:8.39, Y:-0.10, Z:-0.17 [[ 9.99400244e-01 -3.30407423e-02 1.03664144e-02 8.39026393e+00] [ 3.30451253e-02 9.99453829e-01 -2.51767673e-04 -1.00137725e-01] [-1.03524340e-02 5.94176136e-04 9.99946236e-01 -1.71692772e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.276559995 meters 0.031948685470217744 Centerline is valid? [True, True] Translation: X:8.42, Y:-0.10, Z:-0.17 [[ 9.99480747e-01 -3.01511741e-02 1.13641136e-02 8.41932032e+00] [ 3.01562501e-02 9.99545159e-01 -2.75546171e-04 -1.01290393e-01] [-1.13506366e-02 6.18102143e-04 9.99935388e-01 -1.72274501e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.306559994999999 meters 0.02871382891011305 Centerline is valid? [True, True] Translation: X:8.45, Y:-0.10, Z:-0.17 [[ 9.99651596e-01 -2.38558456e-02 1.12953800e-02 8.44997353e+00] [ 2.38604525e-02 9.99715262e-01 -2.73246606e-04 -9.61244608e-02] [-1.12856452e-02 5.42664282e-04 9.99936168e-01 -1.73258162e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.336559995 meters 0.029458214509940753 Centerline is valid? [True, True] Translation: X:8.48, Y:-0.10, Z:-0.17 [[ 9.99731399e-01 -2.04256952e-02 1.09508700e-02 8.47927519e+00] [ 2.04298225e-02 9.99791254e-01 -2.65147406e-04 -9.85490034e-02] [-1.09431682e-02 4.88800517e-04 9.99940002e-01 -1.74006254e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.366559995 meters 0.02763202780005676 Centerline is valid? [True, True] Translation: X:8.51, Y:-0.10, Z:-0.17 [[ 9.99788677e-01 -1.75872468e-02 1.06438134e-02 8.50927056e+00] [ 1.75909801e-02 9.99845234e-01 -2.57219698e-04 -9.79066761e-02] [-1.06376423e-02 4.44400452e-04 9.99943320e-01 -1.74907881e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.396559994999999 meters 0.02648860407690801 Centerline is valid? [True, True] Translation: X:8.54, Y:-0.10, Z:-0.18 [[ 9.99809173e-01 -1.69384541e-02 9.73176771e-03 8.53920737e+00] [ 1.69415446e-02 9.99856454e-01 -2.35220924e-04 -9.60768639e-02] [-9.72638648e-03 4.00047214e-04 9.99952618e-01 -1.76320411e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.426559995 meters 0.02468469146166503 Centerline is valid? [True, True] Translation: X:8.57, Y:-0.09, Z:-0.18 [[ 9.99850133e-01 -1.34465517e-02 1.09042318e-02 8.56951808e+00] [ 1.34502211e-02 9.99909507e-01 -2.63244762e-04 -9.37739562e-02] [-1.08997053e-02 4.09869639e-04 9.99940512e-01 -1.75886136e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.456559995 meters 0.024281613672610104 Centerline is valid? [True, True] Translation: X:8.60, Y:-0.09, Z:-0.18 [[ 9.99876954e-01 -1.14320242e-02 1.07417637e-02 8.60037650e+00] [ 1.14354573e-02 9.99934580e-01 -2.58229327e-04 -9.48923608e-02] [-1.07381089e-02 3.81034533e-04 9.99942272e-01 -1.77237784e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.486559995 meters 0.025015859154531445 Centerline is valid? [True, True] Translation: X:8.63, Y:-0.10, Z:-0.18 [[ 9.99894737e-01 -1.00575348e-02 1.04575782e-02 8.63135760e+00] [ 1.00607137e-02 9.99949358e-01 -2.51411342e-04 -9.51973876e-02] [-1.04545200e-02 3.56595578e-04 9.99945286e-01 -1.78566804e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.516559995 meters 0.02365763113855493 Centerline is valid? [True, True] Translation: X:8.66, Y:-0.10, Z:-0.18 [[ 9.99904243e-01 -7.91732244e-03 1.13499464e-02 8.66204880e+00] [ 7.92093423e-03 9.99968592e-01 -2.73303303e-04 -9.68762696e-02] [-1.13474261e-02 3.63179311e-04 9.99935550e-01 -1.78165151e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.546559994999999 meters 0.023916724236399907 Centerline is valid? [True, True] Translation: X:8.69, Y:-0.10, Z:-0.18 [[ 9.99905036e-01 -6.91805934e-03 1.19188489e-02 8.69440881e+00] [ 6.92197356e-03 9.99976002e-01 -2.87183731e-04 -9.67136995e-02] [-1.19165761e-02 3.69658416e-04 9.99928927e-01 -1.79107038e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.576559995 meters 0.02151924501864693 Centerline is valid? [True, True] Translation: X:8.73, Y:-0.09, Z:-0.18 [[ 9.99906832e-01 -4.25284101e-03 1.29707481e-02 8.72552062e+00] [ 4.25726806e-03 9.99990889e-01 -3.13718203e-04 -9.46543033e-02] [-1.29692957e-02 3.68908926e-04 9.99915827e-01 -1.78340342e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.606559995 meters 0.022366003929692704 Centerline is valid? [True, True] Translation: X:8.76, Y:-0.09, Z:-0.18 [[ 9.99911979e-01 -3.47161647e-03 1.28055627e-02 8.75740519e+00] [ 3.47586997e-03 9.99993911e-01 -3.09919297e-04 -9.39488693e-02] [-1.28044088e-02 3.54402488e-04 9.99917957e-01 -1.80064540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.636559994999999 meters 0.022931985102962075 Centerline is valid? [True, True] Translation: X:8.79, Y:-0.10, Z:-0.18 [[ 9.99920146e-01 -3.85201034e-03 1.20359678e-02 8.78989243e+00] [ 3.85580439e-03 9.99992524e-01 -2.92036621e-04 -9.55393583e-02] [-1.20347529e-02 3.38421638e-04 9.99927522e-01 -1.81506170e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.666559995 meters 0.021490784807232537 Centerline is valid? [True, True] Translation: X:8.82, Y:-0.10, Z:-0.18 [[ 9.99914824e-01 -2.80835033e-03 1.27459266e-02 8.82168468e+00] [ 2.81253262e-03 9.99995997e-01 -3.10214653e-04 -9.62872106e-02] [-1.27450044e-02 3.46036565e-04 9.99918719e-01 -1.81352089e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.696559995 meters 0.023089084264935153 Centerline is valid? [True, True] Translation: X:8.85, Y:-0.10, Z:-0.18 [[ 9.99913189e-01 -3.18771020e-03 1.27848805e-02 8.85311211e+00] [ 3.19195482e-03 9.99994857e-01 -3.11611763e-04 -1.02205678e-01] [-1.27838215e-02 3.52393473e-04 9.99918222e-01 -1.82653744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.726559994999999 meters 0.024418538282038535 Centerline is valid? [True, True] Translation: X:8.89, Y:-0.10, Z:-0.18 [[ 9.99912041e-01 -3.59651530e-03 1.27662077e-02 8.88508177e+00] [ 3.60080757e-03 9.99993468e-01 -3.13251825e-04 -1.02376574e-01] [-1.27649977e-02 3.59192929e-04 9.99918460e-01 -1.83862978e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.756559995 meters 0.020824311371024713 Centerline is valid? [True, True] Translation: X:8.92, Y:-0.10, Z:-0.18 [[ 9.99910349e-01 -3.63801598e-03 1.28863908e-02 8.91761420e+00] [ 3.64239439e-03 9.99993316e-01 -3.16316515e-04 -1.00302752e-01] [-1.28851539e-02 3.63225474e-04 9.99916917e-01 -1.82878355e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.786559995 meters 0.022169434619016114 Centerline is valid? [True, True] Translation: X:8.95, Y:-0.10, Z:-0.18 [[ 9.99913615e-01 -5.20146614e-03 1.20709256e-02 8.94913532e+00] [ 5.20544840e-03 9.99986407e-01 -2.98509816e-04 -1.02865568e-01] [-1.20692088e-02 3.61318610e-04 9.99927099e-01 -1.84745836e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.816559995 meters 0.021367806297715605 Centerline is valid? [True, True] Translation: X:8.98, Y:-0.10, Z:-0.18 [[ 9.99912861e-01 -5.33163655e-03 1.20765891e-02 8.98120551e+00] [ 5.33565528e-03 9.99985720e-01 -3.00575080e-04 -1.04315953e-01] [-1.20748141e-02 3.64985404e-04 9.99927030e-01 -1.84536353e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.846559995 meters 0.021917238074884247 Centerline is valid? [True, True] Translation: X:9.01, Y:-0.10, Z:-0.19 [[ 9.99912922e-01 -4.27711795e-03 1.24841374e-02 9.01380950e+00] [ 4.28134005e-03 9.99990787e-01 -3.11491276e-04 -1.03974714e-01] [-1.24826900e-02 3.64912989e-04 9.99922022e-01 -1.85300000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.876559995 meters 0.023009452541444396 Centerline is valid? [True, True] Translation: X:9.05, Y:-0.11, Z:-0.19 [[ 9.99923965e-01 -3.54161844e-03 1.18118658e-02 9.04525914e+00] [ 3.54536084e-03 9.99993671e-01 -2.95909517e-04 -1.05435802e-01] [-1.18107430e-02 3.37764344e-04 9.99930194e-01 -1.86877484e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.906559995 meters 0.02111356319379055 Centerline is valid? [True, True] Translation: X:9.08, Y:-0.11, Z:-0.19 [[ 9.99917143e-01 -2.10491745e-03 1.26994775e-02 9.07785902e+00] [ 2.10913322e-03 9.99997725e-01 -3.18579827e-04 -1.05079759e-01] [-1.26987780e-02 3.45338320e-04 9.99919308e-01 -1.87062708e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.936559995 meters 0.022005963911807657 Centerline is valid? [True, True] Translation: X:9.11, Y:-0.11, Z:-0.19 [[ 9.99917755e-01 -2.10256375e-03 1.26515649e-02 9.11060387e+00] [ 2.10676177e-03 9.99997730e-01 -3.18499816e-04 -1.05720162e-01] [-1.26508665e-02 3.45127454e-04 9.99919915e-01 -1.88874146e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.966559994999999 meters 0.021266161224135233 Centerline is valid? [True, True] Translation: X:9.14, Y:-0.11, Z:-0.19 [[ 9.99909531e-01 -2.26040518e-03 1.32597464e-02 9.14354308e+00] [ 2.26504918e-03 9.99997379e-01 -3.35226187e-04 -1.05506352e-01] [-1.32589538e-02 3.65229837e-04 9.99912030e-01 -1.89044738e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.996559995 meters 0.021485730089232335 Centerline is valid? [True, True] Translation: X:9.17, Y:-0.10, Z:-0.19 [[ 9.99900855e-01 -1.06473667e-03 1.40408935e-02 9.17435824e+00] [ 1.06985217e-03 9.99999364e-01 -3.56822533e-04 -1.04677070e-01] [-1.40405046e-02 3.71808836e-04 9.99901358e-01 -1.90163716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.026559995 meters 0.021524442656850416 Centerline is valid? [True, True] Translation: X:9.21, Y:-0.11, Z:-0.19 [[ 9.99913005e-01 -2.00392951e-03 1.30371447e-02 9.20665741e+00] [ 2.00841162e-03 9.99997928e-01 -3.30712046e-04 -1.07433713e-01] [-1.30364550e-02 3.56867228e-04 9.99914958e-01 -1.91551028e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.056559994999999 meters 0.022524879220469207 Centerline is valid? [True, True] Translation: X:9.24, Y:-0.11, Z:-0.19 [[ 9.99914366e-01 -3.95784845e-03 1.24738488e-02 9.23777990e+00] [ 3.96213878e-03 9.99992100e-01 -3.19251969e-04 -1.11267999e-01] [-1.24724867e-02 3.68647750e-04 9.99922148e-01 -1.92368578e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.086559995 meters 0.02254916468187372 Centerline is valid? [True, True] Translation: X:9.27, Y:-0.11, Z:-0.19 [[ 9.99898587e-01 -6.64516343e-03 1.25959594e-02 9.26997336e+00] [ 6.64979866e-03 9.99977837e-01 -3.26146574e-04 -1.12801948e-01] [-1.25935129e-02 4.09874092e-04 9.99920615e-01 -1.92600663e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.116559995 meters 0.022813503286601627 Centerline is valid? [True, True] Translation: X:9.30, Y:-0.11, Z:-0.19 [[ 9.99875962e-01 -7.67185282e-03 1.37551432e-02 9.30226501e+00] [ 7.67749194e-03 9.99970464e-01 -3.57205142e-04 -1.13019154e-01] [-1.37519965e-02 4.62765836e-04 9.99905330e-01 -1.92538963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.146559994999999 meters 0.024394532560381724 Centerline is valid? [True, True] Translation: X:9.33, Y:-0.12, Z:-0.19 [[ 9.99817920e-01 -1.19494494e-02 1.48774337e-02 9.33235484e+00] [ 1.19565394e-02 9.99928443e-01 -3.87700371e-04 -1.17989384e-01] [-1.48717363e-02 5.65512400e-04 9.99889250e-01 -1.92463746e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.176559995 meters 0.025182111322286278 Centerline is valid? [True, True] Translation: X:9.36, Y:-0.12, Z:-0.19 [[ 9.99778042e-01 -1.41711974e-02 1.55898878e-02 9.36433200e+00] [ 1.41792537e-02 9.99899387e-01 -4.06343618e-04 -1.19780756e-01] [-1.55825608e-02 6.27306400e-04 9.99878388e-01 -1.93104425e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.206559995 meters 0.02440531696325085 Centerline is valid? [True, True] Translation: X:9.40, Y:-0.12, Z:-0.19 [[ 9.99745648e-01 -1.60989873e-02 1.57943672e-02 9.39630335e+00] [ 1.61075130e-02 9.99870180e-01 -4.12722240e-04 -1.18607005e-01] [-1.57856724e-02 6.67025239e-04 9.99875176e-01 -1.93960373e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.236559995 meters 0.02474461425190963 Centerline is valid? [True, True] Translation: X:9.43, Y:-0.12, Z:-0.20 [[ 9.99717712e-01 -1.78350727e-02 1.56973522e-02 9.42766705e+00] [ 1.78437263e-02 9.99840703e-01 -4.11375794e-04 -1.20392446e-01] [-1.56875147e-02 6.91358923e-04 9.99876704e-01 -1.95114771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.266559995 meters 0.026513854279051133 Centerline is valid? [True, True] Translation: X:9.46, Y:-0.12, Z:-0.20 [[ 9.99723414e-01 -1.67856657e-02 1.64722793e-02 9.45770160e+00] [ 1.67950633e-02 9.99858860e-01 -4.32329558e-04 -1.23309527e-01] [-1.64626975e-02 7.08862956e-04 9.99864229e-01 -1.95164556e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.296559994999999 meters 0.023480761772720585 Centerline is valid? [True, True] Translation: X:9.49, Y:-0.12, Z:-0.20 [[ 9.99740524e-01 -1.58360443e-02 1.63739047e-02 9.48881390e+00] [ 1.58452064e-02 9.99874364e-01 -4.29964051e-04 -1.18424384e-01] [-1.63650386e-02 6.89300385e-04 9.99865846e-01 -1.96936966e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.326559995 meters 0.02379569200715842 Centerline is valid? [True, True] Translation: X:9.52, Y:-0.12, Z:-0.20 [[ 9.99742457e-01 -1.62934705e-02 1.57968832e-02 9.51989545e+00] [ 1.63020623e-02 9.99867026e-01 -4.15267129e-04 -1.20407277e-01] [-1.57880165e-02 6.72681955e-04 9.99875135e-01 -1.98712790e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.356559995 meters 0.024316364177669955 Centerline is valid? [True, True] Translation: X:9.55, Y:-0.12, Z:-0.20 [[ 9.99748728e-01 -1.61782619e-02 1.55159397e-02 9.55209272e+00] [ 1.61865479e-02 9.99868906e-01 -4.08592417e-04 -1.21176654e-01] [-1.55072954e-02 6.59639251e-04 9.99879537e-01 -2.00258637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.386559994999999 meters 0.023584218371235078 Centerline is valid? [True, True] Translation: X:9.58, Y:-0.12, Z:-0.20 [[ 9.99772083e-01 -1.26068349e-02 1.72293383e-02 9.58189876e+00] [ 1.26165486e-02 9.99920305e-01 -4.55203435e-04 -1.18858055e-01] [-1.72222266e-02 6.72474471e-04 9.99851460e-01 -2.01828820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.416559995 meters 0.022921949137989995 Centerline is valid? [True, True] Translation: X:9.61, Y:-0.12, Z:-0.20 [[ 9.99782108e-01 -1.18902438e-02 1.71568665e-02 9.61387066e+00] [ 1.18997677e-02 9.99929093e-01 -4.53119922e-04 -1.18929844e-01] [-1.71502622e-02 6.57183917e-04 9.99852707e-01 -2.02639396e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.446559995 meters 0.02396858529746203 Centerline is valid? [True, True] Translation: X:9.65, Y:-0.12, Z:-0.20 [[ 9.99792470e-01 -1.16235459e-02 1.67305248e-02 9.64640116e+00] [ 1.16325836e-02 9.99932241e-01 -4.42970813e-04 -1.19687240e-01] [-1.67242422e-02 6.37498111e-04 9.99859937e-01 -2.04189104e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.476559994999999 meters 0.022848065991975922 Centerline is valid? [True, True] Translation: X:9.68, Y:-0.12, Z:-0.20 [[ 9.99788896e-01 -1.14601283e-02 1.70537013e-02 9.67884825e+00] [ 1.14695152e-02 9.99934120e-01 -4.52720356e-04 -1.20075505e-01] [-1.70473896e-02 6.48222471e-04 9.99854473e-01 -2.04696631e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.506559995 meters 0.022848065991975922 Centerline is valid? [True, True] Translation: X:9.71, Y:-0.12, Z:-0.21 [[ 9.99789679e-01 -1.13916428e-02 1.70536702e-02 9.71049757e+00] [ 1.14010396e-02 9.99934903e-01 -4.53889582e-04 -1.20977164e-01] [-1.70473895e-02 6.48223688e-04 9.99854473e-01 -2.05318840e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.536559995 meters 0.022575300818759438 Centerline is valid? [True, True] Translation: X:9.74, Y:-0.12, Z:-0.21 [[ 9.99785661e-01 -1.14184732e-02 1.72699141e-02 9.74283746e+00] [ 1.14281346e-02 9.99934591e-01 -4.60844000e-04 -1.22270867e-01] [-1.72635224e-02 6.58108126e-04 9.99850758e-01 -2.06787485e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.566559994999999 meters 0.022739243350231284 Centerline is valid? [True, True] Translation: X:9.77, Y:-0.12, Z:-0.21 [[ 9.99776778e-01 -1.18761738e-02 1.74743015e-02 9.77358600e+00] [ 1.18861571e-02 9.99929248e-01 -4.67562327e-04 -1.24429387e-01] [-1.74675123e-02 6.75160250e-04 9.99847203e-01 -2.08032841e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.596559995 meters 0.023335716884917673 Centerline is valid? [True, True] Translation: X:9.80, Y:-0.13, Z:-0.21 [[ 9.99776642e-01 -1.17502778e-02 1.75669308e-02 9.80495009e+00] [ 1.17603617e-02 9.99930734e-01 -4.70829021e-04 -1.26527706e-01] [-1.75601816e-02 6.77317318e-04 9.99845579e-01 -2.08987066e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.626559995 meters 0.02108132371207974 Centerline is valid? [True, True] Translation: X:9.84, Y:-0.12, Z:-0.21 [[ 9.99770257e-01 -1.20514485e-02 1.77255541e-02 9.83719091e+00] [ 1.20617996e-02 9.99927140e-01 -4.77167555e-04 -1.23300822e-01] [-1.77185120e-02 6.90860010e-04 9.99842776e-01 -2.10357011e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.656559995 meters 0.02321264355526521 Centerline is valid? [True, True] Translation: X:9.87, Y:-0.13, Z:-0.21 [[ 9.99747272e-01 -1.41613103e-02 1.74599661e-02 9.86830347e+00] [ 1.41716965e-02 9.99899465e-01 -4.71270400e-04 -1.29523025e-01] [-1.74515370e-02 7.18588638e-04 9.99847452e-01 -2.12038329e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.686559995 meters 0.0235071473939814 Centerline is valid? [True, True] Translation: X:9.90, Y:-0.13, Z:-0.21 [[ 9.99736596e-01 -1.45892132e-02 1.77170347e-02 9.90080631e+00] [ 1.45999910e-02 9.99893300e-01 -4.79129145e-04 -1.31492564e-01] [-1.77081541e-02 7.37671487e-04 9.99842926e-01 -2.12529169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.716559994999999 meters 0.02313592168764487 Centerline is valid? [True, True] Translation: X:9.93, Y:-0.13, Z:-0.21 [[ 9.99728122e-01 -1.39534027e-02 1.86811257e-02 9.93304861e+00] [ 1.39653000e-02 9.99902352e-01 -5.06548869e-04 -1.31235675e-01] [-1.86722335e-02 7.67298675e-04 9.99825364e-01 -2.13024211e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.746559995 meters 0.02319115990024814 Centerline is valid? [True, True] Translation: X:9.97, Y:-0.13, Z:-0.21 [[ 9.99726035e-01 -1.39917629e-02 1.87639315e-02 9.96537155e+00] [ 1.40037968e-02 9.99901812e-01 -5.10084665e-04 -1.31685621e-01] [-1.87549521e-02 7.72711204e-04 9.99823812e-01 -2.13676318e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.776559995 meters 0.023976209854101302 Centerline is valid? [True, True] Translation: X:10.00, Y:-0.13, Z:-0.21 [[ 9.99722859e-01 -1.41227142e-02 1.88348941e-02 9.99613061e+00] [ 1.41348874e-02 9.99899966e-01 -5.13331576e-04 -1.34259773e-01] [-1.88257604e-02 7.79418418e-04 9.99822476e-01 -2.14461692e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.806559994999999 meters 0.02290220813364919 Centerline is valid? [True, True] Translation: X:10.03, Y:-0.13, Z:-0.22 [[ 9.99727866e-01 -1.40936467e-02 1.85893063e-02 1.00282464e+01] [ 1.41055166e-02 9.99900383e-01 -5.07560460e-04 -1.33959028e-01] [-1.85803011e-02 7.69634103e-04 9.99827075e-01 -2.15001244e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.836559995 meters 0.024136188225242203 Centerline is valid? [True, True] Translation: X:10.06, Y:-0.14, Z:-0.22 [[ 9.99737650e-01 -1.37428551e-02 1.83238863e-02 1.00589973e+01] [ 1.37543529e-02 9.99905279e-01 -5.01588412e-04 -1.35488237e-01] [-1.83152574e-02 7.53490019e-04 9.99831978e-01 -2.16542526e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.866559995 meters 0.022983656971563893 Centerline is valid? [True, True] Translation: X:10.09, Y:-0.13, Z:-0.22 [[ 9.99746332e-01 -1.32914638e-02 1.81826243e-02 1.00913217e+01] [ 1.33027269e-02 9.99911390e-01 -4.98629335e-04 -1.34819165e-01] [-1.81743856e-02 7.40381334e-04 9.99834558e-01 -2.17613116e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.896559994999999 meters 0.02382371902387708 Centerline is valid? [True, True] Translation: X:10.12, Y:-0.13, Z:-0.22 [[ 9.99767109e-01 -1.14291577e-02 1.83057952e-02 1.01240640e+01] [ 1.14402849e-02 9.99934431e-01 -5.03241142e-04 -1.33526249e-01] [-1.82988433e-02 7.12547454e-04 9.99832308e-01 -2.18878995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.926559995 meters 0.021641239571904804 Centerline is valid? [True, True] Translation: X:10.16, Y:-0.13, Z:-0.22 [[ 9.99794094e-01 -8.14900852e-03 1.85839616e-02 1.01559235e+01] [ 8.15994542e-03 9.99966576e-01 -5.12758679e-04 -1.29780273e-01] [-1.85791620e-02 6.64297211e-04 9.99827172e-01 -2.20168089e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.956559995 meters 0.02173418571374791 Centerline is valid? [True, True] Translation: X:10.19, Y:-0.13, Z:-0.22 [[ 9.99800320e-01 -7.97129087e-03 1.83242844e-02 1.01885728e+01] [ 7.98191625e-03 9.99968016e-01 -5.06786689e-04 -1.31462253e-01] [-1.83196586e-02 6.52948397e-04 9.99831968e-01 -2.21311251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.986559995 meters 0.02189856684877574 Centerline is valid? [True, True] Translation: X:10.22, Y:-0.13, Z:-0.22 [[ 9.99814060e-01 -8.05378703e-03 1.75208853e-02 1.02201698e+01] [ 8.06354538e-03 9.99967371e-01 -4.86380036e-04 -1.34032500e-01] [-1.75163964e-02 6.27570053e-04 9.99846379e-01 -2.22333831e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.016559995 meters 0.022917085684672246 Centerline is valid? [True, True] Translation: X:10.25, Y:-0.14, Z:-0.22 [[ 9.99816646e-01 -8.60568313e-03 1.71060383e-02 1.02507888e+01] [ 8.61508580e-03 9.99962776e-01 -4.76054044e-04 -1.38251986e-01] [-1.71013048e-02 6.23336746e-04 9.99853568e-01 -2.23100534e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.046559994999999 meters 0.022197257102328855 Centerline is valid? [True, True] Translation: X:10.28, Y:-0.14, Z:-0.22 [[ 9.99822733e-01 -9.27776169e-03 1.63837099e-02 1.02829275e+01] [ 9.28648922e-03 9.99956775e-01 -4.56695143e-04 -1.39003771e-01] [-1.63787646e-02 6.08761331e-04 9.99865674e-01 -2.23765856e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.076559995 meters 0.02377326912016169 Centerline is valid? [True, True] Translation: X:10.31, Y:-0.14, Z:-0.22 [[ 9.99827234e-01 -8.27476688e-03 1.66442456e-02 1.03136909e+01] [ 8.28365222e-03 9.99965582e-01 -4.64965832e-04 -1.38553870e-01] [-1.66398252e-02 6.02760644e-04 9.99861367e-01 -2.24863042e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.106559995 meters 0.022569326154708608 Centerline is valid? [True, True] Translation: X:10.35, Y:-0.14, Z:-0.23 [[ 9.99833679e-01 -7.12746930e-03 1.67873218e-02 1.03457085e+01] [ 7.13638395e-03 9.99974425e-01 -4.71189046e-04 -1.37517286e-01] [-1.67835341e-02 5.90911451e-04 9.99858972e-01 -2.25310010e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.136559994999999 meters 0.02241412790994342 Centerline is valid? [True, True] Translation: X:10.38, Y:-0.14, Z:-0.23 [[ 9.99839759e-01 -6.69851382e-03 1.66008002e-02 1.03780145e+01] [ 6.70719096e-03 9.99977397e-01 -4.67072135e-04 -1.38336934e-01] [-1.65972963e-02 5.78342028e-04 9.99862088e-01 -2.26100239e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.166559995 meters 0.021782344381337047 Centerline is valid? [True, True] Translation: X:10.41, Y:-0.14, Z:-0.23 [[ 9.99848876e-01 -6.20758530e-03 1.62385375e-02 1.04106311e+01] [ 6.21583966e-03 9.99980577e-01 -4.57896755e-04 -1.39943745e-01] [-1.62353797e-02 5.58763702e-04 9.99868041e-01 -2.26434789e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.196559995 meters 0.021665838551604578 Centerline is valid? [True, True] Translation: X:10.44, Y:-0.14, Z:-0.23 [[ 9.99851934e-01 -4.94111509e-03 1.64831697e-02 1.04429185e+01] [ 4.94947248e-03 9.99987643e-01 -4.66269611e-04 -1.39038021e-01] [-1.64806621e-02 5.47783567e-04 9.99864035e-01 -2.26428648e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.226559994999999 meters 0.02173994739733361 Centerline is valid? [True, True] Translation: X:10.47, Y:-0.14, Z:-0.23 [[ 9.99835316e-01 -2.59103335e-03 1.79618356e-02 1.04741169e+01] [ 2.60060410e-03 9.99996489e-01 -5.09500561e-04 -1.37854693e-01] [-1.79604524e-02 5.56128278e-04 9.99838543e-01 -2.27121098e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.256559995 meters 0.020509869177094596 Centerline is valid? [True, True] Translation: X:10.51, Y:-0.14, Z:-0.23 [[ 9.99833265e-01 -1.60624761e-03 1.81896090e-02 1.05053413e+01] [ 1.61591726e-03 9.99998561e-01 -5.16918138e-04 -1.38394063e-01] [-1.81887525e-02 5.46224853e-04 9.99834422e-01 -2.27102206e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.286559995 meters 0.020584002533545302 Centerline is valid? [True, True] Translation: X:10.54, Y:-0.14, Z:-0.23 [[ 9.99835804e-01 -1.53785811e-03 1.80554959e-02 1.05380751e+01] [ 1.54738957e-03 9.99998671e-01 -5.13939304e-04 -1.38459365e-01] [-1.80546815e-02 5.41793803e-04 9.99836854e-01 -2.28379058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.316559994999999 meters 0.02038679213484448 Centerline is valid? [True, True] Translation: X:10.57, Y:-0.14, Z:-0.23 [[ 9.99836455e-01 -2.11041856e-03 1.79613034e-02 1.05702960e+01] [ 2.11997236e-03 9.99997621e-01 -5.12886339e-04 -1.38951812e-01] [-1.79601783e-02 5.50879926e-04 9.99838551e-01 -2.29747884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.346559995 meters 0.02261278838957155 Centerline is valid? [True, True] Translation: X:10.60, Y:-0.14, Z:-0.23 [[ 9.99846290e-01 -2.46113845e-03 1.73591018e-02 1.06011719e+01] [ 2.47018643e-03 9.99996824e-01 -4.99801515e-04 -1.43853591e-01] [-1.73578166e-02 5.42604908e-04 9.99849195e-01 -2.30913512e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.376559995 meters 0.022277192034027043 Centerline is valid? [True, True] Translation: X:10.63, Y:-0.14, Z:-0.23 [[ 9.99855073e-01 -2.83774322e-03 1.67863099e-02 1.06327416e+01] [ 2.84631790e-03 9.99995831e-01 -4.86944431e-04 -1.44676209e-01] [-1.67848581e-02 5.34653034e-04 9.99858981e-01 -2.31911825e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.406559995 meters 0.022110082173398545 Centerline is valid? [True, True] Translation: X:10.66, Y:-0.15, Z:-0.23 [[ 9.99860301e-01 -3.39933903e-03 1.63652846e-02 1.06643094e+01] [ 3.40762118e-03 9.99994080e-01 -4.78221374e-04 -1.46393564e-01] [-1.63635621e-02 5.33921258e-04 9.99865965e-01 -2.32625964e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.436559995 meters 0.02123578661601022 Centerline is valid? [True, True] Translation: X:10.70, Y:-0.15, Z:-0.23 [[ 9.99861059e-01 -3.67555930e-03 1.62589230e-02 1.06961173e+01] [ 3.68383763e-03 9.99993100e-01 -4.79235623e-04 -1.46978706e-01] [-1.62570494e-02 5.39064270e-04 9.99867700e-01 -2.33628360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.466559994999999 meters 0.021567484334274946 Centerline is valid? [True, True] Translation: X:10.73, Y:-0.15, Z:-0.23 [[ 9.99865782e-01 -3.51214561e-03 1.60025844e-02 1.07277481e+01] [ 3.52015052e-03 9.99993693e-01 -4.72085945e-04 -1.49332241e-01] [-1.60008254e-02 5.28354088e-04 9.99871839e-01 -2.34388304e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.496559995 meters 0.02140857904132513 Centerline is valid? [True, True] Translation: X:10.76, Y:-0.15, Z:-0.23 [[ 9.99870888e-01 -1.84178381e-03 1.59629362e-02 1.07601300e+01] [ 1.84961306e-03 9.99998176e-01 -4.75714424e-04 -1.49998231e-01] [-1.59620309e-02 5.05178259e-04 9.99872471e-01 -2.34485157e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.526559995 meters 0.02047876784959557 Centerline is valid? [True, True] Translation: X:10.79, Y:-0.15, Z:-0.23 [[ 9.99857651e-01 7.95007635e-04 1.68536774e-02 1.07927074e+01] [-7.86635996e-04 9.99999564e-01 -5.03348266e-04 -1.48149778e-01] [-1.68540702e-02 4.90018905e-04 9.99857840e-01 -2.34980324e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.556559994999999 meters 0.020732492541224033 Centerline is valid? [True, True] Translation: X:10.82, Y:-0.15, Z:-0.24 [[ 9.99864651e-01 2.43476415e-03 1.62711739e-02 1.08240535e+01] [-2.42715149e-03 9.99996936e-01 -4.87593170e-04 -1.49002453e-01] [-1.62723112e-02 4.48034571e-04 9.99867497e-01 -2.36473163e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.586559995 meters 0.020019623178340912 Centerline is valid? [True, True] Translation: X:10.85, Y:-0.15, Z:-0.24 [[ 9.99862658e-01 3.71909114e-03 1.61503337e-02 1.08547816e+01] [-3.71169582e-03 9.99992993e-01 -4.87855117e-04 -1.50409586e-01] [-1.61520349e-02 4.27842988e-04 9.99869456e-01 -2.37020201e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.616559995 meters 0.019892368709059097 Centerline is valid? [True, True] Translation: X:10.89, Y:-0.15, Z:-0.24 [[ 9.99833687e-01 7.83142072e-03 1.64702185e-02 1.08862453e+01] [-7.82424373e-03 9.99969265e-01 -5.00149363e-04 -1.47717068e-01] [-1.64736292e-02 3.71199178e-04 9.99864232e-01 -2.39098666e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.646559994999999 meters 0.018745629763294698 Centerline is valid? [True, True] Translation: X:10.92, Y:-0.15, Z:-0.24 [[ 9.99832858e-01 9.15047053e-03 1.58279682e-02 1.09184810e+01] [-9.14401209e-03 9.99958077e-01 -4.80363506e-04 -1.46673244e-01] [-1.58317002e-02 3.35552085e-04 9.99874614e-01 -2.39455455e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.676559995 meters 0.019678221924702387 Centerline is valid? [True, True] Translation: X:10.95, Y:-0.15, Z:-0.24 [[ 9.99817399e-01 1.14038838e-02 1.53336501e-02 1.09495907e+01] [-1.13980253e-02 9.99934930e-01 -4.69410299e-04 -1.47303631e-01] [-1.53380055e-02 2.94551251e-04 9.99882322e-01 -2.41022225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.706559995 meters 0.018515515383264586 Centerline is valid? [True, True] Translation: X:10.98, Y:-0.15, Z:-0.24 [[ 9.99802810e-01 1.25374508e-02 1.53997889e-02 1.09814292e+01] [-1.25316494e-02 9.99921364e-01 -4.73159664e-04 -1.46870045e-01] [-1.54045102e-02 2.80081606e-04 9.99881304e-01 -2.41572273e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.736559995 meters 0.01789516591051338 Centerline is valid? [True, True] Translation: X:11.01, Y:-0.15, Z:-0.24 [[ 9.99805244e-01 1.20693425e-02 1.56142485e-02 1.10123289e+01] [-1.20632602e-02 9.99927119e-01 -4.83661917e-04 -1.50224379e-01] [-1.56189480e-02 2.95208979e-04 9.99877973e-01 -2.42309101e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.766559995 meters 0.01721082276190485 Centerline is valid? [True, True] Translation: X:11.04, Y:-0.15, Z:-0.24 [[ 9.99802642e-01 1.19032483e-02 1.59056808e-02 1.10444951e+01] [-1.18968551e-02 9.99929107e-01 -4.96501274e-04 -1.52727775e-01] [-1.59104632e-02 3.07175704e-04 9.99873373e-01 -2.42604129e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.796559994999999 meters 0.019653907823692456 Centerline is valid? [True, True] Translation: X:11.08, Y:-0.15, Z:-0.24 [[ 9.99814431e-01 1.18473133e-02 1.51903136e-02 1.10776987e+01] [-1.18414458e-02 9.99929774e-01 -4.76152429e-04 -1.54532254e-01] [-1.51948880e-02 2.96188794e-04 9.99884507e-01 -2.44573904e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.826559995 meters 0.01869508685810394 Centerline is valid? [True, True] Translation: X:11.11, Y:-0.15, Z:-0.24 [[ 9.99773449e-01 1.42029009e-02 1.58533479e-02 1.11089490e+01] [-1.41967258e-02 9.99899095e-01 -5.01993035e-04 -1.53868389e-01] [-1.58588780e-02 2.76813674e-04 9.99874202e-01 -2.44946374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.856559995 meters 0.018370106071888614 Centerline is valid? [True, True] Translation: X:11.14, Y:-0.15, Z:-0.25 [[ 9.99750677e-01 1.57081044e-02 1.58694193e-02 1.11409614e+01] [-1.57020783e-02 9.99876588e-01 -5.04267191e-04 -1.52698157e-01] [-1.58753819e-02 2.54958602e-04 9.99873946e-01 -2.45870311e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.886559994999999 meters 0.019004407094304857 Centerline is valid? [True, True] Translation: X:11.17, Y:-0.15, Z:-0.25 [[ 9.99752197e-01 1.64341422e-02 1.50154538e-02 1.11728006e+01] [-1.64287803e-02 9.99864923e-01 -4.80380946e-04 -1.54402045e-01] [-1.50213202e-02 2.33576315e-04 9.99887146e-01 -2.47808304e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.916559995 meters 0.0171102177566729 Centerline is valid? [True, True] Translation: X:11.21, Y:-0.15, Z:-0.25 [[ 9.99749665e-01 1.68993532e-02 1.46635200e-02 1.12054310e+01] [-1.68942389e-02 9.99857170e-01 -4.72583306e-04 -1.54734290e-01] [-1.46694119e-02 2.24735992e-04 9.99892373e-01 -2.48169214e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.946559995 meters 0.018952054591349948 Centerline is valid? [True, True] Translation: X:11.24, Y:-0.16, Z:-0.25 [[ 9.99744339e-01 1.82262888e-02 1.33813008e-02 1.12382697e+01] [-1.82221051e-02 9.99833869e-01 -4.34520287e-04 -1.56258323e-01] [-1.33869974e-02 1.90573729e-04 9.99910372e-01 -2.50401782e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.976559994999999 meters 0.018600234186312774 Centerline is valid? [True, True] Translation: X:11.27, Y:-0.16, Z:-0.25 [[ 9.99689643e-01 2.08994264e-02 1.35584577e-02 1.12690713e+01] [-2.08953197e-02 9.99781570e-01 -4.44495976e-04 -1.55847809e-01] [-1.35647859e-02 1.61049715e-04 9.99907981e-01 -2.50904688e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.006559995 meters 0.017484483070918534 Centerline is valid? [True, True] Translation: X:11.30, Y:-0.16, Z:-0.25 [[ 9.99659800e-01 2.21457691e-02 1.37785888e-02 1.13009034e+01] [-2.21416036e-02 9.99754741e-01 -4.54810210e-04 -1.55854505e-01] [-1.37852816e-02 1.49575433e-04 9.99904967e-01 -2.51788916e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.036559995 meters 0.017574727397277064 Centerline is valid? [True, True] Translation: X:11.33, Y:-0.15, Z:-0.25 [[ 9.99597650e-01 2.50943147e-02 1.32217401e-02 1.13330355e+01] [-2.50906970e-02 9.99685082e-01 -4.39449447e-04 -1.54054665e-01] [-1.32286040e-02 1.07529960e-04 9.99912492e-01 -2.53138866e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.066559994999999 meters 0.01702239301031645 Centerline is valid? [True, True] Translation: X:11.37, Y:-0.15, Z:-0.25 [[ 9.99588847e-01 2.57597121e-02 1.25926270e-02 1.13661586e+01] [-2.57564507e-02 9.99668159e-01 -4.21130004e-04 -1.54593392e-01] [-1.25992965e-02 9.66154784e-05 9.99920621e-01 -2.54092777e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.096559995 meters 0.018023785066491507 Centerline is valid? [True, True] Translation: X:11.40, Y:-0.16, Z:-0.26 [[ 9.99570210e-01 2.66909270e-02 1.21239684e-02 1.13982027e+01] [-2.66879239e-02 9.99643730e-01 -4.09451330e-04 -1.55603234e-01] [-1.21305776e-02 8.57118062e-05 9.99926418e-01 -2.55373811e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.126559995 meters 0.016317181125328043 Centerline is valid? [True, True] Translation: X:11.43, Y:-0.16, Z:-0.26 [[ 9.99536777e-01 2.76918398e-02 1.26250781e-02 1.14303496e+01] [-2.76886394e-02 9.99616504e-01 -4.28249003e-04 -1.56570665e-01] [-1.26320954e-02 7.84793931e-05 9.99920209e-01 -2.55632967e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.156559995 meters 0.0174285068911702 Centerline is valid? [True, True] Translation: X:11.46, Y:-0.16, Z:-0.26 [[ 9.99522698e-01 2.84847504e-02 1.19580359e-02 1.14634871e+01] [-2.84819079e-02 9.99594225e-01 -4.07975303e-04 -1.58221732e-01] [-1.19648047e-02 6.71928977e-05 9.99928417e-01 -2.56347798e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.186559995 meters 0.01732505014503492 Centerline is valid? [True, True] Translation: X:11.49, Y:-0.16, Z:-0.26 [[ 9.99502628e-01 2.92295288e-02 1.18377033e-02 1.14949477e+01] [-2.92267556e-02 9.99572724e-01 -4.07235945e-04 -1.59295641e-01] [-1.18445486e-02 6.10557362e-05 9.99929849e-01 -2.58067079e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.216559994999999 meters 0.01593501825265889 Centerline is valid? [True, True] Translation: X:11.53, Y:-0.16, Z:-0.26 [[ 9.99480206e-01 2.96805178e-02 1.25850746e-02 1.15279364e+01] [-2.96773757e-02 9.99559434e-01 -4.36386976e-04 -1.59883499e-01] [-1.25924822e-02 6.26681582e-05 9.99920710e-01 -2.58586806e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.246559995 meters 0.015536046179656015 Centerline is valid? [True, True] Translation: X:11.56, Y:-0.16, Z:-0.26 [[ 9.99472713e-01 2.99656354e-02 1.25042282e-02 1.15607316e+01] [-2.99625132e-02 9.99550928e-01 -4.36997040e-04 -1.61279503e-01] [-1.25117078e-02 6.21085138e-05 9.99921724e-01 -2.59438424e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.276559995 meters 0.015642811396959857 Centerline is valid? [True, True] Translation: X:11.59, Y:-0.16, Z:-0.26 [[ 9.99448224e-01 3.07221145e-02 1.26253460e-02 1.15936763e+01] [-3.07189474e-02 9.99527963e-01 -4.44750398e-04 -1.61697171e-01] [-1.26330500e-02 5.66676554e-05 9.99920198e-01 -2.59941610e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.306559994999999 meters 0.015296798692848338 Centerline is valid? [True, True] Translation: X:11.62, Y:-0.16, Z:-0.26 [[ 9.99380085e-01 3.24836209e-02 1.35742607e-02 1.16249955e+01] [-3.24800609e-02 9.99472267e-01 -4.82696528e-04 -1.60590727e-01] [-1.35827769e-02 4.15044831e-05 9.99907749e-01 -2.60651986e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.336559995 meters 0.014372581901841595 Centerline is valid? [True, True] Translation: X:11.66, Y:-0.16, Z:-0.26 [[ 9.99303591e-01 3.42825258e-02 1.47323331e-02 1.16571694e+01] [-3.42784747e-02 9.99412181e-01 -5.27480569e-04 -1.60491695e-01] [-1.47417565e-02 2.21113211e-05 9.99891334e-01 -2.61215898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.366559995 meters 0.016180064270176424 Centerline is valid? [True, True] Translation: X:11.69, Y:-0.16, Z:-0.26 [[ 9.99302415e-01 3.48535670e-02 1.34131175e-02 1.16905133e+01] [-3.48502259e-02 9.99392430e-01 -4.82819891e-04 -1.62114812e-01] [-1.34217961e-02 1.50329072e-05 9.99909924e-01 -2.62445985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.396559994999999 meters 0.015026725359990833 Centerline is valid? [True, True] Translation: X:11.72, Y:-0.16, Z:-0.26 [[ 9.99290725e-01 3.48997849e-02 1.41439499e-02 1.17221513e+01] [-3.48960143e-02 9.99390817e-01 -5.13376032e-04 -1.63604254e-01] [-1.41532503e-02 1.94444309e-05 9.99899838e-01 -2.63077695e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.426559995 meters 0.015026725359990833 Centerline is valid? [True, True] Translation: X:11.75, Y:-0.16, Z:-0.26 [[ 9.99281324e-01 3.51680048e-02 1.41438218e-02 1.17545437e+01] [-3.51642114e-02 9.99381414e-01 -5.16876731e-04 -1.64873965e-01] [-1.41532501e-02 1.91489252e-05 9.99899838e-01 -2.63715987e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.456559995 meters 0.014226508175054166 Centerline is valid? [True, True] Translation: X:11.79, Y:-0.17, Z:-0.27 [[ 9.99300680e-01 3.47117328e-02 1.39013032e-02 1.17873616e+01] [-3.47079735e-02 9.99397366e-01 -5.11663622e-04 -1.66527144e-01] [-1.39106865e-02 2.88197444e-05 9.99903241e-01 -2.65530514e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.486559995 meters 0.014591424840834505 Centerline is valid? [True, True] Translation: X:11.82, Y:-0.17, Z:-0.27 [[ 9.99300296e-01 3.49564084e-02 1.33029023e-02 1.18206154e+01] [-3.49529440e-02 9.99388838e-01 -4.92898873e-04 -1.67567090e-01] [-1.33120021e-02 2.75783896e-05 9.99911391e-01 -2.66303519e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.516559995 meters 0.01589981835402263 Centerline is valid? [True, True] Translation: X:11.85, Y:-0.17, Z:-0.27 [[ 9.99312177e-01 3.50423090e-02 1.21329687e-02 1.18525934e+01] [-3.50393963e-02 9.99385829e-01 -4.52617923e-04 -1.68914177e-01] [-1.21413777e-02 2.71747048e-05 9.99926290e-01 -2.67824256e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.546559994999999 meters 0.012967878200788041 Centerline is valid? [True, True] Translation: X:11.89, Y:-0.17, Z:-0.27 [[ 9.99276565e-01 3.52478988e-02 1.42804692e-02 1.18850181e+01] [-3.52438173e-02 9.99378599e-01 -5.37453774e-04 -1.68734927e-01] [-1.42905394e-02 3.37667136e-05 9.99897884e-01 -2.68324186e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.576559995 meters 0.012903168581481293 Centerline is valid? [True, True] Translation: X:11.92, Y:-0.17, Z:-0.27 [[ 9.99246572e-01 3.60602697e-02 1.43507687e-02 1.19179651e+01] [-3.60561835e-02 9.99349617e-01 -5.43450498e-04 -1.69340046e-01] [-1.43610322e-02 2.56070961e-05 9.99896875e-01 -2.69044516e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.606559995 meters 0.013333383126380084 Centerline is valid? [True, True] Translation: X:11.95, Y:-0.17, Z:-0.27 [[ 9.99230729e-01 3.66324819e-02 1.40003868e-02 1.19508936e+01] [-3.66285964e-02 9.99328805e-01 -5.33933485e-04 -1.70159771e-01] [-1.40105492e-02 2.07082266e-05 9.99901847e-01 -2.69411514e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.636559994999999 meters 0.01253824875966403 Centerline is valid? [True, True] Translation: X:11.98, Y:-0.17, Z:-0.27 [[ 9.99222933e-01 3.65125876e-02 1.48445340e-02 1.19829783e+01] [-3.65081321e-02 9.99333193e-01 -5.71111554e-04 -1.71125632e-01] [-1.48554883e-02 2.87215544e-05 9.99889651e-01 -2.70156002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.666559995 meters 0.012475117563511013 Centerline is valid? [True, True] Translation: X:12.02, Y:-0.17, Z:-0.27 [[ 9.99224264e-01 3.66185126e-02 1.44898010e-02 1.20163541e+01] [-3.66142514e-02 9.99329317e-01 -5.59343285e-04 -1.72453240e-01] [-1.45005653e-02 2.83761649e-05 9.99894861e-01 -2.70647038e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.696559995 meters 0.0126460452232911 Centerline is valid? [True, True] Translation: X:12.05, Y:-0.17, Z:-0.27 [[ 9.99230973e-01 3.64800744e-02 1.43758830e-02 1.20492327e+01] [-3.64758079e-02 9.99334380e-01 -5.58959406e-04 -1.73920581e-01] [-1.43867050e-02 3.41576040e-05 9.99896505e-01 -2.71594851e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.726559994999999 meters 0.014629166320644277 Centerline is valid? [True, True] Translation: X:12.08, Y:-0.18, Z:-0.27 [[ 9.99264695e-01 3.64711675e-02 1.18289232e-02 1.20801943e+01] [-3.64682457e-02 9.99334705e-01 -4.62685897e-04 -1.75855179e-01] [-1.18379282e-02 3.09656043e-05 9.99929929e-01 -2.73022364e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.756559995 meters 0.014273923760590723 Centerline is valid? [True, True] Translation: X:12.11, Y:-0.18, Z:-0.27 [[ 9.99246400e-01 3.70370371e-02 1.16141756e-02 1.21126340e+01] [-3.70342342e-02 9.99313893e-01 -4.56383457e-04 -1.76761262e-01] [-1.16231102e-02 2.59174263e-05 9.99932449e-01 -2.73168708e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.786559995 meters 0.014949104484482507 Centerline is valid? [True, True] Translation: X:12.14, Y:-0.18, Z:-0.27 [[ 9.99219863e-01 3.79092354e-02 1.10704339e-02 1.21445122e+01] [-3.79067091e-02 9.99281186e-01 -4.38013409e-04 -1.77333955e-01] [-1.10790810e-02 1.80279820e-05 9.99938625e-01 -2.74569616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.816559994999999 meters 0.012896592129295224 Centerline is valid? [True, True] Translation: X:12.18, Y:-0.18, Z:-0.27 [[ 9.99177719e-01 3.86424754e-02 1.22737496e-02 1.21767116e+01] [-3.86393781e-02 9.99253101e-01 -4.89474073e-04 -1.77056560e-01] [-1.22834968e-02 1.48215363e-05 9.99924555e-01 -2.74509345e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.846559995 meters 0.013048871593212791 Centerline is valid? [True, True] Translation: X:12.21, Y:-0.18, Z:-0.28 [[ 9.99134596e-01 3.98096571e-02 1.20519919e-02 1.22089461e+01] [-3.98067146e-02 9.99207281e-01 -4.84032983e-04 -1.76442534e-01] [-1.20617072e-02 3.86389715e-06 9.99927255e-01 -2.76407606e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.876559995 meters 0.013892447315370569 Centerline is valid? [True, True] Translation: X:12.24, Y:-0.18, Z:-0.28 [[ 9.99101281e-01 4.08335745e-02 1.13688067e-02 1.22411129e+01] [-4.08310090e-02 9.99165962e-01 -4.57773789e-04 -1.76947187e-01] [-1.13780173e-02 -6.83747091e-06 9.99935268e-01 -2.77651943e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.906559995 meters 0.013116279025812187 Centerline is valid? [True, True] Translation: X:12.27, Y:-0.18, Z:-0.28 [[ 9.99075193e-01 4.13123936e-02 1.19182591e-02 1.22739377e+01] [-4.13095718e-02 9.99146279e-01 -4.82947648e-04 -1.77171481e-01] [-1.19280360e-02 -9.83716617e-06 9.99928858e-01 -2.77942695e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.936559995 meters 0.013547540544024668 Centerline is valid? [True, True] Translation: X:12.31, Y:-0.18, Z:-0.28 [[ 9.99043593e-01 4.21412399e-02 1.16625337e-02 1.23071586e+01] [-4.21385609e-02 9.99111663e-01 -4.75455888e-04 -1.78207105e-01] [-1.16722097e-02 -1.64412258e-05 9.99931877e-01 -2.77851366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.966559994999999 meters 0.013980598652207757 Centerline is valid? [True, True] Translation: X:12.34, Y:-0.18, Z:-0.28 [[ 9.98986113e-01 4.35475923e-02 1.14172126e-02 1.23389680e+01] [-4.35450793e-02 9.99051353e-01 -4.68716121e-04 -1.78306068e-01] [-1.14267931e-02 -2.89225312e-05 9.99934712e-01 -2.78453651e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.996559995 meters 0.013254540299527872 Centerline is valid? [True, True] Translation: X:12.37, Y:-0.18, Z:-0.28 [[ 9.98935958e-01 4.45342725e-02 1.19854611e-02 1.23719005e+01] [-4.45315354e-02 9.99007856e-01 -4.95279298e-04 -1.78443870e-01] [-1.19956267e-02 -3.89786830e-05 9.99928049e-01 -2.78493780e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.026559995 meters 0.015540461155266616 Centerline is valid? [True, True] Translation: X:12.40, Y:-0.18, Z:-0.28 [[ 9.98919153e-01 4.52162116e-02 1.07712533e-02 1.24033641e+01] [-4.52139999e-02 9.98977223e-01 -4.48876332e-04 -1.79069232e-01] [-1.07805332e-02 -3.86202815e-05 9.99941888e-01 -2.80049398e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.056559994999999 meters 0.01585285498306797 Centerline is valid? [True, True] Translation: X:12.44, Y:-0.18, Z:-0.28 [[ 9.98903490e-01 4.55451942e-02 1.08375907e-02 1.24359590e+01] [-4.55429722e-02 9.98962278e-01 -4.51858810e-04 -1.78887990e-01] [-1.08469243e-02 -4.22127502e-05 9.99941169e-01 -2.81043659e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.086559995 meters 0.015593493392881632 Centerline is valid? [True, True] Translation: X:12.47, Y:-0.18, Z:-0.28 [[ 9.98909051e-01 4.54331311e-02 1.07953296e-02 1.24684568e+01] [-4.54308877e-02 9.98967381e-01 -4.53077358e-04 -1.79745994e-01] [-1.08047668e-02 -3.78583318e-05 9.99941626e-01 -2.81822200e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.116559995 meters 0.013366122525528814 Centerline is valid? [True, True] Translation: X:12.50, Y:-0.18, Z:-0.28 [[ 9.98899896e-01 4.53656949e-02 1.18723395e-02 1.25008609e+01] [-4.53629278e-02 9.98970446e-01 -5.02393011e-04 -1.80223383e-01] [-1.18829077e-02 -3.67237545e-05 9.99929395e-01 -2.81732802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.146559994999999 meters 0.014170899112229561 Centerline is valid? [True, True] Translation: X:12.53, Y:-0.18, Z:-0.28 [[ 9.98894938e-01 4.56529863e-02 1.11672173e-02 1.25341029e+01] [-4.56505321e-02 9.98957358e-01 -4.74705046e-04 -1.81683040e-01] [-1.11772456e-02 -3.56089460e-05 9.99937532e-01 -2.82609972e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.176559995 meters 0.013826242578973531 Centerline is valid? [True, True] Translation: X:12.57, Y:-0.18, Z:-0.28 [[ 9.98890969e-01 4.58683748e-02 1.06265485e-02 1.25663761e+01] [-4.58661333e-02 9.98947492e-01 -4.54669907e-04 -1.82555018e-01] [-1.06362190e-02 -3.32330271e-05 9.99943433e-01 -2.84109089e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.206559995 meters 0.01768350271523139 Centerline is valid? [True, True] Translation: X:12.60, Y:-0.18, Z:-0.28 [[ 9.98893605e-01 4.61030326e-02 9.27772643e-03 1.25985786e+01] [-4.61013158e-02 9.98936689e-01 -3.98936221e-04 -1.84563558e-01] [-9.28625349e-03 -2.92205561e-05 9.99956881e-01 -2.84828695e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.236559994999999 meters 0.015659834630295476 Centerline is valid? [True, True] Translation: X:12.63, Y:-0.19, Z:-0.29 [[ 9.98888629e-01 4.61882326e-02 9.38901846e-03 1.26306053e+01] [-4.61864571e-02 9.98932754e-01 -4.05959154e-04 -1.85231857e-01] [-9.39774860e-03 -2.81375159e-05 9.99955840e-01 -2.85768578e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.266559995 meters 0.01741286906925595 Centerline is valid? [True, True] Translation: X:12.66, Y:-0.19, Z:-0.29 [[ 9.98854649e-01 4.71116467e-02 8.35963386e-03 1.26620918e+01] [-4.71102453e-02 9.98889629e-01 -3.64580996e-04 -1.85079023e-01] [-8.36752758e-03 -2.96609789e-05 9.99964991e-01 -2.88359640e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.296559994999999 meters 0.0181629620790138 Centerline is valid? [True, True] Translation: X:12.70, Y:-0.19, Z:-0.29 [[ 9.98794959e-01 4.84516035e-02 7.81487256e-03 1.26953763e+01] [-4.84504266e-02 9.98825531e-01 -3.39963732e-04 -1.85840469e-01] [-7.82216601e-03 -3.90798468e-05 9.99969406e-01 -2.88938689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.326559995 meters 0.0161407636452353 Centerline is valid? [True, True] Translation: X:12.73, Y:-0.19, Z:-0.29 [[ 9.98745319e-01 4.94715633e-02 7.76862735e-03 1.27275350e+01] [-4.94704126e-02 9.98775532e-01 -3.40339825e-04 -1.85776698e-01] [-7.77595206e-03 -4.44043932e-05 9.99969766e-01 -2.89884876e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.356559995 meters 0.017422257599356162 Centerline is valid? [True, True] Translation: X:12.76, Y:-0.19, Z:-0.29 [[ 9.98678208e-01 5.08723976e-02 7.33732615e-03 1.27582029e+01] [-5.08713934e-02 9.98705160e-01 -3.23550496e-04 -1.85994182e-01] [-7.34428528e-03 -5.01371751e-05 9.99973029e-01 -2.91279502e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.386559994999999 meters 0.017886951622055072 Centerline is valid? [True, True] Translation: X:12.79, Y:-0.19, Z:-0.29 [[ 9.98610026e-01 5.22369098e-02 7.02289824e-03 1.27912359e+01] [-5.22360190e-02 9.98634719e-01 -3.10340337e-04 -1.86258233e-01] [-7.02952123e-03 -5.69392735e-05 9.99975291e-01 -2.91356505e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.416559995 meters 0.0178378888543749 Centerline is valid? [True, True] Translation: X:12.82, Y:-0.19, Z:-0.29 [[ 9.98585994e-01 5.26227776e-02 7.54033331e-03 1.28240064e+01] [-5.26217423e-02 9.98614460e-01 -3.35764404e-04 -1.86983104e-01] [-7.54755473e-03 -6.14958449e-05 9.99971515e-01 -2.92200069e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.446559995 meters 0.017696084103063586 Centerline is valid? [True, True] Translation: X:12.86, Y:-0.19, Z:-0.29 [[ 9.98591063e-01 5.25387718e-02 7.45429820e-03 1.28572586e+01] [-5.25377424e-02 9.98618883e-01 -3.33978641e-04 -1.88073523e-01] [-7.46154977e-03 -5.81239131e-05 9.99972161e-01 -2.92646406e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.476559994999999 meters 0.017752603654413092 Centerline is valid? [True, True] Translation: X:12.89, Y:-0.19, Z:-0.29 [[ 9.98589887e-01 5.24773997e-02 8.02253428e-03 1.28886117e+01] [-5.24761790e-02 9.98622110e-01 -3.62724012e-04 -1.89071782e-01] [-8.03051492e-03 -5.87794148e-05 9.99967753e-01 -2.93741636e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.506559995 meters 0.018536945789093675 Centerline is valid? [True, True] Translation: X:12.92, Y:-0.19, Z:-0.29 [[ 9.98592619e-01 5.23846254e-02 8.28444219e-03 1.29213372e+01] [-5.23833094e-02 9.98626981e-01 -3.75910010e-04 -1.91232603e-01] [-8.29275940e-03 -5.85855364e-05 9.99965613e-01 -2.93790722e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.536559995 meters 0.01768679682551509 Centerline is valid? [True, True] Translation: X:12.95, Y:-0.19, Z:-0.29 [[ 9.98590051e-01 5.23840998e-02 8.59158413e-03 1.29541176e+01] [-5.23826619e-02 9.98627009e-01 -3.92460384e-04 -1.93204724e-01] [-8.60034665e-03 -5.81430118e-05 9.99963015e-01 -2.94039788e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.566559994999999 meters 0.018491482005796103 Centerline is valid? [True, True] Translation: X:12.99, Y:-0.20, Z:-0.30 [[ 9.98619683e-01 5.17646323e-02 8.89666593e-03 1.29860689e+01] [-5.17630397e-02 9.98659311e-01 -4.09335219e-04 -1.95200398e-01] [-8.90592736e-03 -5.17482649e-05 9.99960340e-01 -2.95161032e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.596559995 meters 0.017608881449247688 Centerline is valid? [True, True] Translation: X:13.02, Y:-0.20, Z:-0.30 [[ 9.98734806e-01 4.93126111e-02 9.85161293e-03 1.30183146e+01] [-4.93105057e-02 9.98783393e-01 -4.56646629e-04 -1.99133244e-01] [-9.86214582e-03 -2.97191331e-05 9.99951367e-01 -2.95517310e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.626559995 meters 0.017017377670062554 Centerline is valid? [True, True] Translation: X:13.05, Y:-0.20, Z:-0.30 [[ 9.98811005e-01 4.76748261e-02 1.01826609e-02 1.30502088e+01] [-4.76724665e-02 9.98862909e-01 -4.74466461e-04 -2.02056767e-01] [-1.01937024e-02 -1.15302364e-05 9.99948043e-01 -2.96727490e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.656559995 meters 0.01763297988135218 Centerline is valid? [True, True] Translation: X:13.08, Y:-0.21, Z:-0.30 [[ 9.98896486e-01 4.58205974e-02 1.03094106e-02 1.30833986e+01] [-4.58180538e-02 9.98949685e-01 -4.82900181e-04 -2.05488750e-01] [-1.03207093e-02 1.00101630e-05 9.99946740e-01 -2.97109300e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.686559995 meters 0.018366305253594128 Centerline is valid? [True, True] Translation: X:13.12, Y:-0.21, Z:-0.30 [[ 9.98967340e-01 4.42419110e-02 1.03395708e-02 1.31160464e+01] [-4.42392379e-02 9.99020847e-01 -4.87219057e-04 -2.08834201e-01] [-1.03510023e-02 2.93011916e-05 9.99946427e-01 -2.98165657e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.716559994999999 meters 0.018347119807216948 Centerline is valid? [True, True] Translation: X:13.15, Y:-0.21, Z:-0.30 [[ 9.99101981e-01 4.12568080e-02 9.64920362e-03 1.31482106e+01] [-4.12543149e-02 9.99148574e-01 -4.57357840e-04 -2.14035425e-01] [-9.65985716e-03 5.88758399e-05 9.99953341e-01 -2.98757550e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.746559995 meters 0.017288902547553355 Centerline is valid? [True, True] Translation: X:13.18, Y:-0.22, Z:-0.30 [[ 9.99144577e-01 4.02013062e-02 9.69375986e-03 1.31811544e+01] [-4.01987208e-02 9.99191598e-01 -4.61477670e-04 -2.17105898e-01] [-9.70447541e-03 7.14061651e-05 9.99952908e-01 -2.98871330e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.776559995 meters 0.018365336778671058 Centerline is valid? [True, True] Translation: X:13.21, Y:-0.22, Z:-0.30 [[ 9.99188782e-01 3.91835509e-02 9.29667858e-03 1.32125615e+01] [-3.91811023e-02 9.99232027e-01 -4.45439111e-04 -2.20224283e-01] [-9.30699286e-03 8.08236478e-05 9.99956686e-01 -2.99798785e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.806559994999999 meters 0.018399818846120596 Centerline is valid? [True, True] Translation: X:13.25, Y:-0.22, Z:-0.30 [[ 9.99222745e-01 3.82468091e-02 9.54397477e-03 1.32456695e+01] [-3.82441694e-02 9.99268319e-01 -4.59005912e-04 -2.23194952e-01] [-9.55454714e-03 9.36477597e-05 9.99954350e-01 -3.00255546e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.836559995 meters 0.01935360408622127 Centerline is valid? [True, True] Translation: X:13.28, Y:-0.23, Z:-0.30 [[ 9.99270678e-01 3.69242621e-02 9.73191197e-03 1.32767118e+01] [-3.69214147e-02 9.99318061e-01 -4.72139815e-04 -2.26158202e-01] [-9.74270881e-03 1.12479515e-04 9.99952532e-01 -3.01166226e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.866559995 meters 0.018705144285379286 Centerline is valid? [True, True] Translation: X:13.31, Y:-0.23, Z:-0.30 [[ 9.99342155e-01 3.44921123e-02 1.12049928e-02 1.33072474e+01] [-3.44881724e-02 9.99404958e-01 -5.44714228e-04 -2.31145538e-01] [-1.12171137e-02 1.57916168e-04 9.99937074e-01 -3.01194612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.896559994999999 meters 0.020175930616735577 Centerline is valid? [True, True] Translation: X:13.34, Y:-0.24, Z:-0.30 [[ 9.99389368e-01 3.32650109e-02 1.06925074e-02 1.33388885e+01] [-3.32613321e-02 9.99446553e-01 -5.21750143e-04 -2.35193952e-01] [-1.07039457e-02 1.65784506e-04 9.99942697e-01 -3.01938090e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.926559995 meters 0.019530137421433225 Centerline is valid? [True, True] Translation: X:13.37, Y:-0.24, Z:-0.30 [[ 9.99415779e-01 3.23817927e-02 1.09325628e-02 1.33709357e+01] [-3.23778655e-02 9.99475556e-01 -5.36069545e-04 -2.38693032e-01] [-1.09441882e-02 1.81783313e-04 9.99940094e-01 -3.02344007e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.956559995 meters 0.018059942016162924 Centerline is valid? [True, True] Translation: X:13.40, Y:-0.24, Z:-0.30 [[ 9.99459118e-01 3.09191796e-02 1.12015973e-02 1.34032238e+01] [-3.09149370e-02 9.99521867e-01 -5.51744971e-04 -2.39318971e-01] [-1.12133010e-02 2.05149866e-04 9.99937108e-01 -3.01186453e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.986559994999999 meters 0.02121217254644136 Centerline is valid? [True, True] Translation: X:13.43, Y:-0.25, Z:-0.30 [[ 9.99478425e-01 3.04761549e-02 1.06809371e-02 1.34341820e+01] [-3.04722448e-02 9.99535474e-01 -5.28675987e-04 -2.45299130e-01] [-1.06920875e-02 2.02928115e-04 9.99942817e-01 -3.03968263e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.016559995 meters 0.02044184687821405 Centerline is valid? [True, True] Translation: X:13.47, Y:-0.25, Z:-0.30 [[ 9.99477394e-01 3.04645564e-02 1.08096935e-02 1.34659448e+01] [-3.04605246e-02 9.99535826e-01 -5.37460268e-04 -2.47243138e-01] [-1.08210494e-02 2.07910452e-04 9.99941429e-01 -3.04978255e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.046559994999999 meters 0.019210212382426265 Centerline is valid? [True, True] Translation: X:13.50, Y:-0.25, Z:-0.30 [[ 9.99514026e-01 2.90353048e-02 1.13429892e-02 1.34983611e+01] [-2.90307404e-02 9.99578358e-01 -5.66876044e-04 -2.46654868e-01] [-1.13546659e-02 2.37305183e-04 9.99935506e-01 -3.04621591e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.076559995 meters 0.020695834214303488 Centerline is valid? [True, True] Translation: X:13.53, Y:-0.25, Z:-0.31 [[ 9.99550438e-01 2.76223553e-02 1.16587494e-02 1.35299501e+01] [-2.76174032e-02 9.99618395e-01 -5.85567939e-04 -2.49633586e-01] [-1.16704751e-02 2.63320307e-04 9.99931863e-01 -3.05419949e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.106559995 meters 0.024179300164277263 Centerline is valid? [True, True] Translation: X:13.56, Y:-0.26, Z:-0.31 [[ 9.99588864e-01 2.59562173e-02 1.21810194e-02 1.35604658e+01] [-2.59506478e-02 9.99663036e-01 -6.15088715e-04 -2.59016455e-01] [-1.21928803e-02 2.98730485e-04 9.99925619e-01 -3.07906348e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.136559994999999 meters 0.02149586200766095 Centerline is valid? [True, True] Translation: X:13.59, Y:-0.26, Z:-0.31 [[ 9.99676300e-01 2.15336776e-02 1.35497696e-02 1.35922088e+01] [-2.15263326e-02 9.99768045e-01 -6.87707672e-04 -2.59529024e-01] [-1.35614356e-02 3.95808213e-04 9.99907961e-01 -3.06636725e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.166559995 meters 0.021551652224545192 Centerline is valid? [True, True] Translation: X:13.62, Y:-0.26, Z:-0.31 [[ 9.99705250e-01 1.97405610e-02 1.41323381e-02 1.36242948e+01] [-1.97323463e-02 9.99805039e-01 -7.20485623e-04 -2.62354338e-01] [-1.41438057e-02 4.41409070e-04 9.99899874e-01 -3.07212230e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.196559995 meters 0.02330371837805461 Centerline is valid? [True, True] Translation: X:13.65, Y:-0.27, Z:-0.31 [[ 9.99738602e-01 1.78926450e-02 1.42330764e-02 1.36549772e+01] [-1.78840744e-02 9.99839801e-01 -7.29220782e-04 -2.67306642e-01] [-1.42438440e-02 4.74484768e-04 9.99898439e-01 -3.08296502e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.226559994999999 meters 0.02233339188634653 Centerline is valid? [True, True] Translation: X:13.69, Y:-0.27, Z:-0.31 [[ 9.99752934e-01 1.64896621e-02 1.49051275e-02 1.36873518e+01] [-1.64800555e-02 9.99863900e-01 -7.67121293e-04 -2.68970489e-01] [-1.49157484e-02 5.21294435e-04 9.99888618e-01 -3.08951352e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.256559995 meters 0.021571713841127774 Centerline is valid? [True, True] Translation: X:13.72, Y:-0.27, Z:-0.31 [[ 9.99764015e-01 1.38764477e-02 1.67140052e-02 1.37192526e+01] [-1.38639171e-02 9.99903517e-01 -8.65349213e-04 -2.73235910e-01] [-1.67244005e-02 6.33423422e-04 9.99859937e-01 -3.09833422e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.286559995 meters 0.02268260173527266 Centerline is valid? [True, True] Translation: X:13.75, Y:-0.28, Z:-0.31 [[ 9.99786221e-01 1.26262191e-02 1.63734675e-02 1.37516066e+01] [-1.26140177e-02 9.99920080e-01 -8.48262742e-04 -2.75982645e-01] [-1.63828693e-02 6.41546194e-04 9.99865586e-01 -3.10553167e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.316559994999999 meters 0.02268260173527266 Centerline is valid? [True, True] Translation: X:13.78, Y:-0.28, Z:-0.31 [[ 9.99782655e-01 1.29057429e-02 1.63732653e-02 1.37839923e+01] [-1.28935154e-02 9.99916512e-01 -8.52146383e-04 -2.77731513e-01] [-1.63828959e-02 6.40852226e-04 9.99865586e-01 -3.11191791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.346559995 meters 0.023670501841437503 Centerline is valid? [True, True] Translation: X:13.82, Y:-0.28, Z:-0.31 [[ 9.99790816e-01 1.20479899e-02 1.65278683e-02 1.38156048e+01] [-1.20353340e-02 9.99927199e-01 -8.64985102e-04 -2.80511264e-01] [-1.65370863e-02 6.65885747e-04 9.99863031e-01 -3.11828795e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.376559995 meters 0.022294548495902906 Centerline is valid? [True, True] Translation: X:13.85, Y:-0.28, Z:-0.31 [[ 9.99776476e-01 1.01286048e-02 1.85582799e-02 1.38471348e+01] [-1.01122219e-02 9.99948393e-01 -9.76410121e-04 -2.84170203e-01] [-1.85672119e-02 7.88526425e-04 9.99827304e-01 -3.12652067e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.406559994999999 meters 0.02475234933101493 Centerline is valid? [True, True] Translation: X:13.88, Y:-0.29, Z:-0.31 [[ 9.99813243e-01 8.43117276e-03 1.73894661e-02 1.38776436e+01] [-8.41646409e-03 9.99964159e-01 -9.18850462e-04 -2.88548920e-01] [-1.73965898e-02 7.72321044e-04 9.99848370e-01 -3.13854613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.436559995 meters 0.024276007447008228 Centerline is valid? [True, True] Translation: X:13.91, Y:-0.29, Z:-0.32 [[ 9.99808498e-01 7.62514336e-03 1.80228744e-02 1.39095973e+01] [-7.60917484e-03 9.99970594e-01 -9.54424235e-04 -2.91295251e-01] [-1.80296221e-02 8.17102258e-04 9.99837119e-01 -3.15099426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.466559994999999 meters 0.024769534158047498 Centerline is valid? [True, True] Translation: X:13.94, Y:-0.29, Z:-0.32 [[ 9.99782344e-01 9.12122344e-03 1.87634589e-02 1.39412771e+01] [-9.10408878e-03 9.99958058e-01 -9.98411981e-04 -2.91585193e-01] [-1.87717786e-02 8.27370475e-04 9.99823452e-01 -3.16455375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.496559995 meters 0.02588454199248799 Centerline is valid? [True, True] Translation: X:13.97, Y:-0.30, Z:-0.32 [[ 9.99785693e-01 9.54384001e-03 1.83707185e-02 1.39730428e+01] [-9.52740701e-03 9.99954131e-01 -9.81835437e-04 -2.95568018e-01] [-1.83792464e-02 8.06599710e-04 9.99830762e-01 -3.18153465e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.526559995 meters 0.023569016897791957 Centerline is valid? [True, True] Translation: X:14.01, Y:-0.30, Z:-0.32 [[ 9.99781744e-01 1.02968679e-02 1.81779682e-02 1.40055289e+01] [-1.02808178e-02 9.99946675e-01 -9.76174270e-04 -2.95646521e-01] [-1.81870504e-02 7.89076834e-04 9.99834291e-01 -3.19122964e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.556559994999999 meters 0.025460582217149547 Centerline is valid? [True, True] Translation: X:14.04, Y:-0.30, Z:-0.32 [[ 9.99812795e-01 1.03399892e-02 1.63542165e-02 1.40376060e+01] [-1.03269472e-02 9.99946287e-01 -8.81719289e-04 -2.98887384e-01] [-1.63624550e-02 7.12665096e-04 9.99865872e-01 -3.20307853e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.586559995 meters 0.02442069582001762 Centerline is valid? [True, True] Translation: X:14.07, Y:-0.30, Z:-0.32 [[ 9.99805614e-01 1.01550563e-02 1.68999653e-02 1.40697596e+01] [-1.01410318e-02 9.99948159e-01 -9.15348265e-04 -2.99757326e-01] [-1.69083846e-02 7.43787250e-04 9.99856766e-01 -3.21509915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.616559995 meters 0.025774249752279838 Centerline is valid? [True, True] Translation: X:14.10, Y:-0.30, Z:-0.32 [[ 9.99785986e-01 1.00422398e-02 1.80869069e-02 1.41002561e+01] [-1.00260704e-02 9.99949253e-01 -9.84442765e-04 -3.04790769e-01] [-1.80958751e-02 8.02891479e-04 9.99835934e-01 -3.22256885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.646559994999999 meters 0.023842887766839984 Centerline is valid? [True, True] Translation: X:14.13, Y:-0.30, Z:-0.32 [[ 9.99756229e-01 1.02191296e-02 1.95717243e-02 1.41327517e+01] [-1.02001359e-02 9.99947405e-01 -1.07004826e-03 -3.04465103e-01] [-1.95816298e-02 8.70153167e-04 9.99807883e-01 -3.22675956e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.676559995 meters 0.02397462767494215 Centerline is valid? [True, True] Translation: X:14.17, Y:-0.31, Z:-0.32 [[ 9.99735219e-01 1.04280784e-02 2.05121126e-02 1.41652215e+01] [-1.04071373e-02 9.99945209e-01 -1.12740000e-03 -3.06571069e-01] [-2.05227454e-02 9.13629109e-04 9.99788969e-01 -3.23027370e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.706559995 meters 0.02491498003574912 Centerline is valid? [True, True] Translation: X:14.20, Y:-0.31, Z:-0.32 [[ 9.99722190e-01 1.08577551e-02 2.09201302e-02 1.41960808e+01] [-1.08359448e-02 9.99940622e-01 -1.15563207e-03 -3.10441973e-01] [-2.09314356e-02 9.28621653e-04 9.99780482e-01 -3.23861632e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.736559994999999 meters 0.023040732559125355 Centerline is valid? [True, True] Translation: X:14.23, Y:-0.31, Z:-0.33 [[ 9.99734709e-01 1.17737498e-02 1.97962066e-02 1.42288061e+01] [-1.17543177e-02 9.99930313e-01 -1.09768258e-03 -3.09848646e-01] [-1.98077509e-02 8.64700476e-04 9.99803433e-01 -3.25590487e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.766559995 meters 0.023687560141152673 Centerline is valid? [True, True] Translation: X:14.26, Y:-0.31, Z:-0.33 [[ 9.99724288e-01 1.39720825e-02 1.88713597e-02 1.42601678e+01] [-1.39547873e-02 9.99902078e-01 -1.04785909e-03 -3.12346239e-01] [-1.88841525e-02 7.84224375e-04 9.99821371e-01 -3.27291743e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.796559994999999 meters 0.022056549153300863 Centerline is valid? [True, True] Translation: X:14.29, Y:-0.31, Z:-0.33 [[ 9.99652076e-01 1.93910615e-02 1.78805507e-02 1.42908252e+01] [-1.93763196e-02 9.99811764e-01 -9.97356535e-04 -3.09342825e-01] [-1.78965247e-02 6.50550266e-04 9.99839633e-01 -3.29192448e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.826559995 meters 0.022829568025002016 Centerline is valid? [True, True] Translation: X:14.32, Y:-0.31, Z:-0.33 [[ 9.99630229e-01 2.17452361e-02 1.63263540e-02 1.43234364e+01] [-2.17332666e-02 9.99763390e-01 -9.10225723e-04 -3.08957367e-01] [-1.63422841e-02 5.55064145e-04 9.99866302e-01 -3.30678743e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.856559995 meters 0.022725979025268926 Centerline is valid? [True, True] Translation: X:14.35, Y:-0.31, Z:-0.33 [[ 9.99584383e-01 2.42109378e-02 1.56490017e-02 1.43548027e+01] [-2.42002184e-02 9.99706750e-01 -8.74018624e-04 -3.11126831e-01] [-1.56655734e-02 4.94946109e-04 9.99877165e-01 -3.31759425e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.886559994999999 meters 0.020021497821756128 Centerline is valid? [True, True] Translation: X:14.39, Y:-0.31, Z:-0.33 [[ 9.99521408e-01 2.65372427e-02 1.58974594e-02 1.43865907e+01] [-2.65264110e-02 9.99647715e-01 -8.91864769e-04 -3.11789643e-01] [-1.59155266e-02 4.69735388e-04 9.99873230e-01 -3.31854378e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.916559995 meters 0.021053505205932382 Centerline is valid? [True, True] Translation: X:14.42, Y:-0.31, Z:-0.33 [[ 9.99503577e-01 2.76791072e-02 1.50487806e-02 1.44187319e+01] [-2.76694801e-02 9.99616767e-01 -8.47600150e-04 -3.12450309e-01] [-1.50664742e-02 4.30787448e-04 9.99886401e-01 -3.32910163e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.946559995 meters 0.01886370218943157 Centerline is valid? [True, True] Translation: X:14.45, Y:-0.31, Z:-0.33 [[ 9.99415312e-01 3.03881749e-02 1.56714158e-02 1.44500292e+01] [-3.03779967e-02 9.99538088e-01 -8.87166071e-04 -3.14576737e-01] [-1.56911364e-02 4.10581137e-04 9.99876802e-01 -3.32119986e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.976559994999999 meters 0.018163432481622638 Centerline is valid? [True, True] Translation: X:14.48, Y:-0.32, Z:-0.33 [[ 9.99362702e-01 3.20129925e-02 1.57910782e-02 1.44823035e+01] [-3.20028320e-02 9.99487377e-01 -8.95775999e-04 -3.15167113e-01] [-1.58116598e-02 3.89845901e-04 9.99874912e-01 -3.32191467e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.006559995 meters 0.019611490451502622 Centerline is valid? [True, True] Translation: X:14.51, Y:-0.32, Z:-0.33 [[ 9.99318333e-01 3.34888836e-02 1.55358817e-02 1.45137190e+01] [-3.34791681e-02 9.99439024e-01 -8.85089901e-04 -3.18108000e-01] [-1.55568072e-02 3.64358168e-04 9.99878919e-01 -3.33107467e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.036559995 meters 0.01939319483756238 Centerline is valid? [True, True] Translation: X:14.55, Y:-0.32, Z:-0.33 [[ 9.99261932e-01 3.52183554e-02 1.53381234e-02 1.45457527e+01] [-3.52090318e-02 9.99379585e-01 -8.77566464e-04 -3.19098781e-01] [-1.53595138e-02 3.36878287e-04 9.99881979e-01 -3.33654729e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.066559994999999 meters 0.01721867170721978 Centerline is valid? [True, True] Translation: X:14.58, Y:-0.32, Z:-0.33 [[ 9.99150827e-01 3.83397025e-02 1.50894795e-02 1.45777713e+01] [-3.83309811e-02 9.99264722e-01 -8.66874617e-04 -3.18337198e-01] [-1.51116203e-02 2.87743935e-04 9.99885772e-01 -3.32976171e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.096559995 meters 0.019954235484013698 Centerline is valid? [True, True] Translation: X:14.61, Y:-0.32, Z:-0.33 [[ 9.99101445e-01 3.97338531e-02 1.47486841e-02 1.46095024e+01] [-3.97256212e-02 9.99210264e-01 -8.50806761e-04 -3.20323399e-01] [-1.47708423e-02 2.64141628e-04 9.99890870e-01 -3.34381112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.126559995 meters 0.016728798254480218 Centerline is valid? [True, True] Translation: X:14.64, Y:-0.32, Z:-0.33 [[ 9.99011060e-01 4.18832767e-02 1.49229341e-02 1.46410737e+01] [-4.18750329e-02 9.99122482e-01 -8.64601566e-04 -3.21127311e-01] [-1.49460513e-02 2.38848173e-04 9.99888273e-01 -3.33632050e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.156559994999999 meters 0.019113819252362132 Centerline is valid? [True, True] Translation: X:14.67, Y:-0.32, Z:-0.33 [[ 9.98952374e-01 4.34054274e-02 1.44956350e-02 1.46720806e+01] [-4.33977578e-02 9.99057518e-01 -8.43378439e-04 -3.23108323e-01] [-1.45185803e-02 2.13416836e-04 9.99894577e-01 -3.34900580e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.186559995 meters 0.018747703906445142 Centerline is valid? [True, True] Translation: X:14.70, Y:-0.32, Z:-0.33 [[ 9.98836653e-01 4.58676861e-02 1.48827685e-02 1.47046743e+01] [-4.58598248e-02 9.98947507e-01 -8.69246507e-04 -3.22843402e-01] [-1.49069748e-02 1.85714115e-04 9.99888868e-01 -3.34744327e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.216559994999999 meters 0.018700724211043778 Centerline is valid? [True, True] Translation: X:14.74, Y:-0.32, Z:-0.33 [[ 9.98764187e-01 4.74092880e-02 1.49150445e-02 1.47365807e+01] [-4.74015098e-02 9.98875534e-01 -8.74783363e-04 -3.23804625e-01] [-1.49397459e-02 1.66706666e-04 9.99888382e-01 -3.34694641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.246559995 meters 0.016977494747132626 Centerline is valid? [True, True] Translation: X:14.77, Y:-0.33, Z:-0.33 [[ 9.98693451e-01 4.89688883e-02 1.46095761e-02 1.47681724e+01] [-4.89615406e-02 9.98800294e-01 -8.60400140e-04 -3.25180839e-01] [-1.46341817e-02 1.43968633e-04 9.99892904e-01 -3.34701332e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.276559995 meters 0.016977494747132626 Centerline is valid? [True, True] Translation: X:14.80, Y:-0.33, Z:-0.34 [[ 9.98679819e-01 4.92461803e-02 1.46093743e-02 1.48005243e+01] [-4.92388124e-02 9.98786660e-01 -8.63810120e-04 -3.27165672e-01] [-1.46341875e-02 1.43321493e-04 9.99892904e-01 -3.35339522e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.306559994999999 meters 0.018510913953389753 Centerline is valid? [True, True] Translation: X:14.83, Y:-0.33, Z:-0.34 [[ 9.98561144e-01 5.19918153e-02 1.31336526e-02 1.48311647e+01] [-5.19860528e-02 9.98647506e-01 -7.80013465e-04 -3.27826032e-01] [-1.31564437e-02 9.61243806e-05 9.99913446e-01 -3.36652952e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.336559995 meters 0.018355857879431954 Centerline is valid? [True, True] Translation: X:14.86, Y:-0.33, Z:-0.34 [[ 9.98507137e-01 5.31419326e-02 1.26266647e-02 1.48640776e+01] [-5.31366694e-02 9.98586966e-01 -7.52189255e-04 -3.29419580e-01] [-1.26487956e-02 8.01274321e-05 9.99919998e-01 -3.37379907e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.366559995 meters 0.017920769876262184 Centerline is valid? [True, True] Translation: X:14.90, Y:-0.33, Z:-0.34 [[ 9.98490863e-01 5.37497207e-02 1.12678095e-02 1.48972858e+01] [-5.37455393e-02 9.98554437e-01 -6.73789352e-04 -3.31236299e-01] [-1.12877371e-02 6.71780149e-05 9.99936289e-01 -3.38756826e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.396559994999999 meters 0.017403046691157942 Centerline is valid? [True, True] Translation: X:14.93, Y:-0.33, Z:-0.34 [[ 9.98472749e-01 5.41127167e-02 1.11347862e-02 1.49296805e+01] [-5.41086225e-02 9.98534831e-01 -6.68836859e-04 -3.32822672e-01] [-1.11546645e-02 6.53274323e-05 9.99937783e-01 -3.39305859e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.426559995 meters 0.018147786417934117 Centerline is valid? [True, True] Translation: X:14.96, Y:-0.34, Z:-0.34 [[ 9.98483126e-01 5.39196239e-02 1.11409523e-02 1.49629528e+01] [-5.39154778e-02 9.98545276e-01 -6.72374984e-04 -3.35369883e-01] [-1.11609995e-02 7.06853101e-05 9.99937712e-01 -3.40300333e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.456559995 meters 0.018234005238632438 Centerline is valid? [True, True] Translation: X:14.99, Y:-0.34, Z:-0.34 [[ 9.98492708e-01 5.36938475e-02 1.13702319e-02 1.49949639e+01] [-5.36894747e-02 9.98557442e-01 -6.89692542e-04 -3.38637103e-01] [-1.13908619e-02 7.81911974e-05 9.99935119e-01 -3.40935670e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.486559994999999 meters 0.01780862873018608 Centerline is valid? [True, True] Translation: X:15.03, Y:-0.34, Z:-0.34 [[ 9.98568429e-01 5.21855121e-02 1.17373586e-02 1.50272899e+01] [-5.21807123e-02 9.98637403e-01 -7.15015993e-04 -3.42360420e-01] [-1.17586788e-02 1.01528663e-04 9.99930859e-01 -3.39145256e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.516559995 meters 0.017829368041685383 Centerline is valid? [True, True] Translation: X:15.06, Y:-0.35, Z:-0.34 [[ 9.98580669e-01 5.18496234e-02 1.21763355e-02 1.50595668e+01] [-5.18443860e-02 9.98654897e-01 -7.45597544e-04 -3.45399850e-01] [-1.21986160e-02 1.13264659e-04 9.99925588e-01 -3.39081306e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.546559994999999 meters 0.015486708898523167 Centerline is valid? [True, True] Translation: X:15.09, Y:-0.35, Z:-0.34 [[ 9.98578619e-01 5.18988364e-02 1.21347284e-02 1.50919365e+01] [-5.18936009e-02 9.98652341e-01 -7.46134835e-04 -3.47655398e-01] [-1.21570984e-02 1.15359543e-04 9.99926093e-01 -3.38146007e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.576559995 meters 0.017261017738435774 Centerline is valid? [True, True] Translation: X:15.12, Y:-0.35, Z:-0.34 [[ 9.98726954e-01 4.90035795e-02 1.19632617e-02 1.51232106e+01] [-4.89982297e-02 9.98798591e-01 -7.40056086e-04 -3.52599023e-01] [-1.19851544e-02 1.52935314e-04 9.99928164e-01 -3.39667114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.606559995 meters 0.017403559283878434 Centerline is valid? [True, True] Translation: X:15.16, Y:-0.36, Z:-0.34 [[ 9.98804056e-01 4.75430524e-02 1.14068733e-02 1.51555006e+01] [-4.75380882e-02 9.98869176e-01 -7.06093202e-04 -3.55783404e-01] [-1.14275440e-02 1.62987804e-04 9.99934690e-01 -3.40224806e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.636559994999999 meters 0.017880144386564836 Centerline is valid? [True, True] Translation: X:15.19, Y:-0.36, Z:-0.34 [[ 9.98998521e-01 4.34077254e-02 1.08501194e-02 1.51859121e+01] [-4.34029520e-02 9.99057420e-01 -6.75142605e-04 -3.61597267e-01] [-1.08691987e-02 2.03539254e-04 9.99940908e-01 -3.41090693e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.666559995 meters 0.02093132545910884 Centerline is valid? [True, True] Translation: X:15.22, Y:-0.37, Z:-0.34 [[ 9.99190031e-01 3.85460222e-02 1.15536384e-02 1.52175452e+01] [-3.85402617e-02 9.99256788e-01 -7.20904057e-04 -3.68216323e-01] [-1.15728396e-02 2.75039897e-04 9.99932995e-01 -3.42847473e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.696559995 meters 0.01996429294685077 Centerline is valid? [True, True] Translation: X:15.25, Y:-0.37, Z:-0.34 [[ 9.99373039e-01 3.37354907e-02 1.07445973e-02 1.52483325e+01] [-3.37302189e-02 9.99430749e-01 -6.71535418e-04 -3.72884086e-01] [-1.07611355e-02 3.08696772e-04 9.99942050e-01 -3.42325220e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.726559994999999 meters 0.02149220262593602 Centerline is valid? [True, True] Translation: X:15.28, Y:-0.38, Z:-0.34 [[ 9.99469243e-01 3.07074145e-02 1.08759518e-02 1.52800912e+01] [-3.07018368e-02 9.99528357e-01 -6.79479058e-04 -3.77748660e-01] [-1.08916873e-02 3.45206723e-04 9.99940624e-01 -3.43290239e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.756559995 meters 0.02149220262593602 Centerline is valid? [True, True] Translation: X:15.31, Y:-0.38, Z:-0.34 [[ 9.99460551e-01 3.09890161e-02 1.08760193e-02 1.53124450e+01] [-3.09834667e-02 9.99519667e-01 -6.78405522e-04 -3.79835188e-01] [-1.08918184e-02 3.41062774e-04 9.99940624e-01 -3.43927371e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.786559995 meters 0.022737745722872536 Centerline is valid? [True, True] Translation: X:15.34, Y:-0.38, Z:-0.34 [[ 9.99548515e-01 2.81966415e-02 1.03786131e-02 1.53446818e+01] [-2.81913895e-02 9.99602331e-01 -6.52017139e-04 -3.84495793e-01] [-1.03928706e-02 3.59135238e-04 9.99945928e-01 -3.44635534e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.816559994999999 meters 0.020883248793589312 Centerline is valid? [True, True] Translation: X:15.38, Y:-0.39, Z:-0.34 [[ 9.99619540e-01 2.58842417e-02 9.52790590e-03 1.53751183e+01] [-2.58797102e-02 9.99664885e-01 -5.98610864e-04 -3.88717357e-01] [-9.54020755e-03 3.51803673e-04 9.99954429e-01 -3.43677339e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.846559995 meters 0.022324477573516587 Centerline is valid? [True, True] Translation: X:15.41, Y:-0.39, Z:-0.34 [[ 9.99628763e-01 2.50804653e-02 1.06445052e-02 1.54059255e+01] [-2.50747567e-02 9.99685355e-01 -6.69432195e-04 -3.92603387e-01] [-1.06579456e-02 4.02275299e-04 9.99943122e-01 -3.44103926e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.876559995 meters 0.02251372781553284 Centerline is valid? [True, True] Translation: X:15.44, Y:-0.39, Z:-0.34 [[ 9.99612195e-01 2.55349161e-02 1.11098120e-02 1.54383372e+01] [-2.55286976e-02 9.99673844e-01 -7.01215124e-04 -3.93547623e-01] [-1.11240939e-02 4.17324158e-04 9.99938038e-01 -3.44694094e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.906559994999999 meters 0.023314569532177885 Centerline is valid? [True, True] Translation: X:15.47, Y:-0.40, Z:-0.35 [[ 9.99596385e-01 2.59823872e-02 1.14884025e-02 1.54698722e+01] [-2.59757326e-02 9.99662309e-01 -7.28103757e-04 -3.96321748e-01] [-1.15034408e-02 4.29390213e-04 9.99933741e-01 -3.45523923e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.936559995 meters 0.021768303269584628 Centerline is valid? [True, True] Translation: X:15.50, Y:-0.40, Z:-0.34 [[ 9.99548814e-01 2.76179873e-02 1.18074493e-02 1.55015497e+01] [-2.76110359e-02 9.99618460e-01 -7.51367841e-04 -3.97724657e-01] [-1.18236956e-02 4.25012927e-04 9.99930007e-01 -3.44973940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.966559994999999 meters 0.021183614585142188 Centerline is valid? [True, True] Translation: X:15.53, Y:-0.40, Z:-0.35 [[ 9.99510306e-01 2.88425944e-02 1.21348234e-02 1.55326484e+01] [-2.88352948e-02 9.99583875e-01 -7.76104824e-04 -3.99832601e-01] [-1.21521586e-02 4.25813560e-04 9.99926069e-01 -3.45259171e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.996559995 meters 0.024188341343653722 Centerline is valid? [True, True] Translation: X:15.56, Y:-0.41, Z:-0.35 [[ 9.99513533e-01 2.88478485e-02 1.18531887e-02 1.55643326e+01] [-2.88408762e-02 9.99583727e-01 -7.58768281e-04 -4.05261137e-01] [-1.18701434e-02 4.16542817e-04 9.99929461e-01 -3.47003510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.026559995 meters 0.022199615634252667 Centerline is valid? [True, True] Translation: X:15.60, Y:-0.40, Z:-0.35 [[ 9.99407081e-01 3.21380397e-02 1.23544704e-02 1.55958939e+01] [-3.21306541e-02 9.99483360e-01 -7.95886801e-04 -4.01146205e-01] [-1.23736659e-02 3.98457689e-04 9.99923364e-01 -3.46453588e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.056559995 meters 0.02129093603971138 Centerline is valid? [True, True] Translation: X:15.63, Y:-0.40, Z:-0.35 [[ 9.99327523e-01 3.45586735e-02 1.22555859e-02 1.56287189e+01] [-3.45515910e-02 9.99402604e-01 -7.89231916e-04 -4.00744618e-01] [-1.22755393e-02 3.65251183e-04 9.99924586e-01 -3.47079695e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.086559995 meters 0.019586789043932934 Centerline is valid? [True, True] Translation: X:15.66, Y:-0.40, Z:-0.35 [[ 9.99242342e-01 3.75544387e-02 1.02179552e-02 1.56607466e+01] [-3.75496736e-02 9.99294546e-01 -6.57860694e-04 -3.99488550e-01] [-1.02354525e-02 2.73681379e-04 9.99947579e-01 -3.47737817e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.116559995 meters 0.020141821630844808 Centerline is valid? [True, True] Translation: X:15.69, Y:-0.40, Z:-0.35 [[ 9.99224811e-01 3.81928528e-02 9.54371430e-03 1.56935703e+01] [-3.81887095e-02 9.99270355e-01 -6.16061945e-04 -4.00887625e-01] [-9.56027994e-03 2.51122248e-04 9.99954268e-01 -3.48770039e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.146559995 meters 0.01973939460545143 Centerline is valid? [True, True] Translation: X:15.73, Y:-0.40, Z:-0.35 [[ 9.99221771e-01 3.83010672e-02 9.42765619e-03 1.57262186e+01] [-3.82970042e-02 9.99266214e-01 -6.11179397e-04 -4.03138979e-01] [-9.44414712e-03 2.49652770e-04 9.99955372e-01 -3.49725341e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.176559994999998 meters 0.019247483190839527 Centerline is valid? [True, True] Translation: X:15.76, Y:-0.41, Z:-0.35 [[ 9.99202079e-01 3.88741521e-02 9.16545481e-03 1.57595228e+01] [-3.88703137e-02 9.99244086e-01 -5.96618368e-04 -4.05178193e-01] [-9.18171955e-03 2.39878210e-04 9.99957818e-01 -3.50415875e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.206559995 meters 0.020642894745926055 Centerline is valid? [True, True] Translation: X:15.79, Y:-0.41, Z:-0.35 [[ 9.99194361e-01 3.90081571e-02 9.43357132e-03 1.57913154e+01] [-3.90040681e-02 9.99238861e-01 -6.17117162e-04 -4.08060994e-01] [-9.45046367e-03 2.48672331e-04 9.99955312e-01 -3.51908380e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.236559995 meters 0.020642894745926055 Centerline is valid? [True, True] Translation: X:15.82, Y:-0.41, Z:-0.35 [[ 9.99183494e-01 3.92855783e-02 9.43341771e-03 1.58236600e+01] [-3.92814796e-02 9.99227993e-01 -6.19451804e-04 -4.10260803e-01] [-9.45047057e-03 2.48387412e-04 9.99955312e-01 -3.52546919e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.266559994999998 meters 0.019561341069766407 Centerline is valid? [True, True] Translation: X:15.86, Y:-0.41, Z:-0.35 [[ 9.99171823e-01 3.95367372e-02 9.61839889e-03 1.58562990e+01] [-3.95324607e-02 9.99218085e-01 -6.34406237e-04 -4.12215086e-01] [-9.63596047e-03 2.53641860e-04 9.99953541e-01 -3.52309285e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.296559995 meters 0.019593990169787776 Centerline is valid? [True, True] Translation: X:15.89, Y:-0.41, Z:-0.35 [[ 9.99168017e-01 3.95892608e-02 9.79618052e-03 1.58896274e+01] [-3.95847998e-02 9.99216004e-01 -6.48932676e-04 -4.14327147e-01] [-9.81419111e-03 2.60612931e-04 9.99951806e-01 -3.52641760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.326559995 meters 0.022759686624890516 Centerline is valid? [True, True] Translation: X:15.92, Y:-0.42, Z:-0.36 [[ 9.99188194e-01 3.92423960e-02 9.10968950e-03 1.59202561e+01] [-3.92384991e-02 9.99229690e-01 -6.06179973e-04 -4.21387876e-01] [-9.12646016e-03 2.48237329e-04 9.99958322e-01 -3.55093425e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.356559994999998 meters 0.020693582625427243 Centerline is valid? [True, True] Translation: X:15.95, Y:-0.42, Z:-0.35 [[ 9.99137621e-01 4.05618368e-02 8.87421697e-03 1.59530045e+01] [-4.05581610e-02 9.99177003e-01 -5.93862606e-04 -4.20445901e-01] [-8.89100167e-03 2.33428551e-04 9.99960447e-01 -3.54352060e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.386559995 meters 0.020211378890793746 Centerline is valid? [True, True] Translation: X:15.99, Y:-0.42, Z:-0.35 [[ 9.99057752e-01 4.24593868e-02 8.98935429e-03 1.59856284e+01] [-4.24556846e-02 9.99098169e-01 -6.02353706e-04 -4.20568039e-01] [-9.00682299e-03 2.20136948e-04 9.99959414e-01 -3.54720522e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.416559995 meters 0.01724694684881607 Centerline is valid? [True, True] Translation: X:16.02, Y:-0.42, Z:-0.35 [[ 9.98911152e-01 4.60308243e-02 7.59426804e-03 1.60164720e+01] [-4.60282870e-02 9.98940007e-01 -5.08649615e-04 -4.22108163e-01] [-7.60963174e-03 1.58544624e-04 9.99971034e-01 -3.54129683e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.446559994999998 meters 0.019087161697679295 Centerline is valid? [True, True] Translation: X:16.05, Y:-0.42, Z:-0.36 [[ 9.98845981e-01 4.74720910e-02 7.28746627e-03 1.60484234e+01] [-4.74697952e-02 9.98872555e-01 -4.87774494e-04 -4.24687511e-01] [-7.30240573e-03 1.41277062e-04 9.99973327e-01 -3.56530237e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.476559995 meters 0.017033633221047038 Centerline is valid? [True, True] Translation: X:16.08, Y:-0.43, Z:-0.36 [[ 9.98749032e-01 4.95243187e-02 6.90746312e-03 1.60795435e+01] [-4.95222938e-02 9.98772911e-01 -4.63988833e-04 -4.26195308e-01] [-6.92196577e-03 1.21334980e-04 9.99976036e-01 -3.56110092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.506559995 meters 0.019689240932784853 Centerline is valid? [True, True] Translation: X:16.11, Y:-0.43, Z:-0.36 [[ 9.98713894e-01 5.01897383e-02 7.17975635e-03 1.61116573e+01] [-5.01875568e-02 9.98739693e-01 -4.83803945e-04 -4.28042371e-01] [-7.19498965e-03 1.22847292e-04 9.99974108e-01 -3.58443005e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.536559995 meters 0.019470002992569395 Centerline is valid? [True, True] Translation: X:16.14, Y:-0.43, Z:-0.36 [[ 9.98584210e-01 5.27542879e-02 6.82358443e-03 1.61427595e+01] [-5.27523587e-02 9.98607518e-01 -4.62524183e-04 -4.30384708e-01] [-6.83848285e-03 1.01909172e-04 9.99976612e-01 -3.59368634e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.566559995 meters 0.018209929942932693 Centerline is valid? [True, True] Translation: X:16.17, Y:-0.43, Z:-0.36 [[ 9.98497475e-01 5.43943680e-02 6.63658395e-03 1.61738902e+01] [-5.43925805e-02 9.98519527e-01 -4.49669319e-04 -4.31989469e-01] [-6.65121814e-03 8.80127531e-05 9.99977877e-01 -3.59514225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.596559995 meters 0.017489870951225034 Centerline is valid? [True, True] Translation: X:16.21, Y:-0.43, Z:-0.36 [[ 9.98406356e-01 5.60676074e-02 6.41656697e-03 1.62060382e+01] [-5.60659644e-02 9.98426972e-01 -4.35794684e-04 -4.33533586e-01] [-6.43090749e-03 7.53491667e-05 9.99979319e-01 -3.59813736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.626559995 meters 0.01656245212038077 Centerline is valid? [True, True] Translation: X:16.24, Y:-0.44, Z:-0.36 [[ 9.98210777e-01 5.94803963e-02 6.10961276e-03 1.62386328e+01] [-5.94789510e-02 9.98229472e-01 -4.18136784e-04 -4.35047354e-01] [-6.12366646e-03 5.39952861e-05 9.99981249e-01 -3.60224437e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.656559995 meters 0.015316721990887327 Centerline is valid? [True, True] Translation: X:16.27, Y:-0.44, Z:-0.36 [[ 9.98094258e-01 6.14515247e-02 5.61805116e-03 1.62719556e+01] [-6.14503463e-02 9.98110068e-01 -3.82291832e-04 -4.36768528e-01] [-5.63092584e-03 3.63320932e-05 9.99984146e-01 -3.59923926e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.686559995 meters 0.015183218700679119 Centerline is valid? [True, True] Translation: X:16.30, Y:-0.44, Z:-0.36 [[ 9.97999149e-01 6.29625142e-02 5.78095513e-03 1.63038354e+01] [-6.29612795e-02 9.98015892e-01 -3.95516092e-04 -4.38573946e-01] [-5.79438778e-03 3.07483921e-05 9.99983212e-01 -3.60470882e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.716559995 meters 0.016139347109916352 Centerline is valid? [True, True] Translation: X:16.34, Y:-0.44, Z:-0.36 [[ 9.97921837e-01 6.41853024e-02 5.67919878e-03 1.63362403e+01] [-6.41841262e-02 9.97937997e-01 -3.89315418e-04 -4.40343353e-01] [-5.69247659e-03 2.39919461e-05 9.99983797e-01 -3.61687484e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.746559995 meters 0.014482112335784513 Centerline is valid? [True, True] Translation: X:16.37, Y:-0.44, Z:-0.36 [[ 9.97478370e-01 7.06527282e-02 6.71515831e-03 1.63683897e+01] [-7.06512102e-02 9.97500973e-01 -4.63298306e-04 -4.35757497e-01] [-6.73111024e-03 -1.23040219e-05 9.99977346e-01 -3.58027528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.776559995 meters 0.015526753843165061 Centerline is valid? [True, True] Translation: X:16.40, Y:-0.44, Z:-0.36 [[ 9.97383077e-01 7.19611534e-02 6.97072712e-03 1.64010849e+01] [-7.19595402e-02 9.97407435e-01 -4.82283272e-04 -4.37549042e-01] [-6.98736072e-03 -2.05891454e-05 9.99975588e-01 -3.59327411e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.806559995 meters 0.016207786457018834 Centerline is valid? [True, True] Translation: X:16.43, Y:-0.44, Z:-0.36 [[ 9.97315356e-01 7.29512796e-02 6.33959914e-03 1.64332850e+01] [-7.29499553e-02 9.97335505e-01 -4.40190031e-04 -4.39675144e-01] [-6.35481974e-03 -2.34651955e-05 9.99979808e-01 -3.60994592e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.836559995 meters 0.014543521611892105 Centerline is valid? [True, True] Translation: X:16.46, Y:-0.44, Z:-0.36 [[ 9.97205934e-01 7.44884915e-02 5.63822920e-03 1.64649184e+01] [-7.44874615e-02 9.97221873e-01 -3.92733673e-04 -4.41394692e-01] [-5.65181962e-03 -2.83410311e-05 9.99984028e-01 -3.59994347e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.866559995 meters 0.014556327662450236 Centerline is valid? [True, True] Translation: X:16.50, Y:-0.45, Z:-0.36 [[ 9.97221135e-01 7.43475769e-02 4.73767045e-03 1.64974067e+01] [-7.43468487e-02 9.97232389e-01 -3.29873195e-04 -4.45248814e-01] [-4.74908370e-03 -2.32743469e-05 9.99988723e-01 -3.60740695e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.896559995 meters 0.01673890912907998 Centerline is valid? [True, True] Translation: X:16.53, Y:-0.45, Z:-0.36 [[ 9.97264746e-01 7.37374904e-02 5.08015470e-03 1.65287699e+01] [-7.37366344e-02 9.97277686e-01 -3.55828693e-04 -4.48058816e-01] [-5.09256283e-03 -1.97380986e-05 9.99987033e-01 -3.63737418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.926559994999998 meters 0.016645530403712503 Centerline is valid? [True, True] Translation: X:16.56, Y:-0.45, Z:-0.36 [[ 9.97080167e-01 7.61019664e-02 6.29534164e-03 1.65615620e+01] [-7.61006830e-02 9.97100040e-01 -4.43514245e-04 -4.47831463e-01] [-6.31083771e-03 -3.68605407e-05 9.99980086e-01 -3.62262611e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.956559995 meters 0.017901848936215374 Centerline is valid? [True, True] Translation: X:16.59, Y:-0.45, Z:-0.36 [[ 9.97059060e-01 7.63979977e-02 6.04783487e-03 1.65938091e+01] [-7.63968079e-02 9.97077402e-01 -4.27848212e-04 -4.50033478e-01] [-6.06284622e-03 -3.54453418e-05 9.99981620e-01 -3.63808535e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.986559995 meters 0.014975144140479898 Centerline is valid? [True, True] Translation: X:16.63, Y:-0.45, Z:-0.36 [[ 9.96967609e-01 7.76091694e-02 5.69240767e-03 1.66258070e+01] [-7.76081281e-02 9.96983859e-01 -4.03936535e-04 -4.52141870e-01] [-5.70658775e-03 -3.90654617e-05 9.99983717e-01 -3.61954001e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.016559994999998 meters 0.015953861363570604 Centerline is valid? [True, True] Translation: X:16.66, Y:-0.46, Z:-0.36 [[ 9.97016954e-01 7.69567947e-02 5.90296489e-03 1.66589571e+01] [-7.69556546e-02 9.97034428e-01 -4.20375580e-04 -4.55760995e-01] [-5.91780998e-03 -3.51449471e-05 9.99982489e-01 -3.62994430e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.046559995 meters 0.014864490441995339 Centerline is valid? [True, True] Translation: X:16.69, Y:-0.46, Z:-0.36 [[ 9.97007023e-01 7.71195219e-02 5.43837433e-03 1.66908227e+01] [-7.71185492e-02 9.97021854e-01 -3.88658889e-04 -4.58575644e-01] [-5.45215125e-03 -3.19038966e-05 9.99985136e-01 -3.62607832e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.076559995 meters 0.014311553758713642 Centerline is valid? [True, True] Translation: X:16.72, Y:-0.46, Z:-0.36 [[ 9.97096576e-01 7.59857452e-02 4.95821833e-03 1.67234438e+01] [-7.59849202e-02 9.97108904e-01 -3.54830497e-04 -4.63057233e-01] [-4.97084570e-03 -2.29495503e-05 9.99987645e-01 -3.62453939e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.106559994999998 meters 0.014340888056517374 Centerline is valid? [True, True] Translation: X:16.76, Y:-0.47, Z:-0.36 [[ 9.97203717e-01 7.46075291e-02 4.29686810e-03 1.67555115e+01] [-7.46068934e-02 9.97212974e-01 -3.08284208e-04 -4.66711739e-01] [-4.30789294e-03 -1.31538215e-05 9.99990721e-01 -3.64406987e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.136559995 meters 0.016757463761231075 Centerline is valid? [True, True] Translation: X:16.79, Y:-0.47, Z:-0.37 [[ 9.97293709e-01 7.34058084e-02 4.10433302e-03 1.67885540e+01] [-7.34052156e-02 9.97302154e-01 -2.95074894e-04 -4.70260423e-01] [-4.11492037e-03 -7.00311440e-06 9.99991534e-01 -3.66228482e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.166559995 meters 0.015762154906506745 Centerline is valid? [True, True] Translation: X:16.82, Y:-0.47, Z:-0.37 [[ 9.97276387e-01 7.36153774e-02 4.53699089e-03 1.68204378e+01] [-7.36146455e-02 9.97286707e-01 -3.28328861e-04 -4.72465633e-01] [-4.54885076e-03 -6.55435522e-06 9.99989654e-01 -3.67403882e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.196559994999998 meters 0.014158905901327694 Centerline is valid? [True, True] Translation: X:16.85, Y:-0.47, Z:-0.36 [[ 9.97178963e-01 7.48901503e-02 5.05779002e-03 1.68531185e+01] [-7.48892487e-02 9.97191790e-01 -3.67690896e-04 -4.74367196e-01] [-5.07112311e-03 -1.21204678e-05 9.99987142e-01 -3.63839846e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.226559995 meters 0.014158905901327694 Centerline is valid? [True, True] Translation: X:16.89, Y:-0.48, Z:-0.36 [[ 9.97158225e-01 7.51657775e-02 5.05768769e-03 1.68854380e+01] [-7.51648723e-02 9.97171051e-01 -3.69085618e-04 -4.76823542e-01] [-5.07112235e-03 -1.21236888e-05 9.99987142e-01 -3.64478302e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.256559995 meters 0.015756827205102516 Centerline is valid? [True, True] Translation: X:16.92, Y:-0.48, Z:-0.37 [[ 9.97184999e-01 7.47926810e-02 5.30402136e-03 1.69168015e+01] [-7.47916695e-02 9.97199105e-01 -3.89075616e-04 -4.80741284e-01] [-5.31826536e-03 -8.71624402e-06 9.99985858e-01 -3.65354889e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.286559995 meters 0.014101712402367904 Centerline is valid? [True, True] Translation: X:16.95, Y:-0.48, Z:-0.36 [[ 9.97142019e-01 7.53730541e-02 5.16680846e-03 1.69497131e+01] [-7.53720968e-02 9.97155405e-01 -3.80016193e-04 -4.83552468e-01] [-5.18075396e-03 -1.05030736e-05 9.99986580e-01 -3.64509824e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.316559995 meters 0.013979425843592625 Centerline is valid? [True, True] Translation: X:16.98, Y:-0.49, Z:-0.36 [[ 9.97145347e-01 7.52842276e-02 5.78292424e-03 1.69816295e+01] [-7.52830118e-02 9.97162116e-01 -4.27944319e-04 -4.86573966e-01] [-5.79873043e-03 -8.63326719e-06 9.99983187e-01 -3.64015982e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.346559995 meters 0.015423583008344028 Centerline is valid? [True, True] Translation: X:17.01, Y:-0.49, Z:-0.37 [[ 9.97110845e-01 7.57112482e-02 6.14569109e-03 1.70134464e+01] [-7.57098735e-02 9.97129784e-01 -4.56369919e-04 -4.88618545e-01] [-6.16260397e-03 -1.02380996e-05 9.99981011e-01 -3.66591237e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.376559995 meters 0.01552806845444364 Centerline is valid? [True, True] Translation: X:17.05, Y:-0.49, Z:-0.37 [[ 9.97037969e-01 7.66543693e-02 6.27663418e-03 1.70461807e+01] [-7.66529443e-02 9.97057725e-01 -4.67633262e-04 -4.90011177e-01] [-6.29401273e-03 -1.48743720e-05 9.99980192e-01 -3.66414967e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.406559995 meters 0.013922363801561881 Centerline is valid? [True, True] Translation: X:17.08, Y:-0.49, Z:-0.37 [[ 9.96912854e-01 7.82124099e-02 6.89782452e-03 1.70791600e+01] [-7.82107099e-02 9.96936717e-01 -5.16261538e-04 -4.90579114e-01] [-6.91707259e-03 -2.48159888e-05 9.99976076e-01 -3.65010161e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.436559995 meters 0.014002995489608901 Centerline is valid? [True, True] Translation: X:17.11, Y:-0.49, Z:-0.37 [[ 9.96890608e-01 7.85642309e-02 6.06449515e-03 1.71096660e+01] [-7.85629040e-02 9.96909054e-01 -4.57072724e-04 -4.93287572e-01] [-6.08165968e-03 -2.07928450e-05 9.99981506e-01 -3.65820971e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.466559995 meters 0.013934153470564294 Centerline is valid? [True, True] Translation: X:17.14, Y:-0.50, Z:-0.37 [[ 9.96924829e-01 7.81729764e-02 5.46552066e-03 1.71425768e+01] [-7.81719030e-02 9.96939810e-01 -4.10074310e-04 -4.97299091e-01] [-5.48085186e-03 -1.84368898e-05 9.99984980e-01 -3.65620450e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.496559995 meters 0.01726101410232331 Centerline is valid? [True, True] Translation: X:17.17, Y:-0.50, Z:-0.37 [[ 9.97020223e-01 7.70280510e-02 4.16579727e-03 1.71732175e+01] [-7.70274084e-02 9.97028926e-01 -3.14709853e-04 -5.00860827e-01] [-4.17766187e-03 -7.10848014e-06 9.99991274e-01 -3.69035233e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.526559995 meters 0.016576729114765876 Centerline is valid? [True, True] Translation: X:17.20, Y:-0.50, Z:-0.37 [[ 9.97054966e-01 7.65265723e-02 5.00775572e-03 1.72047494e+01] [-7.65256394e-02 9.97067542e-01 -3.77921920e-04 -5.03908271e-01] [-5.02199176e-03 -6.41278109e-06 9.99987390e-01 -3.67246485e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.556559995 meters 0.015837917758117694 Centerline is valid? [True, True] Translation: X:17.24, Y:-0.51, Z:-0.37 [[ 9.97035638e-01 7.67102880e-02 5.95550181e-03 1.72368709e+01] [-7.67089575e-02 9.97053425e-01 -4.51833254e-04 -5.05842235e-01] [-5.97261373e-03 -6.34647858e-06 9.99982164e-01 -3.66722714e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.586559995 meters 0.01583949489141666 Centerline is valid? [True, True] Translation: X:17.27, Y:-0.51, Z:-0.37 [[ 9.97077514e-01 7.61520983e-02 6.10641156e-03 1.72689794e+01] [-7.61506734e-02 9.97096213e-01 -4.65841326e-04 -5.08560564e-01] [-6.12415463e-03 -5.27441165e-07 9.99981247e-01 -3.67159101e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.616559995 meters 0.015117509615185997 Centerline is valid? [True, True] Translation: X:17.30, Y:-0.51, Z:-0.37 [[ 9.97118600e-01 7.55727636e-02 6.57691139e-03 1.73021772e+01] [-7.55710981e-02 9.97140290e-01 -5.01735900e-04 -5.11412131e-01] [-6.59602089e-03 3.26578192e-06 9.99978246e-01 -3.66363245e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.646559995 meters 0.014046055120171017 Centerline is valid? [True, True] Translation: X:17.33, Y:-0.52, Z:-0.37 [[ 9.97296438e-01 7.31421669e-02 7.07380225e-03 1.73335507e+01] [-7.31401526e-02 9.97321524e-01 -5.43376371e-04 -5.16279893e-01] [-7.09459897e-03 2.45283428e-05 9.99974833e-01 -3.65145848e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.676559994999998 meters 0.014130384133847925 Centerline is valid? [True, True] Translation: X:17.37, Y:-0.52, Z:-0.37 [[ 9.97400407e-01 7.17194391e-02 6.98216140e-03 1.73658149e+01] [-7.17174427e-02 9.97424845e-01 -5.36209723e-04 -5.20707147e-01] [-7.00263791e-03 3.40730355e-05 9.99975481e-01 -3.65504959e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.706559995 meters 0.014412280390778525 Centerline is valid? [True, True] Translation: X:17.40, Y:-0.53, Z:-0.37 [[ 9.97515863e-01 7.01451292e-02 6.46243978e-03 1.73976588e+01] [-7.01433739e-02 9.97536796e-01 -4.98152104e-04 -5.25145123e-01] [-6.48146442e-03 4.36172963e-05 9.99978994e-01 -3.66033574e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.736559995 meters 0.014679293725650813 Centerline is valid? [True, True] Translation: X:17.43, Y:-0.53, Z:-0.37 [[ 9.97697810e-01 6.75539645e-02 5.96176820e-03 1.74294131e+01] [-6.75524183e-02 9.97715620e-01 -4.60574028e-04 -5.29007276e-01] [-5.97926285e-03 5.67818399e-05 9.99982122e-01 -3.66625403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.766559994999998 meters 0.014912000567883475 Centerline is valid? [True, True] Translation: X:17.46, Y:-0.53, Z:-0.37 [[ 9.97747131e-01 6.68253702e-02 5.91883695e-03 1.74624407e+01] [-6.68238277e-02 9.97764685e-01 -4.58216065e-04 -5.31870388e-01] [-5.93622694e-03 6.16644235e-05 9.99982379e-01 -3.67535165e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.796559995 meters 0.014803722453912722 Centerline is valid? [True, True] Translation: X:17.50, Y:-0.53, Z:-0.37 [[ 9.97730319e-01 6.70022759e-02 6.70119277e-03 1.74950922e+01] [-6.70002723e-02 9.97752820e-01 -5.23280559e-04 -5.32738560e-01] [-6.72119497e-03 7.31111380e-05 9.99977410e-01 -3.67651225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.826559995 meters 0.01806192087123876 Centerline is valid? [True, True] Translation: X:17.53, Y:-0.54, Z:-0.37 [[ 9.97770297e-01 6.64827328e-02 5.87209778e-03 1.75267871e+01] [-6.64811918e-02 9.97787574e-01 -4.57461577e-04 -5.35489947e-01] [-5.88951949e-03 6.60575148e-05 9.99982654e-01 -3.70342364e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.856559994999998 meters 0.014713119793612056 Centerline is valid? [True, True] Translation: X:17.56, Y:-0.54, Z:-0.37 [[ 9.97702160e-01 6.74172183e-02 6.73192849e-03 1.75591561e+01] [-6.74151984e-02 9.97724869e-01 -5.26767102e-04 -5.38472482e-01] [-6.75212564e-03 7.17223803e-05 9.99977202e-01 -3.67887970e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.886559995 meters 0.014981066794600258 Centerline is valid? [True, True] Translation: X:17.59, Y:-0.54, Z:-0.37 [[ 9.97721919e-01 6.71658873e-02 6.30211486e-03 1.75908092e+01] [-6.71641056e-02 9.97741820e-01 -4.94162934e-04 -5.42628181e-01] [-6.32107444e-03 6.97612823e-05 9.99980019e-01 -3.68665897e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.916559995 meters 0.015123361935848557 Centerline is valid? [True, True] Translation: X:17.62, Y:-0.55, Z:-0.37 [[ 9.97746902e-01 6.68061544e-02 6.16899707e-03 1.76238586e+01] [-6.68044320e-02 9.97765971e-01 -4.85060292e-04 -5.46277528e-01] [-6.18762036e-03 7.18510589e-05 9.99980854e-01 -3.69610590e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.946559994999998 meters 0.015422495696876414 Centerline is valid? [True, True] Translation: X:17.66, Y:-0.55, Z:-0.37 [[ 9.97752619e-01 6.67358510e-02 6.00312043e-03 1.76553905e+01] [-6.67342082e-02 9.97770676e-01 -4.73764955e-04 -5.49445497e-01] [-6.02135463e-03 7.20867363e-05 9.99981869e-01 -3.71005858e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.976559995 meters 0.014920462660550943 Centerline is valid? [True, True] Translation: X:17.69, Y:-0.55, Z:-0.37 [[ 9.97710874e-01 6.73482063e-02 6.10178198e-03 1.76881968e+01] [-6.73465126e-02 9.97729530e-01 -4.82860227e-04 -5.50281989e-01] [-6.12044783e-03 7.08211617e-05 9.99981267e-01 -3.70725071e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.006559995 meters 0.015063763981169816 Centerline is valid? [True, True] Translation: X:17.72, Y:-0.55, Z:-0.37 [[ 9.97651454e-01 6.81902706e-02 6.45472769e-03 1.77190765e+01] [-6.81883672e-02 9.97672332e-01 -5.14755868e-04 -5.52655771e-01] [-6.47480457e-03 7.34095976e-05 9.99979036e-01 -3.71977081e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.036559994999998 meters 0.016703148995229376 Centerline is valid? [True, True] Translation: X:17.75, Y:-0.55, Z:-0.37 [[ 9.97560178e-01 6.95348955e-02 6.21212285e-03 1.77517678e+01] [-6.95331656e-02 9.97579518e-01 -4.94264306e-04 -5.53927959e-01] [-6.23145514e-03 6.11098213e-05 9.99980582e-01 -3.73161429e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.066559995 meters 0.014212864386416894 Centerline is valid? [True, True] Translation: X:17.78, Y:-0.56, Z:-0.37 [[ 9.97463935e-01 7.08228226e-02 7.05875975e-03 1.77842342e+01] [-7.08205995e-02 9.97488909e-01 -5.64726209e-04 -5.56168924e-01] [-7.08103007e-03 6.33884293e-05 9.99974927e-01 -3.71214996e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.096559995 meters 0.014848447963765611 Centerline is valid? [True, True] Translation: X:17.82, Y:-0.56, Z:-0.37 [[ 9.97442268e-01 7.11387070e-02 6.94307767e-03 1.78159163e+01] [-7.11365538e-02 9.97466431e-01 -5.56910593e-04 -5.59636995e-01] [-6.96510480e-03 6.15795465e-05 9.99975741e-01 -3.72940280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.126559995 meters 0.014848447963765611 Centerline is valid? [True, True] Translation: X:17.85, Y:-0.56, Z:-0.37 [[ 9.97422790e-01 7.14113007e-02 6.94294111e-03 1.78482164e+01] [-7.14091423e-02 9.97446952e-01 -5.58603272e-04 -5.62326611e-01] [-6.96510604e-03 6.13741640e-05 9.99975741e-01 -3.73578665e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.156559995 meters 0.01438416142672221 Centerline is valid? [True, True] Translation: X:17.88, Y:-0.57, Z:-0.37 [[ 9.97367753e-01 7.21286407e-02 7.41786981e-03 1.78796643e+01] [-7.21261755e-02 9.97395335e-01 -5.99664649e-04 -5.65693819e-01] [-7.44180174e-03 6.30636035e-05 9.99972307e-01 -3.73914467e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.186559995 meters 0.014280901723202876 Centerline is valid? [True, True] Translation: X:17.91, Y:-0.57, Z:-0.37 [[ 9.97290868e-01 7.32157629e-02 7.09768577e-03 1.79121647e+01] [-7.32135257e-02 9.97316123e-01 -5.74861785e-04 -5.68313326e-01] [-7.12072540e-03 5.36578087e-05 9.99974646e-01 -3.74675023e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.216559995 meters 0.014080185545385317 Centerline is valid? [True, True] Translation: X:17.94, Y:-0.57, Z:-0.37 [[ 9.97250148e-01 7.37835992e-02 6.93703381e-03 1.79449115e+01] [-7.37814644e-02 9.97274274e-01 -5.63501745e-04 -5.70391966e-01] [-6.95970255e-03 5.01276858e-05 9.99975780e-01 -3.74597601e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.246559995 meters 0.014204627509276138 Centerline is valid? [True, True] Translation: X:17.98, Y:-0.57, Z:-0.38 [[ 9.97204448e-01 7.43588381e-02 7.35200482e-03 1.79764272e+01] [-7.43564364e-02 9.97231548e-01 -5.99842848e-04 -5.73255747e-01] [-7.37625476e-03 5.14970773e-05 9.99972794e-01 -3.76218432e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.276559995 meters 0.014173936230440186 Centerline is valid? [True, True] Translation: X:18.01, Y:-0.58, Z:-0.38 [[ 9.97242820e-01 7.38295519e-02 7.48038832e-03 1.80088902e+01] [-7.38270370e-02 9.97270873e-01 -6.12150050e-04 -5.76588438e-01] [-7.50516815e-03 5.82073366e-05 9.99971834e-01 -3.76502815e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.306559995 meters 0.014398236500000085 Centerline is valid? [True, True] Translation: X:18.04, Y:-0.58, Z:-0.38 [[ 9.97328215e-01 7.25722042e-02 8.34908129e-03 1.80406063e+01] [-7.25689925e-02 9.97363158e-01 -6.87381156e-04 -5.81408697e-01] [-8.37695085e-03 7.96602036e-05 9.99964910e-01 -3.76416520e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.336559995 meters 0.014373221968345815 Centerline is valid? [True, True] Translation: X:18.07, Y:-0.58, Z:-0.38 [[ 9.97319961e-01 7.25567127e-02 9.40316735e-03 1.80722869e+01] [-7.25526251e-02 9.97364284e-01 -7.75547587e-04 -5.84935141e-01] [-9.43465446e-03 9.12446132e-05 9.99955488e-01 -3.76527345e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.366559995 meters 0.016016747960683413 Centerline is valid? [True, True] Translation: X:18.11, Y:-0.59, Z:-0.38 [[ 9.97341115e-01 7.22984974e-02 9.14486208e-03 1.81055029e+01] [-7.22946054e-02 9.97383035e-01 -7.55879431e-04 -5.87283412e-01] [-9.17557925e-03 9.27454387e-05 9.99957899e-01 -3.77927790e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.396559995 meters 0.014128086321450227 Centerline is valid? [True, True] Translation: X:18.14, Y:-0.59, Z:-0.38 [[ 9.97255857e-01 7.32867411e-02 1.04790161e-02 1.81373494e+01] [-7.32816426e-02 9.97310906e-01 -8.70200303e-04 -5.89840296e-01] [-1.05146111e-02 9.98928389e-05 9.99944715e-01 -3.76735293e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.426559994999998 meters 0.015588246240549159 Centerline is valid? [True, True] Translation: X:18.17, Y:-0.59, Z:-0.38 [[ 9.97201017e-01 7.41253239e-02 9.77593832e-03 1.81705811e+01] [-7.41209099e-02 9.97248930e-01 -8.13560337e-04 -5.92412984e-01] [-9.80934946e-03 8.66817515e-05 9.99951883e-01 -3.78530717e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.456559995 meters 0.014008772658897214 Centerline is valid? [True, True] Translation: X:18.20, Y:-0.59, Z:-0.38 [[ 9.97112964e-01 7.52821608e-02 9.91630122e-03 1.82027069e+01] [-7.52776450e-02 9.97162269e-01 -8.28383682e-04 -5.94351892e-01] [-9.95052394e-03 7.95163055e-05 9.99950489e-01 -3.77787957e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.486559995 meters 0.013976197447021587 Centerline is valid? [True, True] Translation: X:18.23, Y:-0.60, Z:-0.38 [[ 9.97032189e-01 7.63555976e-02 9.83040427e-03 1.82343974e+01] [-7.63511899e-02 9.97080648e-01 -8.23433672e-04 -5.96574143e-01] [-9.86457962e-03 7.04268128e-05 9.99951341e-01 -3.79146870e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.516559994999998 meters 0.015397817796972368 Centerline is valid? [True, True] Translation: X:18.27, Y:-0.60, Z:-0.38 [[ 9.96994953e-01 7.69773154e-02 8.69237959e-03 1.82672903e+01] [-7.69738798e-02 9.97032843e-01 -7.29598592e-04 -5.98860842e-01] [-8.72275048e-03 5.83199315e-05 9.99961954e-01 -3.80984291e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.546559995 meters 0.013854575935177037 Centerline is valid? [True, True] Translation: X:18.30, Y:-0.60, Z:-0.38 [[ 9.96925315e-01 7.78069515e-02 9.27337438e-03 1.82989984e+01] [-7.78030462e-02 9.96968442e-01 -7.81692885e-04 -6.01823918e-01] [-9.30608275e-03 5.77926496e-05 9.99956696e-01 -3.80089117e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.576559995 meters 0.013807454067566385 Centerline is valid? [True, True] Translation: X:18.33, Y:-0.60, Z:-0.38 [[ 9.96917221e-01 7.79272095e-02 9.13256274e-03 1.83314595e+01] [-7.79234106e-02 9.96959050e-01 -7.71603465e-04 -6.04597469e-01] [-9.16491998e-03 5.75843464e-05 9.99958000e-01 -3.80735737e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.606559994999998 meters 0.01488847586057759 Centerline is valid? [True, True] Translation: X:18.36, Y:-0.61, Z:-0.38 [[ 9.97019860e-01 7.67307745e-02 7.98664752e-03 1.83622718e+01] [-7.67278043e-02 9.97051846e-01 -6.78081681e-04 -6.07368653e-01] [-8.01513139e-03 6.32629745e-05 9.99967876e-01 -3.82550655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.636559995 meters 0.014229572557259687 Centerline is valid? [True, True] Translation: X:18.39, Y:-0.61, Z:-0.38 [[ 9.97057098e-01 7.62588188e-02 7.85717193e-03 1.83949118e+01] [-7.62559349e-02 9.97088054e-01 -6.66411496e-04 -6.10811607e-01] [-7.88511202e-03 6.52943212e-05 9.99968910e-01 -3.82979403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.666559995 meters 0.014459526618116801 Centerline is valid? [True, True] Translation: X:18.43, Y:-0.61, Z:-0.38 [[ 9.97116391e-01 7.55198242e-02 7.46048998e-03 1.84256641e+01] [-7.55171850e-02 9.97144298e-01 -6.35220475e-04 -6.14477171e-01] [-7.48715678e-03 6.99935454e-05 9.99971968e-01 -3.83682940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.696559994999998 meters 0.015845828224051745 Centerline is valid? [True, True] Translation: X:18.46, Y:-0.62, Z:-0.38 [[ 9.97239983e-01 7.39727191e-02 6.36032958e-03 1.84579548e+01] [-7.39707664e-02 9.97260263e-01 -5.42038091e-04 -6.18283599e-01] [-6.38299998e-03 7.00636034e-05 9.99979626e-01 -3.83533896e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.726559995 meters 0.0161387812856357 Centerline is valid? [True, True] Translation: X:18.49, Y:-0.62, Z:-0.38 [[ 9.97262656e-01 7.36621323e-02 6.40977738e-03 1.84900526e+01] [-7.36601335e-02 9.97283252e-01 -5.47664091e-04 -6.21939512e-01] [-6.43270573e-03 7.40198883e-05 9.99979307e-01 -3.83690086e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.756559995 meters 0.014553700656999563 Centerline is valid? [True, True] Translation: X:18.52, Y:-0.62, Z:-0.38 [[ 9.97257255e-01 7.35478206e-02 8.28767019e-03 1.85219107e+01] [-7.35444431e-02 9.97291687e-01 -7.11970141e-04 -6.24926572e-01] [-8.31758844e-03 1.00505299e-04 9.99965403e-01 -3.80927660e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.786559994999998 meters 0.01762886680028641 Centerline is valid? [True, True] Translation: X:18.55, Y:-0.63, Z:-0.38 [[ 9.97279275e-01 7.34066284e-02 6.74642151e-03 1.85542507e+01] [-7.34043819e-02 9.97302091e-01 -5.80345961e-04 -6.27523202e-01] [-6.77082152e-03 8.35500982e-05 9.99977074e-01 -3.82344721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.816559995 meters 0.014467834437427881 Centerline is valid? [True, True] Translation: X:18.59, Y:-0.63, Z:-0.38 [[ 9.97193693e-01 7.42737643e-02 9.38860379e-03 1.85865496e+01] [-7.42694124e-02 9.97237883e-01 -8.11816120e-04 -6.29655816e-01] [-9.42296801e-03 1.12251828e-04 9.99955597e-01 -3.80506433e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.846559995 meters 0.01638799575126142 Centerline is valid? [True, True] Translation: X:18.62, Y:-0.63, Z:-0.38 [[ 9.97156635e-01 7.48838424e-02 8.42941812e-03 1.86189036e+01] [-7.48803460e-02 9.97192259e-01 -7.30074122e-04 -6.31923707e-01] [-8.46042125e-03 9.68005097e-05 9.99964205e-01 -3.82437717e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.876559995 meters 0.014173065253325718 Centerline is valid? [True, True] Translation: X:18.65, Y:-0.63, Z:-0.38 [[ 9.96909396e-01 7.80993452e-02 8.49406233e-03 1.86514412e+01] [-7.80958877e-02 9.96945579e-01 -7.38480886e-04 -6.32595383e-01] [-8.52579276e-03 7.28471966e-05 9.99963652e-01 -3.82953437e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.906559995 meters 0.013847135890194694 Centerline is valid? [True, True] Translation: X:18.68, Y:-0.63, Z:-0.38 [[ 9.96584892e-01 8.23472274e-02 6.12275665e-03 1.86847235e+01] [-8.23455131e-02 9.96603699e-01 -5.31993036e-04 -6.32203655e-01] [-6.14577008e-03 2.59946844e-05 9.99981114e-01 -3.84319433e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.936559995 meters 0.013860542672333949 Centerline is valid? [True, True] Translation: X:18.72, Y:-0.63, Z:-0.39 [[ 9.96428591e-01 8.42732014e-02 5.29996521e-03 1.87163505e+01] [-8.42719321e-02 9.96442686e-01 -4.62763780e-04 -6.33214423e-01] [-5.32011015e-03 1.44727540e-05 9.99985848e-01 -3.85472155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.966559995 meters 0.013775890261907363 Centerline is valid? [True, True] Translation: X:18.75, Y:-0.63, Z:-0.39 [[ 9.96270093e-01 8.61998033e-02 3.93651018e-03 1.87480563e+01] [-8.61991230e-02 9.96277870e-01 -3.42462374e-04 -6.34137435e-01] [-3.95137817e-03 1.86129580e-06 9.99992193e-01 -3.86339669e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.996559995 meters 0.01386700043774955 Centerline is valid? [True, True] Translation: X:18.78, Y:-0.64, Z:-0.39 [[ 9.96114441e-01 8.80047577e-02 3.34406715e-03 1.87802746e+01] [-8.80042728e-02 9.96120054e-01 -2.92159117e-04 -6.35124519e-01] [-3.35680374e-03 -3.26828178e-06 9.99994366e-01 -3.87349754e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.026559995 meters 0.015506394311246252 Centerline is valid? [True, True] Translation: X:18.81, Y:-0.64, Z:-0.39 [[ 9.95886680e-01 9.06024416e-02 9.58003719e-04 1.88126907e+01] [-9.06024064e-02 9.95887141e-01 -8.01498245e-05 -6.35152903e-01] [-9.61325355e-04 -6.97729971e-06 9.99999538e-01 -3.86821062e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.056559995 meters 0.013929981616683523 Centerline is valid? [True, True] Translation: X:18.84, Y:-0.64, Z:-0.39 [[ 9.95758017e-01 9.19533437e-02 3.24868747e-03 1.88442016e+01] [-9.19529067e-02 9.95763316e-01 -2.83950009e-04 -6.36658700e-01] [-3.26103397e-03 -1.59807586e-05 9.99994683e-01 -3.86653330e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.086559995 meters 0.01381428513147505 Centerline is valid? [True, True] Translation: X:18.88, Y:-0.64, Z:-0.39 [[ 9.95604262e-01 9.35899902e-02 3.61489769e-03 1.88767881e+01] [-9.35894568e-02 9.95610824e-01 -3.16792492e-04 -6.38324890e-01] [-3.62867988e-03 -2.29163567e-05 9.99993416e-01 -3.85141660e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.116559995 meters 0.013750761562786509 Centerline is valid? [True, True] Translation: X:18.91, Y:-0.64, Z:-0.38 [[ 9.95566092e-01 9.39880800e-02 3.79448527e-03 1.89096525e+01] [-9.39874904e-02 9.95573322e-01 -3.33802097e-04 -6.41046592e-01] [-3.80906173e-03 -2.43120988e-05 9.99992745e-01 -3.84422621e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.146559995 meters 0.014359018116718223 Centerline is valid? [True, True] Translation: X:18.94, Y:-0.64, Z:-0.38 [[ 9.95492669e-01 9.47774671e-02 3.40253739e-03 1.89430265e+01] [-9.47769965e-02 9.95498484e-01 -2.99652049e-04 -6.42497295e-01] [-3.41562107e-03 -2.41808561e-05 9.99994166e-01 -3.83743519e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.176559994999998 meters 0.013764705844827226 Centerline is valid? [True, True] Translation: X:18.98, Y:-0.64, Z:-0.38 [[ 9.95365360e-01 9.60755825e-02 4.15717925e-03 1.89750881e+01] [-9.60748800e-02 9.95374041e-01 -3.68818380e-04 -6.43655705e-01] [-4.17338275e-03 -3.22914574e-05 9.99991291e-01 -3.84314660e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.206559995 meters 0.013796474544748494 Centerline is valid? [True, True] Translation: X:19.01, Y:-0.65, Z:-0.38 [[ 9.95232007e-01 9.74609497e-02 3.82300993e-03 1.90072410e+01] [-9.74603624e-02 9.95239349e-01 -3.40053291e-04 -6.45216425e-01] [-3.83795183e-03 -3.41600133e-05 9.99992634e-01 -3.84376113e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.236559995 meters 0.013818670823761117 Centerline is valid? [True, True] Translation: X:19.04, Y:-0.65, Z:-0.38 [[ 9.95093777e-01 9.88922238e-02 2.94993861e-03 1.90389223e+01] [-9.88918761e-02 9.95098150e-01 -2.63834465e-04 -6.46631881e-01] [-2.96156963e-03 -2.91849294e-05 9.99995614e-01 -3.84118169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.266559994999998 meters 0.01625402047938555 Centerline is valid? [True, True] Translation: X:19.07, Y:-0.65, Z:-0.39 [[ 9.94955959e-01 1.00312643e-01 1.14638434e-04 1.90706636e+01] [-1.00312643e-01 9.94955966e-01 -5.87756033e-06 -6.47684940e-01] [-1.14649787e-04 -5.65177060e-06 9.99999993e-01 -3.85588261e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.296559995 meters 0.014560825033777834 Centerline is valid? [True, True] Translation: X:19.10, Y:-0.65, Z:-0.39 [[ 9.94695790e-01 1.02860334e-01 1.93872479e-04 1.91014787e+01] [-1.02860333e-01 9.94695809e-01 -1.37929036e-05 -6.46324444e-01] [-1.94262885e-04 -6.22204469e-06 9.99999981e-01 -3.86811343e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.326559995 meters 0.015551176409657728 Centerline is valid? [True, True] Translation: X:19.13, Y:-0.65, Z:-0.39 [[ 9.94610543e-01 1.03662014e-01 -2.01377625e-03 1.91339458e+01] [-1.03661846e-01 9.94612581e-01 1.88015473e-04 -6.47642545e-01] [ 2.02241725e-03 2.17495911e-05 9.99997955e-01 -3.88226509e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.356559994999998 meters 0.014701646726216867 Centerline is valid? [True, True] Translation: X:19.17, Y:-0.65, Z:-0.39 [[ 9.94483569e-01 1.04850349e-01 -2.97252045e-03 1.91660285e+01] [-1.04849992e-01 9.94488011e-01 2.76083788e-04 -6.48309797e-01] [ 2.98508343e-03 3.71079530e-05 9.99995544e-01 -3.87801975e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.386559995 meters 0.015001846975208915 Centerline is valid? [True, True] Translation: X:19.20, Y:-0.65, Z:-0.39 [[ 9.94450429e-01 1.05149506e-01 -3.45342630e-03 1.91970551e+01] [-1.05149027e-01 9.94456424e-01 3.20371345e-04 -6.49633228e-01] [ 3.46796886e-03 4.45309939e-05 9.99993986e-01 -3.89114094e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.416559995 meters 0.016588411425735614 Centerline is valid? [True, True] Translation: X:19.23, Y:-0.65, Z:-0.39 [[ 9.94451715e-01 1.05062011e-01 -5.26883829e-03 1.92284546e+01] [-1.05060902e-01 9.94465670e-01 4.87557768e-04 -6.51708534e-01] [ 5.29090260e-03 6.86962459e-05 9.99986001e-01 -3.90320799e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.446559994999998 meters 0.01438414030225162 Centerline is valid? [True, True] Translation: X:19.26, Y:-0.65, Z:-0.39 [[ 9.94521940e-01 1.04451400e-01 -4.00190636e-03 1.92605215e+01] [-1.04450746e-01 9.94529991e-01 3.72840269e-04 -6.54241797e-01] [ 4.01895958e-03 4.72042746e-05 9.99991923e-01 -3.87336042e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.476559995 meters 0.01588918044035081 Centerline is valid? [True, True] Translation: X:19.29, Y:-0.66, Z:-0.39 [[ 9.94596410e-01 1.03696192e-01 -5.00814575e-03 1.92911511e+01] [-1.03695159e-01 9.94609017e-01 4.66135036e-04 -6.56297701e-01] [ 5.02948335e-03 5.57042389e-05 9.99987351e-01 -3.88579139e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.506559995 meters 0.016200791347653152 Centerline is valid? [True, True] Translation: X:19.32, Y:-0.66, Z:-0.39 [[ 9.94731174e-01 1.02390563e-01 -5.10538466e-03 1.93233420e+01] [-1.02389464e-01 9.94744274e-01 4.76762078e-04 -6.59473762e-01] [ 5.12736810e-03 4.84874995e-05 9.99986854e-01 -3.87921263e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.536559994999998 meters 0.0134226891537571 Centerline is valid? [True, True] Translation: X:19.36, Y:-0.66, Z:-0.39 [[ 9.95027059e-01 9.95549084e-02 -3.15796226e-03 1.93557027e+01] [-9.95544769e-02 9.95032070e-01 2.93923492e-04 -6.63424187e-01] [ 3.17153525e-03 2.19274534e-05 9.99994970e-01 -3.86056297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.566559995 meters 0.013375679421856657 Centerline is valid? [True, True] Translation: X:19.39, Y:-0.67, Z:-0.39 [[ 9.95210116e-01 9.77275953e-02 -2.47827536e-03 1.93864937e+01] [-9.77273147e-02 9.95213202e-01 2.34361636e-04 -6.66958691e-01] [ 2.48931595e-03 8.95612506e-06 9.99996902e-01 -3.86348041e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.596559995 meters 0.015234946190108593 Centerline is valid? [True, True] Translation: X:19.42, Y:-0.67, Z:-0.39 [[ 9.95464458e-01 9.50852644e-02 -3.05048654e-03 1.94179284e+01] [-9.50848317e-02 9.95469132e-01 2.86908024e-04 -6.70822004e-01] [ 3.06394591e-03 4.44825879e-06 9.99995306e-01 -3.87510939e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.626559995 meters 0.013382017061846748 Centerline is valid? [True, True] Translation: X:19.45, Y:-0.68, Z:-0.39 [[ 9.95751917e-01 9.20733314e-02 -7.88867234e-04 1.94491956e+01] [-9.20732983e-02 9.95752229e-01 7.82332502e-05 -6.75332493e-01] [ 7.92719503e-04 -5.26730069e-06 9.99999686e-01 -3.87195760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.656559995 meters 0.014777328461396686 Centerline is valid? [True, True] Translation: X:19.48, Y:-0.68, Z:-0.39 [[ 9.95830050e-01 9.12070387e-02 -1.94609447e-03 1.94810275e+01] [-9.12068482e-02 9.95831952e-01 1.86598316e-04 -6.78053732e-01] [ 1.95500214e-03 -8.32306760e-06 9.99998089e-01 -3.86747970e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.686559995 meters 0.013160098886860577 Centerline is valid? [True, True] Translation: X:19.51, Y:-0.68, Z:-0.39 [[ 9.95855569e-01 9.09371279e-02 -1.45741724e-03 1.95125920e+01] [-9.09370184e-02 9.95856636e-01 1.41387444e-04 -6.80140429e-01] [ 1.46423600e-03 -8.26829523e-06 9.99998928e-01 -3.86491590e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.716559995 meters 0.015968780487115385 Centerline is valid? [True, True] Translation: X:19.54, Y:-0.68, Z:-0.39 [[ 9.96074987e-01 8.84413998e-02 -3.56920438e-03 1.95434005e+01] [-8.84407590e-02 9.96081381e-01 3.37281428e-04 -6.82328995e-01] [ 3.58504767e-03 -2.02944491e-05 9.99993573e-01 -3.90637005e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.746559995 meters 0.013696244495209496 Centerline is valid? [True, True] Translation: X:19.58, Y:-0.69, Z:-0.39 [[ 9.96128237e-01 8.78685644e-02 -2.76613938e-03 1.95752057e+01] [-8.78681674e-02 9.96132077e-01 2.64946607e-04 -6.85334218e-01] [ 2.77872064e-03 -2.08651988e-05 9.99996139e-01 -3.90013536e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.776559995 meters 0.014699010293339155 Centerline is valid? [True, True] Translation: X:19.61, Y:-0.69, Z:-0.39 [[ 9.96205791e-01 8.69563337e-02 -3.55218053e-03 1.96070408e+01] [-8.69556751e-02 9.96212124e-01 3.39722940e-04 -6.88548836e-01] [ 3.56826637e-03 -2.95517045e-05 9.99993633e-01 -3.91127577e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.806559995 meters 0.017516956488055464 Centerline is valid? [True, True] Translation: X:19.64, Y:-0.69, Z:-0.39 [[ 9.96434290e-01 8.42697777e-02 -4.16049129e-03 1.96385652e+01] [-8.42688499e-02 9.96442975e-01 3.98094300e-04 -6.91827034e-01] [ 4.17923964e-03 -4.60749947e-05 9.99991266e-01 -3.92010784e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.836559995 meters 0.014435524626766753 Centerline is valid? [True, True] Translation: X:19.67, Y:-0.70, Z:-0.39 [[ 9.96541049e-01 8.30671964e-02 -2.40393787e-03 1.96700435e+01] [-8.30668768e-02 9.96543948e-01 2.32660130e-04 -6.95338014e-01] [ 2.41495616e-03 -3.21677592e-05 9.99997083e-01 -3.91438789e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.866559995 meters 0.017217161639789993 Centerline is valid? [True, True] Translation: X:19.70, Y:-0.70, Z:-0.39 [[ 9.96720757e-01 8.08646149e-02 -2.94060341e-03 1.97009830e+01] [-8.08641294e-02 9.96725094e-01 2.83818680e-04 -6.99766681e-01] [ 2.95392410e-03 -4.50986353e-05 9.99995636e-01 -3.92741669e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.896559995 meters 0.017938826436030418 Centerline is valid? [True, True] Translation: X:19.73, Y:-0.70, Z:-0.39 [[ 9.97094137e-01 7.61720598e-02 -1.04878038e-03 1.97328889e+01] [-7.61719917e-02 9.97094688e-01 1.04758944e-04 -7.04676426e-01] [ 1.05371305e-03 -2.45668390e-05 9.99999445e-01 -3.91597649e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.926559994999998 meters 0.015862253838611378 Centerline is valid? [True, True] Translation: X:19.76, Y:-0.71, Z:-0.39 [[ 9.97201864e-01 7.47448212e-02 1.28638452e-03 1.97644866e+01] [-7.47447311e-02 9.97202693e-01 -1.18012473e-04 -7.09312369e-01] [-1.29160693e-03 2.15317928e-05 9.99999166e-01 -3.90980615e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.956559995 meters 0.019818735544629592 Centerline is valid? [True, True] Translation: X:19.80, Y:-0.71, Z:-0.39 [[ 9.97360879e-01 7.26003424e-02 6.83921287e-04 1.97950504e+01] [-7.26003176e-02 9.97361113e-01 -6.10133489e-05 -7.14027775e-01] [-6.86546087e-04 1.11994246e-05 9.99999764e-01 -3.91909159e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.986559995 meters 0.01814854553872692 Centerline is valid? [True, True] Translation: X:19.83, Y:-0.72, Z:-0.39 [[ 9.97498085e-01 7.06369479e-02 2.82716652e-03 1.98270510e+01] [-7.06364763e-02 9.97502089e-01 -2.66460712e-04 -7.17292719e-01] [-2.83892648e-03 6.60929690e-05 9.99995968e-01 -3.90885552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.016559994999998 meters 0.017369494955949735 Centerline is valid? [True, True] Translation: X:19.86, Y:-0.72, Z:-0.39 [[ 9.97492765e-01 7.06593488e-02 3.92944824e-03 1.98579709e+01] [-7.06584252e-02 9.97500500e-01 -3.73546944e-04 -7.21148919e-01] [-3.94602117e-03 9.49617491e-05 9.99992210e-01 -3.91991009e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.046559995 meters 0.017369494955949735 Centerline is valid? [True, True] Translation: X:19.89, Y:-0.72, Z:-0.39 [[ 9.97473209e-01 7.09348795e-02 3.92943392e-03 1.98902424e+01] [-7.09339574e-02 9.97480944e-01 -3.73702057e-04 -7.24322131e-01] [-3.94604396e-03 9.40274919e-05 9.99992210e-01 -3.92629335e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.076559995 meters 0.02062805337972545 Centerline is valid? [True, True] Translation: X:19.92, Y:-0.73, Z:-0.39 [[ 9.97565799e-01 6.96717102e-02 2.88594400e-03 1.99217853e+01] [-6.96712021e-02 9.97569971e-01 -2.76336998e-04 -7.26859589e-01] [-2.89818395e-03 7.45971498e-05 9.99995797e-01 -3.94722756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.106559994999998 meters 0.019734406642919776 Centerline is valid? [True, True] Translation: X:19.95, Y:-0.73, Z:-0.40 [[ 9.97579302e-01 6.94633458e-02 3.22182167e-03 1.99535575e+01] [-6.94627117e-02 9.97584501e-01 -3.08445882e-04 -7.30389107e-01] [-3.23546505e-03 8.39027576e-05 9.99994762e-01 -3.96294667e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.136559995 meters 0.019812583658842694 Centerline is valid? [True, True] Translation: X:19.99, Y:-0.73, Z:-0.40 [[ 9.97642041e-01 6.85507672e-02 3.33919782e-03 1.99854336e+01] [-6.85500824e-02 9.97647625e-01 -3.19251403e-04 -7.32865332e-01] [-3.35322771e-03 8.95963355e-05 9.99994374e-01 -3.97343503e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.166559995 meters 0.019842576136435922 Centerline is valid? [True, True] Translation: X:20.02, Y:-0.74, Z:-0.40 [[ 9.97664036e-01 6.82337402e-02 3.26020672e-03 2.00175920e+01] [-6.82330834e-02 9.97669358e-01 -3.12365513e-04 -7.36317662e-01] [-3.27392221e-03 8.91818814e-05 9.99994637e-01 -3.97775964e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.196559994999998 meters 0.021637176807348748 Centerline is valid? [True, True] Translation: X:20.05, Y:-0.74, Z:-0.40 [[ 9.97745208e-01 6.70617398e-02 2.68758996e-03 2.00489266e+01] [-6.70612889e-02 9.97748825e-01 -2.57617220e-04 -7.41093292e-01] [-2.69881599e-03 7.68030996e-05 9.99996355e-01 -3.97788888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.226559995 meters 0.020708955893756608 Centerline is valid? [True, True] Translation: X:20.08, Y:-0.74, Z:-0.40 [[ 9.97757268e-01 6.68582684e-02 3.22571443e-03 2.00814743e+01] [-6.68576156e-02 9.97762478e-01 -3.09914520e-04 -7.44477400e-01] [-3.23921717e-03 9.35558898e-05 9.99994749e-01 -3.97808189e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.256559995 meters 0.02156453277047941 Centerline is valid? [True, True] Translation: X:20.11, Y:-0.75, Z:-0.40 [[ 9.97786132e-01 6.64252569e-02 3.24331721e-03 2.01138103e+01] [-6.64245897e-02 9.97791399e-01 -3.13136927e-04 -7.48276699e-01] [-3.25695422e-03 9.70076685e-05 9.99994691e-01 -3.98469252e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.286559994999998 meters 0.02177076133025113 Centerline is valid? [True, True] Translation: X:20.15, Y:-0.75, Z:-0.40 [[ 9.97777115e-01 6.65495291e-02 3.46250986e-03 2.01453386e+01] [-6.65487661e-02 9.97783117e-01 -3.35224571e-04 -7.53456157e-01] [-3.47714292e-03 1.04053647e-04 9.99993949e-01 -3.99435322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.316559995 meters 0.020901992468069824 Centerline is valid? [True, True] Translation: X:20.18, Y:-0.76, Z:-0.40 [[ 9.97727947e-01 6.71859369e-02 4.99935060e-03 2.01770208e+01] [-6.71843350e-02 9.97740461e-01 -4.87867978e-04 -7.55478340e-01] [-5.02083224e-03 1.50881470e-04 9.99987384e-01 -3.98435345e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.346559995 meters 0.019518732826211926 Centerline is valid? [True, True] Translation: X:20.21, Y:-0.76, Z:-0.40 [[ 9.97631126e-01 6.85337453e-02 5.93826564e-03 2.02094890e+01] [-6.85314859e-02 9.97648783e-01 -5.83377895e-04 -7.58082922e-01] [-5.96428456e-03 1.75037778e-04 9.99982198e-01 -3.98505956e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.376559995 meters 0.020167897670400933 Centerline is valid? [True, True] Translation: X:20.24, Y:-0.76, Z:-0.40 [[ 9.97530222e-01 6.99985800e-02 5.80127750e-03 2.02413505e+01] [-6.99964531e-02 9.97547078e-01 -5.69089646e-04 -7.61106746e-01] [-5.82688289e-03 1.61615272e-04 9.99983011e-01 -3.99025716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.406559995 meters 0.018000839411021343 Centerline is valid? [True, True] Translation: X:20.27, Y:-0.76, Z:-0.40 [[ 9.97271029e-01 7.35949010e-02 5.85534408e-03 2.02729995e+01] [-7.35927719e-02 9.97288208e-01 -5.78537479e-04 -7.63553704e-01] [-5.88204301e-03 1.46047665e-04 9.99982690e-01 -3.98456803e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.436559995 meters 0.017973609138245826 Centerline is valid? [True, True] Translation: X:20.31, Y:-0.77, Z:-0.40 [[ 9.97117666e-01 7.56756183e-02 5.43706024e-03 2.03052805e+01] [-7.56738274e-02 9.97132482e-01 -5.34647319e-04 -7.66041588e-01] [-5.46192914e-03 1.21663128e-04 9.99985076e-01 -3.98873564e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.466559995 meters 0.01956120826033686 Centerline is valid? [True, True] Translation: X:20.34, Y:-0.77, Z:-0.40 [[ 9.96966811e-01 7.77079632e-02 4.31855805e-03 2.03366440e+01] [-7.77068520e-02 9.96976161e-01 -4.24764788e-04 -7.69989087e-01] [-4.33850703e-03 8.78948453e-05 9.99990585e-01 -4.00622601e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.496559995 meters 0.019193051313211522 Centerline is valid? [True, True] Translation: X:20.37, Y:-0.77, Z:-0.40 [[ 9.96684243e-01 8.13143750e-02 2.91424918e-03 2.03686138e+01] [-8.13138868e-02 9.96688502e-01 -2.85835689e-04 -7.72086831e-01] [-2.92784120e-03 4.79189989e-05 9.99995713e-01 -4.01749011e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.526559995 meters 0.018138567548201468 Centerline is valid? [True, True] Translation: X:20.40, Y:-0.78, Z:-0.40 [[ 9.96542911e-01 8.30407575e-02 2.54140299e-03 2.04003970e+01] [-8.30403917e-02 9.96546151e-01 -2.49288466e-04 -7.75533458e-01] [-2.55332647e-03 3.73875539e-05 9.99996740e-01 -4.02455881e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.556559995 meters 0.018960066487401894 Centerline is valid? [True, True] Translation: X:20.43, Y:-0.78, Z:-0.40 [[ 9.96402139e-01 8.47256773e-02 2.08257451e-03 2.04309278e+01] [-8.47254354e-02 9.96404315e-01 -2.04262379e-04 -7.79048526e-01] [-2.09239249e-03 2.70804390e-05 9.99997811e-01 -4.03603208e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.586559995 meters 0.018345397498377856 Centerline is valid? [True, True] Translation: X:20.46, Y:-0.78, Z:-0.40 [[ 9.96091441e-01 8.82916385e-02 2.53530453e-03 2.04627133e+01] [-8.82912886e-02 9.96094667e-01 -2.49823230e-04 -7.81989981e-01] [-2.54746062e-03 2.50014777e-05 9.99996755e-01 -4.03706980e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.616559995 meters 0.016593383648215776 Centerline is valid? [True, True] Translation: X:20.49, Y:-0.79, Z:-0.41 [[ 9.95816605e-01 9.13509928e-02 2.07016276e-03 2.04939104e+01] [-9.13507662e-02 9.95818757e-01 -2.03950559e-04 -7.86746117e-01] [-2.08013799e-03 1.39863990e-05 9.99997836e-01 -4.05117862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.646559995 meters 0.016078198602707608 Centerline is valid? [True, True] Translation: X:20.53, Y:-0.79, Z:-0.40 [[ 9.95707180e-01 9.25387648e-02 1.94629536e-03 2.05269273e+01] [-9.25385683e-02 9.95709082e-01 -1.90967758e-04 -7.90949328e-01] [-1.95561589e-03 1.00405821e-05 9.99998088e-01 -4.04969424e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.676559994999998 meters 0.01699288037576694 Centerline is valid? [True, True] Translation: X:20.56, Y:-0.80, Z:-0.41 [[ 9.95641858e-01 9.32427048e-02 1.75719435e-03 2.05593024e+01] [-9.32425459e-02 9.95643409e-01 -1.72323629e-04 -7.97229236e-01] [-1.76560689e-03 7.72734395e-06 9.99998441e-01 -4.05865403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.706559995 meters 0.01699288037576694 Centerline is valid? [True, True] Translation: X:20.59, Y:-0.80, Z:-0.41 [[ 9.95615448e-01 9.35242880e-02 1.75714476e-03 2.05915463e+01] [-9.35241286e-02 9.95616998e-01 -1.72820511e-04 -8.00555989e-01] [-1.76560611e-03 7.72733826e-06 9.99998441e-01 -4.06503908e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.736559995 meters 0.01766555496228057 Centerline is valid? [True, True] Translation: X:20.62, Y:-0.81, Z:-0.41 [[ 9.95564396e-01 9.40597341e-02 2.07354097e-03 2.06228444e+01] [-9.40595093e-02 9.95566555e-01 -2.05882387e-04 -8.07927520e-01] [-2.08371328e-03 9.93292835e-06 9.99997829e-01 -4.07480272e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.766559994999998 meters 0.016461496119393383 Centerline is valid? [True, True] Translation: X:20.65, Y:-0.81, Z:-0.41 [[ 9.95537335e-01 9.43315225e-02 2.64176816e-03 2.06536593e+01] [-9.43311473e-02 9.95540840e-01 -2.66575237e-04 -8.13610169e-01] [-2.65513454e-03 1.61845792e-05 9.99996475e-01 -4.08044074e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.796559995 meters 0.015135794016733432 Centerline is valid? [True, True] Translation: X:20.69, Y:-0.82, Z:-0.41 [[ 9.95479596e-01 9.49187838e-02 3.28616590e-03 2.06850611e+01] [-9.49182086e-02 9.95485020e-01 -3.30891421e-04 -8.18663395e-01] [-3.30273674e-03 1.74786772e-05 9.99994546e-01 -4.06865756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.826559995 meters 0.015983844560496403 Centerline is valid? [True, True] Translation: X:20.72, Y:-0.82, Z:-0.41 [[ 9.95455482e-01 9.51426680e-02 4.03195885e-03 2.07158538e+01] [-9.51417885e-02 9.95463647e-01 -4.09815089e-04 -8.24585983e-01] [-4.05265936e-03 2.43449008e-05 9.99991788e-01 -4.07460156e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.856559994999998 meters 0.017095392408129188 Centerline is valid? [True, True] Translation: X:20.75, Y:-0.83, Z:-0.41 [[ 9.95158248e-01 9.81664426e-02 4.83841501e-03 2.07474387e+01] [-9.81652131e-02 9.95170010e-01 -4.91513492e-04 -8.29422025e-01] [-4.86329564e-03 1.41696649e-05 9.99988174e-01 -4.06788068e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.886559995 meters 0.016592159277111773 Centerline is valid? [True, True] Translation: X:20.78, Y:-0.83, Z:-0.41 [[ 9.94726875e-01 1.02458073e-01 4.55933661e-03 2.07807454e+01] [-1.02457025e-01 9.94737324e-01 -4.63440691e-04 -8.30200656e-01] [-4.58282554e-03 -6.13915363e-06 9.99989499e-01 -4.08026085e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.916559995 meters 0.015398960110870177 Centerline is valid? [True, True] Translation: X:20.81, Y:-0.83, Z:-0.41 [[ 9.94297422e-01 1.06586262e-01 3.46493950e-03 2.08124986e+01] [-1.06585681e-01 9.94303459e-01 -3.52404932e-04 -8.31533216e-01] [-3.48276285e-03 -1.89176200e-05 9.99993935e-01 -4.09207044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.946559994999998 meters 0.017095009072824515 Centerline is valid? [True, True] Translation: X:20.84, Y:-0.83, Z:-0.41 [[ 9.93552160e-01 1.13332910e-01 3.12372724e-03 2.08444847e+01] [-1.13332470e-01 9.93557069e-01 -3.18028294e-04 -8.31271263e-01] [-3.13964436e-03 -3.80420271e-05 9.99995071e-01 -4.11367204e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.976559995 meters 0.015065411129390223 Centerline is valid? [True, True] Translation: X:20.88, Y:-0.83, Z:-0.41 [[ 9.93142701e-01 1.16861593e-01 3.30821482e-03 2.08762702e+01] [-1.16861116e-01 9.93148209e-01 -3.37839875e-04 -8.34086841e-01] [-3.32502813e-03 -5.10784694e-05 9.99994471e-01 -4.10142328e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.006559995 meters 0.0163968445317383 Centerline is valid? [True, True] Translation: X:20.91, Y:-0.84, Z:-0.41 [[ 9.92839054e-01 1.19391619e-01 4.03164439e-03 2.09079274e+01] [-1.19390923e-01 9.92847237e-01 -4.13811524e-04 -8.36595166e-01] [-4.05221262e-03 -7.04935023e-05 9.99991787e-01 -4.10818459e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.036559994999998 meters 0.018835886519616034 Centerline is valid? [True, True] Translation: X:20.94, Y:-0.84, Z:-0.41 [[ 9.92511584e-01 1.22053937e-01 4.85723786e-03 2.09399755e+01] [-1.22052948e-01 9.92523464e-01 -5.00669293e-04 -8.36148928e-01] [-4.88203120e-03 -9.59201275e-05 9.99988078e-01 -4.10610989e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.066559995 meters 0.017183687838206712 Centerline is valid? [True, True] Translation: X:20.97, Y:-0.84, Z:-0.41 [[ 9.92489879e-01 1.22235793e-01 4.71707953e-03 2.09726795e+01] [-1.22234860e-01 9.92501084e-01 -4.86713443e-04 -8.38841400e-01] [-4.74120035e-03 -9.35333903e-05 9.99988756e-01 -4.11125069e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.096559995 meters 0.01826612404201086 Centerline is valid? [True, True] Translation: X:21.00, Y:-0.84, Z:-0.41 [[ 9.92548450e-01 1.21767934e-01 4.48827700e-03 2.10036285e+01] [-1.21767076e-01 9.92558594e-01 -4.64981147e-04 -8.40673209e-01] [-4.51149770e-03 -8.50080509e-05 9.99989820e-01 -4.13015065e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.126559994999997 meters 0.01708433713969285 Centerline is valid? [True, True] Translation: X:21.04, Y:-0.84, Z:-0.41 [[ 9.92539013e-01 1.21844040e-01 4.50964131e-03 2.10361496e+01] [-1.21843174e-01 9.92549254e-01 -4.67448134e-04 -8.44301840e-01] [-4.53299689e-03 -8.55084999e-05 9.99989722e-01 -4.13089225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.156559995 meters 0.01728251406790082 Centerline is valid? [True, True] Translation: X:21.07, Y:-0.85, Z:-0.41 [[ 9.92440298e-01 1.22623157e-01 5.08105214e-03 2.10679774e+01] [-1.22622054e-01 9.92453300e-01 -5.29139580e-04 -8.47002750e-01] [-5.10759172e-03 -9.79096098e-05 9.99986951e-01 -4.13025810e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.186559995 meters 0.018094841062217044 Centerline is valid? [True, True] Translation: X:21.10, Y:-0.85, Z:-0.41 [[ 9.92332293e-01 1.23466445e-01 5.71467611e-03 2.11006107e+01] [-1.23465053e-01 9.92348741e-01 -5.97110298e-04 -8.49866846e-01] [-5.74467473e-03 -1.13030959e-04 9.99983493e-01 -4.13150976e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.216559995 meters 0.016841225186582116 Centerline is valid? [True, True] Translation: X:21.13, Y:-0.85, Z:-0.41 [[ 9.92142466e-01 1.24976426e-01 5.84975533e-03 2.11328692e+01] [-1.24974980e-01 9.92159704e-01 -6.13455681e-04 -8.52428412e-01] [-5.88055902e-03 -1.22437623e-04 9.99982702e-01 -4.12807693e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.246559995 meters 0.019042378222226736 Centerline is valid? [True, True] Translation: X:21.17, Y:-0.85, Z:-0.42 [[ 9.92001974e-01 1.26062987e-01 6.34084464e-03 2.11655394e+01] [-1.26061301e-01 9.92022230e-01 -6.66485421e-04 -8.52001096e-01] [-6.37427798e-03 -1.38180272e-04 9.99979675e-01 -4.15118077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.276559995 meters 0.0180548517714384 Centerline is valid? [True, True] Translation: X:21.20, Y:-0.85, Z:-0.42 [[ 9.91917142e-01 1.26735881e-01 6.19674346e-03 2.11988399e+01] [-1.26734274e-01 9.91936489e-01 -6.52963085e-04 -8.53990144e-01] [-6.22952980e-03 -1.37654504e-04 9.99980587e-01 -4.15694209e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.306559995 meters 0.018378662731152337 Centerline is valid? [True, True] Translation: X:21.23, Y:-0.86, Z:-0.42 [[ 9.91816489e-01 1.27506806e-01 6.48594615e-03 2.12312341e+01] [-1.27505047e-01 9.91837685e-01 -6.85554817e-04 -8.56115780e-01] [-6.52041872e-03 -1.47046301e-04 9.99978731e-01 -4.16207885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.336559995 meters 0.018545408198518642 Centerline is valid? [True, True] Translation: X:21.26, Y:-0.86, Z:-0.42 [[ 9.91734456e-01 1.28145448e-01 6.44310055e-03 2.12637815e+01] [-1.28143714e-01 9.91755374e-01 -6.82820725e-04 -8.59001061e-01] [-6.47747996e-03 -1.48465996e-04 9.99979010e-01 -4.16496566e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.366559995 meters 0.016563988296488162 Centerline is valid? [True, True] Translation: X:21.30, Y:-0.86, Z:-0.41 [[ 9.91567952e-01 1.29423700e-01 6.51933141e-03 2.12961763e+01] [-1.29421938e-01 9.91589371e-01 -6.93231987e-04 -8.62263189e-01] [-6.55422038e-03 -1.56357884e-04 9.99978509e-01 -4.14770957e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.396559995 meters 0.01880994856968254 Centerline is valid? [True, True] Translation: X:21.33, Y:-0.86, Z:-0.42 [[ 9.91346102e-01 1.31091023e-01 6.93173528e-03 2.13287138e+01] [-1.31089058e-01 9.91370321e-01 -7.39021372e-04 -8.63869277e-01] [-6.96879569e-03 -1.76048693e-04 9.99975702e-01 -4.15403929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.426559994999998 meters 0.02022038798606941 Centerline is valid? [True, True] Translation: X:21.36, Y:-0.86, Z:-0.42 [[ 9.91168698e-01 1.32431087e-01 6.82783143e-03 2.13601824e+01] [-1.32429199e-01 9.91192199e-01 -7.29833481e-04 -8.63978653e-01] [-6.86434589e-03 -1.80816149e-04 9.99976424e-01 -4.16791794e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.456559995 meters 0.018259501305291054 Centerline is valid? [True, True] Translation: X:21.39, Y:-0.86, Z:-0.42 [[ 9.90939348e-01 1.34118424e-01 7.17339445e-03 2.13926741e+01] [-1.34116372e-01 9.90965291e-01 -7.68443810e-04 -8.64981736e-01] [-7.21164739e-03 -2.00588431e-04 9.99973976e-01 -4.16930497e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.486559995 meters 0.0202579354623975 Centerline is valid? [True, True] Translation: X:21.43, Y:-0.87, Z:-0.42 [[ 9.90767593e-01 1.35408664e-01 6.63861143e-03 2.14251629e+01] [-1.35406927e-01 9.90789815e-01 -7.12458845e-04 -8.65701052e-01] [-6.67394169e-03 -1.93032838e-04 9.99977710e-01 -4.19318306e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.516559994999998 meters 0.020936375974343016 Centerline is valid? [True, True] Translation: X:21.46, Y:-0.87, Z:-0.42 [[ 9.90592659e-01 1.36720496e-01 5.80431042e-03 2.14568780e+01] [-1.36719184e-01 9.90609648e-01 -6.23994790e-04 -8.66082423e-01] [-5.83511879e-03 -1.75435928e-04 9.99982960e-01 -4.21292503e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.546559995 meters 0.01928652342538811 Centerline is valid? [True, True] Translation: X:21.49, Y:-0.87, Z:-0.42 [[ 9.90500181e-01 1.37397228e-01 5.60297443e-03 2.14883779e+01] [-1.37396012e-01 9.90516013e-01 -6.03223987e-04 -8.69375126e-01] [-5.63271719e-03 -1.72332873e-04 9.99984121e-01 -4.20997098e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.576559995 meters 0.02092966942795798 Centerline is valid? [True, True] Translation: X:21.52, Y:-0.87, Z:-0.42 [[ 9.90537241e-01 1.37142958e-01 5.27090896e-03 2.15197690e+01] [-1.37141873e-01 9.90551252e-01 -5.68473729e-04 -8.73021201e-01] [-5.29906764e-03 -1.59767927e-04 9.99985947e-01 -4.22237075e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.606559994999998 meters 0.021546750845604336 Centerline is valid? [True, True] Translation: X:21.55, Y:-0.87, Z:-0.42 [[ 9.90600983e-01 1.36675518e-01 5.43089062e-03 2.15512981e+01] [-1.36674343e-01 9.90615858e-01 -5.88755663e-04 -8.73645432e-01] [-5.46039486e-03 -1.59041467e-04 9.99985079e-01 -4.22880932e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.636559995 meters 0.021847364904184322 Centerline is valid? [True, True] Translation: X:21.58, Y:-0.88, Z:-0.42 [[ 9.90591407e-01 1.36732364e-01 5.73803676e-03 2.15827897e+01] [-1.36731056e-01 9.90608011e-01 -6.21565725e-04 -8.77602272e-01] [-5.76913333e-03 -1.68850158e-04 9.99983344e-01 -4.22783099e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.666559995 meters 0.018763832027406578 Centerline is valid? [True, True] Translation: X:21.62, Y:-0.88, Z:-0.42 [[ 9.90432535e-01 1.37838884e-01 6.62092187e-03 2.16155163e+01] [-1.37837151e-01 9.90454644e-01 -7.19575647e-04 -8.78378102e-01] [-6.65690832e-03 -1.99917874e-04 9.99977823e-01 -4.21238868e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.696559994999998 meters 0.02159697970619328 Centerline is valid? [True, True] Translation: X:21.65, Y:-0.88, Z:-0.42 [[ 9.90388176e-01 1.38152789e-01 6.71325183e-03 2.16477936e+01] [-1.38150996e-01 9.90410908e-01 -7.32262369e-04 -8.80131875e-01] [-6.75004193e-03 -2.02218436e-04 9.99977198e-01 -4.23446414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.726559995 meters 0.021061483323142116 Centerline is valid? [True, True] Translation: X:21.68, Y:-0.88, Z:-0.42 [[ 9.90191652e-01 1.39586423e-01 6.01023346e-03 2.16800483e+01] [-1.39585014e-01 9.90209874e-01 -6.55276196e-04 -8.83034984e-01] [-6.04286018e-03 -1.90089504e-04 9.99981724e-01 -4.23698547e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.756559995 meters 0.02254191391552238 Centerline is valid? [True, True] Translation: X:21.71, Y:-0.88, Z:-0.43 [[ 9.89875245e-01 1.41868148e-01 4.51969835e-03 2.17121523e+01] [-1.41867367e-01 9.89885552e-01 -4.94643934e-04 -8.81790046e-01] [-4.54415831e-03 -1.51561918e-04 9.99989664e-01 -4.25832358e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.786559994999998 meters 0.0234555826431994 Centerline is valid? [True, True] Translation: X:21.74, Y:-0.88, Z:-0.43 [[ 9.89789667e-01 1.42477868e-01 4.05870585e-03 2.17433972e+01] [-1.42477243e-01 9.89797978e-01 -4.44217762e-04 -8.81476521e-01] [-4.08059004e-03 -1.38591069e-04 9.99991665e-01 -4.28126703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.816559995 meters 0.0230350384314091 Centerline is valid? [True, True] Translation: X:21.78, Y:-0.88, Z:-0.43 [[ 9.89668736e-01 1.43318855e-01 3.93682724e-03 2.17751484e+01] [-1.43318279e-01 9.89676556e-01 -4.29561186e-04 -8.84272826e-01] [-3.95774984e-03 -1.39096028e-04 9.99992158e-01 -4.28529084e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.846559995 meters 0.0230350384314091 Centerline is valid? [True, True] Translation: X:21.81, Y:-0.89, Z:-0.43 [[ 9.89628417e-01 1.43596995e-01 3.93678177e-03 2.18073888e+01] [-1.43596420e-01 9.89636238e-01 -4.29978869e-04 -8.87903746e-01] [-3.95772557e-03 -1.39788460e-04 9.99992158e-01 -4.29167687e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.876559994999997 meters 0.0230350384314091 Centerline is valid? [True, True] Translation: X:21.84, Y:-0.89, Z:-0.43 [[ 9.89588019e-01 1.43875138e-01 3.93665999e-03 2.18396283e+01] [-1.43874560e-01 9.89595839e-01 -4.31085241e-04 -8.91543384e-01] [-3.95772480e-03 -1.39788433e-04 9.99992158e-01 -4.29806512e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.906559995 meters 0.02430837287995653 Centerline is valid? [True, True] Translation: X:21.87, Y:-0.89, Z:-0.43 [[ 9.89514591e-01 1.44375679e-01 4.06668344e-03 2.18709376e+01] [-1.44375051e-01 9.89522937e-01 -4.48950872e-04 -8.92847192e-01] [-4.08889413e-03 -1.42884192e-04 9.99991630e-01 -4.30972666e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.936559995 meters 0.02430837287995653 Centerline is valid? [True, True] Translation: X:21.90, Y:-0.90, Z:-0.43 [[ 9.89474687e-01 1.44648901e-01 4.06686569e-03 2.19031774e+01] [-1.44648283e-01 9.89483034e-01 -4.47315144e-04 -8.96507661e-01] [-4.08879824e-03 -1.45658126e-04 9.99991630e-01 -4.31610613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.966559995 meters 0.024188218646773157 Centerline is valid? [True, True] Translation: X:21.94, Y:-0.90, Z:-0.43 [[ 9.89393018e-01 1.45210177e-01 3.93203033e-03 2.19358965e+01] [-1.45209600e-01 9.89400821e-01 -4.33331001e-04 -9.00503847e-01] [-3.95327811e-03 -1.42233885e-04 9.99992176e-01 -4.31546975e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.996559995 meters 0.02350514701417537 Centerline is valid? [True, True] Translation: X:21.97, Y:-0.90, Z:-0.43 [[ 9.89336536e-01 1.45581803e-01 4.37693324e-03 2.19691733e+01] [-1.45581084e-01 9.89346205e-01 -4.84255303e-04 -9.03051507e-01] [-4.40080105e-03 -1.58107220e-04 9.99990304e-01 -4.31717453e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.026559995 meters 0.025253322267329435 Centerline is valid? [True, True] Translation: X:22.00, Y:-0.90, Z:-0.43 [[ 9.89332291e-01 1.45610353e-01 4.38665440e-03 2.20019490e+01] [-1.45609625e-01 9.89342004e-01 -4.86612440e-04 -9.04433358e-01] [-4.41075726e-03 -1.57317701e-04 9.99990260e-01 -4.32964061e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.056559995 meters 0.022600386549104044 Centerline is valid? [True, True] Translation: X:22.03, Y:-0.91, Z:-0.43 [[ 9.89280915e-01 1.45958075e-01 4.41721550e-03 2.20344743e+01] [-1.45957335e-01 9.89290764e-01 -4.91210061e-04 -9.07931659e-01] [-4.44160658e-03 -1.58780264e-04 9.99990123e-01 -4.32348601e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.086559995 meters 0.024416198753076424 Centerline is valid? [True, True] Translation: X:22.07, Y:-0.91, Z:-0.43 [[ 9.89336002e-01 1.45579047e-01 4.58431977e-03 2.20655630e+01] [-1.45578235e-01 9.89346610e-01 -5.12143812e-04 -9.09444363e-01] [-4.61003863e-03 -1.60694869e-04 9.99989361e-01 -4.34197156e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.116559995 meters 0.023349785855566327 Centerline is valid? [True, True] Translation: X:22.10, Y:-0.91, Z:-0.43 [[ 9.89485367e-01 1.44528424e-01 5.49934941e-03 2.20971632e+01] [-1.44527229e-01 9.89500632e-01 -6.16227336e-04 -9.12162459e-01] [-5.53067208e-03 -1.85057798e-04 9.99984689e-01 -4.34757328e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.146559995 meters 0.02314996739383695 Centerline is valid? [True, True] Translation: X:22.13, Y:-0.91, Z:-0.44 [[ 9.89498281e-01 1.44437661e-01 5.55997719e-03 2.21288061e+01] [-1.44436430e-01 9.89513885e-01 -6.24492947e-04 -9.14673335e-01] [-5.59187493e-03 -1.85128557e-04 9.99984348e-01 -4.35779433e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.176559994999998 meters 0.024293242706993557 Centerline is valid? [True, True] Translation: X:22.16, Y:-0.92, Z:-0.44 [[ 9.89560356e-01 1.44014095e-01 5.49938954e-03 2.21599555e+01] [-1.44012874e-01 9.89575620e-01 -6.19284060e-04 -9.16222453e-01] [-5.53124745e-03 -1.79163942e-04 9.99984686e-01 -4.37393494e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.206559995 meters 0.021335006504598606 Centerline is valid? [True, True] Translation: X:22.19, Y:-0.92, Z:-0.44 [[ 9.89615887e-01 1.43604675e-01 6.17198051e-03 2.21923763e+01] [-1.43603119e-01 9.89635114e-01 -6.96752205e-04 -9.17922906e-01] [-6.20806551e-03 -1.96798603e-04 9.99980710e-01 -4.36687114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.236559995 meters 0.022861667422055205 Centerline is valid? [True, True] Translation: X:22.22, Y:-0.92, Z:-0.44 [[ 9.89672463e-01 1.43185918e-01 6.79775356e-03 2.22231380e+01] [-1.43184005e-01 9.89695786e-01 -7.69823272e-04 -9.19836075e-01] [-6.83793590e-03 -2.11456688e-04 9.99976599e-01 -4.38160245e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.266559994999998 meters 0.024168589169435303 Centerline is valid? [True, True] Translation: X:22.26, Y:-0.92, Z:-0.44 [[ 9.89856554e-01 1.41885739e-01 7.24153169e-03 2.22555556e+01] [-1.41883507e-01 9.89883019e-01 -8.23755735e-04 -9.23106837e-01] [-7.28514845e-03 -2.12053897e-04 9.99973440e-01 -4.39096154e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.296559995 meters 0.023137199227059348 Centerline is valid? [True, True] Translation: X:22.29, Y:-0.93, Z:-0.44 [[ 9.90242854e-01 1.39098544e-01 8.40744126e-03 2.22870366e+01] [-1.39095422e-01 9.90278520e-01 -9.57795601e-04 -9.26521210e-01] [-8.45893645e-03 -2.20986340e-04 9.99964198e-01 -4.38737698e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.326559995 meters 0.02208032693972497 Centerline is valid? [True, True] Translation: X:22.32, Y:-0.93, Z:-0.44 [[ 9.90420168e-01 1.37816207e-01 8.63621583e-03 2.23180405e+01] [-1.37812876e-01 9.90457796e-01 -9.82457187e-04 -9.29140777e-01] [-8.68920583e-03 -2.17136330e-04 9.99962225e-01 -4.39035966e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.356559994999998 meters 0.02069333668542671 Centerline is valid? [True, True] Translation: X:22.35, Y:-0.93, Z:-0.44 [[ 9.90657884e-01 1.36102559e-01 8.54696253e-03 2.23495746e+01] [-1.36099219e-01 9.90694733e-01 -9.73928521e-04 -9.33405162e-01] [-8.59998493e-03 -1.98404958e-04 9.99963000e-01 -4.38158141e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.386559995 meters 0.02228848754851706 Centerline is valid? [True, True] Translation: X:22.38, Y:-0.93, Z:-0.44 [[ 9.90691874e-01 1.35848899e-01 8.64218987e-03 2.23807109e+01] [-1.35845453e-01 9.90729549e-01 -9.87214507e-04 -9.32600812e-01] [-8.69618487e-03 -1.95976807e-04 9.99962168e-01 -4.40307931e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.416559995 meters 0.02287492418864183 Centerline is valid? [True, True] Translation: X:22.41, Y:-0.94, Z:-0.44 [[ 9.90684148e-01 1.35896697e-01 8.77539055e-03 2.24130865e+01] [-1.35893132e-01 9.90722993e-01 -1.00402118e-03 -9.35723294e-01] [-8.83042435e-03 -1.97847438e-04 9.99960991e-01 -4.40723284e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.446559994999998 meters 0.021350689854241645 Centerline is valid? [True, True] Translation: X:22.45, Y:-0.94, Z:-0.44 [[ 9.90628189e-01 1.36312881e-01 8.63652325e-03 2.24463825e+01] [-1.36309424e-01 9.90665817e-01 -9.90367454e-04 -9.38122456e-01] [-8.69090820e-03 -1.96153592e-04 9.99962214e-01 -4.40664582e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.476559995 meters 0.022588729445903042 Centerline is valid? [True, True] Translation: X:22.48, Y:-0.94, Z:-0.44 [[ 9.90601069e-01 1.36486497e-01 8.99763653e-03 2.24793529e+01] [-1.36482727e-01 9.90641911e-01 -1.03459188e-03 -9.39369290e-01] [-9.05464366e-03 -2.03154150e-04 9.99958985e-01 -4.41961184e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.506559995 meters 0.021415350028189496 Centerline is valid? [True, True] Translation: X:22.51, Y:-0.94, Z:-0.44 [[ 9.90622632e-01 1.36272366e-01 9.83077037e-03 2.25119248e+01] [-1.36267819e-01 9.90671386e-01 -1.13399715e-03 -9.39598958e-01] [-9.89359539e-03 -2.16254397e-04 9.99951034e-01 -4.41680680e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.536559994999998 meters 0.022423446256918344 Centerline is valid? [True, True] Translation: X:22.54, Y:-0.94, Z:-0.44 [[ 9.90564983e-01 1.36645811e-01 1.04373288e-02 2.25446864e+01] [-1.36640679e-01 9.90619942e-01 -1.20655838e-03 -9.41708119e-01] [-1.05042972e-02 -2.30989212e-04 9.99944802e-01 -4.41962184e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.566559995 meters 0.020947466602953185 Centerline is valid? [True, True] Translation: X:22.58, Y:-0.94, Z:-0.44 [[ 9.90541947e-01 1.36798352e-01 1.06236184e-02 2.25774305e+01] [-1.36793011e-01 9.90598888e-01 -1.23123671e-03 -9.43533397e-01] [-1.06921757e-02 -2.33645136e-04 9.99942810e-01 -4.41844572e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.596559995 meters 0.019029068751989626 Centerline is valid? [True, True] Translation: X:22.61, Y:-0.94, Z:-0.44 [[ 9.90473209e-01 1.37306573e-01 1.04750639e-02 2.26091294e+01] [-1.37301363e-01 9.90528572e-01 -1.21828727e-03 -9.44449641e-01] [-1.05431290e-02 -2.31559661e-04 9.99944393e-01 -4.41610059e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.626559994999997 meters 0.022794050818161302 Centerline is valid? [True, True] Translation: X:22.64, Y:-0.94, Z:-0.44 [[ 9.90358740e-01 1.38231422e-01 9.03544512e-03 2.26407130e+01] [-1.38227585e-01 9.90399935e-01 -1.05079040e-03 -9.42280141e-01] [-9.09395651e-03 -2.08288295e-04 9.99958627e-01 -4.44867119e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.656559995 meters 0.023049950755302816 Centerline is valid? [True, True] Translation: X:22.67, Y:-0.94, Z:-0.45 [[ 9.90283644e-01 1.38792822e-01 8.65201528e-03 2.26733853e+01] [-1.38789315e-01 9.90321418e-01 -1.00739899e-03 -9.43574878e-01] [-8.70809579e-03 -2.03196536e-04 9.99962063e-01 -4.46007025e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.686559995 meters 0.02146944054042703 Centerline is valid? [True, True] Translation: X:22.71, Y:-0.95, Z:-0.45 [[ 9.90272947e-01 1.38891112e-01 8.29147535e-03 2.27065965e+01] [-1.38887877e-01 9.90307640e-01 -9.67481306e-04 -9.45880550e-01] [-8.34548594e-03 -1.93514846e-04 9.99965157e-01 -4.46322912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.716559995 meters 0.020354352335214303 Centerline is valid? [True, True] Translation: X:22.74, Y:-0.95, Z:-0.45 [[ 9.90348635e-01 1.38360141e-01 8.12725249e-03 2.27385433e+01] [-1.38356995e-01 9.90381966e-01 -9.50882259e-04 -9.47012869e-01] [-8.18064850e-03 -1.82757282e-04 9.99966521e-01 -4.46873796e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.746559995 meters 0.02153179740678111 Centerline is valid? [True, True] Translation: X:22.77, Y:-0.95, Z:-0.45 [[ 9.90384801e-01 1.38085117e-01 8.39328160e-03 2.27704791e+01] [-1.38081732e-01 9.90420348e-01 -9.84286604e-04 -9.49662855e-01] [-8.44879222e-03 -1.84136368e-04 9.99964291e-01 -4.47762706e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.776559995 meters 0.021146531349631868 Centerline is valid? [True, True] Translation: X:22.80, Y:-0.95, Z:-0.45 [[ 9.90388449e-01 1.38033142e-01 8.80743491e-03 2.28028345e+01] [-1.38029391e-01 9.90427592e-01 -1.03529634e-03 -9.52285360e-01] [-8.86603176e-03 -1.90339336e-04 9.99960678e-01 -4.47870482e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.806559995 meters 0.02191846953373068 Centerline is valid? [True, True] Translation: X:22.84, Y:-0.95, Z:-0.45 [[ 9.90412857e-01 1.37824635e-01 9.31360494e-03 2.28356898e+01] [-1.37820391e-01 9.90456628e-01 -1.09906568e-03 -9.52537642e-01] [-9.37620007e-03 -1.95075889e-04 9.99956023e-01 -4.48218562e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.836559995 meters 0.021667869591448608 Centerline is valid? [True, True] Translation: X:22.87, Y:-0.95, Z:-0.45 [[ 9.90398505e-01 1.37887654e-01 9.88924041e-03 2.28676981e+01] [-1.37882877e-01 9.90447854e-01 -1.16643351e-03 -9.54355060e-01] [-9.95561372e-03 -2.08322921e-04 9.99950420e-01 -4.48681576e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.866559995 meters 0.02146242110981823 Centerline is valid? [True, True] Translation: X:22.90, Y:-0.96, Z:-0.45 [[ 9.90378136e-01 1.38028107e-01 9.96939905e-03 2.29011324e+01] [-1.38023238e-01 9.90428290e-01 -1.17809948e-03 -9.56057820e-01] [-1.00365857e-02 -2.09244778e-04 9.99949610e-01 -4.49684331e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.896559995 meters 0.021834558862635373 Centerline is valid? [True, True] Translation: X:22.93, Y:-0.96, Z:-0.45 [[ 9.90330560e-01 1.38359678e-01 1.00985988e-02 2.29343929e+01] [-1.38354669e-01 9.90382024e-01 -1.19634543e-03 -9.58144970e-01] [-1.01669967e-02 -2.12410859e-04 9.99948292e-01 -4.50661947e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.926559994999998 meters 0.02222840293133495 Centerline is valid? [True, True] Translation: X:22.97, Y:-0.96, Z:-0.45 [[ 9.90291687e-01 1.38663899e-01 9.73130422e-03 2.29667054e+01] [-1.38659235e-01 9.90339478e-01 -1.15562579e-03 -9.58390612e-01] [-9.79753832e-03 -2.04928590e-04 9.99951982e-01 -4.52271859e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.956559995 meters 0.02213716404663802 Centerline is valid? [True, True] Translation: X:23.00, Y:-0.96, Z:-0.45 [[ 9.90231992e-01 1.39094041e-01 9.66689828e-03 2.29993472e+01] [-1.39089436e-01 9.90279155e-01 -1.15038262e-03 -9.61332464e-01] [-9.73293923e-03 -2.05417750e-04 9.99952613e-01 -4.53034693e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.986559995 meters 0.02185126623602153 Centerline is valid? [True, True] Translation: X:23.03, Y:-0.96, Z:-0.45 [[ 9.90132414e-01 1.39796504e-01 9.73350292e-03 2.30319323e+01] [-1.39791842e-01 9.90180233e-01 -1.16101720e-03 -9.64761668e-01] [-9.80022833e-03 -2.11103546e-04 9.99951954e-01 -4.53140384e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.016559994999998 meters 0.02190323343001951 Centerline is valid? [True, True] Translation: X:23.06, Y:-0.96, Z:-0.45 [[ 9.90075223e-01 1.40208564e-01 9.62348121e-03 2.30639986e+01] [-1.40203998e-01 9.90121970e-01 -1.15082753e-03 -9.64551232e-01] [-9.68977605e-03 -2.09844712e-04 9.99953031e-01 -4.54235200e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.046559995 meters 0.021320863039378257 Centerline is valid? [True, True] Translation: X:23.10, Y:-0.97, Z:-0.45 [[ 9.90065293e-01 1.40280320e-01 9.59937933e-03 2.30968009e+01] [-1.40275757e-01 9.90111806e-01 -1.15034482e-03 -9.67840473e-01] [-9.66582955e-03 -2.07643720e-04 9.99953263e-01 -4.54705462e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.076559995 meters 0.021259536861667507 Centerline is valid? [True, True] Translation: X:23.13, Y:-0.97, Z:-0.46 [[ 9.90068260e-01 1.40263722e-01 9.53562659e-03 2.31293218e+01] [-1.40259193e-01 9.90114158e-01 -1.14538081e-03 -9.71951994e-01] [-9.60201428e-03 -2.03454102e-04 9.99953879e-01 -4.55369942e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.106559994999998 meters 0.02118369501792753 Centerline is valid? [True, True] Translation: X:23.16, Y:-0.97, Z:-0.46 [[ 9.90118665e-01 1.39899043e-01 9.65849390e-03 2.31602624e+01] [-1.39894346e-01 9.90165753e-01 -1.16362988e-03 -9.74470889e-01] [-9.72630059e-03 -1.99037019e-04 9.99952679e-01 -4.56292561e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.136559995 meters 0.02089703290410505 Centerline is valid? [True, True] Translation: X:23.19, Y:-0.98, Z:-0.46 [[ 9.90329665e-01 1.38436309e-01 9.08529954e-03 2.31907948e+01] [-1.38432073e-01 9.90371324e-01 -1.09650779e-03 -9.77713558e-01] [-9.14961662e-03 -1.71792656e-04 9.99958127e-01 -4.57136719e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.166559995 meters 0.019227114685164796 Centerline is valid? [True, True] Translation: X:23.22, Y:-0.98, Z:-0.46 [[ 9.90379301e-01 1.38060676e-01 9.38560949e-03 2.32229001e+01] [-1.38056118e-01 9.90423758e-01 -1.13493406e-03 -9.82088310e-01] [-9.45242039e-03 -1.71725609e-04 9.99955310e-01 -4.57001782e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.196559994999998 meters 0.021258946996469505 Centerline is valid? [True, True] Translation: X:23.26, Y:-0.99, Z:-0.46 [[ 9.90426505e-01 1.37748914e-01 8.97640531e-03 2.32556210e+01] [-1.37744717e-01 9.90467168e-01 -1.08710245e-03 -9.85863035e-01] [-9.04058193e-03 -1.59757332e-04 9.99959120e-01 -4.58383427e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.226559995 meters 0.020293492891988018 Centerline is valid? [True, True] Translation: X:23.29, Y:-0.99, Z:-0.46 [[ 9.90458818e-01 1.37483634e-01 9.46465844e-03 2.32871669e+01] [-1.37478924e-01 9.90504025e-01 -1.14954069e-03 -9.89020037e-01] [-9.53282531e-03 -1.62618346e-04 9.99954548e-01 -4.58716779e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.256559995 meters 0.02106393300557124 Centerline is valid? [True, True] Translation: X:23.32, Y:-0.99, Z:-0.46 [[ 9.90433109e-01 1.37636632e-01 9.92043871e-03 2.33205081e+01] [-1.37631442e-01 9.90482776e-01 -1.20722506e-03 -9.91533873e-01] [-9.99218206e-03 -1.69688617e-04 9.99950063e-01 -4.59718024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.286559994999998 meters 0.02148533864589448 Centerline is valid? [True, True] Translation: X:23.35, Y:-1.00, Z:-0.46 [[ 9.90401689e-01 1.37876411e-01 9.72577359e-03 2.33530806e+01] [-1.37871409e-01 9.90449427e-01 -1.18612162e-03 -9.95577091e-01] [-9.79642508e-03 -1.66169251e-04 9.99952000e-01 -4.60037318e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.316559995 meters 0.02149522216109438 Centerline is valid? [True, True] Translation: X:23.38, Y:-1.00, Z:-0.46 [[ 9.90396871e-01 1.37887098e-01 1.00591244e-02 2.33848263e+01] [-1.37881715e-01 9.90447939e-01 -1.23005202e-03 -9.98693470e-01] [-1.01326473e-02 -1.68729646e-04 9.99948649e-01 -4.61149411e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.346559995 meters 0.020322250857861268 Centerline is valid? [True, True] Translation: X:23.42, Y:-1.00, Z:-0.46 [[ 9.90476739e-01 1.37293598e-01 1.03100570e-02 2.34162389e+01] [-1.37287878e-01 9.90530384e-01 -1.26379036e-03 -1.00414453e+00] [-1.03859350e-02 -1.63690896e-04 9.99946051e-01 -4.60532262e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.376559994999997 meters 0.021458441292417422 Centerline is valid? [True, True] Translation: X:23.45, Y:-1.01, Z:-0.46 [[ 9.90478144e-01 1.37319243e-01 9.82199842e-03 2.34478693e+01] [-1.37314033e-01 9.90526830e-01 -1.20604032e-03 -1.00788231e+00] [-9.89456551e-03 -1.54141631e-04 9.99951036e-01 -4.61455030e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.406559995 meters 0.019856719179508053 Centerline is valid? [True, True] Translation: X:23.48, Y:-1.01, Z:-0.46 [[ 9.90441629e-01 1.37539648e-01 1.04031250e-02 2.34794529e+01] [-1.37533775e-01 9.90496249e-01 -1.28131537e-03 -1.01095796e+00] [-1.04804880e-02 -1.61712970e-04 9.99945065e-01 -4.61709922e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.436559995 meters 0.020026146346231757 Centerline is valid? [True, True] Translation: X:23.51, Y:-1.02, Z:-0.46 [[ 9.90487736e-01 1.37205699e-01 1.04230779e-02 2.35117766e+01] [-1.37199757e-01 9.90542564e-01 -1.28637326e-03 -1.01559094e+00] [-1.05010001e-02 -1.55906817e-04 9.99944851e-01 -4.62065930e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.466559995 meters 0.02004146094683121 Centerline is valid? [True, True] Translation: X:23.54, Y:-1.02, Z:-0.46 [[ 9.90451093e-01 1.37485620e-01 1.02145113e-02 2.35444208e+01] [-1.37479938e-01 9.90503750e-01 -1.25968302e-03 -1.01905559e+00] [-1.02907000e-02 -1.56635954e-04 9.99947037e-01 -4.63078121e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.496559995 meters 0.02019273604082005 Centerline is valid? [True, True] Translation: X:23.58, Y:-1.02, Z:-0.46 [[ 9.90417496e-01 1.37708290e-01 1.04694939e-02 2.35763916e+01] [-1.37702298e-01 9.90472817e-01 -1.29449577e-03 -1.02245441e+00] [-1.05480119e-02 -1.59582110e-04 9.99944355e-01 -4.64278334e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.526559995 meters 0.020650436511630003 Centerline is valid? [True, True] Translation: X:23.61, Y:-1.03, Z:-0.47 [[ 9.90354419e-01 1.38156160e-01 1.05356520e-02 2.36083677e+01] [-1.38150086e-01 9.90410445e-01 -1.30560186e-03 -1.02623055e+00] [-1.06149967e-02 -1.62492662e-04 9.99943646e-01 -4.65511213e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.556559995 meters 0.020837200844795078 Centerline is valid? [True, True] Translation: X:23.64, Y:-1.03, Z:-0.47 [[ 9.90322125e-01 1.38438112e-01 9.84774625e-03 2.36405185e+01] [-1.38432799e-01 9.90371075e-01 -1.22240240e-03 -1.03238342e+00] [-9.92215012e-03 -1.52678937e-04 9.99950763e-01 -4.65827769e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.586559995 meters 0.02038419691749133 Centerline is valid? [True, True] Translation: X:23.67, Y:-1.04, Z:-0.47 [[ 9.90356302e-01 1.38197807e-01 9.78576771e-03 2.36733908e+01] [-1.38192522e-01 9.90404637e-01 -1.21753240e-03 -1.03736884e+00] [-9.86013002e-03 -1.46529036e-04 9.99951377e-01 -4.66680466e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.616559995 meters 0.0205282873968172 Centerline is valid? [True, True] Translation: X:23.71, Y:-1.04, Z:-0.47 [[ 9.90433095e-01 1.37638439e-01 9.89669906e-03 2.37051700e+01] [-1.37632973e-01 9.90482529e-01 -1.23459934e-03 -1.04254213e+00] [-9.97243584e-03 -1.39324061e-04 9.99950264e-01 -4.67122726e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.646559995 meters 0.019781608019467923 Centerline is valid? [True, True] Translation: X:23.74, Y:-1.05, Z:-0.47 [[ 9.90680392e-01 1.35773192e-01 1.08627967e-02 2.37361608e+01] [-1.35766457e-01 9.90739937e-01 -1.35853387e-03 -1.04816327e+00] [-1.09466590e-02 -1.28930549e-04 9.99940075e-01 -4.67589694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.676559994999998 meters 0.01785383384548968 Centerline is valid? [True, True] Translation: X:23.77, Y:-1.05, Z:-0.47 [[ 9.90806071e-01 1.34782153e-01 1.17089741e-02 2.37680800e+01] [-1.34774222e-01 9.90875247e-01 -1.46734830e-03 -1.05405574e+00] [-1.17999050e-02 -1.24210276e-04 9.99930371e-01 -4.67138353e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.706559995 meters 0.018983466321730084 Centerline is valid? [True, True] Translation: X:23.80, Y:-1.06, Z:-0.47 [[ 9.90973902e-01 1.33527611e-01 1.18786451e-02 2.38001038e+01] [-1.33519322e-01 9.91045088e-01 -1.49162646e-03 -1.06048274e+00] [-1.19714462e-02 -1.07865753e-04 9.99928334e-01 -4.67844581e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.736559995 meters 0.018146432706914406 Centerline is valid? [True, True] Translation: X:23.83, Y:-1.07, Z:-0.47 [[ 9.91416971e-01 1.30245673e-01 1.13337569e-02 2.38312538e+01] [-1.30237884e-01 9.91481750e-01 -1.42579449e-03 -1.06982372e+00] [-1.14229167e-02 -6.25276577e-05 9.99934754e-01 -4.68263396e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.766559994999998 meters 0.01852144211941075 Centerline is valid? [True, True] Translation: X:23.86, Y:-1.08, Z:-0.47 [[ 9.91627561e-01 1.28621504e-01 1.14581128e-02 2.38619915e+01] [-1.28613399e-01 9.91693757e-01 -1.44449823e-03 -1.07617698e+00] [-1.15487325e-02 -4.12625787e-05 9.99933310e-01 -4.68835864e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.796559995 meters 0.018686307961788915 Centerline is valid? [True, True] Translation: X:23.89, Y:-1.08, Z:-0.47 [[ 9.91823229e-01 1.27087156e-01 1.16420211e-02 2.38943071e+01] [-1.27078656e-01 9.91891554e-01 -1.46995736e-03 -1.08271714e+00] [-1.17344351e-02 -2.15145448e-05 9.99931149e-01 -4.69570763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.826559995 meters 0.019415445543056783 Centerline is valid? [True, True] Translation: X:23.93, Y:-1.09, Z:-0.47 [[ 9.91985798e-01 1.25784171e-01 1.19381203e-02 2.39254027e+01] [-1.25775086e-01 9.92057631e-01 -1.51174253e-03 -1.08860733e+00] [-1.20334566e-02 -1.89099049e-06 9.99927595e-01 -4.70947269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.856559994999998 meters 0.019415445543056783 Centerline is valid? [True, True] Translation: X:23.96, Y:-1.09, Z:-0.47 [[ 9.91950926e-01 1.26058900e-01 1.19379510e-02 2.39575741e+01] [-1.26049819e-01 9.92022759e-01 -1.51307860e-03 -1.09276298e+00] [-1.20334561e-02 -3.87684812e-06 9.99927595e-01 -4.71585133e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.886559995 meters 0.018674628779722306 Centerline is valid? [True, True] Translation: X:23.99, Y:-1.10, Z:-0.47 [[ 9.92214517e-01 1.23913744e-01 1.24794401e-02 2.39898330e+01] [-1.23903604e-01 9.92292993e-01 -1.58547211e-03 -1.10056556e+00] [-1.25797227e-02 2.68808519e-05 9.99920872e-01 -4.72193619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.916559995 meters 0.01896104727017294 Centerline is valid? [True, True] Translation: X:24.02, Y:-1.11, Z:-0.47 [[ 9.92279840e-01 1.23373939e-01 1.26329026e-02 2.40226309e+01] [-1.23363457e-01 9.92360252e-01 -1.60857466e-03 -1.10678814e+00] [-1.27348466e-02 3.77176627e-05 9.99918908e-01 -4.72547875e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.946559994999998 meters 0.01894386378950842 Centerline is valid? [True, True] Translation: X:24.05, Y:-1.11, Z:-0.47 [[ 9.92326084e-01 1.22991895e-01 1.27254763e-02 2.40544679e+01] [-1.22981172e-01 9.92407674e-01 -1.62473463e-03 -1.11322789e+00] [-1.28286895e-02 4.72725650e-05 9.99917708e-01 -4.73139645e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.976559995 meters 0.019314559901725797 Centerline is valid? [True, True] Translation: X:24.09, Y:-1.12, Z:-0.47 [[ 9.92324819e-01 1.23030985e-01 1.24430617e-02 2.40871159e+01] [-1.23020720e-01 9.92402829e-01 -1.59001271e-03 -1.11959954e+00] [-1.25441504e-02 4.70546750e-05 9.99921318e-01 -4.73161973e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.006559995 meters 0.01872188521244494 Centerline is valid? [True, True] Translation: X:24.12, Y:-1.13, Z:-0.47 [[ 9.92288808e-01 1.23400913e-01 1.16248458e-02 2.41193290e+01] [-1.23391944e-01 9.92356898e-01 -1.48838802e-03 -1.12716431e+00] [-1.17196643e-02 4.24984593e-05 9.99931321e-01 -4.73871448e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.036559994999998 meters 0.01871766035271886 Centerline is valid? [True, True] Translation: X:24.15, Y:-1.13, Z:-0.47 [[ 9.92254301e-01 1.23774587e-01 1.05477183e-02 2.41516626e+01] [-1.23767198e-01 9.92310360e-01 -1.35300058e-03 -1.13255865e+00] [-1.06340772e-02 3.70591024e-05 9.99943456e-01 -4.74683046e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.066559995 meters 0.01847135040430765 Centerline is valid? [True, True] Translation: X:24.18, Y:-1.14, Z:-0.48 [[ 9.92190834e-01 1.24309303e-01 1.02248128e-02 2.41833820e+01] [-1.24302356e-01 9.92243517e-01 -1.31461179e-03 -1.13832914e+00] [-1.03089226e-02 3.33774570e-05 9.99946861e-01 -4.76320396e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.096559995 meters 0.018578266921098395 Centerline is valid? [True, True] Translation: X:24.22, Y:-1.14, Z:-0.48 [[ 9.92158720e-01 1.24621642e-01 9.51428422e-03 2.42160396e+01] [-1.24615621e-01 9.92204337e-01 -1.22533795e-03 -1.14361030e+00] [-9.59281769e-03 3.01012923e-05 9.99953987e-01 -4.77131959e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.126559994999997 meters 0.01861922196527535 Centerline is valid? [True, True] Translation: X:24.25, Y:-1.15, Z:-0.48 [[ 9.92082621e-01 1.25260951e-01 9.04256038e-03 2.42481236e+01] [-1.25255518e-01 9.92123830e-01 -1.16694970e-03 -1.15081276e+00] [-9.11751287e-03 2.50799379e-05 9.99958434e-01 -4.77961800e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.156559995 meters 0.019584023217259022 Centerline is valid? [True, True] Translation: X:24.28, Y:-1.16, Z:-0.48 [[ 9.92022024e-01 1.25748043e-01 8.92934742e-03 2.42800827e+01] [-1.25742742e-01 9.92062210e-01 -1.15486184e-03 -1.15710096e+00] [-9.00368975e-03 2.28477540e-05 9.99959466e-01 -4.78582524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.186559995 meters 0.0190233934903667 Centerline is valid? [True, True] Translation: X:24.31, Y:-1.16, Z:-0.48 [[ 9.91926731e-01 1.26457930e-01 9.47377079e-03 2.43116834e+01] [-1.26451964e-01 9.91971971e-01 -1.22856615e-03 -1.16319462e+00] [-9.55307702e-03 2.06706853e-05 9.99954368e-01 -4.78700530e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.216559995 meters 0.01856233531281742 Centerline is valid? [True, True] Translation: X:24.34, Y:-1.17, Z:-0.48 [[ 9.91816696e-01 1.27269559e-01 1.01044672e-02 2.43441017e+01] [-1.27262785e-01 9.91868166e-01 -1.31324805e-03 -1.17062139e+00] [-1.01894359e-02 1.65787051e-05 9.99948086e-01 -4.78513863e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.246559995 meters 0.01891891043551434 Centerline is valid? [True, True] Translation: X:24.38, Y:-1.18, Z:-0.48 [[ 9.91753017e-01 1.27736625e-01 1.04550791e-02 2.43752936e+01] [-1.27729362e-01 9.91808124e-01 -1.36220984e-03 -1.17631869e+00] [-1.05434365e-02 1.55551341e-05 9.99944416e-01 -4.79299170e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.276559995 meters 0.018323106974945293 Centerline is valid? [True, True] Translation: X:24.41, Y:-1.18, Z:-0.48 [[ 9.91680708e-01 1.28311608e-01 1.02715062e-02 2.44074461e+01] [-1.28304603e-01 9.91733901e-01 -1.34082959e-03 -1.18224729e+00] [-1.03586449e-02 1.17933114e-05 9.99946348e-01 -4.79714228e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.306559995 meters 0.019189622392829703 Centerline is valid? [True, True] Translation: X:24.44, Y:-1.19, Z:-0.48 [[ 9.91648828e-01 1.28567818e-01 1.01448564e-02 2.44399323e+01] [-1.28560969e-01 9.91700719e-01 -1.32707890e-03 -1.18865254e+00] [-1.02312810e-02 1.17636680e-05 9.99947659e-01 -4.80579432e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.336559995 meters 0.019199825818315166 Centerline is valid? [True, True] Translation: X:24.47, Y:-1.20, Z:-0.48 [[ 9.91618693e-01 1.28876462e-01 9.12279859e-03 2.44719238e+01] [-1.28870918e-01 9.91660656e-01 -1.19541194e-03 -1.19769697e+00] [-9.20078090e-03 9.72939706e-06 9.99957672e-01 -4.81216833e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.366559995 meters 0.018728571467647077 Centerline is valid? [True, True] Translation: X:24.50, Y:-1.20, Z:-0.48 [[ 9.91584724e-01 1.29158231e-01 8.82537877e-03 2.45037878e+01] [-1.29153033e-01 9.91623997e-01 -1.15879068e-03 -1.20431394e+00] [-8.90112473e-03 9.21470252e-06 9.99960384e-01 -4.81978026e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.396559995 meters 0.018810257412337675 Centerline is valid? [True, True] Translation: X:24.54, Y:-1.21, Z:-0.48 [[ 9.91560592e-01 1.29364175e-01 8.51488935e-03 2.45356308e+01] [-1.29359323e-01 9.91597151e-01 -1.12043175e-03 -1.21081528e+00] [-8.58828375e-03 9.49564221e-06 9.99963120e-01 -4.83057696e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.426559994999998 meters 0.01936064164622177 Centerline is valid? [True, True] Translation: X:24.57, Y:-1.22, Z:-0.49 [[ 9.91504759e-01 1.29846596e-01 7.62727036e-03 2.45665062e+01] [-1.29842706e-01 9.91534095e-01 -1.00517599e-03 -1.21903097e+00] [-7.69321729e-03 6.29135638e-06 9.99970407e-01 -4.85659682e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.456559995 meters 0.019061937939811605 Centerline is valid? [True, True] Translation: X:24.60, Y:-1.23, Z:-0.49 [[ 9.91457693e-01 1.30197942e-01 7.75486809e-03 2.45991563e+01] [-1.30193917e-01 9.91488021e-01 -1.02388430e-03 -1.22535134e+00] [-7.82216644e-03 5.50131450e-06 9.99969406e-01 -4.85858316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.486559995 meters 0.01861712336931536 Centerline is valid? [True, True] Translation: X:24.63, Y:-1.23, Z:-0.49 [[ 9.91395357e-01 1.30673674e-01 7.72252824e-03 2.46319349e+01] [-1.30669679e-01 9.91425434e-01 -1.02184767e-03 -1.23224676e+00] [-7.78983950e-03 3.95475240e-06 9.99969659e-01 -4.86803462e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.516559994999998 meters 0.017343576278771426 Centerline is valid? [True, True] Translation: X:24.66, Y:-1.24, Z:-0.49 [[ 9.91336108e-01 1.31060961e-01 8.70319472e-03 2.46628564e+01] [-1.31055867e-01 9.91374311e-01 -1.15548382e-03 -1.23896971e+00] [-8.77956248e-03 4.86809890e-06 9.99961459e-01 -4.87274046e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.546559995 meters 0.0184506260389998 Centerline is valid? [True, True] Translation: X:24.70, Y:-1.25, Z:-0.49 [[ 9.91266711e-01 1.31607812e-01 8.34818945e-03 2.46953929e+01] [-1.31603135e-01 9.91301863e-01 -1.10947344e-03 -1.24619609e+00] [-8.42159113e-03 1.13617756e-06 9.99964538e-01 -4.88066399e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.576559995 meters 0.017232479001317535 Centerline is valid? [True, True] Translation: X:24.73, Y:-1.26, Z:-0.49 [[ 9.91100088e-01 1.32793753e-01 9.29704054e-03 2.47252088e+01] [-1.32787968e-01 9.91143692e-01 -1.23953677e-03 -1.25558316e+00] [-9.37930583e-03 -6.03012009e-06 9.99956013e-01 -4.89532777e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.606559994999998 meters 0.01792987980074414 Centerline is valid? [True, True] Translation: X:24.76, Y:-1.26, Z:-0.49 [[ 9.91013158e-01 1.33453074e-01 9.12129486e-03 2.47574309e+01] [-1.33447519e-01 9.91055133e-01 -1.21769265e-03 -1.26244801e+00] [-9.20221092e-03 -1.04647273e-05 9.99957659e-01 -4.90825025e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.636559995 meters 0.018815214710049894 Centerline is valid? [True, True] Translation: X:24.79, Y:-1.27, Z:-0.49 [[ 9.90925343e-01 1.34113158e-01 8.97916325e-03 2.47898184e+01] [-1.34107780e-01 9.90966024e-01 -1.20108476e-03 -1.26960571e+00] [-9.05912698e-03 -1.39903288e-05 9.99958965e-01 -4.91532642e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.666559995 meters 0.017974817935392233 Centerline is valid? [True, True] Translation: X:24.82, Y:-1.28, Z:-0.49 [[ 9.90811260e-01 1.34911771e-01 9.58439194e-03 2.48219603e+01] [-1.34905651e-01 9.90857615e-01 -1.28522475e-03 -1.27654240e+00] [-9.67015969e-03 -1.95734769e-05 9.99953243e-01 -4.92002914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.696559994999998 meters 0.01868552724064474 Centerline is valid? [True, True] Translation: X:24.85, Y:-1.29, Z:-0.49 [[ 9.90595616e-01 1.36456146e-01 1.00022596e-02 2.48526267e+01] [-1.36449525e-01 9.90646112e-01 -1.34459324e-03 -1.28609419e+00] [-1.00921776e-02 -3.28553915e-05 9.99949072e-01 -4.93425916e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.726559995 meters 0.01716772434967324 Centerline is valid? [True, True] Translation: X:24.88, Y:-1.29, Z:-0.49 [[ 9.90432420e-01 1.37582153e-01 1.07132477e-02 2.48845602e+01] [-1.37574589e-01 9.90490358e-01 -1.44331336e-03 -1.29317734e+00] [-1.08099427e-02 -4.43663061e-05 9.99941570e-01 -4.93387980e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.756559995 meters 0.018074659222770694 Centerline is valid? [True, True] Translation: X:24.92, Y:-1.30, Z:-0.49 [[ 9.90283152e-01 1.38683108e-01 1.03089796e-02 2.49168787e+01] [-1.38676136e-01 9.90336808e-01 -1.39154382e-03 -1.30036330e+00] [-1.04023455e-02 -5.15870485e-05 9.99945893e-01 -4.94571082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.786559994999998 meters 0.016030593390110762 Centerline is valid? [True, True] Translation: X:24.95, Y:-1.31, Z:-0.50 [[ 9.90118102e-01 1.39793740e-01 1.11289662e-02 2.49491158e+01] [-1.39785644e-01 9.90180643e-01 -1.50580909e-03 -1.30711134e+00] [-1.12301896e-02 -6.47408656e-05 9.99936937e-01 -4.95032216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.816559995 meters 0.019103590333241494 Centerline is valid? [True, True] Translation: X:24.98, Y:-1.32, Z:-0.50 [[ 9.89736841e-01 1.42628097e-01 8.84368032e-03 2.49800089e+01] [-1.42623082e-01 9.89776349e-01 -1.19839305e-03 -1.31632668e+00] [-8.92419014e-03 -7.52191885e-05 9.99960176e-01 -4.97969901e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.846559995 meters 0.017658856918107774 Centerline is valid? [True, True] Translation: X:25.01, Y:-1.32, Z:-0.50 [[ 9.89495305e-01 1.44309868e-01 8.58508091e-03 2.50115234e+01] [-1.44305189e-01 9.89532543e-01 -1.16534439e-03 -1.32256733e+00] [-8.66338764e-03 -8.57689165e-05 9.99962468e-01 -4.99037545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.876559994999997 meters 0.018565767491480097 Centerline is valid? [True, True] Translation: X:25.04, Y:-1.33, Z:-0.50 [[ 9.89216224e-01 1.46242740e-01 8.02021170e-03 2.50428991e+01] [-1.46238705e-01 9.89248731e-01 -1.09032529e-03 -1.32898820e+00] [-8.09343640e-03 -9.42979101e-05 9.99967243e-01 -5.00254372e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.906559995 meters 0.017796115988149647 Centerline is valid? [True, True] Translation: X:25.07, Y:-1.34, Z:-0.50 [[ 9.88900146e-01 1.48347499e-01 8.33790974e-03 2.50739806e+01] [-1.48343193e-01 9.88935289e-01 -1.13596304e-03 -1.33518575e+00] [-8.41417046e-03 -1.13518133e-04 9.99964594e-01 -5.00565998e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.936559995 meters 0.019118874731908413 Centerline is valid? [True, True] Translation: X:25.10, Y:-1.34, Z:-0.50 [[ 9.88125231e-01 1.53446832e-01 7.91190371e-03 2.51041254e+01] [-1.53443087e-01 9.88156895e-01 -1.08182852e-03 -1.34115002e+00] [-7.98420536e-03 -1.45044872e-04 9.99968115e-01 -5.01193218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.966559995 meters 0.01875492941580418 Centerline is valid? [True, True] Translation: X:25.14, Y:-1.34, Z:-0.50 [[ 9.87750875e-01 1.55816817e-01 8.32640660e-03 2.51359776e+01] [-1.55812770e-01 9.87785953e-01 -1.13644980e-03 -1.34328672e+00] [-8.40178547e-03 -1.74831192e-04 9.99964689e-01 -5.01520882e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.996559995 meters 0.01900899786623598 Centerline is valid? [True, True] Translation: X:25.17, Y:-1.34, Z:-0.50 [[ 9.87483379e-01 1.57404105e-01 1.00261675e-02 2.51687309e+01] [-1.57398287e-01 9.87534251e-01 -1.37161236e-03 -1.34418911e+00] [-1.01170812e-02 -2.23657182e-04 9.99948796e-01 -5.02981956e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.026559995 meters 0.019268890556302157 Centerline is valid? [True, True] Translation: X:25.20, Y:-1.35, Z:-0.50 [[ 9.87465366e-01 1.57452459e-01 1.09942541e-02 2.52008102e+01] [-1.57445422e-01 9.87526539e-01 -1.50803460e-03 -1.34844843e+00] [-1.10945615e-02 -2.41863043e-04 9.99938424e-01 -5.03237378e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.056559995 meters 0.016741300049161655 Centerline is valid? [True, True] Translation: X:25.23, Y:-1.35, Z:-0.50 [[ 9.87343794e-01 1.57992917e-01 1.38010935e-02 2.52323595e+01] [-1.57981816e-01 9.87440198e-01 -1.89782061e-03 -1.35118695e+00] [-1.39275967e-02 -3.06520421e-04 9.99902959e-01 -5.02117387e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.086559995 meters 0.01863868726200542 Centerline is valid? [True, True] Translation: X:25.26, Y:-1.36, Z:-0.50 [[ 9.87338725e-01 1.58080492e-01 1.31453852e-02 2.52643973e+01] [-1.58070390e-01 9.87426187e-01 -1.81054527e-03 -1.35657236e+00] [-1.32663095e-02 -2.90274704e-04 9.99911957e-01 -5.02512020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.116559995 meters 0.017454976983623555 Centerline is valid? [True, True] Translation: X:25.30, Y:-1.36, Z:-0.50 [[ 9.87638374e-01 1.56198344e-01 1.31346397e-02 2.52961287e+01] [-1.56188039e-01 9.87725675e-01 -1.81303867e-03 -1.36343590e+00] [-1.32566145e-02 -2.60847065e-04 9.99912093e-01 -5.02648296e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.146559995 meters 0.016964123763526278 Centerline is valid? [True, True] Translation: X:25.33, Y:-1.37, Z:-0.50 [[ 9.87596532e-01 1.56449768e-01 1.32875529e-02 2.53288862e+01] [-1.56439203e-01 9.87685881e-01 -1.83727374e-03 -1.36893131e+00] [-1.34113694e-02 -2.64209007e-04 9.99910029e-01 -5.03287499e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.176559994999998 meters 0.017386625595523342 Centerline is valid? [True, True] Translation: X:25.36, Y:-1.37, Z:-0.50 [[ 9.87499143e-01 1.57107668e-01 1.27524017e-02 2.53603144e+01] [-1.57097941e-01 9.87581447e-01 -1.76715095e-03 -1.37198450e+00] [-1.28716683e-02 -2.58316006e-04 9.99917123e-01 -5.04906646e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.206559995 meters 0.01825228833742689 Centerline is valid? [True, True] Translation: X:25.39, Y:-1.37, Z:-0.51 [[ 9.87264450e-01 1.58594213e-01 1.25212267e-02 2.53916240e+01] [-1.58584919e-01 9.87343812e-01 -1.73797624e-03 -1.37161286e+00] [-1.26383886e-02 -2.69835561e-04 9.99920096e-01 -5.07250621e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.236559995 meters 0.016486971235194933 Centerline is valid? [True, True] Translation: X:25.42, Y:-1.37, Z:-0.51 [[ 9.86816167e-01 1.61322699e-01 1.29938331e-02 2.54237105e+01] [-1.61312887e-01 9.86901661e-01 -1.80662702e-03 -1.37490676e+00] [-1.31150854e-02 -3.13263976e-04 9.99913944e-01 -5.07219040e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.266559994999998 meters 0.019915443541126843 Centerline is valid? [True, True] Translation: X:25.46, Y:-1.38, Z:-0.51 [[ 9.86762107e-01 1.61841254e-01 1.03900247e-02 2.54553040e+01] [-1.61834993e-01 9.86816773e-01 -1.44618507e-03 -1.38000962e+00] [-1.04871031e-02 -2.54428948e-04 9.99944976e-01 -5.09464476e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.296559995 meters 0.019185988692680095 Centerline is valid? [True, True] Translation: X:25.49, Y:-1.38, Z:-0.51 [[ 9.86733245e-01 1.61958313e-01 1.12697559e-02 2.54866432e+01] [-1.61950914e-01 9.86797563e-01 -1.57209956e-03 -1.38166195e+00] [-1.13755822e-02 -2.73904374e-04 9.99935258e-01 -5.10521709e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.326559995 meters 0.016668245921298203 Centerline is valid? [True, True] Translation: X:25.52, Y:-1.39, Z:-0.51 [[ 9.86860186e-01 1.61050181e-01 1.30311900e-02 2.55183966e+01] [-1.61040162e-01 9.86946173e-01 -1.82147326e-03 -1.38804824e+00] [-1.31544317e-02 -3.01005504e-04 9.99913431e-01 -5.08527612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.356559994999998 meters 0.016096982540569498 Centerline is valid? [True, True] Translation: X:25.55, Y:-1.39, Z:-0.51 [[ 9.86885634e-01 1.60715865e-01 1.50716890e-02 2.55495344e+01] [-1.60702352e-01 9.87000657e-01 -2.11141162e-03 -1.39192116e+00] [-1.52151043e-02 -3.38334074e-04 9.99884186e-01 -5.07424760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.386559995 meters 0.01628789740140808 Centerline is valid? [True, True] Translation: X:25.58, Y:-1.40, Z:-0.51 [[ 9.86841795e-01 1.60940931e-01 1.55334734e-02 2.55815460e+01] [-1.60926548e-01 9.86963979e-01 -2.17969253e-03 -1.39723012e+00] [-1.56817805e-02 -3.48736570e-04 9.99876973e-01 -5.07109634e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.416559995 meters 0.01872749310879819 Centerline is valid? [True, True] Translation: X:25.61, Y:-1.40, Z:-0.51 [[ 9.86867257e-01 1.60849240e-01 1.48505365e-02 2.56144099e+01] [-1.60836023e-01 9.86978933e-01 -2.08793485e-03 -1.40184395e+00] [-1.49930094e-02 -3.27986690e-04 9.99887545e-01 -5.08272574e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.446559994999998 meters 0.018223617867173504 Centerline is valid? [True, True] Translation: X:25.65, Y:-1.41, Z:-0.51 [[ 9.86716485e-01 1.61644137e-01 1.61787261e-02 2.56471799e+01] [-1.61628472e-01 9.86849046e-01 -2.27981181e-03 -1.40577686e+00] [-1.63344786e-02 -3.65414881e-04 9.99866517e-01 -5.08708198e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.476559995 meters 0.016807964883750172 Centerline is valid? [True, True] Translation: X:25.68, Y:-1.41, Z:-0.51 [[ 9.86593281e-01 1.62284232e-01 1.72489698e-02 2.56789592e+01] [-1.62266428e-01 9.86743975e-01 -2.43610083e-03 -1.40708461e+00] [-1.74156577e-02 -3.95488008e-04 9.99848258e-01 -5.08889112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.506559995 meters 0.018085784633240683 Centerline is valid? [True, True] Translation: X:25.71, Y:-1.41, Z:-0.51 [[ 9.86540484e-01 1.62784801e-01 1.54590476e-02 2.57109406e+01] [-1.62770506e-01 9.86661533e-01 -2.18689920e-03 -1.41240591e+00] [-1.56088416e-02 -3.58812414e-04 9.99878110e-01 -5.11579005e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.536559994999998 meters 0.01973545688307479 Centerline is valid? [True, True] Translation: X:25.74, Y:-1.42, Z:-0.51 [[ 9.86523544e-01 1.63024816e-01 1.39358041e-02 2.57422328e+01] [-1.63013172e-01 9.86621916e-01 -1.97502917e-03 -1.41574925e+00] [-1.40713485e-02 -3.23306856e-04 9.99900941e-01 -5.14000495e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.566559995 meters 0.016553855775316782 Centerline is valid? [True, True] Translation: X:25.78, Y:-1.42, Z:-0.51 [[ 9.86422905e-01 1.63635598e-01 1.39011850e-02 2.57754456e+01] [-1.63624021e-01 9.86520797e-01 -1.97377692e-03 -1.41799470e+00] [-1.40367883e-02 -3.27589029e-04 9.99901426e-01 -5.14647453e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.596559995 meters 0.019722900411524403 Centerline is valid? [True, True] Translation: X:25.81, Y:-1.42, Z:-0.52 [[ 9.86479614e-01 1.63407473e-01 1.24887506e-02 2.58075535e+01] [-1.63398071e-01 9.86558622e-01 -1.77639982e-03 -1.42112042e+00] [-1.26111616e-02 -2.88255541e-04 9.99920435e-01 -5.17618311e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.626559994999997 meters 0.016569620014902208 Centerline is valid? [True, True] Translation: X:25.84, Y:-1.43, Z:-0.51 [[ 9.86384145e-01 1.63868977e-01 1.39023759e-02 2.58401619e+01] [-1.63857313e-01 9.86482060e-01 -1.98167703e-03 -1.42732696e+00] [-1.40391798e-02 -3.23311160e-04 9.99901394e-01 -5.14685772e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.656559995 meters 0.01937558046628451 Centerline is valid? [True, True] Translation: X:25.87, Y:-1.43, Z:-0.52 [[ 9.86257549e-01 1.64700667e-01 1.30283188e-02 2.58715424e+01] [-1.64690448e-01 9.86343548e-01 -1.86074546e-03 -1.43148795e+00] [-1.31568642e-02 -3.10465403e-04 9.99913397e-01 -5.16795495e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.686559995 meters 0.019240930196397953 Centerline is valid? [True, True] Translation: X:25.90, Y:-1.43, Z:-0.52 [[ 9.86004655e-01 1.66194240e-01 1.32020848e-02 2.59027813e+01] [-1.66183834e-01 9.86092980e-01 -1.88904830e-03 -1.43391868e+00] [-1.33324320e-02 -3.31362645e-04 9.99911064e-01 -5.17109242e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.716559994999997 meters 0.01978855370757276 Centerline is valid? [True, True] Translation: X:25.93, Y:-1.44, Z:-0.52 [[ 9.85781132e-01 1.67493905e-01 1.34666545e-02 2.59334415e+01] [-1.67483156e-01 9.85873048e-01 -1.93011135e-03 -1.43654488e+00] [-1.35996936e-02 -3.52770442e-04 9.99907458e-01 -5.17966477e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.746559995 meters 0.01978855370757276 Centerline is valid? [True, True] Translation: X:25.97, Y:-1.44, Z:-0.52 [[ 9.85735167e-01 1.67764240e-01 1.34662684e-02 2.59655307e+01] [-1.67753479e-01 9.85827081e-01 -1.93280094e-03 -1.44123626e+00] [-1.35996669e-02 -3.53783522e-04 9.99907458e-01 -5.18604736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.776559995 meters 0.019762047557102938 Centerline is valid? [True, True] Translation: X:26.00, Y:-1.45, Z:-0.52 [[ 9.85677515e-01 1.68062578e-01 1.39573199e-02 2.59977397e+01] [-1.68050990e-01 9.85776260e-01 -2.00734715e-03 -1.44522378e+00] [-1.40961545e-02 -3.66944473e-04 9.99900577e-01 -5.19941826e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.806559995 meters 0.01937790595281919 Centerline is valid? [True, True] Translation: X:26.03, Y:-1.45, Z:-0.52 [[ 9.85612287e-01 1.68385407e-01 1.46552084e-02 2.60298336e+01] [-1.68372593e-01 9.85721161e-01 -2.11272347e-03 -1.44776610e+00] [-1.48017009e-02 -3.85209239e-04 9.99890375e-01 -5.20073492e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.836559995 meters 0.01959987644249256 Centerline is valid? [True, True] Translation: X:26.06, Y:-1.45, Z:-0.52 [[ 9.85558514e-01 1.68695268e-01 1.47078834e-02 2.60619944e+01] [-1.68682365e-01 9.85668177e-01 -2.12243876e-03 -1.45326021e+00] [-1.48551380e-02 -3.89172958e-04 9.99889581e-01 -5.21117384e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.866559995 meters 0.020518309214692818 Centerline is valid? [True, True] Translation: X:26.09, Y:-1.46, Z:-0.52 [[ 9.85488899e-01 1.69089525e-01 1.48446042e-02 2.60937343e+01] [-1.69076360e-01 9.85600617e-01 -2.14656864e-03 -1.45633305e+00] [-1.49938133e-02 -3.94452071e-04 9.99887509e-01 -5.22151563e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.896559995 meters 0.020034957663825296 Centerline is valid? [True, True] Translation: X:26.13, Y:-1.46, Z:-0.52 [[ 9.85454010e-01 1.69307040e-01 1.46806350e-02 2.61263573e+01] [-1.69294131e-01 9.85563278e-01 -2.12667667e-03 -1.45972646e+00] [-1.48287561e-02 -3.89603292e-04 9.99889972e-01 -5.22725644e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.926559994999998 meters 0.019895589475359354 Centerline is valid? [True, True] Translation: X:26.16, Y:-1.46, Z:-0.52 [[ 9.85524553e-01 1.68910655e-01 1.45102329e-02 2.61583705e+01] [-1.68897940e-01 9.85631295e-01 -2.10611812e-03 -1.46480739e+00] [-1.46574854e-02 -3.75117328e-04 9.99892503e-01 -5.23713913e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.956559995 meters 0.020149645087028937 Centerline is valid? [True, True] Translation: X:26.19, Y:-1.47, Z:-0.52 [[ 9.85598812e-01 1.68505949e-01 1.41678183e-02 2.61895613e+01] [-1.68493738e-01 9.85700572e-01 -2.05972818e-03 -1.47095015e+00] [-1.43123031e-02 -3.57123026e-04 9.99897510e-01 -5.24941823e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.986559995 meters 0.01932282914502067 Centerline is valid? [True, True] Translation: X:26.22, Y:-1.48, Z:-0.53 [[ 9.85619209e-01 1.68413445e-01 1.38450735e-02 2.62224581e+01] [-1.68401731e-01 9.85716386e-01 -2.01596369e-03 -1.47626915e+00] [-1.39868312e-02 -3.44561812e-04 9.99902120e-01 -5.25107694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.016559994999998 meters 0.01878079413775435 Centerline is valid? [True, True] Translation: X:26.25, Y:-1.48, Z:-0.53 [[ 9.85737636e-01 1.67730312e-01 1.37060614e-02 2.62542656e+01] [-1.67718709e-01 9.85832864e-01 -1.99983972e-03 -1.48096794e+00] [-1.38473195e-02 -3.27445648e-04 9.99904068e-01 -5.25808910e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.046559995 meters 0.018846038841012835 Centerline is valid? [True, True] Translation: X:26.29, Y:-1.49, Z:-0.53 [[ 9.85835082e-01 1.67197708e-01 1.31953867e-02 2.62862726e+01] [-1.67186864e-01 9.85923341e-01 -1.92842874e-03 -1.48646464e+00] [-1.33320686e-02 -3.04982628e-04 9.99911078e-01 -5.26768669e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.076559995 meters 0.016632774791572293 Centerline is valid? [True, True] Translation: X:26.32, Y:-1.49, Z:-0.53 [[ 9.85912308e-01 1.66665583e-01 1.41246274e-02 2.63178955e+01] [-1.66653048e-01 9.86013430e-01 -2.06816741e-03 -1.49097545e+00] [-1.42717646e-02 -3.14880495e-04 9.99898104e-01 -5.26002201e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.106559994999998 meters 0.016243218111167253 Centerline is valid? [True, True] Translation: X:26.35, Y:-1.50, Z:-0.53 [[ 9.86200123e-01 1.64909998e-01 1.46290953e-02 2.63495659e+01] [-1.64896302e-01 9.86308575e-01 -2.14589462e-03 -1.49621534e+00] [-1.47826816e-02 -2.96002165e-04 9.99890686e-01 -5.27100427e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.136559995 meters 0.015984150076018208 Centerline is valid? [True, True] Translation: X:26.38, Y:-1.50, Z:-0.53 [[ 9.86542882e-01 1.62812813e-01 1.50043272e-02 2.63807655e+01] [-1.62798103e-01 9.86656940e-01 -2.20482665e-03 -1.50097484e+00] [-1.51630975e-02 -2.67519967e-04 9.99884998e-01 -5.28049258e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.166559995 meters 0.015830066356675172 Centerline is valid? [True, True] Translation: X:26.41, Y:-1.51, Z:-0.53 [[ 9.87316231e-01 1.58008756e-01 1.54884786e-02 2.64125592e+01] [-1.57992418e-01 9.87437692e-01 -2.28059711e-03 -1.50907701e+00] [-1.56542618e-02 -1.95391642e-04 9.99877445e-01 -5.29818459e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.196559994999998 meters 0.016491562217069423 Centerline is valid? [True, True] Translation: X:26.44, Y:-1.52, Z:-0.53 [[ 9.87638745e-01 1.55990075e-01 1.53885115e-02 2.64444035e+01] [-1.55973691e-01 9.87758609e-01 -2.26658587e-03 -1.51558189e+00] [-1.55536997e-02 -1.61634919e-04 9.99879021e-01 -5.31091701e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.226559995 meters 0.016201673417324463 Centerline is valid? [True, True] Translation: X:26.48, Y:-1.52, Z:-0.53 [[ 9.87997845e-01 1.53683877e-01 1.55410460e-02 2.64761146e+01] [-1.53666820e-01 9.88120059e-01 -2.29297850e-03 -1.52185073e+00] [-1.57088132e-02 -1.22685309e-04 9.99876601e-01 -5.31632104e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.256559995 meters 0.015535853370022052 Centerline is valid? [True, True] Translation: X:26.51, Y:-1.53, Z:-0.53 [[ 9.88695358e-01 1.49171000e-01 1.51493458e-02 2.65077508e+01] [-1.49154205e-01 9.88811413e-01 -2.23887500e-03 -1.52967542e+00] [-1.53138213e-02 -4.60233143e-05 9.99882736e-01 -5.33109113e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.286559994999998 meters 0.016332576556563408 Centerline is valid? [True, True] Translation: X:26.54, Y:-1.54, Z:-0.53 [[ 9.88979973e-01 1.47355011e-01 1.43218167e-02 2.65403048e+01] [-1.47339765e-01 9.89083667e-01 -2.11969617e-03 -1.53609617e+00] [-1.44778228e-02 -1.38360381e-05 9.99895191e-01 -5.34531338e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.316559995 meters 0.016158501950284277 Centerline is valid? [True, True] Translation: X:26.57, Y:-1.54, Z:-0.54 [[ 9.89251008e-01 1.45592940e-01 1.36065892e-02 2.65716270e+01] [-1.45578960e-01 9.89344579e-01 -2.01763103e-03 -1.54190391e+00] [-1.37553581e-02 1.51104381e-05 9.99905390e-01 -5.35902782e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.346559995 meters 0.014545129098580623 Centerline is valid? [True, True] Translation: X:26.60, Y:-1.55, Z:-0.54 [[ 9.89513140e-01 1.43784012e-01 1.37805786e-02 2.66044359e+01] [-1.43769445e-01 9.89609092e-01 -2.04712712e-03 -1.54772927e+00] [-1.39317300e-02 4.44330344e-05 9.99902948e-01 -5.36326597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.376559994999997 meters 0.013901714982464602 Centerline is valid? [True, True] Translation: X:26.64, Y:-1.55, Z:-0.54 [[ 9.90064769e-01 1.39949448e-01 1.36347345e-02 2.66357440e+01] [-1.39934768e-01 9.90158645e-01 -2.02950753e-03 -1.55366340e+00] [-1.37845787e-02 1.01370504e-04 9.99904983e-01 -5.37349544e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.406559995 meters 0.014143944926578628 Centerline is valid? [True, True] Translation: X:26.67, Y:-1.56, Z:-0.54 [[ 9.90342441e-01 1.37987805e-01 1.34616128e-02 2.66673535e+01] [-1.37973269e-01 9.90433919e-01 -2.00707248e-03 -1.55913782e+00] [-1.36097894e-02 1.30346336e-04 9.99907374e-01 -5.38556462e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.436559995 meters 0.015020373963744761 Centerline is valid? [True, True] Translation: X:26.70, Y:-1.57, Z:-0.54 [[ 9.90905725e-01 1.33839278e-01 1.38885660e-02 2.66980425e+01] [-1.33823345e-01 9.91003032e-01 -2.07449877e-03 -1.56577922e+00] [-1.40412605e-02 1.97018348e-04 9.99901397e-01 -5.40341613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.466559994999997 meters 0.015197514850957147 Centerline is valid? [True, True] Translation: X:26.73, Y:-1.57, Z:-0.54 [[ 9.91147649e-01 1.32011768e-01 1.41149114e-02 2.67294933e+01] [-1.31995079e-01 9.91248122e-01 -2.11158274e-03 -1.57102444e+00] [-1.42701332e-02 2.29791418e-04 9.99898150e-01 -5.40639996e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.496559995 meters 0.019309466035668518 Centerline is valid? [True, True] Translation: X:26.76, Y:-1.58, Z:-0.54 [[ 9.91454715e-01 1.29776492e-01 1.32517882e-02 2.67593409e+01] [-1.29761525e-01 9.91543241e-01 -1.98676904e-03 -1.57793178e+00] [-1.33975570e-02 2.50219291e-04 9.99910217e-01 -5.43572885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.526559995 meters 0.01600926138836728 Centerline is valid? [True, True] Translation: X:26.79, Y:-1.58, Z:-0.54 [[ 9.91625635e-01 1.28304110e-01 1.47192355e-02 2.67907636e+01] [-1.28285488e-01 9.91734826e-01 -2.20637309e-03 -1.58276155e+00] [-1.48806652e-02 2.99631820e-04 9.99889232e-01 -5.41425162e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.556559995 meters 0.018489238872546276 Centerline is valid? [True, True] Translation: X:26.82, Y:-1.59, Z:-0.54 [[ 9.92100431e-01 1.24558082e-01 1.49003169e-02 2.68222158e+01] [-1.24538508e-01 9.92212251e-01 -2.23807633e-03 -1.59001671e+00] [-1.50630475e-02 3.64733259e-04 9.99886479e-01 -5.42725926e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.586559995 meters 0.018796964065093694 Centerline is valid? [True, True] Translation: X:26.85, Y:-1.60, Z:-0.54 [[ 9.92374303e-01 1.22268730e-01 1.56076890e-02 2.68527094e+01] [-1.22246960e-01 9.92496943e-01 -2.34490946e-03 -1.59819280e+00] [-1.57772927e-02 4.19035362e-04 9.99875443e-01 -5.42714725e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.616559995 meters 0.02120463991518282 Centerline is valid? [True, True] Translation: X:26.88, Y:-1.60, Z:-0.55 [[ 9.92469325e-01 1.21613073e-01 1.46594743e-02 2.68847307e+01] [-1.21593751e-01 9.92577501e-01 -2.20554202e-03 -1.60372396e+00] [-1.48188871e-02 4.06432335e-04 9.99890112e-01 -5.45565539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.646559995 meters 0.021315259746559286 Centerline is valid? [True, True] Translation: X:26.92, Y:-1.61, Z:-0.55 [[ 9.92440334e-01 1.21853496e-01 1.46256439e-02 2.69164972e+01] [-1.21834238e-01 9.92548015e-01 -2.20388017e-03 -1.60749161e+00] [-1.47852043e-02 4.05315386e-04 9.99890611e-01 -5.48146723e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.676559994999998 meters 0.020407603238819242 Centerline is valid? [True, True] Translation: X:26.95, Y:-1.61, Z:-0.55 [[ 9.92342436e-01 1.22705094e-01 1.41403641e-02 2.69491494e+01] [-1.22687130e-01 9.92443103e-01 -2.13422162e-03 -1.60799144e+00] [-1.42953867e-02 3.83037979e-04 9.99897742e-01 -5.49262579e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.706559995 meters 0.020407603238819242 Centerline is valid? [True, True] Translation: X:26.98, Y:-1.61, Z:-0.55 [[ 9.92308032e-01 1.22983062e-01 1.41398686e-02 2.69811992e+01] [-1.22965079e-01 9.92408696e-01 -2.13749861e-03 -1.61290257e+00] [-1.42954047e-02 3.82346970e-04 9.99897742e-01 -5.49900957e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.736559995 meters 0.019982694915243484 Centerline is valid? [True, True] Translation: X:27.01, Y:-1.62, Z:-0.55 [[ 9.92187086e-01 1.23953049e-01 1.41572822e-02 2.70131323e+01] [-1.23935061e-01 9.92288014e-01 -2.14437710e-03 -1.61683782e+00] [-1.43139035e-02 3.73039642e-04 9.99897481e-01 -5.50773338e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.766559994999998 meters 0.020429751934989616 Centerline is valid? [True, True] Translation: X:27.04, Y:-1.62, Z:-0.55 [[ 9.92058294e-01 1.24998792e-01 1.39872338e-02 2.70435423e+01] [-1.24981286e-01 9.92156830e-01 -2.12218965e-03 -1.62161298e+00] [-1.41428007e-02 3.57193377e-04 9.99899922e-01 -5.51915835e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.796559995 meters 0.019947786292400602 Centerline is valid? [True, True] Translation: X:27.07, Y:-1.63, Z:-0.55 [[ 9.91890938e-01 1.26312041e-01 1.40582870e-02 2.70747058e+01] [-1.26294443e-01 9.91990499e-01 -2.13617409e-03 -1.62679135e+00] [-1.42155116e-02 3.43368198e-04 9.99898896e-01 -5.52532748e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.826559995 meters 0.019747098902822842 Centerline is valid? [True, True] Translation: X:27.11, Y:-1.63, Z:-0.55 [[ 9.91745114e-01 1.27474353e-01 1.38534692e-02 2.71062231e+01] [-1.27457330e-01 9.91841814e-01 -2.10840478e-03 -1.63074315e+00] [-1.40092176e-02 3.25273945e-04 9.99901813e-01 -5.53137350e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.856559994999998 meters 0.01854893897441349 Centerline is valid? [True, True] Translation: X:27.14, Y:-1.63, Z:-0.55 [[ 9.91357315e-01 1.30363074e-01 1.47018007e-02 2.71375806e+01] [-1.30344162e-01 9.91466275e-01 -2.24146682e-03 -1.63415393e+00] [-1.48685441e-02 3.05800644e-04 9.99889410e-01 -5.52955708e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.886559995 meters 0.017857458395881622 Centerline is valid? [True, True] Translation: X:27.17, Y:-1.64, Z:-0.55 [[ 9.91098947e-01 1.32211701e-01 1.55866443e-02 2.71700253e+01] [-1.32190597e-01 9.91221457e-01 -2.38109791e-03 -1.63769196e+00] [-1.57646252e-02 2.99495825e-04 9.99875686e-01 -5.53281982e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.916559995 meters 0.017639616910858597 Centerline is valid? [True, True] Translation: X:27.20, Y:-1.64, Z:-0.55 [[ 9.90809351e-01 1.34308814e-01 1.60615204e-02 2.72017854e+01] [-1.34286665e-01 9.90939487e-01 -2.45457330e-03 -1.64049764e+00] [-1.62456656e-02 2.75166183e-04 9.99867993e-01 -5.53691311e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.946559994999998 meters 0.018203531391516058 Centerline is valid? [True, True] Translation: X:27.23, Y:-1.64, Z:-0.55 [[ 9.90470047e-01 1.36764499e-01 1.62652172e-02 2.72330584e+01] [-1.36742047e-01 9.90603560e-01 -2.48989103e-03 -1.64425407e+00] [-1.64529107e-02 2.42023401e-04 9.99864612e-01 -5.54814309e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.976559995 meters 0.01780098497060307 Centerline is valid? [True, True] Translation: X:27.27, Y:-1.64, Z:-0.56 [[ 9.89795113e-01 1.41558076e-01 1.63384455e-02 2.72654688e+01] [-1.41536012e-01 9.89929939e-01 -2.50484050e-03 -1.64499693e+00] [-1.65284967e-02 1.66800480e-04 9.99863381e-01 -5.56437084e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.006559995 meters 0.013803143374630773 Centerline is valid? [True, True] Translation: X:27.30, Y:-1.65, Z:-0.56 [[ 9.89070043e-01 1.46487482e-01 1.67889022e-02 2.72969646e+01] [-1.46464821e-01 9.89212520e-01 -2.57817213e-03 -1.64565645e+00] [-1.69854622e-02 9.10092705e-05 9.99855732e-01 -5.56587541e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.036559994999998 meters 0.01668377424632949 Centerline is valid? [True, True] Translation: X:27.33, Y:-1.65, Z:-0.56 [[ 9.88847415e-01 1.48153654e-01 1.52080147e-02 2.73297169e+01] [-1.48135214e-01 9.88964353e-01 -2.33816909e-03 -1.64910152e+00] [-1.53865927e-02 5.92499478e-05 9.99881618e-01 -5.59542077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.066559995 meters 0.017872012978586788 Centerline is valid? [True, True] Translation: X:27.36, Y:-1.65, Z:-0.56 [[ 9.88602931e-01 1.49802547e-01 1.49479765e-02 2.73624400e+01] [-1.49784859e-01 9.88715933e-01 -2.30231071e-03 -1.65287230e+00] [-1.51241946e-02 3.70905607e-05 9.99885622e-01 -5.60995849e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.096559995 meters 0.016604999365677085 Centerline is valid? [True, True] Translation: X:27.39, Y:-1.66, Z:-0.56 [[ 9.88358463e-01 1.51348676e-01 1.55282483e-02 2.73949191e+01] [-1.51329705e-01 9.88480439e-01 -2.39635506e-03 -1.65692923e+00] [-1.57120549e-02 1.85725586e-05 9.99876558e-01 -5.61171117e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.126559994999997 meters 0.01720355788483816 Centerline is valid? [True, True] Translation: X:27.43, Y:-1.66, Z:-0.56 [[ 9.88127139e-01 1.52841769e-01 1.56253152e-02 2.74265451e+01] [-1.52822667e-01 9.88250673e-01 -2.41637931e-03 -1.66110505e+00] [-1.58110519e-02 -2.12360355e-07 9.99874998e-01 -5.61802490e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.156559995 meters 0.01660181167769146 Centerline is valid? [True, True] Translation: X:27.46, Y:-1.67, Z:-0.56 [[ 9.87831321e-01 1.54697176e-01 1.60643764e-02 2.74586898e+01] [-1.54677186e-01 9.87961934e-01 -2.48701828e-03 -1.66512326e+00] [-1.62557271e-02 -2.80379772e-05 9.99867867e-01 -5.62050324e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.186559995 meters 0.0177730627379519 Centerline is valid? [True, True] Translation: X:27.49, Y:-1.67, Z:-0.56 [[ 9.87464076e-01 1.56933046e-01 1.69327130e-02 2.74918323e+01] [-1.56911082e-01 9.87609242e-01 -2.62624686e-03 -1.66917374e+00] [-1.71350487e-02 -6.36058884e-05 9.99853182e-01 -5.62993019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.216559994999997 meters 0.016868872692355028 Centerline is valid? [True, True] Translation: X:27.52, Y:-1.67, Z:-0.56 [[ 9.87307646e-01 1.57898689e-01 1.70768027e-02 2.75237047e+01] [-1.57876403e-01 9.87455315e-01 -2.65384502e-03 -1.67364195e+00] [-1.72816182e-02 -7.58627101e-05 9.99850659e-01 -5.63472496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.246559995 meters 0.018200244428069386 Centerline is valid? [True, True] Translation: X:27.56, Y:-1.68, Z:-0.56 [[ 9.87117950e-01 1.59090599e-01 1.69803850e-02 2.75564867e+01] [-1.59068693e-01 9.87263983e-01 -2.64163431e-03 -1.67822179e+00] [-1.71843817e-02 -9.34429963e-05 9.99852333e-01 -5.64751534e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.276559995 meters 0.018457477495701976 Centerline is valid? [True, True] Translation: X:27.59, Y:-1.68, Z:-0.57 [[ 9.86924497e-01 1.60278523e-01 1.70538258e-02 2.75888570e+01] [-1.60256519e-01 9.87071823e-01 -2.65802443e-03 -1.68252500e+00] [-1.72593751e-02 -1.09717330e-04 9.99851040e-01 -5.65913552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.306559995 meters 0.01710776638679748 Centerline is valid? [True, True] Translation: X:27.62, Y:-1.69, Z:-0.57 [[ 9.86590521e-01 1.62307619e-01 1.71866203e-02 2.76196187e+01] [-1.62285487e-01 9.86740197e-01 -2.68403820e-03 -1.68575602e+00] [-1.73943689e-02 -1.41092383e-04 9.99848697e-01 -5.66972257e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.336559995 meters 0.017947780581370344 Centerline is valid? [True, True] Translation: X:27.65, Y:-1.69, Z:-0.57 [[ 9.86421912e-01 1.63384423e-01 1.66535861e-02 2.76517997e+01] [-1.63363765e-01 9.86562470e-01 -2.60260501e-03 -1.69042377e+00] [-1.68550282e-02 -1.53325920e-04 9.99857932e-01 -5.68490274e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.366559995 meters 0.01786845552405711 Centerline is valid? [True, True] Translation: X:27.68, Y:-1.70, Z:-0.57 [[ 9.86256120e-01 1.64398141e-01 1.64959504e-02 2.76847491e+01] [-1.64377937e-01 9.86394051e-01 -2.58258106e-03 -1.69537713e+00] [-1.66960788e-02 -1.64483911e-04 9.99860597e-01 -5.69477657e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.396559995 meters 0.016910801799583323 Centerline is valid? [True, True] Translation: X:27.72, Y:-1.70, Z:-0.57 [[ 9.85999650e-01 1.65918635e-01 1.66041312e-02 2.77160496e+01] [-1.65898298e-01 9.86139428e-01 -2.60436790e-03 -1.70014003e+00] [-1.68061016e-02 -1.86691271e-04 9.99858750e-01 -5.70063247e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.426559994999998 meters 0.016906523746929455 Centerline is valid? [True, True] Translation: X:27.75, Y:-1.70, Z:-0.57 [[ 9.85887784e-01 1.66581769e-01 1.66070072e-02 2.77476203e+01] [-1.66561445e-01 9.86027625e-01 -2.60926318e-03 -1.70433291e+00] [-1.68096235e-02 -1.93646415e-04 9.99858690e-01 -5.70671102e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.456559995 meters 0.017921446020147863 Centerline is valid? [True, True] Translation: X:27.78, Y:-1.71, Z:-0.57 [[ 9.85732401e-01 1.67503003e-01 1.65643240e-02 2.77804399e+01] [-1.67482868e-01 9.85871544e-01 -2.60523849e-03 -1.70992243e+00] [-1.67666810e-02 -2.06172502e-04 9.99859408e-01 -5.71583014e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.486559995 meters 0.017430243647809325 Centerline is valid? [True, True] Translation: X:27.81, Y:-1.71, Z:-0.57 [[ 9.85528198e-01 1.68661172e-01 1.69581584e-02 2.78125600e+01] [-1.68640152e-01 9.85674063e-01 -2.67228387e-03 -1.71445597e+00] [-1.71659274e-02 -2.26215313e-04 9.99852629e-01 -5.71815367e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.516559994999998 meters 0.018698316396563854 Centerline is valid? [True, True] Translation: X:27.84, Y:-1.72, Z:-0.57 [[ 9.85257320e-01 1.70247835e-01 1.68430628e-02 2.78432782e+01] [-1.70227252e-01 9.85401245e-01 -2.65881461e-03 -1.71822265e+00] [-1.70498324e-02 -2.47531724e-04 9.99854610e-01 -5.72847833e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.546559995 meters 0.016331066959581496 Centerline is valid? [True, True] Translation: X:27.87, Y:-1.72, Z:-0.57 [[ 9.84696766e-01 1.73409434e-01 1.73622516e-02 2.78742695e+01] [-1.73387979e-01 9.84849772e-01 -2.74499207e-03 -1.72013824e+00] [-1.75752170e-02 -3.07420907e-04 9.99845497e-01 -5.72537835e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.576559995 meters 0.019509876225463782 Centerline is valid? [True, True] Translation: X:27.91, Y:-1.72, Z:-0.58 [[ 9.84395955e-01 1.75244473e-01 1.59367202e-02 2.79056092e+01] [-1.75226578e-01 9.84524900e-01 -2.52328895e-03 -1.72392211e+00] [-1.61322903e-02 -3.08621519e-04 9.99869819e-01 -5.75392853e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.606559994999998 meters 0.019029980734928564 Centerline is valid? [True, True] Translation: X:27.94, Y:-1.73, Z:-0.58 [[ 9.84060493e-01 1.77125579e-01 1.58580037e-02 2.79367619e+01] [-1.77108075e-01 9.84188202e-01 -2.51262339e-03 -1.72573134e+00] [-1.60523100e-02 -3.36007094e-04 9.99871097e-01 -5.76612258e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.636559995 meters 0.02056051774196595 Centerline is valid? [True, True] Translation: X:27.97, Y:-1.73, Z:-0.58 [[ 9.83677612e-01 1.79314672e-01 1.49867882e-02 2.79683735e+01] [-1.79299245e-01 9.83791709e-01 -2.37774439e-03 -1.72952988e+00] [-1.51702424e-02 -3.48185888e-04 9.99884865e-01 -5.78759949e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.666559995 meters 0.02056051774196595 Centerline is valid? [True, True] Translation: X:28.00, Y:-1.73, Z:-0.58 [[ 9.83628223e-01 1.79585441e-01 1.49862383e-02 2.80003915e+01] [-1.79569992e-01 9.83742318e-01 -2.38120467e-03 -1.73469821e+00] [-1.51702265e-02 -3.48858580e-04 9.99884865e-01 -5.79398286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.696559994999998 meters 0.021329984042849682 Centerline is valid? [True, True] Translation: X:28.03, Y:-1.74, Z:-0.58 [[ 9.83019573e-01 1.82960771e-01 1.40668363e-02 2.80318926e+01] [-1.82947449e-01 9.83120144e-01 -2.23904494e-03 -1.73640634e+00] [-1.42390475e-02 -3.72466829e-04 9.99898550e-01 -5.81031547e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.726559995 meters 0.0192771837390744 Centerline is valid? [True, True] Translation: X:28.06, Y:-1.74, Z:-0.58 [[ 9.82649365e-01 1.84954809e-01 1.38543591e-02 2.80633545e+01] [-1.84942043e-01 9.82746948e-01 -2.20814448e-03 -1.74260842e+00] [-1.40237361e-02 -3.92421716e-04 9.99901586e-01 -5.80935627e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.756559995 meters 0.02159398174733048 Centerline is valid? [True, True] Translation: X:28.09, Y:-1.75, Z:-0.58 [[ 9.82310022e-01 1.86780147e-01 1.34237605e-02 2.80946917e+01] [-1.86768287e-01 9.82401657e-01 -2.14292739e-03 -1.74576324e+00] [-1.35877808e-02 -4.02113700e-04 9.99907601e-01 -5.82440933e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.786559994999998 meters 0.02250408010891106 Centerline is valid? [True, True] Translation: X:28.13, Y:-1.75, Z:-0.58 [[ 9.82042307e-01 1.88195952e-01 1.32359461e-02 2.81257413e+01] [-1.88184500e-01 9.82131414e-01 -2.11664591e-03 -1.74832876e+00] [-1.33977826e-02 -4.12164062e-04 9.99910161e-01 -5.83204217e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.816559995 meters 0.02327413680984105 Centerline is valid? [True, True] Translation: X:28.16, Y:-1.75, Z:-0.58 [[ 9.81624994e-01 1.90344121e-01 1.34716899e-02 2.81575370e+01] [-1.90332443e-01 9.81717329e-01 -2.15551296e-03 -1.75287555e+00] [-1.36356806e-02 -4.48194254e-04 9.99906929e-01 -5.83444768e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.846559995 meters 0.023781970661525213 Centerline is valid? [True, True] Translation: X:28.19, Y:-1.76, Z:-0.58 [[ 9.81461609e-01 1.91199399e-01 1.32627020e-02 2.81888919e+01] [-1.91188106e-01 9.81551113e-01 -2.12599207e-03 -1.75710269e+00] [-1.34245083e-02 -4.49091270e-04 9.99909786e-01 -5.84269611e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.876559994999997 meters 0.022503150363706387 Centerline is valid? [True, True] Translation: X:28.22, Y:-1.76, Z:-0.58 [[ 9.81323238e-01 1.91895509e-01 1.34468165e-02 2.82203895e+01] [-1.91883950e-01 9.81415253e-01 -2.15661996e-03 -1.76471713e+00] [-1.36107565e-02 -4.63886989e-04 9.99907262e-01 -5.84419465e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.906559995 meters 0.0224290362520911 Centerline is valid? [True, True] Translation: X:28.25, Y:-1.77, Z:-0.58 [[ 9.81233544e-01 1.92326085e-01 1.38350856e-02 2.82531362e+01] [-1.92313844e-01 9.81330957e-01 -2.22240342e-03 -1.76979823e+00] [-1.40042240e-02 -4.79981713e-04 9.99901821e-01 -5.84872709e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.936559995 meters 0.023317252560328905 Centerline is valid? [True, True] Translation: X:28.28, Y:-1.77, Z:-0.59 [[ 9.81078636e-01 1.93068558e-01 1.44652209e-02 2.82843994e+01] [-1.93055187e-01 9.81185137e-01 -2.32841421e-03 -1.77238664e+00] [-1.46426034e-02 -5.08228495e-04 9.99892662e-01 -5.85632900e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.966559994999997 meters 0.02401005159914222 Centerline is valid? [True, True] Translation: X:28.32, Y:-1.78, Z:-0.59 [[ 9.80956907e-01 1.93698182e-01 1.43024595e-02 2.83163059e+01] [-1.93685129e-01 9.81061036e-01 -2.30545928e-03 -1.77801744e+00] [-1.44781490e-02 -5.08617520e-04 9.99895057e-01 -5.86341885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.996559995 meters 0.023562113446585427 Centerline is valid? [True, True] Translation: X:28.35, Y:-1.78, Z:-0.59 [[ 9.80834690e-01 1.94273325e-01 1.48723268e-02 2.83490712e+01] [-1.94259221e-01 9.80947292e-01 -2.40105031e-03 -1.78410026e+00] [-1.50554287e-02 -5.34053176e-04 9.99886518e-01 -5.86711605e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.026559995 meters 0.022744200615576842 Centerline is valid? [True, True] Translation: X:28.38, Y:-1.79, Z:-0.59 [[ 9.80599979e-01 1.95436741e-01 1.51049855e-02 2.83804886e+01] [-1.95422260e-01 9.80716152e-01 -2.44324124e-03 -1.78859694e+00] [-1.52912024e-02 -5.56008105e-04 9.99882928e-01 -5.86872606e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.056559995 meters 0.023859422118603556 Centerline is valid? [True, True] Translation: X:28.41, Y:-1.79, Z:-0.59 [[ 9.80315975e-01 1.96937631e-01 1.40056689e-02 2.84123041e+01] [-1.96925289e-01 9.80415873e-01 -2.26860938e-03 -1.79294491e+00] [-1.41781547e-02 -5.34116376e-04 9.99899342e-01 -5.88613989e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.086559995 meters 0.024683737358515503 Centerline is valid? [True, True] Translation: X:28.44, Y:-1.80, Z:-0.59 [[ 9.80144617e-01 1.97850461e-01 1.31043504e-02 2.84435395e+01] [-1.97839696e-01 9.80232083e-01 -2.12574310e-03 -1.79745318e+00] [-1.32658839e-02 -5.09025041e-04 9.99911875e-01 -5.89777425e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.116559995 meters 0.024655330950925758 Centerline is valid? [True, True] Translation: X:28.48, Y:-1.80, Z:-0.59 [[ 9.79947526e-01 1.98846304e-01 1.27668826e-02 2.84752626e+01] [-1.98836135e-01 9.80030556e-01 -2.07376843e-03 -1.80154621e+00] [-1.29242963e-02 -5.06333350e-04 9.99916350e-01 -5.91382339e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.146559995 meters 0.025248263104343444 Centerline is valid? [True, True] Translation: X:28.51, Y:-1.81, Z:-0.59 [[ 9.79781536e-01 1.99704670e-01 1.20907952e-02 2.85073018e+01] [-1.99695580e-01 9.79856014e-01 -1.96673423e-03 -1.80614984e+00] [-1.22400044e-02 -4.87508481e-04 9.99924969e-01 -5.92789625e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.176559994999998 meters 0.026446338588157165 Centerline is valid? [True, True] Translation: X:28.54, Y:-1.81, Z:-0.59 [[ 9.79598659e-01 2.00618740e-01 1.17723449e-02 2.85387095e+01] [-2.00610155e-01 9.79669275e-01 -1.91775651e-03 -1.81064570e+00] [-1.19177425e-02 -4.83020234e-04 9.99928865e-01 -5.94044183e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.206559995 meters 0.026192490572453268 Centerline is valid? [True, True] Translation: X:28.57, Y:-1.82, Z:-0.59 [[ 9.79406224e-01 2.01559918e-01 1.17067346e-02 2.85708040e+01] [-2.01551461e-01 9.79476064e-01 -1.90997501e-03 -1.81514977e+00] [-1.18514407e-02 -4.88868050e-04 9.99929650e-01 -5.94809788e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.236559995 meters 0.025599407487816386 Centerline is valid? [True, True] Translation: X:28.60, Y:-1.82, Z:-0.60 [[ 9.79193889e-01 2.02549251e-01 1.23744969e-02 2.86028446e+01] [-2.02539838e-01 9.79271936e-01 -2.02228410e-03 -1.81967710e+00] [-1.25276097e-02 -5.26120368e-04 9.99921388e-01 -5.95209932e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.266559994999998 meters 0.02656490704836016 Centerline is valid? [True, True] Translation: X:28.64, Y:-1.82, Z:-0.60 [[ 9.79089607e-01 2.03052929e-01 1.23713360e-02 2.86350591e+01] [-2.03043526e-01 9.79167620e-01 -2.02458465e-03 -1.82465530e+00] [-1.25247095e-02 -5.29669906e-04 9.99921422e-01 -5.96010479e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.296559995 meters 0.027638230255793015 Centerline is valid? [True, True] Translation: X:28.67, Y:-1.83, Z:-0.60 [[ 9.78802134e-01 2.04444193e-01 1.22047280e-02 2.86664675e+01] [-2.04435103e-01 9.78878074e-01 -2.00109473e-03 -1.82755147e+00] [-1.23560529e-02 -5.36399040e-04 9.99923517e-01 -5.97044354e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.326559995 meters 0.026442244850685262 Centerline is valid? [True, True] Translation: X:28.70, Y:-1.83, Z:-0.60 [[ 9.78609588e-01 2.05355579e-01 1.23434674e-02 2.86976969e+01] [-2.05346320e-01 9.78687275e-01 -2.02654788e-03 -1.83442170e+00] [-1.24965574e-02 -5.51486431e-04 9.99921763e-01 -5.97356782e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.356559994999998 meters 0.028063542435596858 Centerline is valid? [True, True] Translation: X:28.73, Y:-1.84, Z:-0.60 [[ 9.78313719e-01 2.06693036e-01 1.34259780e-02 2.87292359e+01] [-2.06682154e-01 9.78405648e-01 -2.20819214e-03 -1.83533799e+00] [-1.35924706e-02 -6.14605388e-04 9.99907429e-01 -5.98021490e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.386559995 meters 0.026705003243244263 Centerline is valid? [True, True] Translation: X:28.76, Y:-1.84, Z:-0.60 [[ 9.78014526e-01 2.08162459e-01 1.24891309e-02 2.87600737e+01] [-2.08153131e-01 9.78094088e-01 -2.05653592e-03 -1.84378912e+00] [-1.26436387e-02 -5.88329705e-04 9.99919893e-01 -5.98859780e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.416559995 meters 0.027936306625958807 Centerline is valid? [True, True] Translation: X:28.79, Y:-1.85, Z:-0.60 [[ 9.77675268e-01 2.09742302e-01 1.26189188e-02 2.87907335e+01] [-2.09732850e-01 9.77756511e-01 -2.08264468e-03 -1.84643087e+00] [-1.27750487e-02 -6.10451602e-04 9.99918209e-01 -5.99570221e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.446559994999998 meters 0.030762057521287644 Centerline is valid? [True, True] Translation: X:28.82, Y:-1.85, Z:-0.60 [[ 9.76903434e-01 2.13310495e-01 1.25823054e-02 2.88214231e+01] [-2.13301385e-01 9.76984240e-01 -2.07718142e-03 -1.84654685e+00] [-1.27357987e-02 -6.54617516e-04 9.99918682e-01 -6.00521561e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.476559995 meters 0.02966054231818008 Centerline is valid? [True, True] Translation: X:28.85, Y:-1.85, Z:-0.60 [[ 9.76470505e-01 2.15215764e-01 1.36940789e-02 2.88529150e+01] [-2.15205174e-01 9.76566243e-01 -2.25977551e-03 -1.85051546e+00] [-1.38595145e-02 -7.40432510e-04 9.99903678e-01 -6.00457666e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.506559995 meters 0.03218569089250739 Centerline is valid? [True, True] Translation: X:28.88, Y:-1.85, Z:-0.60 [[ 9.75841972e-01 2.18106990e-01 1.27195718e-02 2.88841386e+01] [-2.18098048e-01 9.75924597e-01 -2.10285328e-03 -1.85093767e+00] [-1.28719900e-02 -7.22061283e-04 9.99916892e-01 -6.02387860e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.536559994999998 meters 0.030200766077429924 Centerline is valid? [True, True] Translation: X:28.92, Y:-1.86, Z:-0.60 [[ 9.75544495e-01 2.19456973e-01 1.23116050e-02 2.89156111e+01] [-2.19448715e-01 9.75621916e-01 -2.03441054e-03 -1.85899353e+00] [-1.24579372e-02 -7.17107895e-04 9.99922140e-01 -6.02905248e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.566559995 meters 0.028840760806538728 Centerline is valid? [True, True] Translation: X:28.95, Y:-1.86, Z:-0.60 [[ 9.75320798e-01 2.20370900e-01 1.36384653e-02 2.89477879e+01] [-2.20360799e-01 9.75415820e-01 -2.25775197e-03 -1.86321985e+00] [-1.38007176e-02 -8.03350651e-04 9.99904443e-01 -6.03214067e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.596559995 meters 0.03132114998510543 Centerline is valid? [True, True] Translation: X:28.98, Y:-1.87, Z:-0.60 [[ 9.75206558e-01 2.20937622e-01 1.25990905e-02 2.89785813e+01] [-2.20929010e-01 9.75287655e-01 -2.08870887e-03 -1.86596396e+00] [-1.27492118e-02 -7.46582005e-04 9.99918447e-01 -6.04710221e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.626559994999997 meters 0.03189548656781165 Centerline is valid? [True, True] Translation: X:29.01, Y:-1.87, Z:-0.61 [[ 9.75268626e-01 2.20644450e-01 1.29280153e-02 2.90098261e+01] [-2.20635314e-01 9.75354013e-01 -2.14648100e-03 -1.86960740e+00] [-1.30830007e-02 -7.58981135e-04 9.99914126e-01 -6.06006619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.656559995 meters 0.030513677820372766 Centerline is valid? [True, True] Translation: X:29.04, Y:-1.88, Z:-0.61 [[ 9.75404780e-01 2.20080663e-01 1.22481727e-02 2.90409679e+01] [-2.20072388e-01 9.75481419e-01 -2.03608791e-03 -1.87753296e+00] [-1.23959684e-02 -7.09474722e-04 9.99922915e-01 -6.06633870e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.686559995 meters 0.03138955334602876 Centerline is valid? [True, True] Translation: X:29.07, Y:-1.88, Z:-0.61 [[ 9.75751265e-01 2.18521797e-01 1.25575966e-02 2.90708302e+01] [-2.18512906e-01 9.75831815e-01 -2.09251762e-03 -1.88065478e+00] [-1.27113630e-02 -7.02220223e-04 9.99918961e-01 -6.07408842e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.716559994999997 meters 0.03127661631556061 Centerline is valid? [True, True] Translation: X:29.10, Y:-1.89, Z:-0.61 [[ 9.76178015e-01 2.16622408e-01 1.22969842e-02 2.91015029e+01] [-2.16613732e-01 9.76255239e-01 -2.04918398e-03 -1.88656664e+00] [-1.24488944e-02 -6.63327284e-04 9.99922289e-01 -6.08445749e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.746559995 meters 0.027498911069881643 Centerline is valid? [True, True] Translation: X:29.13, Y:-1.90, Z:-0.61 [[ 9.77324187e-01 2.11366798e-01 1.27086861e-02 2.91314132e+01] [-2.11357079e-01 9.77406618e-01 -2.11840797e-03 -1.89736364e+00] [-1.28693150e-02 -6.15699422e-04 9.99916997e-01 -6.09126359e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.776559995 meters 0.027790894853780536 Centerline is valid? [True, True] Translation: X:29.16, Y:-1.90, Z:-0.61 [[ 9.77870672e-01 2.08847802e-01 1.23103039e-02 2.91611053e+01] [-2.08838481e-01 9.77947993e-01 -2.05214840e-03 -1.90338580e+00] [-1.24674236e-02 -5.64129423e-04 9.99922120e-01 -6.09981666e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.806559994999997 meters 0.02559752753592219 Centerline is valid? [True, True] Translation: X:29.19, Y:-1.91, Z:-0.61 [[ 9.78332446e-01 2.06670730e-01 1.23625957e-02 2.91915258e+01] [-2.06661155e-01 9.78410404e-01 -2.06095954e-03 -1.91257036e+00] [-1.25216323e-02 -5.38564725e-04 9.99921456e-01 -6.10460948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.836559995 meters 0.02498917795685208 Centerline is valid? [True, True] Translation: X:29.22, Y:-1.92, Z:-0.61 [[ 9.79192923e-01 2.02553505e-01 1.23813446e-02 2.92206547e+01] [-2.02543564e-01 9.79271077e-01 -2.06480343e-03 -1.91885679e+00] [-1.25429258e-02 -4.85920755e-04 9.99921216e-01 -6.11991893e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.866559995 meters 0.024229569061832344 Centerline is valid? [True, True] Translation: X:29.25, Y:-1.93, Z:-0.61 [[ 9.79514885e-01 2.01001225e-01 1.22105897e-02 2.92518047e+01] [-2.00991457e-01 9.79590881e-01 -2.03451702e-03 -1.92501928e+00] [-1.23703227e-02 -4.61384516e-04 9.99923378e-01 -6.13303026e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.896559995 meters 0.023342942443632234 Centerline is valid? [True, True] Translation: X:29.28, Y:-1.93, Z:-0.61 [[ 9.79807206e-01 1.99594129e-01 1.18331270e-02 2.92832886e+01] [-1.99584820e-01 9.79878565e-01 -1.97444732e-03 -1.93194283e+00] [-1.19891156e-02 -4.27134808e-04 9.99928037e-01 -6.14280849e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.926559994999998 meters 0.02236968041318451 Centerline is valid? [True, True] Translation: X:29.31, Y:-1.94, Z:-0.62 [[ 9.80147199e-01 1.97968395e-01 1.09537131e-02 2.93147778e+01] [-1.97960290e-01 9.80208332e-01 -1.83011796e-03 -1.93916923e+00] [-1.10992264e-02 -3.74615228e-04 9.99938332e-01 -6.15289086e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.956559995 meters 0.021162942135058975 Centerline is valid? [True, True] Translation: X:29.34, Y:-1.95, Z:-0.62 [[ 9.81107073e-01 1.93147676e-01 1.10854542e-02 2.93444269e+01] [-1.93139012e-01 9.81169646e-01 -1.85704804e-03 -1.94587428e+00] [-1.12353957e-02 -3.19070710e-04 9.99936830e-01 -6.17197337e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.986559995 meters 0.02002982507149567 Centerline is valid? [True, True] Translation: X:29.38, Y:-1.95, Z:-0.62 [[ 9.81517870e-01 1.91039634e-01 1.12485485e-02 2.93758714e+01] [-1.91030594e-01 9.81582278e-01 -1.88266957e-03 -1.95292184e+00] [-1.14010404e-02 -3.00943088e-04 9.99934961e-01 -6.18114477e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.016559994999998 meters 0.019980607910313367 Centerline is valid? [True, True] Translation: X:29.41, Y:-1.96, Z:-0.62 [[ 9.81883906e-01 1.89147325e-01 1.12820677e-02 2.94068102e+01] [-1.89138073e-01 9.81948681e-01 -1.89118068e-03 -1.95897653e+00] [-1.14361233e-02 -2.76948672e-04 9.99934567e-01 -6.19208047e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.046559995 meters 0.017387884072976968 Centerline is valid? [True, True] Translation: X:29.44, Y:-1.97, Z:-0.62 [[ 9.82700454e-01 1.84776112e-01 1.25541224e-02 2.94369952e+01] [-1.84764234e-01 9.82780610e-01 -2.10961308e-03 -1.96720698e+00] [-1.27277542e-02 -2.46435077e-04 9.99918968e-01 -6.20019642e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.076559995 meters 0.018830851947622344 Centerline is valid? [True, True] Translation: X:29.47, Y:-1.97, Z:-0.62 [[ 9.83043569e-01 1.82989280e-01 1.18433804e-02 2.94678483e+01] [-1.82978591e-01 9.83114886e-01 -1.98909456e-03 -1.97177950e+00] [-1.20073865e-02 -2.11718447e-04 9.99927886e-01 -6.21011785e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.106559994999998 meters 0.018338224277264115 Centerline is valid? [True, True] Translation: X:29.50, Y:-1.98, Z:-0.62 [[ 9.83276994e-01 1.81692763e-01 1.24134516e-02 2.94991950e+01] [-1.81680879e-01 9.83355327e-01 -2.08784812e-03 -1.97864362e+00] [-1.25861807e-02 -2.02353779e-04 9.99920770e-01 -6.21060832e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.136559995 meters 0.017766644907733803 Centerline is valid? [True, True] Translation: X:29.53, Y:-1.99, Z:-0.62 [[ 9.83404500e-01 1.80955197e-01 1.30692631e-02 2.95306941e+01] [-1.80941915e-01 9.83491320e-01 -2.20154659e-03 -1.98520630e+00] [-1.32518881e-02 -1.99766669e-04 9.99912170e-01 -6.20800177e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.166559995 meters 0.016846975181385924 Centerline is valid? [True, True] Translation: X:29.56, Y:-1.99, Z:-0.62 [[ 9.83485836e-01 1.80445501e-01 1.39653558e-02 2.95627363e+01] [-1.80430227e-01 9.83584963e-01 -2.35642623e-03 -1.98916740e+00] [-1.41613205e-02 -2.02260502e-04 9.99899703e-01 -6.21616958e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.196559994999998 meters 0.016762368362707895 Centerline is valid? [True, True] Translation: X:29.59, Y:-1.99, Z:-0.62 [[ 9.83446123e-01 1.80638841e-01 1.42594528e-02 2.95949067e+01] [-1.80622885e-01 9.83549473e-01 -2.40972662e-03 -1.99243949e+00] [-1.44601675e-02 -2.05747193e-04 9.99895425e-01 -6.22988007e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.226559995 meters 0.017411640117053272 Centerline is valid? [True, True] Translation: X:29.63, Y:-2.00, Z:-0.62 [[ 9.83404550e-01 1.80875857e-01 1.41214447e-02 2.96268257e+01] [-1.80860171e-01 9.83505914e-01 -2.39072238e-03 -1.99622698e+00] [-1.43209484e-02 -2.02959637e-04 9.99897429e-01 -6.24165991e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.256559995 meters 0.016361989743798003 Centerline is valid? [True, True] Translation: X:29.66, Y:-2.00, Z:-0.62 [[ 9.83360597e-01 1.81093111e-01 1.43952022e-02 2.96586260e+01] [-1.81076805e-01 9.83465933e-01 -2.43900491e-03 -2.00336180e+00] [-1.45988780e-02 -2.08215896e-04 9.99893409e-01 -6.24204293e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.286559994999998 meters 0.01566243038630719 Centerline is valid? [True, True] Translation: X:29.69, Y:-2.01, Z:-0.63 [[ 9.83277519e-01 1.81459505e-01 1.54197534e-02 2.96899523e+01] [-1.81440761e-01 9.83398392e-01 -2.61767723e-03 -2.00662295e+00] [-1.56387631e-02 -2.23868625e-04 9.99877682e-01 -6.25563017e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.316559995 meters 0.01702592584341526 Centerline is valid? [True, True] Translation: X:29.72, Y:-2.01, Z:-0.63 [[ 9.83057007e-01 1.82708859e-01 1.47103176e-02 2.97208048e+01] [-1.82691880e-01 9.83167036e-01 -2.50129505e-03 -2.00821492e+00] [-1.49197081e-02 -2.28539944e-04 9.99888669e-01 -6.27133842e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.346559995 meters 0.014254250047079484 Centerline is valid? [True, True] Translation: X:29.75, Y:-2.01, Z:-0.63 [[ 9.82828608e-01 1.83784880e-01 1.64634277e-02 2.97531132e+01] [-1.83763695e-01 9.82966452e-01 -2.80350459e-03 -2.01439883e+00] [-1.66982388e-02 -2.70015785e-04 9.99860538e-01 -6.27485235e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.376559994999997 meters 0.017612732179844392 Centerline is valid? [True, True] Translation: X:29.78, Y:-2.02, Z:-0.63 [[ 9.82743434e-01 1.84433909e-01 1.41236024e-02 2.97849422e+01] [-1.84418334e-01 9.82844889e-01 -2.40858865e-03 -2.01859392e+00] [-1.43255359e-02 -2.37626551e-04 9.99897356e-01 -6.28228645e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.406559995 meters 0.017646399968386045 Centerline is valid? [True, True] Translation: X:29.82, Y:-2.02, Z:-0.63 [[ 9.82604005e-01 1.85198174e-01 1.38205087e-02 2.98171493e+01] [-1.85183291e-01 9.82701164e-01 -2.36011396e-03 -2.02275980e+00] [-1.40185188e-02 -2.40269858e-04 9.99901707e-01 -6.29295164e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.436559995 meters 0.01668103055381446 Centerline is valid? [True, True] Translation: X:29.85, Y:-2.02, Z:-0.63 [[ 9.82295243e-01 1.86712949e-01 1.53078440e-02 2.98487544e+01] [-1.86694791e-01 9.82414471e-01 -2.61943552e-03 -2.02472797e+00] [-1.55277300e-02 -2.84835692e-04 9.99879397e-01 -6.30082076e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.466559994999997 meters 0.017593172379197067 Centerline is valid? [True, True] Translation: X:29.88, Y:-2.03, Z:-0.63 [[ 9.82087115e-01 1.87847083e-01 1.47774110e-02 2.98804324e+01] [-1.87830242e-01 9.82198244e-01 -2.53191192e-03 -2.02925856e+00] [-1.49899594e-02 -2.89086596e-04 9.99887602e-01 -6.30577248e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.496559995 meters 0.016190333607038313 Centerline is valid? [True, True] Translation: X:29.91, Y:-2.03, Z:-0.63 [[ 9.81806655e-01 1.89127191e-01 1.69291903e-02 2.99118451e+01] [-1.89105189e-01 9.81952537e-01 -2.90571633e-03 -2.03119314e+00] [-1.71732113e-02 -3.48546097e-04 9.99852469e-01 -6.31681133e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.526559995 meters 0.01848757973671037 Centerline is valid? [True, True] Translation: X:29.94, Y:-2.03, Z:-0.63 [[ 9.81535942e-01 1.90696000e-01 1.49073586e-02 2.99437322e+01] [-1.90679076e-01 9.81649086e-01 -2.56161981e-03 -2.03394620e+00] [-1.51222856e-02 -3.28199448e-04 9.99885598e-01 -6.32714541e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.556559994999997 meters 0.01848757973671037 Centerline is valid? [True, True] Translation: X:29.98, Y:-2.04, Z:-0.63 [[ 9.81483188e-01 1.90967379e-01 1.49067663e-02 2.99756868e+01] [-1.90950434e-01 9.81596329e-01 -2.56506135e-03 -2.03952466e+00] [-1.51222701e-02 -3.28888899e-04 9.99885598e-01 -6.33352867e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.586559995 meters 0.017957530699999523 Centerline is valid? [True, True] Translation: X:30.01, Y:-2.05, Z:-0.63 [[ 9.81413290e-01 1.91324047e-01 1.49353025e-02 3.00077727e+01] [-1.91307016e-01 9.81526871e-01 -2.57417482e-03 -2.04596206e+00] [-1.51519022e-02 -3.30898755e-04 9.99885149e-01 -6.34118781e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.616559995 meters 0.01746961553369699 Centerline is valid? [True, True] Translation: X:30.04, Y:-2.05, Z:-0.64 [[ 9.81397292e-01 1.91324346e-01 1.59483479e-02 3.00391821e+01] [-1.91304839e-01 9.81526807e-01 -2.75412264e-03 -2.04846836e+00] [-1.61806617e-02 -3.48107622e-04 9.99869024e-01 -6.35821010e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.646559995 meters 0.0162003590478476 Centerline is valid? [True, True] Translation: X:30.07, Y:-2.05, Z:-0.64 [[ 9.81369856e-01 1.91375255e-01 1.69916845e-02 3.00713070e+01] [-1.91353046e-01 9.81516875e-01 -2.93857603e-03 -2.05347292e+00] [-1.72399958e-02 -3.67580643e-04 9.99851313e-01 -6.36658720e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.676559994999998 meters 0.017899550808775935 Centerline is valid? [True, True] Translation: X:30.10, Y:-2.06, Z:-0.64 [[ 9.81543201e-01 1.90628206e-01 1.52915646e-02 3.01024579e+01] [-1.90610067e-01 9.81662258e-01 -2.64846021e-03 -2.05920809e+00] [-1.55160230e-02 -3.15148048e-04 9.99879570e-01 -6.37541707e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.706559995 meters 0.01719166382155016 Centerline is valid? [True, True] Translation: X:30.13, Y:-2.06, Z:-0.64 [[ 9.81479064e-01 1.90926982e-01 1.56758907e-02 3.01346272e+01] [-1.90907896e-01 9.81604188e-01 -2.71898856e-03 -2.06419446e+00] [-1.59066482e-02 -3.24020946e-04 9.99873429e-01 -6.38283843e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.736559995 meters 0.017551005937507917 Centerline is valid? [True, True] Translation: X:30.17, Y:-2.07, Z:-0.64 [[ 9.81424948e-01 1.91193358e-01 1.58168020e-02 3.01666733e+01] [-1.91173886e-01 9.81552338e-01 -2.74811473e-03 -2.06846475e+00] [-1.60504403e-02 -3.26691151e-04 9.99871130e-01 -6.39185012e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.766559994999998 meters 0.01810141519387715 Centerline is valid? [True, True] Translation: X:30.20, Y:-2.07, Z:-0.64 [[ 9.81294179e-01 1.91944041e-01 1.48060532e-02 3.01984661e+01] [-1.91927009e-01 9.81405822e-01 -2.57617580e-03 -2.07473420e+00] [-1.50252284e-02 -3.13695182e-04 9.99887066e-01 -6.39353482e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.796559995 meters 0.015593304554336551 Centerline is valid? [True, True] Translation: X:30.23, Y:-2.08, Z:-0.64 [[ 9.81017400e-01 1.93159771e-01 1.71512337e-02 3.02310589e+01] [-1.93137009e-01 9.81167243e-01 -2.98951555e-03 -2.07700676e+00] [-1.74056828e-02 -3.79771201e-04 9.99848438e-01 -6.40780847e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.826559995 meters 0.019006458067874165 Centerline is valid? [True, True] Translation: X:30.26, Y:-2.08, Z:-0.64 [[ 9.80859891e-01 1.94104337e-01 1.54071792e-02 3.02622131e+01] [-1.94086029e-01 9.80980827e-01 -2.68910043e-03 -2.07943644e+00] [-1.56361134e-02 -3.52687465e-04 9.99877686e-01 -6.42269630e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.856559994999998 meters 0.01738759765676851 Centerline is valid? [True, True] Translation: X:30.29, Y:-2.08, Z:-0.64 [[ 9.80667479e-01 1.95010506e-01 1.61925584e-02 3.02948244e+01] [-1.94990343e-01 9.80801079e-01 -2.83014253e-03 -2.08461015e+00] [-1.64335863e-02 -3.81963776e-04 9.99864887e-01 -6.43371747e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.886559995 meters 0.019155636738865337 Centerline is valid? [True, True] Translation: X:30.33, Y:-2.09, Z:-0.64 [[ 9.80315235e-01 1.96841169e-01 1.53490808e-02 3.03268063e+01] [-1.96823208e-01 9.80435314e-01 -2.68703548e-03 -2.08775361e+00] [-1.55777001e-02 -3.86913504e-04 9.99878585e-01 -6.44804251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.916559995 meters 0.0201607510019175 Centerline is valid? [True, True] Translation: X:30.36, Y:-2.09, Z:-0.65 [[ 9.80069215e-01 1.98108049e-01 1.47490234e-02 3.03575067e+01] [-1.98091555e-01 9.80180111e-01 -2.58559973e-03 -2.09103322e+00] [-1.49689276e-02 -3.87590285e-04 9.99887884e-01 -6.45887477e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.946559994999998 meters 0.017423980529059926 Centerline is valid? [True, True] Translation: X:30.39, Y:-2.10, Z:-0.65 [[ 9.79913665e-01 1.98725991e-01 1.66489951e-02 3.03901770e+01] [-1.98704990e-01 9.80054990e-01 -2.92295919e-03 -2.09624538e+00] [-1.68977987e-02 -4.43990747e-04 9.99857123e-01 -6.46857056e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.976559995 meters 0.01798266182121619 Centerline is valid? [True, True] Translation: X:30.42, Y:-2.10, Z:-0.65 [[ 9.79723982e-01 1.99660644e-01 1.66296923e-02 3.04211913e+01] [-1.99639741e-01 9.79865001e-01 -2.92455392e-03 -2.09968849e+00] [-1.68787718e-02 -4.54691859e-04 9.99857440e-01 -6.47981882e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.006559995 meters 0.01931209543131545 Centerline is valid? [True, True] Translation: X:30.45, Y:-2.10, Z:-0.65 [[ 9.79429845e-01 2.01199107e-01 1.53654846e-02 3.04535169e+01] [-2.01181401e-01 9.79550266e-01 -2.70541670e-03 -2.10320078e+00] [-1.55955920e-02 -4.41483879e-04 9.99878284e-01 -6.49418847e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.036559994999998 meters 0.020040253762671576 Centerline is valid? [True, True] Translation: X:30.49, Y:-2.11, Z:-0.65 [[ 9.79338821e-01 2.01650477e-01 1.52498573e-02 3.04865661e+01] [-2.01633035e-01 9.79457447e-01 -2.68869744e-03 -2.10815726e+00] [-1.54787634e-02 -4.41729235e-04 9.99880099e-01 -6.50032969e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.066559995 meters 0.019671524510060902 Centerline is valid? [True, True] Translation: X:30.52, Y:-2.11, Z:-0.65 [[ 9.79303314e-01 2.01762637e-01 1.60267450e-02 3.05189757e+01] [-2.01743309e-01 9.79434340e-01 -2.83052163e-03 -2.11276477e+00] [-1.62682379e-02 -4.61349347e-04 9.99867557e-01 -6.51035453e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.096559995 meters 0.017863897889000713 Centerline is valid? [True, True] Translation: X:30.55, Y:-2.12, Z:-0.65 [[ 9.79322553e-01 2.01612598e-01 1.67241259e-02 3.05502729e+01] [-2.01591444e-01 9.79465229e-01 -2.95872144e-03 -2.11928241e+00] [-1.69772153e-02 -4.73898054e-04 9.99855764e-01 -6.51607037e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.126559994999997 meters 0.01896607953005471 Centerline is valid? [True, True] Translation: X:30.58, Y:-2.12, Z:-0.65 [[ 9.79285941e-01 2.01818686e-01 1.63787745e-02 3.05820227e+01] [-2.01798358e-01 9.79422791e-01 -2.90169028e-03 -2.12442595e+00] [-1.66273603e-02 -4.63625291e-04 9.99861648e-01 -6.52365064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.156559995 meters 0.018337720038366777 Centerline is valid? [True, True] Translation: X:30.61, Y:-2.13, Z:-0.65 [[ 9.79311138e-01 2.01602580e-01 1.74955451e-02 3.06124843e+01] [-2.01579258e-01 9.79467285e-01 -3.10477489e-03 -2.12832082e+00] [-1.77622447e-02 -4.86198370e-04 9.99842121e-01 -6.52806363e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.186559995 meters 0.01942295046791619 Centerline is valid? [True, True] Translation: X:30.64, Y:-2.13, Z:-0.65 [[ 9.79196573e-01 2.02241614e-01 1.65045549e-02 3.06430711e+01] [-2.02220889e-01 9.79335546e-01 -2.93253856e-03 -2.13312689e+00] [-1.67565786e-02 -4.66034055e-04 9.99859490e-01 -6.53714419e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.216559994999997 meters 0.01884730297949313 Centerline is valid? [True, True] Translation: X:30.67, Y:-2.14, Z:-0.65 [[ 9.78992523e-01 2.03240212e-01 1.63418315e-02 3.06747915e+01] [-2.03219971e-01 9.79128792e-01 -2.90729957e-03 -2.13694578e+00] [-1.65916379e-02 -4.74761983e-04 9.99862237e-01 -6.54592969e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.246559995 meters 0.017609897846290693 Centerline is valid? [True, True] Translation: X:30.71, Y:-2.14, Z:-0.66 [[ 9.78808519e-01 2.04175475e-01 1.56926569e-02 3.07060290e+01] [-2.04156872e-01 9.78934194e-01 -2.79547641e-03 -2.14396734e+00] [-1.59328462e-02 -4.67527622e-04 9.99872955e-01 -6.55048953e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.276559995 meters 0.018366511902051217 Centerline is valid? [True, True] Translation: X:30.74, Y:-2.15, Z:-0.66 [[ 9.78557154e-01 2.05373261e-01 1.57391402e-02 3.07372463e+01] [-2.05354636e-01 9.78683600e-01 -2.80796536e-03 -2.14767775e+00] [-1.59803194e-02 -4.84350808e-04 9.99872189e-01 -6.55968783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.306559994999997 meters 0.020946792020061753 Centerline is valid? [True, True] Translation: X:30.77, Y:-2.15, Z:-0.66 [[ 9.78182527e-01 2.07313334e-01 1.34210590e-02 3.07678525e+01] [-2.07299929e-01 9.78274497e-01 -2.39763588e-03 -2.15084994e+00] [-1.36265417e-02 -4.36859060e-04 9.99907059e-01 -6.56543728e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.336559995 meters 0.020594160691151348 Centerline is valid? [True, True] Translation: X:30.80, Y:-2.15, Z:-0.66 [[ 9.77749492e-01 2.09281352e-01 1.43960958e-02 3.07998341e+01] [-2.09266121e-01 9.77855342e-01 -2.57324627e-03 -2.15301006e+00] [-1.46158316e-02 -4.96624895e-04 9.99893060e-01 -6.57048611e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.366559995 meters 0.0204222587897363 Centerline is valid? [True, True] Translation: X:30.83, Y:-2.16, Z:-0.66 [[ 9.77394645e-01 2.10934277e-01 1.43679795e-02 3.08313765e+01] [-2.10919232e-01 9.77500109e-01 -2.57178761e-03 -2.15821963e+00] [-1.45871797e-02 -5.16831771e-04 9.99893468e-01 -6.57255253e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.396559995 meters 0.02222345172848549 Centerline is valid? [True, True] Translation: X:30.86, Y:-2.16, Z:-0.66 [[ 9.77009729e-01 2.12713446e-01 1.43170955e-02 3.08625857e+01] [-2.12698643e-01 9.77114477e-01 -2.56640879e-03 -2.16013250e+00] [-1.45353510e-02 -5.37820431e-04 9.99894212e-01 -6.58022657e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.426559994999998 meters 0.022470585967053407 Centerline is valid? [True, True] Translation: X:30.89, Y:-2.16, Z:-0.66 [[ 9.76671649e-01 2.14284410e-01 1.39528231e-02 3.08939375e+01] [-2.14270466e-01 9.76771158e-01 -2.50428700e-03 -2.16414249e+00] [-1.41653448e-02 -5.43811794e-04 9.99899519e-01 -6.58854264e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.456559995 meters 0.024686708431984474 Centerline is valid? [True, True] Translation: X:30.93, Y:-2.17, Z:-0.66 [[ 9.75983616e-01 2.17571422e-01 1.08929826e-02 3.09251378e+01] [-2.17563092e-01 9.76044295e-01 -1.95829091e-03 -2.16736180e+00] [-1.10581017e-02 -4.58651137e-04 9.99938752e-01 -6.59702120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.486559995 meters 0.025896476998548874 Centerline is valid? [True, True] Translation: X:30.96, Y:-2.17, Z:-0.66 [[ 9.75685609e-01 2.18943927e-01 1.00573152e-02 3.09557741e+01] [-2.18936904e-01 9.75737344e-01 -1.80754179e-03 -2.17038933e+00] [-1.02090483e-02 -4.38324948e-04 9.99947790e-01 -6.60744234e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.516559994999998 meters 0.02463658939009873 Centerline is valid? [True, True] Translation: X:30.99, Y:-2.18, Z:-0.66 [[ 9.75401933e-01 2.20211463e-01 9.89849305e-03 3.09872160e+01] [-2.20204725e-01 9.75452056e-01 -1.77895328e-03 -2.17753737e+00] [-1.00472513e-02 -4.44500479e-04 9.99949426e-01 -6.60627954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.546559995 meters 0.02404918104659286 Centerline is valid? [True, True] Translation: X:31.02, Y:-2.18, Z:-0.66 [[ 9.75196465e-01 2.21109265e-01 1.01266034e-02 3.10186947e+01] [-2.21102235e-01 9.75248932e-01 -1.82264416e-03 -2.18281251e+00] [-1.02789627e-02 -4.61578507e-04 9.99947064e-01 -6.61268439e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.576559995 meters 0.025101647750006336 Centerline is valid? [True, True] Translation: X:31.05, Y:-2.19, Z:-0.66 [[ 9.74851723e-01 2.22654286e-01 9.44387998e-03 3.10497140e+01] [-2.22648222e-01 9.74897365e-01 -1.70206810e-03 -2.18641600e+00] [-9.58578647e-03 -4.43399061e-04 9.99953957e-01 -6.60717011e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.606559994999998 meters 0.02624812555949584 Centerline is valid? [True, True] Translation: X:31.08, Y:-2.19, Z:-0.66 [[ 9.74644361e-01 2.23570619e-01 9.19498661e-03 3.10815389e+01] [-2.23564893e-01 9.74687635e-01 -1.65912013e-03 -2.19096887e+00] [-9.33317027e-03 -4.38624118e-04 9.99956349e-01 -6.61167301e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.636559995 meters 0.02452223063654117 Centerline is valid? [True, True] Translation: X:31.11, Y:-2.20, Z:-0.66 [[ 9.74476718e-01 2.24308484e-01 8.99056135e-03 3.11128822e+01] [-2.24303022e-01 9.74518094e-01 -1.62433335e-03 -2.19839055e+00] [-9.12581646e-03 -4.33735045e-04 9.99958265e-01 -6.61394912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.666559995 meters 0.02379569780322301 Centerline is valid? [True, True] Translation: X:31.15, Y:-2.20, Z:-0.66 [[ 9.74398795e-01 2.24596415e-01 1.01704410e-02 3.11451587e+01] [-2.24589406e-01 9.74451748e-01 -1.84084738e-03 -2.20273361e+00] [-1.03240517e-02 -4.90453833e-04 9.99946585e-01 -6.62562268e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.696559994999998 meters 0.024730150470504617 Centerline is valid? [True, True] Translation: X:31.18, Y:-2.21, Z:-0.66 [[ 9.74211140e-01 2.25490462e-01 8.16735815e-03 3.11768595e+01] [-2.25485964e-01 9.74245293e-01 -1.47944070e-03 -2.20830814e+00] [-8.29061000e-03 -4.00337021e-04 9.99965552e-01 -6.63231895e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.726559995 meters 0.02686107108422859 Centerline is valid? [True, True] Translation: X:31.21, Y:-2.21, Z:-0.66 [[ 9.74068078e-01 2.26160082e-01 6.55724420e-03 3.12080302e+01] [-2.26157192e-01 9.74090094e-01 -1.18875250e-03 -2.21228722e+00] [-6.65619499e-03 -3.25042074e-04 9.99977794e-01 -6.64115383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.756559995 meters 0.025438903212922092 Centerline is valid? [True, True] Translation: X:31.24, Y:-2.22, Z:-0.66 [[ 9.73895977e-01 2.26903413e-01 6.43956106e-03 3.12389987e+01] [-2.26900634e-01 9.73917212e-01 -1.16858678e-03 -2.21980598e+00] [-6.53675569e-03 -3.23058525e-04 9.99978583e-01 -6.64270587e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.786559994999998 meters 0.026111415455356838 Centerline is valid? [True, True] Translation: X:31.27, Y:-2.23, Z:-0.66 [[ 9.73681551e-01 2.27841833e-01 5.68653241e-03 3.12706109e+01] [-2.27839677e-01 9.73698113e-01 -1.03282906e-03 -2.22512227e+00] [-5.77228754e-03 -2.89971109e-04 9.99983298e-01 -6.64900658e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.816559995 meters 0.027133471335774713 Centerline is valid? [True, True] Translation: X:31.30, Y:-2.23, Z:-0.67 [[ 9.73250595e-01 2.29710646e-01 4.03721607e-03 3.13028480e+01] [-2.29709565e-01 9.73258945e-01 -7.35694854e-04 -2.22913902e+00] [-4.09825360e-03 -2.11371692e-04 9.99991580e-01 -6.65225262e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.846559995 meters 0.025924535041600166 Centerline is valid? [True, True] Translation: X:31.33, Y:-2.23, Z:-0.67 [[ 9.72914805e-01 2.31123398e-01 4.33095260e-03 3.13343107e+01] [-2.31122177e-01 9.72924416e-01 -7.87113348e-04 -2.23344761e+00] [-4.39560984e-03 -2.35184964e-04 9.99990312e-01 -6.66132669e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.876559994999997 meters 0.02992483176453887 Centerline is valid? [True, True] Translation: X:31.37, Y:-2.23, Z:-0.67 [[ 9.72621172e-01 2.32367547e-01 3.65769184e-03 3.13659191e+01] [-2.32366685e-01 9.72628028e-01 -6.64951038e-04 -2.23367675e+00] [-3.71208665e-03 -2.03180269e-04 9.99993090e-01 -6.67488976e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.906559995 meters 0.03128978415377095 Centerline is valid? [True, True] Translation: X:31.40, Y:-2.24, Z:-0.67 [[ 9.72179626e-01 2.34209587e-01 3.55580212e-03 3.13981461e+01] [-2.34208771e-01 9.72186108e-01 -6.49832018e-04 -2.23692092e+00] [-3.60909831e-03 -2.01046597e-04 9.99993467e-01 -6.67452445e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.936559995 meters 0.028045752404858484 Centerline is valid? [True, True] Translation: X:31.43, Y:-2.25, Z:-0.67 [[ 9.72029613e-01 2.34838799e-01 3.02801041e-03 3.14292410e+01] [-2.34838221e-01 9.72034314e-01 -5.50276488e-04 -2.24724818e+00] [-3.07255629e-03 -1.76207535e-04 9.99995264e-01 -6.65912822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.966559994999997 meters 0.02832370126597172 Centerline is valid? [True, True] Translation: X:31.46, Y:-2.25, Z:-0.67 [[ 9.71845670e-01 2.35600681e-01 2.88319506e-03 3.14611687e+01] [-2.35600158e-01 9.71849932e-01 -5.24495272e-04 -2.25194562e+00] [-2.92560436e-03 -1.69552751e-04 9.99995706e-01 -6.66185553e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.996559995 meters 0.02953525038288291 Centerline is valid? [True, True] Translation: X:31.49, Y:-2.26, Z:-0.67 [[ 9.71762355e-01 2.35948257e-01 2.51889691e-03 3.14925261e+01] [-2.35947858e-01 9.71765608e-01 -4.58596415e-04 -2.25528216e+00] [-2.55598242e-03 -1.48681600e-04 9.99996722e-01 -6.67122205e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.026559995 meters 0.029844615603010223 Centerline is valid? [True, True] Translation: X:31.53, Y:-2.26, Z:-0.67 [[ 9.71705586e-01 2.36183933e-01 2.32453089e-03 3.15255130e+01] [-2.36183596e-01 9.71708357e-01 -4.22512611e-04 -2.26051362e+00] [-2.35855678e-03 -1.38458199e-04 9.99997209e-01 -6.67651234e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.056559994999997 meters 0.032404250976636344 Centerline is valid? [True, True] Translation: X:31.56, Y:-2.26, Z:-0.67 [[ 9.71732861e-01 2.36071059e-01 2.38788356e-03 3.15566090e+01] [-2.36070698e-01 9.71735785e-01 -4.35841915e-04 -2.26173163e+00] [-2.42328156e-03 -1.40187428e-04 9.99997054e-01 -6.68703429e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.086559995 meters 0.028009027915105338 Centerline is valid? [True, True] Translation: X:31.59, Y:-2.27, Z:-0.67 [[ 9.71797264e-01 2.35804085e-01 2.55165905e-03 3.15868528e+01] [-2.35803670e-01 9.71800603e-01 -4.66232509e-04 -2.27312249e+00] [-2.58964333e-03 -1.48607092e-04 9.99996636e-01 -6.67133329e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.116559995 meters 0.030206811805069695 Centerline is valid? [True, True] Translation: X:31.62, Y:-2.28, Z:-0.67 [[ 9.71826141e-01 2.35684533e-01 2.59860593e-03 3.16185343e+01] [-2.35684101e-01 9.71829604e-01 -4.75611902e-04 -2.27535992e+00] [-2.63749654e-03 -1.50238022e-04 9.99996511e-01 -6.68441415e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.146559995 meters 0.028859831467309985 Centerline is valid? [True, True] Translation: X:31.65, Y:-2.28, Z:-0.67 [[ 9.71751924e-01 2.35990539e-01 2.58120030e-03 3.16508726e+01] [-2.35990114e-01 9.71755341e-01 -4.72494963e-04 -2.28273897e+00] [-2.61979952e-03 -1.49989864e-04 9.99996557e-01 -6.68409785e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.176559994999998 meters 0.028922216333667594 Centerline is valid? [True, True] Translation: X:31.68, Y:-2.29, Z:-0.67 [[ 9.71479680e-01 2.37120830e-01 9.70844070e-04 3.16825868e+01] [-2.37120770e-01 9.71480164e-01 -1.78483065e-04 -2.28771674e+00] [-9.85477808e-04 -5.68146224e-05 9.99999513e-01 -6.68495140e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.206559995 meters 0.030014482722219113 Centerline is valid? [True, True] Translation: X:31.71, Y:-2.29, Z:-0.67 [[ 9.71174467e-01 2.38367986e-01 9.26044381e-04 3.17133303e+01] [-2.38367935e-01 9.71174907e-01 -1.67217216e-04 -2.29054090e+00] [-9.39210296e-04 -5.83421959e-05 9.99999557e-01 -6.69663954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.236559995 meters 0.02840004479602935 Centerline is valid? [True, True] Translation: X:31.74, Y:-2.30, Z:-0.67 [[ 9.70817798e-01 2.39818093e-01 2.92291016e-04 3.17448313e+01] [-2.39818088e-01 9.70817842e-01 -5.28042770e-05 -2.29680883e+00] [-2.96424755e-04 -1.88333407e-05 9.99999956e-01 -6.69511367e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.266559994999998 meters 0.03231757488596279 Centerline is valid? [True, True] Translation: X:31.78, Y:-2.29, Z:-0.67 [[ 9.69987018e-01 2.43156546e-01 2.79533989e-04 3.17763907e+01] [-2.43156542e-01 9.69987058e-01 -5.15368309e-05 -2.29312001e+00] [-2.83675869e-04 -1.79804610e-05 9.99999960e-01 -6.71668797e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.296559995 meters 0.031333566009988094 Centerline is valid? [True, True] Translation: X:31.81, Y:-2.30, Z:-0.67 [[ 9.69684607e-01 2.44359334e-01 -5.27027843e-04 3.18077665e+01] [-2.44359316e-01 9.69684750e-01 9.93190885e-05 -2.29989754e+00] [ 5.35320409e-04 3.24759721e-05 9.99999856e-01 -6.71326353e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.326559995 meters 0.03464198657764828 Centerline is valid? [True, True] Translation: X:31.84, Y:-2.30, Z:-0.67 [[ 9.69323686e-01 2.45787265e-01 4.61097126e-04 3.18390306e+01] [-2.45787252e-01 9.69323795e-01 -8.49416576e-05 -2.29896001e+00] [-4.67829994e-04 -3.09958352e-05 9.99999890e-01 -6.73118529e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.356559994999998 meters 0.033856187815713035 Centerline is valid? [True, True] Translation: X:31.87, Y:-2.30, Z:-0.67 [[ 9.68945035e-01 2.47272261e-01 1.39604887e-03 3.18702954e+01] [-2.47272149e-01 9.68946035e-01 -2.55136902e-04 -2.30413654e+00] [-1.41578429e-03 -9.79903685e-05 9.99998993e-01 -6.73007802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.386559995 meters 0.03285904021064509 Centerline is valid? [True, True] Translation: X:31.90, Y:-2.31, Z:-0.67 [[ 9.68822818e-01 2.47753984e-01 5.56609648e-04 3.19014831e+01] [-2.47753968e-01 9.68822977e-01 -9.87085051e-05 -2.31103818e+00] [-5.63711642e-04 -4.22711968e-05 9.99999840e-01 -6.72474562e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.416559995 meters 0.03428628494259932 Centerline is valid? [True, True] Translation: X:31.93, Y:-2.31, Z:-0.67 [[ 9.68453448e-01 2.49194059e-01 4.90698837e-04 3.19331112e+01] [-2.49194046e-01 9.68453571e-01 -8.69366846e-05 -2.31248767e+00] [-4.96883147e-04 -3.80850969e-05 9.99999876e-01 -6.73235511e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.446559994999998 meters 0.035998617063310166 Centerline is valid? [True, True] Translation: X:31.96, Y:-2.32, Z:-0.67 [[ 9.68252514e-01 2.49974081e-01 1.69609912e-04 3.19643781e+01] [-2.49974080e-01 9.68252528e-01 -2.71436288e-05 -2.31543992e+00] [-1.71010430e-04 -1.61161948e-05 9.99999985e-01 -6.73848050e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.476559995 meters 0.035998617063310166 Centerline is valid? [True, True] Translation: X:32.00, Y:-2.32, Z:-0.67 [[ 9.68182632e-01 2.50244604e-01 1.69791607e-04 3.19963436e+01] [-2.50244603e-01 9.68182647e-01 -2.61747263e-05 -2.32149650e+00] [-1.70939372e-04 -1.71475179e-05 9.99999985e-01 -6.74487809e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.506559995 meters 0.03415328486793461 Centerline is valid? [True, True] Translation: X:32.03, Y:-2.33, Z:-0.67 [[ 9.67885637e-01 2.51387654e-01 1.28098783e-03 3.20281188e+01] [-2.51387562e-01 9.67886480e-01 -2.34949835e-04 -2.32760278e+00] [-1.29891429e-03 -9.46198367e-05 9.99999152e-01 -6.74348405e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.536559994999998 meters 0.03517139632758924 Centerline is valid? [True, True] Translation: X:32.06, Y:-2.33, Z:-0.67 [[ 9.67697840e-01 2.52112733e-01 2.44252756e-04 3.20605061e+01] [-2.52112731e-01 9.67697871e-01 -4.08968457e-05 -2.33115041e+00] [-2.46673487e-04 -2.20034401e-05 9.99999969e-01 -6.74472611e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.566559995 meters 0.03595647164674264 Centerline is valid? [True, True] Translation: X:32.09, Y:-2.34, Z:-0.67 [[ 9.67572794e-01 2.52591981e-01 4.23751616e-04 3.20921645e+01] [-2.52591973e-01 9.67572886e-01 -7.46913748e-05 -2.33531690e+00] [-4.28877016e-04 -3.47669144e-05 9.99999907e-01 -6.74740345e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.596559995 meters 0.03736852364812321 Centerline is valid? [True, True] Translation: X:32.12, Y:-2.34, Z:-0.68 [[ 9.67509016e-01 2.52836349e-01 2.92304494e-04 3.21233601e+01] [-2.52836345e-01 9.67509059e-01 -5.22526756e-05 -2.33899343e+00] [-2.96018622e-04 -2.33502652e-05 9.99999956e-01 -6.75089362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.626559994999997 meters 0.03700586816356418 Centerline is valid? [True, True] Translation: X:32.16, Y:-2.34, Z:-0.67 [[ 9.67192608e-01 2.54041937e-01 1.07404202e-03 3.21555509e+01] [-2.54041874e-01 9.67193201e-01 -1.97256707e-04 -2.34230769e+00] [-1.08891761e-03 -8.20664183e-05 9.99999404e-01 -6.74693163e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.656559995 meters 0.03245858800840727 Centerline is valid? [True, True] Translation: X:32.19, Y:-2.35, Z:-0.67 [[ 9.66977706e-01 2.54854353e-01 1.83728577e-03 3.21863912e+01] [-2.54854162e-01 9.66979441e-01 -3.41134173e-04 -2.35251878e+00] [-1.86355709e-03 -1.38370785e-04 9.99998254e-01 -6.73442777e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.686559995 meters 0.03478839352497823 Centerline is valid? [True, True] Translation: X:32.22, Y:-2.35, Z:-0.67 [[ 9.67032598e-01 2.54647520e-01 1.61069452e-03 3.22172143e+01] [-2.54647373e-01 9.67033932e-01 -2.99223773e-04 -2.35456618e+00] [-1.63379285e-03 -1.20799987e-04 9.99998658e-01 -6.74542074e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.716559994999997 meters 0.032311690573652393 Centerline is valid? [True, True] Translation: X:32.25, Y:-2.36, Z:-0.67 [[ 9.67033916e-01 2.54642281e-01 1.64754950e-03 3.22487444e+01] [-2.54642127e-01 9.67035311e-01 -3.06230054e-04 -2.36250242e+00] [-1.67121767e-03 -1.23400661e-04 9.99998596e-01 -6.74572748e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.746559995 meters 0.031039068020828738 Centerline is valid? [True, True] Translation: X:32.28, Y:-2.37, Z:-0.67 [[ 9.67100868e-01 2.54390069e-01 1.26631164e-03 3.22800492e+01] [-2.54389979e-01 9.67101693e-01 -2.34477751e-04 -2.36919306e+00] [-1.28430094e-03 -9.53733548e-05 9.99999171e-01 -6.74991040e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.776559995 meters 0.03192771139362587 Centerline is valid? [True, True] Translation: X:32.31, Y:-2.37, Z:-0.68 [[ 9.67636694e-01 2.52345725e-01 -9.28718527e-04 3.23098514e+01] [-2.52345672e-01 9.67637138e-01 1.76098913e-04 -2.37376451e+00] [ 9.43100345e-04 6.39583299e-05 9.99999553e-01 -6.75950444e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.806559994999997 meters 0.03164661351471225 Centerline is valid? [True, True] Translation: X:32.34, Y:-2.38, Z:-0.68 [[ 9.67752106e-01 2.51904468e-01 -5.60042169e-06 3.23411590e+01] [-2.51904468e-01 9.67752106e-01 6.08408312e-06 -2.37821759e+00] [ 6.95242757e-06 -4.47711301e-06 1.00000000e+00 -6.76549388e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.836559995 meters 0.030909971997797773 Centerline is valid? [True, True] Translation: X:32.37, Y:-2.38, Z:-0.68 [[ 9.68086476e-01 2.50615918e-01 4.87587789e-04 3.23722462e+01] [-2.50615903e-01 9.68086598e-01 -9.13385601e-05 -2.38470773e+00] [-4.94918101e-04 -3.37736295e-05 9.99999877e-01 -6.76759025e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.866559995 meters 0.03108732154996574 Centerline is valid? [True, True] Translation: X:32.40, Y:-2.39, Z:-0.68 [[ 9.68365263e-01 2.49536954e-01 1.63067517e-04 3.24027856e+01] [-2.49536953e-01 9.68365276e-01 -2.63237202e-05 -2.38991469e+00] [-1.64477662e-04 -1.52003951e-05 9.99999986e-01 -6.77027444e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.896559995 meters 0.03112924639032568 Centerline is valid? [True, True] Translation: X:32.43, Y:-2.40, Z:-0.68 [[ 9.68703430e-01 2.48220320e-01 5.80555547e-04 3.24341493e+01] [-2.48220299e-01 9.68703603e-01 -1.09148871e-04 -2.39545049e+00] [-5.89479218e-04 -3.83727862e-05 9.99999826e-01 -6.77582836e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.926559994999998 meters 0.031966378256689146 Centerline is valid? [True, True] Translation: X:32.46, Y:-2.40, Z:-0.68 [[ 9.69342732e-01 2.45711848e-01 -5.95721464e-04 3.24645578e+01] [-2.45711824e-01 9.69342915e-01 1.13815718e-04 -2.40046878e+00] [ 6.05424251e-04 3.60493689e-05 9.99999816e-01 -6.78450782e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.956559995 meters 0.032572850038419594 Centerline is valid? [True, True] Translation: X:32.50, Y:-2.41, Z:-0.68 [[ 9.69567036e-01 2.44824032e-01 -9.77764686e-04 3.24955686e+01] [-2.44823964e-01 9.69567527e-01 1.90361628e-04 -2.40529278e+00] [ 9.94613990e-04 5.48118669e-05 9.99999504e-01 -6.79761271e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.986559995 meters 0.03131453445710824 Centerline is valid? [True, True] Translation: X:32.53, Y:-2.41, Z:-0.68 [[ 9.69547135e-01 2.44904781e-01 -4.45258624e-05 3.25277690e+01] [-2.44904781e-01 9.69547136e-01 1.01932532e-05 -2.41086646e+00] [ 4.56662988e-05 1.02175717e-06 9.99999999e-01 -6.80316576e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.016559995 meters 0.03261477128389495 Centerline is valid? [True, True] Translation: X:32.56, Y:-2.42, Z:-0.68 [[ 9.69688115e-01 2.44342691e-01 -1.26805485e-03 3.25582728e+01] [-2.44342578e-01 9.69688942e-01 2.45913107e-04 -2.41577434e+00] [ 1.28970583e-03 7.13807729e-05 9.99999166e-01 -6.81356873e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.046559995 meters 0.03224843946833368 Centerline is valid? [True, True] Translation: X:32.59, Y:-2.42, Z:-0.68 [[ 9.69776574e-01 2.43993784e-01 -6.55560735e-04 3.25895894e+01] [-2.43993752e-01 9.69776795e-01 1.29739593e-04 -2.42034143e+00] [ 6.67403242e-04 3.41343055e-05 9.99999777e-01 -6.81656840e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.076559995000004 meters 0.026212771487025454 Centerline is valid? [True, True] Translation: X:32.62, Y:-2.43, Z:-0.68 [[ 9.69843396e-01 2.43728922e-01 -1.90182444e-05 3.26198805e+01] [-2.43728922e-01 9.69843396e-01 8.71004427e-06 -2.43374902e+00] [ 2.05676084e-05 -3.81208271e-06 1.00000000e+00 -6.79086961e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.106559995000005 meters 0.029760877029390443 Centerline is valid? [True, True] Translation: X:32.65, Y:-2.44, Z:-0.68 [[ 9.69973248e-01 2.43211413e-01 -3.26286897e-04 3.26512490e+01] [-2.43211404e-01 9.69973303e-01 6.70550388e-05 -2.43560427e+00] [ 3.32798130e-04 1.43151005e-05 9.99999945e-01 -6.80772589e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.136559995 meters 0.029519045871328222 Centerline is valid? [True, True] Translation: X:32.68, Y:-2.44, Z:-0.68 [[ 9.70091465e-01 2.42739640e-01 1.26278039e-04 3.26830203e+01] [-2.42739639e-01 9.70091474e-01 -1.92569138e-05 -2.44179874e+00] [-1.27175666e-04 -1.19717180e-05 9.99999992e-01 -6.79854657e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.166559995 meters 0.029200203491400477 Centerline is valid? [True, True] Translation: X:32.71, Y:-2.45, Z:-0.68 [[ 9.70001207e-01 2.43098192e-01 9.63396920e-04 3.27146271e+01] [-2.43098133e-01 9.70001683e-01 -1.79782956e-04 -2.44665454e+00] [-9.78201546e-04 -5.98103081e-05 9.99999520e-01 -6.80262432e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.196559995 meters 0.027490539989695955 Centerline is valid? [True, True] Translation: X:32.75, Y:-2.46, Z:-0.68 [[ 9.69896838e-01 2.43515228e-01 6.76473968e-04 3.27454982e+01] [-2.43515200e-01 9.69897073e-01 -1.24799246e-04 -2.45550603e+00] [-6.86500639e-04 -4.36892994e-05 9.99999763e-01 -6.79272574e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.226559995 meters 0.029080196420920093 Centerline is valid? [True, True] Translation: X:32.78, Y:-2.46, Z:-0.68 [[ 9.69764767e-01 2.44041584e-01 4.69891346e-05 3.27768136e+01] [-2.44041584e-01 9.69764768e-01 -6.31093520e-06 -2.46036599e+00] [-4.71085379e-05 -5.34718024e-06 9.99999999e-01 -6.79871238e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.256559995 meters 0.031231998215073234 Centerline is valid? [True, True] Translation: X:32.81, Y:-2.46, Z:-0.68 [[ 9.69317388e-01 2.45812441e-01 2.12205853e-04 3.28085578e+01] [-2.45812439e-01 9.69317411e-01 -3.61770722e-05 -2.46014615e+00] [-2.14587603e-04 -1.70957732e-05 9.99999977e-01 -6.81407632e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.286559995000005 meters 0.028859896567225547 Centerline is valid? [True, True] Translation: X:32.84, Y:-2.47, Z:-0.68 [[ 9.69120088e-01 2.46589102e-01 2.64317295e-04 3.28392138e+01] [-2.46589098e-01 9.69120124e-01 -4.58424867e-05 -2.46885790e+00] [-2.67459468e-04 -2.07508887e-05 9.99999964e-01 -6.80643224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.316559995000006 meters 0.028088946897635587 Centerline is valid? [True, True] Translation: X:32.87, Y:-2.47, Z:-0.68 [[ 9.68946764e-01 2.47268603e-01 6.37533389e-04 3.28711518e+01] [-2.47268579e-01 9.68946973e-01 -1.17884579e-04 -2.47394505e+00] [-6.46885203e-04 -4.34180933e-05 9.99999790e-01 -6.81058718e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.346559995 meters 0.03248471637904145 Centerline is valid? [True, True] Translation: X:32.90, Y:-2.47, Z:-0.68 [[ 9.68764935e-01 2.47976440e-01 1.47854163e-03 3.29026741e+01] [-2.47976299e-01 9.68766059e-01 -2.80836849e-04 -2.47228479e+00] [-1.50200187e-03 -9.45783898e-05 9.99998868e-01 -6.83405501e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.376559995 meters 0.03134953670316494 Centerline is valid? [True, True] Translation: X:32.93, Y:-2.48, Z:-0.68 [[ 9.68781836e-01 2.47914768e-01 -1.44763127e-04 3.29334359e+01] [-2.47914766e-01 9.68781847e-01 3.29209347e-05 -2.48148408e+00] [ 1.48405475e-04 3.99571318e-06 9.99999989e-01 -6.83007817e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.406559995 meters 0.03329239010546305 Centerline is valid? [True, True] Translation: X:32.96, Y:-2.48, Z:-0.68 [[ 9.68804757e-01 2.47825105e-01 -2.44249719e-04 3.29649081e+01] [-2.47825100e-01 9.68804788e-01 5.00357985e-05 -2.48411598e+00] [ 2.49030424e-04 1.20562915e-05 9.99999969e-01 -6.83946993e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.436559995 meters 0.028717580375862535 Centerline is valid? [True, True] Translation: X:33.00, Y:-2.49, Z:-0.68 [[ 9.68812019e-01 2.47794675e-01 1.03447481e-03 3.29954981e+01] [-2.47794607e-01 9.68812569e-01 -1.95445666e-04 -2.49371744e+00] [-1.05064259e-03 -6.69871689e-05 9.99999446e-01 -6.82737491e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.466559995000004 meters 0.0290088840074694 Centerline is valid? [True, True] Translation: X:33.03, Y:-2.50, Z:-0.68 [[ 9.68847909e-01 2.47654597e-01 9.64336603e-04 3.30273949e+01] [-2.47654537e-01 9.68848387e-01 -1.82112995e-04 -2.49949700e+00] [-9.79397082e-04 -6.23825410e-05 9.99999518e-01 -6.83404502e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.496559995000005 meters 0.03015047665565785 Centerline is valid? [True, True] Translation: X:33.06, Y:-2.51, Z:-0.68 [[ 9.68879538e-01 2.47532708e-01 1.95492115e-05 3.30595350e+01] [-2.47532708e-01 9.68879538e-01 1.89328046e-06 -2.50558882e+00] [-1.84721822e-05 -6.67342995e-06 1.00000000e+00 -6.83927236e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.526559995 meters 0.029657827181471808 Centerline is valid? [True, True] Translation: X:33.09, Y:-2.51, Z:-0.68 [[ 9.69157289e-01 2.46442980e-01 8.73550364e-05 3.30907414e+01] [-2.46442980e-01 9.69157292e-01 -1.20423597e-05 -2.51155763e+00] [-8.76285256e-05 -9.85709480e-06 9.99999996e-01 -6.84429485e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.556559995 meters 0.028820694968629577 Centerline is valid? [True, True] Translation: X:33.12, Y:-2.52, Z:-0.68 [[ 9.69308819e-01 2.45844742e-01 8.81022578e-04 3.31221411e+01] [-2.45844691e-01 9.69309218e-01 -1.66714997e-04 -2.51742350e+00] [-8.94969312e-04 -5.49964072e-05 9.99999598e-01 -6.84910128e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.586559995 meters 0.029405545915259134 Centerline is valid? [True, True] Translation: X:33.15, Y:-2.52, Z:-0.69 [[ 9.69461197e-01 2.45244316e-01 4.61999277e-04 3.31537855e+01] [-2.45244303e-01 9.69461306e-01 -8.52087456e-05 -2.52372151e+00] [-4.68787383e-04 -3.06961181e-05 9.99999890e-01 -6.85589618e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.616559995 meters 0.027654619135088983 Centerline is valid? [True, True] Translation: X:33.18, Y:-2.53, Z:-0.69 [[ 9.69597973e-01 2.44698852e-01 1.49776068e-03 3.31849330e+01] [-2.44698699e-01 9.69599125e-01 -2.87653328e-04 -2.53007587e+00] [-1.52261588e-03 -8.75920055e-05 9.99998837e-01 -6.85286503e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.646559995000004 meters 0.025786218560510592 Centerline is valid? [True, True] Translation: X:33.22, Y:-2.54, Z:-0.68 [[ 9.70084531e-01 2.42762391e-01 1.55705316e-03 3.32154556e+01] [-2.42762217e-01 9.70085777e-01 -3.02741162e-04 -2.53866948e+00] [-1.58396930e-03 -8.43091610e-05 9.99998742e-01 -6.84790898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.676559995000005 meters 0.02774281026647688 Centerline is valid? [True, True] Translation: X:33.25, Y:-2.54, Z:-0.69 [[ 9.70334951e-01 2.41763938e-01 5.29593945e-04 3.32474843e+01] [-2.41763919e-01 9.70335095e-01 -1.00890425e-04 -2.54493174e+00] [-5.38275258e-04 -3.01392016e-05 9.99999855e-01 -6.86024799e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.706559995 meters 0.02982395997483573 Centerline is valid? [True, True] Translation: X:33.28, Y:-2.55, Z:-0.69 [[ 9.70534918e-01 2.40959938e-01 5.30958121e-04 3.32784175e+01] [-2.40959920e-01 9.70535062e-01 -9.94127373e-05 -2.54893016e+00] [-5.39267960e-04 -3.14560936e-05 9.99999854e-01 -6.87714728e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.736559995 meters 0.026706168655498082 Centerline is valid? [True, True] Translation: X:33.31, Y:-2.56, Z:-0.69 [[ 9.70701968e-01 2.40286171e-01 4.94652033e-04 3.33096628e+01] [-2.40286155e-01 9.70702094e-01 -9.20872875e-05 -2.55750141e+00] [-5.02287066e-04 -2.94687238e-05 9.99999873e-01 -6.87442474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.766559995 meters 0.02861426515470247 Centerline is valid? [True, True] Translation: X:33.34, Y:-2.56, Z:-0.69 [[ 9.70930250e-01 2.39362586e-01 3.48081597e-05 3.33399358e+01] [-2.39362586e-01 9.70930251e-01 -2.33733905e-06 -2.56359593e+00] [-3.43557668e-05 -6.06237794e-06 9.99999999e-01 -6.88313787e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.796559995 meters 0.027686059991369107 Centerline is valid? [True, True] Translation: X:33.37, Y:-2.57, Z:-0.69 [[ 9.70908688e-01 2.39450037e-01 1.81679472e-06 3.33718072e+01] [-2.39450037e-01 9.70908688e-01 5.20120086e-06 -2.57075251e+00] [-5.18514065e-07 -5.48492266e-06 1.00000000e+00 -6.88319273e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.826559995000004 meters 0.027941144384283648 Centerline is valid? [True, True] Translation: X:33.40, Y:-2.58, Z:-0.69 [[ 9.70934825e-01 2.39344031e-01 5.98306362e-06 3.34036924e+01] [-2.39344031e-01 9.70934825e-01 3.66081031e-06 -2.57671574e+00] [-4.93297176e-06 -4.98641879e-06 1.00000000e+00 -6.88757991e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.856559995000005 meters 0.02330762069243978 Centerline is valid? [True, True] Translation: X:33.43, Y:-2.59, Z:-0.69 [[ 9.70960184e-01 2.39237796e-01 1.26450334e-03 3.34347188e+01] [-2.39237680e-01 9.70961005e-01 -2.44186075e-04 -2.58619088e+00] [-1.28620197e-03 -6.54218886e-05 9.99999171e-01 -6.86497509e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.886559995 meters 0.02638792633441936 Centerline is valid? [True, True] Translation: X:33.47, Y:-2.59, Z:-0.69 [[ 9.71402816e-01 2.37436427e-01 7.15132946e-04 3.34659413e+01] [-2.37436391e-01 9.71403079e-01 -1.36155658e-04 -2.59176544e+00] [-7.27010658e-04 -3.75365955e-05 9.99999735e-01 -6.87645587e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.916559995 meters 0.026226258501923942 Centerline is valid? [True, True] Translation: X:33.50, Y:-2.60, Z:-0.69 [[ 9.71559153e-01 2.36794618e-01 1.05860722e-03 3.34972006e+01] [-2.36794535e-01 9.71559729e-01 -2.04297843e-04 -2.59708815e+00] [-1.07687677e-03 -5.21849649e-05 9.99999419e-01 -6.88158538e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.946559995 meters 0.028030033176727292 Centerline is valid? [True, True] Translation: X:33.53, Y:-2.60, Z:-0.69 [[ 9.71816352e-01 2.35738578e-01 5.47919440e-04 3.35283895e+01] [-2.35738557e-01 9.71816506e-01 -1.03630174e-04 -2.60192352e+00] [-5.56906786e-04 -2.84562409e-05 9.99999845e-01 -6.89592937e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.976559995 meters 0.02747347374635855 Centerline is valid? [True, True] Translation: X:33.56, Y:-2.61, Z:-0.69 [[ 9.72121631e-01 2.34474217e-01 1.17287450e-03 3.35592141e+01] [-2.34474113e-01 9.72122337e-01 -2.27995967e-04 -2.60822856e+00] [-1.19363668e-03 -5.33688969e-05 9.99999286e-01 -6.89692163e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.006559995 meters 0.024872006970362504 Centerline is valid? [True, True] Translation: X:33.59, Y:-2.62, Z:-0.69 [[ 9.72126898e-01 2.34454226e-01 7.14080374e-04 3.35902461e+01] [-2.34454189e-01 9.72127160e-01 -1.36070737e-04 -2.61965577e+00] [-7.26079285e-04 -3.51411118e-05 9.99999736e-01 -6.88150038e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.036559995000005 meters 0.023759196029696252 Centerline is valid? [True, True] Translation: X:33.62, Y:-2.63, Z:-0.69 [[ 9.71972716e-01 2.35088295e-01 1.59166708e-03 3.36228621e+01] [-2.35088101e-01 9.71974016e-01 -3.10606245e-04 -2.62526880e+00] [-1.62007894e-03 -7.22811964e-05 9.99998685e-01 -6.87194388e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.066559995000006 meters 0.023629301592850087 Centerline is valid? [True, True] Translation: X:33.65, Y:-2.63, Z:-0.69 [[ 9.71860225e-01 2.35555212e-01 1.20235200e-03 3.36538459e+01] [-2.35555102e-01 9.71860967e-01 -2.34099647e-04 -2.63403278e+00] [-1.22366237e-03 -5.57080131e-05 9.99999250e-01 -6.86989266e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.096559995 meters 0.023731906505991905 Centerline is valid? [True, True] Translation: X:33.69, Y:-2.64, Z:-0.69 [[ 9.71689490e-01 2.36260543e-01 7.00531829e-04 3.36852275e+01] [-2.36260508e-01 9.71689742e-01 -1.34499052e-04 -2.63967889e+00] [-7.12476411e-04 -3.48166900e-05 9.99999746e-01 -6.87423102e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.126559995 meters 0.025010839372777583 Centerline is valid? [True, True] Translation: X:33.72, Y:-2.64, Z:-0.69 [[ 9.71563466e-01 2.36777423e-01 9.39866571e-04 3.37160109e+01] [-2.36777355e-01 9.71563920e-01 -1.84564427e-04 -2.64276934e+00] [-9.56841139e-04 -4.32230658e-05 9.99999541e-01 -6.89118228e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.156559995 meters 0.022752444300454158 Centerline is valid? [True, True] Translation: X:33.75, Y:-2.65, Z:-0.69 [[ 9.71477127e-01 2.37132770e-01 4.92000155e-04 3.37481282e+01] [-2.37132753e-01 9.71477251e-01 -9.24251975e-05 -2.65234394e+00] [-4.99884001e-04 -2.68803861e-05 9.99999875e-01 -6.88268416e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.186559995 meters 0.024297591219286582 Centerline is valid? [True, True] Translation: X:33.78, Y:-2.66, Z:-0.69 [[ 9.71777120e-01 2.35900639e-01 3.43132331e-04 3.37781895e+01] [-2.35900631e-01 9.71777180e-01 -6.39150737e-05 -2.65956404e+00] [-3.48525776e-04 -1.88339274e-05 9.99999939e-01 -6.89210951e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.216559995000004 meters 0.02429262836322994 Centerline is valid? [True, True] Translation: X:33.81, Y:-2.67, Z:-0.69 [[ 9.72045248e-01 2.34793556e-01 1.51110301e-04 3.38091293e+01] [-2.34793555e-01 9.72045259e-01 -2.52705413e-05 -2.66746372e+00] [-1.52819412e-04 -1.09156151e-05 9.99999988e-01 -6.89548214e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.246559995000005 meters 0.023953817614621904 Centerline is valid? [True, True] Translation: X:33.84, Y:-2.67, Z:-0.69 [[ 9.72368472e-01 2.33451378e-01 -8.76822420e-05 3.38397385e+01] [-2.33451378e-01 9.72368476e-01 2.03837358e-05 -2.67484345e+00] [ 9.00180593e-05 6.49038151e-07 9.99999996e-01 -6.90098011e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.276559995 meters 0.022979156498942603 Centerline is valid? [True, True] Translation: X:33.87, Y:-2.68, Z:-0.69 [[ 9.72716270e-01 2.31997911e-01 -1.63717353e-04 3.38712849e+01] [-2.31997908e-01 9.72716284e-01 3.54673137e-05 -2.68305156e+00] [ 1.67478878e-04 3.48245020e-06 9.99999986e-01 -6.90228310e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.306559995 meters 0.019912089424441004 Centerline is valid? [True, True] Translation: X:33.90, Y:-2.69, Z:-0.69 [[ 9.73354632e-01 2.29303962e-01 6.72449741e-04 3.39019066e+01] [-2.29303925e-01 9.73354864e-01 -1.33734620e-04 -2.69322444e+00] [-6.85198105e-04 -2.40241532e-05 9.99999765e-01 -6.87722239e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.336559995 meters 0.01978155358443907 Centerline is valid? [True, True] Translation: X:33.93, Y:-2.70, Z:-0.69 [[ 9.73550021e-01 2.28472124e-01 9.19150480e-04 3.39331007e+01] [-2.28472057e-01 9.73550454e-01 -1.79540589e-04 -2.70200309e+00] [-9.35859387e-04 -3.52084564e-05 9.99999561e-01 -6.87548193e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.366559995 meters 0.020534166000385854 Centerline is valid? [True, True] Translation: X:33.96, Y:-2.71, Z:-0.69 [[ 9.73754726e-01 2.27596281e-01 1.29083291e-03 3.39632223e+01] [-2.27596143e-01 9.73755581e-01 -2.54829473e-04 -2.70908562e+00] [-1.31495399e-03 -4.56471893e-05 9.99999134e-01 -6.87928825e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.396559995000004 meters 0.020534166000385854 Centerline is valid? [True, True] Translation: X:34.00, Y:-2.72, Z:-0.69 [[ 9.73691335e-01 2.27867324e-01 1.29096241e-03 3.39950438e+01] [-2.27867187e-01 9.73692190e-01 -2.54188597e-04 -2.71555884e+00] [-1.31492129e-03 -4.66667380e-05 9.99999134e-01 -6.88567399e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.426559995000005 meters 0.022456584230603115 Centerline is valid? [True, True] Translation: X:34.03, Y:-2.72, Z:-0.69 [[ 9.73834497e-01 2.27256172e-01 1.00220670e-03 3.40261332e+01] [-2.27256089e-01 9.73835012e-01 -1.97073391e-04 -2.72304276e+00] [-1.02077012e-03 -3.58407084e-05 9.99999478e-01 -6.89645627e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.456559995 meters 0.021785911898089007 Centerline is valid? [True, True] Translation: X:34.06, Y:-2.73, Z:-0.69 [[ 9.73937785e-01 2.26812994e-01 1.02826667e-03 3.40570021e+01] [-2.26812907e-01 9.73938327e-01 -2.02483261e-04 -2.73229062e+00] [-1.04739416e-03 -3.60180542e-05 9.99999451e-01 -6.88875987e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.486559995 meters 0.020354185896630725 Centerline is valid? [True, True] Translation: X:34.09, Y:-2.74, Z:-0.69 [[ 9.74145626e-01 2.25917041e-01 1.33748194e-03 3.40873500e+01] [-2.25916889e-01 9.74146544e-01 -2.65567105e-04 -2.74102278e+00] [-1.36289954e-03 -4.34587245e-05 9.99999070e-01 -6.88436345e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.516559995 meters 0.017759758943768696 Centerline is valid? [True, True] Translation: X:34.12, Y:-2.75, Z:-0.69 [[ 9.74110980e-01 2.26066114e-01 1.38206193e-03 3.41196264e+01] [-2.26065953e-01 9.74111960e-01 -2.73862957e-04 -2.74943266e+00] [-1.40819419e-03 -4.56642323e-05 9.99999007e-01 -6.87160073e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.546559995 meters 0.021212678469623804 Centerline is valid? [True, True] Translation: X:34.15, Y:-2.76, Z:-0.69 [[ 9.74056607e-01 2.26304483e-01 8.56206078e-05 3.41502497e+01] [-2.26304483e-01 9.74056611e-01 -1.27713153e-05 -2.75555245e+00] [-8.62895249e-05 -6.93634338e-06 9.99999996e-01 -6.90138169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.576559995000004 meters 0.02056058292601236 Centerline is valid? [True, True] Translation: X:34.18, Y:-2.76, Z:-0.69 [[ 9.73760362e-01 2.27575650e-01 -2.82626308e-04 3.41817733e+01] [-2.27575642e-01 9.73760403e-01 6.22126919e-05 -2.76309955e+00] [ 2.89368401e-04 3.73861008e-06 9.99999958e-01 -6.89594489e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.606559995000005 meters 0.021757096570798655 Centerline is valid? [True, True] Translation: X:34.21, Y:-2.77, Z:-0.69 [[ 9.73538048e-01 2.28524064e-01 -6.49558586e-04 3.42128148e+01] [-2.28524023e-01 9.73538264e-01 1.36782590e-04 -2.76966258e+00] [ 6.63628251e-04 1.52766861e-05 9.99999780e-01 -6.90384878e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.636559995 meters 0.019135576934146477 Centerline is valid? [True, True] Translation: X:34.25, Y:-2.78, Z:-0.69 [[ 9.73306332e-01 2.29509874e-01 -3.93683580e-05 3.42451675e+01] [-2.29509874e-01 9.73306333e-01 1.37052461e-05 -2.77753232e+00] [ 4.14629614e-05 -4.30397596e-06 9.99999999e-01 -6.88819427e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.666559995 meters 0.022692979555103746 Centerline is valid? [True, True] Translation: X:34.28, Y:-2.78, Z:-0.69 [[ 9.73100455e-01 2.30378649e-01 -1.08719642e-03 3.42764514e+01] [-2.30378540e-01 9.73101062e-01 2.26279507e-04 -2.78396256e+00] [ 1.11008196e-03 3.02740328e-05 9.99999383e-01 -6.90905090e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.696559995 meters 0.022570229690564044 Centerline is valid? [True, True] Translation: X:34.31, Y:-2.79, Z:-0.69 [[ 9.72850741e-01 2.31432074e-01 -7.93941968e-04 3.43071813e+01] [-2.31432015e-01 9.72851065e-01 1.66386753e-04 -2.79036574e+00] [ 8.10894520e-04 2.18741136e-05 9.99999671e-01 -6.91298694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.726559995 meters 0.019643961110954015 Centerline is valid? [True, True] Translation: X:34.34, Y:-2.80, Z:-0.69 [[ 9.72638634e-01 2.32322402e-01 6.23510728e-04 3.43397974e+01] [-2.32322370e-01 9.72638834e-01 -1.24682415e-04 -2.79821054e+00] [-6.35417266e-04 -2.35845564e-05 9.99999798e-01 -6.89368531e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.756559995 meters 0.025295863056923943 Centerline is valid? [True, True] Translation: X:34.37, Y:-2.80, Z:-0.69 [[ 9.72636628e-01 2.32331636e-01 -1.77543704e-05 3.43720272e+01] [-2.32331636e-01 9.72636628e-01 8.85428908e-06 -2.80092862e+00] [ 1.93256824e-05 -4.48710396e-06 1.00000000e+00 -6.94140709e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.786559995000005 meters 0.022261657980171864 Centerline is valid? [True, True] Translation: X:34.40, Y:-2.81, Z:-0.69 [[ 9.72483149e-01 2.32972671e-01 5.09169827e-04 3.44031731e+01] [-2.32972652e-01 9.72483282e-01 -9.86000967e-05 -2.81148788e+00] [-5.18130272e-04 -2.27357121e-05 9.99999866e-01 -6.91611719e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.816559995000006 meters 0.021470447848769014 Centerline is valid? [True, True] Translation: X:34.43, Y:-2.82, Z:-0.69 [[ 9.72117761e-01 2.34487531e-01 1.62995697e-03 3.44347340e+01] [-2.34487308e-01 9.72119125e-01 -3.28909339e-04 -2.81826991e+00] [-1.66163749e-03 -6.24656136e-05 9.99998618e-01 -6.90236554e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.846559995 meters 0.02275262423995106 Centerline is valid? [True, True] Translation: X:34.47, Y:-2.83, Z:-0.69 [[ 9.71944895e-01 2.35207845e-01 6.24979299e-04 3.44651939e+01] [-2.35207815e-01 9.71945096e-01 -1.23037438e-04 -2.82806014e+00] [-6.36384936e-04 -2.74144054e-05 9.99999797e-01 -6.90750097e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.876559995 meters 0.02349313508868043 Centerline is valid? [True, True] Translation: X:34.50, Y:-2.83, Z:-0.69 [[ 9.71695974e-01 2.36233353e-01 8.58217572e-04 3.44964166e+01] [-2.36233292e-01 9.71696353e-01 -1.73313315e-04 -2.83246197e+00] [-8.74869270e-04 -3.43317120e-05 9.99999617e-01 -6.91996362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.906559995 meters 0.023615751253231974 Centerline is valid? [True, True] Translation: X:34.53, Y:-2.84, Z:-0.69 [[ 9.71439346e-01 2.37287677e-01 3.95204839e-04 3.45275185e+01] [-2.37287665e-01 9.71439426e-01 -7.61423895e-05 -2.84014867e+00] [-4.01985213e-04 -1.98095206e-05 9.99999919e-01 -6.92036604e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.936559995 meters 0.021884541494268647 Centerline is valid? [True, True] Translation: X:34.56, Y:-2.85, Z:-0.69 [[ 9.71069665e-01 2.38795125e-01 7.70975876e-04 3.45581697e+01] [-2.38795078e-01 9.71069970e-01 -1.53907637e-04 -2.84576556e+00] [-7.85423915e-04 -3.46502072e-05 9.99999691e-01 -6.91471032e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.966559995000004 meters 0.024736757540229207 Centerline is valid? [True, True] Translation: X:34.59, Y:-2.85, Z:-0.69 [[ 9.70660053e-01 2.40455920e-01 1.09945267e-04 3.45894977e+01] [-2.40455919e-01 9.70660059e-01 -1.76641979e-05 -2.85117993e+00] [-1.10966940e-04 -9.29105897e-06 9.99999994e-01 -6.93792013e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.996559995000005 meters 0.0241758210265298 Centerline is valid? [True, True] Translation: X:34.62, Y:-2.86, Z:-0.69 [[ 9.70352125e-01 2.41695422e-01 -2.78269046e-04 3.46209079e+01] [-2.41695414e-01 9.70352164e-01 6.23788797e-05 -2.85796921e+00] [ 2.85095660e-04 6.72687368e-06 9.99999959e-01 -6.93635473e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.026559995 meters 0.02535313318975423 Centerline is valid? [True, True] Translation: X:34.65, Y:-2.86, Z:-0.69 [[ 9.70022097e-01 2.43016464e-01 -3.60114853e-04 3.46512562e+01] [-2.43016452e-01 9.70022164e-01 7.89406299e-05 -2.86305774e+00] [ 3.68503262e-04 1.09396785e-05 9.99999932e-01 -6.94342234e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.056559995 meters 0.022823751829142785 Centerline is valid? [True, True] Translation: X:34.68, Y:-2.87, Z:-0.69 [[ 9.69488139e-01 2.45138082e-01 2.62466443e-04 3.46825064e+01] [-2.45138078e-01 9.69488174e-01 -4.92571539e-05 -2.87007716e+00] [-2.66532917e-04 -1.65862930e-05 9.99999964e-01 -6.92192106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.086559995 meters 0.028485508481694573 Centerline is valid? [True, True] Translation: X:34.71, Y:-2.87, Z:-0.70 [[ 9.69127248e-01 2.46561050e-01 1.61186372e-04 3.47135789e+01] [-2.46561049e-01 9.69127261e-01 -2.87538527e-05 -2.87216060e+00] [-1.63299688e-04 -1.18761390e-05 9.99999987e-01 -6.95478619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.116559995 meters 0.028306903527163137 Centerline is valid? [True, True] Translation: X:34.75, Y:-2.88, Z:-0.70 [[ 9.68894200e-01 2.47473625e-01 9.13406627e-04 3.47454345e+01] [-2.47473561e-01 9.68894629e-01 -1.84396276e-04 -2.87891885e+00] [-9.30627990e-04 -4.73835074e-05 9.99999566e-01 -6.95009064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.146559995000004 meters 0.029544198231336975 Centerline is valid? [True, True] Translation: X:34.78, Y:-2.88, Z:-0.70 [[ 9.68683385e-01 2.48295366e-01 1.38259276e-03 3.47757619e+01] [-2.48295215e-01 9.68684369e-01 -2.82903021e-04 -2.88348966e+00] [-1.40953951e-03 -6.92477116e-05 9.99999004e-01 -6.95328327e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.176559995000005 meters 0.02991385285342774 Centerline is valid? [True, True] Translation: X:34.81, Y:-2.89, Z:-0.70 [[ 9.68555100e-01 2.48791190e-01 1.99040744e-03 3.48068620e+01] [-2.48790876e-01 9.68557140e-01 -4.08173090e-04 -2.88918845e+00] [-2.02937321e-03 -9.98570820e-05 9.99997936e-01 -6.95307987e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.206559995 meters 0.027331739107866536 Centerline is valid? [True, True] Translation: X:34.84, Y:-2.90, Z:-0.69 [[ 9.68501955e-01 2.48995905e-01 2.23685531e-03 3.48383397e+01] [-2.48995506e-01 9.68504531e-01 -4.59363354e-04 -2.90120891e+00] [-2.28078410e-03 -1.12072614e-04 9.99997393e-01 -6.94217311e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.236559995 meters 0.02591589780986166 Centerline is valid? [True, True] Translation: X:34.87, Y:-2.91, Z:-0.69 [[ 9.68341340e-01 2.49619270e-01 2.29554416e-03 3.48694529e+01] [-2.49618849e-01 9.68344054e-01 -4.72835306e-04 -2.90885053e+00] [-2.34090534e-03 -1.15145117e-04 9.99997253e-01 -6.93611581e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.266559995 meters 0.030917498798460216 Centerline is valid? [True, True] Translation: X:34.90, Y:-2.91, Z:-0.70 [[ 9.68284503e-01 2.49837907e-01 2.47818524e-03 3.49020288e+01] [-2.49837415e-01 9.68287666e-01 -5.11216569e-04 -2.90779894e+00] [-2.52731748e-03 -1.24140312e-04 9.99996799e-01 -6.96802834e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.296559995 meters 0.02708181212699308 Centerline is valid? [True, True] Translation: X:34.93, Y:-2.92, Z:-0.69 [[ 9.68125205e-01 2.50450557e-01 2.84726657e-03 3.49327952e+01] [-2.50449906e-01 9.68129381e-01 -5.88686547e-04 -2.91990750e+00] [-2.90395930e-03 -1.43175362e-04 9.99995773e-01 -6.94982678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.326559995000004 meters 0.024951796511923682 Centerline is valid? [True, True] Translation: X:34.96, Y:-2.93, Z:-0.69 [[ 9.67927068e-01 2.51211168e-01 3.18430389e-03 3.49635515e+01] [-2.51210351e-01 9.67932293e-01 -6.60433081e-04 -2.92879693e+00] [-3.24809873e-03 -1.60679042e-04 9.99994712e-01 -6.93974021e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.356559995000005 meters 0.028045667106385938 Centerline is valid? [True, True] Translation: X:34.99, Y:-2.93, Z:-0.70 [[ 9.67775242e-01 2.51794894e-01 3.22686737e-03 3.49947024e+01] [-2.51794055e-01 9.67780608e-01 -6.70521499e-04 -2.92957494e+00] [-3.29173356e-03 -1.63591914e-04 9.99994569e-01 -6.95860232e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.386559995 meters 0.02640898212038043 Centerline is valid? [True, True] Translation: X:35.03, Y:-2.94, Z:-0.70 [[ 9.67704990e-01 2.52065834e-01 3.14128531e-03 3.50262344e+01] [-2.52065041e-01 9.67710075e-01 -6.52529247e-04 -2.93864923e+00] [-3.20433377e-03 -1.60352401e-04 9.99994853e-01 -6.95462291e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.416559995 meters 0.024396401126235614 Centerline is valid? [True, True] Translation: X:35.06, Y:-2.95, Z:-0.69 [[ 9.67529990e-01 2.52735889e-01 3.20769828e-03 3.50577468e+01] [-2.52735060e-01 9.67535293e-01 -6.67993637e-04 -2.94581648e+00] [-3.27238727e-03 -1.64393941e-04 9.99994632e-01 -6.93935132e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.446559995 meters 0.027611354026559027 Centerline is valid? [True, True] Translation: X:35.09, Y:-2.95, Z:-0.70 [[ 9.67816819e-01 2.51635844e-01 3.16350168e-03 3.50886976e+01] [-2.51635028e-01 9.67821976e-01 -6.59878502e-04 -2.95090282e+00] [-3.22775553e-03 -1.57406320e-04 9.99994778e-01 -6.96386550e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.476559995 meters 0.023517874255858773 Centerline is valid? [True, True] Translation: X:35.12, Y:-2.96, Z:-0.69 [[ 9.67673126e-01 2.52190938e-01 2.90731670e-03 3.51193948e+01] [-2.52190252e-01 9.67677482e-01 -6.06396086e-04 -2.96033363e+00] [-2.96627250e-03 -1.46403734e-04 9.99995590e-01 -6.93570820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.506559995 meters 0.02641406495140257 Centerline is valid? [True, True] Translation: X:35.15, Y:-2.97, Z:-0.70 [[ 9.68009357e-01 2.50893992e-01 3.17652334e-03 3.51510520e+01] [-2.50893161e-01 9.68014556e-01 -6.63884632e-04 -2.96627214e+00] [-3.24148550e-03 -1.54321445e-04 9.99994734e-01 -6.96814819e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.536559995000005 meters 0.02436533248884396 Centerline is valid? [True, True] Translation: X:35.18, Y:-2.97, Z:-0.70 [[ 9.68088365e-01 2.50587401e-01 3.29719736e-03 3.51821983e+01] [-2.50586501e-01 9.68093967e-01 -6.90113121e-04 -2.97417076e+00] [-3.36493053e-03 -1.58142668e-04 9.99994326e-01 -6.95954438e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.566559995000006 meters 0.025962446252700378 Centerline is valid? [True, True] Translation: X:35.21, Y:-2.98, Z:-0.70 [[ 9.68250345e-01 2.49960858e-01 3.29221187e-03 3.52128788e+01] [-2.49959953e-01 9.68255930e-01 -6.90258973e-04 -2.98009801e+00] [-3.36024139e-03 -1.54577633e-04 9.99994342e-01 -6.97319075e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.596559995 meters 0.026348059661555772 Centerline is valid? [True, True] Translation: X:35.24, Y:-2.99, Z:-0.70 [[ 9.68665638e-01 2.48323760e-01 4.71076413e-03 3.52436615e+01] [-2.48321857e-01 9.68677071e-01 -9.93848063e-04 -2.98631111e+00] [-4.81000529e-03 -2.07079230e-04 9.99988410e-01 -6.97217989e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.626559995 meters 0.022384491493929768 Centerline is valid? [True, True] Translation: X:35.28, Y:-2.99, Z:-0.69 [[ 9.68507534e-01 2.48934280e-01 4.98806365e-03 3.52753300e+01] [-2.48932173e-01 9.68520353e-01 -1.04884917e-03 -2.99390501e+00] [-5.09213568e-03 -2.25871202e-04 9.99987009e-01 -6.94336428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.656559995 meters 0.02520165851033738 Centerline is valid? [True, True] Translation: X:35.31, Y:-3.00, Z:-0.70 [[ 9.68831921e-01 2.47652972e-01 5.71955590e-03 3.53073646e+01] [-2.47650149e-01 9.68848773e-01 -1.20799652e-03 -3.00048197e+00] [-5.84054865e-03 -2.46103280e-04 9.99982914e-01 -6.96612825e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.686559995 meters 0.025623609367090825 Centerline is valid? [True, True] Translation: X:35.34, Y:-3.01, Z:-0.70 [[ 9.68762203e-01 2.47923491e-01 5.80835002e-03 3.53384397e+01] [-2.47920595e-01 9.68779582e-01 -1.22483523e-03 -3.00602687e+00] [-5.93067633e-03 -2.53435513e-04 9.99982381e-01 -6.97109424e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.716559995000004 meters 0.024649890579381255 Centerline is valid? [True, True] Translation: X:35.37, Y:-3.01, Z:-0.70 [[ 9.68583383e-01 2.48614645e-01 6.08177750e-03 3.53696270e+01] [-2.48611470e-01 9.68602440e-01 -1.28472479e-03 -3.01191229e+00] [-6.21022592e-03 -2.67636560e-04 9.99980681e-01 -6.96813926e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.746559995000005 meters 0.024816010601272715 Centerline is valid? [True, True] Translation: X:35.40, Y:-3.02, Z:-0.70 [[ 9.68591933e-01 2.48579599e-01 6.15223908e-03 3.54015454e+01] [-2.48576339e-01 9.68611434e-01 -1.30126085e-03 -3.01823954e+00] [-6.28259602e-03 -2.68910308e-04 9.99980228e-01 -6.97736204e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.776559995 meters 0.025129683648634566 Centerline is valid? [True, True] Translation: X:35.43, Y:-3.02, Z:-0.70 [[ 9.68605197e-01 2.48520825e-01 6.43204818e-03 3.54334534e+01] [-2.48517248e-01 9.68626513e-01 -1.36234638e-03 -3.02381536e+00] [-6.56882385e-03 -2.78899127e-04 9.99978386e-01 -6.98722645e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.806559995 meters 0.026093247110215743 Centerline is valid? [True, True] Translation: X:35.46, Y:-3.03, Z:-0.70 [[ 9.68584835e-01 2.48589657e-01 6.82639385e-03 3.54646498e+01] [-2.48585613e-01 9.68608846e-01 -1.44819422e-03 -3.02734571e+00] [-6.97211157e-03 -2.94244343e-04 9.99975651e-01 -6.99575922e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.836559995 meters 0.025107575788761508 Centerline is valid? [True, True] Translation: X:35.50, Y:-3.04, Z:-0.70 [[ 9.68625051e-01 2.48425629e-01 7.08645493e-03 3.54951403e+01] [-2.48421255e-01 9.68650925e-01 -1.50497590e-03 -3.03651188e+00] [-7.23817571e-03 -3.02668666e-04 9.99973758e-01 -6.99716811e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.866559995 meters 0.026067689841658196 Centerline is valid? [True, True] Translation: X:35.53, Y:-3.04, Z:-0.70 [[ 9.68603342e-01 2.48497229e-01 7.52950209e-03 3.55258299e+01] [-2.48492265e-01 9.68632554e-01 -1.60266961e-03 -3.04125264e+00] [-7.69157980e-03 -3.18671895e-04 9.99970369e-01 -7.00412053e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.896559995000004 meters 0.02539332249561124 Centerline is valid? [True, True] Translation: X:35.56, Y:-3.05, Z:-0.70 [[ 9.68491397e-01 2.48903966e-01 8.43976362e-03 3.55577920e+01] [-2.48897745e-01 9.68528103e-01 -1.79635402e-03 -3.04887732e+00] [-8.62126789e-03 -3.60884714e-04 9.99962771e-01 -7.00018734e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.926559995000005 meters 0.02573757221933779 Centerline is valid? [True, True] Translation: X:35.59, Y:-3.06, Z:-0.70 [[ 9.68393570e-01 2.49265275e-01 8.98421191e-03 3.55901090e+01] [-2.49258213e-01 9.68435168e-01 -1.91525507e-03 -3.05546996e+00] [-9.17803335e-03 -3.84667919e-04 9.99957807e-01 -7.00768507e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.956559995 meters 0.027886842754717638 Centerline is valid? [True, True] Translation: X:35.62, Y:-3.06, Z:-0.70 [[ 9.68182675e-01 2.50068646e-01 9.37974016e-03 3.56212960e+01] [-2.50060942e-01 9.68228025e-01 -2.00429454e-03 -3.05625361e+00] [-9.58293851e-03 -4.04983408e-04 9.99954001e-01 -7.02272412e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.986559995 meters 0.028821173510244567 Centerline is valid? [True, True] Translation: X:35.65, Y:-3.06, Z:-0.70 [[ 9.67648497e-01 2.52123654e-01 9.48945170e-03 3.56526362e+01] [-2.52115854e-01 9.67694931e-01 -2.02909890e-03 -3.06042577e+00] [-9.69447813e-03 -4.28986712e-04 9.99952915e-01 -7.03386620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.016559995 meters 0.02866962009132598 Centerline is valid? [True, True] Translation: X:35.68, Y:-3.07, Z:-0.70 [[ 9.67220807e-01 2.53758834e-01 9.50607706e-03 3.56842242e+01] [-2.53751086e-01 9.67267417e-01 -2.03250085e-03 -3.06793161e+00] [-9.71068365e-03 -4.46300265e-04 9.99952751e-01 -7.03863029e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.046559995 meters 0.028877492724459497 Centerline is valid? [True, True] Translation: X:35.72, Y:-3.07, Z:-0.70 [[ 9.66775887e-01 2.55431297e-01 9.96178416e-03 3.57156736e+01] [-2.55422850e-01 9.66827089e-01 -2.13269216e-03 -3.07329455e+00] [-1.01760791e-02 -4.82631945e-04 9.99948106e-01 -7.04310341e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.076559995000004 meters 0.02688873973768288 Centerline is valid? [True, True] Translation: X:35.75, Y:-3.08, Z:-0.70 [[ 9.66106990e-01 2.57968225e-01 9.46988263e-03 3.57466244e+01] [-2.57960671e-01 9.66153282e-01 -2.03167442e-03 -3.07834235e+00] [-9.67346562e-03 -4.80042422e-04 9.99953096e-01 -7.01581730e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.106559995000005 meters 0.027187661325459737 Centerline is valid? [True, True] Translation: X:35.78, Y:-3.08, Z:-0.70 [[ 9.65704571e-01 2.59452919e-01 9.94308460e-03 3.57782720e+01] [-2.59444686e-01 9.65755617e-01 -2.13156625e-03 -3.08375543e+00] [-1.01556309e-02 -5.21217198e-04 9.99948294e-01 -7.02335635e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.136559995 meters 0.029202304026914164 Centerline is valid? [True, True] Translation: X:35.81, Y:-3.09, Z:-0.71 [[ 9.65529047e-01 2.60083221e-01 1.05060766e-02 3.58095797e+01] [-2.60074035e-01 9.65586045e-01 -2.25519726e-03 -3.08911236e+00] [-1.07310599e-02 -5.54899278e-04 9.99942267e-01 -7.05939143e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.166559995 meters 0.028374877964307488 Centerline is valid? [True, True] Translation: X:35.84, Y:-3.10, Z:-0.71 [[ 9.65103838e-01 2.61645079e-01 1.07904957e-02 3.58413876e+01] [-2.61635437e-01 9.65163982e-01 -2.32069333e-03 -3.09548945e+00] [-1.10217958e-02 -5.83466028e-04 9.99939088e-01 -7.06619648e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.196559995 meters 0.026306738285897895 Centerline is valid? [True, True] Translation: X:35.87, Y:-3.10, Z:-0.70 [[ 9.64837314e-01 2.62648984e-01 1.02210037e-02 3.58722207e+01] [-2.62640398e-01 9.64891285e-01 -2.19738559e-03 -3.10303130e+00] [-1.04392985e-02 -5.64328863e-04 9.99945350e-01 -7.04414235e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.226559995 meters 0.026344672806849732 Centerline is valid? [True, True] Translation: X:35.90, Y:-3.11, Z:-0.71 [[ 9.64998687e-01 2.62035198e-01 1.07279485e-02 3.59034112e+01] [-2.62025673e-01 9.65058141e-01 -2.30904401e-03 -3.11102372e+00] [-1.09581448e-02 -5.82773477e-04 9.99939788e-01 -7.06493066e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.256559995 meters 0.02708995566310798 Centerline is valid? [True, True] Translation: X:35.94, Y:-3.12, Z:-0.71 [[ 9.64939651e-01 2.62273008e-01 1.02146249e-02 3.59353819e+01] [-2.62264361e-01 9.64993555e-01 -2.20087460e-03 -3.11656845e+00] [-1.04342772e-02 -5.55220913e-04 9.99945407e-01 -7.05837836e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.286559995000005 meters 0.02518702024191309 Centerline is valid? [True, True] Translation: X:35.97, Y:-3.13, Z:-0.71 [[ 9.65227351e-01 2.61197797e-01 1.05769510e-02 3.59665100e+01] [-2.61188410e-01 9.65285139e-01 -2.28375897e-03 -3.12713108e+00] [-1.08062864e-02 -5.58230378e-04 9.99941455e-01 -7.05678945e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.316559995 meters 0.02518702024191309 Centerline is valid? [True, True] Translation: X:36.00, Y:-3.13, Z:-0.71 [[ 9.65151841e-01 2.61476670e-01 1.05771142e-02 3.59982575e+01] [-2.61467308e-01 9.65209633e-01 -2.28300554e-03 -3.13406089e+00] [-1.08060852e-02 -5.62122558e-04 9.99941455e-01 -7.06317363e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.346559995 meters 0.02574041502998361 Centerline is valid? [True, True] Translation: X:36.03, Y:-3.14, Z:-0.71 [[ 9.65323155e-01 2.60831145e-01 1.08775129e-02 3.60298734e+01] [-2.60821161e-01 9.65384272e-01 -2.35162132e-03 -3.14139313e+00] [-1.11143559e-02 -5.67011028e-04 9.99938073e-01 -7.07979582e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.376559995 meters 0.02741337521214759 Centerline is valid? [True, True] Translation: X:36.06, Y:-3.15, Z:-0.71 [[ 9.65488743e-01 2.60229633e-01 1.05842095e-02 3.60608836e+01] [-2.60220112e-01 9.65546604e-01 -2.29104612e-03 -3.14678299e+00] [-1.08157456e-02 -5.42244937e-04 9.99941361e-01 -7.09626789e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.406559995 meters 0.025233948595401005 Centerline is valid? [True, True] Translation: X:36.09, Y:-3.16, Z:-0.71 [[ 9.65453448e-01 2.60373733e-01 1.02546597e-02 3.60922803e+01] [-2.60364785e-01 9.65507765e-01 -2.22156157e-03 -3.15611925e+00] [-1.04793899e-02 -5.25137999e-04 9.99944952e-01 -7.07759158e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.436559995 meters 0.02327235865553565 Centerline is valid? [True, True] Translation: X:36.12, Y:-3.17, Z:-0.71 [[ 9.65762939e-01 2.59244010e-01 9.72050428e-03 3.61226307e+01] [-2.59235884e-01 9.65811736e-01 -2.10875010e-03 -3.16745430e+00] [-9.93485795e-03 -4.83350821e-04 9.99950531e-01 -7.07911182e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.466559995000004 meters 0.024536479575559444 Centerline is valid? [True, True] Translation: X:36.15, Y:-3.17, Z:-0.71 [[ 9.65942008e-01 2.58571704e-01 9.83413813e-03 3.61534845e+01] [-2.58563325e-01 9.65991948e-01 -2.13611301e-03 -3.17485042e+00] [-1.00520366e-02 -4.79386161e-04 9.99949362e-01 -7.10335854e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.496559995000005 meters 0.026464937844539953 Centerline is valid? [True, True] Translation: X:36.18, Y:-3.18, Z:-0.71 [[ 9.66006635e-01 2.58348668e-01 9.33518837e-03 3.61844839e+01] [-2.58341075e-01 9.66051636e-01 -2.03110159e-03 -3.17889612e+00] [-9.54300639e-03 -4.49604993e-04 9.99954363e-01 -7.09863004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.526559995 meters 0.02605156372478993 Centerline is valid? [True, True] Translation: X:36.21, Y:-3.19, Z:-0.71 [[ 9.66603686e-01 2.56108466e-01 9.26105829e-03 3.62136856e+01] [-2.56100867e-01 9.66647958e-01 -2.01745076e-03 -3.19114416e+00] [-9.46886931e-03 -4.21689718e-04 9.99955080e-01 -7.12536964e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.556559995 meters 0.023951008468564773 Centerline is valid? [True, True] Translation: X:36.25, Y:-3.20, Z:-0.71 [[ 9.66495472e-01 2.56525411e-01 9.01198620e-03 3.62453772e+01] [-2.56518254e-01 9.66537397e-01 -1.96087395e-03 -3.19978741e+00] [-9.21343568e-03 -4.16563172e-04 9.99957469e-01 -7.09730406e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.586559995 meters 0.024719118472012785 Centerline is valid? [True, True] Translation: X:36.28, Y:-3.21, Z:-0.71 [[ 9.66520695e-01 2.56439712e-01 8.74191704e-03 3.62755134e+01] [-2.56432948e-01 9.66560145e-01 -1.90513678e-03 -3.20679925e+00] [-8.93814132e-03 -4.00361434e-04 9.99959974e-01 -7.11037178e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.616559995 meters 0.024660897178326462 Centerline is valid? [True, True] Translation: X:36.31, Y:-3.21, Z:-0.71 [[ 9.66419014e-01 2.56831260e-01 8.48484571e-03 3.63074941e+01] [-2.56824891e-01 9.66456182e-01 -1.85042848e-03 -3.21449031e+00] [-8.67547947e-03 -3.90830308e-04 9.99962291e-01 -7.10708397e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.646559995000004 meters 0.024927148491727072 Centerline is valid? [True, True] Translation: X:36.34, Y:-3.22, Z:-0.71 [[ 9.66226469e-01 2.57557305e-01 8.40513540e-03 3.63384280e+01] [-2.57551058e-01 9.66262947e-01 -1.83585520e-03 -3.22186004e+00] [-8.59440882e-03 -3.90899634e-04 9.99962991e-01 -7.11226360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.676559995000005 meters 0.025320218772861034 Centerline is valid? [True, True] Translation: X:36.37, Y:-3.23, Z:-0.71 [[ 9.65805526e-01 2.59125697e-01 8.57661472e-03 3.63692314e+01] [-2.59119235e-01 9.65843519e-01 -1.87559448e-03 -3.22997714e+00] [-8.76968247e-03 -4.10906333e-04 9.99961461e-01 -7.11078992e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.706559995 meters 0.026743983121200625 Centerline is valid? [True, True] Translation: X:36.40, Y:-3.24, Z:-0.71 [[ 9.65488586e-01 2.60312579e-01 8.31576153e-03 3.64000588e+01] [-2.60306529e-01 9.65524311e-01 -1.82075116e-03 -3.23549150e+00] [-8.50303435e-03 -4.06732557e-04 9.99963766e-01 -7.11903332e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.736559995 meters 0.026384285431771258 Centerline is valid? [True, True] Translation: X:36.43, Y:-3.24, Z:-0.71 [[ 9.65099301e-01 2.61761648e-01 8.01112592e-03 3.64313809e+01] [-2.61756071e-01 9.65132466e-01 -1.75555885e-03 -3.24387069e+00] [-8.19133569e-03 -4.02672226e-04 9.99966369e-01 -7.12161884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.766559995 meters 0.02748476934685652 Centerline is valid? [True, True] Translation: X:36.46, Y:-3.25, Z:-0.71 [[ 9.64728525e-01 2.63130802e-01 7.81374012e-03 3.64616828e+01] [-2.63125506e-01 9.64760085e-01 -1.71667910e-03 -3.24950138e+00] [-7.99009573e-03 -3.99865017e-04 9.99967999e-01 -7.12835866e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.796559995 meters 0.02802003158469299 Centerline is valid? [True, True] Translation: X:36.49, Y:-3.26, Z:-0.71 [[ 9.63714382e-01 2.66834539e-01 7.34294452e-03 3.64924515e+01] [-2.66829967e-01 9.63742271e-01 -1.61346858e-03 -3.25632390e+00] [-7.50723518e-03 -4.04394770e-04 9.99971739e-01 -7.12585568e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.826559995000004 meters 0.028851635222406427 Centerline is valid? [True, True] Translation: X:36.52, Y:-3.26, Z:-0.71 [[ 9.63150616e-01 2.68866580e-01 7.18695899e-03 3.65241762e+01] [-2.68862258e-01 9.63177342e-01 -1.57900289e-03 -3.26279171e+00] [-7.34685717e-03 -4.11484415e-04 9.99972927e-01 -7.12791804e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.856559995000005 meters 0.03132312736448636 Centerline is valid? [True, True] Translation: X:36.56, Y:-3.27, Z:-0.72 [[ 9.62682910e-01 2.70532653e-01 7.32786862e-03 3.65551974e+01] [-2.70528209e-01 9.62710702e-01 -1.60992695e-03 -3.26725137e+00] [-7.49015535e-03 -4.32546007e-04 9.99971855e-01 -7.15125011e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.886559995 meters 0.03484298426156238 Centerline is valid? [True, True] Translation: X:36.59, Y:-3.27, Z:-0.71 [[ 9.62134913e-01 2.72465749e-01 7.66970429e-03 3.65852239e+01] [-2.72460921e-01 9.62165370e-01 -1.68752405e-03 -3.26904069e+00] [-7.83931637e-03 -4.66068889e-04 9.99969163e-01 -7.14448331e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.916559995 meters 0.029506656310331836 Centerline is valid? [True, True] Translation: X:36.61, Y:-3.28, Z:-0.71 [[ 9.61225636e-01 2.75648981e-01 7.93192995e-03 3.66142379e+01] [-2.75643929e-01 9.61258228e-01 -1.74479263e-03 -3.28385358e+00] [-8.10558323e-03 -5.09248931e-04 9.99967020e-01 -7.12609533e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.946559995 meters 0.03203474659554865 Centerline is valid? [True, True] Translation: X:36.65, Y:-3.29, Z:-0.71 [[ 9.60808036e-01 2.77097317e-01 8.06190226e-03 3.66454387e+01] [-2.77092155e-01 9.60841712e-01 -1.77269625e-03 -3.28757887e+00] [-8.23742135e-03 -5.30669065e-04 9.99965931e-01 -7.13474149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.976559995 meters 0.03115923502366596 Centerline is valid? [True, True] Translation: X:36.68, Y:-3.30, Z:-0.71 [[ 9.60365852e-01 2.78624388e-01 8.11666956e-03 3.66763451e+01] [-2.78619196e-01 9.60399996e-01 -1.78637897e-03 -3.29610346e+00] [-8.29297816e-03 -5.45882590e-04 9.99965464e-01 -7.13696437e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.006559995 meters 0.03183606396616039 Centerline is valid? [True, True] Translation: X:36.71, Y:-3.30, Z:-0.71 [[ 9.60003712e-01 2.79865272e-01 8.26455468e-03 3.67079740e+01] [-2.79859929e-01 9.60039119e-01 -1.81958252e-03 -3.30233569e+00] [-8.44353374e-03 -5.66111716e-04 9.99964192e-01 -7.14404111e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.036559995000005 meters 0.034499450653449885 Centerline is valid? [True, True] Translation: X:36.74, Y:-3.31, Z:-0.72 [[ 9.59404786e-01 2.81898777e-01 8.69117757e-03 3.67388113e+01] [-2.81892960e-01 9.59443954e-01 -1.91248970e-03 -3.30611778e+00] [-8.87782628e-03 -6.15129998e-04 9.99960402e-01 -7.15501514e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.066559995 meters 0.03450819777176999 Centerline is valid? [True, True] Translation: X:36.77, Y:-3.31, Z:-0.72 [[ 9.59105875e-01 2.82925095e-01 8.32535640e-03 3.67704254e+01] [-2.82919782e-01 9.59141822e-01 -1.83363232e-03 -3.31379264e+00] [-8.50397810e-03 -5.96760489e-04 9.99963662e-01 -7.16046945e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.096559995 meters 0.03463254634352179 Centerline is valid? [True, True] Translation: X:36.80, Y:-3.32, Z:-0.72 [[ 9.58874585e-01 2.83694038e-01 8.78766648e-03 3.68016347e+01] [-2.83688128e-01 9.58914642e-01 -1.93802470e-03 -3.32117127e+00] [-8.97642811e-03 -6.34634026e-04 9.99959510e-01 -7.16101072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.126559995 meters 0.03426084990366445 Centerline is valid? [True, True] Translation: X:36.83, Y:-3.33, Z:-0.72 [[ 9.58719255e-01 2.84199091e-01 9.39504755e-03 3.68334388e+01] [-2.84192337e-01 9.58765046e-01 -2.07439446e-03 -3.32965312e+00] [-9.59718421e-03 -6.81238608e-04 9.99953714e-01 -7.16251017e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.156559995 meters 0.03402393354736382 Centerline is valid? [True, True] Translation: X:36.87, Y:-3.34, Z:-0.72 [[ 9.58622523e-01 2.84517576e-01 9.62322882e-03 3.68650064e+01] [-2.84510476e-01 9.58670570e-01 -2.12779508e-03 -3.33750107e+00] [-9.83090135e-03 -6.98157127e-04 9.99951432e-01 -7.16753223e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.186559995 meters 0.03538980275227394 Centerline is valid? [True, True] Translation: X:36.90, Y:-3.34, Z:-0.72 [[ 9.58509987e-01 2.84909041e-01 9.24349006e-03 3.68967568e+01] [-2.84902485e-01 9.58554321e-01 -2.04639102e-03 -3.34446927e+00] [-9.44342264e-03 -6.72007057e-04 9.99955184e-01 -7.20560403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.216559995000004 meters 0.035399628289646975 Centerline is valid? [True, True] Translation: X:36.93, Y:-3.35, Z:-0.72 [[ 9.58318160e-01 2.85543151e-01 9.56101343e-03 3.69277435e+01] [-2.85536134e-01 9.58365599e-01 -2.12012998e-03 -3.35133427e+00] [-9.76833496e-03 -6.98255746e-04 9.99952045e-01 -7.20608661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.246559995000005 meters 0.03536324596786807 Centerline is valid? [True, True] Translation: X:36.96, Y:-3.36, Z:-0.72 [[ 9.58054152e-01 2.86398980e-01 1.03858340e-02 3.69595972e+01] [-2.86390716e-01 9.58110139e-01 -2.30620497e-03 -3.35764515e+00] [-1.06112677e-02 -7.64937204e-04 9.99943406e-01 -7.18993136e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.276559995 meters 0.038233576169828656 Centerline is valid? [True, True] Translation: X:36.99, Y:-3.36, Z:-0.72 [[ 9.57968487e-01 2.86720290e-01 9.37306248e-03 3.69900051e+01] [-2.86713550e-01 9.58014091e-01 -2.08382557e-03 -3.36187681e+00] [-9.57700101e-03 -6.91144787e-04 9.99953901e-01 -7.22743749e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.306559995 meters 0.03880013273109872 Centerline is valid? [True, True] Translation: X:37.02, Y:-3.37, Z:-0.72 [[ 9.57937752e-01 2.86841718e-01 8.78023406e-03 3.70222091e+01] [-2.86835804e-01 9.57977771e-01 -1.95264958e-03 -3.36957420e+00] [-8.97137042e-03 -6.47968742e-04 9.99959547e-01 -7.24878786e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.336559995 meters 0.03605045825253205 Centerline is valid? [True, True] Translation: X:37.05, Y:-3.38, Z:-0.72 [[ 9.57866707e-01 2.87012271e-01 1.07391115e-02 3.70534517e+01] [-2.87003382e-01 9.57926580e-01 -2.39298768e-03 -3.37906431e+00] [-1.09740972e-02 -7.89998090e-04 9.99939471e-01 -7.21764032e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.366559995 meters 0.040338526557216106 Centerline is valid? [True, True] Translation: X:37.08, Y:-3.38, Z:-0.73 [[ 9.57643741e-01 2.87775865e-01 1.01742739e-02 3.70848342e+01] [-2.87767903e-01 9.57697490e-01 -2.26968227e-03 -3.38156119e+00] [-1.03970364e-02 -7.54282448e-04 9.99945665e-01 -7.25473710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.396559995000004 meters 0.03958210641106545 Centerline is valid? [True, True] Translation: X:37.12, Y:-3.39, Z:-0.72 [[ 9.57461993e-01 2.88307764e-01 1.20484466e-02 3.71172195e+01] [-2.88296599e-01 9.57537377e-01 -2.69114378e-03 -3.38867095e+00] [-1.23127156e-02 -8.96858295e-04 9.99923793e-01 -7.23626245e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.426559995000005 meters 0.03501457715718048 Centerline is valid? [True, True] Translation: X:37.15, Y:-3.40, Z:-0.73 [[ 9.57196036e-01 2.89237378e-01 1.08391701e-02 3.71467790e+01] [-2.89228370e-01 9.57257058e-01 -2.42377385e-03 -3.40241919e+00] [-1.10769181e-02 -8.14968774e-04 9.99938317e-01 -7.26334429e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.456559995 meters 0.03741985349694019 Centerline is valid? [True, True] Translation: X:37.18, Y:-3.41, Z:-0.73 [[ 9.56963568e-01 2.89956464e-01 1.20821640e-02 3.71779300e+01] [-2.89945280e-01 9.57039400e-01 -2.70568536e-03 -3.40520193e+00] [-1.23476379e-02 -9.13924103e-04 9.99923347e-01 -7.26400566e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.486559995 meters 0.035589303077422696 Centerline is valid? [True, True] Translation: X:37.21, Y:-3.41, Z:-0.73 [[ 9.56682759e-01 2.90873053e-01 1.22867969e-02 3.72088192e+01] [-2.90861525e-01 9.56761196e-01 -2.75448181e-03 -3.41468472e+00] [-1.25567350e-02 -9.38591218e-04 9.99920721e-01 -7.26438457e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.516559995 meters 0.03990706706587322 Centerline is valid? [True, True] Translation: X:37.24, Y:-3.42, Z:-0.73 [[ 9.56482967e-01 2.91425676e-01 1.45398985e-02 3.72414424e+01] [-2.91409526e-01 9.56592825e-01 -3.26431067e-03 -3.41502639e+00] [-1.48600665e-02 -1.11480738e-03 9.99888962e-01 -7.25007598e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.546559995 meters 0.03579418632773533 Centerline is valid? [True, True] Translation: X:37.27, Y:-3.43, Z:-0.73 [[ 9.56154961e-01 2.92493472e-01 1.46717591e-02 3.72713990e+01] [-2.92477086e-01 9.56266843e-01 -3.29828893e-03 -3.42659500e+00] [-1.49948447e-02 -1.13747803e-03 9.99886924e-01 -7.25347898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.576559995000004 meters 0.040205514387363396 Centerline is valid? [True, True] Translation: X:37.30, Y:-3.43, Z:-0.73 [[ 9.56015635e-01 2.92979087e-01 1.40485186e-02 3.73034118e+01] [-2.92964069e-01 9.56118225e-01 -3.16144498e-03 -3.42745447e+00] [-1.43582819e-02 -1.09332034e-03 9.99896317e-01 -7.27715207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.606559995000005 meters 0.0371954090596897 Centerline is valid? [True, True] Translation: X:37.34, Y:-3.44, Z:-0.73 [[ 9.55903653e-01 2.93330996e-01 1.43224610e-02 3.73353364e+01] [-2.93315378e-01 9.56010293e-01 -3.22640135e-03 -3.43774712e+00] [-1.46388237e-02 -1.11686923e-03 9.99892223e-01 -7.28011282e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.636559995 meters 0.0374001051547486 Centerline is valid? [True, True] Translation: X:37.37, Y:-3.44, Z:-0.73 [[ 9.55809456e-01 2.93646735e-01 1.41378544e-02 3.73676093e+01] [-2.93631492e-01 9.55913373e-01 -3.18897462e-03 -3.44434176e+00] [-1.44509961e-02 -1.10326719e-03 9.99894970e-01 -7.29057790e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.666559995 meters 0.036848948700582786 Centerline is valid? [True, True] Translation: X:37.40, Y:-3.45, Z:-0.73 [[ 9.55696029e-01 2.94026101e-01 1.39194764e-02 3.73986616e+01] [-2.94011304e-01 9.55796772e-01 -3.14397198e-03 -3.45124774e+00] [-1.42286004e-02 -1.08780188e-03 9.99898177e-01 -7.30464322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.696559995 meters 0.037643191101561134 Centerline is valid? [True, True] Translation: X:37.43, Y:-3.46, Z:-0.73 [[ 9.55437210e-01 2.94974469e-01 1.13929635e-02 3.74297198e+01] [-2.94964599e-01 9.55504711e-01 -2.57538718e-03 -3.45880951e+00] [-1.16457038e-02 -8.99900164e-04 9.99931782e-01 -7.33811102e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.726559995 meters 0.03746498812789215 Centerline is valid? [True, True] Translation: X:37.46, Y:-3.46, Z:-0.73 [[ 9.55502502e-01 2.94691724e-01 1.31055667e-02 3.74607586e+01] [-2.94678581e-01 9.55591823e-01 -2.96672172e-03 -3.46461988e+00] [-1.33978407e-02 -1.02721976e-03 9.99909717e-01 -7.33369208e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.756559995 meters 0.03678202925949147 Centerline is valid? [True, True] Translation: X:37.49, Y:-3.47, Z:-0.73 [[ 9.55956544e-01 2.93132337e-01 1.48498600e-02 3.74919114e+01] [-2.93115192e-01 9.56071204e-01 -3.36702778e-03 -3.47149021e+00] [-1.51845082e-02 -1.13398732e-03 9.99884066e-01 -7.33344765e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.786559995000005 meters 0.03679216246975013 Centerline is valid? [True, True] Translation: X:37.52, Y:-3.48, Z:-0.73 [[ 9.56182829e-01 2.92385667e-01 1.50006233e-02 3.75229761e+01] [-2.92368081e-01 9.56299815e-01 -3.40122080e-03 -3.47842620e+00] [-1.53395615e-02 -1.13351454e-03 9.99881700e-01 -7.34101356e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.816559995 meters 0.035989355681416355 Centerline is valid? [True, True] Translation: X:37.55, Y:-3.49, Z:-0.73 [[ 9.56386269e-01 2.91705372e-01 1.52734890e-02 3.75539384e+01] [-2.91686991e-01 9.56507542e-01 -3.46714045e-03 -3.48653516e+00] [-1.56205909e-02 -1.13915253e-03 9.99877342e-01 -7.34685028e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.846559995 meters 0.03680624829041248 Centerline is valid? [True, True] Translation: X:37.58, Y:-3.49, Z:-0.74 [[ 9.56574406e-01 2.91055256e-01 1.58821486e-02 3.75842197e+01] [-2.91035220e-01 9.56705530e-01 -3.60970761e-03 -3.49234457e+00] [-1.62451638e-02 -1.16931072e-03 9.99867355e-01 -7.35514000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.876559995 meters 0.035037874490996455 Centerline is valid? [True, True] Translation: X:37.62, Y:-3.50, Z:-0.74 [[ 9.56673226e-01 2.90681005e-01 1.67598087e-02 3.76154004e+01] [-2.90658564e-01 9.56819239e-01 -3.81340351e-03 -3.50149886e+00] [-1.71445914e-02 -1.22320088e-03 9.99852272e-01 -7.35870334e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.906559995 meters 0.03483537002996389 Centerline is valid? [True, True] Translation: X:37.65, Y:-3.51, Z:-0.74 [[ 9.56565631e-01 2.91047347e-01 1.65419178e-02 3.76474366e+01] [-2.91025470e-01 9.56707886e-01 -3.76798050e-03 -3.50851853e+00] [-1.69224440e-02 -1.20979877e-03 9.99856073e-01 -7.36937920e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.936559995 meters 0.034899271401073274 Centerline is valid? [True, True] Translation: X:37.68, Y:-3.52, Z:-0.74 [[ 9.56443344e-01 2.91428399e-01 1.69002623e-02 3.76800749e+01] [-2.91405534e-01 9.56591844e-01 -3.85478331e-03 -3.51512222e+00] [-1.72900464e-02 -1.23794811e-03 9.99849750e-01 -7.37922741e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.966559995000004 meters 0.03737752451416904 Centerline is valid? [True, True] Translation: X:37.71, Y:-3.52, Z:-0.74 [[ 9.56194444e-01 2.92255100e-01 1.67075373e-02 3.77114215e+01] [-2.92232792e-01 9.56339602e-01 -3.81589292e-03 -3.51800762e+00] [-1.70932937e-02 -1.23375466e-03 9.99853138e-01 -7.39056532e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.996559995000005 meters 0.03828358943654305 Centerline is valid? [True, True] Translation: X:37.74, Y:-3.52, Z:-0.74 [[ 9.55816960e-01 2.93479618e-01 1.68420037e-02 3.77433055e+01] [-2.93457061e-01 9.55964499e-01 -3.85107749e-03 -3.52179066e+00] [-1.72305703e-02 -1.26147972e-03 9.99850747e-01 -7.40531346e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.026559995 meters 0.03881134925521353 Centerline is valid? [True, True] Translation: X:37.77, Y:-3.53, Z:-0.74 [[ 9.55543230e-01 2.94378718e-01 1.66824984e-02 3.77744922e+01] [-2.94356705e-01 9.55688009e-01 -3.81566860e-03 -3.52721522e+00] [-1.70665153e-02 -1.26456894e-03 9.99853557e-01 -7.41883764e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.056559995 meters 0.03771021195383639 Centerline is valid? [True, True] Translation: X:37.80, Y:-3.53, Z:-0.74 [[ 9.55030323e-01 2.96053240e-01 1.64182934e-02 3.78046309e+01] [-2.96032125e-01 9.55170593e-01 -3.75756654e-03 -3.53351487e+00] [-1.67947108e-02 -1.27175231e-03 9.99858150e-01 -7.43284757e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.086559995 meters 0.037434670015607165 Centerline is valid? [True, True] Translation: X:37.84, Y:-3.54, Z:-0.74 [[ 9.54691033e-01 2.97157487e-01 1.62006074e-02 3.78359834e+01] [-2.97137082e-01 9.54827631e-01 -3.70801008e-03 -3.53985312e+00] [-1.65706505e-02 -1.27379724e-03 9.99861886e-01 -7.44062028e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.116559995 meters 0.03785040578826758 Centerline is valid? [True, True] Translation: X:37.87, Y:-3.55, Z:-0.74 [[ 9.54265008e-01 2.98546539e-01 1.57562404e-02 3.78679923e+01] [-2.98527352e-01 9.54394248e-01 -3.61091518e-03 -3.54546415e+00] [-1.61156915e-02 -1.25789874e-03 9.99869343e-01 -7.44912125e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.146559995000004 meters 0.0447373026748119 Centerline is valid? [True, True] Translation: X:37.90, Y:-3.54, Z:-0.75 [[ 9.53889966e-01 2.99753338e-01 1.55521565e-02 3.79002055e+01] [-2.99734788e-01 9.54015905e-01 -3.56509654e-03 -3.54240597e+00] [-1.59056542e-02 -1.26081252e-03 9.99872702e-01 -7.45852576e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.176559995000005 meters 0.040237823044603584 Centerline is valid? [True, True] Translation: X:37.93, Y:-3.55, Z:-0.75 [[ 9.53039498e-01 3.02443950e-01 1.56004204e-02 3.79303741e+01] [-3.02425605e-01 9.53166275e-01 -3.57853253e-03 -3.55159428e+00] [-1.59521001e-02 -1.30748372e-03 9.99871902e-01 -7.46295100e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.206559995 meters 0.040237823044603584 Centerline is valid? [True, True] Translation: X:37.96, Y:-3.56, Z:-0.75 [[ 9.52953496e-01 3.02714814e-01 1.56004974e-02 3.79620962e+01] [-3.02696511e-01 9.53080279e-01 -3.57819762e-03 -3.55895733e+00] [-1.59516998e-02 -1.31236018e-03 9.99871902e-01 -7.46934654e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.236559995 meters 0.04127698250701626 Centerline is valid? [True, True] Translation: X:37.99, Y:-3.56, Z:-0.75 [[ 9.52476416e-01 3.04199241e-01 1.58587256e-02 3.79928952e+01] [-3.04180437e-01 9.52607468e-01 -3.64318591e-03 -3.56293104e+00] [-1.62153948e-02 -1.35386542e-03 9.99867605e-01 -7.47323119e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.266559995 meters 0.043351206219077815 Centerline is valid? [True, True] Translation: X:38.02, Y:-3.57, Z:-0.75 [[ 9.51978159e-01 3.05740806e-01 1.61289966e-02 3.80231192e+01] [-3.05721574e-01 9.52113748e-01 -3.70536033e-03 -3.56528193e+00] [-1.64895193e-02 -1.40356014e-03 9.99863054e-01 -7.47860704e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.296559995 meters 0.04397168582692276 Centerline is valid? [True, True] Translation: X:38.05, Y:-3.57, Z:-0.75 [[ 9.51577449e-01 3.06985281e-01 1.61367745e-02 3.80548276e+01] [-3.06966183e-01 9.51713196e-01 -3.70869052e-03 -3.56974332e+00] [-1.64960946e-02 -1.42433780e-03 9.99862916e-01 -7.48424438e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.326559995000004 meters 0.04692038203839415 Centerline is valid? [True, True] Translation: X:38.09, Y:-3.57, Z:-0.75 [[ 9.50966445e-01 3.08861831e-01 1.63459391e-02 3.80853690e+01] [-3.08842485e-01 9.51105775e-01 -3.75819563e-03 -3.56914062e+00] [-1.67074803e-02 -1.47440253e-03 9.99859333e-01 -7.49086069e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.356559995000005 meters 0.0432362480789607 Centerline is valid? [True, True] Translation: X:38.12, Y:-3.58, Z:-0.75 [[ 9.50656691e-01 3.09810130e-01 1.64176686e-02 3.81156954e+01] [-3.09790766e-01 9.50797265e-01 -3.77397354e-03 -3.57921946e+00] [-1.67790897e-02 -1.49828894e-03 9.99858099e-01 -7.49649582e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.386559995 meters 0.044525106891885526 Centerline is valid? [True, True] Translation: X:38.15, Y:-3.58, Z:-0.75 [[ 9.50414044e-01 3.10552261e-01 1.64449813e-02 3.81475797e+01] [-3.10532869e-01 9.50555108e-01 -3.78464129e-03 -3.58166083e+00] [-1.68071899e-02 -1.50973099e-03 9.99857609e-01 -7.50535681e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.416559995 meters 0.04262387021829796 Centerline is valid? [True, True] Translation: X:38.18, Y:-3.59, Z:-0.75 [[ 9.50291765e-01 3.10944931e-01 1.60876076e-02 3.81791275e+01] [-3.10926367e-01 9.50426777e-01 -3.70612309e-03 -3.58978620e+00] [-1.64424932e-02 -1.48016313e-03 9.99863717e-01 -7.51390488e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.446559995 meters 0.042872286434078255 Centerline is valid? [True, True] Translation: X:38.21, Y:-3.60, Z:-0.75 [[ 9.50270375e-01 3.11009344e-01 1.61059915e-02 3.82109000e+01] [-3.10990676e-01 9.50405703e-01 -3.71463735e-03 -3.59507409e+00] [-1.64625131e-02 -1.47890337e-03 9.99863390e-01 -7.52233628e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.476559995 meters 0.04314977527949091 Centerline is valid? [True, True] Translation: X:38.24, Y:-3.60, Z:-0.75 [[ 9.50299763e-01 3.10954879e-01 1.54085735e-02 3.82422769e+01] [-3.10937725e-01 9.50423629e-01 -3.55764634e-03 -3.60055671e+00] [-1.57509399e-02 -1.41027634e-03 9.99874952e-01 -7.53330030e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.506559995 meters 0.04294413040573809 Centerline is valid? [True, True] Translation: X:38.27, Y:-3.61, Z:-0.75 [[ 9.50470560e-01 3.10443225e-01 1.51894344e-02 3.82736883e+01] [-3.10426429e-01 9.50590924e-01 -3.51098078e-03 -3.60676126e+00] [-1.55288987e-02 -1.37811803e-03 9.99878470e-01 -7.54253677e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.536559995000005 meters 0.04356141906682174 Centerline is valid? [True, True] Translation: X:38.30, Y:-3.61, Z:-0.76 [[ 9.51072273e-01 3.08583969e-01 1.54098951e-02 3.83031159e+01] [-3.08566359e-01 9.51196130e-01 -3.56710904e-03 -3.61053935e+00] [-1.57585853e-02 -1.36239674e-03 9.99874898e-01 -7.55142907e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.566559995 meters 0.04300157505318889 Centerline is valid? [True, True] Translation: X:38.33, Y:-3.62, Z:-0.76 [[ 9.51436995e-01 3.07479791e-01 1.49607018e-02 3.83342441e+01] [-3.07463066e-01 9.51553716e-01 -3.46255072e-03 -3.61747209e+00] [-1.53005758e-02 -1.30546440e-03 9.99882087e-01 -7.55896263e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.596559995 meters 0.044730046614932635 Centerline is valid? [True, True] Translation: X:38.37, Y:-3.62, Z:-0.76 [[ 9.51855144e-01 3.06303614e-01 1.22425531e-02 3.83654124e+01] [-3.06292310e-01 9.51933290e-01 -2.83407253e-03 -3.62285206e+00] [-1.25221805e-02 -1.05217337e-03 9.99921041e-01 -7.58624171e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.626559995 meters 0.04410362917371067 Centerline is valid? [True, True] Translation: X:38.40, Y:-3.63, Z:-0.76 [[ 9.52605991e-01 3.03953916e-01 1.24033723e-02 3.83961542e+01] [-3.03942107e-01 9.52686175e-01 -2.87189419e-03 -3.62872037e+00] [-1.26894448e-02 -1.03412351e-03 9.99918951e-01 -7.59216419e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.656559995 meters 0.04278785866832369 Centerline is valid? [True, True] Translation: X:38.43, Y:-3.64, Z:-0.76 [[ 9.52867334e-01 3.03034602e-01 1.46244220e-02 3.84266134e+01] [-3.03018075e-01 9.52978792e-01 -3.38640596e-03 -3.63514796e+00] [-1.49629622e-02 -1.20466859e-03 9.99887323e-01 -7.58300947e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.686559995 meters 0.03931957621815906 Centerline is valid? [True, True] Translation: X:38.46, Y:-3.65, Z:-0.76 [[ 9.53138161e-01 3.02251116e-01 1.31114413e-02 3.84577297e+01] [-3.02237757e-01 9.53227738e-01 -3.03612642e-03 -3.64583932e+00] [-1.34158621e-02 -1.06892464e-03 9.99909432e-01 -7.59651105e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.716559995000004 meters 0.043129881624912464 Centerline is valid? [True, True] Translation: X:38.49, Y:-3.65, Z:-0.76 [[ 9.53336805e-01 3.01566177e-01 1.43797587e-02 3.84898290e+01] [-3.01550018e-01 9.53444541e-01 -3.33064239e-03 -3.64613088e+00] [-1.47147116e-02 -1.16099254e-03 9.99891059e-01 -7.60292636e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.746559995000005 meters 0.035368771870945656 Centerline is valid? [True, True] Translation: X:38.52, Y:-3.66, Z:-0.76 [[ 9.53602448e-01 3.00727697e-01 1.43256224e-02 3.85194334e+01] [-3.00711518e-01 9.53709364e-01 -3.32141674e-03 -3.66070482e+00] [-1.46613222e-02 -1.14056851e-03 9.99891867e-01 -7.60608718e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.776559995 meters 0.03655682128578606 Centerline is valid? [True, True] Translation: X:38.55, Y:-3.67, Z:-0.76 [[ 9.53707566e-01 3.00446791e-01 1.31758657e-02 3.85498091e+01] [-3.00433035e-01 9.53798008e-01 -3.05807735e-03 -3.66556921e+00] [-1.34859039e-02 -1.04195380e-03 9.99908518e-01 -7.62065648e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.806559995 meters 0.03697869612406941 Centerline is valid? [True, True] Translation: X:38.58, Y:-3.67, Z:-0.76 [[ 9.53760216e-01 3.00366043e-01 1.10313679e-02 3.85812504e+01] [-3.00356375e-01 9.53823612e-01 -2.56212418e-03 -3.67175163e+00] [-1.12915543e-02 -8.69689556e-04 9.99935870e-01 -7.63594233e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.836559995 meters 0.04337422353654315 Centerline is valid? [True, True] Translation: X:38.61, Y:-3.67, Z:-0.77 [[ 9.53639724e-01 3.00770529e-01 1.04098690e-02 3.86134895e+01] [-3.00761905e-01 9.53696185e-01 -2.42135052e-03 -3.66905608e+00] [-1.06561233e-02 -8.21795997e-04 9.99942884e-01 -7.65361115e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.866559995 meters 0.039766019484168955 Centerline is valid? [True, True] Translation: X:38.64, Y:-3.68, Z:-0.76 [[ 9.53232612e-01 3.01946189e-01 1.32697335e-02 3.86444479e+01] [-3.01932262e-01 9.53324378e-01 -3.08858247e-03 -3.67681185e+00] [-1.35829461e-02 -1.06242310e-03 9.99907183e-01 -7.63891015e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.896559995000004 meters 0.03651363849166653 Centerline is valid? [True, True] Translation: X:38.67, Y:-3.69, Z:-0.77 [[ 9.52986395e-01 3.02811649e-01 1.10470296e-02 3.86749581e+01] [-3.02802032e-01 9.53050003e-01 -2.57316890e-03 -3.68784825e+00] [-1.13075571e-02 -8.92868049e-04 9.99935669e-01 -7.65712485e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.926559995000005 meters 0.03850016588047722 Centerline is valid? [True, True] Translation: X:38.71, Y:-3.69, Z:-0.77 [[ 9.52742502e-01 3.03613354e-01 1.00327960e-02 3.87065458e+01] [-3.03605442e-01 9.52794974e-01 -2.33934038e-03 -3.69209453e+00] [-1.02694526e-02 -8.17222471e-04 9.99946934e-01 -7.67270839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.956559995 meters 0.03703743796089042 Centerline is valid? [True, True] Translation: X:38.74, Y:-3.70, Z:-0.77 [[ 9.52367040e-01 3.04753756e-01 1.10530189e-02 3.87377931e+01] [-3.04744181e-01 9.52430743e-01 -2.58136168e-03 -3.69720211e+00] [-1.13139147e-02 -9.09939429e-04 9.99935582e-01 -7.67223165e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.986559995 meters 0.0405691633556589 Centerline is valid? [True, True] Translation: X:38.77, Y:-3.70, Z:-0.77 [[ 9.52321281e-01 3.04887154e-01 1.13137435e-02 3.87702497e+01] [-3.04877119e-01 9.52388027e-01 -2.64343477e-03 -3.69866087e+00] [-1.15810232e-02 -9.31902342e-04 9.99932503e-01 -7.67789677e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.016559995 meters 0.03815957909808045 Centerline is valid? [True, True] Translation: X:38.80, Y:-3.71, Z:-0.77 [[ 9.52303977e-01 3.04960038e-01 1.07939517e-02 3.88007141e+01] [-3.04950895e-01 9.52364733e-01 -2.52324834e-03 -3.70896322e+00] [-1.10492689e-02 -8.88725810e-04 9.99938560e-01 -7.68127676e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.046559995 meters 0.03849761676555651 Centerline is valid? [True, True] Translation: X:38.83, Y:-3.71, Z:-0.77 [[ 9.52391126e-01 3.04674990e-01 1.11486726e-02 3.88325716e+01] [-3.04665180e-01 9.52455941e-01 -2.60934472e-03 -3.71465891e+00] [-1.14136215e-02 -9.11495578e-04 9.99934447e-01 -7.68370375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.076559995000004 meters 0.03975665789198673 Centerline is valid? [True, True] Translation: X:38.86, Y:-3.72, Z:-0.77 [[ 9.52315866e-01 3.04809465e-01 1.36265117e-02 3.88640452e+01] [-3.04794755e-01 9.52412702e-01 -3.19418373e-03 -3.71588359e+00] [-1.39516802e-02 -1.11141744e-03 9.99902053e-01 -7.67314624e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.106559995000005 meters 0.040278007500792475 Centerline is valid? [True, True] Translation: X:38.90, Y:-3.72, Z:-0.77 [[ 9.52327257e-01 3.04858911e-01 1.15689293e-02 3.88955778e+01] [-3.04848291e-01 9.52397058e-01 -2.71359198e-03 -3.72407051e+00] [-1.18454769e-02 -9.42540711e-04 9.99929396e-01 -7.69147561e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.136559995 meters 0.04134806709826439 Centerline is valid? [True, True] Translation: X:38.93, Y:-3.73, Z:-0.77 [[ 9.52188198e-01 3.05313520e-01 1.10132193e-02 3.89276185e+01] [-3.05303888e-01 9.52251461e-01 -2.58661824e-03 -3.72965784e+00] [-1.12770837e-02 -8.99431300e-04 9.99936007e-01 -7.69776531e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.166559995 meters 0.04338478540987554 Centerline is valid? [True, True] Translation: X:38.96, Y:-3.73, Z:-0.77 [[ 9.52110242e-01 3.05559890e-01 1.09197320e-02 3.89601895e+01] [-3.05550407e-01 9.52172441e-01 -2.56734410e-03 -3.73257649e+00] [-1.11819452e-02 -8.92133938e-04 9.99937082e-01 -7.70819989e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.196559995 meters 0.0414466814563725 Centerline is valid? [True, True] Translation: X:38.99, Y:-3.74, Z:-0.77 [[ 9.52118069e-01 3.05542383e-01 1.07254458e-02 3.89915135e+01] [-3.05533199e-01 9.52178077e-01 -2.52474341e-03 -3.74037091e+00] [-1.09839504e-02 -8.73125928e-04 9.99939293e-01 -7.71320894e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.226559995 meters 0.04014439563571503 Centerline is valid? [True, True] Translation: X:39.02, Y:-3.75, Z:-0.77 [[ 9.52189700e-01 3.05351234e-01 9.76724036e-03 3.90226918e+01] [-3.05343587e-01 9.52239465e-01 -2.30125301e-03 -3.74728512e+00] [-1.00034422e-02 -7.91134793e-04 9.99949651e-01 -7.72898316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.256559995 meters 0.04021907974231056 Centerline is valid? [True, True] Translation: X:39.06, Y:-3.75, Z:-0.77 [[ 9.52068924e-01 3.05732276e-01 9.61974869e-03 3.90550969e+01] [-3.05724857e-01 9.52117201e-01 -2.26859244e-03 -3.75369786e+00] [-9.85271013e-03 -7.81139937e-04 9.99951156e-01 -7.73547975e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.286559995000005 meters 0.041867851886937923 Centerline is valid? [True, True] Translation: X:39.09, Y:-3.76, Z:-0.77 [[ 9.52070832e-01 3.05731469e-01 9.45519495e-03 3.90859081e+01] [-3.05724269e-01 9.52117474e-01 -2.23308719e-03 -3.75805240e+00] [-9.68518136e-03 -7.64625386e-04 9.99952805e-01 -7.74405870e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.316559995 meters 0.04008198134128425 Centerline is valid? [True, True] Translation: X:39.12, Y:-3.77, Z:-0.77 [[ 9.52012098e-01 3.05897098e-01 9.99648372e-03 3.91171866e+01] [-3.05889035e-01 9.52064238e-01 -2.36343506e-03 -3.76619291e+00] [-1.02402626e-02 -8.07795984e-04 9.99947241e-01 -7.74527512e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.346559995 meters 0.03867996025565231 Centerline is valid? [True, True] Translation: X:39.15, Y:-3.78, Z:-0.78 [[ 9.51978049e-01 3.06038405e-01 8.84807702e-03 3.91488269e+01] [-3.06032082e-01 9.52018899e-01 -2.09318536e-03 -3.77686707e+00] [-9.06413165e-03 -7.15128926e-04 9.99958664e-01 -7.75279537e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.376559995 meters 0.038883574440613584 Centerline is valid? [True, True] Translation: X:39.18, Y:-3.78, Z:-0.78 [[ 9.52127987e-01 3.05558595e-01 9.28658640e-03 3.91796450e+01] [-3.05551572e-01 9.52172985e-01 -2.20064719e-03 -3.78063512e+00] [-9.51486336e-03 -7.42233294e-04 9.99954457e-01 -7.76057172e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.406559995 meters 0.035320584360890445 Centerline is valid? [True, True] Translation: X:39.21, Y:-3.79, Z:-0.78 [[ 9.52370336e-01 3.04816488e-01 8.81200709e-03 3.92094941e+01] [-3.04810117e-01 9.52410849e-01 -2.08985815e-03 -3.79289789e+00] [-9.02967438e-03 -6.95670008e-04 9.99958990e-01 -7.76257875e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.436559995 meters 0.03703832420581786 Centerline is valid? [True, True] Translation: X:39.24, Y:-3.80, Z:-0.78 [[ 9.53230566e-01 3.02114539e-01 8.84829929e-03 3.92390187e+01] [-3.02107953e-01 9.53271399e-01 -2.10367737e-03 -3.79862898e+00] [-9.07038216e-03 -6.67852016e-04 9.99958640e-01 -7.77098092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.466559995000004 meters 0.03593355818664414 Centerline is valid? [True, True] Translation: X:39.27, Y:-3.81, Z:-0.78 [[ 9.53732787e-01 3.00496377e-01 9.78258094e-03 3.92684090e+01] [-3.00488252e-01 9.53782683e-01 -2.32474446e-03 -3.80526024e+00] [-1.00290336e-02 -7.22365636e-04 9.99949447e-01 -7.77004912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.496559995000005 meters 0.033432531487171874 Centerline is valid? [True, True] Translation: X:39.30, Y:-3.81, Z:-0.78 [[ 9.54287364e-01 2.98684104e-01 1.11100393e-02 3.92987661e+01] [-2.98673480e-01 9.54351702e-01 -2.64221150e-03 -3.81418933e+00] [-1.13920715e-02 -7.96845060e-04 9.99934791e-01 -7.76413052e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.526559995 meters 0.03550122746904316 Centerline is valid? [True, True] Translation: X:39.33, Y:-3.82, Z:-0.78 [[ 9.54861313e-01 2.96892726e-01 9.72534197e-03 3.93286048e+01] [-2.96884486e-01 9.54910598e-01 -2.31349809e-03 -3.82083105e+00] [-9.97369287e-03 -6.78233327e-04 9.99950031e-01 -7.78103153e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.556559995 meters 0.03410088069125818 Centerline is valid? [True, True] Translation: X:39.36, Y:-3.83, Z:-0.78 [[ 9.56214658e-01 2.92517544e-01 9.32815292e-03 3.93570005e+01] [-2.92509750e-01 9.56259964e-01 -2.21967603e-03 -3.83175272e+00] [-9.56943336e-03 -6.06088919e-04 9.99954028e-01 -7.78663888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.586559995 meters 0.032942008456345255 Centerline is valid? [True, True] Translation: X:39.39, Y:-3.84, Z:-0.78 [[ 9.56774009e-01 2.90675438e-01 9.55432749e-03 3.93863221e+01] [-2.90667180e-01 9.56821523e-01 -2.27248693e-03 -3.83904412e+00] [-9.80234231e-03 -6.02872999e-04 9.99951774e-01 -7.79359267e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.616559995 meters 0.03182940357299809 Centerline is valid? [True, True] Translation: X:39.42, Y:-3.85, Z:-0.78 [[ 9.57989188e-01 2.86677926e-01 8.51360443e-03 3.94155856e+01] [-2.86671197e-01 9.58026888e-01 -2.02668211e-03 -3.84883557e+00] [-8.73726698e-03 -4.99065619e-04 9.99961705e-01 -7.80905412e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.646559995000004 meters 0.0325781981866627 Centerline is valid? [True, True] Translation: X:39.44, Y:-3.86, Z:-0.78 [[ 9.58713191e-01 2.84278535e-01 7.39807951e-03 3.94446554e+01] [-2.84273390e-01 9.58741645e-01 -1.76011551e-03 -3.85699743e+00] [-7.59320998e-03 -4.15631180e-04 9.99971085e-01 -7.82372212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.676559995000005 meters 0.029083662345756874 Centerline is valid? [True, True] Translation: X:39.48, Y:-3.87, Z:-0.78 [[ 9.59465365e-01 2.81709766e-01 8.11299636e-03 3.94752483e+01] [-2.81703473e-01 9.59499568e-01 -1.93189752e-03 -3.86685609e+00] [-8.32865090e-03 -4.31870493e-04 9.99965223e-01 -7.82307229e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.706559995 meters 0.028474071243157074 Centerline is valid? [True, True] Translation: X:39.51, Y:-3.88, Z:-0.78 [[ 9.60299937e-01 2.78880344e-01 7.05581252e-03 3.95056817e+01] [-2.78875506e-01 9.60325793e-01 -1.68040016e-03 -3.87729589e+00] [-7.24450933e-03 -3.54005117e-04 9.99973696e-01 -7.83650308e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.736559995 meters 0.024052739830397598 Centerline is valid? [True, True] Translation: X:39.53, Y:-3.89, Z:-0.78 [[ 9.61846682e-01 2.73503983e-01 6.82137711e-03 3.95329144e+01] [-2.73499320e-01 9.61870823e-01 -1.62542123e-03 -3.89410417e+00] [-7.00584280e-03 -3.02235987e-04 9.99975413e-01 -7.83133669e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.766559995 meters 0.02337057343152462 Centerline is valid? [True, True] Translation: X:39.56, Y:-3.90, Z:-0.78 [[ 9.63306488e-01 2.68285002e-01 7.98544707e-03 3.95614164e+01] [-2.68278430e-01 9.63339536e-01 -1.90307832e-03 -3.90406388e+00] [-8.20326425e-03 -3.09075506e-04 9.99966305e-01 -7.82857574e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.796559995 meters 0.01859158191049218 Centerline is valid? [True, True] Translation: X:39.59, Y:-3.92, Z:-0.78 [[ 9.64015901e-01 2.65665621e-01 9.75297833e-03 3.95907567e+01] [-2.65655690e-01 9.64065171e-01 -2.32377242e-03 -3.91768321e+00] [-1.00198532e-02 -3.50780617e-04 9.99949738e-01 -7.80723528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.826559995000004 meters 0.02041888114328899 Centerline is valid? [True, True] Translation: X:39.62, Y:-3.93, Z:-0.78 [[ 9.64989621e-01 2.62174044e-01 7.73311222e-03 3.96198762e+01] [-2.62167685e-01 9.65020574e-01 -1.84294803e-03 -3.92976138e+00] [-7.94578554e-03 -2.48946406e-04 9.99968401e-01 -7.81582596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.856559995000005 meters 0.021634677398316763 Centerline is valid? [True, True] Translation: X:39.65, Y:-3.94, Z:-0.78 [[ 9.65263290e-01 2.61185584e-01 6.99084810e-03 3.96503751e+01] [-2.61180378e-01 9.65288580e-01 -1.66371085e-03 -3.93588723e+00] [-7.18272312e-03 -2.19953335e-04 9.99974180e-01 -7.83641563e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.886559995 meters 0.020897788863274005 Centerline is valid? [True, True] Translation: X:39.68, Y:-3.95, Z:-0.78 [[ 9.65515120e-01 2.60272293e-01 6.23595699e-03 3.96807929e+01] [-2.60268126e-01 9.65535239e-01 -1.48489890e-03 -3.94660158e+00] [-6.40751427e-03 -1.89328500e-04 9.99979454e-01 -7.83848741e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.916559995 meters 0.020897788863274005 Centerline is valid? [True, True] Translation: X:39.71, Y:-3.95, Z:-0.78 [[ 9.65440550e-01 2.60548769e-01 6.23569602e-03 3.97123652e+01] [-2.60544601e-01 9.65460669e-01 -1.48599350e-03 -3.95421307e+00] [-6.40749303e-03 -1.90038545e-04 9.99979454e-01 -7.84487305e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.946559995 meters 0.01776028311594382 Centerline is valid? [True, True] Translation: X:39.74, Y:-3.96, Z:-0.78 [[ 9.65968467e-01 2.58565749e-01 6.97665270e-03 3.97431869e+01] [-2.58560456e-01 9.65993642e-01 -1.66585005e-03 -3.96492844e+00] [-7.17013392e-03 -1.94727888e-04 9.99974275e-01 -7.83977227e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.976559995 meters 0.019037535387906913 Centerline is valid? [True, True] Translation: X:39.77, Y:-3.97, Z:-0.78 [[ 9.66076972e-01 2.58168010e-01 6.67554429e-03 3.97737601e+01] [-2.58163144e-01 9.66100018e-01 -1.59548235e-03 -3.97379932e+00] [-6.86114596e-03 -1.82020739e-04 9.99976445e-01 -7.84301433e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.006559995 meters 0.01936698669106929 Centerline is valid? [True, True] Translation: X:39.81, Y:-3.98, Z:-0.78 [[ 9.65999240e-01 2.58461299e-01 6.57458885e-03 3.98060619e+01] [-2.58456578e-01 9.66021596e-01 -1.57251476e-03 -3.98256971e+00] [-6.75762902e-03 -1.80197675e-04 9.99977151e-01 -7.84305900e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.036559995000005 meters 0.020645772078535112 Centerline is valid? [True, True] Translation: X:39.84, Y:-3.99, Z:-0.78 [[ 9.65844190e-01 2.59042083e-01 6.49611969e-03 3.98383380e+01] [-2.59037475e-01 9.65866019e-01 -1.55560897e-03 -3.99110316e+00] [-6.67734945e-03 -1.80262556e-04 9.99977690e-01 -7.84419374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.066559995 meters 0.019590764090799854 Centerline is valid? [True, True] Translation: X:39.87, Y:-4.00, Z:-0.78 [[ 9.65330469e-01 2.60924950e-01 7.43346021e-03 3.98691035e+01] [-2.60918933e-01 9.65359065e-01 -1.78509315e-03 -3.99735801e+00] [-7.64173353e-03 -2.16325696e-04 9.99970778e-01 -7.83853086e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.096559995 meters 0.019590764090799854 Centerline is valid? [True, True] Translation: X:39.90, Y:-4.01, Z:-0.78 [[ 9.65255859e-01 2.61200817e-01 7.43364283e-03 3.99006617e+01] [-2.61194814e-01 9.65284458e-01 -1.78433592e-03 -4.00501748e+00] [-7.64164989e-03 -2.19288253e-04 9.99970778e-01 -7.84491209e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.126559995 meters 0.01780100819904042 Centerline is valid? [True, True] Translation: X:39.93, Y:-4.01, Z:-0.78 [[ 9.64898697e-01 2.62486633e-01 8.44225983e-03 3.99314963e+01] [-2.62478906e-01 9.64935594e-01 -2.03040264e-03 -4.01130909e+00] [-8.67919056e-03 -2.56782267e-04 9.99962302e-01 -7.83580085e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.156559995 meters 0.02118220832172393 Centerline is valid? [True, True] Translation: X:39.96, Y:-4.02, Z:-0.79 [[ 9.64458563e-01 2.64135273e-01 7.22764660e-03 3.99623129e+01] [-2.64129647e-01 9.64485616e-01 -1.73936990e-03 -4.01830525e+00] [-7.43039013e-03 -2.31485554e-04 9.99972367e-01 -7.85609152e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.186559995 meters 0.018664099676085427 Centerline is valid? [True, True] Translation: X:39.99, Y:-4.02, Z:-0.78 [[ 9.63620181e-01 2.67159592e-01 7.86754928e-03 3.99938395e+01] [-2.67152993e-01 9.63652260e-01 -1.89758104e-03 -4.02491346e+00] [-8.08853862e-03 -2.73291952e-04 9.99967250e-01 -7.84247697e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.216559995000004 meters 0.023240691955720007 Centerline is valid? [True, True] Translation: X:40.03, Y:-4.03, Z:-0.79 [[ 9.62991186e-01 2.69466105e-01 5.99945039e-03 4.00251839e+01] [-2.69462312e-01 9.63009849e-01 -1.44712936e-03 -4.03075844e+00] [-6.16748213e-03 -2.23052950e-04 9.99980956e-01 -7.87258247e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.246559995000005 meters 0.02062685510363212 Centerline is valid? [True, True] Translation: X:40.06, Y:-4.04, Z:-0.79 [[ 9.62529869e-01 2.71082188e-01 7.12027170e-03 4.00560881e+01] [-2.71076898e-01 9.62556164e-01 -1.71628533e-03 -4.03660462e+00] [-7.31891580e-03 -2.78165265e-04 9.99973178e-01 -7.86356941e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.276559995 meters 0.023738836468528497 Centerline is valid? [True, True] Translation: X:40.09, Y:-4.04, Z:-0.79 [[ 9.61539898e-01 2.74612351e-01 5.39264178e-03 4.00868215e+01] [-2.74609356e-01 9.61554993e-01 -1.30283920e-03 -4.04329500e+00] [-5.54309737e-03 -2.28138008e-04 9.99984611e-01 -7.88743926e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.306559995 meters 0.024509378814566142 Centerline is valid? [True, True] Translation: X:40.12, Y:-4.05, Z:-0.79 [[ 9.61163239e-01 2.75920297e-01 5.76340537e-03 4.01178457e+01] [-2.75916915e-01 9.61180485e-01 -1.38963947e-03 -4.04999503e+00] [-5.92310250e-03 -2.54550652e-04 9.99982426e-01 -7.89160026e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.336559995 meters 0.024530904845105398 Centerline is valid? [True, True] Translation: X:40.15, Y:-4.06, Z:-0.79 [[ 9.61157611e-01 2.75921124e-01 6.60147198e-03 4.01490909e+01] [-2.75916670e-01 9.61180238e-01 -1.59423679e-03 -4.05782481e+00] [-6.78508802e-03 -2.89143335e-04 9.99976939e-01 -7.89301011e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.366559995 meters 0.025257171773813755 Centerline is valid? [True, True] Translation: X:40.18, Y:-4.06, Z:-0.79 [[ 9.61243122e-01 2.75601948e-01 7.43151121e-03 4.01801048e+01] [-2.75596272e-01 9.61271795e-01 -1.79753707e-03 -4.06361833e+00] [-7.63910683e-03 -3.20226637e-04 9.99970770e-01 -7.89656132e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.396559995000004 meters 0.02568829081066689 Centerline is valid? [True, True] Translation: X:40.21, Y:-4.07, Z:-0.79 [[ 9.61240791e-01 2.75617262e-01 7.16006718e-03 4.02121048e+01] [-2.75611987e-01 9.61267408e-01 -1.73286270e-03 -4.07331682e+00] [-7.36034610e-03 -3.07702026e-04 9.99972865e-01 -7.90076159e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.426559995000005 meters 0.02383812024642342 Centerline is valid? [True, True] Translation: X:40.24, Y:-4.08, Z:-0.79 [[ 9.61381920e-01 2.75109454e-01 7.71955234e-03 4.02428620e+01] [-2.75103281e-01 9.61412858e-01 -1.87131730e-03 -4.08443239e+00] [-7.93649395e-03 -3.24623553e-04 9.99968453e-01 -7.89768231e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.456559995 meters 0.024829977517864414 Centerline is valid? [True, True] Translation: X:40.27, Y:-4.09, Z:-0.79 [[ 9.62031416e-01 2.72828282e-01 7.76427750e-03 4.02724498e+01] [-2.72821924e-01 9.62062699e-01 -1.88702452e-03 -4.09032663e+00] [-7.98455543e-03 -3.02888256e-04 9.99968077e-01 -7.91211304e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.486559995 meters 0.01935125595578633 Centerline is valid? [True, True] Translation: X:40.30, Y:-4.10, Z:-0.79 [[ 9.62473150e-01 2.71248488e-01 8.34826559e-03 4.03026432e+01] [-2.71241084e-01 9.62509304e-01 -2.02829730e-03 -4.10453587e+00] [-8.58545588e-03 -3.12210915e-04 9.99963096e-01 -7.89138443e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.516559995 meters 0.020846347367305503 Centerline is valid? [True, True] Translation: X:40.33, Y:-4.11, Z:-0.79 [[ 9.62924096e-01 2.69646705e-01 8.23644985e-03 4.03324393e+01] [-2.69639447e-01 9.62959276e-01 -2.00024649e-03 -4.11224902e+00] [-8.47072566e-03 -2.94786246e-04 9.99964079e-01 -7.90725973e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.546559995 meters 0.02080839622231121 Centerline is valid? [True, True] Translation: X:40.36, Y:-4.12, Z:-0.79 [[ 9.63920013e-01 2.66049935e-01 8.69712845e-03 4.03617654e+01] [-2.66041655e-01 9.63959209e-01 -2.11677174e-03 -4.12323600e+00] [-8.94684404e-03 -2.73399801e-04 9.99959939e-01 -7.91048312e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.576559995000004 meters 0.0203697489670432 Centerline is valid? [True, True] Translation: X:40.39, Y:-4.13, Z:-0.79 [[ 9.64296898e-01 2.64670771e-01 8.99308711e-03 4.03924097e+01] [-2.64661875e-01 9.64338794e-01 -2.18687326e-03 -4.13269574e+00] [-9.25118421e-03 -2.71332198e-04 9.99957170e-01 -7.91431919e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.606559995000005 meters 0.01759748691398902 Centerline is valid? [True, True] Translation: X:40.42, Y:-4.14, Z:-0.79 [[ 9.65089809e-01 2.61751778e-01 9.36307777e-03 4.04226233e+01] [-2.61741952e-01 9.65135195e-01 -2.28158957e-03 -4.14298897e+00] [-9.63384601e-03 -2.48771407e-04 9.99953562e-01 -7.90359289e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.636559995 meters 0.017954363908522453 Centerline is valid? [True, True] Translation: X:40.45, Y:-4.15, Z:-0.79 [[ 9.65601109e-01 2.59865438e-01 9.18977349e-03 4.04522842e+01] [-2.59855900e-01 9.65644812e-01 -2.23801525e-03 -4.15160805e+00] [-9.45563990e-03 -2.26986856e-04 9.99955269e-01 -7.91189673e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.666559995 meters 0.016844559574041806 Centerline is valid? [True, True] Translation: X:40.48, Y:-4.16, Z:-0.79 [[ 9.65801084e-01 2.59135881e-01 8.76706414e-03 4.04820094e+01] [-2.59127144e-01 9.65840852e-01 -2.13800384e-03 -4.16021139e+00] [-9.02162221e-03 -2.06897861e-04 9.99959283e-01 -7.91136737e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.696559995 meters 0.01706619323290735 Centerline is valid? [True, True] Translation: X:40.51, Y:-4.17, Z:-0.79 [[ 9.65710574e-01 2.59490495e-01 8.23227076e-03 4.05135170e+01] [-2.59482809e-01 9.65745641e-01 -2.00699382e-03 -4.17041414e+00] [-8.47107543e-03 -1.97957588e-04 9.99964100e-01 -7.91279359e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.726559995 meters 0.017976626391135963 Centerline is valid? [True, True] Translation: X:40.54, Y:-4.18, Z:-0.79 [[ 9.65201579e-01 2.61333744e-01 9.51765210e-03 4.05441496e+01] [-2.61323518e-01 9.65248473e-01 -2.32461272e-03 -4.17706126e+00] [-9.79439891e-03 -2.43466460e-04 9.99952004e-01 -7.90646144e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.756559995 meters 0.017656500832571146 Centerline is valid? [True, True] Translation: X:40.57, Y:-4.18, Z:-0.79 [[ 9.64780756e-01 2.62868614e-01 9.90882527e-03 4.05749944e+01] [-2.62857585e-01 9.64831602e-01 -2.42273181e-03 -4.18406232e+00] [-1.01972079e-02 -2.67204854e-04 9.99947971e-01 -7.90082295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.786559995000005 meters 0.017656500832571146 Centerline is valid? [True, True] Translation: X:40.61, Y:-4.19, Z:-0.79 [[ 9.64708996e-01 2.63131860e-01 9.90840355e-03 4.06065124e+01] [-2.63120827e-01 9.64759842e-01 -2.42445489e-03 -4.19186777e+00] [-1.01971812e-02 -2.68213897e-04 9.99947971e-01 -7.90720708e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.816559995 meters 0.017656500832571146 Centerline is valid? [True, True] Translation: X:40.64, Y:-4.20, Z:-0.79 [[ 9.64637162e-01 2.63395106e-01 9.90774091e-03 4.06380283e+01] [-2.63384059e-01 9.64688005e-01 -2.42715835e-03 -4.19968134e+00] [-1.01971804e-02 -2.68213878e-04 9.99947971e-01 -7.91359321e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.846559995 meters 0.018506291884886474 Centerline is valid? [True, True] Translation: X:40.67, Y:-4.21, Z:-0.79 [[ 9.64407976e-01 2.64238786e-01 9.75296782e-03 4.06695912e+01] [-2.64228094e-01 9.64457252e-01 -2.39233558e-03 -4.20672848e+00] [-1.00384684e-02 -2.69820584e-04 9.99949577e-01 -7.92518953e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.876559995 meters 0.018506291884886474 Centerline is valid? [True, True] Translation: X:40.70, Y:-4.21, Z:-0.79 [[ 9.64336325e-01 2.64500171e-01 9.75247959e-03 4.07011035e+01] [-2.64489473e-01 9.64385600e-01 -2.39432347e-03 -4.21456178e+00] [-1.00384499e-02 -2.70495085e-04 9.99949577e-01 -7.93157446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.906559995 meters 0.018506291884886474 Centerline is valid? [True, True] Translation: X:40.73, Y:-4.22, Z:-0.79 [[ 9.64264602e-01 2.64761550e-01 9.75182957e-03 4.07326138e+01] [-2.64750838e-01 9.64313874e-01 -2.39696654e-03 -4.22240330e+00] [-1.00384491e-02 -2.70495066e-04 9.99949577e-01 -7.93796073e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.936559995 meters 0.018524574618928126 Centerline is valid? [True, True] Translation: X:40.76, Y:-4.23, Z:-0.79 [[ 9.63556082e-01 2.67330049e-01 9.71195157e-03 4.07634428e+01] [-2.67319524e-01 9.63604981e-01 -2.39024336e-03 -4.23057140e+00] [-9.99746878e-03 -2.93060742e-04 9.99949981e-01 -7.93401399e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.966559995000004 meters 0.018197570453508127 Centerline is valid? [True, True] Translation: X:40.79, Y:-4.24, Z:-0.79 [[ 9.63324861e-01 2.68170377e-01 9.47947076e-03 4.07940410e+01] [-2.68160368e-01 9.63371457e-01 -2.33527978e-03 -4.23938813e+00] [-9.75850441e-03 -2.92385292e-04 9.99952342e-01 -7.93697593e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.996559995000005 meters 0.018722350654631733 Centerline is valid? [True, True] Translation: X:40.83, Y:-4.25, Z:-0.79 [[ 9.63203533e-01 2.68606226e-01 9.46839364e-03 4.08257559e+01] [-2.68596241e-01 9.63250024e-01 -2.33459934e-03 -4.24856533e+00] [-9.74751832e-03 -2.94480615e-04 9.99952448e-01 -7.94916929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.026559995 meters 0.02053271090897248 Centerline is valid? [True, True] Translation: X:40.86, Y:-4.25, Z:-0.80 [[ 9.63039251e-01 2.69193818e-01 9.49151277e-03 4.08570310e+01] [-2.69183771e-01 9.63085978e-01 -2.34466462e-03 -4.25306234e+00] [-9.77231207e-03 -2.96957136e-04 9.99952206e-01 -7.95990751e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.056559995 meters 0.02061651934705204 Centerline is valid? [True, True] Translation: X:40.89, Y:-4.26, Z:-0.80 [[ 9.63003347e-01 2.69327561e-01 9.33911360e-03 4.08892455e+01] [-2.69317840e-01 9.63048586e-01 -2.30700113e-03 -4.26185729e+00] [-9.61535913e-03 -2.93540095e-04 9.99953728e-01 -7.96809762e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.086559995 meters 0.0170552756139424 Centerline is valid? [True, True] Translation: X:40.92, Y:-4.28, Z:-0.80 [[ 9.62954284e-01 2.69501418e-01 9.38253545e-03 4.09197469e+01] [-2.69491592e-01 9.62999948e-01 -2.32007526e-03 -4.27656320e+00] [-9.66064472e-03 -2.94388002e-04 9.99953292e-01 -7.95437368e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.116559995 meters 0.01711949451971312 Centerline is valid? [True, True] Translation: X:40.95, Y:-4.29, Z:-0.80 [[ 9.62880439e-01 2.69791421e-01 8.59360657e-03 4.09511602e+01] [-2.69783171e-01 9.62918748e-01 -2.12716174e-03 -4.28690165e+00] [-8.84883487e-03 -2.70207995e-04 9.99960812e-01 -7.96351417e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.146559995000004 meters 0.01850557005527627 Centerline is valid? [True, True] Translation: X:40.98, Y:-4.30, Z:-0.80 [[ 9.62966666e-01 2.69499045e-01 8.09102571e-03 4.09818648e+01] [-2.69491699e-01 9.63000624e-01 -2.00536011e-03 -4.29570870e+00] [-8.33210544e-03 -2.49369326e-04 9.99965256e-01 -7.98235546e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.176559995000005 meters 0.020409555161672616 Centerline is valid? [True, True] Translation: X:41.01, Y:-4.30, Z:-0.80 [[ 9.63080975e-01 2.69099859e-01 7.76540338e-03 4.10127967e+01] [-2.69093064e-01 9.63112253e-01 -1.92655259e-03 -4.30480399e+00] [-7.99739017e-03 -2.34190048e-04 9.99967993e-01 -7.99431153e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.206559995 meters 0.017314814749245226 Centerline is valid? [True, True] Translation: X:41.04, Y:-4.32, Z:-0.80 [[ 9.63105090e-01 2.68984962e-01 8.69921576e-03 4.10434380e+01] [-2.68976404e-01 9.63144342e-01 -2.16117040e-03 -4.31585600e+00] [-8.95992277e-03 -2.58449567e-04 9.99959826e-01 -7.97195870e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.236559995 meters 0.020147487978576142 Centerline is valid? [True, True] Translation: X:41.07, Y:-4.33, Z:-0.80 [[ 9.63313156e-01 2.68267051e-01 7.78162534e-03 4.10743570e+01] [-2.68260168e-01 9.63344559e-01 -1.93472764e-03 -4.32525469e+00] [-8.01541011e-03 -2.23751533e-04 9.99967851e-01 -7.99627503e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.266559995 meters 0.019904955348197088 Centerline is valid? [True, True] Translation: X:41.10, Y:-4.34, Z:-0.80 [[ 9.63647867e-01 2.67055164e-01 8.02049393e-03 4.11038945e+01] [-2.67047789e-01 9.63681219e-01 -1.99663940e-03 -4.33617806e+00] [-8.26241223e-03 -2.17797873e-04 9.99965842e-01 -8.00281595e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.296559995 meters 0.020479340843800063 Centerline is valid? [True, True] Translation: X:41.13, Y:-4.35, Z:-0.80 [[ 9.63877928e-01 2.66241446e-01 7.40484415e-03 4.11342943e+01] [-2.66235126e-01 9.63906352e-01 -1.84466266e-03 -4.34617530e+00] [-7.62870196e-03 -1.93399987e-04 9.99970882e-01 -8.01200699e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.326559995000004 meters 0.01611132799995084 Centerline is valid? [True, True] Translation: X:41.16, Y:-4.36, Z:-0.80 [[ 9.64092663e-01 2.65446535e-01 7.96710132e-03 4.11643032e+01] [-2.65439172e-01 9.64125561e-01 -1.98710168e-03 -4.36040905e+00] [-8.20875528e-03 -1.99030630e-04 9.99966288e-01 -7.98671934e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.356559995000005 meters 0.01586803677877518 Centerline is valid? [True, True] Translation: X:41.19, Y:-4.37, Z:-0.80 [[ 9.64161238e-01 2.65188198e-01 8.26605467e-03 4.11948890e+01] [-2.65180242e-01 9.64196650e-01 -2.06404009e-03 -4.37033287e+00] [-8.51746129e-03 -2.01926934e-04 9.99963705e-01 -7.99126886e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.386559995 meters 0.01609191504157144 Centerline is valid? [True, True] Translation: X:41.23, Y:-4.38, Z:-0.80 [[ 9.64159379e-01 2.65196724e-01 8.20913692e-03 4.12252928e+01] [-2.65188852e-01 9.64194305e-01 -2.05282424e-03 -4.38088856e+00] [-8.45960533e-03 -1.97721857e-04 9.99964197e-01 -7.98870473e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.416559995 meters 0.01609191504157144 Centerline is valid? [True, True] Translation: X:41.26, Y:-4.39, Z:-0.80 [[ 9.64083630e-01 2.65471968e-01 8.20905875e-03 4.12567603e+01] [-2.65464103e-01 9.64118558e-01 -2.05313816e-03 -4.38883904e+00] [-8.45955651e-03 -1.99813529e-04 9.99964197e-01 -7.99508567e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.446559995 meters 0.01694787216448204 Centerline is valid? [True, True] Translation: X:41.29, Y:-4.40, Z:-0.80 [[ 9.63941779e-01 2.65974537e-01 8.59026468e-03 4.12872253e+01] [-2.65965917e-01 9.63980032e-01 -2.15157569e-03 -4.39733148e+00] [-8.85310797e-03 -2.10723930e-04 9.99960788e-01 -8.00793824e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.476559995 meters 0.016446252683175684 Centerline is valid? [True, True] Translation: X:41.32, Y:-4.41, Z:-0.80 [[ 9.63837330e-01 2.66354771e-01 8.52862530e-03 4.13187385e+01] [-2.66346271e-01 9.63875039e-01 -2.13833580e-03 -4.40707399e+00] [-8.79008499e-03 -2.10559670e-04 9.99961344e-01 -8.00481440e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.506559995 meters 0.017116461883265474 Centerline is valid? [True, True] Translation: X:41.35, Y:-4.42, Z:-0.80 [[ 9.63492792e-01 2.67581144e-01 9.05379245e-03 4.13488914e+01] [-2.67571586e-01 9.63535302e-01 -2.27343926e-03 -4.41779387e+00] [-9.33197812e-03 -2.32095271e-04 9.99956429e-01 -8.01073061e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.536559995000005 meters 0.01853354669669936 Centerline is valid? [True, True] Translation: X:41.38, Y:-4.43, Z:-0.80 [[ 9.63259873e-01 2.68415642e-01 9.13567255e-03 4.13800907e+01] [-2.68405926e-01 9.63303164e-01 -2.29642735e-03 -4.42650054e+00] [-9.41681929e-03 -2.40012339e-04 9.99955632e-01 -8.02543508e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.566559995 meters 0.018511294868801494 Centerline is valid? [True, True] Translation: X:41.41, Y:-4.43, Z:-0.80 [[ 9.62837442e-01 2.69922207e-01 9.27699776e-03 4.14105404e+01] [-2.69912231e-01 9.62882099e-01 -2.33465445e-03 -4.43420576e+00] [-9.56283015e-03 -2.56082450e-04 9.99954242e-01 -8.02850224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.596559995 meters 0.01839710418352252 Centerline is valid? [True, True] Translation: X:41.44, Y:-4.44, Z:-0.80 [[ 9.62463416e-01 2.71245749e-01 9.48242709e-03 4.14408834e+01] [-2.71235359e-01 9.62510088e-01 -2.38969014e-03 -4.44328356e+00] [-9.77512503e-03 -2.71980181e-04 9.99952185e-01 -8.03179742e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.626559995 meters 0.01968744890616299 Centerline is valid? [True, True] Translation: X:41.47, Y:-4.45, Z:-0.80 [[ 9.61563423e-01 2.74389628e-01 1.03012205e-02 4.14717765e+01] [-2.74377527e-01 9.61618544e-01 -2.59785900e-03 -4.44931099e+00] [-1.06186702e-02 -3.28417209e-04 9.99943566e-01 -8.03561433e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.656559995 meters 0.02272747434934876 Centerline is valid? [True, True] Translation: X:41.50, Y:-4.46, Z:-0.81 [[ 9.61227343e-01 2.75592988e-01 9.51313833e-03 4.15031262e+01] [-2.75582728e-01 9.61274365e-01 -2.39887982e-03 -4.45772316e+00] [-9.80585046e-03 -3.15787740e-04 9.99951872e-01 -8.06553359e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.686559995 meters 0.018777925332213837 Centerline is valid? [True, True] Translation: X:41.53, Y:-4.47, Z:-0.80 [[ 9.60443554e-01 2.78275354e-01 1.05359585e-02 4.15333349e+01] [-2.78262879e-01 9.60501268e-01 -2.66154645e-03 -4.46864483e+00] [-1.08604443e-02 -3.75501008e-04 9.99940953e-01 -8.03843063e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.716559995000004 meters 0.021837958542919565 Centerline is valid? [True, True] Translation: X:41.56, Y:-4.48, Z:-0.81 [[ 9.59457076e-01 2.81662629e-01 1.04059426e-02 4.15635917e+01] [-2.81650647e-01 9.59513417e-01 -2.62981031e-03 -4.47612923e+00] [-1.07253609e-02 -4.07650364e-04 9.99942399e-01 -8.05267644e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.746559995000005 meters 0.023462870941065434 Centerline is valid? [True, True] Translation: X:41.59, Y:-4.48, Z:-0.81 [[ 9.58790426e-01 2.83914326e-01 1.06571373e-02 4.15943080e+01] [-2.83901911e-01 9.58849549e-01 -2.69197879e-03 -4.48249142e+00] [-1.09828826e-02 -4.44538157e-04 9.99939588e-01 -8.06058947e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.776559995 meters 0.021838367794604227 Centerline is valid? [True, True] Translation: X:41.62, Y:-4.49, Z:-0.80 [[ 9.57954596e-01 2.86690377e-01 1.14725898e-02 4.16248747e+01] [-2.86676151e-01 9.58023156e-01 -2.90112910e-03 -4.49085457e+00] [-1.18227324e-02 -5.09767917e-04 9.99929979e-01 -8.04901088e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.806559995 meters 0.023220677932932185 Centerline is valid? [True, True] Translation: X:41.66, Y:-4.50, Z:-0.81 [[ 9.56825907e-01 2.90431529e-01 1.15633155e-02 4.16555430e+01] [-2.90417296e-01 9.56895615e-01 -2.92851104e-03 -4.49762716e+00] [-1.19154178e-02 -5.56111586e-04 9.99928854e-01 -8.05991571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.836559995 meters 0.025456758258935924 Centerline is valid? [True, True] Translation: X:41.69, Y:-4.50, Z:-0.81 [[ 9.56204751e-01 2.92465223e-01 1.16862504e-02 4.16864932e+01] [-2.92450850e-01 9.56275979e-01 -2.95857804e-03 -4.50308635e+00] [-1.20405618e-02 -5.88647495e-04 9.99927337e-01 -8.06893236e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.866559995 meters 0.02699724127637582 Centerline is valid? [True, True] Translation: X:41.72, Y:-4.51, Z:-0.81 [[ 9.55431194e-01 2.95013356e-01 1.08790178e-02 4.17166069e+01] [-2.95001020e-01 9.55492957e-01 -2.75823945e-03 -4.51141205e+00] [-1.12085424e-02 -5.74013348e-04 9.99937018e-01 -8.08551234e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.896559995000004 meters 0.02637730268958598 Centerline is valid? [True, True] Translation: X:41.75, Y:-4.52, Z:-0.81 [[ 9.54896858e-01 2.96679988e-01 1.23683276e-02 4.17477480e+01] [-2.96664179e-01 9.54976717e-01 -3.13614701e-03 -4.51953409e+00] [-1.27418970e-02 -6.74542829e-04 9.99918591e-01 -8.07756525e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.926559995000005 meters 0.027301137468231325 Centerline is valid? [True, True] Translation: X:41.78, Y:-4.53, Z:-0.81 [[ 9.54565211e-01 2.97749892e-01 1.22580505e-02 4.17787478e+01] [-2.97734456e-01 9.54643669e-01 -3.10783587e-03 -4.52677331e+00] [-1.26274281e-02 -6.83011986e-04 9.99920038e-01 -8.08477739e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.956559995 meters 0.02679743640963236 Centerline is valid? [True, True] Translation: X:41.81, Y:-4.54, Z:-0.81 [[ 9.54175986e-01 2.98992957e-01 1.23044120e-02 4.18096977e+01] [-2.98977466e-01 9.54255062e-01 -3.12280028e-03 -4.53607862e+00] [-1.26752427e-02 -6.99040871e-04 9.99919422e-01 -8.08832339e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.986559995 meters 0.02679743640963236 Centerline is valid? [True, True] Translation: X:41.84, Y:-4.54, Z:-0.81 [[ 9.54090934e-01 2.99264279e-01 1.23036948e-02 4.18411717e+01] [-2.99248774e-01 9.54170007e-01 -3.12562274e-03 -4.54415496e+00] [-1.26752038e-02 -6.99737261e-04 9.99919422e-01 -8.09471517e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.016559995 meters 0.026940471211232123 Centerline is valid? [True, True] Translation: X:41.87, Y:-4.55, Z:-0.81 [[ 9.53589100e-01 3.00875887e-01 1.18965746e-02 4.18721868e+01] [-3.00861455e-01 9.53663054e-01 -3.02722364e-03 -4.55270585e+00] [-1.22561423e-02 -6.92493282e-04 9.99924651e-01 -8.10258426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.046559995 meters 0.02726772316491678 Centerline is valid? [True, True] Translation: X:41.90, Y:-4.56, Z:-0.81 [[ 9.53360729e-01 3.01589655e-01 1.21243557e-02 4.19031938e+01] [-3.01574726e-01 9.53437553e-01 -3.08483022e-03 -4.56039375e+00] [-1.24901689e-02 -7.15443253e-04 9.99921739e-01 -8.11089556e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.076559995000004 meters 0.029398727741235475 Centerline is valid? [True, True] Translation: X:41.93, Y:-4.57, Z:-0.81 [[ 9.53180780e-01 3.02168938e-01 1.18462435e-02 4.19340389e+01] [-3.02154683e-01 9.53254131e-01 -3.01798447e-03 -4.56585966e+00] [-1.22044218e-02 -7.02713173e-04 9.99925276e-01 -8.12073644e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.106559995000005 meters 0.02718511796362053 Centerline is valid? [True, True] Translation: X:41.97, Y:-4.58, Z:-0.81 [[ 9.53063641e-01 3.02550676e-01 1.15232512e-02 4.19650705e+01] [-3.02537211e-01 9.53133052e-01 -2.93605426e-03 -4.57738196e+00] [-1.18714968e-02 -6.87965721e-04 9.99929295e-01 -8.12333706e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.136559995 meters 0.02963851211819756 Centerline is valid? [True, True] Translation: X:42.00, Y:-4.58, Z:-0.81 [[ 9.53004109e-01 3.02803407e-01 9.65742678e-03 4.19955115e+01] [-3.02793937e-01 9.53052865e-01 -2.46322340e-03 -4.58470070e+00] [-9.94991071e-03 -5.76748256e-04 9.99950332e-01 -8.14312065e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.166559995 meters 0.029200524164192925 Centerline is valid? [True, True] Translation: X:42.03, Y:-4.59, Z:-0.81 [[ 9.52758283e-01 3.03538932e-01 1.07596995e-02 4.20261769e+01] [-3.03527189e-01 9.52818816e-01 -2.74757339e-03 -4.59169573e+00] [-1.10860396e-02 -6.48088033e-04 9.99938338e-01 -8.13651993e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.196559995 meters 0.03113677619412122 Centerline is valid? [True, True] Translation: X:42.06, Y:-4.60, Z:-0.82 [[ 9.52602210e-01 3.04082056e-01 9.11776689e-03 4.20573662e+01] [-3.04073635e-01 9.52645683e-01 -2.32965097e-03 -4.59920699e+00] [-9.39440632e-03 -5.53241852e-04 9.99955719e-01 -8.15682603e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.226559995 meters 0.03053334538938332 Centerline is valid? [True, True] Translation: X:42.09, Y:-4.61, Z:-0.81 [[ 9.52081222e-01 3.05670174e-01 1.03484923e-02 4.20881205e+01] [-3.05659382e-01 9.52137244e-01 -2.64764705e-03 -4.60632813e+00] [-1.06624917e-02 -6.42338721e-04 9.99942948e-01 -8.14803501e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.256559995 meters 0.030399592131279858 Centerline is valid? [True, True] Translation: X:42.12, Y:-4.61, Z:-0.82 [[ 9.51738368e-01 3.06735979e-01 1.03497958e-02 4.21188502e+01] [-3.06725211e-01 9.51794419e-01 -2.65138650e-03 -4.61416775e+00] [-1.06641535e-02 -6.51117029e-04 9.99942924e-01 -8.15150566e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.286559995000005 meters 0.030131441578753988 Centerline is valid? [True, True] Translation: X:42.15, Y:-4.62, Z:-0.82 [[ 9.51338439e-01 3.07975889e-01 1.02969259e-02 4.21498839e+01] [-3.07965300e-01 9.51393932e-01 -2.63809976e-03 -4.62231710e+00] [-1.06089040e-02 -6.61370177e-04 9.99943505e-01 -8.15677373e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.316559995 meters 0.03221065536008364 Centerline is valid? [True, True] Translation: X:42.18, Y:-4.63, Z:-0.82 [[ 9.51109525e-01 3.08723461e-01 8.97195815e-03 4.21814756e+01] [-3.08715439e-01 9.51151663e-01 -2.30036603e-03 -4.62914568e+00] [-9.24386987e-03 -5.81881960e-04 9.99957105e-01 -8.17780049e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.346559995 meters 0.03257406098832293 Centerline is valid? [True, True] Translation: X:42.21, Y:-4.63, Z:-0.82 [[ 9.50491141e-01 3.10599626e-01 9.71922350e-03 4.22108572e+01] [-3.10590255e-01 9.50540613e-01 -2.49737767e-03 -4.63430780e+00] [-1.00142012e-02 -6.44960758e-04 9.99949649e-01 -8.16595380e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.376559995 meters 0.03352276562464749 Centerline is valid? [True, True] Translation: X:42.24, Y:-4.64, Z:-0.82 [[ 9.50286746e-01 3.11232323e-01 9.46260278e-03 4.22419012e+01] [-3.11223496e-01 9.50333644e-01 -2.42897369e-03 -4.64086889e+00] [-9.74860491e-03 -6.36762817e-04 9.99952278e-01 -8.17298046e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.406559995 meters 0.033687902300694135 Centerline is valid? [True, True] Translation: X:42.27, Y:-4.65, Z:-0.82 [[ 9.50167145e-01 3.11586613e-01 9.80705342e-03 4.22734798e+01] [-3.11577127e-01 9.50217525e-01 -2.51976055e-03 -4.64881082e+00] [-1.01039577e-02 -6.61459837e-04 9.99948735e-01 -8.17822135e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.436559995 meters 0.0350533384110751 Centerline is valid? [True, True] Translation: X:42.30, Y:-4.66, Z:-0.82 [[ 9.50221846e-01 3.11451107e-01 8.75509001e-03 4.23035801e+01] [-3.11443518e-01 9.50261997e-01 -2.25204971e-03 -4.65546072e+00] [-9.02103270e-03 -5.86769199e-04 9.99959138e-01 -8.19241602e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.466559995000004 meters 0.03622575874852804 Centerline is valid? [True, True] Translation: X:42.33, Y:-4.66, Z:-0.82 [[ 9.50290901e-01 3.11262603e-01 7.92431827e-03 4.23343734e+01] [-3.11256368e-01 9.50323794e-01 -2.03963380e-03 -4.66256202e+00] [-8.16552992e-03 -5.28249082e-04 9.99966522e-01 -8.20127634e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.496559995000005 meters 0.03513980862009583 Centerline is valid? [True, True] Translation: X:42.37, Y:-4.67, Z:-0.82 [[ 9.50220589e-01 3.11430207e-01 9.59476932e-03 4.23658294e+01] [-3.11421030e-01 9.50268815e-01 -2.47412406e-03 -4.67145100e+00] [-9.88812704e-03 -6.37049331e-04 9.99950908e-01 -8.19073470e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.526559995 meters 0.03037487584771063 Centerline is valid? [True, True] Translation: X:42.40, Y:-4.69, Z:-0.82 [[ 9.50418023e-01 3.10820015e-01 9.82342570e-03 4.23958143e+01] [-3.10810345e-01 9.50468571e-01 -2.53487623e-03 -4.68609989e+00] [-1.01247477e-02 -6.44030277e-04 9.99948536e-01 -8.17912182e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.556559995 meters 0.03546543885401682 Centerline is valid? [True, True] Translation: X:42.43, Y:-4.69, Z:-0.82 [[ 9.50597237e-01 3.10305174e-01 8.69436662e-03 4.24269622e+01] [-3.10297587e-01 9.50636828e-01 -2.24260749e-03 -4.68814382e+00] [-8.96107781e-03 -5.66024498e-04 9.99959689e-01 -8.20450202e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.586559995 meters 0.03132878773824768 Centerline is valid? [True, True] Translation: X:42.46, Y:-4.70, Z:-0.82 [[ 9.50700308e-01 3.09992854e-01 8.56472486e-03 4.24572484e+01] [-3.09985447e-01 9.50738727e-01 -2.21275545e-03 -4.70165021e+00] [-8.82875399e-03 -5.51272774e-04 9.99960874e-01 -8.19995052e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.616559995 meters 0.03122038272325079 Centerline is valid? [True, True] Translation: X:42.49, Y:-4.71, Z:-0.82 [[ 9.50505742e-01 3.10561065e-01 9.52150867e-03 4.24881197e+01] [-3.10551945e-01 9.50553229e-01 -2.45927619e-03 -4.70900545e+00] [-9.81445624e-03 -6.19366901e-04 9.99951645e-01 -8.19690089e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.646559995000004 meters 0.028610805286631256 Centerline is valid? [True, True] Translation: X:42.52, Y:-4.72, Z:-0.82 [[ 9.50383462e-01 3.10949525e-01 9.03702546e-03 4.25179744e+01] [-3.10941305e-01 9.50426244e-01 -2.33652194e-03 -4.72006420e+00] [-9.31556655e-03 -5.89392679e-04 9.99956435e-01 -8.19756536e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.676559995000005 meters 0.02870272158674539 Centerline is valid? [True, True] Translation: X:42.55, Y:-4.73, Z:-0.82 [[ 9.50197281e-01 3.11525793e-01 8.76401185e-03 4.25493451e+01] [-3.11518066e-01 9.50237523e-01 -2.26813995e-03 -4.72791539e+00] [-9.03447701e-03 -5.74967613e-04 9.99959023e-01 -8.20512354e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.706559995 meters 0.034089594584164114 Centerline is valid? [True, True] Translation: X:42.58, Y:-4.73, Z:-0.82 [[ 9.50085113e-01 3.11877990e-01 8.39026818e-03 4.25812610e+01] [-3.11870893e-01 9.50122001e-01 -2.17475611e-03 -4.72853187e+00] [-8.65003696e-03 -5.50477028e-04 9.99962436e-01 -8.22679616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.736559995 meters 0.03332807903382958 Centerline is valid? [True, True] Translation: X:42.61, Y:-4.74, Z:-0.82 [[ 9.50014317e-01 3.12137005e-01 6.57927676e-03 4.26116890e+01] [-3.12132655e-01 9.50037000e-01 -1.70427839e-03 -4.73912414e+00] [-6.78252470e-03 -4.34518250e-04 9.99976904e-01 -8.24118277e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.766559995 meters 0.034641641468959455 Centerline is valid? [True, True] Translation: X:42.64, Y:-4.74, Z:-0.82 [[ 9.49240374e-01 3.14475163e-01 6.93433183e-03 4.26429543e+01] [-3.14470358e-01 9.49265585e-01 -1.80104369e-03 -4.74393588e+00] [-7.14890606e-03 -4.71018427e-04 9.99974335e-01 -8.24544292e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.796559995 meters 0.03489666811056457 Centerline is valid? [True, True] Translation: X:42.67, Y:-4.75, Z:-0.82 [[ 9.48797739e-01 3.15798970e-01 7.33900645e-03 4.26748024e+01] [-3.15793645e-01 9.48825985e-01 -1.90389432e-03 -4.75065035e+00] [-7.56468788e-03 -5.11200970e-04 9.99971257e-01 -8.24824558e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.826559995000004 meters 0.033086926818335013 Centerline is valid? [True, True] Translation: X:42.71, Y:-4.76, Z:-0.82 [[ 9.48204063e-01 3.17565042e-01 7.84207118e-03 4.27051813e+01] [-3.17558983e-01 9.48236328e-01 -2.03920377e-03 -4.75956403e+00] [-8.08371661e-03 -5.56738847e-04 9.99967171e-01 -8.24058944e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.856559995000005 meters 0.03730386848746068 Centerline is valid? [True, True] Translation: X:42.74, Y:-4.76, Z:-0.83 [[ 9.47910375e-01 3.18476815e-01 6.19992623e-03 4.27360011e+01] [-3.18473046e-01 9.47930546e-01 -1.61227442e-03 -4.76312311e+00] [-6.39057148e-03 -4.46217741e-04 9.99979481e-01 -8.26516375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.886559995 meters 0.03984327424000281 Centerline is valid? [True, True] Translation: X:42.77, Y:-4.77, Z:-0.83 [[ 9.46950730e-01 3.21293168e-01 7.41720670e-03 4.27666295e+01] [-3.21287854e-01 9.46979615e-01 -1.92968318e-03 -4.76504264e+00] [-7.64393757e-03 -5.55743522e-04 9.99970630e-01 -8.26083153e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.916559995 meters 0.037329902610725094 Centerline is valid? [True, True] Translation: X:42.80, Y:-4.78, Z:-0.82 [[ 9.46536985e-01 3.22489168e-01 8.27480121e-03 4.27971586e+01] [-3.22482606e-01 9.46572944e-01 -2.15199844e-03 -4.77519113e+00] [-8.52669913e-03 -6.31533346e-04 9.99963448e-01 -8.24881861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.946559995 meters 0.03810511387972069 Centerline is valid? [True, True] Translation: X:42.83, Y:-4.78, Z:-0.83 [[ 9.46193475e-01 3.23492148e-01 8.41062040e-03 4.28284504e+01] [-3.23485420e-01 9.46230630e-01 -2.18601334e-03 -4.78179933e+00] [-8.66554479e-03 -6.52321509e-04 9.99962241e-01 -8.25429878e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.976559995 meters 0.037329498446562547 Centerline is valid? [True, True] Translation: X:42.86, Y:-4.79, Z:-0.83 [[ 9.45917152e-01 3.24299120e-01 8.41558541e-03 4.28593440e+01] [-3.24292397e-01 9.45954358e-01 -2.18946277e-03 -4.79015186e+00] [-8.67080055e-03 -6.58059973e-04 9.99962191e-01 -8.25618984e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.006559995 meters 0.041819461965131255 Centerline is valid? [True, True] Translation: X:42.89, Y:-4.79, Z:-0.83 [[ 9.45487294e-01 3.25587735e-01 6.81204163e-03 4.28911985e+01] [-3.25583356e-01 9.45511678e-01 -1.77336116e-03 -4.79222637e+00] [-7.01824955e-03 -5.41196929e-04 9.99975225e-01 -8.28336166e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.036559995000005 meters 0.04171425388660001 Centerline is valid? [True, True] Translation: X:42.92, Y:-4.80, Z:-0.83 [[ 9.45145352e-01 3.26563240e-01 7.53082173e-03 4.29219887e+01] [-3.26557899e-01 9.45175161e-01 -1.96283590e-03 -4.79825972e+00] [-7.75893570e-03 -6.04084102e-04 9.99969717e-01 -8.27709362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.066559995 meters 0.04259686861303021 Centerline is valid? [True, True] Translation: X:42.95, Y:-4.80, Z:-0.83 [[ 9.44856373e-01 3.27403710e-01 7.29689594e-03 4.29537473e+01] [-3.27398711e-01 9.44884364e-01 -1.90325502e-03 -4.80443695e+00] [-7.51785564e-03 -5.90691689e-04 9.99971566e-01 -8.28438243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.096559995 meters 0.04031894974907219 Centerline is valid? [True, True] Translation: X:42.99, Y:-4.81, Z:-0.83 [[ 9.44769892e-01 3.27659690e-01 6.99852622e-03 4.29853888e+01] [-3.27655091e-01 9.44795642e-01 -1.82650115e-03 -4.81355079e+00] [-7.21064787e-03 -5.67479449e-04 9.99973842e-01 -8.28575406e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.126559995 meters 0.041627469310732496 Centerline is valid? [True, True] Translation: X:43.02, Y:-4.82, Z:-0.83 [[ 9.44959426e-01 3.27125892e-01 6.35095129e-03 4.30173692e+01] [-3.27122067e-01 9.44980631e-01 -1.66142573e-03 -4.82016973e+00] [-6.54502134e-03 -5.07556413e-04 9.99978452e-01 -8.30562256e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.156559995 meters 0.040509336544075215 Centerline is valid? [True, True] Translation: X:43.05, Y:-4.83, Z:-0.83 [[ 9.45356627e-01 3.25969037e-01 6.71077714e-03 4.30478712e+01] [-3.25964728e-01 9.45380299e-01 -1.75695062e-03 -4.82803924e+00] [-6.91694800e-03 -5.26531729e-04 9.99975939e-01 -8.30150840e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.186559995 meters 0.03990725072208974 Centerline is valid? [True, True] Translation: X:43.08, Y:-4.84, Z:-0.83 [[ 9.45957210e-01 3.24221201e-01 6.75048340e-03 4.30784825e+01] [-3.24216798e-01 9.45981155e-01 -1.76707366e-03 -4.83660138e+00] [-6.95875283e-03 -5.17044046e-04 9.99975654e-01 -8.30632679e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.216559995000004 meters 0.03826659642049066 Centerline is valid? [True, True] Translation: X:43.11, Y:-4.85, Z:-0.83 [[ 9.47833024e-01 3.18699764e-01 6.55891789e-03 4.31062768e+01] [-3.18695464e-01 9.47855605e-01 -1.71863557e-03 -4.84641512e+00] [-6.76463583e-03 -4.61317829e-04 9.99977013e-01 -8.31705122e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.246559995 meters 0.031658485026765784 Centerline is valid? [True, True] Translation: X:43.13, Y:-4.86, Z:-0.83 [[ 9.48988907e-01 3.15248005e-01 6.22488809e-03 4.31340908e+01] [-3.15244062e-01 9.49009232e-01 -1.63053216e-03 -4.86333063e+00] [-6.42149828e-03 -4.15002071e-04 9.99979296e-01 -8.31713305e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.276559995 meters 0.03532149493020414 Centerline is valid? [True, True] Translation: X:43.16, Y:-4.87, Z:-0.83 [[ 9.50227623e-01 3.11498311e-01 6.02214964e-03 4.31644473e+01] [-3.11494543e-01 9.50246631e-01 -1.57780885e-03 -4.86666701e+00] [-6.21401220e-03 -3.76589196e-04 9.99980622e-01 -8.33521591e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.306559995 meters 0.025471929002603762 Centerline is valid? [True, True] Translation: X:43.19, Y:-4.89, Z:-0.83 [[ 9.52626320e-01 3.04069872e-01 6.67893731e-03 4.31904427e+01] [-3.04065056e-01 9.52649663e-01 -1.74958713e-03 -4.88844655e+00] [-6.89468411e-03 -3.64128701e-04 9.99976165e-01 -8.31319553e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.336559995 meters 0.02980603443647368 Centerline is valid? [True, True] Translation: X:43.22, Y:-4.89, Z:-0.83 [[ 9.53638306e-01 3.00881007e-01 6.67838777e-03 4.32206674e+01] [-3.00876112e-01 9.53661629e-01 -1.74979019e-03 -4.89106475e+00] [-6.89540080e-03 -3.40700394e-04 9.99976168e-01 -8.33441490e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.366559995 meters 0.02913628382369875 Centerline is valid? [True, True] Translation: X:43.25, Y:-4.90, Z:-0.83 [[ 9.54418434e-01 2.98394759e-01 6.78378911e-03 4.32494844e+01] [-2.98389647e-01 9.54442487e-01 -1.77719209e-03 -4.90004654e+00] [-7.00504136e-03 -3.28027546e-04 9.99975411e-01 -8.34157344e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.396559995000004 meters 0.02092292045704221 Centerline is valid? [True, True] Translation: X:43.28, Y:-4.92, Z:-0.83 [[ 9.55370117e-01 2.95327153e-01 7.05774194e-03 4.32771417e+01] [-2.95321537e-01 9.55396133e-01 -1.84884679e-03 -4.91877697e+00] [-7.28895402e-03 -3.17970225e-04 9.99973385e-01 -8.31816149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.426559995000005 meters 0.0281864470267554 Centerline is valid? [True, True] Translation: X:43.31, Y:-4.92, Z:-0.84 [[ 9.55575605e-01 2.94661434e-01 7.06423405e-03 4.33096746e+01] [-2.94655805e-01 9.55601664e-01 -1.84832914e-03 -4.91676524e+00] [-7.29522513e-03 -3.15299340e-04 9.99973340e-01 -8.35320803e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.456559995 meters 0.02034295324262747 Centerline is valid? [True, True] Translation: X:43.34, Y:-4.94, Z:-0.83 [[ 9.55674136e-01 2.94340924e-01 7.09697045e-03 4.33382123e+01] [-2.94335223e-01 9.55700436e-01 -1.85843137e-03 -4.93500045e+00] [-7.32959016e-03 -3.12833585e-04 9.99973089e-01 -8.32757735e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.486559995 meters 0.021229856542440504 Centerline is valid? [True, True] Translation: X:43.37, Y:-4.94, Z:-0.83 [[ 9.55668749e-01 2.94339273e-01 7.85076765e-03 4.33691807e+01] [-2.94332274e-01 9.55700934e-01 -2.05870417e-03 -4.94133169e+00] [-8.10894346e-03 -3.43295055e-04 9.99967063e-01 -8.33758293e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.516559995 meters 0.022043708592549546 Centerline is valid? [True, True] Translation: X:43.40, Y:-4.95, Z:-0.84 [[ 9.55644549e-01 2.94427124e-01 7.49430061e-03 4.34002684e+01] [-2.94420739e-01 9.55673878e-01 -1.96647675e-03 -4.94681514e+00] [-7.74109142e-03 -3.27224740e-04 9.99969984e-01 -8.35072340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.546559995 meters 0.021017031143801324 Centerline is valid? [True, True] Translation: X:43.43, Y:-4.96, Z:-0.84 [[ 9.55577983e-01 2.94650433e-01 7.20000987e-03 4.34315739e+01] [-2.94644535e-01 9.55605056e-01 -1.89080879e-03 -4.95592589e+00] [-7.43749346e-03 -3.14628311e-04 9.99972292e-01 -8.35809942e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.576559995000004 meters 0.02217935480563958 Centerline is valid? [True, True] Translation: X:43.46, Y:-4.96, Z:-0.84 [[ 9.55567230e-01 2.94688692e-01 7.05995313e-03 4.34626850e+01] [-2.94683005e-01 9.55593261e-01 -1.85629880e-03 -4.96162674e+00] [-7.29347390e-03 -3.06629899e-04 9.99973355e-01 -8.37032421e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.606559995000005 meters 0.02075139473298038 Centerline is valid? [True, True] Translation: X:43.49, Y:-4.97, Z:-0.84 [[ 9.55496396e-01 2.94918097e-01 7.06771891e-03 4.34943860e+01] [-2.94912391e-01 9.55522486e-01 -1.86008203e-03 -4.97181470e+00] [-7.30193620e-03 -3.07056208e-04 9.99973293e-01 -8.36333184e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.636559995 meters 0.02032620064037231 Centerline is valid? [True, True] Translation: X:43.53, Y:-4.98, Z:-0.84 [[ 9.55392214e-01 2.95243843e-01 7.53602149e-03 4.35262413e+01] [-2.95237345e-01 9.55421879e-01 -1.98597020e-03 -4.98046674e+00] [-7.78642529e-03 -3.27534507e-04 9.99969632e-01 -8.36264831e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.666559995 meters 0.02136499572392732 Centerline is valid? [True, True] Translation: X:43.56, Y:-4.99, Z:-0.84 [[ 9.55232031e-01 2.95750375e-01 7.96763765e-03 4.35576544e+01] [-2.95743105e-01 9.55265196e-01 -2.10271688e-03 -4.98677858e+00] [-8.23308625e-03 -3.47791385e-04 9.99966047e-01 -8.36867084e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.696559995 meters 0.022203816751411354 Centerline is valid? [True, True] Translation: X:43.59, Y:-4.99, Z:-0.84 [[ 9.54580504e-01 2.97843615e-01 8.07723975e-03 4.35890190e+01] [-2.97836195e-01 9.54614606e-01 -2.13445917e-03 -4.99200856e+00] [-8.34638607e-03 -3.68181244e-04 9.99965101e-01 -8.37084185e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.726559995 meters 0.024976826049720718 Centerline is valid? [True, True] Translation: X:43.62, Y:-5.00, Z:-0.84 [[ 9.54124734e-01 2.99308570e-01 7.76999086e-03 4.36206455e+01] [-2.99301728e-01 9.54156301e-01 -2.05623039e-03 -4.99512399e+00] [-8.02923312e-03 -3.63671415e-04 9.99967699e-01 -8.38812090e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.756559995 meters 0.02434078747834811 Centerline is valid? [True, True] Translation: X:43.65, Y:-5.00, Z:-0.84 [[ 9.53598780e-01 3.00980025e-01 7.77118511e-03 4.36514992e+01] [-3.00973239e-01 9.53630370e-01 -2.05616766e-03 -5.00298407e+00] [-8.02970352e-03 -3.78159778e-04 9.99967690e-01 -8.39304655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.786559995000005 meters 0.024129262514405992 Centerline is valid? [True, True] Translation: X:43.68, Y:-5.01, Z:-0.84 [[ 9.53171381e-01 3.02338918e-01 7.44962762e-03 4.36822926e+01] [-3.02332699e-01 9.53200420e-01 -1.97425425e-03 -5.01024619e+00] [-7.69788207e-03 -3.70463374e-04 9.99970302e-01 -8.39836170e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.816559995 meters 0.026713389212583757 Centerline is valid? [True, True] Translation: X:43.71, Y:-5.01, Z:-0.84 [[ 9.52485921e-01 3.04499364e-01 7.12090504e-03 4.37133387e+01] [-3.04493736e-01 9.52512467e-01 -1.88802751e-03 -5.01247065e+00] [-7.35765400e-03 -3.69951359e-04 9.99972864e-01 -8.40983006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.846559995 meters 0.028526696100563683 Centerline is valid? [True, True] Translation: X:43.74, Y:-5.02, Z:-0.84 [[ 9.52183780e-01 3.05448269e-01 6.88510886e-03 4.37441531e+01] [-3.05443035e-01 9.52208602e-01 -1.82504312e-03 -5.01810113e+00] [-7.11351614e-03 -3.65232087e-04 9.99974632e-01 -8.43175249e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.876559995 meters 0.028613891937678618 Centerline is valid? [True, True] Translation: X:43.78, Y:-5.02, Z:-0.84 [[ 9.51851283e-01 3.06479120e-01 7.04866676e-03 4.37753440e+01] [-3.06473650e-01 9.51877305e-01 -1.87019469e-03 -5.02413002e+00] [-7.28264155e-03 -3.80083412e-04 9.99973409e-01 -8.42144826e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.906559995 meters 0.029830683393454648 Centerline is valid? [True, True] Translation: X:43.81, Y:-5.03, Z:-0.84 [[ 9.51336423e-01 3.08075685e-01 6.95569246e-03 4.38076602e+01] [-3.08070375e-01 9.51361774e-01 -1.84906050e-03 -5.02870346e+00] [-7.18703050e-03 -3.83764188e-04 9.99974099e-01 -8.42541728e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.936559995 meters 0.029830683393454648 Centerline is valid? [True, True] Translation: X:43.84, Y:-5.04, Z:-0.84 [[ 9.51253490e-01 3.08331653e-01 6.95621341e-03 4.38390472e+01] [-3.08326364e-01 9.51278845e-01 -1.84710402e-03 -5.03715172e+00] [-7.18681930e-03 -3.87719839e-04 9.99974099e-01 -8.43180217e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.966559995000004 meters 0.03034090149495615 Centerline is valid? [True, True] Translation: X:43.87, Y:-5.04, Z:-0.84 [[ 9.50948406e-01 3.09275380e-01 6.77263670e-03 4.38706353e+01] [-3.09270374e-01 9.50972446e-01 -1.80061198e-03 -5.04363387e+00] [-6.99747585e-03 -3.82286793e-04 9.99975444e-01 -8.43495476e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.996559995 meters 0.03251138688598779 Centerline is valid? [True, True] Translation: X:43.90, Y:-5.05, Z:-0.84 [[ 9.50530384e-01 3.10562110e-01 6.57006912e-03 4.39015056e+01] [-3.10557409e-01 9.50553015e-01 -1.74983532e-03 -5.04661832e+00] [-6.78863156e-03 -3.77112004e-04 9.99976886e-01 -8.44081275e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.026559995 meters 0.03009460894219409 Centerline is valid? [True, True] Translation: X:43.93, Y:-5.06, Z:-0.85 [[ 9.50431857e-01 3.10867675e-01 6.36969303e-03 4.39323519e+01] [-3.10863273e-01 9.50453130e-01 -1.69505356e-03 -5.05850558e+00] [-6.58103204e-03 -3.69070720e-04 9.99978277e-01 -8.45346270e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.056559995 meters 0.028316547241379712 Centerline is valid? [True, True] Translation: X:43.96, Y:-5.07, Z:-0.84 [[ 9.50286568e-01 3.11304821e-01 6.68936748e-03 4.39639817e+01] [-3.11299962e-01 9.50310032e-01 -1.78233396e-03 -5.06739719e+00] [-6.91182218e-03 -3.88671815e-04 9.99976038e-01 -8.43460293e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.086559995 meters 0.02788590103566064 Centerline is valid? [True, True] Translation: X:44.00, Y:-5.08, Z:-0.84 [[ 9.50575218e-01 3.10429295e-01 6.35665736e-03 4.39956002e+01] [-3.10424860e-01 9.50596404e-01 -1.69788094e-03 -5.07553972e+00] [-6.56968761e-03 -3.59300924e-04 9.99978355e-01 -8.44268313e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.116559995 meters 0.029429848487334924 Centerline is valid? [True, True] Translation: X:44.03, Y:-5.08, Z:-0.85 [[ 9.50633110e-01 3.10259549e-01 5.97515480e-03 4.40264643e+01] [-3.10255637e-01 9.50651828e-01 -1.59425280e-03 -5.08299224e+00] [-6.17492399e-03 -3.38275963e-04 9.99980878e-01 -8.46477844e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.146559995000004 meters 0.0267745068576038 Centerline is valid? [True, True] Translation: X:44.06, Y:-5.09, Z:-0.85 [[ 9.50548136e-01 3.10524401e-01 5.73041436e-03 4.40577800e+01] [-3.10520804e-01 9.50565353e-01 -1.52963971e-03 -5.09363606e+00] [-5.92212381e-03 -3.25416699e-04 9.99982411e-01 -8.45442345e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.176559995000005 meters 0.024885517848261957 Centerline is valid? [True, True] Translation: X:44.09, Y:-5.10, Z:-0.84 [[ 9.50435460e-01 3.10871250e-01 5.61262133e-03 4.40898591e+01] [-3.10867796e-01 9.50451979e-01 -1.49977946e-03 -5.10227334e+00] [-5.80076536e-03 -3.19339637e-04 9.99983124e-01 -8.43469995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.206559995 meters 0.027890686417467357 Centerline is valid? [True, True] Translation: X:44.12, Y:-5.11, Z:-0.85 [[ 9.50413959e-01 3.10947918e-01 4.96985893e-03 4.41218418e+01] [-3.10945206e-01 9.50426911e-01 -1.32892743e-03 -5.10863482e+00] [-5.13671489e-03 -2.82322630e-04 9.99986767e-01 -8.46818760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.236559995 meters 0.025951125253416113 Centerline is valid? [True, True] Translation: X:44.15, Y:-5.12, Z:-0.85 [[ 9.50216525e-01 3.11548800e-01 5.08918473e-03 4.41535004e+01] [-3.11545954e-01 9.50230109e-01 -1.36303669e-03 -5.11640267e+00] [-5.26054901e-03 -2.90334928e-04 9.99986121e-01 -8.45493824e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.266559995 meters 0.027974190975367293 Centerline is valid? [True, True] Translation: X:44.19, Y:-5.12, Z:-0.84 [[ 9.49935265e-01 3.12403601e-01 5.19441110e-03 4.41855140e+01] [-3.12400639e-01 9.49949420e-01 -1.39303435e-03 -5.11821741e+00] [-5.36961676e-03 -2.99444891e-04 9.99985539e-01 -8.44410803e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.296559995 meters 0.028125066411127123 Centerline is valid? [True, True] Translation: X:44.22, Y:-5.13, Z:-0.85 [[ 9.49643890e-01 3.13291217e-01 5.00957901e-03 4.42170960e+01] [-3.13288470e-01 9.49657058e-01 -1.34437618e-03 -5.12523539e+00] [-5.17856331e-03 -2.92764713e-04 9.99986548e-01 -8.45704770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.326559995000004 meters 0.027728164276298324 Centerline is valid? [True, True] Translation: X:44.25, Y:-5.13, Z:-0.84 [[ 9.49529096e-01 3.13638546e-01 5.03564384e-03 4.42487312e+01] [-3.13635770e-01 9.49542403e-01 -1.35220453e-03 -5.13276274e+00] [-5.20566082e-03 -2.95400487e-04 9.99986407e-01 -8.44823191e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.356559995000005 meters 0.027728164276298324 Centerline is valid? [True, True] Translation: X:44.28, Y:-5.14, Z:-0.85 [[ 9.49440639e-01 3.13906227e-01 5.03526168e-03 4.42801009e+01] [-3.13903448e-01 9.49453945e-01 -1.35362392e-03 -5.14130194e+00] [-5.20566004e-03 -2.95400444e-04 9.99986407e-01 -8.45462622e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.386559995 meters 0.02807997126596455 Centerline is valid? [True, True] Translation: X:44.31, Y:-5.15, Z:-0.85 [[ 9.49451100e-01 3.13877852e-01 4.82725119e-03 4.43112900e+01] [-3.13875288e-01 9.49463330e-01 -1.29948641e-03 -5.14854738e+00] [-4.99117799e-03 -2.81356058e-04 9.99987504e-01 -8.46194370e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.416559995 meters 0.026504061784185507 Centerline is valid? [True, True] Translation: X:44.34, Y:-5.16, Z:-0.85 [[ 9.49472267e-01 3.13824110e-01 4.10402453e-03 4.43428231e+01] [-3.13822257e-01 9.49481106e-01 -1.10446029e-03 -5.15901878e+00] [-4.24330002e-03 -2.39279824e-04 9.99990969e-01 -8.47076367e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.446559995 meters 0.030258363110753562 Centerline is valid? [True, True] Translation: X:44.37, Y:-5.16, Z:-0.85 [[ 9.49458111e-01 3.13874266e-01 3.49873341e-03 4.43741220e+01] [-3.13872913e-01 9.49464536e-01 -9.43586305e-04 -5.16378552e+00] [-3.61809075e-03 -2.02261976e-04 9.99993434e-01 -8.50935078e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.476559995 meters 0.029207623735141255 Centerline is valid? [True, True] Translation: X:44.41, Y:-5.17, Z:-0.85 [[ 9.49233260e-01 3.14553872e-01 3.47556631e-03 4.44053799e+01] [-3.14552542e-01 9.49239601e-01 -9.36921326e-04 -5.17072353e+00] [-3.59385740e-03 -2.03891333e-04 9.99993521e-01 -8.48263002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.506559995 meters 0.02858480311885419 Centerline is valid? [True, True] Translation: X:44.44, Y:-5.18, Z:-0.85 [[ 9.48885485e-01 3.15598421e-01 3.73811095e-03 4.44364804e+01] [-3.15596887e-01 9.48892822e-01 -1.00895853e-03 -5.17918082e+00] [-3.86549237e-03 -2.22350074e-04 9.99992504e-01 -8.48814224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.536559995000005 meters 0.0295075811011321 Centerline is valid? [True, True] Translation: X:44.47, Y:-5.19, Z:-0.85 [[ 9.48528696e-01 3.16664138e-01 4.13961143e-03 4.44677464e+01] [-3.16662259e-01 9.48537696e-01 -1.11898963e-03 -5.18555909e+00] [-4.28092137e-03 -2.49464927e-04 9.99990806e-01 -8.49579808e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.566559995 meters 0.03306823289374028 Centerline is valid? [True, True] Translation: X:44.50, Y:-5.19, Z:-0.85 [[ 9.48216897e-01 3.17598743e-01 3.96925012e-03 4.44992501e+01] [-3.17597019e-01 9.48225173e-01 -1.07408606e-03 -5.18877778e+00] [-4.10487127e-03 -2.42155454e-04 9.99991546e-01 -8.52055608e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.596559995 meters 0.031639655755943394 Centerline is valid? [True, True] Translation: X:44.53, Y:-5.20, Z:-0.85 [[ 9.47934007e-01 3.18441389e-01 4.02496713e-03 4.45298689e+01] [-3.18439620e-01 9.47942520e-01 -1.08989624e-03 -5.19907778e+00] [-4.16250555e-03 -2.48559292e-04 9.99991306e-01 -8.52137746e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.626559995 meters 0.03096325401299217 Centerline is valid? [True, True] Translation: X:44.56, Y:-5.21, Z:-0.85 [[ 9.47792656e-01 3.18859208e-01 4.22933649e-03 4.45609820e+01] [-3.18857257e-01 9.47802055e-01 -1.14593791e-03 -5.20883423e+00] [-4.37396667e-03 -2.62443097e-04 9.99990400e-01 -8.52185383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.656559995 meters 0.030448554600056917 Centerline is valid? [True, True] Translation: X:44.59, Y:-5.22, Z:-0.85 [[ 9.48368045e-01 3.17147367e-01 3.94950295e-03 4.45905483e+01] [-3.17145629e-01 9.48376241e-01 -1.07528763e-03 -5.21576632e+00] [-4.08663940e-03 -2.32799166e-04 9.99991623e-01 -8.52508419e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.686559995 meters 0.028886158574823014 Centerline is valid? [True, True] Translation: X:44.62, Y:-5.23, Z:-0.85 [[ 9.48715416e-01 3.16108753e-01 3.78362064e-03 4.46206910e+01] [-3.16107165e-01 9.48722935e-01 -1.02640904e-03 -5.22662732e+00] [-3.91406456e-03 -2.22259518e-04 9.99992315e-01 -8.52699480e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.716559995000004 meters 0.027704649899711675 Centerline is valid? [True, True] Translation: X:44.65, Y:-5.24, Z:-0.85 [[ 9.49115384e-01 3.14901379e-01 4.13622720e-03 4.46522071e+01] [-3.14899452e-01 9.49124369e-01 -1.12619902e-03 -5.23573727e+00] [-4.28043566e-03 -2.33602860e-04 9.99990812e-01 -8.51870566e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.746559995 meters 0.029813892974142546 Centerline is valid? [True, True] Translation: X:44.68, Y:-5.24, Z:-0.85 [[ 9.49588408e-01 3.13477652e-01 3.69006033e-03 4.46820301e+01] [-3.13476110e-01 9.49595556e-01 -1.00401201e-03 -5.24395179e+00] [-3.81880022e-03 -2.03347589e-04 9.99992688e-01 -8.54516548e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.776559995 meters 0.02916010205580189 Centerline is valid? [True, True] Translation: X:44.71, Y:-5.25, Z:-0.85 [[ 9.49945778e-01 3.12392652e-01 3.72144473e-03 4.47125962e+01] [-3.12391079e-01 9.49953046e-01 -1.01146402e-03 -5.25214303e+00] [-3.85117168e-03 -2.01710155e-04 9.99992564e-01 -8.54526734e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.806559995 meters 0.03060447988999649 Centerline is valid? [True, True] Translation: X:44.74, Y:-5.26, Z:-0.86 [[ 9.50325757e-01 3.11236064e-01 3.61498349e-03 4.47430842e+01] [-3.11234569e-01 9.50332613e-01 -9.83323086e-04 -5.26187943e+00] [-3.74148232e-03 -1.90630576e-04 9.99992982e-01 -8.55600909e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.836559995 meters 0.02529207570938127 Centerline is valid? [True, True] Translation: X:44.77, Y:-5.27, Z:-0.85 [[ 9.51192243e-01 3.08563537e-01 4.67545347e-03 4.47730487e+01] [-3.08560977e-01 9.51203707e-01 -1.27740816e-03 -5.27376826e+00] [-4.84147025e-03 -2.27601756e-04 9.99988254e-01 -8.53105716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.866559995 meters 0.024643560266036688 Centerline is valid? [True, True] Translation: X:44.80, Y:-5.28, Z:-0.85 [[ 9.51493147e-01 3.07624608e-01 5.28136184e-03 4.48038527e+01] [-3.07621340e-01 9.51507770e-01 -1.44056023e-03 -5.28106685e+00] [-5.46840860e-03 -2.53976418e-04 9.99985016e-01 -8.50999922e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.896559995000004 meters 0.025649368775190817 Centerline is valid? [True, True] Translation: X:44.83, Y:-5.29, Z:-0.85 [[ 9.51824756e-01 3.06610758e-01 4.41330164e-03 4.48340107e+01] [-3.06608464e-01 9.51834965e-01 -1.20411780e-03 -5.29192090e+00] [-4.56993029e-03 -2.07046502e-04 9.99989536e-01 -8.54395737e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.926559995000005 meters 0.02592637436621695 Centerline is valid? [True, True] Translation: X:44.86, Y:-5.30, Z:-0.86 [[ 9.51994697e-01 3.06085217e-01 4.23513292e-03 4.48648067e+01] [-3.06083095e-01 9.52004098e-01 -1.15642567e-03 -5.30101080e+00] [-4.38582869e-03 -1.95391480e-04 9.99990363e-01 -8.55248553e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.956559995 meters 0.025406256245476832 Centerline is valid? [True, True] Translation: X:44.89, Y:-5.31, Z:-0.86 [[ 9.52714770e-01 3.03841772e-01 3.83990629e-03 4.48942058e+01] [-3.03839993e-01 9.52722494e-01 -1.05280107e-03 -5.30778790e+00] [-3.97825004e-03 -1.63697965e-04 9.99992073e-01 -8.56353951e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.986559995 meters 0.02529205917826568 Centerline is valid? [True, True] Translation: X:44.93, Y:-5.32, Z:-0.86 [[ 9.53231156e-01 3.02224705e-01 3.25435061e-03 4.49250809e+01] [-3.02223430e-01 9.53236701e-01 -8.88450102e-04 -5.31750398e+00] [-3.37067801e-03 -1.36642687e-04 9.99994310e-01 -8.57733017e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.016559995 meters 0.026346781299168377 Centerline is valid? [True, True] Translation: X:44.96, Y:-5.32, Z:-0.86 [[ 9.53815311e-01 3.00373564e-01 3.47495131e-03 4.49555693e+01] [-3.00372087e-01 9.53821631e-01 -9.51681751e-04 -5.32459471e+00] [-3.60034376e-03 -1.36049751e-04 9.99993509e-01 -8.59158328e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.046559995 meters 0.023764378572746027 Centerline is valid? [True, True] Translation: X:44.99, Y:-5.34, Z:-0.86 [[ 9.54426612e-01 2.98426864e-01 3.35387284e-03 4.49850474e+01] [-2.98425481e-01 9.54432497e-01 -9.17078601e-04 -5.33749624e+00] [-3.47472612e-03 -1.25596895e-04 9.99993955e-01 -8.57871968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.076559995000004 meters 0.02412714067176944 Centerline is valid? [True, True] Translation: X:45.01, Y:-5.35, Z:-0.86 [[ 9.55723264e-01 2.94232786e-01 4.48431931e-03 4.50136964e+01] [-2.94230237e-01 9.55733774e-01 -1.23293748e-03 -5.34665506e+00] [-4.64858605e-03 -1.41075301e-04 9.99989185e-01 -8.57973052e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.106559995000005 meters 0.02294406046153006 Centerline is valid? [True, True] Translation: X:45.04, Y:-5.36, Z:-0.86 [[ 9.56382124e-01 2.92076738e-01 4.94075578e-03 4.50433426e+01] [-2.92073632e-01 9.56394875e-01 -1.35506182e-03 -5.35545220e+00] [-5.12109555e-03 -1.47107585e-04 9.99986876e-01 -8.57709564e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.136559995 meters 0.020950952493058634 Centerline is valid? [True, True] Translation: X:45.07, Y:-5.37, Z:-0.86 [[ 9.57248161e-01 2.89211086e-01 5.73629712e-03 4.50729640e+01] [-2.89206822e-01 9.57265337e-01 -1.57751700e-03 -5.36734033e+00] [-5.94739380e-03 -1.48901018e-04 9.99982303e-01 -8.56684725e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.166559995 meters 0.02028686078401593 Centerline is valid? [True, True] Translation: X:45.10, Y:-5.38, Z:-0.86 [[ 9.59343447e-01 2.82173585e-01 6.18207857e-03 4.51017838e+01] [-2.82168477e-01 9.59363359e-01 -1.70150003e-03 -5.37920751e+00] [-6.41097803e-03 -1.12064792e-04 9.99979443e-01 -8.57502150e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.196559995 meters 0.017037829368430388 Centerline is valid? [True, True] Translation: X:45.13, Y:-5.39, Z:-0.86 [[ 9.60270317e-01 2.78986005e-01 6.90853310e-03 4.51312245e+01] [-2.78979562e-01 9.60295162e-01 -1.89882598e-03 -5.38933847e+00] [-7.16397679e-03 -1.03953317e-04 9.99974333e-01 -8.56491625e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.226559995 meters 0.017275120073868087 Centerline is valid? [True, True] Translation: X:45.16, Y:-5.40, Z:-0.86 [[ 9.61267692e-01 2.75537963e-01 6.57685318e-03 4.51611076e+01] [-2.75532035e-01 9.61290188e-01 -1.80885727e-03 -5.40011723e+00] [-6.82067328e-03 -7.33376891e-05 9.99976736e-01 -8.57756585e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.256559995 meters 0.015901459792028432 Centerline is valid? [True, True] Translation: X:45.19, Y:-5.41, Z:-0.86 [[ 9.63427519e-01 2.67879059e-01 6.94448284e-03 4.51898729e+01] [-2.67872233e-01 9.63452547e-01 -1.91231652e-03 -5.41399911e+00] [-7.20294922e-03 -1.78557679e-05 9.99974058e-01 -8.57134529e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.286559995000005 meters 0.01906194211748863 Centerline is valid? [True, True] Translation: X:45.22, Y:-5.43, Z:-0.86 [[ 9.64525183e-01 2.63904968e-01 6.73345777e-03 4.52209895e+01] [-2.63898450e-01 9.64548686e-01 -1.85482566e-03 -5.42532676e+00] [-6.98424555e-03 1.20769914e-05 9.99975610e-01 -8.57806611e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.316559995 meters 0.01533710867051521 Centerline is valid? [True, True] Translation: X:45.25, Y:-5.44, Z:-0.86 [[ 9.65486257e-01 2.60335324e-01 7.86176601e-03 4.52522791e+01] [-2.60326293e-01 9.65518263e-01 -2.16905839e-03 -5.43636030e+00] [-8.15536119e-03 4.75716628e-05 9.99966743e-01 -8.55798702e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.346559995 meters 0.018038493200122716 Centerline is valid? [True, True] Translation: X:45.28, Y:-5.45, Z:-0.86 [[ 9.66521868e-01 2.56471659e-01 7.60037993e-03 4.52813835e+01] [-2.56463076e-01 9.66551748e-01 -2.09976825e-03 -5.44735445e+00] [-7.88469155e-03 8.02551199e-05 9.99968912e-01 -8.58178875e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.376559995 meters 0.02032738157367889 Centerline is valid? [True, True] Translation: X:45.31, Y:-5.46, Z:-0.86 [[ 9.67403312e-01 2.53142670e-01 7.04424871e-03 4.53118819e+01] [-2.53135200e-01 9.67428953e-01 -1.94729175e-03 -5.45800590e+00] [-7.30775278e-03 1.00669187e-04 9.99973293e-01 -8.59273174e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.406559995 meters 0.020997837478195485 Centerline is valid? [True, True] Translation: X:45.34, Y:-5.47, Z:-0.86 [[ 9.69007482e-01 2.46928064e-01 7.14366019e-03 4.53399431e+01] [-2.46920178e-01 9.69033801e-01 -1.97946150e-03 -5.47095469e+00] [-7.41123279e-03 1.54199163e-04 9.99972525e-01 -8.59736588e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.436559995 meters 0.019518900627520843 Centerline is valid? [True, True] Translation: X:45.37, Y:-5.48, Z:-0.86 [[ 9.69633013e-01 2.44453505e-01 7.36910829e-03 4.53706659e+01] [-2.44445060e-01 9.69660999e-01 -2.03956520e-03 -5.48052821e+00] [-7.64411576e-03 1.76287631e-04 9.99970768e-01 -8.58928764e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.466559995000004 meters 0.019332178075884873 Centerline is valid? [True, True] Translation: X:45.40, Y:-5.49, Z:-0.86 [[ 9.70511039e-01 2.40905561e-01 8.53431019e-03 4.54000067e+01] [-2.40894067e-01 9.70548532e-01 -2.36536550e-03 -5.49187433e+00] [-8.85279193e-03 2.39748630e-04 9.99960785e-01 -8.58125713e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.496559995 meters 0.02294851397985099 Centerline is valid? [True, True] Translation: X:45.43, Y:-5.50, Z:-0.86 [[ 9.70804036e-01 2.39734960e-01 8.16529154e-03 4.54305027e+01] [-2.39724384e-01 9.70838344e-01 -2.26471326e-03 -5.50098236e+00] [-8.47010906e-03 2.41173288e-04 9.99964099e-01 -8.60651748e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.526559995 meters 0.02124466572155497 Centerline is valid? [True, True] Translation: X:45.46, Y:-5.51, Z:-0.86 [[ 9.71078857e-01 2.38579511e-01 9.25580006e-03 4.54617052e+01] [-2.38565839e-01 9.71122924e-01 -2.57027992e-03 -5.51001985e+00] [-9.60173575e-03 2.87826777e-04 9.99953861e-01 -8.59806712e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.556559995 meters 0.018525485905207282 Centerline is valid? [True, True] Translation: X:45.49, Y:-5.52, Z:-0.86 [[ 9.70926700e-01 2.39153887e-01 1.03325478e-02 4.54913412e+01] [-2.39136844e-01 9.70981625e-01 -2.87276385e-03 -5.51819715e+00] [-1.07197467e-02 3.18350262e-04 9.99942491e-01 -8.56516826e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.586559995 meters 0.021887671740070287 Centerline is valid? [True, True] Translation: X:45.52, Y:-5.53, Z:-0.86 [[ 9.70699885e-01 2.40083390e-01 1.00845980e-02 4.55222615e+01] [-2.40067183e-01 9.70752221e-01 -2.80596905e-03 -5.52578538e+00] [-1.04633124e-02 3.02772809e-04 9.99945212e-01 -8.59872042e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.616559995 meters 0.018484958262176495 Centerline is valid? [True, True] Translation: X:45.55, Y:-5.53, Z:-0.86 [[ 9.70156070e-01 2.42220158e-01 1.12514195e-02 4.55523016e+01] [-2.42200084e-01 9.70221261e-01 -3.13434681e-03 -5.53342166e+00] [-1.16755684e-02 3.15710830e-04 9.99931788e-01 -8.57423638e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.646559995000004 meters 0.01955575134995167 Centerline is valid? [True, True] Translation: X:45.58, Y:-5.54, Z:-0.86 [[ 9.69485022e-01 2.44907892e-01 1.09048743e-02 4.55839236e+01] [-2.44889179e-01 9.69546310e-01 -3.04012824e-03 -5.53922087e+00] [-1.13173321e-02 2.76873078e-04 9.99935919e-01 -8.59465050e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.676559995000005 meters 0.019931338253464284 Centerline is valid? [True, True] Translation: X:45.61, Y:-5.55, Z:-0.86 [[ 9.68700096e-01 2.48020975e-01 1.02820376e-02 4.56144780e+01] [-2.48004486e-01 9.68754635e-01 -2.86898991e-03 -5.54727172e+00] [-1.06723412e-02 2.29199354e-04 9.99943023e-01 -8.61007690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.706559995 meters 0.016975929411249834 Centerline is valid? [True, True] Translation: X:45.65, Y:-5.55, Z:-0.86 [[ 9.67171880e-01 2.53907375e-01 1.04689679e-02 4.56463110e+01] [-2.53890573e-01 9.67228523e-01 -2.92597734e-03 -5.54924560e+00] [-1.08688115e-02 1.71950755e-04 9.99940918e-01 -8.60482303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.736559995 meters 0.01430071017284998 Centerline is valid? [True, True] Translation: X:45.68, Y:-5.56, Z:-0.86 [[ 9.66326472e-01 2.57071430e-01 1.12884516e-02 4.56784629e+01] [-2.57052126e-01 9.66392394e-01 -3.15374145e-03 -5.55503973e+00] [-1.17198106e-02 1.45823363e-04 9.99931310e-01 -8.58637326e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.766559995 meters 0.01711320657543604 Centerline is valid? [True, True] Translation: X:45.71, Y:-5.56, Z:-0.86 [[ 9.64949894e-01 2.62255547e-01 9.68143751e-03 4.57090497e+01] [-2.62241588e-01 9.64998457e-01 -2.70685656e-03 -5.56107412e+00] [-1.00524604e-02 7.31054100e-05 9.99949470e-01 -8.63472738e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.796559995 meters 0.01649270666623349 Centerline is valid? [True, True] Translation: X:45.74, Y:-5.57, Z:-0.86 [[ 9.64332317e-01 2.64505319e-01 1.00059535e-02 4.57390876e+01] [-2.64490492e-01 9.64384225e-01 -2.80115161e-03 -5.56825737e+00] [-1.03905032e-02 5.47614506e-05 9.99946016e-01 -8.63978479e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.826559995000004 meters 0.01649270666623349 Centerline is valid? [True, True] Translation: X:45.77, Y:-5.58, Z:-0.86 [[ 9.64260952e-01 2.64765363e-01 1.00059129e-02 4.57703171e+01] [-2.64750548e-01 9.64312864e-01 -2.80129783e-03 -5.57709284e+00] [-1.03905172e-02 5.21111934e-05 9.99946016e-01 -8.64616309e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.856559995000005 meters 0.016168636406836988 Centerline is valid? [True, True] Translation: X:45.80, Y:-5.58, Z:-0.86 [[ 9.63718937e-01 2.66739752e-01 9.78343560e-03 4.58020400e+01] [-2.66725665e-01 9.63768594e-01 -2.74156371e-03 -5.58439617e+00] [-1.01602520e-02 3.26034901e-05 9.99948383e-01 -8.63891817e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.886559995 meters 0.014551116421854847 Centerline is valid? [True, True] Translation: X:45.83, Y:-5.59, Z:-0.86 [[ 9.63226815e-01 2.68483006e-01 1.05346486e-02 4.58336182e+01] [-2.68466732e-01 9.63284421e-01 -2.95612989e-03 -5.59251887e+00] [-1.09415335e-02 1.92209092e-05 9.99940139e-01 -8.63244195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.916559995 meters 0.01775758394556366 Centerline is valid? [True, True] Translation: X:45.87, Y:-5.60, Z:-0.87 [[ 9.62850410e-01 2.69878373e-01 9.20603125e-03 4.58657146e+01] [-2.69865995e-01 9.62894420e-01 -2.58472039e-03 -5.60110737e+00] [-9.56199625e-03 4.30430328e-06 9.99954283e-01 -8.65767384e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.946559995 meters 0.018727507522798646 Centerline is valid? [True, True] Translation: X:45.90, Y:-5.61, Z:-0.87 [[ 9.62355480e-01 2.71656737e-01 8.63406723e-03 4.58965206e+01] [-2.71645890e-01 9.62394211e-01 -2.42767721e-03 -5.60856944e+00] [-8.96887118e-03 -9.12040347e-06 9.99959779e-01 -8.66979955e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.976559995 meters 0.014664575127732626 Centerline is valid? [True, True] Translation: X:45.93, Y:-5.62, Z:-0.87 [[ 9.61990715e-01 2.72888259e-01 1.02889184e-02 4.59266382e+01] [-2.72872901e-01 9.62045736e-01 -2.89520653e-03 -5.61651863e+00] [-1.06884780e-02 -2.24052236e-05 9.99942876e-01 -8.65182458e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.006559995 meters 0.017737243285940327 Centerline is valid? [True, True] Translation: X:45.96, Y:-5.63, Z:-0.87 [[ 9.61764708e-01 2.73723069e-01 9.18305219e-03 4.59586632e+01] [-2.73710862e-01 9.61808547e-01 -2.58523266e-03 -5.62565556e+00] [-9.53997590e-03 -2.71155996e-05 9.99954493e-01 -8.67811273e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.036559995000005 meters 0.018220301087554337 Centerline is valid? [True, True] Translation: X:45.99, Y:-5.63, Z:-0.87 [[ 9.61599827e-01 2.74298574e-01 9.27711533e-03 4.59898003e+01] [-2.74286112e-01 9.61644576e-01 -2.61482590e-03 -5.63477058e+00] [-9.63853066e-03 -3.01677587e-05 9.99953548e-01 -8.68329178e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.066559995 meters 0.016986082553819486 Centerline is valid? [True, True] Translation: X:46.02, Y:-5.64, Z:-0.87 [[ 9.61154357e-01 2.75824450e-01 1.01574911e-02 4.60201864e+01] [-2.75809559e-01 9.61208027e-01 -2.86641054e-03 -5.64382051e+00] [-1.05540881e-02 -4.64701700e-05 9.99944303e-01 -8.67782518e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.096559995 meters 0.019899563651917657 Centerline is valid? [True, True] Translation: X:46.05, Y:-5.65, Z:-0.87 [[ 9.60974935e-01 2.76474849e-01 9.42506677e-03 4.60521031e+01] [-2.76462040e-01 9.61021152e-01 -2.66180755e-03 -5.65314704e+00] [-9.79361137e-03 -4.77428488e-05 9.99952040e-01 -8.69495250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.126559995 meters 0.019170535209025497 Centerline is valid? [True, True] Translation: X:46.08, Y:-5.66, Z:-0.87 [[ 9.60762461e-01 2.77206117e-01 9.60529160e-03 4.60835739e+01] [-2.77192819e-01 9.60810473e-01 -2.71576287e-03 -5.66222924e+00] [-9.98169085e-03 -5.33148385e-05 9.99950180e-01 -8.70022334e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.156559995 meters 0.01907939798057363 Centerline is valid? [True, True] Translation: X:46.11, Y:-5.67, Z:-0.87 [[ 9.60522963e-01 2.78031287e-01 9.70774904e-03 4.61147829e+01] [-2.78017715e-01 9.60572017e-01 -2.74772761e-03 -5.67156049e+00] [-1.00889463e-02 -5.96707443e-05 9.99949104e-01 -8.70592238e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.186559995 meters 0.01802799065524884 Centerline is valid? [True, True] Translation: X:46.15, Y:-5.68, Z:-0.87 [[ 9.60261011e-01 2.78934609e-01 9.70948267e-03 4.61463872e+01] [-2.78921050e-01 9.60310096e-01 -2.75106890e-03 -5.68154044e+00] [-1.00914826e-02 -6.64348986e-05 9.99949077e-01 -8.70211481e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.216559995000004 meters 0.016116468944400296 Centerline is valid? [True, True] Translation: X:46.18, Y:-5.69, Z:-0.87 [[ 9.60043814e-01 2.79678167e-01 9.79790432e-03 4.61770216e+01] [-2.79664356e-01 9.60093807e-01 -2.78030197e-03 -5.69032688e+00] [-1.01844970e-02 -7.09128916e-05 9.99948134e-01 -8.69899995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.246559995 meters 0.0187612778548382 Centerline is valid? [True, True] Translation: X:46.21, Y:-5.70, Z:-0.87 [[ 9.59439909e-01 2.81777171e-01 8.75710667e-03 4.62073703e+01] [-2.81766221e-01 9.59479869e-01 -2.48547124e-03 -5.70012587e+00] [-9.10261662e-03 -8.27965480e-05 9.99958567e-01 -8.70954078e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.276559995 meters 0.01629531877343888 Centerline is valid? [True, True] Translation: X:46.24, Y:-5.71, Z:-0.87 [[ 9.58918014e-01 2.83515359e-01 9.76134236e-03 4.62382004e+01] [-2.83501813e-01 9.58967690e-01 -2.77358231e-03 -5.70817661e+00] [-1.01471651e-02 -1.07720214e-04 9.99948510e-01 -8.70232402e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.306559995 meters 0.018851064413824767 Centerline is valid? [True, True] Translation: X:46.27, Y:-5.72, Z:-0.87 [[ 9.58342729e-01 2.85487841e-01 8.71239338e-03 4.62693017e+01] [-2.85477112e-01 9.58382324e-01 -2.47771726e-03 -5.71602785e+00] [-9.05716197e-03 -1.12686578e-04 9.99958977e-01 -8.72356009e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.336559995 meters 0.01682806542952007 Centerline is valid? [True, True] Translation: X:46.30, Y:-5.72, Z:-0.87 [[ 9.57603804e-01 2.87931882e-01 9.49663332e-03 4.63005167e+01] [-2.87919224e-01 9.57650881e-01 -2.70371071e-03 -5.72394717e+00] [-9.87294378e-03 -1.45179631e-04 9.99951251e-01 -8.71432030e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.366559995 meters 0.015410790144985535 Centerline is valid? [True, True] Translation: X:46.33, Y:-5.73, Z:-0.87 [[ 9.56076962e-01 2.92920645e-01 1.06929378e-02 4.63318662e+01] [-2.92904868e-01 9.56136731e-01 -3.04796824e-03 -5.73005856e+00] [-1.11167234e-02 -2.17921326e-04 9.99938184e-01 -8.69106131e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.396559995000004 meters 0.018569208135981598 Centerline is valid? [True, True] Translation: X:46.36, Y:-5.74, Z:-0.87 [[ 9.55512831e-01 2.94797357e-01 9.47356178e-03 4.63629359e+01] [-2.94785049e-01 9.55559770e-01 -2.70197953e-03 -5.73919451e+00] [-9.84909094e-03 -2.10888265e-04 9.99951474e-01 -8.72759511e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.426559995000005 meters 0.021451478733449346 Centerline is valid? [True, True] Translation: X:46.39, Y:-5.75, Z:-0.87 [[ 9.54805997e-01 2.97099830e-01 8.78634641e-03 4.63938845e+01] [-2.97089322e-01 9.54846398e-01 -2.50798727e-03 -5.74702555e+00] [-9.13473382e-03 -2.15688422e-04 9.99958254e-01 -8.74631010e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.456559995 meters 0.02220005313009724 Centerline is valid? [True, True] Translation: X:46.42, Y:-5.75, Z:-0.88 [[ 9.53457379e-01 3.01401412e-01 8.73008977e-03 4.64233390e+01] [-3.01391173e-01 9.53497313e-01 -2.49698840e-03 -5.75304729e+00] [-9.07671297e-03 -2.50399985e-04 9.99958774e-01 -8.75148222e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.486559995 meters 0.018575183716580866 Centerline is valid? [True, True] Translation: X:46.45, Y:-5.76, Z:-0.87 [[ 9.52705585e-01 3.03731692e-01 9.95631003e-03 4.64540523e+01] [-3.03718526e-01 9.52757556e-01 -2.84529898e-03 -5.76264501e+00] [-1.03501571e-02 -3.13183578e-04 9.99946387e-01 -8.72549458e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.516559995 meters 0.019692882871874973 Centerline is valid? [True, True] Translation: X:46.48, Y:-5.77, Z:-0.87 [[ 9.52021057e-01 3.05857238e-01 1.03564518e-02 4.64849922e+01] [-3.05843084e-01 9.52077323e-01 -2.96283998e-03 -5.76855247e+00] [-1.07663490e-02 -3.46763119e-04 9.99941981e-01 -8.72009641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.546559995 meters 0.023622908562447736 Centerline is valid? [True, True] Translation: X:46.52, Y:-5.78, Z:-0.88 [[ 9.51207204e-01 3.08417286e-01 9.14513263e-03 4.65150435e+01] [-3.08406351e-01 9.51251107e-01 -2.61804153e-03 -5.77885474e+00] [-9.50676680e-03 -3.30117018e-04 9.99954755e-01 -8.76369312e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.576559995000004 meters 0.02012616957820297 Centerline is valid? [True, True] Translation: X:46.55, Y:-5.79, Z:-0.87 [[ 9.50663284e-01 3.10052606e-01 1.03296931e-02 4.65456055e+01] [-3.10038719e-01 9.50719323e-01 -2.96012292e-03 -5.78912828e+00] [-1.07384327e-02 -3.88524649e-04 9.99942266e-01 -8.73267826e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.606559995000005 meters 0.020441342618131242 Centerline is valid? [True, True] Translation: X:46.58, Y:-5.80, Z:-0.87 [[ 9.50328799e-01 3.11066322e-01 1.06262588e-02 4.65756885e+01] [-3.11051656e-01 9.50388119e-01 -3.04812866e-03 -5.79917716e+00] [-1.10472402e-02 -4.08590937e-04 9.99938894e-01 -8.73869564e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.636559995 meters 0.025472870748714488 Centerline is valid? [True, True] Translation: X:46.61, Y:-5.80, Z:-0.88 [[ 9.49791739e-01 3.12715744e-01 1.02233354e-02 4.66064490e+01] [-3.12702234e-01 9.49846670e-01 -2.93535346e-03 -5.80485383e+00] [-1.06285323e-02 -4.08885341e-04 9.99943432e-01 -8.76843297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.666559995 meters 0.02398852927068972 Centerline is valid? [True, True] Translation: X:46.64, Y:-5.82, Z:-0.88 [[ 9.49297697e-01 3.14231640e-01 9.61040075e-03 4.66359019e+01] [-3.14219759e-01 9.49346258e-01 -2.76135423e-03 -5.81739066e+00] [-9.99130286e-03 -3.98430603e-04 9.99950006e-01 -8.76627236e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.696559995 meters 0.021535239170294988 Centerline is valid? [True, True] Translation: X:46.67, Y:-5.83, Z:-0.87 [[ 9.48533304e-01 3.16494521e-01 1.07605288e-02 4.66670562e+01] [-3.16479732e-01 9.48594222e-01 -3.09540641e-03 -5.82618565e+00] [-1.11870546e-02 -4.69393211e-04 9.99937313e-01 -8.73097251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.726559995 meters 0.02295642000752203 Centerline is valid? [True, True] Translation: X:46.70, Y:-5.83, Z:-0.88 [[ 9.48077162e-01 3.17874279e-01 1.02780338e-02 4.66967660e+01] [-3.17860819e-01 9.48132761e-01 -2.96106931e-03 -5.83366483e+00] [-1.06861883e-02 -4.59662037e-04 9.99942795e-01 -8.75029827e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.756559995 meters 0.025661414870220042 Centerline is valid? [True, True] Translation: X:46.73, Y:-5.84, Z:-0.88 [[ 9.47280204e-01 3.20271291e-01 9.30132130e-03 4.67265846e+01] [-3.20260400e-01 9.47325765e-01 -2.67797440e-03 -5.84179459e+00] [-9.66905963e-03 -4.42052741e-04 9.99953156e-01 -8.78422276e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.786559995000005 meters 0.0277432624246081 Centerline is valid? [True, True] Translation: X:46.76, Y:-5.85, Z:-0.88 [[ 9.47005400e-01 3.21104975e-01 8.50693910e-03 4.67575318e+01] [-3.21095885e-01 9.47043519e-01 -2.45079225e-03 -5.85161251e+00] [-8.84340312e-03 -4.10629639e-04 9.99960812e-01 -8.80596050e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.816559995 meters 0.025979564694796568 Centerline is valid? [True, True] Translation: X:46.79, Y:-5.86, Z:-0.88 [[ 9.46745612e-01 3.21866031e-01 8.66053462e-03 4.67870806e+01] [-3.21856620e-01 9.46785128e-01 -2.49735359e-03 -5.86384277e+00] [-9.00347867e-03 -4.23091855e-04 9.99959378e-01 -8.80113964e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.846559995 meters 0.028381997271818938 Centerline is valid? [True, True] Translation: X:46.82, Y:-5.87, Z:-0.88 [[ 9.46546496e-01 3.22460067e-01 8.32084413e-03 4.68174784e+01] [-3.22451374e-01 9.46582980e-01 -2.40278822e-03 -5.87217811e+00] [-8.65117269e-03 -4.08716852e-04 9.99962494e-01 -8.81842794e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.876559995 meters 0.028036298862111307 Centerline is valid? [True, True] Translation: X:46.85, Y:-5.88, Z:-0.88 [[ 9.46362288e-01 3.22986388e-01 8.84377262e-03 4.68487858e+01] [-3.22976592e-01 9.46403508e-01 -2.55369551e-03 -5.88372343e+00] [-9.19458632e-03 -4.39610416e-04 9.99957632e-01 -8.81472400e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.906559995 meters 0.026951562408262426 Centerline is valid? [True, True] Translation: X:46.88, Y:-5.89, Z:-0.88 [[ 9.46396561e-01 3.22870384e-01 9.39493224e-03 4.68794683e+01] [-3.22859287e-01 9.46443079e-01 -2.71643024e-03 -5.89448531e+00] [-9.76882347e-03 -4.62420890e-04 9.99952177e-01 -8.81378546e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.936559995 meters 0.02799768822574413 Centerline is valid? [True, True] Translation: X:46.91, Y:-5.90, Z:-0.88 [[ 9.46459858e-01 3.22687866e-01 9.28861189e-03 4.69096881e+01] [-3.22676987e-01 9.46505328e-01 -2.68811904e-03 -5.90488655e+00] [-9.65914404e-03 -4.53024538e-04 9.99953247e-01 -8.82533511e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.966559995000004 meters 0.027404335638942595 Centerline is valid? [True, True] Translation: X:46.94, Y:-5.92, Z:-0.88 [[ 9.46512349e-01 3.22521673e-01 9.70278091e-03 4.69405855e+01] [-3.22509765e-01 9.46561964e-01 -2.81081023e-03 -5.91525952e+00] [-1.00908306e-02 -4.68774999e-04 9.99948976e-01 -8.82445425e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.996559995 meters 0.027485784467645977 Centerline is valid? [True, True] Translation: X:46.97, Y:-5.93, Z:-0.88 [[ 9.46682402e-01 3.22017228e-01 9.86581212e-03 4.69701365e+01] [-3.22004851e-01 9.46733693e-01 -2.86175894e-03 -5.92664727e+00] [-1.02618324e-02 -4.67662535e-04 9.99947237e-01 -8.82669929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.026559995 meters 0.027764107011655572 Centerline is valid? [True, True] Translation: X:47.00, Y:-5.94, Z:-0.88 [[ 9.46700463e-01 3.21960290e-01 9.99020095e-03 4.70008080e+01] [-3.21947590e-01 9.46753056e-01 -2.89840146e-03 -5.93731548e+00] [-1.03914234e-02 -4.72403114e-04 9.99945896e-01 -8.83722986e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.056559995 meters 0.027756734416747125 Centerline is valid? [True, True] Translation: X:47.03, Y:-5.95, Z:-0.88 [[ 9.46706995e-01 3.21971445e-01 8.95850279e-03 4.70310766e+01] [-3.21961220e-01 9.46749286e-01 -2.60046037e-03 -5.95011240e+00] [-9.31873010e-03 -4.22416467e-04 9.99956490e-01 -8.84805325e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.086559995 meters 0.026027863870406023 Centerline is valid? [True, True] Translation: X:47.06, Y:-5.96, Z:-0.88 [[ 9.46679741e-01 3.22043563e-01 9.24184158e-03 4.70613710e+01] [-3.22032652e-01 9.46724752e-01 -2.68603886e-03 -5.96220894e+00] [-9.61450170e-03 -4.33356189e-04 9.99953686e-01 -8.84792625e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.116559995 meters 0.027130900171350274 Centerline is valid? [True, True] Translation: X:47.09, Y:-5.97, Z:-0.89 [[ 9.46432426e-01 3.22776106e-01 9.01379060e-03 4.70918268e+01] [-3.22765739e-01 9.46475252e-01 -2.62212655e-03 -5.97239047e+00] [-9.37768952e-03 -4.27677189e-04 9.99955937e-01 -8.86102038e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.146559995000004 meters 0.02536420149031895 Centerline is valid? [True, True] Translation: X:47.12, Y:-5.98, Z:-0.89 [[ 9.46202929e-01 3.23438610e-01 9.35316755e-03 4.71222325e+01] [-3.23427454e-01 9.46249050e-01 -2.72354974e-03 -5.98348407e+00] [-9.73132706e-03 -4.48040419e-04 9.99952549e-01 -8.85573401e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.176559995000005 meters 0.024735971111192672 Centerline is valid? [True, True] Translation: X:47.15, Y:-5.99, Z:-0.88 [[ 9.45829864e-01 3.24491612e-01 1.05386285e-02 4.71525246e+01] [-3.24477472e-01 9.45888434e-01 -3.07250118e-03 -5.99150226e+00] [-1.09653677e-02 -5.13484170e-04 9.99939747e-01 -8.84374855e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.206559995 meters 0.023559364547031097 Centerline is valid? [True, True] Translation: X:47.18, Y:-6.00, Z:-0.88 [[ 9.45150798e-01 3.26429059e-01 1.15775405e-02 4.71827340e+01] [-3.26412098e-01 9.45221522e-01 -3.37870182e-03 -6.00294126e+00] [-1.20462469e-02 -5.85666564e-04 9.99927270e-01 -8.82303909e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.236559995 meters 0.027422038955301816 Centerline is valid? [True, True] Translation: X:47.21, Y:-6.01, Z:-0.89 [[ 9.44850474e-01 3.27334018e-01 1.04891587e-02 4.72132329e+01] [-3.27320127e-01 9.44908541e-01 -3.06339858e-03 -6.01204424e+00] [-1.09140502e-02 -5.38859153e-04 9.99940295e-01 -8.86620964e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.266559995 meters 0.026929304482291666 Centerline is valid? [True, True] Translation: X:47.24, Y:-6.02, Z:-0.89 [[ 9.44328503e-01 3.28827465e-01 1.07785691e-02 4.72438717e+01] [-3.28812858e-01 9.44389843e-01 -3.15102573e-03 -6.02132240e+00] [-1.12153150e-02 -5.68528712e-04 9.99936945e-01 -8.86468263e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.296559995 meters 0.027767538161808613 Centerline is valid? [True, True] Translation: X:47.27, Y:-6.03, Z:-0.89 [[ 9.43876971e-01 3.30116342e-01 1.09299663e-02 4.72736870e+01] [-3.30101372e-01 9.43940069e-01 -3.19854610e-03 -6.02908152e+00] [-1.13731255e-02 -5.88962866e-04 9.99935150e-01 -8.87190285e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.326559995000004 meters 0.027871908481707678 Centerline is valid? [True, True] Translation: X:47.30, Y:-6.04, Z:-0.89 [[ 9.43157858e-01 3.32152446e-01 1.13140161e-02 4.73041027e+01] [-3.32136504e-01 9.43225505e-01 -3.31492386e-03 -6.03717640e+00] [-1.17727286e-02 -6.31301272e-04 9.99930500e-01 -8.86316227e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.356559995000005 meters 0.0283168945638249 Centerline is valid? [True, True] Translation: X:47.33, Y:-6.05, Z:-0.89 [[ 9.42921904e-01 3.32840521e-01 1.07457175e-02 4.73343790e+01] [-3.32826184e-01 9.42982936e-01 -3.14851270e-03 -6.04812169e+00] [-1.11809808e-02 -6.07654555e-04 9.99937306e-01 -8.88757095e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.386559995 meters 0.03299442518781977 Centerline is valid? [True, True] Translation: X:47.37, Y:-6.05, Z:-0.89 [[ 9.42661889e-01 3.33595354e-01 1.01342795e-02 4.73654502e+01] [-3.33582617e-01 9.42716185e-01 -2.97202381e-03 -6.05349973e+00] [-1.05452027e-02 -5.79005904e-04 9.99944230e-01 -8.91516851e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.416559995 meters 0.03116894727771027 Centerline is valid? [True, True] Translation: X:47.39, Y:-6.07, Z:-0.89 [[ 9.42401236e-01 3.34333229e-01 1.00599065e-02 4.73948930e+01] [-3.34320696e-01 9.42454749e-01 -2.95254805e-03 -6.06578152e+00] [-1.04681416e-02 -5.80750019e-04 9.99945039e-01 -8.91940408e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.446559995 meters 0.031206795917828354 Centerline is valid? [True, True] Translation: X:47.43, Y:-6.08, Z:-0.89 [[ 9.41883021e-01 3.35772438e-01 1.06416317e-02 4.74251400e+01] [-3.35758469e-01 9.41942926e-01 -3.12660907e-03 -6.07538849e+00] [-1.10736388e-02 -6.28117957e-04 9.99938488e-01 -8.91530864e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.476559995 meters 0.02948801488714676 Centerline is valid? [True, True] Translation: X:47.46, Y:-6.09, Z:-0.89 [[ 9.41484862e-01 3.36856838e-01 1.15639668e-02 4.74554111e+01] [-3.36840385e-01 9.41555622e-01 -3.40073253e-03 -6.08570823e+00] [-1.20336780e-02 -6.93472827e-04 9.99927352e-01 -8.89857630e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.506559995 meters 0.03281597886860891 Centerline is valid? [True, True] Translation: X:47.49, Y:-6.09, Z:-0.89 [[ 9.40805987e-01 3.38736900e-01 1.18914947e-02 4.74859265e+01] [-3.38719608e-01 9.40880850e-01 -3.50058037e-03 -6.09280648e+00] [-1.23742554e-02 -7.34515450e-04 9.99923166e-01 -8.91933994e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.536559995000005 meters 0.03301610588840714 Centerline is valid? [True, True] Translation: X:47.52, Y:-6.10, Z:-0.89 [[ 9.40446645e-01 3.39708870e-01 1.25694492e-02 4.75165942e+01] [-3.39689593e-01 9.40530310e-01 -3.70346416e-03 -6.10131212e+00] [-1.30800476e-02 -7.86800636e-04 9.99914143e-01 -8.92270179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.566559995 meters 0.03110655520847542 Centerline is valid? [True, True] Translation: X:47.55, Y:-6.11, Z:-0.89 [[ 9.39999398e-01 3.40919873e-01 1.32201358e-02 4.75466160e+01] [-3.40898616e-01 9.40091981e-01 -3.89895500e-03 -6.11310500e+00] [-1.37573749e-02 -8.41710647e-04 9.99905009e-01 -8.91814716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.596559995 meters 0.030900013882367138 Centerline is valid? [True, True] Translation: X:47.58, Y:-6.12, Z:-0.89 [[ 9.39490673e-01 3.42297063e-01 1.37839376e-02 4.75764361e+01] [-3.42274027e-01 9.39591359e-01 -4.07044536e-03 -6.12035911e+00] [-1.43445702e-02 -8.93738379e-04 9.99896712e-01 -8.89417706e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.626559995 meters 0.03333080948189001 Centerline is valid? [True, True] Translation: X:47.61, Y:-6.13, Z:-0.89 [[ 9.39004487e-01 3.43639102e-01 1.35181891e-02 4.76063016e+01] [-3.43617077e-01 9.39101360e-01 -3.99248932e-03 -6.12771283e+00] [-1.40669253e-02 -8.96115258e-04 9.99900654e-01 -8.92319856e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.656559995 meters 0.03493814470491317 Centerline is valid? [True, True] Translation: X:47.64, Y:-6.14, Z:-0.89 [[ 9.38588214e-01 3.44794773e-01 1.29895582e-02 4.76371802e+01] [-3.44774543e-01 9.38677684e-01 -3.83661772e-03 -6.13561112e+00] [-1.35158541e-02 -8.77464816e-04 9.99908272e-01 -8.94085859e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.686559995 meters 0.03424597340284359 Centerline is valid? [True, True] Translation: X:47.67, Y:-6.15, Z:-0.89 [[ 9.38140896e-01 3.46021191e-01 1.26883521e-02 4.76679722e+01] [-3.46001988e-01 9.38226291e-01 -3.74858633e-03 -6.14609905e+00] [-1.32016359e-02 -8.73492921e-04 9.99912473e-01 -8.94961274e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.716559995000004 meters 0.034021572356544516 Centerline is valid? [True, True] Translation: X:47.70, Y:-6.16, Z:-0.90 [[ 9.37685123e-01 3.47258438e-01 1.25772724e-02 4.76984673e+01] [-3.47239668e-01 9.37769054e-01 -3.71673210e-03 -6.15629475e+00] [-1.30852434e-02 -8.82203476e-04 9.99913995e-01 -8.96181926e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.746559995 meters 0.034021572356544516 Centerline is valid? [True, True] Translation: X:47.73, Y:-6.17, Z:-0.90 [[ 9.37583601e-01 3.47532444e-01 1.25774059e-02 4.77296310e+01] [-3.47513704e-01 9.37667540e-01 -3.71628155e-03 -6.16557860e+00] [-1.30849536e-02 -8.86496257e-04 9.99913995e-01 -8.96820735e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.776559995 meters 0.03583443715916602 Centerline is valid? [True, True] Translation: X:47.76, Y:-6.17, Z:-0.90 [[ 9.36930352e-01 3.49276963e-01 1.29274583e-02 4.77607142e+01] [-3.49257268e-01 9.37019069e-01 -3.82435416e-03 -6.17065395e+00] [-1.34490338e-02 -9.31855292e-04 9.99909123e-01 -8.96824369e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.806559995 meters 0.037542378132931147 Centerline is valid? [True, True] Translation: X:47.79, Y:-6.18, Z:-0.90 [[ 9.36717215e-01 3.49845624e-01 1.29960784e-02 4.77912525e+01] [-3.49825729e-01 9.36806892e-01 -3.84803936e-03 -6.17857360e+00] [-1.35210355e-02 -9.41837886e-04 9.99908143e-01 -8.97751658e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.836559995 meters 0.03782327038260528 Centerline is valid? [True, True] Translation: X:47.82, Y:-6.19, Z:-0.90 [[ 9.36554016e-01 3.50275676e-01 1.31729111e-02 4.78226870e+01] [-3.50255236e-01 9.36646162e-01 -3.90343561e-03 -6.18819640e+00] [-1.37056352e-02 -9.58102815e-04 9.99905614e-01 -8.97642196e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.866559995 meters 0.034165388317082 Centerline is valid? [True, True] Translation: X:47.85, Y:-6.20, Z:-0.89 [[ 9.36725591e-01 3.49770909e-01 1.43344953e-02 4.78521389e+01] [-3.49746570e-01 9.36834698e-01 -4.25270250e-03 -6.20072827e+00] [-1.49165242e-02 -1.02982529e-03 9.99888212e-01 -8.94576798e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.896559995000004 meters 0.0351723448281194 Centerline is valid? [True, True] Translation: X:47.88, Y:-6.21, Z:-0.90 [[ 9.36967975e-01 3.49119798e-01 1.43659450e-02 4.78826888e+01] [-3.49095218e-01 9.37077548e-01 -4.26597001e-03 -6.21061877e+00] [-1.49513391e-02 -1.01800543e-03 9.99887704e-01 -8.97260643e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.926559995000005 meters 0.033970142580914256 Centerline is valid? [True, True] Translation: X:47.91, Y:-6.22, Z:-0.90 [[ 9.37101160e-01 3.48759415e-01 1.44321296e-02 4.79130224e+01] [-3.48734506e-01 9.37211739e-01 -4.28957757e-03 -6.22117005e+00] [-1.50219919e-02 -1.01321348e-03 9.99886650e-01 -8.97084455e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.956559995 meters 0.03942411379102296 Centerline is valid? [True, True] Translation: X:47.95, Y:-6.22, Z:-0.90 [[ 9.37211770e-01 3.48476445e-01 1.40806878e-02 4.79450995e+01] [-3.48452646e-01 9.37317025e-01 -4.18896637e-03 -6.22383004e+00] [-1.46578245e-02 -9.80504326e-04 9.99892088e-01 -8.98744278e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.986559995 meters 0.035795787284639405 Centerline is valid? [True, True] Translation: X:47.97, Y:-6.24, Z:-0.90 [[ 9.37216651e-01 3.48485835e-01 1.35119462e-02 4.79741581e+01] [-3.48463876e-01 9.37313578e-01 -4.02290137e-03 -6.23926372e+00] [-1.40668548e-02 -9.38094994e-04 9.99900617e-01 -8.98990500e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.016559995 meters 0.036784029294989924 Centerline is valid? [True, True] Translation: X:48.00, Y:-6.25, Z:-0.90 [[ 9.36959503e-01 3.49189497e-01 1.31751956e-02 4.80047432e+01] [-3.49168640e-01 9.37051677e-01 -3.92621287e-03 -6.24573903e+00] [-1.37168314e-02 -9.21662671e-04 9.99905495e-01 -8.98639175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.046559995 meters 0.03800694452167986 Centerline is valid? [True, True] Translation: X:48.03, Y:-6.25, Z:-0.90 [[ 9.36781858e-01 3.49679852e-01 1.27965836e-02 4.80346484e+01] [-3.49660181e-01 9.36868823e-01 -3.81647604e-03 -6.25307377e+00] [-1.33232650e-02 -8.99250217e-04 9.99910837e-01 -8.99504213e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.076559995000004 meters 0.03664406894373973 Centerline is valid? [True, True] Translation: X:48.06, Y:-6.26, Z:-0.90 [[ 9.36355043e-01 3.50841637e-01 1.22220990e-02 4.80648308e+01] [-3.50823757e-01 9.36434400e-01 -3.64778527e-03 -6.26337322e+00] [-1.27249889e-02 -8.72180570e-04 9.99918654e-01 -8.99287650e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.106559995000005 meters 0.03691574065311103 Centerline is valid? [True, True] Translation: X:48.10, Y:-6.27, Z:-0.90 [[ 9.36247100e-01 3.51135368e-01 1.20549095e-02 4.80967171e+01] [-3.51117962e-01 9.36324309e-01 -3.60079697e-03 -6.27236177e+00] [-1.25516720e-02 -8.61459526e-04 9.99920854e-01 -9.00041069e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.136559995 meters 0.036737335122862744 Centerline is valid? [True, True] Translation: X:48.13, Y:-6.28, Z:-0.90 [[ 9.36252168e-01 3.51135057e-01 1.16639849e-02 4.81266865e+01] [-3.51118717e-01 9.36324454e-01 -3.48767736e-03 -6.28263468e+00] [-1.21459201e-02 -8.30097926e-04 9.99925891e-01 -9.01331287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.166559995 meters 0.035774732142926195 Centerline is valid? [True, True] Translation: X:48.16, Y:-6.29, Z:-0.90 [[ 9.36231993e-01 3.51192628e-01 1.15496307e-02 4.81571114e+01] [-3.51176574e-01 9.36302871e-01 -3.45656658e-03 -6.29245849e+00] [-1.20278731e-02 -8.19811536e-04 9.99927326e-01 -9.01122709e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.196559995 meters 0.03452795739819933 Centerline is valid? [True, True] Translation: X:48.19, Y:-6.30, Z:-0.90 [[ 9.36280759e-01 3.51072981e-01 1.12294810e-02 4.81865572e+01] [-3.51057763e-01 9.36347763e-01 -3.36362567e-03 -6.30475665e+00] [-1.16955775e-02 -7.92898500e-04 9.99931290e-01 -9.01183688e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.226559995 meters 0.034093622711955276 Centerline is valid? [True, True] Translation: X:48.22, Y:-6.32, Z:-0.90 [[ 9.36417608e-01 3.50723429e-01 1.07303273e-02 4.82168755e+01] [-3.50709480e-01 9.36478784e-01 -3.21680163e-03 -6.31666131e+00] [-1.11769315e-02 -7.50957815e-04 9.99937254e-01 -9.02116015e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.256559995 meters 0.033810357978373555 Centerline is valid? [True, True] Translation: X:48.25, Y:-6.32, Z:-0.90 [[ 9.36532610e-01 3.50412876e-01 1.08391757e-02 4.82472407e+01] [-3.50398585e-01 9.36595031e-01 -3.25271080e-03 -6.32421717e+00] [-1.12917098e-02 -7.51762081e-04 9.99935964e-01 -9.01555599e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.286559995000005 meters 0.03549127243262296 Centerline is valid? [True, True] Translation: X:48.28, Y:-6.33, Z:-0.90 [[ 9.36817342e-01 3.49662232e-01 1.04686010e-02 4.82776866e+01] [-3.49648827e-01 9.36875559e-01 -3.14407849e-03 -6.33189827e+00] [-1.09071419e-02 -7.14906796e-04 9.99940260e-01 -9.03488578e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.316559995 meters 0.03384876585215279 Centerline is valid? [True, True] Translation: X:48.31, Y:-6.35, Z:-0.90 [[ 9.36941957e-01 3.49329097e-01 1.04379746e-02 4.83075147e+01] [-3.49315723e-01 9.36999831e-01 -3.13731496e-03 -6.34508543e+00] [-1.08763358e-02 -7.06666614e-04 9.99940601e-01 -9.04488592e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.346559995 meters 0.03381950894964795 Centerline is valid? [True, True] Translation: X:48.34, Y:-6.35, Z:-0.90 [[ 9.37183300e-01 3.48693648e-01 1.00100514e-02 4.83378144e+01] [-3.48681283e-01 9.37236520e-01 -3.01147417e-03 -6.35321090e+00] [-1.04318677e-02 -6.68014268e-04 9.99945363e-01 -9.04619095e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.376559995 meters 0.03204352582117247 Centerline is valid? [True, True] Translation: X:48.37, Y:-6.37, Z:-0.91 [[ 9.38277321e-01 3.45749196e-01 9.65210239e-03 4.83662236e+01] [-3.45737500e-01 9.38326768e-01 -2.90827741e-03 -6.36623138e+00] [-1.00623606e-02 -6.08323011e-04 9.99949188e-01 -9.05387015e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.406559995 meters 0.03422217954143564 Centerline is valid? [True, True] Translation: X:48.40, Y:-6.37, Z:-0.91 [[ 9.38856759e-01 3.44182287e-01 9.30269284e-03 4.83962827e+01] [-3.44171345e-01 9.38902673e-01 -2.80298043e-03 -6.37345070e+00] [-9.69905939e-03 -5.70123188e-04 9.99952800e-01 -9.06640888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.436559995 meters 0.031505574827756996 Centerline is valid? [True, True] Translation: X:48.43, Y:-6.39, Z:-0.90 [[ 9.39468225e-01 3.42503424e-01 9.53204155e-03 4.84254272e+01] [-3.42491848e-01 9.39516410e-01 -2.87230532e-03 -6.38657335e+00] [-9.93928386e-03 -5.66206946e-04 9.99950444e-01 -9.04975572e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.466559995000004 meters 0.03175079048666787 Centerline is valid? [True, True] Translation: X:48.45, Y:-6.40, Z:-0.90 [[ 9.40405722e-01 3.39910934e-01 9.88098753e-03 4.84536311e+01] [-3.39898342e-01 9.40457466e-01 -2.97842740e-03 -6.39840935e+00] [-1.03050485e-02 -5.57601110e-04 9.99946746e-01 -9.04546823e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.496559995 meters 0.03171224386742803 Centerline is valid? [True, True] Translation: X:48.48, Y:-6.41, Z:-0.90 [[ 9.40505974e-01 3.39636157e-01 9.78744204e-03 4.84845510e+01] [-3.39623798e-01 9.40556738e-01 -2.94925996e-03 -6.40903459e+00] [-1.02073199e-02 -5.50251625e-04 9.99947753e-01 -9.04967086e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.526559995 meters 0.029475661255900162 Centerline is valid? [True, True] Translation: X:48.51, Y:-6.42, Z:-0.90 [[ 9.40245439e-01 3.40363470e-01 9.55104427e-03 4.85147180e+01] [-3.40351736e-01 9.40293790e-01 -2.87817898e-03 -6.41957569e+00] [-9.96041460e-03 -5.44519834e-04 9.99950246e-01 -9.02903452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.556559995 meters 0.03288191103739198 Centerline is valid? [True, True] Translation: X:48.54, Y:-6.43, Z:-0.91 [[ 9.39148745e-01 3.43436532e-01 7.14019529e-03 4.85439258e+01] [-3.43430041e-01 9.39175790e-01 -2.15466720e-03 -6.42519454e+00] [-7.44588999e-03 -4.28604566e-04 9.99972187e-01 -9.07142332e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.586559995 meters 0.034113652793239885 Centerline is valid? [True, True] Translation: X:48.57, Y:-6.43, Z:-0.91 [[ 9.38370833e-01 3.45569930e-01 6.45008833e-03 4.85746753e+01] [-3.45564678e-01 9.38392915e-01 -1.94715181e-03 -6.43251554e+00] [-6.72559430e-03 -4.01772227e-04 9.99977302e-01 -9.08305452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.616559995 meters 0.03340938929378864 Centerline is valid? [True, True] Translation: X:48.60, Y:-6.44, Z:-0.91 [[ 9.37456853e-01 3.48030144e-01 7.04748007e-03 4.86048326e+01] [-3.48023942e-01 9.37483231e-01 -2.12769080e-03 -6.43912510e+00] [-7.34739493e-03 -4.58073467e-04 9.99972903e-01 -9.05034469e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.646559995000004 meters 0.03311927614228612 Centerline is valid? [True, True] Translation: X:48.63, Y:-6.45, Z:-0.91 [[ 9.36607044e-01 3.50327403e-01 6.16088815e-03 4.86338672e+01] [-3.50322710e-01 9.36627214e-01 -1.86034116e-03 -6.45092173e+00] [-6.42218399e-03 -4.15890398e-04 9.99979291e-01 -9.08059627e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.676559995000005 meters 0.03518972574268312 Centerline is valid? [True, True] Translation: X:48.66, Y:-6.46, Z:-0.91 [[ 9.35623615e-01 3.52938422e-01 6.55147961e-03 4.86642879e+01] [-3.52933178e-01 9.35646438e-01 -1.97848311e-03 -6.45515151e+00] [-6.82815127e-03 -4.61119000e-04 9.99976582e-01 -9.07673809e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.706559995 meters 0.041804392306242596 Centerline is valid? [True, True] Translation: X:48.70, Y:-6.45, Z:-0.91 [[ 9.33692065e-01 3.58022704e-01 6.23470732e-03 4.86954810e+01] [-3.58018061e-01 9.33712761e-01 -1.88378851e-03 -6.45416347e+00] [-6.49586484e-03 -4.73259437e-04 9.99978790e-01 -9.09051766e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.736559995 meters 0.04195894690434119 Centerline is valid? [True, True] Translation: X:48.73, Y:-6.46, Z:-0.91 [[ 9.32915901e-01 3.60045381e-01 5.93673683e-03 4.87250275e+01] [-3.60041216e-01 9.32934675e-01 -1.79300370e-03 -6.46305678e+00] [-6.18415035e-03 -4.64748287e-04 9.99980770e-01 -9.09736015e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.766559995 meters 0.03916712741592763 Centerline is valid? [True, True] Translation: X:48.75, Y:-6.48, Z:-0.91 [[ 9.32081776e-01 3.62197277e-01 6.05761258e-03 4.87538958e+01] [-3.62192982e-01 9.32101333e-01 -1.83017710e-03 -6.47530883e+00] [-6.30919392e-03 -4.88150035e-04 9.99979978e-01 -9.08953804e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.796559995 meters 0.043497594772435415 Centerline is valid? [True, True] Translation: X:48.78, Y:-6.48, Z:-0.91 [[ 9.31367069e-01 3.64032718e-01 5.96342166e-03 4.87844978e+01] [-3.64028591e-01 9.31386030e-01 -1.80208427e-03 -6.47785512e+00] [-6.21026526e-03 -4.92454043e-04 9.99980595e-01 -9.09931154e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.826559995000004 meters 0.047699226977916225 Centerline is valid? [True, True] Translation: X:48.82, Y:-6.48, Z:-0.91 [[ 9.30590363e-01 3.66004157e-01 6.52171380e-03 4.88151938e+01] [-3.65999276e-01 9.30613051e-01 -1.96971402e-03 -6.48006300e+00] [-6.79011549e-03 -5.53945642e-04 9.99976793e-01 -9.09939673e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.856559995000005 meters 0.04231812314066665 Centerline is valid? [True, True] Translation: X:48.84, Y:-6.49, Z:-0.91 [[ 9.29201801e-01 3.69496200e-01 7.52144460e-03 4.88431504e+01] [-3.69489807e-01 9.29232002e-01 -2.27338027e-03 -6.49351050e+00] [-7.82917240e-03 -6.66668080e-04 9.99969129e-01 -9.06284869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.886559995 meters 0.04509225709927127 Centerline is valid? [True, True] Translation: X:48.87, Y:-6.50, Z:-0.91 [[ 9.28685933e-01 3.70802337e-01 6.93287136e-03 4.88729500e+01] [-3.70796940e-01 9.28711601e-01 -2.09576607e-03 -6.49806243e+00] [-7.21575301e-03 -6.24379015e-04 9.99973771e-01 -9.08382522e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.916559995 meters 0.0436923019319461 Centerline is valid? [True, True] Translation: X:48.90, Y:-6.51, Z:-0.91 [[ 9.28132533e-01 3.72181667e-01 7.12798088e-03 4.89030571e+01] [-3.72176024e-01 9.28159672e-01 -2.15176496e-03 -6.50823913e+00] [-7.41675186e-03 -6.55740523e-04 9.99972281e-01 -9.08594012e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.946559995 meters 0.04853072097878511 Centerline is valid? [True, True] Translation: X:48.93, Y:-6.51, Z:-0.91 [[ 9.27617836e-01 3.73464312e-01 7.03976902e-03 4.89348855e+01] [-3.73458821e-01 9.27644317e-01 -2.12837852e-03 -6.51034626e+00] [-7.32527515e-03 -6.54741965e-04 9.99972955e-01 -9.11773528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.976559995 meters 0.04586196726021022 Centerline is valid? [True, True] Translation: X:48.96, Y:-6.52, Z:-0.91 [[ 9.27395626e-01 3.73997250e-01 7.96301295e-03 4.89647630e+01] [-3.73990244e-01 9.27429513e-01 -2.40749504e-03 -6.52093295e+00] [-8.28552974e-03 -7.45388783e-04 9.99965397e-01 -9.09525857e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.006559995 meters 0.04566433175280757 Centerline is valid? [True, True] Translation: X:49.00, Y:-6.53, Z:-0.91 [[ 9.27342623e-01 3.74124797e-01 8.14223703e-03 4.89951935e+01] [-3.74117461e-01 9.27378055e-01 -2.46362497e-03 -6.53044107e+00] [-8.47263513e-03 -7.61528599e-04 9.99963817e-01 -9.11046628e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.036559995000005 meters 0.04677088549018806 Centerline is valid? [True, True] Translation: X:49.03, Y:-6.54, Z:-0.91 [[ 9.27548292e-01 3.73588039e-01 9.28128979e-03 4.90256103e+01] [-3.73578446e-01 9.27594329e-01 -2.81172529e-03 -6.53670121e+00] [-9.65969872e-03 -8.59278828e-04 9.99952975e-01 -9.11119123e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.066559995 meters 0.04193123789261558 Centerline is valid? [True, True] Translation: X:49.05, Y:-6.55, Z:-0.91 [[ 9.27558210e-01 3.73533299e-01 1.04230832e-02 4.90548957e+01] [-3.73521165e-01 9.27616273e-01 -3.16059134e-03 -6.55136614e+00] [-1.08492077e-02 -9.61609740e-04 9.99940683e-01 -9.09185171e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.096559995 meters 0.04502234664894906 Centerline is valid? [True, True] Translation: X:49.09, Y:-6.56, Z:-0.91 [[ 9.27737614e-01 3.73071522e-01 1.09799634e-02 4.90867756e+01] [-3.73057986e-01 9.27802043e-01 -3.33280872e-03 -6.55532957e+00] [-1.14306085e-02 -1.00419101e-03 9.99934164e-01 -9.10783115e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.126559995 meters 0.04423496985001499 Centerline is valid? [True, True] Translation: X:49.12, Y:-6.56, Z:-0.91 [[ 9.27842421e-01 3.72803353e-01 1.12295398e-02 4.91180176e+01] [-3.72789122e-01 9.27909813e-01 -3.41313340e-03 -6.56486416e+00] [-1.16924278e-02 -1.01940034e-03 9.99931122e-01 -9.11342571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.156559995 meters 0.04620348539526304 Centerline is valid? [True, True] Translation: X:49.15, Y:-6.57, Z:-0.91 [[ 9.27795915e-01 3.72935008e-01 1.06873246e-02 4.91494477e+01] [-3.72922134e-01 9.27856958e-01 -3.24772407e-03 -6.57176693e+00] [-1.11274985e-02 -9.72314785e-04 9.99937615e-01 -9.13137801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.186559995 meters 0.04493898695010552 Centerline is valid? [True, True] Translation: X:49.18, Y:-6.58, Z:-0.91 [[ 9.27779827e-01 3.72889884e-01 1.33314214e-02 4.91813143e+01] [-3.72869759e-01 9.27874819e-01 -4.05750017e-03 -6.57953512e+00] [-1.38828910e-02 -1.20641710e-03 9.99902900e-01 -9.11073189e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.216559995000004 meters 0.04458588725813465 Centerline is valid? [True, True] Translation: X:49.21, Y:-6.59, Z:-0.91 [[ 9.27779670e-01 3.72837985e-01 1.47214197e-02 4.92126079e+01] [-3.72813425e-01 9.27895504e-01 -4.48146199e-03 -6.58663103e+00] [-1.53307984e-02 -1.33053357e-03 9.99881591e-01 -9.09796685e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.246559995 meters 0.04349688474345508 Centerline is valid? [True, True] Translation: X:49.24, Y:-6.60, Z:-0.91 [[ 9.27913473e-01 3.72522187e-01 1.42760942e-02 4.92437175e+01] [-3.72498990e-01 9.28022402e-01 -4.35013845e-03 -6.59659191e+00] [-1.48690584e-02 -1.28127861e-03 9.99888629e-01 -9.12020612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.276559995 meters 0.04305475450769252 Centerline is valid? [True, True] Translation: X:49.28, Y:-6.60, Z:-0.91 [[ 9.28167629e-01 3.71883663e-01 1.44011684e-02 4.92756331e+01] [-3.71859946e-01 9.28278462e-01 -4.39060713e-03 -6.60383784e+00] [-1.50010895e-02 -1.27999832e-03 9.99886658e-01 -9.14988973e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.306559995 meters 0.04290080105639372 Centerline is valid? [True, True] Translation: X:49.31, Y:-6.61, Z:-0.91 [[ 9.28621033e-01 3.70655613e-01 1.66551525e-02 4.93074016e+01] [-3.70623659e-01 9.28769238e-01 -5.07985715e-03 -6.60605034e+00] [-1.73516709e-02 -1.45553136e-03 9.99848389e-01 -9.13695608e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.336559995 meters 0.044278168752678405 Centerline is valid? [True, True] Translation: X:49.34, Y:-6.61, Z:-0.91 [[ 9.28494121e-01 3.70963145e-01 1.68823231e-02 4.93388955e+01] [-3.70930361e-01 9.28646408e-01 -5.14934409e-03 -6.61230536e+00] [-1.75879256e-02 -1.48103050e-03 9.99844224e-01 -9.14279078e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.366559995 meters 0.04378689687984764 Centerline is valid? [True, True] Translation: X:49.37, Y:-6.62, Z:-0.91 [[ 9.28302507e-01 3.71390941e-01 1.79784486e-02 4.93706550e+01] [-3.71353736e-01 9.28475240e-01 -5.48926460e-03 -6.61982734e+00] [-1.87312076e-02 -1.58066599e-03 9.99823306e-01 -9.12071208e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.396559995000004 meters 0.04378689687984764 Centerline is valid? [True, True] Translation: X:49.40, Y:-6.63, Z:-0.91 [[ 9.28198201e-01 3.71651615e-01 1.79771092e-02 4.94017797e+01] [-3.71614374e-01 9.28370926e-01 -5.49364755e-03 -6.62942951e+00] [-1.87311485e-02 -1.58135842e-03 9.99823306e-01 -9.12711700e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.426559995000005 meters 0.04378689687984764 Centerline is valid? [True, True] Translation: X:49.43, Y:-6.64, Z:-0.91 [[ 9.28093821e-01 3.71912272e-01 1.79755652e-02 4.94329017e+01] [-3.71874984e-01 9.28266536e-01 -5.49869480e-03 -6.63904013e+00] [-1.87311478e-02 -1.58135836e-03 9.99823306e-01 -9.13352329e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.456559995 meters 0.04453389753515657 Centerline is valid? [True, True] Translation: X:49.47, Y:-6.65, Z:-0.91 [[ 9.27986526e-01 3.72165947e-01 1.82624118e-02 4.94654564e+01] [-3.72127399e-01 9.28164817e-01 -5.59214223e-03 -6.64662762e+00] [-1.90317331e-02 -1.60651119e-03 9.99817589e-01 -9.13756094e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.486559995 meters 0.04453389753515657 Centerline is valid? [True, True] Translation: X:49.50, Y:-6.66, Z:-0.91 [[ 9.27882647e-01 3.72424939e-01 1.82608495e-02 4.94965731e+01] [-3.72386341e-01 9.28060927e-01 -5.59723922e-03 -6.65625797e+00] [-1.90317324e-02 -1.60650979e-03 9.99817590e-01 -9.14396718e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.516559995 meters 0.04453389753515657 Centerline is valid? [True, True] Translation: X:49.53, Y:-6.67, Z:-0.92 [[ 9.27778696e-01 3.72683901e-01 1.82592862e-02 4.95276872e+01] [-3.72645253e-01 9.27956965e-01 -5.60233449e-03 -6.66589701e+00] [-1.90317316e-02 -1.60650972e-03 9.99817590e-01 -9.15037342e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.546559995 meters 0.045349960003578674 Centerline is valid? [True, True] Translation: X:49.56, Y:-6.67, Z:-0.92 [[ 9.27731461e-01 3.72779239e-01 1.87076118e-02 4.95595616e+01] [-3.72738575e-01 9.27918607e-01 -5.74574615e-03 -6.67307349e+00] [-1.95010359e-02 -1.64253908e-03 9.99808487e-01 -9.15501360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.576559995000004 meters 0.046052383216249465 Centerline is valid? [True, True] Translation: X:49.59, Y:-6.68, Z:-0.92 [[ 9.27631308e-01 3.73030540e-01 1.86647522e-02 4.95920772e+01] [-3.72990017e-01 9.27817616e-01 -5.73751497e-03 -6.68096777e+00] [-1.94577542e-02 -1.63946770e-03 9.99809336e-01 -9.15969098e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.606559995000005 meters 0.045639419502910734 Centerline is valid? [True, True] Translation: X:49.62, Y:-6.69, Z:-0.92 [[ 9.27538641e-01 3.73276773e-01 1.83444834e-02 4.96241055e+01] [-3.73237572e-01 9.27718629e-01 -5.64450475e-03 -6.68996699e+00] [-1.91254815e-02 -1.61135420e-03 9.99815793e-01 -9.16551610e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.636559995 meters 0.045639419502910734 Centerline is valid? [True, True] Translation: X:49.66, Y:-6.70, Z:-0.92 [[ 9.27435527e-01 3.73532972e-01 1.83429222e-02 4.96552095e+01] [-3.73493721e-01 9.27615504e-01 -5.64957369e-03 -6.69964350e+00] [-1.91254811e-02 -1.61135093e-03 9.99815793e-01 -9.17192224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.666559995 meters 0.04727798724023583 Centerline is valid? [True, True] Translation: X:49.69, Y:-6.71, Z:-0.92 [[ 9.27462935e-01 3.73451017e-01 1.86237227e-02 4.96858202e+01] [-3.73410427e-01 9.27648470e-01 -5.74178671e-03 -6.70549880e+00] [-1.94205440e-02 -1.62899791e-03 9.99810076e-01 -9.18472964e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.696559995 meters 0.044610401760057844 Centerline is valid? [True, True] Translation: X:49.72, Y:-6.72, Z:-0.92 [[ 9.27334634e-01 3.73791410e-01 1.81785306e-02 4.97172914e+01] [-3.73752722e-01 9.27511425e-01 -5.60881477e-03 -6.71575394e+00] [-1.89573216e-02 -1.59302713e-03 9.99819025e-01 -9.18437996e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.726559995 meters 0.044065344297312355 Centerline is valid? [True, True] Translation: X:49.75, Y:-6.72, Z:-0.92 [[ 9.27199491e-01 3.74151967e-01 1.76468093e-02 4.97479313e+01] [-3.74115478e-01 9.27366113e-01 -5.45001339e-03 -6.72464016e+00] [-1.84041862e-02 -1.54869486e-03 9.99829429e-01 -9.19748369e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.756559995 meters 0.04509449539496497 Centerline is valid? [True, True] Translation: X:49.78, Y:-6.73, Z:-0.92 [[ 9.26943107e-01 3.74794157e-01 1.74875795e-02 4.97794530e+01] [-3.74758352e-01 9.27106768e-01 -5.40547990e-03 -6.73122195e+00] [-1.82387956e-02 -1.54304413e-03 9.99832469e-01 -9.19380621e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.786559995000005 meters 0.044710764791894744 Centerline is valid? [True, True] Translation: X:49.81, Y:-6.74, Z:-0.92 [[ 9.26386057e-01 3.76189781e-01 1.70329502e-02 4.98096897e+01] [-3.76155962e-01 9.26541376e-01 -5.26971439e-03 -6.73775550e+00] [-1.77641458e-02 -1.52525582e-03 9.99841042e-01 -9.19528326e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.816559995 meters 0.04187397690504835 Centerline is valid? [True, True] Translation: X:49.84, Y:-6.75, Z:-0.92 [[ 9.25748352e-01 3.77748953e-01 1.71964019e-02 4.98391819e+01] [-3.77714731e-01 9.25906726e-01 -5.32127204e-03 -6.74699826e+00] [-1.79323691e-02 -1.56917551e-03 9.99837971e-01 -9.19635784e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.846559995 meters 0.042449970805658765 Centerline is valid? [True, True] Translation: X:49.87, Y:-6.75, Z:-0.92 [[ 9.25266115e-01 3.78969955e-01 1.62600261e-02 4.98706722e+01] [-3.78939550e-01 9.25407750e-01 -5.03122808e-03 -6.75201412e+00] [-1.69538385e-02 -1.50634212e-03 9.99855139e-01 -9.20396979e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.876559995 meters 0.04662372385835347 Centerline is valid? [True, True] Translation: X:49.90, Y:-6.75, Z:-0.92 [[ 9.25487995e-01 3.78464632e-01 1.53783552e-02 4.99029153e+01] [-3.78437306e-01 9.25614676e-01 -4.76212279e-03 -6.75373738e+00] [-1.60367263e-02 -1.41245586e-03 9.99870406e-01 -9.24652353e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.906559995 meters 0.04471524363209935 Centerline is valid? [True, True] Translation: X:49.93, Y:-6.76, Z:-0.92 [[ 9.25331303e-01 3.78824185e-01 1.59441905e-02 4.99348443e+01] [-3.78794796e-01 9.25467495e-01 -4.94144059e-03 -6.76359317e+00] [-1.66277672e-02 -1.46710673e-03 9.99860673e-01 -9.21336657e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.936559995 meters 0.04471524363209935 Centerline is valid? [True, True] Translation: X:49.97, Y:-6.77, Z:-0.92 [[ 9.25224082e-01 3.79086039e-01 1.59427903e-02 4.99659455e+01] [-3.79056612e-01 9.25360266e-01 -4.94595363e-03 -6.77333225e+00] [-1.66277666e-02 -1.46710466e-03 9.99860673e-01 -9.21977486e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.966559995000004 meters 0.044830448434502984 Centerline is valid? [True, True] Translation: X:50.00, Y:-6.78, Z:-0.93 [[ 9.25645366e-01 3.78083895e-01 1.52717022e-02 4.99959084e+01] [-3.78056672e-01 9.25770304e-01 -4.74319609e-03 -6.78260736e+00] [-1.59314144e-02 -1.38305142e-03 9.99872130e-01 -9.26674606e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.996559995 meters 0.044830448434502984 Centerline is valid? [True, True] Translation: X:50.03, Y:-6.79, Z:-0.93 [[ 9.25537372e-01 3.78348179e-01 1.52718019e-02 5.00270033e+01] [-3.78320996e-01 9.25662319e-01 -4.74287566e-03 -6.79235536e+00] [-1.59309899e-02 -1.38793461e-03 9.99872130e-01 -9.27314560e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.026559995 meters 0.0452917821953995 Centerline is valid? [True, True] Translation: X:50.06, Y:-6.80, Z:-0.92 [[ 9.26108642e-01 3.76913357e-01 1.60967097e-02 5.00580557e+01] [-3.76882840e-01 9.26247415e-01 -5.00514740e-03 -6.79691908e+00] [-1.67960426e-02 -1.43126339e-03 9.99857912e-01 -9.24951973e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.056559995 meters 0.04399966374754595 Centerline is valid? [True, True] Translation: X:50.09, Y:-6.81, Z:-0.93 [[ 9.26745107e-01 3.75356639e-01 1.58398433e-02 5.00881836e+01] [-3.75326854e-01 9.26879436e-01 -4.92582749e-03 -6.80761417e+00] [-1.65305670e-02 -1.38013201e-03 9.99862408e-01 -9.27616567e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.086559995 meters 0.03903797125184087 Centerline is valid? [True, True] Translation: X:50.12, Y:-6.82, Z:-0.93 [[ 9.27194235e-01 3.74216892e-01 1.65096475e-02 5.01172222e+01] [-3.74184338e-01 9.27340127e-01 -5.13512532e-03 -6.82164035e+00] [-1.72317092e-02 -1.41639293e-03 9.99850520e-01 -9.27077990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.116559995 meters 0.042803839483025526 Centerline is valid? [True, True] Translation: X:50.15, Y:-6.82, Z:-0.93 [[ 9.28097911e-01 3.71965037e-01 1.66216363e-02 5.01477176e+01] [-3.71931661e-01 9.28245711e-01 -5.17114028e-03 -6.82234295e+00] [-1.73524460e-02 -1.38278830e-03 9.99848479e-01 -9.26456004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.146559995000004 meters 0.03701374692382895 Centerline is valid? [True, True] Translation: X:50.18, Y:-6.84, Z:-0.92 [[ 9.28293433e-01 3.71482311e-01 1.64983259e-02 5.01768197e+01] [-3.71449370e-01 9.28439029e-01 -5.13177914e-03 -6.83728479e+00] [-1.72240548e-02 -1.36449587e-03 9.99850724e-01 -9.24396993e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.176559995000005 meters 0.03788787601343662 Centerline is valid? [True, True] Translation: X:50.21, Y:-6.85, Z:-0.93 [[ 9.28855861e-01 3.70072461e-01 1.65276333e-02 5.02076799e+01] [-3.70039093e-01 9.29001931e-01 -5.14595728e-03 -6.84527236e+00] [-1.72585803e-02 -1.33601786e-03 9.99850167e-01 -9.28659888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.206559995 meters 0.03840985042669214 Centerline is valid? [True, True] Translation: X:50.24, Y:-6.85, Z:-0.93 [[ 9.29080085e-01 3.69508523e-01 1.65422479e-02 5.02385463e+01] [-3.69474990e-01 9.29226395e-01 -5.15150886e-03 -6.85232211e+00] [-1.72750198e-02 -1.32578258e-03 9.99849897e-01 -9.28673944e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.236559995 meters 0.03997735859713469 Centerline is valid? [True, True] Translation: X:50.27, Y:-6.86, Z:-0.93 [[ 9.29518080e-01 3.68423116e-01 1.61414436e-02 5.02686926e+01] [-3.68390942e-01 9.29657354e-01 -5.03163751e-03 -6.85881364e+00] [-1.68597834e-02 -1.26936359e-03 9.99857058e-01 -9.31003771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.266559995 meters 0.03874472767601504 Centerline is valid? [True, True] Translation: X:50.30, Y:-6.87, Z:-0.93 [[ 9.30153046e-01 3.66842540e-01 1.55518885e-02 5.02991192e+01] [-3.66812445e-01 9.30282281e-01 -4.84844393e-03 -6.86670779e+00] [-1.62462618e-02 -1.19483137e-03 9.99867307e-01 -9.31311382e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.296559995 meters 0.035970336087654854 Centerline is valid? [True, True] Translation: X:50.33, Y:-6.88, Z:-0.93 [[ 9.30622137e-01 3.65648088e-01 1.56177566e-02 5.03280979e+01] [-3.65617560e-01 9.30752431e-01 -4.86959141e-03 -6.87786436e+00] [-1.63168217e-02 -1.17837649e-03 9.99866177e-01 -9.31225416e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.326559995000004 meters 0.03733669976221442 Centerline is valid? [True, True] Translation: X:50.36, Y:-6.88, Z:-0.93 [[ 9.31429440e-01 3.63623596e-01 1.47335918e-02 5.03582130e+01] [-3.63596164e-01 9.31545340e-01 -4.59453743e-03 -6.88366700e+00] [-1.53956910e-02 -1.07759004e-03 9.99880899e-01 -9.33058869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.356559995000005 meters 0.03380172612904701 Centerline is valid? [True, True] Translation: X:50.39, Y:-6.89, Z:-0.93 [[ 9.31599955e-01 3.63167878e-01 1.51860818e-02 5.03887847e+01] [-3.63138685e-01 9.31723068e-01 -4.73503732e-03 -6.89444477e+00] [-1.58688362e-02 -1.10349323e-03 9.99873473e-01 -9.30521012e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.386559995 meters 0.03310705818639906 Centerline is valid? [True, True] Translation: X:50.42, Y:-6.90, Z:-0.93 [[ 9.32323368e-01 3.61314423e-01 1.50008387e-02 5.04196207e+01] [-3.61285622e-01 9.32443444e-01 -4.68221555e-03 -6.90194417e+00] [-1.56791857e-02 -1.05424835e-03 9.99876518e-01 -9.30512237e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.416559995 meters 0.035965112683095116 Centerline is valid? [True, True] Translation: X:50.45, Y:-6.91, Z:-0.93 [[ 9.32382147e-01 3.61158783e-01 1.50952094e-02 5.04511427e+01] [-3.61129595e-01 9.32503734e-01 -4.71186710e-03 -6.90520713e+00] [-1.57780713e-02 -1.05806609e-03 9.99874959e-01 -9.28490644e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.446559995 meters 0.03332237151882167 Centerline is valid? [True, True] Translation: X:50.48, Y:-6.92, Z:-0.93 [[ 9.32771675e-01 3.60175176e-01 1.45204619e-02 5.04802959e+01] [-3.60147998e-01 9.32884154e-01 -4.53590594e-03 -6.91824302e+00] [-1.51796295e-02 -9.98550696e-04 9.99884284e-01 -9.32522317e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.476559995 meters 0.03233887571205166 Centerline is valid? [True, True] Translation: X:50.51, Y:-6.93, Z:-0.93 [[ 9.32983122e-01 3.59628283e-01 1.44911121e-02 5.05119064e+01] [-3.59601088e-01 9.33095134e-01 -4.53073775e-03 -6.92570282e+00] [-1.51509677e-02 -9.83917834e-04 9.99884733e-01 -9.32276755e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.506559995 meters 0.034919022101032836 Centerline is valid? [True, True] Translation: X:50.54, Y:-6.93, Z:-0.93 [[ 9.32939524e-01 3.59753233e-01 1.41934984e-02 5.05432215e+01] [-3.59727102e-01 9.33046990e-01 -4.44144771e-03 -6.93166812e+00] [-1.48410261e-02 -9.62183931e-04 9.99889403e-01 -9.34792074e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.536559995000005 meters 0.03432909275173552 Centerline is valid? [True, True] Translation: X:50.57, Y:-6.94, Z:-0.94 [[ 9.32782840e-01 3.60174615e-01 1.37992802e-02 5.05738555e+01] [-3.60149903e-01 9.32884434e-01 -4.32212879e-03 -6.93993180e+00] [-1.44298547e-02 -9.38201846e-04 9.99895444e-01 -9.35429196e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.566559995 meters 0.036899280232565106 Centerline is valid? [True, True] Translation: X:50.61, Y:-6.94, Z:-0.94 [[ 9.32619840e-01 3.60605349e-01 1.35652496e-02 5.06055512e+01] [-3.60581453e-01 9.32718032e-01 -4.25312669e-03 -6.94298577e+00] [-1.41862532e-02 -9.24827091e-04 9.99898942e-01 -9.35669186e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.596559995 meters 0.032937612281551336 Centerline is valid? [True, True] Translation: X:50.64, Y:-6.95, Z:-0.93 [[ 9.32063986e-01 3.62046565e-01 1.33794778e-02 5.06366237e+01] [-3.62023434e-01 9.32159545e-01 -4.19721343e-03 -6.95278248e+00] [-1.39913947e-02 -9.31613036e-04 9.99901682e-01 -9.32428534e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.626559995 meters 0.03492635646750907 Centerline is valid? [True, True] Translation: X:50.67, Y:-6.96, Z:-0.94 [[ 9.32063722e-01 3.62069105e-01 1.27742391e-02 5.06669466e+01] [-3.62048022e-01 9.32150831e-01 -4.00724700e-03 -6.95926863e+00] [-1.33584179e-02 -8.89878459e-04 9.99910376e-01 -9.36211337e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.656559995 meters 0.03537500346964328 Centerline is valid? [True, True] Translation: X:50.70, Y:-6.97, Z:-0.94 [[ 9.31955652e-01 3.62380553e-01 1.17897330e-02 5.06977941e+01] [-3.62362589e-01 9.32029859e-01 -3.70091920e-03 -6.96700536e+00] [-1.23295244e-02 -8.23065616e-04 9.99923650e-01 -9.36657263e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.686559995 meters 0.03496997636925532 Centerline is valid? [True, True] Translation: X:50.73, Y:-6.98, Z:-0.94 [[ 9.31946282e-01 3.62416717e-01 1.14127704e-02 5.07282173e+01] [-3.62399851e-01 9.32015822e-01 -3.58551144e-03 -6.97657019e+00] [-1.19363319e-02 -7.94482243e-04 9.99928444e-01 -9.37302335e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.716559995000004 meters 0.032002869365053595 Centerline is valid? [True, True] Translation: X:50.76, Y:-6.99, Z:-0.93 [[ 9.31713683e-01 3.62987952e-01 1.22212710e-02 5.07587377e+01] [-3.62968613e-01 9.31793440e-01 -3.84322612e-03 -6.98621614e+00] [-1.27827449e-02 -8.55151416e-04 9.99917932e-01 -9.32758258e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.746559995 meters 0.03502954641044332 Centerline is valid? [True, True] Translation: X:50.79, Y:-6.99, Z:-0.94 [[ 9.31906047e-01 3.62556801e-01 1.01825936e-02 5.07895057e+01] [-3.62543327e-01 9.31961409e-01 -3.20427288e-03 -6.99186369e+00] [-1.06515152e-02 -7.05550083e-04 9.99943022e-01 -9.38674445e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.776559995 meters 0.03411624420530678 Centerline is valid? [True, True] Translation: X:50.82, Y:-7.00, Z:-0.94 [[ 9.32178532e-01 3.61879918e-01 9.27954715e-03 5.08209615e+01] [-3.61868662e-01 9.32224503e-01 -2.92353163e-03 -7.00055457e+00] [-9.70858862e-03 -6.32723888e-04 9.99952670e-01 -9.38916954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.806559995 meters 0.03431854651440752 Centerline is valid? [True, True] Translation: X:50.85, Y:-7.01, Z:-0.94 [[ 9.32228226e-01 3.61731004e-01 1.00605797e-02 5.08518047e+01] [-3.61717757e-01 9.32282261e-01 -3.17024159e-03 -7.00759480e+00] [-1.05260747e-02 -6.83701642e-04 9.99944366e-01 -9.38595233e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.836559995 meters 0.035202700233634816 Centerline is valid? [True, True] Translation: X:50.88, Y:-7.01, Z:-0.94 [[ 9.32805066e-01 3.60233527e-01 1.03206124e-02 5.08817935e+01] [-3.60219465e-01 9.32861909e-01 -3.25504301e-03 -7.01250207e+00] [-1.08002818e-02 -6.81364855e-04 9.99941443e-01 -9.38484174e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.866559995 meters 0.03234277184250916 Centerline is valid? [True, True] Translation: X:50.91, Y:-7.03, Z:-0.94 [[ 9.33218894e-01 3.59190591e-01 9.19864613e-03 5.09106958e+01] [-3.59179392e-01 9.33264036e-01 -2.89885993e-03 -7.02776137e+00] [-9.62600882e-03 -5.98693274e-04 9.99953490e-01 -9.40419307e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.896559995000004 meters 0.03234277184250916 Centerline is valid? [True, True] Translation: X:50.94, Y:-7.04, Z:-0.94 [[ 9.33114797e-01 3.59460945e-01 9.19802127e-03 5.09417041e+01] [-3.59449740e-01 9.33159938e-01 -2.90084054e-03 -7.03762506e+00] [-9.62596384e-03 -5.99409117e-04 9.99953490e-01 -9.41058835e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.926559995000005 meters 0.031093235802648996 Centerline is valid? [True, True] Translation: X:50.97, Y:-7.05, Z:-0.94 [[ 9.34025055e-01 3.57092513e-01 9.06278761e-03 5.09715619e+01] [-3.57081471e-01 9.34068853e-01 -2.86367949e-03 -7.04765621e+00] [-9.48786613e-03 -5.61405146e-04 9.99954832e-01 -9.41274260e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.956559995 meters 0.03171935002403136 Centerline is valid? [True, True] Translation: X:51.00, Y:-7.05, Z:-0.94 [[ 9.34271876e-01 3.56428413e-01 9.73900275e-03 5.10018918e+01] [-3.56415642e-01 9.34322444e-01 -3.07584900e-03 -7.05423569e+00] [-1.01956888e-02 -5.97453705e-04 9.99947844e-01 -9.41339606e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.986559995 meters 0.028328412381543676 Centerline is valid? [True, True] Translation: X:51.03, Y:-7.07, Z:-0.94 [[ 9.34913674e-01 3.54717628e-01 1.05748633e-02 5.10317436e+01] [-3.54702408e-01 9.34973270e-01 -3.34458221e-03 -7.06597316e+00] [-1.10735968e-02 -6.24033836e-04 9.99938491e-01 -9.38926300e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.016559995 meters 0.02906806713145996 Centerline is valid? [True, True] Translation: X:51.06, Y:-7.08, Z:-0.94 [[ 9.35194938e-01 3.54002697e-01 9.61868674e-03 5.10619702e+01] [-3.53990083e-01 9.35244233e-01 -3.04064147e-03 -7.07616204e+00] [-1.00722166e-02 -5.61327212e-04 9.99949116e-01 -9.41875890e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.046559995 meters 0.028412976001228198 Centerline is valid? [True, True] Translation: X:51.09, Y:-7.09, Z:-0.94 [[ 9.35361644e-01 3.53557110e-01 9.79619906e-03 5.10933856e+01] [-3.53543956e-01 9.35412772e-01 -3.10119911e-03 -7.08515506e+00] [-1.02599407e-02 -5.62644276e-04 9.99947207e-01 -9.41668919e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.076559995000004 meters 0.030736167794079155 Centerline is valid? [True, True] Translation: X:51.12, Y:-7.09, Z:-0.94 [[ 9.35633037e-01 3.52858761e-01 9.02859090e-03 5.11240940e+01] [-3.52847564e-01 9.35676457e-01 -2.85724543e-03 -7.09273720e+00] [-9.45604403e-03 -5.12383090e-04 9.99955159e-01 -9.44368009e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.106559995000005 meters 0.027738354938410675 Centerline is valid? [True, True] Translation: X:51.16, Y:-7.10, Z:-0.94 [[ 9.35521876e-01 3.53136278e-01 9.67416498e-03 5.11552346e+01] [-3.53123412e-01 9.35571733e-01 -3.06416225e-03 -7.10467635e+00] [-1.01329421e-02 -5.49583327e-04 9.99948509e-01 -9.43313544e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.136559995 meters 0.025560662203852145 Centerline is valid? [True, True] Translation: X:51.19, Y:-7.11, Z:-0.94 [[ 9.35665615e-01 3.52729549e-01 1.05698576e-02 5.11862343e+01] [-3.52714117e-01 9.35725128e-01 -3.35212011e-03 -7.11443908e+00] [-1.10728731e-02 -5.91674449e-04 9.99938519e-01 -9.40320806e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.166559995 meters 0.029586209327510927 Centerline is valid? [True, True] Translation: X:51.22, Y:-7.12, Z:-0.95 [[ 9.35616130e-01 3.52901691e-01 9.10239399e-03 5.12171268e+01] [-3.52890239e-01 9.35660268e-01 -2.88837729e-03 -7.12176845e+00] [-9.53606163e-03 -5.09733611e-04 9.99954401e-01 -9.46335819e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.196559995 meters 0.02916306542071035 Centerline is valid? [True, True] Translation: X:51.25, Y:-7.13, Z:-0.94 [[ 9.35519268e-01 3.53121896e-01 1.04223521e-02 5.12478087e+01] [-3.53106848e-01 9.35577141e-01 -3.31153401e-03 -7.12802815e+00] [-1.09202896e-02 -5.82200047e-04 9.99940202e-01 -9.42533420e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.226559995 meters 0.026585767965412004 Centerline is valid? [True, True] Translation: X:51.28, Y:-7.14, Z:-0.94 [[ 9.35307740e-01 3.53686328e-01 1.02670684e-02 5.12776072e+01] [-3.53671734e-01 9.35363912e-01 -3.26452394e-03 -7.14107808e+00] [-1.07580628e-02 -5.77837374e-04 9.99941963e-01 -9.42434898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.256559995 meters 0.02753324430811697 Centerline is valid? [True, True] Translation: X:51.31, Y:-7.15, Z:-0.94 [[ 9.35031988e-01 3.54410536e-01 1.04093321e-02 5.13082645e+01] [-3.54395545e-01 9.35089740e-01 -3.31288629e-03 -7.14887462e+00] [-1.09077815e-02 -5.91366279e-04 9.99940334e-01 -9.42621018e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.286559995000005 meters 0.0321327113434886 Centerline is valid? [True, True] Translation: X:51.34, Y:-7.16, Z:-0.95 [[ 9.34743229e-01 3.55211406e-01 8.94158709e-03 5.13390181e+01] [-3.55200366e-01 9.34785854e-01 -2.84739026e-03 -7.15527808e+00] [-9.36989462e-03 -5.14476237e-04 9.99955969e-01 -9.48046082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.316559995 meters 0.03127174687785266 Centerline is valid? [True, True] Translation: X:51.37, Y:-7.17, Z:-0.95 [[ 9.34483795e-01 3.55901135e-01 8.62668046e-03 5.13693485e+01] [-3.55890872e-01 9.34523478e-01 -2.74890743e-03 -7.16687067e+00] [-9.04017470e-03 -5.01347393e-04 9.99959011e-01 -9.48422702e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.346559995 meters 0.029486010880200923 Centerline is valid? [True, True] Translation: X:51.40, Y:-7.17, Z:-0.95 [[ 9.34234584e-01 3.56505150e-01 1.04794956e-02 5.14003823e+01] [-3.56490001e-01 9.34293157e-01 -3.34311200e-03 -7.17491109e+00] [-1.09827577e-02 -6.12584566e-04 9.99939500e-01 -9.45367324e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.376559995 meters 0.03159785953552085 Centerline is valid? [True, True] Translation: X:51.43, Y:-7.18, Z:-0.95 [[ 9.33789138e-01 3.57705566e-01 9.19643572e-03 5.14307742e+01] [-3.57693934e-01 9.33834262e-01 -2.93619065e-03 -7.18258433e+00] [-9.63823850e-03 -5.47726336e-04 9.99953401e-01 -9.48416352e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.406559995 meters 0.03243062295464929 Centerline is valid? [True, True] Translation: X:51.46, Y:-7.19, Z:-0.95 [[ 9.33507623e-01 3.58430762e-01 9.53455140e-03 5.14610205e+01] [-3.58418262e-01 9.33556137e-01 -3.04763499e-03 -7.19108100e+00] [-9.99340511e-03 -5.72366846e-04 9.99949901e-01 -9.48387549e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.436559995 meters 0.03370058606464678 Centerline is valid? [True, True] Translation: X:51.49, Y:-7.20, Z:-0.95 [[ 9.33383388e-01 3.58765352e-01 9.10346944e-03 5.14912262e+01] [-3.58753971e-01 9.33427619e-01 -2.91007492e-03 -7.20013569e+00] [-9.54146386e-03 -5.49690222e-04 9.99954328e-01 -9.49744014e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.466559995000004 meters 0.03118248785602525 Centerline is valid? [True, True] Translation: X:51.52, Y:-7.21, Z:-0.95 [[ 9.33132521e-01 3.59379646e-01 1.04865481e-02 5.15216918e+01] [-3.59364552e-01 9.33191225e-01 -3.35495120e-03 -7.21198230e+00] [-1.09916558e-02 -6.37879584e-04 9.99939386e-01 -9.46298976e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.496559995 meters 0.031447605110001865 Centerline is valid? [True, True] Translation: X:51.55, Y:-7.22, Z:-0.95 [[ 9.32993282e-01 3.59746333e-01 1.03010239e-02 5.15534912e+01] [-3.59731757e-01 9.33049935e-01 -3.29864220e-03 -7.22215425e+00] [-1.07980441e-02 -6.27994399e-04 9.99941502e-01 -9.46598323e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.526559995 meters 0.031447605110001865 Centerline is valid? [True, True] Translation: X:51.58, Y:-7.23, Z:-0.95 [[ 9.32894231e-01 3.60003141e-01 1.03001154e-02 5.15844452e+01] [-3.59988550e-01 9.32950880e-01 -3.30147540e-03 -7.23217613e+00] [-1.07980432e-02 -6.27996248e-04 9.99941502e-01 -9.47237779e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.556559995 meters 0.03574711279942509 Centerline is valid? [True, True] Translation: X:51.61, Y:-7.24, Z:-0.95 [[ 9.32728999e-01 3.60461231e-01 9.18231111e-03 5.16149153e+01] [-3.60449631e-01 9.32774027e-01 -2.94592163e-03 -7.23847147e+00] [-9.62691185e-03 -5.62014116e-04 9.99953502e-01 -9.52169586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.586559995 meters 0.03627089382811747 Centerline is valid? [True, True] Translation: X:51.65, Y:-7.25, Z:-0.95 [[ 9.32598056e-01 3.60801279e-01 9.12701225e-03 5.16451351e+01] [-3.60789815e-01 9.32642548e-01 -2.93026186e-03 -7.24840180e+00] [-9.56948219e-03 -5.60176548e-04 9.99954055e-01 -9.53182696e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.616559995 meters 0.026071593369421366 Centerline is valid? [True, True] Translation: X:51.67, Y:-7.27, Z:-0.95 [[ 9.32480857e-01 3.61045712e-01 1.12002462e-02 5.16720530e+01] [-3.61028420e-01 9.32547866e-01 -3.59965300e-03 -7.26951547e+00] [-1.17444050e-02 -6.86999684e-04 9.99930796e-01 -9.47602666e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.646559995000004 meters 0.027467288145201465 Centerline is valid? [True, True] Translation: X:51.70, Y:-7.28, Z:-0.95 [[ 9.32532483e-01 3.60915576e-01 1.10957319e-02 5.17021969e+01] [-3.60898558e-01 9.32598247e-01 -3.56934479e-03 -7.27889819e+00] [-1.16360923e-02 -6.75903703e-04 9.99932070e-01 -9.48195915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.676559995 meters 0.030586649577292273 Centerline is valid? [True, True] Translation: X:51.73, Y:-7.29, Z:-0.95 [[ 9.32557914e-01 3.60880723e-01 1.00419653e-02 5.17323003e+01] [-3.60866753e-01 9.32611781e-01 -3.23308564e-03 -7.28881637e+00] [-1.05320135e-02 -6.08771828e-04 9.99944351e-01 -9.53112138e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.706559995 meters 0.02880341309183131 Centerline is valid? [True, True] Translation: X:51.76, Y:-7.30, Z:-0.95 [[ 9.32392685e-01 3.61267238e-01 1.13957585e-02 5.17630419e+01] [-3.61249255e-01 9.32462064e-01 -3.67087473e-03 -7.29963575e+00] [-1.19522793e-02 -6.94012516e-04 9.99928328e-01 -9.50044684e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.736559995 meters 0.02880341309183131 Centerline is valid? [True, True] Translation: X:51.79, Y:-7.31, Z:-0.95 [[ 9.32289924e-01 3.61532374e-01 1.13947154e-02 5.17939782e+01] [-3.61514370e-01 9.32359298e-01 -3.67410890e-03 -7.30969818e+00] [-1.19522781e-02 -6.94018642e-04 9.99928328e-01 -9.50684129e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.766559995 meters 0.030420221741521328 Centerline is valid? [True, True] Translation: X:51.82, Y:-7.32, Z:-0.95 [[ 9.31966716e-01 3.62376716e-01 1.10070701e-02 5.18243546e+01] [-3.62359934e-01 9.32031468e-01 -3.55268016e-03 -7.32057757e+00] [-1.15463443e-02 -6.77541550e-04 9.99933109e-01 -9.54317844e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.796559995 meters 0.03242337967173748 Centerline is valid? [True, True] Translation: X:51.86, Y:-7.33, Z:-0.96 [[ 9.31751461e-01 3.62952576e-01 1.02295336e-02 5.18550459e+01] [-3.62938090e-01 9.31807397e-01 -3.30417668e-03 -7.33056803e+00] [-1.07312146e-02 -6.34015952e-04 9.99942218e-01 -9.56561695e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.826559995000004 meters 0.029930334477000352 Centerline is valid? [True, True] Translation: X:51.89, Y:-7.34, Z:-0.96 [[ 9.31528848e-01 3.63483595e-01 1.15620898e-02 5.18856659e+01] [-3.63465086e-01 9.31600321e-01 -3.73810180e-03 -7.34265261e+00] [-1.21299853e-02 -7.20266316e-04 9.99926170e-01 -9.55035027e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.856559995000005 meters 0.031120656619466114 Centerline is valid? [True, True] Translation: X:51.92, Y:-7.35, Z:-0.95 [[ 9.31118996e-01 3.64491893e-01 1.27700775e-02 5.19156015e+01] [-3.64469342e-01 9.31206213e-01 -4.13365989e-03 -7.35203693e+00] [-1.33982610e-02 -8.05372481e-04 9.99909915e-01 -9.53224361e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.886559995 meters 0.030231924203952206 Centerline is valid? [True, True] Translation: X:51.94, Y:-7.37, Z:-0.96 [[ 9.30804080e-01 3.65317752e-01 1.21121962e-02 5.19448612e+01] [-3.65297501e-01 9.30882561e-01 -3.92337530e-03 -7.36642645e+00] [-1.27083109e-02 -7.72661281e-04 9.99918948e-01 -9.56556346e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.916559995 meters 0.031519455703046616 Centerline is valid? [True, True] Translation: X:51.97, Y:-7.38, Z:-0.96 [[ 9.30404055e-01 3.66339776e-01 1.19776231e-02 5.19748732e+01] [-3.66320016e-01 9.30480826e-01 -3.88306247e-03 -7.37705043e+00] [-1.25674689e-02 -7.74826024e-04 9.99920726e-01 -9.57509503e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.946559995 meters 0.030518068612444636 Centerline is valid? [True, True] Translation: X:52.00, Y:-7.39, Z:-0.95 [[ 9.29406797e-01 3.68787959e-01 1.40871127e-02 5.20042973e+01] [-3.68760815e-01 9.29513071e-01 -4.57295967e-03 -7.38694966e+00] [-1.47806078e-02 -9.44635345e-04 9.99890315e-01 -9.54224078e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.976559995 meters 0.03712228641312531 Centerline is valid? [True, True] Translation: X:52.04, Y:-7.39, Z:-0.96 [[ 9.28964711e-01 3.69971664e-01 1.20637508e-02 5.20357016e+01] [-3.69951875e-01 9.29042671e-01 -3.91476278e-03 -7.39149986e+00] [-1.26560905e-02 -8.26330739e-04 9.99919567e-01 -9.60069868e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.006559995 meters 0.03167657420629951 Centerline is valid? [True, True] Translation: X:52.06, Y:-7.41, Z:-0.96 [[ 9.28314966e-01 3.71549891e-01 1.34908239e-02 5.20641216e+01] [-3.71525252e-01 9.28412509e-01 -4.38186256e-03 -7.40673880e+00] [-1.41531302e-02 -9.44433147e-04 9.99899393e-01 -9.56229620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.036559995000005 meters 0.03279132592635645 Centerline is valid? [True, True] Translation: X:52.09, Y:-7.42, Z:-0.96 [[ 9.27892696e-01 3.72647462e-01 1.22070951e-02 5.20940088e+01] [-3.72627351e-01 9.27972584e-01 -3.96743525e-03 -7.41888209e+00] [-1.28063043e-02 -8.67343318e-04 9.99917620e-01 -9.60950126e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.066559995 meters 0.03260528071269685 Centerline is valid? [True, True] Translation: X:52.12, Y:-7.43, Z:-0.96 [[ 9.27157186e-01 3.74454811e-01 1.27728807e-02 5.21231046e+01] [-3.74432892e-01 9.27244699e-01 -4.15658372e-03 -7.43067354e+00] [-1.34000387e-02 -9.28780192e-04 9.99909784e-01 -9.60849707e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.096559995 meters 0.03485108481972059 Centerline is valid? [True, True] Translation: X:52.15, Y:-7.44, Z:-0.96 [[ 9.26667009e-01 3.75675864e-01 1.24859726e-02 5.21530055e+01] [-3.75655041e-01 9.26750661e-01 -4.06234178e-03 -7.43888102e+00] [-1.30975071e-02 -9.25980421e-04 9.99913795e-01 -9.61516339e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.126559995 meters 0.035574205718359765 Centerline is valid? [True, True] Translation: X:52.18, Y:-7.45, Z:-0.96 [[ 9.25967292e-01 3.77364096e-01 1.34504186e-02 5.21825659e+01] [-3.77340053e-01 9.26064414e-01 -4.38002559e-03 -7.45036457e+00] [-1.41088184e-02 -1.01962124e-03 9.99899946e-01 -9.61956020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.156559995 meters 0.03444607885975376 Centerline is valid? [True, True] Translation: X:52.21, Y:-7.46, Z:-0.96 [[ 9.25658544e-01 3.78065091e-01 1.49347629e-02 5.22129175e+01] [-3.78035471e-01 9.25778315e-01 -4.86771315e-03 -7.46110804e+00] [-1.56665920e-02 -1.14002987e-03 9.99876622e-01 -9.60286350e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.186559995 meters 0.03415936886179797 Centerline is valid? [True, True] Translation: X:52.24, Y:-7.47, Z:-0.96 [[ 9.25269091e-01 3.78991211e-01 1.55811439e-02 5.22427509e+01] [-3.78959028e-01 9.25399491e-01 -5.08295718e-03 -7.47298860e+00] [-1.63451787e-02 -1.20151197e-03 9.99865687e-01 -9.58808474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.216559995000004 meters 0.03778566530549544 Centerline is valid? [True, True] Translation: X:52.27, Y:-7.48, Z:-0.96 [[ 9.25049109e-01 3.79587891e-01 1.40420758e-02 5.22719293e+01] [-3.79561761e-01 9.25155040e-01 -4.58492754e-03 -7.48200685e+00] [-1.47314801e-02 -1.08855187e-03 9.99890893e-01 -9.63805913e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.246559995 meters 0.03694158471017567 Centerline is valid? [True, True] Translation: X:52.30, Y:-7.49, Z:-0.96 [[ 9.24904388e-01 3.79893955e-01 1.52464893e-02 5.23023151e+01] [-3.79863157e-01 9.25029285e-01 -4.98032613e-03 -7.49173515e+00] [-1.59954449e-02 -1.18525408e-03 9.99871362e-01 -9.61540019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.276559995 meters 0.03331189948856564 Centerline is valid? [True, True] Translation: X:52.33, Y:-7.51, Z:-0.96 [[ 9.24762896e-01 3.80223334e-01 1.56141621e-02 5.23318450e+01] [-3.80191034e-01 9.24893905e-01 -5.10319116e-03 -7.50772354e+00] [-1.63817957e-02 -1.21712261e-03 9.99865069e-01 -9.60820506e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.306559995 meters 0.03752599308857579 Centerline is valid? [True, True] Translation: X:52.36, Y:-7.51, Z:-0.96 [[ 9.24834261e-01 3.80048593e-01 1.56415386e-02 5.23623453e+01] [-3.80016063e-01 9.24965729e-01 -5.11770311e-03 -7.51337438e+00] [-1.64128630e-02 -1.21100876e-03 9.99864567e-01 -9.61903726e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.336559995 meters 0.034139604675128235 Centerline is valid? [True, True] Translation: X:52.39, Y:-7.53, Z:-0.96 [[ 9.24985603e-01 3.79676444e-01 1.57299759e-02 5.23909682e+01] [-3.79643456e-01 9.25118552e-01 -5.14882922e-03 -7.52884738e+00] [-1.65069817e-02 -1.20918951e-03 9.99863019e-01 -9.62309038e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.366559995 meters 0.0392784086740873 Centerline is valid? [True, True] Translation: X:52.42, Y:-7.54, Z:-0.97 [[ 9.25540194e-01 3.78337661e-01 1.53611107e-02 5.24208782e+01] [-3.78305938e-01 9.25666941e-01 -5.03311005e-03 -7.53515398e+00] [-1.61234874e-02 -1.15285373e-03 9.99869344e-01 -9.65009240e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.396559995000004 meters 0.03348011483652685 Centerline is valid? [True, True] Translation: X:52.45, Y:-7.55, Z:-0.96 [[ 9.25673618e-01 3.77979360e-01 1.61231612e-02 5.24487797e+01] [-3.77944363e-01 9.25813239e-01 -5.28247987e-03 -7.55341402e+00] [-1.69237045e-02 -1.20380564e-03 9.99856059e-01 -9.63444714e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.426559995 meters 0.036550048057261184 Centerline is valid? [True, True] Translation: X:52.48, Y:-7.56, Z:-0.97 [[ 9.25954756e-01 3.77368058e-01 1.41823024e-02 5.24788408e+01] [-3.77340858e-01 9.26062770e-01 -4.64992539e-03 -7.56438375e+00] [-1.48884355e-02 -1.04594162e-03 9.99888614e-01 -9.68386509e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.456559995 meters 0.035348136931736204 Centerline is valid? [True, True] Translation: X:52.51, Y:-7.58, Z:-0.97 [[ 9.26232779e-01 3.76659101e-01 1.48580449e-02 5.25089947e+01] [-3.76629078e-01 9.26351314e-01 -4.87651162e-03 -7.57746776e+00] [-1.56005519e-02 -1.07918686e-03 9.99877722e-01 -9.67841928e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.486559995 meters 0.03652053866172546 Centerline is valid? [True, True] Translation: X:52.54, Y:-7.59, Z:-0.97 [[ 9.26223395e-01 3.76686911e-01 1.47374633e-02 5.25389352e+01] [-3.76657364e-01 9.26340016e-01 -4.83776259e-03 -7.58740369e+00] [-1.54742239e-02 -1.07012520e-03 9.99879694e-01 -9.68859205e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.516559995 meters 0.03659901150477754 Centerline is valid? [True, True] Translation: X:52.57, Y:-7.60, Z:-0.97 [[ 9.26084859e-01 3.76996595e-01 1.55048498e-02 5.25688209e+01] [-3.76963869e-01 9.26213958e-01 -5.09371799e-03 -7.59819597e+00] [-1.62811226e-02 -1.12755304e-03 9.99866818e-01 -9.68328029e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.546559995 meters 0.03334388705464943 Centerline is valid? [True, True] Translation: X:52.60, Y:-7.61, Z:-0.97 [[ 9.25841022e-01 3.77562418e-01 1.62795196e-02 5.25977391e+01] [-3.77526341e-01 9.25983372e-01 -5.35322921e-03 -7.61227602e+00] [-1.70957426e-02 -1.18970826e-03 9.99853149e-01 -9.66565752e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.576559995000004 meters 0.034030008296128234 Centerline is valid? [True, True] Translation: X:52.63, Y:-7.63, Z:-0.97 [[ 9.25812456e-01 3.77697047e-01 1.47050225e-02 5.26276435e+01] [-3.77667575e-01 9.25928608e-01 -4.83888327e-03 -7.62573831e+00] [-1.54434330e-02 -1.07371180e-03 9.99880167e-01 -9.71022369e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.606559995000005 meters 0.034188701629483 Centerline is valid? [True, True] Translation: X:52.66, Y:-7.63, Z:-0.97 [[ 9.25596058e-01 3.78161981e-01 1.62927363e-02 5.26580093e+01] [-3.78125770e-01 9.25738674e-01 -5.36737793e-03 -7.63432558e+00] [-1.71125543e-02 -1.19267959e-03 9.99852858e-01 -9.68048094e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.636559995 meters 0.03495220342241472 Centerline is valid? [True, True] Translation: X:52.69, Y:-7.64, Z:-0.97 [[ 9.25498383e-01 3.78411184e-01 1.60536482e-02 5.26892110e+01] [-3.78375998e-01 9.25636858e-01 -5.29256246e-03 -7.64491681e+00] [-1.68626133e-02 -1.17605717e-03 9.99857124e-01 -9.68650528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.666559995 meters 0.030708305953240658 Centerline is valid? [True, True] Translation: X:52.72, Y:-7.66, Z:-0.97 [[ 9.25491439e-01 3.78392757e-01 1.68676800e-02 5.27171366e+01] [-3.78353810e-01 9.25644321e-01 -5.56654905e-03 -7.66250960e+00] [-1.77198141e-02 -1.23015752e-03 9.99842235e-01 -9.68672361e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.696559995 meters 0.030708305953240658 Centerline is valid? [True, True] Translation: X:52.75, Y:-7.67, Z:-0.97 [[ 9.25379906e-01 3.78665498e-01 1.68662673e-02 5.27480132e+01] [-3.78626518e-01 9.25532779e-01 -5.57082613e-03 -7.67277840e+00] [-1.77197629e-02 -1.23088550e-03 9.99842235e-01 -9.69312131e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.726559995 meters 0.03303459778933793 Centerline is valid? [True, True] Translation: X:52.78, Y:-7.68, Z:-0.97 [[ 9.25206917e-01 3.79090025e-01 1.68200509e-02 5.27782269e+01] [-3.79051229e-01 9.25358979e-01 -5.56115890e-03 -7.68075880e+00] [-1.76727650e-02 -1.23043831e-03 9.99843067e-01 -9.69505775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.756559995 meters 0.03242067155706152 Centerline is valid? [True, True] Translation: X:52.81, Y:-7.69, Z:-0.97 [[ 9.24852105e-01 3.79936098e-01 1.72378994e-02 5.28074800e+01] [-3.79895413e-01 9.25011859e-01 -5.70397045e-03 -7.69317967e+00] [-1.81124057e-02 -1.27326984e-03 9.99835146e-01 -9.69969488e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.786559995000005 meters 0.032669347343057424 Centerline is valid? [True, True] Translation: X:52.84, Y:-7.70, Z:-0.97 [[ 9.24652056e-01 3.80426558e-01 1.71525358e-02 5.28375638e+01] [-3.80386278e-01 9.24810259e-01 -5.68016579e-03 -7.70368053e+00] [-1.80237270e-02 -1.27241227e-03 9.99836750e-01 -9.70829334e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.816559995 meters 0.03350409759942443 Centerline is valid? [True, True] Translation: X:52.87, Y:-7.71, Z:-0.97 [[ 9.24604685e-01 3.80549701e-01 1.69735483e-02 5.28679860e+01] [-3.80510191e-01 9.24759615e-01 -5.62574945e-03 -7.71377519e+00] [-1.78373292e-02 -1.25701380e-03 9.99840112e-01 -9.71513522e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.846559995 meters 0.03386140116398483 Centerline is valid? [True, True] Translation: X:52.90, Y:-7.73, Z:-0.97 [[ 9.24718665e-01 3.80273896e-01 1.69456466e-02 5.28974291e+01] [-3.80234413e-01 9.24873078e-01 -5.61975377e-03 -7.72604783e+00] [-1.78096180e-02 -1.24662678e-03 9.99840619e-01 -9.72387698e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.876559995 meters 0.03207583976022612 Centerline is valid? [True, True] Translation: X:52.93, Y:-7.74, Z:-0.97 [[ 9.24856019e-01 3.79936629e-01 1.70147682e-02 5.29268269e+01] [-3.79896681e-01 9.25011685e-01 -5.64740789e-03 -7.73988592e+00] [-1.78845165e-02 -1.24081479e-03 9.99839289e-01 -9.72873468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.906559995 meters 0.033066302549067804 Centerline is valid? [True, True] Translation: X:52.96, Y:-7.75, Z:-0.97 [[ 9.25094182e-01 3.79332812e-01 1.75320168e-02 5.29563604e+01] [-3.79290197e-01 9.25259437e-01 -5.82418998e-03 -7.75155060e+00] [-1.84309703e-02 -1.26179782e-03 9.99829339e-01 -9.72854123e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.936559995 meters 0.034356911980805566 Centerline is valid? [True, True] Translation: X:52.99, Y:-7.76, Z:-0.98 [[ 9.25286813e-01 3.78902023e-01 1.66604431e-02 5.29870874e+01] [-3.78863387e-01 9.25436032e-01 -5.53939877e-03 -7.76241390e+00] [-1.75170638e-02 -1.18649928e-03 9.99845860e-01 -9.75672238e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.966559995000004 meters 0.034216212589725015 Centerline is valid? [True, True] Translation: X:53.02, Y:-7.77, Z:-0.97 [[ 9.24849698e-01 3.79899300e-01 1.81537077e-02 5.30173611e+01] [-3.79853582e-01 9.25026919e-01 -6.03777085e-03 -7.77283595e+00] [-1.90864132e-02 -1.31172034e-03 9.99816977e-01 -9.73492871e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.996559995 meters 0.03617259886434772 Centerline is valid? [True, True] Translation: X:53.05, Y:-7.78, Z:-0.98 [[ 9.24612616e-01 3.80487314e-01 1.79140521e-02 5.30468500e+01] [-3.80442814e-01 9.24785223e-01 -5.96292916e-03 -7.78173691e+00] [-1.88354695e-02 -1.30187284e-03 9.99821749e-01 -9.75015401e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.026559995 meters 0.037218754441048794 Centerline is valid? [True, True] Translation: X:53.08, Y:-7.79, Z:-0.98 [[ 9.24408358e-01 3.81010019e-01 1.73364387e-02 5.30777251e+01] [-3.80968357e-01 9.24570042e-01 -5.77487557e-03 -7.79176973e+00] [-1.82290373e-02 -1.26629134e-03 9.99833035e-01 -9.76608774e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.056559995 meters 0.03619144320278361 Centerline is valid? [True, True] Translation: X:53.11, Y:-7.80, Z:-0.98 [[ 9.24143707e-01 3.81624183e-01 1.79274181e-02 5.31076271e+01] [-3.81579653e-01 9.24316638e-01 -5.97672193e-03 -7.80374067e+00] [-1.88514725e-02 -1.31738803e-03 9.99821427e-01 -9.75883463e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.086559995 meters 0.0317380100144072 Centerline is valid? [True, True] Translation: X:53.14, Y:-7.82, Z:-0.98 [[ 9.24050751e-01 3.81854790e-01 1.78081062e-02 5.31363042e+01] [-3.81810804e-01 9.24221405e-01 -5.94168451e-03 -7.82127579e+00] [-1.87274936e-02 -1.30890932e-03 9.99823768e-01 -9.77196706e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.116559995 meters 0.033684354562541846 Centerline is valid? [True, True] Translation: X:53.17, Y:-7.83, Z:-0.98 [[ 9.23846682e-01 3.82337229e-01 1.80430620e-02 5.31654649e+01] [-3.82292051e-01 9.24021901e-01 -6.02613563e-03 -7.83083882e+00] [-1.89762005e-02 -1.33049378e-03 9.99819050e-01 -9.76972434e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.146559995000004 meters 0.03284381425279309 Centerline is valid? [True, True] Translation: X:53.19, Y:-7.84, Z:-0.98 [[ 9.23934256e-01 3.82169048e-01 1.70970585e-02 5.31948993e+01] [-3.82128418e-01 9.24091577e-01 -5.71224710e-03 -7.84350497e+00] [-1.79822918e-02 -1.25553115e-03 9.99837517e-01 -9.78745141e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.176559995 meters 0.03596944663587261 Centerline is valid? [True, True] Translation: X:53.23, Y:-7.85, Z:-0.98 [[ 9.23748330e-01 3.82588185e-01 1.77567531e-02 5.32258398e+01] [-3.82544339e-01 9.23918054e-01 -5.93788247e-03 -7.84992827e+00] [-1.86775485e-02 -1.30763636e-03 9.99824704e-01 -9.78154592e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.206559995 meters 0.03374618388988754 Centerline is valid? [True, True] Translation: X:53.25, Y:-7.86, Z:-0.98 [[ 9.23773102e-01 3.82513047e-01 1.80838427e-02 5.32546657e+01] [-3.82467464e-01 9.23949139e-01 -6.05203797e-03 -7.86376988e+00] [-1.90235344e-02 -1.32577159e-03 9.99818157e-01 -9.78509232e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.236559995 meters 0.033872614142833005 Centerline is valid? [True, True] Translation: X:53.28, Y:-7.88, Z:-0.98 [[ 9.23885570e-01 3.82245935e-01 1.79860851e-02 5.32841421e+01] [-3.82200700e-01 9.24059702e-01 -6.02428232e-03 -7.87595431e+00] [-1.89229739e-02 -1.30854681e-03 9.99820088e-01 -9.78974506e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.266559995 meters 0.03311745705922853 Centerline is valid? [True, True] Translation: X:53.31, Y:-7.89, Z:-0.98 [[ 9.23705177e-01 3.82674621e-01 1.81350483e-02 5.33136428e+01] [-3.82628620e-01 9.23882234e-01 -6.07922339e-03 -7.88859999e+00] [-1.90810135e-02 -1.32357839e-03 9.99817065e-01 -9.79485822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.296559995 meters 0.03609737533661891 Centerline is valid? [True, True] Translation: X:53.34, Y:-7.90, Z:-0.98 [[ 9.23702717e-01 3.82741004e-01 1.68111397e-02 5.33440947e+01] [-3.82701408e-01 9.23854872e-01 -5.63976856e-03 -7.89712952e+00] [-1.76896240e-02 -1.22417730e-03 9.99842777e-01 -9.80726447e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.326559995000004 meters 0.03334730678078488 Centerline is valid? [True, True] Translation: X:53.37, Y:-7.91, Z:-0.98 [[ 9.23901377e-01 3.82341811e-01 1.48655835e-02 5.33720921e+01] [-3.82310749e-01 9.24020340e-01 -4.99024972e-03 -7.91327160e+00] [-1.56440826e-02 -1.07277378e-03 9.99877048e-01 -9.83964918e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.356559995000005 meters 0.03222690188938665 Centerline is valid? [True, True] Translation: X:53.40, Y:-7.92, Z:-0.98 [[ 9.23672983e-01 3.82838337e-01 1.62181071e-02 5.34019566e+01] [-3.82801356e-01 9.23814606e-01 -5.44932317e-03 -7.92444313e+00] [-1.70687340e-02 -1.17492079e-03 9.99853628e-01 -9.82502938e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.386559995 meters 0.03467686365663344 Centerline is valid? [True, True] Translation: X:53.43, Y:-7.93, Z:-0.99 [[ 9.24118288e-01 3.81826891e-01 1.46155693e-02 5.34310346e+01] [-3.81796668e-01 9.24233275e-01 -4.91493412e-03 -7.93480026e+00] [-1.53848495e-02 -1.03819516e-03 9.99881107e-01 -9.85911737e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.416559995 meters 0.03467686365663344 Centerline is valid? [True, True] Translation: X:53.46, Y:-7.95, Z:-0.99 [[ 9.24010371e-01 3.82087993e-01 1.46150493e-02 5.34618388e+01] [-3.82057778e-01 9.24125361e-01 -4.91648004e-03 -7.94525017e+00] [-1.53846657e-02 -1.04091471e-03 9.99881107e-01 -9.86550996e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.446559995 meters 0.033195297219274306 Centerline is valid? [True, True] Translation: X:53.49, Y:-7.96, Z:-0.98 [[ 9.23894285e-01 3.82327830e-01 1.56454642e-02 5.34925343e+01] [-3.82293151e-01 9.24026076e-01 -5.26844185e-03 -7.95805974e+00] [-1.64710889e-02 -1.11367051e-03 9.99863722e-01 -9.84764659e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.476559995 meters 0.035502753599851014 Centerline is valid? [True, True] Translation: X:53.52, Y:-7.97, Z:-0.99 [[ 9.24309341e-01 3.81378132e-01 1.42464874e-02 5.35216828e+01] [-3.81349196e-01 9.24418591e-01 -4.80201611e-03 -7.96899556e+00] [-1.50011018e-02 -9.94338164e-04 9.99886983e-01 -9.87174369e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.506559995 meters 0.03389097180639679 Centerline is valid? [True, True] Translation: X:53.55, Y:-7.98, Z:-0.99 [[ 9.24083490e-01 3.81897674e-01 1.49622745e-02 5.35515547e+01] [-3.81865792e-01 9.24204015e-01 -5.04536291e-03 -7.98194488e+00] [-1.57550065e-02 -1.05124424e-03 9.99875330e-01 -9.85440968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.536559995000005 meters 0.03474252747000115 Centerline is valid? [True, True] Translation: X:53.58, Y:-7.99, Z:-0.99 [[ 9.23957746e-01 3.82203286e-01 1.49242290e-02 5.35830543e+01] [-3.82171544e-01 9.24077673e-01 -5.03645784e-03 -7.99296369e+00] [-1.57160976e-02 -1.05014141e-03 9.99875943e-01 -9.85950934e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.566559995 meters 0.029490363635357574 Centerline is valid? [True, True] Translation: X:53.61, Y:-8.01, Z:-0.99 [[ 9.23766125e-01 3.82665702e-01 1.49367719e-02 5.36110971e+01] [-3.82633892e-01 9.23886275e-01 -5.04540635e-03 -8.01112490e+00] [-1.57305825e-02 -1.05453970e-03 9.99875711e-01 -9.85668541e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.596559995 meters 0.0306918030504698 Centerline is valid? [True, True] Translation: X:53.64, Y:-8.02, Z:-0.99 [[ 9.23367204e-01 3.83634893e-01 1.47402630e-02 5.36405937e+01] [-3.83603964e-01 9.23484251e-01 -4.98373934e-03 -8.02112194e+00] [-1.55243370e-02 -1.05260184e-03 9.99878936e-01 -9.86290152e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.626559995 meters 0.03181959109650665 Centerline is valid? [True, True] Translation: X:53.67, Y:-8.03, Z:-0.99 [[ 9.23066429e-01 3.84365975e-01 1.45315411e-02 5.36699456e+01] [-3.84335981e-01 9.23180209e-01 -4.91481142e-03 -8.03027250e+00] [-1.53043174e-02 -1.04829667e-03 9.99882333e-01 -9.87188974e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.656559995 meters 0.03223878352337159 Centerline is valid? [True, True] Translation: X:53.70, Y:-8.04, Z:-0.99 [[ 9.22858768e-01 3.84871218e-01 1.43470980e-02 5.36999289e+01] [-3.84841987e-01 9.22969698e-01 -4.85603980e-03 -8.04065583e+00] [-1.51108867e-02 -1.03992680e-03 9.99885283e-01 -9.88078332e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.686559995 meters 0.03408951189540333 Centerline is valid? [True, True] Translation: X:53.73, Y:-8.05, Z:-0.99 [[ 9.22657416e-01 3.85359703e-01 1.41841846e-02 5.37295210e+01] [-3.85331129e-01 9.22765861e-01 -4.80491698e-03 -8.05039819e+00] [-1.49403027e-02 -1.03231559e-03 9.99887855e-01 -9.88863540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.716559995000004 meters 0.0325555594543391 Centerline is valid? [True, True] Translation: X:53.76, Y:-8.06, Z:-0.99 [[ 9.22622784e-01 3.85450694e-01 1.39628352e-02 5.37589552e+01] [-3.85422965e-01 9.22727876e-01 -4.73337155e-03 -8.06380231e+00] [-1.47083786e-02 -1.01448090e-03 9.99891311e-01 -9.89125114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.746559995 meters 0.034992178586427815 Centerline is valid? [True, True] Translation: X:53.79, Y:-8.07, Z:-0.99 [[ 9.22524821e-01 3.85682780e-01 1.40267035e-02 5.37898276e+01] [-3.85654766e-01 9.22630887e-01 -4.75889220e-03 -8.07215995e+00] [-1.47768927e-02 -1.01926888e-03 9.99890296e-01 -9.90042800e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.776559995 meters 0.03532943678440593 Centerline is valid? [True, True] Translation: X:53.82, Y:-8.08, Z:-0.99 [[ 9.22488818e-01 3.85773738e-01 1.38925654e-02 5.38201395e+01] [-3.85746206e-01 9.22592873e-01 -4.71759729e-03 -8.08334533e+00] [-1.46371070e-02 -1.00707364e-03 9.99892365e-01 -9.90488923e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.806559995 meters 0.035930705595326996 Centerline is valid? [True, True] Translation: X:53.85, Y:-8.10, Z:-0.99 [[ 9.22415979e-01 3.85953106e-01 1.37463099e-02 5.38508836e+01] [-3.85926120e-01 9.22517863e-01 -4.67143571e-03 -8.09541911e+00] [-1.44841716e-02 -9.96053096e-04 9.99894603e-01 -9.90899573e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.836559995 meters 0.039040583459360456 Centerline is valid? [True, True] Translation: X:53.88, Y:-8.11, Z:-1.00 [[ 9.22582193e-01 3.85586570e-01 1.28488923e-02 5.38807229e+01] [-3.85562903e-01 9.22671202e-01 -4.37041028e-03 -8.10514367e+00] [-1.35404744e-02 -9.21993510e-04 9.99907898e-01 -9.95349235e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.866559995 meters 0.03531126332431257 Centerline is valid? [True, True] Translation: X:53.91, Y:-8.12, Z:-0.99 [[ 9.22605196e-01 3.85507443e-01 1.35522177e-02 5.39092644e+01] [-3.85481056e-01 9.22704218e-01 -4.61315942e-03 -8.12015779e+00] [-1.42830958e-02 -9.67998355e-04 9.99897523e-01 -9.92217053e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.896559995000004 meters 0.035736635679490196 Centerline is valid? [True, True] Translation: X:53.94, Y:-8.13, Z:-1.00 [[ 9.22762076e-01 3.85154271e-01 1.28972217e-02 5.39390865e+01] [-3.85130295e-01 9.22851751e-01 -4.39343521e-03 -8.13221790e+00] [-1.35943739e-02 -9.13015391e-04 9.99907175e-01 -9.95796132e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.926559995 meters 0.037764211685386524 Centerline is valid? [True, True] Translation: X:53.97, Y:-8.14, Z:-1.00 [[ 9.22398933e-01 3.86042507e-01 1.23040918e-02 5.39691941e+01] [-3.86020723e-01 9.22480573e-01 -4.19451791e-03 -8.14256439e+00] [-1.29695479e-02 -8.80615579e-04 9.99915504e-01 -9.98087178e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.956559995 meters 0.03555658134952201 Centerline is valid? [True, True] Translation: X:54.00, Y:-8.15, Z:-1.00 [[ 9.22039463e-01 3.86887825e-01 1.26901170e-02 5.39995214e+01] [-3.86864684e-01 9.22126331e-01 -4.32970207e-03 -8.15366849e+00] [-1.33770000e-02 -9.17201927e-04 9.99910103e-01 -9.95190640e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.986559995 meters 0.0364956035863717 Centerline is valid? [True, True] Translation: X:54.03, Y:-8.16, Z:-1.00 [[ 9.21780525e-01 3.87510623e-01 1.24972194e-02 5.40298842e+01] [-3.87488193e-01 9.21864790e-01 -4.26721157e-03 -8.16319620e+00] [-1.31743364e-02 -9.09092456e-04 9.99912801e-01 -9.96132221e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.016559995 meters 0.03763535021779959 Centerline is valid? [True, True] Translation: X:54.06, Y:-8.17, Z:-1.00 [[ 9.21360540e-01 3.88515242e-01 1.22744602e-02 5.40607701e+01] [-3.88493653e-01 9.21441853e-01 -4.19437437e-03 -8.17279716e+00] [-1.29397797e-02 -9.04018834e-04 9.99915869e-01 -9.97136109e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.046559995 meters 0.03430387247992037 Centerline is valid? [True, True] Translation: X:54.09, Y:-8.19, Z:-1.00 [[ 9.21025108e-01 3.89312862e-01 1.21756126e-02 5.40896233e+01] [-3.89291647e-01 9.21105139e-01 -4.16374316e-03 -8.18751419e+00] [-1.28360181e-02 -9.04952286e-04 9.99917205e-01 -9.97520592e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.076559995000004 meters 0.03790464577015038 Centerline is valid? [True, True] Translation: X:54.12, Y:-8.19, Z:-1.00 [[ 9.20530603e-01 3.90475284e-01 1.23475614e-02 5.41196869e+01] [-3.90453513e-01 9.20612941e-01 -4.22690669e-03 -8.19406435e+00] [-1.30178274e-02 -9.30151772e-04 9.99914832e-01 -9.98311254e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.106559995000005 meters 0.03272577135996647 Centerline is valid? [True, True] Translation: X:54.15, Y:-8.21, Z:-1.00 [[ 9.20261388e-01 3.91110478e-01 1.23114439e-02 5.41478514e+01] [-3.91088880e-01 9.20343261e-01 -4.21531731e-03 -8.21153949e+00] [-1.29794092e-02 -9.35675040e-04 9.99915326e-01 -9.98132647e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.136559995 meters 0.0353925234803778 Centerline is valid? [True, True] Translation: X:54.18, Y:-8.22, Z:-1.00 [[ 9.20246718e-01 3.91147744e-01 1.22237708e-02 5.41782140e+01] [-3.91126410e-01 9.20327433e-01 -4.18887403e-03 -8.21922361e+00] [-1.28883402e-02 -9.26242020e-04 9.99916513e-01 -9.99089635e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.166559995 meters 0.03124465556097636 Centerline is valid? [True, True] Translation: X:54.21, Y:-8.24, Z:-1.00 [[ 9.20715921e-01 3.90030729e-01 1.25787106e-02 5.42059193e+01] [-3.90007975e-01 9.20801368e-01 -4.31499372e-03 -8.23627572e+00] [-1.32654741e-02 -9.32914044e-04 9.99911575e-01 -1.00037959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.196559995 meters 0.03310134699425544 Centerline is valid? [True, True] Translation: X:54.23, Y:-8.24, Z:-1.00 [[ 9.21826547e-01 3.87395524e-01 1.26698347e-02 5.42341295e+01] [-3.87372169e-01 9.21913173e-01 -4.34796191e-03 -8.24494875e+00] [-1.33648685e-02 -8.99874636e-04 9.99910281e-01 -1.00032044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.226559995 meters 0.03310134699425544 Centerline is valid? [True, True] Translation: X:54.26, Y:-8.26, Z:-1.00 [[ 9.21716582e-01 3.87657065e-01 1.26705256e-02 5.42648625e+01] [-3.87633761e-01 9.21803222e-01 -4.34594932e-03 -8.25557906e+00] [-1.33644693e-02 -9.05789939e-04 9.99910281e-01 -1.00095887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.256559995 meters 0.033895838413024876 Centerline is valid? [True, True] Translation: X:54.29, Y:-8.27, Z:-1.01 [[ 9.22492571e-01 3.85813753e-01 1.24580795e-02 5.42933191e+01] [-3.85790985e-01 9.22576289e-01 -4.27862757e-03 -8.26827183e+00] [-1.31442821e-02 -8.59212609e-04 9.99913241e-01 -1.00578361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.286559995000005 meters 0.03183003266733514 Centerline is valid? [True, True] Translation: X:54.32, Y:-8.28, Z:-1.01 [[ 9.23275619e-01 3.83934358e-01 1.25116083e-02 5.43218543e+01] [-3.83911215e-01 9.23360011e-01 -4.29751682e-03 -8.28140251e+00] [-1.32026831e-02 -8.35554243e-04 9.99912492e-01 -1.00558119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.316559995 meters 0.03144965325510582 Centerline is valid? [True, True] Translation: X:54.35, Y:-8.29, Z:-1.01 [[ 9.23891082e-01 3.82455845e-01 1.23610757e-02 5.43507197e+01] [-3.82433117e-01 9.23973420e-01 -4.24630475e-03 -8.29311245e+00] [-1.30453295e-02 -8.04161628e-04 9.99914583e-01 -1.00601123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.346559995 meters 0.028972478028234785 Centerline is valid? [True, True] Translation: X:54.38, Y:-8.31, Z:-1.00 [[ 9.24471052e-01 3.81049780e-01 1.24233023e-02 5.43795091e+01] [-3.81026690e-01 9.24554187e-01 -4.26818548e-03 -8.30552706e+00] [-1.31124072e-02 -7.87795810e-04 9.99913718e-01 -1.00294304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.376559995 meters 0.03132122832677231 Centerline is valid? [True, True] Translation: X:54.41, Y:-8.32, Z:-1.01 [[ 9.25665309e-01 3.78154544e-01 1.19530675e-02 5.44068849e+01] [-3.78132919e-01 9.25742203e-01 -4.10734837e-03 -8.31674216e+00] [-1.26186714e-02 -7.17818387e-04 9.99920124e-01 -1.00813021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.406559995 meters 0.029896375584937823 Centerline is valid? [True, True] Translation: X:54.44, Y:-8.33, Z:-1.01 [[ 9.25945023e-01 3.77462811e-01 1.21507976e-02 5.44366788e+01] [-3.77440427e-01 9.26024463e-01 -4.17353425e-03 -8.32800567e+00] [-1.28272897e-02 -7.21738947e-04 9.99917466e-01 -1.00714276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.436559995 meters 0.029104886724029177 Centerline is valid? [True, True] Translation: X:54.47, Y:-8.34, Z:-1.01 [[ 9.26312493e-01 3.76556335e-01 1.22675417e-02 5.44657811e+01] [-3.76533394e-01 9.26393447e-01 -4.21718167e-03 -8.33870612e+00] [-1.29525767e-02 -7.12711046e-04 9.99915858e-01 -1.00542107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.466559995000004 meters 0.02999174908374877 Centerline is valid? [True, True] Translation: X:54.50, Y:-8.35, Z:-1.01 [[ 9.26730047e-01 3.75525217e-01 1.23382305e-02 5.44965231e+01] [-3.75501866e-01 9.26811914e-01 -4.24560035e-03 -8.34955534e+00] [-1.30295490e-02 -6.98503154e-04 9.99914868e-01 -1.00823692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.496559995 meters 0.02999174908374877 Centerline is valid? [True, True] Translation: X:54.53, Y:-8.36, Z:-1.01 [[ 9.26626641e-01 3.75780301e-01 1.23382702e-02 5.45272161e+01] [-3.75756974e-01 9.26708515e-01 -4.24548563e-03 -8.36021281e+00] [-1.30293500e-02 -7.02211003e-04 9.99914868e-01 -1.00887528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.526559995 meters 0.02626044405773245 Centerline is valid? [True, True] Translation: X:54.56, Y:-8.37, Z:-1.01 [[ 9.26658769e-01 3.75681377e-01 1.29239859e-02 5.45557735e+01] [-3.75655713e-01 9.26748601e-01 -4.45144067e-03 -8.37480564e+00] [-1.36496092e-02 -7.30002593e-04 9.99906573e-01 -1.00662880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.556559995 meters 0.02646778534157666 Centerline is valid? [True, True] Translation: X:54.59, Y:-8.39, Z:-1.01 [[ 9.26724670e-01 3.75531469e-01 1.25499729e-02 5.45858661e+01] [-3.75507211e-01 9.26809377e-01 -4.32594298e-03 -8.38702460e+00] [-1.32559603e-02 -7.03647237e-04 9.99911888e-01 -1.01010825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.586559995 meters 0.030064314604995156 Centerline is valid? [True, True] Translation: X:54.62, Y:-8.39, Z:-1.01 [[ 9.26846911e-01 3.75245974e-01 1.20524953e-02 5.46170511e+01] [-3.75223534e-01 9.26925030e-01 -4.15781676e-03 -8.39234685e+00] [-1.27319636e-02 -6.68720256e-04 9.99918722e-01 -1.01144968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.616559995 meters 0.029897009589446702 Centerline is valid? [True, True] Translation: X:54.65, Y:-8.41, Z:-1.01 [[ 9.27033792e-01 3.74786276e-01 1.19831564e-02 5.46463916e+01] [-3.74764018e-01 9.27111006e-01 -4.13691307e-03 -8.40530675e+00] [-1.26601744e-02 -6.55797608e-04 9.99919642e-01 -1.01421910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.646559995000004 meters 0.02822055199423926 Centerline is valid? [True, True] Translation: X:54.68, Y:-8.42, Z:-1.01 [[ 9.26882217e-01 3.75146654e-01 1.24235140e-02 5.46776090e+01] [-3.75122718e-01 9.26965222e-01 -4.29228647e-03 -8.41670399e+00] [-1.31264023e-02 -6.81898346e-04 9.99913613e-01 -1.01313353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.676559995 meters 0.02850236191306349 Centerline is valid? [True, True] Translation: X:54.71, Y:-8.43, Z:-1.02 [[ 9.26681637e-01 3.75666961e-01 1.16395276e-02 5.47068589e+01] [-3.75645948e-01 9.26754510e-01 -4.02493235e-03 -8.42891049e+00] [-1.22990188e-02 -6.42510473e-04 9.99924158e-01 -1.01575600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.706559995 meters 0.025085180495196816 Centerline is valid? [True, True] Translation: X:54.74, Y:-8.44, Z:-1.01 [[ 9.26293353e-01 3.76604751e-01 1.22264425e-02 5.47366361e+01] [-3.76581599e-01 9.26373787e-01 -4.23157200e-03 -8.44018165e+00] [-1.29198860e-02 -6.84576259e-04 9.99916300e-01 -1.01210260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.736559995 meters 0.026340910538193426 Centerline is valid? [True, True] Translation: X:54.77, Y:-8.45, Z:-1.01 [[ 9.25963330e-01 3.77409536e-01 1.24078205e-02 5.47663781e+01] [-3.77385715e-01 9.26046191e-01 -4.29808048e-03 -8.44851914e+00] [-1.31123515e-02 -7.02669315e-04 9.99913783e-01 -1.01314397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.766559995 meters 0.02692068610807821 Centerline is valid? [True, True] Translation: X:54.80, Y:-8.46, Z:-1.02 [[ 9.25419298e-01 3.78739739e-01 1.24632874e-02 5.47965950e+01] [-3.78715783e-01 9.25502939e-01 -4.32044376e-03 -8.45843714e+00] [-1.31711328e-02 -7.21821605e-04 9.99912996e-01 -1.01554032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.796559995 meters 0.027687961474038004 Centerline is valid? [True, True] Translation: X:54.83, Y:-8.47, Z:-1.02 [[ 9.25094145e-01 3.79527521e-01 1.26365902e-02 5.48269210e+01] [-3.79502919e-01 9.25180152e-01 -4.38415819e-03 -8.46816370e+00] [-1.33550311e-02 -7.39863804e-04 9.99910544e-01 -1.01657660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.826559995000004 meters 0.030589667509087735 Centerline is valid? [True, True] Translation: X:54.86, Y:-8.48, Z:-1.02 [[ 9.24577041e-01 3.80758483e-01 1.34266106e-02 5.48572994e+01] [-3.80730778e-01 9.24674178e-01 -4.66246277e-03 -8.47587254e+00] [-1.41905124e-02 -8.01117876e-04 9.99898989e-01 -1.01811047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.856559995000005 meters 0.029429851336950162 Centerline is valid? [True, True] Translation: X:54.89, Y:-8.49, Z:-1.02 [[ 9.24205623e-01 3.81661200e-01 1.33676576e-02 5.48871049e+01] [-3.81633786e-01 9.24301939e-01 -4.64532911e-03 -8.48745424e+00] [-1.41286937e-02 -8.08310498e-04 9.99899858e-01 -1.01800425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.886559995 meters 0.027999633829947294 Centerline is valid? [True, True] Translation: X:54.92, Y:-8.50, Z:-1.02 [[ 9.23831293e-01 3.82560778e-01 1.35275214e-02 5.49173097e+01] [-3.82532744e-01 9.23929957e-01 -4.70472961e-03 -8.49823123e+00] [-1.42983273e-02 -8.28343447e-04 9.99897431e-01 -1.01631913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.916559995 meters 0.030446346631988776 Centerline is valid? [True, True] Translation: X:54.95, Y:-8.51, Z:-1.02 [[ 9.23813266e-01 3.82661918e-01 1.17858061e-02 5.49481682e+01] [-3.82640607e-01 9.23888163e-01 -4.10216425e-03 -8.50792094e+00] [-1.24585088e-02 -7.20094231e-04 9.99922130e-01 -1.02163937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.946559995 meters 0.030020993044127295 Centerline is valid? [True, True] Translation: X:54.98, Y:-8.52, Z:-1.02 [[ 9.23984604e-01 3.82218529e-01 1.27061711e-02 5.49771102e+01] [-3.82193677e-01 9.24071646e-01 -4.42556502e-03 -8.51839319e+00] [-1.34329454e-02 -7.67064310e-04 9.99909480e-01 -1.02141377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.976559995 meters 0.0300734798414074 Centerline is valid? [True, True] Translation: X:55.00, Y:-8.53, Z:-1.02 [[ 9.25093483e-01 3.79540402e-01 1.22935321e-02 5.50048439e+01] [-3.79516867e-01 9.25174897e-01 -4.28450890e-03 -8.53143461e+00] [-1.29998116e-02 -7.02031536e-04 9.99915252e-01 -1.02380652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.006559995 meters 0.03025784709587069 Centerline is valid? [True, True] Translation: X:55.03, Y:-8.54, Z:-1.03 [[ 9.25745223e-01 3.77971204e-01 1.15564023e-02 5.50341472e+01] [-3.77950284e-01 9.25817131e-01 -4.02764460e-03 -8.54411310e+00] [-1.22214489e-02 -6.39172780e-04 9.99925111e-01 -1.02521249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.036559995000005 meters 0.02982839298371466 Centerline is valid? [True, True] Translation: X:55.06, Y:-8.56, Z:-1.03 [[ 9.26080109e-01 3.77140734e-01 1.18531896e-02 5.50636484e+01] [-3.77118667e-01 9.26155738e-01 -4.13038510e-03 -8.55711455e+00] [-1.25356360e-02 -6.44991588e-04 9.99921218e-01 -1.02568194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.066559995 meters 0.027942155702941465 Centerline is valid? [True, True] Translation: X:55.09, Y:-8.57, Z:-1.02 [[ 9.26405920e-01 3.76290035e-01 1.33371851e-02 5.50931385e+01] [-3.76261949e-01 9.26501650e-01 -4.65171269e-03 -8.56983467e+00] [-1.41073171e-02 -7.08901070e-04 9.99900236e-01 -1.02309133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.096559995 meters 0.03061131802661806 Centerline is valid? [True, True] Translation: X:55.12, Y:-8.58, Z:-1.03 [[ 9.26770559e-01 3.75427192e-01 1.22782181e-02 5.51221598e+01] [-3.75403274e-01 9.26851669e-01 -4.28539051e-03 -8.58192888e+00] [-1.29889391e-02 -6.37709527e-04 9.99915437e-01 -1.02680939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.126559995 meters 0.03061131802661806 Centerline is valid? [True, True] Translation: X:55.15, Y:-8.59, Z:-1.03 [[ 9.26670265e-01 3.75674709e-01 1.22773806e-02 5.51527918e+01] [-3.75650781e-01 9.26751372e-01 -4.28778830e-03 -8.59273143e+00] [-1.29888929e-02 -6.38641691e-04 9.99915437e-01 -1.02744828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.156559995 meters 0.02671949617839777 Centerline is valid? [True, True] Translation: X:55.18, Y:-8.61, Z:-1.03 [[ 9.26519661e-01 3.76005215e-01 1.34683282e-02 5.51815851e+01] [-3.75976391e-01 9.26617281e-01 -4.70821030e-03 -8.60974472e+00] [-1.42502973e-02 -7.01524042e-04 9.99898213e-01 -1.02653650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.186559995 meters 0.03279330773792543 Centerline is valid? [True, True] Translation: X:55.21, Y:-8.61, Z:-1.03 [[ 9.26138958e-01 3.76954032e-01 1.31258308e-02 5.52132518e+01] [-3.76926690e-01 9.26231708e-01 -4.59281618e-03 -8.61425653e+00] [-1.38888413e-02 -6.93889984e-04 9.99903305e-01 -1.02898994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.216559995000004 meters 0.027018847829979917 Centerline is valid? [True, True] Translation: X:55.24, Y:-8.63, Z:-1.03 [[ 9.24997874e-01 3.79668371e-01 1.51941189e-02 5.52406360e+01] [-3.79632011e-01 9.25122269e-01 -5.32192606e-03 -8.62997834e+00] [-1.60769847e-02 -8.45403622e-04 9.99870400e-01 -1.02658534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.246559995 meters 0.02742510735643785 Centerline is valid? [True, True] Translation: X:55.27, Y:-8.64, Z:-1.03 [[ 9.24132756e-01 3.81742781e-01 1.58460892e-02 5.52710363e+01] [-3.81703543e-01 9.24268145e-01 -5.54997985e-03 -8.63935839e+00] [-1.67647003e-02 -9.19590227e-04 9.99859040e-01 -1.02619452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.276559995 meters 0.030711014728199797 Centerline is valid? [True, True] Translation: X:55.30, Y:-8.65, Z:-1.03 [[ 9.23308951e-01 3.83790207e-01 1.43407616e-02 5.53009883e+01] [-3.83758266e-01 9.23419911e-01 -5.02599517e-03 -8.64716749e+00] [-1.51714725e-02 -8.62839479e-04 9.99884534e-01 -1.02952229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.306559995 meters 0.03182794931262942 Centerline is valid? [True, True] Translation: X:55.33, Y:-8.65, Z:-1.03 [[ 9.21765250e-01 3.87393701e-01 1.65814522e-02 5.53306050e+01] [-3.87351485e-01 9.21913767e-01 -5.81662810e-03 -8.65309385e+00] [-1.75399941e-02 -1.06128448e-03 9.99845599e-01 -1.02834442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.336559995 meters 0.03195692622358341 Centerline is valid? [True, True] Translation: X:55.36, Y:-8.66, Z:-1.03 [[ 9.20881503e-01 3.89458413e-01 1.73032157e-02 5.53605339e+01] [-3.89412786e-01 9.21043336e-01 -6.07078610e-03 -8.66277655e+00] [-1.83013303e-02 -1.14761882e-03 9.99831858e-01 -1.02866407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.366559995 meters 0.03195692622358341 Centerline is valid? [True, True] Translation: X:55.39, Y:-8.67, Z:-1.03 [[ 9.20772658e-01 3.89715740e-01 1.73018657e-02 5.53911742e+01] [-3.89670086e-01 9.20934483e-01 -6.07463107e-03 -8.67362097e+00] [-1.83012641e-02 -1.14866532e-03 9.99831858e-01 -1.02930341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.396559995000004 meters 0.03317082042788784 Centerline is valid? [True, True] Translation: X:55.42, Y:-8.68, Z:-1.03 [[ 9.20103352e-01 3.91381268e-01 1.51830447e-02 5.54206446e+01] [-3.91346257e-01 9.20228036e-01 -5.33568905e-03 -8.68430919e+00] [-1.60601522e-02 -1.03244235e-03 9.99870494e-01 -1.03276502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.426559995 meters 0.03380516616479254 Centerline is valid? [True, True] Translation: X:55.45, Y:-8.69, Z:-1.03 [[ 9.18818441e-01 3.94352445e-01 1.60879630e-02 5.54501175e+01] [-3.94313577e-01 9.18958558e-01 -5.65443140e-03 -8.69284882e+00] [-1.70140101e-02 -1.14830638e-03 9.99854592e-01 -1.03221266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.456559995 meters 0.03900158735024389 Centerline is valid? [True, True] Translation: X:55.48, Y:-8.70, Z:-1.03 [[ 9.18350741e-01 3.95459185e-01 1.56188728e-02 5.54819227e+01] [-3.95422716e-01 9.18482849e-01 -5.48917001e-03 -8.69715327e+00] [-1.65164095e-02 -1.13507376e-03 9.99862951e-01 -1.03381345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.486559995 meters 0.03784291725635991 Centerline is valid? [True, True] Translation: X:55.51, Y:-8.71, Z:-1.04 [[ 9.17719299e-01 3.96950770e-01 1.48786499e-02 5.55109723e+01] [-3.96917813e-01 9.17839239e-01 -5.23265168e-03 -8.70976778e+00] [-1.57333138e-02 -1.10349575e-03 9.99875615e-01 -1.03589343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.516559995 meters 0.03443244768748079 Centerline is valid? [True, True] Translation: X:55.54, Y:-8.72, Z:-1.03 [[ 9.17386830e-01 3.97618297e-01 1.73520664e-02 5.55411240e+01] [-3.97573496e-01 9.17550005e-01 -6.10769765e-03 -8.72238526e+00] [-1.83499209e-02 -1.29560032e-03 9.99830787e-01 -1.03367617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.546559995 meters 0.03681773663872118 Centerline is valid? [True, True] Translation: X:55.57, Y:-8.73, Z:-1.04 [[ 9.17422291e-01 3.97603317e-01 1.57461535e-02 5.55714389e+01] [-3.97566358e-01 9.17556663e-01 -5.54635782e-03 -8.73121802e+00] [-1.66532383e-02 -1.17178858e-03 9.99860639e-01 -1.03728075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.576559995000004 meters 0.03462105715346727 Centerline is valid? [True, True] Translation: X:55.60, Y:-8.74, Z:-1.04 [[ 9.17221566e-01 3.98020673e-01 1.68565485e-02 5.56019152e+01] [-3.97978298e-01 9.17375584e-01 -5.94243420e-03 -8.74433502e+00] [-1.78289977e-02 -1.25801169e-03 9.99840259e-01 -1.03663166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.606559995000005 meters 0.0396235016312734 Centerline is valid? [True, True] Translation: X:55.63, Y:-8.75, Z:-1.04 [[ 9.17283449e-01 3.97923991e-01 1.57343943e-02 5.56324460e+01] [-3.97886972e-01 9.17417644e-01 -5.55193479e-03 -8.74986328e+00] [-1.66442590e-02 -1.16781263e-03 9.99860793e-01 -1.03881914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.636559995 meters 0.035079081977227984 Centerline is valid? [True, True] Translation: X:55.66, Y:-8.76, Z:-1.04 [[ 9.17030322e-01 3.98417835e-01 1.78498592e-02 5.56608228e+01] [-3.98370226e-01 9.17203060e-01 -6.30151457e-03 -8.76478969e+00] [-1.88825813e-02 -1.33217250e-03 9.99820821e-01 -1.03620958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.666559995 meters 0.03746693717409692 Centerline is valid? [True, True] Translation: X:55.69, Y:-8.77, Z:-1.04 [[ 9.16958193e-01 3.98594238e-01 1.76154809e-02 5.56915683e+01] [-3.98547812e-01 9.17126440e-01 -6.22365256e-03 -8.77229848e+00] [-1.86363353e-02 -1.31378217e-03 9.99825465e-01 -1.03717497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.696559995 meters 0.036052670621191135 Centerline is valid? [True, True] Translation: X:55.72, Y:-8.78, Z:-1.04 [[ 9.16712908e-01 3.99151916e-01 1.77536475e-02 5.57210740e+01] [-3.99104798e-01 9.16883838e-01 -6.27593436e-03 -8.78405890e+00] [-1.87830836e-02 -1.33233584e-03 9.99822695e-01 -1.03780883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.726559995 meters 0.03447342320182484 Centerline is valid? [True, True] Translation: X:55.75, Y:-8.80, Z:-1.04 [[ 9.16406808e-01 3.99845687e-01 1.79440355e-02 5.57510912e+01] [-3.99797591e-01 9.16581467e-01 -6.34822172e-03 -8.79621834e+00] [-1.89854795e-02 -1.35642856e-03 9.99818839e-01 -1.03862126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.756559995 meters 0.03642154281378814 Centerline is valid? [True, True] Translation: X:55.78, Y:-8.81, Z:-1.04 [[ 9.16434836e-01 3.99860414e-01 1.60885090e-02 5.57816363e+01] [-3.99821685e-01 9.16575244e-01 -5.69574587e-03 -8.80645741e+00] [-1.70238324e-02 -1.21275486e-03 9.99854349e-01 -1.04258325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.786559995000005 meters 0.03431929989226161 Centerline is valid? [True, True] Translation: X:55.81, Y:-8.82, Z:-1.04 [[ 9.16112684e-01 4.00537518e-01 1.75284461e-02 5.58119876e+01] [-4.00491570e-01 9.16279394e-01 -6.21088261e-03 -8.81798828e+00] [-1.85486455e-02 -1.33012655e-03 9.99827074e-01 -1.04050283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.816559995 meters 0.03442893463601196 Centerline is valid? [True, True] Translation: X:55.84, Y:-8.83, Z:-1.04 [[ 9.16117372e-01 4.00545197e-01 1.71028112e-02 5.58427101e+01] [-4.00501370e-01 9.16276089e-01 -6.06474327e-03 -8.82852749e+00] [-1.81001008e-02 -1.29368266e-03 9.99835343e-01 -1.04204189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.846559995 meters 0.035252670741521934 Centerline is valid? [True, True] Translation: X:55.87, Y:-8.84, Z:-1.05 [[ 9.16064509e-01 4.00707710e-01 1.60980219e-02 5.58735487e+01] [-4.00668837e-01 9.16205135e-01 -5.71254344e-03 -8.83911855e+00] [-1.70381505e-02 -1.21691739e-03 9.99854100e-01 -1.04508461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.876559995 meters 0.035252670741521934 Centerline is valid? [True, True] Translation: X:55.90, Y:-8.85, Z:-1.05 [[ 9.15950017e-01 4.00969417e-01 1.60963912e-02 5.59041684e+01] [-4.00930504e-01 9.16090632e-01 -5.71713431e-03 -8.85007613e+00] [-1.70381492e-02 -1.21692495e-03 9.99854100e-01 -1.04572458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.906559995 meters 0.0366443860132566 Centerline is valid? [True, True] Translation: X:55.93, Y:-8.86, Z:-1.04 [[ 9.15702788e-01 4.01496377e-01 1.70018837e-02 5.59341544e+01] [-4.01452943e-01 9.15859703e-01 -6.04482583e-03 -8.85741798e+00] [-1.79983158e-02 -1.29019239e-03 9.99837185e-01 -1.04442309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.936559995 meters 0.03641150736432347 Centerline is valid? [True, True] Translation: X:55.97, Y:-8.87, Z:-1.05 [[ 9.15521729e-01 4.01903276e-01 1.71382929e-02 5.59654603e+01] [-4.01859173e-01 9.15681194e-01 -6.09550085e-03 -8.86848342e+00] [-1.81430142e-02 -1.30661673e-03 9.99834548e-01 -1.04503840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.966559995000004 meters 0.035125397156054915 Centerline is valid? [True, True] Translation: X:56.00, Y:-8.88, Z:-1.05 [[ 9.15139143e-01 4.02769485e-01 1.72363479e-02 5.59951075e+01] [-4.02724928e-01 9.15300488e-01 -6.13589733e-03 -8.87990534e+00] [-1.82477899e-02 -1.32630716e-03 9.99832616e-01 -1.04569526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.996559995 meters 0.036738087946147066 Centerline is valid? [True, True] Translation: X:56.03, Y:-8.89, Z:-1.05 [[ 9.15013570e-01 4.03077302e-01 1.66989554e-02 5.60253676e+01] [-4.03035448e-01 9.15165031e-01 -5.94933649e-03 -8.88845505e+00] [-1.76803425e-02 -1.28654732e-03 9.99842863e-01 -1.04770528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.026559995 meters 0.037077311126287024 Centerline is valid? [True, True] Translation: X:56.05, Y:-8.90, Z:-1.05 [[ 9.14812732e-01 4.03514588e-01 1.71360311e-02 5.60548773e+01] [-4.03470544e-01 9.14972250e-01 -6.10761183e-03 -8.89732526e+00] [-1.81435034e-02 -1.32656274e-03 9.99834513e-01 -1.04718665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.056559995 meters 0.03493417663085931 Centerline is valid? [True, True] Translation: X:56.08, Y:-8.91, Z:-1.05 [[ 9.14341755e-01 4.04568186e-01 1.74280730e-02 5.60846670e+01] [-4.04522731e-01 9.14506816e-01 -6.21643454e-03 -8.90907605e+00] [-1.84530632e-02 -1.36610600e-03 9.99828794e-01 -1.04813370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.086559995 meters 0.036111730490249044 Centerline is valid? [True, True] Translation: X:56.12, Y:-8.92, Z:-1.05 [[ 9.14032012e-01 4.05308065e-01 1.64576176e-02 5.61156900e+01] [-4.05267635e-01 9.14179235e-01 -5.87112190e-03 -8.91835042e+00] [-1.74248253e-02 -1.30334640e-03 9.99847327e-01 -1.05144762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.116559995 meters 0.0372628916094325 Centerline is valid? [True, True] Translation: X:56.15, Y:-8.93, Z:-1.05 [[ 9.13649119e-01 4.06160891e-01 1.66918736e-02 5.61457642e+01] [-4.06119357e-01 9.13800608e-01 -5.95953905e-03 -8.92575008e+00] [-1.76735760e-02 -1.33396539e-03 9.99842920e-01 -1.05214190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.146559995000004 meters 0.03633748656193381 Centerline is valid? [True, True] Translation: X:56.18, Y:-8.94, Z:-1.05 [[ 9.13287061e-01 4.07011527e-01 1.57595089e-02 5.61760778e+01] [-4.06974567e-01 9.13422137e-01 -5.63042794e-03 -8.93673239e+00] [-1.66867334e-02 -1.27152233e-03 9.99859958e-01 -1.05466137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.176559995 meters 0.03661782934360702 Centerline is valid? [True, True] Translation: X:56.21, Y:-8.94, Z:-1.05 [[ 9.13176933e-01 4.07205784e-01 1.70686199e-02 5.62073468e+01] [-4.07162363e-01 9.13335402e-01 -6.10359458e-03 -8.94417462e+00] [-1.80747939e-02 -1.37603785e-03 9.99835691e-01 -1.05233553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.206559995 meters 0.03589384008406836 Centerline is valid? [True, True] Translation: X:56.24, Y:-8.96, Z:-1.06 [[ 9.13211250e-01 4.07156023e-01 1.64068848e-02 5.62373696e+01] [-4.07115843e-01 9.13357670e-01 -5.86999648e-03 -8.95620653e+00] [-1.73753585e-02 -1.31895592e-03 9.99848167e-01 -1.05529158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.236559995 meters 0.0362918878543568 Centerline is valid? [True, True] Translation: X:56.27, Y:-8.97, Z:-1.06 [[ 9.13283721e-01 4.06985235e-01 1.66091319e-02 5.62676580e+01] [-4.06943946e-01 9.13433772e-01 -5.94716455e-03 -8.96585482e+00] [-1.75917502e-02 -1.32753710e-03 9.99844372e-01 -1.05593384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.266559995 meters 0.037768892757421804 Centerline is valid? [True, True] Translation: X:56.30, Y:-8.97, Z:-1.06 [[ 9.13814818e-01 4.05799386e-01 1.64114683e-02 5.62968035e+01] [-4.05758794e-01 9.13961273e-01 -5.88153077e-03 -8.97369418e+00] [-1.73861680e-02 -1.28446760e-03 9.99848024e-01 -1.05684060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.296559995 meters 0.03501950392736685 Centerline is valid? [True, True] Translation: X:56.33, Y:-8.99, Z:-1.05 [[ 9.14171983e-01 4.04943255e-01 1.76223244e-02 5.63267801e+01] [-4.04896291e-01 9.14340804e-01 -6.31563455e-03 -8.98501320e+00] [-1.86702839e-02 -1.36163765e-03 9.99824768e-01 -1.05460584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.326559995000004 meters 0.03544532705703853 Centerline is valid? [True, True] Translation: X:56.36, Y:-8.99, Z:-1.06 [[ 9.14430141e-01 4.04353798e-01 1.77629894e-02 5.63563916e+01] [-4.04305875e-01 9.14601645e-01 -6.37110333e-03 -8.99380688e+00] [-1.88222391e-02 -1.35575205e-03 9.99821927e-01 -1.05501010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.356559995000005 meters 0.03615321749695482 Centerline is valid? [True, True] Translation: X:56.39, Y:-9.00, Z:-1.06 [[ 9.14753208e-01 4.03681139e-01 1.63739756e-02 5.63867602e+01] [-4.03640244e-01 9.14898911e-01 -5.87674418e-03 -9.00446913e+00] [-1.73528632e-02 -1.23342491e-03 9.99848667e-01 -1.05824485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.386559995 meters 0.035725395997048694 Centerline is valid? [True, True] Translation: X:56.42, Y:-9.01, Z:-1.06 [[ 9.15672238e-01 4.01575496e-01 1.67771862e-02 5.64160059e+01] [-4.01532117e-01 9.15825113e-01 -6.02672597e-03 -9.01356915e+00] [-1.77851539e-02 -1.21807345e-03 9.99841090e-01 -1.05697570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.416559995 meters 0.03554131909706054 Centerline is valid? [True, True] Translation: X:56.45, Y:-9.03, Z:-1.06 [[ 9.16231662e-01 4.00339823e-01 1.57342663e-02 5.64455751e+01] [-4.00301487e-01 9.16366069e-01 -5.65220585e-03 -9.02566715e+00] [-1.66811509e-02 -1.11972025e-03 9.99860233e-01 -1.05970074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.446559995 meters 0.03419182965838581 Centerline is valid? [True, True] Translation: X:56.48, Y:-9.04, Z:-1.06 [[ 9.16794027e-01 3.99047398e-01 1.58078202e-02 5.64751585e+01] [-3.99008495e-01 9.16929639e-01 -5.67956837e-03 -9.03778288e+00] [-1.67610758e-02 -1.10046018e-03 9.99858918e-01 -1.05974230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.476559995 meters 0.03466581240535971 Centerline is valid? [True, True] Translation: X:56.50, Y:-9.05, Z:-1.06 [[ 9.17381175e-01 3.97705684e-01 1.55553296e-02 5.65047752e+01] [-3.97667806e-01 9.17512436e-01 -5.58981577e-03 -9.04851817e+00] [-1.64953099e-02 -1.05786205e-03 9.99863384e-01 -1.06152513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.506559995 meters 0.03287261386081556 Centerline is valid? [True, True] Translation: X:56.54, Y:-9.06, Z:-1.06 [[ 9.17787229e-01 3.96726815e-01 1.65661527e-02 5.65350862e+01] [-3.96683691e-01 9.17936059e-01 -5.95331192e-03 -9.05991193e+00] [-1.75685074e-02 -1.10764893e-03 9.99845048e-01 -1.05918525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.536559995000005 meters 0.032847003210474 Centerline is valid? [True, True] Translation: X:56.57, Y:-9.07, Z:-1.06 [[ 9.18188689e-01 3.95794464e-01 1.66214490e-02 5.65652184e+01] [-3.95750820e-01 9.18338475e-01 -5.97773341e-03 -9.07062260e+00] [-1.76300699e-02 -1.08926486e-03 9.99843985e-01 -1.05953066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.566559995 meters 0.029557831766203777 Centerline is valid? [True, True] Translation: X:56.59, Y:-9.09, Z:-1.06 [[ 9.18409286e-01 3.95282085e-01 1.66269603e-02 5.65936839e+01] [-3.95238249e-01 9.18559152e-01 -5.98421454e-03 -9.08556872e+00] [-1.76382994e-02 -1.07565247e-03 9.99843854e-01 -1.05993578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.596559995 meters 0.030508789342300183 Centerline is valid? [True, True] Translation: X:56.62, Y:-9.10, Z:-1.06 [[ 9.18836452e-01 3.94318003e-01 1.59024380e-02 5.66240917e+01] [-3.94277688e-01 9.18973502e-01 -5.72769504e-03 -9.09660990e+00] [-1.68724525e-02 -1.00716153e-03 9.99857143e-01 -1.06288898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.626559995 meters 0.029766759375110752 Centerline is valid? [True, True] Translation: X:56.65, Y:-9.11, Z:-1.06 [[ 9.19029973e-01 3.93852171e-01 1.62596490e-02 5.66543691e+01] [-3.93809871e-01 9.19173234e-01 -5.86103180e-03 -9.10757679e+00] [-1.72538142e-02 -1.01674637e-03 9.99850625e-01 -1.06268170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.656559995 meters 0.028550817540347495 Centerline is valid? [True, True] Translation: X:56.68, Y:-9.12, Z:-1.06 [[ 9.19198972e-01 3.93443330e-01 1.66010908e-02 5.66839567e+01] [-3.93399085e-01 9.19348298e-01 -5.98886194e-03 -9.11940262e+00] [-1.76184624e-02 -1.02589819e-03 9.99844257e-01 -1.06278643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.686559995 meters 0.027944327294441334 Centerline is valid? [True, True] Translation: X:56.71, Y:-9.13, Z:-1.06 [[ 9.19644341e-01 3.92413732e-01 1.63018133e-02 5.67144401e+01] [-3.92370828e-01 9.19788288e-01 -5.88541236e-03 -9.12986051e+00] [-1.73037335e-02 -9.83869806e-04 9.99849795e-01 -1.06231185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.716559995000004 meters 0.027400695356289157 Centerline is valid? [True, True] Translation: X:56.74, Y:-9.14, Z:-1.07 [[ 9.19753397e-01 3.92188034e-01 1.55638620e-02 5.67440120e+01] [-3.92148827e-01 9.19884600e-01 -5.62310531e-03 -9.14257161e+00] [-1.65222716e-02 -9.31480042e-04 9.99863064e-01 -1.06525158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.746559995 meters 0.026336315037952553 Centerline is valid? [True, True] Translation: X:56.77, Y:-9.15, Z:-1.06 [[ 9.19933496e-01 3.91742836e-01 1.61218580e-02 5.67739633e+01] [-3.91700616e-01 9.20074260e-01 -5.82951626e-03 -9.15313373e+00] [-1.71169778e-02 -9.52174419e-04 9.99853040e-01 -1.06418896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.776559995 meters 0.025882255053701172 Centerline is valid? [True, True] Translation: X:56.80, Y:-9.16, Z:-1.06 [[ 9.20313247e-01 3.90855329e-01 1.59887169e-02 5.68039606e+01] [-3.90813594e-01 9.20451660e-01 -5.78587334e-03 -9.16485842e+00] [-1.69782805e-02 -9.23792041e-04 9.99855432e-01 -1.06446291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.806559995 meters 0.026844141852044225 Centerline is valid? [True, True] Translation: X:56.83, Y:-9.17, Z:-1.06 [[ 9.20421501e-01 3.90601847e-01 1.59517138e-02 5.68337966e+01] [-3.90560190e-01 9.20559267e-01 -5.77705638e-03 -9.17434304e+00] [-1.69410269e-02 -9.12777461e-04 9.99856074e-01 -1.06457526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.836559995 meters 0.02445743480346516 Centerline is valid? [True, True] Translation: X:56.86, Y:-9.19, Z:-1.06 [[ 9.20580102e-01 3.90210836e-01 1.63639627e-02 5.68631095e+01] [-3.90166860e-01 9.20725066e-01 -5.93070816e-03 -9.18889742e+00] [-1.73809372e-02 -9.24984034e-04 9.99848512e-01 -1.06414519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.866559995 meters 0.029444618082581236 Centerline is valid? [True, True] Translation: X:56.89, Y:-9.20, Z:-1.07 [[ 9.20466483e-01 3.90526193e-01 1.51902967e-02 5.68942901e+01] [-3.90488279e-01 9.20591414e-01 -5.50927908e-03 -9.19552402e+00] [-1.61355745e-02 -8.60526086e-04 9.99869443e-01 -1.06768141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.896559995000004 meters 0.025107715775913312 Centerline is valid? [True, True] Translation: X:56.92, Y:-9.21, Z:-1.07 [[ 9.20275463e-01 3.90948323e-01 1.58896519e-02 5.69240141e+01] [-3.90906814e-01 9.20412186e-01 -5.76801044e-03 -9.20959168e+00] [-1.68800233e-02 -9.03214742e-04 9.99857114e-01 -1.06583431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.926559995 meters 0.02513207671474181 Centerline is valid? [True, True] Translation: X:56.95, Y:-9.22, Z:-1.07 [[ 9.20052516e-01 3.91498461e-01 1.52421566e-02 5.69540496e+01] [-3.91460262e-01 9.20178350e-01 -5.53783618e-03 -9.22012912e+00] [-1.61935569e-02 -8.71598509e-04 9.99868496e-01 -1.06683607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.956559995 meters 0.028314390536989066 Centerline is valid? [True, True] Translation: X:56.98, Y:-9.23, Z:-1.07 [[ 9.19731202e-01 3.92290360e-01 1.42404290e-02 5.69842576e+01] [-3.92257056e-01 9.19841070e-01 -5.17760986e-03 -9.23004013e+00] [-1.51300579e-02 -8.23899416e-04 9.99885195e-01 -1.07089455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.986559995 meters 0.028816964844852716 Centerline is valid? [True, True] Translation: X:57.02, Y:-9.24, Z:-1.07 [[ 9.19560378e-01 3.92671707e-01 1.47527099e-02 5.70156774e+01] [-3.92635944e-01 9.19678312e-01 -5.36820739e-03 -9.23839258e+00] [-1.56756905e-02 -8.56053357e-04 9.99876762e-01 -1.07095560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.016559995 meters 0.025797382057091617 Centerline is valid? [True, True] Translation: X:57.05, Y:-9.25, Z:-1.07 [[ 9.19295031e-01 3.93271978e-01 1.52904604e-02 5.70451209e+01] [-3.93233563e-01 9.19421749e-01 -5.56880669e-03 -9.25147999e+00] [-1.62484374e-02 -8.93345894e-04 9.99867586e-01 -1.06896148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.046559995 meters 0.030270472320265134 Centerline is valid? [True, True] Translation: X:57.08, Y:-9.26, Z:-1.07 [[ 9.18635122e-01 3.94807754e-01 1.53736899e-02 5.70768842e+01] [-3.94769060e-01 9.18763293e-01 -5.60361485e-03 -9.25584361e+00] [-1.63371325e-02 -9.21379699e-04 9.99866116e-01 -1.06952743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.076559995000004 meters 0.027472471158184113 Centerline is valid? [True, True] Translation: X:57.11, Y:-9.27, Z:-1.07 [[ 9.18232015e-01 3.95745178e-01 1.53532215e-02 5.71056675e+01] [-3.95706653e-01 9.18359888e-01 -5.60012591e-03 -9.27015960e+00] [-1.63160056e-02 -9.33156982e-04 9.99866450e-01 -1.07049180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.106559995000005 meters 0.028246250210237665 Centerline is valid? [True, True] Translation: X:57.14, Y:-9.28, Z:-1.07 [[ 9.17908861e-01 3.96490567e-01 1.54451851e-02 5.71355056e+01] [-3.96451605e-01 9.18038307e-01 -5.63848888e-03 -9.27900065e+00] [-1.64148792e-02 -9.47649505e-04 9.99864818e-01 -1.07012266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.136559995 meters 0.02871640520959451 Centerline is valid? [True, True] Translation: X:57.17, Y:-9.29, Z:-1.07 [[ 9.17314393e-01 3.97878841e-01 1.50576006e-02 5.71657498e+01] [-3.97841957e-01 9.17437482e-01 -5.49943334e-03 -9.29038713e+00] [-1.60025153e-02 -9.45835928e-04 9.99871504e-01 -1.07274535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.166559995 meters 0.027589890533679867 Centerline is valid? [True, True] Translation: X:57.20, Y:-9.30, Z:-1.07 [[ 9.16889521e-01 3.98842457e-01 1.54369840e-02 5.71962498e+01] [-3.98803815e-01 9.17018932e-01 -5.63868924e-03 -9.30078638e+00] [-1.64049553e-02 -9.86273032e-04 9.99864943e-01 -1.07075308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.196559995 meters 0.029222775286314243 Centerline is valid? [True, True] Translation: X:57.23, Y:-9.31, Z:-1.07 [[ 9.16064256e-01 4.00734673e-01 1.54272932e-02 5.72267665e+01] [-4.00696274e-01 9.16193588e-01 -5.63964772e-03 -9.30834841e+00] [-1.63943895e-02 -1.01537921e-03 9.99865087e-01 -1.07179840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.226559995 meters 0.030833026216216357 Centerline is valid? [True, True] Translation: X:57.26, Y:-9.32, Z:-1.07 [[ 9.15232777e-01 4.02630154e-01 1.54247521e-02 5.72577528e+01] [-4.02591968e-01 9.15362150e-01 -5.64281394e-03 -9.31561083e+00] [-1.63912013e-02 -1.04539305e-03 9.99865109e-01 -1.07238056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.256559995 meters 0.030833026216216357 Centerline is valid? [True, True] Translation: X:57.29, Y:-9.33, Z:-1.07 [[ 9.15117852e-01 4.02891340e-01 1.54235066e-02 5.72882564e+01] [-4.02853134e-01 9.15247220e-01 -5.64621600e-03 -9.32686029e+00] [-1.63911331e-02 -1.04645492e-03 9.99865109e-01 -1.07301997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.286559995000005 meters 0.03263071739108709 Centerline is valid? [True, True] Translation: X:57.32, Y:-9.34, Z:-1.08 [[ 9.14704452e-01 4.03849751e-01 1.48709063e-02 5.73188460e+01] [-4.03814284e-01 9.14824757e-01 -5.44867243e-03 -9.33600656e+00] [-1.58047182e-02 -1.02115944e-03 9.99874576e-01 -1.07570391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.316559995 meters 0.03373916385614519 Centerline is valid? [True, True] Translation: X:57.35, Y:-9.34, Z:-1.07 [[ 9.14025140e-01 4.05356829e-01 1.56168231e-02 5.73498268e+01] [-4.05317849e-01 9.14157887e-01 -5.72703982e-03 -9.34298005e+00] [-1.65977367e-02 -1.09511879e-03 9.99861648e-01 -1.07361666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.346559995 meters 0.03452345179640604 Centerline is valid? [True, True] Translation: X:57.38, Y:-9.35, Z:-1.07 [[ 9.13715704e-01 4.06043046e-01 1.58951654e-02 5.73803776e+01] [-4.06002737e-01 9.13853258e-01 -5.83092652e-03 -9.35230720e+00] [-1.68934558e-02 -1.12567153e-03 9.99856662e-01 -1.07392568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.376559995 meters 0.03370332189361454 Centerline is valid? [True, True] Translation: X:57.41, Y:-9.37, Z:-1.08 [[ 9.13511108e-01 4.06520109e-01 1.54549982e-02 5.74093596e+01] [-4.06482002e-01 9.13641173e-01 -5.67355597e-03 -9.36519013e+00] [-1.64267372e-02 -1.09932220e-03 9.99864468e-01 -1.07686927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.406559995 meters 0.03619713794900221 Centerline is valid? [True, True] Translation: X:57.44, Y:-9.37, Z:-1.07 [[ 9.13206678e-01 4.07204206e-01 1.54369045e-02 5.74399457e+01] [-4.07166202e-01 9.13336473e-01 -5.67199210e-03 -9.37077900e+00] [-1.64087469e-02 -1.10568471e-03 9.99864756e-01 -1.07492307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.436559995 meters 0.03336388930205307 Centerline is valid? [True, True] Translation: X:57.47, Y:-9.38, Z:-1.08 [[ 9.12937177e-01 4.07816345e-01 1.52164350e-02 5.74687161e+01] [-4.07779506e-01 9.13063315e-01 -5.59081579e-03 -9.38474601e+00] [-1.61735946e-02 -1.10088676e-03 9.99868593e-01 -1.07510104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.466559995000004 meters 0.03514690385724422 Centerline is valid? [True, True] Translation: X:57.50, Y:-9.39, Z:-1.08 [[ 9.12557408e-01 4.08662582e-01 1.52928551e-02 5.74989972e+01] [-4.08625419e-01 9.12684855e-01 -5.62328459e-03 -9.39185334e+00] [-1.62555832e-02 -1.11747931e-03 9.99867245e-01 -1.07574387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.496559995 meters 0.035073536451587756 Centerline is valid? [True, True] Translation: X:57.53, Y:-9.40, Z:-1.08 [[ 9.12380727e-01 4.09074227e-01 1.48218095e-02 5.75292864e+01] [-4.09039316e-01 9.12500463e-01 -5.45369348e-03 -9.40282246e+00] [-1.57558735e-02 -1.08685799e-03 9.99875278e-01 -1.07858758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.526559995 meters 0.03633627313774405 Centerline is valid? [True, True] Translation: X:57.56, Y:-9.41, Z:-1.08 [[ 9.12000146e-01 4.09922006e-01 1.48217124e-02 5.75595006e+01] [-4.09887140e-01 9.12119918e-01 -5.45787853e-03 -9.41037966e+00] [-1.57564836e-02 -1.09764327e-03 9.99875256e-01 -1.07724296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.556559995 meters 0.035934193860317876 Centerline is valid? [True, True] Translation: X:57.59, Y:-9.42, Z:-1.08 [[ 9.11873462e-01 4.10211615e-01 1.46020818e-02 5.75901393e+01] [-4.10177758e-01 9.11989725e-01 -5.38045758e-03 -9.42226445e+00] [-1.55240747e-02 -1.08315268e-03 9.99878908e-01 -1.08073584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.586559995 meters 0.029906392656569577 Centerline is valid? [True, True] Translation: X:57.62, Y:-9.44, Z:-1.08 [[ 9.11642865e-01 4.10732966e-01 1.43428251e-02 5.76180135e+01] [-4.10700294e-01 9.11755060e-01 -5.28959802e-03 -9.43826198e+00] [-1.52497556e-02 -1.06837817e-03 9.99883145e-01 -1.07816894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.616559995 meters 0.0360137873482574 Centerline is valid? [True, True] Translation: X:57.65, Y:-9.44, Z:-1.08 [[ 9.11511992e-01 4.11029277e-01 1.41711763e-02 5.76505794e+01] [-4.10997362e-01 9.11621531e-01 -5.22995033e-03 -9.44122424e+00] [-1.50684121e-02 -1.05715361e-03 9.99885906e-01 -1.07892978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.646559995000004 meters 0.03561874970550605 Centerline is valid? [True, True] Translation: X:57.68, Y:-9.45, Z:-1.08 [[ 9.11838479e-01 4.10319568e-01 1.37273516e-02 5.76802830e+01] [-4.10289479e-01 9.11941245e-01 -5.07042817e-03 -9.45413032e+00] [-1.45990340e-02 -1.00877641e-03 9.99892920e-01 -1.08305999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.676559995 meters 0.03207608476479918 Centerline is valid? [True, True] Translation: X:57.71, Y:-9.47, Z:-1.08 [[ 9.12054029e-01 4.09823219e-01 1.42259225e-02 5.77097890e+01] [-4.09790781e-01 9.12164383e-01 -5.25877479e-03 -9.46735753e+00] [-1.51315478e-02 -1.03336515e-03 9.99884978e-01 -1.08053090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.706559995 meters 0.03404311789294541 Centerline is valid? [True, True] Translation: X:57.74, Y:-9.48, Z:-1.08 [[ 9.12922502e-01 4.07896782e-01 1.38823669e-02 5.77392753e+01] [-4.07865596e-01 9.13027529e-01 -5.13676480e-03 -9.47681694e+00] [-1.47702530e-02 -9.72671678e-04 9.99890441e-01 -1.08327158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.736559995 meters 0.031974148415124415 Centerline is valid? [True, True] Translation: X:57.77, Y:-9.49, Z:-1.08 [[ 9.13964161e-01 4.05545710e-01 1.42193503e-02 5.77671437e+01] [-4.05512696e-01 9.14074265e-01 -5.26222364e-03 -9.48815762e+00] [-1.51316144e-02 -9.56643286e-04 9.99885053e-01 -1.07928332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.766559995 meters 0.032895313941358376 Centerline is valid? [True, True] Translation: X:57.79, Y:-9.50, Z:-1.08 [[ 9.15410555e-01 4.02281026e-01 1.39101385e-02 5.77944280e+01] [-4.02249062e-01 9.15515809e-01 -5.14745695e-03 -9.49899123e+00] [-1.48056759e-02 -8.83303723e-04 9.99890000e-01 -1.08321728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.796559995 meters 0.032895313941358376 Centerline is valid? [True, True] Translation: X:57.82, Y:-9.51, Z:-1.08 [[ 9.15298972e-01 4.02534844e-01 1.39101252e-02 5.78248860e+01] [-4.02502909e-01 9.15404234e-01 -5.14749337e-03 -9.51035713e+00] [-1.48054329e-02 -8.87370468e-04 9.99890000e-01 -1.08385589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.826559995000004 meters 0.03149787964833531 Centerline is valid? [True, True] Translation: X:57.86, Y:-9.52, Z:-1.08 [[ 9.15712403e-01 4.01591860e-01 1.39560928e-02 5.78554715e+01] [-4.01559524e-01 9.15818334e-01 -5.16989253e-03 -9.52221019e+00] [-1.48574324e-02 -8.70067282e-04 9.99889244e-01 -1.08090718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.856559995000005 meters 0.032990315168029645 Centerline is valid? [True, True] Translation: X:57.88, Y:-9.53, Z:-1.09 [[ 9.16585915e-01 3.99609040e-01 1.35231356e-02 5.78844336e+01] [-3.99578441e-01 9.16685310e-01 -5.01106527e-03 -9.53359461e+00] [-1.43989268e-02 -8.10481619e-04 9.99896002e-01 -1.08595758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.886559995 meters 0.032990315168029645 Centerline is valid? [True, True] Translation: X:57.91, Y:-9.54, Z:-1.09 [[ 9.16476380e-01 3.99860178e-01 1.35233968e-02 5.79148806e+01] [-3.99829617e-01 9.16575787e-01 -5.01036119e-03 -9.54497370e+00] [-1.43986620e-02 -8.15176868e-04 9.99896002e-01 -1.08659593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.916559995 meters 0.032179383123817185 Centerline is valid? [True, True] Translation: X:57.95, Y:-9.56, Z:-1.09 [[ 9.16936275e-01 3.98802996e-01 1.35660898e-02 5.79452517e+01] [-3.98772050e-01 9.17036279e-01 -5.03146670e-03 -9.55677142e+00] [-1.44471605e-02 -7.96243104e-04 9.99895317e-01 -1.08638546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.946559995 meters 0.03315442521810041 Centerline is valid? [True, True] Translation: X:57.97, Y:-9.57, Z:-1.09 [[ 9.17415860e-01 3.97705854e-01 1.33488969e-02 5.79743360e+01] [-3.97675768e-01 9.17512652e-01 -4.95140558e-03 -9.56778009e+00] [-1.42169848e-02 -7.66034808e-04 9.99898640e-01 -1.08818537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.976559995 meters 0.02868291883676538 Centerline is valid? [True, True] Translation: X:58.00, Y:-9.58, Z:-1.09 [[ 9.17938974e-01 3.96490429e-01 1.35417755e-02 5.80027618e+01] [-3.96459288e-01 9.18038545e-01 -5.02626042e-03 -9.58365826e+00] [-1.44247360e-02 -7.54962319e-04 9.99895673e-01 -1.08582935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.006559995 meters 0.030148485776283422 Centerline is valid? [True, True] Translation: X:58.03, Y:-9.60, Z:-1.09 [[ 9.18384602e-01 3.95463672e-01 1.33494098e-02 5.80328343e+01] [-3.95433237e-01 9.18481333e-01 -4.95937941e-03 -9.59597774e+00] [-1.42224381e-02 -7.24182661e-04 9.99898594e-01 -1.08873238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.036559995000005 meters 0.027378194557223186 Centerline is valid? [True, True] Translation: X:58.06, Y:-9.61, Z:-1.08 [[ 9.18260310e-01 3.95746019e-01 1.35311011e-02 5.80632270e+01] [-3.95714776e-01 9.18359703e-01 -5.02719344e-03 -9.60768269e+00] [-1.44159098e-02 -7.38184428e-04 9.99895813e-01 -1.08385338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.066559995 meters 0.03322513039384651 Centerline is valid? [True, True] Translation: X:58.09, Y:-9.61, Z:-1.09 [[ 9.18466298e-01 3.95259217e-01 1.37771802e-02 5.80949353e+01] [-3.95226702e-01 9.18569325e-01 -5.12336823e-03 -9.61232292e+00] [-1.46803537e-02 -7.39468457e-04 9.99891964e-01 -1.08851337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.096559995 meters 0.030835017177058704 Centerline is valid? [True, True] Translation: X:58.12, Y:-9.63, Z:-1.09 [[ 9.18253300e-01 3.95769950e-01 1.33050637e-02 5.81236170e+01] [-3.95739635e-01 9.18349405e-01 -4.95094064e-03 -9.62810564e+00] [-1.41781309e-02 -7.19123468e-04 9.99899227e-01 -1.08965753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.126559995 meters 0.029551947047979865 Centerline is valid? [True, True] Translation: X:58.15, Y:-9.64, Z:-1.09 [[ 9.17732246e-01 3.96959130e-01 1.38193590e-02 5.81533928e+01] [-3.96926500e-01 9.17835970e-01 -5.14636398e-03 -9.63874058e+00] [-1.47268009e-02 -7.62285618e-04 9.99891264e-01 -1.08798654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.156559995 meters 0.02710536174620804 Centerline is valid? [True, True] Translation: X:58.18, Y:-9.66, Z:-1.09 [[ 9.17612257e-01 3.97241829e-01 1.36629040e-02 5.81820295e+01] [-3.97209921e-01 9.17713658e-01 -5.09112740e-03 -9.65562989e+00] [-1.45610424e-02 -7.55360108e-04 9.99893697e-01 -1.09023765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.186559995 meters 0.03056859885266402 Centerline is valid? [True, True] Translation: X:58.21, Y:-9.66, Z:-1.09 [[ 9.17124792e-01 3.98365208e-01 1.36849226e-02 5.82138704e+01] [-3.98333235e-01 9.17226564e-01 -5.10530694e-03 -9.65835861e+00] [-1.45859512e-02 -7.68955926e-04 9.99893324e-01 -1.08712551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.216559995000004 meters 0.026758741294206707 Centerline is valid? [True, True] Translation: X:58.24, Y:-9.68, Z:-1.09 [[ 9.17223120e-01 3.98129432e-01 1.39536288e-02 5.82407677e+01] [-3.98096171e-01 9.17328919e-01 -5.20503450e-03 -9.67749558e+00] [-1.48723447e-02 -7.80708221e-04 9.99889096e-01 -1.09101132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.246559995 meters 0.026388703431262487 Centerline is valid? [True, True] Translation: X:58.27, Y:-9.69, Z:-1.09 [[ 9.16857171e-01 3.98949905e-01 1.45568404e-02 5.82713684e+01] [-3.98913740e-01 9.16972352e-01 -5.43455060e-03 -9.68847745e+00] [-1.55163336e-02 -8.24216958e-04 9.99879275e-01 -1.09045563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.276559995 meters 0.033962839166824736 Centerline is valid? [True, True] Translation: X:58.30, Y:-9.69, Z:-1.09 [[ 9.16522042e-01 3.99719940e-01 1.45367204e-02 5.83046984e+01] [-3.99683904e-01 9.16636939e-01 -5.43135093e-03 -9.68936295e+00] [-1.54959142e-02 -8.32140331e-04 9.99879585e-01 -1.09150760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.306559995 meters 0.030162590588936607 Centerline is valid? [True, True] Translation: X:58.33, Y:-9.71, Z:-1.09 [[ 9.16350580e-01 4.00129392e-01 1.40742383e-02 5.83328042e+01] [-4.00095610e-01 9.16458300e-01 -5.26193743e-03 -9.70818061e+00] [-1.50039083e-02 -8.09261534e-04 9.99887108e-01 -1.09337665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.336559995 meters 0.029070952017668933 Centerline is valid? [True, True] Translation: X:58.36, Y:-9.72, Z:-1.09 [[ 9.15678565e-01 4.01656281e-01 1.43177501e-02 5.83628596e+01] [-4.01621418e-01 9.15790107e-01 -5.35871041e-03 -9.71901261e+00] [-1.52644136e-02 -8.43458837e-04 9.99883136e-01 -1.09257943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.366559995 meters 0.03014775562984157 Centerline is valid? [True, True] Translation: X:58.39, Y:-9.73, Z:-1.09 [[ 9.15323020e-01 4.02471556e-01 1.41568034e-02 5.83936749e+01] [-4.02437566e-01 9.15432099e-01 -5.29875891e-03 -9.72942244e+00] [-1.50921920e-02 -8.47153478e-04 9.99885748e-01 -1.09392833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.396559995000004 meters 0.030852221300702514 Centerline is valid? [True, True] Translation: X:58.42, Y:-9.74, Z:-1.10 [[ 9.15074556e-01 4.03042889e-01 1.39637913e-02 5.84241774e+01] [-4.03009827e-01 9.15180704e-01 -5.23040632e-03 -9.74054209e+00] [-1.48874705e-02 -8.41333397e-04 9.99888822e-01 -1.09526967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.426559995 meters 0.03199711168515503 Centerline is valid? [True, True] Translation: X:58.45, Y:-9.75, Z:-1.10 [[ 9.14503936e-01 4.04340731e-01 1.38247737e-02 5.84536640e+01] [-4.04308406e-01 9.14608031e-01 -5.18284066e-03 -9.75095447e+00] [-1.47398826e-02 -8.49744018e-04 9.99891001e-01 -1.09598714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.456559995 meters 0.031858906995033805 Centerline is valid? [True, True] Translation: X:58.48, Y:-9.76, Z:-1.10 [[ 9.14108493e-01 4.05243133e-01 1.35523354e-02 5.84830023e+01] [-4.05212149e-01 9.14208558e-01 -5.08200141e-03 -9.76280366e+00] [-1.44491072e-02 -8.46070323e-04 9.99895248e-01 -1.09681717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.486559995 meters 0.029526547227995897 Centerline is valid? [True, True] Translation: X:58.51, Y:-9.78, Z:-1.09 [[ 9.13500590e-01 4.06619908e-01 1.33012219e-02 5.85124296e+01] [-4.06590146e-01 9.13597029e-01 -4.99215294e-03 -9.77528716e+00] [-1.41818656e-02 -8.47811090e-04 9.99899073e-01 -1.09336597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.516559995 meters 0.03224819075033516 Centerline is valid? [True, True] Translation: X:58.54, Y:-9.79, Z:-1.10 [[ 9.13659803e-01 4.06272542e-01 1.29763673e-02 5.85416892e+01] [-4.06244173e-01 9.13751579e-01 -4.87081822e-03 -9.78505151e+00] [-1.38360558e-02 -8.21302797e-04 9.99903940e-01 -1.09857257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.546559995 meters 0.030489713724147934 Centerline is valid? [True, True] Translation: X:58.57, Y:-9.80, Z:-1.10 [[ 9.13493876e-01 4.06638811e-01 1.31839087e-02 5.85713103e+01] [-4.06609547e-01 9.13588624e-01 -4.95003433e-03 -9.79996312e+00] [-1.40575451e-02 -8.38877101e-04 9.99900836e-01 -1.09883174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.576559995000004 meters 0.03259357314696004 Centerline is valid? [True, True] Translation: X:58.60, Y:-9.81, Z:-1.10 [[ 9.13822182e-01 4.05878317e-01 1.38496083e-02 5.86013944e+01] [-4.05845861e-01 9.13926717e-01 -5.20505801e-03 -9.80969499e+00] [-1.47701472e-02 -8.64308733e-04 9.99890542e-01 -1.09943029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.606559995 meters 0.03165543455313719 Centerline is valid? [True, True] Translation: X:58.63, Y:-9.82, Z:-1.10 [[ 9.14108272e-01 4.05240370e-01 1.36495035e-02 5.86303778e+01] [-4.05208718e-01 9.14209790e-01 -5.13371040e-03 -9.82423812e+00] [-1.45588965e-02 -8.38130681e-04 9.99893662e-01 -1.10035663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.636559995 meters 0.027734021614455255 Centerline is valid? [True, True] Translation: X:58.66, Y:-9.84, Z:-1.10 [[ 9.14649707e-01 4.04015088e-01 1.37011670e-02 5.86585627e+01] [-4.03982990e-01 9.14751956e-01 -5.15783610e-03 -9.84181686e+00] [-1.46170129e-02 -8.17425117e-04 9.99892832e-01 -1.09965868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.666559995 meters 0.02867612800322215 Centerline is valid? [True, True] Translation: X:58.69, Y:-9.85, Z:-1.10 [[ 9.16187639e-01 4.00510746e-01 1.38330556e-02 5.86858113e+01] [-4.00477600e-01 9.16291741e-01 -5.20941959e-03 -9.85435124e+00] [-1.47615431e-02 -7.67023066e-04 9.99890748e-01 -1.10053720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.696559995 meters 0.024342225958708767 Centerline is valid? [True, True] Translation: X:58.71, Y:-9.87, Z:-1.10 [[ 9.16869395e-01 3.98937097e-01 1.41316680e-02 5.87129337e+01] [-3.98902322e-01 9.16977981e-01 -5.32160807e-03 -9.87272961e+00] [-1.50814153e-02 -7.57935626e-04 9.99885982e-01 -1.09853467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.726559995 meters 0.026672493132276532 Centerline is valid? [True, True] Translation: X:58.74, Y:-9.89, Z:-1.10 [[ 9.18680182e-01 3.94731684e-01 1.46157820e-02 5.87397033e+01] [-3.94693934e-01 9.18796165e-01 -5.50510736e-03 -9.88620131e+00] [-1.56019648e-02 -7.11327479e-04 9.99878029e-01 -1.10189116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.756559995 meters 0.02513410678693525 Centerline is valid? [True, True] Translation: X:58.77, Y:-9.90, Z:-1.10 [[ 9.19196165e-01 3.93490985e-01 1.55966238e-02 5.87688184e+01] [-3.93447825e-01 9.19328180e-01 -5.87426798e-03 -9.90135669e+00] [-1.66498873e-02 -7.36853126e-04 9.99861110e-01 -1.10007201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.786559995000005 meters 0.02310780767749854 Centerline is valid? [True, True] Translation: X:58.80, Y:-9.92, Z:-1.10 [[ 9.19783036e-01 3.92074118e-01 1.66448723e-02 5.87958193e+01] [-3.92024704e-01 9.19933319e-01 -6.27055074e-03 -9.92021240e+00] [-1.77706933e-02 -7.57654953e-04 9.99841802e-01 -1.09834197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.816559995 meters 0.026592206589444296 Centerline is valid? [True, True] Translation: X:58.82, Y:-9.93, Z:-1.10 [[ 9.19926037e-01 3.91778614e-01 1.56717731e-02 5.88247018e+01] [-3.91734695e-01 9.20059249e-01 -5.90819677e-03 -9.93099023e+00] [-1.67336650e-02 -7.04073225e-04 9.99859735e-01 -1.10222051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.846559995 meters 0.027304762781996398 Centerline is valid? [True, True] Translation: X:58.85, Y:-9.94, Z:-1.10 [[ 9.18548698e-01 3.95044244e-01 1.44338462e-02 5.88525039e+01] [-3.95007328e-01 9.18661829e-01 -5.44560583e-03 -9.94141544e+00] [-1.54110788e-02 -6.99420885e-04 9.99880998e-01 -1.10259559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.876559995 meters 0.02659282981223862 Centerline is valid? [True, True] Translation: X:58.88, Y:-9.96, Z:-1.10 [[ 9.17548051e-01 3.97387760e-01 1.37310616e-02 5.88808004e+01] [-3.97354592e-01 9.17650520e-01 -5.18186246e-03 -9.95532021e+00] [-1.46595245e-02 -7.01492584e-04 9.99892297e-01 -1.10397464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.906559995 meters 0.028865785266800153 Centerline is valid? [True, True] Translation: X:58.91, Y:-9.96, Z:-1.11 [[ 9.16465676e-01 3.99893360e-01 1.32651707e-02 5.89094288e+01] [-3.99862663e-01 9.16561393e-01 -5.00625398e-03 -9.96403757e+00] [-1.41603111e-02 -7.16186538e-04 9.99899481e-01 -1.10573696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.936559995 meters 0.029835048203416027 Centerline is valid? [True, True] Translation: X:58.94, Y:-9.98, Z:-1.11 [[ 9.15366107e-01 4.02408623e-01 1.31221246e-02 5.89377435e+01] [-4.02378818e-01 9.15459854e-01 -4.95398131e-03 -9.97586361e+00] [-1.40063031e-02 -7.45358421e-04 9.99901629e-01 -1.10668597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.966559995000004 meters 0.0296711555608574 Centerline is valid? [True, True] Translation: X:58.97, Y:-9.99, Z:-1.11 [[ 9.12923831e-01 4.07885351e-01 1.41286383e-02 5.89665208e+01] [-4.07851445e-01 9.13032718e-01 -5.33433946e-03 -9.98621394e+00] [-1.50757079e-02 -8.92539910e-04 9.99885957e-01 -1.10508044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.996559995 meters 0.03308250106497847 Centerline is valid? [True, True] Translation: X:59.00, Y:-9.99, Z:-1.11 [[ 9.11735542e-01 4.10550919e-01 1.36471400e-02 5.89965439e+01] [-4.10519581e-01 9.11837225e-01 -5.15260072e-03 -9.99259498e+00] [-1.45593752e-02 -9.04608997e-04 9.99893597e-01 -1.10585110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.026559995 meters 0.03439657533920374 Centerline is valid? [True, True] Translation: X:59.03, Y:-10.00, Z:-1.11 [[ 9.09293287e-01 4.15946752e-01 1.31916100e-02 5.90254967e+01] [-4.15918032e-01 9.09388466e-01 -4.98073622e-03 -1.00024060e+01] [-1.40680190e-02 -9.57678456e-04 9.99900582e-01 -1.10658892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.056559995 meters 0.03857126810157594 Centerline is valid? [True, True] Translation: X:59.06, Y:-10.01, Z:-1.11 [[ 9.07135292e-01 4.20639867e-01 1.29485642e-02 5.90557657e+01] [-4.20612659e-01 9.07227139e-01 -4.88975002e-03 -1.00082097e+01] [-1.38041127e-02 -1.01066523e-03 9.99904208e-01 -1.10741160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.086559995 meters 0.03857126810157594 Centerline is valid? [True, True] Translation: X:59.09, Y:-10.02, Z:-1.11 [[ 9.07016637e-01 4.20895643e-01 1.29490720e-02 5.90861677e+01] [-4.20868481e-01 9.07108497e-01 -4.88840607e-03 -1.00197798e+01] [-1.38037221e-02 -1.01599063e-03 9.99904208e-01 -1.10805034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.116559995 meters 0.0426697056804246 Centerline is valid? [True, True] Translation: X:59.12, Y:-10.03, Z:-1.11 [[ 9.05468102e-01 4.24229527e-01 1.25229878e-02 5.91154712e+01] [-4.24204363e-01 9.05554115e-01 -4.73329299e-03 -1.00276745e+01] [-1.33482458e-02 -1.02646023e-03 9.99910381e-01 -1.10998010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.146559995000004 meters 0.043396031981040424 Centerline is valid? [True, True] Translation: X:59.14, Y:-10.04, Z:-1.11 [[ 9.04593018e-01 4.26093370e-01 1.24864666e-02 5.91449931e+01] [-4.26068532e-01 9.04678581e-01 -4.71921425e-03 -1.00378975e+01] [-1.33070648e-02 -1.05112222e-03 9.99910905e-01 -1.11005193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.176559995 meters 0.043396031981040424 Centerline is valid? [True, True] Translation: X:59.18, Y:-10.05, Z:-1.11 [[ 9.04474736e-01 4.26344381e-01 1.24868432e-02 5.91754044e+01] [-4.26319580e-01 9.04560310e-01 -4.71821862e-03 -1.00494892e+01] [-1.33066887e-02 -1.05587621e-03 9.99910905e-01 -1.11069111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.206559995 meters 0.044682377374647544 Centerline is valid? [True, True] Translation: X:59.21, Y:-10.06, Z:-1.11 [[ 9.04349299e-01 4.26612938e-01 1.23994788e-02 5.92056532e+01] [-4.26588455e-01 9.04433691e-01 -4.68923206e-03 -1.00605443e+01] [-1.32149935e-02 -1.04877079e-03 9.99912128e-01 -1.11204378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.236559995 meters 0.03961153654071715 Centerline is valid? [True, True] Translation: X:59.23, Y:-10.08, Z:-1.11 [[ 9.04538989e-01 4.26218008e-01 1.21419544e-02 5.92326154e+01] [-4.26194451e-01 9.04619905e-01 -4.59536861e-03 -1.00794464e+01] [-1.29424825e-02 -1.01814353e-03 9.99915724e-01 -1.11245377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.266559995 meters 0.04114311564253528 Centerline is valid? [True, True] Translation: X:59.26, Y:-10.09, Z:-1.11 [[ 9.05142337e-01 4.24928620e-01 1.23700126e-02 5.92617961e+01] [-4.24903982e-01 9.05226292e-01 -4.68680099e-03 -1.00890960e+01] [-1.31892165e-02 -1.01384560e-03 9.99912505e-01 -1.11294456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.296559995 meters 0.04059229312986517 Centerline is valid? [True, True] Translation: X:59.29, Y:-10.10, Z:-1.11 [[ 9.06123556e-01 4.22823187e-01 1.26749422e-02 5.92893221e+01] [-4.22797104e-01 9.06211642e-01 -4.80310286e-03 -1.01021458e+01] [-1.35170434e-02 -1.00672421e-03 9.99908134e-01 -1.11379956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.326559995000004 meters 0.03481380832563825 Centerline is valid? [True, True] Translation: X:59.32, Y:-10.12, Z:-1.11 [[ 9.08737347e-01 4.17095091e-01 1.51036066e-02 5.93153973e+01] [-4.17057267e-01 9.08862189e-01 -5.72333308e-03 -1.01219072e+01] [-1.61142711e-02 -1.09806235e-03 9.99869554e-01 -1.11072192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.356559995 meters 0.03265848757253762 Centerline is valid? [True, True] Translation: X:59.34, Y:-10.14, Z:-1.11 [[ 9.11987287e-01 4.09986144e-01 1.38039811e-02 5.93405609e+01] [-4.09953729e-01 9.12091318e-01 -5.23135528e-03 -1.01413367e+01] [-1.47352745e-02 -8.88064021e-04 9.99891036e-01 -1.11442768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.386559995 meters 0.03092327985825718 Centerline is valid? [True, True] Translation: X:59.37, Y:-10.16, Z:-1.11 [[ 9.13512515e-01 4.06554783e-01 1.44254618e-02 5.93677180e+01] [-4.06518957e-01 9.13625991e-01 -5.46685536e-03 -1.01570621e+01] [-1.54020530e-02 -8.70182910e-04 9.99881003e-01 -1.11392555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.416559995 meters 0.029173680126424968 Centerline is valid? [True, True] Translation: X:59.39, Y:-10.17, Z:-1.11 [[ 9.14827386e-01 4.03602864e-01 1.39850597e-02 5.93945261e+01] [-4.03568845e-01 9.14933930e-01 -5.30017963e-03 -1.01744307e+01] [-1.49345733e-02 -7.95184898e-04 9.99888157e-01 -1.11445590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.446559995 meters 0.030648721457329612 Centerline is valid? [True, True] Translation: X:59.42, Y:-10.19, Z:-1.11 [[ 9.16267339e-01 4.00302105e-01 1.45735422e-02 5.94222518e+01] [-4.00264736e-01 9.16382905e-01 -5.52377087e-03 -1.01864385e+01] [-1.55661221e-02 -7.72024199e-04 9.99878543e-01 -1.11320052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.476559995 meters 0.031856565737924405 Centerline is valid? [True, True] Translation: X:59.45, Y:-10.20, Z:-1.12 [[ 9.15986184e-01 4.00994681e-01 1.31368198e-02 5.94514249e+01] [-4.00964406e-01 9.16080108e-01 -4.97796768e-03 -1.01982725e+01] [-1.40305179e-02 -7.07647521e-04 9.99901317e-01 -1.11530653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.506559995 meters 0.02677213402899681 Centerline is valid? [True, True] Translation: X:59.48, Y:-10.22, Z:-1.11 [[ 9.14356405e-01 4.04712652e-01 1.26504845e-02 5.94784010e+01] [-4.04684875e-01 9.14443619e-01 -4.79781996e-03 -1.02160534e+01] [-1.35098933e-02 -7.32542331e-04 9.99908469e-01 -1.11425601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.536559995000005 meters 0.03359922526746548 Centerline is valid? [True, True] Translation: X:59.51, Y:-10.22, Z:-1.12 [[ 9.11050183e-01 4.12150381e-01 1.09374233e-02 5.95088187e+01] [-4.12130149e-01 9.11115543e-01 -4.14824530e-03 -1.02207105e+01] [-1.16749573e-02 -7.28382270e-04 9.99931580e-01 -1.11884337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.566559995 meters 0.0436700748707298 Centerline is valid? [True, True] Translation: X:59.54, Y:-10.22, Z:-1.12 [[ 9.03457153e-01 4.28464261e-01 1.35480455e-02 5.95420983e+01] [-4.28435004e-01 9.03557983e-01 -5.13984911e-03 -1.02185020e+01] [-1.44436863e-02 -1.16082347e-03 9.99895011e-01 -1.11763466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.596559995 meters 0.04424370961682225 Centerline is valid? [True, True] Translation: X:59.57, Y:-10.23, Z:-1.12 [[ 9.02808950e-01 4.29804151e-01 1.42965693e-02 5.95725218e+01] [-4.29771734e-01 9.02921279e-01 -5.42413010e-03 -1.02287958e+01] [-1.52399903e-02 -1.24730818e-03 9.99883087e-01 -1.11793246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.626559995 meters 0.04424370961682225 Centerline is valid? [True, True] Translation: X:59.60, Y:-10.24, Z:-1.12 [[ 9.02689158e-01 4.30055686e-01 1.42965141e-02 5.96029177e+01] [-4.30023298e-01 9.02801496e-01 -5.42427604e-03 -1.02404261e+01] [-1.52396551e-02 -1.25139897e-03 9.99883087e-01 -1.11857184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.656559995 meters 0.04650785028795121 Centerline is valid? [True, True] Translation: X:59.63, Y:-10.25, Z:-1.12 [[ 9.02286877e-01 4.30908969e-01 1.39947304e-02 5.96329535e+01] [-4.30877966e-01 9.02394557e-01 -5.31438517e-03 -1.02490079e+01] [-1.49187848e-02 -1.23492098e-03 9.99887946e-01 -1.12040324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.686559995 meters 0.04650785028795121 Centerline is valid? [True, True] Translation: X:59.66, Y:-10.26, Z:-1.12 [[ 9.02168317e-01 4.31157172e-01 1.39936210e-02 5.96633458e+01] [-4.31126154e-01 9.02275992e-01 -5.31730462e-03 -1.02606575e+01] [-1.49187023e-02 -1.23591223e-03 9.99887946e-01 -1.12104351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.716559995000004 meters 0.04650785028795121 Centerline is valid? [True, True] Translation: X:59.69, Y:-10.27, Z:-1.12 [[ 9.02049685e-01 4.31405360e-01 1.39921570e-02 5.96937351e+01] [-4.31374313e-01 9.02157352e-01 -5.32115362e-03 -1.02723150e+01] [-1.49187015e-02 -1.23591216e-03 9.99887946e-01 -1.12168404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.746559995 meters 0.04049130841952803 Centerline is valid? [True, True] Translation: X:59.72, Y:-10.29, Z:-1.12 [[ 9.01818035e-01 4.31873963e-01 1.44607072e-02 5.97217322e+01] [-4.31840786e-01 9.01933057e-01 -5.50419294e-03 -1.02900343e+01] [-1.54197075e-02 -1.28094270e-03 9.99880289e-01 -1.12144505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.776559995 meters 0.04049130841952803 Centerline is valid? [True, True] Translation: X:59.75, Y:-10.30, Z:-1.12 [[ 9.01693545e-01 4.32133865e-01 1.44593746e-02 5.97521168e+01] [-4.32100666e-01 9.01808561e-01 -5.50769097e-03 -1.03016912e+01] [-1.54196476e-02 -1.28165601e-03 9.99880289e-01 -1.12208541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.806559995 meters 0.04049130841952803 Centerline is valid? [True, True] Translation: X:59.78, Y:-10.31, Z:-1.12 [[ 9.01568978e-01 4.32393744e-01 1.44577860e-02 5.97824982e+01] [-4.32360512e-01 9.01683984e-01 -5.51185757e-03 -1.03133565e+01] [-1.54196468e-02 -1.28165594e-03 9.99880289e-01 -1.12272596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.836559995 meters 0.04746932702410853 Centerline is valid? [True, True] Translation: X:59.81, Y:-10.32, Z:-1.13 [[ 9.01712071e-01 4.32114564e-01 1.38688636e-02 5.98143277e+01] [-4.32083883e-01 9.01817894e-01 -5.29195819e-03 -1.03165079e+01] [-1.47939216e-02 -1.22068985e-03 9.99889819e-01 -1.12530689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.866559995 meters 0.03987980817100778 Centerline is valid? [True, True] Translation: X:59.84, Y:-10.34, Z:-1.12 [[ 9.02175868e-01 4.31125438e-01 1.44761712e-02 5.98406522e+01] [-4.31091811e-01 9.02291132e-01 -5.52845547e-03 -1.03369063e+01] [-1.54451787e-02 -1.25291974e-03 9.99879931e-01 -1.12488879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.896559995000004 meters 0.04039245643523163 Centerline is valid? [True, True] Translation: X:59.87, Y:-10.35, Z:-1.13 [[ 9.02740569e-01 4.29924836e-01 1.49699776e-02 5.98697279e+01] [-4.29888689e-01 9.02863785e-01 -5.71848562e-03 -1.03473983e+01] [-1.59743696e-02 -1.27311509e-03 9.99871591e-01 -1.12541489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.926559995 meters 0.03960709636442644 Centerline is valid? [True, True] Translation: X:59.90, Y:-10.36, Z:-1.13 [[ 9.03411387e-01 4.28549493e-01 1.38995648e-02 5.98979358e+01] [-4.28518164e-01 9.03517564e-01 -5.30989673e-03 -1.03620054e+01] [-1.48340545e-02 -1.15919483e-03 9.99889297e-01 -1.12747087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.956559995 meters 0.03833120243688372 Centerline is valid? [True, True] Translation: X:59.93, Y:-10.37, Z:-1.13 [[ 9.04794435e-01 4.25589023e-01 1.48665487e-02 5.99258329e+01] [-4.25552758e-01 9.04915784e-01 -5.68104505e-03 -1.03727309e+01] [-1.58707650e-02 -1.18632287e-03 9.99873348e-01 -1.12666120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.986559995 meters 0.037923176435565115 Centerline is valid? [True, True] Translation: X:59.95, Y:-10.38, Z:-1.13 [[ 9.05688568e-01 4.23703718e-01 1.42610163e-02 5.99548194e+01] [-4.23670116e-01 9.05800163e-01 -5.44952504e-03 -1.03848612e+01] [-1.52266150e-02 -1.10639392e-03 9.99883456e-01 -1.12838479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.016559995 meters 0.03487391385621392 Centerline is valid? [True, True] Translation: X:59.98, Y:-10.40, Z:-1.13 [[ 9.07751337e-01 4.19240304e-01 1.50026026e-02 5.99823032e+01] [-4.19202498e-01 9.07874656e-01 -5.73361033e-03 -1.03996887e+01] [-1.60242433e-02 -1.08443606e-03 9.99871015e-01 -1.12867377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.046559995 meters 0.033939477902655786 Centerline is valid? [True, True] Translation: X:60.01, Y:-10.41, Z:-1.13 [[ 9.08982153e-01 4.16532899e-01 1.58678563e-02 6.00101857e+01] [-4.16490188e-01 9.09119982e-01 -6.06473649e-03 -1.04115263e+01] [-1.69519475e-02 -1.09606921e-03 9.99855705e-01 -1.12830807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.076559995000004 meters 0.03421475482897339 Centerline is valid? [True, True] Translation: X:60.04, Y:-10.42, Z:-1.13 [[ 9.10882587e-01 4.12404627e-01 1.46743189e-02 6.00375967e+01] [-4.12367565e-01 9.11000294e-01 -5.60855520e-03 -1.04240898e+01] [-1.56813030e-02 -9.42477909e-04 9.99876597e-01 -1.13091074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.106559995 meters 0.03286814055717874 Centerline is valid? [True, True] Translation: X:60.06, Y:-10.44, Z:-1.13 [[ 9.12445701e-01 4.08954115e-01 1.41200028e-02 6.00648577e+01] [-4.08919390e-01 9.12554551e-01 -5.39660844e-03 -1.04387696e+01] [-1.50922381e-02 -8.49830759e-04 9.99885745e-01 -1.13330414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.136559995 meters 0.02904540232719511 Centerline is valid? [True, True] Translation: X:60.09, Y:-10.45, Z:-1.13 [[ 9.13322760e-01 4.06920566e-01 1.60371410e-02 6.00946969e+01] [-4.06875448e-01 9.13463078e-01 -6.12985941e-03 -1.04494505e+01] [-1.71437020e-02 -9.26578824e-04 9.99852607e-01 -1.13157654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.166559995 meters 0.034772791740842496 Centerline is valid? [True, True] Translation: X:60.13, Y:-10.45, Z:-1.14 [[ 9.13230988e-01 4.07211628e-01 1.37059086e-02 6.01257199e+01] [-4.07178705e-01 9.13333485e-01 -5.23896241e-03 -1.04548734e+01] [-1.46514317e-02 -7.96371288e-04 9.99892345e-01 -1.13648636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.196559995 meters 0.03136473887275724 Centerline is valid? [True, True] Translation: X:60.16, Y:-10.47, Z:-1.14 [[ 9.13259856e-01 4.07078871e-01 1.55958074e-02 6.01553014e+01] [-4.07036146e-01 9.13392568e-01 -5.96592250e-03 -1.04675721e+01] [-1.66736956e-02 -8.99619805e-04 9.99860580e-01 -1.13566903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.226559995 meters 0.030398071484094086 Centerline is valid? [True, True] Translation: X:60.19, Y:-10.48, Z:-1.14 [[ 9.13201888e-01 4.07167286e-01 1.66467036e-02 6.01851277e+01] [-4.07118533e-01 9.13353100e-01 -6.37299079e-03 -1.04769735e+01] [-1.77991917e-02 -9.57354318e-04 9.99841124e-01 -1.13514750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.256559995 meters 0.030398071484094086 Centerline is valid? [True, True] Translation: X:60.22, Y:-10.49, Z:-1.14 [[ 9.13089298e-01 4.07419770e-01 1.66452961e-02 6.02154282e+01] [-4.07370992e-01 9.13240501e-01 -6.37666477e-03 -1.04886707e+01] [-1.77991378e-02 -9.58346412e-04 9.99841124e-01 -1.13578650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.286559995000005 meters 0.030944694581231003 Centerline is valid? [True, True] Translation: X:60.25, Y:-10.50, Z:-1.14 [[ 9.13091802e-01 4.07400393e-01 1.69788512e-02 6.02451663e+01] [-4.07349536e-01 9.13249131e-01 -6.51003100e-03 -1.04984913e+01] [-1.81581103e-02 -9.72071240e-04 9.99834655e-01 -1.13655779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.316559995 meters 0.030944694581231003 Centerline is valid? [True, True] Translation: X:60.28, Y:-10.51, Z:-1.14 [[ 9.12980059e-01 4.07650804e-01 1.69774277e-02 6.02754603e+01] [-4.07599922e-01 9.13137380e-01 -6.51374128e-03 -1.05102071e+01] [-1.81580557e-02 -9.73082286e-04 9.99834655e-01 -1.13719677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.346559995 meters 0.03129904949701011 Centerline is valid? [True, True] Translation: X:60.31, Y:-10.52, Z:-1.14 [[ 9.13045142e-01 4.07520592e-01 1.65992578e-02 6.03053389e+01] [-4.07471838e-01 9.13195530e-01 -6.37381362e-03 -1.05209177e+01] [-1.77558283e-02 -9.44150515e-04 9.99841907e-01 -1.13844268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.376559995 meters 0.03129904949701011 Centerline is valid? [True, True] Translation: X:60.34, Y:-10.53, Z:-1.14 [[ 9.12933684e-01 4.07770281e-01 1.65977576e-02 6.03356265e+01] [-4.07721498e-01 9.13084062e-01 -6.37771771e-03 -1.05326500e+01] [-1.77557916e-02 -9.44829245e-04 9.99841907e-01 -1.13908175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.406559995 meters 0.03129904949701011 Centerline is valid? [True, True] Translation: X:60.37, Y:-10.54, Z:-1.14 [[ 9.12822158e-01 4.08019952e-01 1.65960122e-02 6.03659109e+01] [-4.07971127e-01 9.12972522e-01 -6.38225592e-03 -1.05443904e+01] [-1.77557909e-02 -9.44829206e-04 9.99841907e-01 -1.13972101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.436559995 meters 0.03129904949701011 Centerline is valid? [True, True] Translation: X:60.40, Y:-10.56, Z:-1.14 [[ 9.12710562e-01 4.08269592e-01 1.65942657e-02 6.03961921e+01] [-4.08220726e-01 9.12860914e-01 -6.38679365e-03 -1.05561390e+01] [-1.77557902e-02 -9.44829167e-04 9.99841907e-01 -1.14036027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.466559995000004 meters 0.031109402777119096 Centerline is valid? [True, True] Translation: X:60.43, Y:-10.57, Z:-1.14 [[ 9.12778279e-01 4.08130612e-01 1.62854672e-02 6.04258664e+01] [-4.08083438e-01 9.12923084e-01 -6.27302452e-03 -1.05681738e+01] [-1.74275923e-02 -9.19948928e-04 9.99847705e-01 -1.14214758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.496559995 meters 0.028811585847025468 Centerline is valid? [True, True] Translation: X:60.46, Y:-10.58, Z:-1.14 [[ 9.12775666e-01 4.08123549e-01 1.66057971e-02 6.04556199e+01] [-4.08074415e-01 9.12926228e-01 -6.40111546e-03 -1.05811572e+01] [-1.77723137e-02 -9.33618512e-04 9.99841624e-01 -1.14229036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.526559995 meters 0.029996024392832266 Centerline is valid? [True, True] Translation: X:60.49, Y:-10.59, Z:-1.14 [[ 9.12907950e-01 4.07847987e-01 1.60963916e-02 6.04858741e+01] [-4.07801704e-01 9.13049406e-01 -6.20915227e-03 -1.05905179e+01] [-1.72291910e-02 -8.95751445e-04 9.99851165e-01 -1.14385686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.556559995 meters 0.026866120899685552 Centerline is valid? [True, True] Translation: X:60.51, Y:-10.61, Z:-1.15 [[ 9.14038495e-01 4.05318056e-01 1.58399507e-02 6.05135781e+01] [-4.05272772e-01 9.14175358e-01 -6.11517836e-03 -1.06056162e+01] [-1.69590848e-02 -8.29992297e-04 9.99855840e-01 -1.14538823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.586559995 meters 0.026641495258853592 Centerline is valid? [True, True] Translation: X:60.54, Y:-10.62, Z:-1.15 [[ 9.15945013e-01 4.00999354e-01 1.56285783e-02 6.05417147e+01] [-4.00954631e-01 9.16078038e-01 -6.03425225e-03 -1.06186929e+01] [-1.67367286e-02 -7.39307586e-04 9.99859658e-01 -1.14670451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.616559995 meters 0.025295295282384268 Centerline is valid? [True, True] Translation: X:60.57, Y:-10.63, Z:-1.15 [[ 9.16941490e-01 3.98698017e-01 1.60684409e-02 6.05702064e+01] [-3.98650382e-01 9.17081991e-01 -6.20442512e-03 -1.06330778e+01] [-1.72097697e-02 -7.16595281e-04 9.99851644e-01 -1.14758442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.646559995000004 meters 0.02147613352522115 Centerline is valid? [True, True] Translation: X:60.60, Y:-10.64, Z:-1.15 [[ 9.17894291e-01 3.96382121e-01 1.87425767e-02 6.05983590e+01] [-3.96316802e-01 9.18085290e-01 -7.23831218e-03 -1.06445367e+01] [-2.00764215e-02 -7.83992633e-04 9.99798141e-01 -1.14515859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.676559995 meters 0.023812115242690078 Centerline is valid? [True, True] Translation: X:60.63, Y:-10.66, Z:-1.15 [[ 9.19043629e-01 3.93812126e-01 1.64565353e-02 6.06268173e+01] [-3.93761354e-01 9.19190732e-01 -6.35570957e-03 -1.06578197e+01] [-1.76296502e-02 -6.38773235e-04 9.99844382e-01 -1.14880222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.706559995 meters 0.02098413912252303 Centerline is valid? [True, True] Translation: X:60.65, Y:-10.67, Z:-1.15 [[ 9.21153873e-01 3.88825732e-01 1.70320936e-02 6.06540686e+01] [-3.88770479e-01 9.21311150e-01 -6.57875030e-03 -1.06728744e+01] [-1.82498451e-02 -5.61533854e-04 9.99833300e-01 -1.14926593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.736559995 meters 0.0198725496472403 Centerline is valid? [True, True] Translation: X:60.68, Y:-10.69, Z:-1.15 [[ 9.23255315e-01 3.83776502e-01 1.77544137e-02 6.06820808e+01] [-3.83715523e-01 9.23425885e-01 -6.85799357e-03 -1.06893170e+01] [-1.90268220e-02 -4.80965134e-04 9.99818858e-01 -1.14902372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.766559995 meters 0.02082545168507602 Centerline is valid? [True, True] Translation: X:60.71, Y:-10.70, Z:-1.15 [[ 9.22990457e-01 3.84476449e-01 1.63240930e-02 6.07118857e+01] [-3.84425002e-01 9.23134688e-01 -6.30595352e-03 -1.07014385e+01] [-1.74938271e-02 -4.55054563e-04 9.99846868e-01 -1.15095248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.796559995 meters 0.022420505753171425 Centerline is valid? [True, True] Translation: X:60.74, Y:-10.71, Z:-1.15 [[ 9.22459761e-01 3.85779188e-01 1.55694284e-02 6.07419474e+01] [-3.85732503e-01 9.22591032e-01 -6.01865359e-03 -1.07093177e+01] [-1.66860863e-02 -4.53668813e-04 9.99860675e-01 -1.15228053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.826559995000004 meters 0.020242500298564305 Centerline is valid? [True, True] Translation: X:60.77, Y:-10.72, Z:-1.15 [[ 9.21832072e-01 3.87258307e-01 1.60198408e-02 6.07713368e+01] [-3.87209031e-01 9.21971129e-01 -6.19701619e-03 -1.07225890e+01] [-1.71696767e-02 -4.90418760e-04 9.99852470e-01 -1.15248033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.856559995 meters 0.020627329864639932 Centerline is valid? [True, True] Translation: X:60.80, Y:-10.73, Z:-1.15 [[ 9.21142342e-01 3.88891863e-01 1.61215610e-02 6.08021719e+01] [-3.88842129e-01 9.21283262e-01 -6.24099771e-03 -1.07329666e+01] [-1.72795975e-02 -5.19894869e-04 9.99850561e-01 -1.15354459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.886559995 meters 0.02246319009420482 Centerline is valid? [True, True] Translation: X:60.83, Y:-10.74, Z:-1.15 [[ 9.20454902e-01 3.90528776e-01 1.58129056e-02 6.08322651e+01] [-3.90481094e-01 9.20590565e-01 -6.12596607e-03 -1.07423365e+01] [-1.69495777e-02 -5.35965168e-04 9.99856202e-01 -1.15468097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.916559995 meters 0.02246319009420482 Centerline is valid? [True, True] Translation: X:60.86, Y:-10.75, Z:-1.16 [[ 9.20345373e-01 3.90786884e-01 1.58115582e-02 6.08624889e+01] [-3.90739180e-01 9.20481028e-01 -6.12944164e-03 -1.07541336e+01] [-1.69495447e-02 -5.36992017e-04 9.99856202e-01 -1.15531935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.946559995 meters 0.02421847286840762 Centerline is valid? [True, True] Translation: X:60.89, Y:-10.76, Z:-1.16 [[ 9.18579255e-01 3.94939286e-01 1.53334122e-02 6.08931729e+01] [-3.94894907e-01 9.18707033e-01 -5.94975228e-03 -1.07610392e+01] [-1.64367046e-02 -5.89767371e-04 9.99864734e-01 -1.15622176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.976559995 meters 0.024729163607669902 Centerline is valid? [True, True] Translation: X:60.92, Y:-10.77, Z:-1.16 [[ 9.17520449e-01 3.97398611e-01 1.51845368e-02 6.09233271e+01] [-3.97355427e-01 9.17645874e-01 -5.89192084e-03 -1.07712130e+01] [-1.62754687e-02 -6.27700252e-04 9.99867349e-01 -1.15694820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.006559995 meters 0.026924051384914053 Centerline is valid? [True, True] Translation: X:60.95, Y:-10.77, Z:-1.16 [[ 9.15666484e-01 4.01560924e-01 1.74274040e-02 6.09541016e+01] [-4.01504737e-01 9.15831961e-01 -6.76507265e-03 -1.07737754e+01] [-1.86771624e-02 -8.02634952e-04 9.99825244e-01 -1.15586662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.036559995000005 meters 0.025793461868351766 Centerline is valid? [True, True] Translation: X:60.98, Y:-10.79, Z:-1.16 [[ 9.14845701e-01 4.03447614e-01 1.69518796e-02 6.09827244e+01] [-4.03394780e-01 9.15002379e-01 -6.58012510e-03 -1.07874502e+01] [-1.81657459e-02 -8.18500574e-04 9.99834654e-01 -1.15710532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.066559995 meters 0.025793461868351766 Centerline is valid? [True, True] Translation: X:61.01, Y:-10.80, Z:-1.16 [[ 9.14731760e-01 4.03705946e-01 1.69503984e-02 6.10129589e+01] [-4.03653086e-01 9.14888429e-01 -6.58393837e-03 -1.07992733e+01] [-1.81656984e-02 -8.19543079e-04 9.99834654e-01 -1.15774403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.096559995 meters 0.02807679156689363 Centerline is valid? [True, True] Translation: X:61.04, Y:-10.81, Z:-1.16 [[ 9.13265330e-01 4.06984856e-01 1.76001225e-02 6.10428119e+01] [-4.06928357e-01 9.13434449e-01 -6.84246774e-03 -1.08068645e+01] [-1.88613389e-02 -9.13000360e-04 9.99821692e-01 -1.15813622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.126559995 meters 0.028966816222075947 Centerline is valid? [True, True] Translation: X:61.07, Y:-10.82, Z:-1.16 [[ 9.12315099e-01 4.09108170e-01 1.76540703e-02 6.10729773e+01] [-4.09051715e-01 9.12485389e-01 -6.86364504e-03 -1.08163843e+01] [-1.89170544e-02 -9.59620719e-04 9.99820596e-01 -1.15901996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.156559995 meters 0.029919175516501598 Centerline is valid? [True, True] Translation: X:61.10, Y:-10.83, Z:-1.16 [[ 9.11601166e-01 4.10699761e-01 1.75789790e-02 6.11039757e+01] [-4.10643990e-01 9.11770113e-01 -6.83922778e-03 -1.08254269e+01] [-1.88368569e-02 -9.84054086e-04 9.99822086e-01 -1.15972652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.186559995 meters 0.029029421618631 Centerline is valid? [True, True] Translation: X:61.13, Y:-10.84, Z:-1.16 [[ 9.10990144e-01 4.12030557e-01 1.81046570e-02 6.11340236e+01] [-4.11971634e-01 9.11169434e-01 -7.04523020e-03 -1.08355430e+01] [-1.93992602e-02 -1.04046985e-03 9.99811275e-01 -1.16030942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.216559995000004 meters 0.02945886688843428 Centerline is valid? [True, True] Translation: X:61.16, Y:-10.84, Z:-1.16 [[ 9.10348830e-01 4.13469111e-01 1.75585378e-02 6.11649806e+01] [-4.13413868e-01 9.10517558e-01 -6.83736207e-03 -1.08441609e+01] [-1.88143950e-02 -1.03455849e-03 9.99822458e-01 -1.16210007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.246559995 meters 0.03055821909722522 Centerline is valid? [True, True] Translation: X:61.20, Y:-10.85, Z:-1.16 [[ 9.10222426e-01 4.13762389e-01 1.71994317e-02 6.11958792e+01] [-4.13709415e-01 9.10384341e-01 -6.69863149e-03 -1.08544781e+01] [-1.84297350e-02 -1.01832222e-03 9.99829639e-01 -1.16433682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.276559995 meters 0.028876697130028564 Centerline is valid? [True, True] Translation: X:61.23, Y:-10.87, Z:-1.16 [[ 9.10332338e-01 4.13483741e-01 1.80618588e-02 6.12255017e+01] [-4.13425146e-01 9.10510888e-01 -7.04071874e-03 -1.08660650e+01] [-1.93567419e-02 -1.05783267e-03 9.99812081e-01 -1.16417047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.306559995 meters 0.030119753872786054 Centerline is valid? [True, True] Translation: X:61.25, Y:-10.88, Z:-1.17 [[ 9.11325911e-01 4.11327579e-01 1.71670284e-02 6.12545484e+01] [-4.11274174e-01 9.11487085e-01 -6.69682533e-03 -1.08770428e+01] [-1.84021136e-02 -9.57364963e-04 9.99830208e-01 -1.16592117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.336559995 meters 0.028808972598752498 Centerline is valid? [True, True] Translation: X:61.28, Y:-10.89, Z:-1.17 [[ 9.11861535e-01 4.10126973e-01 1.74472544e-02 6.12843856e+01] [-4.10071578e-01 9.12027943e-01 -6.80681397e-03 -1.08904099e+01] [-1.87040416e-02 -9.47751314e-04 9.99824615e-01 -1.16647090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.366559995 meters 0.028793957940672618 Centerline is valid? [True, True] Translation: X:61.31, Y:-10.90, Z:-1.17 [[ 9.12728749e-01 4.08193800e-01 1.74370777e-02 6.13130545e+01] [-4.08138084e-01 9.12894847e-01 -6.80469130e-03 -1.09017830e+01] [-1.86958512e-02 -9.05898110e-04 9.99824807e-01 -1.16726296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.396559995000004 meters 0.02407409291131329 Centerline is valid? [True, True] Translation: X:61.34, Y:-10.91, Z:-1.17 [[ 9.14427459e-01 4.04229645e-01 2.05138090e-02 6.13406600e+01] [-4.04151514e-01 9.14657014e-01 -8.00624596e-03 -1.09149580e+01] [-2.19994612e-02 -9.69555812e-04 9.99757512e-01 -1.16584377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.426559995 meters 0.026929945288714927 Centerline is valid? [True, True] Translation: X:61.37, Y:-10.93, Z:-1.17 [[ 9.15074391e-01 4.02862734e-01 1.84520013e-02 6.13696400e+01] [-4.02799242e-01 9.15260022e-01 -7.20159517e-03 -1.09260286e+01] [-1.97896334e-02 -8.42456824e-04 9.99803811e-01 -1.16785584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.456559995 meters 0.02549903353237386 Centerline is valid? [True, True] Translation: X:61.40, Y:-10.94, Z:-1.17 [[ 9.15812922e-01 4.01178616e-01 1.85043152e-02 6.13990714e+01] [-4.01114324e-01 9.15999493e-01 -7.22686469e-03 -1.09356839e+01] [-1.98492069e-02 -8.03889815e-04 9.99802662e-01 -1.16897228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.486559995 meters 0.024376735592243154 Centerline is valid? [True, True] Translation: X:61.43, Y:-10.95, Z:-1.17 [[ 9.16508877e-01 3.99662397e-01 1.67763850e-02 6.14273813e+01] [-3.99609259e-01 9.16662142e-01 -6.55423332e-03 -1.09503629e+01] [-1.79977576e-02 -6.96985753e-04 9.99837784e-01 -1.17194690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.516559995 meters 0.022658476756682432 Centerline is valid? [True, True] Translation: X:61.46, Y:-10.96, Z:-1.17 [[ 9.17266876e-01 3.97875607e-01 1.77898616e-02 6.14573154e+01] [-3.97815412e-01 9.17439107e-01 -6.95572208e-03 -1.09599329e+01] [-1.90886269e-02 -6.96827671e-04 9.99817553e-01 -1.17244804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.546559995 meters 0.022079258863732996 Centerline is valid? [True, True] Translation: X:61.49, Y:-10.97, Z:-1.17 [[ 9.18177957e-01 3.95809336e-01 1.68584993e-02 6.14865746e+01] [-3.95754853e-01 9.18332505e-01 -6.59586238e-03 -1.09707481e+01] [-1.80924118e-02 -6.15657457e-04 9.99836129e-01 -1.17451270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.576559995000004 meters 0.02075320183655834 Centerline is valid? [True, True] Translation: X:61.52, Y:-10.98, Z:-1.18 [[ 9.19713293e-01 3.92234167e-01 1.67277547e-02 6.15154110e+01] [-3.92179851e-01 9.19865246e-01 -6.54938233e-03 -1.09835490e+01] [-1.79561717e-02 -5.36734347e-04 9.99838631e-01 -1.17609190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.606559995 meters 0.021647734358732046 Centerline is valid? [True, True] Translation: X:61.54, Y:-11.00, Z:-1.18 [[ 9.20669847e-01 3.89989622e-01 1.65869394e-02 6.15442142e+01] [-3.89935848e-01 9.20819122e-01 -6.49449472e-03 -1.09982717e+01] [-1.78063566e-02 -4.88556840e-04 9.99841335e-01 -1.17677634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.636559995 meters 0.023106717826490947 Centerline is valid? [True, True] Translation: X:61.57, Y:-11.01, Z:-1.18 [[ 9.20889024e-01 3.89477203e-01 1.64594406e-02 6.15732205e+01] [-3.89424084e-01 9.21035986e-01 -6.44948079e-03 -1.10091985e+01] [-1.76716628e-02 -4.70446504e-04 9.99843733e-01 -1.17765086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.666559995 meters 0.023106717826490947 Centerline is valid? [True, True] Translation: X:61.60, Y:-11.02, Z:-1.18 [[ 9.20780638e-01 3.89733409e-01 1.64586313e-02 6.16034010e+01] [-3.89680294e-01 9.20927601e-01 -6.45154548e-03 -1.10211110e+01] [-1.76715906e-02 -4.73146130e-04 9.99843733e-01 -1.17828870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.696559995 meters 0.023106717826490947 Centerline is valid? [True, True] Translation: X:61.63, Y:-11.03, Z:-1.18 [[ 9.20672177e-01 3.89989635e-01 1.64568349e-02 6.16335787e+01] [-3.89936479e-01 9.20819125e-01 -6.45612443e-03 -1.10330309e+01] [-1.76715899e-02 -4.73146109e-04 9.99843733e-01 -1.17892729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.726559995 meters 0.023298075758007894 Centerline is valid? [True, True] Translation: X:61.66, Y:-11.04, Z:-1.18 [[ 9.20685185e-01 3.89955882e-01 1.65287750e-02 6.16636692e+01] [-3.89902159e-01 9.20833421e-01 -6.48971953e-03 -1.10439103e+01] [-1.77509527e-02 -4.69616429e-04 9.99842329e-01 -1.17949000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.756559995 meters 0.023298075758007894 Centerline is valid? [True, True] Translation: X:61.69, Y:-11.06, Z:-1.18 [[ 9.20578922e-01 3.90206745e-01 1.65271025e-02 6.16938389e+01] [-3.90152986e-01 9.20727145e-01 -6.49397576e-03 -1.10558546e+01] [-1.77509451e-02 -4.69881203e-04 9.99842329e-01 -1.18012851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.786559995000005 meters 0.022091697068161418 Centerline is valid? [True, True] Translation: X:61.72, Y:-11.07, Z:-1.18 [[ 9.20658189e-01 3.90001722e-01 1.69456824e-02 6.17239437e+01] [-3.89945071e-01 9.20814006e-01 -6.66397495e-03 -1.10679750e+01] [-1.82027834e-02 -4.72642233e-04 9.99834204e-01 -1.18106850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.816559995 meters 0.022091697068161418 Centerline is valid? [True, True] Translation: X:61.75, Y:-11.08, Z:-1.18 [[ 9.20551384e-01 3.90253824e-01 1.69441044e-02 6.17541073e+01] [-3.90197142e-01 9.20707189e-01 -6.66798476e-03 -1.10799326e+01] [-1.82027653e-02 -4.73318512e-04 9.99834204e-01 -1.18170689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.846559995 meters 0.02214687161690445 Centerline is valid? [True, True] Translation: X:61.78, Y:-11.09, Z:-1.18 [[ 9.20563026e-01 3.90224676e-01 1.69828423e-02 6.17845880e+01] [-3.90167631e-01 9.20719546e-01 -6.68859936e-03 -1.10932517e+01] [-1.82464914e-02 -4.68878065e-04 9.99833409e-01 -1.18335045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.876559995 meters 0.0207821232681672 Centerline is valid? [True, True] Translation: X:61.81, Y:-11.11, Z:-1.18 [[ 9.20411803e-01 3.90581787e-01 1.69700007e-02 6.18145612e+01] [-3.90524788e-01 9.20568111e-01 -6.68908963e-03 -1.11060055e+01] [-1.82346780e-02 -4.70488868e-04 9.99833624e-01 -1.18400313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.906559995 meters 0.022927007232995383 Centerline is valid? [True, True] Translation: X:61.84, Y:-11.12, Z:-1.19 [[ 9.19800450e-01 3.92047760e-01 1.62998747e-02 6.18444972e+01] [-3.91995310e-01 9.19944742e-01 -6.43027274e-03 -1.11159774e+01] [-1.75159580e-02 -4.74906665e-04 9.99846471e-01 -1.18590525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.936559995 meters 0.019968744950066713 Centerline is valid? [True, True] Translation: X:61.87, Y:-11.13, Z:-1.19 [[ 9.19220148e-01 3.93362561e-01 1.73266940e-02 6.18741299e+01] [-3.93303436e-01 9.19383281e-01 -6.84029608e-03 -1.11275391e+01] [-1.86205892e-02 -5.26910326e-04 9.99826483e-01 -1.18608982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.966559995000004 meters 0.022586724508292796 Centerline is valid? [True, True] Translation: X:61.90, Y:-11.14, Z:-1.19 [[ 9.18712495e-01 3.94604053e-01 1.59685114e-02 6.19042245e+01] [-3.94553950e-01 9.18851123e-01 -6.30827356e-03 -1.11386781e+01] [-1.71619550e-02 -5.04949519e-04 9.99852595e-01 -1.18790410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.996559995 meters 0.021690022346884122 Centerline is valid? [True, True] Translation: X:61.93, Y:-11.15, Z:-1.19 [[ 9.18121844e-01 3.95981344e-01 1.58447033e-02 6.19339732e+01] [-3.95932142e-01 9.18258407e-01 -6.26387688e-03 -1.11497137e+01] [-1.70299104e-02 -5.22425151e-04 9.99854844e-01 -1.18919669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.026559995 meters 0.02244917132547933 Centerline is valid? [True, True] Translation: X:61.96, Y:-11.16, Z:-1.19 [[ 9.16885877e-01 3.98833833e-01 1.58701520e-02 6.19638370e+01] [-3.98784821e-01 9.17023035e-01 -6.27857139e-03 -1.11599551e+01] [-1.70574016e-02 -5.72042280e-04 9.99854348e-01 -1.19062584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.056559995 meters 0.024396933848560436 Centerline is valid? [True, True] Translation: X:61.99, Y:-11.17, Z:-1.19 [[ 9.16421341e-01 3.99892874e-01 1.60503795e-02 6.19934378e+01] [-3.99842829e-01 9.16561692e-01 -6.35422876e-03 -1.11711198e+01] [-1.72521738e-02 -5.94478291e-04 9.99850993e-01 -1.19147707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.086559995 meters 0.02215734677173807 Centerline is valid? [True, True] Translation: X:62.02, Y:-11.18, Z:-1.19 [[ 9.15581784e-01 4.01746582e-01 1.75977497e-02 6.20229658e+01] [-4.01686666e-01 9.15750629e-01 -6.97197193e-03 -1.11830952e+01] [-1.89161163e-02 -6.85370906e-04 9.99820839e-01 -1.19085705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.116559995 meters 0.025646504836101376 Centerline is valid? [True, True] Translation: X:62.05, Y:-11.20, Z:-1.19 [[ 9.15153400e-01 4.02759134e-01 1.67132885e-02 6.20521842e+01] [-4.02705177e-01 9.15305761e-01 -6.62607390e-03 -1.11960528e+01] [-1.79664810e-02 -6.66653747e-04 9.99838368e-01 -1.19294677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.146559995000004 meters 0.024944266036630566 Centerline is valid? [True, True] Translation: X:62.08, Y:-11.21, Z:-1.19 [[ 9.14951767e-01 4.03196788e-01 1.71934235e-02 6.20828956e+01] [-4.03139670e-01 9.15113039e-01 -6.82148291e-03 -1.12087607e+01] [-1.84843261e-02 -6.90023251e-04 9.99828912e-01 -1.19321950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.176559995 meters 0.022092747643652683 Centerline is valid? [True, True] Translation: X:62.11, Y:-11.22, Z:-1.19 [[ 9.14699699e-01 4.03680638e-01 1.91416752e-02 6.21135098e+01] [-4.03609803e-01 9.14899637e-01 -7.60140375e-03 -1.12214228e+01] [-2.05812512e-02 -7.72766038e-04 9.99787885e-01 -1.19265284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.206559995 meters 0.024699641695664548 Centerline is valid? [True, True] Translation: X:62.14, Y:-11.23, Z:-1.19 [[ 9.14445590e-01 4.04293171e-01 1.83383204e-02 6.21430300e+01] [-4.04228168e-01 9.14629144e-01 -7.28812374e-03 -1.12321406e+01] [-1.97193009e-02 -7.48273029e-04 9.99805276e-01 -1.19397294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.236559995 meters 0.02485199011460071 Centerline is valid? [True, True] Translation: X:62.17, Y:-11.25, Z:-1.20 [[ 9.14084325e-01 4.05140616e-01 1.76331438e-02 6.21712617e+01] [-4.05080589e-01 9.14254092e-01 -7.01231110e-03 -1.12486044e+01] [-1.89621459e-02 -7.33000628e-04 9.99819934e-01 -1.19559010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.266559995 meters 0.024833744431561295 Centerline is valid? [True, True] Translation: X:62.20, Y:-11.26, Z:-1.20 [[ 9.13665718e-01 4.06075194e-01 1.78295359e-02 6.22003434e+01] [-4.06013899e-01 9.13839354e-01 -7.09569040e-03 -1.12607787e+01] [-1.91747154e-02 -7.55950322e-04 9.99815862e-01 -1.19634399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.296559995 meters 0.023810432887243486 Centerline is valid? [True, True] Translation: X:62.23, Y:-11.27, Z:-1.20 [[ 9.12878613e-01 4.07799877e-01 1.87589629e-02 6.22293442e+01] [-4.07732281e-01 9.13070957e-01 -7.47088321e-03 -1.12734458e+01] [-2.01748895e-02 -8.28625214e-04 9.99796123e-01 -1.19656399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.326559995000004 meters 0.02712680531750019 Centerline is valid? [True, True] Translation: X:62.26, Y:-11.28, Z:-1.20 [[ 9.11893169e-01 4.10058323e-01 1.74074951e-02 6.22585942e+01] [-4.10000445e-01 9.12058942e-01 -6.93697981e-03 -1.12841455e+01] [-1.87212279e-02 -8.11296247e-04 9.99824413e-01 -1.19820460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.356559995 meters 0.02658216281042934 Centerline is valid? [True, True] Translation: X:62.29, Y:-11.30, Z:-1.20 [[ 9.11409858e-01 4.11121621e-01 1.76375375e-02 6.22881363e+01] [-4.11062311e-01 9.11580116e-01 -7.03342299e-03 -1.12954709e+01] [-1.89696207e-02 -8.39795870e-04 9.99819708e-01 -1.19902156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.386559995 meters 0.02658216281042934 Centerline is valid? [True, True] Translation: X:62.32, Y:-11.31, Z:-1.20 [[ 9.11294249e-01 4.11377887e-01 1.76359455e-02 6.23182615e+01] [-4.11318548e-01 9.11464496e-01 -7.03741255e-03 -1.13075734e+01] [-1.89695741e-02 -8.40837906e-04 9.99819708e-01 -1.19966025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.416559995 meters 0.02596266709104558 Centerline is valid? [True, True] Translation: X:62.35, Y:-11.32, Z:-1.20 [[ 9.10729063e-01 4.12639163e-01 1.73636040e-02 6.23469899e+01] [-4.12581766e-01 9.10894177e-01 -6.93435585e-03 -1.13207206e+01] [-1.86777926e-02 -8.48586999e-04 9.99825195e-01 -1.20032514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.446559995 meters 0.02534856378259088 Centerline is valid? [True, True] Translation: X:62.38, Y:-11.33, Z:-1.20 [[ 9.10275184e-01 4.13618029e-01 1.78666133e-02 6.23764389e+01] [-4.13557351e-01 9.10450073e-01 -7.14019636e-03 -1.13317690e+01] [-1.92199733e-02 -8.89325720e-04 9.99814884e-01 -1.20105837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.476559995 meters 0.029740075799808634 Centerline is valid? [True, True] Translation: X:62.41, Y:-11.34, Z:-1.20 [[ 9.09859157e-01 4.14602127e-01 1.61675931e-02 6.24053994e+01] [-4.14552529e-01 9.10002420e-01 -6.46506597e-03 -1.13422022e+01] [-1.73929790e-02 -8.20017154e-04 9.99848394e-01 -1.20337088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.506559995 meters 0.028925069556578545 Centerline is valid? [True, True] Translation: X:62.43, Y:-11.35, Z:-1.20 [[ 9.09321288e-01 4.15783596e-01 1.60871820e-02 6.24344168e+01] [-4.15734600e-01 9.09463196e-01 -6.43715999e-03 -1.13548355e+01] [-1.73071655e-02 -8.34551554e-04 9.99849872e-01 -1.20421306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.536559995000005 meters 0.02697834140836616 Centerline is valid? [True, True] Translation: X:62.46, Y:-11.37, Z:-1.20 [[ 9.09116871e-01 4.16179505e-01 1.73532518e-02 6.24642008e+01] [-4.16122475e-01 9.09282026e-01 -6.94863903e-03 -1.13680426e+01] [-1.86708811e-02 -9.03953134e-04 9.99825275e-01 -1.20391546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.566559995 meters 0.02737703890786484 Centerline is valid? [True, True] Translation: X:62.49, Y:-11.38, Z:-1.21 [[ 9.08852001e-01 4.16800941e-01 1.62792852e-02 6.24923024e+01] [-4.16750764e-01 9.08997384e-01 -6.52360944e-03 -1.13828191e+01] [-1.75168742e-02 -8.55409053e-04 9.99846202e-01 -1.20516637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.596559995 meters 0.026801996752965664 Centerline is valid? [True, True] Translation: X:62.52, Y:-11.39, Z:-1.20 [[ 9.08538127e-01 4.17433917e-01 1.75327060e-02 6.25214100e+01] [-4.17375736e-01 9.08706806e-01 -7.03096825e-03 -1.13935741e+01] [-1.88670539e-02 -9.29823368e-04 9.99821569e-01 -1.20479833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.626559995 meters 0.029827612463959784 Centerline is valid? [True, True] Translation: X:62.55, Y:-11.41, Z:-1.21 [[ 9.07618046e-01 4.19501429e-01 1.57490844e-02 6.25507601e+01] [-4.19454724e-01 9.07754259e-01 -6.31984922e-03 -1.14073546e+01] [-1.69474842e-02 -8.70018647e-04 9.99856003e-01 -1.20683497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.656559995 meters 0.030265819593506674 Centerline is valid? [True, True] Translation: X:62.58, Y:-11.42, Z:-1.21 [[ 9.06973265e-01 4.20897654e-01 1.56416789e-02 6.25808161e+01] [-4.20851769e-01 9.07107697e-01 -6.27801421e-03 -1.14196498e+01] [-1.68310888e-02 -8.88837204e-04 9.99857952e-01 -1.20754681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.686559995 meters 0.02959235664815909 Centerline is valid? [True, True] Translation: X:62.61, Y:-11.43, Z:-1.21 [[ 9.05207101e-01 4.24677781e-01 1.57761588e-02 6.26095295e+01] [-4.24631650e-01 9.05344050e-01 -6.33345506e-03 -1.14320940e+01] [-1.69725292e-02 -9.65967870e-04 9.99855490e-01 -1.20834555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.716559995000004 meters 0.03237678424125084 Centerline is valid? [True, True] Translation: X:62.64, Y:-11.44, Z:-1.21 [[ 9.03680631e-01 4.27900758e-01 1.61944099e-02 6.26387000e+01] [-4.27852659e-01 9.03825111e-01 -6.50159872e-03 -1.14400034e+01] [-1.74189533e-02 -1.05345248e-03 9.99847724e-01 -1.20954222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.746559995 meters 0.03237678424125084 Centerline is valid? [True, True] Translation: X:62.67, Y:-11.45, Z:-1.21 [[ 9.03558670e-01 4.28158241e-01 1.61941424e-02 6.26688229e+01] [-4.28110172e-01 9.03703160e-01 -6.50226513e-03 -1.14521804e+01] [-1.74186960e-02 -1.05769903e-03 9.99847724e-01 -1.21018055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.776559995 meters 0.03312120066172603 Centerline is valid? [True, True] Translation: X:62.70, Y:-11.46, Z:-1.21 [[ 9.02991239e-01 4.29355647e-01 1.61415510e-02 6.26990434e+01] [-4.29307978e-01 9.03134862e-01 -6.48698667e-03 -1.14637309e+01] [-1.73632218e-02 -1.07200448e-03 9.99848673e-01 -1.21093795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.806559995 meters 0.03384235064912977 Centerline is valid? [True, True] Translation: X:62.73, Y:-11.47, Z:-1.21 [[ 9.01836771e-01 4.31686078e-01 1.83730608e-02 6.27282428e+01] [-4.31624763e-01 9.02023014e-01 -7.38550701e-03 -1.14716287e+01] [-1.97611443e-02 -1.26974623e-03 9.99803923e-01 -1.21038219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.836559995 meters 0.034539554722361254 Centerline is valid? [True, True] Translation: X:62.76, Y:-11.48, Z:-1.21 [[ 9.01211925e-01 4.33007986e-01 1.79206784e-02 6.27577184e+01] [-4.32949915e-01 9.01389194e-01 -7.20358271e-03 -1.14833268e+01] [-1.92727147e-02 -1.26680155e-03 9.99813461e-01 -1.21106272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.866559995 meters 0.03734852643435924 Centerline is valid? [True, True] Translation: X:62.79, Y:-11.49, Z:-1.21 [[ 8.99981567e-01 4.35573522e-01 1.75751620e-02 6.27877526e+01] [-4.35518066e-01 9.00152230e-01 -7.06941296e-03 -1.14930377e+01] [-1.88995704e-02 -1.29195920e-03 9.99820552e-01 -1.21216026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.896559995000004 meters 0.03647934760831729 Centerline is valid? [True, True] Translation: X:62.82, Y:-11.51, Z:-1.21 [[ 8.99330179e-01 4.36910869e-01 1.77234604e-02 6.28171027e+01] [-4.36854718e-01 8.99503820e-01 -7.12976664e-03 -1.15058782e+01] [-1.90573928e-02 -1.33056296e-03 9.99817506e-01 -1.21295422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.926559995 meters 0.039090237511393115 Centerline is valid? [True, True] Translation: X:62.85, Y:-11.51, Z:-1.21 [[ 8.98030618e-01 4.39587634e-01 1.74275901e-02 6.28464658e+01] [-4.39533815e-01 8.98198672e-01 -7.01220438e-03 -1.15149371e+01] [-1.87359166e-02 -1.36284094e-03 9.99823538e-01 -1.21421653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.956559995 meters 0.039090237511393115 Centerline is valid? [True, True] Translation: X:62.88, Y:-11.53, Z:-1.21 [[ 8.97906617e-01 4.39840866e-01 1.74275501e-02 6.28766049e+01] [-4.39787092e-01 8.98074686e-01 -7.01230383e-03 -1.15271530e+01] [-1.87355394e-02 -1.36801759e-03 9.99823538e-01 -1.21485515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.986559995 meters 0.03716287730834468 Centerline is valid? [True, True] Translation: X:62.91, Y:-11.54, Z:-1.21 [[ 8.96579375e-01 4.42490264e-01 1.86491481e-02 6.29052381e+01] [-4.42429127e-01 8.96772024e-01 -7.51024278e-03 -1.15383720e+01] [-2.00472436e-02 -1.51739755e-03 9.99797882e-01 -1.21487814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.016559995 meters 0.038224052611460994 Centerline is valid? [True, True] Translation: X:62.94, Y:-11.55, Z:-1.22 [[ 8.96055415e-01 4.43564998e-01 1.82971554e-02 6.29355566e+01] [-4.43506354e-01 8.96240932e-01 -7.36926365e-03 -1.15488575e+01] [-1.96674070e-02 -1.51163609e-03 9.99805435e-01 -1.21648715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.046559995 meters 0.03675154401548282 Centerline is valid? [True, True] Translation: X:62.96, Y:-11.56, Z:-1.22 [[ 8.95676599e-01 4.44369669e-01 1.72924288e-02 6.29642162e+01] [-4.44317350e-01 8.95842353e-01 -6.96933039e-03 -1.15634204e+01] [-1.85882492e-02 -1.44106001e-03 9.99826185e-01 -1.21906254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.076559995000004 meters 0.03845279929944496 Centerline is valid? [True, True] Translation: X:62.99, Y:-11.57, Z:-1.22 [[ 8.95598452e-01 4.44541430e-01 1.69212670e-02 6.29942323e+01] [-4.44491275e-01 8.95757183e-01 -6.82463975e-03 -1.15737771e+01] [-1.81911816e-02 -1.40921875e-03 9.99833534e-01 -1.22017560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.106559995 meters 0.03827104561410769 Centerline is valid? [True, True] Translation: X:63.02, Y:-11.59, Z:-1.22 [[ 8.95588501e-01 4.44546699e-01 1.73051736e-02 6.30245411e+01] [-4.44494138e-01 8.95754525e-01 -6.98511642e-03 -1.15857101e+01] [-1.86063980e-02 -1.43625831e-03 9.99825854e-01 -1.22052903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.136559995 meters 0.040558571118620684 Centerline is valid? [True, True] Translation: X:63.05, Y:-11.60, Z:-1.22 [[ 8.95662178e-01 4.44432712e-01 1.63959696e-02 6.30539834e+01] [-4.44385430e-01 8.95811213e-01 -6.62266108e-03 -1.15966033e+01] [-1.76310206e-02 -1.35446295e-03 9.99843644e-01 -1.22205680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.166559995 meters 0.03994505908347448 Centerline is valid? [True, True] Translation: X:63.08, Y:-11.61, Z:-1.22 [[ 8.95715462e-01 4.44324940e-01 1.64060893e-02 6.30837644e+01] [-4.44277504e-01 8.95864682e-01 -6.63111490e-03 -1.16094882e+01] [-1.76440057e-02 -1.34926427e-03 9.99843422e-01 -1.22282636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.196559995 meters 0.039762981244999766 Centerline is valid? [True, True] Translation: X:63.11, Y:-11.62, Z:-1.22 [[ 8.96051297e-01 4.43641691e-01 1.65566768e-02 6.31137968e+01] [-4.43593179e-01 8.96203238e-01 -6.69681366e-03 -1.16215598e+01] [-1.78091331e-02 -1.34374034e-03 9.99840502e-01 -1.22371829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.226559995 meters 0.03817869176115414 Centerline is valid? [True, True] Translation: X:63.14, Y:-11.63, Z:-1.22 [[ 8.96532099e-01 4.42611223e-01 1.80416728e-02 6.31427960e+01] [-4.42553300e-01 8.96712463e-01 -7.30313932e-03 -1.16349105e+01] [-1.94106443e-02 -1.43690303e-03 9.99810563e-01 -1.22326458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.256559995 meters 0.03701121732891292 Centerline is valid? [True, True] Translation: X:63.17, Y:-11.65, Z:-1.22 [[ 8.96775344e-01 4.42093555e-01 1.86352296e-02 6.31717837e+01] [-4.42031621e-01 8.96967738e-01 -7.54469806e-03 -1.16491375e+01] [-2.00506622e-02 -1.47146156e-03 9.99797882e-01 -1.22379815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.286559995000005 meters 0.040117053368850436 Centerline is valid? [True, True] Translation: X:63.20, Y:-11.66, Z:-1.22 [[ 8.96983013e-01 4.41653853e-01 1.90616957e-02 6.32022120e+01] [-4.41588837e-01 8.97184292e-01 -7.72300295e-03 -1.16578201e+01] [-2.05127480e-02 -1.49002957e-03 9.99788481e-01 -1.22455846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.316559995 meters 0.03486588257175399 Centerline is valid? [True, True] Translation: X:63.23, Y:-11.67, Z:-1.22 [[ 8.97102760e-01 4.41361574e-01 2.01642828e-02 6.32299874e+01] [-4.41288621e-01 8.97327986e-01 -8.17545491e-03 -1.16749302e+01] [-2.17023069e-02 -1.56404540e-03 9.99763254e-01 -1.22408480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.346559995 meters 0.03891352215774705 Centerline is valid? [True, True] Translation: X:63.26, Y:-11.68, Z:-1.23 [[ 8.98153823e-01 4.39242468e-01 1.96408571e-02 6.32589428e+01] [-4.39172639e-01 8.98367351e-01 -7.96847974e-03 -1.16841841e+01] [-2.11447995e-02 -1.46880651e-03 9.99775345e-01 -1.22700878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.376559995 meters 0.03450085531279476 Centerline is valid? [True, True] Translation: X:63.29, Y:-11.70, Z:-1.23 [[ 8.98546210e-01 4.38420423e-01 2.00559651e-02 6.32873201e+01] [-4.38347389e-01 8.98768793e-01 -8.13771765e-03 -1.17011123e+01] [-2.15934172e-02 -1.47936460e-03 9.99765740e-01 -1.22771207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.406559995 meters 0.03520085275557863 Centerline is valid? [True, True] Translation: X:63.32, Y:-11.71, Z:-1.23 [[ 8.98657081e-01 4.38204946e-01 1.97958405e-02 6.33165129e+01] [-4.38133672e-01 8.98873916e-01 -8.03547071e-03 -1.17112475e+01] [-2.13151477e-02 -1.45209164e-03 9.99771752e-01 -1.22809390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.436559995 meters 0.03576151103589486 Centerline is valid? [True, True] Translation: X:63.35, Y:-11.72, Z:-1.23 [[ 8.98578740e-01 4.38376311e-01 1.95565489e-02 6.33463490e+01] [-4.38306679e-01 8.98790384e-01 -7.94360313e-03 -1.17221951e+01] [-2.10595255e-02 -1.43381311e-03 9.99777195e-01 -1.22941613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.466559995000004 meters 0.03668289580642893 Centerline is valid? [True, True] Translation: X:63.38, Y:-11.74, Z:-1.23 [[ 8.98420371e-01 4.38754863e-01 1.83032107e-02 6.33765937e+01] [-4.38693846e-01 8.98605787e-01 -7.43977216e-03 -1.17350054e+01] [-1.97116073e-02 -1.34546304e-03 9.99804802e-01 -1.23200533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.496559995 meters 0.035554998838043625 Centerline is valid? [True, True] Translation: X:63.41, Y:-11.75, Z:-1.23 [[ 8.98422956e-01 4.38759858e-01 1.80548779e-02 6.34064569e+01] [-4.38700373e-01 8.98603382e-01 -7.34465770e-03 -1.17478579e+01] [-1.94467154e-02 -1.32207259e-03 9.99810021e-01 -1.23381899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.526559995 meters 0.036492321014526506 Centerline is valid? [True, True] Translation: X:63.44, Y:-11.76, Z:-1.24 [[ 8.98257398e-01 4.39092543e-01 1.82040009e-02 6.34362564e+01] [-4.39032035e-01 8.98440847e-01 -7.41062050e-03 -1.17593133e+01] [-1.96091661e-02 -1.33549486e-03 9.99806830e-01 -1.23514552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.556559995 meters 0.0376510035094924 Centerline is valid? [True, True] Translation: X:63.47, Y:-11.77, Z:-1.24 [[ 8.98092697e-01 4.39443081e-01 1.78685956e-02 6.34655360e+01] [-4.39384746e-01 8.98269477e-01 -7.27953192e-03 -1.17688208e+01] [-1.92497540e-02 -1.31349389e-03 9.99813844e-01 -1.23613602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.586559995 meters 0.0365382936435919 Centerline is valid? [True, True] Translation: X:63.50, Y:-11.78, Z:-1.24 [[ 8.97529528e-01 4.40583989e-01 1.80691947e-02 6.34950664e+01] [-4.40524511e-01 8.97710379e-01 -7.36409600e-03 -1.17818764e+01] [-1.94654064e-02 -1.35042955e-03 9.99809619e-01 -1.23653047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.616559995 meters 0.034648418397257415 Centerline is valid? [True, True] Translation: X:63.52, Y:-11.80, Z:-1.24 [[ 8.97344715e-01 4.40992268e-01 1.72708457e-02 6.35238521e+01] [-4.40937919e-01 8.97509968e-01 -7.04336200e-03 -1.17976976e+01] [-1.86068243e-02 -1.29504708e-03 9.99826039e-01 -1.23831311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.646559995000004 meters 0.037131773793326196 Centerline is valid? [True, True] Translation: X:63.55, Y:-11.81, Z:-1.24 [[ 8.96934147e-01 4.41776823e-01 1.85033615e-02 6.35541444e+01] [-4.41714475e-01 8.97123894e-01 -7.55256431e-03 -1.18055958e+01] [-1.99363556e-02 -1.39904980e-03 9.99800272e-01 -1.23882151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.676559995 meters 0.03526200375557848 Centerline is valid? [True, True] Translation: X:63.58, Y:-11.82, Z:-1.24 [[ 8.96814743e-01 4.42005171e-01 1.88347141e-02 6.35832277e+01] [-4.41940558e-01 8.97011368e-01 -7.69084696e-03 -1.18212668e+01] [-2.02943468e-02 -1.42655913e-03 9.99793031e-01 -1.23982385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.706559995 meters 0.035606123545396245 Centerline is valid? [True, True] Translation: X:63.61, Y:-11.83, Z:-1.24 [[ 8.96536680e-01 4.42555394e-01 1.91495471e-02 6.36128222e+01] [-4.42488594e-01 8.96739985e-01 -7.82589212e-03 -1.18332264e+01] [-2.06355553e-02 -1.45725681e-03 9.99786002e-01 -1.24010256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.736559995 meters 0.042359298628625516 Centerline is valid? [True, True] Translation: X:63.65, Y:-11.83, Z:-1.24 [[ 8.95701689e-01 4.44178548e-01 2.05888685e-02 6.36451660e+01] [-4.44101626e-01 8.95936857e-01 -8.41988555e-03 -1.18346147e+01] [-2.21862587e-02 -1.60184428e-03 9.99752571e-01 -1.23923175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.766559995 meters 0.037480002612999726 Centerline is valid? [True, True] Translation: X:63.67, Y:-11.85, Z:-1.24 [[ 8.95274691e-01 4.45031281e-01 2.07457521e-02 6.36726774e+01] [-4.44953384e-01 8.95513533e-01 -8.48516831e-03 -1.18525801e+01] [-2.23542671e-02 -1.63433618e-03 9.99748776e-01 -1.23980753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.796559995 meters 0.0429571998638898 Centerline is valid? [True, True] Translation: X:63.70, Y:-11.86, Z:-1.24 [[ 8.94938465e-01 4.45687986e-01 2.11509468e-02 6.37044267e+01] [-4.45607058e-01 8.95186799e-01 -8.65704461e-03 -1.18572807e+01] [-2.27923892e-02 -1.67748897e-03 9.99738812e-01 -1.24030442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.826559995000004 meters 0.0378448448661409 Centerline is valid? [True, True] Translation: X:63.73, Y:-11.88, Z:-1.24 [[ 8.94940449e-01 4.45694301e-01 2.09327995e-02 6.37319706e+01] [-4.45614910e-01 8.95183696e-01 -8.57333274e-03 -1.18755101e+01] [-2.25597864e-02 -1.65534532e-03 9.99744125e-01 -1.24159391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.856559995 meters 0.03557721424812412 Centerline is valid? [True, True] Translation: X:63.76, Y:-11.89, Z:-1.24 [[ 8.95068238e-01 4.45446990e-01 2.07323294e-02 6.37602855e+01] [-4.45368914e-01 8.95306835e-01 -8.49714129e-03 -1.18901402e+01] [-2.23468222e-02 -1.62801374e-03 9.99748953e-01 -1.24282707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.886559995 meters 0.03771231347028228 Centerline is valid? [True, True] Translation: X:63.79, Y:-11.90, Z:-1.24 [[ 8.95410563e-01 4.44778806e-01 2.02913002e-02 6.37900941e+01] [-4.44703725e-01 8.95639069e-01 -8.32194159e-03 -1.18992530e+01] [-2.18751044e-02 -1.57206236e-03 9.99759475e-01 -1.24401421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.916559995 meters 0.033400299706588664 Centerline is valid? [True, True] Translation: X:63.82, Y:-11.92, Z:-1.25 [[ 8.95985510e-01 4.43643357e-01 1.97620400e-02 6.38167086e+01] [-4.43571803e-01 8.96202163e-01 -8.10789695e-03 -1.19167361e+01] [-2.13077976e-02 -1.50132554e-03 9.99771836e-01 -1.24532739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.946559995 meters 0.03392233210569597 Centerline is valid? [True, True] Translation: X:63.84, Y:-11.93, Z:-1.25 [[ 8.98080588e-01 4.39444152e-01 1.84416584e-02 6.38434444e+01] [-4.39380944e-01 8.98268962e-01 -7.56689802e-03 -1.19295074e+01] [-1.98907984e-02 -1.30722903e-03 9.99801304e-01 -1.24724219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.976559995 meters 0.0297961810143716 Centerline is valid? [True, True] Translation: X:63.87, Y:-11.95, Z:-1.25 [[ 9.00722221e-01 4.33984108e-01 1.89016965e-02 6.38693978e+01] [-4.33916504e-01 9.00919705e-01 -7.75577523e-03 -1.19473099e+01] [-2.03947941e-02 -1.21595898e-03 9.99791265e-01 -1.24762657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.006559995 meters 0.029331202567048586 Centerline is valid? [True, True] Translation: X:63.90, Y:-11.96, Z:-1.25 [[ 9.02288236e-01 4.30738937e-01 1.84366016e-02 6.38961358e+01] [-4.30673935e-01 9.02475887e-01 -7.56535254e-03 -1.19624864e+01] [-1.98972803e-02 -1.11403518e-03 9.99801409e-01 -1.24916003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.036559995000005 meters 0.026001813573895412 Centerline is valid? [True, True] Translation: X:63.92, Y:-11.98, Z:-1.25 [[ 9.05299489e-01 4.24353900e-01 1.88839045e-02 6.39225038e+01] [-4.24284312e-01 9.05495872e-01 -7.74912107e-03 -1.19785329e+01] [-2.03876673e-02 -9.96869066e-04 9.99791653e-01 -1.24899819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.066559995 meters 0.024256127202873054 Centerline is valid? [True, True] Translation: X:63.95, Y:-11.99, Z:-1.25 [[ 9.06813668e-01 4.21129504e-01 1.84095672e-02 6.39501292e+01] [-4.21062687e-01 9.07000072e-01 -7.55532714e-03 -1.19939216e+01] [-1.98792499e-02 -9.00307903e-04 9.99801983e-01 -1.24992629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.096559995 meters 0.023419744257525528 Centerline is valid? [True, True] Translation: X:63.98, Y:-12.01, Z:-1.25 [[ 9.08348776e-01 4.17814741e-01 1.82576958e-02 6.39776762e+01] [-4.17748337e-01 9.08531876e-01 -7.49378511e-03 -1.20078690e+01] [-1.97187125e-02 -8.20151546e-04 9.99805231e-01 -1.25083274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.126559995 meters 0.02279338925326278 Centerline is valid? [True, True] Translation: X:64.01, Y:-12.02, Z:-1.25 [[ 9.09849894e-01 4.14565860e-01 1.75589988e-02 6.40051435e+01] [-4.14503825e-01 9.10019027e-01 -7.20761301e-03 -1.20216361e+01] [-1.89670533e-02 -7.20426259e-04 9.99819850e-01 -1.25187663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.156559995 meters 0.021319438656010048 Centerline is valid? [True, True] Translation: X:64.03, Y:-12.04, Z:-1.25 [[ 9.11321118e-01 4.11344174e-01 1.70232125e-02 6.40331414e+01] [-4.11285294e-01 9.11479879e-01 -6.98833118e-03 -1.20371735e+01] [-1.83909249e-02 -6.32783165e-04 9.99830672e-01 -1.25293206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.186559995 meters 0.017479119812306314 Centerline is valid? [True, True] Translation: X:64.06, Y:-12.06, Z:-1.25 [[ 9.14157488e-01 4.05017900e-01 1.66309553e-02 6.40580914e+01] [-4.04960635e-01 9.14308623e-01 -6.82834822e-03 -1.20571067e+01] [-1.79714291e-02 -4.92696578e-04 9.99838379e-01 -1.25411059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.216559995000004 meters 0.01698440620092781 Centerline is valid? [True, True] Translation: X:64.09, Y:-12.07, Z:-1.25 [[ 9.15285943e-01 4.02467051e-01 1.64898766e-02 6.40860321e+01] [-4.02410342e-01 9.15434367e-01 -6.77025445e-03 -1.20708802e+01] [-1.78202041e-02 -4.38978150e-04 9.99841111e-01 -1.25499852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.246559995 meters 0.01530094702351989 Centerline is valid? [True, True] Translation: X:64.11, Y:-12.09, Z:-1.26 [[ 9.17530646e-01 3.97314265e-01 1.66999743e-02 6.41130708e+01] [-3.97255159e-01 9.17682549e-01 -6.86136832e-03 -1.20886344e+01] [-1.80513945e-02 -3.38635238e-04 9.99837003e-01 -1.25552433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.276559995 meters 0.015010754911921364 Centerline is valid? [True, True] Translation: X:64.14, Y:-12.10, Z:-1.26 [[ 9.18434715e-01 3.95222612e-01 1.66361162e-02 6.41413652e+01] [-3.95163602e-01 9.18585325e-01 -6.83583218e-03 -1.21027156e+01] [-1.79833676e-02 -2.95722003e-04 9.99838242e-01 -1.25586560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.306559995 meters 0.015425204095886384 Centerline is valid? [True, True] Translation: X:64.17, Y:-12.12, Z:-1.26 [[ 9.19306227e-01 3.93195413e-01 1.65356664e-02 6.41694927e+01] [-3.93136699e-01 9.19454895e-01 -6.79939150e-03 -1.21168947e+01] [-1.78772890e-02 -2.50054365e-04 9.99840157e-01 -1.25687854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.336559995 meters 0.014180578496966623 Centerline is valid? [True, True] Translation: X:64.20, Y:-12.13, Z:-1.26 [[ 9.20437550e-01 3.90539806e-01 1.65340825e-02 6.41980195e+01] [-3.90480590e-01 9.20586021e-01 -6.80342763e-03 -1.21335208e+01] [-1.78780545e-02 -1.94108010e-04 9.99840156e-01 -1.25674334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.366559995 meters 0.014055251134843676 Centerline is valid? [True, True] Translation: X:64.23, Y:-12.15, Z:-1.26 [[ 9.20772306e-01 3.89754865e-01 1.64166146e-02 6.42260324e+01] [-3.89696338e-01 9.20918625e-01 -6.75646792e-03 -1.21483877e+01] [-1.77517324e-02 -1.76326058e-04 9.99842410e-01 -1.25734082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.396559995000004 meters 0.014796421894715956 Centerline is valid? [True, True] Translation: X:64.25, Y:-12.16, Z:-1.26 [[ 9.20430620e-01 3.90561185e-01 1.64144828e-02 6.42549976e+01] [-3.90502727e-01 9.20576953e-01 -6.75975730e-03 -1.21633214e+01] [-1.77508934e-02 -1.88012710e-04 9.99842423e-01 -1.25780614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.426559995 meters 0.01521111244420261 Centerline is valid? [True, True] Translation: X:64.28, Y:-12.17, Z:-1.26 [[ 9.17936572e-01 3.96473842e-01 1.41754392e-02 6.42836175e+01] [-3.96430878e-01 9.18045983e-01 -5.84226701e-03 -1.21742304e+01] [-1.53300111e-02 -2.56751272e-04 9.99882456e-01 -1.26023099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.456559995 meters 0.01521111244420261 Centerline is valid? [True, True] Translation: X:64.31, Y:-12.19, Z:-1.26 [[ 9.17826742e-01 3.96728045e-01 1.41749801e-02 6.43135632e+01] [-3.96685095e-01 9.17936158e-01 -5.84338086e-03 -1.21866594e+01] [-1.53299599e-02 -2.59792124e-04 9.99882456e-01 -1.26086840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.486559995 meters 0.015649907690988524 Centerline is valid? [True, True] Translation: X:64.34, Y:-12.20, Z:-1.26 [[ 9.16377468e-01 4.00104136e-01 1.30006527e-02 6.43435213e+01] [-4.00068292e-01 9.16469638e-01 -5.36318531e-03 -1.21986107e+01] [-1.40605361e-02 -2.86446761e-04 9.99901105e-01 -1.26223356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.516559995 meters 0.016725402374918298 Centerline is valid? [True, True] Translation: X:64.37, Y:-12.21, Z:-1.26 [[ 9.14994675e-01 4.03281307e-01 1.22037969e-02 6.43737594e+01] [-4.03249961e-01 9.15076002e-01 -5.03770894e-03 -1.22102426e+01] [-1.31990155e-02 -3.11703775e-04 9.99912841e-01 -1.26374686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.546559995 meters 0.016725402374918298 Centerline is valid? [True, True] Translation: X:64.40, Y:-12.22, Z:-1.26 [[ 9.14879604e-01 4.03542321e-01 1.22026689e-02 6.44037012e+01] [-4.03510962e-01 9.14960927e-01 -5.04043930e-03 -1.22226865e+01] [-1.31989959e-02 -3.12515576e-04 9.99912841e-01 -1.26438513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.576559995000004 meters 0.017339275905154036 Centerline is valid? [True, True] Translation: X:64.43, Y:-12.23, Z:-1.27 [[ 9.13777945e-01 4.06027586e-01 1.23071773e-02 6.44331344e+01] [-4.05995843e-01 9.13860755e-01 -5.08884900e-03 -1.22333571e+01] [-1.33132594e-02 -3.46584820e-04 9.99911315e-01 -1.26530057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.606559995 meters 0.018598565840211502 Centerline is valid? [True, True] Translation: X:64.46, Y:-12.24, Z:-1.27 [[ 9.11843455e-01 4.10349720e-01 1.24346482e-02 6.44623304e+01] [-4.10317683e-01 9.11928143e-01 -5.14405577e-03 -1.22445614e+01] [-1.34503674e-02 -4.11582430e-04 9.99909455e-01 -1.26565444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.636559995 meters 0.022108504024290914 Centerline is valid? [True, True] Translation: X:64.49, Y:-12.25, Z:-1.27 [[ 9.10650546e-01 4.12993331e-01 1.23324942e-02 6.44925919e+01] [-4.12962071e-01 9.10733939e-01 -5.10099098e-03 -1.22523795e+01] [-1.33382963e-02 -4.47632143e-04 9.99910941e-01 -1.26661222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.666559995 meters 0.024728283379886893 Centerline is valid? [True, True] Translation: X:64.52, Y:-12.26, Z:-1.27 [[ 9.08721245e-01 4.17193943e-01 1.32254694e-02 6.45217830e+01] [-4.17158362e-01 9.08817320e-01 -5.47543507e-03 -1.22615469e+01] [-1.43038540e-02 -5.41470960e-04 9.99897548e-01 -1.26535667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.696559995 meters 0.02131501831253423 Centerline is valid? [True, True] Translation: X:64.55, Y:-12.28, Z:-1.26 [[ 9.07759215e-01 4.19272178e-01 1.35664717e-02 6.45492707e+01] [-4.19234970e-01 9.07860393e-01 -5.61659298e-03 -1.22796572e+01] [-1.46713435e-02 -5.89025312e-04 9.99892197e-01 -1.26472438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.726559995 meters 0.022534105857036413 Centerline is valid? [True, True] Translation: X:64.58, Y:-12.29, Z:-1.26 [[ 9.06959594e-01 4.20980021e-01 1.41462539e-02 6.45786527e+01] [-4.20939764e-01 9.07069682e-01 -5.85713848e-03 -1.22907279e+01] [-1.52973763e-02 -6.42532836e-04 9.99882782e-01 -1.26498274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.756559995 meters 0.022512473732948103 Centerline is valid? [True, True] Translation: X:64.61, Y:-12.30, Z:-1.27 [[ 9.06362311e-01 4.22249621e-01 1.45814417e-02 6.46075730e+01] [-4.22206948e-01 9.06479340e-01 -6.04140252e-03 -1.23035168e+01] [-1.57687555e-02 -6.80686429e-04 9.99875434e-01 -1.26507183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.786559995000005 meters 0.023713246443313116 Centerline is valid? [True, True] Translation: X:64.64, Y:-12.31, Z:-1.27 [[ 9.05693813e-01 4.23663835e-01 1.50887639e-02 6.46368344e+01] [-4.23618268e-01 9.05819202e-01 -6.25586506e-03 -1.23148350e+01] [-1.63180759e-02 -7.25977744e-04 9.99866588e-01 -1.26502723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.816559995 meters 0.023737314934482865 Centerline is valid? [True, True] Translation: X:64.67, Y:-12.33, Z:-1.26 [[ 9.04455272e-01 4.26293277e-01 1.53200060e-02 6.46651228e+01] [-4.26246598e-01 9.04584674e-01 -6.35656452e-03 -1.23281233e+01] [-1.65680034e-02 -7.80872152e-04 9.99862436e-01 -1.26474776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.846559995 meters 0.023737314934482865 Centerline is valid? [True, True] Translation: X:64.70, Y:-12.34, Z:-1.27 [[ 9.04333044e-01 4.26552507e-01 1.53200506e-02 6.46950700e+01] [-4.26505867e-01 9.04462460e-01 -6.35645739e-03 -1.23406255e+01] [-1.65677735e-02 -7.85736996e-04 9.99862436e-01 -1.26538519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.876559995 meters 0.025284651941251235 Centerline is valid? [True, True] Translation: X:64.73, Y:-12.35, Z:-1.27 [[ 9.03819092e-01 4.27662305e-01 1.46970196e-02 6.47250409e+01] [-4.27619450e-01 9.03938251e-01 -6.10279742e-03 -1.23521288e+01] [-1.58951346e-02 -7.68906611e-04 9.99873369e-01 -1.26694033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.906559995 meters 0.024933067714252112 Centerline is valid? [True, True] Translation: X:64.75, Y:-12.37, Z:-1.27 [[ 9.03299867e-01 4.28774973e-01 1.41905551e-02 6.47545385e+01] [-4.28735097e-01 9.03411007e-01 -5.89644995e-03 -1.23657025e+01] [-1.53481539e-02 -7.57726571e-04 9.99881923e-01 -1.26764468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.936559995 meters 0.025106960833334368 Centerline is valid? [True, True] Translation: X:64.78, Y:-12.38, Z:-1.27 [[ 9.03040064e-01 4.29317112e-01 1.43339191e-02 6.47834363e+01] [-4.29276426e-01 9.03153488e-01 -5.96039471e-03 -1.23773661e+01] [-1.55046285e-02 -7.70738336e-04 9.99879499e-01 -1.26795668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.966559995000004 meters 0.024882994418809173 Centerline is valid? [True, True] Translation: X:64.81, Y:-12.39, Z:-1.27 [[ 9.02870289e-01 4.29690437e-01 1.38336304e-02 6.48134842e+01] [-4.29652536e-01 9.02975952e-01 -5.75567484e-03 -1.23910851e+01] [-1.49645940e-02 -7.47026585e-04 9.99887745e-01 -1.26863763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.996559995 meters 0.02637655163089508 Centerline is valid? [True, True] Translation: X:64.84, Y:-12.40, Z:-1.27 [[ 9.02599544e-01 4.30289629e-01 1.28412654e-02 6.48425570e+01] [-4.30256973e-01 9.02690615e-01 -5.34699347e-03 -1.24026749e+01] [-1.38924456e-02 -6.98850108e-04 9.99903251e-01 -1.26966591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.026559995 meters 0.026889443131156467 Centerline is valid? [True, True] Translation: X:64.87, Y:-12.42, Z:-1.27 [[ 9.02438563e-01 4.30641510e-01 1.23503324e-02 6.48723744e+01] [-4.30611298e-01 9.02522817e-01 -5.14539009e-03 -1.24166280e+01] [-1.33622753e-02 -6.74794211e-04 9.99910493e-01 -1.27008739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.056559995 meters 0.025997910274780742 Centerline is valid? [True, True] Translation: X:64.90, Y:-12.43, Z:-1.27 [[ 9.02715985e-01 4.30074628e-01 1.18179518e-02 6.49014747e+01] [-4.30046867e-01 9.02793117e-01 -4.92743932e-03 -1.24309743e+01] [-1.27883322e-02 -6.34194899e-04 9.99918025e-01 -1.27104672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.086559995 meters 0.02499139007573279 Centerline is valid? [True, True] Translation: X:64.93, Y:-12.45, Z:-1.27 [[ 9.04138494e-01 4.27085307e-01 1.14770865e-02 6.49291011e+01] [-4.27058825e-01 9.04211156e-01 -4.79010526e-03 -1.24459253e+01] [-1.24234932e-02 -5.70472507e-04 9.99922663e-01 -1.27182776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.116559995 meters 0.02302759909656805 Centerline is valid? [True, True] Translation: X:64.96, Y:-12.46, Z:-1.27 [[ 9.04843039e-01 4.25585159e-01 1.16767961e-02 6.49567813e+01] [-4.25557636e-01 9.04918205e-01 -4.87232425e-03 -1.24619938e+01] [-1.26401342e-02 -5.60461061e-04 9.99919953e-01 -1.27169813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.146559995 meters 0.02162383755506255 Centerline is valid? [True, True] Translation: X:64.98, Y:-12.48, Z:-1.27 [[ 9.06676666e-01 4.21631237e-01 1.28266469e-02 6.49832147e+01] [-4.21597553e-01 9.06767223e-01 -5.35777775e-03 -1.24786188e+01] [-1.38897895e-02 -5.49910890e-04 9.99903381e-01 -1.27108673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.176559995 meters 0.020581872705172987 Centerline is valid? [True, True] Translation: X:65.01, Y:-12.49, Z:-1.27 [[ 9.07432578e-01 4.19990545e-01 1.31931556e-02 6.50116610e+01] [-4.19954750e-01 9.07528319e-01 -5.50980613e-03 -1.24939394e+01] [-1.42872288e-02 -5.40750772e-04 9.99897786e-01 -1.27089473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.206559995 meters 0.021943812851301973 Centerline is valid? [True, True] Translation: X:65.04, Y:-12.51, Z:-1.27 [[ 9.09119440e-01 4.16334402e-01 1.29425748e-02 6.50389558e+01] [-4.16299512e-01 9.09211442e-01 -5.41022041e-03 -1.25076268e+01] [-1.40199980e-02 -4.69451040e-04 9.99901605e-01 -1.27190037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.23655999500001 meters 0.019173786097895315 Centerline is valid? [True, True] Translation: X:65.07, Y:-12.52, Z:-1.27 [[ 9.10440027e-01 4.13450515e-01 1.25550636e-02 6.50657399e+01] [-4.13417408e-01 9.10526497e-01 -5.24837410e-03 -1.25249206e+01] [-1.36016610e-02 -4.12151968e-04 9.99907408e-01 -1.27210238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.266559995 meters 0.018818571665340306 Centerline is valid? [True, True] Translation: X:65.09, Y:-12.54, Z:-1.27 [[ 9.11002144e-01 4.12260538e-01 1.07861883e-02 6.50929666e+01] [-4.12236037e-01 9.11065932e-01 -4.50741124e-03 -1.25425171e+01] [-1.16851564e-02 -3.40194196e-04 9.99931668e-01 -1.27360240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.296559995 meters 0.01866594116934341 Centerline is valid? [True, True] Translation: X:65.12, Y:-12.55, Z:-1.27 [[ 9.10768066e-01 4.12776461e-01 1.08223332e-02 6.51223943e+01] [-4.12751795e-01 9.10832298e-01 -4.52559614e-03 -1.25541907e+01] [-1.17253902e-02 -3.45169009e-04 9.99931196e-01 -1.27418035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.326559995 meters 0.01742587435111912 Centerline is valid? [True, True] Translation: X:65.15, Y:-12.57, Z:-1.27 [[ 9.10662955e-01 4.13011142e-01 1.07135273e-02 6.51521644e+01] [-4.12986951e-01 9.10725908e-01 -4.48319918e-03 -1.25685554e+01] [-1.16086981e-02 -3.41863578e-04 9.99932558e-01 -1.27427935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.356559995 meters 0.018790756917815555 Centerline is valid? [True, True] Translation: X:65.18, Y:-12.58, Z:-1.28 [[ 9.10750624e-01 4.12825947e-01 1.03941228e-02 6.51810754e+01] [-4.12803121e-01 9.10809877e-01 -4.35336010e-03 -1.25805561e+01] [-1.12642497e-02 -3.25900915e-04 9.99936503e-01 -1.27568037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.386559995 meters 0.018790756917815555 Centerline is valid? [True, True] Translation: X:65.21, Y:-12.59, Z:-1.28 [[ 9.10633972e-01 4.13083223e-01 1.03932870e-02 6.52109485e+01] [-4.13060391e-01 9.10693222e-01 -4.35535442e-03 -1.25931571e+01] [-1.12642198e-02 -3.26921486e-04 9.99936503e-01 -1.27631863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.416559995 meters 0.018790756917815555 Centerline is valid? [True, True] Translation: X:65.24, Y:-12.61, Z:-1.28 [[ 9.10517243e-01 4.13340484e-01 1.03920554e-02 6.52408183e+01] [-4.13317635e-01 9.10576486e-01 -4.35829013e-03 -1.26057661e+01] [-1.12642191e-02 -3.26921464e-04 9.99936503e-01 -1.27695727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.446559995 meters 0.021905078553187567 Centerline is valid? [True, True] Translation: X:65.27, Y:-12.61, Z:-1.28 [[ 9.10441115e-01 4.13515687e-01 1.00872098e-02 6.52719092e+01] [-4.13494133e-01 9.10496939e-01 -4.23380242e-03 -1.26144854e+01] [-1.09351174e-02 -3.16374276e-04 9.99940160e-01 -1.27928218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.476559995 meters 0.021905078553187567 Centerline is valid? [True, True] Translation: X:65.30, Y:-12.63, Z:-1.28 [[ 9.10333259e-01 4.13753101e-01 1.00860886e-02 6.53017691e+01] [-4.13731533e-01 9.10389077e-01 -4.23647085e-03 -1.26271410e+01] [-1.09351179e-02 -3.16332596e-04 9.99940160e-01 -1.27992084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.506559995 meters 0.019661018943862577 Centerline is valid? [True, True] Translation: X:65.33, Y:-12.64, Z:-1.28 [[ 9.10150656e-01 4.14157966e-01 9.94802606e-03 6.53306428e+01] [-4.14136978e-01 9.10204966e-01 -4.18125280e-03 -1.26442525e+01] [-1.07864419e-02 -3.14275476e-04 9.99941775e-01 -1.27921798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.536559995 meters 0.021606752888688168 Centerline is valid? [True, True] Translation: X:65.36, Y:-12.66, Z:-1.28 [[ 9.10117756e-01 4.14236087e-01 9.70225568e-03 6.53601996e+01] [-4.14216094e-01 9.10169419e-01 -4.08121863e-03 -1.26560225e+01] [-1.05212845e-02 -3.04440904e-04 9.99944603e-01 -1.28047163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.566559995 meters 0.01807522340134912 Centerline is valid? [True, True] Translation: X:65.39, Y:-12.67, Z:-1.28 [[ 9.09700370e-01 4.15138983e-01 1.02401553e-02 6.53898545e+01] [-4.15116728e-01 9.09757944e-01 -4.31111651e-03 -1.26688000e+01] [-1.11057752e-02 -3.29035501e-04 9.99938275e-01 -1.27898493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.596559995 meters 0.020968285614147156 Centerline is valid? [True, True] Translation: X:65.42, Y:-12.68, Z:-1.28 [[ 9.09504414e-01 4.15596239e-01 9.02698535e-03 6.54201790e+01] [-4.15578948e-01 9.09549163e-01 -3.80237325e-03 -1.26797508e+01] [-9.79073900e-03 -2.93149818e-04 9.99952027e-01 -1.28227162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.62655999500001 meters 0.01938435788967879 Centerline is valid? [True, True] Translation: X:65.45, Y:-12.69, Z:-1.28 [[ 9.09349962e-01 4.15927304e-01 9.33407304e-03 6.54507421e+01] [-4.15908809e-01 9.09397814e-01 -3.93421041e-03 -1.26921438e+01] [-1.01247312e-02 -3.04549113e-04 9.99948697e-01 -1.28233315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.656559995 meters 0.01988273273408118 Centerline is valid? [True, True] Translation: X:65.48, Y:-12.70, Z:-1.28 [[ 9.09133801e-01 4.16393616e-01 9.59622663e-03 6.54811402e+01] [-4.16374047e-01 9.09184391e-01 -4.04912010e-03 -1.27028757e+01] [-1.04107672e-02 -3.14427767e-04 9.99945757e-01 -1.28336456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.686559995 meters 0.020124843268283128 Centerline is valid? [True, True] Translation: X:65.51, Y:-12.72, Z:-1.28 [[ 9.08935051e-01 4.16823613e-01 9.75443701e-03 6.55116980e+01] [-4.16803406e-01 9.08987333e-01 -4.11694333e-03 -1.27151965e+01] [-1.05826989e-02 -3.23648481e-04 9.99943949e-01 -1.28434793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.716559995 meters 0.02112718162282316 Centerline is valid? [True, True] Translation: X:65.54, Y:-12.73, Z:-1.29 [[ 9.08701045e-01 4.17336101e-01 9.64310547e-03 6.55417423e+01] [-4.17316348e-01 9.08752152e-01 -4.07319766e-03 -1.27273986e+01] [-1.04630853e-02 -3.22906594e-04 9.99945208e-01 -1.28531508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.746559995 meters 0.01920283669710898 Centerline is valid? [True, True] Translation: X:65.57, Y:-12.74, Z:-1.29 [[ 9.08114311e-01 4.18609945e-01 9.70109326e-03 6.55716872e+01] [-4.18589993e-01 9.08166064e-01 -4.10083988e-03 -1.27386402e+01] [-1.05268560e-02 -3.36749183e-04 9.99944534e-01 -1.28514633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.776559995 meters 0.019402808475047946 Centerline is valid? [True, True] Translation: X:65.60, Y:-12.75, Z:-1.29 [[ 9.07871047e-01 4.19141426e-01 9.51979914e-03 6.56018520e+01] [-4.19122215e-01 9.07920896e-01 -4.02684237e-03 -1.27503240e+01] [-1.03310410e-02 -3.34105702e-04 9.99946578e-01 -1.28637797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.806559995 meters 0.019915018532616336 Centerline is valid? [True, True] Translation: X:65.63, Y:-12.76, Z:-1.29 [[ 9.07764158e-01 4.19370734e-01 9.61358996e-03 6.56314366e+01] [-4.19351119e-01 9.07815000e-01 -4.07002334e-03 -1.27616304e+01] [-1.04342098e-02 -3.36848395e-04 9.99945505e-01 -1.28750351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.836559995 meters 0.022249852684121243 Centerline is valid? [True, True] Translation: X:65.66, Y:-12.77, Z:-1.29 [[ 9.07893318e-01 4.19103669e-01 9.04637338e-03 6.56607522e+01] [-4.19086267e-01 9.07938333e-01 -3.83190733e-03 -1.27724754e+01] [-9.81951559e-03 -3.12247794e-04 9.99951739e-01 -1.28969277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.866559995 meters 0.019600759887599507 Centerline is valid? [True, True] Translation: X:65.69, Y:-12.79, Z:-1.29 [[ 9.07623432e-01 4.19650422e-01 1.06408884e-02 6.56908224e+01] [-4.19626372e-01 9.07685729e-01 -4.50828934e-03 -1.27866444e+01] [-1.15504880e-02 -3.73368333e-04 9.99933221e-01 -1.28785764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.896559995 meters 0.02153750836366089 Centerline is valid? [True, True] Translation: X:65.72, Y:-12.80, Z:-1.29 [[ 9.07393779e-01 4.20155105e-01 1.03061522e-02 6.57203070e+01] [-4.20132535e-01 9.07452233e-01 -4.37013632e-03 -1.27975065e+01] [-1.11884759e-02 -3.64515351e-04 9.99937341e-01 -1.28899231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.926559995 meters 0.01987715754049113 Centerline is valid? [True, True] Translation: X:65.75, Y:-12.81, Z:-1.29 [[ 9.07059812e-01 4.20849432e-01 1.13248902e-02 6.57501323e+01] [-4.20822197e-01 9.07130415e-01 -4.80510458e-03 -1.28105271e+01] [-1.22953779e-02 -4.07247941e-04 9.99924326e-01 -1.28825543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.956559995 meters 0.02046580415708066 Centerline is valid? [True, True] Translation: X:65.78, Y:-12.82, Z:-1.29 [[ 9.07025609e-01 4.20931757e-01 1.10000247e-02 6.57799989e+01] [-4.20906027e-01 9.07092223e-01 -4.67070354e-03 -1.28234942e+01] [-1.19440843e-02 -3.93528979e-04 9.99928589e-01 -1.28985123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.98655999500001 meters 0.02007644214291219 Centerline is valid? [True, True] Translation: X:65.81, Y:-12.84, Z:-1.29 [[ 9.06900287e-01 4.21217579e-01 1.03740616e-02 6.58107728e+01] [-4.21194678e-01 9.06959543e-01 -4.40796232e-03 -1.28364337e+01] [-1.12655654e-02 -3.71917252e-04 9.99936472e-01 -1.29121197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.016559995 meters 0.022996599799079535 Centerline is valid? [True, True] Translation: X:65.84, Y:-12.85, Z:-1.29 [[ 9.06728879e-01 4.21604460e-01 9.61349501e-03 6.58404767e+01] [-4.21584782e-01 9.06779774e-01 -4.08812801e-03 -1.28470808e+01] [-1.04408958e-02 -3.46079467e-04 9.99945432e-01 -1.29320615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.046559995 meters 0.025561290150430977 Centerline is valid? [True, True] Translation: X:65.87, Y:-12.85, Z:-1.30 [[ 9.06684678e-01 4.21700736e-01 9.55948369e-03 6.58713825e+01] [-4.21681260e-01 9.06735006e-01 -4.06738818e-03 -1.28548150e+01] [-1.03831391e-02 -3.43216583e-04 9.99946035e-01 -1.29510178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.076559995 meters 0.0224397425714307 Centerline is valid? [True, True] Translation: X:65.90, Y:-12.87, Z:-1.29 [[ 9.06691287e-01 4.21696248e-01 9.12059476e-03 6.58990487e+01] [-4.21678496e-01 9.06737100e-01 -3.88296735e-03 -1.28735687e+01] [-9.90741440e-03 -3.25306016e-04 9.99950867e-01 -1.29402917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.106559995 meters 0.022880606267885104 Centerline is valid? [True, True] Translation: X:65.93, Y:-12.89, Z:-1.29 [[ 9.06751467e-01 4.21576356e-01 8.66916234e-03 6.59288156e+01] [-4.21560287e-01 9.06792856e-01 -3.69342029e-03 -1.28864279e+01] [-9.41819315e-03 -3.05560298e-04 9.99955601e-01 -1.29484253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.136559995 meters 0.022760544451508023 Centerline is valid? [True, True] Translation: X:65.96, Y:-12.90, Z:-1.30 [[ 9.06847173e-01 4.21369746e-01 8.70301136e-03 6.59580278e+01] [-4.21353510e-01 9.06888883e-01 -3.71121505e-03 -1.28988667e+01] [-9.45645799e-03 -3.01539511e-04 9.99955241e-01 -1.29521176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.166559995 meters 0.023505867959958036 Centerline is valid? [True, True] Translation: X:65.99, Y:-12.91, Z:-1.30 [[ 9.07082223e-01 4.20857360e-01 8.99572551e-03 6.59876908e+01] [-4.20839961e-01 9.07126777e-01 -3.83885118e-03 -1.29114137e+01] [-9.77587226e-03 -3.03607111e-04 9.99952169e-01 -1.29642786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.196559995 meters 0.023659463420303832 Centerline is valid? [True, True] Translation: X:66.02, Y:-12.92, Z:-1.30 [[ 9.06823378e-01 4.21417010e-01 8.89189160e-03 6.60175239e+01] [-4.21400013e-01 9.06866921e-01 -3.79707160e-03 -1.29235353e+01] [-9.66391291e-03 -3.03769935e-04 9.99953257e-01 -1.29708816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.226559995 meters 0.02507027479803587 Centerline is valid? [True, True] Translation: X:66.05, Y:-12.94, Z:-1.30 [[ 9.06808715e-01 4.21452096e-01 8.72267492e-03 6.60481681e+01] [-4.21435722e-01 9.06850618e-01 -3.72685664e-03 -1.29364180e+01] [-9.48085468e-03 -2.96500719e-04 9.99955012e-01 -1.29843678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.256559995 meters 0.026452923835226523 Centerline is valid? [True, True] Translation: X:66.08, Y:-12.95, Z:-1.30 [[ 9.06979162e-01 4.21082450e-01 8.85264225e-03 6.60771163e+01] [-4.21065534e-01 9.07022317e-01 -3.78577308e-03 -1.29491486e+01] [-9.62366669e-03 -2.93925242e-04 9.99953648e-01 -1.30007559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.286559995 meters 0.023916781957211742 Centerline is valid? [True, True] Translation: X:66.11, Y:-12.96, Z:-1.30 [[ 9.06854187e-01 4.21341642e-01 9.31149806e-03 6.61068834e+01] [-4.21322915e-01 9.06901938e-01 -3.98456365e-03 -1.29630084e+01] [-1.01234782e-02 -3.09729274e-04 9.99948708e-01 -1.29980621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.316559995 meters 0.024845732078605777 Centerline is valid? [True, True] Translation: X:66.14, Y:-12.98, Z:-1.30 [[ 9.06704647e-01 4.21659574e-01 9.48081182e-03 6.61360321e+01] [-4.21640141e-01 9.06754158e-01 -4.06053152e-03 -1.29750331e+01] [-1.03089275e-02 -3.15788030e-04 9.99946812e-01 -1.30090922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.346559995 meters 0.025164915173921297 Centerline is valid? [True, True] Translation: X:66.17, Y:-12.99, Z:-1.30 [[ 9.06559542e-01 4.21976053e-01 9.27398553e-03 6.61665911e+01] [-4.21957449e-01 9.06606924e-01 -3.97456598e-03 -1.29881788e+01] [-1.00850312e-02 -3.10046558e-04 9.99949097e-01 -1.30165776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.37655999500001 meters 0.025289239816072968 Centerline is valid? [True, True] Translation: X:66.20, Y:-13.00, Z:-1.30 [[ 9.06492390e-01 4.22117052e-01 9.42028907e-03 6.61971546e+01] [-4.22097830e-01 9.06541282e-01 -4.04052824e-03 -1.30008942e+01] [-1.02454568e-02 -3.13575468e-04 9.99947465e-01 -1.30243613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.406559995 meters 0.026521973691059634 Centerline is valid? [True, True] Translation: X:66.23, Y:-13.01, Z:-1.30 [[ 9.06862281e-01 4.21318039e-01 9.58711881e-03 6.62259361e+01] [-4.21298045e-01 9.06912905e-01 -4.11590926e-03 -1.30118383e+01] [-1.04287886e-02 -3.06471551e-04 9.99945572e-01 -1.30405946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.436559995 meters 0.025291722492777783 Centerline is valid? [True, True] Translation: X:66.25, Y:-13.03, Z:-1.30 [[ 9.07012965e-01 4.20991713e-01 9.66745243e-03 6.62538341e+01] [-4.20971339e-01 9.07064433e-01 -4.15279376e-03 -1.30280403e+01] [-1.05172940e-02 -3.03082614e-04 9.99944646e-01 -1.30381027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.466559995 meters 0.027293437194567977 Centerline is valid? [True, True] Translation: X:66.28, Y:-13.04, Z:-1.31 [[ 9.07417121e-01 4.20118243e-01 9.73806601e-03 6.62836881e+01] [-4.20097487e-01 9.07469326e-01 -4.18620915e-03 -1.30377736e+01] [-1.05956990e-02 -2.92299207e-04 9.99943821e-01 -1.30595855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.496559995 meters 0.02632568830887839 Centerline is valid? [True, True] Translation: X:66.31, Y:-13.06, Z:-1.31 [[ 9.07872840e-01 4.19135175e-01 9.62348106e-03 6.63110309e+01] [-4.19114825e-01 9.07923802e-01 -4.13927088e-03 -1.30564047e+01] [-1.04723015e-02 -2.75411973e-04 9.99945126e-01 -1.30556613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.526559995 meters 0.02743622700586885 Centerline is valid? [True, True] Translation: X:66.34, Y:-13.07, Z:-1.31 [[ 9.08278239e-01 4.18253515e-01 9.72824051e-03 6.63410036e+01] [-4.18232637e-01 9.08330296e-01 -4.18747041e-03 -1.30651829e+01] [-1.05878798e-02 -2.65279427e-04 9.99943912e-01 -1.30814124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.556559995 meters 0.025258865390090528 Centerline is valid? [True, True] Translation: X:66.37, Y:-13.08, Z:-1.31 [[ 9.08633752e-01 4.17484281e-01 9.56974186e-03 6.63682783e+01] [-4.17464010e-01 9.08684110e-01 -4.12164458e-03 -1.30836573e+01] [-1.04165942e-02 -2.49957433e-04 9.99945715e-01 -1.30738473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.586559995 meters 0.02616641296042073 Centerline is valid? [True, True] Translation: X:66.40, Y:-13.10, Z:-1.31 [[ 9.09721082e-01 4.15111374e-01 9.49210506e-03 6.63962462e+01] [-4.15091262e-01 9.09770576e-01 -4.09197705e-03 -1.30978979e+01] [-1.03342641e-02 -2.17532079e-04 9.99946576e-01 -1.30944461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.616559995 meters 0.024165308018518197 Centerline is valid? [True, True] Translation: X:66.42, Y:-13.12, Z:-1.31 [[ 9.10647724e-01 4.13045299e-01 1.06913186e-02 6.64236963e+01] [-4.13019628e-01 9.10710456e-01 -4.61015211e-03 -1.31159322e+01] [-1.16408973e-02 -2.17499883e-04 9.99932219e-01 -1.30874560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.646559995 meters 0.025412229988424816 Centerline is valid? [True, True] Translation: X:66.45, Y:-13.13, Z:-1.31 [[ 9.11040326e-01 4.12167721e-01 1.11037722e-02 6.64520570e+01] [-4.12139922e-01 9.11107966e-01 -4.79161034e-03 -1.31276267e+01] [-1.20916824e-02 -2.10957547e-04 9.99926871e-01 -1.31008568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.676559995 meters 0.024608850246697817 Centerline is valid? [True, True] Translation: X:66.48, Y:-13.14, Z:-1.31 [[ 9.11346445e-01 4.11474935e-01 1.16634209e-02 6.64797189e+01] [-4.11444166e-01 9.11421052e-01 -5.03631139e-03 -1.31448538e+01] [-1.27026033e-02 -2.09022013e-04 9.99919297e-01 -1.30921849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.706559995 meters 0.025591469620225665 Centerline is valid? [True, True] Translation: X:66.51, Y:-13.16, Z:-1.31 [[ 9.11789046e-01 4.10451125e-01 1.30617582e-02 6.65071121e+01] [-4.10412363e-01 9.11882574e-01 -5.64479523e-03 -1.31593075e+01] [-1.42277022e-02 -2.13844585e-04 9.99898758e-01 -1.30908418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.73655999500001 meters 0.025591469620225665 Centerline is valid? [True, True] Translation: X:66.54, Y:-13.17, Z:-1.31 [[ 9.11674055e-01 4.10706512e-01 1.30605513e-02 6.65368305e+01] [-4.10667737e-01 9.11767577e-01 -5.64758605e-03 -1.31722390e+01] [-1.42276875e-02 -2.14789357e-04 9.99898758e-01 -1.30972226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.766559995 meters 0.025591469620225665 Centerline is valid? [True, True] Translation: X:66.57, Y:-13.19, Z:-1.31 [[ 9.11558990e-01 4.10961885e-01 1.30589681e-02 6.65665454e+01] [-4.10923083e-01 9.11652501e-01 -5.65124381e-03 -1.31851784e+01] [-1.42276868e-02 -2.14789345e-04 9.99898758e-01 -1.31036070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.796559995 meters 0.025043237487788257 Centerline is valid? [True, True] Translation: X:66.59, Y:-13.20, Z:-1.31 [[ 9.11745271e-01 4.10524967e-01 1.37772083e-02 6.65947015e+01] [-4.10481653e-01 9.11849333e-01 -5.96715780e-03 -1.32006599e+01] [-1.50124054e-02 -2.14763320e-04 9.99887284e-01 -1.30976662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.826559995 meters 0.025415684536475188 Centerline is valid? [True, True] Translation: X:66.62, Y:-13.22, Z:-1.31 [[ 9.12320566e-01 4.09298388e-01 1.20836158e-02 6.66232351e+01] [-4.09264924e-01 9.12400570e-01 -5.23646911e-03 -1.32159598e+01] [-1.31683763e-02 -1.68061655e-04 9.99913279e-01 -1.31213275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.856559995 meters 0.025979584412692963 Centerline is valid? [True, True] Translation: X:66.65, Y:-13.23, Z:-1.31 [[ 9.11950669e-01 4.10156163e-01 1.08581563e-02 6.66530032e+01] [-4.10129172e-01 9.12015294e-01 -4.70806205e-03 -1.32283293e+01] [-1.18338452e-02 -1.59726303e-04 9.99929965e-01 -1.31444541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.886559995 meters 0.026057423543272385 Centerline is valid? [True, True] Translation: X:66.68, Y:-13.24, Z:-1.32 [[ 9.11533862e-01 4.11108081e-01 9.80636718e-03 6.66823833e+01] [-4.11086095e-01 9.11586596e-01 -4.25436526e-03 -1.32400405e+01] [-1.06883568e-02 -1.53263197e-04 9.99942866e-01 -1.31651533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.916559995 meters 0.02633562136241192 Centerline is valid? [True, True] Translation: X:66.71, Y:-13.25, Z:-1.32 [[ 9.11189463e-01 4.11882857e-01 9.28842666e-03 6.67124013e+01] [-4.11863148e-01 9.11236791e-01 -4.03209225e-03 -1.32521670e+01] [-1.01247058e-02 -1.51560675e-04 9.99948732e-01 -1.31819369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.946559995 meters 0.026160724781891867 Centerline is valid? [True, True] Translation: X:66.74, Y:-13.26, Z:-1.32 [[ 9.11072780e-01 4.12147338e-01 8.99786279e-03 6.67423927e+01] [-4.12128825e-01 9.11117199e-01 -3.90914322e-03 -1.32644682e+01] [-9.80925051e-03 -1.46764634e-04 9.99951877e-01 -1.31946124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.976559995 meters 0.025541824150493216 Centerline is valid? [True, True] Translation: X:66.77, Y:-13.28, Z:-1.32 [[ 9.10689512e-01 4.12983652e-01 9.44013151e-03 6.67725141e+01] [-4.12963308e-01 9.10738424e-01 -4.10231816e-03 -1.32767274e+01] [-1.02916808e-02 -1.62489812e-04 9.99947026e-01 -1.31938413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.006559995 meters 0.026582993294815786 Centerline is valid? [True, True] Translation: X:66.80, Y:-13.29, Z:-1.32 [[ 9.10388527e-01 4.13632513e-01 1.00436453e-02 6.68020127e+01] [-4.13609482e-01 9.10443910e-01 -4.36847661e-03 -1.32879651e+01] [-1.09511197e-02 -1.77135949e-04 9.99940019e-01 -1.31998778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.036559995 meters 0.02658585785405393 Centerline is valid? [True, True] Translation: X:66.83, Y:-13.30, Z:-1.32 [[ 9.10118171e-01 4.14226516e-01 1.00652054e-02 6.68327841e+01] [-4.14203390e-01 9.10173808e-01 -4.38079002e-03 -1.33001939e+01] [-1.09757257e-02 -1.82005621e-04 9.99939748e-01 -1.32087415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.066559995 meters 0.026647237750637282 Centerline is valid? [True, True] Translation: X:66.86, Y:-13.31, Z:-1.32 [[ 9.10383492e-01 4.13640894e-01 1.01542206e-02 6.68614125e+01] [-4.13617277e-01 9.10440103e-01 -4.42347090e-03 -1.33123240e+01] [-1.10745381e-02 -1.72906216e-04 9.99938660e-01 -1.32207218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.096559995 meters 0.02573729424161294 Centerline is valid? [True, True] Translation: X:66.89, Y:-13.33, Z:-1.32 [[ 9.10942225e-01 4.12379002e-01 1.13058180e-02 6.68910674e+01] [-4.12349569e-01 9.11012365e-01 -4.92979603e-03 -1.33259995e+01] [-1.23326844e-02 -1.71189836e-04 9.99923935e-01 -1.32167655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.12655999500001 meters 0.02707917399903315 Centerline is valid? [True, True] Translation: X:66.92, Y:-13.34, Z:-1.32 [[ 9.11117145e-01 4.11913694e-01 1.38800549e-02 6.69201914e+01] [-4.11869253e-01 9.11222842e-01 -6.05392040e-03 -1.33375881e+01] [-1.51415158e-02 -2.00937166e-04 9.99885340e-01 -1.32086387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.156559995 meters 0.026124567928905305 Centerline is valid? [True, True] Translation: X:66.95, Y:-13.35, Z:-1.32 [[ 9.10950428e-01 4.12238095e-01 1.51350718e-02 6.69508309e+01] [-4.12185259e-01 9.11076124e-01 -6.60365669e-03 -1.33500495e+01] [-1.65114814e-02 -2.22849591e-04 9.99863651e-01 -1.32113763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.186559995 meters 0.02614194980618531 Centerline is valid? [True, True] Translation: X:66.98, Y:-13.36, Z:-1.32 [[ 9.10967332e-01 4.12158933e-01 1.62337096e-02 6.69809024e+01] [-4.12098031e-01 9.11111936e-01 -7.08891378e-03 -1.33609420e+01] [-1.77124857e-02 -2.32110879e-04 9.99843095e-01 -1.32196787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.216559995 meters 0.027314547874064204 Centerline is valid? [True, True] Translation: X:67.01, Y:-13.37, Z:-1.32 [[ 9.11143349e-01 4.11718412e-01 1.74856069e-02 6.70101229e+01] [-4.11647560e-01 9.11311085e-01 -7.64146935e-03 -1.33745903e+01] [-1.90809610e-02 -2.35433439e-04 9.99817914e-01 -1.32258155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.246559995 meters 0.028096414195754524 Centerline is valid? [True, True] Translation: X:67.04, Y:-13.39, Z:-1.32 [[ 9.10906567e-01 4.12185334e-01 1.87743386e-02 6.70402127e+01] [-4.12103633e-01 9.11099986e-01 -8.21048870e-03 -1.33867463e+01] [-2.04895427e-02 -2.57985070e-04 9.99790034e-01 -1.32303279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.276559995 meters 0.027964517414077888 Centerline is valid? [True, True] Translation: X:67.07, Y:-13.40, Z:-1.32 [[ 9.10723085e-01 4.12522489e-01 2.02152859e-02 6.70707833e+01] [-4.12427741e-01 9.10947373e-01 -8.84544010e-03 -1.33992011e+01] [-2.20640046e-02 -2.81598218e-04 9.99756521e-01 -1.32425298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.306559995 meters 0.030103138021290932 Centerline is valid? [True, True] Translation: X:67.10, Y:-13.41, Z:-1.33 [[ 9.10527381e-01 4.12850825e-01 2.22280157e-02 6.71007165e+01] [-4.12736172e-01 9.10798605e-01 -9.73410328e-03 -1.34108806e+01] [-2.42639783e-02 -3.11138574e-04 9.99705538e-01 -1.32581049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.336559995 meters 0.030234942165212608 Centerline is valid? [True, True] Translation: X:67.13, Y:-13.42, Z:-1.33 [[ 9.10400334e-01 4.13109962e-01 2.26139372e-02 6.71312767e+01] [-4.12991194e-01 9.10681096e-01 -9.91035171e-03 -1.34235312e+01] [-2.46881502e-02 -3.16969430e-04 9.99695151e-01 -1.32719249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.366559995 meters 0.030813944426919808 Centerline is valid? [True, True] Translation: X:67.16, Y:-13.44, Z:-1.33 [[ 9.10168006e-01 4.13571865e-01 2.35056029e-02 6.71613032e+01] [-4.13443491e-01 9.10471417e-01 -1.03091835e-02 -1.34368090e+01] [-2.56647678e-02 -3.35149503e-04 9.99670549e-01 -1.32880422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.396559995 meters 0.031182902125080694 Centerline is valid? [True, True] Translation: X:67.19, Y:-13.45, Z:-1.33 [[ 9.10032105e-01 4.13813892e-01 2.44873654e-02 6.71908912e+01] [-4.13674430e-01 9.10361434e-01 -1.07482424e-02 -1.34479978e+01] [-2.67401251e-02 -3.48551288e-04 9.99642358e-01 -1.33083607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.426559995 meters 0.03303935989618007 Centerline is valid? [True, True] Translation: X:67.22, Y:-13.46, Z:-1.33 [[ 9.09874507e-01 4.14106483e-01 2.53811330e-02 6.72211308e+01] [-4.13956535e-01 9.10228372e-01 -1.11489291e-02 -1.34613663e+01] [-2.77194712e-02 -3.62559535e-04 9.99615676e-01 -1.33152008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.456559995 meters 0.03399068317751122 Centerline is valid? [True, True] Translation: X:67.25, Y:-13.47, Z:-1.33 [[ 9.09726911e-01 4.14312886e-01 2.72356368e-02 6.72507194e+01] [-4.14140039e-01 9.10134431e-01 -1.19727224e-02 -1.34742100e+01] [-2.97485439e-02 -3.87459924e-04 9.99557339e-01 -1.33334513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.48655999500001 meters 0.0353634254714509 Centerline is valid? [True, True] Translation: X:67.28, Y:-13.49, Z:-1.34 [[ 9.09367138e-01 4.15021869e-01 2.84298570e-02 6.72805216e+01] [-4.14833606e-01 9.09811338e-01 -1.25063207e-02 -1.34863756e+01] [-3.10562028e-02 -4.20823087e-04 9.99517551e-01 -1.33579159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.516559995 meters 0.03571264154928647 Centerline is valid? [True, True] Translation: X:67.31, Y:-13.50, Z:-1.34 [[ 9.09648461e-01 4.14389422e-01 2.86545804e-02 6.73092247e+01] [-4.14197599e-01 9.10099583e-01 -1.26134114e-02 -1.34988655e+01] [-3.13053859e-02 -3.94888123e-04 9.99509788e-01 -1.33823062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.546559995 meters 0.03728139933762904 Centerline is valid? [True, True] Translation: X:67.34, Y:-13.51, Z:-1.34 [[ 9.08965649e-01 4.15924799e-01 2.80715372e-02 6.73398785e+01] [-4.15741185e-01 9.09398909e-01 -1.23649081e-02 -1.35107155e+01] [-3.06710972e-02 -4.31217436e-04 9.99529438e-01 -1.34184452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.576559995 meters 0.03833161104847102 Centerline is valid? [True, True] Translation: X:67.37, Y:-13.52, Z:-1.35 [[ 9.07124578e-01 4.20068355e-01 2.58375044e-02 6.73700894e+01] [-4.19914270e-01 9.07492318e-01 -1.13884918e-02 -1.35184560e+01] [-2.82312818e-02 -5.18755981e-04 9.99601283e-01 -1.34648467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.606559995 meters 0.0379807179721052 Centerline is valid? [True, True] Translation: X:67.40, Y:-13.53, Z:-1.35 [[ 9.06264874e-01 4.21978950e-01 2.48544752e-02 6.73998087e+01] [-4.21836906e-01 9.06605462e-01 -1.09618132e-02 -1.35295101e+01] [-2.71588573e-02 -5.50228653e-04 9.99630979e-01 -1.34850856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.636559995 meters 0.037824417130899776 Centerline is valid? [True, True] Translation: X:67.43, Y:-13.54, Z:-1.35 [[ 9.05803886e-01 4.22983216e-01 2.45869647e-02 6.74287307e+01] [-4.22844395e-01 9.06137339e-01 -1.08508608e-02 -1.35424621e+01] [-2.68688988e-02 -5.67708376e-04 9.99638805e-01 -1.35017527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.666559995 meters 0.037824417130899776 Centerline is valid? [True, True] Translation: X:67.46, Y:-13.56, Z:-1.35 [[ 9.05684713e-01 4.23238489e-01 2.45841861e-02 6.74583595e+01] [-4.23099591e-01 9.06018134e-01 -1.08571531e-02 -1.35556188e+01] [-2.68688835e-02 -5.68401548e-04 9.99638805e-01 -1.35081354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.696559995 meters 0.03791028824327079 Centerline is valid? [True, True] Translation: X:67.49, Y:-13.57, Z:-1.35 [[ 9.05319582e-01 4.24062780e-01 2.38162254e-02 6.74888822e+01] [-4.23932507e-01 9.05632617e-01 -1.05258175e-02 -1.35685781e+01] [-2.60323580e-02 -5.67243445e-04 9.99660940e-01 -1.35203895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.726559995 meters 0.03791028824327079 Centerline is valid? [True, True] Translation: X:67.52, Y:-13.58, Z:-1.35 [[ 9.05200802e-01 4.24316434e-01 2.38132755e-02 6.75185040e+01] [-4.24186073e-01 9.05513800e-01 -1.05324878e-02 -1.35817538e+01] [-2.60323572e-02 -5.67243428e-04 9.99660940e-01 -1.35267748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.756559995 meters 0.03791028824327079 Centerline is valid? [True, True] Translation: X:67.55, Y:-13.59, Z:-1.35 [[ 9.05081951e-01 4.24570054e-01 2.38103236e-02 6.75481220e+01] [-4.24439605e-01 9.05394913e-01 -1.05391572e-02 -1.35949377e+01] [-2.60323564e-02 -5.67243411e-04 9.99660940e-01 -1.35331600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.786559995 meters 0.03791028824327079 Centerline is valid? [True, True] Translation: X:67.58, Y:-13.61, Z:-1.35 [[ 9.04963029e-01 4.24823640e-01 2.38073700e-02 6.75777363e+01] [-4.24693104e-01 9.05275954e-01 -1.05458258e-02 -1.36081300e+01] [-2.60323557e-02 -5.67243395e-04 9.99660940e-01 -1.35395453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.816559995 meters 0.03801599962221417 Centerline is valid? [True, True] Translation: X:67.61, Y:-13.62, Z:-1.35 [[ 9.04648213e-01 4.25534536e-01 2.30644578e-02 6.76080457e+01] [-4.25412062e-01 9.04942010e-01 -1.02242812e-02 -1.36211871e+01] [-2.52227816e-02 -5.62520835e-04 9.99681697e-01 -1.35465364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.846559995 meters 0.03801599962221417 Centerline is valid? [True, True] Translation: X:67.64, Y:-13.63, Z:-1.36 [[ 9.04528888e-01 4.25788273e-01 2.30615952e-02 6.76376520e+01] [-4.25665716e-01 9.04822651e-01 -1.02307345e-02 -1.36343984e+01] [-2.52227805e-02 -5.62535510e-04 9.99681697e-01 -1.35529217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.87655999500001 meters 0.03755428024547172 Centerline is valid? [True, True] Translation: X:67.67, Y:-13.65, Z:-1.36 [[ 9.04118890e-01 4.26699396e-01 2.22858273e-02 6.76676107e+01] [-4.26585046e-01 9.04393338e-01 -9.89385094e-03 -1.36470569e+01] [-2.43768540e-02 -5.61583147e-04 9.99702683e-01 -1.35621918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.906559995 meters 0.03726477887306496 Centerline is valid? [True, True] Translation: X:67.70, Y:-13.66, Z:-1.36 [[ 9.03797576e-01 4.27406747e-01 2.17580764e-02 6.76980375e+01] [-4.27297785e-01 9.04059267e-01 -9.66666221e-03 -1.36603788e+01] [-2.38021873e-02 -5.60471999e-04 9.99716531e-01 -1.35706709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.936559995 meters 0.037116622632941666 Centerline is valid? [True, True] Translation: X:67.73, Y:-13.67, Z:-1.36 [[ 9.03506905e-01 4.28055951e-01 2.10564620e-02 6.77277806e+01] [-4.27953924e-01 9.03752066e-01 -9.36175322e-03 -1.36738924e+01] [-2.30371753e-02 -5.52786874e-04 9.99734456e-01 -1.35730434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.966559995 meters 0.036415927740421045 Centerline is valid? [True, True] Translation: X:67.76, Y:-13.69, Z:-1.36 [[ 9.03333868e-01 4.28454977e-01 2.03532664e-02 6.77575532e+01] [-4.28359606e-01 9.03562971e-01 -9.05566326e-03 -1.36888673e+01] [-2.22704018e-02 -5.38229844e-04 9.99751839e-01 -1.35621127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.996559995 meters 0.036139872010846265 Centerline is valid? [True, True] Translation: X:67.79, Y:-13.70, Z:-1.36 [[ 9.03355259e-01 4.28435466e-01 1.98072494e-02 6.77869478e+01] [-4.28345000e-01 9.03572235e-01 -8.81915392e-03 -1.37020459e+01] [-2.16757189e-02 -5.17507172e-04 9.99764920e-01 -1.35592252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.026559995 meters 0.03525742266521317 Centerline is valid? [True, True] Translation: X:67.82, Y:-13.72, Z:-1.35 [[ 9.03759307e-01 4.27642713e-01 1.84614593e-02 6.78152329e+01] [-4.27563851e-01 9.03947730e-01 -8.22523617e-03 -1.37157376e+01] [-2.02056566e-02 -4.59818917e-04 9.99795739e-01 -1.35446968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.056559995 meters 0.03454194037965375 Centerline is valid? [True, True] Translation: X:67.84, Y:-13.73, Z:-1.35 [[ 9.04082511e-01 4.26989399e-01 1.77444600e-02 6.78435176e+01] [-4.26916365e-01 9.04256530e-01 -7.90856925e-03 -1.37319899e+01] [-1.94224191e-02 -4.25401226e-04 9.99811277e-01 -1.35439434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.086559995 meters 0.03392345972165208 Centerline is valid? [True, True] Translation: X:67.87, Y:-13.75, Z:-1.35 [[ 9.04394056e-01 4.26358950e-01 1.70128900e-02 6.78716589e+01] [-4.26291613e-01 9.04553975e-01 -7.58729922e-03 -1.37457092e+01] [-1.86239902e-02 -3.90544006e-04 9.99826482e-01 -1.35461759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.116559995 meters 0.03231529253130738 Centerline is valid? [True, True] Translation: X:67.90, Y:-13.76, Z:-1.35 [[ 9.05063380e-01 4.25013531e-01 1.49591481e-02 6.79000976e+01] [-4.24961223e-01 9.05186942e-01 -6.67532596e-03 -1.37620285e+01] [-1.63779294e-02 -3.15464780e-04 9.99865823e-01 -1.35469838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.146559995 meters 0.03232327402597943 Centerline is valid? [True, True] Translation: X:67.93, Y:-13.78, Z:-1.35 [[ 9.05015749e-01 4.25156590e-01 1.37247293e-02 6.79301990e+01] [-4.25112571e-01 9.05119765e-01 -6.12480225e-03 -1.37758255e+01] [-1.50265238e-02 -2.91512453e-04 9.99887053e-01 -1.35492041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.176559995 meters 0.03246799214001945 Centerline is valid? [True, True] Translation: X:67.96, Y:-13.79, Z:-1.36 [[ 9.04857554e-01 4.25527006e-01 1.26322724e-02 6.79599009e+01] [-4.25489698e-01 9.04945686e-01 -5.64116246e-03 -1.37870285e+01] [-1.38319874e-02 -2.70453296e-04 9.99904297e-01 -1.35732458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.206559995 meters 0.03127508386689713 Centerline is valid? [True, True] Translation: X:67.99, Y:-13.80, Z:-1.36 [[ 9.04303553e-01 4.26737801e-01 1.13988333e-02 6.79882118e+01] [-4.26707481e-01 9.04375355e-01 -5.09343836e-03 -1.38029766e+01] [-1.24823866e-02 -2.57953040e-04 9.99922059e-01 -1.35655445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.23655999500001 meters 0.031630209096887005 Centerline is valid? [True, True] Translation: X:68.02, Y:-13.81, Z:-1.36 [[ 9.03240994e-01 4.29020355e-01 9.86111971e-03 6.80175370e+01] [-4.28997757e-01 9.03294788e-01 -4.41028205e-03 -1.38126969e+01] [-1.07995988e-02 -2.46850696e-04 9.99941652e-01 -1.35818345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.266559995 meters 0.031029054602966368 Centerline is valid? [True, True] Translation: X:68.05, Y:-13.83, Z:-1.36 [[ 9.02575520e-01 4.30443710e-01 8.69726494e-03 6.80461786e+01] [-4.30426199e-01 9.02617393e-01 -3.88963756e-03 -1.38262021e+01] [-9.52457263e-03 -2.32839050e-04 9.99954613e-01 -1.35875962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.296559995 meters 0.030886718704128444 Centerline is valid? [True, True] Translation: X:68.07, Y:-13.84, Z:-1.36 [[ 9.01847108e-01 4.31994663e-01 7.23911852e-03 6.80748553e+01] [-4.31982566e-01 9.01876139e-01 -3.23937624e-03 -1.38373175e+01] [-7.92818150e-03 -2.05750903e-04 9.99968550e-01 -1.36025035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.326559995 meters 0.030739088224229886 Centerline is valid? [True, True] Translation: X:68.10, Y:-13.85, Z:-1.36 [[ 9.01282134e-01 4.33193590e-01 5.81622785e-03 6.81042655e+01] [-4.33185824e-01 9.01300884e-01 -2.59974303e-03 -1.38506339e+01] [-6.36836331e-03 -1.76405513e-04 9.99979706e-01 -1.36126294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.356559995 meters 0.030213969178738427 Centerline is valid? [True, True] Translation: X:68.13, Y:-13.86, Z:-1.36 [[ 9.00918292e-01 4.33960071e-01 4.98875845e-03 6.81336825e+01] [-4.33954366e-01 9.00932091e-01 -2.23057056e-03 -1.38641455e+01] [-5.46251114e-03 -1.55331695e-04 9.99985068e-01 -1.36242744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.386559995 meters 0.029675407935409043 Centerline is valid? [True, True] Translation: X:68.16, Y:-13.88, Z:-1.36 [[ 9.00901694e-01 4.34009924e-01 3.39452214e-03 6.81616060e+01] [-4.34007278e-01 9.00908083e-01 -1.51920935e-03 -1.38766011e+01] [-3.71750437e-03 -1.04589036e-04 9.99993085e-01 -1.36403285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.416559995 meters 0.029097605172889618 Centerline is valid? [True, True] Translation: X:68.19, Y:-13.89, Z:-1.37 [[ 9.01344923e-01 4.33091194e-01 3.05726646e-03 6.81893480e+01] [-4.33089048e-01 9.01350103e-01 -1.36668845e-03 -1.38897085e+01] [-3.34756817e-03 -9.22109226e-05 9.99994393e-01 -1.36515947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.446559995 meters 0.028706108454788597 Centerline is valid? [True, True] Translation: X:68.22, Y:-13.90, Z:-1.37 [[ 9.01590443e-01 4.32583274e-01 2.52682958e-03 6.82186838e+01] [-4.32581807e-01 9.01593980e-01 -1.12913686e-03 -1.39038599e+01] [-2.76662006e-03 -7.50415031e-05 9.99996170e-01 -1.36614576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.476559995 meters 0.028343411383088313 Centerline is valid? [True, True] Translation: X:68.25, Y:-13.92, Z:-1.37 [[ 9.01944633e-01 4.31845051e-01 2.39377162e-03 6.82472460e+01] [-4.31843731e-01 9.01947807e-01 -1.07009816e-03 -1.39181980e+01] [-2.62117366e-03 -6.85659781e-05 9.99996562e-01 -1.36631164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.506559995 meters 0.027757369348672508 Centerline is valid? [True, True] Translation: X:68.28, Y:-13.93, Z:-1.37 [[ 9.02404367e-01 4.30881842e-01 2.68261342e-03 6.82758734e+01] [-4.30880175e-01 9.02408352e-01 -1.20059622e-03 -1.39322796e+01] [-2.93812786e-03 -7.24616727e-05 9.99995681e-01 -1.36637520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.536559995 meters 0.027360333722041268 Centerline is valid? [True, True] Translation: X:68.30, Y:-13.95, Z:-1.37 [[ 9.02896969e-01 4.29846081e-01 3.06744444e-03 6.83038465e+01] [-4.29843890e-01 9.02902176e-01 -1.37473566e-03 -1.39455837e+01] [-3.36052700e-03 -7.72775912e-05 9.99994350e-01 -1.36674497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.566559995 meters 0.02683865100501284 Centerline is valid? [True, True] Translation: X:68.33, Y:-13.96, Z:-1.37 [[ 9.03196434e-01 4.29212739e-01 3.55349599e-03 6.83326885e+01] [-4.29209788e-01 9.03203420e-01 -1.59394889e-03 -1.39592017e+01] [-3.89367291e-03 -8.55463042e-05 9.99992416e-01 -1.36686524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.596559995 meters 0.026268934273199287 Centerline is valid? [True, True] Translation: X:68.36, Y:-13.97, Z:-1.37 [[ 9.04166032e-01 4.27163385e-01 3.90249115e-03 6.83608340e+01] [-4.27159800e-01 9.04174450e-01 -1.75211160e-03 -1.39738328e+01] [-4.27697071e-03 -8.27875459e-05 9.99990850e-01 -1.36696261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.62655999500001 meters 0.02568259641634987 Centerline is valid? [True, True] Translation: X:68.39, Y:-13.99, Z:-1.37 [[ 9.04649734e-01 4.26136238e-01 4.09468540e-03 6.83890641e+01] [-4.26132274e-01 9.04658997e-01 -1.83980342e-03 -1.39887332e+01] [-4.48830090e-03 -8.04999216e-05 9.99989924e-01 -1.36712903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.656559995 meters 0.02568259641634987 Centerline is valid? [True, True] Translation: X:68.42, Y:-14.00, Z:-1.37 [[ 9.04539212e-01 4.26370789e-01 4.09446823e-03 6.84185859e+01] [-4.26366825e-01 9.04548475e-01 -1.84028672e-03 -1.40021405e+01] [-4.48828949e-03 -8.11339144e-05 9.99989924e-01 -1.36776731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.686559995 meters 0.02521579473436743 Centerline is valid? [True, True] Translation: X:68.45, Y:-14.02, Z:-1.37 [[ 9.05062668e-01 4.25260993e-01 3.82809765e-03 6.84466091e+01] [-4.25257513e-01 9.05070761e-01 -1.72193585e-03 -1.40171356e+01] [-4.19697140e-03 -6.94674277e-05 9.99991190e-01 -1.36808021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.716559995 meters 0.0247533733350929 Centerline is valid? [True, True] Translation: X:68.48, Y:-14.03, Z:-1.37 [[ 9.05676464e-01 4.23941449e-01 4.87749640e-03 6.84753281e+01] [-4.23935765e-01 9.05689594e-01 -2.19667600e-03 -1.40303537e+01] [-5.34875975e-03 -7.82674179e-05 9.99985692e-01 -1.36839001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.746559995 meters 0.024561423941524132 Centerline is valid? [True, True] Translation: X:68.50, Y:-14.04, Z:-1.37 [[ 9.05681387e-01 4.23925409e-01 5.33595342e-03 6.85043127e+01] [-4.23918594e-01 9.05697102e-01 -2.40510966e-03 -1.40432522e+01] [-5.85234465e-03 -8.37468177e-05 9.99982871e-01 -1.36877713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.776559995 meters 0.024219026450432016 Centerline is valid? [True, True] Translation: X:68.53, Y:-14.06, Z:-1.37 [[ 9.05715041e-01 4.23855383e-01 5.18444615e-03 6.85342814e+01] [-4.23848945e-01 9.05729876e-01 -2.33757314e-03 -1.40576301e+01] [-5.68650072e-03 -8.02468773e-05 9.99983829e-01 -1.37030628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.806559995 meters 0.02414815319299386 Centerline is valid? [True, True] Translation: X:68.56, Y:-14.07, Z:-1.37 [[ 9.05416496e-01 4.24500263e-01 4.52716518e-03 6.85637301e+01] [-4.24495355e-01 9.05427811e-01 -2.04243085e-03 -1.40704515e+01] [-4.96603369e-03 -7.25100052e-05 9.99987667e-01 -1.37148129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.836559995 meters 0.024297506180669625 Centerline is valid? [True, True] Translation: X:68.59, Y:-14.08, Z:-1.37 [[ 9.05033533e-01 4.25315889e-01 4.54957686e-03 6.85940712e+01] [-4.25310940e-01 9.05044965e-01 -2.05325747e-03 -1.40838026e+01] [-4.99085465e-03 -7.67179486e-05 9.99987543e-01 -1.37271743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.866559995 meters 0.024158799099134935 Centerline is valid? [True, True] Translation: X:68.62, Y:-14.10, Z:-1.37 [[ 9.04553804e-01 4.26337868e-01 4.29393658e-03 6.86236367e+01] [-4.26333464e-01 9.04563992e-01 -1.93942579e-03 -1.40966492e+01] [-4.71099108e-03 -7.63338789e-05 9.99988900e-01 -1.37374607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.896559995 meters 0.024383871821572253 Centerline is valid? [True, True] Translation: X:68.65, Y:-14.11, Z:-1.38 [[ 9.03922992e-01 4.27679265e-01 3.69727686e-03 6.86528732e+01] [-4.27676010e-01 9.03930551e-01 -1.67026747e-03 -1.41092029e+01] [-4.05642028e-03 -7.14434459e-05 9.99991770e-01 -1.37532845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.926559995 meters 0.024774031632695807 Centerline is valid? [True, True] Translation: X:68.68, Y:-14.12, Z:-1.38 [[ 9.03198006e-01 4.29213177e-01 3.06767052e-03 6.86823429e+01] [-4.29210944e-01 9.03203213e-01 -1.38585907e-03 -1.41212502e+01] [-3.36555884e-03 -6.49726151e-05 9.99994334e-01 -1.37699377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.956559995 meters 0.024432324711230975 Centerline is valid? [True, True] Translation: X:68.71, Y:-14.14, Z:-1.38 [[ 9.01821320e-01 4.32103589e-01 2.18986428e-03 6.87108476e+01] [-4.32102461e-01 9.01823977e-01 -9.88588493e-04 -1.41353343e+01] [-2.40204475e-03 -5.47155665e-05 9.99997114e-01 -1.37615448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.98655999500001 meters 0.024583465002638007 Centerline is valid? [True, True] Translation: X:68.74, Y:-14.15, Z:-1.38 [[ 9.01000966e-01 4.33814153e-01 1.59354049e-03 6.87400560e+01] [-4.33813561e-01 9.01002374e-01 -7.18199606e-04 -1.41485419e+01] [-1.74734892e-03 -4.42009344e-05 9.99998472e-01 -1.37625081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.016559995 meters 0.025658566364364335 Centerline is valid? [True, True] Translation: X:68.77, Y:-14.16, Z:-1.38 [[ 8.99334519e-01 4.37261276e-01 -2.51341461e-05 6.87680475e+01] [-4.37261275e-01 8.99334519e-01 1.14073333e-05 -1.41585203e+01] [ 2.75919903e-05 7.31180188e-07 1.00000000e+00 -1.37829913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.046559995 meters 0.025812044900197752 Centerline is valid? [True, True] Translation: X:68.80, Y:-14.17, Z:-1.38 [[ 8.98715866e-01 4.38528396e-01 -1.62434908e-03 6.87975615e+01] [-4.38527777e-01 8.98717332e-01 7.38787789e-04 -1.41705597e+01] [ 1.78381009e-03 4.83618814e-05 9.99998408e-01 -1.38040117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.076559995 meters 0.02641398215915217 Centerline is valid? [True, True] Translation: X:68.83, Y:-14.18, Z:-1.38 [[ 8.97841265e-01 4.40312123e-01 -2.50930252e-03 6.88265894e+01] [-4.40310643e-01 8.97844769e-01 1.14433576e-03 -1.41809661e+01] [ 2.75682905e-03 7.74407352e-05 9.99996197e-01 -1.38297261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.106559995 meters 0.027038671605587802 Centerline is valid? [True, True] Translation: X:68.86, Y:-14.19, Z:-1.38 [[ 8.96860952e-01 4.42302329e-01 -3.01370976e-03 6.88566313e+01] [-4.42300218e-01 8.96866010e-01 1.37046806e-03 -1.41924271e+01] [ 3.30905506e-03 1.03845193e-04 9.99994520e-01 -1.38436904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.136559995 meters 0.027906330616170216 Centerline is valid? [True, True] Translation: X:68.89, Y:-14.20, Z:-1.39 [[ 8.96117756e-01 4.43803404e-01 -3.39220943e-03 6.88855606e+01] [-4.43800743e-01 8.96124168e-01 1.54183653e-03 -1.42030784e+01] [ 3.72411315e-03 1.23797977e-04 9.99993058e-01 -1.38585631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.166559995 meters 0.028557510719684185 Centerline is valid? [True, True] Translation: X:68.91, Y:-14.21, Z:-1.38 [[ 8.95162987e-01 4.45734751e-01 -1.93885567e-03 6.89147511e+01] [-4.45733876e-01 8.95165084e-01 8.85832477e-04 -1.42145037e+01] [ 2.13044222e-03 7.12492078e-05 9.99997728e-01 -1.38498700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.196559995 meters 0.028561717480363586 Centerline is valid? [True, True] Translation: X:68.94, Y:-14.23, Z:-1.38 [[ 8.95135312e-01 4.45794478e-01 -2.38096112e-04 6.89443466e+01] [-4.45794464e-01 8.95135343e-01 1.13078987e-04 -1.42278521e+01] [ 2.63538233e-04 4.92093415e-06 9.99999965e-01 -1.38364975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.226559995 meters 0.028463566712456836 Centerline is valid? [True, True] Translation: X:68.97, Y:-14.24, Z:-1.38 [[ 8.95009872e-01 4.46044690e-01 1.20996102e-03 6.89737091e+01] [-4.46044359e-01 8.95010688e-01 -5.45892193e-04 -1.42412418e+01] [-1.32642036e-03 -5.11173852e-05 9.99999119e-01 -1.38217998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.256559995 meters 0.028981003039913984 Centerline is valid? [True, True] Translation: X:69.00, Y:-14.25, Z:-1.38 [[ 8.95022790e-01 4.45999947e-01 4.27234727e-03 6.90034747e+01] [-4.45995756e-01 8.95032971e-01 -1.94075646e-03 -1.42519944e+01] [-4.68946895e-03 -1.68427493e-04 9.99988990e-01 -1.38021046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.286559995 meters 0.02847723020251817 Centerline is valid? [True, True] Translation: X:69.03, Y:-14.26, Z:-1.38 [[ 8.95109563e-01 4.45803463e-01 6.17594472e-03 6.90327032e+01] [-4.45794675e-01 8.95130837e-01 -2.80925249e-03 -1.42647720e+01] [-6.78065306e-03 -2.38614500e-04 9.99976983e-01 -1.37898683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.316559995 meters 0.027872274171327305 Centerline is valid? [True, True] Translation: X:69.06, Y:-14.28, Z:-1.38 [[ 8.95752405e-01 4.44455173e-01 9.33965103e-03 6.90612925e+01] [-4.44434934e-01 8.95801029e-01 -4.25508019e-03 -1.42765576e+01] [-1.02576614e-02 -3.39368875e-04 9.99947331e-01 -1.37659835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.346559995 meters 0.027459876992165653 Centerline is valid? [True, True] Translation: X:69.09, Y:-14.29, Z:-1.38 [[ 8.96092656e-01 4.43723935e-01 1.12703404e-02 6.90896622e+01] [-4.43694415e-01 8.96163439e-01 -5.13392542e-03 -1.42887805e+01] [-1.23781126e-02 -4.00114209e-04 9.99923308e-01 -1.37550945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.37655999500001 meters 0.027077455046030045 Centerline is valid? [True, True] Translation: X:69.12, Y:-14.30, Z:-1.38 [[ 8.96446179e-01 4.42991525e-01 1.19481050e-02 6.91187754e+01] [-4.42958242e-01 8.96525705e-01 -5.44565530e-03 -1.43018980e+01] [-1.31241624e-02 -4.10774707e-04 9.99913790e-01 -1.37554801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.406559995 meters 0.02025005838372296 Centerline is valid? [True, True] Translation: X:69.14, Y:-14.32, Z:-1.37 [[ 8.97443263e-01 4.40941914e-01 1.28770646e-02 6.91441597e+01] [-4.40902982e-01 8.97535550e-01 -5.87341019e-03 -1.43247385e+01] [-1.41474560e-02 -4.06483781e-04 9.99899837e-01 -1.37455031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.436559995 meters 0.019650016693298102 Centerline is valid? [True, True] Translation: X:69.17, Y:-14.34, Z:-1.38 [[ 8.98145018e-01 4.39505047e-01 1.30705692e-02 6.91726290e+01] [-4.39464776e-01 8.98240036e-01 -5.96228687e-03 -1.43379984e+01] [-1.43609638e-02 -3.89056530e-04 9.99896800e-01 -1.37580524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.466559995 meters 0.018193818772533798 Centerline is valid? [True, True] Translation: X:69.20, Y:-14.35, Z:-1.38 [[ 9.00205742e-01 4.35292891e-01 1.22360452e-02 6.91997245e+01] [-4.35257150e-01 9.00288848e-01 -5.58596553e-03 -1.43533704e+01] [-1.34475061e-02 -2.97307905e-04 9.99909534e-01 -1.37763809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.496559995 meters 0.017528548763359453 Centerline is valid? [True, True] Translation: X:69.23, Y:-14.37, Z:-1.38 [[ 9.00970994e-01 4.33714836e-01 1.19461002e-02 6.92282481e+01] [-4.33680643e-01 9.01050148e-01 -5.45260117e-03 -1.43676267e+01] [-1.31289094e-02 -2.68156923e-04 9.99913776e-01 -1.37892273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.526559995 meters 0.01615965170072674 Centerline is valid? [True, True] Translation: X:69.26, Y:-14.38, Z:-1.38 [[ 9.03205280e-01 4.29041273e-01 1.19919641e-02 6.92550288e+01] [-4.29006338e-01 9.03284865e-01 -5.47855758e-03 -1.43828944e+01] [-1.31826870e-02 -1.96366477e-04 9.99913085e-01 -1.38069122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.556559995 meters 0.014899029921429375 Centerline is valid? [True, True] Translation: X:69.28, Y:-14.40, Z:-1.38 [[ 9.05777609e-01 4.23588315e-01 1.18263500e-02 6.92821345e+01] [-4.23553885e-01 9.05854804e-01 -5.40190531e-03 -1.43997259e+01] [-1.30011399e-02 -1.16171614e-04 9.99915475e-01 -1.38242632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.586559995 meters 0.013949149809617143 Centerline is valid? [True, True] Translation: X:69.31, Y:-14.42, Z:-1.38 [[ 9.09793940e-01 4.14866806e-01 1.26696510e-02 6.93071605e+01] [-4.14826384e-01 9.09882153e-01 -5.79122925e-03 -1.44192680e+01] [-1.39304781e-02 1.31197771e-05 9.99902966e-01 -1.38383000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.616559995 meters 0.012932928572107594 Centerline is valid? [True, True] Translation: X:69.34, Y:-14.42, Z:-1.40 [[ 9.07693043e-01 4.19583522e-01 6.55802404e-03 6.93384836e+01] [-4.19572809e-01 9.07716733e-01 -2.99847653e-03 -1.44235806e+01] [-7.21093950e-03 -2.98722804e-05 9.99974000e-01 -1.39783037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.646559995 meters 0.012802775187357578 Centerline is valid? [True, True] Translation: X:69.37, Y:-14.44, Z:-1.40 [[ 9.06829245e-01 4.21451955e-01 6.24260100e-03 6.93679633e+01] [-4.21442297e-01 9.06850731e-01 -2.85359269e-03 -1.44351619e+01] [-6.86375950e-03 -4.31748013e-05 9.99976443e-01 -1.39923984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.676559995 meters 0.012802775187357578 Centerline is valid? [True, True] Translation: X:69.40, Y:-14.45, Z:-1.40 [[ 9.06725175e-01 4.21675815e-01 6.24215050e-03 6.93973961e+01] [-4.21666155e-01 9.06746660e-01 -2.85457756e-03 -1.44487622e+01] [-6.86375543e-03 -4.37862610e-05 9.99976443e-01 -1.39987802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.706559995 meters 0.012802775187357578 Centerline is valid? [True, True] Translation: X:69.43, Y:-14.46, Z:-1.40 [[ 9.06621046e-01 4.21899659e-01 6.24144503e-03 6.94268256e+01] [-4.21889994e-01 9.06642529e-01 -2.85611828e-03 -1.44623695e+01] [-6.86375483e-03 -4.37862572e-05 9.99976443e-01 -1.40051644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.73655999500001 meters 0.012802775187357578 Centerline is valid? [True, True] Translation: X:69.46, Y:-14.48, Z:-1.40 [[ 9.06516863e-01 4.22123479e-01 6.24073917e-03 6.94562518e+01] [-4.22113808e-01 9.06538343e-01 -2.85765884e-03 -1.44759840e+01] [-6.86375424e-03 -4.37862537e-05 9.99976443e-01 -1.40115486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.766559995 meters 0.013086579225674187 Centerline is valid? [True, True] Translation: X:69.49, Y:-14.49, Z:-1.40 [[ 9.05825270e-01 4.23609452e-01 5.96761500e-03 6.94855023e+01] [-4.23600628e-01 9.05844926e-01 -2.73461286e-03 -1.44881647e+01] [-6.56414162e-03 -5.08040288e-05 9.99978454e-01 -1.40246773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.796559995 meters 0.013086579225674187 Centerline is valid? [True, True] Translation: X:69.51, Y:-14.50, Z:-1.40 [[ 9.05721380e-01 4.23831540e-01 5.96719729e-03 6.95149222e+01] [-4.23822716e-01 9.05741035e-01 -2.73552381e-03 -1.45017956e+01] [-6.56413672e-03 -5.14113654e-05 9.99978455e-01 -1.40310592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.826559995 meters 0.013086579225674187 Centerline is valid? [True, True] Translation: X:69.54, Y:-14.52, Z:-1.40 [[ 9.05617432e-01 4.24053615e-01 5.96652583e-03 6.95443390e+01] [-4.24044785e-01 9.05637085e-01 -2.73698663e-03 -1.45154335e+01] [-6.56413613e-03 -5.14113612e-05 9.99978455e-01 -1.40374435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.856559995 meters 0.013086579225674187 Centerline is valid? [True, True] Translation: X:69.57, Y:-14.53, Z:-1.40 [[ 9.05513429e-01 4.24275663e-01 5.96585401e-03 6.95737523e+01] [-4.24266829e-01 9.05533080e-01 -2.73844929e-03 -1.45290786e+01] [-6.56413554e-03 -5.14113569e-05 9.99978455e-01 -1.40438277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.886559995 meters 0.013459246907360296 Centerline is valid? [True, True] Translation: X:69.60, Y:-14.54, Z:-1.41 [[ 9.04971767e-01 4.25429017e-01 6.02096386e-03 6.96036015e+01] [-4.25420032e-01 9.04991794e-01 -2.76559675e-03 -1.45425370e+01] [-6.62548799e-03 -5.86516572e-05 9.99978049e-01 -1.40519048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.916559995 meters 0.013459246907360296 Centerline is valid? [True, True] Translation: X:69.63, Y:-14.56, Z:-1.41 [[ 9.04867792e-01 4.25650131e-01 6.02028825e-03 6.96330080e+01] [-4.25641141e-01 9.04887818e-01 -2.76706573e-03 -1.45561984e+01] [-6.62548739e-03 -5.86537021e-05 9.99978049e-01 -1.40582891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.946559995 meters 0.013459246907360296 Centerline is valid? [True, True] Translation: X:69.66, Y:-14.57, Z:-1.41 [[ 9.04763764e-01 4.25871220e-01 6.01961143e-03 6.96624112e+01] [-4.25862225e-01 9.04783787e-01 -2.76853641e-03 -1.45698669e+01] [-6.62548681e-03 -5.86536973e-05 9.99978050e-01 -1.40646734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.976559995 meters 0.013612435479862954 Centerline is valid? [True, True] Translation: X:69.69, Y:-14.58, Z:-1.41 [[ 9.04379722e-01 4.26682953e-01 6.24306835e-03 6.96918953e+01] [-4.26673283e-01 9.04401268e-01 -2.87337636e-03 -1.45839264e+01] [-6.87225964e-03 -6.51271501e-05 9.99976384e-01 -1.40660376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.006559995 meters 0.013612435479862954 Centerline is valid? [True, True] Translation: X:69.72, Y:-14.60, Z:-1.41 [[ 9.04276188e-01 4.26902340e-01 6.24236954e-03 6.97212917e+01] [-4.26892665e-01 9.04297732e-01 -2.87489280e-03 -1.45976113e+01] [-6.87225908e-03 -6.51246615e-05 9.99976384e-01 -1.40724219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.036559995 meters 0.013612435479862954 Centerline is valid? [True, True] Translation: X:69.75, Y:-14.61, Z:-1.41 [[ 9.04172601e-01 4.27121702e-01 6.24167141e-03 6.97506848e+01] [-4.27112022e-01 9.04194142e-01 -2.87640682e-03 -1.46113033e+01] [-6.87225851e-03 -6.51246562e-05 9.99976384e-01 -1.40788062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.066559995 meters 0.013612435479862954 Centerline is valid? [True, True] Translation: X:69.78, Y:-14.63, Z:-1.41 [[ 9.04068961e-01 4.27341039e-01 6.24097291e-03 6.97800746e+01] [-4.27331353e-01 9.04090500e-01 -2.87792067e-03 -1.46250024e+01] [-6.87225793e-03 -6.51246511e-05 9.99976384e-01 -1.40851905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.096559995 meters 0.013860934784576714 Centerline is valid? [True, True] Translation: X:69.81, Y:-14.64, Z:-1.41 [[ 9.03650905e-01 4.28203275e-01 7.54957995e-03 6.98077642e+01] [-4.28189099e-01 9.03682438e-01 -3.48527090e-03 -1.46391425e+01] [-8.31482722e-03 -8.31796334e-05 9.99965428e-01 -1.40689750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.12655999500001 meters 0.015102641702615638 Centerline is valid? [True, True] Translation: X:69.84, Y:-14.65, Z:-1.41 [[ 9.03499079e-01 4.28503468e-01 8.61354435e-03 6.98362182e+01] [-4.28485003e-01 9.03540131e-01 -3.97910946e-03 -1.46521703e+01] [-9.48774520e-03 -9.56528372e-05 9.99954986e-01 -1.40735244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.156559995 meters 0.013069694189904316 Centerline is valid? [True, True] Translation: X:69.87, Y:-14.67, Z:-1.40 [[ 9.02928952e-01 4.29668261e-01 1.02221803e-02 6.98651597e+01] [-4.29642301e-01 9.02986805e-01 -4.72478145e-03 -1.46672990e+01] [-1.12605826e-02 -1.25739115e-04 9.99936590e-01 -1.40333786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.186559995 meters 0.01384153087491069 Centerline is valid? [True, True] Translation: X:69.90, Y:-14.68, Z:-1.40 [[ 9.02470728e-01 4.30606065e-01 1.11804596e-02 6.98952147e+01] [-4.30575031e-01 9.02539969e-01 -5.17173915e-03 -1.46813418e+01] [-1.23177939e-02 -1.46683561e-04 9.99924122e-01 -1.40364111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.216559995 meters 0.013412243190875662 Centerline is valid? [True, True] Translation: X:69.92, Y:-14.69, Z:-1.40 [[ 9.00877951e-01 4.33899575e-01 1.22505866e-02 6.99245761e+01] [-4.33862553e-01 9.00961218e-01 -5.67169659e-03 -1.46932443e+01] [-1.34982502e-02 -2.05564396e-04 9.99908873e-01 -1.40239178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.246559995 meters 0.013962480976001529 Centerline is valid? [True, True] Translation: X:69.95, Y:-14.71, Z:-1.40 [[ 8.99771887e-01 4.36183299e-01 1.24370603e-02 6.99540782e+01] [-4.36145313e-01 8.99857806e-01 -5.76141776e-03 -1.47052144e+01] [-1.37046200e-02 -2.40403820e-04 9.99906058e-01 -1.40338275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.276559995 meters 0.014963844794717329 Centerline is valid? [True, True] Translation: X:69.98, Y:-14.72, Z:-1.40 [[ 8.98506899e-01 4.38790734e-01 1.21673390e-02 6.99836078e+01] [-4.38754568e-01 8.98589238e-01 -5.64010634e-03 -1.47160670e+01] [-1.34082663e-02 -2.70801130e-04 9.99910068e-01 -1.40479243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.306559995 meters 0.018042066175599957 Centerline is valid? [True, True] Translation: X:70.01, Y:-14.73, Z:-1.41 [[ 8.97584798e-01 4.40709844e-01 1.07871927e-02 7.00134789e+01] [-4.40681529e-01 8.97649577e-01 -5.00257859e-03 -1.47284026e+01] [-1.18878046e-02 -2.63478085e-04 9.99929303e-01 -1.40903777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.336559995 meters 0.01720050248761928 Centerline is valid? [True, True] Translation: X:70.04, Y:-14.74, Z:-1.41 [[ 8.94955902e-01 4.46050210e-01 9.65114712e-03 7.00429994e+01] [-4.46027818e-01 8.95007890e-01 -4.47913847e-03 -1.47379786e+01] [-1.06357735e-02 -2.96048683e-04 9.99943395e-01 -1.40930312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.366559995 meters 0.017741185481597584 Centerline is valid? [True, True] Translation: X:70.07, Y:-14.75, Z:-1.41 [[ 8.93945623e-01 4.48095957e-01 8.44014656e-03 7.00723947e+01] [-4.48078925e-01 8.93985422e-01 -3.91691696e-03 -1.47503484e+01] [-9.30052264e-03 -2.80341023e-04 9.99956710e-01 -1.41122296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.396559995 meters 0.018422420074369953 Centerline is valid? [True, True] Translation: X:70.10, Y:-14.76, Z:-1.41 [[ 8.92817895e-01 4.50369340e-01 6.60782163e-03 7.01018281e+01] [-4.50358940e-01 8.92842317e-01 -3.06974988e-03 -1.47631215e+01] [-7.28226400e-03 -2.35163915e-04 9.99973456e-01 -1.41365865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.426559995 meters 0.01956249356637407 Centerline is valid? [True, True] Translation: X:70.13, Y:-14.78, Z:-1.42 [[ 8.92703077e-01 4.50609194e-01 5.70695804e-03 7.01302387e+01] [-4.50601454e-01 8.92721295e-01 -2.64922142e-03 -1.47761732e+01] [-6.28848651e-03 -2.06595478e-04 9.99980206e-01 -1.41610783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.456559995 meters 0.019320811414052265 Centerline is valid? [True, True] Translation: X:70.16, Y:-14.79, Z:-1.42 [[ 8.92454137e-01 4.51102209e-01 5.69302676e-03 7.01589718e+01] [-4.51094510e-01 8.92472270e-01 -2.64383024e-03 -1.47908554e+01] [-6.27350618e-03 -2.08595887e-04 9.99980300e-01 -1.41593066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.48655999500001 meters 0.01762814442511067 Centerline is valid? [True, True] Translation: X:70.19, Y:-14.81, Z:-1.41 [[ 8.93232744e-01 4.49559753e-01 5.59402949e-03 7.01853794e+01] [-4.49552277e-01 8.93250240e-01 -2.59968156e-03 -1.48099736e+01] [-6.16558038e-03 -1.92687999e-04 9.99980974e-01 -1.41488502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.516559995 meters 0.017818903271030792 Centerline is valid? [True, True] Translation: X:70.21, Y:-14.82, Z:-1.42 [[ 8.94154063e-01 4.47726835e-01 5.40309158e-03 7.02129670e+01] [-4.47719817e-01 8.94170370e-01 -2.51269973e-03 -1.48236229e+01] [-5.95628750e-03 -1.72330501e-04 9.99982246e-01 -1.41620824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.546559995 meters 0.018194535792894238 Centerline is valid? [True, True] Translation: X:70.24, Y:-14.84, Z:-1.42 [[ 8.94988712e-01 4.46050246e-01 5.86377945e-03 7.02409050e+01] [-4.46041931e-01 8.95007904e-01 -2.72909497e-03 -1.48371864e+01] [-6.46544244e-03 -1.72982320e-04 9.99979084e-01 -1.41755026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.576559995 meters 0.018194535792894238 Centerline is valid? [True, True] Translation: X:70.27, Y:-14.85, Z:-1.42 [[ 8.94869486e-01 4.46289395e-01 5.86341002e-03 7.02702572e+01] [-4.46281080e-01 8.94888678e-01 -2.72988844e-03 -1.48509697e+01] [-6.46541950e-03 -1.73835093e-04 9.99979084e-01 -1.41818858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.606559995 meters 0.016370762958961463 Centerline is valid? [True, True] Translation: X:70.30, Y:-14.87, Z:-1.42 [[ 8.96160394e-01 4.43666814e-01 7.50373892e-03 7.02962318e+01] [-4.43653047e-01 8.96191788e-01 -3.50035121e-03 -1.48702101e+01] [-8.27777887e-03 -1.92180521e-04 9.99965720e-01 -1.41586303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.636559995 meters 0.016896311900552918 Centerline is valid? [True, True] Translation: X:70.32, Y:-14.88, Z:-1.42 [[ 8.96897966e-01 4.42155804e-01 8.50199425e-03 7.03247091e+01] [-4.42138076e-01 8.96938239e-01 -3.96458158e-03 -1.48838380e+01] [-9.37872651e-03 -2.03230219e-04 9.99955998e-01 -1.41636137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.666559995 meters 0.016037026819043846 Centerline is valid? [True, True] Translation: X:70.35, Y:-14.90, Z:-1.42 [[ 8.97688267e-01 4.40527234e-01 9.56721953e-03 7.03527799e+01] [-4.40504656e-01 8.97739223e-01 -4.46485342e-03 -1.49000942e+01] [-1.05557578e-02 -2.06358220e-04 9.99944265e-01 -1.41577548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.696559995 meters 0.014951194995958797 Centerline is valid? [True, True] Translation: X:70.38, Y:-14.92, Z:-1.41 [[ 8.98367890e-01 4.39125358e-01 1.02007157e-02 7.03809473e+01] [-4.39099549e-01 8.98425779e-01 -4.76500818e-03 -1.49170216e+01] [-1.12570219e-02 -1.98399323e-04 9.99936618e-01 -1.41445357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.726559995 meters 0.015387896928326542 Centerline is valid? [True, True] Translation: X:70.41, Y:-14.93, Z:-1.41 [[ 8.99411095e-01 4.36971940e-01 1.07334368e-02 7.04094740e+01] [-4.36943197e-01 8.99475120e-01 -5.01505047e-03 -1.49329302e+01] [-1.18458957e-02 -1.79310172e-04 9.99929819e-01 -1.41448560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.756559995 meters 0.016205800609545785 Centerline is valid? [True, True] Translation: X:70.44, Y:-14.95, Z:-1.42 [[ 8.99627966e-01 4.36514972e-01 1.11446052e-02 7.04387383e+01] [-4.36483950e-01 8.99696975e-01 -5.20715671e-03 -1.49464527e+01] [-1.22997695e-02 -1.79937523e-04 9.99924339e-01 -1.41523972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.786559995 meters 0.013942523098695269 Centerline is valid? [True, True] Translation: X:70.47, Y:-14.96, Z:-1.41 [[ 8.99359958e-01 4.37031396e-01 1.24589115e-02 7.04684354e+01] [-4.36992618e-01 8.99446228e-01 -5.82534036e-03 -1.49599678e+01] [-1.37519775e-02 -2.05374472e-04 9.99905416e-01 -1.41328729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.816559995 meters 0.013876291306028151 Centerline is valid? [True, True] Translation: X:70.50, Y:-14.97, Z:-1.41 [[ 8.98856255e-01 4.38055788e-01 1.28280733e-02 7.04991458e+01] [-4.38014719e-01 8.98947761e-01 -6.00247969e-03 -1.49721262e+01] [-1.41611887e-02 -2.23518482e-04 9.99899700e-01 -1.41277154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.846559995 meters 0.014192280291039248 Centerline is valid? [True, True] Translation: X:70.53, Y:-14.98, Z:-1.41 [[ 8.98273009e-01 4.39247120e-01 1.29448260e-02 7.05287317e+01] [-4.39205356e-01 8.98366245e-01 -6.06185294e-03 -1.49837384e+01] [-1.42918461e-02 -2.40238009e-04 9.99897837e-01 -1.41355204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.876559995 meters 0.014166299480895764 Centerline is valid? [True, True] Translation: X:70.56, Y:-15.00, Z:-1.41 [[ 8.97449872e-01 4.40941046e-01 1.24386783e-02 7.05587329e+01] [-4.40902598e-01 8.97536032e-01 -5.82832798e-03 -1.49960146e+01] [-1.37341110e-02 -2.53613398e-04 9.99905650e-01 -1.41421529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.906559995 meters 0.016111060589249847 Centerline is valid? [True, True] Translation: X:70.59, Y:-15.00, Z:-1.42 [[ 8.95513556e-01 4.44910776e-01 1.04820467e-02 7.05892197e+01] [-4.44883700e-01 8.95574862e-01 -4.91529010e-03 -1.50030318e+01] [-1.15743231e-02 -2.61582824e-04 9.99932981e-01 -1.41789002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.936559995 meters 0.016145229177241916 Centerline is valid? [True, True] Translation: X:70.62, Y:-15.01, Z:-1.42 [[ 8.94112430e-01 4.47761220e-01 8.53531758e-03 7.06199455e+01] [-4.47743389e-01 8.94153136e-01 -4.00328214e-03 -1.50137518e+01] [-9.42439548e-03 -2.42247700e-04 9.99955560e-01 -1.42004292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.966559995 meters 0.018995894271396495 Centerline is valid? [True, True] Translation: X:70.65, Y:-15.02, Z:-1.42 [[ 8.93501210e-01 4.48996202e-01 7.61559591e-03 7.06497194e+01] [-4.48982061e-01 8.93533636e-01 -3.57085932e-03 -1.50221635e+01] [-8.40809337e-03 -2.28698826e-04 9.99964625e-01 -1.42355196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.996559995 meters 0.018219016768326084 Centerline is valid? [True, True] Translation: X:70.68, Y:-15.04, Z:-1.42 [[ 8.92975442e-01 4.50051189e-01 6.98481285e-03 7.06785303e+01] [-4.50039320e-01 8.93002732e-01 -3.27576865e-03 -1.50366904e+01] [-7.71172054e-03 -2.18259472e-04 9.99970240e-01 -1.42385385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.026559995 meters 0.018219016768326084 Centerline is valid? [True, True] Translation: X:70.71, Y:-15.05, Z:-1.42 [[ 8.92848613e-01 4.50302760e-01 6.98418485e-03 7.07078474e+01] [-4.50290889e-01 8.92875902e-01 -3.27710665e-03 -1.50505409e+01] [-7.71170052e-03 -2.18954677e-04 9.99970240e-01 -1.42449224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.056559995 meters 0.017541952482456387 Centerline is valid? [True, True] Translation: X:70.74, Y:-15.06, Z:-1.42 [[ 8.92236575e-01 4.51510579e-01 7.21743989e-03 7.07376822e+01] [-4.51497916e-01 8.92265735e-01 -3.38970981e-03 -1.50620857e+01] [-7.97036415e-03 -2.34235991e-04 9.99968209e-01 -1.42387288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.086559995 meters 0.017771750177470232 Centerline is valid? [True, True] Translation: X:70.77, Y:-15.08, Z:-1.42 [[ 8.92115602e-01 4.51742745e-01 7.63187008e-03 7.07677091e+01] [-4.51728576e-01 8.92148211e-01 -3.58652523e-03 -1.50755004e+01] [-8.42894600e-03 -2.47938689e-04 9.99964445e-01 -1.42383957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.116559995 meters 0.020557779209211268 Centerline is valid? [True, True] Translation: X:70.80, Y:-15.09, Z:-1.43 [[ 8.92485490e-01 4.51023828e-01 6.86710125e-03 7.07959883e+01] [-4.51012317e-01 8.92511882e-01 -3.22957926e-03 -1.50886316e+01] [-7.58558667e-03 -2.14794616e-04 9.99971206e-01 -1.42661663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.146559995 meters 0.017207999336828584 Centerline is valid? [True, True] Translation: X:70.82, Y:-15.10, Z:-1.42 [[ 8.93204606e-01 4.49560003e-01 9.01861704e-03 7.08235968e+01] [-4.49540036e-01 8.93250097e-01 -4.24516257e-03 -1.51046381e+01] [-9.96433584e-03 -2.62430665e-04 9.99950320e-01 -1.42359632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.176559995 meters 0.01797955431265471 Centerline is valid? [True, True] Translation: X:70.85, Y:-15.12, Z:-1.42 [[ 8.93503424e-01 4.48962184e-01 9.19727698e-03 7.08525259e+01] [-4.48941356e-01 8.93550721e-01 -4.33218615e-03 -1.51184687e+01] [-1.01632212e-02 -2.58214840e-04 9.99948320e-01 -1.42419754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.206559995 meters 0.017175132948316713 Centerline is valid? [True, True] Translation: X:70.88, Y:-15.13, Z:-1.42 [[ 8.93640738e-01 4.48668467e-01 1.01408902e-02 7.08817374e+01] [-4.48643086e-01 8.93698232e-01 -4.78033525e-03 -1.51320651e+01] [-1.12076814e-02 -2.77737967e-04 9.99937153e-01 -1.42392182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.23655999500001 meters 0.01649239373456541 Centerline is valid? [True, True] Translation: X:70.91, Y:-15.14, Z:-1.42 [[ 8.94090816e-01 4.47754563e-01 1.08381421e-02 7.09114280e+01] [-4.47725460e-01 8.94156459e-01 -5.11271956e-03 -1.51446317e+01] [-1.19802383e-02 -2.81276560e-04 9.99928195e-01 -1.42427161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.266559995 meters 0.01738295330116059 Centerline is valid? [True, True] Translation: X:70.94, Y:-15.16, Z:-1.43 [[ 8.94368013e-01 4.47206211e-01 1.06048379e-02 7.09409263e+01] [-4.47178273e-01 8.94430844e-01 -5.00579208e-03 -1.51581586e+01] [-1.17239155e-02 -2.65232797e-04 9.99931237e-01 -1.42593325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.296559995 meters 0.01725396050324086 Centerline is valid? [True, True] Translation: X:70.97, Y:-15.17, Z:-1.43 [[ 8.94674600e-01 4.46588770e-01 1.07624269e-02 7.09698329e+01] [-4.46559908e-01 8.94739294e-01 -5.08373681e-03 -1.51707943e+01] [-1.18999060e-02 -2.57778171e-04 9.99929160e-01 -1.42660903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.326559995 meters 0.015166403434443327 Centerline is valid? [True, True] Translation: X:71.00, Y:-15.18, Z:-1.42 [[ 8.94745246e-01 4.46433174e-01 1.13298661e-02 7.09991337e+01] [-4.46401133e-01 8.94816937e-01 -5.35512828e-03 -1.51837280e+01] [-1.25288630e-02 -2.66189497e-04 9.99921475e-01 -1.42430877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.356559995 meters 0.014854532091832363 Centerline is valid? [True, True] Translation: X:71.03, Y:-15.20, Z:-1.42 [[ 8.94665942e-01 4.46592860e-01 1.12990975e-02 7.10284749e+01] [-4.46560968e-01 8.94737250e-01 -5.34364562e-03 -1.51979961e+01] [-1.24961575e-02 -2.64958197e-04 9.99921885e-01 -1.42455741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.386559995 meters 0.01683237212037384 Centerline is valid? [True, True] Translation: X:71.06, Y:-15.21, Z:-1.43 [[ 8.94684494e-01 4.46578268e-01 1.03685109e-02 7.10584853e+01] [-4.46551376e-01 8.94744541e-01 -4.90666208e-03 -1.52115980e+01] [-1.14683772e-02 -2.40158334e-04 9.99934207e-01 -1.42705474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.416559995 meters 0.016411956609881886 Centerline is valid? [True, True] Translation: X:71.09, Y:-15.22, Z:-1.43 [[ 8.94822345e-01 4.46305200e-01 1.02293852e-02 7.10879960e+01] [-4.46278964e-01 8.94880783e-01 -4.84466600e-03 -1.52240618e+01] [-1.13162798e-02 -2.30044026e-04 9.99935942e-01 -1.42775438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.446559995 meters 0.015109035031997389 Centerline is valid? [True, True] Translation: X:71.12, Y:-15.24, Z:-1.43 [[ 8.94793146e-01 4.46353872e-01 1.06511464e-02 7.11174582e+01] [-4.46325391e-01 8.94856505e-01 -5.04775877e-03 -1.52363270e+01] [-1.17843343e-02 -2.37177138e-04 9.99930534e-01 -1.42700876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.476559995 meters 0.015499326444012574 Centerline is valid? [True, True] Translation: X:71.15, Y:-15.25, Z:-1.43 [[ 8.94819261e-01 4.46322340e-01 9.73959003e-03 7.11474228e+01] [-4.46298497e-01 8.94872239e-01 -4.61825930e-03 -1.52502646e+01] [-1.07769210e-02 -2.14257020e-04 9.99941904e-01 -1.42875560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.506559995 meters 0.014376626511674888 Centerline is valid? [True, True] Translation: X:71.18, Y:-15.26, Z:-1.43 [[ 8.94765532e-01 4.46428833e-01 9.79486509e-03 7.11771302e+01] [-4.46404688e-01 8.94819117e-01 -4.64788973e-03 -1.52647827e+01] [-1.08395845e-02 -2.13702163e-04 9.99941227e-01 -1.42818615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.536559995 meters 0.015071842220972152 Centerline is valid? [True, True] Translation: X:71.21, Y:-15.28, Z:-1.43 [[ 8.94780850e-01 4.46404052e-01 9.52116009e-03 7.12069247e+01] [-4.46381201e-01 8.94831482e-01 -4.52139959e-03 -1.52767935e+01] [-1.05382049e-02 -2.04405105e-04 9.99944451e-01 -1.42998568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.566559995 meters 0.014673724217263583 Centerline is valid? [True, True] Translation: X:71.24, Y:-15.29, Z:-1.43 [[ 8.94874872e-01 4.46223074e-01 9.16140302e-03 7.12361137e+01] [-4.46201880e-01 8.94921746e-01 -4.35322750e-03 -1.52911956e+01] [-1.01412493e-02 -1.92241349e-04 9.99948558e-01 -1.43044895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.596559995 meters 0.016748224971974424 Centerline is valid? [True, True] Translation: X:71.27, Y:-15.31, Z:-1.43 [[ 8.95306764e-01 4.45371952e-01 8.34396283e-03 7.12651519e+01] [-4.45354311e-01 8.95345630e-01 -3.96745203e-03 -1.53055786e+01] [-9.23772252e-03 -1.63933179e-04 9.99957318e-01 -1.43367770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.626559995 meters 0.014211563213418299 Centerline is valid? [True, True] Translation: X:71.29, Y:-15.32, Z:-1.43 [[ 8.95281176e-01 4.45406948e-01 9.17970119e-03 7.12930286e+01] [-4.45385561e-01 8.95328219e-01 -4.36842311e-03 -1.53185806e+01] [-1.01645715e-02 -1.77539381e-04 9.99948324e-01 -1.43158341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.656559995 meters 0.0140689713092394 Centerline is valid? [True, True] Translation: X:71.32, Y:-15.33, Z:-1.43 [[ 8.95416462e-01 4.45132767e-01 9.28326884e-03 7.13217865e+01] [-4.45110854e-01 8.95464566e-01 -4.42022110e-03 -1.53320333e+01] [-1.02804236e-02 -1.74144983e-04 9.99947140e-01 -1.43206887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.686559995 meters 0.01509271079339705 Centerline is valid? [True, True] Translation: X:71.35, Y:-15.34, Z:-1.43 [[ 8.95223577e-01 4.45515323e-01 9.53117723e-03 7.13519243e+01] [-4.45492217e-01 8.95274296e-01 -4.54096025e-03 -1.53445254e+01] [-1.05560854e-02 -1.80890600e-04 9.99944267e-01 -1.43357674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.716559995 meters 0.014329326522671618 Centerline is valid? [True, True] Translation: X:71.38, Y:-15.36, Z:-1.43 [[ 8.94939758e-01 4.46080367e-01 9.75375991e-03 7.13824548e+01] [-4.46056164e-01 8.94992889e-01 -4.65058075e-03 -1.53579813e+01] [-1.08040785e-02 -1.88735116e-04 9.99941616e-01 -1.43316376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.746559995 meters 0.016050441707899512 Centerline is valid? [True, True] Translation: X:71.41, Y:-15.37, Z:-1.44 [[ 8.94588914e-01 4.46797532e-01 9.09064557e-03 7.14129312e+01] [-4.46776513e-01 8.94635084e-01 -4.33753400e-03 -1.53695185e+01] [-1.00708099e-02 -1.81177099e-04 9.99949272e-01 -1.43665765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.776559995 meters 0.01461043089113509 Centerline is valid? [True, True] Translation: X:71.44, Y:-15.38, Z:-1.44 [[ 8.94246514e-01 4.47480908e-01 9.16564460e-03 7.14426234e+01] [-4.47459550e-01 8.94293465e-01 -4.37601174e-03 -1.53823643e+01] [-1.01549578e-02 -1.88021963e-04 9.99948419e-01 -1.43549165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.806559995 meters 0.016131711224419254 Centerline is valid? [True, True] Translation: X:71.47, Y:-15.39, Z:-1.44 [[ 8.94146790e-01 4.47686896e-01 8.82958721e-03 7.14722393e+01] [-4.47667059e-01 8.94190366e-01 -4.21828381e-03 -1.53946238e+01] [-9.78380220e-03 -1.80950416e-04 9.99952121e-01 -1.43854304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.836559995 meters 0.015148651514794914 Centerline is valid? [True, True] Translation: X:71.50, Y:-15.41, Z:-1.44 [[ 8.93800917e-01 4.48374200e-01 8.97207430e-03 7.15024475e+01] [-4.48353724e-01 8.93845927e-01 -4.28919442e-03 -1.54071592e+01] [-9.94281619e-03 -1.88977016e-04 9.99950551e-01 -1.43765055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.866559995 meters 0.014740505479071507 Centerline is valid? [True, True] Translation: X:71.53, Y:-15.42, Z:-1.44 [[ 8.93636360e-01 4.48706982e-01 8.72355920e-03 7.15318432e+01] [-4.48687614e-01 8.93678919e-01 -4.17311405e-03 -1.54216468e+01] [-9.66856636e-03 -1.84906513e-04 9.99953241e-01 -1.43771673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.896559995 meters 0.015215627593314523 Centerline is valid? [True, True] Translation: X:71.56, Y:-15.43, Z:-1.44 [[ 8.93426477e-01 4.49131500e-01 8.36816665e-03 7.15613553e+01] [-4.49113670e-01 8.93465648e-01 -4.00604448e-03 -1.54337732e+01] [-9.27591020e-03 -1.79151827e-04 9.99956962e-01 -1.43942461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.926559995 meters 0.015296607223555941 Centerline is valid? [True, True] Translation: X:71.59, Y:-15.45, Z:-1.44 [[ 8.93277264e-01 4.49431208e-01 8.20478338e-03 7.15912878e+01] [-4.49414058e-01 8.93314926e-01 -3.93027486e-03 -1.54469368e+01] [-9.09584364e-03 -1.76519813e-04 9.99958616e-01 -1.44062366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.956559995 meters 0.01525843914733723 Centerline is valid? [True, True] Translation: X:71.62, Y:-15.46, Z:-1.44 [[ 8.93373709e-01 4.49247978e-01 7.72464323e-03 7.16212052e+01] [-4.49232749e-01 8.93407090e-01 -3.70256897e-03 -1.54608324e+01] [-8.56462265e-03 -1.62384943e-04 9.99963310e-01 -1.44176045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.98655999500001 meters 0.01526880990874634 Centerline is valid? [True, True] Translation: X:71.65, Y:-15.48, Z:-1.44 [[ 8.93369511e-01 4.49253598e-01 7.88170658e-03 7.16510569e+01] [-4.49237719e-01 8.93404264e-01 -3.78071059e-03 -1.54752363e+01] [-8.74004810e-03 -1.63188311e-04 9.99961792e-01 -1.44256045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.016559995 meters 0.015076411158814675 Centerline is valid? [True, True] Translation: X:71.68, Y:-15.49, Z:-1.44 [[ 8.93448180e-01 4.49087044e-01 8.43655020e-03 7.16794376e+01] [-4.49068809e-01 8.93487995e-01 -4.05058376e-03 -1.54895855e+01] [-9.35702101e-03 -1.69604853e-04 9.99956208e-01 -1.44242806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.046559995 meters 0.015236389144237618 Centerline is valid? [True, True] Translation: X:71.71, Y:-15.50, Z:-1.44 [[ 8.93444344e-01 4.49084244e-01 8.97474171e-03 7.17072441e+01] [-4.49063575e-01 8.93489401e-01 -4.31226767e-03 -1.55028139e+01] [-9.95540807e-03 -1.77458434e-04 9.99950428e-01 -1.44290893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.076559995 meters 0.015035524003502729 Centerline is valid? [True, True] Translation: X:71.74, Y:-15.52, Z:-1.44 [[ 8.93768871e-01 4.48412869e-01 1.01539891e-02 7.17352415e+01] [-4.48386330e-01 8.93826529e-01 -4.88223747e-03 -1.55179056e+01] [-1.12651629e-02 -1.89318009e-04 9.99936528e-01 -1.44223346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.106559995 meters 0.015134879305399654 Centerline is valid? [True, True] Translation: X:71.76, Y:-15.53, Z:-1.44 [[ 8.93879255e-01 4.48188409e-01 1.03454216e-02 7.17630436e+01] [-4.48160806e-01 8.93939100e-01 -4.97765773e-03 -1.55317849e+01] [-1.14791054e-02 -1.86987505e-04 9.99934095e-01 -1.44256388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.136559995 meters 0.014903722991708624 Centerline is valid? [True, True] Translation: X:71.79, Y:-15.55, Z:-1.44 [[ 8.93917076e-01 4.48089290e-01 1.13247768e-02 7.17908472e+01] [-4.48056162e-01 8.93988785e-01 -5.45230943e-03 -1.55474181e+01] [-1.25673449e-02 -2.00223517e-04 9.99921008e-01 -1.44165214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.166559995 meters 0.01482761995476694 Centerline is valid? [True, True] Translation: X:71.82, Y:-15.56, Z:-1.44 [[ 8.93627010e-01 4.48657379e-01 1.17185002e-02 7.18203425e+01] [-4.48621912e-01 8.93703816e-01 -5.64528032e-03 -1.55630064e+01] [-1.30056650e-02 -2.12400985e-04 9.99915400e-01 -1.44170578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.196559995 meters 0.015051754419176897 Centerline is valid? [True, True] Translation: X:71.85, Y:-15.58, Z:-1.44 [[ 8.92909866e-01 4.50099513e-01 1.10634246e-02 7.18494550e+01] [-4.50067965e-01 8.92978377e-01 -5.33349738e-03 -1.55769385e+01] [-1.22800035e-02 -2.16960550e-04 9.99924574e-01 -1.44231350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.226559995 meters 0.016073083552725822 Centerline is valid? [True, True] Translation: X:71.88, Y:-15.59, Z:-1.44 [[ 8.91206758e-01 4.53488260e-01 9.94552417e-03 7.18781387e+01] [-4.53462946e-01 8.91262219e-01 -4.79724197e-03 -1.55885623e+01] [-1.10395629e-02 -2.34592227e-04 9.99939035e-01 -1.44412903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.256559995 meters 0.016831918324970545 Centerline is valid? [True, True] Translation: X:71.91, Y:-15.60, Z:-1.45 [[ 8.90409397e-01 4.55066918e-01 9.23066303e-03 7.19066740e+01] [-4.55045174e-01 8.90457211e-01 -4.45468037e-03 -1.56004474e+01] [-1.02466881e-02 -2.33879401e-04 9.99947474e-01 -1.44583139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.286559995 meters 0.0172124704120465 Centerline is valid? [True, True] Translation: X:71.94, Y:-15.61, Z:-1.45 [[ 8.89528393e-01 4.56797178e-01 8.69348182e-03 7.19360791e+01] [-4.56777955e-01 8.89570842e-01 -4.19737606e-03 -1.56137285e+01] [-9.65081747e-03 -2.37305662e-04 9.99953402e-01 -1.44686805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.316559995 meters 0.017746711782661004 Centerline is valid? [True, True] Translation: X:71.97, Y:-15.63, Z:-1.45 [[ 8.88607782e-01 4.58592148e-01 8.33382420e-03 7.19652899e+01] [-4.58574541e-01 8.88646827e-01 -4.02592755e-03 -1.56276610e+01] [-9.25208519e-03 -2.44209060e-04 9.99957169e-01 -1.44841402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.346559995 meters 0.018441023666416465 Centerline is valid? [True, True] Translation: X:71.99, Y:-15.64, Z:-1.45 [[ 8.86426613e-01 4.62802944e-01 7.82907406e-03 7.19944782e+01] [-4.62787539e-01 8.86461146e-01 -3.78552129e-03 -1.56380083e+01] [-8.69212036e-03 -2.67611105e-04 9.99962187e-01 -1.44801248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.376559995 meters 0.01889261243065447 Centerline is valid? [True, True] Translation: X:72.02, Y:-15.65, Z:-1.45 [[ 8.85557396e-01 4.64463850e-01 7.83775666e-03 7.20236485e+01] [-4.64448463e-01 8.85592035e-01 -3.79114229e-03 -1.56502943e+01] [-8.70190341e-03 -2.82959944e-04 9.99962098e-01 -1.44873397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.406559995 meters 0.021815292449404756 Centerline is valid? [True, True] Translation: X:72.05, Y:-15.66, Z:-1.45 [[ 8.84857003e-01 4.65808721e-01 7.09366709e-03 7.20526599e+01] [-4.65796154e-01 8.84885396e-01 -3.43210804e-03 -1.56608157e+01] [-7.87578827e-03 -2.67278014e-04 9.99968950e-01 -1.45249437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.436559995 meters 0.02093356347259581 Centerline is valid? [True, True] Translation: X:72.08, Y:-15.67, Z:-1.45 [[ 8.83577684e-01 4.68235400e-01 6.78865616e-03 7.20823305e+01] [-4.68223949e-01 8.83603720e-01 -3.28627874e-03 -1.56735235e+01] [-7.53723388e-03 -2.74928832e-04 9.99971557e-01 -1.45089254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.466559995 meters 0.02093356347259581 Centerline is valid? [True, True] Translation: X:72.11, Y:-15.69, Z:-1.45 [[ 8.83446427e-01 4.68482991e-01 6.78953276e-03 7.21114962e+01] [-4.68471561e-01 8.83472472e-01 -3.28446982e-03 -1.56877323e+01] [-7.53708354e-03 -2.79049886e-04 9.99971557e-01 -1.45152999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.496559995 meters 0.020639217437096045 Centerline is valid? [True, True] Translation: X:72.14, Y:-15.70, Z:-1.45 [[ 8.82849869e-01 4.69606887e-01 6.74395529e-03 7.21405509e+01] [-4.69595622e-01 8.82875580e-01 -3.26513606e-03 -1.57018181e+01] [-7.48740382e-03 -2.84306939e-04 9.99971929e-01 -1.45177710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.526559995 meters 0.022138348579959985 Centerline is valid? [True, True] Translation: X:72.17, Y:-15.71, Z:-1.45 [[ 8.82458936e-01 4.70345441e-01 6.43365961e-03 7.21700384e+01] [-4.70335184e-01 8.82482346e-01 -3.11822756e-03 -1.57132580e+01] [-7.14423515e-03 -2.74268701e-04 9.99974442e-01 -1.45306159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.556559995 meters 0.021569253607013755 Centerline is valid? [True, True] Translation: X:72.20, Y:-15.73, Z:-1.45 [[ 8.82730474e-01 4.69832572e-01 6.65313895e-03 7.21980736e+01] [-4.69821592e-01 8.82755502e-01 -3.22425605e-03 -1.57288301e+01] [-7.38795552e-03 -2.79639257e-04 9.99972670e-01 -1.45441973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.586559995 meters 0.02171013655078361 Centerline is valid? [True, True] Translation: X:72.23, Y:-15.74, Z:-1.45 [[ 8.83029248e-01 4.69267009e-01 6.91529196e-03 7.22263084e+01] [-4.69255109e-01 8.83056280e-01 -3.35389789e-03 -1.57415540e+01] [-7.68046563e-03 -2.83446155e-04 9.99970465e-01 -1.45391296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.616559995 meters 0.023371243232836576 Centerline is valid? [True, True] Translation: X:72.25, Y:-15.76, Z:-1.46 [[ 8.83654619e-01 4.68094351e-01 6.49563943e-03 7.22543956e+01] [-4.68083810e-01 8.83678456e-01 -3.15173883e-03 -1.57557052e+01] [-7.21536777e-03 -2.55455077e-04 9.99973936e-01 -1.45734366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.646559995 meters 0.020487719839075304 Centerline is valid? [True, True] Translation: X:72.28, Y:-15.77, Z:-1.45 [[ 8.84311824e-01 4.66832695e-01 7.73512861e-03 7.22823645e+01] [-4.66817660e-01 8.84345607e-01 -3.75775074e-03 -1.57727779e+01] [-8.59476791e-03 -2.87871226e-04 9.99963023e-01 -1.45338129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.676559995 meters 0.020252867162105503 Centerline is valid? [True, True] Translation: X:72.31, Y:-15.79, Z:-1.45 [[ 8.84557835e-01 4.66360056e-01 8.10763871e-03 7.23112771e+01] [-4.66343516e-01 8.84594941e-01 -3.93889258e-03 -1.57873801e+01] [-9.00891835e-03 -2.96766457e-04 9.99959375e-01 -1.45382644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.706559995 meters 0.018215204747021072 Centerline is valid? [True, True] Translation: X:72.34, Y:-15.80, Z:-1.45 [[ 8.85014973e-01 4.65484106e-01 8.54657559e-03 7.23382473e+01] [-4.65465661e-01 8.85056188e-01 -4.15483036e-03 -1.58046608e+01] [-9.49820711e-03 -3.01050375e-04 9.99954846e-01 -1.45356279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.73655999500001 meters 0.018372508937832502 Centerline is valid? [True, True] Translation: X:72.37, Y:-15.82, Z:-1.45 [[ 8.85555098e-01 4.64444344e-01 9.14434532e-03 7.23664396e+01] [-4.64423128e-01 8.85602257e-01 -4.44983496e-03 -1.58184258e+01] [-1.01649535e-02 -3.06271413e-04 9.99948289e-01 -1.45470840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.766559995 meters 0.018173501489039286 Centerline is valid? [True, True] Translation: X:72.39, Y:-15.83, Z:-1.46 [[ 8.86042095e-01 4.63506257e-01 9.55798927e-03 7.23944064e+01] [-4.63483012e-01 8.86093593e-01 -4.65213943e-03 -1.58324876e+01] [-1.06255688e-02 -3.07974289e-04 9.99943500e-01 -1.45560762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.796559995 meters 0.01750035898759491 Centerline is valid? [True, True] Translation: X:72.42, Y:-15.85, Z:-1.46 [[ 8.86669688e-01 4.62283553e-01 1.05252206e-02 7.24227211e+01] [-4.62255241e-01 8.86732098e-01 -5.12624571e-03 -1.58484556e+01] [-1.17028300e-02 -3.20051691e-04 9.99931468e-01 -1.45646229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.826559995 meters 0.017259009246692287 Centerline is valid? [True, True] Translation: X:72.45, Y:-15.86, Z:-1.46 [[ 8.86981545e-01 4.61669722e-01 1.11717162e-02 7.24509453e+01] [-4.61637729e-01 8.87051837e-01 -5.44488022e-03 -1.58630324e+01] [-1.24236277e-02 -3.27777436e-04 9.99922770e-01 -1.45726142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.856559995 meters 0.01867275544778727 Centerline is valid? [True, True] Translation: X:72.48, Y:-15.87, Z:-1.46 [[ 8.87548640e-01 4.60550621e-01 1.22693711e-02 7.24796298e+01] [-4.60511865e-01 8.87633376e-01 -5.98427522e-03 -1.58748379e+01] [-1.36467650e-02 -3.38855657e-04 9.99906821e-01 -1.45823219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.886559995 meters 0.018373928288503212 Centerline is valid? [True, True] Translation: X:72.51, Y:-15.89, Z:-1.46 [[ 8.87778116e-01 4.60084722e-01 1.31173485e-02 7.25080449e+01] [-4.60040314e-01 8.87874949e-01 -6.40191096e-03 -1.58892437e+01] [-1.45919866e-02 -3.51032675e-04 9.99893470e-01 -1.45866718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.916559995 meters 0.016161488443365894 Centerline is valid? [True, True] Translation: X:72.54, Y:-15.91, Z:-1.46 [[ 8.87767740e-01 4.60074055e-01 1.41528608e-02 7.25352330e+01] [-4.60022289e-01 8.87880467e-01 -6.91160618e-03 -1.59071238e+01] [-1.57458994e-02 -3.74730427e-04 9.99875955e-01 -1.45844583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.946559995 meters 0.016816058161450254 Centerline is valid? [True, True] Translation: X:72.56, Y:-15.92, Z:-1.46 [[ 8.87772640e-01 4.60009569e-01 1.58409675e-02 7.25645372e+01] [-4.59944608e-01 8.87913861e-01 -7.74160221e-03 -1.59190878e+01] [-1.76266257e-02 -4.13184958e-04 9.99844554e-01 -1.45899288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.976559995 meters 0.016097048363559067 Centerline is valid? [True, True] Translation: X:72.59, Y:-15.93, Z:-1.46 [[ 8.87622590e-01 4.60272141e-01 1.66040516e-02 7.25938048e+01] [-4.60200716e-01 8.87777770e-01 -8.11989069e-03 -1.59347954e+01] [-1.84780674e-02 -4.33798039e-04 9.99829172e-01 -1.45952433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.006559995 meters 0.016279352774899163 Centerline is valid? [True, True] Translation: X:72.62, Y:-15.95, Z:-1.46 [[ 8.87352235e-01 4.60776073e-01 1.70710943e-02 7.26224047e+01] [-4.60700548e-01 8.87516313e-01 -8.35453521e-03 -1.59479193e+01] [-1.90004446e-02 -4.51247023e-04 9.99819373e-01 -1.46037329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.036559995 meters 0.016613088860800908 Centerline is valid? [True, True] Translation: X:72.65, Y:-15.96, Z:-1.46 [[ 8.87049397e-01 4.61355873e-01 1.71500855e-02 7.26514521e+01] [-4.61279647e-01 8.87215051e-01 -8.39888474e-03 -1.59610899e+01] [-1.90906888e-02 -4.60759737e-04 9.99817650e-01 -1.46129637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.066559995 meters 0.017260505989630377 Centerline is valid? [True, True] Translation: X:72.68, Y:-15.97, Z:-1.46 [[ 8.86219205e-01 4.62946842e-01 1.71971817e-02 7.26813740e+01] [-4.62870387e-01 8.86385909e-01 -8.42760302e-03 -1.59732339e+01] [-1.91448717e-02 -4.91362504e-04 9.99816599e-01 -1.46303488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.096559995 meters 0.01895648663041039 Centerline is valid? [True, True] Translation: X:72.71, Y:-15.98, Z:-1.46 [[ 8.84623706e-01 4.65985854e-01 1.72650543e-02 7.27113364e+01] [-4.65909272e-01 8.84791996e-01 -8.46608647e-03 -1.59829364e+01] [-1.92210584e-02 -5.54648103e-04 9.99815105e-01 -1.46453784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.126559995 meters 0.020094289765446416 Centerline is valid? [True, True] Translation: X:72.74, Y:-15.99, Z:-1.47 [[ 8.81715500e-01 4.71499419e-01 1.63118038e-02 7.27412092e+01] [-4.71431916e-01 8.81866145e-01 -8.00320613e-03 -1.59934527e+01] [-1.81583345e-02 -6.33354019e-04 9.99834923e-01 -1.46700635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.156559995 meters 0.020094289765446416 Centerline is valid? [True, True] Translation: X:72.77, Y:-16.01, Z:-1.47 [[ 8.81583743e-01 4.71745731e-01 1.63116567e-02 7.27702982e+01] [-4.71678265e-01 8.81734403e-01 -8.00350596e-03 -1.60078114e+01] [-1.81581687e-02 -6.38093201e-04 9.99834923e-01 -1.46764353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.186559995 meters 0.021187211386733393 Centerline is valid? [True, True] Translation: X:72.80, Y:-16.02, Z:-1.47 [[ 8.80728595e-01 4.73365249e-01 1.55718933e-02 7.27988680e+01] [-4.73303925e-01 8.80866015e-01 -7.64579387e-03 -1.60195281e+01] [-1.73360048e-02 -6.36368951e-04 9.99849518e-01 -1.46918015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.216559995 meters 0.021187211386733393 Centerline is valid? [True, True] Translation: X:72.83, Y:-16.03, Z:-1.47 [[ 8.80597675e-01 4.73608807e-01 1.55702241e-02 7.28279517e+01] [-4.73547462e-01 8.80735086e-01 -7.64919158e-03 -1.60339050e+01] [-1.73359672e-02 -6.37379783e-04 9.99849518e-01 -1.46981860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.246559995 meters 0.023677425141191377 Centerline is valid? [True, True] Translation: X:72.86, Y:-16.04, Z:-1.47 [[ 8.79909605e-01 4.74895707e-01 1.52694025e-02 7.28573034e+01] [-4.74836808e-01 8.80041846e-01 -7.50698920e-03 -1.60434360e+01] [-1.70027502e-02 -6.45002463e-04 9.99855235e-01 -1.47114273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.276559995 meters 0.022700206040427405 Centerline is valid? [True, True] Translation: X:72.89, Y:-16.06, Z:-1.47 [[ 8.79179593e-01 4.76232212e-01 1.56883104e-02 7.28858594e+01] [-4.76170211e-01 8.79319286e-01 -7.71506693e-03 -1.60578665e+01] [-1.74691973e-02 -6.87376675e-04 9.99847166e-01 -1.47307886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.306559995 meters 0.02329524199392128 Centerline is valid? [True, True] Translation: X:72.91, Y:-16.07, Z:-1.47 [[ 8.78935440e-01 4.76685140e-01 1.56131631e-02 7.29147146e+01] [-4.76623723e-01 8.79073833e-01 -7.68268191e-03 -1.60711081e+01] [-1.73873434e-02 -6.89022540e-04 9.99848591e-01 -1.47392970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.336559995 meters 0.023282351456906873 Centerline is valid? [True, True] Translation: X:72.94, Y:-16.09, Z:-1.47 [[ 8.78934447e-01 4.76676842e-01 1.59193809e-02 7.29433694e+01] [-4.76612900e-01 8.79078325e-01 -7.83853929e-03 -1.60852310e+01] [-1.77308328e-02 -6.97820078e-04 9.99842553e-01 -1.47440256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.366559995 meters 0.02170953753346652 Centerline is valid? [True, True] Translation: X:72.97, Y:-16.10, Z:-1.47 [[ 8.79004468e-01 4.76522947e-01 1.66440917e-02 7.29710685e+01] [-4.76452928e-01 8.79161737e-01 -8.20049459e-03 -1.61016797e+01] [-1.85405724e-02 -7.21854847e-04 9.99827848e-01 -1.47457619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.396559995 meters 0.021489745337991757 Centerline is valid? [True, True] Translation: X:73.00, Y:-16.12, Z:-1.47 [[ 8.79452519e-01 4.75657111e-01 1.77081517e-02 7.29994872e+01] [-4.75577564e-01 8.79630468e-01 -8.73044620e-03 -1.61162445e+01] [-1.97293286e-02 -7.43586762e-04 9.99805081e-01 -1.47437079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.426559995 meters 0.019630522556032887 Centerline is valid? [True, True] Translation: X:73.03, Y:-16.13, Z:-1.47 [[ 8.79924058e-01 4.74754421e-01 1.84903401e-02 7.30269083e+01] [-4.74667372e-01 8.80117991e-01 -9.12187707e-03 -1.61331408e+01] [-2.06043325e-02 -7.50202070e-04 9.99787427e-01 -1.47408619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.456559995 meters 0.020147394012317466 Centerline is valid? [True, True] Translation: X:73.05, Y:-16.15, Z:-1.47 [[ 8.80781125e-01 4.73096906e-01 2.00979368e-02 7.30547979e+01] [-4.72993481e-01 8.81010062e-01 -9.92159442e-03 -1.61464764e+01] [-2.24003602e-02 -7.67440013e-04 9.99748786e-01 -1.47351779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.48655999500001 meters 0.02219707212031858 Centerline is valid? [True, True] Translation: X:73.08, Y:-16.16, Z:-1.47 [[ 8.81105378e-01 4.72486242e-01 2.02500242e-02 7.30845230e+01] [-4.72380953e-01 8.81337725e-01 -1.00025247e-02 -1.61576315e+01] [-2.25731655e-02 -7.52447457e-04 9.99744910e-01 -1.47378920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.516559995 meters 0.018811753781623405 Centerline is valid? [True, True] Translation: X:73.11, Y:-16.18, Z:-1.47 [[ 8.81668804e-01 4.71398848e-01 2.10534182e-02 7.31109438e+01] [-4.71284575e-01 8.81919819e-01 -1.04058459e-02 -1.61760475e+01] [-2.34727305e-02 -7.47641551e-04 9.99724198e-01 -1.47492099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.546559995 meters 0.019378434754894903 Centerline is valid? [True, True] Translation: X:73.14, Y:-16.19, Z:-1.48 [[ 8.81649094e-01 4.71441984e-01 2.09124718e-02 7.31401450e+01] [-4.71329109e-01 8.81896768e-01 -1.03421795e-02 -1.61893583e+01] [-2.33183789e-02 -7.38483490e-04 9.99727817e-01 -1.47589399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.576559995 meters 0.017524058590590332 Centerline is valid? [True, True] Translation: X:73.17, Y:-16.21, Z:-1.48 [[ 8.81566640e-01 4.71628886e-01 2.01606982e-02 7.31692630e+01] [-4.71523927e-01 8.81796851e-01 -9.97495544e-03 -1.62054215e+01] [-2.24821173e-02 -7.12663630e-04 9.99746991e-01 -1.47828039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.606559995 meters 0.018127401316184472 Centerline is valid? [True, True] Translation: X:73.20, Y:-16.22, Z:-1.48 [[ 8.81506507e-01 4.71759226e-01 1.97360176e-02 7.31984908e+01] [-4.71658525e-01 8.81727140e-01 -9.77168526e-03 -1.62180697e+01] [-2.20116650e-02 -6.94856786e-04 9.99757472e-01 -1.47962630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.636559995 meters 0.01862779636182588 Centerline is valid? [True, True] Translation: X:73.23, Y:-16.23, Z:-1.48 [[ 8.81614182e-01 4.71589030e-01 1.89794818e-02 7.32267717e+01] [-4.71495735e-01 8.81818209e-01 -9.40311197e-03 -1.62308296e+01] [-2.11708571e-02 -6.58827868e-04 9.99775655e-01 -1.48109374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.666559995 meters 0.017200573263263488 Centerline is valid? [True, True] Translation: X:73.26, Y:-16.25, Z:-1.48 [[ 8.81588969e-01 4.71665704e-01 1.82305558e-02 7.32552908e+01] [-4.71579543e-01 8.81777220e-01 -9.03705435e-03 -1.62473140e+01] [-2.03377574e-02 -6.30189724e-04 9.99792968e-01 -1.48246703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.696559995 meters 0.017658757436073983 Centerline is valid? [True, True] Translation: X:73.28, Y:-16.26, Z:-1.48 [[ 8.81511268e-01 4.71840899e-01 1.74370444e-02 7.32846563e+01] [-4.71761994e-01 8.81683506e-01 -8.64964151e-03 -1.62608989e+01] [-1.94552090e-02 -6.01378379e-04 9.99810549e-01 -1.48379063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.726559995 meters 0.019505680938344507 Centerline is valid? [True, True] Translation: X:73.31, Y:-16.27, Z:-1.48 [[ 8.81568266e-01 4.71740963e-01 1.72585270e-02 7.33139706e+01] [-4.71663537e-01 8.81736989e-01 -8.56678750e-03 -1.62719870e+01] [-1.92587863e-02 -5.88009903e-04 9.99814359e-01 -1.48488930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.756559995 meters 0.017261194593534052 Centerline is valid? [True, True] Translation: X:73.34, Y:-16.29, Z:-1.49 [[ 8.81775380e-01 4.71386634e-01 1.63346043e-02 7.33408349e+01] [-4.71317171e-01 8.81926495e-01 -8.11063936e-03 -1.62891180e+01] [-1.82291673e-02 -5.47017366e-04 9.99833685e-01 -1.48622234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.786559995 meters 0.017012377345561616 Centerline is valid? [True, True] Translation: X:73.37, Y:-16.30, Z:-1.49 [[ 8.81808890e-01 4.71342962e-01 1.57763856e-02 7.33702603e+01] [-4.71278079e-01 8.81949850e-01 -7.83801569e-03 -1.63042753e+01] [-1.76083744e-02 -5.23432774e-04 9.99844824e-01 -1.48724516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.816559995 meters 0.01660686661476156 Centerline is valid? [True, True] Translation: X:73.40, Y:-16.32, Z:-1.49 [[ 8.82342282e-01 4.70351304e-01 1.55482670e-02 7.33989625e+01] [-4.70288028e-01 8.82479127e-01 -7.73052791e-03 -1.63198445e+01] [-1.73570850e-02 -4.91192201e-04 9.99849234e-01 -1.48797205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.846559995 meters 0.016498926534935055 Centerline is valid? [True, True] Translation: X:73.43, Y:-16.33, Z:-1.49 [[ 8.82473430e-01 4.70096228e-01 1.58171332e-02 7.34270851e+01] [-4.70030678e-01 8.82615031e-01 -7.86562767e-03 -1.63348847e+01] [-1.76580414e-02 -4.93330438e-04 9.99843963e-01 -1.48818383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.876559995 meters 0.01641981434768207 Centerline is valid? [True, True] Translation: X:73.46, Y:-16.35, Z:-1.49 [[ 8.82319892e-01 4.70405630e-01 1.51707206e-02 7.34562648e+01] [-4.70345302e-01 8.82450178e-01 -7.54848199e-03 -1.63501918e+01] [-1.69382535e-02 -4.75301333e-04 9.99856425e-01 -1.48864885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.906559995 meters 0.017187525767964982 Centerline is valid? [True, True] Translation: X:73.48, Y:-16.36, Z:-1.49 [[ 8.81747590e-01 4.71477973e-01 1.51561380e-02 7.34843355e+01] [-4.71417827e-01 8.81877701e-01 -7.54669436e-03 -1.63628924e+01] [-1.69239603e-02 -4.90594069e-04 9.99856659e-01 -1.48903106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.936559995 meters 0.017187525767964982 Centerline is valid? [True, True] Translation: X:73.51, Y:-16.38, Z:-1.49 [[ 8.81617114e-01 4.71721957e-01 1.51544936e-02 7.35133315e+01] [-4.71661790e-01 8.81747216e-01 -7.54999494e-03 -1.63774261e+01] [-1.69239309e-02 -4.91590810e-04 9.99856659e-01 -1.48966936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.966559995 meters 0.016777138778978858 Centerline is valid? [True, True] Translation: X:73.54, Y:-16.39, Z:-1.49 [[ 8.80909249e-01 4.73027766e-01 1.56085566e-02 7.35415424e+01] [-4.72964044e-01 8.81047362e-01 -7.78189832e-03 -1.63916800e+01] [-1.74329316e-02 -5.27139831e-04 9.99847896e-01 -1.48927795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.996559995 meters 0.017393508364731226 Centerline is valid? [True, True] Translation: X:73.57, Y:-16.40, Z:-1.49 [[ 8.80328524e-01 4.74093421e-01 1.60349022e-02 7.35696729e+01] [-4.74026262e-01 8.80474370e-01 -7.99920981e-03 -1.64042058e+01] [-1.79106932e-02 -5.59032190e-04 9.99839434e-01 -1.48928186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.026559995 meters 0.01954211207173623 Centerline is valid? [True, True] Translation: X:73.60, Y:-16.41, Z:-1.49 [[ 8.78890244e-01 4.76741978e-01 1.64020024e-02 7.35991802e+01] [-4.76672075e-01 8.79043059e-01 -8.18740775e-03 -1.64141157e+01] [-1.83213474e-02 -6.22543745e-04 9.99831956e-01 -1.48919154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.056559995 meters 0.01959049360510934 Centerline is valid? [True, True] Translation: X:73.63, Y:-16.43, Z:-1.49 [[ 8.77891116e-01 4.78585079e-01 1.62330066e-02 7.36276947e+01] [-4.78516916e-01 8.78040941e-01 -8.10352023e-03 -1.64277583e+01] [-1.81314683e-02 -6.53759859e-04 9.99835398e-01 -1.48930747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.086559995 meters 0.02069529330784837 Centerline is valid? [True, True] Translation: X:73.66, Y:-16.44, Z:-1.49 [[ 8.76894327e-01 4.80421647e-01 1.58549588e-02 7.36571533e+01] [-4.80356838e-01 8.77037394e-01 -7.91950601e-03 -1.64400766e+01] [-1.77100939e-02 -6.71467966e-04 9.99842939e-01 -1.48977050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.116559995 meters 0.021807594684723097 Centerline is valid? [True, True] Translation: X:73.69, Y:-16.45, Z:-1.49 [[ 8.75957275e-01 4.82142811e-01 1.54000729e-02 7.36866191e+01] [-4.82081910e-01 8.76092370e-01 -7.69358508e-03 -1.64522818e+01] [-1.72012931e-02 -6.84844719e-04 9.99851812e-01 -1.49049124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.146559995 meters 0.023847134147056352 Centerline is valid? [True, True] Translation: X:73.72, Y:-16.46, Z:-1.49 [[ 8.74790655e-01 4.84292027e-01 1.42317426e-02 7.37161870e+01] [-4.84240279e-01 8.74906157e-01 -7.11116658e-03 -1.64620753e+01] [-1.58953205e-02 -6.70800954e-04 9.99873436e-01 -1.49183238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.176559995 meters 0.023334637169421378 Centerline is valid? [True, True] Translation: X:73.75, Y:-16.48, Z:-1.49 [[ 8.74173150e-01 4.85413846e-01 1.39535670e-02 7.37450093e+01] [-4.85364250e-01 8.74284243e-01 -6.97182581e-03 -1.64765142e+01] [-1.55836045e-02 -6.77979644e-04 9.99878338e-01 -1.49256521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.206559995 meters 0.023891729960113437 Centerline is valid? [True, True] Translation: X:73.77, Y:-16.49, Z:-1.49 [[ 8.73651094e-01 4.86364874e-01 1.35268226e-02 7.37746199e+01] [-4.86318320e-01 8.73755549e-01 -6.76252474e-03 -1.64899902e+01] [-1.51081908e-02 -6.70254496e-04 9.99885640e-01 -1.49307014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.23655999500001 meters 0.026147671888366135 Centerline is valid? [True, True] Translation: X:73.80, Y:-16.50, Z:-1.49 [[ 8.73615700e-01 4.86434817e-01 1.32958099e-02 7.38049429e+01] [-4.86389790e-01 8.73716623e-01 -6.65085874e-03 -1.65006993e+01] [-1.48519794e-02 -6.56651573e-04 9.99889488e-01 -1.49339663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.266559995 meters 0.024174206470642664 Centerline is valid? [True, True] Translation: X:73.83, Y:-16.52, Z:-1.49 [[ 8.74027237e-01 4.85693232e-01 1.33594309e-02 7.38322944e+01] [-4.85647621e-01 8.74129093e-01 -6.68708694e-03 -1.65173978e+01] [-1.49257401e-02 -6.43279734e-04 9.99888398e-01 -1.49387230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.296559995 meters 0.02355751421206419 Centerline is valid? [True, True] Translation: X:73.86, Y:-16.53, Z:-1.49 [[ 8.74800687e-01 4.84307432e-01 1.30410616e-02 7.38605606e+01] [-4.84263761e-01 8.74897679e-01 -6.53147295e-03 -1.65326342e+01] [-1.45728355e-02 -6.01576533e-04 9.99893630e-01 -1.49438329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.326559995 meters 0.021441141989884154 Centerline is valid? [True, True] Translation: X:73.89, Y:-16.55, Z:-1.49 [[ 8.77083737e-01 4.80153581e-01 1.32912353e-02 7.38869007e+01] [-4.80107664e-01 8.77184273e-01 -6.66191975e-03 -1.65498915e+01] [-1.48576072e-02 -5.38162472e-04 9.99889475e-01 -1.49431725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.356559995 meters 0.02011426432507001 Centerline is valid? [True, True] Translation: X:73.91, Y:-16.57, Z:-1.49 [[ 8.78495751e-01 4.77572463e-01 1.30291016e-02 7.39135702e+01] [-4.77528051e-01 8.78592231e-01 -6.53086671e-03 -1.65661859e+01] [-1.45662295e-02 -4.84422820e-04 9.99893790e-01 -1.49443572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.386559995 meters 0.02011426432507001 Centerline is valid? [True, True] Translation: X:73.94, Y:-16.58, Z:-1.50 [[ 8.78367044e-01 4.77809136e-01 1.30294141e-02 7.39425338e+01] [-4.77764760e-01 8.78463539e-01 -6.53024369e-03 -1.65808059e+01] [-1.45660753e-02 -4.89044050e-04 9.99893790e-01 -1.49507296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.416559995 meters 0.018068582298657463 Centerline is valid? [True, True] Translation: X:73.97, Y:-16.60, Z:-1.50 [[ 8.81268181e-01 4.72449631e-01 1.25593825e-02 7.39676620e+01] [-4.72407774e-01 8.81357590e-01 -6.30031577e-03 -1.65982518e+01] [-1.40458890e-02 -3.80882139e-04 9.99901279e-01 -1.49520056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.446559995 meters 0.0162801313093848 Centerline is valid? [True, True] Translation: X:73.99, Y:-16.62, Z:-1.50 [[ 8.82749679e-01 4.69683376e-01 1.22690528e-02 7.39945970e+01] [-4.69643167e-01 8.82834876e-01 -6.15453306e-03 -1.66157084e+01] [-1.37222296e-02 -3.29164740e-04 9.99905792e-01 -1.49557409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.476559995 meters 0.013912711634772411 Centerline is valid? [True, True] Translation: X:74.02, Y:-16.63, Z:-1.50 [[ 8.85845348e-01 4.63841905e-01 1.13449202e-02 7.40203180e+01] [-4.63807035e-01 8.85917964e-01 -5.69172448e-03 -1.66342997e+01] [-1.26907289e-02 -2.19866144e-04 9.99919445e-01 -1.49625011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.506559995 meters 0.012918918225430547 Centerline is valid? [True, True] Translation: X:74.05, Y:-16.65, Z:-1.50 [[ 8.87409100e-01 4.60846497e-01 1.12069794e-02 7.40473760e+01] [-4.60812245e-01 8.87479845e-01 -5.62134021e-03 -1.66512306e+01] [-1.25365433e-02 -1.75884895e-04 9.99921399e-01 -1.49681663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.536559995 meters 0.012659478149000123 Centerline is valid? [True, True] Translation: X:74.07, Y:-16.67, Z:-1.50 [[ 8.88806954e-01 4.58148323e-01 1.10594534e-02 7.40741968e+01] [-4.58114707e-01 8.88875748e-01 -5.55148701e-03 -1.66669285e+01] [-1.23738843e-02 -1.32297976e-04 9.99923432e-01 -1.49786437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.566559995 meters 0.011985275395705472 Centerline is valid? [True, True] Translation: X:74.10, Y:-16.68, Z:-1.50 [[ 8.90231087e-01 4.55388188e-01 1.04981104e-02 7.41010822e+01] [-4.55357697e-01 8.90292980e-01 -5.27046904e-03 -1.66841462e+01] [-1.17465034e-02 -8.84599992e-05 9.99931004e-01 -1.49801683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.596559995 meters 0.011753007869442037 Centerline is valid? [True, True] Translation: X:74.13, Y:-16.70, Z:-1.50 [[ 8.91521007e-01 4.52873620e-01 9.78665265e-03 7.41288391e+01] [-4.52846941e-01 8.91574720e-01 -4.91589118e-03 -1.67013076e+01] [-1.09518095e-02 -4.92354575e-05 9.99940026e-01 -1.49854918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.626559995 meters 0.011823991294937344 Centerline is valid? [True, True] Translation: X:74.16, Y:-16.72, Z:-1.50 [[ 8.93884189e-01 4.48209235e-01 8.91842043e-03 7.41554440e+01] [-4.48186827e-01 8.93928678e-01 -4.48182362e-03 -1.67203114e+01] [-9.98122652e-03 9.11272234e-06 9.99950186e-01 -1.49942430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.656559995 meters 0.012094951322898522 Centerline is valid? [True, True] Translation: X:74.18, Y:-16.74, Z:-1.50 [[ 8.94925922e-01 4.46130866e-01 8.65124892e-03 7.41841023e+01] [-4.46109659e-01 8.94967736e-01 -4.35004538e-03 -1.67376202e+01] [-9.68327817e-03 3.35626610e-05 9.99953115e-01 -1.50014283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.686559995 meters 0.012808003019946376 Centerline is valid? [True, True] Translation: X:74.21, Y:-16.75, Z:-1.50 [[ 8.96496758e-01 4.43003602e-01 6.43202064e-03 7.42097367e+01] [-4.42991771e-01 8.96519830e-01 -3.23807400e-03 -1.67547912e+01] [-7.20091250e-03 5.35906245e-05 9.99974072e-01 -1.50250811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.716559995 meters 0.01301962472734637 Centerline is valid? [True, True] Translation: X:74.24, Y:-16.77, Z:-1.50 [[ 8.97014351e-01 4.41963918e-01 5.75745613e-03 7.42379257e+01] [-4.41954435e-01 8.97032827e-01 -2.89567664e-03 -1.67705678e+01] [-6.44441174e-03 5.29302305e-05 9.99979233e-01 -1.50323680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.746559995 meters 0.013267991107463604 Centerline is valid? [True, True] Translation: X:74.27, Y:-16.79, Z:-1.50 [[ 8.98058886e-01 4.39842130e-01 5.39786594e-03 7.42651232e+01] [-4.39833749e-01 8.98075106e-01 -2.71599030e-03 -1.67877150e+01] [-6.04229599e-03 6.49556134e-05 9.99981743e-01 -1.50233772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.776559995 meters 0.013703333528864593 Centerline is valid? [True, True] Translation: X:74.29, Y:-16.81, Z:-1.50 [[ 8.98950900e-01 4.38003394e-01 6.34863581e-03 7.42925049e+01] [-4.37991735e-01 8.98973313e-01 -3.19722819e-03 -1.68050763e+01] [-7.10765096e-03 9.35011442e-05 9.99974736e-01 -1.50142935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.806559995 meters 0.013971446989276009 Centerline is valid? [True, True] Translation: X:74.32, Y:-16.82, Z:-1.50 [[ 8.99686787e-01 4.36478141e-01 7.10759482e-03 7.43205950e+01] [-4.36463458e-01 8.99714854e-01 -3.58218255e-03 -1.68216922e+01] [-7.95835302e-03 1.20636889e-04 9.99968325e-01 -1.50036225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.836559995 meters 0.013989963451964417 Centerline is valid? [True, True] Translation: X:74.35, Y:-16.84, Z:-1.50 [[ 8.99870053e-01 4.36090335e-01 7.68811925e-03 7.43491321e+01] [-4.36073121e-01 8.99902884e-01 -3.87710192e-03 -1.68372337e+01] [-8.60932737e-03 1.36305754e-04 9.99962930e-01 -1.50017031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.866559995 meters 0.01422785505448077 Centerline is valid? [True, True] Translation: X:74.38, Y:-16.85, Z:-1.50 [[ 8.99971773e-01 4.35870485e-01 8.22974803e-03 7.43779427e+01] [-4.35850720e-01 9.00009388e-01 -4.15358420e-03 -1.68531020e+01] [-9.21727525e-03 1.51166936e-04 9.99957509e-01 -1.50068173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.896559995 meters 0.01422785505448077 Centerline is valid? [True, True] Translation: X:74.41, Y:-16.87, Z:-1.50 [[ 8.99851049e-01 4.36119685e-01 8.22859749e-03 7.44068432e+01] [-4.36099910e-01 8.99888658e-01 -4.15586139e-03 -1.68677864e+01] [-9.21727452e-03 1.51165608e-04 9.99957509e-01 -1.50132021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.926559995 meters 0.014506296512210746 Centerline is valid? [True, True] Translation: X:74.43, Y:-16.88, Z:-1.50 [[ 8.99892637e-01 4.36033873e-01 8.22817057e-03 7.44344681e+01] [-4.36014068e-01 8.99930240e-01 -4.15873022e-03 -1.68835184e+01] [-9.21812677e-03 1.54812584e-04 9.99957500e-01 -1.50161084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.956559995 meters 0.014548388116003822 Centerline is valid? [True, True] Translation: X:74.46, Y:-16.90, Z:-1.50 [[ 8.99772115e-01 4.36273495e-01 8.69362979e-03 7.44636953e+01] [-4.36251368e-01 8.99814098e-01 -4.39695531e-03 -1.68992027e+01] [-9.74092571e-03 1.63649887e-04 9.99952543e-01 -1.50170067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.98655999500001 meters 0.01459973951785207 Centerline is valid? [True, True] Translation: X:74.49, Y:-16.91, Z:-1.50 [[ 8.99489924e-01 4.36853854e-01 8.75140812e-03 7.44929183e+01] [-4.36831429e-01 8.99532481e-01 -4.42923601e-03 -1.69145603e+01] [-9.80710467e-03 1.61163050e-04 9.99951896e-01 -1.50227016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.016559995 meters 0.014553456312221658 Centerline is valid? [True, True] Translation: X:74.52, Y:-16.93, Z:-1.50 [[ 8.99063144e-01 4.37730431e-01 8.80526523e-03 7.45212387e+01] [-4.37707738e-01 8.99106248e-01 -4.45991239e-03 -1.69287988e+01] [-9.86910836e-03 1.55610132e-04 9.99951287e-01 -1.50279354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.046559995 meters 0.014082375734311628 Centerline is valid? [True, True] Translation: X:74.55, Y:-16.94, Z:-1.50 [[ 8.98072971e-01 4.39760513e-01 8.69650835e-03 7.45505035e+01] [-4.39738448e-01 8.98115067e-01 -4.40733968e-03 -1.69420601e+01] [-9.74863913e-03 1.33923559e-04 9.99952472e-01 -1.50362518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.076559995 meters 0.014098655306775312 Centerline is valid? [True, True] Translation: X:74.58, Y:-16.96, Z:-1.50 [[ 8.97568480e-01 4.40783671e-01 8.97655226e-03 7.45784488e+01] [-4.40760182e-01 8.97613357e-01 -4.55227458e-03 -1.69556743e+01] [-1.00640415e-02 1.29471372e-04 9.99949348e-01 -1.50476135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.106559995 meters 0.013975724603761428 Centerline is valid? [True, True] Translation: X:74.61, Y:-16.97, Z:-1.51 [[ 8.97143178e-01 4.41651614e-01 8.83006769e-03 7.46065258e+01] [-4.41628904e-01 8.97186624e-01 -4.48034719e-03 -1.69693566e+01] [-9.90097118e-03 1.19899802e-04 9.99950977e-01 -1.50585050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.136559995 meters 0.013728015474951604 Centerline is valid? [True, True] Translation: X:74.63, Y:-16.98, Z:-1.51 [[ 8.96637737e-01 4.42670710e-01 9.13294091e-03 7.46343352e+01] [-4.42646441e-01 8.96684242e-01 -4.63665812e-03 -1.69834846e+01] [-1.02418769e-02 1.14738857e-04 9.99947544e-01 -1.50665065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.166559995 meters 0.013433147054836753 Centerline is valid? [True, True] Translation: X:74.66, Y:-17.00, Z:-1.51 [[ 8.96526468e-01 4.42893599e-01 9.24942971e-03 7.46642375e+01] [-4.42868699e-01 8.96574172e-01 -4.69773637e-03 -1.69982241e+01] [-1.03733972e-02 1.15362097e-04 9.99946188e-01 -1.50692838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.196559995 meters 0.01305235435229174 Centerline is valid? [True, True] Translation: X:74.69, Y:-17.01, Z:-1.51 [[ 8.96403950e-01 4.43147062e-01 8.97996066e-03 7.46941406e+01] [-4.43123577e-01 8.96448922e-01 -4.56365217e-03 -1.70130085e+01] [-1.00724451e-02 1.11643549e-04 9.99949265e-01 -1.50735230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.226559995 meters 0.013017622053043671 Centerline is valid? [True, True] Translation: X:74.72, Y:-17.03, Z:-1.51 [[ 8.96137203e-01 4.43686025e-01 8.99022795e-03 7.47238006e+01] [-4.43662481e-01 8.96182291e-01 -4.57201235e-03 -1.70277443e+01] [-1.00854211e-02 1.08523522e-04 9.99949135e-01 -1.50837962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.256559995 meters 0.014000415385896138 Centerline is valid? [True, True] Translation: X:74.75, Y:-17.04, Z:-1.51 [[ 8.96034629e-01 4.43892769e-01 9.00854652e-03 7.47513793e+01] [-4.43869097e-01 8.96079906e-01 -4.58559403e-03 -1.70438987e+01] [-1.01078895e-02 1.10235636e-04 9.99948908e-01 -1.51148966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.286559995 meters 0.012928312439974698 Centerline is valid? [True, True] Translation: X:74.78, Y:-17.06, Z:-1.51 [[ 8.95839757e-01 4.44290995e-01 8.75449221e-03 7.47815309e+01] [-4.44268652e-01 8.95882526e-01 -4.45688878e-03 -1.70565020e+01] [-9.82315215e-03 1.03311709e-04 9.99951746e-01 -1.51067732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.316559995 meters 0.012823682348574313 Centerline is valid? [True, True] Translation: X:74.81, Y:-17.07, Z:-1.51 [[ 8.95698003e-01 4.44582049e-01 8.47877697e-03 7.48111476e+01] [-4.44561078e-01 8.95738127e-01 -4.31928402e-03 -1.70713299e+01] [-9.51503994e-03 9.94398415e-05 9.99954726e-01 -1.51195553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.346559995 meters 0.012936897504365448 Centerline is valid? [True, True] Translation: X:74.84, Y:-17.09, Z:-1.51 [[ 8.95462368e-01 4.45057765e-01 8.41029774e-03 7.48390186e+01] [-4.45037123e-01 8.95501857e-01 -4.28753011e-03 -1.70859482e+01] [-9.43963582e-03 9.64271560e-05 9.99955441e-01 -1.51297540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.376559995 meters 0.013000636950202739 Centerline is valid? [True, True] Translation: X:74.87, Y:-17.10, Z:-1.51 [[ 8.95108936e-01 4.45758186e-01 8.92367795e-03 7.48665735e+01] [-4.45734944e-01 8.95153411e-01 -4.55295093e-03 -1.71010137e+01] [-1.00175759e-02 9.77919712e-05 9.99949818e-01 -1.51375361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.406559995 meters 0.012677515523595568 Centerline is valid? [True, True] Translation: X:74.90, Y:-17.12, Z:-1.51 [[ 8.94779165e-01 4.46424360e-01 8.69119280e-03 7.48956908e+01] [-4.46402328e-01 8.94821369e-01 -4.43606096e-03 -1.71155423e+01] [-9.75743072e-03 8.95262205e-05 9.99952391e-01 -1.51394142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.436559995 meters 0.012360966655820857 Centerline is valid? [True, True] Translation: X:74.92, Y:-17.13, Z:-1.51 [[ 8.94533137e-01 4.46918065e-01 8.64349065e-03 7.49249090e+01] [-4.46896270e-01 8.94574891e-01 -4.41453881e-03 -1.71298491e+01] [-9.70518685e-03 8.62075136e-05 9.99952900e-01 -1.51355283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.466559995 meters 0.012151323328609158 Centerline is valid? [True, True] Translation: X:74.95, Y:-17.14, Z:-1.51 [[ 8.93905029e-01 4.48157133e-01 9.43312881e-03 7.49532685e+01] [-4.48131197e-01 8.93954796e-01 -4.82210376e-03 -1.71440372e+01] [-1.05938509e-02 8.32234957e-05 9.99943880e-01 -1.51351907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.496559995 meters 0.012041074824011061 Centerline is valid? [True, True] Translation: X:74.98, Y:-17.16, Z:-1.51 [[ 8.93525080e-01 4.48903784e-01 9.91588202e-03 7.49813401e+01] [-4.48875133e-01 8.93580095e-01 -5.07239964e-03 -1.71584541e+01] [-1.11376542e-02 8.13234292e-05 9.99937971e-01 -1.51420569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.526559995 meters 0.011806984767479807 Centerline is valid? [True, True] Translation: X:75.01, Y:-17.17, Z:-1.51 [[ 8.92876160e-01 4.50182827e-01 1.03723313e-02 7.50096221e+01] [-4.50151528e-01 8.92936402e-01 -5.30890237e-03 -1.71728114e+01] [-1.16518089e-02 7.10715724e-05 9.99932113e-01 -1.51471269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.556559995 meters 0.011740003349754984 Centerline is valid? [True, True] Translation: X:75.04, Y:-17.19, Z:-1.52 [[ 8.92508024e-01 4.50910415e-01 1.04510221e-02 7.50377561e+01] [-4.50878653e-01 8.92569209e-01 -5.35228915e-03 -1.71875497e+01] [-1.17416634e-02 6.48182545e-05 9.99931062e-01 -1.51528516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.586559995 meters 0.011497636880188799 Centerline is valid? [True, True] Translation: X:75.07, Y:-17.20, Z:-1.52 [[ 8.91934152e-01 4.52013740e-01 1.17067267e-02 7.50660570e+01] [-4.51973920e-01 8.92010973e-01 -6.00001726e-03 -1.72028269e+01] [-1.31546189e-02 6.04851604e-05 9.99913472e-01 -1.51524302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.616559995 meters 0.01140497901892297 Centerline is valid? [True, True] Translation: X:75.10, Y:-17.22, Z:-1.52 [[ 8.91506800e-01 4.52851527e-01 1.18794195e-02 7.50953892e+01] [-4.52810552e-01 8.91585942e-01 -6.09198260e-03 -1.72181670e+01] [-1.33502870e-02 5.19174214e-05 9.99910880e-01 -1.51528874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.646559995 meters 0.01132305512040687 Centerline is valid? [True, True] Translation: X:75.12, Y:-17.23, Z:-1.52 [[ 8.90898705e-01 4.54050750e-01 1.17223395e-02 7.51236397e+01] [-4.54010899e-01 8.90975822e-01 -6.01567395e-03 -1.72329941e+01] [-1.31757423e-02 3.72862364e-05 9.99913195e-01 -1.51600483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.676559995 meters 0.011229755103816593 Centerline is valid? [True, True] Translation: X:75.15, Y:-17.25, Z:-1.52 [[ 8.89536578e-01 4.56734253e-01 1.08856706e-02 7.51529250e+01] [-4.56700051e-01 8.89603182e-01 -5.58941348e-03 -1.72469850e+01] [-1.22368038e-02 5.01414043e-07 9.99925128e-01 -1.51751201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.706559995 meters 0.011229755103816593 Centerline is valid? [True, True] Translation: X:75.18, Y:-17.26, Z:-1.52 [[ 8.89411466e-01 4.56977877e-01 1.08841402e-02 7.51817188e+01] [-4.56943657e-01 8.89478060e-01 -5.59239145e-03 -1.72618698e+01] [-1.22368031e-02 4.98250691e-07 9.99925128e-01 -1.51815038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.73655999500001 meters 0.011294800377515119 Centerline is valid? [True, True] Translation: X:75.21, Y:-17.28, Z:-1.52 [[ 8.88730919e-01 4.58318305e-01 1.00839015e-02 7.52113746e+01] [-4.58288984e-01 8.88788125e-01 -5.18427361e-03 -1.72766785e+01] [-1.13384994e-02 -1.39167061e-05 9.99935717e-01 -1.51964219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.766559995 meters 0.01121952247664388 Centerline is valid? [True, True] Translation: X:75.24, Y:-17.29, Z:-1.52 [[ 8.88248758e-01 4.59268515e-01 9.30450782e-03 7.52405923e+01] [-4.59243575e-01 8.88297490e-01 -4.78626425e-03 -1.72920082e+01] [-1.04633514e-02 -2.16421614e-05 9.99945257e-01 -1.52076625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.796559995 meters 0.011189632071151508 Centerline is valid? [True, True] Translation: X:75.27, Y:-17.31, Z:-1.52 [[ 8.87858630e-01 4.60027486e-01 9.04246931e-03 7.52692146e+01] [-4.60003939e-01 8.87904675e-01 -4.65451229e-03 -1.73077044e+01] [-1.01700544e-02 -2.70225969e-05 9.99948283e-01 -1.52199831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.826559995 meters 0.011158721677436038 Centerline is valid? [True, True] Translation: X:75.30, Y:-17.32, Z:-1.52 [[ 8.88080552e-01 4.59602473e-01 8.86003211e-03 7.52960292e+01] [-4.59579814e-01 8.88124747e-01 -4.56379578e-03 -1.73246421e+01] [-9.96634560e-03 -1.88736303e-05 9.99950335e-01 -1.52260877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.856559995 meters 0.01108063325191689 Centerline is valid? [True, True] Translation: X:75.32, Y:-17.34, Z:-1.52 [[ 8.88395310e-01 4.58992774e-01 8.91104339e-03 7.53247445e+01] [-4.58969795e-01 8.88440000e-01 -4.59278386e-03 -1.73415748e+01] [-1.00249820e-02 -9.69212298e-06 9.99949749e-01 -1.52251292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.886559995 meters 0.011052074132970251 Centerline is valid? [True, True] Translation: X:75.35, Y:-17.36, Z:-1.52 [[ 8.89462465e-01 4.56904632e-01 9.73036787e-03 7.53513466e+01] [-4.56877062e-01 8.89515687e-01 -5.01927237e-03 -1.73590711e+01] [-1.09486437e-02 1.88724927e-05 9.99940062e-01 -1.52283168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.916559995 meters 0.011026913813476698 Centerline is valid? [True, True] Translation: X:75.38, Y:-17.38, Z:-1.52 [[ 8.89931558e-01 4.55977368e-01 1.03179937e-02 7.53801939e+01] [-4.55946264e-01 8.89991370e-01 -5.32599006e-03 -1.73755002e+01] [-1.16114563e-02 3.53159327e-05 9.99932584e-01 -1.52320303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.946559995 meters 0.011094083435308422 Centerline is valid? [True, True] Translation: X:75.41, Y:-17.39, Z:-1.52 [[ 8.90284114e-01 4.55277826e-01 1.07841691e-02 7.54089994e+01] [-4.55243746e-01 8.90349425e-01 -5.57069429e-03 -1.73918050e+01] [-1.21378923e-02 5.00750865e-05 9.99926332e-01 -1.52377650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.976559995 meters 0.011096013875936245 Centerline is valid? [True, True] Translation: X:75.44, Y:-17.41, Z:-1.52 [[ 8.90420945e-01 4.54995154e-01 1.13996150e-02 7.54380871e+01] [-4.54956995e-01 8.90493911e-01 -5.89292528e-03 -1.74078718e+01] [-1.28325402e-02 6.08494937e-05 9.99917658e-01 -1.52428188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.006559995 meters 0.01099359000169253 Centerline is valid? [True, True] Translation: X:75.47, Y:-17.42, Z:-1.52 [[ 8.90348567e-01 4.55131948e-01 1.15904756e-02 7.54661218e+01] [-4.55092456e-01 8.90424003e-01 -5.99591605e-03 -1.74236558e+01] [-1.30493707e-02 6.37172461e-05 9.99914851e-01 -1.52456892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.036559995 meters 0.010847285899844033 Centerline is valid? [True, True] Translation: X:75.50, Y:-17.44, Z:-1.53 [[ 8.89796545e-01 4.56215418e-01 1.13842105e-02 7.54954905e+01] [-4.56177362e-01 8.89869367e-01 -5.89272201e-03 -1.74386645e+01] [-1.28188108e-02 5.01045597e-05 9.99917834e-01 -1.52517008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.066559995 meters 0.01083572751156799 Centerline is valid? [True, True] Translation: X:75.52, Y:-17.45, Z:-1.53 [[ 8.89139095e-01 4.57508781e-01 1.08344099e-02 7.55246543e+01] [-4.57474366e-01 8.89205102e-01 -5.61161339e-03 -1.74532173e+01] [-1.22013750e-02 3.30400364e-05 9.99925560e-01 -1.52619432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.096559995 meters 0.010617122211079992 Centerline is valid? [True, True] Translation: X:75.55, Y:-17.47, Z:-1.53 [[ 8.88247459e-01 4.59243863e-01 1.05605480e-02 7.55541526e+01] [-4.59211248e-01 8.88310235e-01 -5.47316312e-03 -1.74674728e+01] [-1.18945595e-02 1.20007865e-05 9.99929257e-01 -1.52654031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.126559995 meters 0.010589653456640959 Centerline is valid? [True, True] Translation: X:75.58, Y:-17.48, Z:-1.53 [[ 8.86306876e-01 4.62976428e-01 1.06277388e-02 7.55838367e+01] [-4.62943617e-01 8.86370592e-01 -5.51200910e-03 -1.74799869e+01] [-1.19720454e-02 -3.47122656e-05 9.99928332e-01 -1.52732985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.156559995 meters 0.010748967729034413 Centerline is valid? [True, True] Translation: X:75.61, Y:-17.49, Z:-1.53 [[ 8.85056628e-01 4.65354992e-01 1.09314923e-02 7.56142984e+01] [-4.65320413e-01 8.85124131e-01 -5.67325822e-03 -1.74938108e+01] [-1.23158067e-02 -6.54917342e-05 9.99924155e-01 -1.52768326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.186559995 meters 0.011025677016724788 Centerline is valid? [True, True] Translation: X:75.64, Y:-17.51, Z:-1.53 [[ 8.83791061e-01 4.67743309e-01 1.13822931e-02 7.56446197e+01] [-4.67705963e-01 8.83864349e-01 -5.91147155e-03 -1.75073769e+01] [-1.28254544e-02 -9.90606535e-05 9.99917746e-01 -1.52766246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.216559995 meters 0.011771125693396098 Centerline is valid? [True, True] Translation: X:75.67, Y:-17.52, Z:-1.53 [[ 8.81423274e-01 4.72177792e-01 1.18804207e-02 7.56743896e+01] [-4.72137433e-01 8.81503321e-01 -6.17568560e-03 -1.75179873e+01] [-1.33886519e-02 -1.65798329e-04 9.99910354e-01 -1.52836010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.246559995 meters 0.012183408530241026 Centerline is valid? [True, True] Translation: X:75.70, Y:-17.53, Z:-1.53 [[ 8.80263332e-01 4.74337775e-01 1.18381297e-02 7.57037402e+01] [-4.74297883e-01 8.80342909e-01 -6.15478387e-03 -1.75312049e+01] [-1.33410600e-02 -1.96969301e-04 9.99910985e-01 -1.52923215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.276559995 meters 0.012183408530241026 Centerline is valid? [True, True] Translation: X:75.73, Y:-17.55, Z:-1.53 [[ 8.80130803e-01 4.74583673e-01 1.18367320e-02 7.57324621e+01] [-4.74543767e-01 8.80210372e-01 -6.15747032e-03 -1.75462316e+01] [-1.33410492e-02 -1.97668124e-04 9.99910985e-01 -1.52987033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.306559995 meters 0.013137687886119596 Centerline is valid? [True, True] Translation: X:75.76, Y:-17.56, Z:-1.53 [[ 8.78416035e-01 4.77775174e-01 1.07774506e-02 7.57613239e+01] [-4.77742286e-01 8.78482120e-01 -5.61016424e-03 -1.75573312e+01] [-1.21481948e-02 -2.20785656e-04 9.99926184e-01 -1.53154572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.336559995 meters 0.013246553005565681 Centerline is valid? [True, True] Translation: X:75.79, Y:-17.57, Z:-1.53 [[ 8.77877825e-01 4.78775091e-01 1.02438047e-02 7.57901494e+01] [-4.78745418e-01 8.77937562e-01 -5.33489361e-03 -1.75718624e+01] [-1.15476351e-02 -2.20789771e-04 9.99933299e-01 -1.53246686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.366559995 meters 0.01299737718748083 Centerline is valid? [True, True] Translation: X:75.82, Y:-17.59, Z:-1.53 [[ 8.77607456e-01 4.79274896e-01 1.00362707e-02 7.58191683e+01] [-4.79246417e-01 8.77664814e-01 -5.22943275e-03 -1.75878721e+01] [-1.13148175e-02 -2.20457617e-04 9.99935961e-01 -1.53295269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.396559995 meters 0.013666860183898831 Centerline is valid? [True, True] Translation: X:75.85, Y:-17.60, Z:-1.53 [[ 8.77651531e-01 4.79203519e-01 9.58008527e-03 7.58482288e+01] [-4.79177520e-01 8.77703791e-01 -4.99596814e-03 -1.76019093e+01] [-1.08025627e-02 -2.05842415e-04 9.99941629e-01 -1.53446003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.426559995 meters 0.012895955080629923 Centerline is valid? [True, True] Translation: X:75.88, Y:-17.62, Z:-1.54 [[ 8.78423437e-01 4.77807554e-01 8.49746443e-03 7.58755216e+01] [-4.77787027e-01 8.78464520e-01 -4.43211291e-03 -1.76184654e+01] [-9.58241805e-03 -1.66706416e-04 9.99954074e-01 -1.53537474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.456559995 meters 0.013037030599626737 Centerline is valid? [True, True] Translation: X:75.90, Y:-17.63, Z:-1.54 [[ 8.78981929e-01 4.76787683e-01 8.01714882e-03 7.59028741e+01] [-4.76769347e-01 8.79018478e-01 -4.18396784e-03 -1.76333673e+01] [-9.04208629e-03 -1.44698683e-04 9.99959109e-01 -1.53669648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.48655999500001 meters 0.012444680272339342 Centerline is valid? [True, True] Translation: X:75.93, Y:-17.65, Z:-1.54 [[ 8.79614067e-01 4.75616895e-01 8.22575445e-03 7.59301257e+01] [-4.75597519e-01 8.79652517e-01 -4.29513038e-03 -1.76496487e+01] [-9.27864218e-03 -1.34091308e-04 9.99956943e-01 -1.53702389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.516559995 meters 0.01163699897789409 Centerline is valid? [True, True] Translation: X:75.96, Y:-17.67, Z:-1.54 [[ 8.80321828e-01 4.74299390e-01 8.57718109e-03 7.59569473e+01] [-4.74278236e-01 8.80363603e-01 -4.48131182e-03 -1.76667684e+01] [-9.67652152e-03 -1.22973699e-04 9.99953174e-01 -1.53660702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.546559995 meters 0.010925835402022795 Centerline is valid? [True, True] Translation: X:75.98, Y:-17.68, Z:-1.54 [[ 8.82365932e-01 4.70481737e-01 8.79187692e-03 7.59833422e+01] [-4.70459291e-01 8.82409728e-01 -4.59637859e-03 -1.76842295e+01] [-9.92054991e-03 -8.05322992e-05 9.99950787e-01 -1.53730489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.576559995 meters 0.01056841269641872 Centerline is valid? [True, True] Translation: X:76.01, Y:-17.70, Z:-1.54 [[ 8.83525322e-01 4.68292743e-01 9.21477596e-03 7.60109448e+01] [-4.68267934e-01 8.83573372e-01 -4.82059378e-03 -1.77012960e+01] [-1.03993798e-02 -5.58674255e-05 9.99945923e-01 -1.53808259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.606559995 meters 0.010404628810566518 Centerline is valid? [True, True] Translation: X:76.04, Y:-17.72, Z:-1.54 [[ 8.84873652e-01 4.65741818e-01 9.12020546e-03 7.60375752e+01] [-4.65717350e-01 8.84920651e-01 -4.77405726e-03 -1.77181993e+01] [-1.02941363e-02 -2.30004329e-05 9.99947014e-01 -1.53917623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.636559995 meters 0.010498307334187648 Centerline is valid? [True, True] Translation: X:76.06, Y:-17.74, Z:-1.54 [[ 8.87367490e-01 4.60962173e-01 9.63387582e-03 7.60647168e+01] [-4.60934562e-01 8.87419784e-01 -5.04541110e-03 -1.77370206e+01] [-1.08750357e-02 3.65474554e-05 9.99940864e-01 -1.53919540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.666559995 meters 0.01063050805990229 Centerline is valid? [True, True] Translation: X:76.09, Y:-17.75, Z:-1.54 [[ 8.87951842e-01 4.59825185e-01 1.01156472e-02 7.60939231e+01] [-4.59794625e-01 8.88009457e-01 -5.30154024e-03 -1.77529995e+01] [-1.14205721e-02 5.63922238e-05 9.99934782e-01 -1.53931550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.696559995 meters 0.010715083798342287 Centerline is valid? [True, True] Translation: X:76.12, Y:-17.77, Z:-1.54 [[ 8.88523125e-01 4.58717107e-01 1.02602296e-02 7.61225671e+01] [-4.58685551e-01 8.88582360e-01 -5.38099913e-03 -1.77693000e+01] [-1.15854154e-02 7.49230692e-05 9.99932884e-01 -1.53943384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.726559995 meters 0.01083387089543363 Centerline is valid? [True, True] Translation: X:76.15, Y:-17.78, Z:-1.54 [[ 8.88695542e-01 4.58383497e-01 1.02373603e-02 7.61512590e+01] [-4.58352018e-01 8.88754501e-01 -5.37260640e-03 -1.77847519e+01] [-1.15612141e-02 8.22966160e-05 9.99933164e-01 -1.53951042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.756559995 meters 0.010654495164846178 Centerline is valid? [True, True] Translation: X:76.18, Y:-17.80, Z:-1.54 [[ 8.88143616e-01 4.59450417e-01 1.03068885e-02 7.61815154e+01] [-4.59418537e-01 8.88203416e-01 -5.41281684e-03 -1.77987218e+01] [-1.16415345e-02 7.21830749e-05 9.99932232e-01 -1.54008374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.786559995 meters 0.010644697955792625 Centerline is valid? [True, True] Translation: X:76.21, Y:-17.81, Z:-1.54 [[ 8.87584213e-01 4.60531537e-01 1.02454421e-02 7.62107175e+01] [-4.60500066e-01 8.87643341e-01 -5.38419851e-03 -1.78131506e+01] [-1.15738917e-02 6.09028191e-05 9.99933018e-01 -1.54064497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.816559995 meters 0.010503805420387232 Centerline is valid? [True, True] Translation: X:76.24, Y:-17.83, Z:-1.54 [[ 8.86671875e-01 4.62293509e-01 9.88423039e-03 7.62406737e+01] [-4.62264291e-01 8.86726965e-01 -5.19765135e-03 -1.78259360e+01] [-1.11674541e-02 3.94845171e-05 9.99937641e-01 -1.54173818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.846559995 meters 0.010430126978144856 Centerline is valid? [True, True] Translation: X:76.27, Y:-17.84, Z:-1.54 [[ 8.86087038e-01 4.63419139e-01 9.61573203e-03 7.62701281e+01] [-4.63391517e-01 8.86139211e-01 -5.05971951e-03 -1.78396633e+01] [-1.08656481e-02 2.75032259e-05 9.99940967e-01 -1.54267564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.876559995 meters 0.010260549892719607 Centerline is valid? [True, True] Translation: X:76.30, Y:-17.85, Z:-1.54 [[ 8.85013276e-01 4.65461886e-01 9.83531920e-03 7.63006330e+01] [-4.65433074e-01 8.85067925e-01 -5.17894456e-03 -1.78524525e+01] [-1.11155269e-02 5.75184976e-06 9.99938221e-01 -1.54277170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.906559995 meters 0.010329909927022273 Centerline is valid? [True, True] Translation: X:76.33, Y:-17.87, Z:-1.54 [[ 8.84351081e-01 4.66708756e-01 1.03006563e-02 7.63295148e+01] [-4.66677188e-01 8.84411068e-01 -5.42815299e-03 -1.78664845e+01] [-1.16433810e-02 -6.68836425e-06 9.99932214e-01 -1.54324596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.936559995 meters 0.01043950643647546 Centerline is valid? [True, True] Translation: X:76.36, Y:-17.88, Z:-1.54 [[ 8.83559990e-01 4.68207528e-01 1.01712774e-02 7.63579454e+01] [-4.68176809e-01 8.83618532e-01 -5.36333396e-03 -1.78800786e+01] [-1.14986825e-02 -2.31288844e-05 9.99933888e-01 -1.54414898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.966559995 meters 0.010373304356356585 Centerline is valid? [True, True] Translation: X:76.39, Y:-17.89, Z:-1.54 [[ 8.82910824e-01 4.69435096e-01 9.95829256e-03 7.63879858e+01] [-4.69405695e-01 8.82966981e-01 -5.25402928e-03 -1.78946502e+01] [-1.12592693e-02 -3.56399138e-05 9.99936612e-01 -1.54432523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.996559995 meters 0.010551813337974116 Centerline is valid? [True, True] Translation: X:76.42, Y:-17.91, Z:-1.55 [[ 8.82115416e-01 4.70934181e-01 9.66390370e-03 7.64174026e+01] [-4.70906535e-01 8.82168348e-01 -5.10302014e-03 -1.79081215e+01] [-1.09283766e-02 -4.93426650e-05 9.99940282e-01 -1.54569871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.026559995 meters 0.010623211068171955 Centerline is valid? [True, True] Translation: X:76.45, Y:-17.92, Z:-1.55 [[ 8.81242678e-01 4.72568757e-01 9.49277023e-03 7.64469923e+01] [-4.72542165e-01 8.81293802e-01 -5.01367500e-03 -1.79220979e+01] [-1.07352257e-02 -6.74698107e-05 9.99942374e-01 -1.54624117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.056559995 meters 0.011411435912905391 Centerline is valid? [True, True] Translation: X:76.48, Y:-17.93, Z:-1.55 [[ 8.79575375e-01 4.75667764e-01 9.34545167e-03 7.64763867e+01] [-4.75642116e-01 8.79625016e-01 -4.94055936e-03 -1.79327619e+01] [-1.05705579e-02 -9.94960502e-05 9.99944125e-01 -1.54780620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.086559995 meters 0.011627561883343346 Centerline is valid? [True, True] Translation: X:76.51, Y:-17.95, Z:-1.55 [[ 8.78264624e-01 4.78083143e-01 9.36794131e-03 7.65061905e+01] [-4.78057504e-01 8.78314575e-01 -4.95288576e-03 -1.79454404e+01] [-1.05958906e-02 -1.28470289e-04 9.99943854e-01 -1.54773660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.116559995 meters 0.011627561883343346 Centerline is valid? [True, True] Translation: X:76.53, Y:-17.96, Z:-1.55 [[ 8.78133227e-01 4.78324467e-01 9.36689970e-03 7.65348068e+01] [-4.78298821e-01 8.78183174e-01 -4.95485448e-03 -1.79606734e+01] [-1.05958818e-02 -1.29154733e-04 9.99943854e-01 -1.54837477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.146559995 meters 0.011967446738411656 Centerline is valid? [True, True] Translation: X:76.56, Y:-17.97, Z:-1.55 [[ 8.77403663e-01 4.79670387e-01 8.89557437e-03 7.65641827e+01] [-4.79647293e-01 8.77448746e-01 -4.70873759e-03 -1.79745290e+01] [-1.00640526e-02 -1.35274556e-04 9.99949347e-01 -1.54896761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.176559995 meters 0.012055762878848277 Centerline is valid? [True, True] Translation: X:76.59, Y:-17.99, Z:-1.55 [[ 8.76684217e-01 4.80994790e-01 8.29430875e-03 7.65931640e+01] [-4.80974752e-01 8.76723441e-01 -4.39261806e-03 -1.79879328e+01] [-9.38464131e-03 -1.38414177e-04 9.99955954e-01 -1.54955293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.206559995 meters 0.012248559875418254 Centerline is valid? [True, True] Translation: X:76.62, Y:-18.00, Z:-1.55 [[ 8.76790262e-01 4.80816012e-01 7.40269585e-03 7.66221731e+01] [-4.80800031e-01 8.76821503e-01 -3.92194454e-03 -1.80015809e+01] [-8.37657663e-03 -1.20493620e-04 9.99964909e-01 -1.55126384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.23655999500001 meters 0.012510192171704227 Centerline is valid? [True, True] Translation: X:76.65, Y:-18.02, Z:-1.55 [[ 8.77170006e-01 4.80129691e-01 6.94699008e-03 7.66506787e+01] [-4.80115581e-01 8.77197508e-01 -3.68252597e-03 -1.80153866e+01] [-7.86197244e-03 -1.05156846e-04 9.99969089e-01 -1.55319973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.266559995 meters 0.011466437646870865 Centerline is valid? [True, True] Translation: X:76.68, Y:-18.03, Z:-1.55 [[ 8.77802301e-01 4.78968396e-01 7.23849510e-03 7.66781450e+01] [-4.78953015e-01 8.77832140e-01 -3.83976716e-03 -1.80323330e+01] [-8.19331077e-03 -9.63426005e-05 9.99966430e-01 -1.55217832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.296559995 meters 0.011200204056573583 Centerline is valid? [True, True] Translation: X:76.71, Y:-18.05, Z:-1.55 [[ 8.78504301e-01 4.77676137e-01 7.46328815e-03 7.67050145e+01] [-4.77659715e-01 8.78535999e-01 -3.96175401e-03 -1.80472735e+01] [-8.44920266e-03 -8.44941522e-05 9.99964301e-01 -1.55248340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.326559995 meters 0.010809918430436508 Centerline is valid? [True, True] Translation: X:76.73, Y:-18.06, Z:-1.55 [[ 8.79274533e-01 4.76245677e-01 8.14563931e-03 7.67328905e+01] [-4.76226030e-01 8.79312259e-01 -4.32653633e-03 -1.80634908e+01] [-9.22305473e-03 -7.49522624e-05 9.99957464e-01 -1.55207597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.356559995 meters 0.010445247330279347 Centerline is valid? [True, True] Translation: X:76.76, Y:-18.08, Z:-1.55 [[ 8.80986940e-01 4.73063114e-01 8.56161371e-03 7.67599489e+01] [-4.73041230e-01 8.81028540e-01 -4.55047154e-03 -1.80800098e+01] [-9.69568627e-03 -4.10902791e-05 9.99952995e-01 -1.55194715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.386559995 meters 0.010418995992173309 Centerline is valid? [True, True] Translation: X:76.79, Y:-18.10, Z:-1.55 [[ 8.81745112e-01 4.71639761e-01 9.02733043e-03 7.67868324e+01] [-4.71615323e-01 8.81791322e-01 -4.80132248e-03 -1.80954170e+01] [-1.02247162e-02 -2.38847272e-05 9.99947726e-01 -1.55233869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.416559995 meters 0.010355846724216041 Centerline is valid? [True, True] Translation: X:76.82, Y:-18.11, Z:-1.55 [[ 8.82478764e-01 4.70266489e-01 8.98111082e-03 7.68159943e+01] [-4.70242209e-01 8.82524464e-01 -4.77869124e-03 -1.81117497e+01] [-1.01733084e-02 -6.20384643e-06 9.99948251e-01 -1.55162112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.446559995 meters 0.010355846724216041 Centerline is valid? [True, True] Translation: X:76.84, Y:-18.13, Z:-1.55 [[ 8.82349126e-01 4.70509706e-01 8.97979215e-03 7.68445691e+01] [-4.70485413e-01 8.82394819e-01 -4.78116717e-03 -1.81270558e+01] [-1.01733076e-02 -6.20254188e-06 9.99948251e-01 -1.55225951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.476559995 meters 0.010319432923035592 Centerline is valid? [True, True] Translation: X:76.87, Y:-18.14, Z:-1.55 [[ 8.81934126e-01 4.71281362e-01 9.27768972e-03 7.68745306e+01] [-4.71255437e-01 8.81982924e-01 -4.94321583e-03 -1.81408864e+01] [-1.05124094e-02 -1.25709884e-05 9.99944743e-01 -1.55215281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.506559995 meters 0.01028238004021809 Centerline is valid? [True, True] Translation: X:76.90, Y:-18.15, Z:-1.55 [[ 8.81461590e-01 4.72156400e-01 9.68502349e-03 7.69031425e+01] [-4.72128158e-01 8.81514795e-01 -5.16419895e-03 -1.81545576e+01] [-1.09758011e-02 -2.05292900e-05 9.99939764e-01 -1.55283940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.536559995 meters 0.01033568366447193 Centerline is valid? [True, True] Translation: X:76.93, Y:-18.17, Z:-1.55 [[ 8.80849675e-01 4.73295465e-01 9.75980426e-03 7.69327242e+01] [-4.73266820e-01 8.80903742e-01 -5.20722832e-03 -1.81683363e+01] [-1.10620056e-02 -3.22061512e-05 9.99938814e-01 -1.55331356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.566559995 meters 0.010371680427716539 Centerline is valid? [True, True] Translation: X:76.96, Y:-18.18, Z:-1.55 [[ 8.80152036e-01 4.74594908e-01 9.59513507e-03 7.69621950e+01] [-4.74567263e-01 8.80204335e-01 -5.12268017e-03 -1.81820529e+01] [-1.08768774e-02 -4.47996063e-05 9.99940844e-01 -1.55424821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.596559995 meters 0.010542702276002689 Centerline is valid? [True, True] Translation: X:76.99, Y:-18.19, Z:-1.56 [[ 8.79001446e-01 4.76741082e-01 8.62552027e-03 7.69908278e+01] [-4.76718815e-01 8.79043763e-01 -4.60808937e-03 -1.81938352e+01] [-9.77907531e-03 -6.14305857e-05 9.99952182e-01 -1.55611108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.626559995 meters 0.010579850859059716 Centerline is valid? [True, True] Translation: X:77.02, Y:-18.21, Z:-1.56 [[ 8.78463625e-01 4.77746391e-01 7.74886216e-03 7.70192218e+01] [-4.77728447e-01 8.78497798e-01 -4.14117365e-03 -1.82082648e+01] [-8.78578912e-03 -6.39814667e-05 9.99961402e-01 -1.55659300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.656559995 meters 0.0108348565690687 Centerline is valid? [True, True] Translation: X:77.05, Y:-18.22, Z:-1.56 [[ 8.77798077e-01 4.78986000e-01 6.55343175e-03 7.70480545e+01] [-4.78973189e-01 8.77822538e-01 -3.50381789e-03 -1.82211829e+01] [-7.43102980e-03 -6.32734952e-05 9.99972388e-01 -1.55902182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.686559995 meters 0.010920094333655263 Centerline is valid? [True, True] Translation: X:77.08, Y:-18.24, Z:-1.56 [[ 8.77667626e-01 4.79228616e-01 6.28260407e-03 7.70764519e+01] [-4.79216839e-01 8.77690110e-01 -3.36026802e-03 -1.82354525e+01] [-7.12451605e-03 -6.15312028e-05 9.99974618e-01 -1.56020623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.716559995 meters 0.010731460302609002 Centerline is valid? [True, True] Translation: X:77.11, Y:-18.25, Z:-1.56 [[ 8.77649630e-01 4.79262334e-01 6.22427165e-03 7.71053199e+01] [-4.79250764e-01 8.77671699e-01 -3.33074079e-03 -1.82508576e+01] [-7.05916568e-03 -5.97635191e-05 9.99975082e-01 -1.56043980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.746559995 meters 0.010624710552176335 Centerline is valid? [True, True] Translation: X:77.13, Y:-18.27, Z:-1.56 [[ 8.78009370e-01 4.78593386e-01 6.92227438e-03 7.71332075e+01] [-4.78579014e-01 8.78036655e-01 -3.70934716e-03 -1.82650656e+01] [-7.85327966e-03 -5.60136812e-05 9.99969161e-01 -1.56092995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.776559995 meters 0.010476432041868933 Centerline is valid? [True, True] Translation: X:77.16, Y:-18.28, Z:-1.56 [[ 8.78204886e-01 4.78226567e-01 7.45178335e-03 7.71616492e+01] [-4.78209897e-01 8.78236499e-01 -3.99329667e-03 -1.82803582e+01] [-8.45412868e-03 -5.65838986e-05 9.99964262e-01 -1.56077946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.806559995 meters 0.010480588446032595 Centerline is valid? [True, True] Translation: X:77.19, Y:-18.29, Z:-1.56 [[ 8.78201896e-01 4.78223115e-01 8.00506350e-03 7.71887297e+01] [-4.78203850e-01 8.78238378e-01 -4.29295929e-03 -1.82946489e+01] [-9.08334635e-03 -5.79671929e-05 9.99958744e-01 -1.56132530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.836559995 meters 0.010523972684442048 Centerline is valid? [True, True] Translation: X:77.22, Y:-18.31, Z:-1.56 [[ 8.78111527e-01 4.78381716e-01 8.43096391e-03 7.72176514e+01] [-4.78360332e-01 8.78151997e-01 -4.52351549e-03 -1.83104134e+01] [-9.56763490e-03 -6.08876030e-05 9.99954227e-01 -1.56151231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.866559995 meters 0.010523972684442048 Centerline is valid? [True, True] Translation: X:77.25, Y:-18.33, Z:-1.56 [[ 8.77979382e-01 4.78624221e-01 8.42971303e-03 7.72461761e+01] [-4.78602827e-01 8.78019847e-01 -4.52584454e-03 -1.83258220e+01] [-9.56763416e-03 -6.08862888e-05 9.99954227e-01 -1.56215070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.896559995 meters 0.01069630614938491 Centerline is valid? [True, True] Translation: X:77.28, Y:-18.34, Z:-1.56 [[ 8.77416978e-01 4.79648523e-01 8.76013226e-03 7.72755951e+01] [-4.79625436e-01 8.77460705e-01 -4.70660408e-03 -1.83404172e+01] [-9.94418753e-03 -7.19279296e-05 9.99950553e-01 -1.56240814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.926559995 meters 0.01071534792786652 Centerline is valid? [True, True] Translation: X:77.31, Y:-18.36, Z:-1.56 [[ 8.76838370e-01 4.80706803e-01 8.68573676e-03 7.73051912e+01] [-4.80684129e-01 8.76881385e-01 -4.66959254e-03 -1.83554380e+01] [-9.86106578e-03 -8.06178964e-05 9.99951375e-01 -1.56269902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.956559995 meters 0.010989952789393326 Centerline is valid? [True, True] Translation: X:77.33, Y:-18.37, Z:-1.56 [[ 8.75519280e-01 4.83103999e-01 8.74735171e-03 7.73348239e+01] [-4.83081085e-01 8.75562971e-01 -4.70635143e-03 -1.83684311e+01] [-9.93251445e-03 -1.05178738e-04 9.99950666e-01 -1.56410252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.98655999500001 meters 0.011828694627846454 Centerline is valid? [True, True] Translation: X:77.36, Y:-18.38, Z:-1.57 [[ 8.74599548e-01 4.84771255e-01 8.51241093e-03 7.73634879e+01] [-4.84749597e-01 8.74640964e-01 -4.58379763e-03 -1.83808485e+01] [-9.66739664e-03 -1.17400438e-04 9.99953263e-01 -1.56575995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.016559995 meters 0.011855241589231008 Centerline is valid? [True, True] Translation: X:77.39, Y:-18.40, Z:-1.57 [[ 8.73597673e-01 4.86574857e-01 8.48611732e-03 7.73921009e+01] [-4.86553416e-01 8.73638878e-01 -4.56987444e-03 -1.83955016e+01] [-9.63738801e-03 -1.36717691e-04 9.99953550e-01 -1.56574222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.046559995 meters 0.012315550223255794 Centerline is valid? [True, True] Translation: X:77.42, Y:-18.41, Z:-1.57 [[ 8.72422788e-01 4.88682964e-01 8.21211480e-03 7.74210115e+01] [-4.88662956e-01 8.72461424e-01 -4.42470685e-03 -1.84093515e+01] [-9.32703224e-03 -1.52741204e-04 9.99956491e-01 -1.56661632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.076559995 meters 0.013101741189337398 Centerline is valid? [True, True] Translation: X:77.45, Y:-18.42, Z:-1.57 [[ 8.70884203e-01 4.91429169e-01 7.62081196e-03 7.74499186e+01] [-4.91412024e-01 8.70917530e-01 -4.10834051e-03 -1.84221073e+01] [-8.65605709e-03 -1.67069781e-04 9.99962522e-01 -1.56799259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.106559995 meters 0.013465661167313842 Centerline is valid? [True, True] Translation: X:77.48, Y:-18.44, Z:-1.57 [[ 8.70309276e-01 4.92442260e-01 7.89833649e-03 7.74788970e+01] [-4.92423865e-01 8.70345097e-01 -4.26024703e-03 -1.84365309e+01] [-8.97220412e-03 -1.81596871e-04 9.99959732e-01 -1.56930088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.136559995 meters 0.013573002458563813 Centerline is valid? [True, True] Translation: X:77.51, Y:-18.45, Z:-1.57 [[ 8.69890382e-01 4.93175359e-01 8.29387905e-03 7.75086507e+01] [-4.93155085e-01 8.69929898e-01 -4.47605718e-03 -1.84516249e+01] [-9.42257446e-03 -1.96489541e-04 9.99955587e-01 -1.57025014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.166559995 meters 0.014013695437104833 Centerline is valid? [True, True] Translation: X:77.54, Y:-18.47, Z:-1.57 [[ 8.69632555e-01 4.93609418e-01 9.43198918e-03 7.75376909e+01] [-4.93583177e-01 8.69683673e-01 -5.09469749e-03 -1.84660060e+01] [-1.07176377e-02 -2.24956392e-04 9.99942539e-01 -1.57059767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.196559995 meters 0.014013695437104833 Centerline is valid? [True, True] Translation: X:77.57, Y:-18.48, Z:-1.57 [[ 8.69497663e-01 4.93847016e-01 9.43073848e-03 7.75661802e+01] [-4.93820763e-01 8.69548776e-01 -5.09701104e-03 -1.84815033e+01] [-1.07176308e-02 -2.25255287e-04 9.99942539e-01 -1.57123609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.226559995 meters 0.013221789418614039 Centerline is valid? [True, True] Translation: X:77.59, Y:-18.50, Z:-1.57 [[ 8.69662994e-01 4.93544603e-01 1.00001084e-02 7.75935424e+01] [-4.93515017e-01 8.69720456e-01 -5.40889584e-03 -1.84983284e+01] [-1.13668302e-02 -2.31287139e-04 9.99935369e-01 -1.57082156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.256559995 meters 0.01319076957495378 Centerline is valid? [True, True] Translation: X:77.62, Y:-18.51, Z:-1.57 [[ 8.69978231e-01 4.92972764e-01 1.07578193e-02 7.76207078e+01] [-4.92938433e-01 8.70044710e-01 -5.82272506e-03 -1.85132900e+01] [-1.22302286e-02 -2.37298514e-04 9.99925180e-01 -1.57087323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.286559995 meters 0.012935872721379393 Centerline is valid? [True, True] Translation: X:77.65, Y:-18.53, Z:-1.57 [[ 8.70361319e-01 4.92283666e-01 1.13122523e-02 7.76488088e+01] [-4.92245602e-01 8.70434798e-01 -6.12626144e-03 -1.85294759e+01] [-1.28624365e-02 -2.36345442e-04 9.99917248e-01 -1.57090396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.316559995 meters 0.012003743372270717 Centerline is valid? [True, True] Translation: X:77.68, Y:-18.55, Z:-1.57 [[ 8.71374289e-01 4.90478590e-01 1.17303276e-02 7.76755676e+01] [-4.90437445e-01 8.71453216e-01 -6.35650799e-03 -1.85471005e+01] [-1.33401627e-02 -2.14094252e-04 9.99910993e-01 -1.57102432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.346559995 meters 0.01200815485610241 Centerline is valid? [True, True] Translation: X:77.70, Y:-18.56, Z:-1.57 [[ 8.71896020e-01 4.89547918e-01 1.18391761e-02 7.77030592e+01] [-4.89505858e-01 8.71976374e-01 -6.42013504e-03 -1.85623005e+01] [-1.34664456e-02 -1.97655865e-04 9.99909304e-01 -1.57216661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.376559995 meters 0.01186618206495957 Centerline is valid? [True, True] Translation: X:77.73, Y:-18.58, Z:-1.57 [[ 8.72288750e-01 4.88856881e-01 1.14580222e-02 7.77302190e+01] [-4.88817400e-01 8.72363982e-01 -6.21547258e-03 -1.85776568e+01] [-1.30340425e-02 -1.79193838e-04 9.99915037e-01 -1.57324339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.406559995 meters 0.01174987226579926 Centerline is valid? [True, True] Translation: X:77.76, Y:-18.59, Z:-1.58 [[ 8.72712006e-01 4.88109791e-01 1.10719005e-02 7.77577135e+01] [-4.88072853e-01 8.72782221e-01 -6.00705796e-03 -1.85932489e+01] [-1.25954617e-02 -1.61462470e-04 9.99920661e-01 -1.57505341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.436559995 meters 0.011300320164908641 Centerline is valid? [True, True] Translation: X:77.78, Y:-18.61, Z:-1.58 [[ 8.73909718e-01 4.85981604e-01 1.01826531e-02 7.77849428e+01] [-4.85950184e-01 8.73969031e-01 -5.52732083e-03 -1.86102313e+01] [-1.15854997e-02 -1.17882769e-04 9.99932879e-01 -1.57753717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.466559995 meters 0.011053229327046313 Centerline is valid? [True, True] Translation: X:77.81, Y:-18.63, Z:-1.58 [[ 8.74352114e-01 4.85192750e-01 9.81712017e-03 7.78130379e+01] [-4.85163467e-01 8.74407219e-01 -5.33146477e-03 -1.86269754e+01] [-1.11709488e-02 -1.01330566e-04 9.99937598e-01 -1.57875172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.496559995 meters 0.010666060121237145 Centerline is valid? [True, True] Translation: X:77.84, Y:-18.65, Z:-1.58 [[ 8.75579877e-01 4.82985967e-01 9.18881532e-03 7.78389740e+01] [-4.82960158e-01 8.75628090e-01 -4.99349653e-03 -1.86455915e+01] [-1.04577736e-02 -6.56266199e-05 9.99945314e-01 -1.57924102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.526559995 meters 0.01069664178919261 Centerline is valid? [True, True] Translation: X:77.87, Y:-18.66, Z:-1.58 [[ 8.76211667e-01 4.81840835e-01 9.08433043e-03 7.78659212e+01] [-4.81815520e-01 8.76258756e-01 -4.93936179e-03 -1.86626493e+01] [-1.03402103e-02 -4.90449647e-05 9.99946537e-01 -1.58007119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.556559995 meters 0.010639897865741635 Centerline is valid? [True, True] Translation: X:77.89, Y:-18.68, Z:-1.58 [[ 8.76788924e-01 4.80789527e-01 9.08918562e-03 7.78935016e+01] [-4.80764099e-01 8.76836033e-01 -4.94488557e-03 -1.86800610e+01] [-1.03471747e-02 -3.41332368e-05 9.99946466e-01 -1.58065027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.586559995 meters 0.010603993949110905 Centerline is valid? [True, True] Translation: X:77.92, Y:-18.70, Z:-1.58 [[ 8.77349196e-01 4.79765005e-01 9.16126209e-03 7.79213208e+01] [-4.79739081e-01 8.77397025e-01 -4.98744917e-03 -1.86971145e+01] [-1.04308677e-02 -1.92809363e-05 9.99945597e-01 -1.58133898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.616559995 meters 0.010667791541254317 Centerline is valid? [True, True] Translation: X:77.95, Y:-18.71, Z:-1.58 [[ 8.77945788e-01 4.78665660e-01 9.50678261e-03 7.79495227e+01] [-4.78637640e-01 8.77997259e-01 -5.17915457e-03 -1.87142743e+01] [-1.08260125e-02 -3.28704788e-06 9.99941397e-01 -1.58165662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.646559995 meters 0.010733240813596171 Centerline is valid? [True, True] Translation: X:77.98, Y:-18.73, Z:-1.58 [[ 8.79455747e-01 4.75854720e-01 1.09487386e-02 7.79768587e+01] [-4.75817276e-01 8.79523896e-01 -5.96966322e-03 -1.87333794e+01] [-1.24703696e-02 4.04556580e-05 9.99922241e-01 -1.58188154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.676559995 meters 0.010959415938137627 Centerline is valid? [True, True] Translation: X:78.00, Y:-18.75, Z:-1.58 [[ 8.80165998e-01 4.74523456e-01 1.16321200e-02 7.80035964e+01] [-4.74481011e-01 8.80242856e-01 -6.34701885e-03 -1.87505020e+01] [-1.32508998e-02 6.72101227e-05 9.99912201e-01 -1.58223830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.706559995 meters 0.011199953474689375 Centerline is valid? [True, True] Translation: X:78.03, Y:-18.77, Z:-1.58 [[ 8.80946495e-01 4.73050381e-01 1.25144260e-02 7.80316104e+01] [-4.73001039e-01 8.81035372e-01 -6.83301265e-03 -1.87684354e+01] [-1.42580112e-02 1.00182033e-04 9.99898344e-01 -1.58250884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.73655999500001 meters 0.011262302690513471 Centerline is valid? [True, True] Translation: X:78.06, Y:-18.79, Z:-1.58 [[ 8.81419560e-01 4.72148912e-01 1.32274350e-02 7.80599373e+01] [-4.72093609e-01 8.81518797e-01 -7.22736422e-03 -1.87861365e+01] [-1.50726247e-02 1.25752677e-04 9.99886394e-01 -1.58249371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.766559995 meters 0.011588810365481983 Centerline is valid? [True, True] Translation: X:78.09, Y:-18.80, Z:-1.58 [[ 8.82172141e-01 4.70713462e-01 1.41827695e-02 7.80852135e+01] [-4.70649597e-01 8.82286126e-01 -7.75552995e-03 -1.88041633e+01] [-1.61638931e-02 1.66597696e-04 9.99869342e-01 -1.58205736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.796559995 meters 0.011645663120358817 Centerline is valid? [True, True] Translation: X:78.11, Y:-18.82, Z:-1.58 [[ 8.82038851e-01 4.70946313e-01 1.47321439e-02 7.81134613e+01] [-4.70877399e-01 8.82161857e-01 -8.05816434e-03 -1.88206203e+01] [-1.67910982e-02 1.70580430e-04 9.99859005e-01 -1.58227608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.826559995 meters 0.011278918766939245 Centerline is valid? [True, True] Translation: X:78.14, Y:-18.83, Z:-1.58 [[ 8.80761979e-01 4.73308705e-01 1.54015114e-02 7.81422625e+01] [-4.73233644e-01 8.80896618e-01 -8.43013092e-03 -1.88348564e+01] [-1.75571936e-02 1.36425423e-04 9.99845851e-01 -1.58331797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.856559995 meters 0.011083850066008514 Centerline is valid? [True, True] Translation: X:78.17, Y:-18.85, Z:-1.58 [[ 8.79611479e-01 4.75445280e-01 1.53438242e-02 7.81697554e+01] [-4.75371020e-01 8.79745291e-01 -8.40336511e-03 -1.88484250e+01] [-1.74939974e-02 9.76870264e-05 9.99846964e-01 -1.58457055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.886559995 meters 0.010837384308334691 Centerline is valid? [True, True] Translation: X:78.20, Y:-18.86, Z:-1.59 [[ 8.78195029e-01 4.78049061e-01 1.55751821e-02 7.81987836e+01] [-4.77972874e-01 8.78333133e-01 -8.53458826e-03 -1.88620227e+01] [-1.77601504e-02 5.05184192e-05 9.99842275e-01 -1.58563171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.916559995 meters 0.010921577527893047 Centerline is valid? [True, True] Translation: X:78.23, Y:-18.87, Z:-1.59 [[ 8.74861046e-01 4.84137641e-01 1.51292935e-02 7.82291647e+01] [-4.84066584e-01 8.74991851e-01 -8.29473225e-03 -1.88743150e+01] [-1.72538006e-02 -6.68472796e-05 9.99851140e-01 -1.58695656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.946559995 meters 0.0112979342369391 Centerline is valid? [True, True] Translation: X:78.26, Y:-18.89, Z:-1.59 [[ 8.73033601e-01 4.87440916e-01 1.46179312e-02 7.82571203e+01] [-4.87374957e-01 8.73155964e-01 -8.01958996e-03 -1.88871376e+01] [-1.66728101e-02 -1.23042068e-04 9.99860991e-01 -1.58815746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.976559995 meters 0.01168456986172067 Centerline is valid? [True, True] Translation: X:78.29, Y:-18.90, Z:-1.59 [[ 8.71368186e-01 4.90413957e-01 1.45477001e-02 7.82860927e+01] [-4.90348975e-01 8.71489598e-01 -7.98517127e-03 -1.89010581e+01] [-1.65942088e-02 -1.75425640e-04 9.99862291e-01 -1.58898274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.006559995 meters 0.012239013432039876 Centerline is valid? [True, True] Translation: X:78.32, Y:-18.91, Z:-1.59 [[ 8.69968400e-01 4.92896166e-01 1.44344215e-02 7.83151008e+01] [-4.92832458e-01 8.70088112e-01 -7.92754359e-03 -1.89148562e+01] [-1.64666744e-02 -2.17039011e-04 9.99864392e-01 -1.58988381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.036559995 meters 0.013140260421013133 Centerline is valid? [True, True] Translation: X:78.34, Y:-18.93, Z:-1.59 [[ 8.67917783e-01 4.96487464e-01 1.47959534e-02 7.83445506e+01] [-4.96420964e-01 8.68043844e-01 -8.13091438e-03 -1.89277243e+01] [-1.68804333e-02 -2.88056264e-04 9.99857474e-01 -1.59076416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.066559995 meters 0.013049268220906629 Centerline is valid? [True, True] Translation: X:78.37, Y:-18.94, Z:-1.59 [[ 8.67175198e-01 4.97778215e-01 1.49674524e-02 7.83724035e+01] [-4.97710275e-01 8.67304301e-01 -8.22992484e-03 -1.89430635e+01] [-1.70780131e-02 -3.12668132e-04 9.99854111e-01 -1.59121283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.096559995 meters 0.013437280492294907 Centerline is valid? [True, True] Translation: X:78.40, Y:-18.96, Z:-1.59 [[ 8.66603357e-01 4.98756112e-01 1.55229811e-02 7.84010604e+01] [-4.98683098e-01 8.66742306e-01 -8.54063722e-03 -1.89585232e+01] [-1.77141195e-02 -3.39703445e-04 9.99843035e-01 -1.59169654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.126559995 meters 0.013562460301866613 Centerline is valid? [True, True] Translation: X:78.43, Y:-18.97, Z:-1.59 [[ 8.66240526e-01 4.99383975e-01 1.55883320e-02 7.84296250e+01] [-4.99310358e-01 8.66380703e-01 -8.58158101e-03 -1.89744581e+01] [-1.77909341e-02 -3.49702388e-04 9.99841668e-01 -1.59216696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.156559995 meters 0.01366492050728024 Centerline is valid? [True, True] Translation: X:78.46, Y:-18.99, Z:-1.59 [[ 8.66249868e-01 4.99366934e-01 1.56151369e-02 7.84573813e+01] [-4.99292957e-01 8.66390528e-01 -8.60213844e-03 -1.89910225e+01] [-1.78244302e-02 -3.44926571e-04 9.99841073e-01 -1.59292973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.186559995 meters 0.013718842944056498 Centerline is valid? [True, True] Translation: X:78.49, Y:-19.01, Z:-1.59 [[ 8.66342466e-01 4.99212199e-01 1.54244229e-02 7.84854633e+01] [-4.99139902e-01 8.66479699e-01 -8.50230206e-03 -1.90070418e+01] [-1.76094022e-02 -3.33039583e-04 9.99844887e-01 -1.59398696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.216559995 meters 0.01346715066230308 Centerline is valid? [True, True] Translation: X:78.51, Y:-19.02, Z:-1.59 [[ 8.66572508e-01 4.98814750e-01 1.53601560e-02 7.85130290e+01] [-4.98742899e-01 8.66708569e-01 -8.47211901e-03 -1.90232860e+01] [-1.75387968e-02 -3.19063318e-04 9.99846133e-01 -1.59478117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.246559995 meters 0.012950177387148681 Centerline is valid? [True, True] Translation: X:78.54, Y:-19.04, Z:-1.60 [[ 8.67512818e-01 4.97190005e-01 1.49535801e-02 7.85400637e+01] [-4.97121588e-01 8.67641645e-01 -8.25246607e-03 -1.90406689e+01] [-1.70773925e-02 -2.74627376e-04 9.99854133e-01 -1.59592563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.276559995 meters 0.0126046914923806 Centerline is valid? [True, True] Translation: X:78.57, Y:-19.06, Z:-1.60 [[ 8.67964688e-01 4.96390386e-01 1.52933231e-02 7.85675595e+01] [-4.96318613e-01 8.68099371e-01 -8.44492818e-03 -1.90578030e+01] [-1.74681053e-02 -2.60461472e-04 9.99847387e-01 -1.59661180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.306559995 meters 0.012182805669004117 Centerline is valid? [True, True] Translation: X:78.59, Y:-19.08, Z:-1.60 [[ 8.68503655e-01 4.95443474e-01 1.54001725e-02 7.85944195e+01] [-4.95370460e-01 8.68640148e-01 -8.50887187e-03 -1.90750093e+01] [-1.75928731e-02 -2.38804193e-04 9.99845205e-01 -1.59715415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.336559995 meters 0.012180073772116957 Centerline is valid? [True, True] Translation: X:78.62, Y:-19.09, Z:-1.60 [[ 8.68974612e-01 4.94608591e-01 1.56673252e-02 7.86212080e+01] [-4.94532792e-01 8.69115811e-01 -8.66168346e-03 -1.90916569e+01] [-1.79008631e-02 -2.21223041e-04 9.99839742e-01 -1.59736280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.366559995 meters 0.01166931612594941 Centerline is valid? [True, True] Translation: X:78.65, Y:-19.11, Z:-1.60 [[ 8.70094097e-01 4.92676776e-01 1.43477079e-02 7.86464224e+01] [-4.92612883e-01 8.70212370e-01 -7.93592492e-03 -1.91116492e+01] [-1.63953988e-02 -1.62864303e-04 9.99865573e-01 -1.59799698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.396559995 meters 0.011566240321919134 Centerline is valid? [True, True] Translation: X:78.67, Y:-19.13, Z:-1.60 [[ 8.70407141e-01 4.92161215e-01 1.29902759e-02 7.86744166e+01] [-4.92108733e-01 8.70504061e-01 -7.18855117e-03 -1.91293306e+01] [-1.48460140e-02 -1.35661955e-04 9.99889783e-01 -1.60019081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.426559995 meters 0.011476116811378117 Centerline is valid? [True, True] Translation: X:78.70, Y:-19.15, Z:-1.60 [[ 8.70637864e-01 4.91778120e-01 1.19996424e-02 7.87020526e+01] [-4.91733247e-01 8.70720545e-01 -6.64425483e-03 -1.91465686e+01] [-1.37158343e-02 -1.15883316e-04 9.99905927e-01 -1.60203147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.456559995 meters 0.0115571455664969 Centerline is valid? [True, True] Translation: X:78.73, Y:-19.16, Z:-1.60 [[ 8.70768513e-01 4.91571236e-01 1.09506389e-02 7.87287120e+01] [-4.91533805e-01 8.70837361e-01 -6.06702190e-03 -1.91645462e+01] [-1.25185989e-02 -9.96375641e-05 9.99921634e-01 -1.60372170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.48655999500001 meters 0.011416138894393283 Centerline is valid? [True, True] Translation: X:78.76, Y:-19.18, Z:-1.60 [[ 8.70763565e-01 4.91579116e-01 1.09903054e-02 7.87565197e+01] [-4.91541369e-01 8.70832914e-01 -6.09254343e-03 -1.91825964e+01] [-1.25656868e-02 -9.70249290e-05 9.99921044e-01 -1.60398434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.516559995 meters 0.011696518884404842 Centerline is valid? [True, True] Translation: X:78.79, Y:-19.20, Z:-1.60 [[ 8.70147935e-01 4.92672811e-01 1.07736483e-02 7.87850032e+01] [-4.92636572e-01 8.70214623e-01 -5.97651054e-03 -1.91976183e+01] [-1.23198505e-02 -1.07044838e-04 9.99924102e-01 -1.60455118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.546559995 meters 0.011961877670259788 Centerline is valid? [True, True] Translation: X:78.81, Y:-19.21, Z:-1.60 [[ 8.69351618e-01 4.94059150e-01 1.15464666e-02 7.88145462e+01] [-4.94017588e-01 8.69428283e-01 -6.40962603e-03 -1.92129668e+01] [-1.32055590e-02 -1.31938846e-04 9.99912794e-01 -1.60455920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.576559995 meters 0.012197492267832151 Centerline is valid? [True, True] Translation: X:78.84, Y:-19.23, Z:-1.60 [[ 8.67950289e-01 4.96504097e-01 1.20821297e-02 7.88424947e+01] [-4.96458760e-01 8.68034361e-01 -6.71172902e-03 -1.92290777e+01] [-1.38201047e-02 -1.72832006e-04 9.99904483e-01 -1.60280051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.606559995 meters 0.012429657590268971 Centerline is valid? [True, True] Translation: X:78.87, Y:-19.24, Z:-1.60 [[ 8.67031172e-01 4.98114872e-01 1.17694735e-02 7.88703168e+01] [-4.98071952e-01 8.67111030e-01 -6.54164247e-03 -1.92443564e+01] [-1.34639297e-02 -1.90236693e-04 9.99909339e-01 -1.60317458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.636559995 meters 0.012882094019950023 Centerline is valid? [True, True] Translation: X:78.90, Y:-19.26, Z:-1.60 [[ 8.65832546e-01 5.00206876e-01 1.12731517e-02 7.88988098e+01] [-5.00167632e-01 8.65905906e-01 -6.26920456e-03 -1.92585725e+01] [-1.28973878e-02 -2.10384229e-04 9.99916803e-01 -1.60376011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.666559995 meters 0.013272220438479363 Centerline is valid? [True, True] Translation: X:78.93, Y:-19.27, Z:-1.60 [[ 8.64519648e-01 5.02458744e-01 1.18738326e-02 7.89274263e+01] [-5.02415363e-01 8.64601149e-01 -6.60737272e-03 -1.92727351e+01] [-1.35860615e-02 -2.53392358e-04 9.99907673e-01 -1.60431785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.696559995 meters 0.013870276335091 Centerline is valid? [True, True] Translation: X:78.96, Y:-19.29, Z:-1.61 [[ 8.64189603e-01 5.03018738e-01 1.21852411e-02 7.89554013e+01] [-5.02973051e-01 8.64275465e-01 -6.78466765e-03 -1.92873037e+01] [-1.39442198e-02 -2.65608628e-04 9.99902739e-01 -1.60512335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.726559995 meters 0.013769667787436799 Centerline is valid? [True, True] Translation: X:78.98, Y:-19.30, Z:-1.61 [[ 8.63817257e-01 5.03654155e-01 1.23385182e-02 7.89837802e+01] [-5.03607315e-01 8.63905328e-01 -6.87426453e-03 -1.93035641e+01] [-1.41215635e-02 -2.75659673e-04 9.99900248e-01 -1.60518205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.756559995 meters 0.013885976231660376 Centerline is valid? [True, True] Translation: X:79.01, Y:-19.32, Z:-1.61 [[ 8.62870847e-01 5.05275413e-01 1.22742628e-02 7.90123090e+01] [-5.05229158e-01 8.62958092e-01 -6.84314842e-03 -1.93190101e+01] [-1.40498490e-02 -2.96562183e-04 9.99901252e-01 -1.60518276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.786559995 meters 0.014284216586595636 Centerline is valid? [True, True] Translation: X:79.04, Y:-19.33, Z:-1.61 [[ 8.62344605e-01 5.06191551e-01 1.14845720e-02 7.90407803e+01] [-5.06151094e-01 8.62421028e-01 -6.40627471e-03 -1.93338171e+01] [-1.31473385e-02 -2.88512252e-04 9.99913528e-01 -1.60636236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.816559995 meters 0.014713523404910393 Centerline is valid? [True, True] Translation: X:79.07, Y:-19.35, Z:-1.61 [[ 8.62242707e-01 5.06384111e-01 1.06134590e-02 7.90689613e+01] [-5.06349538e-01 8.62307985e-01 -5.92323911e-03 -1.93482968e+01] [-1.21515046e-02 -2.66850311e-04 9.99926132e-01 -1.60812212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.846559995 meters 0.014574021048783957 Centerline is valid? [True, True] Translation: X:79.10, Y:-19.36, Z:-1.61 [[ 8.62497551e-01 5.05968907e-01 9.66647480e-03 7.90979547e+01] [-5.05940172e-01 8.62551685e-01 -5.39741839e-03 -1.93644729e+01] [-1.10687600e-02 -2.35397788e-04 9.99938712e-01 -1.60996626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.876559995 meters 0.014490983670288058 Centerline is valid? [True, True] Translation: X:79.13, Y:-19.38, Z:-1.61 [[ 8.62587634e-01 5.05826320e-01 9.07238407e-03 7.91268543e+01] [-5.05800970e-01 8.62635315e-01 -5.06861282e-03 -1.93811858e+01] [-1.03899967e-02 -2.16697927e-04 9.99945999e-01 -1.61051750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.906559995 meters 0.014535579580510029 Centerline is valid? [True, True] Translation: X:79.16, Y:-19.40, Z:-1.61 [[ 8.62623957e-01 5.05763161e-01 9.13964845e-03 7.91555938e+01] [-5.05737396e-01 8.62672347e-01 -5.10959037e-03 -1.93978047e+01] [-1.04687646e-02 -2.14606945e-04 9.99945178e-01 -1.61097060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.936559995 meters 0.013650923393187912 Centerline is valid? [True, True] Translation: X:79.18, Y:-19.42, Z:-1.61 [[ 8.63700431e-01 5.03911384e-01 9.74075521e-03 7.91821997e+01] [-5.03881953e-01 8.63755334e-01 -5.44988376e-03 -1.94159191e+01] [-1.11598877e-02 -2.01123804e-04 9.99937706e-01 -1.60997871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.966559995 meters 0.013457926128182373 Centerline is valid? [True, True] Translation: X:79.21, Y:-19.43, Z:-1.61 [[ 8.64547592e-01 5.02446959e-01 1.02232365e-02 7.92090871e+01] [-5.02414393e-01 8.64608014e-01 -5.72356841e-03 -1.94319111e+01] [-1.17148818e-02 -1.88003882e-04 9.99931361e-01 -1.61061972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.996559995 meters 0.012617495475356087 Centerline is valid? [True, True] Translation: X:79.24, Y:-19.45, Z:-1.61 [[ 8.65698511e-01 5.00456741e-01 1.04469237e-02 7.92357077e+01] [-5.00422553e-01 8.65761529e-01 -5.85181545e-03 -1.94499268e+01] [-1.19731252e-02 -1.61968338e-04 9.99928306e-01 -1.61059486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.026559995 meters 0.012172032052988769 Centerline is valid? [True, True] Translation: X:79.26, Y:-19.47, Z:-1.61 [[ 8.67143845e-01 4.97939074e-01 1.08733738e-02 7.92627043e+01] [-4.97901793e-01 8.67212005e-01 -6.09447377e-03 -1.94675726e+01] [-1.24641969e-02 -1.29086887e-04 9.99922311e-01 -1.61105661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.056559995 meters 0.011608281040042714 Centerline is valid? [True, True] Translation: X:79.29, Y:-19.49, Z:-1.61 [[ 8.70525868e-01 4.91980980e-01 1.18079855e-02 7.92874055e+01] [-4.91936404e-01 8.70605946e-01 -6.62275089e-03 -1.94871044e+01] [-1.35383699e-02 -4.35019828e-05 9.99908351e-01 -1.61143182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.086559995 meters 0.011608281040042714 Centerline is valid? [True, True] Translation: X:79.32, Y:-19.50, Z:-1.61 [[ 8.70395868e-01 4.92210968e-01 1.18065972e-02 7.93156278e+01] [-4.92166380e-01 8.70475939e-01 -6.62522471e-03 -1.95030490e+01] [-1.35383671e-02 -4.42419998e-05 9.99908351e-01 -1.61206991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.116559995 meters 0.011473464209163318 Centerline is valid? [True, True] Translation: X:79.34, Y:-19.52, Z:-1.61 [[ 8.71934324e-01 4.89468726e-01 1.22841581e-02 7.93425400e+01] [-4.89420122e-01 8.72020852e-01 -6.89763963e-03 -1.95215754e+01] [-1.40882209e-02 2.17460172e-06 9.99900756e-01 -1.61144941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.146559995 meters 0.011576026497157076 Centerline is valid? [True, True] Translation: X:79.37, Y:-19.54, Z:-1.61 [[ 8.73328159e-01 4.86978421e-01 1.22451671e-02 7.93700525e+01] [-4.86929819e-01 8.73414000e-01 -6.88017588e-03 -1.95399212e+01] [-1.40455975e-02 4.61143555e-05 9.99901355e-01 -1.61181563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.176559995 meters 0.011937254020412966 Centerline is valid? [True, True] Translation: X:79.40, Y:-19.56, Z:-1.61 [[ 8.75189716e-01 4.83606749e-01 1.29411716e-02 7.93961657e+01] [-4.83552014e-01 8.75285382e-01 -7.27659369e-03 -1.95565512e+01] [-1.48462281e-02 1.10670374e-04 9.99889783e-01 -1.61236411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.206559995 meters 0.012200221073734066 Centerline is valid? [True, True] Translation: X:79.42, Y:-19.57, Z:-1.61 [[ 8.76358065e-01 4.81491669e-01 1.27402747e-02 7.94243199e+01] [-4.81438345e-01 8.76450655e-01 -7.16716788e-03 -1.95726959e+01] [-1.46171537e-02 1.47348632e-04 9.99893153e-01 -1.61294674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.23655999500001 meters 0.012120980343809349 Centerline is valid? [True, True] Translation: X:79.45, Y:-19.59, Z:-1.61 [[ 8.76326149e-01 4.81572834e-01 1.18358119e-02 7.94535692e+01] [-4.81526778e-01 8.76406063e-01 -6.66146174e-03 -1.95881356e+01] [-1.35809563e-02 1.38352749e-04 9.99907765e-01 -1.61409726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.266559995 meters 0.012412729765541244 Centerline is valid? [True, True] Translation: X:79.48, Y:-19.60, Z:-1.62 [[ 8.76525748e-01 4.81253088e-01 9.90341051e-03 7.94813495e+01] [-4.81220788e-01 8.76581685e-01 -5.57700807e-03 -1.96023095e+01] [-1.13651006e-02 1.22664166e-04 9.99935408e-01 -1.61768832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.296559995 meters 0.01292068774978746 Centerline is valid? [True, True] Translation: X:79.51, Y:-19.62, Z:-1.62 [[ 8.77544286e-01 4.79422278e-01 8.38479272e-03 7.95100131e+01] [-4.79399026e-01 8.77584334e-01 -4.72333680e-03 -1.96176003e+01] [-9.62283563e-03 1.25275753e-04 9.99953692e-01 -1.61970933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.326559995 meters 0.01312331692074117 Centerline is valid? [True, True] Translation: X:79.54, Y:-19.63, Z:-1.62 [[ 8.77460693e-01 4.79564799e-01 8.96305015e-03 7.95384066e+01] [-4.79538205e-01 8.77506459e-01 -5.05215851e-03 -1.96320084e+01] [-1.02879718e-02 1.34945522e-04 9.99947068e-01 -1.62025701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.356559995 meters 0.01312331692074117 Centerline is valid? [True, True] Translation: X:79.57, Y:-19.65, Z:-1.62 [[ 8.77331220e-01 4.79801642e-01 8.96180182e-03 7.95665991e+01] [-4.79775038e-01 8.77376981e-01 -5.05437134e-03 -1.96480076e+01] [-1.02879743e-02 1.34708964e-04 9.99947068e-01 -1.62089536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.386559995 meters 0.01312331692074117 Centerline is valid? [True, True] Translation: X:79.59, Y:-19.66, Z:-1.62 [[ 8.77201683e-01 4.80038455e-01 8.96043654e-03 7.95947872e+01] [-4.80011838e-01 8.77247436e-01 -5.05678986e-03 -1.96640142e+01] [-1.02879736e-02 1.34708954e-04 9.99947068e-01 -1.62153380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.416559995 meters 0.012789245779045564 Centerline is valid? [True, True] Translation: X:79.62, Y:-19.68, Z:-1.62 [[ 8.77200403e-01 4.80036766e-01 9.17368045e-03 7.96243400e+01] [-4.80008832e-01 8.77248359e-01 -5.18047471e-03 -1.96790012e+01] [-1.05344145e-02 1.40866867e-04 9.99944502e-01 -1.62122014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.446559995 meters 0.013036481383473526 Centerline is valid? [True, True] Translation: X:79.65, Y:-19.69, Z:-1.62 [[ 8.77382990e-01 4.79691383e-01 9.76045882e-03 7.96524844e+01] [-4.79659694e-01 8.77437264e-01 -5.51598262e-03 -1.96944026e+01] [-1.12101596e-02 1.57930630e-04 9.99937152e-01 -1.62169147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.476559995 meters 0.012822637331803268 Centerline is valid? [True, True] Translation: X:79.68, Y:-19.71, Z:-1.62 [[ 8.77414057e-01 4.79605630e-01 1.10911026e-02 7.96823313e+01] [-4.79564648e-01 8.77484134e-01 -6.27236986e-03 -1.97092756e+01] [-1.27405305e-02 1.84564767e-04 9.99918819e-01 -1.62098607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.506559995 meters 0.01254622522332418 Centerline is valid? [True, True] Translation: X:79.71, Y:-19.72, Z:-1.62 [[ 8.76647809e-01 4.80962362e-01 1.27994187e-02 7.97111978e+01] [-4.80907832e-01 8.76741221e-01 -7.24493522e-03 -1.97214655e+01] [-1.47063191e-02 1.95915912e-04 9.99891837e-01 -1.62005441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.536559995 meters 0.011996157356101494 Centerline is valid? [True, True] Translation: X:79.74, Y:-19.73, Z:-1.62 [[ 8.75791540e-01 4.82523978e-01 1.26407598e-02 7.97408814e+01] [-4.82470930e-01 8.75882745e-01 -7.15677241e-03 -1.97341598e+01] [-1.45251377e-02 1.69041579e-04 9.99894490e-01 -1.62082044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.566559995 meters 0.012099683039272953 Centerline is valid? [True, True] Translation: X:79.77, Y:-19.75, Z:-1.62 [[ 8.75277487e-01 4.83462160e-01 1.23959963e-02 7.97696186e+01] [-4.83411187e-01 8.75365247e-01 -7.02200700e-03 -1.97489696e+01] [-1.42458990e-02 1.53841356e-04 9.99898510e-01 -1.62216525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.596559995 meters 0.012099683039272953 Centerline is valid? [True, True] Translation: X:79.80, Y:-19.77, Z:-1.62 [[ 8.75143980e-01 4.83703833e-01 1.23941985e-02 7.97977812e+01] [-4.83652839e-01 8.75231728e-01 -7.02517837e-03 -1.97650192e+01] [-1.42459015e-02 1.53553255e-04 9.99898510e-01 -1.62280355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.626559995 meters 0.011870061626647 Centerline is valid? [True, True] Translation: X:79.83, Y:-19.78, Z:-1.62 [[ 8.74765928e-01 4.84396396e-01 1.20291961e-02 7.98273217e+01] [-4.84348369e-01 8.74848622e-01 -6.82247716e-03 -1.97794082e+01] [-1.38285090e-02 1.41749033e-04 9.99904372e-01 -1.62396286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.656559995 meters 0.011870061626647 Centerline is valid? [True, True] Translation: X:79.86, Y:-19.80, Z:-1.62 [[ 8.74630802e-01 4.84640386e-01 1.20272901e-02 7.98554774e+01] [-4.84592336e-01 8.74713482e-01 -6.82583513e-03 -1.97954693e+01] [-1.38285082e-02 1.41753034e-04 9.99904372e-01 -1.62460126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.686559995 meters 0.011978805703500647 Centerline is valid? [True, True] Translation: X:79.88, Y:-19.81, Z:-1.63 [[ 8.74174151e-01 4.85471288e-01 1.17124682e-02 7.98839356e+01] [-4.85425737e-01 8.74252602e-01 -6.65145737e-03 -1.98103536e+01] [-1.34687473e-02 1.28998609e-04 9.99909284e-01 -1.62631867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.716559995 meters 0.011791481603747567 Centerline is valid? [True, True] Translation: X:79.91, Y:-19.82, Z:-1.63 [[ 8.73509019e-01 4.86683737e-01 1.09970318e-02 7.99140360e+01] [-4.86643635e-01 8.73578233e-01 -6.24845011e-03 -1.98247393e+01] [-1.26477866e-02 1.06442005e-04 9.99920008e-01 -1.62742313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.746559995 meters 0.011847371260497687 Centerline is valid? [True, True] Translation: X:79.94, Y:-19.84, Z:-1.63 [[ 8.73137275e-01 4.87357811e-01 1.06612762e-02 7.99417883e+01] [-4.87320123e-01 8.73202356e-01 -6.06154301e-03 -1.98395207e+01] [-1.22635918e-02 9.71047312e-05 9.99924795e-01 -1.62858156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.776559995 meters 0.011694114498670182 Centerline is valid? [True, True] Translation: X:79.97, Y:-19.85, Z:-1.63 [[ 8.72799971e-01 4.87971136e-01 1.02167509e-02 7.99710091e+01] [-4.87936532e-01 8.72859761e-01 -5.81189577e-03 -1.98548223e+01] [-1.17538281e-02 8.74964566e-05 9.99930918e-01 -1.62950230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.806559995 meters 0.011716708346014394 Centerline is valid? [True, True] Translation: X:80.00, Y:-19.87, Z:-1.63 [[ 8.72489928e-01 4.88532287e-01 9.87578913e-03 7.99995961e+01] [-4.88499951e-01 8.72545815e-01 -5.62130020e-03 -1.98702411e+01] [-1.13632651e-02 8.02052965e-05 9.99935433e-01 -1.63052133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.836559995 meters 0.011648154646606623 Centerline is valid? [True, True] Translation: X:80.03, Y:-19.89, Z:-1.63 [[ 8.72274581e-01 4.88923978e-01 9.50782692e-03 8.00285514e+01] [-4.88893997e-01 8.72326394e-01 -5.41499994e-03 -1.98858551e+01] [-1.09414517e-02 7.50473040e-05 9.99940138e-01 -1.63139255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.866559995 meters 0.011593743922585982 Centerline is valid? [True, True] Translation: X:80.06, Y:-19.90, Z:-1.63 [[ 8.72107395e-01 4.89223590e-01 9.43247742e-03 8.00575881e+01] [-4.89194062e-01 8.72158400e-01 -5.37550167e-03 -1.99016486e+01] [-1.08564366e-02 7.37028160e-05 9.99941064e-01 -1.63201991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.896559995 meters 0.011585500309606726 Centerline is valid? [True, True] Translation: X:80.09, Y:-19.92, Z:-1.63 [[ 8.71955050e-01 4.89492104e-01 9.58491408e-03 8.00862861e+01] [-4.89461590e-01 8.72007726e-01 -5.46603334e-03 -1.99176486e+01] [-1.10336993e-02 7.46880858e-05 9.99939124e-01 -1.63296755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.926559995 meters 0.011675742736330248 Centerline is valid? [True, True] Translation: X:80.11, Y:-19.93, Z:-1.63 [[ 8.72018155e-01 4.89371832e-01 9.97738036e-03 8.01138561e+01] [-4.89338703e-01 8.72075228e-01 -5.69477993e-03 -1.99331850e+01] [-1.14878911e-02 8.36331220e-05 9.99934009e-01 -1.63376323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.956559995 meters 0.011586023287973065 Centerline is valid? [True, True] Translation: X:80.14, Y:-19.95, Z:-1.63 [[ 8.71856470e-01 4.89662274e-01 9.85663203e-03 8.01423160e+01] [-4.89629948e-01 8.71912181e-01 -5.62700913e-03 -1.99490426e+01] [-1.13494516e-02 7.98420942e-05 9.99935590e-01 -1.63390188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.98655999500001 meters 0.011943591382010434 Centerline is valid? [True, True] Translation: X:80.17, Y:-19.97, Z:-1.64 [[ 8.71891508e-01 4.89609373e-01 9.37339260e-03 8.01696512e+01] [-4.89580098e-01 8.71941888e-01 -5.35456621e-03 -1.99657291e+01] [-1.07946994e-02 7.95743395e-05 9.99941732e-01 -1.63566098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.016559995 meters 0.011759630939039456 Centerline is valid? [True, True] Translation: X:80.20, Y:-19.98, Z:-1.64 [[ 8.71761717e-01 4.89849818e-01 8.86935517e-03 8.01981723e+01] [-4.89823593e-01 8.71806831e-01 -5.06926462e-03 -1.99815814e+01] [-1.02155428e-02 7.47714133e-05 9.99947817e-01 -1.63598856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.046559995 meters 0.011901619961392575 Centerline is valid? [True, True] Translation: X:80.23, Y:-20.00, Z:-1.64 [[ 8.71585516e-01 4.90164896e-01 8.77857897e-03 8.02257332e+01] [-4.90139186e-01 8.71629720e-01 -5.02080979e-03 -1.99975310e+01] [-1.01126950e-02 7.33395422e-05 9.99948863e-01 -1.63714455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.076559995 meters 0.011988045467216452 Centerline is valid? [True, True] Translation: X:80.25, Y:-20.01, Z:-1.64 [[ 8.71337230e-01 4.90608725e-01 8.63191381e-03 8.02531850e+01] [-4.90583860e-01 8.71379983e-01 -4.93988411e-03 -2.00129158e+01] [-9.94522716e-03 6.96273457e-05 9.99950543e-01 -1.63811327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.106559995 meters 0.012008265336256927 Centerline is valid? [True, True] Translation: X:80.28, Y:-20.03, Z:-1.64 [[ 8.71354848e-01 4.90572137e-01 8.92783340e-03 8.02819396e+01] [-4.90545505e-01 8.71400581e-01 -5.11227900e-03 -2.00292967e+01] [-1.02876608e-02 7.51005544e-05 9.99947078e-01 -1.63872049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.136559995 meters 0.012120415629860215 Centerline is valid? [True, True] Translation: X:80.31, Y:-20.05, Z:-1.64 [[ 8.71488613e-01 4.90340519e-01 8.58912185e-03 8.03105923e+01] [-4.90315828e-01 8.71530935e-01 -4.92123272e-03 -2.00459205e+01] [-9.89876520e-03 7.74158876e-05 9.99951003e-01 -1.63956729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.166559995 meters 0.012406771966152103 Centerline is valid? [True, True] Translation: X:80.34, Y:-20.06, Z:-1.64 [[ 8.72472686e-01 4.88584119e-01 8.77330566e-03 8.03376627e+01] [-4.88558232e-01 8.72516790e-01 -5.03045520e-03 -2.00629642e+01] [-1.01126570e-02 1.02664052e-04 9.99948861e-01 -1.63982214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.196559995 meters 0.012699502698266764 Centerline is valid? [True, True] Translation: X:80.36, Y:-20.08, Z:-1.64 [[ 8.73190666e-01 4.87296054e-01 8.97868961e-03 8.03647946e+01] [-4.87268842e-01 8.73236818e-01 -5.15124383e-03 -2.00800355e+01] [-1.03507031e-02 1.22982344e-04 9.99946422e-01 -1.64027092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.226559995 meters 0.013673660137557206 Centerline is valid? [True, True] Translation: X:80.39, Y:-20.10, Z:-1.64 [[ 8.75120325e-01 4.83813451e-01 9.43192681e-03 8.03896974e+01] [-4.83783170e-01 8.75171134e-01 -5.41579554e-03 -2.00983161e+01] [-1.08747848e-02 1.76465296e-04 9.99940852e-01 -1.64058805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.256559995 meters 0.014196132099786063 Centerline is valid? [True, True] Translation: X:80.42, Y:-20.12, Z:-1.64 [[ 8.76109381e-01 4.82012404e-01 9.81808383e-03 8.04164083e+01] [-4.81979474e-01 8.76164368e-01 -5.63805666e-03 -2.01154368e+01] [-1.13198685e-02 2.07439455e-04 9.99935907e-01 -1.64099716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.286559995 meters 0.01451682008261454 Centerline is valid? [True, True] Translation: X:80.44, Y:-20.13, Z:-1.64 [[ 8.77057464e-01 4.80278428e-01 1.01407972e-02 8.04434286e+01] [-4.80243142e-01 8.77116055e-01 -5.82675632e-03 -2.01322714e+01] [-1.16931214e-02 2.40351819e-04 9.99931604e-01 -1.64090294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.316559995 meters 0.015400690327318937 Centerline is valid? [True, True] Translation: X:80.47, Y:-20.15, Z:-1.64 [[ 8.78093148e-01 4.78378030e-01 1.03385107e-02 8.04691048e+01] [-4.78341164e-01 8.78153964e-01 -5.94522534e-03 -2.01490740e+01] [-1.19228694e-02 2.75126386e-04 9.99928882e-01 -1.64168158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.346559995 meters 0.015452930092706199 Centerline is valid? [True, True] Translation: X:80.50, Y:-20.17, Z:-1.64 [[ 8.78707256e-01 4.77247892e-01 1.03927074e-02 8.04970629e+01] [-4.77210564e-01 8.78768664e-01 -5.97605460e-03 -2.01656349e+01] [-1.19848451e-02 2.91692773e-04 9.99928137e-01 -1.64201124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.376559995 meters 0.015578327310940845 Centerline is valid? [True, True] Translation: X:80.52, Y:-20.18, Z:-1.64 [[ 8.79239350e-01 4.76265340e-01 1.04638269e-02 8.05247066e+01] [-4.76227389e-01 8.79301558e-01 -6.02033894e-03 -2.01819498e+01] [-1.20681381e-02 3.10157916e-04 9.99927129e-01 -1.64263276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.406559995 meters 0.017778806006245054 Centerline is valid? [True, True] Translation: X:80.55, Y:-20.20, Z:-1.64 [[ 8.80076536e-01 4.74725746e-01 1.00377477e-02 8.05500787e+01] [-4.74690674e-01 8.80133719e-01 -5.77932620e-03 -2.02008897e+01] [-1.15781552e-02 3.21424138e-04 9.99932919e-01 -1.64458625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.436559995 meters 0.018445583661429857 Centerline is valid? [True, True] Translation: X:80.58, Y:-20.22, Z:-1.65 [[ 8.80146854e-01 4.74592436e-01 1.01752529e-02 8.05771011e+01] [-4.74556372e-01 8.80205608e-01 -5.85988985e-03 -2.02175883e+01] [-1.17373741e-02 3.28832506e-04 9.99931061e-01 -1.64565964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.466559995 meters 0.01824538108876082 Centerline is valid? [True, True] Translation: X:80.61, Y:-20.23, Z:-1.65 [[ 8.79942515e-01 4.74977654e-01 9.86909420e-03 8.06058025e+01] [-4.74943738e-01 8.79997801e-01 -5.68470098e-03 -2.02335986e+01] [-1.13848871e-02 3.14945585e-04 9.99935140e-01 -1.64657276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.496559995 meters 0.016077766271132485 Centerline is valid? [True, True] Translation: X:80.64, Y:-20.25, Z:-1.65 [[ 8.79651595e-01 4.75511077e-01 1.01136987e-02 8.06354693e+01] [-4.75475450e-01 8.79709676e-01 -5.82946606e-03 -2.02464600e+01] [-1.16690943e-02 3.19083678e-04 9.99931863e-01 -1.64657303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.526559995 meters 0.01534687633722775 Centerline is valid? [True, True] Translation: X:80.66, Y:-20.26, Z:-1.65 [[ 8.78595113e-01 4.77454993e-01 1.03613184e-02 8.06644436e+01] [-4.77417693e-01 8.78656154e-01 -5.97567680e-03 -2.02604401e+01] [-1.19571529e-02 3.03523691e-04 9.99928465e-01 -1.64747218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.556559995 meters 0.01504781118906829 Centerline is valid? [True, True] Translation: X:80.69, Y:-20.28, Z:-1.65 [[ 8.77858719e-01 4.78802639e-01 1.05877878e-02 8.06931450e+01] [-4.78763745e-01 8.77922517e-01 -6.10987777e-03 -2.02756911e+01] [-1.22206830e-02 2.94560513e-04 9.99925281e-01 -1.64823390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.586559995 meters 0.015106536104952122 Centerline is valid? [True, True] Translation: X:80.72, Y:-20.29, Z:-1.65 [[ 8.76939259e-01 4.80480022e-01 1.07927672e-02 8.07203575e+01] [-4.80439687e-01 8.77005627e-01 -6.23196062e-03 -2.02910467e+01] [-1.24596501e-02 2.79777252e-04 9.99922336e-01 -1.64919939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.616559995 meters 0.014219537827004147 Centerline is valid? [True, True] Translation: X:80.75, Y:-20.31, Z:-1.65 [[ 8.76074785e-01 4.82050308e-01 1.09759025e-02 8.07495391e+01] [-4.82008675e-01 8.76143499e-01 -6.34093926e-03 -2.03051892e+01] [-1.26731173e-02 2.64656794e-04 9.99919658e-01 -1.64938983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.646559995 meters 0.013938811732722297 Centerline is valid? [True, True] Translation: X:80.78, Y:-20.32, Z:-1.65 [[ 8.75070455e-01 4.83851980e-01 1.17881568e-02 8.07770543e+01] [-4.83804059e-01 8.75149812e-01 -6.81460473e-03 -2.03204355e+01] [-1.36136632e-02 2.60101155e-04 9.99907296e-01 -1.64984748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.676559995 meters 0.013229228030919778 Centerline is valid? [True, True] Translation: X:80.81, Y:-20.33, Z:-1.65 [[ 8.73161528e-01 4.87285295e-01 1.19158160e-02 8.08050549e+01] [-4.87236599e-01 8.73242805e-01 -6.89207894e-03 -2.03334923e+01] [-1.37638093e-02 2.12076529e-04 9.99905252e-01 -1.65042117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.706559995 meters 0.012756174911904956 Centerline is valid? [True, True] Translation: X:80.83, Y:-20.35, Z:-1.65 [[ 8.72168820e-01 4.89063887e-01 1.17501105e-02 8.08338147e+01] [-4.89016651e-01 8.72247947e-01 -6.79953492e-03 -2.03477834e+01] [-1.35744167e-02 1.84342676e-04 9.99907846e-01 -1.65150331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.73655999500001 meters 0.01253414489897933 Centerline is valid? [True, True] Translation: X:80.86, Y:-20.36, Z:-1.65 [[ 8.71195603e-01 4.90802929e-01 1.14326712e-02 8.08611063e+01] [-4.90758313e-01 8.71270601e-01 -6.61955471e-03 -2.03621089e+01] [-1.32098471e-02 1.56248539e-04 9.99912734e-01 -1.65272021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.766559995 meters 0.011886151064301851 Centerline is valid? [True, True] Translation: X:80.89, Y:-20.38, Z:-1.65 [[ 8.69501139e-01 4.93802238e-01 1.12747069e-02 8.08905415e+01] [-4.93759056e-01 8.69574228e-01 -6.53123974e-03 -2.03753945e+01] [-1.30293353e-02 1.11931770e-04 9.99915108e-01 -1.65387305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.796559995 meters 0.011847860103409647 Centerline is valid? [True, True] Translation: X:80.92, Y:-20.39, Z:-1.65 [[ 8.68836505e-01 4.94965743e-01 1.14908810e-02 8.09175390e+01] [-4.94920937e-01 8.68912483e-01 -6.66050995e-03 -2.03902927e+01] [-1.32812942e-02 9.98165880e-05 9.99911795e-01 -1.65459409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.826559995 meters 0.011786135013019065 Centerline is valid? [True, True] Translation: X:80.95, Y:-20.41, Z:-1.66 [[ 8.68362927e-01 4.95784373e-01 1.19867597e-02 8.09462247e+01] [-4.95735646e-01 8.68445650e-01 -6.95144678e-03 -2.04059711e+01] [-1.38562680e-02 9.41145868e-05 9.99903993e-01 -1.65505042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.856559995 meters 0.011838857754242588 Centerline is valid? [True, True] Translation: X:80.97, Y:-20.42, Z:-1.66 [[ 8.68143193e-01 4.96167577e-01 1.20470804e-02 8.09736729e+01] [-4.96118330e-01 8.68226771e-01 -6.99113105e-03 -2.04219986e+01] [-1.39283703e-02 9.25254242e-05 9.99902991e-01 -1.65591768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.886559995 meters 0.011832429590464948 Centerline is valid? [True, True] Translation: X:81.00, Y:-20.44, Z:-1.66 [[ 8.68092237e-01 4.96254901e-01 1.21219475e-02 8.10025798e+01] [-4.96204989e-01 8.68176862e-01 -7.03876586e-03 -2.04384967e+01] [-1.40170164e-02 9.53271552e-05 9.99901752e-01 -1.65641696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.916559995 meters 0.01201379288295518 Centerline is valid? [True, True] Translation: X:81.03, Y:-20.46, Z:-1.66 [[ 8.68899033e-01 4.94832446e-01 1.24627797e-02 8.10298599e+01] [-4.94779469e-01 8.68988397e-01 -7.24169730e-03 -2.04551469e+01] [-1.44134378e-02 1.25976260e-04 9.99896113e-01 -1.65732648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.946559995 meters 0.012278783027619965 Centerline is valid? [True, True] Translation: X:81.06, Y:-20.47, Z:-1.66 [[ 8.69567443e-01 4.93653190e-01 1.26091529e-02 8.10569118e+01] [-4.93598776e-01 8.69658844e-01 -7.33094324e-03 -2.04723433e+01] [-1.45846049e-02 1.50887122e-04 9.99893628e-01 -1.65791627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.976559995 meters 0.012480433051591345 Centerline is valid? [True, True] Translation: X:81.08, Y:-20.49, Z:-1.66 [[ 8.70170701e-01 4.92587775e-01 1.26583891e-02 8.10836320e+01] [-4.92532761e-01 8.70262750e-01 -7.36378948e-03 -2.04892558e+01] [-1.46434372e-02 1.73082511e-04 9.99892764e-01 -1.65855148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.006559995 meters 0.012696879108686722 Centerline is valid? [True, True] Translation: X:81.11, Y:-20.51, Z:-1.66 [[ 8.71039531e-01 4.91041379e-01 1.29807810e-02 8.11112424e+01] [-4.90983296e-01 8.71136224e-01 -7.55526905e-03 -2.05062492e+01] [-1.50179783e-02 2.07591373e-04 9.99887202e-01 -1.65916940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.036559995 meters 0.012696879108686722 Centerline is valid? [True, True] Translation: X:81.14, Y:-20.52, Z:-1.66 [[ 8.70901316e-01 4.91286519e-01 1.29790051e-02 8.11392232e+01] [-4.91228417e-01 8.70997999e-01 -7.55831842e-03 -2.05226198e+01] [-1.50179874e-02 2.06893345e-04 9.99887202e-01 -1.65980757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.066559995 meters 0.013788187729723301 Centerline is valid? [True, True] Translation: X:81.16, Y:-20.54, Z:-1.66 [[ 8.72943148e-01 4.87631280e-01 1.36379835e-02 8.11649447e+01] [-4.87566584e-01 8.73049627e-01 -7.94823933e-03 -2.05407666e+01] [-1.57824465e-02 2.88936050e-04 9.99875408e-01 -1.66028337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.096559995 meters 0.0144335743259312 Centerline is valid? [True, True] Translation: X:81.19, Y:-20.56, Z:-1.66 [[ 8.73952173e-01 4.85804887e-01 1.41848859e-02 8.11917075e+01] [-4.85734624e-01 8.74067216e-01 -8.26902009e-03 -2.05581028e+01] [-1.64156741e-02 3.36637875e-04 9.99865197e-01 -1.66080576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.126559995 meters 0.015118058495909614 Centerline is valid? [True, True] Translation: X:81.22, Y:-20.58, Z:-1.66 [[ 8.74916473e-01 4.84055514e-01 1.45404513e-02 8.12185579e+01] [-4.83981361e-01 8.75037206e-01 -8.48114120e-03 -2.05751779e+01] [-1.68287791e-02 3.82982714e-04 9.99858313e-01 -1.66124957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.156559995 meters 0.01669870333501899 Centerline is valid? [True, True] Translation: X:81.24, Y:-20.59, Z:-1.66 [[ 8.76692430e-01 4.80827479e-01 1.46737351e-02 8.12438203e+01] [-4.80751425e-01 8.76815106e-01 -8.56372982e-03 -2.05930717e+01] [-1.69838292e-02 4.53338035e-04 9.99855662e-01 -1.66212423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.186559995 meters 0.016917447124524546 Centerline is valid? [True, True] Translation: X:81.27, Y:-20.61, Z:-1.66 [[ 8.77345800e-01 4.79627677e-01 1.48875331e-02 8.12716014e+01] [-4.79549141e-01 8.77471967e-01 -8.69296583e-03 -2.06094636e+01] [-1.72327800e-02 4.87433326e-04 9.99851386e-01 -1.66296846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.216559995 meters 0.01779869879539024 Centerline is valid? [True, True] Translation: X:81.30, Y:-20.63, Z:-1.66 [[ 8.77924536e-01 4.78576901e-01 1.45828456e-02 8.12975241e+01] [-4.78501322e-01 8.78045499e-01 -8.51978078e-03 -2.06257794e+01] [-1.68817723e-02 5.01813675e-04 9.99857367e-01 -1.66391497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.246559995 meters 0.017047162835882246 Centerline is valid? [True, True] Translation: X:81.33, Y:-20.64, Z:-1.66 [[ 8.78347963e-01 4.77813383e-01 1.41147569e-02 8.13263401e+01] [-4.77742428e-01 8.78461222e-01 -8.24950054e-03 -2.06405735e+01] [-1.63409884e-02 5.02713749e-04 9.99866351e-01 -1.66497870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.276559995 meters 0.017088822109328175 Centerline is valid? [True, True] Translation: X:81.35, Y:-20.66, Z:-1.67 [[ 8.78602906e-01 4.77352251e-01 1.38478519e-02 8.13541158e+01] [-4.77283826e-01 8.78711883e-01 -8.09791391e-03 -2.06562212e+01] [-1.60338294e-02 5.05494954e-04 9.99871322e-01 -1.66613357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.306559995 meters 0.017479335641954235 Centerline is valid? [True, True] Translation: X:81.38, Y:-20.67, Z:-1.67 [[ 8.78910546e-01 4.76787709e-01 1.37743827e-02 8.13820965e+01] [-4.76719867e-01 8.79018324e-01 -8.05944049e-03 -2.06717605e+01] [-1.59505769e-02 5.17005367e-04 9.99872648e-01 -1.66745897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.336559995 meters 0.01720623088107618 Centerline is valid? [True, True] Translation: X:81.41, Y:-20.69, Z:-1.67 [[ 8.78865566e-01 4.76866047e-01 1.39316141e-02 8.14115094e+01] [-4.76796585e-01 8.78975823e-01 -8.15590377e-03 -2.06874558e+01] [-1.61348256e-02 5.25396941e-04 9.99869687e-01 -1.66820933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.366559995 meters 0.017755099079086515 Centerline is valid? [True, True] Translation: X:81.44, Y:-20.70, Z:-1.67 [[ 8.78811048e-01 4.76960385e-01 1.41398093e-02 8.14394797e+01] [-4.76888748e-01 8.78924629e-01 -8.28361772e-03 -2.07036125e+01] [-1.63787841e-02 5.36618809e-04 9.99865715e-01 -1.66902220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.396559995 meters 0.018068723076356954 Centerline is valid? [True, True] Translation: X:81.47, Y:-20.72, Z:-1.67 [[ 8.78550389e-01 4.77409448e-01 1.51470651e-02 8.14668863e+01] [-4.77327238e-01 8.78680770e-01 -8.87762723e-03 -2.07183656e+01] [-1.75476980e-02 5.69336077e-04 9.99845865e-01 -1.66846269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.426559995 meters 0.017081259797328552 Centerline is valid? [True, True] Translation: X:81.50, Y:-20.73, Z:-1.67 [[ 8.78130124e-01 4.78165365e-01 1.56642667e-02 8.14957156e+01] [-4.78077514e-01 8.78269635e-01 -9.18355680e-03 -2.07323604e+01] [-1.81487086e-02 5.75624184e-04 9.99835133e-01 -1.66873041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.456559995 meters 0.01751397535790113 Centerline is valid? [True, True] Translation: X:81.52, Y:-20.75, Z:-1.67 [[ 8.77678397e-01 4.78990613e-01 1.57678157e-02 8.15229249e+01] [-4.78901631e-01 8.77819840e-01 -9.24964193e-03 -2.07475415e+01] [-1.82717931e-02 5.66978221e-04 9.99832896e-01 -1.66931979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.48655999500001 meters 0.01653263129444018 Centerline is valid? [True, True] Translation: X:81.55, Y:-20.76, Z:-1.67 [[ 8.77002106e-01 4.80223149e-01 1.59070116e-02 8.15523792e+01] [-4.80132740e-01 8.77146183e-01 -9.33414380e-03 -2.07612705e+01] [-1.84352464e-02 5.48586705e-04 9.99829906e-01 -1.67014483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.516559995 meters 0.016896068881461033 Centerline is valid? [True, True] Translation: X:81.58, Y:-20.78, Z:-1.67 [[ 8.76120957e-01 4.81830959e-01 1.58428543e-02 8.15793348e+01] [-4.81741444e-01 8.76264035e-01 -9.30170434e-03 -2.07762043e+01] [-1.83643726e-02 5.17258587e-04 9.99831227e-01 -1.67129388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.546559995 meters 0.015443680943760654 Centerline is valid? [True, True] Translation: X:81.61, Y:-20.79, Z:-1.67 [[ 8.74086690e-01 4.85516968e-01 1.56758345e-02 8.16090238e+01] [-4.85429831e-01 8.74227133e-01 -9.20858625e-03 -2.07879971e+01] [-1.81751647e-02 4.39584983e-04 9.99834721e-01 -1.67267817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.576559995 meters 0.01507039156150553 Centerline is valid? [True, True] Translation: X:81.64, Y:-20.80, Z:-1.67 [[ 8.72903784e-01 4.87652923e-01 1.52843117e-02 8.16370118e+01] [-4.87570391e-01 8.73037501e-01 -8.97974329e-03 -2.08020140e+01] [-1.77227753e-02 3.86274078e-04 9.99842865e-01 -1.67371627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.606559995 meters 0.013713957390199039 Centerline is valid? [True, True] Translation: X:81.67, Y:-20.81, Z:-1.68 [[ 8.70435817e-01 4.92053945e-01 1.49801359e-02 8.16671773e+01] [-4.91975231e-01 8.70564661e-01 -8.80586405e-03 -2.08134637e+01] [-1.73741371e-02 2.95083631e-04 9.99849015e-01 -1.67544091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.636559995 meters 0.013563399338330293 Centerline is valid? [True, True] Translation: X:81.70, Y:-20.83, Z:-1.68 [[ 8.69134256e-01 4.94370912e-01 1.42494281e-02 8.16950983e+01] [-4.94299997e-01 8.69251025e-01 -8.37664924e-03 -2.08279346e+01] [-1.65275017e-02 2.36940524e-04 9.99863383e-01 -1.67682052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.666559995 meters 0.012707008103755644 Centerline is valid? [True, True] Translation: X:81.72, Y:-20.84, Z:-1.68 [[ 8.67911900e-01 4.96531157e-01 1.36287769e-02 8.17248455e+01] [-4.96466492e-01 8.68018879e-01 -8.01555295e-03 -2.08413749e+01] [-1.58100074e-02 1.90562734e-04 9.99874996e-01 -1.67771367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.696559995 meters 0.012479511494098471 Centerline is valid? [True, True] Translation: X:81.75, Y:-20.85, Z:-1.68 [[ 8.66067037e-01 4.99744321e-01 1.35462203e-02 8.17528989e+01] [-4.99680758e-01 8.66172959e-01 -7.97150774e-03 -2.08547752e+01] [-1.57170854e-02 1.35074484e-04 9.99876470e-01 -1.67910845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.726559995 meters 0.012251118741188559 Centerline is valid? [True, True] Translation: X:81.78, Y:-20.87, Z:-1.68 [[ 8.65457822e-01 5.00796236e-01 1.36340638e-02 8.17802164e+01] [-5.00731909e-01 8.65565200e-01 -8.02742457e-03 -2.08695581e+01] [-1.58212752e-02 1.20386575e-04 9.99874829e-01 -1.67953647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.756559995 meters 0.012122338386748996 Centerline is valid? [True, True] Translation: X:81.81, Y:-20.89, Z:-1.68 [[ 8.64982784e-01 5.01611548e-01 1.38071813e-02 8.18089107e+01] [-5.01545620e-01 8.65092968e-01 -8.13314770e-03 -2.08853132e+01] [-1.60241763e-02 1.10101420e-04 9.99871599e-01 -1.67974801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.786559995 meters 0.012229993089095892 Centerline is valid? [True, True] Translation: X:81.84, Y:-20.90, Z:-1.68 [[ 8.64766946e-01 5.01986868e-01 1.36862689e-02 8.18368457e+01] [-5.01922059e-01 8.64875235e-01 -8.06687141e-03 -2.09017300e+01] [-1.58863785e-02 1.06523496e-04 9.99873798e-01 -1.68048961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.816559995 meters 0.011977420189257777 Centerline is valid? [True, True] Translation: X:81.87, Y:-20.92, Z:-1.68 [[ 8.64840087e-01 5.01858467e-01 1.37732497e-02 8.18654053e+01] [-5.01792742e-01 8.64949748e-01 -8.12264708e-03 -2.09171803e+01] [-1.59895881e-02 1.13474076e-04 9.99872152e-01 -1.68061000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.846559995 meters 0.01227925528078812 Centerline is valid? [True, True] Translation: X:81.89, Y:-20.93, Z:-1.68 [[ 8.65903103e-01 5.00031541e-01 1.34266125e-02 8.18914607e+01] [-4.99968783e-01 8.66007180e-01 -7.92341809e-03 -2.09338207e+01] [-1.55895018e-02 1.48025188e-04 9.99878465e-01 -1.68165335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.876559995 meters 0.012510588277930418 Centerline is valid? [True, True] Translation: X:81.92, Y:-20.95, Z:-1.68 [[ 8.66630023e-01 4.98772578e-01 1.33536039e-02 8.19186247e+01] [-4.98710289e-01 8.66732880e-01 -7.88430219e-03 -2.09505770e+01] [-1.55064813e-02 1.73193310e-04 9.99879752e-01 -1.68207239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.906559995 meters 0.012886330926711563 Centerline is valid? [True, True] Translation: X:81.94, Y:-20.97, Z:-1.68 [[ 8.67468950e-01 4.97320766e-01 1.30259718e-02 8.19445432e+01] [-4.97261268e-01 8.67566722e-01 -7.69512345e-03 -2.09673264e+01] [-1.51278443e-02 1.97969410e-04 9.99885548e-01 -1.68250499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.936559995 meters 0.014190487637885042 Centerline is valid? [True, True] Translation: X:81.97, Y:-20.99, Z:-1.68 [[ 8.69494882e-01 4.93770685e-01 1.30061677e-02 8.19698941e+01] [-4.93710910e-01 8.69592112e-01 -7.68738815e-03 -2.09856579e+01] [-1.51058678e-02 2.62857741e-04 9.99885865e-01 -1.68326144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.966559995 meters 0.014419032016920673 Centerline is valid? [True, True] Translation: X:82.00, Y:-21.00, Z:-1.68 [[ 8.70225671e-01 4.92491786e-01 1.26143886e-02 8.19976165e+01] [-4.92435372e-01 8.70317047e-01 -7.45937888e-03 -2.10025862e+01] [-1.46522002e-02 2.79571871e-04 9.99892612e-01 -1.68347821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.996559995 meters 0.01424950315323106 Centerline is valid? [True, True] Translation: X:82.03, Y:-21.02, Z:-1.68 [[ 8.70808209e-01 4.91466271e-01 1.24084049e-02 8.20254467e+01] [-4.91411524e-01 8.70896560e-01 -7.34144551e-03 -2.10183773e+01] [-1.44145100e-02 2.95357863e-04 9.99896062e-01 -1.68398903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.026559995 meters 0.014567493268855893 Centerline is valid? [True, True] Translation: X:82.05, Y:-21.04, Z:-1.69 [[ 8.71203962e-01 4.90782186e-01 1.16834276e-02 8.20528940e+01] [-4.90733540e-01 8.71282251e-01 -6.91609253e-03 -2.10350128e+01] [-1.35738581e-02 2.91877413e-04 9.99907828e-01 -1.68518794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.056559995 meters 0.014797561344679811 Centerline is valid? [True, True] Translation: X:82.08, Y:-21.05, Z:-1.69 [[ 8.71652072e-01 4.90008646e-01 1.06860539e-02 8.20805639e+01] [-4.89967855e-01 8.71717527e-01 -6.32874679e-03 -2.10504484e+01] [-1.24163611e-02 2.80642340e-04 9.99922875e-01 -1.68681742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.086559995 meters 0.015469189795959265 Centerline is valid? [True, True] Translation: X:82.11, Y:-21.07, Z:-1.69 [[ 8.71603690e-01 4.90095512e-01 1.06487903e-02 8.21073202e+01] [-4.90054970e-01 8.71668693e-01 -6.31006448e-03 -2.10672765e+01] [-1.23747514e-02 2.81382853e-04 9.99923390e-01 -1.68798926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.116559995 meters 0.014789726392345303 Centerline is valid? [True, True] Translation: X:82.14, Y:-21.08, Z:-1.69 [[ 8.71528163e-01 4.90237186e-01 1.03035517e-02 8.21362862e+01] [-4.90199200e-01 8.71589024e-01 -6.10876669e-03 -2.10827172e+01] [-1.19752072e-02 2.73169404e-04 9.99928257e-01 -1.68810982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.146559995 meters 0.01486891179964821 Centerline is valid? [True, True] Translation: X:82.17, Y:-21.10, Z:-1.69 [[ 8.71234771e-01 4.90768324e-01 9.81963320e-03 8.21652319e+01] [-4.90733817e-01 8.71290070e-01 -5.82531543e-03 -2.10987550e+01] [-1.14146292e-02 2.56391273e-04 9.99934818e-01 -1.68931553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.176559995 meters 0.015320044006211427 Centerline is valid? [True, True] Translation: X:82.19, Y:-21.12, Z:-1.69 [[ 8.70987742e-01 4.91207795e-01 9.75986842e-03 8.21926806e+01] [-4.91173690e-01 8.71042386e-01 -5.79371752e-03 -2.11154376e+01] [-1.13471783e-02 2.52466355e-04 9.99935587e-01 -1.69047249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.206559995 meters 0.01533430354145998 Centerline is valid? [True, True] Translation: X:82.22, Y:-21.13, Z:-1.69 [[ 8.70725572e-01 4.91670250e-01 9.86626384e-03 8.22213233e+01] [-4.91635389e-01 8.70781431e-01 -5.86032017e-03 -2.11326213e+01] [-1.14727044e-02 2.52126176e-04 9.99934155e-01 -1.69083696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.23655999500001 meters 0.014980698820904375 Centerline is valid? [True, True] Translation: X:82.25, Y:-21.15, Z:-1.69 [[ 8.70385613e-01 4.92267066e-01 1.01004918e-02 8.22489685e+01] [-4.92230520e-01 8.70444180e-01 -6.00362849e-03 -2.11483393e+01] [-1.17473029e-02 2.53701510e-04 9.99930966e-01 -1.69073591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.266559995 meters 0.014478796953909258 Centerline is valid? [True, True] Translation: X:82.28, Y:-21.16, Z:-1.69 [[ 8.69655234e-01 4.93533910e-01 1.11379520e-02 8.22768176e+01] [-4.93489520e-01 8.69726515e-01 -6.62448491e-03 -2.11636600e+01] [-1.29563801e-02 2.64555390e-04 9.99916028e-01 -1.69047942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.296559995 meters 0.014185721099479293 Centerline is valid? [True, True] Translation: X:82.30, Y:-21.18, Z:-1.69 [[ 8.68962775e-01 4.94741011e-01 1.16200987e-02 8.23046652e+01] [-4.94692748e-01 8.69040427e-01 -6.91532430e-03 -2.11794311e+01] [-1.35196301e-02 2.60780852e-04 9.99908572e-01 -1.69084763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.326559995 meters 0.013983352682768053 Centerline is valid? [True, True] Translation: X:82.33, Y:-21.20, Z:-1.69 [[ 8.68122602e-01 4.96206752e-01 1.19166574e-02 8.23325382e+01] [-4.96156075e-01 8.68204352e-01 -7.09588859e-03 -2.11951296e+01] [-1.38671216e-02 2.47579305e-04 9.99903816e-01 -1.69131496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.356559995 meters 0.013552889014831314 Centerline is valid? [True, True] Translation: X:82.36, Y:-21.21, Z:-1.69 [[ 8.67100811e-01 4.97985326e-01 1.21160368e-02 8.23610099e+01] [-4.97933055e-01 8.67185426e-01 -7.21866944e-03 -2.12106475e+01] [-1.41016420e-02 2.26338919e-04 9.99900541e-01 -1.69193797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.386559995 meters 0.012836320323811753 Centerline is valid? [True, True] Translation: X:82.39, Y:-21.22, Z:-1.69 [[ 8.64898182e-01 5.01792600e-01 1.24627710e-02 8.23893511e+01] [-5.01737625e-01 8.64987952e-01 -7.42960840e-03 -2.12239939e+01] [-1.45082693e-02 1.72813688e-04 9.99894735e-01 -1.69276089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.416559995 meters 0.012327640883527316 Centerline is valid? [True, True] Translation: X:82.42, Y:-21.24, Z:-1.69 [[ 8.63535227e-01 5.04132644e-01 1.25374962e-02 8.24180008e+01] [-5.04077200e-01 8.63626226e-01 -7.47784129e-03 -2.12380176e+01] [-1.45975345e-02 1.37513377e-04 9.99893441e-01 -1.69310211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.446559995 meters 0.011814478728065639 Centerline is valid? [True, True] Translation: X:82.45, Y:-21.25, Z:-1.69 [[ 8.60878233e-01 5.08647691e-01 1.28916454e-02 8.24477526e+01] [-5.08589508e-01 8.60974751e-01 -7.69353256e-03 -2.12512018e+01] [-1.50126788e-02 6.66391115e-05 9.99887301e-01 -1.69387697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.476559995 meters 0.011715237872340759 Centerline is valid? [True, True] Translation: X:82.48, Y:-21.27, Z:-1.69 [[ 8.59474487e-01 5.11016553e-01 1.28719919e-02 8.24770578e+01] [-5.10958751e-01 8.59570871e-01 -7.68589973e-03 -2.12666887e+01] [-1.49920113e-02 2.87778058e-05 9.99887613e-01 -1.69460097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.506559995 meters 0.011670750453882677 Centerline is valid? [True, True] Translation: X:82.50, Y:-21.28, Z:-1.70 [[ 8.58210917e-01 5.13146100e-01 1.24539993e-02 8.25049239e+01] [-5.13092148e-01 8.58301276e-01 -7.44094583e-03 -2.12815503e+01] [-1.45075758e-02 -4.14828164e-06 9.99894760e-01 -1.69590301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.536559995 meters 0.011657453787994031 Centerline is valid? [True, True] Translation: X:82.53, Y:-21.30, Z:-1.70 [[ 8.57132080e-01 5.14951239e-01 1.22400515e-02 8.25339066e+01] [-5.14899251e-01 8.57219470e-01 -7.31719033e-03 -2.12972990e+01] [-1.42604067e-02 -3.05947745e-05 9.99898315e-01 -1.69631099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.566559995 meters 0.011813511682123894 Centerline is valid? [True, True] Translation: X:82.56, Y:-21.31, Z:-1.70 [[ 8.55720063e-01 5.17309856e-01 1.15623095e-02 8.25629056e+01] [-5.17263626e-01 8.55798170e-01 -6.91612506e-03 -2.13131713e+01] [-1.34727830e-02 -6.24951686e-05 9.99909236e-01 -1.69767186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.596559995 meters 0.011840388754767601 Centerline is valid? [True, True] Translation: X:82.59, Y:-21.33, Z:-1.70 [[ 8.55373436e-01 5.17882003e-01 1.15981340e-02 8.25900621e+01] [-5.17835476e-01 8.55452060e-01 -6.94216712e-03 -2.13292090e+01] [-1.35168710e-02 -6.77799033e-05 9.99908641e-01 -1.69891473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.626559995 meters 0.01187954603022651 Centerline is valid? [True, True] Translation: X:82.62, Y:-21.35, Z:-1.70 [[ 8.55381983e-01 5.17860701e-01 1.19145849e-02 8.26175874e+01] [-5.17811538e-01 8.55464955e-01 -7.13591917e-03 -2.13463911e+01] [-1.38879220e-02 -6.55728582e-05 9.99903556e-01 -1.69954223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.656559995 meters 0.0117844710770029 Centerline is valid? [True, True] Translation: X:82.65, Y:-21.36, Z:-1.70 [[ 8.55550755e-01 5.17582408e-01 1.18893748e-02 8.26454638e+01] [-5.17533364e-01 8.55633361e-01 -7.12521880e-03 -2.13647206e+01] [-1.38608336e-02 -5.71618272e-05 9.99903932e-01 -1.69956261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.686559995 meters 0.011755467983804115 Centerline is valid? [True, True] Translation: X:82.67, Y:-21.38, Z:-1.70 [[ 8.56831145e-01 5.15450754e-01 1.22844972e-02 8.26702126e+01] [-5.15398093e-01 8.56919202e-01 -7.36792865e-03 -2.13831827e+01] [-1.43246259e-02 -1.83357062e-05 9.99897397e-01 -1.69970779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.716559995 meters 0.011710036543473221 Centerline is valid? [True, True] Translation: X:82.70, Y:-21.40, Z:-1.70 [[ 8.57512353e-01 5.14314321e-01 1.23832363e-02 8.26961506e+01] [-5.14260667e-01 8.57601760e-01 -7.42880263e-03 -2.14011284e+01] [-1.44406248e-02 2.07866213e-06 9.99895729e-01 -1.70045996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.746559995 meters 0.011744991457019216 Centerline is valid? [True, True] Translation: X:82.72, Y:-21.42, Z:-1.70 [[ 8.58066220e-01 5.13393065e-01 1.22442607e-02 8.27231932e+01] [-5.13340455e-01 8.58153576e-01 -7.34963074e-03 -2.14195489e+01] [-1.42807055e-02 2.09955223e-05 9.99898025e-01 -1.70075926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.776559995 meters 0.011907962124065124 Centerline is valid? [True, True] Translation: X:82.75, Y:-21.44, Z:-1.70 [[ 8.59371413e-01 5.11206328e-01 1.22010046e-02 8.27500646e+01] [-5.11153802e-01 8.59458019e-01 -7.32826637e-03 -2.14394755e+01] [-1.42325074e-02 6.11127273e-05 9.99898711e-01 -1.70194342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.806559995 meters 0.011942516695738759 Centerline is valid? [True, True] Translation: X:82.78, Y:-21.46, Z:-1.70 [[ 8.59701150e-01 5.10661861e-01 1.17641892e-02 8.27774535e+01] [-5.10612922e-01 8.59781634e-01 -7.07006423e-03 -2.14578147e+01] [-1.37250459e-02 7.11953497e-05 9.99905805e-01 -1.70247420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.836559995 meters 0.012060893979058159 Centerline is valid? [True, True] Translation: X:82.81, Y:-21.48, Z:-1.70 [[ 8.60013971e-01 5.10141713e-01 1.14630891e-02 8.28050679e+01] [-5.10095145e-01 8.60090359e-01 -6.89326991e-03 -2.14759953e+01] [-1.33758369e-02 8.10423345e-05 9.99910536e-01 -1.70320567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.866559995 meters 0.012206547178368336 Centerline is valid? [True, True] Translation: X:82.83, Y:-21.49, Z:-1.70 [[ 8.60156536e-01 5.09903829e-01 1.13498302e-02 8.28315900e+01] [-5.09858097e-01 8.60231409e-01 -6.82964254e-03 -2.14940138e+01] [-1.32459413e-02 8.77588507e-05 9.99912265e-01 -1.70425838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.896559995 meters 0.012209775014467981 Centerline is valid? [True, True] Translation: X:82.86, Y:-21.51, Z:-1.71 [[ 8.60108414e-01 5.09993295e-01 1.09706948e-02 8.28589571e+01] [-5.09950528e-01 8.60178372e-01 -6.60513010e-03 -2.15117235e+01] [-1.28053264e-02 8.66163756e-05 9.99918005e-01 -1.70503307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.926559995 meters 0.012209775014467981 Centerline is valid? [True, True] Translation: X:82.89, Y:-21.53, Z:-1.71 [[ 8.59965350e-01 5.10234535e-01 1.09688418e-02 8.28866947e+01] [-5.10191749e-01 8.60035297e-01 -6.60820532e-03 -2.15285155e+01] [-1.28053257e-02 8.66150205e-05 9.99918005e-01 -1.70567145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.956559995 meters 0.012168292013013397 Centerline is valid? [True, True] Translation: X:82.91, Y:-21.55, Z:-1.71 [[ 8.59728023e-01 5.10653257e-01 1.00488075e-02 8.29140795e+01] [-5.10617337e-01 8.59786744e-01 -6.05721886e-03 -2.15472619e+01] [-1.17329700e-02 7.64654920e-05 9.99931163e-01 -1.70609027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.98655999500001 meters 0.012090465345822182 Centerline is valid? [True, True] Translation: X:82.94, Y:-21.56, Z:-1.71 [[ 8.59289859e-01 5.11396694e-01 9.71384562e-03 8.29417807e+01] [-5.11363137e-01 8.59344760e-01 -5.85882768e-03 -2.15647548e+01] [-1.13437274e-02 6.71286434e-05 9.99935656e-01 -1.70669680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.016559995 meters 0.012056183784942495 Centerline is valid? [True, True] Translation: X:82.97, Y:-21.58, Z:-1.71 [[ 8.58334978e-01 5.13008666e-01 9.12001373e-03 8.29697996e+01] [-5.12979144e-01 8.58383426e-01 -5.50379741e-03 -2.15825366e+01] [-1.06519644e-02 4.57249886e-05 9.99943265e-01 -1.70795224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.046559995 meters 0.012077896291286258 Centerline is valid? [True, True] Translation: X:83.00, Y:-21.60, Z:-1.71 [[ 8.57666462e-01 5.14134923e-01 8.57444046e-03 8.29970910e+01] [-5.14108852e-01 8.57709321e-01 -5.17766571e-03 -2.15993810e+01] [-1.00163963e-02 3.25144868e-05 9.99949834e-01 -1.70927344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.076559995 meters 0.011876162332743145 Centerline is valid? [True, True] Translation: X:83.03, Y:-21.62, Z:-1.71 [[ 8.57047920e-01 5.15165371e-01 8.57338744e-03 8.30255110e+01] [-5.15139329e-01 8.57090801e-01 -5.17987747e-03 -2.16165691e+01] [-1.00166650e-02 2.29141577e-05 9.99949832e-01 -1.70985567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.106559995 meters 0.011793370741775106 Centerline is valid? [True, True] Translation: X:83.05, Y:-21.63, Z:-1.71 [[ 8.56358173e-01 5.16311090e-01 8.57542920e-03 8.30537602e+01] [-5.16285061e-01 8.56401108e-01 -5.18436871e-03 -2.16338820e+01] [-1.00207541e-02 1.23105206e-05 9.99949791e-01 -1.71072474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.136559995 meters 0.011763459113967291 Centerline is valid? [True, True] Translation: X:83.08, Y:-21.65, Z:-1.71 [[ 8.55003638e-01 5.18545179e-01 8.92618672e-03 8.30804546e+01] [-5.18517058e-01 8.55050231e-01 -5.40032531e-03 -2.16509181e+01] [-1.04326507e-02 -1.10822975e-05 9.99945578e-01 -1.71142472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.166559995 meters 0.01173085171117746 Centerline is valid? [True, True] Translation: X:83.11, Y:-21.67, Z:-1.71 [[ 8.53513419e-01 5.20989651e-01 9.19928541e-03 8.31084120e+01] [-5.20959889e-01 8.53562992e-01 -5.56882990e-03 -2.16683242e+01] [-1.07534723e-02 -3.93876587e-05 9.99942179e-01 -1.71107341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.196559995 meters 0.011936368512666185 Centerline is valid? [True, True] Translation: X:83.14, Y:-21.68, Z:-1.71 [[ 8.52762945e-01 5.22216695e-01 9.22401423e-03 8.31357652e+01] [-5.22186804e-01 8.52812829e-01 -5.58755194e-03 -2.16848252e+01] [-1.07842706e-02 -5.18012695e-05 9.99941847e-01 -1.71193370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.226559995 meters 0.011936368512666185 Centerline is valid? [True, True] Translation: X:83.16, Y:-21.70, Z:-1.71 [[ 8.52618889e-01 5.22451886e-01 9.22262504e-03 8.31634522e+01] [-5.22421984e-01 8.52668766e-01 -5.58984343e-03 -2.17017006e+01] [-1.07842686e-02 -5.20959814e-05 9.99941847e-01 -1.71257198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.256559995 meters 0.012062727153725576 Centerline is valid? [True, True] Translation: X:83.19, Y:-21.72, Z:-1.71 [[ 8.51377343e-01 5.24461056e-01 9.86003688e-03 8.31911603e+01] [-5.24426964e-01 8.51434434e-01 -5.98032776e-03 -2.17194009e+01] [-1.15316239e-02 -7.93536452e-05 9.99933505e-01 -1.71281558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.286559995 meters 0.012032138359656426 Centerline is valid? [True, True] Translation: X:83.22, Y:-21.74, Z:-1.71 [[ 8.50722256e-01 5.25516800e-01 1.01850918e-02 8.32185718e+01] [-5.25480452e-01 8.50783218e-01 -6.18147756e-03 -2.17372539e+01] [-1.19137755e-02 -9.33461115e-05 9.99929024e-01 -1.71271177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.316559995 meters 0.01219743540238651 Centerline is valid? [True, True] Translation: X:83.25, Y:-21.75, Z:-1.71 [[ 8.50185364e-01 5.26378944e-01 1.04907195e-02 8.32456755e+01] [-5.26340383e-01 8.50250079e-01 -6.37218055e-03 -2.17540704e+01] [-1.22739168e-02 -1.04154685e-04 9.99924667e-01 -1.71344162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.346559995 meters 0.01219625116738266 Centerline is valid? [True, True] Translation: X:83.27, Y:-21.77, Z:-1.71 [[ 8.49295003e-01 5.27803347e-01 1.10283722e-02 8.32723563e+01] [-5.27760826e-01 8.49366594e-01 -6.70076395e-03 -2.17735519e+01] [-1.29038166e-02 -1.29417481e-04 9.99916734e-01 -1.71338553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.376559995 meters 0.0125941085397811 Centerline is valid? [True, True] Translation: X:83.30, Y:-21.79, Z:-1.71 [[ 8.48745444e-01 5.28691592e-01 1.07875533e-02 8.32993679e+01] [-5.28650925e-01 8.48813986e-01 -6.55872183e-03 -2.17902928e+01] [-1.26241672e-02 -1.36164749e-04 9.99920303e-01 -1.71459572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.406559995 meters 0.012626658822847166 Centerline is valid? [True, True] Translation: X:83.33, Y:-21.81, Z:-1.72 [[ 8.48221201e-01 5.29539671e-01 1.04178576e-02 8.33265462e+01] [-5.29501763e-01 8.48285163e-01 -6.33762542e-03 -2.18080126e+01] [-1.21933381e-02 -1.40565728e-04 9.99925649e-01 -1.71562746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.436559995 meters 0.012707405979603676 Centerline is valid? [True, True] Translation: X:83.35, Y:-21.83, Z:-1.72 [[ 8.47596572e-01 5.30546936e-01 1.00000024e-02 8.33530489e+01] [-5.30512036e-01 8.47655547e-01 -6.08705611e-03 -2.18252094e+01] [-1.17060264e-02 -1.45753722e-04 9.99931472e-01 -1.71677553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.466559995 meters 0.01318455209673246 Centerline is valid? [True, True] Translation: X:83.38, Y:-21.84, Z:-1.72 [[ 8.46227319e-01 5.32742478e-01 9.20739083e-03 8.33801631e+01] [-5.32712996e-01 8.46277393e-01 -5.60687017e-03 -2.18427146e+01] [-1.07790246e-02 -1.60210040e-04 9.99941892e-01 -1.71863826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.496559995 meters 0.013549671346446017 Centerline is valid? [True, True] Translation: X:83.41, Y:-21.86, Z:-1.72 [[ 8.45361647e-01 5.34119297e-01 8.95895059e-03 8.34072352e+01] [-5.34091432e-01 8.45409101e-01 -5.45846172e-03 -2.18596193e+01] [-1.04894481e-02 -1.70524558e-04 9.99944970e-01 -1.71964890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.526559995 meters 0.01381693314645164 Centerline is valid? [True, True] Translation: X:83.43, Y:-21.88, Z:-1.72 [[ 8.44689987e-01 5.35178266e-01 9.11314174e-03 8.34342085e+01] [-5.35149462e-01 8.44739125e-01 -5.55554273e-03 -2.18767529e+01] [-1.06714331e-02 -1.84181584e-04 9.99943042e-01 -1.72051486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.556559995 meters 0.014287339017085794 Centerline is valid? [True, True] Translation: X:83.46, Y:-21.90, Z:-1.72 [[ 8.43608585e-01 5.36873758e-01 9.54581694e-03 8.34608290e+01] [-5.36842223e-01 8.43662565e-01 -5.82278183e-03 -2.18950047e+01] [-1.11795472e-02 -2.12448845e-04 9.99937484e-01 -1.72149543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.586559995 meters 0.01424205731321118 Centerline is valid? [True, True] Translation: X:83.49, Y:-21.91, Z:-1.72 [[ 8.43110704e-01 5.37654898e-01 9.56825939e-03 8.34877611e+01] [-5.37623233e-01 8.43164967e-01 -5.83930618e-03 -2.19135481e+01] [-1.12071527e-02 -2.20937006e-04 9.99937173e-01 -1.72196556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.616559995 meters 0.015048246278591158 Centerline is valid? [True, True] Translation: X:83.51, Y:-21.93, Z:-1.72 [[ 8.42754570e-01 5.38213353e-01 9.54579964e-03 8.35140429e+01] [-5.38181814e-01 8.42808600e-01 -5.83075033e-03 -2.19297118e+01] [-1.11834697e-02 -2.23484287e-04 9.99937438e-01 -1.72335042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.646559995 meters 0.014579073469324027 Centerline is valid? [True, True] Translation: X:83.54, Y:-21.95, Z:-1.72 [[ 8.42523697e-01 5.38576595e-01 9.43777988e-03 8.35405759e+01] [-5.38545786e-01 8.42576525e-01 -5.76505081e-03 -2.19491790e+01] [-1.10569732e-02 -2.25484667e-04 9.99938844e-01 -1.72357809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.676559995 meters 0.015052878193732107 Centerline is valid? [True, True] Translation: X:83.57, Y:-21.97, Z:-1.72 [[ 8.42098166e-01 5.39238230e-01 9.63381284e-03 8.35659826e+01] [-5.39206126e-01 8.42153238e-01 -5.88882530e-03 -2.19679647e+01] [-1.12886264e-02 -2.35641907e-04 9.99936254e-01 -1.72441546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.706559995 meters 0.014782547312680777 Centerline is valid? [True, True] Translation: X:83.59, Y:-21.99, Z:-1.72 [[ 8.41851950e-01 5.39609977e-01 1.03134403e-02 8.35930314e+01] [-5.39573163e-01 8.41915084e-01 -6.30820577e-03 -2.19871533e+01] [-1.20870118e-02 -2.54280291e-04 9.99926917e-01 -1.72470033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.73655999500001 meters 0.014657807696138083 Centerline is valid? [True, True] Translation: X:83.62, Y:-22.01, Z:-1.73 [[ 8.41576709e-01 5.40036493e-01 1.04512670e-02 8.36196701e+01] [-5.39998672e-01 8.41641562e-01 -6.39660250e-03 -2.20057456e+01] [-1.22506195e-02 -2.60438633e-04 9.99924924e-01 -1.72511865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.766559995 meters 0.014794894526338535 Centerline is valid? [True, True] Translation: X:83.65, Y:-22.02, Z:-1.73 [[ 8.41518464e-01 5.40120223e-01 1.08083082e-02 8.36464963e+01] [-5.40079722e-01 8.41587829e-01 -6.61972899e-03 -2.20236585e+01] [-1.26715901e-02 -2.66723888e-04 9.99919677e-01 -1.72560480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.796559995 meters 0.014679873753449597 Centerline is valid? [True, True] Translation: X:83.67, Y:-22.04, Z:-1.73 [[ 8.41725116e-01 5.39786355e-01 1.13806750e-02 8.36719441e+01] [-5.39741358e-01 8.41802006e-01 -6.97486755e-03 -2.20432481e+01] [-1.33452134e-02 -2.71699769e-04 9.99910912e-01 -1.72571293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.826559995 meters 0.014441060026879062 Centerline is valid? [True, True] Translation: X:83.70, Y:-22.06, Z:-1.73 [[ 8.41874107e-01 5.39554539e-01 1.13528722e-02 8.36986377e+01] [-5.39509690e-01 8.41950610e-01 -6.96164659e-03 -2.20619012e+01] [-1.33147457e-02 -2.64154571e-04 9.99911320e-01 -1.72604452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.856559995 meters 0.014521510360826054 Centerline is valid? [True, True] Translation: X:83.72, Y:-22.08, Z:-1.73 [[ 8.42440937e-01 5.38666453e-01 1.14769333e-02 8.37237938e+01] [-5.38620472e-01 8.42519074e-01 -7.04247253e-03 -2.20812156e+01] [-1.34630789e-02 -2.48844070e-04 9.99909338e-01 -1.72609086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.886559995 meters 0.014364126659222688 Centerline is valid? [True, True] Translation: X:83.75, Y:-22.10, Z:-1.73 [[ 8.42748163e-01 5.38187133e-01 1.14080834e-02 8.37504490e+01] [-5.38141639e-01 8.42825340e-01 -7.00166719e-03 -2.20995673e+01] [-1.33832289e-02 -2.38522519e-04 9.99910412e-01 -1.72651400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.916559995 meters 0.01418228850133889 Centerline is valid? [True, True] Translation: X:83.78, Y:-22.12, Z:-1.73 [[ 8.43006594e-01 5.37782506e-01 1.13955684e-02 8.37774231e+01] [-5.37737024e-01 8.43083581e-01 -6.99779762e-03 -2.21175804e+01] [-1.33707098e-02 -2.28629516e-04 9.99910582e-01 -1.72694044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.946559995 meters 0.014111192008966673 Centerline is valid? [True, True] Translation: X:83.80, Y:-22.13, Z:-1.73 [[ 8.43145683e-01 5.37561882e-01 1.15143551e-02 8.38044286e+01] [-5.37515373e-01 8.43224272e-01 -7.07464539e-03 -2.21343253e+01] [-1.35122433e-02 -2.24186136e-04 9.99908680e-01 -1.72753249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.976559995 meters 0.014145197613179358 Centerline is valid? [True, True] Translation: X:83.83, Y:-22.15, Z:-1.73 [[ 8.43098462e-01 5.37632747e-01 1.16624454e-02 8.38334710e+01] [-5.37584991e-01 8.43179090e-01 -7.16933131e-03 -2.21502308e+01] [-1.36879974e-02 -2.25103395e-04 9.99906290e-01 -1.72871480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.006559995 meters 0.013927692312014026 Centerline is valid? [True, True] Translation: X:83.86, Y:-22.17, Z:-1.73 [[ 8.43050196e-01 5.37715638e-01 1.13251419e-02 8.38617100e+01] [-5.37670558e-01 8.43126233e-01 -6.96604348e-03 -2.21673716e+01] [-1.32942747e-02 -2.16471026e-04 9.99911604e-01 -1.72924854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.036559995 meters 0.01368896143583396 Centerline is valid? [True, True] Translation: X:83.89, Y:-22.18, Z:-1.73 [[ 8.43161741e-01 5.37541359e-01 1.12945316e-02 8.38899887e+01] [-5.37496449e-01 8.43237359e-01 -6.95153376e-03 -2.21842659e+01] [-1.32607079e-02 -2.09503318e-04 9.99912051e-01 -1.73012912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.066559995 meters 0.013675485290092342 Centerline is valid? [True, True] Translation: X:83.92, Y:-22.20, Z:-1.73 [[ 8.43258450e-01 5.37393275e-01 1.11199928e-02 8.39182874e+01] [-5.37349675e-01 8.43331742e-01 -6.84831150e-03 -2.22014494e+01] [-1.30580794e-02 -2.00427958e-04 9.99914720e-01 -1.73069349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.096559995 meters 0.01342475874251518 Centerline is valid? [True, True] Translation: X:83.94, Y:-22.22, Z:-1.73 [[ 8.44553099e-01 5.35350341e-01 1.14050573e-02 8.39444745e+01] [-5.35304223e-01 8.44630087e-01 -7.02885640e-03 -2.22185073e+01] [-1.33959552e-02 -1.68932890e-04 9.99910256e-01 -1.73127754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.126559995 meters 0.01342475874251518 Centerline is valid? [True, True] Translation: X:83.97, Y:-22.24, Z:-1.73 [[ 8.44406550e-01 5.35581493e-01 1.14036222e-02 8.39720248e+01] [-5.35535365e-01 8.44483532e-01 -7.03118371e-03 -2.22355925e+01] [-1.33959430e-02 -1.69865412e-04 9.99910256e-01 -1.73191561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.156559995 meters 0.012553222232336686 Centerline is valid? [True, True] Translation: X:84.00, Y:-22.26, Z:-1.73 [[ 8.46296046e-01 5.32589939e-01 1.14437634e-02 8.39973939e+01] [-5.32543150e-01 8.46373406e-01 -7.06045981e-03 -2.22557606e+01] [-1.34460269e-02 -1.19058609e-04 9.99909591e-01 -1.73148390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.186559995 meters 0.012459133583010852 Centerline is valid? [True, True] Translation: X:84.02, Y:-22.27, Z:-1.73 [[ 8.47386500e-01 5.30854555e-01 1.13825274e-02 8.40234276e+01] [-5.30808055e-01 8.47462940e-01 -7.02671073e-03 -2.22729640e+01] [-1.33764315e-02 -8.75974190e-05 9.99910528e-01 -1.73251264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.216559995 meters 0.012300180207391603 Centerline is valid? [True, True] Translation: X:84.05, Y:-22.29, Z:-1.73 [[ 8.48471620e-01 5.29121838e-01 1.12245496e-02 8.40499633e+01] [-5.29076424e-01 8.48545860e-01 -6.93256448e-03 -2.22910240e+01] [-1.31927163e-02 -5.65603247e-05 9.99912971e-01 -1.73336745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.246559995 meters 0.01229145284019057 Centerline is valid? [True, True] Translation: X:84.08, Y:-22.31, Z:-1.73 [[ 8.50845748e-01 5.25305166e-01 1.07701739e-02 8.40760060e+01] [-5.25263006e-01 8.50913910e-01 -6.65518945e-03 -2.23096394e+01] [-1.26604962e-02 5.36570707e-06 9.99919853e-01 -1.73492700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.276559995 meters 0.01230704259556962 Centerline is valid? [True, True] Translation: X:84.10, Y:-22.33, Z:-1.74 [[ 8.52124166e-01 5.23236902e-01 1.03706482e-02 8.41031307e+01] [-5.23197619e-01 8.52187270e-01 -6.41157159e-03 -2.23276411e+01] [-1.21925052e-02 3.75566664e-05 9.99925668e-01 -1.73590212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.306559995 meters 0.012662176197083708 Centerline is valid? [True, True] Translation: X:84.13, Y:-22.35, Z:-1.74 [[ 8.53237814e-01 5.21432231e-01 9.67785906e-03 8.41283156e+01] [-5.21397857e-01 8.53292696e-01 -5.98750335e-03 -2.23451405e+01] [-1.13801237e-02 6.27493034e-05 9.99935242e-01 -1.73719713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.336559995 meters 0.012979769070983497 Centerline is valid? [True, True] Translation: X:84.15, Y:-22.36, Z:-1.74 [[ 8.54560086e-01 5.19265739e-01 9.49486612e-03 8.41545912e+01] [-5.19232496e-01 8.54612827e-01 -5.87633210e-03 -2.23633753e+01] [-1.11658123e-02 9.16358263e-05 9.99937656e-01 -1.73778944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.366559995 meters 0.013664748188045882 Centerline is valid? [True, True] Translation: X:84.18, Y:-22.38, Z:-1.74 [[ 8.57118406e-01 5.15027680e-01 9.72253309e-03 8.41803592e+01] [-5.14992512e-01 8.57173533e-01 -6.02050598e-03 -2.23830234e+01] [-1.14346253e-02 1.53254740e-04 9.99934611e-01 -1.73647196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.396559995 meters 0.014025332623579106 Centerline is valid? [True, True] Translation: X:84.21, Y:-22.40, Z:-1.74 [[ 8.58118091e-01 5.13354068e-01 1.00470113e-02 8.42067490e+01] [-5.13316357e-01 8.58176886e-01 -6.22499607e-03 -2.24006304e+01] [-1.18177399e-02 1.84486513e-04 9.99930151e-01 -1.73630069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.426559995 meters 0.014506348763116652 Centerline is valid? [True, True] Translation: X:84.23, Y:-22.42, Z:-1.74 [[ 8.58868407e-01 5.12091292e-01 1.03714896e-02 8.42327085e+01] [-5.12050967e-01 8.58931000e-01 -6.42989793e-03 -2.24181843e+01] [-1.22010887e-02 2.11704909e-04 9.99925542e-01 -1.73603228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.456559995 meters 0.014498949101988666 Centerline is valid? [True, True] Translation: X:84.26, Y:-22.43, Z:-1.74 [[ 8.59479118e-01 5.11049271e-01 1.11484888e-02 8.42596821e+01] [-5.11002539e-01 8.59551384e-01 -6.91544412e-03 -2.24346337e+01] [-1.31168317e-02 2.46773725e-04 9.99913940e-01 -1.73570187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.486559995 meters 0.014882075976426386 Centerline is valid? [True, True] Translation: X:84.29, Y:-22.45, Z:-1.74 [[ 8.60235668e-01 5.09766887e-01 1.15029381e-02 8.42866454e+01] [-5.09716971e-01 8.60312527e-01 -7.13899656e-03 -2.24515461e+01] [-1.35353458e-02 2.77976690e-04 9.99908354e-01 -1.73555156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.516559995 meters 0.015172542164259388 Centerline is valid? [True, True] Translation: X:84.31, Y:-22.47, Z:-1.74 [[ 8.60448920e-01 5.09410551e-01 1.13378086e-02 8.43127284e+01] [-5.09361975e-01 8.60523568e-01 -7.04042639e-03 -2.24678690e+01] [-1.33429190e-02 2.82878680e-04 9.99910939e-01 -1.73604536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.546559995 meters 0.01546305737289009 Centerline is valid? [True, True] Translation: X:84.34, Y:-22.48, Z:-1.74 [[ 8.60495187e-01 5.09341130e-01 1.09382989e-02 8.43397801e+01] [-5.09295874e-01 8.60564662e-01 -6.79532257e-03 -2.24847785e+01] [-1.28742508e-02 2.76511865e-04 9.99917085e-01 -1.73675698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.576559995 meters 0.015346345571019668 Centerline is valid? [True, True] Translation: X:84.37, Y:-22.50, Z:-1.74 [[ 8.60324824e-01 5.09637884e-01 1.05082750e-02 8.43679909e+01] [-5.09596096e-01 8.60388957e-01 -6.53155676e-03 -2.25013139e+01] [-1.23699326e-02 2.64284476e-04 9.99923455e-01 -1.73768694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.606559995 meters 0.015240157413953436 Centerline is valid? [True, True] Translation: X:84.40, Y:-22.52, Z:-1.74 [[ 8.59848060e-01 5.10452721e-01 9.96659121e-03 8.43958298e+01] [-5.10415140e-01 8.59905786e-01 -6.19868839e-03 -2.25164201e+01] [-1.17344668e-02 2.42831140e-04 9.99931119e-01 -1.73845584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.636559995 meters 0.015170163458403291 Centerline is valid? [True, True] Translation: X:84.42, Y:-22.53, Z:-1.74 [[ 8.59381005e-01 5.11237818e-01 1.00091070e-02 8.44236823e+01] [-5.11199929e-01 8.59439258e-01 -6.22851239e-03 -2.25331167e+01] [-1.17864706e-02 2.36010446e-04 9.99930509e-01 -1.73891153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.666559995 meters 0.01474357635523258 Centerline is valid? [True, True] Translation: X:84.45, Y:-22.55, Z:-1.74 [[ 8.58815635e-01 5.12184233e-01 1.01497132e-02 8.44519042e+01] [-5.12145297e-01 8.58875578e-01 -6.31943216e-03 -2.25491462e+01] [-1.19540543e-02 2.29099241e-04 9.99928521e-01 -1.73914045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.696559995 meters 0.014743409092069905 Centerline is valid? [True, True] Translation: X:84.48, Y:-22.56, Z:-1.74 [[ 8.57697397e-01 5.14050019e-01 1.03803841e-02 8.44788094e+01] [-5.14009375e-01 8.57760184e-01 -6.46756094e-03 -2.25647249e+01] [-1.22285300e-02 2.11595439e-04 9.99925206e-01 -1.73966663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.726559995 meters 0.014449873069789506 Centerline is valid? [True, True] Translation: X:84.51, Y:-22.58, Z:-1.74 [[ 8.56980286e-01 5.15245671e-01 1.03289742e-02 8.45062390e+01] [-5.15205502e-01 8.57042508e-01 -6.43663519e-03 -2.25807169e+01] [-1.21688184e-02 1.94525107e-04 9.99925938e-01 -1.74012327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.756559995 meters 0.013580181193321772 Centerline is valid? [True, True] Translation: X:84.53, Y:-22.60, Z:-1.74 [[ 8.56066619e-01 5.16765939e-01 1.01443452e-02 8.45348092e+01] [-5.16727262e-01 8.56126705e-01 -6.32470913e-03 -2.25957099e+01] [-1.19532391e-02 1.72512633e-04 9.99928543e-01 -1.74055994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.786559995 meters 0.01334801520812545 Centerline is valid? [True, True] Translation: X:84.56, Y:-22.61, Z:-1.74 [[ 8.55145596e-01 5.18291722e-01 9.98502176e-03 8.45628060e+01] [-5.18254316e-01 8.55203875e-01 -6.22864538e-03 -2.26116127e+01] [-1.17674846e-02 1.51618038e-04 9.99930749e-01 -1.74165254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.816559995 meters 0.012643652491079321 Centerline is valid? [True, True] Translation: X:84.59, Y:-22.63, Z:-1.74 [[ 8.53424809e-01 5.21129824e-01 9.47639226e-03 8.45919385e+01] [-5.21096275e-01 8.53477413e-01 -5.91419313e-03 -2.26260683e+01] [-1.11699492e-02 1.09206431e-04 9.99937608e-01 -1.74319503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.846559995 meters 0.012643652491079321 Centerline is valid? [True, True] Translation: X:84.62, Y:-22.64, Z:-1.74 [[ 8.53278515e-01 5.21369350e-01 9.47509857e-03 8.46193952e+01] [-5.21335792e-01 8.53331114e-01 -5.91626466e-03 -2.26432964e+01] [-1.11699555e-02 1.08513504e-04 9.99937608e-01 -1.74383318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.876559995 meters 0.012511741253793594 Centerline is valid? [True, True] Translation: X:84.65, Y:-22.66, Z:-1.75 [[ 8.52277070e-01 5.23013475e-01 8.98333178e-03 8.46464240e+01] [-5.22983353e-01 8.52324408e-01 -5.61389408e-03 -2.26594115e+01] [-1.05928552e-02 8.64602270e-05 9.99943890e-01 -1.74509374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.906559995 meters 0.012342427262744001 Centerline is valid? [True, True] Translation: X:84.67, Y:-22.68, Z:-1.75 [[ 8.51239237e-01 5.24708812e-01 8.51018979e-03 8.46747082e+01] [-5.24681864e-01 8.51281774e-01 -5.31813885e-03 -2.26757032e+01] [-1.00350438e-02 6.18662095e-05 9.99949646e-01 -1.74604547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.936559995 meters 0.012129625006287541 Centerline is valid? [True, True] Translation: X:84.70, Y:-22.69, Z:-1.75 [[ 8.49092136e-01 5.28177108e-01 8.45502859e-03 8.47023161e+01] [-5.28150642e-01 8.49134231e-01 -5.28746176e-03 -2.26898088e+01] [-9.97217045e-03 2.40134241e-05 9.99950276e-01 -1.74786011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.966559995 meters 0.011931430781750846 Centerline is valid? [True, True] Translation: X:84.73, Y:-22.71, Z:-1.75 [[ 8.48040436e-01 5.29867651e-01 8.22747113e-03 8.47311758e+01] [-5.29842653e-01 8.48080345e-01 -5.14690734e-03 -2.27064716e+01] [-9.70473626e-03 5.52041571e-06 9.99952908e-01 -1.74824385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.996559995 meters 0.011943318271518346 Centerline is valid? [True, True] Translation: X:84.76, Y:-22.72, Z:-1.75 [[ 8.46863376e-01 5.31749083e-01 8.08302786e-03 8.47595443e+01] [-5.31725013e-01 8.46901950e-01 -5.05952271e-03 -2.27234733e+01] [-9.53592862e-03 -1.32236139e-05 9.99954532e-01 -1.74898596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.026559995 meters 0.012035046952316667 Centerline is valid? [True, True] Translation: X:84.79, Y:-22.74, Z:-1.75 [[ 8.45966116e-01 5.33180604e-01 7.73131849e-03 8.47866932e+01] [-5.33158606e-01 8.46001444e-01 -4.84338612e-03 -2.27396881e+01] [-9.12310614e-03 -2.46784398e-05 9.99958383e-01 -1.75001196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.056559995 meters 0.012203078482037588 Centerline is valid? [True, True] Translation: X:84.81, Y:-22.76, Z:-1.75 [[ 8.44444789e-01 5.35590404e-01 7.47785038e-03 8.48148952e+01] [-5.35569911e-01 8.44477896e-01 -4.68543139e-03 -2.27559320e+01] [-8.82435144e-03 -4.83235414e-05 9.99961063e-01 -1.75093070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.086559995 meters 0.012420428665733405 Centerline is valid? [True, True] Translation: X:84.84, Y:-22.77, Z:-1.75 [[ 8.43748913e-01 5.36683889e-01 7.62726448e-03 8.48427438e+01] [-5.36662592e-01 8.43783385e-01 -4.78148807e-03 -2.27722934e+01] [-9.00190665e-03 -5.88921563e-05 9.99959480e-01 -1.75305436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.116559995 meters 0.012307744636064991 Centerline is valid? [True, True] Translation: X:84.87, Y:-22.79, Z:-1.75 [[ 8.43238157e-01 5.37486552e-01 7.59061494e-03 8.48705867e+01] [-5.37465471e-01 8.43272318e-01 -4.76085248e-03 -2.27905042e+01] [-8.95984964e-03 -6.51609628e-05 9.99959858e-01 -1.75247053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.146559995 meters 0.012364070912963212 Centerline is valid? [True, True] Translation: X:84.90, Y:-22.81, Z:-1.75 [[ 8.42815044e-01 5.38149728e-01 7.59419260e-03 8.48983740e+01] [-5.38128627e-01 8.42849254e-01 -4.76604421e-03 -2.28086279e+01] [-8.96560497e-03 -6.97586728e-05 9.99959806e-01 -1.75337768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.176559995 meters 0.012367408619928471 Centerline is valid? [True, True] Translation: X:84.93, Y:-22.83, Z:-1.75 [[ 8.42936737e-01 5.37958089e-01 7.66501241e-03 8.49250015e+01] [-5.37936546e-01 8.42971583e-01 -4.81482117e-03 -2.28263808e+01] [-9.05155964e-03 -6.47006519e-05 9.99959032e-01 -1.75401628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.206559995 meters 0.012410086501196446 Centerline is valid? [True, True] Translation: X:84.95, Y:-22.84, Z:-1.75 [[ 8.43241825e-01 5.37475300e-01 7.97038279e-03 8.49511722e+01] [-5.37451970e-01 8.43279490e-01 -5.00812236e-03 -2.28440101e+01] [-9.41300240e-03 -6.06396955e-05 9.99955695e-01 -1.75493630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.236559995 meters 0.012080934285965966 Centerline is valid? [True, True] Translation: X:84.98, Y:-22.86, Z:-1.75 [[ 8.43880337e-01 5.36466515e-01 8.34599508e-03 8.49771736e+01] [-5.36440861e-01 8.43921605e-01 -5.24665841e-03 -2.28635856e+01] [-9.85802212e-03 -4.95809205e-05 9.99951407e-01 -1.75420052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.266559995 meters 0.0119078289253026 Centerline is valid? [True, True] Translation: X:85.00, Y:-22.89, Z:-1.75 [[ 8.46390477e-01 5.32495770e-01 8.45077468e-03 8.50015767e+01] [-5.32469239e-01 8.46432664e-01 -5.31551548e-03 -2.28854694e+01] [-9.98350124e-03 -7.75884240e-07 9.99950164e-01 -1.75419751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.296559995 meters 0.012043887878837716 Centerline is valid? [True, True] Translation: X:85.03, Y:-22.90, Z:-1.75 [[ 8.48083920e-01 5.29801903e-01 7.97549458e-03 8.50258568e+01] [-5.29778117e-01 8.48121420e-01 -5.02032657e-03 -2.29046792e+01] [-9.42396635e-03 3.24157363e-05 9.99955593e-01 -1.75487048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.326559995 meters 0.012428848843860392 Centerline is valid? [True, True] Translation: X:85.05, Y:-22.92, Z:-1.76 [[ 8.49672213e-01 5.27256545e-01 7.59386357e-03 8.50515691e+01] [-5.27234880e-01 8.49706145e-01 -4.78001199e-03 -2.29247310e+01] [-8.97284514e-03 5.76936167e-05 9.99959742e-01 -1.75540044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.356559995 meters 0.012568469751895931 Centerline is valid? [True, True] Translation: X:85.08, Y:-22.94, Z:-1.76 [[ 8.50010307e-01 5.26698601e-01 8.42980570e-03 8.50799164e+01] [-5.26671846e-01 8.50052103e-01 -5.30928153e-03 -2.29415236e+01] [-9.96216522e-03 7.32026976e-05 9.99950374e-01 -1.75519597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.386559995 meters 0.012987012002051202 Centerline is valid? [True, True] Translation: X:85.11, Y:-22.96, Z:-1.76 [[ 8.51442501e-01 5.24384466e-01 8.16083616e-03 8.51055167e+01] [-5.24359249e-01 8.51481604e-01 -5.14347643e-03 -2.29594277e+01] [-9.64596100e-03 1.00164512e-04 9.99953472e-01 -1.75648724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.416559995 meters 0.013248044805010756 Centerline is valid? [True, True] Translation: X:85.13, Y:-22.98, Z:-1.76 [[ 8.51745766e-01 5.23890190e-01 8.25950968e-03 8.51319895e+01] [-5.23864315e-01 8.51785805e-01 -5.20793875e-03 -2.29765270e+01] [-9.76372112e-03 1.08977404e-04 9.99952328e-01 -1.75714155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.446559995 meters 0.01364292221079298 Centerline is valid? [True, True] Translation: X:85.16, Y:-23.00, Z:-1.76 [[ 8.53181331e-01 5.21553319e-01 7.98443305e-03 8.51586232e+01] [-5.21529009e-01 8.53218681e-01 -5.03733811e-03 -2.29951448e+01] [-9.43970784e-03 1.33649377e-04 9.99955436e-01 -1.75769814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.476559995 meters 0.013780282101593985 Centerline is valid? [True, True] Translation: X:85.19, Y:-23.01, Z:-1.76 [[ 8.53839379e-01 5.20478921e-01 7.74642869e-03 8.51850706e+01] [-5.20455973e-01 8.53874506e-01 -4.88957244e-03 -2.30130240e+01] [-9.15939736e-03 1.43234422e-04 9.99958042e-01 -1.75802741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.506559995 meters 0.014173990967872026 Centerline is valid? [True, True] Translation: X:85.21, Y:-23.03, Z:-1.76 [[ 8.54640763e-01 5.19168162e-01 7.32025481e-03 8.52109849e+01] [-5.19147601e-01 8.54672099e-01 -4.62299287e-03 -2.30311594e+01] [-8.65652826e-03 1.50705432e-04 9.99962520e-01 -1.75884039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.536559995 meters 0.015106876895180511 Centerline is valid? [True, True] Translation: X:85.24, Y:-23.05, Z:-1.76 [[ 8.55459506e-01 5.17820633e-01 7.12914398e-03 8.52363499e+01] [-5.17801067e-01 8.55489197e-01 -4.50444334e-03 -2.30491275e+01] [-8.43139936e-03 1.61890518e-04 9.99964442e-01 -1.76017080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.566559995 meters 0.015477770725295483 Centerline is valid? [True, True] Translation: X:85.26, Y:-23.07, Z:-1.76 [[ 8.56229224e-01 5.16549619e-01 6.92866363e-03 8.52637279e+01] [-5.16531081e-01 8.56257240e-01 -4.37961694e-03 -2.30663170e+01] [-8.19500786e-03 1.71085900e-04 9.99966406e-01 -1.76076119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.596559995 meters 0.015533804448431044 Centerline is valid? [True, True] Translation: X:85.29, Y:-23.08, Z:-1.76 [[ 8.57355338e-01 5.14676410e-01 7.07236584e-03 8.52916615e+01] [-5.14657010e-01 8.57384485e-01 -4.47285773e-03 -2.30820551e+01] [-8.36581110e-03 1.94985792e-04 9.99964987e-01 -1.76113851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.626559995 meters 0.015886022627217673 Centerline is valid? [True, True] Translation: X:85.32, Y:-23.10, Z:-1.76 [[ 8.57681200e-01 5.14131845e-01 7.16979832e-03 8.53185550e+01] [-5.14111867e-01 8.57711142e-01 -4.53701194e-03 -2.30994561e+01] [-8.48223823e-03 2.05231444e-04 9.99964004e-01 -1.76169601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.656559995 meters 0.016913720981180044 Centerline is valid? [True, True] Translation: X:85.34, Y:-23.12, Z:-1.76 [[ 8.58063482e-01 5.13488803e-01 7.50395343e-03 8.53435079e+01] [-5.13466856e-01 8.58096264e-01 -4.75281152e-03 -2.31173090e+01] [-8.87962990e-03 2.25182630e-04 9.99960550e-01 -1.76249370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.686559995 meters 0.01613401849840007 Centerline is valid? [True, True] Translation: X:85.37, Y:-23.13, Z:-1.76 [[ 8.58447414e-01 5.12845015e-01 7.61756290e-03 8.53714337e+01] [-5.12822375e-01 8.58481179e-01 -4.82455588e-03 -2.31338634e+01] [-9.01378382e-03 2.35170824e-04 9.99959347e-01 -1.76170392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.716559995 meters 0.017257813188225616 Centerline is valid? [True, True] Translation: X:85.40, Y:-23.15, Z:-1.76 [[ 8.59079710e-01 5.11775231e-01 8.25618768e-03 8.53958420e+01] [-5.11748552e-01 8.59119340e-01 -5.23253239e-03 -2.31527193e+01] [-9.77093099e-03 2.70070317e-04 9.99952227e-01 -1.76135088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.746559995 meters 0.01629256310985063 Centerline is valid? [True, True] Translation: X:85.42, Y:-23.17, Z:-1.76 [[ 8.59111512e-01 5.11717907e-01 8.49669994e-03 8.54245940e+01] [-5.11689626e-01 8.59153482e-01 -5.38713364e-03 -2.31691660e+01] [-1.00566621e-02 2.80475313e-04 9.99949391e-01 -1.76102064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.776559995 meters 0.01677544149853122 Centerline is valid? [True, True] Translation: X:85.45, Y:-23.19, Z:-1.76 [[ 8.59291381e-01 5.11412314e-01 8.70444245e-03 8.54504321e+01] [-5.11382575e-01 8.59335417e-01 -5.52301548e-03 -2.31856125e+01] [-1.03045738e-02 2.94579404e-04 9.99946863e-01 -1.76185747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.806559995 meters 0.016599273959042437 Centerline is valid? [True, True] Translation: X:85.48, Y:-23.20, Z:-1.76 [[ 8.59214085e-01 5.11538954e-01 8.89129766e-03 8.54785886e+01] [-5.11507906e-01 8.59260035e-01 -5.64392328e-03 -2.32021065e+01] [-1.05270233e-02 3.01369327e-04 9.99944544e-01 -1.76243124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.836559995 meters 0.016616710981241078 Centerline is valid? [True, True] Translation: X:85.51, Y:-23.22, Z:-1.76 [[ 8.59070444e-01 5.11767282e-01 9.60322212e-03 8.55066389e+01] [-5.11731029e-01 8.59124056e-01 -6.10009273e-03 -2.32186166e+01] [-1.13721870e-02 3.26142631e-04 9.99935281e-01 -1.76283975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.866559995 meters 0.01623270461831942 Centerline is valid? [True, True] Translation: X:85.53, Y:-23.24, Z:-1.76 [[ 8.58881617e-01 5.12070851e-01 1.02864700e-02 8.55345094e+01] [-5.12029223e-01 8.58943142e-01 -6.53853857e-03 -2.32355386e+01] [-1.21836879e-02 3.48857331e-04 9.99925715e-01 -1.76295432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.896559995 meters 0.016701737393664724 Centerline is valid? [True, True] Translation: X:85.56, Y:-23.25, Z:-1.76 [[ 8.58560411e-01 5.12606466e-01 1.04226528e-02 8.55599304e+01] [-5.12563711e-01 8.58623601e-01 -6.62974375e-03 -2.32528056e+01] [-1.23475852e-02 3.49761940e-04 9.99923704e-01 -1.76299621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.926559995 meters 0.01607689998332437 Centerline is valid? [True, True] Translation: X:85.59, Y:-23.27, Z:-1.76 [[ 8.58332844e-01 5.12974232e-01 1.10528983e-02 8.55875967e+01] [-5.12926132e-01 8.58403927e-01 -7.03430308e-03 -2.32689994e+01] [-1.30962675e-02 3.68452987e-04 9.99914172e-01 -1.76320622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.956559995 meters 0.016452135964282272 Centerline is valid? [True, True] Translation: X:85.61, Y:-23.29, Z:-1.76 [[ 8.57610063e-01 5.14187474e-01 1.07805795e-02 8.56136360e+01] [-5.14141763e-01 8.57677750e-01 -6.86469973e-03 -2.32856892e+01] [-1.27760058e-02 3.44489400e-04 9.99918324e-01 -1.76405446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.986559995 meters 0.01601400794921106 Centerline is valid? [True, True] Translation: X:85.64, Y:-23.30, Z:-1.76 [[ 8.57103378e-01 5.15031917e-01 1.07667522e-02 8.56416278e+01] [-5.14986349e-01 8.57170935e-01 -6.85915800e-03 -2.33020967e+01] [-1.27616323e-02 3.34277103e-04 9.99918511e-01 -1.76465495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.016559995 meters 0.015846548910536398 Centerline is valid? [True, True] Translation: X:85.67, Y:-23.32, Z:-1.77 [[ 8.56645211e-01 5.15789645e-01 1.09555626e-02 8.56693415e+01] [-5.15742477e-01 8.56715199e-01 -6.98324063e-03 -2.33190668e+01] [-1.29876802e-02 3.31910643e-04 9.99915601e-01 -1.76553719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.046559995 meters 0.01550493221935517 Centerline is valid? [True, True] Translation: X:85.70, Y:-23.34, Z:-1.77 [[ 8.56245926e-01 5.16448580e-01 1.11255398e-02 8.56971086e+01] [-5.16399942e-01 8.56318139e-01 -7.09541420e-03 -2.33355633e+01] [-1.31914181e-02 3.30191403e-04 9.99912935e-01 -1.76635052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.076559995 meters 0.015414879215053889 Centerline is valid? [True, True] Translation: X:85.72, Y:-23.35, Z:-1.77 [[ 8.55796085e-01 5.17188967e-01 1.13416512e-02 8.57243925e+01] [-5.17138432e-01 8.55871173e-01 -7.23719764e-03 -2.33520598e+01] [-1.34499911e-02 3.28361666e-04 9.99909491e-01 -1.76727509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.106559995 meters 0.01567221269359078 Centerline is valid? [True, True] Translation: X:85.75, Y:-23.37, Z:-1.77 [[ 8.55835819e-01 5.17123548e-01 1.13263810e-02 8.57517649e+01] [-5.17073096e-01 8.55910700e-01 -7.23102340e-03 -2.33698655e+01] [-1.34337032e-02 3.32001933e-04 9.99909709e-01 -1.76794684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.136559995 meters 0.0160147246197519 Centerline is valid? [True, True] Translation: X:85.78, Y:-23.39, Z:-1.77 [[ 8.56034107e-01 5.16810352e-01 1.06145311e-02 8.57782622e+01] [-5.16765968e-01 8.56099853e-01 -6.78054295e-03 -2.33875073e+01] [-1.25913533e-02 3.19147575e-04 9.99920675e-01 -1.76836396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.166559995 meters 0.01642536794253547 Centerline is valid? [True, True] Translation: X:85.80, Y:-23.41, Z:-1.77 [[ 8.56526325e-01 5.16004259e-01 1.01123075e-02 8.58049200e+01] [-5.15963883e-01 8.56585958e-01 -6.46284944e-03 -2.34050290e+01] [-1.19969184e-02 3.18015267e-04 9.99927984e-01 -1.76965144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.196559995 meters 0.01637784180736675 Centerline is valid? [True, True] Translation: X:85.83, Y:-23.42, Z:-1.77 [[ 8.58200933e-01 5.13215184e-01 1.00664477e-02 8.58318401e+01] [-5.13174940e-01 8.58259895e-01 -6.43695991e-03 -2.34219324e+01] [-1.19431739e-02 3.58356303e-04 9.99928614e-01 -1.76986835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.226559995 meters 0.017371523642441013 Centerline is valid? [True, True] Translation: X:85.86, Y:-23.44, Z:-1.77 [[ 8.59161401e-01 5.11597766e-01 1.04600846e-02 8.58572560e+01] [-5.11554148e-01 8.59224980e-01 -6.69224890e-03 -2.34401687e+01] [-1.24113056e-02 3.98822247e-04 9.99922897e-01 -1.77039869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.256559995 meters 0.018504968997231797 Centerline is valid? [True, True] Translation: X:85.88, Y:-23.46, Z:-1.77 [[ 8.59889510e-01 5.10371434e-01 1.05370895e-02 8.58821404e+01] [-5.10327038e-01 8.59953964e-01 -6.74493259e-03 -2.34584372e+01] [-1.25038328e-02 4.22535105e-04 9.99921735e-01 -1.77048985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.286559995 meters 0.017724167493823044 Centerline is valid? [True, True] Translation: X:85.91, Y:-23.47, Z:-1.77 [[ 8.61465781e-01 5.07697391e-01 1.09575192e-02 8.59097379e+01] [-5.07649101e-01 8.61535330e-01 -7.01891014e-03 -2.34746058e+01] [-1.30037723e-02 4.83976134e-04 9.99915330e-01 -1.77031771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.316559995 meters 0.019293391465607965 Centerline is valid? [True, True] Translation: X:85.94, Y:-23.49, Z:-1.77 [[ 8.62005672e-01 5.06779390e-01 1.09941199e-02 8.59353125e+01] [-5.06730704e-01 8.62075635e-01 -7.04223308e-03 -2.34927836e+01] [-1.30466215e-02 4.99386738e-04 9.99914765e-01 -1.77135779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.346559995 meters 0.020220824495309604 Centerline is valid? [True, True] Translation: X:85.96, Y:-23.51, Z:-1.77 [[ 8.62248673e-01 5.06372766e-01 1.06700073e-02 8.59613988e+01] [-5.06326835e-01 8.62314547e-01 -6.83795088e-03 -2.35103546e+01] [-1.26634547e-02 4.93503018e-04 9.99919693e-01 -1.77225657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.376559995 meters 0.018970299898386743 Centerline is valid? [True, True] Translation: X:85.99, Y:-23.53, Z:-1.77 [[ 8.62436702e-01 5.06053590e-01 1.06159666e-02 8.59902887e+01] [-5.06008060e-01 8.62501893e-01 -6.80643965e-03 -2.35255131e+01] [-1.26007145e-02 4.98358709e-04 9.99920484e-01 -1.77271609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.406559995 meters 0.018805150427118677 Centerline is valid? [True, True] Translation: X:86.02, Y:-23.54, Z:-1.77 [[ 8.62055850e-01 5.06706637e-01 1.03968541e-02 8.60179992e+01] [-5.06662972e-01 8.62118409e-01 -6.66943880e-03 -2.35424674e+01] [-1.23427682e-02 4.81727733e-04 9.99923709e-01 -1.77317705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.436559995 meters 0.021231470984181076 Centerline is valid? [True, True] Translation: X:86.04, Y:-23.56, Z:-1.77 [[ 8.61533632e-01 5.07591869e-01 1.05022043e-02 8.60431424e+01] [-5.07547333e-01 8.61597509e-01 -6.74073146e-03 -2.35616880e+01] [-1.24702136e-02 4.77001065e-04 9.99922130e-01 -1.77475320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.466559995 meters 0.018846681615203854 Centerline is valid? [True, True] Translation: X:86.07, Y:-23.58, Z:-1.77 [[ 8.60898492e-01 5.08675744e-01 1.01377095e-02 8.60728790e+01] [-5.08634282e-01 8.60958063e-01 -6.51007162e-03 -2.35755343e+01] [-1.20396582e-02 4.48124264e-04 9.99927420e-01 -1.77499994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.496559995 meters 0.01808337566281339 Centerline is valid? [True, True] Translation: X:86.10, Y:-23.59, Z:-1.78 [[ 8.59720488e-01 5.10673531e-01 9.65537816e-03 8.61020017e+01] [-5.10635994e-01 8.59774611e-01 -6.20489166e-03 -2.35903204e+01] [-1.14701229e-02 4.04088873e-04 9.99934134e-01 -1.77571104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.526559995 meters 0.01834473886672819 Centerline is valid? [True, True] Translation: X:86.13, Y:-23.61, Z:-1.78 [[ 8.58830639e-01 5.12169574e-01 9.60526780e-03 8.61285754e+01] [-5.12132520e-01 8.58884266e-01 -6.17252072e-03 -2.36063452e+01] [-1.14111907e-02 3.81979905e-04 9.99934817e-01 -1.77632239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.556559995 meters 0.017909247716666476 Centerline is valid? [True, True] Translation: X:86.16, Y:-23.62, Z:-1.78 [[ 8.57950802e-01 5.13640259e-01 9.70084425e-03 8.61570309e+01] [-5.13602523e-01 8.58005565e-01 -6.23691853e-03 -2.36219828e+01] [-1.15269108e-02 3.68591173e-04 9.99933495e-01 -1.77684639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.586559995 meters 0.016947780788798706 Centerline is valid? [True, True] Translation: X:86.19, Y:-23.64, Z:-1.78 [[ 8.56399044e-01 5.16213808e-01 1.01972106e-02 8.61858441e+01] [-5.16172226e-01 8.56459677e-01 -6.56159601e-03 -2.36352831e+01] [-1.21206862e-02 3.55827630e-04 9.99926478e-01 -1.77652951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.616559995 meters 0.016670693019289435 Centerline is valid? [True, True] Translation: X:86.21, Y:-23.65, Z:-1.78 [[ 8.55650037e-01 5.17447746e-01 1.05282600e-02 8.62136936e+01] [-5.17403529e-01 8.55714735e-01 -6.77343294e-03 -2.36512171e+01] [-1.25140848e-02 3.48329274e-04 9.99921635e-01 -1.77635885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.646559995 meters 0.015615575285454621 Centerline is valid? [True, True] Translation: X:86.24, Y:-23.67, Z:-1.78 [[ 8.54803126e-01 5.18840399e-01 1.07822463e-02 8.62420314e+01] [-5.18794086e-01 8.54871058e-01 -6.94055735e-03 -2.36658947e+01] [-1.28184718e-02 3.39044515e-04 9.99917783e-01 -1.77625689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.676559995 meters 0.015254756013802873 Centerline is valid? [True, True] Translation: X:86.27, Y:-23.68, Z:-1.78 [[ 8.54046402e-01 5.20082268e-01 1.09168640e-02 8.62705473e+01] [-5.20034842e-01 8.54116109e-01 -7.03103446e-03 -2.36816470e+01] [-1.29809858e-02 3.27680016e-04 9.99915690e-01 -1.77673057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.706559995 meters 0.014841666318834252 Centerline is valid? [True, True] Translation: X:86.30, Y:-23.70, Z:-1.78 [[ 8.52990321e-01 5.21819784e-01 1.05652774e-02 8.63001082e+01] [-5.21775437e-01 8.53055699e-01 -6.80935506e-03 -2.36960137e+01] [-1.25660263e-02 2.95611729e-04 9.99921001e-01 -1.77757780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.736559995 meters 0.014841666318834252 Centerline is valid? [True, True] Translation: X:86.33, Y:-23.71, Z:-1.78 [[ 8.52845819e-01 5.22055917e-01 1.05654171e-02 8.63273250e+01] [-5.22011592e-01 8.52911211e-01 -6.80913882e-03 -2.37136418e+01] [-1.25661139e-02 2.91875362e-04 9.99921001e-01 -1.77821506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.766559995 meters 0.01482842346473033 Centerline is valid? [True, True] Translation: X:86.35, Y:-23.73, Z:-1.78 [[ 8.52344773e-01 5.22886240e-01 9.91802261e-03 8.63549090e+01] [-5.22847191e-01 8.52402434e-01 -6.39574538e-03 -2.37294802e+01] [-1.17983939e-02 2.65769879e-04 9.99930361e-01 -1.77906071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.796559995 meters 0.014597293491438302 Centerline is valid? [True, True] Translation: X:86.38, Y:-23.75, Z:-1.78 [[ 8.51894020e-01 5.23627612e-01 9.52378042e-03 8.63830274e+01] [-5.23591618e-01 8.51947218e-01 -6.14452332e-03 -2.37451486e+01] [-1.13312003e-02 2.47911069e-04 9.99935769e-01 -1.78041974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.826559995 meters 0.01474031011129015 Centerline is valid? [True, True] Translation: X:86.41, Y:-23.76, Z:-1.78 [[ 8.51685804e-01 5.23973837e-01 9.09450576e-03 8.64104736e+01] [-5.23940995e-01 8.51734327e-01 -5.87114188e-03 -2.37612244e+01] [-1.08224275e-02 2.35383793e-04 9.99941408e-01 -1.78167093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.856559995 meters 0.014352812947102125 Centerline is valid? [True, True] Translation: X:86.44, Y:-23.78, Z:-1.78 [[ 8.51987781e-01 5.23509570e-01 7.38583924e-03 8.64390443e+01] [-5.23487892e-01 8.52019772e-01 -4.76815583e-03 -2.37760608e+01] [-8.78905627e-03 1.96013092e-04 9.99961356e-01 -1.78294080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.886559995 meters 0.014617245940282306 Centerline is valid? [True, True] Translation: X:86.47, Y:-23.79, Z:-1.78 [[ 8.52412803e-01 5.22825588e-01 6.76888231e-03 8.64659561e+01] [-5.22807341e-01 8.52439658e-01 -4.37197034e-03 -2.37926523e+01] [-8.05584168e-03 1.87902129e-04 9.99967534e-01 -1.78374677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.916559995 meters 0.015505382236067648 Centerline is valid? [True, True] Translation: X:86.49, Y:-23.81, Z:-1.78 [[ 8.53158185e-01 5.21616195e-01 6.13647601e-03 8.64921180e+01] [-5.21601156e-01 8.53180234e-01 -3.96502407e-03 -2.38100961e+01] [-7.30374081e-03 1.81999756e-04 9.99973311e-01 -1.78481636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.946559995 meters 0.01663594281958542 Centerline is valid? [True, True] Translation: X:86.52, Y:-23.83, Z:-1.79 [[ 8.54256703e-01 5.19820124e-01 5.70298775e-03 8.65175261e+01] [-5.19807065e-01 8.54275719e-01 -3.68933273e-03 -2.38271933e+01] [-6.78971335e-03 1.87183890e-04 9.99976932e-01 -1.78568287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.976559995 meters 0.016913473590206753 Centerline is valid? [True, True] Translation: X:86.54, Y:-23.84, Z:-1.79 [[ 8.55379922e-01 5.17967738e-01 5.88315856e-03 8.65446042e+01] [-5.17953817e-01 8.55400128e-01 -3.80308767e-03 -2.38442040e+01] [-7.00233131e-03 2.05880403e-04 9.99975462e-01 -1.78605916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.006559995 meters 0.01865314242886525 Centerline is valid? [True, True] Translation: X:86.57, Y:-23.86, Z:-1.79 [[ 8.58432389e-01 5.12896681e-01 5.55228643e-03 8.65695993e+01] [-5.12884143e-01 8.58450312e-01 -3.59412499e-03 -2.38620897e+01] [-6.60977680e-03 2.37633635e-04 9.99978127e-01 -1.78602123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.036559995 meters 0.0202938344462949 Centerline is valid? [True, True] Translation: X:86.59, Y:-23.88, Z:-1.79 [[ 8.60099268e-01 5.10090187e-01 6.10332499e-03 8.65940921e+01] [-5.10074969e-01 8.60120875e-01 -3.95044630e-03 -2.38800456e+01] [-7.26468113e-03 2.84622660e-04 9.99973571e-01 -1.78664516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.066559995 meters 0.021678747666987085 Centerline is valid? [True, True] Translation: X:86.62, Y:-23.90, Z:-1.79 [[ 8.61589844e-01 5.07562750e-01 6.55711374e-03 8.66200151e+01] [-5.07545103e-01 8.61614732e-01 -4.24523229e-03 -2.38988684e+01] [-7.80442757e-03 3.29618063e-04 9.99969491e-01 -1.78689981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.096559995 meters 0.022491487062142525 Centerline is valid? [True, True] Translation: X:86.65, Y:-23.92, Z:-1.79 [[ 8.62994655e-01 5.05165248e-01 6.94964158e-03 8.66459619e+01] [-5.05145342e-01 8.63022556e-01 -4.50004492e-03 -2.39165969e+01] [-8.27096375e-03 3.72935638e-04 9.99965725e-01 -1.78704155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.126559995 meters 0.02338112901852244 Centerline is valid? [True, True] Translation: X:86.67, Y:-23.93, Z:-1.79 [[ 8.64759752e-01 5.02135799e-01 7.08599041e-03 8.66716475e+01] [-5.02115008e-01 8.64788686e-01 -4.58773608e-03 -2.39333675e+01] [-8.43155086e-03 4.09307388e-04 9.99964370e-01 -1.78686361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.156559995 meters 0.02288347507936207 Centerline is valid? [True, True] Translation: X:86.70, Y:-23.95, Z:-1.79 [[ 8.64978251e-01 5.01760198e-01 7.02342835e-03 8.66993811e+01] [-5.01739762e-01 8.65006668e-01 -4.54694418e-03 -2.39493748e+01] [-8.35678797e-03 4.09074555e-04 9.99964998e-01 -1.78735794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.186559995 meters 0.02085420971552062 Centerline is valid? [True, True] Translation: X:86.73, Y:-23.96, Z:-1.79 [[ 8.64433000e-01 5.02706246e-01 6.48217875e-03 8.67294065e+01] [-5.02688852e-01 8.64457224e-01 -4.19823290e-03 -2.39626487e+01] [-7.71404416e-03 3.70572065e-04 9.99970178e-01 -1.78778755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.216559995 meters 0.02177373007489189 Centerline is valid? [True, True] Translation: X:86.76, Y:-23.98, Z:-1.79 [[ 8.63629329e-01 5.04090414e-01 6.10219640e-03 8.67555754e+01] [-5.04075019e-01 8.63650820e-01 -3.95423302e-03 -2.39792905e+01] [-7.26345788e-03 3.39026842e-04 9.99973563e-01 -1.78887455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.246559995 meters 0.021201412733010988 Centerline is valid? [True, True] Translation: X:86.78, Y:-23.99, Z:-1.79 [[ 8.62440089e-01 5.06122469e-01 6.09423911e-03 8.67834755e+01] [-5.06107133e-01 8.62461559e-01 -3.95331683e-03 -2.39944708e+01] [-7.25690944e-03 3.25161037e-04 9.99973615e-01 -1.78955723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.276559995 meters 0.022424091887239716 Centerline is valid? [True, True] Translation: X:86.81, Y:-24.01, Z:-1.79 [[ 8.61115660e-01 5.08371759e-01 6.16227473e-03 8.68089666e+01] [-5.08356126e-01 8.61137653e-01 -3.99895477e-03 -2.40107505e+01] [-7.33952247e-03 3.10932472e-04 9.99973017e-01 -1.79079083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.306559995 meters 0.020623616168044163 Centerline is valid? [True, True] Translation: X:86.84, Y:-24.02, Z:-1.79 [[ 8.59477437e-01 5.11135925e-01 6.21303296e-03 8.68379845e+01] [-5.11120109e-01 8.59499845e-01 -4.03123183e-03 -2.40244806e+01] [-7.40060827e-03 2.89146710e-04 9.99972573e-01 -1.79093118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.336559995 meters 0.01842029087689291 Centerline is valid? [True, True] Translation: X:86.87, Y:-24.04, Z:-1.79 [[ 8.55983047e-01 5.16960592e-01 6.69105027e-03 8.68676020e+01] [-5.16942414e-01 8.56009158e-01 -4.34292314e-03 -2.40352351e+01] [-7.97272043e-03 2.58580905e-04 9.99968184e-01 -1.79120989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.366559995 meters 0.01694143037233368 Centerline is valid? [True, True] Translation: X:86.90, Y:-24.05, Z:-1.79 [[ 8.54078169e-01 5.20106716e-01 6.28364628e-03 8.68961350e+01] [-5.20090770e-01 8.54101257e-01 -4.07849964e-03 -2.40485466e+01] [-7.48812524e-03 2.15291077e-04 9.99971940e-01 -1.79206991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.396559995 meters 0.01538787683508224 Centerline is valid? [True, True] Translation: X:86.92, Y:-24.06, Z:-1.79 [[ 8.52267408e-01 5.23073758e-01 5.84019125e-03 8.69248726e+01] [-5.23060051e-01 8.52287400e-01 -3.79088751e-03 -2.40617218e+01] [-6.96043519e-03 1.76079148e-04 9.99975760e-01 -1.79286941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.426559995 meters 0.015401012423004387 Centerline is valid? [True, True] Translation: X:86.95, Y:-24.08, Z:-1.79 [[ 8.50370530e-01 5.26155092e-01 5.54812265e-03 8.69520607e+01] [-5.26142795e-01 8.50388617e-01 -3.59993584e-03 -2.40769230e+01] [-6.61218491e-03 1.42174590e-04 9.99978129e-01 -1.79452222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.456559995 meters 0.01341782285153194 Centerline is valid? [True, True] Translation: X:86.98, Y:-24.09, Z:-1.79 [[ 8.47180740e-01 5.31275704e-01 5.56064193e-03 8.69820386e+01] [-5.31263444e-01 8.47198982e-01 -3.61077219e-03 -2.40886020e+01] [-6.62928572e-03 1.04810879e-04 9.99978021e-01 -1.79434730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.486559995 meters 0.01249179020603055 Centerline is valid? [True, True] Translation: X:87.01, Y:-24.10, Z:-1.79 [[ 8.45584174e-01 5.33809006e-01 5.94556135e-03 8.70110679e+01] [-5.33795056e-01 8.45605071e-01 -3.86028102e-03 -2.41040039e+01] [-7.08824961e-03 9.04812794e-05 9.99974874e-01 -1.79372015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.516559995 meters 0.011794097281115721 Centerline is valid? [True, True] Translation: X:87.04, Y:-24.12, Z:-1.79 [[ 8.44084655e-01 5.36173843e-01 6.22134369e-03 8.70392475e+01] [-5.36158643e-01 8.44107579e-01 -4.03787939e-03 -2.41191678e+01] [-7.41648866e-03 7.26848392e-05 9.99972495e-01 -1.79319447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.546559995 meters 0.011022975405095772 Centerline is valid? [True, True] Translation: X:87.07, Y:-24.13, Z:-1.79 [[ 8.41436732e-01 5.40302712e-01 7.56341885e-03 8.70686911e+01] [-5.40280379e-01 8.41470723e-01 -4.91276361e-03 -2.41329965e+01] [-9.01877503e-03 4.74129552e-05 9.99959329e-01 -1.79244537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.576559995 meters 0.010934520604477917 Centerline is valid? [True, True] Translation: X:87.10, Y:-24.15, Z:-1.79 [[ 8.40246918e-01 5.42146541e-01 7.88946563e-03 8.70958925e+01] [-5.42122291e-01 8.40283956e-01 -5.12782954e-03 -2.41488408e+01] [-9.40942645e-03 3.15877855e-05 9.99955730e-01 -1.79345066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.606559995 meters 0.010755510413915047 Centerline is valid? [True, True] Translation: X:87.12, Y:-24.17, Z:-1.79 [[ 8.39156062e-01 5.43828067e-01 8.25453146e-03 8.71235665e+01] [-5.43801575e-01 8.39196659e-01 -5.36786279e-03 -2.41655117e+01] [-9.84636967e-03 1.56473880e-05 9.99951523e-01 -1.79371951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.636559995 meters 0.010700762413262116 Centerline is valid? [True, True] Translation: X:87.15, Y:-24.18, Z:-1.79 [[ 8.38335458e-01 5.45085597e-01 8.68052471e-03 8.71507577e+01] [-5.45056334e-01 8.38380398e-01 -5.64804913e-03 -2.41824562e+01] [-1.03562520e-02 3.58487123e-06 9.99946373e-01 -1.79452466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.666559995 meters 0.010632971233908012 Centerline is valid? [True, True] Translation: X:87.18, Y:-24.20, Z:-1.80 [[ 8.36942171e-01 5.47225263e-01 8.50378326e-03 8.71784428e+01] [-5.47197261e-01 8.36985371e-01 -5.53591660e-03 -2.41996527e+01] [-1.01469356e-02 -2.00048520e-05 9.99948518e-01 -1.79535709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.696559995 meters 0.010681585128019252 Centerline is valid? [True, True] Translation: X:87.21, Y:-24.22, Z:-1.80 [[ 8.36449491e-01 5.47978682e-01 8.46244916e-03 8.72059599e+01] [-5.47950957e-01 8.36492297e-01 -5.51233682e-03 -2.42172067e+01] [-1.00994166e-02 -2.62157834e-05 9.99948999e-01 -1.79646869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.726559995 meters 0.010626599141540129 Centerline is valid? [True, True] Translation: X:87.23, Y:-24.24, Z:-1.80 [[ 8.36038587e-01 5.48604897e-01 8.49396455e-03 8.72337173e+01] [-5.48576963e-01 8.36081734e-01 -5.53626933e-03 -2.42354948e+01] [-1.01388731e-02 -3.10584894e-05 9.99948600e-01 -1.79732043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.756559995 meters 0.01066739093416523 Centerline is valid? [True, True] Translation: X:87.26, Y:-24.25, Z:-1.80 [[ 8.35722572e-01 5.49085315e-01 8.54985297e-03 8.72610877e+01] [-5.49057002e-01 8.35766304e-01 -5.57614061e-03 -2.42537632e+01] [-1.02074559e-02 -3.42500652e-05 9.99947902e-01 -1.79810849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.786559995 meters 0.01053490493559461 Centerline is valid? [True, True] Translation: X:87.29, Y:-24.27, Z:-1.80 [[ 8.35860010e-01 5.48877941e-01 8.42909924e-03 8.72872378e+01] [-5.48850376e-01 8.35902509e-01 -5.50089994e-03 -2.42726149e+01] [-1.00652278e-02 -2.83320175e-05 9.99949344e-01 -1.79986013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.816559995 meters 0.010503316278827642 Centerline is valid? [True, True] Translation: X:87.31, Y:-24.29, Z:-1.80 [[ 8.36185751e-01 5.48381863e-01 8.40966903e-03 8.73142744e+01] [-5.48354369e-01 8.36228038e-01 -5.49118835e-03 -2.42920455e+01] [-1.00436691e-02 -1.98253100e-05 9.99949561e-01 -1.80091442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.846559995 meters 0.010563384353474392 Centerline is valid? [True, True] Translation: X:87.34, Y:-24.31, Z:-1.80 [[ 8.37576313e-01 5.46255035e-01 8.44729307e-03 8.73396381e+01] [-5.46227152e-01 8.37618909e-01 -5.51912340e-03 -2.43137246e+01] [-1.00904614e-02 8.54619159e-06 9.99949090e-01 -1.80197694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.876559995 meters 0.010544340209653336 Centerline is valid? [True, True] Translation: X:87.37, Y:-24.33, Z:-1.80 [[ 8.38511213e-01 5.44817086e-01 8.56091908e-03 8.73653407e+01] [-5.44788337e-01 8.38554913e-01 -5.59693533e-03 -2.43337023e+01] [-1.02281067e-02 2.92041662e-05 9.99947691e-01 -1.80206025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.906559995 meters 0.010827234416701711 Centerline is valid? [True, True] Translation: X:87.39, Y:-24.35, Z:-1.80 [[ 8.39719605e-01 5.42945274e-01 9.02299027e-03 8.73900249e+01] [-5.42913190e-01 8.39768078e-01 -5.90276443e-03 -2.43536727e+01] [-1.07820973e-02 5.79665798e-05 9.99941870e-01 -1.80295429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.936559995 meters 0.011174029970481511 Centerline is valid? [True, True] Translation: X:87.41, Y:-24.37, Z:-1.80 [[ 8.40838069e-01 5.41214618e-01 8.83621581e-03 8.74149435e+01] [-5.41183717e-01 8.40884493e-01 -5.78393856e-03 -2.43737312e+01] [-1.05605889e-02 8.13396194e-05 9.99944232e-01 -1.80347071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.966559995 meters 0.011623759770827705 Centerline is valid? [True, True] Translation: X:87.44, Y:-24.39, Z:-1.80 [[ 8.42300536e-01 5.38938231e-01 8.68271731e-03 8.74403593e+01] [-5.38908243e-01 8.42345280e-01 -5.68636242e-03 -2.43940026e+01] [-1.03784440e-02 1.10438184e-04 9.99946136e-01 -1.80469617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.996559995 meters 0.013019373917557236 Centerline is valid? [True, True] Translation: X:87.46, Y:-24.42, Z:-1.81 [[ 8.45467053e-01 5.33963755e-01 8.25659616e-03 8.74633243e+01] [-5.33936373e-01 8.45507351e-01 -5.41005748e-03 -2.44166052e+01] [-9.86978736e-03 1.65528344e-04 9.99951279e-01 -1.80622070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.026559995 meters 0.013397537546589176 Centerline is valid? [True, True] Translation: X:87.49, Y:-24.44, Z:-1.81 [[ 8.46954448e-01 5.31603421e-01 8.12189055e-03 8.74889018e+01] [-5.31576794e-01 8.46993368e-01 -5.32404354e-03 -2.44368699e+01] [-9.70946719e-03 1.91813819e-04 9.99952844e-01 -1.80666316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.056559995 meters 0.013857679266176327 Centerline is valid? [True, True] Translation: X:87.51, Y:-24.46, Z:-1.81 [[ 8.48512373e-01 5.29114464e-01 8.03970191e-03 8.75143197e+01] [-5.29088235e-01 8.48550432e-01 -5.27289991e-03 -2.44571582e+01] [-9.61206014e-03 2.20409124e-04 9.99953779e-01 -1.80744625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.086559995 meters 0.014940469139522796 Centerline is valid? [True, True] Translation: X:87.54, Y:-24.48, Z:-1.81 [[ 8.49969484e-01 5.26772463e-01 7.91512047e-03 8.75382325e+01] [-5.26746911e-01 8.50006301e-01 -5.19416256e-03 -2.44777062e+01] [-9.46404408e-03 2.45614409e-04 9.99955185e-01 -1.80842193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.116559995 meters 0.016683527306912492 Centerline is valid? [True, True] Translation: X:87.56, Y:-24.50, Z:-1.81 [[ 8.52715776e-01 5.22319501e-01 7.62524316e-03 8.75605288e+01] [-5.22295565e-01 8.52749820e-01 -5.00867577e-03 -2.45006618e+01] [-9.11855376e-03 2.88346157e-04 9.99958384e-01 -1.80883947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.146559995 meters 0.01863982476002101 Centerline is valid? [True, True] Translation: X:87.58, Y:-24.52, Z:-1.81 [[ 8.53707903e-01 5.20694228e-01 7.76768392e-03 8.75840447e+01] [-5.20669341e-01 8.53743184e-01 -5.10029692e-03 -2.45218963e+01] [-9.28730237e-03 3.09768919e-04 9.99956824e-01 -1.81003008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.176559995 meters 0.018891920808742996 Centerline is valid? [True, True] Translation: X:87.61, Y:-24.54, Z:-1.81 [[ 8.55116765e-01 5.18370099e-01 8.23162693e-03 8.76087592e+01] [-5.18341994e-01 8.55156308e-01 -5.40970429e-03 -2.45429520e+01] [-9.84355665e-03 3.59130911e-04 9.99951487e-01 -1.80998961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.206559995 meters 0.0205246443115579 Centerline is valid? [True, True] Translation: X:87.63, Y:-24.56, Z:-1.81 [[ 8.55392070e-01 5.17906891e-01 8.76686867e-03 8.76323692e+01] [-5.17874996e-01 8.55436907e-01 -5.76076322e-03 -2.45632174e+01] [-1.04830420e-02 3.87569103e-04 9.99944976e-01 -1.81076680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.236559995 meters 0.019127583373509224 Centerline is valid? [True, True] Translation: X:87.66, Y:-24.58, Z:-1.81 [[ 8.55317051e-01 5.18020584e-01 9.34965791e-03 8.76598769e+01] [-5.17984283e-01 8.55368051e-01 -6.14647666e-03 -2.45813953e+01] [-1.11814001e-02 4.14210442e-04 9.99937400e-01 -1.81022160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.266559995 meters 0.018826449274358656 Centerline is valid? [True, True] Translation: X:87.69, Y:-24.60, Z:-1.81 [[ 8.55079691e-01 5.18396282e-01 1.01988539e-02 8.76855048e+01] [-5.18353055e-01 8.55140393e-01 -6.70962509e-03 -2.46000307e+01] [-1.21996966e-02 4.50657085e-04 9.99925479e-01 -1.80992684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.296559995 meters 0.01796340293776068 Centerline is valid? [True, True] Translation: X:87.71, Y:-24.62, Z:-1.81 [[ 8.53716420e-01 5.20617540e-01 1.12094416e-02 8.77109579e+01] [-5.20565432e-01 8.53789881e-01 -7.38041971e-03 -2.46188553e+01] [-1.34128838e-02 4.65537684e-04 9.99909935e-01 -1.80925680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.326559995 meters 0.017635200013929417 Centerline is valid? [True, True] Translation: X:87.74, Y:-24.64, Z:-1.81 [[ 8.52390385e-01 5.22785228e-01 1.12354805e-02 8.77368710e+01] [-5.22733079e-01 8.52464321e-01 -7.39661393e-03 -2.46366314e+01] [-1.34446868e-02 4.31645283e-04 9.99909523e-01 -1.81003347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.356559995 meters 0.015328935827519919 Centerline is valid? [True, True] Translation: X:87.76, Y:-24.65, Z:-1.81 [[ 8.49238066e-01 5.27896500e-01 1.09540593e-02 8.77643656e+01] [-5.27847287e-01 8.49308639e-01 -7.21639779e-03 -2.46520550e+01] [-1.31128884e-02 3.46369206e-04 9.99913962e-01 -1.81088953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.386559995 meters 0.014418470814915105 Centerline is valid? [True, True] Translation: X:87.79, Y:-24.67, Z:-1.81 [[ 8.47253692e-01 5.31076683e-01 1.08967238e-02 8.77904185e+01] [-5.31028231e-01 8.47323710e-01 -7.17972993e-03 -2.46680112e+01] [-1.30460396e-02 2.96584711e-04 9.99914853e-01 -1.81188065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.416559995 meters 0.013393867877480214 Centerline is valid? [True, True] Translation: X:87.82, Y:-24.68, Z:-1.81 [[ 8.45151361e-01 5.34420825e-01 1.06564274e-02 8.78182191e+01] [-5.34374772e-01 8.45218507e-01 -7.01984206e-03 -2.46844992e+01] [-1.27585595e-02 2.38303090e-04 9.99918578e-01 -1.81304360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.446559995 meters 0.012408999672366132 Centerline is valid? [True, True] Translation: X:87.85, Y:-24.70, Z:-1.81 [[ 8.42911663e-01 5.37945497e-01 1.07037785e-02 8.78459374e+01] [-5.37899270e-01 8.42979600e-01 -7.05471143e-03 -2.47009874e+01] [-1.28181171e-02 1.88943917e-04 9.99917827e-01 -1.81392017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.476559995 meters 0.011599629706782326 Centerline is valid? [True, True] Translation: X:87.87, Y:-24.72, Z:-1.81 [[ 8.40833852e-01 5.41186546e-01 1.07497162e-02 8.78728148e+01] [-5.41140136e-01 8.40902552e-01 -7.08880352e-03 -2.47171393e+01] [-1.28758289e-02 1.43403054e-04 9.99917093e-01 -1.81488763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.506559995 meters 0.010436615390027671 Centerline is valid? [True, True] Translation: X:87.90, Y:-24.73, Z:-1.82 [[ 8.37002627e-01 5.47095630e-01 1.06289717e-02 8.79002665e+01] [-5.47050689e-01 8.37070110e-01 -7.01246136e-03 -2.47323423e+01] [-1.27336815e-02 5.48622766e-05 9.99918922e-01 -1.81553774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.536559995 meters 0.010121350594666368 Centerline is valid? [True, True] Translation: X:87.93, Y:-24.75, Z:-1.82 [[ 8.35271889e-01 5.49733365e-01 1.06816597e-02 8.79280898e+01] [-5.49688153e-01 8.35340186e-01 -7.05034254e-03 -2.47490270e+01] [-1.27986282e-02 1.73711172e-05 9.99918094e-01 -1.81578172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.566559995 meters 0.01004891089135437 Centerline is valid? [True, True] Translation: X:87.96, Y:-24.77, Z:-1.82 [[ 8.33682995e-01 5.52136053e-01 1.08831331e-02 8.79564090e+01] [-5.52089277e-01 8.33754028e-01 -7.18690096e-03 -2.47666598e+01] [-1.30420032e-02 -1.68639542e-05 9.99914949e-01 -1.81659724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.596559995 meters 0.010193330900332108 Centerline is valid? [True, True] Translation: X:87.98, Y:-24.78, Z:-1.82 [[ 8.32258493e-01 5.54283628e-01 1.07452593e-02 8.79836108e+01] [-5.54238152e-01 8.32327854e-01 -7.10027645e-03 -2.47835913e+01] [-1.28791456e-02 -4.61672603e-05 9.99917059e-01 -1.81849097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.626559995 meters 0.010193330900332108 Centerline is valid? [True, True] Translation: X:88.01, Y:-24.80, Z:-1.82 [[ 8.32112483e-01 5.54502836e-01 1.07433981e-02 8.80106070e+01] [-5.54457341e-01 8.32181833e-01 -7.10309108e-03 -2.48015531e+01] [-1.28791448e-02 -4.61851675e-05 9.99917059e-01 -1.81912932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.656559995 meters 0.010379470563786384 Centerline is valid? [True, True] Translation: X:88.04, Y:-24.82, Z:-1.82 [[ 8.30192378e-01 5.57369693e-01 1.09380141e-02 8.80372452e+01] [-5.57322726e-01 8.30264426e-01 -7.23617280e-03 -2.48196498e+01] [-1.31146674e-02 -8.85883146e-05 9.99913995e-01 -1.81959361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.686559995 meters 0.010509296472369546 Centerline is valid? [True, True] Translation: X:88.06, Y:-24.84, Z:-1.82 [[ 8.29464658e-01 5.58455662e-01 1.07543280e-02 8.80645428e+01] [-5.58410306e-01 8.29534366e-01 -7.11804620e-03 -2.48387661e+01] [-1.28961979e-02 -1.01159857e-04 9.99916835e-01 -1.82059197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.716559995 meters 0.010630879015366666 Centerline is valid? [True, True] Translation: X:88.09, Y:-24.86, Z:-1.82 [[ 8.29057559e-01 5.59054763e-01 1.10152755e-02 8.80904870e+01] [-5.59007170e-01 8.29130726e-01 -7.29547013e-03 -2.48576501e+01] [-1.32116707e-02 -1.09253348e-04 9.99912716e-01 -1.82158137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.746559995 meters 0.010520705375513473 Centerline is valid? [True, True] Translation: X:88.12, Y:-24.88, Z:-1.82 [[ 8.29029604e-01 5.59099032e-01 1.08713853e-02 8.81167434e+01] [-5.59052629e-01 8.29100875e-01 -7.20396449e-03 -2.48780160e+01] [-1.30412046e-02 -1.05376696e-04 9.99914954e-01 -1.82205696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.776559995 meters 0.01045950471452215 Centerline is valid? [True, True] Translation: X:88.14, Y:-24.90, Z:-1.82 [[ 8.29403144e-01 5.58541680e-01 1.10279554e-02 8.81408570e+01] [-5.58493819e-01 8.29476451e-01 -7.31243061e-03 -2.48992610e+01] [-1.32317265e-02 -9.40919668e-05 9.99912452e-01 -1.82309124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.806559995 meters 0.010402738708641652 Centerline is valid? [True, True] Translation: X:88.17, Y:-24.92, Z:-1.82 [[ 8.29757228e-01 5.58021013e-01 1.07467109e-02 8.81660832e+01] [-5.57975458e-01 8.29826815e-01 -7.13055924e-03 -2.49188618e+01] [-1.28969107e-02 -7.97678477e-05 9.99916828e-01 -1.82397708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.836559995 meters 0.010244508129968428 Centerline is valid? [True, True] Translation: X:88.19, Y:-24.94, Z:-1.82 [[ 8.30151650e-01 5.57435261e-01 1.06849632e-02 8.81923395e+01] [-5.57390157e-01 8.30220408e-01 -7.09134958e-03 -2.49396144e+01] [-1.28238428e-02 -6.87977485e-05 9.99917769e-01 -1.82445581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.866559995 meters 0.010164540352481068 Centerline is valid? [True, True] Translation: X:88.22, Y:-24.96, Z:-1.83 [[ 8.31050661e-01 5.56102994e-01 1.02107069e-02 8.82162302e+01] [-5.56061647e-01 8.31113384e-01 -6.78132885e-03 -2.49617335e+01] [-1.22573724e-02 -4.21546778e-05 9.99924875e-01 -1.82580681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.896559995 meters 0.010157241002142596 Centerline is valid? [True, True] Translation: X:88.24, Y:-24.98, Z:-1.83 [[ 8.31570269e-01 5.55329627e-01 9.99470748e-03 8.82422679e+01] [-5.55289937e-01 8.31630329e-01 -6.63932214e-03 -2.49829069e+01] [-1.19989142e-02 -2.88975947e-05 9.99928010e-01 -1.82638531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.926559995 meters 0.010175704435031309 Centerline is valid? [True, True] Translation: X:88.27, Y:-25.00, Z:-1.83 [[ 8.32059367e-01 5.54603675e-01 9.59025783e-03 8.82677550e+01] [-5.54567044e-01 8.32114634e-01 -6.37419499e-03 -2.50040339e+01] [-1.15153458e-02 -1.47322771e-05 9.99933696e-01 -1.82697424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.956559995 meters 0.010175962694488337 Centerline is valid? [True, True] Translation: X:88.29, Y:-25.03, Z:-1.83 [[ 8.32661850e-01 5.53704055e-01 9.27700719e-03 8.82932950e+01] [-5.53669683e-01 8.32713528e-01 -6.16951377e-03 -2.50250251e+01] [-1.11411742e-02 7.21118584e-07 9.99937935e-01 -1.82807623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.986559995 meters 0.010521800499891105 Centerline is valid? [True, True] Translation: X:88.32, Y:-25.05, Z:-1.83 [[ 8.34181180e-01 5.51436132e-01 7.74287741e-03 8.83154483e+01] [-5.51412065e-01 8.34217113e-01 -5.15198451e-03 -2.50481933e+01] [-9.30023125e-03 2.81724913e-05 9.99956752e-01 -1.83072755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.016559995 meters 0.010660206427699163 Centerline is valid? [True, True] Translation: X:88.34, Y:-25.07, Z:-1.83 [[ 8.35003337e-01 5.50196814e-01 7.27275423e-03 8.83404483e+01] [-5.50175518e-01 8.35035007e-01 -4.84102901e-03 -2.50689727e+01] [-8.73652312e-03 4.09840543e-05 9.99961835e-01 -1.83086482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.046559995 meters 0.010484591695493095 Centerline is valid? [True, True] Translation: X:88.37, Y:-25.09, Z:-1.83 [[ 8.34772809e-01 5.50532424e-01 8.27085956e-03 8.83675694e+01] [-5.50504862e-01 8.34813780e-01 -5.50902390e-03 -2.50869979e+01] [-9.93752382e-03 4.56349588e-05 9.99950621e-01 -1.83032786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.076559995 meters 0.010621126945930445 Centerline is valid? [True, True] Translation: X:88.39, Y:-25.11, Z:-1.83 [[ 8.34535577e-01 5.50885051e-01 8.71962121e-03 8.83939607e+01] [-5.50854404e-01 8.34581128e-01 -5.81094584e-03 -2.51058008e+01] [-1.04783945e-02 4.61992946e-05 9.99945099e-01 -1.83150701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.106559995 meters 0.010447087836399466 Centerline is valid? [True, True] Translation: X:88.42, Y:-25.13, Z:-1.83 [[ 8.34296445e-01 5.51239980e-01 9.16106585e-03 8.84207890e+01] [-5.51206129e-01 8.34346740e-01 -6.10913094e-03 -2.51252511e+01] [-1.10111026e-02 4.71905790e-05 9.99939375e-01 -1.82984275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.136559995 meters 0.010419743557851338 Centerline is valid? [True, True] Translation: X:88.45, Y:-25.14, Z:-1.83 [[ 8.34266475e-01 5.51281002e-01 9.41837822e-03 8.84475263e+01] [-5.51245180e-01 8.34319636e-01 -6.28464785e-03 -2.51440307e+01] [-1.13225449e-02 5.12354068e-05 9.99935897e-01 -1.82964088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.166559995 meters 0.010485606023238867 Centerline is valid? [True, True] Translation: X:88.47, Y:-25.16, Z:-1.83 [[ 8.34534491e-01 5.50872235e-01 9.58978181e-03 8.84737234e+01] [-5.50835022e-01 8.34589586e-01 -6.40316845e-03 -2.51629114e+01] [-1.15308597e-02 6.12772517e-05 9.99933516e-01 -1.83012480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.196559995 meters 0.01041253686183141 Centerline is valid? [True, True] Translation: X:88.50, Y:-25.18, Z:-1.83 [[ 8.34631216e-01 5.50717910e-01 1.00258326e-02 8.85011456e+01] [-5.50677180e-01 8.34691427e-01 -6.69815215e-03 -2.51813425e+01] [-1.20572689e-02 6.94896443e-05 9.99927306e-01 -1.82973657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.226559995 meters 0.010589162130748167 Centerline is valid? [True, True] Translation: X:88.53, Y:-25.20, Z:-1.83 [[ 8.35220391e-01 5.49816054e-01 1.04501445e-02 8.85279602e+01] [-5.49771676e-01 8.35285759e-01 -6.98612421e-03 -2.52002972e+01] [-1.25699401e-02 8.97599237e-05 9.99920991e-01 -1.83028080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.256559995 meters 0.011175782861836575 Centerline is valid? [True, True] Translation: X:88.55, Y:-25.22, Z:-1.83 [[ 8.35778898e-01 5.48977942e-01 9.84139065e-03 8.85529916e+01] [-5.48938477e-01 8.35836832e-01 -6.58322589e-03 -2.52186755e+01] [-1.18398426e-02 9.98032847e-05 9.99929902e-01 -1.83215345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.286559995 meters 0.010934994065869733 Centerline is valid? [True, True] Translation: X:88.58, Y:-25.24, Z:-1.83 [[ 8.35990937e-01 5.48655942e-01 9.78831581e-03 8.85816367e+01] [-5.48616848e-01 8.36048232e-01 -6.55035593e-03 -2.52357865e+01] [-1.17773958e-02 1.06003221e-04 9.99930638e-01 -1.83276771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.316559995 meters 0.011403456583321004 Centerline is valid? [True, True] Translation: X:88.61, Y:-25.25, Z:-1.83 [[ 8.37047378e-01 5.47055764e-01 9.03759527e-03 8.86083382e+01] [-5.47022306e-01 8.37096157e-01 -6.05144285e-03 -2.52539621e+01] [-1.08758130e-02 1.21578165e-04 9.99940849e-01 -1.83457248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.346559995 meters 0.011847644145049756 Centerline is valid? [True, True] Translation: X:88.63, Y:-25.27, Z:-1.84 [[ 8.37776692e-01 5.45947924e-01 8.43077281e-03 8.86339658e+01] [-5.45918725e-01 8.37819102e-01 -5.64788835e-03 -2.52721544e+01] [-1.01469154e-02 1.29152475e-04 9.99948510e-01 -1.83566835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.376559995 meters 0.012052383942451221 Centerline is valid? [True, True] Translation: X:88.66, Y:-25.29, Z:-1.84 [[ 8.38404803e-01 5.44991409e-01 7.85817525e-03 8.86610272e+01] [-5.44965981e-01 8.38441618e-01 -5.26622157e-03 -2.52900221e+01] [-9.45866669e-03 1.32787269e-04 9.99955257e-01 -1.83641476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.406559995 meters 0.012594575340656028 Centerline is valid? [True, True] Translation: X:88.69, Y:-25.31, Z:-1.84 [[ 8.39720478e-01 5.42958578e-01 8.09327468e-03 8.86873812e+01] [-5.42931469e-01 8.39759463e-01 -5.42810189e-03 -2.53074859e+01] [-9.74363848e-03 1.63994803e-04 9.99952516e-01 -1.83704610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.436559995 meters 0.013095554441582405 Centerline is valid? [True, True] Translation: X:88.71, Y:-25.33, Z:-1.84 [[ 8.40444324e-01 5.41835396e-01 8.23057224e-03 8.87129388e+01] [-5.41807300e-01 8.40484605e-01 -5.52069699e-03 -2.53261312e+01] [-9.90897829e-03 1.80454323e-04 9.99950889e-01 -1.83727030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.466559995 meters 0.013852112737561926 Centerline is valid? [True, True] Translation: X:88.74, Y:-25.35, Z:-1.84 [[ 8.41288813e-01 5.40520372e-01 8.41788728e-03 8.87392862e+01] [-5.40490890e-01 8.41330902e-01 -5.64900942e-03 -2.53451994e+01] [-1.01356334e-02 2.02657043e-04 9.99948613e-01 -1.83780683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.496559995 meters 0.014214432931452725 Centerline is valid? [True, True] Translation: X:88.77, Y:-25.36, Z:-1.84 [[ 8.42061517e-01 5.39314427e-01 8.50592639e-03 8.87659195e+01] [-5.39284233e-01 8.42104447e-01 -5.71107998e-03 -2.53637234e+01] [-1.02429463e-02 2.21968675e-04 9.99947515e-01 -1.83813356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.526559995 meters 0.015097756670074437 Centerline is valid? [True, True] Translation: X:88.79, Y:-25.38, Z:-1.84 [[ 8.43582914e-01 5.36925157e-01 8.90182830e-03 8.87915434e+01] [-5.36891918e-01 8.43629839e-01 -5.98024083e-03 -2.53826256e+01] [-1.07207897e-02 2.65509323e-04 9.99942495e-01 -1.83836783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.556559995 meters 0.015447486988680465 Centerline is valid? [True, True] Translation: X:88.82, Y:-25.40, Z:-1.84 [[ 8.43996663e-01 5.36272450e-01 9.02729571e-03 8.88176496e+01] [-5.36238195e-01 8.44044893e-01 -6.06774367e-03 -2.54013914e+01] [-1.08734066e-02 2.80374650e-04 9.99940843e-01 -1.83883364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.586559995 meters 0.016309167905954335 Centerline is valid? [True, True] Translation: X:88.84, Y:-25.42, Z:-1.84 [[ 8.44229401e-01 5.35901188e-01 9.30775833e-03 8.88423660e+01] [-5.35864709e-01 8.44280657e-01 -6.25985828e-03 -2.54196568e+01] [-1.12130258e-02 2.97057204e-04 9.99937088e-01 -1.83949535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.616559995 meters 0.015154726310033227 Centerline is valid? [True, True] Translation: X:88.87, Y:-25.44, Z:-1.84 [[ 8.43862925e-01 5.36479402e-01 9.23116064e-03 8.88702599e+01] [-5.36443525e-01 8.43913365e-01 -6.21105146e-03 -2.54352705e+01] [-1.11224010e-02 2.89279703e-04 9.99938102e-01 -1.84004903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.646559995 meters 0.014688794382197737 Centerline is valid? [True, True] Translation: X:88.90, Y:-25.45, Z:-1.84 [[ 8.43308402e-01 5.37356229e-01 8.90067137e-03 8.88981579e+01] [-5.37322874e-01 8.43355328e-01 -5.99326337e-03 -2.54523164e+01] [-1.07269460e-02 2.71635028e-04 9.99942428e-01 -1.84090835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.676559995 meters 0.014549131327909614 Centerline is valid? [True, True] Translation: X:88.92, Y:-25.47, Z:-1.84 [[ 8.42439398e-01 5.38717269e-01 8.91988912e-03 8.89247844e+01] [-5.38683852e-01 8.42486581e-01 -6.00568492e-03 -2.54693463e+01] [-1.07502531e-02 2.54425358e-04 9.99942182e-01 -1.84197811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.706559995 meters 0.014061307078226504 Centerline is valid? [True, True] Translation: X:88.95, Y:-25.49, Z:-1.84 [[ 8.41365574e-01 5.40392875e-01 8.91695215e-03 8.89519020e+01] [-5.40359540e-01 8.41412791e-01 -6.00683412e-03 -2.54858722e+01] [-1.07488880e-02 2.35583275e-04 9.99942201e-01 -1.84293699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.736559995 meters 0.01314935266921808 Centerline is valid? [True, True] Translation: X:88.98, Y:-25.50, Z:-1.84 [[ 8.39000782e-01 5.44055538e-01 9.01436918e-03 8.89784392e+01] [-5.44021621e-01 8.39049184e-01 -6.07804141e-03 -2.55002999e+01] [-1.08702912e-02 1.95469763e-04 9.99940898e-01 -1.84443507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.766559995 meters 0.012533839260134528 Centerline is valid? [True, True] Translation: X:89.01, Y:-25.52, Z:-1.85 [[ 8.37409017e-01 5.46503276e-01 8.96143976e-03 8.90062819e+01] [-5.46469919e-01 8.37456950e-01 -6.04022768e-03 -2.55170647e+01] [-1.08058242e-02 1.60983865e-04 9.99941602e-01 -1.84541378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.796559995 meters 0.011723936294103251 Centerline is valid? [True, True] Translation: X:89.03, Y:-25.53, Z:-1.85 [[ 8.35891911e-01 5.48819384e-01 9.05519383e-03 8.90341748e+01] [-5.48785427e-01 8.35940946e-01 -6.10658532e-03 -2.55333157e+01] [-1.09210197e-02 1.35086859e-04 9.99940355e-01 -1.84638917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.826559995 meters 0.011005663614352523 Centerline is valid? [True, True] Translation: X:89.06, Y:-25.55, Z:-1.85 [[ 8.33041575e-01 5.53140988e-01 8.76250510e-03 8.90618016e+01] [-5.53109396e-01 8.33087655e-01 -5.91229877e-03 -2.55479604e+01] [-1.05702696e-02 7.85667773e-05 9.99944130e-01 -1.84804259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.856559995 meters 0.010572723858877486 Centerline is valid? [True, True] Translation: X:89.09, Y:-25.56, Z:-1.85 [[ 8.31648100e-01 5.55239405e-01 8.40479581e-03 8.90897742e+01] [-5.55210424e-01 8.31690568e-01 -5.67320168e-03 -2.55643331e+01] [-1.01401745e-02 5.16771548e-05 9.99948586e-01 -1.84874943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.886559995 meters 0.010550571226737372 Centerline is valid? [True, True] Translation: X:89.12, Y:-25.58, Z:-1.85 [[ 8.30472196e-01 5.56996205e-01 8.43565642e-03 8.91161004e+01] [-5.56967068e-01 8.30515037e-01 -5.69725793e-03 -2.55803584e+01] [-1.01792905e-02 3.30314803e-05 9.99948189e-01 -1.85031563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.916559995 meters 0.010316492025966134 Centerline is valid? [True, True] Translation: X:89.14, Y:-25.60, Z:-1.85 [[ 8.28488486e-01 5.59942504e-01 8.43927975e-03 8.91442135e+01] [-5.59913473e-01 8.28531467e-01 -5.70185232e-03 -2.55967378e+01] [-1.01849183e-02 -1.34744026e-06 9.99948132e-01 -1.85129112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.946559995 meters 0.010316560178338848 Centerline is valid? [True, True] Translation: X:89.17, Y:-25.61, Z:-1.85 [[ 8.27778381e-01 5.60987785e-01 8.69809549e-03 8.91709192e+01] [-5.60956961e-01 8.27824079e-01 -5.88065119e-03 -2.56144308e+01] [-1.04994664e-02 -1.13812900e-05 9.99944879e-01 -1.85221939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.976559995 meters 0.010387966538335503 Centerline is valid? [True, True] Translation: X:89.20, Y:-25.63, Z:-1.85 [[ 8.27211542e-01 5.61820733e-01 8.86165920e-03 8.91974333e+01] [-5.61788750e-01 8.27259006e-01 -5.99472139e-03 -2.56322774e+01] [-1.06988461e-02 -1.94777238e-05 9.99942766e-01 -1.85366889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.006559995 meters 0.010331227718816298 Centerline is valid? [True, True] Translation: X:89.22, Y:-25.65, Z:-1.85 [[ 8.26829648e-01 5.62379257e-01 9.07220707e-03 8.92243493e+01] [-5.62345733e-01 8.26879418e-01 -6.14046267e-03 -2.56514232e+01] [-1.09548901e-02 -2.46003496e-05 9.99939993e-01 -1.85365117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.036559995 meters 0.01032026179584856 Centerline is valid? [True, True] Translation: X:89.25, Y:-25.67, Z:-1.85 [[ 8.26654807e-01 5.62637140e-01 9.01546126e-03 8.92507331e+01] [-5.62604011e-01 8.26703966e-01 -6.10563620e-03 -2.56704502e+01] [-1.08883753e-02 -2.48811540e-05 9.99940720e-01 -1.85456901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.066559995 meters 0.010398819434560377 Centerline is valid? [True, True] Translation: X:89.28, Y:-25.69, Z:-1.86 [[ 8.26613161e-01 5.62699513e-01 8.94095313e-03 8.92759495e+01] [-5.62666893e-01 8.26661513e-01 -6.05889850e-03 -2.56900063e+01] [-1.08004811e-02 -2.24130790e-05 9.99941673e-01 -1.85546275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.096559995 meters 0.010373664099365866 Centerline is valid? [True, True] Translation: X:89.30, Y:-25.71, Z:-1.86 [[ 8.26491223e-01 5.62877898e-01 8.98503864e-03 8.93027531e+01] [-5.62844931e-01 8.26540061e-01 -6.09191399e-03 -2.57093000e+01] [-1.08554981e-02 -2.22700135e-05 9.99941077e-01 -1.85608165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.126559995 meters 0.010430168544756951 Centerline is valid? [True, True] Translation: X:89.33, Y:-25.73, Z:-1.86 [[ 8.26333276e-01 5.63107630e-01 9.11664969e-03 8.93293097e+01] [-5.63073664e-01 8.26383565e-01 -6.18491176e-03 -2.57285045e+01] [-1.10166205e-02 -2.25469490e-05 9.99939315e-01 -1.85680712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.156559995 meters 0.010452041261358559 Centerline is valid? [True, True] Translation: X:89.35, Y:-25.75, Z:-1.86 [[ 8.26161403e-01 5.63356152e-01 9.33715710e-03 8.93549090e+01] [-5.63320491e-01 8.26214164e-01 -6.33866605e-03 -2.57472754e+01] [-1.12854180e-02 -2.30506916e-05 9.99936317e-01 -1.85745884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.186559995 meters 0.010519155457590183 Centerline is valid? [True, True] Translation: X:89.38, Y:-25.77, Z:-1.86 [[ 8.26020366e-01 5.63561995e-01 9.39326008e-03 8.93811552e+01] [-5.63525879e-01 8.26073772e-01 -6.38013755e-03 -2.57669506e+01] [-1.13551288e-02 -2.32215886e-05 9.99935528e-01 -1.85759749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.216559995 meters 0.010450743050078714 Centerline is valid? [True, True] Translation: X:89.41, Y:-25.79, Z:-1.86 [[ 8.26083372e-01 5.63459400e-01 9.98831826e-03 8.94062794e+01] [-5.63418500e-01 8.26143755e-01 -6.78900789e-03 -2.57873065e+01] [-1.20771171e-02 -1.93167546e-05 9.99927069e-01 -1.85799239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.246559995 meters 0.01066904795837089 Centerline is valid? [True, True] Translation: X:89.43, Y:-25.81, Z:-1.86 [[ 8.26018428e-01 5.63553548e-01 1.00476200e-02 8.94323240e+01] [-5.63512119e-01 8.26079535e-01 -6.83323202e-03 -2.58059925e+01] [-1.21510254e-02 -1.75800813e-05 9.99926173e-01 -1.85937786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.276559995 meters 0.010576715655207264 Centerline is valid? [True, True] Translation: X:89.46, Y:-25.82, Z:-1.86 [[ 8.25512138e-01 5.64285306e-01 1.05736847e-02 8.94594261e+01] [-5.64239433e-01 8.25579852e-01 -7.19510586e-03 -2.58247088e+01] [-1.27895136e-02 -2.64426370e-05 9.99918210e-01 -1.85939134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.306559995 meters 0.010886028088831925 Centerline is valid? [True, True] Translation: X:89.49, Y:-25.84, Z:-1.86 [[ 8.24235567e-01 5.66139787e-01 1.10214337e-02 8.94864248e+01] [-5.66090047e-01 8.24309249e-01 -7.50467718e-03 -2.58411601e+01] [-1.33337661e-02 -5.35020823e-05 9.99911100e-01 -1.86120255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.336559995 meters 0.0108501690541974 Centerline is valid? [True, True] Translation: X:89.51, Y:-25.86, Z:-1.86 [[ 8.23569943e-01 5.67109757e-01 1.09120422e-02 8.95139740e+01] [-5.67061033e-01 8.23642228e-01 -7.43411272e-03 -2.58599335e+01] [-1.32035766e-02 -6.52821366e-05 9.99912827e-01 -1.86127566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.366559995 meters 0.011043545923602944 Centerline is valid? [True, True] Translation: X:89.54, Y:-25.88, Z:-1.86 [[ 8.22810238e-01 5.68211304e-01 1.09191227e-02 8.95412450e+01] [-5.68162554e-01 8.22882682e-01 -7.44336236e-03 -2.58778125e+01] [-1.32145596e-02 -7.93618761e-05 9.99912681e-01 -1.86219561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.396559995 meters 0.011235273910729838 Centerline is valid? [True, True] Translation: X:89.57, Y:-25.90, Z:-1.86 [[ 8.22015598e-01 5.69361122e-01 1.08751905e-02 8.95685736e+01] [-5.69312808e-01 8.22087528e-01 -7.41776530e-03 -2.58956727e+01] [-1.31637456e-02 -9.38664558e-05 9.99913350e-01 -1.86297503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.426559995 meters 0.011425255177919844 Centerline is valid? [True, True] Translation: X:89.60, Y:-25.91, Z:-1.86 [[ 8.21637930e-01 5.69908954e-01 1.07190166e-02 8.95955837e+01] [-5.69862009e-01 8.21707840e-01 -7.31545944e-03 -2.59140917e+01] [-1.29770458e-02 -9.77013650e-05 9.99915790e-01 -1.86438971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.456559995 meters 0.01148553616162853 Centerline is valid? [True, True] Translation: X:89.62, Y:-25.93, Z:-1.87 [[ 8.21517993e-01 5.70080355e-01 1.07970038e-02 8.96226594e+01] [-5.70032683e-01 8.21588936e-01 -7.37302104e-03 -2.59330782e+01] [-1.30739133e-02 -9.75756030e-05 9.99914528e-01 -1.86514349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.486559995 meters 0.011342774002717824 Centerline is valid? [True, True] Translation: X:89.65, Y:-25.95, Z:-1.87 [[ 8.22034966e-01 5.69328804e-01 1.11007910e-02 8.96491367e+01] [-5.69278276e-01 8.22109911e-01 -7.58538230e-03 -2.59519880e+01] [-1.34446469e-02 -8.39896827e-05 9.99909613e-01 -1.86576822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.516559995 meters 0.011342774002717824 Centerline is valid? [True, True] Translation: X:89.68, Y:-25.97, Z:-1.87 [[ 8.21878747e-01 5.69554331e-01 1.10990942e-02 8.96758481e+01] [-5.69503790e-01 8.21953683e-01 -7.58786410e-03 -2.59703470e+01] [-1.34446422e-02 -8.46719535e-05 9.99909613e-01 -1.86640634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.546559995 meters 0.011175309837464054 Centerline is valid? [True, True] Translation: X:89.70, Y:-25.99, Z:-1.87 [[ 8.23733963e-01 5.66844175e-01 1.22490310e-02 8.97014327e+01] [-5.66782233e-01 8.23825030e-01 -8.37982289e-03 -2.59902095e+01] [-1.48411121e-02 -3.97884318e-05 9.99889864e-01 -1.86665002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.576559995 meters 0.011221902006615159 Centerline is valid? [True, True] Translation: X:89.73, Y:-26.01, Z:-1.87 [[ 8.24923630e-01 5.65100236e-01 1.27565197e-02 8.97282681e+01] [-5.65032775e-01 8.25022257e-01 -8.73153117e-03 -2.60100818e+01] [-1.54586030e-02 -5.00533795e-06 9.99880509e-01 -1.86664381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.606559995 meters 0.011311068676306157 Centerline is valid? [True, True] Translation: X:89.75, Y:-26.03, Z:-1.87 [[ 8.26263859e-01 5.63131875e-01 1.30585699e-02 8.97536838e+01] [-5.63060846e-01 8.26367043e-01 -8.94394905e-03 -2.60291124e+01] [-1.58277946e-02 3.72924647e-05 9.99874732e-01 -1.86706073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.636559995 meters 0.011816512758737453 Centerline is valid? [True, True] Translation: X:89.78, Y:-26.05, Z:-1.87 [[ 8.29267990e-01 5.58684899e-01 1.36302432e-02 8.97782011e+01] [-5.58606819e-01 8.29379989e-01 -9.34110388e-03 -2.60494523e+01] [-1.65233846e-02 1.32331661e-04 9.99863471e-01 -1.86788309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.666559995 meters 0.012410043392167133 Centerline is valid? [True, True] Translation: X:89.80, Y:-26.07, Z:-1.87 [[ 8.30803373e-01 5.56399857e-01 1.35997732e-02 8.98028026e+01] [-5.56321737e-01 8.30914656e-01 -9.32515284e-03 -2.60687181e+01] [-1.64887646e-02 1.81518985e-04 9.99864035e-01 -1.86894748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.696559995 meters 0.013468498579234538 Centerline is valid? [True, True] Translation: X:89.83, Y:-26.09, Z:-1.87 [[ 8.33520536e-01 5.52310393e-01 1.40266289e-02 8.98273306e+01] [-5.52226624e-01 8.33638503e-01 -9.62296041e-03 -2.60888844e+01] [-1.70079990e-02 2.75057188e-04 9.99855316e-01 -1.86961170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.726559995 meters 0.013468498579234538 Centerline is valid? [True, True] Translation: X:89.85, Y:-26.11, Z:-1.87 [[ 8.33368561e-01 5.52539702e-01 1.40256789e-02 8.98540135e+01] [-5.52455943e-01 8.33486535e-01 -9.62434483e-03 -2.61072841e+01] [-1.70080472e-02 2.72056717e-04 9.99855316e-01 -1.87024899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.756559995 meters 0.014501939727997092 Centerline is valid? [True, True] Translation: X:89.88, Y:-26.13, Z:-1.87 [[ 8.35292463e-01 5.49607094e-01 1.47831885e-02 8.98793252e+01] [-5.49513467e-01 8.35423196e-01 -1.01505571e-02 -2.61265396e+01] [-1.79290368e-02 3.55122652e-04 9.99839199e-01 -1.87059612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.786559995 meters 0.01505348154963813 Centerline is valid? [True, True] Translation: X:89.90, Y:-26.14, Z:-1.87 [[ 8.35987311e-01 5.48548724e-01 1.48160000e-02 8.99040190e+01] [-5.48454416e-01 8.36118503e-01 -1.01785586e-02 -2.61446570e+01] [-1.79713671e-02 3.83245152e-04 9.99838428e-01 -1.87107976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.816559995 meters 0.015228883295170092 Centerline is valid? [True, True] Translation: X:89.93, Y:-26.16, Z:-1.87 [[ 8.36517023e-01 5.47728085e-01 1.52714117e-02 8.99305604e+01] [-5.47627704e-01 8.36656305e-01 -1.04940211e-02 -2.61627309e+01] [-1.85247929e-02 4.15379179e-04 9.99828315e-01 -1.87162527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.846559995 meters 0.015545666341526454 Centerline is valid? [True, True] Translation: X:89.96, Y:-26.18, Z:-1.87 [[ 8.36752034e-01 5.47368579e-01 1.52863597e-02 8.99567131e+01] [-5.47267842e-01 8.36891543e-01 -1.05096662e-02 -2.61807310e+01] [-1.85456862e-02 4.28251490e-04 9.99827922e-01 -1.87229036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.876559995 meters 0.01583369472949066 Centerline is valid? [True, True] Translation: X:89.98, Y:-26.20, Z:-1.87 [[ 8.36631888e-01 5.47540025e-01 1.57163689e-02 8.99832598e+01] [-5.47433464e-01 8.36779377e-01 -1.08109408e-02 -2.61979315e+01] [-1.90705561e-02 4.41111549e-04 9.99818043e-01 -1.87268661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.906559995 meters 0.014751401499898873 Centerline is valid? [True, True] Translation: X:90.01, Y:-26.21, Z:-1.87 [[ 8.36223117e-01 5.48170395e-01 1.54956848e-02 9.00109564e+01] [-5.48066806e-01 8.36366569e-01 -1.06648255e-02 -2.62135120e+01] [-1.88062143e-02 4.25503187e-04 9.99823057e-01 -1.87315965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.936559995 meters 0.01496351749735851 Centerline is valid? [True, True] Translation: X:90.04, Y:-26.23, Z:-1.87 [[ 8.35700434e-01 5.48972893e-01 1.52822637e-02 9.00374060e+01] [-5.48872170e-01 8.35840055e-01 -1.05234851e-02 -2.62307611e+01] [-1.85506362e-02 4.06471789e-04 9.99827840e-01 -1.87365862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.966559995 meters 0.01455635169572406 Centerline is valid? [True, True] Translation: X:90.07, Y:-26.25, Z:-1.87 [[ 8.34562319e-01 5.50681894e-01 1.59746098e-02 9.00661192e+01] [-5.50572083e-01 8.34715102e-01 -1.10036556e-02 -2.62466732e+01] [-1.93937619e-02 3.88062137e-04 9.99811848e-01 -1.87449842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.996559995 meters 0.014217917388728763 Centerline is valid? [True, True] Translation: X:90.09, Y:-26.26, Z:-1.88 [[ 8.33853996e-01 5.51760873e-01 1.57306198e-02 9.00936452e+01] [-5.51654548e-01 8.34002284e-01 -1.08374397e-02 -2.62633511e+01] [-1.90990481e-02 3.58974474e-04 9.99817532e-01 -1.87520661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.026559995 meters 0.01409548081654294 Centerline is valid? [True, True] Translation: X:90.12, Y:-26.28, Z:-1.88 [[ 8.33060575e-01 5.52953141e-01 1.59028922e-02 9.01200554e+01] [-5.52844581e-01 8.33212283e-01 -1.09618180e-02 -2.62798558e+01] [-1.93118568e-02 3.40030642e-04 9.99813451e-01 -1.87588677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.056559995 meters 0.013409387866399402 Centerline is valid? [True, True] Translation: X:90.15, Y:-26.30, Z:-1.88 [[ 8.32306559e-01 5.54088397e-01 1.58695051e-02 9.01483075e+01] [-5.53980398e-01 8.32457776e-01 -1.09439543e-02 -2.62960327e+01] [-1.92746110e-02 3.17330185e-04 9.99814177e-01 -1.87699744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.086559995 meters 0.013153672987413193 Centerline is valid? [True, True] Translation: X:90.18, Y:-26.31, Z:-1.88 [[ 8.31516276e-01 5.55278476e-01 1.57002147e-02 9.01761302e+01] [-5.55172875e-01 8.31664433e-01 -1.08328040e-02 -2.63130108e+01] [-1.90725330e-02 2.91319555e-04 9.99818060e-01 -1.87755468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.116559995 meters 0.012743917561887318 Centerline is valid? [True, True] Translation: X:90.20, Y:-26.33, Z:-1.88 [[ 8.30411142e-01 5.56927049e-01 1.57986315e-02 9.02044454e+01] [-5.56820307e-01 8.30561373e-01 -1.09064613e-02 -2.63289337e+01] [-1.91958364e-02 2.59848151e-04 9.99815709e-01 -1.87827035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.146559995 meters 0.012952985694637585 Centerline is valid? [True, True] Translation: X:90.23, Y:-26.35, Z:-1.88 [[ 8.29990990e-01 5.57544595e-01 1.60928835e-02 9.02312401e+01] [-5.57433840e-01 8.30146950e-01 -1.11155283e-02 -2.63465711e+01] [-1.95568609e-02 2.55070509e-04 9.99808714e-01 -1.87872875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.176559995 meters 0.012583667550635544 Centerline is valid? [True, True] Translation: X:90.26, Y:-26.36, Z:-1.88 [[ 8.29268754e-01 5.58625843e-01 1.58272542e-02 9.02597814e+01] [-5.58518793e-01 8.29419746e-01 -1.09381399e-02 -2.63627074e+01] [-1.92377648e-02 2.30838739e-04 9.99814910e-01 -1.87957026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.206559995 meters 0.012463511906814165 Centerline is valid? [True, True] Translation: X:90.29, Y:-26.38, Z:-1.88 [[ 8.28793768e-01 5.59332833e-01 1.57375953e-02 9.02880295e+01] [-5.59227084e-01 8.28943144e-01 -1.08780583e-02 -2.63803643e+01] [-1.91300269e-02 2.14777420e-04 9.99816981e-01 -1.88025920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.236559995 meters 0.012278705545423515 Centerline is valid? [True, True] Translation: X:90.32, Y:-26.40, Z:-1.88 [[ 8.28294618e-01 5.60066596e-01 1.59195847e-02 9.03163308e+01] [-5.59958395e-01 8.28447564e-01 -1.10104398e-02 -2.63980160e+01] [-1.93551207e-02 2.05582939e-04 9.99812651e-01 -1.88104633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.266559995 meters 0.012333907784404742 Centerline is valid? [True, True] Translation: X:90.34, Y:-26.42, Z:-1.88 [[ 8.27733567e-01 5.60897258e-01 1.58558421e-02 9.03433815e+01] [-5.60789948e-01 8.27885397e-01 -1.09728817e-02 -2.64154258e+01] [-1.92814794e-02 1.90825673e-04 9.99814077e-01 -1.88159435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.296559995 meters 0.012158532673045291 Centerline is valid? [True, True] Translation: X:90.37, Y:-26.43, Z:-1.88 [[ 8.27174976e-01 5.61736405e-01 1.52895276e-02 9.03704105e+01] [-5.61636663e-01 8.27316253e-01 -1.05866392e-02 -2.64317972e+01] [-1.85961753e-02 1.69843784e-04 9.99827062e-01 -1.88247423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.326559995 meters 0.012149160571723392 Centerline is valid? [True, True] Translation: X:90.40, Y:-26.45, Z:-1.88 [[ 8.26847128e-01 5.62228881e-01 1.49168323e-02 9.03970293e+01] [-5.62133922e-01 8.26981656e-01 -1.03341247e-02 -2.64491033e+01] [-1.81460901e-02 1.59483894e-04 9.99835333e-01 -1.88339345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.356559995 meters 0.012244540087156721 Centerline is valid? [True, True] Translation: X:90.42, Y:-26.47, Z:-1.88 [[ 8.26675986e-01 5.62494415e-01 1.43821992e-02 9.04246018e+01] [-5.62406091e-01 8.26801070e-01 -9.96891639e-03 -2.64674044e+01] [-1.74986775e-02 1.52427343e-04 9.99846875e-01 -1.88447772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.386559995 meters 0.012009989935870484 Centerline is valid? [True, True] Translation: X:90.45, Y:-26.48, Z:-1.89 [[ 8.26453648e-01 5.62830139e-01 1.40215283e-02 9.04521443e+01] [-5.62746145e-01 8.26572570e-01 -9.72434723e-03 -2.64845940e+01] [-1.70629664e-02 1.46161220e-04 9.99854406e-01 -1.88544784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.416559995 meters 0.012154514121689592 Centerline is valid? [True, True] Translation: X:90.48, Y:-26.50, Z:-1.89 [[ 8.26473334e-01 5.62817715e-01 1.33434661e-02 9.04799088e+01] [-5.62741562e-01 8.26581030e-01 -9.25933579e-03 -2.65026367e+01] [-1.62407742e-02 1.43671154e-04 9.99868100e-01 -1.88673902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.446559995 meters 0.012253720267972636 Centerline is valid? [True, True] Translation: X:90.51, Y:-26.52, Z:-1.89 [[ 8.26633366e-01 5.62587884e-01 1.31206519e-02 9.05062498e+01] [-5.62514138e-01 8.26737473e-01 -9.11013153e-03 -2.65208144e+01] [-1.59725842e-02 1.50186519e-04 9.99872419e-01 -1.88703265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.476559995 meters 0.012307911050431726 Centerline is valid? [True, True] Translation: X:90.53, Y:-26.54, Z:-1.89 [[ 8.26873542e-01 5.62235617e-01 1.30864666e-02 9.05329696e+01] [-5.62162132e-01 8.26977076e-01 -9.09135083e-03 -2.65392979e+01] [-1.59336891e-02 1.60681533e-04 9.99873038e-01 -1.88739082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.506559995 meters 0.01276333191961156 Centerline is valid? [True, True] Translation: X:90.56, Y:-26.56, Z:-1.89 [[ 8.27639725e-01 5.61104111e-01 1.32159669e-02 9.05581513e+01] [-5.61028928e-01 8.27745215e-01 -9.18703988e-03 -2.65576772e+01] [-1.60943392e-02 1.89019406e-04 9.99870460e-01 -1.88708557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.536559995 meters 0.012704340004960868 Centerline is valid? [True, True] Translation: X:90.59, Y:-26.58, Z:-1.89 [[ 8.28044662e-01 5.60516792e-01 1.27657199e-02 9.05850976e+01] [-5.60446513e-01 8.28143036e-01 -8.87798255e-03 -2.65757442e+01] [-1.55481003e-02 1.96862868e-04 9.99879102e-01 -1.88728561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.566559995 meters 0.012860452215548964 Centerline is valid? [True, True] Translation: X:90.61, Y:-26.59, Z:-1.89 [[ 8.28396754e-01 5.59998888e-01 1.26515990e-02 9.06114377e+01] [-5.59929729e-01 8.28493333e-01 -8.80319482e-03 -2.65938831e+01] [-1.54115447e-02 2.08531625e-04 9.99881213e-01 -1.88846423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.596559995 meters 0.01310811169838382 Centerline is valid? [True, True] Translation: X:90.64, Y:-26.61, Z:-1.89 [[ 8.28766322e-01 5.59458801e-01 1.23383232e-02 9.06368600e+01] [-5.59392890e-01 8.28858132e-01 -8.59017999e-03 -2.66118283e+01] [-1.50325713e-02 2.17281612e-04 9.99886981e-01 -1.88917912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.626559995 meters 0.013546543434539945 Centerline is valid? [True, True] Translation: X:90.66, Y:-26.63, Z:-1.89 [[ 8.29548949e-01 5.58302588e-01 1.21145335e-02 9.06626657e+01] [-5.58238898e-01 8.29637369e-01 -8.43609633e-03 -2.66304215e+01] [-1.47605641e-02 2.35350986e-04 9.99891029e-01 -1.89005192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.656559995 meters 0.013700224907152976 Centerline is valid? [True, True] Translation: X:90.69, Y:-26.65, Z:-1.89 [[ 8.30174228e-01 5.57383862e-01 1.15750097e-02 9.06892268e+01] [-5.57325575e-01 8.30254883e-01 -8.06426504e-03 -2.66485274e+01] [-1.41050995e-02 2.43696069e-04 9.99900488e-01 -1.89081851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.686559995 meters 0.014196240883994949 Centerline is valid? [True, True] Translation: X:90.71, Y:-26.67, Z:-1.89 [[ 8.30736922e-01 5.56556960e-01 1.09780255e-02 9.07144551e+01] [-5.56504398e-01 8.30809417e-01 -7.65290023e-03 -2.66670134e+01] [-1.33799218e-02 2.48227330e-04 9.99910454e-01 -1.89202489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.716559995 meters 0.014380685814545505 Centerline is valid? [True, True] Translation: X:90.74, Y:-26.69, Z:-1.89 [[ 8.32367838e-01 5.54136142e-01 9.84474145e-03 9.07402562e+01] [-5.54093694e-01 8.32426015e-01 -6.86357497e-03 -2.66851227e+01] [-1.19983738e-02 2.58109905e-04 9.99927984e-01 -1.89309076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.746559995 meters 0.015191541824959038 Centerline is valid? [True, True] Translation: X:90.76, Y:-26.70, Z:-1.89 [[ 8.33217791e-01 5.52858027e-01 9.80382805e-03 9.07646878e+01] [-5.52815803e-01 8.33275419e-01 -6.83841195e-03 -2.67044210e+01] [-1.19499599e-02 2.78175424e-04 9.99928558e-01 -1.89356839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.776559995 meters 0.015203611071922137 Centerline is valid? [True, True] Translation: X:90.79, Y:-26.72, Z:-1.89 [[ 8.33903289e-01 5.51819911e-01 1.00045415e-02 9.07907455e+01] [-5.51775825e-01 8.33963245e-01 -6.98175612e-03 -2.67234353e+01] [-1.21960919e-02 3.01845258e-04 9.99925579e-01 -1.89339192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.806559995 meters 0.015917691875508427 Centerline is valid? [True, True] Translation: X:90.82, Y:-26.74, Z:-1.89 [[ 8.34597009e-01 5.50766088e-01 1.02249343e-02 9.08150969e+01] [-5.50719908e-01 8.34659577e-01 -7.13962364e-03 -2.67424318e+01] [-1.24666019e-02 3.27633647e-04 9.99922235e-01 -1.89350671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.836559995 meters 0.017012084281541502 Centerline is valid? [True, True] Translation: X:90.84, Y:-26.76, Z:-1.89 [[ 8.35709066e-01 5.49072793e-01 1.04606760e-02 9.08392545e+01] [-5.49024279e-01 8.35774453e-01 -7.30792654e-03 -2.67616180e+01] [-1.27553494e-02 3.64135381e-04 9.99918581e-01 -1.89392498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.866559995 meters 0.017202767318668804 Centerline is valid? [True, True] Translation: X:90.87, Y:-26.78, Z:-1.89 [[ 8.35941741e-01 5.48713002e-01 1.07446034e-02 9.08656881e+01] [-5.48661741e-01 8.36010703e-01 -7.50990546e-03 -2.67806498e+01] [-1.31033862e-02 3.82690620e-04 9.99914074e-01 -1.89413064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.896559995 meters 0.01707200100348629 Centerline is valid? [True, True] Translation: X:90.89, Y:-26.80, Z:-1.89 [[ 8.36059403e-01 5.48532326e-01 1.08149547e-02 9.08924876e+01] [-5.48480325e-01 8.36129257e-01 -7.56296803e-03 -2.67988619e+01] [-1.31912325e-02 3.91300670e-04 9.99912915e-01 -1.89441992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.926559995 meters 0.017194716038975127 Centerline is valid? [True, True] Translation: X:90.92, Y:-26.82, Z:-1.90 [[ 8.36006125e-01 5.48610155e-01 1.09843656e-02 9.09198184e+01] [-5.48556468e-01 8.36078189e-01 -7.68522229e-03 -2.68180625e+01] [-1.33999795e-02 3.99348096e-04 9.99910136e-01 -1.89515846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.956559995 meters 0.01773136577205468 Centerline is valid? [True, True] Translation: X:90.95, Y:-26.84, Z:-1.90 [[ 8.35760700e-01 5.48979435e-01 1.12085539e-02 9.09455212e+01] [-5.48923501e-01 8.35835759e-01 -7.84695691e-03 -2.68373261e+01] [-1.36763281e-02 4.05539540e-04 9.99906392e-01 -1.89603317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.986559995 meters 0.01726760884901582 Centerline is valid? [True, True] Translation: X:90.97, Y:-26.86, Z:-1.90 [[ 8.35363055e-01 5.49587947e-01 1.10297457e-02 9.09719465e+01] [-5.49533779e-01 8.35435775e-01 -7.72602856e-03 -2.68551065e+01] [-1.34607763e-02 3.92820977e-04 9.99909322e-01 -1.89657801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.016559995 meters 0.017186449411804954 Centerline is valid? [True, True] Translation: X:91.00, Y:-26.87, Z:-1.90 [[ 8.34630782e-01 5.50710675e-01 1.04503802e-02 9.09973998e+01] [-5.50662091e-01 8.34696127e-01 -7.32378286e-03 -2.68728759e+01] [-1.27561773e-02 3.58026395e-04 9.99918573e-01 -1.89756990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.046559995 meters 0.017174030503303517 Centerline is valid? [True, True] Translation: X:91.02, Y:-26.89, Z:-1.90 [[ 8.34166224e-01 5.51420893e-01 1.00851204e-02 9.10232700e+01] [-5.51375661e-01 8.34227118e-01 -7.07079600e-03 -2.68911539e+01] [-1.23122656e-02 3.37529289e-04 9.99924144e-01 -1.89857481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.076559995 meters 0.01658949279079772 Centerline is valid? [True, True] Translation: X:91.05, Y:-26.91, Z:-1.90 [[ 8.33701715e-01 5.52128848e-01 9.75634867e-03 9.10499675e+01] [-5.52086526e-01 8.33758738e-01 -6.84351791e-03 -2.69089961e+01] [-1.19129446e-02 3.19103969e-04 9.99928987e-01 -1.89930969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.106559995 meters 0.01606958294548023 Centerline is valid? [True, True] Translation: X:91.08, Y:-26.93, Z:-1.90 [[ 8.33356605e-01 5.52650010e-01 9.73317354e-03 9.10767910e+01] [-5.52607884e-01 8.33413384e-01 -6.83069785e-03 -2.69269453e+01] [-1.18867423e-02 3.13778736e-04 9.99929301e-01 -1.89984603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.136559995 meters 0.016234600387767 Centerline is valid? [True, True] Translation: X:91.10, Y:-26.95, Z:-1.90 [[ 8.32989816e-01 5.53204500e-01 9.63060067e-03 9.11019608e+01] [-5.53163242e-01 8.33045429e-01 -6.76315333e-03 -2.69452587e+01] [-1.17641347e-02 3.06343556e-04 9.99930753e-01 -1.90074866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.166559995 meters 0.016085503848784637 Centerline is valid? [True, True] Translation: X:91.13, Y:-26.96, Z:-1.90 [[ 8.32171766e-01 5.54443244e-01 9.10171541e-03 9.11272045e+01] [-5.54406458e-01 8.32221494e-01 -6.39253353e-03 -2.69629308e+01] [-1.11189402e-02 2.73636117e-04 9.99938145e-01 -1.90164324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.196559995 meters 0.015775483127148205 Centerline is valid? [True, True] Translation: X:91.15, Y:-26.98, Z:-1.90 [[ 8.31751398e-01 5.55073355e-01 9.12038853e-03 9.11541344e+01] [-5.55036425e-01 8.31801357e-01 -6.40848108e-03 -2.69809967e+01] [-1.11435287e-02 2.68115252e-04 9.99937873e-01 -1.90231229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.226559995 meters 0.015207829863185975 Centerline is valid? [True, True] Translation: X:91.18, Y:-27.00, Z:-1.90 [[ 8.31412581e-01 5.55585599e-01 8.81831691e-03 9.11820261e+01] [-5.55551076e-01 8.31459306e-01 -6.19878643e-03 -2.69993700e+01] [-1.07760281e-02 2.54723576e-04 9.99941904e-01 -1.90265401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.256559995 meters 0.015381392825478733 Centerline is valid? [True, True] Translation: X:91.21, Y:-27.02, Z:-1.90 [[ 8.31200278e-01 5.55903746e-01 8.78199720e-03 9.12090173e+01] [-5.55869484e-01 8.31246631e-01 -6.17693456e-03 -2.70183110e+01] [-1.07337866e-02 2.52625465e-04 9.99942359e-01 -1.90340118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.286559995 meters 0.015416549395981154 Centerline is valid? [True, True] Translation: X:91.24, Y:-27.04, Z:-1.90 [[ 8.31072688e-01 5.56091512e-01 8.96752956e-03 9.12357958e+01] [-5.56055757e-01 8.31121028e-01 -6.31129462e-03 -2.70374867e+01] [-1.09627598e-02 2.58698157e-04 9.99939874e-01 -1.90391306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.316559995 meters 0.015560126068663138 Centerline is valid? [True, True] Translation: X:91.26, Y:-27.06, Z:-1.90 [[ 8.31334241e-01 5.55692118e-01 9.46832990e-03 9.12619027e+01] [-5.55652178e-01 8.31388110e-01 -6.66840142e-03 -2.70567207e+01] [-1.15774350e-02 2.82572306e-04 9.99932939e-01 -1.90360026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.346559995 meters 0.015981180933191275 Centerline is valid? [True, True] Translation: X:91.29, Y:-27.08, Z:-1.90 [[ 8.31703135e-01 5.55139390e-01 9.49490459e-03 9.12877346e+01] [-5.55099149e-01 8.31757279e-01 -6.69059998e-03 -2.70761958e+01] [-1.16116716e-02 2.93979522e-04 9.99932539e-01 -1.90400735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.376559995 meters 0.016347664240007526 Centerline is valid? [True, True] Translation: X:91.31, Y:-27.10, Z:-1.90 [[ 8.32221843e-01 5.54364147e-01 9.33793081e-03 9.13131824e+01] [-5.54325139e-01 8.32274174e-01 -6.58326890e-03 -2.70952267e+01] [-1.14212469e-02 3.02490384e-04 9.99934730e-01 -1.90416382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.406559995 meters 0.017317286388411773 Centerline is valid? [True, True] Translation: X:91.34, Y:-27.12, Z:-1.90 [[ 8.33751115e-01 5.52061159e-01 9.35704523e-03 9.13380313e+01] [-5.52021788e-01 8.33803551e-01 -6.60185584e-03 -2.71153703e+01] [-1.14465657e-02 3.39011836e-04 9.99934428e-01 -1.90417705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.436559995 meters 0.017317286388411773 Centerline is valid? [True, True] Translation: X:91.36, Y:-27.13, Z:-1.90 [[ 8.33599047e-01 5.52290743e-01 9.35756436e-03 9.13644861e+01] [-5.52251394e-01 8.33651500e-01 -6.60112078e-03 -2.71341267e+01] [-1.14466855e-02 3.34960027e-04 9.99934428e-01 -1.90481425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.466559995 meters 0.01815711927699263 Centerline is valid? [True, True] Translation: X:91.39, Y:-27.15, Z:-1.91 [[ 8.34358455e-01 5.51137169e-01 9.68449676e-03 9.13892923e+01] [-5.51094888e-01 8.34414577e-01 -6.83648820e-03 -2.71534393e+01] [-1.18487280e-02 3.67005073e-04 9.99929734e-01 -1.90552914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.496559995 meters 0.017446426624374175 Centerline is valid? [True, True] Translation: X:91.42, Y:-27.17, Z:-1.91 [[ 8.35097094e-01 5.50018641e-01 9.60921652e-03 9.14160198e+01] [-5.49976907e-01 8.35152290e-01 -6.78627303e-03 -2.71707929e+01] [-1.17577359e-02 3.82349704e-04 9.99930802e-01 -1.90557754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.526559995 meters 0.018143396111814782 Centerline is valid? [True, True] Translation: X:91.44, Y:-27.19, Z:-1.91 [[ 8.35767631e-01 5.49001212e-01 9.49402546e-03 9.14418401e+01] [-5.48960367e-01 8.35821460e-01 -6.70835794e-03 -2.71902022e+01] [-1.16182069e-02 3.94784718e-04 9.99932428e-01 -1.90647753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.556559995 meters 0.01956050628007183 Centerline is valid? [True, True] Translation: X:91.47, Y:-27.21, Z:-1.91 [[ 8.37089740e-01 5.46993558e-01 8.87776049e-03 9.14659841e+01] [-5.46957698e-01 8.37136721e-01 -6.27598914e-03 -2.72097278e+01] [-1.08648249e-02 3.97806684e-04 9.99940897e-01 -1.90780964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.586559995 meters 0.019629133603430358 Centerline is valid? [True, True] Translation: X:91.49, Y:-27.23, Z:-1.91 [[ 8.37598187e-01 5.46220143e-01 8.53423997e-03 9.14920660e+01] [-5.46186938e-01 8.37641570e-01 -6.03561468e-03 -2.72283036e+01] [-1.04454085e-02 3.94129517e-04 9.99945368e-01 -1.90841525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.616559995 meters 0.02090763593461275 Centerline is valid? [True, True] Translation: X:91.52, Y:-27.25, Z:-1.91 [[ 8.38107056e-01 5.45442858e-01 8.28565189e-03 9.15162297e+01] [-5.45411490e-01 8.38147918e-01 -5.86287014e-03 -2.72476052e+01] [-1.01424625e-02 3.94623086e-04 9.99948486e-01 -1.90954707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.646559995 meters 0.020451379458304244 Centerline is valid? [True, True] Translation: X:91.54, Y:-27.27, Z:-1.91 [[ 8.38890724e-01 5.44235681e-01 8.35922259e-03 9.15431365e+01] [-5.44203667e-01 8.38932268e-01 -5.91755469e-03 -2.72655876e+01] [-1.02333660e-02 4.15062150e-04 9.99947552e-01 -1.90929777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.676559995 meters 0.0227649274465628 Centerline is valid? [True, True] Translation: X:91.57, Y:-27.29, Z:-1.91 [[ 8.39080669e-01 5.43937329e-01 8.70708421e-03 9.15670531e+01] [-5.43902530e-01 8.39125728e-01 -6.16842563e-03 -2.72863601e+01] [-1.06615753e-02 4.40001567e-04 9.99943067e-01 -1.91004930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.706559995 meters 0.019822260390574584 Centerline is valid? [True, True] Translation: X:91.60, Y:-27.30, Z:-1.91 [[ 8.39091806e-01 5.43910719e-01 9.27739698e-03 9.15965879e+01] [-5.43871204e-01 8.39142961e-01 -6.57299237e-03 -2.73015544e+01] [-1.13601834e-02 4.69634968e-04 9.99935361e-01 -1.90959521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.736559995 meters 0.02043283446816724 Centerline is valid? [True, True] Translation: X:91.62, Y:-27.32, Z:-1.91 [[ 8.38495958e-01 5.44832433e-01 9.06358092e-03 9.16217014e+01] [-5.44794725e-01 8.38544821e-01 -6.42575210e-03 -2.73194156e+01] [-1.11011770e-02 4.50176089e-04 9.99938279e-01 -1.91047182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.766559995 meters 0.020688839331834116 Centerline is valid? [True, True] Translation: X:91.65, Y:-27.34, Z:-1.91 [[ 8.37744012e-01 5.45992388e-01 8.79105037e-03 9.16474948e+01] [-5.45956947e-01 8.37790028e-01 -6.23540957e-03 -2.73373157e+01] [-1.07695405e-02 4.24142007e-04 9.99941917e-01 -1.91143902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.796559995 meters 0.01983651962989595 Centerline is valid? [True, True] Translation: X:91.67, Y:-27.35, Z:-1.91 [[ 8.36550591e-01 5.47819656e-01 8.75976660e-03 9.16745197e+01] [-5.47784537e-01 8.36596356e-01 -6.21594687e-03 -2.73540861e+01] [-1.07336067e-02 4.01489334e-04 9.99942313e-01 -1.91241307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.826559995 meters 0.017829383709029582 Centerline is valid? [True, True] Translation: X:91.70, Y:-27.37, Z:-1.91 [[ 8.35045184e-01 5.50110680e-01 8.81931810e-03 9.17025991e+01] [-5.50075153e-01 8.35091669e-01 -6.26344840e-03 -2.73694078e+01] [-1.08105289e-02 3.78974665e-04 9.99941493e-01 -1.91267999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.856559995 meters 0.017286154909688642 Centerline is valid? [True, True] Translation: X:91.73, Y:-27.39, Z:-1.91 [[ 8.31660786e-01 5.55214948e-01 8.75777123e-03 9.17290296e+01] [-5.55180185e-01 8.31706838e-01 -6.22076887e-03 -2.73852387e+01] [-1.07377621e-02 3.11428475e-04 9.99942300e-01 -1.91398146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.886559995 meters 0.015265956304620784 Centerline is valid? [True, True] Translation: X:91.76, Y:-27.40, Z:-1.91 [[ 8.29795592e-01 5.58001854e-01 8.55607431e-03 9.17576066e+01] [-5.57968822e-01 8.29839658e-01 -6.07740958e-03 -2.74001812e+01] [-1.04913756e-02 2.68984979e-04 9.99944928e-01 -1.91398569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.916559995 meters 0.015580798544933286 Centerline is valid? [True, True] Translation: X:91.78, Y:-27.42, Z:-1.92 [[ 8.27728432e-01 5.61061406e-01 8.70297000e-03 9.17835564e+01] [-5.61027414e-01 8.27774151e-01 -6.18035747e-03 -2.74179524e+01] [-1.06716537e-02 2.33052851e-04 9.99943029e-01 -1.91568065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.946559995 meters 0.013400752587480828 Centerline is valid? [True, True] Translation: X:91.81, Y:-27.43, Z:-1.92 [[ 8.24130538e-01 5.66329997e-01 8.89889429e-03 9.18126698e+01] [-5.66294703e-01 8.24178563e-01 -6.32498243e-03 -2.74316178e+01] [-1.09163052e-02 1.73214480e-04 9.99940400e-01 -1.91577263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.976559995 meters 0.01277614783090717 Centerline is valid? [True, True] Translation: X:91.84, Y:-27.45, Z:-1.92 [[ 8.22307212e-01 5.68972333e-01 9.01847333e-03 9.18396619e+01] [-5.68936256e-01 8.22356653e-01 -6.40869362e-03 -2.74486987e+01] [-1.10627709e-02 1.38978540e-04 9.99938796e-01 -1.91632377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.006559995 meters 0.012321175844927203 Centerline is valid? [True, True] Translation: X:91.87, Y:-27.47, Z:-1.92 [[ 8.20499197e-01 5.71571814e-01 9.31287570e-03 9.18658954e+01] [-5.71533467e-01 8.20552039e-01 -6.62169207e-03 -2.74657695e+01] [-1.14264717e-02 1.10472890e-04 9.99934710e-01 -1.91703339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.036559995 meters 0.011885888595589698 Centerline is valid? [True, True] Translation: X:91.89, Y:-27.48, Z:-1.92 [[ 8.18892398e-01 5.73869696e-01 9.42400007e-03 9.18926586e+01] [-5.73830545e-01 8.18946619e-01 -6.70375564e-03 -2.74828367e+01] [-1.15648352e-02 8.18754401e-05 9.99933122e-01 -1.91751342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.066559995 meters 0.011672722012946881 Centerline is valid? [True, True] Translation: X:91.92, Y:-27.50, Z:-1.92 [[ 8.17340548e-01 5.76076126e-01 9.52499465e-03 9.19185540e+01] [-5.76036237e-01 8.17396045e-01 -6.77934778e-03 -2.74998374e+01] [-1.16911134e-02 5.42937590e-05 9.99931655e-01 -1.91821788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.096559995 meters 0.011274309377181137 Centerline is valid? [True, True] Translation: X:91.95, Y:-27.52, Z:-1.92 [[ 8.14689742e-01 5.79811441e-01 9.96577900e-03 9.19462047e+01] [-5.79768011e-01 8.14750694e-01 -7.09653981e-03 -2.75168312e+01] [-1.22342803e-02 3.63832413e-06 9.99925158e-01 -1.91861209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.126559995 meters 0.011253190852578655 Centerline is valid? [True, True] Translation: X:91.97, Y:-27.54, Z:-1.92 [[ 8.13454957e-01 5.81543826e-01 9.89002036e-03 9.19732878e+01] [-5.81501142e-01 8.13515076e-01 -7.04582579e-03 -2.75350562e+01] [-1.21431371e-02 -1.95962202e-05 9.99926269e-01 -1.91955883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.156559995 meters 0.01134844794384676 Centerline is valid? [True, True] Translation: X:92.00, Y:-27.55, Z:-1.92 [[ 8.11624913e-01 5.84089300e-01 1.02318093e-02 9.19993712e+01] [-5.84043758e-01 8.11689403e-01 -7.29401453e-03 -2.75527507e+01] [-1.25654070e-02 -5.58204282e-05 9.99921051e-01 -1.92077243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.186559995 meters 0.011536461639002763 Centerline is valid? [True, True] Translation: X:92.03, Y:-27.57, Z:-1.92 [[ 8.10673526e-01 5.85412712e-01 1.00195733e-02 9.20253749e+01] [-5.85369093e-01 8.10735439e-01 -7.14652260e-03 -2.75711786e+01] [-1.23068883e-02 -7.16518486e-05 9.99924265e-01 -1.92235375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.216559995 meters 0.011755362846727579 Centerline is valid? [True, True] Translation: X:92.05, Y:-27.59, Z:-1.92 [[ 8.09892552e-01 5.86494341e-01 9.92182702e-03 9.20516330e+01] [-5.86451605e-01 8.09953320e-01 -7.08049523e-03 -2.75906329e+01] [-1.21888871e-02 -8.42310286e-05 9.99925709e-01 -1.92296993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.246559995 meters 0.011766674088218297 Centerline is valid? [True, True] Translation: X:92.08, Y:-27.61, Z:-1.92 [[ 8.09265586e-01 5.87359770e-01 9.88491212e-03 9.20775201e+01] [-5.87317369e-01 8.09325949e-01 -7.05808429e-03 -2.76104685e+01] [-1.21457506e-02 -9.37158535e-05 9.99926233e-01 -1.92351705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.276559995 meters 0.01194472538095789 Centerline is valid? [True, True] Translation: X:92.10, Y:-27.63, Z:-1.92 [[ 8.08639601e-01 5.88218614e-01 1.00428276e-02 9.21037290e+01] [-5.88174861e-01 8.08701954e-01 -7.17507353e-03 -2.76306687e+01] [-1.23421661e-02 -1.04890149e-04 9.99923827e-01 -1.92446381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.306559995 meters 0.012136134153934934 Centerline is valid? [True, True] Translation: X:92.13, Y:-27.65, Z:-1.93 [[ 8.08053006e-01 5.89030314e-01 9.67618346e-03 9.21284782e+01] [-5.88989709e-01 8.08110931e-01 -6.91702711e-03 -2.76507411e+01] [-1.18937683e-02 -1.09847936e-04 9.99929261e-01 -1.92600874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.336559995 meters 0.012197850704166435 Centerline is valid? [True, True] Translation: X:92.15, Y:-27.67, Z:-1.93 [[ 8.07798372e-01 5.89385355e-01 9.31094542e-03 9.21546905e+01] [-5.89347745e-01 8.07852024e-01 -6.65910910e-03 -2.76712307e+01] [-1.14466475e-02 -1.08167197e-04 9.99934479e-01 -1.92713764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.366559995 meters 0.012255036805122963 Centerline is valid? [True, True] Translation: X:92.18, Y:-27.69, Z:-1.93 [[ 8.07674720e-01 5.89560389e-01 8.94961772e-03 9.21793668e+01] [-5.89525613e-01 8.07724295e-01 -6.40426983e-03 -2.76912417e+01] [-1.10045275e-02 -1.03462033e-04 9.99939443e-01 -1.92848413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.396559995 meters 0.012238268956110847 Centerline is valid? [True, True] Translation: X:92.20, Y:-27.71, Z:-1.93 [[ 8.07824645e-01 5.89357819e-01 8.75810847e-03 9.22043941e+01] [-5.89324471e-01 8.07872114e-01 -6.27023190e-03 -2.77124971e+01] [-1.07708418e-02 -9.61197780e-05 9.99941988e-01 -1.92956822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.426559995 meters 0.012007991218066125 Centerline is valid? [True, True] Translation: X:92.23, Y:-27.74, Z:-1.93 [[ 8.08742729e-01 5.88093466e-01 9.01520202e-03 9.22266503e+01] [-5.88058006e-01 8.08792971e-01 -6.45848633e-03 -2.77356683e+01] [-1.10896256e-02 -7.82078593e-05 9.99938505e-01 -1.93048002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.456559995 meters 0.011833492456317722 Centerline is valid? [True, True] Translation: X:92.25, Y:-27.76, Z:-1.93 [[ 8.09401205e-01 5.87185318e-01 9.11548822e-03 9.22504859e+01] [-5.87148971e-01 8.09452530e-01 -6.53357687e-03 -2.77570217e+01] [-1.12149754e-02 -6.38645431e-05 9.99937108e-01 -1.93078835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.486559995 meters 0.011690306559961217 Centerline is valid? [True, True] Translation: X:92.27, Y:-27.78, Z:-1.93 [[ 8.10179730e-01 5.86104578e-01 9.49890046e-03 9.22736447e+01] [-5.86064991e-01 8.10235411e-01 -6.81211206e-03 -2.77779334e+01] [-1.16889556e-02 -4.79379048e-05 9.99931681e-01 -1.93138436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.516559995 meters 0.011599886378226643 Centerline is valid? [True, True] Translation: X:92.30, Y:-27.80, Z:-1.93 [[ 8.11084547e-01 5.84850969e-01 9.54991220e-03 9.22983270e+01] [-5.84810838e-01 8.11140767e-01 -6.85133847e-03 -2.78002780e+01] [-1.17533351e-02 -2.78773907e-05 9.99930927e-01 -1.93197623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.546559995 meters 0.011610398559765882 Centerline is valid? [True, True] Translation: X:92.32, Y:-27.83, Z:-1.93 [[ 8.13222119e-01 5.81871894e-01 9.74081575e-03 9.23205820e+01] [-5.81829882e-01 8.13280455e-01 -6.99211443e-03 -2.78253361e+01] [-1.19905299e-02 1.86444382e-05 9.99928111e-01 -1.93171426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.576559995 meters 0.011943193036079233 Centerline is valid? [True, True] Translation: X:92.34, Y:-27.85, Z:-1.93 [[ 8.14174382e-01 5.80538548e-01 9.75034552e-03 9.23440751e+01] [-5.80496307e-01 8.14232763e-01 -7.00318710e-03 -2.78477242e+01] [-1.20046709e-02 4.17759618e-05 9.99927940e-01 -1.93298597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.606559995 meters 0.012022692880652091 Centerline is valid? [True, True] Translation: X:92.37, Y:-27.87, Z:-1.93 [[ 8.14894145e-01 5.79521227e-01 1.01331484e-02 9.23693635e+01] [-5.79475475e-01 8.14957142e-01 -7.28216216e-03 -2.78691916e+01] [-1.24782492e-02 6.22803539e-05 9.99922142e-01 -1.93244063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.636559995 meters 0.011734972404937073 Centerline is valid? [True, True] Translation: X:92.40, Y:-27.89, Z:-1.93 [[ 8.14382814e-01 5.80219966e-01 1.11992987e-02 9.23955681e+01] [-5.80164071e-01 8.14459813e-01 -8.05375170e-03 -2.78871666e+01] [-1.37943263e-02 6.14062423e-05 9.99904852e-01 -1.93162737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.666559995 meters 0.011675871830694724 Centerline is valid? [True, True] Translation: X:92.42, Y:-27.91, Z:-1.93 [[ 8.13558351e-01 5.81360395e-01 1.19541196e-02 9.24207012e+01] [-5.81296762e-01 8.13646169e-01 -8.60152908e-03 -2.79054555e+01] [-1.47270120e-02 4.89547914e-05 9.99891550e-01 -1.93129207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.696559995 meters 0.011733463282365571 Centerline is valid? [True, True] Translation: X:92.45, Y:-27.92, Z:-1.93 [[ 8.13171137e-01 5.81908173e-01 1.16438946e-02 9.24475271e+01] [-5.81847806e-01 8.13254497e-01 -8.38178926e-03 -2.79248275e+01] [-1.43468813e-02 4.08545691e-05 9.99897077e-01 -1.93177079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.726559995 meters 0.01176201118982524 Centerline is valid? [True, True] Translation: X:92.47, Y:-27.94, Z:-1.93 [[ 8.13082951e-01 5.82038873e-01 1.12634376e-02 9.24737925e+01] [-5.81982334e-01 8.13160961e-01 -8.11254723e-03 -2.79445544e+01] [-1.38808056e-02 4.10521480e-05 9.99903656e-01 -1.93292600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.756559995 meters 0.011874620918670347 Centerline is valid? [True, True] Translation: X:92.50, Y:-27.96, Z:-1.93 [[ 8.13189955e-01 5.81893905e-01 1.10263394e-02 9.24995377e+01] [-5.81839644e-01 8.13264706e-01 -7.94647807e-03 -2.79640761e+01] [-1.35913398e-02 4.64347555e-05 9.99907632e-01 -1.93412423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.786559995 meters 0.011920613354801657 Centerline is valid? [True, True] Translation: X:92.53, Y:-27.98, Z:-1.93 [[ 8.13640497e-01 5.81263491e-01 1.10406326e-02 9.25263880e+01] [-5.81208974e-01 8.13715399e-01 -7.96103785e-03 -2.79839014e+01] [-1.36113934e-02 6.05080595e-05 9.99907359e-01 -1.93472972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.816559995 meters 0.012048174383882893 Centerline is valid? [True, True] Translation: X:92.55, Y:-28.00, Z:-1.94 [[ 8.14044039e-01 5.80698791e-01 1.10098485e-02 9.25523220e+01] [-5.80644452e-01 8.14118486e-01 -7.94428037e-03 -2.80026875e+01] [-1.35765552e-02 7.41866567e-05 9.99907832e-01 -1.93561003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.846559995 meters 0.012121784580898081 Centerline is valid? [True, True] Translation: X:92.58, Y:-28.02, Z:-1.94 [[ 8.14633822e-01 5.79875533e-01 1.07750240e-02 9.25780548e+01] [-5.79823388e-01 8.14705074e-01 -7.77694634e-03 -2.80217948e+01] [-1.32881276e-02 8.77526082e-05 9.99911705e-01 -1.93674774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.876559995 meters 0.012497420009986163 Centerline is valid? [True, True] Translation: X:92.60, Y:-28.04, Z:-1.94 [[ 8.15481855e-01 5.78682736e-01 1.07533867e-02 9.26026106e+01] [-5.78630637e-01 8.15552744e-01 -7.76578564e-03 -2.80405597e+01] [-1.32638801e-02 1.10618279e-04 9.99912025e-01 -1.93766009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.906559995 meters 0.01317373909075972 Centerline is valid? [True, True] Translation: X:92.63, Y:-28.06, Z:-1.94 [[ 8.17816008e-01 5.75369631e-01 1.12589538e-02 9.26271047e+01] [-5.75312149e-01 8.17893487e-01 -8.13477031e-03 -2.80608857e+01] [-1.38891248e-02 1.75332487e-04 9.99903526e-01 -1.93743741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.936559995 meters 0.013516837732562749 Centerline is valid? [True, True] Translation: X:92.65, Y:-28.08, Z:-1.94 [[ 8.18865552e-01 5.73865376e-01 1.17362121e-02 9.26525481e+01] [-5.73802688e-01 8.18949623e-01 -8.48473700e-03 -2.80797141e+01] [-1.44804632e-02 2.13588825e-04 9.99895130e-01 -1.93764048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.966559995 meters 0.013626649703651957 Centerline is valid? [True, True] Translation: X:92.68, Y:-28.10, Z:-1.94 [[ 8.19716859e-01 5.72638554e-01 1.22211559e-02 9.26787712e+01] [-5.72570413e-01 8.19807920e-01 -8.83723735e-03 -2.80989087e+01] [-1.50795432e-02 2.46560162e-04 9.99886267e-01 -1.93774151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.996559995 meters 0.014073574275281992 Centerline is valid? [True, True] Translation: X:92.70, Y:-28.12, Z:-1.94 [[ 8.20529614e-01 5.71466250e-01 1.25490207e-02 9.27045108e+01] [-5.71394192e-01 8.20625522e-01 -9.07913054e-03 -2.81182607e+01] [-1.54864633e-02 2.79257936e-04 9.99880039e-01 -1.93817532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.026559995 meters 0.014763380173922671 Centerline is valid? [True, True] Translation: X:92.73, Y:-28.14, Z:-1.94 [[ 8.21862317e-01 5.69537647e-01 1.30077326e-02 9.27298346e+01] [-5.69459893e-01 8.21965181e-01 -9.41652235e-03 -2.81370539e+01] [-1.60549673e-02 3.31702852e-04 9.99871056e-01 -1.93896677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.056559995 meters 0.015139553256467512 Centerline is valid? [True, True] Translation: X:92.75, Y:-28.16, Z:-1.94 [[ 8.22055770e-01 5.69262349e-01 1.28331074e-02 9.27547604e+01] [-5.69186604e-01 8.22155865e-01 -9.29210017e-03 -2.81553193e+01] [-1.58404573e-02 3.34191752e-04 9.99874476e-01 -1.94007206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.086559995 meters 0.015366259602805491 Centerline is valid? [True, True] Translation: X:92.78, Y:-28.17, Z:-1.94 [[ 8.22099620e-01 5.69203162e-01 1.26480922e-02 9.27818683e+01] [-5.69129518e-01 8.22196843e-01 -9.16206921e-03 -2.81747447e+01] [-1.56143003e-02 3.33730984e-04 9.99878034e-01 -1.94174846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.116559995 meters 0.015336521682850155 Centerline is valid? [True, True] Translation: X:92.81, Y:-28.19, Z:-1.94 [[ 8.22008442e-01 5.69348523e-01 1.20158688e-02 9.28092747e+01] [-5.69282004e-01 8.22096198e-01 -8.70871759e-03 -2.81936096e+01] [-1.48364955e-02 3.18221521e-04 9.99889883e-01 -1.94330963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.146559995 meters 0.015534515958007105 Centerline is valid? [True, True] Translation: X:92.84, Y:-28.21, Z:-1.94 [[ 8.21815580e-01 5.69636672e-01 1.15418062e-02 9.28363707e+01] [-5.69575263e-01 8.21896568e-01 -8.36965676e-03 -2.82127773e+01] [-1.42538343e-02 3.04387041e-04 9.99898363e-01 -1.94484637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.176559995 meters 0.015527801467812111 Centerline is valid? [True, True] Translation: X:92.86, Y:-28.23, Z:-1.95 [[ 8.21063415e-01 5.70735130e-01 1.07832763e-02 9.28617519e+01] [-5.70681564e-01 8.21134178e-01 -7.82400563e-03 -2.82303741e+01] [-1.33199516e-02 2.70187802e-04 9.99911249e-01 -1.94614611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.206559995 meters 0.014469687215274897 Centerline is valid? [True, True] Translation: X:92.89, Y:-28.25, Z:-1.95 [[ 8.20639664e-01 5.71342334e-01 1.08847778e-02 9.28891362e+01] [-5.71287761e-01 8.20711805e-01 -7.90111025e-03 -2.82471517e+01] [-1.34475044e-02 2.65624141e-04 9.99909543e-01 -1.94634141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.236559995 meters 0.015367917697890835 Centerline is valid? [True, True] Translation: X:92.91, Y:-28.27, Z:-1.95 [[ 8.20114331e-01 5.72102414e-01 1.05504541e-02 9.29135796e+01] [-5.72051154e-01 8.20182154e-01 -7.66231363e-03 -2.82663036e+01] [-1.30369223e-02 2.48573788e-04 9.99914985e-01 -1.94766812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.266559995 meters 0.01531843849576962 Centerline is valid? [True, True] Translation: X:92.94, Y:-28.28, Z:-1.95 [[ 8.19534765e-01 5.72936853e-01 1.03020290e-02 9.29397492e+01] [-5.72888002e-01 8.19599480e-01 -7.48524349e-03 -2.82845184e+01] [-1.27321094e-02 2.32508478e-04 9.99918916e-01 -1.94859860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.296559995 meters 0.01393174724606146 Centerline is valid? [True, True] Translation: X:92.97, Y:-28.30, Z:-1.95 [[ 8.18549753e-01 5.74336265e-01 1.06844152e-02 9.29681411e+01] [-5.74283789e-01 8.18619451e-01 -7.76690793e-03 -2.83007277e+01] [-1.32072870e-02 2.21714105e-04 9.99912755e-01 -1.94830639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.326559995 meters 0.01393174724606146 Centerline is valid? [True, True] Translation: X:92.99, Y:-28.32, Z:-1.95 [[ 8.18391444e-01 5.74561854e-01 1.06826756e-02 9.29943133e+01] [-5.74509366e-01 8.18461133e-01 -7.76929963e-03 -2.83198545e+01] [-1.32072980e-02 2.21031151e-04 9.99912755e-01 -1.94894459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.356559995 meters 0.013582635995588933 Centerline is valid? [True, True] Translation: X:93.02, Y:-28.34, Z:-1.95 [[ 8.17906495e-01 5.75247982e-01 1.08960509e-02 9.30211430e+01] [-5.75193369e-01 8.17979041e-01 -7.92945828e-03 -2.83382954e+01] [-1.34741461e-02 2.18219212e-04 9.99909196e-01 -1.94926537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.386559995 meters 0.013761805403465405 Centerline is valid? [True, True] Translation: X:93.05, Y:-28.36, Z:-1.95 [[ 8.17564691e-01 5.75728660e-01 1.11573679e-02 9.30464569e+01] [-5.75671383e-01 8.17640790e-01 -8.12380528e-03 -2.83571634e+01] [-1.37998266e-02 2.18758955e-04 9.99904754e-01 -1.94971707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.416559995 meters 0.01366869787904561 Centerline is valid? [True, True] Translation: X:93.07, Y:-28.38, Z:-1.95 [[ 8.17456991e-01 5.75876626e-01 1.14096040e-02 9.30733266e+01] [-5.75816681e-01 8.17536581e-01 -8.31201984e-03 -2.83765756e+01] [-1.41144666e-02 2.24878401e-04 9.99900361e-01 -1.95044525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.446559995 meters 0.013679704340318552 Centerline is valid? [True, True] Translation: X:93.10, Y:-28.40, Z:-1.95 [[ 8.17837199e-01 5.75332312e-01 1.16209053e-02 9.30989664e+01] [-5.75269996e-01 8.17919722e-01 -8.47117234e-03 -2.83961750e+01] [-1.43787068e-02 2.42881749e-04 9.99896592e-01 -1.95074359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.476559995 meters 0.014141645743753636 Centerline is valid? [True, True] Translation: X:93.12, Y:-28.42, Z:-1.95 [[ 8.18123982e-01 5.74927775e-01 1.14543988e-02 9.31229910e+01] [-5.74867130e-01 8.18204126e-01 -8.35412905e-03 -2.84157962e+01] [-1.41750572e-02 2.49955955e-04 9.99899498e-01 -1.95157413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.506559995 meters 0.014671043330986993 Centerline is valid? [True, True] Translation: X:93.15, Y:-28.44, Z:-1.95 [[ 8.18612000e-01 5.74245227e-01 1.08080063e-02 9.31472548e+01] [-5.74191129e-01 8.18683307e-01 -7.88614720e-03 -2.84354059e+01] [-1.33769167e-02 2.49833408e-04 9.99910494e-01 -1.95275062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.536559995 meters 0.014632370797708584 Centerline is valid? [True, True] Translation: X:93.17, Y:-28.45, Z:-1.95 [[ 8.19170451e-01 5.73454763e-01 1.04598227e-02 9.31731717e+01] [-5.73403988e-01 8.19237187e-01 -7.63528861e-03 -2.84549786e+01] [-1.29475684e-02 2.56898754e-04 9.99916144e-01 -1.95360183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.566559995 meters 0.015284906856184421 Centerline is valid? [True, True] Translation: X:93.20, Y:-28.48, Z:-1.96 [[ 8.20199918e-01 5.71998256e-01 9.49152561e-03 9.31975848e+01] [-5.71956314e-01 8.20254795e-01 -6.93144255e-03 -2.84763761e+01] [-1.17502425e-02 2.56430611e-04 9.99930931e-01 -1.95503767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.596559995 meters 0.015866306522486072 Centerline is valid? [True, True] Translation: X:93.22, Y:-28.50, Z:-1.96 [[ 8.20555673e-01 5.71497160e-01 8.90979140e-03 9.32221503e+01] [-5.71460138e-01 8.20604006e-01 -6.50973872e-03 -2.84959339e+01] [-1.10317077e-02 2.50012411e-04 9.99939118e-01 -1.95634335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.626559995 meters 0.01619162981500039 Centerline is valid? [True, True] Translation: X:93.25, Y:-28.51, Z:-1.96 [[ 8.20611011e-01 5.71425519e-01 8.39316926e-03 9.32472187e+01] [-5.71392626e-01 8.20653897e-01 -6.13586033e-03 -2.85149108e+01] [-1.03940742e-02 2.39359526e-04 9.99945952e-01 -1.95731575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.656559995 meters 0.016522691570509833 Centerline is valid? [True, True] Translation: X:93.27, Y:-28.53, Z:-1.96 [[ 8.20534230e-01 5.71542310e-01 7.93510833e-03 9.32726233e+01] [-5.71512904e-01 8.20572567e-01 -5.80195460e-03 -2.85342738e+01] [-9.82739474e-03 2.25685545e-04 9.99951685e-01 -1.95868779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.686559995 meters 0.01652869110125828 Centerline is valid? [True, True] Translation: X:93.30, Y:-28.55, Z:-1.96 [[ 8.20319143e-01 5.71856707e-01 7.51066023e-03 9.32996464e+01] [-5.71830372e-01 8.20353499e-01 -5.49204500e-03 -2.85536684e+01] [-9.30205916e-03 2.10406021e-04 9.99956713e-01 -1.95955415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.716559995 meters 0.01611099889288003 Centerline is valid? [True, True] Translation: X:93.33, Y:-28.57, Z:-1.96 [[ 8.20037844e-01 5.72266092e-01 7.03240569e-03 9.33271538e+01] [-5.72242999e-01 8.20067974e-01 -5.14475735e-03 -2.85723787e+01] [-8.71122087e-03 1.94650801e-04 9.99962038e-01 -1.96038113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.746559995 meters 0.016096084585991807 Centerline is valid? [True, True] Translation: X:93.35, Y:-28.59, Z:-1.96 [[ 8.19867600e-01 5.72510252e-01 7.00929125e-03 9.33537552e+01] [-5.72487294e-01 8.19897539e-01 -5.13071367e-03 -2.85917122e+01] [-8.68428682e-03 1.93775715e-04 9.99962272e-01 -1.96075346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.776559995 meters 0.01586439268320244 Centerline is valid? [True, True] Translation: X:93.38, Y:-28.61, Z:-1.96 [[ 8.19785534e-01 5.72624775e-01 7.24876697e-03 9.33802989e+01] [-5.72600197e-01 8.19817557e-01 -5.30921504e-03 -2.86104081e+01] [-8.98285450e-03 2.01772292e-04 9.99959633e-01 -1.96117547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.806559995 meters 0.016249426953309574 Centerline is valid? [True, True] Translation: X:93.41, Y:-28.63, Z:-1.96 [[ 8.19999906e-01 5.72320241e-01 7.04954106e-03 9.34058586e+01] [-5.72296956e-01 8.20030183e-01 -5.16654602e-03 -2.86298523e+01] [-8.73775531e-03 2.02136361e-04 9.99961805e-01 -1.96136919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.836559995 meters 0.017147953091781337 Centerline is valid? [True, True] Translation: X:93.43, Y:-28.65, Z:-1.96 [[ 8.20966109e-01 5.70926222e-01 7.60901985e-03 9.34297518e+01] [-5.70898991e-01 8.21001335e-01 -5.58120235e-03 -2.86494661e+01] [-9.43347023e-03 2.37996221e-04 9.99955476e-01 -1.96118996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.866559995 meters 0.016757475791303208 Centerline is valid? [True, True] Translation: X:93.46, Y:-28.67, Z:-1.96 [[ 8.21551083e-01 5.70080494e-01 7.87712495e-03 9.34559319e+01] [-5.70051269e-01 8.21588805e-01 -5.77809177e-03 -2.86679450e+01] [-9.76573508e-03 2.56632474e-04 9.99952281e-01 -1.96088194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.896559995 meters 0.01721783022690966 Centerline is valid? [True, True] Translation: X:93.48, Y:-28.69, Z:-1.96 [[ 8.21967686e-01 5.69474195e-01 8.26223902e-03 9.34812438e+01] [-5.69441978e-01 8.22009162e-01 -6.06392420e-03 -2.86873802e+01] [-1.02448845e-02 2.79484016e-04 9.99947481e-01 -1.96102295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.926559995 meters 0.01784020417586843 Centerline is valid? [True, True] Translation: X:93.51, Y:-28.71, Z:-1.96 [[ 8.22497359e-01 5.68703886e-01 8.60140080e-03 9.35077166e+01] [-5.68668890e-01 8.22542277e-01 -6.31624728e-03 -2.87061026e+01] [-1.06670902e-02 3.03747654e-04 9.99943059e-01 -1.96142379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.956559995 meters 0.017593869596070125 Centerline is valid? [True, True] Translation: X:93.53, Y:-28.72, Z:-1.96 [[ 8.22687975e-01 5.68432599e-01 8.29916209e-03 9.35337916e+01] [-5.68399965e-01 8.22729780e-01 -6.09832943e-03 -2.87240266e+01] [-1.02944570e-02 2.99778853e-04 9.99946966e-01 -1.96200078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.986559995 meters 0.017015213290007374 Centerline is valid? [True, True] Translation: X:93.56, Y:-28.74, Z:-1.96 [[ 8.22513651e-01 5.68687153e-01 8.13735795e-03 9.35609532e+01] [-5.68655792e-01 8.22553851e-01 -5.97929312e-03 -2.87423358e+01] [-1.00937623e-02 2.90694483e-04 9.99949014e-01 -1.96236751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.016559995 meters 0.017146893613176888 Centerline is valid? [True, True] Translation: X:93.59, Y:-28.76, Z:-1.96 [[ 8.22219177e-01 5.69113177e-01 8.11276326e-03 9.35874457e+01] [-5.69081992e-01 8.22259149e-01 -5.96467314e-03 -2.87617696e+01] [-1.00653679e-02 2.87441167e-04 9.99949302e-01 -1.96330870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.046559995 meters 0.017541756943512905 Centerline is valid? [True, True] Translation: X:93.61, Y:-28.78, Z:-1.96 [[ 8.21988476e-01 5.69450466e-01 7.81744642e-03 9.36132172e+01] [-5.69421493e-01 8.22025602e-01 -5.75085472e-03 -2.87809349e+01] [-9.70096800e-03 2.75714287e-04 9.99952906e-01 -1.96427648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.076559995 meters 0.016886411129134762 Centerline is valid? [True, True] Translation: X:93.64, Y:-28.80, Z:-1.96 [[ 8.21684934e-01 5.69890691e-01 7.64655104e-03 9.36412544e+01] [-5.69862966e-01 8.21720469e-01 -5.62775685e-03 -2.87989117e+01] [-9.49053375e-03 2.66756761e-04 9.99954928e-01 -1.96483732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.106559995 meters 0.018002452961066936 Centerline is valid? [True, True] Translation: X:93.67, Y:-28.82, Z:-1.97 [[ 8.21559437e-01 5.70070804e-01 7.70521294e-03 9.36660316e+01] [-5.70042625e-01 8.21595525e-01 -5.67451371e-03 -2.88186903e+01] [-9.56544306e-03 2.69650484e-04 9.99954214e-01 -1.96634641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.136559995 meters 0.017410957502232045 Centerline is valid? [True, True] Translation: X:93.69, Y:-28.84, Z:-1.97 [[ 8.21489855e-01 5.70175599e-01 7.36234640e-03 9.36936760e+01] [-5.70149854e-01 8.21522805e-01 -5.42444996e-03 -2.88371319e+01] [-9.14122447e-03 2.58489888e-04 9.99958185e-01 -1.96690134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.166559995 meters 0.017275692857736814 Centerline is valid? [True, True] Translation: X:93.72, Y:-28.85, Z:-1.97 [[ 8.21961726e-01 5.69499060e-01 7.05271959e-03 9.37204219e+01] [-5.69475383e-01 8.21991943e-01 -5.19943162e-03 -2.88549509e+01] [-8.75835010e-03 2.57383600e-04 9.99961612e-01 -1.96767174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.196559995 meters 0.017275692857736814 Centerline is valid? [True, True] Translation: X:93.75, Y:-28.87, Z:-1.97 [[ 8.21804593e-01 5.69725798e-01 7.05168892e-03 9.37464719e+01] [-5.69702117e-01 8.21834807e-01 -5.20082877e-03 -2.88742610e+01] [-8.75836972e-03 2.56702871e-04 9.99961612e-01 -1.96831015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.226559995 meters 0.018024021493529666 Centerline is valid? [True, True] Translation: X:93.77, Y:-28.89, Z:-1.97 [[ 8.22899323e-01 5.68143702e-01 7.03119899e-03 9.37720692e+01] [-5.68120070e-01 8.22929315e-01 -5.18917115e-03 -2.88935218e+01] [-8.73437468e-03 2.75600159e-04 9.99961817e-01 -1.96900656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.256559995 meters 0.01936905069009922 Centerline is valid? [True, True] Translation: X:93.80, Y:-28.91, Z:-1.97 [[ 8.23468313e-01 5.67319796e-01 6.94162061e-03 9.37961972e+01] [-5.67296710e-01 8.23497522e-01 -5.12582629e-03 -2.89133916e+01] [-8.62439010e-03 2.82996993e-04 9.99962769e-01 -1.97003061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.286559995 meters 0.019752264131812452 Centerline is valid? [True, True] Translation: X:93.82, Y:-28.93, Z:-1.97 [[ 8.24144112e-01 5.66337164e-01 6.97850455e-03 9.38218569e+01] [-5.66313777e-01 8.24173604e-01 -5.15528881e-03 -2.89323600e+01] [-8.67113089e-03 2.96677650e-04 9.99962361e-01 -1.97066786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.316559995 meters 0.020657329794674717 Centerline is valid? [True, True] Translation: X:93.85, Y:-28.95, Z:-1.97 [[ 8.24816053e-01 5.65354386e-01 7.27304488e-03 9.38459794e+01] [-5.65328917e-01 8.24848055e-01 -5.37601826e-03 -2.89514476e+01] [-9.03851243e-03 3.22563578e-04 9.99959100e-01 -1.97119969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.346559995 meters 0.020758620762924895 Centerline is valid? [True, True] Translation: X:93.87, Y:-28.97, Z:-1.97 [[ 8.25915433e-01 5.63731903e-01 8.36897580e-03 9.38717742e+01] [-5.63698061e-01 8.25957739e-01 -6.18949284e-03 -2.89704659e+01] [-1.04016349e-02 3.94422226e-04 9.99945824e-01 -1.97013597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.376559995 meters 0.020599801541616326 Centerline is valid? [True, True] Translation: X:93.90, Y:-28.99, Z:-1.97 [[ 8.26232322e-01 5.63257637e-01 8.99916003e-03 9.38976594e+01] [-5.63218437e-01 8.26281215e-01 -6.65927951e-03 -2.89890818e+01] [-1.11867269e-02 4.33619134e-04 9.99937333e-01 -1.97004998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.406559995 meters 0.019833223834078643 Centerline is valid? [True, True] Translation: X:93.93, Y:-29.01, Z:-1.97 [[ 8.26225043e-01 5.63263585e-01 9.29038745e-03 9.39255422e+01] [-5.63221770e-01 8.26277151e-01 -6.87801307e-03 -2.90075601e+01] [-1.15505692e-02 4.50238179e-04 9.99933189e-01 -1.96970982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.436559995 meters 0.023566555188280245 Centerline is valid? [True, True] Translation: X:93.95, Y:-29.03, Z:-1.97 [[ 8.25867207e-01 5.63787813e-01 9.30906572e-03 9.39480578e+01] [-5.63745811e-01 8.25919549e-01 -6.89622534e-03 -2.90301622e+01] [-1.15765472e-02 4.47419553e-04 9.99932889e-01 -1.97160374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.466559995 meters 0.02001141223507172 Centerline is valid? [True, True] Translation: X:93.98, Y:-29.04, Z:-1.97 [[ 8.25363291e-01 5.64528323e-01 9.12198194e-03 9.39772205e+01] [-5.64488001e-01 8.25413585e-01 -6.76092001e-03 -2.90445618e+01] [-1.13461387e-02 4.30965837e-04 9.99935538e-01 -1.97175754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.496559995 meters 0.019999980263676404 Centerline is valid? [True, True] Translation: X:94.00, Y:-29.06, Z:-1.97 [[ 8.24716436e-01 5.65481814e-01 8.55091762e-03 9.40031317e+01] [-5.65446404e-01 8.24760670e-01 -6.34049115e-03 -2.90629570e+01] [-1.06378930e-02 3.94021648e-04 9.99943338e-01 -1.97294995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.526559995 meters 0.01934412508904044 Centerline is valid? [True, True] Translation: X:94.03, Y:-29.08, Z:-1.97 [[ 8.24019607e-01 5.66505612e-01 7.94219039e-03 9.40296952e+01] [-5.66475086e-01 8.24057805e-01 -5.89162262e-03 -2.90809439e+01] [-9.88246126e-03 3.55759573e-04 9.99951104e-01 -1.97381959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.556559995 meters 0.019608922592678553 Centerline is valid? [True, True] Translation: X:94.05, Y:-29.10, Z:-1.97 [[ 8.22264449e-01 5.69060450e-01 7.16797810e-03 9.40544037e+01] [-5.69035638e-01 8.22295637e-01 -5.32237811e-03 -2.90987228e+01] [-8.92295201e-03 2.97567312e-04 9.99960145e-01 -1.97488776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.586559995 meters 0.01938394998046475 Centerline is valid? [True, True] Translation: X:94.08, Y:-29.12, Z:-1.98 [[ 8.21218453e-01 5.70566068e-01 7.39022365e-03 9.40798692e+01] [-5.70539775e-01 8.21251654e-01 -5.48501805e-03 -2.91163578e+01] [-9.19879857e-03 2.87981495e-04 9.99957649e-01 -1.97525162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.616559995 meters 0.017805157596670226 Centerline is valid? [True, True] Translation: X:94.11, Y:-29.13, Z:-1.97 [[ 8.19887419e-01 5.72472110e-01 7.76549312e-03 9.41076928e+01] [-5.72443140e-01 8.19924145e-01 -5.76616376e-03 -2.91332551e+01] [-9.66808324e-03 2.82301862e-04 9.99953223e-01 -1.97496653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.646559995 meters 0.016225577758598734 Centerline is valid? [True, True] Translation: X:94.14, Y:-29.15, Z:-1.97 [[ 8.18554417e-01 5.74373264e-01 8.00124152e-03 9.41356328e+01] [-5.74342555e-01 8.18593476e-01 -5.94561507e-03 -2.91502842e+01] [-9.96476645e-03 2.71355977e-04 9.99950314e-01 -1.97443983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.676559995 meters 0.015683908037093675 Centerline is valid? [True, True] Translation: X:94.16, Y:-29.17, Z:-1.97 [[ 8.15810883e-01 5.78255663e-01 8.54350425e-03 9.41615343e+01] [-5.78220828e-01 8.15855582e-01 -6.35164842e-03 -2.91667758e+01] [-1.06431423e-02 2.41711801e-04 9.99943331e-01 -1.97483961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.706559995 meters 0.01482004801643706 Centerline is valid? [True, True] Translation: X:94.19, Y:-29.18, Z:-1.97 [[ 8.14332346e-01 5.80327668e-01 9.08996692e-03 9.41884944e+01] [-5.80288382e-01 8.14383046e-01 -6.75633347e-03 -2.91845623e+01] [-1.13236022e-02 2.27098687e-04 9.99935860e-01 -1.97493115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.736559995 meters 0.014125766285882657 Centerline is valid? [True, True] Translation: X:94.21, Y:-29.20, Z:-1.97 [[ 8.12735234e-01 5.82554955e-01 9.54795418e-03 9.42148834e+01] [-5.82511717e-01 8.12791290e-01 -7.10059325e-03 -2.92024213e+01] [-1.18969798e-02 2.09107128e-04 9.99929207e-01 -1.97471956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.766559995 meters 0.014328823243658619 Centerline is valid? [True, True] Translation: X:94.24, Y:-29.22, Z:-1.98 [[ 8.11137834e-01 5.84768336e-01 1.00701349e-02 9.42399477e+01] [-5.84720356e-01 8.11200319e-01 -7.49320620e-03 -2.92213633e+01] [-1.25506864e-02 1.89810155e-04 9.99921219e-01 -1.97568787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.796559995 meters 0.013017966097896246 Centerline is valid? [True, True] Translation: X:94.27, Y:-29.24, Z:-1.98 [[ 8.09424662e-01 5.87138558e-01 1.00015171e-02 9.42675439e+01] [-5.87091370e-01 8.09486436e-01 -7.44541627e-03 -2.92379887e+01] [-1.24675834e-02 1.54699150e-04 9.99922265e-01 -1.97515492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.826559995 meters 0.012091673693728778 Centerline is valid? [True, True] Translation: X:94.30, Y:-29.25, Z:-1.98 [[ 8.05572783e-01 5.92410165e-01 1.01335298e-02 9.42958317e+01] [-5.92362088e-01 8.05636513e-01 -7.54755194e-03 -2.92534216e+01] [-1.26351881e-02 7.73835541e-05 9.99920170e-01 -1.97571800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.856559995 meters 0.011901166881933252 Centerline is valid? [True, True] Translation: X:94.32, Y:-29.27, Z:-1.98 [[ 8.03473523e-01 5.95257512e-01 9.93943759e-03 9.43217186e+01] [-5.95211430e-01 8.03534998e-01 -7.40683150e-03 -2.92700446e+01] [-1.23956581e-02 3.51261328e-05 9.99923170e-01 -1.97699641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.886559995 meters 0.011874693458084501 Centerline is valid? [True, True] Translation: X:94.35, Y:-29.29, Z:-1.98 [[ 7.98863830e-01 6.01441640e-01 9.19430811e-03 9.43510795e+01] [-6.01402588e-01 7.98916736e-01 -6.85389095e-03 -2.92851864e+01] [-1.14677020e-02 -5.41551235e-05 9.99934242e-01 -1.97800977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.916559995 meters 0.012119109449220926 Centerline is valid? [True, True] Translation: X:94.38, Y:-29.30, Z:-1.98 [[ 7.96446704e-01 6.04646401e-01 8.68201218e-03 9.43784939e+01] [-6.04611731e-01 7.96494018e-01 -6.47562037e-03 -2.93026893e+01] [-1.08306313e-02 -9.17599073e-05 9.99941343e-01 -1.97875339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.946559995 meters 0.012617768443283625 Centerline is valid? [True, True] Translation: X:94.41, Y:-29.32, Z:-1.98 [[ 7.94130773e-01 6.07690442e-01 8.28509524e-03 9.44057087e+01] [-6.07659004e-01 7.94173981e-01 -6.18245974e-03 -2.93204430e+01] [-1.03368288e-02 -1.24831190e-04 9.99946566e-01 -1.97993468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.976559995 meters 0.013261415082739831 Centerline is valid? [True, True] Translation: X:94.43, Y:-29.34, Z:-1.98 [[ 7.92246129e-01 6.10149219e-01 8.00010223e-03 9.44314668e+01] [-6.10119988e-01 7.92286507e-01 -5.97416123e-03 -2.93370158e+01] [-9.98350285e-03 -1.48016170e-04 9.99950153e-01 -1.98121616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.006559995 meters 0.013657734166586385 Centerline is valid? [True, True] Translation: X:94.46, Y:-29.36, Z:-1.98 [[ 7.90503848e-01 6.12414912e-01 7.18619162e-03 9.44578188e+01] [-6.12391426e-01 7.90536495e-01 -5.36577140e-03 -2.93556041e+01] [-8.96702516e-03 -1.59099192e-04 9.99959783e-01 -1.98204440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.036559995 meters 0.0156888255666984 Centerline is valid? [True, True] Translation: X:94.48, Y:-29.37, Z:-1.98 [[ 7.88316003e-01 6.15231048e-01 6.97398818e-03 9.44849028e+01] [-6.15209002e-01 7.88346830e-01 -5.21151277e-03 -2.93716012e+01] [-8.70420594e-03 -1.82141382e-04 9.99962101e-01 -1.98431740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.066559995 meters 0.015410881786138045 Centerline is valid? [True, True] Translation: X:94.51, Y:-29.39, Z:-1.98 [[ 7.87839173e-01 6.15840132e-01 7.09716493e-03 9.45109352e+01] [-6.15817329e-01 7.87871116e-01 -5.30302414e-03 -2.93923817e+01] [-8.85746633e-03 -1.92626999e-04 9.99960753e-01 -1.98437901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.096559995 meters 0.014793017104029475 Centerline is valid? [True, True] Translation: X:94.54, Y:-29.41, Z:-1.98 [[ 7.87745106e-01 6.15956742e-01 7.41216673e-03 9.45355627e+01] [-6.15931844e-01 7.87779952e-01 -5.54173507e-03 -2.94137112e+01] [-9.25262542e-03 -1.99914845e-04 9.99957174e-01 -1.98420203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.126559995 meters 0.014999303501125508 Centerline is valid? [True, True] Translation: X:94.56, Y:-29.43, Z:-1.98 [[ 7.87894568e-01 6.15763346e-01 7.59283673e-03 9.45599003e+01] [-6.15737172e-01 7.87931127e-01 -5.68099661e-03 -2.94332398e+01] [-9.48078188e-03 -1.99165446e-04 9.99955037e-01 -1.98465435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.156559995 meters 0.01431941937628795 Centerline is valid? [True, True] Translation: X:94.58, Y:-29.45, Z:-1.98 [[ 7.88537146e-01 6.14937130e-01 7.84192791e-03 9.45842820e+01] [-6.14909142e-01 7.88576115e-01 -5.87008271e-03 -2.94549467e+01] [-9.79368886e-03 -1.93294897e-04 9.99952022e-01 -1.98458823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.186559995 meters 0.013802956744335761 Centerline is valid? [True, True] Translation: X:94.61, Y:-29.48, Z:-1.98 [[ 7.90118432e-01 6.12896227e-01 8.43075682e-03 9.46062620e+01] [-6.12863721e-01 7.90163390e-01 -6.31474321e-03 -2.94770876e+01] [-1.05319577e-02 -1.77509988e-04 9.99944522e-01 -1.98484777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.216559995 meters 0.013317551945466093 Centerline is valid? [True, True] Translation: X:94.63, Y:-29.50, Z:-1.98 [[ 7.90932758e-01 6.11842765e-01 8.59085706e-03 9.46302193e+01] [-6.11808919e-01 7.90979395e-01 -6.43758148e-03 -2.94989708e+01] [-1.07339786e-02 -1.64268890e-04 9.99942376e-01 -1.98492075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.246559995 meters 0.013317551945466093 Centerline is valid? [True, True] Translation: X:94.66, Y:-29.52, Z:-1.99 [[ 7.90761549e-01 6.12064044e-01 8.58947010e-03 9.46561139e+01] [-6.12030191e-01 7.90808181e-01 -6.43943122e-03 -2.95184805e+01] [-1.07339675e-02 -1.64960418e-04 9.99942376e-01 -1.98555895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.276559995 meters 0.013087247990171674 Centerline is valid? [True, True] Translation: X:94.68, Y:-29.54, Z:-1.99 [[ 7.91512801e-01 6.11087339e-01 8.93031504e-03 9.46800491e+01] [-6.11050633e-01 7.91563163e-01 -6.69951901e-03 -2.95400091e+01] [-1.11628997e-02 -1.54119605e-04 9.99937681e-01 -1.98575537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.306559995 meters 0.012920352560589456 Centerline is valid? [True, True] Translation: X:94.70, Y:-29.56, Z:-1.99 [[ 7.92290379e-01 6.10083090e-01 8.63589305e-03 9.47030597e+01] [-6.10048669e-01 7.92337432e-01 -6.48194782e-03 -2.95605161e+01] [-1.07970681e-02 -1.32730171e-04 9.99941701e-01 -1.98637042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.336559995 meters 0.012503931907487381 Centerline is valid? [True, True] Translation: X:94.73, Y:-29.58, Z:-1.99 [[ 7.93445716e-01 6.08583749e-01 8.34962392e-03 9.47254928e+01] [-6.08551463e-01 7.93489640e-01 -6.26962481e-03 -2.95834239e+01] [-1.04409319e-02 -1.06568913e-04 9.99945486e-01 -1.98729464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.366559995 meters 0.012521720955464595 Centerline is valid? [True, True] Translation: X:94.75, Y:-29.60, Z:-1.99 [[ 7.93898352e-01 6.07995405e-01 8.18496648e-03 9.47491282e+01] [-6.07964305e-01 7.93940538e-01 -6.15022971e-03 -2.96034673e+01] [-1.02376881e-02 -9.35102301e-05 9.99947589e-01 -1.98854609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.396559995 meters 0.012356233490323717 Centerline is valid? [True, True] Translation: X:94.77, Y:-29.63, Z:-1.99 [[ 7.94117305e-01 6.07711970e-01 7.99171395e-03 9.47738265e+01] [-6.07682308e-01 7.94157512e-01 -6.00493363e-03 -2.96253669e+01] [-9.99594972e-03 -8.78014663e-05 9.99950035e-01 -1.98882519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.426559995 meters 0.012340296941130986 Centerline is valid? [True, True] Translation: X:94.80, Y:-29.65, Z:-1.99 [[ 7.94145151e-01 6.07672406e-01 8.22952468e-03 9.47981993e+01] [-6.07640911e-01 7.94187786e-01 -6.18740691e-03 -2.96481341e+01] [-1.02957044e-02 -8.68966764e-05 9.99946994e-01 -1.98950750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.456559995 meters 0.012476498875236651 Centerline is valid? [True, True] Translation: X:94.82, Y:-29.67, Z:-1.99 [[ 7.93901141e-01 6.07996424e-01 7.83115356e-03 9.48238763e+01] [-6.07967890e-01 7.93939759e-01 -5.89094717e-03 -2.96692468e+01] [-9.79913899e-03 -8.42602254e-05 9.99951984e-01 -1.99017506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.486559995 meters 0.012485065358322285 Centerline is valid? [True, True] Translation: X:94.85, Y:-29.69, Z:-1.99 [[ 7.93606175e-01 6.08386868e-01 7.39315932e-03 9.48493808e+01] [-6.08361428e-01 7.93640607e-01 -5.56425044e-03 -2.96901665e+01] [-9.25272835e-03 -8.18894493e-05 9.99957189e-01 -1.99112248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.516559995 meters 0.012521353925197003 Centerline is valid? [True, True] Translation: X:94.87, Y:-29.71, Z:-1.99 [[ 7.93142728e-01 6.08993538e-01 7.17524379e-03 9.48748231e+01] [-6.08969575e-01 7.93175178e-01 -5.40311321e-03 -2.97109107e+01] [-8.98168631e-03 -8.40652113e-05 9.99959660e-01 -1.99196352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.546559995 meters 0.013061729743325246 Centerline is valid? [True, True] Translation: X:94.90, Y:-29.73, Z:-1.99 [[ 7.92486487e-01 6.09852410e-01 6.72361372e-03 9.48995476e+01] [-6.09831371e-01 7.92515004e-01 -5.06630040e-03 -2.97304764e+01] [-8.41826026e-03 -8.52959770e-05 9.99964562e-01 -1.99432369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.576559995 meters 0.012762675719804962 Centerline is valid? [True, True] Translation: X:94.92, Y:-29.75, Z:-1.99 [[ 7.92164742e-01 6.10273642e-01 6.41123805e-03 9.49248823e+01] [-6.10254517e-01 7.92190681e-01 -4.83215856e-03 -2.97520740e+01] [-8.02786204e-03 -8.46213393e-05 9.99967773e-01 -1.99377663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.606559995 meters 0.012836199828123313 Centerline is valid? [True, True] Translation: X:94.95, Y:-29.77, Z:-1.99 [[ 7.91830474e-01 6.10708646e-01 6.28093986e-03 9.49509663e+01] [-6.10690284e-01 7.91855380e-01 -4.73653978e-03 -2.97729033e+01] [-7.86624181e-03 -8.51724065e-05 9.99969057e-01 -1.99431874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.636559995 meters 0.012825768990099753 Centerline is valid? [True, True] Translation: X:94.98, Y:-29.79, Z:-1.99 [[ 7.91654712e-01 6.10936624e-01 6.26568772e-03 9.49769111e+01] [-6.10918337e-01 7.91679502e-01 -4.72776803e-03 -2.97932868e+01] [-7.84878317e-03 -8.50636805e-05 9.99969194e-01 -1.99499284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.666559995 meters 0.012777439994103305 Centerline is valid? [True, True] Translation: X:95.00, Y:-29.81, Z:-2.00 [[ 7.91707763e-01 6.10865974e-01 6.44826332e-03 9.50022492e+01] [-6.10846556e-01 7.91734018e-01 -4.87130172e-03 -2.98138803e+01] [-8.08102190e-03 -8.22520506e-05 9.99967345e-01 -1.99530587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.696559995 meters 0.012901602741150566 Centerline is valid? [True, True] Translation: X:95.03, Y:-29.83, Z:-2.00 [[ 7.91892845e-01 6.10624340e-01 6.60594795e-03 9.50272387e+01] [-6.10603964e-01 7.91920393e-01 -4.98893721e-03 -2.98332097e+01] [-8.27775139e-03 -8.29143328e-05 9.99965735e-01 -1.99611552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.726559995 meters 0.012717074626403806 Centerline is valid? [True, True] Translation: X:95.05, Y:-29.85, Z:-2.00 [[ 7.92049106e-01 6.10418847e-01 6.85896976e-03 9.50530041e+01] [-6.10396849e-01 7.92078800e-01 -5.18280454e-03 -2.98539335e+01] [-8.59652611e-03 -8.16578284e-05 9.99963046e-01 -1.99585046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.756559995 meters 0.012508314870490013 Centerline is valid? [True, True] Translation: X:95.08, Y:-29.87, Z:-2.00 [[ 7.92408066e-01 6.09948477e-01 7.23272397e-03 9.50777203e+01] [-6.09923962e-01 7.92441070e-01 -5.46912536e-03 -2.98739163e+01] [-9.06739221e-03 -7.76326164e-05 9.99958887e-01 -1.99559435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.786559995 meters 0.012254339602261627 Centerline is valid? [True, True] Translation: X:95.10, Y:-29.89, Z:-2.00 [[ 7.93805079e-01 6.08120346e-01 7.94616344e-03 9.51017748e+01] [-6.08090615e-01 7.93844847e-01 -6.01357147e-03 -2.98938189e+01] [-9.96499606e-03 -5.83838407e-05 9.99950346e-01 -1.99561502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.816559995 meters 0.012185518003447946 Centerline is valid? [True, True] Translation: X:95.13, Y:-29.91, Z:-2.00 [[ 7.94713203e-01 6.06933272e-01 7.93276489e-03 9.51270348e+01] [-6.06903581e-01 7.94752793e-01 -6.00351577e-03 -2.99147216e+01] [-9.94832052e-03 -4.33501677e-05 9.99950513e-01 -1.99608818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.846559995 meters 0.012110985712650678 Centerline is valid? [True, True] Translation: X:95.15, Y:-29.94, Z:-2.00 [[ 7.96034792e-01 6.05198935e-01 7.92841050e-03 9.51521297e+01] [-6.05169156e-01 7.96074274e-01 -6.00361055e-03 -2.99359080e+01] [-9.94498233e-03 -1.89466218e-05 9.99950547e-01 -1.99625723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.876559995 meters 0.012005578416423388 Centerline is valid? [True, True] Translation: X:95.18, Y:-29.96, Z:-2.00 [[ 7.97392067e-01 6.03406203e-01 8.17597728e-03 9.51771019e+01] [-6.03374401e-01 7.97433981e-01 -6.19493157e-03 -2.99567350e+01] [-1.02578622e-02 6.61389145e-06 9.99947387e-01 -1.99710768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.906559995 meters 0.012172227510283027 Centerline is valid? [True, True] Translation: X:95.20, Y:-29.98, Z:-2.00 [[ 7.99088595e-01 6.01152089e-01 8.57802104e-03 9.52012354e+01] [-6.01116907e-01 7.99134634e-01 -6.50387940e-03 -2.99771651e+01] [-1.07648144e-02 4.07823761e-05 9.99942057e-01 -1.99790119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.936559995 meters 0.012803033524264646 Centerline is valid? [True, True] Translation: X:95.23, Y:-30.00, Z:-2.00 [[ 8.02853137e-01 5.96106715e-01 9.14465970e-03 9.52255271e+01] [-5.96066353e-01 8.02905206e-01 -6.93780244e-03 -2.99984865e+01] [-1.14779655e-02 1.19212499e-04 9.99934119e-01 -1.99800605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.966559995 meters 0.013637070730159368 Centerline is valid? [True, True] Translation: X:95.25, Y:-30.02, Z:-2.00 [[ 8.04962564e-01 5.93253562e-01 9.24563240e-03 9.52488937e+01] [-5.93212059e-01 8.05015642e-01 -7.01928464e-03 -3.00184748e+01] [-1.16070943e-02 1.65640733e-04 9.99932622e-01 -1.99887781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.996559995 meters 0.014548217371516924 Centerline is valid? [True, True] Translation: X:95.27, Y:-30.04, Z:-2.00 [[ 8.07080670e-01 5.90368607e-01 9.25744740e-03 9.52731898e+01] [-5.90326800e-01 8.07133734e-01 -7.02885629e-03 -3.00395966e+01] [-1.16216142e-02 2.07934742e-04 9.99932445e-01 -1.99970528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.026559995 meters 0.0163640298870604 Centerline is valid? [True, True] Translation: X:95.30, Y:-30.06, Z:-2.00 [[ 8.11869383e-01 5.83768775e-01 9.06216522e-03 9.52962476e+01] [-5.83728259e-01 8.11919903e-01 -6.88413495e-03 -3.00613484e+01] [-1.13764953e-02 2.99176466e-04 9.99935241e-01 -2.00051343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.056559995 meters 0.018149520156832986 Centerline is valid? [True, True] Translation: X:95.32, Y:-30.08, Z:-2.00 [[ 8.14237524e-01 5.80462105e-01 8.99992703e-03 9.53193114e+01] [-5.80421908e-01 8.14287189e-01 -6.83980725e-03 -3.00822917e+01] [-1.12987742e-02 3.45472902e-04 9.99936107e-01 -2.00122073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.086559995 meters 0.018864351535194165 Centerline is valid? [True, True] Translation: X:95.34, Y:-30.10, Z:-2.00 [[ 8.16299254e-01 5.77552429e-01 9.41905568e-03 9.53445451e+01] [-5.77508149e-01 8.16353493e-01 -7.16326490e-03 -3.01024681e+01] [-1.18264401e-02 4.07786384e-04 9.99929982e-01 -2.00167541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.116559995 meters 0.01978397029513508 Centerline is valid? [True, True] Translation: X:95.37, Y:-30.12, Z:-2.00 [[ 8.17871105e-01 5.75320635e-01 9.64484491e-03 9.53692656e+01] [-5.75274057e-01 8.17927848e-01 -7.33457279e-03 -3.01219295e+01] [-1.21085183e-02 4.50306093e-04 9.99926588e-01 -2.00208563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.146559995 meters 0.02083184113725322 Centerline is valid? [True, True] Translation: X:95.39, Y:-30.14, Z:-2.00 [[ 8.20163046e-01 5.72042613e-01 9.99132873e-03 9.53944294e+01] [-5.71992336e-01 8.20223737e-01 -7.60187604e-03 -3.01403086e+01] [-1.25437220e-02 5.19814346e-04 9.99921189e-01 -2.00243681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.176559995 meters 0.022148686250764736 Centerline is valid? [True, True] Translation: X:95.42, Y:-30.16, Z:-2.00 [[ 8.20910675e-01 5.70969900e-01 9.95169794e-03 9.54186767e+01] [-5.70919891e-01 8.20970818e-01 -7.57586343e-03 -3.01597955e+01] [-1.24956436e-02 5.37484855e-04 9.99921782e-01 -2.00306211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.206559995 meters 0.02131955347976936 Centerline is valid? [True, True] Translation: X:95.45, Y:-30.18, Z:-2.00 [[ 8.21147999e-01 5.70625072e-01 1.01484119e-02 9.54452651e+01] [-5.70573028e-01 8.21210521e-01 -7.72660957e-03 -3.01771783e+01] [-1.27429798e-02 5.54279872e-04 9.99918651e-01 -2.00325186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.236559995 meters 0.022202191836042218 Centerline is valid? [True, True] Translation: X:95.47, Y:-30.20, Z:-2.00 [[ 8.20799462e-01 5.71123398e-01 1.03105411e-02 9.54697952e+01] [-5.71069652e-01 8.20864027e-01 -7.85498452e-03 -3.01958356e+01] [-1.29497178e-02 5.59329920e-04 9.99915992e-01 -2.00400238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.266559995 meters 0.020568734739847057 Centerline is valid? [True, True] Translation: X:95.50, Y:-30.21, Z:-2.00 [[ 8.18592560e-01 5.74284040e-01 1.02010225e-02 9.54983622e+01] [-5.74231642e-01 8.18655962e-01 -7.77409579e-03 -3.02100375e+01] [-1.28156671e-02 5.06067060e-04 9.99917748e-01 -2.00471850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.296559995 meters 0.019776618787666445 Centerline is valid? [True, True] Translation: X:95.53, Y:-30.23, Z:-2.01 [[ 8.16685754e-01 5.76994188e-01 1.01038028e-02 9.55254659e+01] [-5.76942966e-01 8.16748122e-01 -7.70183913e-03 -3.02263851e+01] [-1.26961784e-02 4.60664351e-04 9.99919294e-01 -2.00569917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.326559995 meters 0.018294851741476215 Centerline is valid? [True, True] Translation: X:95.55, Y:-30.24, Z:-2.01 [[ 8.14319697e-01 5.80332488e-01 9.88098317e-03 9.55530938e+01] [-5.80283736e-01 8.14379545e-01 -7.53278396e-03 -3.02415763e+01] [-1.24183898e-02 4.00320522e-04 9.99922809e-01 -2.00647512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.356559995 meters 0.015575442959688041 Centerline is valid? [True, True] Translation: X:95.58, Y:-30.25, Z:-2.01 [[ 8.09041232e-01 5.87671643e-01 9.71208195e-03 9.55837967e+01] [-5.87625053e-01 8.09099474e-01 -7.40527572e-03 -3.02524338e+01] [-1.22099109e-02 2.84110728e-04 9.99925416e-01 -2.00810453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.386559995 meters 0.014271816565274662 Centerline is valid? [True, True] Translation: X:95.61, Y:-30.27, Z:-2.01 [[ 8.06280794e-01 5.91454529e-01 9.63437647e-03 9.56119567e+01] [-5.91408937e-01 8.06338321e-01 -7.34713615e-03 -3.02679215e+01] [-1.21140639e-02 2.25998414e-04 9.99926596e-01 -2.00862707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.416559995 meters 0.013428368849439822 Centerline is valid? [True, True] Translation: X:95.64, Y:-30.28, Z:-2.01 [[ 8.03361455e-01 5.95414782e-01 9.57130434e-03 9.56393606e+01] [-5.95370077e-01 8.03418453e-01 -7.29801561e-03 -3.02839319e+01] [-1.20351089e-02 1.64476238e-04 9.99927562e-01 -2.00944806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.446559995 meters 0.012578883765391222 Centerline is valid? [True, True] Translation: X:95.67, Y:-30.30, Z:-2.01 [[ 8.00424220e-01 5.99358104e-01 9.53572014e-03 9.56672175e+01] [-5.99313967e-01 8.00481012e-01 -7.27450111e-03 -3.02997061e+01] [-1.19931941e-02 1.07796616e-04 9.99928073e-01 -2.00995292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.476559995 meters 0.012033893616091414 Centerline is valid? [True, True] Translation: X:95.70, Y:-30.32, Z:-2.01 [[ 7.97696139e-01 6.02981475e-01 9.70618843e-03 9.56951904e+01] [-6.02935967e-01 7.97755186e-01 -7.40829167e-03 -3.03153321e+01] [-1.22102248e-02 5.73555594e-05 9.99925451e-01 -2.01067295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.506559995 meters 0.01191491272187776 Centerline is valid? [True, True] Translation: X:95.73, Y:-30.33, Z:-2.01 [[ 7.92451369e-01 6.09856133e-01 9.81455479e-03 9.57250020e+01] [-6.09810065e-01 7.92512142e-01 -7.49592075e-03 -3.03274850e+01] [-1.23495871e-02 -4.48616340e-05 9.99923740e-01 -2.01294521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.536559995 meters 0.012205580974867604 Centerline is valid? [True, True] Translation: X:95.75, Y:-30.34, Z:-2.01 [[ 7.89936889e-01 6.13108463e-01 9.88557012e-03 9.57523366e+01] [-6.13061965e-01 7.89998736e-01 -7.55140122e-03 -3.03439024e+01] [-1.24394159e-02 -9.53366623e-05 9.99922623e-01 -2.01343260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.566559995 meters 0.012656916817374807 Centerline is valid? [True, True] Translation: X:95.78, Y:-30.36, Z:-2.01 [[ 7.87522883e-01 6.16206640e-01 9.85318749e-03 9.57797640e+01] [-6.16160640e-01 7.87584508e-01 -7.53045391e-03 -3.03605224e+01] [-1.24005335e-02 -1.40741540e-04 9.99923101e-01 -2.01439415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.596559995 meters 0.01331549162576627 Centerline is valid? [True, True] Translation: X:95.81, Y:-30.38, Z:-2.02 [[ 7.85642578e-01 6.18602662e-01 9.82273900e-03 9.58062201e+01] [-6.18557081e-01 7.85703962e-01 -7.51146639e-03 -3.03762645e+01] [-1.23643781e-02 -1.74596949e-04 9.99923543e-01 -2.01560256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.626559995 meters 0.014401585052609465 Centerline is valid? [True, True] Translation: X:95.83, Y:-30.39, Z:-2.02 [[ 7.82634433e-01 6.22402235e-01 9.93996313e-03 9.58338990e+01] [-6.22355830e-01 7.82697517e-01 -7.60381072e-03 -3.03924279e+01] [-1.25126132e-02 -2.35189910e-04 9.99921687e-01 -2.01650546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.656559995 meters 0.014282047023085808 Centerline is valid? [True, True] Translation: X:95.86, Y:-30.41, Z:-2.02 [[ 7.81485295e-01 6.23847455e-01 9.75123193e-03 9.58591241e+01] [-6.23802866e-01 7.81546090e-01 -7.46281797e-03 -3.04117100e+01] [-1.22766972e-02 -2.50763923e-04 9.99924607e-01 -2.01659115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.686559995 meters 0.015084387435278694 Centerline is valid? [True, True] Translation: X:95.88, Y:-30.43, Z:-2.02 [[ 7.80576842e-01 6.24984889e-01 9.67892641e-03 9.58849638e+01] [-6.24940998e-01 7.80636804e-01 -7.41146406e-03 -3.04289253e+01] [-1.21877792e-02 -2.63540715e-04 9.99925692e-01 -2.01797948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.716559995 meters 0.016010389068529137 Centerline is valid? [True, True] Translation: X:95.91, Y:-30.45, Z:-2.02 [[ 7.80104092e-01 6.25576195e-01 9.59324216e-03 9.59105927e+01] [-6.25533068e-01 7.80163030e-01 -7.35035785e-03 -3.04457876e+01] [-1.20825018e-02 -2.66845962e-04 9.99926968e-01 -2.01955092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.746559995 meters 0.016266541701513378 Centerline is valid? [True, True] Translation: X:95.94, Y:-30.47, Z:-2.02 [[ 7.79752234e-01 6.26022265e-01 9.08717731e-03 9.59369459e+01] [-6.25983598e-01 7.79805140e-01 -6.96268593e-03 -3.04653727e+01] [-1.14450240e-02 -2.59254034e-04 9.99934470e-01 -2.02094874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.776559995 meters 0.015092041476665785 Centerline is valid? [True, True] Translation: X:95.96, Y:-30.49, Z:-2.02 [[ 7.79919115e-01 6.25818547e-01 8.79317481e-03 9.59623043e+01] [-6.25782291e-01 7.79968644e-01 -6.74081219e-03 -3.04871317e+01] [-1.10769259e-02 -2.45324800e-04 9.99938619e-01 -2.02206091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.806559995 meters 0.015580338717263978 Centerline is valid? [True, True] Translation: X:95.99, Y:-30.51, Z:-2.02 [[ 7.80055752e-01 6.25653753e-01 8.39070227e-03 9.59878693e+01] [-6.25620692e-01 7.80100845e-01 -6.43592877e-03 -3.05058805e+01] [-1.05722569e-02 -2.29013703e-04 9.99944086e-01 -2.02344095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.836559995 meters 0.015010586578629371 Centerline is valid? [True, True] Translation: X:96.01, Y:-30.53, Z:-2.02 [[ 7.80979054e-01 6.24508465e-01 7.80345117e-03 9.60121737e+01] [-6.24479782e-01 7.81018014e-01 -5.98853202e-03 -3.05273251e+01] [-9.83452488e-03 -1.96179415e-04 9.99951621e-01 -2.02477582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.866559995 meters 0.014348515810003442 Centerline is valid? [True, True] Translation: X:96.04, Y:-30.55, Z:-2.03 [[ 7.81811907e-01 6.23474565e-01 7.04340942e-03 9.60359455e+01] [-6.23451137e-01 7.81843616e-01 -5.40732105e-03 -3.05483551e+01] [-8.87817183e-03 -1.63713633e-04 9.99960575e-01 -2.02552205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.896559995 meters 0.014619717713089625 Centerline is valid? [True, True] Translation: X:96.06, Y:-30.57, Z:-2.03 [[ 7.82597827e-01 6.22492398e-01 6.62229299e-03 9.60602479e+01] [-6.22471623e-01 7.82625833e-01 -5.08773532e-03 -3.05677540e+01] [-8.34985412e-03 -1.40538852e-04 9.99965129e-01 -2.02740490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.926559995 meters 0.013685890855628727 Centerline is valid? [True, True] Translation: X:96.08, Y:-30.59, Z:-2.03 [[ 7.83576523e-01 6.21261419e-01 6.48704093e-03 9.60840356e+01] [-6.21241442e-01 7.83603365e-01 -4.98367380e-03 -3.05902198e+01] [-8.17943136e-03 -1.24928870e-04 9.99966540e-01 -2.02731239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.956559995 meters 0.012877359383980375 Centerline is valid? [True, True] Translation: X:96.11, Y:-30.61, Z:-2.03 [[ 7.86022582e-01 6.18159088e-01 6.91682390e-03 9.61061337e+01] [-6.18136229e-01 7.86053009e-01 -5.31691657e-03 -3.06134977e+01] [-8.72369053e-03 -9.63229487e-05 9.99961943e-01 -2.02754695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.986559995 meters 0.012754792016314055 Centerline is valid? [True, True] Translation: X:96.13, Y:-30.63, Z:-2.03 [[ 7.87326502e-01 6.16493779e-01 7.23876609e-03 9.61290605e+01] [-6.16468641e-01 7.87359775e-01 -5.56772444e-03 -3.06340022e+01] [-9.13198071e-03 -7.88552861e-05 9.99958299e-01 -2.02829316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.016559995 meters 0.012322130840243422 Centerline is valid? [True, True] Translation: X:96.15, Y:-30.66, Z:-2.03 [[ 7.88678874e-01 6.14760610e-01 7.41794278e-03 9.61522024e+01] [-6.14734112e-01 7.88713756e-01 -5.70805021e-03 -3.06561901e+01] [-9.35971794e-03 -5.82438532e-05 9.99956195e-01 -2.02737055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.046559995 meters 0.012160849536111311 Centerline is valid? [True, True] Translation: X:96.18, Y:-30.68, Z:-2.03 [[ 7.89897196e-01 6.13191234e-01 7.67657199e-03 9.61752135e+01] [-6.13162749e-01 7.89934497e-01 -5.91051583e-03 -3.06776807e+01] [-9.68826552e-03 -3.82881041e-05 9.99953067e-01 -2.02761208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.076559995 meters 0.012045353952578842 Centerline is valid? [True, True] Translation: X:96.20, Y:-30.70, Z:-2.03 [[ 7.92518134e-01 6.09797421e-01 7.88109603e-03 9.61976396e+01] [-6.09767207e-01 7.92557320e-01 -6.07030407e-03 -3.07029378e+01] [-9.94787611e-03 5.19213712e-06 9.99950519e-01 -2.02727383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.106559995 meters 0.012132723691608786 Centerline is valid? [True, True] Translation: X:96.22, Y:-30.72, Z:-2.03 [[ 7.93375142e-01 6.08680544e-01 7.99243976e-03 9.62213914e+01] [-6.08649374e-01 7.93415398e-01 -6.15998002e-03 -3.07247394e+01] [-1.00907848e-02 2.25815702e-05 9.99949086e-01 -2.02787023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.136559995 meters 0.012132723691608786 Centerline is valid? [True, True] Translation: X:96.25, Y:-30.74, Z:-2.03 [[ 7.93206027e-01 6.08900931e-01 7.99092963e-03 9.62470146e+01] [-6.08869752e-01 7.93246277e-01 -6.16193792e-03 -3.07445962e+01] [-1.00907849e-02 2.22509587e-05 9.99949086e-01 -2.02850849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.166559995 meters 0.012314382810588895 Centerline is valid? [True, True] Translation: X:96.27, Y:-30.77, Z:-2.03 [[ 7.93973379e-01 6.07901380e-01 7.88583833e-03 9.62714485e+01] [-6.07870932e-01 7.94012538e-01 -6.08428260e-03 -3.07664659e+01] [-9.96009830e-03 3.71865162e-05 9.99950396e-01 -2.02904245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.196559995 meters 0.01237701270561746 Centerline is valid? [True, True] Translation: X:96.30, Y:-30.79, Z:-2.03 [[ 7.94780076e-01 6.06844315e-01 8.03786909e-03 9.62951815e+01] [-6.06812578e-01 7.94820718e-01 -6.20657206e-03 -3.07874350e+01] [-1.01550879e-02 5.53797543e-05 9.99948434e-01 -2.02996193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.226559995 meters 0.012536030958557522 Centerline is valid? [True, True] Translation: X:96.32, Y:-30.81, Z:-2.03 [[ 7.95552701e-01 6.05828401e-01 8.23699155e-03 9.63202698e+01] [-6.05795005e-01 7.95595339e-01 -6.36152974e-03 -3.08094562e+01] [-1.04073075e-02 7.10038354e-05 9.99945840e-01 -2.03068667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.256559995 meters 0.012917605576038129 Centerline is valid? [True, True] Translation: X:96.34, Y:-30.83, Z:-2.03 [[ 7.96810692e-01 6.04167993e-01 8.58823636e-03 9.63423679e+01] [-6.04131529e-01 7.96856967e-01 -6.63847489e-03 -3.08312082e+01] [-1.08543500e-02 1.01183412e-04 9.99941085e-01 -2.03079745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.286559995 meters 0.013011171210341033 Centerline is valid? [True, True] Translation: X:96.37, Y:-30.85, Z:-2.03 [[ 7.97240029e-01 6.03594473e-01 9.05805002e-03 9.63676128e+01] [-6.03553866e-01 7.97291477e-01 -7.00222763e-03 -3.08525480e+01] [-1.14484120e-02 1.15435048e-04 9.99934458e-01 -2.03071722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.316559995 meters 0.013145614287544231 Centerline is valid? [True, True] Translation: X:96.39, Y:-30.87, Z:-2.03 [[ 7.97549074e-01 6.03181763e-01 9.33998869e-03 9.63931053e+01] [-6.03138510e-01 7.97603751e-01 -7.22449838e-03 -3.08740826e+01] [-1.18072957e-02 1.28585121e-04 9.99930283e-01 -2.03077914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.346559995 meters 0.013193316551388518 Centerline is valid? [True, True] Translation: X:96.42, Y:-30.90, Z:-2.03 [[ 7.97857723e-01 6.02769180e-01 9.61092161e-03 9.64179991e+01] [-6.02723298e-01 7.97915594e-01 -7.43845905e-03 -3.08950514e+01] [-1.21523781e-02 1.42105625e-04 9.99926147e-01 -2.03067887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.376559995 meters 0.013651060933094275 Centerline is valid? [True, True] Translation: X:96.44, Y:-30.92, Z:-2.03 [[ 7.98876150e-01 6.01419258e-01 9.57981306e-03 9.64413479e+01] [-6.01373520e-01 7.98933570e-01 -7.41895966e-03 -3.09174529e+01] [-1.21155395e-02 1.65784039e-04 9.99926590e-01 -2.03098776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.406559995 meters 0.013920409377968304 Centerline is valid? [True, True] Translation: X:96.47, Y:-30.94, Z:-2.03 [[ 7.99523874e-01 6.00560704e-01 9.40302619e-03 9.64658970e+01] [-6.00516537e-01 7.99579145e-01 -7.28555293e-03 -3.09384451e+01] [-1.18938804e-02 1.78300772e-04 9.99929249e-01 -2.03167998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.436559995 meters 0.014220512076944912 Centerline is valid? [True, True] Translation: X:96.49, Y:-30.96, Z:-2.03 [[ 8.00051394e-01 5.99859280e-01 9.30647721e-03 9.64905515e+01] [-5.99815927e-01 8.00105498e-01 -7.21428495e-03 -3.09595398e+01] [-1.17737194e-02 1.89625477e-04 9.99930669e-01 -2.03223288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.466559995 meters 0.014495895528294398 Centerline is valid? [True, True] Translation: X:96.52, Y:-30.98, Z:-2.03 [[ 8.00796683e-01 5.98860256e-01 9.54292245e-03 9.65152582e+01] [-5.98814554e-01 8.00853513e-01 -7.40137570e-03 -3.09802598e+01] [-1.20748727e-02 2.12556255e-04 9.99927073e-01 -2.03282300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.496559995 meters 0.01572231057121435 Centerline is valid? [True, True] Translation: X:96.54, Y:-31.00, Z:-2.03 [[ 8.02789879e-01 5.96178600e-01 9.97428696e-03 9.65377374e+01] [-5.96128402e-01 8.02851795e-01 -7.74107217e-03 -3.10023596e+01] [-1.26229358e-02 2.68498650e-04 9.99920292e-01 -2.03310791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.526559995 meters 0.016014203141373768 Centerline is valid? [True, True] Translation: X:96.56, Y:-31.02, Z:-2.03 [[ 8.03748710e-01 5.94884212e-01 1.00391987e-02 9.65619924e+01] [-5.94833244e-01 8.03811352e-01 -7.79239737e-03 -3.10228427e+01] [-1.27051960e-02 2.91480203e-04 9.99919243e-01 -2.03345775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.556559995 meters 0.016310236474622285 Centerline is valid? [True, True] Translation: X:96.59, Y:-31.04, Z:-2.03 [[ 8.04699924e-01 5.93594189e-01 1.01966395e-02 9.65865882e+01] [-5.93541456e-01 8.04764460e-01 -7.91857389e-03 -3.10434137e+01] [-1.29063126e-02 3.19947533e-04 9.99916659e-01 -2.03422669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.586559995 meters 0.01742761713217382 Centerline is valid? [True, True] Translation: X:96.61, Y:-31.07, Z:-2.04 [[ 8.06443003e-01 5.91232982e-01 9.65626141e-03 9.66098306e+01] [-5.91185460e-01 8.06500740e-01 -7.50393410e-03 -3.10654296e+01] [-1.22243553e-02 3.42853812e-04 9.99925221e-01 -2.03554915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.616559995 meters 0.017746663833160176 Centerline is valid? [True, True] Translation: X:96.63, Y:-31.09, Z:-2.04 [[ 8.07134717e-01 5.90293109e-01 9.35914593e-03 9.66342575e+01] [-5.90248412e-01 8.07188903e-01 -7.27233666e-03 -3.10857910e+01] [-1.18474090e-02 3.45534369e-04 9.99929757e-01 -2.03646822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.646559995 meters 0.018331438499547936 Centerline is valid? [True, True] Translation: X:96.66, Y:-31.11, Z:-2.04 [[ 8.07676457e-01 5.89549856e-01 9.47142036e-03 9.66587842e+01] [-5.89503984e-01 8.07731908e-01 -7.36329161e-03 -3.11064581e+01] [-1.19913959e-02 3.63717240e-04 9.99928034e-01 -2.03752594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.676559995 meters 0.018945598121583175 Centerline is valid? [True, True] Translation: X:96.68, Y:-31.13, Z:-2.04 [[ 8.08073556e-01 5.89014269e-01 8.90608651e-03 9.66823832e+01] [-5.88973641e-01 8.08122557e-01 -6.92703002e-03 -3.11262537e+01] [-1.12773289e-02 3.52099584e-04 9.99936347e-01 -2.03861748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.706559995 meters 0.01990704486286073 Centerline is valid? [True, True] Translation: X:96.71, Y:-31.15, Z:-2.04 [[ 8.08739672e-01 5.88096431e-01 9.09559909e-03 9.67059800e+01] [-5.88053959e-01 8.08790731e-01 -7.07776567e-03 -3.11463914e+01] [-1.15188450e-02 3.75366830e-04 9.99933585e-01 -2.03949213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.736559995 meters 0.01990308903897367 Centerline is valid? [True, True] Translation: X:96.73, Y:-31.17, Z:-2.04 [[ 8.08794306e-01 5.88023134e-01 8.97583034e-03 9.67313301e+01] [-5.87981735e-01 8.08844024e-01 -6.98745510e-03 -3.11659213e+01] [-1.13688320e-02 3.73789592e-04 9.99935303e-01 -2.03987567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.766559995 meters 0.020120235738501996 Centerline is valid? [True, True] Translation: X:96.76, Y:-31.19, Z:-2.04 [[ 8.08773742e-01 5.88039023e-01 9.75402026e-03 9.67571637e+01] [-5.87990088e-01 8.08832455e-01 -7.59712441e-03 -3.11865774e+01] [-1.23567738e-02 4.09087504e-04 9.99923568e-01 -2.04049724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.796559995 meters 0.018049086051260755 Centerline is valid? [True, True] Translation: X:96.78, Y:-31.20, Z:-2.04 [[ 8.08650264e-01 5.88191733e-01 1.07348310e-02 9.67849623e+01] [-5.88132404e-01 8.08721387e-01 -8.36621310e-03 -3.12040339e+01] [-1.36024248e-02 4.51838450e-04 9.99907381e-01 -2.03955926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.826559995 meters 0.01849230722618222 Centerline is valid? [True, True] Translation: X:96.81, Y:-31.22, Z:-2.04 [[ 8.08242956e-01 5.88744640e-01 1.10937785e-02 9.68094126e+01] [-5.88681242e-01 8.08318956e-01 -8.65217414e-03 -3.12236611e+01] [-1.40612326e-02 4.62359495e-04 9.99901029e-01 -2.04001446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.856559995 meters 0.017897251242649456 Centerline is valid? [True, True] Translation: X:96.84, Y:-31.24, Z:-2.04 [[ 8.07423847e-01 5.89869199e-01 1.10027008e-02 9.68357368e+01] [-5.89806919e-01 8.07498690e-01 -8.58282095e-03 -3.12423284e+01] [-1.39474082e-02 4.40505256e-04 9.99902633e-01 -2.04061773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.886559995 meters 0.01740543205572304 Centerline is valid? [True, True] Translation: X:96.86, Y:-31.26, Z:-2.04 [[ 8.06484031e-01 5.91156079e-01 1.08626623e-02 9.68624639e+01] [-5.91095418e-01 8.06557075e-01 -8.47889283e-03 -3.12610735e+01] [-1.37737062e-02 4.17221744e-04 9.99905051e-01 -2.04126570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.916559995 meters 0.016168677936572763 Centerline is valid? [True, True] Translation: X:96.89, Y:-31.28, Z:-2.04 [[ 8.04001915e-01 5.94534527e-01 1.04698401e-02 9.68897825e+01] [-5.94478435e-01 8.04070007e-01 -8.17402494e-03 -3.12770253e+01] [-1.32782245e-02 3.47837528e-04 9.99911780e-01 -2.04255995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.946559995 meters 0.01571379298318652 Centerline is valid? [True, True] Translation: X:96.92, Y:-31.30, Z:-2.04 [[ 8.02303554e-01 5.96831084e-01 1.00828906e-02 9.69163122e+01] [-5.96779256e-01 8.02366854e-01 -7.87082928e-03 -3.12950057e+01] [-1.27877328e-02 2.97534365e-04 9.99918189e-01 -2.04337143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.976559995 meters 0.014853093571689796 Centerline is valid? [True, True] Translation: X:96.94, Y:-31.31, Z:-2.04 [[ 8.00397424e-01 5.99389859e-01 9.78572749e-03 9.69435274e+01] [-5.99341187e-01 8.00457203e-01 -7.64248780e-03 -3.13128097e+01] [-1.24138857e-02 2.52038020e-04 9.99922913e-01 -2.04445711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.006559995 meters 0.014757997035373895 Centerline is valid? [True, True] Translation: X:96.97, Y:-31.33, Z:-2.05 [[ 7.98643337e-01 6.01733930e-01 9.22484124e-03 9.69688583e+01] [-6.01690784e-01 7.98696585e-01 -7.20878111e-03 -3.13307549e+01] [-1.17056174e-02 2.06743047e-04 9.99931466e-01 -2.04601474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.036559995 meters 0.014237354313420237 Centerline is valid? [True, True] Translation: X:97.00, Y:-31.35, Z:-2.05 [[ 7.96935905e-01 6.03999354e-01 8.82858528e-03 9.69955500e+01] [-6.03959964e-01 7.96984788e-01 -6.89991020e-03 -3.13487340e+01] [-1.12037895e-02 1.66674136e-04 9.99937222e-01 -2.04702335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.066559995 meters 0.013495291114091434 Centerline is valid? [True, True] Translation: X:97.02, Y:-31.37, Z:-2.05 [[ 7.95211609e-01 6.06272927e-01 8.46371384e-03 9.70221642e+01] [-6.06236823e-01 7.95256638e-01 -6.61767419e-03 -3.13661380e+01] [-1.07429413e-02 1.31436354e-04 9.99942284e-01 -2.04767724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.096559995 meters 0.013018672266784263 Centerline is valid? [True, True] Translation: X:97.05, Y:-31.38, Z:-2.05 [[ 7.92271608e-01 6.10116473e-01 7.97431076e-03 9.70489845e+01] [-6.10084577e-01 7.92311734e-01 -6.23903914e-03 -3.13829034e+01] [-1.01246805e-02 7.80095648e-05 9.99948741e-01 -2.05000741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.126559995 meters 0.01256924892550677 Centerline is valid? [True, True] Translation: X:97.08, Y:-31.40, Z:-2.05 [[ 7.90622575e-01 6.12255169e-01 7.71700666e-03 9.70759543e+01] [-6.12225397e-01 7.90660234e-01 -6.03803635e-03 -3.14010269e+01] [-9.79834926e-03 4.92603724e-05 9.99951994e-01 -2.05037571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.156559995 meters 0.012441733813461918 Centerline is valid? [True, True] Translation: X:97.10, Y:-31.42, Z:-2.05 [[ 7.89085122e-01 6.14238828e-01 7.43852802e-03 9.71028304e+01] [-6.14211233e-01 7.89120182e-01 -5.82237956e-03 -3.14195975e+01] [-9.44622419e-03 2.55256175e-05 9.99955383e-01 -2.05165585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.186559995 meters 0.012407130511401939 Centerline is valid? [True, True] Translation: X:97.13, Y:-31.44, Z:-2.05 [[ 7.87692731e-01 6.16023465e-01 7.43310438e-03 9.71297827e+01] [-6.15995958e-01 7.87727802e-01 -5.82147102e-03 -3.14384766e+01] [-9.44142573e-03 6.76816044e-06 9.99955429e-01 -2.05280411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.216559995 meters 0.012372706593311461 Centerline is valid? [True, True] Translation: X:97.16, Y:-31.46, Z:-2.05 [[ 7.86397756e-01 6.17675291e-01 7.47013991e-03 9.71561545e+01] [-6.17647552e-01 7.86433236e-01 -5.85381016e-03 -3.14576290e+01] [-9.49052020e-03 -1.04904560e-05 9.99954964e-01 -2.05336599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.246559995 meters 0.012278913921688669 Centerline is valid? [True, True] Translation: X:97.18, Y:-31.48, Z:-2.05 [[ 7.85293160e-01 6.19077716e-01 7.57858827e-03 9.71817811e+01] [-6.19049194e-01 7.85329728e-01 -5.94251881e-03 -3.14766607e+01] [-9.63057163e-03 -2.48995887e-05 9.99953625e-01 -2.05396347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.276559995 meters 0.01233517701711211 Centerline is valid? [True, True] Translation: X:97.21, Y:-31.50, Z:-2.05 [[ 7.83812112e-01 6.20950065e-01 7.71944245e-03 9.72079674e+01] [-6.20920535e-01 7.83850122e-01 -6.05599083e-03 -3.14962491e+01] [-9.81135381e-03 -4.64013675e-05 9.99951866e-01 -2.05351132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.306559995 meters 0.012319985765976926 Centerline is valid? [True, True] Translation: X:97.23, Y:-31.52, Z:-2.05 [[ 7.83223833e-01 6.21688523e-01 7.98792788e-03 9.72333584e+01] [-6.21656900e-01 7.83264564e-01 -6.27072562e-03 -3.15155325e+01] [-1.01550990e-02 -5.43687220e-05 9.99948434e-01 -2.05458061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.336559995 meters 0.012392143143046576 Centerline is valid? [True, True] Translation: X:97.26, Y:-31.54, Z:-2.05 [[ 7.82697593e-01 6.22346927e-01 8.29332984e-03 9.72595613e+01] [-6.22312839e-01 7.82741527e-01 -6.51404459e-03 -3.15357161e+01] [-1.05455293e-02 -6.25186084e-05 9.99944392e-01 -2.05465627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.366559995 meters 0.012399846268400903 Centerline is valid? [True, True] Translation: X:97.29, Y:-31.56, Z:-2.06 [[ 7.82094640e-01 6.23097681e-01 8.78942022e-03 9.72852293e+01] [-6.23059391e-01 7.82144024e-01 -6.90808894e-03 -3.15556512e+01] [-1.11790067e-02 -7.35514796e-05 9.99937510e-01 -2.05527807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.396559995 meters 0.012678013473009422 Centerline is valid? [True, True] Translation: X:97.31, Y:-31.57, Z:-2.06 [[ 7.81164302e-01 6.24260634e-01 8.99965483e-03 9.73111489e+01] [-6.24220506e-01 7.81216137e-01 -7.07861953e-03 -3.15743294e+01] [-1.14495791e-02 -8.82042051e-05 9.99934448e-01 -2.05615075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.426559995 meters 0.012504912419005877 Centerline is valid? [True, True] Translation: X:97.34, Y:-31.59, Z:-2.06 [[ 7.80652412e-01 6.24895926e-01 9.32163908e-03 9.73364051e+01] [-6.24852901e-01 7.80708058e-01 -7.33353738e-03 -3.15947762e+01] [-1.18601764e-02 -9.97095736e-05 9.99929661e-01 -2.05594897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.456559995 meters 0.012596101757829752 Centerline is valid? [True, True] Translation: X:97.36, Y:-31.61, Z:-2.06 [[ 7.80289115e-01 6.25346745e-01 9.50502563e-03 9.73614022e+01] [-6.25301987e-01 7.80346998e-01 -7.48248957e-03 -3.16140617e+01] [-1.20963687e-02 -1.05006248e-04 9.99926831e-01 -2.05675278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.486559995 meters 0.012786599760435113 Centerline is valid? [True, True] Translation: X:97.39, Y:-31.63, Z:-2.06 [[ 7.79809146e-01 6.25949903e-01 9.18777520e-03 9.73863398e+01] [-6.25908071e-01 7.79863262e-01 -7.23735664e-03 -3.16336206e+01] [-1.16954310e-02 -1.06945750e-04 9.99931600e-01 -2.05745041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.516559995 meters 0.012699389426221536 Centerline is valid? [True, True] Translation: X:97.41, Y:-31.65, Z:-2.06 [[ 7.79783857e-01 6.25987943e-01 8.73104579e-03 9.74122195e+01] [-6.25950157e-01 7.79832729e-01 -6.87871737e-03 -3.16546542e+01] [-1.11147494e-02 -1.01286716e-04 9.99938224e-01 -2.05863489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.546559995 meters 0.01281352906567692 Centerline is valid? [True, True] Translation: X:97.44, Y:-31.67, Z:-2.06 [[ 7.79814711e-01 6.25952166e-01 8.53833629e-03 9.74368562e+01] [-6.25915984e-01 7.79861447e-01 -6.73076504e-03 -3.16744744e+01] [-1.08718563e-02 -9.55315697e-05 9.99940895e-01 -2.05977011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.576559995 meters 0.012724197658699074 Centerline is valid? [True, True] Translation: X:97.46, Y:-31.70, Z:-2.06 [[ 7.79775821e-01 6.26003430e-01 8.32916603e-03 9.74616689e+01] [-6.25968970e-01 7.79820298e-01 -6.56898796e-03 -3.16954130e+01] [-1.06074617e-02 -9.14615016e-05 9.99943735e-01 -2.06046918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.606559995 meters 0.01256606342197972 Centerline is valid? [True, True] Translation: X:97.49, Y:-31.72, Z:-2.06 [[ 7.80032081e-01 6.25689849e-01 7.88456016e-03 9.74864111e+01] [-6.25658923e-01 7.80071924e-01 -6.22138219e-03 -3.17165802e+01] [-1.00431797e-02 -8.01677217e-05 9.99949563e-01 -2.06077309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.636559995 meters 0.012525614604575642 Centerline is valid? [True, True] Translation: X:97.51, Y:-31.74, Z:-2.06 [[ 7.80881255e-01 6.24636520e-01 7.32691336e-03 9.75099588e+01] [-6.24609728e-01 7.80915626e-01 -5.78561152e-03 -3.17375216e+01] [-9.33560538e-03 -5.85857805e-05 9.99956421e-01 -2.06171423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.666559995 meters 0.012443291583299359 Centerline is valid? [True, True] Translation: X:97.54, Y:-31.76, Z:-2.06 [[ 7.81242076e-01 6.24186898e-01 7.17888030e-03 9.75350513e+01] [-6.24161153e-01 7.81275057e-01 -5.66931166e-03 -3.17590672e+01] [-9.14739017e-03 -5.16733975e-05 9.99958160e-01 -2.06241369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.696559995 meters 0.012358668273143213 Centerline is valid? [True, True] Translation: X:97.56, Y:-31.78, Z:-2.06 [[ 7.81824025e-01 6.23459124e-01 7.06500273e-03 9.75598208e+01] [-6.23434132e-01 7.81855945e-01 -5.58246145e-03 -3.17807262e+01] [-9.00425091e-03 -4.00613640e-05 9.99959460e-01 -2.06290826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.726559995 meters 0.01233934417411467 Centerline is valid? [True, True] Translation: X:97.58, Y:-31.80, Z:-2.06 [[ 7.82599429e-01 6.22484894e-01 7.11965852e-03 9.75833875e+01] [-6.22459442e-01 7.82631814e-01 -5.62915631e-03 -3.18018557e+01] [-9.07613603e-03 -2.63241522e-05 9.99958811e-01 -2.06359310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.756559995 meters 0.012325328594929068 Centerline is valid? [True, True] Translation: X:97.61, Y:-31.83, Z:-2.06 [[ 7.84988280e-01 6.19466697e-01 7.37638063e-03 9.76057133e+01] [-6.19439211e-01 7.85022936e-01 -5.83546984e-03 -3.18255352e+01] [-9.40550721e-03 1.15560309e-05 9.99955767e-01 -2.06345644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.786559995 meters 0.012506441672136501 Centerline is valid? [True, True] Translation: X:97.63, Y:-31.85, Z:-2.06 [[ 7.86360689e-01 6.17720478e-01 7.63402838e-03 9.76293486e+01] [-6.17690925e-01 7.86397743e-01 -6.04248336e-03 -3.18481249e+01] [-9.73594839e-03 3.61013261e-05 9.99952604e-01 -2.06347134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.816559995 meters 0.012875209168629496 Centerline is valid? [True, True] Translation: X:97.65, Y:-31.87, Z:-2.06 [[ 7.88029125e-01 6.15585701e-01 8.02142235e-03 9.76527930e+01] [-6.15552917e-01 7.88069946e-01 -6.35340327e-03 -3.18707022e+01] [-1.02325061e-02 6.90568949e-05 9.99947644e-01 -2.06369228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.846559995 meters 0.013441475857716064 Centerline is valid? [True, True] Translation: X:97.67, Y:-31.89, Z:-2.06 [[ 7.90005501e-01 6.13038875e-01 8.63978779e-03 9.76747962e+01] [-6.13000646e-01 7.90052735e-01 -6.84714471e-03 -3.18923312e+01] [-1.10234539e-02 1.13086490e-04 9.99939233e-01 -2.06390044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.876559995 meters 0.013647376243797697 Centerline is valid? [True, True] Translation: X:97.70, Y:-31.91, Z:-2.06 [[ 7.91954188e-01 6.10516186e-01 8.86287960e-03 9.76988465e+01] [-6.10475765e-01 7.92003764e-01 -7.02693739e-03 -3.19139185e+01] [-1.13094930e-02 1.54439297e-04 9.99936034e-01 -2.06313225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.906559995 meters 0.01535062627816695 Centerline is valid? [True, True] Translation: X:97.72, Y:-31.94, Z:-2.06 [[ 7.96443918e-01 6.04632635e-01 9.82150891e-03 9.77192006e+01] [-6.04582473e-01 7.96504429e-01 -7.79289398e-03 -3.19385671e+01] [-1.25347134e-02 2.68690876e-04 9.99921401e-01 -2.06200080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.936559995 meters 0.015997621270390276 Centerline is valid? [True, True] Translation: X:97.74, Y:-31.96, Z:-2.06 [[ 7.98705368e-01 6.01638737e-01 1.00282159e-02 9.77426011e+01] [-6.01586183e-01 7.98768255e-01 -7.95861803e-03 -3.19605971e+01] [-1.27984334e-02 3.23754802e-04 9.99918044e-01 -2.06201940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.966559995 meters 0.016699820680288052 Centerline is valid? [True, True] Translation: X:97.77, Y:-31.98, Z:-2.06 [[ 8.00512744e-01 5.99243021e-01 9.33534086e-03 9.77657808e+01] [-5.99197323e-01 8.00567104e-01 -7.40812653e-03 -3.19821377e+01] [-1.19128349e-02 3.36588438e-04 9.99928983e-01 -2.06265322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.996559995 meters 0.018850056591445463 Centerline is valid? [True, True] Translation: X:97.79, Y:-32.00, Z:-2.06 [[ 8.02051758e-01 5.97189747e-01 8.79680687e-03 9.77874572e+01] [-5.97149013e-01 8.02099922e-01 -6.98372690e-03 -3.20047060e+01] [-1.12265282e-02 3.48305899e-04 9.99936920e-01 -2.06455089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.026559995 meters 0.020045120803213908 Centerline is valid? [True, True] Translation: X:97.81, Y:-32.03, Z:-2.06 [[ 8.05804029e-01 5.92126321e-01 8.14168798e-03 9.78101893e+01] [-5.92091140e-01 8.05845065e-01 -6.46639991e-03 -3.20271407e+01] [-1.03898647e-02 3.90029788e-04 9.99945948e-01 -2.06498980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.056559995 meters 0.020045120803213908 Centerline is valid? [True, True] Translation: X:97.84, Y:-32.05, Z:-2.07 [[ 8.05640817e-01 5.92348379e-01 8.14071475e-03 9.78355334e+01] [-5.92313197e-01 8.05681852e-01 -6.46762485e-03 -3.20473723e+01] [-1.03899132e-02 3.88729792e-04 9.99945948e-01 -2.06562812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.086559995 meters 0.02080967654753554 Centerline is valid? [True, True] Translation: X:97.86, Y:-32.07, Z:-2.07 [[ 8.07426851e-01 5.89914608e-01 7.91425274e-03 9.78595095e+01] [-5.89881179e-01 8.07465531e-01 -6.29368195e-03 -3.20689782e+01] [-1.01032212e-02 4.13219064e-04 9.99948876e-01 -2.06562116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.116559995 meters 0.02142533107037796 Centerline is valid? [True, True] Translation: X:97.88, Y:-32.09, Z:-2.07 [[ 8.08522048e-01 5.88405672e-01 8.41802246e-03 9.78840821e+01] [-5.88367780e-01 8.08565739e-01 -6.69338437e-03 -3.20891369e+01] [-1.07449499e-02 4.58855656e-04 9.99942166e-01 -2.06562008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.146559995 meters 0.022279928254240102 Centerline is valid? [True, True] Translation: X:97.91, Y:-32.11, Z:-2.07 [[ 8.09052179e-01 5.87671304e-01 8.77555932e-03 9.79083095e+01] [-5.87630031e-01 8.09099621e-01 -6.98216419e-03 -3.21088517e+01] [-1.12035193e-02 4.92152965e-04 9.99937117e-01 -2.06581864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.176559995 meters 0.022721464380820268 Centerline is valid? [True, True] Translation: X:97.93, Y:-32.13, Z:-2.07 [[ 8.09976072e-01 5.86398733e-01 8.67689930e-03 9.79337262e+01] [-5.86358283e-01 8.10022389e-01 -6.90608722e-03 -3.21280919e+01] [-1.10782035e-02 5.05993632e-04 9.99938507e-01 -2.06547646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.206559995 meters 0.022813928460619855 Centerline is valid? [True, True] Translation: X:97.96, Y:-32.15, Z:-2.07 [[ 8.09908158e-01 5.86494036e-01 8.57451802e-03 9.79597077e+01] [-5.86454555e-01 8.09953393e-01 -6.82326660e-03 -3.21481497e+01] [-1.09467651e-02 4.97654134e-04 9.99939959e-01 -2.06613891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.236559995 meters 0.023244125865097158 Centerline is valid? [True, True] Translation: X:97.99, Y:-32.17, Z:-2.07 [[ 8.09649483e-01 5.86851393e-01 8.55318322e-03 9.79859068e+01] [-5.86812086e-01 8.09694509e-01 -6.81012565e-03 -3.21685144e+01] [-1.09219972e-02 4.94703426e-04 9.99940231e-01 -2.06715690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.266559995 meters 0.02401438777574265 Centerline is valid? [True, True] Translation: X:98.01, Y:-32.19, Z:-2.07 [[ 8.09077575e-01 5.87644768e-01 8.19171954e-03 9.80104873e+01] [-5.87608712e-01 8.09118909e-01 -6.52629456e-03 -3.21880031e+01] [-1.04632180e-02 4.66752805e-04 9.99945150e-01 -2.06809686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.296559995 meters 0.021100805246804345 Centerline is valid? [True, True] Translation: X:98.04, Y:-32.20, Z:-2.07 [[ 8.06943102e-01 5.90576648e-01 7.87737304e-03 9.80398738e+01] [-5.90543398e-01 8.06981444e-01 -6.28050850e-03 -3.22016691e+01] [-1.00660155e-02 4.16082369e-04 9.99949250e-01 -2.06803339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.326559995 meters 0.019587178493496626 Centerline is valid? [True, True] Translation: X:98.07, Y:-32.22, Z:-2.07 [[ 8.05283553e-01 5.92835217e-01 8.05008482e-03 9.80677150e+01] [-5.92800602e-01 8.05323691e-01 -6.41864503e-03 -3.22177115e+01] [-1.02881228e-02 3.96734151e-04 9.99946997e-01 -2.06849580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.356559995 meters 0.01842254074731985 Centerline is valid? [True, True] Translation: X:98.10, Y:-32.23, Z:-2.07 [[ 8.00764949e-01 5.98913083e-01 8.86658323e-03 9.80961317e+01] [-5.98871442e-01 8.00813958e-01 -7.07112089e-03 -3.22308926e+01] [-1.13354704e-02 3.52362273e-04 9.99935689e-01 -2.06868219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.386559995 meters 0.016626475554870443 Centerline is valid? [True, True] Translation: X:98.12, Y:-32.25, Z:-2.07 [[ 7.98188597e-01 6.02336386e-01 9.26510395e-03 9.81239455e+01] [-6.02291133e-01 7.98242305e-01 -7.39013091e-03 -3.22458147e+01] [-1.18471427e-02 3.18428266e-04 9.99929769e-01 -2.06840503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.416559995 meters 0.015611910790533649 Centerline is valid? [True, True] Translation: X:98.15, Y:-32.26, Z:-2.07 [[ 7.95379986e-01 6.06034666e-01 9.62601252e-03 9.81500899e+01] [-6.05986080e-01 7.95438186e-01 -7.67874756e-03 -3.22614358e+01] [-1.23104852e-02 2.74292542e-04 9.99924185e-01 -2.06848090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.446559995 meters 0.014522905523557538 Centerline is valid? [True, True] Translation: X:98.18, Y:-32.28, Z:-2.07 [[ 7.92620357e-01 6.09635289e-01 9.88858899e-03 9.81775699e+01] [-6.09584292e-01 7.92682007e-01 -7.88834832e-03 -3.22775918e+01] [-1.26475221e-02 2.24536940e-04 9.99919992e-01 -2.06883023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.476559995 meters 0.013480712876021355 Centerline is valid? [True, True] Translation: X:98.21, Y:-32.29, Z:-2.07 [[ 7.89811761e-01 6.13266728e-01 1.00649707e-02 9.82054379e+01] [-6.13214205e-01 7.89875872e-01 -8.02784691e-03 -3.22938697e+01] [-1.28732889e-02 1.68504900e-04 9.99917122e-01 -2.06892216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.506559995 meters 0.012254000445954748 Centerline is valid? [True, True] Translation: X:98.24, Y:-32.31, Z:-2.07 [[ 7.84320911e-01 6.20270867e-01 1.02353052e-02 9.82356764e+01] [-6.20217087e-01 7.84387690e-01 -8.16800705e-03 -3.23054762e+01] [-1.30948242e-02 5.82275336e-05 9.99914257e-01 -2.06989779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.536559995 meters 0.011981491424318579 Centerline is valid? [True, True] Translation: X:98.26, Y:-32.32, Z:-2.07 [[ 7.81513543e-01 6.23801002e-01 1.04351397e-02 9.82638046e+01] [-6.23745365e-01 7.81583208e-01 -8.33123833e-03 -3.23211006e+01] [-1.33529648e-02 2.10555394e-06 9.99910845e-01 -2.07047621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.566559995 meters 0.01188549118159479 Centerline is valid? [True, True] Translation: X:98.29, Y:-32.34, Z:-2.07 [[ 7.78944742e-01 6.27011095e-01 1.01082156e-02 9.82928318e+01] [-6.26959115e-01 7.79010323e-01 -8.07368504e-03 -3.23378387e+01] [-1.29366944e-02 -4.84833673e-05 9.99916316e-01 -2.07173905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.59655999499999 meters 0.012217737771684783 Centerline is valid? [True, True] Translation: X:98.32, Y:-32.35, Z:-2.07 [[ 7.76391528e-01 6.30171142e-01 1.00263279e-02 9.83199131e+01] [-6.30120198e-01 7.76456259e-01 -8.01331854e-03 -3.23533310e+01] [-1.28347671e-02 -9.63190977e-05 9.99917626e-01 -2.07301924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.626559995 meters 0.01260954127377211 Centerline is valid? [True, True] Translation: X:98.35, Y:-32.37, Z:-2.07 [[ 7.74071094e-01 6.33014110e-01 1.03478035e-02 9.83472719e+01] [-6.32960049e-01 7.74140243e-01 -8.27412191e-03 -3.23700484e+01] [-1.32482870e-02 -1.44987590e-04 9.99912227e-01 -2.07399881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.656559995 meters 0.013779552347779979 Centerline is valid? [True, True] Translation: X:98.38, Y:-32.38, Z:-2.08 [[ 7.70805185e-01 6.36992772e-01 9.97871395e-03 9.83758694e+01] [-6.36942780e-01 7.70869747e-01 -7.98295581e-03 -3.23846171e+01] [-1.27773739e-02 -2.02566073e-04 9.99918346e-01 -2.07533852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.686559995 meters 0.014048575126556011 Centerline is valid? [True, True] Translation: X:98.40, Y:-32.40, Z:-2.08 [[ 7.69589602e-01 6.38462166e-01 9.89481388e-03 9.84019878e+01] [-6.38413088e-01 7.69653177e-01 -7.91931675e-03 -3.24033870e+01] [-1.26717591e-02 -2.22354865e-04 9.99919685e-01 -2.07576783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.716559995 meters 0.014242845700604476 Centerline is valid? [True, True] Translation: X:98.43, Y:-32.42, Z:-2.08 [[ 7.68573257e-01 6.39684480e-01 9.94560660e-03 9.84277633e+01] [-6.39634949e-01 7.68637566e-01 -7.96391400e-03 -3.24222953e+01] [-1.27389590e-02 -2.40706249e-04 9.99918827e-01 -2.07628717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.746559995 meters 0.015007948123375714 Centerline is valid? [True, True] Translation: X:98.45, Y:-32.44, Z:-2.08 [[ 7.67887413e-01 6.40510081e-01 9.78553721e-03 9.84539382e+01] [-6.40462148e-01 7.67949722e-01 -7.83974756e-03 -3.24397969e+01] [-1.25362379e-02 -2.47222708e-04 9.99921388e-01 -2.07749821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.776559995 meters 0.014740612501343545 Centerline is valid? [True, True] Translation: X:98.48, Y:-32.46, Z:-2.08 [[ 7.66981559e-01 6.41597365e-01 9.59732841e-03 9.84795410e+01] [-6.41551303e-01 7.67041560e-01 -7.69224259e-03 -3.24586140e+01] [-1.22968723e-02 -2.57370337e-04 9.99924357e-01 -2.07834663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.806559995 meters 0.015110906371964238 Centerline is valid? [True, True] Translation: X:98.50, Y:-32.48, Z:-2.08 [[ 7.66559906e-01 6.42108921e-01 9.05785663e-03 9.85048154e+01] [-6.42067887e-01 7.66613379e-01 -7.26335413e-03 -3.24771729e+01] [-1.16077386e-02 -2.47962814e-04 9.99932597e-01 -2.07969249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.836559995 meters 0.014419351756583423 Centerline is valid? [True, True] Translation: X:98.53, Y:-32.50, Z:-2.08 [[ 7.66831936e-01 6.41796504e-01 8.12584830e-03 9.85293240e+01] [-6.41763444e-01 7.66874958e-01 -6.51772424e-03 -3.24984988e+01] [-1.04145622e-02 -2.16873294e-04 9.99945743e-01 -2.08089484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.866559995 meters 0.014138642414374687 Centerline is valid? [True, True] Translation: X:98.55, Y:-32.52, Z:-2.08 [[ 7.68000099e-01 6.40405397e-01 7.53494069e-03 9.85529718e+01] [-6.40376857e-01 7.68037041e-01 -6.04858862e-03 -3.25187503e+01] [-9.66066235e-03 -1.79884974e-04 9.99953319e-01 -2.08258618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.896559995 meters 0.013657155204197502 Centerline is valid? [True, True] Translation: X:98.58, Y:-32.54, Z:-2.08 [[ 7.69690633e-01 6.38380819e-01 6.80151113e-03 9.85757816e+01] [-6.38357485e-01 7.69720671e-01 -5.45988618e-03 -3.25398040e+01] [-8.72075031e-03 -1.39372292e-04 9.99961964e-01 -2.08420145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.926559995 meters 0.012991317038307085 Centerline is valid? [True, True] Translation: X:98.60, Y:-32.56, Z:-2.09 [[ 7.71454857e-01 6.36253915e-01 6.19346138e-03 9.85988221e+01] [-6.36234486e-01 7.71479711e-01 -4.97328555e-03 -3.25629349e+01] [-7.94240220e-03 -1.03828425e-04 9.99968453e-01 -2.08508231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.956559995 meters 0.012857130091137127 Centerline is valid? [True, True] Translation: X:98.62, Y:-32.58, Z:-2.09 [[ 7.72258109e-01 6.35281977e-01 5.84998252e-03 9.86230448e+01] [-6.35264600e-01 7.72280261e-01 -4.69952569e-03 -3.25844583e+01] [-7.50335000e-03 -8.70399876e-05 9.99971846e-01 -2.08616088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.986559995 meters 0.012599588271265403 Centerline is valid? [True, True] Translation: X:98.65, Y:-32.61, Z:-2.09 [[ 7.72714697e-01 6.34731308e-01 5.30695685e-03 9.86479388e+01] [-6.34716988e-01 7.72732918e-01 -4.26423056e-03 -3.26068118e+01] [-6.80750089e-03 -7.33820412e-05 9.99976826e-01 -2.08664170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.016559995 meters 0.012599588271265403 Centerline is valid? [True, True] Translation: X:98.67, Y:-32.63, Z:-2.09 [[ 7.72536121e-01 6.34948652e-01 5.30575270e-03 9.86731578e+01] [-6.34934327e-01 7.72554337e-01 -4.26572747e-03 -3.26271948e+01] [-6.80750017e-03 -7.33759709e-05 9.99976826e-01 -2.08728012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.046559995 meters 0.012592353947631758 Centerline is valid? [True, True] Translation: X:98.70, Y:-32.65, Z:-2.09 [[ 7.72668767e-01 6.34787333e-01 5.29312133e-03 9.86976458e+01] [-6.34773056e-01 7.72686894e-01 -4.25802117e-03 -3.26487145e+01] [-6.79286338e-03 -6.98908363e-05 9.99976926e-01 -2.08788341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.076559995 meters 0.012813291446069753 Centerline is valid? [True, True] Translation: X:98.72, Y:-32.67, Z:-2.09 [[ 7.72557782e-01 6.34922334e-01 5.30124985e-03 9.87223520e+01] [-6.34907997e-01 7.72575967e-01 -4.26734443e-03 -3.26694582e+01] [-6.80505051e-03 -6.90357760e-05 9.99976843e-01 -2.08841398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.106559995 meters 0.012797992129620156 Centerline is valid? [True, True] Translation: X:98.75, Y:-32.69, Z:-2.09 [[ 7.72564022e-01 6.34913947e-01 5.39557292e-03 9.87472832e+01] [-6.34899079e-01 7.72582860e-01 -4.34552032e-03 -3.26905647e+01] [-6.92755861e-03 -6.84516222e-05 9.99976002e-01 -2.08876749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.136559995 meters 0.012878227874970309 Centerline is valid? [True, True] Translation: X:98.77, Y:-32.71, Z:-2.09 [[ 7.72422876e-01 6.35083358e-01 5.65944927e-03 9.87718206e+01] [-6.35066972e-01 7.72443606e-01 -4.56256697e-03 -3.27105702e+01] [-7.26921575e-03 -6.98982091e-05 9.99973576e-01 -2.08924413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.166559995 meters 0.01258501579551378 Centerline is valid? [True, True] Translation: X:98.80, Y:-32.73, Z:-2.09 [[ 7.72106709e-01 6.35465457e-01 5.90619124e-03 9.87964260e+01] [-6.35447622e-01 7.72129294e-01 -4.76161111e-03 -3.27318680e+01] [-7.58618265e-03 -7.66032924e-05 9.99971222e-01 -2.08854548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.196559995 meters 0.012702051946081807 Centerline is valid? [True, True] Translation: X:98.82, Y:-32.75, Z:-2.09 [[ 7.71774245e-01 6.35871839e-01 5.61430772e-03 9.88210201e+01] [-6.35855717e-01 7.71794661e-01 -4.52856672e-03 -3.27535977e+01] [-7.21268077e-03 -7.48585032e-05 9.99973985e-01 -2.08894920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.226559995 meters 0.012589281645129216 Centerline is valid? [True, True] Translation: X:98.85, Y:-32.78, Z:-2.09 [[ 7.71773027e-01 6.35875866e-01 5.31775926e-03 9.88454857e+01] [-6.35861389e-01 7.71791344e-01 -4.29140494e-03 -3.27751074e+01] [-6.83300140e-03 -6.93672088e-05 9.99976652e-01 -2.08933571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.256559995 meters 0.01253089410272112 Centerline is valid? [True, True] Translation: X:98.87, Y:-32.80, Z:-2.09 [[ 7.72209097e-01 6.35345118e-01 5.44899023e-03 9.88692344e+01] [-6.35329881e-01 7.72228319e-01 -4.40060910e-03 -3.27963892e+01] [-7.00377008e-03 -6.37159364e-05 9.99975471e-01 -2.08997552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.286559995 meters 0.01244130435286315 Centerline is valid? [True, True] Translation: X:98.89, Y:-32.82, Z:-2.09 [[ 7.72929276e-01 6.34468783e-01 5.44957212e-03 9.88918009e+01] [-6.34453503e-01 7.72948485e-01 -4.40358852e-03 -3.28172717e+01] [-7.00617797e-03 -5.38376374e-05 9.99975455e-01 -2.09051121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.316559995 meters 0.012322005643245473 Centerline is valid? [True, True] Translation: X:98.91, Y:-32.84, Z:-2.09 [[ 7.74492909e-01 6.32556931e-01 5.69765846e-03 9.89137189e+01] [-6.32540161e-01 7.74513865e-01 -4.60620477e-03 -3.28403968e+01] [-7.32660223e-03 -3.65248693e-05 9.99973159e-01 -2.09138512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.34655999499999 meters 0.012154296912407034 Centerline is valid? [True, True] Translation: X:98.94, Y:-32.86, Z:-2.09 [[ 7.75133607e-01 6.31773227e-01 5.52104446e-03 9.89378845e+01] [-6.31757450e-01 7.75153268e-01 -4.46483048e-03 -3.28626493e+01] [-7.10041601e-03 -2.71208190e-05 9.99974791e-01 -2.09104965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.376559995 meters 0.012206534026859667 Centerline is valid? [True, True] Translation: X:98.96, Y:-32.88, Z:-2.09 [[ 7.75836321e-01 6.30911658e-01 5.33694337e-03 9.89615131e+01] [-6.30896869e-01 7.75854676e-01 -4.31988247e-03 -3.28840557e+01] [-6.86615669e-03 -1.55391461e-05 9.99976428e-01 -2.09170329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.406559995 meters 0.012105423509695635 Centerline is valid? [True, True] Translation: X:98.99, Y:-32.91, Z:-2.09 [[ 7.76410892e-01 6.30203935e-01 5.39691930e-03 9.89859445e+01] [-6.30188796e-01 7.76429649e-01 -4.36815226e-03 -3.29063307e+01] [-6.94315490e-03 -9.59708214e-06 9.99975896e-01 -2.09109415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.436559995 meters 0.01239740982830145 Centerline is valid? [True, True] Translation: X:99.01, Y:-32.93, Z:-2.09 [[ 7.76967101e-01 6.29520167e-01 5.14610266e-03 9.90097604e+01] [-6.29506372e-01 7.76984143e-01 -4.16758254e-03 -3.29281507e+01] [-6.62201743e-03 -1.42989563e-06 9.99978074e-01 -2.09365051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.466559995 meters 0.012228088194037853 Centerline is valid? [True, True] Translation: X:99.03, Y:-32.95, Z:-2.09 [[ 7.78164152e-01 6.28041265e-01 4.97206744e-03 9.90335381e+01] [-6.28028346e-01 7.78180037e-01 -4.02832304e-03 -3.29516683e+01] [-6.39911672e-03 1.20972966e-05 9.99979525e-01 -2.09250580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.496559995 meters 0.012562283846677758 Centerline is valid? [True, True] Translation: X:99.06, Y:-32.97, Z:-2.09 [[ 7.78618006e-01 6.27478328e-01 4.99483989e-03 9.90571207e+01] [-6.27465261e-01 7.78634027e-01 -4.04947490e-03 -3.29732309e+01] [-6.43011004e-03 1.89055623e-05 9.99979326e-01 -2.09458508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.526559995 meters 0.012575815293327403 Centerline is valid? [True, True] Translation: X:99.08, Y:-32.99, Z:-2.09 [[ 7.79346323e-01 6.26576902e-01 4.54919551e-03 9.90808567e+01] [-6.26566037e-01 7.79359600e-01 -3.68997163e-03 -3.29947819e+01] [-5.85751019e-03 2.53944213e-05 9.99982844e-01 -2.09454507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.556559995 meters 0.012651187359973178 Centerline is valid? [True, True] Translation: X:99.11, Y:-33.02, Z:-2.09 [[ 7.79826985e-01 6.25977662e-01 4.67333278e-03 9.91053083e+01] [-6.25966177e-01 7.79840987e-01 -3.79198810e-03 -3.30169536e+01] [-6.01815629e-03 3.17463936e-05 9.99981890e-01 -2.09448387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.586559995 meters 0.012894901305467847 Centerline is valid? [True, True] Translation: X:99.13, Y:-33.04, Z:-2.09 [[ 7.81157882e-01 6.24315923e-01 4.68953785e-03 9.91282245e+01] [-6.24304312e-01 7.81171957e-01 -3.80794922e-03 -3.30399251e+01] [-6.04069879e-03 4.69108483e-05 9.99981754e-01 -2.09480286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.616559995 meters 0.013131099834654918 Centerline is valid? [True, True] Translation: X:99.15, Y:-33.06, Z:-2.10 [[ 7.81712196e-01 6.23623289e-01 4.47630922e-03 9.91520532e+01] [-6.23612689e-01 7.81725010e-01 -3.63636749e-03 -3.30614992e+01] [-5.76696632e-03 5.11095887e-05 9.99983370e-01 -2.09563375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.646559995 meters 0.013254971579647282 Centerline is valid? [True, True] Translation: X:99.18, Y:-33.08, Z:-2.10 [[ 7.82148595e-01 6.23073528e-01 4.79109438e-03 9.91763187e+01] [-6.23061364e-01 7.82163266e-01 -3.89382597e-03 -3.30835686e+01] [-6.17355791e-03 6.04047118e-05 9.99980942e-01 -2.09606249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.676559995 meters 0.01331003708735936 Centerline is valid? [True, True] Translation: X:99.20, Y:-33.11, Z:-2.10 [[ 7.82366852e-01 6.22797192e-01 5.07612573e-03 9.92005524e+01] [-6.22783514e-01 7.82383316e-01 -4.12817368e-03 -3.31057041e+01] [-6.54249105e-03 6.84188251e-05 9.99978595e-01 -2.09590211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.706559995 meters 0.013696861350720976 Centerline is valid? [True, True] Translation: X:99.22, Y:-33.13, Z:-2.10 [[ 7.82593466e-01 6.22509989e-01 5.36463990e-03 9.92229805e+01] [-6.22494674e-01 7.82611849e-01 -4.36739974e-03 -3.31287863e+01] [-6.91718071e-03 7.84387371e-05 9.99976073e-01 -2.09578157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.736559995 meters 0.013741183278951534 Centerline is valid? [True, True] Translation: X:99.25, Y:-33.15, Z:-2.10 [[ 7.82471619e-01 6.22661074e-01 5.59926570e-03 9.92468638e+01] [-6.22644389e-01 7.82491649e-01 -4.55894114e-03 -3.31497061e+01] [-7.22005384e-03 8.08906878e-05 9.99973932e-01 -2.09656474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.766559995 meters 0.013971648184564617 Centerline is valid? [True, True] Translation: X:99.27, Y:-33.17, Z:-2.10 [[ 7.82045290e-01 6.23200362e-01 5.14523312e-03 9.92702525e+01] [-6.23186274e-01 7.82062212e-01 -4.19093482e-03 -3.31713186e+01] [-6.63568449e-03 7.10621787e-05 9.99977981e-01 -2.09764991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.796559995 meters 0.013190337572699601 Centerline is valid? [True, True] Translation: X:99.30, Y:-33.19, Z:-2.10 [[ 7.81444860e-01 6.23954637e-01 4.95385059e-03 9.92958009e+01] [-6.23941585e-01 7.81460560e-01 -4.03635625e-03 -3.31914348e+01] [-6.38974205e-03 6.32764607e-05 9.99979583e-01 -2.09655393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.826559995 meters 0.013205185226138103 Centerline is valid? [True, True] Translation: X:99.32, Y:-33.21, Z:-2.10 [[ 7.80914144e-01 6.24617960e-01 5.05016884e-03 9.93197714e+01] [-6.24604386e-01 7.80930471e-01 -4.11822413e-03 -3.32117377e+01] [-6.51614749e-03 6.16218600e-05 9.99978768e-01 -2.09726424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.856559995 meters 0.013151283544437356 Centerline is valid? [True, True] Translation: X:99.34, Y:-33.23, Z:-2.10 [[ 7.80313619e-01 6.25367022e-01 5.17149171e-03 9.93445961e+01] [-6.25352793e-01 7.80330753e-01 -4.21897241e-03 -3.32323963e+01] [-6.67388023e-03 5.81148480e-05 9.99977728e-01 -2.09770671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.886559995 meters 0.012915072778833567 Centerline is valid? [True, True] Translation: X:99.37, Y:-33.25, Z:-2.10 [[ 7.79721365e-01 6.26101653e-01 5.59584126e-03 9.93693545e+01] [-6.26084992e-01 7.79741442e-01 -4.56787345e-03 -3.32528213e+01] [-7.22326246e-03 5.81962852e-05 9.99973910e-01 -2.09780699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.916559995 meters 0.012874068536904612 Centerline is valid? [True, True] Translation: X:99.39, Y:-33.27, Z:-2.10 [[ 7.78998863e-01 6.26997101e-01 5.95037999e-03 9.93921377e+01] [-6.26978265e-01 7.79021587e-01 -4.86034933e-03 -3.32733348e+01] [-7.68289940e-03 5.54476888e-05 9.99970485e-01 -2.09813906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.946559995 meters 0.012874068536904612 Centerline is valid? [True, True] Translation: X:99.42, Y:-33.29, Z:-2.10 [[ 7.78829918e-01 6.27206952e-01 5.94966502e-03 9.94171804e+01] [-6.27188116e-01 7.78852641e-01 -4.86122432e-03 -3.32939184e+01] [-7.68290600e-03 5.45077435e-05 9.99970485e-01 -2.09877712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.976559995 meters 0.012917891305330153 Centerline is valid? [True, True] Translation: X:99.44, Y:-33.31, Z:-2.10 [[ 7.78215247e-01 6.27967974e-01 6.10350489e-03 9.94417572e+01] [-6.27948149e-01 7.78239180e-01 -4.99012682e-03 -3.33149801e+01] [-7.88362647e-03 5.07081839e-05 9.99968922e-01 -2.09931600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.006559995 meters 0.012406214942087504 Centerline is valid? [True, True] Translation: X:99.47, Y:-33.34, Z:-2.10 [[ 7.77624889e-01 6.28700806e-01 5.90149138e-03 9.94675668e+01] [-6.28682279e-01 7.77647281e-01 -4.82676465e-03 -3.33352762e+01] [-7.62386956e-03 4.32492790e-05 9.99970937e-01 -2.09855835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.036559995 meters 0.01229498205356398 Centerline is valid? [True, True] Translation: X:99.49, Y:-33.36, Z:-2.10 [[ 7.76142620e-01 6.30534063e-01 5.42477339e-03 9.94931947e+01] [-6.30518417e-01 7.76161578e-01 -4.44196933e-03 -3.33554674e+01] [-7.01131364e-03 2.71821873e-05 9.99975420e-01 -2.09951140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.066559995 meters 0.012244939669901235 Centerline is valid? [True, True] Translation: X:99.52, Y:-33.38, Z:-2.10 [[ 7.75010539e-01 6.31927423e-01 5.13764455e-03 9.95191361e+01] [-6.31913438e-01 7.75027568e-01 -4.20426944e-03 -3.33762415e+01] [-6.63860932e-03 1.18064988e-05 9.99977964e-01 -2.10059358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.09655999499999 meters 0.012250047435633894 Centerline is valid? [True, True] Translation: X:99.54, Y:-33.40, Z:-2.10 [[ 7.73868703e-01 6.33327098e-01 4.90070462e-03 9.95442158e+01] [-6.33314386e-01 7.73884221e-01 -4.01266763e-03 -3.33960140e+01] [-6.33390912e-03 1.59115595e-06 9.99979941e-01 -2.10222704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.126559995 meters 0.012249045337512686 Centerline is valid? [True, True] Translation: X:99.57, Y:-33.42, Z:-2.10 [[ 7.72729926e-01 6.34720259e-01 4.31907408e-03 9.95702075e+01] [-6.34710402e-01 7.72741996e-01 -3.53725498e-03 -3.34161219e+01] [-5.58269732e-03 -8.01846891e-06 9.99984417e-01 -2.10338983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.156559995 meters 0.012312229153264194 Centerline is valid? [True, True] Translation: X:99.60, Y:-33.44, Z:-2.10 [[ 7.70638746e-01 6.37260687e-01 3.83936019e-03 9.95954237e+01] [-6.37252911e-01 7.70648309e-01 -3.14805598e-03 -3.34352023e+01] [-4.96492875e-03 -2.06295485e-05 9.99987674e-01 -2.10463289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.186559995 meters 0.012579825624104432 Centerline is valid? [True, True] Translation: X:99.62, Y:-33.46, Z:-2.11 [[ 7.69673720e-01 6.38426080e-01 3.80849789e-03 9.96204035e+01] [-6.38418451e-01 7.69683142e-01 -3.12119949e-03 -3.34550357e+01] [-4.92399178e-03 -2.91101012e-05 9.99987877e-01 -2.10624388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.216559995 meters 0.012413701951626074 Centerline is valid? [True, True] Translation: X:99.65, Y:-33.48, Z:-2.11 [[ 7.68862061e-01 6.39402785e-01 3.90001087e-03 9.96456029e+01] [-6.39394790e-01 7.68871951e-01 -3.19764917e-03 -3.34765094e+01] [-5.04319475e-03 -3.50954962e-05 9.99987282e-01 -2.10530529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.246559995 meters 0.012705305204915399 Centerline is valid? [True, True] Translation: X:99.67, Y:-33.50, Z:-2.11 [[ 7.68276963e-01 6.40104265e-01 4.12760283e-03 9.96701198e+01] [-6.40095306e-01 7.68288050e-01 -3.38694978e-03 -3.34964914e+01] [-5.33918893e-03 -3.99437031e-05 9.99985746e-01 -2.10669087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.276559995 meters 0.01281511137439799 Centerline is valid? [True, True] Translation: X:99.69, Y:-33.52, Z:-2.11 [[ 7.67855723e-01 6.40609618e-01 4.11160703e-03 9.96945915e+01] [-6.40600717e-01 7.67866730e-01 -3.37731785e-03 -3.35170658e+01] [-5.32070855e-03 -4.06055661e-05 9.99985844e-01 -2.10773979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.306559995 meters 0.013014100665075742 Centerline is valid? [True, True] Translation: X:99.72, Y:-33.54, Z:-2.11 [[ 7.67542255e-01 6.40983938e-01 4.29863584e-03 9.97183773e+01] [-6.40974214e-01 7.67554291e-01 -3.53089088e-03 -3.35381127e+01] [-5.56268072e-03 -4.52067801e-05 9.99984527e-01 -2.10813126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.336559995 meters 0.01264960982577787 Centerline is valid? [True, True] Translation: X:99.74, Y:-33.56, Z:-2.11 [[ 7.67312459e-01 6.41258625e-01 4.35489356e-03 9.97430557e+01] [-6.41248643e-01 7.67324816e-01 -3.57832706e-03 -3.35606417e+01] [-5.63625100e-03 -4.68746497e-05 9.99984115e-01 -2.10678362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.366559995 meters 0.013101782818228786 Centerline is valid? [True, True] Translation: X:99.77, Y:-33.58, Z:-2.11 [[ 7.67088802e-01 6.41526973e-01 4.23234886e-03 9.97682848e+01] [-6.41517537e-01 7.67100476e-01 -3.47980464e-03 -3.35806807e+01] [-5.47902537e-03 -4.58068438e-05 9.99984989e-01 -2.10978119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.396559995 meters 0.01320953516323477 Centerline is valid? [True, True] Translation: X:99.79, Y:-33.60, Z:-2.11 [[ 7.66834465e-01 6.41832649e-01 3.96903188e-03 9.97936855e+01] [-6.41824348e-01 7.66844736e-01 -3.26469020e-03 -3.36022116e+01] [-5.13901596e-03 -4.39443315e-05 9.99986794e-01 -2.11100001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.426559995 meters 0.013253285289699922 Centerline is valid? [True, True] Translation: X:99.82, Y:-33.62, Z:-2.11 [[ 7.66929631e-01 6.41717880e-01 4.13569582e-03 9.98178522e+01] [-6.41708852e-01 7.66940780e-01 -3.40419088e-03 -3.36236134e+01] [-5.35636393e-03 -4.31377587e-05 9.99985654e-01 -2.11251262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.456559995 meters 0.013297366449197746 Centerline is valid? [True, True] Translation: X:99.84, Y:-33.64, Z:-2.11 [[ 7.67260959e-01 6.41321634e-01 4.14509655e-03 9.98414894e+01] [-6.41312542e-01 7.67272155e-01 -3.41513697e-03 -3.36447147e+01] [-5.37061839e-03 -3.80011367e-05 9.99985577e-01 -2.11330163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.486559995 meters 0.012709217773435182 Centerline is valid? [True, True] Translation: X:99.86, Y:-33.67, Z:-2.11 [[ 7.67599945e-01 6.40916720e-01 4.01033609e-03 9.98649533e+01] [-6.40908211e-01 7.67610420e-01 -3.30277671e-03 -3.36673537e+01] [-5.19518059e-03 -3.50461132e-05 9.99986504e-01 -2.11116825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.516559995 meters 0.012690045219883482 Centerline is valid? [True, True] Translation: X:99.89, Y:-33.69, Z:-2.11 [[ 7.68011844e-01 6.40421209e-01 4.29919528e-03 9.98889740e+01] [-6.40411405e-01 7.68023876e-01 -3.54386990e-03 -3.36888675e+01] [-5.57145407e-03 -3.15196312e-05 9.99984479e-01 -2.11172945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.546559995 meters 0.012621346900263545 Centerline is valid? [True, True] Translation: X:99.91, Y:-33.71, Z:-2.11 [[ 7.69636359e-01 6.38464845e-01 4.74518621e-03 9.99109933e+01] [-6.38452845e-01 7.69650987e-01 -3.91447398e-03 -3.37113192e+01] [-6.15139128e-03 -1.68561386e-05 9.99981080e-01 -2.11191009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.576559995 meters 0.012601670708288007 Centerline is valid? [True, True] Translation: X:99.94, Y:-33.73, Z:-2.11 [[ 7.70346924e-01 6.37607059e-01 4.78065658e-03 9.99356912e+01] [-6.37594856e-01 7.70361758e-01 -3.94470423e-03 -3.37337040e+01] [-6.19800627e-03 -9.33127528e-06 9.99980792e-01 -2.11247428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.606559995 meters 0.012580295552169465 Centerline is valid? [True, True] Translation: X:99.96, Y:-33.76, Z:-2.11 [[ 7.70920376e-01 6.36914042e-01 4.71996914e-03 9.99602002e+01] [-6.36902121e-01 7.70934825e-01 -3.89668639e-03 -3.37558125e+01] [-6.12064286e-03 -2.12341897e-06 9.99981269e-01 -2.11282678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.636559995 meters 0.012653718910174427 Centerline is valid? [True, True] Translation: X:99.98, Y:-33.78, Z:-2.11 [[ 7.71474960e-01 6.36239039e-01 5.12563906e-03 9.99838617e+01] [-6.36224944e-01 7.71491987e-01 -4.23496374e-03 -3.37766661e+01] [-6.64883872e-03 6.10905114e-06 9.99977896e-01 -2.11325187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.666559995 meters 0.012680169393692976 Centerline is valid? [True, True] Translation: X:100.01, Y:-33.80, Z:-2.11 [[ 7.71730511e-01 6.35928863e-01 5.14782546e-03 1.00008415e+02] [-6.35914614e-01 7.71747680e-01 -4.25707024e-03 -3.37971697e+01] [-6.68001619e-03 1.17335525e-05 9.99977688e-01 -2.11420458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.696559995 meters 0.012652403166811581 Centerline is valid? [True, True] Translation: X:100.03, Y:-33.82, Z:-2.11 [[ 7.71895250e-01 6.35725684e-01 5.52971106e-03 1.00033799e+02] [-6.35709235e-01 7.71915057e-01 -4.57314114e-03 -3.38176016e+01] [-7.17573051e-03 1.46975372e-05 9.99974254e-01 -2.11453030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.726559995 meters 0.012785070370862893 Centerline is valid? [True, True] Translation: X:100.06, Y:-33.84, Z:-2.12 [[ 7.72327351e-01 6.35199948e-01 5.61148139e-03 1.00058340e+02] [-6.35182973e-01 7.72347736e-01 -4.64378214e-03 -3.38387204e+01] [-7.28374512e-03 2.22025238e-05 9.99973473e-01 -2.11619417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.756559995 meters 0.012732151814703026 Centerline is valid? [True, True] Translation: X:100.08, Y:-33.86, Z:-2.12 [[ 7.73661636e-01 6.33570569e-01 6.00049830e-03 1.00083396e+02] [-6.33551090e-01 7.73684905e-01 -4.96839040e-03 -3.38606535e+01] [-7.79032089e-03 4.22308101e-05 9.99969654e-01 -2.11520904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.786559995 meters 0.012911513073696425 Centerline is valid? [True, True] Translation: X:100.11, Y:-33.88, Z:-2.12 [[ 7.74381279e-01 6.32688077e-01 6.27946242e-03 1.00107476e+02] [-6.32666686e-01 7.74406737e-01 -5.20295967e-03 -3.38815654e+01] [-8.15470855e-03 5.62678888e-05 9.99966748e-01 -2.11588738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.816559995 meters 0.013130258693545538 Centerline is valid? [True, True] Translation: X:100.13, Y:-33.90, Z:-2.12 [[ 7.75246247e-01 6.31624292e-01 6.63405570e-03 1.00131364e+02] [-6.31600338e-01 7.75274627e-01 -5.50134676e-03 -3.39024105e+01] [-8.61799932e-03 7.48266060e-05 9.99962862e-01 -2.11660018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.84655999499999 meters 0.013732289973553616 Centerline is valid? [True, True] Translation: X:100.15, Y:-33.92, Z:-2.12 [[ 7.77011662e-01 6.29451425e-01 6.61670991e-03 1.00154178e+02] [-6.29427507e-01 7.77039828e-01 -5.48816068e-03 -3.39230267e+01] [-8.59597769e-03 9.96256249e-05 9.99963049e-01 -2.11747112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.876559995 meters 0.013769586989116664 Centerline is valid? [True, True] Translation: X:100.18, Y:-33.94, Z:-2.12 [[ 7.77920146e-01 6.28327359e-01 6.70651525e-03 1.00179030e+02] [-6.28302725e-01 7.77949045e-01 -5.56491553e-03 -3.39430442e+01] [-8.71391581e-03 1.15338086e-04 9.99962026e-01 -2.11739252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.906559995 meters 0.013985542073517784 Centerline is valid? [True, True] Translation: X:100.20, Y:-33.96, Z:-2.12 [[ 7.78767590e-01 6.27276882e-01 6.68990677e-03 1.00203980e+02] [-6.27252308e-01 7.78796313e-01 -5.55381266e-03 -3.39633857e+01] [-8.69385301e-03 1.28869836e-04 9.99962199e-01 -2.11798139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.936559995 meters 0.01430137175252197 Centerline is valid? [True, True] Translation: X:100.23, Y:-33.98, Z:-2.12 [[ 7.79590269e-01 6.26258604e-01 6.25886174e-03 1.00228460e+02] [-6.26237044e-01 7.79615382e-01 -5.19813345e-03 -3.39837231e+01] [-8.13488068e-03 1.32883176e-04 9.99966902e-01 -2.11856645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.966559995 meters 0.014844575382577337 Centerline is valid? [True, True] Translation: X:100.25, Y:-34.00, Z:-2.12 [[ 7.81591441e-01 6.23761764e-01 6.00676134e-03 1.00253280e+02] [-6.23741802e-01 7.81614507e-01 -4.99275834e-03 -3.40034762e+01] [-7.80926355e-03 1.55629049e-04 9.99969495e-01 -2.11904378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.996559995 meters 0.015435826865570644 Centerline is valid? [True, True] Translation: X:100.28, Y:-34.02, Z:-2.12 [[ 7.82188704e-01 6.23011810e-01 6.09235712e-03 1.00277409e+02] [-6.22991253e-01 7.82212412e-01 -5.06371554e-03 -3.40237377e+01] [-7.92027194e-03 1.65295897e-04 9.99968620e-01 -2.11978961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.026559995 meters 0.01573076505039571 Centerline is valid? [True, True] Translation: X:100.30, Y:-34.04, Z:-2.12 [[ 7.82894398e-01 6.22125250e-01 6.04441419e-03 1.00302740e+02] [-6.22104973e-01 7.82917712e-01 -5.02586779e-03 -3.40440249e+01] [-7.85899818e-03 1.74463614e-04 9.99969102e-01 -2.12019768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.056559995 meters 0.016057496338113535 Centerline is valid? [True, True] Translation: X:100.33, Y:-34.06, Z:-2.12 [[ 7.83560257e-01 6.21282260e-01 6.45582550e-03 1.00327697e+02] [-6.21259074e-01 7.83586827e-01 -5.37099943e-03 -3.40640857e+01] [-8.39560648e-03 1.97761519e-04 9.99964737e-01 -2.12060451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.086559995 meters 0.016147289705283355 Centerline is valid? [True, True] Translation: X:100.35, Y:-34.08, Z:-2.12 [[ 7.84275903e-01 6.20376950e-01 6.61413431e-03 1.00352739e+02] [-6.20352558e-01 7.84303763e-01 -5.50552151e-03 -3.40837530e+01] [-8.60298908e-03 2.14752717e-04 9.99962971e-01 -2.12073209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.116559995 meters 0.018678286205847657 Centerline is valid? [True, True] Translation: X:100.38, Y:-34.10, Z:-2.12 [[ 7.85577776e-01 6.18724200e-01 6.92256143e-03 1.00375276e+02] [-6.18697372e-01 7.85608237e-01 -5.76707095e-03 -3.41046741e+01] [-9.00664764e-03 2.47512212e-04 9.99959409e-01 -2.12247198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.146559995 meters 0.016606943080648015 Centerline is valid? [True, True] Translation: X:100.40, Y:-34.12, Z:-2.12 [[ 7.85699820e-01 6.18569143e-01 6.92878091e-03 1.00402658e+02] [-6.18542263e-01 7.85730331e-01 -5.77196465e-03 -3.41214745e+01] [-9.01451255e-03 2.49287757e-04 9.99959337e-01 -2.12175399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.176559995 meters 0.017464183234860032 Centerline is valid? [True, True] Translation: X:100.43, Y:-34.14, Z:-2.12 [[ 7.85673069e-01 6.18601615e-01 7.06197781e-03 1.00427558e+02] [-6.18573656e-01 7.85704764e-01 -5.88692432e-03 -3.41422255e+01] [-9.19029050e-03 2.56844466e-04 9.99957735e-01 -2.12284168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.206559995 meters 0.01697186102310305 Centerline is valid? [True, True] Translation: X:100.45, Y:-34.16, Z:-2.12 [[ 7.85403383e-01 6.18942661e-01 7.17693107e-03 1.00454006e+02] [-6.18913791e-01 7.85436131e-01 -5.98355458e-03 -3.41615860e+01] [-9.34049817e-03 2.57602399e-04 9.99956343e-01 -2.12325059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.236559995 meters 0.01619186488559604 Centerline is valid? [True, True] Translation: X:100.48, Y:-34.18, Z:-2.12 [[ 7.84113237e-01 6.20570180e-01 7.68651883e-03 1.00481014e+02] [-6.20537098e-01 7.84150868e-01 -6.41292959e-03 -3.41790652e+01] [-1.00070633e-02 2.58692896e-04 9.99949895e-01 -2.12340837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.266559995 meters 0.016351600987202963 Centerline is valid? [True, True] Translation: X:100.51, Y:-34.20, Z:-2.12 [[ 7.83080491e-01 6.21871716e-01 7.77905298e-03 1.00505621e+02] [-6.21837861e-01 7.83119089e-01 -6.49365605e-03 -3.41977822e+01] [-1.01301459e-02 2.47745698e-04 9.99948658e-01 -2.12424098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.296559995 meters 0.01549480504249153 Centerline is valid? [True, True] Translation: X:100.53, Y:-34.22, Z:-2.12 [[ 7.81770761e-01 6.23514936e-01 7.97511107e-03 1.00532713e+02] [-6.23479388e-01 7.81811402e-01 -6.66215608e-03 -3.42161783e+01] [-1.03889866e-02 2.35961465e-04 9.99946005e-01 -2.12448846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.326559995 meters 0.015238114188507273 Centerline is valid? [True, True] Translation: X:100.56, Y:-34.23, Z:-2.13 [[ 7.80243997e-01 6.25418676e-01 8.41338515e-03 1.00557644e+02] [-6.25379225e-01 7.80289325e-01 -7.02809500e-03 -3.42343652e+01] [-1.09603765e-02 2.22072652e-04 9.99939909e-01 -2.12527632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.356559995 meters 0.013827487502253417 Centerline is valid? [True, True] Translation: X:100.59, Y:-34.25, Z:-2.13 [[ 7.77081234e-01 6.29340852e-01 8.65143308e-03 1.00585743e+02] [-6.29299318e-01 7.77129372e-01 -7.23240937e-03 -3.42495642e+01] [-1.12749334e-02 1.75828664e-04 9.99936420e-01 -2.12616644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.386559995 meters 0.01355495339444851 Centerline is valid? [True, True] Translation: X:100.61, Y:-34.27, Z:-2.13 [[ 7.75358185e-01 6.31464035e-01 8.53565762e-03 1.00611058e+02] [-6.31423750e-01 7.75405154e-01 -7.13404997e-03 -3.42675289e+01] [-1.11234889e-02 1.41827093e-04 9.99938122e-01 -2.12749979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.416559995 meters 0.013517669365117195 Centerline is valid? [True, True] Translation: X:100.64, Y:-34.29, Z:-2.13 [[ 7.73709826e-01 6.33488450e-01 8.09252324e-03 1.00635874e+02] [-6.33452311e-01 7.73752138e-01 -6.76744740e-03 -3.42858677e+01] [-1.05487069e-02 1.09813007e-04 9.99944355e-01 -2.12957769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.446559995 meters 0.012438927846660317 Centerline is valid? [True, True] Translation: X:100.66, Y:-34.30, Z:-2.13 [[ 7.72033237e-01 6.35533390e-01 7.87344687e-03 1.00663565e+02] [-6.35499283e-01 7.72073380e-01 -6.58458843e-03 -3.43031217e+01] [-1.02636045e-02 7.99512811e-05 9.99947325e-01 -2.12915103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.476559995 meters 0.012072427416762227 Centerline is valid? [True, True] Translation: X:100.69, Y:-34.32, Z:-2.13 [[ 7.69075176e-01 6.39116671e-01 7.29749440e-03 1.00691085e+02] [-6.39087509e-01 7.69109797e-01 -6.10549564e-03 -3.43193977e+01] [-9.51469848e-03 3.18476210e-05 9.99954734e-01 -2.13095580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.506559995 meters 0.01193150407411745 Centerline is valid? [True, True] Translation: X:100.72, Y:-34.34, Z:-2.13 [[ 7.67825418e-01 6.40613460e-01 7.64994783e-03 1.00717228e+02] [-6.40581452e-01 7.67863526e-01 -6.40380533e-03 -3.43384271e+01] [-9.97647981e-03 1.65898099e-05 9.99950234e-01 -2.13146694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.536559995 meters 0.011837746244146852 Centerline is valid? [True, True] Translation: X:100.74, Y:-34.36, Z:-2.13 [[ 7.65970102e-01 6.42824296e-01 8.16867919e-03 1.00744818e+02] [-6.42787890e-01 7.66013658e-01 -6.84136147e-03 -3.43570706e+01] [-1.06551132e-02 -1.04497185e-05 9.99943233e-01 -2.13125935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.566559995 meters 0.011812473601133903 Centerline is valid? [True, True] Translation: X:100.77, Y:-34.38, Z:-2.13 [[ 7.65175194e-01 6.43765677e-01 8.52493620e-03 1.00771219e+02] [-6.43726036e-01 7.65222681e-01 -7.14406670e-03 -3.43775063e+01] [-1.11225795e-02 -2.12607711e-05 9.99938142e-01 -2.13156009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.59655999499999 meters 0.011746867368285577 Centerline is valid? [True, True] Translation: X:100.80, Y:-34.40, Z:-2.13 [[ 7.64570403e-01 6.44476746e-01 9.04562960e-03 1.00797002e+02] [-6.44432110e-01 7.64623910e-01 -7.58501296e-03 -3.43976942e+01] [-1.18048691e-02 -3.00177488e-05 9.99930320e-01 -2.13158047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.626559995 meters 0.011822126889575695 Centerline is valid? [True, True] Translation: X:100.82, Y:-34.42, Z:-2.13 [[ 7.64009593e-01 6.45138609e-01 9.24756399e-03 1.00822264e+02] [-6.45091937e-01 7.64065556e-01 -7.76004261e-03 -3.44173689e+01] [-1.20720482e-02 -3.67819761e-05 9.99927129e-01 -2.13220182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.656559995 meters 0.01172527344015575 Centerline is valid? [True, True] Translation: X:100.85, Y:-34.44, Z:-2.13 [[ 7.63641134e-01 6.45572817e-01 9.37851044e-03 1.00848152e+02] [-6.45524823e-01 7.63698721e-01 -7.87185468e-03 -3.44381436e+01] [-1.22442118e-02 -4.27892638e-05 9.99925036e-01 -2.13264835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.686559995 meters 0.011797591542983203 Centerline is valid? [True, True] Translation: X:100.87, Y:-34.46, Z:-2.13 [[ 7.63162565e-01 6.46133371e-01 9.72454294e-03 1.00874033e+02] [-6.46081754e-01 7.63224518e-01 -8.16712809e-03 -3.44581745e+01] [-1.26990636e-02 -5.00033397e-05 9.99919362e-01 -2.13340678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.716559995 meters 0.011892607086746325 Centerline is valid? [True, True] Translation: X:100.90, Y:-34.48, Z:-2.14 [[ 7.62869185e-01 6.46486965e-01 9.23100196e-03 1.00899460e+02] [-6.46440431e-01 7.62925030e-01 -7.75680812e-03 -3.44780817e+01] [-1.20572378e-02 -4.98629965e-05 9.99927308e-01 -2.13528026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.746559995 meters 0.011861759250265036 Centerline is valid? [True, True] Translation: X:100.92, Y:-34.50, Z:-2.14 [[ 7.62707628e-01 6.46682953e-01 8.84484415e-03 1.00924434e+02] [-6.46640205e-01 7.62758910e-01 -7.43572689e-03 -3.44988097e+01] [-1.15550415e-02 -4.81462177e-05 9.99933237e-01 -2.13565265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.776559995 meters 0.01208726752914724 Centerline is valid? [True, True] Translation: X:100.95, Y:-34.52, Z:-2.14 [[ 7.62612387e-01 6.46802231e-01 8.31990168e-03 1.00949106e+02] [-6.46764363e-01 7.62657768e-01 -6.99910643e-03 -3.45185137e+01] [-1.08722753e-02 -4.34106454e-05 9.99940894e-01 -2.13788404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.806559995 meters 0.011854613212551204 Centerline is valid? [True, True] Translation: X:100.97, Y:-34.54, Z:-2.14 [[ 7.62615519e-01 6.46800910e-01 8.13346627e-03 1.00974495e+02] [-6.46764709e-01 7.62658889e-01 -6.84328850e-03 -3.45401844e+01] [-1.06293056e-02 -4.16409371e-05 9.99943506e-01 -2.13747165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.836559995 meters 0.012032817874437428 Centerline is valid? [True, True] Translation: X:101.00, Y:-34.56, Z:-2.14 [[ 7.62534372e-01 6.46896709e-01 8.12276551e-03 1.00999615e+02] [-6.46860554e-01 7.62577633e-01 -6.83939138e-03 -3.45601984e+01] [-1.06186191e-02 -3.90255888e-05 9.99943620e-01 -2.13936837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.866559995 meters 0.012032817874437428 Centerline is valid? [True, True] Translation: X:101.02, Y:-34.58, Z:-2.14 [[ 7.62368475e-01 6.47092219e-01 8.12206641e-03 1.01024351e+02] [-6.47056067e-01 7.62411738e-01 -6.84022158e-03 -3.45811706e+01] [-1.06186129e-02 -4.06630519e-05 9.99943620e-01 -2.14000621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.896559995 meters 0.012110664469624215 Centerline is valid? [True, True] Translation: X:101.05, Y:-34.60, Z:-2.14 [[ 7.62340980e-01 6.47124439e-01 8.13575564e-03 1.01049781e+02] [-6.47088128e-01 7.62384391e-01 -6.85529991e-03 -3.46027645e+01] [-1.06388052e-02 -3.84748373e-05 9.99943406e-01 -2.14015891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.926559995 meters 0.011947178167744228 Centerline is valid? [True, True] Translation: X:101.08, Y:-34.62, Z:-2.14 [[ 7.62346773e-01 6.47113360e-01 8.46734949e-03 1.01075029e+02] [-6.47073986e-01 7.62393794e-01 -7.13854096e-03 -3.46246795e+01] [-1.10748999e-02 -3.69579204e-05 9.99938671e-01 -2.13942814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.956559995 meters 0.01195614050847273 Centerline is valid? [True, True] Translation: X:101.10, Y:-34.65, Z:-2.14 [[ 7.62633550e-01 6.46772874e-01 8.65549076e-03 1.01099720e+02] [-6.46731661e-01 7.62682665e-01 -7.30140688e-03 -3.46458445e+01] [-1.13237447e-02 -2.94820657e-05 9.99935884e-01 -2.13962875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.986559995 meters 0.011999711111158334 Centerline is valid? [True, True] Translation: X:101.12, Y:-34.67, Z:-2.14 [[ 7.62772973e-01 6.46607178e-01 8.74921244e-03 1.01123802e+02] [-6.46565006e-01 7.62823149e-01 -7.38486621e-03 -3.46664185e+01] [-1.14492093e-02 -2.39582345e-05 9.99934455e-01 -2.14040404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.016559995 meters 0.011923040400651487 Centerline is valid? [True, True] Translation: X:101.15, Y:-34.69, Z:-2.14 [[ 7.63854764e-01 6.45326656e-01 8.91108409e-03 1.01148267e+02] [-6.45282777e-01 7.63906740e-01 -7.52527511e-03 -3.46888626e+01] [-1.16634978e-02 -1.95185163e-06 9.99931979e-01 -2.14001800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.046559995 meters 0.011937055603123897 Centerline is valid? [True, True] Translation: X:101.17, Y:-34.71, Z:-2.14 [[ 7.64551687e-01 6.44501290e-01 8.87723766e-03 1.01171916e+02] [-6.44457637e-01 7.64603222e-01 -7.50114384e-03 -3.47102600e+01] [-1.16220614e-02 1.40085665e-05 9.99932461e-01 -2.14075154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.076559995 meters 0.012061533616013588 Centerline is valid? [True, True] Translation: X:101.20, Y:-34.73, Z:-2.14 [[ 7.65328874e-01 6.43578251e-01 8.87407761e-03 1.01196449e+02] [-6.43534523e-01 7.65380320e-01 -7.50229285e-03 -3.47325627e+01] [-1.16203569e-02 3.09460444e-05 9.99932481e-01 -2.14117180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.106559995 meters 0.012124829313561151 Centerline is valid? [True, True] Translation: X:101.22, Y:-34.75, Z:-2.14 [[ 7.66209311e-01 6.42533402e-01 8.60921349e-03 1.01220934e+02] [-6.42492136e-01 7.66257675e-01 -7.28218478e-03 -3.47547642e+01] [-1.12759229e-02 4.83258211e-05 9.99936424e-01 -2.14159732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.136559995 meters 0.012401710356285879 Centerline is valid? [True, True] Translation: X:101.24, Y:-34.78, Z:-2.14 [[ 7.67283179e-01 6.41247186e-01 8.86398301e-03 1.01244071e+02] [-6.41203301e-01 7.67334374e-01 -7.50238080e-03 -3.47765958e+01] [-1.16125194e-02 7.28354309e-05 9.99932570e-01 -2.14228274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.166559995 meters 0.01260545525498642 Centerline is valid? [True, True] Translation: X:101.27, Y:-34.80, Z:-2.14 [[ 7.68340679e-01 6.39983484e-01 8.58725634e-03 1.01268103e+02] [-6.39942174e-01 7.68388659e-01 -7.27198947e-03 -3.47984329e+01] [-1.12523035e-02 9.20178309e-05 9.99936687e-01 -2.14246761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.196559995 meters 0.013336672999899622 Centerline is valid? [True, True] Translation: X:101.29, Y:-34.82, Z:-2.14 [[ 7.71148135e-01 6.36600363e-01 8.39830809e-03 1.01290593e+02] [-6.36560598e-01 7.71193852e-01 -7.11669938e-03 -3.48209852e+01] [-1.10072170e-02 1.41997434e-04 9.99939409e-01 -2.14274954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.226559995 meters 0.01373631690981229 Centerline is valid? [True, True] Translation: X:101.31, Y:-34.84, Z:-2.14 [[ 7.72388911e-01 6.35095993e-01 8.27343941e-03 1.01314218e+02] [-6.35057311e-01 7.72433203e-01 -7.01133028e-03 -3.48426000e+01] [-1.08435471e-02 1.61365575e-04 9.99941194e-01 -2.14348470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.256559995 meters 0.014338657717865601 Centerline is valid? [True, True] Translation: X:101.34, Y:-34.86, Z:-2.14 [[ 7.73612441e-01 6.33608384e-01 8.01290715e-03 1.01337940e+02] [-6.33571986e-01 7.73653917e-01 -6.79371074e-03 -3.48644136e+01] [-1.05037691e-02 1.78945655e-04 9.99944818e-01 -2.14428771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.286559995 meters 0.015467002866747254 Centerline is valid? [True, True] Translation: X:101.36, Y:-34.89, Z:-2.14 [[ 7.76258340e-01 6.30363798e-01 8.02939008e-03 1.01360911e+02] [-6.30327020e-01 7.76299833e-01 -6.81308494e-03 -3.48866299e+01] [-1.05279363e-02 2.27572488e-04 9.99944554e-01 -2.14464973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.316559995 meters 0.015985531905625704 Centerline is valid? [True, True] Translation: X:101.38, Y:-34.91, Z:-2.15 [[ 7.77334152e-01 6.29036441e-01 8.04812145e-03 1.01384613e+02] [-6.28999431e-01 7.77375775e-01 -6.82790602e-03 -3.49081735e+01] [-1.05514164e-02 2.45300722e-04 9.99944302e-01 -2.14520413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.34655999499999 meters 0.01667859117372364 Centerline is valid? [True, True] Translation: X:101.41, Y:-34.93, Z:-2.15 [[ 7.78468215e-01 6.27625912e-01 8.54119409e-03 1.01408449e+02] [-6.27584099e-01 7.78515018e-01 -7.25013113e-03 -3.49295950e+01] [-1.11998180e-02 2.83679042e-04 9.99937240e-01 -2.14581234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.376559995 meters 0.01723724498643997 Centerline is valid? [True, True] Translation: X:101.43, Y:-34.95, Z:-2.15 [[ 7.79262978e-01 6.26642346e-01 8.28144614e-03 1.01432240e+02] [-6.26602947e-01 7.79306926e-01 -7.03285968e-03 -3.49508750e+01] [-1.08608760e-02 2.91268621e-04 9.99940977e-01 -2.14599234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.406559995 meters 0.01874764401194158 Centerline is valid? [True, True] Translation: X:101.45, Y:-34.97, Z:-2.15 [[ 7.80998604e-01 6.24476604e-01 8.37569884e-03 1.01454684e+02] [-6.24436115e-01 7.81043445e-01 -7.11866346e-03 -3.49717544e+01] [-1.09872235e-02 3.29577381e-04 9.99939584e-01 -2.14725960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.436559995 meters 0.019065655054461395 Centerline is valid? [True, True] Translation: X:101.48, Y:-34.99, Z:-2.15 [[ 7.81368307e-01 6.24016665e-01 8.17137617e-03 1.01479352e+02] [-6.23978121e-01 7.81410965e-01 -6.94322757e-03 -3.49924290e+01] [-1.07178926e-02 3.26458013e-04 9.99942508e-01 -2.14807370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.466559995 meters 0.019708290805919505 Centerline is valid? [True, True] Translation: X:101.50, Y:-35.01, Z:-2.15 [[ 7.81541130e-01 6.23803408e-01 7.92281242e-03 1.01502475e+02] [-6.23767130e-01 7.81581221e-01 -6.73524079e-03 -3.50126027e+01] [-1.03937876e-02 3.21877734e-04 9.99945931e-01 -2.14902355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.496559995 meters 0.019928018194063823 Centerline is valid? [True, True] Translation: X:101.53, Y:-35.03, Z:-2.15 [[ 7.81292721e-01 6.24120686e-01 7.41981778e-03 1.01528239e+02] [-6.24088864e-01 7.81327896e-01 -6.30942652e-03 -3.50331022e+01] [-9.73515421e-03 2.98883366e-04 9.99952568e-01 -2.14991156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.526559995 meters 0.017446422765215835 Centerline is valid? [True, True] Translation: X:101.56, Y:-35.05, Z:-2.15 [[ 7.80606261e-01 6.24977451e-01 7.55323470e-03 1.01555985e+02] [-6.24944478e-01 7.80642746e-01 -6.42666425e-03 -3.50502896e+01] [-9.91289812e-03 2.96342028e-04 9.99950822e-01 -2.14932276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.556559995 meters 0.01760604190201565 Centerline is valid? [True, True] Translation: X:101.58, Y:-35.07, Z:-2.15 [[ 7.79656667e-01 6.26161993e-01 7.52595696e-03 1.01580653e+02] [-6.26129279e-01 7.79692939e-01 -6.40680962e-03 -3.50692769e+01] [-9.87963618e-03 2.82889834e-04 9.99951155e-01 -2.15011116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.586559995 meters 0.017031999962716433 Centerline is valid? [True, True] Translation: X:101.61, Y:-35.09, Z:-2.15 [[ 7.78376233e-01 6.27749166e-01 7.83737481e-03 1.01606494e+02] [-6.27713738e-01 7.78415640e-01 -6.67498001e-03 -3.50880158e+01] [-1.02909483e-02 2.76017959e-04 9.99947009e-01 -2.15073645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.616559995 meters 0.015214076564127833 Centerline is valid? [True, True] Translation: X:101.63, Y:-35.10, Z:-2.15 [[ 7.75614883e-01 6.31155820e-01 7.99277630e-03 1.01634641e+02] [-6.31119091e-01 7.75656028e-01 -6.81317087e-03 -3.51034967e+01] [-1.04998176e-02 2.40003014e-04 9.99944847e-01 -2.15103204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.646559995 meters 0.014694806951205057 Centerline is valid? [True, True] Translation: X:101.66, Y:-35.12, Z:-2.15 [[ 7.73610559e-01 6.33610288e-01 8.04399069e-03 1.01660058e+02] [-6.33573238e-01 7.73652351e-01 -6.85507361e-03 -3.51215870e+01] [-1.05666975e-02 2.06700096e-04 9.99944150e-01 -2.15166882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.676559995 meters 0.013865432096057685 Centerline is valid? [True, True] Translation: X:101.69, Y:-35.14, Z:-2.15 [[ 7.71526064e-01 6.36144123e-01 8.25751735e-03 1.01686910e+02] [-6.36105190e-01 7.71570232e-01 -7.04018115e-03 -3.51396800e+01] [-1.08498244e-02 1.79033607e-04 9.99941123e-01 -2.15225554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.706559995 meters 0.01298027711167044 Centerline is valid? [True, True] Translation: X:101.71, Y:-35.16, Z:-2.15 [[ 7.69389226e-01 6.38728774e-01 8.11003539e-03 1.01713898e+02] [-6.38691329e-01 7.69431955e-01 -6.91763796e-03 -3.51572777e+01] [-1.06586148e-02 1.42546833e-04 9.99943185e-01 -2.15285594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.736559995 meters 0.011964541883906124 Centerline is valid? [True, True] Translation: X:101.74, Y:-35.17, Z:-2.15 [[ 7.65282978e-01 6.43642459e-01 8.14544176e-03 1.01743355e+02] [-6.43604906e-01 7.65326322e-01 -6.95314727e-03 -3.51731624e+01] [-1.07092618e-02 7.86789708e-05 9.99942651e-01 -2.15373340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.766559995 meters 0.011684794663859594 Centerline is valid? [True, True] Translation: X:101.77, Y:-35.19, Z:-2.15 [[ 7.63157494e-01 6.46163980e-01 7.92151886e-03 1.01769995e+02] [-6.46128607e-01 7.63198604e-01 -6.76123737e-03 -3.51917328e+01] [-1.04145602e-02 4.15690262e-05 9.99945766e-01 -2.15451191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.796559995 meters 0.011625881085113837 Centerline is valid? [True, True] Translation: X:101.80, Y:-35.21, Z:-2.16 [[ 7.61282020e-01 6.48368580e-01 8.23833895e-03 1.01795268e+02] [-6.48330406e-01 7.61326595e-01 -7.03563447e-03 -3.52094414e+01] [-1.08337509e-02 1.49363885e-05 9.99941313e-01 -2.15528177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.826559995 meters 0.011423320068215247 Centerline is valid? [True, True] Translation: X:101.82, Y:-35.23, Z:-2.16 [[ 7.59434909e-01 6.50530867e-01 8.25892015e-03 1.01821962e+02] [-6.50492602e-01 7.59479816e-01 -7.05585181e-03 -3.52289717e+01] [-1.08625326e-02 -1.39062815e-05 9.99941001e-01 -2.15549044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.856559995 meters 0.011526975318509285 Centerline is valid? [True, True] Translation: X:101.85, Y:-35.25, Z:-2.16 [[ 7.57690285e-01 6.52560452e-01 8.38381608e-03 1.01847547e+02] [-6.52521085e-01 7.57736666e-01 -7.16794040e-03 -3.52475474e+01] [-1.10302393e-02 -3.95379630e-05 9.99939164e-01 -2.15614710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.886559995 meters 0.011880132388855673 Centerline is valid? [True, True] Translation: X:101.87, Y:-35.26, Z:-2.16 [[ 7.54467549e-01 6.56277158e-01 8.88873582e-03 1.01874837e+02] [-6.56233134e-01 7.54519902e-01 -7.60205074e-03 -3.52642289e+01] [-1.16957803e-02 -9.75823810e-05 9.99931597e-01 -2.15660659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.916559995 meters 0.012222635017558492 Centerline is valid? [True, True] Translation: X:101.90, Y:-35.28, Z:-2.16 [[ 7.52872792e-01 6.58105597e-01 8.92089070e-03 1.01900556e+02] [-6.58061342e-01 7.52925633e-01 -7.63289521e-03 -3.52829079e+01] [-1.17400183e-02 -1.23894176e-04 9.99931076e-01 -2.15759152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.946559995 meters 0.012710600784459923 Centerline is valid? [True, True] Translation: X:101.93, Y:-35.30, Z:-2.16 [[ 7.51347974e-01 6.59846596e-01 8.87077712e-03 1.01925708e+02] [-6.59802914e-01 7.51400324e-01 -7.59390317e-03 -3.53011960e+01] [-1.16763160e-02 -1.47300830e-04 9.99931819e-01 -2.15896318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.976559995 meters 0.013223873774249507 Centerline is valid? [True, True] Translation: X:101.95, Y:-35.32, Z:-2.16 [[ 7.48644721e-01 6.62918977e-01 8.33742049e-03 1.01951623e+02] [-6.62880550e-01 7.48691123e-01 -7.13994416e-03 -3.53200532e+01] [-1.09753572e-02 -1.81432382e-04 9.99939752e-01 -2.15984609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.006559995 meters 0.013566035831753035 Centerline is valid? [True, True] Translation: X:101.98, Y:-35.34, Z:-2.16 [[ 7.47494573e-01 6.64216623e-01 8.25479504e-03 1.01976556e+02] [-6.64178996e-01 7.47540126e-01 -7.07263237e-03 -3.53397770e+01] [-1.08685505e-02 -1.95907165e-04 9.99940916e-01 -2.16085961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.036559995 meters 0.013961020653808403 Centerline is valid? [True, True] Translation: X:102.00, Y:-35.36, Z:-2.16 [[ 7.46356404e-01 6.65496911e-01 8.12274440e-03 1.02001542e+02] [-6.65460518e-01 7.46400575e-01 -6.96287320e-03 -3.53600374e+01] [-1.06965917e-02 -2.08580689e-04 9.99942768e-01 -2.16170322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.066559995 meters 0.015257513190726452 Centerline is valid? [True, True] Translation: X:102.03, Y:-35.38, Z:-2.16 [[ 7.45494025e-01 6.66466545e-01 7.81040500e-03 1.02026275e+02] [-6.66432903e-01 7.45534909e-01 -6.69973629e-03 -3.53781545e+01] [-1.02880797e-02 -2.10497498e-04 9.99947054e-01 -2.16357717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.09655999499999 meters 0.015189119586646519 Centerline is valid? [True, True] Translation: X:102.05, Y:-35.40, Z:-2.16 [[ 7.44265736e-01 6.67836163e-01 7.96072305e-03 1.02049630e+02] [-6.67801288e-01 7.44308273e-01 -6.82899891e-03 -3.53996069e+01] [-1.04858844e-02 -2.33591203e-04 9.99944994e-01 -2.16396056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.126559995 meters 0.016587085176785588 Centerline is valid? [True, True] Translation: X:102.07, Y:-35.42, Z:-2.17 [[ 7.43815536e-01 6.68342101e-01 7.56866693e-03 1.02074031e+02] [-6.68310559e-01 7.43854008e-01 -6.49706846e-03 -3.54182453e+01] [-9.97224762e-03 -2.25599572e-04 9.99950250e-01 -2.16535767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.156559995 meters 0.015450481507389452 Centerline is valid? [True, True] Translation: X:102.10, Y:-35.44, Z:-2.16 [[ 7.43394218e-01 6.68805811e-01 7.98898241e-03 1.02097194e+02] [-6.68770695e-01 7.43437104e-01 -6.85783732e-03 -3.54423054e+01] [-1.05258674e-02 -2.44720713e-04 9.99944572e-01 -2.16461915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.186559995 meters 0.015568669279769997 Centerline is valid? [True, True] Translation: X:102.12, Y:-35.46, Z:-2.16 [[ 7.42955690e-01 6.69294882e-01 7.82324812e-03 1.02121502e+02] [-6.69261198e-01 7.42996838e-01 -6.71915421e-03 -3.54648175e+01] [-1.03097441e-02 -2.43762563e-04 9.99946823e-01 -2.16490761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.216559995 meters 0.015263751521748622 Centerline is valid? [True, True] Translation: X:102.14, Y:-35.49, Z:-2.16 [[ 7.42412547e-01 6.69893801e-01 8.11815014e-03 1.02144955e+02] [-6.69857522e-01 7.42456886e-01 -6.97652501e-03 -3.54873661e+01] [-1.07009073e-02 -2.58544235e-04 9.99942710e-01 -2.16495360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.246559995 meters 0.015579302129342828 Centerline is valid? [True, True] Translation: X:102.17, Y:-35.51, Z:-2.17 [[ 7.41722960e-01 6.70648494e-01 8.81179862e-03 1.02168805e+02] [-6.70605746e-01 7.41775245e-01 -7.57755758e-03 -3.55099452e+01] [-1.16182517e-02 -2.88794352e-04 9.99932464e-01 -2.16545475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.276559995 meters 0.015854824059849972 Centerline is valid? [True, True] Translation: X:102.19, Y:-35.53, Z:-2.17 [[ 7.41278433e-01 6.71138779e-01 8.88956370e-03 1.02192872e+02] [-6.71095257e-01 7.41331675e-01 -7.64881669e-03 -3.55320136e+01] [-1.17235326e-02 -2.95841183e-04 9.99931233e-01 -2.16620180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.306559995 meters 0.01552024262870595 Centerline is valid? [True, True] Translation: X:102.22, Y:-35.56, Z:-2.17 [[ 7.40669296e-01 6.71808710e-01 9.05816201e-03 1.02215169e+02] [-6.71763514e-01 7.40724619e-01 -7.79871457e-03 -3.55560098e+01] [-1.19488480e-02 -3.08674304e-04 9.99928562e-01 -2.16601433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.336559995 meters 0.017925510562010985 Centerline is valid? [True, True] Translation: X:102.24, Y:-35.57, Z:-2.17 [[ 7.40178284e-01 6.72344966e-01 9.39971324e-03 1.02240485e+02] [-6.72296289e-01 7.40237894e-01 -8.09691734e-03 -3.55747888e+01] [-1.24019456e-02 -3.26229940e-04 9.99923040e-01 -2.16750218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.366559995 meters 0.015695368100655565 Centerline is valid? [True, True] Translation: X:102.26, Y:-35.60, Z:-2.17 [[ 7.39761270e-01 6.72800183e-01 9.65285182e-03 1.02262370e+02] [-6.72748831e-01 7.39824167e-01 -8.31939364e-03 -3.56005260e+01] [-1.27387026e-02 -3.39579579e-04 9.99918802e-01 -2.16668073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.396559995 meters 0.016308417928857254 Centerline is valid? [True, True] Translation: X:102.29, Y:-35.62, Z:-2.17 [[ 7.39271959e-01 6.73332103e-01 1.00424089e-02 1.02285859e+02] [-6.73276499e-01 7.39340078e-01 -8.66059518e-03 -3.56215436e+01] [-1.32562121e-02 -3.58782737e-04 9.99912068e-01 -2.16707911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.426559995 meters 0.01676642269549408 Centerline is valid? [True, True] Translation: X:102.31, Y:-35.64, Z:-2.17 [[ 7.38625451e-01 6.74042274e-01 9.97273070e-03 1.02308161e+02] [-6.73987439e-01 7.38692682e-01 -8.60541846e-03 -3.56439694e+01] [-1.31671990e-02 -3.65314131e-04 9.99913242e-01 -2.16751803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.456559995 meters 0.01686116393804401 Centerline is valid? [True, True] Translation: X:102.33, Y:-35.67, Z:-2.17 [[ 7.38212784e-01 6.74498119e-01 9.70428531e-03 1.02331322e+02] [-6.74446190e-01 7.38276478e-01 -8.37728385e-03 -3.56659806e+01] [-1.28149078e-02 -3.60800223e-04 9.99917821e-01 -2.16815520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.486559995 meters 0.017195454290615905 Centerline is valid? [True, True] Translation: X:102.35, Y:-35.69, Z:-2.17 [[ 7.37936989e-01 6.74797712e-01 9.85133421e-03 1.02354649e+02] [-6.74744171e-01 7.38002650e-01 -8.50835955e-03 -3.56875117e+01] [-1.30117323e-02 -3.68497102e-04 9.99915276e-01 -2.16917332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.516559995 meters 0.01754026741451112 Centerline is valid? [True, True] Translation: X:102.38, Y:-35.71, Z:-2.17 [[ 7.37748325e-01 6.75003316e-01 9.89602527e-03 1.02377707e+02] [-6.74949247e-01 7.37814601e-01 -8.55149219e-03 -3.57096993e+01] [-1.30737175e-02 -3.70465766e-04 9.99914467e-01 -2.16993941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.546559995 meters 0.017100597940559053 Centerline is valid? [True, True] Translation: X:102.40, Y:-35.73, Z:-2.17 [[ 7.38106145e-01 6.74613775e-01 9.77616781e-03 1.02399201e+02] [-6.74560916e-01 7.38170798e-01 -8.45237112e-03 -3.57344241e+01] [-1.29185676e-02 -3.55873655e-04 9.99916488e-01 -2.17046158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.576559995 meters 0.01711014454514478 Centerline is valid? [True, True] Translation: X:102.42, Y:-35.76, Z:-2.17 [[ 7.38591730e-01 6.74080249e-01 9.90325198e-03 1.02421453e+02] [-6.74025901e-01 7.38658038e-01 -8.56665097e-03 -3.57560995e+01] [-1.30897269e-02 -3.47790783e-04 9.99914265e-01 -2.17141649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.606559995 meters 0.016824250788749242 Centerline is valid? [True, True] Translation: X:102.44, Y:-35.78, Z:-2.17 [[ 7.39363394e-01 6.73233699e-01 9.90746139e-03 1.02444324e+02] [-6.73179181e-01 7.39429697e-01 -8.57400378e-03 -3.57788972e+01] [-1.30981795e-02 -3.30192208e-04 9.99914161e-01 -2.17216608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.636559995 meters 0.0146738185719314 Centerline is valid? [True, True] Translation: X:102.46, Y:-35.81, Z:-2.17 [[ 7.42142857e-01 6.70166817e-01 1.00208461e-02 1.02462897e+02] [-6.70110685e-01 7.42210456e-01 -8.67801804e-03 -3.58050391e+01] [-1.32532965e-02 -2.74746975e-04 9.99912133e-01 -2.17255695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.666559995 meters 0.014186588816242934 Centerline is valid? [True, True] Translation: X:102.49, Y:-35.83, Z:-2.17 [[ 7.43583210e-01 6.68566740e-01 1.01254271e-02 1.02485003e+02] [-6.68509296e-01 7.43652104e-01 -8.76750969e-03 -3.58287140e+01] [-1.33914606e-02 -2.49569175e-04 9.99910299e-01 -2.17349198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.696559995 meters 0.013233014832193905 Centerline is valid? [True, True] Translation: X:102.51, Y:-35.85, Z:-2.17 [[ 7.45444466e-01 6.66491805e-01 1.00609537e-02 1.02506503e+02] [-6.66434828e-01 7.45512328e-01 -8.71717203e-03 -3.58536421e+01] [-1.33104887e-02 -2.06802279e-04 9.99911390e-01 -2.17398700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.726559995 meters 0.012406719605713394 Centerline is valid? [True, True] Translation: X:102.53, Y:-35.88, Z:-2.17 [[ 7.47556150e-01 6.64121451e-01 1.01242683e-02 1.02527508e+02] [-6.64063533e-01 7.47624686e-01 -8.77226530e-03 -3.58779426e+01] [-1.33950025e-02 -1.65396538e-04 9.99910269e-01 -2.17451516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.756559995 meters 0.011792409820665822 Centerline is valid? [True, True] Translation: X:102.55, Y:-35.90, Z:-2.18 [[ 7.52267469e-01 6.58773863e-01 1.05191771e-02 1.02545682e+02] [-6.58710743e-01 7.52341008e-01 -9.11944984e-03 -3.59045289e+01] [-1.39216635e-02 -6.88295252e-05 9.99903087e-01 -2.17505679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.786559995 meters 0.011792409820665822 Centerline is valid? [True, True] Translation: X:102.57, Y:-35.93, Z:-2.18 [[ 7.52086522e-01 6.58980464e-01 1.05172398e-02 1.02570122e+02] [-6.58917333e-01 7.52160052e-01 -9.12168337e-03 -3.59258300e+01] [-1.39216588e-02 -6.96964752e-05 9.99903087e-01 -2.17569485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.816559995 meters 0.01156933571054959 Centerline is valid? [True, True] Translation: X:102.59, Y:-35.95, Z:-2.18 [[ 7.54628907e-01 6.56061348e-01 1.08958954e-02 1.02590917e+02] [-6.55993201e-01 7.54707565e-01 -9.45582343e-03 -3.59501786e+01] [-1.44268149e-02 -1.19955718e-05 9.99895928e-01 -2.17574199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.84655999499999 meters 0.011735694857500405 Centerline is valid? [True, True] Translation: X:102.61, Y:-35.98, Z:-2.18 [[ 7.57194422e-01 6.53091319e-01 1.13285624e-02 1.02612579e+02] [-6.53017245e-01 7.57279161e-01 -9.83616442e-03 -3.59756075e+01] [-1.50027978e-02 5.01422263e-05 9.99887450e-01 -2.17614427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.876559995 meters 0.01223390790480742 Centerline is valid? [True, True] Translation: X:102.63, Y:-36.00, Z:-2.18 [[ 7.59899653e-01 6.49944984e-01 1.11371164e-02 1.02633510e+02] [-6.49872974e-01 7.59981253e-01 -9.67542153e-03 -3.60002827e+01] [-1.47524914e-02 1.14638510e-04 9.99891170e-01 -2.17685781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.906559995 meters 0.013733639386808681 Centerline is valid? [True, True] Translation: X:102.65, Y:-36.03, Z:-2.18 [[ 7.65419534e-01 6.43435843e-01 1.11019880e-02 1.02652218e+02] [-6.43363512e-01 7.65500004e-01 -9.65062295e-03 -3.60280313e+01] [-1.47081286e-02 2.44161302e-04 9.99891800e-01 -2.17793192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.936559995 meters 0.014669119332112691 Centerline is valid? [True, True] Translation: X:102.67, Y:-36.05, Z:-2.18 [[ 7.67959604e-01 6.40399169e-01 1.12672513e-02 1.02673631e+02] [-6.40324320e-01 7.68042193e-01 -9.79567912e-03 -3.60526702e+01] [-1.49268692e-02 3.07990829e-04 9.99888541e-01 -2.17876841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.966559995 meters 0.01591680919462508 Centerline is valid? [True, True] Translation: X:102.69, Y:-36.08, Z:-2.18 [[ 7.70207900e-01 6.37695884e-01 1.11243158e-02 1.02693898e+02] [-6.37622635e-01 7.70288149e-01 -9.67174586e-03 -3.60763219e+01] [-1.47365612e-02 3.56139506e-04 9.99891348e-01 -2.17960685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.996559995 meters 0.017117609536372706 Centerline is valid? [True, True] Translation: X:102.72, Y:-36.10, Z:-2.18 [[ 7.72403917e-01 6.35036644e-01 1.09840277e-02 1.02715132e+02] [-6.34964900e-01 7.72481907e-01 -9.55400134e-03 -3.61002437e+01] [-1.45521036e-02 4.05075993e-04 9.99894030e-01 -2.18038458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.026559995 meters 0.019120953564450448 Centerline is valid? [True, True] Translation: X:102.73, Y:-36.13, Z:-2.18 [[ 7.76336804e-01 6.30221483e-01 1.10475998e-02 1.02734096e+02] [-6.30148352e-01 7.76415244e-01 -9.61371005e-03 -3.61260824e+01] [-1.46362915e-02 5.01850121e-04 9.99892758e-01 -2.18154311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.056559995 meters 0.019575742236084187 Centerline is valid? [True, True] Translation: X:102.76, Y:-36.15, Z:-2.18 [[ 7.78027901e-01 6.28136919e-01 1.07979927e-02 1.02756855e+02] [-6.28066786e-01 7.78102646e-01 -9.40131364e-03 -3.61492357e+01] [-1.43072589e-02 5.32623736e-04 9.99897504e-01 -2.18232636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.086559995 meters 0.020897653210240553 Centerline is valid? [True, True] Translation: X:102.78, Y:-36.17, Z:-2.18 [[ 7.79331628e-01 6.26510131e-01 1.12813293e-02 1.02777962e+02] [-6.26433401e-01 7.79413054e-01 -9.82263384e-03 -3.61726571e+01] [-1.49467949e-02 5.88087769e-04 9.99888117e-01 -2.18292007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.116559995 meters 0.02143392202215397 Centerline is valid? [True, True] Translation: X:102.80, Y:-36.20, Z:-2.18 [[ 7.80369719e-01 6.25216219e-01 1.13040367e-02 1.02800207e+02] [-6.25138978e-01 7.80451343e-01 -9.84682322e-03 -3.61951775e+01] [-1.49786442e-02 6.17568707e-04 9.99887623e-01 -2.18293295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.146559995 meters 0.021864362794927594 Centerline is valid? [True, True] Translation: X:102.82, Y:-36.22, Z:-2.18 [[ 7.81577776e-01 6.23694872e-01 1.18695817e-02 1.02822603e+02] [-6.23609444e-01 7.81667601e-01 -1.03451497e-02 -3.62186251e+01] [-1.57302843e-02 6.83555870e-04 9.99876038e-01 -2.18317941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.176559995 meters 0.02244068512679313 Centerline is valid? [True, True] Translation: X:102.85, Y:-36.24, Z:-2.18 [[ 7.81674159e-01 6.23568386e-01 1.21646170e-02 1.02846032e+02] [-6.23478631e-01 7.81768491e-01 -1.06030217e-02 -3.62408471e+01] [-1.61216234e-02 7.03729361e-04 9.99869791e-01 -2.18392603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.206559995 meters 0.02119446452544584 Centerline is valid? [True, True] Translation: X:102.87, Y:-36.26, Z:-2.18 [[ 7.81424104e-01 6.23881358e-01 1.21828123e-02 1.02871510e+02] [-6.23791293e-01 7.81518751e-01 -1.06237874e-02 -3.62610796e+01] [-1.61490792e-02 7.02151324e-04 9.99869349e-01 -2.18451444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.236559995 meters 0.02247715202515433 Centerline is valid? [True, True] Translation: X:102.89, Y:-36.28, Z:-2.19 [[ 7.80952413e-01 6.24465026e-01 1.25203704e-02 1.02894095e+02] [-6.24369867e-01 7.81052444e-01 -1.09246677e-02 -3.62830966e+01] [-1.66011388e-02 7.14303586e-04 9.99861936e-01 -2.18515812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.266559995 meters 0.02020752160397997 Centerline is valid? [True, True] Translation: X:102.92, Y:-36.30, Z:-2.19 [[ 7.79537298e-01 6.26222027e-01 1.29450330e-02 1.02919994e+02] [-6.26120451e-01 7.79644456e-01 -1.13006299e-02 -3.63009007e+01] [-1.71692266e-02 7.04112604e-04 9.99852350e-01 -2.18617958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.296559995 meters 0.020678886622661406 Centerline is valid? [True, True] Translation: X:102.94, Y:-36.32, Z:-2.19 [[ 7.78408252e-01 6.27626530e-01 1.28659169e-02 1.02943444e+02] [-6.27526318e-01 7.78514282e-01 -1.12353899e-02 -3.63220112e+01] [-1.70679288e-02 6.72018756e-04 9.99854106e-01 -2.18700253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.326559995 meters 0.019320276896546924 Centerline is valid? [True, True] Translation: X:102.97, Y:-36.34, Z:-2.19 [[ 7.77153481e-01 6.29180855e-01 1.28030695e-02 1.02969223e+02] [-6.29081737e-01 7.77258672e-01 -1.11859009e-02 -3.63415435e+01] [-1.69892515e-02 6.38984668e-04 9.99855468e-01 -2.18774834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.356559995 meters 0.018529352151433903 Centerline is valid? [True, True] Translation: X:103.00, Y:-36.36, Z:-2.19 [[ 7.75975050e-01 6.30640167e-01 1.24780509e-02 1.02995012e+02] [-6.30546109e-01 7.76075141e-01 -1.09077415e-02 -3.63617122e+01] [-1.65627651e-02 5.96148812e-04 9.99862650e-01 -2.18857935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.386559995 meters 0.017695886668813027 Centerline is valid? [True, True] Translation: X:103.02, Y:-36.38, Z:-2.19 [[ 7.73082602e-01 6.34191293e-01 1.20288721e-02 1.03019771e+02] [-6.34104286e-01 7.73176015e-01 -1.05168450e-02 -3.63799910e+01] [-1.59701270e-02 5.02830543e-04 9.99872343e-01 -2.18975944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.416559995 meters 0.01664581255899945 Centerline is valid? [True, True] Translation: X:103.05, Y:-36.40, Z:-2.19 [[ 7.71330739e-01 6.36322171e-01 1.19576547e-02 1.03045484e+02] [-6.36236428e-01 7.71423285e-01 -1.04557033e-02 -3.63993286e+01] [-1.58776091e-02 4.56909787e-04 9.99873838e-01 -2.19059963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.446559995 meters 0.01589416373096365 Centerline is valid? [True, True] Translation: X:103.07, Y:-36.42, Z:-2.19 [[ 7.69334610e-01 6.38738830e-01 1.17032058e-02 1.03070683e+02] [-6.38656900e-01 7.69423515e-01 -1.02381127e-02 -3.64189211e+01] [-1.55442019e-02 4.02201316e-04 9.99879101e-01 -2.19095160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.476559995 meters 0.01431950113568349 Centerline is valid? [True, True] Translation: X:103.10, Y:-36.44, Z:-2.19 [[ 7.65172719e-01 6.43725976e-01 1.12949909e-02 1.03097461e+02] [-6.43650117e-01 7.65256023e-01 -9.88665848e-03 -3.64367130e+01] [-1.50078587e-02 2.94979135e-04 9.99887332e-01 -2.19188580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.506559995 meters 0.01372355600080844 Centerline is valid? [True, True] Translation: X:103.12, Y:-36.46, Z:-2.19 [[ 7.62996937e-01 6.46305274e-01 1.11878243e-02 1.03123100e+02] [-6.46231117e-01 7.63078918e-01 -9.79329054e-03 -3.64560757e+01] [-1.48666481e-02 2.42330521e-04 9.99889456e-01 -2.19301030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.536559995 meters 0.012947363588012607 Centerline is valid? [True, True] Translation: X:103.15, Y:-36.47, Z:-2.19 [[ 7.60898656e-01 6.48777105e-01 1.10228353e-02 1.03148714e+02] [-6.48705312e-01 7.60978468e-01 -9.65344936e-03 -3.64749946e+01] [-1.46510772e-02 1.94724864e-04 9.99892648e-01 -2.19383182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.566559995 meters 0.012599509588560612 Centerline is valid? [True, True] Translation: X:103.17, Y:-36.49, Z:-2.20 [[ 7.58935863e-01 6.51076852e-01 1.07372140e-02 1.03173104e+02] [-6.51008895e-01 7.59011798e-01 -9.40792283e-03 -3.64941080e+01] [-1.42749529e-02 1.49988238e-04 9.99898096e-01 -2.19502511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.59655999499999 meters 0.012148589422340964 Centerline is valid? [True, True] Translation: X:103.20, Y:-36.51, Z:-2.20 [[ 7.57288850e-01 6.52992484e-01 1.06964624e-02 1.03198002e+02] [-6.52925173e-01 7.57364379e-01 -9.37632163e-03 -3.65138007e+01] [-1.42237872e-02 1.16594231e-04 9.99898830e-01 -2.19558711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.626559995 meters 0.011868681348138009 Centerline is valid? [True, True] Translation: X:103.22, Y:-36.53, Z:-2.20 [[ 7.55207155e-01 6.55402232e-01 1.04913022e-02 1.03222683e+02] [-6.55337650e-01 7.55280020e-01 -9.20086656e-03 -3.65339896e+01] [-1.39541394e-02 7.32149061e-05 9.99902634e-01 -2.19632457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.656559995 meters 0.011801797789711745 Centerline is valid? [True, True] Translation: X:103.25, Y:-36.56, Z:-2.20 [[ 7.54402531e-01 6.56326019e-01 1.06290700e-02 1.03246945e+02] [-6.56259757e-01 7.54477404e-01 -9.32624341e-03 -3.65554429e+01] [-1.41404493e-02 6.03107620e-05 9.99900017e-01 -2.19710353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.686559995 meters 0.011739310273363767 Centerline is valid? [True, True] Translation: X:103.27, Y:-36.58, Z:-2.20 [[ 7.53801492e-01 6.57017018e-01 1.05805785e-02 1.03271159e+02] [-6.56951360e-01 7.53875743e-01 -9.28841927e-03 -3.65770558e+01] [-1.40790910e-02 5.06988720e-05 9.99900883e-01 -2.19774594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.716559995 meters 0.011697890425872734 Centerline is valid? [True, True] Translation: X:103.30, Y:-36.60, Z:-2.20 [[ 7.53236620e-01 6.57666172e-01 1.04785922e-02 1.03295686e+02] [-6.57601767e-01 7.53309501e-01 -9.20393374e-03 -3.65986417e+01] [-1.39467389e-02 4.19991968e-05 9.99902739e-01 -2.19850143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.746559995 meters 0.011679099365450647 Centerline is valid? [True, True] Translation: X:103.32, Y:-36.62, Z:-2.20 [[ 7.52187195e-01 6.58868868e-01 1.03072456e-02 1.03319477e+02] [-6.58806594e-01 7.52257811e-01 -9.05852510e-03 -3.66195163e+01] [-1.37220862e-02 2.32252310e-05 9.99905847e-01 -2.19977352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.776559995 meters 0.011662152068089213 Centerline is valid? [True, True] Translation: X:103.34, Y:-36.64, Z:-2.20 [[ 7.51506755e-01 6.59647381e-01 1.01453888e-02 1.03343956e+02] [-6.59587060e-01 7.51575234e-01 -8.92063330e-03 -3.66413597e+01] [-1.35094953e-02 1.21490221e-05 9.99908743e-01 -2.20015240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.806559995 meters 0.011638449220110501 Centerline is valid? [True, True] Translation: X:103.37, Y:-36.66, Z:-2.20 [[ 7.51121469e-01 6.60083517e-01 1.03096511e-02 1.03367220e+02] [-6.60021194e-01 7.51192219e-01 -9.07044880e-03 -3.66625224e+01] [-1.37317835e-02 8.42058771e-06 9.99905715e-01 -2.20120962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.836559995 meters 0.011587819380977925 Centerline is valid? [True, True] Translation: X:103.39, Y:-36.68, Z:-2.20 [[ 7.50692007e-01 6.60577569e-01 9.93913487e-03 1.03391788e+02] [-6.60519633e-01 7.50757801e-01 -8.74865642e-03 -3.66848901e+01] [-1.32410492e-02 2.55272903e-06 9.99912333e-01 -2.20159299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.866559995 meters 0.011691974440988216 Centerline is valid? [True, True] Translation: X:103.42, Y:-36.71, Z:-2.20 [[ 7.50574493e-01 6.60715721e-01 9.62631342e-03 1.03415248e+02] [-6.60661328e-01 7.50636221e-01 -8.47787651e-03 -3.67078088e+01] [-1.28273258e-02 3.54485688e-06 9.99917726e-01 -2.20260553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.896559995 meters 0.011764099920944904 Centerline is valid? [True, True] Translation: X:103.44, Y:-36.73, Z:-2.20 [[ 7.50715587e-01 6.60557226e-01 9.50045193e-03 1.03438081e+02] [-6.60504173e-01 7.50775699e-01 -8.37181527e-03 -3.67295320e+01] [-1.26627715e-02 9.76407202e-06 9.99919824e-01 -2.20395274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.926559995 meters 0.011793732105487365 Centerline is valid? [True, True] Translation: X:103.46, Y:-36.75, Z:-2.20 [[ 7.50928470e-01 6.60320713e-01 9.10986082e-03 1.03461823e+02] [-6.60271869e-01 7.50983725e-01 -8.03136251e-03 -3.67521063e+01] [-1.21446322e-02 1.59939262e-05 9.99926251e-01 -2.20407784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.956559995 meters 0.011956914827243011 Centerline is valid? [True, True] Translation: X:103.49, Y:-36.77, Z:-2.20 [[ 7.51227443e-01 6.59982199e-01 8.99034971e-03 1.03485067e+02] [-6.59934552e-01 7.51281237e-01 -7.93034594e-03 -3.67748080e+01] [-1.19881682e-02 2.44510925e-05 9.99928139e-01 -2.20474806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.986559995 meters 0.012212177455468601 Centerline is valid? [True, True] Translation: X:103.51, Y:-36.80, Z:-2.21 [[ 7.52418160e-01 6.58626716e-01 8.81822994e-03 1.03506764e+02] [-6.58580732e-01 7.52469831e-01 -7.78291441e-03 -3.67990382e+01] [-1.17614874e-02 4.84898128e-05 9.99930830e-01 -2.20512765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.016559995 meters 0.012472682206623134 Centerline is valid? [True, True] Translation: X:103.53, Y:-36.82, Z:-2.21 [[ 7.53176235e-01 6.57758846e-01 8.88029451e-03 1.03529458e+02] [-6.57712102e-01 7.53228582e-01 -7.84183479e-03 -3.68221533e+01] [-1.18469278e-02 6.56064337e-05 9.99929821e-01 -2.20547777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.046559995 meters 0.012570341285080484 Centerline is valid? [True, True] Translation: X:103.55, Y:-36.84, Z:-2.21 [[ 7.53843300e-01 6.56997605e-01 8.62704345e-03 1.03552651e+02] [-6.56953400e-01 7.53892659e-01 -7.62163261e-03 -3.68449359e+01] [-1.15112591e-02 7.79511551e-05 9.99933740e-01 -2.20523347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.076559995 meters 0.013017002583779731 Centerline is valid? [True, True] Translation: X:103.57, Y:-36.87, Z:-2.21 [[ 7.55210499e-01 6.55428863e-01 8.37299620e-03 1.03574317e+02] [-6.55387078e-01 7.55256907e-01 -7.40152976e-03 -3.68682478e+01] [-1.11749394e-02 1.02159475e-04 9.99937553e-01 -2.20528114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.106559995 meters 0.013107302181122063 Centerline is valid? [True, True] Translation: X:103.60, Y:-36.89, Z:-2.21 [[ 7.55201969e-01 6.55435202e-01 8.64190619e-03 1.03598261e+02] [-6.55390647e-01 7.55251405e-01 -7.64297713e-03 -3.68896244e+01] [-1.15362881e-02 1.08166881e-04 9.99933449e-01 -2.20554707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.136559995 meters 0.013113897713447021 Centerline is valid? [True, True] Translation: X:103.62, Y:-36.91, Z:-2.21 [[ 7.55179090e-01 6.55460343e-01 8.73390120e-03 1.03622893e+02] [-6.55414792e-01 7.55229585e-01 -7.72815530e-03 -3.69111755e+01] [-1.16615999e-02 1.11813253e-04 9.99931995e-01 -2.20574648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.166559995 meters 0.013123968845072092 Centerline is valid? [True, True] Translation: X:103.65, Y:-36.93, Z:-2.21 [[ 7.55418890e-01 6.55187836e-01 8.43796555e-03 1.03646855e+02] [-6.55145258e-01 7.55466006e-01 -7.47026002e-03 -3.69330485e+01] [-1.12690196e-02 1.15082413e-04 9.99936496e-01 -2.20663331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.196559995 meters 0.013338829396170412 Centerline is valid? [True, True] Translation: X:103.67, Y:-36.95, Z:-2.21 [[ 7.55670757e-01 6.54899392e-01 8.27610359e-03 1.03672102e+02] [-6.54858371e-01 7.55716066e-01 -7.33091019e-03 -3.69549001e+01] [-1.10553931e-02 1.20078731e-04 9.99938880e-01 -2.20690283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.226559995 meters 0.013882720260279917 Centerline is valid? [True, True] Translation: X:103.70, Y:-36.98, Z:-2.21 [[ 7.55902617e-01 6.54635223e-01 7.99742131e-03 1.03695372e+02] [-6.54596860e-01 7.55944912e-01 -7.08804908e-03 -3.69773471e+01] [-1.06856965e-02 1.22787971e-04 9.99942899e-01 -2.20816497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.256559995 meters 0.013989156102257958 Centerline is valid? [True, True] Translation: X:103.72, Y:-37.00, Z:-2.21 [[ 7.56433454e-01 6.54022137e-01 7.96703288e-03 1.03718797e+02] [-6.53983989e-01 7.56475397e-01 -7.06509830e-03 -3.69988618e+01] [-1.06475950e-02 1.33964757e-04 9.99943304e-01 -2.20848808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.286559995 meters 0.014173256801006727 Centerline is valid? [True, True] Translation: X:103.74, Y:-37.02, Z:-2.21 [[ 7.57264156e-01 6.53060025e-01 7.97507149e-03 1.03741960e+02] [-6.53021697e-01 7.57306134e-01 -7.07688365e-03 -3.70204210e+01] [-1.06612004e-02 1.51175605e-04 9.99943156e-01 -2.20846963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.316559995 meters 0.015028306957291786 Centerline is valid? [True, True] Translation: X:103.76, Y:-37.04, Z:-2.21 [[ 7.59479876e-01 6.50479605e-01 8.16093245e-03 1.03764921e+02] [-6.50439312e-01 7.59523697e-01 -7.24255964e-03 -3.70423972e+01] [-1.09095589e-02 1.92387011e-04 9.99940470e-01 -2.20840710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.34655999499999 meters 0.015454510193763305 Centerline is valid? [True, True] Translation: X:103.79, Y:-37.06, Z:-2.21 [[ 7.60371923e-01 6.49431687e-01 8.54533542e-03 1.03788650e+02] [-6.49387397e-01 7.60419908e-01 -7.58768684e-03 -3.70638846e+01] [-1.14257274e-02 2.20230912e-04 9.99934700e-01 -2.20874706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.376559995 meters 0.015953760471115023 Centerline is valid? [True, True] Translation: X:103.81, Y:-37.09, Z:-2.21 [[ 7.61243764e-01 6.48406216e-01 8.79260215e-03 1.03812637e+02] [-6.48359211e-01 7.61294502e-01 -7.81119824e-03 -3.70854615e+01] [-1.17585892e-02 2.45461356e-04 9.99930835e-01 -2.20935750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.406559995 meters 0.016039642777668787 Centerline is valid? [True, True] Translation: X:103.84, Y:-37.11, Z:-2.21 [[ 7.62683467e-01 6.46709173e-01 9.00968187e-03 1.03837883e+02] [-6.46659652e-01 7.62736630e-01 -8.00797166e-03 -3.71053317e+01] [-1.20508431e-02 2.81349842e-04 9.99927346e-01 -2.20923111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.436559995 meters 0.01737227845505117 Centerline is valid? [True, True] Translation: X:103.86, Y:-37.13, Z:-2.21 [[ 7.63190000e-01 6.46110598e-01 9.06193331e-03 1.03859725e+02] [-6.46060397e-01 7.63243740e-01 -8.05954294e-03 -3.71271746e+01] [-1.21238200e-02 2.96406338e-04 9.99926460e-01 -2.21013059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.466559995 meters 0.016477705652620994 Centerline is valid? [True, True] Translation: X:103.89, Y:-37.15, Z:-2.21 [[ 7.63432217e-01 6.45822747e-01 9.17759792e-03 1.03885092e+02] [-6.45771222e-01 7.63487318e-01 -8.16354788e-03 -3.71468677e+01] [-1.22791846e-02 3.05686838e-04 9.99924561e-01 -2.20979900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.496559995 meters 0.01713091418153168 Centerline is valid? [True, True] Translation: X:103.91, Y:-37.17, Z:-2.21 [[ 7.63657209e-01 6.45557724e-01 9.10456083e-03 1.03908954e+02] [-6.45506946e-01 7.63711417e-01 -8.10268636e-03 -3.71674959e+01] [-1.21840088e-02 3.10617590e-04 9.99925724e-01 -2.20965384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.526559995 meters 0.01705969337633159 Centerline is valid? [True, True] Translation: X:103.93, Y:-37.19, Z:-2.21 [[ 7.63402584e-01 6.45856686e-01 9.25398411e-03 1.03934234e+02] [-6.45804209e-01 7.63458606e-01 -8.23900753e-03 -3.71881442e+01] [-1.23862519e-02 3.13417749e-04 9.99923238e-01 -2.21036909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.556559995 meters 0.017187880330870407 Centerline is valid? [True, True] Translation: X:103.96, Y:-37.21, Z:-2.21 [[ 7.62982661e-01 6.46355915e-01 9.02720789e-03 1.03958360e+02] [-6.46305955e-01 7.63036002e-01 -8.04188294e-03 -3.72080138e+01] [-1.20860032e-02 3.01479030e-04 9.99926916e-01 -2.21096325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.586559995 meters 0.01652975393978936 Centerline is valid? [True, True] Translation: X:103.98, Y:-37.23, Z:-2.21 [[ 7.62426908e-01 6.47011871e-01 8.99158879e-03 1.03984049e+02] [-6.46962310e-01 7.62479871e-01 -8.01346261e-03 -3.72273136e+01] [-1.20407109e-02 2.92460471e-04 9.99927465e-01 -2.21138980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.616559995 meters 0.016478284432736454 Centerline is valid? [True, True] Translation: X:104.01, Y:-37.25, Z:-2.21 [[ 7.61875304e-01 6.47658883e-01 9.16475835e-03 1.04008781e+02] [-6.47607391e-01 7.61930369e-01 -8.17189878e-03 -3.72474402e+01] [-1.22755106e-02 2.90802623e-04 9.99924611e-01 -2.21226461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.646559995 meters 0.015991237501830142 Centerline is valid? [True, True] Translation: X:104.04, Y:-37.27, Z:-2.21 [[ 7.60539956e-01 6.49231936e-01 8.76750698e-03 1.04035520e+02] [-6.49184874e-01 7.60590447e-01 -7.82118658e-03 -3.72661191e+01] [-1.17462462e-02 2.56591983e-04 9.99930978e-01 -2.21231926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.676559995 meters 0.015556216276465 Centerline is valid? [True, True] Translation: X:104.06, Y:-37.29, Z:-2.21 [[ 7.59599856e-01 6.50334113e-01 8.57911953e-03 1.04061002e+02] [-6.50289082e-01 7.59648264e-01 -7.65665629e-03 -3.72852643e+01] [-1.14964980e-02 2.37087253e-04 9.99933885e-01 -2.21305608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.706559995 meters 0.015556216276465 Centerline is valid? [True, True] Translation: X:104.09, Y:-37.31, Z:-2.21 [[ 7.59419000e-01 6.50545317e-01 8.57744983e-03 1.04085134e+02] [-6.50500279e-01 7.59467402e-01 -7.65852607e-03 -3.73069085e+01] [-1.14965118e-02 2.36396702e-04 9.99933885e-01 -2.21369432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.736559995 meters 0.015069171369684059 Centerline is valid? [True, True] Translation: X:104.11, Y:-37.32, Z:-2.21 [[ 7.57151516e-01 6.53193134e-01 7.76602881e-03 1.04110985e+02] [-6.53156301e-01 7.57191321e-01 -6.93895256e-03 -3.73244550e+01] [-1.04128458e-02 1.81407799e-04 9.99945768e-01 -2.21468559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.766559995 meters 0.014466689480029788 Centerline is valid? [True, True] Translation: X:104.14, Y:-37.34, Z:-2.22 [[ 7.55390656e-01 6.55233652e-01 7.33608241e-03 1.04137133e+02] [-6.55200879e-01 7.55426264e-01 -6.55507441e-03 -3.73436025e+01] [-9.83697467e-03 1.45034316e-04 9.99951605e-01 -2.21548364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.796559995 meters 0.014115929833416729 Centerline is valid? [True, True] Translation: X:104.16, Y:-37.36, Z:-2.22 [[ 7.53744300e-01 6.57130302e-01 7.02114756e-03 1.04163108e+02] [-6.57100337e-01 7.53776992e-01 -6.27645839e-03 -3.73627714e+01] [-9.41683048e-03 1.17246304e-04 9.99955654e-01 -2.21663177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.826559995 meters 0.013686301948081372 Centerline is valid? [True, True] Translation: X:104.19, Y:-37.38, Z:-2.22 [[ 7.52019073e-01 6.59108516e-01 6.57854212e-03 1.04189410e+02] [-6.59082265e-01 7.52047842e-01 -5.88318780e-03 -3.73814559e+01] [-8.82503759e-03 8.84690007e-05 9.99961055e-01 -2.21767196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.856559995 meters 0.013338944332166815 Centerline is valid? [True, True] Translation: X:104.22, Y:-37.40, Z:-2.22 [[ 7.49497794e-01 6.61981052e-01 5.84327424e-03 1.04215830e+02] [-6.61960411e-01 7.49520570e-01 -5.22776979e-03 -3.73983103e+01] [-7.84033878e-03 5.01857086e-05 9.99969263e-01 -2.21975398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.886559995 meters 0.013170126601827696 Centerline is valid? [True, True] Translation: X:104.24, Y:-37.42, Z:-2.22 [[ 7.48466769e-01 6.63148803e-01 5.58225587e-03 1.04242079e+02] [-6.63129988e-01 7.48487585e-01 -4.99546012e-03 -3.74189386e+01] [-7.49098261e-03 3.71746309e-05 9.99971942e-01 -2.22072613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.916559995 meters 0.01316886845005663 Centerline is valid? [True, True] Translation: X:104.27, Y:-37.44, Z:-2.22 [[ 7.47821190e-01 6.63882343e-01 4.86851975e-03 1.04267624e+02] [-6.63868038e-01 7.47837037e-01 -4.35819573e-03 -3.74392604e+01] [-6.53418858e-03 2.70964615e-05 9.99978652e-01 -2.22130489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.946559995 meters 0.013048812251209352 Centerline is valid? [True, True] Translation: X:104.29, Y:-37.46, Z:-2.22 [[ 7.47287292e-01 6.64483548e-01 4.82879244e-03 1.04293139e+02] [-6.64469474e-01 7.47302893e-01 -4.32496744e-03 -3.74596133e+01] [-6.48244027e-03 2.34080344e-05 9.99978988e-01 -2.22235411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.976559995 meters 0.013098139882879653 Centerline is valid? [True, True] Translation: X:104.32, Y:-37.48, Z:-2.22 [[ 7.47052437e-01 6.64749986e-01 4.48474655e-03 1.04319234e+02] [-6.64737840e-01 7.47065898e-01 -4.01852124e-03 -3.74793114e+01] [-6.02171315e-03 2.08653432e-05 9.99981869e-01 -2.22275247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.006559995 meters 0.013117306991753756 Centerline is valid? [True, True] Translation: X:104.34, Y:-37.50, Z:-2.22 [[ 7.47183946e-01 6.64601476e-01 4.58582106e-03 1.04344366e+02] [-6.64588759e-01 7.47198018e-01 -4.11149201e-03 -3.75008518e+01] [-6.15902007e-03 2.43556966e-05 9.99981033e-01 -2.22318136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.036559995 meters 0.013199755364691859 Centerline is valid? [True, True] Translation: X:104.37, Y:-37.52, Z:-2.22 [[ 7.47580551e-01 6.64155937e-01 4.49573181e-03 1.04368401e+02] [-6.64143692e-01 7.47594068e-01 -4.03312440e-03 -3.75220957e+01] [-6.03960595e-03 2.92734409e-05 9.99981761e-01 -2.22388120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.066559995 meters 0.013120736071379993 Centerline is valid? [True, True] Translation: X:104.39, Y:-37.54, Z:-2.22 [[ 7.49326986e-01 6.62185680e-01 4.38094066e-03 1.04392959e+02] [-6.62174007e-01 7.49339791e-01 -3.93208250e-03 -3.75434216e+01] [-5.88658188e-03 4.54704966e-05 9.99982673e-01 -2.22321838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.09655999499999 meters 0.013874786988337346 Centerline is valid? [True, True] Translation: X:104.42, Y:-37.57, Z:-2.22 [[ 7.50451478e-01 6.60910917e-01 4.39768993e-03 1.04415139e+02] [-6.60899119e-01 7.50464361e-01 -3.94945786e-03 -3.75655353e+01] [-5.91054938e-03 5.74470873e-05 9.99982531e-01 -2.22491071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.126559995 meters 0.013711632246458145 Centerline is valid? [True, True] Translation: X:104.44, Y:-37.59, Z:-2.22 [[ 7.51678723e-01 6.59515532e-01 4.28486790e-03 1.04439323e+02] [-6.59504302e-01 7.51690932e-01 -3.84939155e-03 -3.75870422e+01] [-5.75962986e-03 6.76169150e-05 9.99983411e-01 -2.22395346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.156559995 meters 0.014543090044080352 Centerline is valid? [True, True] Translation: X:104.46, Y:-37.61, Z:-2.23 [[ 7.53081304e-01 6.57914863e-01 4.07224107e-03 1.04461131e+02] [-6.57904686e-01 7.53092310e-01 -3.66023499e-03 -3.76092780e+01] [-5.47489643e-03 7.73080551e-05 9.99985010e-01 -2.22510544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.186559995 meters 0.015526007710250983 Centerline is valid? [True, True] Translation: X:104.48, Y:-37.63, Z:-2.23 [[ 7.56218702e-01 6.54309730e-01 3.47156342e-03 1.04483405e+02] [-6.54302293e-01 7.56226665e-01 -3.12094255e-03 -3.76317691e+01] [-4.66735190e-03 8.86632155e-05 9.99989104e-01 -2.22520334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.216559995 meters 0.01569640973952004 Centerline is valid? [True, True] Translation: X:104.51, Y:-37.65, Z:-2.23 [[ 7.57512772e-01 6.52812873e-01 3.12281357e-03 1.04507176e+02] [-6.52806842e-01 7.57519204e-01 -2.80763400e-03 -3.76534182e+01] [-4.19845087e-03 8.82245520e-05 9.99991183e-01 -2.22540387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.246559995 meters 0.015946734947664427 Centerline is valid? [True, True] Translation: X:104.53, Y:-37.67, Z:-2.23 [[ 7.58980051e-01 6.51108418e-01 2.66647068e-03 1.04530454e+02] [-6.51104008e-01 7.58984730e-01 -2.39789627e-03 -3.76747633e+01] [-3.58510098e-03 8.38056918e-05 9.99993570e-01 -2.22564085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.276559995 meters 0.017468353580640455 Centerline is valid? [True, True] Translation: X:104.55, Y:-37.70, Z:-2.23 [[ 7.60181575e-01 6.49706524e-01 2.32502928e-03 1.04551833e+02] [-6.49703157e-01 7.60185126e-01 -2.09331555e-03 -3.76976379e+01] [-3.12749345e-03 8.07210484e-05 9.99995106e-01 -2.22718543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.306559995 meters 0.018153268604082215 Centerline is valid? [True, True] Translation: X:104.57, Y:-37.72, Z:-2.23 [[ 7.61536815e-01 6.48117986e-01 2.18063599e-03 1.04574870e+02] [-6.48115024e-01 7.61539933e-01 -1.96111220e-03 -3.77198268e+01] [-2.93167348e-03 8.01561892e-05 9.99995699e-01 -2.22758521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.336559995 meters 0.019034798388721713 Centerline is valid? [True, True] Translation: X:104.60, Y:-37.74, Z:-2.23 [[ 7.63642861e-01 6.45635602e-01 2.06161127e-03 1.04597903e+02] [-6.45632933e-01 7.63645639e-01 -1.85846372e-03 -3.77420263e+01] [-2.77423079e-03 8.81584206e-05 9.99996148e-01 -2.22703666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.366559995 meters 0.019188511953203913 Centerline is valid? [True, True] Translation: X:104.62, Y:-37.76, Z:-2.23 [[ 7.64412142e-01 6.44722187e-01 2.71655363e-03 1.04622116e+02] [-6.44717557e-01 7.64416960e-01 -2.44607953e-03 -3.77637195e+01] [-3.65362142e-03 1.18403072e-04 9.99993318e-01 -2.22706539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.396559995 meters 0.020081216187786223 Centerline is valid? [True, True] Translation: X:104.64, Y:-37.78, Z:-2.23 [[ 7.65213341e-01 6.43768441e-01 3.27680943e-03 1.04644308e+02] [-6.43761673e-01 7.65220342e-01 -2.95578161e-03 -3.77847942e+01] [-4.41032015e-03 1.52319198e-04 9.99990263e-01 -2.22763384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.426559995 meters 0.019778447445898354 Centerline is valid? [True, True] Translation: X:104.67, Y:-37.81, Z:-2.23 [[ 7.65694057e-01 6.43196335e-01 3.32952253e-03 1.04668948e+02] [-6.43189350e-01 7.65701280e-01 -3.00163610e-03 -3.78058027e+01] [-4.48006100e-03 1.56821488e-04 9.99989952e-01 -2.22751375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.456559995 meters 0.020294332881208195 Centerline is valid? [True, True] Translation: X:104.69, Y:-37.83, Z:-2.23 [[ 7.66618162e-01 6.42092425e-01 3.72978603e-03 1.04693001e+02] [-6.42083635e-01 7.66627213e-01 -3.36487709e-03 -3.78274914e+01] [-5.01991756e-03 1.84741319e-04 9.99987383e-01 -2.22781684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.486559995 meters 0.02023288445104032 Centerline is valid? [True, True] Translation: X:104.72, Y:-37.85, Z:-2.23 [[ 7.66806807e-01 6.41867937e-01 3.58788357e-03 1.04717359e+02] [-6.41859794e-01 7.66815179e-01 -3.23816918e-03 -3.78489529e+01] [-4.82972056e-03 1.80131955e-04 9.99988321e-01 -2.22827514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.516559995 meters 0.019898299658687432 Centerline is valid? [True, True] Translation: X:104.74, Y:-37.87, Z:-2.23 [[ 7.66845642e-01 6.41822169e-01 3.47339452e-03 1.04742072e+02] [-6.41814531e-01 7.66853488e-01 -3.13611262e-03 -3.78700613e+01] [-4.67641131e-03 1.75639214e-04 9.99989050e-01 -2.22866643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.546559995 meters 0.02128493170884402 Centerline is valid? [True, True] Translation: X:104.76, Y:-37.89, Z:-2.23 [[ 7.66319003e-01 6.42450338e-01 3.57063472e-03 1.04764547e+02] [-6.42442263e-01 7.66327301e-01 -3.22605264e-03 -3.78911015e+01] [-4.80885348e-03 1.78258796e-04 9.99988422e-01 -2.23002413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.576559995 meters 0.020288185889378287 Centerline is valid? [True, True] Translation: X:104.79, Y:-37.91, Z:-2.23 [[ 7.65492102e-01 6.43434354e-01 3.75159580e-03 1.04789695e+02] [-6.43425444e-01 7.65501273e-01 -3.39108922e-03 -3.79109149e+01] [-5.05379466e-03 1.81979827e-04 9.99987213e-01 -2.23014761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.606559995 meters 0.019128981309889975 Centerline is valid? [True, True] Translation: X:104.82, Y:-37.93, Z:-2.23 [[ 7.64483236e-01 6.44631580e-01 3.93805319e-03 1.04815034e+02] [-6.44621767e-01 7.64493357e-01 -3.56159042e-03 -3.79301613e+01] [-5.30652916e-03 1.84221364e-04 9.99985903e-01 -2.23014765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.636559995 meters 0.019400489750531495 Centerline is valid? [True, True] Translation: X:104.84, Y:-37.95, Z:-2.23 [[ 7.63347549e-01 6.45975095e-01 4.08595688e-03 1.04839085e+02] [-6.45964540e-01 7.63358463e-01 -3.69744189e-03 -3.79507158e+01] [-5.50750514e-03 1.83049946e-04 9.99984817e-01 -2.23095013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.666559995 meters 0.018224882754013728 Centerline is valid? [True, True] Translation: X:104.86, Y:-37.97, Z:-2.23 [[ 7.60818165e-01 6.48953580e-01 3.86925043e-03 1.04864872e+02] [-6.48944124e-01 7.60827988e-01 -3.50671162e-03 -3.79687539e+01] [-5.21952708e-03 1.57042571e-04 9.99986366e-01 -2.23206033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.696559995 meters 0.01793326061170979 Centerline is valid? [True, True] Translation: X:104.89, Y:-37.99, Z:-2.23 [[ 7.59436365e-01 6.50571107e-01 3.69349315e-03 1.04889748e+02] [-6.50562529e-01 7.59445334e-01 -3.34360730e-03 -3.79892629e+01] [-4.98026044e-03 1.36408727e-04 9.99987589e-01 -2.23287827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.726559995 meters 0.01785438008921447 Centerline is valid? [True, True] Translation: X:104.91, Y:-38.01, Z:-2.23 [[ 7.58126344e-01 6.52097174e-01 3.70425948e-03 1.04913288e+02] [-6.52088554e-01 7.58135383e-01 -3.35533479e-03 -3.80090584e+01] [-4.99633451e-03 1.28262488e-04 9.99987510e-01 -2.23439277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.756559995 meters 0.01634988722531351 Centerline is valid? [True, True] Translation: X:104.94, Y:-38.03, Z:-2.24 [[ 7.56187150e-01 6.54343743e-01 3.90651202e-03 1.04940451e+02] [-6.54334162e-01 7.56197230e-01 -3.54298778e-03 -3.80275452e+01] [-5.27242546e-03 1.22997554e-04 9.99986093e-01 -2.23538588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.786559995 meters 0.015441231131817727 Centerline is valid? [True, True] Translation: X:104.97, Y:-38.05, Z:-2.24 [[ 7.55543413e-01 6.55086204e-01 4.02693658e-03 1.04965369e+02] [-6.55076047e-01 7.55554135e-01 -3.64985092e-03 -3.80473237e+01] [-5.43353557e-03 1.19671124e-04 9.99985231e-01 -2.23534296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.816559995 meters 0.015305183085756426 Centerline is valid? [True, True] Translation: X:104.99, Y:-38.07, Z:-2.24 [[ 7.55026558e-01 6.55679548e-01 4.38494476e-03 1.04989408e+02] [-6.55667500e-01 7.55039280e-01 -3.97686781e-03 -3.80681427e+01] [-5.91835642e-03 1.27575049e-04 9.99982478e-01 -2.23610139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.84655999499999 meters 0.015418507479343256 Centerline is valid? [True, True] Translation: X:105.01, Y:-38.09, Z:-2.24 [[ 7.54583306e-01 6.56188315e-01 4.57496484e-03 1.05013084e+02] [-6.56175193e-01 7.54597163e-01 -4.15187066e-03 -3.80890372e+01] [-6.17666450e-03 1.30953849e-04 9.99980916e-01 -2.23660286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.876559995 meters 0.015590657516167204 Centerline is valid? [True, True] Translation: X:105.04, Y:-38.11, Z:-2.24 [[ 7.54417140e-01 6.56376093e-01 5.02030301e-03 1.05037046e+02] [-6.56360282e-01 7.54433830e-01 -4.55809397e-03 -3.81098173e+01] [-6.77931034e-03 1.43576722e-04 9.99977010e-01 -2.23726306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.906559995 meters 0.015585506998871974 Centerline is valid? [True, True] Translation: X:105.06, Y:-38.13, Z:-2.24 [[ 7.54441996e-01 6.56347318e-01 5.04705517e-03 1.05061536e+02] [-6.56331323e-01 7.54458864e-01 -4.58449797e-03 -3.81320474e+01] [-6.81681846e-03 1.46197404e-04 9.99976755e-01 -2.23762273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.936559995 meters 0.015307972941592399 Centerline is valid? [True, True] Translation: X:105.09, Y:-38.15, Z:-2.24 [[ 7.54500936e-01 6.56278046e-01 5.24056300e-03 1.05086122e+02] [-6.56260780e-01 7.54519120e-01 -4.76310871e-03 -3.81538363e+01] [-7.08002866e-03 1.54594020e-04 9.99974924e-01 -2.23769647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.966559995 meters 0.015601203057670042 Centerline is valid? [True, True] Translation: X:105.11, Y:-38.18, Z:-2.24 [[ 7.54610135e-01 6.56150776e-01 5.45006755e-03 1.05109173e+02] [-6.56132062e-01 7.54629798e-01 -4.95834000e-03 -3.81753457e+01] [-7.36620201e-03 1.65649565e-04 9.99972855e-01 -2.23836889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.996559995 meters 0.015926307388350203 Centerline is valid? [True, True] Translation: X:105.13, Y:-38.20, Z:-2.24 [[ 7.55216545e-01 6.55452956e-01 5.42150587e-03 1.05132909e+02] [-6.55434416e-01 7.55235985e-01 -4.93291427e-03 -3.81969649e+01] [-7.32780956e-03 1.71976936e-04 9.99973136e-01 -2.23894606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.026559995 meters 0.015751316804036446 Centerline is valid? [True, True] Translation: X:105.16, Y:-38.22, Z:-2.24 [[ 7.55264767e-01 6.55398358e-01 5.30316427e-03 1.05157827e+02] [-6.55380606e-01 7.55283366e-01 -4.82680061e-03 -3.82191880e+01] [-7.16886895e-03 1.69921422e-04 9.99974289e-01 -2.23974158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.056559995 meters 0.016573440289653126 Centerline is valid? [True, True] Translation: X:105.18, Y:-38.24, Z:-2.24 [[ 7.55601685e-01 6.55012948e-01 4.91230708e-03 1.05180024e+02] [-6.54997678e-01 7.55617635e-01 -4.47557960e-03 -3.82406663e+01] [-6.64338845e-03 1.64205753e-04 9.99977919e-01 -2.24142071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.086559995 meters 0.016204161112310128 Centerline is valid? [True, True] Translation: X:105.20, Y:-38.26, Z:-2.24 [[ 7.55759491e-01 6.54831492e-01 4.82787257e-03 1.05204413e+02] [-6.54816744e-01 7.55774894e-01 -4.39782501e-03 -3.82617264e+01] [-6.52861919e-03 1.62326195e-04 9.99978675e-01 -2.24207301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.116559995 meters 0.017614645427763365 Centerline is valid? [True, True] Translation: X:105.23, Y:-38.28, Z:-2.24 [[ 7.56055743e-01 6.54490013e-01 4.74723298e-03 1.05226041e+02] [-6.54475732e-01 7.56070629e-01 -4.32669580e-03 -3.82844371e+01] [-6.42102262e-03 1.64274435e-04 9.99979372e-01 -2.24340857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.146559995 meters 0.016727119909624555 Centerline is valid? [True, True] Translation: X:105.25, Y:-38.31, Z:-2.24 [[ 7.56225397e-01 6.54291908e-01 5.02464789e-03 1.05251115e+02] [-6.54275895e-01 7.56242069e-01 -4.58101982e-03 -3.83059869e+01] [-6.79717432e-03 1.76777534e-04 9.99976883e-01 -2.24298267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.176559995 meters 0.016756342250362703 Centerline is valid? [True, True] Translation: X:105.28, Y:-38.33, Z:-2.24 [[ 7.56102876e-01 6.54431839e-01 5.23539778e-03 1.05275429e+02] [-6.54414437e-01 7.56120978e-01 -4.77610700e-03 -3.83287973e+01] [-7.08423058e-03 1.85108346e-04 9.99974889e-01 -2.24345030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.206559995 meters 0.017149756186712706 Centerline is valid? [True, True] Translation: X:105.30, Y:-38.35, Z:-2.24 [[ 7.56126371e-01 6.54402246e-01 5.53280670e-03 1.05298682e+02] [-6.54382783e-01 7.56146587e-01 -5.05093018e-03 -3.83513922e+01] [-7.48895296e-03 1.98568061e-04 9.99971938e-01 -2.24392851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.236559995 meters 0.016978291647977758 Centerline is valid? [True, True] Translation: X:105.32, Y:-38.37, Z:-2.24 [[ 7.55937076e-01 6.54622224e-01 5.37405614e-03 1.05323084e+02] [-6.54603854e-01 7.55956154e-01 -4.90802432e-03 -3.83735987e+01] [-7.27545260e-03 1.92279692e-04 9.99973515e-01 -2.24442201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.266559995 meters 0.017493039583767907 Centerline is valid? [True, True] Translation: X:105.35, Y:-38.40, Z:-2.25 [[ 7.55695948e-01 6.54899499e-01 5.50281052e-03 1.05345868e+02] [-6.54880221e-01 7.55715957e-01 -5.02884751e-03 -3.83958588e+01] [-7.45195144e-03 1.96597914e-04 9.99972214e-01 -2.24539562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.296559995 meters 0.016282246933728293 Centerline is valid? [True, True] Translation: X:105.37, Y:-38.42, Z:-2.25 [[ 7.55036824e-01 6.55657765e-01 5.68239991e-03 1.05370726e+02] [-6.55637205e-01 7.55058181e-01 -5.19604426e-03 -3.84158609e+01] [-7.69736930e-03 1.97611965e-04 9.99970355e-01 -2.24509698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.326559995 meters 0.016581719461651028 Centerline is valid? [True, True] Translation: X:105.39, Y:-38.44, Z:-2.25 [[ 7.54648815e-01 6.56102712e-01 5.86487331e-03 1.05393725e+02] [-6.56080802e-01 7.54671578e-01 -5.36573071e-03 -3.84375304e+01] [-7.94652366e-03 2.01411536e-04 9.99968406e-01 -2.24570977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.356559995 meters 0.015792802641845405 Centerline is valid? [True, True] Translation: X:105.42, Y:-38.46, Z:-2.25 [[ 7.54349179e-01 6.56444471e-01 6.16217029e-03 1.05418754e+02] [-6.56420270e-01 7.54374318e-01 -5.64069423e-03 -3.84583896e+01] [-8.35138555e-03 2.10079574e-04 9.99965105e-01 -2.24574410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.386559995 meters 0.015563958286699717 Centerline is valid? [True, True] Translation: X:105.44, Y:-38.48, Z:-2.25 [[ 7.53818721e-01 6.57050950e-01 6.43306183e-03 1.05442601e+02] [-6.57024569e-01 7.53846140e-01 -5.89181565e-03 -3.84795076e+01] [-8.72076190e-03 2.14681266e-04 9.99961950e-01 -2.24604837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.416559995 meters 0.01607665502151526 Centerline is valid? [True, True] Translation: X:105.47, Y:-38.50, Z:-2.25 [[ 7.53495730e-01 6.57418205e-01 6.74453654e-03 1.05465526e+02] [-6.57389188e-01 7.53525882e-01 -6.18068714e-03 -3.85010325e+01] [-9.14547908e-03 2.23335973e-04 9.99958154e-01 -2.24664244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.446559995 meters 0.015230573238437699 Centerline is valid? [True, True] Translation: X:105.49, Y:-38.52, Z:-2.25 [[ 7.53285312e-01 6.57660418e-01 6.63422492e-03 1.05490652e+02] [-6.57632336e-01 7.53314494e-01 -6.08141846e-03 -3.85219165e+01] [-8.99716599e-03 2.18162373e-04 9.99959501e-01 -2.24659797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.476559995 meters 0.016116423565173458 Centerline is valid? [True, True] Translation: X:105.51, Y:-38.54, Z:-2.25 [[ 7.53057620e-01 6.57920165e-01 6.72884236e-03 1.05513675e+02] [-6.57891240e-01 7.53087649e-01 -6.17325460e-03 -3.85446452e+01] [-9.12891676e-03 2.21969975e-04 9.99958306e-01 -2.24804106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.506559995 meters 0.015050139785096475 Centerline is valid? [True, True] Translation: X:105.54, Y:-38.56, Z:-2.25 [[ 7.52317117e-01 6.58768252e-01 6.58368585e-03 1.05539223e+02] [-6.58740585e-01 7.52345896e-01 -6.04107755e-03 -3.85648830e+01] [-8.93287913e-03 2.07864976e-04 9.99960079e-01 -2.24828149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.536559995 meters 0.01464534659274047 Centerline is valid? [True, True] Translation: X:105.56, Y:-38.59, Z:-2.25 [[ 7.51707119e-01 6.59464220e-01 6.58401864e-03 1.05563556e+02] [-6.59436551e-01 7.51735926e-01 -6.04431001e-03 -3.85856657e+01] [-8.93544954e-03 2.01808328e-04 9.99960058e-01 -2.24862850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.566559995 meters 0.01607494981295334 Centerline is valid? [True, True] Translation: X:105.58, Y:-38.61, Z:-2.25 [[ 7.51039183e-01 6.60225754e-01 6.48847285e-03 1.05584861e+02] [-6.60198882e-01 7.51067185e-01 -5.95974912e-03 -3.86077814e+01] [-8.80805890e-03 1.92322580e-04 9.99961190e-01 -2.25041565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.59655999499999 meters 0.01607494981295334 Centerline is valid? [True, True] Translation: X:105.61, Y:-38.63, Z:-2.25 [[ 7.50863668e-01 6.60425368e-01 6.48738620e-03 1.05608682e+02] [-6.60398493e-01 7.50891668e-01 -5.96093153e-03 -3.86297956e+01] [-8.80807464e-03 1.91586833e-04 9.99961190e-01 -2.25105394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.626559995 meters 0.014586898793085524 Centerline is valid? [True, True] Translation: X:105.63, Y:-38.65, Z:-2.25 [[ 7.50115039e-01 6.61275715e-01 6.46968671e-03 1.05634444e+02] [-6.61248988e-01 7.50142916e-01 -5.94813650e-03 -3.86489712e+01] [-8.78654788e-03 1.83712847e-04 9.99961381e-01 -2.25056117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.656559995 meters 0.01444888051154118 Centerline is valid? [True, True] Translation: X:105.66, Y:-38.67, Z:-2.25 [[ 7.48953558e-01 6.62590314e-01 6.53018435e-03 1.05657962e+02] [-6.62563106e-01 7.48982006e-01 -6.00704813e-03 -3.86689932e+01] [-8.87120249e-03 1.72340840e-04 9.99960635e-01 -2.25125048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.686559995 meters 0.014504879155599629 Centerline is valid? [True, True] Translation: X:105.68, Y:-38.69, Z:-2.25 [[ 7.48513203e-01 6.63086270e-01 6.67713406e-03 1.05681073e+02] [-6.63057805e-01 7.48542964e-01 -6.14642170e-03 -3.86902482e+01] [-9.07372956e-03 1.73351936e-04 9.99958818e-01 -2.25197203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.716559995 meters 0.014293226752660987 Centerline is valid? [True, True] Translation: X:105.70, Y:-38.71, Z:-2.25 [[ 7.48126345e-01 6.63520258e-01 6.91663733e-03 1.05704907e+02] [-6.63489729e-01 7.48158297e-01 -6.36730913e-03 -3.87115400e+01] [-9.39957820e-03 1.74433884e-04 9.99955808e-01 -2.25195836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.746559995 meters 0.014149591333492386 Centerline is valid? [True, True] Translation: X:105.73, Y:-38.73, Z:-2.25 [[ 7.48000239e-01 6.63655470e-01 7.55376909e-03 1.05728885e+02] [-6.63619028e-01 7.48038355e-01 -6.95732772e-03 -3.87336410e+01] [-1.02677776e-02 1.91257895e-04 9.99947267e-01 -2.25198599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.776559995 meters 0.013765954207968221 Centerline is valid? [True, True] Translation: X:105.75, Y:-38.76, Z:-2.25 [[ 7.47861807e-01 6.63810113e-01 7.67153758e-03 1.05753413e+02] [-6.63772493e-01 7.47901127e-01 -7.06975286e-03 -3.87560965e+01] [-1.04305250e-02 1.95042529e-04 9.99945582e-01 -2.25273912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.806559995 meters 0.014559203901496788 Centerline is valid? [True, True] Translation: X:105.78, Y:-38.78, Z:-2.25 [[ 7.47842953e-01 6.63836501e-01 7.21236783e-03 1.05775320e+02] [-6.63803216e-01 7.47877708e-01 -6.65018682e-03 -3.87787339e+01] [-9.80860587e-03 1.85702383e-04 9.99951877e-01 -2.25496658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.836559995 meters 0.014607328026522265 Centerline is valid? [True, True] Translation: X:105.80, Y:-38.80, Z:-2.26 [[ 7.47796752e-01 6.63890437e-01 7.03594958e-03 1.05799290e+02] [-6.63858733e-01 7.47829829e-01 -6.49064745e-03 -3.88012085e+01] [-9.57077175e-03 1.82808507e-04 9.99954182e-01 -2.25607076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.866559995 meters 0.014170795026190886 Centerline is valid? [True, True] Translation: X:105.82, Y:-38.82, Z:-2.26 [[ 7.48473543e-01 6.63114047e-01 8.19241496e-03 1.05823639e+02] [-6.63070959e-01 7.48518342e-01 -7.56270243e-03 -3.88240643e+01] [-1.11471071e-02 2.28330242e-04 9.99937843e-01 -2.25606720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.896559995 meters 0.015159701157819687 Centerline is valid? [True, True] Translation: X:105.84, Y:-38.85, Z:-2.26 [[ 7.48904529e-01 6.62617914e-01 8.91667786e-03 1.05844539e+02] [-6.62566753e-01 7.48957564e-01 -8.23807978e-03 -3.88469123e+01] [-1.21369126e-02 2.61640963e-04 9.99926311e-01 -2.25651335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.926559995 meters 0.014847437485913818 Centerline is valid? [True, True] Translation: X:105.87, Y:-38.87, Z:-2.26 [[ 7.49471445e-01 6.61971636e-01 9.27940123e-03 1.05867959e+02] [-6.61916160e-01 7.49528834e-01 -8.57463669e-03 -3.88687820e+01] [-1.26313451e-02 2.84259717e-04 9.99920181e-01 -2.25660330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.956559995 meters 0.014956529814693992 Centerline is valid? [True, True] Translation: X:105.89, Y:-38.89, Z:-2.26 [[ 7.50304439e-01 6.61021798e-01 9.66603450e-03 1.05890756e+02] [-6.60961461e-01 7.50366632e-01 -8.93666048e-03 -3.88906100e+01] [-1.31603971e-02 3.16339732e-04 9.99913348e-01 -2.25724906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.986559995 meters 0.016234327168113412 Centerline is valid? [True, True] Translation: X:105.91, Y:-38.91, Z:-2.26 [[ 7.52079729e-01 6.58997254e-01 9.93480012e-03 1.05910938e+02] [-6.58933279e-01 7.52145256e-01 -9.18952782e-03 -3.89143423e+01] [-1.35282864e-02 3.64887180e-04 9.99908422e-01 -2.25860086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.016559995 meters 0.016878188993901734 Centerline is valid? [True, True] Translation: X:105.93, Y:-38.94, Z:-2.26 [[ 7.52923831e-01 6.58028046e-01 1.02369565e-02 1.05932670e+02] [-6.57959970e-01 7.52993315e-01 -9.47338466e-03 -3.89376137e+01] [-1.39421126e-02 3.97229517e-04 9.99902725e-01 -2.25948558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.046559995 meters 0.01786663825124551 Centerline is valid? [True, True] Translation: X:105.95, Y:-38.96, Z:-2.26 [[ 7.53968329e-01 6.56824893e-01 1.06216139e-02 1.05953397e+02] [-6.56751393e-01 7.54043013e-01 -9.83574077e-03 -3.89603182e+01] [-1.44695132e-02 4.40077280e-04 9.99895214e-01 -2.26035068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.076559995 meters 0.01721882877817642 Centerline is valid? [True, True] Translation: X:105.98, Y:-38.98, Z:-2.26 [[ 7.55908755e-01 6.54579439e-01 1.13009797e-02 1.05976223e+02] [-6.54495988e-01 7.55993051e-01 -1.04645973e-02 -3.89824912e+01] [-1.53933723e-02 5.13834853e-04 9.99881383e-01 -2.26084804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.106559995 meters 0.018372243449987887 Centerline is valid? [True, True] Translation: X:106.00, Y:-39.01, Z:-2.26 [[ 7.56818761e-01 6.53516222e-01 1.19126112e-02 1.05997577e+02] [-6.53423266e-01 7.56912296e-01 -1.10368281e-02 -3.90054270e+01] [-1.62295481e-02 5.68901287e-04 9.99868130e-01 -2.26157264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.136559995 meters 0.01763018894940107 Centerline is valid? [True, True] Translation: X:106.02, Y:-39.03, Z:-2.26 [[ 7.57581864e-01 6.52622864e-01 1.23740033e-02 1.06021630e+02] [-6.52522404e-01 7.57682666e-01 -1.14669329e-02 -3.90269890e+01] [-1.68591505e-02 6.12826027e-04 9.99857687e-01 -2.26232071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.166559995 meters 0.01985640064366057 Centerline is valid? [True, True] Translation: X:106.04, Y:-39.05, Z:-2.26 [[ 7.58200383e-01 6.51897472e-01 1.27226137e-02 1.06041595e+02] [-6.51791063e-01 7.58306839e-01 -1.17961230e-02 -3.90507544e+01] [-1.73375077e-02 6.51339067e-04 9.99849482e-01 -2.26340553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.196559995 meters 0.01945367488487002 Centerline is valid? [True, True] Translation: X:106.06, Y:-39.07, Z:-2.26 [[ 7.58927650e-01 6.51039899e-01 1.32616717e-02 1.06064472e+02] [-6.50924043e-01 7.59043183e-01 -1.23018476e-02 -3.90725927e+01] [-1.80751751e-02 7.03871330e-04 9.99836383e-01 -2.26466032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.226559995 meters 0.0198756025136694 Centerline is valid? [True, True] Translation: X:106.09, Y:-39.10, Z:-2.27 [[ 7.58688803e-01 6.51309869e-01 1.36658426e-02 1.06087361e+02] [-6.51186778e-01 7.58811526e-01 -1.26826123e-02 -3.90955771e+01] [-1.86301094e-02 7.23139911e-04 9.99826183e-01 -2.26550076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.256559995 meters 0.019546835590340882 Centerline is valid? [True, True] Translation: X:106.11, Y:-39.12, Z:-2.27 [[ 7.58244810e-01 6.51818417e-01 1.40555549e-02 1.06111332e+02] [-6.51688149e-01 7.58374715e-01 -1.30517269e-02 -3.91172770e+01] [-1.91667335e-02 7.36565622e-04 9.99816030e-01 -2.26629641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.286559995 meters 0.021209320480465615 Centerline is valid? [True, True] Translation: X:106.13, Y:-39.14, Z:-2.27 [[ 7.57362680e-01 6.52832163e-01 1.45580835e-02 1.06132614e+02] [-6.52692465e-01 7.57502223e-01 -1.35251336e-02 -3.91404174e+01] [-1.98574228e-02 7.41479998e-04 9.99802547e-01 -2.26705711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.316559995 meters 0.01942106858268577 Centerline is valid? [True, True] Translation: X:106.16, Y:-39.16, Z:-2.27 [[ 7.55416857e-01 6.55068244e-01 1.51976334e-02 1.06157667e+02] [-6.54916321e-01 7.55569375e-01 -1.41255788e-02 -3.91589994e+01] [-2.07360844e-02 7.17522156e-04 9.99784727e-01 -2.26863192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.34655999499999 meters 0.017853096156265492 Centerline is valid? [True, True] Translation: X:106.18, Y:-39.18, Z:-2.27 [[ 7.54175794e-01 6.56491335e-01 1.54272341e-02 1.06183312e+02] [-6.56335060e-01 7.54333250e-01 -1.43400711e-02 -3.91791507e+01] [-2.10514081e-02 6.89499912e-04 9.99778157e-01 -2.26965693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.376559995 meters 0.01664029121924581 Centerline is valid? [True, True] Translation: X:106.21, Y:-39.20, Z:-2.27 [[ 7.52789404e-01 6.58067220e-01 1.59889812e-02 1.06208695e+02] [-6.57899641e-01 7.52958885e-01 -1.48653589e-02 -3.91991018e+01] [-2.18214509e-02 6.71339681e-04 9.99761658e-01 -2.27063275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.406559995 meters 0.015499537303803062 Centerline is valid? [True, True] Translation: X:106.23, Y:-39.22, Z:-2.27 [[ 7.50038428e-01 6.61178983e-01 1.68733273e-02 1.06234112e+02] [-6.60992969e-01 7.50227945e-01 -1.56947447e-02 -3.92183864e+01] [-2.30358770e-02 6.18510903e-04 9.99734448e-01 -2.27172652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.436559995 meters 0.015053811134838507 Centerline is valid? [True, True] Translation: X:106.26, Y:-39.24, Z:-2.27 [[ 7.48504002e-01 6.62903819e-01 1.73287380e-02 1.06258774e+02] [-6.62708021e-01 7.48704339e-01 -1.61211529e-02 -3.92393279e+01] [-2.36608752e-02 5.82853831e-04 9.99719872e-01 -2.27222162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.466559995 meters 0.014355281537672876 Centerline is valid? [True, True] Translation: X:106.28, Y:-39.26, Z:-2.27 [[ 7.47186107e-01 6.64370766e-01 1.80112902e-02 1.06283993e+02] [-6.64159479e-01 7.47402949e-01 -1.67635812e-02 -3.92600289e+01] [-2.45989247e-02 5.63145819e-04 9.99697242e-01 -2.27293714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.496559995 meters 0.014598560399609897 Centerline is valid? [True, True] Translation: X:106.31, Y:-39.28, Z:-2.27 [[ 7.45740912e-01 6.65973914e-01 1.86879141e-02 1.06306951e+02] [-6.65746843e-01 7.45974840e-01 -1.73976452e-02 -3.92811868e+01] [-2.55270915e-02 5.32715984e-04 9.99673989e-01 -2.27307014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.526559995 meters 0.013585184404443248 Centerline is valid? [True, True] Translation: X:106.33, Y:-39.30, Z:-2.27 [[ 7.43176694e-01 6.68808650e-01 1.95803643e-02 1.06333233e+02] [-6.68560115e-01 7.43434446e-01 -1.82372632e-02 -3.93000721e+01] [-2.67539567e-02 4.62858336e-04 9.99641942e-01 -2.27402927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.556559995 meters 0.013231616869518192 Centerline is valid? [True, True] Translation: X:106.36, Y:-39.32, Z:-2.27 [[ 7.41897287e-01 6.70224879e-01 1.96730123e-02 1.06358295e+02] [-6.69974242e-01 7.42157958e-01 -1.83325053e-02 -3.93208751e+01] [-2.68873838e-02 4.20424476e-04 9.99638381e-01 -2.27496594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.586559995 meters 0.012963223033022088 Centerline is valid? [True, True] Translation: X:106.38, Y:-39.34, Z:-2.28 [[ 7.40636897e-01 6.71624562e-01 1.94276738e-02 1.06382615e+02] [-6.71380386e-01 7.40891564e-01 -1.81126287e-02 -3.93413930e+01] [-2.65586860e-02 3.71521996e-04 9.99647187e-01 -2.27617813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.616559995 meters 0.012289255126317457 Centerline is valid? [True, True] Translation: X:106.41, Y:-39.36, Z:-2.28 [[ 7.37921320e-01 6.74614013e-01 1.91848669e-02 1.06408673e+02] [-6.74376683e-01 7.38170619e-01 -1.78949040e-02 -3.93608902e+01] [-2.62338581e-02 2.67204300e-04 9.99655797e-01 -2.27823312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.646559995 meters 0.012193628011055413 Centerline is valid? [True, True] Translation: X:106.43, Y:-39.38, Z:-2.28 [[ 7.36508814e-01 6.76160600e-01 1.90160495e-02 1.06432560e+02] [-6.75927743e-01 7.36754231e-01 -1.77451367e-02 -3.93813199e+01] [-2.60087172e-02 2.15974123e-04 9.99661693e-01 -2.27928315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.676559995 meters 0.011959339823798059 Centerline is valid? [True, True] Translation: X:106.46, Y:-39.40, Z:-2.28 [[ 7.35360226e-01 6.77415097e-01 1.88182208e-02 1.06457205e+02] [-6.77187324e-01 7.35600949e-01 -1.75662203e-02 -3.94022676e+01] [-2.57423239e-02 1.74039175e-04 9.99668596e-01 -2.28047287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.706559995 meters 0.01174460436779375 Centerline is valid? [True, True] Translation: X:106.48, Y:-39.42, Z:-2.28 [[ 7.33759275e-01 6.79142483e-01 1.90476569e-02 1.06482199e+02] [-6.78909475e-01 7.34006453e-01 -1.77890918e-02 -3.94220407e+01] [-2.60624310e-02 1.21276312e-04 9.99660310e-01 -2.28200574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.736559995 meters 0.011710556687231395 Centerline is valid? [True, True] Translation: X:106.51, Y:-39.44, Z:-2.28 [[ 7.33302253e-01 6.79635102e-01 1.90770325e-02 1.06506016e+02] [-6.79401308e-01 7.33550350e-01 -1.78254493e-02 -3.94436915e+01] [-2.61087649e-02 1.10481321e-04 9.99659102e-01 -2.28281869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.766559995 meters 0.011868306889441923 Centerline is valid? [True, True] Translation: X:106.53, Y:-39.47, Z:-2.28 [[ 7.33589198e-01 6.79335515e-01 1.87122269e-02 1.06529693e+02] [-6.79110246e-01 7.33827802e-01 -1.74937575e-02 -3.94662436e+01] [-2.56156831e-02 1.25566534e-04 9.99671857e-01 -2.28453627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.796559995 meters 0.011929159901398716 Centerline is valid? [True, True] Translation: X:106.55, Y:-39.49, Z:-2.29 [[ 7.34224470e-01 6.78656008e-01 1.84512956e-02 1.06553263e+02] [-6.78436523e-01 7.34456261e-01 -1.72593734e-02 -3.94896649e+01] [-2.52648470e-02 1.54221474e-04 9.99680781e-01 -2.28592132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.826559995 meters 0.012161216377792486 Centerline is valid? [True, True] Translation: X:106.58, Y:-39.51, Z:-2.29 [[ 7.35404634e-01 6.77385150e-01 1.81489136e-02 1.06575179e+02] [-6.77172206e-01 7.35628519e-01 -1.69848521e-02 -3.95124366e+01] [-2.48561450e-02 2.00799065e-04 9.99691018e-01 -2.28710126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.856559995 meters 0.012575704220807577 Centerline is valid? [True, True] Translation: X:106.60, Y:-39.54, Z:-2.29 [[ 7.36894288e-01 6.75762133e-01 1.82304241e-02 1.06596550e+02] [-6.75546660e-01 7.37119714e-01 -1.70656951e-02 -3.95352523e+01] [-2.49703555e-02 2.60111132e-04 9.99688158e-01 -2.28812608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.886559995 meters 0.012874853113759082 Centerline is valid? [True, True] Translation: X:106.62, Y:-39.56, Z:-2.29 [[ 7.38608389e-01 6.73899460e-01 1.78091210e-02 1.06618457e+02] [-6.73693171e-01 7.38822993e-01 -1.66762008e-02 -3.95580643e+01] [-2.43958708e-02 3.19298597e-04 9.99702325e-01 -2.28926051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.916559995 meters 0.014197823597437351 Centerline is valid? [True, True] Translation: X:106.64, Y:-39.58, Z:-2.29 [[ 7.42583805e-01 6.69516591e-01 1.77996632e-02 1.06638457e+02] [-6.69309072e-01 7.42796954e-01 -1.66748608e-02 -3.95829079e+01] [-2.43856316e-02 4.69005560e-04 9.99702516e-01 -2.29072806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.946559995 meters 0.015353034782323985 Centerline is valid? [True, True] Translation: X:106.66, Y:-39.61, Z:-2.29 [[ 7.44689232e-01 6.67179240e-01 1.76014213e-02 1.06658783e+02] [-6.66975502e-01 7.44897017e-01 -1.64958831e-02 -3.96066474e+01] [-2.41169569e-02 5.44589738e-04 9.99708996e-01 -2.29136982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.976559995 meters 0.015315750266318495 Centerline is valid? [True, True] Translation: X:106.68, Y:-39.63, Z:-2.29 [[ 7.46614177e-01 6.65030834e-01 1.73568559e-02 1.06681137e+02] [-6.64832031e-01 7.46815652e-01 -1.62712207e-02 -3.96292213e+01] [-2.37832351e-02 6.08930329e-04 9.99716953e-01 -2.29243884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.006559995 meters 0.016390169845587024 Centerline is valid? [True, True] Translation: X:106.70, Y:-39.65, Z:-2.29 [[ 7.48499528e-01 6.62910041e-01 1.72839407e-02 1.06701530e+02] [-6.62712188e-01 7.48698750e-01 -1.62091974e-02 -3.96524265e+01] [-2.36857045e-02 6.78298451e-04 9.99719224e-01 -2.29322572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.036559995 meters 0.017735481757075216 Centerline is valid? [True, True] Translation: X:106.72, Y:-39.68, Z:-2.29 [[ 7.51579765e-01 6.59434629e-01 1.65477221e-02 1.06721828e+02] [-6.59252392e-01 7.51761530e-01 -1.55205002e-02 -3.96766767e+01] [-2.26746962e-02 7.55768504e-04 9.99742610e-01 -2.29413154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.066559995 meters 0.01840896545537826 Centerline is valid? [True, True] Translation: X:106.74, Y:-39.70, Z:-2.29 [[ 7.52576511e-01 6.58298316e-01 1.64900465e-02 1.06743913e+02] [-6.58116931e-01 7.52756733e-01 -1.54727437e-02 -3.96998106e+01] [-2.25986747e-02 7.92044680e-04 9.99744304e-01 -2.29497422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.09655999499999 meters 0.018131478320541624 Centerline is valid? [True, True] Translation: X:106.77, Y:-39.72, Z:-2.30 [[ 7.53382015e-01 6.57384774e-01 1.61492584e-02 1.06767401e+02] [-6.57210439e-01 7.53554647e-01 -1.51602184e-02 -3.97220768e+01] [-2.21354454e-02 8.07974739e-04 9.99754655e-01 -2.29579750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.126559995 meters 0.01906163875980124 Centerline is valid? [True, True] Translation: X:106.79, Y:-39.74, Z:-2.30 [[ 7.54103054e-01 6.56562789e-01 1.59338565e-02 1.06788432e+02] [-6.56392740e-01 7.54270921e-01 -1.49649308e-02 -3.97443597e+01] [-2.18438613e-02 8.26232325e-04 9.99761053e-01 -2.29646994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.156559995 meters 0.01969359234592985 Centerline is valid? [True, True] Translation: X:106.81, Y:-39.77, Z:-2.30 [[ 7.54260967e-01 6.56396574e-01 1.52948240e-02 1.06810669e+02] [-6.56239784e-01 7.54415600e-01 -1.43683414e-02 -3.97667009e+01] [-2.09699839e-02 8.00407097e-04 9.99779785e-01 -2.29713600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.186559995 meters 0.019982360913573555 Centerline is valid? [True, True] Translation: X:106.83, Y:-39.79, Z:-2.30 [[ 7.53894547e-01 6.56818432e-01 1.52498993e-02 1.06833062e+02] [-6.56662513e-01 7.54048355e-01 -1.43325543e-02 -3.97878594e+01] [-2.09130474e-02 7.91197343e-04 9.99780985e-01 -2.29777152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.216559995 meters 0.020093288992968607 Centerline is valid? [True, True] Translation: X:106.86, Y:-39.81, Z:-2.30 [[ 7.53030306e-01 6.57814489e-01 1.50152112e-02 1.06856153e+02] [-6.57663403e-01 7.53179611e-01 -1.41181699e-02 -3.98092445e+01] [-2.05962876e-02 7.56454891e-04 9.99787588e-01 -2.29829950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.246559995 meters 0.019699032317113504 Centerline is valid? [True, True] Translation: X:106.88, Y:-39.83, Z:-2.30 [[ 7.51998092e-01 6.59000551e-01 1.47357486e-02 1.06880409e+02] [-6.58855143e-01 7.52142116e-01 -1.38614179e-02 -3.98304426e+01] [-2.02180592e-02 7.15036114e-04 9.99795338e-01 -2.29904882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.276559995 meters 0.019079389160201868 Centerline is valid? [True, True] Translation: X:106.90, Y:-39.85, Z:-2.30 [[ 7.49475350e-01 6.61865789e-01 1.48450877e-02 1.06904728e+02] [-6.61718642e-01 7.49622077e-01 -1.39707216e-02 -3.98498115e+01] [-2.03749481e-02 6.47440196e-04 9.99792200e-01 -2.29927315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.306559995 meters 0.018328828106527303 Centerline is valid? [True, True] Translation: X:106.93, Y:-39.87, Z:-2.30 [[ 7.47948641e-01 6.63594229e-01 1.46809445e-02 1.06929343e+02] [-6.63450628e-01 7.48092472e-01 -1.38173149e-02 -3.98701083e+01] [-2.01517945e-02 5.94560014e-04 9.99796755e-01 -2.29976064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.336559995 meters 0.016031802451951897 Centerline is valid? [True, True] Translation: X:106.96, Y:-39.89, Z:-2.30 [[ 7.46392083e-01 6.65344272e-01 1.46921395e-02 1.06955775e+02] [-6.65200659e-01 7.46536466e-01 -1.38343201e-02 -3.98884318e+01] [-2.01728035e-02 5.52606154e-04 9.99796356e-01 -2.30017198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.366559995 meters 0.015953496030066478 Centerline is valid? [True, True] Translation: X:106.98, Y:-39.91, Z:-2.30 [[ 7.44824182e-01 6.67105124e-01 1.44114867e-02 1.06979206e+02] [-6.66967145e-01 7.44963424e-01 -1.35766047e-02 -3.99092271e+01] [-1.97930531e-02 5.00195366e-04 9.99803973e-01 -2.30065181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.396559995 meters 0.015279191223539485 Centerline is valid? [True, True] Translation: X:107.00, Y:-39.93, Z:-2.30 [[ 7.42209211e-01 6.70018517e-01 1.41659454e-02 1.07003838e+02] [-6.69885611e-01 7.42344267e-01 -1.33512871e-02 -3.99279577e+01] [-1.94616179e-02 4.19885300e-04 9.99810517e-01 -2.30087002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.426559995 meters 0.014449331673080533 Centerline is valid? [True, True] Translation: X:107.03, Y:-39.95, Z:-2.30 [[ 7.40753840e-01 6.71626546e-01 1.41961796e-02 1.07029250e+02] [-6.71493349e-01 7.40889762e-01 -1.33806739e-02 -3.99481447e+01] [-1.95046199e-02 3.79145449e-04 9.99809695e-01 -2.30135279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.456559995 meters 0.01408427259562984 Centerline is valid? [True, True] Translation: X:107.05, Y:-39.97, Z:-2.30 [[ 7.39478529e-01 6.73024024e-01 1.44971984e-02 1.07054332e+02] [-6.72885251e-01 7.39620536e-01 -1.36711907e-02 -3.99688631e+01] [-1.99234654e-02 3.54601000e-04 9.99801445e-01 -2.30179700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.486559995 meters 0.01408427259562984 Centerline is valid? [True, True] Translation: X:107.08, Y:-39.99, Z:-2.30 [[ 7.39291275e-01 6.73229782e-01 1.44938648e-02 1.07077874e+02] [-6.73090979e-01 7.39433253e-01 -1.36747240e-02 -3.99911653e+01] [-1.99234771e-02 3.53914523e-04 9.99801445e-01 -2.30243522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.516559995 meters 0.013824243555999937 Centerline is valid? [True, True] Translation: X:107.10, Y:-40.01, Z:-2.30 [[ 7.38057484e-01 6.74576906e-01 1.47359883e-02 1.07102301e+02] [-6.74433535e-01 7.38204505e-01 -1.39110115e-02 -4.00119387e+01] [-2.02622200e-02 3.28681434e-04 9.99794646e-01 -2.30252591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.546559995 meters 0.013572101408478206 Centerline is valid? [True, True] Translation: X:107.13, Y:-40.03, Z:-2.30 [[ 7.37122146e-01 6.75593273e-01 1.49890644e-02 1.07126721e+02] [-6.75445001e-01 7.37274463e-01 -1.41568951e-02 -4.00324980e+01] [-2.06153575e-02 3.11072279e-04 9.99787433e-01 -2.30262449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.576559995 meters 0.013363075440193394 Centerline is valid? [True, True] Translation: X:107.15, Y:-40.05, Z:-2.30 [[ 7.36130385e-01 6.76673544e-01 1.49990522e-02 1.07151628e+02] [-6.76525156e-01 7.36283120e-01 -1.41732253e-02 -4.00524080e+01] [-2.06341955e-02 2.86105688e-04 9.99787051e-01 -2.30327450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.606559995 meters 0.013389377585689406 Centerline is valid? [True, True] Translation: X:107.18, Y:-40.07, Z:-2.30 [[ 7.35844654e-01 6.76990345e-01 1.47213616e-02 1.07175589e+02] [-6.76847330e-01 7.35991845e-01 -1.39174665e-02 -4.00745488e+01] [-2.02567925e-02 2.76979013e-04 9.99794772e-01 -2.30409277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.636559995 meters 0.0135937184165306 Centerline is valid? [True, True] Translation: X:107.20, Y:-40.10, Z:-2.30 [[ 7.36010499e-01 6.76822937e-01 1.41158684e-02 1.07199507e+02] [-6.76691278e-01 7.36145798e-01 -1.33520958e-02 -4.00973475e+01] [-1.94283419e-02 2.75197622e-04 9.99811214e-01 -2.30477115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.666559995 meters 0.013476321500337174 Centerline is valid? [True, True] Translation: X:107.22, Y:-40.12, Z:-2.31 [[ 7.36333146e-01 6.76477475e-01 1.38464603e-02 1.07223889e+02] [-6.76350598e-01 7.36463268e-01 -1.31042933e-02 -4.01191089e+01] [-1.90621686e-02 2.84063740e-04 9.99818260e-01 -2.30559402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.696559995 meters 0.014021295698096492 Centerline is valid? [True, True] Translation: X:107.25, Y:-40.14, Z:-2.31 [[ 7.38007625e-01 6.74666173e-01 1.30499016e-02 1.07247086e+02] [-6.74553074e-01 7.38122927e-01 -1.23570200e-02 -4.01410418e+01] [-1.79692949e-02 3.16723785e-04 9.99838489e-01 -2.30684166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.726559995 meters 0.014546446177688098 Centerline is valid? [True, True] Translation: X:107.27, Y:-40.16, Z:-2.31 [[ 7.38974421e-01 6.73610016e-01 1.28977268e-02 1.07269014e+02] [-6.73499272e-01 7.39086889e-01 -1.22188944e-02 -4.01630700e+01] [-1.77633105e-02 3.42840820e-04 9.99842161e-01 -2.30757472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.756559995 meters 0.015652118434004478 Centerline is valid? [True, True] Translation: X:107.29, Y:-40.19, Z:-2.31 [[ 7.41032402e-01 6.71363117e-01 1.19391939e-02 1.07290452e+02] [-6.71267854e-01 7.41128483e-01 -1.13154853e-02 -4.01854012e+01] [-1.64452761e-02 3.70744147e-04 9.99864699e-01 -2.30852273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.786559995 meters 0.016284281768365234 Centerline is valid? [True, True] Translation: X:107.31, Y:-40.21, Z:-2.31 [[ 7.41910611e-01 6.70395928e-01 1.17450149e-02 1.07312317e+02] [-6.70303538e-01 7.42003469e-01 -1.11363480e-02 -4.02073244e+01] [-1.61806041e-02 3.89449750e-04 9.99869010e-01 -2.30947859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.816559995 meters 0.016903582653929387 Centerline is valid? [True, True] Translation: X:107.33, Y:-40.23, Z:-2.31 [[ 7.42592499e-01 6.69646578e-01 1.13947604e-02 1.07334952e+02] [-6.69559458e-01 7.42679812e-01 -1.08087669e-02 -4.02302535e+01] [-1.57007122e-02 3.97039640e-04 9.99876657e-01 -2.31005134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.84655999499999 meters 0.01753382156362601 Centerline is valid? [True, True] Translation: X:107.36, Y:-40.25, Z:-2.31 [[ 7.43315424e-01 6.68850432e-01 1.10126954e-02 1.07357285e+02] [-6.68768898e-01 7.43396890e-01 -1.04510778e-02 -4.02529310e+01] [-1.51770114e-02 4.03499122e-04 9.99884741e-01 -2.31078519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.876559995 meters 0.017984179935616233 Centerline is valid? [True, True] Translation: X:107.38, Y:-40.28, Z:-2.31 [[ 7.43862647e-01 6.68246083e-01 1.07487291e-02 1.07380067e+02] [-6.68168278e-01 7.43940189e-01 -1.02052155e-02 -4.02755839e+01] [-1.48160069e-02 4.09318750e-04 9.99890153e-01 -2.31175947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.906559995 meters 0.01880092411706326 Centerline is valid? [True, True] Translation: X:107.40, Y:-40.30, Z:-2.31 [[ 7.44672175e-01 6.67351124e-01 1.02873174e-02 1.07403002e+02] [-6.67279710e-01 7.44743115e-01 -9.77145688e-03 -4.02978030e+01] [-1.41824015e-02 4.12013897e-04 9.99899340e-01 -2.31308857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.936559995 meters 0.017714672460415103 Centerline is valid? [True, True] Translation: X:107.43, Y:-40.32, Z:-2.31 [[ 7.44749922e-01 6.67271747e-01 9.79640131e-03 1.07427901e+02] [-6.67206926e-01 7.44814244e-01 -9.30912326e-03 -4.03185726e+01] [-1.35082142e-02 3.96742015e-04 9.99908681e-01 -2.31355658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.966559995 meters 0.01804602731933198 Centerline is valid? [True, True] Translation: X:107.45, Y:-40.34, Z:-2.31 [[ 7.44886813e-01 6.67123629e-01 9.47098105e-03 1.07450720e+02] [-6.67062965e-01 7.44946918e-01 -9.00498236e-03 -4.03404611e+01] [-1.30628147e-02 3.89951910e-04 9.99914602e-01 -2.31439776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.996559995 meters 0.017579227057485106 Centerline is valid? [True, True] Translation: X:107.48, Y:-40.36, Z:-2.32 [[ 7.44654662e-01 6.67389914e-01 8.95187224e-03 1.07475056e+02] [-6.67335730e-01 7.44708379e-01 -8.51201285e-03 -4.03620774e+01] [-1.23473658e-02 3.64605858e-04 9.99923702e-01 -2.31512998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.026559995 meters 0.01720948331028743 Centerline is valid? [True, True] Translation: X:107.50, Y:-40.38, Z:-2.32 [[ 7.44302801e-01 6.67781577e-01 9.00583871e-03 1.07499271e+02] [-6.67726703e-01 7.44357194e-01 -8.56843655e-03 -4.03835460e+01] [-1.24254049e-02 3.64072344e-04 9.99922735e-01 -2.31559984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.056559995 meters 0.017154702068514095 Centerline is valid? [True, True] Translation: X:107.52, Y:-40.41, Z:-2.32 [[ 7.43603247e-01 6.68566741e-01 8.52786229e-03 1.07522965e+02] [-6.68517546e-01 7.43652070e-01 -8.11728844e-03 -4.04053989e+01] [-1.17687115e-02 3.35016466e-04 9.99930690e-01 -2.31653155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.086559995 meters 0.016850284497387173 Centerline is valid? [True, True] Translation: X:107.55, Y:-40.43, Z:-2.32 [[ 7.41490507e-01 6.70914534e-01 8.09416921e-03 1.07546259e+02] [-6.70870315e-01 7.41534629e-01 -7.70810214e-03 -4.04260827e+01] [-1.11735845e-02 2.85346717e-04 9.99937533e-01 -2.31722213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.116559995 meters 0.01621053221938099 Centerline is valid? [True, True] Translation: X:107.57, Y:-40.45, Z:-2.32 [[ 7.39921926e-01 6.72640935e-01 8.34959949e-03 1.07570890e+02] [-6.72593948e-01 7.39968986e-01 -7.95492489e-03 -4.04472945e+01] [-1.15292528e-02 2.70133258e-04 9.99933499e-01 -2.31782540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.146559995 meters 0.015519627986815965 Centerline is valid? [True, True] Translation: X:107.60, Y:-40.47, Z:-2.32 [[ 7.38187174e-01 6.74541437e-01 8.57591370e-03 1.07595641e+02] [-6.74491949e-01 7.38236945e-01 -8.17460876e-03 -4.04678678e+01] [-1.18451687e-02 2.50006596e-04 9.99929812e-01 -2.31818004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.176559995 meters 0.015321221717108187 Centerline is valid? [True, True] Translation: X:107.62, Y:-40.49, Z:-2.32 [[ 7.36430827e-01 6.76457583e-01 8.64728641e-03 1.07618936e+02] [-6.76407348e-01 7.36481560e-01 -8.24684960e-03 -4.04885109e+01] [-1.19472109e-02 2.24146200e-04 9.99928604e-01 -2.31896937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.206559995 meters 0.014425350529529174 Centerline is valid? [True, True] Translation: X:107.64, Y:-40.51, Z:-2.32 [[ 7.33627109e-01 6.79492084e-01 9.04286033e-03 1.07644556e+02] [-6.79437328e-01 7.33682816e-01 -8.62808010e-03 -4.05085635e+01] [-1.24973034e-02 1.85736599e-04 9.99921888e-01 -2.31923932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.236559995 meters 0.014102198895691531 Centerline is valid? [True, True] Translation: X:107.67, Y:-40.53, Z:-2.32 [[ 7.32448821e-01 6.80764606e-01 8.84742732e-03 1.07667813e+02] [-6.80712235e-01 7.32502236e-01 -8.44559678e-03 -4.05297969e+01] [-1.22302236e-02 1.63415377e-04 9.99925195e-01 -2.31999948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.266559995 meters 0.013807673483993532 Centerline is valid? [True, True] Translation: X:107.69, Y:-40.55, Z:-2.32 [[ 7.31478897e-01 6.81808762e-01 8.68534411e-03 1.07691155e+02] [-6.81758326e-01 7.31530444e-01 -8.29416835e-03 -4.05513494e+01] [-1.20086303e-02 1.45703452e-04 9.99927883e-01 -2.32086051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.296559995 meters 0.013680546497118657 Centerline is valid? [True, True] Translation: X:107.71, Y:-40.57, Z:-2.32 [[ 7.30722262e-01 6.82619980e-01 8.65671827e-03 1.07714719e+02] [-6.82569888e-01 7.30773525e-01 -8.27062460e-03 -4.05735976e+01] [-1.19717941e-02 1.34714283e-04 9.99928326e-01 -2.32148065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.326559995 meters 0.013246361130682144 Centerline is valid? [True, True] Translation: X:107.74, Y:-40.60, Z:-2.32 [[ 7.29358316e-01 6.84081515e-01 8.30228160e-03 1.07738064e+02] [-6.84035477e-01 7.29405559e-01 -7.93703831e-03 -4.05964355e+01] [-1.14853115e-02 1.09889743e-04 9.99934036e-01 -2.32207181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.356559995 meters 0.013074893639708146 Centerline is valid? [True, True] Translation: X:107.76, Y:-40.62, Z:-2.32 [[ 7.28494560e-01 6.85002449e-01 8.20495059e-03 1.07761416e+02] [-6.84957548e-01 7.28540758e-01 -7.84357484e-03 -4.06189385e+01] [-1.13505089e-02 9.39587632e-05 9.99935576e-01 -2.32274817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.386559995 meters 0.01258495624932938 Centerline is valid? [True, True] Translation: X:107.79, Y:-40.64, Z:-2.32 [[ 7.27580637e-01 6.85977191e-01 7.85564163e-03 1.07785742e+02] [-6.85936060e-01 7.27623040e-01 -7.51223955e-03 -4.06407561e+01] [-1.08691708e-02 7.72921704e-05 9.99940926e-01 -2.32269365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.416559995 meters 0.012487224295309792 Centerline is valid? [True, True] Translation: X:107.81, Y:-40.66, Z:-2.33 [[ 7.25497382e-01 6.88181655e-01 7.71741870e-03 1.07807840e+02] [-6.88142034e-01 7.25538426e-01 -7.38469509e-03 -4.06625470e+01] [-1.06812955e-02 4.68967537e-05 9.99942952e-01 -2.32523795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.446559995 meters 0.012147211971321549 Centerline is valid? [True, True] Translation: X:107.83, Y:-40.68, Z:-2.32 [[ 7.24215090e-01 6.89531351e-01 7.68240935e-03 1.07831857e+02] [-6.89492136e-01 7.24255836e-01 -7.35380913e-03 -4.06849697e+01] [-1.06347117e-02 2.87787097e-05 9.99943449e-01 -2.32483234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.476559995 meters 0.012065925050450092 Centerline is valid? [True, True] Translation: X:107.86, Y:-40.71, Z:-2.33 [[ 7.23064409e-01 6.90741439e-01 7.35695157e-03 1.07855235e+02] [-6.90705503e-01 7.23101835e-01 -7.04578612e-03 -4.07076320e+01] [-1.01866416e-02 1.30702394e-05 9.99948115e-01 -2.32533087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.506559995 meters 0.012075970242268136 Centerline is valid? [True, True] Translation: X:107.88, Y:-40.73, Z:-2.33 [[ 7.21006146e-01 6.92890625e-01 7.26077294e-03 1.07877300e+02] [-6.92855691e-01 7.21042704e-01 -6.95775218e-03 -4.07303745e+01] [-1.00562886e-02 -1.40857655e-05 9.99949434e-01 -2.32711650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.536559995 meters 0.012056335681667656 Centerline is valid? [True, True] Translation: X:107.90, Y:-40.75, Z:-2.33 [[ 7.20018830e-01 6.93918483e-01 7.07278156e-03 1.07900683e+02] [-6.93885353e-01 7.20053566e-01 -6.78077764e-03 -4.07541524e+01] [-9.79808852e-03 -2.54119467e-05 9.99951997e-01 -2.32710201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.566559995 meters 0.011994587506930336 Centerline is valid? [True, True] Translation: X:107.92, Y:-40.78, Z:-2.33 [[ 7.19214236e-01 6.94749986e-01 7.30339548e-03 1.07923860e+02] [-6.94714662e-01 7.19251316e-01 -7.00591574e-03 -4.07779975e+01] [-1.01203367e-02 -3.50215869e-05 9.99948787e-01 -2.32721422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.59655999499999 meters 0.012011292086930254 Centerline is valid? [True, True] Translation: X:107.95, Y:-40.80, Z:-2.33 [[ 7.18472096e-01 6.95519260e-01 7.12778540e-03 1.07946954e+02] [-6.95485616e-01 7.18507451e-01 -6.84115235e-03 -4.08012920e+01] [-9.87952014e-03 -4.20951480e-05 9.99951195e-01 -2.32794496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.626559995 meters 0.012135147431848726 Centerline is valid? [True, True] Translation: X:107.97, Y:-40.82, Z:-2.33 [[ 7.17777743e-01 6.96230655e-01 7.61483041e-03 1.07968215e+02] [-6.96192244e-01 7.17818133e-01 -7.31349001e-03 -4.08246843e+01] [-1.05579393e-02 -5.19255092e-05 9.99944262e-01 -2.32933353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.656559995 meters 0.012059074289110898 Centerline is valid? [True, True] Translation: X:107.99, Y:-40.85, Z:-2.33 [[ 7.17416444e-01 6.96603132e-01 7.59755111e-03 1.07990560e+02] [-6.96564878e-01 7.17456670e-01 -7.30050190e-03 -4.08496025e+01] [-1.05364662e-02 -5.46871549e-05 9.99944488e-01 -2.32916234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.686559995 meters 0.012059356336376646 Centerline is valid? [True, True] Translation: X:108.01, Y:-40.87, Z:-2.33 [[ 7.17505655e-01 6.96510670e-01 7.64990909e-03 1.08012539e+02] [-6.96471838e-01 7.17546433e-01 -7.35494847e-03 -4.08741124e+01] [-1.06119651e-02 -5.07291230e-05 9.99943690e-01 -2.32944100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.716559995 meters 0.012046022201034234 Centerline is valid? [True, True] Translation: X:108.03, Y:-40.90, Z:-2.33 [[ 7.17779746e-01 6.96226068e-01 7.84210828e-03 1.08034355e+02] [-6.96185196e-01 7.17822582e-01 -7.54409395e-03 -4.08984175e+01] [-1.08816373e-02 -4.45618527e-05 9.99940792e-01 -2.32998583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.746559995 meters 0.011991031256660047 Centerline is valid? [True, True] Translation: X:108.05, Y:-40.92, Z:-2.33 [[ 7.18785548e-01 6.95192984e-01 7.35194224e-03 1.08053635e+02] [-6.95156970e-01 7.18823146e-01 -7.07621786e-03 -4.09238584e+01] [-1.02040833e-02 -2.44707559e-05 9.99947937e-01 -2.33053900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.776559995 meters 0.012059506418139727 Centerline is valid? [True, True] Translation: X:108.08, Y:-40.95, Z:-2.33 [[ 7.19487772e-01 6.94466293e-01 7.34257548e-03 1.08075158e+02] [-6.94430298e-01 7.19525237e-01 -7.07061474e-03 -4.09482881e+01] [-1.01934720e-02 -1.16860387e-05 9.99948045e-01 -2.33102132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.806559995 meters 0.012025077002762624 Centerline is valid? [True, True] Translation: X:108.10, Y:-40.97, Z:-2.33 [[ 7.20403583e-01 6.93511830e-01 7.74723044e-03 1.08097318e+02] [-6.93471654e-01 7.20445239e-01 -7.46474028e-03 -4.09731540e+01] [-1.07583410e-02 5.14094009e-06 9.99942127e-01 -2.33198715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.836559995 meters 0.012310895531987403 Centerline is valid? [True, True] Translation: X:108.12, Y:-41.00, Z:-2.33 [[ 7.23423335e-01 6.90361941e-01 7.68559777e-03 1.08115738e+02] [-6.90322178e-01 7.23464158e-01 -7.40967504e-03 -4.10001521e+01] [-1.06756122e-02 5.47932424e-05 9.99943013e-01 -2.33261850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.866559995 meters 0.012858736392504904 Centerline is valid? [True, True] Translation: X:108.13, Y:-41.03, Z:-2.33 [[ 7.25295046e-01 6.88392375e-01 7.93933441e-03 1.08134629e+02] [-6.88349781e-01 7.25338493e-01 -7.65834325e-03 -4.10250583e+01] [-1.10306500e-02 8.95193226e-05 9.99939157e-01 -2.33308579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.896559995 meters 0.013033069882197667 Centerline is valid? [True, True] Translation: X:108.16, Y:-41.05, Z:-2.33 [[ 7.27348866e-01 6.86221422e-01 7.98674160e-03 1.08155281e+02] [-6.86178151e-01 7.27392703e-01 -7.70715346e-03 -4.10499066e+01] [-1.10983114e-02 1.25461744e-04 9.99938404e-01 -2.33197446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.926559995 meters 0.01380054534138447 Centerline is valid? [True, True] Translation: X:108.17, Y:-41.07, Z:-2.33 [[ 7.29471379e-01 6.83964273e-01 8.02372117e-03 1.08174624e+02] [-6.83920419e-01 7.29515488e-01 -7.74686494e-03 -4.10749364e+01] [-1.11520077e-02 1.63529507e-04 9.99937801e-01 -2.33238196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.956559995 meters 0.014476907840363394 Centerline is valid? [True, True] Translation: X:108.20, Y:-41.10, Z:-2.33 [[ 7.31522751e-01 6.81768207e-01 8.15951461e-03 1.08195079e+02] [-6.81722680e-01 7.31568227e-01 -7.88141322e-03 -4.11000487e+01] [-1.13425386e-02 2.02906911e-04 9.99935651e-01 -2.33248842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.986559995 meters 0.016029477298785857 Centerline is valid? [True, True] Translation: X:108.21, Y:-41.13, Z:-2.33 [[ 7.35617539e-01 6.77350421e-01 7.95261346e-03 1.08213040e+02] [-6.77306849e-01 7.35660476e-01 -7.68742809e-03 -4.11271663e+01] [-1.10575061e-02 2.68647370e-04 9.99938828e-01 -2.33243770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.016559995 meters 0.01657755698181452 Centerline is valid? [True, True] Translation: X:108.23, Y:-41.15, Z:-2.33 [[ 7.37065415e-01 6.75776527e-01 7.78841178e-03 1.08234278e+02] [-6.75734667e-01 7.37106508e-01 -7.52698137e-03 -4.11517255e+01] [-1.08274463e-02 2.84977813e-04 9.99941341e-01 -2.33302323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.046559995 meters 0.016410828537938935 Centerline is valid? [True, True] Translation: X:108.26, Y:-41.18, Z:-2.33 [[ 7.38270987e-01 6.74463709e-01 7.39287357e-03 1.08256652e+02] [-6.74425896e-01 7.38307944e-01 -7.14777216e-03 -4.11751918e+01] [-1.02791302e-02 2.91047422e-04 9.99947126e-01 -2.33356573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.076559995 meters 0.018197984676887144 Centerline is valid? [True, True] Translation: X:108.28, Y:-41.20, Z:-2.34 [[ 7.39204296e-01 6.73442006e-01 7.27141963e-03 1.08275736e+02] [-6.73405338e-01 7.39239997e-01 -7.03397594e-03 -4.11999137e+01] [-1.01122991e-02 3.02932439e-04 9.99948824e-01 -2.33504148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.106559995 meters 0.017239845052139463 Centerline is valid? [True, True] Translation: X:108.30, Y:-41.22, Z:-2.34 [[ 7.39774785e-01 6.72819602e-01 6.85938817e-03 1.08298441e+02] [-6.72786921e-01 7.39806526e-01 -6.63805742e-03 -4.12219629e+01] [-9.54083528e-03 2.95760857e-04 9.99954441e-01 -2.33514715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.136559995 meters 0.0174586653297551 Centerline is valid? [True, True] Translation: X:108.32, Y:-41.25, Z:-2.34 [[ 7.40050520e-01 6.72521767e-01 6.30075084e-03 1.08319184e+02] [-6.72494162e-01 7.40077290e-01 -6.09972954e-03 -4.12458976e+01] [-8.76524350e-03 2.76889871e-04 9.99961546e-01 -2.33606689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.166559995 meters 0.017768240229372893 Centerline is valid? [True, True] Translation: X:108.34, Y:-41.27, Z:-2.34 [[ 7.39667912e-01 6.72944974e-01 6.03673067e-03 1.08340345e+02] [-6.72919616e-01 7.39692498e-01 -5.84796807e-03 -4.12682612e+01] [-8.40068512e-03 2.63319841e-04 9.99964679e-01 -2.33708769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.196559995 meters 0.01795657386821831 Centerline is valid? [True, True] Translation: X:108.36, Y:-41.29, Z:-2.34 [[ 7.38957078e-01 6.73726453e-01 5.92476449e-03 1.08361905e+02] [-6.73702050e-01 7.38980787e-01 -5.73965856e-03 -4.12901895e+01] [-8.24524693e-03 2.49835337e-04 9.99965976e-01 -2.33816613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.226559995 meters 0.017108868279284022 Centerline is valid? [True, True] Translation: X:108.38, Y:-41.31, Z:-2.34 [[ 7.36977643e-01 6.75889527e-01 6.10744646e-03 1.08384935e+02] [-6.75863622e-01 7.37002911e-01 -5.92224998e-03 -4.13118475e+01] [-8.50399256e-03 2.36764940e-04 9.99963812e-01 -2.33816890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.256559995 meters 0.01676762540269119 Centerline is valid? [True, True] Translation: X:108.41, Y:-41.33, Z:-2.34 [[ 7.35508317e-01 6.77486239e-01 6.31751806e-03 1.08407955e+02] [-6.77458601e-01 7.35535414e-01 -6.12361680e-03 -4.13339301e+01] [-8.79542438e-03 2.24114141e-04 9.99961294e-01 -2.33820797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.286559995 meters 0.01609268891827812 Centerline is valid? [True, True] Translation: X:108.43, Y:-41.36, Z:-2.34 [[ 7.33961383e-01 6.79156821e-01 6.83376316e-03 1.08431919e+02] [-6.79124498e-01 7.33993162e-01 -6.62988824e-03 -4.13561265e+01] [-9.51866925e-03 2.25105970e-04 9.99954671e-01 -2.33838304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.316559995 meters 0.01475217999207097 Centerline is valid? [True, True] Translation: X:108.46, Y:-41.38, Z:-2.34 [[ 7.30557345e-01 6.82809787e-01 7.53400267e-03 1.08455923e+02] [-6.82770670e-01 7.30596165e-01 -7.31137814e-03 -4.13763977e+01] [-1.04965940e-02 1.97384948e-04 9.99944890e-01 -2.33804522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.34655999499999 meters 0.014261112357785958 Centerline is valid? [True, True] Translation: X:108.48, Y:-41.40, Z:-2.34 [[ 7.28759778e-01 6.84726214e-01 7.69401905e-03 1.08479896e+02] [-6.84685545e-01 7.28800373e-01 -7.46466861e-03 -4.13980932e+01] [-1.07186582e-02 1.71966615e-04 9.99942539e-01 -2.33819846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.376559995 meters 0.014261112357785958 Centerline is valid? [True, True] Translation: X:108.50, Y:-41.42, Z:-2.34 [[ 7.28573167e-01 6.84924789e-01 7.69245548e-03 1.08503102e+02] [-6.84884114e-01 7.28613755e-01 -7.46627930e-03 -4.14207310e+01] [-1.07186686e-02 1.71290195e-04 9.99942539e-01 -2.33883665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.406559995 meters 0.013542934663303597 Centerline is valid? [True, True] Translation: X:108.53, Y:-41.44, Z:-2.34 [[ 7.26931789e-01 6.86666079e-01 7.73759078e-03 1.08527628e+02] [-6.86624976e-01 7.26972952e-01 -7.51460804e-03 -4.14421266e+01] [-1.07850456e-02 1.49784379e-04 9.99941828e-01 -2.33905114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.436559995 meters 0.012921138177027268 Centerline is valid? [True, True] Translation: X:108.55, Y:-41.46, Z:-2.34 [[ 7.25397951e-01 6.88285871e-01 7.77002458e-03 1.08551931e+02] [-6.88244476e-01 7.25439552e-01 -7.54970596e-03 -4.14626641e+01] [-1.08330391e-02 1.28864742e-04 9.99941313e-01 -2.33937709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.466559995 meters 0.012730488507803764 Centerline is valid? [True, True] Translation: X:108.58, Y:-41.48, Z:-2.34 [[ 7.22512859e-01 6.91313634e-01 7.78642021e-03 1.08575114e+02] [-6.91272196e-01 7.22554809e-01 -7.56965192e-03 -4.14827687e+01] [-1.08591189e-02 8.66350554e-05 9.99941034e-01 -2.34137279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.496559995 meters 0.012461377832788507 Centerline is valid? [True, True] Translation: X:108.60, Y:-41.50, Z:-2.34 [[ 7.21159568e-01 6.92726043e-01 7.71403562e-03 1.08599326e+02] [-6.92685417e-01 7.21200822e-01 -7.50254164e-03 -4.15043546e+01] [-1.07605748e-02 6.71297123e-05 9.99942101e-01 -2.34191279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.526559995 meters 0.012266882601782464 Centerline is valid? [True, True] Translation: X:108.62, Y:-41.53, Z:-2.34 [[ 7.19890022e-01 6.94048301e-01 7.43720913e-03 1.08623390e+02] [-6.94010581e-01 7.19928436e-01 -7.23604223e-03 -4.15263568e+01] [-1.03764212e-02 4.76527650e-05 9.99946162e-01 -2.34248138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.556559995 meters 0.012123044593799773 Centerline is valid? [True, True] Translation: X:108.65, Y:-41.55, Z:-2.34 [[ 7.18415487e-01 6.95579208e-01 6.98242228e-03 1.08647412e+02] [-6.95546000e-01 7.18449417e-01 -6.79682709e-03 -4.15481648e+01] [-9.74424882e-03 2.63499537e-05 9.99952523e-01 -2.34391286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.586559995 meters 0.012118339132664167 Centerline is valid? [True, True] Translation: X:108.67, Y:-41.57, Z:-2.34 [[ 7.18117106e-01 6.95893062e-01 6.37713990e-03 1.08670772e+02] [-6.95865350e-01 7.18145421e-01 -6.21044410e-03 -4.15713779e+01] [-8.90151878e-03 2.21954597e-05 9.99960380e-01 -2.34495738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.616559995 meters 0.01218541047030401 Centerline is valid? [True, True] Translation: X:108.69, Y:-41.59, Z:-2.35 [[ 7.18360706e-01 6.95645704e-01 5.91186172e-03 1.08693352e+02] [-6.95621855e-01 7.18385032e-01 -5.76031403e-03 -4.15944969e+01] [-8.25413068e-03 2.55630330e-05 9.99965934e-01 -2.34611018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.646559995 meters 0.012265134316713012 Centerline is valid? [True, True] Translation: X:108.72, Y:-41.62, Z:-2.35 [[ 7.19136233e-01 6.94845305e-01 5.75167052e-03 1.08716253e+02] [-6.94822685e-01 7.19159232e-01 -5.60669673e-03 -4.16184312e+01] [-8.03215386e-03 3.55876066e-05 9.99967741e-01 -2.34697022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.676559995 meters 0.01275978385114057 Centerline is valid? [True, True] Translation: X:108.74, Y:-41.64, Z:-2.35 [[ 7.22348459e-01 6.91506561e-01 5.60185860e-03 1.08736533e+02] [-6.91484977e-01 7.22370176e-01 -5.46401266e-03 -4.16434004e+01] [-7.82501619e-03 7.33200535e-05 9.99969381e-01 -2.34708335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.706559995 meters 0.013413683532947324 Centerline is valid? [True, True] Translation: X:108.76, Y:-41.67, Z:-2.35 [[ 7.24637348e-01 6.89106392e-01 5.75287087e-03 1.08756351e+02] [-6.89083526e-01 7.24660176e-01 -5.61457601e-03 -4.16671622e+01] [-8.03791663e-03 1.04322918e-04 9.99967690e-01 -2.34774180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.736559995 meters 0.013961175483327754 Centerline is valid? [True, True] Translation: X:108.78, Y:-41.69, Z:-2.35 [[ 7.27251518e-01 6.86347939e-01 5.63348637e-03 1.08776912e+02] [-6.86325898e-01 7.27273325e-01 -5.50207934e-03 -4.16913405e+01] [-7.87342518e-03 1.34987958e-04 9.99968995e-01 -2.34767288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.766559995 meters 0.016668997492398314 Centerline is valid? [True, True] Translation: X:108.79, Y:-41.72, Z:-2.35 [[ 7.33318329e-01 6.79859262e-01 5.96756917e-03 1.08793450e+02] [-6.79834296e-01 7.33342577e-01 -5.83042590e-03 -4.17182900e+01] [-8.34014161e-03 2.18599993e-04 9.99965197e-01 -2.34828572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.796559995 meters 0.017697286393023003 Centerline is valid? [True, True] Translation: X:108.81, Y:-41.74, Z:-2.35 [[ 7.36159042e-01 6.76782151e-01 5.98213347e-03 1.08814398e+02] [-6.76756945e-01 7.36183303e-01 -5.84660204e-03 -4.17426964e+01] [-8.36082267e-03 2.55578586e-04 9.99965015e-01 -2.34860738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.826559995 meters 0.018922018021245237 Centerline is valid? [True, True] Translation: X:108.83, Y:-41.77, Z:-2.35 [[ 7.38721026e-01 6.73984518e-01 6.00961702e-03 1.08834628e+02] [-6.73958984e-01 7.38745414e-01 -5.87383097e-03 -4.17663462e+01] [-8.39844815e-03 2.88887055e-04 9.99964691e-01 -2.34938832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.856559995 meters 0.01956107887295445 Centerline is valid? [True, True] Translation: X:108.86, Y:-41.79, Z:-2.35 [[ 7.40683608e-01 6.71829390e-01 5.75004295e-03 1.08856306e+02] [-6.71805942e-01 7.40705866e-01 -5.62100094e-03 -4.17899115e+01] [-8.03544418e-03 3.00470235e-04 9.99967670e-01 -2.35006864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.886559995 meters 0.021235849955530597 Centerline is valid? [True, True] Translation: X:108.88, Y:-41.81, Z:-2.35 [[ 7.41847531e-01 6.70543662e-01 5.78246295e-03 1.08877588e+02] [-6.70519903e-01 7.41870000e-01 -5.65356463e-03 -4.18119360e+01] [-8.08079772e-03 3.16826471e-04 9.99967300e-01 -2.35147617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.916559995 meters 0.022164177669116245 Centerline is valid? [True, True] Translation: X:108.90, Y:-41.83, Z:-2.35 [[ 7.41387926e-01 6.71055848e-01 5.29081790e-03 1.08899228e+02] [-6.71035986e-01 7.41406750e-01 -5.17075384e-03 -4.18344249e+01] [-7.39251271e-03 2.83205258e-04 9.99972635e-01 -2.35298495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.946559995 meters 0.02126254146721708 Centerline is valid? [True, True] Translation: X:108.92, Y:-41.86, Z:-2.35 [[ 7.40705557e-01 6.71814716e-01 4.50171107e-03 1.08922978e+02] [-6.71800346e-01 7.40719200e-01 -4.40026527e-03 -4.18553948e+01] [-6.29066678e-03 2.35049886e-04 9.99980186e-01 -2.35396729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.976559995 meters 0.021243918973968785 Centerline is valid? [True, True] Translation: X:108.95, Y:-41.88, Z:-2.36 [[ 7.39800098e-01 6.72816992e-01 3.62086556e-03 1.08945982e+02] [-6.72807706e-01 7.39808936e-01 -3.53970145e-03 -4.18775151e+01] [-5.06031998e-03 1.82525228e-04 9.99987180e-01 -2.35507597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.006559995 meters 0.020798579803426295 Centerline is valid? [True, True] Translation: X:108.97, Y:-41.90, Z:-2.36 [[ 7.37896896e-01 6.74903931e-01 3.58531886e-03 1.08968655e+02] [-6.74894820e-01 7.37905587e-01 -3.51096292e-03 -4.18976494e+01] [-5.01518949e-03 1.71015509e-04 9.99987409e-01 -2.35583483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.036559995 meters 0.01821725115893524 Centerline is valid? [True, True] Translation: X:109.00, Y:-41.92, Z:-2.36 [[ 7.36637716e-01 6.76278454e-01 3.51123733e-03 1.08995078e+02] [-6.76269754e-01 7.36646068e-01 -3.43388601e-03 -4.19168668e+01] [-4.90880229e-03 1.54986347e-04 9.99987940e-01 -2.35509438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.066559995 meters 0.01820933759887969 Centerline is valid? [True, True] Translation: X:109.02, Y:-41.94, Z:-2.36 [[ 7.35448820e-01 6.77569584e-01 3.80682553e-03 1.09018660e+02] [-6.77559359e-01 7.35458655e-01 -3.72570544e-03 -4.19376862e+01] [-5.32418747e-03 1.60715401e-04 9.99985813e-01 -2.35577093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.09655999499999 meters 0.016621949710788893 Centerline is valid? [True, True] Translation: X:109.05, Y:-41.96, Z:-2.36 [[ 7.33543039e-01 6.79628916e-01 4.37557503e-03 1.09045317e+02] [-6.79615406e-01 7.33556069e-01 -4.28871577e-03 -4.19556369e+01] [-6.12446486e-03 1.72249400e-04 9.99981230e-01 -2.35533027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.126559995 meters 0.017333586319356175 Centerline is valid? [True, True] Translation: X:109.07, Y:-41.98, Z:-2.36 [[ 7.32838147e-01 6.80386668e-01 4.71514825e-03 1.09067478e+02] [-6.80371005e-01 7.32853294e-01 -4.62005084e-03 -4.19770088e+01] [-6.59893292e-03 1.77699336e-04 9.99978211e-01 -2.35646047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.156559995 meters 0.016822048342134417 Centerline is valid? [True, True] Translation: X:109.09, Y:-42.00, Z:-2.36 [[ 7.32282870e-01 6.80982693e-01 4.93660961e-03 1.09091776e+02] [-6.80965520e-01 7.32299487e-01 -4.83952523e-03 -4.19988808e+01] [-6.91070961e-03 1.82240492e-04 9.99976104e-01 -2.35644470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.186559995 meters 0.017212721608736988 Centerline is valid? [True, True] Translation: X:109.11, Y:-42.02, Z:-2.36 [[ 7.31965862e-01 6.81319575e-01 5.44183573e-03 1.09113491e+02] [-6.81298726e-01 7.31986064e-01 -5.33370050e-03 -4.20205085e+01] [-7.61730247e-03 1.96570933e-04 9.99970969e-01 -2.35693009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.216559995 meters 0.016781181455283907 Centerline is valid? [True, True] Translation: X:109.14, Y:-42.04, Z:-2.36 [[ 7.32115532e-01 6.81152458e-01 6.17871968e-03 1.09138200e+02] [-6.81125551e-01 7.32141569e-01 -6.05861347e-03 -4.20425054e+01] [-8.65053698e-03 2.27121185e-04 9.99962558e-01 -2.35619416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.246559995 meters 0.016791646400995983 Centerline is valid? [True, True] Translation: X:109.16, Y:-42.06, Z:-2.36 [[ 7.32335040e-01 6.80912504e-01 6.59935856e-03 1.09162061e+02] [-6.80881761e-01 7.32364732e-01 -6.47511560e-03 -4.20646344e+01] [-9.24212463e-03 2.48571164e-04 9.99957260e-01 -2.35644579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.276559995 meters 0.017431574940628098 Centerline is valid? [True, True] Translation: X:109.18, Y:-42.09, Z:-2.36 [[ 7.32747485e-01 6.80462341e-01 7.21986987e-03 1.09184288e+02] [-6.80425469e-01 7.32782999e-01 -7.08928492e-03 -4.20861544e+01] [-1.01145893e-02 2.82072346e-04 9.99948806e-01 -2.35738777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.306559995 meters 0.017291224587330404 Centerline is valid? [True, True] Translation: X:109.21, Y:-42.11, Z:-2.36 [[ 7.33213235e-01 6.79959112e-01 7.34559798e-03 1.09208009e+02] [-6.79920886e-01 7.33249970e-01 -7.21603176e-03 -4.21070526e+01] [-1.02927660e-02 2.96464505e-04 9.99946984e-01 -2.35819692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.336559995 meters 0.018125849537595457 Centerline is valid? [True, True] Translation: X:109.23, Y:-42.13, Z:-2.36 [[ 7.34147933e-01 6.78948686e-01 7.44945259e-03 1.09230617e+02] [-6.78909271e-01 7.34185658e-01 -7.32266462e-03 -4.21283677e+01] [-1.04409948e-02 3.18416663e-04 9.99945441e-01 -2.35987908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.366559995 meters 0.01873330694543776 Centerline is valid? [True, True] Translation: X:109.25, Y:-42.15, Z:-2.36 [[ 7.34460644e-01 6.78613540e-01 7.15718761e-03 1.09252780e+02] [-6.78577137e-01 7.34495450e-01 -7.03577559e-03 -4.21503169e+01] [-1.00314943e-02 3.10796393e-04 9.99949635e-01 -2.36090695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.396559995 meters 0.019167512505239306 Centerline is valid? [True, True] Translation: X:109.28, Y:-42.17, Z:-2.36 [[ 7.34786842e-01 6.78259937e-01 7.19411327e-03 1.09275959e+02] [-6.78223111e-01 7.34821989e-01 -7.07500242e-03 -4.21729338e+01] [-1.00850833e-02 3.19404797e-04 9.99949093e-01 -2.36208949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.426559995 meters 0.018717783869736444 Centerline is valid? [True, True] Translation: X:109.30, Y:-42.19, Z:-2.36 [[ 7.35590346e-01 6.77392853e-01 6.76504546e-03 1.09300476e+02] [-6.77360227e-01 7.35621386e-01 -6.65570241e-03 -4.21939965e+01] [-9.48503736e-03 3.13497705e-04 9.99954967e-01 -2.36277912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.456559995 meters 0.01903825064062619 Centerline is valid? [True, True] Translation: X:109.32, Y:-42.22, Z:-2.36 [[ 7.35842361e-01 6.77121058e-01 6.56450296e-03 1.09323784e+02] [-6.77090300e-01 7.35871577e-01 -6.46131111e-03 -4.22160473e+01] [-9.20572095e-03 3.09745145e-04 9.99957578e-01 -2.36404702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.486559995 meters 0.019380798330978756 Centerline is valid? [True, True] Translation: X:109.35, Y:-42.24, Z:-2.37 [[ 7.36217779e-01 6.76714831e-01 6.35756026e-03 1.09347588e+02] [-6.76685942e-01 7.36245165e-01 -6.26041702e-03 -4.22382201e+01] [-8.91724005e-03 3.06958663e-04 9.99960194e-01 -2.36544861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.516559995 meters 0.01955866654078786 Centerline is valid? [True, True] Translation: X:109.37, Y:-42.26, Z:-2.37 [[ 7.36415102e-01 6.76501076e-01 6.25229910e-03 1.09371119e+02] [-6.76473103e-01 7.36441580e-01 -6.15960515e-03 -4.22603203e+01] [-8.77143254e-03 3.06514083e-04 9.99961483e-01 -2.36654133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.546559995 meters 0.020080782983575178 Centerline is valid? [True, True] Translation: X:109.39, Y:-42.28, Z:-2.37 [[ 7.36967280e-01 6.75900924e-01 6.09658660e-03 1.09394006e+02] [-6.75874281e-01 7.36992433e-01 -6.00918658e-03 -4.22820928e+01] [-8.55475295e-03 3.08047807e-04 9.99963360e-01 -2.36724933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.576559995 meters 0.02025437151225881 Centerline is valid? [True, True] Translation: X:109.42, Y:-42.30, Z:-2.37 [[ 7.36596657e-01 6.76301540e-01 6.44913787e-03 1.09416673e+02] [-6.76271715e-01 7.36624818e-01 -6.35961567e-03 -4.23043345e+01] [-9.05161288e-03 3.23102112e-04 9.99958981e-01 -2.36775712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.606559995 meters 0.021035404628030652 Centerline is valid? [True, True] Translation: X:109.44, Y:-42.33, Z:-2.37 [[ 7.36085231e-01 6.76857993e-01 6.46448944e-03 1.09438417e+02] [-6.76828017e-01 7.36113548e-01 -6.37805436e-03 -4.23263877e+01] [-9.07563534e-03 3.19444049e-04 9.99958765e-01 -2.36892988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.636559995 meters 0.019327317626406378 Centerline is valid? [True, True] Translation: X:109.46, Y:-42.35, Z:-2.37 [[ 7.35369561e-01 6.77635698e-01 6.43963469e-03 1.09463806e+02] [-6.77605940e-01 7.35397690e-01 -6.35824252e-03 -4.23470806e+01] [-9.04426459e-03 3.12123295e-04 9.99959051e-01 -2.36894397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.666559995 meters 0.018633220851119556 Centerline is valid? [True, True] Translation: X:109.49, Y:-42.37, Z:-2.37 [[ 7.33390247e-01 6.79780499e-01 6.10076454e-03 1.09488475e+02] [-6.79753876e-01 7.33415572e-01 -6.02221127e-03 -4.23680021e+01] [-8.56817749e-03 2.69612661e-04 9.99963256e-01 -2.37039779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.696559995 meters 0.01760524279560299 Centerline is valid? [True, True] Translation: X:109.51, Y:-42.39, Z:-2.37 [[ 7.32028484e-01 6.81246662e-01 6.10606419e-03 1.09512908e+02] [-6.81220020e-01 7.32053905e-01 -6.03023496e-03 -4.23887330e+01] [-8.57804558e-03 2.54730584e-04 9.99963175e-01 -2.37101858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.726559995 meters 0.017204236696492754 Centerline is valid? [True, True] Translation: X:109.54, Y:-42.41, Z:-2.37 [[ 7.29017313e-01 6.84465621e-01 6.36958016e-03 1.09536006e+02] [-6.84436692e-01 7.29045102e-01 -6.29714805e-03 -4.24085669e+01] [-8.95389256e-03 2.31155575e-04 9.99959886e-01 -2.37198812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.756559995 meters 0.015678316695515213 Centerline is valid? [True, True] Translation: X:109.56, Y:-42.43, Z:-2.37 [[ 7.27147105e-01 6.86449112e-01 6.68614019e-03 1.09561059e+02] [-6.86417347e-01 7.27177813e-01 -6.60715312e-03 -4.24290976e+01] [-9.39748719e-03 2.14889654e-04 9.99955820e-01 -2.37186887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.786559995 meters 0.01455727772938457 Centerline is valid? [True, True] Translation: X:109.59, Y:-42.45, Z:-2.37 [[ 7.25175830e-01 6.88525327e-01 7.27253165e-03 1.09585611e+02] [-6.88487809e-01 7.25212267e-01 -7.19058383e-03 -4.24497227e+01] [-1.02250282e-02 2.07388215e-04 9.99947702e-01 -2.37173483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.816559995 meters 0.01439559492901256 Centerline is valid? [True, True] Translation: X:109.61, Y:-42.47, Z:-2.37 [[ 7.23378104e-01 6.90411543e-01 7.48464552e-03 1.09608444e+02] [-6.90371863e-01 7.23416799e-01 -7.40439092e-03 -4.24706733e+01] [-1.05265953e-02 1.88985592e-04 9.99944576e-01 -2.37228385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.84655999499999 meters 0.013329600217230198 Centerline is valid? [True, True] Translation: X:109.63, Y:-42.49, Z:-2.37 [[ 7.20455287e-01 6.93455569e-01 7.97202537e-03 1.09633268e+02] [-6.93410696e-01 7.20499375e-01 -7.89033524e-03 -4.24909057e+01] [-1.12154362e-02 1.56746086e-04 9.99937093e-01 -2.37232313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.876559995 meters 0.012917401416364188 Centerline is valid? [True, True] Translation: X:109.66, Y:-42.51, Z:-2.37 [[ 7.19244121e-01 6.94705621e-01 8.48496657e-03 1.09657033e+02] [-6.94654821e-01 7.19294152e-01 -8.40252050e-03 -4.25131007e+01] [-1.19404651e-02 1.49340540e-04 9.99928699e-01 -2.37259141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.906559995 meters 0.012680140662143284 Centerline is valid? [True, True] Translation: X:109.68, Y:-42.54, Z:-2.37 [[ 7.18520554e-01 6.95452191e-01 8.62923311e-03 1.09680139e+02] [-6.95399650e-01 7.18572355e-01 -8.54965817e-03 -4.25351125e+01] [-1.21466069e-02 1.42339434e-04 9.99926217e-01 -2.37272077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.936559995 meters 0.012513984033346342 Centerline is valid? [True, True] Translation: X:109.70, Y:-42.56, Z:-2.37 [[ 7.17852767e-01 6.96137397e-01 8.95149079e-03 1.09702784e+02] [-6.96080854e-01 7.17908563e-01 -8.87352705e-03 -4.25573116e+01] [-1.26035459e-02 1.38924591e-04 9.99920563e-01 -2.37337697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.966559995 meters 0.012607901502437163 Centerline is valid? [True, True] Translation: X:109.72, Y:-42.58, Z:-2.37 [[ 7.17819732e-01 6.96166983e-01 9.29324346e-03 1.09724685e+02] [-6.96105971e-01 7.17879872e-01 -9.21775655e-03 -4.25812198e+01] [-1.30885302e-02 1.47605270e-04 9.99914331e-01 -2.37384278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.996559995 meters 0.01288597232909605 Centerline is valid? [True, True] Translation: X:109.75, Y:-42.60, Z:-2.37 [[ 7.17993240e-01 6.95991103e-01 9.06043881e-03 1.09746527e+02] [-6.95933068e-01 7.18050390e-01 -8.98907204e-03 -4.26047951e+01] [-1.27621658e-02 1.48633981e-04 9.99918549e-01 -2.37463521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.026559995 meters 0.01292576163203993 Centerline is valid? [True, True] Translation: X:109.77, Y:-42.63, Z:-2.38 [[ 7.19391592e-01 6.94548737e-01 8.81977624e-03 1.09767721e+02] [-6.94493578e-01 7.19445635e-01 -8.75491933e-03 -4.26282867e+01] [-1.24260677e-02 1.72937403e-04 9.99922778e-01 -2.37519985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.056559995 meters 0.013251277064304096 Centerline is valid? [True, True] Translation: X:109.79, Y:-42.65, Z:-2.38 [[ 7.20178304e-01 6.93732526e-01 8.85394830e-03 1.09789480e+02] [-6.93676829e-01 7.20232702e-01 -8.79269117e-03 -4.26524502e+01] [-1.24766790e-02 1.90526634e-04 9.99922145e-01 -2.37587711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.086559995 meters 0.013639689356032325 Centerline is valid? [True, True] Translation: X:109.81, Y:-42.68, Z:-2.38 [[ 7.21282717e-01 6.92585905e-01 8.71819139e-03 1.09811127e+02] [-6.92531768e-01 7.21335373e-01 -8.66198663e-03 -4.26766038e+01] [-1.22879097e-02 2.10116755e-04 9.99924479e-01 -2.37633272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.116559995 meters 0.01475885709903148 Centerline is valid? [True, True] Translation: X:109.83, Y:-42.70, Z:-2.38 [[ 7.23803663e-01 6.89949722e-01 8.81121282e-03 1.09829903e+02] [-6.89894172e-01 7.23857246e-01 -8.75894633e-03 -4.27016026e+01] [-1.24212928e-02 2.60953071e-04 9.99922819e-01 -2.37635142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.146559995 meters 0.015323882023513775 Centerline is valid? [True, True] Translation: X:109.85, Y:-42.73, Z:-2.38 [[ 7.25047444e-01 6.88644817e-01 8.63252512e-03 1.09850682e+02] [-6.88591359e-01 7.25098778e-01 -8.58505482e-03 -4.27255595e+01] [-1.21714869e-02 2.80289852e-04 9.99925885e-01 -2.37683505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.176559995 meters 0.015947848956695296 Centerline is valid? [True, True] Translation: X:109.87, Y:-42.75, Z:-2.38 [[ 7.26215860e-01 6.87410224e-01 8.81526133e-03 1.09871664e+02] [-6.87354339e-01 7.26269294e-01 -8.77067316e-03 -4.27498219e+01] [-1.24313040e-02 3.10193825e-04 9.99922680e-01 -2.37734816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.20655999499999 meters 0.016465296731291146 Centerline is valid? [True, True] Translation: X:109.89, Y:-42.77, Z:-2.38 [[ 7.27386170e-01 6.86174416e-01 8.60414173e-03 1.09893228e+02] [-6.86121041e-01 7.27436983e-01 -8.56456848e-03 -4.27739189e+01] [-1.21357587e-02 3.26265980e-04 9.99926306e-01 -2.37813874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.236559995 meters 0.016661775928550653 Centerline is valid? [True, True] Translation: X:109.91, Y:-42.80, Z:-2.38 [[ 7.29599800e-01 6.83828720e-01 7.90020567e-03 1.09914485e+02] [-6.83783532e-01 7.29642492e-01 -7.86858026e-03 -4.27976124e+01] [-1.11450869e-02 3.38884048e-04 9.99937834e-01 -2.37918678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.266559995 meters 0.017189652312044938 Centerline is valid? [True, True] Translation: X:109.94, Y:-42.82, Z:-2.38 [[ 7.30467988e-01 6.82904476e-01 7.61550132e-03 1.09935826e+02] [-6.82862435e-01 7.30507605e-01 -7.58505862e-03 -4.28211309e+01] [-1.07430521e-02 3.40302730e-04 9.99942234e-01 -2.38010459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.296559995 meters 0.017189652312044938 Centerline is valid? [True, True] Translation: X:109.96, Y:-42.84, Z:-2.38 [[ 7.30277410e-01 6.83108288e-01 7.61387104e-03 1.09958750e+02] [-6.83066242e-01 7.30317021e-01 -7.58669448e-03 -4.28440722e+01] [-1.07430735e-02 3.39613314e-04 9.99942234e-01 -2.38074303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.326559995 meters 0.017542315915240622 Centerline is valid? [True, True] Translation: X:109.98, Y:-42.87, Z:-2.38 [[ 7.30714282e-01 6.82645659e-01 7.17930909e-03 1.09980427e+02] [-6.82608212e-01 7.30749476e-01 -7.15771326e-03 -4.28674845e+01] [-1.01324582e-02 3.29587961e-04 9.99948611e-01 -2.38160278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.356559995 meters 0.01844329662202048 Centerline is valid? [True, True] Translation: X:110.00, Y:-42.89, Z:-2.38 [[ 7.30738228e-01 6.82622960e-01 6.89467721e-03 1.10001015e+02] [-6.82588390e-01 7.30770684e-01 -6.87728600e-03 -4.28904195e+01] [-9.73302131e-03 3.19269168e-04 9.99952582e-01 -2.38271627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.386559995 meters 0.01843950194654966 Centerline is valid? [True, True] Translation: X:110.02, Y:-42.91, Z:-2.38 [[ 7.30173193e-01 6.83231836e-01 6.43172587e-03 1.10023994e+02] [-6.83201755e-01 7.30201461e-01 -6.41776706e-03 -4.29134090e+01] [-9.08127840e-03 2.91915061e-04 9.99958722e-01 -2.38356302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.416559995 meters 0.01819726258436238 Centerline is valid? [True, True] Translation: X:110.05, Y:-42.94, Z:-2.38 [[ 7.29182350e-01 6.84287327e-01 6.62983878e-03 1.10046745e+02] [-6.84255377e-01 7.29212432e-01 -6.61882399e-03 -4.29359369e+01] [-9.36373823e-03 2.89826802e-04 9.99956117e-01 -2.38413245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.446559995 meters 0.01769137583963832 Centerline is valid? [True, True] Translation: X:110.07, Y:-42.96, Z:-2.38 [[ 7.28005367e-01 6.85536173e-01 6.95278791e-03 1.10069654e+02] [-6.85501055e-01 7.28038510e-01 -6.94484893e-03 -4.29581085e+01] [-9.82284251e-03 2.89743847e-04 9.99951713e-01 -2.38437356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.476559995 meters 0.01608240339262644 Centerline is valid? [True, True] Translation: X:110.09, Y:-42.98, Z:-2.38 [[ 7.25041872e-01 6.88661634e-01 7.70956325e-03 1.10094337e+02] [-6.88618559e-01 7.25082806e-01 -7.70741488e-03 -4.29781989e+01] [-1.08978727e-02 2.79250179e-04 9.99940577e-01 -2.38430539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.506559995 meters 0.015362528056282817 Centerline is valid? [True, True] Translation: X:110.12, Y:-43.00, Z:-2.38 [[ 7.23094342e-01 6.90703347e-01 7.96609948e-03 1.10118121e+02] [-6.90657496e-01 7.23138175e-01 -7.96253381e-03 -4.29999037e+01] [-1.12603394e-02 2.55816820e-04 9.99936568e-01 -2.38455729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.536559995 meters 0.014245870182471278 Centerline is valid? [True, True] Translation: X:110.68, Y:-42.61, Z:-1.40 [[ 7.45128934e-01 -6.66615912e-01 -2.01518456e-02 1.10680930e+02] [-6.66337972e-01 -7.45400804e-01 1.92704037e-02 -4.26115240e+01] [-2.78671597e-02 -9.30995446e-04 -9.99611202e-01 -1.40222501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.566559995 meters 0.01411624036592412 Centerline is valid? [True, True] Translation: X:110.68, Y:-42.62, Z:-1.40 [[ 7.97072933e-01 -6.03501935e-01 -2.14512036e-02 1.10679087e+02] [-6.03246871e-01 -7.97360816e-01 1.75767336e-02 -4.26198450e+01] [-2.77119420e-02 -1.06956718e-03 -9.99615378e-01 -1.40210744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.59655999499999 meters 0.012552447712929125 Centerline is valid? [True, True] Translation: X:110.68, Y:-42.63, Z:-1.40 [[ 8.43897554e-01 -5.36037132e-01 -2.23855103e-02 1.10676980e+02] [-5.35811123e-01 -8.44193583e-01 1.56088119e-02 -4.26316195e+01] [-2.72646069e-02 -1.17783272e-03 -9.99627558e-01 -1.40339631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.626559995 meters 0.011164010931026022 Centerline is valid? [True, True] Translation: X:110.67, Y:-42.65, Z:-1.40 [[ 8.87115695e-01 -4.60962821e-01 -2.32168299e-02 1.10674734e+02] [-4.60763089e-01 -8.87418339e-01 1.36406469e-02 -4.26465697e+01] [-2.68908717e-02 -1.40337374e-03 -9.99637390e-01 -1.40440963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.656559995 meters 0.010949741334743997 Centerline is valid? [True, True] Translation: X:110.67, Y:-42.66, Z:-1.40 [[ 9.22138536e-01 -3.86122621e-01 -2.38713468e-02 1.10674898e+02] [-3.85950227e-01 -9.22446215e-01 1.16362655e-02 -4.26575968e+01] [-2.65130588e-02 -1.51709710e-03 -9.99647316e-01 -1.40475049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.686559995 meters 0.011176704314096161 Centerline is valid? [True, True] Translation: X:110.68, Y:-42.67, Z:-1.40 [[ 9.50856335e-01 -3.08633501e-01 -2.48514037e-02 1.10676213e+02] [-3.08482902e-01 -9.51179638e-01 9.77731442e-03 -4.26671313e+01] [-2.66557559e-02 -1.63058824e-03 -9.99643342e-01 -1.40475743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.716559995 meters 0.012087013129460275 Centerline is valid? [True, True] Translation: X:110.68, Y:-42.68, Z:-1.41 [[ 9.73972921e-01 -2.25211181e-01 -2.56256370e-02 1.10678926e+02] [-2.25082921e-01 -9.74308216e-01 7.82164958e-03 -4.26810852e+01] [-2.67287916e-02 -1.85018166e-03 -9.99641010e-01 -1.40602111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.746559995 meters 0.013976187570595506 Centerline is valid? [True, True] Translation: X:110.68, Y:-42.69, Z:-1.41 [[ 9.89185689e-01 -1.44261407e-01 -2.64635442e-02 1.10682544e+02] [-1.44156516e-01 -9.89537669e-01 5.83948586e-03 -4.26932026e+01] [-2.70290863e-02 -1.96144352e-03 -9.99632723e-01 -1.40564577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.776559995 meters 0.015610110365240456 Centerline is valid? [True, True] Translation: X:110.69, Y:-42.70, Z:-1.41 [[ 9.97672699e-01 -6.26149475e-02 -2.69917345e-02 1.10688283e+02] [-6.25359804e-02 -9.98035625e-01 3.76070455e-03 -4.26978874e+01] [-2.71741889e-02 -2.06399768e-03 -9.99628583e-01 -1.40554752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.806559995 meters 0.01464950192921703 Centerline is valid? [True, True] Translation: X:110.69, Y:-42.71, Z:-1.41 [[ 9.99434414e-01 1.91519967e-02 -2.76415049e-02 1.10691692e+02] [ 1.92045018e-02 -9.99814239e-01 1.63525551e-03 -4.27056263e+01] [-2.76050518e-02 -2.16517196e-03 -9.99616563e-01 -1.40716881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.836559995 meters 0.017505999837110497 Centerline is valid? [True, True] Translation: X:110.70, Y:-42.72, Z:-1.41 [[ 9.94304052e-01 1.02956073e-01 -2.75590111e-02 1.10695137e+02] [ 1.02980667e-01 -9.94683217e-01 -5.29188547e-04 -4.27182189e+01] [-2.74669690e-02 -2.31187103e-03 -9.99620038e-01 -1.40686675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.866559995 meters 0.01792335614989319 Centerline is valid? [True, True] Translation: X:110.70, Y:-42.72, Z:-1.41 [[ 9.82797229e-01 1.82668065e-01 -2.72393805e-02 1.10699899e+02] [ 1.82663969e-01 -9.83171806e-01 -2.65971313e-03 -4.27244556e+01] [-2.72668356e-02 -2.36169465e-03 -9.99625401e-01 -1.40764741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.896559995 meters 0.019147651649176794 Centerline is valid? [True, True] Translation: X:110.70, Y:-42.73, Z:-1.41 [[ 9.65008295e-01 2.60793653e-01 -2.73068142e-02 1.10704075e+02] [ 2.60759329e-01 -9.65391540e-01 -4.87317472e-03 -4.27302182e+01] [-2.76326604e-02 -2.41785250e-03 -9.99615221e-01 -1.40771277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.926559995 meters 0.018306642077180767 Centerline is valid? [True, True] Translation: X:110.71, Y:-42.73, Z:-1.41 [[ 9.41325036e-01 3.36427332e-01 -2.69040218e-02 1.10708780e+02] [ 3.36362904e-01 -9.41706269e-01 -7.02141288e-03 -4.27346479e+01] [-2.76978812e-02 -2.44008317e-03 -9.99613362e-01 -1.40884716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.95655999499999 meters 0.019175133712566683 Centerline is valid? [True, True] Translation: X:110.71, Y:-42.74, Z:-1.41 [[ 9.11809322e-01 4.09722906e-01 -2.70351677e-02 1.10713557e+02] [ 4.09622089e-01 -9.12206651e-01 -9.42182951e-03 -4.27391011e+01] [-2.85219992e-02 -2.48328990e-03 -9.99590080e-01 -1.40916916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.986559995 meters 0.019497243438303925 Centerline is valid? [True, True] Translation: X:110.72, Y:-42.74, Z:-1.41 [[ 8.76902952e-01 4.79959018e-01 -2.60874204e-02 1.10718361e+02] [ 4.79828790e-01 -8.77287416e-01 -1.14508641e-02 -4.27420213e+01] [-2.83821111e-02 -2.47619878e-03 -9.99594080e-01 -1.40968864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.016559995 meters 0.01976853676792477 Centerline is valid? [True, True] Translation: X:110.72, Y:-42.74, Z:-1.41 [[ 8.36707417e-01 5.47064235e-01 -2.53262882e-02 1.10723690e+02] [ 5.46900911e-01 -8.37086967e-01 -1.35942652e-02 -4.27434637e+01] [-2.86372421e-02 -2.47654755e-03 -9.99586802e-01 -1.40988079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.046559995 meters 0.018976638111962593 Centerline is valid? [True, True] Translation: X:110.73, Y:-42.74, Z:-1.41 [[ 7.91615775e-01 6.10498148e-01 -2.52284901e-02 1.10727461e+02] [ 6.10285904e-01 -7.92013734e-01 -1.62898695e-02 -4.27430437e+01] [-2.99262458e-02 -2.50127418e-03 -9.99548980e-01 -1.40977626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.076559995 meters 0.019388352355609692 Centerline is valid? [True, True] Translation: X:110.73, Y:-42.74, Z:-1.41 [[ 7.41584131e-01 6.70417447e-01 -2.43602680e-02 1.10731734e+02] [ 6.70163250e-01 -7.41979883e-01 -1.86298395e-02 -4.27446269e+01] [-3.05645983e-02 -2.50976300e-03 -9.99529643e-01 -1.40960219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.106559995 meters 0.019042710325300877 Centerline is valid? [True, True] Translation: X:110.74, Y:-42.74, Z:-1.41 [[ 6.87241092e-01 7.26056000e-01 -2.32887486e-02 1.10735809e+02] [ 7.25758223e-01 -6.87630998e-01 -2.09430629e-02 -4.27442763e+01] [-3.12199019e-02 -2.50906742e-03 -9.99509391e-01 -1.40969558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.136559995 meters 0.017576863094518332 Centerline is valid? [True, True] Translation: X:110.74, Y:-42.74, Z:-1.41 [[ 6.28945073e-01 7.77139802e-01 -2.19505042e-02 1.10740183e+02] [ 7.76799237e-01 -6.29323042e-01 -2.31398687e-02 -4.27449299e+01] [-3.17968711e-02 -2.49742849e-03 -9.99491231e-01 -1.41032656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.166559995 meters 0.017805253673738804 Centerline is valid? [True, True] Translation: X:110.74, Y:-42.75, Z:-1.41 [[ 5.67778032e-01 8.22929838e-01 -2.03614148e-02 1.10743117e+02] [ 8.22547912e-01 -5.68137741e-01 -2.51880745e-02 -4.27461584e+01] [-3.22961063e-02 -2.44700380e-03 -9.99475349e-01 -1.40984855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.196559995 meters 0.01647751241659866 Centerline is valid? [True, True] Translation: X:110.75, Y:-42.75, Z:-1.41 [[ 5.02718870e-01 8.64255424e-01 -1.83384502e-02 1.10746724e+02] [ 8.63845247e-01 -5.03047500e-01 -2.67320430e-02 -4.27465276e+01] [-3.23284247e-02 -2.40288061e-03 -9.99474411e-01 -1.41125282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.226559995 meters 0.01637842944718032 Centerline is valid? [True, True] Translation: X:110.75, Y:-42.75, Z:-1.41 [[ 4.34835997e-01 9.00363437e-01 -1.62276300e-02 1.10750703e+02] [ 8.99925749e-01 -4.35132320e-01 -2.81693076e-02 -4.27480072e+01] [-3.24237809e-02 -2.35463315e-03 -9.99471437e-01 -1.41181767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.256559995 meters 0.016853302041395058 Centerline is valid? [True, True] Translation: X:110.75, Y:-42.75, Z:-1.41 [[ 3.65733511e-01 9.30614238e-01 -1.40049422e-02 1.10751957e+02] [ 9.30151109e-01 -3.65994588e-01 -2.94427447e-02 -4.27493100e+01] [-3.25255705e-02 -2.25851413e-03 -9.99468352e-01 -1.41160338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.286559995 meters 0.015024815270198338 Centerline is valid? [True, True] Translation: X:110.75, Y:-42.75, Z:-1.41 [[ 2.93266407e-01 9.55961030e-01 -1.15466110e-02 1.10753197e+02] [ 9.55488481e-01 -2.93485418e-01 -3.01342231e-02 -4.27496030e+01] [-3.21959048e-02 -2.19529847e-03 -9.99479167e-01 -1.41386286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.316559995 meters 0.014574907703011864 Centerline is valid? [True, True] Translation: X:110.76, Y:-42.75, Z:-1.42 [[ 2.19185105e-01 9.75640782e-01 -9.10794784e-03 1.10756292e+02] [ 9.75157186e-01 -2.19363885e-01 -3.07887676e-02 -4.27505621e+01] [-3.20367321e-02 -2.13324154e-03 -9.99484416e-01 -1.41505669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.34655999499999 meters 0.014216355620472193 Centerline is valid? [True, True] Translation: X:110.76, Y:-42.75, Z:-1.42 [[ 1.43796870e-01 9.89585355e-01 -6.57915749e-03 1.10758661e+02] [ 9.89105066e-01 -1.43932493e-01 -3.08967027e-02 -4.27515371e+01] [-3.15218790e-02 -2.06462886e-03 -9.99500930e-01 -1.41617851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.376559995 meters 0.013325442964556924 Centerline is valid? [True, True] Translation: X:110.76, Y:-42.75, Z:-1.42 [[ 6.96933044e-02 9.97559986e-01 -4.11310789e-03 1.10757674e+02] [ 9.97077769e-01 -6.97877383e-02 -3.10740196e-02 -4.27535802e+01] [-3.12852430e-02 -1.93543733e-03 -9.99508623e-01 -1.41744693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.406559995 meters 0.01379954618607045 Centerline is valid? [True, True] Translation: X:110.76, Y:-42.76, Z:-1.42 [[-6.77293744e-03 9.99975683e-01 -1.66160705e-03 1.10760466e+02] [ 9.99491754e-01 6.71787860e-03 -3.11625292e-02 -4.27564813e+01] [-3.11506090e-02 -1.87182441e-03 -9.99512949e-01 -1.41639610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.436559995 meters 0.012093426276559094 Centerline is valid? [True, True] Translation: X:110.76, Y:-42.76, Z:-1.42 [[-8.06126261e-02 9.96745186e-01 7.98574610e-04 1.10755633e+02] [ 9.96253864e-01 8.05979991e-02 -3.13400765e-02 -4.27589250e+01] [-3.13024339e-02 -1.73082283e-03 -9.99508460e-01 -1.41874816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.466559995 meters 0.011490778047863142 Centerline is valid? [True, True] Translation: X:110.76, Y:-42.76, Z:-1.42 [[-1.55935394e-01 9.87761874e-01 3.26094817e-03 1.10757141e+02] [ 9.87269953e-01 1.55960782e-01 -3.12133745e-02 -4.27609718e+01] [-3.13399613e-02 -1.64783371e-03 -9.99507424e-01 -1.41987540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.496559995 meters 0.011240217214392913 Centerline is valid? [True, True] Translation: X:110.76, Y:-42.76, Z:-1.42 [[-2.30800160e-01 9.72984667e-01 5.66785881e-03 1.10761048e+02] [ 9.72500956e-01 2.30864354e-01 -3.07171083e-02 -4.27624577e+01] [-3.11957819e-02 -1.57751538e-03 -9.99512048e-01 -1.42115759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.526559995 meters 0.010975460650460553 Centerline is valid? [True, True] Translation: X:110.77, Y:-42.76, Z:-1.42 [[-3.03867386e-01 9.52681883e-01 7.86392495e-03 1.10768510e+02] [ 9.52224615e-01 3.03965467e-01 -2.95512828e-02 -4.27630520e+01] [-3.05433334e-02 -1.49144816e-03 -9.99532331e-01 -1.42283544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.556559995 meters 0.010883508098460807 Centerline is valid? [True, True] Translation: X:110.78, Y:-42.76, Z:-1.42 [[-3.76711235e-01 9.26275869e-01 1.00826235e-02 1.10778068e+02] [ 9.25833797e-01 3.76843319e-01 -2.86512336e-02 -4.27626686e+01] [-3.03385157e-02 -1.45840800e-03 -9.99538617e-01 -1.42393751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.586559995 meters 0.010878436712403504 Centerline is valid? [True, True] Translation: X:110.79, Y:-42.76, Z:-1.42 [[-4.47052500e-01 8.94422667e-01 1.23350825e-02 1.10787021e+02] [ 8.93990428e-01 4.47220394e-01 -2.78394253e-02 -4.27613382e+01] [-3.04167135e-02 -1.41823902e-03 -9.99536299e-01 -1.42471226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.616559995 meters 0.01106534788497884 Centerline is valid? [True, True] Translation: X:110.79, Y:-42.76, Z:-1.43 [[-5.12476161e-01 8.58575929e-01 1.46819069e-02 1.10794406e+02] [ 8.58148553e-01 5.12684786e-01 -2.71177213e-02 -4.27618044e+01] [-3.08098131e-02 -1.29792857e-03 -9.99524422e-01 -1.42504185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.646559995 meters 0.011183590550551596 Centerline is valid? [True, True] Translation: X:110.80, Y:-42.76, Z:-1.43 [[-5.75988283e-01 8.17282483e-01 1.69363641e-02 1.10801797e+02] [ 8.16865810e-01 5.76235954e-01 -2.61222801e-02 -4.27596583e+01] [-3.11086239e-02 -1.21139044e-03 -9.99515276e-01 -1.42625188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.676559995 meters 0.012521692757356942 Centerline is valid? [True, True] Translation: X:110.81, Y:-42.76, Z:-1.42 [[-6.36002719e-01 7.71450488e-01 1.90967281e-02 1.10807551e+02] [ 7.71049150e-01 6.36288377e-01 -2.49060059e-02 -4.27592818e+01] [-3.13647766e-02 -1.11577148e-03 -9.99507382e-01 -1.42423660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.70655999499999 meters 0.012207623766051365 Centerline is valid? [True, True] Translation: X:110.81, Y:-42.76, Z:-1.43 [[-6.92142044e-01 7.21451811e-01 2.11346882e-02 1.10814729e+02] [ 7.21070455e-01 6.92463909e-01 -2.34762383e-02 -4.27566596e+01] [-3.15719835e-02 -1.00929232e-03 -9.99500971e-01 -1.42739887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.736559995 meters 0.014185452441343168 Centerline is valid? [True, True] Translation: X:110.82, Y:-42.76, Z:-1.43 [[-7.41254124e-01 6.70812036e-01 2.35273435e-02 1.10819230e+02] [ 6.70442267e-01 7.41627035e-01 -2.22824408e-02 -4.27558461e+01] [-3.23958434e-02 -7.43225607e-04 -9.99474841e-01 -1.42766539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.766559995 meters 0.015425952374182428 Centerline is valid? [True, True] Translation: X:110.84, Y:-42.74, Z:-1.43 [[-7.84351387e-01 6.19812511e-01 2.50070369e-02 1.10841041e+02] [ 6.19478092e-01 7.84749782e-01 -2.03635321e-02 -4.27396032e+01] [-3.22458388e-02 -4.80853133e-04 -9.99479852e-01 -1.42807774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.796559995 meters 0.016760694445163236 Centerline is valid? [True, True] Translation: X:110.86, Y:-42.72, Z:-1.43 [[-8.24213405e-01 5.65653313e-01 2.66194162e-02 1.10860289e+02] [ 5.65344584e-01 8.24643077e-01 -1.86895051e-02 -4.27207647e+01] [-3.25232977e-02 -3.54997833e-04 -9.99470915e-01 -1.42826918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.826559995 meters 0.01844254872750718 Centerline is valid? [True, True] Translation: X:110.88, Y:-42.70, Z:-1.43 [[-8.60323937e-01 5.09001690e-01 2.75681433e-02 1.10875531e+02] [ 5.08731507e-01 8.60765485e-01 -1.65841301e-02 -4.26996501e+01] [-3.21710565e-02 -2.42941015e-04 -9.99482348e-01 -1.42879634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.856559995 meters 0.01933026507202522 Centerline is valid? [True, True] Translation: X:110.89, Y:-42.68, Z:-1.43 [[-8.91568441e-01 4.52002133e-01 2.82805068e-02 1.10894513e+02] [ 4.51772604e-01 8.92016854e-01 -1.44029948e-02 -4.26783074e+01] [-3.17368731e-02 -6.48973832e-05 -9.99496256e-01 -1.43109982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.886559995 meters 0.02097853524159927 Centerline is valid? [True, True] Translation: X:110.90, Y:-42.65, Z:-1.43 [[-9.20471498e-01 3.89755255e-01 2.86890628e-02 1.10903405e+02] [ 3.89565707e-01 9.20918477e-01 -1.21539643e-02 -4.26534912e+01] [-3.11573595e-02 -1.11027291e-05 -9.99514492e-01 -1.43195781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.916559995 meters 0.021395596306210674 Centerline is valid? [True, True] Translation: X:110.92, Y:-42.63, Z:-1.43 [[-9.44937771e-01 3.26041965e-01 2.80935321e-02 1.10920298e+02] [ 3.25898483e-01 9.45355297e-01 -9.67171729e-03 -4.26280309e+01] [-2.97117551e-02 1.64685318e-05 -9.99558508e-01 -1.43341549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.946559995 meters 0.020787068583074393 Centerline is valid? [True, True] Translation: X:110.93, Y:-42.60, Z:-1.43 [[-9.65659331e-01 2.58273356e-01 2.82299609e-02 1.10928167e+02] [ 2.58163125e-01 9.66071878e-01 -7.54502756e-03 -4.25986113e+01] [-2.92208510e-02 2.00867686e-06 -9.99572980e-01 -1.43441757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.976559995 meters 0.023609291672744857 Centerline is valid? [True, True] Translation: X:110.93, Y:-42.57, Z:-1.43 [[-9.81663459e-01 1.88560328e-01 2.79616897e-02 1.10931151e+02] [ 1.88482695e-01 9.82061608e-01 -5.41040052e-03 -4.25724076e+01] [-2.84802888e-02 -4.08978599e-05 -9.99594353e-01 -1.43365158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.006559995 meters 0.018855792015243487 Centerline is valid? [True, True] Translation: X:110.93, Y:-42.54, Z:-1.44 [[-9.92760117e-01 1.16864178e-01 2.77509425e-02 1.10933287e+02] [ 1.16815699e-01 9.93147901e-01 -3.36732478e-03 -4.25356035e+01] [-2.79543100e-02 -1.01199997e-04 -9.99609197e-01 -1.43534558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.036559995 meters 0.017628052974797952 Centerline is valid? [True, True] Translation: X:110.93, Y:-42.50, Z:-1.43 [[-9.98802260e-01 4.05637855e-02 2.73609931e-02 1.10926870e+02] [ 4.05411925e-02 9.99176915e-01 -1.38018779e-03 -4.25008813e+01] [-2.73944583e-02 -2.69287398e-04 -9.99624665e-01 -1.43482852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.066559995 meters 0.018738974844342338 Centerline is valid? [True, True] Translation: X:110.92, Y:-42.47, Z:-1.43 [[-9.99029338e-01 -3.42298401e-02 2.77254409e-02 1.10918625e+02] [-3.42265246e-02 9.99413924e-01 5.94278544e-04 -4.24723043e+01] [-2.77295338e-02 -3.55243784e-04 -9.99615399e-01 -1.43370629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.09655999499999 meters 0.014799842530505739 Centerline is valid? [True, True] Translation: X:110.90, Y:-42.43, Z:-1.43 [[-9.93019066e-01 -1.14683865e-01 2.75816064e-02 1.10900011e+02] [-1.14656743e-01 9.93401850e-01 2.56805501e-03 -4.24349028e+01] [-2.76941333e-02 -6.12289580e-04 -9.99616256e-01 -1.43408873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.126559995 meters 0.012997398861991456 Centerline is valid? [True, True] Translation: X:110.87, Y:-42.41, Z:-1.44 [[-9.81253108e-01 -1.90749618e-01 2.75121961e-02 1.10870676e+02] [-1.90696177e-01 9.81638433e-01 4.57760001e-03 -4.24057427e+01] [-2.78802045e-02 -7.54686374e-04 -9.99610987e-01 -1.43526103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.156559995 meters 0.012046300542892128 Centerline is valid? [True, True] Translation: X:110.83, Y:-42.38, Z:-1.44 [[-9.63480388e-01 -2.66406556e-01 2.70756070e-02 1.10830294e+02] [-2.66327825e-01 9.63860321e-01 6.53992158e-03 -4.23818886e+01] [-2.78393812e-02 -9.09901333e-04 -9.99611995e-01 -1.43574738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.186559995 meters 0.012046300542892128 Centerline is valid? [True, True] Translation: X:110.77, Y:-42.37, Z:-1.44 [[-9.41274926e-01 -3.36600720e-01 2.64852642e-02 1.10767720e+02] [-3.36495154e-01 9.41647010e-01 8.48057353e-03 -4.23734350e+01] [-2.77943370e-02 -9.29611855e-04 -9.99613231e-01 -1.43712809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.216559995 meters 0.011380380591930077 Centerline is valid? [True, True] Translation: X:110.70, Y:-42.37, Z:-1.44 [[-9.11726356e-01 -4.09980751e-01 2.59004909e-02 1.10696344e+02] [-4.09848705e-01 9.12093537e-01 1.04603191e-02 -4.23672526e+01] [-2.79121998e-02 -1.07833401e-03 -9.99609797e-01 -1.43798802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.246559995 meters 0.011450033622819966 Centerline is valid? [True, True] Translation: X:110.62, Y:-42.36, Z:-1.44 [[-8.73842918e-01 -4.85546785e-01 2.53549854e-02 1.10615830e+02] [-4.85387662e-01 8.74209597e-01 1.25059355e-02 -4.23645894e+01] [-2.82377883e-02 -1.37877389e-03 -9.99600283e-01 -1.43753195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.276559995 meters 0.01174389551668866 Centerline is valid? [True, True] Translation: X:110.54, Y:-42.38, Z:-1.44 [[-8.32730744e-01 -5.53125148e-01 2.47402153e-02 1.10536615e+02] [-5.52934457e-01 8.33096789e-01 1.46022413e-02 -4.23755641e+01] [-2.86878609e-02 -1.51998224e-03 -9.99587263e-01 -1.44004193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.306559995 meters 0.012570530160405843 Centerline is valid? [True, True] Translation: X:110.45, Y:-42.40, Z:-1.44 [[-7.86628270e-01 -6.16961623e-01 2.39650043e-02 1.10450960e+02] [-6.16737697e-01 7.86991525e-01 1.67018855e-02 -4.23971447e+01] [-2.91646776e-02 -1.64194628e-03 -9.99573272e-01 -1.44063748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.336559995 meters 0.01430908504290549 Centerline is valid? [True, True] Translation: X:110.36, Y:-42.43, Z:-1.44 [[-7.34266699e-01 -6.78460091e-01 2.33306560e-02 1.10360894e+02] [-6.78194831e-01 7.34634984e-01 1.90581330e-02 -4.24279868e+01] [-3.00696987e-02 -1.82897792e-03 -9.99546131e-01 -1.44118803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.366559995 meters 0.01437281472723891 Centerline is valid? [True, True] Translation: X:110.28, Y:-42.47, Z:-1.44 [[-6.79908394e-01 -7.32975768e-01 2.17048166e-02 1.10275608e+02] [-7.32687852e-01 6.80252157e-01 2.06280092e-02 -4.24708373e+01] [-2.98845792e-02 -1.87769880e-03 -9.99551593e-01 -1.44384928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.396559995 meters 0.015227324158293698 Centerline is valid? [True, True] Translation: X:110.19, Y:-42.52, Z:-1.45 [[-6.21709187e-01 -7.82989758e-01 2.01178163e-02 1.10190114e+02] [-7.82676034e-01 6.22031647e-01 2.22453484e-02 -4.25223197e+01] [-2.99317984e-02 -1.91559525e-03 -9.99550108e-01 -1.44549642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.426559995 meters 0.015608244346216358 Centerline is valid? [True, True] Translation: X:110.11, Y:-42.58, Z:-1.45 [[-5.59697426e-01 -8.28499319e-01 1.81016188e-02 1.10108860e+02] [-8.28173340e-01 5.59986711e-01 2.33195835e-02 -4.25813284e+01] [-2.94569251e-02 -1.93936721e-03 -9.99564169e-01 -1.44786695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.45655999499999 meters 0.014882057876152937 Centerline is valid? [True, True] Translation: X:110.03, Y:-42.65, Z:-1.45 [[-4.95366022e-01 -8.68535118e-01 1.61013494e-02 1.10031612e+02] [-8.68196358e-01 4.95623890e-01 2.43319419e-02 -4.26524027e+01] [-2.91133594e-02 -1.92591570e-03 -9.99574261e-01 -1.45098821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.486559995 meters 0.015053205098710753 Centerline is valid? [True, True] Translation: X:109.96, Y:-42.73, Z:-1.45 [[-4.27964914e-01 -9.03685855e-01 1.40679382e-02 1.09957941e+02] [-9.03335987e-01 4.28191783e-01 2.52169015e-02 -4.27301627e+01] [-2.88119327e-02 -1.91612575e-03 -9.99583014e-01 -1.45319670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.516559995 meters 0.015419311704779231 Centerline is valid? [True, True] Translation: X:109.89, Y:-42.82, Z:-1.45 [[-3.58237898e-01 -9.33554291e-01 1.19161191e-02 1.09888800e+02] [-9.33200729e-01 3.58431035e-01 2.57602902e-02 -4.28160782e+01] [-2.83197363e-02 -1.89181878e-03 -9.99597126e-01 -1.45485388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.546559995 meters 0.014777044445390226 Centerline is valid? [True, True] Translation: X:109.83, Y:-42.91, Z:-1.46 [[-2.87016503e-01 -9.57874190e-01 9.92790377e-03 1.09827209e+02] [-9.57505381e-01 2.87182139e-01 2.66432716e-02 -4.29124748e+01] [-2.83720189e-02 -1.85896262e-03 -9.99595705e-01 -1.45686094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.576559995 meters 0.014968164981538868 Centerline is valid? [True, True] Translation: X:109.77, Y:-43.01, Z:-1.46 [[-2.13564410e-01 -9.76897566e-01 7.83507915e-03 1.09771902e+02] [-9.76519967e-01 2.13700184e-01 2.72210537e-02 -4.30108170e+01] [-2.82665390e-02 -1.83766295e-03 -9.99598732e-01 -1.45827815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.606559995 meters 0.01498116593690576 Centerline is valid? [True, True] Translation: X:109.72, Y:-43.12, Z:-1.46 [[-1.38610644e-01 -9.90329993e-01 5.79608468e-03 1.09724212e+02] [-9.89931364e-01 1.38719638e-01 2.81559389e-02 -4.31157888e+01] [-2.86877016e-02 -1.83501317e-03 -9.99586739e-01 -1.45982549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.636559995 meters 0.013851097829317325 Centerline is valid? [True, True] Translation: X:109.69, Y:-43.22, Z:-1.46 [[-6.22646872e-02 -9.98052894e-01 3.67822258e-03 1.09688174e+02] [-9.97628046e-01 6.23457113e-02 2.91769376e-02 -4.32238037e+01] [-2.93494484e-02 -1.85280512e-03 -9.99567495e-01 -1.46238910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.666559995 meters 0.015607099201070807 Centerline is valid? [True, True] Translation: X:109.65, Y:-43.34, Z:-1.46 [[ 1.51022268e-02 -9.99884936e-01 1.42718277e-03 1.09654302e+02] [-9.99457798e-01 -1.50539785e-02 2.92828888e-02 -4.33354463e+01] [-2.92580346e-02 -1.86864577e-03 -9.99570145e-01 -1.46273798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.696559995 meters 0.01434386191068487 Centerline is valid? [True, True] Translation: X:109.63, Y:-43.45, Z:-1.47 [[ 9.20117394e-02 -9.95757603e-01 -7.97260125e-04 1.09634238e+02] [-9.95338137e-01 -9.19961664e-02 2.89602780e-02 -4.34464029e+01] [-2.89107619e-02 -1.87114214e-03 -9.99580245e-01 -1.46632396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.726559995 meters 0.01608186313992188 Centerline is valid? [True, True] Translation: X:109.62, Y:-43.57, Z:-1.47 [[ 1.68783242e-01 -9.85648558e-01 -3.02270184e-03 1.09618517e+02] [-9.85227504e-01 -1.68799674e-01 2.88692951e-02 -4.35671852e+01] [-2.89652102e-02 -1.89460422e-03 -9.99578625e-01 -1.46722058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.756559995 meters 0.01492397096293015 Centerline is valid? [True, True] Translation: X:109.62, Y:-43.68, Z:-1.47 [[ 2.45163711e-01 -9.69468601e-01 -5.03851530e-03 1.09617400e+02] [-9.69074802e-01 -2.45208063e-01 2.76953751e-02 -4.36808446e+01] [-2.80852811e-02 -1.90720271e-03 -9.99603711e-01 -1.47061049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.786559995 meters 0.015075367244579944 Centerline is valid? [True, True] Translation: X:109.62, Y:-43.80, Z:-1.47 [[ 3.18973232e-01 -9.47737531e-01 -7.04629582e-03 1.09623309e+02] [-9.47358120e-01 -3.19045398e-01 2.68817052e-02 -4.38011744e+01] [-2.77248891e-02 -1.89917880e-03 -9.99613787e-01 -1.47308335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.816559995 meters 0.015157896665195725 Centerline is valid? [True, True] Translation: X:109.64, Y:-43.91, Z:-1.48 [[ 3.90473512e-01 -9.20572611e-01 -8.74667272e-03 1.09636430e+02] [-9.20224251e-01 -3.90567006e-01 2.53917641e-02 -4.39141629e+01] [-2.67911243e-02 -1.86591093e-03 -9.99639312e-01 -1.47565271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.84655999499999 meters 0.015153669591167743 Centerline is valid? [True, True] Translation: X:109.66, Y:-44.02, Z:-1.48 [[ 4.59518340e-01 -8.88106481e-01 -1.04772873e-02 1.09657632e+02] [-8.87777302e-01 -4.59634081e-01 2.42481521e-02 -4.40239632e+01] [-2.63506594e-02 -1.84097272e-03 -9.99651066e-01 -1.47807645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.876559995 meters 0.016160526288777673 Centerline is valid? [True, True] Translation: X:109.69, Y:-44.14, Z:-1.48 [[ 5.24185037e-01 -8.51524431e-01 -1.16700965e-02 1.09689633e+02] [-8.51234587e-01 -5.24312018e-01 2.22842163e-02 -4.41354565e+01] [-2.50943265e-02 -1.74706301e-03 -9.99683561e-01 -1.47903998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.906559995 meters 0.014016200163393784 Centerline is valid? [True, True] Translation: X:109.73, Y:-44.24, Z:-1.48 [[ 5.86598720e-01 -8.09769923e-01 -1.32141400e-02 1.09731943e+02] [-8.09495827e-01 -5.86745069e-01 2.11359760e-02 -4.42405096e+01] [-2.48686092e-02 -1.70154525e-03 -9.99689280e-01 -1.48224404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.936559995 meters 0.013048805592387398 Centerline is valid? [True, True] Translation: X:109.78, Y:-44.33, Z:-1.48 [[ 6.43683356e-01 -7.65156525e-01 -1.43954518e-02 1.09777377e+02] [-7.64907881e-01 -6.43842356e-01 1.95692286e-02 -4.43338213e+01] [-2.42419245e-02 -1.58519221e-03 -9.99704865e-01 -1.48447842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.966559995 meters 0.012375473290141952 Centerline is valid? [True, True] Translation: X:109.83, Y:-44.43, Z:-1.49 [[ 6.98580719e-01 -7.15358090e-01 -1.57410896e-02 1.09829552e+02] [-7.15125772e-01 -6.98756385e-01 1.82933045e-02 -4.44277762e+01] [-2.40854502e-02 -1.52249097e-03 -9.99708744e-01 -1.48662824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.996559995 meters 0.011976811283150235 Centerline is valid? [True, True] Translation: X:109.89, Y:-44.52, Z:-1.49 [[ 7.49472053e-01 -6.61805461e-01 -1.74692139e-02 1.09887368e+02] [-6.61578893e-01 -7.49674183e-01 1.73778017e-02 -4.45169703e+01] [-2.45969427e-02 -1.46691348e-03 -9.99696373e-01 -1.48836025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.026559995 meters 0.01124223035078999 Centerline is valid? [True, True] Translation: X:109.89, Y:-44.52, Z:-1.49 [[ 7.96487421e-01 -6.04361320e-01 -1.88462980e-02 1.09890219e+02] [-6.04149767e-01 -7.96709132e-01 1.60504859e-02 -4.45188127e+01] [-2.47153106e-02 -1.39802360e-03 -9.99693553e-01 -1.48909365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.056559995 meters 0.0110814493112737 Centerline is valid? [True, True] Translation: X:109.89, Y:-44.52, Z:-1.49 [[ 8.40276777e-01 -5.41805902e-01 -1.95269493e-02 1.09890563e+02] [-5.41621810e-01 -8.40502562e-01 1.41865414e-02 -4.45234129e+01] [-2.40988028e-02 -1.34439968e-03 -9.99708678e-01 -1.48923476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.086559995 meters 0.010767660959759178 Centerline is valid? [True, True] Translation: X:109.89, Y:-44.53, Z:-1.49 [[ 8.79192662e-01 -4.76039876e-01 -2.01568682e-02 1.09890457e+02] [-4.75880551e-01 -8.79422742e-01 1.23831073e-02 -4.45288451e+01] [-2.36212612e-02 -1.29487557e-03 -9.99720140e-01 -1.49082856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.116559995 meters 0.010733057370888116 Centerline is valid? [True, True] Translation: X:109.89, Y:-44.53, Z:-1.49 [[ 9.12281467e-01 -4.09028548e-01 -2.09325417e-02 1.09891021e+02] [-4.08890176e-01 -9.12520787e-01 1.07069186e-02 -4.45304296e+01] [-2.34808147e-02 -1.20861275e-03 -9.99723557e-01 -1.49199738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.146559995 meters 0.010749077590034703 Centerline is valid? [True, True] Translation: X:109.89, Y:-44.53, Z:-1.49 [[ 9.40973258e-01 -3.37796332e-01 -2.15166552e-02 1.09891206e+02] [-3.37679328e-01 -9.41218500e-01 8.96700829e-03 -4.45349526e+01] [-2.32808965e-02 -1.17198533e-03 -9.99728276e-01 -1.49274790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.176559995 meters 0.01070536612021269 Centerline is valid? [True, True] Translation: X:109.89, Y:-44.54, Z:-1.49 [[ 9.64358806e-01 -2.63721849e-01 -2.15146235e-02 1.09891647e+02] [-2.63629317e-01 -9.64598077e-01 7.08052633e-03 -4.45408041e+01] [-2.26202539e-02 -1.15628243e-03 -9.99743461e-01 -1.49374512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.20655999499999 meters 0.010622528723228934 Centerline is valid? [True, True] Translation: X:109.89, Y:-44.55, Z:-1.49 [[ 9.82102327e-01 -1.87192807e-01 -2.08296268e-02 1.09891700e+02] [-1.87125541e-01 -9.82322506e-01 5.15025135e-03 -4.45487249e+01] [-2.14255013e-02 -1.16031863e-03 -9.99769774e-01 -1.49488725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.236559995 meters 0.01056743303323863 Centerline is valid? [True, True] Translation: X:109.89, Y:-44.56, Z:-1.50 [[ 9.93875199e-01 -1.08692336e-01 -1.99515380e-02 1.09889385e+02] [-1.08646541e-01 -9.94074737e-01 3.36831819e-03 -4.45553759e+01] [-2.01994303e-02 -1.18002232e-03 -9.99795274e-01 -1.49624901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.266559995 meters 0.010462605541701031 Centerline is valid? [True, True] Translation: X:109.89, Y:-44.56, Z:-1.50 [[ 9.99340297e-01 -3.03715614e-02 -1.99132641e-02 1.09887296e+02] [-3.03420030e-02 -9.99537982e-01 1.78488328e-03 -4.45612680e+01] [-1.99582735e-02 -1.17949747e-03 -9.99800118e-01 -1.49715987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.296559995 meters 0.01044559281963156 Centerline is valid? [True, True] Translation: X:109.89, Y:-44.57, Z:-1.50 [[ 9.98657655e-01 4.78756537e-02 -1.97688939e-02 1.09885776e+02] [ 4.78895012e-02 -9.98852614e-01 2.27382335e-04 -4.45674237e+01] [-1.97353252e-02 -1.17379958e-03 -9.99804550e-01 -1.49751584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.326559995 meters 0.010330917651624857 Centerline is valid? [True, True] Translation: X:109.88, Y:-44.57, Z:-1.50 [[ 9.91938262e-01 1.25246322e-01 -1.92832208e-02 1.09884128e+02] [ 1.25245240e-01 -9.92125002e-01 -1.26854051e-03 -4.45735118e+01] [-1.92902455e-02 -1.15681776e-03 -9.99813257e-01 -1.49873231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.356559995 meters 0.010413322027600619 Centerline is valid? [True, True] Translation: X:109.88, Y:-44.58, Z:-1.50 [[ 9.79133462e-01 2.02316413e-01 -1.91241083e-02 1.09884199e+02] [ 2.02300595e-01 -9.79319534e-01 -2.77834049e-03 -4.45814619e+01] [-1.92907168e-02 -1.14845236e-03 -9.99813257e-01 -1.49937942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.386559995 meters 0.010418366625710032 Centerline is valid? [True, True] Translation: X:109.88, Y:-44.59, Z:-1.50 [[ 9.60452204e-01 2.77812397e-01 -1.87573083e-02 1.09883493e+02] [ 2.77782283e-01 -9.60634679e-01 -4.24457369e-03 -4.45893770e+01] [-1.91981160e-02 -1.13373775e-03 -9.99815056e-01 -1.49964871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.416559995 meters 0.010402098799761032 Centerline is valid? [True, True] Translation: X:109.88, Y:-44.60, Z:-1.50 [[ 9.35853516e-01 3.51874915e-01 -1.90326268e-02 1.09883251e+02] [ 3.51826295e-01 -9.36046358e-01 -5.95597907e-03 -4.45978211e+01] [-1.99111806e-02 -1.12225463e-03 -9.99801123e-01 -1.49880354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.446559995 meters 0.010429682056007802 Centerline is valid? [True, True] Translation: X:109.88, Y:-44.60, Z:-1.50 [[ 9.05438643e-01 4.24046776e-01 -1.91100823e-02 1.09884364e+02] [ 4.23978046e-01 -9.05639601e-01 -7.71560505e-03 -4.46041546e+01] [-2.05786248e-02 -1.11624838e-03 -9.99787615e-01 -1.49844821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.476559995 meters 0.010428209469141886 Centerline is valid? [True, True] Translation: X:109.89, Y:-44.61, Z:-1.50 [[ 8.69670093e-01 4.93261813e-01 -1.91497391e-02 1.09886729e+02] [ 4.93169753e-01 -8.69880205e-01 -9.59291672e-03 -4.46129962e+01] [-2.13897985e-02 -1.10139933e-03 -9.99770605e-01 -1.49807135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.506559995 meters 0.010353821042857625 Centerline is valid? [True, True] Translation: X:109.89, Y:-44.62, Z:-1.50 [[ 8.28656684e-01 5.59450197e-01 -1.85358502e-02 1.09890394e+02] [ 5.59339131e-01 -8.28863255e-01 -1.12000370e-02 -4.46218750e+01] [-2.16295480e-02 -1.08684087e-03 -9.99765463e-01 -1.49874104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.536559995 meters 0.010392144263932618 Centerline is valid? [True, True] Translation: X:109.89, Y:-44.63, Z:-1.50 [[ 7.82538476e-01 6.22355232e-01 -1.75356531e-02 1.09893636e+02] [ 6.22229265e-01 -7.82734186e-01 -1.25672676e-02 -4.46300513e+01] [-2.15470599e-02 -1.07682605e-03 -9.99767255e-01 -1.49922448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.566559995 meters 0.010408102580556113 Centerline is valid? [True, True] Translation: X:109.90, Y:-44.64, Z:-1.50 [[ 7.31804317e-01 6.81320660e-01 -1.62665029e-02 1.09897347e+02] [ 6.81183951e-01 -7.31984309e-01 -1.36892710e-02 -4.46368657e+01] [-2.12336081e-02 -1.06261304e-03 -9.99773977e-01 -1.49961925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.59655999499999 meters 0.010560961153421596 Centerline is valid? [True, True] Translation: X:109.90, Y:-44.64, Z:-1.50 [[ 6.77614667e-01 7.35267529e-01 -1.48331948e-02 1.09900714e+02] [ 7.35123573e-01 -6.77776229e-01 -1.45847778e-02 -4.46434608e+01] [-2.07773004e-02 -1.02137180e-03 -9.99783607e-01 -1.50018658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.626559995 meters 0.010673384450753758 Centerline is valid? [True, True] Translation: X:109.91, Y:-44.65, Z:-1.50 [[ 6.18847332e-01 7.85397170e-01 -1.33889781e-02 1.09905857e+02] [ 7.85247249e-01 -6.18991350e-01 -1.53774869e-02 -4.46501677e+01] [-2.03650963e-02 -9.97341521e-04 -9.99792112e-01 -1.50066384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.656559995 meters 0.010838728249998274 Centerline is valid? [True, True] Translation: X:109.91, Y:-44.66, Z:-1.50 [[ 5.56606475e-01 8.30688587e-01 -1.20707330e-02 1.09911292e+02] [ 8.30529723e-01 -5.56736505e-01 -1.62740029e-02 -4.46567752e+01] [-2.02388462e-02 -9.66887157e-04 -9.99794706e-01 -1.50097604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.686559995 meters 0.011347599715269567 Centerline is valid? [True, True] Translation: X:109.92, Y:-44.66, Z:-1.50 [[ 4.92481164e-01 8.70258326e-01 -1.06183810e-02 1.09915002e+02] [ 8.70094260e-01 -4.92594790e-01 -1.69219304e-02 -4.46627112e+01] [-1.99570100e-02 -9.05260396e-04 -9.99800429e-01 -1.50115636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.716559995 meters 0.011840336627352779 Centerline is valid? [True, True] Translation: X:109.92, Y:-44.67, Z:-1.50 [[ 4.24454875e-01 9.05400909e-01 -9.34091481e-03 1.09918098e+02] [ 9.05224606e-01 -4.24556767e-01 -1.78875547e-02 -4.46683199e+01] [-2.01611569e-02 -8.63166127e-04 -9.99796371e-01 -1.50130098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.746559995 meters 0.012725505564837671 Centerline is valid? [True, True] Translation: X:109.92, Y:-44.67, Z:-1.50 [[ 3.53851565e-01 9.35267164e-01 -8.02505321e-03 1.09919786e+02] [ 9.35076731e-01 -3.53941605e-01 -1.88903972e-02 -4.46734410e+01] [-2.05079684e-02 -8.19643918e-04 -9.99789354e-01 -1.50098127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.776559995 meters 0.013038045972267313 Centerline is valid? [True, True] Translation: X:109.93, Y:-44.68, Z:-1.50 [[ 2.82783052e-01 9.59159434e-01 -6.85029982e-03 1.09925025e+02] [ 9.58936937e-01 -2.82865087e-01 -2.06710929e-02 -4.46781318e+01] [-2.17645844e-02 -7.23570796e-04 -9.99762862e-01 -1.50125494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.806559995 meters 0.013520155122487576 Centerline is valid? [True, True] Translation: X:109.93, Y:-44.68, Z:-1.50 [[ 2.08437279e-01 9.78021869e-01 -5.20804543e-03 1.09930294e+02] [ 9.77793301e-01 -2.08501214e-01 -2.11542861e-02 -4.46824752e+01] [-2.17752382e-02 -6.83050110e-04 -9.99762658e-01 -1.50113876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.836559995 meters 0.014410684026209646 Centerline is valid? [True, True] Translation: X:109.94, Y:-44.69, Z:-1.50 [[ 1.34200083e-01 9.90947666e-01 -3.61411955e-03 1.09935544e+02] [ 9.90698346e-01 -1.34247414e-01 -2.22355319e-02 -4.46870567e+01] [-2.25194346e-02 -5.96492036e-04 -9.99746227e-01 -1.50093381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.866559995 meters 0.014121523140068919 Centerline is valid? [True, True] Translation: X:109.95, Y:-44.69, Z:-1.50 [[ 5.74324794e-02 9.98347666e-01 -1.85666441e-03 1.09945522e+02] [ 9.98096226e-01 -5.74596954e-02 -2.24121885e-02 -4.46905917e+01] [-2.24818395e-02 -5.65942188e-04 -9.99747091e-01 -1.50160350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.896559995 meters 0.01463983355655192 Centerline is valid? [True, True] Translation: X:109.95, Y:-44.69, Z:-1.50 [[-1.97516972e-02 9.99804913e-01 -8.31249757e-05 1.09953778e+02] [ 9.99547554e-01 1.97447265e-02 -2.26899319e-02 -4.46934554e+01] [-2.26838641e-02 -5.31252032e-04 -9.99742547e-01 -1.50179219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.926559995 meters 0.014897710095831806 Centerline is valid? [True, True] Translation: X:109.96, Y:-44.70, Z:-1.50 [[-9.60288323e-02 9.95376937e-01 1.79371492e-03 1.09963702e+02] [ 9.95101925e-01 9.60444707e-02 -2.34012412e-02 -4.46956901e+01] [-2.34653322e-02 -4.62264697e-04 -9.99724544e-01 -1.50210112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.95655999499999 meters 0.015339481600042984 Centerline is valid? [True, True] Translation: X:109.97, Y:-44.70, Z:-1.50 [[-1.73044278e-01 9.84906926e-01 3.74498406e-03 1.09973121e+02] [ 9.84620022e-01 1.73084271e-01 -2.37749435e-02 -4.46973554e+01] [-2.40643043e-02 -4.26731650e-04 -9.99710322e-01 -1.50204862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.986559995 meters 0.016226531255646926 Centerline is valid? [True, True] Translation: X:109.98, Y:-44.70, Z:-1.50 [[-2.49084452e-01 9.68464993e-01 5.70026003e-03 1.09981632e+02] [ 9.68173647e-01 2.49149349e-01 -2.37569164e-02 -4.46996440e+01] [-2.44279580e-02 -3.98636971e-04 -9.99701513e-01 -1.50156250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.016559995 meters 0.01603066733725182 Centerline is valid? [True, True] Translation: X:109.99, Y:-44.70, Z:-1.50 [[-3.23913138e-01 9.46055408e-01 7.71006686e-03 1.09991541e+02] [ 9.45759299e-01 3.24004668e-01 -2.36711472e-02 -4.47004898e+01] [-2.48923145e-02 -3.75528139e-04 -9.99690068e-01 -1.50174538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.046559995 meters 0.016061457809789213 Centerline is valid? [True, True] Translation: X:110.00, Y:-44.70, Z:-1.50 [[-3.96626412e-01 9.17928044e-01 9.77726139e-03 1.10001890e+02] [ 9.17627432e-01 3.96746752e-01 -2.34927669e-02 -4.47000176e+01] [-2.54437663e-02 -3.45968582e-04 -9.99676195e-01 -1.50262983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.076559995 meters 0.016345469619309706 Centerline is valid? [True, True] Translation: X:110.01, Y:-44.70, Z:-1.50 [[-4.67093498e-01 8.84132657e-01 1.15372908e-02 1.10011022e+02] [ 8.83844831e-01 4.67235838e-01 -2.25607342e-02 -4.46992374e+01] [-2.53373176e-02 -3.40797440e-04 -9.99678901e-01 -1.50304042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.106559995 meters 0.016345469619309706 Centerline is valid? [True, True] Translation: X:110.02, Y:-44.70, Z:-1.50 [[-5.34904096e-01 8.44808916e-01 1.32477828e-02 1.10019966e+02] [ 8.44534060e-01 5.35068014e-01 -2.15509218e-02 -4.46981116e+01] [-2.52948757e-02 -3.39472496e-04 -9.99679976e-01 -1.50340735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.136559995 meters 0.01660977608354568 Centerline is valid? [True, True] Translation: X:110.03, Y:-44.70, Z:-1.50 [[-5.99670309e-01 8.00110702e-01 1.47778696e-02 1.10028582e+02] [ 7.99853368e-01 5.99852268e-01 -2.02940183e-02 -4.46967846e+01] [-2.51019998e-02 -3.49591529e-04 -9.99684834e-01 -1.50399090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.166559995 meters 0.015677249696287376 Centerline is valid? [True, True] Translation: X:110.04, Y:-44.69, Z:-1.51 [[-6.60913564e-01 7.50287243e-01 1.61961351e-02 1.10039954e+02] [ 7.50048389e-01 6.61111881e-01 -1.89339546e-02 -4.46910572e+01] [-2.49133619e-02 -3.65822355e-04 -9.99689547e-01 -1.50570079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.196559995 meters 0.01592064052774571 Centerline is valid? [True, True] Translation: X:110.05, Y:-44.69, Z:-1.51 [[-7.17916334e-01 6.95904804e-01 1.76816674e-02 1.10048605e+02] [ 6.95681023e-01 7.18133948e-01 -1.76507256e-02 -4.46873247e+01] [-2.49810304e-02 -3.70943745e-04 -9.99687857e-01 -1.50600539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.226559995 meters 0.015218425979950417 Centerline is valid? [True, True] Translation: X:110.07, Y:-44.67, Z:-1.51 [[-7.66153383e-01 6.42386058e-01 1.86854473e-02 1.10069917e+02] [ 6.42185321e-01 7.66381144e-01 -1.60609617e-02 -4.46662712e+01] [-2.46375124e-02 -3.05640181e-04 -9.99696404e-01 -1.50691967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.256559995 meters 0.015761622501025172 Centerline is valid? [True, True] Translation: X:110.09, Y:-44.64, Z:-1.51 [[-8.10072642e-01 5.86001680e-01 1.96047190e-02 1.10086394e+02] [ 5.85820372e-01 8.10309771e-01 -1.45796982e-02 -4.46444914e+01] [-2.44296230e-02 -3.25770863e-04 -9.99701499e-01 -1.50718327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.286559995 meters 0.015140064008313595 Centerline is valid? [True, True] Translation: X:110.10, Y:-44.62, Z:-1.51 [[-8.49933238e-01 5.26499706e-01 2.02867011e-02 1.10104185e+02] [ 5.26339863e-01 8.50175238e-01 -1.29774137e-02 -4.46209796e+01] [-2.40798555e-02 -3.52235790e-04 -9.99709976e-01 -1.50797623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.316559995 meters 0.015578343393584802 Centerline is valid? [True, True] Translation: X:110.12, Y:-44.60, Z:-1.51 [[-8.85425227e-01 4.64299783e-01 2.11631658e-02 1.10118467e+02] [ 4.64157238e-01 8.85678032e-01 -1.15101196e-02 -4.45966712e+01] [-2.40878971e-02 -3.68313669e-04 -9.99709777e-01 -1.50813693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.34655999499999 meters 0.015241938666858489 Centerline is valid? [True, True] Translation: X:110.13, Y:-44.57, Z:-1.51 [[-9.16478020e-01 3.99493485e-01 2.17484335e-02 1.10129050e+02] [ 3.99370812e-01 9.16735949e-01 -9.90729177e-03 -4.45695037e+01] [-2.38954693e-02 -3.94125612e-04 -9.99714385e-01 -1.50876144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.376559995 meters 0.014459381164934464 Centerline is valid? [True, True] Translation: X:110.14, Y:-44.54, Z:-1.51 [[-9.43060593e-01 3.31839264e-01 2.27908066e-02 1.10136729e+02] [ 3.31731494e-01 9.43335848e-01 -8.46721531e-03 -4.45397008e+01] [-2.43091394e-02 -4.24668761e-04 -9.99704399e-01 -1.50939342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.406559995 meters 0.013879785100551831 Centerline is valid? [True, True] Translation: X:110.15, Y:-44.51, Z:-1.51 [[-9.64383240e-01 2.63450689e-01 2.36368560e-02 1.10147295e+02] [ 2.63360603e-01 9.64672767e-01 -6.90249791e-03 -4.45123643e+01] [-2.46202991e-02 -4.31636649e-04 -9.99696781e-01 -1.50995616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.436559995 meters 0.014106385715564485 Centerline is valid? [True, True] Translation: X:110.15, Y:-44.49, Z:-1.51 [[-9.80757385e-01 1.93742141e-01 2.40610531e-02 1.10152275e+02] [ 1.93672745e-01 9.81052387e-01 -5.20405016e-03 -4.44850846e+01] [-2.46133974e-02 -4.43940421e-04 -9.99696946e-01 -1.51019463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.466559995 meters 0.014436583492940894 Centerline is valid? [True, True] Translation: X:110.15, Y:-44.46, Z:-1.51 [[-9.92087476e-01 1.23201863e-01 2.41607273e-02 1.10154485e+02] [ 1.23154140e-01 9.92381526e-01 -3.45903613e-03 -4.44571727e+01] [-2.44028191e-02 -4.56172830e-04 -9.99702103e-01 -1.51094476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.496559995 meters 0.013841703697500192 Centerline is valid? [True, True] Translation: X:110.15, Y:-44.43, Z:-1.51 [[-9.98336447e-01 5.24275608e-02 2.39935112e-02 1.10148215e+02] [ 5.24013352e-02 9.98624623e-01 -1.72089674e-03 -4.44275647e+01] [-2.40507335e-02 -4.60741916e-04 -9.99710633e-01 -1.51216347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.526559995 meters 0.014357588730330776 Centerline is valid? [True, True] Translation: X:110.15, Y:-44.40, Z:-1.51 [[-9.99541478e-01 -1.83799778e-02 2.40626243e-02 1.10147962e+02] [-1.83854823e-02 9.99830973e-01 -7.52580475e-06 -4.44002940e+01] [-2.40584188e-02 -4.49925308e-04 -9.99710453e-01 -1.51236604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.556559995 meters 0.014561812080652216 Centerline is valid? [True, True] Translation: X:110.14, Y:-44.37, Z:-1.51 [[-9.95857872e-01 -8.76860353e-02 2.40470077e-02 1.10138323e+02] [-8.76701881e-02 9.96148081e-01 1.71450755e-03 -4.43726951e+01] [-2.41047189e-02 -4.00799842e-04 -9.99709359e-01 -1.51313729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.586559995 meters 0.015047857428902382 Centerline is valid? [True, True] Translation: X:110.12, Y:-44.35, Z:-1.51 [[-9.87205702e-01 -1.57708009e-01 2.35177746e-02 1.10116337e+02] [-1.57672453e-01 9.87485716e-01 3.37028730e-03 -4.43484052e+01] [-2.37549878e-02 -3.80938368e-04 -9.99717738e-01 -1.51387148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.616559995 meters 0.015946395049477518 Centerline is valid? [True, True] Translation: X:110.08, Y:-44.33, Z:-1.52 [[-9.74039740e-01 -2.25337373e-01 2.16714795e-02 1.10078345e+02] [-2.25289426e-01 9.74280735e-01 4.66086840e-03 -4.43293206e+01] [-2.21643728e-02 -3.42484126e-04 -9.99754281e-01 -1.51559731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.646559995 meters 0.01613117426112851 Centerline is valid? [True, True] Translation: X:110.02, Y:-44.32, Z:-1.52 [[-9.55470145e-01 -2.94319752e-01 2.12764155e-02 1.10017909e+02] [-2.94253864e-01 9.55706959e-01 6.23479246e-03 -4.43187112e+01] [-2.21690409e-02 -3.03509412e-04 -9.99754191e-01 -1.51714164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.676559995 meters 0.017423862719564837 Centerline is valid? [True, True] Translation: X:109.95, Y:-44.32, Z:-1.52 [[-9.32030157e-01 -3.61797915e-01 2.05440120e-02 1.09950557e+02] [-3.61716097e-01 9.32256512e-01 7.69816637e-03 -4.43166513e+01] [-2.19374695e-02 -2.56176620e-04 -9.99759312e-01 -1.51782539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.70655999499999 meters 0.018922762433843016 Centerline is valid? [True, True] Translation: X:109.88, Y:-44.32, Z:-1.52 [[-9.03510920e-01 -4.28112791e-01 1.96838932e-02 1.09875717e+02] [-4.28016466e-01 9.03725285e-01 9.08368854e-03 -4.43236182e+01] [-2.16776753e-02 -2.17818631e-04 -9.99764988e-01 -1.51883033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.736559995 meters 0.01961548630181857 Centerline is valid? [True, True] Translation: X:109.79, Y:-44.34, Z:-1.52 [[-8.71221662e-01 -4.90526952e-01 1.88712864e-02 1.09792919e+02] [-4.90414941e-01 8.71426012e-01 1.04829229e-02 -4.43394176e+01] [-2.15870861e-02 -1.21811319e-04 -9.99766964e-01 -1.52081938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.766559995 meters 0.019474039953946264 Centerline is valid? [True, True] Translation: X:109.70, Y:-44.37, Z:-1.52 [[-8.32874853e-01 -5.53165457e-01 1.80957886e-02 1.09703201e+02] [-5.53036979e-01 8.33071408e-01 1.19217608e-02 -4.43652963e+01] [-2.16697904e-02 -7.83054995e-05 -9.99765179e-01 -1.52257116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.796559995 meters 0.02195626445148776 Centerline is valid? [True, True] Translation: X:109.61, Y:-44.41, Z:-1.52 [[-7.89548118e-01 -6.13443085e-01 1.73594725e-02 1.09610799e+02] [-6.13295887e-01 7.89738931e-01 1.34378170e-02 -4.44059437e+01] [-2.19527871e-02 -3.66899687e-05 -9.99759008e-01 -1.52357813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.826559995 meters 0.021765639614620393 Centerline is valid? [True, True] Translation: X:109.52, Y:-44.45, Z:-1.53 [[-7.42202913e-01 -6.69974948e-01 1.63830415e-02 1.09519733e+02] [-6.69811266e-01 7.42383707e-01 1.48087724e-02 -4.44483240e+01] [-2.20840096e-02 1.75682830e-05 -9.99756118e-01 -1.52519757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.856559995 meters 0.021133713980705442 Centerline is valid? [True, True] Translation: X:109.43, Y:-44.50, Z:-1.53 [[-6.89516000e-01 -7.24110262e-01 1.52320192e-02 1.09428185e+02] [-7.23932568e-01 6.89684223e-01 1.60408541e-02 -4.45022850e+01] [-2.21206304e-02 3.34707716e-05 -9.99755308e-01 -1.52702097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.886559995 meters 0.022097260146467974 Centerline is valid? [True, True] Translation: X:109.34, Y:-44.57, Z:-1.53 [[-6.32485188e-01 -7.74446920e-01 1.39447423e-02 1.09338848e+02] [-7.74257438e-01 6.32638892e-01 1.71304533e-02 -4.45691561e+01] [-2.20886131e-02 3.79375339e-05 -9.99756016e-01 -1.52836474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.916559995 meters 0.021112328145211762 Centerline is valid? [True, True] Translation: X:109.25, Y:-44.65, Z:-1.53 [[-5.71096608e-01 -8.20790200e-01 1.23333751e-02 1.09247187e+02] [-8.20598628e-01 5.71229768e-01 1.77325973e-02 -4.46471877e+01] [-2.15999330e-02 6.27551086e-06 -9.99766694e-01 -1.53041315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.946559995 meters 0.02246036220530002 Centerline is valid? [True, True] Translation: X:109.17, Y:-44.73, Z:-1.53 [[-5.06087704e-01 -8.62413539e-01 1.08684611e-02 1.09168094e+02] [-8.62215248e-01 5.06204393e-01 1.84926804e-02 -4.47285875e+01] [-2.14500007e-02 -1.20347551e-05 -9.99769922e-01 -1.53196802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.976559995 meters 0.020691212442777242 Centerline is valid? [True, True] Translation: X:109.09, Y:-44.82, Z:-1.53 [[-4.37547698e-01 -8.99147705e-01 9.24216389e-03 1.09089962e+02] [-8.98949706e-01 4.37645293e-01 1.88685834e-02 -4.48165389e+01] [-2.10104330e-02 -5.23352684e-05 -9.99779255e-01 -1.53436628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.006559995 meters 0.020367051478731236 Centerline is valid? [True, True] Translation: X:109.02, Y:-44.92, Z:-1.54 [[-3.64889583e-01 -9.31021482e-01 7.38868877e-03 1.09016095e+02] [-9.30839075e-01 3.64964350e-01 1.84293023e-02 -4.49156117e+01] [-1.98546844e-02 -1.53019779e-04 -9.99802865e-01 -1.53683921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.036559995 meters 0.018546149846154665 Centerline is valid? [True, True] Translation: X:108.95, Y:-45.02, Z:-1.54 [[-2.90487869e-01 -9.56861820e-01 5.67940532e-03 1.08950641e+02] [-9.56694315e-01 2.90543290e-01 1.79048829e-02 -4.50182877e+01] [-1.87826119e-02 -2.32303512e-04 -9.99823564e-01 -1.53951027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.066559995 meters 0.020838430618248617 Centerline is valid? [True, True] Translation: X:108.90, Y:-45.13, Z:-1.54 [[-2.14338944e-01 -9.76750446e-01 4.16942038e-03 1.08897193e+02] [-9.76591028e-01 2.14379299e-01 1.76488170e-02 -4.51349487e+01] [-1.81323272e-02 -2.88989736e-04 -9.99835554e-01 -1.54149554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.09655999499999 meters 0.018619798177662076 Centerline is valid? [True, True] Translation: X:108.85, Y:-45.24, Z:-1.54 [[-1.34494085e-01 -9.90910754e-01 2.68668041e-03 1.08845464e+02] [-9.90768085e-01 1.34520323e-01 1.68191838e-02 -4.52448581e+01] [-1.70277232e-02 -3.99796477e-04 -9.99854938e-01 -1.54432330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.126559995 meters 0.017388566298726 Centerline is valid? [True, True] Translation: X:108.81, Y:-45.36, Z:-1.55 [[-5.56068661e-02 -9.98451790e-01 1.37830806e-03 1.08805474e+02] [-9.98311288e-01 5.56221712e-02 1.67554762e-02 -4.53646629e+01] [-1.68061997e-02 -4.44260967e-04 -9.99858667e-01 -1.54652705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.156559995 meters 0.015180609906704475 Centerline is valid? [True, True] Translation: X:108.77, Y:-45.47, Z:-1.55 [[ 2.03184440e-02 -9.99793553e-01 1.09821153e-04 1.08770736e+02] [-9.99656524e-01 -2.03138404e-02 1.65584446e-02 -4.54707917e+01] [-1.65527953e-02 -4.46225262e-04 -9.99862894e-01 -1.54849562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.186559995 meters 0.015111738607747123 Centerline is valid? [True, True] Translation: X:108.75, Y:-45.59, Z:-1.55 [[ 1.01045953e-01 -9.94881112e-01 -1.13468851e-03 1.08746413e+02] [-9.94742848e-01 -1.01050837e-01 1.65950369e-02 -4.55910124e+01] [-1.66247500e-02 -5.48138032e-04 -9.99861649e-01 -1.54923711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.216559995 meters 0.014251644445152596 Centerline is valid? [True, True] Translation: X:108.73, Y:-45.71, Z:-1.55 [[ 1.78847414e-01 -9.83873913e-01 -2.39268332e-03 1.08732436e+02] [-9.83737240e-01 -1.78862475e-01 1.64090981e-02 -4.57067016e+01] [-1.65724448e-02 -5.80953084e-04 -9.99862499e-01 -1.55095216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.246559995 meters 0.013863210451258831 Centerline is valid? [True, True] Translation: X:108.73, Y:-45.83, Z:-1.55 [[ 2.55741286e-01 -9.66738449e-01 -3.62841648e-03 1.08730180e+02] [-9.66604146e-01 -2.55766280e-01 1.61256137e-02 -4.58288173e+01] [-1.65172773e-02 -6.16742764e-04 -9.99863390e-01 -1.55249098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.276559995 meters 0.012775710812245124 Centerline is valid? [True, True] Translation: X:108.74, Y:-45.95, Z:-1.55 [[ 3.30365481e-01 -9.43841173e-01 -4.74216990e-03 1.08736115e+02] [-9.43714184e-01 -3.30398887e-01 1.54956212e-02 -4.59512588e+01] [-1.61922130e-02 -6.43965371e-04 -9.99868690e-01 -1.55465775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.306559995 meters 0.012202512167836943 Centerline is valid? [True, True] Translation: X:108.75, Y:-46.07, Z:-1.56 [[ 4.03781013e-01 -9.14834247e-01 -6.26050255e-03 1.08747953e+02] [-9.14697469e-01 -4.03828994e-01 1.58330108e-02 -4.60677974e+01] [-1.70127530e-02 -6.66603321e-04 -9.99855050e-01 -1.55501469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.336559995 meters 0.01242003588084601 Centerline is valid? [True, True] Translation: X:108.77, Y:-46.18, Z:-1.56 [[ 4.72927673e-01 -8.81066713e-01 -7.80141953e-03 1.08773312e+02] [-8.80922940e-01 -4.72991553e-01 1.59300081e-02 -4.61819427e+01] [-1.77254055e-02 -6.61292268e-04 -9.99842674e-01 -1.55556458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.366559995 meters 0.012217796314444291 Centerline is valid? [True, True] Translation: X:108.80, Y:-46.29, Z:-1.56 [[ 5.38295959e-01 -8.42703322e-01 -9.41129546e-03 1.08801802e+02] [-8.42553276e-01 -5.38377847e-01 1.59145182e-02 -4.62892742e+01] [-1.84780503e-02 -6.37202996e-04 -9.99829063e-01 -1.55637489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.396559995 meters 0.012452463186814273 Centerline is valid? [True, True] Translation: X:108.84, Y:-46.39, Z:-1.56 [[ 5.99987992e-01 -7.99937595e-01 -1.06888832e-02 1.08841742e+02] [-7.99792117e-01 -6.00082885e-01 1.52676451e-02 -4.63942371e+01] [-1.86273791e-02 -6.11519224e-04 -9.99826308e-01 -1.55766435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.426559995 meters 0.013122621217985023 Centerline is valid? [True, True] Translation: X:108.89, Y:-46.49, Z:-1.56 [[ 6.58022987e-01 -7.52905352e-01 -1.18017030e-02 1.08886284e+02] [-7.52768051e-01 -6.58128551e-01 1.43899918e-02 -4.64905238e+01] [-1.86013395e-02 -5.85000408e-04 -9.99826809e-01 -1.55864480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.45655999499999 meters 0.013590525476724971 Centerline is valid? [True, True] Translation: X:108.93, Y:-46.58, Z:-1.56 [[ 7.10928865e-01 -7.03131980e-01 -1.36223173e-02 1.08934872e+02] [-7.02989275e-01 -7.11059188e-01 1.41742878e-02 -4.65812038e+01] [-1.96526689e-02 -5.00567357e-04 -9.99806742e-01 -1.56004549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.486559995 meters 0.014883356469458419 Centerline is valid? [True, True] Translation: X:108.93, Y:-46.59, Z:-1.56 [[ 7.62747277e-01 -6.46526306e-01 -1.48434248e-02 1.08934298e+02] [-6.46391178e-01 -7.62891533e-01 1.32270166e-02 -4.65925999e+01] [-1.98755372e-02 -4.94212053e-04 -9.99802340e-01 -1.55949043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.516559995 meters 0.014210603974422826 Centerline is valid? [True, True] Translation: X:108.93, Y:-46.61, Z:-1.56 [[ 8.09911399e-01 -5.86336103e-01 -1.59216948e-02 1.08932542e+02] [-5.86211733e-01 -8.10067755e-01 1.20845045e-02 -4.66085804e+01] [-1.99832328e-02 -4.53893627e-04 -9.99800212e-01 -1.56060603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.546559995 meters 0.014996499281849058 Centerline is valid? [True, True] Translation: X:108.93, Y:-46.62, Z:-1.56 [[ 8.52344146e-01 -5.22722238e-01 -1.64596012e-02 1.08932532e+02] [-5.22615065e-01 -8.52502950e-01 1.05931039e-02 -4.66209895e+01] [-1.95691095e-02 -4.26934568e-04 -9.99808415e-01 -1.56101861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.576559995 meters 0.016458343911343196 Centerline is valid? [True, True] Translation: X:108.93, Y:-46.63, Z:-1.56 [[ 8.88962764e-01 -4.57670523e-01 -1.68195267e-02 1.08934092e+02] [-4.57580756e-01 -8.89121790e-01 9.07160614e-03 -4.66318658e+01] [-1.91064144e-02 -3.68028309e-04 -9.99817388e-01 -1.56166819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.606559995 meters 0.017255528968349317 Centerline is valid? [True, True] Translation: X:108.94, Y:-46.64, Z:-1.56 [[ 9.21187339e-01 -3.88750511e-01 -1.69389291e-02 1.08937326e+02] [-3.88677939e-01 -9.21342999e-01 7.51910213e-03 -4.66427359e+01] [-1.85296185e-02 -3.42713626e-04 -9.99828253e-01 -1.56226114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.636559995 meters 0.018197899118711437 Centerline is valid? [True, True] Translation: X:108.94, Y:-46.65, Z:-1.56 [[ 9.48241152e-01 -3.17067347e-01 -1.75218262e-02 1.08941106e+02] [-3.17007213e-01 -9.48402975e-01 6.18256896e-03 -4.66522573e+01] [-1.85780428e-02 -3.08021044e-04 -9.99827366e-01 -1.56276774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.666559995 meters 0.01981954025847891 Centerline is valid? [True, True] Translation: X:108.95, Y:-46.66, Z:-1.56 [[ 9.69362200e-01 -2.45011897e-01 -1.74955651e-02 1.08945664e+02] [-2.44967082e-01 -9.69520036e-01 4.69338016e-03 -4.66604550e+01] [-1.81122349e-02 -2.63747771e-04 -9.99835925e-01 -1.56288345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.696559995 meters 0.01936191818048862 Centerline is valid? [True, True] Translation: X:108.95, Y:-46.67, Z:-1.56 [[ 9.85396486e-01 -1.69285250e-01 -1.83376237e-02 1.08951323e+02] [-1.69251690e-01 -9.85567072e-01 3.37819400e-03 -4.66718878e+01] [-1.86448365e-02 -2.25186707e-04 -9.99826145e-01 -1.56341588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.726559995 meters 0.019673126294333373 Centerline is valid? [True, True] Translation: X:108.95, Y:-46.68, Z:-1.56 [[ 9.95585671e-01 -9.20145093e-02 -1.85067956e-02 1.08954637e+02] [-9.19945656e-02 -9.95757643e-01 1.92791932e-03 -4.66813686e+01] [-1.86056797e-02 -2.16884223e-04 -9.99826876e-01 -1.56354515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.756559995 meters 0.019757385430157804 Centerline is valid? [True, True] Translation: X:108.96, Y:-46.69, Z:-1.56 [[ 9.99724873e-01 -1.38560871e-02 -1.89258375e-02 1.08958008e+02] [-1.38498165e-02 -9.99903980e-01 4.62362348e-04 -4.66916155e+01] [-1.89304268e-02 -2.00115764e-04 -9.99820783e-01 -1.56384654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.786559995 meters 0.018459814699258642 Centerline is valid? [True, True] Translation: X:108.96, Y:-46.71, Z:-1.56 [[ 9.97713268e-01 6.47780027e-02 -1.92884674e-02 1.08962846e+02] [ 6.47695443e-02 -9.97899682e-01 -1.06356499e-03 -4.67052163e+01] [-1.93168511e-02 -1.88172347e-04 -9.99813395e-01 -1.56432510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.816559995 meters 0.01810384647328664 Centerline is valid? [True, True] Translation: X:108.97, Y:-46.72, Z:-1.56 [[ 9.89463879e-01 1.43492075e-01 -1.92679988e-02 1.08969195e+02] [ 1.43468726e-01 -9.89651447e-01 -2.59589606e-03 -4.67173406e+01] [-1.94410934e-02 -1.95809848e-04 -9.99810985e-01 -1.56441171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.84655999499999 meters 0.017979456794645583 Centerline is valid? [True, True] Translation: X:108.98, Y:-46.73, Z:-1.56 [[ 9.74858644e-01 2.21957328e-01 -1.96359197e-02 1.08976836e+02] [ 2.21916405e-01 -9.75056360e-01 -4.26658899e-03 -4.67287400e+01] [-2.00931291e-02 -1.98211555e-04 -9.99798093e-01 -1.56386915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.876559995 meters 0.0185489374299844 Centerline is valid? [True, True] Translation: X:108.98, Y:-46.74, Z:-1.56 [[ 9.54339756e-01 2.98085814e-01 -1.95058318e-02 1.08983600e+02] [ 2.98027751e-01 -9.54539056e-01 -5.88647230e-03 -4.67367420e+01] [-2.03737522e-02 -1.95584636e-04 -9.99792414e-01 -1.56377816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.906559995 meters 0.01777080986634627 Centerline is valid? [True, True] Translation: X:108.99, Y:-46.75, Z:-1.56 [[ 9.27942611e-01 3.72259794e-01 -1.85783734e-02 1.08992916e+02] [ 3.72189859e-01 -9.28128547e-01 -7.21871947e-03 -4.67461559e+01] [-1.99303577e-02 -2.16124785e-04 -9.99801347e-01 -1.56421366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.936559995 meters 0.01726501614361655 Centerline is valid? [True, True] Translation: X:109.00, Y:-46.76, Z:-1.56 [[ 8.95535579e-01 4.44655970e-01 -1.72364622e-02 1.09003135e+02] [ 4.44579210e-01 -8.95701401e-01 -8.26596152e-03 -4.67558371e+01] [-1.91142325e-02 -2.60510127e-04 -9.99817272e-01 -1.56496756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.966559995 meters 0.017352159071314967 Centerline is valid? [True, True] Translation: X:109.01, Y:-46.76, Z:-1.57 [[ 8.57774887e-01 5.13778323e-01 -1.59398269e-02 1.09012943e+02] [ 5.13695872e-01 -8.57922928e-01 -9.20868650e-03 -4.67630330e+01] [-1.84063665e-02 -2.89243259e-04 -9.99830547e-01 -1.56551949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.996559995 meters 0.017352159071314967 Centerline is valid? [True, True] Translation: X:109.02, Y:-46.77, Z:-1.57 [[ 8.14915736e-01 5.79381671e-01 -1.51400978e-02 1.09022634e+02] [ 5.79288228e-01 -8.15056315e-01 -1.04092471e-02 -4.67689447e+01] [-1.83709593e-02 -2.87821152e-04 -9.99831198e-01 -1.56584232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.026559995 meters 0.01693197400609233 Centerline is valid? [True, True] Translation: X:109.03, Y:-46.78, Z:-1.57 [[ 7.66819879e-01 6.41712379e-01 -1.38742908e-02 1.09034223e+02] [ 6.41614621e-01 -7.66945322e-01 -1.12050016e-02 -4.67755313e+01] [-1.78312107e-02 -3.09729894e-04 -9.99840963e-01 -1.56623882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.056559995 meters 0.0170024464806362 Centerline is valid? [True, True] Translation: X:109.05, Y:-46.78, Z:-1.57 [[ 7.13970148e-01 7.00057198e-01 -1.29052977e-02 1.09046136e+02] [ 6.99950793e-01 -7.14086703e-01 -1.22093674e-02 -4.67796879e+01] [-1.77627570e-02 -3.15949532e-04 -9.99842180e-01 -1.56672578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.086559995 meters 0.016422260017360076 Centerline is valid? [True, True] Translation: X:109.06, Y:-46.78, Z:-1.57 [[ 6.55989645e-01 7.54685465e-01 -1.12886970e-02 1.09059453e+02] [ 7.54583267e-01 -6.56086667e-01 -1.24249246e-02 -4.67843881e+01] [-1.67832736e-02 -3.67640027e-04 -9.99859083e-01 -1.56733323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.116559995 meters 0.01696019019779909 Centerline is valid? [True, True] Translation: X:109.07, Y:-46.79, Z:-1.57 [[ 5.94080283e-01 8.04342800e-01 -1.00637265e-02 1.09070402e+02] [ 8.04238441e-01 -5.94165386e-01 -1.29623667e-02 -4.67870142e+01] [-1.64057042e-02 -3.92949230e-04 -9.99865340e-01 -1.56762138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.146559995 meters 0.015538463385557786 Centerline is valid? [True, True] Translation: X:109.08, Y:-46.79, Z:-1.57 [[ 5.26252056e-01 8.50287813e-01 -8.33120875e-03 1.09084767e+02] [ 8.50195502e-01 -5.26317775e-01 -1.25382693e-02 -4.67904801e+01] [-1.50460008e-02 -4.84866221e-04 -9.99886685e-01 -1.56858067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.176559995 meters 0.01500658938244914 Centerline is valid? [True, True] Translation: X:109.10, Y:-46.79, Z:-1.57 [[ 4.56221890e-01 8.89837894e-01 -7.07872757e-03 1.09098285e+02] [ 8.89748127e-01 -4.56276499e-01 -1.26501399e-02 -4.67914215e+01] [-1.44864309e-02 -5.27013866e-04 -9.99894927e-01 -1.56875444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.20655999499999 meters 0.014789304988275142 Centerline is valid? [True, True] Translation: X:109.11, Y:-46.79, Z:-1.57 [[ 3.82672025e-01 9.23865271e-01 -5.92304095e-03 1.09109639e+02] [ 9.23776716e-01 -3.82717434e-01 -1.28041163e-02 -4.67917849e+01] [-1.40961294e-02 -5.71790210e-04 -9.99900481e-01 -1.56908569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.236559995 meters 0.013353820055534635 Centerline is valid? [True, True] Translation: X:109.12, Y:-46.79, Z:-1.57 [[ 3.03714034e-01 9.52751004e-01 -4.82807206e-03 1.09123015e+02] [ 9.52662647e-01 -3.03751703e-01 -1.29916791e-02 -4.67912126e+01] [-1.38443704e-02 -6.53768660e-04 -9.99903948e-01 -1.56882463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.266559995 meters 0.012207281729043838 Centerline is valid? [True, True] Translation: X:109.13, Y:-46.79, Z:-1.57 [[ 2.22360857e-01 9.74957449e-01 -3.69091766e-03 1.09134474e+02] [ 9.74872890e-01 -2.22390262e-01 -1.28615717e-02 -4.67899248e+01] [-1.33603092e-02 -7.38265471e-04 -9.99910475e-01 -1.56894596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.296559995 meters 0.011613182471465195 Centerline is valid? [True, True] Translation: X:109.15, Y:-46.79, Z:-1.57 [[ 1.42836102e-01 9.89742695e-01 -2.69186560e-03 1.09146585e+02] [ 9.89653962e-01 -1.42859402e-01 -1.32750099e-02 -4.67861748e+01] [-1.35234023e-02 -7.67864793e-04 -9.99908260e-01 -1.56903035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.326559995 meters 0.011511844138865353 Centerline is valid? [True, True] Translation: X:109.16, Y:-46.78, Z:-1.57 [[ 6.24579374e-02 9.98046234e-01 -1.64944080e-03 1.09156262e+02] [ 9.97954071e-01 -6.24746238e-02 -1.35865018e-02 -4.67821369e+01] [-1.36630051e-02 -7.97481280e-04 -9.99906339e-01 -1.56886853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.356559995 meters 0.01126088113881739 Centerline is valid? [True, True] Translation: X:109.16, Y:-46.78, Z:-1.57 [[-1.80598198e-02 9.99836747e-01 -5.68531888e-04 1.09162235e+02] [ 9.99737566e-01 1.80500069e-02 -1.41066346e-02 -4.67772764e+01] [-1.40940697e-02 -8.23145965e-04 -9.99900335e-01 -1.56845910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.386559995 meters 0.011212277641280688 Centerline is valid? [True, True] Translation: X:109.17, Y:-46.77, Z:-1.57 [[-9.80707298e-02 9.95179286e-01 5.66109366e-04 1.09171927e+02] [ 9.95076092e-01 9.80687269e-02 -1.43560630e-02 -4.67708298e+01] [-1.43423741e-02 -8.44587678e-04 -9.99896786e-01 -1.56851456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.416559995 meters 0.011124090463667082 Centerline is valid? [True, True] Translation: X:109.18, Y:-46.76, Z:-1.57 [[-1.77933227e-01 9.84041161e-01 1.66149818e-03 1.09181687e+02] [ 9.83940538e-01 1.77938838e-01 -1.40992405e-02 -4.67632201e+01] [-1.41698781e-02 -8.73907947e-04 -9.99899220e-01 -1.56812268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.446559995 meters 0.011193095062939609 Centerline is valid? [True, True] Translation: X:109.19, Y:-46.76, Z:-1.57 [[-2.55252888e-01 9.66870511e-01 2.71646425e-03 1.09189246e+02] [ 9.66773193e-01 2.55265816e-01 -1.37461712e-02 -4.67564248e+01] [-1.39841880e-02 -8.82545068e-04 -9.99901827e-01 -1.56796063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.476559995 meters 0.011226736447843269 Centerline is valid? [True, True] Translation: X:109.20, Y:-46.75, Z:-1.57 [[-3.30236697e-01 9.43890700e-01 3.75107891e-03 1.09195576e+02] [ 9.43796201e-01 3.30256828e-01 -1.33850456e-02 -4.67485910e+01] [-1.38728395e-02 -8.79979242e-04 -9.99903380e-01 -1.56846218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.506559995 meters 0.01123482551706694 Centerline is valid? [True, True] Translation: X:109.20, Y:-46.74, Z:-1.57 [[-4.02931365e-01 9.15217840e-01 4.75611257e-03 1.09200641e+02] [ 9.15126350e-01 4.02958487e-01 -1.29699748e-02 -4.67418249e+01] [-1.37868683e-02 -8.73565716e-04 -9.99904575e-01 -1.56812250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.536559995 meters 0.011327081026256838 Centerline is valid? [True, True] Translation: X:109.20, Y:-46.73, Z:-1.57 [[-4.71631365e-01 8.81775866e-01 5.93118751e-03 1.09203163e+02] [ 8.81682244e-01 4.71667904e-01 -1.28767125e-02 -4.67344814e+01] [-1.41519250e-02 -8.43638754e-04 -9.99899501e-01 -1.56856765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.566559995 meters 0.011369736275539702 Centerline is valid? [True, True] Translation: X:109.21, Y:-46.73, Z:-1.57 [[-5.38198969e-01 8.42788637e-01 7.01303887e-03 1.09206305e+02] [ 8.42696181e-01 5.38244029e-01 -1.25104221e-02 -4.67272061e+01] [-1.43183679e-02 -8.23235195e-04 -9.99897148e-01 -1.56855492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.59655999499999 meters 0.01166248200558662 Centerline is valid? [True, True] Translation: X:109.21, Y:-46.72, Z:-1.57 [[-5.99628927e-01 8.00237500e-01 8.06806690e-03 1.09206659e+02] [ 8.00147201e-01 5.99682712e-01 -1.20458522e-02 -4.67205034e+01] [-1.44778229e-02 -7.67400264e-04 -9.99894896e-01 -1.56864916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.626559995 meters 0.011862173920213912 Centerline is valid? [True, True] Translation: X:109.21, Y:-46.71, Z:-1.57 [[-6.59273360e-01 7.51849990e-01 8.95703447e-03 1.09207787e+02] [ 7.51764844e-01 6.59333786e-01 -1.13391951e-02 -4.67129941e+01] [-1.44310492e-02 -7.42045648e-04 -9.99895592e-01 -1.56889417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.656559995 meters 0.012041329258543624 Centerline is valid? [True, True] Translation: X:109.21, Y:-46.70, Z:-1.57 [[-7.14965302e-01 6.99091477e-01 9.78391707e-03 1.09210210e+02] [ 6.99011982e-01 7.15031884e-01 -1.05666616e-02 -4.67037520e+01] [-1.43828757e-02 -7.15721170e-04 -9.99896305e-01 -1.56930640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.686559995 meters 0.012485066439232808 Centerline is valid? [True, True] Translation: X:109.22, Y:-46.68, Z:-1.57 [[-7.61635930e-01 6.47918818e-01 1.05789985e-02 1.09224372e+02] [ 6.47845002e-01 7.61709153e-01 -9.79899406e-03 -4.66829860e+01] [-1.44070726e-02 -6.09714668e-04 -9.99896027e-01 -1.56937795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.716559995 meters 0.012700065236935275 Centerline is valid? [True, True] Translation: X:109.24, Y:-46.66, Z:-1.57 [[-8.03924950e-01 5.94627053e-01 1.11059416e-02 1.09236628e+02] [ 5.94560394e-01 8.04001458e-01 -8.92155288e-03 -4.66615670e+01] [-1.42341899e-02 -5.69105937e-04 -9.99898527e-01 -1.56953185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.746559995 meters 0.013033010949197147 Centerline is valid? [True, True] Translation: X:109.25, Y:-46.64, Z:-1.57 [[-8.43265970e-01 5.37372650e-01 1.15385802e-02 1.09248412e+02] [ 5.37313306e-01 8.43344729e-01 -8.00493808e-03 -4.66389032e+01] [-1.40326356e-02 -5.50459195e-04 -9.99901386e-01 -1.56974613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.776559995 meters 0.013761015683688977 Centerline is valid? [True, True] Translation: X:109.26, Y:-46.62, Z:-1.57 [[-8.78522793e-01 4.77544739e-01 1.21952687e-02 1.09256174e+02] [ 4.77490331e-01 8.78607276e-01 -7.22766137e-03 -4.66152111e+01] [-1.41663834e-02 -5.26542383e-04 -9.99899513e-01 -1.57000082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.806559995 meters 0.015402382389572582 Centerline is valid? [True, True] Translation: X:109.26, Y:-46.59, Z:-1.57 [[-9.08944153e-01 4.16738022e-01 1.22452833e-02 1.09263820e+02] [ 4.16692846e-01 9.09026500e-01 -6.15580421e-03 -4.65948759e+01] [-1.36966447e-02 -4.92760292e-04 -9.99906075e-01 -1.57028275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.836559995 meters 0.013944652127664287 Centerline is valid? [True, True] Translation: X:109.27, Y:-46.57, Z:-1.57 [[-9.35753998e-01 3.52427385e-01 1.26251209e-02 1.09270287e+02] [ 3.52388433e-01 9.35839043e-01 -5.26101040e-03 -4.65661173e+01] [-1.36692052e-02 -4.74064949e-04 -9.99906460e-01 -1.57150960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.866559995 meters 0.014575245812345355 Centerline is valid? [True, True] Translation: X:109.27, Y:-46.54, Z:-1.57 [[-9.57881074e-01 2.86880519e-01 1.27834285e-02 1.09273616e+02] [ 2.86848649e-01 9.57966265e-01 -4.29983352e-03 -4.65424600e+01] [-1.34796317e-02 -4.51819951e-04 -9.99909044e-01 -1.57174189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.896559995 meters 0.01482199773600314 Centerline is valid? [True, True] Translation: X:109.27, Y:-46.52, Z:-1.57 [[-9.75739707e-01 2.18553960e-01 1.28914560e-02 1.09274430e+02] [ 2.18528786e-01 9.75824761e-01 -3.34736774e-03 -4.65156048e+01] [-1.33113824e-02 -4.49005395e-04 -9.99911299e-01 -1.57182395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.926559995 meters 0.01484022966355933 Centerline is valid? [True, True] Translation: X:109.40, Y:-45.95, Z:-2.56 [[-9.70647094e-01 -2.40400045e-01 -7.21371838e-03 1.09398198e+02] [ 2.40396563e-01 -9.70673810e-01 1.35880744e-03 -4.59479268e+01] [-7.32882488e-03 -4.15230616e-04 9.99973058e-01 -2.55504421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.95655999499999 meters 0.01479915736496639 Centerline is valid? [True, True] Translation: X:109.22, Y:-46.51, Z:-1.57 [[-9.76625706e-01 2.14533341e-01 1.33295145e-02 1.09222247e+02] [ 2.14507166e-01 9.76716566e-01 -3.38009005e-03 -4.65088868e+01] [-1.37442996e-02 -4.41806446e-04 -9.99905445e-01 -1.57253880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.986559995 meters 0.014623205906311967 Centerline is valid? [True, True] Translation: X:109.22, Y:-46.48, Z:-1.57 [[-9.89504918e-01 1.43831293e-01 1.38771664e-02 1.09216123e+02] [ 1.43810888e-01 9.89602124e-01 -2.46246881e-03 -4.64823251e+01] [-1.40870534e-02 -4.40937376e-04 -9.99900675e-01 -1.57283645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.016559995 meters 0.014205114658621834 Centerline is valid? [True, True] Translation: X:109.22, Y:-46.45, Z:-1.57 [[-9.97273724e-01 7.23914912e-02 1.43035280e-02 1.09215182e+02] [ 7.23776553e-02 9.97376195e-01 -1.48328765e-03 -4.64549815e+01] [-1.43733758e-02 -4.43987981e-04 -9.99896599e-01 -1.57326871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.046559995 meters 0.014480058991085678 Centerline is valid? [True, True] Translation: X:109.25, Y:-45.86, Z:-2.56 [[-9.95072077e-01 -9.89461242e-02 -6.42071357e-03 1.09251408e+02] [ 9.89473131e-02 -9.95092665e-01 1.33009243e-04 -4.58622632e+01] [-6.40236573e-03 -5.02958573e-04 9.99979378e-01 -2.55642042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.076559995 meters 0.014195241637338547 Centerline is valid? [True, True] Translation: X:109.15, Y:-46.45, Z:-1.57 [[-9.97720593e-01 6.59386852e-02 1.43425537e-02 1.09145374e+02] [ 6.59250083e-02 9.97823563e-01 -1.42481501e-03 -4.64543325e+01] [-1.44052885e-02 -4.76034303e-04 -9.99896125e-01 -1.57396481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.106559995 meters 0.013732799549963027 Centerline is valid? [True, True] Translation: X:109.18, Y:-45.86, Z:-2.56 [[-9.95235815e-01 -9.72963983e-02 -6.25174833e-03 1.09177785e+02] [ 9.72977695e-02 -9.95255312e-01 8.51565163e-05 -4.58554131e+01] [-6.23037116e-03 -5.23530353e-04 9.99980454e-01 -2.55641649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.136559995 meters 0.013657997125192216 Centerline is valid? [True, True] Translation: X:109.08, Y:-46.45, Z:-1.58 [[-9.98188364e-01 5.83631271e-02 1.46197232e-02 1.09076715e+02] [ 5.83493617e-02 9.98295289e-01 -1.36671497e-03 -4.64547006e+01] [-1.46745666e-02 -5.11187460e-04 -9.99892192e-01 -1.57548632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.166559995 meters 0.01406668194333041 Centerline is valid? [True, True] Translation: X:109.11, Y:-45.85, Z:-2.56 [[-9.95372391e-01 -9.59154354e-02 -5.83376738e-03 1.09111017e+02] [ 9.59170129e-02 -9.95389334e-01 9.40728031e-06 -4.58479281e+01] [-5.80777213e-03 -5.50193794e-04 9.99982983e-01 -2.55762522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.196559995 meters 0.013116641023108368 Centerline is valid? [True, True] Translation: X:109.01, Y:-46.45, Z:-1.58 [[-9.98621625e-01 5.03434206e-02 1.48455564e-02 1.09007121e+02] [ 5.03295845e-02 9.98731812e-01 -1.30437613e-03 -4.64542860e+01] [-1.48923962e-02 -5.55407528e-04 -9.99888948e-01 -1.57621375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.226559995 meters 0.012719004712856362 Centerline is valid? [True, True] Translation: X:109.00, Y:-46.43, Z:-1.58 [[-9.99639444e-01 -2.22453203e-02 1.50375362e-02 1.08997211e+02] [-2.22512992e-02 9.99752383e-01 -2.30382813e-04 -4.64267345e+01] [-1.50286877e-02 -5.64904464e-04 -9.99886903e-01 -1.57679614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.256559995 meters 0.012434306269540125 Centerline is valid? [True, True] Translation: X:108.99, Y:-45.82, Z:-2.56 [[-9.99629739e-01 -2.67063954e-02 -5.21092849e-03 1.08986914e+02] [ 2.67093025e-02 -9.99643123e-01 -4.89085760e-04 -4.58157788e+01] [-5.19600712e-03 -6.28084936e-04 9.99986303e-01 -2.55828534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.286559995 meters 0.012344823330496179 Centerline is valid? [True, True] Translation: X:108.92, Y:-46.43, Z:-1.58 [[-9.99336886e-01 -3.28758326e-02 1.56514349e-02 1.08916228e+02] [-3.28820602e-02 9.99459229e-01 -1.40648165e-04 -4.64310347e+01] [-1.56383471e-02 -6.55206324e-04 -9.99877499e-01 -1.57666769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.316559995 meters 0.012149859440484233 Centerline is valid? [True, True] Translation: X:108.91, Y:-46.40, Z:-1.58 [[-9.94308756e-01 -1.05387666e-01 1.56056965e-02 1.08906950e+02] [-1.05385119e-01 9.94430994e-01 9.87787539e-04 -4.64039449e+01] [-1.56228889e-02 -6.62442387e-04 -9.99877736e-01 -1.57695667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.34655999499999 meters 0.011911626914488566 Centerline is valid? [True, True] Translation: X:108.89, Y:-46.38, Z:-1.58 [[-9.83900900e-01 -1.78011305e-01 1.58428269e-02 1.08887526e+02] [-1.77999501e-01 9.84028199e-01 2.16345192e-03 -4.63801524e+01] [-1.59749073e-02 -6.91392992e-04 -9.99872154e-01 -1.57777853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.376559995 meters 0.012031095119491552 Centerline is valid? [True, True] Translation: X:108.86, Y:-46.36, Z:-1.58 [[-9.68435803e-01 -2.48753581e-01 1.59295615e-02 1.08860405e+02] [-2.48731779e-01 9.68566551e-01 3.36717642e-03 -4.63595505e+01] [-1.62664377e-02 -7.01293982e-04 -9.99867447e-01 -1.57725160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.406559995 meters 0.01209091968512538 Centerline is valid? [True, True] Translation: X:108.82, Y:-46.35, Z:-1.58 [[-9.47863118e-01 -3.18286325e-01 1.57900199e-02 1.08815393e+02] [-3.18254478e-01 9.47994366e-01 4.55736220e-03 -4.63457615e+01] [-1.64193960e-02 -7.05488992e-04 -9.99864944e-01 -1.57805210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.436559995 meters 0.012095607456039926 Centerline is valid? [True, True] Translation: X:108.76, Y:-46.34, Z:-1.58 [[-9.21974729e-01 -3.86935082e-01 1.56153995e-02 1.08758420e+02] [-3.86892544e-01 9.22106684e-01 5.78126924e-03 -4.63401937e+01] [-1.66360402e-02 -7.11297515e-04 -9.99861359e-01 -1.57891065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.466559995 meters 0.012286804035651137 Centerline is valid? [True, True] Translation: X:108.69, Y:-46.35, Z:-1.58 [[-8.91764005e-01 -4.52240093e-01 1.53576227e-02 1.08692649e+02] [-4.52186004e-01 8.91895980e-01 7.02708590e-03 -4.63466874e+01] [-1.68753320e-02 -6.77999783e-04 -9.99857372e-01 -1.57979490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.496559995 meters 0.012524532638497251 Centerline is valid? [True, True] Translation: X:108.62, Y:-46.36, Z:-1.58 [[-8.56473465e-01 -5.15969709e-01 1.51150150e-02 1.08616514e+02] [-5.15902664e-01 8.56606581e-01 8.34308961e-03 -4.63613707e+01] [-1.72524028e-02 -6.52241649e-04 -9.99850953e-01 -1.58060681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.526559995 meters 0.012573533160595339 Centerline is valid? [True, True] Translation: X:108.54, Y:-46.39, Z:-1.58 [[-8.16384256e-01 -5.77325479e-01 1.45615177e-02 1.08535464e+02] [-5.77247174e-01 8.16513869e-01 9.52898877e-03 -4.63852007e+01] [-1.73910091e-02 -6.26278510e-04 -9.99848569e-01 -1.58226147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.556559995 meters 0.013614098821291944 Centerline is valid? [True, True] Translation: X:108.46, Y:-46.42, Z:-1.58 [[-7.73342766e-01 -6.33842088e-01 1.36078739e-02 1.08455699e+02] [-6.33756488e-01 7.73462279e-01 1.04314936e-02 -4.64225388e+01] [-1.71370969e-02 -5.56958316e-04 -9.99852994e-01 -1.58256069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.586559995 meters 0.013849298820858133 Centerline is valid? [True, True] Translation: X:108.37, Y:-46.47, Z:-1.58 [[-7.24925662e-01 -6.88711816e-01 1.26023711e-02 1.08369415e+02] [-6.88620038e-01 7.25035010e-01 1.12551261e-02 -4.64676945e+01] [-1.68886986e-02 -5.19115531e-04 -9.99857241e-01 -1.58468118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.616559995 meters 0.014787444522747927 Centerline is valid? [True, True] Translation: X:108.29, Y:-46.52, Z:-1.59 [[-6.74132513e-01 -7.38526439e-01 1.11379110e-02 1.08288516e+02] [-7.38436652e-01 6.74224362e-01 1.15247813e-02 -4.65240349e+01] [-1.60208067e-02 -4.55411903e-04 -9.99871555e-01 -1.58713981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.646559995 meters 0.015388260520044977 Centerline is valid? [True, True] Translation: X:108.20, Y:-46.59, Z:-1.59 [[-6.17317146e-01 -7.86641964e-01 1.06752259e-02 1.08204085e+02] [-7.86535756e-01 6.17409305e-01 1.29327409e-02 -4.65895660e+01] [-1.67644205e-02 -4.12844117e-04 -9.99859382e-01 -1.58778855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.676559995 meters 0.015388695337204059 Centerline is valid? [True, True] Translation: X:108.12, Y:-46.66, Z:-1.59 [[-5.56779655e-01 -8.30595530e-01 1.03672969e-02 1.08122454e+02] [-8.30463348e-01 5.56876052e-01 1.48219388e-02 -4.66625577e+01] [-1.80843355e-02 -3.57106116e-04 -9.99836401e-01 -1.58861806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.70655999499999 meters 0.01644475600753874 Centerline is valid? [True, True] Translation: X:108.05, Y:-46.75, Z:-1.59 [[-4.92763616e-01 -8.70112706e-01 9.37535243e-03 1.08045185e+02] [-8.69967576e-01 4.92852689e-01 1.58947844e-02 -4.67474557e+01] [-1.84509215e-02 -3.23881185e-04 -9.99829715e-01 -1.58880579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.736559995 meters 0.017299269356413457 Centerline is valid? [True, True] Translation: X:107.98, Y:-46.84, Z:-1.59 [[-4.25993497e-01 -9.04688128e-01 8.30255176e-03 1.07976421e+02] [-9.04529104e-01 4.26074303e-01 1.69643084e-02 -4.68391699e+01] [-1.88849124e-02 -2.83214631e-04 -9.99821624e-01 -1.58961240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.766559995 meters 0.01643547661660565 Centerline is valid? [True, True] Translation: X:107.91, Y:-46.94, Z:-1.59 [[-3.55777092e-01 -9.34545098e-01 6.93696927e-03 1.07908741e+02] [-9.34382216e-01 3.55844609e-01 1.74495954e-02 -4.69355856e+01] [-1.87759170e-02 -2.73614406e-04 -9.99823679e-01 -1.59191478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.796559995 meters 0.01691863358657322 Centerline is valid? [True, True] Translation: X:107.85, Y:-47.04, Z:-1.59 [[-2.83146342e-01 -9.59061165e-01 5.46172608e-03 1.07851578e+02] [-9.58901231e-01 2.83198878e-01 1.75164348e-02 -4.70417133e+01] [-1.83460871e-02 -2.77541409e-04 -9.99831658e-01 -1.59308859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.826559995 meters 0.016814880044087512 Centerline is valid? [True, True] Translation: X:107.80, Y:-47.15, Z:-1.59 [[-2.07870551e-01 -9.78147820e-01 4.08360502e-03 1.07798904e+02] [-9.77985407e-01 2.07910458e-01 1.78265377e-02 -4.71541029e+01] [-1.82860132e-02 -2.88093912e-04 -9.99832755e-01 -1.59473154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.856559995 meters 0.016406727047276755 Centerline is valid? [True, True] Translation: X:107.75, Y:-47.27, Z:-1.60 [[-1.29005314e-01 -9.91640441e-01 2.62024759e-03 1.07754227e+02] [-9.91488057e-01 1.29031433e-01 1.73873959e-02 -4.72690194e+01] [-1.75801393e-02 -3.54877724e-04 -9.99845394e-01 -1.59669046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.886559995 meters 0.015755729530275916 Centerline is valid? [True, True] Translation: X:107.72, Y:-47.39, Z:-1.60 [[-4.99576974e-02 -9.98750547e-01 1.25460552e-03 1.07717278e+02] [-9.98605471e-01 4.99718300e-02 1.70273194e-02 -4.73872423e+01] [-1.70687394e-02 -4.02210272e-04 -9.99854238e-01 -1.59832588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.916559995 meters 0.015755729530275916 Centerline is valid? [True, True] Translation: X:107.69, Y:-47.50, Z:-1.60 [[ 2.68975968e-02 -9.99638192e-01 -6.09313836e-05 1.07690351e+02] [-9.99492948e-01 -2.68947276e-02 1.70446797e-02 -4.75022504e+01] [-1.70401515e-02 -3.97560434e-04 -9.99854727e-01 -1.59972801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.946559995 meters 0.015149024053741553 Centerline is valid? [True, True] Translation: X:107.67, Y:-47.63, Z:-1.60 [[ 1.05932219e-01 -9.94372450e-01 -1.34033504e-03 1.07672663e+02] [-9.94232061e-01 -1.05939793e-01 1.67143602e-02 -4.76292366e+01] [-1.67622941e-02 -4.37985203e-04 -9.99859407e-01 -1.60160129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.976559995 meters 0.01463641856715651 Centerline is valid? [True, True] Translation: X:107.66, Y:-47.75, Z:-1.60 [[ 1.85683020e-01 -9.82606614e-01 -2.46127813e-03 1.07663866e+02] [-9.82480610e-01 -1.85698645e-01 1.57436826e-02 -4.77491729e+01] [-1.59269026e-02 -5.05176485e-04 -9.99873031e-01 -1.60420498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.006559995 meters 0.01444360481321669 Centerline is valid? [True, True] Translation: X:107.67, Y:-47.88, Z:-1.61 [[ 2.62079425e-01 -9.65039639e-01 -3.58746652e-03 1.07666883e+02] [-9.64919821e-01 -2.62103450e-01 1.52158238e-02 -4.78778648e+01] [-1.56241605e-02 -5.26136810e-04 -9.99877797e-01 -1.60606438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.036559995 meters 0.014117818376419344 Centerline is valid? [True, True] Translation: X:107.68, Y:-48.00, Z:-1.61 [[ 3.36630877e-01 -9.41624348e-01 -4.82074875e-03 1.07675537e+02] [-9.41503749e-01 -3.36664965e-01 1.50795460e-02 -4.79954598e+01] [-1.58222448e-02 -5.37487764e-04 -9.99874676e-01 -1.60807446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.066559995 meters 0.013714962770946674 Centerline is valid? [True, True] Translation: X:107.69, Y:-48.12, Z:-1.61 [[ 4.10633673e-01 -9.11780607e-01 -6.00932340e-03 1.07693284e+02] [-9.11661512e-01 -4.10677236e-01 1.47477586e-02 -4.81180483e+01] [-1.59146126e-02 -5.77457430e-04 -9.99873188e-01 -1.60952267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.09655999499999 meters 0.01351369421438207 Centerline is valid? [True, True] Translation: X:107.72, Y:-48.23, Z:-1.61 [[ 4.80867477e-01 -8.76763376e-01 -7.24245245e-03 1.07719470e+02] [-8.76644575e-01 -4.80921643e-01 1.44451840e-02 -4.82334199e+01] [-1.61480604e-02 -5.97162519e-04 -9.99869433e-01 -1.61061150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.126559995 meters 0.013308592927669222 Centerline is valid? [True, True] Translation: X:107.75, Y:-48.35, Z:-1.61 [[ 5.48856579e-01 -8.35870371e-01 -8.78506599e-03 1.07753957e+02] [-8.35744387e-01 -5.48926520e-01 1.45256504e-02 -4.83470489e+01] [-1.69639165e-02 -6.30429205e-04 -9.99855904e-01 -1.61240670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.156559995 meters 0.013278867121205523 Centerline is valid? [True, True] Translation: X:107.80, Y:-48.45, Z:-1.61 [[ 6.12222756e-01 -7.90623705e-01 -9.87187289e-03 1.07795377e+02] [-7.90503465e-01 -6.12302000e-01 1.38033658e-02 -4.84535939e+01] [-1.69578357e-02 -6.46984919e-04 -9.99855996e-01 -1.61376642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.186559995 meters 0.013186502345210226 Centerline is valid? [True, True] Translation: X:107.84, Y:-48.56, Z:-1.62 [[ 6.71539477e-01 -7.40878668e-01 -1.15555454e-02 1.07843826e+02] [-7.40751858e-01 -6.71638571e-01 1.37228175e-02 -4.85556034e+01] [-1.79280927e-02 -6.55621963e-04 -9.99839064e-01 -1.61513213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.216559995 meters 0.013198229118583791 Centerline is valid? [True, True] Translation: X:107.90, Y:-48.65, Z:-1.62 [[ 7.26765783e-01 -6.86764269e-01 -1.28971259e-02 1.07901197e+02] [-6.86639532e-01 -7.26879901e-01 1.31057816e-02 -4.86543573e+01] [-1.83752441e-02 -6.69157129e-04 -9.99830937e-01 -1.61627476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.246559995 meters 0.013310126103416272 Centerline is valid? [True, True] Translation: X:107.90, Y:-48.66, Z:-1.62 [[ 7.78618030e-01 -6.27336385e-01 -1.42486502e-02 1.07897040e+02] [-6.27214771e-01 -7.78748083e-01 1.23715400e-02 -4.86634014e+01] [-1.88572262e-02 -6.95740178e-04 -9.99821945e-01 -1.61605263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.276559995 meters 0.013456574868929086 Centerline is valid? [True, True] Translation: X:107.89, Y:-48.67, Z:-1.62 [[ 8.25239382e-01 -5.64557899e-01 -1.59480591e-02 1.07894269e+02] [-5.64436120e-01 -8.25393179e-01 1.17459081e-02 -4.86721451e+01] [-1.97946644e-02 -6.91525381e-04 -9.99803827e-01 -1.61628338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.306559995 meters 0.013558614869279804 Centerline is valid? [True, True] Translation: X:107.89, Y:-48.68, Z:-1.62 [[ 8.66670062e-01 -4.98587673e-01 -1.71270675e-02 1.07891894e+02] [-4.98474628e-01 -8.66839008e-01 1.06385655e-02 -4.86794859e+01] [-2.01506678e-02 -6.82717664e-04 -9.99796722e-01 -1.61581701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.336559995 meters 0.013625265219121446 Centerline is valid? [True, True] Translation: X:107.89, Y:-48.69, Z:-1.62 [[ 9.02806660e-01 -4.29662995e-01 -1.81616437e-02 1.07891473e+02] [-4.29560992e-01 -9.02989069e-01 9.38589126e-03 -4.86866095e+01] [-2.04325359e-02 -6.72111455e-04 -9.99791008e-01 -1.61624008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.366559995 meters 0.013743857020821414 Centerline is valid? [True, True] Translation: X:107.89, Y:-48.69, Z:-1.62 [[ 9.33270806e-01 -3.58662742e-01 -1.91478427e-02 1.07891246e+02] [-3.58572920e-01 -9.33466987e-01 8.05263468e-03 -4.86919155e+01] [-2.07620591e-02 -6.49390981e-04 -9.99784234e-01 -1.61683774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.396559995 meters 0.013799189136721858 Centerline is valid? [True, True] Translation: X:107.89, Y:-48.70, Z:-1.62 [[ 9.58274494e-01 -2.85175449e-01 -1.96203069e-02 1.07891479e+02] [-2.85102067e-01 -9.58475122e-01 6.50010692e-03 -4.86994650e+01] [-2.06592469e-02 -6.35096621e-04 -9.99786373e-01 -1.61748658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.426559995 meters 0.013803677237814305 Centerline is valid? [True, True] Translation: X:107.89, Y:-48.71, Z:-1.62 [[ 9.77389835e-01 -2.10456442e-01 -2.04253997e-02 1.07892065e+02] [-2.10397470e-01 -9.77603046e-01 5.01879872e-03 -4.87071099e+01] [-2.10241715e-02 -6.07870432e-04 -9.99778783e-01 -1.61846027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.45655999499999 meters 0.01398185749405101 Centerline is valid? [True, True] Translation: X:107.89, Y:-48.71, Z:-1.62 [[ 9.90787622e-01 -1.33804518e-01 -2.08863550e-02 1.07888807e+02] [-1.33762137e-01 -9.91007567e-01 3.41948620e-03 -4.87129853e+01] [-2.11560786e-02 -5.94181111e-04 -9.99776009e-01 -1.61795579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.486559995 meters 0.013885382654241378 Centerline is valid? [True, True] Translation: X:107.89, Y:-48.72, Z:-1.62 [[ 9.98161899e-01 -5.66932154e-02 -2.14173567e-02 1.07886677e+02] [-5.66678999e-02 -9.98391483e-01 1.78755853e-03 -4.87212083e+01] [-2.14842490e-02 -5.70596186e-04 -9.99769024e-01 -1.61883622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.516559995 meters 0.014298271543888985 Centerline is valid? [True, True] Translation: X:107.88, Y:-48.73, Z:-1.62 [[ 9.99571854e-01 1.95947629e-02 -2.17291156e-02 1.07884309e+02] [ 1.96014710e-02 -9.99807868e-01 9.57469793e-05 -4.87255626e+01] [-2.17230647e-02 -5.21628615e-04 -9.99763890e-01 -1.61915154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.546559995 meters 0.014887044635840629 Centerline is valid? [True, True] Translation: X:107.88, Y:-48.73, Z:-1.62 [[ 9.95224412e-01 9.52667764e-02 -2.12746453e-02 1.07881961e+02] [ 9.52550506e-02 -9.95451668e-01 -1.56617054e-03 -4.87274781e+01] [-2.13270852e-02 -4.67826263e-04 -9.99772442e-01 -1.61904297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.576559995 meters 0.015063037099152998 Centerline is valid? [True, True] Translation: X:107.88, Y:-48.73, Z:-1.62 [[ 9.85218420e-01 1.69920309e-01 -2.17198680e-02 1.07881002e+02] [ 1.69887783e-01 -9.85457729e-01 -3.34753989e-03 -4.87319915e+01] [-2.19728268e-02 -3.91882258e-04 -9.99758491e-01 -1.61997698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.606559995 meters 0.015175238431096819 Centerline is valid? [True, True] Translation: X:107.88, Y:-48.74, Z:-1.62 [[ 9.69334848e-01 2.44782715e-01 -2.17111552e-02 1.07881230e+02] [ 2.44729289e-01 -9.69577900e-01 -5.12558459e-03 -4.87401462e+01] [-2.23053108e-02 -3.44947827e-04 -9.99751146e-01 -1.62052458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.636559995 meters 0.015175238431096819 Centerline is valid? [True, True] Translation: X:107.88, Y:-48.75, Z:-1.62 [[ 9.47206429e-01 3.19921601e-01 -2.12167587e-02 1.07881290e+02] [ 3.19849468e-01 -9.47443957e-01 -6.80192086e-03 -4.87483351e+01] [-2.22777713e-02 -3.43345839e-04 -9.99751761e-01 -1.62077613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.666559995 meters 0.015175238431096819 Centerline is valid? [True, True] Translation: X:107.88, Y:-48.76, Z:-1.62 [[ 9.19254811e-01 3.93124041e-01 -2.05931990e-02 1.07881734e+02] [ 3.93033734e-01 -9.19485384e-01 -8.43284158e-03 -4.87566039e+01] [-2.22502983e-02 -3.41891717e-04 -9.99752373e-01 -1.62102446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.696559995 meters 0.015216377157110115 Centerline is valid? [True, True] Translation: X:107.88, Y:-48.76, Z:-1.62 [[ 8.85905857e-01 4.63439268e-01 -1.98710322e-02 1.07883074e+02] [ 4.63330994e-01 -8.86128624e-01 -1.00225994e-02 -4.87644881e+01] [-2.22531565e-02 -3.27785587e-04 -9.99752314e-01 -1.62129923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.726559995 meters 0.015274265159103644 Centerline is valid? [True, True] Translation: X:107.89, Y:-48.77, Z:-1.62 [[ 8.47003096e-01 5.31248669e-01 -1.89896681e-02 1.07885444e+02] [ 5.31123708e-01 -8.47215880e-01 -1.15264686e-02 -4.87715022e+01] [-2.22117695e-02 -3.22908361e-04 -9.99753236e-01 -1.62155678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.756559995 meters 0.016043341459561006 Centerline is valid? [True, True] Translation: X:107.89, Y:-48.78, Z:-1.62 [[ 8.03019808e-01 5.95680136e-01 -1.80101143e-02 1.07885731e+02] [ 5.95539104e-01 -8.03221686e-01 -1.29652585e-02 -4.87771420e+01] [-2.21892613e-02 -3.14367907e-04 -9.99753739e-01 -1.62073594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.786559995 meters 0.01564806912054949 Centerline is valid? [True, True] Translation: X:107.89, Y:-48.78, Z:-1.62 [[ 7.54954660e-01 6.55533139e-01 -1.78819689e-02 1.07888987e+02] [ 6.55357211e-01 -7.55166366e-01 -1.51883577e-02 -4.87845707e+01] [-2.34603332e-02 -2.52555823e-04 -9.99724737e-01 -1.62132177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.816559995 meters 0.016079124893577736 Centerline is valid? [True, True] Translation: X:107.89, Y:-48.79, Z:-1.62 [[ 7.02116985e-01 7.11854402e-01 -1.71770139e-02 1.07891275e+02] [ 7.11648682e-01 -7.02327037e-01 -1.71139139e-02 -4.87908138e+01] [-2.42464963e-02 -2.08029711e-04 -9.99705989e-01 -1.62087906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.84655999499999 meters 0.01639094739091545 Centerline is valid? [True, True] Translation: X:107.90, Y:-48.80, Z:-1.62 [[ 6.45381042e-01 7.63687222e-01 -1.62830669e-02 1.07895306e+02] [ 7.63450181e-01 -6.45586403e-01 -1.90267480e-02 -4.87981476e+01] [-2.50426109e-02 -1.51807947e-04 -9.99686373e-01 -1.62040882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.876559995 meters 0.01715126982225762 Centerline is valid? [True, True] Translation: X:107.90, Y:-48.80, Z:-1.62 [[ 5.84371574e-01 8.11353609e-01 -1.46691652e-02 1.07897690e+02] [ 8.11103617e-01 -5.84555647e-01 -2.01399483e-02 -4.88049542e+01] [-2.49155631e-02 -1.28999632e-04 -9.99689551e-01 -1.61950730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.906559995 meters 0.016998543194041326 Centerline is valid? [True, True] Translation: X:107.90, Y:-48.81, Z:-1.62 [[ 5.19769995e-01 8.54208885e-01 -1.28970416e-02 1.07902224e+02] [ 8.53951451e-01 -5.19929965e-01 -2.09702426e-02 -4.88114153e+01] [-2.46185259e-02 -1.13744525e-04 -9.99696912e-01 -1.62007480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.936559995 meters 0.016057254620773648 Centerline is valid? [True, True] Translation: X:107.91, Y:-48.82, Z:-1.62 [[ 4.52062255e-01 8.91918495e-01 -1.10052219e-02 1.07911372e+02] [ 8.91659816e-01 -4.52196182e-01 -2.14799049e-02 -4.88191120e+01] [-2.41348438e-02 -1.02659888e-04 -9.99708707e-01 -1.62257981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.966559995 meters 0.017530995705912458 Centerline is valid? [True, True] Translation: X:107.92, Y:-48.83, Z:-1.62 [[ 3.80535324e-01 9.24721925e-01 -9.06798375e-03 1.07916010e+02] [ 9.24467102e-01 -3.80643332e-01 -2.17078805e-02 -4.88258475e+01] [-2.35254206e-02 -1.22437302e-04 -9.99723231e-01 -1.62141699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.996559995 meters 0.017405419945343326 Centerline is valid? [True, True] Translation: X:107.92, Y:-48.83, Z:-1.62 [[ 3.06370599e-01 9.51884686e-01 -7.25264261e-03 1.07919465e+02] [ 9.51628890e-01 -3.06456399e-01 -2.20664912e-02 -4.88307785e+01] [-2.32273738e-02 -1.41300126e-04 -9.99730198e-01 -1.62200053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.026559995 meters 0.015752421474922285 Centerline is valid? [True, True] Translation: X:107.93, Y:-48.84, Z:-1.62 [[ 2.29649734e-01 9.73258216e-01 -5.42631459e-03 1.07929842e+02] [ 9.73004511e-01 -2.29713765e-01 -2.22217990e-02 -4.88369243e+01] [-2.28740476e-02 -1.76598341e-04 -9.99738339e-01 -1.62358129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.056559995 meters 0.014703834412339556 Centerline is valid? [True, True] Translation: X:107.94, Y:-48.84, Z:-1.62 [[ 1.48985557e-01 9.88832849e-01 -3.59160105e-03 1.07942011e+02] [ 9.88587916e-01 -1.49028595e-01 -2.20093196e-02 -4.88416759e+01] [-2.22987895e-02 -2.71542656e-04 -9.99751314e-01 -1.62349977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.086559995 meters 0.014311260810211859 Centerline is valid? [True, True] Translation: X:107.95, Y:-48.85, Z:-1.62 [[ 6.89613054e-02 9.97617609e-01 -1.85614152e-03 1.07952275e+02] [ 9.97369288e-01 -6.89855559e-02 -2.22597628e-02 -4.88454589e+01] [-2.23347783e-02 -3.16196245e-04 -9.99750498e-01 -1.62354179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.116559995 meters 0.01375779513097052 Centerline is valid? [True, True] Translation: X:107.96, Y:-48.85, Z:-1.62 [[-1.15144042e-02 9.99933701e-01 -1.14130772e-04 1.07964083e+02] [ 9.99693042e-01 1.15091288e-02 -2.19399482e-02 -4.88485773e+01] [-2.19371801e-02 -3.66721171e-04 -9.99759284e-01 -1.62376801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.146559995 meters 0.013300275819787955 Centerline is valid? [True, True] Translation: X:107.98, Y:-48.85, Z:-1.62 [[-9.32719105e-02 9.95639437e-01 1.56918016e-03 1.07975188e+02] [ 9.95407013e-01 9.32840483e-02 -2.15166279e-02 -4.88510005e+01] [-2.15691828e-02 -4.44924058e-04 -9.99767259e-01 -1.62343920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.176559995 meters 0.013177097971479158 Centerline is valid? [True, True] Translation: X:107.98, Y:-48.85, Z:-1.62 [[-1.72170009e-01 9.85062123e-01 3.17834364e-03 1.07983345e+02] [ 9.84839875e-01 1.72198693e-01 -2.09291795e-02 -4.88530987e+01] [-2.11638486e-02 -4.73217466e-04 -9.99775909e-01 -1.62390742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.20655999499999 meters 0.012823636480615089 Centerline is valid? [True, True] Translation: X:107.99, Y:-48.85, Z:-1.63 [[-2.49776850e-01 9.68291909e-01 4.72279016e-03 1.07993903e+02] [ 9.68079431e-01 2.49821003e-01 -2.02899366e-02 -4.88530487e+01] [-2.08264336e-02 -4.95920449e-04 -9.99782983e-01 -1.62513522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.236559995 meters 0.012740561069073512 Centerline is valid? [True, True] Translation: X:108.00, Y:-48.85, Z:-1.63 [[-3.26900193e-01 9.45039452e-01 6.05796726e-03 1.08003399e+02] [ 9.44845111e-01 3.26955868e-01 -1.91722994e-02 -4.88540659e+01] [-2.00992672e-02 -5.43587602e-04 -9.99797842e-01 -1.62504289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.266559995 meters 0.012555778920114618 Centerline is valid? [True, True] Translation: X:108.01, Y:-48.85, Z:-1.63 [[-4.01049854e-01 9.16027550e-01 7.24857368e-03 1.08011582e+02] [ 9.15851394e-01 4.01114950e-01 -1.79727762e-02 -4.88538299e+01] [-1.93710694e-02 -5.69362950e-04 -9.99812201e-01 -1.62517224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.296559995 meters 0.012390190637219555 Centerline is valid? [True, True] Translation: X:108.02, Y:-48.85, Z:-1.62 [[-4.73657980e-01 8.80668999e-01 8.38043806e-03 1.08018948e+02] [ 8.80507497e-01 4.73731713e-01 -1.68763617e-02 -4.88541829e+01] [-1.88325678e-02 -6.14584834e-04 -9.99822463e-01 -1.62495158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.326559995 meters 0.012334537730369044 Centerline is valid? [True, True] Translation: X:108.03, Y:-48.85, Z:-1.63 [[-5.42113408e-01 8.40250950e-01 9.56004023e-03 1.08025781e+02] [ 8.40099149e-01 5.42197326e-01 -1.59837205e-02 -4.88529859e+01] [-1.86137646e-02 -6.33607516e-04 -9.99826548e-01 -1.62516423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.356559995 meters 0.01226339157768755 Centerline is valid? [True, True] Translation: X:108.03, Y:-48.85, Z:-1.63 [[-6.06809987e-01 7.94774977e-01 1.06946286e-02 1.08034543e+02] [ 7.94632409e-01 6.06903881e-01 -1.50669818e-02 -4.88494231e+01] [-1.84654717e-02 -6.44496590e-04 -9.99829291e-01 -1.62546926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.386559995 meters 0.012304084939497027 Centerline is valid? [True, True] Translation: X:108.04, Y:-48.85, Z:-1.63 [[-6.68091242e-01 7.43987030e-01 1.17213839e-02 1.08042660e+02] [ 7.43854735e-01 6.68193727e-01 -1.40455181e-02 -4.88470242e+01] [-1.82818385e-02 -6.64680718e-04 -9.99832652e-01 -1.62514239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.416559995 meters 0.012222432447999951 Centerline is valid? [True, True] Translation: X:108.05, Y:-48.84, Z:-1.62 [[-7.25247113e-01 6.88375482e-01 1.24828430e-02 1.08048946e+02] [ 6.88256942e-01 7.25354206e-01 -1.27928752e-02 -4.88434071e+01] [-1.78607843e-02 -6.86592482e-04 -9.99840248e-01 -1.62477148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.446559995 meters 0.012234932133236336 Centerline is valid? [True, True] Translation: X:108.07, Y:-48.83, Z:-1.63 [[-7.72593249e-01 6.34768408e-01 1.29900084e-02 1.08073293e+02] [ 6.34664708e-01 7.72702185e-01 -1.14909565e-02 -4.88291634e+01] [-1.73315040e-02 -6.33535471e-04 -9.99849597e-01 -1.62512750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.476559995 meters 0.012319624481632124 Centerline is valid? [True, True] Translation: X:108.09, Y:-48.81, Z:-1.63 [[-8.16588146e-01 5.77067975e-01 1.32797547e-02 1.08087323e+02] [ 5.76978359e-01 8.16695853e-01 -1.01910272e-02 -4.88056849e+01] [-1.67264361e-02 -6.59740967e-04 -9.99859886e-01 -1.62526524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.506559995 meters 0.01240670060337251 Centerline is valid? [True, True] Translation: X:108.11, Y:-48.78, Z:-1.63 [[-8.55972918e-01 5.16842161e-01 1.35847304e-02 1.08106609e+02] [ 5.16764409e-01 8.56080443e-01 -8.99002104e-03 -4.87849444e+01] [-1.62760439e-02 -6.75109366e-04 -9.99867309e-01 -1.62548685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.536559995 meters 0.012506707699735213 Centerline is valid? [True, True] Translation: X:108.12, Y:-48.76, Z:-1.63 [[-8.90860350e-01 4.54058860e-01 1.40850374e-02 1.08120302e+02] [ 4.53989760e-01 8.90971423e-01 -7.95116553e-03 -4.87605960e+01] [-1.61596630e-02 -6.88915355e-04 -9.99869187e-01 -1.62600661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.566559995 meters 0.012645366037926344 Centerline is valid? [True, True] Translation: X:108.14, Y:-48.74, Z:-1.63 [[-9.21337154e-01 3.88516109e-01 1.38954290e-02 1.08136233e+02] [ 3.88460301e-01 9.21441663e-01 -6.62241102e-03 -4.87365790e+01] [-1.53767406e-02 -7.03650775e-04 -9.99881523e-01 -1.62615816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.59655999499999 meters 0.012812088718073652 Centerline is valid? [True, True] Translation: X:108.14, Y:-48.71, Z:-1.63 [[-9.46612704e-01 3.22035843e-01 1.47412524e-02 1.08144268e+02] [ 3.21985050e-01 9.46727211e-01 -5.76324012e-03 -4.87093009e+01] [-1.58119147e-02 -7.09093427e-04 -9.99874732e-01 -1.62531686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.626559995 meters 0.012653440979745285 Centerline is valid? [True, True] Translation: X:108.15, Y:-48.68, Z:-1.63 [[-9.66956876e-01 2.54481306e-01 1.52860808e-02 1.08154719e+02] [ 2.54437954e-01 9.67077438e-01 -4.74941466e-03 -4.86845746e+01] [-1.59914611e-02 -7.03120036e-04 -9.99871881e-01 -1.62568188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.656559995 meters 0.012860132565549267 Centerline is valid? [True, True] Translation: X:108.16, Y:-48.66, Z:-1.62 [[-9.82425693e-01 1.85998727e-01 1.56279230e-02 1.08158733e+02] [ 1.85963978e-01 9.82549743e-01 -3.66084993e-03 -4.86566259e+01] [-1.60361252e-02 -6.90282293e-04 -9.99871175e-01 -1.62443948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.686559995 meters 0.012421469729274806 Centerline is valid? [True, True] Translation: X:108.17, Y:-48.63, Z:-1.63 [[-9.92733510e-01 1.19350583e-01 1.53498309e-02 1.08167339e+02] [ 1.19326439e-01 9.92851972e-01 -2.48254597e-03 -4.86325047e+01] [-1.55364032e-02 -6.32865905e-04 -9.99879103e-01 -1.62506449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.716559995 meters 0.012263464778141466 Centerline is valid? [True, True] Translation: X:108.27, Y:-47.92, Z:-2.61 [[-9.81443849e-01 -1.91746269e-01 -1.15703057e-03 1.08274020e+02] [ 1.91746685e-01 -9.81444416e-01 -2.58747005e-04 -4.79215239e+01] [-1.08594742e-03 -4.75802433e-04 9.99999297e-01 -2.60768058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.746559995 meters 0.012321372642085453 Centerline is valid? [True, True] Translation: X:108.11, Y:-48.63, Z:-1.63 [[-9.92435998e-01 1.22014257e-01 1.35392219e-02 1.08112597e+02] [ 1.21995535e-01 9.92528204e-01 -2.20328824e-03 -4.86308648e+01] [-1.37068922e-02 -5.34897951e-04 -9.99905913e-01 -1.62786020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.776559995 meters 0.012497125934954837 Centerline is valid? [True, True] Translation: X:108.21, Y:-47.91, Z:-2.61 [[-9.83736865e-01 -1.79592794e-01 -2.86510086e-03 1.08213287e+02] [ 1.79593311e-01 -9.83740940e-01 7.79035152e-05 -4.79104883e+01] [-2.83250792e-03 -4.37916391e-04 9.99995893e-01 -2.60715132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.806559995 meters 0.012497125934954837 Centerline is valid? [True, True] Translation: X:108.05, Y:-48.63, Z:-1.63 [[-9.92651653e-01 1.20301967e-01 1.30434736e-02 1.08051686e+02] [ 1.20284979e-01 9.92737221e-01 -2.08197421e-03 -4.86250078e+01] [-1.31992074e-02 -4.97741180e-04 -9.99912763e-01 -1.62833447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.836559995 meters 0.01288480098343497 Centerline is valid? [True, True] Translation: X:108.15, Y:-47.90, Z:-2.61 [[-9.85042923e-01 -1.72276944e-01 -3.33086279e-03 1.08148232e+02] [ 1.72277400e-01 -9.85048463e-01 1.51656606e-04 -4.79014949e+01] [-3.30718821e-03 -4.24444117e-04 9.99994441e-01 -2.60774925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.866559995 meters 0.014051750702259797 Centerline is valid? [True, True] Translation: X:107.99, Y:-48.62, Z:-1.63 [[-9.92153733e-01 1.24510256e-01 1.13210533e-02 1.07985063e+02] [ 1.24497481e-01 9.92218238e-01 -1.82895498e-03 -4.86220611e+01] [-1.14606793e-02 -4.05161879e-04 -9.99934242e-01 -1.62871646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.896559995 meters 0.014736653002047587 Centerline is valid? [True, True] Translation: X:108.09, Y:-47.89, Z:-2.61 [[-9.87257545e-01 -1.59062742e-01 -4.64590595e-03 1.08085515e+02] [ 1.59062678e-01 -9.87268411e-01 3.85587172e-04 -4.78904627e+01] [-4.64808874e-03 -3.58316397e-04 9.99989133e-01 -2.60825245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.926559995 meters 0.015474505185975665 Centerline is valid? [True, True] Translation: X:107.93, Y:-48.62, Z:-1.63 [[-9.92064016e-01 1.25233105e-01 1.12096892e-02 1.07930003e+02] [ 1.25221183e-01 9.92127286e-01 -1.76196653e-03 -4.86187926e+01] [-1.13420951e-02 -3.44293052e-04 -9.99935617e-01 -1.62871869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.95655999499999 meters 0.015732636528848883 Centerline is valid? [True, True] Translation: X:107.93, Y:-48.59, Z:-1.63 [[-9.98270034e-01 5.77534970e-02 1.10214957e-02 1.07932574e+02] [ 5.77466045e-02 9.98330827e-01 -9.42849316e-04 -4.85904442e+01] [-1.10575518e-02 -3.04764265e-04 -9.99938817e-01 -1.62899355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.986559995 meters 0.016420900729758717 Centerline is valid? [True, True] Translation: X:107.92, Y:-48.56, Z:-1.63 [[-9.99863434e-01 -1.23890935e-02 1.09372759e-02 1.07924941e+02] [-1.23915849e-02 9.99923209e-01 -1.60043919e-04 -4.85630427e+01] [-1.09344532e-02 -2.95552245e-04 -9.99940173e-01 -1.62917786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.016559995 meters 0.017333020817714345 Centerline is valid? [True, True] Translation: X:107.92, Y:-48.54, Z:-1.63 [[-9.96511194e-01 -8.27755626e-02 1.06604662e-02 1.07922983e+02] [-8.27739598e-02 9.96568172e-01 5.92245178e-04 -4.85354652e+01] [-1.06729047e-02 -2.92230046e-04 -9.99943000e-01 -1.62937909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.046559995 meters 0.016263816987091628 Centerline is valid? [True, True] Translation: X:107.90, Y:-48.51, Z:-1.63 [[-9.88074461e-01 -1.53618131e-01 1.05038125e-02 1.07903732e+02] [-1.53612582e-01 9.88130247e-01 1.33782168e-03 -4.85053151e+01] [-1.05846485e-02 -2.91650314e-04 -9.99943939e-01 -1.62984786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.076559995 meters 0.01691838119751873 Centerline is valid? [True, True] Translation: X:107.87, Y:-48.48, Z:-1.63 [[-9.74462322e-01 -2.24300496e-01 1.06052119e-02 1.07870186e+02] [-2.24290383e-01 9.74519988e-01 2.14891997e-03 -4.84837447e+01] [-1.08169948e-02 -2.84605501e-04 -9.99941454e-01 -1.62973144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.106559995 meters 0.016009652115946047 Centerline is valid? [True, True] Translation: X:107.81, Y:-48.47, Z:-1.63 [[-9.55374753e-01 -2.95195897e-01 1.08841274e-02 1.07812897e+02] [-2.95180054e-01 9.55436709e-01 3.07105806e-03 -4.84691660e+01] [-1.13056586e-02 -2.78765981e-04 -9.99936050e-01 -1.63004504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.136559995 meters 0.016191365514048022 Centerline is valid? [True, True] Translation: X:107.75, Y:-48.46, Z:-1.63 [[-9.30950186e-01 -3.64982354e-01 1.09376875e-02 1.07746462e+02] [-3.64960607e-01 9.31014396e-01 3.99361267e-03 -4.84637406e+01] [-1.16407427e-02 -2.73970610e-04 -9.99932207e-01 -1.63035610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.166559995 meters 0.01578521222769786 Centerline is valid? [True, True] Translation: X:107.67, Y:-48.47, Z:-1.63 [[-9.01098877e-01 -4.33476484e-01 1.09065182e-02 1.07670470e+02] [-4.33448366e-01 9.01164837e-01 4.94475290e-03 -4.84661116e+01] [-1.19720048e-02 -2.71701212e-04 -9.99928296e-01 -1.63101667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.196559995 meters 0.015741819144449064 Centerline is valid? [True, True] Translation: X:107.59, Y:-48.48, Z:-1.63 [[-8.65918883e-01 -5.00069237e-01 1.07352967e-02 1.07586598e+02] [-5.00034691e-01 8.65985383e-01 5.88420109e-03 -4.84796459e+01] [-1.22391179e-02 -2.72779916e-04 -9.99925062e-01 -1.63160702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.226559995 meters 0.015652288311692384 Centerline is valid? [True, True] Translation: X:107.50, Y:-48.50, Z:-1.63 [[-8.25510343e-01 -5.64293184e-01 1.02895837e-02 1.07499517e+02] [-5.64253577e-01 8.25574420e-01 6.69163426e-03 -4.85021676e+01] [-1.22708607e-02 -2.81921096e-04 -9.99924670e-01 -1.63208908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.256559995 meters 0.01543211082774715 Centerline is valid? [True, True] Translation: X:107.41, Y:-48.53, Z:-1.63 [[-7.79449141e-01 -6.26392553e-01 9.56066231e-03 1.07408214e+02] [-6.26350270e-01 7.79507712e-01 7.28464918e-03 -4.85343278e+01] [-1.20156600e-02 -3.10309870e-04 -9.99927761e-01 -1.63212586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.286559995 meters 0.015106500888839199 Centerline is valid? [True, True] Translation: X:107.32, Y:-48.58, Z:-1.63 [[-7.29040272e-01 -6.84410999e-01 9.04799404e-03 1.07317573e+02] [-6.84363700e-01 7.29096346e-01 8.05258532e-03 -4.85773909e+01] [-1.21081374e-02 -3.21459685e-04 -9.99926642e-01 -1.63300258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.316559995 meters 0.014760677830529857 Centerline is valid? [True, True] Translation: X:107.23, Y:-48.63, Z:-1.63 [[-6.74086574e-01 -7.38602554e-01 8.57662015e-03 1.07227214e+02] [-7.38548921e-01 6.74141052e-01 8.90687515e-03 -4.86309706e+01] [-1.23604925e-02 -3.30248602e-04 -9.99923552e-01 -1.63393727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.34655999499999 meters 0.013996402698479696 Centerline is valid? [True, True] Translation: X:107.14, Y:-48.70, Z:-1.64 [[-6.13975030e-01 -7.89286622e-01 7.82880681e-03 1.07136286e+02] [-7.89229830e-01 6.14024834e-01 9.47515582e-03 -4.86960203e+01] [-1.22856955e-02 -3.61218788e-04 -9.99924463e-01 -1.63531337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.376559995 meters 0.013419655665852336 Centerline is valid? [True, True] Translation: X:107.05, Y:-48.77, Z:-1.64 [[-5.50757629e-01 -8.34636040e-01 6.97964549e-03 1.07050828e+02] [-8.34577610e-01 5.50801721e-01 9.88317842e-03 -4.87679648e+01] [-1.20932576e-02 -3.81819939e-04 -9.99926801e-01 -1.63690838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.406559995 meters 0.012971190483872626 Centerline is valid? [True, True] Translation: X:106.97, Y:-48.85, Z:-1.64 [[-4.84002458e-01 -8.75044872e-01 6.17190062e-03 1.06970301e+02] [-8.74983983e-01 4.84041643e-01 1.03304051e-02 -4.88468473e+01] [-1.20270249e-02 -4.00372714e-04 -9.99927593e-01 -1.63796094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.436559995 meters 0.012745694826036264 Centerline is valid? [True, True] Translation: X:106.89, Y:-48.94, Z:-1.64 [[-4.12074057e-01 -9.11133556e-01 5.53301678e-03 1.06893510e+02] [-9.11065263e-01 4.12110967e-01 1.11640854e-02 -4.89360101e+01] [-1.24521898e-02 -4.40509407e-04 -9.99922371e-01 -1.63767925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.466559995 meters 0.012169878820492093 Centerline is valid? [True, True] Translation: X:106.82, Y:-49.03, Z:-1.64 [[-3.39290792e-01 -9.40669843e-01 4.69103150e-03 1.06822785e+02] [-9.40597869e-01 3.39322906e-01 1.16453531e-02 -4.90331961e+01] [-1.25462069e-02 -4.61213143e-04 -9.99921187e-01 -1.63927731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.496559995 meters 0.012045099981760217 Centerline is valid? [True, True] Translation: X:106.76, Y:-49.14, Z:-1.64 [[-2.64341906e-01 -9.64421353e-01 3.84847643e-03 1.06761221e+02] [-9.64344034e-01 2.64369482e-01 1.22213671e-02 -4.91362118e+01] [-1.28039672e-02 -4.80635800e-04 -9.99917910e-01 -1.63998367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.526559995 meters 0.011669209104718416 Centerline is valid? [True, True] Translation: X:106.71, Y:-49.24, Z:-1.64 [[-1.86692771e-01 -9.82414269e-01 2.83072575e-03 1.06707377e+02] [-9.82339590e-01 1.86713514e-01 1.21240804e-02 -4.92435147e+01] [-1.24394044e-02 -5.17255801e-04 -9.99922494e-01 -1.64151927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.556559995 meters 0.011631573880593275 Centerline is valid? [True, True] Translation: X:106.66, Y:-49.36, Z:-1.64 [[-1.09953683e-01 -9.93934913e-01 1.89096627e-03 1.06661859e+02] [-9.93858592e-01 1.09968694e-01 1.23282157e-02 -4.93636505e+01] [-1.24613911e-02 -5.23820353e-04 -9.99922217e-01 -1.64292416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.586559995 meters 0.0115373904143196 Centerline is valid? [True, True] Translation: X:106.63, Y:-49.48, Z:-1.64 [[-3.27695259e-02 -9.99462503e-01 9.29420592e-04 1.06626658e+02] [-9.99387756e-01 3.27784524e-02 1.22346266e-02 -4.94754194e+01] [-1.22585155e-02 -5.27928645e-04 -9.99924722e-01 -1.64427413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.616559995 meters 0.011612268531967689 Centerline is valid? [True, True] Translation: X:106.60, Y:-49.59, Z:-1.65 [[ 4.44373037e-02 -9.99012175e-01 9.46071964e-06 1.06600251e+02] [-9.98943520e-01 -4.44341388e-02 1.17239348e-02 -4.95890795e+01] [-1.17119332e-02 -5.30430774e-04 -9.99931272e-01 -1.64547817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.646559995 meters 0.011629057913146683 Centerline is valid? [True, True] Translation: X:106.58, Y:-49.71, Z:-1.65 [[ 1.20854920e-01 -9.92669800e-01 -8.69918153e-04 1.06583826e+02] [-9.92603429e-01 -1.20856909e-01 1.14908867e-02 -4.97120032e+01] [-1.15117919e-02 -5.25246453e-04 -9.99933599e-01 -1.64648167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.676559995 meters 0.01183734477738873 Centerline is valid? [True, True] Translation: X:106.58, Y:-49.83, Z:-1.65 [[ 1.95759521e-01 -9.80650181e-01 -1.85254975e-03 1.06576832e+02] [-9.80578466e-01 -1.95767629e-01 1.18704801e-02 -4.98304124e+01] [-1.20034578e-02 -5.07189103e-04 -9.99927827e-01 -1.64770347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.70655999499999 meters 0.01192327808591114 Centerline is valid? [True, True] Translation: X:106.58, Y:-49.95, Z:-1.65 [[ 2.69649237e-01 -9.62954847e-01 -2.69298565e-03 1.06578548e+02] [-9.62886894e-01 -2.69662231e-01 1.14503227e-02 -4.99509917e+01] [-1.17523403e-02 -4.94530208e-04 -9.99930817e-01 -1.64903335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.736559995 meters 0.012125923524111243 Centerline is valid? [True, True] Translation: X:106.59, Y:-50.07, Z:-1.65 [[ 3.41585781e-01 -9.39843705e-01 -3.60074357e-03 1.06589473e+02] [-9.39775906e-01 -3.41604428e-01 1.12987859e-02 -5.00679765e+01] [-1.18491227e-02 -4.75612557e-04 -9.99929684e-01 -1.64967977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.766559995 meters 0.012798954177319737 Centerline is valid? [True, True] Translation: X:106.61, Y:-50.18, Z:-1.65 [[ 4.09441098e-01 -9.12323567e-01 -4.86787359e-03 1.06611443e+02] [-9.12246453e-01 -4.09469820e-01 1.18691079e-02 -5.01848024e+01] [-1.28217141e-02 -4.19000149e-04 -9.99917711e-01 -1.64996395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.796559995 meters 0.013261596478798541 Centerline is valid? [True, True] Translation: X:106.64, Y:-50.30, Z:-1.65 [[ 4.76005185e-01 -8.79421944e-01 -6.00903673e-03 1.06639686e+02] [-8.79341614e-01 -4.76042963e-01 1.18921218e-02 -5.02981873e+01] [-1.33187525e-02 -3.76715581e-04 -9.99911231e-01 -1.65056338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.826559995 meters 0.013597198916529529 Centerline is valid? [True, True] Translation: X:106.67, Y:-50.41, Z:-1.65 [[ 5.39861183e-01 -8.41721973e-01 -7.35001849e-03 1.06674056e+02] [-8.41635598e-01 -5.39911117e-01 1.20626286e-02 -5.04052375e+01] [-1.41217362e-02 -3.26107743e-04 -9.99900230e-01 -1.65122819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.856559995 meters 0.014942469990860123 Centerline is valid? [True, True] Translation: X:106.72, Y:-50.51, Z:-1.65 [[ 5.98370470e-01 -8.01173320e-01 -8.60769229e-03 1.06718893e+02] [-8.01084755e-01 -5.98432333e-01 1.19146201e-02 -5.05068407e+01] [-1.46967971e-02 -2.33865768e-04 -9.99891969e-01 -1.65217842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.886559995 meters 0.015716394876571223 Centerline is valid? [True, True] Translation: X:106.77, Y:-50.61, Z:-1.65 [[ 6.55746339e-01 -7.54922620e-01 -9.41154687e-03 1.06769006e+02] [-7.54840618e-01 -6.55813846e-01 1.11283535e-02 -5.06055408e+01] [-1.45732685e-02 -1.93159230e-04 -9.99893786e-01 -1.65343072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.916559995 meters 0.01728751922672798 Centerline is valid? [True, True] Translation: X:106.82, Y:-50.69, Z:-1.65 [[ 7.07612333e-01 -7.06535078e-01 -9.64210617e-03 1.06822999e+02] [-7.06466856e-01 -7.07678009e-01 9.81919093e-03 -5.06942171e+01] [-1.37611093e-02 -1.36352163e-04 -9.99905302e-01 -1.65480948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.946559995 meters 0.018983989077924496 Centerline is valid? [True, True] Translation: X:106.82, Y:-50.70, Z:-1.66 [[ 7.57410115e-01 -6.52865942e-01 -9.79690957e-03 1.06821155e+02] [-6.52809524e-01 -7.57473466e-01 8.58338612e-03 -5.06990893e+01] [-1.30246995e-02 -1.05627600e-04 -9.99915169e-01 -1.65537809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.976559995 meters 0.018846129283562486 Centerline is valid? [True, True] Translation: X:106.82, Y:-50.71, Z:-1.66 [[ 8.04785506e-01 -5.93478982e-01 -1.01482697e-02 1.06816777e+02] [-5.93430423e-01 -8.04849483e-01 7.59234113e-03 -5.07085073e+01] [-1.26737245e-02 -8.79140984e-05 -9.99919681e-01 -1.65590288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.006559995 meters 0.02050046364546657 Centerline is valid? [True, True] Translation: X:106.81, Y:-50.71, Z:-1.66 [[ 8.47724349e-01 -5.30335169e-01 -1.03940876e-02 1.06813460e+02] [-5.30294194e-01 -8.47788065e-01 6.59274380e-03 -5.07146812e+01] [-1.23083473e-02 -7.69051338e-05 -9.99924246e-01 -1.65601915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.036559995 meters 0.021339205438056192 Centerline is valid? [True, True] Translation: X:106.81, Y:-50.72, Z:-1.66 [[ 8.85898370e-01 -4.63753390e-01 -1.08107426e-02 1.06811347e+02] [-4.63718036e-01 -8.85964328e-01 5.72653451e-03 -5.07204842e+01] [-1.22336321e-02 -5.99912674e-05 -9.99925165e-01 -1.65600485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.066559995 meters 0.020037299797488854 Centerline is valid? [True, True] Translation: X:106.81, Y:-50.73, Z:-1.66 [[ 9.19050670e-01 -3.93966351e-01 -1.16781811e-02 1.06808147e+02] [-3.93934186e-01 -9.19124863e-01 5.03427692e-03 -5.07325341e+01] [-1.27170423e-02 -2.63208164e-05 -9.99919135e-01 -1.65655752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.09655999499999 meters 0.020397233098736502 Centerline is valid? [True, True] Translation: X:106.81, Y:-50.74, Z:-1.66 [[ 9.46866146e-01 -3.21391705e-01 -1.23237117e-02 1.06805794e+02] [-3.21364409e-01 -9.46946341e-01 4.18865295e-03 -5.07424118e+01] [-1.30160920e-02 -5.69134759e-06 -9.99915287e-01 -1.65635671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.126559995 meters 0.020681770039370183 Centerline is valid? [True, True] Translation: X:106.80, Y:-50.75, Z:-1.66 [[ 9.69238852e-01 -2.45767727e-01 -1.32012152e-02 1.06804755e+02] [-2.45745115e-01 -9.69328749e-01 3.33376718e-03 -5.07532643e+01] [-1.36156498e-02 1.29174646e-05 -9.99907303e-01 -1.65571718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.156559995 meters 0.02361605595397338 Centerline is valid? [True, True] Translation: X:106.80, Y:-50.76, Z:-1.65 [[ 9.85688763e-01 -1.68045517e-01 -1.33553788e-02 1.06800487e+02] [-1.68030045e-01 -9.85779237e-01 2.28028390e-03 -5.07583141e+01] [-1.35486466e-02 -3.54531438e-06 -9.99908213e-01 -1.65498535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.186559995 meters 0.019818564162361822 Centerline is valid? [True, True] Translation: X:106.80, Y:-50.77, Z:-1.66 [[ 9.95969009e-01 -8.86770397e-02 -1.34949933e-02 1.06796655e+02] [-8.86685638e-02 -9.96060431e-01 1.22628543e-03 -5.07741184e+01] [-1.35505722e-02 -2.47606112e-05 -9.99908186e-01 -1.65606474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.216559995 meters 0.019391326614258242 Centerline is valid? [True, True] Translation: X:106.79, Y:-50.79, Z:-1.66 [[ 9.99877768e-01 -8.28361714e-03 -1.32600977e-02 1.06794717e+02] [-8.28205587e-03 -9.99965688e-01 1.72651497e-04 -5.07853526e+01] [-1.32610729e-02 -6.28095231e-05 -9.99912066e-01 -1.65646554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.246559995 meters 0.01822634060421003 Centerline is valid? [True, True] Translation: X:106.79, Y:-50.80, Z:-1.66 [[ 9.97069730e-01 7.54978760e-02 -1.23298498e-02 1.06792647e+02] [ 7.54941158e-02 -9.97145949e-01 -7.70782383e-04 -5.07987157e+01] [-1.23528522e-02 -1.62307323e-04 -9.99923687e-01 -1.65690136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.276559995 meters 0.01750826860526034 Centerline is valid? [True, True] Translation: X:106.79, Y:-50.81, Z:-1.66 [[ 9.87657681e-01 1.56174706e-01 -1.19065652e-02 1.06792862e+02] [ 1.56165861e-01 -9.87729426e-01 -1.67478324e-03 -5.08087069e+01] [-1.20220236e-02 -2.05286465e-04 -9.99927712e-01 -1.65702751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.306559995 meters 0.016480796046470337 Centerline is valid? [True, True] Translation: X:106.79, Y:-50.82, Z:-1.66 [[ 9.71629803e-01 2.36224883e-01 -1.15469127e-02 1.06794322e+02] [ 2.36211226e-01 -9.71698381e-01 -2.55216504e-03 -5.08186378e+01] [-1.18230013e-02 -2.47750787e-04 -9.99930075e-01 -1.65706643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.336559995 meters 0.016300344242607366 Centerline is valid? [True, True] Translation: X:106.80, Y:-50.83, Z:-1.66 [[ 9.48378333e-01 3.16962284e-01 -1.06511735e-02 1.06796006e+02] [ 3.16946146e-01 -9.48438086e-01 -3.21511376e-03 -5.08286856e+01] [-1.11210485e-02 -3.26704173e-04 -9.99938106e-01 -1.65648406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.366559995 meters 0.014062526298130318 Centerline is valid? [True, True] Translation: X:106.80, Y:-50.84, Z:-1.66 [[ 9.19599336e-01 3.92725224e-01 -1.01961006e-02 1.06800414e+02] [ 3.92705376e-01 -9.19655789e-01 -3.96455085e-03 -5.08409077e+01] [-1.09338821e-02 -3.58265211e-04 -9.99940159e-01 -1.65709106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.396559995 meters 0.013546672615536104 Centerline is valid? [True, True] Translation: X:106.81, Y:-50.85, Z:-1.66 [[ 8.85087945e-01 4.65322993e-01 -9.68719047e-03 1.06805369e+02] [ 4.65299799e-01 -8.85140874e-01 -4.66158806e-03 -5.08500913e+01] [-1.07436723e-02 -3.81532391e-04 -9.99942212e-01 -1.65698738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.426559995 meters 0.013037363972705447 Centerline is valid? [True, True] Translation: X:106.81, Y:-50.86, Z:-1.66 [[ 8.44008382e-01 5.36247345e-01 -9.41465869e-03 1.06809876e+02] [ 5.36219433e-01 -8.44060786e-01 -5.48710488e-03 -5.08596115e+01] [-1.08889896e-02 -4.17160435e-04 -9.99940626e-01 -1.65695889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.45655999499999 meters 0.012738163174161642 Centerline is valid? [True, True] Translation: X:106.82, Y:-50.87, Z:-1.66 [[ 7.98763923e-01 6.01576110e-01 -9.07629661e-03 1.06815688e+02] [ 6.01543253e-01 -7.98815374e-01 -6.30176880e-03 -5.08664730e+01] [-1.10412788e-02 -4.26159419e-04 -9.99938952e-01 -1.65735937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.486559995 meters 0.012479024313364461 Centerline is valid? [True, True] Translation: X:106.82, Y:-50.87, Z:-1.66 [[ 7.48785559e-01 6.62756145e-01 -8.63013049e-03 1.06823225e+02] [ 6.62718649e-01 -7.48835166e-01 -7.06302766e-03 -5.08748074e+01] [-1.11436102e-02 -4.30655304e-04 -9.99937815e-01 -1.65727227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.516559995 meters 0.01268160947803236 Centerline is valid? [True, True] Translation: X:106.83, Y:-50.88, Z:-1.66 [[ 6.94958267e-01 7.19003384e-01 -8.19398686e-03 1.06828985e+02] [ 7.18960428e-01 -6.95006444e-01 -7.87065030e-03 -5.08806698e+01] [-1.13538979e-02 -4.21378801e-04 -9.99935454e-01 -1.65673519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.546559995 meters 0.01257440584623767 Centerline is valid? [True, True] Translation: X:106.84, Y:-50.89, Z:-1.66 [[ 6.37088950e-01 7.70752183e-01 -7.66437637e-03 1.06838232e+02] [ 7.70703986e-01 -6.37134919e-01 -8.62909688e-03 -5.08873741e+01] [-1.15341371e-02 -4.09463142e-04 -9.99933396e-01 -1.65666024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.576559995 meters 0.0132260392129695 Centerline is valid? [True, True] Translation: X:106.84, Y:-50.89, Z:-1.66 [[ 5.76378090e-01 8.17148878e-01 -7.48385763e-03 1.06844978e+02] [ 8.17088254e-01 -5.76426553e-01 -9.96066648e-03 -5.08925613e+01] [-1.24532417e-02 -3.73862240e-04 -9.99922385e-01 -1.65509573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.606559995 meters 0.013460006613911724 Centerline is valid? [True, True] Translation: X:106.85, Y:-50.90, Z:-1.65 [[ 5.11645569e-01 8.59166967e-01 -7.13680742e-03 1.06850653e+02] [ 8.59092600e-01 -5.11695225e-01 -1.13093360e-02 -5.08959582e+01] [-1.33684782e-02 -3.44806787e-04 -9.99910578e-01 -1.65450100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.636559995 meters 0.013584219218559743 Centerline is valid? [True, True] Translation: X:106.86, Y:-50.90, Z:-1.65 [[ 4.43740498e-01 8.96130310e-01 -6.69618915e-03 1.06857927e+02] [ 8.96038713e-01 -4.43790908e-01 -1.28162103e-02 -5.08993314e+01] [-1.44567023e-02 -3.12973188e-04 -9.99895447e-01 -1.65420401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.666559995 meters 0.014095066014250299 Centerline is valid? [True, True] Translation: X:106.86, Y:-50.90, Z:-1.65 [[ 3.73439575e-01 9.27634450e-01 -6.10004259e-03 1.06862987e+02] [ 9.27522400e-01 -3.73489293e-01 -1.44203214e-02 -5.09023673e+01] [-1.56550875e-02 -2.72807466e-04 -9.99877414e-01 -1.65396275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.696559995 meters 0.014957917172595153 Centerline is valid? [True, True] Translation: X:106.87, Y:-50.90, Z:-1.65 [[ 3.03323302e-01 9.52868949e-01 -5.97832582e-03 1.06867742e+02] [ 9.52692817e-01 -3.03382180e-01 -1.83207585e-02 -5.09042275e+01] [-1.92709994e-02 -1.38395102e-04 -9.99814287e-01 -1.65278894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.726559995 meters 0.014957917172595153 Centerline is valid? [True, True] Translation: X:106.88, Y:-50.91, Z:-1.65 [[ 2.27776728e-01 9.73702900e-01 -4.51931034e-03 1.06876598e+02] [ 9.73523077e-01 -2.27821516e-01 -1.87129939e-02 -5.09078394e+01] [-1.92504926e-02 -1.37268367e-04 -9.99814683e-01 -1.65296857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.756559995 meters 0.01548583489021367 Centerline is valid? [True, True] Translation: X:106.88, Y:-50.91, Z:-1.65 [[ 1.52857014e-01 9.88242742e-01 -3.31902763e-03 1.06883878e+02] [ 9.88016740e-01 -1.52893035e-01 -2.11339065e-02 -5.09104855e+01] [-2.13928859e-02 -4.87890292e-05 -9.99771145e-01 -1.65178226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.786559995 meters 0.016646561871686758 Centerline is valid? [True, True] Translation: X:106.89, Y:-50.91, Z:-1.65 [[ 7.62270656e-02 9.97088938e-01 -1.75591184e-03 1.06889833e+02] [ 9.96816928e-01 -7.62472828e-02 -2.32887228e-02 -5.09138684e+01] [-2.33548114e-02 2.49083587e-05 -9.99727239e-01 -1.64989889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.816559995 meters 0.017037791366853836 Centerline is valid? [True, True] Translation: X:106.90, Y:-50.92, Z:-1.65 [[ 6.74369278e-04 9.99999768e-01 9.60827052e-05 1.06895882e+02] [ 9.99707868e-01 -6.71851028e-04 -2.41604507e-02 -5.09154791e+01] [-2.41603805e-02 1.12347702e-04 -9.99708089e-01 -1.65052130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.84655999499999 meters 0.017612830454131128 Centerline is valid? [True, True] Translation: X:106.90, Y:-50.92, Z:-1.65 [[-7.54045218e-02 9.97151119e-01 1.95014687e-03 1.06902383e+02] [ 9.96869550e-01 7.54295714e-02 -2.36955750e-02 -5.09167096e+01] [-2.37751679e-02 1.57288532e-04 -9.99717318e-01 -1.65157785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.876559995 meters 0.0183714375730248 Centerline is valid? [True, True] Translation: X:106.91, Y:-50.92, Z:-1.65 [[-1.50855605e-01 9.88549396e-01 3.56059224e-03 1.06908204e+02] [ 9.88301025e-01 1.50897516e-01 -2.21590673e-02 -5.09177070e+01] [-2.24426171e-02 1.76117449e-04 -9.99748117e-01 -1.65281144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.906559995 meters 0.019590563207967517 Centerline is valid? [True, True] Translation: X:106.91, Y:-50.92, Z:-1.66 [[-2.24926447e-01 9.74363863e-01 4.81204485e-03 1.06913365e+02] [ 9.74157926e-01 2.24977841e-01 -2.00326490e-02 -5.09201233e+01] [-2.06016927e-02 1.81819072e-04 -9.99787746e-01 -1.65554353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.936559995 meters 0.020173763103331025 Centerline is valid? [True, True] Translation: X:106.92, Y:-50.92, Z:-1.66 [[-3.00336223e-01 9.53814480e-01 6.00752586e-03 1.06919786e+02] [ 9.53633689e-01 3.00396262e-01 -1.85707342e-02 -5.09222475e+01] [-1.95176735e-02 1.51514860e-04 -9.99809501e-01 -1.65674891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.966559995 meters 0.02021989756262648 Centerline is valid? [True, True] Translation: X:106.93, Y:-50.92, Z:-1.66 [[-3.73869001e-01 9.27454709e-01 7.05212166e-03 1.06926227e+02] [ 9.27296029e-01 3.73935485e-01 -1.71559930e-02 -5.09223548e+01] [-1.85484451e-02 1.25310434e-04 -9.99827955e-01 -1.65802430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.996559995 meters 0.019071719780627248 Centerline is valid? [True, True] Translation: X:106.94, Y:-50.92, Z:-1.66 [[-4.46068151e-01 8.94971348e-01 7.03497732e-03 1.06936390e+02] [ 8.94860715e-01 4.46123622e-01 -1.40718021e-02 -5.09205236e+01] [-1.57323292e-02 1.83420955e-05 -9.99876239e-01 -1.66167027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.026559995 meters 0.01902672107136597 Centerline is valid? [True, True] Translation: X:106.94, Y:-50.92, Z:-1.66 [[-5.16160314e-01 8.56461517e-01 7.22495309e-03 1.06944944e+02] [ 8.56376071e-01 5.16210874e-01 -1.20978501e-02 -5.09194986e+01] [-1.40909424e-02 -5.71531479e-05 -9.99900716e-01 -1.66306765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.056559995 meters 0.017310394907226138 Centerline is valid? [True, True] Translation: X:106.96, Y:-50.91, Z:-1.66 [[-5.83455387e-01 8.12110491e-01 7.50742528e-03 1.06956226e+02] [ 8.12040654e-01 5.83503673e-01 -1.06508348e-02 -5.09134481e+01] [-1.30302649e-02 -1.17952389e-04 -9.99915096e-01 -1.66484142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.086559995 meters 0.015508608786424278 Centerline is valid? [True, True] Translation: X:106.97, Y:-50.90, Z:-1.67 [[-6.49014287e-01 7.60740166e-01 7.40648268e-03 1.06969415e+02] [ 7.60686830e-01 6.49056511e-01 -9.01070476e-03 -5.09041084e+01] [-1.16620308e-02 -2.14062288e-04 -9.99931973e-01 -1.66658544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.116559995 meters 0.015144319367317092 Centerline is valid? [True, True] Translation: X:106.98, Y:-50.90, Z:-1.67 [[-7.08661721e-01 7.05502012e-01 8.09175759e-03 1.06979040e+02] [ 7.05452011e-01 7.08707873e-01 -8.40302908e-03 -5.08969773e+01] [-1.16630462e-02 -2.46558387e-04 -9.99931954e-01 -1.66671672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.146559995 meters 0.013888110419748004 Centerline is valid? [True, True] Translation: X:107.00, Y:-50.87, Z:-1.67 [[-7.58878760e-01 6.51170070e-01 8.97598698e-03 1.06999271e+02] [ 6.51120955e-01 7.58931808e-01 -8.00079147e-03 -5.08727573e+01] [-1.20220380e-02 -2.27177485e-04 -9.99927707e-01 -1.66695027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.176559995 meters 0.013555891458062234 Centerline is valid? [True, True] Translation: X:107.01, Y:-50.85, Z:-1.67 [[-8.04707321e-01 5.93591043e-01 9.78777426e-03 1.07012816e+02] [ 5.93543269e-01 8.04766804e-01 -7.53517776e-03 -5.08457021e+01] [-1.23496898e-02 -2.54145186e-04 -9.99923707e-01 -1.66662884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.20655999499999 meters 0.012873357293979537 Centerline is valid? [True, True] Translation: X:107.03, Y:-50.82, Z:-1.67 [[-8.47123119e-01 5.31278469e-01 1.12075618e-02 1.07030083e+02] [ 5.31227306e-01 8.47197203e-01 -7.37896138e-03 -5.08187453e+01] [-1.34152983e-02 -2.97125921e-04 -9.99909967e-01 -1.66561693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.236559995 meters 0.012579535844530552 Centerline is valid? [True, True] Translation: X:107.04, Y:-50.79, Z:-1.66 [[-8.83757177e-01 4.67806282e-01 1.14251444e-02 1.07044548e+02] [ 4.67762316e-01 8.83830964e-01 -6.42211438e-03 -5.07915429e+01] [-1.31022018e-02 -3.31337675e-04 -9.99914108e-01 -1.66446867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.266559995 meters 0.012544144262615173 Centerline is valid? [True, True] Translation: X:107.05, Y:-50.77, Z:-1.66 [[-9.14552367e-01 4.04315187e-01 1.10994278e-02 1.07054112e+02] [ 4.04280958e-01 9.14619658e-01 -5.27146239e-03 -5.07651278e+01] [-1.22830872e-02 -3.33741093e-04 -9.99924504e-01 -1.66455085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.296559995 meters 0.01279415332705794 Centerline is valid? [True, True] Translation: X:107.06, Y:-50.74, Z:-1.67 [[-9.40214739e-01 3.40427277e-01 1.02720097e-02 1.07062411e+02] [ 3.40403206e-01 9.40270794e-01 -4.06102456e-03 -5.07397197e+01] [-1.10409543e-02 -3.21610110e-04 -9.99938995e-01 -1.66519896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.326559995 meters 0.0131432158980639 Centerline is valid? [True, True] Translation: X:107.07, Y:-50.71, Z:-1.66 [[-9.61281089e-01 2.75400920e-01 9.64366371e-03 1.07072543e+02] [ 2.75383870e-01 9.61329413e-01 -3.07957878e-03 -5.07113533e+01] [-1.01188564e-02 -3.04631413e-04 -9.99948757e-01 -1.66314952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.356559995 meters 0.012860038557326961 Centerline is valid? [True, True] Translation: X:107.07, Y:-50.68, Z:-1.65 [[-9.79088715e-01 2.02637441e-01 1.79820889e-02 1.07072549e+02] [ 2.02598404e-01 9.79253798e-01 -3.98582816e-03 -5.06764158e+01] [-1.84167069e-02 -2.59336865e-04 -9.99830364e-01 -1.65481049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.386559995 meters 0.013771459215884166 Centerline is valid? [True, True] Translation: X:107.08, Y:-50.65, Z:-1.65 [[-9.90472572e-01 1.36431576e-01 1.87218944e-02 1.07076737e+02] [ 1.36403772e-01 9.90649480e-01 -2.76012482e-03 -5.06521758e+01] [-1.89234031e-02 -1.80090917e-04 -9.99820920e-01 -1.65397174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.416559995 meters 0.013771459215884166 Centerline is valid? [True, True] Translation: X:107.16, Y:-50.01, Z:-2.66 [[-9.84479366e-01 -1.75388813e-01 6.25632256e-03 1.07164183e+02] [ 1.75382310e-01 -9.84499140e-01 -1.57750391e-03 -5.00081663e+01] [ 6.43602072e-03 -4.55771747e-04 9.99979185e-01 -2.66154623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.446559995 meters 0.01407043930519335 Centerline is valid? [True, True] Translation: X:107.02, Y:-50.65, Z:-1.66 [[-9.90668357e-01 1.35083203e-01 1.81310462e-02 1.07016020e+02] [ 1.35058096e-01 9.90834250e-01 -2.60778847e-03 -5.06472594e+01] [-1.83171300e-02 -1.34708931e-04 -9.99832218e-01 -1.65521223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.476559995 meters 0.01407043930519335 Centerline is valid? [True, True] Translation: X:107.01, Y:-50.62, Z:-1.66 [[-9.97762085e-01 6.43239698e-02 1.82550986e-02 1.07013655e+02] [ 6.43108353e-02 9.97929061e-01 -1.30624570e-03 -5.06190899e+01] [-1.83013163e-02 -1.29321792e-04 -9.99832509e-01 -1.65540079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.506559995 meters 0.01407043930519335 Centerline is valid? [True, True] Translation: X:107.05, Y:-49.97, Z:-2.66 [[-9.95222187e-01 -9.74622695e-02 5.82274134e-03 1.07052367e+02] [ 9.74578052e-02 -9.95239108e-01 -1.04627272e-03 -4.99659308e+01] [ 5.89699201e-03 -4.73802234e-04 9.99982500e-01 -2.66128637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.536559995 meters 0.014738890953340241 Centerline is valid? [True, True] Translation: X:106.94, Y:-50.62, Z:-1.66 [[-9.97842585e-01 6.31178481e-02 1.80641422e-02 1.06942097e+02] [ 6.31062458e-02 9.98006078e-01 -1.21215564e-03 -5.06191716e+01] [-1.81046324e-02 -6.95803207e-05 -9.99836095e-01 -1.65688121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.566559995 meters 0.014738890953340241 Centerline is valid? [True, True] Translation: X:106.98, Y:-49.96, Z:-2.66 [[-9.96049463e-01 -8.86178827e-02 5.68660786e-03 1.06977827e+02] [ 8.86136505e-02 -9.96065578e-01 -9.92420281e-04 -4.99590600e+01] [ 5.75218053e-03 -4.84588606e-04 9.99983339e-01 -2.66073228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.59655999499999 meters 0.014738890953340241 Centerline is valid? [True, True] Translation: X:106.87, Y:-50.62, Z:-1.66 [[-9.98143031e-01 5.81801251e-02 1.80433789e-02 1.06869152e+02] [ 5.81693982e-02 9.98306100e-01 -1.11920950e-03 -5.06161570e+01] [-1.80779310e-02 -6.75586700e-05 -9.99836579e-01 -1.65735302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.626559995 meters 0.014738890953340241 Centerline is valid? [True, True] Translation: X:106.90, Y:-49.96, Z:-2.66 [[-9.96475279e-01 -8.36918283e-02 5.71802314e-03 1.06901511e+02] [ 8.36876479e-02 -9.96491567e-01 -9.66911017e-04 -4.99558702e+01] [ 5.77888439e-03 -4.84975018e-04 9.99983185e-01 -2.66120337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.656559995 meters 0.016395993231032642 Centerline is valid? [True, True] Translation: X:106.79, Y:-50.62, Z:-1.66 [[-9.98205087e-01 5.73377842e-02 1.72911336e-02 1.06792595e+02] [ 5.73290620e-02 9.98354836e-01 -1.00009883e-03 -5.06181070e+01] [-1.73200303e-02 -7.01926688e-06 -9.99849997e-01 -1.65802226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.686559995 meters 0.016395993231032642 Centerline is valid? [True, True] Translation: X:106.79, Y:-50.59, Z:-1.66 [[-9.99754762e-01 -1.38215726e-02 1.73025864e-02 1.06786545e+02] [-1.38194565e-02 9.99904478e-01 2.41864203e-04 -5.05901248e+01] [-1.73042765e-02 2.69254826e-06 -9.99850270e-01 -1.65822104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.716559995 meters 0.016395993231032642 Centerline is valid? [True, True] Translation: X:106.78, Y:-50.56, Z:-1.66 [[-9.96227390e-01 -8.50544371e-02 1.72258857e-02 1.06776075e+02] [-8.50416812e-02 9.96376306e-01 1.47299988e-03 -5.05628336e+01] [-1.72887495e-02 2.52454547e-06 -9.99850538e-01 -1.65843114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.746559995 meters 0.017323359851498667 Centerline is valid? [True, True] Translation: X:106.76, Y:-50.54, Z:-1.66 [[-9.88266540e-01 -1.51816328e-01 1.67644830e-02 1.06755022e+02] [-1.51793258e-01 9.88408720e-01 2.64754094e-03 -5.05410418e+01] [-1.69721012e-02 7.17406300e-05 -9.99855961e-01 -1.65934451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.776559995 meters 0.017323359851498667 Centerline is valid? [True, True] Translation: X:106.72, Y:-50.52, Z:-1.66 [[-9.74761881e-01 -2.22635430e-01 1.65148392e-02 1.06723760e+02] [-2.22602242e-01 9.74901769e-01 3.84472569e-03 -5.05191291e+01] [-1.69563181e-02 7.14518082e-05 -9.99856229e-01 -1.65966221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.806559995 meters 0.01916684471889058 Centerline is valid? [True, True] Translation: X:106.67, Y:-50.51, Z:-1.66 [[-9.57141657e-01 -2.89185798e-01 1.58563285e-02 1.06665003e+02] [-2.89143855e-01 9.57272979e-01 4.92686821e-03 -5.05122514e+01] [-1.66036152e-02 1.30950848e-04 -9.99862142e-01 -1.66036429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.836559995 meters 0.019677910858632224 Centerline is valid? [True, True] Translation: X:106.60, Y:-50.51, Z:-1.66 [[-9.34732086e-01 -3.55022527e-01 1.53275012e-02 1.06601261e+02] [-3.54971324e-01 9.34857725e-01 6.03268121e-03 -5.05087747e+01] [-1.64707706e-02 1.98117316e-04 -9.99864328e-01 -1.66131921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.866559995 meters 0.023208289909503212 Centerline is valid? [True, True] Translation: X:106.53, Y:-50.52, Z:-1.66 [[-9.08412333e-01 -4.17836442e-01 1.41329881e-02 1.06528753e+02] [-4.17781309e-01 9.08522227e-01 6.79271704e-03 -5.05199219e+01] [-1.56783785e-02 2.66089665e-04 -9.99877051e-01 -1.66209069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.896559995 meters 0.02289410354304489 Centerline is valid? [True, True] Translation: X:106.44, Y:-50.54, Z:-1.66 [[-8.75425234e-01 -4.83170167e-01 1.33134772e-02 1.06444998e+02] [-4.83109470e-01 8.75526420e-01 7.66337037e-03 -5.05353045e+01] [-1.53590130e-02 2.76840874e-04 -9.99882005e-01 -1.66346853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.926559995 meters 0.023013431637152592 Centerline is valid? [True, True] Translation: X:106.36, Y:-50.56, Z:-1.66 [[-8.36763196e-01 -5.47421236e-01 1.25437062e-02 1.06356356e+02] [-5.47354856e-01 8.36857167e-01 8.52903425e-03 -5.05616087e+01] [-1.51662649e-02 2.70923481e-04 -9.99884949e-01 -1.66495667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.95655999499999 meters 0.022696973887858643 Centerline is valid? [True, True] Translation: X:106.26, Y:-50.60, Z:-1.67 [[-7.92264538e-01 -6.10062794e-01 1.18444057e-02 1.06260984e+02] [-6.09989916e-01 7.92353031e-01 9.43268956e-03 -5.05995433e+01] [-1.51394837e-02 2.48217367e-04 -9.99885361e-01 -1.66561755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.986559995 meters 0.021692386982490503 Centerline is valid? [True, True] Translation: X:106.17, Y:-50.64, Z:-1.67 [[-7.40293748e-01 -6.72184990e-01 1.15110793e-02 1.06168194e+02] [-6.72099687e-01 7.40383213e-01 1.07102159e-02 -5.06423303e+01] [-1.57218562e-02 1.92113096e-04 -9.99876386e-01 -1.66587985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.016559995 meters 0.019916306428938105 Centerline is valid? [True, True] Translation: X:106.07, Y:-50.70, Z:-1.67 [[-6.84777056e-01 -7.28670245e-01 1.09570697e-02 1.06073086e+02] [-7.28573252e-01 6.84864693e-01 1.18898192e-02 -5.06968367e+01] [-1.61678676e-02 1.58847491e-04 -9.99869279e-01 -1.66638764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.046559995 meters 0.01926425008877315 Centerline is valid? [True, True] Translation: X:105.98, Y:-50.76, Z:-1.67 [[-6.24510912e-01 -7.80952357e-01 9.97683101e-03 1.05982920e+02] [-7.80850201e-01 6.24590591e-01 1.26315742e-02 -5.07599009e+01] [-1.60960925e-02 9.81454475e-05 -9.99870445e-01 -1.66638106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.076559995 meters 0.017320971769841684 Centerline is valid? [True, True] Translation: X:105.89, Y:-50.83, Z:-1.67 [[-5.60392699e-01 -8.28178076e-01 9.00540148e-03 1.05894112e+02] [-8.28069825e-01 5.60465050e-01 1.33900120e-02 -5.08317487e+01] [-1.61365271e-02 4.65637259e-05 -9.99869797e-01 -1.66726695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.106559995 meters 0.015764149763744534 Centerline is valid? [True, True] Translation: X:105.81, Y:-50.91, Z:-1.67 [[-4.90337719e-01 -8.71494117e-01 8.18077521e-03 1.05808451e+02] [-8.71374109e-01 4.90405957e-01 1.44623550e-02 -5.09148766e+01] [-1.66157582e-02 -3.70775550e-05 -9.99861948e-01 -1.66771959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.136559995 meters 0.014892984269685026 Centerline is valid? [True, True] Translation: X:105.73, Y:-51.00, Z:-1.67 [[-4.20089542e-01 -9.07454425e-01 7.15842304e-03 1.05732237e+02] [-9.07325517e-01 4.20150522e-01 1.52952275e-02 -5.10039423e+01] [-1.68873370e-02 -6.96547904e-05 -9.99857396e-01 -1.66882542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.166559995 meters 0.01481677923209091 Centerline is valid? [True, True] Translation: X:105.66, Y:-51.10, Z:-1.67 [[-3.47714065e-01 -9.37581642e-01 5.96598471e-03 1.05663706e+02] [-9.37448512e-01 3.47765229e-01 1.57997639e-02 -5.11009715e+01] [-1.68883306e-02 -9.90033447e-05 -9.99857377e-01 -1.66936154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.196559995 meters 0.014619452393309694 Centerline is valid? [True, True] Translation: X:105.60, Y:-51.20, Z:-1.67 [[-2.73373117e-01 -9.61896844e-01 4.64764684e-03 1.05602078e+02] [-9.61765855e-01 2.73412591e-01 1.58743876e-02 -5.12046942e+01] [-1.65402485e-02 -1.30317208e-04 -9.99863192e-01 -1.67028922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.226559995 meters 0.014050501960710282 Centerline is valid? [True, True] Translation: X:105.55, Y:-51.31, Z:-1.67 [[-1.97068404e-01 -9.80384109e-01 3.32294249e-03 1.05548893e+02] [-9.80258685e-01 1.97096347e-01 1.56824616e-02 -5.13099330e+01] [-1.60297760e-02 -1.66825550e-04 -9.99871501e-01 -1.67211302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.256559995 meters 0.014068548847233414 Centerline is valid? [True, True] Translation: X:105.50, Y:-51.42, Z:-1.67 [[-1.20792489e-01 -9.92675669e-01 2.04699492e-03 1.05504434e+02] [-9.92557658e-01 1.20809694e-01 1.53073085e-02 -5.14241604e+01] [-1.54424895e-02 -1.82752603e-04 -9.99880741e-01 -1.67300657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.286559995 meters 0.01376862033944073 Centerline is valid? [True, True] Translation: X:105.47, Y:-51.54, Z:-1.67 [[-4.42376219e-02 -9.99020686e-01 8.37856298e-04 1.05468742e+02] [-9.98916077e-01 4.42451155e-02 1.44582376e-02 -5.15418669e+01] [-1.44811495e-02 -1.97350077e-04 -9.99895123e-01 -1.67470402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.316559995 meters 0.013915694082479188 Centerline is valid? [True, True] Translation: X:105.44, Y:-51.66, Z:-1.68 [[ 3.23133682e-02 -9.99477747e-01 -2.80290589e-04 1.05442572e+02] [-9.99372001e-01 -3.23140269e-02 1.45398300e-02 -5.16557853e+01] [-1.45412938e-02 -1.89716312e-04 -9.99894252e-01 -1.67588024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.346559995 meters 0.01412538845409665 Centerline is valid? [True, True] Translation: X:105.43, Y:-51.78, Z:-1.68 [[ 1.08389170e-01 -9.94107558e-01 -1.39667104e-03 1.05426127e+02] [-9.94002457e-01 -1.08398021e-01 1.44562633e-02 -5.17758412e+01] [-1.45224770e-02 -1.78607943e-04 -9.99894527e-01 -1.67654264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.376559995 meters 0.014428973221061495 Centerline is valid? [True, True] Translation: X:105.42, Y:-51.90, Z:-1.68 [[ 1.83671648e-01 -9.82984579e-01 -2.45847211e-03 1.05420042e+02] [-9.82883777e-01 -1.83688022e-01 1.40780648e-02 -5.19021853e+01] [-1.42901125e-02 -1.69349014e-04 -9.99897877e-01 -1.67738176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.406559995 meters 0.014692218830088987 Centerline is valid? [True, True] Translation: X:105.42, Y:-52.02, Z:-1.68 [[ 2.57310658e-01 -9.66322295e-01 -3.52808126e-03 1.05420654e+02] [-9.66223350e-01 -2.57334801e-01 1.38288664e-02 -5.20174334e+01] [-1.42710400e-02 -1.49400209e-04 -9.99898152e-01 -1.67827579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.436559995 meters 0.015785337165898843 Centerline is valid? [True, True] Translation: X:105.43, Y:-52.13, Z:-1.68 [[ 3.27876988e-01 -9.44708713e-01 -4.70410870e-03 1.05431465e+02] [-9.44607202e-01 -3.27910717e-01 1.38490242e-02 -5.21310100e+01] [-1.46258214e-02 -9.72413704e-05 -9.99893032e-01 -1.67880465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.466559995 meters 0.01621044055273154 Centerline is valid? [True, True] Translation: X:105.45, Y:-52.25, Z:-1.68 [[ 3.97495128e-01 -9.17586411e-01 -5.72734050e-03 1.05451986e+02] [-9.17488736e-01 -3.97536382e-01 1.33882435e-02 -5.22495568e+01] [-1.45616966e-02 -6.69911902e-05 -9.99893971e-01 -1.67980024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.496559995 meters 0.016368781271028008 Centerline is valid? [True, True] Translation: X:105.48, Y:-52.36, Z:-1.68 [[ 4.64940630e-01 -8.85316900e-01 -6.64812512e-03 1.05479171e+02] [-8.85225124e-01 -4.64988156e-01 1.27473005e-02 -5.23624613e+01] [-1.43767000e-02 -4.16505623e-05 -9.99896649e-01 -1.68112064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.52655999499999 meters 0.017546120970893923 Centerline is valid? [True, True] Translation: X:105.51, Y:-52.47, Z:-1.68 [[ 5.28146284e-01 -8.49120552e-01 -7.46927236e-03 1.05514767e+02] [-8.49035845e-01 -5.28199099e-01 1.19935675e-02 -5.24693431e+01] [-1.41292476e-02 7.32185390e-06 -9.99900177e-01 -1.68225963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.556559995 meters 0.018623225585578242 Centerline is valid? [True, True] Translation: X:105.56, Y:-52.57, Z:-1.68 [[ 5.90161028e-01 -8.07242567e-01 -8.33054889e-03 1.05556587e+02] [-8.07162900e-01 -5.90219821e-01 1.13409000e-02 -5.25722464e+01] [-1.40717123e-02 3.11528134e-05 -9.99900988e-01 -1.68264409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.586559995 meters 0.0186245979920697 Centerline is valid? [True, True] Translation: X:105.60, Y:-52.67, Z:-1.68 [[ 6.47886812e-01 -7.61674458e-01 -9.73129790e-03 1.05603549e+02] [-7.61590911e-01 -6.47959883e-01 1.12816235e-02 -5.26706378e+01] [-1.48984151e-02 1.02052956e-04 -9.99889007e-01 -1.68325586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.616559995 meters 0.0186245979920697 Centerline is valid? [True, True] Translation: X:105.66, Y:-52.76, Z:-1.68 [[ 7.03930687e-01 -7.10190301e-01 -1.05510399e-02 1.05656294e+02] [-7.10112745e-01 -7.04009748e-01 1.04958874e-02 -5.27644051e+01] [-1.48821124e-02 1.04050640e-04 -9.99889250e-01 -1.68399867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.646559995 meters 0.01948296041840019 Centerline is valid? [True, True] Translation: X:105.65, Y:-52.77, Z:-1.68 [[ 7.56612992e-01 -6.53755922e-01 -1.18311201e-02 1.05653088e+02] [-6.53678724e-01 -7.56705476e-01 1.00472926e-02 -5.27718996e+01] [-1.55211504e-02 1.31839380e-04 -9.99879531e-01 -1.68335264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.676559995 meters 0.01999808957615887 Centerline is valid? [True, True] Translation: X:105.65, Y:-52.78, Z:-1.68 [[ 8.05000926e-01 -5.93132909e-01 -1.29174661e-02 1.05651286e+02] [-5.93059713e-01 -8.05104544e-01 9.31931357e-03 -5.27801461e+01] [-1.59275023e-02 1.58772707e-04 -9.99873137e-01 -1.68291527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.706559995 meters 0.0197830283928789 Centerline is valid? [True, True] Translation: X:105.65, Y:-52.79, Z:-1.68 [[ 8.48787604e-01 -5.28550074e-01 -1.39435447e-02 1.05649568e+02] [-5.28482203e-01 -8.48902107e-01 8.47189537e-03 -5.27895288e+01] [-1.63145254e-02 1.78075449e-04 -9.99866893e-01 -1.68291067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.736559995 meters 0.0202382936366771 Centerline is valid? [True, True] Translation: X:105.65, Y:-52.80, Z:-1.68 [[ 8.87757747e-01 -4.60077291e-01 -1.46652004e-02 1.05648039e+02] [-4.60017757e-01 -8.87878852e-01 7.40322316e-03 -5.27974848e+01] [-1.64269762e-02 1.73983880e-04 -9.99865053e-01 -1.68300347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.766559995 meters 0.01857005401892428 Centerline is valid? [True, True] Translation: X:105.65, Y:-52.81, Z:-1.68 [[ 9.21234544e-01 -3.88721579e-01 -1.49146948e-02 1.05645674e+02] [-3.88673356e-01 -9.21355257e-01 6.12477354e-03 -5.28110902e+01] [-1.61225641e-02 1.54591505e-04 -9.99870011e-01 -1.68392210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.796559995 meters 0.0181887262219992 Centerline is valid? [True, True] Translation: X:105.65, Y:-52.82, Z:-1.68 [[ 9.49357845e-01 -3.13824901e-01 -1.52844422e-02 1.05645590e+02] [-3.13786351e-01 -9.49480867e-01 4.92038941e-03 -5.28231552e+01] [-1.60564261e-02 1.24839041e-04 -9.99871079e-01 -1.68478198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.826559995 meters 0.01836657873610039 Centerline is valid? [True, True] Translation: X:105.65, Y:-52.83, Z:-1.68 [[ 9.71280506e-01 -2.37436797e-01 -1.54255023e-02 1.05645945e+02] [-2.37408484e-01 -9.71402984e-01 3.66802400e-03 -5.28326657e+01] [-1.58553029e-02 9.94649106e-05 -9.99874292e-01 -1.68493380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.856559995 meters 0.017917407749891024 Centerline is valid? [True, True] Translation: X:105.64, Y:-52.84, Z:-1.69 [[ 9.87090802e-01 -1.59391201e-01 -1.56905317e-02 1.05644287e+02] [-1.59372369e-01 -9.87215498e-01 2.45141637e-03 -5.28423929e+01] [-1.58806703e-02 8.08666648e-05 -9.99873891e-01 -1.68526512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.886559995 meters 0.01720719733889066 Centerline is valid? [True, True] Translation: X:105.64, Y:-52.85, Z:-1.69 [[ 9.96671323e-01 -8.01142041e-02 -1.50992780e-02 1.05642783e+02] [-8.01055633e-02 -9.96785691e-01 1.17717808e-03 -5.28534948e+01] [-1.51450530e-02 3.62765358e-05 -9.99885306e-01 -1.68585871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.916559995 meters 0.01654129083537734 Centerline is valid? [True, True] Translation: X:105.64, Y:-52.86, Z:-1.69 [[ 9.99910704e-01 1.37513501e-03 -1.32925733e-02 1.05641713e+02] [ 1.37583504e-03 -9.99999053e-01 4.35185368e-05 -5.28648970e+01] [-1.32925009e-02 -6.18030388e-05 -9.99911649e-01 -1.68685836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.946559995 meters 0.015914684494284546 Centerline is valid? [True, True] Translation: X:105.64, Y:-52.88, Z:-1.69 [[ 9.96561825e-01 8.19188746e-02 -1.24027360e-02 1.05642805e+02] [ 8.19139307e-02 -9.96638995e-01 -9.06941122e-04 -5.28754777e+01] [-1.24353459e-02 -1.12133957e-04 -9.99922672e-01 -1.68758300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.976559995 meters 0.014692199528591543 Centerline is valid? [True, True] Translation: X:105.64, Y:-52.89, Z:-1.69 [[ 9.86411433e-01 1.63949472e-01 -1.06327589e-02 1.05644810e+02] [ 1.63942124e-01 -9.86468718e-01 -1.56497710e-03 -5.28888004e+01] [-1.07454612e-02 -1.99445767e-04 -9.99942246e-01 -1.68865304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.006559995 meters 0.01432755202034215 Centerline is valid? [True, True] Translation: X:105.65, Y:-52.90, Z:-1.69 [[ 9.70038076e-01 2.42752241e-01 -9.87325351e-03 1.05646448e+02] [ 2.42742102e-01 -9.70088293e-01 -2.23082729e-03 -5.28983237e+01] [-1.01194660e-02 -2.32666895e-04 -9.99948770e-01 -1.68913517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.036559995 meters 0.013788166032474392 Centerline is valid? [True, True] Translation: X:105.65, Y:-52.91, Z:-1.69 [[ 9.47411065e-01 3.19881663e-01 -9.38065475e-03 1.05650512e+02] [ 3.19868654e-01 -9.47457469e-01 -2.89619882e-03 -5.29076537e+01] [-9.81421230e-03 -2.56686602e-04 -9.99951807e-01 -1.68950701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.066559995 meters 0.01301008879570098 Centerline is valid? [True, True] Translation: X:105.66, Y:-52.92, Z:-1.69 [[ 9.18245699e-01 3.95896860e-01 -9.51386538e-03 1.05656203e+02] [ 3.95878746e-01 -9.18294941e-01 -3.79735208e-03 -5.29194518e+01] [-1.02398942e-02 -2.79434888e-04 -9.99947532e-01 -1.68920314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.096559995 meters 0.012838541165821437 Centerline is valid? [True, True] Translation: X:105.66, Y:-52.93, Z:-1.69 [[ 8.83889718e-01 4.67596625e-01 -9.61056279e-03 1.05662628e+02] [ 4.67572455e-01 -8.83941919e-01 -4.76276160e-03 -5.29286676e+01] [-1.07222306e-02 -2.83878427e-04 -9.99942475e-01 -1.68913253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.126559995 meters 0.013137520615597371 Centerline is valid? [True, True] Translation: X:105.67, Y:-52.94, Z:-1.69 [[ 8.44100001e-01 5.36095085e-01 -9.86140338e-03 1.05667719e+02] [ 5.36062390e-01 -8.44157556e-01 -5.92744332e-03 -5.29360554e+01] [-1.15022514e-02 -2.82972553e-04 -9.99933807e-01 -1.68815134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.156559995 meters 0.012710578851575298 Centerline is valid? [True, True] Translation: X:105.67, Y:-52.94, Z:-1.69 [[ 7.99274959e-01 6.00892271e-01 -9.38181580e-03 1.05674361e+02] [ 6.00855052e-01 -7.99329967e-01 -6.69409292e-03 -5.29439572e+01] [-1.15215952e-02 -2.86690576e-04 -9.99933583e-01 -1.68838909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.186559995 meters 0.01286236657814962 Centerline is valid? [True, True] Translation: X:105.68, Y:-52.95, Z:-1.69 [[ 7.50239555e-01 6.61100323e-01 -9.32599097e-03 1.05681200e+02] [ 6.61053670e-01 -7.50297468e-01 -7.85838816e-03 -5.29495548e+01] [-1.21924504e-02 -2.69306926e-04 -9.99925633e-01 -1.68869035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.216559995 meters 0.013157752579195176 Centerline is valid? [True, True] Translation: X:105.69, Y:-52.95, Z:-1.69 [[ 6.97066712e-01 7.16950502e-01 -8.94290557e-03 1.05687119e+02] [ 7.16896019e-01 -6.97124032e-01 -8.84203015e-03 -5.29539609e+01] [-1.25736124e-02 -2.47648519e-04 -9.99920918e-01 -1.68881400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.246559995 meters 0.013336784522390533 Centerline is valid? [True, True] Translation: X:105.69, Y:-52.96, Z:-1.69 [[ 6.39890671e-01 7.68419457e-01 -8.45386282e-03 1.05693974e+02] [ 7.68356953e-01 -6.39946474e-01 -9.80327275e-03 -5.29583349e+01] [-1.29430452e-02 -2.22561492e-04 -9.99916211e-01 -1.68889512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.27655999499999 meters 0.014306322409534875 Centerline is valid? [True, True] Translation: X:105.70, Y:-52.96, Z:-1.69 [[ 5.81220170e-01 8.13709038e-01 -7.79200207e-03 1.05699158e+02] [ 8.13639622e-01 -5.81272376e-01 -1.06297104e-02 -5.29613228e+01] [-1.31787670e-02 -1.61679527e-04 -9.99913143e-01 -1.68948783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.306559995 meters 0.014900986956281377 Centerline is valid? [True, True] Translation: X:105.71, Y:-52.96, Z:-1.69 [[ 5.17977069e-01 8.55365753e-01 -7.01316483e-03 1.05705243e+02] [ 8.55290531e-01 -5.18024530e-01 -1.13443228e-02 -5.29645122e+01] [-1.33365366e-02 -1.22194430e-04 -9.99911057e-01 -1.68990951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.336559995 meters 0.015927247943882165 Centerline is valid? [True, True] Translation: X:105.71, Y:-52.97, Z:-1.69 [[ 4.52062671e-01 8.91964188e-01 -6.26332410e-03 1.05709444e+02] [ 8.91880784e-01 -4.52106053e-01 -1.21977499e-02 -5.29681268e+01] [-1.37116428e-02 -7.19909933e-05 -9.99905988e-01 -1.69001043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.366559995 meters 0.015944634899359093 Centerline is valid? [True, True] Translation: X:105.72, Y:-52.97, Z:-1.69 [[ 3.83674645e-01 9.23452933e-01 -5.33362836e-03 1.05718578e+02] [ 9.23364633e-01 -3.83711715e-01 -1.27700914e-02 -5.29727786e+01] [-1.38391540e-02 -2.53235231e-05 -9.99904234e-01 -1.69086299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.396559995 meters 0.017803436001845137 Centerline is valid? [True, True] Translation: X:105.72, Y:-52.98, Z:-1.69 [[ 3.14598369e-01 9.49215360e-01 -4.25055222e-03 1.05723718e+02] [ 9.49127325e-01 -3.14627081e-01 -1.29275356e-02 -5.29765263e+01] [-1.36083542e-02 3.26663709e-05 -9.99907402e-01 -1.69130170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.426559995 meters 0.019069554253449493 Centerline is valid? [True, True] Translation: X:105.73, Y:-52.98, Z:-1.69 [[ 2.41110145e-01 9.70492457e-01 -3.20752839e-03 1.05729052e+02] [ 9.70403423e-01 -2.41131473e-01 -1.31457120e-02 -5.29802926e+01] [-1.35312504e-02 5.69680023e-05 -9.99908447e-01 -1.69151001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.456559995 meters 0.018167481069766896 Centerline is valid? [True, True] Translation: X:105.74, Y:-52.98, Z:-1.69 [[ 1.65564050e-01 9.86196765e-01 -2.11789439e-03 1.05740707e+02] [ 9.86111224e-01 -1.65577584e-01 -1.29891280e-02 -5.29828550e+01] [-1.31605118e-02 6.20532033e-05 -9.99913395e-01 -1.69251822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.486559995 meters 0.019683521399760855 Centerline is valid? [True, True] Translation: X:105.75, Y:-52.99, Z:-1.69 [[ 8.90083331e-02 9.96030288e-01 -1.08714809e-03 1.05747998e+02] [ 9.95945304e-01 -8.90149402e-02 -1.30112196e-02 -5.29858398e+01] [-1.30563412e-02 7.53669314e-05 -9.99914760e-01 -1.69319903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.516559995 meters 0.018669140890784974 Centerline is valid? [True, True] Translation: X:105.76, Y:-52.99, Z:-1.69 [[ 1.04345860e-02 9.99945556e-01 -6.32458808e-05 1.05759860e+02] [ 9.99860244e-01 -1.04345219e-02 -1.30618739e-02 -5.29872994e+01] [-1.30618227e-02 7.30582052e-05 -9.99914688e-01 -1.69397755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.546559995 meters 0.018396027458976935 Centerline is valid? [True, True] Translation: X:105.77, Y:-52.99, Z:-1.69 [[-6.87783618e-02 9.97631519e-01 9.43072332e-04 1.05770547e+02] [ 9.97548735e-01 6.87848036e-02 -1.28519422e-02 -5.29876757e+01] [-1.28863716e-02 5.68250840e-05 -9.99916966e-01 -1.69436700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.576559995 meters 0.018403511585928036 Centerline is valid? [True, True] Translation: X:105.78, Y:-52.99, Z:-1.69 [[-1.47969640e-01 9.88989877e-01 2.00203866e-03 1.05781016e+02] [ 9.88904047e-01 1.47983174e-01 -1.30293912e-02 -5.29886221e+01] [-1.31822040e-02 5.18698160e-05 -9.99913110e-01 -1.69417772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.606559995 meters 0.01745820984187227 Centerline is valid? [True, True] Translation: X:105.79, Y:-52.99, Z:-1.69 [[-2.28983786e-01 9.73425054e-01 3.17637922e-03 1.05793448e+02] [ 9.73332456e-01 2.29005815e-01 -1.34263754e-02 -5.29870583e+01] [-1.37969795e-02 1.72507136e-05 -9.99904817e-01 -1.69358609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.636559995 meters 0.016676376484485705 Centerline is valid? [True, True] Translation: X:105.80, Y:-52.99, Z:-1.69 [[-3.07141318e-01 9.51654530e-01 4.22697336e-03 1.05804295e+02] [ 9.51563578e-01 3.07170402e-01 -1.31568199e-02 -5.29850804e+01] [-1.38191484e-02 -1.87691057e-05 -9.99904511e-01 -1.69331858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.666559995 meters 0.01572725790109701 Centerline is valid? [True, True] Translation: X:105.81, Y:-52.98, Z:-1.69 [[-3.83606301e-01 9.23481909e-01 5.23165245e-03 1.05814445e+02] [ 9.23393847e-01 3.83641969e-01 -1.27531670e-02 -5.29816683e+01] [-1.37844004e-02 -6.13195237e-05 -9.99904989e-01 -1.69311855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.696559995 meters 0.013721883663178471 Centerline is valid? [True, True] Translation: X:105.83, Y:-52.97, Z:-1.69 [[-4.60814100e-01 8.87474983e-01 6.20645684e-03 1.05828238e+02] [ 8.87389932e-01 4.60855868e-01 -1.22873279e-02 -5.29749936e+01] [-1.37649782e-02 -1.54626653e-04 -9.99905246e-01 -1.69360698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.726559995 meters 0.0131478229128353 Centerline is valid? [True, True] Translation: X:105.84, Y:-52.97, Z:-1.69 [[-5.31662217e-01 8.46926353e-01 7.14424728e-03 1.05837366e+02] [ 8.46844821e-01 5.31710178e-01 -1.17531062e-02 -5.29687023e+01] [-1.37526844e-02 -1.98613698e-04 -9.99905408e-01 -1.69361877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.756559995 meters 0.012627890370986893 Centerline is valid? [True, True] Translation: X:105.85, Y:-52.96, Z:-1.69 [[-5.98937317e-01 8.00758292e-01 7.76202452e-03 1.05845825e+02] [ 8.00685648e-01 5.98987560e-01 -1.07886692e-02 -5.29635438e+01] [-1.32884724e-02 -2.46794923e-04 -9.99911674e-01 -1.69356036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.786559995 meters 0.01206265239080835 Centerline is valid? [True, True] Translation: X:105.85, Y:-52.95, Z:-1.69 [[-6.61793632e-01 7.49640134e-01 8.29811114e-03 1.05854146e+02] [ 7.49575757e-01 6.61845593e-01 -9.82829536e-03 -5.29548831e+01] [-1.28597529e-02 -2.84240341e-04 -9.99917270e-01 -1.69418466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.816559995 meters 0.011555686275115475 Centerline is valid? [True, True] Translation: X:105.86, Y:-52.94, Z:-1.69 [[-7.21737185e-01 6.92115556e-01 8.45534149e-03 1.05863072e+02] [ 6.92062363e-01 7.21786628e-01 -8.58774748e-03 -5.29446489e+01] [-1.20466660e-02 -3.46473080e-04 -9.99927376e-01 -1.69475841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.846559995 meters 0.011510284962446524 Centerline is valid? [True, True] Translation: X:105.88, Y:-52.92, Z:-1.69 [[-7.69923597e-01 6.38077746e-01 8.62813280e-03 1.05881405e+02] [ 6.38032851e-01 7.69971871e-01 -7.57619618e-03 -5.29223229e+01] [-1.14776217e-02 -3.28060053e-04 -9.99934076e-01 -1.69499736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.876559995 meters 0.011460997960833424 Centerline is valid? [True, True] Translation: X:105.90, Y:-52.90, Z:-1.70 [[-8.13874370e-01 5.80970062e-01 9.07181941e-03 1.05897308e+02] [ 5.80929250e-01 8.13924856e-01 -6.89455150e-03 -5.28986140e+01] [-1.13893073e-02 -3.41213507e-04 -9.99935082e-01 -1.69576309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.906559995 meters 0.011385890202368572 Centerline is valid? [True, True] Translation: X:105.91, Y:-52.87, Z:-1.70 [[-8.53516896e-01 5.20979333e-01 9.45739860e-03 1.05910450e+02] [ 5.20942733e-01 8.53569218e-01 -6.18539770e-03 -5.28736535e+01] [-1.12950087e-02 -3.52578370e-04 -9.99936147e-01 -1.69604845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.936559995 meters 0.011298070410395874 Centerline is valid? [True, True] Translation: X:105.92, Y:-52.85, Z:-1.70 [[-8.88209857e-01 4.59336074e-01 9.67584733e-03 1.05921393e+02] [ 4.59304489e-01 8.88262489e-01 -5.39790630e-03 -5.28484352e+01] [-1.10741453e-02 -3.50313467e-04 -9.99938618e-01 -1.69600194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.966559995 meters 0.011368236307916042 Centerline is valid? [True, True] Translation: X:106.21, Y:-52.30, Z:-2.68 [[-8.55268139e-01 -5.18184765e-01 9.79761951e-04 1.06211846e+02] [ 5.18184068e-01 -8.55268664e-01 -8.85573014e-04 -5.22971072e+01] [ 1.29685014e-03 -2.49705350e-04 9.99999128e-01 -2.68206778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.996559995 meters 0.011341340180328665 Centerline is valid? [True, True] Translation: X:105.88, Y:-52.83, Z:-1.70 [[-8.89074591e-01 4.57666789e-01 9.35316819e-03 1.05881558e+02] [ 4.57637531e-01 8.89123727e-01 -5.18543557e-03 -5.28314734e+01] [-1.06893254e-02 -3.29878209e-04 -9.99942813e-01 -1.69664201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.02655999499999 meters 0.0114012776777047 Centerline is valid? [True, True] Translation: X:105.89, Y:-52.81, Z:-1.70 [[-9.18876487e-01 3.94423589e-01 9.79970086e-03 1.05892404e+02] [ 3.94397454e-01 9.18928687e-01 -4.55149181e-03 -5.28069577e+01] [-1.08004420e-02 -3.17281734e-04 -9.99941623e-01 -1.69648055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.056559995 meters 0.01142630008488927 Centerline is valid? [True, True] Translation: X:105.90, Y:-52.78, Z:-1.70 [[-9.44091198e-01 3.29521412e-01 1.03657682e-02 1.05898468e+02] [ 3.29498034e-01 9.44148054e-01 -3.93664661e-03 -5.27808164e+01] [-1.10840292e-02 -3.01053188e-04 -9.99938525e-01 -1.69625557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.086559995 meters 0.011848249898709763 Centerline is valid? [True, True] Translation: X:105.91, Y:-52.76, Z:-1.70 [[-9.64202763e-01 2.64918886e-01 1.14461929e-02 1.05906467e+02] [ 2.64897041e-01 9.64270666e-01 -3.41179106e-03 -5.27579012e+01] [-1.19410759e-02 -2.57595746e-04 -9.99928670e-01 -1.69567974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.116559995 meters 0.012103723077976889 Centerline is valid? [True, True] Translation: X:105.91, Y:-52.73, Z:-1.70 [[-9.80235616e-01 1.97450624e-01 1.23039943e-02 1.05907053e+02] [ 1.97432104e-01 9.80312806e-01 -2.71419782e-03 -5.27319127e+01] [-1.25976833e-02 -2.31349882e-04 -9.99920619e-01 -1.69523171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.146559995 meters 0.012352713826030681 Centerline is valid? [True, True] Translation: X:106.03, Y:-52.10, Z:-2.68 [[-9.69765882e-01 -2.44014176e-01 3.34896173e-03 1.06033237e+02] [ 2.44011813e-01 -9.69771632e-01 -1.10329877e-03 -5.20999411e+01] [ 3.51694862e-03 -2.52755287e-04 9.99993784e-01 -2.68416995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.176559995 meters 0.013229132640176024 Centerline is valid? [True, True] Translation: X:105.86, Y:-52.73, Z:-1.69 [[-9.79905097e-01 1.98966276e-01 1.40862079e-02 1.05859280e+02] [ 1.98943739e-01 9.80006328e-01 -2.99763905e-03 -5.27287795e+01] [-1.44010019e-02 -1.35038923e-04 -9.99896291e-01 -1.69388000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.206559995 meters 0.013303209306701834 Centerline is valid? [True, True] Translation: X:105.86, Y:-52.70, Z:-1.69 [[-9.91356550e-01 1.30335000e-01 1.49993181e-02 1.05857636e+02] [ 1.30318573e-01 9.91470009e-01 -2.07158970e-03 -5.27013785e+01] [-1.51413747e-02 -9.89942967e-05 -9.99885358e-01 -1.69400385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.236559995 meters 0.013791742965033462 Centerline is valid? [True, True] Translation: X:105.86, Y:-52.68, Z:-1.69 [[-9.97994025e-01 6.13950233e-02 1.54459216e-02 1.05858339e+02] [ 6.13866752e-02 9.98113544e-01 -1.01445696e-03 -5.26752507e+01] [-1.54790662e-02 -6.42482162e-05 -9.99880190e-01 -1.69371385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.266559995 meters 0.014373410638907439 Centerline is valid? [True, True] Translation: X:105.85, Y:-52.65, Z:-1.69 [[-9.99846284e-01 -7.87828153e-03 1.56633528e-02 1.05853024e+02] [-7.87779265e-03 9.99968965e-01 9.29127643e-05 -5.26493404e+01] [-1.56635987e-02 -3.04941637e-05 -9.99877318e-01 -1.69334215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.296559995 meters 0.015620020099896829 Centerline is valid? [True, True] Translation: X:105.85, Y:-52.63, Z:-1.69 [[-9.97065531e-01 -7.48108353e-02 1.62377763e-02 1.05846796e+02] [-7.48000424e-02 9.97197742e-01 1.27184924e-03 -5.26269719e+01] [-1.62874219e-02 5.35306819e-05 -9.99867350e-01 -1.69330972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.326559995 meters 0.01600544405659 Centerline is valid? [True, True] Translation: X:105.83, Y:-52.60, Z:-1.69 [[-9.89478090e-01 -1.43772848e-01 1.62011612e-02 1.05828165e+02] [-1.43752048e-01 9.89610711e-01 2.44728986e-03 -5.26031445e+01] [-1.63846965e-02 9.25895954e-05 -9.99865758e-01 -1.69388076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.356559995 meters 0.01693019870016347 Centerline is valid? [True, True] Translation: X:105.80, Y:-52.58, Z:-1.69 [[-9.76942523e-01 -2.12938376e-01 1.55098060e-02 1.05797604e+02] [-2.12909763e-01 9.77065625e-01 3.49237253e-03 -5.25836176e+01] [-1.58977584e-02 1.09658110e-04 -9.99873617e-01 -1.69400881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.386559995 meters 0.01753668119495886 Centerline is valid? [True, True] Translation: X:105.74, Y:-52.57, Z:-1.69 [[-9.59262741e-01 -2.82081529e-01 1.56526460e-02 1.05742781e+02] [-2.82041452e-01 9.59390426e-01 4.75716648e-03 -5.25722201e+01] [-1.63589076e-02 1.48677539e-04 -9.99866173e-01 -1.69475244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.416559995 meters 0.017791242499070565 Centerline is valid? [True, True] Translation: X:105.68, Y:-52.57, Z:-1.70 [[-9.36745425e-01 -3.49684645e-01 1.51214203e-02 1.05679592e+02] [-3.49635918e-01 9.36867448e-01 5.84033456e-03 -5.25687217e+01] [-1.62090418e-02 1.83914999e-04 -9.99868608e-01 -1.69611726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.446559995 meters 0.018673618754651195 Centerline is valid? [True, True] Translation: X:105.61, Y:-52.57, Z:-1.70 [[-9.08540691e-01 -4.17531535e-01 1.48738197e-02 1.05606780e+02] [-4.17471882e-01 9.08662410e-01 7.06064943e-03 -5.25735284e+01] [-1.64633246e-02 2.05485819e-04 -9.99864449e-01 -1.69674948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.476559995 meters 0.01818883092700711 Centerline is valid? [True, True] Translation: X:105.52, Y:-52.59, Z:-1.70 [[-8.74594903e-01 -4.84645802e-01 1.42197470e-02 1.05524544e+02] [-4.84578146e-01 8.74710471e-01 8.10008420e-03 -5.25886517e+01] [-1.63638334e-02 1.93713734e-04 -9.99866085e-01 -1.69819684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.506559995 meters 0.017943659075573597 Centerline is valid? [True, True] Translation: X:105.44, Y:-52.61, Z:-1.70 [[-8.35076296e-01 -5.49967435e-01 1.35425017e-02 1.05438073e+02] [-5.49891801e-01 8.35186082e-01 9.12228587e-03 -5.26118839e+01] [-1.63274691e-02 1.70894024e-04 -9.99866683e-01 -1.69921301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.536559995 meters 0.017456386888111703 Centerline is valid? [True, True] Translation: X:105.35, Y:-52.64, Z:-1.70 [[-7.90152325e-01 -6.12783753e-01 1.24649596e-02 1.05347746e+02] [-6.12704984e-01 7.90250629e-01 9.82580832e-03 -5.26449853e+01] [-1.58715378e-02 1.26542443e-04 -9.99874031e-01 -1.70014688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.566559995 meters 0.017456386888111703 Centerline is valid? [True, True] Translation: X:105.26, Y:-52.69, Z:-1.70 [[-7.41521141e-01 -6.70827891e-01 1.16763982e-02 1.05257041e+02] [-6.70742062e-01 7.41613056e-01 1.07312801e-02 -5.26879367e+01] [-1.58582114e-02 1.25619636e-04 -9.99874243e-01 -1.70072903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.596559995 meters 0.016102592527862895 Centerline is valid? [True, True] Translation: X:105.16, Y:-52.74, Z:-1.70 [[-6.86988241e-01 -7.26593392e-01 1.04498865e-02 1.05164630e+02] [-7.26507635e-01 6.87067709e-01 1.11633010e-02 -5.27404239e+01] [-1.52909603e-02 7.71342060e-05 -9.99883083e-01 -1.70220936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.626559995 meters 0.015341757347620888 Centerline is valid? [True, True] Translation: X:105.08, Y:-52.80, Z:-1.70 [[-6.26017610e-01 -7.79746522e-01 9.86475622e-03 1.05075296e+02] [-7.79649341e-01 6.26095329e-01 1.23103009e-02 -5.28023223e+01] [-1.57751921e-02 1.54144425e-05 -9.99875564e-01 -1.70258461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.656559995 meters 0.014895295311149836 Centerline is valid? [True, True] Translation: X:104.99, Y:-52.88, Z:-1.70 [[-5.62769751e-01 -8.26563641e-01 9.09695865e-03 1.04988576e+02] [-8.26456107e-01 5.62843270e-01 1.33325065e-02 -5.28750750e+01] [-1.61403271e-02 -1.51056499e-05 -9.99869736e-01 -1.70218717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.686559995 meters 0.01433129747099318 Centerline is valid? [True, True] Translation: X:104.91, Y:-52.96, Z:-1.70 [[-4.95820595e-01 -8.68385315e-01 8.29956488e-03 1.04907232e+02] [-8.68265187e-01 4.95890052e-01 1.44437348e-02 -5.29550081e+01] [-1.66583988e-02 -4.47220884e-05 -9.99861238e-01 -1.70207497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.716559995 meters 0.013368507357915272 Centerline is valid? [True, True] Translation: X:104.83, Y:-53.04, Z:-1.70 [[-4.26049560e-01 -9.04671188e-01 7.19814118e-03 1.04830665e+02] [-9.04545137e-01 4.26110355e-01 1.51016346e-02 -5.30437716e+01] [-1.67292162e-02 -7.69988193e-05 -9.99860054e-01 -1.70323129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.746559995 meters 0.012691430717705782 Centerline is valid? [True, True] Translation: X:104.76, Y:-53.14, Z:-1.70 [[-3.53137827e-01 -9.35551622e-01 6.06935860e-03 1.04761965e+02] [-9.35419062e-01 3.53189961e-01 1.57489606e-02 -5.31415031e+01] [-1.68776022e-02 -1.15840010e-04 -9.99857556e-01 -1.70456002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.77655999499999 meters 0.012627336357904119 Centerline is valid? [True, True] Translation: X:104.70, Y:-53.24, Z:-1.71 [[-2.79764960e-01 -9.60056575e-01 4.78948555e-03 1.04701508e+02] [-9.59923556e-01 2.79805926e-01 1.59815659e-02 -5.32422155e+01] [-1.66833338e-02 -1.26457869e-04 -9.99860816e-01 -1.70536113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.806559995 meters 0.012870405342971314 Centerline is valid? [True, True] Translation: X:104.65, Y:-53.35, Z:-1.71 [[-2.05162311e-01 -9.78721757e-01 3.48539134e-03 1.04648892e+02] [-9.78591129e-01 2.05191873e-01 1.59905448e-02 -5.33491886e+01] [-1.63654681e-02 -1.30115926e-04 -9.99866068e-01 -1.70565492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.836559995 meters 0.012944565525444714 Centerline is valid? [True, True] Translation: X:104.60, Y:-53.46, Z:-1.71 [[-1.30666733e-01 -9.91423923e-01 2.19310580e-03 1.04604943e+02] [-9.91298466e-01 1.30685088e-01 1.57721115e-02 -5.34607421e+01] [-1.59234548e-02 -1.13132137e-04 -9.99873207e-01 -1.70655041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.866559995 meters 0.012670018237702644 Centerline is valid? [True, True] Translation: X:104.57, Y:-53.58, Z:-1.71 [[-5.50597663e-02 -9.98482613e-01 9.45087054e-04 1.04568460e+02] [-9.98366480e-01 5.50677766e-02 1.52286253e-02 -5.35774186e+01] [-1.52575614e-02 -1.05058686e-04 -9.99883591e-01 -1.70838733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.896559995 meters 0.012700821931498971 Centerline is valid? [True, True] Translation: X:104.54, Y:-53.69, Z:-1.71 [[ 1.80896371e-02 -9.99836355e-01 -1.67497442e-04 1.04538824e+02] [-9.99732719e-01 -1.80901737e-02 1.43957195e-02 -5.36850620e+01] [-1.43963938e-02 -9.29606682e-05 -9.99896362e-01 -1.70992703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.926559995 meters 0.012837727650330038 Centerline is valid? [True, True] Translation: X:104.52, Y:-53.80, Z:-1.71 [[ 9.46664228e-02 -9.95508427e-01 -1.11321961e-03 1.04519082e+02] [-9.95423003e-01 -9.46728834e-02 1.30418548e-02 -5.38001681e+01] [-1.30886680e-02 -1.26501325e-04 -9.99914332e-01 -1.71117971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.956559995 meters 0.013167374593281237 Centerline is valid? [True, True] Translation: X:104.51, Y:-53.92, Z:-1.71 [[ 1.70461982e-01 -9.85362078e-01 -2.07065443e-03 1.04510280e+02] [-9.85280329e-01 -1.70474514e-01 1.26930329e-02 -5.39220338e+01] [-1.28602271e-02 -1.23504480e-04 -9.99917296e-01 -1.71199533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.986559995 meters 0.012873457937171191 Centerline is valid? [True, True] Translation: X:104.51, Y:-54.04, Z:-1.71 [[ 2.44919937e-01 -9.69538505e-01 -3.05155922e-03 1.04509737e+02] [-9.69457566e-01 -2.44938922e-01 1.25280601e-02 -5.40437995e+01] [-1.28938823e-02 -1.10014520e-04 -9.99916864e-01 -1.71261274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.016559995 meters 0.013459539854832836 Centerline is valid? [True, True] Translation: X:104.52, Y:-54.16, Z:-1.71 [[ 3.17944263e-01 -9.48100537e-01 -4.10090281e-03 1.04519424e+02] [-9.48017901e-01 -3.17970695e-01 1.25178449e-02 -5.41641101e+01] [-1.31721424e-02 -9.22476893e-05 -9.99913239e-01 -1.71258808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.046559995 meters 0.013534731511951496 Centerline is valid? [True, True] Translation: X:104.54, Y:-54.28, Z:-1.71 [[ 3.89506814e-01 -9.21009014e-01 -5.18057446e-03 1.04535841e+02] [-9.20924829e-01 -3.89541257e-01 1.24526783e-02 -5.42809108e+01] [-1.34870764e-02 -7.94833949e-05 -9.99909042e-01 -1.71311673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.076559995 meters 0.013856475550752544 Centerline is valid? [True, True] Translation: X:104.57, Y:-54.41, Z:-1.71 [[ 4.58293981e-01 -8.88778431e-01 -6.28714301e-03 1.04565472e+02] [-8.88693021e-01 -4.58337101e-01 1.23214089e-02 -5.44050501e+01] [-1.38326333e-02 -5.94874078e-05 -9.99904323e-01 -1.71324643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.106559995 meters 0.014171326677060472 Centerline is valid? [True, True] Translation: X:104.59, Y:-54.51, Z:-1.71 [[ 5.24861097e-01 -8.51155819e-01 -7.38921655e-03 1.04593835e+02] [-8.51070203e-01 -5.24913107e-01 1.20722856e-02 -5.45086166e+01] [-1.41540928e-02 -4.75310468e-05 -9.99899825e-01 -1.71356489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.136559995 meters 0.01445587180563021 Centerline is valid? [True, True] Translation: X:104.63, Y:-54.62, Z:-1.71 [[ 5.88046530e-01 -8.08781112e-01 -8.62506079e-03 1.04633497e+02] [-8.08693459e-01 -5.88109779e-01 1.19070023e-02 -5.46156420e+01] [-1.47026411e-02 -2.68411045e-05 -9.99891910e-01 -1.71380664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.166559995 meters 0.014366550042991522 Centerline is valid? [True, True] Translation: X:104.68, Y:-54.72, Z:-1.71 [[ 6.47289245e-01 -7.62180351e-01 -9.88662795e-03 1.04678272e+02] [-7.62091525e-01 -6.47364745e-01 1.16359067e-02 -5.47171972e+01] [-1.52689139e-02 2.71808341e-06 -9.99883423e-01 -1.71465182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.196559995 meters 0.014532566320864459 Centerline is valid? [True, True] Translation: X:104.73, Y:-54.81, Z:-1.71 [[ 7.03039859e-01 -7.11068237e-01 -1.08129115e-02 1.04732080e+02] [-7.10984491e-01 -7.03123007e-01 1.09128874e-02 -5.48142153e+01] [-1.53626145e-02 1.56175812e-05 -9.99881988e-01 -1.71498253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.226559995 meters 0.014470791555898537 Centerline is valid? [True, True] Translation: X:104.73, Y:-54.82, Z:-1.72 [[ 7.56047198e-01 -6.54406576e-01 -1.20278219e-02 1.04727959e+02] [-6.54324409e-01 -7.56142865e-01 1.03699019e-02 -5.48239165e+01] [-1.58808837e-02 2.99622243e-05 -9.99873890e-01 -1.71540550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.256559995 meters 0.01523125158210789 Centerline is valid? [True, True] Translation: X:104.72, Y:-54.83, Z:-1.71 [[ 8.04687698e-01 -5.93562383e-01 -1.27045654e-02 1.04724653e+02] [-5.93489074e-01 -8.04787982e-01 9.32862116e-03 -5.48313376e+01] [-1.57616002e-02 3.33940602e-05 -9.99875778e-01 -1.71496297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.286559995 meters 0.014922114248886773 Centerline is valid? [True, True] Translation: X:104.72, Y:-54.84, Z:-1.72 [[ 8.48347408e-01 -5.29267007e-01 -1.35318138e-02 1.04721561e+02] [-5.29200565e-01 -8.48455322e-01 8.38628478e-03 -5.48409324e+01] [-1.59197233e-02 4.65605311e-05 -9.99873272e-01 -1.71544775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.316559995 meters 0.015316467632228008 Centerline is valid? [True, True] Translation: X:104.72, Y:-54.85, Z:-1.72 [[ 8.86914780e-01 -4.61729128e-01 -1.37253620e-02 1.04720119e+02] [-4.61674605e-01 -8.87020975e-01 7.09568088e-03 -5.48497512e+01] [-1.54509666e-02 4.33868451e-05 -9.99880626e-01 -1.71579084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.346559995 meters 0.014441964768869536 Centerline is valid? [True, True] Translation: X:104.72, Y:-54.86, Z:-1.72 [[ 9.20115901e-01 -3.91401106e-01 -1.38529320e-02 1.04718072e+02] [-3.91357427e-01 -9.20220176e-01 5.84739845e-03 -5.48622437e+01] [-1.50364258e-02 4.11635509e-05 -9.99886946e-01 -1.71686007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.376559995 meters 0.015747194213993048 Centerline is valid? [True, True] Translation: X:104.72, Y:-54.87, Z:-1.72 [[ 9.47743005e-01 -3.18715867e-01 -1.42616009e-02 1.04717189e+02] [-3.18680572e-01 -9.47850301e-01 4.74336072e-03 -5.48706956e+01] [-1.50296471e-02 4.94081987e-05 -9.99887047e-01 -1.71669027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.406559995 meters 0.015100817447005062 Centerline is valid? [True, True] Translation: X:104.72, Y:-54.88, Z:-1.72 [[ 9.69603445e-01 -2.44252766e-01 -1.44826164e-02 1.04717868e+02] [-2.44226402e-01 -9.69711598e-01 3.58910296e-03 -5.48820399e+01] [-1.49206094e-02 5.70306900e-05 -9.99888680e-01 -1.71729676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.436559995 meters 0.015384399079970362 Centerline is valid? [True, True] Translation: X:104.72, Y:-54.89, Z:-1.72 [[ 9.85440664e-01 -1.69422997e-01 -1.42318761e-02 1.04716019e+02] [-1.69406380e-01 -9.85543425e-01 2.37387270e-03 -5.48917229e+01] [-1.44283206e-02 7.16599291e-05 -9.99895904e-01 -1.71754122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.466559995 meters 0.015942616351236685 Centerline is valid? [True, True] Translation: X:104.72, Y:-54.90, Z:-1.72 [[ 9.95569734e-01 -9.29642969e-02 -1.40905479e-02 1.04715276e+02] [-9.29561537e-02 -9.95669440e-01 1.23317476e-03 -5.49004608e+01] [-1.41441691e-02 8.20916674e-05 -9.99899963e-01 -1.71757969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.496559995 meters 0.01686317528842316 Centerline is valid? [True, True] Translation: X:104.71, Y:-54.91, Z:-1.72 [[ 9.99777917e-01 -1.58544311e-02 -1.38835626e-02 1.04714049e+02] [-1.58541643e-02 -9.99874306e-01 1.29284382e-04 -5.49078245e+01] [-1.38838672e-02 9.08566115e-05 -9.99903610e-01 -1.71778611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.52655999499999 meters 0.01693134168115905 Centerline is valid? [True, True] Translation: X:104.71, Y:-54.92, Z:-1.72 [[ 9.98074020e-01 6.06276085e-02 -1.31355878e-02 1.04713882e+02] [ 6.06211133e-02 -9.98160450e-01 -8.92436866e-04 -5.49170735e+01] [-1.31655305e-02 9.44240948e-05 -9.99913326e-01 -1.71871893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.556559995 meters 0.01835029890745625 Centerline is valid? [True, True] Translation: X:104.71, Y:-54.92, Z:-1.72 [[ 9.90354626e-01 1.37950121e-01 -1.29413494e-02 1.04712633e+02] [ 1.37937005e-01 -9.90439172e-01 -1.90490531e-03 -5.49239824e+01] [-1.30804013e-02 1.01440801e-04 -9.99914443e-01 -1.71837737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.586559995 meters 0.017860942854544922 Centerline is valid? [True, True] Translation: X:104.71, Y:-54.93, Z:-1.72 [[ 9.76506269e-01 2.15110711e-01 -1.27628092e-02 1.04713991e+02] [ 2.15090968e-01 -9.76589664e-01 -2.91613353e-03 -5.49330885e+01] [-1.30913191e-02 1.02457692e-04 -9.99914300e-01 -1.71807787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.616559995 meters 0.017127377841402336 Centerline is valid? [True, True] Translation: X:104.72, Y:-54.94, Z:-1.72 [[ 9.56271615e-01 2.92179233e-01 -1.32624885e-02 1.04716793e+02] [ 2.92149515e-01 -9.56363573e-01 -4.16863523e-03 -5.49427365e+01] [-1.39017495e-02 1.11717960e-04 -9.99903360e-01 -1.71702674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.646559995 meters 0.017213359492394147 Centerline is valid? [True, True] Translation: X:104.72, Y:-54.95, Z:-1.72 [[ 9.30229770e-01 3.66742062e-01 -1.31466620e-02 1.04718697e+02] [ 3.66703734e-01 -9.30322658e-01 -5.30319846e-03 -5.49502537e+01] [-1.41755434e-02 1.12263056e-04 -9.99899516e-01 -1.71669899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.676559995 meters 0.017213359492394147 Centerline is valid? [True, True] Translation: X:104.72, Y:-54.96, Z:-1.72 [[ 8.98681452e-01 4.38418610e-01 -1.26795399e-02 1.04721192e+02] [ 4.38373203e-01 -8.98770888e-01 -6.31071048e-03 -5.49575798e+01] [-1.41627343e-02 1.12947929e-04 -9.99899697e-01 -1.71681553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.706559995 meters 0.01668985150423296 Centerline is valid? [True, True] Translation: X:104.73, Y:-54.97, Z:-1.72 [[ 8.61193661e-01 5.08124485e-01 -1.24493602e-02 1.04725902e+02] [ 5.08069495e-01 -8.61283632e-01 -7.47615346e-03 -5.49656989e+01] [-1.45212468e-02 1.13275824e-04 -9.99894555e-01 -1.71684617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.736559995 meters 0.016922899911112656 Centerline is valid? [True, True] Translation: X:104.73, Y:-54.97, Z:-1.72 [[ 8.18488170e-01 5.74399084e-01 -1.19502452e-02 1.04728736e+02] [ 5.74335876e-01 -8.18575396e-01 -8.52186290e-03 -5.49728006e+01] [-1.46771269e-02 1.11589435e-04 -9.99892279e-01 -1.71638165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.766559995 meters 0.016336545523057498 Centerline is valid? [True, True] Translation: X:104.73, Y:-54.98, Z:-1.72 [[ 7.70950784e-01 6.36790785e-01 -1.15058953e-02 1.04734052e+02] [ 6.36717511e-01 -7.71036628e-01 -9.66072074e-03 -5.49807523e+01] [-1.50233246e-02 1.21935223e-04 -9.99887136e-01 -1.71712030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.796559995 meters 0.017284498581737254 Centerline is valid? [True, True] Translation: X:104.74, Y:-54.99, Z:-1.72 [[ 7.18879795e-01 6.95052917e-01 -1.06434069e-02 1.04737087e+02] [ 6.94974206e-01 -7.18958571e-01 -1.04607055e-02 -5.49867962e+01] [-1.49229124e-02 1.23096578e-04 -9.99888640e-01 -1.71697722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.826559995 meters 0.016300923364644705 Centerline is valid? [True, True] Translation: X:104.74, Y:-55.00, Z:-1.72 [[ 6.62651330e-01 7.48864168e-01 -9.78123185e-03 1.04744382e+02] [ 7.48779656e-01 -6.62723503e-01 -1.12510147e-02 -5.49950549e+01] [-1.49077340e-02 1.31512423e-04 -9.99888865e-01 -1.71758012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.856559995 meters 0.01701464206726767 Centerline is valid? [True, True] Translation: X:104.75, Y:-55.00, Z:-1.72 [[ 6.03456518e-01 7.97346788e-01 -8.85046215e-03 1.04750224e+02] [ 7.97257156e-01 -6.03521395e-01 -1.19563228e-02 -5.50003208e+01] [-1.48747788e-02 1.59026649e-04 -9.99889352e-01 -1.71793167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.886559995 meters 0.017862681194647928 Centerline is valid? [True, True] Translation: X:104.75, Y:-55.01, Z:-1.72 [[ 5.40037000e-01 8.41606228e-01 -7.68088304e-03 1.04754366e+02] [ 8.41516824e-01 -5.40091595e-01 -1.22679897e-02 -5.50060322e+01] [-1.44731969e-02 1.61576074e-04 -9.99895245e-01 -1.71807477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.916559995 meters 0.01787957846778063 Centerline is valid? [True, True] Translation: X:104.76, Y:-55.01, Z:-1.72 [[ 4.73710490e-01 8.80654828e-01 -6.74132748e-03 1.04761400e+02] [ 8.80559995e-01 -4.73758418e-01 -1.29250384e-02 -5.50112584e+01] [-1.45762581e-02 1.86582980e-04 -9.99893743e-01 -1.71862236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.946559995 meters 0.018563063711684258 Centerline is valid? [True, True] Translation: X:104.77, Y:-55.02, Z:-1.72 [[ 4.04549710e-01 9.14498656e-01 -5.63381771e-03 1.04767894e+02] [ 9.14402968e-01 -4.04588887e-01 -1.32304514e-02 -5.50158004e+01] [-1.43786101e-02 2.00795665e-04 -9.99896602e-01 -1.71845594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.976559995 meters 0.019400296201230672 Centerline is valid? [True, True] Translation: X:104.77, Y:-55.02, Z:-1.72 [[ 3.32645023e-01 9.43040629e-01 -4.65419125e-03 1.04773458e+02] [ 9.42938621e-01 -3.32677504e-01 -1.38721042e-02 -5.50207383e+01] [-1.46303026e-02 2.25869731e-04 -9.99892946e-01 -1.71825697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.006559995 meters 0.020389691976020148 Centerline is valid? [True, True] Translation: X:104.78, Y:-55.02, Z:-1.72 [[ 2.59269172e-01 9.65799116e-01 -3.40072458e-03 1.04778082e+02] [ 9.65704400e-01 -2.59291378e-01 -1.35275321e-02 -5.50248470e+01] [-1.39466571e-02 2.23177351e-04 -9.99902716e-01 -1.71826402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.036559995 meters 0.019968161613356114 Centerline is valid? [True, True] Translation: X:104.79, Y:-55.03, Z:-1.72 [[ 1.83267244e-01 9.83060463e-01 -2.28996566e-03 1.04786000e+02] [ 9.82968064e-01 -1.83281418e-01 -1.34798778e-02 -5.50286535e+01] [-1.36712431e-02 2.19456944e-04 -9.99906520e-01 -1.71896579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.066559995 meters 0.021387091945219337 Centerline is valid? [True, True] Translation: X:104.79, Y:-55.03, Z:-1.72 [[ 1.05491834e-01 9.94419406e-01 -1.23169218e-03 1.04791273e+02] [ 9.94325106e-01 -1.05498795e-01 -1.36962390e-02 -5.50320889e+01] [-1.37497479e-02 2.20138917e-04 -9.99905444e-01 -1.71845290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.096559995 meters 0.021488417345633396 Centerline is valid? [True, True] Translation: X:104.80, Y:-55.03, Z:-1.72 [[ 2.70199219e-02 9.99634883e-01 -1.55711246e-04 1.04795979e+02] [ 9.99541988e-01 -2.70195340e-02 -1.36293400e-02 -5.50346632e+01] [-1.36285710e-02 2.12623774e-04 -9.99907104e-01 -1.71806393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.126559995 meters 0.01853296961090827 Centerline is valid? [True, True] Translation: X:104.81, Y:-55.04, Z:-1.72 [[-5.20467526e-02 9.98644215e-01 9.31752122e-04 1.04810238e+02] [ 9.98548795e-01 5.20546611e-02 -1.38063580e-02 -5.50362134e+01] [-1.38361416e-02 2.11823860e-04 -9.99904254e-01 -1.71920333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.156559995 meters 0.01907216815564954 Centerline is valid? [True, True] Translation: X:104.82, Y:-55.04, Z:-1.72 [[-1.30906134e-01 9.91392867e-01 1.94115126e-03 1.04819354e+02] [ 9.91303989e-01 1.30920393e-01 -1.32759660e-02 -5.50383761e+01] [-1.34158342e-02 1.86365606e-04 -9.99909986e-01 -1.71883674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.186559995 meters 0.017496287732156914 Centerline is valid? [True, True] Translation: X:104.83, Y:-55.04, Z:-1.72 [[-2.10358410e-01 9.77620057e-01 2.89210257e-03 1.04832320e+02] [ 9.77536932e-01 2.10378240e-01 -1.27492656e-02 -5.50374256e+01] [-1.30723732e-02 1.45221824e-04 -9.99914542e-01 -1.71921457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.216559995 meters 0.01710543830955567 Centerline is valid? [True, True] Translation: X:104.84, Y:-55.04, Z:-1.72 [[-2.87767403e-01 9.57692573e-01 3.85458074e-03 1.04842817e+02] [ 9.57612318e-01 2.87793191e-01 -1.23986988e-02 -5.50357662e+01] [-1.29834639e-02 1.23252634e-04 -9.99915704e-01 -1.71917431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.246559995 meters 0.016160270576249636 Centerline is valid? [True, True] Translation: X:104.85, Y:-55.03, Z:-1.72 [[-3.63452501e-01 9.31600364e-01 4.80010278e-03 1.04854741e+02] [ 9.31522765e-01 3.63484183e-01 -1.20244471e-02 -5.50328868e+01] [-1.29467407e-02 1.01089648e-04 -9.99916182e-01 -1.71939070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.27655999499999 meters 0.01542947377435805 Centerline is valid? [True, True] Translation: X:104.87, Y:-55.03, Z:-1.72 [[-4.36928522e-01 8.99478019e-01 5.72360099e-03 1.04866310e+02] [ 8.99403180e-01 4.36966002e-01 -1.16031185e-02 -5.50287533e+01] [-1.29377690e-02 7.80915353e-05 -9.99916301e-01 -1.71924855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.306559995 meters 0.015073410134122524 Centerline is valid? [True, True] Translation: X:104.88, Y:-55.02, Z:-1.72 [[-5.09576600e-01 8.60403968e-01 6.05809901e-03 1.04877654e+02] [ 8.60343154e-01 5.09612609e-01 -1.02296333e-02 -5.50249927e+01] [-1.18889008e-02 -7.37756089e-07 -9.99929325e-01 -1.71909945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.336559995 meters 0.014400169761528057 Centerline is valid? [True, True] Translation: X:104.89, Y:-55.02, Z:-1.72 [[-5.77265703e-01 8.16530657e-01 6.48028486e-03 1.04885984e+02] [ 8.16478415e-01 5.77302074e-01 -9.23651289e-03 -5.50201024e+01] [-1.12829778e-02 -4.09093947e-05 -9.99936344e-01 -1.71923276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.366559995 meters 0.01363047090969122 Centerline is valid? [True, True] Translation: X:104.89, Y:-55.01, Z:-1.72 [[-6.41083092e-01 7.67441504e-01 6.78288503e-03 1.04894221e+02] [ 7.67397276e-01 6.41118969e-01 -8.23941981e-03 -5.50142122e+01] [-1.06719090e-02 -7.69852309e-05 -9.99943051e-01 -1.71970428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.396559995 meters 0.012147504554921033 Centerline is valid? [True, True] Translation: X:104.91, Y:-55.00, Z:-1.72 [[-7.02338959e-01 7.11810784e-01 6.73750862e-03 1.04905070e+02] [ 7.11776125e-01 7.02371261e-01 -7.02564582e-03 -5.50049121e+01] [-9.73316289e-03 -1.38786998e-04 -9.99952622e-01 -1.71966214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.426559995 meters 0.012147504554921033 Centerline is valid? [True, True] Translation: X:104.92, Y:-54.98, Z:-1.72 [[-7.50966862e-01 6.60300311e-01 7.22990408e-03 1.04923955e+02] [ 6.60268306e-01 7.51001656e-01 -6.50205114e-03 -5.49842916e+01] [-9.72297633e-03 -1.09148418e-04 -9.99952725e-01 -1.71977060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.456559995 meters 0.011755902351626558 Centerline is valid? [True, True] Translation: X:104.94, Y:-54.96, Z:-1.72 [[-7.96964390e-01 6.03975616e-01 7.82410587e-03 1.04938741e+02] [ 6.03944977e-01 7.97002786e-01 -6.08475254e-03 -5.49585729e+01] [-9.91087633e-03 -1.24001651e-04 -9.99950878e-01 -1.71974228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.486559995 meters 0.01135817742550965 Centerline is valid? [True, True] Translation: X:104.96, Y:-54.94, Z:-1.72 [[-8.38761938e-01 5.44439976e-01 7.97019106e-03 1.04957403e+02] [ 5.44413730e-01 8.38799792e-01 -5.34792347e-03 -5.49356679e+01] [-9.59701793e-03 -1.46553213e-04 -9.99953937e-01 -1.71909460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.516559995 meters 0.010874193442869572 Centerline is valid? [True, True] Translation: X:104.97, Y:-54.91, Z:-1.72 [[-8.76052173e-01 4.82141048e-01 8.52056863e-03 1.04971987e+02] [ 4.82116456e-01 8.76093593e-01 -4.87225845e-03 -5.49098179e+01] [-9.81393139e-03 -1.60446248e-04 -9.99951829e-01 -1.71895255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.546559995 meters 0.010429766547704387 Centerline is valid? [True, True] Translation: X:104.98, Y:-54.88, Z:-1.72 [[-9.09460344e-01 4.15698044e-01 8.77603852e-03 1.04981586e+02] [ 4.15676618e-01 9.09502665e-01 -4.22505670e-03 -5.48808585e+01] [-9.73817823e-03 -1.94527510e-04 -9.99952564e-01 -1.71881013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.576559995 meters 0.010151599187449933 Centerline is valid? [True, True] Translation: X:104.99, Y:-54.85, Z:-1.72 [[-9.37175992e-01 3.48746627e-01 8.77218979e-03 1.04988059e+02] [ 3.48729237e-01 9.37217022e-01 -3.48904613e-03 -5.48522826e+01] [-9.43823866e-03 -2.10731218e-04 -9.99955437e-01 -1.71881287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.606559995 meters 0.010052528880973952 Centerline is valid? [True, True] Translation: X:105.00, Y:-54.82, Z:-1.72 [[-9.59891254e-01 2.80233122e-01 8.84185580e-03 1.04996399e+02] [ 2.80219090e-01 9.59931950e-01 -2.81314335e-03 -5.48248110e+01] [-9.27591582e-03 -2.22654908e-04 -9.99956953e-01 -1.71901952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.636559995 meters 0.009933453962509874 Centerline is valid? [True, True] Translation: X:105.00, Y:-54.80, Z:-1.72 [[-9.77505666e-01 2.10708352e-01 9.20128262e-03 1.05000168e+02] [ 2.10696809e-01 9.77548944e-01 -2.21737365e-03 -5.47958662e+01] [-9.46192326e-03 -2.28814421e-04 -9.99955209e-01 -1.71897843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.666559995 meters 0.009876955261732535 Centerline is valid? [True, True] Translation: X:105.00, Y:-54.77, Z:-1.72 [[-9.90163484e-01 1.39552323e-01 1.00709703e-02 1.05001765e+02] [ 1.39542654e-01 9.90214670e-01 -1.65993123e-03 -5.47670205e+01] [-1.02040698e-02 -2.38273362e-04 -9.99947909e-01 -1.71774571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.696559995 meters 0.009799348197871255 Centerline is valid? [True, True] Translation: X:105.09, Y:-54.13, Z:-2.71 [[-9.79744055e-01 -2.00231919e-01 2.96054648e-03 1.05088512e+02] [ 2.00230380e-01 -9.79748508e-01 -8.10476326e-04 -5.41330315e+01] [ 3.06287422e-03 -2.01268017e-04 9.99995289e-01 -2.70911944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.726559995 meters 0.009863598754541401 Centerline is valid? [True, True] Translation: X:104.94, Y:-54.76, Z:-1.72 [[-9.90729752e-01 1.35429949e-01 1.06436702e-02 1.04943644e+02] [ 1.35419553e-01 9.90786896e-01 -1.69473173e-03 -5.47607595e+01] [-1.07751264e-02 -2.37660078e-04 -9.99941918e-01 -1.71704321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.756559995 meters 0.010047887725243473 Centerline is valid? [True, True] Translation: X:104.95, Y:-54.73, Z:-1.72 [[-9.97768847e-01 6.58635923e-02 1.09231886e-02 1.04945032e+02] [ 6.58572125e-02 9.97828612e-01 -9.43121058e-04 -5.47348602e+01] [-1.09615875e-02 -2.21646054e-04 -9.99939895e-01 -1.71730015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.786559995 meters 0.010153068073366946 Centerline is valid? [True, True] Translation: X:104.94, Y:-54.71, Z:-1.72 [[-9.99930205e-01 -4.33829822e-03 1.09892756e-02 1.04937718e+02] [-4.34035383e-03 9.99990567e-01 -1.63213432e-04 -5.47082492e+01] [-1.09884639e-02 -2.10899385e-04 -9.99939603e-01 -1.71723806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.816559995 meters 0.010317755041221965 Centerline is valid? [True, True] Translation: X:104.93, Y:-54.68, Z:-1.72 [[-9.97167639e-01 -7.44264477e-02 1.08352498e-02 1.04932652e+02] [-7.44242228e-02 9.97226486e-01 6.08970632e-04 -5.46821531e+01] [-1.08505216e-02 -1.99159237e-04 -9.99941112e-01 -1.71752531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.846559995 meters 0.010467208880369639 Centerline is valid? [True, True] Translation: X:104.92, Y:-54.66, Z:-1.72 [[-9.89609110e-01 -1.43390770e-01 1.06253062e-02 1.04918543e+02] [-1.43384437e-01 9.89666133e-01 1.35942214e-03 -5.46579203e+01] [-1.07104342e-02 -1.78207005e-04 -9.99942626e-01 -1.71828391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.876559995 meters 0.010802194848211814 Centerline is valid? [True, True] Translation: X:104.90, Y:-54.64, Z:-1.72 [[-9.76916240e-01 -2.13360475e-01 1.05814781e-02 1.04896143e+02] [-2.13349835e-01 9.76973530e-01 2.13750234e-03 -5.46357014e+01] [-1.07938825e-02 -1.69395849e-04 -9.99941730e-01 -1.71791189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.906559995 meters 0.01082519651752927 Centerline is valid? [True, True] Translation: X:104.86, Y:-54.62, Z:-1.72 [[-9.59153067e-01 -2.82690903e-01 1.05473532e-02 1.04857047e+02] [-2.82675641e-01 9.59211045e-01 2.94179586e-03 -5.46184179e+01] [-1.09487566e-02 -1.59847304e-04 -9.99940048e-01 -1.71830578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.936559995 meters 0.01078951093207018 Centerline is valid? [True, True] Translation: X:104.80, Y:-54.61, Z:-1.72 [[-9.35984522e-01 -3.51876811e-01 1.07556785e-02 1.04797144e+02] [-3.51855438e-01 9.36046306e-01 3.88123784e-03 -5.46105921e+01] [-1.14335307e-02 -1.51665413e-04 -9.99934624e-01 -1.71868333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.966559995 meters 0.011090922818820414 Centerline is valid? [True, True] Translation: X:104.73, Y:-54.61, Z:-1.72 [[-9.07722322e-01 -4.19421189e-01 1.12272870e-02 1.04730490e+02] [-4.19390938e-01 9.07791743e-01 5.03917327e-03 -5.46117070e+01] [-1.23055745e-02 -1.34452348e-04 -9.99924275e-01 -1.71869955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.996559995 meters 0.011230083489255515 Centerline is valid? [True, True] Translation: X:104.66, Y:-54.62, Z:-1.72 [[-8.74241391e-01 -4.85365038e-01 1.10801465e-02 1.04655165e+02] [-4.85327896e-01 8.74311594e-01 6.00581244e-03 -5.46208848e+01] [-1.26025119e-02 -1.26974357e-04 -9.99920577e-01 -1.71878835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.02655999499999 meters 0.011221059183867474 Centerline is valid? [True, True] Translation: X:104.57, Y:-54.64, Z:-1.72 [[-8.35765546e-01 -5.48983083e-01 1.06548610e-02 1.04573593e+02] [-5.48940325e-01 8.35833452e-01 6.85272525e-03 -5.46401162e+01] [-1.26677195e-02 -1.21611197e-04 -9.99919754e-01 -1.71920331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.056559995 meters 0.011353444499377507 Centerline is valid? [True, True] Translation: X:104.49, Y:-54.67, Z:-1.72 [[-7.92472657e-01 -6.09821813e-01 1.02197918e-02 1.04486938e+02] [-6.09772965e-01 7.92538544e-01 7.71931553e-03 -5.46705159e+01] [-1.28069859e-02 -1.14406225e-04 -9.99917981e-01 -1.71959828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.086559995 meters 0.011992253091602465 Centerline is valid? [True, True] Translation: X:104.40, Y:-54.71, Z:-1.72 [[-7.45520097e-01 -6.66415369e-01 9.50480109e-03 1.04402597e+02] [-6.66362767e-01 7.45580678e-01 8.37344136e-03 -5.47102407e+01] [-1.26667861e-02 -9.10767362e-05 -9.99919769e-01 -1.72001813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.116559995 meters 0.012343640839734623 Centerline is valid? [True, True] Translation: X:104.32, Y:-54.76, Z:-1.72 [[-6.93695934e-01 -7.20213980e-01 8.81904625e-03 1.04315195e+02] [-7.20157203e-01 6.93751986e-01 9.04353970e-03 -5.47603465e+01] [-1.26315146e-02 -7.76329628e-05 -9.99920216e-01 -1.72067464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.146559995 meters 0.012828880202504292 Centerline is valid? [True, True] Translation: X:104.23, Y:-54.82, Z:-1.72 [[-6.37898912e-01 -7.70076348e-01 8.20951607e-03 1.04228576e+02] [-7.70013776e-01 6.37951734e-01 9.81684699e-03 -5.48205884e+01] [-1.27969967e-02 -5.92844515e-05 -9.99918113e-01 -1.72115139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.176559995 meters 0.013736645531241924 Centerline is valid? [True, True] Translation: X:104.15, Y:-54.89, Z:-1.72 [[-5.79011867e-01 -8.15285499e-01 7.40358940e-03 1.04145805e+02] [-8.15219614e-01 5.79059198e-01 1.03646947e-02 -5.48917209e+01] [-1.27373019e-02 -3.42700355e-05 -9.99918877e-01 -1.72128722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.206559995 meters 0.01324076279674429 Centerline is valid? [True, True] Translation: X:104.06, Y:-54.97, Z:-1.72 [[-5.15331140e-01 -8.56965783e-01 6.59260969e-03 1.04064737e+02] [-8.56896401e-01 5.15373307e-01 1.09046751e-02 -5.49694563e+01] [-1.27425885e-02 -2.96648928e-05 -9.99918809e-01 -1.72274810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.236559995 meters 0.014278205484160408 Centerline is valid? [True, True] Translation: X:103.99, Y:-55.06, Z:-1.72 [[-4.48630883e-01 -8.93700078e-01 5.52276635e-03 1.03991023e+02] [-8.93633278e-01 4.48664874e-01 1.09268612e-02 -5.50557279e+01] [-1.22432080e-02 -3.32004085e-05 -9.99925049e-01 -1.72305422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.266559995 meters 0.013954928685471001 Centerline is valid? [True, True] Translation: X:103.92, Y:-55.15, Z:-1.72 [[-3.78980189e-01 -9.25393567e-01 4.55657999e-03 1.03919819e+02] [-9.25327833e-01 3.79007579e-01 1.10297800e-02 -5.51508575e+01] [-1.19338658e-02 -3.62621731e-05 -9.99928788e-01 -1.72445819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.296559995 meters 0.013421656256885814 Centerline is valid? [True, True] Translation: X:103.86, Y:-55.25, Z:-1.73 [[-3.06682577e-01 -9.51804577e-01 3.72080553e-03 1.03857326e+02] [-9.51735939e-01 3.06705145e-01 1.14304844e-02 -5.52482324e+01] [-1.20207776e-02 -3.56939339e-05 -9.99927747e-01 -1.72576249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.326559995 meters 0.013384335953189672 Centerline is valid? [True, True] Translation: X:103.80, Y:-55.36, Z:-1.73 [[-2.32107084e-01 -9.72686143e-01 2.82279726e-03 1.03801085e+02] [-9.72616398e-01 2.32124244e-01 1.16480401e-02 -5.53555633e+01] [-1.19851269e-02 -4.19062784e-05 -9.99928175e-01 -1.72620349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.356559995 meters 0.012847827117239731 Centerline is valid? [True, True] Translation: X:103.75, Y:-55.47, Z:-1.73 [[-1.55791579e-01 -9.87788051e-01 1.93662363e-03 1.03751943e+02] [-9.87715502e-01 1.55803608e-01 1.19717926e-02 -5.54671696e+01] [-1.21273267e-02 -4.77287016e-05 -9.99926460e-01 -1.72686534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.386559995 meters 0.012567861321085469 Centerline is valid? [True, True] Translation: X:103.71, Y:-55.58, Z:-1.73 [[-7.79953924e-02 -9.96953216e-01 1.00152928e-03 1.03711939e+02] [-9.96881379e-01 7.80017954e-02 1.19681377e-02 -5.55833640e+01] [-1.20097944e-02 -6.49462904e-05 -9.99927878e-01 -1.72750437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.416559995 meters 0.011947354618938665 Centerline is valid? [True, True] Translation: X:103.68, Y:-55.70, Z:-1.73 [[ 2.26593174e-03 -9.99997430e-01 7.10976359e-05 1.03679691e+02] [-9.99921545e-01 -2.26488389e-03 1.23196418e-02 -5.57048183e+01] [-1.23194491e-02 -9.90075254e-05 -9.99924108e-01 -1.72777619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.446559995 meters 0.011454096803702844 Centerline is valid? [True, True] Translation: X:103.66, Y:-55.82, Z:-1.73 [[ 8.13718952e-02 -9.96683427e-01 -8.72571922e-04 1.03656761e+02] [-9.96608458e-01 -8.13764772e-02 1.22250017e-02 -5.58242107e+01] [-1.22554635e-02 -1.25159002e-04 -9.99924891e-01 -1.72812403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.476559995 meters 0.01109088018834856 Centerline is valid? [True, True] Translation: X:103.64, Y:-55.94, Z:-1.73 [[ 1.59914512e-01 -9.87129228e-01 -1.79917609e-03 1.03642873e+02] [-9.87055659e-01 -1.59924561e-01 1.20524540e-02 -5.59449749e+01] [-1.21850620e-02 -1.51475357e-04 -9.99925748e-01 -1.72835295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.506559995 meters 0.010311628211714042 Centerline is valid? [True, True] Translation: X:103.64, Y:-56.07, Z:-1.73 [[ 2.39580192e-01 -9.70872266e-01 -2.89391570e-03 1.03637979e+02] [-9.70791018e-01 -2.39597586e-01 1.25616904e-02 -5.60733125e+01] [-1.28891720e-02 -2.00144822e-04 -9.99916911e-01 -1.72840067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.536559995 meters 0.010134325794340295 Centerline is valid? [True, True] Translation: X:103.64, Y:-56.19, Z:-1.73 [[ 3.15184510e-01 -9.49022375e-01 -3.90587151e-03 1.03642287e+02] [-9.48940567e-01 -3.15208633e-01 1.24626385e-02 -5.61913135e+01] [-1.30584872e-02 -2.21590678e-04 -9.99914710e-01 -1.72871403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.566559995 meters 0.010141099421552767 Centerline is valid? [True, True] Translation: X:103.66, Y:-56.31, Z:-1.73 [[ 3.88378783e-01 -9.21487074e-01 -4.84710841e-03 1.03656960e+02] [-9.21407484e-01 -3.88408955e-01 1.21132806e-02 -5.63120199e+01] [-1.30448918e-02 -2.38379200e-04 -9.99914883e-01 -1.72889298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.596559995 meters 0.010055830860290845 Centerline is valid? [True, True] Translation: X:103.68, Y:-56.43, Z:-1.73 [[ 4.59176480e-01 -8.88325682e-01 -5.86886395e-03 1.03680659e+02] [-8.88245878e-01 -4.59213913e-01 1.19097844e-02 -5.64312803e+01] [-1.32748314e-02 -2.55698680e-04 -9.99911853e-01 -1.72862082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.626559995 meters 0.01011803139276019 Centerline is valid? [True, True] Translation: X:103.71, Y:-56.54, Z:-1.73 [[ 5.26317652e-01 -8.50259536e-01 -6.96068115e-03 1.03709263e+02] [-8.50178536e-01 -5.26363614e-01 1.17389692e-02 -5.65384632e+01] [-1.36450198e-02 -2.60605021e-04 -9.99906868e-01 -1.72904183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.656559995 meters 0.01015278136008955 Centerline is valid? [True, True] Translation: X:103.75, Y:-56.64, Z:-1.73 [[ 5.89780274e-01 -8.07525111e-01 -7.90086685e-03 1.03747516e+02] [-8.07446723e-01 -5.89833136e-01 1.12543549e-02 -5.66448393e+01] [-1.37483673e-02 -2.58067482e-04 -9.99905453e-01 -1.72964510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.686559995 meters 0.01011591672652591 Centerline is valid? [True, True] Translation: X:103.79, Y:-56.75, Z:-1.73 [[ 6.49540625e-01 -7.60276676e-01 -8.73798745e-03 1.03792975e+02] [-7.60202587e-01 -6.49599347e-01 1.06167011e-02 -5.67464711e+01] [-1.37478211e-02 -2.53337986e-04 -9.99905462e-01 -1.73068487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.716559995 meters 0.010212280529416508 Centerline is valid? [True, True] Translation: X:103.85, Y:-56.84, Z:-1.73 [[ 7.05365729e-01 -7.08778578e-01 -9.59771632e-03 1.03845066e+02] [-7.08708160e-01 -7.05430979e-01 9.99388247e-03 -5.68431586e+01] [-1.38539762e-02 -2.47362323e-04 -9.99903998e-01 -1.73066058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.746559995 meters 0.010368600306934093 Centerline is valid? [True, True] Translation: X:103.90, Y:-56.93, Z:-1.73 [[ 7.56297984e-01 -6.54143365e-01 -1.04793527e-02 1.03899949e+02] [-6.54076403e-01 -7.56370549e-01 9.36225916e-03 -5.69304099e+01] [-1.40505335e-02 -2.26360399e-04 -9.99901261e-01 -1.73098481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.77655999499999 meters 0.010461798212103024 Centerline is valid? [True, True] Translation: X:103.90, Y:-56.94, Z:-1.73 [[ 8.04522762e-01 -5.93811538e-01 -1.14448000e-02 1.03898682e+02] [-5.93747590e-01 -8.04604133e-01 8.71718480e-03 -5.69372695e+01] [-1.43848983e-02 -2.17851154e-04 -9.99896508e-01 -1.73111362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.806559995 meters 0.010613975005382213 Centerline is valid? [True, True] Translation: X:103.90, Y:-56.94, Z:-1.73 [[ 8.47856529e-01 -5.30082786e-01 -1.23104145e-02 1.03898573e+02] [-5.30023488e-01 -8.47945871e-01 7.93105446e-03 -5.69446335e+01] [-1.46426806e-02 -1.99587457e-04 -9.99892770e-01 -1.73101027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.836559995 meters 0.010943717352710276 Centerline is valid? [True, True] Translation: X:103.90, Y:-56.95, Z:-1.73 [[ 8.85419349e-01 -4.64609502e-01 -1.30608988e-02 1.03898550e+02] [-4.64556328e-01 -8.85515661e-01 7.03085619e-03 -5.69516764e+01] [-1.48322330e-02 -1.57732949e-04 -9.99889984e-01 -1.73108197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.866559995 meters 0.011138568341612587 Centerline is valid? [True, True] Translation: X:103.90, Y:-56.96, Z:-1.73 [[ 9.18387793e-01 -3.95449947e-01 -1.35351533e-02 1.03898144e+02] [-3.95404857e-01 -9.18487518e-01 5.97308924e-03 -5.69602782e+01] [-1.47939272e-02 -1.33746896e-04 -9.99890555e-01 -1.73143548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.896559995 meters 0.01140162539264468 Centerline is valid? [True, True] Translation: X:103.90, Y:-56.97, Z:-1.73 [[ 9.45999462e-01 -3.23877161e-01 -1.37332271e-02 1.03898811e+02] [-3.23841305e-01 -9.46099134e-01 4.82051760e-03 -5.69684850e+01] [-1.45542498e-02 -1.12820874e-04 -9.99894075e-01 -1.73159631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.926559995 meters 0.011749264344191707 Centerline is valid? [True, True] Translation: X:103.90, Y:-56.97, Z:-1.73 [[ 9.68049500e-01 -2.50366512e-01 -1.40276649e-02 1.03898676e+02] [-2.50338871e-01 -9.68151125e-01 3.72135208e-03 -5.69749984e+01] [-1.45126015e-02 -9.07832286e-05 -9.99894683e-01 -1.73197383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.956559995 meters 0.012143058039818843 Centerline is valid? [True, True] Translation: X:103.90, Y:-56.98, Z:-1.73 [[ 9.84383558e-01 -1.75480152e-01 -1.39902465e-02 1.03899339e+02] [-1.75461430e-01 -9.84482966e-01 2.56426395e-03 -5.69816725e+01] [-1.42231368e-02 -6.94706141e-05 -9.99898844e-01 -1.73241229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.986559995 meters 0.012759996768691282 Centerline is valid? [True, True] Translation: X:103.90, Y:-56.99, Z:-1.73 [[ 9.94830191e-01 -1.00529887e-01 -1.43747429e-02 1.03897928e+02] [-1.00519001e-01 -9.94934039e-01 1.47966412e-03 -5.69872519e+01] [-1.44506714e-02 -2.70797459e-05 -9.99895583e-01 -1.73274247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.016559995 meters 0.013087725885386032 Centerline is valid? [True, True] Translation: X:103.90, Y:-56.99, Z:-1.73 [[ 9.99622563e-01 -2.32064541e-02 -1.47035037e-02 1.03896697e+02] [-2.32038062e-02 -9.99730694e-01 3.50683659e-04 -5.69935016e+01] [-1.47076821e-02 -9.37404821e-06 -9.99891836e-01 -1.73250233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.046559995 meters 0.013079550446512033 Centerline is valid? [True, True] Translation: X:103.90, Y:-57.00, Z:-1.73 [[ 9.98414432e-01 5.43706811e-02 -1.45757208e-02 1.03895205e+02] [ 5.43648745e-02 -9.98520821e-01 -7.94598422e-04 -5.70019458e+01] [-1.45973635e-02 9.31300612e-07 -9.99893453e-01 -1.73280648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.076559995 meters 0.013196983596573474 Centerline is valid? [True, True] Translation: X:103.90, Y:-57.01, Z:-1.73 [[ 9.91153259e-01 1.31988192e-01 -1.39403732e-02 1.03895041e+02] [ 1.31975173e-01 -9.91251289e-01 -1.85375826e-03 -5.70096147e+01] [-1.40630871e-02 -2.42461889e-06 -9.99901110e-01 -1.73336889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.106559995 meters 0.01287702592024649 Centerline is valid? [True, True] Translation: X:103.90, Y:-57.02, Z:-1.73 [[ 9.77794758e-01 2.09180774e-01 -1.26813054e-02 1.03895932e+02] [ 2.09163467e-01 -9.77876988e-01 -2.69087595e-03 -5.70197986e+01] [-1.29636362e-02 -2.13414136e-05 -9.99915968e-01 -1.73443117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.136559995 meters 0.012955031151890879 Centerline is valid? [True, True] Translation: X:103.90, Y:-57.03, Z:-1.73 [[ 9.58319965e-01 2.85450332e-01 -1.18723185e-02 1.03896795e+02] [ 2.85428895e-01 -9.58393503e-01 -3.49847588e-03 -5.70291263e+01] [-1.23769940e-02 -3.60434786e-05 -9.99923401e-01 -1.73461531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.166559995 meters 0.012866829440665176 Centerline is valid? [True, True] Translation: X:103.90, Y:-57.04, Z:-1.73 [[ 9.33021457e-01 3.59639782e-01 -1.14099416e-02 1.03898692e+02] [ 3.59613399e-01 -9.33091220e-01 -4.35632049e-03 -5.70387073e+01] [-1.22132225e-02 -3.86273910e-05 -9.99925415e-01 -1.73482673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.196559995 meters 0.013395304149913469 Centerline is valid? [True, True] Translation: X:103.90, Y:-57.05, Z:-1.73 [[ 9.01779486e-01 4.32066668e-01 -1.05902488e-02 1.03899493e+02] [ 4.32037562e-01 -9.01841667e-01 -5.01531658e-03 -5.70466970e+01] [-1.17176788e-02 -5.26756709e-05 -9.99931344e-01 -1.73443333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.226559995 meters 0.012843895652346322 Centerline is valid? [True, True] Translation: X:103.90, Y:-57.06, Z:-1.73 [[ 8.64615506e-01 5.02343186e-01 -9.55771454e-03 1.03902539e+02] [ 5.02313473e-01 -8.64668328e-01 -5.46416679e-03 -5.70556257e+01] [-1.10091400e-02 -7.65654485e-05 -9.99939395e-01 -1.73468605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.256559995 meters 0.012922146229421911 Centerline is valid? [True, True] Translation: X:103.91, Y:-57.06, Z:-1.73 [[ 8.22434685e-01 5.68788700e-01 -8.97797825e-03 1.03905355e+02] [ 5.68755900e-01 -8.22483683e-01 -6.10890235e-03 -5.70625667e+01] [-1.08589152e-02 -8.21049162e-05 -9.99941037e-01 -1.73431600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.286559995 meters 0.012759182292677088 Centerline is valid? [True, True] Translation: X:103.91, Y:-57.07, Z:-1.73 [[ 7.75199815e-01 6.31659787e-01 -8.43560384e-03 1.03909723e+02] [ 6.31623585e-01 -7.75245707e-01 -6.76319779e-03 -5.70701461e+01] [-1.08117057e-02 -8.52966621e-05 -9.99941548e-01 -1.73390280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.316559995 meters 0.012773054412019043 Centerline is valid? [True, True] Translation: X:103.92, Y:-57.08, Z:-1.73 [[ 7.22899896e-01 6.90908905e-01 -7.78620569e-03 1.03915201e+02] [ 6.90870227e-01 -7.22941821e-01 -7.31116879e-03 -5.70774005e+01] [-1.06803253e-02 -9.40145381e-05 -9.99942959e-01 -1.73297513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.346559995 meters 0.01324723759014718 Centerline is valid? [True, True] Translation: X:103.92, Y:-57.08, Z:-1.73 [[ 6.66643050e-01 7.45346961e-01 -6.70459773e-03 1.03918627e+02] [ 7.45310824e-01 -6.66676756e-01 -7.34015095e-03 -5.70835030e+01] [-9.94075867e-03 -1.03748642e-04 -9.99950584e-01 -1.73208503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.376559995 meters 0.01324723759014718 Centerline is valid? [True, True] Translation: X:103.92, Y:-57.09, Z:-1.73 [[ 6.06237460e-01 7.95260271e-01 -6.10284202e-03 1.03921082e+02] [ 7.95221680e-01 -6.06268168e-01 -7.83509194e-03 -5.70881666e+01] [-9.93089618e-03 -1.03186048e-04 -9.99950682e-01 -1.73217196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.406559995 meters 0.012963026928638799 Centerline is valid? [True, True] Translation: X:103.93, Y:-57.09, Z:-1.73 [[ 5.42292122e-01 8.40174694e-01 -5.07326753e-03 1.03926889e+02] [ 8.40139838e-01 -5.42315841e-01 -7.65384872e-03 -5.70939988e+01] [-9.18188336e-03 -1.11632299e-04 -9.99957839e-01 -1.73219469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.436559995 meters 0.013396340682112456 Centerline is valid? [True, True] Translation: X:103.93, Y:-57.10, Z:-1.73 [[ 4.75317467e-01 8.79804527e-01 -4.15938873e-03 1.03930095e+02] [ 8.79772954e-01 -4.75335652e-01 -7.45440487e-03 -5.70991620e+01] [-8.53552490e-03 -1.16108862e-04 -9.99963565e-01 -1.73244349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.466559995 meters 0.013020830583805078 Centerline is valid? [True, True] Translation: X:103.94, Y:-57.11, Z:-1.73 [[ 4.05633732e-01 9.14030138e-01 -3.19109722e-03 1.03938031e+02] [ 9.14004231e-01 -4.05646265e-01 -6.88289729e-03 -5.71052884e+01] [-7.58563223e-03 -1.24741045e-04 -9.99971221e-01 -1.73293677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.496559995 meters 0.013624976781035789 Centerline is valid? [True, True] Translation: X:103.94, Y:-57.11, Z:-1.73 [[ 3.34361219e-01 9.42442634e-01 -2.11107997e-03 1.03943294e+02] [ 9.42426441e-01 -3.34367854e-01 -5.52639932e-03 -5.71102008e+01] [-5.91419161e-03 -1.41723971e-04 -9.99982501e-01 -1.73362044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.52655999499999 meters 0.01383558665983095 Centerline is valid? [True, True] Translation: X:103.95, Y:-57.11, Z:-1.73 [[ 2.60061344e-01 9.65590976e-01 -1.47087523e-03 1.03949378e+02] [ 9.65578695e-01 -2.60065459e-01 -4.87238126e-03 -5.71143724e+01] [-5.08725122e-03 -1.53127762e-04 -9.99987048e-01 -1.73402034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.556559995 meters 0.013388289772313485 Centerline is valid? [True, True] Translation: X:103.96, Y:-57.12, Z:-1.73 [[ 1.83722132e-01 9.82977690e-01 -1.01952432e-03 1.03959858e+02] [ 9.82966996e-01 -1.83724892e-01 -4.58789843e-03 -5.71191560e+01] [-4.69711379e-03 -1.59260276e-04 -9.99988956e-01 -1.73425020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.586559995 meters 0.013749397132435337 Centerline is valid? [True, True] Translation: X:103.97, Y:-57.12, Z:-1.73 [[ 1.05959264e-01 9.94370310e-01 -5.67175577e-04 1.03968652e+02] [ 9.94363663e-01 -1.05960632e-01 -3.64017882e-03 -5.71236804e+01] [-3.67978402e-03 -1.78268117e-04 -9.99993214e-01 -1.73428845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.616559995 meters 0.013573712391880231 Centerline is valid? [True, True] Translation: X:103.98, Y:-57.13, Z:-1.73 [[ 2.68002964e-02 9.99640772e-01 -2.66364912e-04 1.03977732e+02] [ 9.99638241e-01 -2.68008305e-02 -2.25868507e-03 -5.71267278e+01] [-2.26501249e-03 -2.05735123e-04 -9.99997414e-01 -1.73402349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.646559995 meters 0.012910057832660636 Centerline is valid? [True, True] Translation: X:103.99, Y:-57.13, Z:-1.73 [[-5.27602308e-02 9.98607204e-01 -1.00147905e-04 1.03989363e+02] [ 9.98605031e-01 5.27599060e-02 -2.09393192e-03 -5.71284772e+01] [-2.08573171e-03 -2.10484534e-04 -9.99997803e-01 -1.73385069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.676559995 meters 0.0131501205901588 Centerline is valid? [True, True] Translation: X:104.00, Y:-57.13, Z:-1.73 [[-1.31827796e-01 9.91272632e-01 -3.30207966e-05 1.03998886e+02] [ 9.91271616e-01 1.31827613e-01 -1.43686442e-03 -5.71304521e+01] [-1.41997132e-03 -2.22151249e-04 -9.99998967e-01 -1.73381207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.706559995 meters 0.012451130603824174 Centerline is valid? [True, True] Translation: X:104.01, Y:-57.13, Z:-1.73 [[-2.11044657e-01 9.77476420e-01 -4.36062738e-05 1.04011844e+02] [ 9.77476037e-01 2.11044535e-01 -8.95011292e-04 -5.71302471e+01] [-8.65649567e-04 -2.31511439e-04 -9.99999599e-01 -1.73356389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.736559995 meters 0.012406694752670762 Centerline is valid? [True, True] Translation: X:104.02, Y:-57.13, Z:-1.73 [[-2.87884597e-01 9.57665091e-01 1.77082895e-04 1.04022148e+02] [ 9.57664135e-01 2.87884564e-01 -1.37241081e-03 -5.71308536e+01] [-1.36528935e-03 -2.25509996e-04 -9.99999043e-01 -1.73339825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.766559995 meters 0.012357243614447677 Centerline is valid? [True, True] Translation: X:104.03, Y:-57.13, Z:-1.73 [[-3.62526043e-01 9.31973581e-01 3.35365653e-04 1.04031677e+02] [ 9.31972433e-01 3.62526129e-01 -1.47994225e-03 -5.71299734e+01] [-1.50084589e-03 -2.23966062e-04 -9.99998849e-01 -1.73261013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.796559995 meters 0.012343157321681161 Centerline is valid? [True, True] Translation: X:104.04, Y:-57.13, Z:-1.73 [[-4.34361706e-01 9.00738340e-01 5.92399524e-04 1.04041089e+02] [ 9.00736699e-01 4.34362055e-01 -1.73321705e-03 -5.71283089e+01] [-1.81849092e-03 -2.19247123e-04 -9.99998323e-01 -1.73183796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.826559995 meters 0.012378573323417456 Centerline is valid? [True, True] Translation: X:104.05, Y:-57.13, Z:-1.73 [[-5.03664794e-01 8.63898768e-01 8.33609354e-04 1.04049434e+02] [ 8.63896794e-01 5.03665437e-01 -1.85911795e-03 -5.71265319e+01] [-2.02594992e-03 -2.16219809e-04 -9.99997924e-01 -1.73128088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.856559995 meters 0.012723742646813372 Centerline is valid? [True, True] Translation: X:104.06, Y:-57.13, Z:-1.73 [[-5.68679799e-01 8.22558521e-01 8.75570072e-04 1.04056127e+02] [ 8.22556905e-01 5.68680432e-01 -1.64463146e-03 -5.71261108e+01] [-1.85072519e-03 -2.15062481e-04 -9.99998264e-01 -1.73042618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.886559995 meters 0.013176383857404765 Centerline is valid? [True, True] Translation: X:104.06, Y:-57.12, Z:-1.73 [[-6.30105011e-01 7.76509076e-01 1.15297216e-03 1.04061452e+02] [ 7.76507130e-01 6.30106032e-01 -1.75084016e-03 -5.71245612e+01] [-2.08603799e-03 -2.07922058e-04 -9.99997803e-01 -1.73003425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.916559995 meters 0.01361061309005415 Centerline is valid? [True, True] Translation: X:104.07, Y:-57.12, Z:-1.73 [[-6.87683450e-01 7.26009425e-01 1.33719259e-03 1.04066464e+02] [ 7.26007449e-01 6.87684720e-01 -1.70597476e-03 -5.71233097e+01] [-2.15812067e-03 -2.02358823e-04 -9.99997651e-01 -1.72968462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.946559995 meters 0.015244257784927013 Centerline is valid? [True, True] Translation: X:104.07, Y:-57.12, Z:-1.73 [[-7.39525557e-01 6.73126529e-01 1.62066057e-03 1.04069478e+02] [ 6.73124333e-01 7.39527309e-01 -1.72949706e-03 -5.71246179e+01] [-2.36269311e-03 -1.88101214e-04 -9.99997191e-01 -1.72884366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.976559995 meters 0.015364224355432934 Centerline is valid? [True, True] Translation: X:104.09, Y:-57.11, Z:-1.73 [[-7.83883574e-01 6.20904938e-01 1.89740109e-03 1.04088402e+02] [ 6.20902629e-01 7.83885855e-01 -1.70066141e-03 -5.71051753e+01] [-2.54329494e-03 -1.55019220e-04 -9.99996754e-01 -1.72863393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.006559995 meters 0.01562929935353696 Centerline is valid? [True, True] Translation: X:104.11, Y:-57.08, Z:-1.73 [[-8.24940140e-01 5.65218207e-01 1.46416735e-03 1.04107475e+02] [ 5.65216947e-01 8.24941423e-01 -1.20495090e-03 -5.70844502e+01] [-1.88891248e-03 -1.66440162e-04 -9.99998202e-01 -1.72876366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.036559995 meters 0.016085538297624352 Centerline is valid? [True, True] Translation: X:104.12, Y:-57.06, Z:-1.73 [[-8.62106087e-01 5.06727380e-01 6.76166714e-04 1.04123301e+02] [ 5.06727040e-01 8.62106331e-01 -6.16872368e-04 -5.70606869e+01] [-8.95513724e-04 -1.89177466e-04 -9.99999581e-01 -1.72893980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.066559995 meters 0.016176514496326764 Centerline is valid? [True, True] Translation: X:104.14, Y:-57.04, Z:-1.73 [[-8.95527564e-01 4.45005405e-01 7.56064526e-04 1.04136270e+02] [ 4.45005060e-01 8.95527864e-01 -5.84605450e-04 -5.70361731e+01] [-9.37229434e-04 -1.87077755e-04 -9.99999543e-01 -1.72919736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.096559995 meters 0.015933946760317976 Centerline is valid? [True, True] Translation: X:104.15, Y:-57.01, Z:-1.73 [[-9.24638341e-01 3.80845495e-01 8.04852672e-04 1.04150935e+02] [ 3.80845168e-01 9.24638672e-01 -5.32456125e-04 -5.70119971e+01] [-9.46981423e-04 -1.85805097e-04 -9.99999534e-01 -1.72938863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.126559995 meters 0.016197279772848867 Centerline is valid? [True, True] Translation: X:104.16, Y:-56.99, Z:-1.73 [[-9.49218258e-01 3.14617097e-01 8.83362596e-04 1.04158617e+02] [ 3.14616775e-01 9.49218652e-01 -4.86454313e-04 -5.69854425e+01] [-9.91551096e-04 -1.83830625e-04 -9.99999492e-01 -1.72961769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.156559995 meters 0.016265158398306705 Centerline is valid? [True, True] Translation: X:104.17, Y:-56.96, Z:-1.73 [[-9.69060663e-01 2.46820883e-01 9.39625333e-04 1.04166714e+02] [ 2.46820580e-01 9.69061102e-01 -4.27542364e-04 -5.69582275e+01] [-1.01608074e-03 -1.82395617e-04 -9.99999467e-01 -1.72914376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.186559995 meters 0.016323667608685817 Centerline is valid? [True, True] Translation: X:104.17, Y:-56.93, Z:-1.73 [[-9.84252139e-01 1.76764135e-01 1.47221649e-03 1.04170041e+02] [ 1.76763678e-01 9.84253226e-01 -4.35876374e-04 -5.69286220e+01] [-1.52608114e-03 -1.68777850e-04 -9.99998821e-01 -1.72798324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.216559995 meters 0.016259179793316408 Centerline is valid? [True, True] Translation: X:104.17, Y:-56.90, Z:-1.73 [[-9.94433880e-01 1.05343457e-01 2.00370058e-03 1.04169243e+02] [ 1.05342924e-01 9.94435886e-01 -3.69905841e-04 -5.68988424e+01] [-2.03151892e-03 -1.56771222e-04 -9.99997924e-01 -1.72738653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.246559995 meters 0.014872528819779874 Centerline is valid? [True, True] Translation: X:104.23, Y:-56.19, Z:-2.74 [[-9.92330776e-01 -1.23569982e-01 -3.17651103e-03 1.04233771e+02] [ 1.23569556e-01 -9.92335858e-01 3.30908323e-04 -5.61899147e+01] [-3.19305613e-03 -6.41495425e-05 9.99994900e-01 -2.73717354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.27655999499999 meters 0.0145805623606317 Centerline is valid? [True, True] Translation: X:104.10, Y:-56.89, Z:-1.73 [[-9.95455923e-01 9.51778890e-02 2.94540104e-03 1.04103328e+02] [ 9.51770226e-02 9.95460269e-01 -4.33253203e-04 -5.68872642e+01] [-2.97326583e-03 -1.50949966e-04 -9.99995568e-01 -1.72663892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.306559995 meters 0.014103342158717606 Centerline is valid? [True, True] Translation: X:104.16, Y:-56.19, Z:-2.74 [[-9.92324914e-01 -1.23623448e-01 -2.91686779e-03 1.04158985e+02] [ 1.23623284e-01 -9.92329193e-01 2.37185444e-04 -5.61870059e+01] [-2.92381475e-03 -1.25227749e-04 9.99995718e-01 -2.73734699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.336559995 meters 0.013639612335068153 Centerline is valid? [True, True] Translation: X:104.03, Y:-56.88, Z:-1.73 [[-9.96289264e-01 8.60239568e-02 2.75358043e-03 1.04030587e+02] [ 8.60231646e-02 9.96293055e-01 -4.05086195e-04 -5.68784398e+01] [-2.77822018e-03 -1.66711325e-04 -9.99996127e-01 -1.72735552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.366559995 meters 0.01292827689746121 Centerline is valid? [True, True] Translation: X:104.03, Y:-56.85, Z:-1.73 [[-9.99934822e-01 1.11072899e-02 2.64198166e-03 1.04029066e+02] [ 1.11067857e-02 9.99938297e-01 -2.05420875e-04 -5.68469334e+01] [-2.64410031e-03 -1.76063562e-04 -9.99996489e-01 -1.72767692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.396559995 meters 0.012499293820189498 Centerline is valid? [True, True] Translation: X:104.03, Y:-56.16, Z:-2.74 [[-9.98426394e-01 -5.60091191e-02 -2.77748547e-03 1.04030832e+02] [ 5.60092482e-02 -9.98430250e-01 3.13261165e-05 -5.61585706e+01] [-2.77488006e-03 -1.24288052e-04 9.99996142e-01 -2.73711956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.426559995 meters 0.01230142508673071 Centerline is valid? [True, True] Translation: X:103.95, Y:-56.84, Z:-1.73 [[-9.99990185e-01 3.07861880e-03 3.18613573e-03 1.03947083e+02] [ 3.07802293e-03 9.99995244e-01 -1.91904642e-04 -5.68434796e+01] [-3.18671138e-03 -1.82095759e-04 -9.99994906e-01 -1.72746886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.456559995 meters 0.012383531284837542 Centerline is valid? [True, True] Translation: X:103.95, Y:-56.16, Z:-2.74 [[-9.98577370e-01 -5.32706411e-02 -2.33997197e-03 1.03946607e+02] [ 5.32708177e-02 -9.98580102e-01 -1.31533040e-05 -5.61603496e+01] [-2.33594876e-03 -1.37786812e-04 9.99997262e-01 -2.73841734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.486559995 meters 0.012105768204412554 Centerline is valid? [True, True] Translation: X:103.87, Y:-56.84, Z:-1.73 [[-9.99977297e-01 -5.20177840e-03 4.28342605e-03 1.03865884e+02] [-5.20252129e-03 9.99986454e-01 -1.62310644e-04 -5.68412388e+01] [-4.28252372e-03 -1.84591575e-04 -9.99990813e-01 -1.72609675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.516559995 meters 0.012093555601592088 Centerline is valid? [True, True] Translation: X:103.86, Y:-56.81, Z:-1.73 [[-9.97016374e-01 -7.70474350e-02 4.69492102e-03 1.03855142e+02] [-7.70474321e-02 9.97027412e-01 1.81767533e-04 -5.68136297e+01] [-4.69496968e-03 -1.80506402e-04 -9.99988962e-01 -1.72580936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.546559995 meters 0.012028733788965016 Centerline is valid? [True, True] Translation: X:103.85, Y:-56.79, Z:-1.73 [[-9.88883144e-01 -1.48606800e-01 5.11335492e-03 1.03846857e+02] [-1.48605758e-01 9.88896348e-01 5.85168050e-04 -5.67865824e+01] [-5.14353796e-03 -1.81211163e-04 -9.99986756e-01 -1.72563921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.576559995 meters 0.012053874887894122 Centerline is valid? [True, True] Translation: X:103.82, Y:-56.76, Z:-1.73 [[-9.75565147e-01 -2.19642107e-01 5.47619730e-03 1.03823152e+02] [-2.19639693e-01 9.75580500e-01 1.04588780e-03 -5.67630464e+01] [-5.57219230e-03 -1.82458603e-04 -9.99984459e-01 -1.72540195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.606559995 meters 0.012008580751088087 Centerline is valid? [True, True] Translation: X:103.79, Y:-56.74, Z:-1.73 [[-9.56936169e-01 -2.90249877e-01 5.30834233e-03 1.03787104e+02] [-2.90246493e-01 9.56950873e-01 1.41398786e-03 -5.67440560e+01] [-5.49023263e-03 -1.87631621e-04 -9.99984911e-01 -1.72567556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.636559995 meters 0.011978525920887195 Centerline is valid? [True, True] Translation: X:103.73, Y:-56.74, Z:-1.73 [[-9.32570454e-01 -3.60949478e-01 5.27471147e-03 1.03729380e+02] [-3.60944898e-01 9.32585350e-01 1.82909656e-03 -5.67352561e+01] [-5.57933010e-03 -1.98118787e-04 -9.99984416e-01 -1.72670722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.666559995 meters 0.01201419309055999 Centerline is valid? [True, True] Translation: X:103.67, Y:-56.73, Z:-1.73 [[-9.02898053e-01 -4.29826832e-01 4.89910609e-03 1.03665675e+02] [-4.29821732e-01 9.02911320e-01 2.10389324e-03 -5.67327961e+01] [-5.32776811e-03 -2.06141153e-04 -9.99985786e-01 -1.72702625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.696559995 meters 0.011991182261605256 Centerline is valid? [True, True] Translation: X:103.59, Y:-56.74, Z:-1.73 [[-8.68120552e-01 -4.96326449e-01 5.17334511e-03 1.03590964e+02] [-4.96319067e-01 8.68135941e-01 2.71509283e-03 -5.67406584e+01] [-5.83873921e-03 -2.10601930e-04 -9.99982932e-01 -1.72753790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.726559995 meters 0.012092800535381212 Centerline is valid? [True, True] Translation: X:103.51, Y:-56.76, Z:-1.73 [[-8.27899967e-01 -5.60847015e-01 5.68066107e-03 1.03511258e+02] [-5.60835616e-01 8.27919427e-01 3.58257015e-03 -5.67587012e+01] [-6.71240343e-03 -2.19907340e-04 -9.99977447e-01 -1.72697408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.756559995 meters 0.012173427715389262 Centerline is valid? [True, True] Translation: X:103.43, Y:-56.79, Z:-1.73 [[-7.83086652e-01 -6.21885690e-01 5.78654555e-03 1.03427411e+02] [-6.21870812e-01 7.83107999e-01 4.30757343e-03 -5.67862589e+01] [-7.21030838e-03 -2.25280524e-04 -9.99973980e-01 -1.72740582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.786559995 meters 0.012155350989380621 Centerline is valid? [True, True] Translation: X:103.34, Y:-56.83, Z:-1.73 [[-7.33749535e-01 -6.79392257e-01 6.14668971e-03 1.03339837e+02] [-6.79371008e-01 7.33775244e-01 5.37819827e-03 -5.68251353e+01] [-8.16419500e-03 -2.29632308e-04 -9.99966646e-01 -1.72749043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.816559995 meters 0.012187589815283452 Centerline is valid? [True, True] Translation: X:103.25, Y:-56.88, Z:-1.73 [[-6.80305327e-01 -7.32903470e-01 6.09638791e-03 1.03248821e+02] [-7.32877035e-01 6.80332603e-01 6.22903689e-03 -5.68770159e+01] [-8.71285420e-03 -2.30255722e-04 -9.99962016e-01 -1.72685119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.846559995 meters 0.012171843290755102 Centerline is valid? [True, True] Translation: X:103.17, Y:-56.93, Z:-1.73 [[-6.23080108e-01 -7.82132360e-01 6.33636810e-03 1.03166311e+02] [-7.82095575e-01 6.23112285e-01 7.58892044e-03 -5.69315158e+01] [-9.88380906e-03 -2.27140089e-04 -9.99951128e-01 -1.72613418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.876559995 meters 0.012287037921106409 Centerline is valid? [True, True] Translation: X:103.09, Y:-57.00, Z:-1.73 [[-5.64089214e-01 -8.25689737e-01 6.31014929e-03 1.03085961e+02] [-8.25641932e-01 5.64124472e-01 8.88706258e-03 -5.69991839e+01] [-1.08976660e-02 -1.96827709e-04 -9.99940599e-01 -1.72629955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.906559995 meters 0.012350939693124006 Centerline is valid? [True, True] Translation: X:103.01, Y:-57.08, Z:-1.73 [[-5.01590569e-01 -8.65086117e-01 5.73680243e-03 1.03007990e+02] [-8.65033322e-01 5.01623347e-01 9.55880531e-03 -5.70770171e+01] [-1.11469038e-02 -1.67918663e-04 -9.99937857e-01 -1.72629362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.936559995 meters 0.012530659919582915 Centerline is valid? [True, True] Translation: X:102.94, Y:-57.16, Z:-1.73 [[-4.36197742e-01 -8.99837274e-01 4.94068582e-03 1.02935221e+02] [-8.99783138e-01 4.36225700e-01 9.87135710e-03 -5.71601260e+01] [-1.10378692e-02 -1.39682111e-04 -9.99939071e-01 -1.72819587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.966559995 meters 0.01310416172550322 Centerline is valid? [True, True] Translation: X:102.87, Y:-57.25, Z:-1.73 [[-3.70049816e-01 -9.29003875e-01 3.86438232e-03 1.02868295e+02] [-9.28955993e-01 3.70069980e-01 9.43256395e-03 -5.72510968e+01] [-1.01929804e-02 -9.93225629e-05 -9.99948045e-01 -1.72940058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.996559995 meters 0.01350664736641297 Centerline is valid? [True, True] Translation: X:102.81, Y:-57.35, Z:-1.73 [[-2.99989537e-01 -9.53936636e-01 3.34247043e-03 1.02806201e+02] [-9.53879747e-01 3.00008150e-01 1.04181351e-02 -5.73515757e+01] [-1.09410091e-02 -6.29833250e-05 -9.99940143e-01 -1.73000140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.02655999499999 meters 0.013976791810718625 Centerline is valid? [True, True] Translation: X:102.75, Y:-57.46, Z:-1.73 [[-2.27758019e-01 -9.73714396e-01 2.56108353e-03 1.02751190e+02] [-9.73654665e-01 2.27772415e-01 1.07851449e-02 -5.74565545e+01] [-1.10849950e-02 -3.72076954e-05 -9.99938559e-01 -1.73065474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.056559995 meters 0.014651835616672989 Centerline is valid? [True, True] Translation: X:102.70, Y:-57.57, Z:-1.73 [[-1.54157180e-01 -9.88044837e-01 1.72179898e-03 1.02704792e+02] [-9.87984231e-01 1.54166794e-01 1.09434249e-02 -5.75671223e+01] [-1.10780387e-02 -1.41027124e-05 -9.99938637e-01 -1.73092672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.086559995 meters 0.014637489603805624 Centerline is valid? [True, True] Translation: X:102.67, Y:-57.68, Z:-1.73 [[-7.96082093e-02 -9.96825844e-01 8.77535615e-04 1.02665009e+02] [-9.96763883e-01 7.96130451e-02 1.11141870e-02 -5.76840422e+01] [-1.11487721e-02 1.00847172e-05 -9.99937850e-01 -1.73207529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.116559995 meters 0.01578994056580973 Centerline is valid? [True, True] Translation: X:102.64, Y:-57.80, Z:-1.73 [[-6.21942101e-03 -9.99980659e-01 1.19257205e-05 1.02636297e+02] [-9.99915041e-01 6.21914952e-03 1.14556968e-02 -5.77992572e+01] [-1.14555494e-02 5.93230938e-05 -9.99934381e-01 -1.73280813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.146559995 meters 0.016471176517970972 Centerline is valid? [True, True] Translation: X:102.62, Y:-57.92, Z:-1.73 [[ 6.85516339e-02 -9.97647186e-01 -8.75398884e-04 1.02615212e+02] [-9.97581377e-01 -6.85571669e-02 1.14591462e-02 -5.79184337e+01] [-1.14921998e-02 8.77384294e-05 -9.99933959e-01 -1.73291142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.176559995 meters 0.01731079189818061 Centerline is valid? [True, True] Translation: X:102.60, Y:-58.04, Z:-1.73 [[ 1.42992218e-01 -9.89722173e-01 -1.80183256e-03 1.02603764e+02] [-9.89654015e-01 -1.43003518e-01 1.16157370e-02 -5.80410493e+01] [-1.17540208e-02 1.22230827e-04 -9.99930912e-01 -1.73328740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.206559995 meters 0.01745669617317062 Centerline is valid? [True, True] Translation: X:102.60, Y:-58.16, Z:-1.73 [[ 2.16430896e-01 -9.76294083e-01 -2.74409641e-03 1.02599921e+02] [-9.76224622e-01 -2.16448233e-01 1.16468778e-02 -5.81619293e+01] [-1.19647327e-02 1.58110278e-04 -9.99928408e-01 -1.73372127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.236559995 meters 0.01745669617317062 Centerline is valid? [True, True] Translation: X:102.61, Y:-58.28, Z:-1.73 [[ 2.90953070e-01 -9.56730437e-01 -3.63081251e-03 1.02606424e+02] [-9.56662610e-01 -2.90975681e-01 1.13931832e-02 -5.82838671e+01] [-1.19566832e-02 1.58580954e-04 -9.99928504e-01 -1.73412435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.266559995 meters 0.018064759024032585 Centerline is valid? [True, True] Translation: X:102.62, Y:-58.40, Z:-1.74 [[ 3.59957100e-01 -9.32958577e-01 -4.37941318e-03 1.02619723e+02] [-9.32896035e-01 -3.59983686e-01 1.08043172e-02 -5.84012512e+01] [-1.16564977e-02 1.96446499e-04 -9.99932041e-01 -1.73532270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.296559995 meters 0.01861753129096465 Centerline is valid? [True, True] Translation: X:102.64, Y:-58.52, Z:-1.74 [[ 4.29391741e-01 -9.03104276e-01 -5.03973232e-03 1.02643961e+02] [-9.03047448e-01 -4.29421269e-01 1.01331653e-02 -5.85195114e+01] [-1.13154731e-02 2.00019924e-04 -9.99935958e-01 -1.73622194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.326559995 meters 0.01995808814269763 Centerline is valid? [True, True] Translation: X:102.68, Y:-58.63, Z:-1.74 [[ 4.96702588e-01 -8.67903615e-01 -5.46397741e-03 1.02675301e+02] [-8.67855172e-01 -4.96732605e-01 9.17167402e-03 -5.86296829e+01] [-1.06742648e-02 1.86346838e-04 -9.99943011e-01 -1.73704675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.356559995 meters 0.018903035885536133 Centerline is valid? [True, True] Translation: X:102.71, Y:-58.74, Z:-1.74 [[ 5.61454975e-01 -8.27484406e-01 -6.15373447e-03 1.02711891e+02] [-8.27438382e-01 -5.61488665e-01 8.72945098e-03 -5.87393018e+01] [-1.06787367e-02 1.90642406e-04 -9.99942962e-01 -1.73852004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.386559995 meters 0.019089607729884297 Centerline is valid? [True, True] Translation: X:102.76, Y:-58.84, Z:-1.74 [[ 6.23682230e-01 -7.81652920e-01 -6.26000733e-03 1.02755940e+02] [-7.81615986e-01 -6.23713627e-01 7.60012402e-03 -5.88442501e+01] [-9.84511101e-03 1.52859499e-04 -9.99951524e-01 -1.73954848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.416559995 meters 0.019203125303019042 Centerline is valid? [True, True] Translation: X:102.81, Y:-58.94, Z:-1.74 [[ 6.82230040e-01 -7.31105933e-01 -6.80343649e-03 1.02807822e+02] [-7.31071649e-01 -6.82263947e-01 7.08167063e-03 -5.89444980e+01] [-9.81919085e-03 1.42471092e-04 -9.99951780e-01 -1.74006361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.446559995 meters 0.017827676398767034 Centerline is valid? [True, True] Translation: X:102.80, Y:-58.96, Z:-1.74 [[ 7.38378686e-01 -6.74348763e-01 -7.11771249e-03 1.02800099e+02] [-6.74318895e-01 -7.38412983e-01 6.34783451e-03 -5.89577762e+01] [-9.53646566e-03 1.12502311e-04 -9.99954521e-01 -1.74043956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.476559995 meters 0.017618281280435914 Centerline is valid? [True, True] Translation: X:102.79, Y:-58.97, Z:-1.74 [[ 7.91114206e-01 -6.11631561e-01 -6.71909768e-03 1.02792054e+02] [-6.11609990e-01 -7.91142738e-01 5.13694173e-03 -5.89710783e+01] [-8.45768102e-03 4.55596910e-05 -9.99964232e-01 -1.73988445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.506559995 meters 0.016717984075262364 Centerline is valid? [True, True] Translation: X:102.79, Y:-58.98, Z:-1.74 [[ 8.37615928e-01 -5.46214396e-01 -7.02784333e-03 1.02787308e+02] [-5.46195438e-01 -8.37645410e-01 4.55084311e-03 -5.89844415e+01] [-8.37257672e-03 2.67172899e-05 -9.99964949e-01 -1.73956799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.536559995 meters 0.01697287683187488 Centerline is valid? [True, True] Translation: X:102.78, Y:-59.00, Z:-1.74 [[ 8.78771367e-01 -4.77179770e-01 -7.76866581e-03 1.02784961e+02] [-4.77161339e-01 -8.78805705e-01 4.19408022e-03 -5.89952719e+01] [-8.82847807e-03 2.12693712e-05 -9.99961028e-01 -1.73914571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.566559995 meters 0.016128710907371602 Centerline is valid? [True, True] Translation: X:102.78, Y:-59.01, Z:-1.74 [[ 9.14134914e-01 -4.05330804e-01 -8.01859471e-03 1.02783598e+02] [-4.05315251e-01 -9.14170082e-01 3.55075845e-03 -5.90067092e+01] [-8.76959116e-03 4.18645809e-06 -9.99961546e-01 -1.73920159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.596559995 meters 0.016056730017975914 Centerline is valid? [True, True] Translation: X:102.78, Y:-59.02, Z:-1.74 [[ 9.43878070e-01 -3.30180597e-01 -8.65804860e-03 1.02783368e+02] [-3.30166616e-01 -9.43917779e-01 3.03847610e-03 -5.90173735e+01] [-9.17573185e-03 -9.35236002e-06 -9.99957902e-01 -1.73918009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.626559995 meters 0.014573499975053346 Centerline is valid? [True, True] Translation: X:102.78, Y:-59.03, Z:-1.74 [[ 9.66951251e-01 -2.54798938e-01 -9.09832660e-03 1.02783976e+02] [-2.54787571e-01 -9.66994054e-01 2.40679801e-03 -5.90326533e+01] [-9.41127730e-03 -9.11581337e-06 -9.99955713e-01 -1.73999336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.656559995 meters 0.015061807026347648 Centerline is valid? [True, True] Translation: X:102.79, Y:-59.04, Z:-1.74 [[ 9.83926047e-01 -1.78333211e-01 -9.31662487e-03 1.02785421e+02] [-1.78325144e-01 -9.83970155e-01 1.69623787e-03 -5.90435449e+01] [-9.46977636e-03 -7.58415279e-06 -9.99955161e-01 -1.73936527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.686559995 meters 0.014870054373890529 Centerline is valid? [True, True] Translation: X:102.79, Y:-59.06, Z:-1.74 [[ 9.94838662e-01 -1.00972361e-01 -1.00308689e-02 1.02785374e+02] [-1.00967307e-01 -9.94889231e-01 1.01022037e-03 -5.90553200e+01] [-1.00816077e-02 7.78353514e-06 -9.99949179e-01 -1.73911248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.716559995 meters 0.016215979107387053 Centerline is valid? [True, True] Translation: X:102.79, Y:-59.07, Z:-1.74 [[ 9.99641694e-01 -2.45790028e-02 -1.05998259e-02 1.02785755e+02] [-2.45780264e-02 -9.99697890e-01 2.22389537e-04 -5.90650240e+01] [-1.06020897e-02 3.82129473e-05 -9.99943796e-01 -1.73770487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.746559995 meters 0.015615791515496295 Centerline is valid? [True, True] Translation: X:102.79, Y:-59.08, Z:-1.74 [[ 9.98567999e-01 5.23774421e-02 -1.08883138e-02 1.02788048e+02] [ 5.23736675e-02 -9.98627358e-01 -6.31708169e-04 -5.90773414e+01] [-1.09064553e-02 6.05426350e-05 -9.99940521e-01 -1.73830924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.77655999499999 meters 0.016256904447650263 Centerline is valid? [True, True] Translation: X:102.79, Y:-59.09, Z:-1.74 [[ 9.91590253e-01 1.28983732e-01 -1.05814966e-02 1.02790228e+02] [ 1.28975623e-01 -9.91646707e-01 -1.44801201e-03 -5.90860555e+01] [-1.06798762e-02 7.10794786e-05 -9.99942966e-01 -1.73806669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.806559995 meters 0.017143291396306905 Centerline is valid? [True, True] Translation: X:102.79, Y:-59.09, Z:-1.74 [[ 9.79152448e-01 2.02855510e-01 -1.04940911e-02 1.02793587e+02] [ 2.02842654e-01 -9.79208675e-01 -2.28641679e-03 -5.90949828e+01] [-1.07397173e-02 1.10101315e-04 -9.99942322e-01 -1.73797739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.836559995 meters 0.017945808883924837 Centerline is valid? [True, True] Translation: X:102.80, Y:-59.10, Z:-1.74 [[ 9.60790972e-01 2.77077832e-01 -1.04203610e-02 1.02798125e+02] [ 2.77060004e-01 -9.60847468e-01 -3.14605434e-03 -5.91021067e+01] [-1.08840794e-02 1.35635348e-04 -9.99940757e-01 -1.73790087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.866559995 meters 0.018728043226713866 Centerline is valid? [True, True] Translation: X:102.80, Y:-59.11, Z:-1.74 [[ 9.36778865e-01 3.49764909e-01 -1.04816811e-02 1.02802588e+02] [ 3.49741007e-01 -9.36837489e-01 -4.09236625e-03 -5.91081944e+01] [-1.12509979e-02 1.67768518e-04 -9.99936691e-01 -1.73781626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.896559995 meters 0.019472143844999408 Centerline is valid? [True, True] Translation: X:102.81, Y:-59.11, Z:-1.74 [[ 9.07242303e-01 4.20475096e-01 -1.05876017e-02 1.02807135e+02] [ 4.20443818e-01 -9.07304057e-01 -5.13264304e-03 -5.91139125e+01] [-1.17643225e-02 2.05059215e-04 -9.99930777e-01 -1.73742181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.926559995 meters 0.0202399306151815 Centerline is valid? [True, True] Translation: X:102.81, Y:-59.12, Z:-1.74 [[ 8.72236288e-01 4.88981042e-01 -1.00696696e-02 1.02811644e+02] [ 4.88945548e-01 -8.72294384e-01 -5.89557911e-03 -5.91193425e+01] [-1.16665427e-02 2.18817918e-04 -9.99931920e-01 -1.73725853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.956559995 meters 0.021209617521089963 Centerline is valid? [True, True] Translation: X:102.82, Y:-59.12, Z:-1.74 [[ 8.32031883e-01 5.54634231e-01 -1.01890004e-02 1.02816270e+02] [ 5.54588747e-01 -8.32094226e-01 -7.10787817e-03 -5.91242548e+01] [-1.24204810e-02 2.63276281e-04 -9.99922828e-01 -1.73653134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.986559995 meters 0.02187770518946184 Centerline is valid? [True, True] Translation: X:102.82, Y:-59.13, Z:-1.74 [[ 7.85867508e-01 6.18311713e-01 -1.01432347e-02 1.02820202e+02] [ 6.18255475e-01 -7.85932913e-01 -8.34406258e-03 -5.91274747e+01] [-1.31311336e-02 2.86217267e-04 -9.99913742e-01 -1.73598099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.016559995 meters 0.02140722189917722 Centerline is valid? [True, True] Translation: X:102.83, Y:-59.13, Z:-1.74 [[ 7.34349522e-01 6.78700207e-01 -9.83917424e-03 1.02825652e+02] [ 6.78633903e-01 -7.34415376e-01 -9.49115743e-03 -5.91308932e+01] [-1.36676914e-02 2.92629708e-04 -9.99906550e-01 -1.73630969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.046559995 meters 0.021173341197424582 Centerline is valid? [True, True] Translation: X:102.83, Y:-59.13, Z:-1.74 [[ 6.77843554e-01 7.35143962e-01 -9.56413734e-03 1.02829812e+02] [ 7.35064515e-01 -6.77910958e-01 -1.08116719e-02 -5.91343957e+01] [-1.44317688e-02 2.98364135e-04 -9.99895812e-01 -1.73594866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.076559995 meters 0.02085503811373556 Centerline is valid? [True, True] Translation: X:102.83, Y:-59.14, Z:-1.74 [[ 6.16761738e-01 7.87099677e-01 -8.89144667e-03 1.02834394e+02] [ 7.87011192e-01 -6.16825760e-01 -1.18052786e-02 -5.91370073e+01] [-1.47764044e-02 2.83376123e-04 -9.99890783e-01 -1.73559245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.106559995 meters 0.018038145746167102 Centerline is valid? [True, True] Translation: X:102.85, Y:-59.14, Z:-1.74 [[ 5.48998907e-01 8.35784324e-01 -8.04757135e-03 1.02845848e+02] [ 8.35688762e-01 -5.49057845e-01 -1.26402848e-02 -5.91425886e+01] [-1.49831341e-02 2.14237617e-04 -9.99887724e-01 -1.73595773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.136559995 meters 0.017198903926208153 Centerline is valid? [True, True] Translation: X:102.85, Y:-59.14, Z:-1.74 [[ 4.79354698e-01 8.77592216e-01 -7.13981272e-03 1.02853181e+02] [ 8.77489319e-01 -4.79407835e-01 -1.34396077e-02 -5.91448893e+01] [-1.52173773e-02 1.77229702e-04 -9.99884193e-01 -1.73564623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.166559995 meters 0.017345023572670874 Centerline is valid? [True, True] Translation: X:102.86, Y:-59.15, Z:-1.73 [[ 4.06465694e-01 9.13645732e-01 -6.09227824e-03 1.02858205e+02] [ 9.13538110e-01 -4.06511326e-01 -1.40236904e-02 -5.91465692e+01] [-1.52892649e-02 1.34620690e-04 -9.99883103e-01 -1.73457168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.196559995 meters 0.015302083252818045 Centerline is valid? [True, True] Translation: X:102.87, Y:-59.15, Z:-1.74 [[ 3.29398491e-01 9.44177370e-01 -5.07235662e-03 1.02866382e+02] [ 9.44062114e-01 -3.29437535e-01 -1.47524666e-02 -5.91470214e+01] [-1.55999698e-02 7.08205335e-05 -9.99878311e-01 -1.73538340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.226559995 meters 0.014063209704475513 Centerline is valid? [True, True] Translation: X:102.88, Y:-59.15, Z:-1.74 [[ 2.52695502e-01 9.67538277e-01 -3.82972155e-03 1.02875828e+02] [ 9.67424883e-01 -2.52724518e-01 -1.48126178e-02 -5.91474202e+01] [-1.52996392e-02 3.81139660e-05 -9.99882953e-01 -1.73676748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.256559995 meters 0.014325784183989311 Centerline is valid? [True, True] Translation: X:102.88, Y:-59.15, Z:-1.74 [[ 1.74529978e-01 9.84648394e-01 -2.61286633e-03 1.02881712e+02] [ 9.84537269e-01 -1.74549535e-01 -1.47927434e-02 -5.91469871e+01] [-1.50217256e-02 9.31289819e-06 -9.99887167e-01 -1.73630546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.286559995 meters 0.014074142898468749 Centerline is valid? [True, True] Translation: X:102.88, Y:-59.15, Z:-1.74 [[ 9.55412386e-02 9.95424458e-01 -1.42127969e-03 1.02883624e+02] [ 9.95316505e-01 -9.55518086e-02 -1.46596957e-02 -5.91457211e+01] [-1.47284255e-02 -1.40176484e-05 -9.99891531e-01 -1.73667768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.316559995 meters 0.013530544682709172 Centerline is valid? [True, True] Translation: X:102.89, Y:-59.14, Z:-1.74 [[ 1.47394462e-02 9.99891332e-01 -2.69742775e-04 1.02885907e+02] [ 9.99779348e-01 -1.47418324e-02 -1.49644192e-02 -5.91448482e+01] [-1.49667696e-02 -4.91160033e-05 -9.99887990e-01 -1.73658163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.346559995 meters 0.013228625246238702 Centerline is valid? [True, True] Translation: X:102.89, Y:-59.14, Z:-1.74 [[-6.49794167e-02 9.97886207e-01 8.90182413e-04 1.02886446e+02] [ 9.97777073e-01 6.49854754e-02 -1.47580811e-02 -5.91425761e+01] [-1.47847345e-02 -7.07678978e-05 -9.99890697e-01 -1.73663475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.376559995 meters 0.012983147367002786 Centerline is valid? [True, True] Translation: X:102.89, Y:-59.14, Z:-1.74 [[-1.44470937e-01 9.89506920e-01 2.05019833e-03 1.02885673e+02] [ 9.89397971e-01 1.44485453e-01 -1.46836340e-02 -5.91405128e+01] [-1.48257812e-02 -9.28962836e-05 -9.99890088e-01 -1.73702940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.406559995 meters 0.012753647910838545 Centerline is valid? [True, True] Translation: X:102.88, Y:-59.14, Z:-1.74 [[-2.22876302e-01 9.74841546e-01 3.18035286e-03 1.02884135e+02] [ 9.74734959e-01 2.22898964e-01 -1.44157070e-02 -5.91384808e+01] [-1.47619275e-02 -1.12918364e-04 -9.99891030e-01 -1.73704516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.436559995 meters 0.0125194469294705 Centerline is valid? [True, True] Translation: X:102.88, Y:-59.14, Z:-1.74 [[-3.00935899e-01 9.53634615e-01 4.31344865e-03 1.02883129e+02] [ 9.53529448e-01 3.00966774e-01 -1.41630566e-02 -5.91371319e+01] [-1.48045857e-02 -1.49171844e-04 -9.99890395e-01 -1.73671294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.466559995 meters 0.012480925562160784 Centerline is valid? [True, True] Translation: X:102.88, Y:-59.14, Z:-1.74 [[-3.75344499e-01 9.26869306e-01 5.45858384e-03 1.02879464e+02] [ 9.26765096e-01 3.75384155e-01 -1.38993872e-02 -5.91358553e+01] [-1.49319812e-02 -1.58233538e-04 -9.99888499e-01 -1.73626139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.496559995 meters 0.012639478191948746 Centerline is valid? [True, True] Translation: X:102.87, Y:-59.14, Z:-1.74 [[-4.46992883e-01 8.94511677e-01 6.79872111e-03 1.02874976e+02] [ 8.94402723e-01 4.47044555e-01 -1.39618899e-02 -5.91357272e+01] [-1.55284048e-02 -1.60070725e-04 -9.99879414e-01 -1.73593370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.52655999499999 meters 0.012259742461496895 Centerline is valid? [True, True] Translation: X:102.88, Y:-59.13, Z:-1.74 [[-5.15282754e-01 8.56981412e-01 8.15736965e-03 1.02878680e+02] [ 8.56869361e-01 5.15347297e-01 -1.38586224e-02 -5.91299991e+01] [-1.60804602e-02 -1.51309017e-04 -9.99870690e-01 -1.73833247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.556559995 meters 0.012404516075151882 Centerline is valid? [True, True] Translation: X:102.88, Y:-59.12, Z:-1.74 [[-5.78889796e-01 8.15344644e-01 9.98579375e-03 1.02882032e+02] [ 8.15220179e-01 5.78975907e-01 -1.42463488e-02 -5.91236373e+01] [-1.73972182e-02 -1.06445401e-04 -9.99848651e-01 -1.73845322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.586559995 meters 0.012866293334608127 Centerline is valid? [True, True] Translation: X:102.89, Y:-59.12, Z:-1.74 [[-6.39504862e-01 7.68703706e-01 1.13200600e-02 1.02885125e+02] [ 7.68581343e-01 6.39605040e-01 -1.37153753e-02 -5.91188903e+01] [-1.77834273e-02 -7.06623081e-05 -9.99841860e-01 -1.73697796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.616559995 meters 0.013061524579447144 Centerline is valid? [True, True] Translation: X:102.89, Y:-59.11, Z:-1.74 [[-6.96245231e-01 7.17692952e-01 1.26255660e-02 1.02886565e+02] [ 7.17574201e-01 6.96359696e-01 -1.30552753e-02 -5.91138103e+01] [-1.81616144e-02 -2.98927036e-05 -9.99835064e-01 -1.73810392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.646559995 meters 0.014449415557876343 Centerline is valid? [True, True] Translation: X:102.89, Y:-59.11, Z:-1.74 [[-7.46933729e-01 6.64754857e-01 1.38197242e-02 1.02885376e+02] [ 6.64642762e-01 7.47061561e-01 -1.22075117e-02 -5.91122992e+01] [-1.84391875e-02 6.69774297e-05 -9.99829981e-01 -1.73811074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.676559995 meters 0.015544007399757356 Centerline is valid? [True, True] Translation: X:102.90, Y:-59.09, Z:-1.74 [[-7.90503026e-01 6.12277503e-01 1.48736425e-02 1.02899453e+02] [ 6.12172445e-01 7.90642929e-01 -1.13427243e-02 -5.90913121e+01] [-1.87046352e-02 1.38776195e-04 -9.99825043e-01 -1.73793910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.706559995 meters 0.016777963328829387 Centerline is valid? [True, True] Translation: X:102.91, Y:-59.07, Z:-1.74 [[-8.30241744e-01 5.57181174e-01 1.57412546e-02 1.02913846e+02] [ 5.57085511e-01 8.30390933e-01 -1.03262819e-02 -5.90705688e+01] [-1.88250049e-02 1.95914599e-04 -9.99822775e-01 -1.73809279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.736559995 meters 0.015842602435654534 Centerline is valid? [True, True] Translation: X:102.93, Y:-59.05, Z:-1.74 [[-8.66246089e-01 4.99347284e-01 1.64317662e-02 1.02927526e+02] [ 4.99262844e-01 8.66401887e-01 -9.18600724e-03 -5.90457108e+01] [-1.88235210e-02 2.46427495e-04 -9.99822791e-01 -1.74068758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.766559995 meters 0.016183445862387992 Centerline is valid? [True, True] Translation: X:102.94, Y:-59.02, Z:-1.74 [[-8.98396142e-01 4.38847861e-01 1.72315738e-02 1.02938496e+02] [ 4.38773475e-01 8.98561331e-01 -8.08522622e-03 -5.90214351e+01] [-1.90318101e-02 2.97021467e-04 -9.99818835e-01 -1.74156396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.796559995 meters 0.017455221404714418 Centerline is valid? [True, True] Translation: X:102.94, Y:-59.00, Z:-1.74 [[-9.26395677e-01 3.76118011e-01 1.80635297e-02 1.02944740e+02] [ 3.76053836e-01 9.26571703e-01 -6.95645680e-03 -5.89967984e+01] [-1.93536042e-02 3.48428110e-04 -9.99812641e-01 -1.74131367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.826559995 meters 0.019051487295166425 Centerline is valid? [True, True] Translation: X:102.95, Y:-58.97, Z:-1.74 [[-9.49657817e-01 3.12701206e-01 1.91829966e-02 1.02950762e+02] [ 3.12646671e-01 9.49851444e-01 -5.85604191e-03 -5.89735154e+01] [-2.00521883e-02 4.36264048e-04 -9.99798839e-01 -1.74130231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.856559995 meters 0.01941718591449986 Centerline is valid? [True, True] Translation: X:102.95, Y:-58.95, Z:-1.74 [[-9.69150074e-01 2.45664570e-01 1.99262021e-02 1.02954847e+02] [ 2.45622644e-01 9.69354783e-01 -4.56296397e-03 -5.89466513e+01] [-2.04365179e-02 4.72129586e-04 -9.99791041e-01 -1.74183116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.886559995 meters 0.01815368301564631 Centerline is valid? [True, True] Translation: X:102.96, Y:-58.92, Z:-1.74 [[-9.83995392e-01 1.77015852e-01 2.04562238e-02 1.02956694e+02] [ 1.76988097e-01 9.84207875e-01 -3.17377716e-03 -5.89174634e+01] [-2.06949854e-02 4.97526026e-04 -9.99785712e-01 -1.74394103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.916559995 meters 0.017875085591747896 Centerline is valid? [True, True] Translation: X:103.05, Y:-58.30, Z:-2.75 [[-9.83352989e-01 -1.81041520e-01 1.55198788e-02 1.03046739e+02] [ 1.81008381e-01 -9.83475234e-01 -3.52568657e-03 -5.83035945e+01] [ 1.59017120e-02 -6.57766300e-04 9.99873343e-01 -2.74874177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.946559995 meters 0.017477177405625162 Centerline is valid? [True, True] Translation: X:102.90, Y:-58.91, Z:-1.74 [[-9.84974119e-01 1.71475919e-01 2.05424887e-02 1.02897726e+02] [ 1.71448584e-01 9.85188199e-01 -3.09768604e-03 -5.89078777e+01] [-2.07693960e-02 4.70840015e-04 -9.99784182e-01 -1.74493842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.976559995 meters 0.016551498527873104 Centerline is valid? [True, True] Translation: X:102.98, Y:-58.30, Z:-2.75 [[-9.83689236e-01 -1.79143443e-01 1.62207871e-02 1.02983865e+02] [ 1.79108668e-01 -9.83822770e-01 -3.58365581e-03 -5.82974981e+01] [ 1.66003681e-02 -6.19920076e-04 9.99862012e-01 -2.74794344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.006559995 meters 0.016377290093920954 Centerline is valid? [True, True] Translation: X:102.84, Y:-58.90, Z:-1.74 [[-9.86523364e-01 1.62221499e-01 2.13503643e-02 1.02836500e+02] [ 1.62191951e-01 9.86754294e-01 -3.11990732e-03 -5.88973716e+01] [-2.15736797e-02 3.84995767e-04 -9.99767187e-01 -1.74478994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.036559995 meters 0.015538884348962006 Centerline is valid? [True, True] Translation: X:102.92, Y:-58.29, Z:-2.75 [[-9.83358511e-01 -1.80892183e-01 1.68539699e-02 1.02921730e+02] [ 1.80855723e-01 -9.83502769e-01 -3.67555970e-03 -5.82913359e+01] [ 1.72408061e-02 -5.66256003e-04 9.99851206e-01 -2.74857141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.066559995 meters 0.014729654789935558 Centerline is valid? [True, True] Translation: X:102.78, Y:-58.89, Z:-1.75 [[-9.87927038e-01 1.53445270e-01 2.13240716e-02 1.02776384e+02] [ 1.53415702e-01 9.88157108e-01 -3.02541540e-03 -5.88856456e+01] [-2.15357686e-02 2.82557744e-04 -9.99768039e-01 -1.74555346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.096559995 meters 0.014456446795998036 Centerline is valid? [True, True] Translation: X:102.86, Y:-58.29, Z:-2.75 [[-9.83181937e-01 -1.81899109e-01 1.63092648e-02 1.02858939e+02] [ 1.81865446e-01 -9.83317066e-01 -3.53642615e-03 -5.82865757e+01] [ 1.66804512e-02 -5.10858596e-04 9.99860741e-01 -2.74896016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.126559995 meters 0.01331650366352663 Centerline is valid? [True, True] Translation: X:102.72, Y:-58.87, Z:-1.75 [[-9.89655713e-01 1.42056625e-01 2.00370870e-02 1.02717879e+02] [ 1.42029690e-01 9.89858527e-01 -2.76821446e-03 -5.88738965e+01] [-2.02271246e-02 1.06282000e-04 -9.99795405e-01 -1.74587572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.156559995 meters 0.012896769964868595 Centerline is valid? [True, True] Translation: X:102.79, Y:-58.28, Z:-2.75 [[-9.82678418e-01 -1.84725175e-01 1.48235191e-02 1.02792267e+02] [ 1.84698327e-01 -9.82790143e-01 -3.17209370e-03 -5.82821290e+01] [ 1.51543740e-02 -3.79268832e-04 9.99885094e-01 -2.74860099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.186559995 meters 0.012896769964868595 Centerline is valid? [True, True] Translation: X:102.66, Y:-58.87, Z:-1.75 [[-9.90559160e-01 1.35700099e-01 1.94430772e-02 1.02657494e+02] [ 1.35675057e-01 9.90749958e-01 -2.60745099e-03 -5.88652759e+01] [-1.96170593e-02 5.51061481e-05 -9.99807565e-01 -1.74579278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.216559995 meters 0.012578790837907784 Centerline is valid? [True, True] Translation: X:102.65, Y:-58.84, Z:-1.75 [[-9.97848099e-01 6.26467109e-02 1.93535856e-02 1.02651402e+02] [ 6.26351082e-02 9.98035766e-01 -1.20569173e-03 -5.88356153e+01] [-1.93911032e-02 9.11672595e-06 -9.99811975e-01 -1.74539503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.246559995 meters 0.012346385210438047 Centerline is valid? [True, True] Translation: X:102.65, Y:-58.81, Z:-1.75 [[-9.99759430e-01 -1.07069262e-02 1.91427274e-02 1.02645026e+02] [-1.07056216e-02 9.99942679e-01 1.70628343e-04 -5.88064837e+01] [-1.91434570e-02 -3.43475011e-05 -9.99816747e-01 -1.74500740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.27655999499999 meters 0.012035167972763505 Centerline is valid? [True, True] Translation: X:102.63, Y:-58.78, Z:-1.74 [[-9.96269889e-01 -8.40839666e-02 1.93957245e-02 1.02630849e+02] [-8.40695026e-02 9.96458670e-01 1.56134908e-03 -5.87784378e+01] [-1.94583222e-02 -7.50638289e-05 -9.99810666e-01 -1.74493046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.306559995 meters 0.011976396090827023 Centerline is valid? [True, True] Translation: X:102.62, Y:-58.75, Z:-1.74 [[-9.87451289e-01 -1.56761245e-01 1.91275926e-02 1.02616244e+02] [-1.56734017e-01 9.87636522e-01 2.92371637e-03 -5.87512653e+01] [-1.93494345e-02 -1.10916928e-04 -9.99812776e-01 -1.74424581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.336559995 meters 0.011728352666345285 Centerline is valid? [True, True] Translation: X:102.52, Y:-58.18, Z:-2.75 [[-9.95714005e-01 9.12957690e-02 1.47886180e-02 1.02515482e+02] [-9.12885965e-02 -9.95823802e-01 1.16074872e-03 -5.81751843e+01] [ 1.48328293e-02 -1.94258426e-04 9.99889969e-01 -2.75033106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.366559995 meters 0.0116356114737221 Centerline is valid? [True, True] Translation: X:102.51, Y:-58.77, Z:-1.75 [[-9.85765994e-01 -1.67077503e-01 1.87219707e-02 1.02508223e+02] [-1.67051184e-01 9.85943745e-01 2.97206994e-03 -5.87653925e+01] [-1.89553759e-02 -1.97761889e-04 -9.99820311e-01 -1.74542015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.396559995 meters 0.01163525417713088 Centerline is valid? [True, True] Translation: X:102.48, Y:-58.74, Z:-1.75 [[-9.71251795e-01 -2.37373150e-01 1.79982760e-02 1.02481676e+02] [-2.37336060e-01 9.71418525e-01 4.20045792e-03 -5.87433941e+01] [-1.84809347e-02 -1.91937618e-04 -9.99829195e-01 -1.74598342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.426559995 meters 0.011533016805388383 Centerline is valid? [True, True] Translation: X:102.44, Y:-58.73, Z:-1.75 [[-9.51943858e-01 -3.05766278e-01 1.76032545e-02 1.02444787e+02] [-3.05717308e-01 9.52106588e-01 5.47477294e-03 -5.87259969e+01] [-1.84341756e-02 -1.69943113e-04 -9.99830062e-01 -1.74603907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.456559995 meters 0.011679075826883076 Centerline is valid? [True, True] Translation: X:102.39, Y:-58.72, Z:-1.75 [[-9.27723153e-01 -3.72867592e-01 1.73063987e-02 1.02387250e+02] [-3.72805463e-01 9.27884551e-01 6.80780345e-03 -5.87190464e+01] [-1.85967493e-02 -1.36163116e-04 -9.99827056e-01 -1.74574818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.486559995 meters 0.011917721551643192 Centerline is valid? [True, True] Translation: X:102.32, Y:-58.72, Z:-1.75 [[-8.98859010e-01 -4.37897850e-01 1.72612944e-02 1.02322715e+02] [-4.37818981e-01 8.99024730e-01 8.31111840e-03 -5.87200220e+01] [-1.91577514e-02 -8.67986674e-05 -9.99816470e-01 -1.74523980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.516559995 meters 0.012102328170833308 Centerline is valid? [True, True] Translation: X:102.25, Y:-58.73, Z:-1.75 [[-8.65444058e-01 -5.00723708e-01 1.68033000e-02 1.02249017e+02] [-5.00629961e-01 8.65607167e-01 9.68892196e-03 -5.87310775e+01] [-1.93965298e-02 -2.70154645e-05 -9.99811869e-01 -1.74573975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.546559995 meters 0.013144153102564754 Centerline is valid? [True, True] Translation: X:102.17, Y:-58.75, Z:-1.75 [[-8.29693625e-01 -5.57982079e-01 1.62630783e-02 1.02174153e+02] [-5.57872138e-01 8.29852990e-01 1.10766729e-02 -5.87530784e+01] [-1.96765491e-02 1.17526618e-04 -9.99806391e-01 -1.74617309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.576559995 meters 0.013959613193704147 Centerline is valid? [True, True] Translation: X:102.09, Y:-58.78, Z:-1.75 [[-7.87832491e-01 -6.15692942e-01 1.55617192e-02 1.02090993e+02] [-6.15567937e-01 7.87986143e-01 1.24077462e-02 -5.87846816e+01] [-1.99017809e-02 1.95930210e-04 -9.99801921e-01 -1.74648210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.606559995 meters 0.016466678153845216 Centerline is valid? [True, True] Translation: X:102.01, Y:-58.83, Z:-1.74 [[-7.41753246e-01 -6.70515260e-01 1.45398745e-02 1.02007262e+02] [-6.70379335e-01 7.41895690e-01 1.35030472e-02 -5.88281187e+01] [-1.98410694e-02 2.68697643e-04 -9.99803111e-01 -1.74493565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.636559995 meters 0.01596771618005454 Centerline is valid? [True, True] Translation: X:101.92, Y:-58.88, Z:-1.75 [[-6.91514333e-01 -7.22241404e-01 1.32394028e-02 1.01918351e+02] [-7.22099869e-01 6.91640980e-01 1.43015201e-02 -5.88798196e+01] [-1.94860634e-02 3.29535109e-04 -9.99810074e-01 -1.74722504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.666559995 meters 0.01822725538159059 Centerline is valid? [True, True] Translation: X:101.84, Y:-58.94, Z:-1.75 [[-6.39499566e-01 -7.68699854e-01 1.18675804e-02 1.01840970e+02] [-7.68554606e-01 6.39609523e-01 1.49491222e-02 -5.89376605e+01] [-1.90820055e-02 4.39073638e-04 -9.99817826e-01 -1.74801532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.696559995 meters 0.017533650727163633 Centerline is valid? [True, True] Translation: X:101.76, Y:-59.01, Z:-1.75 [[-5.81000500e-01 -8.13835100e-01 1.05284860e-02 1.01756151e+02] [-8.13686513e-01 5.81095695e-01 1.55579741e-02 -5.90076345e+01] [-1.87796833e-02 4.72303689e-04 -9.99823535e-01 -1.74966179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.726559995 meters 0.01853569936750557 Centerline is valid? [True, True] Translation: X:101.68, Y:-59.08, Z:-1.75 [[-5.18742877e-01 -8.54879801e-01 9.29260490e-03 1.01678719e+02] [-8.54724849e-01 5.18825858e-01 1.62837665e-02 -5.90848456e+01] [-1.87419067e-02 5.04467542e-04 -9.99824228e-01 -1.74980393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.756559995 meters 0.01911825496937594 Centerline is valid? [True, True] Translation: X:101.60, Y:-59.17, Z:-1.75 [[-4.52602133e-01 -8.91676581e-01 8.01144848e-03 1.01604023e+02] [-8.91516078e-01 4.52672736e-01 1.69256363e-02 -5.91723966e+01] [-1.87187578e-02 5.18243983e-04 -9.99824654e-01 -1.74991156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.786559995 meters 0.019225486517222414 Centerline is valid? [True, True] Translation: X:101.53, Y:-59.27, Z:-1.75 [[-3.83358564e-01 -9.23575882e-01 6.61828746e-03 1.01534633e+02] [-9.23414173e-01 3.83415340e-01 1.72899682e-02 -5.92666382e+01] [-1.85061506e-02 5.16836943e-04 -9.99828613e-01 -1.75022834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.816559995 meters 0.01806589826394985 Centerline is valid? [True, True] Translation: X:101.47, Y:-59.37, Z:-1.75 [[-3.10051227e-01 -9.50704484e-01 5.40567537e-03 1.01470661e+02] [-9.50530318e-01 3.10097934e-01 1.82039914e-02 -5.93675350e+01] [-1.89829050e-02 5.05911525e-04 -9.99819680e-01 -1.75109072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.846559995 meters 0.017848318439094367 Centerline is valid? [True, True] Translation: X:101.41, Y:-59.47, Z:-1.75 [[-2.34749656e-01 -9.72047410e-01 4.05355016e-03 1.01414838e+02] [-9.71864660e-01 2.34784146e-01 1.88543598e-02 -5.94740885e+01] [-1.92790409e-02 4.86552326e-04 -9.99814024e-01 -1.75118782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.876559995 meters 0.01775481248412312 Centerline is valid? [True, True] Translation: X:101.37, Y:-59.59, Z:-1.75 [[-1.57212088e-01 -9.87561527e-01 2.56704185e-03 1.01367158e+02] [-9.87380952e-01 1.57232443e-01 1.88895201e-02 -5.95871494e+01] [-1.90581856e-02 4.35012667e-04 -9.99818282e-01 -1.75065940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.906559995 meters 0.016448628116705392 Centerline is valid? [True, True] Translation: X:101.33, Y:-59.70, Z:-1.75 [[-7.55468121e-02 -9.97141648e-01 1.10148980e-03 1.01326812e+02] [-9.96963271e-01 7.55541345e-02 1.88628790e-02 -5.97039369e+01] [-1.88921844e-02 3.26885509e-04 -9.99821473e-01 -1.75075629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.936559995 meters 0.015283006321772392 Centerline is valid? [True, True] Translation: X:101.30, Y:-59.82, Z:-1.75 [[ 4.59145895e-03 -9.99989402e-01 -3.37728077e-04 1.01295621e+02] [-9.99819293e-01 -4.59690765e-03 1.84458782e-02 -5.98247963e+01] [-1.84472352e-02 2.52973555e-04 -9.99829803e-01 -1.75154181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.966559995 meters 0.014210511204993623 Centerline is valid? [True, True] Translation: X:101.27, Y:-59.95, Z:-1.75 [[ 8.49368621e-02 -9.96384934e-01 -1.67140061e-03 1.01273666e+02] [-9.96229672e-01 -8.49531333e-02 1.75899300e-02 -5.99464455e+01] [-1.76683319e-02 1.71065428e-04 -9.99843888e-01 -1.75212541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.99655999499998 meters 0.01346455980094114 Centerline is valid? [True, True] Translation: X:101.26, Y:-60.06, Z:-1.75 [[ 1.64578201e-01 -9.86360027e-01 -2.81307343e-03 1.01260440e+02] [-9.86225367e-01 -1.64602215e-01 1.62983450e-02 -6.00642606e+01] [-1.65390741e-02 9.19720793e-05 -9.99863216e-01 -1.75262701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.02655999499999 meters 0.01185023668444302 Centerline is valid? [True, True] Translation: X:101.26, Y:-60.19, Z:-1.75 [[ 2.46333348e-01 -9.69177862e-01 -3.76217961e-03 1.01255318e+02] [-9.69062872e-01 -2.46362074e-01 1.49291186e-02 -6.01872313e+01] [-1.53958296e-02 -3.17512059e-05 -9.99881477e-01 -1.75404059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.056559995 meters 0.01157373592257734 Centerline is valid? [True, True] Translation: X:101.26, Y:-60.31, Z:-1.75 [[ 3.22757188e-01 -9.46469621e-01 -4.80155658e-03 1.01261206e+02] [-9.46361202e-01 -3.22792891e-01 1.43256900e-02 -6.03065972e+01] [-1.51087388e-02 -7.97125794e-05 -9.99885853e-01 -1.75417879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.086559995 meters 0.011369723274533627 Centerline is valid? [True, True] Translation: X:101.28, Y:-60.43, Z:-1.75 [[ 3.96475008e-01 -9.18028462e-01 -5.59567726e-03 1.01276649e+02] [-9.17932842e-01 -3.96514477e-01 1.32501705e-02 -6.04256366e+01] [-1.43828007e-02 -1.16905535e-04 -9.99896555e-01 -1.75456345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.116559995 meters 0.01107574569797932 Centerline is valid? [True, True] Translation: X:101.30, Y:-60.54, Z:-1.76 [[ 4.67083741e-01 -8.84189918e-01 -6.40059837e-03 1.01298704e+02] [-8.84102698e-01 -4.67127572e-01 1.24197984e-02 -6.05379475e+01] [-1.39713565e-02 -1.42299599e-04 -9.99902386e-01 -1.75511888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.146559995 meters 0.011204986841080204 Centerline is valid? [True, True] Translation: X:101.33, Y:-60.65, Z:-1.75 [[ 5.34264455e-01 -8.45288076e-01 -7.04000147e-03 1.01330016e+02] [-8.45210742e-01 -5.34310812e-01 1.14348915e-02 -6.06480851e+01] [-1.34273263e-02 -1.58971219e-04 -9.99909837e-01 -1.75452897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.176559995 meters 0.010988894110324636 Centerline is valid? [True, True] Translation: X:101.37, Y:-60.75, Z:-1.76 [[ 5.98039054e-01 -8.01432812e-01 -7.39845600e-03 1.01369317e+02] [-8.01367894e-01 -5.98084792e-01 1.02020183e-02 -6.07531982e+01] [-1.26011362e-02 -1.72320280e-04 -9.99920588e-01 -1.75591271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.206559995 meters 0.01097431011401219 Centerline is valid? [True, True] Translation: X:101.42, Y:-60.85, Z:-1.76 [[ 6.56984136e-01 -7.53860352e-01 -8.14951609e-03 1.01416190e+02] [-7.53799175e-01 -6.57034658e-01 9.60536496e-03 -6.08541821e+01] [-1.25956183e-02 -1.67473893e-04 -9.99920658e-01 -1.75661156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.236559995 meters 0.010996642973511718 Centerline is valid? [True, True] Translation: X:101.46, Y:-60.94, Z:-1.76 [[ 7.11544424e-01 -7.02589829e-01 -8.48909757e-03 1.01463164e+02] [-7.02537265e-01 -7.11595046e-01 8.59543669e-03 -6.09427722e+01] [-1.20798662e-02 -1.52127660e-04 -9.99927024e-01 -1.75665043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.266559995 meters 0.01104503308308513 Centerline is valid? [True, True] Translation: X:101.46, Y:-60.95, Z:-1.76 [[ 7.63242603e-01 -6.46049187e-01 -9.00981931e-03 1.01463409e+02] [-6.46002050e-01 -7.63295768e-01 7.80528776e-03 -6.09501104e+01] [-1.19197568e-02 -1.36966414e-04 -9.99928948e-01 -1.75642304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.296559995 meters 0.011147501792776907 Centerline is valid? [True, True] Translation: X:101.46, Y:-60.96, Z:-1.76 [[ 8.10090367e-01 -5.86226782e-01 -9.57901167e-03 1.01463855e+02] [-5.86184200e-01 -8.10146991e-01 7.06650866e-03 -6.09581138e+01] [-1.19029841e-02 -1.09445295e-04 -9.99929151e-01 -1.75638872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.326559995 meters 0.011807386251836633 Centerline is valid? [True, True] Translation: X:101.47, Y:-60.96, Z:-1.76 [[ 8.50436414e-01 -5.25971793e-01 -1.05630991e-02 1.01466952e+02] [-5.25930708e-01 -8.50502012e-01 6.57411312e-03 -6.09629217e+01] [-1.24417351e-02 -3.54070162e-05 -9.99922598e-01 -1.75594867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.356559995 meters 0.013008499208374857 Centerline is valid? [True, True] Translation: X:101.47, Y:-60.97, Z:-1.75 [[ 8.87390092e-01 -4.60897114e-01 -1.06148929e-02 1.01468368e+02] [-4.60864161e-01 -8.87453577e-01 5.51130901e-03 -6.09675384e+01] [-1.19603711e-02 1.34272241e-06 -9.99928472e-01 -1.75469846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.386559995 meters 0.013321943813194079 Centerline is valid? [True, True] Translation: X:101.47, Y:-60.97, Z:-1.76 [[ 9.19345211e-01 -3.93304469e-01 -1.07693225e-02 1.01470018e+02] [-3.93277983e-01 -9.19408284e-01 4.56450161e-03 -6.09741178e+01] [-1.16966432e-02 3.89847196e-05 -9.99931591e-01 -1.75552647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.416559995 meters 0.0153227708482541 Centerline is valid? [True, True] Translation: X:101.47, Y:-60.97, Z:-1.76 [[ 9.45087677e-01 -3.26636757e-01 -1.08494657e-02 1.01472927e+02] [-3.26616600e-01 -9.45149944e-01 3.63046198e-03 -6.09745985e+01] [-1.14402142e-02 1.12510717e-04 -9.99934552e-01 -1.75534416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.446559995 meters 0.016348232998633923 Centerline is valid? [True, True] Translation: X:101.48, Y:-60.98, Z:-1.76 [[ 9.66918770e-01 -2.54843877e-01 -1.10765543e-02 1.01475014e+02] [-2.54828921e-01 -9.66982200e-01 2.76497540e-03 -6.09790322e+01] [-1.14154679e-02 1.49119767e-04 -9.99934830e-01 -1.75553919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.476559995 meters 0.016690546059211313 Centerline is valid? [True, True] Translation: X:101.47, Y:-60.99, Z:-1.76 [[ 9.83389151e-01 -1.81139936e-01 -1.15802505e-02 1.01473269e+02] [-1.81129661e-01 -9.83457313e-01 1.93871470e-03 -6.09854030e+01] [-1.17398607e-02 1.91015854e-04 -9.99931067e-01 -1.75592945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.506559995 meters 0.019320052760893804 Centerline is valid? [True, True] Translation: X:101.47, Y:-60.99, Z:-1.76 [[ 9.94139659e-01 -1.07406373e-01 -1.22559588e-02 1.01471389e+02] [-1.07401373e-01 -9.94215171e-01 1.06735549e-03 -6.09862323e+01] [-1.22997010e-02 2.55206382e-04 -9.99924323e-01 -1.75505149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.536559995 meters 0.018071649312105014 Centerline is valid? [True, True] Translation: X:101.47, Y:-61.00, Z:-1.76 [[ 9.99459665e-01 -3.04684009e-02 -1.23310310e-02 1.01469648e+02] [-3.04694384e-02 -9.99535694e-01 1.03761024e-04 -6.09963786e+01] [-1.23284671e-02 2.72014631e-04 -9.99923965e-01 -1.75523913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.566559995 meters 0.017467049185083086 Centerline is valid? [True, True] Translation: X:101.47, Y:-61.01, Z:-1.76 [[ 9.98797518e-01 4.73532857e-02 -1.26958187e-02 1.01469112e+02] [ 4.73457299e-02 -9.98878161e-01 -8.95215258e-04 -6.10076402e+01] [-1.27239674e-02 2.93045974e-04 -9.99919004e-01 -1.75554933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.596559995 meters 0.02058617241562389 Centerline is valid? [True, True] Translation: X:101.47, Y:-61.01, Z:-1.75 [[ 9.92000408e-01 1.25616259e-01 -1.24797864e-02 1.01467725e+02] [ 1.25602675e-01 -9.92078864e-01 -1.86950107e-03 -6.10136779e+01] [-1.26157721e-02 2.87051264e-04 -9.99920377e-01 -1.75443148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.626559995 meters 0.01787879403841475 Centerline is valid? [True, True] Translation: X:101.47, Y:-61.03, Z:-1.76 [[ 9.78895022e-01 2.04029012e-01 -1.16918151e-02 1.01469478e+02] [ 2.04011375e-01 -9.78964810e-01 -2.69443790e-03 -6.10273608e+01] [-1.19956191e-02 2.52308569e-04 -9.99928018e-01 -1.75553274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.656559995 meters 0.01662978856228577 Centerline is valid? [True, True] Translation: X:101.47, Y:-61.04, Z:-1.76 [[ 9.58999068e-01 2.83204146e-01 -1.07795851e-02 1.01472130e+02] [ 2.83183999e-01 -9.59059631e-01 -3.38343176e-03 -6.10395323e+01] [-1.12964668e-02 1.92101896e-04 -9.99936174e-01 -1.75578005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.686559995 meters 0.017330725342191797 Centerline is valid? [True, True] Translation: X:101.47, Y:-61.05, Z:-1.76 [[ 9.33141641e-01 3.59343913e-01 -1.08917165e-02 1.01473132e+02] [ 3.59317157e-01 -9.33205186e-01 -4.38881210e-03 -6.10477220e+01] [-1.17412992e-02 1.81802728e-04 -9.99931052e-01 -1.75517705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.716559995 meters 0.016887310131435625 Centerline is valid? [True, True] Translation: X:101.47, Y:-61.05, Z:-1.76 [[ 9.01341043e-01 4.32990976e-01 -1.01557172e-02 1.01474722e+02] [ 4.32961619e-01 -9.01398243e-01 -5.04418738e-03 -6.10545306e+01] [-1.13384333e-02 1.49497346e-04 -9.99935707e-01 -1.75505741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.74655999499998 meters 0.014645773062285077 Centerline is valid? [True, True] Translation: X:101.48, Y:-61.07, Z:-1.76 [[ 8.62163943e-01 5.06547169e-01 -9.12691293e-03 1.01480768e+02] [ 5.06517830e-01 -8.62212247e-01 -5.45237427e-03 -6.10657825e+01] [-1.06312209e-02 7.78963689e-05 -9.99943484e-01 -1.75608997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.77655999499999 meters 0.014645773062285077 Centerline is valid? [True, True] Translation: X:101.48, Y:-61.07, Z:-1.76 [[ 8.19858985e-01 5.72499893e-01 -8.66701577e-03 1.01484446e+02] [ 5.72466896e-01 -8.19904791e-01 -6.14710413e-03 -6.10732582e+01] [-1.06253442e-02 7.81789355e-05 -9.99943546e-01 -1.75614343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.806559995 meters 0.013120276386034446 Centerline is valid? [True, True] Translation: X:101.49, Y:-61.08, Z:-1.76 [[ 7.68940305e-01 6.39284447e-01 -6.79733962e-03 1.01492856e+02] [ 6.39259580e-01 -7.68970348e-01 -5.63860449e-03 -6.10844528e+01] [-8.83162477e-03 -9.51421075e-06 -9.99961000e-01 -1.75710632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.836559995 meters 0.012578138899313538 Centerline is valid? [True, True] Translation: X:101.50, Y:-61.09, Z:-1.76 [[ 7.14557682e-01 6.99553252e-01 -5.70676631e-03 1.01499697e+02] [ 6.99531454e-01 -7.14580469e-01 -5.52261577e-03 -6.10928761e+01] [-7.94130756e-03 -4.58350098e-05 -9.99968466e-01 -1.75756155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.866559995 meters 0.012071307455365781 Centerline is valid? [True, True] Translation: X:101.51, Y:-61.10, Z:-1.76 [[ 6.55652762e-01 7.55048120e-01 -4.66826761e-03 1.01507945e+02] [ 7.55029795e-01 -6.55669377e-01 -5.26096405e-03 -6.11011696e+01] [-7.03312113e-03 -7.53155227e-05 -9.99975264e-01 -1.75801545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.896559995 meters 0.011688737659687575 Centerline is valid? [True, True] Translation: X:101.52, Y:-61.11, Z:-1.76 [[ 5.92469130e-01 8.05582424e-01 -4.15794735e-03 1.01517214e+02] [ 8.05563687e-01 -5.92483713e-01 -5.49508201e-03 -6.11083068e+01] [-6.89025757e-03 -9.38249441e-05 -9.99976257e-01 -1.75831342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.926559995 meters 0.0114160093453826 Centerline is valid? [True, True] Translation: X:101.53, Y:-61.12, Z:-1.76 [[ 5.24172206e-01 8.51604894e-01 -3.55009499e-03 1.01526530e+02] [ 8.51586919e-01 -5.24184214e-01 -5.53443057e-03 -6.11155030e+01] [-6.57405191e-03 -1.22219769e-04 -9.99978383e-01 -1.75851620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.956559995 meters 0.011337063509929697 Centerline is valid? [True, True] Translation: X:101.54, Y:-61.12, Z:-1.76 [[ 4.54638050e-01 8.90670275e-01 -3.27189185e-03 1.01535743e+02] [ 8.90649233e-01 -4.54649805e-01 -6.12363184e-03 -6.11209891e+01] [-6.94170185e-03 -1.30071923e-04 -9.99975898e-01 -1.75844046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.986559995 meters 0.011343686452725637 Centerline is valid? [True, True] Translation: X:101.55, Y:-61.13, Z:-1.76 [[ 3.81410993e-01 9.24399828e-01 -3.25772917e-03 1.01545348e+02] [ 9.24369292e-01 -3.81424878e-01 -7.51492075e-03 -6.11259833e+01] [-8.18937039e-03 -1.45071417e-04 -9.99966456e-01 -1.75710098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.016559995 meters 0.011335531392604669 Centerline is valid? [True, True] Translation: X:101.56, Y:-61.13, Z:-1.76 [[ 3.07333001e-01 9.51598012e-01 -2.76573429e-03 1.01555626e+02] [ 9.51563739e-01 -3.07345409e-01 -8.07777146e-03 -6.11294076e+01] [-8.53682700e-03 -1.49206714e-04 -9.99963549e-01 -1.75662927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.046559995 meters 0.011335531392604669 Centerline is valid? [True, True] Translation: X:101.57, Y:-61.13, Z:-1.76 [[ 2.31883619e-01 9.72741220e-01 -2.12297920e-03 1.01565010e+02] [ 9.72706126e-01 -2.31893290e-01 -8.26408183e-03 -6.11326192e+01] [-8.53111767e-03 -1.48729670e-04 -9.99963598e-01 -1.75667954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.076559995 meters 0.011366193332744015 Centerline is valid? [True, True] Translation: X:101.57, Y:-61.14, Z:-1.76 [[ 1.54894752e-01 9.87929750e-01 -1.55741485e-03 1.01574495e+02] [ 9.87889055e-01 -1.54902509e-01 -8.96817792e-03 -6.11357781e+01] [-9.10117724e-03 -1.49429394e-04 -9.99958572e-01 -1.75568564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.106559995 meters 0.01141232504771339 Centerline is valid? [True, True] Translation: X:101.58, Y:-61.14, Z:-1.76 [[ 7.72475266e-02 9.97011546e-01 -8.92524627e-04 1.01583864e+02] [ 9.96965190e-01 -7.72525426e-02 -9.61533621e-03 -6.11369113e+01] [-9.65555101e-03 -1.47055045e-04 -9.99953373e-01 -1.75539872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.136559995 meters 0.011469989171993576 Centerline is valid? [True, True] Translation: X:101.59, Y:-61.14, Z:-1.76 [[ 1.06260670e-03 9.99999426e-01 -1.35194790e-04 1.01591932e+02] [ 9.99940948e-01 -1.06400672e-03 -1.08151546e-02 -6.11372362e+01] [-1.08152923e-02 -1.23694551e-04 -9.99941505e-01 -1.75508699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.166559995 meters 0.011639206492201425 Centerline is valid? [True, True] Translation: X:101.60, Y:-61.14, Z:-1.75 [[-7.52793028e-02 9.97162236e-01 7.08454557e-04 1.01598337e+02] [ 9.97104434e-01 7.52825674e-02 -1.07369405e-02 -6.11387629e+01] [-1.07598059e-02 -1.01866217e-04 -9.99942106e-01 -1.75476332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.196559995 meters 0.011835372943819885 Centerline is valid? [True, True] Translation: X:101.60, Y:-61.14, Z:-1.76 [[-1.51100354e-01 9.88517149e-01 1.59039420e-03 1.01603704e+02] [ 9.88456887e-01 1.51108704e-01 -1.09152331e-02 -6.11385697e+01] [-1.10302175e-02 -7.72594875e-05 -9.99939162e-01 -1.75515150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.226559995 meters 0.012241043460623432 Centerline is valid? [True, True] Translation: X:101.61, Y:-61.14, Z:-1.76 [[-2.25469145e-01 9.74247253e-01 2.44008119e-03 1.01608466e+02] [ 9.74187917e-01 2.25482344e-01 -1.07524892e-02 -6.11386685e+01] [-1.10257783e-02 -4.72569423e-05 -9.99939213e-01 -1.75540800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.256559995 meters 0.012883988095408394 Centerline is valid? [True, True] Translation: X:101.61, Y:-61.14, Z:-1.76 [[-2.98394304e-01 9.54437350e-01 3.19140815e-03 1.01612604e+02] [ 9.54382095e-01 2.98411369e-01 -1.02699518e-02 -6.11386879e+01] [-1.07543780e-02 -1.86723220e-05 -9.99942170e-01 -1.75587735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.286559995 meters 0.013476856611940136 Centerline is valid? [True, True] Translation: X:101.62, Y:-61.14, Z:-1.76 [[-3.67343523e-01 9.30076720e-01 4.00386594e-03 1.01620277e+02] [ 9.30022632e-01 3.67365340e-01 -1.00305112e-02 -6.11368599e+01] [-1.08000266e-02 3.90426057e-05 -9.99941677e-01 -1.75699517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.316559995 meters 0.014155727021083848 Centerline is valid? [True, True] Translation: X:101.63, Y:-61.14, Z:-1.76 [[-4.37442709e-01 8.99232716e-01 4.93960857e-03 1.01628093e+02] [ 8.99177070e-01 4.37470592e-01 -1.00039361e-02 -6.11354776e+01] [-1.11568001e-02 6.54338452e-05 -9.99937759e-01 -1.75647731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.346559995 meters 0.014837874451441867 Centerline is valid? [True, True] Translation: X:101.64, Y:-61.13, Z:-1.76 [[-5.04801049e-01 8.63216680e-01 5.73264179e-03 1.01635280e+02] [ 8.63163011e-01 5.04833591e-01 -9.62613197e-03 -6.11344156e+01] [-1.12034678e-02 8.89228287e-05 -9.99937235e-01 -1.75588127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.376559995 meters 0.014842041212352098 Centerline is valid? [True, True] Translation: X:101.64, Y:-61.13, Z:-1.76 [[-5.69725321e-01 8.21808684e-01 6.59891343e-03 1.01644102e+02] [ 8.21755777e-01 5.69763525e-01 -9.32569221e-03 -6.11304341e+01] [-1.14237550e-02 1.09612241e-04 -9.99934741e-01 -1.75559563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.406559995 meters 0.015205336553893119 Centerline is valid? [True, True] Translation: X:101.65, Y:-61.13, Z:-1.76 [[-6.31464018e-01 7.75368000e-01 7.59336001e-03 1.01651441e+02] [ 7.75314458e-01 6.31509657e-01 -9.11284655e-03 -6.11258924e+01] [-1.18610898e-02 1.32807100e-04 -9.99929646e-01 -1.75532552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.436559995 meters 0.015971752389316394 Centerline is valid? [True, True] Translation: X:101.66, Y:-61.12, Z:-1.75 [[-6.89025425e-01 7.24683001e-01 8.86068734e-03 1.01657438e+02] [ 7.24626294e-01 6.89082374e-01 -9.06727455e-03 -6.11231526e+01] [-1.26766432e-02 1.73104328e-04 -9.99919633e-01 -1.75462949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.466559995 meters 0.01589379290402104 Centerline is valid? [True, True] Translation: X:101.66, Y:-61.12, Z:-1.75 [[-7.43453853e-01 6.68719285e-01 9.53343651e-03 1.01664556e+02] [ 6.68667350e-01 7.43514953e-01 -8.33603139e-03 -6.11176948e+01] [-1.26627176e-02 1.77243075e-04 -9.99919809e-01 -1.75490101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.49655999499998 meters 0.016604362498503993 Centerline is valid? [True, True] Translation: X:101.68, Y:-61.10, Z:-1.75 [[-7.89083364e-01 6.14206899e-01 9.86561597e-03 1.01680914e+02] [ 6.14161735e-01 7.89145014e-01 -7.45048178e-03 -6.10968590e+01] [-1.23615390e-02 1.80032594e-04 -9.99923577e-01 -1.75456106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.52655999499999 meters 0.015640925910745285 Centerline is valid? [True, True] Translation: X:101.70, Y:-61.08, Z:-1.76 [[-8.31245655e-01 5.55821938e-01 9.62467474e-03 1.01701300e+02] [ 5.55786685e-01 8.31301361e-01 -6.26162297e-03 -6.10756463e+01] [-1.14813526e-02 1.44319190e-04 -9.99934077e-01 -1.75566138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.556559995 meters 0.015633585684598144 Centerline is valid? [True, True] Translation: X:101.71, Y:-61.05, Z:-1.76 [[-8.69212943e-01 4.94336387e-01 1.00197769e-02 1.01711371e+02] [ 4.94305234e-01 8.69270683e-01 -5.55115775e-03 -6.10492974e+01] [-1.14540376e-02 1.27689988e-04 -9.99934392e-01 -1.75565254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.586559995 meters 0.015685796204798395 Centerline is valid? [True, True] Translation: X:101.73, Y:-61.03, Z:-1.76 [[-9.02780401e-01 4.29988642e-01 9.86485999e-03 1.01726853e+02] [ 4.29964144e-01 9.02834292e-01 -4.59085850e-03 -6.10260488e+01] [-1.08803509e-02 9.69990045e-05 -9.99940803e-01 -1.75536308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.616559995 meters 0.014539392930265582 Centerline is valid? [True, True] Translation: X:101.74, Y:-61.00, Z:-1.76 [[-9.31657875e-01 3.63201787e-01 9.90281927e-03 1.01736332e+02] [ 3.63182093e-01 9.31710500e-01 -3.78294728e-03 -6.09976361e+01] [-1.06005339e-02 7.21140060e-05 -9.99943810e-01 -1.75600048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.646559995 meters 0.013497423590700795 Centerline is valid? [True, True] Translation: X:101.74, Y:-60.97, Z:-1.76 [[-9.56469364e-01 2.91665033e-01 9.89266633e-03 1.01742475e+02] [ 2.91649630e-01 9.56520522e-01 -2.99753674e-03 -6.09681524e+01] [-1.03368150e-02 1.81404104e-05 -9.99946574e-01 -1.75650507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.676559995 meters 0.01315342098682454 Centerline is valid? [True, True] Translation: X:101.75, Y:-60.94, Z:-1.76 [[-9.75358815e-01 2.20397434e-01 1.00076415e-02 1.01746669e+02] [ 2.20385722e-01 9.75410155e-01 -2.27219541e-03 -6.09391258e+01] [-1.02623412e-02 -1.06645286e-05 -9.99947341e-01 -1.75620067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.706559995 meters 0.012725909828230145 Centerline is valid? [True, True] Translation: X:101.75, Y:-60.91, Z:-1.76 [[-9.88939619e-01 1.47975945e-01 1.00771816e-02 1.01749118e+02] [ 1.47967866e-01 9.88990960e-01 -1.54672907e-03 -6.09094394e+01] [-1.01951202e-02 -3.85225940e-05 -9.99948028e-01 -1.75601010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.736559995 meters 0.012425245150347219 Centerline is valid? [True, True] Translation: X:101.75, Y:-60.88, Z:-1.76 [[-9.97149364e-01 7.47467002e-02 1.02993479e-02 1.01747291e+02] [ 7.47420499e-02 9.97202551e-01 -8.36218439e-04 -6.08797202e+01] [-1.03330406e-02 -6.40403066e-05 -9.99946611e-01 -1.75605597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.766559995 meters 0.01227360002897388 Centerline is valid? [True, True] Translation: X:101.74, Y:-60.85, Z:-1.76 [[-9.99940746e-01 -2.85071532e-04 1.08822386e-02 1.01741687e+02] [-2.86179883e-04 9.99999954e-01 -1.00292510e-04 -6.08497241e+01] [-1.08822095e-02 -1.03400845e-04 -9.99940782e-01 -1.75536609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.796559995 meters 0.012242658232475372 Centerline is valid? [True, True] Translation: X:101.74, Y:-60.82, Z:-1.76 [[-9.97294117e-01 -7.27368071e-02 1.06677141e-02 1.01740810e+02] [-7.27339341e-02 9.97351163e-01 6.57551231e-04 -6.08212671e+01] [-1.06872852e-02 -1.20132839e-04 -9.99942882e-01 -1.75577272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.826559995 meters 0.012172784903407122 Centerline is valid? [True, True] Translation: X:101.72, Y:-60.80, Z:-1.76 [[-9.89378573e-01 -1.44977514e-01 1.05621390e-02 1.01724014e+02] [-1.44970707e-01 9.89434941e-01 1.41133319e-03 -6.07950389e+01] [-1.06551610e-02 -1.34857942e-04 -9.99943223e-01 -1.75643408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.856559995 meters 0.012384071012332647 Centerline is valid? [True, True] Translation: X:101.70, Y:-60.77, Z:-1.76 [[-9.76279145e-01 -2.16252927e-01 1.06631512e-02 1.01703752e+02] [-2.16241631e-01 9.76337365e-01 2.21495063e-03 -6.07706460e+01] [-1.08898225e-02 -1.43407093e-04 -9.99940694e-01 -1.75651461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.886559995 meters 0.012478519083306602 Centerline is valid? [True, True] Translation: X:101.67, Y:-60.75, Z:-1.76 [[-9.57885275e-01 -2.86971311e-01 1.01619883e-02 1.01670967e+02] [-2.86956837e-01 9.57939165e-01 2.88615025e-03 -6.07504119e+01] [-1.05628089e-02 -1.51451199e-04 -9.99944201e-01 -1.75649884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.916559995 meters 0.012424129314930176 Centerline is valid? [True, True] Translation: X:101.61, Y:-60.74, Z:-1.76 [[-9.34451459e-01 -3.55955225e-01 9.81570208e-03 1.01614959e+02] [-3.55937255e-01 9.34502999e-01 3.57970894e-03 -6.07398703e+01] [-1.04470191e-02 -1.48709817e-04 -9.99945417e-01 -1.75658968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.946559995 meters 0.012410185708481954 Centerline is valid? [True, True] Translation: X:101.55, Y:-60.74, Z:-1.76 [[-9.05799842e-01 -4.23602578e-01 9.35427949e-03 1.01551910e+02] [-4.23581644e-01 9.05848130e-01 4.21378909e-03 -6.07366247e+01] [-1.02585285e-02 -1.45451595e-04 -9.99947369e-01 -1.75708786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.976559995 meters 0.012296165678825596 Centerline is valid? [True, True] Translation: X:101.48, Y:-60.74, Z:-1.76 [[-8.72265937e-01 -4.88950114e-01 8.93988041e-03 1.01477484e+02] [-4.88926050e-01 8.72311737e-01 4.85289196e-03 -6.07441277e+01] [-1.01711847e-02 -1.37928064e-04 -9.99948263e-01 -1.75730351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.006559995 meters 0.012360775959879914 Centerline is valid? [True, True] Translation: X:101.40, Y:-60.76, Z:-1.76 [[-8.34066434e-01 -5.51601188e-01 8.32538400e-03 1.01401562e+02] [-5.51575197e-01 8.34107975e-01 5.35621095e-03 -6.07590309e+01] [-9.89876152e-03 -1.24639547e-04 -9.99950998e-01 -1.75719263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.036559995 meters 0.012487942549444112 Centerline is valid? [True, True] Translation: X:101.32, Y:-60.79, Z:-1.76 [[-7.92647481e-01 -6.09625811e-01 8.14501079e-03 1.01319952e+02] [-6.09594726e-01 7.92689323e-01 6.15692923e-03 -6.07874225e+01] [-1.02098861e-02 -8.48811692e-05 -9.99947874e-01 -1.75686218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.066559995 meters 0.012822359652335585 Centerline is valid? [True, True] Translation: X:101.23, Y:-60.83, Z:-1.76 [[-7.46019257e-01 -6.65879938e-01 7.69258342e-03 1.01233321e+02] [-6.65845364e-01 7.46058915e-01 6.78580273e-03 -6.08267886e+01] [-1.02576503e-02 -5.97314918e-05 -9.99947387e-01 -1.75660245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.096559995 meters 0.013254785809650328 Centerline is valid? [True, True] Translation: X:101.15, Y:-60.88, Z:-1.76 [[-6.95548576e-01 -7.18444503e-01 7.04803203e-03 1.01146796e+02] [-7.18408075e-01 6.95584284e-01 7.23473901e-03 -6.08758191e+01] [-1.01002588e-02 -3.12507102e-05 -9.99948991e-01 -1.75649412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.126559995 meters 0.013995724525602712 Centerline is valid? [True, True] Translation: X:101.06, Y:-60.94, Z:-1.76 [[-6.43340010e-01 -7.65553910e-01 6.39080012e-03 1.01061274e+02] [-7.65515747e-01 6.43371751e-01 7.64404478e-03 -6.09370055e+01] [-9.96358863e-03 2.54617176e-05 -9.99950362e-01 -1.75719027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.156559995 meters 0.015093769978676145 Centerline is valid? [True, True] Translation: X:100.98, Y:-61.00, Z:-1.76 [[-5.85422715e-01 -8.10707054e-01 5.85813181e-03 1.00980400e+02] [-8.10665506e-01 5.85452022e-01 8.20783364e-03 -6.10030532e+01] [-1.00838037e-02 5.60668696e-05 -9.99949156e-01 -1.75670622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.186559995 meters 0.015539192633202609 Centerline is valid? [True, True] Translation: X:100.90, Y:-61.08, Z:-1.76 [[-5.23767498e-01 -8.51844396e-01 5.36026700e-03 1.00899580e+02] [-8.51798091e-01 5.23794919e-01 8.88230876e-03 -6.10800759e+01] [-1.03740256e-02 8.63994384e-05 -9.99946185e-01 -1.75722397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.216559995 meters 0.01638067356332379 Centerline is valid? [True, True] Translation: X:100.83, Y:-61.16, Z:-1.76 [[-4.58699784e-01 -8.88580028e-01 4.47681295e-03 1.00826079e+02] [-8.88535621e-01 4.58721620e-01 8.88401058e-03 -6.11624716e+01] [-9.94776525e-03 9.72859579e-05 -9.99950515e-01 -1.75728327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.24655999499998 meters 0.016025755250039457 Centerline is valid? [True, True] Translation: X:100.76, Y:-61.25, Z:-1.76 [[-3.91538091e-01 -9.20154717e-01 3.63587063e-03 1.00755108e+02] [-9.20112329e-01 3.91554956e-01 8.83280676e-03 -6.12522647e+01] [-9.55119197e-03 1.12970905e-04 -9.99954380e-01 -1.75843723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.27655999499999 meters 0.016420835906012128 Centerline is valid? [True, True] Translation: X:100.69, Y:-61.35, Z:-1.76 [[-3.20329359e-01 -9.47301822e-01 2.89141917e-03 1.00690451e+02] [-9.47259930e-01 3.20342387e-01 8.90948871e-03 -6.13523440e+01] [-9.36621901e-03 1.15045280e-04 -9.99956129e-01 -1.75873952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.306559995 meters 0.016558279635517793 Centerline is valid? [True, True] Translation: X:100.63, Y:-61.46, Z:-1.76 [[-2.46744334e-01 -9.69078291e-01 2.12122206e-03 1.00632456e+02] [-9.69038607e-01 2.46753428e-01 8.77057865e-03 -6.14586207e+01] [-9.02279619e-03 1.08544520e-04 -9.99959288e-01 -1.75900840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.336559995 meters 0.01693913785866438 Centerline is valid? [True, True] Translation: X:100.58, Y:-61.57, Z:-1.76 [[-1.71587499e-01 -9.85167943e-01 1.36206242e-03 1.00583166e+02] [-9.85132367e-01 1.71592879e-01 8.37280236e-03 -6.15671105e+01] [-8.48233669e-03 9.48564406e-05 -9.99964020e-01 -1.75934594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.366559995 meters 0.016726158509783498 Centerline is valid? [True, True] Translation: X:99.85, Y:-61.58, Z:-2.76 [[-1.87726880e-01 9.82220593e-01 1.15126798e-03 9.98543693e+01] [-9.82209445e-01 -1.87730243e-01 4.68647961e-03 -6.15754575e+01] [ 4.81928460e-03 -2.51008085e-04 9.99988356e-01 -2.76355709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.396559995 meters 0.016090975406483434 Centerline is valid? [True, True] Translation: X:100.53, Y:-61.85, Z:-1.76 [[-1.60605011e-01 -9.87018029e-01 1.20052483e-03 1.00533408e+02] [-9.86987183e-01 1.60609484e-01 7.80350060e-03 -6.18540889e+01] [-7.89501145e-03 6.83786820e-05 -9.99968832e-01 -1.76014819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.426559995 meters 0.015907142443887332 Centerline is valid? [True, True] Translation: X:100.49, Y:-61.97, Z:-1.76 [[-8.34336252e-02 -9.96513147e-01 6.15427201e-04 1.00492377e+02] [-9.96479278e-01 8.34358637e-02 8.21617895e-03 -6.19696527e+01] [-8.23887904e-03 7.22451429e-05 -9.99966057e-01 -1.76054373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.456559995 meters 0.016474069239637755 Centerline is valid? [True, True] Translation: X:100.46, Y:-62.09, Z:-1.76 [[-4.46855139e-03 -9.99990016e-01 -2.25645382e-05 1.00460236e+02] [-9.99954623e-01 4.46820338e-03 8.41354114e-03 -6.20888157e+01] [-8.41335631e-03 6.01598551e-05 -9.99964605e-01 -1.76011677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.486559995 meters 0.01564241912159507 Centerline is valid? [True, True] Translation: X:100.44, Y:-62.21, Z:-1.76 [[ 7.32049364e-02 -9.97316693e-01 -6.71446654e-04 1.00436043e+02] [-9.97281379e-01 -7.32079948e-02 8.39283923e-03 -6.22100828e+01] [-8.41947393e-03 5.52239837e-05 -9.99964554e-01 -1.76091318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.516559995 meters 0.015195954895663777 Centerline is valid? [True, True] Translation: X:100.42, Y:-62.33, Z:-1.76 [[ 1.50579410e-01 -9.88596953e-01 -1.38078167e-03 1.00421956e+02] [-9.88558742e-01 -1.50585730e-01 8.69207615e-03 -6.23325921e+01] [-8.80088601e-03 5.61360899e-05 -9.99961270e-01 -1.76118632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.546559995 meters 0.014752789188619149 Centerline is valid? [True, True] Translation: X:100.41, Y:-62.45, Z:-1.76 [[ 2.27858040e-01 -9.73691554e-01 -2.33907500e-03 1.00414834e+02] [-9.73643064e-01 -2.27870037e-01 9.71749023e-03 -6.24548626e+01] [-9.99484327e-03 6.32158669e-05 -9.99950048e-01 -1.76040242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.576559995 meters 0.014589717049737718 Centerline is valid? [True, True] Translation: X:100.42, Y:-62.57, Z:-1.76 [[ 3.02961136e-01 -9.52997322e-01 -3.26403089e-03 1.00418663e+02] [-9.52944239e-01 -3.02978712e-01 1.00586736e-02 -6.25744355e+01] [-1.05748208e-02 6.30522671e-05 -9.99944083e-01 -1.76013776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.606559995 meters 0.014179544455345139 Centerline is valid? [True, True] Translation: X:100.43, Y:-62.70, Z:-1.76 [[ 3.76014688e-01 -9.26604837e-01 -4.05352089e-03 1.00431982e+02] [-9.26552569e-01 -3.76036532e-01 9.84188315e-03 -6.26952004e+01] [-1.06438085e-02 5.51075776e-05 -9.99943352e-01 -1.76040797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.636559995 meters 0.014125742216553085 Centerline is valid? [True, True] Translation: X:100.45, Y:-62.81, Z:-1.76 [[ 4.46614390e-01 -8.94714180e-01 -4.70359902e-03 1.00453827e+02] [-8.94665604e-01 -4.46639155e-01 9.32322339e-03 -6.28106144e+01] [-1.04424317e-02 4.42625316e-05 -9.99945475e-01 -1.76047683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.666559995 meters 0.014150525592310947 Centerline is valid? [True, True] Translation: X:100.48, Y:-62.92, Z:-1.76 [[ 5.14155104e-01 -8.57681688e-01 -5.16252345e-03 1.00484501e+02] [-8.57639105e-01 -5.14181020e-01 8.54659702e-03 -6.29236614e+01] [-9.98473133e-03 3.33055117e-05 -9.99950151e-01 -1.76064009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.696559995 meters 0.013739262546239613 Centerline is valid? [True, True] Translation: X:100.52, Y:-63.03, Z:-1.76 [[ 5.78840281e-01 -8.15423147e-01 -5.38703213e-03 1.00520703e+02] [-8.15388089e-01 -5.78865348e-01 7.56127280e-03 -6.30331144e+01] [-9.28400309e-03 1.57525601e-05 -9.99956903e-01 -1.76150168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.726559995 meters 0.013520023454934091 Centerline is valid? [True, True] Translation: X:100.56, Y:-63.13, Z:-1.76 [[ 6.39364276e-01 -7.68883360e-01 -5.63029586e-03 1.00563804e+02] [-7.68853675e-01 -6.39389066e-01 6.75634429e-03 -6.31345425e+01] [-8.79479031e-03 9.10848892e-06 -9.99961325e-01 -1.76245258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.756559995 meters 0.0134707882590472 Centerline is valid? [True, True] Translation: X:100.61, Y:-63.23, Z:-1.76 [[ 6.96210301e-01 -7.17813387e-01 -5.92950344e-03 1.00612957e+02] [-7.17787394e-01 -6.96235550e-01 6.10867616e-03 -6.32313890e+01] [-8.51322062e-03 3.19955107e-06 -9.99963762e-01 -1.76306092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.786559995 meters 0.013368413222207326 Centerline is valid? [True, True] Translation: X:100.67, Y:-63.32, Z:-1.76 [[ 7.48636880e-01 -6.62950540e-01 -6.27723135e-03 1.00665747e+02] [-6.62927265e-01 -7.48663197e-01 5.55516927e-03 -6.33197407e+01] [-8.38233455e-03 2.54321374e-06 -9.99964868e-01 -1.76343070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.816559995 meters 0.013414487251510033 Centerline is valid? [True, True] Translation: X:100.66, Y:-63.33, Z:-1.76 [[ 7.98393547e-01 -6.02097285e-01 -6.82660017e-03 1.00661833e+02] [-6.02075265e-01 -7.98422732e-01 5.14943846e-03 -6.33303752e+01] [-8.55097568e-03 -1.15132873e-06 -9.99963440e-01 -1.76360779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.846559995 meters 0.013539453617119696 Centerline is valid? [True, True] Translation: X:100.66, Y:-63.34, Z:-1.76 [[ 8.42823215e-01 -5.38142958e-01 -7.15435814e-03 1.00659919e+02] [-5.38123583e-01 -8.42853580e-01 4.56648014e-03 -6.33412672e+01] [-8.48749550e-03 1.19336278e-06 -9.99963981e-01 -1.76373204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.876559995 meters 0.01351556545532289 Centerline is valid? [True, True] Translation: X:100.66, Y:-63.35, Z:-1.76 [[ 8.82259187e-01 -4.70702945e-01 -7.58050426e-03 1.00659078e+02] [-4.70685608e-01 -8.82291753e-01 4.03989788e-03 -6.33531100e+01] [-8.58980822e-03 3.79723217e-06 -9.99963107e-01 -1.76375343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.906559995 meters 0.013889183687125297 Centerline is valid? [True, True] Translation: X:100.66, Y:-63.36, Z:-1.76 [[ 9.16073377e-01 -4.00912386e-01 -8.87848413e-03 1.00658591e+02] [-4.00893841e-01 -9.16116400e-01 3.85619397e-03 -6.33637117e+01] [-9.67972084e-03 2.67729683e-05 -9.99953150e-01 -1.76289421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.936559995 meters 0.014136596800549881 Centerline is valid? [True, True] Translation: X:100.66, Y:-63.37, Z:-1.76 [[ 9.44358180e-01 -3.28766587e-01 -1.00079873e-02 1.00660454e+02] [-3.28748672e-01 -9.44411208e-01 3.43244554e-03 -6.33729310e+01] [-1.05801288e-02 4.86545226e-05 -9.99944028e-01 -1.76238784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.966559995 meters 0.014385483479158431 Centerline is valid? [True, True] Translation: X:100.66, Y:-63.38, Z:-1.76 [[ 9.66851592e-01 -2.55103217e-01 -1.09703561e-02 1.00662629e+02] [-2.55087669e-01 -9.66913824e-01 2.81742361e-03 -6.33820416e+01] [-1.13261228e-02 7.43720719e-05 -9.99935855e-01 -1.76187754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.99655999499998 meters 0.014385483479158431 Centerline is valid? [True, True] Translation: X:100.67, Y:-63.39, Z:-1.76 [[ 9.83836641e-01 -1.78720695e-01 -1.11524510e-02 1.00665160e+02] [-1.78710072e-01 -9.83899846e-01 1.94998801e-03 -6.33908970e+01] [-1.13213980e-02 7.45856683e-05 -9.99935908e-01 -1.76192630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.02655999499999 meters 0.014641854292626861 Centerline is valid? [True, True] Translation: X:100.67, Y:-63.40, Z:-1.76 [[ 9.94680073e-01 -1.02317124e-01 -1.19482039e-02 1.00665548e+02] [-1.02310955e-01 -9.94751826e-01 1.12796484e-03 -6.33991129e+01] [-1.20009078e-02 1.00468011e-04 -9.99927981e-01 -1.76159865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.056559995 meters 0.015604017260811183 Centerline is valid? [True, True] Translation: X:100.67, Y:-63.41, Z:-1.76 [[ 9.99534061e-01 -2.78772885e-02 -1.24304941e-02 1.00666018e+02] [-2.78770631e-02 -9.99611341e-01 1.91431396e-04 -6.34055886e+01] [-1.24309995e-02 1.55183469e-04 -9.99922720e-01 -1.76158768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.086559995 meters 0.015690544905809452 Centerline is valid? [True, True] Translation: X:100.67, Y:-63.42, Z:-1.76 [[ 9.98765356e-01 4.81393826e-02 -1.22622730e-02 1.00667524e+02] [ 4.81335322e-02 -9.98840612e-01 -7.71956087e-04 -6.34158319e+01] [-1.22852177e-02 1.80776486e-04 -9.99924518e-01 -1.76196801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.116559995 meters 0.01727056879910924 Centerline is valid? [True, True] Translation: X:100.67, Y:-63.42, Z:-1.76 [[ 9.92215855e-01 1.23914665e-01 -1.23633853e-02 1.00668280e+02] [ 1.23902345e-01 -9.92292855e-01 -1.76046493e-03 -6.34228411e+01] [-1.24862463e-02 2.14908776e-04 -9.99922021e-01 -1.76171116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.146559995 meters 0.017721851245309013 Centerline is valid? [True, True] Translation: X:100.67, Y:-63.43, Z:-1.76 [[ 9.79988085e-01 1.98694353e-01 -1.19960970e-02 1.00669971e+02] [ 1.98676445e-01 -9.80061475e-01 -2.67857480e-03 -6.34301789e+01] [-1.22891303e-02 2.41629482e-04 -9.99924457e-01 -1.76239340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.176559995 meters 0.018967844978254485 Centerline is valid? [True, True] Translation: X:100.67, Y:-63.44, Z:-1.76 [[ 9.62873773e-01 2.69704581e-01 -1.15557588e-02 1.00672860e+02] [ 2.69681411e-01 -9.62943066e-01 -3.54788050e-03 -6.34370519e+01] [-1.20844175e-02 2.99787742e-04 -9.99926936e-01 -1.76272363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.206559995 meters 0.019486818212493807 Centerline is valid? [True, True] Translation: X:100.68, Y:-63.45, Z:-1.76 [[ 9.39605870e-01 3.42070270e-01 -1.13463345e-02 1.00676655e+02] [ 3.42041037e-01 -9.39674316e-01 -4.48431523e-03 -6.34457542e+01] [-1.21958101e-02 3.32576883e-04 -9.99925573e-01 -1.76288945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.236559995 meters 0.020218406237354575 Centerline is valid? [True, True] Translation: X:100.68, Y:-63.45, Z:-1.76 [[ 9.10924584e-01 4.12425946e-01 -1.10109753e-02 1.00680908e+02] [ 4.12390951e-01 -9.10991057e-01 -5.38490125e-03 -6.34534169e+01] [-1.22517730e-02 3.64412361e-04 -9.99924878e-01 -1.76311612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.266559995 meters 0.022412367957413432 Centerline is valid? [True, True] Translation: X:100.68, Y:-63.46, Z:-1.76 [[ 8.77758860e-01 4.78986623e-01 -1.05450669e-02 1.00683297e+02] [ 4.78946357e-01 -8.77822103e-01 -6.22438970e-03 -6.34592407e+01] [-1.22380922e-02 4.12991830e-04 -9.99925026e-01 -1.76329634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.296559995 meters 0.02307298283871891 Centerline is valid? [True, True] Translation: X:100.69, Y:-63.47, Z:-1.76 [[ 8.38415164e-01 5.44939901e-01 -1.00258128e-02 1.00687738e+02] [ 5.44894703e-01 -8.38474995e-01 -7.03176074e-03 -6.34657392e+01] [-1.22382803e-02 4.32522560e-04 -9.99925016e-01 -1.76346300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.326559995 meters 0.02304270211762845 Centerline is valid? [True, True] Translation: X:100.69, Y:-63.47, Z:-1.76 [[ 7.93858740e-01 6.08027929e-01 -9.50470616e-03 1.00694203e+02] [ 6.07977467e-01 -7.93915509e-01 -7.84634342e-03 -6.34733870e+01] [-1.23167296e-02 4.50241123e-04 -9.99924045e-01 -1.76379289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.356559995 meters 0.02178198572433046 Centerline is valid? [True, True] Translation: X:100.70, Y:-63.48, Z:-1.76 [[ 7.44204901e-01 6.67892922e-01 -8.83803158e-03 1.00703367e+02] [ 6.67838428e-01 -7.44257239e-01 -8.54378049e-03 -6.34838542e+01] [-1.22840995e-02 4.55946193e-04 -9.99924444e-01 -1.76446977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.386559995 meters 0.02538175985473296 Centerline is valid? [True, True] Translation: X:100.71, Y:-63.49, Z:-1.76 [[ 6.90018093e-01 7.23750307e-01 -7.77978797e-03 1.00707538e+02] [ 7.23697035e-01 -6.90061811e-01 -8.79197904e-03 -6.34891898e+01] [-1.17317321e-02 4.36415122e-04 -9.99931086e-01 -1.76498063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.416559995 meters 0.02250637534672423 Centerline is valid? [True, True] Translation: X:100.72, Y:-63.50, Z:-1.77 [[ 6.31120223e-01 7.75654180e-01 -6.91788276e-03 1.00718710e+02] [ 7.75600060e-01 -6.31157995e-01 -9.17239048e-03 -6.34990865e+01] [-1.14808800e-02 4.23370841e-04 -9.99934003e-01 -1.76673058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.446559995 meters 0.024956621984550453 Centerline is valid? [True, True] Translation: X:100.72, Y:-63.50, Z:-1.77 [[ 5.68017420e-01 8.22993704e-01 -6.12966005e-03 1.00723359e+02] [ 8.22937718e-01 -5.68050343e-01 -9.60833804e-03 -6.35045178e+01] [-1.13895572e-02 4.13374930e-04 -9.99935051e-01 -1.76651492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.476559995 meters 0.021180542569932646 Centerline is valid? [True, True] Translation: X:100.74, Y:-63.51, Z:-1.77 [[ 5.00797305e-01 8.65549055e-01 -5.18584317e-03 1.00739837e+02] [ 8.65494473e-01 -5.00824008e-01 -9.72778741e-03 -6.35138055e+01] [-1.10170720e-02 3.83331114e-04 -9.99939237e-01 -1.76840781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.506559995 meters 0.02076442217206705 Centerline is valid? [True, True] Translation: X:100.75, Y:-63.52, Z:-1.77 [[ 4.30866925e-01 9.02405496e-01 -4.24434161e-03 1.00752253e+02] [ 9.02353235e-01 -4.30887681e-01 -9.71830092e-03 -6.35196389e+01] [-1.05986827e-02 3.57399046e-04 -9.99943769e-01 -1.76927985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.536559995 meters 0.020763400837996732 Centerline is valid? [True, True] Translation: X:100.76, Y:-63.52, Z:-1.77 [[ 3.58083029e-01 9.33683890e-01 -3.30721107e-03 1.00764541e+02] [ 9.33635262e-01 -3.58098152e-01 -9.53468927e-03 -6.35237601e+01] [-1.00866919e-02 3.26481541e-04 -9.99949075e-01 -1.76963002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.566559995 meters 0.02011001643884164 Centerline is valid? [True, True] Translation: X:100.78, Y:-63.53, Z:-1.77 [[ 2.82207299e-01 9.59350510e-01 -2.37457000e-03 1.00780361e+02] [ 9.59307761e-01 -2.82217151e-01 -9.06091699e-03 -6.35275462e+01] [-9.36273971e-03 2.79113482e-04 -9.99956130e-01 -1.77033248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.596559995 meters 0.021754740502906492 Centerline is valid? [True, True] Translation: X:100.79, Y:-63.53, Z:-1.77 [[ 2.05626929e-01 9.78628948e-01 -1.71695542e-03 1.00790441e+02] [ 9.78582127e-01 -2.05633893e-01 -9.57724303e-03 -6.35306600e+01] [-9.72563150e-03 2.89157186e-04 -9.99952663e-01 -1.76996364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.626559995 meters 0.020300153747699567 Centerline is valid? [True, True] Translation: X:100.80, Y:-63.53, Z:-1.77 [[ 1.27874218e-01 9.91789914e-01 -9.75021369e-04 1.00804915e+02] [ 9.91741166e-01 -1.27877604e-01 -9.83755020e-03 -6.35323850e+01] [-9.88146646e-03 2.91000209e-04 -9.99951135e-01 -1.77031715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.656559995 meters 0.019932262053053144 Centerline is valid? [True, True] Translation: X:100.82, Y:-63.53, Z:-1.77 [[ 4.95340754e-02 9.98772413e-01 -2.04553946e-04 1.00820386e+02] [ 9.98719849e-01 -4.95335680e-02 -1.02512621e-02 -6.35325116e+01] [-1.02488101e-02 3.03494705e-04 -9.99947434e-01 -1.77074803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.686559995 meters 0.021319143370910804 Centerline is valid? [True, True] Translation: X:100.83, Y:-63.53, Z:-1.77 [[-2.90783322e-02 9.99576951e-01 6.08381171e-04 1.00830385e+02] [ 9.99523299e-01 2.90830775e-02 -1.03609195e-02 -6.35323114e+01] [-1.03742299e-02 3.06812896e-04 -9.99946139e-01 -1.77034539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.716559995 meters 0.021082532569554596 Centerline is valid? [True, True] Translation: X:100.84, Y:-63.53, Z:-1.77 [[-1.07115250e-01 9.94245459e-01 1.51341610e-03 1.00841404e+02] [ 9.94185548e-01 1.07125417e-01 -1.09198059e-02 -6.35307537e+01] [-1.10190927e-02 3.34938678e-04 -9.99939232e-01 -1.77063323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.74655999499998 meters 0.021356139190224763 Centerline is valid? [True, True] Translation: X:100.85, Y:-63.53, Z:-1.77 [[-1.84884433e-01 9.82756872e-01 2.58393770e-03 1.00853579e+02] [ 9.82687036e-01 1.84902114e-01 -1.17216980e-02 -6.35274723e+01] [-1.19973548e-02 3.72042600e-04 -9.99927960e-01 -1.77031592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.77655999499999 meters 0.021454034129067066 Centerline is valid? [True, True] Translation: X:100.86, Y:-63.52, Z:-1.77 [[-2.61665572e-01 9.65151612e-01 3.67342655e-03 1.00863074e+02] [ 9.65076446e-01 2.61691063e-01 -1.20516286e-02 -6.35234529e+01] [-1.25929517e-02 3.91641143e-04 -9.99920629e-01 -1.77031811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.806559995 meters 0.02112674322632895 Centerline is valid? [True, True] Translation: X:100.87, Y:-63.52, Z:-1.77 [[-3.36630541e-01 9.41625354e-01 4.64456265e-03 1.00873541e+02] [ 9.41551220e-01 3.36662350e-01 -1.18220653e-02 -6.35180870e+01] [-1.26956058e-02 3.93425410e-04 -9.99919330e-01 -1.77035286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.836559995 meters 0.019369595008225 Centerline is valid? [True, True] Translation: X:100.89, Y:-63.51, Z:-1.77 [[-4.09406073e-01 9.12335634e-01 5.50983457e-03 1.00887893e+02] [ 9.12265379e-01 4.09442963e-01 -1.13286527e-02 -6.35096142e+01] [-1.25914965e-02 3.88412125e-04 -9.99920649e-01 -1.77114427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.866559995 meters 0.019425304729788477 Centerline is valid? [True, True] Translation: X:100.90, Y:-63.50, Z:-1.77 [[-4.79873103e-01 8.77313712e-01 6.51579930e-03 1.00900664e+02] [ 8.77243733e-01 4.79917174e-01 -1.10878059e-02 -6.34997323e+01] [-1.28545281e-02 3.95204286e-04 -9.99917299e-01 -1.77135472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.896559995 meters 0.019442246479887758 Centerline is valid? [True, True] Translation: X:100.91, Y:-63.49, Z:-1.77 [[-5.47208795e-01 8.36964222e-01 7.30931332e-03 1.00910139e+02] [ 8.36898876e-01 5.47257471e-01 -1.04657394e-02 -6.34901870e+01] [-1.27595258e-02 3.90211445e-04 -9.99918518e-01 -1.77135909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.926559995 meters 0.020097191643969916 Centerline is valid? [True, True] Translation: X:100.92, Y:-63.48, Z:-1.77 [[-6.11328366e-01 7.91331289e-01 8.50999862e-03 1.00917760e+02] [ 7.91263805e-01 6.11387457e-01 -1.03425276e-02 -6.34810328e+01] [-1.33872721e-02 4.10973406e-04 -9.99910302e-01 -1.77109182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.956559995 meters 0.01868945568397549 Centerline is valid? [True, True] Translation: X:100.93, Y:-63.47, Z:-1.77 [[-6.71987829e-01 7.40494886e-01 9.98407929e-03 1.00929123e+02] [ 7.40422715e-01 6.72061851e-01 -1.03475415e-02 -6.34653723e+01] [-1.43722204e-02 4.39017150e-04 -9.99896618e-01 -1.77139152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.986559995 meters 0.018856025658261964 Centerline is valid? [True, True] Translation: X:100.94, Y:-63.45, Z:-1.77 [[-7.28462276e-01 6.84994004e-01 1.12217280e-02 1.00936583e+02] [ 6.84922138e-01 7.28548565e-01 -9.93242639e-03 -6.34534719e+01] [-1.49792264e-02 4.50612004e-04 -9.99887704e-01 -1.77097317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.016559995 meters 0.018901249740004355 Centerline is valid? [True, True] Translation: X:100.95, Y:-63.42, Z:-1.77 [[-7.75934403e-01 6.30696000e-01 1.21802646e-02 1.00949475e+02] [ 6.30627406e-01 7.76029863e-01 -9.31270449e-03 -6.34238515e+01] [-1.53257346e-02 4.55160893e-04 -9.99882450e-01 -1.77077731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.046559995 meters 0.01898816068054372 Centerline is valid? [True, True] Translation: X:100.97, Y:-63.40, Z:-1.77 [[-8.19412444e-01 5.73061996e-01 1.27747802e-02 1.00968292e+02] [ 5.73000469e-01 8.19511906e-01 -8.40827107e-03 -6.33991910e+01] [-1.52875450e-02 4.30113072e-04 -9.99883046e-01 -1.77040444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.076559995 meters 0.0183383165172732 Centerline is valid? [True, True] Translation: X:100.98, Y:-63.37, Z:-1.77 [[-8.58966097e-01 5.11864604e-01 1.31100107e-02 1.00977185e+02] [ 5.11811907e-01 8.59066047e-01 -7.35512588e-03 -6.33670307e+01] [-1.50271937e-02 3.92055823e-04 -9.99887008e-01 -1.77084340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.106559995 meters 0.017409088795382274 Centerline is valid? [True, True] Translation: X:100.99, Y:-63.33, Z:-1.77 [[-8.94880968e-01 4.46132833e-01 1.23914330e-02 1.00985486e+02] [ 4.46094604e-01 8.94966708e-01 -5.84773250e-03 -6.33323646e+01] [-1.36987855e-02 2.94726865e-04 -9.99906124e-01 -1.77198880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.136559995 meters 0.0162668206054597 Centerline is valid? [True, True] Translation: X:100.99, Y:-63.30, Z:-1.77 [[-9.25166403e-01 3.79350189e-01 1.26712540e-02 1.00988490e+02] [ 3.79318444e-01 9.25253137e-01 -4.91443968e-03 -6.32987797e+01] [-1.35884112e-02 2.59765872e-04 -9.99907640e-01 -1.77286457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.166559995 meters 0.01599235764944076 Centerline is valid? [True, True] Translation: X:100.99, Y:-63.27, Z:-1.77 [[-9.50441799e-01 3.10634907e-01 1.28972991e-02 1.00987652e+02] [ 3.10609543e-01 9.50529275e-01 -3.97599872e-03 -6.32655382e+01] [-1.34943443e-02 2.27068798e-04 -9.99908921e-01 -1.77271260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.196559995 meters 0.014867003421380897 Centerline is valid? [True, True] Translation: X:100.99, Y:-63.23, Z:-1.77 [[-9.71311004e-01 2.37438361e-01 1.33400799e-02 1.00988512e+02] [ 2.37418273e-01 9.71402593e-01 -3.09281069e-03 -6.32290586e+01] [-1.36929401e-02 1.63097663e-04 -9.99906234e-01 -1.77205339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.226559995 meters 0.014271521492263592 Centerline is valid? [True, True] Translation: X:100.98, Y:-63.19, Z:-1.77 [[-9.86167124e-01 1.65174501e-01 1.38487773e-02 1.00980061e+02] [ 1.65160089e-01 9.86264349e-01 -2.18585485e-03 -6.31948449e+01] [-1.40196028e-02 1.31647101e-04 -9.99901712e-01 -1.77149977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.256559995 meters 0.012557970084544687 Centerline is valid? [True, True] Translation: X:100.97, Y:-63.16, Z:-1.77 [[-9.95939494e-01 8.89560897e-02 1.38324971e-02 1.00972332e+02] [ 8.89482089e-02 9.96035547e-01 -1.18513326e-03 -6.31565471e+01] [-1.38830836e-02 5.00548202e-05 -9.99903624e-01 -1.77214173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.286559995 meters 0.012486035517073233 Centerline is valid? [True, True] Translation: X:100.96, Y:-63.13, Z:-1.77 [[-9.99787307e-01 1.50955642e-02 1.40522176e-02 1.00959118e+02] [ 1.50942505e-02 9.99886055e-01 -1.99553873e-04 -6.31250373e+01] [-1.40536288e-02 1.25962621e-05 -9.99901243e-01 -1.77100043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.316559995 meters 0.012226622305515408 Centerline is valid? [True, True] Translation: X:100.94, Y:-63.09, Z:-1.77 [[-9.98177839e-01 -5.86265397e-02 1.42804306e-02 1.00943248e+02] [-5.86208573e-02 9.98279985e-01 8.16538296e-04 -6.30943179e+01] [-1.43037389e-02 -2.20806544e-05 -9.99897696e-01 -1.77057726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.346559995 meters 0.012006111682390701 Centerline is valid? [True, True] Translation: X:100.91, Y:-62.64, Z:-2.76 [[-9.99932170e-01 -7.85892608e-04 1.16205997e-02 1.00907867e+02] [ 7.84111482e-04 -9.99999680e-01 -1.57828477e-04 -6.26353441e+01] [ 1.16207200e-02 -1.48705926e-04 9.99932466e-01 -2.76354861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.376559995 meters 0.011841817019567828 Centerline is valid? [True, True] Translation: X:100.88, Y:-63.09, Z:-1.77 [[-9.97619497e-01 -6.74578316e-02 1.43101187e-02 1.00876539e+02] [-6.74521212e-02 9.97722122e-01 8.81872611e-04 -6.30925769e+01] [-1.43370112e-02 -8.54745499e-05 -9.99897216e-01 -1.77101191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.406559995 meters 0.01187015712962705 Centerline is valid? [True, True] Translation: X:100.84, Y:-62.65, Z:-2.76 [[-9.99928360e-01 1.13552795e-04 1.19691841e-02 1.00838476e+02] [-1.14425553e-04 -9.99999991e-01 -7.22323223e-05 -6.26454095e+01] [ 1.19691758e-02 -7.35967281e-05 9.99928364e-01 -2.76368738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.436559995 meters 0.011821797153384678 Centerline is valid? [True, True] Translation: X:100.81, Y:-63.09, Z:-1.77 [[-9.97056127e-01 -7.53172954e-02 1.43661077e-02 1.00808481e+02] [-7.53114512e-02 9.97159609e-01 9.48133827e-04 -6.30918153e+01] [-1.43967132e-02 -1.36589779e-04 -9.99896353e-01 -1.77068870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.466559995 meters 0.011888826414871677 Centerline is valid? [True, True] Translation: X:100.79, Y:-63.06, Z:-1.77 [[-9.89144243e-01 -1.46269753e-01 1.41005577e-02 1.00794072e+02] [-1.46256863e-01 9.89244732e-01 1.94665102e-03 -6.30644854e+01] [-1.42336386e-02 -1.36784684e-04 -9.99898687e-01 -1.77056348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.49655999499998 meters 0.01176367529198794 Centerline is valid? [True, True] Translation: X:100.77, Y:-63.04, Z:-1.77 [[-9.76412981e-01 -2.15520603e-01 1.29830729e-02 1.00772017e+02] [-2.15503200e-01 9.76499286e-01 2.74152663e-03 -6.30399929e+01] [-1.32688169e-02 -1.21031556e-04 -9.99911958e-01 -1.77079756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.52655999499999 meters 0.011633910960891801 Centerline is valid? [True, True] Translation: X:100.74, Y:-63.02, Z:-1.77 [[-9.58752749e-01 -2.83962553e-01 1.25871124e-02 1.00741231e+02] [-2.83939535e-01 9.58835365e-01 3.61702611e-03 -6.30201643e+01] [-1.30960685e-02 -1.06145132e-04 -9.99914237e-01 -1.77166816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.556559995 meters 0.011816376942974199 Centerline is valid? [True, True] Translation: X:100.70, Y:-63.00, Z:-1.77 [[-9.36433121e-01 -3.50630769e-01 1.22912274e-02 1.00704199e+02] [-3.50601739e-01 9.36513778e-01 4.51255983e-03 -6.30047755e+01] [-1.30931461e-02 -8.36152095e-05 -9.99914278e-01 -1.77079761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.586559995 meters 0.011936569002433384 Centerline is valid? [True, True] Translation: X:100.65, Y:-63.00, Z:-1.77 [[-9.09393480e-01 -4.15774540e-01 1.16202240e-02 1.00652218e+02] [-4.15741391e-01 9.09467717e-01 5.25045155e-03 -6.29981073e+01] [-1.27512227e-02 -5.62816771e-05 -9.99918698e-01 -1.77112433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.616559995 meters 0.01276067988048212 Centerline is valid? [True, True] Translation: X:100.59, Y:-63.01, Z:-1.77 [[-8.78836481e-01 -4.76994528e-01 1.10752076e-02 1.00585395e+02] [-4.76956546e-01 8.78906264e-01 6.01939221e-03 -6.30060761e+01] [-1.26052865e-02 7.66868136e-06 -9.99920550e-01 -1.77074882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.646559995 meters 0.012947070163079678 Centerline is valid? [True, True] Translation: X:100.52, Y:-63.02, Z:-1.77 [[-8.42700325e-01 -5.38277370e-01 1.06600140e-02 1.00518201e+02] [-5.38233679e-01 8.42767745e-01 6.85819796e-03 -6.30159778e+01] [-1.26755287e-02 4.18271055e-05 -9.99919661e-01 -1.77160415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.676559995 meters 0.01337943602463854 Centerline is valid? [True, True] Translation: X:100.44, Y:-63.04, Z:-1.77 [[-8.01957262e-01 -5.97295005e-01 1.01600967e-02 1.00444441e+02] [-5.97245920e-01 8.02021616e-01 7.65766609e-03 -6.30364550e+01] [-1.27225029e-02 7.30446286e-05 -9.99919063e-01 -1.77189332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.706559995 meters 0.013499332149001899 Centerline is valid? [True, True] Translation: X:100.37, Y:-63.07, Z:-1.77 [[-7.56894284e-01 -6.53467303e-01 9.56691104e-03 1.00366539e+02] [-6.53413380e-01 7.56954736e-01 8.39538562e-03 -6.30660737e+01] [-1.27278286e-02 1.03271720e-04 -9.99918993e-01 -1.77257675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.736559995 meters 0.014550211433709442 Centerline is valid? [True, True] Translation: X:100.29, Y:-63.11, Z:-1.77 [[-7.08605867e-01 -7.05549631e-01 8.80019754e-03 1.00289875e+02] [-7.05492632e-01 7.08660495e-01 8.96935339e-03 -6.31063754e+01] [-1.25646763e-02 1.47261905e-04 -9.99921050e-01 -1.77286954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.766559995 meters 0.014996129304266394 Centerline is valid? [True, True] Translation: X:100.21, Y:-63.16, Z:-1.77 [[-6.54905662e-01 -7.55667002e-01 8.12127619e-03 1.00210736e+02] [-7.55605732e-01 6.54955994e-01 9.62415906e-03 -6.31550322e+01] [-1.25917379e-02 1.66433424e-04 -9.99920707e-01 -1.77313174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.796559995 meters 0.014518371935746132 Centerline is valid? [True, True] Translation: X:100.13, Y:-63.21, Z:-1.77 [[-5.97404410e-01 -8.01906879e-01 7.30266917e-03 1.00131792e+02] [-8.01843236e-01 5.97449014e-01 1.01044746e-02 -6.32110874e+01] [-1.24658202e-02 1.80861811e-04 -9.99922282e-01 -1.77408180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.826559995 meters 0.01548672823458081 Centerline is valid? [True, True] Translation: X:100.06, Y:-63.28, Z:-1.77 [[-5.37182340e-01 -8.43444892e-01 5.98739651e-03 1.00058054e+02] [-8.43388682e-01 5.37215675e-01 9.73910614e-03 -6.32775611e+01] [-1.14309226e-02 1.81973373e-04 -9.99934648e-01 -1.77428818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.856559995 meters 0.01548672823458081 Centerline is valid? [True, True] Translation: X:99.98, Y:-63.35, Z:-1.77 [[-4.71997578e-01 -8.81584310e-01 5.23367266e-03 9.99846915e+01] [-8.81525782e-01 4.72026559e-01 1.01599039e-02 -6.33517006e+01] [-1.14272444e-02 1.81832669e-04 -9.99934690e-01 -1.77444407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.886559995 meters 0.015976562403488603 Centerline is valid? [True, True] Translation: X:99.92, Y:-63.43, Z:-1.77 [[-4.04891790e-01 -9.14353957e-01 4.41347982e-03 9.99177553e+01] [-9.14294398e-01 4.04915799e-01 1.04379189e-02 -6.34336966e+01] [-1.13310402e-02 1.91007806e-04 -9.99935783e-01 -1.77472535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.916559995 meters 0.016110210062235533 Centerline is valid? [True, True] Translation: X:99.86, Y:-63.52, Z:-1.78 [[-3.35033481e-01 -9.42199629e-01 3.52495867e-03 9.98564810e+01] [-9.42141359e-01 3.35051970e-01 1.04803306e-02 -6.35216579e+01] [-1.10556080e-02 1.90252294e-04 -9.99938867e-01 -1.77518362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.946559995 meters 0.016093400189446588 Centerline is valid? [True, True] Translation: X:99.80, Y:-63.62, Z:-1.78 [[-2.63310702e-01 -9.64707467e-01 2.64134621e-03 9.98003486e+01] [-9.64651497e-01 2.63323882e-01 1.03933802e-02 -6.36193226e+01] [-1.07221010e-02 1.88709649e-04 -9.99942499e-01 -1.77572972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.976559995 meters 0.016117837686139065 Centerline is valid? [True, True] Translation: X:99.75, Y:-63.72, Z:-1.78 [[-1.89514749e-01 -9.81876342e-01 1.73464247e-03 9.97527758e+01] [-9.81826468e-01 1.89522609e-01 9.89781283e-03 -6.37170440e+01] [-1.00471822e-02 1.72663630e-04 -9.99949511e-01 -1.77658214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.006559995 meters 0.01597613640926139 Centerline is valid? [True, True] Translation: X:99.71, Y:-63.82, Z:-1.78 [[-1.14183873e-01 -9.93459166e-01 9.63202000e-04 9.97107479e+01] [-9.93410492e-01 1.14187814e-01 9.83551846e-03 -6.38229804e+01] [-9.88117191e-03 1.66202616e-04 -9.99951166e-01 -1.77684217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.036559995 meters 0.0161051268674903 Centerline is valid? [True, True] Translation: X:99.68, Y:-63.93, Z:-1.78 [[-3.76749373e-02 -9.99290025e-01 2.10535779e-04 9.96774131e+01] [-9.99242766e-01 3.76752034e-02 9.71973919e-03 -6.39305522e+01] [-9.72077040e-03 1.55814211e-04 -9.99952740e-01 -1.77697086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.066559995 meters 0.014543144265333019 Centerline is valid? [True, True] Translation: X:99.65, Y:-64.04, Z:-1.78 [[ 4.04871743e-02 -9.99179924e-01 -5.18141054e-04 9.96498354e+01] [-9.99134400e-01 -4.04902762e-02 9.53875308e-03 -6.40434156e+01] [-9.55191026e-03 1.31495392e-04 -9.99954371e-01 -1.77811161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.096559995 meters 0.014256713729508064 Centerline is valid? [True, True] Translation: X:99.63, Y:-64.16, Z:-1.78 [[ 1.17885827e-01 -9.93026432e-01 -1.19881469e-03 9.96330627e+01] [-9.92984114e-01 -1.17891872e-01 9.16818496e-03 -6.41564519e+01] [-9.24558050e-03 1.09604878e-04 -9.99957253e-01 -1.77844023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.126559995 meters 0.014807427098910345 Centerline is valid? [True, True] Translation: X:99.63, Y:-64.27, Z:-1.78 [[ 1.94497733e-01 -9.80901312e-01 -1.80217085e-03 9.96259865e+01] [-9.80863204e-01 -1.94506063e-01 8.64676199e-03 -6.42685815e+01] [-8.83215333e-03 8.59074676e-05 -9.99960992e-01 -1.77816718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.156559995 meters 0.013415421950152316 Centerline is valid? [True, True] Translation: X:99.63, Y:-64.38, Z:-1.78 [[ 2.72547802e-01 -9.62138884e-01 -2.54249884e-03 9.96252161e+01] [-9.62098815e-01 -2.72559655e-01 8.78096627e-03 -6.43848581e+01] [-9.14149169e-03 5.29020681e-05 -9.99958214e-01 -1.77831975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.186559995 meters 0.013131275765321245 Centerline is valid? [True, True] Translation: X:99.63, Y:-64.50, Z:-1.78 [[ 3.46634210e-01 -9.37994526e-01 -3.31554977e-03 9.96331690e+01] [-9.37952704e-01 -3.46650064e-01 8.85768764e-03 -6.44973906e+01] [-9.45779806e-03 3.94513110e-05 -9.99955273e-01 -1.77803336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.216559995 meters 0.012470749626078947 Centerline is valid? [True, True] Translation: X:99.65, Y:-64.61, Z:-1.78 [[ 4.18527526e-01 -9.08194871e-01 -4.09722785e-03 9.96480732e+01] [-9.08151931e-01 -4.18547580e-01 8.83138200e-03 -6.46071012e+01] [-9.73550063e-03 2.47289298e-05 -9.99952609e-01 -1.77862377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.24655999499998 meters 0.012250069420497918 Centerline is valid? [True, True] Translation: X:99.67, Y:-64.71, Z:-1.78 [[ 4.87406274e-01 -8.73162796e-01 -4.67492156e-03 9.96711790e+01] [-8.73122798e-01 -4.87428693e-01 8.35759216e-03 -6.47126200e+01] [-9.57622945e-03 8.23773591e-06 -9.99954147e-01 -1.77869922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.27655999499999 meters 0.011971054478872464 Centerline is valid? [True, True] Translation: X:99.70, Y:-64.82, Z:-1.78 [[ 5.54041038e-01 -8.32473837e-01 -5.08324869e-03 9.97019595e+01] [-8.32438501e-01 -5.54064356e-01 7.67014139e-03 -6.48151510e+01] [-9.20163894e-03 -1.80811749e-05 -9.99957664e-01 -1.77871758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.306559995 meters 0.011988356839824814 Centerline is valid? [True, True] Translation: X:99.74, Y:-64.91, Z:-1.78 [[ 6.15751016e-01 -7.87922069e-01 -5.43131261e-03 9.97398861e+01] [-7.87891046e-01 -6.15774969e-01 6.99199877e-03 -6.49124437e+01] [-8.85361649e-03 -2.60477711e-05 -9.99960806e-01 -1.77862824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.336559995 meters 0.011930193807474999 Centerline is valid? [True, True] Translation: X:99.78, Y:-65.01, Z:-1.78 [[ 6.73386944e-01 -7.39266378e-01 -5.93676302e-03 9.97841745e+01] [-7.39237310e-01 -6.73413113e-01 6.55578639e-03 -6.50057538e+01] [-8.84436653e-03 -2.59042396e-05 -9.99960887e-01 -1.77895912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.366559995 meters 0.012023490379764641 Centerline is valid? [True, True] Translation: X:99.83, Y:-65.09, Z:-1.78 [[ 7.26189276e-01 -6.87468806e-01 -5.98132373e-03 9.98309205e+01] [-6.87445272e-01 -7.26213909e-01 5.68828729e-03 -6.50886936e+01] [-8.25424055e-03 -1.89405060e-05 -9.99965933e-01 -1.77944924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.396559995 meters 0.01215693037562484 Centerline is valid? [True, True] Translation: X:99.83, Y:-65.10, Z:-1.78 [[ 7.76994757e-01 -6.29478821e-01 -5.96327796e-03 9.98349709e+01] [-6.29460098e-01 -7.77017640e-01 4.85504900e-03 -6.51004360e+01] [-7.68972269e-03 -1.87020933e-05 -9.99970433e-01 -1.77990366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.426559995 meters 0.012388803176309136 Centerline is valid? [True, True] Translation: X:99.84, Y:-65.11, Z:-1.78 [[ 8.22984086e-01 -5.68031730e-01 -6.09486576e-03 9.98405995e+01] [-5.68016062e-01 -8.23006654e-01 4.21906620e-03 -6.51112151e+01] [-7.41267856e-03 -1.02426924e-05 -9.99972526e-01 -1.77996399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.456559995 meters 0.01235122682966796 Centerline is valid? [True, True] Translation: X:99.85, Y:-65.13, Z:-1.78 [[ 8.64105726e-01 -5.03272464e-01 -6.17416792e-03 9.98453582e+01] [-5.03259599e-01 -8.64127784e-01 3.59849868e-03 -6.51250667e+01] [-7.14629534e-03 -2.27403915e-06 -9.99974465e-01 -1.78072497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.486559995 meters 0.012514908453002406 Centerline is valid? [True, True] Translation: X:99.85, Y:-65.14, Z:-1.78 [[ 9.00183233e-01 -4.35468869e-01 -6.08365459e-03 9.98510112e+01] [-4.35458943e-01 -9.00203790e-01 2.94021613e-03 -6.51381356e+01] [-6.75690152e-03 2.44854029e-06 -9.99977172e-01 -1.78076731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.516559995 meters 0.014501210405116344 Centerline is valid? [True, True] Translation: X:99.86, Y:-65.14, Z:-1.78 [[ 9.30519097e-01 -3.66183344e-01 -6.63087716e-03 9.98580289e+01] [-3.66174250e-01 -9.30542722e-01 2.58088239e-03 -6.51444566e+01] [-7.11539063e-03 2.64961211e-05 -9.99974685e-01 -1.77940978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.546559995 meters 0.013847945525751604 Centerline is valid? [True, True] Translation: X:99.87, Y:-65.16, Z:-1.78 [[ 9.55946033e-01 -2.93447175e-01 -7.47915068e-03 9.98655272e+01] [-2.93438586e-01 -9.55975289e-01 2.24577848e-03 -6.51554438e+01] [-7.80890058e-03 4.78283721e-05 -9.99969509e-01 -1.77983358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.576559995 meters 0.013652933489370042 Centerline is valid? [True, True] Translation: X:99.87, Y:-65.17, Z:-1.78 [[ 9.75808947e-01 -2.18450004e-01 -8.74610463e-03 9.98728114e+01] [-2.18441915e-01 -9.75848139e-01 1.88139497e-03 -6.51657106e+01] [-8.94586066e-03 7.46337938e-05 -9.99959982e-01 -1.77931114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.606559995 meters 0.013932047109271765 Centerline is valid? [True, True] Translation: X:99.88, Y:-65.18, Z:-1.78 [[ 9.89761729e-01 -1.42298535e-01 -1.10836719e-02 9.98805940e+01] [-1.42291045e-01 -9.89823778e-01 1.46549625e-03 -6.51753998e+01] [-1.11794199e-02 1.26615148e-04 -9.99937500e-01 -1.77763043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.636559995 meters 0.014507594025552602 Centerline is valid? [True, True] Translation: X:99.88, Y:-65.18, Z:-1.78 [[ 9.97854960e-01 -6.43625442e-02 -1.19558124e-02 9.98849895e+01] [-6.43596354e-02 -9.97926572e-01 6.28285886e-04 -6.51830431e+01] [-1.19714609e-02 1.42533539e-04 -9.99928329e-01 -1.77667922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.666559995 meters 0.01470912692423952 Centerline is valid? [True, True] Translation: X:99.89, Y:-65.19, Z:-1.78 [[ 9.99830898e-01 1.34773240e-02 -1.25114502e-02 9.98904012e+01] [ 1.34742721e-02 -9.99909164e-01 -3.28188305e-04 -6.51891145e+01] [-1.25147368e-02 1.59550123e-04 -9.99921675e-01 -1.77668738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.696559995 meters 0.014929659351349746 Centerline is valid? [True, True] Translation: X:99.90, Y:-65.19, Z:-1.78 [[ 9.95836767e-01 9.03214078e-02 -1.22954292e-02 9.98970096e+01] [ 9.03123676e-02 -9.95912653e-01 -1.28964800e-03 -6.51933421e+01] [-1.23616564e-02 1.73849568e-04 -9.99923577e-01 -1.77784739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.726559995 meters 0.014848756175186084 Centerline is valid? [True, True] Translation: X:99.90, Y:-65.20, Z:-1.78 [[ 9.85909345e-01 1.66830862e-01 -1.22567271e-02 9.99033040e+01] [ 1.66815557e-01 -9.85985511e-01 -2.26779172e-03 -6.52006393e+01] [-1.24632930e-02 1.91224287e-04 -9.99922312e-01 -1.77867334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.756559995 meters 0.015623467107776397 Centerline is valid? [True, True] Translation: X:99.91, Y:-65.21, Z:-1.78 [[ 9.70216271e-01 2.41939716e-01 -1.20648927e-02 9.99086975e+01] [ 2.41918286e-01 -9.70291260e-01 -3.22714099e-03 -6.52054698e+01] [-1.24872335e-02 2.12306529e-04 -9.99922009e-01 -1.77869615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.786559995 meters 0.016054187611053608 Centerline is valid? [True, True] Translation: X:99.92, Y:-65.21, Z:-1.78 [[ 9.48881833e-01 3.15413122e-01 -1.17400918e-02 9.99156681e+01] [ 3.15385915e-01 -9.48954429e-01 -4.14931579e-03 -6.52102901e+01] [-1.24495608e-02 2.34550757e-04 -9.99922474e-01 -1.77892173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.816559995 meters 0.01726137429686682 Centerline is valid? [True, True] Translation: X:99.92, Y:-65.21, Z:-1.78 [[ 9.22086278e-01 3.86807785e-01 -1.16890191e-02 9.99211229e+01] [ 3.86772972e-01 -9.22160324e-01 -5.19651476e-03 -6.52131726e+01] [-1.27892020e-02 2.70638291e-04 -9.99918178e-01 -1.77895987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.846559995 meters 0.01880795711215786 Centerline is valid? [True, True] Translation: X:99.92, Y:-65.21, Z:-1.78 [[ 8.90589858e-01 4.54660141e-01 -1.15698774e-02 9.99248709e+01] [ 4.54616966e-01 -8.90664948e-01 -6.27417735e-03 -6.52132362e+01] [-1.31575026e-02 3.27856162e-04 -9.99913383e-01 -1.77971461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.876559995 meters 0.017943950916789346 Centerline is valid? [True, True] Translation: X:99.93, Y:-65.22, Z:-1.78 [[ 8.52817779e-01 5.22098439e-01 -1.07263658e-02 9.99332011e+01] [ 5.22052246e-01 -8.52885169e-01 -6.95280074e-03 -6.52189776e+01] [-1.27784048e-02 3.29748716e-04 -9.99918298e-01 -1.78097655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.906559995 meters 0.01711685220168969 Centerline is valid? [True, True] Translation: X:99.94, Y:-65.23, Z:-1.78 [[ 8.09458456e-01 5.87088870e-01 -1.01816987e-02 9.99439046e+01] [ 5.87037191e-01 -8.09522419e-01 -7.79669596e-03 -6.52263017e+01] [-1.28196668e-02 3.34065636e-04 -9.99917769e-01 -1.78208341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.936559995 meters 0.01700647447505827 Centerline is valid? [True, True] Translation: X:99.95, Y:-65.23, Z:-1.78 [[ 7.60054543e-01 6.49787777e-01 -9.64033937e-03 9.99524049e+01] [ 6.49730128e-01 -7.60115611e-01 -8.66132867e-03 -6.52314747e+01] [-1.29557980e-02 3.19463275e-04 -9.99916019e-01 -1.78295102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.966559995 meters 0.016407878751025805 Centerline is valid? [True, True] Translation: X:99.96, Y:-65.24, Z:-1.78 [[ 7.05628453e-01 7.08525576e-01 -8.94393926e-03 9.99633736e+01] [ 7.08463267e-01 -7.05685071e-01 -9.40103790e-03 -6.52366785e+01] [-1.29724802e-02 2.97187402e-04 -9.99915810e-01 -1.78339013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.99655999499998 meters 0.01622506974704807 Centerline is valid? [True, True] Translation: X:99.97, Y:-65.24, Z:-1.78 [[ 6.46263438e-01 7.63069083e-01 -8.31517304e-03 9.99731418e+01] [ 7.63000410e-01 -6.46316872e-01 -1.02408920e-02 -6.52411854e+01] [-1.31887447e-02 2.73833669e-04 -9.99912987e-01 -1.78336841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.02655999499999 meters 0.015378733136750554 Centerline is valid? [True, True] Translation: X:99.99, Y:-65.24, Z:-1.78 [[ 5.82576520e-01 8.12740011e-01 -7.63362791e-03 9.99855750e+01] [ 8.12664576e-01 -5.82626478e-01 -1.10758556e-02 -6.52446253e+01] [-1.34493447e-02 2.48954433e-04 -9.99909522e-01 -1.78349623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.056559995 meters 0.013624625275318802 Centerline is valid? [True, True] Translation: X:100.00, Y:-65.25, Z:-1.78 [[ 5.12825589e-01 8.58463876e-01 -7.04900405e-03 1.00001875e+02] [ 8.58377534e-01 -5.12873996e-01 -1.21767142e-02 -6.52488474e+01] [-1.40685202e-02 1.93823932e-04 -9.99901015e-01 -1.78379246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.086559995 meters 0.013508570921222957 Centerline is valid? [True, True] Translation: X:100.01, Y:-65.25, Z:-1.78 [[ 4.42420109e-01 8.96786173e-01 -6.24551724e-03 1.00013852e+02] [ 8.96691131e-01 -4.42464155e-01 -1.30570918e-02 -6.52511524e+01] [-1.44728369e-02 1.76420058e-04 -9.99895247e-01 -1.78336977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.116559995 meters 0.013282717806511376 Centerline is valid? [True, True] Translation: X:100.03, Y:-65.25, Z:-1.78 [[ 3.69436048e-01 9.29240469e-01 -5.39973993e-03 1.00025596e+02] [ 9.29134636e-01 -3.69475471e-01 -1.40251169e-02 -6.52507532e+01] [-1.50277777e-02 1.64298369e-04 -9.99887063e-01 -1.78279949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.146559995 meters 0.012945435728173365 Centerline is valid? [True, True] Translation: X:100.04, Y:-65.25, Z:-1.78 [[ 2.94479406e-01 9.55647584e-01 -4.42431064e-03 1.00037728e+02] [ 9.55531659e-01 -2.94512599e-01 -1.48854885e-02 -6.52500345e+01] [-1.55282963e-02 1.55900930e-04 -9.99879417e-01 -1.78257109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.176559995 meters 0.012896736310409091 Centerline is valid? [True, True] Translation: X:100.05, Y:-65.25, Z:-1.78 [[ 2.18804102e-01 9.75763574e-01 -3.19575128e-03 1.00048640e+02] [ 9.75649093e-01 -2.18827385e-01 -1.49473641e-02 -6.52486672e+01] [-1.52844113e-02 1.52612743e-04 -9.99883175e-01 -1.78288399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.206559995 meters 0.013046520728064908 Centerline is valid? [True, True] Translation: X:100.06, Y:-65.25, Z:-1.78 [[ 1.42334193e-01 9.89816694e-01 -1.97213931e-03 1.00059302e+02] [ 9.89705850e-01 -1.42347769e-01 -1.48135887e-02 -6.52459945e+01] [-1.49434670e-02 1.56642379e-04 -9.99888328e-01 -1.78331096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.236559995 meters 0.013315831996346528 Centerline is valid? [True, True] Translation: X:100.07, Y:-65.24, Z:-1.78 [[ 6.49514332e-02 9.97888121e-01 -7.81118342e-04 1.00068221e+02] [ 9.97783881e-01 -6.49559390e-02 -1.44240554e-02 -6.52431694e+01] [-1.44443318e-02 1.57475780e-04 -9.99895663e-01 -1.78374634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.266559995 meters 0.013715454870459522 Centerline is valid? [True, True] Translation: X:100.08, Y:-65.24, Z:-1.78 [[-1.16460289e-02 9.99932132e-01 3.19117224e-04 1.00075876e+02] [ 9.99842807e-01 1.16492542e-02 -1.33662024e-02 -6.52391977e+01] [-1.33690127e-02 1.63403882e-04 -9.99910617e-01 -1.78439702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.296559995 meters 0.014114487287796797 Centerline is valid? [True, True] Translation: X:100.08, Y:-65.24, Z:-1.78 [[-8.89036615e-02 9.96039363e-01 1.31421644e-03 1.00083300e+02] [ 9.95956665e-01 8.89132165e-02 -1.28359189e-02 -6.52352248e+01] [-1.29019317e-02 1.67742438e-04 -9.99916753e-01 -1.78474126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.326559995 meters 0.014265657815763859 Centerline is valid? [True, True] Translation: X:100.09, Y:-65.23, Z:-1.78 [[-1.66179659e-01 9.86092888e-01 2.26664647e-03 1.00090218e+02] [ 9.86014492e-01 1.66195031e-01 -1.24351336e-02 -6.52308941e+01] [-1.26389022e-02 1.68480013e-04 -9.99920112e-01 -1.78486314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.356559995 meters 0.014394095176361251 Centerline is valid? [True, True] Translation: X:100.10, Y:-65.23, Z:-1.78 [[-2.42586619e-01 9.70124461e-01 3.20349866e-03 1.00096695e+02] [ 9.70048928e-01 2.42607710e-01 -1.21068687e-02 -6.52253617e+01] [-1.25223629e-02 1.70586100e-04 -9.99921578e-01 -1.78487073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.386559995 meters 0.014307943914195232 Centerline is valid? [True, True] Translation: X:100.10, Y:-65.22, Z:-1.78 [[-3.18487122e-01 9.47918443e-01 4.07157656e-03 1.00103065e+02] [ 9.47847216e-01 3.18513108e-01 -1.16213449e-02 -6.52194542e+01] [-1.23129376e-02 1.57983828e-04 -9.99924180e-01 -1.78468985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.416559995 meters 0.01381871339227315 Centerline is valid? [True, True] Translation: X:100.11, Y:-65.21, Z:-1.78 [[-3.92553681e-01 9.19714983e-01 5.09477518e-03 1.00111470e+02] [ 9.19642522e-01 3.92586711e-01 -1.15457880e-02 -6.52116131e+01] [-1.26189753e-02 1.53030297e-04 -9.99920366e-01 -1.78439303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.446559995 meters 0.01422357714031643 Centerline is valid? [True, True] Translation: X:100.12, Y:-65.21, Z:-1.78 [[-4.64555076e-01 8.85522559e-01 6.19507604e-03 1.00118085e+02] [ 8.85447935e-01 4.64596359e-01 -1.14968526e-02 -6.52058001e+01] [-1.30589321e-02 1.44496075e-04 -9.99914718e-01 -1.78313987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.476559995 meters 0.012715160785808827 Centerline is valid? [True, True] Translation: X:100.13, Y:-65.19, Z:-1.78 [[-5.35034138e-01 8.44797739e-01 7.43315718e-03 1.00127869e+02] [ 8.44719193e-01 5.35085757e-01 -1.15203440e-02 -6.51948154e+01] [-1.37097371e-02 1.15153200e-04 -9.99906011e-01 -1.78346426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.506559995 meters 0.012507057303157093 Centerline is valid? [True, True] Translation: X:100.13, Y:-65.19, Z:-1.78 [[-6.00643749e-01 7.99473427e-01 8.32621347e-03 1.00134408e+02] [ 7.99398847e-01 6.00701449e-01 -1.09203322e-02 -6.51854508e+01] [-1.37320839e-02 9.67361793e-05 -9.99905706e-01 -1.78319089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.536559995 meters 0.012514205216109194 Centerline is valid? [True, True] Translation: X:100.14, Y:-65.18, Z:-1.78 [[-6.62109634e-01 7.49354623e-01 8.85899881e-03 1.00139701e+02] [ 7.49289147e-01 6.62168893e-01 -9.90612203e-03 -6.51771464e+01] [-1.32893518e-02 7.90128386e-05 -9.99911690e-01 -1.78280199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.566559995 meters 0.012465785762517983 Centerline is valid? [True, True] Translation: X:100.14, Y:-65.17, Z:-1.78 [[-7.18764979e-01 6.95182671e-01 9.89741955e-03 1.00143191e+02] [ 6.95118381e-01 7.18833115e-01 -9.45458220e-03 -6.51679097e+01] [-1.36872546e-02 8.42556794e-05 -9.99906322e-01 -1.78252318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.596559995 meters 0.012625174975460963 Centerline is valid? [True, True] Translation: X:100.16, Y:-65.14, Z:-1.78 [[-7.65532280e-01 6.43313765e-01 1.03792218e-02 1.00157253e+02] [ 6.43256482e-01 7.65602631e-01 -8.58541041e-03 -6.51442989e+01] [-1.34694722e-02 1.04092903e-04 -9.99909277e-01 -1.78250649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.626559995 meters 0.01303218555360791 Centerline is valid? [True, True] Translation: X:100.17, Y:-65.12, Z:-1.78 [[-8.08069517e-01 5.88987236e-01 1.08485959e-02 1.00170635e+02] [ 5.88936278e-01 8.08142326e-01 -7.74857222e-03 -6.51211593e+01] [-1.33310196e-02 1.27746656e-04 -9.99911130e-01 -1.78247237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.656559995 meters 0.013077714965525839 Centerline is valid? [True, True] Translation: X:100.18, Y:-65.10, Z:-1.78 [[-8.46544596e-01 5.32201416e-01 1.11310507e-02 1.00183647e+02] [ 5.32157785e-01 8.46617759e-01 -6.81632780e-03 -6.50975831e+01] [-1.30514045e-02 1.53149831e-04 -9.99914815e-01 -1.78313650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.686559995 meters 0.01503279967522474 Centerline is valid? [True, True] Translation: X:100.19, Y:-65.08, Z:-1.78 [[-8.79260421e-01 4.76230062e-01 1.02975889e-02 1.00194563e+02] [ 4.76200036e-01 8.79320697e-01 -5.35137180e-03 -6.50790010e+01] [-1.16033672e-02 1.98462788e-04 -9.99932659e-01 -1.78372751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.716559995 meters 0.015234413323469384 Centerline is valid? [True, True] Translation: X:100.20, Y:-65.05, Z:-1.78 [[-9.09522782e-01 4.15526912e-01 1.02807266e-02 1.00201238e+02] [ 4.15503143e-01 9.09580857e-01 -4.45008586e-03 -6.50526125e+01] [-1.12002825e-02 2.24219725e-04 -9.99937250e-01 -1.78488917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.74655999499998 meters 0.016388089907633376 Centerline is valid? [True, True] Translation: X:100.21, Y:-65.03, Z:-1.78 [[-9.35696718e-01 3.52672993e-01 9.66499189e-03 1.00208170e+02] [ 3.52656686e-01 9.35746605e-01 -3.39912154e-03 -6.50282271e+01] [-1.02427617e-02 2.27877140e-04 -9.99947516e-01 -1.78479438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.77655999499999 meters 0.016388089907633376 Centerline is valid? [True, True] Translation: X:100.21, Y:-65.00, Z:-1.78 [[-9.58370100e-01 2.85357934e-01 9.87931763e-03 1.00211194e+02] [ 2.85345216e-01 9.58420992e-01 -2.70370140e-03 -6.49996246e+01] [-1.02400680e-02 2.27869444e-04 -9.99947543e-01 -1.78482446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.806559995 meters 0.019441098766710123 Centerline is valid? [True, True] Translation: X:100.36, Y:-64.43, Z:-2.76 [[-9.57401027e-01 -2.88683126e-01 6.73250407e-03 1.00363789e+02] [ 2.88673623e-01 -9.57424645e-01 -2.36405399e-03 -6.44319749e+01] [ 7.12832781e-03 -3.19851376e-04 9.99974542e-01 -2.76099753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.836559995 meters 0.01792872433670028 Centerline is valid? [True, True] Translation: X:100.16, Y:-64.99, Z:-1.79 [[-9.57707603e-01 2.87603505e-01 8.96500899e-03 1.00162786e+02] [ 2.87593407e-01 9.57749528e-01 -2.42374275e-03 -6.49927403e+01] [-9.28331004e-03 2.57040615e-04 -9.99956876e-01 -1.78544320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.866559995 meters 0.019736485390467757 Centerline is valid? [True, True] Translation: X:100.32, Y:-64.42, Z:-2.76 [[-9.59175314e-01 -2.82723939e-01 7.06335652e-03 1.00319153e+02] [ 2.82713902e-01 -9.59201272e-01 -2.40198328e-03 -6.44194181e+01] [ 7.45427874e-03 -3.07013986e-04 9.99972169e-01 -2.76131430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.896559995 meters 0.01868305897336858 Centerline is valid? [True, True] Translation: X:100.12, Y:-64.98, Z:-1.78 [[-9.58484236e-01 2.84988821e-01 9.45203798e-03 1.00118338e+02] [ 2.84977893e-01 9.58530798e-01 -2.51208015e-03 -6.49840516e+01] [-9.77598426e-03 2.85832636e-04 -9.99952173e-01 -1.78448952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.926559995 meters 0.018897008749392284 Centerline is valid? [True, True] Translation: X:100.12, Y:-64.96, Z:-1.78 [[-9.76541720e-01 2.15063857e-01 1.06679780e-02 1.00116863e+02] [ 2.15054519e-01 9.76599938e-01 -2.02841913e-03 -6.49552640e+01] [-1.08545863e-02 3.13360979e-04 -9.99941038e-01 -1.78371983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.956559995 meters 0.018486837230680654 Centerline is valid? [True, True] Translation: X:100.23, Y:-64.37, Z:-2.76 [[-9.77142074e-01 -2.12429828e-01 8.18136815e-03 1.00225349e+02] [ 2.12419060e-01 -9.77176248e-01 -2.17330928e-03 -6.43696419e+01] [ 8.45631434e-03 -3.85753402e-04 9.99964170e-01 -2.76262338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.986559995 meters 0.016934704057922814 Centerline is valid? [True, True] Translation: X:100.07, Y:-64.94, Z:-1.78 [[-9.78025320e-01 2.08232564e-01 1.02796927e-02 1.00065147e+02] [ 2.08223932e-01 9.78079305e-01 -1.91485912e-03 -6.49425508e+01] [-1.04530907e-02 2.67697327e-04 -9.99945329e-01 -1.78359536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.016559995 meters 0.01766812994111741 Centerline is valid? [True, True] Translation: X:100.06, Y:-64.91, Z:-1.78 [[-9.90653203e-01 1.35999920e-01 1.05001666e-02 1.00060734e+02] [ 1.35994930e-01 9.90708817e-01 -1.19113338e-03 -6.49139445e+01] [-1.05646017e-02 2.47969322e-04 -9.99944162e-01 -1.78323462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.046559995 meters 0.01561422394309738 Centerline is valid? [True, True] Translation: X:100.12, Y:-64.33, Z:-2.76 [[-9.89201007e-01 -1.46384149e-01 7.28339363e-03 1.00119741e+02] [ 1.46377422e-01 -9.89227752e-01 -1.45117517e-03 -6.43303572e+01] [ 7.41736415e-03 -3.69379555e-04 9.99972423e-01 -2.76213387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.076559995 meters 0.014759270178343433 Centerline is valid? [True, True] Translation: X:100.00, Y:-64.90, Z:-1.78 [[-9.91968759e-01 1.26115161e-01 9.64096538e-03 9.99982452e+01] [ 1.26110826e-01 9.92015594e-01 -1.05866782e-03 -6.49027473e+01] [-9.69750206e-03 1.65664706e-04 -9.99952964e-01 -1.78460238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.106559995 meters 0.014322910940166748 Centerline is valid? [True, True] Translation: X:99.99, Y:-64.87, Z:-1.78 [[-9.98493856e-01 5.40333237e-02 9.50888694e-03 9.99939200e+01] [ 5.40323024e-02 9.98539122e-01 -3.64465129e-04 -6.48733423e+01] [-9.51468888e-03 1.49870863e-04 -9.99954723e-01 -1.78447355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.136559995 meters 0.014955252051987354 Centerline is valid? [True, True] Translation: X:100.01, Y:-64.29, Z:-2.76 [[-9.97134517e-01 -7.53168887e-02 7.07967783e-03 1.00009745e+02] [ 7.53131856e-02 -9.97159617e-01 -7.88589481e-04 -6.42937170e+01] [ 7.11896294e-03 -2.53136701e-04 9.99974628e-01 -2.76182937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.166559995 meters 0.013771097202510067 Centerline is valid? [True, True] Translation: X:99.93, Y:-64.87, Z:-1.79 [[-9.98839647e-01 4.75893215e-02 7.39030460e-03 9.99269231e+01] [ 4.75886560e-02 9.98866983e-01 -2.65971771e-04 -6.48706617e+01] [-7.39458868e-03 8.60315133e-05 -9.99972656e-01 -1.78614239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.196559995 meters 0.013529153400840299 Centerline is valid? [True, True] Translation: X:99.92, Y:-64.84, Z:-1.79 [[-9.99688597e-01 -2.39783854e-02 6.90983348e-03 9.99172243e+01] [-2.39772997e-02 9.99712474e-01 2.39937329e-04 -6.48418538e+01] [-6.91360003e-03 7.41834640e-05 -9.99976098e-01 -1.78671754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.226559995 meters 0.01363373003431555 Centerline is valid? [True, True] Translation: X:99.90, Y:-64.81, Z:-1.79 [[-9.95402338e-01 -9.55794153e-02 6.22586528e-03 9.99032689e+01] [-9.55771838e-02 9.95421806e-01 6.55660539e-04 -6.48149201e+01] [-6.26002971e-03 5.75953636e-05 -9.99980404e-01 -1.78663544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.256559995 meters 0.013611769530949681 Centerline is valid? [True, True] Translation: X:99.88, Y:-64.79, Z:-1.79 [[-9.85971600e-01 -1.66794326e-01 6.29741227e-03 9.98820933e+01] [-1.66790549e-01 9.85991709e-01 1.12389307e-03 -6.47897161e+01] [-6.39665527e-03 5.77777992e-05 -9.99979540e-01 -1.78660261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.286559995 meters 0.013551268973491279 Centerline is valid? [True, True] Translation: X:99.85, Y:-64.77, Z:-1.79 [[-9.71164194e-01 -2.38324733e-01 6.43663208e-03 9.98529087e+01] [-2.38319121e-01 9.71185522e-01 1.63654329e-03 -6.47673006e+01] [-6.64119263e-03 5.53797458e-05 -9.99977946e-01 -1.78635428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.316559995 meters 0.013377907317345035 Centerline is valid? [True, True] Translation: X:99.81, Y:-64.75, Z:-1.79 [[-9.51103903e-01 -3.08799678e-01 6.64266583e-03 9.98096823e+01] [-3.08791739e-01 9.51127098e-01 2.21496014e-03 -6.47504538e+01] [-7.00199845e-03 5.54569026e-05 -9.99975484e-01 -1.78607573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.346559995 meters 0.013097498755023926 Centerline is valid? [True, True] Translation: X:99.75, Y:-64.74, Z:-1.79 [[-9.25484061e-01 -3.78729240e-01 6.58898424e-03 9.97486659e+01] [-3.78719267e-01 9.25507515e-01 2.74889408e-03 -6.47431236e+01] [-7.13924099e-03 4.86823756e-05 -9.99974514e-01 -1.78566901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.376559995 meters 0.012489704668608728 Centerline is valid? [True, True] Translation: X:99.68, Y:-64.74, Z:-1.79 [[-8.94463055e-01 -4.47089890e-01 6.81718232e-03 9.96780983e+01] [-4.47076509e-01 8.94489032e-01 3.45932390e-03 -6.47436187e+01] [-7.64452356e-03 4.64353455e-05 -9.99970779e-01 -1.78558830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.406559995 meters 0.012075686285143198 Centerline is valid? [True, True] Translation: X:99.60, Y:-64.75, Z:-1.78 [[-8.57462011e-01 -5.14495390e-01 7.30701830e-03 9.96013117e+01] [-5.14476356e-01 8.57493144e-01 4.42569749e-03 -6.47529765e+01] [-8.54271905e-03 3.55793216e-05 -9.99963510e-01 -1.78444261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.436559995 meters 0.012274185604200195 Centerline is valid? [True, True] Translation: X:99.53, Y:-64.77, Z:-1.78 [[-8.16345000e-01 -5.77517622e-01 7.36460402e-03 9.95253035e+01] [-5.77493747e-01 8.16378218e-01 5.25141059e-03 -6.47704227e+01] [-9.04508446e-03 3.39500046e-05 -9.99959092e-01 -1.78329994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.466559995 meters 0.012308365473944649 Centerline is valid? [True, True] Translation: X:99.44, Y:-64.80, Z:-1.78 [[-7.70459621e-01 -6.37444351e-01 7.52807100e-03 9.94427858e+01] [-6.37413469e-01 7.70496397e-01 6.27469569e-03 -6.48000199e+01] [-9.80012090e-03 3.59058156e-05 -9.99951977e-01 -1.78283978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.49655999499998 meters 0.012066105075852663 Centerline is valid? [True, True] Translation: X:99.36, Y:-64.84, Z:-1.78 [[-7.20420839e-01 -6.93504033e-01 6.78018475e-03 9.93583879e+01] [-6.93472914e-01 7.20452743e-01 6.56977151e-03 -6.48393606e+01] [-9.44096574e-03 3.11258323e-05 -9.99955433e-01 -1.78333196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.52655999499999 meters 0.01224621893141048 Centerline is valid? [True, True] Translation: X:99.27, Y:-64.89, Z:-1.78 [[-6.66565443e-01 -7.45420341e-01 6.24705203e-03 9.92743785e+01] [-7.45387102e-01 6.66594715e-01 7.03943256e-03 -6.48889555e+01] [-9.41158808e-03 3.57704738e-05 -9.99955709e-01 -1.78351026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.556559995 meters 0.012410833920182296 Centerline is valid? [True, True] Translation: X:99.19, Y:-64.95, Z:-1.78 [[-6.09945759e-01 -7.92427839e-01 4.92850295e-03 9.91927187e+01] [-7.92401485e-01 6.09965669e-01 6.46282106e-03 -6.49491295e+01] [-8.12753693e-03 3.66172411e-05 -9.99966970e-01 -1.78482767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.586559995 meters 0.012971535259348405 Centerline is valid? [True, True] Translation: X:99.12, Y:-65.02, Z:-1.79 [[-5.49256659e-01 -8.35643701e-01 4.08994943e-03 9.91151490e+01] [-8.35620014e-01 5.49271885e-01 6.29196482e-03 -6.50155980e+01] [-7.50433500e-03 3.82599776e-05 -9.99971841e-01 -1.78538727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.616559995 meters 0.012808129870076117 Centerline is valid? [True, True] Translation: X:99.04, Y:-65.09, Z:-1.79 [[-4.85434085e-01 -8.74266798e-01 3.36389670e-03 9.90375155e+01] [-8.74245228e-01 4.85445739e-01 6.14134578e-03 -6.50940251e+01] [-7.00216402e-03 4.03479324e-05 -9.99975484e-01 -1.78617074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.646559995 meters 0.012983125983711192 Centerline is valid? [True, True] Translation: X:98.97, Y:-65.18, Z:-1.79 [[-4.18351960e-01 -9.08280572e-01 2.83544709e-03 9.89671734e+01] [-9.08258980e-01 4.18361567e-01 6.26298880e-03 -6.51768135e+01] [-6.87479314e-03 4.48133602e-05 -9.99976367e-01 -1.78642736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.676559995 meters 0.01363597024213863 Centerline is valid? [True, True] Translation: X:98.90, Y:-65.27, Z:-1.79 [[-3.49046692e-01 -9.37102071e-01 2.47308923e-03 9.89031658e+01] [-9.37077321e-01 3.49055448e-01 6.81098523e-03 -6.52698516e+01] [-7.24583364e-03 5.98760309e-05 -9.99973747e-01 -1.78606334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.706559995 meters 0.013529855981510665 Centerline is valid? [True, True] Translation: X:98.84, Y:-65.37, Z:-1.79 [[-2.76286926e-01 -9.61072995e-01 2.05730921e-03 9.88439971e+01] [-9.61044536e-01 2.76294578e-01 7.39633898e-03 -6.53657958e+01] [-7.67684504e-03 6.63459825e-05 -9.99970530e-01 -1.78632549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.736559995 meters 0.013255877876959365 Centerline is valid? [True, True] Translation: X:98.79, Y:-65.47, Z:-1.79 [[-2.01785181e-01 -9.79428713e-01 1.46183727e-03 9.87910353e+01] [-9.79400769e-01 2.01790467e-01 7.39867710e-03 -6.54685951e+01] [-7.54146162e-03 6.12188456e-05 -9.99971561e-01 -1.78648193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.766559995 meters 0.013259493878308628 Centerline is valid? [True, True] Translation: X:98.75, Y:-65.58, Z:-1.79 [[-1.25037779e-01 -9.92151541e-01 9.34742090e-04 9.87466911e+01] [-9.92120256e-01 1.25041259e-01 7.87912042e-03 -6.55779205e+01] [-7.93416279e-03 5.78111553e-05 -9.99968522e-01 -1.78644449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.796559995 meters 0.012519105902902622 Centerline is valid? [True, True] Translation: X:98.71, Y:-65.69, Z:-1.79 [[-4.56593954e-02 -9.98956997e-01 3.71447632e-04 9.87087344e+01] [-9.98914431e-01 4.56608789e-02 9.22186155e-03 -6.56923958e+01] [-9.22920374e-03 5.00202221e-05 -9.99957409e-01 -1.78595501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.826559995 meters 0.012199766862624813 Centerline is valid? [True, True] Translation: X:98.68, Y:-65.81, Z:-1.79 [[ 3.24545861e-02 -9.99473146e-01 -3.60912668e-04 9.86803131e+01] [-9.99424991e-01 -3.24565652e-02 9.81118470e-03 -6.58100765e+01] [-9.81772962e-03 4.22872021e-05 -9.99951804e-01 -1.78584747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.856559995 meters 0.012131425607559658 Centerline is valid? [True, True] Translation: X:98.66, Y:-65.93, Z:-1.79 [[ 1.10421327e-01 -9.93884147e-01 -1.19691987e-03 9.86613882e+01] [-9.93829051e-01 -1.10427808e-01 1.04650553e-02 -6.59258488e+01] [-1.05332258e-02 3.39684482e-05 -9.99944523e-01 -1.78518422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.886559995 meters 0.011779933831075673 Centerline is valid? [True, True] Translation: X:98.65, Y:-66.04, Z:-1.79 [[ 1.88411836e-01 -9.82088089e-01 -1.99153356e-03 9.86516215e+01] [-9.82033689e-01 -1.88422361e-01 1.03367122e-02 -6.60424764e+01] [-1.05268114e-02 8.19411331e-06 -9.99944592e-01 -1.78547791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.916559995 meters 0.011713144806626595 Centerline is valid? [True, True] Translation: X:98.65, Y:-66.16, Z:-1.79 [[ 2.63601896e-01 -9.64627511e-01 -2.79379152e-03 9.86511272e+01] [-9.64573387e-01 -2.63616701e-01 1.02183801e-02 -6.61597908e+01] [-1.05934207e-02 1.23256528e-06 -9.99943888e-01 -1.78590072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.946559995 meters 0.011659866811374214 Centerline is valid? [True, True] Translation: X:98.66, Y:-66.28, Z:-1.79 [[ 3.36801643e-01 -9.41569205e-01 -3.47644291e-03 9.86595754e+01] [-9.41518942e-01 -3.36819585e-01 9.72875312e-03 -6.62753750e+01] [-1.03312284e-02 -3.52318962e-06 -9.99946631e-01 -1.78592645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.976559995 meters 0.011702225770705918 Centerline is valid? [True, True] Translation: X:98.68, Y:-66.39, Z:-1.79 [[ 4.07520193e-01 -9.13187372e-01 -4.01441105e-03 9.86767522e+01] [-9.13142961e-01 -4.07539965e-01 9.00608909e-03 -6.63893293e+01] [-9.86027977e-03 -4.43196940e-06 -9.99951386e-01 -1.78620836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.006559995 meters 0.011946701726976613 Centerline is valid? [True, True] Translation: X:98.70, Y:-66.50, Z:-1.79 [[ 4.74622917e-01 -8.80177648e-01 -4.51606623e-03 9.87041896e+01] [-8.80137969e-01 -4.74644402e-01 8.35747999e-03 -6.64977821e+01] [-9.49959264e-03 8.10982476e-06 -9.99954878e-01 -1.78720457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.036559995 meters 0.012095773360982585 Centerline is valid? [True, True] Translation: X:98.74, Y:-66.61, Z:-1.79 [[ 5.39280856e-01 -8.42111062e-01 -5.01178195e-03 9.87382565e+01] [-8.42075008e-01 -5.39304143e-01 7.79242662e-03 -6.66050177e+01] [-9.26496342e-03 1.79898324e-05 -9.99957079e-01 -1.78771194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.066559995 meters 0.012242239022549853 Centerline is valid? [True, True] Translation: X:98.78, Y:-66.71, Z:-1.79 [[ 6.00711324e-01 -7.99446245e-01 -5.62199846e-03 9.87774851e+01] [-7.99411724e-01 -6.00737630e-01 7.42931286e-03 -6.67050820e+01] [-9.31668230e-03 3.14191206e-05 -9.99956598e-01 -1.78799656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.096559995 meters 0.012395435499622931 Centerline is valid? [True, True] Translation: X:98.82, Y:-66.80, Z:-1.79 [[ 6.58486181e-01 -7.52566700e-01 -6.26985834e-03 9.88233424e+01] [-7.52533287e-01 -6.58516028e-01 7.09175633e-03 -6.68011873e+01] [-9.46582188e-03 4.84535646e-05 -9.99955197e-01 -1.78829932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.126559995 meters 0.01316387466990314 Centerline is valid? [True, True] Translation: X:98.88, Y:-66.89, Z:-1.79 [[ 7.11792234e-01 -7.02351223e-01 -7.38752622e-03 9.88770377e+01] [-7.02314645e-01 -7.11830565e-01 7.16844592e-03 -6.68900045e+01] [-1.02934337e-02 8.59237148e-05 -9.99947018e-01 -1.78738085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.156559995 meters 0.013541596714303028 Centerline is valid? [True, True] Translation: X:98.88, Y:-66.90, Z:-1.79 [[ 7.63990286e-01 -6.45177807e-01 -8.02750023e-03 9.88768078e+01] [-6.45143487e-01 -7.64032453e-01 6.65524507e-03 -6.68976370e+01] [-1.04270871e-02 9.43469078e-05 -9.99945632e-01 -1.78673936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.186559995 meters 0.01353025922185339 Centerline is valid? [True, True] Translation: X:98.88, Y:-66.91, Z:-1.79 [[ 8.11476119e-01 -5.84322326e-01 -8.59810785e-03 9.88768791e+01] [-5.84290918e-01 -8.11521662e-01 6.05926835e-03 -6.69085704e+01] [-1.05181165e-02 1.06844764e-04 -9.99944677e-01 -1.78695483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.216559995 meters 0.014648042680629773 Centerline is valid? [True, True] Translation: X:98.88, Y:-66.92, Z:-1.79 [[ 8.54347103e-01 -5.19621882e-01 -9.17212038e-03 9.88780402e+01] [-5.19593396e-01 -8.54396329e-01 5.44206097e-03 -6.69155404e+01] [-1.06644399e-02 1.16364155e-04 -9.99943126e-01 -1.78625498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.24655999499998 meters 0.01415094578639645 Centerline is valid? [True, True] Translation: X:98.88, Y:-66.93, Z:-1.79 [[ 8.91528022e-01 -4.52849221e-01 -1.02649525e-02 9.88795873e+01] [-4.52821151e-01 -8.91587102e-01 5.04429925e-03 -6.69250499e+01] [-1.14364063e-02 1.51053483e-04 -9.99934591e-01 -1.78752839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.27655999499999 meters 0.01439553396738945 Centerline is valid? [True, True] Translation: X:98.88, Y:-66.94, Z:-1.79 [[ 9.23755201e-01 -3.82814828e-01 -1.13638275e-02 9.88817366e+01] [-3.82788260e-01 -9.23825078e-01 4.51368636e-03 -6.69353190e+01] [-1.22260949e-02 1.80398492e-04 -9.99925242e-01 -1.78744019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.306559995 meters 0.014958298338378768 Centerline is valid? [True, True] Translation: X:98.88, Y:-66.94, Z:-1.79 [[ 9.49962795e-01 -3.12151172e-01 -1.15036180e-02 9.88848067e+01] [-3.12130970e-01 -9.50032421e-01 3.55761195e-03 -6.69437278e+01] [-1.20393228e-02 2.11036454e-04 -9.99927502e-01 -1.78783208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.336559995 meters 0.015882782256012393 Centerline is valid? [True, True] Translation: X:98.89, Y:-66.95, Z:-1.79 [[ 9.71027241e-01 -2.38686250e-01 -1.16177420e-02 9.88873553e+01] [-2.38671993e-01 -9.71096711e-01 2.61886661e-03 -6.69518123e+01] [-1.19070385e-02 2.29838825e-04 -9.99929082e-01 -1.78804900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.366559995 meters 0.015856110723080453 Centerline is valid? [True, True] Translation: X:98.89, Y:-66.96, Z:-1.79 [[ 9.86455381e-01 -1.63629128e-01 -1.14581457e-02 9.88865648e+01] [-1.63620935e-01 -9.86521895e-01 1.65517636e-03 -6.69613911e+01] [-1.15745467e-02 2.42034884e-04 -9.99932983e-01 -1.78884007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.396559995 meters 0.016848327661311696 Centerline is valid? [True, True] Translation: X:98.89, Y:-66.97, Z:-1.79 [[ 9.96097055e-01 -8.75770238e-02 -1.09964687e-02 9.88860830e+01] [-8.75744083e-02 -9.96157721e-01 7.20071555e-04 -6.69686381e+01] [-1.10172789e-02 2.45748081e-04 -9.99939278e-01 -1.78928076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.426559995 meters 0.017003530094734643 Centerline is valid? [True, True] Translation: X:98.89, Y:-66.98, Z:-1.79 [[ 9.99879028e-01 -1.08964413e-02 -1.10994074e-02 9.88870403e+01] [-1.08987144e-02 -9.99940597e-01 -1.44321970e-04 -6.69769845e+01] [-1.10971755e-02 2.65273782e-04 -9.99938389e-01 -1.78971858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.456559995 meters 0.017617694988851594 Centerline is valid? [True, True] Translation: X:98.89, Y:-66.98, Z:-1.79 [[ 9.97791148e-01 6.54996769e-02 -1.10732288e-02 9.88879570e+01] [ 6.54924472e-02 -9.97852549e-01 -1.01464927e-03 -6.69831240e+01] [-1.11159087e-02 2.87195214e-04 -9.99938175e-01 -1.79058708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.486559995 meters 0.017769518841658297 Centerline is valid? [True, True] Translation: X:98.89, Y:-66.99, Z:-1.79 [[ 9.89617146e-01 1.43303087e-01 -1.10511832e-02 9.88896165e+01] [ 1.43290855e-01 -9.89678806e-01 -1.89498028e-03 -6.69916190e+01] [-1.12086784e-02 2.91771485e-04 -9.99937138e-01 -1.79106094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.516559995 meters 0.018280577743781015 Centerline is valid? [True, True] Translation: X:98.89, Y:-67.00, Z:-1.79 [[ 9.75221346e-01 2.20950165e-01 -1.11512523e-02 9.88910648e+01] [ 2.20932261e-01 -9.75285055e-01 -2.82812729e-03 -6.69993476e+01] [-1.15005249e-02 2.94378706e-04 -9.99933823e-01 -1.79066225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.546559995 meters 0.01710414611708161 Centerline is valid? [True, True] Translation: X:98.89, Y:-67.01, Z:-1.79 [[ 9.54056492e-01 2.99379817e-01 -1.21628572e-02 9.88945069e+01] [ 2.99351465e-01 -9.54133971e-01 -4.13100649e-03 -6.70088131e+01] [-1.28417352e-02 3.00244434e-04 -9.99917496e-01 -1.79009745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.576559995 meters 0.017005901208840504 Centerline is valid? [True, True] Translation: X:98.90, Y:-67.02, Z:-1.79 [[ 9.26876750e-01 3.75162455e-01 -1.23540276e-02 9.88969385e+01] [ 3.75124967e-01 -9.26959033e-01 -5.31136724e-03 -6.70165387e+01] [-1.34443030e-02 2.88678636e-04 -9.99909580e-01 -1.78963447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.606559995 meters 0.015508350356045876 Centerline is valid? [True, True] Translation: X:98.90, Y:-67.03, Z:-1.79 [[ 8.93685884e-01 4.48528466e-01 -1.21555328e-02 9.89026690e+01] [ 4.48482906e-01 -8.93768507e-01 -6.39829872e-03 -6.70278555e+01] [-1.37340515e-02 2.66520559e-04 -9.99905648e-01 -1.79012247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.636559995 meters 0.015124123202636843 Centerline is valid? [True, True] Translation: X:98.91, Y:-67.04, Z:-1.79 [[ 8.53243644e-01 5.21360833e-01 -1.25764214e-02 9.89077749e+01] [ 5.21300378e-01 -8.53336296e-01 -7.94243872e-03 -6.70368327e+01] [-1.48727933e-02 2.20742107e-04 -9.99889370e-01 -1.78907439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.666559995 meters 0.015124123202636843 Centerline is valid? [True, True] Translation: X:98.91, Y:-67.04, Z:-1.79 [[ 8.09807705e-01 5.86574416e-01 -1.19136438e-02 9.89118671e+01] [ 5.86506915e-01 -8.09895305e-01 -8.90127661e-03 -6.70424273e+01] [-1.48700653e-02 2.20887909e-04 -9.99889410e-01 -1.78909915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.696559995 meters 0.014711830133780267 Centerline is valid? [True, True] Translation: X:98.92, Y:-67.05, Z:-1.79 [[ 7.59864080e-01 6.49978479e-01 -1.15998596e-02 9.89161144e+01] [ 6.49898801e-01 -7.59952590e-01 -1.01789042e-02 -6.70476991e+01] [-1.54314120e-02 1.95848775e-04 -9.99880909e-01 -1.78864074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.726559995 meters 0.01387479696907874 Centerline is valid? [True, True] Translation: X:98.92, Y:-67.05, Z:-1.79 [[ 7.05361182e-01 7.08767903e-01 -1.06612708e-02 9.89229026e+01] [ 7.08683389e-01 -7.05441729e-01 -1.09462841e-02 -6.70533995e+01] [-1.52792801e-02 1.65618325e-04 -9.99883251e-01 -1.78928372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.756559995 meters 0.013534655297206502 Centerline is valid? [True, True] Translation: X:98.93, Y:-67.06, Z:-1.79 [[ 6.46340089e-01 7.62991505e-01 -9.40492206e-03 9.89286782e+01] [ 7.62907788e-01 -6.46408498e-01 -1.13031475e-02 -6.70587231e+01] [-1.47036271e-02 1.30589084e-04 -9.99891887e-01 -1.78963974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.786559995 meters 0.013391160078678894 Centerline is valid? [True, True] Translation: X:98.93, Y:-67.06, Z:-1.79 [[ 5.83656327e-01 8.11959454e-01 -8.19375915e-03 9.89335795e+01] [ 8.11876873e-01 -5.83713829e-01 -1.15804986e-02 -6.70626226e+01] [-1.41857059e-02 1.06707731e-04 -9.99899372e-01 -1.78980302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.816559995 meters 0.012722142489033096 Centerline is valid? [True, True] Translation: X:98.94, Y:-67.07, Z:-1.79 [[ 5.16614020e-01 8.56192832e-01 -6.61728562e-03 9.89402710e+01] [ 8.56120974e-01 -5.16656395e-01 -1.10926783e-02 -6.70669061e+01] [-1.29163345e-02 6.54361076e-05 -9.99916579e-01 -1.79118058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.846559995 meters 0.012537783764306986 Centerline is valid? [True, True] Translation: X:98.95, Y:-67.07, Z:-1.79 [[ 4.47383974e-01 8.94324892e-01 -5.52887419e-03 9.89478763e+01] [ 8.94255143e-01 -4.47418133e-01 -1.11693387e-02 -6.70713806e+01] [-1.24627362e-02 5.27589515e-05 -9.99922336e-01 -1.79197785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.876559995 meters 0.012418291569225094 Centerline is valid? [True, True] Translation: X:98.95, Y:-67.07, Z:-1.79 [[ 3.75311661e-01 9.26887876e-01 -4.47454161e-03 9.89546604e+01] [ 9.26820734e-01 -3.75338331e-01 -1.11563784e-02 -6.70745390e+01] [-1.20201788e-02 4.00209597e-05 -9.99927754e-01 -1.79198321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.906559995 meters 0.012454898630833159 Centerline is valid? [True, True] Translation: X:98.96, Y:-67.08, Z:-1.79 [[ 3.01107033e-01 9.53583883e-01 -3.51187448e-03 9.89605581e+01] [ 9.53517767e-01 -3.01127510e-01 -1.12289920e-02 -6.70771618e+01] [-1.17653078e-02 3.24937564e-05 -9.99930786e-01 -1.79197261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.936559995 meters 0.012419056523568952 Centerline is valid? [True, True] Translation: X:98.97, Y:-67.08, Z:-1.79 [[ 2.25466556e-01 9.74247424e-01 -2.60568880e-03 9.89679516e+01] [ 9.74180736e-01 -2.25481610e-01 -1.13990273e-02 -6.70797685e+01] [-1.16930079e-02 3.16876044e-05 -9.99931634e-01 -1.79204714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.966559995 meters 0.012468423753733153 Centerline is valid? [True, True] Translation: X:98.97, Y:-67.08, Z:-1.79 [[ 1.48403891e-01 9.88925390e-01 -1.69060784e-03 9.89742543e+01] [ 9.88858868e-01 -1.48413517e-01 -1.14703114e-02 -6.70825196e+01] [-1.15941912e-02 3.04662885e-05 -9.99932785e-01 -1.79161292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.99655999499998 meters 0.012302062697943025 Centerline is valid? [True, True] Translation: X:98.98, Y:-67.08, Z:-1.79 [[ 7.01750670e-02 9.97534403e-01 -7.57637599e-04 9.89823655e+01] [ 9.97472658e-01 -7.01791529e-02 -1.10987430e-02 -6.70845010e+01] [-1.11245483e-02 2.31322398e-05 -9.99938120e-01 -1.79241115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.02655999499999 meters 0.012396202792527683 Centerline is valid? [True, True] Translation: X:98.99, Y:-67.09, Z:-1.79 [[-8.30593364e-03 9.99965497e-01 1.24032591e-04 9.89904708e+01] [ 9.99896619e-01 8.30681730e-03 -1.17365738e-02 -6.70854849e+01] [-1.17371992e-02 2.65365647e-05 -9.99931116e-01 -1.79210644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.056559995 meters 0.01247920483773284 Centerline is valid? [True, True] Translation: X:99.00, Y:-67.09, Z:-1.79 [[-8.65585399e-02 9.96246174e-01 1.08645876e-03 9.89983913e+01] [ 9.96172111e-01 8.65653526e-02 -1.21475975e-02 -6.70861688e+01] [-1.21960472e-02 3.08216105e-05 -9.99925625e-01 -1.79134425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.086559995 meters 0.012547386382556704 Centerline is valid? [True, True] Translation: X:99.01, Y:-67.09, Z:-1.79 [[-1.64013558e-01 9.86455605e-01 2.21195326e-03 9.90075169e+01] [ 9.86369472e-01 1.64028467e-01 -1.30355765e-02 -6.70855333e+01] [-1.32218408e-02 4.37918957e-05 -9.99912587e-01 -1.79078193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.116559995 meters 0.012936081021786916 Centerline is valid? [True, True] Translation: X:99.01, Y:-67.09, Z:-1.79 [[-2.38994145e-01 9.71014999e-01 3.41634222e-03 9.90132475e+01] [ 9.70920298e-01 2.39018549e-01 -1.35612921e-02 -6.70866410e+01] [-1.39847872e-02 7.59266104e-05 -9.99902205e-01 -1.78944993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.146559995 meters 0.01333264034134228 Centerline is valid? [True, True] Translation: X:99.02, Y:-67.09, Z:-1.79 [[-3.12823491e-01 9.49800429e-01 4.53964852e-03 9.90190911e+01] [ 9.49705039e-01 3.12856412e-01 -1.34612331e-02 -6.70862509e+01] [-1.42057431e-02 1.00337137e-04 -9.99899088e-01 -1.78940006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.176559995 meters 0.013688400248889997 Centerline is valid? [True, True] Translation: X:99.02, Y:-67.09, Z:-1.79 [[-3.84628100e-01 9.23055004e-01 5.53936475e-03 9.90248570e+01] [ 9.22963902e-01 3.84667967e-01 -1.29688221e-02 -6.70864670e+01] [-1.41017523e-02 1.24460291e-04 -9.99900558e-01 -1.78919706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.206559995 meters 0.014442586043555288 Centerline is valid? [True, True] Translation: X:99.03, Y:-67.09, Z:-1.79 [[-4.52031553e-01 8.91978963e-01 6.40350738e-03 9.90289758e+01] [ 8.91894997e-01 4.52076872e-01 -1.22399488e-02 -6.70861885e+01] [-1.38126544e-02 1.78413126e-04 -9.99904585e-01 -1.78983223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.236559995 meters 0.01528385226374867 Centerline is valid? [True, True] Translation: X:99.03, Y:-67.09, Z:-1.79 [[-5.18310884e-01 8.55159954e-01 7.43517235e-03 9.90348840e+01] [ 8.55077921e-01 5.18364164e-01 -1.18466038e-02 -6.70863789e+01] [-1.39848680e-02 2.17428060e-04 -9.99902183e-01 -1.78999589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.266559995 meters 0.01594551352549386 Centerline is valid? [True, True] Translation: X:99.04, Y:-67.09, Z:-1.79 [[-5.81791674e-01 8.13297362e-01 8.11477019e-03 9.90398202e+01] [ 8.13223996e-01 5.81848213e-01 -1.09265761e-02 -6.70856111e+01] [-1.36081200e-02 2.42134871e-04 -9.99907376e-01 -1.79015963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.296559995 meters 0.016768257019835163 Centerline is valid? [True, True] Translation: X:99.05, Y:-67.08, Z:-1.79 [[-6.39702537e-01 7.68569456e-01 9.03638592e-03 9.90457378e+01] [ 7.68499697e-01 6.39766279e-01 -1.03597412e-02 -6.70846419e+01] [-1.37433556e-02 3.17307130e-04 -9.99905505e-01 -1.79073981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.326559995 meters 0.016867757731410467 Centerline is valid? [True, True] Translation: X:99.05, Y:-67.08, Z:-1.79 [[-6.96052429e-01 7.17925612e-01 9.68668041e-03 9.90541941e+01] [ 7.17862958e-01 6.96119741e-01 -9.49097564e-03 -6.70796272e+01] [-1.35569040e-02 3.47492407e-04 -9.99908041e-01 -1.79118494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.356559995 meters 0.018008381650578078 Centerline is valid? [True, True] Translation: X:99.07, Y:-67.06, Z:-1.79 [[-7.43740915e-01 6.68394716e-01 9.89722140e-03 9.90749277e+01] [ 6.68341951e-01 7.43806676e-01 -8.40622389e-03 -6.70647534e+01] [-1.29802950e-02 3.62675621e-04 -9.99915687e-01 -1.79096902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.386559995 meters 0.017877409871647 Centerline is valid? [True, True] Translation: X:99.09, Y:-67.04, Z:-1.79 [[-7.88260489e-01 6.15259041e-01 1.00853489e-02 9.90924725e+01] [ 6.15214563e-01 7.88324920e-01 -7.40691127e-03 -6.70441359e+01] [-1.25077010e-02 3.66078008e-04 -9.99921709e-01 -1.79159723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.416559995 meters 0.01866287803754972 Centerline is valid? [True, True] Translation: X:99.11, Y:-67.02, Z:-1.79 [[-8.29008383e-01 5.59136394e-01 1.05638420e-02 9.91084093e+01] [ 5.59096844e-01 8.29075597e-01 -6.66132172e-03 -6.70240683e+01] [-1.24828110e-02 3.83919173e-04 -9.99922013e-01 -1.79180829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.446559995 meters 0.019191634352974867 Centerline is valid? [True, True] Translation: X:99.13, Y:-67.00, Z:-1.79 [[-8.66649480e-01 4.98794501e-01 1.10781130e-02 9.91269094e+01] [ 4.98759361e-01 8.66720196e-01 -5.93309454e-03 -6.70034710e+01] [-1.25610192e-02 3.83399256e-04 -9.99921034e-01 -1.79127003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.476559995 meters 0.018558814316900596 Centerline is valid? [True, True] Translation: X:99.14, Y:-66.98, Z:-1.79 [[-9.00067364e-01 4.35599836e-01 1.14683872e-02 9.91391128e+01] [ 4.35569766e-01 9.00140345e-01 -5.13202151e-03 -6.69771409e+01] [-1.25586657e-02 3.76117648e-04 -9.99921066e-01 -1.79118868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.506559995 meters 0.01865322918544695 Centerline is valid? [True, True] Translation: X:99.15, Y:-66.95, Z:-1.79 [[-9.29537961e-01 3.68531364e-01 1.19922107e-02 9.91515973e+01] [ 3.68505568e-01 9.29615248e-01 -4.37459093e-03 -6.69523796e+01] [-1.27603159e-02 3.52848073e-04 -9.99918522e-01 -1.79025825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.536559995 meters 0.0175232072293691 Centerline is valid? [True, True] Translation: X:99.16, Y:-66.92, Z:-1.79 [[-9.53821535e-01 3.00126366e-01 1.21919697e-02 9.91601443e+01] [ 3.00106247e-01 9.53899395e-01 -3.49066375e-03 -6.69237745e+01] [-1.26775528e-02 3.29416019e-04 -9.99919582e-01 -1.79021130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.566559995 meters 0.01686663811101659 Centerline is valid? [True, True] Translation: X:99.17, Y:-66.90, Z:-1.79 [[-9.73111352e-01 2.29982141e-01 1.27480100e-02 9.91650742e+01] [ 2.29966662e-01 9.73194798e-01 -2.68698424e-03 -6.68950297e+01] [-1.30242554e-02 3.16882453e-04 -9.99915131e-01 -1.79037067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.596559995 meters 0.016347485486763964 Centerline is valid? [True, True] Translation: X:99.32, Y:-66.17, Z:-2.77 [[-9.70418115e-01 -2.41188314e-01 1.08110622e-02 9.93211481e+01] [ 2.41168937e-01 -9.70478259e-01 -3.08112923e-03 -6.61691563e+01] [ 1.12350332e-02 -3.82691255e-04 9.99936812e-01 -2.76542348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.626559995 meters 0.016534421261479172 Centerline is valid? [True, True] Translation: X:99.11, Y:-66.88, Z:-1.79 [[-9.74787289e-01 2.22781925e-01 1.25680475e-02 9.91114326e+01] [ 2.22766945e-01 9.74868269e-01 -2.59732119e-03 -6.68837323e+01] [-1.28308270e-02 2.67909883e-04 -9.99917646e-01 -1.78999437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.656559995 meters 0.015722086255931366 Centerline is valid? [True, True] Translation: X:99.26, Y:-66.16, Z:-2.77 [[-9.70560456e-01 -2.40633630e-01 1.03854707e-02 9.92641222e+01] [ 2.40615979e-01 -9.70615956e-01 -2.93545832e-03 -6.61594971e+01] [ 1.07866735e-02 -3.50129568e-04 9.99941761e-01 -2.76556188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.686559995 meters 0.01490322701262072 Centerline is valid? [True, True] Translation: X:99.05, Y:-66.87, Z:-1.79 [[-9.76747562e-01 2.14127997e-01 1.06489959e-02 9.90536497e+01] [ 2.14117112e-01 9.76805597e-01 -2.16528984e-03 -6.68688448e+01] [-1.08656480e-02 1.65190683e-04 -9.99940953e-01 -1.79082778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.716559995 meters 0.014558812234449192 Centerline is valid? [True, True] Translation: X:99.06, Y:-66.84, Z:-1.79 [[-9.89723222e-01 1.42637225e-01 1.01274839e-02 9.90624643e+01] [ 1.42631163e-01 9.89775027e-01 -1.32198947e-03 -6.68407083e+01] [-1.02124956e-02 1.36091133e-04 -9.99947842e-01 -1.79124849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.74655999499998 meters 0.014073923046966978 Centerline is valid? [True, True] Translation: X:99.06, Y:-66.81, Z:-1.79 [[-9.97463972e-01 7.06056635e-02 8.97019531e-03 9.90598089e+01] [ 7.06037143e-02 9.97504301e-01 -5.34182184e-04 -6.68112832e+01] [-8.98552469e-03 1.00501624e-04 -9.99959624e-01 -1.79182060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.77655999499999 meters 0.014104316897037221 Centerline is valid? [True, True] Translation: X:99.10, Y:-66.08, Z:-2.76 [[-9.94547161e-01 -1.04112691e-01 6.04080999e-03 9.91004119e+01] [ 1.04109289e-01 -9.94565478e-01 -8.75659485e-04 -6.60819269e+01] [ 6.09914834e-03 -2.41980220e-04 9.99981371e-01 -2.76386116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.806559995 meters 0.013467554082440979 Centerline is valid? [True, True] Translation: X:98.99, Y:-66.81, Z:-1.79 [[-9.98018383e-01 6.26456583e-02 5.90163764e-03 9.89854110e+01] [ 6.26447302e-02 9.98035831e-01 -3.42167193e-04 -6.68057216e+01] [-5.91148112e-03 2.82173494e-05 -9.99982527e-01 -1.79373332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.836559995 meters 0.01332065396689589 Centerline is valid? [True, True] Translation: X:98.98, Y:-66.78, Z:-1.79 [[-9.99943158e-01 -9.33977224e-03 5.14280710e-03 9.89827882e+01] [-9.33957685e-03 9.99956383e-01 6.20082690e-05 -6.67769688e+01] [-5.14316193e-03 1.39731022e-05 -9.99986774e-01 -1.79400674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.866559995 meters 0.013384345896153435 Centerline is valid? [True, True] Translation: X:98.97, Y:-66.05, Z:-2.76 [[-9.99497967e-01 -3.15537349e-02 2.85924640e-03 9.89707182e+01] [ 3.15532182e-02 -9.99502048e-01 -2.25646168e-04 -6.60514148e+01] [ 2.86494261e-03 -1.35314461e-04 9.99995887e-01 -2.76219223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.896559995 meters 0.013282686882710318 Centerline is valid? [True, True] Translation: X:98.89, Y:-66.78, Z:-1.79 [[-9.99855871e-01 -1.65011911e-02 3.99340088e-03 9.88912854e+01] [-1.65010899e-02 9.99863846e-01 5.83051960e-05 -6.67778355e+01] [-3.99381926e-03 -7.59867414e-06 -9.99992025e-01 -1.79417182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.926559995 meters 0.012959473032650456 Centerline is valid? [True, True] Translation: X:98.88, Y:-66.75, Z:-1.79 [[-9.96073322e-01 -8.84550589e-02 3.69313537e-03 9.88836711e+01] [-8.84544971e-02 9.96080169e-01 3.15500652e-04 -6.67489271e+01] [-3.70656654e-03 -1.24126493e-05 -9.99993131e-01 -1.79377604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.956559995 meters 0.012623477164835672 Centerline is valid? [True, True] Translation: X:98.87, Y:-66.72, Z:-1.79 [[-9.87143561e-01 -1.59790878e-01 3.80347151e-03 9.88668647e+01] [-1.59789740e-01 9.87150888e-01 6.02995288e-04 -6.67219220e+01] [-3.85095343e-03 -1.25128094e-05 -9.99992585e-01 -1.79377470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.986559995 meters 0.012380924547016245 Centerline is valid? [True, True] Translation: X:98.73, Y:-66.02, Z:-2.76 [[-9.93402872e-01 1.14650744e-01 2.43734830e-03 9.87280755e+01] [-1.14650561e-01 -9.93405860e-01 2.15023983e-04 -6.60164741e+01] [ 2.44592874e-03 -6.58379078e-05 9.99997007e-01 -2.76294526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.016559995 meters 0.012272415053788973 Centerline is valid? [True, True] Translation: X:98.73, Y:-66.74, Z:-1.79 [[-9.85882043e-01 -1.67385164e-01 4.33638154e-03 9.87346059e+01] [-1.67383602e-01 9.85891580e-01 7.23261004e-04 -6.67421795e+01] [-4.39626521e-03 -1.27891248e-05 -9.99990336e-01 -1.79253469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.046559995 meters 0.012293408505096678 Centerline is valid? [True, True] Translation: X:98.71, Y:-66.72, Z:-1.79 [[-9.71161507e-01 -2.38377645e-01 4.62889235e-03 9.87079780e+01] [-2.38374984e-01 9.71172538e-01 1.12624155e-03 -6.67191662e+01] [-4.76392394e-03 -9.64970072e-06 -9.99988652e-01 -1.79224583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.076559995 meters 0.012151738504407568 Centerline is valid? [True, True] Translation: X:98.66, Y:-66.70, Z:-1.79 [[-9.51002994e-01 -3.09145742e-01 4.71327919e-03 9.86600944e+01] [-3.09142006e-01 9.51014674e-01 1.51994259e-03 -6.67035424e+01] [-4.95228145e-03 -1.16026318e-05 -9.99987737e-01 -1.79170248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.106559995 meters 0.012172275722405666 Centerline is valid? [True, True] Translation: X:98.59, Y:-66.70, Z:-1.79 [[-9.25652417e-01 -3.78348899e-01 4.44004043e-03 9.85948465e+01] [-3.78344616e-01 9.25663066e-01 1.80016063e-03 -6.66984777e+01] [-4.79107023e-03 -1.35423573e-05 -9.99988523e-01 -1.79157833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.136559995 meters 0.01202689647061076 Centerline is valid? [True, True] Translation: X:98.52, Y:-66.70, Z:-1.79 [[-8.95303942e-01 -4.45435182e-01 4.28368203e-03 9.85228187e+01] [-4.45430146e-01 8.95314190e-01 2.11824939e-03 -6.67010905e+01] [-4.77878411e-03 -1.16040804e-05 -9.99988581e-01 -1.79190810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.166559995 meters 0.012134159762179618 Centerline is valid? [True, True] Translation: X:98.45, Y:-66.71, Z:-1.79 [[-8.59751397e-01 -5.10695815e-01 4.16177928e-03 9.84487477e+01] [-5.10689884e-01 8.59761470e-01 2.46124400e-03 -6.67113765e+01] [-4.83508448e-03 -9.32061064e-06 -9.99988311e-01 -1.79200789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.196559995 meters 0.012278294606328398 Centerline is valid? [True, True] Translation: X:98.36, Y:-66.73, Z:-1.79 [[-8.19369976e-01 -5.73255042e-01 3.39106565e-03 9.83637551e+01] [-5.73250203e-01 8.19376993e-01 2.35542206e-03 -6.67347981e+01] [-4.12881875e-03 -1.39669581e-05 -9.99991476e-01 -1.79241816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.226559995 meters 0.012323625384340182 Centerline is valid? [True, True] Translation: X:98.28, Y:-66.77, Z:-1.79 [[-7.74821564e-01 -6.32176458e-01 2.11415701e-03 9.82775148e+01] [-6.32174191e-01 7.74824448e-01 1.69317287e-03 -6.67674440e+01] [-2.70848456e-03 -2.46086477e-05 -9.99996332e-01 -1.79346877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.256559995 meters 0.012633677442692367 Centerline is valid? [True, True] Translation: X:98.19, Y:-66.81, Z:-1.79 [[-7.25430919e-01 -6.88292837e-01 1.71811955e-03 9.81887684e+01] [-6.88290994e-01 7.25432953e-01 1.59318342e-03 -6.68113178e+01] [-2.34295728e-03 -2.68216972e-05 -9.99997255e-01 -1.79402396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.286559995 meters 0.01282602909537975 Centerline is valid? [True, True] Translation: X:98.10, Y:-66.86, Z:-1.79 [[-6.71547865e-01 -7.40959673e-01 1.49271481e-03 9.81024527e+01] [-7.40957932e-01 6.71549523e-01 1.60636951e-03 -6.68624442e+01] [-2.19268694e-03 -2.72848674e-05 -9.99997596e-01 -1.79440685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.316559995 meters 0.01311615224898418 Centerline is valid? [True, True] Translation: X:98.02, Y:-66.93, Z:-1.79 [[-6.14367429e-01 -7.89018655e-01 1.49146881e-03 9.80155472e+01] [-7.89016411e-01 6.14369239e-01 1.88190745e-03 -6.69264981e+01] [-2.40117264e-03 -2.06107258e-05 -9.99997117e-01 -1.79476447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.346559995 meters 0.013256668183748524 Centerline is valid? [True, True] Translation: X:97.93, Y:-67.00, Z:-1.79 [[-5.52777259e-01 -8.33327783e-01 1.45204986e-03 9.79327242e+01] [-8.33324983e-01 5.52779166e-01 2.16012365e-03 -6.69974122e+01] [-2.60275396e-03 -1.59621992e-05 -9.99996613e-01 -1.79479246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.376559995 meters 0.013408133344616236 Centerline is valid? [True, True] Translation: X:97.85, Y:-67.08, Z:-1.79 [[-4.87846929e-01 -8.72927836e-01 1.53828356e-03 9.78518232e+01] [-8.72923533e-01 4.87849354e-01 2.74104093e-03 -6.70802835e+01] [-3.14318157e-03 -5.59551809e-06 -9.99995060e-01 -1.79472838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.406559995 meters 0.013647471922690307 Centerline is valid? [True, True] Translation: X:97.78, Y:-67.17, Z:-1.79 [[-4.20117856e-01 -9.07468172e-01 1.58201733e-03 9.77783179e+01] [-9.07461669e-01 4.20120835e-01 3.43559129e-03 -6.71678419e+01] [-3.78232819e-03 7.73316461e-06 -9.99992847e-01 -1.79457593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.436559995 meters 0.014378102729959054 Centerline is valid? [True, True] Translation: X:97.71, Y:-67.26, Z:-1.79 [[-3.50606705e-01 -9.36521420e-01 1.60241344e-03 9.77117865e+01] [-9.36511243e-01 3.50610366e-01 4.36611840e-03 -6.72645198e+01] [-4.65078617e-03 3.01121851e-05 -9.99989185e-01 -1.79420166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.466559995 meters 0.013804590302420344 Centerline is valid? [True, True] Translation: X:97.65, Y:-67.37, Z:-1.79 [[-2.78421135e-01 -9.60458184e-01 1.32271415e-03 9.76488310e+01] [-9.60446667e-01 2.78424274e-01 4.70353460e-03 -6.73702210e+01] [-4.88582402e-03 3.91670428e-05 -9.99988064e-01 -1.79401390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.49655999499998 meters 0.014706681677518804 Centerline is valid? [True, True] Translation: X:97.60, Y:-67.48, Z:-1.79 [[-2.04224054e-01 -9.78923624e-01 1.03682406e-03 9.75980460e+01] [-9.78909707e-01 2.04226679e-01 5.22015201e-03 -6.74765850e+01] [-5.32187725e-03 5.11234704e-05 -9.99985837e-01 -1.79329220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.52655999499999 meters 0.014721979375931013 Centerline is valid? [True, True] Translation: X:97.55, Y:-67.59, Z:-1.79 [[-1.29238477e-01 -9.91613300e-01 6.92939886e-04 9.75534590e+01] [-9.91596069e-01 1.29240317e-01 5.84610803e-03 -6.75868646e+01] [-5.88663424e-03 6.84256317e-05 -9.99982671e-01 -1.79300830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.556559995 meters 0.014737096376794908 Centerline is valid? [True, True] Translation: X:97.52, Y:-67.70, Z:-1.79 [[-5.29121180e-02 -9.98599138e-01 2.62056115e-04 9.75176284e+01] [-9.98577371e-01 5.29126951e-02 6.59393018e-03 -6.77042623e+01] [-6.59855909e-03 8.72155058e-05 -9.99978225e-01 -1.79217908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.586559995 meters 0.014737096376794908 Centerline is valid? [True, True] Translation: X:97.49, Y:-67.82, Z:-1.79 [[ 2.42615130e-02 -9.99705616e-01 -2.47365830e-04 9.74902261e+01] [-9.99683883e-01 -2.42626168e-02 6.59232009e-03 -6.78246028e+01] [-6.59638116e-03 8.73479743e-05 -9.99978240e-01 -1.79228935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.616559995 meters 0.01484979628469281 Centerline is valid? [True, True] Translation: X:97.47, Y:-67.95, Z:-1.79 [[ 1.01196715e-01 -9.94866140e-01 -7.67589287e-04 9.74732397e+01] [-9.94843884e-01 -1.01199586e-01 6.65506303e-03 -6.79480610e+01] [-6.69857658e-03 9.01609917e-05 -9.99977560e-01 -1.79216892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.646559995 meters 0.014745647510845129 Centerline is valid? [True, True] Translation: X:97.47, Y:-68.08, Z:-1.79 [[ 1.78238432e-01 -9.83986303e-01 -1.42046562e-03 9.74661505e+01] [-9.83959432e-01 -1.78244063e-01 7.27263266e-03 -6.80767663e+01] [-7.40936049e-03 1.01417907e-04 -9.99972545e-01 -1.79240532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.676559995 meters 0.014660319441274931 Centerline is valid? [True, True] Translation: X:97.47, Y:-68.19, Z:-1.79 [[ 2.55502091e-01 -9.66806184e-01 -2.11763294e-03 9.74666595e+01] [-9.66776059e-01 -2.55510848e-01 7.63273446e-03 -6.81934078e+01] [-7.92045307e-03 9.70972131e-05 -9.99968628e-01 -1.79208171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.706559995 meters 0.013826610265096684 Centerline is valid? [True, True] Translation: X:97.48, Y:-68.32, Z:-1.79 [[ 3.30578064e-01 -9.43774818e-01 -2.68984768e-03 9.74763979e+01] [-9.43745646e-01 -3.30588997e-01 7.42100571e-03 -6.83182644e+01] [-7.89299236e-03 8.53103287e-05 -9.99968846e-01 -1.79255808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.736559995 meters 0.013569399939015953 Centerline is valid? [True, True] Translation: X:97.50, Y:-68.44, Z:-1.79 [[ 4.03713467e-01 -9.14879569e-01 -3.28801490e-03 9.74950145e+01] [-9.14850700e-01 -4.03726850e-01 7.26823734e-03 -6.84377872e+01] [-7.97702174e-03 7.37574341e-05 -9.99968180e-01 -1.79288195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.766559995 meters 0.012893966524503163 Centerline is valid? [True, True] Translation: X:97.52, Y:-68.56, Z:-1.79 [[ 4.76293461e-01 -8.79278304e-01 -3.76866353e-03 9.75221932e+01] [-8.79251454e-01 -4.76308369e-01 6.87156193e-03 -6.85563960e+01] [-7.83706130e-03 4.07228748e-05 -9.99969289e-01 -1.79351884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.796559995 meters 0.012400969592849503 Centerline is valid? [True, True] Translation: X:97.56, Y:-68.67, Z:-1.79 [[ 5.43964286e-01 -8.39098470e-01 -4.07588591e-03 9.75563777e+01] [-8.39075219e-01 -5.43979556e-01 6.24659230e-03 -6.86691498e+01] [-7.45870465e-03 2.20517436e-05 -9.99972183e-01 -1.79408861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.826559995 meters 0.012072662275421166 Centerline is valid? [True, True] Translation: X:97.60, Y:-68.77, Z:-1.79 [[ 6.08149109e-01 -7.93809993e-01 -4.51188424e-03 9.75961780e+01] [-7.93788242e-01 -6.08165846e-01 5.87638324e-03 -6.87742518e+01] [-7.40870563e-03 7.76342044e-06 -9.99972555e-01 -1.79435494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.856559995 meters 0.011578661607435895 Centerline is valid? [True, True] Translation: X:97.64, Y:-68.88, Z:-1.80 [[ 6.69831087e-01 -7.42498136e-01 -4.77839887e-03 9.76430632e+01] [-7.42479020e-01 -6.69848130e-01 5.32798060e-03 -6.88770362e+01] [-7.15681721e-03 -2.09861283e-05 -9.99974389e-01 -1.79538061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.886559995 meters 0.011492819217416753 Centerline is valid? [True, True] Translation: X:97.70, Y:-68.97, Z:-1.80 [[ 7.25652048e-01 -6.88042167e-01 -5.20390312e-03 9.76965059e+01] [-6.88024157e-01 -7.25670707e-01 4.97838228e-03 -6.89729341e+01] [-7.20165698e-03 -3.21622411e-05 -9.99974067e-01 -1.79544189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.916559995 meters 0.01133941414970907 Centerline is valid? [True, True] Translation: X:97.69, Y:-68.98, Z:-1.80 [[ 7.78893974e-01 -6.27130762e-01 -5.58432410e-03 9.76909713e+01] [-6.27114157e-01 -7.78913990e-01 4.56392126e-03 -6.89812922e+01] [-7.21188359e-03 -5.28020606e-05 -9.99973993e-01 -1.79528438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.946559995 meters 0.01130025587294611 Centerline is valid? [True, True] Translation: X:97.69, Y:-68.99, Z:-1.80 [[ 8.25941577e-01 -5.63721907e-01 -6.17433910e-03 9.76878038e+01] [-5.63705631e-01 -8.25964653e-01 4.28414440e-03 -6.89885649e+01] [-7.51485190e-03 -5.79432681e-05 -9.99971761e-01 -1.79524854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.976559995 meters 0.011276740462421183 Centerline is valid? [True, True] Translation: X:97.68, Y:-69.00, Z:-1.80 [[ 8.67694759e-01 -4.97049036e-01 -6.93257863e-03 9.76844848e+01] [-4.97032604e-01 -8.67722451e-01 4.04209325e-03 -6.89971222e+01] [-8.02467267e-03 -6.15855251e-05 -9.99967800e-01 -1.79536105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.006559995 meters 0.011276674540021275 Centerline is valid? [True, True] Translation: X:97.68, Y:-69.01, Z:-1.79 [[ 9.03907176e-01 -4.27657356e-01 -7.81047946e-03 9.76831946e+01] [-4.27640793e-01 -9.03940917e-01 3.76433245e-03 -6.90052795e+01] [-8.67005643e-03 -6.25274827e-05 -9.99962412e-01 -1.79467277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.036559995 meters 0.011292208702275633 Centerline is valid? [True, True] Translation: X:97.68, Y:-69.01, Z:-1.79 [[ 9.34287108e-01 -3.56389648e-01 -9.69627606e-03 9.76821667e+01] [-3.56369836e-01 -9.34337421e-01 3.75824070e-03 -6.90120741e+01] [-1.03989916e-02 -5.58155315e-05 -9.99945927e-01 -1.79302277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.066559995 meters 0.011344939682579167 Centerline is valid? [True, True] Translation: X:97.68, Y:-69.02, Z:-1.79 [[ 9.59062239e-01 -2.82980741e-01 -1.10236884e-02 9.76818449e+01] [-2.82961488e-01 -9.59125590e-01 3.30130788e-03 -6.90181543e+01] [-1.15073082e-02 -4.68804398e-05 -9.99933788e-01 -1.79317157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.096559995 meters 0.011326727641543258 Centerline is valid? [True, True] Translation: X:97.68, Y:-69.03, Z:-1.79 [[ 9.78015386e-01 -2.08193842e-01 -1.18839825e-02 9.76816594e+01] [-2.08178062e-01 -9.78087585e-01 2.56344514e-03 -6.90252767e+01] [-1.21572692e-02 -3.31043414e-05 -9.99926097e-01 -1.79308483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.126559995 meters 0.011433987923543118 Centerline is valid? [True, True] Translation: X:97.68, Y:-69.03, Z:-1.79 [[ 9.91124985e-01 -1.32398797e-01 -1.19089485e-02 9.76781513e+01] [-1.32389048e-01 -9.91196529e-01 1.60674605e-03 -6.90311503e+01] [-1.20168396e-02 -1.58718052e-05 -9.99927795e-01 -1.79271605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.156559995 meters 0.011608784567845193 Centerline is valid? [True, True] Translation: X:97.68, Y:-69.04, Z:-1.79 [[ 9.98284180e-01 -5.73346520e-02 -1.18926151e-02 9.76756774e+01] [-5.73308088e-02 -9.98355016e-01 6.64106799e-04 -6.90368471e+01] [-1.19111283e-02 1.88459334e-05 -9.99929060e-01 -1.79357544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.186559995 meters 0.011763499672037816 Centerline is valid? [True, True] Translation: X:97.67, Y:-69.04, Z:-1.79 [[ 9.99747383e-01 1.95678131e-02 -1.10576340e-02 9.76736485e+01] [ 1.95662907e-02 -9.99808532e-01 -2.45861919e-04 -6.90436884e+01] [-1.10603278e-02 2.94429281e-05 -9.99938832e-01 -1.79377509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.216559995 meters 0.012025144872024386 Centerline is valid? [True, True] Translation: X:97.67, Y:-69.05, Z:-1.79 [[ 9.95323981e-01 9.59540258e-02 -1.10903976e-02 9.76720673e+01] [ 9.59475040e-02 -9.95385766e-01 -1.11987011e-03 -6.90498008e+01] [-1.11466799e-02 5.05376134e-05 -9.99937873e-01 -1.79415580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.24655999499998 meters 0.01301567231977812 Centerline is valid? [True, True] Translation: X:97.67, Y:-69.05, Z:-1.79 [[ 9.85518510e-01 1.69230599e-01 -1.06897301e-02 9.76696112e+01] [ 1.69219587e-01 -9.85576479e-01 -1.93300826e-03 -6.90537537e+01] [-1.08626707e-02 9.61037184e-05 -9.99940995e-01 -1.79400098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.27655999499999 meters 0.01311000785641012 Centerline is valid? [True, True] Translation: X:97.67, Y:-69.06, Z:-1.79 [[ 9.69932973e-01 2.43146240e-01 -1.04849765e-02 9.76690603e+01] [ 2.43130627e-01 -9.69989634e-01 -2.75820515e-03 -6.90616202e+01] [-1.08409657e-02 1.26055208e-04 -9.99941227e-01 -1.79496678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.306559995 meters 0.014582334690623755 Centerline is valid? [True, True] Translation: X:97.67, Y:-69.07, Z:-1.79 [[ 9.48760487e-01 3.15827120e-01 -1.03329250e-02 9.76671928e+01] [ 3.15806585e-01 -9.48816740e-01 -3.60484961e-03 -6.90671052e+01] [-1.09425615e-02 1.56933104e-04 -9.99940116e-01 -1.79467343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.336559995 meters 0.014407856518374474 Centerline is valid? [True, True] Translation: X:97.67, Y:-69.08, Z:-1.80 [[ 9.22069708e-01 3.86903876e-01 -9.63555810e-03 9.76686348e+01] [ 3.86880767e-01 -9.22120036e-01 -4.23225368e-03 -6.90761935e+01] [-1.05226165e-02 1.74620808e-04 -9.99944620e-01 -1.79604766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.366559995 meters 0.015178474357615846 Centerline is valid? [True, True] Translation: X:97.67, Y:-69.09, Z:-1.80 [[ 8.91143911e-01 4.53620291e-01 -9.54785617e-03 9.76707183e+01] [ 4.53591432e-01 -8.91195027e-01 -5.12215001e-03 -6.90860048e+01] [-1.08325131e-02 2.33747041e-04 -9.99941299e-01 -1.79614772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.396559995 meters 0.017216558166210857 Centerline is valid? [True, True] Translation: X:97.67, Y:-69.09, Z:-1.79 [[ 8.53826822e-01 5.20468687e-01 -9.59711720e-03 9.76717287e+01] [ 5.20432239e-01 -8.53880714e-01 -6.16536978e-03 -6.90943407e+01] [-1.14036752e-02 2.69508891e-04 -9.99934940e-01 -1.79496135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.426559995 meters 0.018026658325805724 Centerline is valid? [True, True] Translation: X:97.67, Y:-69.10, Z:-1.79 [[ 8.12290251e-01 5.83180058e-01 -9.25033202e-03 9.76741541e+01] [ 5.83137835e-01 -8.12342860e-01 -7.02445523e-03 -6.91025683e+01] [-1.16109634e-02 3.11677918e-04 -9.99932542e-01 -1.79422833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.456559995 meters 0.01767203990585286 Centerline is valid? [True, True] Translation: X:97.68, Y:-69.11, Z:-1.79 [[ 7.64758721e-01 6.44255175e-01 -8.90884592e-03 9.76782205e+01] [ 6.44206332e-01 -7.64810538e-01 -7.93998587e-03 -6.91121559e+01] [-1.19289562e-02 3.33038486e-04 -9.99928792e-01 -1.79423964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.486559995 meters 0.019784013220686455 Centerline is valid? [True, True] Translation: X:97.68, Y:-69.12, Z:-1.79 [[ 7.12644088e-01 7.01476594e-01 -8.30619834e-03 9.76803330e+01] [ 7.01423195e-01 -7.12692408e-01 -8.66214981e-03 -6.91194085e+01] [-1.19960598e-02 3.46869672e-04 -9.99927985e-01 -1.79408123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.516559995 meters 0.019784013220686455 Centerline is valid? [True, True] Translation: X:97.68, Y:-69.13, Z:-1.79 [[ 6.55510763e-01 7.55147580e-01 -7.60076257e-03 9.76812900e+01] [ 7.55090579e-01 -6.55554736e-01 -9.28467341e-03 -6.91250870e+01] [-1.19940146e-02 3.46939135e-04 -9.99928009e-01 -1.79409920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.546559995 meters 0.017866248504620333 Centerline is valid? [True, True] Translation: X:97.69, Y:-69.13, Z:-1.80 [[ 5.94187171e-01 8.04299403e-01 -6.63898707e-03 9.76895864e+01] [ 8.04242836e-01 -5.94224167e-01 -9.54464983e-03 -6.91349320e+01] [-1.16218027e-02 3.31950700e-04 -9.99932409e-01 -1.79532359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.576559995 meters 0.016990509226032027 Centerline is valid? [True, True] Translation: X:97.70, Y:-69.14, Z:-1.80 [[ 5.28240497e-01 8.49076551e-01 -5.56668951e-03 9.76994345e+01] [ 8.49023343e-01 -5.28269744e-01 -9.50996976e-03 -6.91443151e+01] [-1.10154060e-02 2.97301813e-04 -9.99939284e-01 -1.79655050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.606559995 meters 0.016101492172683276 Centerline is valid? [True, True] Translation: X:97.71, Y:-69.15, Z:-1.80 [[ 4.59104038e-01 8.88370844e-01 -4.55261188e-03 9.77096952e+01] [ 8.88321249e-01 -4.59126532e-01 -9.39072390e-03 -6.91529946e+01] [-1.04326702e-02 2.67137380e-04 -9.99945543e-01 -1.79734727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.636559995 meters 0.015951044371229142 Centerline is valid? [True, True] Translation: X:97.72, Y:-69.16, Z:-1.80 [[ 3.86789898e-01 9.22160972e-01 -3.56595321e-03 9.77187880e+01] [ 9.22116060e-01 -3.86806265e-01 -9.10414924e-03 -6.91608186e+01] [-9.77482416e-03 2.33170228e-04 -9.99952198e-01 -1.79760454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.666559995 meters 0.014889834118948163 Centerline is valid? [True, True] Translation: X:97.73, Y:-69.17, Z:-1.80 [[ 3.09846693e-01 9.50782913e-01 -2.62293582e-03 9.77312483e+01] [ 9.50743847e-01 -3.09857744e-01 -8.62071391e-03 -6.91677390e+01] [-9.00916446e-03 1.77359607e-04 -9.99959401e-01 -1.79836624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.696559995 meters 0.01430796423521454 Centerline is valid? [True, True] Translation: X:97.74, Y:-69.17, Z:-1.80 [[ 2.32037743e-01 9.72705028e-01 -1.84772241e-03 9.77416722e+01] [ 9.72669008e-01 -2.32045054e-01 -8.37223546e-03 -6.91729855e+01] [-8.57247037e-03 1.45452299e-04 -9.99963245e-01 -1.79857594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.726559995 meters 0.01342369108214526 Centerline is valid? [True, True] Translation: X:97.75, Y:-69.18, Z:-1.80 [[ 1.52698399e-01 9.88272152e-01 -1.16302104e-03 9.77540450e+01] [ 9.88237177e-01 -1.52702780e-01 -8.31521713e-03 -6.91772870e+01] [-8.39529407e-03 1.20379712e-04 -9.99964752e-01 -1.79907411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.756559995 meters 0.012965614890519415 Centerline is valid? [True, True] Translation: X:97.77, Y:-69.18, Z:-1.80 [[ 7.19327220e-02 9.97409358e-01 -5.06299990e-04 9.77652915e+01] [ 9.97374392e-01 -7.19344400e-02 -8.35218289e-03 -6.91811546e+01] [-8.36696578e-03 9.58246059e-05 -9.99964992e-01 -1.79885351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.786559995 meters 0.011483733853856414 Centerline is valid? [True, True] Translation: X:97.78, Y:-69.18, Z:-1.80 [[-1.18711387e-02 9.99929526e-01 1.40982912e-04 9.77825227e+01] [ 9.99897430e-01 1.18718872e-02 -8.01167466e-03 -6.91832585e+01] [-8.01278378e-03 4.58607508e-05 -9.99967896e-01 -1.79824210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.816559995 meters 0.011217862378014384 Centerline is valid? [True, True] Translation: X:97.79, Y:-69.18, Z:-1.80 [[-9.27814973e-02 9.95686224e-01 7.32763213e-04 9.77940574e+01] [ 9.95656961e-01 9.27843884e-02 -7.63373038e-03 -6.91844301e+01] [-7.66878916e-03 2.13118588e-05 -9.99970594e-01 -1.79747219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.846559995 meters 0.01073118680851417 Centerline is valid? [True, True] Translation: X:97.81, Y:-69.18, Z:-1.80 [[-1.73062081e-01 9.84909863e-01 1.44181056e-03 9.78067530e+01] [ 9.84875945e-01 1.73068087e-01 -8.17373905e-03 -6.91830796e+01] [-8.29992760e-03 5.44025515e-06 -9.99965555e-01 -1.79751780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.876559995 meters 0.01033656201957746 Centerline is valid? [True, True] Translation: X:97.82, Y:-69.18, Z:-1.80 [[-2.53775899e-01 9.67260803e-01 2.08145195e-03 9.78207618e+01] [ 9.67227316e-01 2.53784433e-01 -8.04865507e-03 -6.91802224e+01] [-8.31338867e-03 -2.93174918e-05 -9.99965443e-01 -1.79680194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.906559995 meters 0.010383869636884833 Centerline is valid? [True, True] Translation: X:97.83, Y:-69.18, Z:-1.80 [[-3.30188859e-01 9.43910482e-01 2.88445773e-03 9.78310205e+01] [ 9.43873363e-01 3.30201455e-01 -8.37103893e-03 -6.91785479e+01] [-8.85396353e-03 -4.14609819e-05 -9.99960802e-01 -1.79585267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.936559995 meters 0.010316384413071077 Centerline is valid? [True, True] Translation: X:97.84, Y:-69.17, Z:-1.80 [[-4.04182947e-01 9.14670315e-01 3.78938151e-03 9.78413763e+01] [ 9.14628914e-01 4.04200707e-01 -8.70280675e-03 -6.91746014e+01] [-9.49186967e-03 -5.16481883e-05 -9.99954950e-01 -1.79583380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.966559995 meters 0.010316748066709425 Centerline is valid? [True, True] Translation: X:97.85, Y:-69.17, Z:-1.80 [[-4.75349550e-01 8.79784987e-01 4.60248870e-03 9.78507805e+01] [ 8.79742524e-01 4.75371827e-01 -8.64394693e-03 -6.91697964e+01] [-9.79270819e-03 -5.98912580e-05 -9.99952048e-01 -1.79523885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.99655999499998 meters 0.010355306145457417 Centerline is valid? [True, True] Translation: X:97.86, Y:-69.17, Z:-1.79 [[-5.42911156e-01 8.39774548e-01 5.11705365e-03 9.78601093e+01] [ 8.39736187e-01 5.42935267e-01 -8.02692291e-03 -6.91655708e+01] [-9.51903445e-03 -6.09308750e-05 -9.99954691e-01 -1.79402443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.02655999499999 meters 0.010309157455646135 Centerline is valid? [True, True] Translation: X:97.87, Y:-69.16, Z:-1.79 [[-6.06691176e-01 7.94918891e-01 5.45655846e-03 9.78657525e+01] [ 7.94885898e-01 6.06715710e-01 -7.24268851e-03 -6.91610241e+01] [-9.06792966e-03 -5.67338427e-05 -9.99958884e-01 -1.79386700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.056559995 meters 0.010318806334460083 Centerline is valid? [True, True] Translation: X:97.87, Y:-69.16, Z:-1.79 [[-6.66361919e-01 7.45604738e-01 5.94714415e-03 9.78712614e+01] [ 7.45574401e-01 6.66388455e-01 -6.72608746e-03 -6.91561387e+01] [-8.97811088e-03 -4.79701060e-05 -9.99959695e-01 -1.79423806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.086559995 meters 0.01040005779386019 Centerline is valid? [True, True] Translation: X:97.88, Y:-69.15, Z:-1.79 [[-7.21183781e-01 6.92719368e-01 5.81656961e-03 9.78760088e+01] [ 6.92696500e-01 7.21207236e-01 -5.62866223e-03 -6.91507828e+01] [-8.09403543e-03 -3.01824916e-05 -9.99967242e-01 -1.79468073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.116559995 meters 0.010475844331447687 Centerline is valid? [True, True] Translation: X:97.90, Y:-69.13, Z:-1.79 [[-7.67413023e-01 6.41125881e-01 5.90390043e-03 9.78968143e+01] [ 6.41106765e-01 7.67435733e-01 -4.95101688e-03 -6.91334504e+01] [-7.70508922e-03 -1.44443319e-05 -9.99970315e-01 -1.79448553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.146559995 meters 0.010708325789551193 Centerline is valid? [True, True] Translation: X:97.91, Y:-69.11, Z:-1.79 [[-8.09314609e-01 5.87345797e-01 5.89741861e-03 9.79122499e+01] [ 5.87330233e-01 8.09336095e-01 -4.27578894e-03 -6.91122103e+01] [-7.28436041e-03 3.27379234e-06 -9.99973469e-01 -1.79485328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.176559995 meters 0.010893950215494665 Centerline is valid? [True, True] Translation: X:97.93, Y:-69.09, Z:-1.79 [[-8.48367966e-01 5.29375923e-01 5.73812021e-03 9.79288193e+01] [ 5.29363866e-01 8.48387372e-01 -3.57280112e-03 -6.90906573e+01] [-6.75950361e-03 6.50348241e-06 -9.99977154e-01 -1.79473731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.206559995 meters 0.0109749921300572 Centerline is valid? [True, True] Translation: X:97.94, Y:-69.06, Z:-1.79 [[-8.83302992e-01 4.68767505e-01 5.73148646e-03 9.79386820e+01] [ 4.68757713e-01 8.83321587e-01 -3.02986759e-03 -6.90644152e+01] [-6.48304918e-03 1.03873784e-05 -9.99978985e-01 -1.79490087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.236559995 meters 0.011279675987844556 Centerline is valid? [True, True] Translation: X:97.95, Y:-69.04, Z:-1.79 [[-9.13769165e-01 4.06191595e-01 5.85664578e-03 9.79533369e+01] [ 4.06183380e-01 9.13787934e-01 -2.58341584e-03 -6.90417132e+01] [-6.40109404e-03 1.82264440e-05 -9.99979513e-01 -1.79447676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.266559995 meters 0.011388231692754755 Centerline is valid? [True, True] Translation: X:97.96, Y:-69.01, Z:-1.79 [[-9.40102309e-01 3.40834673e-01 6.27495207e-03 9.79589258e+01] [ 3.40827250e-01 9.40123250e-01 -2.24951038e-03 -6.90144460e+01] [-6.66593946e-03 2.39047608e-05 -9.99977782e-01 -1.79417857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.296559995 meters 0.0113772247671538 Centerline is valid? [True, True] Translation: X:97.97, Y:-68.99, Z:-1.79 [[-9.61733072e-01 2.73905336e-01 6.73544263e-03 9.79682032e+01] [ 2.73898849e-01 9.61756656e-01 -1.88528012e-03 -6.89881422e+01] [-6.99424507e-03 3.16937492e-05 -9.99975539e-01 -1.79397748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.326559995 meters 0.011508220272403804 Centerline is valid? [True, True] Translation: X:97.97, Y:-68.96, Z:-1.79 [[-9.78634020e-01 2.05477981e-01 7.36576152e-03 9.79708736e+01] [ 2.05472478e-01 9.78661738e-01 -1.50432064e-03 -6.89604583e+01] [-7.51769374e-03 4.12819150e-05 -9.99971741e-01 -1.79350107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.356559995 meters 0.011771385629864609 Centerline is valid? [True, True] Translation: X:98.10, Y:-68.31, Z:-2.77 [[-9.68549979e-01 -2.48740861e-01 6.23877890e-03 9.81022057e+01] [ 2.48735060e-01 -9.68570067e-01 -1.70158722e-03 -6.83115695e+01] [ 6.46594877e-03 -9.62692270e-05 9.99979091e-01 -2.77120951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.386559995 meters 0.011814389702484357 Centerline is valid? [True, True] Translation: X:97.92, Y:-68.95, Z:-1.79 [[-9.79068324e-01 2.03365423e-01 8.22937193e-03 9.79237336e+01] [ 2.03358810e-01 9.79102906e-01 -1.64133628e-03 -6.89531551e+01] [-8.39119302e-03 6.65349244e-05 -9.99964791e-01 -1.79272275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.416559995 meters 0.012113811080499455 Centerline is valid? [True, True] Translation: X:97.93, Y:-68.93, Z:-1.79 [[-9.90913530e-01 1.34237878e-01 8.40052028e-03 9.79251227e+01] [ 1.34233702e-01 9.90949134e-01 -1.06159003e-03 -6.89264724e+01] [-8.46699389e-03 7.56890146e-05 -9.99964152e-01 -1.79273761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.446559995 meters 0.012237587170238467 Centerline is valid? [True, True] Translation: X:98.01, Y:-68.26, Z:-2.77 [[-9.85117846e-01 -1.71712778e-01 7.58621489e-03 9.80089007e+01] [ 1.71706806e-01 -9.85147050e-01 -1.43654112e-03 -6.82641979e+01] [ 7.72020968e-03 -1.12557568e-04 9.99970192e-01 -2.77126297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.476559995 meters 0.012237587170238467 Centerline is valid? [True, True] Translation: X:97.87, Y:-68.92, Z:-1.79 [[-9.91303050e-01 1.31299172e-01 8.87634490e-03 9.78660974e+01] [ 1.31294758e-01 9.91342786e-01 -1.08073013e-03 -6.89208013e+01] [-8.94139945e-03 9.40864817e-05 -9.99960020e-01 -1.79300474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.506559995 meters 0.012532657743980066 Centerline is valid? [True, True] Translation: X:97.95, Y:-68.26, Z:-2.77 [[-9.86119097e-01 -1.65875135e-01 7.38684499e-03 9.79483221e+01] [ 1.65869247e-01 -9.86146750e-01 -1.40699196e-03 -6.82559393e+01] [ 7.51789816e-03 -1.62211226e-04 9.99971727e-01 -2.77137255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.536559995 meters 0.013473502530080067 Centerline is valid? [True, True] Translation: X:97.81, Y:-68.92, Z:-1.79 [[-9.91436136e-01 1.30309144e-01 8.59736922e-03 9.78050008e+01] [ 1.30305285e-01 9.91473405e-01 -1.00994087e-03 -6.89180961e+01] [-8.65566747e-03 1.18990773e-04 -9.99962532e-01 -1.79273242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.566559995 meters 0.014219091101262857 Centerline is valid? [True, True] Translation: X:97.81, Y:-68.89, Z:-1.79 [[-9.97935168e-01 6.37264526e-02 8.02124966e-03 9.78078179e+01] [ 6.37255345e-02 9.97967394e-01 -3.70251384e-04 -6.88933186e+01] [-8.02854043e-03 1.41671545e-04 -9.99967761e-01 -1.79325884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.596559995 meters 0.014956149317085197 Centerline is valid? [True, True] Translation: X:97.80, Y:-68.87, Z:-1.79 [[-9.99959525e-01 -5.12020140e-03 7.39804499e-03 9.78046497e+01] [-5.11899543e-03 9.99986881e-01 1.81938025e-04 -6.88673636e+01] [-7.39887949e-03 1.44060103e-04 -9.99972618e-01 -1.79357283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.626559995 meters 0.015612564112206928 Centerline is valid? [True, True] Translation: X:97.80, Y:-68.84, Z:-1.80 [[-9.97347915e-01 -7.25840771e-02 5.35618565e-03 9.77969835e+01] [-7.25824204e-02 9.97362291e-01 5.03304152e-04 -6.88431108e+01] [-5.37858946e-03 1.13204428e-04 -9.99985529e-01 -1.79512930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.656559995 meters 0.016104985762755843 Centerline is valid? [True, True] Translation: X:97.78, Y:-68.82, Z:-1.80 [[-9.89850268e-01 -1.42047066e-01 4.36782910e-03 9.77820554e+01] [-1.42045266e-01 9.89859900e-01 7.21164906e-04 -6.88185855e+01] [-4.42597823e-03 9.34158286e-05 -9.99990201e-01 -1.79608628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.686559995 meters 0.016392271024319505 Centerline is valid? [True, True] Translation: X:97.75, Y:-68.80, Z:-1.80 [[-9.77306304e-01 -2.11789398e-01 4.19987880e-03 9.77536139e+01] [-2.11787022e-01 9.77315324e-01 1.00770105e-03 -6.87970462e+01] [-4.31802631e-03 9.53527684e-05 -9.99990673e-01 -1.79631673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.716559995 meters 0.016789694115102963 Centerline is valid? [True, True] Translation: X:97.70, Y:-68.78, Z:-1.79 [[-9.59496787e-01 -2.81675403e-01 4.98832461e-03 9.77012043e+01] [-2.81670895e-01 9.59509745e-01 1.59881694e-03 -6.87845313e+01] [-5.23669348e-03 1.28993854e-04 -9.99986280e-01 -1.79497765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.74655999499998 meters 0.01722696618627936 Centerline is valid? [True, True] Translation: X:97.64, Y:-68.78, Z:-1.79 [[-9.35969103e-01 -3.52050067e-01 4.75268497e-03 9.76392362e+01] [-3.52044861e-01 9.35981162e-01 1.91848751e-03 -6.87782726e+01] [-5.12382725e-03 1.22486717e-04 -9.99986866e-01 -1.79467314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.77655999499999 meters 0.01691098849875657 Centerline is valid? [True, True] Translation: X:97.56, Y:-68.78, Z:-1.79 [[-9.06895131e-01 -4.21332314e-01 4.50591771e-03 9.75648914e+01] [-4.21326485e-01 9.06906317e-01 2.21922641e-03 -6.87808905e+01] [-5.02147704e-03 1.14143150e-04 -9.99987386e-01 -1.79492991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.806559995 meters 0.01573809234145721 Centerline is valid? [True, True] Translation: X:97.48, Y:-68.79, Z:-1.80 [[-8.71406130e-01 -4.90551942e-01 3.18561415e-03 9.74844031e+01] [-4.90548410e-01 8.71411951e-01 1.86254181e-03 -6.87917934e+01] [-3.68965574e-03 6.03323934e-05 -9.99993191e-01 -1.79610522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.836559995 meters 0.01573809234145721 Centerline is valid? [True, True] Translation: X:97.40, Y:-68.81, Z:-1.80 [[-8.32175589e-01 -5.54503898e-01 3.03570821e-03 9.73988476e+01] [-5.54499943e-01 8.32181124e-01 2.09508315e-03 -6.88137104e+01] [-3.68799085e-03 6.01770283e-05 -9.99993198e-01 -1.79617169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.866559995 meters 0.0153393706941846 Centerline is valid? [True, True] Translation: X:97.31, Y:-68.85, Z:-1.80 [[-7.86633330e-01 -6.17414170e-01 2.78329263e-03 9.73070982e+01] [-6.17410086e-01 7.86638252e-01 2.24617300e-03 -6.88472148e+01] [-3.57626349e-03 4.84816032e-05 -9.99993604e-01 -1.79634396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.896559995 meters 0.012910954955995315 Centerline is valid? [True, True] Translation: X:97.21, Y:-68.89, Z:-1.80 [[-7.33672410e-01 -6.79493955e-01 3.57221127e-03 9.72122543e+01] [-6.79485545e-01 7.33681104e-01 3.38104883e-03 -6.88868873e+01] [-4.91826615e-03 5.33163206e-05 -9.99987904e-01 -1.79506084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.926559995 meters 0.012082430063720728 Centerline is valid? [True, True] Translation: X:97.12, Y:-68.94, Z:-1.79 [[-6.77449682e-01 -7.35559809e-01 3.70091078e-03 9.71212551e+01] [-7.35548465e-01 6.77459789e-01 4.08526432e-03 -6.89377303e+01] [-5.51217448e-03 4.53617712e-05 -9.99984807e-01 -1.79403776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.956559995 meters 0.010545586103796432 Centerline is valid? [True, True] Translation: X:97.03, Y:-69.00, Z:-1.79 [[-6.13936745e-01 -7.89345570e-01 3.90445687e-03 9.70300620e+01] [-7.89329471e-01 6.13949160e-01 5.04132058e-03 -6.89977195e+01] [-6.37648208e-03 1.31490712e-05 -9.99979670e-01 -1.79333954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.986559995 meters 0.010099199271719962 Centerline is valid? [True, True] Translation: X:96.94, Y:-69.07, Z:-1.79 [[-5.49187551e-01 -8.35691478e-01 3.57586833e-03 9.69440732e+01] [-8.35673858e-01 5.49199192e-01 5.42679886e-03 -6.90676863e+01] [-6.49899356e-03 -7.92930876e-06 -9.99978881e-01 -1.79315091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.016559995 meters 0.009882659508658484 Centerline is valid? [True, True] Translation: X:96.86, Y:-69.15, Z:-1.79 [[-4.81279911e-01 -8.76561268e-01 3.16093673e-03 9.68624157e+01] [-8.76542724e-01 4.81290290e-01 5.70165692e-03 -6.91457522e+01] [-6.51917977e-03 -2.66031658e-05 -9.99978750e-01 -1.79360696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.046559995 meters 0.009773172926586892 Centerline is valid? [True, True] Translation: X:96.79, Y:-69.23, Z:-1.79 [[-4.08618301e-01 -9.12702085e-01 2.44682605e-03 9.67859525e+01] [-9.12686536e-01 4.08625623e-01 5.32801106e-03 -6.92306064e+01] [-5.86272262e-03 -5.60623638e-05 -9.99982813e-01 -1.79356112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.076559995 meters 0.009840124431097365 Centerline is valid? [True, True] Translation: X:96.72, Y:-69.33, Z:-1.79 [[-3.36109042e-01 -9.41821059e-01 1.95060151e-03 9.67163645e+01] [-9.41806293e-01 3.36114695e-01 5.27424417e-03 -6.93260897e+01] [-5.62302006e-03 -6.43676290e-05 -9.99984189e-01 -1.79387368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.106559995 meters 0.010046261314485248 Centerline is valid? [True, True] Translation: X:96.66, Y:-69.42, Z:-1.79 [[-2.61705220e-01 -9.65146747e-01 1.46062707e-03 9.66551604e+01] [-9.65133176e-01 2.61709287e-01 5.11875792e-03 -6.94234179e+01] [-5.32261222e-03 -7.00939733e-05 -9.99985832e-01 -1.79336513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.136559995 meters 0.010091886202149538 Centerline is valid? [True, True] Translation: X:96.60, Y:-69.53, Z:-1.79 [[-1.85299695e-01 -9.82681682e-01 8.56983588e-04 9.66030316e+01] [-9.82672886e-01 1.85301663e-01 4.15845690e-03 -6.95292655e+01] [-4.24523991e-03 -7.15737380e-05 -9.99990986e-01 -1.79494822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.166559995 meters 0.010239054225241639 Centerline is valid? [True, True] Translation: X:96.56, Y:-69.64, Z:-1.80 [[-1.08898805e-01 -9.94052737e-01 4.53864490e-04 9.65583900e+01] [-9.94046527e-01 1.08899730e-01 3.51434603e-03 -6.96388792e+01] [-3.54287101e-03 -6.84543358e-05 -9.99993722e-01 -1.79553618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.196559995 meters 0.01051813364373276 Centerline is valid? [True, True] Translation: X:96.52, Y:-69.76, Z:-1.80 [[-3.17576954e-02 -9.99495582e-01 1.71612774e-04 9.65210285e+01] [-9.99490257e-01 3.17580865e-02 3.26345168e-03 -6.97552301e+01] [-3.26725563e-03 -6.78855913e-05 -9.99994660e-01 -1.79553795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.226559995 meters 0.010630851171977677 Centerline is valid? [True, True] Translation: X:96.49, Y:-69.87, Z:-1.80 [[ 4.62128845e-02 -9.98931611e-01 -7.78650562e-05 9.64938677e+01] [-9.98926455e-01 -4.62128962e-02 3.21029841e-03 -6.98703627e+01] [-3.21046693e-03 -7.05756849e-05 -9.99994844e-01 -1.79518621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.256559995 meters 0.010814149381343207 Centerline is valid? [True, True] Translation: X:96.48, Y:-69.99, Z:-1.79 [[ 1.23346716e-01 -9.92363554e-01 -4.05497962e-04 9.64752828e+01] [-9.92355904e-01 -1.23347358e-01 3.89735545e-03 -6.99914621e+01] [-3.91761061e-03 -7.83276992e-05 -9.99992323e-01 -1.79475803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.286559995 meters 0.010762113875837611 Centerline is valid? [True, True] Translation: X:96.47, Y:-70.11, Z:-1.79 [[ 1.99938717e-01 -9.79808117e-01 -7.50139972e-04 9.64658864e+01] [-9.79799576e-01 -1.99940107e-01 4.09205355e-03 -7.01087633e+01] [-4.15941035e-03 -8.31731083e-05 -9.99991346e-01 -1.79439862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.316559995 meters 0.011349170918633512 Centerline is valid? [True, True] Translation: X:96.47, Y:-70.23, Z:-1.79 [[ 2.76575791e-01 -9.60991140e-01 -1.36417741e-03 9.64667434e+01] [-9.60977514e-01 -2.76579136e-01 5.11846216e-03 -7.02315815e+01] [-5.29609979e-03 -1.04698909e-04 -9.99985970e-01 -1.79323835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.346559995 meters 0.011522119344539082 Centerline is valid? [True, True] Translation: X:96.48, Y:-70.35, Z:-1.79 [[ 3.50488002e-01 -9.36565477e-01 -1.80790221e-03 9.64763106e+01] [-9.36551328e-01 -3.50492647e-01 5.14913296e-03 -7.03509553e+01] [-5.45615660e-03 -1.11516107e-04 -9.99985109e-01 -1.79291305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.376559995 meters 0.011756240720037815 Centerline is valid? [True, True] Translation: X:96.49, Y:-70.47, Z:-1.79 [[ 4.21973364e-01 -9.06604743e-01 -2.51414935e-03 9.64948158e+01] [-9.06586845e-01 -4.21980835e-01 5.69811249e-03 -7.04686094e+01] [-6.22685865e-03 -1.25156972e-04 -9.99980605e-01 -1.79264766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.406559995 meters 0.011765967397247001 Centerline is valid? [True, True] Translation: X:96.52, Y:-70.58, Z:-1.79 [[ 4.91212682e-01 -8.71032217e-01 -3.60267720e-03 9.65195787e+01] [-8.71006494e-01 -4.91225870e-01 6.69566923e-03 -7.05758213e+01] [-7.60187185e-03 -1.51042400e-04 -9.99971094e-01 -1.79188516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.436559995 meters 0.011802121059619686 Centerline is valid? [True, True] Translation: X:96.55, Y:-70.69, Z:-1.79 [[ 5.56558642e-01 -8.30796585e-01 -4.41729225e-03 9.65542104e+01] [-8.30768108e-01 -5.56576149e-01 6.88049069e-03 -7.06863378e+01] [-8.17484768e-03 -1.59651037e-04 -9.99966573e-01 -1.79097012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.466559995 meters 0.0118946008051057 Centerline is valid? [True, True] Translation: X:96.60, Y:-70.79, Z:-1.79 [[ 6.17884296e-01 -7.86251021e-01 -5.32248026e-03 9.65975072e+01] [-7.86219568e-01 -6.17907198e-01 7.03454022e-03 -7.07899434e+01] [-8.81971330e-03 -1.61893790e-04 -9.99961092e-01 -1.79023348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.49655999499998 meters 0.011466786035194356 Centerline is valid? [True, True] Translation: X:96.65, Y:-70.89, Z:-1.79 [[ 6.75299740e-01 -7.37520757e-01 -5.77873035e-03 9.66480016e+01] [-7.37491836e-01 -6.75324448e-01 6.53313362e-03 -7.08902031e+01] [-8.72083954e-03 -1.50056983e-04 -9.99961962e-01 -1.79081044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.52655999499999 meters 0.01114702599101353 Centerline is valid? [True, True] Translation: X:96.70, Y:-70.98, Z:-1.79 [[ 7.28341479e-01 -6.85187048e-01 -6.11544104e-03 9.67028284e+01] [-6.85161364e-01 -7.28367141e-01 5.93411925e-03 -7.09829634e+01] [-8.52026796e-03 -1.32001263e-04 -9.99963693e-01 -1.79112518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.556559995 meters 0.01094914316350375 Centerline is valid? [True, True] Translation: X:96.70, Y:-70.99, Z:-1.79 [[ 7.78335487e-01 -6.27816113e-01 -6.38731285e-03 9.67005949e+01] [-6.27793776e-01 -7.78361687e-01 5.29709008e-03 -7.09885823e+01] [-8.29723811e-03 -1.12997940e-04 -9.99965571e-01 -1.79112420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.586559995 meters 0.010453764611380506 Centerline is valid? [True, True] Translation: X:96.70, Y:-70.99, Z:-1.79 [[ 8.22218470e-01 -5.69144872e-01 -5.55896790e-03 9.67020124e+01] [-5.69131318e-01 -8.22237259e-01 3.92852431e-03 -7.09916173e+01] [-6.80668999e-03 -6.63225235e-05 -9.99976832e-01 -1.79254448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.616559995 meters 0.010326815710366482 Centerline is valid? [True, True] Translation: X:96.70, Y:-71.00, Z:-1.79 [[ 8.62665509e-01 -5.05759464e-01 -3.94762619e-03 9.66992715e+01] [-5.05753931e-01 -8.62674541e-01 2.36618488e-03 -7.10000203e+01] [-4.60223701e-03 -4.46986259e-05 -9.99989409e-01 -1.79408986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.646559995 meters 0.010371304464900847 Centerline is valid? [True, True] Translation: X:96.70, Y:-71.01, Z:-1.79 [[ 8.98652190e-01 -4.38641896e-01 -4.18662737e-03 9.66972996e+01] [-4.38636954e-01 -8.98661942e-01 2.08251500e-03 -7.10071907e+01] [-4.67584101e-03 -3.50471868e-05 -9.99989068e-01 -1.79376069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.676559995 meters 0.010807645881954044 Centerline is valid? [True, True] Translation: X:96.70, Y:-71.01, Z:-1.79 [[ 9.28534169e-01 -3.71207415e-01 -5.41775766e-03 9.66977080e+01] [-3.71201052e-01 -9.28549975e-01 2.17335875e-03 -7.10132802e+01] [-5.83742562e-03 -6.96051347e-06 -9.99982962e-01 -1.79333268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.706559995 meters 0.010807645881954044 Centerline is valid? [True, True] Translation: X:96.70, Y:-71.02, Z:-1.79 [[ 9.54707986e-01 -2.97492254e-01 -5.56950562e-03 9.66967529e+01] [-2.97487150e-01 -9.54724232e-01 1.74262592e-03 -7.10218091e+01] [-5.83575969e-03 -6.84253160e-06 -9.99982972e-01 -1.79334993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.736559995 meters 0.01108609233419308 Centerline is valid? [True, True] Translation: X:96.70, Y:-71.03, Z:-1.79 [[ 9.74747929e-01 -2.23238848e-01 -5.55805837e-03 9.66967583e+01] [-2.23235219e-01 -9.74763775e-01 1.27281158e-03 -7.10294202e+01] [-5.70193495e-03 8.39254483e-08 -9.99983744e-01 -1.79307257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.766559995 meters 0.011312578742958547 Centerline is valid? [True, True] Translation: X:96.69, Y:-71.04, Z:-1.79 [[ 9.88991196e-01 -1.47851508e-01 -6.02879416e-03 9.66944472e+01] [-1.47848841e-01 -9.89009571e-01 8.88062225e-04 -7.10355800e+01] [-6.09383646e-03 1.30645091e-05 -9.99981432e-01 -1.79306190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.796559995 meters 0.011565983496770843 Centerline is valid? [True, True] Translation: X:96.69, Y:-71.04, Z:-1.79 [[ 9.97430860e-01 -7.13493280e-02 -6.39939373e-03 9.66928132e+01] [-7.13480201e-02 -9.97451389e-01 4.32732893e-04 -7.10418302e+01] [-6.41395936e-03 2.49629302e-05 -9.99979430e-01 -1.79288546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.826559995 meters 0.012332784875184606 Centerline is valid? [True, True] Translation: X:96.69, Y:-71.05, Z:-1.79 [[ 9.99971273e-01 3.45238465e-03 -6.74797879e-03 9.66911788e+01] [ 3.45195291e-03 -9.99994039e-01 -7.56263449e-05 -7.10494246e+01] [-6.74819966e-03 5.23304673e-05 -9.99977229e-01 -1.79272456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.856559995 meters 0.0128012321788359 Centerline is valid? [True, True] Translation: X:96.69, Y:-71.06, Z:-1.79 [[ 9.96830917e-01 7.92335126e-02 -7.08325296e-03 9.66902605e+01] [ 7.92309738e-02 -9.96856080e-01 -6.38752086e-04 -7.10576154e+01] [-7.11159435e-03 7.55147982e-05 -9.99974709e-01 -1.79279561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.886559995 meters 0.013440959543975345 Centerline is valid? [True, True] Translation: X:96.69, Y:-71.07, Z:-1.79 [[ 9.87945005e-01 1.54620306e-01 -7.56496564e-03 9.66900252e+01] [ 1.54614967e-01 -9.87973962e-01 -1.28905535e-03 -7.10659049e+01] [-7.67330321e-03 1.03858875e-04 -9.99970554e-01 -1.79265181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.916559995 meters 0.014205571055555642 Centerline is valid? [True, True] Translation: X:96.69, Y:-71.07, Z:-1.79 [[ 9.73319907e-01 2.29323722e-01 -7.68045185e-03 9.66899830e+01] [ 2.29315558e-01 -9.73350201e-01 -1.93908811e-03 -7.10741957e+01] [-7.92044826e-03 1.26105958e-04 -9.99968625e-01 -1.79192807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.946559995 meters 0.015211798405187008 Centerline is valid? [True, True] Translation: X:96.69, Y:-71.08, Z:-1.79 [[ 9.53864851e-01 3.00120806e-01 -8.32755153e-03 9.66915535e+01] [ 3.00107645e-01 -9.53901183e-01 -2.81692049e-03 -7.10841550e+01] [-8.78907771e-03 1.87799568e-04 -9.99961358e-01 -1.79148561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.976559995 meters 0.016270583793168997 Centerline is valid? [True, True] Translation: X:96.69, Y:-71.09, Z:-1.79 [[ 9.28379696e-01 3.71544286e-01 -8.12300033e-03 9.66923801e+01] [ 3.71528062e-01 -9.28415208e-01 -3.47856653e-03 -7.10925471e+01] [-8.83395856e-03 2.11507964e-04 -9.99960957e-01 -1.79120117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.006559995 meters 0.01690005597875466 Centerline is valid? [True, True] Translation: X:96.70, Y:-71.10, Z:-1.79 [[ 8.98443515e-01 4.39016283e-01 -7.99712031e-03 9.66951649e+01] [ 4.38996317e-01 -8.98479068e-01 -4.19492970e-03 -7.11026741e+01] [-9.02688766e-03 2.58201022e-04 -9.99959223e-01 -1.79175503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.036559995 meters 0.017652054635396815 Centerline is valid? [True, True] Translation: X:96.70, Y:-71.11, Z:-1.79 [[ 8.62326658e-01 5.06292471e-01 -7.78903887e-03 9.66987719e+01] [ 5.06268833e-01 -8.62361788e-01 -4.90052658e-03 -7.11118670e+01] [-9.19806920e-03 2.82507089e-04 -9.99957657e-01 -1.79196979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.066559995 meters 0.019078647866407398 Centerline is valid? [True, True] Translation: X:96.70, Y:-71.12, Z:-1.79 [[ 8.20931163e-01 5.70978890e-01 -7.42510706e-03 9.67010824e+01] [ 5.70952205e-01 -8.20964687e-01 -5.52832698e-03 -7.11205325e+01] [-9.25230870e-03 2.98994654e-04 -9.99957152e-01 -1.79186822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.096559995 meters 0.019954151656313857 Centerline is valid? [True, True] Translation: X:96.70, Y:-71.13, Z:-1.79 [[ 7.74450124e-01 6.32598507e-01 -6.79225354e-03 9.67033681e+01] [ 6.32570724e-01 -7.74479851e-01 -5.93630212e-03 -7.11286041e+01] [-9.01575936e-03 3.00789170e-04 -9.99959312e-01 -1.79184408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.126559995 meters 0.021863297896988258 Centerline is valid? [True, True] Translation: X:96.71, Y:-71.14, Z:-1.79 [[ 7.23007983e-01 6.90815549e-01 -5.77345764e-03 9.67058557e+01] [ 6.90790412e-01 -7.23030981e-01 -5.89978039e-03 -7.11360882e+01] [-8.25004877e-03 2.77339137e-04 -9.99965929e-01 -1.79138277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.156559995 meters 0.02213445946702607 Centerline is valid? [True, True] Translation: X:96.71, Y:-71.14, Z:-1.79 [[ 6.66432420e-01 7.45546546e-01 -5.30829338e-03 9.67081563e+01] [ 7.45519542e-01 -6.66453503e-01 -6.35142147e-03 -7.11409057e+01] [-8.27301106e-03 2.75356733e-04 -9.99965740e-01 -1.79128074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.186559995 meters 0.022149991096918717 Centerline is valid? [True, True] Translation: X:96.71, Y:-71.15, Z:-1.79 [[ 6.05233788e-01 7.96032676e-01 -4.90315447e-03 9.67090002e+01] [ 7.96002797e-01 -6.05253586e-01 -6.90236695e-03 -7.11466054e+01] [-8.46216146e-03 2.74621020e-04 -9.99964158e-01 -1.79118027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.216559995 meters 0.019117723216822324 Centerline is valid? [True, True] Translation: X:96.72, Y:-71.16, Z:-1.79 [[ 5.40078600e-01 8.41603019e-01 -4.41187783e-03 9.67191329e+01] [ 8.41570763e-01 -5.40096553e-01 -7.37325001e-03 -7.11556639e+01] [-8.58818947e-03 2.69227148e-04 -9.99963085e-01 -1.79215777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.24655999499998 meters 0.01811074166974306 Centerline is valid? [True, True] Translation: X:96.73, Y:-71.16, Z:-1.79 [[ 4.69675241e-01 8.82830962e-01 -3.82883361e-03 9.67282732e+01] [ 8.82797308e-01 -4.69690785e-01 -7.71230991e-03 -7.11633323e+01] [-8.60703384e-03 2.42197013e-04 -9.99962929e-01 -1.79181920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.27655999499999 meters 0.016673596073338952 Centerline is valid? [True, True] Translation: X:96.74, Y:-71.17, Z:-1.79 [[ 3.97577349e-01 9.17562688e-01 -3.31132752e-03 9.67401546e+01] [ 9.17525759e-01 -3.97591068e-01 -8.23550053e-03 -7.11700056e+01] [-8.87314225e-03 2.36020171e-04 -9.99960605e-01 -1.79203108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.306559995 meters 0.016663597460505806 Centerline is valid? [True, True] Translation: X:96.75, Y:-71.18, Z:-1.79 [[ 3.22705224e-01 9.46495708e-01 -2.68557566e-03 9.67494075e+01] [ 9.46456985e-01 -3.22716323e-01 -8.56445868e-03 -7.11756141e+01] [-8.97290249e-03 2.22013723e-04 -9.99959718e-01 -1.79190016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.336559995 meters 0.016121193892410558 Centerline is valid? [True, True] Translation: X:96.76, Y:-71.18, Z:-1.79 [[ 2.44149419e-01 9.69736071e-01 -1.73591414e-03 9.67595967e+01] [ 9.69706743e-01 -2.44155539e-01 -7.54359728e-03 -7.11806361e+01] [-7.73913144e-03 1.58437252e-04 -9.99970040e-01 -1.79207767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.366559995 meters 0.01491838443417387 Centerline is valid? [True, True] Translation: X:96.77, Y:-71.18, Z:-1.79 [[ 1.65733320e-01 9.86170013e-01 -1.08286023e-03 9.67715696e+01] [ 9.86143286e-01 -1.65736802e-01 -7.26166854e-03 -7.11845178e+01] [-7.34070955e-03 1.35645090e-04 -9.99973047e-01 -1.79262124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.396559995 meters 0.01491838443417387 Centerline is valid? [True, True] Translation: X:96.78, Y:-71.19, Z:-1.79 [[ 8.79868943e-02 9.96121502e-01 -5.10551666e-04 9.67805114e+01] [ 9.96094596e-01 -8.79882709e-02 -7.32262733e-03 -7.11873004e+01] [-7.33914909e-03 1.35737482e-04 -9.99973059e-01 -1.79263477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.426559995 meters 0.01482108337299725 Centerline is valid? [True, True] Translation: X:96.79, Y:-71.19, Z:-1.79 [[ 7.98608739e-03 9.99968109e-01 5.62782782e-05 9.67898543e+01] [ 9.99945290e-01 -7.98552489e-03 -6.75642565e-03 -7.11903261e+01] [-6.75576077e-03 1.10232605e-04 -9.99977174e-01 -1.79233097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.456559995 meters 0.014887455512376304 Centerline is valid? [True, True] Translation: X:96.80, Y:-71.19, Z:-1.79 [[-7.16745510e-02 9.97427884e-01 6.12895832e-04 9.67974124e+01] [ 9.97403139e-01 7.16770905e-02 -7.02664543e-03 -7.11921308e+01] [-7.05250267e-03 1.07672571e-04 -9.99975125e-01 -1.79217603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.486559995 meters 0.014027122883402935 Centerline is valid? [True, True] Translation: X:96.81, Y:-71.19, Z:-1.79 [[-1.51912544e-01 9.88393226e-01 1.18730000e-03 9.68070564e+01] [ 9.88367685e-01 1.51917154e-01 -7.10618999e-03 -7.11918124e+01] [-7.20408129e-03 9.39695606e-05 -9.99974046e-01 -1.79176742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.516559995 meters 0.013680135929236649 Centerline is valid? [True, True] Translation: X:96.82, Y:-71.19, Z:-1.79 [[-2.29993267e-01 9.73190511e-01 1.82399012e-03 9.68150654e+01] [ 9.73162993e-01 2.30000481e-01 -7.31893760e-03 -7.11911869e+01] [-7.54223922e-03 9.17333116e-05 -9.99971553e-01 -1.79144972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.546559995 meters 0.013576827225935655 Centerline is valid? [True, True] Translation: X:96.82, Y:-71.19, Z:-1.79 [[-3.06292377e-01 9.51934421e-01 2.41598983e-03 9.68219583e+01] [ 9.51907004e-01 3.06301893e-01 -7.22536618e-03 -7.11901358e+01] [-7.61809704e-03 8.67230597e-05 -9.99970978e-01 -1.79097436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.576559995 meters 0.012903135217164751 Centerline is valid? [True, True] Translation: X:96.83, Y:-71.19, Z:-1.79 [[-3.80992352e-01 9.24573060e-01 3.07959427e-03 9.68327347e+01] [ 9.24544581e-01 3.81004789e-01 -7.25728977e-03 -7.11867772e+01] [-7.88323478e-03 8.22503012e-05 -9.99968923e-01 -1.79144627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.606559995 meters 0.012833986417662658 Centerline is valid? [True, True] Translation: X:96.84, Y:-71.18, Z:-1.79 [[-4.52359622e-01 8.91828041e-01 3.67674928e-03 9.68425864e+01] [ 8.91800049e-01 4.52374556e-01 -7.06636301e-03 -7.11825109e+01] [-7.96524850e-03 8.23878826e-05 -9.99968274e-01 -1.79122985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.636559995 meters 0.012855040687410082 Centerline is valid? [True, True] Translation: X:96.85, Y:-71.18, Z:-1.79 [[-5.20611866e-01 8.53781766e-01 4.47001641e-03 9.68518012e+01] [ 8.53751796e-01 5.20631047e-01 -7.15430844e-03 -7.11773025e+01] [-8.43544742e-03 9.16666724e-05 -9.99964417e-01 -1.79076325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.666559995 meters 0.01354028544146776 Centerline is valid? [True, True] Translation: X:96.86, Y:-71.17, Z:-1.79 [[-5.84769375e-01 8.11181250e-01 5.45508807e-03 9.68595551e+01] [ 8.11147780e-01 5.84794808e-01 -7.36967518e-03 -7.11742245e+01] [-9.16824950e-03 1.15322224e-04 -9.99957964e-01 -1.78976004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.696559995 meters 0.014007212201522044 Centerline is valid? [True, True] Translation: X:96.87, Y:-71.17, Z:-1.79 [[-6.45662611e-01 7.63598194e-01 6.13107832e-03 9.68655439e+01] [ 7.63565645e-01 6.45691708e-01 -7.05152747e-03 -7.11719062e+01] [-9.34332007e-03 1.28573135e-04 -9.99956342e-01 -1.78965392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.726559995 meters 0.014064005638921103 Centerline is valid? [True, True] Translation: X:96.87, Y:-71.17, Z:-1.79 [[-7.02536417e-01 7.11616504e-01 6.67337832e-03 9.68716153e+01] [ 7.11586296e-01 7.02568098e-01 -6.55827886e-03 -7.11668096e+01] [-9.35548219e-03 1.41254831e-04 -9.99956227e-01 -1.79008491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.756559995 meters 0.015159056748167204 Centerline is valid? [True, True] Translation: X:96.89, Y:-71.15, Z:-1.79 [[-7.48432722e-01 6.63175879e-01 6.79809967e-03 9.68921177e+01] [ 6.63150609e-01 7.48463575e-01 -5.79187767e-03 -7.11506688e+01] [-8.92916355e-03 1.73333165e-04 -9.99960119e-01 -1.79044641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.786559995 meters 0.015534859529374856 Centerline is valid? [True, True] Translation: X:96.91, Y:-71.13, Z:-1.79 [[-7.91893227e-01 6.10620149e-01 6.93907081e-03 9.69098035e+01] [ 6.10598783e-01 7.91923606e-01 -5.11165180e-03 -7.11298786e+01] [-8.61649157e-03 1.89105751e-04 -9.99962859e-01 -1.79100476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.816559995 meters 0.017079174761012488 Centerline is valid? [True, True] Translation: X:96.93, Y:-71.11, Z:-1.79 [[-8.30037291e-01 5.57662415e-01 7.12223183e-03 9.69264414e+01] [ 5.57644257e-01 8.30067815e-01 -4.50619991e-03 -7.11108311e+01] [-8.42487373e-03 2.31357710e-04 -9.99964483e-01 -1.79123413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.846559995 meters 0.018674005526528967 Centerline is valid? [True, True] Translation: X:96.94, Y:-71.09, Z:-1.79 [[-8.65909123e-01 5.00147175e-01 7.36170168e-03 9.69416354e+01] [ 5.00131586e-01 8.65940378e-01 -3.95714295e-03 -7.10900892e+01] [-8.35394860e-03 2.55293355e-04 -9.99965073e-01 -1.79091886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.876559995 meters 0.019493444046357344 Centerline is valid? [True, True] Translation: X:96.96, Y:-71.07, Z:-1.79 [[-8.96885475e-01 4.42208357e-01 6.94363920e-03 9.69560288e+01] [ 4.42197410e-01 8.96912312e-01 -3.12324501e-03 -7.10674443e+01] [-7.60896054e-03 2.69266186e-04 -9.99971015e-01 -1.79149842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.906559995 meters 0.02040843548086194 Centerline is valid? [True, True] Translation: X:97.24, Y:-70.43, Z:-2.78 [[-9.03256788e-01 -4.29065898e-01 5.44339107e-03 9.72449130e+01] [ 4.29056092e-01 -9.03273140e-01 -2.91624442e-03 -7.04335241e+01] [ 6.16812997e-03 -2.98597469e-04 9.99980932e-01 -2.77815235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.936559995 meters 0.02147227744864407 Centerline is valid? [True, True] Translation: X:96.92, Y:-71.05, Z:-1.79 [[-8.96706178e-01 4.42583429e-01 6.15943781e-03 9.69161866e+01] [ 4.42574983e-01 8.96727294e-01 -2.74690136e-03 -7.10531557e+01] [-6.73906902e-03 2.62849659e-04 -9.99977258e-01 -1.79211388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.966559995 meters 0.022567717901202197 Centerline is valid? [True, True] Translation: X:96.92, Y:-71.03, Z:-1.79 [[-9.25352755e-01 3.79066980e-01 5.52297211e-03 9.69244209e+01] [ 3.79061714e-01 9.25369208e-01 -2.01161650e-03 -7.10269687e+01] [-5.87332571e-03 2.32092403e-04 -9.99982725e-01 -1.79222625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.99655999499998 meters 0.022489030296685076 Centerline is valid? [True, True] Translation: X:97.17, Y:-70.37, Z:-2.78 [[-9.34231195e-01 -3.56640529e-01 4.42804227e-03 9.71682027e+01] [ 3.56635245e-01 -9.34241656e-01 -1.95726447e-03 -7.03696993e+01] [ 4.83490138e-03 -2.49341588e-04 9.99988281e-01 -2.77770030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.02655999499999 meters 0.021135995601552073 Centerline is valid? [True, True] Translation: X:96.88, Y:-71.01, Z:-1.79 [[-9.26448946e-01 3.76395687e-01 4.31697666e-03 9.68812532e+01] [ 3.76392489e-01 9.26458987e-01 -1.56185217e-03 -7.10068332e+01] [-4.58737624e-03 1.77901292e-04 -9.99989462e-01 -1.79287955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.056559995 meters 0.023450671638015667 Centerline is valid? [True, True] Translation: X:96.89, Y:-70.98, Z:-1.79 [[-9.51060045e-01 3.08977854e-01 4.18040302e-03 9.68898525e+01] [ 3.08975620e-01 9.51069219e-01 -1.18631219e-03 -7.09813878e+01] [-4.34239683e-03 1.63388488e-04 -9.99990558e-01 -1.79276851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.086559995 meters 0.022707248787546843 Centerline is valid? [True, True] Translation: X:96.89, Y:-70.95, Z:-1.79 [[-9.70865868e-01 2.39587357e-01 4.16699380e-03 9.68938425e+01] [ 2.39585831e-01 9.70874799e-01 -8.69126130e-04 -7.09503231e+01] [-4.25386090e-03 1.54547774e-04 -9.99990940e-01 -1.79269843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.116559995 meters 0.02004671770357594 Centerline is valid? [True, True] Translation: X:96.90, Y:-70.92, Z:-1.79 [[-9.85599646e-01 1.69046791e-01 4.06446168e-03 9.69045621e+01] [ 1.69045945e-01 9.85608017e-01 -5.53315694e-04 -7.09177492e+01] [-4.09950226e-03 1.41733013e-04 -9.99991587e-01 -1.79300527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.146559995 meters 0.020362555922329727 Centerline is valid? [True, True] Translation: X:96.90, Y:-70.88, Z:-1.79 [[-9.95431724e-01 9.54219206e-02 3.21548800e-03 9.69012354e+01] [ 9.54217262e-02 9.95436913e-01 -2.14147838e-04 -7.08849913e+01] [-3.22124985e-03 9.36578646e-05 -9.99994807e-01 -1.79286964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.176559995 meters 0.01921030967035624 Centerline is valid? [True, True] Translation: X:96.90, Y:-70.85, Z:-1.79 [[-9.99731297e-01 2.30084947e-02 2.81830480e-03 9.68965623e+01] [ 2.30086115e-02 9.99735267e-01 8.99709196e-06 -7.08526364e+01] [-2.81735169e-03 7.38399545e-05 -9.99996029e-01 -1.79316001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.206559995 meters 0.01881860147214604 Centerline is valid? [True, True] Translation: X:96.89, Y:-70.19, Z:-2.78 [[-9.99880314e-01 -1.53613314e-02 1.84016264e-03 9.68852653e+01] [ 1.53611168e-02 -9.99882003e-01 -1.30676661e-04 -7.01916137e+01] [ 1.84195288e-03 -1.02394068e-04 9.99998298e-01 -2.77721423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.236559995 meters 0.018958783365042326 Centerline is valid? [True, True] Translation: X:96.81, Y:-70.85, Z:-1.79 [[-9.99888946e-01 1.45649595e-02 3.15565491e-03 9.68090630e+01] [ 1.45651287e-02 9.99893922e-01 3.06547807e-05 -7.08469202e+01] [-3.15487368e-03 7.66138963e-05 -9.99995020e-01 -1.79201329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.266559995 meters 0.017410023697817776 Centerline is valid? [True, True] Translation: X:96.80, Y:-70.81, Z:-1.79 [[-9.98353925e-01 -5.72887748e-02 2.72691472e-03 9.67975126e+01] [-5.72883942e-02 9.98357648e-01 2.17545849e-04 -7.08146571e+01] [-2.73489910e-03 6.09671868e-05 -9.99996258e-01 -1.79173757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.296559995 meters 0.017249447873949296 Centerline is valid? [True, True] Translation: X:96.74, Y:-70.18, Z:-2.78 [[-9.98289591e-01 5.84459795e-02 1.39970003e-03 9.67423160e+01] [-5.84460686e-02 -9.98290567e-01 -2.27646115e-05 -7.01778285e+01] [ 1.39597683e-03 -1.04532639e-04 9.99999020e-01 -2.77853258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.326559995 meters 0.01794338463733506 Centerline is valid? [True, True] Translation: X:96.70, Y:-70.82, Z:-1.79 [[-9.97967814e-01 -6.37046889e-02 1.39832640e-03 9.67000565e+01] [-6.37046071e-02 9.97968793e-01 1.03022944e-04 -7.08184406e+01] [-1.40204915e-03 1.37337486e-05 -9.99999017e-01 -1.79206788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.356559995 meters 0.018468367912137826 Centerline is valid? [True, True] Translation: X:96.68, Y:-70.79, Z:-1.79 [[-9.90854075e-01 -1.34927461e-01 1.66815074e-03 9.66837878e+01] [-1.34927228e-01 9.90855479e-01 2.51732411e-04 -7.07910539e+01] [-1.68686192e-03 2.43511289e-05 -9.99998577e-01 -1.79186109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.386559995 meters 0.017796922421248137 Centerline is valid? [True, True] Translation: X:96.65, Y:-70.77, Z:-1.79 [[-9.78570498e-01 -2.05902525e-01 1.98280010e-03 9.66523434e+01] [-2.05902028e-01 9.78572506e-01 4.53931333e-04 -7.07653561e+01] [-2.03377927e-03 3.59412485e-05 -9.99997931e-01 -1.79135033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.416559995 meters 0.017875607409949392 Centerline is valid? [True, True] Translation: X:96.61, Y:-70.74, Z:-1.79 [[-9.60889424e-01 -2.76919661e-01 2.64893713e-03 9.66069587e+01] [-2.76918438e-01 9.60893073e-01 8.25152249e-04 -7.07445744e+01] [-2.77384622e-03 5.93405372e-05 -9.99996151e-01 -1.78973064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.446559995 meters 0.018770409926347677 Centerline is valid? [True, True] Translation: X:96.54, Y:-70.74, Z:-1.79 [[-9.37933202e-01 -3.46804083e-01 2.86990106e-03 9.65419417e+01] [-3.46802234e-01 9.37937590e-01 1.13464853e-03 -7.07374688e+01] [-3.08528883e-03 6.89364346e-05 -9.99995238e-01 -1.78932491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.476559995 meters 0.017927946145995362 Centerline is valid? [True, True] Translation: X:96.47, Y:-70.73, Z:-1.79 [[-9.09659691e-01 -4.15346222e-01 2.60042509e-03 9.64726497e+01] [-4.15344331e-01 9.09663406e-01 1.25457596e-03 -7.07345146e+01] [-2.88659493e-03 6.11653579e-05 -9.99995832e-01 -1.78928812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.506559995 meters 0.01671166553437169 Centerline is valid? [True, True] Translation: X:96.40, Y:-70.74, Z:-1.79 [[-8.76135496e-01 -4.82059486e-01 2.29019959e-03 9.63963016e+01] [-4.82057683e-01 8.76138488e-01 1.31911731e-03 -7.07396330e+01] [-2.64242502e-03 5.17171909e-05 -9.99996507e-01 -1.78962978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.536559995 meters 0.016642183148089323 Centerline is valid? [True, True] Translation: X:96.31, Y:-70.76, Z:-1.79 [[-8.37058252e-01 -5.47109791e-01 2.08814529e-03 9.63125932e+01] [-5.47107956e-01 8.37060855e-01 1.41761799e-03 -7.07556853e+01] [-2.52349736e-03 4.41879342e-05 -9.99996815e-01 -1.79009110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.566559995 meters 0.01593494064933165 Centerline is valid? [True, True] Translation: X:96.23, Y:-70.78, Z:-1.79 [[-7.93370035e-01 -6.08735928e-01 2.13490191e-03 9.62262196e+01] [-6.08733558e-01 7.93372906e-01 1.69919474e-03 -7.07815856e+01] [-2.72813422e-03 4.85037500e-05 -9.99996277e-01 -1.79021830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.596559995 meters 0.01579892398540401 Centerline is valid? [True, True] Translation: X:96.14, Y:-70.82, Z:-1.79 [[-7.45084707e-01 -6.66967095e-01 1.91673761e-03 9.61382176e+01] [-6.66964737e-01 7.45087171e-01 1.77412087e-03 -7.08187636e+01] [-2.61141684e-03 4.34739320e-05 -9.99996589e-01 -1.78999722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.626559995 meters 0.016491856020118347 Centerline is valid? [True, True] Translation: X:96.05, Y:-70.86, Z:-1.79 [[-6.91673410e-01 -7.22207803e-01 1.94480753e-03 9.60509186e+01] [-7.22204758e-01 6.91676143e-01 2.09789544e-03 -7.08649003e+01] [-2.86029343e-03 4.65092419e-05 -9.99995908e-01 -1.78952038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.656559995 meters 0.01621358351958503 Centerline is valid? [True, True] Translation: X:95.96, Y:-70.92, Z:-1.79 [[-6.34786413e-01 -7.72685628e-01 1.76925236e-03 9.59634591e+01] [-7.72682430e-01 6.34788877e-01 2.22353855e-03 -7.09224211e+01] [-2.84119801e-03 4.44018468e-05 -9.99995963e-01 -1.78931608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.686559995 meters 0.015779357362550452 Centerline is valid? [True, True] Translation: X:95.88, Y:-70.98, Z:-1.79 [[-5.74009577e-01 -8.18846794e-01 1.71266209e-03 9.58801214e+01] [-8.18842894e-01 5.74012130e-01 2.52758483e-03 -7.09836744e+01] [-3.05279355e-03 4.84567206e-05 -9.99995339e-01 -1.78858749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.716559995 meters 0.01575345480093658 Centerline is valid? [True, True] Translation: X:95.80, Y:-71.06, Z:-1.79 [[-5.10287707e-01 -8.60002254e-01 1.60614063e-03 9.58002466e+01] [-8.59997659e-01 5.10290232e-01 2.81175937e-03 -7.10575558e+01] [-3.23771727e-03 5.35290645e-05 -9.99994757e-01 -1.78829647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.74655999499998 meters 0.015932650847479052 Centerline is valid? [True, True] Translation: X:95.73, Y:-71.14, Z:-1.79 [[-4.43736283e-01 -8.96156127e-01 1.51890360e-03 9.57256517e+01] [-8.96150382e-01 4.43738878e-01 3.20957803e-03 -7.11393730e+01] [-3.55027960e-03 6.30401866e-05 -9.99993696e-01 -1.78771384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.77655999499999 meters 0.01643536015564459 Centerline is valid? [True, True] Translation: X:95.66, Y:-71.23, Z:-1.79 [[-3.74684635e-01 -9.27151231e-01 1.42107774e-03 9.56570508e+01] [-9.27143766e-01 3.74687322e-01 3.72128714e-03 -7.12292858e+01] [-3.98265576e-03 7.67657493e-05 -9.99992066e-01 -1.78724824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.806559995 meters 0.016085726551205416 Centerline is valid? [True, True] Translation: X:95.59, Y:-71.32, Z:-1.79 [[-3.03775364e-01 -9.52742970e-01 1.16672384e-03 9.55933893e+01] [-9.52734848e-01 3.03777593e-01 3.93496517e-03 -7.13236871e+01] [-4.10343496e-03 8.37670127e-05 -9.99991577e-01 -1.78671965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.836559995 meters 0.016823633868263126 Centerline is valid? [True, True] Translation: X:95.54, Y:-71.43, Z:-1.79 [[-2.30638835e-01 -9.73039016e-01 8.95534121e-04 9.55393584e+01] [-9.73030090e-01 2.30640556e-01 4.16878325e-03 -7.14259091e+01] [-4.26293523e-03 9.01016662e-05 -9.99990910e-01 -1.78632161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.866559995 meters 0.01680825870406901 Centerline is valid? [True, True] Translation: X:95.49, Y:-71.53, Z:-1.79 [[-1.56556446e-01 -9.87668862e-01 5.45726922e-04 9.54921245e+01] [-9.87660779e-01 1.56557373e-01 3.99669735e-03 -7.15294507e+01] [-4.03285110e-03 8.67156571e-05 -9.99991864e-01 -1.78632570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.896559995 meters 0.016747529651907477 Centerline is valid? [True, True] Translation: X:95.45, Y:-71.64, Z:-1.79 [[-8.18367906e-02 -9.96645717e-01 2.32246213e-04 9.54527675e+01] [-9.96638161e-01 8.18370747e-02 3.88201294e-03 -7.16354229e+01] [-3.88799792e-03 8.62260412e-05 -9.99992438e-01 -1.78660957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.926559995 meters 0.017455316457513536 Centerline is valid? [True, True] Translation: X:95.42, Y:-71.75, Z:-1.79 [[-6.37653139e-03 -9.99979668e-01 -6.07555381e-05 9.54227914e+01] [-9.99972695e-01 6.37625997e-03 3.73543656e-03 -7.17499851e+01] [-3.73497322e-03 8.45730076e-05 -9.99993021e-01 -1.78661845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.956559995 meters 0.017343203765851117 Centerline is valid? [True, True] Translation: X:95.40, Y:-71.86, Z:-1.79 [[ 6.81182427e-02 -9.97677181e-01 -3.83043995e-04 9.53983973e+01] [-9.97668817e-01 -6.81192407e-02 4.08676414e-03 -7.18638366e+01] [-4.10336399e-03 1.03767858e-04 -9.99991576e-01 -1.78618694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.986559995 meters 0.018674003231540177 Centerline is valid? [True, True] Translation: X:95.39, Y:-71.98, Z:-1.79 [[ 1.43074622e-01 -9.89711611e-01 -7.60897913e-04 9.53869245e+01] [-9.89701758e-01 -1.43076594e-01 4.41800505e-03 -7.19796226e+01] [-4.48141758e-03 1.20957599e-04 -9.99989951e-01 -1.78577742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.016559995 meters 0.01780685419450961 Centerline is valid? [True, True] Translation: X:95.38, Y:-72.09, Z:-1.79 [[ 2.16655795e-01 -9.76247474e-01 -1.06602426e-03 9.53806392e+01] [-9.76238302e-01 -2.16658382e-01 4.23347778e-03 -7.20944187e+01] [-4.36388508e-03 1.23486219e-04 -9.99990471e-01 -1.78589986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.046559995 meters 0.018418974557147038 Centerline is valid? [True, True] Translation: X:95.39, Y:-72.21, Z:-1.79 [[ 2.87847202e-01 -9.57675064e-01 -1.56861689e-03 9.53856428e+01] [-9.57663675e-01 -2.87851433e-01 4.67313215e-03 -7.22104565e+01] [-4.92687075e-03 1.57059407e-04 -9.99987851e-01 -1.78562409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.076559995 meters 0.020382436135480415 Centerline is valid? [True, True] Translation: X:95.40, Y:-72.32, Z:-1.79 [[ 3.57751043e-01 -9.33814428e-01 -2.19208242e-03 9.54006655e+01] [-9.33800130e-01 -3.57757704e-01 5.17135636e-03 -7.23235793e+01] [-5.61332156e-03 1.96908718e-04 -9.99984226e-01 -1.78527407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.106559995 meters 0.020382436135480415 Centerline is valid? [True, True] Translation: X:95.42, Y:-72.43, Z:-1.79 [[ 4.27714312e-01 -9.03910293e-01 -2.57848186e-03 9.54217991e+01] [-9.03896549e-01 -4.27722039e-01 4.98854122e-03 -7.24343363e+01] [-5.61206728e-03 1.97010384e-04 -9.99984233e-01 -1.78533120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.136559995 meters 0.021150278166220126 Centerline is valid? [True, True] Translation: X:95.45, Y:-72.54, Z:-1.79 [[ 4.93399241e-01 -8.69800147e-01 -2.21209214e-03 9.54478901e+01] [-8.69792717e-01 -4.93404178e-01 3.59816823e-03 -7.25387151e+01] [-4.22114276e-03 1.48728158e-04 -9.99991080e-01 -1.78640063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.166559995 meters 0.02191629414816175 Centerline is valid? [True, True] Translation: X:95.48, Y:-72.64, Z:-1.79 [[ 5.57035486e-01 -8.30486927e-01 -1.71207206e-03 9.54820681e+01] [-8.30483525e-01 -5.57038109e-01 2.37925949e-03 -7.26415087e+01] [-2.92963329e-03 9.65156677e-05 -9.99995704e-01 -1.78719628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.196559995 meters 0.021567859028042466 Centerline is valid? [True, True] Translation: X:95.52, Y:-72.74, Z:-1.79 [[ 6.18475059e-01 -7.85802323e-01 -1.81954656e-03 9.55229476e+01] [-7.85799348e-01 -6.18477729e-01 2.16414393e-03 -7.27405824e+01] [-2.82593835e-03 9.13294525e-05 -9.99996003e-01 -1.78802939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.226559995 meters 0.021416104483258553 Centerline is valid? [True, True] Translation: X:95.57, Y:-72.83, Z:-1.79 [[ 6.76315075e-01 -7.36610826e-01 -1.55236363e-03 9.55664922e+01] [-7.36609100e-01 -6.76316854e-01 1.59584771e-03 -7.28314062e+01] [-2.22540838e-03 6.41893142e-05 -9.99997522e-01 -1.78829883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.256559995 meters 0.01902768490497569 Centerline is valid? [True, True] Translation: X:95.56, Y:-72.85, Z:-1.79 [[ 7.32365853e-01 -6.80909964e-01 -1.37070596e-03 9.55610700e+01] [-6.80908884e-01 -7.32367134e-01 1.21361082e-03 -7.28510464e+01] [-1.83021969e-03 4.45187391e-05 -9.99998324e-01 -1.78862855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.286559995 meters 0.018728363664496376 Centerline is valid? [True, True] Translation: X:95.56, Y:-72.87, Z:-1.79 [[ 7.84255437e-01 -6.20436838e-01 -1.24075691e-03 9.55596217e+01] [-6.20436123e-01 -7.84256418e-01 9.42366874e-04 -7.28688122e+01] [-1.55775069e-03 3.07540614e-05 -9.99998786e-01 -1.78848744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.316559995 meters 0.018728363664496376 Centerline is valid? [True, True] Translation: X:95.56, Y:-72.88, Z:-1.79 [[ 8.30358211e-01 -5.57228434e-01 -1.30957647e-03 9.55599464e+01] [-5.57227799e-01 -8.30359243e-01 8.41728712e-04 -7.28847050e+01] [-1.55645409e-03 3.07960642e-05 -9.99998788e-01 -1.78850084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.346559995 meters 0.019008157016611286 Centerline is valid? [True, True] Translation: X:95.56, Y:-72.90, Z:-1.79 [[ 8.72014596e-01 -4.89479366e-01 -7.03955080e-04 9.55608037e+01] [-4.89479206e-01 -8.72014880e-01 3.96136495e-04 -7.29003724e+01] [-8.07759945e-04 -8.65432328e-07 -9.99999674e-01 -1.78893492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.376559995 meters 0.019176472328572253 Centerline is valid? [True, True] Translation: X:95.56, Y:-72.92, Z:-1.79 [[ 9.09211650e-01 -4.16332689e-01 -1.12622294e-03 9.55629115e+01] [-4.16332385e-01 -9.09212347e-01 5.03122059e-04 -7.29170530e+01] [-1.23344196e-03 1.14386458e-05 -9.99999239e-01 -1.78846218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.406559995 meters 0.017310921175378732 Centerline is valid? [True, True] Translation: X:95.57, Y:-72.94, Z:-1.79 [[ 9.40245041e-01 -3.40487586e-01 -2.73263496e-03 9.55669381e+01] [-3.40486333e-01 -9.40249010e-01 9.25655153e-04 -7.29366848e+01] [-2.88453140e-03 6.00821905e-05 -9.99995838e-01 -1.78666951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.436559995 meters 0.017310921175378732 Centerline is valid? [True, True] Translation: X:95.57, Y:-72.95, Z:-1.79 [[ 9.63988618e-01 -2.65928808e-01 -2.79542317e-03 9.55735486e+01] [-2.65927870e-01 -9.63992669e-01 7.08773465e-04 -7.29494551e+01] [-2.88325072e-03 6.01313773e-05 -9.99995842e-01 -1.78668267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.466559995 meters 0.015900236206011525 Centerline is valid? [True, True] Translation: X:95.58, Y:-72.97, Z:-1.79 [[ 9.82440924e-01 -1.86532834e-01 -3.91563175e-03 9.55810361e+01] [-1.86531685e-01 -9.82448724e-01 6.59849003e-04 -7.29682199e+01] [-3.96999092e-03 8.21267238e-05 -9.99992116e-01 -1.78602931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.49655999499998 meters 0.01636504114252805 Centerline is valid? [True, True] Translation: X:95.59, Y:-72.98, Z:-1.79 [[ 9.94158689e-01 -1.07851879e-01 -4.05859901e-03 9.55863120e+01] [-1.07851311e-01 -9.94166971e-01 3.59362600e-04 -7.29805980e+01] [-4.07368302e-03 8.04617720e-05 -9.99991699e-01 -1.78554134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.52655999499999 meters 0.015653247548667506 Centerline is valid? [True, True] Translation: X:95.59, Y:-72.99, Z:-1.79 [[ 9.99598485e-01 -2.78883706e-02 -5.01080458e-03 9.55932699e+01] [-2.78885100e-02 -9.99611039e-01 4.20726782e-05 -7.29948044e+01] [-5.01002891e-03 9.76880880e-05 -9.99987445e-01 -1.78538021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.556559995 meters 0.015439494400197517 Centerline is valid? [True, True] Translation: X:95.60, Y:-73.01, Z:-1.79 [[ 9.98682866e-01 5.10833780e-02 -4.79818781e-03 9.56009541e+01] [ 5.10823572e-02 -9.98694388e-01 -3.35151454e-04 -7.30064231e+01] [-4.80904390e-03 8.96072710e-05 -9.99988432e-01 -1.78525647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.586559995 meters 0.01582085477929089 Centerline is valid? [True, True] Translation: X:95.61, Y:-73.02, Z:-1.79 [[ 9.91590790e-01 1.29328070e-01 -4.68574176e-03 9.56081527e+01] [ 1.29326211e-01 -9.91601857e-01 -6.98796196e-04 -7.30159407e+01] [-4.73676419e-03 8.69306438e-05 -9.99988778e-01 -1.78511131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.616559995 meters 0.015771517965565952 Centerline is valid? [True, True] Translation: X:95.62, Y:-73.02, Z:-1.79 [[ 9.78432471e-01 2.06515553e-01 -4.60709433e-03 9.56176955e+01] [ 2.06512844e-01 -9.78443314e-01 -1.06148372e-03 -7.30243414e+01] [-4.72699354e-03 8.71659881e-05 -9.99988824e-01 -1.78522322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.646559995 meters 0.015578356454961107 Centerline is valid? [True, True] Translation: X:95.63, Y:-73.03, Z:-1.79 [[ 9.59594680e-01 2.81359529e-01 -3.85550775e-03 9.56279992e+01] [ 2.81356945e-01 -9.59602423e-01 -1.20831582e-03 -7.30338700e+01] [-4.03972575e-03 7.47195548e-05 -9.99991837e-01 -1.78598918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.676559995 meters 0.015932949769311918 Centerline is valid? [True, True] Translation: X:95.64, Y:-73.04, Z:-1.79 [[ 9.34953778e-01 3.54752237e-01 -3.50467700e-03 9.56390763e+01] [ 3.54749457e-01 -9.34960344e-01 -1.40616693e-03 -7.30409273e+01] [-3.77557488e-03 7.14188215e-05 -9.99992870e-01 -1.78657206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.706559995 meters 0.01621344008945818 Centerline is valid? [True, True] Translation: X:95.65, Y:-73.05, Z:-1.79 [[ 9.04800453e-01 4.25823013e-01 -3.30177502e-03 9.56504824e+01] [ 4.25819880e-01 -9.04806475e-01 -1.63497461e-03 -7.30477939e+01] [-3.68367723e-03 7.33643255e-05 -9.99993213e-01 -1.78670203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.736559995 meters 0.017252796368374734 Centerline is valid? [True, True] Translation: X:95.66, Y:-73.05, Z:-1.79 [[ 8.69665570e-01 4.93629146e-01 -3.47303912e-03 9.56609534e+01] [ 4.93624786e-01 -8.69672500e-01 -2.07696373e-03 -7.30529237e+01] [-4.04565644e-03 9.18856533e-05 -9.99991812e-01 -1.78607869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.766559995 meters 0.016916027920741795 Centerline is valid? [True, True] Translation: X:95.67, Y:-73.06, Z:-1.79 [[ 8.28659766e-01 5.59743401e-01 -3.21208527e-03 9.56740262e+01] [ 5.59738767e-01 -8.28665986e-01 -2.27948276e-03 -7.30582889e+01] [-3.93767124e-03 9.09870055e-05 -9.99992243e-01 -1.78650014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.796559995 meters 0.017192910204342365 Centerline is valid? [True, True] Translation: X:95.69, Y:-73.06, Z:-1.79 [[ 7.82480968e-01 6.22665750e-01 -3.30112223e-03 9.56871275e+01] [ 6.22659644e-01 -7.82487925e-01 -2.75948085e-03 -7.30620557e+01] [-4.30132250e-03 1.03765658e-04 -9.99990744e-01 -1.78642009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.826559995 meters 0.01788472837729558 Centerline is valid? [True, True] Translation: X:95.70, Y:-73.07, Z:-1.79 [[ 7.31431547e-01 6.81906759e-01 -3.32638737e-03 9.56990357e+01] [ 6.81898980e-01 -7.31439101e-01 -3.25912995e-03 -7.30653142e+01] [-4.65547252e-03 1.15570306e-04 -9.99989157e-01 -1.78581885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.856559995 meters 0.017504990304356167 Centerline is valid? [True, True] Translation: X:95.71, Y:-73.07, Z:-1.79 [[ 6.75487578e-01 7.37363467e-01 -3.41320358e-03 9.57127789e+01] [ 7.37353064e-01 -6.75496188e-01 -3.91905232e-03 -7.30671111e+01] [-5.19537202e-03 1.30535041e-04 -9.99986495e-01 -1.78555041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.886559995 meters 0.017355363086089353 Centerline is valid? [True, True] Translation: X:95.73, Y:-73.07, Z:-1.79 [[ 6.15196394e-01 7.88367609e-01 -3.14801593e-03 9.57256140e+01] [ 7.88356187e-01 -6.15204435e-01 -4.24563692e-03 -7.30680154e+01] [-5.28379599e-03 1.30142691e-04 -9.99986032e-01 -1.78585094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.916559995 meters 0.01770845963516634 Centerline is valid? [True, True] Translation: X:95.74, Y:-73.07, Z:-1.79 [[ 5.51159670e-01 8.34394977e-01 -2.83546344e-03 9.57369595e+01] [ 8.34382707e-01 -5.51166949e-01 -4.52692125e-03 -7.30678762e+01] [-5.34005408e-03 1.29194759e-04 -9.99985733e-01 -1.78566092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.946559995 meters 0.016912883645623805 Centerline is valid? [True, True] Translation: X:95.75, Y:-73.07, Z:-1.79 [[ 4.83346455e-01 8.75425380e-01 -2.57050651e-03 9.57521221e+01] [ 8.75411529e-01 -4.83353273e-01 -4.92626262e-03 -7.30677228e+01] [-5.55503806e-03 1.30840538e-04 -9.99984562e-01 -1.78568180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.976559995 meters 0.016141097058048046 Centerline is valid? [True, True] Translation: X:95.77, Y:-73.07, Z:-1.79 [[ 4.13282379e-01 9.10600138e-01 -2.25009190e-03 9.57685196e+01] [ 9.10584795e-01 -4.13288482e-01 -5.28781685e-03 -7.30666136e+01] [-5.74502382e-03 1.36462057e-04 -9.99983488e-01 -1.78582998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.006559995 meters 0.01643060783678244 Centerline is valid? [True, True] Translation: X:95.78, Y:-73.06, Z:-1.78 [[ 3.40834282e-01 9.40120872e-01 -2.17674778e-03 9.57819651e+01] [ 9.40098403e-01 -3.40841191e-01 -6.50193784e-03 -7.30648021e+01] [-6.85453278e-03 1.69726202e-04 -9.99976493e-01 -1.78494018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.036559995 meters 0.01667021400759513 Centerline is valid? [True, True] Translation: X:95.79, Y:-73.06, Z:-1.78 [[ 2.66282105e-01 9.63893576e-01 -1.73616785e-03 9.57944194e+01] [ 9.63868460e-01 -2.66287704e-01 -6.96058968e-03 -7.30601159e+01] [-7.17158783e-03 1.80043045e-04 -9.99974268e-01 -1.78475238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.066559995 meters 0.016906139420162464 Centerline is valid? [True, True] Translation: X:95.81, Y:-73.06, Z:-1.78 [[ 1.90020726e-01 9.81779370e-01 -1.18002357e-03 9.58058573e+01] [ 9.81754134e-01 -1.90024305e-01 -7.04160898e-03 -7.30550455e+01] [-7.13753959e-03 1.79558639e-04 -9.99974511e-01 -1.78464216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.096559995 meters 0.01686333403415911 Centerline is valid? [True, True] Translation: X:95.82, Y:-73.05, Z:-1.78 [[ 1.11431334e-01 9.93771939e-01 -6.26144029e-04 9.58173748e+01] [ 9.93746400e-01 -1.11432961e-01 -7.12658617e-03 -7.30495445e+01] [-7.15197443e-03 1.71896629e-04 -9.99974410e-01 -1.78491560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.126559995 meters 0.01674088336928864 Centerline is valid? [True, True] Translation: X:95.83, Y:-73.04, Z:-1.78 [[ 3.16437024e-02 9.99499210e-01 -6.69936803e-05 9.58274005e+01] [ 9.99471993e-01 -3.16433352e-02 -7.37799980e-03 -7.30435057e+01] [-7.37642488e-03 1.66508923e-04 -9.99972780e-01 -1.78468510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.156559995 meters 0.016250840142288385 Centerline is valid? [True, True] Translation: X:95.84, Y:-73.04, Z:-1.78 [[-4.88287163e-02 9.98807026e-01 5.29596477e-04 9.58367597e+01] [ 9.98778058e-01 4.88313345e-02 -7.60868050e-03 -7.30360243e+01] [-7.62546445e-03 1.57427239e-04 -9.99970913e-01 -1.78426173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.186559995 meters 0.015552275862847815 Centerline is valid? [True, True] Translation: X:95.84, Y:-73.03, Z:-1.78 [[-1.29685171e-01 9.91554548e-01 1.15529691e-03 9.58448571e+01] [ 9.91524273e-01 1.29690241e-01 -7.74971649e-03 -7.30269697e+01] [-7.83409736e-03 1.40481619e-04 -9.99969303e-01 -1.78375428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.216559995 meters 0.01403343747363203 Centerline is valid? [True, True] Translation: X:95.85, Y:-73.02, Z:-1.78 [[-2.12919191e-01 9.77068190e-01 1.78034739e-03 9.58534441e+01] [ 9.77037636e-01 2.12926613e-01 -7.72755331e-03 -7.30176529e+01] [-7.92942987e-03 9.41220038e-05 -9.99968557e-01 -1.78382764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.24655999499998 meters 0.012530003752228592 Centerline is valid? [True, True] Translation: X:95.87, Y:-73.01, Z:-1.79 [[-2.94429872e-01 9.55670815e-01 2.08440444e-03 9.58652794e+01] [ 9.55647771e-01 2.94437248e-01 -6.63664588e-03 -7.30053722e+01] [-6.95617508e-03 3.79296593e-05 -9.99975805e-01 -1.78519886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.27655999499999 meters 0.012327225626756299 Centerline is valid? [True, True] Translation: X:95.87, Y:-72.99, Z:-1.78 [[-3.70693724e-01 9.28751702e-01 2.53738543e-03 9.58715288e+01] [ 9.28730305e-01 3.70702408e-01 -6.30433989e-03 -7.29946961e+01] [-6.79578129e-03 1.95675118e-05 -9.99976908e-01 -1.78480117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.306559995 meters 0.01178242898952225 Centerline is valid? [True, True] Translation: X:95.87, Y:-72.98, Z:-1.79 [[-4.46388241e-01 8.94834265e-01 3.02934411e-03 9.58744654e+01] [ 8.94813485e-01 4.46398520e-01 -6.09822582e-03 -7.29835367e+01] [-6.80919614e-03 -1.14783319e-05 -9.99976817e-01 -1.78541958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.336559995 meters 0.011789497938069268 Centerline is valid? [True, True] Translation: X:95.87, Y:-72.97, Z:-1.79 [[-5.16765405e-01 8.56120165e-01 3.43211824e-03 9.58741914e+01] [ 8.56100967e-01 5.16776802e-01 -5.73342352e-03 -7.29747584e+01] [-6.68213857e-03 -2.45951857e-05 -9.99977674e-01 -1.78525707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.366559995 meters 0.011695829383623844 Centerline is valid? [True, True] Translation: X:95.87, Y:-72.97, Z:-1.79 [[-5.83455861e-01 8.12136333e-01 3.71951732e-03 9.58705719e+01] [ 8.12119454e-01 5.83467716e-01 -5.23604036e-03 -7.29666940e+01] [-6.42259689e-03 -3.43060622e-05 -9.99979374e-01 -1.78541887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.396559995 meters 0.01167579337236287 Centerline is valid? [True, True] Translation: X:95.87, Y:-72.96, Z:-1.79 [[-6.46379831e-01 7.63005739e-01 3.91864746e-03 9.58703814e+01] [ 7.62991315e-01 6.46391708e-01 -4.69180658e-03 -7.29557400e+01] [-6.11285658e-03 -4.27951688e-05 -9.99981315e-01 -1.78628169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.426559995 meters 0.011821021771913968 Centerline is valid? [True, True] Translation: X:95.87, Y:-72.95, Z:-1.79 [[-7.04863164e-01 7.09331245e-01 4.13591443e-03 9.58693843e+01] [ 7.09318631e-01 7.04875296e-01 -4.23049460e-03 -7.29455048e+01] [-5.91612591e-03 -4.82386469e-05 -9.99982498e-01 -1.78589997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.456559995 meters 0.011885504254922298 Centerline is valid? [True, True] Translation: X:95.87, Y:-72.94, Z:-1.79 [[-7.59557347e-01 6.50422475e-01 4.82077719e-03 9.58668649e+01] [ 6.50408850e-01 7.59572643e-01 -4.21040561e-03 -7.29357206e+01] [-6.40027291e-03 -6.25683641e-05 -9.99979516e-01 -1.78587867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.486559995 meters 0.01188007664145458 Centerline is valid? [True, True] Translation: X:95.88, Y:-72.91, Z:-1.79 [[-8.04113399e-01 5.94449719e-01 5.58331456e-03 9.58764057e+01] [ 5.94434806e-01 8.04132780e-01 -4.21119581e-03 -7.29083057e+01] [-6.99307042e-03 -6.73624740e-05 -9.99975546e-01 -1.78561589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.516559995 meters 0.012049147495183224 Centerline is valid? [True, True] Translation: X:95.88, Y:-72.88, Z:-1.79 [[-8.44568425e-01 5.35415342e-01 5.88111683e-03 9.58845006e+01] [ 5.35401766e-01 8.44588898e-01 -3.81355756e-03 -7.28809529e+01] [-7.00896321e-03 -7.20499608e-05 -9.99975434e-01 -1.78570586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.546559995 meters 0.011975269603701348 Centerline is valid? [True, True] Translation: X:95.89, Y:-72.85, Z:-1.79 [[-8.80499541e-01 4.74011307e-01 5.81714769e-03 9.58877516e+01] [ 4.74000428e-01 8.80518754e-01 -3.21218017e-03 -7.28536455e+01] [-6.64471735e-03 -7.09926704e-05 -9.99977921e-01 -1.78606913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.576559995 meters 0.011989049958405334 Centerline is valid? [True, True] Translation: X:95.89, Y:-72.83, Z:-1.79 [[-9.11735942e-01 4.10719311e-01 6.87160720e-03 9.58907183e+01] [ 4.10707031e-01 9.11761834e-01 -3.17683448e-03 -7.28273955e+01] [-7.57005646e-03 -7.42167849e-05 -9.99971344e-01 -1.78555706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.606559995 meters 0.01184311059411552 Centerline is valid? [True, True] Translation: X:96.07, Y:-72.42, Z:-2.79 [[-8.76270309e-01 -4.81769462e-01 6.96634317e-03 9.60739656e+01] [ 4.81755113e-01 -8.76297995e-01 -3.71964470e-03 -7.24204495e+01] [ 7.89660378e-03 9.66572284e-05 9.99968817e-01 -2.78920320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.636559995 meters 0.01192564850052574 Centerline is valid? [True, True] Translation: X:95.85, Y:-72.81, Z:-1.78 [[-9.12633550e-01 4.08689794e-01 8.52379751e-03 9.58469459e+01] [ 4.08671230e-01 9.12673352e-01 -3.89599453e-03 -7.28131928e+01] [-9.37169605e-03 -7.21845091e-05 -9.99956082e-01 -1.78402109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.666559995 meters 0.011665072046396158 Centerline is valid? [True, True] Translation: X:96.04, Y:-72.40, Z:-2.79 [[-8.79836214e-01 -4.75215947e-01 7.61836736e-03 9.60380237e+01] [ 4.75198378e-01 -8.79869197e-01 -4.08634989e-03 -7.23972768e+01] [ 8.64506540e-03 2.49171964e-05 9.99962630e-01 -2.79061939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.696559995 meters 0.011646629749506646 Centerline is valid? [True, True] Translation: X:95.80, Y:-72.81, Z:-1.79 [[-9.11216157e-01 4.11834523e-01 8.80000238e-03 9.58020328e+01] [ 4.11815273e-01 9.11258649e-01 -3.98192225e-03 -7.28065165e+01] [-9.65897133e-03 -4.41650816e-06 -9.99953351e-01 -1.78543497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.726559995 meters 0.01184574415772095 Centerline is valid? [True, True] Translation: X:95.81, Y:-72.78, Z:-1.79 [[-9.37341884e-01 3.48289249e-01 9.20822276e-03 9.58102990e+01] [ 3.48272633e-01 9.37387112e-01 -3.40219033e-03 -7.27838744e+01] [-9.81661566e-03 1.79564894e-05 -9.99951816e-01 -1.78503488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.756559995 meters 0.012058040584406998 Centerline is valid? [True, True] Translation: X:95.81, Y:-72.76, Z:-1.79 [[-9.58851593e-01 2.83743905e-01 9.64460276e-03 9.58111546e+01] [ 2.83730064e-01 9.58900096e-01 -2.80305207e-03 -7.27585415e+01] [-1.00435595e-02 4.87528149e-05 -9.99949561e-01 -1.78557683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.786559995 meters 0.013148570847406772 Centerline is valid? [True, True] Translation: X:95.81, Y:-72.74, Z:-1.78 [[-9.75884009e-01 2.18053739e-01 1.01472793e-02 9.58125509e+01] [ 2.18042847e-01 9.75936760e-01 -2.18101319e-03 -7.27355363e+01] [-1.03786810e-02 8.41257748e-05 -9.99946137e-01 -1.78418154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.816559995 meters 0.013554282945639309 Centerline is valid? [True, True] Translation: X:95.81, Y:-72.71, Z:-1.78 [[-9.88438625e-01 1.51251934e-01 1.05800772e-02 9.58101808e+01] [ 1.51244571e-01 9.88495239e-01 -1.49716309e-03 -7.27103269e+01] [-1.06848048e-02 1.20325417e-04 -9.99942909e-01 -1.78489914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.846559995 meters 0.013738253734794655 Centerline is valid? [True, True] Translation: X:95.81, Y:-72.69, Z:-1.79 [[-9.96161460e-01 8.69235841e-02 1.03264338e-02 9.58055756e+01] [ 8.69208048e-02 9.96214966e-01 -7.18489837e-04 -7.26873907e+01] [-1.03498016e-02 1.81850048e-04 -9.99946423e-01 -1.78683759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.876559995 meters 0.016422022789922622 Centerline is valid? [True, True] Translation: X:95.80, Y:-72.67, Z:-1.79 [[-9.99772429e-01 1.84582954e-02 1.06949260e-02 9.57998641e+01] [ 1.84595575e-02 9.99829608e-01 1.93014598e-05 -7.26658496e+01] [-1.06927474e-02 2.16720669e-04 -9.99942807e-01 -1.78553819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.906559995 meters 0.016509566682423815 Centerline is valid? [True, True] Translation: X:95.79, Y:-72.64, Z:-1.79 [[-9.98766126e-01 -4.86511311e-02 9.96462166e-03 9.57885145e+01] [-4.86462983e-02 9.98815803e-01 7.26943520e-04 -7.26417090e+01] [-9.98818822e-03 2.41304604e-04 -9.99950088e-01 -1.78716284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.936559995 meters 0.01589970084617084 Centerline is valid? [True, True] Translation: X:95.78, Y:-72.62, Z:-1.79 [[-9.92919649e-01 -1.18387390e-01 9.74660168e-03 9.57751411e+01] [-1.18379196e-01 9.92967453e-01 1.41532098e-03 -7.26150263e+01] [-9.84561440e-03 2.51505136e-04 -9.99951499e-01 -1.78803937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.966559995 meters 0.015997148873628568 Centerline is valid? [True, True] Translation: X:95.69, Y:-72.08, Z:-2.79 [[-9.94102824e-01 1.08113944e-01 8.42316782e-03 9.56878964e+01] [-1.08112653e-01 -9.94138462e-01 6.09781148e-04 -7.20795760e+01] [ 8.43972095e-03 -3.04465855e-04 9.99964339e-01 -2.78646712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.99655999499998 meters 0.016452127307264697 Centerline is valid? [True, True] Translation: X:95.67, Y:-72.63, Z:-1.79 [[-9.92306569e-01 -1.23515582e-01 8.46019290e-03 9.56728602e+01] [-1.23509189e-01 9.92342608e-01 1.27608682e-03 -7.26333966e+01] [-8.55302649e-03 2.21357772e-04 -9.99963398e-01 -1.78907245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.02655999499999 meters 0.016470193899655098 Centerline is valid? [True, True] Translation: X:95.65, Y:-72.61, Z:-1.79 [[-9.80778174e-01 -1.94964080e-01 7.94866783e-03 9.56482657e+01] [-1.94955974e-01 9.80810361e-01 1.78969012e-03 -7.26096642e+01] [-8.14506105e-03 2.05648723e-04 -9.99966807e-01 -1.78940702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.056559995 meters 0.015926724598059203 Centerline is valid? [True, True] Translation: X:95.61, Y:-72.59, Z:-1.79 [[-9.63905861e-01 -2.66136070e-01 7.55531924e-03 9.56104214e+01] [-2.66126350e-01 9.63935452e-01 2.28242613e-03 -7.25900387e+01] [-7.89027599e-03 1.89374396e-04 -9.99968853e-01 -1.79017970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.086559995 meters 0.015789679944409052 Centerline is valid? [True, True] Translation: X:95.56, Y:-72.58, Z:-1.79 [[-9.41798942e-01 -3.36077434e-01 8.16772951e-03 9.55564875e+01] [-3.36062865e-01 9.41834335e-01 3.13623146e-03 -7.25778348e+01] [-8.74666471e-03 2.08828893e-04 -9.99961725e-01 -1.78923634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.116559995 meters 0.015984829776345764 Centerline is valid? [True, True] Translation: X:95.49, Y:-72.58, Z:-1.79 [[-9.14321495e-01 -4.04895661e-01 8.70103730e-03 9.54871803e+01] [-4.04874944e-01 9.14362866e-01 4.10225043e-03 -7.25766043e+01] [-9.61688881e-03 2.27943754e-04 -9.99953731e-01 -1.78821096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.146559995 meters 0.01631069189790905 Centerline is valid? [True, True] Translation: X:95.42, Y:-72.58, Z:-1.79 [[-8.81778026e-01 -4.71584524e-01 8.69190900e-03 9.54159345e+01] [-4.71558994e-01 8.81820834e-01 4.91248627e-03 -7.25821540e+01] [-9.98135893e-03 2.32974580e-04 -9.99950158e-01 -1.78733502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.176559995 meters 0.015426270627697991 Centerline is valid? [True, True] Translation: X:95.34, Y:-72.59, Z:-1.79 [[-8.44192606e-01 -5.35980347e-01 7.99446987e-03 9.53391996e+01] [-5.35953833e-01 8.44230430e-01 5.33573867e-03 -7.25947774e+01] [-9.60902580e-03 2.19724367e-04 -9.99953808e-01 -1.78786463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.206559995 meters 0.015426270627697991 Centerline is valid? [True, True] Translation: X:95.26, Y:-72.62, Z:-1.79 [[-8.01903724e-01 -5.97405268e-01 7.57385401e-03 9.52576104e+01] [-5.97376015e-01 8.01939460e-01 5.91601929e-03 -7.26189655e+01] [-9.60803348e-03 2.19639176e-04 -9.99953818e-01 -1.78790132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.236559995 meters 0.01598168149540512 Centerline is valid? [True, True] Translation: X:95.17, Y:-72.65, Z:-1.79 [[-7.54171816e-01 -6.56645818e-01 6.41412516e-03 9.51743176e+01] [-6.56619986e-01 7.54199069e-01 5.82742049e-03 -7.26538604e+01] [-8.66407852e-03 1.83233526e-04 -9.99962449e-01 -1.78813770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.266559995 meters 0.015434540788426595 Centerline is valid? [True, True] Translation: X:95.09, Y:-72.70, Z:-1.79 [[-7.02390641e-01 -7.11767315e-01 5.88863307e-03 9.50896481e+01] [-7.11740180e-01 7.02415303e-01 6.21757409e-03 -7.26955839e+01] [-8.56173200e-03 1.75989090e-04 -9.99963332e-01 -1.78837777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.296559995 meters 0.015278776214554875 Centerline is valid? [True, True] Translation: X:95.01, Y:-72.75, Z:-1.79 [[-6.45468389e-01 -7.63767353e-01 5.47630303e-03 9.50054796e+01] [-7.63737702e-01 6.45491599e-01 6.73190351e-03 -7.27466585e+01] [-8.67651572e-03 1.62771823e-04 -9.99962345e-01 -1.78775755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.326559995 meters 0.014450792859172487 Centerline is valid? [True, True] Translation: X:94.92, Y:-72.81, Z:-1.79 [[-5.85156444e-01 -8.10905863e-01 4.85970344e-03 9.49213469e+01] [-8.10875746e-01 5.85176604e-01 6.99042135e-03 -7.28082937e+01] [-8.51235842e-03 1.49874447e-04 -9.99963758e-01 -1.78780784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.356559995 meters 0.014398289664643725 Centerline is valid? [True, True] Translation: X:94.84, Y:-72.88, Z:-1.79 [[-5.20409421e-01 -8.53904575e-01 4.58384527e-03 9.48424725e+01] [-8.53869020e-01 5.20429589e-01 7.79360424e-03 -7.28787279e+01] [-9.04056302e-03 1.41861602e-04 -9.99959123e-01 -1.78740522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.386559995 meters 0.013798927871260658 Centerline is valid? [True, True] Translation: X:94.77, Y:-72.96, Z:-1.79 [[-4.53676546e-01 -8.91157515e-01 3.98429481e-03 9.47680586e+01] [-8.91120480e-01 4.53694021e-01 8.12562665e-03 -7.29552930e+01] [-9.04886399e-03 1.35919525e-04 -9.99959049e-01 -1.78772049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.416559995 meters 0.014166403653710101 Centerline is valid? [True, True] Translation: X:94.70, Y:-73.04, Z:-1.79 [[-3.84400459e-01 -9.23159994e-01 3.45148493e-03 9.46993247e+01] [-9.23119525e-01 3.84415930e-01 8.64500271e-03 -7.30428206e+01] [-9.30752644e-03 1.37009880e-04 -9.99956675e-01 -1.78714592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.446559995 meters 0.014392309373508256 Centerline is valid? [True, True] Translation: X:94.64, Y:-73.14, Z:-1.79 [[-3.13229524e-01 -9.49673287e-01 2.81325517e-03 9.46365101e+01] [-9.49630888e-01 3.13242126e-01 8.97479961e-03 -7.31371262e+01] [-9.40435747e-03 1.39618199e-04 -9.99955768e-01 -1.78708278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.476559995 meters 0.014751867257784853 Centerline is valid? [True, True] Translation: X:94.58, Y:-73.23, Z:-1.79 [[-2.41921186e-01 -9.70293672e-01 2.08109943e-03 9.45828826e+01] [-9.70252073e-01 2.41930087e-01 8.98601375e-03 -7.32309206e+01] [-9.22255284e-03 1.54716065e-04 -9.99957459e-01 -1.78760881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.506559995 meters 0.015455239605962196 Centerline is valid? [True, True] Translation: X:94.54, Y:-73.34, Z:-1.79 [[-1.68887894e-01 -9.85634235e-01 1.42622800e-03 9.45356414e+01] [-9.85589820e-01 1.68893825e-01 9.35853788e-03 -7.33360057e+01] [-9.46497643e-03 1.74867956e-04 -9.99955191e-01 -1.78765581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.536559995 meters 0.015207504081362228 Centerline is valid? [True, True] Translation: X:94.50, Y:-73.44, Z:-1.79 [[-9.47562842e-02 -9.95500240e-01 7.19682205e-04 9.44950321e+01] [-9.95454035e-01 9.47588214e-02 9.59326279e-03 -7.34424365e+01] [-9.61829165e-03 1.92611380e-04 -9.99953725e-01 -1.78786716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.566559995 meters 0.016675686634016616 Centerline is valid? [True, True] Translation: X:93.95, Y:-73.50, Z:-2.79 [[-1.13722429e-01 9.93511744e-01 1.27396135e-03 9.39462422e+01] [-9.93467497e-01 -1.13729391e-01 9.37855558e-03 -7.35043995e+01] [ 9.46259196e-03 -1.99087072e-04 9.99955209e-01 -2.78923000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.596559995 meters 0.01713968254664232 Centerline is valid? [True, True] Translation: X:94.48, Y:-73.70, Z:-1.79 [[-9.07340296e-02 -9.95874945e-01 6.56023010e-04 9.44776764e+01] [-9.95825364e-01 9.07360605e-02 9.94036919e-03 -7.36990971e+01] [-9.95888956e-03 2.48645399e-04 -9.99950378e-01 -1.78701038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.626559995 meters 0.016754935919551333 Centerline is valid? [True, True] Translation: X:94.45, Y:-73.81, Z:-1.79 [[-1.60586330e-02 -9.99871047e-01 -9.87677814e-05 9.44460261e+01] [-9.99825414e-01 1.60569562e-02 9.55594026e-03 -7.38097084e+01] [-9.55312209e-03 2.52205876e-04 -9.99954336e-01 -1.78767806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.656559995 meters 0.01733854680686468 Centerline is valid? [True, True] Translation: X:94.42, Y:-73.93, Z:-1.79 [[ 5.89156478e-02 -9.98262623e-01 -8.25825267e-04 9.44246262e+01] [-9.98217411e-01 -5.89208422e-02 9.50447814e-03 -7.39283794e+01] [-9.53662360e-03 2.64390673e-04 -9.99954490e-01 -1.78767036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.686559995 meters 0.018758533123911576 Centerline is valid? [True, True] Translation: X:94.41, Y:-74.04, Z:-1.79 [[ 1.32669137e-01 -9.91159103e-01 -1.59167477e-03 9.44119263e+01] [-9.91111999e-01 -1.32678357e-01 9.66746089e-03 -7.40397733e+01] [-9.79317265e-03 2.94954273e-04 -9.99952002e-01 -1.78710792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.716559995 meters 0.01914827382772066 Centerline is valid? [True, True] Translation: X:94.41, Y:-74.15, Z:-1.79 [[ 2.07358809e-01 -9.78261552e-01 -2.58068212e-03 9.44064152e+01] [-9.78204653e-01 -2.07374596e-01 1.05561927e-02 -7.41535764e+01] [-1.08618854e-02 3.35515706e-04 -9.99940952e-01 -1.78600357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.74655999499998 meters 0.019320939059640958 Centerline is valid? [True, True] Translation: X:94.41, Y:-74.27, Z:-1.78 [[ 2.81329465e-01 -9.59603763e-01 -3.78820569e-03 9.44101596e+01] [-9.59534020e-01 -2.81354714e-01 1.15754039e-02 -7.42710238e+01] [-1.21736307e-02 3.78410055e-04 -9.99925827e-01 -1.78477549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.77655999499999 meters 0.019438878497320688 Centerline is valid? [True, True] Translation: X:94.42, Y:-74.38, Z:-1.79 [[ 3.53821189e-01 -9.35301986e-01 -4.55643989e-03 9.44215868e+01] [-9.35237274e-01 -3.53850337e-01 1.10082017e-02 -7.43841250e+01] [-1.19082907e-02 3.66417426e-04 -9.99929027e-01 -1.78505615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.806559995 meters 0.01975611376879164 Centerline is valid? [True, True] Translation: X:94.44, Y:-74.50, Z:-1.79 [[ 4.24245431e-01 -9.05532541e-01 -5.16050505e-03 9.44418432e+01] [-9.05475170e-01 -4.24276675e-01 1.01990172e-02 -7.44959787e+01] [-1.14250239e-02 3.45822730e-04 -9.99934672e-01 -1.78538015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.836559995 meters 0.01954668500682997 Centerline is valid? [True, True] Translation: X:94.47, Y:-74.60, Z:-1.79 [[ 4.93144032e-01 -8.69927460e-01 -5.93106297e-03 9.44676678e+01] [-8.69872367e-01 -4.93179588e-01 9.79589000e-03 -7.46046784e+01] [-1.14467929e-02 3.28483096e-04 -9.99934429e-01 -1.78562806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.866559995 meters 0.01627002907686471 Centerline is valid? [True, True] Translation: X:94.50, Y:-74.71, Z:-1.79 [[ 5.58477242e-01 -8.29490176e-01 -7.01557861e-03 9.44965145e+01] [-8.29432129e-01 -5.58521204e-01 9.81877255e-03 -7.47103038e+01] [-1.20629248e-02 3.35385292e-04 -9.99927184e-01 -1.78714529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.896559995 meters 0.018617668833864974 Centerline is valid? [True, True] Translation: X:94.54, Y:-74.81, Z:-1.79 [[ 6.21742114e-01 -7.83182406e-01 -7.87796536e-03 9.45408488e+01] [-7.83125727e-01 -6.21791946e-01 9.42713418e-03 -7.48093805e+01] [-1.22816210e-02 3.08191014e-04 -9.99924531e-01 -1.78504654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.926559995 meters 0.015722510495261823 Centerline is valid? [True, True] Translation: X:94.58, Y:-74.90, Z:-1.79 [[ 6.79859912e-01 -7.33294207e-01 -8.37294433e-03 9.45817450e+01] [-7.33243726e-01 -6.79911409e-01 8.60893228e-03 -7.49046415e+01] [-1.20057405e-02 2.86540957e-04 -9.99927887e-01 -1.78709242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.956559995 meters 0.014607994034253582 Centerline is valid? [True, True] Translation: X:94.63, Y:-74.99, Z:-1.79 [[ 7.35260860e-01 -6.77731267e-01 -8.47335606e-03 9.46297711e+01] [-6.77689875e-01 -7.35309646e-01 7.49386460e-03 -7.49939877e+01] [-1.13093668e-02 2.32362275e-04 -9.99936020e-01 -1.78815685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.986559995 meters 0.014360378942520815 Centerline is valid? [True, True] Translation: X:94.63, Y:-75.01, Z:-1.79 [[ 7.87165911e-01 -6.16690058e-01 -7.94996640e-03 9.46284218e+01] [-6.16660924e-01 -7.87206034e-01 5.99710987e-03 -7.50097403e+01] [-9.95661955e-03 1.81713172e-04 -9.99950415e-01 -1.78878831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.016559995 meters 0.014542836306728611 Centerline is valid? [True, True] Translation: X:94.63, Y:-75.02, Z:-1.79 [[ 8.33217305e-01 -5.52883685e-01 -8.27973874e-03 9.46303174e+01] [-5.52858454e-01 -8.33258424e-01 5.28480764e-03 -7.50233234e+01] [-9.82104597e-03 1.74130383e-04 -9.99951757e-01 -1.78911887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.046559995 meters 0.0144201210816521 Centerline is valid? [True, True] Translation: X:94.63, Y:-75.04, Z:-1.79 [[ 8.73698973e-01 -4.86388298e-01 -8.74804020e-03 9.46337579e+01] [-4.86365966e-01 -8.73742749e-01 4.66430874e-03 -7.50372707e+01] [-9.91220188e-03 1.79547266e-04 -9.99950857e-01 -1.78962243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.076559995 meters 0.014535792488748377 Centerline is valid? [True, True] Translation: X:94.64, Y:-75.05, Z:-1.79 [[ 9.08790422e-01 -4.17163222e-01 -8.64952648e-03 9.46382390e+01] [-4.17146160e-01 -9.08831566e-01 3.77705577e-03 -7.50512420e+01] [-9.43661145e-03 1.75564640e-04 -9.99955459e-01 -1.79010372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.106559995 meters 0.014535792488748377 Centerline is valid? [True, True] Translation: X:94.64, Y:-75.06, Z:-1.79 [[ 9.38634441e-01 -3.44798295e-01 -8.91751717e-03 9.46430161e+01] [-3.44784507e-01 -9.38676784e-01 3.08854684e-03 -7.50647050e+01] [-9.43559203e-03 1.75605324e-04 -9.99955468e-01 -1.79011416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.136559995 meters 0.014648959921845162 Centerline is valid? [True, True] Translation: X:94.65, Y:-75.08, Z:-1.79 [[ 9.62530431e-01 -2.71026183e-01 -8.94305564e-03 9.46498639e+01] [-2.71016197e-01 -9.62571959e-01 2.33326312e-03 -7.50773481e+01] [-9.24070998e-03 1.77876180e-04 -9.99957288e-01 -1.79011246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.166559995 meters 0.015253735004498963 Centerline is valid? [True, True] Translation: X:94.66, Y:-75.09, Z:-1.79 [[ 9.80658942e-01 -1.95490358e-01 -9.56869093e-03 9.46574244e+01] [-1.95482975e-01 -9.80705604e-01 1.71001319e-03 -7.50880826e+01] [-9.71835991e-03 1.93576435e-04 -9.99952757e-01 -1.78947123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.196559995 meters 0.015338775187754637 Centerline is valid? [True, True] Translation: X:94.66, Y:-75.10, Z:-1.79 [[ 9.92868744e-01 -1.18848448e-01 -9.31150180e-03 9.46629241e+01] [-1.18845037e-01 -9.92912388e-01 9.20712368e-04 -7.50981667e+01] [-9.35493072e-03 1.92479246e-04 -9.99956223e-01 -1.78931849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.226559995 meters 0.015330809871133513 Centerline is valid? [True, True] Translation: X:94.67, Y:-75.11, Z:-1.79 [[ 9.99103906e-01 -4.14890355e-02 -8.36925326e-03 9.46690970e+01] [-4.14890509e-02 -9.99138944e-01 1.71849059e-04 -7.51078078e+01] [-8.36917671e-03 1.75537309e-04 -9.99964962e-01 -1.78956596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.256559995 meters 0.014850302495475217 Centerline is valid? [True, True] Translation: X:94.68, Y:-75.12, Z:-1.79 [[ 9.99298072e-01 3.64756533e-02 -8.53753838e-03 9.46759544e+01] [ 3.64727576e-02 -9.99334525e-01 -4.94674185e-04 -7.51201374e+01] [-8.54990043e-03 1.82939392e-04 -9.99963432e-01 -1.78993321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.286559995 meters 0.015543537147948884 Centerline is valid? [True, True] Translation: X:94.68, Y:-75.13, Z:-1.79 [[ 9.93448168e-01 1.13974479e-01 -8.39973916e-03 9.46818547e+01] [ 1.13968814e-01 -9.93483660e-01 -1.15160378e-03 -7.51293373e+01] [-8.47625705e-03 1.86750364e-04 -9.99964058e-01 -1.78938288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.316559995 meters 0.015475820595578121 Centerline is valid? [True, True] Translation: X:94.69, Y:-75.14, Z:-1.79 [[ 9.81665373e-01 1.90424207e-01 -8.46855937e-03 9.46896440e+01] [ 1.90415359e-01 -9.81701880e-01 -1.84646980e-03 -7.51393406e+01] [-8.66521320e-03 2.00071687e-04 -9.99962436e-01 -1.78886373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.346559995 meters 0.016148426746938418 Centerline is valid? [True, True] Translation: X:94.70, Y:-75.15, Z:-1.79 [[ 9.64174956e-01 2.65139298e-01 -8.23445021e-03 9.46974156e+01] [ 2.65127745e-01 -9.64210095e-01 -2.48420370e-03 -7.51461048e+01] [-8.59840004e-03 2.12025788e-04 -9.99963011e-01 -1.78870888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.376559995 meters 0.016525434218335935 Centerline is valid? [True, True] Translation: X:94.71, Y:-75.15, Z:-1.79 [[ 9.40612074e-01 3.39387992e-01 -8.04472982e-03 9.47057644e+01] [ 3.39373598e-01 -9.40646450e-01 -3.13317862e-03 -7.51524915e+01] [-8.63060974e-03 2.16936732e-04 -9.99962732e-01 -1.78843203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.406559995 meters 0.016158342460209023 Centerline is valid? [True, True] Translation: X:94.72, Y:-75.16, Z:-1.79 [[ 9.11340296e-01 4.11578134e-01 -7.89330361e-03 9.47164733e+01] [ 4.11560550e-01 -9.11374451e-01 -3.81108242e-03 -7.51610491e+01] [-8.76231343e-03 2.24620605e-04 -9.99961585e-01 -1.78910339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.436559995 meters 0.016537545299785447 Centerline is valid? [True, True] Translation: X:94.73, Y:-75.17, Z:-1.79 [[ 8.76147413e-01 4.81990932e-01 -7.10293856e-03 9.47253618e+01] [ 4.81973173e-01 -8.76176181e-01 -4.14254881e-03 -7.51674158e+01] [-8.22009654e-03 2.06057587e-04 -9.99966193e-01 -1.78950081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.466559995 meters 0.01614288318361125 Centerline is valid? [True, True] Translation: X:94.74, Y:-75.17, Z:-1.79 [[ 8.35152697e-01 5.49980673e-01 -6.42125374e-03 9.47362086e+01] [ 5.49962687e-01 -8.35177361e-01 -4.45178125e-03 -7.51738792e+01] [-7.81127940e-03 1.86467156e-04 -9.99969474e-01 -1.78979090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.49655999499998 meters 0.01598145032478381 Centerline is valid? [True, True] Translation: X:94.75, Y:-75.18, Z:-1.79 [[ 7.88864594e-01 6.14537619e-01 -6.01386623e-03 9.47476026e+01] [ 6.14518037e-01 -7.88887497e-01 -4.90897665e-03 -7.51783580e+01] [-7.76101470e-03 1.76888600e-04 -9.99969867e-01 -1.79004766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.52655999499999 meters 0.015780595211169465 Centerline is valid? [True, True] Translation: X:94.76, Y:-75.18, Z:-1.79 [[ 7.37462677e-01 6.75364209e-01 -5.65555531e-03 9.47585729e+01] [ 6.75342579e-01 -7.37484344e-01 -5.40773378e-03 -7.51820605e+01] [-7.82307334e-03 1.68564516e-04 -9.99969385e-01 -1.79001996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.556559995 meters 0.014875234620769683 Centerline is valid? [True, True] Translation: X:94.77, Y:-75.19, Z:-1.79 [[ 6.81096690e-01 7.32173697e-01 -5.38299571e-03 9.47719938e+01] [ 7.32148934e-01 -6.81117942e-01 -6.02387663e-03 -7.51870661e+01] [-8.07697899e-03 1.61687862e-04 -9.99967368e-01 -1.79011430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.586559995 meters 0.014516970653247103 Centerline is valid? [True, True] Translation: X:94.79, Y:-75.19, Z:-1.79 [[ 6.20057963e-01 7.84539792e-01 -5.04360676e-03 9.47850089e+01] [ 7.84511847e-01 -6.20078457e-01 -6.62339951e-03 -7.51893909e+01] [-8.32375237e-03 1.50122349e-04 -9.99965346e-01 -1.79002976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.616559995 meters 0.013495124941174089 Centerline is valid? [True, True] Translation: X:94.80, Y:-75.19, Z:-1.79 [[ 5.52396405e-01 8.33568565e-01 -4.65400774e-03 9.47987815e+01] [ 8.33537268e-01 -5.52415999e-01 -7.22403202e-03 -7.51920133e+01] [-8.59267433e-03 1.11240418e-04 -9.99963076e-01 -1.78966489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.646559995 meters 0.01245986981406054 Centerline is valid? [True, True] Translation: X:94.81, Y:-75.19, Z:-1.79 [[ 4.80208118e-01 8.77144467e-01 -4.21290398e-03 9.48125893e+01] [ 8.77109558e-01 -4.80226593e-01 -7.82577693e-03 -7.51935790e+01] [-8.88748546e-03 6.28232587e-05 -9.99960504e-01 -1.78902173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.676559995 meters 0.012243711943759722 Centerline is valid? [True, True] Translation: X:94.82, Y:-75.19, Z:-1.79 [[ 4.07146767e-01 9.13356254e-01 -3.44439351e-03 9.48239289e+01] [ 9.13322893e-01 -4.07161335e-01 -7.80644997e-03 -7.51929688e+01] [-8.53249376e-03 3.25274190e-05 -9.99963597e-01 -1.78838289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.706559995 meters 0.011844036340359418 Centerline is valid? [True, True] Translation: X:94.84, Y:-75.19, Z:-1.79 [[ 3.31518837e-01 9.43444741e-01 -2.69847266e-03 9.48373456e+01] [ 9.43413353e-01 -3.31529819e-01 -7.69580586e-03 -7.51920314e+01] [-8.15519171e-03 5.52946710e-06 -9.99966746e-01 -1.78889219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.736559995 meters 0.011758310400418198 Centerline is valid? [True, True] Translation: X:94.85, Y:-75.19, Z:-1.79 [[ 2.54037490e-01 9.67192178e-01 -2.06036157e-03 9.48485683e+01] [ 9.67160888e-01 -2.54045844e-01 -7.77978208e-03 -7.51904297e+01] [-8.04797067e-03 -1.63448155e-05 -9.99967614e-01 -1.78858232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.766559995 meters 0.011672293501249606 Centerline is valid? [True, True] Translation: X:94.86, Y:-75.19, Z:-1.79 [[ 1.74986340e-01 9.84569800e-01 -1.44574960e-03 9.48597632e+01] [ 9.84537932e-01 -1.74992309e-01 -7.92164599e-03 -7.51867319e+01] [-8.05240847e-03 -3.72154859e-05 -9.99967578e-01 -1.78900970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.796559995 meters 0.011712565856640898 Centerline is valid? [True, True] Translation: X:94.87, Y:-75.18, Z:-1.79 [[ 9.53592941e-02 9.95442602e-01 -7.94704492e-04 9.48690577e+01] [ 9.95412433e-01 -9.53625913e-02 -7.75012449e-03 -7.51823225e+01] [-7.79058917e-03 -5.20123314e-05 -9.99969652e-01 -1.78936882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.826559995 meters 0.011855102189812726 Centerline is valid? [True, True] Translation: X:94.88, Y:-75.18, Z:-1.79 [[ 1.42527914e-02 9.99898410e-01 -1.67016301e-04 9.48775478e+01] [ 9.99874454e-01 -1.42536061e-02 -6.92174395e-03 -7.51770660e+01] [-6.92342136e-03 -6.83411602e-05 -9.99976030e-01 -1.79046446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.856559995 meters 0.011912071633052378 Centerline is valid? [True, True] Translation: X:94.89, Y:-75.17, Z:-1.79 [[-6.49103785e-02 9.97891031e-01 3.65855451e-04 9.48859814e+01] [ 9.97868271e-01 6.49113691e-02 -6.73996840e-03 -7.51712670e+01] [-6.74950219e-03 -7.24183532e-05 -9.99977219e-01 -1.79062476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.886559995 meters 0.012069482836880146 Centerline is valid? [True, True] Translation: X:94.89, Y:-75.17, Z:-1.79 [[-1.43920890e-01 9.89588795e-01 8.90717985e-04 9.48909996e+01] [ 9.89566268e-01 1.43923624e-01 -6.67765420e-03 -7.51666546e+01] [-6.73632714e-03 -7.96294647e-05 -9.99977308e-01 -1.79047682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.916559995 meters 0.01211208780750901 Centerline is valid? [True, True] Translation: X:94.90, Y:-75.16, Z:-1.79 [[-2.21184312e-01 9.75230936e-01 1.45661163e-03 9.48963127e+01] [ 9.75207245e-01 2.21189092e-01 -6.79807550e-03 -7.51619808e+01] [-6.95188014e-03 -8.31294327e-05 -9.99975832e-01 -1.79013311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.946559995 meters 0.012036783791136891 Centerline is valid? [True, True] Translation: X:94.90, Y:-75.16, Z:-1.79 [[-2.97050751e-01 9.54859573e-01 2.01170458e-03 9.49000727e+01] [ 9.54835700e-01 2.97057551e-01 -6.75256670e-03 -7.51557219e+01] [-7.04534499e-03 -8.50076632e-05 -9.99975178e-01 -1.79020220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.976559995 meters 0.012124490542124191 Centerline is valid? [True, True] Translation: X:94.90, Y:-75.15, Z:-1.79 [[-3.71044671e-01 9.28610336e-01 2.94906690e-03 9.49009229e+01] [ 9.28578920e-01 3.71056378e-01 -7.63902473e-03 -7.51504658e+01] [-8.18794740e-03 -9.59780590e-05 -9.99966474e-01 -1.78936197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.006559995 meters 0.012252665680153036 Centerline is valid? [True, True] Translation: X:94.90, Y:-75.15, Z:-1.79 [[-4.42734433e-01 8.96645554e-01 3.60175088e-03 9.49036727e+01] [ 8.96614065e-01 4.42749073e-01 -7.51516281e-03 -7.51454102e+01] [-8.33310918e-03 -9.78408500e-05 -9.99965274e-01 -1.78890358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.036559995 meters 0.012224427350137082 Centerline is valid? [True, True] Translation: X:94.90, Y:-75.14, Z:-1.79 [[-5.11329671e-01 8.59374240e-01 4.22897966e-03 9.49045492e+01] [ 8.59343287e-01 5.11347149e-01 -7.29436339e-03 -7.51412208e+01] [-8.43106469e-03 -9.56791520e-05 -9.99964453e-01 -1.78887874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.066559995 meters 0.012018857747397919 Centerline is valid? [True, True] Translation: X:94.90, Y:-75.14, Z:-1.79 [[-5.76256830e-01 8.17254212e-01 4.85996813e-03 9.49034270e+01] [ 8.17223844e-01 5.76277316e-01 -7.04578620e-03 -7.51374142e+01] [-8.55888784e-03 -8.85005762e-05 -9.99963368e-01 -1.78885047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.096559995 meters 0.011799941936389809 Centerline is valid? [True, True] Translation: X:94.90, Y:-75.13, Z:-1.79 [[-6.36812649e-01 7.70991715e-01 6.43631138e-03 9.49034486e+01] [ 7.70951085e-01 6.36845169e-01 -7.91554864e-03 -7.51337653e+01] [-1.02017562e-02 -7.86402563e-05 -9.99947958e-01 -1.78832359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.126559995 meters 0.011799941936389809 Centerline is valid? [True, True] Translation: X:94.91, Y:-75.13, Z:-1.79 [[-6.95239958e-01 7.18743276e-01 7.03593135e-03 9.49088668e+01] [ 7.18705325e-01 6.95275555e-01 -7.38640071e-03 -7.51254191e+01] [-1.02008369e-02 -7.85595906e-05 -9.99947967e-01 -1.78833168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.156559995 meters 0.011913867846124125 Centerline is valid? [True, True] Translation: X:94.91, Y:-75.12, Z:-1.79 [[-7.48363913e-01 6.63240570e-01 7.96243978e-03 9.49112056e+01] [ 6.63202110e-01 7.48406268e-01 -7.14273526e-03 -7.51203563e+01] [-1.06964916e-02 -6.46584496e-05 -9.99942789e-01 -1.78726457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.186559995 meters 0.011712587803139366 Centerline is valid? [True, True] Translation: X:94.93, Y:-75.10, Z:-1.79 [[-7.92165810e-01 6.10242508e-01 8.79833439e-03 9.49278905e+01] [ 6.10204302e-01 7.92214668e-01 -6.82862903e-03 -7.51038310e+01] [-1.11372893e-02 -4.06249540e-05 -9.99937978e-01 -1.78790035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.216559995 meters 0.011820361041617595 Centerline is valid? [True, True] Translation: X:94.94, Y:-75.08, Z:-1.79 [[-8.32088504e-01 5.54562597e-01 9.43647739e-03 9.49396510e+01] [ 5.54526744e-01 8.32142011e-01 -6.30594423e-03 -7.50835030e+01] [-1.13495301e-02 -1.43246244e-05 -9.99935592e-01 -1.78754681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.24655999499998 meters 0.011826096987006434 Centerline is valid? [True, True] Translation: X:94.95, Y:-75.06, Z:-1.79 [[-8.68054021e-01 4.96366871e-01 1.01067054e-02 9.49497557e+01] [ 4.96333432e-01 8.68112855e-01 -5.76159153e-03 -7.50625164e+01] [-1.16336240e-02 1.49230797e-05 -9.99932327e-01 -1.78844100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.27655999499999 meters 0.01204107180484485 Centerline is valid? [True, True] Translation: X:94.96, Y:-75.04, Z:-1.79 [[-8.99827428e-01 4.36122790e-01 1.03688244e-02 9.49619772e+01] [ 4.36094425e-01 8.99887165e-01 -4.97418898e-03 -7.50426625e+01] [-1.15001292e-02 4.58748353e-05 -9.99933870e-01 -1.78847696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.306559995 meters 0.012907862163935621 Centerline is valid? [True, True] Translation: X:94.97, Y:-75.03, Z:-1.79 [[-9.26466943e-01 3.76242724e-01 1.00207365e-02 9.49714306e+01] [ 3.76221882e-01 9.26521129e-01 -3.96144578e-03 -7.50261677e+01] [-1.07748892e-02 9.98717859e-05 -9.99941944e-01 -1.78891788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.336559995 meters 0.013591762523185624 Centerline is valid? [True, True] Translation: X:94.98, Y:-75.01, Z:-1.79 [[-9.49463404e-01 3.13724828e-01 9.79677725e-03 9.49792199e+01] [ 3.13709626e-01 9.49513935e-01 -3.09140524e-03 -7.50072169e+01] [-1.02720271e-02 1.38167185e-04 -9.99947232e-01 -1.79014754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.366559995 meters 0.013444352213028131 Centerline is valid? [True, True] Translation: X:94.98, Y:-74.98, Z:-1.79 [[-9.68939860e-01 2.47095451e-01 9.96927514e-03 9.49847868e+01] [ 2.47084004e-01 9.68991132e-01 -2.38339322e-03 -7.49819659e+01] [-1.02490648e-02 1.53883723e-04 -9.99947465e-01 -1.79111051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.396559995 meters 0.014064404328916053 Centerline is valid? [True, True] Translation: X:95.14, Y:-74.34, Z:-2.79 [[-9.60342436e-01 -2.78672330e-01 9.17274814e-03 9.51411273e+01] [ 2.78657788e-01 -9.60386224e-01 -2.85276092e-03 -7.43354083e+01] [ 9.60436648e-03 -1.83569663e-04 9.99953860e-01 -2.78785082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.426559995 meters 0.013984025388804028 Centerline is valid? [True, True] Translation: X:94.93, Y:-74.98, Z:-1.79 [[-9.69748004e-01 2.43929135e-01 9.34798738e-03 9.49333371e+01] [ 2.43919282e-01 9.69793047e-01 -2.19754693e-03 -7.49765165e+01] [-9.60165889e-03 1.49087620e-04 -9.99953892e-01 -1.79109146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.456559995 meters 0.01368231078222712 Centerline is valid? [True, True] Translation: X:94.93, Y:-74.95, Z:-1.79 [[-9.84933729e-01 1.72682686e-01 9.28652631e-03 9.49297439e+01] [ 1.72676237e-01 9.84977499e-01 -1.49785927e-03 -7.49497366e+01] [-9.40567382e-03 1.28270306e-04 -9.99955757e-01 -1.79170690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.486559995 meters 0.013253205388688932 Centerline is valid? [True, True] Translation: X:94.94, Y:-74.92, Z:-1.79 [[-9.94844428e-01 1.00991191e-01 9.23815671e-03 9.49364313e+01] [ 1.00987900e-01 9.94887313e-01 -8.23230885e-04 -7.49225296e+01] [-9.27406398e-03 1.13955384e-04 -9.99956988e-01 -1.79159991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.516559995 meters 0.012743256033837575 Centerline is valid? [True, True] Translation: X:95.00, Y:-74.25, Z:-2.79 [[-9.89831590e-01 -1.41966902e-01 8.87814795e-03 9.49956426e+01] [ 1.41960019e-01 -9.89871397e-01 -1.40386336e-03 -7.42456045e+01] [ 8.98752684e-03 -1.29246253e-04 9.99959603e-01 -2.78724317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.546559995 meters 0.012489260923103818 Centerline is valid? [True, True] Translation: X:94.87, Y:-74.92, Z:-1.79 [[-9.95683536e-01 9.22989235e-02 9.75726286e-03 9.48672770e+01] [ 9.22952846e-02 9.95731340e-01 -8.23529263e-04 -7.49182023e+01] [-9.79162329e-03 8.05748241e-05 -9.99952058e-01 -1.79129303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.576559995 meters 0.012432830149707114 Centerline is valid? [True, True] Translation: X:94.92, Y:-74.24, Z:-2.79 [[-9.90114259e-01 -1.39967696e-01 9.09937334e-03 9.49244738e+01] [ 1.39960732e-01 -9.90156064e-01 -1.40076907e-03 -7.42380081e+01] [ 9.20586211e-03 -1.13366472e-04 9.99957619e-01 -2.78724952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.606559995 meters 0.012166984592730615 Centerline is valid? [True, True] Translation: X:94.80, Y:-74.91, Z:-1.79 [[-9.96307740e-01 8.53341749e-02 9.43212393e-03 9.47958151e+01] [ 8.53308580e-02 9.96352385e-01 -7.54271970e-04 -7.49147507e+01] [-9.46208436e-03 5.33642261e-05 -9.99955232e-01 -1.79119213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.636559995 meters 0.012083818912061403 Centerline is valid? [True, True] Translation: X:94.86, Y:-74.23, Z:-2.79 [[-9.90244381e-01 -1.39062996e-01 8.80618892e-03 9.48577450e+01] [ 1.39056718e-01 -9.90283533e-01 -1.32413797e-03 -7.42299344e+01] [ 8.90476247e-03 -8.66604494e-05 9.99960348e-01 -2.78718179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.666559995 meters 0.011937676049419236 Centerline is valid? [True, True] Translation: X:94.73, Y:-74.91, Z:-1.79 [[-9.96972976e-01 7.71525404e-02 9.61094158e-03 9.47321102e+01] [ 7.71491538e-02 9.97019300e-01 -7.23176001e-04 -7.49121344e+01] [-9.63808912e-03 2.04890802e-05 -9.99953552e-01 -1.79137317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.696559995 meters 0.011842454603674713 Centerline is valid? [True, True] Translation: X:94.78, Y:-74.22, Z:-2.79 [[-9.90531700e-01 -1.36986033e-01 9.04314666e-03 9.47845619e+01] [ 1.36979848e-01 -9.90572978e-01 -1.30271760e-03 -7.42235677e+01] [ 9.13635083e-03 -5.16542263e-05 9.99958261e-01 -2.78728541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.726559995 meters 0.011911519356847982 Centerline is valid? [True, True] Translation: X:94.67, Y:-74.91, Z:-1.79 [[-9.97510649e-01 6.96859565e-02 1.07876328e-02 9.46650962e+01] [ 6.96818247e-02 9.97568979e-01 -7.58856802e-04 -7.49091357e+01] [-1.08142895e-02 -5.26580405e-06 -9.99941524e-01 -1.79003453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.756559995 meters 0.011867711184533773 Centerline is valid? [True, True] Translation: X:94.72, Y:-74.22, Z:-2.79 [[-9.90844864e-01 -1.34603855e-01 1.04046488e-02 9.47156969e+01] [ 1.34596277e-01 -9.90899491e-01 -1.42834776e-03 -7.42167296e+01] [ 1.05022224e-02 -1.48440470e-05 9.99944850e-01 -2.78886014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.786559995 meters 0.011814053965438666 Centerline is valid? [True, True] Translation: X:94.60, Y:-74.91, Z:-1.79 [[-9.97916705e-01 6.35415281e-02 1.11679748e-02 9.45990084e+01] [ 6.35373023e-02 9.97979195e-01 -7.33139282e-04 -7.49069392e+01] [-1.11919913e-02 -2.20289435e-05 -9.99937367e-01 -1.79042254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.816559995 meters 0.011782692513840155 Centerline is valid? [True, True] Translation: X:94.64, Y:-74.21, Z:-2.79 [[-9.91280524e-01 -1.31385193e-01 1.00425636e-02 9.46440302e+01] [ 1.31377967e-01 -9.91331392e-01 -1.37875107e-03 -7.42100472e+01] [ 1.01366560e-02 -4.73574944e-05 9.99948622e-01 -2.78778911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.846559995 meters 0.01180995591494239 Centerline is valid? [True, True] Translation: X:94.53, Y:-74.90, Z:-1.79 [[-9.98244255e-01 5.82330789e-02 1.08312540e-02 9.45329668e+01] [ 5.82293338e-02 9.98303014e-01 -6.61074101e-04 -7.49032216e+01] [-1.08513699e-02 -2.92167218e-05 -9.99941122e-01 -1.79122780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.876559995 meters 0.011791889038958437 Centerline is valid? [True, True] Translation: X:94.53, Y:-74.88, Z:-1.79 [[-9.99857794e-01 -1.24293609e-02 1.13974602e-02 9.45310627e+01] [-1.24288287e-02 9.99922752e-01 1.17529212e-04 -7.48756445e+01] [-1.13980406e-02 -2.41445818e-05 -9.99935040e-01 -1.79047789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.906559995 meters 0.011723540505571927 Centerline is valid? [True, True] Translation: X:94.52, Y:-74.85, Z:-1.79 [[-9.96502691e-01 -8.27057161e-02 1.19227548e-02 9.45238443e+01] [-8.26999613e-02 9.96574013e-01 9.75736758e-04 -7.48483076e+01] [-1.19626066e-02 -1.36870518e-05 -9.99928445e-01 -1.79019862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.936559995 meters 0.011810909037608664 Centerline is valid? [True, True] Translation: X:94.51, Y:-74.82, Z:-1.79 [[-9.88393671e-01 -1.51466540e-01 1.16549852e-02 9.45122620e+01] [-1.51455865e-01 9.88462385e-01 1.79824125e-03 -7.48222633e+01] [-1.17928878e-02 1.21544071e-05 -9.99930461e-01 -1.78995276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.966559995 meters 0.01190404481853133 Centerline is valid? [True, True] Translation: X:94.49, Y:-74.80, Z:-1.79 [[-9.75306389e-01 -2.20562772e-01 1.13803052e-02 9.44887459e+01] [-2.20547383e-01 9.75372781e-01 2.60561025e-03 -7.47993401e+01] [-1.16747405e-02 3.13717906e-05 -9.99931847e-01 -1.79027691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.99655999499998 meters 0.01190404481853133 Centerline is valid? [True, True] Translation: X:94.45, Y:-74.78, Z:-1.79 [[-9.56741304e-01 -2.90725843e-01 1.11606867e-02 9.44489337e+01] [-2.90705683e-01 9.56806398e-01 3.42384969e-03 -7.47810630e+01] [-1.16740180e-02 3.12633822e-05 -9.99931856e-01 -1.79029369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.02655999499999 meters 0.012421316903189128 Centerline is valid? [True, True] Translation: X:94.39, Y:-74.77, Z:-1.79 [[-9.34529045e-01 -3.55721109e-01 1.08608290e-02 9.43913629e+01] [-3.55695987e-01 9.34592149e-01 4.22847132e-03 -7.47737254e+01] [-1.16546020e-02 8.84759774e-05 -9.99932079e-01 -1.79093897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.056559995 meters 0.013148475505105532 Centerline is valid? [True, True] Translation: X:94.32, Y:-74.77, Z:-1.79 [[-9.06713972e-01 -4.21615938e-01 1.04772874e-02 9.43249064e+01] [-4.21586303e-01 9.06774497e-01 5.00016133e-03 -7.47734341e+01] [-1.16086847e-02 1.16635277e-04 -9.99932610e-01 -1.79006191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.086559995 meters 0.01442113624393619 Centerline is valid? [True, True] Translation: X:94.25, Y:-74.78, Z:-1.79 [[-8.75193435e-01 -4.83673706e-01 9.80799152e-03 9.42498644e+01] [-4.83641149e-01 8.75248374e-01 5.61444573e-03 -7.47829816e+01] [-1.12999884e-02 1.70177756e-04 -9.99936139e-01 -1.79043158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.116559995 meters 0.014367130930770232 Centerline is valid? [True, True] Translation: X:94.16, Y:-74.80, Z:-1.79 [[-8.37719493e-01 -5.46015381e-01 9.65686559e-03 9.41639697e+01] [-5.45976307e-01 8.37775127e-01 6.53518845e-03 -7.48026525e+01] [-1.16585952e-02 2.02234942e-04 -9.99932016e-01 -1.79063727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.146559995 meters 0.016091901391889353 Centerline is valid? [True, True] Translation: X:94.08, Y:-74.83, Z:-1.79 [[-7.96917426e-01 -6.03998020e-01 1.04406935e-02 9.40787710e+01] [-6.03941294e-01 7.96985762e-01 8.28302607e-03 -7.48318805e+01] [-1.33240154e-02 2.95321886e-04 -9.99911188e-01 -1.78912935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.176559995 meters 0.016091901391889353 Centerline is valid? [True, True] Translation: X:93.99, Y:-74.87, Z:-1.79 [[-7.48964306e-01 -6.62538109e-01 9.78384593e-03 9.39884464e+01] [-6.62476385e-01 7.49028149e-01 9.04833422e-03 -7.48721598e+01] [-1.33232422e-02 2.95312478e-04 -9.99911198e-01 -1.78916281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.206559995 meters 0.01712024886705579 Centerline is valid? [True, True] Translation: X:93.90, Y:-74.92, Z:-1.79 [[-6.99601685e-01 -7.14475286e-01 9.08557058e-03 9.38993985e+01] [-7.14408393e-01 6.99660590e-01 9.78299337e-03 -7.49223024e+01] [-1.33465227e-02 3.53390763e-04 -9.99910869e-01 -1.78990662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.236559995 meters 0.017675283440207853 Centerline is valid? [True, True] Translation: X:93.81, Y:-74.98, Z:-1.79 [[-6.44691285e-01 -7.64397176e-01 8.37285542e-03 9.38119499e+01] [-7.64324863e-01 6.44745539e-01 1.05211080e-02 -7.49818663e+01] [-1.34406664e-02 3.83285034e-04 -9.99909597e-01 -1.79020673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.266559995 meters 0.018813414677871666 Centerline is valid? [True, True] Translation: X:93.73, Y:-75.05, Z:-1.79 [[-5.85928100e-01 -8.10327034e-01 7.63938678e-03 9.37253181e+01] [-8.10248778e-01 5.85977754e-01 1.12689860e-02 -7.50540485e+01] [-1.36080747e-02 4.13011758e-04 -9.99907321e-01 -1.79006411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.296559995 meters 0.01763190037146515 Centerline is valid? [True, True] Translation: X:93.64, Y:-75.13, Z:-1.79 [[-5.24495097e-01 -8.51387641e-01 6.63162521e-03 9.36426890e+01] [-8.51308657e-01 5.24536834e-01 1.16051555e-02 -7.51271255e+01] [-1.33590176e-02 4.41287193e-04 -9.99910667e-01 -1.79130794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.326559995 meters 0.020309526250028923 Centerline is valid? [True, True] Translation: X:93.57, Y:-75.22, Z:-1.79 [[-4.58274266e-01 -8.88793153e-01 5.60605810e-03 9.35681545e+01] [-8.88714525e-01 4.58308344e-01 1.18302960e-02 -7.52159399e+01] [-1.30839893e-02 4.39334970e-04 -9.99914304e-01 -1.79005242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.356559995 meters 0.018863006797110102 Centerline is valid? [True, True] Translation: X:93.49, Y:-75.31, Z:-1.79 [[-3.88796736e-01 -9.21312434e-01 4.52735786e-03 9.34947006e+01] [-9.21236684e-01 3.88822862e-01 1.18217726e-02 -7.53090802e+01] [-1.26518863e-02 4.25498454e-04 -9.99919871e-01 -1.79122152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.386559995 meters 0.018428706021050484 Centerline is valid? [True, True] Translation: X:93.43, Y:-75.41, Z:-1.79 [[-3.15551348e-01 -9.48903040e-01 3.21987797e-03 9.34281858e+01] [-9.48841325e-01 3.15567568e-01 1.08281631e-02 -7.54110267e+01] [-1.12909659e-02 3.61688178e-04 -9.99936190e-01 -1.79263625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.416559995 meters 0.018428706021050484 Centerline is valid? [True, True] Translation: X:93.37, Y:-75.52, Z:-1.79 [[-2.41689140e-01 -9.70350816e-01 2.37788070e-03 9.33715413e+01] [-9.70288045e-01 2.41700567e-01 1.10428611e-02 -7.55184852e+01] [-1.12901844e-02 3.61710404e-04 -9.99936198e-01 -1.79267520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.446559995 meters 0.017958539691363247 Centerline is valid? [True, True] Translation: X:93.32, Y:-75.63, Z:-1.79 [[-1.63864976e-01 -9.86481741e-01 1.43011388e-03 9.33209395e+01] [-9.86425806e-01 1.63870920e-01 1.05095435e-02 -7.56312281e+01] [-1.06018268e-02 3.11444854e-04 -9.99943751e-01 -1.79382716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.476559995 meters 0.01790271998158212 Centerline is valid? [True, True] Translation: X:92.61, Y:-75.65, Z:-2.79 [[-1.70148404e-01 9.85416462e-01 1.97921783e-03 9.26067152e+01] [-9.85371572e-01 -1.70159558e-01 9.41217909e-03 -7.56488007e+01] [ 9.61169905e-03 -3.48797734e-04 9.99953746e-01 -2.78545049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.506559995 meters 0.016393288066492262 Centerline is valid? [True, True] Translation: X:93.27, Y:-75.92, Z:-1.79 [[-1.50878961e-01 -9.88551423e-01 1.27407159e-03 9.32747390e+01] [-9.88500016e-01 1.50884113e-01 1.00847548e-02 -7.59179122e+01] [-1.01615359e-02 2.62157548e-04 -9.99948336e-01 -1.79455932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.536559995 meters 0.015921967912034936 Centerline is valid? [True, True] Translation: X:93.24, Y:-76.04, Z:-1.79 [[-7.30122684e-02 -9.97330920e-01 4.94835120e-04 9.32351733e+01] [-9.97279297e-01 7.30135254e-02 1.01502714e-02 -7.60354546e+01] [-1.01593092e-02 2.47605518e-04 -9.99948362e-01 -1.79443801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.566559995 meters 0.01627187139704433 Centerline is valid? [True, True] Translation: X:93.21, Y:-76.16, Z:-1.79 [[ 5.03049201e-03 -9.99987307e-01 -2.83437691e-04 9.32059578e+01] [-9.99937215e-01 -5.03307776e-03 1.00117373e-02 -7.61552045e+01] [-1.00130368e-02 2.33055931e-04 -9.99949841e-01 -1.79434537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.596559995 meters 0.01554132535310473 Centerline is valid? [True, True] Translation: X:93.18, Y:-76.26, Z:-1.80 [[ 8.13763301e-02 -9.96682929e-01 -1.01625497e-03 9.31828135e+01] [-9.96635356e-01 -8.13823777e-02 9.74045211e-03 -7.62643551e+01] [-9.79084758e-03 2.20193391e-04 -9.99952044e-01 -1.79500234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.626559995 meters 0.015719473641321254 Centerline is valid? [True, True] Translation: X:93.17, Y:-76.38, Z:-1.79 [[ 1.58551586e-01 -9.87348988e-01 -1.83600691e-03 9.31704100e+01] [-9.87297967e-01 -1.58562062e-01 1.00398023e-02 -7.63840020e+01] [-1.02039097e-02 2.20859316e-04 -9.99947914e-01 -1.79490745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.656559995 meters 0.015519339161983692 Centerline is valid? [True, True] Translation: X:93.17, Y:-76.51, Z:-1.79 [[ 2.33234391e-01 -9.72416796e-01 -2.70077640e-03 9.31675683e+01] [-9.72362904e-01 -2.33249907e-01 1.02403096e-02 -7.65097134e+01] [-1.05878049e-02 2.37742410e-04 -9.99943919e-01 -1.79422472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.686559995 meters 0.015559441008677932 Centerline is valid? [True, True] Translation: X:93.17, Y:-76.63, Z:-1.79 [[ 3.06288402e-01 -9.51932094e-01 -3.56421000e-03 9.31739190e+01] [-9.51876974e-01 -3.06309034e-01 1.02470583e-02 -7.66280924e+01] [-1.08462534e-02 2.54134316e-04 -9.99941145e-01 -1.79407201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.716559995 meters 0.017474713971417626 Centerline is valid? [True, True] Translation: X:93.19, Y:-76.74, Z:-1.79 [[ 3.77311488e-01 -9.26076309e-01 -4.32570218e-03 9.31907863e+01] [-9.26023332e-01 -3.77336188e-01 9.90906371e-03 -7.67404381e+01] [-1.08087931e-02 2.66897576e-04 -9.99941548e-01 -1.79280551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.74655999499998 meters 0.01666437336934506 Centerline is valid? [True, True] Translation: X:93.21, Y:-76.86, Z:-1.79 [[ 4.45934955e-01 -8.95049946e-01 -5.25462762e-03 9.32139160e+01] [-8.94995358e-01 -4.45965816e-01 9.88939379e-03 -7.68555203e+01] [-1.11948857e-02 2.92840957e-04 -9.99937292e-01 -1.79345700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.77655999499999 meters 0.01654899299160009 Centerline is valid? [True, True] Translation: X:93.25, Y:-76.96, Z:-1.79 [[ 5.10015210e-01 -8.60146480e-01 -5.70245750e-03 9.32454931e+01] [-8.60099496e-01 -5.10046990e-01 8.99579396e-03 -7.69639709e+01] [-1.06462218e-02 3.16689077e-04 -9.99943277e-01 -1.79489370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.806559995 meters 0.018909650966796934 Centerline is valid? [True, True] Translation: X:93.29, Y:-77.07, Z:-1.79 [[ 5.72873005e-01 -8.19618973e-01 -6.42335333e-03 9.32893004e+01] [-8.19573922e-01 -5.72908915e-01 8.60006341e-03 -7.70700315e+01] [-1.07287715e-02 3.37668708e-04 -9.99942388e-01 -1.79455426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.836559995 meters 0.019505125805832364 Centerline is valid? [True, True] Translation: X:93.33, Y:-77.17, Z:-1.79 [[ 6.31275976e-01 -7.75525042e-01 -7.17986760e-03 9.33335496e+01] [-7.75481553e-01 -6.31316692e-01 8.22161145e-03 -7.71687700e+01] [-1.09088358e-02 3.77749079e-04 -9.99940426e-01 -1.79459508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.866559995 meters 0.019681800954962546 Centerline is valid? [True, True] Translation: X:93.38, Y:-77.26, Z:-1.79 [[ 6.87721886e-01 -7.25929325e-01 -8.07612407e-03 9.33845639e+01] [-7.25886050e-01 -6.87769185e-01 7.93665935e-03 -7.72640662e+01] [-1.13159630e-02 4.04131461e-04 -9.99935891e-01 -1.79435769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.896559995 meters 0.019142409511965847 Centerline is valid? [True, True] Translation: X:93.38, Y:-77.27, Z:-1.79 [[ 7.42002485e-01 -6.70339101e-01 -8.82058811e-03 9.33794972e+01] [-6.70298317e-01 -7.42054793e-01 7.40609505e-03 -7.72743904e+01] [-1.15099548e-02 4.17084437e-04 -9.99933671e-01 -1.79461319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.926559995 meters 0.019681764345031487 Centerline is valid? [True, True] Translation: X:93.38, Y:-77.28, Z:-1.79 [[ 7.91934095e-01 -6.10536831e-01 -9.22864027e-03 9.33760571e+01] [-6.10501393e-01 -7.91987756e-01 6.59109359e-03 -7.72828662e+01] [-1.13330755e-02 4.14386006e-04 -9.99935693e-01 -1.79458008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.956559995 meters 0.02040964321041557 Centerline is valid? [True, True] Translation: X:93.37, Y:-77.29, Z:-1.79 [[ 8.37554171e-01 -5.46265656e-01 -9.84092630e-03 9.33733166e+01] [-5.46233685e-01 -8.37611881e-01 5.92441827e-03 -7.72904873e+01] [-1.14791830e-02 4.13424203e-04 -9.99934027e-01 -1.79438392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.986559995 meters 0.018822954292777645 Centerline is valid? [True, True] Translation: X:93.37, Y:-77.30, Z:-1.80 [[ 8.78460488e-01 -4.77703432e-01 -1.03248108e-02 9.33699468e+01] [-4.77675707e-01 -8.78521072e-01 5.16193640e-03 -7.73028688e+01] [-1.15364386e-02 3.97354137e-04 -9.99933374e-01 -1.79502263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.016559995 meters 0.018822954292777645 Centerline is valid? [True, True] Translation: X:93.37, Y:-77.31, Z:-1.80 [[ 9.13103517e-01 -4.07587493e-01 -1.06959607e-02 9.33685415e+01] [-4.07564591e-01 -9.13166074e-01 4.33893476e-03 -7.73130904e+01] [-1.15356839e-02 3.97398246e-04 -9.99933383e-01 -1.79503046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.046559995 meters 0.018322380383386336 Centerline is valid? [True, True] Translation: X:93.37, Y:-77.32, Z:-1.79 [[ 9.42473161e-01 -3.34102826e-01 -1.09381665e-02 9.33677096e+01] [-3.34085033e-01 -9.42536553e-01 3.46938927e-03 -7.73248711e+01] [-1.14687545e-02 3.84471459e-04 -9.99934158e-01 -1.79496312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.076559995 meters 0.01794844415572568 Centerline is valid? [True, True] Translation: X:93.37, Y:-77.34, Z:-1.79 [[ 9.66348324e-01 -2.56979299e-01 -1.15133294e-02 9.33677652e+01] [-2.56965569e-01 -9.66416838e-01 2.68159341e-03 -7.73371432e+01] [-1.18157894e-02 3.67175937e-04 -9.99930124e-01 -1.79448954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.106559995 meters 0.017563780025645022 Centerline is valid? [True, True] Translation: X:93.37, Y:-77.35, Z:-1.79 [[ 9.83771802e-01 -1.79060910e-01 -1.14118919e-02 9.33653232e+01] [-1.79052875e-01 -9.83837931e-01 1.73033852e-03 -7.73473098e+01] [-1.15372881e-02 3.41073797e-04 -9.99933385e-01 -1.79410779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.136559995 meters 0.01738444395015793 Centerline is valid? [True, True] Translation: X:93.36, Y:-77.36, Z:-1.79 [[ 9.94933212e-01 -9.98650079e-02 -1.16139906e-02 9.33639315e+01] [-9.98620140e-02 -9.95000942e-01 8.38868222e-04 -7.73567707e+01] [-1.16397052e-02 3.25178640e-04 -9.99932203e-01 -1.79406575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.166559995 meters 0.01738444395015793 Centerline is valid? [True, True] Translation: X:93.36, Y:-77.37, Z:-1.79 [[ 9.99697499e-01 -2.16643565e-02 -1.16432741e-02 9.33631057e+01] [-2.16666745e-02 -9.99765247e-01 -7.29636110e-05 -7.73652379e+01] [-1.16389601e-02 3.25212570e-04 -9.99932212e-01 -1.79407251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.196559995 meters 0.01678536890330602 Centerline is valid? [True, True] Translation: X:93.36, Y:-77.37, Z:-1.79 [[ 9.98151213e-01 5.98220573e-02 -1.07460196e-02 9.33623459e+01] [ 5.98157198e-02 -9.98209022e-01 -9.10473109e-04 -7.73749736e+01] [-1.07812401e-02 2.66008942e-04 -9.99941845e-01 -1.79439363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.226559995 meters 0.016445628649692196 Centerline is valid? [True, True] Translation: X:93.36, Y:-77.38, Z:-1.79 [[ 9.90184034e-01 1.39414215e-01 -9.96272398e-03 9.33627224e+01] [ 1.39404808e-01 -9.90234125e-01 -1.63595653e-03 -7.73820277e+01] [-1.00935049e-02 2.31046415e-04 -9.99949033e-01 -1.79477717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.256559995 meters 0.016130206110654945 Centerline is valid? [True, True] Translation: X:93.36, Y:-77.39, Z:-1.80 [[ 9.75905320e-01 2.17995050e-01 -9.32549898e-03 9.33644122e+01] [ 2.17983094e-01 -9.75949854e-01 -2.29214469e-03 -7.73885235e+01] [-9.60089556e-03 2.04115072e-04 -9.99953890e-01 -1.79506610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.286559995 meters 0.014578719241336035 Centerline is valid? [True, True] Translation: X:93.37, Y:-77.40, Z:-1.80 [[ 9.54840403e-01 2.96996564e-01 -8.53498014e-03 9.33680009e+01] [ 2.96983207e-01 -9.54878534e-01 -2.82118896e-03 -7.73998992e+01] [-8.98775276e-03 1.59039423e-04 -9.99959597e-01 -1.79510311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.316559995 meters 0.014510969327682732 Centerline is valid? [True, True] Translation: X:93.37, Y:-77.41, Z:-1.79 [[ 9.27992853e-01 3.72489274e-01 -9.00036194e-03 9.33703485e+01] [ 3.72470107e-01 -9.28036484e-01 -3.78194973e-03 -7.74072753e+01] [-9.76139996e-03 1.57256540e-04 -9.99952344e-01 -1.79440104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.346559995 meters 0.013392863447275293 Centerline is valid? [True, True] Translation: X:93.38, Y:-77.42, Z:-1.79 [[ 8.94655814e-01 4.46668340e-01 -8.85263221e-03 9.33759650e+01] [ 4.46645020e-01 -8.94699602e-01 -4.56600896e-03 -7.74168308e+01] [-9.95993815e-03 1.31022367e-04 -9.99950390e-01 -1.79386347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.376559995 meters 0.013190733217367844 Centerline is valid? [True, True] Translation: X:93.38, Y:-77.42, Z:-1.79 [[ 8.56266586e-01 5.16459547e-01 -8.77895976e-03 9.33806938e+01] [ 5.16430926e-01 -8.56311580e-01 -5.43849326e-03 -7.74235909e+01] [-1.03262867e-02 1.23073733e-04 -9.99946675e-01 -1.79341273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.406559995 meters 0.012760755092859176 Centerline is valid? [True, True] Translation: X:93.39, Y:-77.43, Z:-1.79 [[ 8.12627141e-01 5.82715013e-01 -8.96348253e-03 9.33879046e+01] [ 5.82677892e-01 -8.12676564e-01 -6.57839809e-03 -7.74322883e+01] [-1.11177435e-02 1.22961726e-04 -9.99938188e-01 -1.79349695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.436559995 meters 0.012659604975573096 Centerline is valid? [True, True] Translation: X:93.39, Y:-77.44, Z:-1.79 [[ 7.64050922e-01 6.45097217e-01 -8.70450839e-03 9.33949581e+01] [ 6.45053573e-01 -7.64100495e-01 -7.50482382e-03 -7.74396446e+01] [-1.14924601e-02 1.19193322e-04 -9.99933952e-01 -1.79288365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.466559995 meters 0.012518491807328995 Centerline is valid? [True, True] Translation: X:93.40, Y:-77.45, Z:-1.79 [[ 7.10583405e-01 7.03560663e-01 -8.58016026e-03 9.34028131e+01] [ 7.03507379e-01 -7.10635195e-01 -8.65949899e-03 -7.74470194e+01] [-1.21898467e-02 1.17090216e-04 -9.99925694e-01 -1.79223699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.49655999499998 meters 0.012785316509228822 Centerline is valid? [True, True] Translation: X:93.41, Y:-77.45, Z:-1.79 [[ 6.53326071e-01 7.57032355e-01 -8.18897790e-03 9.34088303e+01] [ 7.56970517e-01 -6.53377379e-01 -9.67665040e-03 -7.74533388e+01] [-1.26760303e-02 1.23193152e-04 -9.99919648e-01 -1.79098584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.52655999499999 meters 0.012897828256653525 Centerline is valid? [True, True] Translation: X:93.41, Y:-77.46, Z:-1.79 [[ 5.92417082e-01 8.05597103e-01 -7.43699642e-03 9.34144511e+01] [ 8.05530861e-01 -5.92463747e-01 -1.03315248e-02 -7.74575594e+01] [-1.27291972e-02 1.29841638e-04 -9.99918972e-01 -1.79085585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.556559995 meters 0.012901584223015529 Centerline is valid? [True, True] Translation: X:93.42, Y:-77.46, Z:-1.79 [[ 5.28156076e-01 8.49123181e-01 -6.40174321e-03 9.34203577e+01] [ 8.49057701e-01 -5.28194855e-01 -1.05458823e-02 -7.74616825e+01] [-1.23361210e-02 1.34422472e-04 -9.99923898e-01 -1.79139615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.586559995 meters 0.012827294354225137 Centerline is valid? [True, True] Translation: X:93.43, Y:-77.47, Z:-1.79 [[ 4.61107090e-01 8.87328665e-01 -5.30015930e-03 9.34292343e+01] [ 8.87266482e-01 -4.61137529e-01 -1.05056739e-02 -7.74661157e+01] [-1.17660880e-02 1.41587021e-04 -9.99930767e-01 -1.79267534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.616559995 meters 0.014639325507225536 Centerline is valid? [True, True] Translation: X:93.43, Y:-77.47, Z:-1.79 [[ 3.92938384e-01 9.19556429e-01 -3.92430281e-03 9.34325328e+01] [ 9.19506615e-01 -3.92957950e-01 -9.57257983e-03 -7.74687678e+01] [-1.03446133e-02 1.53011656e-04 -9.99946481e-01 -1.79222738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.646559995 meters 0.013885146058674408 Centerline is valid? [True, True] Translation: X:93.44, Y:-77.47, Z:-1.79 [[ 3.21322894e-01 9.46964402e-01 -3.16527623e-03 9.34413797e+01] [ 9.46913092e-01 -3.21338439e-01 -9.85924861e-03 -7.74730841e+01] [-1.03534824e-02 1.70760796e-04 -9.99946387e-01 -1.79351820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.676559995 meters 0.01441571515811711 Centerline is valid? [True, True] Translation: X:93.45, Y:-77.48, Z:-1.79 [[ 2.47995894e-01 9.68758234e-01 -2.34945365e-03 9.34480303e+01] [ 9.68707339e-01 -2.48006952e-01 -9.93193866e-03 -7.74754863e+01] [-1.02043282e-02 1.87147011e-04 -9.99947917e-01 -1.79309873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.706559995 meters 0.015438146249441075 Centerline is valid? [True, True] Translation: X:93.45, Y:-77.48, Z:-1.79 [[ 1.75136157e-01 9.84542935e-01 -1.59217279e-03 9.34522188e+01] [ 9.84489416e-01 -1.75143242e-01 -1.02681605e-02 -7.74778338e+01] [-1.03883032e-02 2.30848915e-04 -9.99946013e-01 -1.79283204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.736559995 meters 0.015465427168898625 Centerline is valid? [True, True] Translation: X:93.46, Y:-77.48, Z:-1.79 [[ 9.91912491e-02 9.95068059e-01 -8.08745991e-04 9.34613188e+01] [ 9.95010402e-01 -9.91942102e-02 -1.07148927e-02 -7.74807108e+01] [-1.07422704e-02 2.58112922e-04 -9.99942267e-01 -1.79282237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.766559995 meters 0.017257202912431005 Centerline is valid? [True, True] Translation: X:93.47, Y:-77.48, Z:-1.79 [[ 2.38359771e-02 9.99715882e-01 3.32348795e-05 9.34653701e+01] [ 9.99657343e-01 -2.38342216e-02 -1.08225400e-02 -7.74842156e+01] [-1.08186730e-02 2.91189308e-04 -9.99941434e-01 -1.79234250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.796559995 meters 0.016766979744915426 Centerline is valid? [True, True] Translation: X:93.47, Y:-77.49, Z:-1.79 [[-5.34420972e-02 9.98570534e-01 9.11535945e-04 9.34749386e+01] [ 9.98508297e-01 5.34489473e-02 -1.11530304e-02 -7.74860068e+01] [-1.11858082e-02 3.14134870e-04 -9.99937388e-01 -1.79295134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.826559995 meters 0.018521595457528617 Centerline is valid? [True, True] Translation: X:93.48, Y:-77.49, Z:-1.79 [[-1.30582833e-01 9.91435741e-01 1.81535037e-03 9.34807549e+01] [ 9.91372004e-01 1.30595031e-01 -1.12466294e-02 -7.74885664e+01] [-1.13873861e-02 3.31070803e-04 -9.99935107e-01 -1.79205710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.856559995 meters 0.01776902024347645 Centerline is valid? [True, True] Translation: X:93.49, Y:-77.49, Z:-1.79 [[-2.06836447e-01 9.78371919e-01 2.65926880e-03 9.34887693e+01] [ 9.78310824e-01 2.06853263e-01 -1.09389049e-02 -7.74896668e+01] [-1.12523958e-02 3.39027222e-04 -9.99936632e-01 -1.79272778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.886559995 meters 0.01823861442122401 Centerline is valid? [True, True] Translation: X:93.50, Y:-77.49, Z:-1.79 [[-2.82513054e-01 9.59256925e-01 3.53925891e-03 9.34960504e+01] [ 9.59196280e-01 2.82535011e-01 -1.07918745e-02 -7.74915046e+01] [-1.13521449e-02 3.45998564e-04 -9.99935502e-01 -1.79284839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.916559995 meters 0.017404344047052094 Centerline is valid? [True, True] Translation: X:93.51, Y:-77.49, Z:-1.79 [[-3.56816753e-01 9.34164992e-01 4.19196379e-03 9.35069542e+01] [ 9.34111005e-01 3.56841223e-01 -1.00484179e-02 -7.74910393e+01] [-1.08827457e-02 3.30315656e-04 -9.99940727e-01 -1.79369059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.946559995 meters 0.018195670894561387 Centerline is valid? [True, True] Translation: X:93.51, Y:-77.49, Z:-1.79 [[-4.29291626e-01 9.03152595e-01 4.90811849e-03 9.35149435e+01] [ 9.03101889e-01 4.29319562e-01 -9.57560381e-03 -7.74915976e+01] [-1.07553827e-02 3.21804542e-04 -9.99942107e-01 -1.79344917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.976559995 meters 0.017787661576930444 Centerline is valid? [True, True] Translation: X:93.52, Y:-77.49, Z:-1.79 [[-4.98737918e-01 8.66735857e-01 5.42618096e-03 9.35242549e+01] [ 8.66691127e-01 4.98767340e-01 -8.81083650e-03 -7.74895243e+01] [-1.03430698e-02 3.08524637e-04 -9.99946461e-01 -1.79359800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.006559995 meters 0.017764683246607127 Centerline is valid? [True, True] Translation: X:93.53, Y:-77.49, Z:-1.79 [[-5.65769171e-01 8.24543238e-01 5.80461921e-03 9.35312087e+01] [ 8.24504897e-01 5.65798876e-01 -7.95660773e-03 -7.74888335e+01] [-9.84481412e-03 2.84333601e-04 -9.99951498e-01 -1.79393508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.036559995 meters 0.01805431546063717 Centerline is valid? [True, True] Translation: X:93.54, Y:-77.49, Z:-1.79 [[-6.28964333e-01 7.77410705e-01 6.03850915e-03 9.35384575e+01] [ 7.77378826e-01 6.28993264e-01 -7.04521484e-03 -7.74882230e+01] [-9.27520702e-03 2.63020304e-04 -9.99956950e-01 -1.79425641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.066559995 meters 0.017680197623061753 Centerline is valid? [True, True] Translation: X:93.55, Y:-77.49, Z:-1.79 [[-6.88505845e-01 7.25200011e-01 6.68173963e-03 9.35458513e+01] [ 7.25169477e-01 6.88538217e-01 -6.65978242e-03 -7.74854650e+01] [-9.43030738e-03 2.60094513e-04 -9.99955500e-01 -1.79434127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.096559995 meters 0.016256881680970503 Centerline is valid? [True, True] Translation: X:93.57, Y:-77.46, Z:-1.79 [[-7.39695669e-01 6.72906668e-01 6.85080388e-03 9.35652551e+01] [ 6.72880646e-01 7.39727358e-01 -5.92217316e-03 -7.74639810e+01] [-9.05279686e-03 2.29167498e-04 -9.99958996e-01 -1.79480976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.126559995 meters 0.016322656540910432 Centerline is valid? [True, True] Translation: X:93.58, Y:-77.44, Z:-1.79 [[-7.86708254e-01 6.17288020e-01 6.75455200e-03 9.35845267e+01] [ 6.17267381e-01 7.86737226e-01 -5.05147753e-03 -7.74440991e+01] [-8.43227407e-03 1.95325561e-04 -9.99964429e-01 -1.79478809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.156559995 meters 0.015366242252860159 Centerline is valid? [True, True] Translation: X:93.60, Y:-77.42, Z:-1.80 [[-8.29610087e-01 5.58304726e-01 6.55264326e-03 9.36033823e+01] [ 5.58288851e-01 8.29635948e-01 -4.21332663e-03 -7.74212287e+01] [-7.78862857e-03 1.62849406e-04 -9.99969655e-01 -1.79532726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.186559995 meters 0.014172555525685214 Centerline is valid? [True, True] Translation: X:93.62, Y:-77.40, Z:-1.80 [[-8.69773648e-01 4.93401630e-01 6.97374631e-03 9.36203521e+01] [ 4.93386896e-01 8.69801596e-01 -3.81497938e-03 -7.73951352e+01] [-7.94809271e-03 1.22586515e-04 -9.99968406e-01 -1.79525169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.216559995 meters 0.013658527946442374 Centerline is valid? [True, True] Translation: X:93.64, Y:-77.37, Z:-1.79 [[-9.03509868e-01 4.28497937e-01 7.70944866e-03 9.36355789e+01] [ 4.28483381e-01 9.03542753e-01 -3.53358508e-03 -7.73696182e+01] [-8.47995038e-03 1.10741634e-04 -9.99964038e-01 -1.79467605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.24655999499998 meters 0.012871398569297239 Centerline is valid? [True, True] Translation: X:93.65, Y:-77.34, Z:-1.79 [[-9.33311560e-01 3.58962243e-01 8.69709446e-03 9.36451540e+01] [ 3.58947439e-01 9.33352078e-01 -3.26101663e-03 -7.73402776e+01] [-9.28803303e-03 7.82552635e-05 -9.99956862e-01 -1.79325021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.27655999499999 meters 0.012457390951232704 Centerline is valid? [True, True] Translation: X:93.65, Y:-77.31, Z:-1.79 [[-9.56982027e-01 2.90004899e-01 9.08621448e-03 9.36490224e+01] [ 2.89992436e-01 9.57025159e-01 -2.68925953e-03 -7.73103382e+01] [-9.47563430e-03 6.13604374e-05 -9.99955103e-01 -1.79320304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.306559995 meters 0.012403012842900072 Centerline is valid? [True, True] Translation: X:93.66, Y:-77.28, Z:-1.79 [[-9.75595345e-01 2.19365444e-01 9.61895747e-03 9.36582642e+01] [ 2.19355225e-01 9.75642763e-01 -2.11779546e-03 -7.72828686e+01] [-9.84923738e-03 4.38571883e-05 -9.99951494e-01 -1.79267725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.336559995 meters 0.012038850837680757 Centerline is valid? [True, True] Translation: X:93.66, Y:-77.25, Z:-1.79 [[-9.89071904e-01 1.47120578e-01 9.60747666e-03 9.36634277e+01] [ 1.47113789e-01 9.89118565e-01 -1.41351752e-03 -7.72524229e+01] [-9.71089104e-03 1.53218210e-05 -9.99952848e-01 -1.79247704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.366559995 meters 0.012033311387367728 Centerline is valid? [True, True] Translation: X:93.77, Y:-76.55, Z:-2.79 [[-9.78062370e-01 -2.08130106e-01 8.70978636e-03 9.37690197e+01] [ 2.08121266e-01 -9.78101148e-01 -1.91927169e-03 -7.65510118e+01] [ 8.91851025e-03 -6.44756504e-05 9.99960227e-01 -2.78891918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.396559995 meters 0.012020786631061499 Centerline is valid? [True, True] Translation: X:93.61, Y:-77.24, Z:-1.79 [[-9.89902106e-01 1.41460111e-01 9.10259693e-03 9.36053869e+01] [ 1.41454128e-01 9.89943956e-01 -1.30110702e-03 -7.72428982e+01] [-9.19511556e-03 -3.68670388e-07 -9.99957724e-01 -1.79266046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.426559995 meters 0.011941664942767556 Centerline is valid? [True, True] Translation: X:93.61, Y:-77.22, Z:-1.79 [[-9.97455949e-01 7.07078756e-02 9.05688296e-03 9.36088292e+01] [ 7.07049473e-02 9.97497066e-01 -6.43509893e-04 -7.72153146e+01] [-9.07971539e-03 -1.50633826e-06 -9.99958779e-01 -1.79296114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.456559995 meters 0.011991392567148143 Centerline is valid? [True, True] Translation: X:93.67, Y:-76.51, Z:-2.79 [[-9.90999426e-01 -1.33613613e-01 8.21826651e-03 9.36685700e+01] [ 1.33608622e-01 -9.91033501e-01 -1.15589459e-03 -7.65100255e+01] [ 8.29902068e-03 -4.74596181e-05 9.99965561e-01 -2.78784268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.486559995 meters 0.012111911286435694 Centerline is valid? [True, True] Translation: X:93.55, Y:-77.21, Z:-1.79 [[-9.97605453e-01 6.86785604e-02 8.16178115e-03 9.35508516e+01] [ 6.86764112e-02 9.97638840e-01 -5.43623175e-04 -7.72136806e+01] [-8.17984514e-03 1.82003947e-05 -9.99966544e-01 -1.79426410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.516559995 meters 0.012141986676725745 Centerline is valid? [True, True] Translation: X:93.60, Y:-76.50, Z:-2.79 [[-9.91988057e-01 -1.26103578e-01 7.58832215e-03 9.36015254e+01] [ 1.26099507e-01 -9.92017079e-01 -1.01447239e-03 -7.65038622e+01] [ 7.65567377e-03 -4.94608081e-05 9.99970694e-01 -2.78687927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.546559995 meters 0.012447732136696855 Centerline is valid? [True, True] Translation: X:93.48, Y:-77.21, Z:-1.79 [[-9.97707346e-01 6.71674284e-02 8.28176588e-03 9.34838140e+01] [ 6.71654843e-02 9.97741717e-01 -5.12968169e-04 -7.72114583e+01] [-8.29751806e-03 4.44567052e-05 -9.99965574e-01 -1.79383666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.576559995 meters 0.012896695336959701 Centerline is valid? [True, True] Translation: X:93.48, Y:-77.18, Z:-1.79 [[-9.99959708e-01 -7.76105682e-04 8.94320282e-03 9.34848852e+01] [-7.75375621e-04 9.99999696e-01 8.51000819e-05 -7.71843713e+01] [-8.94326615e-03 7.81623116e-05 -9.99960005e-01 -1.79284367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.606559995 meters 0.013078417807086084 Centerline is valid? [True, True] Translation: X:93.48, Y:-77.16, Z:-1.79 [[-9.97474598e-01 -7.04200466e-02 9.24359044e-03 9.34793634e+01] [-7.04161331e-02 9.97517422e-01 7.48547349e-04 -7.71568430e+01] [-9.27335525e-03 9.57590708e-05 -9.99956997e-01 -1.79262562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.636559995 meters 0.013731569508915237 Centerline is valid? [True, True] Translation: X:93.47, Y:-77.13, Z:-1.79 [[-9.90253751e-01 -1.38940358e-01 9.64811874e-03 9.34662386e+01] [-1.38932521e-01 9.90300743e-01 1.48104761e-03 -7.71316425e+01] [-9.76031644e-03 1.26175492e-04 -9.99952359e-01 -1.79180111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.666559995 meters 0.013767232745381462 Centerline is valid? [True, True] Translation: X:93.45, Y:-77.11, Z:-1.79 [[-9.77914646e-01 -2.08744906e-01 1.04168105e-02 9.34454893e+01] [-2.08731414e-01 9.77970113e-01 2.37813481e-03 -7.71071756e+01] [-1.06837528e-02 1.51297280e-04 -9.99942916e-01 -1.79175548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.696559995 meters 0.014551458725422241 Centerline is valid? [True, True] Translation: X:93.40, Y:-77.09, Z:-1.79 [[-9.60732059e-01 -2.77247019e-01 1.13137518e-02 9.33980532e+01] [-2.77225397e-01 9.60798653e-01 3.46795058e-03 -7.70924830e+01] [-1.18317165e-02 1.95311963e-04 -9.99929984e-01 -1.79098289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.726559995 meters 0.014551458725422241 Centerline is valid? [True, True] Translation: X:93.34, Y:-77.08, Z:-1.79 [[-9.37720419e-01 -3.47215802e-01 1.10273229e-02 9.33368811e+01] [-3.47189341e-01 9.37785236e-01 4.29098339e-03 -7.70840026e+01] [-1.18311579e-02 1.95173762e-04 -9.99929990e-01 -1.79100015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.756559995 meters 0.01530568951866403 Centerline is valid? [True, True] Translation: X:93.27, Y:-77.08, Z:-1.79 [[-9.10438170e-01 -4.13498699e-01 1.10074390e-02 9.32678685e+01] [-4.13465385e-01 9.10504680e-01 5.25391786e-03 -7.70848688e+01] [-1.21948129e-02 2.32172366e-04 -9.99925614e-01 -1.79039611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.786559995 meters 0.015112806959298525 Centerline is valid? [True, True] Translation: X:93.19, Y:-77.09, Z:-1.79 [[-8.77610439e-01 -4.79246705e-01 1.10685767e-02 9.31892947e+01] [-4.79204860e-01 8.77680198e-01 6.33824393e-03 -7.70938611e+01] [-1.27522531e-02 2.58393270e-04 -9.99918653e-01 -1.79091622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.816559995 meters 0.015294937446313687 Centerline is valid? [True, True] Translation: X:93.10, Y:-77.11, Z:-1.79 [[-8.39645447e-01 -5.43034286e-01 1.04540822e-02 9.31033438e+01] [-5.42988239e-01 8.39710482e-01 7.07663454e-03 -7.71147116e+01] [-1.26212576e-02 2.65420284e-04 -9.99920314e-01 -1.79111728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.846559995 meters 0.015770733150540457 Centerline is valid? [True, True] Translation: X:93.02, Y:-77.14, Z:-1.79 [[-7.96910660e-01 -6.04021825e-01 9.54123391e-03 9.30172972e+01] [-6.03974487e-01 7.96967731e-01 7.56676466e-03 -7.71437095e+01] [-1.21745465e-02 2.67373569e-04 -9.99925852e-01 -1.79145430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.876559995 meters 0.01586815747183102 Centerline is valid? [True, True] Translation: X:92.93, Y:-77.18, Z:-1.79 [[-7.49707407e-01 -6.61723699e-01 7.78143700e-03 9.29287754e+01] [-6.61684655e-01 7.49747749e-01 7.19236161e-03 -7.71825242e+01] [-1.05934710e-02 2.43309310e-04 -9.99943858e-01 -1.79342570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.906559995 meters 0.016067210362537665 Centerline is valid? [True, True] Translation: X:92.84, Y:-77.23, Z:-1.79 [[-6.97641605e-01 -7.16413512e-01 6.91887970e-03 9.28369446e+01] [-7.16374876e-01 6.97675873e-01 7.44403889e-03 -7.72346176e+01] [-1.01601455e-02 2.36759656e-04 -9.99948356e-01 -1.79386702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.936559995 meters 0.016067210362537665 Centerline is valid? [True, True] Translation: X:92.75, Y:-77.29, Z:-1.79 [[-6.41074425e-01 -7.67452599e-01 6.33167842e-03 9.27479045e+01] [-7.67411470e-01 6.41105649e-01 7.94874190e-03 -7.72949344e+01] [-1.01595574e-02 2.36732499e-04 -9.99948362e-01 -1.79389411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.966559995 meters 0.01590998269040708 Centerline is valid? [True, True] Translation: X:92.66, Y:-77.36, Z:-1.79 [[-5.80721542e-01 -8.14083768e-01 5.48718464e-03 9.26621236e+01] [-8.14043646e-01 5.80747420e-01 8.08559076e-03 -7.73628507e+01] [-9.76901652e-03 2.28668944e-04 -9.99952256e-01 -1.79465848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.99655999499998 meters 0.015838435693546683 Centerline is valid? [True, True] Translation: X:92.58, Y:-77.44, Z:-1.80 [[-5.16620456e-01 -8.56202498e-01 4.53729932e-03 9.25793899e+01] [-8.56165819e-01 5.16640337e-01 7.92792401e-03 -7.74413165e+01] [-9.13206019e-03 2.11047125e-04 -9.99958280e-01 -1.79514028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.02655999499999 meters 0.016225107174617615 Centerline is valid? [True, True] Translation: X:92.50, Y:-77.53, Z:-1.80 [[-4.49202501e-01 -8.93421752e-01 3.83218200e-03 9.25028471e+01] [-8.93385287e-01 4.49218801e-01 8.07448473e-03 -7.75277076e+01] [-8.93540850e-03 2.03463721e-04 -9.99960058e-01 -1.79539577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.056559995 meters 0.015304363921997372 Centerline is valid? [True, True] Translation: X:92.43, Y:-77.62, Z:-1.80 [[-3.77670941e-01 -9.25935229e-01 2.93460335e-03 9.24282796e+01] [-9.25903670e-01 3.77682304e-01 7.64665709e-03 -7.76240221e+01] [-8.18865694e-03 1.70760172e-04 -9.99966458e-01 -1.79679345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.086559995 meters 0.015123895005895642 Centerline is valid? [True, True] Translation: X:92.36, Y:-77.72, Z:-1.80 [[-3.04361993e-01 -9.52553766e-01 2.25847373e-03 9.23635953e+01] [-9.52523631e-01 3.04370333e-01 7.57843239e-03 -7.77239025e+01] [-7.90627672e-03 1.55337194e-04 -9.99968733e-01 -1.79713131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.116559995 meters 0.015373894306816597 Centerline is valid? [True, True] Translation: X:92.31, Y:-77.83, Z:-1.80 [[-2.28946181e-01 -9.73437700e-01 1.64038277e-03 9.23072634e+01] [-9.73408077e-01 2.28952014e-01 7.59540325e-03 -7.78287304e+01] [-7.76922081e-03 1.42176735e-04 -9.99969809e-01 -1.79704046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.146559995 meters 0.01437373520313011 Centerline is valid? [True, True] Translation: X:92.26, Y:-77.94, Z:-1.80 [[-1.51691586e-01 -9.88427358e-01 1.01036640e-03 9.22561201e+01] [-9.88399673e-01 1.51694900e-01 7.39887238e-03 -7.79407869e+01] [-7.46651531e-03 1.23700864e-04 -9.99972118e-01 -1.79754248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.176559995 meters 0.014078190716657862 Centerline is valid? [True, True] Translation: X:92.22, Y:-78.06, Z:-1.80 [[-7.38724288e-02 -9.97267607e-01 4.29040599e-04 9.22150501e+01] [-9.97240916e-01 7.38735910e-02 7.29712349e-03 -7.80557009e+01] [-7.30887965e-03 1.11199395e-04 -9.99973284e-01 -1.79723781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.206559995 meters 0.01363117376929607 Centerline is valid? [True, True] Translation: X:92.18, Y:-78.18, Z:-1.80 [[ 5.11071820e-03 -9.99986933e-01 -1.21811448e-04 9.21816438e+01] [-9.99964390e-01 -5.11142097e-03 6.71504447e-03 -7.81757201e+01] [-6.71557935e-03 8.74884099e-05 -9.99977446e-01 -1.79757186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.236559995 meters 0.013547320452258073 Centerline is valid? [True, True] Translation: X:92.16, Y:-78.30, Z:-1.80 [[ 8.25756992e-02 -9.96584608e-01 -6.10852321e-04 9.21592977e+01] [-9.96564054e-01 -8.25779196e-02 6.40103595e-03 -7.82959162e+01] [-6.42961682e-03 8.01834466e-05 -9.99979327e-01 -1.79775067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.266559995 meters 0.013431632015769454 Centerline is valid? [True, True] Translation: X:92.15, Y:-78.42, Z:-1.80 [[ 1.59297113e-01 -9.87230093e-01 -1.08311378e-03 9.21462453e+01] [-9.87210453e-01 -1.59300777e-01 6.22772517e-03 -7.84176468e+01] [-6.32073856e-03 7.72026065e-05 -9.99980021e-01 -1.79779182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.296559995 meters 0.013616578962974059 Centerline is valid? [True, True] Translation: X:92.14, Y:-78.54, Z:-1.80 [[ 2.34552049e-01 -9.72102309e-01 -1.56111360e-03 9.21417058e+01] [-9.72082966e-01 -2.34557231e-01 6.13296846e-03 -7.85385656e+01] [-6.32804329e-03 7.90316146e-05 -9.99979975e-01 -1.79734162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.326559995 meters 0.013582949867776764 Centerline is valid? [True, True] Translation: X:92.15, Y:-78.66, Z:-1.80 [[ 3.08126950e-01 -9.51343152e-01 -1.99758369e-03 9.21469624e+01] [-9.51324825e-01 -3.08133414e-01 5.90556937e-03 -7.86581547e+01] [-6.23374527e-03 8.06858805e-05 -9.99980567e-01 -1.79704778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.356559995 meters 0.01354682642427134 Centerline is valid? [True, True] Translation: X:92.16, Y:-78.78, Z:-1.80 [[ 3.79551553e-01 -9.25167175e-01 -2.51333227e-03 9.21616911e+01] [-9.25148411e-01 -3.79559864e-01 5.89297884e-03 -7.87768768e+01] [-6.40595064e-03 8.85160868e-05 -9.99979478e-01 -1.79719072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.386559995 meters 0.01427176017534827 Centerline is valid? [True, True] Translation: X:92.19, Y:-78.89, Z:-1.80 [[ 4.46750621e-01 -8.94653725e-01 -2.93176975e-03 9.21855690e+01] [-8.94635999e-01 -4.46760228e-01 5.63268474e-03 -7.88912773e+01] [-6.34910050e-03 1.06461354e-04 -9.99979839e-01 -1.79717754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.416559995 meters 0.014572717887168646 Centerline is valid? [True, True] Translation: X:92.22, Y:-79.00, Z:-1.80 [[ 5.12086037e-01 -8.58928112e-01 -3.22307317e-03 9.22155203e+01] [-8.58912492e-01 -5.12096167e-01 5.18130439e-03 -7.90004842e+01] [-6.10089142e-03 1.15064175e-04 -9.99981383e-01 -1.79763417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.446559995 meters 0.015386158753327252 Centerline is valid? [True, True] Translation: X:92.26, Y:-79.11, Z:-1.80 [[ 5.74559211e-01 -8.18457117e-01 -3.10812956e-03 9.22555136e+01] [-8.18446147e-01 -5.74567607e-01 4.23902125e-03 -7.91078754e+01] [-5.25528767e-03 1.08267962e-04 -9.99986185e-01 -1.79806416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.476559995 meters 0.016221143700828156 Centerline is valid? [True, True] Translation: X:92.30, Y:-79.21, Z:-1.80 [[ 6.31621442e-01 -7.75272971e-01 -2.48499180e-03 9.22987635e+01] [-7.75267543e-01 -6.31626323e-01 2.90260801e-03 -7.92075668e+01] [-3.81989977e-03 9.31840317e-05 -9.99992700e-01 -1.79892734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.506559995 meters 0.018242016199037623 Centerline is valid? [True, True] Translation: X:92.35, Y:-79.30, Z:-1.80 [[ 6.87319662e-01 -7.26351116e-01 -2.39560707e-03 9.23514322e+01] [-7.26347146e-01 -6.87323831e-01 2.40318458e-03 -7.93013925e+01] [-3.39211363e-03 8.82863506e-05 -9.99994243e-01 -1.79900072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.536559995 meters 0.01884791740996299 Centerline is valid? [True, True] Translation: X:92.35, Y:-79.31, Z:-1.80 [[ 7.39204677e-01 -6.73472304e-01 -3.39132850e-03 9.23477390e+01] [-6.73466066e-01 -7.39212444e-01 2.90186869e-03 -7.93102832e+01] [-4.46124042e-03 1.38869754e-04 -9.99990039e-01 -1.79829148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.566559995 meters 0.019564312280187048 Centerline is valid? [True, True] Translation: X:92.35, Y:-79.32, Z:-1.80 [[ 7.88452270e-01 -6.15085082e-01 -3.65505590e-03 9.23454273e+01] [-6.15079340e-01 -7.88460728e-01 2.66199843e-03 -7.93191795e+01] [-4.51922356e-03 1.49290672e-04 -9.99989777e-01 -1.79759911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.596559995 meters 0.020384911033167995 Centerline is valid? [True, True] Translation: X:92.34, Y:-79.33, Z:-1.80 [[ 8.33408912e-01 -5.52640435e-01 -4.25853605e-03 9.23431591e+01] [-5.52634269e-01 -8.33419774e-01 2.61622944e-03 -7.93269039e+01] [-4.99498233e-03 1.73024023e-04 -9.99987510e-01 -1.79706134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.626559995 meters 0.02095860910793368 Centerline is valid? [True, True] Translation: X:92.34, Y:-79.34, Z:-1.80 [[ 8.73504114e-01 -4.86797730e-01 -4.30485233e-03 9.23421323e+01] [-4.86792781e-01 -8.73514705e-01 2.20186953e-03 -7.93350953e+01] [-4.83221690e-03 1.72228947e-04 -9.99988310e-01 -1.79687769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.656559995 meters 0.021401604046416438 Centerline is valid? [True, True] Translation: X:92.34, Y:-79.34, Z:-1.80 [[ 9.08620030e-01 -4.17594290e-01 -4.96489178e-03 9.23419737e+01] [-4.17589229e-01 -9.08633573e-01 2.06545307e-03 -7.93435668e+01] [-5.37378877e-03 1.96573301e-04 -9.99985542e-01 -1.79697028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.686559995 meters 0.021120046835846618 Centerline is valid? [True, True] Translation: X:92.34, Y:-79.36, Z:-1.80 [[ 9.38298089e-01 -3.45798290e-01 -4.49874798e-03 9.23409851e+01] [-3.45795197e-01 -9.38308858e-01 1.47273267e-03 -7.93555557e+01] [-4.73048352e-03 1.73783195e-04 -9.99988796e-01 -1.79724664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.716559995 meters 0.01975604380848367 Centerline is valid? [True, True] Translation: X:92.34, Y:-79.37, Z:-1.80 [[ 9.62491287e-01 -2.71280155e-01 -4.19534268e-03 9.23406144e+01] [-2.71278284e-01 -9.62500417e-01 1.01960894e-03 -7.93699638e+01] [-4.31461875e-03 1.56740640e-04 -9.99990680e-01 -1.79803210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.74655999499998 meters 0.019894447491502355 Centerline is valid? [True, True] Translation: X:92.34, Y:-79.38, Z:-1.80 [[ 9.81101232e-01 -1.93452053e-01 -4.08373139e-03 9.23385302e+01] [-1.93450981e-01 -9.81109720e-01 6.59625093e-04 -7.93825405e+01] [-4.13419439e-03 1.42842851e-04 -9.99991444e-01 -1.79853938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.77655999499999 meters 0.0184145020527617 Centerline is valid? [True, True] Translation: X:92.34, Y:-79.40, Z:-1.80 [[ 9.93388452e-01 -1.14745706e-01 -3.57864125e-03 9.23376262e+01] [-1.14745387e-01 -9.93394891e-01 2.95046876e-04 -7.93982038e+01] [-3.58885930e-03 1.17536415e-04 -9.99993553e-01 -1.79865303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.806559995 meters 0.01880082969519012 Centerline is valid? [True, True] Translation: X:92.34, Y:-79.41, Z:-1.80 [[ 9.99378508e-01 -3.50836552e-02 -3.42550870e-03 9.23373335e+01] [-3.50838135e-02 -9.99384373e-01 1.38863400e-05 -7.94103741e+01] [-3.42388705e-03 1.06302199e-04 -9.99994133e-01 -1.79862614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.836559995 meters 0.01762746286520482 Centerline is valid? [True, True] Translation: X:92.34, Y:-79.43, Z:-1.80 [[ 9.98984113e-01 4.49500983e-02 -3.19844601e-03 9.23386575e+01] [ 4.49495688e-02 -9.98989229e-01 -2.37255952e-04 -7.94253504e+01] [-3.20587779e-03 9.32461575e-05 -9.99994857e-01 -1.79888243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.866559995 meters 0.016784581470232478 Centerline is valid? [True, True] Translation: X:92.34, Y:-79.44, Z:-1.80 [[ 9.92174692e-01 1.24816074e-01 -3.21371567e-03 9.23421386e+01] [ 1.24815128e-01 -9.92179893e-01 -4.93872750e-04 -7.94407545e+01] [-3.25022733e-03 8.88877096e-05 -9.99994714e-01 -1.79903018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.896559995 meters 0.016245908813564632 Centerline is valid? [True, True] Translation: X:92.35, Y:-79.46, Z:-1.80 [[ 9.78684580e-01 2.05346157e-01 -3.07390577e-03 9.23459958e+01] [ 2.05344902e-01 -9.78689404e-01 -7.21974846e-04 -7.94567103e+01] [-3.15665376e-03 7.53747717e-05 -9.99995015e-01 -1.79840081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.926559995 meters 0.0160097748742078 Centerline is valid? [True, True] Translation: X:92.35, Y:-79.47, Z:-1.80 [[ 9.59198904e-01 2.82714119e-01 -3.19206526e-03 9.23517029e+01] [ 2.82712289e-01 -9.59204212e-01 -1.02016773e-03 -7.94675786e+01] [-3.35025826e-03 7.61076963e-05 -9.99994385e-01 -1.79834325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.956559995 meters 0.015736488008679408 Centerline is valid? [True, True] Translation: X:92.36, Y:-79.48, Z:-1.80 [[ 9.33839782e-01 3.57678548e-01 -3.05264632e-03 9.23576894e+01] [ 3.57676383e-01 -9.33844768e-01 -1.24659690e-03 -7.94788149e+01] [-3.29657876e-03 7.22622817e-05 -9.99994564e-01 -1.79826837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.986559995 meters 0.016153698534658926 Centerline is valid? [True, True] Translation: X:92.36, Y:-79.49, Z:-1.80 [[ 9.02725378e-01 4.30202511e-01 -3.56252439e-03 9.23640887e+01] [ 4.30198773e-01 -9.02732403e-01 -1.79539507e-03 -7.94888391e+01] [-3.98838967e-03 8.81550698e-05 -9.99992042e-01 -1.79767803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.016559995 meters 0.015241037927615358 Centerline is valid? [True, True] Translation: X:92.37, Y:-79.50, Z:-1.80 [[ 8.66480847e-01 4.99196105e-01 -3.76707006e-03 9.23741084e+01] [ 4.99190879e-01 -8.66489030e-01 -2.28656182e-03 -7.95001612e+01] [-4.40556764e-03 1.00775008e-04 -9.99990290e-01 -1.79742819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.046559995 meters 0.016152211602560914 Centerline is valid? [True, True] Translation: X:92.38, Y:-79.51, Z:-1.80 [[ 8.25114645e-01 5.64951920e-01 -3.89234149e-03 9.23816911e+01] [ 5.64944975e-01 -8.25123818e-01 -2.80364383e-03 -7.95080093e+01] [-4.79558763e-03 1.14368822e-04 -9.99988495e-01 -1.79681515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.076559995 meters 0.017251858757784785 Centerline is valid? [True, True] Translation: X:92.39, Y:-79.51, Z:-1.80 [[ 7.79116381e-01 6.26869051e-01 -3.58568838e-03 9.23881783e+01] [ 6.26861711e-01 -7.79124624e-01 -3.03582799e-03 -7.95129364e+01] [-4.69676472e-03 1.17532566e-04 -9.99988963e-01 -1.79646298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.106559995 meters 0.01868294003584897 Centerline is valid? [True, True] Translation: X:92.39, Y:-79.52, Z:-1.80 [[ 7.29688218e-01 6.83770873e-01 -3.53519585e-03 9.23932208e+01] [ 6.83761906e-01 -7.29696768e-01 -3.50471811e-03 -7.95160766e+01] [-4.97604515e-03 1.40119260e-04 -9.99987610e-01 -1.79576001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.136559995 meters 0.01705382488454133 Centerline is valid? [True, True] Translation: X:92.41, Y:-79.52, Z:-1.80 [[ 6.75236118e-01 7.37593842e-01 -3.39259867e-03 9.24058493e+01] [ 7.37583350e-01 -6.75244623e-01 -3.93722092e-03 -7.95247081e+01] [-5.19490391e-03 1.56229476e-04 -9.99986494e-01 -1.79610342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.166559995 meters 0.018579516695607954 Centerline is valid? [True, True] Translation: X:92.41, Y:-79.53, Z:-1.80 [[ 6.16729809e-01 7.87170532e-01 -2.62587661e-03 9.24141951e+01] [ 7.87162420e-01 -6.16735384e-01 -3.57646200e-03 -7.95297793e+01] [-4.43475651e-03 1.38719342e-04 -9.99990157e-01 -1.79550841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.196559995 meters 0.019220154692880548 Centerline is valid? [True, True] Translation: X:92.42, Y:-79.53, Z:-1.80 [[ 5.55168803e-01 8.31735958e-01 -1.70197582e-03 9.24244301e+01] [ 8.31731457e-01 -5.55171402e-01 -2.73829133e-03 -7.95336503e+01] [-3.22242367e-03 1.04627091e-04 -9.99994803e-01 -1.79581196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.226559995 meters 0.01958314484641641 Centerline is valid? [True, True] Translation: X:92.43, Y:-79.54, Z:-1.80 [[ 4.89007165e-01 8.72278963e-01 -1.18452282e-03 9.24335476e+01] [ 8.72275982e-01 -4.89008593e-01 -2.28204337e-03 -7.95366759e+01] [-2.56982027e-03 8.27047509e-05 -9.99996695e-01 -1.79618312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.256559995 meters 0.018280533876652554 Centerline is valid? [True, True] Translation: X:92.45, Y:-79.54, Z:-1.80 [[ 4.19639053e-01 9.07690649e-01 -8.66991992e-04 9.24491845e+01] [ 9.07688351e-01 -4.19639943e-01 -2.04340109e-03 -7.95413274e+01] [-2.21860053e-03 7.05323678e-05 -9.99997536e-01 -1.79555685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.286559995 meters 0.01850028013298366 Centerline is valid? [True, True] Translation: X:92.46, Y:-79.54, Z:-1.80 [[ 3.46672039e-01 9.37985925e-01 -9.50038769e-04 9.24610181e+01] [ 9.37981584e-01 -3.46673326e-01 -2.85521250e-03 -7.95438912e+01] [-3.00750224e-03 9.87034679e-05 -9.99995473e-01 -1.79511179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.316559995 meters 0.01870931694097109 Centerline is valid? [True, True] Translation: X:92.47, Y:-79.55, Z:-1.79 [[ 2.71348091e-01 9.62480864e-01 -8.95046412e-04 9.24723758e+01] [ 9.62474035e-01 -2.71349539e-01 -3.62753945e-03 -7.95450969e+01] [-3.73430773e-03 1.22866970e-04 -9.99993020e-01 -1.79459085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.346559995 meters 0.019257494304467205 Centerline is valid? [True, True] Translation: X:92.48, Y:-79.55, Z:-1.79 [[ 1.93632346e-01 9.81073885e-01 -7.39001352e-04 9.24821101e+01] [ 9.81063585e-01 -1.93633701e-01 -4.49810659e-03 -7.95452411e+01] [-4.55607048e-03 1.45971615e-04 -9.99989610e-01 -1.79407549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.376559995 meters 0.016916841412945496 Centerline is valid? [True, True] Translation: X:92.50, Y:-79.54, Z:-1.79 [[ 1.11816919e-01 9.93728733e-01 -4.26946510e-04 9.24993200e+01] [ 9.93715851e-01 -1.11817644e-01 -5.06171416e-03 -7.95448823e+01] [-5.07771095e-03 1.41721768e-04 -9.99987098e-01 -1.79334216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.406559995 meters 0.01612836097113725 Centerline is valid? [True, True] Translation: X:92.51, Y:-79.54, Z:-1.79 [[ 3.07705337e-02 9.99526475e-01 -2.98579056e-05 9.25128701e+01] [ 9.99512553e-01 -3.07702627e-02 -5.27706655e-03 -7.95421891e+01] [-5.27548646e-03 1.32534803e-04 -9.99986076e-01 -1.79314027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.436559995 meters 0.01475929886341582 Centerline is valid? [True, True] Translation: X:92.53, Y:-79.54, Z:-1.79 [[-5.32925097e-02 9.98578861e-01 4.09245600e-04 9.25270575e+01] [ 9.98563153e-01 5.32939673e-02 -5.60203557e-03 -7.95382980e+01] [-5.61588462e-03 1.10111042e-04 -9.99984225e-01 -1.79314178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.466559995 meters 0.01404780443790939 Centerline is valid? [True, True] Translation: X:92.54, Y:-79.53, Z:-1.79 [[-1.33959276e-01 9.90986478e-01 8.43888305e-04 9.25394285e+01] [ 9.90971032e-01 1.33961900e-01 -5.53372712e-03 -7.95334000e+01] [-5.59689763e-03 9.49747870e-05 -9.99984333e-01 -1.79328098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.49655999499998 meters 0.013561653175414853 Centerline is valid? [True, True] Translation: X:92.55, Y:-79.53, Z:-1.79 [[-2.14085226e-01 9.76814137e-01 1.28723941e-03 9.25498111e+01] [ 9.76798637e-01 2.14089082e-01 -5.50342759e-03 -7.95291658e+01] [-5.65140977e-03 7.91711554e-05 -9.99984028e-01 -1.79342682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.52655999499999 meters 0.01264883714763173 Centerline is valid? [True, True] Translation: X:92.56, Y:-79.52, Z:-1.79 [[-2.95201251e-01 9.55433741e-01 1.60858112e-03 9.25604167e+01] [ 9.55420364e-01 2.95205630e-01 -5.05603417e-03 -7.95233840e+01] [-5.30556784e-03 4.43235470e-05 -9.99985924e-01 -1.79376615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.556559995 meters 0.012070781918948436 Centerline is valid? [True, True] Translation: X:92.57, Y:-79.52, Z:-1.79 [[-3.71861646e-01 9.28286329e-01 1.84576365e-03 9.25709981e+01] [ 9.28275231e-01 3.71866226e-01 -4.53924975e-03 -7.95155501e+01] [-4.90010065e-03 2.54037981e-05 -9.99987994e-01 -1.79409914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.586559995 meters 0.011978581328281031 Centerline is valid? [True, True] Translation: X:92.58, Y:-79.51, Z:-1.79 [[-4.45906412e-01 8.95076929e-01 2.18234662e-03 9.25798781e+01] [ 8.95066337e-01 4.45911753e-01 -4.35454662e-03 -7.95080226e+01] [-4.87078822e-03 1.16247373e-05 -9.99988138e-01 -1.79381104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.616559995 meters 0.01165421404518658 Centerline is valid? [True, True] Translation: X:92.59, Y:-79.50, Z:-1.79 [[-5.17073691e-01 8.55937176e-01 2.51965929e-03 9.25857033e+01] [ 8.55926995e-01 5.17079830e-01 -4.17472594e-03 -7.94997020e+01] [-4.87616813e-03 -1.99654595e-06 -9.99988111e-01 -1.79366987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.646559995 meters 0.011621681449963893 Centerline is valid? [True, True] Translation: X:92.59, Y:-79.49, Z:-1.79 [[-5.84669826e-01 8.11265039e-01 3.19878858e-03 9.25910806e+01] [ 8.11252756e-01 5.84678576e-01 -4.46416491e-03 -7.94905501e+01] [-5.49188407e-03 -1.50364665e-05 -9.99984919e-01 -1.79347622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.676559995 meters 0.011840756532651864 Centerline is valid? [True, True] Translation: X:92.60, Y:-79.48, Z:-1.79 [[-6.49804447e-01 7.60093689e-01 3.42990918e-03 9.25962563e+01] [ 7.60082786e-01 6.49813498e-01 -4.07147692e-03 -7.94825282e+01] [-5.32350519e-03 -3.86488823e-05 -9.99985829e-01 -1.79348829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.706559995 meters 0.012058906809261371 Centerline is valid? [True, True] Translation: X:92.60, Y:-79.47, Z:-1.79 [[-7.09956187e-01 7.04235991e-01 3.72572991e-03 9.26011991e+01] [ 7.04225861e-01 7.09965960e-01 -3.77772584e-03 -7.94718864e+01] [-5.30555192e-03 -5.82644826e-05 -9.99985924e-01 -1.79358983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.736559995 meters 0.012621632374656135 Centerline is valid? [True, True] Translation: X:92.61, Y:-79.46, Z:-1.79 [[-7.64017669e-01 6.45184809e-01 3.68284099e-03 9.26050124e+01] [ 6.45176916e-01 7.64026543e-01 -3.19206873e-03 -7.94615698e+01] [-4.87326252e-03 -6.27129212e-05 -9.99988124e-01 -1.79317013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.766559995 meters 0.012653741163876851 Centerline is valid? [True, True] Translation: X:92.62, Y:-79.44, Z:-1.79 [[-8.08541953e-01 5.88428759e-01 3.39200044e-03 9.26184301e+01] [ 5.88423267e-01 8.08549066e-01 -2.54312577e-03 -7.94377396e+01] [-4.23904713e-03 -6.02918965e-05 -9.99991013e-01 -1.79373391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.796559995 meters 0.012740134721430239 Centerline is valid? [True, True] Translation: X:92.63, Y:-79.41, Z:-1.79 [[-8.48602000e-01 5.29021416e-01 3.31476893e-03 9.26282642e+01] [ 5.29017102e-01 8.48608472e-01 -2.13720944e-03 -7.94115739e+01] [-3.94357056e-03 -6.00707456e-05 -9.99992222e-01 -1.79381347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.826559995 meters 0.012740134721430239 Centerline is valid? [True, True] Translation: X:92.64, Y:-79.39, Z:-1.79 [[-8.83946227e-01 4.67575784e-01 3.45748462e-03 9.26380632e+01] [ 4.67571940e-01 8.83952987e-01 -1.89679569e-03 -7.93852117e+01] [-3.94314959e-03 -6.00426053e-05 -9.99992224e-01 -1.79381786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.856559995 meters 0.012743932091138823 Centerline is valid? [True, True] Translation: X:92.65, Y:-79.36, Z:-1.79 [[-9.14906943e-01 4.03645647e-01 3.93417380e-03 9.26477997e+01] [ 4.03641606e-01 9.14915399e-01 -1.80725420e-03 -7.93623689e+01] [-4.32892649e-03 -6.54731795e-05 -9.99990628e-01 -1.79320996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.886559995 meters 0.012710980691637576 Centerline is valid? [True, True] Translation: X:92.65, Y:-79.34, Z:-1.79 [[-9.41015900e-01 3.38331132e-01 4.59577922e-03 9.26513688e+01] [ 3.38326734e-01 9.41027120e-01 -1.72637172e-03 -7.93359570e+01] [-4.90883818e-03 -6.96682654e-05 -9.99987949e-01 -1.79252594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.916559995 meters 0.012434994895382644 Centerline is valid? [True, True] Translation: X:92.85, Y:-78.82, Z:-2.79 [[-9.06853818e-01 -4.21418551e-01 4.74945579e-03 9.28460023e+01] [ 4.21413293e-01 -9.06866251e-01 -2.10701002e-03 -7.88203257e+01] [ 5.19505427e-03 9.07337247e-05 9.99986502e-01 -2.79118438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.946559995 meters 0.012294825633706747 Centerline is valid? [True, True] Translation: X:92.61, Y:-79.33, Z:-1.79 [[-9.41341029e-01 3.37414790e-01 5.32235598e-03 9.26090711e+01] [ 3.37409014e-01 9.41356073e-01 -1.97528937e-03 -7.93275600e+01] [-5.67672397e-03 -6.36100404e-05 -9.99983885e-01 -1.79172984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.976559995 meters 0.011826034901881131 Centerline is valid? [True, True] Translation: X:92.81, Y:-78.80, Z:-2.79 [[-9.10657173e-01 -4.13132355e-01 5.01699398e-03 9.28072033e+01] [ 4.13126392e-01 -9.10670991e-01 -2.22039253e-03 -7.87960967e+01] [ 5.48614688e-03 5.06362390e-05 9.99984950e-01 -2.79142749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.006559995 meters 0.011728090238497612 Centerline is valid? [True, True] Translation: X:92.56, Y:-79.32, Z:-1.79 [[-9.40532698e-01 3.39659157e-01 5.46817039e-03 9.25646456e+01] [ 3.39653235e-01 9.40548593e-01 -2.00579843e-03 -7.93234290e+01] [-5.82436777e-03 -2.92372457e-05 -9.99983038e-01 -1.79210762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.036559995 meters 0.011762418961631656 Centerline is valid? [True, True] Translation: X:92.57, Y:-79.30, Z:-1.79 [[-9.61611702e-01 2.74358933e-01 5.48723429e-03 9.25685104e+01] [ 2.74354375e-01 9.61627358e-01 -1.58156954e-03 -7.92993822e+01] [-5.71059235e-03 -1.54090395e-05 -9.99983694e-01 -1.79191232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.066559995 meters 0.012072397199991957 Centerline is valid? [True, True] Translation: X:92.57, Y:-79.28, Z:-1.79 [[-9.77607231e-01 2.10341500e-01 6.36836173e-03 9.25721921e+01] [ 2.10337151e-01 9.77627973e-01 -1.35277870e-03 -7.92802384e+01] [-6.51043407e-03 1.70168278e-05 -9.99978807e-01 -1.79104273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.096559995 meters 0.012215579365901834 Centerline is valid? [True, True] Translation: X:92.70, Y:-78.69, Z:-2.79 [[-9.64313457e-01 -2.64694395e-01 6.03602658e-03 9.27025909e+01] [ 2.64689009e-01 -9.64332348e-01 -1.68881115e-03 -7.86851840e+01] [ 6.26775452e-03 -3.08734269e-05 9.99980357e-01 -2.79237196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.126559995 meters 0.012905308050907659 Centerline is valid? [True, True] Translation: X:92.53, Y:-79.28, Z:-1.79 [[-9.76952377e-01 2.13344222e-01 6.94949365e-03 9.25251083e+01] [ 2.13339329e-01 9.76977092e-01 -1.44657053e-03 -7.92828393e+01] [-7.09811356e-03 6.93697966e-05 -9.99974806e-01 -1.79090529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.156559995 meters 0.012905308050907659 Centerline is valid? [True, True] Translation: X:92.65, Y:-78.67, Z:-2.79 [[-9.66510893e-01 -2.56543019e-01 6.50938834e-03 9.26537079e+01] [ 2.56536592e-01 -9.66532809e-01 -1.81802075e-03 -7.86679769e+01] [ 6.75793793e-03 -8.72405630e-05 9.99977161e-01 -2.79270003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.186559995 meters 0.013333163596773943 Centerline is valid? [True, True] Translation: X:92.48, Y:-79.28, Z:-1.79 [[-9.77405203e-01 2.11243283e-01 7.43935186e-03 9.24760863e+01] [ 2.11237853e-01 9.77433511e-01 -1.51714842e-03 -7.92770864e+01] [-7.59195922e-03 8.86039542e-05 -9.99971177e-01 -1.79061857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.216559995 meters 0.014364909575920728 Centerline is valid? [True, True] Translation: X:92.48, Y:-79.25, Z:-1.79 [[-9.89428407e-01 1.44804150e-01 7.94895040e-03 9.24757965e+01] [ 1.44800468e-01 9.89460329e-01 -1.03979667e-03 -7.92547311e+01] [-8.01573795e-03 1.22207378e-04 -9.99967866e-01 -1.78998436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.24655999499998 meters 0.014843204820061543 Centerline is valid? [True, True] Translation: X:92.48, Y:-79.23, Z:-1.79 [[-9.97109929e-01 7.56024919e-02 7.48686309e-03 9.24768048e+01] [ 7.56012996e-02 9.97138028e-01 -4.42539510e-04 -7.92295417e+01] [-7.49889299e-03 1.24756041e-04 -9.99971875e-01 -1.79001983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.27655999499999 meters 0.015315472334108212 Centerline is valid? [True, True] Translation: X:92.52, Y:-78.58, Z:-2.79 [[-9.94445150e-01 -1.05061529e-01 6.39682587e-03 9.25193612e+01] [ 1.05058235e-01 -9.94465708e-01 -8.49705634e-04 -7.85752070e+01] [ 6.45069534e-03 -1.72946413e-04 9.99979179e-01 -2.79324039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.306559995 meters 0.01579700732638826 Centerline is valid? [True, True] Translation: X:92.41, Y:-79.23, Z:-1.79 [[-9.97188012e-01 7.47657492e-02 5.11385864e-03 9.24138133e+01] [ 7.47652831e-02 9.97201119e-01 -2.82511429e-04 -7.92339892e+01] [-5.12066774e-03 1.00622080e-04 -9.99986884e-01 -1.79232107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.336559995 meters 0.01640357187872107 Centerline is valid? [True, True] Translation: X:92.45, Y:-78.56, Z:-2.79 [[-9.95261296e-01 -9.71465788e-02 4.18265536e-03 9.24489669e+01] [ 9.71451329e-02 -9.95270075e-01 -5.47935960e-04 -7.85633039e+01] [ 4.21610182e-03 -1.39014843e-04 9.99991103e-01 -2.79092315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.366559995 meters 0.015352805506703211 Centerline is valid? [True, True] Translation: X:92.34, Y:-79.23, Z:-1.79 [[-9.97396423e-01 7.20141062e-02 3.78725213e-03 9.23442019e+01] [ 7.20138898e-02 9.97403610e-01 -1.93670529e-04 -7.92348091e+01] [-3.79136596e-03 7.95684647e-05 -9.99992810e-01 -1.79395624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.396559995 meters 0.017226071314135397 Centerline is valid? [True, True] Translation: X:92.38, Y:-78.55, Z:-2.79 [[-9.95812293e-01 -9.13493500e-02 3.62941013e-03 9.23796477e+01] [ 9.13484306e-02 -9.95818904e-01 -4.18645195e-04 -7.85545983e+01] [ 3.65247818e-03 -8.53511122e-05 9.99993326e-01 -2.79039691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.426559995 meters 0.016033007174927987 Centerline is valid? [True, True] Translation: X:92.27, Y:-79.23, Z:-1.79 [[-9.97784218e-01 6.64202729e-02 3.87325924e-03 9.22747069e+01] [ 6.64200775e-02 9.97791732e-01 -1.79214513e-04 -7.92340100e+01] [-3.87660952e-03 7.84447656e-05 -9.99992483e-01 -1.79299429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.456559995 meters 0.015434903030038033 Centerline is valid? [True, True] Translation: X:92.26, Y:-79.20, Z:-1.79 [[-9.99974624e-01 -5.79023101e-03 4.15014223e-03 9.22643081e+01] [-5.78984761e-03 9.99983233e-01 1.04392022e-04 -7.92048305e+01] [-4.15067710e-03 8.03606823e-05 -9.99991383e-01 -1.79273340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.486559995 meters 0.015121931022755582 Centerline is valid? [True, True] Translation: X:92.26, Y:-79.18, Z:-1.79 [[-9.96913644e-01 -7.84013209e-02 4.05206979e-03 9.22584965e+01] [-7.84003749e-02 9.96921876e-01 3.92004923e-04 -7.91768991e+01] [-4.07033073e-03 7.31112649e-05 -9.99991714e-01 -1.79250708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.516559995 meters 0.014946298755861166 Centerline is valid? [True, True] Translation: X:92.19, Y:-78.50, Z:-2.79 [[-9.98703984e-01 5.07853935e-02 3.34611357e-03 9.21946559e+01] [-5.07854695e-02 -9.98709584e-01 6.22800775e-05 -7.84998420e+01] [ 3.34495860e-03 -1.07734587e-04 9.99994400e-01 -2.79110749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.546559995 meters 0.01388975257275313 Centerline is valid? [True, True] Translation: X:92.15, Y:-79.18, Z:-1.79 [[-9.95876566e-01 -9.06494382e-02 3.54177765e-03 9.21547999e+01] [-9.06487186e-02 9.95882863e-01 3.63502268e-04 -7.91846601e+01] [-3.56014694e-03 4.09457851e-05 -9.99993662e-01 -1.79288049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.576559995 meters 0.01329735858834835 Centerline is valid? [True, True] Translation: X:92.14, Y:-79.16, Z:-1.79 [[-9.86510833e-01 -1.63654337e-01 3.69247966e-03 9.21393628e+01] [-1.63653053e-01 9.86517743e-01 6.49150170e-04 -7.91574261e+01] [-3.74893294e-03 3.61081045e-05 -9.99992972e-01 -1.79259730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.606559995 meters 0.012924440181036289 Centerline is valid? [True, True] Translation: X:92.11, Y:-79.13, Z:-1.79 [[-9.71738973e-01 -2.36028220e-01 3.74800974e-03 9.21093536e+01] [-2.36026344e-01 9.71746201e-01 9.41487384e-04 -7.91340456e+01] [-3.86433182e-03 3.02509470e-05 -9.99992533e-01 -1.79259876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.636559995 meters 0.012525834334792036 Centerline is valid? [True, True] Translation: X:92.07, Y:-79.12, Z:-1.79 [[-9.51252504e-01 -3.08386907e-01 4.02362669e-03 9.20656078e+01] [-3.08384044e-01 9.51261013e-01 1.32913884e-03 -7.91162423e+01] [-4.23740822e-03 2.35243792e-05 -9.99991022e-01 -1.79222723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.666559995 meters 0.012513290087362985 Centerline is valid? [True, True] Translation: X:92.00, Y:-79.11, Z:-1.79 [[-9.25767848e-01 -3.78071641e-01 3.96553360e-03 9.20005471e+01] [-3.78068073e-01 9.25776341e-01 1.64259747e-03 -7.91103166e+01] [-4.29221671e-03 2.14222756e-05 -9.99990788e-01 -1.79173896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.696559995 meters 0.012560829013378192 Centerline is valid? [True, True] Translation: X:91.93, Y:-79.11, Z:-1.79 [[-8.95518536e-01 -4.45008089e-01 3.78843605e-03 9.19323329e+01] [-4.45003997e-01 8.95526549e-01 1.90855969e-03 -7.91120395e+01] [-4.24196956e-03 2.32813949e-05 -9.99991003e-01 -1.79124621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.726559995 meters 0.012879549190948674 Centerline is valid? [True, True] Translation: X:91.86, Y:-79.12, Z:-1.79 [[-8.60567079e-01 -5.09327016e-01 3.20831355e-03 9.18569238e+01] [-5.09323373e-01 8.60573059e-01 1.92666059e-03 -7.91233307e+01] [-3.74228849e-03 2.39516003e-05 -9.99992997e-01 -1.79123476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.756559995 meters 0.012990300246471746 Centerline is valid? [True, True] Translation: X:91.78, Y:-79.14, Z:-1.79 [[-8.20931210e-01 -5.71020976e-01 2.64457143e-03 9.17760451e+01] [-5.71017918e-01 8.20935469e-01 1.86876609e-03 -7.91440005e+01] [-3.23812713e-03 2.40307369e-05 -9.99994757e-01 -1.79149587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.786559995 meters 0.01326572597514021 Centerline is valid? [True, True] Translation: X:91.69, Y:-79.18, Z:-1.79 [[-7.76661848e-01 -6.29911325e-01 2.84546168e-03 9.16902433e+01] [-6.29906934e-01 7.76667060e-01 2.35229211e-03 -7.91764456e+01] [-3.69171180e-03 3.45594990e-05 -9.99993185e-01 -1.79122699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.816559995 meters 0.013584488209859377 Centerline is valid? [True, True] Translation: X:91.60, Y:-79.22, Z:-1.79 [[-7.27909254e-01 -6.85667950e-01 2.75316841e-03 9.16021915e+01] [-6.85662827e-01 7.27914460e-01 2.65085327e-03 -7.92197135e+01] [-3.82167622e-03 4.18353879e-05 -9.99992696e-01 -1.79060788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.846559995 meters 0.014361889100475646 Centerline is valid? [True, True] Translation: X:91.52, Y:-79.27, Z:-1.79 [[-6.76031212e-01 -7.36867332e-01 2.88724709e-03 9.15167198e+01] [-7.36860216e-01 6.76037374e-01 3.23902265e-03 -7.92722097e+01] [-4.33861692e-03 6.21828924e-05 -9.99990586e-01 -1.78992580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.876559995 meters 0.01462571322355 Centerline is valid? [True, True] Translation: X:91.43, Y:-79.33, Z:-1.79 [[-6.19158822e-01 -7.85260518e-01 2.87612868e-03 9.14325955e+01] [-7.85251470e-01 6.19165498e-01 3.77028995e-03 -7.93322356e+01] [-4.74145948e-03 7.59240097e-05 -9.99988756e-01 -1.78966251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.906559995 meters 0.014566026631255042 Centerline is valid? [True, True] Translation: X:91.35, Y:-79.40, Z:-1.79 [[-5.58681484e-01 -8.29377734e-01 2.75224477e-03 9.13479280e+01] [-8.29366876e-01 5.58688256e-01 4.24482168e-03 -7.94049384e+01] [-5.05820741e-03 8.88826229e-05 -9.99987203e-01 -1.78954138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.936559995 meters 0.015042689122083416 Centerline is valid? [True, True] Translation: X:91.27, Y:-79.48, Z:-1.79 [[-4.95721031e-01 -8.68476762e-01 2.96189440e-03 9.12726483e+01] [-8.68459707e-01 4.95729863e-01 5.44428433e-03 -7.94820107e+01] [-6.19653393e-03 1.26560300e-04 -9.99980793e-01 -1.78931213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.966559995 meters 0.015108861627917263 Centerline is valid? [True, True] Translation: X:91.20, Y:-79.57, Z:-1.79 [[-4.28623586e-01 -9.03479103e-01 2.70788384e-03 9.11981428e+01] [-9.03458929e-01 4.28632116e-01 6.03924488e-03 -7.95707425e+01] [-6.61701752e-03 1.42100963e-04 -9.99978097e-01 -1.78901454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.99655999499998 meters 0.016734817441543558 Centerline is valid? [True, True] Translation: X:91.13, Y:-79.67, Z:-1.79 [[-3.59310235e-01 -9.33215002e-01 2.43213307e-03 9.11328736e+01] [-9.33190408e-01 3.59318429e-01 6.77709521e-03 -7.96694138e+01] [-7.19839715e-03 1.65436425e-04 -9.99974078e-01 -1.78760366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.02655999499999 meters 0.016164003413044654 Centerline is valid? [True, True] Translation: X:91.07, Y:-79.77, Z:-1.79 [[-2.87134213e-01 -9.57888251e-01 2.01033376e-03 9.10707692e+01] [-9.57860202e-01 2.87141194e-01 7.33273238e-03 -7.97716897e+01] [-7.60118783e-03 1.79859639e-04 -9.99971094e-01 -1.78779713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.056559995 meters 0.016475480528748254 Centerline is valid? [True, True] Translation: X:91.02, Y:-79.88, Z:-1.79 [[-2.13091405e-01 -9.77031142e-01 1.48337195e-03 9.10176390e+01] [-9.77000906e-01 2.13096484e-01 7.68879924e-03 -7.98806766e+01] [-7.82829765e-03 1.89161292e-04 -9.99969341e-01 -1.78734590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.086559995 meters 0.016503324125883706 Centerline is valid? [True, True] Translation: X:90.97, Y:-79.99, Z:-1.79 [[-1.37492142e-01 -9.90502422e-01 9.28712223e-04 9.09730487e+01] [-9.90468916e-01 1.37495132e-01 8.14952801e-03 -7.99908088e+01] [-8.19982064e-03 2.00635470e-04 -9.99966361e-01 -1.78707158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.116559995 meters 0.016578222238495918 Centerline is valid? [True, True] Translation: X:90.94, Y:-80.11, Z:-1.79 [[-6.08987898e-02 -9.98143899e-01 3.08064259e-04 9.09366712e+01] [-9.98107991e-01 6.08992128e-02 8.46899958e-03 -8.01096111e+01] [-8.47204113e-03 2.08270427e-04 -9.99964090e-01 -1.78679579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.146559995 meters 0.01670179661138944 Centerline is valid? [True, True] Translation: X:90.91, Y:-80.23, Z:-1.79 [[ 1.58709600e-02 -9.99873983e-01 -3.61576982e-04 9.09105911e+01] [-9.99834837e-01 -1.58735392e-02 8.85042234e-03 -8.02281674e+01] [-8.85504654e-03 2.21052564e-04 -9.99960769e-01 -1.78659313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.176559995 meters 0.01746376326209783 Centerline is valid? [True, True] Translation: X:90.89, Y:-80.35, Z:-1.79 [[ 9.29687411e-02 -9.95668502e-01 -1.02292963e-03 9.08938886e+01] [-9.95631084e-01 -9.29741183e-02 8.63464373e-03 -8.03484067e+01] [-8.69234878e-03 2.15708581e-04 -9.99962198e-01 -1.78648985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.206559995 meters 0.01725676320179474 Centerline is valid? [True, True] Translation: X:90.88, Y:-80.46, Z:-1.79 [[ 1.69294649e-01 -9.85564207e-01 -1.58603914e-03 9.08840580e+01] [-9.85531379e-01 -1.69301960e-01 8.04656462e-03 -8.04648290e+01] [-8.19892561e-03 2.00851002e-04 -9.99966368e-01 -1.78710203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.236559995 meters 0.015851185743039526 Centerline is valid? [True, True] Translation: X:90.88, Y:-80.59, Z:-1.79 [[ 2.45019638e-01 -9.69516209e-01 -1.92294859e-03 9.08828776e+01] [-9.69491599e-01 -2.45027124e-01 6.91005942e-03 -8.05881669e+01] [-7.17058918e-03 1.71182242e-04 -9.99974276e-01 -1.78919206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.266559995 meters 0.01588997170691465 Centerline is valid? [True, True] Translation: X:90.89, Y:-80.71, Z:-1.79 [[ 3.19282528e-01 -9.47656487e-01 -2.41882574e-03 9.08920555e+01] [-9.47633102e-01 -3.19291647e-01 6.65947050e-03 -8.07076611e+01] [-7.08320128e-03 1.65906768e-04 -9.99974900e-01 -1.78952486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.296559995 meters 0.01579302238663026 Centerline is valid? [True, True] Translation: X:90.91, Y:-80.83, Z:-1.79 [[ 3.91334798e-01 -9.20244003e-01 -2.83739934e-03 9.09106834e+01] [-9.20222686e-01 -3.91345052e-01 6.26561054e-03 -8.08273464e+01] [-6.87629272e-03 1.59087803e-04 -9.99976345e-01 -1.79012823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.326559995 meters 0.01636830144968783 Centerline is valid? [True, True] Translation: X:90.94, Y:-80.94, Z:-1.79 [[ 4.60775266e-01 -8.87511225e-01 -3.15901442e-03 9.09369266e+01] [-8.87492566e-01 -4.60786070e-01 5.75697294e-03 -8.09382333e+01] [-6.56500794e-03 1.50931080e-04 -9.99978439e-01 -1.78983248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.356559995 meters 0.015839984366559295 Centerline is valid? [True, True] Translation: X:90.97, Y:-81.05, Z:-1.79 [[ 5.27416550e-01 -8.49598300e-01 -3.80939930e-03 9.09712902e+01] [-8.49578309e-01 -5.27430283e-01 5.83045127e-03 -8.10508973e+01] [-6.96273403e-03 1.61306515e-04 -9.99975747e-01 -1.79018162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.386559995 meters 0.015905220725556925 Centerline is valid? [True, True] Translation: X:91.01, Y:-81.16, Z:-1.79 [[ 5.90812001e-01 -8.06797651e-01 -4.32765669e-03 9.10120126e+01] [-8.06778030e-01 -5.90827828e-01 5.62923087e-03 -8.11561082e+01] [-7.09855025e-03 1.65641184e-04 -9.99974791e-01 -1.78945222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.416559995 meters 0.01617989115692958 Centerline is valid? [True, True] Translation: X:91.06, Y:-81.26, Z:-1.79 [[ 6.50704692e-01 -7.59313631e-01 -5.12000408e-03 9.10601368e+01] [-7.59292271e-01 -6.50724810e-01 5.69818719e-03 -8.12571300e+01] [-7.65842488e-03 1.79742385e-04 -9.99970658e-01 -1.78876096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.446559995 meters 0.01616472155992487 Centerline is valid? [True, True] Translation: X:91.11, Y:-81.35, Z:-1.79 [[ 7.06579686e-01 -7.07607861e-01 -6.02176542e-03 9.11126429e+01] [-7.07584516e-01 -7.06605318e-01 5.75122864e-03 -8.13515758e+01] [-8.32462607e-03 1.97206639e-04 -9.99965330e-01 -1.78803411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.476559995 meters 0.016480862231070006 Centerline is valid? [True, True] Translation: X:91.11, Y:-81.36, Z:-1.79 [[ 7.59896669e-01 -6.50012175e-01 -6.42063401e-03 9.11084299e+01] [-6.49991108e-01 -7.59923769e-01 5.23689254e-03 -8.13578985e+01] [-8.28323631e-03 1.93857816e-04 -9.99965675e-01 -1.78774765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.506559995 meters 0.01632880780211813 Centerline is valid? [True, True] Translation: X:91.11, Y:-81.37, Z:-1.79 [[ 8.08511767e-01 -5.88436648e-01 -7.14376724e-03 9.11054410e+01] [-5.88415867e-01 -8.08543302e-01 4.94947777e-03 -8.13655986e+01] [-8.68849926e-03 2.01794976e-04 -9.99962234e-01 -1.78768502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.536559995 meters 0.016060892762454645 Centerline is valid? [True, True] Translation: X:91.10, Y:-81.37, Z:-1.79 [[ 8.52380255e-01 -5.22865928e-01 -7.68914311e-03 9.11023349e+01] [-5.22846767e-01 -8.52414911e-01 4.48080780e-03 -8.13739419e+01] [-8.89720197e-03 2.00891519e-04 -9.99960399e-01 -1.78756846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.566559995 meters 0.016069716384790104 Centerline is valid? [True, True] Translation: X:91.10, Y:-81.38, Z:-1.79 [[ 8.90988183e-01 -4.53943089e-01 -8.70232137e-03 9.10997290e+01] [-4.53923748e-01 -8.91030655e-01 4.19569135e-03 -8.13813237e+01] [-9.65864020e-03 2.11878917e-04 -9.99953332e-01 -1.78661750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.596559995 meters 0.016076808544119563 Centerline is valid? [True, True] Translation: X:91.10, Y:-81.39, Z:-1.79 [[ 9.23876693e-01 -3.82580819e-01 -9.15277143e-03 9.10989868e+01] [-3.82564311e-01 -9.23922005e-01 3.56036366e-03 -8.13885209e+01] [-9.81857378e-03 2.12186685e-04 -9.99951774e-01 -1.78661937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.626559995 meters 0.016451024491198177 Centerline is valid? [True, True] Translation: X:91.10, Y:-81.39, Z:-1.79 [[ 9.51098954e-01 -3.08743066e-01 -9.40733540e-03 9.10983004e+01] [-3.08730117e-01 -9.51145455e-01 2.83527112e-03 -8.13943019e+01] [-9.82311461e-03 2.07704360e-04 -9.99951730e-01 -1.78637671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.656559995 meters 0.016393883604063682 Centerline is valid? [True, True] Translation: X:91.10, Y:-81.40, Z:-1.79 [[ 9.72256593e-01 -2.33730543e-01 -9.33541696e-03 9.10991286e+01] [-2.33721783e-01 -9.72301389e-01 2.03385087e-03 -8.14005261e+01] [-9.55221195e-03 2.04465384e-04 -9.99954356e-01 -1.78671288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.686559995 meters 0.015414240317350697 Centerline is valid? [True, True] Translation: X:91.10, Y:-81.41, Z:-1.79 [[ 9.87530373e-01 -1.57169521e-01 -9.02800123e-03 9.10953688e+01] [-1.57164773e-01 -9.87571619e-01 1.23735787e-03 -8.14119437e+01] [-9.11027273e-03 1.96955293e-04 -9.99958481e-01 -1.78753657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.716559995 meters 0.015991224198764527 Centerline is valid? [True, True] Translation: X:91.09, Y:-81.42, Z:-1.79 [[ 9.96772683e-01 -7.97337955e-02 -9.31346080e-03 9.10922535e+01] [-7.97322349e-02 -9.96816172e-01 5.39332097e-04 -8.14199471e+01] [-9.32681133e-03 2.04991543e-04 -9.99956483e-01 -1.78733373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.74655999499998 meters 0.015991224198764527 Centerline is valid? [True, True] Translation: X:91.09, Y:-81.43, Z:-1.79 [[ 9.99955430e-01 -1.46668991e-03 -9.32666724e-03 9.10899865e+01] [-1.46853818e-03 -9.99998903e-01 -1.91324765e-04 -8.14281019e+01] [-9.32637640e-03 2.05012804e-04 -9.99956487e-01 -1.78733768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.77655999499999 meters 0.01632638240117707 Centerline is valid? [True, True] Translation: X:91.09, Y:-81.44, Z:-1.79 [[ 9.97013670e-01 7.67123264e-02 -8.88600804e-03 9.10873503e+01] [ 7.67075191e-02 -9.97053248e-01 -8.81067758e-04 -8.14351873e+01] [-8.92741194e-03 1.96812967e-04 -9.99960130e-01 -1.78766211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.806559995 meters 0.01575888530335778 Centerline is valid? [True, True] Translation: X:91.09, Y:-81.45, Z:-1.79 [[ 9.87886868e-01 1.54950897e-01 -8.35202237e-03 9.10871385e+01] [ 1.54943791e-01 -9.87922156e-01 -1.49516651e-03 -8.14452352e+01] [-8.48282534e-03 1.82961356e-04 -9.99964003e-01 -1.78816192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.836559995 meters 0.015459679997477917 Centerline is valid? [True, True] Translation: X:91.09, Y:-81.46, Z:-1.79 [[ 9.72633876e-01 2.32205673e-01 -7.99184286e-03 9.10884593e+01] [ 2.32196356e-01 -9.72666693e-01 -2.08746410e-03 -8.14557050e+01] [-8.25812037e-03 1.74661509e-04 -9.99965886e-01 -1.78880136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.866559995 meters 0.015484591152741357 Centerline is valid? [True, True] Translation: X:91.09, Y:-81.47, Z:-1.79 [[ 9.51223702e-01 3.08405047e-01 -7.73272049e-03 9.10888756e+01] [ 3.08393432e-01 -9.51255118e-01 -2.68175367e-03 -8.14653642e+01] [-8.18285631e-03 1.66227441e-04 -9.99966506e-01 -1.78902985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.896559995 meters 0.015303258895578313 Centerline is valid? [True, True] Translation: X:91.09, Y:-81.47, Z:-1.79 [[ 9.23800527e-01 3.82806984e-01 -7.16928473e-03 9.10909728e+01] [ 3.82794185e-01 -9.23828334e-01 -3.13396653e-03 -8.14746072e+01] [-7.82289264e-03 1.50799425e-04 -9.99969389e-01 -1.78919635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.926559995 meters 0.015131141850181301 Centerline is valid? [True, True] Translation: X:91.09, Y:-81.48, Z:-1.79 [[ 8.90427074e-01 4.55074669e-01 -6.83170332e-03 9.10938225e+01] [ 4.55060070e-01 -8.90453270e-01 -3.64785394e-03 -8.14830144e+01] [-7.74335848e-03 1.39312523e-04 -9.99970010e-01 -1.78906058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.956559995 meters 0.014680655867395037 Centerline is valid? [True, True] Translation: X:91.10, Y:-81.49, Z:-1.79 [[ 8.50573085e-01 5.25808096e-01 -7.16049263e-03 9.10968708e+01] [ 5.25788175e-01 -8.50603215e-01 -4.57888847e-03 -8.14916661e+01] [-8.49835469e-03 1.29776947e-04 -9.99963880e-01 -1.78816826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.986559995 meters 0.014203324573717025 Centerline is valid? [True, True] Translation: X:91.10, Y:-81.50, Z:-1.79 [[ 8.05838897e-01 5.92091857e-01 -7.13478039e-03 9.11012759e+01] [ 5.92067294e-01 -8.05870472e-01 -5.39461876e-03 -8.14997153e+01] [-8.94381868e-03 1.22923510e-04 -9.99959996e-01 -1.78778764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.016559995 meters 0.013341452287138861 Centerline is valid? [True, True] Translation: X:91.11, Y:-81.51, Z:-1.79 [[ 7.55014056e-01 6.55671824e-01 -6.94519655e-03 9.11095020e+01] [ 6.55642863e-01 -7.55045992e-01 -6.16331477e-03 -8.15105278e+01] [-9.28505465e-03 9.98207286e-05 -9.99956888e-01 -1.78795099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.046559995 meters 0.01330800745890631 Centerline is valid? [True, True] Translation: X:91.12, Y:-81.52, Z:-1.79 [[ 7.00620461e-01 7.13507975e-01 -6.11053126e-03 9.11154087e+01] [ 7.13479778e-01 -7.00647102e-01 -6.34391235e-03 -8.15188294e+01] [-8.80775808e-03 8.49343110e-05 -9.99961207e-01 -1.78801343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.076559995 meters 0.013275923737048662 Centerline is valid? [True, True] Translation: X:91.12, Y:-81.53, Z:-1.79 [[ 6.42299044e-01 7.66434304e-01 -5.51317967e-03 9.11227684e+01] [ 7.66404996e-01 -6.42322700e-01 -6.70311901e-03 -8.15260793e+01] [-8.67874080e-03 8.00784959e-05 -9.99962336e-01 -1.78812213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.106559995 meters 0.013249259665343197 Centerline is valid? [True, True] Translation: X:91.13, Y:-81.53, Z:-1.79 [[ 5.80660201e-01 8.14131866e-01 -4.79952392e-03 9.11300702e+01] [ 8.14102903e-01 -5.80680030e-01 -6.86774740e-03 -8.15331114e+01] [-8.37823971e-03 8.05212250e-05 -9.99964899e-01 -1.78815743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.136559995 meters 0.013460783872304653 Centerline is valid? [True, True] Translation: X:91.14, Y:-81.54, Z:-1.79 [[ 5.15838302e-01 8.56674822e-01 -4.36995941e-03 9.11355565e+01] [ 8.56642587e-01 -5.15856804e-01 -7.43207776e-03 -8.15389929e+01] [-8.62114718e-03 9.02570350e-05 -9.99962833e-01 -1.78798295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.166559995 meters 0.013836876367419093 Centerline is valid? [True, True] Translation: X:91.14, Y:-81.54, Z:-1.79 [[ 4.48087559e-01 8.93980963e-01 -3.94674220e-03 9.11399059e+01] [ 8.93944216e-01 -4.48104928e-01 -8.10624489e-03 -8.15445076e+01] [-9.01538325e-03 1.04140120e-04 -9.99959355e-01 -1.78769322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.196559995 meters 0.013867919228614092 Centerline is valid? [True, True] Translation: X:91.15, Y:-81.55, Z:-1.79 [[ 3.77747828e-01 9.25902404e-01 -3.36419843e-03 9.11464173e+01] [ 9.25862883e-01 -3.77762790e-01 -8.55545887e-03 -8.15494433e+01] [-9.19238891e-03 1.17019546e-04 -9.99957742e-01 -1.78801145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.226559995 meters 0.01463636556532796 Centerline is valid? [True, True] Translation: X:91.15, Y:-81.55, Z:-1.79 [[ 3.07277333e-01 9.51616629e-01 -2.53625518e-03 9.11510279e+01] [ 9.51580386e-01 -3.07287769e-01 -8.30640012e-03 -8.15537477e+01] [-8.68386867e-03 1.38917790e-04 -9.99962285e-01 -1.78790637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.256559995 meters 0.015440663802586891 Centerline is valid? [True, True] Translation: X:91.16, Y:-81.56, Z:-1.79 [[ 2.35676519e-01 9.71829665e-01 -1.91849577e-03 9.11571258e+01] [ 9.71791047e-01 -2.35684261e-01 -8.66545151e-03 -8.15569713e+01] [-8.87350209e-03 1.77866437e-04 -9.99960614e-01 -1.78780329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.286559995 meters 0.015894115597936475 Centerline is valid? [True, True] Translation: X:91.16, Y:-81.56, Z:-1.79 [[ 1.60898179e-01 9.86970170e-01 -1.28794864e-03 9.11649053e+01] [ 9.86927496e-01 -1.60903202e-01 -9.18022146e-03 -8.15603823e+01] [-9.26783980e-03 2.05968986e-04 -9.99957031e-01 -1.78770494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.316559995 meters 0.016740185559324317 Centerline is valid? [True, True] Translation: X:91.17, Y:-81.56, Z:-1.79 [[ 8.74478650e-02 9.96168926e-01 -5.85053075e-04 9.11725616e+01] [ 9.96122800e-01 -8.74494479e-02 -9.58962370e-03 -8.15638872e+01] [-9.60404771e-03 2.55807412e-04 -9.99953847e-01 -1.78813584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.346559995 meters 0.018033313909119927 Centerline is valid? [True, True] Translation: X:91.18, Y:-81.57, Z:-1.79 [[ 1.09502384e-02 9.99940031e-01 1.61603173e-04 9.11792744e+01] [ 9.99897177e-01 -1.09482724e-02 -9.26119807e-03 -8.15681262e+01] [-9.25887341e-03 2.62998884e-04 -9.99957101e-01 -1.78817497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.376559995 meters 0.018809900118909293 Centerline is valid? [True, True] Translation: X:91.19, Y:-81.57, Z:-1.79 [[-6.55559702e-02 9.97848512e-01 8.73058560e-04 9.11851664e+01] [ 9.97807214e-01 6.55612037e-02 -9.08256163e-03 -8.15712970e+01] [-9.12025937e-03 2.75727990e-04 -9.99958372e-01 -1.78855023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.406559995 meters 0.019194876402612256 Centerline is valid? [True, True] Translation: X:91.19, Y:-81.57, Z:-1.79 [[-1.42010265e-01 9.89864006e-01 1.52818210e-03 9.11925554e+01] [ 9.89825974e-01 1.42018211e-01 -8.68147485e-03 -8.15736950e+01] [-8.81050916e-03 2.79775796e-04 -9.99961148e-01 -1.78931150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.436559995 meters 0.019121037002367846 Centerline is valid? [True, True] Translation: X:91.20, Y:-81.57, Z:-1.79 [[-2.17747707e-01 9.76002711e-01 2.15491050e-03 9.12019988e+01] [ 9.75967056e-01 2.17758183e-01 -8.34744356e-03 -8.15744117e+01] [-8.61637694e-03 2.85484962e-04 -9.99962838e-01 -1.79015419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.466559995 meters 0.019491976935945694 Centerline is valid? [True, True] Translation: X:91.21, Y:-81.58, Z:-1.79 [[-2.92745051e-01 9.56185438e-01 3.12161903e-03 9.12114093e+01] [ 9.56142388e-01 2.92761511e-01 -9.07920181e-03 -8.15750614e+01] [-9.59529046e-03 3.26820883e-04 -9.99953911e-01 -1.78950954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.49655999499998 meters 0.02027650655528335 Centerline is valid? [True, True] Translation: X:91.22, Y:-81.58, Z:-1.79 [[-3.66141909e-01 9.30548928e-01 4.33529274e-03 9.12198959e+01] [ 9.30495459e-01 3.66167378e-01 -9.98263033e-03 -8.15767920e+01] [-1.08767687e-02 3.78910884e-04 -9.99940774e-01 -1.78820115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.52655999499999 meters 0.019972036320422076 Centerline is valid? [True, True] Translation: X:91.23, Y:-81.58, Z:-1.79 [[-4.37334079e-01 8.99282045e-01 5.54132875e-03 9.12299461e+01] [ 8.99221613e-01 4.37368983e-01 -1.04337873e-02 -8.15750265e+01] [-1.18065229e-02 4.19831830e-04 -9.99930212e-01 -1.78763003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.556559995 meters 0.020720329639041295 Centerline is valid? [True, True] Translation: X:91.24, Y:-81.57, Z:-1.79 [[-5.05295717e-01 8.62922317e-01 6.42748193e-03 9.12386068e+01] [ 8.62863293e-01 5.05336402e-01 -1.01023717e-02 -8.15738958e+01] [-1.19656026e-02 4.41353094e-04 -9.99928312e-01 -1.78784449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.586559995 meters 0.021156902451295596 Centerline is valid? [True, True] Translation: X:91.25, Y:-81.57, Z:-1.79 [[-5.70769401e-01 8.21081712e-01 6.86388867e-03 9.12460875e+01] [ 8.21031140e-01 5.70810510e-01 -9.12295514e-03 -8.15721697e+01] [-1.14086714e-02 4.28362704e-04 -9.99934827e-01 -1.78847655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.616559995 meters 0.02232349855614691 Centerline is valid? [True, True] Translation: X:91.25, Y:-81.57, Z:-1.79 [[-6.32919027e-01 7.74181896e-01 7.47639394e-03 9.12527327e+01] [ 7.74135732e-01 6.32963037e-01 -8.46531909e-03 -8.15720249e+01] [-1.12859778e-02 4.29882172e-04 -9.99936219e-01 -1.78876219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.646559995 meters 0.020450482694768016 Centerline is valid? [True, True] Translation: X:91.26, Y:-81.56, Z:-1.79 [[-6.90616153e-01 7.23181001e-01 7.65310718e-03 9.12644368e+01] [ 7.23143200e-01 6.90658428e-01 -7.40597665e-03 -8.15644599e+01] [-1.06415446e-02 4.19605313e-04 -9.99943289e-01 -1.79069937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.676559995 meters 0.021557947164419305 Centerline is valid? [True, True] Translation: X:91.28, Y:-81.54, Z:-1.79 [[-7.39699184e-01 6.72892291e-01 7.81548514e-03 9.12812839e+01] [ 6.72860458e-01 7.39740359e-01 -6.55783727e-03 -8.15428125e+01] [-1.01941479e-02 4.07904037e-04 -9.99947955e-01 -1.79080348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.706559995 meters 0.021618459198861975 Centerline is valid? [True, True] Translation: X:91.30, Y:-81.52, Z:-1.79 [[-7.85480586e-01 6.18835946e-01 7.89440244e-03 9.13031577e+01] [ 6.18809598e-01 7.85520159e-01 -5.72369275e-03 -8.15226579e+01] [-9.74323908e-03 3.89282471e-04 -9.99952458e-01 -1.79137550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.736559995 meters 0.021034591964546392 Centerline is valid? [True, True] Translation: X:91.33, Y:-81.50, Z:-1.79 [[-8.27281676e-01 5.61732483e-01 7.85151918e-03 9.13256678e+01] [ 5.61711334e-01 8.27318852e-01 -4.88823557e-03 -8.15017632e+01] [-9.24159054e-03 3.66339601e-04 -9.99957228e-01 -1.79198924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.766559995 meters 0.020511727109092645 Centerline is valid? [True, True] Translation: X:91.34, Y:-81.48, Z:-1.79 [[-8.65467586e-01 5.00899336e-01 8.10632877e-03 9.13412418e+01] [ 5.00881160e-01 8.65505476e-01 -4.28185290e-03 -8.14760842e+01] [-9.16084922e-03 3.54502467e-04 -9.99957976e-01 -1.79267065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.796559995 meters 0.01988513794798009 Centerline is valid? [True, True] Translation: X:91.35, Y:-81.45, Z:-1.79 [[-8.99272327e-01 4.37315763e-01 8.01280628e-03 9.13535121e+01] [ 4.37301626e-01 8.99307965e-01 -3.53155633e-03 -8.14480918e+01] [-8.75038576e-03 3.28182339e-04 -9.99961661e-01 -1.79314105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.826559995 meters 0.020139571770625867 Centerline is valid? [True, True] Translation: X:91.36, Y:-81.42, Z:-1.79 [[-9.28553228e-01 3.71104961e-01 8.36720158e-03 9.13600677e+01] [ 3.71092980e-01 9.28590871e-01 -2.99920037e-03 -8.14191660e+01] [-8.88272514e-03 3.20092581e-04 -9.99960497e-01 -1.79303079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.856559995 meters 0.020739240818131235 Centerline is valid? [True, True] Translation: X:91.37, Y:-81.39, Z:-1.79 [[-9.53464880e-01 3.01380881e-01 8.61898271e-03 9.13692173e+01] [ 3.01371349e-01 9.53503790e-01 -2.41496984e-03 -8.13904196e+01] [-8.94605842e-03 2.94925519e-04 -9.99959940e-01 -1.79283908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.886559995 meters 0.018398748436011872 Centerline is valid? [True, True] Translation: X:91.38, Y:-81.36, Z:-1.79 [[-9.72825212e-01 2.31386485e-01 8.44988584e-03 9.13797497e+01] [ 2.31380160e-01 9.72861872e-01 -1.73214022e-03 -8.13587223e+01] [-8.62136559e-03 2.70066252e-04 -9.99962799e-01 -1.79377537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.916559995 meters 0.018730565860004482 Centerline is valid? [True, True] Translation: X:91.52, Y:-80.68, Z:-2.79 [[-9.71909561e-01 -2.35229849e-01 7.66305043e-03 9.15180305e+01] [ 2.35220159e-01 -9.71939727e-01 -2.15494886e-03 -8.06757555e+01] [ 7.95493144e-03 -2.91911458e-04 9.99968316e-01 -2.79147091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.946559995 meters 0.017339626564367668 Centerline is valid? [True, True] Translation: X:91.32, Y:-81.34, Z:-1.79 [[-9.74290207e-01 2.25172665e-01 7.47422009e-03 9.13237677e+01] [ 2.25167764e-01 9.74318851e-01 -1.50176728e-03 -8.13433274e+01] [-7.62043047e-03 2.19796269e-04 -9.99970940e-01 -1.79449132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.976559995 meters 0.017105718514821705 Centerline is valid? [True, True] Translation: X:91.33, Y:-81.31, Z:-1.79 [[-9.88107457e-01 1.53606033e-01 6.98853763e-03 9.13291972e+01] [ 1.53603544e-01 9.88132153e-01 -8.94663400e-04 -8.13125609e+01] [-7.04302443e-03 1.89440572e-04 -9.99975180e-01 -1.79492231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.006559995 meters 0.017042298749360894 Centerline is valid? [True, True] Translation: X:91.32, Y:-81.28, Z:-1.79 [[-9.96571804e-01 8.23913355e-02 7.50381403e-03 9.13247266e+01] [ 8.23904946e-02 9.96600034e-01 -4.21642448e-04 -8.12823001e+01] [-7.51304100e-03 1.98045975e-04 -9.99971757e-01 -1.79453776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.036559995 meters 0.017118598799842417 Centerline is valid? [True, True] Translation: X:91.36, Y:-80.60, Z:-2.79 [[-9.95436610e-01 -9.51285398e-02 7.51779550e-03 9.13626855e+01] [ 9.51243395e-02 -9.95464978e-01 -9.15131886e-04 -8.06046967e+01] [ 7.57075729e-03 -1.95830451e-04 9.99971322e-01 -2.79117942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.066559995 meters 0.017167014198611656 Centerline is valid? [True, True] Translation: X:91.26, Y:-81.28, Z:-1.79 [[-9.97010764e-01 7.68861465e-02 7.61946138e-03 9.12559743e+01] [ 7.68854011e-02 9.97039860e-01 -3.91137543e-04 -8.12752112e+01] [-7.62697977e-03 1.95857003e-04 -9.99970895e-01 -1.79396121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.096559995 meters 0.017316226342366358 Centerline is valid? [True, True] Translation: X:91.25, Y:-81.25, Z:-1.79 [[-9.99954108e-01 5.58377805e-03 7.78477737e-03 9.12496735e+01] [ 5.58515641e-03 9.99984391e-01 1.55329642e-04 -8.12462277e+01] [-7.78378852e-03 1.98801713e-04 -9.99969686e-01 -1.79400140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.126559995 meters 0.016544157529130587 Centerline is valid? [True, True] Translation: X:91.24, Y:-81.22, Z:-1.79 [[-9.97796109e-01 -6.58648254e-02 8.04673747e-03 9.12387709e+01] [-6.58610278e-02 9.97828534e-01 7.36317576e-04 -8.12161315e+01] [-8.07776168e-03 2.04728412e-04 -9.99967353e-01 -1.79432179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.156559995 meters 0.016399591128917555 Centerline is valid? [True, True] Translation: X:91.23, Y:-81.19, Z:-1.79 [[-9.90502222e-01 -1.37272458e-01 7.84993375e-03 9.12250063e+01] [-1.37266549e-01 9.90533307e-01 1.28908132e-03 -8.11879931e+01] [-7.95257620e-03 1.99304591e-04 -9.99968358e-01 -1.79440290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.186559995 meters 0.016306115637434452 Centerline is valid? [True, True] Translation: X:91.19, Y:-81.16, Z:-1.79 [[-9.78033822e-01 -2.08326423e-01 7.06713221e-03 9.11933197e+01] [-2.08319650e-01 9.78059338e-01 1.68945320e-03 -8.11628627e+01] [-7.26403239e-03 1.80119855e-04 -9.99973600e-01 -1.79469875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.216559995 meters 0.0163952405534282 Centerline is valid? [True, True] Translation: X:91.15, Y:-81.14, Z:-1.79 [[-9.60181978e-01 -2.79294861e-01 6.70446046e-03 9.11479096e+01] [-2.79286802e-01 9.60205369e-01 2.12854296e-03 -8.11449659e+01] [-7.03215004e-03 1.71321263e-04 -9.99975259e-01 -1.79471977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.24655999499998 meters 0.016427760226002733 Centerline is valid? [True, True] Translation: X:91.08, Y:-81.14, Z:-1.79 [[-9.36915071e-01 -3.49492793e-01 6.70349328e-03 9.10830272e+01] [-3.49482512e-01 9.36939036e-01 2.68631685e-03 -8.11372717e+01] [-7.21961291e-03 1.74097071e-04 -9.99973923e-01 -1.79450197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.27655999499999 meters 0.015553083683237778 Centerline is valid? [True, True] Translation: X:91.01, Y:-81.14, Z:-1.79 [[-9.08290183e-01 -4.18288069e-01 6.63587323e-03 9.10110056e+01] [-4.18275503e-01 9.08314406e-01 3.24700130e-03 -8.11357655e+01] [-7.38564116e-03 1.73596197e-04 -9.99972711e-01 -1.79468004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.306559995 meters 0.015477274653664852 Centerline is valid? [True, True] Translation: X:90.93, Y:-81.14, Z:-1.79 [[-8.73817520e-01 -4.86206658e-01 6.78432186e-03 9.09339376e+01] [-4.86190475e-01 8.73843840e-01 3.97059659e-03 -8.11423320e+01] [-7.85896836e-03 1.71104195e-04 -9.99969103e-01 -1.79389566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.336559995 meters 0.014798729773459423 Centerline is valid? [True, True] Translation: X:90.85, Y:-81.16, Z:-1.79 [[-8.33320105e-01 -5.52748874e-01 6.80330065e-03 9.08504951e+01] [-5.52728936e-01 8.33347862e-01 4.69728619e-03 -8.11575945e+01] [-8.26593570e-03 1.53961887e-04 -9.99965825e-01 -1.79321944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.366559995 meters 0.014234209794801262 Centerline is valid? [True, True] Translation: X:90.76, Y:-81.19, Z:-1.79 [[-7.88437676e-01 -6.15080678e-01 6.46454621e-03 9.07629462e+01] [-6.15058549e-01 7.88464165e-01 5.21932076e-03 -8.11850798e+01] [-8.30736638e-03 1.39034720e-04 -9.99965484e-01 -1.79329076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.396559995 meters 0.01354041710327575 Centerline is valid? [True, True] Translation: X:90.67, Y:-81.22, Z:-1.79 [[-7.37490969e-01 -6.75334581e-01 5.50214520e-03 9.06721714e+01] [-6.75314796e-01 7.37511487e-01 5.17031767e-03 -8.12211739e+01] [-7.54958961e-03 9.73825274e-05 -9.99971497e-01 -1.79314425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.426559995 meters 0.012992466965415677 Centerline is valid? [True, True] Translation: X:90.58, Y:-81.27, Z:-1.79 [[-6.82560086e-01 -7.30810557e-01 5.25916120e-03 9.05821826e+01] [-7.30787949e-01 6.82580342e-01 5.74893516e-03 -8.12680917e+01] [-7.79118256e-03 8.06620519e-05 -9.99969645e-01 -1.79269443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.456559995 meters 0.012825033265957632 Centerline is valid? [True, True] Translation: X:90.50, Y:-81.32, Z:-1.79 [[-6.24644090e-01 -7.80895450e-01 4.69646335e-03 9.04961783e+01] [-7.80872506e-01 6.24661741e-01 5.98652320e-03 -8.13241737e+01] [-7.60854970e-03 7.21072338e-05 -9.99971052e-01 -1.79255990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.486559995 meters 0.012825033265957632 Centerline is valid? [True, True] Translation: X:90.41, Y:-81.39, Z:-1.79 [[-5.63596098e-01 -8.26039683e-01 4.22851653e-03 9.04136034e+01] [-8.26015468e-01 5.63611956e-01 6.32531923e-03 -8.13903915e+01] [-7.60820717e-03 7.21051797e-05 -9.99971055e-01 -1.79257506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.516559995 meters 0.01264495222245771 Centerline is valid? [True, True] Translation: X:90.34, Y:-81.46, Z:-1.79 [[-4.98394465e-01 -8.66943004e-01 3.57554114e-03 9.03353299e+01] [-8.66919792e-01 4.98407287e-01 6.34433178e-03 -8.14620527e+01] [-7.28224981e-03 6.22724580e-05 -9.99973482e-01 -1.79232420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.546559995 meters 0.01241421664246519 Centerline is valid? [True, True] Translation: X:90.26, Y:-81.54, Z:-1.79 [[-4.30019277e-01 -9.02814615e-01 3.03177808e-03 9.02596062e+01] [-9.02791292e-01 4.30029961e-01 6.48964207e-03 -8.15445324e+01] [-7.16269912e-03 5.36083443e-05 -9.99974346e-01 -1.79271947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.576559995 meters 0.01281816466923717 Centerline is valid? [True, True] Translation: X:90.19, Y:-81.64, Z:-1.79 [[-3.59402454e-01 -9.33179222e-01 2.53283541e-03 9.01914386e+01] [-9.33155060e-01 3.59411375e-01 6.71549253e-03 -8.16353914e+01] [-7.17708796e-03 5.00363204e-05 -9.99974243e-01 -1.79135410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.606559995 meters 0.012249221140850025 Centerline is valid? [True, True] Translation: X:90.13, Y:-81.73, Z:-1.79 [[-2.87177702e-01 -9.57875613e-01 1.81040760e-03 9.01269280e+01] [-9.57855590e-01 2.87183405e-01 6.19352499e-03 -8.17330699e+01] [-6.45254557e-03 4.45332348e-05 -9.99979181e-01 -1.79236394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.636559995 meters 0.012249221140850025 Centerline is valid? [True, True] Translation: X:90.07, Y:-81.84, Z:-1.79 [[-2.13073319e-01 -9.77035306e-01 1.33130276e-03 9.00723596e+01] [-9.77014908e-01 2.13077473e-01 6.31351984e-03 -8.18355833e+01] [-6.45220241e-03 4.45399809e-05 -9.99979183e-01 -1.79238011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.666559995 meters 0.012511469464279308 Centerline is valid? [True, True] Translation: X:90.03, Y:-81.94, Z:-1.79 [[-1.39104440e-01 -9.90277406e-01 7.83927212e-04 9.00266204e+01] [-9.90259663e-01 1.39106640e-01 5.92806804e-03 -8.19400092e+01] [-5.97948132e-03 4.83290885e-05 -9.99982122e-01 -1.79215877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.696559995 meters 0.012890530026710758 Centerline is valid? [True, True] Translation: X:89.99, Y:-82.04, Z:-1.79 [[-6.50710532e-02 -9.97880575e-01 3.39821703e-04 8.99905887e+01] [-9.97861684e-01 6.50719125e-02 6.14043250e-03 -8.20411452e+01] [-6.14953116e-03 6.04693527e-05 -9.99981090e-01 -1.79215187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.726559995 meters 0.01397496939888339 Centerline is valid? [True, True] Translation: X:89.96, Y:-82.15, Z:-1.79 [[ 6.41677575e-03 -9.99979404e-01 -1.26779107e-04 8.99647103e+01] [-9.99961887e-01 -6.41741384e-03 5.91965950e-03 -8.21515616e+01] [-5.92035117e-03 8.87891480e-05 -9.99982471e-01 -1.79275361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.756559995 meters 0.014735197475331056 Centerline is valid? [True, True] Translation: X:89.95, Y:-82.27, Z:-1.79 [[ 8.02265038e-02 -9.96776485e-01 -5.89907193e-04 8.99456687e+01] [-9.96758487e-01 -8.02286007e-02 5.99089571e-03 -8.22678610e+01] [-6.01891139e-03 1.07366384e-04 -9.99981880e-01 -1.79274819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.786559995 meters 0.01473519908689049 Centerline is valid? [True, True] Translation: X:89.93, Y:-82.39, Z:-1.79 [[ 1.53467930e-01 -9.88153094e-01 -1.02791500e-03 8.99340231e+01] [-9.88135972e-01 -1.53471323e-01 5.81847944e-03 -8.23859685e+01] [-5.90730394e-03 1.22769796e-04 -9.99982544e-01 -1.79334287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.816559995 meters 0.016545682553625537 Centerline is valid? [True, True] Translation: X:89.93, Y:-82.50, Z:-1.79 [[ 2.25857323e-01 -9.74159417e-01 -1.37830427e-03 8.99339929e+01] [-9.74144650e-01 -2.25861491e-01 5.36537513e-03 -8.25020119e+01] [-5.53803657e-03 1.30858466e-04 -9.99984656e-01 -1.79276376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.846559995 meters 0.017068375850716515 Centerline is valid? [True, True] Translation: X:89.94, Y:-82.62, Z:-1.79 [[ 2.95440134e-01 -9.55359608e-01 -1.77406749e-03 8.99403308e+01] [-9.55345405e-01 -2.95445420e-01 5.21155672e-03 -8.26181823e+01] [-5.50305089e-03 1.55144204e-04 -9.99984846e-01 -1.79233925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.876559995 meters 0.018155506523337923 Centerline is valid? [True, True] Translation: X:89.96, Y:-82.73, Z:-1.79 [[ 3.66235780e-01 -9.30518960e-01 -2.41221421e-03 8.99556839e+01] [-9.30501951e-01 -3.66243679e-01 5.62908080e-03 -8.27324898e+01] [-6.12142462e-03 1.82999227e-04 -9.99981247e-01 -1.79187809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.906559995 meters 0.01834776767245565 Centerline is valid? [True, True] Translation: X:89.98, Y:-82.85, Z:-1.79 [[ 4.35189960e-01 -9.00333891e-01 -2.92976677e-03 8.99790640e+01] [-9.00316449e-01 -4.35199777e-01 5.60761428e-03 -8.28475223e+01] [-6.32375903e-03 1.97339781e-04 -9.99979985e-01 -1.79173225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.936559995 meters 0.017753456275908863 Centerline is valid? [True, True] Translation: X:90.01, Y:-82.96, Z:-1.79 [[ 5.01977611e-01 -8.64874454e-01 -3.26436349e-03 9.00077889e+01] [-8.64858654e-01 -5.01988186e-01 5.23165134e-03 -8.29572943e+01] [-6.16339351e-03 1.97041175e-04 -9.99980987e-01 -1.79166678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.96655999499998 meters 0.018902073452638713 Centerline is valid? [True, True] Translation: X:90.05, Y:-83.06, Z:-1.79 [[ 5.66251737e-01 -8.24223196e-01 -3.88520100e-03 9.00460993e+01] [-8.24206297e-01 -5.66265026e-01 5.28207372e-03 -8.30626932e+01] [-6.55366112e-03 2.11223714e-04 -9.99978502e-01 -1.79137886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.99655999499998 meters 0.01797672318654873 Centerline is valid? [True, True] Translation: X:90.09, Y:-83.16, Z:-1.79 [[ 6.27501574e-01 -7.78604108e-01 -4.17338378e-03 9.00862007e+01] [-7.78588998e-01 -6.27515419e-01 4.85492280e-03 -8.31623914e+01] [-6.39892551e-03 2.02878997e-04 -9.99979506e-01 -1.79167860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.02655999499999 meters 0.01794924251414921 Centerline is valid? [True, True] Translation: X:90.13, Y:-83.26, Z:-1.79 [[ 6.85242853e-01 -7.28300620e-01 -4.52097277e-03 9.01344203e+01] [-7.28286645e-01 -6.85257738e-01 4.51606607e-03 -8.32577374e+01] [-6.38708530e-03 1.97962096e-04 -9.99979583e-01 -1.79171998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.056559995 meters 0.01646863285416521 Centerline is valid? [True, True] Translation: X:90.13, Y:-83.27, Z:-1.79 [[ 7.41899622e-01 -6.70494253e-01 -4.73361457e-03 9.01277964e+01] [-6.70482097e-01 -7.41914702e-01 4.04139331e-03 -8.32730674e+01] [-6.22166923e-03 1.75495651e-04 -9.99980630e-01 -1.79190298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.086559995 meters 0.016556431262720234 Centerline is valid? [True, True] Translation: X:90.12, Y:-83.29, Z:-1.79 [[ 7.93003183e-01 -6.09192110e-01 -5.56107356e-03 9.01249018e+01] [-6.09178740e-01 -7.93022660e-01 4.04028243e-03 -8.32852294e+01] [-6.87136552e-03 1.83730956e-04 -9.99976375e-01 -1.79168070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.116559995 meters 0.016027406535442726 Centerline is valid? [True, True] Translation: X:90.12, Y:-83.30, Z:-1.79 [[ 8.39382368e-01 -5.43508676e-01 -5.96314525e-03 9.01240531e+01] [-5.43496404e-01 -8.39403532e-01 3.65630552e-03 -8.32978845e+01] [-6.99271895e-03 1.71909618e-04 -9.99975536e-01 -1.79145779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.146559995 meters 0.014815497808780281 Centerline is valid? [True, True] Translation: X:90.12, Y:-83.31, Z:-1.79 [[ 8.81518948e-01 -4.72108180e-01 -6.18153339e-03 9.01236333e+01] [-4.72097666e-01 -8.81540610e-01 3.15375007e-03 -8.33133024e+01] [-6.93818392e-03 1.38197050e-04 -9.99975921e-01 -1.79098736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.176559995 meters 0.01399636301890382 Centerline is valid? [True, True] Translation: X:90.12, Y:-83.33, Z:-1.79 [[ 9.16592101e-01 -3.99772925e-01 -6.36619481e-03 9.01245263e+01] [-3.99764205e-01 -9.16614201e-01 2.64335489e-03 -8.33270874e+01] [-6.89208628e-03 1.22098597e-04 -9.99976242e-01 -1.79097676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.206559995 meters 0.01394529813963629 Centerline is valid? [True, True] Translation: X:90.13, Y:-83.34, Z:-1.79 [[ 9.45582941e-01 -3.25315308e-01 -6.54618200e-03 9.01273204e+01] [-3.25308318e-01 -9.45605593e-01 2.13545424e-03 -8.33387484e+01] [-6.88480227e-03 1.10278354e-04 -9.99976293e-01 -1.79097627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.236559995 meters 0.013670126233598867 Centerline is valid? [True, True] Translation: X:90.13, Y:-83.35, Z:-1.79 [[ 9.68366014e-01 -2.49445101e-01 -6.66363253e-03 9.01318740e+01] [-2.49439926e-01 -9.68388936e-01 1.61009014e-03 -8.33492493e+01] [-6.85461711e-03 1.03019437e-04 -9.99976502e-01 -1.79076640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.266559995 meters 0.013730730541527623 Centerline is valid? [True, True] Translation: X:90.14, Y:-83.36, Z:-1.79 [[ 9.84883998e-01 -1.73077357e-01 -6.90934893e-03 9.01374995e+01] [-1.73073851e-01 -9.84908228e-01 1.10667776e-03 -8.33589220e+01] [-6.99661547e-03 1.05878415e-04 -9.99975518e-01 -1.79049807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.296559995 meters 0.01404865364831119 Centerline is valid? [True, True] Translation: X:90.14, Y:-83.37, Z:-1.79 [[ 9.95304028e-01 -9.65007864e-02 -7.58223452e-03 9.01403829e+01] [-9.64989365e-02 -9.95332901e-01 6.10291733e-04 -8.33650327e+01] [-7.60574111e-03 1.24251748e-04 -9.99971068e-01 -1.79032914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.326559995 meters 0.014346976381055136 Centerline is valid? [True, True] Translation: X:90.14, Y:-83.37, Z:-1.79 [[ 9.99731380e-01 -2.17562918e-02 -7.98953239e-03 9.01441048e+01] [-2.17568637e-02 -9.99763291e-01 1.53417077e-05 -8.33747631e+01] [-7.98797497e-03 1.58489581e-04 -9.99968083e-01 -1.79085778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.356559995 meters 0.014346976381055136 Centerline is valid? [True, True] Translation: X:90.15, Y:-83.38, Z:-1.79 [[ 9.98366715e-01 5.65724897e-02 -7.96588103e-03 9.01478366e+01] [ 5.65694216e-02 -9.98398482e-01 -6.10128150e-04 -8.33839858e+01] [-7.98764000e-03 1.58506355e-04 -9.99968086e-01 -1.79086082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.386559995 meters 0.01570838340545348 Centerline is valid? [True, True] Translation: X:90.15, Y:-83.39, Z:-1.79 [[ 9.91452254e-01 1.30216506e-01 -8.12958775e-03 9.01519515e+01] [ 1.30210475e-01 -9.91485563e-01 -1.26899052e-03 -8.33907751e+01] [-8.22561240e-03 1.99586029e-04 -9.99966149e-01 -1.79098138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.416559995 meters 0.01638518606694949 Centerline is valid? [True, True] Translation: X:90.16, Y:-83.40, Z:-1.79 [[ 9.78636034e-01 2.05439914e-01 -8.12120148e-03 9.01572681e+01] [ 2.05430972e-01 -9.78669706e-01 -1.92943245e-03 -8.33978369e+01] [-8.34435630e-03 2.19865807e-04 -9.99965161e-01 -1.79110781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.446559995 meters 0.01726060096296194 Centerline is valid? [True, True] Translation: X:90.16, Y:-83.41, Z:-1.79 [[ 9.60646455e-01 2.77626975e-01 -9.03606495e-03 9.01638947e+01] [ 2.77611857e-01 -9.60688909e-01 -2.91155038e-03 -8.34059113e+01] [-9.48917230e-03 2.88451785e-04 -9.99954935e-01 -1.79060434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.476559995 meters 0.018202042068376917 Centerline is valid? [True, True] Translation: X:90.17, Y:-83.41, Z:-1.79 [[ 9.36588388e-01 3.50316349e-01 -8.98033807e-03 9.01692805e+01] [ 3.50297027e-01 -9.36631388e-01 -3.69260792e-03 -8.34126653e+01] [-9.70484744e-03 3.12667982e-04 -9.99952858e-01 -1.79042330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.506559995 meters 0.0191226878815779 Centerline is valid? [True, True] Translation: X:90.17, Y:-83.42, Z:-1.79 [[ 9.06929857e-01 4.21195103e-01 -8.53930444e-03 9.01748646e+01] [ 4.21173055e-01 -9.06970000e-01 -4.32159599e-03 -8.34180934e+01] [-9.56512801e-03 3.22859490e-04 -9.99954201e-01 -1.79053050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.536559995 meters 0.019785537808767715 Centerline is valid? [True, True] Translation: X:90.18, Y:-83.42, Z:-1.79 [[ 8.71768426e-01 4.89851233e-01 -8.09821439e-03 9.01812699e+01] [ 4.89826534e-01 -8.71805976e-01 -4.93013163e-03 -8.34224634e+01] [-9.47510276e-03 3.31212806e-04 -9.99955055e-01 -1.79095822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.566559995 meters 0.020263394757435653 Centerline is valid? [True, True] Translation: X:90.19, Y:-83.43, Z:-1.79 [[ 8.31459932e-01 5.55529866e-01 -7.80707683e-03 9.01897048e+01] [ 5.55501389e-01 -8.31496510e-01 -5.63559404e-03 -8.34276296e+01] [-9.62229794e-03 3.48928610e-04 -9.99953644e-01 -1.79084649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.596559995 meters 0.018350196293188282 Centerline is valid? [True, True] Translation: X:90.20, Y:-83.44, Z:-1.79 [[ 7.85258822e-01 6.19115781e-01 -8.01454377e-03 9.02023394e+01] [ 6.19078538e-01 -7.85299628e-01 -6.80129591e-03 -8.34372710e+01] [-1.05046079e-02 3.79145576e-04 -9.99944753e-01 -1.79168102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.626559995 meters 0.018677423191622997 Centerline is valid? [True, True] Translation: X:90.21, Y:-83.44, Z:-1.79 [[ 7.33737370e-01 6.79385774e-01 -8.02761211e-03 9.02121827e+01] [ 6.79339079e-01 -7.33781174e-01 -7.97523170e-03 -8.34437532e+01] [-1.13087696e-02 3.98254913e-04 -9.99935975e-01 -1.79149894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.656559995 meters 0.018234244107358383 Centerline is valid? [True, True] Translation: X:90.22, Y:-83.45, Z:-1.79 [[ 6.77175983e-01 7.35781209e-01 -7.66164093e-03 9.02237181e+01] [ 7.35727388e-01 -6.77219209e-01 -8.90810096e-03 -8.34493609e+01] [-1.17430237e-02 3.95472959e-04 -9.99930970e-01 -1.79124266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.686559995 meters 0.0171375206220455 Centerline is valid? [True, True] Translation: X:90.24, Y:-83.46, Z:-1.79 [[ 6.15656887e-01 7.87980610e-01 -7.29084797e-03 9.02373526e+01] [ 7.87917757e-01 -6.15699934e-01 -9.95987833e-03 -8.34550059e+01] [-1.23371656e-02 3.87279108e-04 -9.99923819e-01 -1.79187612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.71655999499998 meters 0.016418667896889286 Centerline is valid? [True, True] Translation: X:90.25, Y:-83.46, Z:-1.79 [[ 5.47483321e-01 8.36785076e-01 -7.26297958e-03 9.02519297e+01] [ 8.36702577e-01 -5.47531377e-01 -1.17553757e-02 -8.34602780e+01] [-1.38134321e-02 3.58918361e-04 -9.99904526e-01 -1.79166959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.74655999499998 meters 0.015275729706890544 Centerline is valid? [True, True] Translation: X:90.27, Y:-83.46, Z:-1.79 [[ 4.77550673e-01 8.78581292e-01 -6.34574721e-03 9.02657055e+01] [ 8.78494725e-01 -4.77592728e-01 -1.23371067e-02 -8.34625405e+01] [-1.38698339e-02 3.16888154e-04 -9.99903759e-01 -1.79191927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.77655999499999 meters 0.014502657063380784 Centerline is valid? [True, True] Translation: X:90.28, Y:-83.46, Z:-1.79 [[ 4.04187177e-01 9.14660145e-01 -5.43549142e-03 9.02790189e+01] [ 9.14568126e-01 -4.04223631e-01 -1.29768874e-02 -8.34634085e+01] [-1.40665958e-02 2.73964278e-04 -9.99901023e-01 -1.79232101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.806559995 meters 0.013057270404209821 Centerline is valid? [True, True] Translation: X:90.29, Y:-83.46, Z:-1.79 [[ 3.24908223e-01 9.45735418e-01 -4.37783812e-03 9.02945658e+01] [ 9.45642118e-01 -3.24937667e-01 -1.32852062e-02 -8.34648549e+01] [-1.39868146e-02 1.76604637e-04 -9.99902164e-01 -1.79253690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.836559995 meters 0.012308052048769055 Centerline is valid? [True, True] Translation: X:90.31, Y:-83.46, Z:-1.79 [[ 2.46764399e-01 9.69070029e-01 -3.25723064e-03 9.03079940e+01] [ 9.68978561e-01 -2.46785862e-01 -1.33149218e-02 -8.34627005e+01] [-1.37069301e-02 1.29462022e-04 -9.99906047e-01 -1.79375537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.866559995 meters 0.01201912339266069 Centerline is valid? [True, True] Translation: X:90.32, Y:-83.46, Z:-1.79 [[ 1.67108463e-01 9.85936284e-01 -2.09907064e-03 9.03193167e+01] [ 9.85852149e-01 -1.67121625e-01 -1.28803191e-02 -8.34601635e+01] [-1.30499740e-02 8.30370256e-05 -9.99914842e-01 -1.79355431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.896559995 meters 0.011346487127279422 Centerline is valid? [True, True] Translation: X:90.33, Y:-83.46, Z:-1.79 [[ 8.39296203e-02 9.96471111e-01 -1.06994728e-03 9.03340687e+01] [ 9.96388380e-01 -8.39364392e-02 -1.28401848e-02 -8.34563227e+01] [-1.28846808e-02 1.15887980e-05 -9.99916989e-01 -1.79457882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.926559995 meters 0.011435185539550839 Centerline is valid? [True, True] Translation: X:90.34, Y:-83.45, Z:-1.79 [[ 3.07538294e-03 9.99995269e-01 -6.10198404e-05 9.03443623e+01] [ 9.99912166e-01 -3.07591402e-03 -1.28918444e-02 -8.34520175e+01] [-1.28919711e-02 -2.13671225e-05 -9.99916895e-01 -1.79393589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.956559995 meters 0.01153949003040687 Centerline is valid? [True, True] Translation: X:90.36, Y:-83.45, Z:-1.79 [[-8.08746297e-02 9.96723818e-01 9.61564776e-04 9.03566380e+01] [ 9.96638690e-01 8.08802897e-02 -1.30269412e-02 -8.34455471e+01] [-1.30620342e-02 -9.52163850e-05 -9.99914683e-01 -1.79430206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.986559995 meters 0.01153949003040687 Centerline is valid? [True, True] Translation: X:90.36, Y:-83.44, Z:-1.79 [[-1.58681012e-01 9.87327920e-01 1.97883294e-03 9.03638334e+01] [ 9.87243500e-01 1.58693321e-01 -1.29113060e-02 -8.34387064e+01] [-1.30617204e-02 -9.51891383e-05 -9.99914688e-01 -1.79430480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.016559995 meters 0.012226251839382602 Centerline is valid? [True, True] Translation: X:90.38, Y:-83.43, Z:-1.79 [[-2.41229985e-01 9.70463599e-01 2.91491975e-03 9.03762156e+01] [ 9.70384084e-01 2.41247537e-01 -1.24239535e-02 -8.34291510e+01] [-1.27602118e-02 -1.68438381e-04 -9.99918571e-01 -1.79480819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.046559995 meters 0.0126473536061184 Centerline is valid? [True, True] Translation: X:90.39, Y:-83.42, Z:-1.79 [[-3.19224500e-01 9.47671325e-01 3.84416442e-03 9.03855087e+01] [ 9.47594738e-01 3.19247580e-01 -1.20497151e-02 -8.34191608e+01] [-1.26464097e-02 -2.03854307e-04 -9.99920010e-01 -1.79489323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.076559995 meters 0.01510894516172383 Centerline is valid? [True, True] Translation: X:90.40, Y:-83.41, Z:-1.79 [[-3.96971250e-01 9.17819949e-01 4.51310641e-03 9.03964088e+01] [ 9.17753245e-01 3.96996824e-01 -1.10680768e-02 -8.34082747e+01] [-1.19501906e-02 -2.51790221e-04 -9.99928562e-01 -1.79323905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.106559995 meters 0.01491759847781693 Centerline is valid? [True, True] Translation: X:90.40, Y:-83.40, Z:-1.79 [[-4.69344869e-01 8.82998701e-01 5.35600908e-03 9.03992228e+01] [ 8.82934384e-01 4.69375349e-01 -1.06609271e-02 -8.33995670e+01] [-1.19275634e-02 -2.74646844e-04 -9.99928826e-01 -1.79424141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.136559995 meters 0.015417717206971267 Centerline is valid? [True, True] Translation: X:90.40, Y:-83.39, Z:-1.79 [[-5.38444892e-01 8.42640386e-01 5.85477247e-03 9.04021681e+01] [ 8.42584829e-01 5.38476650e-01 -9.68007651e-03 -8.33901016e+01] [-1.13094817e-02 -2.79045289e-04 -9.99936007e-01 -1.79442143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.166559995 meters 0.015254771452562784 Centerline is valid? [True, True] Translation: X:90.40, Y:-83.38, Z:-1.79 [[-6.03403808e-01 7.97409362e-01 6.49260586e-03 9.04043007e+01] [ 7.97358064e-01 6.03438670e-01 -9.04928310e-03 -8.33794308e+01] [-1.11338725e-02 -2.83440243e-04 -9.99937976e-01 -1.79464916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.196559995 meters 0.015434563767606725 Centerline is valid? [True, True] Translation: X:90.40, Y:-83.37, Z:-1.79 [[-6.64241524e-01 7.47480441e-01 7.49591038e-03 9.04048877e+01] [ 7.47427698e-01 6.64283750e-01 -8.88451798e-03 -8.33694651e+01] [-1.16204149e-02 -2.98814715e-04 -9.99932436e-01 -1.79328569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.226559995 meters 0.015043587814500136 Centerline is valid? [True, True] Translation: X:90.41, Y:-83.36, Z:-1.79 [[-7.20493698e-01 6.93410737e-01 8.38933936e-03 9.04053038e+01] [ 6.93358788e-01 7.20542475e-01 -8.49311012e-03 -8.33597517e+01] [-1.19340891e-02 -3.02410149e-04 -9.99928740e-01 -1.79295882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.256559995 meters 0.015328552513478888 Centerline is valid? [True, True] Translation: X:90.41, Y:-83.35, Z:-1.79 [[-7.72188177e-01 6.35329000e-01 9.08192308e-03 9.04059588e+01] [ 6.35280494e-01 7.72241525e-01 -7.85627375e-03 -8.33508077e+01] [-1.20047567e-02 -2.96953122e-04 -9.99927896e-01 -1.79218962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.286559995 meters 0.014937822842808094 Centerline is valid? [True, True] Translation: X:90.41, Y:-83.33, Z:-1.79 [[-8.13909586e-01 5.80897595e-01 1.04484325e-02 9.04146449e+01] [ 5.80845103e-01 8.13976596e-01 -7.81458683e-03 -8.33291552e+01] [-1.30442543e-02 -2.91446255e-04 -9.99914878e-01 -1.79137462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.316559995 meters 0.01445667189967954 Centerline is valid? [True, True] Translation: X:90.42, Y:-83.31, Z:-1.79 [[-8.52363542e-01 5.22828707e-01 1.12487682e-02 9.04225743e+01] [ 5.22778801e-01 8.52437718e-01 -7.22923161e-03 -8.33054722e+01] [-1.33685241e-02 -2.81315896e-04 -9.99910598e-01 -1.79122700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.346559995 meters 0.014237745584414973 Centerline is valid? [True, True] Translation: X:90.43, Y:-83.28, Z:-1.79 [[-8.86654924e-01 4.62267533e-01 1.23196836e-02 9.04308694e+01] [ 4.62218563e-01 8.86740465e-01 -6.73407248e-03 -8.32820351e+01] [-1.40373050e-02 -2.76412062e-04 -9.99901434e-01 -1.79096985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.376559995 meters 0.013498381168976175 Centerline is valid? [True, True] Translation: X:90.44, Y:-83.26, Z:-1.79 [[-9.16101293e-01 4.00735301e-01 1.30245483e-02 9.04378490e+01] [ 4.00691021e-01 9.16193844e-01 -5.96208271e-03 -8.32620580e+01] [-1.43222280e-02 -2.43052120e-04 -9.99897402e-01 -1.79075781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.406559995 meters 0.013327459143583189 Centerline is valid? [True, True] Translation: X:90.44, Y:-83.24, Z:-1.79 [[-9.41743247e-01 3.36048701e-01 1.38176310e-02 9.04428898e+01] [ 3.36008945e-01 9.41844583e-01 -5.17410122e-03 -8.32376324e+01] [-1.47528109e-02 -2.29827276e-04 -9.99891145e-01 -1.78999801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.436559995 meters 0.013004199178295976 Centerline is valid? [True, True] Translation: X:90.44, Y:-83.21, Z:-1.79 [[-9.62847279e-01 2.69647575e-01 1.46731587e-02 9.04443675e+01] [ 2.69612804e-01 9.62959053e-01 -4.33573355e-03 -8.32132832e+01] [-1.52987711e-02 -2.18577790e-04 -9.99882943e-01 -1.78995889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.46655999499998 meters 0.012506678821866048 Centerline is valid? [True, True] Translation: X:90.45, Y:-83.19, Z:-1.79 [[-9.78941705e-01 2.03532703e-01 1.57345843e-02 9.04460248e+01] [ 2.03503429e-01 9.79068131e-01 -3.45667775e-03 -8.31935010e+01] [-1.61087770e-02 -1.81844159e-04 -9.99870229e-01 -1.78981420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.49655999499998 meters 0.0124104430954973 Centerline is valid? [True, True] Translation: X:90.45, Y:-83.17, Z:-1.79 [[-9.90692346e-01 1.35188256e-01 1.59000225e-02 9.04450516e+01] [ 1.35168356e-01 9.90819919e-01 -2.32459738e-03 -8.31692297e+01] [-1.60683173e-02 -1.53780938e-04 -9.99870884e-01 -1.78962775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.52655999499999 meters 0.0124104430954973 Centerline is valid? [True, True] Translation: X:90.52, Y:-82.62, Z:-2.80 [[-9.75493492e-01 -2.19480393e-01 1.55178944e-02 9.05246103e+01] [ 2.19454899e-01 -9.75616901e-01 -3.34807180e-03 -8.26165636e+01] [ 1.58743561e-02 1.39455702e-04 9.99873985e-01 -2.79683583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.556559995 meters 0.01234173735259034 Centerline is valid? [True, True] Translation: X:90.39, Y:-83.17, Z:-1.79 [[-9.91003015e-01 1.32843000e-01 1.63021754e-02 9.03927462e+01] [ 1.32822860e-01 9.91137085e-01 -2.31679039e-03 -8.31665235e+01] [-1.64654600e-02 -1.30644707e-04 -9.99864427e-01 -1.78960018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.586559995 meters 0.012360899878734427 Centerline is valid? [True, True] Translation: X:90.47, Y:-82.60, Z:-2.80 [[-9.77139119e-01 -2.12002023e-01 1.59462894e-02 9.04746226e+01] [ 2.11975774e-01 -9.77269220e-01 -3.33812234e-03 -8.26018123e+01] [ 1.62915065e-02 1.18417117e-04 9.99867278e-01 -2.79813218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.616559995 meters 0.01194866351623907 Centerline is valid? [True, True] Translation: X:90.34, Y:-83.17, Z:-1.79 [[-9.90770544e-01 1.34620569e-01 1.58439932e-02 9.03386877e+01] [ 1.34602823e-01 9.90897220e-01 -2.18605563e-03 -8.31730336e+01] [-1.59940569e-02 -3.32333141e-05 -9.99872086e-01 -1.79036601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.646559995 meters 0.011981054898333711 Centerline is valid? [True, True] Translation: X:90.34, Y:-83.15, Z:-1.79 [[-9.97709231e-01 6.58821322e-02 1.53568967e-02 9.03415734e+01] [ 6.58743040e-02 9.97827412e-01 -1.01558617e-03 -8.31499014e+01] [-1.53904414e-02 -1.63481842e-06 -9.99881560e-01 -1.79061382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.676559995 meters 0.01205990328794812 Centerline is valid? [True, True] Translation: X:90.34, Y:-83.13, Z:-1.79 [[-9.99879005e-01 -3.59218714e-03 1.51350965e-02 9.03354173e+01] [-3.59142279e-03 9.99993548e-01 7.76811145e-05 -8.31261287e+01] [-1.51352779e-02 2.33151850e-05 -9.99885455e-01 -1.79145158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.706559995 meters 0.012000751050822154 Centerline is valid? [True, True] Translation: X:90.33, Y:-83.10, Z:-1.79 [[-9.97196257e-01 -7.34096499e-02 1.45137433e-02 9.03294872e+01] [-7.34012657e-02 9.97301871e-01 1.11024105e-03 -8.31024960e+01] [-1.45560857e-02 4.18010976e-05 -9.99894054e-01 -1.79297812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.736559995 meters 0.012140911429832847 Centerline is valid? [True, True] Translation: X:90.31, Y:-83.08, Z:-1.79 [[-9.89598071e-01 -1.43154744e-01 1.42259145e-02 9.03136417e+01] [-1.43139109e-01 9.89700316e-01 2.11646627e-03 -8.30804063e+01] [-1.43823743e-02 5.81662119e-05 -9.99896567e-01 -1.79333899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.766559995 meters 0.012511309133894522 Centerline is valid? [True, True] Translation: X:90.21, Y:-82.45, Z:-2.79 [[-9.96140939e-01 8.67118836e-02 1.35749680e-02 9.02107518e+01] [-8.67052615e-02 -9.96233426e-01 1.07670597e-03 -8.24538345e+01] [ 1.36172001e-02 -1.04470257e-04 9.99907276e-01 -2.79274618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.796559995 meters 0.012539734585405396 Centerline is valid? [True, True] Translation: X:90.20, Y:-83.11, Z:-1.79 [[-9.88958902e-01 -1.47528787e-01 1.39838441e-02 9.02016171e+01] [-1.47512870e-01 9.89057759e-01 2.16864079e-03 -8.31070012e+01] [-1.41507664e-02 8.18996407e-05 -9.99899870e-01 -1.79419186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.826559995 meters 0.012492547669172793 Centerline is valid? [True, True] Translation: X:90.09, Y:-82.46, Z:-2.79 [[-9.95636284e-01 9.23359545e-02 1.35078213e-02 9.00902436e+01] [-9.23290684e-02 -9.95727903e-01 1.13384701e-03 -8.24627936e+01] [ 1.35548094e-02 -1.18265338e-04 9.99908122e-01 -2.79245643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.856559995 meters 0.012596681958082773 Centerline is valid? [True, True] Translation: X:90.08, Y:-83.13, Z:-1.79 [[-9.87828450e-01 -1.54931986e-01 1.38214777e-02 9.00845483e+01] [-1.54915908e-01 9.87925137e-01 2.23286680e-03 -8.31316368e+01] [-1.40005277e-02 6.45225814e-05 -9.99901986e-01 -1.79321129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.886559995 meters 0.012597786189321548 Centerline is valid? [True, True] Translation: X:90.06, Y:-83.11, Z:-1.79 [[-9.73955492e-01 -2.26337517e-01 1.34917556e-02 9.00576599e+01] [-2.26315039e-01 9.74048934e-01 3.19018500e-03 -8.31107789e+01] [-1.38636887e-02 5.37110162e-05 -9.99903893e-01 -1.79324103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.916559995 meters 0.012527569036313661 Centerline is valid? [True, True] Translation: X:90.02, Y:-83.10, Z:-1.79 [[-9.54797830e-01 -2.96962943e-01 1.31952184e-02 9.00161282e+01] [-2.96933950e-01 9.54889003e-01 4.14981157e-03 -8.30954151e+01] [-1.38323092e-02 4.41227702e-05 -9.99904328e-01 -1.79341744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.946559995 meters 0.012582952513824434 Centerline is valid? [True, True] Translation: X:89.96, Y:-83.09, Z:-1.79 [[-9.30132174e-01 -3.67008085e-01 1.26175895e-02 8.99571547e+01] [-3.66973808e-01 9.30217751e-01 5.01595054e-03 -8.30888203e+01] [-1.35780001e-02 3.51721295e-05 -9.99907814e-01 -1.79358148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.976559995 meters 0.012574172211331896 Centerline is valid? [True, True] Translation: X:89.89, Y:-83.09, Z:-1.79 [[-9.00245583e-01 -4.35211437e-01 1.22022721e-02 8.98900772e+01] [-4.35171044e-01 9.00328276e-01 5.92942130e-03 -8.30924057e+01] [-1.35666026e-02 2.78598421e-05 -9.99907969e-01 -1.79336840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.006559995 meters 0.012657225151736085 Centerline is valid? [True, True] Translation: X:89.81, Y:-83.10, Z:-1.79 [[-8.65164370e-01 -5.01358661e-01 1.14063844e-02 8.98143879e+01] [-5.01314782e-01 8.65239558e-01 6.63303776e-03 -8.31036565e+01] [-1.31947859e-02 2.04788306e-05 -9.99912945e-01 -1.79308725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.036559995 meters 0.01271355850428203 Centerline is valid? [True, True] Translation: X:89.74, Y:-83.12, Z:-1.79 [[-8.25050299e-01 -5.64959667e-01 1.06102910e-02 8.97351604e+01] [-5.64912708e-01 8.25118522e-01 7.28404080e-03 -8.31230345e+01] [-1.28699369e-02 1.58118227e-05 -9.99917179e-01 -1.79299574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.066559995 meters 0.012636832055663873 Centerline is valid? [True, True] Translation: X:89.65, Y:-83.16, Z:-1.79 [[-7.79446667e-01 -6.26397548e-01 9.43426028e-03 8.96469498e+01] [-6.26351697e-01 7.79503760e-01 7.57894972e-03 -8.31566676e+01] [-1.21014769e-02 -1.77783350e-06 -9.99926774e-01 -1.79330828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.096559995 meters 0.012660633238190715 Centerline is valid? [True, True] Translation: X:89.56, Y:-83.19, Z:-1.79 [[-7.28309694e-01 -6.85204256e-01 7.75356099e-03 8.95611696e+01] [-6.85165836e-01 7.28350964e-01 7.25609181e-03 -8.31912853e+01] [-1.06192186e-02 -2.77930973e-05 -9.99943614e-01 -1.79387707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.126559995 meters 0.012810515021844703 Centerline is valid? [True, True] Translation: X:89.47, Y:-83.24, Z:-1.79 [[-6.72295141e-01 -7.40253494e-01 6.63388245e-03 8.94713247e+01] [-7.40218244e-01 6.72327868e-01 7.22425313e-03 -8.32393885e+01] [-9.80792267e-03 -5.36905364e-05 -9.99951900e-01 -1.79370259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.156559995 meters 0.012863601842629425 Centerline is valid? [True, True] Translation: X:89.38, Y:-83.30, Z:-1.79 [[-6.13438045e-01 -7.89719610e-01 6.05826062e-03 8.93837551e+01] [-7.89682099e-01 6.13467956e-01 7.69732127e-03 -8.32980929e+01] [-9.79527431e-03 -6.22702522e-05 -9.99952023e-01 -1.79341078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.186559995 meters 0.01290028728829747 Centerline is valid? [True, True] Translation: X:89.30, Y:-83.36, Z:-1.79 [[-5.51368962e-01 -8.34244138e-01 5.38387088e-03 8.93015044e+01] [-8.34205477e-01 5.51395244e-01 8.03162232e-03 -8.33640565e+01] [-9.66897463e-03 -6.28673097e-05 -9.99953252e-01 -1.79342792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.21655999499998 meters 0.0129041904859841 Centerline is valid? [True, True] Translation: X:89.22, Y:-83.44, Z:-1.79 [[-4.86314564e-01 -8.73770190e-01 4.87843594e-03 8.92223727e+01] [-8.73727484e-01 4.86339028e-01 8.63908693e-03 -8.34399009e+01] [-9.92115043e-03 -6.11097640e-05 -9.99950782e-01 -1.79276685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.24655999499998 meters 0.013074068309320985 Centerline is valid? [True, True] Translation: X:89.15, Y:-83.53, Z:-1.79 [[-4.18027331e-01 -9.08424604e-01 4.22966418e-03 8.91466560e+01] [-9.08379595e-01 4.18048724e-01 9.04298144e-03 -8.35263755e+01] [-9.98307255e-03 -6.19272449e-05 -9.99950166e-01 -1.79305536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.27655999499999 meters 0.013187367536558116 Centerline is valid? [True, True] Translation: X:89.08, Y:-83.62, Z:-1.79 [[-3.46944956e-01 -9.37879451e-01 3.36641131e-03 8.90771406e+01] [-9.37837026e-01 3.46961282e-01 8.92084262e-03 -8.36171633e+01] [-9.53468937e-03 -6.21038243e-05 -9.99954542e-01 -1.79278136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.306559995 meters 0.013261549134854177 Centerline is valid? [True, True] Translation: X:89.01, Y:-83.72, Z:-1.79 [[-2.74522090e-01 -9.61576335e-01 2.92816737e-03 8.90136274e+01] [-9.61524053e-01 2.74537699e-01 1.00272848e-02 -8.37157943e+01] [-1.04458921e-02 -6.27921764e-05 -9.99945438e-01 -1.79251560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.336559995 meters 0.01322102437072229 Centerline is valid? [True, True] Translation: X:88.96, Y:-83.82, Z:-1.79 [[-2.00719377e-01 -9.79646189e-01 2.25321114e-03 8.89587564e+01] [-9.79587575e-01 2.00732015e-01 1.07164251e-02 -8.38210700e+01] [-1.09505966e-02 -5.62234632e-05 -9.99940039e-01 -1.79208747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.366559995 meters 0.013256810308004952 Centerline is valid? [True, True] Translation: X:88.91, Y:-83.93, Z:-1.79 [[-1.26054942e-01 -9.92022159e-01 1.47893763e-03 8.89130127e+01] [-9.91957938e-01 1.26063609e-01 1.12878820e-02 -8.39252796e+01] [-1.13842693e-02 -4.41506077e-05 -9.99935196e-01 -1.79168319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.396559995 meters 0.013218464051907795 Centerline is valid? [True, True] Translation: X:88.88, Y:-84.04, Z:-1.79 [[-5.10529748e-02 -9.98695740e-01 6.43142624e-04 8.88750399e+01] [-9.98622906e-01 5.10570188e-02 1.20612266e-02 -8.40401052e+01] [-1.20783326e-02 -2.64954552e-05 -9.99927054e-01 -1.79160646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.426559995 meters 0.013167249990062885 Centerline is valid? [True, True] Translation: X:88.85, Y:-84.16, Z:-1.79 [[ 2.45505146e-02 -9.99698550e-01 -2.84393510e-04 8.88452694e+01] [-9.99626627e-01 -2.45521597e-02 1.19915709e-02 -8.41579204e+01] [-1.19949385e-02 -1.01119112e-05 -9.99928058e-01 -1.79131616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.456559995 meters 0.013375461789241842 Centerline is valid? [True, True] Translation: X:88.82, Y:-84.27, Z:-1.79 [[ 9.71738466e-02 -9.95266628e-01 -1.25799988e-03 8.88245949e+01] [-9.95188781e-01 -9.71819799e-02 1.24479745e-02 -8.42706424e+01] [-1.25113085e-02 4.23298040e-05 -9.99921730e-01 -1.79069536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.486559995 meters 0.013489732304281622 Centerline is valid? [True, True] Translation: X:88.81, Y:-84.39, Z:-1.79 [[ 1.70566598e-01 -9.85343518e-01 -2.27755979e-03 8.88140570e+01] [-9.85261963e-01 -1.70581784e-01 1.26775230e-02 -8.43919060e+01] [-1.28802253e-02 8.16310669e-05 -9.99917043e-01 -1.79092323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.516559995 meters 0.014020836746081723 Centerline is valid? [True, True] Translation: X:88.81, Y:-84.51, Z:-1.79 [[ 2.42522791e-01 -9.70140671e-01 -3.12629602e-03 8.88127062e+01] [-9.70066397e-01 -2.42542910e-01 1.20050663e-02 -8.45089425e+01] [-1.24048640e-02 1.21212538e-04 -9.99923049e-01 -1.79043782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.546559995 meters 0.01530194436761112 Centerline is valid? [True, True] Translation: X:88.82, Y:-84.62, Z:-1.79 [[ 3.08975452e-01 -9.51061806e-01 -3.95121864e-03 8.88219729e+01] [-9.50992585e-01 -3.09000643e-01 1.14763589e-02 -8.46217397e+01] [-1.21356557e-02 2.11666442e-04 -9.99926338e-01 -1.79138734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.576559995 meters 0.017327534917894568 Centerline is valid? [True, True] Translation: X:88.84, Y:-84.74, Z:-1.79 [[ 3.74259661e-01 -9.27313041e-01 -4.49774520e-03 8.88414707e+01] [-9.27254864e-01 -3.74286580e-01 1.03910582e-02 -8.47351259e+01] [-1.13192095e-02 2.81602194e-04 -9.99935896e-01 -1.79222186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.606559995 meters 0.018790030890288325 Centerline is valid? [True, True] Translation: X:88.87, Y:-84.85, Z:-1.79 [[ 4.41351663e-01 -8.97320033e-01 -5.04649783e-03 8.88671026e+01] [-8.97269059e-01 -4.41380408e-01 9.56926273e-03 -8.48486874e+01] [-1.08141164e-02 3.04656334e-04 -9.99941479e-01 -1.79225386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.636559995 meters 0.019998555370838295 Centerline is valid? [True, True] Translation: X:88.90, Y:-84.96, Z:-1.79 [[ 5.06366069e-01 -8.62301083e-01 -5.49963770e-03 8.89003896e+01] [-8.62256920e-01 -5.06395833e-01 8.73292562e-03 -8.49597543e+01] [-1.03154048e-02 3.20043445e-04 -9.99946744e-01 -1.79217315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.666559995 meters 0.020794368824033953 Centerline is valid? [True, True] Translation: X:88.94, Y:-85.07, Z:-1.79 [[ 5.68948409e-01 -8.22351730e-01 -5.94470301e-03 8.89417674e+01] [-8.22312811e-01 -5.68979368e-01 8.00745908e-03 -8.50686668e+01] [-9.96736119e-03 3.32574343e-04 -9.99950269e-01 -1.79185629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.696559995 meters 0.021839527142253342 Centerline is valid? [True, True] Translation: X:88.98, Y:-85.17, Z:-1.79 [[ 6.28659888e-01 -7.77652006e-01 -6.64097599e-03 8.89848287e+01] [-7.77614499e-01 -6.28694862e-01 7.64605734e-03 -8.51650110e+01] [-1.01211193e-02 3.57349664e-04 -9.99948716e-01 -1.79199647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.726559995 meters 0.02126482210225709 Centerline is valid? [True, True] Translation: X:89.03, Y:-85.26, Z:-1.79 [[ 6.84785907e-01 -7.28710116e-01 -7.05896381e-03 8.90340990e+01] [-7.28676831e-01 -6.84822190e-01 6.97456881e-03 -8.52607120e+01] [-9.91657390e-03 3.67616950e-04 -9.99950762e-01 -1.79228404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.756559995 meters 0.019828303321914154 Centerline is valid? [True, True] Translation: X:89.03, Y:-85.27, Z:-1.79 [[ 7.38584553e-01 -6.74123065e-01 -7.13799664e-03 8.90264731e+01] [-6.74096221e-01 -7.38618956e-01 6.02679835e-03 -8.52739982e+01] [-9.33506340e-03 3.60396393e-04 -9.99956362e-01 -1.79354043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.786559995 meters 0.020239693961259787 Centerline is valid? [True, True] Translation: X:89.02, Y:-85.28, Z:-1.79 [[ 7.89077695e-01 -6.14251340e-01 -7.18904782e-03 8.90213668e+01] [-6.14229722e-01 -7.89110369e-01 5.16462117e-03 -8.52837307e+01] [-8.84532765e-03 3.40439477e-04 -9.99960821e-01 -1.79367441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.816559995 meters 0.01986130271412342 Centerline is valid? [True, True] Translation: X:89.02, Y:-85.30, Z:-1.79 [[ 8.34800891e-01 -5.50505405e-01 -7.16038113e-03 8.90162497e+01] [-5.50488402e-01 -8.34831538e-01 4.33845130e-03 -8.52952846e+01] [-8.36605288e-03 3.19963753e-04 -9.99964953e-01 -1.79419422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.846559995 meters 0.020144164732636506 Centerline is valid? [True, True] Translation: X:89.01, Y:-85.31, Z:-1.79 [[ 8.75829541e-01 -4.82573356e-01 -6.75062266e-03 8.90122582e+01] [-4.82561460e-01 -8.75855512e-01 3.39994061e-03 -8.53065268e+01] [-7.55329081e-03 2.79821909e-04 -9.99971434e-01 -1.79460372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.876559995 meters 0.020144164732636506 Centerline is valid? [True, True] Translation: X:89.01, Y:-85.32, Z:-1.79 [[ 9.10894199e-01 -4.12580682e-01 -6.99566317e-03 8.90099068e+01] [-4.12570854e-01 -9.10921019e-01 2.86133966e-03 -8.53167774e+01] [-7.55303009e-03 2.79829034e-04 -9.99971436e-01 -1.79460641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.906559995 meters 0.019892330790620385 Centerline is valid? [True, True] Translation: X:89.01, Y:-85.33, Z:-1.79 [[ 9.40688192e-01 -3.39201624e-01 -6.92703164e-03 8.90088158e+01] [-3.39194465e-01 -9.40713660e-01 2.21935818e-03 -8.53295049e+01] [-7.26916318e-03 2.61886757e-04 -9.99973545e-01 -1.79408433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.936559995 meters 0.019410117758176342 Centerline is valid? [True, True] Translation: X:89.01, Y:-85.34, Z:-1.79 [[ 9.64403086e-01 -2.64336234e-01 -7.28308966e-03 8.90086143e+01] [-2.64330781e-01 -9.64430549e-01 1.71882465e-03 -8.53422276e+01] [-7.47838179e-03 2.67504977e-04 -9.99972001e-01 -1.79412397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.96655999499998 meters 0.019988634668979956 Centerline is valid? [True, True] Translation: X:89.00, Y:-85.35, Z:-1.79 [[ 9.82140883e-01 -1.87990458e-01 -7.67289746e-03 8.90044398e+01] [-1.87986923e-01 -9.82170815e-01 1.18589920e-03 -8.53520479e+01] [-7.75903369e-03 2.77684298e-04 -9.99969860e-01 -1.79364201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.99655999499998 meters 0.0200365586405418 Centerline is valid? [True, True] Translation: X:89.00, Y:-85.36, Z:-1.79 [[ 9.93820696e-01 -1.10747550e-01 -7.44337002e-03 8.90020963e+01] [-1.10746463e-01 -9.93848534e-01 5.59379299e-04 -8.53617973e+01] [-7.45953227e-03 2.68404176e-04 -9.99972141e-01 -1.79346773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.02655999499999 meters 0.020929214502290888 Centerline is valid? [True, True] Translation: X:89.00, Y:-85.37, Z:-1.79 [[ 9.99423813e-01 -3.31585393e-02 -7.24933606e-03 8.90003490e+01] [-3.31595843e-02 -9.99450070e-01 -2.39623369e-05 -8.53699153e+01] [-7.24455487e-03 2.64333500e-04 -9.99973723e-01 -1.79324464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.056559995 meters 0.019566957517113667 Centerline is valid? [True, True] Translation: X:89.00, Y:-85.38, Z:-1.79 [[ 9.98972518e-01 4.47312918e-02 -7.28153770e-03 8.90004522e+01] [ 4.47281325e-02 -9.98999018e-01 -5.96231273e-04 -8.53840296e+01] [-7.30091921e-03 2.69929073e-04 -9.99973312e-01 -1.79374604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.086559995 meters 0.021313913519247395 Centerline is valid? [True, True] Translation: X:89.00, Y:-85.39, Z:-1.79 [[ 9.92538625e-01 1.21732944e-01 -6.94030484e-03 8.89996245e+01] [ 1.21728082e-01 -9.92562854e-01 -1.12026526e-03 -8.53928003e+01] [-7.02506197e-03 2.67076546e-04 -9.99975288e-01 -1.79293385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.116559995 meters 0.02050238812895969 Centerline is valid? [True, True] Translation: X:89.00, Y:-85.40, Z:-1.79 [[ 9.80051243e-01 1.98629990e-01 -6.75932312e-03 8.90012937e+01] [ 1.98623376e-01 -9.80074515e-01 -1.64289095e-03 -8.54048479e+01] [-6.95096775e-03 2.67557739e-04 -9.99975806e-01 -1.79300272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.146559995 meters 0.022706809984727804 Centerline is valid? [True, True] Translation: X:89.00, Y:-85.41, Z:-1.79 [[ 9.61871370e-01 2.73417900e-01 -6.79106742e-03 8.90009125e+01] [ 2.73408983e-01 -9.61895301e-01 -2.22654840e-03 -8.54118090e+01] [-7.14107403e-03 2.84914326e-04 -9.99974462e-01 -1.79222384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.176559995 meters 0.020742860096883982 Centerline is valid? [True, True] Translation: X:89.01, Y:-85.42, Z:-1.79 [[ 9.37684175e-01 3.47427615e-01 -6.51460939e-03 8.90051431e+01] [ 3.47417105e-01 -9.37706762e-01 -2.71739388e-03 -8.54248651e+01] [-7.05289095e-03 2.84770507e-04 -9.99975088e-01 -1.79288656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.206559995 meters 0.021020446656354917 Centerline is valid? [True, True] Translation: X:89.01, Y:-85.43, Z:-1.79 [[ 9.07780659e-01 4.19400069e-01 -6.15277978e-03 8.90090686e+01] [ 4.19388315e-01 -9.07801466e-01 -3.15259147e-03 -8.54343011e+01] [-6.90769959e-03 2.81457622e-04 -9.99976102e-01 -1.79305781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.236559995 meters 0.02132984539145596 Centerline is valid? [True, True] Translation: X:89.01, Y:-85.44, Z:-1.79 [[ 8.71563851e-01 4.90247622e-01 -5.80715013e-03 8.90121849e+01] [ 4.90234657e-01 -8.71583155e-01 -3.57549196e-03 -8.54435788e+01] [-6.81429066e-03 2.69403289e-04 -9.99976746e-01 -1.79337995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.266559995 meters 0.02119833731548559 Centerline is valid? [True, True] Translation: X:89.02, Y:-85.45, Z:-1.79 [[ 8.29822593e-01 5.58003013e-01 -5.20594053e-03 8.90166337e+01] [ 5.57990147e-01 -8.29838886e-01 -3.79718191e-03 -8.54520546e+01] [-6.43893084e-03 2.46123823e-04 -9.99979240e-01 -1.79334904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.296559995 meters 0.020726200968686905 Centerline is valid? [True, True] Translation: X:89.02, Y:-85.46, Z:-1.79 [[ 7.82275245e-01 6.22913481e-01 -4.92312325e-03 8.90224286e+01] [ 6.22899234e-01 -7.82290701e-01 -4.21941805e-03 -8.54605026e+01] [-6.47964592e-03 2.34136583e-04 -9.99978979e-01 -1.79350456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.326559995 meters 0.01935818221621639 Centerline is valid? [True, True] Translation: X:89.03, Y:-85.47, Z:-1.79 [[ 7.29505722e-01 6.83960337e-01 -4.43386414e-03 8.90312113e+01] [ 6.83945909e-01 -7.29519165e-01 -4.44757681e-03 -8.54702244e+01] [-6.27655500e-03 2.12009496e-04 -9.99980280e-01 -1.79336192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.356559995 meters 0.018664016476201254 Centerline is valid? [True, True] Translation: X:89.04, Y:-85.48, Z:-1.79 [[ 6.69320784e-01 7.42959524e-01 -4.56432421e-03 8.90386859e+01] [ 7.42940212e-01 -6.69336318e-01 -5.36050305e-03 -8.54796050e+01] [-7.03770476e-03 1.96876112e-04 -9.99975216e-01 -1.79225010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.386559995 meters 0.017121323271293412 Centerline is valid? [True, True] Translation: X:89.05, Y:-85.49, Z:-1.79 [[ 6.06869795e-01 7.94790487e-01 -4.13935453e-03 8.90483679e+01] [ 7.94769969e-01 -6.06883886e-01 -5.71365854e-03 -8.54875004e+01] [-7.05326902e-03 1.77612116e-04 -9.99975110e-01 -1.79210335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.416559995 meters 0.016503797223475964 Centerline is valid? [True, True] Translation: X:89.06, Y:-85.49, Z:-1.79 [[ 5.40588309e-01 8.41277582e-01 -4.03849033e-03 8.90570796e+01] [ 8.41251641e-01 -5.40603365e-01 -6.60890427e-03 -8.54937637e+01] [-7.74314447e-03 1.75309760e-04 -9.99970006e-01 -1.79175071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.446559995 meters 0.016503797223475964 Centerline is valid? [True, True] Translation: X:89.06, Y:-85.50, Z:-1.79 [[ 4.73063073e-01 8.81021577e-01 -3.50852204e-03 8.90645876e+01] [ 8.80994538e-01 -4.73076051e-01 -6.90459868e-03 -8.54989473e+01] [-7.74289817e-03 1.75321916e-04 -9.99970008e-01 -1.79175289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.476559995 meters 0.016043590554586335 Centerline is valid? [True, True] Translation: X:89.07, Y:-85.50, Z:-1.79 [[ 4.00449521e-01 9.16313643e-01 -3.08037971e-03 8.90733703e+01] [ 9.16283310e-01 -4.00461335e-01 -7.45758812e-03 -8.55033656e+01] [-8.06706271e-03 1.63887082e-04 -9.99967447e-01 -1.79157491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.506559995 meters 0.015982478805747248 Centerline is valid? [True, True] Translation: X:89.08, Y:-85.51, Z:-1.79 [[ 3.25946209e-01 9.45384744e-01 -2.59905480e-03 8.90804630e+01] [ 9.45350711e-01 -3.25956533e-01 -8.02323243e-03 -8.55075147e+01] [-8.43222043e-03 1.58123889e-04 -9.99964436e-01 -1.79084845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.536559995 meters 0.015538437534807712 Centerline is valid? [True, True] Translation: X:89.09, Y:-85.51, Z:-1.79 [[ 2.49249505e-01 9.68437037e-01 -2.09513522e-03 8.90897717e+01] [ 9.68397447e-01 -2.49258263e-01 -8.75805163e-03 -8.55101863e+01] [-9.00385134e-03 1.54016439e-04 -9.99959453e-01 -1.79093091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.566559995 meters 0.01526604843728585 Centerline is valid? [True, True] Translation: X:89.10, Y:-85.51, Z:-1.79 [[ 1.72937793e-01 9.84931719e-01 -1.42463320e-03 8.90999214e+01] [ 9.84890286e-01 -1.72943587e-01 -9.03548556e-03 -8.55121479e+01] [-9.14571749e-03 1.59469531e-04 -9.99958164e-01 -1.79128394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.596559995 meters 0.015330329970266744 Centerline is valid? [True, True] Translation: X:89.11, Y:-85.51, Z:-1.79 [[ 9.66170723e-02 9.95321378e-01 -7.03549076e-04 8.91100323e+01] [ 9.95280671e-01 -9.66194849e-02 -9.00343621e-03 -8.55137836e+01] [-9.02928909e-03 1.69656850e-04 -9.99959221e-01 -1.79155403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.626559995 meters 0.01603411901259042 Centerline is valid? [True, True] Translation: X:89.12, Y:-85.52, Z:-1.79 [[ 2.03778599e-02 9.99792350e-01 4.08147812e-06 8.91178327e+01] [ 9.99749135e-01 -2.03769411e-02 -9.29765902e-03 -8.55152959e+01] [-9.29564519e-03 1.93546847e-04 -9.99956776e-01 -1.79160466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.656559995 meters 0.017818485922154237 Centerline is valid? [True, True] Translation: X:89.12, Y:-85.52, Z:-1.79 [[-5.23137735e-02 9.98630467e-01 6.78441290e-04 8.91218788e+01] [ 9.98593571e-01 5.23176746e-02 -8.58722549e-03 -8.55173180e+01] [-8.61095947e-03 2.28256942e-04 -9.99962899e-01 -1.79224347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.686559995 meters 0.019024051349210567 Centerline is valid? [True, True] Translation: X:89.13, Y:-85.52, Z:-1.79 [[-1.27231061e-01 9.91872239e-01 1.31068689e-03 8.91270608e+01] [ 9.91837817e-01 1.27237570e-01 -8.26717276e-03 -8.55189204e+01] [-8.36674778e-03 2.48147661e-04 -9.99964967e-01 -1.79256411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.71655999499998 meters 0.019791814449256775 Centerline is valid? [True, True] Translation: X:89.13, Y:-85.52, Z:-1.79 [[-2.00990681e-01 9.79591402e-01 1.85266802e-03 8.91338974e+01] [ 9.79561040e-01 2.00999046e-01 -7.71707543e-03 -8.55192101e+01] [-7.93196524e-03 2.63741172e-04 -9.99968507e-01 -1.79283146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.74655999499998 meters 0.022660406812577197 Centerline is valid? [True, True] Translation: X:89.14, Y:-85.52, Z:-1.79 [[-2.70985067e-01 9.62580359e-01 2.47899702e-03 8.91371587e+01] [ 9.62550157e-01 2.70996219e-01 -7.63181680e-03 -8.55217908e+01] [-8.01803578e-03 3.18050580e-04 -9.99967804e-01 -1.79295624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.77655999499999 meters 0.02296117131713165 Centerline is valid? [True, True] Translation: X:89.14, Y:-85.52, Z:-1.79 [[-3.43058552e-01 9.39309601e-01 2.88146868e-03 8.91447471e+01] [ 9.39283850e-01 3.43070505e-01 -6.96260552e-03 -8.55210356e+01] [-7.52858913e-03 3.17935632e-04 -9.99971609e-01 -1.79319093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.806559995 meters 0.024409113334411116 Centerline is valid? [True, True] Translation: X:89.15, Y:-85.52, Z:-1.79 [[-4.13614415e-01 9.10445975e-01 3.35281513e-03 8.91509916e+01] [ 9.10422202e-01 4.13627874e-01 -6.58755100e-03 -8.55218627e+01] [-7.38442709e-03 3.27771280e-04 -9.99972681e-01 -1.79314968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.836559995 meters 0.024722096735007665 Centerline is valid? [True, True] Translation: X:89.16, Y:-85.52, Z:-1.79 [[-4.82319158e-01 8.75987234e-01 3.82037515e-03 8.91582774e+01] [ 8.75965054e-01 4.82334171e-01 -6.24266146e-03 -8.55210098e+01] [-7.31118922e-03 3.35559905e-04 -9.99973217e-01 -1.79351887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.866559995 meters 0.0252396619050895 Centerline is valid? [True, True] Translation: X:89.16, Y:-85.52, Z:-1.79 [[-5.48796121e-01 8.35943016e-01 4.70008701e-03 8.91648172e+01] [ 8.35917996e-01 5.48816120e-01 -6.47848539e-03 -8.55196402e+01] [-7.99512814e-03 3.73519660e-04 -9.99967969e-01 -1.79307970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.896559995 meters 0.024461604740113184 Centerline is valid? [True, True] Translation: X:89.17, Y:-85.52, Z:-1.79 [[-6.12669736e-01 7.90312698e-01 6.45248629e-03 8.91742469e+01] [ 7.90276627e-01 6.12703537e-01 -7.56497123e-03 -8.55152176e+01] [-9.93215400e-03 4.64420176e-04 -9.99950567e-01 -1.79204269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.926559995 meters 0.02338873942329461 Centerline is valid? [True, True] Translation: X:89.18, Y:-85.51, Z:-1.79 [[-6.73368783e-01 7.39269045e-01 7.46728952e-03 8.91838758e+01] [ 7.39231379e-01 6.73410012e-01 -7.47827492e-03 -8.55086106e+01] [-1.05570047e-02 4.84417842e-04 -9.99944156e-01 -1.79153147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.956559995 meters 0.02192384316550802 Centerline is valid? [True, True] Translation: X:89.19, Y:-85.50, Z:-1.79 [[-7.29861887e-01 6.83543703e-01 8.34458037e-03 8.91948676e+01] [ 6.83506594e-01 7.29909422e-01 -7.13949295e-03 -8.54995226e+01] [-1.09709433e-02 4.92731904e-04 -9.99939696e-01 -1.79150390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.986559995 meters 0.02254603734372133 Centerline is valid? [True, True] Translation: X:89.21, Y:-85.48, Z:-1.79 [[-7.77800037e-01 6.28444583e-01 9.19281239e-03 8.92126996e+01] [ 6.28407994e-01 7.77854207e-01 -6.79894808e-03 -8.54774438e+01] [-1.14234299e-02 4.88614726e-04 -9.99934631e-01 -1.79086993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.016559995 meters 0.02170236344019423 Centerline is valid? [True, True] Translation: X:89.23, Y:-85.45, Z:-1.79 [[-8.20961747e-01 5.70905486e-01 9.42001490e-03 8.92296615e+01] [ 5.70874311e-01 8.21015658e-01 -5.98422534e-03 -8.54524645e+01] [-1.11504068e-02 4.64824425e-04 -9.99937724e-01 -1.79089736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.046559995 meters 0.021897570778983043 Centerline is valid? [True, True] Translation: X:89.24, Y:-85.43, Z:-1.79 [[-8.59779525e-01 5.10576913e-01 9.50703102e-03 8.92409650e+01] [ 5.10551299e-01 8.59831973e-01 -5.13315358e-03 -8.54258739e+01] [-1.07953189e-02 4.40446693e-04 -9.99941632e-01 -1.79069497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.076559995 meters 0.022282847628534767 Centerline is valid? [True, True] Translation: X:89.26, Y:-85.40, Z:-1.79 [[-8.94043997e-01 4.47883556e-01 9.25480694e-03 8.92563187e+01] [ 4.47864237e-01 8.94091804e-01 -4.17989512e-03 -8.54022464e+01] [-1.01467533e-02 4.07886912e-04 -9.99948437e-01 -1.79098270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.106559995 meters 0.0212631952412431 Centerline is valid? [True, True] Translation: X:89.27, Y:-85.37, Z:-1.79 [[-9.23715466e-01 3.82978427e-01 8.78989574e-03 8.92671294e+01] [ 3.82964890e-01 9.23757212e-01 -3.24147137e-03 -8.53742332e+01] [-9.36114318e-03 3.72024216e-04 -9.99956114e-01 -1.79226485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.136559995 meters 0.020527302091674405 Centerline is valid? [True, True] Translation: X:89.27, Y:-85.35, Z:-1.79 [[-9.48645182e-01 3.16239000e-01 8.07550711e-03 8.92740782e+01] [ 3.16230490e-01 9.48679496e-01 -2.34345789e-03 -8.53452008e+01] [-8.40216079e-03 3.30611541e-04 -9.99964647e-01 -1.79320979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.166559995 meters 0.02065668422528803 Centerline is valid? [True, True] Translation: X:89.28, Y:-85.32, Z:-1.79 [[-9.68960623e-01 2.47107170e-01 7.30467619e-03 8.92805906e+01] [ 2.47102355e-01 9.68988114e-01 -1.56869111e-03 -8.53170195e+01] [-7.46577923e-03 2.85002777e-04 -9.99972090e-01 -1.79371412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.196559995 meters 0.020789086668761732 Centerline is valid? [True, True] Translation: X:89.28, Y:-85.29, Z:-1.79 [[-9.84117673e-01 1.77375369e-01 7.09812054e-03 8.92809124e+01] [ 1.77372734e-01 9.84143234e-01 -1.00407094e-03 -8.52882643e+01] [-7.16366476e-03 2.70889087e-04 -9.99974304e-01 -1.79384546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.226559995 meters 0.021085460740942436 Centerline is valid? [True, True] Translation: X:89.38, Y:-84.61, Z:-2.79 [[-9.85712408e-01 -1.68314176e-01 6.43327380e-03 8.93775349e+01] [ 1.68308688e-01 -9.85733359e-01 -1.38915377e-03 -8.46073120e+01] [ 6.57530687e-03 -2.86530238e-04 9.99978341e-01 -2.79346615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.256559995 meters 0.020804026384713365 Centerline is valid? [True, True] Translation: X:89.22, Y:-85.28, Z:-1.79 [[-9.85272239e-01 1.70884543e-01 6.08994920e-03 8.92201982e+01] [ 1.70882642e-01 9.85291036e-01 -8.34973375e-04 -8.52784120e+01] [-6.14305640e-03 2.17990524e-04 -9.99981107e-01 -1.79429994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.286559995 meters 0.02020889477060866 Centerline is valid? [True, True] Translation: X:89.22, Y:-85.25, Z:-1.79 [[-9.95049119e-01 9.91935206e-02 6.15600856e-03 8.92191284e+01] [ 9.91929333e-02 9.95068139e-01 -4.01405376e-04 -8.52479369e+01] [-6.16546479e-03 2.11214481e-04 -9.99980971e-01 -1.79437780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.316559995 meters 0.019567247422402966 Centerline is valid? [True, True] Translation: X:89.21, Y:-85.22, Z:-1.79 [[-9.99623141e-01 2.68003962e-02 5.94260381e-03 8.92124508e+01] [ 2.68010829e-02 9.99640786e-01 3.59370938e-05 -8.52174785e+01] [-5.93950602e-03 1.95191768e-04 -9.99982342e-01 -1.79465317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.346559995 meters 0.01907035401166756 Centerline is valid? [True, True] Translation: X:89.21, Y:-84.54, Z:-2.79 [[-9.99545091e-01 -2.95119932e-02 6.21711097e-03 8.92084008e+01] [ 2.95102698e-02 -9.99564409e-01 -3.68774163e-04 -8.45433778e+01] [ 6.22528611e-03 -1.85137782e-04 9.99980606e-01 -2.79295252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.376559995 meters 0.01791144205331058 Centerline is valid? [True, True] Translation: X:89.13, Y:-85.21, Z:-1.79 [[-9.99825618e-01 1.74794973e-02 6.57274134e-03 8.91266151e+01] [ 1.74803711e-02 9.99847204e-01 7.55098619e-05 -8.52121685e+01] [-6.57041717e-03 1.90390652e-04 -9.99978396e-01 -1.79478021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.406559995 meters 0.016972596909416056 Centerline is valid? [True, True] Translation: X:89.12, Y:-85.18, Z:-1.79 [[-9.98446661e-01 -5.52677021e-02 7.05305111e-03 8.91175150e+01] [-5.52649424e-02 9.98471553e-01 5.85718014e-04 -8.51820572e+01] [-7.07464219e-03 1.95021732e-04 -9.99974955e-01 -1.79480326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.436559995 meters 0.01669678215224857 Centerline is valid? [True, True] Translation: X:89.10, Y:-85.15, Z:-1.79 [[-9.91829727e-01 -1.27350579e-01 7.45802415e-03 8.91021996e+01] [-1.27345450e-01 9.91857747e-01 1.16056184e-03 -8.51542582e+01] [-7.54509725e-03 2.01334287e-04 -9.99971515e-01 -1.79463670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.46655999499998 meters 0.016176676580210873 Centerline is valid? [True, True] Translation: X:89.07, Y:-85.13, Z:-1.79 [[-9.79788776e-01 -1.99886223e-01 7.71056236e-03 8.90729473e+01] [-1.99878435e-01 9.79819095e-01 1.77562723e-03 -8.51288572e+01] [-7.90987965e-03 1.98564497e-04 -9.99968697e-01 -1.79455953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.49655999499998 meters 0.01658736574817274 Centerline is valid? [True, True] Translation: X:89.03, Y:-85.11, Z:-1.79 [[-9.62616482e-01 -2.70762490e-01 7.56195214e-03 8.90299648e+01] [-2.70752535e-01 9.62646163e-01 2.33004510e-03 -8.51110283e+01] [-7.91037303e-03 1.95522108e-04 -9.99968693e-01 -1.79400896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.52655999499999 meters 0.016954775228348793 Centerline is valid? [True, True] Translation: X:88.97, Y:-85.10, Z:-1.79 [[-9.40087267e-01 -3.40845770e-01 7.75191121e-03 8.89656472e+01] [-3.40832368e-01 9.40119204e-01 3.02962899e-03 -8.51034949e+01] [-8.32035683e-03 2.06013383e-04 -9.99965364e-01 -1.79388850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.556559995 meters 0.016481340503836744 Centerline is valid? [True, True] Translation: X:88.90, Y:-85.10, Z:-1.79 [[-9.12585093e-01 -4.08823295e-01 7.20846124e-03 8.88985807e+01] [-4.08808780e-01 9.12613540e-01 3.45084131e-03 -8.51003271e+01] [-7.98932364e-03 2.02304092e-04 -9.99968064e-01 -1.79432522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.586559995 meters 0.01692635077278831 Centerline is valid? [True, True] Translation: X:88.82, Y:-85.11, Z:-1.79 [[-8.80183477e-01 -4.74587288e-01 6.62967416e-03 8.88224283e+01] [-4.74572090e-01 8.80208422e-01 3.80338380e-03 -8.51087036e+01] [-7.64053263e-03 2.01417256e-04 -9.99970790e-01 -1.79455307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.616559995 meters 0.017575581549986934 Centerline is valid? [True, True] Translation: X:88.74, Y:-85.13, Z:-1.80 [[-8.43882263e-01 -5.36497252e-01 5.78145942e-03 8.87397618e+01] [-5.36482987e-01 8.43902042e-01 3.91766452e-03 -8.51276204e+01] [-6.98080166e-03 2.04392978e-04 -9.99975613e-01 -1.79528842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.646559995 meters 0.018476418208138657 Centerline is valid? [True, True] Translation: X:88.66, Y:-85.16, Z:-1.80 [[-8.02331606e-01 -5.96854354e-01 5.37344360e-03 8.86550257e+01] [-5.96839166e-01 8.02349571e-01 4.26328766e-03 -8.51560115e+01] [-6.85594197e-03 2.13488840e-04 -9.99976475e-01 -1.79533919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.676559995 meters 0.01853437133474976 Centerline is valid? [True, True] Translation: X:88.57, Y:-85.19, Z:-1.80 [[-7.56090107e-01 -6.54447555e-01 5.11345236e-03 8.85671058e+01] [-6.54430524e-01 7.56107364e-01 4.72694377e-03 -8.51936214e+01] [-6.95985578e-03 2.27596115e-04 -9.99975754e-01 -1.79550065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.706559995 meters 0.019416102680589548 Centerline is valid? [True, True] Translation: X:88.48, Y:-85.24, Z:-1.80 [[-7.05666601e-01 -7.08529015e-01 4.61343711e-03 8.84790364e+01] [-7.08511671e-01 7.05681643e-01 4.96296767e-03 -8.52422483e+01] [-6.77202447e-03 2.33526485e-04 -9.99977042e-01 -1.79535792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.736559995 meters 0.01967941576598353 Centerline is valid? [True, True] Translation: X:88.39, Y:-85.30, Z:-1.80 [[-6.51556273e-01 -7.58585956e-01 4.66585232e-03 8.83894048e+01] [-7.58563416e-01 6.51572921e-01 5.85417545e-03 -8.53014717e+01] [-7.48103831e-03 2.74979870e-04 -9.99971979e-01 -1.79518773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.766559995 meters 0.018876374532643233 Centerline is valid? [True, True] Translation: X:88.30, Y:-85.37, Z:-1.80 [[-5.92454668e-01 -8.05593302e-01 4.11070612e-03 8.83004559e+01] [-8.05570634e-01 5.92468866e-01 6.04952477e-03 -8.53708043e+01] [-7.30892203e-03 2.72605055e-04 -9.99973252e-01 -1.79532666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.796559995 meters 0.019743728981205234 Centerline is valid? [True, True] Translation: X:88.22, Y:-85.44, Z:-1.79 [[-5.29174617e-01 -8.48502836e-01 4.14274425e-03 8.82197955e+01] [-8.48472101e-01 5.29190742e-01 7.22860533e-03 -8.54440102e+01] [-8.32579403e-03 3.10191541e-04 -9.99965292e-01 -1.79439275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.826559995 meters 0.019565010012106008 Centerline is valid? [True, True] Translation: X:88.14, Y:-85.53, Z:-1.79 [[-4.62321555e-01 -8.86703657e-01 3.92480368e-03 8.81418367e+01] [-8.86665316e-01 4.62338093e-01 8.25260057e-03 -8.55281100e+01] [-9.13219736e-03 3.35367840e-04 -9.99958244e-01 -1.79393468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.856559995 meters 0.018544011634390598 Centerline is valid? [True, True] Translation: X:88.07, Y:-85.62, Z:-1.79 [[-3.92423027e-01 -9.19778851e-01 3.32173735e-03 8.80687073e+01] [-9.19738425e-01 3.92436945e-01 8.62979696e-03 -8.56188659e+01] [-9.24107719e-03 3.31401563e-04 -9.99957245e-01 -1.79374352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.886559995 meters 0.019263853794319927 Centerline is valid? [True, True] Translation: X:88.00, Y:-85.72, Z:-1.79 [[-3.20093013e-01 -9.47382293e-01 2.69344286e-03 8.80035982e+01] [-9.47339633e-01 3.20104177e-01 8.99641452e-03 -8.57208684e+01] [-9.38522612e-03 3.28084256e-04 -9.99955904e-01 -1.79324928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.916559995 meters 0.02162975951915541 Centerline is valid? [True, True] Translation: X:87.95, Y:-85.83, Z:-1.79 [[-2.44781638e-01 -9.69576170e-01 1.99993095e-03 8.79476457e+01] [-9.69532666e-01 2.44789610e-01 9.19004662e-03 -8.58260197e+01] [-9.40001253e-03 3.10556275e-04 -9.99955771e-01 -1.79197083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.946559995 meters 0.02162975951915541 Centerline is valid? [True, True] Translation: X:87.90, Y:-85.94, Z:-1.79 [[-1.69770485e-01 -9.85482785e-01 1.28981677e-03 8.78993152e+01] [-9.85438799e-01 1.69775101e-01 9.31607578e-03 -8.59356458e+01] [-9.39981107e-03 3.10559217e-04 -9.99955773e-01 -1.79198063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.976559995 meters 0.017484042471491473 Centerline is valid? [True, True] Translation: X:87.85, Y:-86.04, Z:-1.79 [[-9.21743252e-02 -9.95742710e-01 5.91554782e-04 8.78515367e+01] [-9.95695849e-01 9.21757292e-02 9.66495777e-03 -8.60431964e+01] [-9.67833823e-03 3.01852319e-04 -9.99953118e-01 -1.79357037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.006559995 meters 0.01790163612159491 Centerline is valid? [True, True] Translation: X:87.82, Y:-86.16, Z:-1.79 [[-1.51292392e-02 -9.99885536e-01 -1.45020855e-04 8.78197544e+01] [-9.99841460e-01 1.51272100e-02 9.39268269e-03 -8.61566252e+01] [-9.38941380e-03 2.87102007e-04 -9.99955877e-01 -1.79339998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.036559995 meters 0.017093057888898304 Centerline is valid? [True, True] Translation: X:87.80, Y:-86.28, Z:-1.79 [[ 6.22615986e-02 -9.98059505e-01 -8.47201575e-04 8.77953269e+01] [-9.98017388e-01 -6.22667578e-02 9.17302461e-03 -8.62756598e+01] [-9.20797690e-03 2.74394726e-04 -9.99957568e-01 -1.79374856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.066559995 meters 0.017009443899943254 Centerline is valid? [True, True] Translation: X:87.78, Y:-86.40, Z:-1.79 [[ 1.39460683e-01 -9.90226499e-01 -1.48284136e-03 8.77798777e+01] [-9.90188262e-01 -1.39468335e-01 8.70575677e-03 -8.63955979e+01] [-8.82748046e-03 2.54181317e-04 -9.99961005e-01 -1.79388783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.096559995 meters 0.017086958300120417 Centerline is valid? [True, True] Translation: X:87.78, Y:-86.52, Z:-1.79 [[ 2.15015115e-01 -9.76608500e-01 -2.08302524e-03 8.77751299e+01] [-9.76573088e-01 -2.15025065e-01 8.32019604e-03 -8.65159968e+01] [-8.57347681e-03 2.45258479e-04 -9.99963217e-01 -1.79425570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.126559995 meters 0.0173157734121315 Centerline is valid? [True, True] Translation: X:87.78, Y:-86.63, Z:-1.79 [[ 2.88775192e-01 -9.57393081e-01 -2.71611133e-03 8.77791194e+01] [-9.57358461e-01 -2.88787858e-01 8.14556714e-03 -8.66344726e+01] [-8.58288959e-03 2.48054455e-04 -9.99963136e-01 -1.79431308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.156559995 meters 0.01614451023070348 Centerline is valid? [True, True] Translation: X:87.79, Y:-86.75, Z:-1.79 [[ 3.60511235e-01 -9.32748587e-01 -3.42395509e-03 8.77883825e+01] [-9.32713130e-01 -3.60527400e-01 8.13694902e-03 -8.67515033e+01] [-8.82415733e-03 2.60106325e-04 -9.99961033e-01 -1.79487118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.186559995 meters 0.01793775265523457 Centerline is valid? [True, True] Translation: X:87.81, Y:-86.86, Z:-1.79 [[ 4.30022376e-01 -9.02808335e-01 -4.22678799e-03 8.78101037e+01] [-9.02770915e-01 -4.30043058e-01 8.22451737e-03 -8.68611476e+01] [-9.24286367e-03 2.79094766e-04 -9.99957245e-01 -1.79404028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.21655999499998 meters 0.018204815440707848 Centerline is valid? [True, True] Translation: X:87.84, Y:-86.97, Z:-1.79 [[ 4.96745546e-01 -8.67882252e-01 -4.92531749e-03 8.78386689e+01] [-8.67845293e-01 -4.96769877e-01 8.01482732e-03 -8.69713875e+01] [-9.40267575e-03 2.93083822e-04 -9.99955751e-01 -1.79415990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.24655999499998 meters 0.017189770441472997 Centerline is valid? [True, True] Translation: X:87.87, Y:-87.08, Z:-1.79 [[ 5.60246031e-01 -8.28307969e-01 -5.50381205e-03 8.78705952e+01] [-8.28273207e-01 -5.60272983e-01 7.59469164e-03 -8.70756734e+01] [-9.37438080e-03 3.03764205e-04 -9.99956013e-01 -1.79461946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.27655999499999 meters 0.018428961924401244 Centerline is valid? [True, True] Translation: X:87.91, Y:-87.17, Z:-1.79 [[ 6.19276707e-01 -7.85151990e-01 -5.71940334e-03 8.79110341e+01] [-7.85123048e-01 -6.19303040e-01 6.74862085e-03 -8.71747993e+01] [-8.84073697e-03 3.11171686e-04 -9.99960872e-01 -1.79446494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.306559995 meters 0.020167102565335132 Centerline is valid? [True, True] Translation: X:87.96, Y:-87.27, Z:-1.79 [[ 6.75644562e-01 -7.37200400e-01 -6.32422160e-03 8.79616143e+01] [-7.37172619e-01 -6.75674078e-01 6.40854594e-03 -8.72705034e+01] [-8.99749523e-03 3.32143788e-04 -9.99959467e-01 -1.79413850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.336559995 meters 0.020167102565335132 Centerline is valid? [True, True] Translation: X:88.01, Y:-87.36, Z:-1.79 [[ 7.29366128e-01 -6.84089869e-01 -6.78983426e-03 8.80128596e+01] [-6.84064397e-01 -7.29397656e-01 5.91269857e-03 -8.73576923e+01] [-8.99730639e-03 3.32161814e-04 -9.99959468e-01 -1.79414652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.366559995 meters 0.020802090980842704 Centerline is valid? [True, True] Translation: X:88.01, Y:-87.37, Z:-1.79 [[ 7.79621214e-01 -6.26207854e-01 -7.38151861e-03 8.80137688e+01] [-6.26184011e-01 -7.79656078e-01 5.47583232e-03 -8.73690676e+01] [-9.18405505e-03 3.53113896e-04 -9.99957763e-01 -1.79395219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.396559995 meters 0.019534459403518962 Centerline is valid? [True, True] Translation: X:88.01, Y:-87.38, Z:-1.79 [[ 8.25389844e-01 -5.64507737e-01 -7.91329368e-03 8.80116468e+01] [-5.64486059e-01 -8.25427693e-01 4.96115143e-03 -8.73849673e+01] [-9.33246011e-03 3.72059955e-04 -9.99956382e-01 -1.79424626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.426559995 meters 0.019916586789618936 Centerline is valid? [True, True] Translation: X:88.01, Y:-87.40, Z:-1.79 [[ 8.66281618e-01 -4.99483491e-01 -8.50889139e-03 8.80116836e+01] [-4.99463839e-01 -8.66323315e-01 4.44845577e-03 -8.73984935e+01] [-9.59338121e-03 3.96268099e-04 -9.99953904e-01 -1.79399085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.456559995 meters 0.021105704307391334 Centerline is valid? [True, True] Translation: X:88.01, Y:-87.41, Z:-1.79 [[ 9.02095882e-01 -4.31435267e-01 -9.30753139e-03 8.80136376e+01] [-4.31417192e-01 -9.02143793e-01 3.97272777e-03 -8.74102668e+01] [-1.01107065e-02 4.31647693e-04 -9.99948792e-01 -1.79384579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.486559995 meters 0.02037488135078117 Centerline is valid? [True, True] Translation: X:88.02, Y:-87.43, Z:-1.79 [[ 9.32353077e-01 -3.61430420e-01 -9.26237874e-03 8.80152535e+01] [-3.61417190e-01 -9.32398982e-01 3.12305323e-03 -8.74276212e+01] [-9.76499895e-03 4.35794600e-04 -9.99952226e-01 -1.79445176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.516559995 meters 0.021582617392924146 Centerline is valid? [True, True] Translation: X:88.02, Y:-87.44, Z:-1.79 [[ 9.57599582e-01 -2.87948848e-01 -9.40755185e-03 8.80185461e+01] [-2.87939412e-01 -9.57645691e-01 2.37184470e-03 -8.74404049e+01] [-9.69207144e-03 4.37527457e-04 -9.99952935e-01 -1.79445906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.546559995 meters 0.02151497695299143 Centerline is valid? [True, True] Translation: X:88.02, Y:-87.45, Z:-1.79 [[ 9.77138434e-01 -2.12392551e-01 -9.48073123e-03 8.80232030e+01] [-2.12386864e-01 -9.77184330e-01 1.61433780e-03 -8.74542068e+01] [-9.60729531e-03 4.36151257e-04 -9.99953754e-01 -1.79454482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.576559995 meters 0.0224671794701889 Centerline is valid? [True, True] Translation: X:88.02, Y:-87.46, Z:-1.79 [[ 9.90767760e-01 -1.35261971e-01 -9.13478750e-03 8.80247164e+01] [-1.35260083e-01 -9.90809783e-01 8.27010265e-04 -8.74648432e+01] [-9.16269986e-03 4.16197006e-04 -9.99957935e-01 -1.79450130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.606559995 meters 0.020980245191420537 Centerline is valid? [True, True] Translation: X:88.03, Y:-87.48, Z:-1.80 [[ 9.98359038e-01 -5.66149981e-02 -8.60082836e-03 8.80286300e+01] [-5.66162092e-02 -9.98396011e-01 1.02795013e-04 -8.74821531e+01] [-8.59285246e-03 3.84319968e-04 -9.99963007e-01 -1.79536038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.636559995 meters 0.021122641083119276 Centerline is valid? [True, True] Translation: X:88.03, Y:-87.49, Z:-1.80 [[ 9.99710167e-01 2.26823579e-02 -8.06804533e-03 8.80333326e+01] [ 2.26787686e-02 -9.99742660e-01 -5.36101218e-04 -8.74941462e+01] [-8.07812914e-03 3.52972505e-04 -9.99967309e-01 -1.79538384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.666559995 meters 0.02093080443216093 Centerline is valid? [True, True] Translation: X:88.04, Y:-87.51, Z:-1.79 [[ 9.94583387e-01 1.03582478e-01 -8.63456632e-03 8.80388213e+01] [ 1.03575447e-01 -9.94620803e-01 -1.25875378e-03 -8.75073459e+01] [-8.71850413e-03 3.57606534e-04 -9.99961929e-01 -1.79499338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.696559995 meters 0.019273742305379305 Centerline is valid? [True, True] Translation: X:88.05, Y:-87.52, Z:-1.79 [[ 9.83037936e-01 1.83190751e-01 -8.80706976e-03 8.80464558e+01] [ 1.83180184e-01 -9.83077324e-01 -1.99875856e-03 -8.75220421e+01] [-9.02418466e-03 3.51574830e-04 -9.99959219e-01 -1.79499851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.726559995 meters 0.018739559024410195 Centerline is valid? [True, True] Translation: X:88.06, Y:-87.53, Z:-1.79 [[ 9.65124571e-01 2.61629033e-01 -9.20936037e-03 8.80550614e+01] [ 2.61613591e-01 -9.65168443e-01 -2.86466312e-03 -8.75346317e+01] [-9.63806305e-03 3.55462928e-04 -9.99953490e-01 -1.79461576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.756559995 meters 0.01875356367752346 Centerline is valid? [True, True] Translation: X:88.06, Y:-87.54, Z:-1.79 [[ 9.41026345e-01 3.38217351e-01 -8.85676817e-03 8.80637484e+01] [ 3.38199022e-01 -9.41067964e-01 -3.53672501e-03 -8.75449152e+01] [-9.53100255e-03 3.32801066e-04 -9.99954524e-01 -1.79415633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.786559995 meters 0.01831309847737178 Centerline is valid? [True, True] Translation: X:88.07, Y:-87.55, Z:-1.79 [[ 9.10754549e-01 4.12853475e-01 -8.84079957e-03 8.80738018e+01] [ 4.12830559e-01 -9.10797400e-01 -4.36181237e-03 -8.75540634e+01] [-9.85296665e-03 3.22788226e-04 -9.99951406e-01 -1.79408864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.816559995 meters 0.017032070231478146 Centerline is valid? [True, True] Translation: X:88.09, Y:-87.57, Z:-1.79 [[ 8.73905527e-01 4.86025500e-01 -8.26700559e-03 8.80875458e+01] [ 4.86000692e-01 -8.73944583e-01 -4.91862603e-03 -8.75653580e+01] [-9.61548243e-03 2.80644037e-04 -9.99953731e-01 -1.79441911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.846559995 meters 0.01632326527689449 Centerline is valid? [True, True] Translation: X:88.10, Y:-87.57, Z:-1.79 [[ 8.32499117e-01 5.53976508e-01 -7.43293708e-03 8.81004383e+01] [ 5.53951678e-01 -8.32532260e-01 -5.25115858e-03 -8.75731127e+01] [-9.09717840e-03 2.54096915e-04 -9.99958588e-01 -1.79494379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.876559995 meters 0.015820157288918883 Centerline is valid? [True, True] Translation: X:88.12, Y:-87.58, Z:-1.80 [[ 7.86042126e-01 6.18129455e-01 -7.33161076e-03 8.81150087e+01] [ 6.18099474e-01 -7.86076275e-01 -6.09346350e-03 -8.75812651e+01] [-9.52975455e-03 2.58054250e-04 -9.99954558e-01 -1.79505927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.906559995 meters 0.015820157288918883 Centerline is valid? [True, True] Translation: X:88.13, Y:-87.59, Z:-1.80 [[ 7.35261395e-01 6.77749218e-01 -6.83212741e-03 8.81276178e+01] [ 6.77716657e-01 -7.35293092e-01 -6.64839929e-03 -8.75851411e+01] [-9.52956351e-03 2.58064783e-04 -9.99954559e-01 -1.79506103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.936559995 meters 0.016990870753550734 Centerline is valid? [True, True] Translation: X:88.14, Y:-87.59, Z:-1.79 [[ 6.80373363e-01 7.32835646e-01 -6.63347234e-03 8.81408332e+01] [ 7.32796766e-01 -6.80405643e-01 -7.55385303e-03 -8.75887467e+01] [-1.00491848e-02 2.78453311e-04 -9.99949467e-01 -1.79438197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.96655999499998 meters 0.016798117744073086 Centerline is valid? [True, True] Translation: X:88.15, Y:-87.59, Z:-1.79 [[ 6.21718498e-01 7.83218593e-01 -5.89442574e-03 8.81545896e+01] [ 7.83179007e-01 -6.21746375e-01 -7.87961514e-03 -8.75904407e+01] [-9.83629893e-03 2.82511991e-04 -9.99951583e-01 -1.79484277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.99655999499998 meters 0.017452156368548688 Centerline is valid? [True, True] Translation: X:88.17, Y:-87.59, Z:-1.79 [[ 5.59356534e-01 8.28911076e-01 -5.16671772e-03 8.81659980e+01] [ 8.28870852e-01 -5.59380322e-01 -8.17105842e-03 -8.75904521e+01] [-9.66324106e-03 2.87993201e-04 -9.99953268e-01 -1.79479083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.02655999499999 meters 0.01753144895006161 Centerline is valid? [True, True] Translation: X:88.18, Y:-87.59, Z:-1.80 [[ 4.95035940e-01 8.68860245e-01 -4.61435944e-03 8.81812900e+01] [ 8.68816271e-01 -4.95057342e-01 -8.74731357e-03 -8.75909498e+01] [-9.88456553e-03 3.21204034e-04 -9.99951095e-01 -1.79543198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.056559995 meters 0.017949775886949248 Centerline is valid? [True, True] Translation: X:88.19, Y:-87.59, Z:-1.80 [[ 4.26511444e-01 9.04473974e-01 -3.84953527e-03 8.81947046e+01] [ 9.04429962e-01 -4.26528691e-01 -8.92857798e-03 -8.75889487e+01] [-9.71760365e-03 3.26505650e-04 -9.99952730e-01 -1.79561062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.086559995 meters 0.018031072243423377 Centerline is valid? [True, True] Translation: X:88.21, Y:-87.59, Z:-1.80 [[ 3.55363931e-01 9.34722443e-01 -3.22982689e-03 8.82086473e+01] [ 9.34674519e-01 -3.55378439e-01 -9.47149023e-03 -8.75863544e+01] [-1.00010253e-02 3.46989099e-04 -9.99949928e-01 -1.79582564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.116559995 meters 0.018414339804572258 Centerline is valid? [True, True] Translation: X:88.22, Y:-87.58, Z:-1.80 [[ 2.82373012e-01 9.59301657e-01 -2.41096817e-03 8.82231756e+01] [ 9.59255342e-01 -2.82383087e-01 -9.43293563e-03 -8.75830388e+01] [-9.72984742e-03 3.50872352e-04 -9.99952602e-01 -1.79571686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.146559995 meters 0.01967017656576641 Centerline is valid? [True, True] Translation: X:88.23, Y:-87.58, Z:-1.80 [[ 2.06837578e-01 9.78373776e-01 -1.72335623e-03 8.82342280e+01] [ 9.78323422e-01 -2.06844429e-01 -9.93301112e-03 -8.75794583e+01] [-1.00746642e-02 3.68520203e-04 -9.99949181e-01 -1.79546059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.176559995 meters 0.019674273154858663 Centerline is valid? [True, True] Translation: X:88.25, Y:-87.57, Z:-1.80 [[ 1.29767250e-01 9.91544017e-01 -9.60954012e-04 8.82451820e+01] [ 9.91490964e-01 -1.29770254e-01 -1.02640076e-02 -8.75744870e+01] [-1.03019186e-02 3.79154817e-04 -9.99946862e-01 -1.79553235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.206559995 meters 0.019697312058181208 Centerline is valid? [True, True] Translation: X:88.26, Y:-87.57, Z:-1.80 [[ 5.15981011e-02 9.98667918e-01 -1.58457963e-04 8.82558631e+01] [ 9.98611595e-01 -5.15968751e-02 -1.06133840e-02 -8.75680196e+01] [-1.06074220e-02 3.89392501e-04 -9.99943664e-01 -1.79529255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.236559995 meters 0.01992068497957426 Centerline is valid? [True, True] Translation: X:88.27, Y:-87.56, Z:-1.79 [[-2.75482798e-02 9.99620213e-01 7.21974551e-04 8.82666290e+01] [ 9.99555801e-01 2.75547059e-02 -1.13551593e-02 -8.75616584e+01] [-1.13707405e-02 4.08838746e-04 -9.99935267e-01 -1.79496703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.266559995 meters 0.0200326470370066 Centerline is valid? [True, True] Translation: X:88.28, Y:-87.55, Z:-1.80 [[-1.05910559e-01 9.94374367e-01 1.60383116e-03 8.82753398e+01] [ 9.94311099e-01 1.05921924e-01 -1.12242615e-02 -8.75540876e+01] [-1.13309988e-02 4.05939328e-04 -9.99935720e-01 -1.79505814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.296559995 meters 0.01836285632651048 Centerline is valid? [True, True] Translation: X:88.29, Y:-87.54, Z:-1.80 [[-1.83865631e-01 9.82948349e-01 2.44385769e-03 8.82887155e+01] [ 9.82887852e-01 1.83881447e-01 -1.09125757e-02 -8.75435987e+01] [-1.11758783e-02 3.95590420e-04 -9.99937470e-01 -1.79589536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.326559995 meters 0.019019513720266126 Centerline is valid? [True, True] Translation: X:88.30, Y:-87.53, Z:-1.80 [[-2.60797114e-01 9.65388208e-01 3.23636834e-03 8.82974969e+01] [ 9.65331068e-01 2.60816913e-01 -1.05103098e-02 -8.75345988e+01] [-1.09906288e-02 3.83108431e-04 -9.99939528e-01 -1.79580444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.356559995 meters 0.017853419824192574 Centerline is valid? [True, True] Translation: X:88.31, Y:-87.52, Z:-1.80 [[-3.36366621e-01 9.41722042e-01 4.13436346e-03 8.83100383e+01] [ 9.41664256e-01 3.36391811e-01 -1.04392654e-02 -8.75212836e+01] [-1.12216523e-02 3.81761875e-04 -9.99936962e-01 -1.79628487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.386559995 meters 0.018220163246833978 Centerline is valid? [True, True] Translation: X:88.32, Y:-87.51, Z:-1.80 [[-4.09577493e-01 9.12261145e-01 5.08735845e-03 8.83174874e+01] [ 9.12202108e-01 4.09608904e-01 -1.03856243e-02 -8.75099714e+01] [-1.15582288e-02 3.86981159e-04 -9.99933127e-01 -1.79607360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.416559995 meters 0.01829051897955358 Centerline is valid? [True, True] Translation: X:88.32, Y:-87.50, Z:-1.80 [[-4.80107118e-01 8.77188227e-01 6.16190418e-03 8.83233238e+01] [ 8.77126394e-01 4.80146492e-01 -1.04228075e-02 -8.74975533e+01] [-1.21013807e-02 4.00704730e-04 -9.99926695e-01 -1.79581529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.446559995 meters 0.01832891765656498 Centerline is valid? [True, True] Translation: X:88.33, Y:-87.48, Z:-1.80 [[-5.48045981e-01 8.36416840e-01 7.24382212e-03 8.83274739e+01] [ 8.36353352e-01 5.48093701e-01 -1.03133660e-02 -8.74848455e+01] [-1.25965663e-02 4.06196099e-04 -9.99920578e-01 -1.79556105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.476559995 meters 0.016963338991535678 Centerline is valid? [True, True] Translation: X:88.34, Y:-87.47, Z:-1.80 [[-6.12952803e-01 7.90080773e-01 7.82518562e-03 8.83358375e+01] [ 7.90024135e-01 6.13002634e-01 -9.46772513e-03 -8.74678676e+01] [-1.22771270e-02 3.78816842e-04 -9.99924561e-01 -1.79660342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.506559995 meters 0.017184162296459582 Centerline is valid? [True, True] Translation: X:88.34, Y:-87.45, Z:-1.80 [[-6.73388487e-01 7.39244060e-01 8.13425052e-03 8.83392386e+01] [ 7.39196369e-01 6.73437521e-01 -8.40435672e-03 -8.74542511e+01] [-1.16907803e-02 3.53411396e-04 -9.99931598e-01 -1.79692703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.536559995 meters 0.01730047178467617 Centerline is valid? [True, True] Translation: X:88.34, Y:-87.44, Z:-1.80 [[-7.29426029e-01 6.84009522e-01 8.28498627e-03 8.83399516e+01] [ 6.83970478e-01 7.29473004e-01 -7.31585478e-03 -8.74401903e+01] [-1.10477882e-02 3.30311118e-04 -9.99938917e-01 -1.79728080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.566559995 meters 0.01725722345256951 Centerline is valid? [True, True] Translation: X:88.35, Y:-87.41, Z:-1.80 [[-7.76325374e-01 6.30279713e-01 8.14838200e-03 8.83515059e+01] [ 6.30249036e-01 7.76368077e-01 -6.22580516e-03 -8.74117224e+01] [-1.02501424e-02 3.02259385e-04 -9.99947420e-01 -1.79812369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.596559995 meters 0.017283198939321155 Centerline is valid? [True, True] Translation: X:88.36, Y:-87.38, Z:-1.80 [[-8.19218825e-01 5.73420190e-01 8.35472183e-03 8.83595677e+01] [ 5.73393969e-01 8.19261375e-01 -5.49148347e-03 -8.73806964e+01] [-9.99362838e-03 2.91820473e-04 -9.99950020e-01 -1.79897569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.626559995 meters 0.017188287876754943 Centerline is valid? [True, True] Translation: X:88.37, Y:-87.35, Z:-1.80 [[-8.57807414e-01 5.13900572e-01 8.52306611e-03 8.83669641e+01] [ 5.13878461e-01 8.57849708e-01 -4.77553896e-03 -8.73509034e+01] [-9.76566198e-03 2.83327375e-04 -9.99952275e-01 -1.79881373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.656559995 meters 0.017143858444959127 Centerline is valid? [True, True] Translation: X:88.37, Y:-87.32, Z:-1.80 [[-8.92246944e-01 4.51452936e-01 9.25407280e-03 8.83731592e+01] [ 4.51432034e-01 8.92294884e-01 -4.35408987e-03 -8.73211040e+01] [-1.02230285e-02 2.92661520e-04 -9.99947701e-01 -1.79868879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.686559995 meters 0.0164251508466166 Centerline is valid? [True, True] Translation: X:88.37, Y:-87.29, Z:-1.80 [[-9.22225183e-01 3.86525786e-01 9.92616396e-03 8.83737701e+01] [ 3.86506873e-01 9.22278552e-01 -3.83537313e-03 -8.72882335e+01] [-1.06371587e-02 2.99452897e-04 -9.99943379e-01 -1.79872548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.71655999499998 meters 0.017867571018529302 Centerline is valid? [True, True] Translation: X:88.37, Y:-87.26, Z:-1.80 [[-9.47649981e-01 3.19134949e-01 1.06017980e-02 8.83708190e+01] [ 3.19118508e-01 9.47709235e-01 -3.25331051e-03 -8.72575508e+01] [-1.10856669e-02 3.00230304e-04 -9.99938507e-01 -1.79738968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.74655999499998 meters 0.016728293204246226 Centerline is valid? [True, True] Translation: X:88.37, Y:-87.22, Z:-1.80 [[-9.68078276e-01 2.50408750e-01 1.09503477e-02 8.83684482e+01] [ 2.50396193e-01 9.68140160e-01 -2.52523970e-03 -8.72248975e+01] [-1.12338135e-02 2.97295692e-04 -9.99936855e-01 -1.79801670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.77655999499999 meters 0.017564283714948798 Centerline is valid? [True, True] Translation: X:88.36, Y:-87.19, Z:-1.80 [[-9.83452163e-01 1.80827940e-01 1.10949684e-02 8.83581531e+01] [ 1.80819805e-01 9.83514702e-01 -1.74030811e-03 -8.71942985e+01] [-1.12267609e-02 2.94680256e-04 -9.99936935e-01 -1.79721333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.806559995 meters 0.01692676181355721 Centerline is valid? [True, True] Translation: X:88.35, Y:-87.16, Z:-1.80 [[-9.93839367e-01 1.10204082e-01 1.17632380e-02 8.83493435e+01] [ 1.10200013e-01 9.93908932e-01 -9.95499127e-04 -8.71633667e+01] [-1.18012954e-02 3.06942762e-04 -9.99930315e-01 -1.79757929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.836559995 meters 0.016818231140343646 Centerline is valid? [True, True] Translation: X:88.34, Y:-87.13, Z:-1.80 [[-9.99165336e-01 3.89645267e-02 1.22636545e-02 8.83383387e+01] [ 3.89654740e-02 9.99240544e-01 -1.61777412e-04 -8.71333255e+01] [-1.22606444e-02 3.16216729e-04 -9.99924785e-01 -1.79709365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.866559995 meters 0.017460113435137516 Centerline is valid? [True, True] Translation: X:88.32, Y:-87.11, Z:-1.80 [[-9.99401548e-01 -3.21830928e-02 1.26804774e-02 8.83209108e+01] [-3.21763262e-02 9.99481936e-01 7.37322658e-04 -8.71054370e+01] [-1.26976374e-02 3.28870229e-04 -9.99919328e-01 -1.79622563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.896559995 meters 0.017692499417141898 Centerline is valid? [True, True] Translation: X:88.29, Y:-86.70, Z:-2.79 [[-9.99763592e-01 1.76123201e-02 1.27501507e-02 8.82878263e+01] [-1.76150568e-02 -9.99844838e-01 -1.02360262e-04 -8.66966390e+01] [ 1.27463695e-02 -3.26930693e-04 9.99918708e-01 -2.79231954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.926559995 meters 0.018703361394118174 Centerline is valid? [True, True] Translation: X:88.26, Y:-87.11, Z:-1.80 [[-9.99295977e-01 -3.53047961e-02 1.26933524e-02 8.82574755e+01] [-3.52975617e-02 9.99376532e-01 7.93579695e-04 -8.71099927e+01] [-1.27134556e-02 3.44976607e-04 -9.99919121e-01 -1.79544531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.956559995 meters 0.016628155791320993 Centerline is valid? [True, True] Translation: X:88.23, Y:-86.70, Z:-2.79 [[-9.99660096e-01 2.31529140e-02 1.19848084e-02 8.82274189e+01] [-2.31557269e-02 -9.99731866e-01 -9.59758153e-05 -8.67030391e+01] [ 1.19793727e-02 -3.73460142e-04 9.99928175e-01 -2.79090217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.986559995 meters 0.018788187810907138 Centerline is valid? [True, True] Translation: X:88.20, Y:-87.11, Z:-1.80 [[-9.99171706e-01 -3.90113916e-02 1.15764198e-02 8.81989957e+01] [-3.90050492e-02 9.99238714e-01 7.73230518e-04 -8.71140987e+01] [-1.15977717e-02 3.21051231e-04 -9.99932692e-01 -1.79625601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.016559995 meters 0.019371292861468638 Centerline is valid? [True, True] Translation: X:88.17, Y:-86.70, Z:-2.79 [[-9.99547737e-01 2.77098587e-02 1.16827027e-02 8.81652127e+01] [-2.77116822e-02 -9.99615958e-01 5.80083418e-06 -8.67036374e+01] [ 1.16783768e-02 -3.17949135e-04 9.99931755e-01 -2.79192839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.046559995 meters 0.016533352220902926 Centerline is valid? [True, True] Translation: X:88.14, Y:-87.11, Z:-1.80 [[-9.98956683e-01 -4.41403125e-02 1.17123404e-02 8.81361762e+01] [-4.41335874e-02 9.99025292e-01 8.32158543e-04 -8.71148106e+01] [-1.17376560e-02 3.14382741e-04 -9.99931062e-01 -1.79787005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.076559995 meters 0.01912095485778504 Centerline is valid? [True, True] Translation: X:88.10, Y:-86.71, Z:-2.79 [[-9.99486412e-01 2.98925484e-02 1.15476154e-02 8.80995402e+01] [-2.98942766e-02 -9.99553066e-01 2.29612447e-05 -8.67099933e+01] [ 1.15431408e-02 -3.22258157e-04 9.99933324e-01 -2.79240236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.106559995 meters 0.018768171976942097 Centerline is valid? [True, True] Translation: X:88.07, Y:-87.12, Z:-1.80 [[-9.98630836e-01 -5.10242869e-02 1.15315201e-02 8.80744698e+01] [-5.10176396e-02 9.98697373e-01 8.70067056e-04 -8.71214150e+01] [-1.15608934e-02 2.80564855e-04 -9.99933131e-01 -1.79584376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.136559995 meters 0.01573079396448958 Centerline is valid? [True, True] Translation: X:88.04, Y:-86.72, Z:-2.79 [[-9.99458186e-01 3.08795800e-02 1.13923330e-02 8.80362500e+01] [-3.08808583e-02 -9.99523071e-01 6.37261997e-05 -8.67213766e+01] [ 1.13888675e-02 -2.88113351e-04 9.99935103e-01 -2.79048226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.166559995 meters 0.013549542898990987 Centerline is valid? [True, True] Translation: X:88.01, Y:-87.12, Z:-1.80 [[-9.97974633e-01 -6.25470786e-02 1.15972100e-02 8.80117427e+01] [-6.25405670e-02 9.98041995e-01 9.23646882e-04 -8.71162984e+01] [-1.16322740e-02 1.96480072e-04 -9.99932324e-01 -1.79879361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.196559995 meters 0.013661274837337188 Centerline is valid? [True, True] Translation: X:87.99, Y:-87.09, Z:-1.80 [[-9.90575301e-01 -1.36506834e-01 1.12453608e-02 8.79891159e+01] [-1.36496231e-01 9.90639117e-01 1.70862424e-03 -8.70900814e+01] [-1.13733332e-02 1.57571607e-04 -9.99935309e-01 -1.79805530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.226559995 meters 0.012553439079197653 Centerline is valid? [True, True] Translation: X:87.96, Y:-87.06, Z:-1.80 [[-9.77620242e-01 -2.10087347e-01 1.10439553e-02 8.79609964e+01] [-2.10072564e-01 9.77682613e-01 2.49503138e-03 -8.70637782e+01] [-1.13216576e-02 1.19161173e-04 -9.99935901e-01 -1.79912327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.256559995 meters 0.012553439079197653 Centerline is valid? [True, True] Translation: X:87.93, Y:-87.04, Z:-1.80 [[-9.60061328e-01 -2.79579706e-01 1.08367401e-02 8.79290862e+01] [-2.79560494e-01 9.60122479e-01 3.27966408e-03 -8.70431821e+01] [-1.13215253e-02 1.19154234e-04 -9.99935902e-01 -1.79912539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.286559995 meters 0.01214645207603327 Centerline is valid? [True, True] Translation: X:87.89, Y:-87.03, Z:-1.80 [[-9.36473619e-01 -3.50584917e-01 1.03622795e-02 8.78866454e+01] [-3.50562469e-01 9.36530944e-01 3.96817366e-03 -8.70268398e+01] [-1.10957772e-02 8.34636812e-05 -9.99938436e-01 -1.79931986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.316559995 meters 0.011648690114911986 Centerline is valid? [True, True] Translation: X:87.84, Y:-87.01, Z:-1.80 [[-9.06662473e-01 -4.21741994e-01 9.84127633e-03 8.78417340e+01] [-4.21716840e-01 9.06715882e-01 4.60614122e-03 -8.70128918e+01] [-1.08658447e-02 2.59834289e-05 -9.99940965e-01 -1.79991028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.346559995 meters 0.011533428361348286 Centerline is valid? [True, True] Translation: X:87.79, Y:-87.01, Z:-1.80 [[-8.72630115e-01 -4.88295361e-01 9.18270304e-03 8.77865853e+01] [-4.88268293e-01 8.72678429e-01 5.14136874e-03 -8.70086457e+01] [-1.05240534e-02 2.89046087e-06 -9.99944621e-01 -1.80083711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.376559995 meters 0.011545884461890234 Centerline is valid? [True, True] Translation: X:87.72, Y:-87.02, Z:-1.80 [[-8.33826672e-01 -5.51955481e-01 8.84465526e-03 8.77207915e+01] [-5.51924609e-01 8.33873579e-01 5.83774820e-03 -8.70155529e+01] [-1.05975015e-02 -1.39127427e-05 -9.99943845e-01 -1.80070599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.406559995 meters 0.011522846073487959 Centerline is valid? [True, True] Translation: X:87.65, Y:-87.03, Z:-1.80 [[-7.89545884e-01 -6.13634026e-01 8.40118302e-03 8.76523959e+01] [-6.13599805e-01 7.89590578e-01 6.48066099e-03 -8.70304281e+01] [-1.06102490e-02 -3.81850519e-05 -9.99943709e-01 -1.80049199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.436559995 meters 0.011605248147590614 Centerline is valid? [True, True] Translation: X:87.58, Y:-87.05, Z:-1.80 [[-7.41846873e-01 -6.70527142e-01 7.52118892e-03 8.75815463e+01] [-6.70493254e-01 7.41884998e-01 6.74138436e-03 -8.70538729e+01] [-1.01001384e-02 -4.18315262e-05 -9.99948991e-01 -1.80024936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.46655999499998 meters 0.011589227521355069 Centerline is valid? [True, True] Translation: X:87.51, Y:-87.09, Z:-1.80 [[-6.90133151e-01 -7.23648517e-01 7.00407033e-03 8.75098797e+01] [-7.23611884e-01 6.90168691e-01 7.28144061e-03 -8.70858985e+01] [-1.01031938e-02 -4.30649740e-05 -9.99948961e-01 -1.80090095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.49655999499998 meters 0.011715630356889455 Centerline is valid? [True, True] Translation: X:87.44, Y:-87.13, Z:-1.80 [[-6.34771032e-01 -7.72673702e-01 6.40987742e-03 8.74364549e+01] [-7.72634957e-01 6.34803394e-01 7.73792256e-03 -8.71283687e+01] [-1.00479012e-02 -4.06862685e-05 -9.99949518e-01 -1.80029097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.52655999499999 meters 0.011544442496486772 Centerline is valid? [True, True] Translation: X:87.36, Y:-87.18, Z:-1.80 [[-5.75870501e-01 -8.17518840e-01 6.00932759e-03 8.73646757e+01] [-8.17475026e-01 5.75901853e-01 8.46394155e-03 -8.71794206e+01] [-1.03802146e-02 -3.83409641e-05 -9.99946123e-01 -1.80098052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.556559995 meters 0.011531175353554043 Centerline is valid? [True, True] Translation: X:87.30, Y:-87.24, Z:-1.80 [[-5.13951712e-01 -8.57801894e-01 5.43574409e-03 8.72983102e+01] [-8.57754518e-01 5.13980456e-01 9.01537218e-03 -8.72365404e+01] [-1.05272696e-02 -2.90680879e-05 -9.99944586e-01 -1.80023701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.586559995 meters 0.01148424824098452 Centerline is valid? [True, True] Translation: X:87.23, Y:-87.30, Z:-1.80 [[-4.48995844e-01 -8.93519667e-01 5.03359114e-03 8.72324241e+01] [-8.93464061e-01 4.49024058e-01 9.96825555e-03 -8.73032421e+01] [-1.11670359e-02 -2.16274647e-05 -9.99937646e-01 -1.80004663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.616559995 meters 0.011459543532216869 Centerline is valid? [True, True] Translation: X:87.17, Y:-87.38, Z:-1.80 [[-3.81681322e-01 -9.24283872e-01 4.32352460e-03 8.71712097e+01] [-9.24224869e-01 3.81705808e-01 1.04435278e-02 -8.73771066e+01] [-1.13030988e-02 -9.80944875e-06 -9.99936118e-01 -1.79993196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.646559995 meters 0.011400026835474225 Centerline is valid? [True, True] Translation: X:87.11, Y:-87.46, Z:-1.80 [[-3.12428352e-01 -9.49934363e-01 3.63735042e-03 8.71142717e+01] [-9.49869751e-01 3.12449524e-01 1.10792698e-02 -8.74597713e+01] [-1.16610675e-02 6.46886826e-06 -9.99932007e-01 -1.80057123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.676559995 meters 0.011683765782795634 Centerline is valid? [True, True] Translation: X:87.07, Y:-87.55, Z:-1.80 [[-2.43246807e-01 -9.69960579e-01 2.73234908e-03 8.70670574e+01] [-9.69897297e-01 2.43262148e-01 1.10797102e-02 -8.75486419e+01] [-1.14115592e-02 4.50061361e-05 -9.99934885e-01 -1.80023898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.706559995 meters 0.012184224106574354 Centerline is valid? [True, True] Translation: X:87.02, Y:-87.64, Z:-1.80 [[-1.71288474e-01 -9.85219114e-01 1.88565957e-03 8.70239376e+01] [-9.85155028e-01 1.71298840e-01 1.12373300e-02 -8.76414413e+01] [-1.13942436e-02 6.71581041e-05 -9.99935081e-01 -1.79876750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.736559995 meters 0.012156570141345125 Centerline is valid? [True, True] Translation: X:86.99, Y:-87.74, Z:-1.80 [[-9.82122385e-02 -9.95164970e-01 1.01944428e-03 8.69859058e+01] [-9.95101646e-01 9.82174898e-02 1.12266777e-02 -8.77404859e+01] [-1.12725236e-02 8.81464668e-05 -9.99936459e-01 -1.80016655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.766559995 meters 0.01291129542736098 Centerline is valid? [True, True] Translation: X:86.96, Y:-87.84, Z:-1.80 [[-2.66730140e-02 -9.99644199e-01 1.62230861e-04 8.69601653e+01] [-9.99583291e-01 2.66731798e-02 1.10356784e-02 -8.78433864e+01] [-1.10360791e-02 1.32191546e-04 -9.99939092e-01 -1.80029059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.796559995 meters 0.01317137677654986 Centerline is valid? [True, True] Translation: X:86.94, Y:-87.95, Z:-1.80 [[ 4.71405219e-02 -9.98888034e-01 -6.82757228e-04 8.69379280e+01] [-9.98825766e-01 -4.71452074e-02 1.11543288e-02 -8.79496086e+01] [-1.11741143e-02 1.56134632e-04 -9.99937555e-01 -1.80062453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.826559995 meters 0.013260621910631806 Centerline is valid? [True, True] Translation: X:86.92, Y:-88.06, Z:-1.80 [[ 1.20745801e-01 -9.92682329e-01 -1.49864633e-03 8.69233509e+01] [-9.92622829e-01 -1.20754974e-01 1.08699740e-02 -8.80561816e+01] [-1.09714001e-02 1.75086846e-04 -9.99939797e-01 -1.80140347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.856559995 meters 0.013808085472371721 Centerline is valid? [True, True] Translation: X:86.92, Y:-88.16, Z:-1.80 [[ 1.93922700e-01 -9.81014113e-01 -2.30153878e-03 8.69180191e+01] [-9.80956358e-01 -1.93936261e-01 1.06466254e-02 -8.81649766e+01] [-1.08908416e-02 1.93086748e-04 -9.99940674e-01 -1.80149043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.886559995 meters 0.013867256736825415 Centerline is valid? [True, True] Translation: X:86.92, Y:-88.27, Z:-1.80 [[ 2.64793293e-01 -9.64299989e-01 -3.16905035e-03 8.69222835e+01] [-9.64241075e-01 -2.64812154e-01 1.06617631e-02 -8.82740628e+01] [-1.11203411e-02 2.32565139e-04 -9.99938140e-01 -1.80226881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.916559995 meters 0.014202219321142854 Centerline is valid? [True, True] Translation: X:86.93, Y:-88.38, Z:-1.80 [[ 3.36226604e-01 -9.41772203e-01 -4.09729438e-03 8.69323706e+01] [-9.41711136e-01 -3.36251474e-01 1.07276570e-02 -8.83831833e+01] [-1.14807304e-02 2.51544071e-04 -9.99934063e-01 -1.80231960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.946559995 meters 0.014928718858376003 Centerline is valid? [True, True] Translation: X:86.95, Y:-88.49, Z:-1.80 [[ 4.05821896e-01 -9.13937629e-01 -5.15741054e-03 8.69520059e+01] [-9.13872259e-01 -4.05854573e-01 1.09343698e-02 -8.84932863e+01] [-1.20864907e-02 2.75807738e-04 -9.99926918e-01 -1.80159046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.976559995 meters 0.015223712198200286 Centerline is valid? [True, True] Translation: X:86.98, Y:-88.60, Z:-1.80 [[ 4.73493833e-01 -8.80775522e-01 -6.17007827e-03 8.69762417e+01] [-8.80708582e-01 -4.73533943e-01 1.08626762e-02 -8.85959983e+01] [-1.24893208e-02 2.90630686e-04 -9.99921963e-01 -1.80145629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.006559995 meters 0.014966408946593887 Centerline is valid? [True, True] Translation: X:87.01, Y:-88.70, Z:-1.80 [[ 5.38526776e-01 -8.42577412e-01 -7.22605829e-03 8.70091694e+01] [-8.42509037e-01 -5.38575167e-01 1.07383397e-02 -8.86975044e+01] [-1.29396580e-02 3.05135968e-04 -9.99916233e-01 -1.80196287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.036559995 meters 0.015430601321872872 Centerline is valid? [True, True] Translation: X:87.05, Y:-88.80, Z:-1.80 [[ 6.00651112e-01 -7.99470637e-01 -8.05867532e-03 8.70486384e+01] [-7.99405428e-01 -6.00705091e-01 1.02154478e-02 -8.87960573e+01] [-1.30078379e-02 3.06228693e-04 -9.99915348e-01 -1.80200107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.066559995 meters 0.014700576820517702 Centerline is valid? [True, True] Translation: X:87.09, Y:-88.89, Z:-1.80 [[ 6.59157671e-01 -7.51955678e-01 -8.59199056e-03 8.70893028e+01] [-7.51897648e-01 -6.59213598e-01 9.34658986e-03 -8.88870733e+01] [-1.26921783e-02 2.99421084e-04 -9.99919406e-01 -1.80324868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.096559995 meters 0.01542660279492093 Centerline is valid? [True, True] Translation: X:87.14, Y:-88.97, Z:-1.80 [[ 7.13639792e-01 -7.00451700e-01 -9.25546395e-03 8.71378236e+01] [-7.00398241e-01 -7.13699744e-01 8.65910353e-03 -8.89715607e+01] [-1.26709060e-02 3.03029824e-04 -9.99919675e-01 -1.80374093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.126559995 meters 0.015696429991495005 Centerline is valid? [True, True] Translation: X:87.14, Y:-88.98, Z:-1.80 [[ 7.66200890e-01 -6.42529698e-01 -9.58033356e-03 8.71408495e+01] [-6.42484217e-01 -7.66260726e-01 7.65049780e-03 -8.89838916e+01] [-1.22567054e-02 2.93394882e-04 -9.99924841e-01 -1.80390760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.156559995 meters 0.015128789595152882 Centerline is valid? [True, True] Translation: X:87.14, Y:-89.00, Z:-1.80 [[ 8.14117602e-01 -5.80611870e-01 -1.01186635e-02 8.71431613e+01] [-5.80571444e-01 -8.14180430e-01 6.85755568e-03 -8.89987289e+01] [-1.22199960e-02 2.91750300e-04 -9.99925291e-01 -1.80482584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.186559995 meters 0.015435951537014103 Centerline is valid? [True, True] Translation: X:87.15, Y:-89.01, Z:-1.80 [[ 8.57034420e-01 -5.15150784e-01 -1.05675700e-02 8.71466068e+01] [-5.15115758e-01 -8.57099519e-01 6.01412613e-03 -8.90110781e+01] [-1.21556410e-02 2.89208757e-04 -9.99926076e-01 -1.80447412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.21655999499998 meters 0.01575781848631888 Centerline is valid? [True, True] Translation: X:87.15, Y:-89.02, Z:-1.80 [[ 8.94944935e-01 -4.46028104e-01 -1.15105926e-02 8.71516638e+01] [-4.45995430e-01 -8.95018907e-01 5.40675848e-03 -8.90215273e+01] [-1.27137642e-02 2.94920563e-04 -9.99919133e-01 -1.80416218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.24655999499998 meters 0.015649589318634714 Centerline is valid? [True, True] Translation: X:87.16, Y:-89.03, Z:-1.80 [[ 9.27193844e-01 -3.74384310e-01 -1.21640322e-02 8.71583192e+01] [-3.74356284e-01 -9.27273584e-01 4.59048826e-03 -8.90322198e+01] [-1.29979926e-02 2.97409453e-04 -9.99915478e-01 -1.80438885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.27655999499999 meters 0.01597191492417647 Centerline is valid? [True, True] Translation: X:87.16, Y:-89.04, Z:-1.80 [[ 9.53657187e-01 -3.00643603e-01 -1.23041990e-02 8.71644934e+01] [-3.00622513e-01 -9.53736514e-01 3.57293914e-03 -8.90406436e+01] [-1.28091452e-02 2.91560140e-04 -9.99917917e-01 -1.80432119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.306559995 meters 0.016029697991853102 Centerline is valid? [True, True] Translation: X:87.17, Y:-89.05, Z:-1.81 [[ 9.74326223e-01 -2.24807726e-01 -1.22432459e-02 8.71726221e+01] [-2.24793575e-01 -9.74403104e-01 2.53785417e-03 -8.90477908e+01] [-1.25003860e-02 2.79505148e-04 -9.99921828e-01 -1.80525866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.336559995 meters 0.016079569759461166 Centerline is valid? [True, True] Translation: X:87.18, Y:-89.05, Z:-1.81 [[ 9.88904590e-01 -1.48077169e-01 -1.18686328e-02 8.71814095e+01] [-1.48069767e-01 -9.88975773e-01 1.50479619e-03 -8.90548121e+01] [-1.19606162e-02 2.69285828e-04 -9.99928433e-01 -1.80528724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.366559995 meters 0.0162995963242084 Centerline is valid? [True, True] Translation: X:87.19, Y:-89.06, Z:-1.81 [[ 9.97465308e-01 -7.01021244e-02 -1.21922332e-02 8.71865615e+01] [-7.01002449e-02 -9.97539782e-01 5.81967652e-04 -8.90597909e+01] [-1.22030349e-02 2.74185993e-04 -9.99925503e-01 -1.80506314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.396559995 meters 0.014566466675258752 Centerline is valid? [True, True] Translation: X:87.19, Y:-89.07, Z:-1.81 [[ 9.99883347e-01 8.38550488e-03 -1.27662079e-02 8.71922122e+01] [ 8.38118015e-03 -9.99964800e-01 -3.92227283e-04 -8.90739366e+01] [-1.27690476e-02 2.85185640e-04 -9.99918432e-01 -1.80640634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.426559995 meters 0.015048485730217496 Centerline is valid? [True, True] Translation: X:87.20, Y:-89.08, Z:-1.81 [[ 9.96122379e-01 8.69598490e-02 -1.33488442e-02 8.71983751e+01] [ 8.69480602e-02 -9.96211773e-01 -1.46206347e-03 -8.90836622e+01] [-1.34254165e-02 2.95738038e-04 -9.99909831e-01 -1.80540658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.456559995 meters 0.014679580051203721 Centerline is valid? [True, True] Translation: X:87.21, Y:-89.09, Z:-1.81 [[ 9.86194137e-01 1.65033098e-01 -1.36088682e-02 8.72060862e+01] [ 1.65013182e-01 -9.86287984e-01 -2.58134485e-03 -8.90939094e+01] [-1.38482705e-02 3.00064514e-04 -9.99904063e-01 -1.80582225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.486559995 meters 0.014419252579102725 Centerline is valid? [True, True] Translation: X:87.22, Y:-89.10, Z:-1.81 [[ 9.70223884e-01 2.41829858e-01 -1.35622418e-02 8.72153990e+01] [ 2.41801866e-01 -9.70318622e-01 -3.69183897e-03 -8.91037019e+01] [-1.40524926e-02 3.02534984e-04 -9.99901213e-01 -1.80591080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.516559995 meters 0.014763102347316865 Centerline is valid? [True, True] Translation: X:87.22, Y:-89.11, Z:-1.81 [[ 9.48436377e-01 3.16697328e-01 -1.30859172e-02 8.72237161e+01] [ 3.16662752e-01 -9.48526599e-01 -4.68949384e-03 -8.91116657e+01] [-1.38974907e-02 3.03863987e-04 -9.99903379e-01 -1.80541986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.546559995 meters 0.015173356671692992 Centerline is valid? [True, True] Translation: X:87.23, Y:-89.12, Z:-1.81 [[ 9.20879308e-01 3.89640945e-01 -1.26977772e-02 8.72316818e+01] [ 3.89599257e-01 -9.20966796e-01 -5.70794821e-03 -8.91182936e+01] [-1.39182815e-02 3.09286849e-04 -9.99903088e-01 -1.80501537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.576559995 meters 0.015551756432600088 Centerline is valid? [True, True] Translation: X:87.24, Y:-89.12, Z:-1.81 [[ 8.88277077e-01 4.59161321e-01 -1.16067502e-02 8.72412852e+01] [ 4.59117474e-01 -8.88352848e-01 -6.35314061e-03 -8.91232154e+01] [-1.32280060e-02 3.14487354e-04 -9.99912457e-01 -1.80547450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.606559995 meters 0.018938927330790903 Centerline is valid? [True, True] Translation: X:87.25, Y:-89.12, Z:-1.80 [[ 8.50052241e-01 5.26584815e-01 -1.09370839e-02 8.72471371e+01] [ 5.26536331e-01 -8.50122538e-01 -7.15283099e-03 -8.91235319e+01] [-1.30644337e-02 3.21507988e-04 -9.99914605e-01 -1.80332171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.636559995 meters 0.015599419658907952 Centerline is valid? [True, True] Translation: X:87.26, Y:-89.13, Z:-1.81 [[ 8.06759770e-01 5.90795190e-01 -9.98582363e-03 8.72610387e+01] [ 5.90744964e-01 -8.06821504e-01 -7.71023185e-03 -8.91320794e+01] [-1.26119451e-02 3.21229858e-04 -9.99920415e-01 -1.80650927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.666559995 meters 0.01684837224702572 Centerline is valid? [True, True] Translation: X:87.27, Y:-89.13, Z:-1.81 [[ 7.58584086e-01 6.51510525e-01 -9.17715924e-03 8.72701360e+01] [ 6.51457596e-01 -7.58639525e-01 -8.31091155e-03 -8.91349196e+01] [-1.23768021e-02 3.25995142e-04 -9.99923351e-01 -1.80597438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.696559995 meters 0.016552236391973472 Centerline is valid? [True, True] Translation: X:87.28, Y:-89.14, Z:-1.81 [[ 7.06144816e-01 7.08021729e-01 -8.04547073e-03 8.72818563e+01] [ 7.07970493e-01 -7.06190574e-01 -8.52374725e-03 -8.91383715e+01] [-1.17166339e-02 3.23044051e-04 -9.99931306e-01 -1.80712197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.726559995 meters 0.01723180341994387 Centerline is valid? [True, True] Translation: X:87.29, Y:-89.14, Z:-1.81 [[ 6.49279081e-01 7.60514604e-01 -7.36296276e-03 8.72912184e+01] [ 7.60459759e-01 -6.49320742e-01 -9.13941589e-03 -8.91399813e+01] [-1.17315837e-02 3.34794658e-04 -9.99931127e-01 -1.80712958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.756559995 meters 0.01617250712118135 Centerline is valid? [True, True] Translation: X:87.31, Y:-89.14, Z:-1.81 [[ 5.88085579e-01 8.08773228e-01 -6.42008248e-03 8.73052461e+01] [ 8.08718801e-01 -5.88120530e-01 -9.38843764e-03 -8.91432891e+01] [-1.13688993e-02 3.29163379e-04 -9.99935318e-01 -1.80769382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.786559995 meters 0.016088491790852897 Centerline is valid? [True, True] Translation: X:87.32, Y:-89.15, Z:-1.81 [[ 5.23862774e-01 8.51785645e-01 -5.38607811e-03 8.73199920e+01] [ 8.51734106e-01 -5.23890361e-01 -9.37565858e-03 -8.91454428e+01] [-1.08077658e-02 3.24052089e-04 -9.99941542e-01 -1.80832909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.816559995 meters 0.015732585736695136 Centerline is valid? [True, True] Translation: X:87.34, Y:-89.15, Z:-1.81 [[ 4.55783286e-01 8.90079472e-01 -4.48663914e-03 8.73356221e+01] [ 8.90029311e-01 -4.55805259e-01 -9.45472486e-03 -8.91464247e+01] [-1.04604902e-02 3.16065223e-04 -9.99945238e-01 -1.80888774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.846559995 meters 0.016977063261549494 Centerline is valid? [True, True] Translation: X:87.35, Y:-89.15, Z:-1.81 [[ 3.84745760e-01 9.23015663e-01 -3.57583863e-03 8.73479657e+01] [ 9.22968202e-01 -3.84762258e-01 -9.36500515e-03 -8.91456784e+01] [-1.00198942e-02 3.02760672e-04 -9.99949754e-01 -1.80848032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.876559995 meters 0.015935369049638586 Centerline is valid? [True, True] Translation: X:87.37, Y:-89.14, Z:-1.81 [[ 3.11336127e-01 9.50295906e-01 -2.73981314e-03 8.73653864e+01] [ 9.50250399e-01 -3.11348044e-01 -9.30452396e-03 -8.91449582e+01] [-9.69508649e-03 2.93325924e-04 -9.99952959e-01 -1.80902689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.906559995 meters 0.01634848375823444 Centerline is valid? [True, True] Translation: X:87.38, Y:-89.14, Z:-1.81 [[ 2.36132951e-01 9.71718761e-01 -1.96968345e-03 8.73783742e+01] [ 9.71673984e-01 -2.36140988e-01 -9.33292349e-03 -8.91427859e+01] [-9.53409984e-03 2.89920602e-04 -9.99954507e-01 -1.80870887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.936559995 meters 0.017217943866413638 Centerline is valid? [True, True] Translation: X:87.39, Y:-89.14, Z:-1.81 [[ 1.59707744e-01 9.87163586e-01 -1.22114867e-03 8.73893924e+01] [ 9.87119167e-01 -1.59712147e-01 -9.36912490e-03 -8.91396916e+01] [-9.44389121e-03 2.90902543e-04 -9.99955363e-01 -1.80830328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.96655999499998 meters 0.016779619673889266 Centerline is valid? [True, True] Translation: X:87.40, Y:-89.14, Z:-1.81 [[ 8.22008068e-02 9.96615664e-01 -4.95174396e-04 8.74023265e+01] [ 9.96568777e-01 -8.22017451e-02 -9.67193694e-03 -8.91352761e+01] [-9.67990806e-03 3.01565678e-04 -9.99953103e-01 -1.80842660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.99655999499998 meters 0.017312042018263408 Centerline is valid? [True, True] Translation: X:87.41, Y:-89.13, Z:-1.81 [[ 4.67257851e-03 9.99989048e-01 2.65254782e-04 8.74137469e+01] [ 9.99941760e-01 -4.66977665e-03 -9.72980239e-03 -8.91301171e+01] [-9.72845715e-03 3.10702599e-04 -9.99952629e-01 -1.80789617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.02655999499999 meters 0.017691236515788373 Centerline is valid? [True, True] Translation: X:87.42, Y:-89.12, Z:-1.81 [[-7.32741043e-02 9.97311350e-01 9.88120959e-04 8.74227890e+01] [ 9.97267872e-01 7.32801413e-02 -9.31727716e-03 -8.91231375e+01] [-9.36463591e-03 3.02706149e-04 -9.99956105e-01 -1.80804216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.056559995 meters 0.016558921585174517 Centerline is valid? [True, True] Translation: X:87.44, Y:-89.12, Z:-1.81 [[-1.50533806e-01 9.88603567e-01 1.60041148e-03 8.74371467e+01] [ 9.88566233e-01 1.50542037e-01 -8.59637842e-03 -8.91151550e+01] [-8.73933957e-03 2.88067189e-04 -9.99961770e-01 -1.80873961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.086559995 meters 0.018319253518427486 Centerline is valid? [True, True] Translation: X:87.45, Y:-89.11, Z:-1.81 [[-2.26225693e-01 9.74072834e-01 2.01221262e-03 8.74475992e+01] [ 9.74044058e-01 2.26234487e-01 -7.49203900e-03 -8.91070955e+01] [-7.75302356e-03 2.65092028e-04 -9.99969910e-01 -1.80885297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.116559995 meters 0.018618983332874046 Centerline is valid? [True, True] Translation: X:87.46, Y:-89.10, Z:-1.81 [[-3.00632617e-01 9.53737254e-01 2.29802200e-03 8.74560697e+01] [ 9.53715265e-01 3.00641301e-01 -6.48079741e-03 -8.90976599e+01] [-6.87185825e-03 2.43319574e-04 -9.99976359e-01 -1.80911607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.146559995 meters 0.018618983332874046 Centerline is valid? [True, True] Translation: X:87.46, Y:-89.09, Z:-1.81 [[-3.74413206e-01 9.27257742e-01 2.79855699e-03 8.74626340e+01] [ 9.27236502e-01 3.74423585e-01 -6.28075710e-03 -8.90887343e+01] [-6.87172639e-03 2.43325789e-04 -9.99976360e-01 -1.80911722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.176559995 meters 0.019309842010621588 Centerline is valid? [True, True] Translation: X:87.47, Y:-89.08, Z:-1.81 [[-4.44775388e-01 8.95637640e-01 2.84120106e-03 8.74684021e+01] [ 8.95622384e-01 4.44784409e-01 -5.23211967e-03 -8.90790119e+01] [-5.94980525e-03 2.17525211e-04 -9.99982276e-01 -1.80903736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.206559995 meters 0.018775546452503348 Centerline is valid? [True, True] Translation: X:87.48, Y:-89.07, Z:-1.81 [[-5.12446101e-01 8.58713916e-01 3.06662207e-03 8.74759413e+01] [ 8.58700951e-01 5.12455232e-01 -4.72359369e-03 -8.90662594e+01] [-5.62772216e-03 2.12724121e-04 -9.99984142e-01 -1.80946602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.236559995 meters 0.018391140298190577 Centerline is valid? [True, True] Translation: X:87.49, Y:-89.05, Z:-1.81 [[-5.76891842e-01 8.16813102e-01 3.48688039e-03 8.74854661e+01] [ 8.16800480e-01 5.76902336e-01 -4.54650968e-03 -8.90512957e+01] [-5.72523812e-03 2.25241232e-04 -9.99983585e-01 -1.80946931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.266559995 meters 0.01987915328039841 Centerline is valid? [True, True] Translation: X:87.49, Y:-89.04, Z:-1.81 [[-6.38809021e-01 7.69356019e-01 3.78827685e-03 8.74906816e+01] [ 7.69344529e-01 6.38820214e-01 -4.21063702e-03 -8.90395013e+01] [-5.65950677e-03 2.24697161e-04 -9.99983960e-01 -1.80883684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.296559995 meters 0.018975050180554936 Centerline is valid? [True, True] Translation: X:87.50, Y:-89.02, Z:-1.81 [[-6.97229756e-01 7.16836171e-01 4.07088446e-03 8.74984436e+01] [ 7.16825773e-01 6.97241605e-01 -3.86729073e-03 -8.90216916e+01] [-5.61060389e-03 2.21724730e-04 -9.99984236e-01 -1.80855776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.326559995 meters 0.01916047411211713 Centerline is valid? [True, True] Translation: X:87.51, Y:-88.99, Z:-1.81 [[-7.46525870e-01 6.65344142e-01 4.03708934e-03 8.75122655e+01] [ 6.65335868e-01 7.46536758e-01 -3.32438187e-03 -8.89925646e+01] [-5.22569359e-03 2.04283269e-04 -9.99986325e-01 -1.80852028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.356559995 meters 0.020847415525494 Centerline is valid? [True, True] Translation: X:87.52, Y:-88.97, Z:-1.81 [[-7.92048824e-01 6.10443804e-01 4.12581154e-03 8.75236248e+01] [ 6.10436789e-01 7.92059546e-01 -2.93296584e-03 -8.89655200e+01] [-5.05829924e-03 1.95495009e-04 -9.99987188e-01 -1.80796454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.386559995 meters 0.02042503697759933 Centerline is valid? [True, True] Translation: X:87.53, Y:-88.93, Z:-1.81 [[-8.33227980e-01 5.52915026e-01 4.01328079e-03 8.75323931e+01] [ 5.52909652e-01 8.33237626e-01 -2.44470525e-03 -8.89336391e+01] [-4.69573082e-03 1.81984866e-04 -9.99988958e-01 -1.80795309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.416559995 meters 0.020452841817444577 Centerline is valid? [True, True] Translation: X:87.77, Y:-88.55, Z:-2.78 [[-8.39777697e-01 -5.42919038e-01 3.51240477e-03 8.77652319e+01] [ 5.42913325e-01 -8.39785021e-01 -2.49793172e-03 -8.85454196e+01] [ 4.30583960e-03 -1.90776000e-04 9.99990712e-01 -2.78040094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.446559995 meters 0.02042773454831306 Centerline is valid? [True, True] Translation: X:87.50, Y:-88.91, Z:-1.81 [[-8.34609233e-01 5.50828508e-01 3.92227952e-03 8.74961871e+01] [ 5.50823440e-01 8.34618429e-01 -2.36989227e-03 -8.89064062e+01] [-4.57901099e-03 1.82549528e-04 -9.99989500e-01 -1.80791310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.476559995 meters 0.020015137607290047 Centerline is valid? [True, True] Translation: X:87.72, Y:-88.52, Z:-2.78 [[-8.42327767e-01 -5.38951285e-01 3.93005681e-03 8.77158582e+01] [ 5.38944420e-01 -8.42336916e-01 -2.72625229e-03 -8.85211057e+01] [ 4.77974911e-03 -1.78315818e-04 9.99988561e-01 -2.78113095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.506559995 meters 0.021900050555663783 Centerline is valid? [True, True] Translation: X:87.46, Y:-88.88, Z:-1.81 [[-8.35892648e-01 5.48874083e-01 4.55205397e-03 8.74600223e+01] [ 5.48867351e-01 8.35905014e-01 -2.72736000e-03 -8.88810378e+01] [-5.30206196e-03 2.18693627e-04 -9.99985920e-01 -1.80632618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.536559995 meters 0.021000503476502418 Centerline is valid? [True, True] Translation: X:87.47, Y:-88.85, Z:-1.81 [[-8.72647887e-01 4.88327442e-01 4.68783683e-03 8.74656604e+01] [ 4.88321719e-01 8.72660451e-01 -2.37414805e-03 -8.88474691e+01] [-5.25025144e-03 2.17377262e-04 -9.99986194e-01 -1.80603483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.566559995 meters 0.02047888850009824 Centerline is valid? [True, True] Translation: X:87.47, Y:-88.81, Z:-1.81 [[-9.05346963e-01 4.24647184e-01 4.65239695e-03 8.74701576e+01] [ 4.24642734e-01 9.05358894e-01 -1.95501255e-03 -8.88149012e+01] [-5.04227953e-03 2.05641885e-04 -9.99987266e-01 -1.80572922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.596559995 meters 0.019781975982974053 Centerline is valid? [True, True] Translation: X:87.47, Y:-88.78, Z:-1.81 [[-9.33621610e-01 3.58228879e-01 4.77063341e-03 8.74684488e+01] [ 3.58225286e-01 9.33633778e-01 -1.61677771e-03 -8.87805703e+01] [-5.03320096e-03 1.99502908e-04 -9.99987313e-01 -1.80577810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.626559995 meters 0.01859851359470612 Centerline is valid? [True, True] Translation: X:87.47, Y:-88.75, Z:-1.81 [[-9.57095118e-01 2.89742398e-01 4.27530955e-03 8.74658516e+01] [ 2.89740290e-01 9.57104652e-01 -1.11813006e-03 -8.87458707e+01] [-4.41588834e-03 1.68572606e-04 -9.99990236e-01 -1.80590796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.656559995 meters 0.020679044578573363 Centerline is valid? [True, True] Translation: X:87.45, Y:-88.71, Z:-1.81 [[-9.76228743e-01 2.16710450e-01 3.74461872e-03 8.74527761e+01] [ 2.16709357e-01 9.76235916e-01 -7.00077090e-04 -8.87130415e+01] [-3.80734531e-03 1.28058539e-04 -9.99992744e-01 -1.80580724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.686559995 meters 0.016781767124305055 Centerline is valid? [True, True] Translation: X:87.45, Y:-88.68, Z:-1.81 [[-9.89533880e-01 1.44252878e-01 3.71591701e-03 8.74452772e+01] [ 1.44252300e-01 9.89540850e-01 -4.24423528e-04 -8.86751105e+01] [-3.73827599e-03 1.16048116e-04 -9.99993006e-01 -1.80649593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.71655999499998 meters 0.016064132900644273 Centerline is valid? [True, True] Translation: X:87.48, Y:-88.29, Z:-2.78 [[-9.88624613e-01 -1.50366037e-01 3.38087365e-03 8.74822651e+01] [ 1.50364718e-01 -9.88630385e-01 -6.42444753e-04 -8.82866155e+01] [ 3.43903629e-03 -1.26772583e-04 9.99994078e-01 -2.78212175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.74655999499998 meters 0.017051914685874383 Centerline is valid? [True, True] Translation: X:87.39, Y:-88.67, Z:-1.81 [[-9.90741430e-01 1.35727403e-01 3.08071792e-03 8.73909068e+01] [ 1.35727001e-01 9.90746217e-01 -3.40354408e-04 -8.86651954e+01] [-3.09840504e-03 8.09333898e-05 -9.99995197e-01 -1.80610033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.77655999499999 meters 0.015274973736966159 Centerline is valid? [True, True] Translation: X:87.42, Y:-88.29, Z:-2.78 [[-9.88542323e-01 -1.50918021e-01 2.79755244e-03 8.74182588e+01] [ 1.50917155e-01 -9.88546277e-01 -5.19272383e-04 -8.82859316e+01] [ 2.84387761e-03 -9.11240722e-05 9.99995952e-01 -2.78230689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.806559995 meters 0.01451260049006509 Centerline is valid? [True, True] Translation: X:87.34, Y:-88.65, Z:-1.81 [[-9.91826426e-01 1.27580761e-01 1.86828871e-03 8.73362631e+01] [ 1.27580610e-01 9.91828185e-01 -2.00218784e-04 -8.86488943e+01] [-1.87856546e-03 3.97751318e-05 -9.99998235e-01 -1.80646852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.836559995 meters 0.014614150884290982 Centerline is valid? [True, True] Translation: X:87.32, Y:-88.62, Z:-1.81 [[-9.98413162e-01 5.62941533e-02 1.45841027e-03 8.73245725e+01] [ 5.62941366e-02 9.98414226e-01 -5.25224342e-05 -8.86185866e+01] [-1.45905427e-03 2.96608576e-05 -9.99998935e-01 -1.80670150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.866559995 meters 0.014462115693840146 Centerline is valid? [True, True] Translation: X:87.31, Y:-88.59, Z:-1.81 [[-9.99893266e-01 -1.45271357e-02 1.55512203e-03 8.73077538e+01] [-1.45270678e-02 9.99894475e-01 5.49253733e-05 -8.85887108e+01] [-1.55575583e-03 3.23281477e-05 -9.99998789e-01 -1.80675211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.896559995 meters 0.015063558819037539 Centerline is valid? [True, True] Translation: X:87.29, Y:-88.23, Z:-2.78 [[-9.99982950e-01 -5.54660317e-03 1.82633347e-03 8.72858771e+01] [ 5.54655531e-03 -9.99984617e-01 -3.12662689e-05 -8.82319615e+01] [ 1.82647880e-03 -2.11358762e-05 9.99998332e-01 -2.78259207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.926559995 meters 0.015611648198463548 Centerline is valid? [True, True] Translation: X:87.25, Y:-88.59, Z:-1.81 [[-9.99895484e-01 -1.42453667e-02 2.46793176e-03 8.72549021e+01] [-1.42451666e-02 9.99898528e-01 9.86353083e-05 -8.85910764e+01] [-2.46908643e-03 6.34689001e-05 -9.99996950e-01 -1.80572170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.956559995 meters 0.01697770302841017 Centerline is valid? [True, True] Translation: X:87.24, Y:-88.23, Z:-2.78 [[-9.99993794e-01 2.43252190e-03 2.54867312e-03 8.72352120e+01] [-2.43266815e-03 -9.99997040e-01 -5.42847895e-05 -8.82330094e+01] [ 2.54853352e-03 -6.04845285e-05 9.99996751e-01 -2.78359534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.986559995 meters 0.017311154150753114 Centerline is valid? [True, True] Translation: X:87.20, Y:-88.60, Z:-1.80 [[-9.99912005e-01 -1.28590194e-02 3.26013761e-03 8.72009496e+01] [-1.28586176e-02 9.99917314e-01 1.44189687e-04 -8.85953604e+01] [-3.26172218e-03 1.02256136e-04 -9.99994675e-01 -1.80471555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.016559995 meters 0.019551653615464196 Centerline is valid? [True, True] Translation: X:87.18, Y:-88.23, Z:-2.78 [[-9.99926790e-01 1.15798810e-02 3.51024247e-03 8.71792831e+01] [-1.15801403e-02 -9.99932947e-01 -5.35681457e-05 -8.82334609e+01] [ 3.50938678e-03 -9.42133243e-05 9.99993838e-01 -2.78452394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.046559995 meters 0.01895857981610287 Centerline is valid? [True, True] Translation: X:87.15, Y:-88.60, Z:-1.80 [[-9.99895609e-01 -1.40007301e-02 3.57075587e-03 8.71489416e+01] [-1.40002031e-02 9.99901977e-01 1.72564304e-04 -8.85999845e+01] [-3.57282189e-03 1.22554983e-04 -9.99993610e-01 -1.80401188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.076559995 meters 0.019017664068306128 Centerline is valid? [True, True] Translation: X:87.13, Y:-88.24, Z:-2.78 [[-9.99835286e-01 1.77708746e-02 3.68747478e-03 8.71255575e+01] [-1.77711930e-02 -9.99842078e-01 -5.36022311e-05 -8.82382396e+01] [ 3.68593989e-03 -1.19124228e-04 9.99993200e-01 -2.78472654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.106559995 meters 0.01872789117751773 Centerline is valid? [True, True] Translation: X:87.10, Y:-88.60, Z:-1.80 [[-9.99875694e-01 -1.53443956e-02 3.62565948e-03 8.70972604e+01] [-1.53438072e-02 9.99882259e-01 1.90050271e-04 -8.86014101e+01] [-3.62814880e-03 1.34395227e-04 -9.99993409e-01 -1.80362649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.136559995 meters 0.01889744120825774 Centerline is valid? [True, True] Translation: X:87.07, Y:-88.24, Z:-2.79 [[-9.99694774e-01 2.45177674e-02 3.03955619e-03 8.70713639e+01] [-2.45181123e-02 -9.99699383e-01 -7.62614905e-05 -8.82433375e+01] [ 3.03677269e-03 -1.50762394e-04 9.99995378e-01 -2.78505162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.166559995 meters 0.02032588392777456 Centerline is valid? [True, True] Translation: X:87.04, Y:-88.61, Z:-1.80 [[-9.99834684e-01 -1.78858348e-02 3.27137915e-03 8.70437182e+01] [-1.78853259e-02 9.99840028e-01 1.84753538e-04 -8.86065231e+01] [-3.27416029e-03 1.26213313e-04 -9.99994632e-01 -1.80354706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.196559995 meters 0.02246093637053736 Centerline is valid? [True, True] Translation: X:87.02, Y:-88.58, Z:-1.80 [[-9.96043767e-01 -8.88183247e-02 2.84942134e-03 8.70208652e+01] [-8.88176417e-02 9.96047837e-01 3.65600965e-04 -8.85821204e+01] [-2.87063202e-03 1.11075679e-04 -9.99995874e-01 -1.80369568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.226559995 meters 0.01937666275011114 Centerline is valid? [True, True] Translation: X:87.00, Y:-88.55, Z:-1.80 [[-9.87111341e-01 -1.60015593e-01 2.49218057e-03 8.69954262e+01] [-1.60014835e-01 9.87114482e-01 5.02127402e-04 -8.85518050e+01] [-2.54041575e-03 9.68697903e-05 -9.99996768e-01 -1.80434312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.256559995 meters 0.020152910089005514 Centerline is valid? [True, True] Translation: X:86.97, Y:-88.53, Z:-1.80 [[-9.72883960e-01 -2.31284413e-01 2.07856850e-03 8.69654550e+01] [-2.31283710e-01 9.72886177e-01 5.75757256e-04 -8.85298985e+01] [-2.15537424e-03 7.94059660e-05 -9.99997674e-01 -1.80432429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.286559995 meters 0.01939134833858518 Centerline is valid? [True, True] Translation: X:86.93, Y:-88.51, Z:-1.80 [[-9.53449244e-01 -3.01548132e-01 1.80623712e-03 8.69262920e+01] [-3.01547455e-01 9.53450953e-01 6.42583914e-04 -8.85099247e+01] [-1.91592848e-03 6.80049401e-05 -9.99998162e-01 -1.80425051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.316559995 meters 0.01993174274156508 Centerline is valid? [True, True] Translation: X:86.88, Y:-88.50, Z:-1.80 [[-9.28696226e-01 -3.70835651e-01 2.05899575e-03 8.68815170e+01] [-3.70834555e-01 9.28698506e-01 9.04769870e-04 -8.84965588e+01] [-2.24770720e-03 7.67095926e-05 -9.99997471e-01 -1.80416614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.346559995 meters 0.018544934705685304 Centerline is valid? [True, True] Translation: X:86.83, Y:-88.48, Z:-1.80 [[-8.97902837e-01 -4.40189504e-01 1.92267845e-03 8.68301062e+01] [-4.40188336e-01 8.97904893e-01 1.01610174e-03 -8.84848968e+01] [-2.17365971e-03 6.60200097e-05 -9.99997635e-01 -1.80392492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.376559995 meters 0.016528231634758042 Centerline is valid? [True, True] Translation: X:86.77, Y:-88.48, Z:-1.80 [[-8.62757762e-01 -5.05615380e-01 1.46017128e-03 8.67699693e+01] [-5.05614560e-01 8.62758996e-01 9.11890459e-04 -8.84823612e+01] [-1.72084175e-03 4.84567102e-05 -9.99998518e-01 -1.80416926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.406559995 meters 0.016476499990865156 Centerline is valid? [True, True] Translation: X:86.70, Y:-88.49, Z:-1.80 [[-8.22673177e-01 -5.68513290e-01 1.21818698e-03 8.67037674e+01] [-5.68512594e-01 8.22674078e-01 8.90352182e-04 -8.84918078e+01] [-1.50834790e-03 3.99142196e-05 -9.99998862e-01 -1.80425573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.436559995 meters 0.016533787870760746 Centerline is valid? [True, True] Translation: X:86.63, Y:-88.51, Z:-1.80 [[-7.77855653e-01 -6.28441978e-01 1.12394596e-03 8.66315660e+01] [-6.28441252e-01 7.77856465e-01 9.55874263e-04 -8.85124532e+01] [-1.47498014e-03 3.71981924e-05 -9.99998912e-01 -1.80444593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.46655999499998 meters 0.01580769579662697 Centerline is valid? [True, True] Translation: X:86.55, Y:-88.54, Z:-1.80 [[-7.28658735e-01 -6.84876021e-01 1.13321652e-03 8.65545330e+01] [-6.84875110e-01 7.28659615e-01 1.11784084e-03 -8.85410799e+01] [-1.59131150e-03 3.84127045e-05 -9.99998733e-01 -1.80388202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.49655999499998 meters 0.015627392446856972 Centerline is valid? [True, True] Translation: X:86.49, Y:-88.57, Z:-1.80 [[-6.75823372e-01 -7.37062557e-01 1.24800405e-03 8.64866742e+01] [-7.37061174e-01 6.75824522e-01 1.42864297e-03 -8.85706831e+01] [-1.89643098e-03 4.56549797e-05 -9.99998201e-01 -1.80389210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.52655999499999 meters 0.015912546729239092 Centerline is valid? [True, True] Translation: X:86.42, Y:-88.61, Z:-1.80 [[-6.19579247e-01 -7.84933621e-01 8.75934670e-04 8.64160136e+01] [-7.84932756e-01 6.19579866e-01 1.16548185e-03 -8.86128834e+01] [-1.45753738e-03 3.45585547e-05 -9.99998937e-01 -1.80376380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.556559995 meters 0.01615643781633296 Centerline is valid? [True, True] Translation: X:86.35, Y:-88.66, Z:-1.80 [[-5.60018193e-01 -8.28480041e-01 6.67365716e-04 8.63469531e+01] [-8.28479389e-01 5.60018589e-01 1.03962684e-03 -8.86632105e+01] [-1.23504730e-03 2.93112044e-05 -9.99999237e-01 -1.80423419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.586559995 meters 0.016020018381809928 Centerline is valid? [True, True] Translation: X:86.28, Y:-88.72, Z:-1.80 [[-4.97523427e-01 -8.67450458e-01 3.77617048e-04 8.62775567e+01] [-8.67450180e-01 4.97523570e-01 6.94852993e-04 -8.87249429e+01] [-7.90623929e-04 1.81416665e-05 -9.99999687e-01 -1.80466535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.616559995 meters 0.016897953052987153 Centerline is valid? [True, True] Translation: X:86.22, Y:-88.79, Z:-1.80 [[-4.33206624e-01 -9.01294629e-01 1.11445833e-04 8.62176060e+01] [-9.01294596e-01 4.33206638e-01 2.42681331e-04 -8.87867049e+01] [-2.67006455e-04 4.68563284e-06 -9.99999964e-01 -1.80480920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.646559995 meters 0.017657907041485 Centerline is valid? [True, True] Translation: X:86.16, Y:-88.86, Z:-1.80 [[-3.65524069e-01 -9.30801880e-01 1.25256623e-04 8.61587861e+01] [-9.30801818e-01 3.65524090e-01 3.40016694e-04 -8.88609927e+01] [-3.62272491e-04 7.69519346e-06 -9.99999934e-01 -1.80447780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.676559995 meters 0.018395161817935334 Centerline is valid? [True, True] Translation: X:86.11, Y:-88.94, Z:-1.80 [[-2.95579249e-01 -9.55318214e-01 1.34937807e-04 8.61063388e+01] [-9.55318095e-01 2.95579280e-01 4.76505332e-04 -8.89358659e+01] [-4.95099043e-04 1.19365597e-05 -9.99999877e-01 -1.80424892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.706559995 meters 0.0168667129660382 Centerline is valid? [True, True] Translation: X:86.05, Y:-89.02, Z:-1.80 [[-2.24084930e-01 -9.74569620e-01 2.97324528e-05 8.60541587e+01] [-9.74569610e-01 2.24084932e-01 1.35377927e-04 -8.90176192e+01] [-1.38597809e-04 1.35980831e-06 -9.99999990e-01 -1.80394733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.736559995 meters 0.017042813787136055 Centerline is valid? [True, True] Translation: X:86.01, Y:-89.11, Z:-1.80 [[-1.50765520e-01 -9.88569551e-01 1.23060190e-05 8.60109450e+01] [-9.88569548e-01 1.50765520e-01 7.76024933e-05 -8.91074265e+01] [-7.85707853e-05 -4.65575438e-07 -9.99999997e-01 -1.80401661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.766559995 meters 0.017391400164068666 Centerline is valid? [True, True] Translation: X:85.98, Y:-89.20, Z:-1.80 [[-7.69806731e-02 -9.97032584e-01 -3.96299261e-05 8.59751958e+01] [-9.97032151e-01 7.69806766e-02 -9.30308763e-04 -8.91959557e+01] [ 9.30598889e-04 -3.21034844e-05 -9.99999566e-01 -1.80458350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.796559995 meters 0.0175057850992261 Centerline is valid? [True, True] Translation: X:85.95, Y:-89.29, Z:-1.80 [[-2.58758449e-03 -9.99996652e-01 3.40077138e-05 8.59460834e+01] [-9.99996086e-01 2.58754684e-03 -1.06404400e-03 -8.92918281e+01] [ 1.06395244e-03 -3.67608845e-05 -9.99999433e-01 -1.80499269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.826559995 meters 0.01695107473383527 Centerline is valid? [True, True] Translation: X:85.92, Y:-89.39, Z:-1.80 [[ 7.14985264e-02 -9.97440691e-01 -1.69917635e-04 8.59225172e+01] [-9.97439321e-01 -7.14987099e-02 1.65369876e-03 -8.93921524e+01] [-1.66161533e-03 5.12455058e-05 -9.99998618e-01 -1.80213935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.856559995 meters 0.018901158525492755 Centerline is valid? [True, True] Translation: X:85.91, Y:-89.49, Z:-1.80 [[ 1.45594126e-01 -9.89344289e-01 -4.77746859e-04 8.59101191e+01] [-9.89340730e-01 -1.45594884e-01 2.65509866e-03 -8.94884121e+01] [-2.69636420e-03 8.60876578e-05 -9.99996361e-01 -1.80111262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.886559995 meters 0.018966911701000014 Centerline is valid? [True, True] Translation: X:85.90, Y:-89.59, Z:-1.80 [[ 2.18821977e-01 -9.75764642e-01 -5.52632011e-04 8.59035711e+01] [-9.75762298e-01 -2.18822663e-01 2.14024426e-03 -8.95916167e+01] [-2.20930308e-03 7.09050013e-05 -9.99997557e-01 -1.80097797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.916559995 meters 0.01980608395715229 Centerline is valid? [True, True] Translation: X:85.90, Y:-89.69, Z:-1.80 [[ 2.89403416e-01 -9.57207191e-01 -2.36452407e-04 8.59044959e+01] [-9.57206935e-01 -2.89403511e-01 7.01565597e-04 -8.96893367e+01] [-7.39973792e-04 2.32984039e-05 -9.99999726e-01 -1.80236547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.946559995 meters 0.020711751287873344 Centerline is valid? [True, True] Translation: X:85.91, Y:-89.78, Z:-1.80 [[ 3.59000513e-01 -9.33337316e-01 -2.93560088e-04 8.59110677e+01] [-9.33337058e-01 -3.59000632e-01 6.94202628e-04 -8.97822954e+01] [-7.53313474e-04 2.47714094e-05 -9.99999716e-01 -1.80258279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.976559995 meters 0.01967530970787027 Centerline is valid? [True, True] Translation: X:85.92, Y:-89.88, Z:-1.80 [[ 4.26514614e-01 -9.04480609e-01 -3.36606991e-04 8.59224576e+01] [-9.04480372e-01 -4.26514746e-01 6.54855446e-04 -8.98770948e+01] [-7.35871897e-04 2.51489992e-05 -9.99999729e-01 -1.80261131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.006559995 meters 0.022261073781820746 Centerline is valid? [True, True] Translation: X:85.95, Y:-89.97, Z:-1.80 [[ 4.91431280e-01 -8.70916241e-01 -4.46325658e-04 8.59461213e+01] [-8.70915937e-01 -4.91431482e-01 7.27924654e-04 -8.99694249e+01] [-8.53299883e-04 3.09871842e-05 -9.99999635e-01 -1.80241227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.036559995 meters 0.020424382617750377 Centerline is valid? [True, True] Translation: X:85.97, Y:-90.06, Z:-1.80 [[ 5.51594794e-01 -8.34112048e-01 -5.23595341e-04 8.59656299e+01] [-8.34111733e-01 -5.51595042e-01 7.26128243e-04 -9.00557122e+01] [-8.94484909e-04 3.62084582e-05 -9.99999599e-01 -1.80206934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.066559995 meters 0.021268513621045686 Centerline is valid? [True, True] Translation: X:86.00, Y:-90.14, Z:-1.80 [[ 6.10475358e-01 -7.92035111e-01 -4.69131633e-04 8.59963384e+01] [-7.92034915e-01 -6.10475537e-01 5.58640599e-04 -9.01394848e+01] [-7.28856355e-04 3.05323132e-05 -9.99999734e-01 -1.80197142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.096559995 meters 0.021268513621045686 Centerline is valid? [True, True] Translation: X:86.03, Y:-90.22, Z:-1.80 [[ 6.67495127e-01 -7.44613991e-01 -5.09184779e-04 8.60300639e+01] [-7.44613809e-01 -6.67495321e-01 5.22249555e-04 -9.02192408e+01] [-7.28752783e-04 3.05469846e-05 -9.99999734e-01 -1.80197502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.126559995 meters 0.025171428716640996 Centerline is valid? [True, True] Translation: X:86.07, Y:-90.29, Z:-1.80 [[ 7.19230192e-01 -6.94771798e-01 -2.82872224e-04 8.60721171e+01] [-6.94771752e-01 -7.19230248e-01 2.51815867e-04 -9.02907878e+01] [-3.78404822e-04 1.54180567e-05 -9.99999928e-01 -1.80223238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.156559995 meters 0.02775040335938581 Centerline is valid? [True, True] Translation: X:85.84, Y:-90.60, Z:-2.79 [[ 7.85817491e-01 6.18458441e-01 1.66797618e-04 8.58428127e+01] [-6.18458424e-01 7.85817508e-01 -1.46317722e-04 -9.05984198e+01] [-2.21563919e-04 1.18216330e-05 9.99999975e-01 -2.78635759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.186559995 meters 0.025493036233547105 Centerline is valid? [True, True] Translation: X:85.87, Y:-90.62, Z:-2.79 [[ 7.87448533e-01 6.16380316e-01 3.39111259e-04 8.58680828e+01] [-6.16380244e-01 7.87448605e-01 -2.97483518e-04 -9.06160987e+01] [-4.50395673e-04 2.52314795e-05 9.99999898e-01 -2.78588476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.21655999499998 meters 0.025719926918421943 Centerline is valid? [True, True] Translation: X:85.89, Y:-90.64, Z:-2.79 [[ 7.88896719e-01 6.14525360e-01 7.40551444e-04 8.58916570e+01] [-6.14525019e-01 7.88897065e-01 -6.49690172e-04 -9.06367469e+01] [-9.83469947e-04 5.74510543e-05 9.99999515e-01 -2.78575717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.24655999499998 meters 0.02704855670641401 Centerline is valid? [True, True] Translation: X:85.91, Y:-90.66, Z:-2.79 [[ 7.89877121e-01 6.13264396e-01 9.55860830e-04 8.59143938e+01] [-6.13263827e-01 7.89877696e-01 -8.38950519e-04 -9.06580958e+01] [-1.26951163e-03 7.64729505e-05 9.99999191e-01 -2.78564045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.27655999499999 meters 0.0260240728987666 Centerline is valid? [True, True] Translation: X:85.94, Y:-90.68, Z:-2.78 [[ 7.90815593e-01 6.12052151e-01 1.69175436e-03 8.59410262e+01] [-6.12050365e-01 7.90817390e-01 -1.48506304e-03 -9.06769652e+01] [-2.24680480e-03 1.38972137e-04 9.99997466e-01 -2.78498483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.306559995 meters 0.0282446711719218 Centerline is valid? [True, True] Translation: X:85.96, Y:-90.70, Z:-2.78 [[ 7.90517127e-01 6.12436264e-01 2.12004893e-03 8.59629769e+01] [-6.12433458e-01 7.90519951e-01 -1.86186677e-03 -9.06986620e+01] [-2.81621571e-03 1.73448672e-04 9.99996019e-01 -2.78471542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.336559995 meters 0.02767834708129826 Centerline is valid? [True, True] Translation: X:85.99, Y:-90.72, Z:-2.78 [[ 7.89820192e-01 6.13334613e-01 2.17177956e-03 8.59886645e+01] [-6.13331670e-01 7.89823158e-01 -1.90821312e-03 -9.07184320e+01] [-2.88569495e-03 1.75124069e-04 9.99995821e-01 -2.78473323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.366559995 meters 0.02502353335010239 Centerline is valid? [True, True] Translation: X:86.02, Y:-90.74, Z:-2.79 [[ 7.88875075e-01 6.14550572e-01 1.92632474e-03 8.60155574e+01] [-6.14548260e-01 7.88877412e-01 -1.69267566e-03 -9.07351376e+01] [-2.55986887e-03 1.51490119e-04 9.99996712e-01 -2.78513035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.396559995 meters 0.02399106234607098 Centerline is valid? [True, True] Translation: X:86.04, Y:-90.75, Z:-2.79 [[ 7.86183121e-01 6.17991855e-01 1.47229697e-03 8.60425476e+01] [-6.17990510e-01 7.86184492e-01 -1.29373814e-03 -9.07510105e+01] [-1.95701667e-03 1.07249537e-04 9.99998079e-01 -2.78621313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.426559995 meters 0.024959302407615132 Centerline is valid? [True, True] Translation: X:86.07, Y:-90.77, Z:-2.79 [[ 7.84506562e-01 6.20119471e-01 1.13851397e-03 8.60665726e+01] [-6.20118669e-01 7.84507384e-01 -1.00050479e-03 -9.07702544e+01] [-1.51360512e-03 7.88887993e-05 9.99998851e-01 -2.78643792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.456559995 meters 0.022821556470365913 Centerline is valid? [True, True] Translation: X:86.09, Y:-90.79, Z:-2.79 [[ 7.82393963e-01 6.22782807e-01 1.12355548e-03 8.60929123e+01] [-6.22782028e-01 7.82394766e-01 -9.87327735e-04 -9.07857793e+01] [-1.49395466e-03 7.27490995e-05 9.99998881e-01 -2.78693537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.486559995 meters 0.02396736910209188 Centerline is valid? [True, True] Translation: X:86.12, Y:-90.80, Z:-2.79 [[ 7.80089745e-01 6.25666824e-01 1.00749826e-03 8.61156461e+01] [-6.25666200e-01 7.80090394e-01 -8.85281839e-04 -9.08040330e+01] [-1.33983119e-03 6.02416793e-05 9.99999101e-01 -2.78712690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.516559995 meters 0.019898691492271924 Centerline is valid? [True, True] Translation: X:86.15, Y:-90.82, Z:-2.79 [[ 7.75179111e-01 6.31741304e-01 5.19225481e-04 8.61469082e+01] [-6.31741140e-01 7.75179285e-01 -4.56248776e-04 -9.08152561e+01] [-6.90724034e-04 2.56584237e-05 9.99999761e-01 -2.78806412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.546559995 meters 0.018381059227778968 Centerline is valid? [True, True] Translation: X:86.17, Y:-90.83, Z:-2.79 [[ 7.72934378e-01 6.34485646e-01 6.42478028e-04 8.61728112e+01] [-6.34485395e-01 7.72934645e-01 -5.64515434e-04 -9.08309891e+01] [-8.54770465e-04 2.86904605e-05 9.99999634e-01 -2.78838037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.576559995 meters 0.018100367855484148 Centerline is valid? [True, True] Translation: X:86.20, Y:-90.85, Z:-2.79 [[ 7.70979586e-01 6.36859683e-01 4.70630839e-04 8.61962147e+01] [-6.36859549e-01 7.70979730e-01 -4.13466717e-04 -9.08472323e+01] [-6.26167119e-04 1.90486546e-05 9.99999804e-01 -2.78842429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.606559995 meters 0.017077230556805725 Centerline is valid? [True, True] Translation: X:86.22, Y:-90.86, Z:-2.79 [[ 7.69711935e-01 6.38391010e-01 6.74455185e-04 8.62207910e+01] [-6.38390736e-01 7.69712231e-01 -5.92390083e-04 -9.08635582e+01] [-8.97312908e-04 2.54037762e-05 9.99999597e-01 -2.78857694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.636559995 meters 0.0170686955624568 Centerline is valid? [True, True] Translation: X:86.24, Y:-90.88, Z:-2.79 [[ 7.68870219e-01 6.39404364e-01 8.04362941e-04 8.62442664e+01] [-6.39403974e-01 7.68870639e-01 -7.06158595e-04 -9.08796478e+01] [-1.06997193e-03 2.86314522e-05 9.99999427e-01 -2.78861295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.666559995 meters 0.016555333399348712 Centerline is valid? [True, True] Translation: X:86.27, Y:-90.90, Z:-2.79 [[ 7.69237838e-01 6.38962035e-01 8.15861534e-04 8.62679970e+01] [-6.38961635e-01 7.69238270e-01 -7.16145772e-04 -9.08970234e+01] [-1.08518188e-03 2.95822063e-05 9.99999411e-01 -2.78896814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.696559995 meters 0.017809011093672694 Centerline is valid? [True, True] Translation: X:86.29, Y:-90.92, Z:-2.79 [[ 7.71052045e-01 6.36771545e-01 8.62641745e-04 8.62898900e+01] [-6.36771096e-01 7.71052527e-01 -7.57129396e-04 -9.09157249e+01] [-1.14726055e-03 3.44808396e-05 9.99999341e-01 -2.78968904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.726559995 meters 0.019814104538946133 Centerline is valid? [True, True] Translation: X:86.31, Y:-90.93, Z:-2.79 [[ 7.73683187e-01 6.33572494e-01 4.70243624e-04 8.63109806e+01] [-6.33572360e-01 7.73683330e-01 -4.12672557e-04 -9.09347440e+01] [-6.25277634e-04 2.13444571e-05 9.99999804e-01 -2.79036098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.756559995 meters 0.022203114661293075 Centerline is valid? [True, True] Translation: X:86.33, Y:-90.95, Z:-2.79 [[ 7.78408888e-01 6.27757121e-01 7.74126568e-04 8.63341739e+01] [-6.27756755e-01 7.78409272e-01 -6.79335409e-04 -9.09549920e+01] [-1.02904494e-03 4.28375386e-05 9.99999470e-01 -2.79047508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.786559995 meters 0.02270429698296284 Centerline is valid? [True, True] Translation: X:86.36, Y:-90.97, Z:-2.79 [[ 7.80806719e-01 6.24772070e-01 8.53271046e-04 8.63576108e+01] [-6.24771623e-01 7.80807184e-01 -7.48788267e-04 -9.09744008e+01] [-1.13406216e-03 5.15593742e-05 9.99999356e-01 -2.79040525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.816559995 meters 0.02270429698296284 Centerline is valid? [True, True] Translation: X:86.38, Y:-90.99, Z:-2.79 [[ 7.80870653e-01 6.24692161e-01 8.53345161e-04 8.63783666e+01] [-6.24691714e-01 7.80871117e-01 -7.48703801e-04 -9.09924975e+01] [-1.13406198e-03 5.15631745e-05 9.99999356e-01 -2.79040627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.846559995 meters 0.02270429698296284 Centerline is valid? [True, True] Translation: X:86.40, Y:-91.01, Z:-2.79 [[ 7.80934578e-01 6.24612245e-01 8.53421777e-04 8.63991242e+01] [-6.24611799e-01 7.80935042e-01 -7.48616468e-04 -9.10105920e+01] [-1.13406198e-03 5.15631745e-05 9.99999356e-01 -2.79040730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.876559995 meters 0.02270429698296284 Centerline is valid? [True, True] Translation: X:86.42, Y:-91.03, Z:-2.79 [[ 7.80998495e-01 6.24532323e-01 8.53498384e-04 8.64198836e+01] [-6.24531877e-01 7.80998960e-01 -7.48529127e-04 -9.10286845e+01] [-1.13406198e-03 5.15631745e-05 9.99999356e-01 -2.79040832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.906559995 meters 0.022084151433087944 Centerline is valid? [True, True] Translation: X:86.44, Y:-91.05, Z:-2.79 [[ 7.82080410e-01 6.23176289e-01 1.24345702e-03 8.64430328e+01] [-6.23175339e-01 7.82081394e-01 -1.09037030e-03 -9.10459996e+01] [-1.65197752e-03 7.78654940e-05 9.99998632e-01 -2.79060825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.936559995 meters 0.026381978997919525 Centerline is valid? [True, True] Translation: X:86.46, Y:-91.07, Z:-2.79 [[ 7.82885298e-01 6.22164610e-01 1.34473416e-03 8.64610061e+01] [-6.22163499e-01 7.82886448e-01 -1.17897265e-03 -9.10676841e+01] [-1.78628921e-03 8.63558459e-05 9.99998401e-01 -2.79011859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.96655999499998 meters 0.02250680335674207 Centerline is valid? [True, True] Translation: X:86.49, Y:-91.08, Z:-2.79 [[ 7.83949494e-01 6.20822495e-01 1.61888882e-03 8.64882251e+01] [-6.20820883e-01 7.83951158e-01 -1.41908313e-03 -9.10797355e+01] [-2.15012849e-03 1.07449519e-04 9.99997683e-01 -2.79053588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.99655999499998 meters 0.02350228430778043 Centerline is valid? [True, True] Translation: X:86.51, Y:-91.10, Z:-2.79 [[ 7.84445465e-01 6.20195377e-01 1.73388474e-03 8.65092429e+01] [-6.20193526e-01 7.84447373e-01 -1.51961990e-03 -9.10977145e+01] [-2.30260256e-03 1.16714845e-04 9.99997342e-01 -2.79055979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.02655999499999 meters 0.02399383622776658 Centerline is valid? [True, True] Translation: X:86.53, Y:-91.12, Z:-2.79 [[ 7.84957054e-01 6.19548732e-01 1.33857848e-03 8.65315961e+01] [-6.19547628e-01 7.84958190e-01 -1.17300029e-03 -9.11159666e+01] [-1.77745898e-03 9.14417233e-05 9.99998416e-01 -2.79090094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.056559995 meters 0.024463318532883898 Centerline is valid? [True, True] Translation: X:86.55, Y:-91.13, Z:-2.79 [[ 7.85647595e-01 6.18673014e-01 1.24814211e-03 8.65538770e+01] [-6.18672054e-01 7.85648582e-01 -1.09359866e-03 -9.11340940e+01] [-1.65718106e-03 8.69925129e-05 9.99998623e-01 -2.79113325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.086559995 meters 0.025393041419814924 Centerline is valid? [True, True] Translation: X:86.57, Y:-91.15, Z:-2.79 [[ 7.86417962e-01 6.17693110e-01 1.41813125e-03 8.65747167e+01] [-6.17691869e-01 7.86419234e-01 -1.24232605e-03 -9.11522726e+01] [-1.88262194e-03 1.01019379e-04 9.99998223e-01 -2.79155675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.116559995 meters 0.02687780567954556 Centerline is valid? [True, True] Translation: X:86.60, Y:-91.17, Z:-2.79 [[ 7.88297592e-01 6.15293204e-01 1.08631775e-03 8.65973495e+01] [-6.15292473e-01 7.88298336e-01 -9.51612260e-04 -9.11724562e+01] [-1.44186303e-03 8.17505175e-05 9.99998957e-01 -2.79237141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.146559995 meters 0.027428616343332515 Centerline is valid? [True, True] Translation: X:86.62, Y:-91.19, Z:-2.79 [[ 7.89498771e-01 6.13751272e-01 1.03336110e-03 8.66193144e+01] [-6.13750610e-01 7.89499443e-01 -9.05092360e-04 -9.11915891e+01] [-1.37133960e-03 8.03432976e-05 9.99999056e-01 -2.79277833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.176559995 meters 0.027194937062344916 Centerline is valid? [True, True] Translation: X:86.64, Y:-91.21, Z:-2.79 [[ 7.90874505e-01 6.11977646e-01 9.37294206e-04 8.66421177e+01] [-6.11977100e-01 7.90875057e-01 -8.20863646e-04 -9.12097507e+01] [-1.24363281e-03 7.55975397e-05 9.99999224e-01 -2.79304657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.206559995 meters 0.02876781375789599 Centerline is valid? [True, True] Translation: X:86.66, Y:-91.23, Z:-2.79 [[ 7.92028430e-01 6.10483268e-01 1.07030651e-03 8.66630963e+01] [-6.10482555e-01 7.92029148e-01 -9.37255489e-04 -9.12293380e+01] [-1.41989275e-03 8.89295412e-05 9.99998988e-01 -2.79288031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.236559995 meters 0.030678789928966776 Centerline is valid? [True, True] Translation: X:86.69, Y:-91.25, Z:-2.79 [[ 7.93949919e-01 6.07982349e-01 9.94731740e-04 8.66854541e+01] [-6.07981731e-01 7.93950538e-01 -8.71015455e-04 -9.12481252e+01] [-1.31932982e-03 8.67639254e-05 9.99999126e-01 -2.79285232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.266559995 meters 0.027018163842465276 Centerline is valid? [True, True] Translation: X:86.71, Y:-91.26, Z:-2.79 [[ 7.94616850e-01 6.07110067e-01 1.19520876e-03 8.67112328e+01] [-6.07109174e-01 7.94617742e-01 -1.04637546e-03 -9.12617678e+01] [-1.58499916e-03 1.05845366e-04 9.99998738e-01 -2.79285823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.296559995 meters 0.026140172611129005 Centerline is valid? [True, True] Translation: X:86.73, Y:-91.28, Z:-2.79 [[ 7.94999937e-01 6.06608151e-01 1.28502185e-03 8.67344850e+01] [-6.06607119e-01 7.95000967e-01 -1.12480239e-03 -9.12782586e+01] [-1.70390791e-03 1.14714425e-04 9.99998542e-01 -2.79262771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.326559995 meters 0.026733174908829135 Centerline is valid? [True, True] Translation: X:86.76, Y:-91.30, Z:-2.79 [[ 7.95035649e-01 6.06560045e-01 1.79655415e-03 8.67560862e+01] [-6.06558029e-01 7.95037663e-01 -1.57221820e-03 -9.12963404e+01] [-2.38197295e-03 1.60255176e-04 9.99997150e-01 -2.79220718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.356559995 meters 0.02868129264953246 Centerline is valid? [True, True] Translation: X:86.78, Y:-91.31, Z:-2.79 [[ 7.94132680e-01 6.07741266e-01 1.95973916e-03 8.67769919e+01] [-6.07738871e-01 7.94135079e-01 -1.71472095e-03 -9.13142529e+01] [-2.59840430e-03 1.70706283e-04 9.99996610e-01 -2.79171400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.386559995 meters 0.02793457159714377 Centerline is valid? [True, True] Translation: X:86.80, Y:-91.33, Z:-2.79 [[ 7.93578076e-01 6.08465090e-01 2.01753454e-03 8.68004097e+01] [-6.08462557e-01 7.93580622e-01 -1.76445556e-03 -9.13311550e+01] [-2.67468593e-03 1.72639030e-04 9.99996408e-01 -2.79194051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.416559995 meters 0.026105015588189378 Centerline is valid? [True, True] Translation: X:86.83, Y:-91.35, Z:-2.79 [[ 7.92731607e-01 6.09568826e-01 1.56390640e-03 8.68250813e+01] [-6.09567306e-01 7.92733139e-01 -1.36753082e-03 -9.13471246e+01] [-2.07336458e-03 1.30778688e-04 9.99997842e-01 -2.79226064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.446559995 meters 0.02610581979534498 Centerline is valid? [True, True] Translation: X:86.85, Y:-91.37, Z:-2.79 [[ 7.91574986e-01 6.11069722e-01 1.68420815e-03 8.68485770e+01] [-6.11067963e-01 7.91576766e-01 -1.47262090e-03 -9.13655688e+01] [-2.23305408e-03 1.36524232e-04 9.99997497e-01 -2.79277566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.476559995 meters 0.0252980267289032 Centerline is valid? [True, True] Translation: X:86.87, Y:-91.38, Z:-2.79 [[ 7.89870347e-01 6.13272664e-01 1.21424591e-03 8.68749521e+01] [-6.13271752e-01 7.89871275e-01 -1.06166238e-03 -9.13808223e+01] [-1.61018648e-03 9.39129170e-05 9.99998699e-01 -2.79360565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.506559995 meters 0.025659977349866303 Centerline is valid? [True, True] Translation: X:86.90, Y:-91.40, Z:-2.79 [[ 7.89470591e-01 6.13787845e-01 8.16885807e-04 8.68983630e+01] [-6.13787433e-01 7.89471011e-01 -7.13921226e-04 -9.13985821e+01] [-1.08310383e-03 6.22255700e-05 9.99999412e-01 -2.79384786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.536559995 meters 0.025955298868987724 Centerline is valid? [True, True] Translation: X:86.92, Y:-91.42, Z:-2.79 [[ 7.89156961e-01 6.14190963e-01 8.67294673e-04 8.69208015e+01] [-6.14190499e-01 7.89157435e-01 -7.57607582e-04 -9.14161208e+01] [-1.14974777e-03 6.51871479e-05 9.99999337e-01 -2.79386593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.566559995 meters 0.0259293907659151 Centerline is valid? [True, True] Translation: X:86.94, Y:-91.43, Z:-2.79 [[ 7.88717056e-01 6.14755223e-01 1.19209978e-03 8.69449001e+01] [-6.14754348e-01 7.88717952e-01 -1.04082446e-03 -9.14321140e+01] [-1.58008277e-03 8.80674817e-05 9.99998748e-01 -2.79358399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.596559995 meters 0.02589846194096557 Centerline is valid? [True, True] Translation: X:86.97, Y:-91.45, Z:-2.79 [[ 7.88595471e-01 6.14911267e-01 1.14736932e-03 8.69678801e+01] [-6.14910457e-01 7.88596302e-01 -1.00128566e-03 -9.14497758e+01] [-1.52051303e-03 8.40799482e-05 9.99998840e-01 -2.79342836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.626559995 meters 0.024376324750055696 Centerline is valid? [True, True] Translation: X:86.99, Y:-91.47, Z:-2.79 [[ 7.88598356e-01 6.14906891e-01 1.46568235e-03 8.69923010e+01] [-6.14905571e-01 7.88599711e-01 -1.27843595e-03 -9.14654915e+01] [-1.94195576e-03 1.06916246e-04 9.99998109e-01 -2.79335589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.656559995 meters 0.029486616719491224 Centerline is valid? [True, True] Translation: X:87.01, Y:-91.49, Z:-2.79 [[ 7.88428084e-01 6.15125842e-01 1.16364080e-03 8.70102332e+01] [-6.15125011e-01 7.88428939e-01 -1.01471349e-03 -9.14875406e+01] [-1.54162457e-03 8.42440573e-05 9.99998808e-01 -2.79331810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.686559995 meters 0.027767735174407396 Centerline is valid? [True, True] Translation: X:87.04, Y:-91.50, Z:-2.79 [[ 7.88286045e-01 6.15308705e-01 5.54743736e-04 8.70363952e+01] [-6.15308517e-01 7.88286240e-01 -4.83525566e-04 -9.15015483e+01] [-7.34814344e-04 3.98179109e-05 9.99999729e-01 -2.79375437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.71655999499998 meters 0.024633646240450727 Centerline is valid? [True, True] Translation: X:87.06, Y:-91.52, Z:-2.79 [[ 7.88099124e-01 6.15548190e-01 4.43923781e-04 8.70621841e+01] [-6.15548069e-01 7.88099248e-01 -3.86745111e-04 -9.15156715e+01] [-5.87916251e-04 3.15370561e-05 9.99999827e-01 -2.79390448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.74655999499998 meters 0.027354263433755726 Centerline is valid? [True, True] Translation: X:87.08, Y:-91.54, Z:-2.79 [[ 7.87837087e-01 6.15883690e-01 7.73864025e-05 8.70817925e+01] [-6.15883686e-01 7.87837090e-01 -6.74092199e-05 -9.15352169e+01] [-1.02484117e-04 5.44646061e-06 9.99999995e-01 -2.79467167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.77655999499999 meters 0.023940700467552076 Centerline is valid? [True, True] Translation: X:87.11, Y:-91.55, Z:-2.80 [[ 7.87719124e-01 6.16034395e-01 -4.52763618e-04 8.71080120e+01] [-6.16034270e-01 7.87719254e-01 3.94157139e-04 -9.15491990e+01] [ 5.99464974e-04 -3.15672115e-05 9.99999820e-01 -2.79503858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.806559995 meters 0.024287391882306678 Centerline is valid? [True, True] Translation: X:87.13, Y:-91.57, Z:-2.80 [[ 7.86414482e-01 6.17698126e-01 -1.13453542e-03 8.71318613e+01] [-6.17697342e-01 7.86415297e-01 9.87243058e-04 -9.15656758e+01] [ 1.50203420e-03 -7.55827240e-05 9.99998869e-01 -2.79610237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.836559995 meters 0.021714700489662814 Centerline is valid? [True, True] Translation: X:87.16, Y:-91.58, Z:-2.80 [[ 7.85629027e-01 6.18696285e-01 -1.39229785e-03 8.71578365e+01] [-6.18695106e-01 7.85630256e-01 1.21096250e-03 -9.15803052e+01] [ 1.84304931e-03 -8.99594301e-05 9.99998298e-01 -2.79587292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.866559995 meters 0.022041238860490166 Centerline is valid? [True, True] Translation: X:87.18, Y:-91.60, Z:-2.80 [[ 7.84552958e-01 6.20059806e-01 -1.57873890e-03 8.71800722e+01] [-6.20058294e-01 7.84554541e-01 1.37278044e-03 -9.15975660e+01] [ 2.08981275e-03 -9.81088069e-05 9.99997812e-01 -2.79606471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.896559995 meters 0.0213622432970488 Centerline is valid? [True, True] Translation: X:87.20, Y:-91.61, Z:-2.80 [[ 7.83367411e-01 6.21556402e-01 -1.77147114e-03 8.72040612e+01] [-6.21554503e-01 7.83369407e-01 1.54015536e-03 -9.16140509e+01] [ 2.34500972e-03 -1.05441656e-04 9.99997245e-01 -2.79610047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.926559995 meters 0.020698659818756383 Centerline is valid? [True, True] Translation: X:87.23, Y:-91.63, Z:-2.80 [[ 7.82151974e-01 6.23082913e-01 -2.44389256e-03 8.72277242e+01] [-6.23079307e-01 7.82155780e-01 2.12447302e-03 -9.16307933e+01] [ 3.23522753e-03 -1.38921882e-04 9.99994757e-01 -2.79619175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.956559995 meters 0.020698659818756383 Centerline is valid? [True, True] Translation: X:87.25, Y:-91.65, Z:-2.80 [[ 7.82327817e-01 6.22862112e-01 -2.44449730e-03 8.72485374e+01] [-6.22858507e-01 7.82331624e-01 2.12377715e-03 -9.16488068e+01] [ 3.23522787e-03 -1.38914007e-04 9.99994757e-01 -2.79619277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.986559995 meters 0.020487319158649833 Centerline is valid? [True, True] Translation: X:87.27, Y:-91.66, Z:-2.80 [[ 7.80005335e-01 6.25764685e-01 -3.19934235e-03 8.72727201e+01] [-6.25758535e-01 7.80011879e-01 2.77940563e-03 -9.16646415e+01] [ 4.23477892e-03 -1.65935440e-04 9.99991020e-01 -2.79610650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.016559995 meters 0.019423564143453823 Centerline is valid? [True, True] Translation: X:87.30, Y:-91.68, Z:-2.80 [[ 7.79366410e-01 6.26559115e-01 -3.41682193e-03 8.72964570e+01] [-6.26552114e-01 7.79373881e-01 2.96682605e-03 -9.16808779e+01] [ 4.52187367e-03 -1.71427563e-04 9.99989762e-01 -2.79566220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.046559995 meters 0.02021892127226661 Centerline is valid? [True, True] Translation: X:87.32, Y:-91.70, Z:-2.80 [[ 7.78924446e-01 6.27108424e-01 -3.42507910e-03 8.73176906e+01] [-6.27101397e-01 7.78931958e-01 2.97347134e-03 -9.16988826e+01] [ 4.53259250e-03 -1.68237629e-04 9.99989714e-01 -2.79544898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.076559995 meters 0.0193803155860215 Centerline is valid? [True, True] Translation: X:87.34, Y:-91.71, Z:-2.79 [[ 7.79274056e-01 6.26674149e-01 -3.38479837e-03 8.73415720e+01] [-6.26667289e-01 7.79281389e-01 2.93704478e-03 -9.17149024e+01] [ 4.47828041e-03 -1.67620377e-04 9.99989958e-01 -2.79468438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.106559995 meters 0.020440080107579132 Centerline is valid? [True, True] Translation: X:87.36, Y:-91.73, Z:-2.79 [[ 7.79635053e-01 6.26224831e-01 -3.41254361e-03 8.73624890e+01] [-6.26217856e-01 7.79642503e-01 2.96061236e-03 -9.17339553e+01] [ 4.51457302e-03 -1.71201431e-04 9.99989795e-01 -2.79478322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.136559995 meters 0.01933589894889206 Centerline is valid? [True, True] Translation: X:87.39, Y:-91.75, Z:-2.79 [[ 7.80135301e-01 6.25600803e-01 -3.54238242e-03 8.73858146e+01] [-6.25593287e-01 7.80143322e-01 3.07171878e-03 -9.17508771e+01] [ 4.68523572e-03 -1.80265589e-04 9.99989008e-01 -2.79459422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.166559995 meters 0.02027354948800345 Centerline is valid? [True, True] Translation: X:87.41, Y:-91.77, Z:-2.79 [[ 7.80736047e-01 6.24851817e-01 -3.38113887e-03 8.74071607e+01] [-6.24844969e-01 7.80743349e-01 2.93054300e-03 -9.17702567e+01] [ 4.47095680e-03 -1.75292944e-04 9.99989990e-01 -2.79485954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.196559995 meters 0.020424805863175098 Centerline is valid? [True, True] Translation: X:87.43, Y:-91.79, Z:-2.79 [[ 7.81249653e-01 6.24208896e-01 -3.49766578e-03 8.74293990e+01] [-6.24201569e-01 7.81257461e-01 3.03001718e-03 -9.17887013e+01] [ 4.62394117e-03 -1.83951402e-04 9.99989293e-01 -2.79478525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.226559995 meters 0.020988466788356117 Centerline is valid? [True, True] Translation: X:87.45, Y:-91.81, Z:-2.79 [[ 7.82128826e-01 6.23108667e-01 -3.17637038e-03 8.74517920e+01] [-6.23102621e-01 7.82135257e-01 2.75030737e-03 -9.18065601e+01] [ 4.19809162e-03 -1.71889965e-04 9.99991173e-01 -2.79456168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.256559995 meters 0.020765618605343903 Centerline is valid? [True, True] Translation: X:87.47, Y:-91.82, Z:-2.79 [[ 7.82520565e-01 6.22615370e-01 -3.41557257e-03 8.74742405e+01] [-6.22608381e-01 7.82527997e-01 2.95594481e-03 -9.18242520e+01] [ 4.51319784e-03 -1.86523490e-04 9.99989798e-01 -2.79452750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.286559995 meters 0.020241626912437853 Centerline is valid? [True, True] Translation: X:87.50, Y:-91.84, Z:-2.79 [[ 7.82774712e-01 6.22293849e-01 -3.75713754e-03 8.74968714e+01] [-6.22285397e-01 7.82783701e-01 3.24991671e-03 -9.18417079e+01] [ 4.96342921e-03 -2.05940789e-04 9.99987661e-01 -2.79441048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.316559995 meters 0.020636028117231028 Centerline is valid? [True, True] Translation: X:87.52, Y:-91.86, Z:-2.79 [[ 7.82967762e-01 6.22047886e-01 -4.23221827e-03 8.75186954e+01] [-6.22037169e-01 7.82979166e-01 3.65878433e-03 -9.18598462e+01] [ 5.58967779e-03 -2.32113105e-04 9.99984351e-01 -2.79465495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.346559995 meters 0.02068537835958589 Centerline is valid? [True, True] Translation: X:87.54, Y:-91.88, Z:-2.80 [[ 7.82909158e-01 6.22120666e-01 -4.37346050e-03 8.75414287e+01] [-6.22109233e-01 7.82921337e-01 3.77914747e-03 -9.18783748e+01] [ 5.77516129e-03 -2.37959003e-04 9.99983295e-01 -2.79500359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.376559995 meters 0.021002206778349814 Centerline is valid? [True, True] Translation: X:87.56, Y:-91.90, Z:-2.80 [[ 7.82688237e-01 6.22396080e-01 -4.71623252e-03 8.75638102e+01] [-6.22382803e-01 7.82702405e-01 4.07332466e-03 -9.18960178e+01] [ 6.22662784e-03 -2.52841284e-04 9.99980582e-01 -2.79515694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.406559995 meters 0.020063440566618542 Centerline is valid? [True, True] Translation: X:87.59, Y:-91.91, Z:-2.79 [[ 7.82364676e-01 6.22801653e-01 -4.85941567e-03 8.75867583e+01] [-6.22787578e-01 7.82379726e-01 4.19487865e-03 -9.19129901e+01] [ 6.41448566e-03 -2.55541162e-04 9.99979394e-01 -2.79479455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.436559995 meters 0.020326120680137016 Centerline is valid? [True, True] Translation: X:87.61, Y:-91.93, Z:-2.79 [[ 7.82051914e-01 6.23193729e-01 -4.93751190e-03 8.76085489e+01] [-6.23179213e-01 7.82067459e-01 4.26117226e-03 -9.19307236e+01] [ 6.51700322e-03 -2.55503144e-04 9.99978731e-01 -2.79491059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.46655999499998 meters 0.020051631830403514 Centerline is valid? [True, True] Translation: X:87.63, Y:-91.95, Z:-2.79 [[ 7.81448744e-01 6.23951000e-01 -4.79675908e-03 8.76311503e+01] [-6.23937327e-01 7.81463429e-01 4.13765647e-03 -9.19484363e+01] [ 6.33018670e-03 -2.40489416e-04 9.99979935e-01 -2.79497589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.49655999499998 meters 0.018102898413107856 Centerline is valid? [True, True] Translation: X:87.66, Y:-91.96, Z:-2.79 [[ 7.79781370e-01 6.26030693e-01 -5.15630192e-03 8.76558519e+01] [-6.26014946e-01 7.79798381e-01 4.44673080e-03 -9.19647074e+01] [ 6.80466586e-03 -2.39555766e-04 9.99976819e-01 -2.79492292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.52655999499999 meters 0.01796997428873475 Centerline is valid? [True, True] Translation: X:87.68, Y:-91.98, Z:-2.80 [[ 7.79117904e-01 6.26856478e-01 -5.12324386e-03 8.76771520e+01] [-6.26840958e-01 7.79134715e-01 4.41704499e-03 -9.19821590e+01] [ 6.76055041e-03 -2.29939750e-04 9.99977121e-01 -2.79520325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.556559995 meters 0.01917775883683621 Centerline is valid? [True, True] Translation: X:87.70, Y:-92.00, Z:-2.80 [[ 7.78232243e-01 6.27954138e-01 -5.30812617e-03 8.76973737e+01] [-6.27937511e-01 7.78250313e-01 4.57524400e-03 -9.20015582e+01] [ 7.00409426e-03 -2.27430862e-04 9.99975445e-01 -2.79561914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.586559995 meters 0.01689860014693948 Centerline is valid? [True, True] Translation: X:87.72, Y:-92.02, Z:-2.80 [[ 7.76597574e-01 6.29971824e-01 -5.63110078e-03 8.77223516e+01] [-6.29953170e-01 7.76617958e-01 4.85292884e-03 -9.20169207e+01] [ 7.43042242e-03 -2.21442973e-04 9.99972370e-01 -2.79502086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.616559995 meters 0.016415523409267267 Centerline is valid? [True, True] Translation: X:87.74, Y:-92.03, Z:-2.79 [[ 7.75957047e-01 6.30758461e-01 -5.86735470e-03 8.77447930e+01] [-6.30738251e-01 7.75979198e-01 5.05399223e-03 -9.20344025e+01] [ 7.74079355e-03 -2.20915845e-04 9.99970015e-01 -2.79495907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.646559995 meters 0.016470494913659147 Centerline is valid? [True, True] Translation: X:87.77, Y:-92.05, Z:-2.80 [[ 7.75227891e-01 6.31647393e-01 -6.57933663e-03 8.77661617e+01] [-6.31622022e-01 7.75255774e-01 5.66629079e-03 -9.20522202e+01] [ 8.67976651e-03 -2.37012752e-04 9.99962302e-01 -2.79537066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.676559995 meters 0.01602436186418526 Centerline is valid? [True, True] Translation: X:87.79, Y:-92.07, Z:-2.80 [[ 7.74969130e-01 6.31964414e-01 -6.62022179e-03 8.77888442e+01] [-6.31938763e-01 7.74997371e-01 5.69865127e-03 -9.20702440e+01] [ 8.73199930e-03 -2.32704046e-04 9.99961848e-01 -2.79510589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.706559995 meters 0.01617454161123323 Centerline is valid? [True, True] Translation: X:87.81, Y:-92.09, Z:-2.79 [[ 7.75117378e-01 6.31782156e-01 -6.66015950e-03 8.78095351e+01] [-6.31756217e-01 7.75145956e-01 5.72973581e-03 -9.20889572e+01] [ 8.78254054e-03 -2.33620634e-04 9.99961405e-01 -2.79475085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.736559995 meters 0.01613003445669643 Centerline is valid? [True, True] Translation: X:87.83, Y:-92.11, Z:-2.79 [[ 7.75647884e-01 6.31131512e-01 -6.58588438e-03 8.78308470e+01] [-6.31106150e-01 7.75675808e-01 5.66297354e-03 -9.21077631e+01] [ 8.68259224e-03 -2.36081313e-04 9.99962278e-01 -2.79411796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.766559995 meters 0.016305158329217705 Centerline is valid? [True, True] Translation: X:87.85, Y:-92.13, Z:-2.79 [[ 7.76862996e-01 6.29647267e-01 -5.31081568e-03 8.78516491e+01] [-6.29630756e-01 7.76881123e-01 4.56425917e-03 -9.21273253e+01] [ 6.99974576e-03 -2.01951165e-04 9.99975481e-01 -2.79275618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.796559995 meters 0.017233106014429313 Centerline is valid? [True, True] Translation: X:87.87, Y:-92.15, Z:-2.79 [[ 7.77277731e-01 6.29139111e-01 -4.82777254e-03 8.78718399e+01] [-6.29125465e-01 7.77292701e-01 4.14799059e-03 -9.21471275e+01] [ 6.36225547e-03 -1.86866070e-04 9.99979743e-01 -2.79214880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.826559995 meters 0.0169661101981555 Centerline is valid? [True, True] Translation: X:87.89, Y:-92.17, Z:-2.79 [[ 7.77553551e-01 6.28799602e-01 -4.64073787e-03 8.78929310e+01] [-6.28787000e-01 7.77567379e-01 3.98498455e-03 -9.21650956e+01] [ 6.11424308e-03 -1.80503242e-04 9.99981292e-01 -2.79161336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.856559995 meters 0.017378734865427396 Centerline is valid? [True, True] Translation: X:87.91, Y:-92.18, Z:-2.79 [[ 7.77394299e-01 6.28998351e-01 -4.37930904e-03 8.79135890e+01] [-6.28987137e-01 7.77406615e-01 3.75983532e-03 -9.21838896e+01] [ 5.76943404e-03 -1.68345489e-04 9.99983343e-01 -2.79162392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.886559995 meters 0.015721684134083005 Centerline is valid? [True, True] Translation: X:87.94, Y:-92.20, Z:-2.79 [[ 7.76189053e-01 6.30485445e-01 -4.31950926e-03 8.79370754e+01] [-6.30474568e-01 7.76201057e-01 3.70660343e-03 -9.22004052e+01] [ 5.68976717e-03 -1.53684268e-04 9.99983801e-01 -2.79102272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.916559995 meters 0.015336694821152333 Centerline is valid? [True, True] Translation: X:87.96, Y:-92.22, Z:-2.79 [[ 7.75197081e-01 6.31702322e-01 -4.65424034e-03 8.79592373e+01] [-6.31689728e-01 7.75211038e-01 3.99183550e-03 -9.22188110e+01] [ 6.12967023e-03 -1.54423417e-04 9.99981201e-01 -2.79121353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.946559995 meters 0.014843590335154899 Centerline is valid? [True, True] Translation: X:87.98, Y:-92.24, Z:-2.79 [[ 7.73971672e-01 6.33202347e-01 -4.75792918e-03 8.79819348e+01] [-6.33189221e-01 7.73986283e-01 4.07970263e-03 -9.22374591e+01] [ 6.26584920e-03 -1.44904801e-04 9.99980359e-01 -2.79114770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.976559995 meters 0.014588464351874044 Centerline is valid? [True, True] Translation: X:88.00, Y:-92.26, Z:-2.79 [[ 7.72379510e-01 6.35142318e-01 -4.91209102e-03 8.80027218e+01] [-6.35128372e-01 7.72395118e-01 4.21114378e-03 -9.22553611e+01] [ 6.46875074e-03 -1.32792800e-04 9.99979069e-01 -2.79150119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.006559995 meters 0.013198736020006199 Centerline is valid? [True, True] Translation: X:88.03, Y:-92.27, Z:-2.79 [[ 7.68347285e-01 6.40012763e-01 -5.11000512e-03 8.80258141e+01] [-6.39997781e-01 7.68364272e-01 4.38020091e-03 -9.22726954e+01] [ 6.72972985e-03 -9.51235406e-05 9.99977351e-01 -2.79140906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.036559995 meters 0.012434510512961423 Centerline is valid? [True, True] Translation: X:88.05, Y:-92.29, Z:-2.79 [[ 7.66141887e-01 6.42651869e-01 -5.01836878e-03 8.80488841e+01] [-6.42637490e-01 7.66158320e-01 4.29946974e-03 -9.22904643e+01] [ 6.60792725e-03 -6.90119460e-05 9.99978165e-01 -2.79083173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.066559995 meters 0.012093233115857542 Centerline is valid? [True, True] Translation: X:88.07, Y:-92.31, Z:-2.79 [[ 7.63781835e-01 6.45457607e-01 -4.66764199e-03 8.80709441e+01] [-6.45445224e-01 7.63796096e-01 3.99827776e-03 -9.23078203e+01] [ 6.14584553e-03 -4.11046891e-05 9.99981113e-01 -2.79055288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.096559995 meters 0.011747740632020828 Centerline is valid? [True, True] Translation: X:88.09, Y:-92.32, Z:-2.79 [[ 7.58919811e-01 6.51171480e-01 -4.05264590e-03 8.80941898e+01] [-6.51162230e-01 7.58930632e-01 3.47086450e-03 -9.23236363e+01] [ 5.33580509e-03 4.82210821e-06 9.99985764e-01 -2.79069412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.126559995 meters 0.011807775947699451 Centerline is valid? [True, True] Translation: X:88.12, Y:-92.34, Z:-2.79 [[ 7.56603813e-01 6.53860819e-01 -4.08649991e-03 8.81160621e+01] [-6.53851456e-01 7.56614848e-01 3.49923547e-03 -9.23416346e+01] [ 5.37991948e-03 2.44290249e-05 9.99985528e-01 -2.79014506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.156559995 meters 0.012114501498638255 Centerline is valid? [True, True] Translation: X:88.14, Y:-92.36, Z:-2.79 [[ 7.54581014e-01 6.56193187e-01 -4.24209850e-03 8.81375148e+01] [-6.56183138e-01 7.54592937e-01 3.63183195e-03 -9.23596948e+01] [ 5.58424094e-03 4.30820702e-05 9.99984407e-01 -2.79048228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.186559995 meters 0.012439841031511197 Centerline is valid? [True, True] Translation: X:88.16, Y:-92.38, Z:-2.79 [[ 7.52829159e-01 6.58202396e-01 -4.22640770e-03 8.81587610e+01] [-6.58192458e-01 7.52841020e-01 3.61743938e-03 -9.23784933e+01] [ 5.56282035e-03 5.84758299e-05 9.99984526e-01 -2.79066239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.21655999499998 meters 0.012930247326588718 Centerline is valid? [True, True] Translation: X:88.18, Y:-92.40, Z:-2.79 [[ 7.51170139e-01 6.60093853e-01 -4.41908359e-03 8.81801251e+01] [-6.60083025e-01 7.51183133e-01 3.78168852e-03 -9.23970539e+01] [ 5.81581040e-03 7.62705690e-05 9.99983085e-01 -2.79128393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.24655999499998 meters 0.013191868364979778 Centerline is valid? [True, True] Translation: X:88.20, Y:-92.42, Z:-2.79 [[ 7.50067894e-01 6.61344586e-01 -4.63605793e-03 8.82016662e+01] [-6.61332704e-01 7.50082215e-01 3.96539881e-03 -9.24167965e+01] [ 6.09991964e-03 9.16583937e-05 9.99981391e-01 -2.79193650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.27655999499999 meters 0.013805768648852667 Centerline is valid? [True, True] Translation: X:88.22, Y:-92.44, Z:-2.79 [[ 7.48339342e-01 6.63297569e-01 -4.95628818e-03 8.82211756e+01] [-6.63284045e-01 7.48355745e-01 4.23720993e-03 -9.24378037e+01] [ 6.51959778e-03 1.16555983e-04 9.99978740e-01 -2.79268348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.306559995 meters 0.013967814345950364 Centerline is valid? [True, True] Translation: X:88.24, Y:-92.46, Z:-2.79 [[ 7.48129345e-01 6.63534181e-01 -4.98729308e-03 8.82418867e+01] [-6.63520507e-01 7.48145959e-01 4.26161315e-03 -9.24584914e+01] [ 6.55894915e-03 1.20933379e-04 9.99978483e-01 -2.79261134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.336559995 meters 0.013972253069110338 Centerline is valid? [True, True] Translation: X:88.26, Y:-92.48, Z:-2.79 [[ 7.48407913e-01 6.63217017e-01 -5.36508065e-03 8.82611674e+01] [-6.63201202e-01 7.48427132e-01 4.58184152e-03 -9.24788838e+01] [ 7.05412718e-03 1.29041484e-04 9.99975111e-01 -2.79247560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.366559995 meters 0.013441045779301192 Centerline is valid? [True, True] Translation: X:88.28, Y:-92.50, Z:-2.79 [[ 7.49927871e-01 6.61500355e-01 -5.04665845e-03 8.82776639e+01] [-6.61486337e-01 7.49944844e-01 4.30775898e-03 -9.25038209e+01] [ 6.63429958e-03 1.07787097e-04 9.99977987e-01 -2.79193664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.396559995 meters 0.013523449024265841 Centerline is valid? [True, True] Translation: X:88.30, Y:-92.52, Z:-2.79 [[ 7.50995586e-01 6.60291810e-01 -4.51167237e-03 8.82968107e+01] [-6.60280589e-01 7.51009133e-01 3.85042939e-03 -9.25248127e+01] [ 5.93071415e-03 8.73142108e-05 9.99982409e-01 -2.79199226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.426559995 meters 0.013065767660396894 Centerline is valid? [True, True] Translation: X:88.32, Y:-92.55, Z:-2.79 [[ 7.52506592e-01 6.58569428e-01 -4.48750912e-03 8.83151778e+01] [-6.58558307e-01 7.52519968e-01 3.82795646e-03 -9.25470204e+01] [ 5.89791532e-03 7.47239418e-05 9.99982604e-01 -2.79189082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.456559995 meters 0.012516804565649473 Centerline is valid? [True, True] Translation: X:88.33, Y:-92.57, Z:-2.79 [[ 7.54063063e-01 6.56786060e-01 -4.57917343e-03 8.83336453e+01] [-6.56774458e-01 7.54076964e-01 3.90435857e-03 -9.25705044e+01] [ 6.01737748e-03 6.33515642e-05 9.99981893e-01 -2.79161962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.486559995 meters 0.012246997794466228 Centerline is valid? [True, True] Translation: X:88.35, Y:-92.60, Z:-2.79 [[ 7.56417550e-01 6.54077693e-01 -3.85522097e-03 8.83475141e+01] [-6.54069437e-01 7.56427373e-01 3.28652250e-03 -9.25965240e+01] [ 5.06583573e-03 3.55989115e-05 9.99987168e-01 -2.79144270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.516559995 meters 0.012061336481036177 Centerline is valid? [True, True] Translation: X:88.37, Y:-92.62, Z:-2.79 [[ 7.57383916e-01 6.52959921e-01 -3.59796025e-03 8.83658702e+01] [-6.52952720e-01 7.57392462e-01 3.06668356e-03 -9.26185734e+01] [ 4.72748942e-03 2.66411287e-05 9.99988825e-01 -2.79140726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.546559995 meters 0.011932251642695084 Centerline is valid? [True, True] Translation: X:88.38, Y:-92.64, Z:-2.79 [[ 7.58062347e-01 6.52173586e-01 -3.33050657e-03 8.83843371e+01] [-6.52167415e-01 7.58069663e-01 2.83709303e-03 -9.26407831e+01] [ 4.37503312e-03 2.13544604e-05 9.99990429e-01 -2.79104147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.576559995 meters 0.011829939074691499 Centerline is valid? [True, True] Translation: X:88.40, Y:-92.66, Z:-2.79 [[ 7.58433686e-01 6.51743396e-01 -2.98155927e-03 8.84021035e+01] [-6.51738450e-01 7.58439546e-01 2.53922091e-03 -9.26616091e+01] [ 3.91625292e-03 1.73661423e-05 9.99992331e-01 -2.79116258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.606559995 meters 0.011906885563067182 Centerline is valid? [True, True] Translation: X:88.42, Y:-92.68, Z:-2.79 [[ 7.58562826e-01 6.51593790e-01 -2.82359051e-03 8.84206550e+01] [-6.51589358e-01 7.58568080e-01 2.40331518e-03 -9.26830533e+01] [ 3.70787088e-03 1.67559730e-05 9.99993126e-01 -2.79112872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.636559995 meters 0.01202896343570951 Centerline is valid? [True, True] Translation: X:88.44, Y:-92.71, Z:-2.79 [[ 7.57995887e-01 6.52249497e-01 -3.58187574e-03 8.84367562e+01] [-6.52242374e-01 7.58004349e-01 3.04821078e-03 -9.27070642e+01] [ 4.70327134e-03 2.57199014e-05 9.99988939e-01 -2.79209733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.666559995 meters 0.012187540163480247 Centerline is valid? [True, True] Translation: X:88.46, Y:-92.73, Z:-2.79 [[ 7.57560840e-01 6.52753780e-01 -3.75180701e-03 8.84551355e+01] [-6.52745981e-01 7.57570130e-01 3.19107541e-03 -9.27279411e+01] [ 4.92524346e-03 3.15431816e-05 9.99987870e-01 -2.79254868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.696559995 meters 0.012201308434756919 Centerline is valid? [True, True] Translation: X:88.47, Y:-92.75, Z:-2.79 [[ 7.57099084e-01 6.53288225e-01 -3.93335598e-03 8.84744825e+01] [-6.53279669e-01 7.57109301e-01 3.34385540e-03 -9.27502466e+01] [ 5.16248176e-03 3.79516260e-05 9.99986674e-01 -2.79225147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.726559995 meters 0.012324864879688712 Centerline is valid? [True, True] Translation: X:88.49, Y:-92.77, Z:-2.79 [[ 7.56633524e-01 6.53827576e-01 -3.90023417e-03 8.84930790e+01] [-6.53819179e-01 7.56643575e-01 3.31384111e-03 -9.27712628e+01] [ 5.11776782e-03 4.26846232e-05 9.99986903e-01 -2.79205392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.756559995 meters 0.012308597855682207 Centerline is valid? [True, True] Translation: X:88.51, Y:-92.79, Z:-2.79 [[ 7.56443996e-01 6.54049903e-01 -3.34746059e-03 8.85110495e+01] [-6.54043727e-01 7.56451401e-01 2.84252337e-03 -9.27927062e+01] [ 4.39134339e-03 3.91758634e-05 9.99990357e-01 -2.79124622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.786559995 meters 0.012274331487300703 Centerline is valid? [True, True] Translation: X:88.53, Y:-92.82, Z:-2.79 [[ 7.56369666e-01 6.54138856e-01 -2.69912711e-03 8.85268620e+01] [-6.54134846e-01 7.56374482e-01 2.29065853e-03 -9.28169857e+01] [ 3.53995962e-03 3.30084660e-05 9.99993734e-01 -2.79063799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.816559995 meters 0.012542529460411346 Centerline is valid? [True, True] Translation: X:88.55, Y:-92.84, Z:-2.79 [[ 7.56277209e-01 6.54247307e-01 -2.29013528e-03 8.85451052e+01] [-6.54244422e-01 7.56280676e-01 1.94308004e-03 -9.28374307e+01] [ 3.00323994e-03 2.88010836e-05 9.99995490e-01 -2.79068934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.846559995 meters 0.012578077435586674 Centerline is valid? [True, True] Translation: X:88.56, Y:-92.86, Z:-2.79 [[ 7.56702987e-01 6.53756672e-01 -1.67399959e-03 8.85606247e+01] [-6.53755131e-01 7.56704839e-01 1.41949924e-03 -9.28629605e+01] [ 2.19473069e-03 2.02465061e-05 9.99997591e-01 -2.79061974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.876559995 meters 0.012469633995295847 Centerline is valid? [True, True] Translation: X:88.58, Y:-92.88, Z:-2.79 [[ 7.57211588e-01 6.53166939e-01 -1.88683978e-03 8.85792309e+01] [-6.53164982e-01 7.57213939e-01 1.59907651e-03 -9.28849403e+01] [ 2.47320529e-03 2.15784126e-05 9.99996941e-01 -2.79109118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.906559995 meters 0.012469633995295847 Centerline is valid? [True, True] Translation: X:88.60, Y:-92.90, Z:-2.79 [[ 7.57393914e-01 6.52955509e-01 -1.88728615e-03 8.86002739e+01] [-6.52953553e-01 7.57396265e-01 1.59854967e-03 -9.29026789e+01] [ 2.47320529e-03 2.15784013e-05 9.99996941e-01 -2.79109220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.936559995 meters 0.012427607765507035 Centerline is valid? [True, True] Translation: X:88.62, Y:-92.92, Z:-2.79 [[ 7.57840897e-01 6.52436030e-01 -2.09813722e-03 8.86183185e+01] [-6.52433613e-01 7.57843801e-01 1.77612542e-03 -9.29244093e+01] [ 2.74886851e-03 2.28747637e-05 9.99996222e-01 -2.79167504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.96655999499998 meters 0.012428260011332175 Centerline is valid? [True, True] Translation: X:88.64, Y:-92.95, Z:-2.79 [[ 7.58202143e-01 6.52014022e-01 -2.68802509e-03 8.86364113e+01] [-6.52010054e-01 7.58206907e-01 2.27492670e-03 -9.29455401e+01] [ 3.52136329e-03 2.77650850e-05 9.99993800e-01 -2.79260746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.99655999499998 meters 0.01226796952431617 Centerline is valid? [True, True] Translation: X:88.65, Y:-92.97, Z:-2.79 [[ 7.59005992e-01 6.51073246e-01 -3.67847786e-03 8.86517052e+01] [-6.51065807e-01 7.59014905e-01 3.11251245e-03 -9.29709682e+01] [ 4.81849311e-03 3.25155594e-05 9.99988390e-01 -2.79423665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.02655999499999 meters 0.012325447380300766 Centerline is valid? [True, True] Translation: X:88.67, Y:-92.99, Z:-2.79 [[ 7.59166649e-01 6.50884615e-01 -3.90089644e-03 8.86702760e+01] [-6.50876250e-01 7.59176671e-01 3.30001719e-03 -9.29927204e+01] [ 5.10939999e-03 3.37378553e-05 9.99986946e-01 -2.79443531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.056559995 meters 0.012372093719981417 Centerline is valid? [True, True] Translation: X:88.69, Y:-93.01, Z:-2.79 [[ 7.59161473e-01 6.50889355e-01 -4.11156456e-03 8.86887253e+01] [-6.50880066e-01 7.59172607e-01 3.47750882e-03 -9.30142476e+01] [ 5.38486065e-03 3.61446894e-05 9.99985501e-01 -2.79441136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.086559995 meters 0.012376098085805861 Centerline is valid? [True, True] Translation: X:88.71, Y:-93.04, Z:-2.79 [[ 7.58867526e-01 6.51232483e-01 -4.04119766e-03 8.87079884e+01] [-6.51223517e-01 7.58878285e-01 3.41751602e-03 -9.30365193e+01] [ 5.29237459e-03 3.82810248e-05 9.99985995e-01 -2.79438455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.116559995 meters 0.012378262796152393 Centerline is valid? [True, True] Translation: X:88.73, Y:-93.06, Z:-2.79 [[ 7.58636030e-01 6.51503581e-01 -3.80248483e-03 8.87270936e+01] [-6.51495648e-01 7.58645558e-01 3.21518312e-03 -9.30585690e+01] [ 4.97944154e-03 3.81485581e-05 9.99987602e-01 -2.79397423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.146559995 meters 0.012793017833195386 Centerline is valid? [True, True] Translation: X:88.74, Y:-93.08, Z:-2.79 [[ 7.57602114e-01 6.52707837e-01 -3.39351617e-03 8.87436621e+01] [-6.52701534e-01 7.57609713e-01 2.86882025e-03 -9.30823006e+01] [ 4.44346228e-03 4.15289248e-05 9.99990127e-01 -2.79377066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.176559995 meters 0.012884774962821444 Centerline is valid? [True, True] Translation: X:88.76, Y:-93.10, Z:-2.79 [[ 7.57035095e-01 6.53367659e-01 -2.92704112e-03 8.87629276e+01] [-6.53362976e-01 7.57040752e-01 2.47412664e-03 -9.31037608e+01] [ 3.83240374e-03 3.94196056e-05 9.99992656e-01 -2.79343952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.206559995 meters 0.013174558037616843 Centerline is valid? [True, True] Translation: X:88.78, Y:-93.12, Z:-2.79 [[ 7.56600392e-01 6.53871800e-01 -2.74155008e-03 8.87816471e+01] [-6.53867697e-01 7.56605358e-01 2.31693651e-03 -9.31241723e+01] [ 3.58925092e-03 3.96159657e-05 9.99993558e-01 -2.79343022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.236559995 meters 0.013194252532795716 Centerline is valid? [True, True] Translation: X:88.80, Y:-93.15, Z:-2.79 [[ 7.56035406e-01 6.54526930e-01 -2.22801626e-03 8.88008841e+01] [-6.54524223e-01 7.56038688e-01 1.88267476e-03 -9.31461551e+01] [ 2.91672782e-03 3.49218332e-05 9.99995746e-01 -2.79338129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.266559995 meters 0.013530884381724704 Centerline is valid? [True, True] Translation: X:88.82, Y:-93.17, Z:-2.79 [[ 7.55459402e-01 6.55192309e-01 -2.03242879e-03 8.88175230e+01] [-6.55190059e-01 7.55462135e-01 1.71716337e-03 -9.31714561e+01] [ 2.66049523e-03 3.43799261e-05 9.99996460e-01 -2.79394807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.296559995 meters 0.013378320046453984 Centerline is valid? [True, True] Translation: X:88.84, Y:-93.20, Z:-2.79 [[ 7.55570213e-01 6.55064589e-01 -2.00928156e-03 8.88384939e+01] [-6.55062390e-01 7.55572884e-01 1.69773098e-03 -9.31957149e+01] [ 2.63028211e-03 3.34498243e-05 9.99996540e-01 -2.79386301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.326559995 meters 0.013169408527428218 Centerline is valid? [True, True] Translation: X:88.86, Y:-93.22, Z:-2.79 [[ 7.55897200e-01 6.54687074e-01 -2.06350662e-03 8.88592559e+01] [-6.54684751e-01 7.55900016e-01 1.74443271e-03 -9.32203820e+01] [ 2.70186224e-03 3.23345203e-05 9.99996349e-01 -2.79398018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.356559995 meters 0.013084640750374838 Centerline is valid? [True, True] Translation: X:88.88, Y:-93.24, Z:-2.79 [[ 7.56399198e-01 6.54105985e-01 -2.36919560e-03 8.88800529e+01] [-6.54102917e-01 7.56402908e-01 2.00377641e-03 -9.32440026e+01] [ 3.10274858e-03 3.40428846e-05 9.99995186e-01 -2.79424726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.386559995 meters 0.01283664384348925 Centerline is valid? [True, True] Translation: X:88.90, Y:-93.27, Z:-2.79 [[ 7.57713889e-01 6.52581498e-01 -2.65529258e-03 8.88980817e+01] [-6.52577631e-01 7.57718541e-01 2.24684892e-03 -9.32719052e+01] [ 3.47821645e-03 3.03159061e-05 9.99993951e-01 -2.79388134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.416559995 meters 0.012771222996065585 Centerline is valid? [True, True] Translation: X:88.92, Y:-93.30, Z:-2.79 [[ 7.58145810e-01 6.52080356e-01 -2.47799639e-03 8.89203443e+01] [-6.52076981e-01 7.58149859e-01 2.09799832e-03 -9.32969125e+01] [ 3.24675611e-03 2.52557685e-05 9.99994729e-01 -2.79365223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.446559995 meters 0.0125911483258892 Centerline is valid? [True, True] Translation: X:88.94, Y:-93.32, Z:-2.79 [[ 7.58526959e-01 6.51638633e-01 -1.98605907e-03 8.89421986e+01] [-6.51636462e-01 7.58529559e-01 1.68245812e-03 -9.33222431e+01] [ 2.60283922e-03 1.79986668e-05 9.99996612e-01 -2.79296513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.476559995 meters 0.012499625642578586 Centerline is valid? [True, True] Translation: X:88.96, Y:-93.35, Z:-2.79 [[ 7.59305735e-01 6.50732573e-01 -1.38546787e-03 8.89623952e+01] [-6.50731513e-01 7.59306999e-01 1.17421523e-03 -9.33461147e+01] [ 1.81609554e-03 9.97924792e-06 9.99998351e-01 -2.79237852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.506559995 meters 0.012324066198486201 Centerline is valid? [True, True] Translation: X:88.98, Y:-93.38, Z:-2.79 [[ 7.62463021e-01 6.47030891e-01 -1.08047722e-03 8.89792870e+01] [-6.47030242e-01 7.62463787e-01 9.16187001e-04 -9.33753864e+01] [ 1.41662604e-03 5.42727095e-07 9.99998997e-01 -2.79166707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.536559995 meters 0.012371932990067367 Centerline is valid? [True, True] Translation: X:89.00, Y:-93.40, Z:-2.79 [[ 7.64800349e-01 6.44265241e-01 -1.65097119e-03 8.89997635e+01] [-6.44263719e-01 7.64802131e-01 1.40066990e-03 -9.34007657e+01] [ 2.16506922e-03 -7.57198307e-06 9.99997656e-01 -2.79201296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.566559995 meters 0.012937728222001803 Centerline is valid? [True, True] Translation: X:89.02, Y:-93.43, Z:-2.79 [[ 7.67783621e-01 6.40706331e-01 -1.92587921e-03 8.90202288e+01] [-6.40704246e-01 7.67786036e-01 1.63469454e-03 -9.34267261e+01] [ 2.52602231e-03 -2.11727056e-05 9.99996809e-01 -2.79283814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.596559995 meters 0.013797541745120594 Centerline is valid? [True, True] Translation: X:89.04, Y:-93.45, Z:-2.79 [[ 7.71099841e-01 6.36710231e-01 -2.26192012e-03 8.90400739e+01] [-6.36707335e-01 7.71103158e-01 1.92085783e-03 -9.34527153e+01] [ 2.96720357e-03 -4.09920337e-05 9.99995597e-01 -2.79330428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.626559995 meters 0.015883006220584646 Centerline is valid? [True, True] Translation: X:89.06, Y:-93.48, Z:-2.79 [[ 7.74455070e-01 6.32622377e-01 -2.87611379e-03 8.90582443e+01] [-6.32617662e-01 7.74460407e-01 2.44352873e-03 -9.34797374e+01] [ 3.77326721e-03 -7.29228254e-05 9.99992879e-01 -2.79411577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.656559995 meters 0.0175500405415088 Centerline is valid? [True, True] Translation: X:89.07, Y:-93.51, Z:-2.79 [[ 7.81048515e-01 6.24463153e-01 -2.99792745e-03 8.90737577e+01] [-6.24457970e-01 7.81054260e-01 2.54710067e-03 -9.35085174e+01] [ 3.93211452e-03 -1.17329506e-04 9.99992262e-01 -2.79294139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.686559995 meters 0.018544283481003992 Centerline is valid? [True, True] Translation: X:89.09, Y:-93.53, Z:-2.79 [[ 7.83910985e-01 6.20868232e-01 -2.49111882e-03 8.90936197e+01] [-6.20864635e-01 7.83914935e-01 2.11658058e-03 -9.35324326e+01] [ 3.26694289e-03 -1.12563188e-04 9.99994657e-01 -2.79172825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.71655999499998 meters 0.019302801140815815 Centerline is valid? [True, True] Translation: X:89.11, Y:-93.56, Z:-2.79 [[ 7.86168481e-01 6.18009576e-01 -1.81220242e-03 8.91140917e+01] [-6.18007664e-01 7.86170564e-01 1.53979452e-03 -9.35559761e+01] [ 2.37630796e-03 -9.05829367e-05 9.99997172e-01 -2.79031658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.74655999499998 meters 0.02045767795711756 Centerline is valid? [True, True] Translation: X:89.14, Y:-93.58, Z:-2.79 [[ 7.87874661e-01 6.15834598e-01 -1.12552102e-03 8.91354161e+01] [-6.15833858e-01 7.87875462e-01 9.56783890e-04 -9.35797905e+01] [ 1.47599102e-03 -6.06918319e-05 9.99998909e-01 -2.78948054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.77655999499999 meters 0.021722954176834945 Centerline is valid? [True, True] Translation: X:89.16, Y:-93.60, Z:-2.79 [[ 7.90061479e-01 6.13027597e-01 -1.59411816e-04 8.91555254e+01] [-6.13027582e-01 7.90061495e-01 1.35522598e-04 -9.36046226e+01] [ 2.09024230e-04 -9.34734383e-06 9.99999978e-01 -2.78810098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.806559995 meters 0.022521580444252336 Centerline is valid? [True, True] Translation: X:89.18, Y:-93.63, Z:-2.79 [[ 7.90232836e-01 6.12806707e-01 6.80671177e-05 8.91774563e+01] [-6.12806704e-01 7.90232839e-01 -5.78812553e-05 -9.36269101e+01] [-8.92588932e-05 4.02768254e-06 9.99999996e-01 -2.78788792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.836559995 meters 0.02217092069949171 Centerline is valid? [True, True] Translation: X:89.20, Y:-93.65, Z:-2.79 [[ 7.89922436e-01 6.13206756e-01 -1.36702868e-04 8.92014118e+01] [-6.13206745e-01 7.89922448e-01 1.16336385e-04 -9.36481948e+01] [ 1.79322921e-04 -8.06960001e-06 9.99999984e-01 -2.78788772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.866559995 meters 0.02186273499563845 Centerline is valid? [True, True] Translation: X:89.23, Y:-93.67, Z:-2.79 [[ 7.89148167e-01 6.14202872e-01 4.52486361e-05 8.92256323e+01] [-6.14202871e-01 7.89148169e-01 -3.85104770e-05 -9.36689407e+01] [-5.93611240e-05 2.59863015e-06 9.99999998e-01 -2.78796809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.896559995 meters 0.01939639494030161 Centerline is valid? [True, True] Translation: X:89.25, Y:-93.69, Z:-2.79 [[ 7.86068677e-01 6.18138893e-01 -5.86057880e-04 8.92516681e+01] [-6.18138693e-01 7.86068895e-01 4.98974885e-04 -9.36858888e+01] [ 7.69117653e-04 -2.99634755e-05 9.99999704e-01 -2.78891438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.926559995 meters 0.019527468680111917 Centerline is valid? [True, True] Translation: X:89.28, Y:-93.70, Z:-2.79 [[ 7.83569460e-01 6.21303555e-01 -8.90759176e-04 8.92750181e+01] [-6.21303094e-01 7.83569965e-01 7.58425672e-04 -9.37049371e+01] [ 1.16918470e-03 -4.08477626e-05 9.99999316e-01 -2.78964389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.956559995 meters 0.017281443937842065 Centerline is valid? [True, True] Translation: X:89.30, Y:-93.72, Z:-2.79 [[ 7.80725900e-01 6.24872125e-01 -1.37746435e-03 8.93025704e+01] [-6.24871026e-01 7.80727113e-01 1.17300885e-03 -9.37219548e+01] [ 1.80840430e-03 -5.50608320e-05 9.99998363e-01 -2.79032261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.986559995 meters 0.014952330201180765 Centerline is valid? [True, True] Translation: X:89.33, Y:-93.74, Z:-2.79 [[ 7.74637158e-01 6.32399812e-01 -2.78395405e-03 8.93307726e+01] [-6.32395373e-01 7.74642157e-01 2.37083293e-03 -9.37372963e+01] [ 3.65588247e-03 -7.59756241e-05 9.99993314e-01 -2.79149986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.016559995 meters 0.014084670775449316 Centerline is valid? [True, True] Translation: X:89.36, Y:-93.76, Z:-2.79 [[ 7.71422642e-01 6.36314329e-01 -3.34394749e-03 8.93567812e+01] [-6.36307954e-01 7.71429886e-01 2.84916082e-03 -9.37560211e+01] [ 4.39258289e-03 -7.01267862e-05 9.99990350e-01 -2.79225086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.046559995 meters 0.013502532291433361 Centerline is valid? [True, True] Translation: X:89.38, Y:-93.77, Z:-2.79 [[ 7.68796425e-01 6.39481384e-01 -3.95168632e-03 8.93820284e+01] [-6.39472515e-01 7.68806579e-01 3.36852501e-03 -9.37745247e+01] [ 5.19219147e-03 -6.27151974e-05 9.99986519e-01 -2.79306191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.076559995 meters 0.013065392208813665 Centerline is valid? [True, True] Translation: X:89.41, Y:-93.79, Z:-2.79 [[ 7.66591884e-01 6.42116972e-01 -4.76216479e-03 8.94075053e+01] [-6.42104130e-01 7.66606673e-01 4.06139720e-03 -9.37936971e+01] [ 6.25859938e-03 -5.56284460e-05 9.99980413e-01 -2.79378737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.106559995 meters 0.012832472010736673 Centerline is valid? [True, True] Translation: X:89.43, Y:-93.81, Z:-2.79 [[ 7.65027775e-01 6.43976957e-01 -5.11686417e-03 8.94329621e+01] [-6.43962158e-01 7.65044886e-01 4.36605019e-03 -9.38132990e+01] [ 6.72626648e-03 -4.50827691e-05 9.99977377e-01 -2.79437940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.136559995 meters 0.012688396140184084 Centerline is valid? [True, True] Translation: X:89.46, Y:-93.83, Z:-2.80 [[ 7.63415878e-01 6.45883688e-01 -5.51893007e-03 8.94579936e+01] [-6.45866512e-01 7.63435826e-01 4.71041531e-03 -9.38318702e+01] [ 7.25572935e-03 -3.15137258e-05 9.99973676e-01 -2.79549413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.166559995 meters 0.012733479566418751 Centerline is valid? [True, True] Translation: X:89.48, Y:-93.85, Z:-2.80 [[ 7.63029089e-01 6.46337005e-01 -5.92321961e-03 8.94825557e+01] [-6.46317214e-01 7.63052078e-01 5.05809856e-03 -9.38529507e+01] [ 7.78896131e-03 -3.11975369e-05 9.99969665e-01 -2.79584084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.196559995 meters 0.01266547789218637 Centerline is valid? [True, True] Translation: X:89.51, Y:-93.87, Z:-2.80 [[ 7.63087315e-01 6.46265883e-01 -6.17718275e-03 8.95071317e+01] [-6.46244332e-01 7.63112316e-01 5.27791808e-03 -9.38747557e+01] [ 8.12482263e-03 -3.55429952e-05 9.99966992e-01 -2.79592342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.226559995 meters 0.012746253192122248 Centerline is valid? [True, True] Translation: X:89.53, Y:-93.90, Z:-2.80 [[ 7.63323074e-01 6.45985374e-01 -6.38602698e-03 8.95313089e+01] [-6.45962305e-01 7.63349785e-01 5.45939716e-03 -9.38975416e+01] [ 8.40146304e-03 -4.21511093e-05 9.99964706e-01 -2.79627578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.256559995 meters 0.01281386497590545 Centerline is valid? [True, True] Translation: X:89.55, Y:-93.92, Z:-2.80 [[ 7.63759483e-01 6.45468005e-01 -6.51966557e-03 8.95544215e+01] [-6.45443917e-01 7.63787308e-01 5.57653121e-03 -9.39201624e+01] [ 8.57911029e-03 -5.10501087e-05 9.99963197e-01 -2.79670067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.286559995 meters 0.013240757285508874 Centerline is valid? [True, True] Translation: X:89.58, Y:-93.94, Z:-2.80 [[ 7.65481797e-01 6.43409443e-01 -7.86811240e-03 8.95751203e+01] [-6.43374233e-01 7.65522228e-01 6.73163311e-03 -9.39446235e+01] [ 1.03544112e-02 -9.08018310e-05 9.99946388e-01 -2.79770454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.316559995 meters 0.01339180088527566 Centerline is valid? [True, True] Translation: X:89.60, Y:-93.97, Z:-2.80 [[ 7.66210519e-01 6.42535995e-01 -8.30274490e-03 8.95981161e+01] [-6.42496699e-01 7.66255495e-01 7.10695953e-03 -9.39674207e+01] [ 1.09285012e-02 -1.10940966e-04 9.99940276e-01 -2.79796772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.346559995 meters 0.013625014237304 Centerline is valid? [True, True] Translation: X:89.62, Y:-93.99, Z:-2.80 [[ 7.66879694e-01 6.41726747e-01 -9.07290093e-03 8.96212163e+01] [-6.41679720e-01 7.66933350e-01 7.76999091e-03 -9.39903550e+01] [ 1.19445213e-02 -1.36751724e-04 9.99928652e-01 -2.79837509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.376559995 meters 0.013849632621858418 Centerline is valid? [True, True] Translation: X:89.64, Y:-94.01, Z:-2.80 [[ 7.67204711e-01 6.41336994e-01 -9.15376238e-03 8.96436866e+01] [-6.41289049e-01 7.67259303e-01 7.84332494e-03 -9.40127174e+01] [ 1.20535238e-02 -1.47228275e-04 9.99927343e-01 -2.79882903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.406559995 meters 0.013784676900579922 Centerline is valid? [True, True] Translation: X:89.67, Y:-94.04, Z:-2.80 [[ 7.67173454e-01 6.41370576e-01 -9.41676263e-03 8.96667623e+01] [-6.41319782e-01 7.67231230e-01 8.07319237e-03 -9.40368103e+01] [ 1.24027424e-02 -1.54382725e-04 9.99923071e-01 -2.79781403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.436559995 meters 0.013731899305973315 Centerline is valid? [True, True] Translation: X:89.69, Y:-94.06, Z:-2.80 [[ 7.66649407e-01 6.41998100e-01 -9.33414774e-03 8.96903882e+01] [-6.41948186e-01 7.66706213e-01 8.00683558e-03 -9.40591609e+01] [ 1.22969223e-02 -1.46396538e-04 9.99924379e-01 -2.79728181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.46655999499998 meters 0.013522389661675838 Centerline is valid? [True, True] Translation: X:89.71, Y:-94.08, Z:-2.80 [[ 7.65755180e-01 6.43063599e-01 -9.39219112e-03 8.97129422e+01] [-6.43013092e-01 7.65812765e-01 8.06055718e-03 -9.40822683e+01] [ 1.23761108e-02 -1.33111557e-04 9.99923404e-01 -2.79653910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.49655999499998 meters 0.013497228694512073 Centerline is valid? [True, True] Translation: X:89.74, Y:-94.10, Z:-2.80 [[ 7.65307844e-01 6.43598645e-01 -9.20262680e-03 8.97352060e+01] [-6.43550169e-01 7.65363162e-01 7.90002896e-03 -9.41040374e+01] [ 1.21277995e-02 -1.23602092e-04 9.99926448e-01 -2.79657696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.52655999499999 meters 0.013451383855136088 Centerline is valid? [True, True] Translation: X:89.76, Y:-94.13, Z:-2.80 [[ 7.64905464e-01 6.44084184e-01 -8.67151947e-03 8.97572201e+01] [-6.44041136e-01 7.64954607e-01 7.44741689e-03 -9.41257868e+01] [ 1.14300822e-02 -1.11754620e-04 9.99934668e-01 -2.79607429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.556559995 meters 0.013366090114474804 Centerline is valid? [True, True] Translation: X:89.78, Y:-94.15, Z:-2.80 [[ 7.64351050e-01 6.44753969e-01 -7.73254703e-03 8.97792234e+01] [-6.44719743e-01 7.64390156e-01 6.64391311e-03 -9.41476802e+01] [ 1.01943722e-02 -9.29562239e-05 9.99948032e-01 -2.79534634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.586559995 meters 0.012997660432758983 Centerline is valid? [True, True] Translation: X:89.80, Y:-94.17, Z:-2.79 [[ 7.63933371e-01 6.45257080e-01 -7.00750575e-03 8.98024562e+01] [-6.45228966e-01 7.63965506e-01 6.02390368e-03 -9.41692905e+01] [ 9.24045917e-03 -8.04153566e-05 9.99957303e-01 -2.79379575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.616559995 meters 0.012657918072317248 Centerline is valid? [True, True] Translation: X:89.82, Y:-94.19, Z:-2.79 [[ 7.62671931e-01 6.46760908e-01 -5.64394769e-03 8.98246696e+01] [-6.46742694e-01 7.62692812e-01 4.85413968e-03 -9.41931642e+01] [ 7.44406612e-03 -5.19341526e-05 9.99972291e-01 -2.79242924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.646559995 meters 0.0127685354063968 Centerline is valid? [True, True] Translation: X:89.85, Y:-94.22, Z:-2.79 [[ 7.62008215e-01 6.47548411e-01 -4.95330853e-03 8.98467931e+01] [-6.47534391e-01 7.62024313e-01 4.26132887e-03 -9.42151007e+01] [ 6.53395827e-03 -3.97299811e-05 9.99978653e-01 -2.79311961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.676559995 meters 0.012516587674852246 Centerline is valid? [True, True] Translation: X:89.87, Y:-94.24, Z:-2.79 [[ 7.61116463e-01 6.48598487e-01 -4.66181359e-03 8.98706426e+01] [-6.48586076e-01 7.61130739e-01 4.01249993e-03 -9.42366558e+01] [ 6.15075100e-03 -3.03923645e-05 9.99981083e-01 -2.79217121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.706559995 meters 0.012343223526755702 Centerline is valid? [True, True] Translation: X:89.89, Y:-94.26, Z:-2.79 [[ 7.60090040e-01 6.49804391e-01 -4.16954254e-03 8.98944272e+01] [-6.49794471e-01 7.60101476e-01 3.59056363e-03 -9.42585428e+01] [ 5.50243945e-03 -1.98059687e-05 9.99984861e-01 -2.79146017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.736559995 meters 0.012289753041619235 Centerline is valid? [True, True] Translation: X:89.92, Y:-94.28, Z:-2.79 [[ 7.58878610e-01 6.51222920e-01 -3.45892700e-03 8.99181154e+01] [-6.51216101e-01 7.58886493e-01 2.98009686e-03 -9.42805286e+01] [ 4.56564036e-03 -9.02280757e-06 9.99989577e-01 -2.79091161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.766559995 meters 0.012289753041619235 Centerline is valid? [True, True] Translation: X:89.94, Y:-94.30, Z:-2.79 [[ 7.58696650e-01 6.51434904e-01 -3.45809346e-03 8.99426368e+01] [-6.51428083e-01 7.58704531e-01 2.98106405e-03 -9.43017475e+01] [ 4.56564036e-03 -9.02411553e-06 9.99989577e-01 -2.79091281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.796559995 meters 0.012237703199963292 Centerline is valid? [True, True] Translation: X:89.97, Y:-94.32, Z:-2.79 [[ 7.55545456e-01 6.55089813e-01 -2.89844893e-03 8.99670344e+01] [-6.55085042e-01 7.55551016e-01 2.50003296e-03 -9.43245573e+01] [ 3.82767216e-03 9.84199574e-06 9.99992674e-01 -2.79011575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.826559995 meters 0.0123009875678502 Centerline is valid? [True, True] Translation: X:89.99, Y:-94.35, Z:-2.79 [[ 7.53855622e-01 6.57032766e-01 -3.10577920e-03 8.99911372e+01] [-6.57027300e-01 7.53862019e-01 2.68027092e-03 -9.43455759e+01] [ 4.10235480e-03 2.00444234e-05 9.99991585e-01 -2.79056711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.856559995 meters 0.012501661451009139 Centerline is valid? [True, True] Translation: X:90.01, Y:-94.37, Z:-2.79 [[ 7.52242372e-01 6.58877490e-01 -3.44495636e-03 9.00147058e+01] [-6.58870777e-01 7.52250259e-01 2.97442922e-03 -9.43667304e+01] [ 4.55125378e-03 3.22893816e-05 9.99989642e-01 -2.79097193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.886559995 meters 0.013026821992700284 Centerline is valid? [True, True] Translation: X:90.04, Y:-94.39, Z:-2.79 [[ 7.50986448e-01 6.60305032e-01 -4.07661899e-03 9.00387325e+01] [-6.60295647e-01 7.50997512e-01 3.52074537e-03 -9.43871680e+01] [ 5.38629660e-03 4.77417163e-05 9.99985493e-01 -2.79265980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.916559995 meters 0.013286177145290253 Centerline is valid? [True, True] Translation: X:90.06, Y:-94.41, Z:-2.80 [[ 7.49228629e-01 6.62280653e-01 -6.38737867e-03 9.00602805e+01] [-6.62257665e-01 7.49255849e-01 5.51889454e-03 -9.44105098e+01] [ 8.44083791e-03 9.51766945e-05 9.99964371e-01 -2.79526269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.946559995 meters 0.013205166601563801 Centerline is valid? [True, True] Translation: X:90.08, Y:-94.43, Z:-2.80 [[ 7.48758255e-01 6.62802335e-01 -7.35794899e-03 9.00829571e+01] [-6.62771824e-01 7.48794399e-01 6.36065614e-03 -9.44336747e+01] [ 9.72544873e-03 1.14047479e-04 9.99952700e-01 -2.79598557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.976559995 meters 0.013558186607035996 Centerline is valid? [True, True] Translation: X:90.11, Y:-94.45, Z:-2.80 [[ 7.48675403e-01 6.62884692e-01 -8.30819381e-03 9.01051266e+01] [-6.62845774e-01 7.48721490e-01 7.18405356e-03 -9.44549580e+01] [ 1.09827224e-02 1.28526960e-04 9.99939680e-01 -2.79782646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.006559995 meters 0.013122914011185993 Centerline is valid? [True, True] Translation: X:90.12, Y:-94.48, Z:-2.80 [[ 7.50012951e-01 6.61359608e-01 -9.16752305e-03 9.01247589e+01] [-6.61312062e-01 7.50068968e-01 7.93096987e-03 -9.44812439e+01] [ 1.21214977e-02 1.14263455e-04 9.99926525e-01 -2.79831148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.036559995 meters 0.01276634521904447 Centerline is valid? [True, True] Translation: X:90.15, Y:-94.51, Z:-2.80 [[ 7.50937819e-01 6.60309010e-01 -9.18710653e-03 9.01463239e+01] [-6.60261135e-01 7.50994009e-01 7.95185893e-03 -9.45056147e+01] [ 1.21501461e-02 9.45377790e-05 9.99926180e-01 -2.79764871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.066559995 meters 0.012566115801232963 Centerline is valid? [True, True] Translation: X:90.17, Y:-94.53, Z:-2.80 [[ 7.51841973e-01 6.59281008e-01 -9.06648666e-03 9.01682791e+01] [-6.59234260e-01 7.51896634e-01 7.85132947e-03 -9.45299123e+01] [ 1.19932932e-02 7.39795865e-05 9.99928075e-01 -2.79743007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.096559995 meters 0.012591428468617796 Centerline is valid? [True, True] Translation: X:90.19, Y:-94.55, Z:-2.80 [[ 7.52808588e-01 6.58182902e-01 -8.63121105e-03 9.01897995e+01] [-6.58140424e-01 7.52858064e-01 7.47779003e-03 -9.45532789e+01] [ 1.14198304e-02 5.12043471e-05 9.99934790e-01 -2.79760083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.126559995 meters 0.012342327480482772 Centerline is valid? [True, True] Translation: X:90.21, Y:-94.58, Z:-2.79 [[ 7.54024426e-01 6.56811395e-01 -6.77913688e-03 9.02094782e+01] [-6.56785111e-01 7.54054899e-01 5.87601977e-03 -9.45801323e+01] [ 8.97127812e-03 2.17737338e-05 9.99959757e-01 -2.79476621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.156559995 meters 0.012179098691459393 Centerline is valid? [True, True] Translation: X:90.23, Y:-94.60, Z:-2.79 [[ 7.54206602e-01 6.56609711e-01 -6.00749597e-03 9.02312059e+01] [-6.56589043e-01 7.54230527e-01 5.20973570e-03 -9.46033331e+01] [ 7.95179990e-03 1.52389672e-05 9.99968384e-01 -2.79280720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.186559995 meters 0.012223699283008371 Centerline is valid? [True, True] Translation: X:90.25, Y:-94.63, Z:-2.79 [[ 7.54033893e-01 6.56813479e-01 -5.37984208e-03 9.02544345e+01] [-6.56796891e-01 7.54053084e-01 4.66807750e-03 -9.46271846e+01] [ 7.12274274e-03 1.35748999e-05 9.99974633e-01 -2.79191121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.21655999499998 meters 0.01210597635325139 Centerline is valid? [True, True] Translation: X:90.28, Y:-94.65, Z:-2.79 [[ 7.53140418e-01 6.57843146e-01 -4.68042154e-03 9.02781993e+01] [-6.57830597e-01 7.53154961e-01 4.06333419e-03 -9.46487223e+01] [ 6.19811925e-03 1.86632814e-05 9.99980791e-01 -2.79116104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.24655999499998 meters 0.012387028600061334 Centerline is valid? [True, True] Translation: X:90.30, Y:-94.67, Z:-2.79 [[ 7.51122141e-01 6.60152258e-01 -3.81115432e-03 9.03037368e+01] [-6.60143958e-01 7.51131809e-01 3.31052897e-03 -9.46689761e+01] [ 5.04813242e-03 2.92988934e-05 9.99987258e-01 -2.79051363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.27655999499999 meters 0.013286149354896791 Centerline is valid? [True, True] Translation: X:90.33, Y:-94.69, Z:-2.79 [[ 7.46861154e-01 6.64968110e-01 -3.97866350e-03 9.03304248e+01] [-6.64959127e-01 7.46871749e-01 3.45689647e-03 -9.46858021e+01] [ 5.27027728e-03 6.38269197e-05 9.99986110e-01 -2.79097174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.306559995 meters 0.013559023322566003 Centerline is valid? [True, True] Translation: X:90.36, Y:-94.71, Z:-2.79 [[ 7.44801291e-01 6.67272216e-01 -4.33899062e-03 9.03552017e+01] [-6.67261562e-01 7.44813925e-01 3.77172277e-03 -9.47055703e+01] [ 5.74850644e-03 8.60576642e-05 9.99983474e-01 -2.79112140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.336559995 meters 0.014070887176732166 Centerline is valid? [True, True] Translation: X:90.38, Y:-94.73, Z:-2.79 [[ 7.43092719e-01 6.69170074e-01 -4.96224319e-03 9.03807155e+01] [-6.69156167e-01 7.43109278e-01 4.31563660e-03 -9.47250304e+01] [ 6.57538382e-03 1.13597499e-04 9.99978375e-01 -2.79226746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.366559995 meters 0.014468420977153748 Centerline is valid? [True, True] Translation: X:90.41, Y:-94.75, Z:-2.79 [[ 7.41861715e-01 6.70528393e-01 -5.73330136e-03 9.04061586e+01] [-6.70509850e-01 7.41883855e-01 4.98870084e-03 -9.47451666e+01] [ 7.59850927e-03 1.43308873e-04 9.99971121e-01 -2.79318091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.396559995 meters 0.015089250298025839 Centerline is valid? [True, True] Translation: X:90.43, Y:-94.76, Z:-2.79 [[ 7.41176715e-01 6.71274963e-01 -6.85574291e-03 9.04302155e+01] [-6.71248468e-01 7.41208400e-01 5.96683482e-03 -9.47642701e+01] [ 9.08692106e-03 1.79427893e-04 9.99958697e-01 -2.79446894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.426559995 meters 0.015240255594633921 Centerline is valid? [True, True] Translation: X:90.45, Y:-94.78, Z:-2.80 [[ 7.41006706e-01 6.71451201e-01 -7.89596727e-03 9.04549579e+01] [-6.71416033e-01 7.41048745e-01 6.87527450e-03 -9.47837694e+01] [ 1.04677080e-02 2.06854508e-04 9.99945191e-01 -2.79598297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.456559995 meters 0.014813027140531945 Centerline is valid? [True, True] Translation: X:90.48, Y:-94.81, Z:-2.80 [[ 7.41072911e-01 6.71374662e-01 -8.18563648e-03 9.04801643e+01] [-6.71336817e-01 7.41118087e-01 7.13150484e-03 -9.48054189e+01] [ 1.08544349e-02 2.10354096e-04 9.99941067e-01 -2.79595440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.486559995 meters 0.014380593809088968 Centerline is valid? [True, True] Translation: X:90.51, Y:-94.83, Z:-2.80 [[ 7.41401811e-01 6.71010829e-01 -8.23540703e-03 9.05050870e+01] [-6.70972462e-01 7.41447520e-01 7.17843339e-03 -9.48260174e+01] [ 1.09229287e-02 2.03627817e-04 9.99940322e-01 -2.79563765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.516559995 meters 0.014223741437837176 Centerline is valid? [True, True] Translation: X:90.53, Y:-94.85, Z:-2.80 [[ 7.41615809e-01 6.70777135e-01 -8.00167505e-03 9.05292281e+01] [-6.70740864e-01 7.41658950e-01 6.97815069e-03 -9.48465292e+01] [ 1.06152978e-02 1.91943570e-04 9.99943638e-01 -2.79508692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.546559995 meters 0.014198708771052298 Centerline is valid? [True, True] Translation: X:90.55, Y:-94.87, Z:-2.79 [[ 7.41955684e-01 6.70405534e-01 -7.62779894e-03 9.05529458e+01] [-6.70372523e-01 7.41994872e-01 6.65512828e-03 -9.48669755e+01] [ 1.01214225e-02 1.75656564e-04 9.99948762e-01 -2.79459889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.576559995 meters 0.013844854487582594 Centerline is valid? [True, True] Translation: X:90.58, Y:-94.89, Z:-2.79 [[ 7.42636246e-01 6.69652377e-01 -7.55650176e-03 9.05770546e+01] [-6.69619930e-01 7.42674672e-01 6.59407738e-03 -9.48890378e+01] [ 1.00277621e-02 1.62983305e-04 9.99949707e-01 -2.79404389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.606559995 meters 0.013311512214326034 Centerline is valid? [True, True] Translation: X:90.60, Y:-94.91, Z:-2.79 [[ 7.43762077e-01 6.68402869e-01 -7.45503359e-03 9.06005622e+01] [-6.68371213e-01 7.43799425e-01 6.50669480e-03 -9.49117485e+01] [ 9.89414317e-03 1.43297005e-04 9.99951042e-01 -2.79373931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.636559995 meters 0.012996143999121449 Centerline is valid? [True, True] Translation: X:90.62, Y:-94.93, Z:-2.79 [[ 7.45099296e-01 6.66910836e-01 -7.54823716e-03 9.06231571e+01] [-6.66878277e-01 7.45137519e-01 6.59108057e-03 -9.49332432e+01] [ 1.00201378e-02 1.22745895e-04 9.99949790e-01 -2.79415217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.666559995 meters 0.01224064010690609 Centerline is valid? [True, True] Translation: X:90.64, Y:-94.96, Z:-2.80 [[ 7.48551187e-01 6.63033083e-01 -7.63228407e-03 9.06442062e+01] [-6.62999561e-01 7.48590092e-01 6.66749226e-03 -9.49568134e+01] [ 1.01342202e-02 6.92417409e-05 9.99948645e-01 -2.79512821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.696559995 meters 0.011977476324792569 Centerline is valid? [True, True] Translation: X:90.67, Y:-94.98, Z:-2.80 [[ 7.50061198e-01 6.61325134e-01 -7.56747229e-03 9.06670533e+01] [-6.61292060e-01 7.50099370e-01 6.61410147e-03 -9.49796772e+01] [ 1.00504277e-02 4.33284604e-05 9.99949492e-01 -2.79553644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.726559995 meters 0.011969383697713715 Centerline is valid? [True, True] Translation: X:90.69, Y:-95.00, Z:-2.80 [[ 7.51024313e-01 6.60228093e-01 -7.83236324e-03 9.06903119e+01] [-6.60192566e-01 7.51065153e-01 6.84917924e-03 -9.50023285e+01] [ 1.04046356e-02 2.69678514e-05 9.99945870e-01 -2.79584533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.756559995 meters 0.01187880601084999 Centerline is valid? [True, True] Translation: X:90.71, Y:-95.02, Z:-2.80 [[ 7.51342334e-01 6.59864930e-01 -7.93539003e-03 9.07145472e+01] [-6.59828401e-01 7.51384238e-01 6.94320835e-03 -9.50248050e+01] [ 1.05441067e-02 1.92693366e-05 9.99944409e-01 -2.79541172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.786559995 meters 0.01202713852007521 Centerline is valid? [True, True] Translation: X:90.74, Y:-95.05, Z:-2.80 [[ 7.50707406e-01 6.60577759e-01 -8.68419389e-03 9.07378164e+01] [-6.60534017e-01 7.50757633e-01 7.60185230e-03 -9.50450492e+01] [ 1.15413394e-02 2.94386491e-05 9.99933396e-01 -2.79596925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.816559995 meters 0.01210748413160664 Centerline is valid? [True, True] Translation: X:90.76, Y:-95.07, Z:-2.80 [[ 7.49639132e-01 6.61787982e-01 -8.82264842e-03 9.07628993e+01] [-6.61742867e-01 7.49691046e-01 7.72743009e-03 -9.50661359e+01] [ 1.17281809e-02 4.55406749e-05 9.99931221e-01 -2.79565766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.846559995 meters 0.012276288991145707 Centerline is valid? [True, True] Translation: X:90.79, Y:-95.09, Z:-2.80 [[ 7.48227159e-01 6.63379123e-01 -9.17916799e-03 9.07876524e+01] [-6.63330359e-01 7.48283458e-01 8.04364995e-03 -9.50859520e+01] [ 1.22046090e-02 7.03434507e-05 9.99925519e-01 -2.79648172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.876559995 meters 0.012512303157986467 Centerline is valid? [True, True] Translation: X:90.81, Y:-95.11, Z:-2.80 [[ 7.46797327e-01 6.64986137e-01 -9.33754240e-03 9.08123080e+01] [-6.64935774e-01 7.46855694e-01 8.18462859e-03 -9.51052346e+01] [ 1.24164613e-02 9.66072296e-05 9.99922908e-01 -2.79704301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.906559995 meters 0.013557792137032898 Centerline is valid? [True, True] Translation: X:90.84, Y:-95.12, Z:-2.80 [[ 7.44341397e-01 6.67735854e-01 -9.20399786e-03 9.08377722e+01] [-6.67687087e-01 7.44398287e-01 8.07119235e-03 -9.51230417e+01] [ 1.22408648e-02 1.37667935e-04 9.99925068e-01 -2.79893395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.936559995 meters 0.01322360811787996 Centerline is valid? [True, True] Translation: X:90.86, Y:-95.15, Z:-2.80 [[ 7.43404011e-01 6.68780647e-01 -9.10624090e-03 9.08619976e+01] [-6.68732934e-01 7.43459766e-01 7.98992061e-03 -9.51457072e+01] [ 1.21136280e-02 1.49904168e-04 9.99926616e-01 -2.79713331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.96655999499998 meters 0.014018618832876004 Centerline is valid? [True, True] Translation: X:90.89, Y:-95.17, Z:-2.80 [[ 7.42848360e-01 6.69406824e-01 -8.41538133e-03 9.08871635e+01] [-6.69366073e-01 7.42896011e-01 7.38759112e-03 -9.51653708e+01] [ 1.11970571e-02 1.45110812e-04 9.99937300e-01 -2.79804052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.99655999499998 meters 0.013596184583989278 Centerline is valid? [True, True] Translation: X:90.91, Y:-95.19, Z:-2.80 [[ 7.42447803e-01 6.69857943e-01 -7.84831455e-03 9.09106835e+01] [-6.69822486e-01 7.42489271e-01 6.89354579e-03 -9.51878807e+01] [ 1.04449857e-02 1.38879634e-04 9.99945440e-01 -2.79657123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.02655999499999 meters 0.013023181877515952 Centerline is valid? [True, True] Translation: X:90.93, Y:-95.21, Z:-2.80 [[ 7.43087273e-01 6.69155639e-01 -7.21360800e-03 9.09329584e+01] [-6.69125621e-01 7.43122276e-01 6.33918925e-03 -9.52105317e+01] [ 9.60249703e-03 1.16239083e-04 9.99953888e-01 -2.79532143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.056559995 meters 0.012879212148648213 Centerline is valid? [True, True] Translation: X:90.96, Y:-95.23, Z:-2.80 [[ 7.43574769e-01 6.68615341e-01 -7.07736287e-03 9.09561770e+01] [-6.68586393e-01 7.43608442e-01 6.22251899e-03 -9.52321039e+01] [ 9.42325843e-03 1.04920389e-04 9.99955595e-01 -2.79561690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.086559995 meters 0.01274795271639302 Centerline is valid? [True, True] Translation: X:90.98, Y:-95.25, Z:-2.80 [[ 7.44028654e-01 6.68110155e-01 -7.08394463e-03 9.09793105e+01] [-6.68081102e-01 7.44062370e-01 6.23140239e-03 -9.52539258e+01] [ 9.43415985e-03 9.63076019e-05 9.99955493e-01 -2.79563639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.116559995 meters 0.01266153377260089 Centerline is valid? [True, True] Translation: X:91.00, Y:-95.28, Z:-2.80 [[ 7.44568583e-01 6.67511981e-01 -6.73652597e-03 9.10025079e+01] [-6.67485658e-01 7.44599052e-01 5.92850840e-03 -9.52751805e+01] [ 8.97336124e-03 8.23533722e-05 9.99959735e-01 -2.79614535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.146559995 meters 0.01253072047162483 Centerline is valid? [True, True] Translation: X:91.02, Y:-95.30, Z:-2.80 [[ 7.45214156e-01 6.66797766e-01 -6.04982090e-03 9.10248632e+01] [-6.66776492e-01 7.45238710e-01 5.32675887e-03 -9.52976467e+01] [ 8.06043164e-03 6.43022408e-05 9.99967512e-01 -2.79556708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.176559995 meters 0.012586322283012614 Centerline is valid? [True, True] Translation: X:91.05, Y:-95.32, Z:-2.80 [[ 7.45198284e-01 6.66817059e-01 -5.87590758e-03 9.10486078e+01] [-6.66796971e-01 7.45221447e-01 5.17631026e-03 -9.53193425e+01] [ 7.83050434e-03 6.06598508e-05 9.99969339e-01 -2.79533012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.206559995 meters 0.012558253945282743 Centerline is valid? [True, True] Translation: X:91.07, Y:-95.34, Z:-2.80 [[ 7.45097782e-01 6.66933087e-01 -5.43624375e-03 9.10729602e+01] [-6.66915876e-01 7.45117611e-01 4.79163707e-03 -9.53410654e+01] [ 7.24634226e-03 5.52791103e-05 9.99973743e-01 -2.79530845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.236559995 meters 0.012508901849652579 Centerline is valid? [True, True] Translation: X:91.10, Y:-95.36, Z:-2.80 [[ 7.45044086e-01 6.66994098e-01 -5.30871915e-03 9.10980381e+01] [-6.66977669e-01 7.45062997e-01 4.68180088e-03 -9.53630532e+01] [ 7.07806376e-03 5.26490658e-05 9.99974949e-01 -2.79544867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.266559995 meters 0.012630235258878806 Centerline is valid? [True, True] Translation: X:91.12, Y:-95.38, Z:-2.80 [[ 7.44784640e-01 6.67284809e-01 -5.17915960e-03 9.11232507e+01] [-6.67269162e-01 7.44802646e-01 4.56987224e-03 -9.53828911e+01] [ 6.90685810e-03 5.23228292e-05 9.99976146e-01 -2.79630096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.296559995 meters 0.012472035969703959 Centerline is valid? [True, True] Translation: X:91.15, Y:-95.40, Z:-2.80 [[ 7.44643046e-01 6.67442307e-01 -5.24420907e-03 9.11482492e+01] [-6.67426251e-01 7.44661510e-01 4.62988079e-03 -9.54041798e+01] [ 6.99533896e-03 5.25142600e-05 9.99975531e-01 -2.79672263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.326559995 meters 0.012459736226591082 Centerline is valid? [True, True] Translation: X:91.17, Y:-95.43, Z:-2.80 [[ 7.44432167e-01 6.67676841e-01 -5.32769332e-03 9.11731354e+01] [-6.67660257e-01 7.44451229e-01 4.70628496e-03 -9.54251802e+01] [ 7.10848532e-03 5.35791779e-05 9.99974733e-01 -2.79731633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.356559995 meters 0.012496341212541465 Centerline is valid? [True, True] Translation: X:91.20, Y:-95.45, Z:-2.80 [[ 7.44628678e-01 6.67454082e-01 -5.76029022e-03 9.11978369e+01] [-6.67434674e-01 7.44650956e-01 5.09023086e-03 -9.54457834e+01] [ 7.68690098e-03 5.42855436e-05 9.99970454e-01 -2.79836985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.386559995 meters 0.012478689252339466 Centerline is valid? [True, True] Translation: X:91.22, Y:-95.47, Z:-2.80 [[ 7.45246480e-01 6.66760621e-01 -6.16103717e-03 9.12215510e+01] [-6.66738370e-01 7.45271945e-01 5.44737396e-03 -9.54681175e+01] [ 8.22374260e-03 4.81636174e-05 9.99966183e-01 -2.79890247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.416559995 meters 0.012342675233240405 Centerline is valid? [True, True] Translation: X:91.25, Y:-95.49, Z:-2.80 [[ 7.45755379e-01 6.66191744e-01 -6.12168607e-03 9.12452109e+01] [-6.66169733e-01 7.45780503e-01 5.41556464e-03 -9.54907147e+01] [ 8.17323857e-03 3.93955159e-05 9.99966598e-01 -2.79867115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.446559995 meters 0.012278873821988657 Centerline is valid? [True, True] Translation: X:91.27, Y:-95.51, Z:-2.80 [[ 7.46301419e-01 6.65577857e-01 -6.34886741e-03 9.12685510e+01] [-6.65554132e-01 7.46328424e-01 5.61972407e-03 -9.55133470e+01] [ 8.47870410e-03 3.15068932e-05 9.99964055e-01 -2.79787989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.476559995 meters 0.012270248378810808 Centerline is valid? [True, True] Translation: X:91.29, Y:-95.54, Z:-2.80 [[ 7.47116717e-01 6.64663544e-01 -6.24376539e-03 9.12921921e+01] [-6.64640541e-01 7.47142806e-01 5.52980604e-03 -9.55356087e+01] [ 8.34044488e-03 1.84490707e-05 9.99965218e-01 -2.79739246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.506559995 meters 0.012265766465052494 Centerline is valid? [True, True] Translation: X:91.32, Y:-95.56, Z:-2.80 [[ 7.48844542e-01 6.62720069e-01 -5.82764103e-03 9.13165585e+01] [-6.62699948e-01 7.48867218e-01 5.16414873e-03 -9.55583988e+01] [ 7.78651433e-03 -5.16717692e-06 9.99969685e-01 -2.79683695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.536559995 meters 0.012317422193087338 Centerline is valid? [True, True] Translation: X:91.34, Y:-95.58, Z:-2.80 [[ 7.49831425e-01 6.61606991e-01 -5.38735667e-03 9.13410888e+01] [-6.61589747e-01 7.49850778e-01 4.77665694e-03 -9.55803285e+01] [ 7.19998322e-03 -1.74675381e-05 9.99974080e-01 -2.79677931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.566559995 meters 0.012380129264287292 Centerline is valid? [True, True] Translation: X:91.37, Y:-95.60, Z:-2.80 [[ 7.51100736e-01 6.60170080e-01 -4.81136556e-03 9.13656109e+01] [-6.60156282e-01 7.51116146e-01 4.26834167e-03 -9.56026325e+01] [ 6.43172582e-03 -2.97013697e-05 9.99979316e-01 -2.79657724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.596559995 meters 0.012793360464713344 Centerline is valid? [True, True] Translation: X:91.39, Y:-95.63, Z:-2.80 [[ 7.53850949e-01 6.57034368e-01 -3.81916220e-03 9.13879462e+01] [-6.57025625e-01 7.53860622e-01 3.38965838e-03 -9.56250669e+01] [ 5.10623804e-03 -4.60097596e-05 9.99986962e-01 -2.79531006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.626559995 meters 0.013148402273886067 Centerline is valid? [True, True] Translation: X:91.41, Y:-95.65, Z:-2.79 [[ 7.55146796e-01 6.55546929e-01 -3.39714182e-03 9.14096388e+01] [-6.55539992e-01 7.55154436e-01 3.01625167e-03 -9.56467828e+01] [ 4.54266123e-03 -5.07504669e-05 9.99989681e-01 -2.79490276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.656559995 meters 0.013508271647415335 Centerline is valid? [True, True] Translation: X:91.43, Y:-95.67, Z:-2.79 [[ 7.56270901e-01 6.54249016e-01 -3.54248282e-03 9.14327722e+01] [-6.54241451e-01 7.56279195e-01 3.14681927e-03 -9.56691568e+01] [ 4.73790947e-03 -6.22087454e-05 9.99988774e-01 -2.79438350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.686559995 meters 0.01382244430611024 Centerline is valid? [True, True] Translation: X:91.46, Y:-95.69, Z:-2.79 [[ 7.57192924e-01 6.53183515e-01 -3.18922478e-03 9.14559044e+01] [-6.53177369e-01 7.57199638e-01 2.83438052e-03 -9.56920244e+01] [ 4.26625048e-03 -6.30434248e-05 9.99990898e-01 -2.79399636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.71655999499998 meters 0.01382244430611024 Centerline is valid? [True, True] Translation: X:91.48, Y:-95.71, Z:-2.79 [[ 7.57014507e-01 6.53390289e-01 -3.18844972e-03 9.14800871e+01] [-6.53384141e-01 7.57021219e-01 2.83525238e-03 -9.57136180e+01] [ 4.26625046e-03 -6.30447029e-05 9.99990898e-01 -2.79399756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.74655999499998 meters 0.014413037245874954 Centerline is valid? [True, True] Translation: X:91.50, Y:-95.74, Z:-2.79 [[ 7.57703208e-01 6.52591911e-01 -3.10592447e-03 9.15025072e+01] [-6.52586064e-01 7.57709571e-01 2.76309017e-03 -9.57356414e+01] [ 4.15655899e-03 -6.67192578e-05 9.99991359e-01 -2.79381318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.77655999499999 meters 0.014216541992421554 Centerline is valid? [True, True] Translation: X:91.53, Y:-95.76, Z:-2.79 [[ 7.57402544e-01 6.52939267e-01 -3.42058797e-03 9.15277204e+01] [-6.52932172e-01 7.57410264e-01 3.04467580e-03 -9.57566138e+01] [ 4.57877682e-03 -7.26332619e-05 9.99989515e-01 -2.79424189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.806559995 meters 0.013601190382465751 Centerline is valid? [True, True] Translation: X:91.55, Y:-95.78, Z:-2.79 [[ 7.56430895e-01 6.54062718e-01 -3.77649320e-03 9.15535624e+01] [-6.54054076e-01 7.56440318e-01 3.36310867e-03 -9.57758347e+01] [ 5.05637572e-03 -7.39285316e-05 9.99987214e-01 -2.79487639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.836559995 meters 0.013290660057149899 Centerline is valid? [True, True] Translation: X:91.58, Y:-95.80, Z:-2.80 [[ 7.54824014e-01 6.55911939e-01 -4.49848229e-03 9.15792073e+01] [-6.55899697e-01 7.54837415e-01 4.00801303e-03 -9.57953988e+01] [ 6.02452634e-03 -7.47913089e-05 9.99981850e-01 -2.79553674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.866559995 meters 0.012876446782136015 Centerline is valid? [True, True] Translation: X:91.60, Y:-95.81, Z:-2.80 [[ 7.52847992e-01 6.58176767e-01 -4.82134935e-03 9.16049276e+01] [-6.58162738e-01 7.52863427e-01 4.29775197e-03 -9.58149919e+01] [ 6.45849809e-03 -6.23214464e-05 9.99979142e-01 -2.79619561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.896559995 meters 0.012656617553762113 Centerline is valid? [True, True] Translation: X:91.63, Y:-95.83, Z:-2.80 [[ 7.50770395e-01 6.60539289e-01 -5.62694962e-03 9.16294127e+01] [-6.60520236e-01 7.50791480e-01 5.01722708e-03 -9.58338601e+01] [ 7.53874143e-03 -5.00714631e-05 9.99971582e-01 -2.79724488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.926559995 meters 0.012212038547662849 Centerline is valid? [True, True] Translation: X:91.66, Y:-95.85, Z:-2.80 [[ 7.46470128e-01 6.65384531e-01 -6.76562327e-03 9.16577284e+01] [-6.65357158e-01 7.46500788e-01 6.03545754e-03 -9.58509816e+01] [ 9.06644318e-03 -3.73289059e-06 9.99958899e-01 -2.79741135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.956559995 meters 0.01229195771071826 Centerline is valid? [True, True] Translation: X:91.68, Y:-95.87, Z:-2.80 [[ 7.44299075e-01 6.67810155e-01 -6.96297602e-03 9.16828424e+01] [-6.67781240e-01 7.44331644e-01 6.21452323e-03 -9.58700390e+01] [ 9.33288511e-03 2.42808662e-05 9.99956447e-01 -2.79817288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.986559995 meters 0.012426932929433837 Centerline is valid? [True, True] Translation: X:91.71, Y:-95.89, Z:-2.80 [[ 7.42372948e-01 6.69947146e-01 -7.29575037e-03 9.17084540e+01] [-6.69915473e-01 7.42408795e-01 6.51464840e-03 -9.58896490e+01] [ 9.78089935e-03 5.12373201e-05 9.99952165e-01 -2.79862144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.016559995 meters 0.012647431045087969 Centerline is valid? [True, True] Translation: X:91.73, Y:-95.91, Z:-2.80 [[ 7.40675538e-01 6.71822848e-01 -7.33540028e-03 9.17338679e+01] [-6.71790891e-01 7.40711857e-01 6.55318493e-03 -9.59095380e+01] [ 9.83599733e-03 7.40713159e-05 9.99951623e-01 -2.79889192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.046559995 meters 0.01329557091472237 Centerline is valid? [True, True] Translation: X:91.76, Y:-95.93, Z:-2.80 [[ 7.38219798e-01 6.74526162e-01 -6.78135971e-03 9.17595645e+01] [-6.74498939e-01 7.38250937e-01 6.06089428e-03 -9.59280186e+01] [ 9.09457692e-03 9.97477799e-05 9.99958639e-01 -2.79852357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.076559995 meters 0.013588414143074393 Centerline is valid? [True, True] Translation: X:91.78, Y:-95.95, Z:-2.80 [[ 7.37194942e-01 6.75649920e-01 -6.38774669e-03 9.17837809e+01] [-6.75625785e-01 7.37222608e-01 5.71178793e-03 -9.59480941e+01] [ 8.56836034e-03 1.05025205e-04 9.99963285e-01 -2.79797206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.106559995 meters 0.013188681296031233 Centerline is valid? [True, True] Translation: X:91.81, Y:-95.97, Z:-2.80 [[ 7.36393105e-01 6.76529883e-01 -5.70194991e-03 9.18077870e+01] [-6.76510656e-01 7.36415173e-01 5.10147026e-03 -9.59706209e+01] [ 7.65029951e-03 1.00742347e-04 9.99970731e-01 -2.79650881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.136559995 meters 0.014123830976601711 Centerline is valid? [True, True] Translation: X:91.83, Y:-95.99, Z:-2.80 [[ 7.35654814e-01 6.77338710e-01 -4.92608002e-03 9.18329102e+01] [-6.77324368e-01 7.35671301e-01 4.40886393e-03 -9.59906490e+01] [ 6.61026990e-03 9.31520620e-05 9.99978148e-01 -2.79630445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.166559995 meters 0.013439244281811518 Centerline is valid? [True, True] Translation: X:91.86, Y:-96.01, Z:-2.80 [[ 7.35522359e-01 6.77481319e-01 -5.09137923e-03 9.18561919e+01] [-6.77465984e-01 7.35539974e-01 4.55937410e-03 -9.60141002e+01] [ 6.83380373e-03 9.57146458e-05 9.99976645e-01 -2.79509175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.196559995 meters 0.01430091548429769 Centerline is valid? [True, True] Translation: X:91.88, Y:-96.03, Z:-2.80 [[ 7.35354220e-01 6.77664625e-01 -4.98258045e-03 9.18811202e+01] [-6.77649932e-01 7.35371095e-01 4.46349832e-03 -9.60340742e+01] [ 6.68880056e-03 9.41929761e-05 9.99977625e-01 -2.79597828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.226559995 meters 0.014314930442936467 Centerline is valid? [True, True] Translation: X:91.91, Y:-96.06, Z:-2.80 [[ 7.35326226e-01 6.77694496e-01 -5.05080300e-03 9.19057987e+01] [-6.77679383e-01 7.35343567e-01 4.52697414e-03 -9.60560847e+01] [ 6.78198095e-03 9.40222471e-05 9.99976998e-01 -2.79632383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.256559995 meters 0.013358410237513193 Centerline is valid? [True, True] Translation: X:91.93, Y:-96.08, Z:-2.80 [[ 7.35240733e-01 6.77785930e-01 -5.22473477e-03 9.19290549e+01] [-6.77769741e-01 7.35259291e-01 4.68550408e-03 -9.60797638e+01] [ 7.01730352e-03 9.61936780e-05 9.99975374e-01 -2.79588372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.286559995 meters 0.013149299434412993 Centerline is valid? [True, True] Translation: X:91.95, Y:-96.10, Z:-2.80 [[ 7.35490106e-01 6.77509560e-01 -5.92451408e-03 9.19524498e+01] [-6.77488711e-01 7.35513960e-01 5.31611505e-03 -9.61032655e+01] [ 7.95928157e-03 1.03841382e-04 9.99968319e-01 -2.79637902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.316559995 meters 0.013436523369353422 Centerline is valid? [True, True] Translation: X:91.98, Y:-96.12, Z:-2.80 [[ 7.35892359e-01 6.77070405e-01 -6.17275411e-03 9.19757494e+01] [-6.77047744e-01 7.35918240e-01 5.54041134e-03 -9.61241840e+01] [ 8.29389090e-03 1.02102879e-04 9.99965600e-01 -2.79725411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.346559995 meters 0.012956664277301133 Centerline is valid? [True, True] Translation: X:92.00, Y:-96.15, Z:-2.80 [[ 7.36322177e-01 6.76596973e-01 -6.79624510e-03 9.19981684e+01] [-6.76569450e-01 7.36353533e-01 6.10351626e-03 -9.61483350e+01] [ 9.13405971e-03 1.03977432e-04 9.99958278e-01 -2.79650219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.376559995 meters 0.012902836852523665 Centerline is valid? [True, True] Translation: X:92.02, Y:-96.17, Z:-2.80 [[ 7.37019017e-01 6.75830313e-01 -7.50718243e-03 9.20204773e+01] [-6.75796655e-01 7.37057242e-01 6.74556390e-03 -9.61705931e+01] [ 1.00920797e-02 1.01719902e-04 9.99949069e-01 -2.79714440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.406559995 meters 0.01280504738265345 Centerline is valid? [True, True] Translation: X:92.04, Y:-96.19, Z:-2.80 [[ 7.38603280e-01 6.74070836e-01 -9.68005972e-03 9.20429303e+01] [-6.74014659e-01 7.38666704e-01 8.70286251e-03 -9.61949187e+01] [ 1.30166836e-02 9.65393673e-05 9.99915275e-01 -2.79872081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.436559995 meters 0.012810599496369864 Centerline is valid? [True, True] Translation: X:92.07, Y:-96.22, Z:-2.80 [[ 7.39177094e-01 6.73428453e-01 -1.05518624e-02 9.20668458e+01] [-6.73361562e-01 7.39252400e-01 9.49192448e-03 -9.62170228e+01] [ 1.41926216e-02 8.90054107e-05 9.99899276e-01 -2.79978739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.46655999499998 meters 0.012784984087459005 Centerline is valid? [True, True] Translation: X:92.09, Y:-96.24, Z:-2.80 [[ 7.39147110e-01 6.73449892e-01 -1.12602287e-02 9.20906187e+01] [-6.73373649e-01 7.39232869e-01 1.01337689e-02 -9.62378728e+01] [ 1.51485167e-02 9.19953438e-05 9.99885250e-01 -2.79976753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.49655999499998 meters 0.012949198420172219 Centerline is valid? [True, True] Translation: X:92.11, Y:-96.26, Z:-2.80 [[ 7.39203347e-01 6.73376267e-01 -1.19505270e-02 9.21149647e+01] [-6.73290301e-01 7.39299936e-01 1.07598948e-02 -9.62575141e+01] [ 1.60804816e-02 9.24236363e-05 9.99870696e-01 -2.80068952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.52655999499999 meters 0.012849163241143345 Centerline is valid? [True, True] Translation: X:92.14, Y:-96.28, Z:-2.80 [[ 7.39078157e-01 6.73512399e-01 -1.20218890e-02 9.21399764e+01] [-6.73425324e-01 7.39175919e-01 1.08302177e-02 -9.62795146e+01] [ 1.61805767e-02 9.14671769e-05 9.99869082e-01 -2.79951642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.556559995 meters 0.013811539822971248 Centerline is valid? [True, True] Translation: X:92.17, Y:-96.30, Z:-2.80 [[ 7.38867168e-01 6.73743768e-01 -1.20267471e-02 9.21653234e+01] [-6.73656561e-01 7.38965037e-01 1.08402578e-02 -9.62996885e+01] [ 1.61909017e-02 9.23864690e-05 9.99868914e-01 -2.80329399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.586559995 meters 0.012809873132040402 Centerline is valid? [True, True] Translation: X:92.19, Y:-96.32, Z:-2.80 [[ 7.39025789e-01 6.73574555e-01 -1.17559597e-02 9.21885048e+01] [-6.73491117e-01 7.39119282e-01 1.06019964e-02 -9.63224630e+01] [ 1.58302915e-02 8.23857001e-05 9.99874690e-01 -2.79822579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.616559995 meters 0.012635572720122744 Centerline is valid? [True, True] Translation: X:92.21, Y:-96.34, Z:-2.80 [[ 7.40443913e-01 6.72028215e-01 -1.09950052e-02 9.22115710e+01] [-6.71954989e-01 7.40525540e-01 9.92050826e-03 -9.63444242e+01] [ 1.48089436e-02 4.25686641e-05 9.99890341e-01 -2.79640265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.646559995 meters 0.012645293282468701 Centerline is valid? [True, True] Translation: X:92.24, Y:-96.37, Z:-2.80 [[ 7.41302075e-01 6.71085240e-01 -1.07626290e-02 9.22356786e+01] [-6.71014900e-01 7.41380199e-01 9.71617551e-03 -9.63671471e+01] [ 1.44995820e-02 1.92633559e-05 9.99894875e-01 -2.79591060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.676559995 meters 0.012838524118132787 Centerline is valid? [True, True] Translation: X:92.26, Y:-96.39, Z:-2.80 [[ 7.42313148e-01 6.69962553e-01 -1.10167076e-02 9.22589374e+01] [-6.69888653e-01 7.42394893e-01 9.95063407e-03 -9.63894977e+01] [ 1.48452997e-02 -6.51908982e-06 9.99889802e-01 -2.79652269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.706559995 meters 0.012720066618017506 Centerline is valid? [True, True] Translation: X:92.28, Y:-96.41, Z:-2.80 [[ 7.43449032e-01 6.68701669e-01 -1.10279243e-02 9.22832372e+01] [-6.68627398e-01 7.43530817e-01 9.96628387e-03 -9.64124189e+01] [ 1.48640722e-02 -3.58517511e-05 9.99889523e-01 -2.79530465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.736559995 meters 0.013363999323738747 Centerline is valid? [True, True] Translation: X:92.30, Y:-96.44, Z:-2.80 [[ 7.46180010e-01 6.65643798e-01 -1.15640243e-02 9.23045819e+01] [-6.65561718e-01 7.46269605e-01 1.04534798e-02 -9.64351954e+01] [ 1.55881738e-02 -1.03605801e-04 9.99878492e-01 -2.79611821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.766559995 meters 0.013516395348356572 Centerline is valid? [True, True] Translation: X:92.33, Y:-96.46, Z:-2.80 [[ 7.47448609e-01 6.64208879e-01 -1.21302488e-02 9.23273842e+01] [-6.64118295e-01 7.47547019e-01 1.09702001e-02 -9.64570417e+01] [ 1.63544357e-02 -1.43740650e-04 9.99866247e-01 -2.79551045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.796559995 meters 0.013883983666779313 Centerline is valid? [True, True] Translation: X:92.35, Y:-96.48, Z:-2.80 [[ 7.48732636e-01 6.62756401e-01 -1.23851930e-02 9.23502023e+01] [-6.62661722e-01 7.48835042e-01 1.12036671e-02 -9.64789048e+01] [ 1.66997686e-02 -1.81357812e-04 9.99860533e-01 -2.79538121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.826559995 meters 0.014016096620047613 Centerline is valid? [True, True] Translation: X:92.37, Y:-96.50, Z:-2.79 [[ 7.49864126e-01 6.61462782e-01 -1.30683315e-02 9.23739105e+01] [-6.61357071e-01 7.49977958e-01 1.18274033e-02 -9.65007133e+01] [ 1.76243476e-02 -2.26111993e-04 9.99844654e-01 -2.79477717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.856559995 meters 0.014929139326149227 Centerline is valid? [True, True] Translation: X:92.40, Y:-96.52, Z:-2.80 [[ 7.50645865e-01 6.60577776e-01 -1.29532354e-02 9.23963977e+01] [-6.60473696e-01 7.50757577e-01 1.17285015e-02 -9.65228687e+01] [ 1.74723270e-02 -2.48679884e-04 9.99847316e-01 -2.79608358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.886559995 meters 0.014393981635215282 Centerline is valid? [True, True] Translation: X:92.42, Y:-96.54, Z:-2.79 [[ 7.51086095e-01 6.60083601e-01 -1.26221449e-02 9.24230223e+01] [-6.59984595e-01 7.51192101e-01 1.14350866e-02 -9.65429810e+01] [ 1.70297687e-02 -2.58313304e-04 9.99854950e-01 -2.79425404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.916559995 meters 0.0153405663550696 Centerline is valid? [True, True] Translation: X:92.45, Y:-96.57, Z:-2.80 [[ 7.51117911e-01 6.60045664e-01 -1.27123660e-02 9.24460590e+01] [-6.59945130e-01 7.51225433e-01 1.15227921e-02 -9.65655152e+01] [ 1.71554215e-02 -2.65511504e-04 9.99852800e-01 -2.79562496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.946559995 meters 0.015457280409831362 Centerline is valid? [True, True] Translation: X:92.47, Y:-96.59, Z:-2.80 [[ 7.51098747e-01 6.60065303e-01 -1.28245456e-02 9.24705572e+01] [-6.59962882e-01 7.51208175e-01 1.16306329e-02 -9.65880082e+01] [ 1.73108807e-02 -2.72029677e-04 9.99850118e-01 -2.79562120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.976559995 meters 0.014566766296573823 Centerline is valid? [True, True] Translation: X:92.50, Y:-96.61, Z:-2.79 [[ 7.51472187e-01 6.59639457e-01 -1.28584253e-02 9.24950044e+01] [-6.59536334e-01 7.51582134e-01 1.16670658e-02 -9.66083534e+01] [ 1.73602197e-02 -2.86876742e-04 9.99849259e-01 -2.79313476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.006559995 meters 0.014742406073113189 Centerline is valid? [True, True] Translation: X:92.52, Y:-96.63, Z:-2.79 [[ 7.51645686e-01 6.59452560e-01 -1.22916413e-02 9.25192665e+01] [-6.59358200e-01 7.51746128e-01 1.11590038e-02 -9.66307501e+01] [ 1.65990274e-02 -2.83022577e-04 9.99862187e-01 -2.79298692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.036559995 meters 0.015528069322646165 Centerline is valid? [True, True] Translation: X:92.54, Y:-96.65, Z:-2.79 [[ 7.51935007e-01 6.59128912e-01 -1.19508333e-02 9.25425845e+01] [-6.59039581e-01 7.52029916e-01 1.08552157e-02 -9.66532349e+01] [ 1.61423707e-02 -2.86344489e-04 9.99869662e-01 -2.79375035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.066559995 meters 0.014627883024935926 Centerline is valid? [True, True] Translation: X:92.57, Y:-96.67, Z:-2.79 [[ 7.52276548e-01 6.58747107e-01 -1.14997878e-02 9.25688851e+01] [-6.58664256e-01 7.52364384e-01 1.04514136e-02 -9.66737398e+01] [ 1.55368692e-02 -2.87854179e-04 9.99879254e-01 -2.79205130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.096559995 meters 0.014724643787048757 Centerline is valid? [True, True] Translation: X:92.59, Y:-96.69, Z:-2.79 [[ 7.52594604e-01 6.58393255e-01 -1.09400652e-02 9.25937614e+01] [-6.58318153e-01 7.52674060e-01 9.94830546e-03 -9.66949424e+01] [ 1.47842005e-02 -2.84997515e-04 9.99890667e-01 -2.79192436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.126559995 meters 0.01457588599431524 Centerline is valid? [True, True] Translation: X:92.62, Y:-96.72, Z:-2.79 [[ 7.53374747e-01 6.57523738e-01 -9.43527440e-03 9.26196513e+01] [-6.57467746e-01 7.53433782e-01 8.58481936e-03 -9.67159833e+01] [ 1.27535770e-02 -2.64197520e-04 9.99918635e-01 -2.79046028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.156559995 meters 0.01575820926902314 Centerline is valid? [True, True] Translation: X:92.64, Y:-96.74, Z:-2.79 [[ 7.53666519e-01 6.57197771e-01 -8.82428678e-03 9.26418524e+01] [-6.57148723e-01 7.53718134e-01 8.03315433e-03 -9.67386817e+01] [ 1.19303961e-02 -2.55450675e-04 9.99928798e-01 -2.79083007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.186559995 meters 0.015257336001930489 Centerline is valid? [True, True] Translation: X:92.67, Y:-96.76, Z:-2.79 [[ 7.53860894e-01 6.56981442e-01 -8.31489957e-03 9.26669413e+01] [-6.56937833e-01 7.53906707e-01 7.57365045e-03 -9.67602223e+01] [ 1.12444064e-02 -2.47106795e-04 9.99936749e-01 -2.78942659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.21655999499998 meters 0.01562858128282566 Centerline is valid? [True, True] Translation: X:92.69, Y:-96.78, Z:-2.79 [[ 7.54626870e-01 6.56106101e-01 -7.94177677e-03 9.26904700e+01] [-6.56066232e-01 7.54668617e-01 7.23729465e-03 -9.67814916e+01] [ 1.07418429e-02 -2.51125453e-04 9.99942273e-01 -2.78871493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.24655999499998 meters 0.01653063780160407 Centerline is valid? [True, True] Translation: X:92.71, Y:-96.80, Z:-2.79 [[ 7.55083876e-01 6.55579983e-01 -7.95147033e-03 9.27131171e+01] [-6.55539966e-01 7.55125697e-01 7.24802999e-03 -9.68032420e+01] [ 1.07560229e-02 -2.60363985e-04 9.99942118e-01 -2.78940091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.27655999499999 meters 0.016081258203260198 Centerline is valid? [True, True] Translation: X:92.74, Y:-96.82, Z:-2.79 [[ 7.55709820e-01 6.54857732e-01 -8.00125507e-03 9.27377068e+01] [-6.54817151e-01 7.55752126e-01 7.29533032e-03 -9.68232049e+01] [ 1.08243690e-02 -2.73793708e-04 9.99941377e-01 -2.78928795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.306559995 meters 0.017298780013874734 Centerline is valid? [True, True] Translation: X:92.76, Y:-96.84, Z:-2.79 [[ 7.56935113e-01 6.53432798e-01 -8.64945483e-03 9.27608907e+01] [-6.53385260e-01 7.56984463e-01 7.88828797e-03 -9.68443626e+01] [ 1.17019690e-02 -3.19495849e-04 9.99931479e-01 -2.79138485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.336559995 meters 0.016868597797497657 Centerline is valid? [True, True] Translation: X:92.79, Y:-96.86, Z:-2.79 [[ 7.57343727e-01 6.52954683e-01 -8.98115911e-03 9.27853140e+01] [-6.52903347e-01 7.57396901e-01 8.19477607e-03 -9.68648264e+01] [ 1.21531195e-02 -3.42433410e-04 9.99926089e-01 -2.79132075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.366559995 meters 0.01765885725852067 Centerline is valid? [True, True] Translation: X:92.81, Y:-96.89, Z:-2.79 [[ 7.57705570e-01 6.52529283e-01 -9.37037865e-03 9.28076910e+01] [-6.52473320e-01 7.57763420e-01 8.55373343e-03 -9.68861451e+01] [ 1.26820917e-02 -3.67289397e-04 9.99919512e-01 -2.79222688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.396559995 meters 0.017798929206423345 Centerline is valid? [True, True] Translation: X:92.83, Y:-96.91, Z:-2.79 [[ 7.58030272e-01 6.52144855e-01 -9.85877126e-03 9.28313476e+01] [-6.52082816e-01 7.58094276e-01 9.00387856e-03 -9.69075559e+01] [ 1.33457111e-02 -3.96477189e-04 9.99910863e-01 -2.79245572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.426559995 meters 0.018395608200380335 Centerline is valid? [True, True] Translation: X:92.85, Y:-96.93, Z:-2.79 [[ 7.58397624e-01 6.51717200e-01 -9.88608001e-03 9.28537011e+01] [-6.51654736e-01 7.58461947e-01 9.03220758e-03 -9.69284553e+01] [ 1.33846605e-02 -4.07693911e-04 9.99910338e-01 -2.79308288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.456559995 meters 0.018754247009112483 Centerline is valid? [True, True] Translation: X:92.88, Y:-96.95, Z:-2.79 [[ 7.58742773e-01 6.51311255e-01 -1.01514971e-02 9.28778118e+01] [-6.51245295e-01 7.58810559e-01 9.27909633e-03 -9.69491179e+01] [ 1.37466431e-02 -4.29332544e-04 9.99905418e-01 -2.79406270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.486559995 meters 0.017597531949901428 Centerline is valid? [True, True] Translation: X:92.90, Y:-96.97, Z:-2.79 [[ 7.58414725e-01 6.51690878e-01 -1.03007085e-02 9.29036020e+01] [-6.51622925e-01 7.58484550e-01 9.42072941e-03 -9.69693824e+01] [ 1.39523317e-02 -4.32642075e-04 9.99902568e-01 -2.79381457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.516559995 meters 0.01785282237224416 Centerline is valid? [True, True] Translation: X:92.93, Y:-96.99, Z:-2.79 [[ 7.57763906e-01 6.52442072e-01 -1.06398478e-02 9.29267606e+01] [-6.52369582e-01 7.57838474e-01 9.73525499e-03 -9.69901221e+01] [ 1.44149759e-02 -4.35911805e-04 9.99896004e-01 -2.79453465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.546559995 meters 0.017140002277197204 Centerline is valid? [True, True] Translation: X:92.95, Y:-97.01, Z:-2.79 [[ 7.56866881e-01 6.53480050e-01 -1.07865379e-02 9.29518740e+01] [-6.53405583e-01 7.56943620e-01 9.87427932e-03 -9.70100671e+01] [ 1.46174456e-02 -4.25530897e-04 9.99893069e-01 -2.79470731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.576559995 meters 0.017140002277197204 Centerline is valid? [True, True] Translation: X:92.98, Y:-97.03, Z:-2.79 [[ 7.56685519e-01 6.53690091e-01 -1.07837963e-02 9.29757559e+01] [-6.53615602e-01 7.56762237e-01 9.87727337e-03 -9.70320213e+01] [ 1.46174456e-02 -4.25532201e-04 9.99893069e-01 -2.79470851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.606559995 meters 0.015839139915896305 Centerline is valid? [True, True] Translation: X:93.00, Y:-97.05, Z:-2.79 [[ 7.54325155e-01 6.56414172e-01 -1.06768804e-02 9.30016428e+01] [-6.56341415e-01 7.54400622e-01 9.78002537e-03 -9.70503326e+01] [ 1.44743925e-02 -3.69640358e-04 9.99895172e-01 -2.79447692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.636559995 meters 0.015364781656165059 Centerline is valid? [True, True] Translation: X:93.03, Y:-97.07, Z:-2.79 [[ 7.52872972e-01 6.58082159e-01 -1.04957034e-02 9.30260907e+01] [-6.58011945e-01 7.52946053e-01 9.61879524e-03 -9.70706888e+01] [ 1.42326560e-02 -3.35432775e-04 9.99898654e-01 -2.79464762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.666559995 meters 0.015541607379607839 Centerline is valid? [True, True] Translation: X:93.05, Y:-97.09, Z:-2.79 [[ 7.51454830e-01 6.59703180e-01 -1.03611427e-02 9.30494448e+01] [-6.59634871e-01 7.51526196e-01 9.49812373e-03 -9.70915013e+01] [ 1.40526126e-02 -3.02839949e-04 9.99901211e-01 -2.79498013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.696559995 meters 0.014608212566500682 Centerline is valid? [True, True] Translation: X:93.08, Y:-97.11, Z:-2.79 [[ 7.50002599e-01 6.61359740e-01 -9.96968032e-03 9.30751858e+01] [-6.61296609e-01 7.50068813e-01 9.14168327e-03 -9.71117430e+01] [ 1.35238876e-02 -2.63370425e-04 9.99908513e-01 -2.79411737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.726559995 meters 0.013569105737533609 Centerline is valid? [True, True] Translation: X:93.10, Y:-97.13, Z:-2.79 [[ 7.47608009e-01 6.64078855e-01 -9.02992974e-03 9.31013443e+01] [-6.64027244e-01 7.47662515e-01 8.28143856e-03 -9.71313093e+01] [ 1.22508682e-02 -1.95150427e-04 9.99924936e-01 -2.79279102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.756559995 meters 0.013604401602563512 Centerline is valid? [True, True] Translation: X:93.12, Y:-97.15, Z:-2.79 [[ 7.46480180e-01 6.65352555e-01 -8.56266480e-03 9.31244196e+01] [-6.65306206e-01 7.46529269e-01 7.85511281e-03 -9.71521038e+01] [ 1.16186993e-02 -1.66891999e-04 9.99932487e-01 -2.79296613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.786559995 meters 0.013120477441479022 Centerline is valid? [True, True] Translation: X:93.15, Y:-97.17, Z:-2.79 [[ 7.45311172e-01 6.66667452e-01 -8.10962437e-03 9.31490163e+01] [-6.66625916e-01 7.45355277e-01 7.44308648e-03 -9.71726253e+01] [ 1.10066148e-02 -1.41329740e-04 9.99939415e-01 -2.79205885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.816559995 meters 0.012846637239412411 Centerline is valid? [True, True] Translation: X:93.17, Y:-97.19, Z:-2.79 [[ 7.44267089e-01 6.67840325e-01 -7.46990729e-03 9.31725957e+01] [-6.67805112e-01 7.44304566e-01 6.85898415e-03 -9.71927713e+01] [ 1.01405923e-02 -1.16473889e-04 9.99948576e-01 -2.79180109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.846559995 meters 0.01240709177255228 Centerline is valid? [True, True] Translation: X:93.20, Y:-97.21, Z:-2.79 [[ 7.42283096e-01 6.70047465e-01 -7.22495763e-03 9.31977532e+01] [-6.70014597e-01 7.42318252e-01 6.63723473e-03 -9.72132170e+01] [ 9.81048023e-03 -8.58800737e-05 9.99951872e-01 -2.79144473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.876559995 meters 0.01221986719749844 Centerline is valid? [True, True] Translation: X:93.22, Y:-97.23, Z:-2.79 [[ 7.41067965e-01 6.71394462e-01 -6.90991940e-03 9.32206875e+01] [-6.71364430e-01 7.41100177e-01 6.35061570e-03 -9.72336140e+01] [ 9.38471070e-03 -6.71637571e-05 9.99955960e-01 -2.79167380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.906559995 meters 0.011896407206009978 Centerline is valid? [True, True] Translation: X:93.25, Y:-97.26, Z:-2.79 [[ 7.39750863e-01 6.72843230e-01 -7.11677314e-03 9.32458892e+01] [-6.72811404e-01 7.39785094e-01 6.54441320e-03 -9.72550790e+01] [ 9.66824680e-03 -5.29891858e-05 9.99953260e-01 -2.79119592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.936559995 meters 0.011550573983576153 Centerline is valid? [True, True] Translation: X:93.27, Y:-97.28, Z:-2.79 [[ 7.37199714e-01 6.75635449e-01 -7.30217547e-03 9.32704036e+01] [-6.75602047e-01 7.37235878e-01 6.71824330e-03 -9.72755778e+01] [ 9.92250907e-03 -1.93223412e-05 9.99950771e-01 -2.79177575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.96655999499998 meters 0.011642684727566327 Centerline is valid? [True, True] Translation: X:93.29, Y:-97.30, Z:-2.79 [[ 7.36055643e-01 6.76881054e-01 -7.35722314e-03 9.32940617e+01] [-6.76847172e-01 7.36092412e-01 6.77247874e-03 -9.72965954e+01] [ 9.99975868e-03 -5.20551846e-06 9.99950001e-01 -2.79279128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.99655999499998 meters 0.011631515772521686 Centerline is valid? [True, True] Translation: X:93.32, Y:-97.32, Z:-2.79 [[ 7.34857713e-01 6.78181954e-01 -7.30613289e-03 9.33181500e+01] [-6.78148568e-01 7.34894032e-01 6.72914423e-03 -9.73185357e+01] [ 9.93281763e-03 9.68001952e-06 9.99950668e-01 -2.79298636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.02655999499999 meters 0.01170567785052272 Centerline is valid? [True, True] Translation: X:93.34, Y:-97.34, Z:-2.79 [[ 7.33940060e-01 6.79167986e-01 -7.92684826e-03 9.33424675e+01] [-6.79128702e-01 7.33982865e-01 7.30483757e-03 -9.73410968e+01] [ 1.07793826e-02 2.20372437e-05 9.99941901e-01 -2.79355031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.056559995 meters 0.011779284244802972 Centerline is valid? [True, True] Translation: X:93.37, Y:-97.36, Z:-2.79 [[ 7.32628719e-01 6.80571903e-01 -8.77750414e-03 9.33653606e+01] [-6.80523787e-01 7.32681297e-01 8.09273340e-03 -9.73631218e+01] [ 1.19388001e-02 4.43314554e-05 9.99928729e-01 -2.79399690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.086559995 meters 0.011891922847364648 Centerline is valid? [True, True] Translation: X:93.39, Y:-97.39, Z:-2.80 [[ 7.32004098e-01 6.81237910e-01 -9.21475002e-03 9.33886523e+01] [-6.81184877e-01 7.32062093e-01 8.50033696e-03 -9.73851651e+01] [ 1.25365210e-02 5.46668727e-05 9.99921413e-01 -2.79502952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.116559995 meters 0.011920899327666485 Centerline is valid? [True, True] Translation: X:93.41, Y:-97.41, Z:-2.79 [[ 7.31452970e-01 6.81825733e-01 -9.49850424e-03 9.34124283e+01] [-6.81769371e-01 7.31514638e-01 8.76694568e-03 -9.74085605e+01] [ 1.29258241e-02 6.31808043e-05 9.99916456e-01 -2.79468318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.146559995 meters 0.011901444588693265 Centerline is valid? [True, True] Translation: X:93.44, Y:-97.43, Z:-2.79 [[ 7.31173823e-01 6.82124176e-01 -9.56288824e-03 9.34359933e+01] [-6.82067008e-01 7.31236353e-01 8.83126854e-03 -9.74316032e+01] [ 1.30167533e-02 6.53381874e-05 9.99915276e-01 -2.79478272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.176559995 meters 0.011832850120066251 Centerline is valid? [True, True] Translation: X:93.46, Y:-97.46, Z:-2.79 [[ 7.31293838e-01 6.81997240e-01 -9.43859329e-03 9.34587419e+01] [-6.81941476e-01 7.31354743e-01 8.72137433e-03 -9.74557569e+01] [ 1.28509132e-02 5.86809386e-05 9.99917422e-01 -2.79492403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.206559995 meters 0.011880753200896698 Centerline is valid? [True, True] Translation: X:93.48, Y:-97.48, Z:-2.80 [[ 7.31808168e-01 6.81440380e-01 -9.78847017e-03 9.34809211e+01] [-6.81380292e-01 7.31873627e-01 9.04938960e-03 -9.74786646e+01] [ 1.33305427e-02 4.72534407e-05 9.99911143e-01 -2.79536726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.236559995 meters 0.011788914468824543 Centerline is valid? [True, True] Translation: X:93.50, Y:-97.50, Z:-2.80 [[ 7.32494402e-01 6.80701778e-01 -9.85089877e-03 9.35031861e+01] [-6.80640785e-01 7.32560638e-01 9.11222711e-03 -9.75024608e+01] [ 1.34190899e-02 3.02681184e-05 9.99909960e-01 -2.79507873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.266559995 meters 0.011832381000770852 Centerline is valid? [True, True] Translation: X:93.52, Y:-97.53, Z:-2.80 [[ 7.33472138e-01 6.79648599e-01 -9.81865473e-03 9.35249728e+01] [-6.79587847e-01 7.33537853e-01 9.08714856e-03 -9.75261641e+01] [ 1.33784227e-02 7.46814170e-06 9.99910505e-01 -2.79507208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.296559995 meters 0.011766615724759118 Centerline is valid? [True, True] Translation: X:93.55, Y:-97.55, Z:-2.79 [[ 7.34640302e-01 6.78393550e-01 -9.26383962e-03 9.35464873e+01] [-6.78339317e-01 7.34698708e-01 8.57789028e-03 -9.75497410e+01] [ 1.26253164e-02 -1.76372714e-05 9.99920297e-01 -2.79419689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.326559995 meters 0.01191303471778718 Centerline is valid? [True, True] Translation: X:93.57, Y:-97.58, Z:-2.79 [[ 7.37171068e-01 6.75657759e-01 -8.08765213e-03 9.35654282e+01] [-6.75616235e-01 7.37215430e-01 7.49085319e-03 -9.75755882e+01] [ 1.10235950e-02 -5.78911616e-05 9.99939237e-01 -2.79307125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.356559995 meters 0.012248441875610038 Centerline is valid? [True, True] Translation: X:93.59, Y:-97.60, Z:-2.79 [[ 7.38253410e-01 6.74477192e-01 -7.90061264e-03 9.35855566e+01] [-6.74437481e-01 7.38295680e-01 7.31937068e-03 -9.75989200e+01] [ 1.07697368e-02 -7.50810799e-05 9.99942002e-01 -2.79276857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.386559995 meters 0.012228384311744073 Centerline is valid? [True, True] Translation: X:93.61, Y:-97.62, Z:-2.79 [[ 7.39338055e-01 6.73291032e-01 -7.64379398e-03 9.36078207e+01] [-6.73253755e-01 7.39377561e-01 7.08541196e-03 -9.76229099e+01] [ 1.04221941e-02 -9.23016922e-05 9.99945683e-01 -2.79177180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.416559995 meters 0.01281935839654442 Centerline is valid? [True, True] Translation: X:93.63, Y:-97.65, Z:-2.79 [[ 7.41019995e-01 6.71430825e-01 -8.36743809e-03 9.36270480e+01] [-6.71385997e-01 7.41067224e-01 7.75969317e-03 -9.76485694e+01] [ 1.14109313e-02 -1.32307030e-04 9.99934884e-01 -2.79167314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.446559995 meters 0.013107403786285474 Centerline is valid? [True, True] Translation: X:93.65, Y:-97.67, Z:-2.79 [[ 7.41698641e-01 6.70675333e-01 -8.81615034e-03 9.36478105e+01] [-6.70625471e-01 7.41751019e-01 8.17947515e-03 -9.76720904e+01] [ 1.20251607e-02 -1.54370624e-04 9.99927683e-01 -2.79207559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.476559995 meters 0.01345557241155911 Centerline is valid? [True, True] Translation: X:93.67, Y:-97.70, Z:-2.79 [[ 7.42232637e-01 6.70076788e-01 -9.37075739e-03 9.36696656e+01] [-6.70020354e-01 7.42291767e-01 8.69819289e-03 -9.76961108e+01] [ 1.27842932e-02 -1.77484472e-04 9.99918262e-01 -2.79234391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.506559995 meters 0.013638683502976345 Centerline is valid? [True, True] Translation: X:93.69, Y:-97.72, Z:-2.79 [[ 7.42527182e-01 6.69746181e-01 -9.66628409e-03 9.36911020e+01] [-6.69686051e-01 7.42590073e-01 8.97648808e-03 -9.77194647e+01] [ 1.31900552e-02 -1.91910783e-04 9.99912989e-01 -2.79248693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.536559995 meters 0.01356978437980848 Centerline is valid? [True, True] Translation: X:93.71, Y:-97.74, Z:-2.79 [[ 7.42789883e-01 6.69450461e-01 -9.96345846e-03 9.37134948e+01] [-6.69386489e-01 7.42856674e-01 9.25693477e-03 -9.77426777e+01] [ 1.35984809e-02 -2.06553023e-04 9.99907515e-01 -2.79236697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.566559995 meters 0.013837876514345327 Centerline is valid? [True, True] Translation: X:93.73, Y:-97.77, Z:-2.79 [[ 7.43530473e-01 6.68628002e-01 -9.95143349e-03 9.37347123e+01] [-6.68564049e-01 7.43597031e-01 9.25025228e-03 -9.77668343e+01] [ 1.35848341e-02 -2.24673785e-04 9.99907697e-01 -2.79203173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.596559995 meters 0.013354440838988905 Centerline is valid? [True, True] Translation: X:93.76, Y:-97.79, Z:-2.79 [[ 7.43015255e-01 6.69209519e-01 -9.32479299e-03 9.37591654e+01] [-6.69153358e-01 7.43073737e-01 8.67203890e-03 -9.77881730e+01] [ 1.27324198e-02 -2.03740647e-04 9.99918919e-01 -2.79083483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.626559995 meters 0.013629443848174199 Centerline is valid? [True, True] Translation: X:93.78, Y:-97.81, Z:-2.79 [[ 7.42438107e-01 6.69857733e-01 -8.73361104e-03 9.37815620e+01] [-6.69808469e-01 7.42489451e-01 8.12593056e-03 -9.78091849e+01] [ 1.19278315e-02 -1.83153863e-04 9.99928844e-01 -2.79091042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.656559995 meters 0.013678189852166261 Centerline is valid? [True, True] Translation: X:93.80, Y:-97.83, Z:-2.79 [[ 7.41939836e-01 6.70416424e-01 -8.19130437e-03 9.38037827e+01] [-6.70373085e-01 7.41985034e-01 7.62471938e-03 -9.78315459e+01] [ 1.11895624e-02 -1.65853068e-04 9.99937381e-01 -2.79034001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.686559995 meters 0.013203447667070423 Centerline is valid? [True, True] Translation: X:93.83, Y:-97.85, Z:-2.79 [[ 7.41562226e-01 6.70839173e-01 -7.76327932e-03 9.38279711e+01] [-6.70800231e-01 7.41602845e-01 7.22978074e-03 -9.78533013e+01] [ 1.06072902e-02 -1.53722738e-04 9.99943729e-01 -2.78926738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.71655999499998 meters 0.013027072358491801 Centerline is valid? [True, True] Translation: X:93.85, Y:-97.88, Z:-2.79 [[ 7.41153535e-01 6.71292687e-01 -7.58717401e-03 9.38520547e+01] [-6.71255475e-01 7.41192355e-01 7.06971243e-03 -9.78751019e+01] [ 1.03694016e-02 -1.46810271e-04 9.99946226e-01 -2.78849433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.74655999499998 meters 0.013056636226112988 Centerline is valid? [True, True] Translation: X:93.87, Y:-97.90, Z:-2.79 [[ 7.40555111e-01 6.71953986e-01 -7.48121862e-03 9.38744967e+01] [-6.71917807e-01 7.40592885e-01 6.97410571e-03 -9.78968659e+01] [ 1.02268154e-02 -1.37945616e-04 9.99947695e-01 -2.78822962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.77655999499999 meters 0.012787751243120253 Centerline is valid? [True, True] Translation: X:93.90, Y:-97.92, Z:-2.79 [[ 7.40065465e-01 6.72491813e-01 -7.60717695e-03 9.38995137e+01] [-6.72454393e-01 7.40104549e-01 7.09547531e-03 -9.79182767e+01] [ 1.04017553e-02 -1.35636678e-04 9.99945891e-01 -2.78807620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.806559995 meters 0.012467378856425772 Centerline is valid? [True, True] Translation: X:93.92, Y:-97.94, Z:-2.79 [[ 7.39639674e-01 6.72959792e-01 -7.63351442e-03 9.39249869e+01] [-6.72922096e-01 7.39679052e-01 7.12410433e-03 -9.79391265e+01] [ 1.04405865e-02 -1.32509684e-04 9.99945487e-01 -2.78808254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.836559995 meters 0.012735854190094018 Centerline is valid? [True, True] Translation: X:93.95, Y:-97.96, Z:-2.79 [[ 7.39332200e-01 6.73292343e-01 -8.08206863e-03 9.39485746e+01] [-6.73250076e-01 7.39376360e-01 7.54539487e-03 -9.79601186e+01] [ 1.10559471e-02 -1.37300065e-04 9.99938872e-01 -2.78910305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.866559995 meters 0.01278027498713698 Centerline is valid? [True, True] Translation: X:93.97, Y:-97.98, Z:-2.79 [[ 7.38995311e-01 6.73657159e-01 -8.48305570e-03 9.39737976e+01] [-6.73610567e-01 7.39043985e-01 7.92415545e-03 -9.79820151e+01] [ 1.16075153e-02 -1.41637759e-04 9.99932621e-01 -2.78929698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.896559995 meters 0.012647147169621741 Centerline is valid? [True, True] Translation: X:94.00, Y:-98.00, Z:-2.79 [[ 7.38522652e-01 6.74167867e-01 -9.05427180e-03 9.39992919e+01] [-6.74114769e-01 7.38578138e-01 8.46242652e-03 -9.80027056e+01] [ 1.23923832e-02 -1.46075330e-04 9.99923201e-01 -2.78978276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.926559995 meters 0.012596209986695514 Centerline is valid? [True, True] Translation: X:94.02, Y:-98.02, Z:-2.79 [[ 7.38121496e-01 6.74601750e-01 -9.44118602e-03 9.40243058e+01] [-6.74543988e-01 7.38181859e-01 8.82896033e-03 -9.80242106e+01] [ 1.29253443e-02 -1.48350139e-04 9.99916453e-01 -2.78986196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.956559995 meters 0.012494453816540619 Centerline is valid? [True, True] Translation: X:94.05, Y:-98.05, Z:-2.79 [[ 7.37804139e-01 6.74942442e-01 -9.88699504e-03 9.40486690e+01] [-6.74879057e-01 7.37870366e-01 9.25101115e-03 -9.80457557e+01] [ 1.35392207e-02 -1.52908420e-04 9.99908329e-01 -2.78970636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.986559995 meters 0.012615617025012845 Centerline is valid? [True, True] Translation: X:94.07, Y:-98.07, Z:-2.79 [[ 7.37742021e-01 6.75006762e-01 -1.01282119e-02 9.40735936e+01] [-6.74940180e-01 7.37811524e-01 9.48197976e-03 -9.80671831e+01] [ 1.38731119e-02 -1.59317771e-04 9.99903751e-01 -2.78988352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.016559995 meters 0.01267913749239395 Centerline is valid? [True, True] Translation: X:94.10, Y:-98.09, Z:-2.79 [[ 7.37886763e-01 6.74846570e-01 -1.02582593e-02 9.40977748e+01] [-6.74778176e-01 7.37958047e-01 9.60908112e-03 -9.80891370e+01] [ 1.40548204e-02 -1.68364283e-04 9.99901212e-01 -2.79027467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.046559995 meters 0.013114359887272144 Centerline is valid? [True, True] Translation: X:94.12, Y:-98.11, Z:-2.79 [[ 7.38399178e-01 6.74285257e-01 -1.02978595e-02 9.41208163e+01] [-6.74216218e-01 7.38470960e-01 9.65049975e-03 -9.81105336e+01] [ 1.41118599e-02 -1.82937217e-04 9.99900406e-01 -2.79091481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.076559995 meters 0.013778609078735552 Centerline is valid? [True, True] Translation: X:94.14, Y:-98.13, Z:-2.79 [[ 7.40211399e-01 6.72296112e-01 -1.02480479e-02 9.41441716e+01] [-6.72227483e-01 7.40282303e-01 9.60843844e-03 -9.81327549e+01] [ 1.40461643e-02 -2.23256241e-04 9.99901323e-01 -2.79100299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.106559995 meters 0.014209650505971694 Centerline is valid? [True, True] Translation: X:94.17, Y:-98.16, Z:-2.79 [[ 7.41347925e-01 6.71045541e-01 -1.00566276e-02 9.41672486e+01] [-6.70979275e-01 7.41416092e-01 9.43347469e-03 -9.81554487e+01] [ 1.37864367e-02 -2.45698194e-04 9.99904932e-01 -2.79056235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.136559995 meters 0.014941010071972443 Centerline is valid? [True, True] Translation: X:94.19, Y:-98.18, Z:-2.79 [[ 7.42596787e-01 6.69672728e-01 -9.40476144e-03 9.41890812e+01] [-6.69614615e-01 7.42656294e-01 8.82588651e-03 -9.81775011e+01] [ 1.28949608e-02 -2.56509256e-04 9.99916824e-01 -2.79040131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.166559995 meters 0.015632165147059566 Centerline is valid? [True, True] Translation: X:94.21, Y:-98.20, Z:-2.79 [[ 7.43810251e-01 6.68324467e-01 -9.41900361e-03 9.42118473e+01] [-6.68266016e-01 7.43869832e-01 8.84342103e-03 -9.82005011e+01] [ 1.29167873e-02 -2.83427203e-04 9.99916535e-01 -2.78980076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.196559995 meters 0.01643474369880642 Centerline is valid? [True, True] Translation: X:94.23, Y:-98.22, Z:-2.79 [[ 7.45407633e-01 6.66549185e-01 -8.92439263e-03 9.42341832e+01] [-6.66496559e-01 7.45460994e-01 8.38109508e-03 -9.82230728e+01] [ 1.22391987e-02 -2.99255267e-04 9.99925053e-01 -2.78924571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.226559995 meters 0.017328166271594857 Centerline is valid? [True, True] Translation: X:94.26, Y:-98.25, Z:-2.79 [[ 7.48432698e-01 6.63156277e-01 -8.49992499e-03 9.42561582e+01] [-6.63108306e-01 7.48480886e-01 7.98362632e-03 -9.82451856e+01] [ 1.16564233e-02 -3.38836128e-04 9.99932004e-01 -2.78795034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.256559995 meters 0.017072184900841197 Centerline is valid? [True, True] Translation: X:94.28, Y:-98.27, Z:-2.79 [[ 7.49882521e-01 6.61517955e-01 -8.37854447e-03 9.42801877e+01] [-6.61471197e-01 7.49929240e-01 7.87344864e-03 -9.82664958e+01] [ 1.14917431e-02 -3.61995682e-04 9.99933902e-01 -2.78726906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.286559995 meters 0.017617976784259234 Centerline is valid? [True, True] Translation: X:94.30, Y:-98.29, Z:-2.79 [[ 7.51040844e-01 6.60205845e-01 -8.11752687e-03 9.43030611e+01] [-6.60161839e-01 7.51084618e-01 7.63164070e-03 -9.82883040e+01] [ 1.11354034e-02 -3.72792400e-04 9.99937930e-01 -2.78743231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.316559995 meters 0.021512783416421887 Centerline is valid? [True, True] Translation: X:94.32, Y:-98.31, Z:-2.79 [[ 7.52228486e-01 6.58851572e-01 -8.17988701e-03 9.43222919e+01] [-6.58806787e-01 7.52272855e-01 7.69216319e-03 -9.83131815e+01] [ 1.12215008e-02 -3.97299193e-04 9.99936958e-01 -2.78892728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.346559995 meters 0.01934949485279059 Centerline is valid? [True, True] Translation: X:94.35, Y:-98.33, Z:-2.79 [[ 7.54022686e-01 6.56796260e-01 -8.27410205e-03 9.43490718e+01] [-6.56750302e-01 7.54067957e-01 7.78184113e-03 -9.83319564e+01] [ 1.13503194e-02 -4.33665738e-04 9.99935489e-01 -2.78759437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.376559995 meters 0.018943281846183425 Centerline is valid? [True, True] Translation: X:94.37, Y:-98.35, Z:-2.79 [[ 7.54494125e-01 6.56250785e-01 -8.57451139e-03 9.43737838e+01] [-6.56201347e-01 7.54542705e-01 8.06835993e-03 -9.83527605e+01] [ 1.17647026e-02 -4.60924243e-04 9.99930687e-01 -2.78760192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.406559995 meters 0.02091421078825745 Centerline is valid? [True, True] Translation: X:94.40, Y:-98.38, Z:-2.79 [[ 7.54896704e-01 6.55782640e-01 -8.94961471e-03 9.43953337e+01] [-6.55728721e-01 7.54949594e-01 8.42352881e-03 -9.83756265e+01] [ 1.22805120e-02 -4.90374731e-04 9.99924471e-01 -2.78845136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.436559995 meters 0.020637160444567565 Centerline is valid? [True, True] Translation: X:94.42, Y:-98.40, Z:-2.79 [[ 7.55087313e-01 6.55558374e-01 -9.29340790e-03 9.44193903e+01] [-6.55500162e-01 7.55144325e-01 8.75132951e-03 -9.83964502e+01] [ 1.27548716e-02 -5.16187505e-04 9.99918520e-01 -2.78832429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.46655999499998 meters 0.021185205839805144 Centerline is valid? [True, True] Translation: X:94.44, Y:-98.42, Z:-2.79 [[ 7.55134012e-01 6.55499397e-01 -9.65213575e-03 9.44426405e+01] [-6.55436546e-01 7.55195503e-01 9.09316599e-03 -9.84167554e+01] [ 1.32498143e-02 -5.40196396e-04 9.99912071e-01 -2.78856433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.49655999499998 meters 0.021185205839805144 Centerline is valid? [True, True] Translation: X:94.47, Y:-98.44, Z:-2.79 [[ 7.54955401e-01 6.55705137e-01 -9.64965653e-03 9.44662106e+01] [-6.55642269e-01 7.55016875e-01 9.09579689e-03 -9.84390597e+01] [ 1.32498143e-02 -5.40198290e-04 9.99912071e-01 -2.78856554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.52655999499999 meters 0.019653651796333434 Centerline is valid? [True, True] Translation: X:94.49, Y:-98.46, Z:-2.79 [[ 7.54521689e-01 6.56208981e-01 -9.31630715e-03 9.44919959e+01] [-6.56150365e-01 7.54579026e-01 8.78587688e-03 -9.84589041e+01] [ 1.27952613e-02 -5.16236325e-04 9.99918004e-01 -2.78796102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.556559995 meters 0.020158363155155245 Centerline is valid? [True, True] Translation: X:94.51, Y:-98.48, Z:-2.79 [[ 7.53839302e-01 6.56989765e-01 -9.52654135e-03 9.45148453e+01] [-6.56928483e-01 7.53899318e-01 8.98819074e-03 -9.84798041e+01] [ 1.30872023e-02 -5.17395086e-04 9.99914225e-01 -2.78809296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.586559995 meters 0.019572388894190943 Centerline is valid? [True, True] Translation: X:94.54, Y:-98.50, Z:-2.79 [[ 7.52814219e-01 6.58165587e-01 -9.42399596e-03 9.45393260e+01] [-6.58105653e-01 7.52873040e-01 8.89574222e-03 -9.85001204e+01] [ 1.29499439e-02 -4.94856209e-04 9.99916024e-01 -2.78777492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.616559995 meters 0.01927919321224163 Centerline is valid? [True, True] Translation: X:94.56, Y:-98.52, Z:-2.79 [[ 7.50701581e-01 6.60569633e-01 -9.74145725e-03 9.45641225e+01] [-6.60505786e-01 7.50764636e-01 9.19603189e-03 -9.85186175e+01] [ 1.33881610e-02 -4.69186794e-04 9.99910264e-01 -2.78788310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.646559995 meters 0.018988407967304517 Centerline is valid? [True, True] Translation: X:94.59, Y:-98.54, Z:-2.79 [[ 7.49396121e-01 6.62048456e-01 -9.86380678e-03 9.45888588e+01] [-6.61983063e-01 7.49460898e-01 9.31595622e-03 -9.85391662e+01] [ 1.35601519e-02 -4.51668431e-04 9.99907955e-01 -2.78798465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.676559995 meters 0.01818477814559849 Centerline is valid? [True, True] Translation: X:94.61, Y:-98.56, Z:-2.79 [[ 7.48044783e-01 6.63570921e-01 -1.01309067e-02 9.46140127e+01] [-6.63502013e-01 7.48113254e-01 9.57278369e-03 -9.85593375e+01] [ 1.39312865e-02 -4.38993925e-04 9.99902859e-01 -2.78775668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.706559995 meters 0.018255225174339244 Centerline is valid? [True, True] Translation: X:94.64, Y:-98.58, Z:-2.79 [[ 7.46011060e-01 6.65856446e-01 -1.01336884e-02 9.46383625e+01] [-6.65787702e-01 7.46079778e-01 9.57605365e-03 -9.85784338e+01] [ 1.39368170e-02 -3.96956819e-04 9.99902799e-01 -2.78779787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.736559995 meters 0.01737327522968954 Centerline is valid? [True, True] Translation: X:94.66, Y:-98.60, Z:-2.79 [[ 7.45062437e-01 6.66919155e-01 -1.00401782e-02 9.46634176e+01] [-6.66851708e-01 7.45129988e-01 9.49215529e-03 -9.85983568e+01] [ 1.38117381e-02 -3.76938372e-04 9.99904542e-01 -2.78720508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.766559995 meters 0.015779403000650716 Centerline is valid? [True, True] Translation: X:94.69, Y:-98.62, Z:-2.79 [[ 7.44321644e-01 6.67755566e-01 -9.36989700e-03 9.46898292e+01] [-6.67696834e-01 7.44380540e-01 8.86278189e-03 -9.86176216e+01] [ 1.28929409e-02 -3.40509817e-04 9.99916825e-01 -2.78593630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.796559995 meters 0.015328001645580623 Centerline is valid? [True, True] Translation: X:94.71, Y:-98.64, Z:-2.79 [[ 7.43802403e-01 6.68334678e-01 -9.31364592e-03 9.47149987e+01] [-6.68276640e-01 7.43860638e-01 8.81390655e-03 -9.86382873e+01] [ 1.28186940e-02 -3.31712871e-04 9.99917782e-01 -2.78525189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.826559995 meters 0.015352269594300728 Centerline is valid? [True, True] Translation: X:94.74, Y:-98.66, Z:-2.78 [[ 7.43266113e-01 6.68941249e-01 -8.54934484e-03 9.47400532e+01] [-6.68892343e-01 7.43315220e-01 8.09427968e-03 -9.86575212e+01] [ 1.17694557e-02 -2.97612490e-04 9.99930693e-01 -2.78484109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.856559995 meters 0.01566150957884736 Centerline is valid? [True, True] Translation: X:94.76, Y:-98.68, Z:-2.79 [[ 7.43139030e-01 6.69085498e-01 -8.30529528e-03 9.47639021e+01] [-6.69039306e-01 7.43185382e-01 7.86730847e-03 -9.86790201e+01] [ 1.14362760e-02 -2.89934992e-04 9.99934562e-01 -2.78501233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.886559995 meters 0.016001578223166012 Centerline is valid? [True, True] Translation: X:94.79, Y:-98.70, Z:-2.78 [[ 7.43276495e-01 6.68936137e-01 -8.03096563e-03 9.47884740e+01] [-6.68892892e-01 7.43319825e-01 7.61162789e-03 -9.87011052e+01] [ 1.10612689e-02 -2.85688279e-04 9.99938781e-01 -2.78477041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.916559995 meters 0.016264683443919906 Centerline is valid? [True, True] Translation: X:94.81, Y:-98.72, Z:-2.78 [[ 7.43355207e-01 6.68847865e-01 -8.09754628e-03 9.48129779e+01] [-6.68803847e-01 7.43399252e-01 7.67892083e-03 -9.87234814e+01] [ 1.11557396e-02 -2.92495677e-04 9.99937730e-01 -2.78471171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.946559995 meters 0.016858968439689984 Centerline is valid? [True, True] Translation: X:94.84, Y:-98.74, Z:-2.79 [[ 7.44266284e-01 6.67836123e-01 -7.91266358e-03 9.48372720e+01] [-6.67794000e-01 7.44308283e-01 7.50690388e-03 -9.87437503e+01] [ 1.09028426e-02 -3.03106202e-04 9.99940516e-01 -2.78507842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.976559995 meters 0.016575032496131188 Centerline is valid? [True, True] Translation: X:94.86, Y:-98.76, Z:-2.78 [[ 7.44932145e-01 6.67094562e-01 -7.80674928e-03 9.48615720e+01] [-6.67053479e-01 7.44972985e-01 7.41000918e-03 -9.87642463e+01] [ 1.07589941e-02 -3.12434764e-04 9.99942072e-01 -2.78447581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.006559995 meters 0.01853909414479277 Centerline is valid? [True, True] Translation: X:94.88, Y:-98.79, Z:-2.79 [[ 7.45575493e-01 6.66374436e-01 -7.89271870e-03 9.48827937e+01] [-6.66332366e-01 7.45617196e-01 7.49495278e-03 -9.87866112e+01] [ 1.08793917e-02 -3.28879189e-04 9.99940764e-01 -2.78555598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.036559995 meters 0.020047612631844226 Centerline is valid? [True, True] Translation: X:94.91, Y:-98.81, Z:-2.79 [[ 7.47455605e-01 6.64251238e-01 -8.96719472e-03 9.49054508e+01] [-6.64196778e-01 7.47509281e-01 8.51557391e-03 -9.88068149e+01] [ 1.23595418e-02 -4.09031606e-04 9.99923534e-01 -2.78706259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.066559995 meters 0.020962651587298802 Centerline is valid? [True, True] Translation: X:94.93, Y:-98.83, Z:-2.79 [[ 7.48308911e-01 6.63288149e-01 -9.08874285e-03 9.49282231e+01] [-6.63232085e-01 7.48363978e-01 8.63468580e-03 -9.88288014e+01] [ 1.25289725e-02 -4.33466449e-04 9.99921415e-01 -2.78749711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.096559995 meters 0.02173663866670992 Centerline is valid? [True, True] Translation: X:94.95, Y:-98.85, Z:-2.79 [[ 7.49182174e-01 6.62298725e-01 -9.29889067e-03 9.49514099e+01] [-6.62239910e-01 7.49239738e-01 8.83837408e-03 -9.88510655e+01] [ 1.28207423e-02 -4.63455782e-04 9.99917704e-01 -2.78770686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.126559995 meters 0.02148024286776923 Centerline is valid? [True, True] Translation: X:94.98, Y:-98.87, Z:-2.79 [[ 7.51659460e-01 6.59488159e-01 -9.13366583e-03 9.49759223e+01] [-6.59431202e-01 7.51714783e-01 8.68190652e-03 -9.88709961e+01] [ 1.25915262e-02 -5.02812933e-04 9.99920597e-01 -2.78718100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.156559995 meters 0.019663315773391598 Centerline is valid? [True, True] Translation: X:95.00, Y:-98.89, Z:-2.79 [[ 7.52956536e-01 6.58005909e-01 -9.20204333e-03 9.50016316e+01] [-6.57947969e-01 7.53012576e-01 8.74813948e-03 -9.88905735e+01] [ 1.26855818e-02 -5.32503079e-04 9.99919393e-01 -2.78608004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.186559995 meters 0.02076765048548186 Centerline is valid? [True, True] Translation: X:95.02, Y:-98.91, Z:-2.79 [[ 7.53924154e-01 6.56899328e-01 -9.03566206e-03 9.50238303e+01] [-6.56843337e-01 7.53978101e-01 8.59387038e-03 -9.89125531e+01] [ 1.24579990e-02 -5.44112036e-04 9.99922248e-01 -2.78636367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.21655999499998 meters 0.020146276158264063 Centerline is valid? [True, True] Translation: X:95.05, Y:-98.93, Z:-2.79 [[ 7.54665418e-01 6.56047067e-01 -9.07485724e-03 9.50486964e+01] [-6.55990474e-01 7.54719768e-01 8.63542482e-03 -9.89333525e+01] [ 1.25142193e-02 -5.63836577e-04 9.99921535e-01 -2.78583447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.24655999499998 meters 0.022012477219288687 Centerline is valid? [True, True] Translation: X:95.07, Y:-98.96, Z:-2.79 [[ 7.55282831e-01 6.55336175e-01 -9.07435417e-03 9.50700397e+01] [-6.55279529e-01 7.55337121e-01 8.63554561e-03 -9.89553841e+01] [ 1.25133820e-02 -5.76040802e-04 9.99921539e-01 -2.78632992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.27655999499999 meters 0.021965498012734567 Centerline is valid? [True, True] Translation: X:95.09, Y:-98.98, Z:-2.79 [[ 7.55457370e-01 6.55137863e-01 -8.86242721e-03 9.50949967e+01] [-6.55083769e-01 7.55509137e-01 8.43796238e-03 -9.89754302e+01] [ 1.22236734e-02 -5.68888646e-04 9.99925126e-01 -2.78606261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.306559995 meters 0.02193987102337646 Centerline is valid? [True, True] Translation: X:95.12, Y:-99.00, Z:-2.79 [[ 7.54925232e-01 6.55751868e-01 -8.79669518e-03 9.51187706e+01] [-6.55698566e-01 7.54976275e-01 8.37942537e-03 -9.89965652e+01] [ 1.21361200e-02 -5.57859219e-04 9.99926199e-01 -2.78523745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.336559995 meters 0.022181391144707324 Centerline is valid? [True, True] Translation: X:95.14, Y:-99.02, Z:-2.78 [[ 7.54097906e-01 6.56711476e-01 -8.14780191e-03 9.51425749e+01] [-6.56665761e-01 7.54141752e-01 7.76503686e-03 -9.90173264e+01] [ 1.12439864e-02 -5.05215492e-04 9.99936657e-01 -2.78495583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.366559995 meters 0.02200374061645273 Centerline is valid? [True, True] Translation: X:95.17, Y:-99.04, Z:-2.78 [[ 7.52978271e-01 6.57999077e-01 -7.80628919e-03 9.51676397e+01] [-6.57957169e-01 7.53018590e-01 7.44082564e-03 -9.90381533e+01] [ 1.07743373e-02 -4.66576091e-04 9.99941846e-01 -2.78440005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.396559995 meters 0.020200046656949567 Centerline is valid? [True, True] Translation: X:95.19, Y:-99.05, Z:-2.78 [[ 7.50026323e-01 6.61369906e-01 -7.09663519e-03 9.51949580e+01] [-6.61335419e-01 7.50059800e-01 6.76462291e-03 -9.90547788e+01] [ 9.79681878e-03 -3.80389045e-04 9.99951938e-01 -2.78338692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.426559995 meters 0.018727223233459957 Centerline is valid? [True, True] Translation: X:95.22, Y:-99.07, Z:-2.78 [[ 7.48322693e-01 6.63301300e-01 -6.67335095e-03 9.52207904e+01] [-6.63270875e-01 7.48352373e-01 6.36180665e-03 -9.90735011e+01] [ 9.21381263e-03 -3.34444959e-04 9.99957496e-01 -2.78296863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.456559995 meters 0.017746076928705085 Centerline is valid? [True, True] Translation: X:95.25, Y:-99.09, Z:-2.78 [[ 7.46185944e-01 6.65706009e-01 -6.48434216e-03 9.52463736e+01] [-6.65677368e-01 7.46214058e-01 6.18226745e-03 -9.90930078e+01] [ 8.95427987e-03 -2.96641246e-04 9.99959866e-01 -2.78249559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.486559995 meters 0.01742924629137109 Centerline is valid? [True, True] Translation: X:95.27, Y:-99.11, Z:-2.78 [[ 7.44181611e-01 6.67948721e-01 -6.18354795e-03 9.52706768e+01] [-6.67922749e-01 7.44207256e-01 5.89589387e-03 -9.91120673e+01] [ 8.53999602e-03 -2.57483450e-04 9.99963500e-01 -2.78239967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.516559995 meters 0.015362866626959364 Centerline is valid? [True, True] Translation: X:95.30, Y:-99.13, Z:-2.78 [[ 7.39936735e-01 6.72651582e-01 -5.78588841e-03 9.52984707e+01] [-6.72628986e-01 7.39959332e-01 5.51673149e-03 -9.91272520e+01] [ 7.99216029e-03 -1.90276032e-04 9.99968044e-01 -2.78203865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.546559995 meters 0.013863419629950913 Centerline is valid? [True, True] Translation: X:95.33, Y:-99.15, Z:-2.78 [[ 7.37766033e-01 6.75032102e-01 -5.73948282e-03 9.53255198e+01] [-6.75009931e-01 7.37788340e-01 5.47346285e-03 -9.91461758e+01] [ 7.92928664e-03 -1.63927074e-04 9.99968549e-01 -2.78136440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.576559995 meters 0.013854605549793172 Centerline is valid? [True, True] Translation: X:95.35, Y:-99.17, Z:-2.78 [[ 7.35708952e-01 6.77275095e-01 -5.54836070e-03 9.53499169e+01] [-6.77254421e-01 7.35729860e-01 5.29363191e-03 -9.91661484e+01] [ 7.66733969e-03 -1.36920572e-04 9.99970596e-01 -2.78191819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.606559995 meters 0.013151827413463778 Centerline is valid? [True, True] Translation: X:95.38, Y:-99.19, Z:-2.78 [[ 7.34071785e-01 6.79051428e-01 -5.26997507e-03 9.53754149e+01] [-6.79032804e-01 7.34090693e-01 5.03047968e-03 -9.91853889e+01] [ 7.28459407e-03 -1.14247249e-04 9.99973460e-01 -2.78166650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.636559995 meters 0.012893285730044314 Centerline is valid? [True, True] Translation: X:95.40, Y:-99.20, Z:-2.78 [[ 7.31990939e-01 6.81294625e-01 -5.18646812e-03 9.54001081e+01] [-6.81276633e-01 7.32009307e-01 4.95213779e-03 -9.92040051e+01] [ 7.17040779e-03 -9.15004534e-05 9.99974288e-01 -2.78208745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.666559995 meters 0.012499520570604673 Centerline is valid? [True, True] Translation: X:95.43, Y:-99.23, Z:-2.78 [[ 7.31477383e-01 6.81845398e-01 -5.26223680e-03 9.54253005e+01] [-6.81826870e-01 7.31496305e-01 5.02732179e-03 -9.92251655e+01] [ 7.27716301e-03 -8.94377378e-05 9.99973517e-01 -2.78149392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.696559995 meters 0.01255782777151694 Centerline is valid? [True, True] Translation: X:95.45, Y:-99.25, Z:-2.78 [[ 7.31484305e-01 6.81837952e-01 -5.26484629e-03 9.54501889e+01] [-6.81819385e-01 7.31503246e-01 5.03265084e-03 -9.92475104e+01] [ 7.28270449e-03 -9.16308398e-05 9.99973477e-01 -2.78134141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.726559995 meters 0.012736082067891435 Centerline is valid? [True, True] Translation: X:95.47, Y:-99.27, Z:-2.78 [[ 7.31933100e-01 6.81356135e-01 -5.26827387e-03 9.54734356e+01] [-6.81337522e-01 7.31952053e-01 5.03729130e-03 -9.92690114e+01] [ 7.28831321e-03 -9.74875679e-05 9.99973435e-01 -2.78123856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.756559995 meters 0.013499125478707895 Centerline is valid? [True, True] Translation: X:95.50, Y:-99.29, Z:-2.78 [[ 7.34199690e-01 6.78916377e-01 -4.83401473e-03 9.54950818e+01] [-6.78900651e-01 7.34215595e-01 4.62239151e-03 -9.92907119e+01] [ 6.68742630e-03 -1.11942669e-04 9.99977633e-01 -2.78100294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.786559995 meters 0.014195081055245461 Centerline is valid? [True, True] Translation: X:95.52, Y:-99.31, Z:-2.78 [[ 7.35751120e-01 6.77237601e-01 -4.41825348e-03 9.55172718e+01] [-6.77224421e-01 7.35764376e-01 4.22688354e-03 -9.93136921e+01] [ 6.11339798e-03 -1.17785145e-04 9.99981306e-01 -2.78051296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.816559995 meters 0.014897358607283289 Centerline is valid? [True, True] Translation: X:95.54, Y:-99.34, Z:-2.78 [[ 7.37664845e-01 6.75154003e-01 -4.20096146e-03 9.55396884e+01] [-6.75142042e-01 7.37676796e-01 4.02094823e-03 -9.93369959e+01] [ 5.81371108e-03 -1.29866455e-04 9.99983092e-01 -2.78007287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.846559995 meters 0.015910214853786925 Centerline is valid? [True, True] Translation: X:95.56, Y:-99.36, Z:-2.78 [[ 7.42374521e-01 6.69973371e-01 -3.96897742e-03 9.55608299e+01] [-6.69962619e-01 7.42385113e-01 3.79916443e-03 -9.93603642e+01] [ 5.49184875e-03 -1.61336367e-04 9.99984907e-01 -2.77922908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.876559995 meters 0.017712124331413965 Centerline is valid? [True, True] Translation: X:95.58, Y:-99.38, Z:-2.78 [[ 7.44603131e-01 6.67495639e-01 -3.96847286e-03 9.55807766e+01] [-6.67484853e-01 7.44613685e-01 3.79895084e-03 -9.93839665e+01] [ 5.49076231e-03 -1.79815171e-04 9.99984909e-01 -2.77952790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.906559995 meters 0.018351580545368118 Centerline is valid? [True, True] Translation: X:95.60, Y:-99.41, Z:-2.78 [[ 7.46604473e-01 6.65252309e-01 -4.59630559e-03 9.56031035e+01] [-6.65237793e-01 7.46618586e-01 4.40057804e-03 -9.94071145e+01] [ 6.35918189e-03 -2.27855063e-04 9.99979754e-01 -2.77984376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.936559995 meters 0.020231592976714542 Centerline is valid? [True, True] Translation: X:95.62, Y:-99.43, Z:-2.78 [[ 7.49886541e-01 6.61543947e-01 -5.45728860e-03 9.56235188e+01] [-6.61523382e-01 7.49906335e-01 5.22526913e-03 -9.94305202e+01] [ 7.54920046e-03 -3.08234984e-04 9.99971457e-01 -2.78074845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.96655999499998 meters 0.01936681040160911 Centerline is valid? [True, True] Translation: X:95.65, Y:-99.45, Z:-2.78 [[ 7.50739147e-01 6.60574183e-01 -5.69926143e-03 9.56474565e+01] [-6.60551705e-01 7.50760705e-01 5.45966937e-03 -9.94516017e+01] [ 7.88529817e-03 -3.34130669e-04 9.99968855e-01 -2.78044014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.99655999499998 meters 0.020288974838504677 Centerline is valid? [True, True] Translation: X:95.67, Y:-99.47, Z:-2.78 [[ 7.51659973e-01 6.59523045e-01 -6.05301493e-03 9.56691919e+01] [-6.59497652e-01 7.51684255e-01 5.79894958e-03 -9.94733119e+01] [ 8.37449690e-03 -3.66889146e-04 9.99964866e-01 -2.78107127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.02655999499999 meters 0.021558883277692294 Centerline is valid? [True, True] Translation: X:95.69, Y:-99.50, Z:-2.78 [[ 7.51469522e-01 6.59740386e-01 -6.01505692e-03 9.56909889e+01] [-6.59715292e-01 7.51493507e-01 5.76561170e-03 -9.94960735e+01] [ 8.32408310e-03 -3.64456435e-04 9.99965288e-01 -2.78144330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.056559995 meters 0.0204855915768972 Centerline is valid? [True, True] Translation: X:95.72, Y:-99.52, Z:-2.78 [[ 7.50794439e-01 6.60508315e-01 -6.03962283e-03 9.57155734e+01] [-6.60483017e-01 7.50818645e-01 5.79198649e-03 -9.95170397e+01] [ 8.36031666e-03 -3.59522933e-04 9.99964987e-01 -2.78109638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.086559995 meters 0.020288737672935802 Centerline is valid? [True, True] Translation: X:95.74, Y:-99.54, Z:-2.78 [[ 7.50032341e-01 6.61377769e-01 -5.56188235e-03 9.57388715e+01] [-6.61356319e-01 7.50052892e-01 5.33643264e-03 -9.95388681e+01] [ 7.70110386e-03 -3.24111022e-04 9.99970294e-01 -2.78098372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.116559995 meters 0.019769474986729593 Centerline is valid? [True, True] Translation: X:95.76, Y:-99.56, Z:-2.78 [[ 7.49109571e-01 6.62424902e-01 -5.30096871e-03 9.57629698e+01] [-6.62405425e-01 7.49128266e-01 5.08858066e-03 -9.95606231e+01] [ 7.34190804e-03 -3.00514041e-04 9.99973003e-01 -2.78097187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.146559995 meters 0.01990585539217906 Centerline is valid? [True, True] Translation: X:95.79, Y:-99.58, Z:-2.78 [[ 7.47942437e-01 6.63744239e-01 -5.06910226e-03 9.57859303e+01] [-6.63726443e-01 7.47959563e-01 4.86836260e-03 -9.95824474e+01] [ 7.02283114e-03 -2.76757780e-04 9.99975301e-01 -2.78116899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.176559995 meters 0.01867502489115661 Centerline is valid? [True, True] Translation: X:95.81, Y:-99.60, Z:-2.78 [[ 7.45638240e-01 6.66332385e-01 -4.97681138e-03 9.58103361e+01] [-6.66315285e-01 7.45654807e-01 4.78004903e-03 -9.96023784e+01] [ 6.89608480e-03 -2.48061845e-04 9.99976191e-01 -2.78183752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.206559995 meters 0.01783043236349049 Centerline is valid? [True, True] Translation: X:95.83, Y:-99.62, Z:-2.78 [[ 7.44347577e-01 6.67774276e-01 -4.91941176e-03 9.58348592e+01] [-6.67757585e-01 7.44363796e-01 4.72723949e-03 -9.96234397e+01] [ 6.81856094e-03 -2.33734743e-04 9.99976726e-01 -2.78221111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.236559995 meters 0.01781403466469377 Centerline is valid? [True, True] Translation: X:95.86, Y:-99.64, Z:-2.78 [[ 7.43097343e-01 6.69164961e-01 -4.95929251e-03 9.58574424e+01] [-6.69148013e-01 7.43113857e-01 4.76770948e-03 -9.96447141e+01] [ 6.87570312e-03 -2.24371518e-04 9.99976337e-01 -2.78286116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.266559995 meters 0.015525722744548998 Centerline is valid? [True, True] Translation: X:95.88, Y:-99.66, Z:-2.78 [[ 7.40440273e-01 6.72106446e-01 -4.59647801e-03 9.58829471e+01] [-6.72091942e-01 7.40454517e-01 4.41922069e-03 -9.96632364e+01] [ 6.37366962e-03 -1.82913142e-04 9.99979671e-01 -2.78248336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.296559995 meters 0.016619482927578894 Centerline is valid? [True, True] Translation: X:95.90, Y:-99.69, Z:-2.78 [[ 7.38907033e-01 6.73794211e-01 -4.21393409e-03 9.59040206e+01] [-6.73782038e-01 7.38919032e-01 4.05331348e-03 -9.96856703e+01] [ 5.84485527e-03 -1.55748741e-04 9.99982907e-01 -2.78297505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.326559995 meters 0.015337158724401688 Centerline is valid? [True, True] Translation: X:95.93, Y:-99.71, Z:-2.78 [[ 7.37339983e-01 6.75512959e-01 -3.46292881e-03 9.59291521e+01] [-6.75504754e-01 7.37348105e-01 3.33150686e-03 -9.97066567e+01] [ 4.80386005e-03 -1.17228339e-04 9.99988455e-01 -2.78240270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.356559995 meters 0.015196385840324336 Centerline is valid? [True, True] Translation: X:95.95, Y:-99.73, Z:-2.78 [[ 7.35785029e-01 6.77208543e-01 -2.99663855e-03 9.59519203e+01] [-6.77202408e-01 7.35791126e-01 2.88421028e-03 -9.97280935e+01] [ 4.15811189e-03 -9.28279063e-05 9.99991351e-01 -2.78193569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.386559995 meters 0.015196385840324336 Centerline is valid? [True, True] Translation: X:95.98, Y:-99.75, Z:-2.78 [[ 7.35600533e-01 6.77408947e-01 -2.99585152e-03 9.59752521e+01] [-6.77402810e-01 7.35606627e-01 2.88502777e-03 -9.97506532e+01] [ 4.15811185e-03 -9.28297243e-05 9.99991351e-01 -2.78193690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.416559995 meters 0.014899823798264315 Centerline is valid? [True, True] Translation: X:96.00, Y:-99.77, Z:-2.78 [[ 7.34111341e-01 6.79025059e-01 -2.34691273e-03 9.59979579e+01] [-6.79021298e-01 7.34115090e-01 2.26108775e-03 -9.97716370e+01] [ 3.25823929e-03 -6.62864302e-05 9.99994690e-01 -2.78180042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.446559995 meters 0.013522103265210703 Centerline is valid? [True, True] Translation: X:96.02, Y:-99.79, Z:-2.78 [[ 7.32766435e-01 6.80478591e-01 -1.49621801e-03 9.60233085e+01] [-6.80477064e-01 7.32767961e-01 1.44221622e-03 -9.97922206e+01] [ 2.07777789e-03 -3.86655962e-05 9.99997841e-01 -2.78135676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.476559995 meters 0.012771496478836212 Centerline is valid? [True, True] Translation: X:96.05, Y:-99.81, Z:-2.78 [[ 7.30403436e-01 6.83014952e-01 -1.18123095e-03 9.60477159e+01] [-6.83014003e-01 7.30404391e-01 1.13916459e-03 -9.98130124e+01] [ 1.64084272e-03 -2.52524459e-05 9.99998654e-01 -2.78179432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.506559995 meters 0.01266115267020583 Centerline is valid? [True, True] Translation: X:96.07, Y:-99.83, Z:-2.78 [[ 7.29459940e-01 6.84022383e-01 -1.25519842e-03 9.60702958e+01] [-6.84021312e-01 7.29461019e-01 1.21104902e-03 -9.98339113e+01] [ 1.74400295e-03 -2.48292720e-05 9.99998479e-01 -2.78250277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.536559995 meters 0.012588089145695189 Centerline is valid? [True, True] Translation: X:96.09, Y:-99.86, Z:-2.78 [[ 7.28769699e-01 6.84757116e-01 -1.55518952e-03 9.60939687e+01] [-6.84755471e-01 7.28771357e-01 1.50122056e-03 -9.98562265e+01] [ 2.16134904e-03 -2.91195229e-05 9.99997664e-01 -2.78322056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.566559995 meters 0.012646509347913008 Centerline is valid? [True, True] Translation: X:96.12, Y:-99.88, Z:-2.78 [[ 7.28241507e-01 6.85318098e-01 -1.84705847e-03 9.61168310e+01] [-6.85315777e-01 7.28243849e-01 1.78388832e-03 -9.98784117e+01] [ 2.56763992e-03 -3.32832088e-05 9.99996703e-01 -2.78448385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.596559995 meters 0.012646893024469134 Centerline is valid? [True, True] Translation: X:96.14, Y:-99.90, Z:-2.79 [[ 7.28113958e-01 6.85450527e-01 -2.76384325e-03 9.61396155e+01] [-6.85445326e-01 7.28119202e-01 2.67078662e-03 -9.99018263e+01] [ 3.84309944e-03 -5.01735819e-05 9.99992614e-01 -2.78618786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.626559995 meters 0.012922482282931877 Centerline is valid? [True, True] Translation: X:96.16, Y:-99.92, Z:-2.79 [[ 7.28376532e-01 6.85171564e-01 -2.74883565e-03 9.61610517e+01] [-6.85166414e-01 7.28381717e-01 2.65709897e-03 -9.99249393e+01] [ 3.82277029e-03 -5.19586640e-05 9.99992692e-01 -2.78660700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.656559995 meters 0.013082709016735264 Centerline is valid? [True, True] Translation: X:96.18, Y:-99.95, Z:-2.79 [[ 7.28986389e-01 6.84523535e-01 -2.52475236e-03 9.61832647e+01] [-6.84519183e-01 7.28990759e-01 2.44166464e-03 -9.99483578e+01] [ 3.51189805e-03 -5.16988680e-05 9.99993832e-01 -2.78635479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.686559995 meters 0.013078126880728656 Centerline is valid? [True, True] Translation: X:96.21, Y:-99.97, Z:-2.79 [[ 7.29514968e-01 6.83960121e-01 -2.54236080e-03 9.62058484e+01] [-6.83955700e-01 7.29519396e-01 2.45988746e-03 -9.99718673e+01] [ 3.53716644e-03 -5.56625665e-05 9.99993743e-01 -2.78622662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.71655999499998 meters 0.013689587580958066 Centerline is valid? [True, True] Translation: X:96.23, Y:-100.00, Z:-2.79 [[ 7.31405018e-01 6.81939846e-01 -2.17861959e-03 9.62265573e+01] [-6.81936588e-01 7.31408260e-01 2.10890102e-03 -9.99958664e+01] [ 3.03160400e-03 -5.67803749e-05 9.99995403e-01 -2.78638053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.74655999499998 meters 0.013840655668655649 Centerline is valid? [True, True] Translation: X:96.25, Y:-100.02, Z:-2.79 [[ 7.32106984e-01 6.81185780e-01 -2.30140264e-03 9.62488778e+01] [-6.81182137e-01 7.32110599e-01 2.22884613e-03 -1.00019131e+02] [ 3.20313956e-03 -6.40794535e-05 9.99994868e-01 -2.78675358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.77655999499999 meters 0.013627528933995934 Centerline is valid? [True, True] Translation: X:96.27, Y:-100.04, Z:-2.79 [[ 7.32837230e-01 6.80399909e-01 -2.35748611e-03 9.62713078e+01] [-6.80396078e-01 7.32841019e-01 2.28431107e-03 -1.00041608e+02] [ 3.28190757e-03 -7.00038952e-05 9.99994612e-01 -2.78679580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.806559995 meters 0.014711936198833628 Centerline is valid? [True, True] Translation: X:96.29, Y:-100.07, Z:-2.79 [[ 7.34516008e-01 6.78587415e-01 -2.31390636e-03 9.62905326e+01] [-6.78583712e-01 7.34519649e-01 2.24312393e-03 -1.00066137e+02] [ 3.22176536e-03 -7.74312722e-05 9.99994807e-01 -2.78698697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.836559995 meters 0.015520263088372442 Centerline is valid? [True, True] Translation: X:96.31, Y:-100.09, Z:-2.79 [[ 7.35294291e-01 6.77744703e-01 -2.10317693e-03 9.63107370e+01] [-6.77741637e-01 7.35297295e-01 2.03976578e-03 -1.00089415e+02] [ 2.92890076e-03 -7.44175606e-05 9.99995708e-01 -2.78720452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.866559995 meters 0.015307560348451517 Centerline is valid? [True, True] Translation: X:96.33, Y:-100.11, Z:-2.79 [[ 7.36418997e-01 6.76523128e-01 -1.87555305e-03 9.63331078e+01] [-6.76520684e-01 7.36421382e-01 1.81990856e-03 -1.00112002e+02] [ 2.61240760e-03 -7.13648001e-05 9.99996585e-01 -2.78700359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.896559995 meters 0.01569911551779258 Centerline is valid? [True, True] Translation: X:96.35, Y:-100.14, Z:-2.79 [[ 7.37438770e-01 6.75411287e-01 -1.91153061e-03 9.63544595e+01] [-6.75408743e-01 7.37441243e-01 1.85567266e-03 -1.00135426e+02] [ 2.66298377e-03 -7.73804755e-05 9.99996451e-01 -2.78700878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.926559995 meters 0.01776445401442826 Centerline is valid? [True, True] Translation: X:96.37, Y:-100.16, Z:-2.79 [[ 7.40139399e-01 6.72449933e-01 -2.18110986e-03 9.63720347e+01] [-6.72446606e-01 7.40142606e-01 2.11758339e-03 -1.00160775e+02] [ 3.03830115e-03 -1.00626976e-04 9.99995379e-01 -2.78711601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.956559995 meters 0.018324981698938772 Centerline is valid? [True, True] Translation: X:96.39, Y:-100.18, Z:-2.79 [[ 7.41017702e-01 6.71482371e-01 -2.04724780e-03 9.63934857e+01] [-6.71479433e-01 7.41020524e-01 1.98858870e-03 -1.00184692e+02] [ 2.85235489e-03 -9.88946357e-05 9.99995927e-01 -2.78748318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.986559995 meters 0.018474451821273215 Centerline is valid? [True, True] Translation: X:96.42, Y:-100.21, Z:-2.79 [[ 7.41858857e-01 6.70551924e-01 -2.35651470e-03 9.64152777e+01] [-6.70548024e-01 7.41862590e-01 2.29002441e-03 -1.00207641e+02] [ 3.28379038e-03 -1.18718616e-04 9.99994601e-01 -2.78732510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.016559995 meters 0.01842906057431986 Centerline is valid? [True, True] Translation: X:96.44, Y:-100.23, Z:-2.79 [[ 7.42174224e-01 6.70203248e-01 -2.24225013e-03 9.64378284e+01] [-6.70199712e-01 7.42177602e-01 2.18005025e-03 -1.00230527e+02] [ 3.12522458e-03 -1.15221710e-04 9.99995110e-01 -2.78736415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.046559995 meters 0.01796402883772243 Centerline is valid? [True, True] Translation: X:96.46, Y:-100.25, Z:-2.79 [[ 7.42487622e-01 6.69857030e-01 -1.92120198e-03 9.64607271e+01] [-6.69854431e-01 7.42490100e-01 1.86883571e-03 -1.00252701e+02] [ 2.67832619e-03 -1.00661725e-04 9.99996408e-01 -2.78728698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.076559995 meters 0.017733496176971043 Centerline is valid? [True, True] Translation: X:96.48, Y:-100.28, Z:-2.79 [[ 7.42233493e-01 6.70138813e-01 -1.84759003e-03 9.64845544e+01] [-6.70136407e-01 7.42235786e-01 1.79825658e-03 -1.00275844e+02] [ 2.57642897e-03 -9.65889211e-05 9.99996676e-01 -2.78728724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.106559995 meters 0.01810593737992959 Centerline is valid? [True, True] Translation: X:96.51, Y:-100.30, Z:-2.79 [[ 7.41671518e-01 6.70760081e-01 -2.06703048e-03 9.65062413e+01] [-6.70757069e-01 7.41674391e-01 2.01275559e-03 -1.00298343e+02] [ 2.88313967e-03 -1.06328183e-04 9.99995838e-01 -2.78751697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.136559995 meters 0.017723315816175984 Centerline is valid? [True, True] Translation: X:96.53, Y:-100.32, Z:-2.79 [[ 7.40890610e-01 6.71621321e-01 -2.42997092e-03 9.65293014e+01] [-6.71617160e-01 7.40894585e-01 2.36733315e-03 -1.00320819e+02] [ 3.39030371e-03 -1.21924735e-04 9.99994245e-01 -2.78768525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.166559995 meters 0.018818074443312974 Centerline is valid? [True, True] Translation: X:96.55, Y:-100.34, Z:-2.79 [[ 7.39051893e-01 6.73640750e-01 -3.23095499e-03 9.65496841e+01] [-6.73633406e-01 7.39058940e-01 3.14909703e-03 -1.00344540e+02] [ 4.50922625e-03 -1.50866904e-04 9.99989822e-01 -2.78872755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.196559995 meters 0.018013650925597133 Centerline is valid? [True, True] Translation: X:96.57, Y:-100.37, Z:-2.79 [[ 7.38134831e-01 6.74644391e-01 -3.45207533e-03 9.65736261e+01] [-6.74636016e-01 7.38142887e-01 3.36518222e-03 -1.00366716e+02] [ 4.81842616e-03 -1.55063866e-04 9.99988379e-01 -2.78898861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.226559995 meters 0.017021851875993702 Centerline is valid? [True, True] Translation: X:96.60, Y:-100.39, Z:-2.79 [[ 7.36826035e-01 6.76073564e-01 -3.45413640e-03 9.65972408e+01] [-6.76065187e-01 7.36834116e-01 3.36882896e-03 -1.00388193e+02] [ 4.82270174e-03 -1.47019519e-04 9.99988360e-01 -2.78900778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.256559995 meters 0.015465732867139615 Centerline is valid? [True, True] Translation: X:96.62, Y:-100.41, Z:-2.79 [[ 7.33988808e-01 6.79151429e-01 -3.71041716e-03 9.66217647e+01] [-6.79141799e-01 7.33998173e-01 3.61915113e-03 -1.00408739e+02] [ 5.18139108e-03 -1.36517034e-04 9.99986567e-01 -2.78886148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.286559995 meters 0.015139473071335332 Centerline is valid? [True, True] Translation: X:96.64, Y:-100.43, Z:-2.79 [[ 7.32299473e-01 6.80974027e-01 -3.44324398e-03 9.66447163e+01] [-6.80965747e-01 7.32307559e-01 3.36019507e-03 -1.00430312e+02] [ 4.80971916e-03 -1.15937876e-04 9.99988427e-01 -2.78876089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.316559995 meters 0.014646686711363674 Centerline is valid? [True, True] Translation: X:96.67, Y:-100.45, Z:-2.79 [[ 7.30539407e-01 6.82863055e-01 -3.19732566e-03 9.66679837e+01] [-6.82855927e-01 7.30546397e-01 3.12171717e-03 -1.00452482e+02] [ 4.46750007e-03 -9.72246404e-05 9.99990016e-01 -2.78834201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.346559995 meters 0.014019755425229524 Centerline is valid? [True, True] Translation: X:96.69, Y:-100.47, Z:-2.79 [[ 7.28813222e-01 6.84706924e-01 -2.77790008e-03 9.66913092e+01] [-6.84701551e-01 7.28818512e-01 2.71352870e-03 -1.00474492e+02] [ 3.88255689e-03 -7.56231027e-05 9.99992460e-01 -2.78792557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.376559995 meters 0.013275415404482462 Centerline is valid? [True, True] Translation: X:96.71, Y:-100.50, Z:-2.79 [[ 7.27202301e-01 6.86418623e-01 -2.50732318e-03 9.67149256e+01] [-6.86414252e-01 7.27206621e-01 2.45043563e-03 -1.00496090e+02] [ 3.50536667e-03 -6.09000619e-05 9.99993854e-01 -2.78720864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.406559995 meters 0.01276143835780793 Centerline is valid? [True, True] Translation: X:96.74, Y:-100.52, Z:-2.79 [[ 7.24308296e-01 6.89473709e-01 -1.87008156e-03 9.67378658e+01] [-6.89471285e-01 7.24310709e-01 1.82848825e-03 -1.00516889e+02] [ 2.61521468e-03 -3.50216719e-05 9.99996580e-01 -2.78710430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.436559995 meters 0.012396852083171948 Centerline is valid? [True, True] Translation: X:96.76, Y:-100.54, Z:-2.79 [[ 7.22934560e-01 6.90914733e-01 -1.56646896e-03 9.67616498e+01] [-6.90913034e-01 7.22936256e-01 1.53237487e-03 -1.00539017e+02] [ 2.19119758e-03 -2.55129241e-05 9.99997599e-01 -2.78690326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.46655999499998 meters 0.012223511386813912 Centerline is valid? [True, True] Translation: X:96.78, Y:-100.56, Z:-2.79 [[ 7.21525009e-01 6.92386959e-01 -1.40000151e-03 9.67841889e+01] [-6.92385604e-01 7.21526367e-01 1.37014388e-03 -1.00560091e+02] [ 1.95880776e-03 -1.92521867e-05 9.99998081e-01 -2.78687373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.49655999499998 meters 0.011787756248948502 Centerline is valid? [True, True] Translation: X:96.81, Y:-100.58, Z:-2.79 [[ 7.19324718e-01 6.94672475e-01 -1.44994119e-03 9.68086984e+01] [-6.94671024e-01 7.19326179e-01 1.41972365e-03 -1.00581315e+02] [ 2.02922360e-03 -1.40101772e-05 9.99997941e-01 -2.78708906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.52655999499999 meters 0.011792501370280914 Centerline is valid? [True, True] Translation: X:96.83, Y:-100.60, Z:-2.79 [[ 7.18507168e-01 6.95517751e-01 -1.58353153e-03 9.68325971e+01] [-6.95516021e-01 7.18508913e-01 1.55141957e-03 -1.00604177e+02] [ 2.21682137e-03 -1.33345326e-05 9.99997543e-01 -2.78696753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.556559995 meters 0.011745232479871307 Centerline is valid? [True, True] Translation: X:96.86, Y:-100.63, Z:-2.79 [[ 7.17955476e-01 6.96086467e-01 -1.88805627e-03 9.68551234e+01] [-6.96084007e-01 7.17957959e-01 1.85075219e-03 -1.00627034e+02] [ 2.64382858e-03 -1.45118961e-05 9.99996505e-01 -2.78738208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.586559995 meters 0.011778569441117654 Centerline is valid? [True, True] Translation: X:96.88, Y:-100.65, Z:-2.79 [[ 7.18028600e-01 6.96010118e-01 -2.20118866e-03 9.68770205e+01] [-6.96006770e-01 7.18031974e-01 2.15891240e-03 -1.00651355e+02] [ 3.08314871e-03 -1.81186388e-05 9.99995247e-01 -2.78800746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.616559995 meters 0.011793830823673817 Centerline is valid? [True, True] Translation: X:96.90, Y:-100.68, Z:-2.79 [[ 7.18524528e-01 6.95497421e-01 -2.41661987e-03 9.68997551e+01] [-6.95493378e-01 7.18528591e-01 2.37158525e-03 -1.00675066e+02] [ 3.38584190e-03 -2.32990548e-05 9.99994268e-01 -2.78785200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.646559995 meters 0.012056297675752978 Centerline is valid? [True, True] Translation: X:96.92, Y:-100.70, Z:-2.79 [[ 7.19463656e-01 6.94525057e-01 -2.64425571e-03 9.69206194e+01] [-6.94520206e-01 7.19468515e-01 2.59619060e-03 -1.00698592e+02] [ 3.70557815e-03 -3.13757610e-05 9.99993134e-01 -2.78836441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.676559995 meters 0.012467766287616092 Centerline is valid? [True, True] Translation: X:96.94, Y:-100.72, Z:-2.79 [[ 7.20930279e-01 6.93002655e-01 -2.61790674e-03 9.69414720e+01] [-6.92997885e-01 7.20935031e-01 2.57148199e-03 -1.00722410e+02] [ 3.66938452e-03 -3.96553961e-05 9.99993267e-01 -2.78866747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.706559995 meters 0.01321961369585461 Centerline is valid? [True, True] Translation: X:96.96, Y:-100.75, Z:-2.79 [[ 7.24837517e-01 6.88913580e-01 -2.94170367e-03 9.69608720e+01] [-6.88907521e-01 7.24843483e-01 2.89022698e-03 -1.00747871e+02] [ 4.12339135e-03 -6.83831639e-05 9.99991496e-01 -2.78882404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.736559995 meters 0.013978871515151623 Centerline is valid? [True, True] Translation: X:96.98, Y:-100.77, Z:-2.79 [[ 7.27095640e-01 6.86530140e-01 -2.88032912e-03 9.69818372e+01] [-6.86524307e-01 7.27101341e-01 2.83133572e-03 -1.00772859e+02] [ 4.03808847e-03 -8.12359024e-05 9.99991844e-01 -2.78903595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.766559995 meters 0.015051598726062175 Centerline is valid? [True, True] Translation: X:97.00, Y:-100.80, Z:-2.79 [[ 7.29433836e-01 6.84045121e-01 -2.92437567e-03 9.70012010e+01] [-6.84039082e-01 7.29439691e-01 2.87594243e-03 -1.00797124e+02] [ 4.10043007e-03 -9.74224698e-05 9.99991588e-01 -2.78919022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.796559995 meters 0.015121826505153606 Centerline is valid? [True, True] Translation: X:97.02, Y:-100.82, Z:-2.79 [[ 7.31585110e-01 6.81742754e-01 -3.16919282e-03 9.70227242e+01] [-6.81735634e-01 7.31591964e-01 3.11815924e-03 -1.00820530e+02] [ 4.44433847e-03 -1.20647195e-04 9.99990117e-01 -2.78878534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.826559995 meters 0.0171239003590849 Centerline is valid? [True, True] Translation: X:97.04, Y:-100.85, Z:-2.79 [[ 7.35891581e-01 6.77091635e-01 -3.24022695e-03 9.70398906e+01] [-6.77084144e-01 7.35898699e-01 3.18851755e-03 -1.00845716e+02] [ 4.54339736e-03 -1.52496931e-04 9.99989667e-01 -2.78895994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.856559995 meters 0.018475854820866184 Centerline is valid? [True, True] Translation: X:97.06, Y:-100.87, Z:-2.79 [[ 7.37647676e-01 6.75177201e-01 -3.41371901e-03 9.70600018e+01] [-6.75168859e-01 7.37655554e-01 3.36078121e-03 -1.00869614e+02] [ 4.78727164e-03 -1.74235673e-04 9.99988526e-01 -2.78935645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.886559995 meters 0.01784319544919791 Centerline is valid? [True, True] Translation: X:97.08, Y:-100.89, Z:-2.79 [[ 7.39094503e-01 6.73592101e-01 -3.60515777e-03 9.70829229e+01] [-6.73582776e-01 7.39103270e-01 3.54975166e-03 -1.00891761e+02] [ 5.05566857e-03 -1.95229761e-04 9.99987201e-01 -2.78918456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.916559995 meters 0.019281082832405674 Centerline is valid? [True, True] Translation: X:97.10, Y:-100.92, Z:-2.79 [[ 7.40095580e-01 6.72490904e-01 -3.81012297e-03 9.71035787e+01] [-6.72480465e-01 7.40105356e-01 3.75330382e-03 -1.00915218e+02] [ 5.34395509e-03 -2.15570298e-04 9.99985698e-01 -2.78948743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.946559995 meters 0.019945423065024535 Centerline is valid? [True, True] Translation: X:97.13, Y:-100.94, Z:-2.79 [[ 7.40673043e-01 6.71852151e-01 -4.25804519e-03 9.71256925e+01] [-6.71839090e-01 7.40685241e-01 4.19659209e-03 -1.00938459e+02] [ 5.97336065e-03 -2.47581426e-04 9.99982129e-01 -2.78951490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.976559995 meters 0.020970120272916167 Centerline is valid? [True, True] Translation: X:97.15, Y:-100.96, Z:-2.79 [[ 7.40168080e-01 6.72408356e-01 -4.26809286e-03 9.71464906e+01] [-6.72395231e-01 7.40180345e-01 4.20838480e-03 -1.00961024e+02] [ 5.98891155e-03 -2.45066810e-04 9.99982036e-01 -2.78939876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.006559995 meters 0.02035288987570792 Centerline is valid? [True, True] Translation: X:97.17, Y:-100.98, Z:-2.79 [[ 7.39402600e-01 6.73250712e-01 -4.15630082e-03 9.71705635e+01] [-6.73238274e-01 7.39414245e-01 4.09885288e-03 -1.00983185e+02] [ 5.83278365e-03 -2.32521685e-04 9.99982962e-01 -2.78900155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.036559995 meters 0.01986287996795737 Centerline is valid? [True, True] Translation: X:97.19, Y:-101.00, Z:-2.79 [[ 7.38294519e-01 6.74465817e-01 -4.13099227e-03 9.71946129e+01] [-6.74453538e-01 7.38306042e-01 4.07585944e-03 -1.01004830e+02] [ 5.79896442e-03 -2.23022329e-04 9.99983161e-01 -2.78877066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.066559995 meters 0.021098214243759583 Centerline is valid? [True, True] Translation: X:97.22, Y:-101.03, Z:-2.79 [[ 7.35571561e-01 6.77434676e-01 -4.09135575e-03 9.72164711e+01] [-6.77422676e-01 7.35582913e-01 4.03701785e-03 -1.01026457e+02] [ 5.74434725e-03 -1.97938362e-04 9.99983482e-01 -2.78939713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.096559995 meters 0.018533951871611175 Centerline is valid? [True, True] Translation: X:97.24, Y:-101.05, Z:-2.79 [[ 7.34091963e-01 6.79038317e-01 -3.99412553e-03 9.72429547e+01] [-6.79026894e-01 7.34102806e-01 3.94296092e-03 -1.01045532e+02] [ 5.60952031e-03 -1.82377267e-04 9.99984250e-01 -2.78903045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.126559995 meters 0.016659558447486712 Centerline is valid? [True, True] Translation: X:97.27, Y:-101.07, Z:-2.79 [[ 7.32670941e-01 6.80571015e-01 -4.04796017e-03 9.72689724e+01] [-6.80559300e-01 7.32682103e-01 3.99679930e-03 -1.01065468e+02] [ 5.68597372e-03 -1.73461764e-04 9.99983820e-01 -2.78880156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.156559995 meters 0.016206334248290655 Centerline is valid? [True, True] Translation: X:97.29, Y:-101.09, Z:-2.79 [[ 7.31091067e-01 6.82268875e-01 -3.87750355e-03 9.72930971e+01] [-6.82258140e-01 7.31101333e-01 3.83038075e-03 -1.01086838e+02] [ 5.44819758e-03 -1.54898790e-04 9.99985146e-01 -2.78921084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.186559995 meters 0.015025172305625766 Centerline is valid? [True, True] Translation: X:97.32, Y:-101.11, Z:-2.79 [[ 7.28448255e-01 6.85089446e-01 -3.94862992e-03 9.73180208e+01] [-6.85078353e-01 7.28458944e-01 3.90090889e-03 -1.01106226e+02] [ 5.54888629e-03 -1.36489382e-04 9.99984596e-01 -2.78889877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.21655999499998 meters 0.015044536519966378 Centerline is valid? [True, True] Translation: X:97.34, Y:-101.13, Z:-2.79 [[ 7.27095764e-01 6.86524547e-01 -3.97442409e-03 9.73406115e+01] [-6.86513320e-01 7.27106616e-01 3.92819174e-03 -1.01127221e+02] [ 5.58663011e-03 -1.27676499e-04 9.99984387e-01 -2.78900181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.24655999499998 meters 0.014820797678075096 Centerline is valid? [True, True] Translation: X:97.36, Y:-101.15, Z:-2.79 [[ 7.25928311e-01 6.87759189e-01 -3.92250680e-03 9.73641944e+01] [-6.87748261e-01 7.25938899e-01 3.87875031e-03 -1.01148438e+02] [ 5.51514643e-03 -1.17997426e-04 9.99984785e-01 -2.78917930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.27655999499999 meters 0.01491473427586212 Centerline is valid? [True, True] Translation: X:97.39, Y:-101.17, Z:-2.79 [[ 7.24768131e-01 6.88980921e-01 -4.05548547e-03 9.73869906e+01] [-6.88969253e-01 7.24779468e-01 4.01134234e-03 -1.01169936e+02] [ 5.70307094e-03 -1.13188299e-04 9.99983731e-01 -2.78956172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.306559995 meters 0.01491473427586212 Centerline is valid? [True, True] Translation: X:97.41, Y:-101.19, Z:-2.79 [[ 7.24582319e-01 6.89176338e-01 -4.05440018e-03 9.74100034e+01] [-6.89164667e-01 7.24593653e-01 4.01243928e-03 -1.01192810e+02] [ 5.70307084e-03 -1.13193212e-04 9.99983731e-01 -2.78956293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.336559995 meters 0.013970049741191289 Centerline is valid? [True, True] Translation: X:97.43, Y:-101.21, Z:-2.79 [[ 7.23713606e-01 6.90088050e-01 -4.13514109e-03 9.74344440e+01] [-6.90075913e-01 7.23725411e-01 4.09434079e-03 -1.01213200e+02] [ 5.81816234e-03 -1.09568875e-04 9.99983068e-01 -2.78922525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.366559995 meters 0.013679112080438345 Centerline is valid? [True, True] Translation: X:97.46, Y:-101.23, Z:-2.79 [[ 7.22792840e-01 6.91053115e-01 -4.01278834e-03 9.74584803e+01] [-6.91041689e-01 7.22803972e-01 3.97514444e-03 -1.01234477e+02] [ 5.64749530e-03 -1.00201905e-04 9.99984048e-01 -2.78900062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.396559995 meters 0.013631735635115336 Centerline is valid? [True, True] Translation: X:97.48, Y:-101.26, Z:-2.79 [[ 7.22641080e-01 6.91213082e-01 -3.78735584e-03 9.74819599e+01] [-6.91202895e-01 7.22650999e-01 3.75394142e-03 -1.01257386e+02] [ 5.33170990e-03 -9.49209630e-05 9.99985782e-01 -2.78881346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.426559995 meters 0.013773558827973183 Centerline is valid? [True, True] Translation: X:97.51, Y:-101.28, Z:-2.79 [[ 7.22646527e-01 6.91206859e-01 -3.88262087e-03 9.75053921e+01] [-6.91196141e-01 7.22656951e-01 3.85052326e-03 -1.01281084e+02] [ 5.46731105e-03 -9.89146997e-05 9.99985049e-01 -2.78872680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.456559995 meters 0.013746824452293051 Centerline is valid? [True, True] Translation: X:97.53, Y:-101.30, Z:-2.79 [[ 7.23682585e-01 6.90122208e-01 -3.85402878e-03 9.75281801e+01] [-6.90111621e-01 7.23692840e-01 3.82408131e-03 -1.01303443e+02] [ 5.42821646e-03 -1.07710998e-04 9.99985261e-01 -2.78911448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.486559995 meters 0.0138708697333152 Centerline is valid? [True, True] Translation: X:97.55, Y:-101.33, Z:-2.79 [[ 7.24248869e-01 6.89527144e-01 -3.98664984e-03 9.75511635e+01] [-6.89515796e-01 7.24259832e-01 3.95766402e-03 -1.01326470e+02] [ 5.61628712e-03 -1.17475652e-04 9.99984222e-01 -2.78932083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.516559995 meters 0.014331984520943999 Centerline is valid? [True, True] Translation: X:97.57, Y:-101.35, Z:-2.79 [[ 7.24922817e-01 6.88817498e-01 -4.16696748e-03 9.75725120e+01] [-6.88805082e-01 7.24934781e-01 4.13778923e-03 -1.01348769e+02] [ 5.87096128e-03 -1.29349444e-04 9.99982757e-01 -2.79016415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.546559995 meters 0.01500946995926839 Centerline is valid? [True, True] Translation: X:97.59, Y:-101.37, Z:-2.79 [[ 7.26552311e-01 6.87092839e-01 -5.01700507e-03 9.75942013e+01] [-6.87074782e-01 7.26569612e-01 4.98435169e-03 -1.01372052e+02] [ 7.06991578e-03 -1.74334577e-04 9.99974993e-01 -2.79147074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.576559995 meters 0.015789625480763174 Centerline is valid? [True, True] Translation: X:97.61, Y:-101.40, Z:-2.79 [[ 7.27007263e-01 6.86610594e-01 -5.13151504e-03 9.76149746e+01] [-6.86591674e-01 7.27025349e-01 5.10044633e-03 -1.01395189e+02] [ 7.23276200e-03 -1.84806020e-04 9.99973826e-01 -2.79163476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.606559995 meters 0.015891636721431214 Centerline is valid? [True, True] Translation: X:97.64, Y:-101.42, Z:-2.79 [[ 7.27681223e-01 6.85895913e-01 -5.18021923e-03 9.76374489e+01] [-6.85876596e-01 7.27699635e-01 5.15137774e-03 -1.01418507e+02] [ 7.30295258e-03 -1.95569722e-04 9.99973314e-01 -2.79161848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.636559995 meters 0.015877809321379922 Centerline is valid? [True, True] Translation: X:97.66, Y:-101.44, Z:-2.79 [[ 7.28047017e-01 6.85506882e-01 -5.27780240e-03 9.76598940e+01] [-6.85486801e-01 7.28066118e-01 5.25100311e-03 -1.01441566e+02] [ 7.44218788e-03 -2.05113265e-04 9.99972286e-01 -2.79143547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.666559995 meters 0.017216512044388177 Centerline is valid? [True, True] Translation: X:97.68, Y:-101.47, Z:-2.79 [[ 7.28860123e-01 6.84642736e-01 -5.21975508e-03 9.76799570e+01] [-6.84623062e-01 7.28878782e-01 5.19460932e-03 -1.01465462e+02] [ 7.36102027e-03 -2.12578882e-04 9.99972885e-01 -2.79160614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.696559995 meters 0.016653471182542765 Centerline is valid? [True, True] Translation: X:97.70, Y:-101.49, Z:-2.79 [[ 7.29211530e-01 6.84267885e-01 -5.29214161e-03 9.77030949e+01] [-6.84247632e-01 7.29230699e-01 5.26923088e-03 -1.01487435e+02] [ 7.46475760e-03 -2.21248538e-04 9.99972114e-01 -2.79159167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.726559995 meters 0.016408729264593924 Centerline is valid? [True, True] Translation: X:97.73, Y:-101.51, Z:-2.79 [[ 7.29463634e-01 6.83997584e-01 -5.48743447e-03 9.77259205e+01] [-6.83975780e-01 7.29484236e-01 5.46638175e-03 -1.01510099e+02] [ 7.74198885e-03 -2.34254420e-04 9.99970003e-01 -2.79130330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.756559995 meters 0.017593897057499735 Centerline is valid? [True, True] Translation: X:97.75, Y:-101.53, Z:-2.79 [[ 7.29861069e-01 6.83574633e-01 -5.34240243e-03 9.77462162e+01] [-6.83553938e-01 7.29880583e-01 5.32433151e-03 -1.01533800e+02] [ 7.53889376e-03 -2.34202063e-04 9.99971555e-01 -2.79168378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.786559995 meters 0.01728142737009448 Centerline is valid? [True, True] Translation: X:97.77, Y:-101.56, Z:-2.79 [[ 7.30283953e-01 6.83124468e-01 -5.12928346e-03 9.77681461e+01] [-6.83105362e-01 7.30301929e-01 5.11442799e-03 -1.01557253e+02] [ 7.23971651e-03 -2.31143655e-04 9.99973766e-01 -2.79073597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.816559995 meters 0.017606496389947615 Centerline is valid? [True, True] Translation: X:97.79, Y:-101.58, Z:-2.79 [[ 7.30189411e-01 6.83226136e-01 -5.04686132e-03 9.77901539e+01] [-6.83207629e-01 7.30206817e-01 5.03398690e-03 -1.01580832e+02] [ 7.12460396e-03 -2.27709775e-04 9.99974594e-01 -2.79055281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.846559995 meters 0.01745220410311029 Centerline is valid? [True, True] Translation: X:97.81, Y:-101.60, Z:-2.79 [[ 7.29523443e-01 6.83936622e-01 -5.12273147e-03 9.78127151e+01] [-6.83917554e-01 7.29541394e-01 5.11213283e-03 -1.01603175e+02] [ 7.23361952e-03 -2.25894764e-04 9.99973812e-01 -2.79005644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.876559995 meters 0.016978809481646744 Centerline is valid? [True, True] Translation: X:97.84, Y:-101.62, Z:-2.79 [[ 7.27392945e-01 6.86200802e-01 -5.28810921e-03 9.78353673e+01] [-6.86180539e-01 7.27412136e-01 5.27752027e-03 -1.01624286e+02] [ 7.46807345e-03 -2.10233381e-04 9.99972091e-01 -2.79004312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.906559995 meters 0.016110613631693135 Centerline is valid? [True, True] Translation: X:97.86, Y:-101.65, Z:-2.79 [[ 7.25563535e-01 6.88135680e-01 -5.18102404e-03 9.78593925e+01] [-6.88116260e-01 7.25582008e-01 5.17313124e-03 -1.01645787e+02] [ 7.31907401e-03 -1.88288498e-04 9.99973198e-01 -2.78996237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.936559995 meters 0.014759248084147202 Centerline is valid? [True, True] Translation: X:97.88, Y:-101.67, Z:-2.79 [[ 7.23469973e-01 6.90335980e-01 -5.23760347e-03 9.78841763e+01] [-6.90316173e-01 7.23488912e-01 5.23217696e-03 -1.01666689e+02] [ 7.40130804e-03 -1.69720544e-04 9.99972596e-01 -2.78941770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.96655999499998 meters 0.01452651075138129 Centerline is valid? [True, True] Translation: X:97.91, Y:-101.69, Z:-2.79 [[ 7.21144531e-01 6.92766600e-01 -5.00020267e-03 9.79069832e+01] [-6.92748590e-01 7.21161853e-01 4.99727162e-03 -1.01688367e+02] [ 7.06789830e-03 -1.39871749e-04 9.99975012e-01 -2.78978930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.99655999499998 meters 0.012896127354389383 Centerline is valid? [True, True] Translation: X:97.93, Y:-101.71, Z:-2.79 [[ 7.17018402e-01 6.97032391e-01 -5.51885986e-03 9.79318146e+01] [-6.97010573e-01 7.17039633e-01 5.51599291e-03 -1.01707602e+02] [ 7.80206697e-03 -1.08364752e-04 9.99969558e-01 -2.78942208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.02655999499999 meters 0.012672514990784705 Centerline is valid? [True, True] Translation: X:97.95, Y:-101.73, Z:-2.79 [[ 7.15005476e-01 6.99096813e-01 -5.55106274e-03 9.79548433e+01] [-6.99074783e-01 7.15027019e-01 5.55064026e-03 -1.01729163e+02] [ 7.84959476e-03 -8.81302000e-05 9.99969188e-01 -2.78961634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.056559995 meters 0.012368844069171272 Centerline is valid? [True, True] Translation: X:97.98, Y:-101.75, Z:-2.79 [[ 7.13495479e-01 7.00636489e-01 -5.71952684e-03 9.79786396e+01] [-7.00613129e-01 7.13518399e-01 5.72174914e-03 -1.01751117e+02] [ 8.08985386e-03 -7.52665460e-05 9.99967274e-01 -2.78977964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.086559995 meters 0.012131827272466967 Centerline is valid? [True, True] Translation: X:98.43, Y:-101.43, Z:-1.80 [[ 7.53096350e-01 -6.57879054e-01 -6.40616197e-03 9.84319947e+01] [-6.57855966e-01 -7.53123593e-01 5.51198657e-03 -1.01434098e+02] [-8.45085223e-03 6.32749077e-05 -9.99964289e-01 -1.80008914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.116559995 meters 0.01170558741837062 Centerline is valid? [True, True] Translation: X:98.43, Y:-101.45, Z:-1.80 [[ 8.02235101e-01 -5.96967304e-01 -6.99150994e-03 9.84310443e+01] [-5.96945331e-01 -8.02265563e-01 5.12229546e-03 -1.01450308e+02] [-8.66689057e-03 6.42639981e-05 -9.99962440e-01 -1.80103539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.146559995 meters 0.012498119972339043 Centerline is valid? [True, True] Translation: X:98.43, Y:-101.46, Z:-1.80 [[ 8.45844350e-01 -5.33372067e-01 -7.84690074e-03 9.84336151e+01] [-5.33349979e-01 -8.45880744e-01 4.85462987e-03 -1.01461675e+02] [-9.22686620e-03 7.88831007e-05 -9.99957428e-01 -1.79953837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.176559995 meters 0.012867761819837766 Centerline is valid? [True, True] Translation: X:98.44, Y:-101.47, Z:-1.80 [[ 8.82903441e-01 -4.69474126e-01 -8.69248358e-03 9.84393394e+01] [-4.69452779e-01 -8.82946221e-01 4.47875379e-03 -1.01470836e+02] [-9.77765454e-03 1.26403445e-04 -9.99952190e-01 -1.80080198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.206559995 meters 0.013123651603184948 Centerline is valid? [True, True] Translation: X:98.44, Y:-101.48, Z:-1.80 [[ 9.15764647e-01 -4.01611636e-01 -9.12167241e-03 9.84441474e+01] [-4.01593401e-01 -9.15810062e-01 3.83024784e-03 -1.01482260e+02] [-9.89199147e-03 1.55597888e-04 -9.99951061e-01 -1.80134237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.236559995 meters 0.013762610970302132 Centerline is valid? [True, True] Translation: X:98.45, Y:-101.49, Z:-1.80 [[ 9.43448311e-01 -3.31384514e-01 -9.46514232e-03 9.84495679e+01] [-3.31369790e-01 -9.43495771e-01 3.12926538e-03 -1.01492444e+02] [-9.96731184e-03 1.84162080e-04 -9.99950308e-01 -1.80161042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.266559995 meters 0.014721304873973454 Centerline is valid? [True, True] Translation: X:98.46, Y:-101.50, Z:-1.80 [[ 9.65764962e-01 -2.59257120e-01 -9.15335727e-03 9.84554932e+01] [-2.59247432e-01 -9.65808317e-01 2.25021711e-03 -1.01500762e+02] [-9.42377339e-03 1.99803521e-04 -9.99955575e-01 -1.80166722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.296559995 meters 0.015480982703522758 Centerline is valid? [True, True] Translation: X:98.46, Y:-101.51, Z:-1.80 [[ 9.82190935e-01 -1.87675801e-01 -8.87478980e-03 9.84627140e+01] [-1.87670285e-01 -9.82231001e-01 1.45770747e-03 -1.01510165e+02] [-8.99067009e-03 2.33787273e-04 -9.99959556e-01 -1.80248143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.326559995 meters 0.016389572988846343 Centerline is valid? [True, True] Translation: X:98.47, Y:-101.52, Z:-1.80 [[ 9.93659504e-01 -1.12076856e-01 -8.92007280e-03 9.84652168e+01] [-1.12074591e-01 -9.93699510e-01 7.54915780e-04 -1.01517887e+02] [-8.94848055e-03 2.49584273e-04 -9.99959930e-01 -1.80226772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.356559995 meters 0.016541393641043893 Centerline is valid? [True, True] Translation: X:98.47, Y:-101.53, Z:-1.80 [[ 9.99333585e-01 -3.53735427e-02 -9.00544457e-03 9.84690743e+01] [-3.53744891e-02 -9.99374125e-01 5.42115272e-05 -1.01526854e+02] [-9.00172595e-03 2.64387601e-04 -9.99959449e-01 -1.80237187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.386559995 meters 0.016692215295503243 Centerline is valid? [True, True] Translation: X:98.47, Y:-101.54, Z:-1.80 [[ 9.99082558e-01 4.17085251e-02 -9.71813794e-03 9.84732057e+01] [ 4.17036384e-02 -9.99129776e-01 -7.05036826e-04 -1.01535895e+02] [-9.73908703e-03 2.99108285e-04 -9.99952529e-01 -1.80239427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.416559995 meters 0.018125502080268703 Centerline is valid? [True, True] Translation: X:98.48, Y:-101.54, Z:-1.80 [[ 9.92989801e-01 1.17727252e-01 -1.05617004e-02 9.84775030e+01] [ 1.17716833e-01 -9.93045906e-01 -1.60501841e-03 -1.01541229e+02] [-1.06772078e-02 3.50476985e-04 -9.99942936e-01 -1.80197759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.446559995 meters 0.018771790254832818 Centerline is valid? [True, True] Translation: X:98.48, Y:-101.55, Z:-1.80 [[ 9.80862727e-01 1.94394597e-01 -1.09110266e-02 9.84812569e+01] [ 1.94378294e-01 -9.80923340e-01 -2.54550824e-03 -1.01547151e+02] [-1.11977137e-02 3.75927426e-04 -9.99937233e-01 -1.80201159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.476559995 meters 0.019353981001450665 Centerline is valid? [True, True] Translation: X:98.49, Y:-101.55, Z:-1.80 [[ 9.62751898e-01 2.70170653e-01 -1.07982077e-02 9.84851895e+01] [ 2.70149156e-01 -9.62812375e-01 -3.42984147e-03 -1.01552274e+02] [-1.13232905e-02 3.84959686e-04 -9.99935815e-01 -1.80197545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.506559995 meters 0.017800919106213293 Centerline is valid? [True, True] Translation: X:98.49, Y:-101.56, Z:-1.80 [[ 9.38673195e-01 3.44653616e-01 -1.03207422e-02 9.84933461e+01] [ 3.44628317e-01 -9.38729855e-01 -4.19307636e-03 -1.01562807e+02] [-1.11335478e-02 3.79108365e-04 -9.99937948e-01 -1.80317926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.536559995 meters 0.018633318133197366 Centerline is valid? [True, True] Translation: X:98.50, Y:-101.57, Z:-1.80 [[ 9.08472164e-01 4.17839516e-01 -9.40565346e-03 9.84997459e+01] [ 4.17813113e-01 -9.08520785e-01 -4.71018488e-03 -1.01569457e+02] [-1.05133330e-02 3.49266499e-04 -9.99944672e-01 -1.80360044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.566559995 meters 0.01857271541848453 Centerline is valid? [True, True] Translation: X:98.51, Y:-101.57, Z:-1.80 [[ 8.72597354e-01 4.88357291e-01 -9.00076996e-03 9.85073055e+01] [ 4.88327250e-01 -8.72643708e-01 -5.42742823e-03 -1.01573926e+02] [-1.05049894e-02 3.40638277e-04 -9.99944763e-01 -1.80380176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.596559995 meters 0.01822199759619573 Centerline is valid? [True, True] Translation: X:98.51, Y:-101.58, Z:-1.80 [[ 8.31185352e-01 5.55929021e-01 -8.59267701e-03 9.85148973e+01] [ 5.55895133e-01 -8.31229699e-01 -6.14717852e-03 -1.01578166e+02] [-1.05598833e-02 3.32817411e-04 -9.99944188e-01 -1.80404189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.626559995 meters 0.016530502068983495 Centerline is valid? [True, True] Translation: X:98.53, Y:-101.59, Z:-1.81 [[ 7.84588559e-01 6.19962506e-01 -8.20274687e-03 9.85261924e+01] [ 6.19924200e-01 -7.84631368e-01 -6.89946753e-03 -1.01586308e+02] [-1.07135437e-02 3.28161996e-04 -9.99942555e-01 -1.80510620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.656559995 meters 0.01574040225295088 Centerline is valid? [True, True] Translation: X:98.54, Y:-101.59, Z:-1.81 [[ 7.32369615e-01 6.80862349e-01 -7.82357586e-03 9.85387255e+01] [ 6.80818834e-01 -7.32411334e-01 -7.70410432e-03 -1.01593085e+02] [-1.09755102e-02 3.15814118e-04 -9.99939717e-01 -1.80531093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.686559995 meters 0.017008434032109727 Centerline is valid? [True, True] Translation: X:98.55, Y:-101.60, Z:-1.80 [[ 6.76045525e-01 7.36825310e-01 -7.13513146e-03 9.85476141e+01] [ 7.36779494e-01 -6.76083110e-01 -8.22230624e-03 -1.01597446e+02] [-1.08823452e-02 3.01634794e-04 -9.99940740e-01 -1.80446250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.71655999499998 meters 0.016765288516845025 Centerline is valid? [True, True] Translation: X:98.56, Y:-101.60, Z:-1.80 [[ 6.15622807e-01 7.88015563e-01 -6.32708636e-03 9.85564905e+01] [ 7.87969095e-01 -6.15655253e-01 -8.56239033e-03 -1.01599228e+02] [-1.06426008e-02 2.85654258e-04 -9.99943325e-01 -1.80445189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.74655999499998 meters 0.01562193562728115 Centerline is valid? [True, True] Translation: X:98.57, Y:-101.60, Z:-1.81 [[ 5.51208375e-01 8.34349661e-01 -5.47447872e-03 9.85681579e+01] [ 8.34303615e-01 -5.51235496e-01 -8.76963488e-03 -1.01602850e+02] [-1.03346689e-02 2.66518807e-04 -9.99946560e-01 -1.80514021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.77655999499999 meters 0.014455449519745797 Centerline is valid? [True, True] Translation: X:98.58, Y:-101.61, Z:-1.81 [[ 4.82704691e-01 8.75770017e-01 -4.80199689e-03 9.85833071e+01] [ 8.75721397e-01 -4.82728510e-01 -9.23151216e-03 -1.01606456e+02] [-1.04027424e-02 2.50882802e-04 -9.99945859e-01 -1.80584797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.806559995 meters 0.014307024084326166 Centerline is valid? [True, True] Translation: X:98.60, Y:-101.61, Z:-1.81 [[ 4.12061310e-01 9.11147161e-01 -4.04074659e-03 9.85964690e+01] [ 9.11097427e-01 -4.12081050e-01 -9.52295288e-03 -1.01608164e+02] [-1.03419266e-02 2.42526613e-04 -9.99946491e-01 -1.80584708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.836559995 meters 0.014099540832636493 Centerline is valid? [True, True] Translation: X:98.61, Y:-101.61, Z:-1.81 [[ 3.38456769e-01 9.40976628e-01 -3.16254582e-03 9.86090589e+01] [ 9.40929192e-01 -3.38471471e-01 -9.45087003e-03 -1.01608400e+02] [-9.96347934e-03 2.22979251e-04 -9.99950338e-01 -1.80591444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.866559995 meters 0.014490687795742108 Centerline is valid? [True, True] Translation: X:98.62, Y:-101.61, Z:-1.81 [[ 2.62764136e-01 9.64857196e-01 -2.36648773e-03 9.86198816e+01] [ 9.64810597e-01 -2.62774709e-01 -9.48492450e-03 -1.01608061e+02] [-9.77345078e-03 2.09085548e-04 -9.99952217e-01 -1.80553442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.896559995 meters 0.013322048934979316 Centerline is valid? [True, True] Translation: X:98.64, Y:-101.61, Z:-1.81 [[ 1.84876608e-01 9.82760404e-01 -1.62133705e-03 9.86367021e+01] [ 9.82712827e-01 -1.84883614e-01 -9.67202457e-03 -1.01607392e+02] [-9.80504143e-03 1.94822379e-04 -9.99951910e-01 -1.80625709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.926559995 meters 0.014049522051465368 Centerline is valid? [True, True] Translation: X:98.65, Y:-101.61, Z:-1.81 [[ 1.06977601e-01 9.94261083e-01 -8.31929287e-04 9.86482127e+01] [ 9.94216062e-01 -1.06980676e-01 -9.46341426e-03 -1.01605483e+02] [-9.49810486e-03 1.85255896e-04 -9.99954875e-01 -1.80532127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.956559995 meters 0.014357576076871714 Centerline is valid? [True, True] Translation: X:98.66, Y:-101.60, Z:-1.81 [[ 2.85518081e-02 9.99592311e-01 -8.32356587e-05 9.86559903e+01] [ 9.99552157e-01 -2.85514073e-02 -8.96116878e-03 -1.01603245e+02] [-8.95989190e-03 1.72659189e-04 -9.99959844e-01 -1.80512248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.986559995 meters 0.016414362663534358 Centerline is valid? [True, True] Translation: X:98.66, Y:-101.60, Z:-1.80 [[-4.96067944e-02 9.98768631e-01 6.22910572e-04 9.86589597e+01] [ 9.98728101e-01 4.96103941e-02 -8.99934006e-03 -1.01600132e+02] [-9.01916138e-03 1.75689881e-04 -9.99959311e-01 -1.80345975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.016559995 meters 0.01434082022458573 Centerline is valid? [True, True] Translation: X:98.67, Y:-101.59, Z:-1.81 [[-1.25702575e-01 9.92067188e-01 1.24820231e-03 9.86715040e+01] [ 9.92031613e-01 1.25708640e-01 -8.40332161e-03 -1.01594561e+02] [-8.49356945e-03 1.81936990e-04 -9.99963912e-01 -1.80543558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.046559995 meters 0.014819082310635593 Centerline is valid? [True, True] Translation: X:98.68, Y:-101.59, Z:-1.81 [[-2.01563064e-01 9.79473806e-01 1.84236385e-03 9.86783748e+01] [ 9.79441009e-01 2.01571396e-01 -8.01760615e-03 -1.01589218e+02] [-8.22440306e-03 1.88433446e-04 -9.99966161e-01 -1.80553252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.076559995 meters 0.015374221708571346 Centerline is valid? [True, True] Translation: X:98.68, Y:-101.58, Z:-1.81 [[-2.75747734e-01 9.61227206e-01 2.33350588e-03 9.86844590e+01] [ 9.61198501e-01 2.75757539e-01 -7.43114891e-03 -1.01583541e+02] [-7.78650435e-03 1.93839886e-04 -9.99969666e-01 -1.80577401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.106559995 meters 0.017352028624536706 Centerline is valid? [True, True] Translation: X:98.69, Y:-101.58, Z:-1.81 [[-3.46090800e-01 9.38197483e-01 2.57685277e-03 9.86881884e+01] [ 9.38175653e-01 3.46100334e-01 -6.40332499e-03 -1.01579193e+02] [-6.89943300e-03 2.01408664e-04 -9.99976178e-01 -1.80603435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.136559995 meters 0.018162962130890428 Centerline is valid? [True, True] Translation: X:98.69, Y:-101.57, Z:-1.81 [[-4.16659447e-01 9.09058161e-01 2.85740184e-03 9.86922632e+01] [ 9.09039980e-01 4.16669197e-01 -5.75280769e-03 -1.01573176e+02] [-6.42022811e-03 2.00530837e-04 -9.99979370e-01 -1.80637670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.166559995 meters 0.018457323145696283 Centerline is valid? [True, True] Translation: X:98.70, Y:-101.57, Z:-1.81 [[-4.84667296e-01 8.74693454e-01 2.99547773e-03 9.86979611e+01] [ 8.74679160e-01 4.84676514e-01 -5.00431255e-03 -1.01566563e+02] [-5.82907714e-03 1.94655313e-04 -9.99982992e-01 -1.80671984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.196559995 meters 0.018457323145696283 Centerline is valid? [True, True] Translation: X:98.70, Y:-101.56, Z:-1.81 [[-5.51670343e-01 8.34055406e-01 3.37808797e-03 9.87030357e+01] [ 8.34041879e-01 5.51680651e-01 -4.75429953e-03 -1.01559486e+02] [-5.82897500e-03 1.94660789e-04 -9.99982992e-01 -1.80672073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.226559995 meters 0.01920829803769219 Centerline is valid? [True, True] Translation: X:98.71, Y:-101.55, Z:-1.81 [[-6.13955463e-01 7.89331622e-01 3.77886303e-03 9.87071382e+01] [ 7.89318699e-01 6.13967057e-01 -4.52143963e-03 -1.01552209e+02] [-5.88901269e-03 2.06764688e-04 -9.99982638e-01 -1.80684280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.256559995 meters 0.02144308122543573 Centerline is valid? [True, True] Translation: X:98.71, Y:-101.55, Z:-1.81 [[-6.72601251e-01 7.39994316e-01 3.99623874e-03 9.87092875e+01] [ 7.39983076e-01 6.72613090e-01 -4.08393435e-03 -1.01546803e+02] [-5.71001069e-03 2.10289680e-04 -9.99983676e-01 -1.80643054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.286559995 meters 0.020599917537470286 Centerline is valid? [True, True] Translation: X:98.71, Y:-101.54, Z:-1.81 [[-7.28062820e-01 6.85499004e-01 3.95543521e-03 9.87123429e+01] [ 6.85490327e-01 7.28073538e-01 -3.45456486e-03 -1.01537941e+02] [-5.24794848e-03 1.96272343e-04 -9.99986210e-01 -1.80658666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.316559995 meters 0.01886756657465729 Centerline is valid? [True, True] Translation: X:98.73, Y:-101.51, Z:-1.81 [[-7.74585314e-01 6.32455397e-01 4.21459499e-03 9.87268635e+01] [ 6.32447414e-01 7.74596754e-01 -3.18393106e-03 -1.01508941e+02] [-5.27830598e-03 1.99283461e-04 -9.99986050e-01 -1.80693076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.346559995 meters 0.022981797491393067 Centerline is valid? [True, True] Translation: X:98.74, Y:-101.49, Z:-1.81 [[-8.17629585e-01 5.75726559e-01 4.55970754e-03 9.87374396e+01] [ 5.75718978e-01 8.17642274e-01 -2.96161089e-03 -1.01486008e+02] [-5.43328769e-03 2.03609484e-04 -9.99985219e-01 -1.80544213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.376559995 meters 0.019526410646204775 Centerline is valid? [True, True] Translation: X:98.75, Y:-101.46, Z:-1.81 [[-8.56586666e-01 5.15980919e-01 4.79323281e-03 9.87545056e+01] [ 5.15974143e-01 8.56600053e-01 -2.65202452e-03 -1.01455974e+02] [-5.47427753e-03 2.01495351e-04 -9.99984996e-01 -1.80581707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.406559995 meters 0.022837642678981206 Centerline is valid? [True, True] Translation: X:98.76, Y:-101.43, Z:-1.80 [[-8.91477604e-01 4.53036121e-01 5.09451663e-03 9.87569835e+01] [ 4.53030001e-01 8.91492138e-01 -2.36340232e-03 -1.01429116e+02] [-5.61242814e-03 2.01048639e-04 -9.99984230e-01 -1.80441790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.436559995 meters 0.021643338708430142 Centerline is valid? [True, True] Translation: X:98.76, Y:-101.40, Z:-1.80 [[-9.22700685e-01 3.85480565e-01 5.30853809e-03 9.87643700e+01] [ 3.85475322e-01 9.22715937e-01 -2.01882634e-03 -1.01396853e+02] [-5.67649102e-03 1.83537985e-04 -9.99983872e-01 -1.80366829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.46655999499998 meters 0.016381021044134674 Centerline is valid? [True, True] Translation: X:98.77, Y:-101.36, Z:-1.80 [[-9.48283620e-01 3.17380046e-01 5.29926936e-03 9.87659291e+01] [ 3.17376080e-01 9.48298412e-01 -1.59558019e-03 -1.01358012e+02] [-5.53169403e-03 1.68798776e-04 -9.99984686e-01 -1.80481807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.49655999499998 meters 0.020554496640262536 Centerline is valid? [True, True] Translation: X:98.92, Y:-100.84, Z:-2.79 [[-9.45776940e-01 -3.24783820e-01 4.63150906e-03 9.89161535e+01] [ 3.24778942e-01 -9.45788261e-01 -1.78993030e-03 -1.00843306e+02] [ 4.96176730e-03 -1.88658182e-04 9.99987673e-01 -2.78649070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.52655999499999 meters 0.015397564986563474 Centerline is valid? [True, True] Translation: X:98.72, Y:-101.34, Z:-1.81 [[-9.50716196e-01 3.10035160e-01 4.11259990e-03 9.87195568e+01] [ 3.10032774e-01 9.50725085e-01 -1.22164222e-03 -1.01341613e+02] [-4.28870392e-03 1.13605711e-04 -9.99990797e-01 -1.80510347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.556559995 meters 0.014906177166504563 Centerline is valid? [True, True] Translation: X:98.71, Y:-101.31, Z:-1.81 [[-9.71079535e-01 2.38734400e-01 3.22857495e-03 9.87135823e+01] [ 2.38733343e-01 9.71084899e-01 -7.14789297e-04 -1.01308896e+02] [-3.30586518e-03 7.66512327e-05 -9.99994533e-01 -1.80578118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.586559995 meters 0.014383636932962275 Centerline is valid? [True, True] Translation: X:98.72, Y:-101.28, Z:-1.81 [[-9.85630958e-01 1.68897635e-01 2.28096355e-03 9.87177537e+01] [ 1.68897300e-01 9.85633596e-01 -3.40378445e-04 -1.01279073e+02] [-2.30568342e-03 4.97610521e-05 -9.99997341e-01 -1.80585419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.616559995 meters 0.013767935455493392 Centerline is valid? [True, True] Translation: X:98.72, Y:-101.25, Z:-1.81 [[-9.95292457e-01 9.68994098e-02 1.85168872e-03 9.87168380e+01] [ 9.68993102e-02 9.95294179e-01 -1.43644763e-04 -1.01248826e+02] [-1.85689409e-03 3.64588099e-05 -9.99998275e-01 -1.80602764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.646559995 meters 0.013160308879228736 Centerline is valid? [True, True] Translation: X:98.75, Y:-100.74, Z:-2.78 [[-9.92215305e-01 -1.24525420e-01 1.48574264e-03 9.87516042e+01] [ 1.24525200e-01 -9.92216416e-01 -2.39696798e-04 -1.00737599e+02] [ 1.50402659e-03 -5.28184319e-05 9.99998868e-01 -2.78461405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.676559995 meters 0.012186647085073951 Centerline is valid? [True, True] Translation: X:98.66, Y:-101.24, Z:-1.81 [[-9.96239228e-01 8.66392736e-02 1.01823874e-03 9.86583181e+01] [ 8.66392415e-02 9.96239748e-01 -7.57390790e-05 -1.01239606e+02] [-1.02097188e-03 1.27651902e-05 -9.99999479e-01 -1.80533133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.706559995 meters 0.011675400765100416 Centerline is valid? [True, True] Translation: X:98.69, Y:-100.74, Z:-2.78 [[-9.91866276e-01 -1.27282005e-01 7.62392421e-04 9.86887979e+01] [ 1.27281947e-01 -9.91866569e-01 -1.24027127e-04 -1.00738382e+02] [ 7.71977976e-04 -2.59795323e-05 9.99999702e-01 -2.78494608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.736559995 meters 0.011313007377114508 Centerline is valid? [True, True] Translation: X:98.60, Y:-101.23, Z:-1.80 [[-9.96958030e-01 7.79366302e-02 7.53104242e-04 9.85986203e+01] [ 7.79366120e-02 9.96958315e-01 -5.34283344e-05 -1.01232493e+02] [-7.54977561e-04 5.42858611e-06 -9.99999715e-01 -1.80483138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.766559995 meters 0.010954700339856516 Centerline is valid? [True, True] Translation: X:98.59, Y:-101.20, Z:-1.80 [[-9.99998582e-01 1.64180270e-03 3.73602865e-04 9.85873852e+01] [ 1.64180251e-03 9.99998652e-01 -8.05327911e-07 -1.01200381e+02] [-3.73603683e-04 -1.91944656e-07 -9.99999930e-01 -1.80421688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.796559995 meters 0.010778306193820432 Centerline is valid? [True, True] Translation: X:98.58, Y:-100.71, Z:-2.79 [[-9.98050115e-01 -6.24176195e-02 9.20279751e-05 9.85814059e+01] [ 6.24176176e-02 -9.98050119e-01 -2.34360343e-05 -1.00712232e+02] [ 9.33113529e-05 -1.76461698e-05 9.99999996e-01 -2.78641588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.826559995 meters 0.0107326399138601 Centerline is valid? [True, True] Translation: X:98.53, Y:-101.20, Z:-1.80 [[-9.99975622e-01 -6.96466181e-03 4.99080747e-04 9.85284771e+01] [-6.96466183e-03 9.99975746e-01 1.71707458e-06 -1.01197926e+02] [-4.99080602e-04 -1.75889591e-06 -9.99999875e-01 -1.80382736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.856559995 meters 0.010782037606013779 Centerline is valid? [True, True] Translation: X:98.52, Y:-100.72, Z:-2.79 [[-9.98069888e-01 -6.20986944e-02 5.00908330e-04 9.85188917e+01] [ 6.20986876e-02 -9.98070014e-01 -2.92226459e-05 -1.00715334e+02] [ 5.01756272e-04 1.93950698e-06 9.99999874e-01 -2.78649828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.886559995 meters 0.010899995261761922 Centerline is valid? [True, True] Translation: X:98.47, Y:-101.20, Z:-1.80 [[-9.99883388e-01 -1.52371423e-02 1.01990632e-03 9.84673202e+01] [-1.52371404e-02 9.99883908e-01 9.59561056e-06 -1.01196452e+02] [-1.01993412e-03 -5.94596422e-06 -9.99999480e-01 -1.80271494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.916559995 meters 0.010918985176535995 Centerline is valid? [True, True] Translation: X:98.45, Y:-101.17, Z:-1.80 [[-9.96267517e-01 -8.63077536e-02 1.41641365e-03 9.84546800e+01] [-8.63076771e-02 9.96268524e-01 1.15188833e-04 -1.01169824e+02] [-1.42107002e-03 -7.48847882e-06 -9.99998990e-01 -1.80211745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.946559995 meters 0.010807572317146318 Centerline is valid? [True, True] Translation: X:98.41, Y:-100.69, Z:-2.79 [[-9.99929493e-01 1.17594824e-02 1.65046304e-03 9.84119271e+01] [-1.17594276e-02 -9.99930855e-01 4.29246986e-05 -1.00689803e+02] [ 1.65085369e-03 2.35131716e-05 9.99998637e-01 -2.78878552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.976559995 meters 0.010769109800741885 Centerline is valid? [True, True] Translation: X:98.39, Y:-101.18, Z:-1.80 [[-9.96064939e-01 -8.86041150e-02 1.98702616e-03 9.83903446e+01] [-8.86039491e-02 9.96066921e-01 1.71523098e-04 -1.01178860e+02] [-1.99440868e-03 -5.21022088e-06 -9.99998011e-01 -1.80112781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.006559995 meters 0.010912299726338642 Centerline is valid? [True, True] Translation: X:98.38, Y:-101.16, Z:-1.80 [[-9.88080382e-01 -1.53920281e-01 2.38872649e-03 9.83776930e+01] [-1.53919813e-01 9.88083269e-01 3.79802907e-04 -1.01158742e+02] [-2.41872005e-03 7.60346581e-06 -9.99997075e-01 -1.80009670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.036559995 meters 0.011258608093790685 Centerline is valid? [True, True] Translation: X:98.36, Y:-101.14, Z:-1.80 [[-9.75337152e-01 -2.20704223e-01 2.66190064e-03 9.83573577e+01] [-2.20703349e-01 9.75340784e-01 6.21487978e-04 -1.01138624e+02] [-2.73342528e-03 1.86699286e-05 -9.99996264e-01 -1.79995405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.066559995 meters 0.011896566079244239 Centerline is valid? [True, True] Translation: X:98.33, Y:-101.12, Z:-1.80 [[-9.58112538e-01 -2.86377501e-01 2.87933130e-03 9.83258047e+01] [-2.86376104e-01 9.58116864e-01 8.95201135e-04 -1.01123038e+02] [-3.01510134e-03 3.31317533e-05 -9.99995454e-01 -1.79986072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.096559995 meters 0.013566600912049023 Centerline is valid? [True, True] Translation: X:98.28, Y:-101.12, Z:-1.80 [[-9.37568273e-01 -3.47787887e-01 3.05266777e-03 9.82774829e+01] [-3.47785823e-01 9.37573241e-01 1.19991538e-03 -1.01119762e+02] [-3.27941564e-03 6.33280150e-05 -9.99994621e-01 -1.79972719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.126559995 meters 0.014050148330426301 Centerline is valid? [True, True] Translation: X:98.21, Y:-101.12, Z:-1.80 [[-9.11018686e-01 -4.12353183e-01 3.13163453e-03 9.82144624e+01] [-4.12350441e-01 9.11024065e-01 1.50599897e-03 -1.01120233e+02] [-3.47399789e-03 8.06623213e-05 -9.99993962e-01 -1.79977474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.156559995 meters 0.015107540915947612 Centerline is valid? [True, True] Translation: X:98.14, Y:-101.13, Z:-1.80 [[-8.79691763e-01 -4.75536205e-01 2.77840220e-03 9.81433167e+01] [-4.75533526e-01 8.79696147e-01 1.59827604e-03 -1.01130876e+02] [-3.20418783e-03 8.47668770e-05 -9.99994863e-01 -1.79979135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.186559995 meters 0.015390133979315044 Centerline is valid? [True, True] Translation: X:98.07, Y:-101.15, Z:-1.80 [[-8.43328597e-01 -5.37392662e-01 2.45026041e-03 9.80689255e+01] [-5.37390096e-01 8.43332152e-01 1.66302221e-03 -1.01147414e+02] [-2.96007932e-03 8.57285108e-05 -9.99995615e-01 -1.80014093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.21655999499998 meters 0.016743469297182376 Centerline is valid? [True, True] Translation: X:97.99, Y:-101.18, Z:-1.80 [[-8.02743823e-01 -5.96319963e-01 2.20388381e-03 9.79903906e+01] [-5.96317403e-01 8.02746843e-01 1.74966410e-03 -1.01177108e+02] [-2.81252040e-03 9.03177783e-05 -9.99996041e-01 -1.80016632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.24655999499998 meters 0.017388053172942775 Centerline is valid? [True, True] Translation: X:97.91, Y:-101.21, Z:-1.80 [[-7.56149597e-01 -6.54395231e-01 2.16086506e-03 9.79078269e+01] [-6.54392190e-01 7.56152678e-01 1.99740285e-03 -1.01213840e+02] [-2.94103480e-03 9.62821476e-05 -9.99995671e-01 -1.80000870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.27655999499999 meters 0.016651791917624767 Centerline is valid? [True, True] Translation: X:97.82, Y:-101.26, Z:-1.80 [[-7.04469242e-01 -7.09731327e-01 2.12859768e-03 9.78203830e+01] [-7.09727647e-01 7.04472450e-01 2.28779088e-03 -1.01261734e+02] [-3.12325528e-03 1.00953685e-04 -9.99995118e-01 -1.80012817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.306559995 meters 0.016389684146058084 Centerline is valid? [True, True] Translation: X:97.74, Y:-101.32, Z:-1.80 [[-6.46707205e-01 -7.62733350e-01 2.76162232e-03 9.77372961e+01] [-7.62725516e-01 6.46713089e-01 3.45954123e-03 -1.01317868e+02] [-4.42468478e-03 1.30950429e-04 -9.99990202e-01 -1.79928182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.336559995 meters 0.015940127813341195 Centerline is valid? [True, True] Translation: X:97.65, Y:-101.38, Z:-1.80 [[-5.85056156e-01 -8.10987682e-01 2.87647461e-03 9.76534170e+01] [-8.10976695e-01 5.85063211e-01 4.22357315e-03 -1.01384363e+02] [-5.10818527e-03 1.38273596e-04 -9.99986944e-01 -1.79864416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.366559995 meters 0.014632406080632945 Centerline is valid? [True, True] Translation: X:97.57, Y:-101.46, Z:-1.80 [[-5.18985262e-01 -8.54779038e-01 2.66329248e-03 9.75723716e+01] [-8.54766508e-01 5.18992080e-01 4.63000921e-03 -1.01457773e+02] [-5.33986252e-03 1.26413325e-04 -9.99985735e-01 -1.79841695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.396559995 meters 0.013665912167609377 Centerline is valid? [True, True] Translation: X:97.50, Y:-101.54, Z:-1.80 [[-4.48915866e-01 -8.93570880e-01 2.37225249e-03 9.74956602e+01] [-8.93557111e-01 4.48922121e-01 4.96169871e-03 -1.01540708e+02] [-5.49858610e-03 1.07642188e-04 -9.99984877e-01 -1.79828841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.426559995 meters 0.011936435455990975 Centerline is valid? [True, True] Translation: X:97.42, Y:-101.63, Z:-1.80 [[-3.71587783e-01 -9.28395703e-01 1.98466452e-03 9.74219981e+01] [-9.28381600e-01 3.71593078e-01 5.11752507e-03 -1.01630729e+02] [-5.48857588e-03 5.90837735e-05 -9.99984936e-01 -1.79777437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.456559995 meters 0.011296498121054235 Centerline is valid? [True, True] Translation: X:97.36, Y:-101.73, Z:-1.80 [[-2.95989019e-01 -9.55190052e-01 1.56991213e-03 9.73570827e+01] [-9.55175964e-01 2.95993180e-01 5.18793944e-03 -1.01727624e+02] [-5.42015143e-03 3.60307750e-05 -9.99985310e-01 -1.79775726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.486559995 meters 0.010858048428632841 Centerline is valid? [True, True] Translation: X:97.30, Y:-101.83, Z:-1.80 [[-2.18504739e-01 -9.75835231e-01 1.13179444e-03 9.73004848e+01] [-9.75821806e-01 2.18507670e-01 5.11877897e-03 -1.01827135e+02] [-5.24239062e-03 1.40477726e-05 -9.99986258e-01 -1.79807936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.516559995 meters 0.01081607271929701 Centerline is valid? [True, True] Translation: X:97.25, Y:-101.93, Z:-1.80 [[-1.39922492e-01 -9.90162170e-01 7.57044921e-04 9.72515835e+01] [-9.90147854e-01 1.39924540e-01 5.32448402e-03 -1.01933289e+02] [-5.37803182e-03 -4.57133224e-06 -9.99985538e-01 -1.79800010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.546559995 meters 0.011051454867506133 Centerline is valid? [True, True] Translation: X:97.21, Y:-102.04, Z:-1.80 [[-6.03830482e-02 -9.98175227e-01 3.23399003e-04 9.72107056e+01] [-9.98162831e-01 6.03839100e-02 4.97452747e-03 -1.02044718e+02] [-4.98497818e-03 -2.24277327e-05 -9.99987575e-01 -1.79792093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.576559995 meters 0.011962990925504194 Centerline is valid? [True, True] Translation: X:97.18, Y:-102.16, Z:-1.80 [[ 2.20243850e-02 -9.99757433e-01 -5.13723562e-05 9.71777239e+01] [-9.99747345e-01 -2.20243935e-02 4.49130230e-03 -1.02157900e+02] [-4.49134430e-03 -4.75587942e-05 -9.99989913e-01 -1.79773132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.606559995 meters 0.012199146101309575 Centerline is valid? [True, True] Translation: X:97.16, Y:-102.28, Z:-1.80 [[ 1.01051946e-01 -9.94881080e-01 -3.76401240e-04 9.71562008e+01] [-9.94871896e-01 -1.01052630e-01 4.27514539e-03 -1.02275266e+02] [-4.29129759e-03 -5.75407442e-05 -9.99990791e-01 -1.79822287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.636559995 meters 0.012580834407480226 Centerline is valid? [True, True] Translation: X:97.14, Y:-102.39, Z:-1.80 [[ 1.78651318e-01 -9.83912223e-01 -6.66382064e-04 9.71419647e+01] [-9.83903984e-01 -1.78652549e-01 4.02706779e-03 -1.02385131e+02] [-4.08133208e-03 -6.37850003e-05 -9.99991669e-01 -1.79787236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.666559995 meters 0.013194471537521624 Centerline is valid? [True, True] Translation: X:97.14, Y:-102.50, Z:-1.80 [[ 2.56168153e-01 -9.66631854e-01 -8.58430680e-04 9.71392065e+01] [-9.66625506e-01 -2.56169582e-01 3.50388939e-03 -1.02500248e+02] [-3.60687493e-03 -6.78038812e-05 -9.99993493e-01 -1.79805364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.696559995 meters 0.013214808616292812 Centerline is valid? [True, True] Translation: X:97.15, Y:-102.62, Z:-1.80 [[ 3.29774041e-01 -9.44059347e-01 -1.01587054e-03 9.71456021e+01] [-9.44054259e-01 -3.29775600e-01 3.09994644e-03 -1.02616956e+02] [-3.26154272e-03 -6.32449544e-05 -9.99994679e-01 -1.79805397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.726559995 meters 0.013769259741204812 Centerline is valid? [True, True] Translation: X:97.16, Y:-102.73, Z:-1.80 [[ 4.01004007e-01 -9.16075590e-01 -1.14012284e-03 9.71575026e+01] [-9.16071464e-01 -4.01005624e-01 2.74990421e-03 -1.02726823e+02] [-2.97631579e-03 -5.82886098e-05 -9.99995569e-01 -1.79804694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.756559995 meters 0.01315744808535218 Centerline is valid? [True, True] Translation: X:97.18, Y:-102.83, Z:-1.80 [[ 4.68428965e-01 -8.83500661e-01 -9.41729733e-04 9.71825472e+01] [-8.83498708e-01 -4.68429910e-01 1.85782170e-03 -1.02834916e+02] [-2.08252108e-03 -3.82404959e-05 -9.99997831e-01 -1.79849937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.786559995 meters 0.012823352236042751 Centerline is valid? [True, True] Translation: X:97.21, Y:-102.94, Z:-1.80 [[ 5.33231905e-01 -8.45968227e-01 -1.22254476e-03 9.72130946e+01] [-8.45965830e-01 -5.33233305e-01 2.01405927e-03 -1.02940839e+02] [-2.35573174e-03 -3.97295661e-05 -9.99997224e-01 -1.79835985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.816559995 meters 0.012874116684681447 Centerline is valid? [True, True] Translation: X:97.26, Y:-103.05, Z:-1.80 [[ 5.94568805e-01 -8.04043682e-01 -1.30152435e-03 9.72552019e+01] [-8.04041631e-01 -5.94570228e-01 1.81658538e-03 -1.03050153e+02] [-2.23446163e-03 -3.36052358e-05 -9.99997503e-01 -1.79802673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.846559995 meters 0.01209643357659978 Centerline is valid? [True, True] Translation: X:97.29, Y:-103.14, Z:-1.80 [[ 6.52307675e-01 -7.57952061e-01 -1.83609798e-03 9.72943315e+01] [-7.57948902e-01 -6.52310258e-01 2.18845958e-03 -1.03138876e+02] [-2.85645299e-03 -3.58805285e-05 -9.99995920e-01 -1.79792314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.876559995 meters 0.011317381104832944 Centerline is valid? [True, True] Translation: X:97.35, Y:-103.23, Z:-1.80 [[ 7.04319635e-01 -7.09878576e-01 -2.50201458e-03 9.73479839e+01] [-7.09873966e-01 -7.04324078e-01 2.55839365e-03 -1.03226922e+02] [-3.57837796e-03 -2.58118646e-05 -9.99993597e-01 -1.79672121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.906559995 meters 0.011018116057759061 Centerline is valid? [True, True] Translation: X:97.40, Y:-103.31, Z:-1.80 [[ 7.54221012e-01 -6.56612476e-01 -3.27434612e-03 9.74038176e+01] [-6.56606180e-01 -7.54228120e-01 2.87528686e-03 -1.03311927e+02] [-4.35755314e-03 -1.86458668e-05 -9.99990506e-01 -1.79640391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.936559995 meters 0.010954217204945436 Centerline is valid? [True, True] Translation: X:97.41, Y:-103.32, Z:-1.80 [[ 8.01657931e-01 -5.97769529e-01 -4.01882207e-03 9.74066770e+01] [-5.97761969e-01 -8.01668005e-01 3.00643422e-03 -1.03318001e+02] [-5.01891584e-03 -7.83284356e-06 -9.99987405e-01 -1.79613372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.96655999499998 meters 0.010983434672193182 Centerline is valid? [True, True] Translation: X:97.41, Y:-103.32, Z:-1.80 [[ 8.44689274e-01 -5.35233154e-01 -5.04981979e-03 9.74091936e+01] [-5.35223624e-01 -8.44704369e-01 3.19404399e-03 -1.03322684e+02] [-5.97516308e-03 4.80814814e-06 -9.99982149e-01 -1.79508277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.99655999499998 meters 0.011351366801716814 Centerline is valid? [True, True] Translation: X:97.41, Y:-103.33, Z:-1.79 [[ 8.81977943e-01 -4.71235117e-01 -7.23690557e-03 9.74128031e+01] [-4.71219636e-01 -8.82007632e-01 3.81993686e-03 -1.03326686e+02] [-8.18309434e-03 4.10719507e-05 -9.99966517e-01 -1.79358467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.02655999499999 meters 0.011776192170918697 Centerline is valid? [True, True] Translation: X:97.41, Y:-103.33, Z:-1.79 [[ 9.15380603e-01 -4.02500534e-01 -8.46591089e-03 9.74141175e+01] [-4.02483962e-01 -9.15419749e-01 3.65295405e-03 -1.03332206e+02] [-9.22017797e-03 6.35500779e-05 -9.99957491e-01 -1.79199122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.056559995 meters 0.012039676598599834 Centerline is valid? [True, True] Translation: X:97.42, Y:-103.34, Z:-1.79 [[ 9.43600758e-01 -3.30946772e-01 -9.58345562e-03 9.74170744e+01] [-3.30930601e-01 -9.43649420e-01 3.27266524e-03 -1.03335716e+02] [-1.01265003e-02 8.33693232e-05 -9.99948722e-01 -1.79176072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.086559995 meters 0.012491949250910924 Centerline is valid? [True, True] Translation: X:97.42, Y:-103.34, Z:-1.79 [[ 9.66181084e-01 -2.57649692e-01 -1.05237715e-02 9.74195941e+01] [-2.57635607e-01 -9.66238389e-01 2.69610666e-03 -1.03337665e+02] [-1.08631231e-02 1.06371004e-04 -9.99940989e-01 -1.79126231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.116559995 meters 0.012491949250910924 Centerline is valid? [True, True] Translation: X:97.42, Y:-103.34, Z:-1.79 [[ 9.83359485e-01 -1.81354862e-01 -1.07022079e-02 9.74222831e+01] [-1.81345298e-01 -9.83417715e-01 1.86546047e-03 -1.03342752e+02] [-1.08630512e-02 1.06376833e-04 -9.99940990e-01 -1.79126305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.146559995 meters 0.012908499029934196 Centerline is valid? [True, True] Translation: X:97.42, Y:-103.34, Z:-1.79 [[ 9.94249921e-01 -1.06438717e-01 -1.17428266e-02 9.74223865e+01] [-1.06433039e-01 -9.94319254e-01 1.10913959e-03 -1.03341927e+02] [-1.17941740e-02 1.47062776e-04 -9.99930436e-01 -1.79181532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.176559995 meters 0.01289491481327784 Centerline is valid? [True, True] Translation: X:97.42, Y:-103.35, Z:-1.79 [[ 9.99498509e-01 -2.93829640e-02 -1.18055868e-02 9.74217180e+01] [-2.93828167e-02 -9.99568215e-01 1.85961255e-04 -1.03348269e+02] [-1.18059534e-02 1.61013395e-04 -9.99930294e-01 -1.79285070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.206559995 meters 0.013391238817925286 Centerline is valid? [True, True] Translation: X:97.42, Y:-103.35, Z:-1.79 [[ 9.98788893e-01 4.78433011e-02 -1.14789241e-02 9.74205772e+01] [ 4.78381882e-02 -9.98854839e-01 -7.19739606e-04 -1.03353044e+02] [-1.15002136e-02 1.69736993e-04 -9.99933856e-01 -1.79243217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.236559995 meters 0.013145968916085242 Centerline is valid? [True, True] Translation: X:97.42, Y:-103.36, Z:-1.79 [[ 9.92110576e-01 1.24892584e-01 -1.08833532e-02 9.74208220e+01] [ 1.24883158e-01 -9.92170254e-01 -1.54408706e-03 -1.03360922e+02] [-1.09909843e-02 1.72757586e-04 -9.99939582e-01 -1.79331474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.266559995 meters 0.014097252970373376 Centerline is valid? [True, True] Translation: X:97.42, Y:-103.36, Z:-1.79 [[ 9.79580783e-01 2.00835871e-01 -9.29741468e-03 9.74195531e+01] [ 2.00825247e-01 -9.79624891e-01 -2.07208097e-03 -1.03363603e+02] [-9.52412703e-03 1.62615099e-04 -9.99954631e-01 -1.79396351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.296559995 meters 0.013624029834224028 Centerline is valid? [True, True] Translation: X:97.42, Y:-103.37, Z:-1.80 [[ 9.60880651e-01 2.76851586e-01 -7.84687431e-03 9.74204960e+01] [ 2.76841160e-01 -9.60912681e-01 -2.40668747e-03 -1.03371436e+02] [-8.20645627e-03 1.40201641e-04 -9.99966317e-01 -1.79538307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.326559995 meters 0.013776653473828107 Centerline is valid? [True, True] Translation: X:97.42, Y:-103.38, Z:-1.80 [[ 9.35958176e-01 3.52052791e-01 -6.41294728e-03 9.74202702e+01] [ 3.52043711e-01 -9.35980139e-01 -2.53092802e-03 -1.03378248e+02] [-6.89341155e-03 1.11205018e-04 -9.99976234e-01 -1.79621297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.356559995 meters 0.012747190386578474 Centerline is valid? [True, True] Translation: X:97.42, Y:-103.39, Z:-1.80 [[ 9.04791963e-01 4.25821479e-01 -5.25081689e-03 9.74235998e+01] [ 4.25813769e-01 -9.04807195e-01 -2.56388981e-03 -1.03388363e+02] [-5.84273625e-03 8.39167716e-05 -9.99982928e-01 -1.79776312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.386559995 meters 0.012818450473953944 Centerline is valid? [True, True] Translation: X:97.43, Y:-103.40, Z:-1.80 [[ 8.68228580e-01 4.96139340e-01 -4.98891567e-03 9.74251863e+01] [ 4.96130631e-01 -8.68242909e-01 -2.94056770e-03 -1.03397123e+02] [-5.79052197e-03 7.79310341e-05 -9.99983232e-01 -1.79787896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.416559995 meters 0.012671245416459623 Centerline is valid? [True, True] Translation: X:97.43, Y:-103.40, Z:-1.80 [[ 8.26284180e-01 5.63231711e-01 -4.94914889e-03 9.74268647e+01] [ 5.63221050e-01 -8.26298998e-01 -3.46619277e-03 -1.03404380e+02] [-6.04174645e-03 7.65954161e-05 -9.99981746e-01 -1.79768127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.446559995 meters 0.012394359488851626 Centerline is valid? [True, True] Translation: X:97.43, Y:-103.41, Z:-1.80 [[ 7.79257940e-01 6.26684676e-01 -4.83527262e-03 9.74310930e+01] [ 6.26672007e-01 -7.79272938e-01 -3.98548494e-03 -1.03413131e+02] [-6.26563944e-03 7.55907922e-05 -9.99980368e-01 -1.79795780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.476559995 meters 0.012234557918238185 Centerline is valid? [True, True] Translation: X:97.44, Y:-103.42, Z:-1.80 [[ 7.26593500e-01 6.87048535e-01 -5.11825151e-03 9.74362453e+01] [ 6.87030774e-01 -7.26611523e-01 -4.94064624e-03 -1.03420662e+02] [-7.11344429e-03 7.34451449e-05 -9.99974696e-01 -1.79697850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.506559995 meters 0.012167838117322674 Centerline is valid? [True, True] Translation: X:97.44, Y:-103.43, Z:-1.80 [[ 6.69861524e-01 7.42468768e-01 -5.06628317e-03 9.74404487e+01] [ 7.42446723e-01 -6.69880679e-01 -5.72186001e-03 -1.03428627e+02] [-7.64210756e-03 7.14085340e-05 -9.99970796e-01 -1.79605303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.536559995 meters 0.012277341920099239 Centerline is valid? [True, True] Translation: X:97.44, Y:-103.44, Z:-1.79 [[ 6.09082898e-01 7.93090718e-01 -5.01369863e-03 9.74440376e+01] [ 7.93062872e-01 -6.09103529e-01 -6.64628486e-03 -1.03435345e+02] [-8.32496836e-03 7.19602136e-05 -9.99965344e-01 -1.79467119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.566559995 meters 0.012079683570205313 Centerline is valid? [True, True] Translation: X:97.45, Y:-103.44, Z:-1.79 [[ 5.44342596e-01 8.38849404e-01 -4.77657596e-03 9.74480928e+01] [ 8.38815994e-01 -5.44363548e-01 -7.48705087e-03 -1.03440661e+02] [-8.88070200e-03 6.88523957e-05 -9.99960563e-01 -1.79409878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.596559995 meters 0.011895518231633454 Centerline is valid? [True, True] Translation: X:97.46, Y:-103.45, Z:-1.79 [[ 4.76336809e-01 8.79251737e-01 -4.43035318e-03 9.74555475e+01] [ 8.79212400e-01 -4.76357407e-01 -8.31719590e-03 -1.03446800e+02] [-9.42334049e-03 6.65650988e-05 -9.99955597e-01 -1.79396172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.626559995 meters 0.011850985837326404 Centerline is valid? [True, True] Translation: X:97.46, Y:-103.45, Z:-1.79 [[ 4.05680260e-01 9.14007231e-01 -3.78255020e-03 9.74620714e+01] [ 9.13966028e-01 -4.05697889e-01 -8.67882885e-03 -1.03451315e+02] [-9.46708496e-03 6.37071677e-05 -9.99955184e-01 -1.79403543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.656559995 meters 0.0117665888178295 Centerline is valid? [True, True] Translation: X:97.47, Y:-103.46, Z:-1.79 [[ 3.32750050e-01 9.43010695e-01 -2.86935432e-03 9.74707271e+01] [ 9.42974118e-01 -3.32762416e-01 -8.30584349e-03 -1.03456500e+02] [-8.78731251e-03 5.80429785e-05 -9.99961389e-01 -1.79493538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.686559995 meters 0.011847729782898272 Centerline is valid? [True, True] Translation: X:97.48, Y:-103.46, Z:-1.80 [[ 2.58641822e-01 9.65970939e-01 -2.13366780e-03 9.74797456e+01] [ 9.65936040e-01 -2.58650615e-01 -8.21137980e-03 -1.03461417e+02] [-8.48382874e-03 6.28196141e-05 -9.99964010e-01 -1.79573774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.71655999499998 meters 0.012058747753039056 Centerline is valid? [True, True] Translation: X:97.49, Y:-103.47, Z:-1.80 [[ 1.82576089e-01 9.83190771e-01 -1.37066688e-03 9.74876073e+01] [ 9.83160507e-01 -1.82581224e-01 -7.71452286e-03 -1.03465474e+02] [-7.83510572e-03 6.09018640e-05 -9.99969303e-01 -1.79521847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.74655999499998 meters 0.012074366344948224 Centerline is valid? [True, True] Translation: X:97.49, Y:-103.47, Z:-1.80 [[ 1.05392207e-01 9.94430436e-01 -7.68041554e-04 9.74937047e+01] [ 9.94399379e-01 -1.05394986e-01 -7.85949335e-03 -1.03468710e+02] [-7.89666713e-03 6.45893094e-05 -9.99968819e-01 -1.79515733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.77655999499999 meters 0.012112937948696693 Centerline is valid? [True, True] Translation: X:97.50, Y:-103.47, Z:-1.79 [[ 2.74785488e-02 9.99622381e-01 -1.55068011e-04 9.75019714e+01] [ 9.99588985e-01 -2.74788984e-02 -8.17130594e-03 -1.03471065e+02] [-8.17248141e-03 6.95313533e-05 -9.99966602e-01 -1.79493367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.806559995 meters 0.012194468320407303 Centerline is valid? [True, True] Translation: X:97.51, Y:-103.47, Z:-1.79 [[-5.08803675e-02 9.98704612e-01 5.35168875e-04 9.75105755e+01] [ 9.98664151e-01 5.08831236e-02 -8.99005139e-03 -1.03473213e+02] [-9.00563685e-03 7.70368515e-05 -9.99959445e-01 -1.79363178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.836559995 meters 0.011995823502773768 Centerline is valid? [True, True] Translation: X:97.52, Y:-103.47, Z:-1.79 [[-1.29127965e-01 9.91627135e-01 1.26267496e-03 9.75210481e+01] [ 9.91585405e-01 1.29134115e-01 -9.09751940e-03 -1.03474020e+02] [-9.18440151e-03 7.73059002e-05 -9.99957820e-01 -1.79344643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.866559995 meters 0.01199883260081821 Centerline is valid? [True, True] Translation: X:97.53, Y:-103.47, Z:-1.79 [[-2.06275913e-01 9.78491603e-01 2.10500416e-03 9.75324443e+01] [ 9.78444728e-01 2.06286636e-01 -9.57800632e-03 -1.03473429e+02] [-9.80623299e-03 8.39182264e-05 -9.99951914e-01 -1.79317296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.896559995 meters 0.012110222162908997 Centerline is valid? [True, True] Translation: X:97.54, Y:-103.47, Z:-1.79 [[-2.81857511e-01 9.59451847e-01 2.91504614e-03 9.75424144e+01] [ 9.59403810e-01 2.81872570e-01 -9.60122034e-03 -1.03473130e+02] [-1.00335801e-02 9.05303004e-05 -9.99949658e-01 -1.79243843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.926559995 meters 0.012229671697907325 Centerline is valid? [True, True] Translation: X:97.55, Y:-103.47, Z:-1.79 [[-3.55942857e-01 9.34500680e-01 3.62783632e-03 9.75506148e+01] [ 9.34454753e-01 3.55961333e-01 -9.26522875e-03 -1.03472995e+02] [-9.94973202e-03 9.21568934e-05 -9.99950496e-01 -1.79218617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.956559995 meters 0.012274094350808425 Centerline is valid? [True, True] Translation: X:97.56, Y:-103.47, Z:-1.79 [[-4.27842257e-01 9.03843606e-01 4.21173176e-03 9.75592223e+01] [ 9.03801898e-01 4.27862977e-01 -8.68345613e-03 -1.03471381e+02] [-9.65053039e-03 9.14216915e-05 -9.99953428e-01 -1.79238384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.986559995 meters 0.012297988841097453 Centerline is valid? [True, True] Translation: X:97.57, Y:-103.47, Z:-1.79 [[-4.96779858e-01 8.67862997e-01 4.85701515e-03 9.75686287e+01] [ 8.67823411e-01 4.96803591e-01 -8.28967611e-03 -1.03468416e+02] [-9.60728572e-03 9.68873339e-05 -9.99953844e-01 -1.79252531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.016559995 meters 0.01230575597441239 Centerline is valid? [True, True] Translation: X:97.58, Y:-103.46, Z:-1.79 [[-5.62742166e-01 8.26613779e-01 5.56018655e-03 9.75781907e+01] [ 8.26575237e-01 5.62769624e-01 -7.98294699e-03 -1.03464346e+02] [-9.72791807e-03 1.03571641e-04 -9.99952677e-01 -1.79267637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.046559995 meters 0.012590551158728676 Centerline is valid? [True, True] Translation: X:97.59, Y:-103.46, Z:-1.79 [[-6.24235165e-01 7.81214528e-01 5.85827886e-03 9.75863395e+01] [ 7.81181860e-01 6.24262643e-01 -7.14522029e-03 -1.03460175e+02] [-9.23905454e-03 1.16083415e-04 -9.99957312e-01 -1.79307929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.076559995 meters 0.012859399550131548 Centerline is valid? [True, True] Translation: X:97.59, Y:-103.46, Z:-1.79 [[-6.82677058e-01 7.30695164e-01 6.05076451e-03 9.75947112e+01] [ 7.30668008e-01 6.82703862e-01 -6.30066439e-03 -1.03455657e+02] [-8.73474530e-03 1.19781025e-04 -9.99961844e-01 -1.79332722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.106559995 meters 0.013409718791879497 Centerline is valid? [True, True] Translation: X:97.60, Y:-103.45, Z:-1.79 [[-7.36949262e-01 6.75914713e-01 6.71465656e-03 9.76020526e+01] [ 6.75888311e-01 7.36979839e-01 -5.97569155e-03 -1.03452068e+02] [-8.98762434e-03 1.34576403e-04 -9.99959601e-01 -1.79317184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.136559995 meters 0.0135432296065909 Centerline is valid? [True, True] Translation: X:97.62, Y:-103.43, Z:-1.79 [[-7.81923163e-01 6.23335514e-01 7.00028228e-03 9.76222178e+01] [ 6.23312202e-01 7.81954485e-01 -5.39280974e-03 -1.03433077e+02] [-8.83543195e-03 1.46598508e-04 -9.99960956e-01 -1.79341984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.166559995 meters 0.01383006918415075 Centerline is valid? [True, True] Translation: X:97.64, Y:-103.41, Z:-1.79 [[-8.23002096e-01 5.67990627e-01 7.36192620e-03 9.76401421e+01] [ 5.67969671e-01 8.23035006e-01 -4.88177083e-03 -1.03412765e+02] [-8.83192305e-03 1.63643176e-04 -9.99960984e-01 -1.79385937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.196559995 meters 0.014794574983224725 Centerline is valid? [True, True] Translation: X:97.65, Y:-103.39, Z:-1.79 [[-8.59414246e-01 5.11230880e-01 7.08109042e-03 9.76528329e+01] [ 5.11215229e-01 8.59443399e-01 -4.00422852e-03 -1.03389982e+02] [-8.13288168e-03 1.78670225e-04 -9.99966912e-01 -1.79420649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.226559995 meters 0.015381590642673883 Centerline is valid? [True, True] Translation: X:97.67, Y:-103.37, Z:-1.79 [[-8.92839459e-01 4.50320995e-01 6.97864424e-03 9.76705761e+01] [ 4.50308809e-01 8.92866714e-01 -3.31773858e-03 -1.03368222e+02] [-7.72504649e-03 1.80337052e-04 -9.99970145e-01 -1.79356018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.256559995 meters 0.015085145781511775 Centerline is valid? [True, True] Translation: X:97.68, Y:-103.34, Z:-1.79 [[-9.22089970e-01 3.86911839e-01 7.02255310e-03 9.76836015e+01] [ 3.86902130e-01 9.22116693e-01 -2.74711930e-03 -1.03341611e+02] [-7.53850642e-03 1.83949594e-04 -9.99971568e-01 -1.79401813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.286559995 meters 0.015487074373269814 Centerline is valid? [True, True] Translation: X:97.69, Y:-103.31, Z:-1.79 [[-9.46916809e-01 3.21395466e-01 7.31518058e-03 9.76901468e+01] [ 3.21387449e-01 9.46945044e-01 -2.27837858e-03 -1.03313204e+02] [-7.65933454e-03 1.93572247e-04 -9.99970648e-01 -1.79412035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.316559995 meters 0.015930824058711372 Centerline is valid? [True, True] Translation: X:97.91, Y:-102.64, Z:-2.80 [[-9.41609459e-01 -3.36627595e-01 7.31362620e-03 9.79075443e+01] [ 3.36615891e-01 -9.41637843e-01 -2.81323456e-03 -1.02638595e+02] [ 7.83379958e-03 -1.87085474e-04 9.99969298e-01 -2.79672237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.346559995 meters 0.016287520257527142 Centerline is valid? [True, True] Translation: X:97.65, Y:-103.30, Z:-1.79 [[-9.47938409e-01 3.18349670e-01 8.14000945e-03 9.76480812e+01] [ 3.18339924e-01 9.47973332e-01 -2.50080661e-03 -1.03301646e+02] [-8.51264284e-03 2.20679356e-04 -9.99963742e-01 -1.79357325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.376559995 meters 0.016788915926261947 Centerline is valid? [True, True] Translation: X:97.65, Y:-103.27, Z:-1.79 [[-9.67988389e-01 2.50839930e-01 8.82090314e-03 9.76519656e+01] [ 2.50831765e-01 9.68028549e-01 -2.03807107e-03 -1.03273760e+02] [-9.05011568e-03 2.39733573e-04 -9.99959018e-01 -1.79346292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.406559995 meters 0.016231376119013877 Centerline is valid? [True, True] Translation: X:97.82, Y:-102.58, Z:-2.80 [[-9.64364117e-01 -2.64430565e-01 8.85025109e-03 9.78184140e+01] [ 2.64417209e-01 -9.64404698e-01 -2.66789358e-03 -1.02584919e+02] [ 9.24069634e-03 -2.32662145e-04 9.99957277e-01 -2.79644853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.43655999499998 meters 0.0157318552317349 Centerline is valid? [True, True] Translation: X:97.61, Y:-103.26, Z:-1.79 [[-9.68936784e-01 2.47137867e-01 9.18608771e-03 9.76054226e+01] [ 2.47129203e-01 9.68980295e-01 -2.08446051e-03 -1.03260190e+02] [-9.41628710e-03 2.50440080e-04 -9.99955634e-01 -1.79407006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.46655999499998 meters 0.016086532134658542 Centerline is valid? [True, True] Translation: X:97.76, Y:-102.58, Z:-2.80 [[-9.65289407e-01 -2.61027940e-01 8.98751654e-03 9.77649618e+01] [ 2.61014188e-01 -9.65331213e-01 -2.69114098e-03 -1.02576157e+02] [ 9.37839323e-03 -2.51860543e-04 9.99955990e-01 -2.79707824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.49655999499998 meters 0.016316665374810756 Centerline is valid? [True, True] Translation: X:97.55, Y:-103.25, Z:-1.79 [[-9.70358058e-01 2.41496867e-01 9.19250764e-03 9.75547070e+01] [ 2.41488297e-01 9.70401571e-01 -2.04776103e-03 -1.03246155e+02] [-9.41495173e-03 2.32821602e-04 -9.99955651e-01 -1.79284599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.52655999499999 meters 0.015969132830945327 Centerline is valid? [True, True] Translation: X:97.71, Y:-102.57, Z:-2.80 [[-9.65782915e-01 -2.59203405e-01 8.77249812e-03 9.77079218e+01] [ 2.59190416e-01 -9.65822725e-01 -2.60628739e-03 -1.02567966e+02] [ 9.14823660e-03 -2.43360390e-04 9.99958124e-01 -2.79760760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.556559995 meters 0.015771035842148493 Centerline is valid? [True, True] Translation: X:97.50, Y:-103.23, Z:-1.79 [[-9.71680718e-01 2.36152620e-01 8.27788530e-03 9.75040635e+01] [ 2.36145769e-01 9.71715957e-01 -1.80940338e-03 -1.03232934e+02] [-8.47104858e-03 1.96625222e-04 -9.99964101e-01 -1.79349620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.586559995 meters 0.01544028793215326 Centerline is valid? [True, True] Translation: X:97.66, Y:-102.56, Z:-2.80 [[-9.66435450e-01 -2.56797466e-01 7.58837156e-03 9.76550529e+01] [ 2.56787759e-01 -9.66465216e-01 -2.24357471e-03 -1.02558795e+02] [ 7.91004145e-03 -2.19669205e-04 9.99968691e-01 -2.79637388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.616559995 meters 0.01513262322197777 Centerline is valid? [True, True] Translation: X:97.45, Y:-103.22, Z:-1.80 [[-9.72841698e-01 2.31380897e-01 6.47393741e-03 9.74543982e+01] [ 2.31376782e-01 9.72863227e-01 -1.38784527e-03 -1.03220323e+02] [-6.61937653e-03 1.47765054e-04 -9.99978081e-01 -1.79549719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.646559995 meters 0.014869999288965494 Centerline is valid? [True, True] Translation: X:97.45, Y:-103.19, Z:-1.80 [[-9.86805478e-01 1.61790654e-01 6.22362900e-03 9.74544723e+01] [ 1.61788333e-01 9.86825093e-01 -8.77941903e-04 -1.03190728e+02] [-6.28367606e-03 1.40552681e-04 -9.99980248e-01 -1.79576791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.676559995 meters 0.015361377355968087 Centerline is valid? [True, True] Translation: X:97.56, Y:-102.51, Z:-2.79 [[-9.82987934e-01 -1.83572728e-01 5.98126940e-03 9.75560950e+01] [ 1.83568413e-01 -9.83006120e-01 -1.26727244e-03 -1.02513295e+02] [ 6.11226108e-03 -1.47741386e-04 9.99981309e-01 -2.79460405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.706559995 meters 0.015305447585083102 Centerline is valid? [True, True] Translation: X:97.40, Y:-103.18, Z:-1.80 [[-9.87398444e-01 1.58134766e-01 6.14066249e-03 9.73993428e+01] [ 1.58132601e-01 9.87417529e-01 -8.39489159e-04 -1.03182104e+02] [-6.19615020e-03 1.42128644e-04 -9.99980794e-01 -1.79608688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.736559995 meters 0.015087370911262905 Centerline is valid? [True, True] Translation: X:97.40, Y:-103.15, Z:-1.80 [[-9.96162756e-01 8.72973115e-02 6.24047918e-03 9.73992750e+01] [ 8.72964893e-02 9.96182292e-01 -4.04535556e-04 -1.03152740e+02] [-6.25196972e-03 1.41788669e-04 -9.99980446e-01 -1.79616980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.766559995 meters 0.015008774280429285 Centerline is valid? [True, True] Translation: X:97.45, Y:-102.48, Z:-2.79 [[-9.94050558e-01 -1.08727457e-01 6.46751332e-03 9.74470511e+01] [ 1.08724302e-01 -9.94071588e-01 -8.38563529e-04 -1.02475389e+02] [ 6.52034612e-03 -1.30398674e-04 9.99978734e-01 -2.79466699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.796559995 meters 0.015094836228713923 Centerline is valid? [True, True] Translation: X:97.33, Y:-103.15, Z:-1.80 [[-9.96515473e-01 8.31312454e-02 6.79027327e-03 9.73340228e+01] [ 8.31303883e-02 9.96538595e-01 -4.08863514e-04 -1.03147048e+02] [-6.80075872e-03 1.57039235e-04 -9.99976862e-01 -1.79568562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.826559995 meters 0.015460364178898236 Centerline is valid? [True, True] Translation: X:97.38, Y:-102.47, Z:-2.79 [[-9.94554013e-01 -1.04009903e-01 6.65242584e-03 9.73766441e+01] [ 1.04006492e-01 -9.94576249e-01 -8.57631887e-04 -1.02472266e+02] [ 6.70554695e-03 -1.61065760e-04 9.99977505e-01 -2.79492300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.856559995 meters 0.015514201933106474 Centerline is valid? [True, True] Translation: X:97.27, Y:-103.14, Z:-1.80 [[-9.96904711e-01 7.83197800e-02 6.85639725e-03 9.72657913e+01] [ 7.83190110e-02 9.96928276e-01 -3.81005989e-04 -1.03141727e+02] [-6.86517660e-03 1.57159587e-04 -9.99976422e-01 -1.79551527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.886559995 meters 0.015753520501022505 Centerline is valid? [True, True] Translation: X:97.26, Y:-103.11, Z:-1.80 [[-9.99951037e-01 7.32899093e-03 6.64897325e-03 9.72624062e+01] [ 7.32984648e-03 9.99973131e-01 1.04313929e-04 -1.03112967e+02] [-6.64803008e-03 1.53044775e-04 -9.99977890e-01 -1.79532381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.916559995 meters 0.015430683322130979 Centerline is valid? [True, True] Translation: X:97.25, Y:-102.44, Z:-2.80 [[-9.99581492e-01 -2.82742097e-02 6.11630450e-03 9.72543008e+01] [ 2.82726050e-02 -9.99600189e-01 -3.48676879e-04 -1.02442010e+02] [ 6.12371770e-03 -1.75607094e-04 9.99981234e-01 -2.79514115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.946559995 meters 0.015890275022042027 Centerline is valid? [True, True] Translation: X:97.18, Y:-103.11, Z:-1.79 [[-9.99975575e-01 2.32739362e-03 6.59031233e-03 9.71761729e+01] [ 2.32836321e-03 9.99997280e-01 1.39454798e-04 -1.03112243e+02] [-6.58996983e-03 1.54796032e-04 -9.99978274e-01 -1.79486566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.976559995 meters 0.016469873527368957 Centerline is valid? [True, True] Translation: X:97.17, Y:-103.08, Z:-1.79 [[-9.97633709e-01 -6.83791738e-02 7.16040542e-03 9.71706687e+01] [-6.83761684e-02 9.97659390e-01 6.63965888e-04 -1.03084879e+02] [-7.18904714e-03 1.72793665e-04 -9.99974144e-01 -1.79399290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.006559995 meters 0.016469873527368957 Centerline is valid? [True, True] Translation: X:97.16, Y:-103.06, Z:-1.79 [[-9.90201803e-01 -1.39463458e-01 7.09465221e-03 9.71556433e+01] [-1.39458626e-01 9.90227203e-01 1.17370301e-03 -1.03058376e+02] [-7.18900630e-03 1.72792385e-04 -9.99974144e-01 -1.79399350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.036559995 meters 0.01609683216570107 Centerline is valid? [True, True] Translation: X:97.13, Y:-103.03, Z:-1.79 [[-9.77791499e-01 -2.09429500e-01 7.94158497e-03 9.71291725e+01] [-2.09420896e-01 9.77823728e-01 1.90920275e-03 -1.03034262e+02] [-8.16531360e-03 2.03668377e-04 -9.99966643e-01 -1.79389761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.066559995 meters 0.01674089655776943 Centerline is valid? [True, True] Translation: X:97.08, Y:-103.02, Z:-1.79 [[-9.60671896e-01 -2.77518645e-01 9.63899136e-03 9.70790377e+01] [-2.77501727e-01 9.60720210e-01 3.07716463e-03 -1.03020557e+02] [-1.01143444e-02 2.81308830e-04 -9.99948809e-01 -1.79303517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.096559995 meters 0.018107367053848484 Centerline is valid? [True, True] Translation: X:97.02, Y:-103.01, Z:-1.79 [[-9.38365426e-01 -3.45518407e-01 9.34654497e-03 9.70187381e+01] [-3.45498058e-01 9.38411925e-01 3.76186281e-03 -1.03014754e+02] [-1.00707021e-02 3.00788861e-04 -9.99949244e-01 -1.79225305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.126559995 meters 0.018991586804540942 Centerline is valid? [True, True] Translation: X:96.95, Y:-103.02, Z:-1.79 [[-9.11073823e-01 -4.12139689e-01 9.23940855e-03 9.69466763e+01] [-4.12114805e-01 9.11120611e-01 4.54086672e-03 -1.03017700e+02] [-1.02896870e-02 3.29367748e-04 -9.99947006e-01 -1.79239758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.156559995 meters 0.01833069114171642 Centerline is valid? [True, True] Translation: X:96.87, Y:-103.03, Z:-1.79 [[-8.79658490e-01 -4.75533604e-01 8.29052981e-03 9.68681170e+01] [-4.75508757e-01 8.79697489e-01 4.87329430e-03 -1.03027240e+02] [-9.61057345e-03 3.44615175e-04 -9.99953758e-01 -1.79401991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.18655999499998 meters 0.01883039541935408 Centerline is valid? [True, True] Translation: X:96.78, Y:-103.05, Z:-1.79 [[-8.42542525e-01 -5.38583086e-01 7.09596018e-03 9.67842936e+01] [-5.38560693e-01 8.42572343e-01 4.92201708e-03 -1.03047779e+02] [-8.62977494e-03 3.25403460e-04 -9.99962710e-01 -1.79388154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.21655999499998 meters 0.022765317310171146 Centerline is valid? [True, True] Translation: X:96.70, Y:-103.08, Z:-1.79 [[-8.00711267e-01 -5.99014558e-01 6.55940638e-03 9.66971630e+01] [-5.98990991e-01 8.00738064e-01 5.32396905e-03 -1.03084588e+02] [-8.44150134e-03 3.33936678e-04 -9.99964314e-01 -1.79332298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.24655999499998 meters 0.01987455345060498 Centerline is valid? [True, True] Translation: X:96.61, Y:-103.12, Z:-1.79 [[-7.54171505e-01 -6.56651623e-01 5.82975462e-03 9.66055961e+01] [-6.56628565e-01 7.54193965e-01 5.51271571e-03 -1.03121556e+02] [-8.01669947e-03 3.29549693e-04 -9.99967811e-01 -1.79435724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.27655999499999 meters 0.021541693277884598 Centerline is valid? [True, True] Translation: X:96.52, Y:-103.17, Z:-1.79 [[-7.04442207e-01 -7.09743754e-01 4.99807284e-03 9.65207716e+01] [-7.09722515e-01 7.04459861e-01 5.50046095e-03 -1.03171062e+02] [-7.42485950e-03 3.27512016e-04 -9.99972382e-01 -1.79469010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.306559995 meters 0.022585418911210558 Centerline is valid? [True, True] Translation: X:96.43, Y:-103.24, Z:-1.79 [[-6.49284074e-01 -7.60532892e-01 4.46213438e-03 9.64310214e+01] [-7.60511359e-01 6.49299324e-01 5.73246834e-03 -1.03235374e+02] [-7.25699156e-03 3.28496520e-04 -9.99973614e-01 -1.79457609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.336559995 meters 0.022840738713310473 Centerline is valid? [True, True] Translation: X:96.35, Y:-103.31, Z:-1.79 [[-5.89928684e-01 -8.07444442e-01 4.19767543e-03 9.63456293e+01] [-8.07419663e-01 5.89943516e-01 6.33534955e-03 -1.03305062e+02] [-7.59183418e-03 3.48118747e-04 -9.99971121e-01 -1.79450750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.366559995 meters 0.021221631479817094 Centerline is valid? [True, True] Translation: X:96.26, Y:-103.38, Z:-1.79 [[-5.26853265e-01 -8.49948947e-01 3.52480006e-03 9.62610616e+01] [-8.49925508e-01 5.26864950e-01 6.32099411e-03 -1.03382689e+02] [-7.22961590e-03 3.34418903e-04 -9.99973810e-01 -1.79481756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.396559995 meters 0.021076405541913458 Centerline is valid? [True, True] Translation: X:96.18, Y:-103.47, Z:-1.79 [[-4.59766439e-01 -8.88034039e-01 3.21963709e-03 9.61792399e+01] [-8.88006684e-01 4.59777579e-01 6.97906676e-03 -1.03474533e+02] [-7.67796580e-03 3.49681419e-04 -9.99970463e-01 -1.79464031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.426559995 meters 0.021971145123143104 Centerline is valid? [True, True] Translation: X:96.11, Y:-103.57, Z:-1.79 [[-3.89534138e-01 -9.21007655e-01 2.83811728e-03 9.61095011e+01] [-9.20976008e-01 3.89544308e-01 7.64365855e-03 -1.03567464e+02] [-8.14544046e-03 3.63628029e-04 -9.99966759e-01 -1.79406629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.456559995 meters 0.02014045691602267 Centerline is valid? [True, True] Translation: X:96.04, Y:-103.66, Z:-1.79 [[-3.15262009e-01 -9.49001211e-01 2.56277480e-03 9.60416456e+01] [-9.48959058e-01 3.15272183e-01 8.95303122e-03 -1.03663333e+02] [-9.30440908e-03 3.90582243e-04 -9.99956637e-01 -1.79356922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.486559995 meters 0.020459470775192532 Centerline is valid? [True, True] Translation: X:95.98, Y:-103.77, Z:-1.79 [[-2.39911092e-01 -9.70792778e-01 2.01238163e-03 9.59846391e+01] [-9.70743118e-01 2.39919192e-01 9.82748321e-03 -1.03771950e+02] [-1.00232587e-02 4.04216616e-04 -9.99949684e-01 -1.79302645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.516559995 meters 0.020445988955181064 Centerline is valid? [True, True] Translation: X:95.94, Y:-103.88, Z:-1.79 [[-1.63142592e-01 -9.86601632e-01 1.30936418e-03 9.59359465e+01] [-9.86546841e-01 1.63147341e-01 1.04055451e-02 -1.03883096e+02] [-1.04797470e-02 4.05838492e-04 -9.99945004e-01 -1.79240450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.546559995 meters 0.02045065224315163 Centerline is valid? [True, True] Translation: X:95.90, Y:-104.00, Z:-1.79 [[-8.50784072e-02 -9.96374111e-01 5.43224032e-04 9.58957112e+01] [-9.96310947e-01 8.50791345e-02 1.12266177e-02 -1.03999443e+02] [-1.12321282e-02 4.13922699e-04 -9.99936832e-01 -1.79203664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.576559995 meters 0.019847936150708248 Centerline is valid? [True, True] Translation: X:95.86, Y:-104.12, Z:-1.79 [[-6.44145177e-03 -9.99979202e-01 -3.21716293e-04 9.58633999e+01] [-9.99915509e-01 6.43740822e-03 1.12931513e-02 -1.04121244e+02] [-1.12908454e-02 3.94433400e-04 -9.99936179e-01 -1.79162704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.606559995 meters 0.018807032759337806 Centerline is valid? [True, True] Translation: X:95.84, Y:-104.25, Z:-1.79 [[ 7.43440600e-02 -9.97231868e-01 -1.24990218e-03 9.58379510e+01] [-9.97161758e-01 -7.43536614e-02 1.18305204e-02 -1.04245513e+02] [-1.18907068e-02 3.66825737e-04 -9.99929236e-01 -1.79089076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.636559995 meters 0.01784339136165597 Centerline is valid? [True, True] Translation: X:95.21, Y:-104.42, Z:-2.80 [[ 6.64093855e-02 9.97792354e-01 -4.60186445e-04 9.52105427e+01] [-9.97717406e-01 6.64100399e-02 1.22345529e-02 -1.04418581e+02] [ 1.22381043e-02 -3.53353111e-04 9.99925049e-01 -2.79931652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.666559995 meters 0.0170076559088939 Centerline is valid? [True, True] Translation: X:95.86, Y:-104.52, Z:-1.79 [[ 8.78157900e-02 -9.96135727e-01 -1.41454771e-03 9.58581701e+01] [-9.96059838e-01 -8.78265665e-02 1.23001098e-02 -1.04518150e+02] [-1.23768137e-02 3.28830303e-04 -9.99923350e-01 -1.79146229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.696559995 meters 0.016229943276430393 Centerline is valid? [True, True] Translation: X:95.85, Y:-104.64, Z:-1.79 [[ 1.65980503e-01 -9.86126250e-01 -2.34344856e-03 9.58460272e+01] [-9.86051966e-01 -1.65996772e-01 1.21075068e-02 -1.04642853e+02] [-1.23285352e-02 3.01151986e-04 -9.99923955e-01 -1.79171081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.726559995 meters 0.014892579994231518 Centerline is valid? [True, True] Translation: X:95.84, Y:-104.76, Z:-1.79 [[ 2.45432384e-01 -9.69408628e-01 -3.13960603e-03 9.58400543e+01] [-9.69341143e-01 -2.45452351e-01 1.14408229e-02 -1.04762099e+02] [-1.18614561e-02 2.35400868e-04 -9.99929623e-01 -1.79215631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.756559995 meters 0.014306030362747737 Centerline is valid? [True, True] Translation: X:95.85, Y:-104.88, Z:-1.79 [[ 3.20874745e-01 -9.47113595e-01 -3.90343743e-03 9.58461791e+01] [-9.47051106e-01 -3.20898421e-01 1.08814606e-02 -1.04883310e+02] [-1.15585862e-02 2.05168830e-04 -9.99933176e-01 -1.79244568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.786559995 meters 0.013669848467892317 Centerline is valid? [True, True] Translation: X:95.86, Y:-105.00, Z:-1.79 [[ 3.96243516e-01 -9.18134117e-01 -4.56285493e-03 9.58583057e+01] [-9.18077558e-01 -3.96269758e-01 1.01919956e-02 -1.05000686e+02] [-1.11657403e-02 1.50542532e-04 -9.99937650e-01 -1.79176606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.816559995 meters 0.013405381643326764 Centerline is valid? [True, True] Translation: X:95.88, Y:-105.11, Z:-1.79 [[ 4.66738230e-01 -8.84378532e-01 -5.48058157e-03 9.58802602e+01] [-8.84320904e-01 -4.66770387e-01 1.00967834e-02 -1.05113145e+02] [-1.14875517e-02 1.34038050e-04 -9.99934007e-01 -1.79133836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.846559995 meters 0.013116403134389632 Centerline is valid? [True, True] Translation: X:95.91, Y:-105.22, Z:-1.79 [[ 5.34135148e-01 -8.45375654e-01 -6.29663922e-03 9.59106275e+01] [-8.45319467e-01 -5.34172248e-01 9.74728426e-03 -1.05223146e+02] [-1.16036067e-02 1.16304588e-04 -9.99932669e-01 -1.79109290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.876559995 meters 0.013242977709171952 Centerline is valid? [True, True] Translation: X:95.95, Y:-105.33, Z:-1.79 [[ 5.97936255e-01 -8.01511865e-01 -7.13899995e-03 9.59478677e+01] [-8.01456767e-01 -5.97978863e-01 9.39841562e-03 -1.05326872e+02] [-1.18019127e-02 1.01946377e-04 -9.99930350e-01 -1.79000270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.906559995 meters 0.012612381407874558 Centerline is valid? [True, True] Translation: X:95.99, Y:-105.43, Z:-1.79 [[ 6.58523073e-01 -7.52527902e-01 -7.00849482e-03 9.59900180e+01] [-7.52486417e-01 -6.58560363e-01 7.90192645e-03 -1.05427451e+02] [-1.05619370e-02 7.01962687e-05 -9.99944219e-01 -1.79109863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.93655999499998 meters 0.012702851169413346 Centerline is valid? [True, True] Translation: X:96.04, Y:-105.52, Z:-1.79 [[ 7.13937683e-01 -7.00169658e-01 -7.44545280e-03 9.60393981e+01] [-7.00132524e-01 -7.13976502e-01 7.21137836e-03 -1.05519325e+02] [-1.03650667e-02 6.43289059e-05 -9.99946279e-01 -1.79055302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.96655999499998 meters 0.012276039292543105 Centerline is valid? [True, True] Translation: X:96.04, Y:-105.53, Z:-1.79 [[ 7.66492676e-01 -6.42204286e-01 -7.91406443e-03 9.60381130e+01] [-6.42170913e-01 -7.66533529e-01 6.54730666e-03 -1.05531727e+02] [-1.02711041e-02 6.37193793e-05 -9.99947249e-01 -1.79233640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.99655999499998 meters 0.012458578818156764 Centerline is valid? [True, True] Translation: X:96.04, Y:-105.54, Z:-1.79 [[ 8.14248002e-01 -5.80455575e-01 -8.45682307e-03 9.60387063e+01] [-5.80425103e-01 -8.14291914e-01 5.94791696e-03 -1.05542314e+02] [-1.03388242e-02 6.54729049e-05 -9.99946551e-01 -1.79203536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.02655999499999 meters 0.012462626949356376 Centerline is valid? [True, True] Translation: X:96.04, Y:-105.55, Z:-1.79 [[ 8.56841113e-01 -5.15505843e-01 -8.77689742e-03 9.60407580e+01] [-5.15479634e-01 -8.56886061e-01 5.19857898e-03 -1.05553431e+02] [-1.02006989e-02 6.99556733e-05 -9.99947969e-01 -1.79241401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.056559995 meters 0.012541965644012804 Centerline is valid? [True, True] Translation: X:96.04, Y:-105.56, Z:-1.79 [[ 8.94347121e-01 -4.47283453e-01 -8.98550099e-03 9.60427886e+01] [-4.47261696e-01 -8.94392256e-01 4.41224580e-03 -1.05562816e+02] [-1.00100870e-02 7.27910791e-05 -9.99949895e-01 -1.79238585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.086559995 meters 0.012598335444287274 Centerline is valid? [True, True] Translation: X:96.05, Y:-105.57, Z:-1.79 [[ 9.26494366e-01 -3.76193873e-01 -9.29295705e-03 9.60464834e+01] [-3.76175758e-01 -9.26540967e-01 3.69257953e-03 -1.05572492e+02] [-9.99943121e-03 7.46310323e-05 -9.99950002e-01 -1.79238502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.116559995 meters 0.01293765421833485 Centerline is valid? [True, True] Translation: X:96.05, Y:-105.58, Z:-1.79 [[ 9.52982647e-01 -3.02883961e-01 -9.24016170e-03 9.60508138e+01] [-3.02870487e-01 -9.53027440e-01 2.85791585e-03 -1.05579527e+02] [-9.67174452e-03 7.50280648e-05 -9.99953225e-01 -1.79115897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.146559995 meters 0.012671610236225116 Centerline is valid? [True, True] Translation: X:96.06, Y:-105.59, Z:-1.79 [[ 9.73714293e-01 -2.27557759e-01 -9.89660183e-03 9.60560631e+01] [-2.27546836e-01 -9.73764581e-01 2.23101207e-03 -1.05588847e+02] [-1.01446444e-02 7.95720918e-05 -9.99948539e-01 -1.79165001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.176559995 meters 0.012952480906613701 Centerline is valid? [True, True] Translation: X:96.06, Y:-105.60, Z:-1.79 [[ 9.88327290e-01 -1.51923992e-01 -1.13255415e-02 9.60616972e+01] [-1.51915219e-01 -9.88392174e-01 1.63588416e-03 -1.05595178e+02] [-1.14426067e-02 1.03733171e-04 -9.99934526e-01 -1.79076396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.206559995 meters 0.013124235934508429 Centerline is valid? [True, True] Translation: X:96.06, Y:-105.60, Z:-1.79 [[ 9.97119495e-01 -7.49144810e-02 -1.18546678e-02 9.60647176e+01] [-7.49105932e-02 -9.97189955e-01 7.72277005e-04 -1.05601736e+02] [-1.18792103e-02 1.17987738e-04 -9.99929433e-01 -1.79049999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.236559995 meters 0.01334094524076048 Centerline is valid? [True, True] Translation: X:96.07, Y:-105.61, Z:-1.79 [[ 9.99925278e-01 2.20344540e-03 -1.20242736e-02 9.60665373e+01] [ 2.20167930e-03 -9.99997564e-01 -1.60113142e-04 -1.05607183e+02] [-1.20245971e-02 1.33627584e-04 -9.99927693e-01 -1.79003448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.266559995 meters 0.013380060579606976 Centerline is valid? [True, True] Translation: X:96.07, Y:-105.61, Z:-1.79 [[ 9.96750569e-01 7.96556048e-02 -1.19702933e-02 9.60701176e+01] [ 7.96481322e-02 -9.96822434e-01 -1.10045079e-03 -1.05613754e+02] [-1.20199139e-02 1.43463449e-04 -9.99927748e-01 -1.79072156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.296559995 meters 0.013583674451606707 Centerline is valid? [True, True] Translation: X:96.07, Y:-105.62, Z:-1.79 [[ 9.87707692e-01 1.55955980e-01 -1.05474253e-02 9.60740849e+01] [ 1.55945536e-01 -9.87763996e-01 -1.81052017e-03 -1.05618460e+02] [-1.07007284e-02 1.43440814e-04 -9.99942735e-01 -1.79190244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.326559995 meters 0.01338025515205351 Centerline is valid? [True, True] Translation: X:96.08, Y:-105.63, Z:-1.79 [[ 9.72562085e-01 2.32429968e-01 -9.96495878e-03 9.60790715e+01] [ 2.32416276e-01 -9.72613124e-01 -2.52679244e-03 -1.05626442e+02] [-1.02793520e-02 1.41443910e-04 -9.99947156e-01 -1.79287158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.356559995 meters 0.013747914447272507 Centerline is valid? [True, True] Translation: X:96.08, Y:-105.63, Z:-1.79 [[ 9.51487306e-01 3.07553635e-01 -9.09216094e-03 9.60830658e+01] [ 3.07538234e-01 -9.51530737e-01 -3.08083038e-03 -1.05632750e+02] [-9.59899118e-03 1.35183884e-04 -9.99953919e-01 -1.79289122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.386559995 meters 0.013604570841493904 Centerline is valid? [True, True] Translation: X:96.09, Y:-105.64, Z:-1.79 [[ 9.24394092e-01 3.81343569e-01 -8.52321435e-03 9.60879233e+01] [ 3.81326077e-01 -9.24433376e-01 -3.65478452e-03 -1.05638956e+02] [-9.27287238e-03 1.28337330e-04 -9.99956998e-01 -1.79326720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.416559995 meters 0.01308629399886478 Centerline is valid? [True, True] Translation: X:96.09, Y:-105.65, Z:-1.79 [[ 8.91172563e-01 4.53602685e-01 -7.48773238e-03 9.60946938e+01] [ 4.53585664e-01 -8.91204013e-01 -3.93105999e-03 -1.05646537e+02] [-8.45623651e-03 1.06924748e-04 -9.99964240e-01 -1.79379851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.446559995 meters 0.013229191440737285 Centerline is valid? [True, True] Translation: X:96.10, Y:-105.65, Z:-1.79 [[ 8.52202812e-01 5.23166507e-01 -6.86833072e-03 9.60998640e+01] [ 5.23148652e-01 -8.52230484e-01 -4.32325854e-03 -1.05653458e+02] [-8.11518488e-03 9.11351302e-05 -9.99967067e-01 -1.79331178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.476559995 meters 0.012715213118813394 Centerline is valid? [True, True] Translation: X:96.11, Y:-105.66, Z:-1.79 [[ 8.07608933e-01 5.89683008e-01 -6.46223792e-03 9.61073588e+01] [ 5.89663372e-01 -8.07634784e-01 -4.81285949e-03 -1.05660533e+02] [-8.05718959e-03 7.63633141e-05 -9.99967537e-01 -1.79361108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.506559995 meters 0.012149333089370561 Centerline is valid? [True, True] Translation: X:96.11, Y:-105.67, Z:-1.79 [[ 7.55530331e-01 6.55083416e-01 -6.29574444e-03 9.61149636e+01] [ 6.55060281e-01 -7.55556561e-01 -5.50558063e-03 -1.05665886e+02] [-8.36340559e-03 3.55410307e-05 -9.99965025e-01 -1.79356145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.536559995 meters 0.012084171184730146 Centerline is valid? [True, True] Translation: X:96.12, Y:-105.67, Z:-1.79 [[ 6.99708475e-01 7.14404294e-01 -5.87841149e-03 9.61217294e+01] [ 7.14378972e-01 -6.99733167e-01 -6.01489004e-03 -1.05671030e+02] [-8.41038276e-03 9.25597970e-06 -9.99964632e-01 -1.79330431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.566559995 meters 0.012034873513852077 Centerline is valid? [True, True] Translation: X:96.13, Y:-105.67, Z:-1.79 [[ 6.38864477e-01 7.69299781e-01 -5.47968479e-03 9.61286047e+01] [ 7.69271774e-01 -6.38887976e-01 -6.56436032e-03 -1.05674879e+02] [-8.55086568e-03 -2.16302145e-05 -9.99963440e-01 -1.79305137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.596559995 meters 0.012238859878598877 Centerline is valid? [True, True] Translation: X:96.14, Y:-105.68, Z:-1.79 [[ 5.73561804e-01 8.19147558e-01 -4.91282292e-03 9.61369651e+01] [ 8.19118309e-01 -5.73582841e-01 -6.92239605e-03 -1.05678622e+02] [-8.48837475e-03 -5.37612394e-05 -9.99963972e-01 -1.79316880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.626559995 meters 0.01299267489136322 Centerline is valid? [True, True] Translation: X:96.15, Y:-105.68, Z:-1.79 [[ 5.01660258e-01 8.65052650e-01 -4.57146433e-03 9.61472293e+01] [ 8.65018860e-01 -5.01681072e-01 -7.64677456e-03 -1.05683095e+02] [-8.90827972e-03 -1.18319968e-04 -9.99960313e-01 -1.79331199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.656559995 meters 0.013788088398042417 Centerline is valid? [True, True] Translation: X:96.16, Y:-105.69, Z:-1.79 [[ 4.30018595e-01 9.02810752e-01 -4.09316891e-03 9.61568899e+01] [ 9.02773040e-01 -4.30038050e-01 -8.25310103e-03 -1.05686606e+02] [-9.21120673e-03 -1.46215630e-04 -9.99957565e-01 -1.79270060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.68655999499998 meters 0.013959921366820997 Centerline is valid? [True, True] Translation: X:96.17, Y:-105.69, Z:-1.79 [[ 3.56066006e-01 9.34455123e-01 -3.25911038e-03 9.61652443e+01] [ 9.34419934e-01 -3.56080887e-01 -8.11106192e-03 -1.05687727e+02] [-8.73993028e-03 -1.57304285e-04 -9.99961794e-01 -1.79300717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.71655999499998 meters 0.014632469105403818 Centerline is valid? [True, True] Translation: X:96.17, Y:-105.69, Z:-1.79 [[ 2.80341919e-01 9.59896677e-01 -2.60356112e-03 9.61731402e+01] [ 9.59860732e-01 -2.80353957e-01 -8.30867763e-03 -1.05689537e+02] [-8.70539070e-03 -1.69785447e-04 -9.99962093e-01 -1.79296462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.74655999499998 meters 0.01531794093067856 Centerline is valid? [True, True] Translation: X:96.18, Y:-105.69, Z:-1.79 [[ 2.02573707e-01 9.79265398e-01 -1.78159953e-03 9.61769938e+01] [ 9.79234546e-01 -2.02581470e-01 -7.77504988e-03 -1.05690224e+02] [-7.97475637e-03 -1.69583133e-04 -9.99968187e-01 -1.79312230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.77655999499999 meters 0.015042534203869688 Centerline is valid? [True, True] Translation: X:96.18, Y:-105.69, Z:-1.79 [[ 1.24705748e-01 9.92193132e-01 -1.12516404e-03 9.61824310e+01] [ 9.92163977e-01 -1.24710711e-01 -7.60797890e-03 -1.05690434e+02] [-7.68890442e-03 -1.67588530e-04 -9.99970426e-01 -1.79354387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.806559995 meters 0.015029301409917114 Centerline is valid? [True, True] Translation: X:96.19, Y:-105.69, Z:-1.79 [[ 4.64613747e-02 9.98919944e-01 -5.35095725e-04 9.61888829e+01] [ 9.98889423e-01 -4.64641390e-02 -7.81049444e-03 -1.05690056e+02] [-7.82692143e-03 -1.71615152e-04 -9.99969354e-01 -1.79369631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.836559995 meters 0.014961607512620392 Centerline is valid? [True, True] Translation: X:96.19, Y:-105.69, Z:-1.79 [[-3.12042496e-02 9.99513026e-01 7.74277375e-05 9.61915601e+01] [ 9.99483021e-01 3.12039129e-02 -7.74632905e-03 -1.05690619e+02] [-7.74497283e-03 -1.64330676e-04 -9.99969994e-01 -1.79287919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.866559995 meters 0.014401061421967312 Centerline is valid? [True, True] Translation: X:96.20, Y:-105.69, Z:-1.79 [[-1.08715082e-01 9.94072689e-01 7.20614302e-04 9.61975423e+01] [ 9.94039456e-01 1.08717341e-01 -8.13013017e-03 -1.05690163e+02] [-8.16028363e-03 -1.67548719e-04 -9.99966690e-01 -1.79293589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.896559995 meters 0.014733702890927333 Centerline is valid? [True, True] Translation: X:96.20, Y:-105.69, Z:-1.79 [[-1.85278852e-01 9.82684847e-01 1.49634244e-03 9.62045631e+01] [ 9.82644692e-01 1.85284811e-01 -8.88523146e-03 -1.05689895e+02] [-9.00863184e-03 -1.75872523e-04 -9.99959406e-01 -1.79190232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.926559995 meters 0.014733702890927333 Centerline is valid? [True, True] Translation: X:96.21, Y:-105.69, Z:-1.79 [[-2.61668365e-01 9.65155366e-01 2.18761201e-03 9.62111797e+01] [ 9.65115802e-01 2.61677450e-01 -8.74070912e-03 -1.05689286e+02] [-9.00859104e-03 -1.75868148e-04 -9.99959406e-01 -1.79190268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.956559995 meters 0.01398519608665003 Centerline is valid? [True, True] Translation: X:96.22, Y:-105.69, Z:-1.79 [[-3.35264808e-01 9.42119052e-01 3.03316351e-03 9.62157282e+01] [ 9.42075676e-01 3.35278484e-01 -9.04211744e-03 -1.05688505e+02] [-9.53570557e-03 -1.74034208e-04 -9.99954519e-01 -1.79220951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.986559995 meters 0.014147999683138303 Centerline is valid? [True, True] Translation: X:96.22, Y:-105.69, Z:-1.79 [[-4.07759015e-01 9.13082345e-01 3.63563842e-03 9.62209114e+01] [ 9.13042329e-01 4.07775188e-01 -8.54990870e-03 -1.05687991e+02] [-9.28929382e-03 -1.66810574e-04 -9.99956840e-01 -1.79281612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.016559995 meters 0.014465059996744412 Centerline is valid? [True, True] Translation: X:96.23, Y:-105.68, Z:-1.79 [[-4.79539420e-01 8.77511704e-01 3.89283871e-03 9.62303610e+01] [ 8.77479930e-01 4.79555191e-01 -7.46933222e-03 -1.05684359e+02] [-8.42125745e-03 -1.65951398e-04 -9.99964527e-01 -1.79318625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.046559995 meters 0.014820101027945063 Centerline is valid? [True, True] Translation: X:96.24, Y:-105.68, Z:-1.79 [[-5.47869727e-01 8.36552196e-01 4.38027465e-03 9.62387267e+01] [ 8.36522885e-01 5.47887209e-01 -7.00486786e-03 -1.05679838e+02] [-8.25983404e-03 -1.73555053e-04 -9.99965872e-01 -1.79312484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.076559995 meters 0.015501444217834417 Centerline is valid? [True, True] Translation: X:96.25, Y:-105.67, Z:-1.79 [[-6.13139764e-01 7.89953599e-01 5.73948664e-03 9.62478641e+01] [ 7.89915584e-01 6.13166587e-01 -7.75282658e-03 -1.05674035e+02] [-9.64363469e-03 -2.19856322e-04 -9.99953475e-01 -1.79149687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.106559995 meters 0.01525962205912491 Centerline is valid? [True, True] Translation: X:96.25, Y:-105.67, Z:-1.79 [[-6.72567587e-01 7.40002407e-01 7.01991082e-03 9.62541555e+01] [ 7.39958396e-01 6.72604180e-01 -8.07400048e-03 -1.05668848e+02] [-1.06964011e-02 -2.35869067e-04 -9.99942764e-01 -1.79039265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.136559995 meters 0.014903018357902817 Centerline is valid? [True, True] Translation: X:96.26, Y:-105.66, Z:-1.79 [[-7.27338032e-01 6.86235160e-01 7.79047667e-03 9.62596144e+01] [ 6.86192487e-01 7.27379719e-01 -7.65605610e-03 -1.05663931e+02] [-1.09204896e-02 -2.22774215e-04 -9.99940345e-01 -1.78963357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.166559995 meters 0.01352217497637517 Centerline is valid? [True, True] Translation: X:96.28, Y:-105.65, Z:-1.79 [[-7.70962187e-01 6.36819307e-01 8.85868618e-03 9.62771520e+01] [ 6.36774561e-01 7.71013059e-01 -7.55120877e-03 -1.05647479e+02] [-1.16389183e-02 -1.80710421e-04 -9.99932249e-01 -1.78936131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.196559995 meters 0.012993593715461424 Centerline is valid? [True, True] Translation: X:96.29, Y:-105.62, Z:-1.79 [[-8.12474109e-01 5.82921449e-01 9.40243392e-03 9.62886503e+01] [ 5.82880285e-01 8.12528499e-01 -6.92905715e-03 -1.05624211e+02] [-1.16788416e-02 -1.49186177e-04 -9.99931789e-01 -1.78960286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.226559995 meters 0.012857620139978588 Centerline is valid? [True, True] Translation: X:96.31, Y:-105.61, Z:-1.79 [[-8.50250325e-01 5.26290202e-01 9.64407328e-03 9.63127543e+01] [ 5.26254815e-01 8.50305010e-01 -6.10403004e-03 -1.05609439e+02] [-1.14128950e-02 -1.14713524e-04 -9.99934864e-01 -1.78961938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.256559995 meters 0.012380820788857478 Centerline is valid? [True, True] Translation: X:96.33, Y:-105.59, Z:-1.79 [[-8.84070695e-01 4.67258165e-01 9.42410911e-03 9.63269010e+01] [ 4.67230680e-01 8.84120920e-01 -5.06858206e-03 -1.05589292e+02] [-1.07003884e-02 -7.77519521e-05 -9.99942746e-01 -1.79086781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.286559995 meters 0.012083148419104524 Centerline is valid? [True, True] Translation: X:96.34, Y:-105.57, Z:-1.79 [[-9.12840986e-01 4.08199920e-01 9.70354415e-03 9.63430970e+01] [ 4.08176609e-01 9.12892559e-01 -4.36246762e-03 -1.05571845e+02] [-1.06390522e-02 -2.14794904e-05 -9.99943403e-01 -1.79118778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.316559995 meters 0.012099336811159257 Centerline is valid? [True, True] Translation: X:96.35, Y:-105.55, Z:-1.79 [[-9.38791764e-01 3.44333057e-01 1.02356856e-02 9.63546162e+01] [ 3.44312584e-01 9.38847563e-01 -3.75481865e-03 -1.05547218e+02] [-1.09026566e-02 -7.17485294e-07 -9.99940564e-01 -1.79122243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.346559995 meters 0.01231914288737398 Centerline is valid? [True, True] Translation: X:96.36, Y:-105.52, Z:-1.79 [[-9.59824010e-01 2.80390670e-01 1.09060402e-02 9.63635843e+01] [ 2.80373048e-01 9.59885968e-01 -3.14379187e-03 -1.05521350e+02] [-1.13500449e-02 4.02728200e-05 -9.99935585e-01 -1.79018690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.376559995 meters 0.012367401979104561 Centerline is valid? [True, True] Translation: X:96.37, Y:-105.49, Z:-1.79 [[-9.77013270e-01 2.12895883e-01 1.09732995e-02 9.63718293e+01] [ 2.12883084e-01 9.77074890e-01 -2.33510507e-03 -1.05494774e+02] [-1.12188697e-02 5.46012019e-05 -9.99937065e-01 -1.79019388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.406559995 meters 0.012536537325870258 Centerline is valid? [True, True] Translation: X:96.52, Y:-104.82, Z:-2.80 [[-9.63483249e-01 -2.67556591e-01 1.06535782e-02 9.65186420e+01] [ 2.67539514e-01 -9.63542146e-01 -3.02360520e-03 -1.04818485e+02] [ 1.10741571e-02 -6.29398439e-05 9.99938678e-01 -2.79996906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.43655999499998 meters 0.012589615342771268 Centerline is valid? [True, True] Translation: X:96.32, Y:-105.49, Z:-1.79 [[-9.77501051e-01 2.10659745e-01 1.06848991e-02 9.63218580e+01] [ 2.10647958e-01 9.77559444e-01 -2.22952091e-03 -1.05485209e+02] [-1.09147944e-02 7.13931493e-05 -9.99940429e-01 -1.79133166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.46655999499998 meters 0.012725436390735242 Centerline is valid? [True, True] Translation: X:96.47, Y:-104.81, Z:-2.80 [[-9.64883739e-01 -2.62462324e-01 1.06253965e-02 9.64665021e+01] [ 2.62445670e-01 -9.64942239e-01 -2.95739333e-03 -1.04807816e+02] [ 1.10290982e-02 -6.49514347e-05 9.99939176e-01 -2.79891835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.49655999499998 meters 0.012664093217712752 Centerline is valid? [True, True] Translation: X:96.27, Y:-105.48, Z:-1.79 [[-9.78138939e-01 2.07652501e-01 1.11648705e-02 9.62709194e+01] [ 2.07639955e-01 9.78202654e-01 -2.28411374e-03 -1.05475391e+02] [-1.13958079e-02 8.40926112e-05 -9.99935062e-01 -1.79188406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.52655999499999 meters 0.012647035896332004 Centerline is valid? [True, True] Translation: X:96.27, Y:-105.45, Z:-1.79 [[-9.90442195e-01 1.37438751e-01 1.16123966e-02 9.62722766e+01] [ 1.37430291e-01 9.90510264e-01 -1.52716645e-03 -1.05446554e+02] [-1.17120899e-02 8.33249634e-05 -9.99931408e-01 -1.79234508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.556559995 meters 0.01302525947909313 Centerline is valid? [True, True] Translation: X:96.27, Y:-105.42, Z:-1.79 [[-9.97735289e-01 6.61005451e-02 1.24503787e-02 9.62714316e+01] [ 6.60964149e-02 9.97812964e-01 -7.43374509e-04 -1.05418263e+02] [-1.24722868e-02 8.12344185e-05 -9.99922215e-01 -1.79035989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.586559995 meters 0.0127290232962087 Centerline is valid? [True, True] Translation: X:96.27, Y:-105.39, Z:-1.79 [[-9.99886174e-01 -6.66127802e-03 1.35375969e-02 9.62678620e+01] [-6.65977754e-03 9.99977811e-01 1.55916404e-04 -1.05387191e+02] [-1.35383351e-02 6.57412728e-05 -9.99908350e-01 -1.78987434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.616559995 meters 0.012557525224125399 Centerline is valid? [True, True] Translation: X:96.26, Y:-104.70, Z:-2.80 [[-9.98555650e-01 -5.20569594e-02 1.32923444e-02 9.62627392e+01] [ 5.20512852e-02 -9.98644114e-01 -7.72712396e-04 -1.04703644e+02] [ 1.33145465e-02 -7.97127205e-05 9.99911354e-01 -2.80036110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.646559995 meters 0.012391802192902753 Centerline is valid? [True, True] Translation: X:96.18, Y:-105.39, Z:-1.79 [[-9.99794491e-01 -1.49640047e-02 1.36767568e-02 9.61840166e+01] [-1.49622314e-02 9.99888033e-01 2.31978962e-04 -1.05385644e+02] [-1.36786968e-02 2.72964885e-05 -9.99906442e-01 -1.79075901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.676559995 meters 0.012321009339105375 Centerline is valid? [True, True] Translation: X:96.17, Y:-104.71, Z:-2.80 [[-9.98601847e-01 -5.11050414e-02 1.35139521e-02 9.61717128e+01] [ 5.10998610e-02 -9.98693283e-01 -7.28576032e-04 -1.04707342e+02] [ 1.35335271e-02 -3.69962955e-05 9.99908417e-01 -2.79963726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.706559995 meters 0.012261978188243282 Centerline is valid? [True, True] Translation: X:96.10, Y:-105.38, Z:-1.79 [[-9.99611999e-01 -2.45867539e-02 1.30898404e-02 9.60992792e+01] [-2.45850038e-02 9.99697700e-01 2.94627493e-04 -1.05383383e+02] [-1.30931273e-02 -2.73005976e-05 -9.99914281e-01 -1.79183407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.736559995 meters 0.012348806104039177 Centerline is valid? [True, True] Translation: X:96.08, Y:-104.71, Z:-2.80 [[-9.98763425e-01 -4.80233419e-02 1.28600342e-02 9.60848182e+01] [ 4.80195178e-02 -9.98846214e-01 -6.06157577e-04 -1.04710546e+02] [ 1.28743062e-02 1.21246261e-05 9.99917123e-01 -2.79936649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.766559995 meters 0.012297036258250137 Centerline is valid? [True, True] Translation: X:96.01, Y:-105.38, Z:-1.79 [[-9.99422102e-01 -3.16927157e-02 1.22895931e-02 9.60141727e+01] [-3.16909029e-02 9.99497659e-01 3.42271715e-04 -1.05383326e+02] [-1.22942671e-02 -4.73943844e-05 -9.99924422e-01 -1.79198001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.796559995 meters 0.012159795283612562 Centerline is valid? [True, True] Translation: X:96.01, Y:-105.36, Z:-1.79 [[-9.94552941e-01 -1.03624644e-01 1.12418815e-02 9.60087498e+01] [-1.03618629e-01 9.94616474e-01 1.11777303e-03 -1.05355043e+02] [-1.12971893e-02 -5.31838905e-05 -9.99936183e-01 -1.79370615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.826559995 meters 0.012136746771890097 Centerline is valid? [True, True] Translation: X:95.99, Y:-105.33, Z:-1.79 [[-9.84576764e-01 -1.74632258e-01 1.05909999e-02 9.59948246e+01] [-1.74622746e-01 9.84633725e-01 1.82346858e-03 -1.05328688e+02] [-1.07466921e-02 -5.40846836e-05 -9.99942251e-01 -1.79380211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.856559995 meters 0.012145649355953822 Centerline is valid? [True, True] Translation: X:95.97, Y:-105.31, Z:-1.79 [[-9.69467927e-01 -2.44989510e-01 1.05866930e-02 9.59685750e+01] [-2.44975527e-01 9.69525728e-01 2.61810219e-03 -1.05305921e+02] [-1.09054788e-02 -5.53145914e-05 -9.99940532e-01 -1.79419586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.886559995 meters 0.012029130348331932 Centerline is valid? [True, True] Translation: X:95.93, Y:-105.29, Z:-1.80 [[-9.49209446e-01 -3.14483177e-01 1.00875279e-02 9.59280548e+01] [-3.14466027e-01 9.49263045e-01 3.28472695e-03 -1.05289074e+02] [-1.06087088e-02 -5.42909868e-05 -9.99943725e-01 -1.79510396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.916559995 meters 0.011986228057957715 Centerline is valid? [True, True] Translation: X:95.87, Y:-105.28, Z:-1.80 [[-9.23412992e-01 -3.83684887e-01 9.71357746e-03 9.58687004e+01] [-3.83664298e-01 9.23464078e-01 3.97519008e-03 -1.05281301e+02] [-1.04953602e-02 -5.60107127e-05 -9.99944921e-01 -1.79572271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.946559995 meters 0.012011503864190141 Centerline is valid? [True, True] Translation: X:95.80, Y:-105.28, Z:-1.80 [[-8.92210616e-01 -4.51516919e-01 9.62745550e-03 9.58030863e+01] [-4.51491427e-01 8.92262555e-01 4.79838885e-03 -1.05280237e+02] [-1.07567718e-02 -6.55401501e-05 -9.99942142e-01 -1.79623654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.976559995 meters 0.01207932831152513 Centerline is valid? [True, True] Translation: X:95.72, Y:-105.29, Z:-1.80 [[-8.55569330e-01 -5.17599384e-01 9.59159385e-03 9.57246971e+01] [-5.17567951e-01 8.55623089e-01 5.70491491e-03 -1.05289577e+02] [-1.11596496e-02 -8.33513476e-05 -9.99937726e-01 -1.79566622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.006559995 meters 0.012329555178514409 Centerline is valid? [True, True] Translation: X:95.65, Y:-105.31, Z:-1.79 [[-8.14000937e-01 -5.80777569e-01 9.99454234e-03 9.56459116e+01] [-5.80735317e-01 8.14062286e-01 7.00610806e-03 -1.05305879e+02] [-1.22051704e-02 -1.01205198e-04 -9.99925509e-01 -1.79443548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.036559995 meters 0.012522876075296093 Centerline is valid? [True, True] Translation: X:95.56, Y:-105.33, Z:-1.79 [[-7.67490639e-01 -6.40973025e-01 1.05687983e-02 9.55611133e+01] [-6.40914508e-01 7.67563395e-01 8.66191246e-03 -1.05334037e+02] [-1.36642749e-02 -1.25759405e-04 -9.99906632e-01 -1.79301922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.066559995 meters 0.012668880734369992 Centerline is valid? [True, True] Translation: X:95.47, Y:-105.37, Z:-1.79 [[-7.16088628e-01 -6.97923836e-01 1.09268166e-02 9.54738111e+01] [-6.97845945e-01 7.16171972e-01 1.04280293e-02 -1.05373261e+02] [-1.51034500e-02 -1.57841438e-04 -9.99885924e-01 -1.79184440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.096559995 meters 0.013173023980062277 Centerline is valid? [True, True] Translation: X:95.39, Y:-105.42, Z:-1.79 [[-6.59856447e-01 -7.51296133e-01 1.19829009e-02 9.53876619e+01] [-7.51178272e-01 6.59965206e-01 1.33090656e-02 -1.05421212e+02] [-1.79073472e-02 -2.19222076e-04 -9.99839627e-01 -1.78932225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.126559995 meters 0.013486192459324418 Centerline is valid? [True, True] Translation: X:95.30, Y:-105.48, Z:-1.79 [[-6.00515045e-01 -7.99534047e-01 1.12688822e-02 9.53007139e+01] [-7.99400631e-01 6.00620722e-01 1.46075449e-02 -1.05482136e+02] [-1.84475537e-02 -2.36301035e-04 -9.99829801e-01 -1.78818425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.156559995 meters 0.013314532176849045 Centerline is valid? [True, True] Translation: X:95.22, Y:-105.55, Z:-1.79 [[-5.37818344e-01 -8.42997268e-01 1.03458080e-02 9.52193009e+01] [-8.42849998e-01 5.37917788e-01 1.57586132e-02 -1.05551107e+02] [-1.88496621e-02 -2.44693014e-04 -9.99822299e-01 -1.78895572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.18655999499998 meters 0.013141559924958966 Centerline is valid? [True, True] Translation: X:95.14, Y:-105.63, Z:-1.79 [[-4.72076596e-01 -8.81511288e-01 9.02983135e-03 9.51423048e+01] [-8.81359681e-01 4.72162888e-01 1.63499346e-02 -1.05627247e+02] [-1.86762031e-02 -2.40107816e-04 -9.99825556e-01 -1.78916425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.21655999499998 meters 0.013627635483081522 Centerline is valid? [True, True] Translation: X:95.07, Y:-105.71, Z:-1.79 [[-4.04443950e-01 -9.14533033e-01 7.37723395e-03 9.50710590e+01] [-9.14390123e-01 4.04511174e-01 1.61682660e-02 -1.05710862e+02] [-1.77705869e-02 -2.06512498e-04 -9.99842069e-01 -1.78820713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.24655999499998 meters 0.012921234585129292 Centerline is valid? [True, True] Translation: X:95.01, Y:-105.80, Z:-1.79 [[-3.34308804e-01 -9.42444930e-01 5.93112514e-03 9.50058365e+01] [-9.42306069e-01 3.34361365e-01 1.61787132e-02 -1.05803885e+02] [-1.72306853e-02 -1.80248948e-04 -9.99851524e-01 -1.79050218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.27655999499999 meters 0.012390143136630396 Centerline is valid? [True, True] Translation: X:94.95, Y:-105.90, Z:-1.79 [[-2.62387805e-01 -9.64952738e-01 4.34195169e-03 9.49471547e+01] [-9.64829696e-01 2.62423687e-01 1.54099566e-02 -1.05903779e+02] [-1.60093108e-02 -1.45859238e-04 -9.99871832e-01 -1.79258487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.306559995 meters 0.012236834312999318 Centerline is valid? [True, True] Translation: X:94.90, Y:-106.01, Z:-1.79 [[-1.90514861e-01 -9.81680549e-01 2.71790506e-03 9.48970637e+01] [-9.81586790e-01 1.90534229e-01 1.35676454e-02 -1.06009551e+02] [-1.38369476e-02 -8.30216138e-05 -9.99904261e-01 -1.79336641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.336559995 meters 0.011829835446494765 Centerline is valid? [True, True] Translation: X:94.85, Y:-106.12, Z:-1.80 [[-1.16327151e-01 -9.93209747e-01 1.54688366e-03 9.48537508e+01] [-9.93127876e-01 1.16337423e-01 1.27524592e-02 -1.06120198e+02] [-1.28458272e-02 -5.27960433e-05 -9.99917488e-01 -1.79522025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.366559995 meters 0.011743993695626146 Centerline is valid? [True, True] Translation: X:94.82, Y:-106.24, Z:-1.80 [[-4.05847857e-02 -9.99175973e-01 5.00334619e-04 9.48171078e+01] [-9.99110463e-01 4.05878541e-02 1.14415097e-02 -1.06236849e+02] [-1.14523890e-02 -3.55383358e-05 -9.99934419e-01 -1.79682112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.396559995 meters 0.011738257143833112 Centerline is valid? [True, True] Translation: X:94.79, Y:-106.35, Z:-1.80 [[ 3.59338462e-02 -9.99354108e-01 -3.55277615e-04 9.47885698e+01] [-9.99296909e-01 -3.59355906e-02 1.06920757e-02 -1.06345629e+02] [-1.06979369e-02 -2.91795804e-05 -9.99942775e-01 -1.79717969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.426559995 meters 0.011711544453505513 Centerline is valid? [True, True] Translation: X:94.10, Y:-106.49, Z:-2.79 [[-3.64993575e-02 9.99333611e-01 3.61122567e-04 9.40970244e+01] [-9.99276348e-01 -3.65011319e-02 1.06980399e-02 -1.06485276e+02] [ 1.07040923e-02 2.96103449e-05 9.99942709e-01 -2.79414401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.456559995 meters 0.011646966180049104 Centerline is valid? [True, True] Translation: X:94.80, Y:-106.63, Z:-1.80 [[ 4.46723350e-02 -9.99001573e-01 -4.89811741e-04 9.47956024e+01] [-9.98936505e-01 -4.46750157e-02 1.14018453e-02 -1.06628082e+02] [-1.14123438e-02 -2.00562251e-05 -9.99934877e-01 -1.79710225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.486559995 meters 0.011737311087143161 Centerline is valid? [True, True] Translation: X:94.78, Y:-106.75, Z:-1.80 [[ 1.21222731e-01 -9.92624272e-01 -1.45059062e-03 9.47775419e+01] [-9.92551315e-01 -1.21231408e-01 1.20346505e-02 -1.06748532e+02] [-1.21217433e-02 -1.90875689e-05 -9.99926529e-01 -1.79623571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.516559995 meters 0.011824489189645244 Centerline is valid? [True, True] Translation: X:94.77, Y:-106.87, Z:-1.80 [[ 1.97253691e-01 -9.80349272e-01 -2.50707522e-03 9.47681993e+01] [-9.80268708e-01 -1.97269622e-01 1.25680426e-02 -1.06867367e+02] [-1.28156412e-02 -2.14854114e-05 -9.99917876e-01 -1.79606587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.546559995 meters 0.0118524341124034 Centerline is valid? [True, True] Translation: X:94.77, Y:-106.99, Z:-1.79 [[ 2.72628221e-01 -9.62112644e-01 -3.62111871e-03 9.47691053e+01] [-9.62026336e-01 -2.72652267e-01 1.28868362e-02 -1.06994602e+02] [-1.33858943e-02 -2.97036791e-05 -9.99910404e-01 -1.79499091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.576559995 meters 0.011940705682605987 Centerline is valid? [True, True] Translation: X:94.78, Y:-107.12, Z:-1.79 [[ 3.46241871e-01 -9.38133100e-01 -4.78058871e-03 9.47779821e+01] [-9.38042206e-01 -3.46274870e-01 1.30588703e-02 -1.07116252e+02] [-1.39063562e-02 -3.71336917e-05 -9.99903301e-01 -1.79403599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.606559995 meters 0.011921546322480294 Centerline is valid? [True, True] Translation: X:94.79, Y:-107.22, Z:-1.79 [[ 4.17810959e-01 -9.08514492e-01 -5.95159984e-03 9.47908918e+01] [-9.08420759e-01 -4.17853343e-01 1.30502111e-02 -1.07224736e+02] [-1.43432018e-02 -4.59643789e-05 -9.99897130e-01 -1.79382324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.636559995 meters 0.012004608460372884 Centerline is valid? [True, True] Translation: X:94.81, Y:-107.34, Z:-1.79 [[ 4.88063646e-01 -8.72772171e-01 -7.91294590e-03 9.48142580e+01] [-8.72654568e-01 -4.88127780e-01 1.43274515e-02 -1.07340787e+02] [-1.63671297e-02 -8.74398467e-05 -9.99866046e-01 -1.79287603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.666559995 meters 0.01220698002159029 Centerline is valid? [True, True] Translation: X:94.85, Y:-107.45, Z:-1.79 [[ 5.54016841e-01 -8.32451907e-01 -9.44256573e-03 9.48467546e+01] [-8.32327824e-01 -5.54097294e-01 1.43729430e-02 -1.07451798e+02] [-1.71968839e-02 -1.03542270e-04 -9.99852117e-01 -1.79114831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.696559995 meters 0.01250066437979104 Centerline is valid? [True, True] Translation: X:94.89, Y:-107.56, Z:-1.79 [[ 6.16455256e-01 -7.87312388e-01 -1.10508387e-02 9.48860830e+01] [-7.87182451e-01 -6.16554288e-01 1.43038385e-02 -1.07556794e+02] [-1.80750312e-02 -1.18650095e-04 -9.99836626e-01 -1.79001293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.726559995 meters 0.012438573115538825 Centerline is valid? [True, True] Translation: X:94.93, Y:-107.66, Z:-1.79 [[ 6.75457107e-01 -7.37295082e-01 -1.23959150e-02 9.49311275e+01] [-7.37167085e-01 -6.75570827e-01 1.37385342e-02 -1.07655679e+02] [-1.85036722e-02 -1.41929997e-04 -9.99828782e-01 -1.79056919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.756559995 meters 0.012469862950913822 Centerline is valid? [True, True] Translation: X:94.98, Y:-107.75, Z:-1.79 [[ 7.29787013e-01 -6.83541536e-01 -1.34864339e-02 9.49827368e+01] [-6.83421085e-01 -7.29911602e-01 1.28324961e-02 -1.07748843e+02] [-1.86154486e-02 -1.48075710e-04 -9.99826707e-01 -1.79058914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.786559995 meters 0.012517912866382546 Centerline is valid? [True, True] Translation: X:94.98, Y:-107.76, Z:-1.79 [[ 7.81369181e-01 -6.23916196e-01 -1.38124370e-02 9.49810132e+01] [-6.23815289e-01 -7.81491239e-01 1.12217905e-02 -1.07756380e+02] [-1.77957553e-02 -1.51951872e-04 -9.99841631e-01 -1.79086740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.816559995 meters 0.01243428103501516 Centerline is valid? [True, True] Translation: X:94.98, Y:-107.76, Z:-1.79 [[ 8.27912049e-01 -5.60679806e-01 -1.41348503e-02 9.49804928e+01] [-5.60594969e-01 -8.28032688e-01 9.75445226e-03 -1.07764657e+02] [-1.71732425e-02 -1.51902596e-04 -9.99852517e-01 -1.79179063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.846559995 meters 0.01243428103501516 Centerline is valid? [True, True] Translation: X:94.98, Y:-107.77, Z:-1.79 [[ 8.69208463e-01 -4.94222621e-01 -1.48542273e-02 9.49797414e+01] [-4.94147475e-01 -8.69335366e-01 8.61942818e-03 -1.07772542e+02] [-1.71732215e-02 -1.51901003e-04 -9.99852518e-01 -1.79179085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.876559995 meters 0.01253204226716308 Centerline is valid? [True, True] Translation: X:94.98, Y:-107.78, Z:-1.79 [[ 9.05399832e-01 -4.24339482e-01 -1.36802094e-02 9.49793793e+01] [-4.24288700e-01 -9.05503166e-01 6.56617855e-03 -1.07779141e+02] [-1.51737617e-02 -1.40658685e-04 -9.99884862e-01 -1.79325014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.906559995 meters 0.011970149734357591 Centerline is valid? [True, True] Translation: X:94.98, Y:-107.79, Z:-1.80 [[ 9.35813114e-01 -3.52248151e-01 -1.32308479e-02 9.49793090e+01] [-3.52210955e-01 -9.35906632e-01 5.12058963e-03 -1.07788805e+02] [-1.41865565e-02 -1.31865360e-04 -9.99899357e-01 -1.79587072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.93655999499998 meters 0.012846823906129044 Centerline is valid? [True, True] Translation: X:94.98, Y:-107.80, Z:-1.79 [[ 9.60634350e-01 -2.77533978e-01 -1.25114926e-02 9.49788313e+01] [-2.77508710e-01 -9.60715814e-01 3.74718209e-03 -1.07800284e+02] [-1.30599592e-02 -1.27623662e-04 -9.99914707e-01 -1.79442525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.96655999499998 meters 0.012289224336780608 Centerline is valid? [True, True] Translation: X:94.98, Y:-107.81, Z:-1.80 [[ 9.79508226e-01 -2.01102947e-01 -1.10108582e-02 9.49816768e+01] [-2.01088909e-01 -9.79570105e-01 2.37899227e-03 -1.07806284e+02] [-1.12643299e-02 -1.16081033e-04 -9.99936549e-01 -1.79772004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.99655999499998 meters 0.012065177937930681 Centerline is valid? [True, True] Translation: X:94.98, Y:-107.82, Z:-1.80 [[ 9.92271979e-01 -1.23622531e-01 -1.06672254e-02 9.49820102e+01] [-1.23614173e-01 -9.92329309e-01 1.44182066e-03 -1.07815271e+02] [-1.07636419e-02 -1.12057991e-04 -9.99942064e-01 -1.79851251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.02655999499999 meters 0.012143376498918567 Centerline is valid? [True, True] Translation: X:94.98, Y:-107.82, Z:-1.80 [[ 9.98924065e-01 -4.51700790e-02 -1.05059750e-02 9.49811359e+01] [-4.51663855e-02 -9.98979305e-01 5.88676062e-04 -1.07823803e+02] [-1.05218422e-02 -1.13525766e-04 -9.99944637e-01 -1.79853748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.056559995 meters 0.012012989090309744 Centerline is valid? [True, True] Translation: X:94.98, Y:-107.83, Z:-1.80 [[ 9.99382843e-01 3.35842361e-02 -1.02972346e-02 9.49813571e+01] [ 3.35836454e-02 -9.99435884e-01 -2.30319742e-04 -1.07834318e+02] [-1.02991608e-02 -1.15641076e-04 -9.99946956e-01 -1.79858447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.086559995 meters 0.012865777806920121 Centerline is valid? [True, True] Translation: X:94.98, Y:-107.85, Z:-1.80 [[ 9.93613521e-01 1.12326720e-01 -1.07182016e-02 9.49815052e+01] [ 1.12321566e-01 -9.93671320e-01 -1.08344930e-03 -1.07846967e+02] [-1.07720698e-02 -1.27355314e-04 -9.99941971e-01 -1.79639070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.116559995 meters 0.012274841569189603 Centerline is valid? [True, True] Translation: X:94.98, Y:-107.86, Z:-1.80 [[ 9.81613335e-01 1.90575959e-01 -1.07733313e-02 9.49830190e+01] [ 1.90566030e-01 -9.81672443e-01 -1.95030678e-03 -1.07855280e+02] [-1.09475640e-02 -1.38583827e-04 -9.99940064e-01 -1.79753953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.146559995 meters 0.01313234098501242 Centerline is valid? [True, True] Translation: X:94.98, Y:-107.87, Z:-1.80 [[ 9.63205429e-01 2.68488907e-01 -1.22068930e-02 9.49848640e+01] [ 2.68469731e-01 -9.63282759e-01 -3.21396793e-03 -1.07865570e+02] [-1.26216043e-02 -1.81469928e-04 -9.99920328e-01 -1.79576918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.176559995 meters 0.012895125086938014 Centerline is valid? [True, True] Translation: X:94.99, Y:-107.87, Z:-1.80 [[ 9.38975706e-01 3.43742366e-01 -1.28767393e-02 9.49873042e+01] [ 3.43713040e-01 -9.39063972e-01 -4.49470072e-03 -1.07872362e+02] [-1.36371010e-02 -2.05488433e-04 -9.99906989e-01 -1.79595256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.206559995 meters 0.013102371061030809 Centerline is valid? [True, True] Translation: X:94.99, Y:-107.88, Z:-1.80 [[ 9.08965441e-01 4.16667495e-01 -1.30393934e-02 9.49905674e+01] [ 4.16628126e-01 -9.09058936e-01 -5.73197390e-03 -1.07879639e+02] [-1.42419043e-02 -2.22411876e-04 -9.99898554e-01 -1.79514004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.236559995 meters 0.013480028861576251 Centerline is valid? [True, True] Translation: X:94.99, Y:-107.89, Z:-1.79 [[ 8.73058493e-01 4.87419134e-01 -1.38367641e-02 9.49944078e+01] [ 4.87362634e-01 -8.73168094e-01 -7.42578586e-03 -1.07887416e+02] [-1.57012910e-02 -2.60376390e-04 -9.99876693e-01 -1.79423139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.266559995 meters 0.013602371283512084 Centerline is valid? [True, True] Translation: X:95.00, Y:-107.89, Z:-1.79 [[ 8.32040951e-01 5.54558055e-01 -1.31612769e-02 9.49990756e+01] [ 5.54493694e-01 -8.32144996e-01 -8.45280587e-03 -1.07893619e+02] [-1.56396622e-02 -2.64764380e-04 -9.99877658e-01 -1.79392579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.296559995 meters 0.01348154084250167 Centerline is valid? [True, True] Translation: X:95.00, Y:-107.90, Z:-1.79 [[ 7.86026995e-01 6.18068926e-01 -1.23436688e-02 9.50042398e+01] [ 6.17997962e-01 -7.86123867e-01 -9.36937196e-03 -1.07899556e+02] [-1.54945703e-02 -2.63782876e-04 -9.99879917e-01 -1.79434345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.326559995 meters 0.013651050471165943 Centerline is valid? [True, True] Translation: X:95.01, Y:-107.91, Z:-1.79 [[ 7.35889402e-01 6.77013120e-01 -1.09554997e-02 9.50083922e+01] [ 6.76942843e-01 -7.35970909e-01 -9.75745030e-03 -1.07906056e+02] [-1.46688509e-02 -2.35842820e-04 -9.99892379e-01 -1.79442074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.356559995 meters 0.013597191905819789 Centerline is valid? [True, True] Translation: X:95.01, Y:-107.91, Z:-1.79 [[ 6.81573014e-01 7.31683137e-01 -9.90018330e-03 9.50105162e+01] [ 7.31610422e-01 -6.81644880e-01 -1.03173615e-02 -1.07908579e+02] [-1.42974487e-02 -2.11042130e-04 -9.99897764e-01 -1.79442538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.386559995 meters 0.011668971976326568 Centerline is valid? [True, True] Translation: X:95.01, Y:-107.91, Z:-1.80 [[ 6.25684732e-01 7.80033252e-01 -8.16955576e-03 9.50133916e+01] [ 7.79969519e-01 -6.25738050e-01 -9.97202960e-03 -1.07911171e+02] [-1.28905166e-02 -1.32657811e-04 -9.99916905e-01 -1.79793376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.416559995 meters 0.011345594074036458 Centerline is valid? [True, True] Translation: X:95.02, Y:-107.92, Z:-1.80 [[ 5.65060993e-01 8.25019155e-01 -7.03334547e-03 9.50175470e+01] [ 8.24957258e-01 -5.65104756e-01 -1.01062810e-02 -1.07915731e+02] [-1.23124524e-02 -9.15442129e-05 -9.99924195e-01 -1.79812707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.446559995 meters 0.010990548949844076 Centerline is valid? [True, True] Translation: X:95.02, Y:-107.92, Z:-1.80 [[ 5.01698450e-01 8.65020913e-01 -6.12254961e-03 9.50232911e+01] [ 8.64957689e-01 -5.01735805e-01 -1.04583579e-02 -1.07919798e+02] [-1.21186007e-02 -4.88043984e-05 -9.99926566e-01 -1.79899368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.476559995 meters 0.011024348900207965 Centerline is valid? [True, True] Translation: X:95.03, Y:-107.92, Z:-1.80 [[ 4.35601452e-01 9.00123401e-01 -5.40727260e-03 9.50282008e+01] [ 9.00054224e-01 -4.35635011e-01 -1.11593152e-02 -1.07924431e+02] [-1.24003580e-02 -5.82462881e-06 -9.99923113e-01 -1.79865152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.506559995 meters 0.011420024852929674 Centerline is valid? [True, True] Translation: X:95.03, Y:-107.93, Z:-1.80 [[ 3.70344956e-01 9.28883425e-01 -4.49401246e-03 9.50301312e+01] [ 9.28812366e-01 -3.70372213e-01 -1.14896858e-02 -1.07927367e+02] [-1.23370360e-02 8.10528424e-05 -9.99923893e-01 -1.79862887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.536559995 meters 0.011853071553818654 Centerline is valid? [True, True] Translation: X:95.04, Y:-107.93, Z:-1.80 [[ 2.99033270e-01 9.54236172e-01 -3.52588184e-03 9.50352201e+01] [ 9.54165329e-01 -2.99054035e-01 -1.16279541e-02 -1.07930856e+02] [-1.21502436e-02 1.12870934e-04 -9.99926177e-01 -1.79846615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.566559995 meters 0.012737974134467539 Centerline is valid? [True, True] Translation: X:95.04, Y:-107.93, Z:-1.80 [[ 2.27792078e-01 9.73705780e-01 -2.79693686e-03 9.50407692e+01] [ 9.73622370e-01 -2.27809177e-01 -1.27459443e-02 -1.07934122e+02] [-1.30479676e-02 1.80264853e-04 -9.99914855e-01 -1.79813655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.596559995 meters 0.013168299440427307 Centerline is valid? [True, True] Translation: X:95.05, Y:-107.94, Z:-1.80 [[ 1.52682499e-01 9.88273546e-01 -1.85809768e-03 9.50474034e+01] [ 9.88182500e-01 -1.52693657e-01 -1.34161781e-02 -1.07937534e+02] [-1.35425737e-02 2.12275991e-04 -9.99908273e-01 -1.79794840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.626559995 meters 0.014491903586577455 Centerline is valid? [True, True] Translation: X:95.05, Y:-107.94, Z:-1.80 [[ 7.78521883e-02 9.96964560e-01 -8.38585091e-04 9.50523982e+01] [ 9.96864178e-01 -7.78562515e-02 -1.41497196e-02 -1.07941250e+02] [-1.41720581e-02 2.65631199e-04 -9.99899536e-01 -1.79705757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.656559995 meters 0.013843765161520647 Centerline is valid? [True, True] Translation: X:95.06, Y:-107.94, Z:-1.80 [[ 4.70897224e-04 9.99999850e-01 2.78522515e-04 9.50629725e+01] [ 9.99895050e-01 -4.66814870e-04 -1.44799915e-02 -1.07943884e+02] [-1.44798593e-02 2.85311872e-04 -9.99895121e-01 -1.79849623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.68655999499998 meters 0.014022121786798793 Centerline is valid? [True, True] Translation: X:95.07, Y:-107.95, Z:-1.80 [[-7.69859692e-02 9.97031180e-01 1.40946465e-03 9.50723382e+01] [ 9.96927324e-01 7.69982974e-02 -1.43935147e-02 -1.07945449e+02] [-1.44593093e-02 2.97035142e-04 -9.99895415e-01 -1.79860491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.71655999499998 meters 0.014173640491762174 Centerline is valid? [True, True] Translation: X:95.08, Y:-107.95, Z:-1.80 [[-1.54251656e-01 9.88028409e-01 2.50791563e-03 9.50824647e+01] [ 9.87927844e-01 1.54271745e-01 -1.40997513e-02 -1.07946225e+02] [-1.43178553e-02 3.02729707e-04 -9.99897448e-01 -1.79922933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.74655999499998 meters 0.013507666162367695 Centerline is valid? [True, True] Translation: X:95.10, Y:-107.95, Z:-1.80 [[-2.31142988e-01 9.72913521e-01 3.49286981e-03 9.50962999e+01] [ 9.72820884e-01 2.31169190e-01 -1.34288233e-02 -1.07945416e+02] [-1.38725277e-02 2.93958355e-04 -9.99903729e-01 -1.80038504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.77655999499999 meters 0.01365196164636423 Centerline is valid? [True, True] Translation: X:95.11, Y:-107.94, Z:-1.80 [[-3.06769256e-01 9.51773903e-01 4.36588502e-03 9.51084524e+01] [ 9.51690187e-01 3.06800192e-01 -1.26265529e-02 -1.07944747e+02] [-1.33570779e-02 2.81531685e-04 -9.99910751e-01 -1.80051769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.806559995 meters 0.013744228691171997 Centerline is valid? [True, True] Translation: X:95.12, Y:-107.94, Z:-1.80 [[-3.81457278e-01 9.24371189e-01 5.31499549e-03 9.51204405e+01] [ 9.24290916e-01 3.81494213e-01 -1.21847454e-02 -1.07943234e+02] [-1.32908676e-02 2.64642242e-04 -9.99911638e-01 -1.80041565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.836559995 meters 0.01354017393640193 Centerline is valid? [True, True] Translation: X:95.13, Y:-107.94, Z:-1.80 [[-4.53627031e-01 8.91169717e-01 6.24910998e-03 9.51302558e+01] [ 8.91092628e-01 4.53670004e-01 -1.17241231e-02 -1.07940887e+02] [-1.32832172e-02 2.50156673e-04 -9.99911743e-01 -1.80061279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.866559995 meters 0.013291266298806231 Centerline is valid? [True, True] Translation: X:95.14, Y:-107.94, Z:-1.80 [[-5.23080846e-01 8.52253728e-01 7.07193858e-03 9.51388769e+01] [ 8.52181737e-01 5.23128598e-01 -1.10796109e-02 -1.07938060e+02] [-1.31421730e-02 2.31044657e-04 -9.99913611e-01 -1.80082250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.896559995 meters 0.013063017444626209 Centerline is valid? [True, True] Translation: X:95.15, Y:-107.93, Z:-1.80 [[-5.89457890e-01 8.07758735e-01 8.07595514e-03 9.51470925e+01] [ 8.07687871e-01 5.89513171e-01 -1.07015453e-02 -1.07934259e+02] [-1.34051486e-02 2.14740707e-04 -9.99910124e-01 -1.80110167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.926559995 meters 0.0122370596681066 Centerline is valid? [True, True] Translation: X:95.16, Y:-107.93, Z:-1.80 [[-6.53526279e-01 7.56854379e-01 8.65169921e-03 9.51567583e+01] [ 7.56791365e-01 6.53583523e-01 -9.76769827e-03 -1.07928247e+02] [-1.30473333e-02 1.64083749e-04 -9.99914866e-01 -1.80158943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.956559995 meters 0.011805472166982965 Centerline is valid? [True, True] Translation: X:95.16, Y:-107.92, Z:-1.80 [[-7.12028384e-01 7.02090311e-01 9.20740147e-03 9.51638872e+01] [ 7.02034113e-01 7.12087899e-01 -8.88413507e-03 -1.07923124e+02] [-1.27939443e-02 1.38153589e-04 -9.99918145e-01 -1.80177494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.986559995 meters 0.011375300999611329 Centerline is valid? [True, True] Translation: X:95.18, Y:-107.90, Z:-1.80 [[-7.60890987e-01 6.48810923e-01 9.44946025e-03 9.51837588e+01] [ 6.48762755e-01 7.60949652e-01 -7.90663201e-03 -1.07899959e+02] [-1.23204727e-02 1.14372831e-04 -9.99924094e-01 -1.80247953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.016559995 meters 0.010732931991473682 Centerline is valid? [True, True] Translation: X:95.20, Y:-107.87, Z:-1.80 [[-8.06467555e-01 5.91196701e-01 9.82565066e-03 9.52028315e+01] [ 5.91154044e-01 8.06527405e-01 -7.10225066e-03 -1.07873964e+02] [-1.21234837e-02 8.07383952e-05 -9.99926505e-01 -1.80330781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.046559995 meters 0.010960041785545879 Centerline is valid? [True, True] Translation: X:95.22, Y:-107.85, Z:-1.80 [[-8.46601502e-01 5.32127292e-01 1.03171003e-02 9.52189881e+01] [ 5.32088840e-01 8.46664361e-01 -6.39735962e-03 -1.07850184e+02] [-1.21393308e-02 7.35996870e-05 -9.99926313e-01 -1.80218243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.076559995 meters 0.010674474307908173 Centerline is valid? [True, True] Translation: X:95.57, Y:-107.29, Z:-2.79 [[-8.15937521e-01 -5.78054984e-01 9.91947909e-03 9.55710174e+01] [ 5.78011227e-01 -8.15997813e-01 -7.11272529e-03 -1.07289490e+02] [ 1.22058195e-02 -6.99691591e-05 9.99925504e-01 -2.78779782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.106559995 meters 0.010752472501602979 Centerline is valid? [True, True] Translation: X:95.18, Y:-107.83, Z:-1.80 [[-8.48255939e-01 5.29479554e-01 1.06425437e-02 9.51825712e+01] [ 5.29439096e-01 8.48322695e-01 -6.54591732e-03 -1.07826753e+02] [-1.24942407e-02 8.19654524e-05 -9.99921941e-01 -1.80267576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.136559995 meters 0.01110650560024874 Centerline is valid? [True, True] Translation: X:95.20, Y:-107.80, Z:-1.80 [[-8.82509573e-01 4.70161190e-01 1.11941596e-02 9.51982131e+01] [ 4.70124993e-01 8.82580559e-01 -5.83511678e-03 -1.07803068e+02] [-1.26231931e-02 1.13107770e-04 -9.99920318e-01 -1.80261949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.166559995 meters 0.01134036018808741 Centerline is valid? [True, True] Translation: X:95.21, Y:-107.78, Z:-1.80 [[-9.12937223e-01 4.07944299e-01 1.12728311e-02 9.52101006e+01] [ 4.07914963e-01 9.13006808e-01 -4.89393652e-03 -1.07777646e+02] [-1.22886250e-02 1.30499669e-04 -9.99924483e-01 -1.80272250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.196559995 meters 0.011816037999712193 Centerline is valid? [True, True] Translation: X:95.22, Y:-107.75, Z:-1.80 [[-9.38938840e-01 3.43897311e-01 1.13355155e-02 9.52161562e+01] [ 3.43874166e-01 9.39007251e-01 -3.99256724e-03 -1.07750543e+02] [-1.20171644e-02 1.49214487e-04 -9.99927780e-01 -1.80251703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.226559995 meters 0.012368296142919196 Centerline is valid? [True, True] Translation: X:95.23, Y:-107.72, Z:-1.80 [[-9.60035679e-01 2.79624518e-01 1.19006056e-02 9.52282246e+01] [ 2.79605544e-01 9.60109416e-01 -3.26326718e-03 -1.07724992e+02] [-1.23383730e-02 1.94622379e-04 -9.99923860e-01 -1.80261895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.256559995 meters 0.013105972329011211 Centerline is valid? [True, True] Translation: X:95.40, Y:-107.09, Z:-2.79 [[-9.49900452e-01 -3.12324020e-01 1.19514486e-02 9.54037491e+01] [ 3.12296903e-01 -9.49975617e-01 -4.11952271e-03 -1.07087665e+02] [ 1.26402107e-02 -1.80736096e-04 9.99920093e-01 -2.78905592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.286559995 meters 0.013768433563052294 Centerline is valid? [True, True] Translation: X:95.18, Y:-107.71, Z:-1.80 [[-9.60331516e-01 2.78563519e-01 1.28742402e-02 9.51801893e+01] [ 2.78541934e-01 9.60417776e-01 -3.47650369e-03 -1.07713911e+02] [-1.33330762e-02 2.47419701e-04 -9.99911080e-01 -1.80097427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.316559995 meters 0.013563788518380637 Centerline is valid? [True, True] Translation: X:95.18, Y:-107.69, Z:-1.80 [[-9.77465695e-01 2.10645430e-01 1.37592960e-02 9.51841813e+01] [ 2.10628493e-01 9.77562493e-01 -2.68513439e-03 -1.07685102e+02] [-1.40161830e-02 2.73473026e-04 -9.99901731e-01 -1.80124410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.346559995 meters 0.014771782591499609 Centerline is valid? [True, True] Translation: X:95.19, Y:-107.66, Z:-1.80 [[-9.89796989e-01 1.41774524e-01 1.42093108e-02 9.51876843e+01] [ 1.41764191e-01 9.89898933e-01 -1.73689589e-03 -1.07658178e+02] [-1.43120292e-02 2.95197129e-04 -9.99897534e-01 -1.80009476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.376559995 meters 0.013805508521984068 Centerline is valid? [True, True] Translation: X:95.18, Y:-107.63, Z:-1.80 [[-9.97366718e-01 7.09251143e-02 1.51412528e-02 9.51833227e+01] [ 7.09216685e-02 9.97481595e-01 -7.65087514e-04 -1.07627501e+02] [-1.51573849e-02 3.10770088e-04 -9.99885072e-01 -1.80099162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.406559995 meters 0.013387284176188547 Centerline is valid? [True, True] Translation: X:95.18, Y:-107.60, Z:-1.80 [[-9.99876939e-01 -1.84244782e-03 1.55792107e-02 9.51762671e+01] [-1.83763781e-03 9.99998259e-01 3.23055230e-04 -1.07597173e+02] [-1.55797788e-02 2.94386528e-04 -9.99878585e-01 -1.80062890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.43655999499998 meters 0.013003220791637312 Centerline is valid? [True, True] Translation: X:95.16, Y:-107.57, Z:-1.80 [[-9.97094315e-01 -7.45293097e-02 1.57578489e-02 9.51637413e+01] [-7.45156265e-02 9.97218785e-01 1.45452373e-03 -1.07568364e+02] [-1.58224276e-02 2.76091360e-04 -9.99874779e-01 -1.80071058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.46655999499998 meters 0.012761761536292136 Centerline is valid? [True, True] Translation: X:95.15, Y:-107.54, Z:-1.80 [[-9.88991254e-01 -1.47118431e-01 1.58891835e-02 9.51492754e+01] [-1.47095277e-01 9.89118851e-01 2.62259492e-03 -1.07540647e+02] [-1.61021229e-02 2.56499605e-04 -9.99870320e-01 -1.80056835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.49655999499998 meters 0.012016748295815463 Centerline is valid? [True, True] Translation: X:95.12, Y:-107.51, Z:-1.80 [[-9.75105685e-01 -2.21187312e-01 1.56548819e-02 9.51205307e+01] [-2.21155485e-01 9.75231322e-01 3.75757377e-03 -1.07514276e+02] [-1.60982588e-02 2.01868538e-04 -9.99870394e-01 -1.80047748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.52655999499999 meters 0.011712819665292612 Centerline is valid? [True, True] Translation: X:95.08, Y:-107.50, Z:-1.80 [[-9.55876548e-01 -2.93378332e-01 1.51386950e-02 9.50772678e+01] [-2.93338858e-01 9.55996406e-01 4.81523361e-03 -1.07495184e+02] [-1.58852232e-02 1.62001367e-04 -9.99873809e-01 -1.80059784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.556559995 meters 0.011197622525872142 Centerline is valid? [True, True] Translation: X:95.02, Y:-107.48, Z:-1.80 [[-9.30962349e-01 -3.64828346e-01 1.44700331e-02 9.50156916e+01] [-3.64782260e-01 9.31074789e-01 5.80001571e-03 -1.07484945e+02] [-1.55886932e-02 1.21184876e-04 -9.99878482e-01 -1.80135833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.586559995 meters 0.010743600928312676 Centerline is valid? [True, True] Translation: X:94.95, Y:-107.48, Z:-1.80 [[-8.99019061e-01 -4.37734888e-01 1.23651481e-02 9.49469220e+01] [-4.37693110e-01 8.99104092e-01 6.04762918e-03 -1.07480755e+02] [-1.37648135e-02 2.47937946e-05 -9.99905260e-01 -1.80192400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.616559995 meters 0.01069528479213497 Centerline is valid? [True, True] Translation: X:94.87, Y:-107.49, Z:-1.80 [[-8.62667497e-01 -5.05646142e-01 1.12591894e-02 9.48726402e+01] [-5.05603300e-01 8.62740969e-01 6.58208431e-03 -1.07486855e+02] [-1.30419695e-02 -1.45331120e-05 -9.99914950e-01 -1.80246085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.646559995 meters 0.010727389383653889 Centerline is valid? [True, True] Translation: X:94.79, Y:-107.50, Z:-1.80 [[-8.20991591e-01 -5.70849216e-01 1.01970285e-02 9.47898336e+01] [-5.70805957e-01 8.21054913e-01 7.02782583e-03 -1.07504333e+02] [-1.23841492e-02 -5.07386779e-05 -9.99923312e-01 -1.80331490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.676559995 meters 0.01088991959719741 Centerline is valid? [True, True] Translation: X:94.71, Y:-107.53, Z:-1.80 [[-7.74173927e-01 -6.32905888e-01 9.21241752e-03 9.47082711e+01] [-6.32862338e-01 7.74228733e-01 7.42498722e-03 -1.07528035e+02] [-1.18318365e-02 -8.19605796e-05 -9.99929998e-01 -1.80343813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.706559995 meters 0.011571569184147678 Centerline is valid? [True, True] Translation: X:94.62, Y:-107.56, Z:-1.80 [[-7.21368393e-01 -6.92500706e-01 8.39127273e-03 9.46215343e+01] [-6.92455973e-01 7.21417185e-01 7.87210372e-03 -1.07562136e+02] [-1.15050457e-02 -1.31900108e-04 -9.99933806e-01 -1.80293367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.736559995 meters 0.011571569184147678 Centerline is valid? [True, True] Translation: X:94.54, Y:-107.61, Z:-1.80 [[-6.67112378e-01 -7.44916534e-01 7.77391206e-03 9.45371080e+01] [-7.44868250e-01 6.67157658e-01 8.48228799e-03 -1.07607938e+02] [-1.15050215e-02 -1.31900965e-04 -9.99933806e-01 -1.80293467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.766559995 meters 0.011642553782027542 Centerline is valid? [True, True] Translation: X:94.45, Y:-107.66, Z:-1.80 [[-6.07434502e-01 -7.94339764e-01 6.90402295e-03 9.44536052e+01] [-7.94291222e-01 6.07473717e-01 8.78277527e-03 -1.07661967e+02] [-1.11705201e-02 -1.48844111e-04 -9.99937597e-01 -1.80297450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.796559995 meters 0.012319289437660226 Centerline is valid? [True, True] Translation: X:94.37, Y:-107.73, Z:-1.80 [[-5.43051144e-01 -8.39676718e-01 6.20188958e-03 9.43699605e+01] [-8.39625743e-01 5.43086527e-01 9.25403334e-03 -1.07727122e+02] [-1.11385590e-02 -1.81852751e-04 -9.99937948e-01 -1.80217557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.826559995 meters 0.012333844553507549 Centerline is valid? [True, True] Translation: X:94.29, Y:-107.80, Z:-1.80 [[-4.76775047e-01 -8.79007456e-01 5.60768705e-03 9.42929068e+01] [-8.78951466e-01 4.76807983e-01 9.92307147e-03 -1.07799861e+02] [-1.13962438e-02 -1.97811887e-04 -9.99935041e-01 -1.80228055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.856559995 meters 0.01295102935636733 Centerline is valid? [True, True] Translation: X:94.22, Y:-107.88, Z:-1.80 [[-4.07691203e-01 -9.13107518e-01 4.74808143e-03 9.42201817e+01] [-9.13051346e-01 4.07718799e-01 1.01301861e-02 -1.07878692e+02] [-1.11858311e-02 -2.05254406e-04 -9.99937416e-01 -1.80143070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.886559995 meters 0.013178850730374446 Centerline is valid? [True, True] Translation: X:94.15, Y:-107.97, Z:-1.80 [[-3.35852509e-01 -9.41905310e-01 4.18073783e-03 9.41528210e+01] [-9.41840634e-01 3.35878450e-01 1.10402589e-02 -1.07968414e+02] [-1.18030982e-02 -2.29690107e-04 -9.99930315e-01 -1.80092249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.916559995 meters 0.01396150666772189 Centerline is valid? [True, True] Translation: X:94.09, Y:-108.07, Z:-1.80 [[-2.62569906e-01 -9.64906976e-01 3.40176961e-03 9.40899734e+01] [-9.64837426e-01 2.62591832e-01 1.15875785e-02 -1.08065860e+02] [-1.20742123e-02 -2.39605231e-04 -9.99927075e-01 -1.79974663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.946559995 meters 0.013406051656814357 Centerline is valid? [True, True] Translation: X:94.04, Y:-108.17, Z:-1.80 [[-1.87960793e-01 -9.82173487e-01 2.44561255e-03 9.40383482e+01] [-9.82105836e-01 1.87976556e-01 1.15300307e-02 -1.08165795e+02] [-1.17842083e-02 -2.34656639e-04 -9.99930536e-01 -1.80005850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.976559995 meters 0.01369608242572441 Centerline is valid? [True, True] Translation: X:93.99, Y:-108.27, Z:-1.80 [[-1.12702551e-01 -9.93627497e-01 1.59155339e-03 9.39942601e+01] [-9.93555613e-01 1.12713545e-01 1.19541038e-02 -1.08271142e+02] [-1.20573158e-02 -2.34038815e-04 -9.99927281e-01 -1.79924827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.006559995 meters 0.013930046378153984 Centerline is valid? [True, True] Translation: X:93.96, Y:-108.38, Z:-1.80 [[-3.69700429e-02 -9.99316153e-01 6.64679453e-04 9.39573801e+01] [-9.99244974e-01 3.69753441e-02 1.19291777e-02 -1.08381524e+02] [-1.19455967e-02 -2.23155393e-04 -9.99928624e-01 -1.79864028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.036559995 meters 0.012621528234273618 Centerline is valid? [True, True] Translation: X:93.93, Y:-108.49, Z:-1.80 [[ 3.89914204e-02 -9.99239515e-01 -2.46336040e-04 9.39324762e+01] [-9.99171657e-01 -3.89916438e-02 1.16469916e-02 -1.08494115e+02] [-1.16477393e-02 -2.08000756e-04 -9.99932141e-01 -1.80016068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.066559995 meters 0.012655901159103462 Centerline is valid? [True, True] Translation: X:93.92, Y:-108.61, Z:-1.80 [[ 1.13512999e-01 -9.93535926e-01 -1.07877008e-03 9.39160138e+01] [-9.93475284e-01 -1.13517991e-01 1.09784003e-02 -1.08609817e+02] [-1.10298949e-02 -1.74459731e-04 -9.99939154e-01 -1.80013581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.096559995 meters 0.012653755135807063 Centerline is valid? [True, True] Translation: X:93.91, Y:-108.73, Z:-1.80 [[ 1.88619716e-01 -9.82048442e-01 -1.86001509e-03 9.39064710e+01] [-9.81991968e-01 -1.88628819e-01 1.05329478e-02 -1.08728678e+02] [-1.06947174e-02 -1.60201747e-04 -9.99942797e-01 -1.80018970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.126559995 meters 0.011968635714371177 Centerline is valid? [True, True] Translation: X:93.91, Y:-108.84, Z:-1.80 [[ 2.62480553e-01 -9.64933940e-01 -2.53978229e-03 9.39064586e+01] [-9.64883382e-01 -2.62492802e-01 9.87863679e-03 -1.08843529e+02] [-1.01989065e-02 -1.42356327e-04 -9.99947980e-01 -1.80103158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.156559995 meters 0.011889720914736208 Centerline is valid? [True, True] Translation: X:93.92, Y:-108.96, Z:-1.80 [[ 3.34711484e-01 -9.42316120e-01 -2.92432467e-03 9.39160036e+01] [-9.42277055e-01 -3.34724238e-01 8.58111872e-03 -1.08958320e+02] [-9.06496884e-03 -1.16674944e-04 -9.99958906e-01 -1.80142181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.18655999499998 meters 0.01193160457398537 Centerline is valid? [True, True] Translation: X:93.93, Y:-109.07, Z:-1.80 [[ 4.05920372e-01 -9.13901783e-01 -3.49020154e-03 9.39330315e+01] [-9.13865572e-01 -4.05935361e-01 8.13632463e-03 -1.09074805e+02] [-8.85259781e-03 -1.13124900e-04 -9.99960809e-01 -1.80169051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.21655999499998 meters 0.011552639575604406 Centerline is valid? [True, True] Translation: X:93.96, Y:-109.19, Z:-1.80 [[ 4.74722726e-01 -8.80127465e-01 -3.73890430e-03 9.39603409e+01] [-8.80098443e-01 -4.74737438e-01 7.14807065e-03 -1.09185791e+02] [-8.06621114e-03 -1.02747726e-04 -9.99967462e-01 -1.80231030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.24655999499998 meters 0.011808649495683417 Centerline is valid? [True, True] Translation: X:93.99, Y:-109.29, Z:-1.80 [[ 5.40667102e-01 -8.41225542e-01 -4.32122706e-03 9.39923099e+01] [-8.41197137e-01 -5.40684360e-01 6.91374075e-03 -1.09294441e+02] [-8.15243519e-03 -1.03028346e-04 -9.99966763e-01 -1.80195890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.27655999499999 meters 0.012058968859907612 Centerline is valid? [True, True] Translation: X:94.03, Y:-109.40, Z:-1.80 [[ 6.03461525e-01 -7.97376800e-01 -4.94227992e-03 9.40337653e+01] [-7.97348611e-01 -6.03481754e-01 6.70563955e-03 -1.09401950e+02] [-8.32949716e-03 -1.05875443e-04 -9.99965304e-01 -1.80146858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.306559995 meters 0.011783670197802795 Centerline is valid? [True, True] Translation: X:94.08, Y:-109.50, Z:-1.80 [[ 6.62610052e-01 -7.48944957e-01 -5.41939804e-03 9.40819517e+01] [-7.48918597e-01 -6.62632206e-01 6.28446620e-03 -1.09502726e+02] [-8.29778694e-03 -1.05462501e-04 -9.99965567e-01 -1.80159144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.336559995 meters 0.012051471612254014 Centerline is valid? [True, True] Translation: X:94.14, Y:-109.60, Z:-1.80 [[ 7.17901439e-01 -6.96119241e-01 -5.96041145e-03 9.41351489e+01] [-6.96093984e-01 -7.17926173e-01 5.93085685e-03 -1.09595562e+02] [-8.40771895e-03 -1.08764115e-04 -9.99964649e-01 -1.80111908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.366559995 meters 0.0120558902239989 Centerline is valid? [True, True] Translation: X:94.14, Y:-109.60, Z:-1.80 [[ 7.70617189e-01 -6.37268860e-01 -6.12761317e-03 9.41354160e+01] [-6.37247568e-01 -7.70641543e-01 5.21054504e-03 -1.09600903e+02] [-8.04271136e-03 -1.10528979e-04 -9.99967651e-01 -1.80173855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.396559995 meters 0.01205587178286756 Centerline is valid? [True, True] Translation: X:94.13, Y:-109.61, Z:-1.80 [[ 8.18315170e-01 -5.74735247e-01 -6.29902731e-03 9.41344034e+01] [-5.74717178e-01 -8.18339406e-01 4.55878310e-03 -1.09608703e+02] [-7.77483560e-03 -1.10362168e-04 -9.99969769e-01 -1.80209248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.426559995 meters 0.012428906570787986 Centerline is valid? [True, True] Translation: X:94.13, Y:-109.62, Z:-1.80 [[ 8.61053724e-01 -5.08478265e-01 -6.02811860e-03 9.41324657e+01] [-5.08464950e-01 -8.61074819e-01 3.68118700e-03 -1.09615240e+02] [-7.06246471e-03 -1.04612751e-04 -9.99975055e-01 -1.80212680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.456559995 meters 0.012452683298406663 Centerline is valid? [True, True] Translation: X:94.13, Y:-109.62, Z:-1.80 [[ 8.98405008e-01 -4.39125624e-01 -6.09331836e-03 9.41326396e+01] [-4.39114728e-01 -8.98425665e-01 3.09518232e-03 -1.09621392e+02] [-6.83356746e-03 -1.05061463e-04 -9.99976645e-01 -1.80247299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.486559995 meters 0.012616209660432058 Centerline is valid? [True, True] Translation: X:94.13, Y:-109.63, Z:-1.80 [[ 9.30139111e-01 -3.67161358e-01 -5.81131088e-03 9.41332681e+01] [-3.67153524e-01 -9.30157259e-01 2.40057428e-03 -1.09627574e+02] [-6.28683111e-03 -9.92247550e-05 -9.99980233e-01 -1.80276087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.516559995 meters 0.012982429495302227 Centerline is valid? [True, True] Translation: X:94.13, Y:-109.63, Z:-1.80 [[ 9.55907370e-01 -2.93625928e-01 -4.99133787e-03 9.41335918e+01] [-2.93621480e-01 -9.55920398e-01 1.61820739e-03 -1.09632213e+02] [-5.24646933e-03 -8.12923525e-05 -9.99986234e-01 -1.80249124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.546559995 meters 0.012906114388038134 Centerline is valid? [True, True] Translation: X:94.14, Y:-109.63, Z:-1.80 [[ 9.75852523e-01 -2.18368147e-01 -5.21592880e-03 9.41362048e+01] [-2.18364582e-01 -9.75866459e-01 1.25031826e-03 -1.09633818e+02] [-5.36307965e-03 -8.11521175e-05 -9.99985615e-01 -1.80248371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.576559995 meters 0.011588188234535344 Centerline is valid? [True, True] Translation: X:94.14, Y:-109.64, Z:-1.80 [[ 9.89613369e-01 -1.43645608e-01 -5.59641811e-03 9.41386122e+01] [-1.43642895e-01 -9.89629190e-01 8.85892150e-04 -1.09638842e+02] [-5.66563323e-03 -7.28050166e-05 -9.99983948e-01 -1.80259543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.606559995 meters 0.012079284559771947 Centerline is valid? [True, True] Translation: X:94.14, Y:-109.65, Z:-1.80 [[ 9.97736120e-01 -6.69769744e-02 -6.05967750e-03 9.41354009e+01] [-6.69753092e-02 -9.97754519e-01 4.77529443e-04 -1.09647340e+02] [-6.07805409e-03 -7.05995987e-05 -9.99981526e-01 -1.80156465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.636559995 meters 0.011851629576093705 Centerline is valid? [True, True] Translation: X:94.13, Y:-109.65, Z:-1.80 [[ 9.99927745e-01 1.04277912e-02 -5.98043465e-03 9.41341048e+01] [ 1.04279870e-02 -9.99945627e-01 1.55142346e-06 -1.09647486e+02] [-5.98009330e-03 -6.39152061e-05 -9.99982117e-01 -1.80074182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.666559995 meters 0.011155871686978354 Centerline is valid? [True, True] Translation: X:94.13, Y:-109.65, Z:-1.80 [[ 9.96103975e-01 8.79383039e-02 -6.61251671e-03 9.41337422e+01] [ 8.79368066e-02 -9.96125921e-01 -5.17410920e-04 -1.09653918e+02] [-6.63239953e-03 -6.60885287e-05 -9.99978003e-01 -1.80123332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.696559995 meters 0.01109654013964546 Centerline is valid? [True, True] Translation: X:94.13, Y:-109.67, Z:-1.80 [[ 9.86183665e-01 1.65512575e-01 -6.88237059e-03 9.41346054e+01] [ 1.65509029e-01 -9.86207677e-01 -1.08560752e-03 -1.09665450e+02] [-6.96712842e-03 -6.84860657e-05 -9.99975727e-01 -1.80042012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.726559995 meters 0.011001268629589481 Centerline is valid? [True, True] Translation: X:94.14, Y:-109.68, Z:-1.80 [[ 9.70150409e-01 2.42418726e-01 -6.43010921e-03 9.41362676e+01] [ 2.42413854e-01 -9.70171715e-01 -1.53833898e-03 -1.09676068e+02] [-6.61123225e-03 -6.63273625e-05 -9.99978143e-01 -1.80034102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.756559995 meters 0.011042949766670265 Centerline is valid? [True, True] Translation: X:94.14, Y:-109.69, Z:-1.80 [[ 9.48048654e-01 3.18064219e-01 -6.23719663e-03 9.41390412e+01] [ 3.18057812e-01 -9.48069168e-01 -2.02002979e-03 -1.09685903e+02] [-6.55579301e-03 -6.87025927e-05 -9.99978508e-01 -1.80046537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.786559995 meters 0.012110966513316297 Centerline is valid? [True, True] Translation: X:94.14, Y:-109.70, Z:-1.80 [[ 9.20167534e-01 3.91476320e-01 -6.16440533e-03 9.41422732e+01] [ 3.91468051e-01 -9.20188180e-01 -2.54542722e-03 -1.09696838e+02] [-6.66888740e-03 -7.09482512e-05 -9.99977760e-01 -1.79901601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.816559995 meters 0.011324555129911387 Centerline is valid? [True, True] Translation: X:94.14, Y:-109.70, Z:-1.80 [[ 8.86942036e-01 4.61849081e-01 -5.40839566e-03 9.41423484e+01] [ 4.61840915e-01 -8.86958523e-01 -2.74718497e-03 -1.09698537e+02] [-6.06580748e-03 -6.12245721e-05 -9.99981601e-01 -1.79979835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.846559995 meters 0.011194720388454545 Centerline is valid? [True, True] Translation: X:94.14, Y:-109.70, Z:-1.80 [[ 8.48592748e-01 5.29020730e-01 -5.23592683e-03 9.41420741e+01] [ 5.29011066e-01 -8.48608899e-01 -3.19819915e-03 -1.09700489e+02] [-6.13516776e-03 -5.58946295e-05 -9.99981178e-01 -1.79941664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.876559995 meters 0.0103865191846875 Centerline is valid? [True, True] Translation: X:94.15, Y:-109.71, Z:-1.80 [[ 8.06314649e-01 5.91465596e-01 -5.01361755e-03 9.41454359e+01] [ 5.91454457e-01 -8.06330235e-01 -3.63015317e-03 -1.09705540e+02] [-6.18974212e-03 -3.82807647e-05 -9.99980843e-01 -1.79989659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.906559995 meters 0.010252156760516938 Centerline is valid? [True, True] Translation: X:94.15, Y:-109.71, Z:-1.80 [[ 7.58630218e-01 6.51505982e-01 -4.48859491e-03 9.41495331e+01] [ 6.51494784e-01 -7.58643496e-01 -3.81993597e-03 -1.09713087e+02] [-5.89395448e-03 -2.63773152e-05 -9.99982630e-01 -1.79918105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.93655999499998 meters 0.010081179294658314 Centerline is valid? [True, True] Translation: X:94.15, Y:-109.72, Z:-1.80 [[ 7.07272651e-01 7.06929684e-01 -3.97715643e-03 9.41517949e+01] [ 7.06918582e-01 -7.07283834e-01 -3.96198843e-03 -1.09717788e+02] [-5.61382568e-03 -9.31972298e-06 -9.99984242e-01 -1.79962395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.96655999499998 meters 0.010096956057654538 Centerline is valid? [True, True] Translation: X:94.16, Y:-109.72, Z:-1.80 [[ 6.50540668e-01 7.59462476e-01 -3.68593766e-03 9.41557215e+01] [ 7.59450318e-01 -6.50551110e-01 -4.29732434e-03 -1.09723682e+02] [-5.66154742e-03 -3.70228569e-06 -9.99983973e-01 -1.80005915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.99655999499998 meters 0.01007225824143289 Centerline is valid? [True, True] Translation: X:94.16, Y:-109.73, Z:-1.80 [[ 5.89683021e-01 8.07628862e-01 -3.09126300e-03 9.41603791e+01] [ 8.07617761e-01 -5.89691124e-01 -4.23452605e-03 -1.09729781e+02] [-5.24281581e-03 4.69217927e-07 -9.99986256e-01 -1.80043473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.02655999499999 meters 0.010039299273707359 Centerline is valid? [True, True] Translation: X:94.17, Y:-109.74, Z:-1.80 [[ 5.25046553e-01 8.51069610e-01 -2.57585008e-03 9.41665972e+01] [ 8.51059342e-01 -5.25052872e-01 -4.18066925e-03 -1.09736416e+02] [-4.91049803e-03 2.84470407e-06 -9.99987943e-01 -1.80146835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.056559995 meters 0.010031127389279202 Centerline is valid? [True, True] Translation: X:94.17, Y:-109.74, Z:-1.80 [[ 4.57032123e-01 8.89447284e-01 -2.27334873e-03 9.41740108e+01] [ 8.89436234e-01 -4.57037777e-01 -4.43359097e-03 -1.09742783e+02] [-4.98245169e-03 4.29475757e-06 -9.99987588e-01 -1.80126680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.086559995 meters 0.010044106945952492 Centerline is valid? [True, True] Translation: X:94.18, Y:-109.75, Z:-1.80 [[ 3.85927887e-01 9.22526299e-01 -2.21209582e-03 9.41816901e+01] [ 9.22511073e-01 -3.85934227e-01 -5.30032421e-03 -1.09748630e+02] [-5.74341196e-03 4.86003832e-06 -9.99983506e-01 -1.80087694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.116559995 meters 0.010058741963279315 Centerline is valid? [True, True] Translation: X:94.19, Y:-109.75, Z:-1.80 [[ 3.12686269e-01 9.49854177e-01 -2.08320905e-03 9.41898071e+01] [ 9.49832946e-01 -3.12693209e-01 -6.35080278e-03 -1.09754096e+02] [-6.68374187e-03 7.10823694e-06 -9.99977664e-01 -1.80031651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.146559995 meters 0.010081528647933697 Centerline is valid? [True, True] Translation: X:94.20, Y:-109.76, Z:-1.80 [[ 2.37350573e-01 9.71422590e-01 -1.69030059e-03 9.41982741e+01] [ 9.71397725e-01 -2.37356592e-01 -6.95039338e-03 -1.09758428e+02] [-7.15297313e-03 7.72570492e-06 -9.99974417e-01 -1.79960356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.176559995 meters 0.010146660200479921 Centerline is valid? [True, True] Translation: X:94.21, Y:-109.76, Z:-1.80 [[ 1.61236641e-01 9.86914773e-01 -1.40620962e-03 9.42056464e+01] [ 9.86876361e-01 -1.61242772e-01 -8.70723383e-03 -1.09763832e+02] [-8.82003883e-03 1.61700989e-05 -9.99961103e-01 -1.79800465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.206559995 meters 0.010164362354310133 Centerline is valid? [True, True] Translation: X:94.21, Y:-109.77, Z:-1.80 [[ 8.39420755e-02 9.96470365e-01 -7.34712138e-04 9.42144326e+01] [ 9.96430010e-01 -8.39452882e-02 -8.96798232e-03 -1.09766923e+02] [-8.99800423e-03 2.07018261e-05 -9.99959517e-01 -1.79773893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.236559995 meters 0.01020509290991446 Centerline is valid? [True, True] Translation: X:94.22, Y:-109.77, Z:-1.80 [[ 5.94453798e-03 9.99982331e-01 -2.90119803e-05 9.42235369e+01] [ 9.99944634e-01 -5.94456580e-03 -8.68275290e-03 -1.09770686e+02] [-8.68277195e-03 2.26045804e-05 -9.99962304e-01 -1.79797347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.266559995 meters 0.010110900049621981 Centerline is valid? [True, True] Translation: X:94.23, Y:-109.77, Z:-1.80 [[-7.19840722e-02 9.97405574e-01 6.44042718e-04 9.42342907e+01] [ 9.97368789e-01 7.19869487e-02 -8.56604520e-03 -1.09772625e+02] [-8.59018390e-03 2.57292896e-05 -9.99963103e-01 -1.79906411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.296559995 meters 0.010183841333774533 Centerline is valid? [True, True] Translation: X:94.24, Y:-109.77, Z:-1.80 [[-1.49280939e-01 9.88794026e-01 1.25483687e-03 9.42435860e+01] [ 9.88760755e-01 1.49286210e-01 -8.11153984e-03 -1.09774838e+02] [-8.20797198e-03 2.98351657e-05 -9.99966314e-01 -1.79936800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.326559995 meters 0.010432441352104043 Centerline is valid? [True, True] Translation: X:94.25, Y:-109.78, Z:-1.80 [[-2.23823506e-01 9.74627970e-01 1.83277984e-03 9.42512392e+01] [ 9.74597069e-01 2.23831004e-01 -7.76110754e-03 -1.09775720e+02] [-7.97442544e-03 4.91035680e-05 -9.99968203e-01 -1.80004203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.356559995 meters 0.010468994746832903 Centerline is valid? [True, True] Translation: X:94.26, Y:-109.78, Z:-1.80 [[-2.97926547e-01 9.54585694e-01 2.43402663e-03 9.42625073e+01] [ 9.54555528e-01 2.97936483e-01 -7.58919688e-03 -1.09775426e+02] [-7.96972411e-03 6.23903483e-05 -9.99968239e-01 -1.80053182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.386559995 meters 0.010932302674346734 Centerline is valid? [True, True] Translation: X:94.27, Y:-109.78, Z:-1.80 [[-3.70297685e-01 9.28907940e-01 3.10855119e-03 9.42726702e+01] [ 9.28876946e-01 3.70310724e-01 -7.58860108e-03 -1.09776136e+02] [-8.20024165e-03 7.74201292e-05 -9.99966374e-01 -1.79992407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.416559995 meters 0.011286376073259396 Centerline is valid? [True, True] Translation: X:94.28, Y:-109.77, Z:-1.80 [[-4.40049056e-01 8.97964192e-01 4.13974975e-03 9.42823485e+01] [ 8.97926703e-01 4.40068515e-01 -8.20594548e-03 -1.09774793e+02] [-9.19041873e-03 1.06173284e-04 -9.99957762e-01 -1.79954765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.446559995 meters 0.011353652764488959 Centerline is valid? [True, True] Translation: X:94.29, Y:-109.77, Z:-1.80 [[-5.08765204e-01 8.60890240e-01 5.09536283e-03 9.42927836e+01] [ 8.60849339e-01 5.08790705e-01 -8.39249405e-03 -1.09772527e+02] [-9.81748946e-03 1.16530781e-04 -9.99951801e-01 -1.79928720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.476559995 meters 0.011287133633397206 Centerline is valid? [True, True] Translation: X:94.30, Y:-109.77, Z:-1.80 [[-5.74918407e-01 8.18189375e-01 5.91369256e-03 9.43028801e+01] [ 8.18148166e-01 5.74948809e-01 -8.21258056e-03 -1.09768344e+02] [-1.01195166e-02 1.16712990e-04 -9.99948790e-01 -1.79912710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.506559995 meters 0.011154250565519122 Centerline is valid? [True, True] Translation: X:94.31, Y:-109.76, Z:-1.80 [[-6.37897516e-01 7.70088416e-01 7.11275294e-03 9.43128769e+01] [ 7.70042577e-01 6.37937159e-01 -8.40300765e-03 -1.09763326e+02] [-1.10085483e-02 1.16864902e-04 -9.99939397e-01 -1.79865279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.536559995 meters 0.011155273705117126 Centerline is valid? [True, True] Translation: X:94.32, Y:-109.76, Z:-1.80 [[-6.96475788e-01 7.17530801e-01 8.42766130e-03 9.43210008e+01] [ 7.17480410e-01 6.96526765e-01 -8.50455852e-03 -1.09759046e+02] [-1.19723743e-02 1.23462782e-04 -9.99928321e-01 -1.79839527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.566559995 meters 0.01130298979837768 Centerline is valid? [True, True] Translation: X:94.33, Y:-109.75, Z:-1.80 [[-7.50406000e-01 6.60907655e-01 9.58680853e-03 9.43279123e+01] [ 6.60855979e-01 7.50467224e-01 -8.26563571e-03 -1.09754154e+02] [-1.26574075e-02 1.32917106e-04 -9.99919883e-01 -1.79822270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.596559995 meters 0.011413963556752916 Centerline is valid? [True, True] Translation: X:94.35, Y:-109.73, Z:-1.80 [[-7.95101192e-01 6.06385152e-01 1.05423995e-02 9.43463992e+01] [ 6.06334201e-01 7.95171068e-01 -7.86191244e-03 -1.09732851e+02] [-1.31503581e-02 1.41201428e-04 -9.99913520e-01 -1.79773561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.626559995 meters 0.011648041280265796 Centerline is valid? [True, True] Translation: X:94.36, Y:-109.71, Z:-1.80 [[-8.36031677e-01 5.48565768e-01 1.12531439e-02 9.43647013e+01] [ 5.48518376e-01 8.36107396e-01 -7.21205347e-03 -1.09711286e+02] [-1.33651225e-02 1.43051048e-04 -9.99910673e-01 -1.79757038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.656559995 meters 0.011648041280265796 Centerline is valid? [True, True] Translation: X:94.38, Y:-109.69, Z:-1.80 [[-8.72750315e-01 4.88025789e-01 1.17352609e-02 9.43800433e+01] [ 4.87983874e-01 8.72829198e-01 -6.39766707e-03 -1.09687798e+02] [-1.33651049e-02 1.43052124e-04 -9.99910673e-01 -1.79757056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.68655999499998 meters 0.011097156004511359 Centerline is valid? [True, True] Translation: X:94.39, Y:-109.66, Z:-1.80 [[-9.05285051e-01 4.24637496e-01 1.19152278e-02 9.43939829e+01] [ 4.24602677e-01 9.05363451e-01 -5.43947006e-03 -1.09661570e+02] [-1.30974147e-02 1.34966698e-04 -9.99914216e-01 -1.79887876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.71655999499998 meters 0.011232696414709005 Centerline is valid? [True, True] Translation: X:94.40, Y:-109.63, Z:-1.80 [[-9.33372311e-01 3.58711586e-01 1.19216654e-02 9.44031427e+01] [ 3.58683989e-01 9.33448436e-01 -4.45118510e-03 -1.09634215e+02] [-1.27249516e-02 1.21497596e-04 -9.99919027e-01 -1.79831679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.74655999499998 meters 0.01065098663824425 Centerline is valid? [True, True] Translation: X:94.41, Y:-109.61, Z:-1.80 [[-9.57162859e-01 2.89331320e-01 1.12538625e-02 9.44114460e+01] [ 2.89312348e-01 9.57229012e-01 -3.31431945e-03 -1.09605015e+02] [-1.17314601e-02 8.35379003e-05 -9.99931181e-01 -1.80021500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.77655999499999 meters 0.010472816353366667 Centerline is valid? [True, True] Translation: X:94.42, Y:-109.58, Z:-1.80 [[-9.75589217e-01 2.19317212e-01 1.12089290e-02 9.44186213e+01] [ 2.19303500e-01 9.75653605e-01 -2.45322997e-03 -1.09577156e+02] [-1.14740676e-02 6.48126638e-05 -9.99934169e-01 -1.80092105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.806559995 meters 0.01040767901872198 Centerline is valid? [True, True] Translation: X:94.57, Y:-108.90, Z:-2.79 [[-9.61338297e-01 -2.75168712e-01 1.05289208e-02 9.45702629e+01] [ 2.75151134e-01 -9.61395949e-01 -3.11167898e-03 -1.08899886e+02] [ 1.09786985e-02 -9.43316610e-05 9.99939728e-01 -2.78924926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.836559995 meters 0.01008269554604866 Centerline is valid? [True, True] Translation: X:94.37, Y:-109.56, Z:-1.80 [[-9.77570476e-01 2.10384410e-01 9.71414131e-03 9.43667386e+01] [ 2.10374070e-01 9.77618740e-01 -2.08584917e-03 -1.09562679e+02] [-9.93555673e-03 4.53888019e-06 -9.99950641e-01 -1.80277779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.866559995 meters 0.01010135836597384 Centerline is valid? [True, True] Translation: X:94.37, Y:-109.53, Z:-1.80 [[-9.90356694e-01 1.38216372e-01 9.47904467e-03 9.43691592e+01] [ 1.38209876e-01 9.90402057e-01 -1.34011976e-03 -1.09533522e+02] [-9.57329183e-03 -1.70989859e-05 -9.99954175e-01 -1.80319315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.896559995 meters 0.010174442820744279 Centerline is valid? [True, True] Translation: X:94.37, Y:-109.50, Z:-1.80 [[-9.97820467e-01 6.53717206e-02 8.99188287e-03 9.43681059e+01] [ 6.53687432e-02 9.97860981e-01 -6.24937073e-04 -1.09504180e+02] [-9.01350227e-03 -3.57869202e-05 -9.99959377e-01 -1.80440522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.926559995 meters 0.010790034450856238 Centerline is valid? [True, True] Translation: X:94.36, Y:-109.47, Z:-1.80 [[-9.99906527e-01 -1.02067792e-02 9.09723959e-03 9.43629123e+01] [-1.02070580e-02 9.99947907e-01 1.57752851e-05 -1.09472924e+02] [-9.09692670e-03 -7.70822419e-05 -9.99958619e-01 -1.80424392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.956559995 meters 0.0115041243801708 Centerline is valid? [True, True] Translation: X:94.36, Y:-109.44, Z:-1.80 [[-9.96487380e-01 -8.31926847e-02 9.58531933e-03 9.43576106e+01] [-8.31898001e-02 9.96533475e-01 6.99957109e-04 -1.09443019e+02] [-9.61032290e-03 -9.99023730e-05 -9.99953815e-01 -1.80301375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.986559995 meters 0.011325961317601354 Centerline is valid? [True, True] Translation: X:94.31, Y:-108.77, Z:-2.79 [[-9.99923467e-01 -7.00059567e-03 1.02006257e-02 9.43089061e+01] [ 7.00172623e-03 -9.99975485e-01 7.51246477e-05 -1.08772205e+02] [ 1.01998497e-02 1.46540887e-04 9.99947969e-01 -2.78680601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.016559995 meters 0.012220753102822071 Centerline is valid? [True, True] Translation: X:94.26, Y:-109.45, Z:-1.80 [[-9.95534305e-01 -9.36947391e-02 1.15214537e-02 9.42614095e+01] [-9.36905103e-02 9.95600957e-01 9.07424148e-04 -1.09448309e+02] [-1.15557912e-02 -1.76079010e-04 -9.99933214e-01 -1.80311866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.046559995 meters 0.012430172406353981 Centerline is valid? [True, True] Translation: X:94.26, Y:-109.42, Z:-1.80 [[-9.86145349e-01 -1.65436364e-01 1.21721055e-02 9.42556089e+01] [-1.65426271e-01 9.86220447e-01 1.83840035e-03 -1.09420885e+02] [-1.23085176e-02 -2.00656076e-04 -9.99924227e-01 -1.80294543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.076559995 meters 0.01389591264825495 Centerline is valid? [True, True] Translation: X:94.23, Y:-109.40, Z:-1.80 [[-9.71442349e-01 -2.36913301e-01 1.31091986e-02 9.42316245e+01] [-2.36895041e-01 9.71530767e-01 2.95110894e-03 -1.09395331e+02] [-1.34351467e-02 -2.38671935e-04 -9.99909716e-01 -1.80078609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.106559995 meters 0.012995934977280044 Centerline is valid? [True, True] Translation: X:94.20, Y:-109.38, Z:-1.80 [[-9.51675274e-01 -3.06820811e-01 1.32348673e-02 9.42021318e+01] [-3.06794789e-01 9.51767265e-01 4.00379719e-03 -1.09376836e+02] [-1.38249617e-02 -2.50073528e-04 -9.99904399e-01 -1.80198193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.136559995 meters 0.013511103400796885 Centerline is valid? [True, True] Translation: X:94.15, Y:-109.37, Z:-1.80 [[-9.26628395e-01 -3.75740784e-01 1.33671536e-02 9.41473456e+01] [-3.75705727e-01 9.26724768e-01 5.13917122e-03 -1.09365600e+02] [-1.43186686e-02 -2.60014193e-04 -9.99897449e-01 -1.80075151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.166559995 meters 0.013151781420345067 Centerline is valid? [True, True] Translation: X:94.08, Y:-109.36, Z:-1.80 [[-8.96491134e-01 -4.42859010e-01 1.33994019e-02 9.40835734e+01] [-4.42813986e-01 8.96591226e-01 6.32040449e-03 -1.09364733e+02] [-1.48128343e-02 -2.67255990e-04 -9.99890248e-01 -1.80149966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.196559995 meters 0.013051744906819221 Centerline is valid? [True, True] Translation: X:94.01, Y:-109.37, Z:-1.80 [[-8.61541849e-01 -5.07516915e-01 1.31234063e-02 9.40141911e+01] [-5.07462640e-01 8.61641754e-01 7.42671702e-03 -1.09372147e+02] [-1.50768594e-02 -2.61210919e-04 -9.99886304e-01 -1.80171158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.226559995 meters 0.013038244618450509 Centerline is valid? [True, True] Translation: X:93.94, Y:-109.39, Z:-1.80 [[-8.21645367e-01 -5.69866422e-01 1.22943753e-02 9.39367079e+01] [-5.69807093e-01 8.21737306e-01 8.22656359e-03 -1.09389144e+02] [-1.47907892e-02 -2.46104396e-04 -9.99890580e-01 -1.80193122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.256559995 meters 0.012946298492448632 Centerline is valid? [True, True] Translation: X:93.86, Y:-109.42, Z:-1.80 [[-7.77662941e-01 -6.28578106e-01 1.13980311e-02 9.38555574e+01] [-6.28514622e-01 7.77746436e-01 8.93593940e-03 -1.09417635e+02] [-1.44817139e-02 -2.14680276e-04 -9.99895111e-01 -1.80276363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.286559995 meters 0.012300094027383255 Centerline is valid? [True, True] Translation: X:93.77, Y:-109.46, Z:-1.80 [[-7.28963223e-01 -6.84470248e-01 1.06347742e-02 9.37690397e+01] [-6.84401287e-01 7.29040768e-01 9.71788064e-03 -1.09457062e+02] [-1.44047841e-02 -1.94475540e-04 -9.99896227e-01 -1.80376822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.316559995 meters 0.012018224989830212 Centerline is valid? [True, True] Translation: X:93.68, Y:-109.50, Z:-1.80 [[-6.76015969e-01 -7.36822089e-01 9.77845310e-03 9.36823200e+01] [-7.36748723e-01 6.76086665e-01 1.03991088e-02 -1.09504916e+02] [-1.42733748e-02 -1.74299212e-04 -9.99898115e-01 -1.80402339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.346559995 meters 0.012126783511558988 Centerline is valid? [True, True] Translation: X:93.60, Y:-109.56, Z:-1.80 [[-6.18858724e-01 -7.85451494e-01 8.93479860e-03 9.35984417e+01] [-7.85373352e-01 6.18923199e-01 1.10802851e-02 -1.09558773e+02] [-1.42329806e-02 -1.60021614e-04 -9.99898693e-01 -1.80331598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.376559995 meters 0.011566070363544382 Centerline is valid? [True, True] Translation: X:93.51, Y:-109.63, Z:-1.80 [[-5.58845129e-01 -8.29232050e-01 8.14427132e-03 9.35130063e+01] [-8.29147490e-01 5.58904454e-01 1.18427553e-02 -1.09627956e+02] [-1.43722618e-02 -1.34536011e-04 -9.99896705e-01 -1.80425426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.406559995 meters 0.01152020914826855 Centerline is valid? [True, True] Translation: X:93.43, Y:-109.70, Z:-1.80 [[-4.94643132e-01 -8.69066405e-01 7.19417225e-03 9.34348862e+01] [-8.68978029e-01 4.94695431e-01 1.23941885e-02 -1.09698244e+02] [-1.43302970e-02 -1.20877382e-04 -9.99897309e-01 -1.80390981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.43655999499998 meters 0.011411152372953185 Centerline is valid? [True, True] Translation: X:93.36, Y:-109.78, Z:-1.80 [[-4.27373967e-01 -9.04054243e-01 6.11699597e-03 9.33598254e+01] [-9.03965271e-01 4.27417727e-01 1.26836578e-02 -1.09779195e+02] [-1.40812272e-02 -1.08886782e-04 -9.99900849e-01 -1.80370678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.46655999499998 meters 0.011371556612051265 Centerline is valid? [True, True] Translation: X:93.29, Y:-109.87, Z:-1.80 [[-3.57629992e-01 -9.33849325e-01 5.12112310e-03 9.32892762e+01] [-9.33757428e-01 3.57666644e-01 1.31010767e-02 -1.09870672e+02] [-1.40660866e-02 -9.65487619e-05 -9.99901063e-01 -1.80344015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.49655999499998 meters 0.011277317568508728 Centerline is valid? [True, True] Translation: X:93.23, Y:-109.97, Z:-1.80 [[-2.86570931e-01 -9.58050060e-01 4.14540920e-03 9.32270910e+01] [-9.57953528e-01 2.86600902e-01 1.36000020e-02 -1.09966850e+02] [-1.42175607e-02 -7.37441392e-05 -9.99898923e-01 -1.80348065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.52655999499999 meters 0.011166636546351411 Centerline is valid? [True, True] Translation: X:93.17, Y:-110.07, Z:-1.80 [[-2.13031997e-01 -9.77040941e-01 2.89264902e-03 9.31715369e+01] [-9.76954468e-01 2.13051627e-01 1.29989043e-02 -1.10071884e+02] [-1.33167452e-02 -5.68038523e-05 -9.99911327e-01 -1.80377252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.556559995 meters 0.011019512970585302 Centerline is valid? [True, True] Translation: X:93.13, Y:-110.18, Z:-1.80 [[-1.38787071e-01 -9.90320370e-01 1.92691060e-03 9.31259922e+01] [-9.90228574e-01 1.38800442e-01 1.34836258e-02 -1.10178211e+02] [-1.36205654e-02 -3.67290011e-05 -9.99907235e-01 -1.80456342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.586559995 meters 0.011107999679905597 Centerline is valid? [True, True] Translation: X:93.09, Y:-110.29, Z:-1.80 [[-6.28301996e-02 -9.98023826e-01 8.98792639e-04 9.30868316e+01] [-9.97927955e-01 6.28366218e-02 1.38331618e-02 -1.10291691e+02] [-1.38623022e-02 -2.77899797e-05 -9.99903913e-01 -1.80413744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.616559995 meters 0.01129067246071399 Centerline is valid? [True, True] Translation: X:93.06, Y:-110.41, Z:-1.80 [[ 1.40453872e-02 -9.99901344e-01 -1.74085802e-04 9.30560337e+01] [-9.99799190e-01 -1.40464406e-02 1.42925557e-02 -1.10408205e+02] [-1.42935909e-02 -2.66936339e-05 -9.99897841e-01 -1.80283050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.646559995 meters 0.01127496979570736 Centerline is valid? [True, True] Translation: X:93.03, Y:-110.53, Z:-1.80 [[ 9.14754184e-02 -9.95806428e-01 -1.34359258e-03 9.30321454e+01] [-9.95693090e-01 -9.14852779e-02 1.50237877e-02 -1.10531378e+02] [-1.50837033e-02 -3.65014194e-05 -9.99886234e-01 -1.80199920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.676559995 meters 0.011199216462306783 Centerline is valid? [True, True] Translation: X:93.02, Y:-110.65, Z:-1.80 [[ 1.68381962e-01 -9.85718594e-01 -2.52342489e-03 9.30178358e+01] [-9.85603859e-01 -1.68400863e-01 1.50393798e-02 -1.10647989e+02] [-1.52495433e-02 -4.52629782e-05 -9.99883718e-01 -1.80225127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.706559995 meters 0.011253873698116918 Centerline is valid? [True, True] Translation: X:93.01, Y:-110.77, Z:-1.80 [[ 2.44359180e-01 -9.69678631e-01 -3.45599639e-03 9.30126504e+01] [-9.69578641e-01 -2.44383613e-01 1.39251370e-02 -1.10767594e+02] [-1.43474967e-02 -5.18747826e-05 -9.99897068e-01 -1.80280970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.736559995 meters 0.011155780944793147 Centerline is valid? [True, True] Translation: X:93.02, Y:-110.89, Z:-1.80 [[ 3.18257460e-01 -9.47995212e-01 -4.15546608e-03 9.30176505e+01] [-9.47912421e-01 -3.18284584e-01 1.25286301e-02 -1.10887526e+02] [-1.31997022e-02 -4.83120906e-05 -9.99912879e-01 -1.80376864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.766559995 meters 0.011126836695090231 Centerline is valid? [True, True] Translation: X:93.03, Y:-111.00, Z:-1.80 [[ 3.90147573e-01 -9.20739993e-01 -4.76819335e-03 9.30308167e+01] [-9.20669802e-01 -3.90176707e-01 1.13689773e-02 -1.11003922e+02] [-1.23283100e-02 -4.56472647e-05 -9.99924002e-01 -1.80463157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.796559995 meters 0.011160077338531848 Centerline is valid? [True, True] Translation: X:93.05, Y:-111.12, Z:-1.81 [[ 4.59698869e-01 -8.88059568e-01 -5.21084556e-03 9.30532595e+01] [-8.88001465e-01 -4.59728400e-01 1.01586180e-02 -1.11119101e+02] [-1.14170316e-02 -4.26667244e-05 -9.99934823e-01 -1.80528883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.826559995 meters 0.011020990932745682 Centerline is valid? [True, True] Translation: X:93.08, Y:-111.23, Z:-1.81 [[ 5.26095821e-01 -8.50408460e-01 -5.35142617e-03 9.30837134e+01] [-8.50363804e-01 -5.26123036e-01 8.71496913e-03 -1.11230380e+02] [-1.02267921e-02 -3.42497183e-05 -9.99947704e-01 -1.80649700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.856559995 meters 0.011032362773266661 Centerline is valid? [True, True] Translation: X:93.12, Y:-111.34, Z:-1.81 [[ 5.89399875e-01 -8.07820348e-01 -5.83717690e-03 9.31235197e+01] [-8.07780231e-01 -5.89428778e-01 8.05069022e-03 -1.11340674e+02] [-9.94411142e-03 -2.99197053e-05 -9.99950556e-01 -1.80610021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.886559995 meters 0.010941831191890555 Centerline is valid? [True, True] Translation: X:93.17, Y:-111.44, Z:-1.81 [[ 6.48549729e-01 -7.61145073e-01 -6.43634136e-03 9.31663961e+01] [-7.61107292e-01 -6.48581666e-01 7.58371760e-03 -1.11439559e+02] [-9.94680229e-03 -1.96716530e-05 -9.99950529e-01 -1.80556492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.916559995 meters 0.010784964270219886 Centerline is valid? [True, True] Translation: X:93.22, Y:-111.53, Z:-1.81 [[ 7.04291706e-01 -7.09876289e-01 -6.98907788e-03 9.32170866e+01] [-7.09841137e-01 -7.04326383e-01 7.06443612e-03 -1.11534778e+02] [-9.93746765e-03 -1.42887828e-05 -9.99950622e-01 -1.80669339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.946559995 meters 0.010985252024502559 Centerline is valid? [True, True] Translation: X:93.27, Y:-111.62, Z:-1.80 [[ 7.55948050e-01 -6.54587695e-01 -7.58259771e-03 9.32711434e+01] [-6.54554641e-01 -7.55986078e-01 6.57820833e-03 -1.11623626e+02] [-1.00383525e-02 -9.55923831e-06 -9.99949614e-01 -1.80462805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.976559995 meters 0.010806973866619454 Centerline is valid? [True, True] Translation: X:93.27, Y:-111.63, Z:-1.81 [[ 8.04046712e-01 -5.94505321e-01 -8.50345649e-03 9.32695378e+01] [-5.94472124e-01 -8.04091676e-01 6.28255642e-03 -1.11631116e+02] [-1.05725718e-02 3.59900452e-06 -9.99944109e-01 -1.80552191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.006559995 meters 0.01083446558320675 Centerline is valid? [True, True] Translation: X:93.27, Y:-111.64, Z:-1.81 [[ 8.47552910e-01 -5.30632609e-01 -9.11584956e-03 9.32674704e+01] [-5.30602089e-01 -8.47601932e-01 5.69112323e-03 -1.11639781e+02] [-1.07465073e-02 1.33607535e-05 -9.99942255e-01 -1.80549700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.036559995 meters 0.010853144482594522 Centerline is valid? [True, True] Translation: X:93.27, Y:-111.65, Z:-1.81 [[ 8.85583130e-01 -4.64387377e-01 -9.32113356e-03 9.32664225e+01] [-4.64362043e-01 -8.85632183e-01 4.85078212e-03 -1.11648232e+02] [-1.05077378e-02 3.26098080e-05 -9.99944792e-01 -1.80532886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.066559995 meters 0.010914793101016047 Centerline is valid? [True, True] Translation: X:93.27, Y:-111.66, Z:-1.81 [[ 9.18746962e-01 -3.94736633e-01 -9.32797106e-03 9.32653515e+01] [-3.94716758e-01 -9.18794313e-01 3.96129352e-03 -1.11657809e+02] [-1.01341544e-02 4.24801163e-05 -9.99948647e-01 -1.80510719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.096559995 meters 0.010887845864607198 Centerline is valid? [True, True] Translation: X:93.26, Y:-111.67, Z:-1.81 [[ 9.46453672e-01 -3.22711016e-01 -9.11303647e-03 9.32649444e+01] [-3.22696575e-01 -9.46497542e-01 3.05334122e-03 -1.11666855e+02] [-9.61081347e-03 5.08996496e-05 -9.99953814e-01 -1.80508467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.126559995 meters 0.01121259446549701 Centerline is valid? [True, True] Translation: X:93.27, Y:-111.67, Z:-1.80 [[ 9.68289470e-01 -2.49677288e-01 -8.76091657e-03 9.32654101e+01] [-2.49667685e-01 -9.68329101e-01 2.19072543e-03 -1.11674400e+02] [-9.03042485e-03 6.60613891e-05 -9.99959223e-01 -1.80472873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.156559995 meters 0.011338393729000695 Centerline is valid? [True, True] Translation: X:93.27, Y:-111.68, Z:-1.80 [[ 9.84715521e-01 -1.73958477e-01 -8.59016872e-03 9.32661120e+01] [-1.73952480e-01 -9.84752986e-01 1.44621477e-03 -1.11682131e+02] [-8.71077561e-03 7.01710140e-05 -9.99962058e-01 -1.80439111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.18655999499998 meters 0.011259982545903812 Centerline is valid? [True, True] Translation: X:93.26, Y:-111.69, Z:-1.80 [[ 9.95252101e-01 -9.69555832e-02 -8.53644521e-03 9.32640619e+01] [-9.69526580e-02 -9.95288707e-01 7.56802977e-04 -1.11690907e+02] [-8.56960379e-03 7.44213005e-05 -9.99963278e-01 -1.80445854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.21655999499998 meters 0.011332742207260308 Centerline is valid? [True, True] Translation: X:93.26, Y:-111.70, Z:-1.80 [[ 9.99780092e-01 -1.92031562e-02 -8.42647708e-03 9.32626398e+01] [-1.92031256e-02 -9.99815599e-01 8.45502770e-05 -1.11699067e+02] [-8.42654686e-03 7.72830140e-05 -9.99964493e-01 -1.80422021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.24655999499998 meters 0.011331941405933982 Centerline is valid? [True, True] Translation: X:93.26, Y:-111.71, Z:-1.80 [[ 9.98210683e-01 5.91841602e-02 -8.52449705e-03 9.32622410e+01] [ 5.91813339e-02 -9.98247078e-01 -5.83637586e-04 -1.11707449e+02] [-8.54409637e-03 7.81021669e-05 -9.99963496e-01 -1.80384663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.27655999499999 meters 0.011443856731261704 Centerline is valid? [True, True] Translation: X:93.26, Y:-111.72, Z:-1.80 [[ 9.90473437e-01 1.37433868e-01 -8.61989100e-03 9.32612810e+01] [ 1.37427984e-01 -9.90510942e-01 -1.27416696e-03 -1.11715134e+02] [-8.71321005e-03 7.74142882e-05 -9.99962036e-01 -1.80334572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.306559995 meters 0.011193668702826303 Centerline is valid? [True, True] Translation: X:93.26, Y:-111.73, Z:-1.80 [[ 9.76627839e-01 2.14757301e-01 -8.79581331e-03 9.32625575e+01] [ 2.14747868e-01 -9.76667444e-01 -2.01437161e-03 -1.11726320e+02] [-9.02318551e-03 7.84092391e-05 -9.99959287e-01 -1.80344722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.336559995 meters 0.011361673102634898 Centerline is valid? [True, True] Translation: X:93.26, Y:-111.74, Z:-1.80 [[ 9.56581047e-01 2.91320153e-01 -9.23411044e-03 9.32638240e+01] [ 2.91305809e-01 -9.56625613e-01 -2.89190089e-03 -1.11735366e+02] [-9.67605557e-03 7.63875684e-05 -9.99953183e-01 -1.80163838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.366559995 meters 0.01118940267804418 Centerline is valid? [True, True] Translation: X:93.27, Y:-111.74, Z:-1.80 [[ 9.30670890e-01 3.65737159e-01 -9.38223008e-03 9.32653315e+01] [ 3.65717759e-01 -9.30718177e-01 -3.76766537e-03 -1.11742803e+02] [-1.01101873e-02 7.52083158e-05 -9.99948888e-01 -1.80147137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.396559995 meters 0.01098798211040924 Centerline is valid? [True, True] Translation: X:93.27, Y:-111.75, Z:-1.80 [[ 8.98988088e-01 4.37870080e-01 -9.49790937e-03 9.32681148e+01] [ 4.37844771e-01 -8.99038257e-01 -4.70836797e-03 -1.11751154e+02] [-1.06006373e-02 7.41567681e-05 -9.99943809e-01 -1.80139087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.426559995 meters 0.011113946226353213 Centerline is valid? [True, True] Translation: X:93.27, Y:-111.76, Z:-1.80 [[ 8.62139733e-01 5.06579218e-01 -9.62166656e-03 9.32714672e+01] [ 5.06546600e-01 -8.62193418e-01 -5.74917665e-03 -1.11759494e+02] [-1.12081510e-02 8.27711448e-05 -9.99937183e-01 -1.80145966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.456559995 meters 0.011243522964460543 Centerline is valid? [True, True] Translation: X:93.28, Y:-111.77, Z:-1.80 [[ 8.20190577e-01 5.72015486e-01 -9.25748104e-03 9.32750666e+01] [ 5.71977800e-01 -8.20242815e-01 -6.56669295e-03 -1.11766889e+02] [-1.13496324e-02 9.08660419e-05 -9.99935587e-01 -1.80119844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.486559995 meters 0.011753999483291195 Centerline is valid? [True, True] Translation: X:93.28, Y:-111.77, Z:-1.80 [[ 7.74210150e-01 6.32863659e-01 -9.06826094e-03 9.32778297e+01] [ 6.32818442e-01 -7.74263247e-01 -7.56598695e-03 -1.11773264e+02] [-1.18094593e-02 1.19101135e-04 -9.99930259e-01 -1.80089354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.516559995 meters 0.011931549752529523 Centerline is valid? [True, True] Translation: X:93.28, Y:-111.78, Z:-1.80 [[ 7.22948408e-01 6.90853422e-01 -8.19443699e-03 9.32823974e+01] [ 6.90807052e-01 -7.22994836e-01 -8.00518182e-03 -1.11779319e+02] [-1.14549429e-02 1.26558590e-04 -9.99934382e-01 -1.80144262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.546559995 meters 0.011931549752529523 Centerline is valid? [True, True] Translation: X:93.29, Y:-111.79, Z:-1.80 [[ 6.66624389e-01 7.45355645e-01 -7.54229898e-03 9.32868856e+01] [ 7.45305782e-01 -6.66667043e-01 -8.62236444e-03 -1.11785943e+02] [-1.14549302e-02 1.26559393e-04 -9.99934382e-01 -1.80144274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.576559995 meters 0.012184254356502524 Centerline is valid? [True, True] Translation: X:93.29, Y:-111.79, Z:-1.80 [[ 6.07161664e-01 7.94551322e-01 -6.55055021e-03 9.32912583e+01] [ 7.94502681e-01 -6.07196985e-01 -8.79273202e-03 -1.11791919e+02] [-1.09637512e-02 1.34180106e-04 -9.99939887e-01 -1.80187540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.606559995 meters 0.012532303981312908 Centerline is valid? [True, True] Translation: X:93.30, Y:-111.80, Z:-1.80 [[ 5.45411327e-01 8.38150590e-01 -5.48388946e-03 9.32971106e+01] [ 8.38105345e-01 -5.45438874e-01 -8.71005557e-03 -1.11797452e+02] [-1.02914647e-02 1.54485905e-04 -9.99947030e-01 -1.80249281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.636559995 meters 0.012933013704446902 Centerline is valid? [True, True] Translation: X:93.30, Y:-111.80, Z:-1.80 [[ 4.79534428e-01 8.77510122e-01 -4.76635610e-03 9.33028579e+01] [ 8.77463196e-01 -4.79558085e-01 -9.07646404e-03 -1.11803331e+02] [-1.02504337e-02 1.70174935e-04 -9.99947448e-01 -1.80253745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.666559995 meters 0.013202591029403363 Centerline is valid? [True, True] Translation: X:93.31, Y:-111.81, Z:-1.80 [[ 4.10617252e-01 9.11799209e-01 -3.95914549e-03 9.33101427e+01] [ 9.11752506e-01 -4.10636299e-01 -9.23025171e-03 -1.11808868e+02] [-1.00419051e-02 1.80339768e-04 -9.99949563e-01 -1.80246573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.696559995 meters 0.01343359869985625 Centerline is valid? [True, True] Translation: X:93.32, Y:-111.81, Z:-1.80 [[ 3.38980892e-01 9.40787688e-01 -3.23748439e-03 9.33173784e+01] [ 9.40739223e-01 -3.38996297e-01 -9.55118212e-03 -1.11814266e+02] [-1.00831298e-02 1.92039689e-04 -9.99949146e-01 -1.80254245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.726559995 meters 0.01399122504413609 Centerline is valid? [True, True] Translation: X:93.32, Y:-111.82, Z:-1.80 [[ 2.65505510e-01 9.64106047e-01 -2.52074574e-03 9.33239314e+01] [ 9.64054840e-01 -2.65517394e-01 -9.93873086e-03 -1.11819690e+02] [-1.02512924e-02 2.08650677e-04 -9.99947432e-01 -1.80223161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.756559995 meters 0.013840317446383761 Centerline is valid? [True, True] Translation: X:93.33, Y:-111.82, Z:-1.80 [[ 1.89150023e-01 9.81946719e-01 -1.70587295e-03 9.33329054e+01] [ 9.81896422e-01 -1.89157603e-01 -9.94068864e-03 -1.11823645e+02] [-1.00839054e-02 2.05290935e-04 -9.99949135e-01 -1.80250107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.786559995 meters 0.013665228305462677 Centerline is valid? [True, True] Translation: X:93.34, Y:-111.83, Z:-1.80 [[ 1.10419795e-01 9.93884659e-01 -8.68383286e-04 9.33432180e+01] [ 9.93839665e-01 -1.10423061e-01 -9.45877307e-03 -1.11827204e+02] [-9.49681899e-03 1.81402032e-04 -9.99954888e-01 -1.80284983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.816559995 meters 0.01331277579563398 Centerline is valid? [True, True] Translation: X:93.35, Y:-111.83, Z:-1.80 [[ 3.08864477e-02 9.99522892e-01 -1.24462718e-04 9.33534855e+01] [ 9.99478079e-01 -3.08862416e-02 -9.46626126e-03 -1.11829558e+02] [-9.46558902e-03 1.67981425e-04 -9.99955186e-01 -1.80288543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.846559995 meters 0.012880955321994991 Centerline is valid? [True, True] Translation: X:93.36, Y:-111.83, Z:-1.80 [[-4.91869501e-02 9.98789401e-01 6.13527429e-04 9.33639223e+01] [ 9.98745306e-01 4.91905443e-02 -9.38634654e-03 -1.11831741e+02] [-9.40516319e-03 1.51071882e-04 -9.99955759e-01 -1.80274324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.876559995 meters 0.012112725705798801 Centerline is valid? [True, True] Translation: X:93.38, Y:-111.83, Z:-1.80 [[-1.31636662e-01 9.91297073e-01 1.37927482e-03 9.33757449e+01] [ 9.91251241e-01 1.31643839e-01 -9.53290811e-03 -1.11833637e+02] [-9.63151694e-03 1.12327682e-04 -9.99953610e-01 -1.80208080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.906559995 meters 0.011504974456042729 Centerline is valid? [True, True] Translation: X:93.39, Y:-111.83, Z:-1.80 [[-2.11242371e-01 9.77431371e-01 2.13895522e-03 9.33877970e+01] [ 9.77385488e-01 2.11253181e-01 -9.47106241e-03 -1.11832859e+02] [-9.70917462e-03 8.98941095e-05 -9.99952861e-01 -1.80239268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.93655999499998 meters 0.011220969409985305 Centerline is valid? [True, True] Translation: X:93.40, Y:-111.83, Z:-1.80 [[-2.89361413e-01 9.57215429e-01 2.93185819e-03 9.33982622e+01] [ 9.57168675e-01 2.89376258e-01 -9.46095579e-03 -1.11832212e+02] [-9.90458301e-03 6.86472844e-05 -9.99950946e-01 -1.80200562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.96655999499998 meters 0.010942809122809694 Centerline is valid? [True, True] Translation: X:93.41, Y:-111.83, Z:-1.80 [[-3.65637056e-01 9.30750420e-01 3.63300665e-03 9.34093325e+01] [ 9.30705692e-01 3.65655102e-01 -9.12475979e-03 -1.11829210e+02] [-9.82130142e-03 4.49096648e-05 -9.99951769e-01 -1.80214293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.99655999499998 meters 0.01074148007914226 Centerline is valid? [True, True] Translation: X:93.42, Y:-111.83, Z:-1.80 [[-4.42163128e-01 8.96924864e-01 4.19017291e-03 9.34217800e+01] [ 8.96884453e-01 4.42182981e-01 -8.51405109e-03 -1.11826046e+02] [-9.48928726e-03 -6.49852516e-06 -9.99954976e-01 -1.80217516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.02655999499999 meters 0.01081142563059342 Centerline is valid? [True, True] Translation: X:93.43, Y:-111.82, Z:-1.80 [[-5.13327337e-01 8.58179751e-01 4.74965780e-03 9.34302431e+01] [ 8.58142466e-01 5.13349309e-01 -7.99969010e-03 -1.11822825e+02] [-9.30340561e-03 -3.05765592e-05 -9.99956722e-01 -1.80221622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.056559995 meters 0.011505949113678566 Centerline is valid? [True, True] Translation: X:93.44, Y:-111.82, Z:-1.80 [[-5.83574182e-01 8.12042139e-01 5.36077081e-03 9.34402562e+01] [ 8.12006556e-01 5.83598798e-01 -7.60230950e-03 -1.11817743e+02] [-9.30193507e-03 -8.35305075e-05 -9.99956733e-01 -1.80179258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.086559995 meters 0.011996281462015408 Centerline is valid? [True, True] Translation: X:93.45, Y:-111.81, Z:-1.80 [[-6.47155963e-01 7.62333861e-01 6.02037768e-03 9.34459234e+01] [ 7.62299332e-01 6.47183956e-01 -7.25635108e-03 -1.11814156e+02] [-9.42805398e-03 -1.06660982e-04 -9.99955549e-01 -1.80156662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.116559995 meters 0.012555048696707597 Centerline is valid? [True, True] Translation: X:93.45, Y:-111.81, Z:-1.80 [[-7.06445055e-01 7.07733866e-01 6.93966244e-03 9.34504523e+01] [ 7.07697837e-01 7.06479127e-01 -7.14245832e-03 -1.11810254e+02] [-9.95768630e-03 -1.34570260e-04 -9.99950412e-01 -1.80089932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.146559995 meters 0.012380258406053979 Centerline is valid? [True, True] Translation: X:93.46, Y:-111.80, Z:-1.80 [[-7.60672768e-01 6.49088555e-01 7.80949984e-03 9.34557789e+01] [ 6.49052227e-01 7.60712839e-01 -6.86893717e-03 -1.11803658e+02] [-1.03993353e-02 -1.56240182e-04 -9.99945913e-01 -1.80127999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.176559995 meters 0.012674229774143172 Centerline is valid? [True, True] Translation: X:93.88, Y:-111.32, Z:-2.79 [[-6.92809917e-01 -7.21078601e-01 7.75054536e-03 9.38844742e+01] [ 7.21036688e-01 -6.92853240e-01 -7.77711449e-03 -1.11322035e+02] [ 1.09779013e-02 2.00365509e-04 9.99939721e-01 -2.78983107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.206559995 meters 0.012796157314201325 Centerline is valid? [True, True] Translation: X:93.86, Y:-111.30, Z:-2.79 [[-6.92656159e-01 -7.21228390e-01 7.55338479e-03 9.38644927e+01] [ 7.21188379e-01 -6.92697318e-01 -7.59911065e-03 -1.11302491e+02] [ 1.07129037e-02 1.83842538e-04 9.99942598e-01 -2.78978643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.236559995 meters 0.012846391797745323 Centerline is valid? [True, True] Translation: X:93.84, Y:-111.28, Z:-2.79 [[-6.93002582e-01 -7.20901011e-01 7.01100494e-03 9.38445667e+01] [ 7.20866567e-01 -6.93038025e-01 -7.04900300e-03 -1.11283322e+02] [ 9.94052640e-03 1.69021788e-04 9.99950577e-01 -2.78935610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.266559995 meters 0.01261351872491471 Centerline is valid? [True, True] Translation: X:93.83, Y:-111.26, Z:-2.79 [[-6.93299324e-01 -7.20616572e-01 6.91397654e-03 9.38256769e+01] [ 7.20583100e-01 -6.93333779e-01 -6.94749756e-03 -1.11262978e+02] [ 9.80017536e-03 1.65399285e-04 9.99951963e-01 -2.78897348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.296559995 meters 0.012762791290410795 Centerline is valid? [True, True] Translation: X:93.81, Y:-111.24, Z:-2.79 [[-6.93903130e-01 -7.20034801e-01 6.95207842e-03 9.38069666e+01] [ 7.20000971e-01 -6.93937936e-01 -6.98160667e-03 -1.11243832e+02] [ 9.85131073e-03 1.60944492e-04 9.99951462e-01 -2.78942018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.326559995 meters 0.012382835164469204 Centerline is valid? [True, True] Translation: X:93.79, Y:-111.22, Z:-2.79 [[-6.94834226e-01 -7.19129708e-01 7.60673923e-03 9.37883486e+01] [ 7.19089198e-01 -6.94875843e-01 -7.63475658e-03 -1.11222113e+02] [ 1.07761196e-02 1.65033835e-04 9.99941922e-01 -2.78963051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.356559995 meters 0.012134334079241619 Centerline is valid? [True, True] Translation: X:93.77, Y:-111.20, Z:-2.79 [[-6.95613493e-01 -7.18369741e-01 8.17212399e-03 9.37694741e+01] [ 7.18322986e-01 -6.95661475e-01 -8.19758679e-03 -1.11201402e+02] [ 1.15739301e-02 1.67872531e-04 9.99933006e-01 -2.79026293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.386559995 meters 0.0118031459163095 Centerline is valid? [True, True] Translation: X:93.75, Y:-111.18, Z:-2.79 [[-6.97453417e-01 -7.16567824e-01 9.44908992e-03 9.37516778e+01] [ 7.16505221e-01 -6.97517403e-01 -9.47318824e-03 -1.11179435e+02] [ 1.33790865e-02 1.63214753e-04 9.99910483e-01 -2.79202750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.416559995 meters 0.011555469627471338 Centerline is valid? [True, True] Translation: X:93.73, Y:-111.16, Z:-2.79 [[-6.98814849e-01 -7.15230286e-01 1.01708063e-02 9.37336100e+01] [ 7.15157699e-01 -6.98888843e-01 -1.01906812e-02 -1.11159232e+02] [ 1.43969469e-02 1.52331076e-04 9.99896347e-01 -2.79283790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.446559995 meters 0.011199981958602936 Centerline is valid? [True, True] Translation: X:93.72, Y:-111.14, Z:-2.79 [[-7.00600861e-01 -7.13469615e-01 1.09335700e-02 9.37159075e+01] [ 7.13385615e-01 -7.00686158e-01 -1.09486403e-02 -1.11137483e+02] [ 1.54725233e-02 1.29224695e-04 9.99880285e-01 -2.79267642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.476559995 meters 0.010904156990799484 Centerline is valid? [True, True] Translation: X:93.70, Y:-111.11, Z:-2.79 [[-7.05413989e-01 -7.08696600e-01 1.18419962e-02 9.37014431e+01] [ 7.08597503e-01 -7.05513379e-01 -1.18512216e-02 -1.11113854e+02] [ 1.67536072e-02 3.11914880e-05 9.99859648e-01 -2.79307882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.506559995 meters 0.010945259817757236 Centerline is valid? [True, True] Translation: X:93.68, Y:-111.09, Z:-2.79 [[-7.08417981e-01 -7.05691569e-01 1.19738663e-02 9.36840960e+01] [ 7.05589936e-01 -7.08519166e-01 -1.19764147e-02 -1.11090952e+02] [ 1.69353686e-02 -3.56680361e-05 9.99856586e-01 -2.79269483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.536559995 meters 0.01136284101194752 Centerline is valid? [True, True] Translation: X:93.67, Y:-111.07, Z:-2.79 [[-7.11799238e-01 -7.02280767e-01 1.19819965e-02 9.36675757e+01] [ 7.02178624e-01 -7.11900071e-01 -1.19778183e-02 -1.11068295e+02] [ 1.69417756e-02 -1.12300187e-04 9.99856472e-01 -2.79225092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.566559995 meters 0.012039249082842363 Centerline is valid? [True, True] Translation: X:93.17, Y:-111.56, Z:-1.80 [[-7.48194240e-01 6.63368447e-01 1.21525274e-02 9.31701663e+01] [ 6.63284775e-01 7.48292906e-01 -1.05372996e-02 -1.11564360e+02] [-1.60837621e-02 1.76639521e-04 -9.99870632e-01 -1.79973329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.596559995 meters 0.013487808369246143 Centerline is valid? [True, True] Translation: X:93.19, Y:-111.55, Z:-1.80 [[-7.89595387e-01 6.13528406e-01 1.10462352e-02 9.31935210e+01] [ 6.13472511e-01 7.89672615e-01 -8.28488513e-03 -1.11550225e+02] [-1.38059218e-02 2.34854536e-04 -9.99904666e-01 -1.80159769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.626559995 meters 0.01395547725952224 Centerline is valid? [True, True] Translation: X:93.22, Y:-111.53, Z:-1.80 [[-8.29373603e-01 5.58579021e-01 1.13535657e-02 9.32163354e+01] [ 5.58531011e-01 8.29451269e-01 -7.32813763e-03 -1.11532429e+02] [-1.35105735e-02 2.63554638e-04 -9.99908693e-01 -1.80250455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.656559995 meters 0.015766225777736242 Centerline is valid? [True, True] Translation: X:93.24, Y:-111.51, Z:-1.80 [[-8.64075817e-01 5.03212197e-01 1.22665274e-02 9.32350801e+01] [ 5.03167205e-01 8.64162810e-01 -6.73808389e-03 -1.11513725e+02] [-1.39909628e-02 3.49898979e-04 -9.99902060e-01 -1.80304970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.68655999499998 meters 0.017094279988664855 Centerline is valid? [True, True] Translation: X:93.25, Y:-111.49, Z:-1.80 [[-8.96466051e-01 4.42915146e-01 1.32209204e-02 9.32463166e+01] [ 4.42873514e-01 8.96563447e-01 -6.08578293e-03 -1.11489887e+02] [-1.45488794e-02 3.99497681e-04 -9.99894080e-01 -1.80283006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.71655999499998 meters 0.016408928596071005 Centerline is valid? [True, True] Translation: X:93.26, Y:-111.47, Z:-1.80 [[-9.24283411e-01 3.81442051e-01 1.42175439e-02 9.32649486e+01] [ 3.81404454e-01 9.24392641e-01 -5.37468038e-03 -1.11465429e+02] [-1.51927221e-02 4.54906650e-04 -9.99884480e-01 -1.80386506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.74655999499998 meters 0.021204179142907065 Centerline is valid? [True, True] Translation: X:93.27, Y:-111.44, Z:-1.80 [[-9.47155492e-01 3.20405246e-01 1.53932504e-02 9.32726165e+01] [ 3.20372715e-01 9.47280397e-01 -4.60145821e-03 -1.11444651e+02] [-1.60560557e-02 5.73281017e-04 -9.99870929e-01 -1.80198309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.77655999499999 meters 0.019969438269139012 Centerline is valid? [True, True] Translation: X:93.28, Y:-111.42, Z:-1.80 [[-9.66897024e-01 2.54687991e-01 1.56259894e-02 9.32840373e+01] [ 2.54664877e-01 9.67023089e-01 -3.48493256e-03 -1.11415446e+02] [-1.59982630e-02 6.09819745e-04 -9.99871834e-01 -1.80327467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.806559995 meters 0.02372573535335113 Centerline is valid? [True, True] Translation: X:93.29, Y:-111.39, Z:-1.80 [[-9.82178532e-01 1.87300215e-01 1.56192564e-02 9.32909802e+01] [ 1.87286728e-01 9.82302515e-01 -2.33486350e-03 -1.11390910e+02] [-1.57801552e-02 6.32026617e-04 -9.99875286e-01 -1.80179110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.836559995 meters 0.020936633291173814 Centerline is valid? [True, True] Translation: X:93.30, Y:-111.35, Z:-1.80 [[-9.92903702e-01 1.18029864e-01 1.45323532e-02 9.32965727e+01] [ 1.18026014e-01 9.93009866e-01 -1.12530376e-03 -1.11354499e+02] [-1.45635896e-02 5.97877451e-04 -9.99893767e-01 -1.80403963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.866559995 meters 0.02003987796933421 Centerline is valid? [True, True] Translation: X:93.29, Y:-111.32, Z:-1.81 [[-9.98848668e-01 4.60161292e-02 1.35592569e-02 9.32927236e+01] [ 4.60192380e-02 9.98940550e-01 -8.28124013e-05 -1.11322577e+02] [-1.35487023e-02 5.41269615e-04 -9.99908066e-01 -1.80514281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.896559995 meters 0.019541012467851508 Centerline is valid? [True, True] Translation: X:93.29, Y:-111.29, Z:-1.81 [[-9.99545040e-01 -2.72704365e-02 1.28855181e-02 9.32851798e+01] [-2.72618533e-02 9.99627973e-01 8.41327470e-04 -1.11291720e+02] [-1.29036677e-02 4.89661596e-04 -9.99916624e-01 -1.80609677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.926559995 meters 0.018058766586137052 Centerline is valid? [True, True] Translation: X:93.27, Y:-111.26, Z:-1.81 [[-9.94487179e-01 -1.04197141e-01 1.17561613e-02 9.32695971e+01] [-1.04185310e-01 9.94556590e-01 1.61599803e-03 -1.11259090e+02] [-1.18605501e-02 3.82270009e-04 -9.99929588e-01 -1.80713368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.956559995 meters 0.01729544060731229 Centerline is valid? [True, True] Translation: X:93.24, Y:-111.23, Z:-1.81 [[-9.83834860e-01 -1.78752190e-01 1.07992100e-02 9.32438314e+01] [-1.78737870e-01 9.83894076e-01 2.28473746e-03 -1.11231699e+02] [-1.10336806e-02 3.17576551e-04 -9.99939077e-01 -1.80700890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.986559995 meters 0.015953689120534305 Centerline is valid? [True, True] Translation: X:93.21, Y:-111.21, Z:-1.81 [[-9.67370898e-01 -2.53150309e-01 1.04146960e-02 9.32064560e+01] [-2.53132642e-01 9.67426922e-01 3.00274264e-03 -1.11206819e+02] [-1.08356025e-02 2.68466341e-04 -9.99941257e-01 -1.80701177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.016559995 meters 0.013294419785278623 Centerline is valid? [True, True] Translation: X:93.15, Y:-111.18, Z:-1.81 [[-9.43709557e-01 -3.30651817e-01 9.03591960e-03 9.31491591e+01] [-3.30635047e-01 9.43752802e-01 3.33394784e-03 -1.11183856e+02] [-9.63005035e-03 1.58686738e-04 -9.99953617e-01 -1.80692834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.046559995 meters 0.012234736813805444 Centerline is valid? [True, True] Translation: X:93.08, Y:-111.17, Z:-1.81 [[-9.15139046e-01 -4.03060859e-01 7.90387802e-03 9.30824721e+01] [-4.03044817e-01 9.15173171e-01 3.59756756e-03 -1.11174801e+02] [-8.68345578e-03 1.06657472e-04 -9.99962292e-01 -1.80726699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.076559995 meters 0.011339633995600791 Centerline is valid? [True, True] Translation: X:93.01, Y:-111.17, Z:-1.81 [[-8.78782407e-01 -4.77177022e-01 6.60078962e-03 9.30061179e+01] [-4.77163340e-01 8.78807197e-01 3.61357559e-03 -1.11171694e+02] [-7.52513666e-03 2.58918291e-05 -9.99971685e-01 -1.80758391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.106559995 meters 0.011296249990221087 Centerline is valid? [True, True] Translation: X:92.93, Y:-111.18, Z:-1.81 [[-8.38448413e-01 -5.44946592e-01 6.12137747e-03 9.29263370e+01] [-5.44932146e-01 8.38470758e-01 3.96798922e-03 -1.11181630e+02] [-7.29493821e-03 -8.78109642e-06 -9.99973392e-01 -1.80775710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.136559995 meters 0.011669467302993935 Centerline is valid? [True, True] Translation: X:92.84, Y:-111.20, Z:-1.81 [[-7.92863139e-01 -6.09375931e-01 5.38679605e-03 9.28428963e+01] [-6.09362190e-01 7.92881437e-01 4.09246665e-03 -1.11201025e+02] [-6.76494127e-03 -3.77438879e-05 -9.99977117e-01 -1.80776665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.166559995 meters 0.013050742944828398 Centerline is valid? [True, True] Translation: X:92.75, Y:-111.23, Z:-1.81 [[-7.39536715e-01 -6.73101749e-01 4.41381702e-03 9.27537293e+01] [-6.73090419e-01 7.39549882e-01 3.90630512e-03 -1.11227324e+02] [-5.89357866e-03 -8.20418885e-05 -9.99982629e-01 -1.80812140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.196559995 meters 0.014028268607106206 Centerline is valid? [True, True] Translation: X:92.66, Y:-111.27, Z:-1.81 [[-6.84402633e-01 -7.29096266e-01 3.41630116e-03 9.26636364e+01] [-7.29087802e-01 6.84411154e-01 3.51399546e-03 -1.11268410e+02] [-4.90019559e-03 -8.57957545e-05 -9.99987990e-01 -1.80784979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.226559995 meters 0.015304244109468608 Centerline is valid? [True, True] Translation: X:92.58, Y:-111.31, Z:-1.81 [[-6.25244789e-01 -7.80424560e-01 2.54162135e-03 9.25807921e+01] [-7.80418635e-01 6.25249949e-01 3.04228468e-03 -1.11311415e+02] [-3.96342231e-03 -8.13560197e-05 -9.99992142e-01 -1.80755766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.256559995 meters 0.015509868232659641 Centerline is valid? [True, True] Translation: X:92.50, Y:-111.37, Z:-1.81 [[-5.62185266e-01 -8.27010421e-01 1.22052861e-03 9.24978521e+01] [-8.27008660e-01 5.62186589e-01 1.70742439e-03 -1.11367342e+02] [-2.09822258e-03 -4.94988959e-05 -9.99997798e-01 -1.80794228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.286559995 meters 0.016040210028725847 Centerline is valid? [True, True] Translation: X:92.42, Y:-111.43, Z:-1.81 [[-4.97920171e-01 -8.67222653e-01 6.12016257e-04 9.24192669e+01] [-8.67222066e-01 4.97920546e-01 1.00929189e-03 -1.11432883e+02] [-1.18001625e-03 -2.82072148e-05 -9.99999303e-01 -1.80781434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.316559995 meters 0.0164018573178892 Centerline is valid? [True, True] Translation: X:92.35, Y:-111.51, Z:-1.81 [[-4.30972580e-01 -9.02364978e-01 2.87674171e-04 9.23458020e+01] [-9.02364800e-01 4.30972676e-01 5.67040559e-04 -1.11505210e+02] [-6.35657249e-04 -1.52081129e-05 -9.99999798e-01 -1.80743781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.346559995 meters 0.015477919751896326 Centerline is valid? [True, True] Translation: X:92.28, Y:-111.59, Z:-1.81 [[-3.63454739e-01 -9.31611855e-01 -6.76333416e-05 9.22792439e+01] [-9.31611840e-01 3.63454745e-01 -1.64090444e-04 -1.11585667e+02] [ 1.77450262e-04 3.36857233e-06 -9.99999984e-01 -1.80635518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.376559995 meters 0.014721101764913515 Centerline is valid? [True, True] Translation: X:92.22, Y:-111.68, Z:-1.81 [[-2.92858246e-01 -9.56155867e-01 -7.96211980e-05 9.22174175e+01] [-9.56155836e-01 2.92858256e-01 -2.43988456e-04 -1.11676203e+02] [ 2.56608719e-04 4.67624204e-06 -9.99999967e-01 -1.80574710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.406559995 meters 0.01475778548126646 Centerline is valid? [True, True] Translation: X:92.16, Y:-111.77, Z:-1.80 [[-2.20914177e-01 -9.75293245e-01 -1.13274816e-04 9.21599989e+01] [-9.75293135e-01 2.20914206e-01 -4.63032049e-04 -1.11773094e+02] [ 4.76616046e-04 8.18580595e-06 -9.99999886e-01 -1.80479586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.43655999499998 meters 0.01475778548126646 Centerline is valid? [True, True] Translation: X:92.11, Y:-111.87, Z:-1.80 [[-1.46028517e-01 -9.89280378e-01 -7.77006590e-05 9.21112832e+01] [-9.89280266e-01 1.46028537e-01 -4.70324816e-04 -1.11872565e+02] [ 4.76629625e-04 8.18689331e-06 -9.99999886e-01 -1.80479647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.46655999499998 meters 0.01416680893756054 Centerline is valid? [True, True] Translation: X:92.07, Y:-111.98, Z:-1.80 [[-7.20389210e-02 -9.97401821e-01 -2.84211581e-05 9.20706467e+01] [-9.97401768e-01 7.20389264e-02 -3.26043388e-04 -1.11975829e+02] [ 3.27243699e-04 4.85949940e-06 -9.99999946e-01 -1.80382733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.49655999499998 meters 0.01352068028490926 Centerline is valid? [True, True] Translation: X:92.04, Y:-112.08, Z:-1.80 [[-1.60495923e-05 -1.00000000e+00 8.52871147e-06 9.20393770e+01] [-9.99999751e-01 1.60556051e-05 7.05395786e-04 -1.12082581e+02] [-7.05395923e-04 -8.51738803e-06 -9.99999751e-01 -1.80132797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.52655999499999 meters 0.012980986768854388 Centerline is valid? [True, True] Translation: X:92.02, Y:-112.19, Z:-1.80 [[ 7.35456454e-02 -9.97291850e-01 -5.83551211e-05 9.20168161e+01] [-9.97291441e-01 -7.35456680e-02 9.03339186e-04 -1.12194952e+02] [-9.05184574e-04 -8.23960055e-06 -9.99999590e-01 -1.80038122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.556559995 meters 0.01252288184197155 Centerline is valid? [True, True] Translation: X:92.00, Y:-112.30, Z:-1.80 [[ 1.40687474e-01 -9.90054026e-01 -2.47175953e-04 9.20041311e+01] [-9.90052472e-01 -1.40687691e-01 1.75401204e-03 -1.12296269e+02] [-1.77134129e-03 -2.05035949e-06 -9.99998431e-01 -1.79902146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.586559995 meters 0.012567176399691612 Centerline is valid? [True, True] Translation: X:92.00, Y:-112.41, Z:-1.80 [[ 2.11452204e-01 -9.77388266e-01 -3.78161371e-04 9.19996216e+01] [-9.77386755e-01 -2.11452542e-01 1.71856895e-03 -1.12408806e+02] [-1.75967231e-03 6.21472385e-06 -9.99998452e-01 -1.79863264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.616559995 meters 0.012938414416273034 Centerline is valid? [True, True] Translation: X:92.00, Y:-112.52, Z:-1.80 [[ 2.81027283e-01 -9.59699667e-01 -4.63911232e-04 9.20038741e+01] [-9.59698437e-01 -2.81027665e-01 1.53685768e-03 -1.12521389e+02] [-1.60529369e-03 1.33159472e-05 -9.99998711e-01 -1.79830489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.646559995 meters 0.014765353504025453 Centerline is valid? [True, True] Translation: X:92.02, Y:-112.63, Z:-1.80 [[ 3.43785190e-01 -9.39048317e-01 4.18215351e-05 9.20191252e+01] [-9.39048311e-01 -3.43785193e-01 -1.06870367e-04 -1.12628054e+02] [ 1.14734062e-04 -2.53199252e-06 -9.99999993e-01 -1.79831006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.676559995 meters 0.016155708468010177 Centerline is valid? [True, True] Translation: X:92.04, Y:-112.74, Z:-1.80 [[ 4.09928724e-01 -9.12117533e-01 2.18992384e-04 9.20418665e+01] [-9.12117418e-01 -4.09928782e-01 -4.56656033e-04 -1.12740727e+02] [ 5.06295255e-04 -1.25503431e-05 -9.99999872e-01 -1.79867601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.706559995 meters 0.017060474365422386 Centerline is valid? [True, True] Translation: X:92.07, Y:-112.85, Z:-1.80 [[ 4.74251261e-01 -8.80389208e-01 7.63502296e-04 9.20687457e+01] [-8.80388214e-01 -4.74251874e-01 -1.32370766e-03 -1.12845819e+02] [ 1.52747033e-03 -4.44083950e-05 -9.99998832e-01 -1.79904478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.736559995 meters 0.019919579372676195 Centerline is valid? [True, True] Translation: X:92.11, Y:-112.95, Z:-1.80 [[ 5.33250880e-01 -8.45956198e-01 1.26875518e-03 9.21082351e+01] [-8.45954165e-01 -5.33252382e-01 -1.85653508e-03 -1.12947810e+02] [ 2.24711408e-03 -8.33097694e-05 -9.99997472e-01 -1.79971494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.766559995 meters 0.02106330674682719 Centerline is valid? [True, True] Translation: X:92.15, Y:-113.05, Z:-1.80 [[ 5.93491106e-01 -8.04838086e-01 1.99071312e-03 9.21487309e+01] [-8.04834263e-01 -5.93494431e-01 -2.48389013e-03 -1.13045982e+02] [ 3.18060652e-03 -1.28027428e-04 -9.99994934e-01 -1.80024354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.796559995 meters 0.021967034362663816 Centerline is valid? [True, True] Translation: X:92.20, Y:-113.14, Z:-1.80 [[ 6.51026952e-01 -7.59050312e-01 2.55572842e-03 9.21980121e+01] [-7.59045405e-01 -6.51031949e-01 -2.73416737e-03 -1.13143765e+02] [ 3.73923145e-03 -1.59897267e-04 -9.99992996e-01 -1.80040910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.826559995 meters 0.02174876176841818 Centerline is valid? [True, True] Translation: X:92.25, Y:-113.23, Z:-1.80 [[ 7.05282731e-01 -7.08918657e-01 3.25685378e-03 9.22482699e+01] [-7.08912364e-01 -7.05290223e-01 -2.99354344e-03 -1.13234262e+02] [ 4.41920593e-03 -1.97529424e-04 -9.99990216e-01 -1.80082250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.856559995 meters 0.021515263054805524 Centerline is valid? [True, True] Translation: X:92.24, Y:-113.25, Z:-1.80 [[ 7.58818690e-01 -6.51289643e-01 3.99968224e-03 9.22448479e+01] [-6.51282128e-01 -7.58829197e-01 -3.13661560e-03 -1.13246400e+02] [ 5.07792092e-03 -2.24799022e-04 -9.99987082e-01 -1.80078252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.886559995 meters 0.019521967867160133 Centerline is valid? [True, True] Translation: X:92.24, Y:-113.26, Z:-1.80 [[ 8.09710249e-01 -5.86814336e-01 4.27175233e-03 9.22395709e+01] [-5.86807497e-01 -8.09721491e-01 -2.84065536e-03 -1.13262966e+02] [ 5.12586695e-03 -2.06588536e-04 -9.99986841e-01 -1.80024660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.916559995 meters 0.019057743731763395 Centerline is valid? [True, True] Translation: X:92.24, Y:-113.28, Z:-1.80 [[ 8.54773963e-01 -5.18984344e-01 4.08924040e-03 9.22370522e+01] [-5.18979366e-01 -8.54783727e-01 -2.27973377e-03 -1.13276480e+02] [ 4.67856229e-03 -1.73574318e-04 -9.99989040e-01 -1.80002446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.946559995 meters 0.018260118781926262 Centerline is valid? [True, True] Translation: X:92.24, Y:-113.29, Z:-1.80 [[ 8.94240787e-01 -4.47568751e-01 3.95329224e-03 9.22365827e+01] [-4.47565096e-01 -8.94249513e-01 -1.81462076e-03 -1.13290906e+02] [ 4.34739721e-03 -1.46647720e-04 -9.99990539e-01 -1.79971120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.976559995 meters 0.015922478778866843 Centerline is valid? [True, True] Translation: X:92.24, Y:-113.31, Z:-1.80 [[ 9.29449216e-01 -3.68932275e-01 3.62382136e-03 9.22351771e+01] [-3.68929886e-01 -9.29456275e-01 -1.33132992e-03 -1.13309673e+02] [ 3.85935408e-03 -9.95324533e-05 -9.99992548e-01 -1.79888186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.006559995 meters 0.014644147034929547 Centerline is valid? [True, True] Translation: X:92.24, Y:-113.33, Z:-1.80 [[ 9.56600779e-01 -2.91377815e-01 3.73082531e-03 9.22368294e+01] [-2.91375942e-01 -9.56608050e-01 -1.04795581e-03 -1.13327204e+02] [ 3.87428860e-03 -8.45973939e-05 -9.99992491e-01 -1.79849727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.036559995 meters 0.013514652897133536 Centerline is valid? [True, True] Translation: X:92.24, Y:-113.34, Z:-1.80 [[ 9.77977150e-01 -2.08682707e-01 3.49595532e-03 9.22391661e+01] [-2.08681564e-01 -9.77983397e-01 -6.92531410e-04 -1.13344982e+02] [ 3.56350559e-03 -5.22615308e-05 -9.99993649e-01 -1.79905079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.066559995 meters 0.013029035456395359 Centerline is valid? [True, True] Translation: X:92.24, Y:-113.36, Z:-1.80 [[ 9.91742018e-01 -1.28193079e-01 3.78223393e-03 9.22441302e+01] [-1.28192311e-01 -9.91749229e-01 -4.45711497e-04 -1.13357711e+02] [ 3.80816471e-03 -4.28224879e-05 -9.99992748e-01 -1.79956387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.096559995 meters 0.012571588823410347 Centerline is valid? [True, True] Translation: X:92.25, Y:-113.37, Z:-1.80 [[ 9.98886245e-01 -4.70189613e-02 3.93532377e-03 9.22471758e+01] [-4.70187218e-02 -9.98893997e-01 -1.53409412e-04 -1.13369768e+02] [ 3.93818444e-03 -3.17953418e-05 -9.99992245e-01 -1.79949351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.126559995 meters 0.012202726548280063 Centerline is valid? [True, True] Translation: X:92.25, Y:-113.38, Z:-1.80 [[ 9.99299116e-01 3.72602622e-02 3.59859068e-03 9.22517247e+01] [ 3.72599925e-02 -9.99305595e-01 1.41998304e-04 -1.13384708e+02] [ 3.60138270e-03 -7.81531803e-06 -9.99993515e-01 -1.79943565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.156559995 meters 0.0122333885412502 Centerline is valid? [True, True] Translation: X:92.26, Y:-113.40, Z:-1.80 [[ 9.93026288e-01 1.17848863e-01 3.23056219e-03 9.22574450e+01] [ 1.17848243e-01 -9.93031543e-01 3.82338225e-04 -1.13396178e+02] [ 3.25310828e-03 1.04416819e-06 -9.99994709e-01 -1.79928972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.18655999499998 meters 0.01227392107503208 Centerline is valid? [True, True] Translation: X:92.26, Y:-113.41, Z:-1.80 [[ 9.80337335e-01 1.97308622e-01 2.83142326e-03 9.22645882e+01] [ 1.97307819e-01 -9.80341424e-01 5.62752837e-04 -1.13407153e+02] [ 2.88679750e-03 6.97433290e-06 -9.99995833e-01 -1.79911243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.21655999499998 meters 0.01236914842542159 Centerline is valid? [True, True] Translation: X:92.27, Y:-113.42, Z:-1.80 [[ 9.61485005e-01 2.74847198e-01 2.36728096e-03 9.22716281e+01] [ 2.74846389e-01 -9.61487919e-01 6.66811709e-04 -1.13416888e+02] [ 2.45938337e-03 9.50916374e-06 -9.99996976e-01 -1.79888257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.24655999499998 meters 0.01246039544815899 Centerline is valid? [True, True] Translation: X:92.28, Y:-113.43, Z:-1.80 [[ 9.36197464e-01 3.51470506e-01 1.67056241e-03 9.22806069e+01] [ 3.51469968e-01 -9.36198955e-01 6.15515053e-04 -1.13427128e+02] [ 1.78031417e-03 1.09088828e-05 -9.99998415e-01 -1.79799359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.27655999499999 meters 0.012662043427081512 Centerline is valid? [True, True] Translation: X:92.29, Y:-113.44, Z:-1.80 [[ 9.05374733e-01 4.24612772e-01 7.65931485e-04 9.22889712e+01] [ 4.24612626e-01 -9.05375057e-01 3.52752250e-04 -1.13435204e+02] [ 8.43238372e-04 5.85120495e-06 -9.99999644e-01 -1.79757217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.306559995 meters 0.012811560802612169 Centerline is valid? [True, True] Translation: X:92.30, Y:-113.44, Z:-1.80 [[ 8.68487231e-01 4.95711534e-01 -6.42376824e-05 9.22979619e+01] [ 4.95711532e-01 -8.68487234e-01 -3.55100007e-05 -1.13440814e+02] [-7.33923240e-05 -1.00337780e-06 -9.99999997e-01 -1.79713625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.336559995 meters 0.012666466987678638 Centerline is valid? [True, True] Translation: X:92.31, Y:-113.45, Z:-1.80 [[ 8.26819966e-01 5.62466340e-01 -5.99906894e-04 9.23082368e+01] [ 5.62466199e-01 -8.26820183e-01 -3.99452321e-04 -1.13447157e+02] [-7.20693613e-04 -7.15219594e-06 -9.99999740e-01 -1.79688346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.366559995 meters 0.012979211577960842 Centerline is valid? [True, True] Translation: X:92.32, Y:-113.45, Z:-1.80 [[ 7.79806213e-01 6.26020380e-01 -8.68893101e-04 9.23185438e+01] [ 6.26020007e-01 -7.79806697e-01 -6.82672806e-04 -1.13452845e+02] [-1.10493575e-03 -1.15919705e-05 -9.99999390e-01 -1.79676635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.396559995 meters 0.01294363507660078 Centerline is valid? [True, True] Translation: X:92.33, Y:-113.46, Z:-1.80 [[ 7.28099108e-01 6.85470612e-01 -1.31506110e-03 9.23283578e+01] [ 6.85469541e-01 -7.28100295e-01 -1.21159360e-03 -1.13456119e+02] [-1.78800818e-03 -1.92741113e-05 -9.99998401e-01 -1.79651846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.426559995 meters 0.013023253737510829 Centerline is valid? [True, True] Translation: X:92.34, Y:-113.46, Z:-1.80 [[ 6.72211369e-01 7.40357606e-01 -1.57814421e-03 9.23376704e+01] [ 7.40355652e-01 -6.72213221e-01 -1.70099331e-03 -1.13459281e+02] [-2.32019274e-03 -2.49609455e-05 -9.99997308e-01 -1.79604266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.456559995 meters 0.013707547021407451 Centerline is valid? [True, True] Translation: X:92.35, Y:-113.46, Z:-1.79 [[ 6.11999925e-01 7.90853218e-01 -2.69810202e-03 9.23457972e+01] [ 7.90845873e-01 -6.12005871e-01 -3.40878458e-03 -1.13460438e+02] [-4.34710253e-03 -4.76069410e-05 -9.99990550e-01 -1.79428714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.486559995 meters 0.012933336109565888 Centerline is valid? [True, True] Translation: X:92.35, Y:-113.46, Z:-1.79 [[ 5.48137870e-01 8.36382857e-01 -2.93129996e-03 9.23543317e+01] [ 8.36371458e-01 -5.48145704e-01 -4.36703017e-03 -1.13459796e+02] [-5.25928865e-03 -5.79210142e-05 -9.99986168e-01 -1.79465364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.516559995 meters 0.013122040452672436 Centerline is valid? [True, True] Translation: X:92.36, Y:-113.46, Z:-1.79 [[ 4.80725865e-01 8.76866820e-01 -2.68748165e-03 9.23637325e+01] [ 8.76853830e-01 -4.80733373e-01 -4.77332394e-03 -1.13460776e+02] [-5.47753150e-03 -6.18682923e-05 -9.99984996e-01 -1.79388967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.546559995 meters 0.013247056942058372 Centerline is valid? [True, True] Translation: X:92.37, Y:-113.46, Z:-1.79 [[ 4.10166317e-01 9.12006449e-01 -2.79811762e-03 9.23726231e+01] [ 9.11986507e-01 -4.10175854e-01 -6.03159243e-03 -1.13459588e+02] [-6.64857147e-03 -7.78894627e-05 -9.99977895e-01 -1.79322220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.576559995 meters 0.013500407339511895 Centerline is valid? [True, True] Translation: X:92.38, Y:-113.46, Z:-1.79 [[ 3.36494292e-01 9.41680299e-01 -3.13141528e-03 9.23790271e+01] [ 9.41642640e-01 -3.36508843e-01 -8.42240511e-03 -1.13457471e+02] [-8.98496190e-03 -1.14582906e-04 -9.99959628e-01 -1.79175966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.606559995 meters 0.013693749778090628 Centerline is valid? [True, True] Translation: X:92.39, Y:-113.46, Z:-1.79 [[ 2.61153050e-01 9.65293234e-01 -2.83859233e-03 9.23858936e+01] [ 9.65241820e-01 -2.61168440e-01 -9.96365767e-03 -1.13455722e+02] [-1.03592021e-02 -1.37888436e-04 -9.99946333e-01 -1.79092798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.636559995 meters 0.013901998574299813 Centerline is valid? [True, True] Translation: X:92.39, Y:-113.45, Z:-1.79 [[ 1.83700608e-01 9.82979808e-01 -2.18714730e-03 9.23904926e+01] [ 9.82920051e-01 -1.83713560e-01 -1.08398327e-02 -1.13452592e+02] [-1.10571453e-02 -1.58507078e-04 -9.99938855e-01 -1.79087672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.666559995 meters 0.013996697677778228 Centerline is valid? [True, True] Translation: X:92.40, Y:-113.45, Z:-1.79 [[ 1.05543117e-01 9.94413894e-01 -1.28724548e-03 9.23966719e+01] [ 9.94357241e-01 -1.05550846e-01 -1.06158738e-02 -1.13449805e+02] [-1.06924423e-02 -1.59549455e-04 -9.99942821e-01 -1.79124606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.696559995 meters 0.01414365165857633 Centerline is valid? [True, True] Translation: X:92.40, Y:-113.45, Z:-1.79 [[ 2.73334109e-02 9.99626268e-01 -4.56679175e-04 9.24015874e+01] [ 9.99567896e-01 -2.73367506e-02 -1.08038998e-02 -1.13447846e+02] [-1.08123462e-02 -1.61174408e-04 -9.99941532e-01 -1.79168754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.726559995 meters 0.014051377439331044 Centerline is valid? [True, True] Translation: X:92.40, Y:-113.45, Z:-1.79 [[-5.04559301e-02 9.98726222e-01 3.64164412e-04 9.24024860e+01] [ 9.98675446e-01 5.04570373e-02 -1.00717573e-02 -1.13445387e+02] [-1.00773028e-02 -1.44497825e-04 -9.99949212e-01 -1.79323978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.756559995 meters 0.013574829813798 Centerline is valid? [True, True] Translation: X:92.41, Y:-113.44, Z:-1.79 [[-1.27604683e-01 9.91824503e-01 1.09532970e-03 9.24070426e+01] [ 9.91778839e-01 1.27609320e-01 -9.51818206e-03 -1.13442080e+02] [-9.58014047e-03 -1.28239794e-04 -9.99954101e-01 -1.79439347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.786559995 meters 0.013767196256978594 Centerline is valid? [True, True] Translation: X:92.41, Y:-113.44, Z:-1.79 [[-2.03703087e-01 9.79031009e-01 1.82642606e-03 9.24123891e+01] [ 9.78986410e-01 2.03711242e-01 -9.34550937e-03 -1.13439541e+02] [-9.52160699e-03 -1.15662823e-04 -9.99954662e-01 -1.79439804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.816559995 meters 0.013519607777714415 Centerline is valid? [True, True] Translation: X:92.41, Y:-113.44, Z:-1.80 [[-2.78178801e-01 9.60526294e-01 2.40691475e-03 9.24127799e+01] [ 9.60487353e-01 2.78189198e-01 -8.64958805e-03 -1.13437251e+02] [-8.97773444e-03 -9.43208551e-05 -9.99959695e-01 -1.79506677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.846559995 meters 0.012825417145993777 Centerline is valid? [True, True] Translation: X:92.41, Y:-113.44, Z:-1.80 [[-3.49445252e-01 9.36952645e-01 2.78507390e-03 9.24122774e+01] [ 9.36921550e-01 3.49456345e-01 -7.63366758e-03 -1.13435992e+02] [-8.12564677e-03 -5.81531345e-05 -9.99966985e-01 -1.79676564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.876559995 meters 0.012782216665375698 Centerline is valid? [True, True] Translation: X:92.42, Y:-113.43, Z:-1.80 [[-4.20226826e-01 9.07413056e-01 3.31070476e-03 9.24161054e+01] [ 9.07384067e-01 4.20239865e-01 -7.25339213e-03 -1.13434736e+02] [-7.97311284e-03 -4.39892041e-05 -9.99968213e-01 -1.79678815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.906559995 meters 0.012673519204912699 Centerline is valid? [True, True] Translation: X:92.42, Y:-113.43, Z:-1.80 [[-4.87402927e-01 8.73167022e-01 4.21180746e-03 9.24156851e+01] [ 8.73134033e-01 4.87421124e-01 -7.59009393e-03 -1.13434195e+02] [-8.68034363e-03 -2.19615617e-05 -9.99962325e-01 -1.79654936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.93655999499998 meters 0.012547335421458701 Centerline is valid? [True, True] Translation: X:92.42, Y:-113.43, Z:-1.80 [[-5.53186310e-01 8.33042268e-01 5.04845720e-03 9.24213879e+01] [ 8.33007397e-01 5.53209346e-01 -7.62204679e-03 -1.13429890e+02] [-9.14234085e-03 -1.10097440e-05 -9.99958208e-01 -1.79694346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.96655999499998 meters 0.012654634612235595 Centerline is valid? [True, True] Translation: X:92.42, Y:-113.43, Z:-1.80 [[-6.15163272e-01 7.88374428e-01 6.31752224e-03 9.24247637e+01] [ 7.88332989e-01 6.15195710e-01 -8.08310042e-03 -1.13428584e+02] [-1.02590222e-02 7.88468797e-06 -9.99947375e-01 -1.79660441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.99655999499998 meters 0.012647889417896853 Centerline is valid? [True, True] Translation: X:92.43, Y:-113.42, Z:-1.80 [[-6.74282635e-01 7.38438181e-01 7.20969259e-03 9.24298180e+01] [ 7.38396267e-01 6.74321179e-01 -7.86770793e-03 -1.13424514e+02] [-1.06714643e-02 1.85512550e-05 -9.99943058e-01 -1.79668674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.02655999499999 meters 0.012673270566860207 Centerline is valid? [True, True] Translation: X:92.44, Y:-113.42, Z:-1.80 [[-7.29529869e-01 6.83898875e-01 8.27638884e-03 9.24351259e+01] [ 6.83855307e-01 7.29576814e-01 -7.71951010e-03 -1.13419917e+02] [-1.13176257e-02 2.82392451e-05 -9.99935953e-01 -1.79632841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.056559995 meters 0.012729612497095763 Centerline is valid? [True, True] Translation: X:92.45, Y:-113.40, Z:-1.80 [[-7.75617964e-01 6.31135934e-01 9.17640961e-03 9.24531838e+01] [ 6.31092352e-01 7.75672245e-01 -7.41699400e-03 -1.13401465e+02] [-1.17990177e-02 3.84081364e-05 -9.99930388e-01 -1.79594163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.086559995 meters 0.012940228114392424 Centerline is valid? [True, True] Translation: X:92.47, Y:-113.39, Z:-1.80 [[-8.16835700e-01 5.76779726e-01 1.02267624e-02 9.24691626e+01] [ 5.76735646e-01 8.16899714e-01 -7.13104960e-03 -1.13385386e+02] [-1.24672841e-02 7.32425201e-05 -9.99922278e-01 -1.79570052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.116559995 meters 0.013131380676423846 Centerline is valid? [True, True] Translation: X:92.48, Y:-113.37, Z:-1.80 [[-8.54748159e-01 5.18934061e-01 1.06313480e-02 9.24839720e+01] [ 5.18895247e-01 8.54814268e-01 -6.34748955e-03 -1.13365246e+02] [-1.23817565e-02 9.10509520e-05 -9.99923339e-01 -1.79609735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.146559995 meters 0.01332162950803708 Centerline is valid? [True, True] Translation: X:92.49, Y:-113.34, Z:-1.80 [[-8.88632098e-01 4.58488668e-01 1.10062045e-02 9.24945601e+01] [ 4.58455031e-01 8.88700247e-01 -5.55476877e-03 -1.13342542e+02] [-1.23280152e-02 1.09704017e-04 -9.99924001e-01 -1.79681670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.176559995 meters 0.013943012572853117 Centerline is valid? [True, True] Translation: X:92.51, Y:-113.32, Z:-1.80 [[-9.17628661e-01 3.97255218e-01 1.20802506e-02 9.25078491e+01] [ 3.97223060e-01 9.17708160e-01 -5.05705163e-03 -1.13324547e+02] [-1.30950847e-02 1.58058609e-04 -9.99914243e-01 -1.79704959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.206559995 meters 0.01379780476257315 Centerline is valid? [True, True] Translation: X:92.52, Y:-113.30, Z:-1.80 [[-9.43202883e-01 3.31978790e-01 1.25858684e-02 9.25155776e+01] [ 3.31951651e-01 9.43286835e-01 -4.24826166e-03 -1.13299421e+02] [-1.32824168e-02 1.70927152e-04 -9.99911770e-01 -1.79800961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.236559995 meters 0.013895996093365948 Centerline is valid? [True, True] Translation: X:92.53, Y:-113.28, Z:-1.80 [[-9.64205482e-01 2.64830915e-01 1.31291629e-02 9.25259262e+01] [ 2.64808938e-01 9.64294848e-01 -3.41661205e-03 -1.13276492e+02] [-1.35652086e-02 1.82403604e-04 -9.99907972e-01 -1.79861898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.266559995 meters 0.013899946056746635 Centerline is valid? [True, True] Translation: X:92.53, Y:-113.25, Z:-1.80 [[-9.80661113e-01 1.95262162e-01 1.32841591e-02 9.25338169e+01] [ 1.95246658e-01 9.80751068e-01 -2.46674659e-03 -1.13250334e+02] [-1.35101155e-02 1.74645214e-04 -9.99908719e-01 -1.79833209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.296559995 meters 0.013615261913914331 Centerline is valid? [True, True] Translation: X:92.66, Y:-112.55, Z:-2.79 [[-9.71035644e-01 -2.38574836e-01 1.31082442e-02 9.26618835e+01] [ 2.38550692e-01 -9.71124100e-01 -3.39842601e-03 -1.12546126e+02] [ 1.35405108e-02 -1.73012064e-04 9.99908308e-01 -2.79274064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.326559995 meters 0.013357282473829736 Centerline is valid? [True, True] Translation: X:92.48, Y:-113.24, Z:-1.80 [[-9.82367175e-01 1.86475005e-01 1.34835547e-02 9.24761615e+01] [ 1.86458984e-01 9.82459699e-01 -2.44685253e-03 -1.13239540e+02] [-1.37033260e-02 1.10422310e-04 -9.99906099e-01 -1.79792192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.356559995 meters 0.013357282473829736 Centerline is valid? [True, True] Translation: X:92.48, Y:-113.21, Z:-1.80 [[-9.93126077e-01 1.16254040e-01 1.36232432e-02 9.24790200e+01] [ 1.16244628e-01 9.93219505e-01 -1.48340257e-03 -1.13211723e+02] [-1.37033224e-02 1.10423065e-04 -9.99906099e-01 -1.79792196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.386559995 meters 0.013204838364295951 Centerline is valid? [True, True] Translation: X:92.56, Y:-112.50, Z:-2.79 [[-9.85462845e-01 -1.69317905e-01 1.39437513e-02 9.25609567e+01] [ 1.69299762e-01 -9.85561485e-01 -2.48001223e-03 -1.12503643e+02] [ 1.41623347e-02 -8.32861364e-05 9.99899706e-01 -2.79351340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.416559995 meters 0.012924606901555885 Centerline is valid? [True, True] Translation: X:92.42, Y:-113.20, Z:-1.80 [[-9.94383225e-01 1.04856034e-01 1.43949556e-02 9.24158911e+01] [ 1.04845249e-01 9.94487412e-01 -1.50390795e-03 -1.13201241e+02] [-1.44732960e-02 1.37818732e-05 -9.99895256e-01 -1.79723305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.446559995 meters 0.013033529182753984 Centerline is valid? [True, True] Translation: X:92.41, Y:-113.17, Z:-1.80 [[-9.99391825e-01 3.16890960e-02 1.45527079e-02 9.24119200e+01] [ 3.16854650e-02 9.99497774e-01 -4.80059504e-04 -1.13172111e+02] [-1.45606118e-02 -1.86582252e-05 -9.99893989e-01 -1.79714716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.476559995 meters 0.013006336406107334 Centerline is valid? [True, True] Translation: X:92.44, Y:-112.47, Z:-2.79 [[-9.94559894e-01 -1.03141052e-01 1.45787504e-02 9.24360953e+01] [ 1.03130342e-01 -9.94666740e-01 -1.48652242e-03 -1.12468651e+02] [ 1.46543196e-02 2.50759323e-05 9.99892619e-01 -2.79333019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.506559995 meters 0.013277504336925285 Centerline is valid? [True, True] Translation: X:92.33, Y:-113.17, Z:-1.80 [[-9.99623550e-01 2.31610008e-02 1.47080545e-02 9.23332508e+01] [ 2.31573575e-02 9.99731745e-01 -4.17985845e-04 -1.13167437e+02] [-1.47137899e-02 -7.72288183e-05 -9.99891743e-01 -1.79709507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.536559995 meters 0.013402102235388035 Centerline is valid? [True, True] Translation: X:92.34, Y:-113.14, Z:-1.80 [[-9.98708421e-01 -4.86840811e-02 1.45378942e-02 9.23421569e+01] [-4.86801708e-02 9.98814223e-01 6.22934830e-04 -1.13139580e+02] [-1.45509825e-02 -8.55769102e-05 -9.99894125e-01 -1.79718433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.566559995 meters 0.013271555751180487 Centerline is valid? [True, True] Translation: X:92.33, Y:-113.11, Z:-1.80 [[-9.92695595e-01 -1.19799870e-01 1.42634859e-02 9.23338294e+01] [-1.19788744e-01 9.92798058e-01 1.63490948e-03 -1.13112524e+02] [-1.43566231e-02 -8.56376352e-05 -9.99896935e-01 -1.79803975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.596559995 meters 0.013259533607272675 Centerline is valid? [True, True] Translation: X:92.26, Y:-112.42, Z:-2.79 [[-9.99074374e-01 4.07237167e-02 1.38554520e-02 9.22558865e+01] [-4.07191048e-02 -9.99170444e-01 6.14918316e-04 -1.12416568e+02] [ 1.38689999e-02 5.01675305e-05 9.99903820e-01 -2.79233286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.626559995 meters 0.013337719517056174 Centerline is valid? [True, True] Translation: X:92.23, Y:-113.12, Z:-1.80 [[-9.91886883e-01 -1.26441926e-01 1.31472324e-02 9.22336782e+01] [-1.26431927e-01 9.91974008e-01 1.59229508e-03 -1.13121855e+02] [-1.32430457e-02 -8.28533307e-05 -9.99912304e-01 -1.79880189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.656559995 meters 0.013407428434838886 Centerline is valid? [True, True] Translation: X:92.22, Y:-113.10, Z:-1.80 [[-9.80366132e-01 -1.96762108e-01 1.29197768e-02 9.22168522e+01] [-1.96746076e-01 9.80451257e-01 2.51294987e-03 -1.13095704e+02] [-1.31616647e-02 -7.83044509e-05 -9.99913378e-01 -1.79828084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.68655999499998 meters 0.013415914682074767 Centerline is valid? [True, True] Translation: X:92.19, Y:-113.07, Z:-1.80 [[-9.63695798e-01 -2.66693074e-01 1.28535149e-02 9.21907412e+01] [-2.66670414e-01 9.63781510e-01 3.47735937e-03 -1.13073331e+02] [-1.33153677e-02 -7.65355244e-05 -9.99911344e-01 -1.79807781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.71655999499998 meters 0.013441299270719563 Centerline is valid? [True, True] Translation: X:92.14, Y:-113.06, Z:-1.80 [[-9.41773063e-01 -3.35988312e-01 1.32420429e-02 9.21399827e+01] [-3.35956242e-01 9.41866152e-01 4.64277375e-03 -1.13059630e+02] [-1.40321497e-02 -7.63076983e-05 -9.99901542e-01 -1.79720708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.74655999499998 meters 0.013534420145325509 Centerline is valid? [True, True] Translation: X:92.08, Y:-113.05, Z:-1.80 [[-9.14851952e-01 -4.03538071e-01 1.42453616e-02 9.20767998e+01] [-4.03490341e-01 9.14962852e-01 6.20677693e-03 -1.13054570e+02] [-1.55386475e-02 -6.95838260e-05 -9.99879266e-01 -1.79574134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.77655999499999 meters 0.013523899948851838 Centerline is valid? [True, True] Translation: X:92.01, Y:-113.06, Z:-1.80 [[-8.82825013e-01 -4.69488570e-01 1.41590686e-02 9.20051968e+01] [-4.69429236e-01 8.82938548e-01 7.46408202e-03 -1.13058342e+02] [-1.60058887e-02 -5.72024620e-05 -9.99871896e-01 -1.79562671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.806559995 meters 0.013611306559991666 Centerline is valid? [True, True] Translation: X:91.93, Y:-113.07, Z:-1.79 [[-8.46050257e-01 -5.32890912e-01 1.50412130e-02 9.19273306e+01] [-5.32807509e-01 8.46183948e-01 9.42780627e-03 -1.13072463e+02] [-1.77516253e-02 -3.76733400e-05 -9.99842427e-01 -1.79460528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.836559995 meters 0.013684179205961494 Centerline is valid? [True, True] Translation: X:91.84, Y:-113.10, Z:-1.79 [[-8.04132748e-01 -5.94266373e-01 1.47648349e-02 9.18414892e+01] [-5.94166784e-01 8.04268287e-01 1.08791529e-02 -1.13097987e+02] [-1.83400032e-02 -2.44913230e-05 -9.99831808e-01 -1.79457793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.866559995 meters 0.013775344591409954 Centerline is valid? [True, True] Translation: X:91.76, Y:-113.13, Z:-1.79 [[-7.57371800e-01 -6.52829859e-01 1.41821251e-02 9.17568345e+01] [-6.52715788e-01 7.57504571e-01 1.22034453e-02 -1.13130476e+02] [-1.87097981e-02 -1.43516340e-05 -9.99824956e-01 -1.79420242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.896559995 meters 0.01390961075624081 Centerline is valid? [True, True] Translation: X:91.66, Y:-113.18, Z:-1.79 [[-7.06373857e-01 -7.07705354e-01 1.37515995e-02 9.16647807e+01] [-7.07571263e-01 7.06507701e-01 1.37759424e-02 -1.13179058e+02] [-1.94649192e-02 7.28986420e-07 -9.99810541e-01 -1.79375181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.926559995 meters 0.013825223208507051 Centerline is valid? [True, True] Translation: X:91.58, Y:-113.23, Z:-1.79 [[-6.50763430e-01 -7.59177197e-01 1.25276169e-02 9.15808710e+01] [-7.59036343e-01 6.50884001e-01 1.46234811e-02 -1.13228886e+02] [-1.92558388e-02 7.51016743e-06 -9.99814589e-01 -1.79417322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.956559995 meters 0.013799146116120788 Centerline is valid? [True, True] Translation: X:91.49, Y:-113.29, Z:-1.79 [[-5.91263382e-01 -8.06401998e-01 1.11098942e-02 9.14948258e+01] [-8.06259289e-01 5.91367751e-01 1.51704153e-02 -1.13292765e+02] [-1.88034864e-02 1.22556890e-05 -9.99823199e-01 -1.79439481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.986559995 meters 0.013752938345611624 Centerline is valid? [True, True] Translation: X:91.41, Y:-113.36, Z:-1.80 [[-5.28556902e-01 -8.48845312e-01 9.44653016e-03 9.14144285e+01] [-8.48709002e-01 5.28641311e-01 1.52116465e-02 -1.13364386e+02] [-1.79061609e-02 2.28655684e-05 -9.99839672e-01 -1.79540936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.016559995 meters 0.01333717882224725 Centerline is valid? [True, True] Translation: X:91.33, Y:-113.45, Z:-1.80 [[-4.62301351e-01 -8.86686502e-01 8.03171800e-03 9.13345851e+01] [-8.86551721e-01 4.62371114e-01 1.54596085e-02 -1.13449172e+02] [-1.74214606e-02 2.64644767e-05 -9.99848235e-01 -1.79801038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.046559995 meters 0.013151644613013219 Centerline is valid? [True, True] Translation: X:91.26, Y:-113.53, Z:-1.80 [[-3.93316535e-01 -9.19378918e-01 6.67145308e-03 9.12633699e+01] [-9.19245269e-01 3.93373111e-01 1.56758332e-02 -1.13534965e+02] [-1.70364008e-02 3.28627328e-05 -9.99854869e-01 -1.79983312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.076559995 meters 0.013749799910303803 Centerline is valid? [True, True] Translation: X:91.20, Y:-113.63, Z:-1.80 [[-3.21692351e-01 -9.46828653e-01 5.43439019e-03 9.11965511e+01] [-9.46691798e-01 3.21738248e-01 1.60978120e-02 -1.13633580e+02] [-1.69903208e-02 3.38503714e-05 -9.99855654e-01 -1.79664362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.106559995 meters 0.013725409601189838 Centerline is valid? [True, True] Translation: X:91.14, Y:-113.73, Z:-1.80 [[-2.47793437e-01 -9.68804079e-01 4.13138993e-03 9.11373473e+01] [-9.68667430e-01 2.47827873e-01 1.62712770e-02 -1.13734131e+02] [-1.67875531e-02 2.99727789e-05 -9.99859079e-01 -1.79692213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.136559995 meters 0.013772396528661022 Centerline is valid? [True, True] Translation: X:91.08, Y:-113.84, Z:-1.80 [[-1.71777105e-01 -9.85131660e-01 2.87030772e-03 9.10845615e+01] [-9.84992508e-01 1.71801083e-01 1.65574159e-02 -1.13841643e+02] [-1.68043565e-02 1.69533531e-05 -9.99858797e-01 -1.79653063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.166559995 meters 0.013250189079900367 Centerline is valid? [True, True] Translation: X:91.04, Y:-113.96, Z:-1.80 [[-9.49242456e-02 -9.95483228e-01 1.59049661e-03 9.10397712e+01] [-9.95342042e-01 9.49375690e-02 1.67653928e-02 -1.13958105e+02] [-1.68406652e-02 8.35412046e-06 -9.99858186e-01 -1.79926624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.196559995 meters 0.013030318561092774 Centerline is valid? [True, True] Translation: X:91.00, Y:-114.07, Z:-1.80 [[-1.73917024e-02 -9.99848710e-01 2.93597928e-04 9.10045775e+01] [-9.99707177e-01 1.73941803e-02 1.68226592e-02 -1.14070322e+02] [-1.68252210e-02 -9.37274427e-07 -9.99858446e-01 -1.80029967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.226559995 meters 0.013144993864082296 Centerline is valid? [True, True] Translation: X:90.98, Y:-114.20, Z:-1.80 [[ 6.11624634e-02 -9.98127313e-01 -1.01017183e-03 9.09775062e+01] [-9.97983804e-01 -6.11707989e-02 1.69251650e-02 -1.14195180e+02] [-1.69552625e-02 -2.70496601e-05 -9.99856249e-01 -1.79980957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.256559995 meters 0.013231195658937883 Centerline is valid? [True, True] Translation: X:90.96, Y:-114.31, Z:-1.80 [[ 1.38667087e-01 -9.90336297e-01 -2.33618217e-03 9.09596686e+01] [-9.90190740e-01 -1.38686759e-01 1.69788558e-02 -1.14309486e+02] [-1.71387747e-02 -4.11425199e-05 -9.99853120e-01 -1.79969838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.286559995 meters 0.013138108023950176 Centerline is valid? [True, True] Translation: X:90.95, Y:-114.43, Z:-1.80 [[ 2.15284380e-01 -9.76544380e-01 -3.70261564e-03 9.09516222e+01] [-9.76395462e-01 -2.15316211e-01 1.70537980e-02 -1.14429333e+02] [-1.74510238e-02 -5.61992316e-05 -9.99847718e-01 -1.80011711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.316559995 meters 0.013366429961458778 Centerline is valid? [True, True] Translation: X:90.95, Y:-114.55, Z:-1.80 [[ 2.90619738e-01 -9.56825179e-01 -5.07402615e-03 9.09529615e+01] [-9.56674995e-01 -2.90664020e-01 1.69523198e-02 -1.14552235e+02] [-1.76952433e-02 -7.24848042e-05 -9.99843424e-01 -1.79862887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.346559995 meters 0.01331506008606966 Centerline is valid? [True, True] Translation: X:90.96, Y:-114.67, Z:-1.80 [[ 3.63377894e-01 -9.31618735e-01 -6.56035200e-03 9.09647901e+01] [-9.31463051e-01 -3.63437100e-01 1.70311357e-02 -1.14673235e+02] [-1.82508004e-02 -7.80127389e-05 -9.99833437e-01 -1.79941007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.376559995 meters 0.013215904443223474 Centerline is valid? [True, True] Translation: X:90.98, Y:-114.79, Z:-1.80 [[ 4.33825316e-01 -9.00964093e-01 -7.70059013e-03 9.09826243e+01] [-9.00819053e-01 -4.33893648e-01 1.61658995e-02 -1.14785493e+02] [-1.79061321e-02 -7.63381631e-05 -9.99839669e-01 -1.79971620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.406559995 meters 0.013235245560621108 Centerline is valid? [True, True] Translation: X:91.01, Y:-114.90, Z:-1.80 [[ 5.01202724e-01 -8.65285327e-01 -8.78257024e-03 9.10101103e+01] [-8.65150204e-01 -5.01279662e-01 1.52913272e-02 -1.14897626e+02] [-1.76338849e-02 -6.58124185e-05 -9.99844509e-01 -1.80009690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.43655999499998 meters 0.013145024425832935 Centerline is valid? [True, True] Translation: X:91.05, Y:-115.01, Z:-1.80 [[ 5.64858723e-01 -8.25131140e-01 -9.65532996e-03 9.10460397e+01] [-8.25009379e-01 -5.64941236e-01 1.41747658e-02 -1.15005902e+02] [-1.71507347e-02 -4.10023187e-05 -9.99852915e-01 -1.80080838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.46655999499998 meters 0.013198868164288344 Centerline is valid? [True, True] Translation: X:91.09, Y:-115.11, Z:-1.80 [[ 6.25194233e-01 -7.80400573e-01 -1.03497163e-02 9.10910488e+01] [-7.80293231e-01 -6.25279893e-01 1.29432782e-02 -1.15112693e+02] [-1.65724112e-02 -1.62492621e-05 -9.99862668e-01 -1.80068445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.49655999499998 meters 0.013196091956536407 Centerline is valid? [True, True] Translation: X:91.14, Y:-115.21, Z:-1.80 [[ 6.81937204e-01 -7.31326386e-01 -1.11070694e-02 9.11362173e+01] [-7.31229531e-01 -6.82027652e-01 1.19019021e-02 -1.15206373e+02] [-1.62795035e-02 5.46727943e-06 -9.99867480e-01 -1.80055426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.52655999499999 meters 0.013299904732445203 Centerline is valid? [True, True] Translation: X:91.19, Y:-115.29, Z:-1.80 [[ 7.33166385e-01 -6.79950106e-01 -1.16148836e-02 9.11886462e+01] [-6.79866154e-01 -7.33258378e-01 1.06847491e-02 -1.15293914e+02] [-1.57818070e-02 6.28673729e-05 -9.99875458e-01 -1.80089808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.556559995 meters 0.013451205259194734 Centerline is valid? [True, True] Translation: X:91.19, Y:-115.30, Z:-1.80 [[ 7.82781388e-01 -6.22171963e-01 -1.24637973e-02 9.11857348e+01] [-6.22095054e-01 -7.82880603e-01 9.78287899e-03 -1.15299551e+02] [-1.58442982e-02 9.58110513e-05 -9.99874467e-01 -1.80121955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.586559995 meters 0.01378963710285314 Centerline is valid? [True, True] Translation: X:91.18, Y:-115.31, Z:-1.80 [[ 8.27688135e-01 -5.61037028e-01 -1.30308970e-02 9.11841740e+01] [-5.60970000e-01 -8.27790696e-01 8.67311431e-03 -1.15305901e+02] [-1.56527936e-02 1.31308480e-04 -9.99877479e-01 -1.80147375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.616559995 meters 0.014515477059489851 Centerline is valid? [True, True] Translation: X:91.18, Y:-115.31, Z:-1.80 [[ 8.66666856e-01 -4.98717332e-01 -1.30224467e-02 9.11844938e+01] [-4.98664417e-01 -8.66764665e-01 7.26736816e-03 -1.15310925e+02] [-1.49117591e-02 1.95443653e-04 -9.99888794e-01 -1.80178393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.646559995 meters 0.014955501072510476 Centerline is valid? [True, True] Translation: X:91.18, Y:-115.32, Z:-1.80 [[ 9.01901654e-01 -4.31742018e-01 -1.31239067e-02 9.11840984e+01] [-4.31699955e-01 -9.01997106e-01 6.03075036e-03 -1.15317791e+02] [-1.44414542e-02 2.26446197e-04 -9.99895691e-01 -1.80214417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.676559995 meters 0.015300289755443215 Centerline is valid? [True, True] Translation: X:91.18, Y:-115.33, Z:-1.80 [[ 9.32230205e-01 -3.61625313e-01 -1.31900489e-02 9.11841515e+01] [-3.61592843e-01 -9.32323481e-01 4.85213259e-03 -1.15325045e+02] [-1.40520463e-02 2.46122729e-04 -9.99901235e-01 -1.80242503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.706559995 meters 0.015958505478756102 Centerline is valid? [True, True] Translation: X:91.18, Y:-115.33, Z:-1.80 [[ 9.57152144e-01 -2.89284089e-01 -1.32094072e-02 9.11835671e+01] [-2.89260342e-01 -9.57243253e-01 3.71599992e-03 -1.15330853e+02] [-1.37195956e-02 2.64180358e-04 -9.99905847e-01 -1.80230831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.736559995 meters 0.016668155635356542 Centerline is valid? [True, True] Translation: X:91.18, Y:-115.34, Z:-1.80 [[ 9.76370273e-01 -2.15714181e-01 -1.29800969e-02 9.11836063e+01] [-2.15698973e-01 -9.76456508e-01 2.57711796e-03 -1.15335603e+02] [-1.32304210e-02 2.83572206e-04 -9.99912434e-01 -1.80242017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.766559995 meters 0.016938012220720538 Centerline is valid? [True, True] Translation: X:91.18, Y:-115.34, Z:-1.80 [[ 9.90221992e-01 -1.38905962e-01 -1.28662215e-02 9.11809982e+01] [-1.38897932e-01 -9.90305536e-01 1.51999792e-03 -1.15340460e+02] [-1.29526271e-02 2.81956179e-04 -9.99916071e-01 -1.80207291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.796559995 meters 0.016934982900801112 Centerline is valid? [True, True] Translation: X:91.18, Y:-115.35, Z:-1.80 [[ 9.98084721e-01 -6.04801927e-02 -1.30014220e-02 9.11776060e+01] [-6.04786774e-02 -9.98169359e-01 5.10047057e-04 -1.15345213e+02] [-1.30084689e-02 2.77238635e-04 -9.99915348e-01 -1.80177840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.826559995 meters 0.01634903464873001 Centerline is valid? [True, True] Translation: X:91.18, Y:-115.35, Z:-1.80 [[ 9.99703466e-01 2.05361174e-02 -1.30861687e-02 9.11752786e+01] [ 2.05311592e-02 -9.99789082e-01 -5.13128559e-04 -1.15351964e+02] [-1.30939463e-02 2.44302184e-04 -9.99914241e-01 -1.80094395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.856559995 meters 0.015887088158580857 Centerline is valid? [True, True] Translation: X:91.17, Y:-115.36, Z:-1.80 [[ 9.94785845e-01 1.01137601e-01 -1.31266250e-02 9.11733756e+01] [ 1.01125946e-01 -9.94872424e-01 -1.55033946e-03 -1.15357312e+02] [-1.32161149e-02 2.14813375e-04 -9.99912640e-01 -1.80026189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.886559995 meters 0.014322704804474834 Centerline is valid? [True, True] Translation: X:91.17, Y:-115.37, Z:-1.80 [[ 9.83381890e-01 1.81070335e-01 -1.31754526e-02 9.11747397e+01] [ 1.81051539e-01 -9.83470131e-01 -2.61556703e-03 -1.15371564e+02] [-1.34312657e-02 1.86665291e-04 -9.99909779e-01 -1.80144370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.916559995 meters 0.013547586077913574 Centerline is valid? [True, True] Translation: X:91.18, Y:-115.38, Z:-1.80 [[ 9.64598898e-01 2.63357114e-01 -1.38562590e-02 9.11767973e+01] [ 2.63328264e-01 -9.64698408e-01 -3.89965125e-03 -1.15384914e+02] [-1.43941118e-02 1.12854682e-04 -9.99896393e-01 -1.80063964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.946559995 meters 0.01321427151228818 Centerline is valid? [True, True] Translation: X:91.18, Y:-115.40, Z:-1.80 [[ 9.40019389e-01 3.40853685e-01 -1.35023907e-02 9.11796893e+01] [ 3.40817449e-01 -9.40116355e-01 -4.97052108e-03 -1.15395532e+02] [-1.43880387e-02 7.05358496e-05 -9.99896484e-01 -1.80061915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.976559995 meters 0.013128917335945574 Centerline is valid? [True, True] Translation: X:91.18, Y:-115.41, Z:-1.80 [[ 9.09168225e-01 4.16226563e-01 -1.29841308e-02 9.11824043e+01] [ 4.16183723e-01 -9.09260935e-01 -5.97169854e-03 -1.15405538e+02] [-1.42915425e-02 2.54946660e-05 -9.99897870e-01 -1.80020198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.006559995 meters 0.013009055429143124 Centerline is valid? [True, True] Translation: X:91.19, Y:-115.42, Z:-1.80 [[ 8.70902553e-01 4.91315651e-01 -1.17334649e-02 9.11882516e+01] [ 4.91271931e-01 -8.70981589e-01 -6.55449880e-03 -1.15417850e+02] [-1.34399597e-02 -5.59922048e-05 -9.99909678e-01 -1.80077649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.036559995 meters 0.013069899977963791 Centerline is valid? [True, True] Translation: X:91.19, Y:-115.43, Z:-1.80 [[ 8.28265057e-01 5.60230815e-01 -1.08824714e-02 9.11942999e+01] [ 5.60183886e-01 -8.28336541e-01 -7.25178027e-03 -1.15427531e+02] [-1.30770195e-02 -8.97888947e-05 -9.99914488e-01 -1.80104083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.066559995 meters 0.013311346057308935 Centerline is valid? [True, True] Translation: X:91.20, Y:-115.44, Z:-1.80 [[ 7.80362921e-01 6.25244024e-01 -1.01794635e-02 9.11998224e+01] [ 6.25192844e-01 -7.80429302e-01 -8.00073522e-03 -1.15436682e+02] [-1.29467635e-02 -1.20650632e-04 -9.99916180e-01 -1.80126185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.096559995 meters 0.013531784354548191 Centerline is valid? [True, True] Translation: X:91.21, Y:-115.44, Z:-1.80 [[ 7.27543826e-01 6.86000838e-01 -9.10120467e-03 9.12069248e+01] [ 6.85949609e-01 -7.27600735e-01 -8.38472909e-03 -1.15444651e+02] [-1.23739744e-02 -1.42709913e-04 -9.99923429e-01 -1.80139205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.126559995 meters 0.01390325826096461 Centerline is valid? [True, True] Translation: X:91.22, Y:-115.45, Z:-1.80 [[ 6.69258210e-01 7.42989151e-01 -7.78262748e-03 9.12157989e+01] [ 7.42941818e-01 -6.69303439e-01 -8.38825376e-03 -1.15451929e+02] [-1.14413209e-02 -1.68131702e-04 -9.99934532e-01 -1.80196812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.156559995 meters 0.014081289946261448 Centerline is valid? [True, True] Translation: X:91.22, Y:-115.46, Z:-1.80 [[ 6.08279470e-01 7.93693676e-01 -6.81441301e-03 9.12232954e+01] [ 7.93647013e-01 -6.08317614e-01 -8.60805389e-03 -1.15457986e+02] [-1.09774854e-02 -1.72136078e-04 -9.99939731e-01 -1.80236956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.18655999499998 meters 0.014385129151399273 Centerline is valid? [True, True] Translation: X:91.23, Y:-115.46, Z:-1.80 [[ 5.43613173e-01 8.39314849e-01 -5.94148729e-03 9.12302241e+01] [ 8.39268203e-01 -5.43645613e-01 -8.85047672e-03 -1.15464043e+02] [-1.06584000e-02 -1.75265625e-04 -9.99943182e-01 -1.80248506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.21655999499998 meters 0.015665896440437938 Centerline is valid? [True, True] Translation: X:91.24, Y:-115.47, Z:-1.80 [[ 4.75602105e-01 8.79644002e-01 -5.39133115e-03 9.12385010e+01] [ 8.79591910e-01 -4.75632625e-01 -9.57490202e-03 -1.15470039e+02] [-1.09867981e-02 -1.88327704e-04 -9.99939626e-01 -1.80095983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.24655999499998 meters 0.015665896440437938 Centerline is valid? [True, True] Translation: X:91.24, Y:-115.47, Z:-1.80 [[ 4.05269719e-01 9.14185465e-01 -4.62506509e-03 9.12385035e+01] [ 9.14131142e-01 -4.05296065e-01 -9.96765258e-03 -1.15470231e+02] [-1.09868038e-02 -1.88328274e-04 -9.99939626e-01 -1.80095978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.27655999499999 meters 0.014632217387161401 Centerline is valid? [True, True] Translation: X:91.24, Y:-115.47, Z:-1.80 [[ 3.32423223e-01 9.43122445e-01 -3.85429396e-03 9.12427076e+01] [ 9.43065512e-01 -3.32445512e-01 -1.03644332e-02 -1.15471268e+02] [-1.10562723e-02 -1.89473415e-04 -9.99938860e-01 -1.80175828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.306559995 meters 0.014558612125526057 Centerline is valid? [True, True] Translation: X:91.25, Y:-115.47, Z:-1.80 [[ 2.57956523e-01 9.66151281e-01 -3.18345880e-03 9.12489264e+01] [ 9.66086711e-01 -2.57976093e-01 -1.11715001e-02 -1.15472653e+02] [-1.16146154e-02 -1.93735916e-04 -9.99932529e-01 -1.80084201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.336559995 meters 0.01424197540694544 Centerline is valid? [True, True] Translation: X:91.26, Y:-115.47, Z:-1.80 [[ 1.82072248e-01 9.83282411e-01 -2.32311064e-03 9.12550045e+01] [ 9.83215103e-01 -1.82086970e-01 -1.15063711e-02 -1.15474280e+02] [-1.17370205e-02 -1.89126616e-04 -9.99931101e-01 -1.80089453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.366559995 meters 0.01418716986972064 Centerline is valid? [True, True] Translation: X:91.26, Y:-115.48, Z:-1.80 [[ 1.05392950e-01 9.94429592e-01 -1.45370252e-03 9.12607713e+01] [ 9.94357522e-01 -1.05402815e-01 -1.19735080e-02 -1.15475725e+02] [-1.20600350e-02 -1.83576711e-04 -9.99927258e-01 -1.80050581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.396559995 meters 0.013705716366427525 Centerline is valid? [True, True] Translation: X:91.26, Y:-115.48, Z:-1.80 [[ 2.93478984e-02 9.99569111e-01 -5.40756998e-04 9.12646897e+01] [ 9.99487791e-01 -2.93524091e-02 -1.27511462e-02 -1.15475959e+02] [-1.27615244e-02 -1.66260674e-04 -9.99918555e-01 -1.80076006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.426559995 meters 0.013421156446766365 Centerline is valid? [True, True] Translation: X:91.27, Y:-115.48, Z:-1.80 [[-4.74172181e-02 9.98875057e-01 4.76542176e-04 9.12696017e+01] [ 9.98787546e-01 4.74193721e-02 -1.32227726e-02 -1.15475974e+02] [-1.32304950e-02 -1.51022701e-04 -9.99912462e-01 -1.80080513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.456559995 meters 0.013087555365430704 Centerline is valid? [True, True] Translation: X:91.28, Y:-115.48, Z:-1.80 [[-1.23961536e-01 9.92285847e-01 1.52838647e-03 9.12752250e+01] [ 9.92196806e-01 1.23970888e-01 -1.32934974e-02 -1.15476102e+02] [-1.33804247e-02 -1.31422190e-04 -9.99910469e-01 -1.80084660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.486559995 meters 0.012591729700688293 Centerline is valid? [True, True] Translation: X:91.28, Y:-115.48, Z:-1.80 [[-1.97725481e-01 9.80253542e-01 2.76193617e-03 9.12824414e+01] [ 9.80151549e-01 1.97744750e-01 -1.41405041e-02 -1.15475467e+02] [-1.44074376e-02 -8.88219537e-05 -9.99896204e-01 -1.80092948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.516559995 meters 0.012693042640074554 Centerline is valid? [True, True] Translation: X:91.29, Y:-115.48, Z:-1.80 [[-2.72060565e-01 9.62271604e-01 4.05089334e-03 9.12903804e+01] [ 9.62161376e-01 2.72090714e-01 -1.45646908e-02 -1.15475171e+02] [-1.51173989e-02 -6.48649100e-05 -9.99885724e-01 -1.79986550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.546559995 meters 0.012591529979115354 Centerline is valid? [True, True] Translation: X:91.30, Y:-115.47, Z:-1.80 [[-3.44518465e-01 9.38764166e-01 5.37282389e-03 9.12972187e+01] [ 9.38648526e-01 3.44560356e-01 -1.47345263e-02 -1.15473463e+02] [-1.56835074e-02 -3.31231566e-05 -9.99877006e-01 -1.80047612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.576559995 meters 0.0125150430533827 Centerline is valid? [True, True] Translation: X:91.30, Y:-115.47, Z:-1.80 [[-4.14634631e-01 9.09963209e-01 6.71425072e-03 9.13041662e+01] [ 9.09844217e-01 4.14688990e-01 -1.47153827e-02 -1.15471499e+02] [-1.61747827e-02 7.41492492e-06 -9.99869180e-01 -1.80063917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.606559995 meters 0.012866401365968876 Centerline is valid? [True, True] Translation: X:91.31, Y:-115.47, Z:-1.80 [[-4.79869079e-01 8.77307504e-01 7.56373602e-03 9.13086830e+01] [ 8.77201542e-01 4.79928677e-01 -1.36352392e-02 -1.15471079e+02] [-1.55923515e-02 9.17912188e-05 -9.99878428e-01 -1.80159780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.636559995 meters 0.013142396836647533 Centerline is valid? [True, True] Translation: X:91.32, Y:-115.47, Z:-1.80 [[-5.44595750e-01 8.38658504e-01 8.20871199e-03 9.13151992e+01] [ 8.38566900e-01 5.44657596e-01 -1.23959080e-02 -1.15468600e+02] [-1.48668710e-02 1.32795327e-04 -9.99889473e-01 -1.80259307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.666559995 meters 0.014264775273173732 Centerline is valid? [True, True] Translation: X:91.32, Y:-115.47, Z:-1.80 [[-6.06217249e-01 7.95252629e-01 8.59664896e-03 9.13208309e+01] [ 7.95176554e-01 6.06278177e-01 -1.10008994e-02 -1.15467726e+02] [-1.39604548e-02 1.66918733e-04 -9.99902534e-01 -1.80197957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.696559995 meters 0.01478866769901354 Centerline is valid? [True, True] Translation: X:91.33, Y:-115.47, Z:-1.80 [[-6.62874812e-01 7.48684972e-01 8.23386903e-03 9.13252871e+01] [ 7.48631076e-01 6.62925916e-01 -8.98564158e-03 -1.15466278e+02] [-1.21858600e-02 2.07774762e-04 -9.99925728e-01 -1.80494582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.726559995 meters 0.014699614370376117 Centerline is valid? [True, True] Translation: X:91.33, Y:-115.46, Z:-1.81 [[-7.18317370e-01 6.95663233e-01 8.53366241e-03 9.13328063e+01] [ 6.95617725e-01 7.18368025e-01 -7.95996054e-03 -1.15460985e+02] [-1.16677621e-02 2.18388918e-04 -9.99931906e-01 -1.80593534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.756559995 meters 0.015336423479069508 Centerline is valid? [True, True] Translation: X:91.35, Y:-115.44, Z:-1.81 [[-7.65123385e-01 6.43825206e-01 8.67819397e-03 9.13499577e+01] [ 6.43787028e-01 7.65172566e-01 -7.01469447e-03 -1.15440380e+02] [-1.11565531e-02 2.19801934e-04 -9.99937740e-01 -1.80580198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.786559995 meters 0.014837971797071157 Centerline is valid? [True, True] Translation: X:91.37, Y:-115.42, Z:-1.81 [[-8.08340547e-01 5.88652413e-01 8.59633266e-03 9.13740231e+01] [ 5.88621927e-01 8.08386227e-01 -5.99469010e-03 -1.15422060e+02] [-1.04779457e-02 2.14238812e-04 -9.99945082e-01 -1.80676207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.816559995 meters 0.015504629926829945 Centerline is valid? [True, True] Translation: X:91.39, Y:-115.40, Z:-1.81 [[-8.47268507e-01 5.31099255e-01 8.34617707e-03 9.13891712e+01] [ 5.31075936e-01 8.47309587e-01 -4.98127234e-03 -1.15399662e+02] [-9.71734587e-03 2.11978617e-04 -9.99952763e-01 -1.80720838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.846559995 meters 0.01587098695754 Centerline is valid? [True, True] Translation: X:91.40, Y:-115.38, Z:-1.81 [[-8.82205389e-01 4.70774318e-01 9.23003158e-03 9.14038045e+01] [ 4.70751351e-01 8.82253640e-01 -4.65622111e-03 -1.15376140e+02] [-1.03352583e-02 2.37306482e-04 -9.99946562e-01 -1.80677824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.876559995 meters 0.01640241222246171 Centerline is valid? [True, True] Translation: X:91.42, Y:-115.35, Z:-1.81 [[-9.12922428e-01 4.07980943e-01 1.11440738e-02 9.14177664e+01] [ 4.07954401e-01 9.12990398e-01 -4.66265664e-03 -1.15352137e+02] [-1.20767075e-02 2.89630143e-04 -9.99927032e-01 -1.80541113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.906559995 meters 0.01647140299547677 Centerline is valid? [True, True] Translation: X:91.43, Y:-115.33, Z:-1.80 [[-9.38946452e-01 3.43722865e-01 1.53020088e-02 9.14344313e+01] [ 3.43684082e-01 9.39071049e-01 -5.17853206e-03 -1.15327112e+02] [-1.61496533e-02 3.96692539e-04 -9.99869507e-01 -1.80285945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.93655999499998 meters 0.01651719221995841 Centerline is valid? [True, True] Translation: X:91.44, Y:-115.30, Z:-1.80 [[-9.60749668e-01 2.76938023e-01 1.62913299e-02 9.14431795e+01] [ 2.76905696e-01 9.60887689e-01 -4.25265961e-03 -1.15299975e+02] [-1.68318615e-02 4.25420730e-04 -9.99858244e-01 -1.80241799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.96655999499998 meters 0.01780194957111827 Centerline is valid? [True, True] Translation: X:91.45, Y:-115.27, Z:-1.80 [[-9.77427846e-01 2.10612317e-01 1.66510691e-02 9.14482708e+01] [ 2.10589963e-01 9.77569552e-01 -3.10460670e-03 -1.15273686e+02] [-1.69314465e-02 4.72018978e-04 -9.99856541e-01 -1.80261478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.99655999499998 meters 0.017735816264043965 Centerline is valid? [True, True] Translation: X:91.45, Y:-115.24, Z:-1.80 [[-9.89853385e-01 1.41164399e-01 1.62138356e-02 9.14491112e+01] [ 1.41153098e-01 9.89986060e-01 -1.84506260e-03 -1.15244660e+02] [-1.63119284e-02 4.62291670e-04 -9.99866845e-01 -1.80378602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.02655999499999 meters 0.01754696901030469 Centerline is valid? [True, True] Translation: X:91.45, Y:-115.21, Z:-1.80 [[-9.97385821e-01 7.05470081e-02 1.56410820e-02 9.14462384e+01] [ 7.05453176e-02 9.97508357e-01 -6.60482090e-04 -1.15214529e+02] [-1.56487051e-02 4.44649629e-04 -9.99877453e-01 -1.80489682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.056559995 meters 0.01784817845438898 Centerline is valid? [True, True] Translation: X:91.48, Y:-114.51, Z:-2.79 [[-9.96591502e-01 -8.12441502e-02 1.43096890e-02 9.14837197e+01] [ 8.12286834e-02 -9.96694109e-01 -1.65973792e-03 -1.14512700e+02] [ 1.43972267e-02 -4.91723505e-04 9.99896234e-01 -2.78565367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.086559995 meters 0.01673031712139198 Centerline is valid? [True, True] Translation: X:91.38, Y:-115.21, Z:-1.81 [[-9.97786479e-01 6.52239923e-02 1.29604415e-02 9.13751842e+01] [ 6.52232549e-02 9.97870581e-01 -4.80015514e-04 -1.15206091e+02] [-1.29641518e-02 3.66369191e-04 -9.99915895e-01 -1.80781413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.116559995 meters 0.01637057383087743 Centerline is valid? [True, True] Translation: X:91.37, Y:-115.18, Z:-1.81 [[-9.99910655e-01 -6.17451478e-03 1.18557296e-02 9.13692690e+01] [-6.17014270e-03 9.99980882e-01 4.05315682e-04 -1.15176588e+02] [-1.18580056e-02 3.32127925e-04 -9.99929636e-01 -1.80899546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.146559995 meters 0.01731968269395987 Centerline is valid? [True, True] Translation: X:91.36, Y:-115.15, Z:-1.81 [[-9.96757867e-01 -7.98407139e-02 9.96069253e-03 9.13602697e+01] [-7.98341569e-02 9.96807602e-01 1.05480748e-03 -1.15147347e+02] [-1.00131106e-02 2.56184159e-04 -9.99949835e-01 -1.81036736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.176559995 meters 0.015494042667645966 Centerline is valid? [True, True] Translation: X:91.34, Y:-115.12, Z:-1.81 [[-9.88226752e-01 -1.52742173e-01 8.81557715e-03 9.13429974e+01] [-1.52734175e-01 9.88266049e-01 1.57746303e-03 -1.15115831e+02] [-8.95308073e-03 2.12451263e-04 -9.99959898e-01 -1.81200493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.206559995 meters 0.014582790155303218 Centerline is valid? [True, True] Translation: X:91.31, Y:-115.09, Z:-1.81 [[-9.74161178e-01 -2.25695895e-01 8.44766497e-03 9.13098371e+01] [-2.25685741e-01 9.74197787e-01 2.14898410e-03 -1.15089727e+02] [-8.71471341e-03 1.86939351e-04 -9.99962009e-01 -1.81286556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.236559995 meters 0.013577978724096721 Centerline is valid? [True, True] Translation: X:91.26, Y:-115.07, Z:-1.81 [[-9.53391415e-01 -3.01618110e-01 8.44542647e-03 9.12626384e+01] [-3.01605021e-01 9.53428811e-01 2.81304539e-03 -1.15065459e+02] [-8.90057835e-03 1.34750291e-04 -9.99960380e-01 -1.81227537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.266559995 meters 0.012533332811805962 Centerline is valid? [True, True] Translation: X:91.20, Y:-115.05, Z:-1.81 [[-9.27113965e-01 -3.74675586e-01 8.82616525e-03 9.11967802e+01] [-3.74657509e-01 9.27155970e-01 3.68209389e-03 -1.15054013e+02] [-9.56282250e-03 1.06931585e-04 -9.99954269e-01 -1.81211782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.296559995 meters 0.011506880725774033 Centerline is valid? [True, True] Translation: X:91.12, Y:-115.05, Z:-1.81 [[-8.93460200e-01 -4.49030464e-01 1.00257008e-02 9.11159194e+01] [-4.49001744e-01 8.93516447e-01 5.07861442e-03 -1.15049215e+02] [-1.12385811e-02 3.59827185e-05 -9.99936845e-01 -1.81146063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.326559995 meters 0.01128191024398401 Centerline is valid? [True, True] Translation: X:91.04, Y:-115.05, Z:-1.81 [[-8.55537347e-01 -5.17642174e-01 1.01206237e-02 9.10423585e+01] [-5.17606114e-01 8.55597206e-01 6.10998308e-03 -1.15052349e+02] [-1.18219623e-02 -1.11779646e-05 -9.99930118e-01 -1.81166785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.356559995 meters 0.011527339780077788 Centerline is valid? [True, True] Translation: X:90.96, Y:-115.07, Z:-1.81 [[-8.12550113e-01 -5.82802421e-01 1.01809025e-02 9.09607038e+01] [-5.82757554e-01 8.12613890e-01 7.23183004e-03 -1.15066532e+02] [-1.24878708e-02 -5.67734872e-05 -9.99922022e-01 -1.81044265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.386559995 meters 0.011775378759261181 Centerline is valid? [True, True] Translation: X:90.87, Y:-115.09, Z:-1.81 [[-7.64578413e-01 -6.44455142e-01 9.87017885e-03 9.08743049e+01] [-6.44403165e-01 7.64642112e-01 8.18543571e-03 -1.15091980e+02] [-1.28223005e-02 -1.01967053e-04 -9.99917786e-01 -1.80975755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.416559995 meters 0.012392835727488534 Centerline is valid? [True, True] Translation: X:90.79, Y:-115.12, Z:-1.81 [[-7.10768505e-01 -7.03363828e-01 9.35188379e-03 9.07859175e+01] [-7.03306001e-01 7.10830006e-01 9.02058105e-03 -1.15124107e+02] [-1.29923500e-02 -1.65691092e-04 -9.99915582e-01 -1.80958456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.446559995 meters 0.012781541763095408 Centerline is valid? [True, True] Translation: X:90.70, Y:-115.17, Z:-1.81 [[-6.54601652e-01 -7.55927703e-01 8.36577465e-03 9.07014798e+01] [-7.55869479e-01 6.54655082e-01 9.38374335e-03 -1.15168115e+02] [-1.25701284e-02 -1.80819834e-04 -9.99920976e-01 -1.80978429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.476559995 meters 0.013461301355031026 Centerline is valid? [True, True] Translation: X:90.62, Y:-115.22, Z:-1.81 [[-5.94231263e-01 -8.04267735e-01 6.52821782e-03 9.06170459e+01] [-8.04222414e-01 5.94267095e-01 8.53984984e-03 -1.15221348e+02] [-1.07478307e-02 -1.75493333e-04 -9.99942225e-01 -1.81118972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.506559995 meters 0.012796586231577471 Centerline is valid? [True, True] Translation: X:90.54, Y:-115.29, Z:-1.81 [[-5.31208350e-01 -8.47223213e-01 5.52407687e-03 9.05387362e+01] [-8.47180720e-01 5.31237045e-01 8.48706951e-03 -1.15285702e+02] [-1.01250366e-02 -1.71489229e-04 -9.99948726e-01 -1.81303216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.536559995 meters 0.013628115102440698 Centerline is valid? [True, True] Translation: X:90.46, Y:-115.36, Z:-1.81 [[-4.64511467e-01 -8.85553633e-01 4.88459920e-03 9.04594089e+01] [-8.85508761e-01 4.64537112e-01 8.91657904e-03 -1.15357586e+02] [-1.01651866e-02 -1.83502170e-04 -9.99948316e-01 -1.81310848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.566559995 meters 0.013444973472379738 Centerline is valid? [True, True] Translation: X:90.39, Y:-115.44, Z:-1.81 [[-3.95046759e-01 -9.18649826e-01 4.53382281e-03 9.03859063e+01] [-9.18595294e-01 3.95072719e-01 1.00116147e-02 -1.15437963e+02] [-1.09883578e-02 -2.09692350e-04 -9.99939604e-01 -1.81260329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.596559995 meters 0.014396899850776497 Centerline is valid? [True, True] Translation: X:90.32, Y:-115.52, Z:-1.81 [[-3.21250381e-01 -9.46983431e-01 4.53591052e-03 9.03164928e+01] [-9.46901536e-01 3.21282268e-01 1.24573329e-02 -1.15523938e+02] [-1.32541955e-02 -2.93137682e-04 -9.99912116e-01 -1.81050990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.626559995 meters 0.016643184942590497 Centerline is valid? [True, True] Translation: X:90.25, Y:-115.62, Z:-1.81 [[-2.43618949e-01 -9.69861356e-01 4.33104111e-03 9.02517129e+01] [-9.69738198e-01 2.43657059e-01 1.54616951e-02 -1.15616399e+02] [-1.60509893e-02 -4.33214095e-04 -9.99871081e-01 -1.80855795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.656559995 meters 0.016643184942590497 Centerline is valid? [True, True] Translation: X:90.20, Y:-115.71, Z:-1.81 [[-1.69108470e-01 -9.85592438e-01 3.14174068e-03 9.01999493e+01] [-9.85466737e-01 1.69137097e-01 1.57464933e-02 -1.15714001e+02] [-1.60510097e-02 -4.33215535e-04 -9.99871080e-01 -1.80855704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.68655999499998 meters 0.016643184942590497 Centerline is valid? [True, True] Translation: X:90.16, Y:-115.82, Z:-1.81 [[-9.35152168e-02 -9.95615975e-01 1.93258238e-03 9.01555284e+01] [-9.95488457e-01 9.35341808e-02 1.59401495e-02 -1.15816824e+02] [-1.60510300e-02 -4.33216920e-04 -9.99871080e-01 -1.80855613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.71655999499998 meters 0.015488272658366624 Centerline is valid? [True, True] Translation: X:90.12, Y:-115.93, Z:-1.81 [[-1.75862866e-02 -9.99845105e-01 6.99289349e-04 9.01215704e+01] [-9.99720607e-01 1.75951357e-02 1.57835283e-02 -1.15926242e+02] [-1.57933876e-02 -4.21520321e-04 -9.99875188e-01 -1.81009532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.74655999499998 meters 0.015488272658366624 Centerline is valid? [True, True] Translation: X:90.09, Y:-116.04, Z:-1.81 [[ 5.87761222e-02 -9.98271060e-01 -5.07545215e-04 9.00933384e+01] [-9.98146250e-01 -5.87768021e-02 1.57908775e-02 -1.16036305e+02] [-1.57934079e-02 -4.21522191e-04 -9.99875188e-01 -1.81009440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.77655999499999 meters 0.015488272658366624 Centerline is valid? [True, True] Translation: X:90.07, Y:-116.15, Z:-1.81 [[ 1.34798250e-01 -9.90871587e-01 -1.71146366e-03 9.00735975e+01] [-9.90747193e-01 -1.34808455e-01 1.57060799e-02 -1.16148393e+02] [-1.57934281e-02 -4.21524262e-04 -9.99875187e-01 -1.81009347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.806559995 meters 0.015488272658366624 Centerline is valid? [True, True] Translation: X:90.06, Y:-116.26, Z:-1.81 [[ 2.10033753e-01 -9.77689819e-01 -2.90539781e-03 9.00624704e+01] [-9.77566565e-01 -2.10053424e-01 1.55296283e-02 -1.16261660e+02] [-1.57934482e-02 -4.21526346e-04 -9.99875187e-01 -1.81009255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.836559995 meters 0.015488272658366624 Centerline is valid? [True, True] Translation: X:90.06, Y:-116.38, Z:-1.81 [[ 2.84006928e-01 -9.58813540e-01 -4.08179645e-03 9.00599260e+01] [-9.58692146e-01 -2.84035946e-01 1.52627082e-02 -1.16375092e+02] [-1.57934682e-02 -4.21528686e-04 -9.99875187e-01 -1.81009164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.866559995 meters 0.015818549941213986 Centerline is valid? [True, True] Translation: X:90.07, Y:-116.49, Z:-1.81 [[ 3.55732532e-01 -9.34573867e-01 -5.10431343e-03 9.00657364e+01] [-9.34460902e-01 -3.55768924e-01 1.45359942e-02 -1.16485111e+02] [-1.54009164e-02 -4.01144660e-04 -9.99881318e-01 -1.81021600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.896559995 meters 0.015343219510332717 Centerline is valid? [True, True] Translation: X:90.08, Y:-116.60, Z:-1.81 [[ 4.25248565e-01 -9.05055332e-01 -6.20513204e-03 9.00823242e+01] [-9.04945213e-01 -4.25293656e-01 1.41233111e-02 -1.16595605e+02] [-1.54213813e-02 -3.90613232e-04 -9.99881007e-01 -1.81095899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.926559995 meters 0.014846958377346632 Centerline is valid? [True, True] Translation: X:90.11, Y:-116.70, Z:-1.81 [[ 4.92151718e-01 -8.70479207e-01 -7.25509134e-03 9.01055016e+01] [-8.70373124e-01 -4.92205047e-01 1.35947697e-02 -1.16701624e+02] [-1.54049570e-02 -3.76052772e-04 -9.99881266e-01 -1.81145864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.956559995 meters 0.01461600349757077 Centerline is valid? [True, True] Translation: X:90.14, Y:-116.81, Z:-1.81 [[ 5.56278281e-01 -8.30954645e-01 -8.29772283e-03 9.01367112e+01] [-8.30852271e-01 -5.56340045e-01 1.30483249e-02 -1.16807727e+02] [-1.54589217e-02 -3.64317885e-04 -9.99880437e-01 -1.81133948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.986559995 meters 0.015020311037355348 Centerline is valid? [True, True] Translation: X:90.17, Y:-116.91, Z:-1.81 [[ 6.17318573e-01 -7.86659118e-01 -9.23100158e-03 9.01723756e+01] [-7.86562488e-01 -6.17387485e-01 1.23347382e-02 -1.16908201e+02] [-1.54023391e-02 -3.53703433e-04 -9.99881314e-01 -1.81054965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.016559995 meters 0.015067617308522258 Centerline is valid? [True, True] Translation: X:90.22, Y:-117.00, Z:-1.81 [[ 6.74808298e-01 -7.37919847e-01 -1.03951665e-02 9.02160251e+01] [-7.37824113e-01 -6.74888267e-01 1.18913773e-02 -1.17002872e+02] [-1.57904592e-02 -3.54595578e-04 -9.99875260e-01 -1.81064436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.046559995 meters 0.015108181707611034 Centerline is valid? [True, True] Translation: X:90.26, Y:-117.09, Z:-1.81 [[ 7.28413694e-01 -6.85047833e-01 -1.10886141e-02 9.02637546e+01] [-6.84961231e-01 -7.28498009e-01 1.08978230e-02 -1.17092076e+02] [-1.55435634e-02 -3.42852767e-04 -9.99879133e-01 -1.81067493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.076559995 meters 0.014511909419191782 Centerline is valid? [True, True] Translation: X:90.27, Y:-117.10, Z:-1.81 [[ 7.79685095e-01 -6.26053276e-01 -1.21839684e-02 9.02671905e+01] [-6.25969774e-01 -7.79780209e-01 1.02307483e-02 -1.17100858e+02] [-1.59058108e-02 -3.49966010e-04 -9.99873433e-01 -1.81213965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.106559995 meters 0.015297016777709217 Centerline is valid? [True, True] Translation: X:90.27, Y:-117.11, Z:-1.81 [[ 8.26276552e-01 -5.63109547e-01 -1.32173340e-02 9.02684248e+01] [-5.63030532e-01 -8.26382182e-01 9.43982457e-03 -1.17111334e+02] [-1.62382246e-02 -3.58143122e-04 -9.99868087e-01 -1.81172537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.136559995 meters 0.015477643800236808 Centerline is valid? [True, True] Translation: X:90.27, Y:-117.12, Z:-1.81 [[ 8.68130546e-01 -4.96143007e-01 -1.38372972e-02 9.02734950e+01] [-4.96073180e-01 -8.68240739e-01 8.33181754e-03 -1.17119231e+02] [-1.61478782e-02 -3.68793261e-04 -9.99869547e-01 -1.81264628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.166559995 meters 0.015477643800236808 Centerline is valid? [True, True] Translation: X:90.28, Y:-117.13, Z:-1.81 [[ 9.04239075e-01 -4.26782155e-01 -1.44460502e-02 9.02777136e+01] [-4.26721152e-01 -9.04354387e-01 7.22511403e-03 -1.17127589e+02] [-1.61478986e-02 -3.68795269e-04 -9.99869546e-01 -1.81264607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.196559995 meters 0.01609343562997422 Centerline is valid? [True, True] Translation: X:90.28, Y:-117.14, Z:-1.81 [[ 9.35041918e-01 -3.54217753e-01 -1.50464033e-02 9.02823762e+01] [-3.54165327e-01 -9.35162894e-01 6.10597412e-03 -1.17135168e+02] [-1.62336825e-02 -3.80427407e-04 -9.99868153e-01 -1.81235285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.226559995 meters 0.014865179354437373 Centerline is valid? [True, True] Translation: X:90.29, Y:-117.14, Z:-1.81 [[ 9.60065240e-01 -2.79375341e-01 -1.49717378e-02 9.02877703e+01] [-2.79335210e-01 -9.60181897e-01 4.75025494e-03 -1.17144265e+02] [-1.57026957e-02 -3.78421131e-04 -9.99876633e-01 -1.81432695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.256559995 meters 0.01606682911317332 Centerline is valid? [True, True] Translation: X:90.29, Y:-117.16, Z:-1.81 [[ 9.79020848e-01 -2.03190035e-01 -1.52311675e-02 9.02922783e+01] [-2.03159371e-01 -9.79139246e-01 3.55053385e-03 -1.17155814e+02] [-1.56348669e-02 -3.81692268e-04 -9.99877695e-01 -1.81337705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.286559995 meters 0.015763126734076528 Centerline is valid? [True, True] Translation: X:90.30, Y:-117.16, Z:-1.81 [[ 9.92018059e-01 -1.25213378e-01 -1.48923327e-02 9.02986810e+01] [-1.25193513e-01 -9.92129762e-01 2.26245437e-03 -1.17162162e+02] [-1.50584161e-02 -3.79972135e-04 -9.99886543e-01 -1.81445829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.316559995 meters 0.015989549340548 Centerline is valid? [True, True] Translation: X:90.30, Y:-117.17, Z:-1.81 [[ 9.98798714e-01 -4.67377016e-02 -1.47212860e-02 9.03032206e+01] [-4.67270445e-02 -9.98907125e-01 1.06724730e-03 -1.17168736e+02] [-1.47550781e-02 -3.78083047e-04 -9.99891066e-01 -1.81477690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.346559995 meters 0.01698881002198246 Centerline is valid? [True, True] Translation: X:90.31, Y:-117.18, Z:-1.81 [[ 9.99378457e-01 3.21704117e-02 -1.44140219e-02 9.03065408e+01] [ 3.21725119e-02 -9.99482327e-01 -8.62098339e-05 -1.17175496e+02] [-1.44093336e-02 -3.77579041e-04 -9.99896109e-01 -1.81400021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.376559995 meters 0.01718557300586352 Centerline is valid? [True, True] Translation: X:90.31, Y:-117.18, Z:-1.81 [[ 9.93569460e-01 1.12195167e-01 -1.52306363e-02 9.03111434e+01] [ 1.12188601e-01 -9.93686097e-01 -1.28751797e-03 -1.17179349e+02] [-1.52789249e-02 -4.29465251e-04 -9.99883178e-01 -1.81435958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.406559995 meters 0.016821538105020337 Centerline is valid? [True, True] Translation: X:90.32, Y:-117.18, Z:-1.81 [[ 9.81535428e-01 1.90670577e-01 -1.52622123e-02 9.03163585e+01] [ 1.90654647e-01 -9.81653976e-01 -2.50547392e-03 -1.17184989e+02] [-1.54599315e-02 -4.50600278e-04 -9.99880387e-01 -1.81476967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.43655999499998 meters 0.017081608898844428 Centerline is valid? [True, True] Translation: X:90.32, Y:-117.19, Z:-1.81 [[ 9.63432004e-01 2.67525633e-01 -1.51264289e-02 9.03211688e+01] [ 2.67500185e-01 -9.63550632e-01 -3.71888570e-03 -1.17191206e+02] [-1.55699774e-02 -4.63429017e-04 -9.99878673e-01 -1.81471158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.46655999499998 meters 0.018267453718864977 Centerline is valid? [True, True] Translation: X:90.33, Y:-117.20, Z:-1.81 [[ 9.38997721e-01 3.43631628e-01 -1.41627857e-02 9.03254064e+01] [ 3.43600001e-01 -9.39104407e-01 -4.68541293e-03 -1.17196878e+02] [-1.49103905e-02 -4.66741106e-04 -9.99888725e-01 -1.81477986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.49655999499998 meters 0.019324367075365376 Centerline is valid? [True, True] Translation: X:90.33, Y:-117.20, Z:-1.81 [[ 9.09092361e-01 4.16383002e-01 -1.32768699e-02 9.03306398e+01] [ 4.16345867e-01 -9.09189193e-01 -5.57948435e-03 -1.17200878e+02] [-1.43943891e-02 -4.55503333e-04 -9.99896292e-01 -1.81438015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.52655999499999 meters 0.018790681728347997 Centerline is valid? [True, True] Translation: X:90.33, Y:-117.20, Z:-1.81 [[ 8.74208513e-01 4.85401764e-01 -1.20251072e-02 9.03345604e+01] [ 4.85362317e-01 -8.74291116e-01 -6.20206251e-03 -1.17199895e+02] [-1.35239364e-02 -4.14638018e-04 -9.99908461e-01 -1.81457393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.556559995 meters 0.01730373400375932 Centerline is valid? [True, True] Translation: X:90.34, Y:-117.20, Z:-1.82 [[ 8.34169304e-01 5.51395451e-01 -1.11637325e-02 9.03391025e+01] [ 5.51352228e-01 -8.34243913e-01 -6.91477019e-03 -1.17200435e+02] [-1.31260487e-02 -3.87059737e-04 -9.99913775e-01 -1.81547676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.586559995 meters 0.016333467866326654 Centerline is valid? [True, True] Translation: X:90.34, Y:-117.20, Z:-1.82 [[ 7.89638665e-01 6.13495348e-01 -9.70754894e-03 9.03445302e+01] [ 6.13454099e-01 -7.89698264e-01 -7.12186710e-03 -1.17202173e+02] [-1.20352669e-02 -3.31434051e-04 -9.99927519e-01 -1.81604635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.616559995 meters 0.015472865068111512 Centerline is valid? [True, True] Translation: X:90.35, Y:-117.20, Z:-1.82 [[ 7.40977881e-01 6.71477536e-01 -8.34860616e-03 9.03497985e+01] [ 6.71439042e-01 -7.41024860e-01 -7.19504840e-03 -1.17203710e+02] [-1.10178381e-02 -2.74208414e-04 -9.99939264e-01 -1.81639161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.646559995 meters 0.013856194929823297 Centerline is valid? [True, True] Translation: X:90.35, Y:-117.20, Z:-1.82 [[ 6.90979706e-01 7.22842794e-01 -6.73361761e-03 9.03510189e+01] [ 7.22810910e-01 -6.91012493e-01 -6.79146910e-03 -1.17202426e+02] [-9.56217839e-03 -1.74364945e-04 -9.99954266e-01 -1.81692198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.676559995 meters 0.013413527178166752 Centerline is valid? [True, True] Translation: X:90.35, Y:-117.20, Z:-1.82 [[ 6.35329839e-01 7.72220622e-01 -5.59515316e-03 9.03541481e+01] [ 7.72192376e-01 -6.35354464e-01 -6.60600091e-03 -1.17203871e+02] [-8.65619568e-03 -1.23545119e-04 -9.99962527e-01 -1.81664724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.706559995 meters 0.012279938335550135 Centerline is valid? [True, True] Translation: X:90.36, Y:-117.20, Z:-1.82 [[ 5.76297595e-01 8.17224367e-01 -5.04149033e-03 9.03563065e+01] [ 8.17194416e-01 -5.76319640e-01 -6.99707953e-03 -1.17203468e+02] [-8.62369378e-03 -8.74776383e-05 -9.99962811e-01 -1.81731348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.736559995 meters 0.011771230994845052 Centerline is valid? [True, True] Translation: X:90.36, Y:-117.20, Z:-1.82 [[ 5.13968036e-01 8.57798567e-01 -4.29847004e-03 9.03600780e+01] [ 8.57769396e-01 -5.13986008e-01 -7.07434073e-03 -1.17204824e+02] [-8.27771279e-03 -5.11110410e-05 -9.99965738e-01 -1.81754032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.766559995 meters 0.011525983230763988 Centerline is valid? [True, True] Translation: X:90.36, Y:-117.20, Z:-1.82 [[ 4.51414920e-01 8.92305683e-01 -3.89089309e-03 9.03609206e+01] [ 8.92272412e-01 -4.51431688e-01 -7.70548397e-03 -1.17204855e+02] [-8.63211956e-03 6.63386654e-06 -9.99962743e-01 -1.81677859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.796559995 meters 0.011746851593315153 Centerline is valid? [True, True] Translation: X:90.37, Y:-117.21, Z:-1.82 [[ 3.82827381e-01 9.23813322e-01 -3.48477066e-03 9.03651675e+01] [ 9.23774241e-01 -3.82843239e-01 -8.49738615e-03 -1.17207059e+02] [-9.18411941e-03 3.38907064e-05 -9.99957825e-01 -1.81614675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.826559995 meters 0.012028276132593224 Centerline is valid? [True, True] Translation: X:90.37, Y:-117.21, Z:-1.82 [[ 3.11762808e-01 9.50155464e-01 -2.92320445e-03 9.03691665e+01] [ 9.50111882e-01 -3.11776506e-01 -9.10063689e-03 -1.17209267e+02] [-9.55840634e-03 5.98688308e-05 -9.99954316e-01 -1.81559856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.856559995 meters 0.012673876380390728 Centerline is valid? [True, True] Translation: X:90.37, Y:-117.21, Z:-1.82 [[ 2.40865606e-01 9.70555702e-01 -2.32161687e-03 9.03719778e+01] [ 9.70506130e-01 -2.40876769e-01 -9.80983161e-03 -1.17211240e+02] [-1.00802116e-02 1.09707630e-04 -9.99949187e-01 -1.81512786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.886559995 meters 0.013215964226911622 Centerline is valid? [True, True] Translation: X:90.38, Y:-117.22, Z:-1.81 [[ 1.66022475e-01 9.86120811e-01 -1.51154624e-03 9.03761759e+01] [ 9.86072737e-01 -1.66029308e-01 -9.73784696e-03 -1.17215045e+02] [-9.85365451e-03 1.26206913e-04 -9.99951444e-01 -1.81457479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.916559995 meters 0.01312274386997479 Centerline is valid? [True, True] Translation: X:90.39, Y:-117.22, Z:-1.82 [[ 9.02207676e-02 9.95921535e-01 -7.13952676e-04 9.03850764e+01] [ 9.95876960e-01 -9.02234851e-02 -9.42350023e-03 -1.17217922e+02] [-9.44948211e-03 1.39186404e-04 -9.99955343e-01 -1.81530430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.946559995 meters 0.013788105005894108 Centerline is valid? [True, True] Translation: X:90.39, Y:-117.22, Z:-1.82 [[ 1.48296693e-02 9.99890034e-01 2.44201525e-05 9.03907348e+01] [ 9.99852371e-01 -1.48288987e-02 -8.67987232e-03 -1.17221537e+02] [-8.67855570e-03 1.53136184e-04 -9.99962329e-01 -1.81522588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.976559995 meters 0.013743995496871865 Centerline is valid? [True, True] Translation: X:90.40, Y:-117.22, Z:-1.82 [[-6.25867643e-02 9.98039309e-01 6.59964065e-04 9.04009444e+01] [ 9.98006394e-01 6.25900610e-02 -8.10686080e-03 -1.17223225e+02] [-8.13227294e-03 1.51266171e-04 -9.99966921e-01 -1.81552988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.006559995 meters 0.014009288672102122 Centerline is valid? [True, True] Translation: X:90.41, Y:-117.23, Z:-1.82 [[-1.40103555e-01 9.90136057e-01 1.25820441e-03 9.04099853e+01] [ 9.90105226e-01 1.40109123e-01 -7.81511765e-03 -1.17225664e+02] [-7.91431569e-03 1.50829002e-04 -9.99968670e-01 -1.81551284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.036559995 meters 0.013789634158549459 Centerline is valid? [True, True] Translation: X:90.42, Y:-117.23, Z:-1.82 [[-2.17069037e-01 9.76154702e-01 1.74084161e-03 9.04211286e+01] [ 9.76128345e-01 2.17075971e-01 -7.17470507e-03 -1.17225651e+02] [-7.38151698e-03 1.41878524e-04 -9.99972746e-01 -1.81570679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.066559995 meters 0.013770720035761488 Centerline is valid? [True, True] Translation: X:90.43, Y:-117.23, Z:-1.82 [[-2.94021577e-01 9.55795912e-01 2.34254407e-03 9.04310688e+01] [ 9.55769148e-01 2.94030877e-01 -7.15390351e-03 -1.17226365e+02] [-7.52645202e-03 1.35529365e-04 -9.99971667e-01 -1.81503190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.096559995 meters 0.01369480401330997 Centerline is valid? [True, True] Translation: X:90.44, Y:-117.23, Z:-1.81 [[-3.69383779e-01 9.29272010e-01 3.02580642e-03 9.04405285e+01] [ 9.29243656e-01 3.69396149e-01 -7.26040798e-03 -1.17225457e+02] [-7.86461516e-03 1.29834481e-04 -9.99969065e-01 -1.81456914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.126559995 meters 0.013148968887064301 Centerline is valid? [True, True] Translation: X:90.45, Y:-117.22, Z:-1.81 [[-4.42896852e-01 8.96564913e-01 3.70617060e-03 9.04506759e+01] [ 8.96535708e-01 4.42912343e-01 -7.23752922e-03 -1.17223144e+02] [-8.13042345e-03 1.17235378e-04 -9.99966941e-01 -1.81423627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.156559995 meters 0.01283806713934624 Centerline is valid? [True, True] Translation: X:90.46, Y:-117.22, Z:-1.81 [[-5.14061896e-01 8.57741513e-01 4.45690989e-03 9.04603890e+01] [ 8.57710947e-01 5.14081207e-01 -7.24180306e-03 -1.17221210e+02] [-8.50280873e-03 1.00005387e-04 -9.99963845e-01 -1.81333502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.18655999499998 meters 0.012017855718108796 Centerline is valid? [True, True] Translation: X:90.47, Y:-117.22, Z:-1.81 [[-5.84373210e-01 8.11468532e-01 5.17430745e-03 9.04709801e+01] [ 8.11437516e-01 5.84396115e-01 -7.09495959e-03 -1.17216367e+02] [-8.78118162e-03 5.25228731e-05 -9.99961443e-01 -1.81262741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.21655999499998 meters 0.011668485801407415 Centerline is valid? [True, True] Translation: X:90.48, Y:-117.21, Z:-1.81 [[-6.48418484e-01 7.61263458e-01 5.60511225e-03 9.04802493e+01] [ 7.61235358e-01 6.48442710e-01 -6.54078561e-03 -1.17211055e+02] [-8.61385524e-03 2.56433376e-05 -9.99962900e-01 -1.81273264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.24655999499998 meters 0.01152989232965039 Centerline is valid? [True, True] Translation: X:90.49, Y:-117.20, Z:-1.81 [[-7.07927918e-01 7.06261202e-01 5.76001486e-03 9.04893802e+01] [ 7.06237858e-01 7.07951351e-01 -5.74226087e-03 -1.17204900e+02] [-8.13334637e-03 2.83377080e-06 -9.99966924e-01 -1.81292914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.27655999499999 meters 0.011689080639796994 Centerline is valid? [True, True] Translation: X:90.51, Y:-117.18, Z:-1.81 [[-7.58993285e-01 6.51077072e-01 5.27643569e-03 9.05124500e+01] [ 6.51061079e-01 7.59011624e-01 -4.56342422e-03 -1.17184456e+02] [-6.97601691e-03 -2.83264212e-05 -9.99975667e-01 -1.81315619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.306559995 meters 0.011772475783053068 Centerline is valid? [True, True] Translation: X:90.52, Y:-117.16, Z:-1.81 [[-8.04141012e-01 5.94415485e-01 5.24059967e-03 9.05249138e+01] [ 5.94402560e-01 8.04158088e-01 -3.92004629e-03 -1.17158077e+02] [-6.54440682e-03 -3.72441297e-05 -9.99978584e-01 -1.81374984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.336559995 meters 0.011904367955183437 Centerline is valid? [True, True] Translation: X:90.55, Y:-117.14, Z:-1.81 [[-8.44944988e-01 5.34833945e-01 4.54072315e-03 9.05461826e+01] [ 5.34825979e-01 8.44957188e-01 -2.91935763e-03 -1.17138356e+02] [-5.39808823e-03 -3.81998989e-05 -9.99985429e-01 -1.81431731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.366559995 meters 0.012088481016924288 Centerline is valid? [True, True] Translation: X:90.56, Y:-117.11, Z:-1.81 [[-8.81344690e-01 4.72454452e-01 4.28117853e-03 9.05603899e+01] [ 4.72448650e-01 8.81355087e-01 -2.34166236e-03 -1.17114265e+02] [-4.87956728e-03 -4.11746717e-05 -9.99988094e-01 -1.81487125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.396559995 meters 0.012839265577765541 Centerline is valid? [True, True] Translation: X:90.57, Y:-117.09, Z:-1.81 [[-9.13343233e-01 4.07176536e-01 3.37729792e-03 9.05737885e+01] [ 4.07173599e-01 9.13349477e-01 -1.54715987e-03 -1.17087064e+02] [-3.71462048e-03 -3.79414466e-05 -9.99993100e-01 -1.81441425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.426559995 meters 0.012243086864951083 Centerline is valid? [True, True] Translation: X:90.58, Y:-117.06, Z:-1.82 [[-9.40140356e-01 3.40768854e-01 3.56357100e-03 9.05839382e+01] [ 3.40766239e-01 9.40147109e-01 -1.33586980e-03 -1.17063053e+02] [-3.80550380e-03 -4.15604235e-05 -9.99992758e-01 -1.81507816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.456559995 meters 0.012498759805748934 Centerline is valid? [True, True] Translation: X:90.59, Y:-117.04, Z:-1.81 [[-9.62140592e-01 2.72510464e-01 4.85051301e-03 9.05910475e+01] [ 2.72506689e-01 9.62152817e-01 -1.43559848e-03 -1.17035624e+02] [-5.05815036e-03 -5.94503287e-05 -9.99987206e-01 -1.81352409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.486559995 meters 0.012575565347256406 Centerline is valid? [True, True] Translation: X:90.60, Y:-117.01, Z:-1.81 [[-9.79024480e-01 2.03668732e-01 5.48776610e-03 9.05969991e+01] [ 2.03665156e-01 9.79039858e-01 -1.20873897e-03 -1.17008658e+02] [-5.61892408e-03 -6.57182999e-05 -9.99984212e-01 -1.81277591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.516559995 meters 0.012338335634499547 Centerline is valid? [True, True] Translation: X:90.75, Y:-116.34, Z:-2.78 [[-9.56706438e-01 -2.90994899e-01 5.89581600e-03 9.07487362e+01] [ 2.90990041e-01 -9.56724599e-01 -1.68467727e-03 -1.16342151e+02] [ 6.13090469e-03 1.03882148e-04 9.99981200e-01 -2.77862649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.546559995 meters 0.012226749789780847 Centerline is valid? [True, True] Translation: X:90.54, Y:-117.00, Z:-1.81 [[-9.79462015e-01 2.01504471e-01 7.07884064e-03 9.05416082e+01] [ 2.01498672e-01 9.79487592e-01 -1.53051243e-03 -1.16999606e+02] [-7.24204167e-03 -7.27018083e-05 -9.99973773e-01 -1.81171330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.576559995 meters 0.011982677572995941 Centerline is valid? [True, True] Translation: X:90.70, Y:-116.33, Z:-2.78 [[-9.59109430e-01 -2.82921025e-01 8.04947177e-03 9.07003765e+01] [ 2.82912375e-01 -9.59143196e-01 -2.21745127e-03 -1.16327373e+02] [ 8.34795966e-03 1.50516754e-04 9.99965144e-01 -2.78042060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.606559995 meters 0.011810979996926178 Centerline is valid? [True, True] Translation: X:90.50, Y:-117.00, Z:-1.81 [[-9.79027445e-01 2.03544275e-01 8.65971963e-03 9.05027953e+01] [ 2.03535986e-01 9.79065742e-01 -1.83735503e-03 -1.16998791e+02] [-8.85241792e-03 -3.62564283e-05 -9.99960816e-01 -1.81062276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.636559995 meters 0.01165582824196557 Centerline is valid? [True, True] Translation: X:90.51, Y:-116.97, Z:-1.81 [[-9.90668429e-01 1.35985160e-01 9.17058295e-03 9.05076442e+01] [ 1.35979194e-01 9.90710874e-01 -1.27389260e-03 -1.16974265e+02] [-9.25862674e-03 -1.49967014e-05 -9.99957138e-01 -1.81087279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.666559995 meters 0.011787908173164635 Centerline is valid? [True, True] Translation: X:90.61, Y:-116.27, Z:-2.78 [[-9.79184432e-01 -2.02761471e-01 9.25391998e-03 9.06122801e+01] [ 2.02752675e-01 -9.79228158e-01 -1.88880064e-03 -1.16273680e+02] [ 9.44467501e-03 2.67728427e-05 9.99955398e-01 -2.77996424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.696559995 meters 0.012280935143523608 Centerline is valid? [True, True] Translation: X:90.45, Y:-116.98, Z:-1.81 [[-9.90091659e-01 1.40107919e-01 9.39559043e-03 9.04521573e+01] [ 1.40102236e-01 9.90136236e-01 -1.26359740e-03 -1.16975793e+02] [-9.47995455e-03 6.52659840e-05 -9.99955062e-01 -1.81087793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.726559995 meters 0.01269547895367713 Centerline is valid? [True, True] Translation: X:90.45, Y:-116.95, Z:-1.81 [[-9.97354568e-01 7.20729478e-02 9.45277354e-03 9.04547143e+01] [ 7.20705703e-02 9.97399359e-01 -5.92351417e-04 -1.16950750e+02] [-9.47088279e-03 9.04823886e-05 -9.99955146e-01 -1.81163518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.756559995 meters 0.01356866090218791 Centerline is valid? [True, True] Translation: X:90.51, Y:-116.22, Z:-2.78 [[-9.93216210e-01 -1.15933513e-01 8.99897000e-03 9.05056359e+01] [ 1.15927741e-01 -9.93256970e-01 -1.16213485e-03 -1.16218944e+02] [ 9.07302005e-03 -1.11020909e-04 9.99958833e-01 -2.77801410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.786559995 meters 0.013729801420933031 Centerline is valid? [True, True] Translation: X:90.38, Y:-116.95, Z:-1.81 [[-9.97319132e-01 7.26580606e-02 8.68076013e-03 9.03826969e+01] [ 7.26564569e-02 9.97356901e-01 -5.00386018e-04 -1.16953399e+02] [-8.69417311e-03 1.31668725e-04 -9.99962196e-01 -1.81376995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.816559995 meters 0.014118732013208452 Centerline is valid? [True, True] Translation: X:90.43, Y:-116.21, Z:-2.78 [[-9.94085150e-01 -1.08273790e-01 8.45585310e-03 9.04338319e+01] [ 1.08268673e-01 -9.94121103e-01 -1.06194474e-03 -1.16211092e+02] [ 8.52112279e-03 -1.40159510e-04 9.99963685e-01 -2.77681828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.846559995 meters 0.013874887747487123 Centerline is valid? [True, True] Translation: X:90.31, Y:-116.95, Z:-1.82 [[-9.97554614e-01 6.94067460e-02 8.21556540e-03 9.03111894e+01] [ 6.94055434e-02 9.97588434e-01 -4.31740234e-04 -1.16951443e+02] [-8.22571871e-03 1.39521318e-04 -9.99966158e-01 -1.81548712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.876559995 meters 0.014050572227182047 Centerline is valid? [True, True] Translation: X:90.35, Y:-116.20, Z:-2.78 [[-9.94617453e-01 -1.03305625e-01 8.00433493e-03 9.03489420e+01] [ 1.03301085e-01 -9.94649650e-01 -9.79620451e-04 -1.16204974e+02] [ 8.06270924e-03 -1.47491114e-04 9.99967485e-01 -2.77555766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.906559995 meters 0.013893326248890246 Centerline is valid? [True, True] Translation: X:90.23, Y:-116.95, Z:-1.82 [[-9.97998060e-01 6.26432077e-02 8.70060243e-03 9.02292763e+01] [ 6.26419994e-02 9.98035977e-01 -4.11597110e-04 -1.16947300e+02] [-8.70929800e-03 1.34250015e-04 -9.99962064e-01 -1.81551530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.93655999499998 meters 0.013663937639052383 Centerline is valid? [True, True] Translation: X:90.23, Y:-116.92, Z:-1.82 [[-9.99910712e-01 -9.93693661e-03 8.93446788e-03 9.02289507e+01] [-9.93542365e-03 9.99950620e-01 2.13710415e-04 -1.16918544e+02] [-8.93615032e-03 1.24923610e-04 -9.99960064e-01 -1.81552278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.96655999499998 meters 0.013102618383153778 Centerline is valid? [True, True] Translation: X:90.22, Y:-116.89, Z:-1.82 [[-9.96330971e-01 -8.50475944e-02 9.56576614e-03 9.02208378e+01] [-8.50427464e-02 9.96376885e-01 9.13175729e-04 -1.16888455e+02] [-9.60877167e-03 9.63262373e-05 -9.99953830e-01 -1.81558175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.99655999499998 meters 0.012871398512694452 Centerline is valid? [True, True] Translation: X:90.21, Y:-116.86, Z:-1.82 [[-9.87360642e-01 -1.58189795e-01 9.74428204e-03 9.02087700e+01] [-1.58181319e-01 9.87408721e-01 1.63945060e-03 -1.16859855e+02] [-9.88093342e-03 7.73656107e-05 -9.99951179e-01 -1.81522340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.02655999499999 meters 0.012450235911173974 Centerline is valid? [True, True] Translation: X:90.18, Y:-116.83, Z:-1.81 [[-9.72272363e-01 -2.33637843e-01 9.99050679e-03 9.01796124e+01] [-2.33625211e-01 9.72323690e-01 2.42962256e-03 -1.16833118e+02] [-1.02816582e-02 2.82206043e-05 -9.99947142e-01 -1.81475621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.056559995 meters 0.012450235911173974 Centerline is valid? [True, True] Translation: X:90.13, Y:-116.82, Z:-1.81 [[-9.52673912e-01 -3.03836522e-01 9.78699794e-03 9.01340190e+01] [-3.03820186e-01 9.52724182e-01 3.15081947e-03 -1.16816879e+02] [-1.02816436e-02 2.82159715e-05 -9.99947142e-01 -1.81475658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.086559995 meters 0.012353809997429858 Centerline is valid? [True, True] Translation: X:90.07, Y:-116.81, Z:-1.81 [[-9.26678265e-01 -3.75712603e-01 1.03650134e-02 9.00680266e+01] [-3.75689104e-01 9.26736230e-01 4.20201015e-03 -1.16808475e+02] [-1.11843816e-02 -1.11107457e-07 -9.99937453e-01 -1.81462272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.116559995 meters 0.012380846892008322 Centerline is valid? [True, True] Translation: X:90.00, Y:-116.81, Z:-1.81 [[-8.95131897e-01 -4.45673941e-01 1.06594944e-02 9.00007147e+01] [-4.45642747e-01 8.95195363e-01 5.27301545e-03 -1.16805560e+02] [-1.18923756e-02 -3.02820514e-05 -9.99929283e-01 -1.81408853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.146559995 meters 0.012610899989160566 Centerline is valid? [True, True] Translation: X:89.92, Y:-116.82, Z:-1.81 [[-8.58481970e-01 -5.12733733e-01 1.06219583e-02 8.99179537e+01] [-5.12695301e-01 8.58547679e-01 6.27787037e-03 -1.16815997e+02] [-1.23383336e-02 -5.63896106e-05 -9.99923878e-01 -1.81260589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.176559995 meters 0.012762795046477772 Centerline is valid? [True, True] Translation: X:89.84, Y:-116.83, Z:-1.81 [[-8.15620756e-01 -5.78494466e-01 1.03409007e-02 8.98350889e+01] [-5.78449567e-01 8.15686301e-01 7.20804784e-03 -1.16833146e+02] [-1.26047468e-02 -1.02656078e-04 -9.99920552e-01 -1.81385034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.206559995 meters 0.012914641664813943 Centerline is valid? [True, True] Translation: X:89.75, Y:-116.86, Z:-1.81 [[-7.68969271e-01 -6.39213609e-01 9.60324088e-03 8.97510676e+01] [-6.39165670e-01 7.69029224e-01 7.82934284e-03 -1.16859892e+02] [-1.23897954e-02 -1.17537831e-04 -9.99923237e-01 -1.81411264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.236559995 meters 0.0130604008339632 Centerline is valid? [True, True] Translation: X:89.66, Y:-116.90, Z:-1.81 [[-7.17751223e-01 -6.96245129e-01 8.71213133e-03 8.96622744e+01] [-6.96195991e-01 7.17804085e-01 8.27273111e-03 -1.16899541e+02] [-1.20134522e-02 -1.27588031e-04 -9.99927828e-01 -1.81483847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.266559995 meters 0.013260763197255488 Centerline is valid? [True, True] Translation: X:89.57, Y:-116.95, Z:-1.82 [[-6.61658041e-01 -7.49762269e-01 8.07321908e-03 8.95728188e+01] [-7.49709171e-01 6.61707276e-01 8.92415273e-03 -1.16948305e+02] [-1.20331008e-02 -1.47828963e-04 -9.99927589e-01 -1.81529658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.296559995 meters 0.0131727691856435 Centerline is valid? [True, True] Translation: X:89.49, Y:-117.01, Z:-1.82 [[-6.02343656e-01 -7.98201835e-01 7.48004642e-03 8.94864030e+01] [-7.98143498e-01 6.02390078e-01 9.65146295e-03 -1.17007220e+02] [-1.22097212e-02 -1.56652935e-04 -9.99925446e-01 -1.81604275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.326559995 meters 0.013389172516560547 Centerline is valid? [True, True] Translation: X:89.40, Y:-117.08, Z:-1.82 [[-5.39325982e-01 -8.42070110e-01 6.73914517e-03 8.94006582e+01] [-8.42008134e-01 5.39368060e-01 1.02175281e-02 -1.17077650e+02] [-1.22387546e-02 -1.63836705e-04 -9.99925090e-01 -1.81599588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.356559995 meters 0.0136590636344284 Centerline is valid? [True, True] Translation: X:89.32, Y:-117.15, Z:-1.82 [[-4.72053450e-01 -8.81545328e-01 6.58594419e-03 8.93238643e+01] [-8.81465410e-01 4.72099348e-01 1.18716941e-02 -1.17148262e+02] [-1.35746565e-02 -2.01207819e-04 -9.99907840e-01 -1.81632164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.386559995 meters 0.013690565022854718 Centerline is valid? [True, True] Translation: X:89.25, Y:-117.23, Z:-1.82 [[-4.02463390e-01 -9.15417238e-01 5.87375095e-03 8.92484925e+01] [-9.15327635e-01 4.02506189e-01 1.28096656e-02 -1.17233464e+02] [-1.40904098e-02 -2.20985145e-04 -9.99900701e-01 -1.81623320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.416559995 meters 0.014998607318705958 Centerline is valid? [True, True] Translation: X:89.18, Y:-117.32, Z:-1.81 [[-3.30254233e-01 -9.43877753e-01 5.18931132e-03 8.91772956e+01] [-9.43772865e-01 3.30294906e-01 1.40731842e-02 -1.17323675e+02] [-1.49973686e-02 -2.49802566e-04 -9.99887502e-01 -1.81350248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.446559995 meters 0.014271142611488024 Centerline is valid? [True, True] Translation: X:89.12, Y:-117.43, Z:-1.82 [[-2.55616527e-01 -9.66768615e-01 4.31697852e-03 8.91153980e+01] [-9.66648915e-01 2.55652820e-01 1.52154809e-02 -1.17426418e+02] [-1.58134971e-02 -2.83674229e-04 -9.99874919e-01 -1.81504207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.476559995 meters 0.0144166035385681 Centerline is valid? [True, True] Translation: X:89.06, Y:-117.53, Z:-1.82 [[-1.79327218e-01 -9.83783912e-01 3.31104781e-03 8.90601768e+01] [-9.83647705e-01 1.79357495e-01 1.63732197e-02 -1.17529727e+02] [-1.67015713e-02 -3.20740652e-04 -9.99860468e-01 -1.81501730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.506559995 meters 0.014552324866442024 Centerline is valid? [True, True] Translation: X:89.01, Y:-117.64, Z:-1.81 [[-1.02775223e-01 -9.94702431e-01 2.08003942e-03 8.90142893e+01] [-9.94559188e-01 1.02795728e-01 1.68837196e-02 -1.17635581e+02] [-1.70080962e-02 -3.33494268e-04 -9.99855296e-01 -1.81488220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.536559995 meters 0.015092522589853379 Centerline is valid? [True, True] Translation: X:88.98, Y:-117.76, Z:-1.81 [[-2.60165395e-02 -9.99661201e-01 7.89014484e-04 8.89755086e+01] [-9.99512041e-01 2.60262898e-02 1.72717422e-02 -1.17756489e+02] [-1.72864257e-02 -3.39278514e-04 -9.99850521e-01 -1.81427591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.566559995 meters 0.01491272381841752 Centerline is valid? [True, True] Translation: X:88.95, Y:-117.87, Z:-1.81 [[ 5.04800451e-02 -9.98724927e-01 -5.33584699e-04 8.89476793e+01] [-9.98580763e-01 -5.04818259e-02 1.69718901e-02 -1.17872877e+02] [-1.69771861e-02 -3.23914363e-04 -9.99855825e-01 -1.81434805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.596559995 meters 0.014805303757613174 Centerline is valid? [True, True] Translation: X:88.93, Y:-117.99, Z:-1.81 [[ 1.26552082e-01 -9.91958208e-01 -1.86638515e-03 8.89292296e+01] [-9.91810245e-01 -1.26565446e-01 1.71355077e-02 -1.17992558e+02] [-1.72339274e-02 -3.17434267e-04 -9.99851434e-01 -1.81472122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.626559995 meters 0.01426423212440823 Centerline is valid? [True, True] Translation: X:88.92, Y:-118.10, Z:-1.82 [[ 2.01007711e-01 -9.79584727e-01 -3.10833294e-03 8.89198100e+01] [-9.79444881e-01 -2.01031544e-01 1.65542323e-02 -1.18100479e+02] [-1.68411461e-02 -2.83087558e-04 -9.99858138e-01 -1.81584266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.656559995 meters 0.013952480808307322 Centerline is valid? [True, True] Translation: X:88.92, Y:-118.22, Z:-1.82 [[ 2.75081359e-01 -9.61410911e-01 -4.39377864e-03 8.89204571e+01] [-9.61272040e-01 -2.75116313e-01 1.63425864e-02 -1.18222147e+02] [-1.69207411e-02 -2.71924321e-04 -9.99856797e-01 -1.81653657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.68655999499998 meters 0.014095894000137986 Centerline is valid? [True, True] Translation: X:88.93, Y:-118.34, Z:-1.82 [[ 3.47267162e-01 -9.37750236e-01 -5.47842771e-03 8.89289201e+01] [-9.37622077e-01 -3.47310284e-01 1.55050424e-02 -1.18342075e+02] [-1.64425714e-02 -2.47697297e-04 -9.99864781e-01 -1.81598473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.71655999499998 meters 0.013363804794352745 Centerline is valid? [True, True] Translation: X:88.95, Y:-118.45, Z:-1.82 [[ 4.15946186e-01 -9.09367163e-01 -6.33508408e-03 8.89459603e+01] [-9.09254464e-01 -4.15994381e-01 1.43176373e-02 -1.18452597e+02] [-1.56553486e-02 -1.95163136e-04 -9.99877428e-01 -1.81727310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.74655999499998 meters 0.013130025521185813 Centerline is valid? [True, True] Translation: X:88.97, Y:-118.57, Z:-1.82 [[ 4.83302054e-01 -8.75423561e-01 -7.26043002e-03 8.89723235e+01] [-8.75319494e-01 -4.83356557e-01 1.34990018e-02 -1.18567207e+02] [-1.53267207e-02 -1.68899356e-04 -9.99882525e-01 -1.81752518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.77655999499999 meters 0.01291145582025505 Centerline is valid? [True, True] Translation: X:89.00, Y:-118.67, Z:-1.82 [[ 5.47807730e-01 -8.36565819e-01 -8.02003497e-03 8.90046646e+01] [-8.36472358e-01 -5.47866416e-01 1.25053463e-02 -1.18674676e+02] [-1.48554531e-02 -1.41987789e-04 -9.99889642e-01 -1.81759467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.806559995 meters 0.0126177291660317 Centerline is valid? [True, True] Translation: X:89.05, Y:-118.78, Z:-1.82 [[ 6.07940079e-01 -7.93940802e-01 -8.17697933e-03 8.90454991e+01] [-7.93867000e-01 -6.07995061e-01 1.08255125e-02 -1.18777324e+02] [-1.35663791e-02 -8.98288557e-05 -9.99907968e-01 -1.81829898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.836559995 meters 0.012458401591338661 Centerline is valid? [True, True] Translation: X:89.09, Y:-118.88, Z:-1.82 [[ 6.65854643e-01 -7.46031009e-01 -8.67918032e-03 8.90910897e+01] [-7.45966275e-01 -6.65911202e-01 9.82786483e-03 -1.18875396e+02] [-1.31114553e-02 -6.95536062e-05 -9.99914039e-01 -1.81845680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.866559995 meters 0.012256380660600882 Centerline is valid? [True, True] Translation: X:89.15, Y:-118.98, Z:-1.82 [[ 7.20142927e-01 -6.93761877e-01 -9.41400044e-03 8.91497026e+01] [-6.93701565e-01 -7.20204454e-01 9.14785957e-03 -1.18975788e+02] [-1.31264413e-02 -5.72595236e-05 -9.99913843e-01 -1.81928179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.896559995 meters 0.012326611571283409 Centerline is valid? [True, True] Translation: X:89.15, Y:-118.98, Z:-1.82 [[ 7.71733358e-01 -6.35856506e-01 -1.06831002e-02 8.91463729e+01] [-6.35794669e-01 -7.71807296e-01 8.86775272e-03 -1.18983762e+02] [-1.38839129e-02 -5.12824387e-05 -9.99903613e-01 -1.81824483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.926559995 meters 0.012343386618954682 Centerline is valid? [True, True] Translation: X:89.14, Y:-118.99, Z:-1.82 [[ 8.18958580e-01 -5.73731434e-01 -1.17934342e-02 8.91440548e+01] [-5.73671070e-01 -8.19043490e-01 8.32252627e-03 -1.18991575e+02] [-1.44342305e-02 -5.02522477e-05 -9.99895820e-01 -1.81741354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.956559995 meters 0.01253619004305746 Centerline is valid? [True, True] Translation: X:89.14, Y:-119.00, Z:-1.82 [[ 8.61164417e-01 -5.08159039e-01 -1.30475475e-02 8.91414249e+01] [-5.08099853e-01 -8.61263252e-01 7.75567471e-03 -1.18998771e+02] [-1.51784894e-02 -4.94541318e-05 -9.99884799e-01 -1.81562313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.986559995 meters 0.012447720056666787 Centerline is valid? [True, True] Translation: X:89.14, Y:-119.01, Z:-1.82 [[ 8.97880063e-01 -4.40008398e-01 -1.42829557e-02 8.91395153e+01] [-4.39952058e-01 -8.97993657e-01 7.04119612e-03 -1.19007254e+02] [-1.59241891e-02 -3.83338575e-05 -9.99873201e-01 -1.81507771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.016559995 meters 0.01248273367668941 Centerline is valid? [True, True] Translation: X:89.14, Y:-119.01, Z:-1.81 [[ 9.29180633e-01 -3.69325806e-01 -1.48929577e-02 8.91378296e+01] [-3.69277968e-01 -9.29299978e-01 5.94426150e-03 -1.19014768e+02] [-1.60353945e-02 -2.36514874e-05 -9.99871425e-01 -1.81437050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.046559995 meters 0.012506989811309863 Centerline is valid? [True, True] Translation: X:89.14, Y:-119.02, Z:-1.81 [[ 9.54754512e-01 -2.97022166e-01 -1.48880655e-02 8.91388121e+01] [-2.96986084e-01 -9.54870584e-01 4.62961624e-03 -1.19021697e+02] [-1.55912745e-02 1.40127652e-06 -9.99878449e-01 -1.81441676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.076559995 meters 0.01257493389648102 Centerline is valid? [True, True] Translation: X:89.14, Y:-119.03, Z:-1.81 [[ 9.74820457e-01 -2.22509612e-01 -1.46475007e-02 8.91393949e+01] [-2.22484770e-01 -9.74930496e-01 3.32486147e-03 -1.19028706e+02] [-1.50201088e-02 1.77028491e-05 -9.99887192e-01 -1.81488435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.106559995 meters 0.012641543068831232 Centerline is valid? [True, True] Translation: X:89.14, Y:-119.03, Z:-1.82 [[ 9.88752789e-01 -1.48985677e-01 -1.30839479e-02 8.91371598e+01] [-1.48973469e-01 -9.88839352e-01 1.90824435e-03 -1.19034839e+02] [-1.32222237e-02 6.23791882e-05 -9.99912581e-01 -1.81623474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.136559995 meters 0.012880965332113905 Centerline is valid? [True, True] Translation: X:89.13, Y:-119.04, Z:-1.82 [[ 9.97221700e-01 -7.34943116e-02 -1.21435813e-02 8.91344305e+01] [-7.34899136e-02 -9.97295633e-01 8.08608025e-04 -1.19040577e+02] [-1.21701687e-02 8.60692697e-05 -9.99925937e-01 -1.81666796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.166559995 meters 0.01314637696902821 Centerline is valid? [True, True] Translation: X:89.13, Y:-119.05, Z:-1.82 [[ 9.99928923e-01 2.50348614e-03 -1.16568017e-02 8.91329503e+01] [ 2.50204712e-03 -9.99996860e-01 -1.38030888e-04 -1.19046413e+02] [-1.16571107e-02 1.08855210e-04 -9.99932048e-01 -1.81693836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.196559995 meters 0.013428960423653824 Centerline is valid? [True, True] Translation: X:89.13, Y:-119.05, Z:-1.82 [[ 9.96823237e-01 7.89068975e-02 -1.08229439e-02 8.91323740e+01] [ 7.89009199e-02 -9.96881982e-01 -9.78849714e-04 -1.19052126e+02] [-1.08664358e-02 1.21799909e-04 -9.99940951e-01 -1.81752511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.226559995 meters 0.013411917266602296 Centerline is valid? [True, True] Translation: X:89.13, Y:-119.06, Z:-1.82 [[ 9.87837858e-01 1.55152323e-01 -1.02040902e-02 8.91325193e+01] [ 1.55142660e-01 -9.87890550e-01 -1.73663336e-03 -1.19062184e+02] [-1.03499670e-02 1.32422478e-04 -9.99946429e-01 -1.81865674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.256559995 meters 0.013837392681173752 Centerline is valid? [True, True] Translation: X:89.13, Y:-119.07, Z:-1.82 [[ 9.73070181e-01 2.30302603e-01 -9.75366682e-03 8.91316150e+01] [ 2.30289525e-01 -9.73119052e-01 -2.45860000e-03 -1.19071116e+02] [-1.00577010e-02 1.46223045e-04 -9.99949409e-01 -1.81921784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.286559995 meters 0.014201036280663276 Centerline is valid? [True, True] Translation: X:89.13, Y:-119.08, Z:-1.82 [[ 9.52240739e-01 3.05214143e-01 -9.04990680e-03 8.91311192e+01] [ 3.05198915e-01 -9.52283732e-01 -3.05226047e-03 -1.19079489e+02] [-9.54967209e-03 1.44465024e-04 -9.99954390e-01 -1.81870932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.316559995 meters 0.015336684268814958 Centerline is valid? [True, True] Translation: X:89.13, Y:-119.09, Z:-1.82 [[ 9.25863239e-01 3.77752774e-01 -8.95016978e-03 8.91302673e+01] [ 3.77733465e-01 -9.25906484e-01 -3.82257815e-03 -1.19085387e+02] [-9.73100973e-03 1.58405936e-04 -9.99952640e-01 -1.81740349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.346559995 meters 0.01471678372698765 Centerline is valid? [True, True] Translation: X:89.13, Y:-119.09, Z:-1.82 [[ 8.93641741e-01 4.48688509e-01 -9.11373306e-03 8.91319299e+01] [ 4.48663208e-01 -8.93688197e-01 -4.76794770e-03 -1.19092763e+02] [-1.02841590e-02 1.71840374e-04 -9.99947102e-01 -1.81799248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.376559995 meters 0.014347246181237484 Centerline is valid? [True, True] Translation: X:89.14, Y:-119.10, Z:-1.82 [[ 8.56041298e-01 5.16833399e-01 -8.74838632e-03 8.91357385e+01] [ 5.16804279e-01 -8.56085980e-01 -5.48919699e-03 -1.19102654e+02] [-1.03263712e-02 1.77775833e-04 -9.99946666e-01 -1.81861158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.406559995 meters 0.01464858243417244 Centerline is valid? [True, True] Translation: X:89.14, Y:-119.11, Z:-1.82 [[ 8.12986959e-01 5.82220210e-01 -8.47539974e-03 8.91383509e+01] [ 5.82186226e-01 -8.13031115e-01 -6.29315403e-03 -1.19111116e+02] [-1.05547652e-02 1.81991163e-04 -9.99944280e-01 -1.81834975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.43655999499998 meters 0.01470231434187925 Centerline is valid? [True, True] Translation: X:89.14, Y:-119.12, Z:-1.82 [[ 7.65086544e-01 6.43877936e-01 -7.98642086e-03 8.91428319e+01] [ 6.43840307e-01 -7.65128204e-01 -6.96346515e-03 -1.19119735e+02] [-1.05942574e-02 1.85673826e-04 -9.99943862e-01 -1.81856503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.46655999499998 meters 0.01461438410538121 Centerline is valid? [True, True] Translation: X:89.15, Y:-119.13, Z:-1.82 [[ 7.12246118e-01 7.01891175e-01 -7.36523007e-03 8.91476298e+01] [ 7.01850968e-01 -7.12284174e-01 -7.51488904e-03 -1.19127682e+02] [-1.05207711e-02 1.83156687e-04 -9.99944638e-01 -1.81828391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.49655999499998 meters 0.014507759999307906 Centerline is valid? [True, True] Translation: X:89.15, Y:-119.14, Z:-1.82 [[ 6.54595473e-01 7.55947404e-01 -6.94898878e-03 8.91536518e+01] [ 7.55901844e-01 -6.54632331e-01 -8.30137339e-03 -1.19135131e+02] [-1.08244344e-02 1.81288006e-04 -9.99941398e-01 -1.81821654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.52655999499999 meters 0.014042071366243213 Centerline is valid? [True, True] Translation: X:89.16, Y:-119.14, Z:-1.82 [[ 5.91688713e-01 8.06143244e-01 -6.12671089e-03 8.91609211e+01] [ 8.06097299e-01 -5.91720412e-01 -8.60809927e-03 -1.19143275e+02] [-1.05646610e-02 1.54590083e-04 -9.99944180e-01 -1.81806913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.556559995 meters 0.01380881435397374 Centerline is valid? [True, True] Translation: X:89.17, Y:-119.15, Z:-1.82 [[ 5.25234479e-01 8.50940154e-01 -5.44033940e-03 8.91677023e+01] [ 8.50891794e-01 -5.25262635e-01 -9.07301049e-03 -1.19149119e+02] [-1.05781960e-02 1.36317783e-04 -9.99944040e-01 -1.81819118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.586559995 meters 0.013465023864200457 Centerline is valid? [True, True] Translation: X:89.18, Y:-119.15, Z:-1.82 [[ 4.55429962e-01 8.90259140e-01 -4.71300239e-03 8.91750412e+01] [ 8.90208764e-01 -4.55454333e-01 -9.47137914e-03 -1.19154634e+02] [-1.05785392e-02 1.17993808e-04 -9.99944039e-01 -1.81834277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.616559995 meters 0.012764506852336701 Centerline is valid? [True, True] Translation: X:89.19, Y:-119.16, Z:-1.82 [[ 3.80736194e-01 9.24676228e-01 -3.71810630e-03 8.91872027e+01] [ 9.24630270e-01 -3.80754342e-01 -9.21928650e-03 -1.19161438e+02] [-9.94054017e-03 7.22424278e-05 -9.99950589e-01 -1.81908776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.646559995 meters 0.012642497883314417 Centerline is valid? [True, True] Translation: X:89.20, Y:-119.17, Z:-1.82 [[ 3.05477549e-01 9.52194761e-01 -2.93320959e-03 8.91959388e+01] [ 9.52149148e-01 -3.05491626e-01 -9.32019661e-03 -1.19167086e+02] [-9.77071335e-03 5.42578082e-05 -9.99952264e-01 -1.81905545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.676559995 meters 0.01249160146067169 Centerline is valid? [True, True] Translation: X:89.21, Y:-119.17, Z:-1.82 [[ 2.28663279e-01 9.73503171e-01 -2.16367952e-03 8.92052374e+01] [ 9.73457888e-01 -2.28673512e-01 -9.38962008e-03 -1.19170509e+02] [-9.63560111e-03 4.08104127e-05 -9.99953576e-01 -1.81884945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.706559995 meters 0.012256041321056553 Centerline is valid? [True, True] Translation: X:89.22, Y:-119.17, Z:-1.82 [[ 1.49138400e-01 9.88815436e-01 -1.33121894e-03 8.92172487e+01] [ 9.88775141e-01 -1.49144341e-01 -8.92671819e-03 -1.19173455e+02] [-9.02542050e-03 1.50402754e-05 -9.99959270e-01 -1.81935961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.736559995 meters 0.012186661411338602 Centerline is valid? [True, True] Translation: X:89.23, Y:-119.18, Z:-1.82 [[ 7.01198646e-02 9.97538387e-01 -6.09757385e-04 8.92263795e+01] [ 9.97500084e-01 -7.01225156e-02 -8.74161090e-03 -1.19176437e+02] [-8.76285015e-03 4.72752944e-06 -9.99961605e-01 -1.81949626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.766559995 meters 0.012169474379708377 Centerline is valid? [True, True] Translation: X:89.24, Y:-119.18, Z:-1.82 [[-9.20147929e-03 9.99957663e-01 7.15337465e-05 8.92353855e+01] [ 9.99924049e-01 9.20175651e-03 -8.19905166e-03 -1.19177811e+02] [-8.19936277e-03 -3.91509071e-06 -9.99966385e-01 -1.82005959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.796559995 meters 0.012144496046545996 Centerline is valid? [True, True] Translation: X:89.24, Y:-119.18, Z:-1.82 [[-8.82888115e-02 9.96094695e-01 6.66535830e-04 8.92446182e+01] [ 9.96065440e-01 8.82913269e-02 -7.63422444e-03 -1.19177969e+02] [-7.66325980e-03 -1.01032975e-05 -9.99970637e-01 -1.82027879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.826559995 meters 0.012201804682085607 Centerline is valid? [True, True] Translation: X:89.25, Y:-119.18, Z:-1.82 [[-1.66796439e-01 9.85990663e-01 1.16674383e-03 8.92529123e+01] [ 9.85965916e-01 1.66800519e-01 -6.98564368e-03 -1.19178536e+02] [-7.08239291e-03 -1.48108354e-05 -9.99974919e-01 -1.81991743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.856559995 meters 0.012137332593898022 Centerline is valid? [True, True] Translation: X:89.26, Y:-119.18, Z:-1.82 [[-2.45089658e-01 9.69499173e-01 1.55334753e-03 8.92644273e+01] [ 9.69479076e-01 2.45094580e-01 -6.24246361e-03 -1.19176706e+02] [-6.43278037e-03 -2.40253455e-05 -9.99979309e-01 -1.82078339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.886559995 meters 0.012152716499527321 Centerline is valid? [True, True] Translation: X:89.27, Y:-119.17, Z:-1.82 [[-3.21344020e-01 9.46960445e-01 1.98401679e-03 8.92740797e+01] [ 9.46941809e-01 3.21350143e-01 -5.94105445e-03 -1.19174854e+02] [-6.26350764e-03 -3.03738676e-05 -9.99980384e-01 -1.82058110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.916559995 meters 0.012201096214045512 Centerline is valid? [True, True] Translation: X:89.28, Y:-119.17, Z:-1.82 [[-3.95687358e-01 9.18382349e-01 2.31861914e-03 8.92841401e+01] [ 9.18366041e-01 3.95694150e-01 -5.47306766e-03 -1.19172004e+02] [-5.94383276e-03 -3.62826029e-05 -9.99982335e-01 -1.82044331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.946559995 meters 0.012504414449161226 Centerline is valid? [True, True] Translation: X:89.30, Y:-119.17, Z:-1.82 [[-4.69182286e-01 8.83097420e-01 2.63244008e-03 8.92956801e+01] [ 8.83082884e-01 4.69189668e-01 -5.06719531e-03 -1.19166729e+02] [-5.70994079e-03 -5.27754978e-05 -9.99983697e-01 -1.82032376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.976559995 meters 0.012504414449161226 Centerline is valid? [True, True] Translation: X:89.30, Y:-119.16, Z:-1.82 [[-5.36929730e-01 8.43621560e-01 3.02135717e-03 8.93044925e+01] [ 8.43607647e-01 5.36938228e-01 -4.84535354e-03 -1.19162199e+02] [-5.70992687e-03 -5.27743543e-05 -9.99983697e-01 -1.82032388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.006559995 meters 0.012682467561418121 Centerline is valid? [True, True] Translation: X:89.31, Y:-119.15, Z:-1.82 [[-6.02799409e-01 7.97886420e-01 3.18338600e-03 8.93148570e+01] [ 7.97874771e-01 6.02807812e-01 -4.31180512e-03 -1.19154664e+02] [-5.35930069e-03 -5.92102031e-05 -9.99985637e-01 -1.82028349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.036559995 meters 0.013245514503649474 Centerline is valid? [True, True] Translation: X:89.33, Y:-119.15, Z:-1.82 [[-6.64980773e-01 7.46852418e-01 3.46952473e-03 8.93254190e+01] [ 7.46841704e-01 6.64989820e-01 -4.00095139e-03 -1.19146990e+02] [-5.29531885e-03 -6.93699895e-05 -9.99985977e-01 -1.81937773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.066559995 meters 0.014427607069650348 Centerline is valid? [True, True] Translation: X:89.33, Y:-119.14, Z:-1.82 [[-7.23704849e-01 6.90097835e-01 4.03342884e-03 8.93340563e+01] [ 6.90086398e-01 7.23716083e-01 -3.97412348e-03 -1.19139913e+02] [-5.66159133e-03 -9.26780492e-05 -9.99983969e-01 -1.81776433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.096559995 meters 0.014311716237441364 Centerline is valid? [True, True] Translation: X:89.35, Y:-119.12, Z:-1.82 [[-7.71707127e-01 6.35963089e-01 4.36577438e-03 8.93514326e+01] [ 6.35952154e-01 7.71719469e-01 -3.73085691e-03 -1.19118386e+02] [-5.74184037e-03 -1.02705246e-04 -9.99983510e-01 -1.81757594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.126559995 meters 0.014160386983331913 Centerline is valid? [True, True] Translation: X:89.36, Y:-119.09, Z:-1.82 [[-8.15370820e-01 5.78920097e-01 4.68477224e-03 8.93615944e+01] [ 5.78909762e-01 8.15384271e-01 -3.46103200e-03 -1.19090960e+02] [-5.82355058e-03 -1.09964119e-04 -9.99983037e-01 -1.81701434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.156559995 meters 0.014447269336208757 Centerline is valid? [True, True] Translation: X:89.39, Y:-119.07, Z:-1.82 [[-8.54597299e-01 5.19267948e-01 4.92487667e-03 8.93854096e+01] [ 5.19258544e-01 8.54611482e-01 -3.12736731e-03 -1.19073354e+02] [-5.83279776e-03 -1.15355373e-04 -9.99982982e-01 -1.81660855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.18655999499998 meters 0.014805528059259313 Centerline is valid? [True, True] Translation: X:89.40, Y:-119.05, Z:-1.82 [[-8.89450755e-01 4.56999589e-01 5.36009888e-03 8.93999148e+01] [ 4.56990449e-01 8.89466897e-01 -2.89285842e-03 -1.19049401e+02] [-6.08966562e-03 -1.23541109e-04 -9.99981450e-01 -1.81559553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.21655999499998 meters 0.014928549496379251 Centerline is valid? [True, True] Translation: X:89.41, Y:-119.02, Z:-1.82 [[-9.19551856e-01 3.92930102e-01 5.50631171e-03 8.94099035e+01] [ 3.92922261e-01 9.19568334e-01 -2.48532995e-03 -1.19023751e+02] [-6.03999083e-03 -1.21837325e-04 -9.99981752e-01 -1.81535105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.24655999499998 meters 0.014847019752102066 Centerline is valid? [True, True] Translation: X:89.41, Y:-119.00, Z:-1.82 [[-9.45004360e-01 3.27014480e-01 5.31881740e-03 8.94127386e+01] [ 3.27008625e-01 9.45019321e-01 -1.96011007e-03 -1.18995814e+02] [-5.66736958e-03 -1.13013402e-04 -9.99983934e-01 -1.81520268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.27655999499999 meters 0.014438230714002279 Centerline is valid? [True, True] Translation: X:89.43, Y:-118.97, Z:-1.82 [[-9.65401509e-01 2.60713343e-01 5.33657935e-03 8.94263275e+01] [ 2.60708775e-01 9.65416254e-01 -1.54657668e-03 -1.18974274e+02] [-5.55523362e-03 -1.01774396e-04 -9.99984564e-01 -1.81509707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.306559995 meters 0.014401997710709411 Centerline is valid? [True, True] Translation: X:89.43, Y:-118.95, Z:-1.81 [[-9.81202012e-01 1.92911377e-01 5.27370556e-03 8.94262254e+01] [ 1.92908087e-01 9.81216180e-01 -1.13031746e-03 -1.18947371e+02] [-5.39269632e-03 -9.17293146e-05 -9.99985455e-01 -1.81478757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.336559995 meters 0.013506487073031963 Centerline is valid? [True, True] Translation: X:89.57, Y:-118.31, Z:-2.78 [[-9.57138281e-01 -2.89591206e-01 4.82135449e-03 8.95717413e+01] [ 2.89587858e-01 -9.57150422e-01 -1.39385158e-03 -1.18314431e+02] [ 5.01840865e-03 6.20970157e-05 9.99987406e-01 -2.77548793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.366559995 meters 0.013201750651842733 Centerline is valid? [True, True] Translation: X:89.38, Y:-118.95, Z:-1.82 [[-9.81228278e-01 1.92789096e-01 4.84051220e-03 8.93841963e+01] [ 1.92786419e-01 9.81240215e-01 -1.01807821e-03 -1.18946161e+02] [-4.94597961e-03 -6.57821096e-05 -9.99987766e-01 -1.81569353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.396559995 meters 0.012612188701714993 Centerline is valid? [True, True] Translation: X:89.39, Y:-118.92, Z:-1.82 [[-9.91870099e-01 1.27191236e-01 4.01197641e-03 8.93873437e+01] [ 1.27190051e-01 9.91878212e-01 -5.50163864e-04 -1.18924531e+02] [-4.04936801e-03 -3.54076035e-05 -9.99991801e-01 -1.81570803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.426559995 meters 0.012365912664660347 Centerline is valid? [True, True] Translation: X:89.39, Y:-118.90, Z:-1.82 [[-9.98274363e-01 5.85995299e-02 3.79368090e-03 8.93860666e+01] [ 5.85990118e-02 9.98281571e-01 -2.47658441e-04 -1.18899739e+02] [-3.80167440e-03 -2.49251206e-05 -9.99992773e-01 -1.81578719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.456559995 meters 0.01217657592022898 Centerline is valid? [True, True] Translation: X:89.39, Y:-118.87, Z:-1.82 [[-9.99939820e-01 -1.04430602e-02 3.36139348e-03 8.93886197e+01] [-1.04430519e-02 9.99945470e-01 2.00140788e-05 -1.18874866e+02] [-3.36141919e-03 -1.50903323e-05 -9.99994350e-01 -1.81598635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.486559995 meters 0.012097849302282832 Centerline is valid? [True, True] Translation: X:89.38, Y:-118.85, Z:-1.82 [[-9.96820029e-01 -7.96242375e-02 3.13206037e-03 8.93800735e+01] [-7.96238695e-02 9.96824950e-01 2.42214919e-04 -1.18850095e+02] [-3.14140210e-03 -7.94208313e-06 -9.99995066e-01 -1.81586858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.516559995 meters 0.012134145532287716 Centerline is valid? [True, True] Translation: X:89.38, Y:-118.83, Z:-1.82 [[-9.89022019e-01 -1.47744220e-01 2.66287328e-03 8.93755619e+01] [-1.47743683e-01 9.89025604e-01 3.98521382e-04 -1.18827275e+02] [-2.69252909e-03 7.23716081e-07 -9.99996375e-01 -1.81609629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.546559995 meters 0.012164875121881186 Centerline is valid? [True, True] Translation: X:89.36, Y:-118.80, Z:-1.82 [[-9.76163283e-01 -2.17022808e-01 2.51892209e-03 8.93555439e+01] [-2.17022075e-01 9.76166533e-01 5.64169484e-04 -1.18804655e+02] [-2.58132509e-03 4.05983631e-06 -9.99996668e-01 -1.81598116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.576559995 meters 0.012151681489820003 Centerline is valid? [True, True] Translation: X:89.32, Y:-118.79, Z:-1.82 [[-9.58215992e-01 -2.86033560e-01 2.62964710e-03 8.93212005e+01] [-2.86032462e-01 9.58219600e-01 7.92498944e-04 -1.18786456e+02] [-2.74646068e-03 7.22072892e-06 -9.99996228e-01 -1.81556369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.606559995 meters 0.01222633616510536 Centerline is valid? [True, True] Translation: X:89.26, Y:-118.78, Z:-1.81 [[-9.35260675e-01 -3.53948234e-01 2.84891485e-03 8.92638190e+01] [-3.53946548e-01 9.35265014e-01 1.09282868e-03 -1.18779987e+02] [-3.05129517e-03 1.37161179e-05 -9.99995345e-01 -1.81487242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.636559995 meters 0.012328351943630892 Centerline is valid? [True, True] Translation: X:89.20, Y:-118.78, Z:-1.81 [[-9.06931278e-01 -4.21268817e-01 2.87063536e-03 8.91989040e+01] [-4.21266647e-01 9.06935821e-01 1.35225123e-03 -1.18779050e+02] [-3.17314331e-03 1.70960053e-05 -9.99994965e-01 -1.81472145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.666559995 meters 0.012299774983349486 Centerline is valid? [True, True] Translation: X:89.12, Y:-118.79, Z:-1.81 [[-8.73503412e-01 -4.86808515e-01 3.04301726e-03 8.91242805e+01] [-4.86805473e-01 8.73508712e-01 1.72099360e-03 -1.18787799e+02] [-3.49589642e-03 2.19363274e-05 -9.99993889e-01 -1.81440903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.696559995 meters 0.012501311998571962 Centerline is valid? [True, True] Translation: X:89.04, Y:-118.81, Z:-1.81 [[-8.35185476e-01 -5.49958712e-01 3.26126874e-03 8.90418634e+01] [-5.49954385e-01 8.35191843e-01 2.18163586e-03 -1.18807567e+02] [-3.92359469e-03 2.85215406e-05 -9.99992302e-01 -1.81378459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.726559995 meters 0.012526350966932866 Centerline is valid? [True, True] Translation: X:88.96, Y:-118.84, Z:-1.81 [[-7.92281694e-01 -6.10146666e-01 3.28065208e-03 8.89576969e+01] [-6.10141247e-01 7.92288485e-01 2.57196698e-03 -1.18837062e+02] [-4.16849995e-03 3.60612068e-05 -9.99991311e-01 -1.81327009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.756559995 meters 0.012581801273968659 Centerline is valid? [True, True] Translation: X:88.87, Y:-118.88, Z:-1.81 [[-7.43915712e-01 -6.68264973e-01 3.36726981e-03 8.88696286e+01] [-6.68257885e-01 7.43923332e-01 3.07821310e-03 -1.18876751e+02] [-4.56205257e-03 3.97264939e-05 -9.99989593e-01 -1.81288555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.786559995 meters 0.012546445405786128 Centerline is valid? [True, True] Translation: X:88.78, Y:-118.92, Z:-1.81 [[-6.91077606e-01 -7.22773248e-01 3.25199834e-03 8.87824032e+01] [-7.22764962e-01 6.91085256e-01 3.46110113e-03 -1.18924601e+02] [-4.74899941e-03 4.14590281e-05 -9.99988723e-01 -1.81250984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.816559995 meters 0.01253077686413265 Centerline is valid? [True, True] Translation: X:88.69, Y:-118.99, Z:-1.81 [[-6.33835263e-01 -7.73462394e-01 2.96398195e-03 8.86930464e+01] [-7.73453644e-01 6.33842191e-01 3.67935737e-03 -1.18985830e+02] [-4.72454137e-03 3.96038073e-05 -9.99988839e-01 -1.81252324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.846559995 meters 0.012224461715565977 Centerline is valid? [True, True] Translation: X:88.61, Y:-119.05, Z:-1.81 [[-5.71147702e-01 -8.20842471e-01 2.81786927e-03 8.86091850e+01] [-8.20832215e-01 5.71154653e-01 4.10343867e-03 -1.19052797e+02] [-4.97771588e-03 3.06716940e-05 -9.99987611e-01 -1.81262691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.876559995 meters 0.012042395797101813 Centerline is valid? [True, True] Translation: X:88.53, Y:-119.13, Z:-1.81 [[-5.05386565e-01 -8.62890180e-01 2.22640877e-03 8.85277524e+01] [-8.62881627e-01 5.05391469e-01 3.84193457e-03 -1.19128571e+02] [-4.44037561e-03 2.05348903e-05 -9.99990141e-01 -1.81247412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.906559995 meters 0.011993027526070824 Centerline is valid? [True, True] Translation: X:88.45, Y:-119.21, Z:-1.81 [[-4.36104379e-01 -8.99894298e-01 1.79523183e-03 8.84501001e+01] [-8.99886567e-01 4.36108073e-01 3.73019896e-03 -1.19213963e+02] [-4.13969987e-03 1.12510950e-05 -9.99991431e-01 -1.81276983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.93655999499998 meters 0.011856677146147099 Centerline is valid? [True, True] Translation: X:88.38, Y:-119.31, Z:-1.81 [[-3.61649321e-01 -9.32313365e-01 1.24839879e-03 8.83760558e+01] [-9.32307866e-01 3.61651476e-01 3.20196494e-03 -1.19311966e+02] [-3.43671997e-03 -5.90356947e-06 -9.99994094e-01 -1.81292863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.96655999499998 meters 0.011840292275386593 Centerline is valid? [True, True] Translation: X:88.31, Y:-119.41, Z:-1.81 [[-2.86930893e-01 -9.57950790e-01 9.72810348e-04 8.83123144e+01] [-9.57945434e-01 2.86932542e-01 3.20347558e-03 -1.19409366e+02] [-3.34790290e-03 -1.27231215e-05 -9.99994396e-01 -1.81303046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.99655999499998 meters 0.012071877129749671 Centerline is valid? [True, True] Translation: X:88.26, Y:-119.52, Z:-1.81 [[-2.10338373e-01 -9.77628414e-01 6.72874329e-04 8.82552197e+01] [-9.77623688e-01 2.10339449e-01 3.03984251e-03 -1.19515217e+02] [-3.11336843e-03 -1.84223544e-05 -9.99995153e-01 -1.81321426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.02655999499999 meters 0.012431555425344203 Centerline is valid? [True, True] Translation: X:88.21, Y:-119.63, Z:-1.81 [[-1.30819465e-01 -9.91406126e-01 4.01491177e-04 8.82060901e+01] [-9.91402079e-01 1.30820079e-01 2.83291973e-03 -1.19625215e+02] [-2.86109708e-03 -2.74381428e-05 -9.99995907e-01 -1.81311312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.056559995 meters 0.012768641786735892 Centerline is valid? [True, True] Translation: X:88.17, Y:-119.75, Z:-1.81 [[-5.26304427e-02 -9.98614041e-01 1.84336310e-04 8.81652140e+01] [-9.98609853e-01 5.26307559e-02 2.89237711e-03 -1.19745525e+02] [-2.89807015e-03 -3.18529673e-05 -9.99995800e-01 -1.81318056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.086559995 meters 0.013207075561277723 Centerline is valid? [True, True] Translation: X:88.13, Y:-119.86, Z:-1.81 [[ 2.61772886e-02 -9.99657315e-01 -3.69364932e-05 8.81333959e+01] [-9.99653600e-01 -2.61772920e-02 2.72558946e-03 -1.19863507e+02] [-2.72562234e-03 -3.44248435e-05 -9.99996285e-01 -1.81305150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.116559995 meters 0.013623713197992474 Centerline is valid? [True, True] Translation: X:88.11, Y:-119.99, Z:-1.81 [[ 1.04379930e-01 -9.94537477e-01 -1.94922590e-04 8.81111594e+01] [-9.94535169e-01 -1.04380107e-01 2.14248421e-03 -1.19986627e+02] [-2.15112688e-03 -2.97749806e-05 -9.99997686e-01 -1.81309434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.146559995 meters 0.01366747463045484 Centerline is valid? [True, True] Translation: X:88.10, Y:-120.10, Z:-1.81 [[ 1.83283437e-01 -9.83060071e-01 -2.81878599e-04 8.80985704e+01] [-9.83058665e-01 -1.83283651e-01 1.66249919e-03 -1.20102081e+02] [-1.68600031e-03 -2.76053659e-05 -9.99998578e-01 -1.81354109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.176559995 meters 0.013842929851790383 Centerline is valid? [True, True] Translation: X:88.09, Y:-120.22, Z:-1.81 [[ 2.59090508e-01 -9.65852950e-01 -4.33057666e-04 8.80949160e+01] [-9.65851400e-01 -2.59090868e-01 1.73087094e-03 -1.20221655e+02] [-1.78396809e-03 -3.01828781e-05 -9.99998408e-01 -1.81360996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.206559995 meters 0.013990952113038262 Centerline is valid? [True, True] Translation: X:88.10, Y:-120.34, Z:-1.81 [[ 3.32969803e-01 -9.42937344e-01 -5.24475986e-04 8.81003300e+01] [-9.42936037e-01 -3.32970215e-01 1.57065986e-03 -1.20340649e+02] [-1.65566872e-03 -2.84349964e-05 -9.99998629e-01 -1.81366056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.236559995 meters 0.013863558346365589 Centerline is valid? [True, True] Translation: X:88.12, Y:-120.46, Z:-1.81 [[ 4.04401422e-01 -9.14581271e-01 -7.67566550e-04 8.81163866e+01] [-9.14579463e-01 -4.04402149e-01 1.81888061e-03 -1.20461991e+02] [-1.97391970e-03 -3.35573019e-05 -9.99998051e-01 -1.81354877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.266559995 meters 0.013745993548811718 Centerline is valid? [True, True] Translation: X:88.14, Y:-120.58, Z:-1.81 [[ 4.73253679e-01 -8.80925445e-01 -1.14686703e-03 8.81420928e+01] [-8.80922643e-01 -4.73255066e-01 2.22237397e-03 -1.20581609e+02] [-2.50050641e-03 -4.14455168e-05 -9.99996873e-01 -1.81322818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.296559995 meters 0.0137760166140614 Centerline is valid? [True, True] Translation: X:88.18, Y:-120.70, Z:-1.81 [[ 5.39087314e-01 -8.42248608e-01 -1.46594313e-03 8.81759289e+01] [-8.42245266e-01 -5.39089306e-01 2.37338395e-03 -1.20698391e+02] [-2.78925360e-03 -4.47775181e-05 -9.99996109e-01 -1.81288749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.326559995 meters 0.01350463652888853 Centerline is valid? [True, True] Translation: X:88.22, Y:-120.81, Z:-1.81 [[ 6.01727494e-01 -7.98699293e-01 -1.86044437e-03 8.82151477e+01] [-7.98695221e-01 -6.01730368e-01 2.55111907e-03 -1.20805868e+02] [-3.15706288e-03 -4.91504629e-05 -9.99995015e-01 -1.81249225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.356559995 meters 0.01329153930759475 Centerline is valid? [True, True] Translation: X:88.25, Y:-120.90, Z:-1.81 [[ 6.60531761e-01 -7.50794097e-01 -2.45293143e-03 8.82507789e+01] [-7.50788605e-01 -6.60536313e-01 2.87224593e-03 -1.20895882e+02] [-3.77671557e-03 -5.55766950e-05 -9.99992867e-01 -1.81140218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.386559995 meters 0.01319333013516878 Centerline is valid? [True, True] Translation: X:88.30, Y:-120.99, Z:-1.81 [[ 7.15704700e-01 -6.98394846e-01 -3.37957131e-03 8.83000375e+01] [-6.98386605e-01 -7.15712676e-01 3.39361931e-03 -1.20989960e+02] [-4.78888826e-03 -6.85819547e-05 -9.99988531e-01 -1.81105271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.416559995 meters 0.013234411796740045 Centerline is valid? [True, True] Translation: X:88.36, Y:-121.08, Z:-1.81 [[ 7.66602437e-01 -6.42109501e-01 -4.01156096e-03 8.83558338e+01] [-6.42100204e-01 -7.66612929e-01 3.45600636e-03 -1.21080261e+02] [-5.29444902e-03 -7.35587841e-05 -9.99985982e-01 -1.81026594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.446559995 meters 0.013250322642627842 Centerline is valid? [True, True] Translation: X:88.35, Y:-121.09, Z:-1.81 [[ 8.14250904e-01 -5.80492774e-01 -4.85851539e-03 8.83537182e+01] [-5.80481839e-01 -8.14265395e-01 3.56402379e-03 -1.21086601e+02] [-6.02501101e-03 -8.17296413e-05 -9.99981846e-01 -1.80974319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.476559995 meters 0.012924716120151735 Centerline is valid? [True, True] Translation: X:88.35, Y:-121.09, Z:-1.81 [[ 8.56710670e-01 -5.15763736e-01 -5.88194394e-03 8.83510057e+01] [-5.15750873e-01 -8.56730857e-01 3.64362789e-03 -1.21094179e+02] [-6.91849400e-03 -8.79171689e-05 -9.99976063e-01 -1.80967727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.506559995 meters 0.013118260484454409 Centerline is valid? [True, True] Translation: X:88.35, Y:-121.10, Z:-1.81 [[ 8.94163701e-01 -4.47693819e-01 -6.44371016e-03 8.83482906e+01] [-4.47681481e-01 -8.94186914e-01 3.32479814e-03 -1.21102212e+02] [-7.25037288e-03 -8.81841014e-05 -9.99973712e-01 -1.80910712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.536559995 meters 0.012792987291365037 Centerline is valid? [True, True] Translation: X:88.35, Y:-121.11, Z:-1.81 [[ 9.26127475e-01 -3.77144207e-01 -7.08150030e-03 8.83472357e+01] [-3.77132456e-01 -9.26154544e-01 2.97843958e-03 -1.21109761e+02] [-7.68186492e-03 -8.77511220e-05 -9.99970490e-01 -1.80949718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.566559995 meters 0.012683953692690217 Centerline is valid? [True, True] Translation: X:88.35, Y:-121.12, Z:-1.81 [[ 9.52532774e-01 -3.04350761e-01 -7.20619182e-03 8.83466967e+01] [-3.04341412e-01 -9.52560028e-01 2.38691909e-03 -1.21117475e+02] [-7.59079093e-03 -8.04760675e-05 -9.99971186e-01 -1.80962705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.596559995 meters 0.012439543713400236 Centerline is valid? [True, True] Translation: X:88.35, Y:-121.12, Z:-1.81 [[ 9.72989414e-01 -2.30725416e-01 -7.57509642e-03 8.83460513e+01] [-2.30717873e-01 -9.73018899e-01 1.86680276e-03 -1.21123851e+02] [-7.80143082e-03 -6.86691857e-05 -9.99969566e-01 -1.81004123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.626559995 meters 0.012235648689347916 Centerline is valid? [True, True] Translation: X:88.35, Y:-121.13, Z:-1.81 [[ 9.87881885e-01 -1.55026697e-01 -7.49031115e-03 8.83461594e+01] [-1.55021795e-01 -9.87910279e-01 1.23412166e-03 -1.21131878e+02] [-7.59107719e-03 -5.80049445e-05 -9.99971186e-01 -1.81070911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.656559995 meters 0.012139378785331917 Centerline is valid? [True, True] Translation: X:88.34, Y:-121.14, Z:-1.81 [[ 9.96909193e-01 -7.82314981e-02 -7.20373057e-03 8.83428597e+01] [-7.82291100e-02 -9.96935219e-01 6.13132549e-04 -1.21138771e+02] [-7.22961899e-03 -4.76960441e-05 -9.99973865e-01 -1.81071883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.68655999499998 meters 0.01196114297897044 Centerline is valid? [True, True] Translation: X:88.34, Y:-121.14, Z:-1.81 [[ 9.99977681e-01 -2.10186300e-03 -6.34183986e-03 8.83409969e+01] [-2.10164423e-03 -9.99997791e-01 4.11600943e-05 -1.21144328e+02] [-6.34191236e-03 -2.78308845e-05 -9.99979889e-01 -1.81153061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.71655999499998 meters 0.01188285779488965 Centerline is valid? [True, True] Translation: X:88.34, Y:-121.15, Z:-1.81 [[ 9.97163691e-01 7.50304448e-02 -5.91652590e-03 8.83399001e+01] [ 7.50292380e-02 -9.97181243e-01 -4.25981586e-04 -1.21152561e+02] [-5.93181024e-03 -1.91390594e-05 -9.99982406e-01 -1.81224394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.74655999499998 meters 0.011885289395226362 Centerline is valid? [True, True] Translation: X:88.34, Y:-121.16, Z:-1.81 [[ 9.88367259e-01 1.51988362e-01 -5.44974811e-03 8.83389986e+01] [ 1.51986124e-01 -9.88382283e-01 -8.24882681e-04 -1.21161855e+02] [-5.51180704e-03 -1.29990556e-05 -9.99984810e-01 -1.81237955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.77655999499999 meters 0.011835399960856231 Centerline is valid? [True, True] Translation: X:88.34, Y:-121.17, Z:-1.81 [[ 9.73634198e-01 2.28063787e-01 -4.83286707e-03 8.83379185e+01] [ 2.28061016e-01 -9.73646193e-01 -1.12429608e-03 -1.21170238e+02] [-4.96191385e-03 -7.53546672e-06 -9.99987690e-01 -1.81224787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.806559995 meters 0.011949992263480199 Centerline is valid? [True, True] Translation: X:88.34, Y:-121.18, Z:-1.81 [[ 9.53213883e-01 3.02261755e-01 -4.59611860e-03 8.83371629e+01] [ 3.02258245e-01 -9.53224964e-01 -1.45671920e-03 -1.21177927e+02] [-4.82144548e-03 -6.49778245e-07 -9.99988377e-01 -1.81159005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.836559995 meters 0.011888990127427225 Centerline is valid? [True, True] Translation: X:88.34, Y:-121.18, Z:-1.81 [[ 9.26731641e-01 3.75695010e-01 -4.66095634e-03 8.83378580e+01] [ 3.75690254e-01 -9.26743362e-01 -1.89047349e-03 -1.21184974e+02] [-5.02975181e-03 8.85723916e-07 -9.99987351e-01 -1.81151003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.866559995 meters 0.011888990127427225 Centerline is valid? [True, True] Translation: X:88.34, Y:-121.19, Z:-1.81 [[ 8.94479104e-01 4.47087121e-01 -4.49866038e-03 8.83387349e+01] [ 4.47081462e-01 -8.94490417e-01 -2.24952620e-03 -1.21192401e+02] [-5.02974279e-03 8.86522125e-07 -9.99987351e-01 -1.81151011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.896559995 meters 0.011891968501773362 Centerline is valid? [True, True] Translation: X:88.34, Y:-121.20, Z:-1.81 [[ 8.56920501e-01 5.15430389e-01 -4.33232233e-03 8.83408525e+01] [ 5.15423786e-01 -8.56931452e-01 -2.60907736e-03 -1.21199545e+02] [-5.05730102e-03 2.78990217e-06 -9.99987212e-01 -1.81148625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.926559995 meters 0.011885182554089081 Centerline is valid? [True, True] Translation: X:88.34, Y:-121.21, Z:-1.81 [[ 8.13943400e-01 5.80928086e-01 -4.32447593e-03 8.83430764e+01] [ 5.80919867e-01 -8.13954888e-01 -3.09017984e-03 -1.21207225e+02] [-5.31510058e-03 3.05750636e-06 -9.99985875e-01 -1.81138293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.956559995 meters 0.011940898760021572 Centerline is valid? [True, True] Translation: X:88.35, Y:-121.21, Z:-1.81 [[ 7.65785189e-01 6.43081966e-01 -4.31622407e-03 8.83459688e+01] [ 6.43071740e-01 -7.65797352e-01 -3.62651539e-03 -1.21214210e+02] [-5.63749961e-03 1.49004879e-06 -9.99984109e-01 -1.81122811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.986559995 meters 0.011865316934894924 Centerline is valid? [True, True] Translation: X:88.35, Y:-121.22, Z:-1.81 [[ 7.12810979e-01 7.01344018e-01 -4.13235563e-03 8.83494335e+01] [ 7.01332238e-01 -7.12822957e-01 -4.06483437e-03 -1.21221976e+02] [-5.79648523e-03 -6.95654191e-07 -9.99983200e-01 -1.81066676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.016559995 meters 0.01193229270034972 Centerline is valid? [True, True] Translation: X:88.36, Y:-121.23, Z:-1.81 [[ 6.54853560e-01 7.55745071e-01 -4.02528094e-03 8.83556207e+01] [ 7.55730867e-01 -6.54865931e-01 -4.63341339e-03 -1.21230398e+02] [-6.13769868e-03 -7.82180378e-06 -9.99981164e-01 -1.80986648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.046559995 meters 0.011907602054061096 Centerline is valid? [True, True] Translation: X:88.36, Y:-121.24, Z:-1.81 [[ 5.93135797e-01 8.05092910e-01 -3.91568752e-03 8.83605085e+01] [ 8.05075506e-01 -5.93148721e-01 -5.29383473e-03 -1.21238039e+02] [-6.58461385e-03 -1.24612276e-05 -9.99978321e-01 -1.80903042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.076559995 meters 0.011953222239443501 Centerline is valid? [True, True] Translation: X:88.37, Y:-121.24, Z:-1.81 [[ 5.27726603e-01 8.49406529e-01 -3.63051941e-03 8.83670028e+01] [ 8.49386656e-01 -5.27739091e-01 -5.81031206e-03 -1.21244976e+02] [-6.85128401e-03 -1.74584968e-05 -9.99976530e-01 -1.80858453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.106559995 meters 0.011979058893350906 Centerline is valid? [True, True] Translation: X:88.37, Y:-121.25, Z:-1.81 [[ 4.59305595e-01 8.88271305e-01 -3.52959413e-03 8.83729161e+01] [ 8.88245444e-01 -4.59319156e-01 -6.77818348e-03 -1.21251467e+02] [-7.64207608e-03 -2.18883062e-05 -9.99970799e-01 -1.80778371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.136559995 meters 0.012055015192202777 Centerline is valid? [True, True] Translation: X:88.38, Y:-121.26, Z:-1.81 [[ 3.88411290e-01 9.21480640e-01 -3.17808321e-03 8.83786627e+01] [ 9.21450260e-01 -3.88424292e-01 -7.48248474e-03 -1.21257323e+02] [-8.12940954e-03 -2.21640474e-05 -9.99966956e-01 -1.80749896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.166559995 meters 0.012119090344843509 Centerline is valid? [True, True] Translation: X:88.38, Y:-121.26, Z:-1.81 [[ 3.16474365e-01 9.48596963e-01 -2.78895396e-03 8.83829045e+01] [ 9.48560422e-01 -3.16486654e-01 -8.32604088e-03 -1.21263370e+02] [-8.78072380e-03 -1.05128450e-05 -9.99961449e-01 -1.80612927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.196559995 meters 0.012008208761282849 Centerline is valid? [True, True] Translation: X:88.39, Y:-121.27, Z:-1.81 [[ 2.42740831e-01 9.70089060e-01 -2.02623664e-03 8.83891784e+01] [ 9.70055160e-01 -2.42749288e-01 -8.10987716e-03 -1.21268111e+02] [-8.35917061e-03 3.03701646e-06 -9.99965062e-01 -1.80695215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.226559995 meters 0.012004788439862437 Centerline is valid? [True, True] Translation: X:88.39, Y:-121.27, Z:-1.81 [[ 1.67695988e-01 9.85837815e-01 -1.36306868e-03 8.83947454e+01] [ 9.85804422e-01 -1.67701527e-01 -8.11418485e-03 -1.21273887e+02] [-8.22785897e-03 1.69971114e-05 -9.99966150e-01 -1.80708844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.256559995 meters 0.012154383061524877 Centerline is valid? [True, True] Translation: X:88.40, Y:-121.28, Z:-1.81 [[ 9.19771543e-02 9.95760910e-01 -6.43520592e-04 8.84004047e+01] [ 9.95734210e-01 -9.19794006e-02 -7.29192240e-03 -1.21277898e+02] [-7.32020192e-03 2.99148025e-05 -9.99973207e-01 -1.80763908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.286559995 meters 0.012470466187136485 Centerline is valid? [True, True] Translation: X:88.41, Y:-121.28, Z:-1.81 [[ 1.79434552e-02 9.99839002e-01 -5.63531882e-05 8.84067560e+01] [ 9.99821820e-01 -1.79434772e-02 -5.86169753e-03 -1.21281792e+02] [-5.86176497e-03 4.88359596e-05 -9.99982819e-01 -1.80913168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.316559995 meters 0.012797358285555706 Centerline is valid? [True, True] Translation: X:88.41, Y:-121.29, Z:-1.81 [[-5.86792247e-02 9.98276836e-01 3.28190126e-04 8.84136456e+01] [ 9.98265471e-01 5.86801228e-02 -4.76373346e-03 -1.21286743e+02] [-4.77478300e-03 4.80886849e-05 -9.99988600e-01 -1.80959282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.346559995 meters 0.012961616114863666 Centerline is valid? [True, True] Translation: X:88.42, Y:-121.29, Z:-1.81 [[-1.34583994e-01 9.90902018e-01 5.82291785e-04 8.84222024e+01] [ 9.90894240e-01 1.34585245e-01 -3.92646731e-03 -1.21289862e+02] [-3.96911226e-03 4.85499241e-05 -9.99992122e-01 -1.81029117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.376559995 meters 0.013907478747138524 Centerline is valid? [True, True] Translation: X:88.43, Y:-121.29, Z:-1.81 [[-2.07716956e-01 9.78188652e-01 7.92002972e-04 8.84290046e+01] [ 9.78182569e-01 2.07718457e-01 -3.45033554e-03 -1.21294252e+02] [-3.53959271e-03 5.80303071e-05 -9.99993734e-01 -1.81064613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.406559995 meters 0.014513480359883308 Centerline is valid? [True, True] Translation: X:88.44, Y:-121.30, Z:-1.81 [[-2.81477633e-01 9.59567124e-01 1.12966900e-03 8.84366651e+01] [ 9.59560373e-01 2.81479891e-01 -3.60023575e-03 -1.21296851e+02] [-3.77264697e-03 7.05997710e-05 -9.99992881e-01 -1.81027817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.43655999499998 meters 0.015059325318944298 Centerline is valid? [True, True] Translation: X:88.44, Y:-121.30, Z:-1.81 [[-3.54180398e-01 9.35175865e-01 1.53205793e-03 8.84444598e+01] [ 9.35168112e-01 3.54183701e-01 -3.80892191e-03 -1.21300354e+02] [-4.10464179e-03 8.36862415e-05 -9.99991572e-01 -1.80987715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.46655999499998 meters 0.016375387882341365 Centerline is valid? [True, True] Translation: X:88.45, Y:-121.30, Z:-1.81 [[-4.22980596e-01 9.06135419e-01 2.45306504e-03 8.84511879e+01] [ 9.06121958e-01 4.22987688e-01 -4.94087378e-03 -1.21303631e+02] [-5.51471705e-03 1.32882361e-04 -9.99984785e-01 -1.80864189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.49655999499998 meters 0.01720388559100108 Centerline is valid? [True, True] Translation: X:88.46, Y:-121.31, Z:-1.81 [[-4.91072876e-01 8.71113372e-01 2.98728480e-03 8.84581139e+01] [ 8.71099080e-01 4.91081939e-01 -4.99213881e-03 -1.21306801e+02] [-5.81572048e-03 1.50717076e-04 -9.99983077e-01 -1.80813665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.52655999499999 meters 0.01811114768483713 Centerline is valid? [True, True] Translation: X:88.46, Y:-121.31, Z:-1.81 [[-5.55992376e-01 8.31180833e-01 3.30146848e-03 8.84644593e+01] [ 8.31167855e-01 5.56002155e-01 -4.64757627e-03 -1.21308821e+02] [-5.69859991e-03 1.60057497e-04 -9.99983750e-01 -1.80771304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.556559995 meters 0.0190048092942436 Centerline is valid? [True, True] Translation: X:88.47, Y:-121.31, Z:-1.81 [[-6.17634364e-01 7.86456235e-01 3.79238088e-03 8.84707173e+01] [ 7.86443160e-01 6.17645981e-01 -4.53859225e-03 -1.21310563e+02] [-5.91175299e-03 1.79301464e-04 -9.99982509e-01 -1.80748853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.586559995 meters 0.02159790865536957 Centerline is valid? [True, True] Translation: X:88.48, Y:-121.31, Z:-1.81 [[-6.73949961e-01 7.38765548e-01 4.11292561e-03 8.84755301e+01] [ 7.38753617e-01 6.73962479e-01 -4.20359464e-03 -1.21313795e+02] [-5.87742843e-03 2.05426228e-04 -9.99982707e-01 -1.80762265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.616559995 meters 0.022712366301331065 Centerline is valid? [True, True] Translation: X:88.48, Y:-121.32, Z:-1.81 [[-7.28407075e-01 6.85130990e-01 4.31963394e-03 8.84803072e+01] [ 6.85120635e-01 7.28419853e-01 -3.77267050e-03 -1.21315810e+02] [-5.73128059e-03 2.11430461e-04 -9.99983554e-01 -1.80748431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.646559995 meters 0.02070301938803717 Centerline is valid? [True, True] Translation: X:88.51, Y:-121.30, Z:-1.81 [[-7.73014898e-01 6.34370088e-01 4.74961379e-03 8.85078755e+01] [ 6.34359978e-01 7.73029453e-01 -3.58935182e-03 -1.21295324e+02] [-5.94856878e-03 2.38342471e-04 -9.99982279e-01 -1.80835822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.676559995 meters 0.020138802860288164 Centerline is valid? [True, True] Translation: X:88.53, Y:-121.27, Z:-1.81 [[-8.15581220e-01 5.78619876e-01 5.12962698e-03 8.85277677e+01] [ 5.78610325e-01 8.15597313e-01 -3.33398529e-03 -1.21272128e+02] [-6.11282014e-03 2.48919349e-04 -9.99981286e-01 -1.80857762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.706559995 meters 0.020543124886424412 Centerline is valid? [True, True] Translation: X:88.55, Y:-121.25, Z:-1.81 [[-8.54351772e-01 5.19663652e-01 5.72166696e-03 8.85452419e+01] [ 5.19654074e-01 8.54370889e-01 -3.16654249e-03 -1.21248496e+02] [-6.53396272e-03 2.67946357e-04 -9.99978618e-01 -1.80817686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.736559995 meters 0.020450304741680612 Centerline is valid? [True, True] Translation: X:88.56, Y:-121.22, Z:-1.81 [[-8.89214293e-01 4.57451619e-01 5.99654000e-03 8.85574055e+01] [ 4.57443231e-01 8.89234471e-01 -2.78311255e-03 -1.21221155e+02] [-6.60546942e-03 2.68293175e-04 -9.99978148e-01 -1.80803991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.766559995 meters 0.02047156645942414 Centerline is valid? [True, True] Translation: X:88.88, Y:-120.54, Z:-2.78 [[-8.95143013e-01 -4.45737154e-01 6.11359441e-03 8.88792727e+01] [ 4.45724751e-01 -8.95163852e-01 -3.33534202e-03 -1.20542173e+02] [ 6.95935458e-03 -2.60627757e-04 9.99975749e-01 -2.78308045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.796559995 meters 0.020023012890403494 Centerline is valid? [True, True] Translation: X:88.52, Y:-121.20, Z:-1.81 [[-8.92398150e-01 4.51198447e-01 6.74559400e-03 8.85175981e+01] [ 4.51187881e-01 8.92423602e-01 -3.10021443e-03 -1.21197900e+02] [-7.41873923e-03 2.76904641e-04 -9.99972442e-01 -1.80784610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.826559995 meters 0.01929508656693086 Centerline is valid? [True, True] Translation: X:88.52, Y:-121.17, Z:-1.81 [[-9.22696556e-01 3.85460854e-01 7.14114825e-03 8.85224091e+01] [ 3.85451583e-01 9.22724149e-01 -2.68731045e-03 -1.21165916e+02] [-7.62516292e-03 2.72994806e-04 -9.99970891e-01 -1.80774248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.856559995 meters 0.01873358673562622 Centerline is valid? [True, True] Translation: X:88.54, Y:-121.14, Z:-1.81 [[-9.48327159e-01 3.17204946e-01 7.52471821e-03 8.85402582e+01] [ 3.17197170e-01 9.48356975e-01 -2.23688237e-03 -1.21139274e+02] [-7.84566915e-03 2.65523016e-04 -9.99969187e-01 -1.80760192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.886559995 meters 0.017952683660736237 Centerline is valid? [True, True] Translation: X:88.54, Y:-121.11, Z:-1.81 [[-9.69487582e-01 2.45003513e-01 8.19191604e-03 8.85443766e+01] [ 2.44996922e-01 9.69522159e-01 -1.81417658e-03 -1.21106343e+02] [-8.38672376e-03 2.48172550e-04 -9.99964800e-01 -1.80715747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.916559995 meters 0.017370396149237237 Centerline is valid? [True, True] Translation: X:88.70, Y:-120.41, Z:-2.78 [[-9.66785506e-01 -2.55454161e-01 8.30404547e-03 8.87036482e+01] [ 2.55442612e-01 -9.66821139e-01 -2.44069889e-03 -1.20405192e+02] [ 8.65201339e-03 -2.38425249e-04 9.99962542e-01 -2.78388700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.946559995 meters 0.016426982760135867 Centerline is valid? [True, True] Translation: X:88.49, Y:-121.09, Z:-1.81 [[-9.71744006e-01 2.35886053e-01 8.44736312e-03 8.84923648e+01] [ 2.35878999e-01 9.71780699e-01 -1.83610313e-03 -1.21089130e+02] [-8.64209555e-03 2.08333344e-04 -9.99962635e-01 -1.80700535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.976559995 meters 0.015212713200118105 Centerline is valid? [True, True] Translation: X:88.49, Y:-121.05, Z:-1.81 [[-9.86982205e-01 1.60619465e-01 8.21673777e-03 8.84920307e+01] [ 1.60615179e-01 9.87016395e-01 -1.18316485e-03 -1.21053628e+02] [-8.30009420e-03 1.51970156e-04 -9.99965542e-01 -1.80649181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.006559995 meters 0.014348302102868096 Centerline is valid? [True, True] Translation: X:88.59, Y:-120.37, Z:-2.78 [[-9.81122890e-01 -1.93220467e-01 7.98284859e-03 8.85946028e+01] [ 1.93212755e-01 -9.81155353e-01 -1.73352616e-03 -1.20369169e+02] [ 8.16736736e-03 -1.58414027e-04 9.99966634e-01 -2.78438238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.036559995 meters 0.014396178287400916 Centerline is valid? [True, True] Translation: X:88.43, Y:-121.04, Z:-1.81 [[-9.88365116e-01 1.51887174e-01 8.04262355e-03 8.84349019e+01] [ 1.51883055e-01 9.88397832e-01 -1.12402787e-03 -1.21040279e+02] [-8.12003709e-03 1.10588303e-04 -9.99967026e-01 -1.80547954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.066559995 meters 0.013224127115596947 Centerline is valid? [True, True] Translation: X:88.53, Y:-120.37, Z:-2.79 [[-9.80825142e-01 -1.94745123e-01 7.50852446e-03 8.85265834e+01] [ 1.94738367e-01 -9.80853873e-01 -1.62768252e-03 -1.20367197e+02] [ 7.68174853e-03 -1.34274150e-04 9.99970486e-01 -2.78541708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.096559995 meters 0.012510716258706594 Centerline is valid? [True, True] Translation: X:88.38, Y:-121.02, Z:-1.81 [[-9.89713019e-01 1.42865785e-01 7.58340090e-03 8.83783632e+01] [ 1.42862108e-01 9.89742069e-01 -1.02719994e-03 -1.21023814e+02] [-7.65236262e-03 6.67474808e-05 -9.99970718e-01 -1.80661311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.126559995 meters 0.012256217568148039 Centerline is valid? [True, True] Translation: X:88.47, Y:-120.36, Z:-2.78 [[-9.80956500e-01 -1.94082148e-01 7.51424928e-03 8.84690048e+01] [ 1.94075942e-01 -9.80985278e-01 -1.55348185e-03 -1.20364812e+02] [ 7.67287101e-03 -6.55631118e-05 9.99970561e-01 -2.78406525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.156559995 meters 0.012166247304954138 Centerline is valid? [True, True] Translation: X:88.32, Y:-121.01, Z:-1.81 [[-9.90871798e-01 1.34599629e-01 7.48460086e-03 8.83202384e+01] [ 1.34596047e-01 9.90900065e-01 -9.82566999e-04 -1.21012384e+02] [-7.54874463e-03 3.37997559e-05 -9.99971507e-01 -1.80690680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.18655999499998 meters 0.01198298403292878 Centerline is valid? [True, True] Translation: X:88.32, Y:-120.98, Z:-1.81 [[-9.98306205e-01 5.76906021e-02 7.51768455e-03 8.83173156e+01] [ 5.76888697e-02 9.98334510e-01 -4.47262441e-04 -1.20978375e+02] [-7.53096676e-03 -1.28181462e-05 -9.99971642e-01 -1.80710664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.21655999499998 meters 0.012166989819388465 Centerline is valid? [True, True] Translation: X:88.35, Y:-120.33, Z:-2.78 [[-9.91243232e-01 -1.31850801e-01 7.22645333e-03 8.83526982e+01] [ 1.31847267e-01 -9.91269573e-01 -9.65356823e-04 -1.20334958e+02] [ 7.29064638e-03 -4.11529781e-06 9.99973423e-01 -2.78406860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.24655999499998 meters 0.012972527407340456 Centerline is valid? [True, True] Translation: X:88.25, Y:-120.97, Z:-1.81 [[-9.98936522e-01 4.54801762e-02 7.57481090e-03 8.82508217e+01] [ 4.54783248e-02 9.98965239e-01 -4.16570098e-04 -1.20966442e+02] [-7.58591847e-03 -7.16373742e-05 -9.99971224e-01 -1.80580258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.27655999499999 meters 0.013056231825989889 Centerline is valid? [True, True] Translation: X:88.28, Y:-120.34, Z:-2.78 [[-9.90770095e-01 -1.35330928e-01 7.75627132e-03 8.82817579e+01] [ 1.35327489e-01 -9.90800450e-01 -9.68891707e-04 -1.20337857e+02] [ 7.81603813e-03 8.96877936e-05 9.99969450e-01 -2.78416587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.306559995 meters 0.016601184718893495 Centerline is valid? [True, True] Translation: X:88.19, Y:-120.95, Z:-1.80 [[-9.99504483e-01 3.01960445e-02 8.88752019e-03 8.81850855e+01] [ 3.01932267e-02 9.99543979e-01 -4.51085249e-04 -1.20950775e+02] [-8.89708828e-03 -1.82518816e-04 -9.99960403e-01 -1.80388255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.336559995 meters 0.01627016632477055 Centerline is valid? [True, True] Translation: X:88.18, Y:-120.92, Z:-1.80 [[-9.98992461e-01 -4.38471839e-02 9.56486262e-03 8.81761727e+01] [-4.38473190e-02 9.99038225e-01 1.95672680e-04 -1.20923147e+02] [-9.56424307e-03 -2.23918051e-04 -9.99954237e-01 -1.80459234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.366559995 meters 0.017134186326688543 Centerline is valid? [True, True] Translation: X:88.16, Y:-120.32, Z:-2.79 [[-9.97304253e-01 -7.26794218e-02 1.00959476e-02 8.81631130e+01] [ 7.26784694e-02 -9.97355316e-01 -4.61669829e-04 -1.20318264e+02] [ 1.01028009e-02 2.73332736e-04 9.99948928e-01 -2.78662299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.396559995 meters 0.01748502737278031 Centerline is valid? [True, True] Translation: X:88.11, Y:-120.92, Z:-1.80 [[-9.98575738e-01 -5.23386350e-02 1.03519528e-02 8.81065163e+01] [-5.23387560e-02 9.98629354e-01 2.59404786e-04 -1.20921521e+02] [-1.03513408e-02 -2.82773004e-04 -9.99946383e-01 -1.80454774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.426559995 meters 0.018239261195068135 Centerline is valid? [True, True] Translation: X:88.10, Y:-120.89, Z:-1.80 [[-9.92116806e-01 -1.24863495e-01 1.06466510e-02 8.81031973e+01] [-1.24859647e-01 9.92173882e-01 1.02797343e-03 -1.20891767e+02] [-1.06916854e-02 -3.09467366e-04 -9.99942794e-01 -1.80433355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.456559995 meters 0.018227214432400787 Centerline is valid? [True, True] Translation: X:88.09, Y:-120.87, Z:-1.80 [[-9.80644768e-01 -1.95498943e-01 1.07704182e-02 8.80882129e+01] [-1.95490710e-01 9.80703860e-01 1.82225080e-03 -1.20865541e+02] [-1.09188388e-02 -3.18535976e-04 -9.99940337e-01 -1.80451295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.486559995 meters 0.017811681589759567 Centerline is valid? [True, True] Translation: X:88.07, Y:-120.84, Z:-1.80 [[-9.64181274e-01 -2.65031350e-01 1.06233427e-02 8.80684961e+01] [-2.65018871e-01 9.64239744e-01 2.59125286e-03 -1.20841775e+02] [-1.09302125e-02 -3.16948807e-04 -9.99940213e-01 -1.80484823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.516559995 meters 0.017057275887996146 Centerline is valid? [True, True] Translation: X:88.04, Y:-120.82, Z:-1.81 [[-9.42840214e-01 -3.33087282e-01 1.02563494e-02 8.80394691e+01] [-3.33071080e-01 9.42895948e-01 3.29940336e-03 -1.20822809e+02] [-1.07696596e-02 -3.05283201e-04 -9.99941959e-01 -1.80556029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.546559995 meters 0.016597035465477313 Centerline is valid? [True, True] Translation: X:87.99, Y:-120.81, Z:-1.81 [[-9.17262254e-01 -3.98180557e-01 9.06652829e-03 8.79915113e+01] [-3.98163767e-01 9.17307027e-01 3.66499765e-03 -1.20812819e+02] [-9.77612092e-03 -2.48199056e-04 -9.99952182e-01 -1.80622805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.576559995 meters 0.015446624107996666 Centerline is valid? [True, True] Translation: X:87.93, Y:-120.81, Z:-1.81 [[-8.86538770e-01 -4.62573253e-01 8.65998711e-03 8.79277832e+01] [-4.62553624e-01 8.86581038e-01 4.26717402e-03 -1.20814181e+02] [-9.65166093e-03 -2.22693215e-04 -9.99953397e-01 -1.80721520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.606559995 meters 0.014875910051611468 Centerline is valid? [True, True] Translation: X:87.86, Y:-120.82, Z:-1.81 [[-8.51180531e-01 -5.24811183e-01 8.05763366e-03 8.78601143e+01] [-5.24789796e-01 8.51218647e-01 4.74178698e-03 -1.20821687e+02] [-9.34735085e-03 -1.92447165e-04 -9.99956294e-01 -1.80750098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.636559995 meters 0.014390530298650379 Centerline is valid? [True, True] Translation: X:87.78, Y:-120.84, Z:-1.81 [[-8.11364261e-01 -5.84494175e-01 7.38882826e-03 8.77839143e+01] [-5.84471729e-01 8.11397888e-01 5.12487153e-03 -1.20840214e+02] [-8.99073721e-03 -1.60423632e-04 -9.99959570e-01 -1.80770277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.666559995 meters 0.012836361340158938 Centerline is valid? [True, True] Translation: X:87.71, Y:-120.87, Z:-1.81 [[-7.69326251e-01 -6.38816876e-01 7.07942157e-03 8.77090401e+01] [-6.38791074e-01 7.69358816e-01 5.74254913e-03 -1.20868917e+02] [-9.11505269e-03 -1.04377515e-04 -9.99958452e-01 -1.80793922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.696559995 meters 0.01228473500461935 Centerline is valid? [True, True] Translation: X:87.63, Y:-120.91, Z:-1.81 [[-7.21505250e-01 -6.92374937e-01 6.86441819e-03 8.76280134e+01] [-6.92344586e-01 7.21537900e-01 6.48331545e-03 -1.20907007e+02] [-9.44182301e-03 -7.47966297e-05 -9.99955422e-01 -1.80823097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.726559995 meters 0.012040408126329881 Centerline is valid? [True, True] Translation: X:87.55, Y:-120.95, Z:-1.81 [[-6.69876829e-01 -7.42443410e-01 6.54347330e-03 8.75455177e+01] [-7.42408597e-01 6.69908785e-01 7.18983682e-03 -1.20954950e+02] [-9.72157722e-03 -4.16257424e-05 -9.99952743e-01 -1.80772780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.756559995 meters 0.011943566914695523 Centerline is valid? [True, True] Translation: X:87.47, Y:-121.02, Z:-1.81 [[-6.17817203e-01 -7.86294409e-01 6.55786129e-03 8.74666065e+01] [-7.86249450e-01 6.17852005e-01 8.40846144e-03 -1.21015864e+02] [-1.06633140e-02 3.87772922e-05 -9.99943145e-01 -1.80830917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.786559995 meters 0.012318864200317541 Centerline is valid? [True, True] Translation: X:87.39, Y:-121.08, Z:-1.81 [[-5.59443569e-01 -8.28845053e-01 6.22663030e-03 8.73870718e+01] [-8.28792009e-01 5.59478212e-01 9.37743901e-03 -1.21084249e+02] [-1.12561079e-02 8.55665104e-05 -9.99936644e-01 -1.80800277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.816559995 meters 0.012318864200317541 Centerline is valid? [True, True] Translation: X:87.31, Y:-121.16, Z:-1.81 [[-4.94601176e-01 -8.69102698e-01 5.49327500e-03 8.73072878e+01] [-8.69047166e-01 4.94631673e-01 9.82504971e-03 -1.21160966e+02] [-1.12561250e-02 8.55660774e-05 -9.99936644e-01 -1.80800198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.846559995 meters 0.012793900411967762 Centerline is valid? [True, True] Translation: X:87.24, Y:-121.25, Z:-1.81 [[-4.30653449e-01 -9.02503996e-01 4.91369247e-03 8.72354614e+01] [-9.02441500e-01 4.30681457e-01 1.06217406e-02 -1.21246818e+02] [-1.17023996e-02 1.39969229e-04 -9.99931515e-01 -1.80848331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.876559995 meters 0.01395387320767575 Centerline is valid? [True, True] Translation: X:87.17, Y:-121.34, Z:-1.81 [[-3.64341125e-01 -9.31256144e-01 4.18792507e-03 8.71711646e+01] [-9.31188296e-01 3.64365141e-01 1.12428597e-02 -1.21339095e+02] [-1.19959161e-02 1.96489347e-04 -9.99928027e-01 -1.80780535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.906559995 meters 0.016587375349355313 Centerline is valid? [True, True] Translation: X:87.12, Y:-121.44, Z:-1.81 [[-3.00277521e-01 -9.53845450e-01 3.50250422e-03 8.71160651e+01] [-9.53767560e-01 3.00297776e-01 1.21937699e-02 -1.21439493e+02] [-1.26827661e-02 3.20940092e-04 -9.99919519e-01 -1.80746584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.93655999499998 meters 0.01770033377098678 Centerline is valid? [True, True] Translation: X:87.06, Y:-121.55, Z:-1.81 [[-2.30529648e-01 -9.73061872e-01 2.58350862e-03 8.70638326e+01] [-9.72980820e-01 2.30543806e-01 1.25649647e-02 -1.21545728e+02] [-1.28221000e-02 3.82892552e-04 -9.99917720e-01 -1.80792621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.96655999499998 meters 0.01950059357245912 Centerline is valid? [True, True] Translation: X:87.02, Y:-121.65, Z:-1.81 [[-1.59185105e-01 -9.87247516e-01 1.56383589e-03 8.70214839e+01] [-9.87170082e-01 1.59192217e-01 1.23720346e-02 -1.21652353e+02] [-1.24632110e-02 4.25671623e-04 -9.99922241e-01 -1.80815711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.99655999499998 meters 0.020221041887326516 Centerline is valid? [True, True] Translation: X:86.99, Y:-121.77, Z:-1.81 [[-8.69801855e-02 -9.96209861e-01 6.00107077e-04 8.69851875e+01] [-9.96133887e-01 8.69809689e-02 1.23121794e-02 -1.21766956e+02] [-1.23177125e-02 4.73128656e-04 -9.99924022e-01 -1.80915041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.02655999499999 meters 0.021112033401233583 Centerline is valid? [True, True] Translation: X:86.96, Y:-121.88, Z:-1.81 [[-1.72444901e-02 -9.99851252e-01 -3.19407469e-04 8.69590516e+01] [-9.99788233e-01 1.72398134e-02 1.12373856e-02 -1.21882083e+02] [-1.12302075e-02 5.13122813e-04 -9.99936808e-01 -1.81119260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.056559995 meters 0.02187450683275113 Centerline is valid? [True, True] Translation: X:86.94, Y:-122.00, Z:-1.81 [[ 5.69460728e-02 -9.98376604e-01 -1.14061834e-03 8.69403046e+01] [-9.98318609e-01 -5.69550736e-02 1.07737675e-02 -1.22000579e+02] [-1.08212414e-02 5.25176764e-04 -9.99941311e-01 -1.81202732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.086559995 meters 0.022677340089216576 Centerline is valid? [True, True] Translation: X:86.93, Y:-122.12, Z:-1.81 [[ 1.31045642e-01 -9.91374560e-01 -1.87635406e-03 8.69300572e+01] [-9.91322373e-01 -1.31058022e-01 1.01856449e-02 -1.22117391e+02] [-1.03437005e-02 5.25287391e-04 -9.99946365e-01 -1.81258477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.116559995 meters 0.023145691104873113 Centerline is valid? [True, True] Translation: X:86.93, Y:-122.24, Z:-1.81 [[ 2.04487336e-01 -9.78866220e-01 -2.41946409e-03 8.69283874e+01] [-9.78823826e-01 -2.04501031e-01 9.12388534e-03 -1.22238803e+02] [-9.42584605e-03 5.02510093e-04 -9.99955449e-01 -1.81363953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.146559995 meters 0.024618600193900362 Centerline is valid? [True, True] Translation: X:86.94, Y:-122.36, Z:-1.81 [[ 2.78470983e-01 -9.60440304e-01 -2.88704353e-03 8.69368705e+01] [-9.60404894e-01 -2.78485547e-01 8.26073745e-03 -1.22360527e+02] [-8.73794508e-03 4.72355059e-04 -9.99961712e-01 -1.81386334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.176559995 meters 0.024991306623263747 Centerline is valid? [True, True] Translation: X:86.95, Y:-122.48, Z:-1.81 [[ 3.51804648e-01 -9.36066449e-01 -3.61833734e-03 8.69522791e+01] [-9.36030179e-01 -3.51822924e-01 8.25432220e-03 -1.22479466e+02] [-8.99960809e-03 4.82964033e-04 -9.99959386e-01 -1.81336367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.206559995 meters 0.024737160326508835 Centerline is valid? [True, True] Translation: X:86.98, Y:-122.60, Z:-1.81 [[ 4.23293505e-01 -9.05979920e-01 -4.79513106e-03 8.69764909e+01] [-9.05935454e-01 -4.23320323e-01 8.99206897e-03 -1.22599657e+02] [-1.01765104e-02 5.37794843e-04 -9.99948073e-01 -1.81231258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.236559995 meters 0.024705610222091008 Centerline is valid? [True, True] Translation: X:87.01, Y:-122.72, Z:-1.81 [[ 4.94332402e-01 -8.69253139e-01 -5.86989884e-03 8.70067181e+01] [-8.69204328e-01 -4.94366956e-01 9.22760038e-03 -1.22715183e+02] [-1.09230046e-02 5.40639612e-04 -9.99940196e-01 -1.81057789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.266559995 meters 0.023426408009690928 Centerline is valid? [True, True] Translation: X:87.04, Y:-122.83, Z:-1.81 [[ 5.60885315e-01 -8.27867525e-01 -6.55934918e-03 8.70433376e+01] [-8.27821404e-01 -5.60923427e-01 8.75396800e-03 -1.22825480e+02] [-1.09264184e-02 5.19997551e-04 -9.99940170e-01 -1.81056080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.296559995 meters 0.024968210567806057 Centerline is valid? [True, True] Translation: X:87.09, Y:-122.93, Z:-1.81 [[ 6.23870412e-01 -7.81498510e-01 -6.76672848e-03 8.70895340e+01] [-7.81460468e-01 -6.23906932e-01 7.72509498e-03 -1.22927776e+02] [-1.02589590e-02 4.68472614e-04 -9.99947266e-01 -1.81006460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.326559995 meters 0.021137484167605677 Centerline is valid? [True, True] Translation: X:87.14, Y:-123.03, Z:-1.81 [[ 6.82680825e-01 -7.30681514e-01 -7.17051795e-03 8.71361561e+01] [-7.30647850e-01 -6.82718339e-01 7.02774678e-03 -1.23029588e+02] [-1.00304888e-02 4.41415554e-04 -9.99949596e-01 -1.81120763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.356559995 meters 0.02024124373809272 Centerline is valid? [True, True] Translation: X:87.13, Y:-123.04, Z:-1.81 [[ 7.39330221e-01 -6.73307838e-01 -6.88328439e-03 8.71283416e+01] [-6.73283272e-01 -7.39362168e-01 5.76359183e-03 -1.23044430e+02] [-8.96991163e-03 3.73202618e-04 -9.99959700e-01 -1.81132822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.386559995 meters 0.021143735339006365 Centerline is valid? [True, True] Translation: X:87.12, Y:-123.05, Z:-1.81 [[ 7.90186174e-01 -6.12827578e-01 -6.94056620e-03 8.71241957e+01] [-6.12807741e-01 -7.90216578e-01 4.94296543e-03 -1.23054242e+02] [-8.51373600e-03 3.47369750e-04 -9.99963697e-01 -1.81106389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.416559995 meters 0.02129954868633469 Centerline is valid? [True, True] Translation: X:87.12, Y:-123.07, Z:-1.81 [[ 8.36286373e-01 -5.48246757e-01 -7.11312591e-03 8.71204742e+01] [-5.48230229e-01 -8.36316558e-01 4.26974352e-03 -1.23065185e+02] [-8.28969802e-03 3.28902326e-04 -9.99965586e-01 -1.81130563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.446559995 meters 0.021199590535832025 Centerline is valid? [True, True] Translation: X:87.12, Y:-123.08, Z:-1.81 [[ 8.76606306e-01 -4.81157840e-01 -6.96552234e-03 8.71199990e+01] [-4.81145414e-01 -8.76633925e-01 3.47168849e-03 -1.23075677e+02] [-7.77664332e-03 3.08125108e-04 -9.99969714e-01 -1.81166258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.476559995 meters 0.018862758220633408 Centerline is valid? [True, True] Translation: X:87.12, Y:-123.09, Z:-1.81 [[ 9.11570363e-01 -4.11092464e-01 -6.51610780e-03 8.71172905e+01] [-4.11084122e-01 -9.11593610e-01 2.63360666e-03 -1.23093411e+02] [-7.02269808e-03 2.77950673e-04 -9.99975302e-01 -1.81269469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.506559995 meters 0.019111815690877058 Centerline is valid? [True, True] Translation: X:87.12, Y:-123.11, Z:-1.81 [[ 9.40879636e-01 -3.38684989e-01 -6.16346722e-03 8.71180318e+01] [-3.38679493e-01 -9.40899789e-01 1.94627892e-03 -1.23107975e+02] [-6.45838046e-03 2.56225753e-04 -9.99979112e-01 -1.81300199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.536559995 meters 0.020039868686736597 Centerline is valid? [True, True] Translation: X:87.12, Y:-123.12, Z:-1.81 [[ 9.64545608e-01 -2.63853292e-01 -5.76277962e-03 8.71185603e+01] [-2.63850018e-01 -9.64562795e-01 1.33481558e-03 -1.23123385e+02] [-5.91075831e-03 2.33019007e-04 -9.99982504e-01 -1.81290886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.566559995 meters 0.018349702466612935 Centerline is valid? [True, True] Translation: X:87.12, Y:-123.14, Z:-1.81 [[ 9.82296988e-01 -1.87247316e-01 -5.57406371e-03 8.71183045e+01] [-1.87245570e-01 -9.82312778e-01 8.38186947e-04 -1.23140892e+02] [-5.63242227e-03 2.20370223e-04 -9.99984114e-01 -1.81302680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.596559995 meters 0.01864608871096719 Centerline is valid? [True, True] Translation: X:87.12, Y:-123.15, Z:-1.81 [[ 9.94008690e-01 -1.09159232e-01 -5.56655713e-03 8.71177753e+01] [-1.09158729e-01 -9.94024253e-01 3.94984253e-04 -1.23154594e+02] [-5.57640898e-03 2.15020521e-04 -9.99984429e-01 -1.81272123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.626559995 meters 0.018290405781758327 Centerline is valid? [True, True] Translation: X:87.12, Y:-123.17, Z:-1.81 [[ 9.99584997e-01 -2.83899337e-02 -4.88321996e-03 8.71189031e+01] [-2.83904511e-02 -9.99596909e-01 -3.66456050e-05 -1.23170805e+02] [-4.88021122e-03 1.75267215e-04 -9.99988076e-01 -1.81234138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.656559995 meters 0.018215311770770154 Centerline is valid? [True, True] Translation: X:87.12, Y:-123.18, Z:-1.81 [[ 9.98640343e-01 5.18746491e-02 -5.14640319e-03 8.71212775e+01] [ 5.18730552e-02 -9.98653589e-01 -4.42793363e-04 -1.23182917e+02] [-5.16244376e-03 1.75231660e-04 -9.99986659e-01 -1.81201922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.68655999499998 meters 0.01698212072917979 Centerline is valid? [True, True] Translation: X:87.13, Y:-123.20, Z:-1.81 [[ 9.91184158e-01 1.32378085e-01 -5.47794279e-03 8.71269560e+01] [ 1.32375088e-01 -9.91199280e-01 -9.07669728e-04 -1.23197138e+02] [-5.54988852e-03 1.74524696e-04 -9.99984584e-01 -1.81167124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.71655999499998 meters 0.016229106647752012 Centerline is valid? [True, True] Translation: X:87.13, Y:-123.21, Z:-1.81 [[ 9.77196932e-01 2.12262284e-01 -5.55693885e-03 8.71335259e+01] [ 2.12257893e-01 -9.77212718e-01 -1.37508339e-03 -1.23209543e+02] [-5.72218966e-03 1.64223137e-04 -9.99983615e-01 -1.81134362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.74655999499998 meters 0.014519330780738806 Centerline is valid? [True, True] Translation: X:87.14, Y:-123.23, Z:-1.81 [[ 9.55791199e-01 2.93981998e-01 -6.14570367e-03 8.71427422e+01] [ 2.93974934e-01 -9.55810945e-01 -2.04320680e-03 -1.23225064e+02] [-6.47479685e-03 1.46196247e-04 -9.99979028e-01 -1.81033856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.77655999499999 meters 0.014220646695489845 Centerline is valid? [True, True] Translation: X:87.15, Y:-123.23, Z:-1.81 [[ 9.28781294e-01 3.70580022e-01 -5.97960346e-03 8.71504694e+01] [ 3.70571454e-01 -9.28800533e-01 -2.52320021e-03 -1.23234149e+02] [-6.48890648e-03 1.27630807e-04 -9.99978939e-01 -1.80971646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.806559995 meters 0.01328554112999906 Centerline is valid? [True, True] Translation: X:87.16, Y:-123.24, Z:-1.81 [[ 8.95617803e-01 4.44786383e-01 -5.81583509e-03 8.71599034e+01] [ 4.44776207e-01 -8.95636680e-01 -3.01070374e-03 -1.23241761e+02] [-6.54799526e-03 1.09694804e-04 -9.99978556e-01 -1.80979119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.836559995 meters 0.01190983626974239 Centerline is valid? [True, True] Translation: X:87.17, Y:-123.25, Z:-1.81 [[ 8.55440151e-01 5.17872246e-01 -5.52128113e-03 8.71718916e+01] [ 5.17860883e-01 -8.55457965e-01 -3.43147593e-03 -1.23253170e+02] [-6.50029007e-03 7.61667655e-05 -9.99978870e-01 -1.80994991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.866559995 meters 0.011435139850980726 Centerline is valid? [True, True] Translation: X:87.18, Y:-123.26, Z:-1.81 [[ 8.10976403e-01 5.85056985e-01 -5.05947986e-03 8.71834662e+01] [ 5.85045139e-01 -8.10992183e-01 -3.72365320e-03 -1.23259455e+02] [-6.28174793e-03 5.97707858e-05 -9.99980268e-01 -1.81023546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.896559995 meters 0.011128973312002658 Centerline is valid? [True, True] Translation: X:87.20, Y:-123.26, Z:-1.81 [[ 7.61466415e-01 6.48190731e-01 -4.20416217e-03 8.71955472e+01] [ 6.48180542e-01 -7.61478020e-01 -3.63455863e-03 -1.23264227e+02] [-5.55726429e-03 4.25382160e-05 -9.99984557e-01 -1.81034079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.926559995 meters 0.010794633794727846 Centerline is valid? [True, True] Translation: X:87.21, Y:-123.27, Z:-1.81 [[ 7.07386689e-01 7.06817261e-01 -3.66484095e-03 8.72092390e+01] [ 7.06807537e-01 -7.07396182e-01 -3.70773988e-03 -1.23269610e+02] [-5.21318904e-03 3.24686349e-05 -9.99986411e-01 -1.81068707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.956559995 meters 0.010571701549203814 Centerline is valid? [True, True] Translation: X:87.22, Y:-123.28, Z:-1.81 [[ 6.47598485e-01 7.61977786e-01 -2.46105015e-03 8.72227199e+01] [ 7.61972210e-01 -6.47603161e-01 -2.91494906e-03 -1.23275107e+02] [-3.81491028e-03 1.24647716e-05 -9.99992723e-01 -1.81139642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.986559995 meters 0.010473567913095777 Centerline is valid? [True, True] Translation: X:87.23, Y:-123.28, Z:-1.81 [[ 5.84612346e-01 8.11310274e-01 -2.01085241e-03 8.72347770e+01] [ 8.11305441e-01 -5.84615804e-01 -2.80035511e-03 -1.23276934e+02] [-3.44753297e-03 5.70666827e-06 -9.99994057e-01 -1.81162734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.016559995 meters 0.01036625777962122 Centerline is valid? [True, True] Translation: X:87.25, Y:-123.28, Z:-1.81 [[ 5.18186734e-01 8.55265967e-01 -1.62325593e-03 8.72480031e+01] [ 8.55261764e-01 -5.18189277e-01 -2.68114111e-03 -1.23277590e+02] [-3.13424256e-03 1.02302628e-06 -9.99995088e-01 -1.81134919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.046559995 meters 0.010512608199118501 Centerline is valid? [True, True] Translation: X:87.26, Y:-123.28, Z:-1.81 [[ 4.46088948e-01 8.94986986e-01 -1.71610591e-03 8.72619231e+01] [ 8.94980484e-01 -4.46092248e-01 -3.41160311e-03 -1.23278936e+02] [-3.81888193e-03 -1.40028515e-05 -9.99992708e-01 -1.81071075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.076559995 meters 0.010682380663560358 Centerline is valid? [True, True] Translation: X:87.28, Y:-123.28, Z:-1.81 [[ 3.72385812e-01 9.28076592e-01 -1.62688024e-03 8.72750765e+01] [ 9.28068040e-01 -3.72389365e-01 -3.98417483e-03 -1.23277527e+02] [-4.30345230e-03 -2.62053767e-05 -9.99990740e-01 -1.81030122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.106559995 meters 0.01144709889551121 Centerline is valid? [True, True] Translation: X:87.29, Y:-123.28, Z:-1.81 [[ 2.94094333e-01 9.55775348e-01 -1.41662891e-03 8.72888744e+01] [ 9.55765066e-01 -2.94097740e-01 -4.43364425e-03 -1.23276443e+02] [-4.65419524e-03 -5.00547816e-05 -9.99989168e-01 -1.80949695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.136559995 meters 0.01205111041609292 Centerline is valid? [True, True] Translation: X:87.30, Y:-123.27, Z:-1.81 [[ 2.14636488e-01 9.76693231e-01 -1.22877991e-03 8.73007687e+01] [ 9.76679245e-01 -2.14639991e-01 -5.22746684e-03 -1.23273000e+02] [-5.36937679e-03 -7.81187063e-05 -9.99985582e-01 -1.80877662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.166559995 meters 0.012603794284614118 Centerline is valid? [True, True] Translation: X:87.31, Y:-123.27, Z:-1.81 [[ 1.36243185e-01 9.90675042e-01 -8.69580089e-04 8.73102028e+01] [ 9.90658887e-01 -1.36245930e-01 -5.65827136e-03 -1.23268303e+02] [-5.72398497e-03 -9.05563311e-05 -9.99983614e-01 -1.80811414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.196559995 meters 0.012603794284614118 Centerline is valid? [True, True] Translation: X:87.32, Y:-123.26, Z:-1.81 [[ 5.82315525e-02 9.98303014e-01 -4.23728425e-04 8.73180400e+01] [ 9.98286693e-01 -5.82330237e-02 -5.70901376e-03 -1.23262851e+02] [-5.72400063e-03 -9.05577135e-05 -9.99983614e-01 -1.80811400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.226559995 meters 0.012896486007453335 Centerline is valid? [True, True] Translation: X:87.32, Y:-123.26, Z:-1.81 [[-2.10853851e-02 9.99777678e-01 2.79615516e-05 8.73246665e+01] [ 9.99756875e-01 2.10851267e-02 -6.45046442e-03 -1.23256711e+02] [-6.44961991e-03 -1.08055773e-04 -9.99979195e-01 -1.80785708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.256559995 meters 0.013122308709580857 Centerline is valid? [True, True] Translation: X:87.33, Y:-123.25, Z:-1.81 [[-1.00198007e-01 9.94967340e-01 5.92540336e-04 8.73290557e+01] [ 9.94941694e-01 1.00199680e-01 -7.14489933e-03 -1.23250210e+02] [-7.16831384e-03 -1.26361589e-04 -9.99974299e-01 -1.80727789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.286559995 meters 0.013330161527659446 Centerline is valid? [True, True] Translation: X:87.33, Y:-123.24, Z:-1.81 [[-1.77937752e-01 9.84041061e-01 1.16094578e-03 8.73330642e+01] [ 9.84015157e-01 1.77941493e-01 -7.14115799e-03 -1.23244823e+02] [-7.23377310e-03 -1.28293349e-04 -9.99973828e-01 -1.80694879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.316559995 meters 0.013392993954052444 Centerline is valid? [True, True] Translation: X:87.34, Y:-123.24, Z:-1.81 [[-2.54314427e-01 9.67119833e-01 1.84428755e-03 8.73350782e+01] [ 9.67090367e-01 2.54321077e-01 -7.55058134e-03 -1.23238634e+02] [-7.77135816e-03 -1.36629040e-04 -9.99969793e-01 -1.80672615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.346559995 meters 0.012490818705931349 Centerline is valid? [True, True] Translation: X:87.34, Y:-123.23, Z:-1.81 [[-3.29096321e-01 9.44293079e-01 2.48851333e-03 8.73394364e+01] [ 9.44262821e-01 3.29105700e-01 -7.56057754e-03 -1.23230725e+02] [-7.95838496e-03 -1.38347626e-04 -9.99968322e-01 -1.80775486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.376559995 meters 0.012634621905715281 Centerline is valid? [True, True] Translation: X:87.34, Y:-123.22, Z:-1.81 [[-4.01948951e-01 9.15656909e-01 3.07655559e-03 8.73448565e+01] [ 9.15627410e-01 4.01960701e-01 -7.35124788e-03 -1.23223311e+02] [-7.96787536e-03 -1.37847752e-04 -9.99968246e-01 -1.80804453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.406559995 meters 0.012749679584127037 Centerline is valid? [True, True] Translation: X:87.35, Y:-123.22, Z:-1.81 [[-4.72321257e-01 8.81420120e-01 3.34716048e-03 8.73468169e+01] [ 8.81396070e-01 4.72333100e-01 -6.51233643e-03 -1.23216765e+02] [-7.32107904e-03 -1.25740831e-04 -9.99973193e-01 -1.80855509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.43655999499998 meters 0.01283851654235564 Centerline is valid? [True, True] Translation: X:87.35, Y:-123.21, Z:-1.81 [[-5.40040109e-01 8.41631433e-01 3.63487635e-03 8.73489794e+01] [ 8.41610850e-01 5.40052328e-01 -5.88719185e-03 -1.23208923e+02] [-6.91786914e-03 -1.20168349e-04 -9.99976064e-01 -1.80915723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.46655999499998 meters 0.012543139783016159 Centerline is valid? [True, True] Translation: X:87.35, Y:-123.20, Z:-1.81 [[-6.04370562e-01 7.96695171e-01 3.60955690e-03 8.73521395e+01] [ 7.96679894e-01 6.04381332e-01 -4.93485514e-03 -1.23200892e+02] [-6.11312406e-03 -1.06819768e-04 -9.99981309e-01 -1.81017268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.49655999499998 meters 0.012940902525541427 Centerline is valid? [True, True] Translation: X:87.35, Y:-123.19, Z:-1.81 [[-6.65518316e-01 7.46375174e-01 3.07740641e-03 8.73541459e+01] [ 7.46366591e-01 6.65525426e-01 -3.58053448e-03 -1.23193891e+02] [-4.72051426e-03 -8.60379427e-05 -9.99988855e-01 -1.81141536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.52655999499999 meters 0.013477127823712133 Centerline is valid? [True, True] Translation: X:87.36, Y:-123.19, Z:-1.81 [[-7.22293458e-01 6.91580407e-01 2.94991287e-03 8.73567424e+01] [ 6.91574194e-01 7.22299477e-01 -2.93240722e-03 -1.23186686e+02] [-4.15871590e-03 -7.79749352e-05 -9.99991349e-01 -1.81165631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.556559995 meters 0.013352869518862021 Centerline is valid? [True, True] Translation: X:87.37, Y:-123.17, Z:-1.81 [[-7.69916552e-01 6.38138022e-01 2.89267242e-03 8.73724903e+01] [ 6.38133151e-01 7.69921983e-01 -2.49424156e-03 -1.23167213e+02] [-3.81880246e-03 -7.44476913e-05 -9.99992706e-01 -1.81225959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.586559995 meters 0.013659150269710964 Centerline is valid? [True, True] Translation: X:87.39, Y:-123.14, Z:-1.81 [[-8.13579691e-01 5.81446256e-01 2.88741759e-03 8.73860914e+01] [ 5.81442275e-01 8.13584812e-01 -2.15287676e-03 -1.23144734e+02] [-3.60094123e-03 -7.26701557e-05 -9.99993514e-01 -1.81226883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.616559995 meters 0.01445377479172311 Centerline is valid? [True, True] Translation: X:87.39, Y:-123.12, Z:-1.81 [[-8.53651813e-01 5.20833496e-01 3.32425935e-03 8.73949456e+01] [ 5.20829148e-01 8.53658281e-01 -2.12999927e-03 -1.23120321e+02] [-3.94715649e-03 -8.69065712e-05 -9.99992206e-01 -1.81199521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.646559995 meters 0.014528168719602831 Centerline is valid? [True, True] Translation: X:87.40, Y:-123.10, Z:-1.81 [[-8.88657018e-01 4.58555670e-01 3.92457251e-03 8.74036719e+01] [ 4.58550686e-01 8.88665678e-01 -2.14043186e-03 -1.23095586e+02] [-4.46914006e-03 -1.02494377e-04 -9.99990008e-01 -1.81163846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.676559995 meters 0.014528168719602831 Centerline is valid? [True, True] Translation: X:87.41, Y:-123.07, Z:-1.81 [[-9.18933111e-01 3.94392447e-01 4.06647002e-03 8.74119605e+01] [ 3.94388089e-01 9.18942102e-01 -1.85678462e-03 -1.23069014e+02] [-4.46915233e-03 -1.02493525e-04 -9.99990008e-01 -1.81163834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.706559995 meters 0.015109949652795981 Centerline is valid? [True, True] Translation: X:87.42, Y:-123.04, Z:-1.81 [[-9.44788393e-01 3.27646257e-01 4.77733753e-03 8.74186131e+01] [ 3.27641422e-01 9.44800464e-01 -1.78398407e-03 -1.23042917e+02] [-5.09814641e-03 -1.20233783e-04 -9.99986997e-01 -1.81104604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.736559995 meters 0.014181444102039833 Centerline is valid? [True, True] Translation: X:87.42, Y:-123.02, Z:-1.81 [[-9.65795353e-01 2.59248070e-01 5.45666435e-03 8.74227625e+01] [ 2.59243123e-01 9.65810757e-01 -1.60753258e-03 -1.23021089e+02] [-5.68685485e-03 -1.37944792e-04 -9.99983820e-01 -1.81050756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.766559995 meters 0.014318973067253143 Centerline is valid? [True, True] Translation: X:87.59, Y:-122.48, Z:-2.78 [[-9.29380439e-01 -3.69076327e-01 5.88760782e-03 8.75860713e+01] [ 3.69070196e-01 -9.29399069e-01 -2.13570283e-03 -1.22477379e+02] [ 6.26017458e-03 1.88060138e-04 9.99980387e-01 -2.78089582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.796559995 meters 0.015276452063260261 Centerline is valid? [True, True] Translation: X:87.38, Y:-123.01, Z:-1.81 [[-9.66481651e-01 2.56655348e-01 6.42270695e-03 8.73793317e+01] [ 2.56648613e-01 9.66502979e-01 -1.86577066e-03 -1.23012372e+02] [-6.68642542e-03 -1.54854278e-04 -9.99977634e-01 -1.80923220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.826559995 meters 0.013327580255698133 Centerline is valid? [True, True] Translation: X:87.38, Y:-122.99, Z:-1.81 [[-9.81606660e-01 1.90776709e-01 7.25343954e-03 8.73816768e+01] [ 1.90770394e-01 9.81633448e-01 -1.55915339e-03 -1.22993923e+02] [-7.41766902e-03 -1.46733827e-04 -9.99972478e-01 -1.80924173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.856559995 meters 0.012850841679868425 Centerline is valid? [True, True] Translation: X:87.38, Y:-122.97, Z:-1.81 [[-9.92401234e-01 1.22827686e-01 7.29039984e-03 8.73797799e+01] [ 1.22823413e-01 9.92428004e-01 -1.03267707e-03 -1.22969622e+02] [-7.36203830e-03 -1.29398213e-04 -9.99972891e-01 -1.80912644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.886559995 meters 0.013094307204549793 Centerline is valid? [True, True] Translation: X:87.38, Y:-122.94, Z:-1.81 [[-9.98479004e-01 5.46195359e-02 7.50897857e-03 8.73806515e+01] [ 5.46171438e-02 9.98507233e-01 -5.23420211e-04 -1.22944469e+02] [-7.52635838e-03 -1.12505129e-04 -9.99971670e-01 -1.80827718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.916559995 meters 0.01099496513080206 Centerline is valid? [True, True] Translation: X:87.38, Y:-122.93, Z:-1.81 [[-9.99919235e-01 -1.06346861e-02 6.95901795e-03 8.73809918e+01] [-1.06348671e-02 9.99943448e-01 1.09952533e-05 -1.22927878e+02] [-6.95874133e-03 -6.30138655e-05 -9.99975786e-01 -1.80944838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.946559995 meters 0.010615845292745537 Centerline is valid? [True, True] Translation: X:87.37, Y:-122.90, Z:-1.81 [[-9.96856404e-01 -7.89458613e-02 6.69779245e-03 8.73734979e+01] [-7.89443590e-02 9.96878904e-01 4.88784403e-04 -1.22904747e+02] [-6.71547551e-03 -4.15050701e-05 -9.99977450e-01 -1.80952211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.976559995 meters 0.010396061138972562 Centerline is valid? [True, True] Translation: X:87.33, Y:-122.27, Z:-2.78 [[-9.99978769e-01 1.84861523e-03 6.24856159e-03 8.73257696e+01] [-1.84852443e-03 -9.99998291e-01 2.03071515e-05 -1.22268467e+02] [ 6.24858846e-03 8.75610163e-06 9.99980477e-01 -2.78091866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.006559995 meters 0.010263212447504205 Centerline is valid? [True, True] Translation: X:87.28, Y:-122.92, Z:-1.81 [[-9.96921756e-01 -7.81794457e-02 5.91499871e-03 8.72810869e+01] [-7.81780467e-02 9.96939303e-01 4.67720988e-04 -1.22922530e+02] [-5.93346086e-03 3.85818350e-06 -9.99982397e-01 -1.81016259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.036559995 meters 0.010317425048624247 Centerline is valid? [True, True] Translation: X:87.27, Y:-122.90, Z:-1.81 [[-9.89034158e-01 -1.47571922e-01 5.82762925e-03 8.72699895e+01] [-1.47569284e-01 9.89051327e-01 8.82574420e-04 -1.22898748e+02] [-5.89406764e-03 1.29171754e-05 -9.99982630e-01 -1.81025024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.066559995 meters 0.010436694007398155 Centerline is valid? [True, True] Translation: X:87.25, Y:-122.88, Z:-1.81 [[-9.76016943e-01 -2.17611241e-01 6.02280707e-03 8.72494422e+01] [-2.17606991e-01 9.76035526e-01 1.36016651e-03 -1.22876791e+02] [-6.17446118e-03 1.69406432e-05 -9.99980938e-01 -1.81022752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.096559995 meters 0.01038310148499839 Centerline is valid? [True, True] Translation: X:87.21, Y:-122.86, Z:-1.81 [[-9.57839637e-01 -2.87239562e-01 6.05509552e-03 8.72145018e+01] [-2.87233696e-01 9.57858775e-01 1.83595518e-03 -1.22859299e+02] [-6.32728534e-03 1.93231812e-05 -9.99979982e-01 -1.81027647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.126559995 meters 0.010341123955065827 Centerline is valid? [True, True] Translation: X:87.16, Y:-122.85, Z:-1.81 [[-9.33923482e-01 -3.57421624e-01 6.05908246e-03 8.71586658e+01] [-3.57414009e-01 9.33943137e-01 2.33318273e-03 -1.22852061e+02] [-6.49276844e-03 1.34131882e-05 -9.99978922e-01 -1.80999731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.156559995 meters 0.010302784129022717 Centerline is valid? [True, True] Translation: X:87.10, Y:-122.85, Z:-1.81 [[-9.04526580e-01 -4.26378029e-01 5.78295090e-03 8.70966433e+01] [-4.26369272e-01 9.04545066e-01 2.73256593e-03 -1.22849169e+02] [-6.39604578e-03 6.00594523e-06 -9.99979545e-01 -1.80964232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.18655999499998 meters 0.010335490891868589 Centerline is valid? [True, True] Translation: X:87.02, Y:-122.86, Z:-1.81 [[-8.69709451e-01 -4.93528544e-01 5.92001567e-03 8.70212463e+01] [-4.93517138e-01 8.69729599e-01 3.35532613e-03 -1.22857643e+02] [-6.80476208e-03 -3.47034697e-06 -9.99976847e-01 -1.80939839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.21655999499998 meters 0.010279400679435113 Centerline is valid? [True, True] Translation: X:86.94, Y:-122.87, Z:-1.81 [[-8.29627790e-01 -5.58288710e-01 5.60776180e-03 8.69425639e+01] [-5.58276064e-01 8.29646742e-01 3.75758521e-03 -1.22874024e+02] [-6.75027870e-03 -1.32820687e-05 -9.99977217e-01 -1.80899957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.24655999499998 meters 0.010526775602587829 Centerline is valid? [True, True] Translation: X:86.86, Y:-122.90, Z:-1.81 [[-7.83697969e-01 -6.21114120e-01 5.89440699e-03 8.68578687e+01] [-6.21096893e-01 7.83720135e-01 4.62607335e-03 -1.22901909e+02] [-7.49288492e-03 -3.55535773e-05 -9.99971927e-01 -1.80767490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.27655999499999 meters 0.010830806278530405 Centerline is valid? [True, True] Translation: X:86.77, Y:-122.94, Z:-1.81 [[-7.33844779e-01 -6.79293771e-01 5.64033109e-03 8.67709357e+01] [-6.79274183e-01 7.33866453e-01 5.15888915e-03 -1.22938598e+02] [-7.64365103e-03 -4.55074294e-05 -9.99970786e-01 -1.80634855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.306559995 meters 0.010755534446042754 Centerline is valid? [True, True] Translation: X:86.69, Y:-122.99, Z:-1.81 [[-6.79790567e-01 -7.33385282e-01 5.55090653e-03 8.66850332e+01] [-7.33361490e-01 6.79813228e-01 5.90764541e-03 -1.22985771e+02] [-8.10615988e-03 -5.48594526e-05 -9.99967143e-01 -1.80673919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.336559995 meters 0.010812220775635751 Centerline is valid? [True, True] Translation: X:86.60, Y:-123.05, Z:-1.81 [[-6.21350822e-01 -7.83517289e-01 4.88002410e-03 8.65978156e+01] [-7.83493902e-01 6.21369982e-01 6.05398830e-03 -1.23048265e+02] [-7.77570499e-03 -6.18185184e-05 -9.99969767e-01 -1.80754024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.366559995 meters 0.010759703451382793 Centerline is valid? [True, True] Translation: X:86.52, Y:-123.11, Z:-1.81 [[-5.59715740e-01 -8.28674002e-01 4.20575064e-03 8.65182025e+01] [-8.28651410e-01 5.59731538e-01 6.11930879e-03 -1.23111249e+02] [-7.42500338e-03 -6.00277497e-05 -9.99972432e-01 -1.80795106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.396559995 meters 0.010964038811127175 Centerline is valid? [True, True] Translation: X:86.44, Y:-123.19, Z:-1.81 [[-4.94823014e-01 -8.68985871e-01 3.70682415e-03 8.64382846e+01] [-8.68962389e-01 4.94836894e-01 6.38861921e-03 -1.23187502e+02] [-7.38589318e-03 -5.98549581e-05 -9.99972722e-01 -1.80773970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.426559995 meters 0.010900555270710323 Centerline is valid? [True, True] Translation: X:86.36, Y:-123.27, Z:-1.81 [[-4.27142056e-01 -9.04179237e-01 3.09374391e-03 8.63635779e+01] [-9.04156456e-01 4.27153256e-01 6.41859729e-03 -1.23271716e+02] [-7.12506518e-03 -5.55756907e-05 -9.99974615e-01 -1.80789403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.456559995 meters 0.010846868852894861 Centerline is valid? [True, True] Translation: X:86.30, Y:-123.36, Z:-1.81 [[-3.56793443e-01 -9.34180371e-01 2.33935725e-03 8.62952652e+01] [-9.34161179e-01 3.56801109e-01 5.98828567e-03 -1.23362197e+02] [-6.42882419e-03 -4.87556640e-05 -9.99979334e-01 -1.80844441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.486559995 meters 0.010680611273154337 Centerline is valid? [True, True] Translation: X:86.23, Y:-123.47, Z:-1.81 [[-2.84520859e-01 -9.58668390e-01 1.67287937e-03 8.62324643e+01] [-9.58652651e-01 2.84525774e-01 5.49348543e-03 -1.23465981e+02] [-5.74240813e-03 -4.06990505e-05 -9.99983511e-01 -1.80921841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.516559995 meters 0.010626003664241483 Centerline is valid? [True, True] Translation: X:86.18, Y:-123.56, Z:-1.81 [[-2.10287634e-01 -9.77638760e-01 1.25145479e-03 8.61792234e+01] [-9.77622524e-01 2.10291355e-01 5.63438322e-03 -1.23563898e+02] [-5.77156155e-03 -3.86092745e-05 -9.99983344e-01 -1.80935170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.546559995 meters 0.010617951382052794 Centerline is valid? [True, True] Translation: X:86.13, Y:-123.68, Z:-1.81 [[-1.34841724e-01 -9.90866791e-01 8.43358130e-04 8.61313637e+01] [-9.90849105e-01 1.34844356e-01 5.92032227e-03 -1.23676120e+02] [-5.97997282e-03 -3.73341857e-05 -9.99982119e-01 -1.80889409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.576559995 meters 0.010688348849165658 Centerline is valid? [True, True] Translation: X:86.09, Y:-123.78, Z:-1.81 [[-5.88527746e-02 -9.98266591e-01 4.05237748e-04 8.60935999e+01] [-9.98247144e-01 5.88541576e-02 6.23118428e-03 -1.23779740e+02] [-6.24423302e-03 -3.78049409e-05 -9.99980504e-01 -1.80846313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.606559995 meters 0.010442855393289945 Centerline is valid? [True, True] Translation: X:86.06, Y:-123.89, Z:-1.81 [[ 1.74273016e-02 -9.99848128e-01 -9.71866607e-05 8.60648506e+01] [-9.99815949e-01 -1.74275204e-02 8.02183908e-03 -1.23894745e+02] [-8.02231451e-03 -4.26302355e-05 -9.99967820e-01 -1.80787510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.636559995 meters 0.010489121263833534 Centerline is valid? [True, True] Translation: X:86.04, Y:-124.01, Z:-1.81 [[ 9.42165187e-02 -9.95551432e-01 -7.70585578e-04 8.60438348e+01] [-9.95514188e-01 -9.42196595e-02 8.61144055e-03 -1.24014469e+02] [-8.64573629e-03 -4.42110736e-05 -9.99962624e-01 -1.80743505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.666559995 meters 0.010442665266052534 Centerline is valid? [True, True] Translation: X:86.03, Y:-124.14, Z:-1.81 [[ 1.70306958e-01 -9.85389950e-01 -1.47880458e-03 8.60317133e+01] [-9.85350595e-01 -1.70313373e-01 8.80676375e-03 -1.24137161e+02] [-8.92995669e-03 -4.27121706e-05 -9.99960126e-01 -1.80642897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.696559995 meters 0.010501577735079608 Centerline is valid? [True, True] Translation: X:86.03, Y:-124.25, Z:-1.81 [[ 2.45658142e-01 -9.69353752e-01 -2.31983806e-03 8.60280459e+01] [-9.69308785e-01 -2.45669091e-01 9.33683219e-03 -1.24253073e+02] [-9.62060582e-03 -4.50294299e-05 -9.99953720e-01 -1.80622862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.726559995 meters 0.010407601379119048 Centerline is valid? [True, True] Translation: X:86.03, Y:-124.38, Z:-1.81 [[ 3.18798245e-01 -9.47816903e-01 -3.28586617e-03 8.60345750e+01] [-9.47765266e-01 -3.18815176e-01 9.89361134e-03 -1.24375127e+02] [-1.04249161e-02 -3.98361101e-05 -9.99945658e-01 -1.80564557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.756559995 meters 0.01055125807323178 Centerline is valid? [True, True] Translation: X:86.05, Y:-124.49, Z:-1.80 [[ 3.90826980e-01 -9.20455111e-01 -4.08180145e-03 8.60481371e+01] [-9.20403825e-01 -3.90848293e-01 9.71654031e-03 -1.24492354e+02] [-1.05390043e-02 -4.05804393e-05 -9.99944462e-01 -1.80452588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.786559995 meters 0.01034989924979774 Centerline is valid? [True, True] Translation: X:86.07, Y:-124.61, Z:-1.81 [[ 4.59985042e-01 -8.87913652e-01 -4.80701318e-03 8.60731656e+01] [-8.87864364e-01 -4.60010157e-01 9.35556099e-03 -1.24611829e+02] [-1.05182052e-02 -3.54424152e-05 -9.99944682e-01 -1.80549332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.816559995 meters 0.010277545777603704 Centerline is valid? [True, True] Translation: X:86.10, Y:-124.72, Z:-1.81 [[ 5.25828308e-01 -8.50575222e-01 -5.13628890e-03 8.61010461e+01] [-8.50534251e-01 -5.25853393e-01 8.34846150e-03 -1.24720210e+02] [-9.80192944e-03 -2.12677577e-05 -9.99951960e-01 -1.80625064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.846559995 meters 0.010178712837815808 Centerline is valid? [True, True] Translation: X:86.14, Y:-124.83, Z:-1.81 [[ 5.88565038e-01 -8.08430987e-01 -5.52587034e-03 8.61412764e+01] [-8.08395200e-01 -5.88590978e-01 7.60665761e-03 -1.24831060e+02] [-9.40193515e-03 -9.92566481e-06 -9.99955801e-01 -1.80609211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.876559995 meters 0.010136287749823988 Centerline is valid? [True, True] Translation: X:86.19, Y:-124.93, Z:-1.81 [[ 6.47407567e-01 -7.62120679e-01 -5.95929994e-03 8.61858638e+01] [-7.62088478e-01 -6.47434994e-01 7.00573247e-03 -1.24932142e+02] [-9.19747290e-03 5.94960852e-06 -9.99957702e-01 -1.80658695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.906559995 meters 0.010509266912760403 Centerline is valid? [True, True] Translation: X:86.25, Y:-125.03, Z:-1.81 [[ 7.00515794e-01 -7.13614494e-01 -5.65479899e-03 8.62452943e+01] [-7.13591721e-01 -7.00538616e-01 5.70118634e-03 -1.25034738e+02] [-8.02985426e-03 4.14466660e-05 -9.99967759e-01 -1.80749611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.93655999499998 meters 0.010798090030707528 Centerline is valid? [True, True] Translation: X:86.29, Y:-125.11, Z:-1.81 [[ 7.51113067e-01 -6.60146367e-01 -5.99456576e-03 8.62895678e+01] [-6.60126001e-01 -7.51136985e-01 5.18577284e-03 -1.25112382e+02] [-7.92610916e-03 6.20669770e-05 -9.99968586e-01 -1.80768403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.96655999499998 meters 0.011153420349456702 Centerline is valid? [True, True] Translation: X:86.29, Y:-125.12, Z:-1.81 [[ 7.99062560e-01 -6.01215538e-01 -6.23719002e-03 8.62873345e+01] [-6.01197985e-01 -7.99086898e-01 4.59477801e-03 -1.25119194e+02] [-7.74650876e-03 7.82709928e-05 -9.99969992e-01 -1.80802790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.99655999499998 meters 0.011522660977072418 Centerline is valid? [True, True] Translation: X:86.28, Y:-125.13, Z:-1.81 [[ 8.42666607e-01 -5.38398011e-01 -6.36959187e-03 8.62846891e+01] [-5.38383428e-01 -8.42690675e-01 3.96374263e-03 -1.25126139e+02] [-7.50166682e-03 8.91691506e-05 -9.99971858e-01 -1.80786749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.02655999499999 meters 0.012175845937232524 Centerline is valid? [True, True] Translation: X:86.28, Y:-125.13, Z:-1.81 [[ 8.81123642e-01 -4.72833546e-01 -7.04023243e-03 8.62833210e+01] [-4.72819465e-01 -8.81151761e-01 3.65082361e-03 -1.25132492e+02] [-7.92974507e-03 1.11931932e-04 -9.99968553e-01 -1.80723324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.056559995 meters 0.0128824709902918 Centerline is valid? [True, True] Translation: X:86.28, Y:-125.14, Z:-1.81 [[ 9.13519468e-01 -4.06700549e-01 -8.76614566e-03 8.62816833e+01] [-4.06683685e-01 -9.13561510e-01 3.70785628e-03 -1.25141511e+02] [-9.51640045e-03 1.77849530e-04 -9.99954702e-01 -1.80679445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.086559995 meters 0.013483733191200395 Centerline is valid? [True, True] Translation: X:86.28, Y:-125.15, Z:-1.81 [[ 9.41729300e-01 -3.36238822e-01 -9.45414905e-03 8.62801405e+01] [-3.36224106e-01 -9.41776731e-01 3.15276041e-03 -1.25150885e+02] [-9.96377803e-03 2.09665958e-04 -9.99950338e-01 -1.80597423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.116559995 meters 0.013922977349700315 Centerline is valid? [True, True] Translation: X:86.28, Y:-125.16, Z:-1.81 [[ 9.64624672e-01 -2.63429211e-01 -1.02124270e-02 8.62792845e+01] [-2.63417096e-01 -9.64678699e-01 2.53794257e-03 -1.25160959e+02] [-1.05202790e-02 2.41965850e-04 -9.99944631e-01 -1.80580177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.146559995 meters 0.014530282235506677 Centerline is valid? [True, True] Translation: X:86.28, Y:-125.17, Z:-1.81 [[ 9.81689455e-01 -1.90214450e-01 -1.02116140e-02 8.62751889e+01] [-1.90207024e-01 -9.81742527e-01 1.70244475e-03 -1.25171579e+02] [-1.03490054e-02 2.71048659e-04 -9.99946411e-01 -1.80627427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.176559995 meters 0.015689593860558366 Centerline is valid? [True, True] Translation: X:86.27, Y:-125.18, Z:-1.81 [[ 9.93463189e-01 -1.13729478e-01 -9.82337307e-03 8.62717975e+01] [-1.13726574e-01 -9.93511718e-01 8.55592300e-04 -1.25180291e+02] [-9.85694232e-03 2.67179109e-04 -9.99951383e-01 -1.80626734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.206559995 meters 0.014668912432029342 Centerline is valid? [True, True] Translation: X:86.27, Y:-125.19, Z:-1.81 [[ 9.99304189e-01 -3.61191279e-02 -9.30299089e-03 8.62694896e+01] [-3.61199586e-02 -9.99347458e-01 7.87575403e-05 -1.25194289e+02] [-9.29976496e-03 2.57320906e-04 -9.99956723e-01 -1.80707536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.236559995 meters 0.015308507630689411 Centerline is valid? [True, True] Translation: X:86.27, Y:-125.21, Z:-1.81 [[ 9.99080199e-01 4.19079534e-02 -9.08183391e-03 8.62677995e+01] [ 4.19039015e-02 -9.99121443e-01 -6.36063476e-04 -1.25205542e+02] [-9.10051112e-03 2.54914150e-04 -9.99958557e-01 -1.80739734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.266559995 meters 0.015034086075031657 Centerline is valid? [True, True] Translation: X:86.27, Y:-125.22, Z:-1.81 [[ 9.92641963e-01 1.20703908e-01 -9.61769606e-03 8.62673875e+01] [ 1.20695652e-01 -9.92688519e-01 -1.43643797e-03 -1.25216823e+02] [-9.72076014e-03 2.65054515e-04 -9.99952717e-01 -1.80711805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.296559995 meters 0.014685437091744809 Centerline is valid? [True, True] Translation: X:86.27, Y:-125.23, Z:-1.81 [[ 9.79900762e-01 1.99221209e-01 -1.02667508e-02 8.62678594e+01] [ 1.99207333e-01 -9.79954506e-01 -2.36728423e-03 -1.25228476e+02] [-1.05325619e-02 2.74491582e-04 -9.99944493e-01 -1.80636527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.326559995 meters 0.014492918894919507 Centerline is valid? [True, True] Translation: X:86.27, Y:-125.24, Z:-1.81 [[ 9.60871540e-01 2.76792020e-01 -1.05858852e-02 8.62697761e+01] [ 2.76772095e-01 -9.60929812e-01 -3.33223103e-03 -1.25238930e+02] [-1.10946277e-02 2.71968332e-04 -9.99938416e-01 -1.80558055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.356559995 meters 0.013548164075762517 Centerline is valid? [True, True] Translation: X:86.27, Y:-125.25, Z:-1.81 [[ 9.34653818e-01 3.55426688e-01 -9.70105766e-03 8.62716526e+01] [ 3.55405221e-01 -9.34704138e-01 -3.91190943e-03 -1.25250906e+02] [-1.04580158e-02 2.08474546e-04 -9.99945292e-01 -1.80567655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.386559995 meters 0.013080839110901596 Centerline is valid? [True, True] Translation: X:86.27, Y:-125.26, Z:-1.81 [[ 9.02930689e-01 4.29704225e-01 -8.39347775e-03 8.62736478e+01] [ 4.29683963e-01 -9.02969685e-01 -4.17619773e-03 -1.25259540e+02] [-9.37358577e-03 1.64274308e-04 -9.99956054e-01 -1.80623344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.416559995 meters 0.011768129773408312 Centerline is valid? [True, True] Translation: X:86.28, Y:-125.27, Z:-1.81 [[ 8.65150307e-01 5.01455152e-01 -7.59454704e-03 8.62792047e+01] [ 5.01434502e-01 -8.65183630e-01 -4.55266190e-03 -1.25271785e+02] [-8.85363354e-03 1.30568935e-04 -9.99960797e-01 -1.80773386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.446559995 meters 0.011294334453565622 Centerline is valid? [True, True] Translation: X:86.28, Y:-125.28, Z:-1.81 [[ 8.21371911e-01 5.70354240e-01 -6.65016821e-03 8.62845780e+01] [ 5.70334621e-01 -8.21398826e-01 -4.73167117e-03 -1.25281862e+02] [-8.16116908e-03 9.36406223e-05 -9.99966693e-01 -1.80798559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.476559995 meters 0.010264372464535392 Centerline is valid? [True, True] Translation: X:86.29, Y:-125.29, Z:-1.81 [[ 7.69610404e-01 6.38489691e-01 -5.54450247e-03 8.62919669e+01] [ 6.38472832e-01 -7.69630375e-01 -4.63989654e-03 -1.25292958e+02] [-7.22974362e-03 3.08984491e-05 -9.99973865e-01 -1.80789234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.506559995 meters 0.010030732326058988 Centerline is valid? [True, True] Translation: X:86.30, Y:-125.30, Z:-1.81 [[ 7.14427494e-01 6.99689819e-01 -5.24521640e-03 8.62990615e+01] [ 6.99670947e-01 -7.14446749e-01 -5.13899440e-03 -1.25300979e+02] [-7.34312986e-03 1.51336803e-06 -9.99973039e-01 -1.80777598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.536559995 meters 0.010160120695629256 Centerline is valid? [True, True] Translation: X:86.31, Y:-125.31, Z:-1.81 [[ 6.54451369e-01 7.56087853e-01 -4.95626917e-03 8.63053605e+01] [ 7.56066500e-01 -6.54470135e-01 -5.68238857e-03 -1.25308716e+02] [-7.54011513e-03 -2.84221044e-05 -9.99971573e-01 -1.80712243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.566559995 meters 0.011077323190667773 Centerline is valid? [True, True] Translation: X:86.32, Y:-125.32, Z:-1.81 [[ 5.86687615e-01 8.09800656e-01 -4.53207397e-03 8.63176098e+01] [ 8.09777672e-01 -5.86705113e-01 -6.10188211e-03 -1.25317687e+02] [-7.60029910e-03 -9.00736450e-05 -9.99971113e-01 -1.80738493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.596559995 meters 0.011974978389460765 Centerline is valid? [True, True] Translation: X:86.33, Y:-125.32, Z:-1.81 [[ 5.18323137e-01 8.55174734e-01 -4.15933961e-03 8.63276098e+01] [ 8.55149061e-01 -5.18339811e-01 -6.62748575e-03 -1.25324888e+02] [-7.82360967e-03 -1.21676158e-04 -9.99969388e-01 -1.80677498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.626559995 meters 0.011974978389460765 Centerline is valid? [True, True] Translation: X:86.33, Y:-125.33, Z:-1.81 [[ 4.49798381e-01 8.93122755e-01 -3.62783429e-03 8.63345978e+01] [ 8.93095856e-01 -4.49812994e-01 -6.93272118e-03 -1.25328735e+02] [-7.82361805e-03 -1.21677013e-04 -9.99969388e-01 -1.80677490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.656559995 meters 0.014554032615658926 Centerline is valid? [True, True] Translation: X:86.35, Y:-125.33, Z:-1.81 [[ 3.75592442e-01 9.26779486e-01 -3.17824656e-03 8.63461611e+01] [ 9.26749635e-01 -3.75605858e-01 -7.44001825e-03 -1.25334527e+02] [-8.08902432e-03 -1.51024218e-04 -9.99967272e-01 -1.80506849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.68655999499998 meters 0.013942884679301566 Centerline is valid? [True, True] Translation: X:86.35, Y:-125.34, Z:-1.81 [[ 2.99399170e-01 9.54124463e-01 -2.57818405e-03 8.63520452e+01] [ 9.54093863e-01 -2.99410221e-01 -7.64333709e-03 -1.25336213e+02] [-8.06462955e-03 -1.71420802e-04 -9.99967466e-01 -1.80571201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.71655999499998 meters 0.014990654861351446 Centerline is valid? [True, True] Translation: X:86.36, Y:-125.34, Z:-1.81 [[ 2.20594847e-01 9.75363831e-01 -1.81931801e-03 8.63615365e+01] [ 9.75337142e-01 -2.20602274e-01 -7.21776457e-03 -1.25337826e+02] [-7.44129219e-03 -1.82246755e-04 -9.99972297e-01 -1.80577912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.74655999499998 meters 0.015098854856350366 Centerline is valid? [True, True] Translation: X:86.37, Y:-125.34, Z:-1.81 [[ 1.42487736e-01 9.89795773e-01 -1.25380051e-03 8.63691936e+01] [ 9.89768346e-01 -1.42493125e-01 -7.37099948e-03 -1.25338078e+02] [-7.47444208e-03 -1.90695032e-04 -9.99972048e-01 -1.80632579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.77655999499999 meters 0.017209834237359594 Centerline is valid? [True, True] Translation: X:86.38, Y:-125.34, Z:-1.81 [[ 6.39085663e-02 9.97955537e-01 -6.63935410e-04 8.63787427e+01] [ 9.97928475e-01 -6.39117244e-02 -7.35186031e-03 -1.25339055e+02] [-7.37926296e-03 -1.92713199e-04 -9.99972754e-01 -1.80540157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.806559995 meters 0.015405938696547956 Centerline is valid? [True, True] Translation: X:86.38, Y:-125.34, Z:-1.81 [[-1.47852801e-02 9.99890688e-01 -9.10361194e-05 8.63831045e+01] [ 9.99860405e-01 1.47841235e-02 -7.78465708e-03 -1.25338135e+02] [-7.78246023e-03 -2.06121746e-04 -9.99969695e-01 -1.80633664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.836559995 meters 0.015853867274667758 Centerline is valid? [True, True] Translation: X:86.39, Y:-125.34, Z:-1.81 [[-9.30030631e-02 9.95665617e-01 6.40087171e-04 8.63891563e+01] [ 9.95619614e-01 9.30049212e-02 -9.57442820e-03 -1.25338702e+02] [-9.59246022e-03 -2.53167808e-04 -9.99953959e-01 -1.80524623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.866559995 meters 0.014590396472599127 Centerline is valid? [True, True] Translation: X:86.40, Y:-125.34, Z:-1.81 [[-1.70188296e-01 9.85410375e-01 1.52863687e-03 8.63957087e+01] [ 9.85354954e-01 1.70194942e-01 -1.04544566e-02 -1.25337276e+02] [-1.05620963e-02 -2.72976238e-04 -9.99944182e-01 -1.80506666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.896559995 meters 0.013943840078104803 Centerline is valid? [True, True] Translation: X:86.40, Y:-125.34, Z:-1.80 [[-2.44968127e-01 9.69527576e-01 2.62605687e-03 8.64022382e+01] [ 9.69458824e-01 2.44982038e-01 -1.15494202e-02 -1.25335342e+02] [-1.18408182e-02 -2.83385828e-04 -9.99929855e-01 -1.80390767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.926559995 meters 0.014387202798349874 Centerline is valid? [True, True] Translation: X:86.41, Y:-125.33, Z:-1.80 [[-3.19016472e-01 9.47742560e-01 3.53999988e-03 8.64104401e+01] [ 9.47674469e-01 3.19035997e-01 -1.13636410e-02 -1.25334199e+02] [-1.18991936e-02 -2.70421150e-04 -9.99929166e-01 -1.80327320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.956559995 meters 0.014355933969418085 Centerline is valid? [True, True] Translation: X:86.42, Y:-125.33, Z:-1.80 [[-3.91071326e-01 9.20350862e-01 4.18436640e-03 8.64151417e+01] [ 9.20291409e-01 3.91093637e-01 -1.04637269e-02 -1.25334251e+02] [-1.12667791e-02 -2.41227105e-04 -9.99936499e-01 -1.80346595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.986559995 meters 0.013078497369276697 Centerline is valid? [True, True] Translation: X:86.42, Y:-125.33, Z:-1.81 [[-4.60452238e-01 8.87671634e-01 4.77576272e-03 8.64192487e+01] [ 8.87619003e-01 4.60476955e-01 -9.66846224e-03 -1.25332998e+02] [-1.07815483e-02 -2.12807327e-04 -9.99941855e-01 -1.80505442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.016559995 meters 0.012279555043079166 Centerline is valid? [True, True] Translation: X:86.42, Y:-125.33, Z:-1.81 [[-5.25846970e-01 8.50565124e-01 4.89224775e-03 8.64224175e+01] [ 8.50525481e-01 5.25869704e-01 -8.21347723e-03 -1.25332229e+02] [-9.55878216e-03 -1.58050749e-04 -9.99954301e-01 -1.80671118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.046559995 meters 0.0119851736503501 Centerline is valid? [True, True] Translation: X:86.43, Y:-125.33, Z:-1.81 [[-5.89743428e-01 8.07573715e-01 5.23297088e-03 8.64280062e+01] [ 8.07539839e-01 5.89766629e-01 -7.39812193e-03 -1.25329076e+02] [-9.06076041e-03 -1.37161331e-04 -9.99958941e-01 -1.80734593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.076559995 meters 0.01176748824635163 Centerline is valid? [True, True] Translation: X:86.43, Y:-125.33, Z:-1.81 [[-6.50121112e-01 7.59810969e-01 5.46174049e-03 8.64335165e+01] [ 7.59782630e-01 6.50144044e-01 -6.56334930e-03 -1.25326233e+02] [-8.53782284e-03 -1.17236394e-04 -9.99963545e-01 -1.80753164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.106559995 meters 0.011330282069767252 Centerline is valid? [True, True] Translation: X:86.44, Y:-125.32, Z:-1.81 [[-7.06993189e-01 7.07195908e-01 5.88032798e-03 8.64398926e+01] [ 7.07170167e-01 7.07017635e-01 -6.03479086e-03 -1.25321701e+02] [-8.42527499e-03 -1.08163515e-04 -9.99964501e-01 -1.80811980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.136559995 meters 0.012531336415523495 Centerline is valid? [True, True] Translation: X:86.45, Y:-125.32, Z:-1.81 [[-7.60400662e-01 6.49422628e-01 6.40967157e-03 8.64484947e+01] [ 6.49398312e-01 7.60427668e-01 -5.62089147e-03 -1.25316016e+02] [-8.52442571e-03 -1.11699702e-04 -9.99963660e-01 -1.80658475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.166559995 meters 0.012002860996947839 Centerline is valid? [True, True] Translation: X:86.47, Y:-125.30, Z:-1.81 [[-8.05017108e-01 5.93208925e-01 7.11532559e-03 8.64668172e+01] [ 5.93184365e-01 8.05048543e-01 -5.39938106e-03 -1.25297944e+02] [-8.93114353e-03 -1.25894237e-04 -9.99960109e-01 -1.80796010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.196559995 meters 0.01224060126069308 Centerline is valid? [True, True] Translation: X:86.48, Y:-125.28, Z:-1.81 [[-8.45525502e-01 5.33876572e-01 7.90135236e-03 8.64823173e+01] [ 5.33851677e-01 8.45562408e-01 -5.15769690e-03 -1.25275310e+02] [-9.43466006e-03 -1.42814048e-04 -9.99955482e-01 -1.80782279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.226559995 meters 0.012838423323345904 Centerline is valid? [True, True] Translation: X:86.50, Y:-125.25, Z:-1.81 [[-8.82424576e-01 4.70357590e-01 9.51865091e-03 8.64957065e+01] [ 4.70327846e-01 8.82475892e-01 -5.29314505e-03 -1.25250355e+02] [-1.08896509e-02 -1.93914692e-04 -9.99940687e-01 -1.80704136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.256559995 meters 0.013530203955301051 Centerline is valid? [True, True] Translation: X:86.51, Y:-125.22, Z:-1.81 [[-9.14184823e-01 4.05155607e-01 1.07258717e-02 8.65083210e+01] [ 4.05124760e-01 9.14247713e-01 -5.00472824e-03 -1.25224307e+02] [-1.18337974e-02 -2.29930403e-04 -9.99929952e-01 -1.80651343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.286559995 meters 0.0142671030584658 Centerline is valid? [True, True] Translation: X:86.51, Y:-125.19, Z:-1.81 [[-9.41523351e-01 3.36729092e-01 1.21366147e-02 8.65136395e+01] [ 3.36697154e-01 9.41601527e-01 -4.64662972e-03 -1.25193185e+02] [-1.29925104e-02 -2.88546738e-04 -9.99915552e-01 -1.80621666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.316559995 meters 0.014955284915366998 Centerline is valid? [True, True] Translation: X:86.77, Y:-124.56, Z:-2.78 [[-8.97553935e-01 -4.40739838e-01 1.20552477e-02 8.67682920e+01] [ 4.40704743e-01 -8.97634835e-01 -5.57061051e-03 -1.24561492e+02] [ 1.32764002e-02 3.12881438e-04 9.99911816e-01 -2.78484861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.346559995 meters 0.015181293334352752 Centerline is valid? [True, True] Translation: X:86.48, Y:-125.18, Z:-1.81 [[-9.43291194e-01 3.31738857e-01 1.22904428e-02 8.64760012e+01] [ 3.31706354e-01 9.43371206e-01 -4.65422232e-03 -1.25176447e+02] [-1.31384363e-02 -3.13468943e-04 -9.99913638e-01 -1.80615676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.376559995 meters 0.015181293334352752 Centerline is valid? [True, True] Translation: X:86.48, Y:-125.15, Z:-1.81 [[-9.64435974e-01 2.64016582e-01 1.25895125e-02 8.64844476e+01] [ 2.63989835e-01 9.64518090e-01 -3.77108805e-03 -1.25150225e+02] [-1.31384423e-02 -3.13469667e-04 -9.99913638e-01 -1.80615670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.40655999499998 meters 0.01589051805403501 Centerline is valid? [True, True] Translation: X:86.68, Y:-124.50, Z:-2.78 [[-9.27598951e-01 -3.73367443e-01 1.25275158e-02 8.66792430e+01] [ 3.73338230e-01 -9.27683481e-01 -4.68241285e-03 -1.24504699e+02] [ 1.33698299e-02 3.33599313e-04 9.99910564e-01 -2.78479951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.43655999499998 meters 0.016118112037236475 Centerline is valid? [True, True] Translation: X:86.44, Y:-125.14, Z:-1.81 [[-9.65534871e-01 2.59942652e-01 1.31236807e-02 8.64436268e+01] [ 2.59913958e-01 9.65623999e-01 -3.87648803e-03 -1.25135114e+02] [-1.36802056e-02 -3.31856573e-04 -9.99906367e-01 -1.80644385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.46655999499998 meters 0.015299521368899765 Centerline is valid? [True, True] Translation: X:86.63, Y:-124.49, Z:-2.78 [[-9.28935423e-01 -3.70021326e-01 1.27749159e-02 8.66335486e+01] [ 3.69991153e-01 -9.29023203e-01 -4.73652945e-03 -1.24491623e+02] [ 1.36208102e-02 3.26675890e-04 9.99907179e-01 -2.78347788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.49655999499998 meters 0.015870633545227986 Centerline is valid? [True, True] Translation: X:86.39, Y:-125.12, Z:-1.81 [[-9.66677432e-01 2.55665316e-01 1.30379907e-02 8.63930916e+01] [ 2.55637339e-01 9.66765293e-01 -3.79719195e-03 -1.25120813e+02] [-1.35754872e-02 -3.37662504e-04 -9.99907792e-01 -1.80736666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.52655999499999 meters 0.017297511758084375 Centerline is valid? [True, True] Translation: X:86.40, Y:-125.09, Z:-1.81 [[-9.82543140e-01 1.85591569e-01 1.28354078e-02 8.64037485e+01] [ 1.85571229e-01 9.82626916e-01 -2.76831647e-03 -1.25091791e+02] [-1.31261934e-02 -3.38107951e-04 -9.99913791e-01 -1.80676907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.556559995 meters 0.017590413458301347 Centerline is valid? [True, True] Translation: X:86.54, Y:-124.44, Z:-2.78 [[-9.53469347e-01 -3.01241535e-01 1.22369058e-02 8.65446628e+01] [ 3.01220794e-01 -9.53547821e-01 -3.54790054e-03 -1.24444928e+02] [ 1.27372498e-02 3.03196058e-04 9.99918832e-01 -2.78361389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.586559995 meters 0.017981770436732394 Centerline is valid? [True, True] Translation: X:86.35, Y:-125.08, Z:-1.81 [[-9.83347541e-01 1.81334436e-01 1.20596655e-02 8.63548890e+01] [ 1.81316761e-01 9.83421435e-01 -2.55230979e-03 -1.25079952e+02] [-1.23225552e-02 -3.23188079e-04 -9.99924022e-01 -1.80707852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.616559995 meters 0.016448341978923073 Centerline is valid? [True, True] Translation: X:86.50, Y:-124.43, Z:-2.78 [[-9.54520398e-01 -2.97902620e-01 1.20348981e-02 8.64971891e+01] [ 2.97883407e-01 -9.54596205e-01 -3.40030828e-03 -1.24434259e+02] [ 1.25014288e-02 3.39332827e-04 9.99921797e-01 -2.78232258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.646559995 meters 0.01812793552082736 Centerline is valid? [True, True] Translation: X:86.31, Y:-125.07, Z:-1.81 [[-9.83907678e-01 1.78246039e-01 1.24109202e-02 8.63082611e+01] [ 1.78227709e-01 9.83985897e-01 -2.57652166e-03 -1.25069551e+02] [-1.26714253e-02 -3.23089556e-04 -9.99919662e-01 -1.80672551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.676559995 meters 0.018079523748515076 Centerline is valid? [True, True] Translation: X:86.44, Y:-124.43, Z:-2.78 [[-9.56245164e-01 -2.92297459e-01 1.25452289e-02 8.64434646e+01] [ 2.92277130e-01 -9.56327387e-01 -3.46531764e-03 -1.24427026e+02] [ 1.30102495e-02 3.52990263e-04 9.99915301e-01 -2.78472417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.706559995 meters 0.014723020316760772 Centerline is valid? [True, True] Translation: X:86.26, Y:-125.07, Z:-1.81 [[-9.84210916e-01 1.76520713e-01 1.30119218e-02 8.62616448e+01] [ 1.76501126e-01 9.84296877e-01 -2.64769067e-03 -1.25066485e+02] [-1.32749663e-02 -3.09267209e-04 -9.99911836e-01 -1.80910980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.736559995 meters 0.01396383617153787 Centerline is valid? [True, True] Translation: X:86.26, Y:-125.04, Z:-1.81 [[-9.93900774e-01 1.09459376e-01 1.34125712e-02 8.62641366e+01] [ 1.09445732e-01 9.93991233e-01 -1.74929533e-03 -1.25040253e+02] [-1.35234550e-02 -2.70677303e-04 -9.99908517e-01 -1.80908053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.766559995 meters 0.013703011719058784 Centerline is valid? [True, True] Translation: X:86.36, Y:-124.38, Z:-2.78 [[-9.76889597e-01 -2.13369846e-01 1.26500593e-02 8.63555264e+01] [ 2.13354860e-01 -9.76971474e-01 -2.53832616e-03 -1.24375789e+02] [ 1.29003493e-02 2.19287209e-04 9.99916763e-01 -2.78216059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.796559995 meters 0.012738679644544629 Centerline is valid? [True, True] Translation: X:86.21, Y:-125.04, Z:-1.81 [[-9.93859969e-01 1.09941527e-01 1.24588433e-02 8.62122302e+01] [ 1.09930464e-01 9.93938038e-01 -1.57149168e-03 -1.25036525e+02] [-1.25560905e-02 -1.92236253e-04 -9.99921151e-01 -1.80981862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.826559995 meters 0.011939998574832668 Centerline is valid? [True, True] Translation: X:86.31, Y:-124.37, Z:-2.78 [[-9.79568652e-01 -2.00796912e-01 1.12185602e-02 8.63069725e+01] [ 2.00785015e-01 -9.79632884e-01 -2.18845889e-03 -1.24365814e+02] [ 1.14295062e-02 1.08773049e-04 9.99934675e-01 -2.78122595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.856559995 meters 0.011397002879311266 Centerline is valid? [True, True] Translation: X:86.16, Y:-125.04, Z:-1.81 [[-9.93214036e-01 1.15812183e-01 1.06497696e-02 8.61628097e+01] [ 1.15804923e-01 9.93271129e-01 -1.29789494e-03 -1.25035842e+02] [-1.07284208e-02 -5.57917173e-05 -9.99942447e-01 -1.81002094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.886559995 meters 0.011379309002005967 Centerline is valid? [True, True] Translation: X:86.16, Y:-125.01, Z:-1.81 [[-9.98730678e-01 4.92055926e-02 1.07630573e-02 8.61638140e+01] [ 4.92026278e-02 9.98788671e-01 -5.40234897e-04 -1.25010446e+02] [-1.07766022e-02 -9.97846397e-06 -9.99941931e-01 -1.80910725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.916559995 meters 0.011490611347015942 Centerline is valid? [True, True] Translation: X:86.16, Y:-124.99, Z:-1.81 [[-9.99788220e-01 -1.73452612e-02 1.10750418e-02 8.61626866e+01] [-1.73437383e-02 9.99849559e-01 2.33535976e-04 -1.24985688e+02] [-1.10774264e-02 4.14038900e-05 -9.99938643e-01 -1.80921994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.946559995 meters 0.013186444527360596 Centerline is valid? [True, True] Translation: X:86.16, Y:-124.96, Z:-1.81 [[-9.96812269e-01 -7.88047588e-02 1.24543091e-02 8.61558677e+01] [-7.87964916e-02 9.96890055e-01 1.15387366e-03 -1.24964474e+02] [-1.25065076e-02 1.68839554e-04 -9.99921776e-01 -1.80804708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.976559995 meters 0.014242262910279158 Centerline is valid? [True, True] Translation: X:86.15, Y:-124.94, Z:-1.81 [[-9.89286930e-01 -1.45470870e-01 1.22309476e-02 8.61454348e+01] [-1.45456938e-01 9.89362510e-01 2.02579411e-03 -1.24940260e+02] [-1.23955350e-02 2.25015463e-04 -9.99923147e-01 -1.80782030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.006559995 meters 0.01583255544776044 Centerline is valid? [True, True] Translation: X:86.12, Y:-124.92, Z:-1.81 [[-9.77156348e-01 -2.12150342e-01 1.25579940e-02 8.61176368e+01] [-2.12128975e-01 9.77236996e-01 3.02502767e-03 -1.24920030e+02] [-1.29138969e-02 2.92010603e-04 -9.99916570e-01 -1.80710384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.036559995 meters 0.01680422146407461 Centerline is valid? [True, True] Translation: X:86.07, Y:-124.91, Z:-1.81 [[-9.60172614e-01 -2.79108916e-01 1.29136981e-02 8.60664991e+01] [-2.79078607e-01 9.60259383e-01 4.12893037e-03 -1.24906608e+02] [-1.35529210e-02 3.60549002e-04 -9.99908090e-01 -1.80736063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.066559995 meters 0.02076902858263467 Centerline is valid? [True, True] Translation: X:86.01, Y:-124.90, Z:-1.81 [[-9.39697687e-01 -3.41756790e-01 1.30596444e-02 8.60073416e+01] [-3.41716506e-01 9.39788304e-01 5.26993840e-03 -1.24903383e+02] [-1.40743383e-02 4.89452875e-04 -9.99900832e-01 -1.80611880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.096559995 meters 0.0228371962363284 Centerline is valid? [True, True] Translation: X:85.93, Y:-124.91, Z:-1.81 [[-9.13233667e-01 -4.07246670e-01 1.24265325e-02 8.59340328e+01] [-4.07200950e-01 9.13318052e-01 6.12551166e-03 -1.24907877e+02] [-1.38439707e-02 5.33927637e-04 -9.99904025e-01 -1.80583877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.126559995 meters 0.021508622141069758 Centerline is valid? [True, True] Translation: X:85.85, Y:-124.92, Z:-1.81 [[-8.82005446e-01 -4.71099506e-01 1.14738204e-02 8.58510850e+01] [-4.71051245e-01 8.82079893e-01 6.76657218e-03 -1.24917866e+02] [-1.33085550e-02 5.63396158e-04 -9.99911279e-01 -1.80746964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.15655999499998 meters 0.023856751416052004 Centerline is valid? [True, True] Translation: X:85.77, Y:-124.94, Z:-1.81 [[-8.47481822e-01 -5.30727252e-01 1.01560690e-02 8.57664623e+01] [-5.30680500e-01 8.47542460e-01 7.07000081e-03 -1.24941097e+02] [-1.23599418e-02 6.02069366e-04 -9.99923432e-01 -1.80805043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.18655999499998 meters 0.024423495633868107 Centerline is valid? [True, True] Translation: X:85.68, Y:-124.97, Z:-1.81 [[-8.06743402e-01 -5.90829075e-01 9.27835279e-03 8.56762003e+01] [-5.90781030e-01 8.06796519e-01 7.55984429e-03 -1.24973080e+02] [-1.19523185e-02 6.17379684e-04 -9.99928378e-01 -1.80866018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.21655999499998 meters 0.024501996135129694 Centerline is valid? [True, True] Translation: X:85.59, Y:-125.01, Z:-1.81 [[-7.61020722e-01 -6.48675994e-01 8.18013440e-03 8.55854370e+01] [-6.48629758e-01 7.61064443e-01 7.76849640e-03 -1.25013420e+02] [-1.12648466e-02 6.06108141e-04 -9.99936366e-01 -1.80907187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.24655999499998 meters 0.026708124812728783 Centerline is valid? [True, True] Translation: X:85.49, Y:-125.07, Z:-1.81 [[-7.10533508e-01 -7.03629929e-01 6.85986164e-03 8.54899861e+01] [-7.03589251e-01 7.10566398e-01 7.58684769e-03 -1.25069802e+02] [-1.02127203e-02 5.64184591e-04 -9.99947690e-01 -1.80956385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.27655999499999 meters 0.025001419933523887 Centerline is valid? [True, True] Translation: X:85.40, Y:-125.13, Z:-1.81 [[-6.54191938e-01 -7.56303181e-01 6.19725872e-03 8.53997459e+01] [-7.56261010e-01 6.54221060e-01 8.00554350e-03 -1.25125673e+02] [-1.01089952e-02 5.50416876e-04 -9.99948751e-01 -1.81061116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.306559995 meters 0.025259758049581083 Centerline is valid? [True, True] Translation: X:85.31, Y:-125.20, Z:-1.81 [[-5.92903996e-01 -8.05256415e-01 5.19210314e-03 8.53081990e+01] [-8.05217963e-01 5.92926523e-01 7.88480291e-03 -1.25200230e+02] [-9.42782379e-03 4.94156431e-04 -9.99955435e-01 -1.81047947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.336559995 meters 0.02253401165878258 Centerline is valid? [True, True] Translation: X:85.22, Y:-125.28, Z:-1.81 [[-5.27173219e-01 -8.49746590e-01 4.37378811e-03 8.52192210e+01] [-8.49710006e-01 5.27191174e-01 7.89759985e-03 -1.25277904e+02] [-9.01678103e-03 4.46951617e-04 -9.99959248e-01 -1.81093233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.366559995 meters 0.020709187650819957 Centerline is valid? [True, True] Translation: X:85.14, Y:-125.36, Z:-1.81 [[-4.57330630e-01 -8.89289768e-01 3.52183120e-03 8.51366319e+01] [-8.89256554e-01 4.57344026e-01 7.69561387e-03 -1.25363729e+02] [-8.45431913e-03 3.87628457e-04 -9.99964186e-01 -1.81081586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.396559995 meters 0.018965862981144777 Centerline is valid? [True, True] Translation: X:85.06, Y:-125.46, Z:-1.81 [[-3.79325701e-01 -9.25259389e-01 2.66012066e-03 8.50554047e+01] [-9.25231193e-01 3.79334924e-01 7.22874254e-03 -1.25459023e+02] [-7.69753857e-03 2.80821216e-04 -9.99970334e-01 -1.81012027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.426559995 meters 0.017599399976276523 Centerline is valid? [True, True] Translation: X:84.99, Y:-125.56, Z:-1.81 [[-3.02361703e-01 -9.53191100e-01 2.03153098e-03 8.49858782e+01] [-9.53164137e-01 3.02368438e-01 7.17329116e-03 -1.25560932e+02] [-7.45178814e-03 2.32546062e-04 -9.99972208e-01 -1.81016852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.456559995 meters 0.01420359696780716 Centerline is valid? [True, True] Translation: X:84.92, Y:-125.67, Z:-1.81 [[-2.18532803e-01 -9.75828866e-01 1.19924484e-03 8.49161695e+01] [-9.75810831e-01 2.18536057e-01 5.93410415e-03 -1.25668839e+02] [-6.05274836e-03 1.26560311e-04 -9.99981674e-01 -1.81004063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.486559995 meters 0.01420359696780716 Centerline is valid? [True, True] Translation: X:84.87, Y:-125.78, Z:-1.81 [[-1.43113201e-01 -9.89706049e-01 7.40985127e-04 8.48696502e+01] [-9.89687817e-01 1.43115063e-01 6.00855972e-03 -1.25778645e+02] [-6.05275403e-03 1.26560261e-04 -9.99981674e-01 -1.81004036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.516559995 meters 0.012659288324652846 Centerline is valid? [True, True] Translation: X:84.82, Y:-125.89, Z:-1.81 [[-6.18455038e-02 -9.98085701e-01 2.58142549e-04 8.48244118e+01] [-9.98069976e-01 6.18459787e-02 5.60340612e-03 -1.25891757e+02] [-5.60864460e-03 8.89011467e-05 -9.99984267e-01 -1.81051365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.546559995 meters 0.011860072544645226 Centerline is valid? [True, True] Translation: X:84.79, Y:-126.01, Z:-1.81 [[ 1.93301441e-02 -9.99813143e-01 -1.59639720e-04 8.47893777e+01] [-9.99799550e-01 -1.93307137e-02 5.21372792e-03 -1.26010556e+02] [-5.21583965e-03 5.88256083e-05 -9.99986396e-01 -1.81025457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.576559995 meters 0.011284546205784842 Centerline is valid? [True, True] Translation: X:84.76, Y:-126.13, Z:-1.81 [[ 9.99343849e-02 -9.94993916e-01 -4.75902601e-04 8.47633068e+01] [-9.94984098e-01 -9.99355130e-02 4.42022286e-03 -1.26128587e+02] [-4.44565443e-03 3.17832668e-05 -9.99990118e-01 -1.81023623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.606559995 meters 0.010892497877249996 Centerline is valid? [True, True] Translation: X:84.74, Y:-126.25, Z:-1.81 [[ 1.82265103e-01 -9.83249092e-01 -8.09614325e-04 8.47421699e+01] [-9.83239437e-01 -1.82266902e-01 4.35724527e-03 -1.26250013e+02] [-4.43182335e-03 1.87097292e-06 -9.99990179e-01 -1.80960343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.636559995 meters 0.010907994730140954 Centerline is valid? [True, True] Translation: X:84.74, Y:-126.37, Z:-1.81 [[ 2.58978102e-01 -9.65882643e-01 -1.03084816e-03 8.47357209e+01] [-9.65874879e-01 -2.58980153e-01 3.87281408e-03 -1.26367607e+02] [-4.00765311e-03 -7.30370237e-06 -9.99991969e-01 -1.80929535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.666559995 meters 0.010993537432774574 Centerline is valid? [True, True] Translation: X:84.74, Y:-126.48, Z:-1.81 [[ 3.33472349e-01 -9.42759030e-01 -1.26637379e-03 8.47388476e+01] [-9.42752078e-01 -3.33474754e-01 3.62056075e-03 -1.26484785e+02] [-3.83562002e-03 -1.34803740e-05 -9.99992644e-01 -1.80907714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.696559995 meters 0.0110972953640327 Centerline is valid? [True, True] Translation: X:84.75, Y:-126.60, Z:-1.81 [[ 4.05356726e-01 -9.14157420e-01 -1.46119548e-03 8.47500404e+01] [-9.14151332e-01 -4.05359360e-01 3.33650549e-03 -1.26598720e+02] [-3.64240051e-03 -1.67211439e-05 -9.99993366e-01 -1.80834536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.726559995 meters 0.011254310693838523 Centerline is valid? [True, True] Translation: X:84.77, Y:-126.71, Z:-1.81 [[ 4.74121662e-01 -8.80457327e-01 -1.88277583e-03 8.47676207e+01] [-8.80450216e-01 -4.74125400e-01 3.53873597e-03 -1.26710940e+02] [-4.00837786e-03 -2.01009991e-05 -9.99991966e-01 -1.80674840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.756559995 meters 0.011122714115472434 Centerline is valid? [True, True] Translation: X:84.80, Y:-126.82, Z:-1.81 [[ 5.39011845e-01 -8.42295425e-01 -2.15588166e-03 8.47972611e+01] [-8.42288560e-01 -5.39016156e-01 3.40069813e-03 -1.26820612e+02] [-4.02644752e-03 -1.71421190e-05 -9.99991894e-01 -1.80604221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.786559995 meters 0.011130303037518535 Centerline is valid? [True, True] Translation: X:84.83, Y:-126.92, Z:-1.81 [[ 6.00440201e-01 -7.99666410e-01 -2.27973798e-03 8.48297242e+01] [-7.99660572e-01 -6.00444529e-01 3.05575894e-03 -1.26918995e+02] [-3.81244398e-03 -1.17839369e-05 -9.99992733e-01 -1.80545198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.816559995 meters 0.011104031226753627 Centerline is valid? [True, True] Translation: X:84.87, Y:-127.01, Z:-1.80 [[ 6.57944519e-01 -7.53062457e-01 -2.43860331e-03 8.48702443e+01] [-7.53057256e-01 -6.57949038e-01 2.79885986e-03 -1.27014533e+02] [-3.71219298e-03 -5.08658871e-06 -9.99993110e-01 -1.80486386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.846559995 meters 0.01115493609265503 Centerline is valid? [True, True] Translation: X:84.92, Y:-127.10, Z:-1.80 [[ 7.09769934e-01 -7.04431357e-01 -1.76213230e-03 8.49152955e+01] [-7.04429213e-01 -7.09772121e-01 1.73802375e-03 -1.27102895e+02] [-2.47503081e-03 7.70046718e-06 -9.99996937e-01 -1.80482801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.876559995 meters 0.011504497535624138 Centerline is valid? [True, True] Translation: X:84.92, Y:-127.11, Z:-1.80 [[ 7.61166300e-01 -6.48554582e-01 -1.67841627e-03 8.49157919e+01] [-6.48553040e-01 -7.61168151e-01 1.41444375e-03 -1.27114924e+02] [-2.19490098e-03 1.19150526e-05 -9.99997591e-01 -1.80466882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.90655999499998 meters 0.011612070095733869 Centerline is valid? [True, True] Translation: X:84.92, Y:-127.13, Z:-1.81 [[ 8.08093206e-01 -5.89052834e-01 -1.45940929e-03 8.49167735e+01] [-5.89051905e-01 -8.08094523e-01 1.04634307e-03 -1.27129812e+02] [-1.79569201e-03 1.41250999e-05 -9.99998388e-01 -1.80536788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.93655999499998 meters 0.011932063647546792 Centerline is valid? [True, True] Translation: X:84.92, Y:-127.14, Z:-1.81 [[ 8.50471666e-01 -5.26019443e-01 -1.22114785e-03 8.49184849e+01] [-5.26018925e-01 -8.50472543e-01 7.38259550e-04 -1.27142259e+02] [-1.42689159e-03 1.44780481e-05 -9.99998982e-01 -1.80538832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.96655999499998 meters 0.012323868779056581 Centerline is valid? [True, True] Translation: X:84.92, Y:-127.15, Z:-1.80 [[ 8.88138789e-01 -4.59572517e-01 -1.61026340e-03 8.49221443e+01] [-4.59571806e-01 -8.88140248e-01 8.08959544e-04 -1.27153930e+02] [-1.80191531e-03 2.15633073e-05 -9.99998376e-01 -1.80479755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.99655999499998 meters 0.012583004493214638 Centerline is valid? [True, True] Translation: X:84.93, Y:-127.17, Z:-1.80 [[ 9.20484445e-01 -3.90768396e-01 -2.90642779e-03 8.49251875e+01] [-3.90766600e-01 -9.20489033e-01 1.18557562e-03 -1.27168310e+02] [-3.13862039e-03 4.44309898e-05 -9.99995074e-01 -1.80360788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.02655999499999 meters 0.01312107664539767 Centerline is valid? [True, True] Translation: X:84.93, Y:-127.18, Z:-1.80 [[ 9.48017779e-01 -3.18198336e-01 -3.47982025e-03 8.49297079e+01] [-3.18196400e-01 -9.48024164e-01 1.11120459e-03 -1.27180469e+02] [-3.65253714e-03 5.38245663e-05 -9.99993328e-01 -1.80277906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.056559995 meters 0.014280449028142015 Centerline is valid? [True, True] Translation: X:84.94, Y:-127.19, Z:-1.80 [[ 9.69979938e-01 -2.43157515e-01 -3.65292589e-03 8.49359466e+01] [-2.43156005e-01 -9.69986814e-01 8.58556805e-04 -1.27187229e+02] [-3.75205448e-03 5.54479906e-05 -9.99992959e-01 -1.80204786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.086559995 meters 0.012782402117412274 Centerline is valid? [True, True] Translation: X:84.94, Y:-127.20, Z:-1.80 [[ 9.86086856e-01 -1.66190439e-01 -3.66758010e-03 8.49421575e+01] [-1.66189491e-01 -9.86093675e-01 5.63938183e-04 -1.27203091e+02] [-3.71029867e-03 5.34212412e-05 -9.99993115e-01 -1.80279791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.116559995 meters 0.012715762194227903 Centerline is valid? [True, True] Translation: X:84.95, Y:-127.21, Z:-1.80 [[ 9.96244697e-01 -8.65057128e-02 -3.64203590e-03 8.49456493e+01] [-8.65053016e-02 -9.96251354e-01 2.70573460e-04 -1.27214023e+02] [-3.65178935e-03 4.54980393e-05 -9.99993331e-01 -1.80281016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.146559995 meters 0.012205168595452693 Centerline is valid? [True, True] Translation: X:84.95, Y:-127.23, Z:-1.80 [[ 9.99968477e-01 -6.96575977e-03 -3.81087007e-03 8.49514011e+01] [-6.96587186e-03 -9.99975738e-01 -1.61400462e-05 -1.27227493e+02] [-3.81066518e-03 4.26855700e-05 -9.99992738e-01 -1.80316609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.176559995 meters 0.012090275842749671 Centerline is valid? [True, True] Translation: X:84.96, Y:-127.24, Z:-1.80 [[ 9.97308221e-01 7.32151983e-02 -3.98073742e-03 8.49563763e+01] [ 7.32144657e-02 -9.97316165e-01 -3.29646246e-04 -1.27238755e+02] [-3.99418890e-03 3.73113476e-05 -9.99992023e-01 -1.80306919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.206559995 meters 0.011833342330902533 Centerline is valid? [True, True] Translation: X:84.96, Y:-127.25, Z:-1.80 [[ 9.88153499e-01 1.53423506e-01 -3.72710507e-03 8.49634124e+01] [ 1.53422313e-01 -9.88160527e-01 -6.05401987e-04 -1.27248678e+02] [-3.77586100e-03 2.64090100e-05 -9.99992871e-01 -1.80320160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.236559995 meters 0.011601246586671615 Centerline is valid? [True, True] Translation: X:84.97, Y:-127.26, Z:-1.80 [[ 9.71840141e-01 2.35619055e-01 -3.22503034e-03 8.49719128e+01] [ 2.35617741e-01 -9.71845492e-01 -7.87109665e-04 -1.27260273e+02] [-3.31968923e-03 5.07040547e-06 -9.99994490e-01 -1.80367309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.266559995 meters 0.01157538693753201 Centerline is valid? [True, True] Translation: X:84.98, Y:-127.27, Z:-1.80 [[ 9.49420808e-01 3.13993306e-01 -2.88688271e-03 8.49807117e+01] [ 3.13991870e-01 -9.49425197e-01 -9.49551933e-04 -1.27269477e+02] [-3.03903214e-03 -4.93333867e-06 -9.99995382e-01 -1.80366304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.296559995 meters 0.01223810952141575 Centerline is valid? [True, True] Translation: X:84.99, Y:-127.28, Z:-1.80 [[ 9.19441533e-01 3.93217821e-01 -2.64820294e-03 8.49900905e+01] [ 3.93216262e-01 -9.19445346e-01 -1.10768179e-03 -1.27279156e+02] [-2.87043808e-03 -2.28678177e-05 -9.99995880e-01 -1.80335054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.326559995 meters 0.012827589703195183 Centerline is valid? [True, True] Translation: X:85.00, Y:-127.28, Z:-1.80 [[ 8.84328585e-01 4.66857866e-01 -2.58578439e-03 8.49997514e+01] [ 4.66855977e-01 -8.84332365e-01 -1.32831112e-03 -1.27283580e+02] [-2.90682532e-03 -3.25254021e-05 -9.99995775e-01 -1.80308116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.356559995 meters 0.013501459648949912 Centerline is valid? [True, True] Translation: X:85.01, Y:-127.29, Z:-1.80 [[ 8.43168706e-01 5.37641992e-01 -2.76062963e-03 8.50094057e+01] [ 5.37639295e-01 -8.43173224e-01 -1.70354238e-03 -1.27287305e+02] [-3.24358491e-03 -4.78493445e-05 -9.99994738e-01 -1.80297734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.386559995 meters 0.014463646064092098 Centerline is valid? [True, True] Translation: X:85.02, Y:-127.29, Z:-1.80 [[ 7.96612379e-01 6.04486097e-01 -2.29686653e-03 8.50194553e+01] [ 6.04483768e-01 -7.96615689e-01 -1.67904239e-03 -1.27289103e+02] [-2.84467769e-03 -5.08725780e-05 -9.99995953e-01 -1.80316997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.416559995 meters 0.015427133227809258 Centerline is valid? [True, True] Translation: X:85.03, Y:-127.29, Z:-1.80 [[ 7.43096938e-01 6.69181068e-01 -1.90763498e-03 8.50311774e+01] [ 6.69179065e-01 -7.43099384e-01 -1.63822128e-03 -1.27292047e+02] [-2.51382904e-03 -5.91921765e-05 -9.99996839e-01 -1.80382489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.446559995 meters 0.016241346019118297 Centerline is valid? [True, True] Translation: X:85.04, Y:-127.29, Z:-1.80 [[ 6.86576159e-01 7.27055974e-01 -1.66993878e-03 8.50428556e+01] [ 7.27054039e-01 -6.86578187e-01 -1.67837110e-03 -1.27293635e+02] [-2.36681327e-03 -6.18061523e-05 -9.99997197e-01 -1.80389685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.476559995 meters 0.01720367409892098 Centerline is valid? [True, True] Translation: X:85.05, Y:-127.29, Z:-1.80 [[ 6.25941171e-01 7.79868756e-01 -1.54078465e-03 8.50536399e+01] [ 7.79866652e-01 -6.25943064e-01 -1.81267199e-03 -1.27294780e+02] [-2.37808972e-03 -6.69805372e-05 -9.99997170e-01 -1.80389141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.506559995 meters 0.018017294596562063 Centerline is valid? [True, True] Translation: X:85.06, Y:-127.29, Z:-1.80 [[ 5.61489836e-01 8.27482233e-01 -1.52263405e-03 8.50633018e+01] [ 8.27479558e-01 -5.61491895e-01 -2.10553470e-03 -1.27293886e+02] [-2.59723923e-03 -7.77122169e-05 -9.99996624e-01 -1.80395465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.536559995 meters 0.019371982020095546 Centerline is valid? [True, True] Translation: X:85.07, Y:-127.29, Z:-1.80 [[ 4.92933884e-01 8.70065380e-01 -1.55567161e-03 8.50712049e+01] [ 8.70061647e-01 -4.92936330e-01 -2.55042672e-03 -1.27292118e+02] [-2.98588505e-03 -9.63384579e-05 -9.99995538e-01 -1.80366054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.566559995 meters 0.019692434279137257 Centerline is valid? [True, True] Translation: X:85.08, Y:-127.29, Z:-1.80 [[ 4.22905543e-01 9.06172611e-01 -1.44947315e-03 8.50785757e+01] [ 9.06168110e-01 -4.22908014e-01 -2.85794077e-03 -1.27288221e+02] [-3.20278146e-03 -1.04827354e-04 -9.99994866e-01 -1.80364094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.596559995 meters 0.020137482523333205 Centerline is valid? [True, True] Translation: X:85.08, Y:-127.28, Z:-1.80 [[ 3.50455131e-01 9.36578744e-01 -1.20745534e-03 8.50842933e+01] [ 9.36574169e-01 -3.50457195e-01 -2.92929550e-03 -1.27284587e+02] [-3.16667731e-03 -1.04284845e-04 -9.99994981e-01 -1.80364430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.626559995 meters 0.020286401416590077 Centerline is valid? [True, True] Translation: X:85.09, Y:-127.28, Z:-1.80 [[ 2.76406026e-01 9.61040334e-01 -1.08862636e-03 8.50863700e+01] [ 9.61034438e-01 -2.76408146e-01 -3.36822468e-03 -1.27280030e+02] [-3.53790496e-03 -1.15209819e-04 -9.99993735e-01 -1.80321288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.65655999499998 meters 0.0203938421612866 Centerline is valid? [True, True] Translation: X:85.09, Y:-127.27, Z:-1.80 [[ 2.00721292e-01 9.79647955e-01 -9.19995685e-04 8.50888531e+01] [ 9.79640377e-01 -2.00723360e-01 -3.85552402e-03 -1.27274673e+02] [-3.96172085e-03 -1.27379156e-04 -9.99992144e-01 -1.80291724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.68655999499998 meters 0.02007836321910203 Centerline is valid? [True, True] Translation: X:85.09, Y:-127.27, Z:-1.80 [[ 1.24346967e-01 9.92238546e-01 -7.06604186e-04 8.50899375e+01] [ 9.92228368e-01 -1.24348893e-01 -4.49656496e-03 -1.27269421e+02] [-4.54953053e-03 -1.41978505e-04 -9.99989641e-01 -1.80226693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.71655999499998 meters 0.019966975823895748 Centerline is valid? [True, True] Translation: X:85.09, Y:-127.27, Z:-1.80 [[ 4.73042639e-02 9.98880430e-01 -4.38481611e-04 8.50898510e+01] [ 9.98864465e-01 -4.73059880e-02 -5.65013077e-03 -1.27265679e+02] [-5.66454787e-03 -1.70708423e-04 -9.99983942e-01 -1.80154288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.74655999499998 meters 0.01925436391337003 Centerline is valid? [True, True] Translation: X:85.08, Y:-127.26, Z:-1.80 [[-2.88462929e-02 9.99583859e-01 6.69835960e-06 8.50848008e+01] [ 9.99560486e-01 2.88456642e-02 -6.83838316e-03 -1.27260509e+02] [-6.83573064e-03 -1.90566588e-04 -9.99976618e-01 -1.80032750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.77655999499999 meters 0.016894617804051004 Centerline is valid? [True, True] Translation: X:85.09, Y:-127.26, Z:-1.80 [[-1.05893950e-01 9.94377259e-01 5.81681201e-04 8.50850927e+01] [ 9.94350357e-01 1.05895365e-01 -7.31708833e-03 -1.27256101e+02] [-7.33754358e-03 -1.96440475e-04 -9.99973061e-01 -1.80081843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.806559995 meters 0.01708122383236946 Centerline is valid? [True, True] Translation: X:85.09, Y:-127.25, Z:-1.80 [[-1.82157842e-01 9.83268455e-01 1.29047292e-03 8.50888709e+01] [ 9.83234999e-01 1.82162293e-01 -8.11395664e-03 -1.27252935e+02] [-8.21327311e-03 -2.09182690e-04 -9.99966249e-01 -1.79995467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.836559995 meters 0.016169576243849005 Centerline is valid? [True, True] Translation: X:85.09, Y:-127.25, Z:-1.80 [[-2.56401407e-01 9.66568065e-01 2.11996051e-03 8.50867341e+01] [ 9.66527925e-01 2.56410085e-01 -8.81124318e-03 -1.27250278e+02] [-9.06024553e-03 -2.10214120e-04 -9.99958933e-01 -1.79995576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.866559995 meters 0.015708997011600185 Centerline is valid? [True, True] Translation: X:85.09, Y:-127.25, Z:-1.80 [[-3.30209545e-01 9.43903505e-01 2.79816958e-03 8.50885655e+01] [ 9.43864342e-01 3.30221340e-01 -8.60058288e-03 -1.27246405e+02] [-9.04213563e-03 -1.98902065e-04 -9.99959099e-01 -1.80019055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.896559995 meters 0.015386133026177282 Centerline is valid? [True, True] Translation: X:85.09, Y:-127.24, Z:-1.80 [[-4.02165530e-01 9.15560750e-01 3.37637879e-03 8.50906267e+01] [ 9.15524540e-01 4.02179660e-01 -8.14482635e-03 -1.27243081e+02] [-8.81499420e-03 -1.84410768e-04 -9.99961130e-01 -1.80042768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.926559995 meters 0.014769491967704622 Centerline is valid? [True, True] Translation: X:85.09, Y:-127.24, Z:-1.80 [[-4.71360181e-01 8.81932793e-01 3.75866334e-03 8.50902592e+01] [ 8.81901975e-01 4.71375139e-01 -7.37457961e-03 -1.27241077e+02] [-8.27562405e-03 -1.61310557e-04 -9.99965743e-01 -1.80165434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.956559995 meters 0.014235123541308395 Centerline is valid? [True, True] Translation: X:85.09, Y:-127.24, Z:-1.80 [[-5.38347598e-01 8.42713216e-01 4.03722435e-03 8.50940122e+01] [ 8.42687477e-01 5.38362716e-01 -6.58804237e-03 -1.27236291e+02] [-7.72532144e-03 -1.44538388e-04 -9.99970149e-01 -1.80242272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.986559995 meters 0.01455761790042961 Centerline is valid? [True, True] Translation: X:85.10, Y:-127.23, Z:-1.80 [[-6.02674878e-01 7.97975423e-01 4.26801982e-03 8.50987194e+01] [ 7.97953801e-01 6.02689975e-01 -5.87586586e-03 -1.27231441e+02] [-7.26108931e-03 -1.35554102e-04 -9.99973629e-01 -1.80253598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.016559995 meters 0.014988569928061723 Centerline is valid? [True, True] Translation: X:85.10, Y:-127.23, Z:-1.80 [[-6.63439589e-01 7.48216703e-01 4.43596055e-03 8.51020427e+01] [ 7.48198669e-01 6.63454406e-01 -5.19647365e-03 -1.27227449e+02] [-6.83114595e-03 -1.28566561e-04 -9.99976659e-01 -1.80243453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.046559995 meters 0.014958595697622742 Centerline is valid? [True, True] Translation: X:85.10, Y:-127.22, Z:-1.80 [[-7.21037449e-01 6.92875679e-01 5.31885978e-03 8.51035159e+01] [ 6.92855247e-01 7.21057050e-01 -5.32317862e-03 -1.27224357e+02] [-7.52350234e-03 -1.53011227e-04 -9.99971686e-01 -1.80241860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.076559995 meters 0.015217611841305493 Centerline is valid? [True, True] Translation: X:85.11, Y:-127.22, Z:-1.80 [[-7.73760244e-01 6.33449945e-01 6.02103425e-03 8.51065646e+01] [ 6.33429045e-01 7.73783651e-01 -5.14848250e-03 -1.27218782e+02] [-7.92028383e-03 -1.69793101e-04 -9.99968620e-01 -1.80236175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.106559995 meters 0.015498524005855734 Centerline is valid? [True, True] Translation: X:85.12, Y:-127.20, Z:-1.80 [[-8.17603555e-01 5.75744104e-01 6.56914933e-03 8.51242434e+01] [ 5.75723654e-01 8.17629923e-01 -4.85619920e-03 -1.27199219e+02] [-8.16706111e-03 -1.88431071e-04 -9.99966631e-01 -1.80238560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.136559995 meters 0.016272476080591968 Centerline is valid? [True, True] Translation: X:85.14, Y:-127.18, Z:-1.80 [[-8.57309530e-01 5.14754795e-01 6.91890029e-03 8.51390508e+01] [ 5.14736089e-01 8.57337424e-01 -4.39304426e-03 -1.27175875e+02] [-8.19317275e-03 -2.04791026e-04 -9.99966414e-01 -1.80203522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.166559995 meters 0.018225373141442656 Centerline is valid? [True, True] Translation: X:85.15, Y:-127.15, Z:-1.80 [[-8.93586631e-01 4.48822932e-01 7.80439402e-03 8.51480043e+01] [ 4.48803250e-01 8.93620673e-01 -4.21125969e-03 -1.27148003e+02] [-8.86427776e-03 -2.60487963e-04 -9.99960678e-01 -1.80181460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.196559995 meters 0.01833914416340882 Centerline is valid? [True, True] Translation: X:85.16, Y:-127.12, Z:-1.80 [[-9.24046436e-01 3.82189749e-01 8.31740378e-03 8.51569917e+01] [ 3.82171431e-01 9.24083823e-01 -3.75299637e-03 -1.27122751e+02] [-9.12033502e-03 -2.89268811e-04 -9.99958367e-01 -1.80174158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.226559995 meters 0.020317519989968988 Centerline is valid? [True, True] Translation: X:85.16, Y:-127.09, Z:-1.80 [[-9.49540426e-01 3.13518421e-01 8.89828892e-03 8.51639768e+01] [ 3.13501453e-01 9.49582064e-01 -3.27773467e-03 -1.27093768e+02] [-9.47728575e-03 -3.22715069e-04 -9.99955037e-01 -1.80092319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.256559995 meters 0.020632486620234626 Centerline is valid? [True, True] Translation: X:85.17, Y:-127.07, Z:-1.80 [[-9.69790407e-01 2.43762196e-01 9.30364292e-03 8.51669565e+01] [ 2.43747539e-01 9.69834972e-01 -2.69537299e-03 -1.27066424e+02] [-9.68002830e-03 -3.46206797e-04 -9.99953088e-01 -1.80078527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.286559995 meters 0.021617073171630703 Centerline is valid? [True, True] Translation: X:85.34, Y:-126.47, Z:-2.79 [[-9.25676792e-01 -3.78184277e-01 9.95640718e-03 8.53355925e+01] [ 3.78167439e-01 -9.25730232e-01 -3.59532659e-03 -1.26470299e+02] [ 1.05766431e-02 4.37078624e-04 9.99943970e-01 -2.79043337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.316559995 meters 0.022151381041707306 Centerline is valid? [True, True] Translation: X:85.12, Y:-127.06, Z:-1.80 [[-9.71431494e-01 2.37083716e-01 1.05907240e-02 8.51220757e+01] [ 2.37064804e-01 9.71489129e-01 -3.02491113e-03 -1.27056527e+02] [-1.10059304e-02 -4.27806030e-04 -9.99939341e-01 -1.80021078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.346559995 meters 0.02215847361739537 Centerline is valid? [True, True] Translation: X:85.12, Y:-127.03, Z:-1.80 [[-9.85801527e-01 1.67552190e-01 1.10278242e-02 8.51247782e+01] [ 1.67536719e-01 9.85863110e-01 -2.31862642e-03 -1.27031014e+02] [-1.12604160e-02 -4.38139980e-04 -9.99936504e-01 -1.80023797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.376559995 meters 0.020619263753873067 Centerline is valid? [True, True] Translation: X:85.12, Y:-127.01, Z:-1.80 [[-9.95018364e-01 9.91077010e-02 1.07758873e-02 8.51237862e+01] [ 9.90975043e-02 9.95076631e-01 -1.47743199e-03 -1.27008964e+02] [-1.08692585e-02 -4.02208430e-04 -9.99940847e-01 -1.80092102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.40655999499998 meters 0.020619263753873067 Centerline is valid? [True, True] Translation: X:85.12, Y:-126.98, Z:-1.80 [[-9.99543371e-01 2.82001476e-02 1.08535939e-02 8.51231523e+01] [ 2.81941141e-02 9.99602216e-01 -7.08539354e-04 -1.26981486e+02] [-1.08692574e-02 -4.02208351e-04 -9.99940847e-01 -1.80092103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.43655999499998 meters 0.02184008171534354 Centerline is valid? [True, True] Translation: X:85.12, Y:-126.95, Z:-1.80 [[-9.99087234e-01 -4.13194503e-02 1.08352590e-02 8.51238105e+01] [-4.13211740e-02 9.99145913e-01 6.48374312e-05 -1.26953884e+02] [-1.08286838e-02 -3.82947375e-04 -9.99941295e-01 -1.80049629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.46655999499998 meters 0.021007191121036196 Centerline is valid? [True, True] Translation: X:85.12, Y:-126.93, Z:-1.80 [[-9.93836008e-01 -1.10391982e-01 1.01783463e-02 8.51190190e+01] [-1.10389702e-01 9.93888069e-01 7.87247542e-04 -1.26929459e+02] [-1.02030427e-02 -3.41189662e-04 -9.99947889e-01 -1.80082380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.49655999499998 meters 0.020614050825148417 Centerline is valid? [True, True] Translation: X:85.07, Y:-126.29, Z:-2.79 [[-9.99717646e-01 -2.17702729e-02 9.52275326e-03 8.50689752e+01] [ 2.17718956e-02 -9.99762962e-01 6.67550404e-05 -1.26286823e+02] [ 9.51904273e-03 2.74064582e-04 9.99954655e-01 -2.78984793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.52655999499999 meters 0.01924560972619757 Centerline is valid? [True, True] Translation: X:85.03, Y:-126.94, Z:-1.80 [[-9.93867257e-01 -1.10253670e-01 8.48549794e-03 8.50309785e+01] [-1.10251652e-01 9.93903453e-01 7.06693489e-04 -1.26943296e+02] [-8.51168126e-03 -2.33180647e-04 -9.99963748e-01 -1.80124021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.556559995 meters 0.016469692441142117 Centerline is valid? [True, True] Translation: X:85.03, Y:-126.92, Z:-1.80 [[-9.83824201e-01 -1.78947157e-01 8.23748366e-03 8.50256347e+01] [-1.78942689e-01 9.83858664e-01 1.28236029e-03 -1.26922843e+02] [-8.33399439e-03 -2.12420390e-04 -9.99965249e-01 -1.80275243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.586559995 meters 0.016248428078284617 Centerline is valid? [True, True] Translation: X:85.01, Y:-126.90, Z:-1.80 [[-9.69021040e-01 -2.46837177e-01 8.34463295e-03 8.50065670e+01] [-2.46829800e-01 9.69056948e-01 1.91874846e-03 -1.26900729e+02] [-8.56004299e-03 -2.00396451e-04 -9.99963342e-01 -1.80218593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.616559995 meters 0.015272793673333564 Centerline is valid? [True, True] Translation: X:84.98, Y:-126.88, Z:-1.80 [[-9.49271596e-01 -3.14344884e-01 8.41013593e-03 8.49767685e+01] [-3.14334319e-01 9.49308832e-01 2.58428757e-03 -1.26883916e+02] [-8.79617389e-03 -1.90403560e-04 -9.99961295e-01 -1.80248415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.646559995 meters 0.01613205323018162 Centerline is valid? [True, True] Translation: X:84.92, Y:-126.87, Z:-1.80 [[-9.24846774e-01 -3.80243264e-01 8.57344397e-03 8.49226677e+01] [-3.80228614e-01 9.24886496e-01 3.34214855e-03 -1.26874286e+02] [-9.20029203e-03 -1.68893412e-04 -9.99957662e-01 -1.80023135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.676559995 meters 0.014264346445877929 Centerline is valid? [True, True] Translation: X:84.86, Y:-126.88, Z:-1.80 [[-8.94861366e-01 -4.46268035e-01 8.24478176e-03 8.48619119e+01] [-4.46250689e-01 8.94899333e-01 3.93774864e-03 -1.26875836e+02] [-9.13554104e-03 -1.55500414e-04 -9.99958258e-01 -1.80117232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.706559995 meters 0.014056299578048211 Centerline is valid? [True, True] Translation: X:84.79, Y:-126.88, Z:-1.80 [[-8.59845137e-01 -5.10491346e-01 8.05762326e-03 8.47898927e+01] [-5.10470526e-01 8.59882878e-01 4.61279965e-03 -1.26882948e+02] [-9.28340658e-03 -1.46885840e-04 -9.99956897e-01 -1.80051013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.736559995 meters 0.015245059478140133 Centerline is valid? [True, True] Translation: X:84.71, Y:-126.90, Z:-1.80 [[-8.19458643e-01 -5.73087686e-01 7.61815227e-03 8.47052482e+01] [-5.73064546e-01 8.19494041e-01 5.15190376e-03 -1.26899884e+02] [-9.19552299e-03 -1.43920906e-04 -9.99957710e-01 -1.79905510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.766559995 meters 0.01415609529486699 Centerline is valid? [True, True] Translation: X:84.63, Y:-126.93, Z:-1.80 [[-7.73918213e-01 -6.33248575e-01 6.84412019e-03 8.46261203e+01] [-6.33225393e-01 7.73948463e-01 5.42018807e-03 -1.26926067e+02] [-8.72932267e-03 -1.39088433e-04 -9.99961889e-01 -1.80075566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.796559995 meters 0.015486424919601845 Centerline is valid? [True, True] Translation: X:84.53, Y:-126.97, Z:-1.80 [[-7.22688150e-01 -6.91130142e-01 7.80794333e-03 8.45312096e+01] [-6.91092640e-01 7.22730302e-01 7.20224960e-03 -1.26966811e+02] [-1.06207290e-02 -1.91031733e-04 -9.99943580e-01 -1.80010739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.826559995 meters 0.014457986188139708 Centerline is valid? [True, True] Translation: X:84.45, Y:-127.01, Z:-1.80 [[-6.67412558e-01 -7.44641037e-01 8.37877930e-03 8.44533408e+01] [-7.44586729e-01 6.67465109e-01 8.99619487e-03 -1.27007141e+02] [-1.22914787e-02 -2.34554439e-04 -9.99924429e-01 -1.80049508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.856559995 meters 0.015045385459787609 Centerline is valid? [True, True] Translation: X:84.37, Y:-127.06, Z:-1.80 [[-6.07337493e-01 -7.94392194e-01 9.06703666e-03 8.43664217e+01] [-7.94311118e-01 6.07405094e-01 1.13534244e-02 -1.27061389e+02] [-1.45264360e-02 -3.06687719e-04 -9.99894439e-01 -1.79901292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.886559995 meters 0.019502970373825368 Centerline is valid? [True, True] Translation: X:84.27, Y:-127.12, Z:-1.79 [[-5.40364283e-01 -8.41374848e-01 9.73693049e-03 8.42722707e+01] [-8.41253480e-01 5.40451801e-01 1.42980243e-02 -1.27124947e+02] [-1.72923396e-02 -4.65085023e-04 -9.99850368e-01 -1.79339266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.916559995 meters 0.018264255523057556 Centerline is valid? [True, True] Translation: X:84.19, Y:-127.21, Z:-1.80 [[-4.72155973e-01 -8.81470527e-01 8.85708866e-03 8.41901625e+01] [-8.81335954e-01 4.72238743e-01 1.54112416e-02 -1.27205849e+02] [-1.77672157e-02 -5.29560927e-04 -9.99842010e-01 -1.79514582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.946559995 meters 0.019522970322033182 Centerline is valid? [True, True] Translation: X:84.12, Y:-127.28, Z:-1.80 [[-4.01273604e-01 -9.15926804e-01 7.58840495e-03 8.41156048e+01] [-9.15788816e-01 4.01344950e-01 1.59083483e-02 -1.27282309e+02] [-1.76164506e-02 -5.65776151e-04 -9.99844658e-01 -1.79503315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.976559995 meters 0.019277048350699193 Centerline is valid? [True, True] Translation: X:84.05, Y:-127.37, Z:-1.80 [[-3.28350901e-01 -9.44536227e-01 6.08283873e-03 8.40471695e+01] [-9.44405069e-01 3.28406740e-01 1.57505097e-02 -1.27371288e+02] [-1.68745722e-02 -5.72969684e-04 -9.99857450e-01 -1.79650452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.006559995 meters 0.02058980787257648 Centerline is valid? [True, True] Translation: X:83.98, Y:-127.47, Z:-1.80 [[-2.52765278e-01 -9.67517111e-01 4.51158733e-03 8.39826598e+01] [-9.67400749e-01 2.52804898e-01 1.50158231e-02 -1.27467360e+02] [-1.56686172e-02 -5.69034258e-04 -9.99877078e-01 -1.79864444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.036559995 meters 0.0208373013505703 Centerline is valid? [True, True] Translation: X:83.93, Y:-127.57, Z:-1.80 [[-1.77376704e-01 -9.84137802e-01 3.20808685e-03 8.39271013e+01] [-9.84028466e-01 1.77404851e-01 1.46798481e-02 -1.27568701e+02] [-1.50161236e-02 -5.52985719e-04 -9.99887099e-01 -1.79954159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.066559995 meters 0.02043552624722167 Centerline is valid? [True, True] Translation: X:83.88, Y:-127.67, Z:-1.80 [[-1.01350201e-01 -9.94848841e-01 1.98011639e-03 8.38804634e+01] [-9.94747283e-01 1.01368167e-01 1.42245108e-02 -1.27671380e+02] [-1.43519588e-02 -5.28058369e-04 -9.99896866e-01 -1.80030144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.096559995 meters 0.02078592823213217 Centerline is valid? [True, True] Translation: X:83.84, Y:-127.78, Z:-1.80 [[-2.57537213e-02 -9.99668004e-01 7.91684902e-04 8.38391962e+01] [-9.99585466e-01 2.57617747e-02 1.28540984e-02 -1.27781728e+02] [-1.28702261e-02 -4.60315853e-04 -9.99917069e-01 -1.80154627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.126559995 meters 0.0203895875705835 Centerline is valid? [True, True] Translation: X:83.81, Y:-127.89, Z:-1.80 [[ 5.06864345e-02 -9.98714600e-01 -1.79378356e-04 8.38089768e+01] [-9.98644179e-01 -5.06849920e-02 1.18674148e-02 -1.27892393e+02] [-1.18612522e-02 -4.22381790e-04 -9.99929564e-01 -1.80267059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.15655999499998 meters 0.021122424413399413 Centerline is valid? [True, True] Translation: X:83.79, Y:-128.00, Z:-1.80 [[ 1.26286640e-01 -9.91993272e-01 -1.01610819e-03 8.37853245e+01] [-9.91931179e-01 -1.26290111e-01 1.11060722e-02 -1.28003234e+02] [-1.11454734e-02 -3.94639156e-04 -9.99937809e-01 -1.80338135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.18655999499998 meters 0.020386791014375457 Centerline is valid? [True, True] Translation: X:83.77, Y:-128.11, Z:-1.80 [[ 2.02010142e-01 -9.79381804e-01 -1.78456459e-03 8.37720336e+01] [-9.79325440e-01 -2.02017674e-01 1.05139218e-02 -1.28112775e+02] [-1.06576573e-02 -3.76249333e-04 -9.99943135e-01 -1.80481014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.21655999499998 meters 0.020230503938775155 Centerline is valid? [True, True] Translation: X:83.77, Y:-128.23, Z:-1.81 [[ 2.76251099e-01 -9.61082552e-01 -2.37861639e-03 8.37676995e+01] [-9.61035525e-01 -2.76261127e-01 9.51363507e-03 -1.28228995e+02] [-9.80050792e-03 -3.42217288e-04 -9.99951915e-01 -1.80566905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.24655999499998 meters 0.020116886207699414 Centerline is valid? [True, True] Translation: X:83.77, Y:-128.34, Z:-1.81 [[ 3.48182885e-01 -9.37422139e-01 -2.90023794e-03 8.37710517e+01] [-9.37381840e-01 -3.48194826e-01 8.69769968e-03 -1.28344412e+02] [-9.16326408e-03 -3.09759786e-04 -9.99957968e-01 -1.80652026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.27655999499999 meters 0.01941225291791891 Centerline is valid? [True, True] Translation: X:83.79, Y:-128.47, Z:-1.81 [[ 4.18632574e-01 -9.08149389e-01 -3.38450685e-03 8.37881391e+01] [-9.08113873e-01 -4.18646154e-01 8.03683715e-03 -1.28467100e+02] [-8.71555952e-03 -2.90964204e-04 -9.99961976e-01 -1.80704248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.306559995 meters 0.02050467547974987 Centerline is valid? [True, True] Translation: X:83.81, Y:-128.59, Z:-1.81 [[ 4.86317570e-01 -8.73774016e-01 -3.76696770e-03 8.38115973e+01] [-8.73743399e-01 -4.86332085e-01 7.31957109e-03 -1.28588820e+02] [-8.22764828e-03 -2.68272857e-04 -9.99966116e-01 -1.80655992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.336559995 meters 0.01992477610845212 Centerline is valid? [True, True] Translation: X:83.83, Y:-128.69, Z:-1.81 [[ 5.50082754e-01 -8.35098122e-01 -4.48227498e-03 8.38349131e+01] [-8.35066436e-01 -5.50100954e-01 7.27929737e-03 -1.28688103e+02] [-8.54463130e-03 -2.61218548e-04 -9.99963460e-01 -1.80574187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.366559995 meters 0.019503597507941603 Centerline is valid? [True, True] Translation: X:83.87, Y:-128.79, Z:-1.81 [[ 6.11278325e-01 -7.91398233e-01 -5.25793924e-03 8.38673068e+01] [-7.91365201e-01 -6.11300882e-01 7.23538385e-03 -1.28785465e+02] [-8.94025288e-03 -2.61883178e-04 -9.99960001e-01 -1.80547851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.396559995 meters 0.019196366666441544 Centerline is valid? [True, True] Translation: X:83.91, Y:-128.88, Z:-1.80 [[ 6.68821634e-01 -7.43399372e-01 -5.91570570e-03 8.39096242e+01] [-7.43366867e-01 -6.68847747e-01 6.95648036e-03 -1.28883754e+02] [-9.12814956e-03 -2.55104942e-04 -9.99958305e-01 -1.80494490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.426559995 meters 0.01616085449055745 Centerline is valid? [True, True] Translation: X:83.96, Y:-128.98, Z:-1.81 [[ 7.21263700e-01 -6.92620195e-01 -7.47933089e-03 8.39632291e+01] [-6.92579132e-01 -7.21302431e-01 7.54647398e-03 -1.28976100e+02] [-1.06216998e-02 -2.62969252e-04 -9.99943554e-01 -1.80509195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.456559995 meters 0.015558521675563586 Centerline is valid? [True, True] Translation: X:84.02, Y:-129.06, Z:-1.80 [[ 7.70690517e-01 -6.37157299e-01 -8.16726115e-03 8.40161330e+01] [-6.37118060e-01 -7.70733751e-01 7.07553112e-03 -1.29061985e+02] [-1.08030101e-02 -2.49535152e-04 -9.99941615e-01 -1.80486949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.486559995 meters 0.014355642803993974 Centerline is valid? [True, True] Translation: X:84.02, Y:-129.07, Z:-1.81 [[ 8.16277076e-01 -5.77597979e-01 -8.50349172e-03 8.40164601e+01] [-5.77563947e-01 -8.16321340e-01 6.27353063e-03 -1.29069928e+02] [-1.05651604e-02 -2.09629005e-04 -9.99944165e-01 -1.80523626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.516559995 meters 0.012957788155770577 Centerline is valid? [True, True] Translation: X:84.02, Y:-129.08, Z:-1.81 [[ 8.56293185e-01 -5.16431650e-01 -7.76738107e-03 8.40168206e+01] [-5.16408972e-01 -8.56328402e-01 4.84162579e-03 -1.29078630e+02] [-9.15179781e-03 -1.34705894e-04 -9.99958112e-01 -1.80617457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.546559995 meters 0.013309081593786156 Centerline is valid? [True, True] Translation: X:84.02, Y:-129.09, Z:-1.80 [[ 8.94073657e-01 -4.47831469e-01 -8.90344699e-03 8.40155137e+01] [-4.47807605e-01 -8.94117975e-01 4.62545621e-03 -1.29088524e+02] [-1.00321568e-02 -1.48467269e-04 -9.99949666e-01 -1.80434063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.576559995 meters 0.013309081593786156 Centerline is valid? [True, True] Translation: X:84.02, Y:-129.10, Z:-1.80 [[ 9.26344340e-01 -3.76564505e-01 -9.23779249e-03 8.40162335e+01] [-3.76544179e-01 -9.26390388e-01 3.91528772e-03 -1.29097706e+02] [-1.00321605e-02 -1.48467625e-04 -9.99949666e-01 -1.80434059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.606559995 meters 0.013522482162862016 Centerline is valid? [True, True] Translation: X:84.02, Y:-129.11, Z:-1.80 [[ 9.53305992e-01 -3.01862085e-01 -9.32564532e-03 8.40180089e+01] [-3.01846028e-01 -9.53351591e-01 3.11748193e-03 -1.29107633e+02] [-9.83166840e-03 -1.57005212e-04 -9.99951656e-01 -1.80421937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.636559995 meters 0.013522482162862016 Centerline is valid? [True, True] Translation: X:84.02, Y:-129.12, Z:-1.80 [[ 9.73984478e-01 -2.26413803e-01 -9.54080901e-03 8.40199165e+01] [-2.26401359e-01 -9.74031193e-01 2.37894727e-03 -1.29116654e+02] [-9.83167208e-03 -1.57005583e-04 -9.99951656e-01 -1.80421933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.666559995 meters 0.013522482162862016 Centerline is valid? [True, True] Translation: X:84.02, Y:-129.13, Z:-1.80 [[ 9.88702478e-01 -1.49577297e-01 -9.69758648e-03 8.40227452e+01] [-1.49568543e-01 -9.88750023e-01 1.62582763e-03 -1.29125549e+02] [-9.83167576e-03 -1.57005926e-04 -9.99951656e-01 -1.80421930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.696559995 meters 0.013522482162862016 Centerline is valid? [True, True] Translation: X:84.02, Y:-129.13, Z:-1.80 [[ 9.97374818e-01 -7.17462807e-02 -9.79507841e-03 8.40227345e+01] [-7.17412743e-02 -9.97422903e-01 8.61980440e-04 -1.29133720e+02] [-9.83167943e-03 -1.57006178e-04 -9.99951656e-01 -1.80421926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.726559995 meters 0.01401975398105164 Centerline is valid? [True, True] Translation: X:84.02, Y:-129.14, Z:-1.80 [[ 9.99920000e-01 7.87147746e-03 -9.90121127e-03 8.40231080e+01] [ 7.87278397e-03 -9.99969005e-01 9.29852167e-05 -1.29141607e+02] [-9.90017245e-03 -1.70927875e-04 -9.99950977e-01 -1.80410389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.756559995 meters 0.01401975398105164 Centerline is valid? [True, True] Translation: X:84.02, Y:-129.15, Z:-1.80 [[ 9.96234450e-01 8.61356127e-02 -9.87810374e-03 8.40241423e+01] [ 8.61330785e-02 -9.96283407e-01 -6.82473131e-04 -1.29148411e+02] [-9.90017609e-03 -1.70928241e-04 -9.99950977e-01 -1.80410386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.786559995 meters 0.01401975398105164 Centerline is valid? [True, True] Translation: X:84.03, Y:-129.16, Z:-1.80 [[ 9.86433344e-01 1.63869854e-01 -9.79435758e-03 8.40255995e+01] [ 1.63863495e-01 -9.86481952e-01 -1.45373135e-03 -1.29155122e+02] [-9.90017973e-03 -1.70928592e-04 -9.99950977e-01 -1.80410383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.816559995 meters 0.01401975398105164 Centerline is valid? [True, True] Translation: X:84.03, Y:-129.16, Z:-1.80 [[ 9.70576315e-01 2.40600259e-01 -9.65048212e-03 8.40277187e+01] [ 2.40590114e-01 -9.70624276e-01 -2.21608711e-03 -1.29161675e+02] [-9.90018336e-03 -1.70928937e-04 -9.99950977e-01 -1.80410379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.846559995 meters 0.014331922108116712 Centerline is valid? [True, True] Translation: X:84.03, Y:-129.17, Z:-1.80 [[ 9.48361833e-01 3.17052970e-01 -9.34071391e-03 8.40302868e+01] [ 3.17039471e-01 -9.48407814e-01 -2.93124535e-03 -1.29168170e+02] [-9.78816611e-03 -1.81493790e-04 -9.99952078e-01 -1.80439246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.876559995 meters 0.014331922108116712 Centerline is valid? [True, True] Translation: X:84.03, Y:-129.17, Z:-1.80 [[ 9.20639769e-01 3.90307469e-01 -9.08265208e-03 8.40334191e+01] [ 3.90290413e-01 -9.20684553e-01 -3.65330501e-03 -1.29174660e+02] [-9.78816971e-03 -1.81494158e-04 -9.99952078e-01 -1.80439243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.90655999499998 meters 0.014312285449668774 Centerline is valid? [True, True] Translation: X:84.04, Y:-129.18, Z:-1.80 [[ 8.86746241e-01 4.62174441e-01 -8.71150494e-03 8.40375757e+01] [ 4.62154248e-01 -8.86789011e-01 -4.32456858e-03 -1.29181539e+02] [-9.72397192e-03 -1.91264088e-04 -9.99952703e-01 -1.80465061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.93655999499998 meters 0.01536580147606357 Centerline is valid? [True, True] Translation: X:84.04, Y:-129.19, Z:-1.80 [[ 8.47305793e-01 5.31037830e-01 -8.46860053e-03 8.40426091e+01] [ 5.31013700e-01 -8.47348088e-01 -5.06646318e-03 -1.29189163e+02] [-9.86633608e-03 -2.04099290e-04 -9.99951306e-01 -1.80389106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.96655999499998 meters 0.01606586104792151 Centerline is valid? [True, True] Translation: X:84.05, Y:-129.19, Z:-1.80 [[ 8.02460552e-01 5.96651163e-01 -8.02820681e-03 8.40463983e+01] [ 5.96623960e-01 -8.02500681e-01 -5.70153497e-03 -1.29192174e+02] [-9.84446891e-03 -2.14563640e-04 -9.99951519e-01 -1.80366975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.99655999499998 meters 0.01529945547503391 Centerline is valid? [True, True] Translation: X:84.05, Y:-129.20, Z:-1.80 [[ 7.52229989e-01 6.58861666e-01 -7.16579830e-03 8.40507634e+01] [ 6.58834508e-01 -7.52264087e-01 -5.98610512e-03 -1.29195995e+02] [-9.33458791e-03 -2.18147411e-04 -9.99956408e-01 -1.80453966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.02655999499999 meters 0.01572401907022935 Centerline is valid? [True, True] Translation: X:84.06, Y:-129.20, Z:-1.80 [[ 6.97694881e-01 7.16364243e-01 -6.64268348e-03 8.40576465e+01] [ 7.16334813e-01 -6.97726466e-01 -6.49728246e-03 -1.29201226e+02] [-9.28919690e-03 -2.25264718e-04 -9.99956829e-01 -1.80457316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.056559995 meters 0.015885707982533644 Centerline is valid? [True, True] Translation: X:84.06, Y:-129.21, Z:-1.81 [[ 6.38210171e-01 7.69840150e-01 -5.82414677e-03 8.40640935e+01] [ 7.69811323e-01 -6.38236704e-01 -6.66610397e-03 -1.29206417e+02] [-8.84901872e-03 -2.29118770e-04 -9.99960820e-01 -1.80501804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.086559995 meters 0.016685743295486777 Centerline is valid? [True, True] Translation: X:84.07, Y:-129.21, Z:-1.80 [[ 5.75538660e-01 8.17758129e-01 -5.18575673e-03 8.40709826e+01] [ 8.17728467e-01 -5.75561977e-01 -6.96892977e-03 -1.29212490e+02] [-8.68362337e-03 -2.29652392e-04 -9.99962270e-01 -1.80475083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.116559995 meters 0.016718560444622128 Centerline is valid? [True, True] Translation: X:84.08, Y:-129.22, Z:-1.81 [[ 5.09210015e-01 8.60631726e-01 -4.26528866e-03 8.40771940e+01] [ 8.60605025e-01 -5.09227833e-01 -6.78276456e-03 -1.29215891e+02] [-8.00946608e-03 -2.16877209e-04 -9.99967900e-01 -1.80508410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.146559995 meters 0.016829121575628967 Centerline is valid? [True, True] Translation: X:84.08, Y:-129.22, Z:-1.81 [[ 4.40064958e-01 8.97958268e-01 -3.71240963e-03 8.40840841e+01] [ 8.97930387e-01 -4.40080563e-01 -7.07944367e-03 -1.29219565e+02] [-7.99080430e-03 -2.18070334e-04 -9.99968049e-01 -1.80510970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.176559995 meters 0.018603401850013773 Centerline is valid? [True, True] Translation: X:84.09, Y:-129.22, Z:-1.80 [[ 3.68083184e-01 9.29787938e-01 -3.02673161e-03 8.40924096e+01] [ 9.29761093e-01 -3.68095567e-01 -7.06849204e-03 -1.29224105e+02] [-7.68632512e-03 -2.12344242e-04 -9.99970437e-01 -1.80426632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.206559995 meters 0.01662966294131192 Centerline is valid? [True, True] Translation: X:84.10, Y:-129.23, Z:-1.80 [[ 2.93706155e-01 9.55892562e-01 -2.47086723e-03 8.40979593e+01] [ 9.55864679e-01 -2.93716468e-01 -7.30420090e-03 -1.29225731e+02] [-7.70776571e-03 -2.16525959e-04 -9.99970271e-01 -1.80490017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.236559995 meters 0.017213217011885926 Centerline is valid? [True, True] Translation: X:84.11, Y:-129.23, Z:-1.80 [[ 2.17240379e-01 9.76115628e-01 -2.21317464e-03 8.41064489e+01] [ 9.76076455e-01 -2.17251497e-01 -8.74873655e-03 -1.29228481e+02] [-9.02059398e-03 -2.59648811e-04 -9.99959280e-01 -1.80394116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.266559995 meters 0.01738181905054008 Centerline is valid? [True, True] Translation: X:84.11, Y:-129.23, Z:-1.80 [[ 1.39854451e-01 9.90170785e-01 -1.59643657e-03 8.41141777e+01] [ 9.90126841e-01 -1.39863291e-01 -9.33264201e-03 -1.29229900e+02] [-9.46419234e-03 -2.75463171e-04 -9.99955176e-01 -1.80336527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.296559995 meters 0.01738181905054008 Centerline is valid? [True, True] Translation: X:84.12, Y:-129.23, Z:-1.80 [[ 6.18528987e-02 9.98084906e-01 -8.60362433e-04 8.41217714e+01] [ 9.98040404e-01 -6.18582688e-02 -9.42903276e-03 -1.29231208e+02] [-9.46419580e-03 -2.75463462e-04 -9.99955176e-01 -1.80336524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.326559995 meters 0.01725714771074752 Centerline is valid? [True, True] Translation: X:84.13, Y:-129.23, Z:-1.80 [[-1.65834716e-02 9.99862476e-01 -1.31051461e-04 8.41295706e+01] [ 9.99808366e-01 1.65812102e-02 -1.04064624e-02 -1.29231983e+02] [-1.04028583e-02 -3.03601621e-04 -9.99945843e-01 -1.80299906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.356559995 meters 0.017289475675559576 Centerline is valid? [True, True] Translation: X:84.14, Y:-129.23, Z:-1.80 [[-9.47588882e-02 9.95499997e-01 7.14112365e-04 8.41374441e+01] [ 9.95441127e-01 9.47610539e-02 -1.08307572e-02 -1.29231443e+02] [-1.08496888e-02 -3.15453692e-04 -9.99941091e-01 -1.80265501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.386559995 meters 0.01777629816813124 Centerline is valid? [True, True] Translation: X:84.14, Y:-129.23, Z:-1.80 [[-1.71945513e-01 9.85105198e-01 1.57794112e-03 8.41447979e+01] [ 9.85045368e-01 1.71952468e-01 -1.08615008e-02 -1.29232238e+02] [-1.09710517e-02 -3.13242730e-04 -9.99939767e-01 -1.80220782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.416559995 meters 0.017718939326979058 Centerline is valid? [True, True] Translation: X:84.15, Y:-129.23, Z:-1.80 [[-2.48105400e-01 9.68729832e-01 2.49476795e-03 8.41497633e+01] [ 9.68667238e-01 2.48117740e-01 -1.10167253e-02 -1.29231839e+02] [-1.12912266e-02 -3.16709040e-04 -9.99936202e-01 -1.80250191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.446559995 meters 0.01631645500267378 Centerline is valid? [True, True] Translation: X:84.15, Y:-129.23, Z:-1.80 [[-3.21205068e-01 9.47003650e-01 3.37495791e-03 8.41546236e+01] [ 9.46941330e-01 3.21222663e-01 -1.08682039e-02 -1.29230355e+02] [-1.13763417e-02 -2.95035039e-04 -9.99935244e-01 -1.80286797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.476559995 meters 0.01602732947733068 Centerline is valid? [True, True] Translation: X:84.16, Y:-129.23, Z:-1.80 [[-3.92961601e-01 9.19545151e-01 4.23039333e-03 8.41611110e+01] [ 9.19484025e-01 3.92984272e-01 -1.06060951e-02 -1.29229950e+02] [-1.14152613e-02 -2.78009001e-04 -9.99934805e-01 -1.80293365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.506559995 meters 0.014987773615840782 Centerline is valid? [True, True] Translation: X:84.16, Y:-129.23, Z:-1.80 [[-4.59707955e-01 8.88057244e-01 4.78825495e-03 8.41646582e+01] [ 8.88004132e-01 4.59732841e-01 -9.71477084e-03 -1.29229892e+02] [-1.08285907e-02 -2.13967255e-04 -9.99941346e-01 -1.80277871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.536559995 meters 0.015262815639142415 Centerline is valid? [True, True] Translation: X:84.17, Y:-129.23, Z:-1.80 [[-5.25352767e-01 8.50868032e-01 5.29745620e-03 8.41693123e+01] [ 8.50821396e-01 5.25379447e-01 -8.91010126e-03 -1.29229573e+02] [-1.03644949e-02 -1.73757274e-04 -9.99946272e-01 -1.80172862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.566559995 meters 0.013267509830279406 Centerline is valid? [True, True] Translation: X:84.17, Y:-129.23, Z:-1.80 [[-5.87583163e-01 8.09144818e-01 5.53982871e-03 8.41708300e+01] [ 8.09106787e-01 5.87609264e-01 -7.84605680e-03 -1.29230229e+02] [-9.60385087e-03 -1.27897870e-04 -9.99953874e-01 -1.80376519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.596559995 meters 0.012442745402527912 Centerline is valid? [True, True] Translation: X:84.17, Y:-129.23, Z:-1.81 [[-6.46231778e-01 7.63120304e-01 5.64723321e-03 8.41746568e+01] [ 7.63090034e-01 6.46256447e-01 -6.79742108e-03 -1.29228455e+02] [-8.83681091e-03 -8.33621231e-05 -9.99960951e-01 -1.80513911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.626559995 meters 0.012102141629667114 Centerline is valid? [True, True] Translation: X:84.18, Y:-129.23, Z:-1.81 [[-7.01083732e-01 7.13058234e-01 5.43647207e-03 8.41791048e+01] [ 7.13036336e-01 7.01104809e-01 -5.58844476e-03 -1.29225702e+02] [-7.79642327e-03 -4.15655840e-05 -9.99969607e-01 -1.80634707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.65655999499998 meters 0.011849496281120532 Centerline is valid? [True, True] Translation: X:84.18, Y:-129.22, Z:-1.81 [[-7.52599369e-01 6.58454784e-01 5.61143787e-03 8.41847032e+01] [ 6.58436332e-01 7.52620288e-01 -4.92939248e-03 -1.29223926e+02] [-7.46906405e-03 -1.50831018e-05 -9.99972106e-01 -1.80688222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.68655999499998 meters 0.012051398976712896 Centerline is valid? [True, True] Translation: X:84.21, Y:-129.21, Z:-1.81 [[-7.93858316e-01 6.08066504e-01 6.64082705e-03 8.42060847e+01] [ 6.08045527e-01 7.93886091e-01 -5.05085794e-03 -1.29210488e+02] [-8.34331775e-03 2.82596050e-05 -9.99965194e-01 -1.80609732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.71655999499998 meters 0.012271965501388815 Centerline is valid? [True, True] Translation: X:84.22, Y:-129.19, Z:-1.81 [[-8.33309814e-01 5.52753551e-01 7.63324575e-03 8.42229056e+01] [ 5.52730988e-01 8.33344772e-01 -4.99468361e-03 -1.29190301e+02] [-9.12195454e-03 5.70125873e-05 -9.99958392e-01 -1.80545243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.74655999499998 meters 0.012631264183782008 Centerline is valid? [True, True] Translation: X:84.24, Y:-129.17, Z:-1.80 [[-8.69023731e-01 4.94695984e-01 8.58133049e-03 8.42409879e+01] [ 4.94672859e-01 8.69066094e-01 -4.78405203e-03 -1.29170473e+02] [-9.82439470e-03 8.74965382e-05 -9.99951736e-01 -1.80464640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.77655999499999 meters 0.013061291415520003 Centerline is valid? [True, True] Translation: X:84.60, Y:-128.55, Z:-2.79 [[-8.44499936e-01 -5.35484228e-01 8.74644637e-03 8.45965393e+01] [ 5.35454786e-01 -8.44545226e-01 -5.61554979e-03 -1.28548813e+02] [ 1.03938079e-02 -5.90048681e-05 9.99945981e-01 -2.78688004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.806559995 meters 0.013919322569991371 Centerline is valid? [True, True] Translation: X:84.20, Y:-129.16, Z:-1.80 [[-8.68357380e-01 4.95843408e-01 9.73524766e-03 8.42030904e+01] [ 4.95814232e-01 8.68411936e-01 -5.38108431e-03 -1.29156397e+02] [-1.11223805e-02 1.54170074e-04 -9.99938133e-01 -1.80299142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.836559995 meters 0.01386901622339459 Centerline is valid? [True, True] Translation: X:84.21, Y:-129.13, Z:-1.80 [[-9.00921534e-01 4.33862790e-01 1.01719906e-02 8.42112360e+01] [ 4.33837202e-01 9.00978941e-01 -4.71489180e-03 -1.29129758e+02] [-1.12103654e-02 1.65240393e-04 -9.99937148e-01 -1.80354283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.866559995 meters 0.013689889216076704 Centerline is valid? [True, True] Translation: X:84.23, Y:-129.11, Z:-1.80 [[-9.29021954e-01 3.69882234e-01 1.02636206e-02 8.42309103e+01] [ 3.69861712e-01 9.29078631e-01 -3.90011471e-03 -1.29107605e+02] [-1.09782937e-02 1.72828083e-04 -9.99939722e-01 -1.80434250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.896559995 meters 0.013740992795161649 Centerline is valid? [True, True] Translation: X:84.49, Y:-128.43, Z:-2.79 [[-9.15575119e-01 -4.02022059e-01 1.00232208e-02 8.44935757e+01] [ 4.01995921e-01 -9.15629966e-01 -4.58744046e-03 -1.28430789e+02] [ 1.10218136e-02 -1.70852461e-04 9.99939243e-01 -2.78619486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.926559995 meters 0.014140219184124373 Centerline is valid? [True, True] Translation: X:84.19, Y:-129.09, Z:-1.80 [[-9.29669707e-01 3.68261638e-01 9.87937549e-03 8.41881148e+01] [ 3.68242978e-01 9.29722179e-01 -3.71188054e-03 -1.29093545e+02] [-1.05520177e-02 1.87187767e-04 -9.99944308e-01 -1.80449219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.956559995 meters 0.014191177843670695 Centerline is valid? [True, True] Translation: X:84.45, Y:-128.41, Z:-2.79 [[-9.17421677e-01 -3.97806522e-01 9.35080238e-03 8.44488504e+01] [ 3.97783636e-01 -9.17469308e-01 -4.27172567e-03 -1.28413417e+02] [ 1.02783945e-02 -1.99377558e-04 9.99947156e-01 -2.78629357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.986559995 meters 0.013966394530705485 Centerline is valid? [True, True] Translation: X:84.14, Y:-129.08, Z:-1.80 [[-9.31742255e-01 3.63002733e-01 9.24040817e-03 8.41409442e+01] [ 3.62986540e-01 9.31788061e-01 -3.43231693e-03 -1.29076194e+02] [-9.85604244e-03 1.56109071e-04 -9.99951416e-01 -1.80430358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.016559995 meters 0.013670164834261523 Centerline is valid? [True, True] Translation: X:84.15, Y:-129.05, Z:-1.80 [[-9.55654745e-01 2.94325182e-01 9.83339873e-03 8.41485667e+01] [ 2.94311147e-01 9.55705324e-01 -2.87785416e-03 -1.29048369e+02] [-1.02448565e-02 1.43843875e-04 -9.99947510e-01 -1.80442167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.046559995 meters 0.01285559539369331 Centerline is valid? [True, True] Translation: X:84.16, Y:-129.02, Z:-1.81 [[-9.74567981e-01 2.23876495e-01 9.82677096e-03 8.41588723e+01] [ 2.23866364e-01 9.74617515e-01 -2.13324749e-03 -1.29019908e+02] [-1.00549271e-02 1.20888785e-04 -9.99949441e-01 -1.80516234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.076559995 meters 0.012721533047250752 Centerline is valid? [True, True] Translation: X:84.16, Y:-128.99, Z:-1.80 [[-9.88370519e-01 1.51761915e-01 9.59366396e-03 8.41622922e+01] [ 1.51755682e-01 9.88417074e-01 -1.37858990e-03 -1.28990973e+02] [-9.69175871e-03 9.33354064e-05 -9.99953029e-01 -1.80499821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.106559995 meters 0.012378614285113299 Centerline is valid? [True, True] Translation: X:84.27, Y:-128.28, Z:-2.79 [[-9.79444509e-01 -2.01514379e-01 8.96709498e-03 8.42673775e+01] [ 2.01504787e-01 -9.79485549e-01 -1.96995807e-03 -1.28281072e+02] [ 9.18011482e-03 -1.22552052e-04 9.99957854e-01 -2.78577508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.136559995 meters 0.01183895661270243 Centerline is valid? [True, True] Translation: X:84.10, Y:-128.98, Z:-1.81 [[-9.90185948e-01 1.39509387e-01 8.30170571e-03 8.41023557e+01] [ 1.39504585e-01 9.90220748e-01 -1.15760327e-03 -1.28975814e+02] [-8.38201777e-03 1.18835215e-05 -9.99964870e-01 -1.80551829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.166559995 meters 0.011893495513230585 Centerline is valid? [True, True] Translation: X:84.20, Y:-128.28, Z:-2.79 [[-9.78460065e-01 -2.06281951e-01 7.97853158e-03 8.42037153e+01] [ 2.06274872e-01 -9.78492594e-01 -1.70919314e-03 -1.28279776e+02] [ 8.15950975e-03 -2.66066518e-05 9.99966710e-01 -2.78580565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.196559995 meters 0.012070241316251102 Centerline is valid? [True, True] Translation: X:84.04, Y:-128.96, Z:-1.81 [[-9.91608252e-01 1.29020859e-01 8.16653375e-03 8.40445727e+01] [ 1.29016137e-01 9.91641879e-01 -1.10460659e-03 -1.28963303e+02] [-8.24079416e-03 -4.17223719e-05 -9.99966043e-01 -1.80517125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.226559995 meters 0.012422150446249716 Centerline is valid? [True, True] Translation: X:84.14, Y:-128.28, Z:-2.79 [[-9.77934439e-01 -2.08743273e-01 8.39514195e-03 8.41440978e+01] [ 2.08736158e-01 -9.77970471e-01 -1.72470842e-03 -1.28276737e+02] [ 8.57022221e-03 6.57179188e-05 9.99963273e-01 -2.78568954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.256559995 meters 0.0134763083300652 Centerline is valid? [True, True] Translation: X:83.99, Y:-128.95, Z:-1.80 [[-9.93249353e-01 1.15691890e-01 8.43263471e-03 8.39884312e+01] [ 1.15686663e-01 9.93285141e-01 -1.10671344e-03 -1.28949392e+02] [-8.50404853e-03 -1.23699039e-04 -9.99963832e-01 -1.80451221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.286559995 meters 0.01369821807106241 Centerline is valid? [True, True] Translation: X:84.08, Y:-128.27, Z:-2.79 [[-9.76881902e-01 -2.13619358e-01 8.27767483e-03 8.40794281e+01] [ 2.13612721e-01 -9.76916965e-01 -1.68818570e-03 -1.28274001e+02] [ 8.44723011e-03 1.19058582e-04 9.99964314e-01 -2.78617239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.316559995 meters 0.01542733432952085 Centerline is valid? [True, True] Translation: X:83.93, Y:-128.94, Z:-1.80 [[-9.94297255e-01 1.06355577e-01 7.83965464e-03 8.39330600e+01] [ 1.06351025e-01 9.94328148e-01 -9.96429904e-04 -1.28937341e+02] [-7.90116516e-03 -1.56992213e-04 -9.99968773e-01 -1.80389714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.346559995 meters 0.015780873883149332 Centerline is valid? [True, True] Translation: X:83.93, Y:-128.91, Z:-1.80 [[-9.99474570e-01 3.15983687e-02 7.21992288e-03 8.39328409e+01] [ 3.15963035e-02 9.99500632e-01 -3.99960079e-04 -1.28908359e+02] [-7.22895557e-03 -1.71627053e-04 -9.99973856e-01 -1.80478883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.376559995 meters 0.016336924879893727 Centerline is valid? [True, True] Translation: X:83.93, Y:-128.88, Z:-1.80 [[-9.99150353e-01 -4.06246024e-02 6.94359996e-03 8.39299371e+01] [-4.06248220e-02 9.99174465e-01 1.09471542e-04 -1.28879331e+02] [-6.94231501e-03 -1.72703982e-04 -9.99975887e-01 -1.80483482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.40655999499998 meters 0.016419355125000666 Centerline is valid? [True, True] Translation: X:83.92, Y:-128.85, Z:-1.81 [[-9.93620283e-01 -1.12567646e-01 6.87442403e-03 8.39218958e+01] [-1.12566190e-01 9.93644048e-01 5.99540067e-04 -1.28851998e+02] [-6.89821933e-03 -1.78112551e-04 -9.99976191e-01 -1.80505679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.43655999499998 meters 0.01667040933220934 Centerline is valid? [True, True] Translation: X:83.91, Y:-128.82, Z:-1.81 [[-9.82982296e-01 -1.83577250e-01 6.72306296e-03 8.39137274e+01] [-1.83574199e-01 9.83005270e-01 1.07341906e-03 -1.28824918e+02] [-6.80586164e-03 -1.79028968e-04 -9.99976824e-01 -1.80509517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.46655999499998 meters 0.017895917539537166 Centerline is valid? [True, True] Translation: X:83.90, Y:-128.80, Z:-1.80 [[-9.67205993e-01 -2.53900856e-01 6.85004676e-03 8.38953792e+01] [-2.53895866e-01 9.67230231e-01 1.60296626e-03 -1.28798798e+02] [-7.03256682e-03 -1.88799985e-04 -9.99975253e-01 -1.80448331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.49655999499998 meters 0.016721679072016916 Centerline is valid? [True, True] Translation: X:83.87, Y:-128.78, Z:-1.80 [[-9.46425383e-01 -3.22848086e-01 6.93604415e-03 8.38667215e+01] [-3.22840919e-01 9.46450778e-01 2.15991943e-03 -1.28780247e+02] [-7.26195023e-03 -1.95036297e-04 -9.99973613e-01 -1.80459715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.52655999499999 meters 0.017384394287512303 Centerline is valid? [True, True] Translation: X:83.82, Y:-128.77, Z:-1.80 [[-9.20378567e-01 -3.90966703e-01 6.95198566e-03 8.38177946e+01] [-3.90957196e-01 9.20404800e-01 2.73392696e-03 -1.28766970e+02] [-7.46751538e-03 -2.01681044e-04 -9.99972097e-01 -1.80376632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.556559995 meters 0.01654525644078099 Centerline is valid? [True, True] Translation: X:83.76, Y:-128.77, Z:-1.80 [[-8.89369960e-01 -4.57133204e-01 7.09283188e-03 8.37563044e+01] [-4.57120521e-01 8.89398218e-01 3.41158894e-03 -1.28766046e+02] [-7.86790262e-03 -2.08114286e-04 -9.99969026e-01 -1.80361847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.586559995 meters 0.016283663741698873 Centerline is valid? [True, True] Translation: X:83.69, Y:-128.77, Z:-1.80 [[-8.53806034e-01 -5.20544383e-01 6.98577853e-03 8.36856385e+01] [-5.20528878e-01 8.53834588e-01 4.02282395e-03 -1.28773548e+02] [-8.05875775e-03 -2.01588096e-04 -9.99967507e-01 -1.80353770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.616559995 meters 0.015991121520493503 Centerline is valid? [True, True] Translation: X:83.61, Y:-128.79, Z:-1.80 [[-8.13452794e-01 -5.81597846e-01 6.20472067e-03 8.36083932e+01] [-5.81582572e-01 8.13476438e-01 4.21865688e-03 -1.28790664e+02] [-7.50095582e-03 -1.76879178e-04 -9.99971852e-01 -1.80364757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.646559995 meters 0.014848334047004454 Centerline is valid? [True, True] Translation: X:83.53, Y:-128.82, Z:-1.80 [[-7.69663203e-01 -6.38428894e-01 5.20586798e-03 8.35293104e+01] [-6.38415463e-01 7.69680797e-01 4.14342905e-03 -1.28819570e+02] [-6.65214144e-03 -1.34461734e-04 -9.99977865e-01 -1.80474235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.676559995 meters 0.014848334047004454 Centerline is valid? [True, True] Translation: X:83.44, Y:-128.86, Z:-1.80 [[-7.19395533e-01 -6.94583517e-01 4.87903698e-03 8.34447494e+01] [-6.94568798e-01 7.19412065e-01 4.52374936e-03 -1.28855905e+02] [-6.65215981e-03 -1.34461773e-04 -9.99977865e-01 -1.80474160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.706559995 meters 0.013845604913061593 Centerline is valid? [True, True] Translation: X:83.37, Y:-128.90, Z:-1.81 [[-6.66071872e-01 -7.45876303e-01 4.09916312e-03 8.33663314e+01] [-7.45863192e-01 6.66084476e-01 4.42382868e-03 -1.28900094e+02] [-6.03001789e-03 -1.10827041e-04 -9.99981813e-01 -1.80585058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.736559995 meters 0.014418431032460018 Centerline is valid? [True, True] Translation: X:83.28, Y:-128.96, Z:-1.81 [[-6.09246259e-01 -7.92973292e-01 3.51485210e-03 8.32809879e+01] [-7.92960953e-01 6.09256391e-01 4.42458713e-03 -1.28956868e+02] [-5.65002553e-03 -9.14773130e-05 -9.99984034e-01 -1.80572627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.766559995 meters 0.01324435659701056 Centerline is valid? [True, True] Translation: X:83.20, Y:-129.02, Z:-1.81 [[-5.49222964e-01 -8.35670581e-01 2.96905728e-03 8.32025364e+01] [-8.35659071e-01 5.49230985e-01 4.38652741e-03 -1.29023042e+02] [-5.29639016e-03 -7.19380659e-05 -9.99985971e-01 -1.80666198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.796559995 meters 0.012581520288959754 Centerline is valid? [True, True] Translation: X:83.13, Y:-129.10, Z:-1.81 [[-4.86361823e-01 -8.73753800e-01 2.54432467e-03 8.31256070e+01] [-8.73742425e-01 4.86368475e-01 4.45876011e-03 -1.29099952e+02] [-5.13333790e-03 -5.45137102e-05 -9.99986823e-01 -1.80700224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.826559995 meters 0.011723858223237722 Centerline is valid? [True, True] Translation: X:83.05, Y:-129.19, Z:-1.81 [[-4.24148127e-01 -9.05590174e-01 2.19149462e-03 8.30532525e+01] [-9.05578326e-01 4.24153788e-01 4.63256458e-03 -1.29191103e+02] [-5.12473571e-03 -1.96764387e-05 -9.99986868e-01 -1.80730932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.856559995 meters 0.011575709299658855 Centerline is valid? [True, True] Translation: X:82.99, Y:-129.28, Z:-1.81 [[-3.56712712e-01 -9.34212629e-01 1.67463666e-03 8.29894974e+01] [-9.34202349e-01 3.56716643e-01 4.38261314e-03 -1.29276006e+02] [-4.69166332e-03 -1.11567917e-06 -9.99988994e-01 -1.80723593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.886559995 meters 0.011748022966373525 Centerline is valid? [True, True] Translation: X:82.93, Y:-129.37, Z:-1.81 [[-2.87308891e-01 -9.57836985e-01 1.38249199e-03 8.29299186e+01] [-9.57825619e-01 2.87312216e-01 4.66631582e-03 -1.29373552e+02] [-4.86677671e-03 1.64877804e-05 -9.99988157e-01 -1.80732868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.916559995 meters 0.012170013207143367 Centerline is valid? [True, True] Translation: X:82.88, Y:-129.48, Z:-1.81 [[-2.16774917e-01 -9.76221090e-01 1.00911761e-03 8.28772639e+01] [-9.76209726e-01 2.16777263e-01 4.71063348e-03 -1.29479354e+02] [-4.81737350e-03 3.60367597e-05 -9.99988396e-01 -1.80724691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.946559995 meters 0.013961116235143506 Centerline is valid? [True, True] Translation: X:82.84, Y:-129.59, Z:-1.81 [[-1.48826831e-01 -9.88862989e-01 7.50988937e-04 8.28371998e+01] [-9.88847271e-01 1.48828701e-01 5.57603089e-03 -1.29588095e+02] [-5.62569928e-03 8.72496475e-05 -9.99984172e-01 -1.80662351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.976559995 meters 0.014001260845629561 Centerline is valid? [True, True] Translation: X:82.80, Y:-129.70, Z:-1.81 [[-7.61408561e-02 -9.97097012e-01 3.45512601e-04 8.27990797e+01] [-9.97078413e-01 7.61415465e-02 6.09128963e-03 -1.29702218e+02] [-6.09991455e-03 1.19292851e-04 -9.99981388e-01 -1.80738860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.006559995 meters 0.014915102122567052 Centerline is valid? [True, True] Translation: X:82.77, Y:-129.82, Z:-1.81 [[-2.54798746e-03 -9.99996746e-01 -1.28981931e-04 8.27715662e+01] [-9.99977176e-01 2.54713045e-03 6.25783047e-03 -1.29820017e+02] [-6.25748157e-03 1.44923860e-04 -9.99980411e-01 -1.80747816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.036559995 meters 0.016050052414297033 Centerline is valid? [True, True] Translation: X:82.75, Y:-129.94, Z:-1.81 [[ 7.15872027e-02 -9.97434136e-01 -6.44937027e-04 8.27531577e+01] [-9.97412539e-01 -7.15898983e-02 6.56602446e-03 -1.29939590e+02] [-6.59534792e-03 1.73224954e-04 -9.99978235e-01 -1.80764649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.066559995 meters 0.01690174954153787 Centerline is valid? [True, True] Translation: X:82.74, Y:-130.06, Z:-1.81 [[ 1.44620838e-01 -9.89486550e-01 -1.08661051e-03 8.27414948e+01] [-9.89467452e-01 -1.44624801e-01 6.15048791e-03 -1.30058859e+02] [-6.24297589e-03 1.85677019e-04 -9.99980495e-01 -1.80847333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.096559995 meters 0.017104504591961348 Centerline is valid? [True, True] Translation: X:82.74, Y:-130.18, Z:-1.81 [[ 2.19604122e-01 -9.75587882e-01 -1.52106448e-03 8.27376635e+01] [-9.75570026e-01 -2.19609310e-01 5.90556767e-03 -1.30178321e+02] [-6.09544017e-03 1.87017913e-04 -9.99981405e-01 -1.80859551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.126559995 meters 0.017142871232999533 Centerline is valid? [True, True] Translation: X:82.74, Y:-130.30, Z:-1.81 [[ 2.93797027e-01 -9.55865683e-01 -2.02556962e-03 8.27443400e+01] [-9.55847321e-01 -2.93803945e-01 5.92796456e-03 -1.30302360e+02] [-6.26145824e-03 1.94516930e-04 -9.99980378e-01 -1.80856862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.15655999499998 meters 0.017606480705065593 Centerline is valid? [True, True] Translation: X:82.76, Y:-130.42, Z:-1.81 [[ 3.66630257e-01 -9.30363266e-01 -2.53929895e-03 8.27583199e+01] [-9.30344574e-01 -3.66638997e-01 5.90075914e-03 -1.30421299e+02] [-6.42085556e-03 1.99026164e-04 -9.99979366e-01 -1.80862725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.18655999499998 meters 0.017746395491232907 Centerline is valid? [True, True] Translation: X:82.78, Y:-130.54, Z:-1.81 [[ 4.37562589e-01 -8.99182855e-01 -3.02895623e-03 8.27839893e+01] [-8.99164354e-01 -4.37573028e-01 5.77139130e-03 -1.30543150e+02] [-6.51492565e-03 1.98184553e-04 -9.99978758e-01 -1.80859392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.21655999499998 meters 0.017746395491232907 Centerline is valid? [True, True] Translation: X:82.82, Y:-130.66, Z:-1.81 [[ 5.05345981e-01 -8.62909870e-01 -3.46338876e-03 8.28165116e+01] [-8.62892227e-01 -5.05357810e-01 5.52165808e-03 -1.30656624e+02] [-6.51494382e-03 1.98183519e-04 -9.99978758e-01 -1.80859303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.24655999499998 meters 0.016900389661883352 Centerline is valid? [True, True] Translation: X:82.85, Y:-130.76, Z:-1.81 [[ 5.70721128e-01 -8.21135322e-01 -3.76524985e-03 8.28516043e+01] [-8.21119571e-01 -5.70733517e-01 5.08947509e-03 -1.30763233e+02] [-6.32810206e-03 1.87049379e-04 -9.99979960e-01 -1.80902354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.27655999499999 meters 0.01675685192919783 Centerline is valid? [True, True] Translation: X:82.90, Y:-130.87, Z:-1.81 [[ 6.33828672e-01 -7.73462893e-01 -4.04567434e-03 8.28975543e+01] [-7.73448790e-01 -6.33841561e-01 4.67382261e-03 -1.30871857e+02] [-6.17934491e-03 1.66719145e-04 -9.99980894e-01 -1.80918519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.306559995 meters 0.015636788319350996 Centerline is valid? [True, True] Translation: X:82.95, Y:-130.97, Z:-1.81 [[ 6.92515189e-01 -7.21389293e-01 -4.49457610e-03 8.29457320e+01] [-7.21375555e-01 -6.92529757e-01 4.45481437e-03 -1.30970846e+02] [-6.32628308e-03 1.57250707e-04 -9.99979977e-01 -1.80909453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.336559995 meters 0.014956143552844222 Centerline is valid? [True, True] Translation: X:82.94, Y:-130.98, Z:-1.81 [[ 7.48217639e-01 -6.63434834e-01 -4.95830791e-03 8.29380985e+01] [-6.63421560e-01 -7.48234054e-01 4.19937180e-03 -1.30982738e+02] [-6.49598437e-03 1.47404313e-04 -9.99978890e-01 -1.80919761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.366559995 meters 0.014145780877637003 Centerline is valid? [True, True] Translation: X:82.93, Y:-131.00, Z:-1.81 [[ 7.99523830e-01 -6.00608480e-01 -5.57668119e-03 8.29308509e+01] [-6.00595048e-01 -7.99543267e-01 4.01896561e-03 -1.30995783e+02] [-6.87262272e-03 1.36068331e-04 -9.99976374e-01 -1.80877007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.396559995 meters 0.014000781629874738 Centerline is valid? [True, True] Translation: X:82.93, Y:-131.01, Z:-1.81 [[ 8.45660649e-01 -5.33686884e-01 -6.03133004e-03 8.29254162e+01] [-5.33674304e-01 -8.45682149e-01 3.66621652e-03 -1.31007279e+02] [-7.05719981e-03 1.18390818e-04 -9.99975091e-01 -1.80808481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.426559995 meters 0.012506918561344125 Centerline is valid? [True, True] Translation: X:82.92, Y:-131.03, Z:-1.81 [[ 8.88065476e-01 -4.59672413e-01 -6.40186322e-03 8.29194696e+01] [-4.59661033e-01 -8.88088548e-01 3.23522779e-03 -1.31025372e+02] [-7.17256638e-03 6.95929518e-05 -9.99974274e-01 -1.80832351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.456559995 meters 0.012117248602817139 Centerline is valid? [True, True] Translation: X:82.92, Y:-131.04, Z:-1.81 [[ 9.22721769e-01 -3.85405290e-01 -6.87746978e-03 8.29164353e+01] [-3.85394946e-01 -9.22747398e-01 2.82409318e-03 -1.31038079e+02] [-7.43458780e-03 4.46898452e-05 -9.99972362e-01 -1.80831609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.486559995 meters 0.011837494908526171 Centerline is valid? [True, True] Translation: X:82.92, Y:-131.05, Z:-1.81 [[ 9.51253600e-01 -3.08330647e-01 -6.98575182e-03 8.29160644e+01] [-3.08322451e-01 -9.51279250e-01 2.24818950e-03 -1.31051593e+02] [-7.33858648e-03 1.52657653e-05 -9.99973072e-01 -1.80821962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.516559995 meters 0.011841790773846528 Centerline is valid? [True, True] Translation: X:82.92, Y:-131.06, Z:-1.81 [[ 9.73305271e-01 -2.29405236e-01 -7.07721008e-03 8.29163219e+01] [-2.29399080e-01 -9.73331001e-01 1.68058195e-03 -1.31063507e+02] [-7.27400227e-03 -1.22137928e-05 -9.99973544e-01 -1.80766770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.546559995 meters 0.011954652567079263 Centerline is valid? [True, True] Translation: X:82.92, Y:-131.08, Z:-1.81 [[ 9.88824165e-01 -1.48899211e-01 -7.46963474e-03 8.29182317e+01] [-1.48894649e-01 -9.88852377e-01 1.16619715e-03 -1.31075757e+02] [-7.56001190e-03 -4.09752747e-05 -9.99971422e-01 -1.80752012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.576559995 meters 0.012732048799528698 Centerline is valid? [True, True] Translation: X:82.92, Y:-131.09, Z:-1.81 [[ 9.97869260e-01 -6.47588615e-02 -7.95173947e-03 8.29181232e+01] [-6.47560595e-02 -9.97900938e-01 6.09606904e-04 -1.31091172e+02] [-7.97452572e-03 -9.33846760e-05 -9.99968199e-01 -1.80698469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.606559995 meters 0.013424230015530126 Centerline is valid? [True, True] Translation: X:82.92, Y:-131.10, Z:-1.81 [[ 9.99837122e-01 1.62042583e-02 -7.94676810e-03 8.29191257e+01] [ 1.62046530e-02 -9.99868696e-01 -1.47212948e-05 -1.31101435e+02] [-7.94596320e-03 -1.14055722e-04 -9.99968424e-01 -1.80681844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.636559995 meters 0.013736515151957706 Centerline is valid? [True, True] Translation: X:82.92, Y:-131.11, Z:-1.81 [[ 9.95317521e-01 9.63617765e-02 -7.57893159e-03 8.29218522e+01] [ 9.63599283e-02 -9.95346368e-01 -6.09500657e-04 -1.31110908e+02] [-7.60239460e-03 -1.23658621e-04 -9.99971094e-01 -1.80716215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.666559995 meters 0.013864612558303072 Centerline is valid? [True, True] Translation: X:82.93, Y:-131.12, Z:-1.81 [[ 9.84438450e-01 1.75583691e-01 -7.16278195e-03 8.29250023e+01] [ 1.75580001e-01 -9.84464499e-01 -1.14562630e-03 -1.31120474e+02] [-7.25265784e-03 -1.29842687e-04 -9.99973691e-01 -1.80754945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.696559995 meters 0.014599888336480892 Centerline is valid? [True, True] Translation: X:82.93, Y:-131.13, Z:-1.81 [[ 9.67355076e-01 2.53346550e-01 -6.29938142e-03 8.29289943e+01] [ 2.53342014e-01 -9.67375579e-01 -1.52116627e-03 -1.31131426e+02] [-6.47924998e-03 -1.24390062e-04 -9.99979002e-01 -1.80785063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.726559995 meters 0.01427533760024169 Centerline is valid? [True, True] Translation: X:82.93, Y:-131.14, Z:-1.81 [[ 9.44518927e-01 3.28398605e-01 -6.19305763e-03 8.29334807e+01] [ 3.28392417e-01 -9.44539221e-01 -2.01981202e-03 -1.31138967e+02] [-6.51288928e-03 -1.26002486e-04 -9.99978783e-01 -1.80833314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.756559995 meters 0.014331555087597661 Centerline is valid? [True, True] Translation: X:82.94, Y:-131.15, Z:-1.81 [[ 9.16040546e-01 4.01036745e-01 -6.26476933e-03 8.29394705e+01] [ 4.01028324e-01 -9.16061959e-01 -2.60205619e-03 -1.31146457e+02] [-6.78243701e-03 -1.28760976e-04 -9.99976991e-01 -1.80741912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.786559995 meters 0.014354488207934387 Centerline is valid? [True, True] Translation: X:82.94, Y:-131.15, Z:-1.81 [[ 8.82085700e-01 4.71038013e-01 -6.92881168e-03 8.29443147e+01] [ 4.71024755e-01 -8.82112901e-01 -3.53710405e-03 -1.31152129e+02] [-7.77810463e-03 -1.43612922e-04 -9.99969740e-01 -1.80662982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.816559995 meters 0.014325929460082232 Centerline is valid? [True, True] Translation: X:82.95, Y:-131.16, Z:-1.81 [[ 8.42836964e-01 5.38121812e-01 -7.12510237e-03 8.29501362e+01] [ 5.38104074e-01 -8.42867067e-01 -4.37179844e-03 -1.31155755e+02] [-8.35807424e-03 -1.49333286e-04 -9.99965060e-01 -1.80541679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.846559995 meters 0.013750090773872613 Centerline is valid? [True, True] Translation: X:82.96, Y:-131.16, Z:-1.80 [[ 7.98613135e-01 6.01794281e-01 -7.79131287e-03 8.29558098e+01] [ 6.01767640e-01 -7.98651123e-01 -5.66487058e-03 -1.31160073e+02] [-9.63162749e-03 -1.64519905e-04 -9.99953601e-01 -1.80489274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.876559995 meters 0.013576152650671825 Centerline is valid? [True, True] Translation: X:82.96, Y:-131.16, Z:-1.80 [[ 7.49580395e-01 6.61863159e-01 -8.14800990e-03 8.29627184e+01] [ 6.61826565e-01 -7.49624658e-01 -6.96205280e-03 -1.31164540e+02] [-1.07158754e-02 -1.73951108e-04 -9.99942568e-01 -1.80406048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.90655999499998 meters 0.013517751143410427 Centerline is valid? [True, True] Translation: X:82.97, Y:-131.17, Z:-1.80 [[ 6.96321389e-01 7.17683617e-01 -8.16996786e-03 8.29685616e+01] [ 7.17637127e-01 -6.96369295e-01 -8.17063984e-03 -1.31168661e+02] [-1.15532491e-02 -1.73680975e-04 -9.99933244e-01 -1.80325756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.93655999499998 meters 0.013017967765444923 Centerline is valid? [True, True] Translation: X:82.97, Y:-131.17, Z:-1.80 [[ 6.39894928e-01 7.68425933e-01 -7.48775214e-03 8.29731139e+01] [ 7.68375960e-01 -6.39938719e-01 -8.76471399e-03 -1.31170622e+02] [-1.15267360e-02 -1.44912707e-04 -9.99933554e-01 -1.80346961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.96655999499998 meters 0.01286809273744035 Centerline is valid? [True, True] Translation: X:82.98, Y:-131.17, Z:-1.80 [[ 5.79037326e-01 8.15273819e-01 -6.66145400e-03 8.29778820e+01] [ 8.15222332e-01 -5.79075629e-01 -9.16322411e-03 -1.31173773e+02] [-1.13280224e-02 -1.24717281e-04 -9.99935828e-01 -1.80359018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.99655999499998 meters 0.012584746385770553 Centerline is valid? [True, True] Translation: X:82.98, Y:-131.18, Z:-1.80 [[ 5.14452910e-01 8.57500026e-01 -5.64878690e-03 8.29831474e+01] [ 8.57450575e-01 -5.14483911e-01 -9.20958859e-03 -1.31176013e+02] [-1.08034324e-02 -1.05655927e-04 -9.99941636e-01 -1.80472878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.02655999499999 meters 0.012273798579487587 Centerline is valid? [True, True] Translation: X:82.99, Y:-131.18, Z:-1.81 [[ 4.46828097e-01 8.94608268e-01 -4.54953093e-03 8.29905069e+01] [ 8.94563826e-01 -4.46851250e-01 -8.91746807e-03 -1.31178868e+02] [-1.00106043e-02 -8.52705014e-05 -9.99949889e-01 -1.80584786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.056559995 meters 0.012148267163029221 Centerline is valid? [True, True] Translation: X:83.00, Y:-131.18, Z:-1.81 [[ 3.77266728e-01 9.26099509e-01 -3.08483466e-03 8.29961180e+01] [ 9.26069678e-01 -3.77279336e-01 -7.43336201e-03 -1.31181357e+02] [-8.04787727e-03 -5.24116779e-05 -9.99967614e-01 -1.80702589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.086559995 meters 0.012077523002433938 Centerline is valid? [True, True] Translation: X:83.00, Y:-131.18, Z:-1.81 [[ 3.04400066e-01 9.52541842e-01 -2.15397720e-03 8.30029353e+01] [ 9.52518902e-01 -3.04407684e-01 -6.61084060e-03 -1.31183594e+02] [-6.95278949e-03 -3.93636879e-05 -9.99975828e-01 -1.80775916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.116559995 meters 0.012070751392016691 Centerline is valid? [True, True] Translation: X:83.01, Y:-131.19, Z:-1.81 [[ 2.29347302e-01 9.73343278e-01 -1.63624351e-03 8.30097100e+01] [ 9.73319622e-01 -2.29353136e-01 -6.78619771e-03 -1.31185304e+02] [-6.98057751e-03 -3.61917738e-05 -9.99975635e-01 -1.80797314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.146559995 meters 0.011981842742428013 Centerline is valid? [True, True] Translation: X:83.02, Y:-131.19, Z:-1.81 [[ 1.52826471e-01 9.88252451e-01 -1.07877244e-03 8.30178726e+01] [ 9.88229321e-01 -1.52830274e-01 -6.76136300e-03 -1.31186266e+02] [-6.84680265e-03 -3.27593159e-05 -9.99976560e-01 -1.80777455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.176559995 meters 0.012134755408673816 Centerline is valid? [True, True] Translation: X:83.02, Y:-131.19, Z:-1.81 [[ 7.47289298e-02 9.97203704e-01 -5.99670005e-04 8.30243713e+01] [ 9.97175493e-01 -7.47313265e-02 -7.50100181e-03 -1.31188517e+02] [-7.52484093e-03 -3.74343947e-05 -9.99971687e-01 -1.80665150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.206559995 meters 0.01215951039939373 Centerline is valid? [True, True] Translation: X:83.03, Y:-131.19, Z:-1.81 [[-4.24651064e-03 9.99990983e-01 -1.13914001e-05 8.30337636e+01] [ 9.99957158e-01 4.24627330e-03 -8.22507675e-03 -1.31189085e+02] [-8.22495422e-03 -4.63187880e-05 -9.99966173e-01 -1.80663396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.236559995 meters 0.012332121293779613 Centerline is valid? [True, True] Translation: X:83.04, Y:-131.19, Z:-1.81 [[-8.34556319e-02 9.96511285e-01 6.44855366e-04 8.30427669e+01] [ 9.96476281e-01 8.34581054e-02 -8.35262539e-03 -1.31189739e+02] [-8.37730387e-03 -5.44905524e-05 -9.99964908e-01 -1.80621845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.266559995 meters 0.012823379774577388 Centerline is valid? [True, True] Translation: X:83.05, Y:-131.19, Z:-1.81 [[-1.64519349e-01 9.86372905e-01 1.36966610e-03 8.30494964e+01] [ 9.86334194e-01 1.64525027e-01 -8.73919431e-03 -1.31190714e+02] [-8.84544884e-03 -8.68180446e-05 -9.99960875e-01 -1.80613978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.296559995 meters 0.013207200429574881 Centerline is valid? [True, True] Translation: X:83.06, Y:-131.19, Z:-1.81 [[-2.43413367e-01 9.69920137e-01 2.20460996e-03 8.30568495e+01] [ 9.69876006e-01 2.43423324e-01 -9.25298369e-03 -1.31189500e+02] [-9.51130869e-03 -1.14101614e-04 -9.99954760e-01 -1.80594524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.326559995 meters 0.013982204209904295 Centerline is valid? [True, True] Translation: X:83.06, Y:-131.19, Z:-1.80 [[-3.20796701e-01 9.47143036e-01 3.08974215e-03 8.30643368e+01] [ 9.47094691e-01 3.20811548e-01 -9.57066062e-03 -1.31188687e+02] [-1.00560095e-02 -1.43957971e-04 -9.99949427e-01 -1.80490423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.356559995 meters 0.014066249129368828 Centerline is valid? [True, True] Translation: X:83.07, Y:-131.19, Z:-1.81 [[-3.96000173e-01 9.18242335e-01 3.85707881e-03 8.30716089e+01] [ 9.18194589e-01 3.96018921e-01 -9.36537461e-03 -1.31186103e+02] [-1.01271596e-02 -1.67141068e-04 -9.99948705e-01 -1.80508761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.386559995 meters 0.01537653263098437 Centerline is valid? [True, True] Translation: X:83.08, Y:-131.18, Z:-1.80 [[-4.70989055e-01 8.82127002e-01 4.61108048e-03 8.30800542e+01] [ 8.82080108e-01 4.71011576e-01 -9.09830146e-03 -1.31182907e+02] [-1.01977297e-02 -2.17858043e-04 -9.99947978e-01 -1.80454367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.416559995 meters 0.01617080690396857 Centerline is valid? [True, True] Translation: X:83.09, Y:-131.18, Z:-1.80 [[-5.40442964e-01 8.41365027e-01 5.12782196e-03 8.30867865e+01] [ 8.41323014e-01 5.40467240e-01 -8.41121776e-03 -1.31179156e+02] [-9.84832424e-03 -2.31628822e-04 -9.99951477e-01 -1.80434896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.446559995 meters 0.017036848707009996 Centerline is valid? [True, True] Translation: X:83.09, Y:-131.18, Z:-1.80 [[-6.06034483e-01 7.95417749e-01 5.72811650e-03 8.30930820e+01] [ 7.95378310e-01 6.06061502e-01 -7.92461604e-03 -1.31176583e+02] [-9.77497114e-03 -2.46570960e-04 -9.99952193e-01 -1.80418339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.476559995 meters 0.016837733447214738 Centerline is valid? [True, True] Translation: X:83.10, Y:-131.17, Z:-1.80 [[-6.67277755e-01 7.44784974e-01 5.97835004e-03 8.30976824e+01] [ 7.44751774e-01 6.67304491e-01 -7.03641442e-03 -1.31172476e+02] [-9.22999556e-03 -2.42856015e-04 -9.99957373e-01 -1.80499380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.506559995 meters 0.018469910026245092 Centerline is valid? [True, True] Translation: X:83.10, Y:-131.17, Z:-1.81 [[-7.24513574e-01 6.89235286e-01 5.89938337e-03 8.31030565e+01] [ 6.89209806e-01 7.24537554e-01 -5.93092820e-03 -1.31168265e+02] [-8.36212980e-03 -2.31125119e-04 -9.99965010e-01 -1.80542877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.536559995 meters 0.019155829860105486 Centerline is valid? [True, True] Translation: X:83.11, Y:-131.17, Z:-1.81 [[-7.76530407e-01 6.30050417e-01 6.08261246e-03 8.31053700e+01] [ 6.30028795e-01 7.76554197e-01 -5.22457488e-03 -1.31166823e+02] [-8.01522382e-03 -2.24820263e-04 -9.99967852e-01 -1.80567232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.566559995 meters 0.01902809716980076 Centerline is valid? [True, True] Translation: X:83.54, Y:-130.68, Z:-2.78 [[-6.92983213e-01 -7.20935575e-01 5.11504032e-03 8.35379124e+01] [ 7.20917570e-01 -6.93002073e-01 -5.09753126e-03 -1.30678438e+02] [ 7.21972517e-03 1.55018848e-04 9.99973925e-01 -2.78416420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.596559995 meters 0.019885671497389377 Centerline is valid? [True, True] Translation: X:83.07, Y:-131.14, Z:-1.81 [[-7.79435762e-01 6.26465357e-01 4.58801637e-03 8.30741399e+01] [ 6.26453167e-01 7.79449245e-01 -3.91194366e-03 -1.31143011e+02] [-6.02682308e-03 -1.74931404e-04 -9.99981823e-01 -1.80742196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.626559995 meters 0.020204469741187708 Centerline is valid? [True, True] Translation: X:83.09, Y:-131.12, Z:-1.81 [[-8.22154671e-01 5.69241213e-01 5.11264481e-03 8.30933134e+01] [ 5.69228767e-01 8.22170546e-01 -3.76879185e-03 -1.31122955e+02] [-6.34881762e-03 -1.88265320e-04 -9.99979828e-01 -1.80723211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.65655999499998 meters 0.018720348502289177 Centerline is valid? [True, True] Translation: X:83.10, Y:-131.10, Z:-1.81 [[-8.60705085e-01 5.09076403e-01 5.28884933e-03 8.31045818e+01] [ 5.09065427e-01 8.60721314e-01 -3.34829079e-03 -1.31100910e+02] [-6.25676117e-03 -1.89520576e-04 -9.99980408e-01 -1.80762055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.68655999499998 meters 0.018947464748241008 Centerline is valid? [True, True] Translation: X:83.11, Y:-131.07, Z:-1.81 [[-8.94941978e-01 4.46139593e-01 6.19032507e-03 8.31140535e+01] [ 4.46127217e-01 8.94963360e-01 -3.33025176e-03 -1.31074972e+02] [-7.02587129e-03 -2.18709602e-04 -9.99975294e-01 -1.80632883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.71655999499998 meters 0.018834697195246133 Centerline is valid? [True, True] Translation: X:83.13, Y:-131.05, Z:-1.81 [[-9.24272986e-01 3.81674103e-01 6.65784258e-03 8.31255830e+01] [ 3.81662422e-01 9.24296937e-01 -2.99465796e-03 -1.31050774e+02] [-7.29680690e-03 -2.26833132e-04 -9.99973352e-01 -1.80544974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.74655999499998 meters 0.01822018234970998 Centerline is valid? [True, True] Translation: X:83.14, Y:-131.03, Z:-1.81 [[-9.48924638e-01 3.15420315e-01 7.21498291e-03 8.31434136e+01] [ 3.15409287e-01 9.48952037e-01 -2.64821987e-03 -1.31029878e+02] [-7.68197508e-03 -2.37288469e-04 -9.99970465e-01 -1.80516381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.77655999499999 meters 0.018331044353021738 Centerline is valid? [True, True] Translation: X:83.15, Y:-131.00, Z:-1.81 [[-9.68555137e-01 2.48683017e-01 7.59624881e-03 8.31545580e+01] [ 2.48673408e-01 9.68584895e-01 -2.19942675e-03 -1.31004751e+02] [-7.90457194e-03 -2.41280999e-04 -9.99968729e-01 -1.80502237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.806559995 meters 0.018280106667759654 Centerline is valid? [True, True] Translation: X:83.16, Y:-130.98, Z:-1.81 [[-9.83523551e-01 1.80633016e-01 7.28965400e-03 8.31586093e+01] [ 1.80626406e-01 9.83550541e-01 -1.56059091e-03 -1.30979135e+02] [-7.45163737e-03 -2.18173906e-04 -9.99972212e-01 -1.80509040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.836559995 meters 0.017500751699111517 Centerline is valid? [True, True] Translation: X:83.17, Y:-130.95, Z:-1.81 [[-9.93786419e-01 1.11097633e-01 6.77272343e-03 8.31654683e+01] [ 1.11093712e-01 9.93809478e-01 -9.53609210e-04 -1.30954462e+02] [-6.83674046e-03 -1.95276896e-04 -9.99976610e-01 -1.80589018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.866559995 meters 0.01730953328844474 Centerline is valid? [True, True] Translation: X:83.16, Y:-130.93, Z:-1.81 [[-9.99139272e-01 4.09958785e-02 6.32869846e-03 8.31630848e+01] [ 4.09939368e-02 9.99159300e-01 -4.36277826e-04 -1.30927546e+02] [-6.34126352e-03 -1.76464044e-04 -9.99979878e-01 -1.80606761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.896559995 meters 0.01707987903827093 Centerline is valid? [True, True] Translation: X:83.17, Y:-130.90, Z:-1.81 [[-9.99555884e-01 -2.91875705e-02 6.01002494e-03 8.31652310e+01] [-2.91880135e-02 9.99573939e-01 1.39921577e-05 -1.30901044e+02] [-6.00787270e-03 -1.61434746e-04 -9.99981940e-01 -1.80641497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.926559995 meters 0.01776275341762014 Centerline is valid? [True, True] Translation: X:83.17, Y:-130.23, Z:-2.78 [[-9.95802910e-01 -9.13520897e-02 5.60006430e-03 8.31681191e+01] [ 9.13513502e-02 -9.95818648e-01 -3.88228539e-04 -1.30226654e+02] [ 5.61211395e-03 1.24974326e-04 9.99984244e-01 -2.78441810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.956559995 meters 0.01627562624502745 Centerline is valid? [True, True] Translation: X:83.10, Y:-130.90, Z:-1.81 [[-9.99468189e-01 -3.21660490e-02 5.35572495e-03 8.30963626e+01] [-3.21663043e-02 9.99482530e-01 3.84789752e-05 -1.30903803e+02] [-5.35419124e-03 -1.33815367e-04 -9.99985657e-01 -1.80672047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.986559995 meters 0.016742472421817936 Centerline is valid? [True, True] Translation: X:83.10, Y:-130.22, Z:-2.78 [[-9.96353309e-01 -8.51699218e-02 5.11555985e-03 8.30963594e+01] [ 8.51693808e-02 -9.96366434e-01 -3.23904407e-04 -1.30224367e+02] [ 5.12455904e-03 1.12965837e-04 9.99986863e-01 -2.78418916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.016559995 meters 0.016502629520926827 Centerline is valid? [True, True] Translation: X:83.02, Y:-130.90, Z:-1.81 [[-9.99330609e-01 -3.61964190e-02 5.30597653e-03 8.30245609e+01] [-3.61965925e-02 9.99344687e-01 6.33545178e-05 -1.30904091e+02] [-5.30479266e-03 -1.28746161e-04 -9.99985921e-01 -1.80625592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.046559995 meters 0.01594437257315013 Centerline is valid? [True, True] Translation: X:83.02, Y:-130.88, Z:-1.81 [[-9.94260798e-01 -1.06857978e-01 5.18063654e-03 8.30238087e+01] [-1.06857179e-01 9.94274287e-01 4.31678478e-04 -1.30877807e+02] [-5.19710199e-03 -1.24387217e-04 -9.99986487e-01 -1.80622751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.076559995 meters 0.01558097370188189 Centerline is valid? [True, True] Translation: X:83.01, Y:-130.85, Z:-1.81 [[-9.84261918e-01 -1.76640867e-01 5.14598556e-03 8.30137462e+01] [-1.76639091e-01 9.84275363e-01 8.01129595e-04 -1.30851644e+02] [-5.20657903e-03 -1.20460862e-04 -9.99986438e-01 -1.80551212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.106559995 meters 0.01558097370188189 Centerline is valid? [True, True] Translation: X:83.00, Y:-130.83, Z:-1.81 [[-9.69103813e-01 -2.46600972e-01 5.07551692e-03 8.29967557e+01] [-2.46598239e-01 9.69117096e-01 1.16721572e-03 -1.30826871e+02] [-5.20660674e-03 -1.20460333e-04 -9.99986438e-01 -1.80551171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.136559995 meters 0.017142186235929446 Centerline is valid? [True, True] Translation: X:82.97, Y:-130.80, Z:-1.80 [[-9.49119214e-01 -3.14868003e-01 5.55497220e-03 8.29653946e+01] [-3.14863406e-01 9.49135461e-01 1.70620908e-03 -1.30803877e+02] [-5.80965175e-03 -1.29661646e-04 -9.99983115e-01 -1.80418590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.166559995 meters 0.015475280420663146 Centerline is valid? [True, True] Translation: X:82.91, Y:-130.80, Z:-1.80 [[-9.24097932e-01 -3.82106595e-01 6.12877263e-03 8.29121090e+01] [-3.82099192e-01 9.24118245e-01 2.38263136e-03 -1.30796635e+02] [-6.57412976e-03 -1.40014354e-04 -9.99978380e-01 -1.80378268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.196559995 meters 0.015055910659072054 Centerline is valid? [True, True] Translation: X:82.86, Y:-130.79, Z:-1.80 [[-8.94045462e-01 -4.47931756e-01 6.31301202e-03 8.28597086e+01] [-4.47921665e-01 8.94067740e-01 3.00977064e-03 -1.30790585e+02] [-6.99243224e-03 -1.36863071e-04 -9.99975543e-01 -1.80333032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.226559995 meters 0.014183763478436221 Centerline is valid? [True, True] Translation: X:82.79, Y:-130.80, Z:-1.80 [[-8.60406215e-01 -5.09571313e-01 6.18244551e-03 8.27899575e+01] [-5.09559077e-01 8.60428420e-01 3.53300761e-03 -1.30799870e+02] [-7.11987115e-03 -1.10499520e-04 -9.99974647e-01 -1.80344877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.256559995 meters 0.013663411191655154 Centerline is valid? [True, True] Translation: X:82.71, Y:-130.82, Z:-1.80 [[-8.21494238e-01 -5.70189835e-01 5.54692235e-03 8.27051948e+01] [-5.70177548e-01 8.21512961e-01 3.74425598e-03 -1.30822602e+02] [-6.69180530e-03 -8.68458663e-05 -9.99977606e-01 -1.80400971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.286559995 meters 0.012470399786147043 Centerline is valid? [True, True] Translation: X:82.64, Y:-130.85, Z:-1.81 [[-7.79783846e-01 -6.26032918e-01 4.46526570e-03 8.26358264e+01] [-6.26022951e-01 7.79796630e-01 3.53273881e-03 -1.30846651e+02] [-5.69360993e-03 -4.05861532e-05 -9.99983790e-01 -1.80606396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.316559995 meters 0.012227298520355478 Centerline is valid? [True, True] Translation: X:82.55, Y:-130.89, Z:-1.81 [[-7.32690133e-01 -6.80551755e-01 3.80488846e-03 8.25507758e+01] [-6.80542710e-01 7.32700013e-01 3.50883429e-03 -1.30885402e+02] [-5.17578515e-03 -1.85008377e-05 -9.99986605e-01 -1.80584774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.346559995 meters 0.012081120054800977 Centerline is valid? [True, True] Translation: X:82.47, Y:-130.93, Z:-1.81 [[-6.81575037e-01 -7.31740877e-01 3.27998134e-03 8.24663633e+01] [-7.31732403e-01 6.81582929e-01 3.52157584e-03 -1.30934095e+02] [-4.81246028e-03 1.49555117e-07 -9.99988420e-01 -1.80638460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.376559995 meters 0.012198754423157468 Centerline is valid? [True, True] Translation: X:82.38, Y:-130.99, Z:-1.81 [[-6.26966855e-01 -7.79040352e-01 2.94819030e-03 8.23802649e+01] [-7.79031600e-01 6.26973787e-01 3.69280568e-03 -1.30994618e+02] [-4.72528268e-03 1.85333573e-05 -9.99988836e-01 -1.80627911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.40655999499998 meters 0.012510699266506057 Centerline is valid? [True, True] Translation: X:82.30, Y:-131.06, Z:-1.81 [[-5.68191982e-01 -8.22891870e-01 2.61554511e-03 8.22983175e+01] [-8.22882887e-01 5.68198001e-01 3.84521783e-03 -1.31060697e+02] [-4.65034600e-03 3.25346279e-05 -9.99989187e-01 -1.80629007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.43655999499998 meters 0.012825166919270296 Centerline is valid? [True, True] Translation: X:82.22, Y:-131.14, Z:-1.81 [[-5.05753153e-01 -8.62675846e-01 2.03313279e-03 8.22169650e+01] [-8.62668564e-01 5.05757238e-01 3.54478966e-03 -1.31138079e+02] [-4.08627604e-03 3.88688062e-05 -9.99991650e-01 -1.80668514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.46655999499998 meters 0.013595867070354315 Centerline is valid? [True, True] Translation: X:82.14, Y:-131.23, Z:-1.81 [[-4.42624498e-01 -8.96705964e-01 1.40255370e-03 8.21421559e+01] [-8.96701116e-01 4.42626718e-01 2.94910896e-03 -1.31225698e+02] [-3.26529133e-03 4.76764077e-05 -9.99994668e-01 -1.80768538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.49655999499998 meters 0.014613590594910637 Centerline is valid? [True, True] Translation: X:82.07, Y:-131.32, Z:-1.81 [[-3.75021481e-01 -9.27014935e-01 1.48266896e-03 8.20748043e+01] [-9.27006916e-01 3.75024405e-01 3.85660215e-03 -1.31317681e+02] [-4.13116483e-03 7.18642668e-05 -9.99991464e-01 -1.80689845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.52655999499999 meters 0.01582995632269152 Centerline is valid? [True, True] Translation: X:82.01, Y:-131.41, Z:-1.81 [[-3.07542104e-01 -9.51533101e-01 1.61594080e-03 8.20146091e+01] [-9.51517707e-01 3.07546323e-01 5.41405061e-03 -1.31413487e+02] [-5.64862502e-03 1.27452234e-04 -9.99984038e-01 -1.80573798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.556559995 meters 0.01635805515631528 Centerline is valid? [True, True] Translation: X:81.96, Y:-131.52, Z:-1.81 [[-2.35886365e-01 -9.71779801e-01 1.28081452e-03 8.19579973e+01] [-9.71761773e-01 2.35889794e-01 5.92134623e-03 -1.31522309e+02] [-6.05637573e-03 1.52118247e-04 -9.99981648e-01 -1.80566876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.586559995 meters 0.017020345924986385 Centerline is valid? [True, True] Translation: X:81.91, Y:-131.63, Z:-1.81 [[-1.63337308e-01 -9.86569961e-01 7.96826139e-04 8.19107222e+01] [-9.86552756e-01 1.63339168e-01 5.82896501e-03 -1.31629640e+02] [-5.88083470e-03 1.65976432e-04 -9.99982694e-01 -1.80537668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.616559995 meters 0.01917101265024598 Centerline is valid? [True, True] Translation: X:81.87, Y:-131.75, Z:-1.80 [[-8.95097522e-02 -9.95985887e-01 3.42817286e-04 8.18734219e+01] [-9.95968789e-01 8.95102253e-02 5.83872212e-03 -1.31745589e+02] [-5.84597048e-03 1.81187253e-04 -9.99982896e-01 -1.80491506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.646559995 meters 0.01895162447951301 Centerline is valid? [True, True] Translation: X:81.84, Y:-131.87, Z:-1.81 [[-1.71006567e-02 -9.99853768e-01 -9.75441277e-05 8.18396055e+01] [-9.99840007e-01 1.70999092e-02 5.24912631e-03 -1.31866091e+02] [-5.24669073e-03 1.87292028e-04 -9.99986219e-01 -1.80529513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.676559995 meters 0.019717810315629844 Centerline is valid? [True, True] Translation: X:81.82, Y:-131.99, Z:-1.81 [[ 5.86776261e-02 -9.98276876e-01 -4.62996538e-04 8.18176265e+01] [-9.98265264e-01 -5.86791783e-02 4.81838134e-03 -1.31985054e+02] [-4.83724693e-03 1.79462182e-04 -9.99988284e-01 -1.80531437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.706559995 meters 0.020966122662349755 Centerline is valid? [True, True] Translation: X:81.81, Y:-132.11, Z:-1.80 [[ 1.34371014e-01 -9.90930720e-01 -8.59667583e-04 8.18058584e+01] [-9.90918518e-01 -1.34373628e-01 4.92115133e-03 -1.32108368e+02] [-4.99203669e-03 1.90600434e-04 -9.99987522e-01 -1.80495586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.736559995 meters 0.020638129952522972 Centerline is valid? [True, True] Translation: X:81.80, Y:-132.23, Z:-1.81 [[ 2.09788779e-01 -9.77746058e-01 -1.14650546e-03 8.18006597e+01] [-9.77735775e-01 -2.09791835e-01 4.48779435e-03 -1.32229333e+02] [-4.62845072e-03 1.79490504e-04 -9.99989273e-01 -1.80512825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.766559995 meters 0.021065209268511655 Centerline is valid? [True, True] Translation: X:81.81, Y:-132.35, Z:-1.81 [[ 2.84570852e-01 -9.58653681e-01 -1.59668502e-03 8.18069796e+01] [-9.58642155e-01 -2.84575267e-01 4.70484836e-03 -1.32354500e+02] [-4.96469726e-03 1.91786861e-04 -9.99987657e-01 -1.80511267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.796559995 meters 0.019241234199792404 Centerline is valid? [True, True] Translation: X:81.82, Y:-132.48, Z:-1.81 [[ 3.59998265e-01 -9.32951224e-01 -1.80615997e-03 8.18159383e+01] [-9.32941679e-01 -3.60002758e-01 4.22348505e-03 -1.32477656e+02] [-4.59052811e-03 1.64594622e-04 -9.99989450e-01 -1.80551182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.826559995 meters 0.018247862057916477 Centerline is valid? [True, True] Translation: X:81.84, Y:-132.60, Z:-1.81 [[ 4.32848026e-01 -9.01464830e-01 -1.93535752e-03 8.18376309e+01] [-9.01457211e-01 -4.32852331e-01 3.70896859e-03 -1.32598999e+02] [-4.18122875e-03 1.39222262e-04 -9.99991249e-01 -1.80545752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.856559995 meters 0.017660651413518403 Centerline is valid? [True, True] Translation: X:81.87, Y:-132.71, Z:-1.81 [[ 5.03402719e-01 -8.64049275e-01 -2.13377521e-03 8.18664627e+01] [-8.64042512e-01 -5.03407226e-01 3.42086793e-03 -1.32713680e+02] [-4.02995631e-03 1.21598272e-04 -9.99991872e-01 -1.80531147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.886559995 meters 0.01617842203959096 Centerline is valid? [True, True] Translation: X:81.90, Y:-132.82, Z:-1.81 [[ 5.71294863e-01 -8.20740725e-01 -2.61576053e-03 8.19010629e+01] [-8.20733029e-01 -5.71300840e-01 3.55600822e-03 -1.32824670e+02] [-4.41294695e-03 1.15311838e-04 -9.99990256e-01 -1.80512506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.916559995 meters 0.014317997048519278 Centerline is valid? [True, True] Translation: X:81.95, Y:-132.94, Z:-1.80 [[ 6.39095185e-01 -7.69121578e-01 -3.05668774e-03 8.19469572e+01] [-7.69113375e-01 -6.39102489e-01 3.55302346e-03 -1.32943073e+02] [-4.68624375e-03 8.02192404e-05 -9.99989016e-01 -1.80489343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.946559995 meters 0.013206362836256048 Centerline is valid? [True, True] Translation: X:81.99, Y:-133.04, Z:-1.80 [[ 6.99307876e-01 -7.14812650e-01 -3.37195438e-03 8.19890524e+01] [-7.14804736e-01 -6.99316003e-01 3.36412382e-03 -1.33038109e+02] [-4.76277992e-03 5.77306693e-05 -9.99988656e-01 -1.80492545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.976559995 meters 0.012399972682079832 Centerline is valid? [True, True] Translation: X:81.98, Y:-133.05, Z:-1.81 [[ 7.56346791e-01 -6.54160642e-01 -3.65867808e-03 8.19810352e+01] [-6.54153207e-01 -7.56355639e-01 3.11909292e-03 -1.33053661e+02] [-4.80764963e-03 3.42200758e-05 -9.99988443e-01 -1.80540484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.006559995 meters 0.012055553986854645 Centerline is valid? [True, True] Translation: X:81.97, Y:-133.07, Z:-1.81 [[ 8.08064924e-01 -5.89082314e-01 -3.62012007e-03 8.19743681e+01] [-5.89076458e-01 -8.08073033e-01 2.62663618e-03 -1.33067772e+02] [-4.47262632e-03 1.00349416e-05 -9.99989998e-01 -1.80527411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.036559995 meters 0.012356297963903598 Centerline is valid? [True, True] Translation: X:81.97, Y:-133.09, Z:-1.80 [[ 8.56322950e-01 -5.16426962e-01 -3.76794021e-03 8.19677368e+01] [-5.16421810e-01 -8.56331240e-01 2.30708893e-03 -1.33088499e+02] [-4.41804784e-03 -2.97666915e-05 -9.99990240e-01 -1.80462393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.066559995 meters 0.01287727005730062 Centerline is valid? [True, True] Translation: X:81.97, Y:-133.10, Z:-1.80 [[ 8.95754173e-01 -4.44531112e-01 -4.06844463e-03 8.19659975e+01] [-4.44526282e-01 -8.95763411e-01 2.07284498e-03 -1.33103526e+02] [-4.56580792e-03 -4.82289744e-05 -9.99989575e-01 -1.80395722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.096559995 meters 0.013232278242575748 Centerline is valid? [True, True] Translation: X:81.97, Y:-133.12, Z:-1.80 [[ 9.29048166e-01 -3.69931742e-01 -4.47336860e-03 8.19665630e+01] [-3.69927100e-01 -9.29058934e-01 1.85441065e-03 -1.33118529e+02] [-4.84202842e-03 -6.80165405e-05 -9.99988275e-01 -1.80385954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.126559995 meters 0.013609719079096676 Centerline is valid? [True, True] Translation: X:81.97, Y:-133.13, Z:-1.80 [[ 9.55886290e-01 -2.93702365e-01 -4.50785723e-03 8.19688009e+01] [-2.93698709e-01 -9.55896916e-01 1.46755371e-03 -1.33133929e+02] [-4.74007083e-03 -7.88626246e-05 -9.99988763e-01 -1.80377136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.15655999499998 meters 0.015341553895661187 Centerline is valid? [True, True] Translation: X:81.97, Y:-133.15, Z:-1.80 [[ 9.76602321e-01 -2.15014705e-01 -4.07230120e-03 8.19698970e+01] [-2.15012481e-01 -9.76610808e-01 9.81320938e-04 -1.33151439e+02] [-4.18805179e-03 -8.27647210e-05 -9.99991227e-01 -1.80332536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.18655999499998 meters 0.014958333609385515 Centerline is valid? [True, True] Translation: X:81.98, Y:-133.16, Z:-1.80 [[ 9.90524401e-01 -1.37272531e-01 -4.20273400e-03 8.19758989e+01] [-1.37270922e-01 -9.90533313e-01 6.70455294e-04 -1.33160604e+02] [-4.25498313e-03 -8.71891571e-05 -9.99990944e-01 -1.80398437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.21655999499998 meters 0.014835866155394896 Centerline is valid? [True, True] Translation: X:81.98, Y:-133.17, Z:-1.80 [[ 9.98230114e-01 -5.92873735e-02 -4.65268833e-03 8.19813824e+01] [-5.92862819e-02 -9.98240952e-01 3.72306573e-04 -1.33170048e+02] [-4.66657711e-03 -9.58070406e-05 -9.99989107e-01 -1.80398901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.24655999499998 meters 0.014918879474380756 Centerline is valid? [True, True] Translation: X:81.98, Y:-133.18, Z:-1.80 [[ 9.99812644e-01 1.88078759e-02 -4.57612035e-03 8.19846762e+01] [ 1.88081030e-02 -9.99823112e-01 6.58726603e-06 -1.33178334e+02] [-4.57518700e-03 -9.26541746e-05 -9.99989530e-01 -1.80390412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.27655999499999 meters 0.01437275821878735 Centerline is valid? [True, True] Translation: X:81.99, Y:-133.19, Z:-1.80 [[ 9.95406910e-01 9.56041944e-02 -4.99223982e-03 8.19889009e+01] [ 9.56034667e-02 -9.95419424e-01 -3.84745360e-04 -1.33186859e+02] [-5.00615576e-03 -9.42972439e-05 -9.99987465e-01 -1.80305331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.306559995 meters 0.014064789692961379 Centerline is valid? [True, True] Translation: X:81.99, Y:-133.19, Z:-1.80 [[ 9.85008595e-01 1.72415673e-01 -5.55916424e-03 8.19941382e+01] [ 1.72413507e-01 -9.85024277e-01 -8.70239427e-04 -1.33194600e+02] [-5.62595465e-03 -1.01281687e-04 -9.99984169e-01 -1.80237456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.336559995 meters 0.013702230876691585 Centerline is valid? [True, True] Translation: X:82.00, Y:-133.20, Z:-1.80 [[ 9.68713055e-01 2.48104169e-01 -6.27198470e-03 8.20000837e+01] [ 2.48099702e-01 -9.68733353e-01 -1.49275440e-03 -1.33202528e+02] [-6.44623936e-03 -1.10026866e-04 -9.99979217e-01 -1.80212691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.366559995 meters 0.013247733696657353 Centerline is valid? [True, True] Translation: X:82.01, Y:-133.21, Z:-1.80 [[ 9.47233548e-01 3.20463989e-01 -7.17196126e-03 8.20053194e+01] [ 3.20455658e-01 -9.47260693e-01 -2.31323881e-03 -1.33208234e+02] [-7.53502673e-03 -1.07118164e-04 -9.99971606e-01 -1.80085386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.396559995 meters 0.012977394416554726 Centerline is valid? [True, True] Translation: X:82.01, Y:-133.21, Z:-1.80 [[ 9.19951888e-01 3.91956812e-01 -7.64079509e-03 8.20107633e+01] [ 3.91944215e-01 -9.19983612e-01 -3.14409733e-03 -1.33213581e+02] [-8.26175663e-03 -1.02347157e-04 -9.99965866e-01 -1.80010976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.426559995 meters 0.012196888456674949 Centerline is valid? [True, True] Translation: X:82.01, Y:-133.21, Z:-1.80 [[ 8.89757519e-01 4.56358821e-01 -8.25733528e-03 8.20134707e+01] [ 4.56339671e-01 -8.89795833e-01 -4.18095991e-03 -1.33213683e+02] [-9.25536046e-03 -4.81091542e-05 -9.99957167e-01 -1.79952744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.456559995 meters 0.011998062036913497 Centerline is valid? [True, True] Translation: X:82.02, Y:-133.22, Z:-1.80 [[ 8.52905311e-01 5.22005960e-01 -7.89352177e-03 8.20180419e+01] [ 5.21983821e-01 -8.52941837e-01 -4.80765915e-03 -1.33215101e+02] [-9.24234169e-03 -1.98126287e-05 -9.99957288e-01 -1.79952293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.486559995 meters 0.012154099517810529 Centerline is valid? [True, True] Translation: X:82.02, Y:-133.21, Z:-1.80 [[ 8.13214142e-01 5.81909071e-01 -8.03692829e-03 8.20195690e+01] [ 5.81880129e-01 -8.13253854e-01 -5.80387564e-03 -1.33212533e+02] [-9.91339079e-03 4.32648843e-05 -9.99950860e-01 -1.79974589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.516559995 meters 0.012154099517810529 Centerline is valid? [True, True] Translation: X:82.02, Y:-133.22, Z:-1.80 [[ 7.65160806e-01 6.43794858e-01 -7.55787934e-03 8.20249753e+01] [ 6.43762895e-01 -7.65198130e-01 -6.41531147e-03 -1.33215899e+02] [-9.91341968e-03 4.32626154e-05 -9.99950860e-01 -1.79974563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.546559995 meters 0.012154099517810529 Centerline is valid? [True, True] Translation: X:82.03, Y:-133.22, Z:-1.80 [[ 7.12412082e-01 7.01726136e-01 -7.03244905e-03 8.20305240e+01] [ 7.01691349e-01 -7.12446790e-01 -6.98734516e-03 -1.33218923e+02] [-9.91344847e-03 4.32604504e-05 -9.99950860e-01 -1.79974537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.576559995 meters 0.012782466148793501 Centerline is valid? [True, True] Translation: X:82.03, Y:-133.22, Z:-1.80 [[ 6.60422970e-01 7.50863214e-01 -6.77754109e-03 8.20339128e+01] [ 7.50821855e-01 -6.60457736e-01 -7.88168110e-03 -1.33219571e+02] [-1.03943438e-02 1.16517263e-04 -9.99945971e-01 -1.80068231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.606559995 meters 0.014115503209150013 Centerline is valid? [True, True] Translation: X:82.04, Y:-133.22, Z:-1.80 [[ 6.02248710e-01 7.98285707e-01 -6.03508666e-03 8.20370612e+01] [ 7.98243137e-01 -6.02278929e-01 -8.24537066e-03 -1.33221878e+02] [-1.02169671e-02 1.48297336e-04 -9.99947794e-01 -1.79982303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.636559995 meters 0.014314211867865615 Centerline is valid? [True, True] Translation: X:82.04, Y:-133.22, Z:-1.80 [[ 5.40682772e-01 8.41209001e-01 -5.43662998e-03 8.20425438e+01] [ 8.41163003e-01 -5.40710073e-01 -8.79883311e-03 -1.33223759e+02] [-1.03412982e-02 1.84285478e-04 -9.99946510e-01 -1.80075068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.666559995 meters 0.015057388237298108 Centerline is valid? [True, True] Translation: X:82.05, Y:-133.23, Z:-1.80 [[ 4.75941707e-01 8.79464568e-01 -4.64375025e-03 8.20470435e+01] [ 8.79418257e-01 -4.75964313e-01 -9.02780371e-03 -1.33225350e+02] [-1.01498929e-02 2.12909561e-04 -9.99948466e-01 -1.80103458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.696559995 meters 0.018921620096659302 Centerline is valid? [True, True] Translation: X:82.05, Y:-133.23, Z:-1.80 [[ 4.11616251e-01 9.11349007e-01 -3.87932665e-03 8.20450414e+01] [ 9.11302002e-01 -4.11634438e-01 -9.26013929e-03 -1.33225016e+02] [-1.00360832e-02 2.76385675e-04 -9.99949599e-01 -1.80059170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.726559995 meters 0.016792164262339492 Centerline is valid? [True, True] Translation: X:82.06, Y:-133.23, Z:-1.80 [[ 3.42202692e-01 9.39621414e-01 -2.98580826e-03 8.20570927e+01] [ 9.39577778e-01 -3.42215591e-01 -9.06023145e-03 -1.33229837e+02] [-9.53497763e-03 2.95036498e-04 -9.99954498e-01 -1.80259571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.756559995 meters 0.018439426921844092 Centerline is valid? [True, True] Translation: X:82.06, Y:-133.23, Z:-1.80 [[ 2.70504703e-01 9.62716036e-01 -2.24484432e-03 8.20626132e+01] [ 9.62672365e-01 -2.70513827e-01 -9.17531076e-03 -1.33232546e+02] [-9.44048024e-03 3.20915122e-04 -9.99955386e-01 -1.80274437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.786559995 meters 0.018955045970321657 Centerline is valid? [True, True] Translation: X:82.07, Y:-133.24, Z:-1.80 [[ 2.00023047e-01 9.79790143e-01 -1.43423756e-03 8.20702356e+01] [ 9.79750704e-01 -2.00027875e-01 -8.79815465e-03 -1.33235092e+02] [-8.90723270e-03 3.54638444e-04 -9.99960267e-01 -1.80430717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.816559995 meters 0.020658938287375098 Centerline is valid? [True, True] Translation: X:82.08, Y:-133.24, Z:-1.80 [[ 1.24829817e-01 9.92177921e-01 -7.00197331e-04 8.20774454e+01] [ 9.92142437e-01 -1.24831279e-01 -8.39865310e-03 -1.33238145e+02] [-8.42036469e-03 3.53706839e-04 -9.99964486e-01 -1.80435609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.846559995 meters 0.021012091234522863 Centerline is valid? [True, True] Translation: X:82.09, Y:-133.24, Z:-1.80 [[ 4.84916990e-02 9.98823585e-01 -4.10035220e-05 8.20863653e+01] [ 9.98786602e-01 -4.84902568e-02 -8.60336021e-03 -1.33240337e+02] [-8.59522735e-03 3.76237785e-04 -9.99962990e-01 -1.80459730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.876559995 meters 0.022498412673566167 Centerline is valid? [True, True] Translation: X:82.09, Y:-133.24, Z:-1.80 [[-2.87397138e-02 9.99586724e-01 6.41160070e-04 8.20938272e+01] [ 9.99548992e-01 2.87442054e-02 -8.69384732e-03 -1.33243083e+02] [-8.70868399e-03 3.91012218e-04 -9.99962002e-01 -1.80443972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.90655999499998 meters 0.02252437322458559 Centerline is valid? [True, True] Translation: X:82.10, Y:-133.24, Z:-1.80 [[-1.06666618e-01 9.94293982e-01 1.30781900e-03 8.21024481e+01] [ 9.94257420e-01 1.06673923e-01 -8.53567208e-03 -1.33243821e+02] [-8.62647756e-03 3.89837469e-04 -9.99962715e-01 -1.80464648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.93655999499998 meters 0.02229308143375753 Centerline is valid? [True, True] Translation: X:82.11, Y:-133.24, Z:-1.80 [[-1.85855189e-01 9.82575024e-01 2.04241150e-03 8.21120130e+01] [ 9.82536536e-01 1.85866004e-01 -8.70534685e-03 -1.33243924e+02] [-8.93327125e-03 3.88810039e-04 -9.99960022e-01 -1.80466104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.96655999499998 meters 0.021810903679693173 Centerline is valid? [True, True] Translation: X:82.12, Y:-133.24, Z:-1.80 [[-2.64238183e-01 9.64453703e-01 2.69010304e-03 8.21213581e+01] [ 9.64416932e-01 2.64251621e-01 -8.42988219e-03 -1.33243393e+02] [-8.84109519e-03 3.66884165e-04 -9.99960849e-01 -1.80456782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.99655999499998 meters 0.020848784154909934 Centerline is valid? [True, True] Translation: X:82.13, Y:-133.24, Z:-1.80 [[-3.41200797e-01 9.39984452e-01 3.35355795e-03 8.21315185e+01] [ 9.39948562e-01 3.41217100e-01 -8.22135053e-03 -1.33241567e+02] [-8.87223299e-03 3.47040627e-04 -9.99960581e-01 -1.80452928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.02655999499999 meters 0.020848784154909934 Centerline is valid? [True, True] Translation: X:82.14, Y:-133.24, Z:-1.80 [[-4.13786173e-01 9.10365369e-01 3.98730877e-03 8.21396917e+01] [ 9.10330866e-01 4.13805238e-01 -7.93339848e-03 -1.33240273e+02] [-8.87226048e-03 3.47039658e-04 -9.99960581e-01 -1.80452904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.056559995 meters 0.02047167018197786 Centerline is valid? [True, True] Translation: X:82.15, Y:-133.24, Z:-1.80 [[-4.86489424e-01 8.73673581e-01 4.74498353e-03 8.21486043e+01] [ 8.73638447e-01 4.86512451e-01 -7.84211976e-03 -1.33237949e+02] [-9.15994642e-03 3.30291719e-04 -9.99957992e-01 -1.80435061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.086559995 meters 0.016930793851511 Centerline is valid? [True, True] Translation: X:82.16, Y:-133.23, Z:-1.80 [[-5.59975598e-01 8.28490403e-01 5.56618744e-03 8.21638001e+01] [ 8.28454153e-01 5.60003197e-01 -7.75480173e-03 -1.33229474e+02] [-9.54186157e-03 2.68831365e-04 -9.99954439e-01 -1.80433718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.116559995 meters 0.015479197659292135 Centerline is valid? [True, True] Translation: X:82.18, Y:-133.22, Z:-1.80 [[-6.26540139e-01 7.79362015e-01 6.50409444e-03 8.21752573e+01] [ 7.79323944e-01 6.26573852e-01 -7.70708556e-03 -1.33220737e+02] [-1.00819052e-02 2.39998072e-04 -9.99949148e-01 -1.80431687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.146559995 meters 0.01455962136164978 Centerline is valid? [True, True] Translation: X:82.18, Y:-133.21, Z:-1.80 [[-6.88972210e-01 7.24750371e-01 7.36164678e-03 8.21846217e+01] [ 7.24712097e-01 6.89011509e-01 -7.45097973e-03 -1.33212390e+02] [-1.04723597e-02 2.01556506e-04 -9.99945143e-01 -1.80385779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.176559995 meters 0.01361915919521839 Centerline is valid? [True, True] Translation: X:82.19, Y:-133.20, Z:-1.80 [[-7.46664133e-01 6.65151209e-01 8.15735388e-03 8.21929894e+01] [ 6.65113817e-01 7.46708674e-01 -7.05450198e-03 -1.33203066e+02] [-1.07834774e-02 1.58225172e-04 -9.99941844e-01 -1.80352975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.206559995 meters 0.01286697530554523 Centerline is valid? [True, True] Translation: X:82.21, Y:-133.18, Z:-1.80 [[-7.94829959e-01 6.06771004e-01 8.61892737e-03 8.22091749e+01] [ 6.06736770e-01 7.94876681e-01 -6.44626427e-03 -1.33175391e+02] [-1.07623906e-02 1.05736184e-04 -9.99942078e-01 -1.80391566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.236559995 meters 0.011953053263571375 Centerline is valid? [True, True] Translation: X:82.22, Y:-133.14, Z:-1.80 [[-8.40697891e-01 5.41440152e-01 8.34374739e-03 8.22249163e+01] [ 5.41413587e-01 8.40739295e-01 -5.36338622e-03 -1.33142519e+02] [-9.91886894e-03 8.43072586e-06 -9.99950807e-01 -1.80493285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.266559995 meters 0.01201499928826051 Centerline is valid? [True, True] Translation: X:82.56, Y:-132.62, Z:-2.79 [[-8.00738376e-01 -5.98968764e-01 7.38063717e-03 8.25572276e+01] [ 5.98942733e-01 -8.00772388e-01 -5.58439389e-03 -1.32620417e+02] [ 9.25508795e-03 -5.10594967e-05 9.99957169e-01 -2.78520131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.296559995 meters 0.012779010432322317 Centerline is valid? [True, True] Translation: X:82.19, Y:-133.11, Z:-1.81 [[-8.48898916e-01 5.28510311e-01 6.89075129e-03 8.21881203e+01] [ 5.28492049e-01 8.48926878e-01 -4.39432456e-03 -1.33107166e+02] [-8.17218981e-03 -8.86300902e-05 -9.99966603e-01 -1.80567272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.326559995 meters 0.013286473697119295 Centerline is valid? [True, True] Translation: X:82.20, Y:-133.08, Z:-1.81 [[-8.85717643e-01 4.64168845e-01 7.17914399e-03 8.21995698e+01] [ 4.64152532e-01 8.85746730e-01 -3.89330906e-03 -1.33078661e+02] [-8.16605609e-03 -1.16154661e-04 -9.99966650e-01 -1.80587761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.356559995 meters 0.01397257386782541 Centerline is valid? [True, True] Translation: X:82.21, Y:-133.05, Z:-1.81 [[-9.17496230e-01 3.97682868e-01 7.00024794e-03 8.22099293e+01] [ 3.97670199e-01 9.17522926e-01 -3.17702476e-03 -1.33050333e+02] [-7.68633629e-03 -1.31118243e-04 -9.99970451e-01 -1.80588637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.386559995 meters 0.01459749470286001 Centerline is valid? [True, True] Translation: X:82.45, Y:-132.51, Z:-2.78 [[-8.71040236e-01 -4.91163330e-01 6.89132893e-03 8.24544899e+01] [ 4.91149251e-01 -8.71067485e-01 -3.72165976e-03 -1.32514263e+02] [ 7.83075536e-03 1.42955641e-04 9.99969329e-01 -2.78476566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.416559995 meters 0.01586040516895168 Centerline is valid? [True, True] Translation: X:82.17, Y:-133.03, Z:-1.81 [[-9.21950227e-01 3.87252248e-01 6.59360427e-03 8.21698078e+01] [ 3.87240952e-01 9.21973787e-01 -2.96320114e-03 -1.33027191e+02] [-7.22663660e-03 -1.78610371e-04 -9.99973872e-01 -1.80633442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.446559995 meters 0.01726448684775978 Centerline is valid? [True, True] Translation: X:82.18, Y:-133.00, Z:-1.81 [[-9.47734204e-01 3.18987218e-01 6.85813038e-03 8.21768383e+01] [ 3.18977366e-01 9.47758997e-01 -2.51466378e-03 -1.32997142e+02] [-7.30200037e-03 -1.95644510e-04 -9.99973321e-01 -1.80596730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.476559995 meters 0.019426763976708786 Centerline is valid? [True, True] Translation: X:82.18, Y:-132.97, Z:-1.81 [[-9.68410546e-01 2.49265089e-01 6.92308491e-03 8.21815363e+01] [ 2.49257195e-01 9.68435271e-01 -1.99433459e-03 -1.32965708e+02] [-7.20167760e-03 -2.05705919e-04 -9.99974046e-01 -1.80531136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.506559995 meters 0.018741011199960387 Centerline is valid? [True, True] Translation: X:82.18, Y:-132.94, Z:-1.81 [[-9.83905188e-01 1.78545711e-01 7.21185832e-03 8.21818922e+01] [ 1.78539264e-01 9.83931593e-01 -1.53337247e-03 -1.32938393e+02] [-7.36975232e-03 -2.21093252e-04 -9.99972819e-01 -1.80579694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.536559995 meters 0.01975184096435037 Centerline is valid? [True, True] Translation: X:82.18, Y:-132.91, Z:-1.81 [[-9.94259397e-01 1.06702336e-01 7.92858387e-03 8.21770358e+01] [ 1.06696913e-01 9.94290977e-01 -1.10513325e-03 -1.32908892e+02] [-8.00123970e-03 -2.52833697e-04 -9.99967958e-01 -1.80532316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.566559995 meters 0.018901499195547174 Centerline is valid? [True, True] Translation: X:82.17, Y:-132.88, Z:-1.81 [[-9.99329690e-01 3.57948989e-02 7.67439815e-03 8.21713913e+01] [ 3.57919760e-02 9.99359128e-01 -5.17907457e-04 -1.32882726e+02] [-7.68801829e-03 -2.42878423e-04 -9.99970417e-01 -1.80558390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.596559995 meters 0.0187368629307094 Centerline is valid? [True, True] Translation: X:82.17, Y:-132.86, Z:-1.81 [[-9.99354072e-01 -3.50210539e-02 8.06003501e-03 8.21706958e+01] [-3.50219492e-02 9.99386543e-01 3.00742988e-05 -1.32856523e+02] [-8.05614376e-03 -2.52223264e-04 -9.99967517e-01 -1.80502755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.626559995 meters 0.019322198127647978 Centerline is valid? [True, True] Translation: X:82.17, Y:-132.28, Z:-2.79 [[-9.95507659e-01 -9.43003191e-02 8.48241615e-03 8.21659873e+01] [ 9.42994107e-02 -9.95543753e-01 -5.07863901e-04 -1.32282395e+02] [ 8.49250813e-03 2.94304442e-04 9.99963895e-01 -2.78632976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.65655999499998 meters 0.01734854745283072 Centerline is valid? [True, True] Translation: X:82.10, Y:-132.86, Z:-1.80 [[-9.99312231e-01 -3.58331686e-02 9.54193458e-03 8.21013125e+01] [-3.58340494e-02 9.99357751e-01 7.86949243e-05 -1.32861993e+02] [-9.53862617e-03 -2.63285355e-04 -9.99954472e-01 -1.80403294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.68655999499998 meters 0.016874173312555404 Centerline is valid? [True, True] Translation: X:82.10, Y:-132.84, Z:-1.80 [[-9.94411854e-01 -1.05127682e-01 9.65582795e-03 8.20976105e+01] [-1.05125164e-01 9.94458701e-01 7.69376700e-04 -1.32836783e+02] [-9.68320490e-03 -2.49993187e-04 -9.99953085e-01 -1.80344960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.71655999499998 meters 0.016417270739934365 Centerline is valid? [True, True] Translation: X:82.09, Y:-132.81, Z:-1.80 [[-9.84789889e-01 -1.73472806e-01 9.80098106e-03 8.20863545e+01] [-1.73466570e-01 9.84838632e-01 1.48931095e-03 -1.32812740e+02] [-9.91073972e-03 -2.33484207e-04 -9.99950860e-01 -1.80298432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.74655999499998 meters 0.015137531672183123 Centerline is valid? [True, True] Translation: X:82.07, Y:-132.79, Z:-1.80 [[-9.70549469e-01 -2.40703870e-01 9.76596785e-03 8.20689945e+01] [-2.40693834e-01 9.70598580e-01 2.20785805e-03 -1.32792303e+02] [-1.00102745e-02 -2.07772782e-04 -9.99949874e-01 -1.80329529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.77655999499999 meters 0.013501391331578903 Centerline is valid? [True, True] Translation: X:82.04, Y:-132.78, Z:-1.80 [[-9.52578237e-01 -3.04143014e-01 9.57754060e-03 8.20420373e+01] [-3.04129169e-01 9.52626373e-01 2.90562428e-03 -1.32779552e+02] [-1.00075431e-02 -1.44975011e-04 -9.99949913e-01 -1.80414071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.806559995 meters 0.012782243969374486 Centerline is valid? [True, True] Translation: X:81.99, Y:-132.77, Z:-1.80 [[-9.29005848e-01 -3.69952752e-01 9.11572067e-03 8.19919306e+01] [-3.69936105e-01 9.29050563e-01 3.51126630e-03 -1.32772354e+02] [-9.76796805e-03 -1.10247270e-04 -9.99952286e-01 -1.80497141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.836559995 meters 0.012481099186450595 Centerline is valid? [True, True] Translation: X:81.93, Y:-132.77, Z:-1.80 [[-9.00628809e-01 -4.34496001e-01 8.99851908e-03 8.19289041e+01] [-4.34475214e-01 9.00673758e-01 4.25085473e-03 -1.32773145e+02] [-9.95170938e-03 -8.11912661e-05 -9.99950477e-01 -1.80481515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.866559995 meters 0.012092256556910513 Centerline is valid? [True, True] Translation: X:81.86, Y:-132.78, Z:-1.81 [[-8.67640410e-01 -4.97127065e-01 8.04986110e-03 8.18616033e+01] [-4.97106137e-01 8.67677751e-01 4.56174374e-03 -1.32781552e+02] [-9.25245165e-03 -4.36821466e-05 -9.99957194e-01 -1.80556429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.896559995 meters 0.011979065703839623 Centerline is valid? [True, True] Translation: X:81.79, Y:-132.80, Z:-1.81 [[-8.29810125e-01 -5.57993664e-01 7.63066852e-03 8.17854112e+01] [-5.57970250e-01 8.29845209e-01 5.11173965e-03 -1.32800336e+02] [-9.18459205e-03 -1.59127041e-05 -9.99957821e-01 -1.80595105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.926559995 meters 0.012081014329149327 Centerline is valid? [True, True] Translation: X:81.71, Y:-132.83, Z:-1.81 [[-7.88736751e-01 -6.14689986e-01 7.11051180e-03 8.17081040e+01] [-6.14664655e-01 7.88768800e-01 5.58042859e-03 -1.32830440e+02] [-9.03878343e-03 3.09088239e-05 -9.99959149e-01 -1.80640306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.956559995 meters 0.012280184689002433 Centerline is valid? [True, True] Translation: X:81.62, Y:-132.87, Z:-1.81 [[-7.41804165e-01 -6.70582463e-01 6.76316513e-03 8.16233473e+01] [-6.70553940e-01 7.41834993e-01 6.18519156e-03 -1.32870180e+02] [-9.16483355e-03 5.31338397e-05 -9.99958001e-01 -1.80649225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.986559995 meters 0.012536717109878687 Centerline is valid? [True, True] Translation: X:81.54, Y:-132.92, Z:-1.81 [[-6.90604509e-01 -7.23207117e-01 6.07280145e-03 8.15390715e+01] [-7.23178241e-01 6.90631205e-01 6.46303817e-03 -1.32919080e+02] [-8.86818139e-03 7.16854315e-05 -9.99960674e-01 -1.80683799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.016559995 meters 0.013228315729906516 Centerline is valid? [True, True] Translation: X:81.46, Y:-132.98, Z:-1.81 [[-6.37126978e-01 -7.70739303e-01 5.48999135e-03 8.14571809e+01] [-7.70709191e-01 6.37150621e-01 6.81382524e-03 -1.32979466e+02] [-8.74963432e-03 1.10085093e-04 -9.99961715e-01 -1.80699067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.046559995 meters 0.0136916096844796 Centerline is valid? [True, True] Translation: X:81.37, Y:-133.05, Z:-1.81 [[-5.77909187e-01 -8.16085154e-01 5.09823950e-03 8.13734948e+01] [-8.16051418e-01 5.77931661e-01 7.42152890e-03 -1.33048962e+02] [-9.00303358e-03 1.28544167e-04 -9.99959464e-01 -1.80664881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.076559995 meters 0.014027873078161064 Centerline is valid? [True, True] Translation: X:81.29, Y:-133.13, Z:-1.81 [[-5.15471387e-01 -8.56894259e-01 4.63446758e-03 8.12941972e+01] [-8.56856994e-01 5.15492199e-01 7.99277638e-03 -1.33125974e+02] [-9.23799608e-03 1.48971559e-04 -9.99957318e-01 -1.80669976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.106559995 meters 0.014810182982979245 Centerline is valid? [True, True] Translation: X:81.22, Y:-133.21, Z:-1.81 [[-4.51597592e-01 -8.92213161e-01 3.91029153e-03 8.12234213e+01] [-8.92176216e-01 4.51614485e-01 8.12138416e-03 -1.33209610e+02] [-9.01195013e-03 1.78928431e-04 -9.99959376e-01 -1.80725670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.136559995 meters 0.01529885161225693 Centerline is valid? [True, True] Translation: X:81.15, Y:-133.30, Z:-1.81 [[-3.83408067e-01 -9.23573366e-01 3.23914606e-03 8.11538014e+01] [-9.23536059e-01 3.83421701e-01 8.30344124e-03 -1.33304821e+02] [-8.91079607e-03 1.92138167e-04 -9.99960280e-01 -1.80740064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.166559995 meters 0.015672396080675024 Centerline is valid? [True, True] Translation: X:81.09, Y:-133.41, Z:-1.81 [[-3.12705181e-01 -9.49846814e-01 2.54944999e-03 8.10906669e+01] [-9.49809774e-01 3.12715509e-01 8.39075096e-03 -1.33406211e+02] [-8.76718062e-03 2.02338785e-04 -9.99961547e-01 -1.80763464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.196559995 meters 0.016549858010802256 Centerline is valid? [True, True] Translation: X:81.04, Y:-133.51, Z:-1.81 [[-2.40306558e-01 -9.70695162e-01 1.91339246e-03 8.10368492e+01] [-9.70656744e-01 2.40314076e-01 8.63886035e-03 -1.33509477e+02] [-8.84551509e-03 2.18727509e-04 -9.99960854e-01 -1.80753371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.226559995 meters 0.017576786256090663 Centerline is valid? [True, True] Translation: X:80.99, Y:-133.62, Z:-1.81 [[-1.68751956e-01 -9.85657950e-01 1.08764130e-03 8.09913190e+01] [-9.85628145e-01 1.68755315e-01 7.66833645e-03 -1.33622746e+02] [-7.74190203e-03 2.22036901e-04 -9.99970006e-01 -1.80827070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.256559995 meters 0.017941896927662265 Centerline is valid? [True, True] Translation: X:80.95, Y:-133.74, Z:-1.81 [[-9.43428339e-02 -9.95539657e-01 4.69613204e-04 8.09524812e+01] [-9.95512486e-01 9.43437302e-02 7.35875078e-03 -1.33738007e+02] [-7.37023329e-03 2.26739595e-04 -9.99972814e-01 -1.80876249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.286559995 meters 0.018517657021424532 Centerline is valid? [True, True] Translation: X:80.92, Y:-133.86, Z:-1.81 [[-1.93653334e-02 -9.99812470e-01 -9.42626404e-05 8.09224478e+01] [-9.99788064e-01 1.93642017e-02 6.98959884e-03 -1.33855057e+02] [-6.98646276e-03 2.29598575e-04 -9.99975568e-01 -1.80926913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.316559995 meters 0.018169831236616765 Centerline is valid? [True, True] Translation: X:80.90, Y:-133.97, Z:-1.81 [[ 5.58041046e-02 -9.98441536e-01 -6.33986346e-04 8.09001452e+01] [-9.98417180e-01 -5.58071743e-02 6.97808558e-03 -1.33973848e+02] [-7.00259147e-03 2.43577042e-04 -9.99975452e-01 -1.80995537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.346559995 meters 0.018444657568285523 Centerline is valid? [True, True] Translation: X:80.89, Y:-134.10, Z:-1.81 [[ 1.31127934e-01 -9.91364809e-01 -1.13155961e-03 8.08884371e+01] [-9.91342327e-01 -1.31132586e-01 6.68093930e-03 -1.34099029e+02] [-6.77163245e-03 2.45705167e-04 -9.99977042e-01 -1.81034812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.376559995 meters 0.01964551899336284 Centerline is valid? [True, True] Translation: X:80.89, Y:-134.22, Z:-1.81 [[ 2.05143200e-01 -9.78730353e-01 -1.77879736e-03 8.08860509e+01] [-9.78704526e-01 -2.05150719e-01 7.11574337e-03 -1.34218220e+02] [-7.32931558e-03 2.81170666e-04 -9.99973101e-01 -1.80960761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.40655999499998 meters 0.021093916404714606 Centerline is valid? [True, True] Translation: X:80.89, Y:-134.34, Z:-1.81 [[ 2.79526561e-01 -9.60134323e-01 -2.64267810e-03 8.08933349e+01] [-9.60101704e-01 -2.79538866e-01 7.92086258e-03 -1.34339356e+02] [-8.34382327e-03 3.23148272e-04 -9.99965138e-01 -1.80863761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.43655999499998 meters 0.020401248249184975 Centerline is valid? [True, True] Translation: X:80.91, Y:-134.46, Z:-1.81 [[ 3.52484384e-01 -9.35811054e-01 -3.52565545e-03 8.09060837e+01] [-9.35773751e-01 -3.52501841e-01 8.36294136e-03 -1.34458882e+02] [-9.06893301e-03 3.51409593e-04 -9.99958815e-01 -1.80820120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.46655999499998 meters 0.01998158008380168 Centerline is valid? [True, True] Translation: X:80.93, Y:-134.58, Z:-1.81 [[ 4.23725893e-01 -9.05780651e-01 -4.21668816e-03 8.09285429e+01] [-9.05743774e-01 -4.23746727e-01 8.18092779e-03 -1.34577176e+02] [-9.19693390e-03 3.52768109e-04 -9.99957645e-01 -1.80794573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.49655999499998 meters 0.019951824967111644 Centerline is valid? [True, True] Translation: X:80.96, Y:-134.70, Z:-1.81 [[ 4.92981497e-01 -8.70025603e-01 -4.96933354e-03 8.09604918e+01] [-8.69988375e-01 -4.93006417e-01 8.05609066e-03 -1.34695586e+02] [-9.45891845e-03 3.51758780e-04 -9.99955202e-01 -1.80794957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.52655999499999 meters 0.019177481069623227 Centerline is valid? [True, True] Translation: X:81.00, Y:-134.80, Z:-1.81 [[ 5.58700978e-01 -8.29351262e-01 -5.44994287e-03 8.09961120e+01] [-8.29317566e-01 -5.58727456e-01 7.48361395e-03 -1.34803611e+02] [-9.25157739e-03 3.38630921e-04 -9.99957146e-01 -1.80856349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.556559995 meters 0.019022614454622618 Centerline is valid? [True, True] Translation: X:81.04, Y:-134.91, Z:-1.81 [[ 6.20677234e-01 -7.84043321e-01 -5.98674424e-03 8.10404676e+01] [-7.84011940e-01 -6.20706016e-01 7.02277810e-03 -1.34908469e+02] [-9.22217043e-03 3.34800480e-04 -9.99957419e-01 -1.80904995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.586559995 meters 0.01856469317480641 Centerline is valid? [True, True] Translation: X:81.09, Y:-135.01, Z:-1.81 [[ 6.78880925e-01 -7.34223977e-01 -5.98682697e-03 8.10887019e+01] [-7.34199322e-01 -6.78907253e-01 6.02470860e-03 -1.35005840e+02] [-8.48798576e-03 3.05464552e-04 -9.99963930e-01 -1.80973874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.616559995 meters 0.019199890119953236 Centerline is valid? [True, True] Translation: X:81.14, Y:-135.10, Z:-1.81 [[ 7.33276472e-01 -6.79905892e-01 -5.79602677e-03 8.11436430e+01] [-6.79887507e-01 -7.33299329e-01 5.00715455e-03 -1.35097997e+02] [-7.65461642e-03 2.69017569e-04 -9.99970667e-01 -1.81021016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.646559995 meters 0.018804890605786242 Centerline is valid? [True, True] Translation: X:81.14, Y:-135.11, Z:-1.81 [[ 7.84376136e-01 -6.20257784e-01 -5.86161616e-03 8.11384268e+01] [-6.20242850e-01 -7.84397996e-01 4.31163969e-03 -1.35108579e+02] [-7.27216805e-03 2.53678239e-04 -9.99973525e-01 -1.81038278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.676559995 meters 0.018499714935521272 Centerline is valid? [True, True] Translation: X:81.13, Y:-135.12, Z:-1.81 [[ 8.30758543e-01 -5.56599223e-01 -6.12771747e-03 8.11335864e+01] [-5.56586257e-01 -8.30781105e-01 3.80723117e-03 -1.35119883e+02] [-7.20989380e-03 2.47713506e-04 -9.99973978e-01 -1.81054265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.706559995 meters 0.019480558212198962 Centerline is valid? [True, True] Translation: X:81.13, Y:-135.13, Z:-1.81 [[ 8.72001659e-01 -4.89460742e-01 -6.42567262e-03 8.11299928e+01] [-4.89449499e-01 -8.72025299e-01 3.32648726e-03 -1.35128659e+02] [-7.23153401e-03 2.44339843e-04 -9.99973822e-01 -1.80986311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.736559995 meters 0.018839356120347702 Centerline is valid? [True, True] Translation: X:81.13, Y:-135.14, Z:-1.81 [[ 9.08308771e-01 -4.18243987e-01 -6.86610609e-03 8.11279266e+01] [-4.18234010e-01 -9.08334691e-01 2.89863850e-03 -1.35140688e+02] [-7.44906047e-03 2.38780310e-04 -9.99972227e-01 -1.80862649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.766559995 meters 0.01796230987966357 Centerline is valid? [True, True] Translation: X:81.13, Y:-135.15, Z:-1.81 [[ 9.38594389e-01 -3.44933337e-01 -7.84636947e-03 8.11268819e+01] [-3.44923551e-01 -9.38627150e-01 2.61085931e-03 -1.35152928e+02] [-8.26538783e-03 2.55859719e-04 -9.99965808e-01 -1.80839730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.796559995 meters 0.018207680160685222 Centerline is valid? [True, True] Translation: X:81.13, Y:-135.16, Z:-1.81 [[ 9.63066898e-01 -2.69134937e-01 -8.27858983e-03 8.11263083e+01] [-2.69127233e-01 -9.63102446e-01 2.05189441e-03 -1.35162321e+02] [-8.52536659e-03 2.51882387e-04 -9.99963627e-01 -1.80770529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.826559995 meters 0.01677087025992538 Centerline is valid? [True, True] Translation: X:81.13, Y:-135.18, Z:-1.81 [[ 9.81805077e-01 -1.89691243e-01 -8.71911571e-03 8.11257262e+01] [-1.89685854e-01 -9.81843765e-01 1.44855283e-03 -1.35176006e+02] [-8.83558718e-03 2.31696386e-04 -9.99960939e-01 -1.80733036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.856559995 meters 0.01622660578376386 Centerline is valid? [True, True] Translation: X:81.12, Y:-135.19, Z:-1.81 [[ 9.93803859e-01 -1.10757946e-01 -9.30416894e-03 8.11240628e+01] [-1.10755266e-01 -9.93847385e-01 8.04446192e-04 -1.35187193e+02] [-9.33602277e-03 2.31023973e-04 -9.99956392e-01 -1.80698410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.886559995 meters 0.015915875892385765 Centerline is valid? [True, True] Translation: X:81.12, Y:-135.20, Z:-1.81 [[ 9.99465615e-01 -3.12416223e-02 -9.61488686e-03 8.11236678e+01] [-3.12423401e-02 -9.99511836e-01 7.55661805e-05 -1.35197586e+02] [-9.61255403e-03 2.24865767e-04 -9.99953773e-01 -1.80654449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.916559995 meters 0.015915875892385765 Centerline is valid? [True, True] Translation: X:81.12, Y:-135.21, Z:-1.81 [[ 9.98842774e-01 4.71287454e-02 -9.59131032e-03 8.11238442e+01] [ 4.71244100e-02 -9.98888798e-01 -6.77632914e-04 -1.35205959e+02] [-9.61258842e-03 2.24863900e-04 -9.99953773e-01 -1.80654417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.946559995 meters 0.01608628940592293 Centerline is valid? [True, True] Translation: X:81.12, Y:-135.21, Z:-1.81 [[ 9.91949355e-01 1.26270367e-01 -9.60577442e-03 8.11239632e+01] [ 1.26262332e-01 -9.91995841e-01 -1.44076377e-03 -1.35214575e+02] [-9.71081404e-03 2.16317211e-04 -9.99952826e-01 -1.80591732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.976559995 meters 0.015126553640636817 Centerline is valid? [True, True] Translation: X:81.13, Y:-135.23, Z:-1.81 [[ 9.78730899e-01 2.04920933e-01 -9.65601388e-03 8.11271832e+01] [ 2.04908872e-01 -9.78778508e-01 -2.23284442e-03 -1.35226503e+02] [-9.90865542e-03 2.06750915e-04 -9.99950887e-01 -1.80591536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.006559995 meters 0.01472430049116074 Centerline is valid? [True, True] Translation: X:81.13, Y:-135.24, Z:-1.81 [[ 9.59532286e-01 2.81436949e-01 -9.54125508e-03 8.11314149e+01] [ 2.81420923e-01 -9.59579701e-01 -3.01024674e-03 -1.35237513e+02] [-1.00027894e-02 2.03320130e-04 -9.99949950e-01 -1.80617236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.036559995 meters 0.015114817774736694 Centerline is valid? [True, True] Translation: X:81.13, Y:-135.25, Z:-1.81 [[ 9.34428501e-01 3.56044920e-01 -8.68277660e-03 8.11347806e+01] [ 3.56027686e-01 -9.34468822e-01 -3.50806721e-03 -1.35246258e+02] [-9.36281354e-03 1.86729125e-04 -9.99956150e-01 -1.80593464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.066559995 meters 0.014542977388135318 Centerline is valid? [True, True] Translation: X:81.14, Y:-135.26, Z:-1.81 [[ 9.03558276e-01 4.28390213e-01 -8.01672107e-03 8.11403677e+01] [ 4.28371618e-01 -9.03593822e-01 -3.99529969e-03 -1.35257235e+02] [-8.95540692e-03 1.75850324e-04 -9.99959884e-01 -1.80646628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.096559995 meters 0.014419860155495201 Centerline is valid? [True, True] Translation: X:81.15, Y:-135.27, Z:-1.81 [[ 8.66671116e-01 4.98823897e-01 -7.47643151e-03 8.11471828e+01] [ 4.98803729e-01 -8.66703348e-01 -4.48837219e-03 -1.35266560e+02] [-8.71875553e-03 1.60670615e-04 -9.99961978e-01 -1.80639142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.126559995 meters 0.014249067700096393 Centerline is valid? [True, True] Translation: X:81.15, Y:-135.28, Z:-1.81 [[ 8.24501291e-01 5.65815083e-01 -7.13539178e-03 8.11542207e+01] [ 5.65792267e-01 -8.24532151e-01 -5.08348436e-03 -1.35275568e+02] [-8.75967205e-03 1.54189922e-04 -9.99961621e-01 -1.80645942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.15655999499998 meters 0.01405858672687505 Centerline is valid? [True, True] Translation: X:81.16, Y:-135.28, Z:-1.81 [[ 7.76882189e-01 6.29610401e-01 -6.69385500e-03 8.11616178e+01] [ 6.29585438e-01 -7.76911013e-01 -5.60835904e-03 -1.35283411e+02] [-8.73161085e-03 1.42680608e-04 -9.99961869e-01 -1.80601808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.18655999499998 meters 0.01356611644547252 Centerline is valid? [True, True] Translation: X:81.17, Y:-135.29, Z:-1.81 [[ 7.22917396e-01 6.90901114e-01 -6.78900563e-03 8.11701813e+01] [ 6.90869029e-01 -7.22949262e-01 -6.65950233e-03 -1.35291119e+02] [-9.50916419e-03 1.23956352e-04 -9.99954779e-01 -1.80539059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.21655999499998 meters 0.013182181697376675 Centerline is valid? [True, True] Translation: X:81.18, Y:-135.30, Z:-1.81 [[ 6.64932322e-01 7.46876939e-01 -6.31225827e-03 8.11796931e+01] [ 7.46841795e-01 -6.64962275e-01 -7.24607822e-03 -1.35297948e+02] [-9.60934234e-03 1.03893323e-04 -9.99953824e-01 -1.80559676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.24655999499998 meters 0.012851378548298306 Centerline is valid? [True, True] Translation: X:81.19, Y:-135.30, Z:-1.81 [[ 6.02579017e-01 7.98038288e-01 -5.78096086e-03 8.11903541e+01] [ 7.98000241e-01 -6.02606741e-01 -7.79301920e-03 -1.35304330e+02] [-9.70277369e-03 8.27016863e-05 -9.99952924e-01 -1.80572353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.27655999499999 meters 0.01276105338037933 Centerline is valid? [True, True] Translation: X:81.20, Y:-135.31, Z:-1.80 [[ 5.35981765e-01 8.44213423e-01 -5.21960100e-03 8.11995921e+01] [ 8.44172351e-01 -5.36007177e-01 -8.32758755e-03 -1.35310482e+02] [-9.82800479e-03 5.71922273e-05 -9.99951702e-01 -1.80498764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.306559995 meters 0.012458016283778737 Centerline is valid? [True, True] Translation: X:81.21, Y:-135.32, Z:-1.81 [[ 4.63232132e-01 8.86223717e-01 -4.84922662e-03 8.12122214e+01] [ 8.86175129e-01 -4.63257513e-01 -9.27998392e-03 -1.35316432e+02] [-1.04705825e-02 1.52271367e-06 -9.99945182e-01 -1.80532300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.336559995 meters 0.012567020020339034 Centerline is valid? [True, True] Translation: X:81.22, Y:-135.32, Z:-1.80 [[ 3.89673180e-01 9.20943885e-01 -4.14412916e-03 8.12219439e+01] [ 9.20892622e-01 -3.89695214e-01 -9.71696802e-03 -1.35321044e+02] [-1.05637296e-02 -2.98561419e-05 -9.99944202e-01 -1.80460262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.366559995 meters 0.012570731652476649 Centerline is valid? [True, True] Translation: X:81.23, Y:-135.32, Z:-1.81 [[ 3.13968863e-01 9.49427599e-01 -3.28430513e-03 8.12320232e+01] [ 9.49377473e-01 -3.13986036e-01 -9.75615489e-03 -1.35323188e+02] [-1.02939887e-02 -5.49164533e-05 -9.99947014e-01 -1.80506886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.396559995 meters 0.013394200596878863 Centerline is valid? [True, True] Translation: X:81.24, Y:-135.33, Z:-1.80 [[ 2.33829757e-01 9.72273976e-01 -2.63811695e-03 8.12419568e+01] [ 9.72217390e-01 -2.33844612e-01 -1.04901783e-02 -1.35326102e+02] [-1.08162368e-02 -1.11907329e-04 -9.99941497e-01 -1.80460262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.426559995 meters 0.013591715156061892 Centerline is valid? [True, True] Translation: X:81.25, Y:-135.33, Z:-1.81 [[ 1.54726439e-01 9.87955834e-01 -1.73181998e-03 8.12500397e+01] [ 9.87903041e-01 -1.54736076e-01 -1.02141622e-02 -1.35326575e+02] [-1.03591161e-02 -1.30469285e-04 -9.99946334e-01 -1.80522258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.456559995 meters 0.01398356838539487 Centerline is valid? [True, True] Translation: X:81.26, Y:-135.33, Z:-1.81 [[ 7.48070433e-02 9.97197661e-01 -8.55013396e-04 8.12575335e+01] [ 9.97152181e-01 -7.48117983e-02 -9.52490230e-03 -1.35326152e+02] [-9.56217539e-03 -1.40048693e-04 -9.99954272e-01 -1.80562362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.486559995 meters 0.014266949504280757 Centerline is valid? [True, True] Translation: X:81.27, Y:-135.33, Z:-1.81 [[-5.53352004e-03 9.99984685e-01 -9.55694222e-05 8.12654652e+01] [ 9.99947599e-01 5.53249163e-03 -8.61344189e-03 -1.35325654e+02] [-8.61278124e-03 -1.43227068e-04 -9.99962899e-01 -1.80654581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.516559995 meters 0.014716305433067987 Centerline is valid? [True, True] Translation: X:81.27, Y:-135.32, Z:-1.81 [[-8.57106522e-02 9.96319926e-01 5.38105069e-04 8.12734958e+01] [ 9.96288000e-01 8.57122141e-02 -7.97735603e-03 -1.35324073e+02] [-7.99412095e-03 -1.47636766e-04 -9.99968036e-01 -1.80738495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.546559995 meters 0.016655948444554283 Centerline is valid? [True, True] Translation: X:81.28, Y:-135.32, Z:-1.81 [[-1.67269463e-01 9.85910769e-01 9.39639543e-04 8.12822592e+01] [ 9.85890010e-01 1.67272040e-01 -6.39940802e-03 -1.35322790e+02] [-6.46642070e-03 -1.44044302e-04 -9.99979082e-01 -1.80821513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.576559995 meters 0.01663979509366697 Centerline is valid? [True, True] Translation: X:81.29, Y:-135.32, Z:-1.81 [[-2.45845009e-01 9.69308189e-01 1.36620023e-03 8.12874188e+01] [ 9.69289693e-01 2.45848761e-01 -5.98977056e-03 -1.35320219e+02] [-6.14181229e-03 -1.48311399e-04 -9.99981128e-01 -1.80840358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.606559995 meters 0.01628092862008215 Centerline is valid? [True, True] Translation: X:81.29, Y:-135.32, Z:-1.81 [[-3.22961586e-01 9.46410120e-01 1.92326503e-03 8.12944047e+01] [ 9.46390095e-01 3.22967269e-01 -6.15883016e-03 -1.35317052e+02] [-6.44993084e-03 -1.68906581e-04 -9.99979185e-01 -1.80840713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.636559995 meters 0.017691828365589166 Centerline is valid? [True, True] Translation: X:81.30, Y:-135.31, Z:-1.81 [[-3.97990191e-01 9.17386142e-01 2.54454747e-03 8.13040760e+01] [ 9.17364181e-01 3.97998278e-01 -6.35063726e-03 -1.35313885e+02] [-6.83871212e-03 -1.93214632e-04 -9.99976597e-01 -1.80780576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.666559995 meters 0.018923578306727248 Centerline is valid? [True, True] Translation: X:81.31, Y:-135.31, Z:-1.81 [[-4.71575358e-01 8.81817168e-01 3.89400964e-03 8.13097196e+01] [ 8.81782089e-01 4.71591353e-01 -7.87036252e-03 -1.35310021e+02] [-8.77660207e-03 -2.77801067e-04 -9.99961446e-01 -1.80580478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.696559995 meters 0.01914799982382114 Centerline is valid? [True, True] Translation: X:81.32, Y:-135.31, Z:-1.80 [[-5.40246097e-01 8.41493078e-01 4.85333313e-03 8.13152996e+01] [ 8.41453799e-01 5.40267807e-01 -8.13644454e-03 -1.35306173e+02] [-9.46886141e-03 -3.11826815e-04 -9.99955121e-01 -1.80479190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.726559995 meters 0.019495330294178013 Centerline is valid? [True, True] Translation: X:81.32, Y:-135.30, Z:-1.80 [[-6.05235403e-01 7.96024986e-01 5.85911640e-03 8.13199908e+01] [ 7.95982069e-01 6.05263665e-01 -8.27293523e-03 -1.35301275e+02] [-1.01317734e-02 -3.43321690e-04 -9.99948613e-01 -1.80404455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.756559995 meters 0.018862354121490992 Centerline is valid? [True, True] Translation: X:81.32, Y:-135.30, Z:-1.80 [[-6.65967587e-01 7.45944093e-01 7.38806882e-03 8.13228781e+01] [ 7.45891487e-01 6.66008449e-01 -8.86761573e-03 -1.35296931e+02] [-1.15352618e-02 -3.94847008e-04 -9.99933389e-01 -1.80354588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.786559995 meters 0.019888739052105277 Centerline is valid? [True, True] Translation: X:81.33, Y:-135.29, Z:-1.80 [[-7.22119263e-01 6.91723095e-01 7.93283581e-03 8.13283635e+01] [ 6.91675405e-01 7.22162732e-01 -8.13153017e-03 -1.35292020e+02] [-1.13535656e-02 -3.84987148e-04 -9.99935472e-01 -1.80272752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.816559995 meters 0.018386507415626238 Centerline is valid? [True, True] Translation: X:81.33, Y:-135.29, Z:-1.80 [[-7.73567201e-01 6.33651402e-01 8.92668778e-03 8.13307664e+01] [ 6.33603274e-01 7.73618605e-01 -7.81947882e-03 -1.35288006e+02] [-1.18606755e-02 -3.92913741e-04 -9.99929583e-01 -1.80351550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.846559995 meters 0.01919113002499761 Centerline is valid? [True, True] Translation: X:81.35, Y:-135.27, Z:-1.80 [[-8.15748740e-01 5.78332397e-01 9.25374521e-03 8.13481196e+01] [ 5.78289986e-01 8.15801141e-01 -7.01355681e-03 -1.35268312e+02] [-1.16053830e-02 -3.69951945e-04 -9.99932587e-01 -1.80274763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.876559995 meters 0.017464888477266304 Centerline is valid? [True, True] Translation: X:81.37, Y:-135.26, Z:-1.80 [[-8.52844354e-01 5.22089530e-01 8.88990425e-03 8.13654467e+01] [ 5.22057454e-01 8.52890633e-01 -5.79511821e-03 -1.35257056e+02] [-1.06076866e-02 -3.01293065e-04 -9.99943692e-01 -1.80433878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.90655999499998 meters 0.016874575157756873 Centerline is valid? [True, True] Translation: X:81.38, Y:-135.24, Z:-1.81 [[-8.86668143e-01 4.62329251e-01 8.44199560e-03 8.13795015e+01] [ 4.62305559e-01 8.86708295e-01 -4.68722156e-03 -1.35237595e+02] [-9.65262715e-03 -2.53228545e-04 -9.99953380e-01 -1.80500097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.93655999499998 meters 0.016515590127910987 Centerline is valid? [True, True] Translation: X:81.71, Y:-134.66, Z:-2.78 [[-8.26100252e-01 -5.63470347e-01 7.71632498e-03 8.17078009e+01] [ 5.63448170e-01 -8.26136262e-01 -5.00375229e-03 -1.34656746e+02] [ 9.19420191e-03 2.14148163e-04 9.99957710e-01 -2.78494488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.96655999499998 meters 0.01599981290822062 Centerline is valid? [True, True] Translation: X:81.34, Y:-135.22, Z:-1.81 [[-8.86675373e-01 4.62336552e-01 7.18999463e-03 8.13394898e+01] [ 4.62319644e-01 8.86704505e-01 -3.95831347e-03 -1.35223762e+02] [-8.20547362e-03 -1.85663316e-04 -9.99966317e-01 -1.80608772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.99655999499998 meters 0.01487129473780112 Centerline is valid? [True, True] Translation: X:81.68, Y:-134.63, Z:-2.78 [[-8.30013119e-01 -5.57714355e-01 5.73768659e-03 8.16753904e+01] [ 5.57701659e-01 -8.30032946e-01 -3.76392242e-03 -1.34628196e+02] [ 6.86166247e-03 7.58123486e-05 9.99976456e-01 -2.78270723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.02655999499999 meters 0.014951491015077192 Centerline is valid? [True, True] Translation: X:81.30, Y:-135.21, Z:-1.81 [[-8.87322355e-01 4.61118471e-01 5.36602534e-03 8.12957644e+01] [ 4.61109190e-01 8.87338572e-01 -2.92824674e-03 -1.35210647e+02] [-6.11174992e-03 -1.23975199e-04 -9.99981315e-01 -1.80820654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.056559995 meters 0.015275024776303612 Centerline is valid? [True, True] Translation: X:81.30, Y:-135.18, Z:-1.81 [[-9.17661656e-01 3.97325379e-01 5.44318619e-03 8.13012899e+01] [ 3.97317611e-01 9.17677791e-01 -2.48746315e-03 -1.35183919e+02] [-5.98342332e-03 -1.19975820e-04 -9.99982092e-01 -1.80802612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.086559995 meters 0.015097932645478106 Centerline is valid? [True, True] Translation: X:81.61, Y:-134.56, Z:-2.78 [[-8.69602238e-01 -4.93724577e-01 5.29052149e-03 8.16080588e+01] [ 4.93716292e-01 -8.69618323e-01 -2.86282994e-03 -1.34556645e+02] [ 6.01418393e-03 1.22493325e-04 9.99981907e-01 -2.78247211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.116559995 meters 0.015259933839189358 Centerline is valid? [True, True] Translation: X:81.27, Y:-135.18, Z:-1.81 [[-9.19070815e-01 3.94053632e-01 5.52913391e-03 8.12716393e+01] [ 3.94045707e-01 9.19087439e-01 -2.50203178e-03 -1.35176072e+02] [-6.06769223e-03 -1.20812909e-04 -9.99981584e-01 -1.80720136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.146559995 meters 0.014702230867788442 Centerline is valid? [True, True] Translation: X:81.57, Y:-134.53, Z:-2.78 [[-8.71513792e-01 -4.90336708e-01 5.79852378e-03 8.15680067e+01] [ 4.90327077e-01 -8.71533067e-01 -3.07751717e-03 -1.34534534e+02] [ 6.56262486e-03 1.61074555e-04 9.99978453e-01 -2.78341937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.176559995 meters 0.01472012704533362 Centerline is valid? [True, True] Translation: X:81.23, Y:-135.16, Z:-1.81 [[-9.20378105e-01 3.90980859e-01 6.17349889e-03 8.12326536e+01] [ 3.90971092e-01 9.20398799e-01 -2.76687767e-03 -1.35162724e+02] [-6.76387718e-03 -1.32914025e-04 -9.99977116e-01 -1.80663494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.206559995 meters 0.014948456225637303 Centerline is valid? [True, True] Translation: X:81.24, Y:-135.14, Z:-1.81 [[-9.45590582e-01 3.25288216e-01 6.78438479e-03 8.12441779e+01] [ 3.25278793e-01 9.45614910e-01 -2.47981494e-03 -1.35137471e+02] [-7.22206999e-03 -1.38073157e-04 -9.99973911e-01 -1.80597023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.236559995 meters 0.014482207390128636 Centerline is valid? [True, True] Translation: X:81.49, Y:-134.47, Z:-2.79 [[-9.06374125e-01 -4.22410350e-01 7.44594023e-03 8.14925707e+01] [ 4.22397988e-01 -9.06404685e-01 -3.23849350e-03 -1.34471353e+02] [ 8.11700828e-03 2.09863456e-04 9.99967035e-01 -2.78545790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.266559995 meters 0.014245822314287244 Centerline is valid? [True, True] Translation: X:81.20, Y:-135.12, Z:-1.80 [[-9.46237406e-01 3.23373440e-01 8.02432123e-03 8.12022686e+01] [ 3.23360473e-01 9.46271418e-01 -2.89973765e-03 -1.35123646e+02] [-8.53088396e-03 -1.49091921e-04 -9.99963600e-01 -1.80456833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.296559995 meters 0.014341077607140623 Centerline is valid? [True, True] Translation: X:81.45, Y:-134.46, Z:-2.79 [[-9.08767556e-01 -4.17225130e-01 8.04484454e-03 8.14496438e+01] [ 4.17210414e-01 -9.08803149e-01 -3.50824486e-03 -1.34458373e+02] [ 8.77490796e-03 1.68213813e-04 9.99961486e-01 -2.78690324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.326559995 meters 0.014000919057437193 Centerline is valid? [True, True] Translation: X:81.16, Y:-135.11, Z:-1.80 [[-9.46664974e-01 3.22117262e-01 8.11762382e-03 8.11595204e+01] [ 3.22104240e-01 9.46699769e-01 -2.89930434e-03 -1.35107687e+02] [-8.61886857e-03 -1.29948814e-04 -9.99962848e-01 -1.80381531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.356559995 meters 0.013673496293099467 Centerline is valid? [True, True] Translation: X:81.17, Y:-135.08, Z:-1.80 [[-9.66865333e-01 2.55169242e-01 7.75151025e-03 8.11683932e+01] [ 2.55160101e-01 9.66896398e-01 -2.16282047e-03 -1.35082148e+02] [-8.04679261e-03 -1.13279993e-04 -9.99967618e-01 -1.80446909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.386559995 meters 0.013347418015580002 Centerline is valid? [True, True] Translation: X:81.18, Y:-135.06, Z:-1.81 [[-9.82244358e-01 1.87495360e-01 6.44286774e-03 8.11783896e+01] [ 1.87490779e-01 9.82265485e-01 -1.31328315e-03 -1.35057462e+02] [-6.57484110e-03 -8.19866798e-05 -9.99978382e-01 -1.80608000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.416559995 meters 0.013258569770962915 Centerline is valid? [True, True] Translation: X:81.18, Y:-135.03, Z:-1.81 [[-9.92935758e-01 1.18498188e-01 6.06300758e-03 8.11843574e+01] [ 1.18495535e-01 9.92954266e-01 -7.96188071e-04 -1.35030978e+02] [-6.11463608e-03 -7.21242794e-05 -9.99981303e-01 -1.80652249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.446559995 meters 0.013142651232164812 Centerline is valid? [True, True] Translation: X:81.29, Y:-134.32, Z:-2.78 [[-9.78135888e-01 -2.07884101e-01 5.86392947e-03 8.12883132e+01] [ 2.07880745e-01 -9.78153463e-01 -1.18281944e-03 -1.34323925e+02] [ 5.98171228e-03 6.20398819e-05 9.99982107e-01 -2.78369080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.476559995 meters 0.012798616017621169 Centerline is valid? [True, True] Translation: X:81.13, Y:-135.03, Z:-1.81 [[-9.93257173e-01 1.15764792e-01 6.22109260e-03 8.11348695e+01] [ 1.15762115e-01 9.93276653e-01 -7.89851626e-04 -1.35027267e+02] [-6.27070304e-03 -6.43589566e-05 -9.99980337e-01 -1.80609455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.506559995 meters 0.012731759685372865 Centerline is valid? [True, True] Translation: X:81.13, Y:-135.00, Z:-1.81 [[-9.98963124e-01 4.50547159e-02 6.53831567e-03 8.11308736e+01] [ 4.50533164e-02 9.98984519e-01 -3.61255616e-04 -1.34998968e+02] [-6.54795240e-03 -6.63082345e-05 -9.99978560e-01 -1.80530434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.536559995 meters 0.012776295908881075 Centerline is valid? [True, True] Translation: X:81.13, Y:-134.97, Z:-1.80 [[-9.99630248e-01 -2.62136716e-02 7.22563574e-03 8.11345217e+01] [-2.62135204e-02 9.99656360e-01 1.15647479e-04 -1.34971035e+02] [-7.22618427e-03 -7.38046323e-05 -9.99973888e-01 -1.80457089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.566559995 meters 0.012755784845066663 Centerline is valid? [True, True] Translation: X:81.13, Y:-134.94, Z:-1.80 [[-9.95201298e-01 -9.75542147e-02 7.58627656e-03 8.11270517e+01] [-9.75519921e-02 9.95230209e-01 6.63339900e-04 -1.34943650e+02] [-7.61480321e-03 -7.98996613e-05 -9.99971004e-01 -1.80466344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.596559995 meters 0.013086038340072851 Centerline is valid? [True, True] Translation: X:81.12, Y:-134.92, Z:-1.80 [[-9.85646889e-01 -1.68636577e-01 7.86862251e-03 8.11174349e+01] [-1.68631901e-01 9.85678293e-01 1.25866769e-03 -1.34916042e+02] [-7.96818782e-03 -8.62988796e-05 -9.99968250e-01 -1.80414964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.626559995 meters 0.012964636702600594 Centerline is valid? [True, True] Translation: X:81.09, Y:-134.89, Z:-1.80 [[-9.70916311e-01 -2.39301889e-01 7.49150124e-03 8.10933143e+01] [-2.39295461e-01 9.70945209e-01 1.75614572e-03 -1.34892810e+02] [-7.69408622e-03 -8.76117199e-05 -9.99970396e-01 -1.80474044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.65655999499998 meters 0.01315359785504605 Centerline is valid? [True, True] Translation: X:81.06, Y:-134.87, Z:-1.81 [[-9.50871538e-01 -3.09513011e-01 6.70932014e-03 8.10578690e+01] [-3.09505931e-01 9.50895204e-01 2.09520454e-03 -1.34873144e+02] [-7.02835341e-03 -8.43040154e-05 -9.99975297e-01 -1.80502444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.68655999499998 meters 0.01315993053081841 Centerline is valid? [True, True] Translation: X:81.00, Y:-134.86, Z:-1.81 [[-9.25407104e-01 -3.78926070e-01 6.06020338e-03 8.10027564e+01] [-3.78918509e-01 9.25426943e-01 2.39506010e-03 -1.34862654e+02] [-6.51582620e-03 -7.99175964e-05 -9.99978769e-01 -1.80543377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.71655999499998 meters 0.01320969294966658 Centerline is valid? [True, True] Translation: X:80.94, Y:-134.86, Z:-1.81 [[-8.94545201e-01 -4.46952763e-01 4.70226407e-03 8.09373788e+01] [-4.46946989e-01 8.94557557e-01 2.27296496e-03 -1.34859835e+02] [-5.22235383e-03 -6.83928670e-05 -9.99986361e-01 -1.80587158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.74655999499998 meters 0.013516096330819903 Centerline is valid? [True, True] Translation: X:80.86, Y:-134.87, Z:-1.81 [[-8.58637756e-01 -5.12565937e-01 4.16701739e-03 8.08628143e+01] [-5.12560269e-01 8.58647865e-01 2.41121743e-03 -1.34866614e+02] [-4.81390850e-03 -6.54852332e-05 -9.99988411e-01 -1.80557229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.77655999499999 meters 0.013419702638649446 Centerline is valid? [True, True] Translation: X:80.78, Y:-134.88, Z:-1.81 [[-8.17699967e-01 -5.75631867e-01 3.83642343e-03 8.07841902e+01] [-5.75625902e-01 8.17708964e-01 2.62136256e-03 -1.34883652e+02] [-4.64601765e-03 -6.48566206e-05 -9.99989205e-01 -1.80597031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.806559995 meters 0.013415258452652009 Centerline is valid? [True, True] Translation: X:80.70, Y:-134.91, Z:-1.81 [[-7.72059916e-01 -6.35540901e-01 3.35391932e-03 8.07012861e+01] [-6.35535246e-01 7.72067199e-01 2.68166665e-03 -1.34910667e+02] [-4.29375993e-03 -6.11266130e-05 -9.99990780e-01 -1.80631907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.836559995 meters 0.013415258452652009 Centerline is valid? [True, True] Translation: X:80.61, Y:-134.95, Z:-1.81 [[-7.21880490e-01 -6.92010612e-01 3.14192446e-03 8.06147523e+01] [-6.92004424e-01 7.21887324e-01 2.92721710e-03 -1.34948611e+02] [-4.29378074e-03 -6.11247091e-05 -9.99990780e-01 -1.80631820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.866559995 meters 0.013573185984134902 Centerline is valid? [True, True] Translation: X:80.53, Y:-135.00, Z:-1.81 [[-6.67421815e-01 -7.44673714e-01 3.02991273e-03 8.05271908e+01] [-7.44666469e-01 6.67428690e-01 3.28538800e-03 -1.34996708e+02] [-4.46879276e-03 -6.35347897e-05 -9.99990013e-01 -1.80580222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.896559995 meters 0.014048323784263902 Centerline is valid? [True, True] Translation: X:80.44, Y:-135.05, Z:-1.81 [[-6.08970230e-01 -7.93187576e-01 2.95438238e-03 8.04409348e+01] [-7.93178772e-01 6.08977393e-01 3.73773926e-03 -1.35052544e+02] [-4.76388042e-03 -6.71814507e-05 -9.99988650e-01 -1.80527708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.926559995 meters 0.013597784032502605 Centerline is valid? [True, True] Translation: X:80.36, Y:-135.12, Z:-1.81 [[-5.47405730e-01 -8.36862238e-01 2.92604167e-03 8.03583001e+01] [-8.36850958e-01 5.47413546e-01 4.34562038e-03 -1.35119655e+02] [-5.23844044e-03 -6.98432804e-05 -9.99986277e-01 -1.80510076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.956559995 meters 0.013276840578193614 Centerline is valid? [True, True] Translation: X:80.28, Y:-135.19, Z:-1.80 [[-4.82590726e-01 -8.75842113e-01 2.60458259e-03 8.02801099e+01] [-8.75830096e-01 4.82597750e-01 4.58861182e-03 -1.35193699e+02] [-5.27586516e-03 -6.67503079e-05 -9.99986080e-01 -1.80491669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.986559995 meters 0.013119013759477261 Centerline is valid? [True, True] Translation: X:80.20, Y:-135.28, Z:-1.80 [[-4.14916942e-01 -9.09856870e-01 2.09925038e-03 8.02046889e+01] [-9.09845925e-01 4.14922248e-01 4.46326026e-03 -1.35279105e+02] [-4.93195370e-03 -5.81121083e-05 -9.99987836e-01 -1.80451513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.016559995 meters 0.013015394315131195 Centerline is valid? [True, True] Translation: X:80.13, Y:-135.37, Z:-1.80 [[-3.44832758e-01 -9.38662376e-01 1.82016915e-03 8.01348289e+01] [-9.38650138e-01 3.44837557e-01 4.79357468e-03 -1.35374227e+02] [-5.12721088e-03 -5.55204469e-05 -9.99986854e-01 -1.80457715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.046559995 meters 0.01266129063084091 Centerline is valid? [True, True] Translation: X:80.08, Y:-135.47, Z:-1.80 [[-2.73404941e-01 -9.61897627e-01 1.64114309e-03 8.00750259e+01] [-9.61881428e-01 2.73409862e-01 5.58258577e-03 -1.35469012e+02] [-5.81858071e-03 -5.22785227e-05 -9.99983071e-01 -1.80431491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.076559995 meters 0.012577424704425853 Centerline is valid? [True, True] Translation: X:80.02, Y:-135.57, Z:-1.80 [[-1.99118139e-01 -9.79974654e-01 1.28209923e-03 8.00212553e+01] [-9.79955999e-01 1.99122259e-01 6.04697142e-03 -1.35571337e+02] [-6.18117323e-03 -5.23391368e-05 -9.99980895e-01 -1.80432694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.106559995 meters 0.012571619422624143 Centerline is valid? [True, True] Translation: X:79.97, Y:-135.69, Z:-1.80 [[-1.23918934e-01 -9.92291969e-01 8.63995516e-04 7.99720890e+01] [-9.92270616e-01 1.23921935e-01 6.50995552e-03 -1.35692632e+02] [-6.56684457e-03 -5.06106148e-05 -9.99978437e-01 -1.80398127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.136559995 meters 0.012513219752930784 Centerline is valid? [True, True] Translation: X:79.94, Y:-135.79, Z:-1.80 [[-4.79347732e-02 -9.98850394e-01 3.85227001e-04 7.99350729e+01] [-9.98826006e-01 4.79362948e-02 6.98008918e-03 -1.35789409e+02] [-6.99053118e-03 -5.01857553e-05 -9.99975565e-01 -1.80317025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.166559995 meters 0.012421746953288572 Centerline is valid? [True, True] Translation: X:79.90, Y:-135.90, Z:-1.80 [[ 2.82559804e-02 -9.99600706e-01 -1.67461848e-04 7.99042940e+01] [-9.99571484e-01 -2.82564349e-02 7.64340396e-03 -1.35903864e+02] [-7.64508387e-03 -4.85817845e-05 -9.99970775e-01 -1.80246980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.196559995 meters 0.01235982824186269 Centerline is valid? [True, True] Translation: X:79.88, Y:-136.03, Z:-1.80 [[ 1.04840909e-01 -9.94488711e-01 -7.66663521e-04 7.98834521e+01] [-9.94458777e-01 -1.04843702e-01 7.71611299e-03 -1.36027504e+02] [-7.75396710e-03 -4.65490329e-05 -9.99969936e-01 -1.80240703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.226559995 meters 0.012333623125808971 Centerline is valid? [True, True] Translation: X:79.87, Y:-136.15, Z:-1.80 [[ 1.79817182e-01 -9.83699139e-01 -1.33606171e-03 7.98715102e+01] [-9.83670490e-01 -1.79822142e-01 7.50757393e-03 -1.36148547e+02] [-7.62544749e-03 -3.57463145e-05 -9.99970925e-01 -1.80135602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.256559995 meters 0.012228153866350054 Centerline is valid? [True, True] Translation: X:79.87, Y:-136.26, Z:-1.80 [[ 2.54568179e-01 -9.67053143e-01 -1.80590348e-03 7.98685215e+01] [-9.67027977e-01 -2.54574583e-01 6.97668658e-03 -1.36262886e+02] [-7.20656381e-03 -2.96832145e-05 -9.99974032e-01 -1.80228267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.286559995 meters 0.01225449269772434 Centerline is valid? [True, True] Translation: X:79.88, Y:-136.38, Z:-1.80 [[ 3.27959449e-01 -9.44689110e-01 -2.25510567e-03 7.98755503e+01] [-9.44666223e-01 -3.27967201e-01 6.57586270e-03 -1.36383812e+02] [-6.95174657e-03 -2.62941511e-05 -9.99975836e-01 -1.80219692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.316559995 meters 0.012241369583791576 Centerline is valid? [True, True] Translation: X:79.89, Y:-136.50, Z:-1.80 [[ 3.99322994e-01 -9.16806206e-01 -2.74356178e-03 7.98913242e+01] [-9.16784163e-01 -3.99332418e-01 6.35757025e-03 -1.36501857e+02] [-6.92425302e-03 -2.34699938e-05 -9.99976027e-01 -1.80278124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.346559995 meters 0.012262649342668065 Centerline is valid? [True, True] Translation: X:79.91, Y:-136.61, Z:-1.80 [[ 4.68299786e-01 -8.83564073e-01 -3.13680778e-03 7.99123112e+01] [-8.83543943e-01 -4.68310291e-01 5.96429077e-03 -1.36613841e+02] [-6.73883241e-03 -2.15685830e-05 -9.99977294e-01 -1.80296865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.376559995 meters 0.012234616966132667 Centerline is valid? [True, True] Translation: X:79.94, Y:-136.73, Z:-1.80 [[ 5.34861976e-01 -8.44933082e-01 -3.27940586e-03 7.99441788e+01] [-8.44916957e-01 -5.34872029e-01 5.22000763e-03 -1.36726409e+02] [-6.16461960e-03 -2.11579714e-05 -9.99980998e-01 -1.80358658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.40655999499998 meters 0.012285682697050106 Centerline is valid? [True, True] Translation: X:79.98, Y:-136.83, Z:-1.80 [[ 5.98293120e-01 -8.01269965e-01 -3.43301839e-03 7.99823923e+01] [-8.01256566e-01 -5.98302969e-01 4.63383514e-03 -1.36833946e+02] [-5.76693802e-03 -2.16631631e-05 -9.99983371e-01 -1.80376297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.43655999499998 meters 0.01228418697682376 Centerline is valid? [True, True] Translation: X:80.03, Y:-136.94, Z:-1.80 [[ 6.58320542e-01 -7.52728604e-01 -3.70314461e-03 8.00291043e+01] [-7.52716478e-01 -6.58330957e-01 4.27255990e-03 -1.36938926e+02] [-5.65397278e-03 -2.52959765e-05 -9.99984016e-01 -1.80379768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.46655999499998 meters 0.012390021875331485 Centerline is valid? [True, True] Translation: X:80.08, Y:-137.03, Z:-1.80 [[ 7.14319379e-01 -6.99808260e-01 -4.02790027e-03 8.00772182e+01] [-6.99796901e-01 -7.14330735e-01 3.98738087e-03 -1.37034719e+02] [-5.66765503e-03 -2.95513047e-05 -9.99983938e-01 -1.80322475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.49655999499998 meters 0.012332557178768674 Centerline is valid? [True, True] Translation: X:80.07, Y:-137.04, Z:-1.80 [[ 7.67061269e-01 -6.41559383e-01 -4.30889892e-03 8.00740748e+01] [-6.41549032e-01 -7.67073371e-01 3.64457708e-03 -1.37043125e+02] [-5.64345425e-03 -3.12439936e-05 -9.99984075e-01 -1.80368805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.52655999499999 meters 0.012313775447309123 Centerline is valid? [True, True] Translation: X:80.07, Y:-137.05, Z:-1.80 [[ 8.15016352e-01 -5.79419727e-01 -4.59624395e-03 8.00715459e+01] [-5.79410286e-01 -8.15029312e-01 3.30790970e-03 -1.37051169e+02] [-5.66274168e-03 -3.28894726e-05 -9.99983966e-01 -1.80354546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.556559995 meters 0.012417111598983439 Centerline is valid? [True, True] Translation: X:80.07, Y:-137.06, Z:-1.80 [[ 8.57845242e-01 -5.13885880e-01 -4.77936957e-03 8.00688938e+01] [-5.13877692e-01 -8.57858555e-01 2.90105982e-03 -1.37058588e+02] [-5.59083675e-03 -3.26489598e-05 -9.99984371e-01 -1.80319188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.586559995 meters 0.012328102341922421 Centerline is valid? [True, True] Translation: X:80.07, Y:-137.07, Z:-1.80 [[ 8.95473912e-01 -4.45080081e-01 -5.49492301e-03 8.00678300e+01] [-4.45071445e-01 -8.95490770e-01 2.77282061e-03 -1.37067688e+02] [-6.15478006e-03 -3.73551932e-05 -9.99981058e-01 -1.80356348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.616559995 meters 0.01240172969625827 Centerline is valid? [True, True] Translation: X:80.07, Y:-137.08, Z:-1.80 [[ 9.27542886e-01 -3.73672172e-01 -5.77082449e-03 8.00672439e+01] [-3.73664684e-01 -9.27560837e-01 2.36588651e-03 -1.37076118e+02] [-6.23685674e-03 -3.81078887e-05 -9.99980550e-01 -1.80333693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.646559995 meters 0.01240873678725009 Centerline is valid? [True, True] Translation: X:80.07, Y:-137.09, Z:-1.80 [[ 9.53987812e-01 -2.99782289e-01 -6.15088992e-03 8.00677803e+01] [-2.99775778e-01 -9.54007640e-01 1.97618746e-03 -1.37085951e+02] [-6.46042197e-03 -4.13709375e-05 -9.99979130e-01 -1.80359085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.676559995 meters 0.012475815883577098 Centerline is valid? [True, True] Translation: X:80.07, Y:-137.10, Z:-1.80 [[ 9.74677771e-01 -2.23511344e-01 -6.77648452e-03 8.00679669e+01] [-2.23505584e-01 -9.74701327e-01 1.60552799e-03 -1.37096364e+02] [-6.96390217e-03 -5.02903136e-05 -9.99975750e-01 -1.80297415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.706559995 meters 0.012612818252085644 Centerline is valid? [True, True] Translation: X:80.07, Y:-137.11, Z:-1.80 [[ 9.89276511e-01 -1.45889890e-01 -6.93717783e-03 8.00685931e+01] [-1.45885905e-01 -9.89300832e-01 1.07988312e-03 -1.37105574e+02] [-7.02049983e-03 -5.62665459e-05 -9.99975354e-01 -1.80267549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.736559995 meters 0.01266011824620672 Centerline is valid? [True, True] Translation: X:80.07, Y:-137.11, Z:-1.80 [[ 9.97741102e-01 -6.67914775e-02 -7.18270049e-03 8.00679400e+01] [-6.67892677e-02 -9.97766954e-01 5.47350455e-04 -1.37114620e+02] [-7.20321953e-03 -6.63867405e-05 -9.99974054e-01 -1.80298589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.766559995 meters 0.012899245496844628 Centerline is valid? [True, True] Translation: X:80.07, Y:-137.12, Z:-1.80 [[ 9.99897650e-01 1.25877128e-02 -6.79998109e-03 8.00667958e+01] [ 1.25878958e-02 -9.99920769e-01 -1.58987963e-05 -1.37123004e+02] [-6.79964245e-03 -6.97002841e-05 -9.99976880e-01 -1.80293242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.796559995 meters 0.013518637983410022 Centerline is valid? [True, True] Translation: X:80.07, Y:-137.13, Z:-1.80 [[ 9.95783010e-01 9.14597537e-02 -7.16309727e-03 8.00663499e+01] [ 9.14579510e-02 -9.95808770e-01 -5.79518045e-04 -1.37132228e+02] [-7.18607766e-03 -7.80479758e-05 -9.99974177e-01 -1.80210069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.826559995 meters 0.012968261398491072 Centerline is valid? [True, True] Translation: X:80.07, Y:-137.14, Z:-1.80 [[ 9.85519369e-01 1.69430493e-01 -6.69932166e-03 8.00680264e+01] [ 1.69427099e-01 -9.85542136e-01 -1.07505719e-03 -1.37140167e+02] [-6.78461125e-03 -7.55569530e-05 -9.99976981e-01 -1.80325153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.856559995 meters 0.01302866777174224 Centerline is valid? [True, True] Translation: X:80.07, Y:-137.15, Z:-1.80 [[ 9.69218626e-01 2.46108992e-01 -6.75425448e-03 8.00696202e+01] [ 2.46103573e-01 -9.69242157e-01 -1.63507938e-03 -1.37148788e+02] [-6.94891592e-03 -7.74967701e-05 -9.99975853e-01 -1.80327384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.886559995 meters 0.01312331942495718 Centerline is valid? [True, True] Translation: X:80.07, Y:-137.16, Z:-1.80 [[ 9.47003817e-01 3.21153577e-01 -6.64464463e-03 8.00724379e+01] [ 3.21146244e-01 -9.47027124e-01 -2.17158823e-03 -1.37155851e+02] [-6.99007202e-03 -7.74003242e-05 -9.99975566e-01 -1.80291931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.916559995 meters 0.012982199779410224 Centerline is valid? [True, True] Translation: X:80.08, Y:-137.16, Z:-1.80 [[ 9.19163743e-01 3.93829753e-01 -6.01157945e-03 8.00753356e+01] [ 3.93821817e-01 -9.19183399e-01 -2.50106900e-03 -1.37161601e+02] [-6.51073942e-03 -6.85991968e-05 -9.99978803e-01 -1.80351800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.946559995 meters 0.013280417807879192 Centerline is valid? [True, True] Translation: X:80.08, Y:-137.17, Z:-1.80 [[ 8.85650500e-01 4.64319003e-01 -5.57277062e-03 8.00774420e+01] [ 4.64310264e-01 -8.85668030e-01 -2.84938879e-03 -1.37167803e+02] [-6.25865014e-03 -6.39319880e-05 -9.99980412e-01 -1.80347309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.976559995 meters 0.012845696804668766 Centerline is valid? [True, True] Translation: X:80.08, Y:-137.17, Z:-1.80 [[ 8.46701422e-01 5.32043487e-01 -5.14099120e-03 8.00802635e+01] [ 5.32034112e-01 -8.46717027e-01 -3.15903958e-03 -1.37172691e+02] [-6.03371122e-03 -6.04193853e-05 -9.99981795e-01 -1.80423010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.006559995 meters 0.01284390888831103 Centerline is valid? [True, True] Translation: X:80.08, Y:-137.18, Z:-1.80 [[ 8.02505997e-01 5.96622955e-01 -5.01740420e-03 8.00849379e+01] [ 5.96611772e-01 -8.02521680e-01 -3.65340158e-03 -1.37178792e+02] [-6.20627889e-03 -6.15657275e-05 -9.99980739e-01 -1.80439758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.036559995 meters 0.012931994191884951 Centerline is valid? [True, True] Translation: X:80.09, Y:-137.18, Z:-1.80 [[ 7.53093846e-01 6.57896328e-01 -4.69911580e-03 8.00903137e+01] [ 6.57884044e-01 -7.53108503e-01 -4.02075548e-03 -1.37184917e+02] [-6.18418433e-03 -6.34670959e-05 -9.99980876e-01 -1.80430178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.066559995 meters 0.012816924416341706 Centerline is valid? [True, True] Translation: X:80.10, Y:-137.19, Z:-1.80 [[ 6.99007782e-01 7.15098271e-01 -4.75217682e-03 8.00969636e+01] [ 7.15082438e-01 -6.99023932e-01 -4.75912256e-03 -1.37192311e+02] [-6.72512564e-03 -7.15344858e-05 -9.99977384e-01 -1.80393711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.096559995 meters 0.013086364484290092 Centerline is valid? [True, True] Translation: X:80.10, Y:-137.20, Z:-1.80 [[ 6.40719445e-01 7.67763244e-01 -4.26535588e-03 8.01038789e+01] [ 7.67746967e-01 -6.40733639e-01 -4.99989048e-03 -1.37199888e+02] [-6.57168913e-03 -7.11869860e-05 -9.99978404e-01 -1.80321498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.126559995 meters 0.012936458372373979 Centerline is valid? [True, True] Translation: X:80.11, Y:-137.20, Z:-1.80 [[ 5.78627596e-01 8.15581605e-01 -4.09281902e-03 8.01102754e+01] [ 8.15562123e-01 -5.78642066e-01 -5.63774935e-03 -1.37204503e+02] [-6.96632191e-03 -7.57908199e-05 -9.99975732e-01 -1.80329206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.15655999499998 meters 0.013051417605033942 Centerline is valid? [True, True] Translation: X:80.12, Y:-137.21, Z:-1.80 [[ 5.12765306e-01 8.58520406e-01 -3.80190191e-03 8.01164935e+01] [ 8.58497969e-01 -5.12779394e-01 -6.20734237e-03 -1.37208785e+02] [-7.27866705e-03 -8.10152544e-05 -9.99973507e-01 -1.80320227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.18655999499998 meters 0.013193485359853194 Centerline is valid? [True, True] Translation: X:80.12, Y:-137.21, Z:-1.80 [[ 4.43858004e-01 8.96090497e-01 -3.44880150e-03 8.01223206e+01] [ 8.96064932e-01 -4.43871394e-01 -6.76926683e-03 -1.37213417e+02] [-7.59670001e-03 -8.57568176e-05 -9.99971141e-01 -1.80300498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.21655999499998 meters 0.012893963990170681 Centerline is valid? [True, True] Translation: X:80.13, Y:-137.22, Z:-1.80 [[ 3.72782053e-01 9.27914223e-01 -2.95553272e-03 8.01291733e+01] [ 9.27886813e-01 -3.72793760e-01 -7.13261921e-03 -1.37217687e+02] [-7.72026297e-03 -8.34874012e-05 -9.99970195e-01 -1.80352725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.24655999499998 meters 0.012813290866047518 Centerline is valid? [True, True] Translation: X:80.14, Y:-137.22, Z:-1.80 [[ 2.99904732e-01 9.53966311e-01 -2.33002728e-03 8.01366597e+01] [ 9.53939407e-01 -2.99913774e-01 -7.16487854e-03 -1.37221723e+02] [-7.53386003e-03 -7.39238629e-05 -9.99971617e-01 -1.80334043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.27655999499999 meters 0.012764005243480826 Centerline is valid? [True, True] Translation: X:80.14, Y:-137.23, Z:-1.80 [[ 2.25463034e-01 9.74250254e-01 -1.69192205e-03 8.01428717e+01] [ 9.74224856e-01 -2.25469373e-01 -7.03498421e-03 -1.37225723e+02] [-7.23531176e-03 -6.21836369e-05 -9.99973823e-01 -1.80370937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.306559995 meters 0.012754892690221955 Centerline is valid? [True, True] Translation: X:80.15, Y:-137.23, Z:-1.80 [[ 1.48639011e-01 9.88890934e-01 -1.07953325e-03 8.01502118e+01] [ 9.88867610e-01 -1.48642920e-01 -6.79202449e-03 -1.37228209e+02] [-6.87703642e-03 -5.79556625e-05 -9.99976351e-01 -1.80424801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.336559995 meters 0.01282859931588352 Centerline is valid? [True, True] Translation: X:80.16, Y:-137.23, Z:-1.80 [[ 7.02429440e-02 9.97529750e-01 -5.71218517e-04 8.01581567e+01] [ 9.97503795e-01 -7.02452372e-02 -7.19619618e-03 -1.37230248e+02] [-7.21854516e-03 -6.43106332e-05 -9.99973944e-01 -1.80445850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.366559995 meters 0.012769590979872335 Centerline is valid? [True, True] Translation: X:80.17, Y:-137.23, Z:-1.80 [[-8.50619273e-03 9.99963822e-01 -5.78985991e-06 8.01669747e+01] [ 9.99937214e-01 8.50592415e-03 -7.29507921e-03 -1.37232053e+02] [-7.29476604e-03 -6.78428461e-05 -9.99973391e-01 -1.80466476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.396559995 meters 0.012950248884603048 Centerline is valid? [True, True] Translation: X:80.18, Y:-137.23, Z:-1.80 [[-8.74921844e-02 9.96165042e-01 5.71078020e-04 8.01763286e+01] [ 9.96138005e-01 8.74940174e-02 -7.33973563e-03 -1.37234094e+02] [-7.36155397e-03 -7.32969842e-05 -9.99972901e-01 -1.80394497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.426559995 meters 0.013048485839470946 Centerline is valid? [True, True] Translation: X:80.18, Y:-137.24, Z:-1.80 [[-1.65386078e-01 9.86228199e-01 1.17633744e-03 8.01835369e+01] [ 9.86199850e-01 1.65390244e-01 -7.47816882e-03 -1.37235595e+02] [-7.56973570e-03 -7.66812070e-05 -9.99971346e-01 -1.80364785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.456559995 meters 0.01314653923722371 Centerline is valid? [True, True] Translation: X:80.19, Y:-137.24, Z:-1.80 [[-2.42535604e-01 9.70140848e-01 1.79328711e-03 8.01907110e+01] [ 9.70111785e-01 2.42542220e-01 -7.50974230e-03 -1.37235519e+02] [-7.72045560e-03 -8.16909276e-05 -9.99970194e-01 -1.80348516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.486559995 meters 0.013237563981093941 Centerline is valid? [True, True] Translation: X:80.20, Y:-137.23, Z:-1.80 [[-3.18270505e-01 9.47996750e-01 2.45914283e-03 8.01973644e+01] [ 9.47966272e-01 3.18279993e-01 -7.60217634e-03 -1.37234552e+02] [-7.98953443e-03 -8.83640366e-05 -9.99968079e-01 -1.80367055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.516559995 meters 0.013602760275071872 Centerline is valid? [True, True] Translation: X:80.20, Y:-137.23, Z:-1.80 [[-3.91556877e-01 9.20148738e-01 3.08410246e-03 8.02039229e+01] [ 9.20118373e-01 3.91569013e-01 -7.47581198e-03 -1.37234193e+02] [-8.08649792e-03 -8.94662573e-05 -9.99967300e-01 -1.80331051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.546559995 meters 0.013085620752755586 Centerline is valid? [True, True] Translation: X:80.21, Y:-137.23, Z:-1.80 [[-4.62268409e-01 8.86732892e-01 3.56323453e-03 8.02105470e+01] [ 8.86705108e-01 4.62282134e-01 -7.01991855e-03 -1.37232230e+02] [-7.87201233e-03 -8.55483226e-05 -9.99969012e-01 -1.80491287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.576559995 meters 0.013119918606107525 Centerline is valid? [True, True] Translation: X:80.22, Y:-137.23, Z:-1.81 [[-5.29393426e-01 8.48367096e-01 3.98379356e-03 8.02183247e+01] [ 8.48342006e-01 5.29408410e-01 -6.52508782e-03 -1.37230742e+02] [-7.64472362e-03 -7.47191821e-05 -9.99970776e-01 -1.80501602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.606559995 meters 0.012974214920616574 Centerline is valid? [True, True] Translation: X:80.22, Y:-137.23, Z:-1.80 [[-5.93480250e-01 8.04836400e-01 4.42300451e-03 8.02232939e+01] [ 8.04813205e-01 5.93496727e-01 -6.11059076e-03 -1.37228831e+02] [-7.54306457e-03 -6.68224929e-05 -9.99971548e-01 -1.80499609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.636559995 meters 0.012893386299392006 Centerline is valid? [True, True] Translation: X:80.23, Y:-137.23, Z:-1.80 [[-6.54093062e-01 7.56397780e-01 4.96635807e-03 8.02278606e+01] [ 7.56375257e-01 6.54111913e-01 -5.83748969e-03 -1.37226779e+02] [-7.66401822e-03 -6.18311449e-05 -9.99970629e-01 -1.80499845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.666559995 meters 0.012871950227112794 Centerline is valid? [True, True] Translation: X:80.23, Y:-137.23, Z:-1.80 [[-7.10883824e-01 7.03288368e-01 5.44619624e-03 8.02323789e+01] [ 7.03267111e-01 7.10904683e-01 -5.46830542e-03 -1.37225262e+02] [-7.71752200e-03 -5.71991722e-05 -9.99970218e-01 -1.80452204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.696559995 meters 0.012599210647775909 Centerline is valid? [True, True] Translation: X:80.24, Y:-137.22, Z:-1.81 [[-7.63520314e-01 6.45757093e-01 5.87427644e-03 8.02387484e+01] [ 6.45737433e-01 7.63542909e-01 -5.03924983e-03 -1.37220309e+02] [-7.73939345e-03 -5.43294244e-05 -9.99970049e-01 -1.80503535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.726559995 meters 0.012599210647775909 Centerline is valid? [True, True] Translation: X:80.69, Y:-136.71, Z:-2.79 [[-7.08402444e-01 -7.05787074e-01 5.53019959e-03 8.06873818e+01] [ 7.05766174e-01 -7.08424028e-01 -5.43179769e-03 -1.36705919e+02] [ 7.75141887e-03 5.51290486e-05 9.99969956e-01 -2.78542101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.756559995 meters 0.012623909468540119 Centerline is valid? [True, True] Translation: X:80.20, Y:-137.19, Z:-1.80 [[-7.65647919e-01 6.43230180e-01 6.18060330e-03 8.02000303e+01] [ 6.43208638e-01 7.65672863e-01 -5.26452288e-03 -1.37188169e+02] [-8.11862022e-03 -5.53535561e-05 -9.99967042e-01 -1.80487255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.786559995 meters 0.01264330153514276 Centerline is valid? [True, True] Translation: X:80.22, Y:-137.17, Z:-1.80 [[-8.08922768e-01 5.87879454e-01 6.45786131e-03 8.02249231e+01] [ 5.87860223e-01 8.08948543e-01 -4.75534137e-03 -1.37172661e+02] [-8.01964498e-03 -5.03841140e-05 -9.99967841e-01 -1.80436503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.816559995 meters 0.012556742730928624 Centerline is valid? [True, True] Translation: X:80.24, Y:-137.15, Z:-1.80 [[-8.47995136e-01 5.29952060e-01 7.42042504e-03 8.02433380e+01] [ 5.29931291e-01 8.48027601e-01 -4.69200748e-03 -1.37152245e+02] [-8.77926427e-03 -4.64840968e-05 -9.99961460e-01 -1.80391808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.846559995 meters 0.012470292588862564 Centerline is valid? [True, True] Translation: X:80.26, Y:-137.13, Z:-1.80 [[-8.83063008e-01 4.69191881e-01 7.66173211e-03 8.02587153e+01] [ 4.69173831e-01 8.83096245e-01 -4.11567245e-03 -1.37129636e+02] [-8.69708695e-03 -3.97138876e-05 -9.99962179e-01 -1.80394968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.876559995 meters 0.012434906871299854 Centerline is valid? [True, True] Translation: X:80.27, Y:-137.11, Z:-1.80 [[-9.13703553e-01 4.06310257e-01 7.60208577e-03 8.02721253e+01] [ 4.06295912e-01 9.13735177e-01 -3.41439814e-03 -1.37106175e+02] [-8.33359817e-03 -3.10513500e-05 -9.99965275e-01 -1.80396352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.90655999499998 meters 0.012242407861293955 Centerline is valid? [True, True] Translation: X:80.56, Y:-136.48, Z:-2.78 [[-8.81743450e-01 -4.71681411e-01 6.71827542e-03 8.05609305e+01] [ 4.71667602e-01 -8.81769043e-01 -3.60936391e-03 -1.36481281e+02] [ 7.62643716e-03 -1.37401245e-05 9.99970918e-01 -2.78498479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.93655999499998 meters 0.012283806175459312 Centerline is valid? [True, True] Translation: X:80.23, Y:-137.09, Z:-1.81 [[-9.14061745e-01 4.05511929e-01 7.15552182e-03 8.02301568e+01] [ 4.05499444e-01 9.14089752e-01 -3.18201730e-03 -1.37090605e+02] [-7.83113514e-03 -7.00016914e-06 -9.99969336e-01 -1.80506185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.96655999499998 meters 0.012264245836805866 Centerline is valid? [True, True] Translation: X:80.24, Y:-137.07, Z:-1.81 [[-9.40306049e-01 3.40247182e-01 7.50929417e-03 8.02405632e+01] [ 3.40236312e-01 9.40336033e-01 -2.71979603e-03 -1.37065345e+02] [-7.98666283e-03 -2.50610908e-06 -9.99968106e-01 -1.80541423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.99655999499998 meters 0.012165599840694137 Centerline is valid? [True, True] Translation: X:80.48, Y:-136.42, Z:-2.79 [[-9.15387446e-01 -4.02496347e-01 7.90660149e-03 8.04822533e+01] [ 4.02481725e-01 -9.15421591e-01 -3.43106996e-03 -1.36416556e+02] [ 8.61886684e-03 4.15042368e-05 9.99962856e-01 -2.78562652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.02655999499999 meters 0.012178043392201354 Centerline is valid? [True, True] Translation: X:80.20, Y:-137.05, Z:-1.80 [[-9.41189399e-01 3.37773201e-01 8.47237251e-03 8.01998429e+01] [ 3.37759585e-01 9.41227531e-01 -3.03282054e-03 -1.37052085e+02] [-8.99883576e-03 7.16648451e-06 -9.99959510e-01 -1.80400553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.056559995 meters 0.012205270095690576 Centerline is valid? [True, True] Translation: X:80.21, Y:-137.02, Z:-1.80 [[-9.62820712e-01 2.70001029e-01 8.70172758e-03 8.02058035e+01] [ 2.69990056e-01 9.62860034e-01 -2.43421483e-03 -1.37024980e+02] [-9.03578622e-03 5.66745857e-06 -9.99959176e-01 -1.80383462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.086559995 meters 0.012111050111196843 Centerline is valid? [True, True] Translation: X:80.21, Y:-137.00, Z:-1.80 [[-9.79620350e-01 2.00671620e-01 8.65282629e-03 8.02141338e+01] [ 2.00663815e-01 9.79658563e-01 -1.76993198e-03 -1.36998122e+02] [-8.83199049e-03 2.44774161e-06 -9.99960997e-01 -1.80385469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.116559995 meters 0.012196605028296 Centerline is valid? [True, True] Translation: X:80.35, Y:-136.32, Z:-2.79 [[-9.64021498e-01 -2.65694593e-01 8.30272965e-03 8.03515452e+01] [ 2.65684596e-01 -9.64057251e-01 -2.30491269e-03 -1.36318591e+02] [ 8.61670956e-03 -1.60780142e-05 9.99962875e-01 -2.78637981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.146559995 meters 0.0121054154019443 Centerline is valid? [True, True] Translation: X:80.16, Y:-136.99, Z:-1.80 [[-9.80411818e-01 1.96796706e-01 7.98271115e-03 8.01620212e+01] [ 1.96790207e-01 9.80444316e-01 -1.59938153e-03 -1.36988065e+02] [-8.14135678e-03 2.86682654e-06 -9.99966859e-01 -1.80430371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.176559995 meters 0.012215667029501835 Centerline is valid? [True, True] Translation: X:80.16, Y:-136.96, Z:-1.80 [[-9.91906964e-01 1.26692610e-01 8.34009244e-03 8.01630729e+01] [ 1.26688153e-01 9.91942026e-01 -1.06267484e-03 -1.36960198e+02] [-8.40752124e-03 2.51633132e-06 -9.99964656e-01 -1.80294341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.206559995 meters 0.012120761537218635 Centerline is valid? [True, True] Translation: X:80.16, Y:-136.93, Z:-1.80 [[-9.98404452e-01 5.58571562e-02 8.27813185e-03 8.01631600e+01] [ 5.58552559e-02 9.98438770e-01 -4.60749023e-04 -1.36932685e+02] [-8.29094391e-03 2.36329620e-06 -9.99965630e-01 -1.80377696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.236559995 meters 0.012120761537218635 Centerline is valid? [True, True] Translation: X:80.16, Y:-136.90, Z:-1.80 [[-9.99848474e-01 -1.53070621e-02 8.28995007e-03 8.01603188e+01] [-1.53065164e-02 9.99882840e-01 1.29272499e-04 -1.36904816e+02] [-8.29095761e-03 2.36265420e-06 -9.99965629e-01 -1.80377680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.266559995 meters 0.012138446136739077 Centerline is valid? [True, True] Translation: X:80.16, Y:-136.88, Z:-1.80 [[-9.96211706e-01 -8.64823115e-02 9.11299532e-03 8.01565916e+01] [-8.64786722e-02 9.96253386e-01 7.93386932e-04 -1.36878131e+02] [-9.14746638e-03 2.30161386e-06 -9.99958161e-01 -1.80314474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.296559995 meters 0.01220837137884621 Centerline is valid? [True, True] Translation: X:80.15, Y:-136.85, Z:-1.80 [[-9.87473486e-01 -1.57510403e-01 9.30525872e-03 8.01453461e+01] [-1.57503400e-01 9.87517328e-01 1.48536840e-03 -1.36851703e+02] [-9.42306520e-03 1.15202807e-06 -9.99955602e-01 -1.80282799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.326559995 meters 0.012160390117604067 Centerline is valid? [True, True] Translation: X:80.12, Y:-136.83, Z:-1.80 [[-9.73521111e-01 -2.28408044e-01 9.29576313e-03 8.01207858e+01] [-2.28397653e-01 9.73565491e-01 2.17872119e-03 -1.36828186e+02] [-9.54767164e-03 -2.09940188e-06 -9.99954420e-01 -1.80227975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.356559995 meters 0.012206647165411155 Centerline is valid? [True, True] Translation: X:80.08, Y:-136.81, Z:-1.80 [[-9.54298316e-01 -2.98725306e-01 8.82696976e-03 8.00825701e+01] [-2.98712579e-01 9.54339139e-01 2.75750743e-03 -1.36809668e+02] [-9.24765996e-03 -5.24220267e-06 -9.99957239e-01 -1.80130770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.386559995 meters 0.012055280386062508 Centerline is valid? [True, True] Translation: X:80.02, Y:-136.80, Z:-1.80 [[-9.29478804e-01 -3.68770977e-01 8.78178373e-03 8.00210904e+01] [-3.68754637e-01 9.29520288e-01 3.47146698e-03 -1.36801886e+02] [-9.44302241e-03 -1.16684992e-05 -9.99955414e-01 -1.80245829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.416559995 meters 0.01217738024229479 Centerline is valid? [True, True] Translation: X:79.95, Y:-136.80, Z:-1.80 [[-8.99334579e-01 -4.37177719e-01 8.54153127e-03 7.99518256e+01] [-4.37158221e-01 8.99375140e-01 4.12896316e-03 -1.36801885e+02] [-9.48713158e-03 -2.06812695e-05 -9.99954996e-01 -1.80198149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.446559995 meters 0.01221381583976071 Centerline is valid? [True, True] Translation: X:79.88, Y:-136.81, Z:-1.80 [[-8.63782505e-01 -5.03800026e-01 8.08201597e-03 7.98790599e+01] [-5.03778316e-01 8.63820313e-01 4.67711721e-03 -1.36809165e+02] [-9.33774134e-03 -3.15323726e-05 -9.99956402e-01 -1.80231651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.476559995 meters 0.012176484378605315 Centerline is valid? [True, True] Translation: X:79.80, Y:-136.83, Z:-1.80 [[-8.22924375e-01 -5.68102083e-01 7.44956268e-03 7.97996450e+01] [-5.68079269e-01 8.22958092e-01 5.09143864e-03 -1.36826357e+02] [-9.02313479e-03 -4.20731594e-05 -9.99959290e-01 -1.80249504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.506559995 meters 0.012622704884814635 Centerline is valid? [True, True] Translation: X:79.71, Y:-136.86, Z:-1.80 [[-7.75782966e-01 -6.30956685e-01 7.37907010e-03 7.97097168e+01] [-6.30929089e-01 7.75818056e-01 5.90165588e-03 -1.36857985e+02] [-9.44850505e-03 -7.72658654e-05 -9.99955359e-01 -1.80211389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.536559995 meters 0.012981055644863087 Centerline is valid? [True, True] Translation: X:79.63, Y:-136.89, Z:-1.80 [[-7.24691382e-01 -6.89039520e-01 6.85131282e-03 7.96264552e+01] [-6.89009940e-01 7.24723762e-01 6.38526272e-03 -1.36892415e+02] [-9.36500757e-03 -9.32777720e-05 -9.99956143e-01 -1.80199860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.566559995 meters 0.013408880384462772 Centerline is valid? [True, True] Translation: X:79.54, Y:-136.94, Z:-1.80 [[-6.67596738e-01 -7.44495426e-01 6.41532051e-03 7.95372057e+01] [-7.44462928e-01 6.67627548e-01 6.95746449e-03 -1.36941951e+02] [-9.46284520e-03 -1.31187694e-04 -9.99955218e-01 -1.80256122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.596559995 meters 0.014355139458950932 Centerline is valid? [True, True] Translation: X:79.45, Y:-137.00, Z:-1.80 [[-6.07816239e-01 -7.94057184e-01 5.71032117e-03 7.94462815e+01] [-7.94024341e-01 6.07843046e-01 7.22340583e-03 -1.37002750e+02] [-9.20677630e-03 -1.43630637e-04 -9.99957606e-01 -1.80181370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.626559995 meters 0.014113907270417624 Centerline is valid? [True, True] Translation: X:79.37, Y:-137.07, Z:-1.80 [[-5.44172781e-01 -8.38957834e-01 5.07315723e-03 7.93654930e+01] [-8.38924020e-01 5.44196405e-01 7.53402014e-03 -1.37067715e+02] [-9.08151915e-03 -1.56184764e-04 -9.99958750e-01 -1.80246593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.65655999499998 meters 0.0157985665680474 Centerline is valid? [True, True] Translation: X:79.28, Y:-137.14, Z:-1.80 [[-4.77030804e-01 -8.78874927e-01 4.52485205e-03 7.92833396e+01] [-8.78838789e-01 4.77052232e-01 7.97185005e-03 -1.37142091e+02] [-9.16484990e-03 -1.73797461e-04 -9.99957987e-01 -1.80146755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.68655999499998 meters 0.014892662929936832 Centerline is valid? [True, True] Translation: X:79.21, Y:-137.23, Z:-1.80 [[-4.05957022e-01 -9.13884672e-01 3.70180415e-03 7.92115111e+01] [-9.13850800e-01 4.05973856e-01 7.87042240e-03 -1.37225959e+02] [-8.69549409e-03 -1.87843450e-04 -9.99962176e-01 -1.80292487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.71655999499998 meters 0.015810426110056834 Centerline is valid? [True, True] Translation: X:79.14, Y:-137.32, Z:-1.80 [[-3.33878634e-01 -9.42610858e-01 3.13510936e-03 7.91395441e+01] [-9.42574730e-01 3.33893294e-01 8.25509348e-03 -1.37321088e+02] [-8.82813274e-03 -1.98875529e-04 -9.99961012e-01 -1.80218462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.74655999499998 meters 0.01586045294503212 Centerline is valid? [True, True] Translation: X:79.08, Y:-137.42, Z:-1.80 [[-2.60056472e-01 -9.65590155e-01 2.50672745e-03 7.90782815e+01] [-9.65552590e-01 2.60068473e-01 8.51965517e-03 -1.37418208e+02] [-8.87841593e-03 -2.04785716e-04 -9.99960565e-01 -1.80211411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.77655999499999 meters 0.015784270749594476 Centerline is valid? [True, True] Translation: X:79.03, Y:-137.52, Z:-1.80 [[-1.85021126e-01 -9.82732602e-01 1.95331578e-03 7.90255913e+01] [-9.82689549e-01 1.85031309e-01 9.20139818e-03 -1.37516120e+02] [-9.40393855e-03 -2.17049952e-04 -9.99955758e-01 -1.80163801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.806559995 meters 0.015387501357791482 Centerline is valid? [True, True] Translation: X:78.98, Y:-137.63, Z:-1.80 [[-1.09805412e-01 -9.93952161e-01 1.36877441e-03 7.89803190e+01] [-9.93898875e-01 1.09813701e-01 1.02945450e-02 -1.37626145e+02] [-1.03825954e-02 -2.30026594e-04 -9.99946073e-01 -1.80104045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.836559995 meters 0.015218390673382669 Centerline is valid? [True, True] Translation: X:78.94, Y:-137.75, Z:-1.80 [[-3.41221502e-02 -9.99417495e-01 5.91749226e-04 7.89419281e+01] [-9.99360131e-01 3.41265331e-02 1.07102019e-02 -1.37745949e+02] [-1.07241575e-02 -2.25915465e-04 -9.99942469e-01 -1.80088067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.866559995 meters 0.01508728507125406 Centerline is valid? [True, True] Translation: X:78.91, Y:-137.86, Z:-1.80 [[ 4.18565229e-02 -9.99123604e-01 -2.36792457e-04 7.89131064e+01] [-9.99065195e-01 -4.18566369e-02 1.08055100e-02 -1.37861954e+02] [-1.08059514e-02 -2.15709976e-04 -9.99941591e-01 -1.80083520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.896559995 meters 0.014127588386042122 Centerline is valid? [True, True] Translation: X:78.89, Y:-137.97, Z:-1.80 [[ 1.16090108e-01 -9.93238126e-01 -1.05460059e-03 7.88937182e+01] [-9.93181128e-01 -1.16094746e-01 1.06421859e-02 -1.37967600e+02] [-1.06926583e-02 -1.88043104e-04 -9.99942814e-01 -1.80208404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.926559995 meters 0.0137790356802041 Centerline is valid? [True, True] Translation: X:78.88, Y:-138.09, Z:-1.80 [[ 1.91431734e-01 -9.81504446e-01 -1.70718447e-03 7.88830506e+01] [-9.81457416e-01 -1.91439276e-01 9.60960931e-03 -1.38087189e+02] [-9.75869642e-03 -1.64055324e-04 -9.99952369e-01 -1.80277645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.956559995 meters 0.014664345746568426 Centerline is valid? [True, True] Translation: X:78.88, Y:-138.20, Z:-1.80 [[ 2.65894595e-01 -9.63999213e-01 -2.36271340e-03 7.88778567e+01] [-9.63955870e-01 -2.65905048e-01 9.14252585e-03 -1.38203221e+02] [-9.44164514e-03 -1.53396760e-04 -9.99955415e-01 -1.80192019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.986559995 meters 0.013968867660794186 Centerline is valid? [True, True] Translation: X:78.89, Y:-138.32, Z:-1.80 [[ 3.39184320e-01 -9.40715160e-01 -2.99752250e-03 7.88862107e+01] [-9.40674449e-01 -3.39197532e-01 8.75305294e-03 -1.38322045e+02] [-9.25088183e-03 -1.49205489e-04 -9.99957199e-01 -1.80345581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.016559995 meters 0.01385919696334453 Centerline is valid? [True, True] Translation: X:78.90, Y:-138.44, Z:-1.80 [[ 4.10930780e-01 -9.11660123e-01 -3.42268702e-03 7.89014239e+01] [-9.11625536e-01 -4.10945008e-01 7.94243148e-03 -1.38437919e+02] [-8.64733421e-03 -1.43580674e-04 -9.99962601e-01 -1.80401357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.046559995 meters 0.015236927154741177 Centerline is valid? [True, True] Translation: X:78.92, Y:-138.56, Z:-1.80 [[ 4.80444214e-01 -8.77015853e-01 -4.06823874e-03 7.89237886e+01] [-8.76981685e-01 -4.80461414e-01 7.74305348e-03 -1.38556514e+02] [-8.74541239e-03 -1.52334378e-04 -9.99961747e-01 -1.80296625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.076559995 meters 0.01440206634598965 Centerline is valid? [True, True] Translation: X:78.96, Y:-138.67, Z:-1.80 [[ 5.46918994e-01 -8.37171094e-01 -4.91660447e-03 7.89564046e+01] [-8.37134478e-01 -5.46941068e-01 7.83160406e-03 -1.38665455e+02] [-9.24548544e-03 -1.67393899e-04 -9.99957246e-01 -1.80377581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.106559995 meters 0.014722804050703453 Centerline is valid? [True, True] Translation: X:79.00, Y:-138.77, Z:-1.80 [[ 6.09920537e-01 -7.92439947e-01 -5.98905004e-03 7.89961073e+01] [-7.92398670e-01 -6.09949911e-01 8.09038705e-03 -1.38774193e+02] [-1.00641664e-02 -1.88777922e-04 -9.99949337e-01 -1.80344042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.136559995 meters 0.014762748948421792 Centerline is valid? [True, True] Translation: X:79.04, Y:-138.87, Z:-1.80 [[ 6.69784040e-01 -7.42521896e-01 -7.11156581e-03 7.90400189e+01] [-7.42476530e-01 -6.69821757e-01 8.21072454e-03 -1.38874590e+02] [-1.08601243e-02 -2.19241547e-04 -9.99941003e-01 -1.80341274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.166559995 meters 0.016197195281556307 Centerline is valid? [True, True] Translation: X:79.09, Y:-138.98, Z:-1.80 [[ 7.25023312e-01 -6.88674216e-01 -8.30789564e-03 7.90940968e+01] [-6.88625081e-01 -7.25070868e-01 8.23011624e-03 -1.38977427e+02] [-1.16916820e-02 -2.46000820e-04 -9.99931620e-01 -1.80224745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.196559995 meters 0.015533468688714292 Centerline is valid? [True, True] Translation: X:79.09, Y:-138.98, Z:-1.80 [[ 7.76981685e-01 -6.29456991e-01 -9.13003958e-03 7.90933081e+01] [-6.29409601e-01 -7.77035282e-01 7.72818860e-03 -1.38983885e+02] [-1.19589252e-02 -2.58126431e-04 -9.99928456e-01 -1.80308735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.226559995 meters 0.015952980430489053 Centerline is valid? [True, True] Translation: X:79.09, Y:-138.99, Z:-1.80 [[ 8.25156386e-01 -5.64817313e-01 -9.91674447e-03 7.90897088e+01] [-5.64772229e-01 -8.25215922e-01 7.14228261e-03 -1.38994010e+02] [-1.22175403e-02 -2.92798226e-04 -9.99925320e-01 -1.80389136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.256559995 meters 0.0164012110824729 Centerline is valid? [True, True] Translation: X:79.09, Y:-139.00, Z:-1.80 [[ 8.67522543e-01 -4.97293850e-01 -1.01717543e-02 7.90875107e+01] [-4.97255549e-01 -8.67582120e-01 6.17935701e-03 -1.39003265e+02] [-1.18977884e-02 -3.02770232e-04 -9.99929173e-01 -1.80428455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.286559995 meters 0.018268261413079866 Centerline is valid? [True, True] Translation: X:79.08, Y:-139.01, Z:-1.80 [[ 9.04345865e-01 -4.26674290e-01 -1.03733838e-02 7.90849857e+01] [-4.26642239e-01 -9.04405303e-01 5.23901060e-03 -1.39013377e+02] [-1.16170944e-02 -3.12153886e-04 -9.99932471e-01 -1.80343467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.316559995 meters 0.018693601121794648 Centerline is valid? [True, True] Translation: X:79.09, Y:-139.02, Z:-1.80 [[ 9.35648300e-01 -3.52736477e-01 -1.17998565e-02 7.90861392e+01] [-3.52703433e-01 -9.35722631e-01 4.84213651e-03 -1.39019852e+02] [-1.27493909e-02 -3.68686912e-04 -9.99918655e-01 -1.80385620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.346559995 meters 0.018698303885826946 Centerline is valid? [True, True] Translation: X:79.09, Y:-139.03, Z:-1.80 [[ 9.60540897e-01 -2.77874462e-01 -1.21230529e-02 7.90884002e+01] [-2.77847365e-01 -9.60617323e-01 3.89870859e-03 -1.39025712e+02] [-1.27289662e-02 -3.76510737e-04 -9.99918913e-01 -1.80370316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.376559995 meters 0.017271242525280537 Centerline is valid? [True, True] Translation: X:79.09, Y:-139.03, Z:-1.80 [[ 9.79313305e-01 -2.01948395e-01 -1.27395552e-02 7.90908961e+01] [-2.01926149e-01 -9.79396087e-01 3.02234697e-03 -1.39032610e+02] [-1.30874287e-02 -3.87375269e-04 -9.99914281e-01 -1.80476200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.40655999499998 meters 0.018011079790950454 Centerline is valid? [True, True] Translation: X:79.09, Y:-139.04, Z:-1.80 [[ 9.92012713e-01 -1.25439428e-01 -1.32562265e-02 7.90922719e+01] [-1.25422994e-01 -9.92101204e-01 2.06715976e-03 -1.39041847e+02] [-1.34108217e-02 -3.88013141e-04 -9.99909996e-01 -1.80418620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.43655999499998 meters 0.017495448345770256 Centerline is valid? [True, True] Translation: X:79.09, Y:-139.05, Z:-1.80 [[ 9.98738238e-01 -4.84009270e-02 -1.33895958e-02 7.90924076e+01] [-4.83915467e-02 -9.98827918e-01 1.02385832e-03 -1.39046148e+02] [-1.34234578e-02 -3.74623205e-04 -9.99909831e-01 -1.80421025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.46655999499998 meters 0.01667479055011879 Centerline is valid? [True, True] Translation: X:79.09, Y:-139.05, Z:-1.80 [[ 9.99559931e-01 2.61481969e-02 -1.40077302e-02 7.90921562e+01] [ 2.61503552e-02 -9.99658021e-01 -2.90957112e-05 -1.39048129e+02] [-1.40037007e-02 -3.37224213e-04 -9.99901887e-01 -1.80452612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.49655999499998 meters 0.016184350806808655 Centerline is valid? [True, True] Translation: X:79.09, Y:-139.05, Z:-1.80 [[ 9.94736739e-01 1.01575079e-01 -1.34656587e-02 7.90910537e+01] [ 1.01569684e-01 -9.94827835e-01 -1.08571595e-03 -1.39049794e+02] [-1.35062938e-02 -2.87701158e-04 -9.99908744e-01 -1.80452987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.52655999499999 meters 0.014019389984528839 Centerline is valid? [True, True] Translation: X:79.09, Y:-139.05, Z:-1.81 [[ 9.84245945e-01 1.76300760e-01 -1.33402255e-02 7.90915761e+01] [ 1.76287988e-01 -9.84336315e-01 -2.13667278e-03 -1.39053452e+02] [-1.35079654e-02 -2.48709983e-04 -9.99908732e-01 -1.80697593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.556559995 meters 0.012898431445070713 Centerline is valid? [True, True] Translation: X:79.09, Y:-139.06, Z:-1.81 [[ 9.68916105e-01 2.47037316e-01 -1.31964518e-02 7.90905460e+01] [ 2.47016779e-01 -9.69005952e-01 -3.18982628e-03 -1.39057153e+02] [-1.35754465e-02 -1.69070966e-04 -9.99907835e-01 -1.80749134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.586559995 meters 0.012365047986189266 Centerline is valid? [True, True] Translation: X:79.09, Y:-139.06, Z:-1.81 [[ 9.47497936e-01 3.19503489e-01 -1.28523509e-02 7.90913564e+01] [ 3.19475964e-01 -9.47585090e-01 -4.19580903e-03 -1.39063224e+02] [-1.35192717e-02 -1.30496797e-04 -9.99908602e-01 -1.80782067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.616559995 meters 0.012161532896326592 Centerline is valid? [True, True] Translation: X:79.09, Y:-139.07, Z:-1.81 [[ 9.20634214e-01 3.90220728e-01 -1.26659938e-02 7.90925567e+01] [ 3.90185227e-01 -9.20721334e-01 -5.26442558e-03 -1.39068664e+02] [-1.37161387e-02 -9.54733630e-05 -9.99905925e-01 -1.80825239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.646559995 meters 0.012161532896326592 Centerline is valid? [True, True] Translation: X:79.09, Y:-139.08, Z:-1.81 [[ 8.87280357e-01 4.61068710e-01 -1.22152428e-02 7.90945879e+01] [ 4.61026501e-01 -8.87364432e-01 -6.23937616e-03 -1.39076539e+02] [-1.37161531e-02 -9.54747405e-05 -9.99905925e-01 -1.80825226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.676559995 meters 0.01192569541004053 Centerline is valid? [True, True] Translation: X:79.10, Y:-139.08, Z:-1.81 [[ 8.49944180e-01 5.26754043e-01 -1.11834129e-02 7.90965245e+01] [ 5.26709289e-01 -8.50017750e-01 -6.86650754e-03 -1.39082103e+02] [-1.31230601e-02 -5.42593602e-05 -9.99913887e-01 -1.80895289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.706559995 meters 0.01185808252564448 Centerline is valid? [True, True] Translation: X:79.10, Y:-139.09, Z:-1.81 [[ 8.08502521e-01 5.88377893e-01 -1.16244974e-02 7.90977360e+01] [ 5.88317104e-01 -8.08586084e-01 -8.45757214e-03 -1.39086145e+02] [-1.43756553e-02 -9.22264690e-07 -9.99896665e-01 -1.80896978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.736559995 meters 0.011956174328170532 Centerline is valid? [True, True] Translation: X:79.10, Y:-139.09, Z:-1.81 [[ 7.59847968e-01 6.50000947e-01 -1.13944966e-02 7.91012126e+01] [ 6.49927941e-01 -7.59933398e-01 -9.74180088e-03 -1.39093883e+02] [-1.49912383e-02 -3.31413957e-06 -9.99887625e-01 -1.80823332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.766559995 meters 0.011937782202775594 Centerline is valid? [True, True] Translation: X:79.11, Y:-139.10, Z:-1.81 [[ 7.06469246e-01 7.07660558e-01 -1.08507834e-02 7.91050947e+01] [ 7.07577244e-01 -7.06552570e-01 -1.08586160e-02 -1.39101464e+02] [-1.53508631e-02 -6.48912291e-06 -9.99882169e-01 -1.80716695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.796559995 meters 0.011971620127730495 Centerline is valid? [True, True] Translation: X:79.11, Y:-139.11, Z:-1.81 [[ 6.48849214e-01 7.60848095e-01 -1.02408004e-02 7.91095255e+01] [ 7.60753550e-01 -6.48930024e-01 -1.19941326e-02 -1.39108132e+02] [-1.57712758e-02 -8.34175381e-06 -9.99875626e-01 -1.80694814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.826559995 meters 0.011911979445272154 Centerline is valid? [True, True] Translation: X:79.12, Y:-139.12, Z:-1.81 [[ 5.86710011e-01 8.09742790e-01 -9.37958064e-03 7.91161909e+01] [ 8.09639884e-01 -5.86784981e-01 -1.29091199e-02 -1.39115259e+02] [-1.59568638e-02 -2.01726994e-05 -9.99872681e-01 -1.80749486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.856559995 meters 0.01194087543589899 Centerline is valid? [True, True] Translation: X:79.12, Y:-139.12, Z:-1.81 [[ 5.20296681e-01 8.53944672e-01 -8.35831432e-03 7.91224944e+01] [ 8.53835825e-01 -5.20363811e-01 -1.36340671e-02 -1.39122240e+02] [-1.59921033e-02 -4.28683293e-05 -9.99872117e-01 -1.80758098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.886559995 meters 0.011917436211467743 Centerline is valid? [True, True] Translation: X:79.13, Y:-139.13, Z:-1.81 [[ 4.50353164e-01 8.92819638e-01 -7.42442428e-03 7.91308624e+01] [ 8.92700924e-01 -4.50414353e-01 -1.45592468e-02 -1.39129490e+02] [-1.63428487e-02 -7.09875570e-05 -9.99866444e-01 -1.80802852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.916559995 meters 0.012416477545839933 Centerline is valid? [True, True] Translation: X:79.14, Y:-139.14, Z:-1.81 [[ 3.76228908e-01 9.26503409e-01 -6.57587329e-03 7.91417042e+01] [ 9.26367765e-01 -3.76286350e-01 -1.58539022e-02 -1.39137009e+02] [-1.71631058e-02 -1.26980747e-04 -9.99852695e-01 -1.80621012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.946559995 meters 0.012546253822084937 Centerline is valid? [True, True] Translation: X:79.15, Y:-139.14, Z:-1.81 [[ 3.00937624e-01 9.53628581e-01 -5.39222316e-03 7.91495319e+01] [ 9.53484801e-01 -3.00985887e-01 -1.65599031e-02 -1.39141628e+02] [-1.74149800e-02 -1.57904942e-04 -9.99848335e-01 -1.80619764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.976559995 meters 0.012781400197108654 Centerline is valid? [True, True] Translation: X:79.16, Y:-139.15, Z:-1.81 [[ 2.23524783e-01 9.74689397e-01 -4.15350585e-03 7.91588372e+01] [ 9.74536879e-01 -2.23563286e-01 -1.72431902e-02 -1.39145724e+02] [-1.77353261e-02 -1.93464273e-04 -9.99842698e-01 -1.80578327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.006559995 meters 0.01313279328904536 Centerline is valid? [True, True] Translation: X:79.17, Y:-139.15, Z:-1.81 [[ 1.44613409e-01 9.89484106e-01 -2.85772660e-03 7.91681401e+01] [ 9.89321468e-01 -1.44641455e-01 -1.79410595e-02 -1.39149564e+02] [-1.81657390e-02 -2.32692502e-04 -9.99834962e-01 -1.80543609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.036559995 meters 0.013916022067416909 Centerline is valid? [True, True] Translation: X:79.18, Y:-139.15, Z:-1.81 [[ 6.29083303e-02 9.98018329e-01 -1.39918852e-03 7.91794177e+01] [ 9.97864053e-01 -6.29232103e-02 -1.75499517e-02 -1.39152008e+02] [-1.76032149e-02 -2.92161771e-04 -9.99845009e-01 -1.80538095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.066559995 meters 0.013901327621337896 Centerline is valid? [True, True] Translation: X:79.19, Y:-139.15, Z:-1.81 [[-1.62728244e-02 9.99867589e-01 -1.98193473e-05 7.91885342e+01] [ 9.99723111e-01 1.62701360e-02 -1.69995312e-02 -1.39153578e+02] [-1.69969579e-02 -2.96444246e-04 -9.99855497e-01 -1.80624085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.096559995 meters 0.015764388866900896 Centerline is valid? [True, True] Translation: X:79.20, Y:-139.15, Z:-1.80 [[-9.53334871e-02 9.95444598e-01 1.25640078e-03 7.91997694e+01] [ 9.95312176e-01 9.53413013e-02 -1.62390796e-02 -1.39154880e+02] [-1.62848909e-02 -2.97617091e-04 -9.99867348e-01 -1.80375294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.126559995 meters 0.013901547547830191 Centerline is valid? [True, True] Translation: X:79.21, Y:-139.16, Z:-1.81 [[-1.73477971e-01 9.84834565e-01 2.50444746e-03 7.92059029e+01] [ 9.84705298e-01 1.73495785e-01 -1.59589483e-02 -1.39155353e+02] [-1.61514350e-02 -3.02383300e-04 -9.99869511e-01 -1.80704865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.15655999499998 meters 0.014092760386389765 Centerline is valid? [True, True] Translation: X:79.21, Y:-139.16, Z:-1.81 [[-2.50101075e-01 9.68213526e-01 3.46713235e-03 7.92149742e+01] [ 9.68104401e-01 2.50124950e-01 -1.45388647e-02 -1.39155331e+02] [-1.49439417e-02 -2.79639596e-04 -9.99888294e-01 -1.80745142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.18655999499998 meters 0.013971316185228191 Centerline is valid? [True, True] Translation: X:79.22, Y:-139.15, Z:-1.81 [[-3.24796767e-01 9.45773901e-01 4.33457507e-03 7.92219724e+01] [ 9.45678811e-01 3.24825587e-01 -1.34136198e-02 -1.39153943e+02] [-1.40942324e-02 -2.57584532e-04 -9.99900638e-01 -1.80775786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.21655999499998 meters 0.014228168025489275 Centerline is valid? [True, True] Translation: X:79.23, Y:-139.15, Z:-1.81 [[-3.97384807e-01 9.17637915e-01 5.09626027e-03 7.92290894e+01] [ 9.17554652e-01 3.97417413e-01 -1.23636694e-02 -1.39152954e+02] [-1.33707143e-02 -2.37037037e-04 -9.99910580e-01 -1.80764480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.24655999499998 meters 0.013667492358508466 Centerline is valid? [True, True] Translation: X:79.23, Y:-139.15, Z:-1.81 [[-4.67221588e-01 8.84121012e-01 5.83294311e-03 7.92346065e+01] [ 8.84046234e-01 4.67257947e-01 -1.15007806e-02 -1.39151424e+02] [-1.28935708e-02 -2.16821608e-04 -9.99916851e-01 -1.80855105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.27655999499999 meters 0.01312383676642045 Centerline is valid? [True, True] Translation: X:79.24, Y:-139.15, Z:-1.81 [[-5.33331315e-01 8.45882456e-01 6.37016344e-03 7.92407250e+01] [ 8.45818018e-01 5.33369326e-01 -1.04423097e-02 -1.39149602e+02] [-1.22306163e-02 -1.81211746e-04 -9.99925187e-01 -1.80874734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.306559995 meters 0.012826591805207005 Centerline is valid? [True, True] Translation: X:79.25, Y:-139.15, Z:-1.81 [[-5.97036533e-01 8.02184832e-01 6.84642320e-03 7.92469165e+01] [ 8.02128997e-01 5.97075765e-01 -9.46591427e-03 -1.39145989e+02] [-1.16812462e-02 -1.59782070e-04 -9.99931759e-01 -1.80907415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.336559995 meters 0.01248704018796928 Centerline is valid? [True, True] Translation: X:79.25, Y:-139.14, Z:-1.81 [[-6.57202472e-01 7.53676552e-01 7.52098133e-03 7.92538014e+01] [ 7.53624642e-01 6.57245490e-01 -8.84678304e-03 -1.39141508e+02] [-1.16107440e-02 -1.46130826e-04 -9.99932582e-01 -1.80958265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.366559995 meters 0.012317256442287872 Centerline is valid? [True, True] Translation: X:79.26, Y:-139.14, Z:-1.81 [[-7.13197137e-01 7.00922655e-01 7.56807007e-03 7.92605224e+01] [ 7.00881401e-01 7.13237280e-01 -7.60550695e-03 -1.39136432e+02] [-1.07287018e-02 -1.19906232e-04 -9.99942439e-01 -1.80938673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.396559995 meters 0.011899139232143243 Centerline is valid? [True, True] Translation: X:79.27, Y:-139.13, Z:-1.81 [[-7.63969724e-01 6.45199885e-01 8.20783599e-03 7.92659707e+01] [ 6.45161403e-01 7.64013809e-01 -7.04724230e-03 -1.39130918e+02] [-1.08177800e-02 -8.85007752e-05 -9.99941482e-01 -1.80854405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.426559995 meters 0.011900179569283853 Centerline is valid? [True, True] Translation: X:79.28, Y:-139.11, Z:-1.81 [[-8.06839420e-01 5.90701488e-01 9.04996830e-03 7.92817007e+01] [ 5.90663274e-01 8.06890170e-01 -6.71940072e-03 -1.39108677e+02] [-1.12714905e-02 -7.59934808e-05 -9.99936472e-01 -1.80743445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.456559995 meters 0.011829066431104804 Centerline is valid? [True, True] Translation: X:79.70, Y:-138.57, Z:-2.78 [[-7.58621144e-01 -6.51462249e-01 9.53402894e-03 7.96976098e+01] [ 6.51413283e-01 -7.58681037e-01 -7.98874990e-03 -1.38568700e+02] [ 1.24376559e-02 1.50158502e-04 9.99922638e-01 -2.78460986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.486559995 meters 0.011915208689245057 Centerline is valid? [True, True] Translation: X:79.26, Y:-139.10, Z:-1.81 [[-8.05535162e-01 5.92460031e-01 1.02085583e-02 7.92578091e+01] [ 5.92412066e-01 8.05599845e-01 -7.53878618e-03 -1.39095675e+02] [-1.26904425e-02 -2.50842328e-05 -9.99919473e-01 -1.80520631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.516559995 meters 0.012085378115052371 Centerline is valid? [True, True] Translation: X:79.27, Y:-139.07, Z:-1.80 [[-8.43898634e-01 5.36375856e-01 1.16634651e-02 7.92724516e+01] [ 5.36324832e-01 8.43979230e-01 -7.39824076e-03 -1.39073852e+02] [-1.38119600e-02 1.20406729e-05 -9.99904610e-01 -1.80353123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.546559995 meters 0.011882596962424778 Centerline is valid? [True, True] Translation: X:79.29, Y:-139.05, Z:-1.80 [[-8.79167469e-01 4.76355838e-01 1.22342496e-02 7.92890933e+01] [ 4.76310182e-01 8.79252589e-01 -6.59512439e-03 -1.39052086e+02] [-1.38986217e-02 2.90788561e-05 -9.99903409e-01 -1.80427348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.576559995 meters 0.011995708623798604 Centerline is valid? [True, True] Translation: X:79.62, Y:-138.45, Z:-2.79 [[-8.48398692e-01 -5.29245092e-01 1.09220778e-02 7.96240440e+01] [ 5.29199954e-01 -8.48468989e-01 -6.91258530e-03 -1.38447198e+02] [ 1.29254961e-02 -8.46652712e-05 9.99916459e-01 -2.78541265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.606559995 meters 0.012128629175711947 Centerline is valid? [True, True] Translation: X:79.25, Y:-139.04, Z:-1.81 [[-8.79269892e-01 4.76193280e-01 1.11542314e-02 7.92514055e+01] [ 4.76155984e-01 8.79340637e-01 -5.96015553e-03 -1.39035864e+02] [-1.26465550e-02 7.05687338e-05 -9.99920027e-01 -1.80505272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.636559995 meters 0.012201171875941398 Centerline is valid? [True, True] Translation: X:79.59, Y:-138.43, Z:-2.79 [[-8.51075345e-01 -5.24937884e-01 1.05344193e-02 7.95853521e+01] [ 5.24896471e-01 -8.51140535e-01 -6.59427829e-03 -1.38425479e+02] [ 1.24278578e-02 -8.27481534e-05 9.99922768e-01 -2.78566293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.666559995 meters 0.012201171875941398 Centerline is valid? [True, True] Translation: X:79.21, Y:-139.02, Z:-1.80 [[-8.81102417e-01 4.72797969e-01 1.09823517e-02 7.92136460e+01] [ 4.72762200e-01 8.81170855e-01 -5.81601399e-03 -1.39017180e+02] [-1.24271279e-02 6.75367900e-05 -9.99922778e-01 -1.80472984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.696559995 meters 0.012105583567615475 Centerline is valid? [True, True] Translation: X:79.54, Y:-138.40, Z:-2.79 [[-8.52799787e-01 -5.22134621e-01 1.03904304e-02 7.95394983e+01] [ 5.22094747e-01 -8.52863079e-01 -6.45320833e-03 -1.38402097e+02] [ 1.22310580e-02 -7.85055451e-05 9.99925195e-01 -2.78539945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.726559995 meters 0.012105583567615475 Centerline is valid? [True, True] Translation: X:79.17, Y:-138.99, Z:-1.80 [[-8.83023459e-01 4.69203946e-01 1.08271531e-02 7.91703307e+01] [ 4.69169528e-01 8.83089833e-01 -5.68334097e-03 -1.38994739e+02] [-1.22279948e-02 6.12469086e-05 -9.99925233e-01 -1.80499354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.756559995 meters 0.012133868037674193 Centerline is valid? [True, True] Translation: X:79.19, Y:-138.97, Z:-1.80 [[-9.14472977e-01 4.04488594e-01 1.13204154e-02 7.91869861e+01] [ 4.04458260e-01 9.14543042e-01 -4.95386308e-03 -1.38971539e+02] [-1.23567883e-02 4.84616030e-05 -9.99923651e-01 -1.80461284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.786559995 meters 0.011984692847913663 Centerline is valid? [True, True] Translation: X:79.20, Y:-138.94, Z:-1.81 [[-9.41162234e-01 3.37763082e-01 1.13907675e-02 7.91957112e+01] [ 3.37738809e-01 9.41231161e-01 -4.04946925e-03 -1.38944014e+02] [-1.20891066e-02 3.58967329e-05 -9.99926923e-01 -1.80566128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.816559995 meters 0.011960047456878922 Centerline is valid? [True, True] Translation: X:79.20, Y:-138.92, Z:-1.81 [[-9.63040839e-01 2.69122992e-01 1.11874163e-02 7.92014405e+01] [ 2.69105101e-01 9.63105817e-01 -3.10322251e-03 -1.38915913e+02] [-1.16098142e-02 2.20607833e-05 -9.99932604e-01 -1.80554896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.846559995 meters 0.011965073321535237 Centerline is valid? [True, True] Translation: X:79.21, Y:-138.89, Z:-1.81 [[-9.79995498e-01 1.98680383e-01 1.16159355e-02 7.92083572e+01] [ 1.98666492e-01 9.80064337e-01 -2.34942463e-03 -1.38888155e+02] [-1.18511487e-02 5.27159672e-06 -9.99929773e-01 -1.80553210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.876559995 meters 0.01203547057180356 Centerline is valid? [True, True] Translation: X:79.21, Y:-138.86, Z:-1.81 [[-9.91996497e-01 1.25800286e-01 1.08276573e-02 7.92109477e+01] [ 1.25792507e-01 9.92055587e-01 -1.39918989e-03 -1.38858383e+02] [-1.09176564e-02 -2.59533108e-05 -9.99940400e-01 -1.80594853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.90655999499998 meters 0.012133145818760347 Centerline is valid? [True, True] Translation: X:79.30, Y:-138.18, Z:-2.78 [[-9.80068768e-01 -1.98397219e-01 1.01859251e-02 7.92953514e+01] [ 1.98386402e-01 -9.80121698e-01 -2.07171950e-03 -1.38177489e+02] [ 1.03944696e-02 -9.67854511e-06 9.99945976e-01 -2.78472858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.93655999499998 meters 0.01216427143336424 Centerline is valid? [True, True] Translation: X:79.15, Y:-138.85, Z:-1.81 [[-9.92877699e-01 1.18709631e-01 1.00944437e-02 7.91504875e+01] [ 1.18702949e-01 9.92929011e-01 -1.26068193e-03 -1.38849431e+02] [-1.01727211e-02 -5.34627455e-05 -9.99948255e-01 -1.80641599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.96655999499998 meters 0.0125180848548912 Centerline is valid? [True, True] Translation: X:79.15, Y:-138.82, Z:-1.81 [[-9.98920560e-01 4.54199680e-02 9.73349361e-03 7.91493116e+01] [ 4.54170777e-02 9.98967978e-01 -5.17887421e-04 -1.38820702e+02] [-9.74697086e-03 -7.52615574e-05 -9.99952494e-01 -1.80680330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.99655999499998 meters 0.012950815760142693 Centerline is valid? [True, True] Translation: X:79.19, Y:-138.14, Z:-2.78 [[-9.91615422e-01 -1.28857446e-01 9.72690198e-03 7.91883762e+01] [ 1.28852029e-01 -9.91663124e-01 -1.18419762e-03 -1.38140466e+02] [ 9.79840269e-03 7.90624337e-05 9.99951991e-01 -2.78482939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.02655999499999 meters 0.012858444966008317 Centerline is valid? [True, True] Translation: X:79.08, Y:-138.82, Z:-1.81 [[-9.99176109e-01 3.93071122e-02 1.01021838e-02 7.90822180e+01] [ 3.93041484e-02 9.99227172e-01 -4.91829263e-04 -1.38817226e+02] [-1.01137090e-02 -9.43663181e-05 -9.99948851e-01 -1.80680257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.056559995 meters 0.013063011107920627 Centerline is valid? [True, True] Translation: X:79.08, Y:-138.79, Z:-1.81 [[-9.99395487e-01 -3.32373331e-02 1.01950953e-02 7.90769785e+01] [-3.32367252e-02 9.99447481e-01 2.29092434e-04 -1.38789579e+02] [-1.01970767e-02 -1.09897637e-04 -9.99948002e-01 -1.80741790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.086559995 meters 0.013289518910042125 Centerline is valid? [True, True] Translation: X:79.06, Y:-138.11, Z:-2.78 [[-9.98357565e-01 -5.63837821e-02 1.01509223e-02 7.90648100e+01] [ 5.63819582e-02 -9.98409163e-01 -4.65990589e-04 -1.38107642e+02] [ 1.01610481e-02 1.07103646e-04 9.99948370e-01 -2.78295527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.116559995 meters 0.01362295982359833 Centerline is valid? [True, True] Translation: X:79.00, Y:-138.79, Z:-1.81 [[-9.99141154e-01 -4.01107309e-02 1.03963438e-02 7.89958638e+01] [-4.01098843e-02 9.99195233e-01 2.90001672e-04 -1.38789813e+02] [-1.03996094e-02 -1.27243543e-04 -9.99945915e-01 -1.80702859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.146559995 meters 0.0136903019737573 Centerline is valid? [True, True] Translation: X:78.99, Y:-138.76, Z:-1.81 [[-9.93655703e-01 -1.11927242e-01 1.09834121e-02 7.89863445e+01] [-1.11922003e-01 9.93716394e-01 1.09251693e-03 -1.38763114e+02] [-1.10366791e-02 -1.43699796e-04 -9.99939084e-01 -1.80738660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.176559995 meters 0.014193381342387693 Centerline is valid? [True, True] Translation: X:78.92, Y:-138.09, Z:-2.78 [[-9.99770458e-01 1.75301140e-02 1.23176932e-02 7.89205956e+01] [-1.75257283e-02 -9.99846305e-01 4.63916240e-04 -1.38085598e+02] [ 1.23239326e-02 2.47933207e-04 9.99924027e-01 -2.78415948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.206559995 meters 0.015102734113655623 Centerline is valid? [True, True] Translation: X:78.89, Y:-138.77, Z:-1.80 [[-9.92752389e-01 -1.19478807e-01 1.29425383e-02 7.88865908e+01] [-1.19471112e-01 9.92836734e-01 1.36885755e-03 -1.38770191e+02] [-1.30133770e-02 -1.87322847e-04 -9.99915305e-01 -1.80414022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.236559995 meters 0.014403774657618117 Centerline is valid? [True, True] Translation: X:78.88, Y:-138.75, Z:-1.81 [[-9.81630368e-01 -1.90319272e-01 1.34311210e-02 7.88754254e+01] [-1.90304241e-01 9.81722229e-01 2.40018112e-03 -1.38746198e+02] [-1.36424308e-02 -1.99908623e-04 -9.99906918e-01 -1.80540034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.266559995 meters 0.014609028452439308 Centerline is valid? [True, True] Translation: X:78.85, Y:-138.72, Z:-1.81 [[-9.65416446e-01 -2.60352079e-01 1.37069796e-02 7.88498162e+01] [-2.60328866e-01 9.65513725e-01 3.48265461e-03 -1.38723494e+02] [-1.41409933e-02 -2.06110417e-04 -9.99899990e-01 -1.80513685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.296559995 meters 0.014505163433322577 Centerline is valid? [True, True] Translation: X:78.81, Y:-138.71, Z:-1.81 [[-9.44232995e-01 -3.29002662e-01 1.34647273e-02 7.88075917e+01] [-3.28972178e-01 9.44328973e-01 4.48290166e-03 -1.38708449e+02] [-1.41900187e-02 -1.96617023e-04 -9.99899297e-01 -1.80571568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.326559995 meters 0.014520289260326984 Centerline is valid? [True, True] Translation: X:78.75, Y:-138.70, Z:-1.81 [[-9.17821023e-01 -3.96783560e-01 1.29374134e-02 7.87468967e+01] [-3.96746932e-01 9.17912182e-01 5.39429699e-03 -1.38702191e+02] [-1.40157777e-02 -1.81879873e-04 -9.99901758e-01 -1.80569363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.356559995 meters 0.014153264163154395 Centerline is valid? [True, True] Translation: X:78.68, Y:-138.70, Z:-1.81 [[-8.86378829e-01 -4.62790393e-01 1.25548261e-02 7.86808675e+01] [-4.62746677e-01 8.86467723e-01 6.36311845e-03 -1.38704701e+02] [-1.40742382e-02 -1.69570581e-04 -9.99900939e-01 -1.80703129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.386559995 meters 0.013746543801295774 Centerline is valid? [True, True] Translation: X:78.61, Y:-138.72, Z:-1.81 [[-8.50939185e-01 -5.25132510e-01 1.17622626e-02 7.86081764e+01] [-5.25084388e-01 8.51020465e-01 7.11016848e-03 -1.38718399e+02] [-1.37437068e-02 -1.25859482e-04 -9.99905543e-01 -1.80866422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.416559995 meters 0.013878637282248517 Centerline is valid? [True, True] Translation: X:78.53, Y:-138.74, Z:-1.81 [[-8.10384636e-01 -5.85799647e-01 1.07478463e-02 7.85260878e+01] [-5.85749670e-01 8.10455900e-01 7.65241042e-03 -1.38740631e+02] [-1.31934347e-02 -9.41515656e-05 -9.99912958e-01 -1.80775638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.446559995 meters 0.013652806907072977 Centerline is valid? [True, True] Translation: X:78.44, Y:-138.78, Z:-1.81 [[-7.65304308e-01 -6.43595115e-01 9.72848328e-03 7.84354849e+01] [-6.43544232e-01 7.65366137e-01 8.09312823e-03 -1.38778370e+02] [-1.26545495e-02 -6.70034023e-05 -9.99919926e-01 -1.80818892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.476559995 meters 0.013335337616329091 Centerline is valid? [True, True] Translation: X:78.36, Y:-138.82, Z:-1.81 [[-7.17310831e-01 -6.96700992e-01 8.53807355e-03 7.83596283e+01] [-6.96651840e-01 7.17361643e-01 8.27567961e-03 -1.38816040e+02] [-1.18905607e-02 -1.18300281e-05 -9.99929305e-01 -1.81085835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.506559995 meters 0.013325100449728823 Centerline is valid? [True, True] Translation: X:78.27, Y:-138.87, Z:-1.81 [[-6.63774463e-01 -7.47890629e-01 7.94166369e-03 7.82729112e+01] [-7.47836916e-01 6.63821970e-01 8.96323651e-03 -1.38868974e+02] [-1.19753714e-02 1.04982152e-05 -9.99928293e-01 -1.81089101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.536559995 meters 0.013714401572888762 Centerline is valid? [True, True] Translation: X:78.19, Y:-138.93, Z:-1.81 [[-6.06266957e-01 -7.95226359e-01 7.44418542e-03 7.81859705e+01] [-7.95165764e-01 6.06312657e-01 9.81683303e-03 -1.38933880e+02] [-1.23201082e-02 3.22601008e-05 -9.99924104e-01 -1.80850868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.566559995 meters 0.013714401572888762 Centerline is valid? [True, True] Translation: X:78.10, Y:-139.00, Z:-1.81 [[-5.43780451e-01 -8.39200986e-01 6.67286907e-03 7.81027295e+01] [-8.39137078e-01 5.43821390e-01 1.03565914e-02 -1.39004141e+02] [-1.23201106e-02 3.22600781e-05 -9.99924104e-01 -1.80850856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.596559995 meters 0.013586876442002098 Centerline is valid? [True, True] Translation: X:78.03, Y:-139.08, Z:-1.81 [[-4.79647500e-01 -8.77440163e-01 6.08577936e-03 7.80253731e+01] [-8.77367965e-01 4.79686103e-01 1.12559302e-02 -1.39082504e+02] [-1.27956690e-02 5.94109086e-05 -9.99918130e-01 -1.81033386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.626559995 meters 0.01390977383501917 Centerline is valid? [True, True] Translation: X:77.95, Y:-139.17, Z:-1.81 [[-4.12620838e-01 -9.10886596e-01 5.44541360e-03 7.79542035e+01] [-9.10804472e-01 4.12656759e-01 1.22316157e-02 -1.39168361e+02] [-1.33887015e-02 8.73124642e-05 -9.99910364e-01 -1.81002370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.65655999499998 meters 0.014393949719669077 Centerline is valid? [True, True] Translation: X:77.89, Y:-139.27, Z:-1.81 [[-3.44479955e-01 -9.38781289e-01 4.82206905e-03 7.78884141e+01] [-9.38683485e-01 3.44513674e-01 1.35515458e-02 -1.39267193e+02] [-1.43832064e-02 1.41839309e-04 -9.99896546e-01 -1.81028194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.68655999499998 meters 0.014621271204150639 Centerline is valid? [True, True] Translation: X:77.83, Y:-139.37, Z:-1.81 [[-2.72666938e-01 -9.62101211e-01 3.74163979e-03 7.78297051e+01] [-9.62002323e-01 2.72692561e-01 1.37948652e-02 -1.39365714e+02] [-1.42923739e-02 1.61937487e-04 -9.99897846e-01 -1.81054935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.71655999499998 meters 0.015130465927595753 Centerline is valid? [True, True] Translation: X:77.78, Y:-139.47, Z:-1.81 [[-1.99986052e-01 -9.79795389e-01 2.56423558e-03 7.77782511e+01] [-9.79702375e-01 2.00002403e-01 1.35016715e-02 -1.39472560e+02] [-1.37417287e-02 1.87958289e-04 -9.99905560e-01 -1.81108401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.74655999499998 meters 0.014935161651272552 Centerline is valid? [True, True] Translation: X:77.73, Y:-139.59, Z:-1.81 [[-1.24831264e-01 -9.92176867e-01 1.49000168e-03 7.77325366e+01] [-9.92086056e-01 1.24840000e-01 1.34250538e-02 -1.39585262e+02] [-1.35060396e-02 1.97656551e-04 -9.99908770e-01 -1.81208737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.77655999499999 meters 0.015858652096921867 Centerline is valid? [True, True] Translation: X:77.70, Y:-139.70, Z:-1.81 [[-4.86019516e-02 -9.98818131e-01 4.36652080e-04 7.76974963e+01] [-9.98732024e-01 4.86034958e-02 1.31165411e-02 -1.39701914e+02] [-1.31222619e-02 2.01391081e-04 -9.99913879e-01 -1.81110184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.806559995 meters 0.015520370349788584 Centerline is valid? [True, True] Translation: X:77.67, Y:-139.82, Z:-1.81 [[ 2.77351795e-02 -9.99615161e-01 -5.38967552e-04 7.76693365e+01] [-9.99540027e-01 -2.77397037e-02 1.22573392e-02 -1.39824048e+02] [-1.22675729e-02 1.98760138e-04 -9.99924731e-01 -1.81266758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.836559995 meters 0.015199290508264657 Centerline is valid? [True, True] Translation: X:77.65, Y:-139.94, Z:-1.81 [[ 1.04539830e-01 -9.94519829e-01 -1.31646334e-03 7.76506463e+01] [-9.94461058e-01 -1.04547966e-01 1.08132448e-02 -1.39942237e+02] [-1.08916200e-02 1.78756757e-04 -9.99940669e-01 -1.81455904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.866559995 meters 0.015864123100816384 Centerline is valid? [True, True] Translation: X:77.64, Y:-140.07, Z:-1.81 [[ 1.82006734e-01 -9.83295292e-01 -1.97912856e-03 7.76429305e+01] [-9.83246020e-01 -1.82017429e-01 9.84482875e-03 -1.40066315e+02] [-1.00406097e-02 1.54145150e-04 -9.99949580e-01 -1.81378985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.896559995 meters 0.014512075365305363 Centerline is valid? [True, True] Translation: X:77.64, Y:-140.18, Z:-1.82 [[ 2.57757463e-01 -9.66205864e-01 -2.70517250e-03 7.76385811e+01] [-9.66158369e-01 -2.57771618e-01 9.58120487e-03 -1.40184462e+02] [-9.95473302e-03 1.43997990e-04 -9.99950440e-01 -1.81546627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.926559995 meters 0.014725248542725335 Centerline is valid? [True, True] Translation: X:77.65, Y:-140.31, Z:-1.81 [[ 3.32691778e-01 -9.43029035e-01 -3.52433633e-03 7.76479154e+01] [-9.42980322e-01 -3.32710417e-01 9.58590857e-03 -1.40306034e+02] [-1.02123735e-02 1.34226849e-04 -9.99947843e-01 -1.81419911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.956559995 meters 0.01403155957737688 Centerline is valid? [True, True] Translation: X:77.66, Y:-140.43, Z:-1.81 [[ 4.05983051e-01 -9.13870683e-01 -4.25864802e-03 7.76646987e+01] [-9.13823339e-01 -4.06005371e-01 9.30292725e-03 -1.40428249e+02] [-1.02307065e-02 1.14821161e-04 -9.99947658e-01 -1.81440796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.986559995 meters 0.013424850141367309 Centerline is valid? [True, True] Translation: X:77.69, Y:-140.55, Z:-1.81 [[ 4.79614750e-01 -8.77464170e-01 -5.13043731e-03 7.76869691e+01] [-8.77415369e-01 -4.79642185e-01 9.25445775e-03 -1.40546894e+02] [-1.05812293e-02 6.29501045e-05 -9.99944015e-01 -1.81355961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.016559995 meters 0.013148312268089948 Centerline is valid? [True, True] Translation: X:77.72, Y:-140.66, Z:-1.81 [[ 5.48197151e-01 -8.36328199e-01 -5.91839700e-03 7.77206033e+01] [-8.36280032e-01 -5.48229098e-01 8.97579567e-03 -1.40661790e+02] [-1.07513485e-02 2.89316167e-05 -9.99942202e-01 -1.81316894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.046559995 meters 0.013127235851629889 Centerline is valid? [True, True] Translation: X:77.76, Y:-140.77, Z:-1.81 [[ 6.15957657e-01 -7.87755202e-01 -6.15675840e-03 7.77564471e+01] [-7.87715173e-01 -6.15988425e-01 7.94149808e-03 -1.40769972e+02] [-1.00484483e-02 -4.18545483e-05 -9.99949512e-01 -1.81357775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.076559995 meters 0.013405595606999367 Centerline is valid? [True, True] Translation: X:77.80, Y:-140.87, Z:-1.81 [[ 6.76927202e-01 -7.36022508e-01 -6.35857311e-03 7.78022370e+01] [-7.35989021e-01 -6.76957061e-01 7.02134082e-03 -1.40873272e+02] [-9.47234584e-03 -7.30965958e-05 -9.99955134e-01 -1.81347076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.106559995 meters 0.013917242906198656 Centerline is valid? [True, True] Translation: X:77.85, Y:-140.97, Z:-1.81 [[ 7.33489302e-01 -6.79672697e-01 -6.20226121e-03 7.78544013e+01] [-6.79647281e-01 -7.33515518e-01 5.87866559e-03 -1.40971496e+02] [-8.54502334e-03 -9.65883566e-05 -9.99963486e-01 -1.81330577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.136559995 meters 0.01462974254117443 Centerline is valid? [True, True] Translation: X:77.85, Y:-140.98, Z:-1.81 [[ 7.86479607e-01 -6.17586367e-01 -6.07515495e-03 7.78494340e+01] [-6.17566811e-01 -7.86503062e-01 4.91605615e-03 -1.40981327e+02] [-7.81421723e-03 -1.14563838e-04 -9.99969462e-01 -1.81304011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.166559995 meters 0.015613674935253024 Centerline is valid? [True, True] Translation: X:77.84, Y:-140.99, Z:-1.81 [[ 8.35378385e-01 -5.49657895e-01 -4.37632541e-03 7.78446214e+01] [-5.49649678e-01 -8.35389842e-01 3.00733727e-03 -1.40994345e+02] [-5.30894447e-03 -1.06818699e-04 -9.99985902e-01 -1.81334473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.196559995 meters 0.016271020399307633 Centerline is valid? [True, True] Translation: X:77.84, Y:-141.00, Z:-1.81 [[ 8.76824909e-01 -4.80798702e-01 -3.26915478e-03 7.78422298e+01] [-4.80795001e-01 -8.76830999e-01 1.88834521e-03 -1.41004826e+02] [-3.77441017e-03 -8.39548380e-05 -9.99992873e-01 -1.81371146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.226559995 meters 0.016588068034171434 Centerline is valid? [True, True] Translation: X:77.84, Y:-141.02, Z:-1.81 [[ 9.12480768e-01 -4.09111447e-01 -2.58319570e-03 7.78416501e+01] [-4.09109593e-01 -9.12484422e-01 1.23362739e-03 -1.41015441e+02] [-2.86181692e-03 -6.88511285e-05 -9.99995903e-01 -1.81402611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.256559995 meters 0.017447936563403623 Centerline is valid? [True, True] Translation: X:77.84, Y:-141.03, Z:-1.81 [[ 9.42230553e-01 -3.34960813e-01 -1.68495002e-03 7.78413101e+01] [-3.34960188e-01 -9.42232058e-01 6.48302557e-04 -1.41025813e+02] [-1.80476988e-03 -4.64592998e-05 -9.99998370e-01 -1.81428187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.286559995 meters 0.01846672876180862 Centerline is valid? [True, True] Translation: X:77.84, Y:-141.04, Z:-1.81 [[ 9.66196300e-01 -2.57807245e-01 -3.67688353e-04 7.78421556e+01] [-2.57807222e-01 -9.66196370e-01 1.09291260e-04 -1.41037270e+02] [-3.83435230e-04 -1.08040982e-05 -9.99999926e-01 -1.81426951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.316559995 meters 0.018496882906352777 Centerline is valid? [True, True] Translation: X:77.84, Y:-141.05, Z:-1.81 [[ 9.83572925e-01 -1.80510915e-01 3.33526038e-04 7.78447486e+01] [-1.80510901e-01 -9.83572981e-01 -7.14379217e-05 -1.41046280e+02] [ 3.40942524e-04 1.00593200e-05 -9.99999942e-01 -1.81368000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.346559995 meters 0.01862736957443307 Centerline is valid? [True, True] Translation: X:77.85, Y:-141.06, Z:-1.81 [[ 9.94775216e-01 -1.02089432e-01 1.35184223e-04 7.78482027e+01] [-1.02089430e-01 -9.94775225e-01 -1.80908846e-05 -1.41055724e+02] [ 1.36324804e-04 4.19548328e-06 -9.99999991e-01 -1.81286517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.376559995 meters 0.02043551269654873 Centerline is valid? [True, True] Translation: X:77.85, Y:-141.07, Z:-1.81 [[ 9.99746481e-01 -2.25060369e-02 -6.72303799e-04 7.78478946e+01] [-2.25060175e-02 -9.99746707e-01 3.64497143e-05 -1.41067008e+02] [-6.72953848e-04 -2.13095926e-05 -9.99999773e-01 -1.81119122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.40655999499998 meters 0.020729965661004008 Centerline is valid? [True, True] Translation: X:77.85, Y:-141.07, Z:-1.81 [[ 9.98417534e-01 5.62179511e-02 -1.40319590e-03 7.78496270e+01] [ 5.62179589e-02 -9.98418519e-01 -3.39507708e-05 -1.41071971e+02] [-1.40288542e-03 -4.49877647e-05 -9.99999015e-01 -1.81012679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.43655999499998 meters 0.02047782388371657 Centerline is valid? [True, True] Translation: X:77.85, Y:-141.08, Z:-1.81 [[ 9.90975036e-01 1.34034253e-01 -1.81567735e-03 7.78511889e+01] [ 1.34034136e-01 -9.90976698e-01 -1.86850465e-04 -1.41075401e+02] [-1.82433831e-03 -5.81985981e-05 -9.99998334e-01 -1.80899595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.46655999499998 meters 0.02064857956241833 Centerline is valid? [True, True] Translation: X:77.85, Y:-141.08, Z:-1.81 [[ 9.77516079e-01 2.10846204e-01 -2.48887890e-03 7.78521942e+01] [ 2.10845727e-01 -9.77519244e-01 -4.55314266e-04 -1.41078726e+02] [-2.52892831e-03 -7.96924665e-05 -9.99996799e-01 -1.80776736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.49655999499998 meters 0.019696147121990724 Centerline is valid? [True, True] Translation: X:77.85, Y:-141.08, Z:-1.81 [[ 9.58646432e-01 2.84581269e-01 -3.24345495e-03 7.78541878e+01] [ 2.84579985e-01 -9.58651914e-01 -8.60327669e-04 -1.41079433e+02] [-3.35417743e-03 -9.82723116e-05 -9.99994370e-01 -1.80539535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.52655999499999 meters 0.01933252508333459 Centerline is valid? [True, True] Translation: X:77.86, Y:-141.08, Z:-1.80 [[ 9.34117719e-01 3.56949753e-01 -3.31081003e-03 7.78551787e+01] [ 3.56947874e-01 -9.34123581e-01 -1.16232064e-03 -1.41080294e+02] [-3.50759579e-03 -9.60422917e-05 -9.99993844e-01 -1.80464819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.556559995 meters 0.018547234111690722 Centerline is valid? [True, True] Translation: X:77.86, Y:-141.08, Z:-1.80 [[ 9.04221082e-01 4.27052788e-01 -3.18616989e-03 7.78556149e+01] [ 4.27050477e-01 -9.04226691e-01 -1.40762881e-03 -1.41078915e+02] [-3.48215166e-03 -8.78477244e-05 -9.99993933e-01 -1.80434311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.586559995 meters 0.015420168071821326 Centerline is valid? [True, True] Translation: X:77.86, Y:-141.08, Z:-1.81 [[ 8.70732475e-01 4.91754585e-01 -1.54442317e-03 7.78558151e+01] [ 4.91753882e-01 -8.70733844e-01 -8.32511616e-04 -1.41077362e+02] [-1.75417293e-03 -3.45811899e-05 -9.99998461e-01 -1.80583350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.616559995 meters 0.014956557252515452 Centerline is valid? [True, True] Translation: X:77.86, Y:-141.08, Z:-1.81 [[ 8.30750185e-01 5.56644952e-01 -7.26560615e-04 7.78590026e+01] [ 5.56644755e-01 -8.30750503e-01 -4.68596402e-04 -1.41081464e+02] [-8.64432418e-04 -1.51496072e-05 -9.99999626e-01 -1.80631487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.646559995 meters 0.014571793368310593 Centerline is valid? [True, True] Translation: X:77.86, Y:-141.09, Z:-1.81 [[ 7.85988110e-01 6.18241517e-01 3.44377846e-04 7.78616793e+01] [ 6.18241461e-01 -7.85988185e-01 2.62341321e-04 -1.41085836e+02] [ 4.32867214e-04 6.71150374e-06 -9.99999906e-01 -1.80701493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.676559995 meters 0.014526809266389573 Centerline is valid? [True, True] Translation: X:77.86, Y:-141.09, Z:-1.81 [[ 7.35855152e-01 6.77138569e-01 7.43874359e-04 7.78640849e+01] [ 6.77138243e-01 -7.35855528e-01 6.64992898e-04 -1.41089885e+02] [ 9.97676399e-04 1.43673263e-05 -9.99999502e-01 -1.80768471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.706559995 meters 0.014212889512864323 Centerline is valid? [True, True] Translation: X:77.87, Y:-141.09, Z:-1.81 [[ 6.81896550e-01 7.31447634e-01 1.20583156e-03 7.78651379e+01] [ 7.31446547e-01 -6.81897616e-01 1.26123884e-03 -1.41093197e+02] [ 1.74478383e-03 2.19669116e-05 -9.99998478e-01 -1.80775692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.736559995 meters 0.013886962797506995 Centerline is valid? [True, True] Translation: X:77.87, Y:-141.10, Z:-1.81 [[ 6.23353493e-01 7.81939340e-01 1.13626211e-03 7.78687681e+01] [ 7.81938101e-01 -6.23354529e-01 1.39211287e-03 -1.41097118e+02] [ 1.79684195e-03 2.07082163e-05 -9.99998385e-01 -1.80716260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.766559995 meters 0.013633051606000361 Centerline is valid? [True, True] Translation: X:77.87, Y:-141.10, Z:-1.81 [[ 5.60859182e-01 8.27910467e-01 1.11169667e-03 7.78739261e+01] [ 8.27908914e-01 -5.60860284e-01 1.60366177e-03 -1.41102646e+02] [ 1.95119488e-03 2.09551546e-05 -9.99998096e-01 -1.80644940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.796559995 meters 0.01342994295721643 Centerline is valid? [True, True] Translation: X:77.88, Y:-141.11, Z:-1.81 [[ 4.95308835e-01 8.68716327e-01 1.04949914e-03 7.78786841e+01] [ 8.68714461e-01 -4.95309947e-01 1.80043724e-03 -1.41107682e+02] [ 2.08389659e-03 1.99426042e-05 -9.99997829e-01 -1.80590194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.826559995 meters 0.01327504691034276 Centerline is valid? [True, True] Translation: X:77.88, Y:-141.11, Z:-1.81 [[ 4.26864297e-01 9.04315424e-01 6.97072885e-04 7.78837474e+01] [ 9.04314269e-01 -4.26864866e-01 1.44522407e-03 -1.41112392e+02] [ 1.60449435e-03 1.34583979e-05 -9.99998713e-01 -1.80551407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.856559995 meters 0.013262799066759872 Centerline is valid? [True, True] Translation: X:77.89, Y:-141.12, Z:-1.81 [[ 3.55388915e-01 9.34718446e-01 3.81142843e-04 7.78892556e+01] [ 9.34717933e-01 -3.55389119e-01 9.79653417e-04 -1.41117445e+02] [ 1.05115414e-03 8.10308487e-06 -9.99999448e-01 -1.80532069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.886559995 meters 0.013262799066759872 Centerline is valid? [True, True] Translation: X:77.89, Y:-141.12, Z:-1.81 [[ 2.81066238e-01 9.59688323e-01 3.03219755e-04 7.78949117e+01] [ 9.59687796e-01 -2.81066402e-01 1.00650075e-03 -1.41122039e+02] [ 1.05115191e-03 8.10291751e-06 -9.99999448e-01 -1.80532067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.916559995 meters 0.012997706730417483 Centerline is valid? [True, True] Translation: X:77.90, Y:-141.13, Z:-1.81 [[ 2.06383604e-01 9.78471135e-01 2.16216604e-04 7.79018510e+01] [ 9.78470630e-01 -2.06383717e-01 9.94041158e-04 -1.41126345e+02] [ 1.01726417e-03 6.40780015e-06 -9.99999483e-01 -1.80507691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.946559995 meters 0.0129290536064334 Centerline is valid? [True, True] Translation: X:77.91, Y:-141.13, Z:-1.80 [[ 1.30395247e-01 9.91462082e-01 1.41375691e-04 7.79088907e+01] [ 9.91461542e-01 -1.30395324e-01 1.03482943e-03 -1.41130479e+02] [ 1.04442887e-03 5.23172042e-06 -9.99999455e-01 -1.80474705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.976559995 meters 0.012724466976426091 Centerline is valid? [True, True] Translation: X:77.91, Y:-141.13, Z:-1.80 [[ 5.53180440e-02 9.98468783e-01 5.12360542e-05 7.79134647e+01] [ 9.98468385e-01 -5.53180677e-02 8.91908667e-04 -1.41134693e+02] [ 8.93377241e-04 1.81893742e-06 -9.99999601e-01 -1.80444426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.006559995 meters 0.012696627658691393 Centerline is valid? [True, True] Translation: X:77.92, Y:-141.14, Z:-1.80 [[-2.15505077e-02 9.99767761e-01 -2.37947575e-05 7.79199998e+01] [ 9.99767123e-01 2.15505208e-02 1.12898588e-03 -1.41137194e+02] [ 1.12923648e-03 5.41002638e-07 -9.99999362e-01 -1.80437043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.036559995 meters 0.012776217357083364 Centerline is valid? [True, True] Translation: X:77.93, Y:-141.14, Z:-1.80 [[-9.75113397e-02 9.95234408e-01 -1.10400831e-04 7.79256346e+01] [ 9.95233793e-01 9.75114022e-02 1.10610228e-03 -1.41139498e+02] [ 1.11159639e-03 -2.01712227e-06 -9.99999382e-01 -1.80468480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.066559995 meters 0.012809847909345945 Centerline is valid? [True, True] Translation: X:77.93, Y:-141.14, Z:-1.80 [[-1.74152372e-01 9.84718698e-01 -1.90877501e-04 7.79326420e+01] [ 9.84718126e-01 1.74152476e-01 1.06148827e-03 -1.41142093e+02] [ 1.07850913e-03 -3.09983626e-06 -9.99999418e-01 -1.80451269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.096559995 meters 0.012936610847478148 Centerline is valid? [True, True] Translation: X:77.94, Y:-141.14, Z:-1.80 [[-2.49349016e-01 9.68413669e-01 -1.85327959e-04 7.79394639e+01] [ 9.68413411e-01 2.49349085e-01 7.07053227e-04 -1.41143636e+02] [ 7.30931367e-04 -3.17105367e-06 -9.99999733e-01 -1.80423305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.126559995 meters 0.013059587122176234 Centerline is valid? [True, True] Translation: X:77.95, Y:-141.15, Z:-1.80 [[-3.21868036e-01 9.46784523e-01 -1.85378374e-04 7.79467999e+01] [ 9.46784373e-01 3.21868090e-01 5.32922997e-04 -1.41145260e+02] [ 5.64230629e-04 -3.98246851e-06 -9.99999841e-01 -1.80390433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.15655999499998 meters 0.013059587122176234 Centerline is valid? [True, True] Translation: X:77.96, Y:-141.15, Z:-1.80 [[-3.95020615e-01 9.18672228e-01 -2.26540664e-04 7.79561565e+01] [ 9.18672083e-01 3.95020680e-01 5.16767781e-04 -1.41145702e+02] [ 5.64228455e-04 -3.98265728e-06 -9.99999841e-01 -1.80390431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.18655999499998 meters 0.013373080400791815 Centerline is valid? [True, True] Translation: X:77.96, Y:-141.15, Z:-1.80 [[-4.63346366e-01 8.86177243e-01 -1.98200320e-04 7.79637587e+01] [ 8.86177165e-01 4.63346409e-01 3.70234563e-04 -1.41146272e+02] [ 4.19928850e-04 -4.09375824e-06 -9.99999912e-01 -1.80405634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.21655999499998 meters 0.01355201190088207 Centerline is valid? [True, True] Translation: X:77.97, Y:-141.15, Z:-1.80 [[-5.30316857e-01 8.47799431e-01 -3.93938728e-04 7.79721262e+01] [ 8.47799208e-01 5.30317004e-01 6.14633006e-04 -1.41145745e+02] [ 7.29997919e-04 -8.03069788e-06 -9.99999734e-01 -1.80420960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.24655999499998 meters 0.013794528279811332 Centerline is valid? [True, True] Translation: X:77.98, Y:-141.15, Z:-1.80 [[-5.94167674e-01 8.04341148e-01 -3.06219558e-04 7.79802651e+01] [ 8.04341046e-01 5.94167753e-01 4.04178873e-04 -1.41145516e+02] [ 5.07043485e-04 -6.15493899e-06 -9.99999871e-01 -1.80434147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.27655999499999 meters 0.014129694403164953 Centerline is valid? [True, True] Translation: X:77.99, Y:-141.14, Z:-1.80 [[-6.54277819e-01 7.56254276e-01 -7.41335518e-05 7.79870971e+01] [ 7.56254271e-01 6.54277824e-01 8.34385992e-05 -1.41143795e+02] [ 1.11604736e-04 -1.47179044e-06 -9.99999994e-01 -1.80429662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.306559995 meters 0.01425182430901308 Centerline is valid? [True, True] Translation: X:77.99, Y:-141.14, Z:-1.80 [[-7.11233884e-01 7.02955401e-01 2.57638608e-04 7.79947673e+01] [ 7.02955357e-01 7.11233931e-01 -2.47493956e-04 -1.41141713e+02] [-3.57218533e-04 5.08235194e-06 -9.99999936e-01 -1.80403982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.336559995 meters 0.013924391732755687 Centerline is valid? [True, True] Translation: X:78.02, Y:-141.12, Z:-1.80 [[-7.59309609e-01 6.50729417e-01 3.78309598e-04 7.80163914e+01] [ 6.50729340e-01 7.59309704e-01 -3.15132304e-04 -1.41121817e+02] [-4.92320009e-04 6.89416878e-06 -9.99999879e-01 -1.80391826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.366559995 meters 0.01403609539290189 Centerline is valid? [True, True] Translation: X:78.04, Y:-141.10, Z:-1.80 [[-8.03248100e-01 5.95644278e-01 6.20019991e-04 7.80376909e+01] [ 5.95644110e-01 8.03248339e-01 -4.47043735e-04 -1.41101381e+02] [-7.64309070e-04 1.02242254e-05 -9.99999708e-01 -1.80361173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.396559995 meters 0.013658976477546946 Centerline is valid? [True, True] Translation: X:78.06, Y:-141.08, Z:-1.80 [[-8.44220515e-01 5.35993866e-01 1.51576315e-03 7.80587261e+01] [ 5.35993046e-01 8.44221876e-01 -9.37514032e-04 -1.41078369e+02] [-1.78214218e-03 2.09699285e-05 -9.99998412e-01 -1.80355014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.426559995 meters 0.01341267617565057 Centerline is valid? [True, True] Translation: X:78.07, Y:-141.05, Z:-1.80 [[-8.80711464e-01 4.73651719e-01 1.16899689e-03 7.80743870e+01] [ 4.73651323e-01 8.80712239e-01 -6.13109573e-04 -1.41052892e+02] [-1.31995028e-03 1.37242951e-05 -9.99999129e-01 -1.80395274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.456559995 meters 0.01341267617565057 Centerline is valid? [True, True] Translation: X:78.09, Y:-141.03, Z:-1.80 [[-9.12038669e-01 4.10102432e-01 1.20947664e-03 7.80879103e+01] [ 4.10102091e-01 9.12039470e-01 -5.28798538e-04 -1.41028305e+02] [-1.31995200e-03 1.37241854e-05 -9.99999129e-01 -1.80395272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.486559995 meters 0.013424582063663135 Centerline is valid? [True, True] Translation: X:78.10, Y:-141.00, Z:-1.80 [[-9.39289820e-01 3.43119458e-01 1.91598939e-03 7.80950573e+01] [ 3.43118784e-01 9.39291774e-01 -6.80570145e-04 -1.40999756e+02] [-2.03318993e-03 1.81593379e-05 -9.99997933e-01 -1.80395065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.516559995 meters 0.01314863264661544 Centerline is valid? [True, True] Translation: X:78.34, Y:-140.32, Z:-2.79 [[-9.20585972e-01 -3.90535593e-01 1.84899885e-03 7.83400580e+01] [ 3.90534763e-01 -9.20587829e-01 -8.05101810e-04 -1.40322604e+02] [ 2.01658675e-03 -1.90671033e-05 9.99997967e-01 -2.78618614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.546559995 meters 0.012912127495396294 Centerline is valid? [True, True] Translation: X:78.06, Y:-140.98, Z:-1.80 [[-9.42240881e-01 3.34921426e-01 3.12410133e-03 7.80553908e+01] [ 3.34919632e-01 9.42246060e-01 -1.09633245e-03 -1.40980204e+02] [-3.31085740e-03 1.33136171e-05 -9.99994519e-01 -1.80364689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.576559995 meters 0.012848554750267187 Centerline is valid? [True, True] Translation: X:78.06, Y:-140.95, Z:-1.80 [[-9.64122472e-01 2.65431493e-01 3.73922700e-03 7.80621373e+01] [ 2.65429530e-01 9.64129723e-01 -1.02088653e-03 -1.40950731e+02] [-3.87607532e-03 8.24161885e-06 -9.99992488e-01 -1.80364914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.606559995 meters 0.012764939694816284 Centerline is valid? [True, True] Translation: X:78.25, Y:-140.27, Z:-2.79 [[-9.44780960e-01 -3.27669711e-01 4.63652074e-03 7.82486686e+01] [ 3.27666053e-01 -9.44792335e-01 -1.54946249e-03 -1.40272266e+02] [ 4.88826118e-03 5.53277889e-05 9.99988051e-01 -2.78710318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.636559995 meters 0.01295057366833782 Centerline is valid? [True, True] Translation: X:78.02, Y:-140.93, Z:-1.80 [[-9.66558304e-01 2.56366642e-01 6.41797159e-03 7.80158836e+01] [ 2.56360830e-01 9.66579611e-01 -1.72637255e-03 -1.40931656e+02] [-6.64606482e-03 -2.33232027e-05 -9.99977914e-01 -1.80235577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.666559995 meters 0.013100768105181734 Centerline is valid? [True, True] Translation: X:78.02, Y:-140.90, Z:-1.80 [[-9.82611647e-01 1.85529138e-01 7.30008539e-03 7.80206748e+01] [ 1.85523726e-01 9.82638763e-01 -1.41751725e-03 -1.40902012e+02] [-7.43633763e-03 -3.85299176e-05 -9.99972349e-01 -1.80178253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.696559995 meters 0.013250899631853297 Centerline is valid? [True, True] Translation: X:78.02, Y:-140.87, Z:-1.80 [[-9.93547802e-01 1.13060740e-01 8.94613172e-03 7.80214413e+01] [ 1.13055552e-01 9.93588076e-01 -1.08516968e-03 -1.40871422e+02] [-9.01145989e-03 -6.67580900e-05 -9.99959394e-01 -1.80207493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.726559995 meters 0.013329748263314798 Centerline is valid? [True, True] Translation: X:78.02, Y:-140.84, Z:-1.80 [[-9.99084854e-01 4.17283439e-02 9.39149829e-03 7.80167243e+01] [ 4.17257989e-02 9.99128991e-01 -4.66850759e-04 -1.40842346e+02] [-9.40279911e-03 -7.45557536e-05 -9.99955790e-01 -1.80210568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.756559995 meters 0.013505050580494319 Centerline is valid? [True, True] Translation: X:78.02, Y:-140.81, Z:-1.80 [[-9.99516162e-01 -2.95826695e-02 9.60767176e-03 7.80157930e+01] [-2.95820480e-02 9.99562334e-01 2.06826552e-04 -1.40813977e+02] [-9.60958529e-03 -7.74881252e-05 -9.99953824e-01 -1.80191260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.786559995 meters 0.013319634251018278 Centerline is valid? [True, True] Translation: X:78.01, Y:-140.79, Z:-1.80 [[-9.94911873e-01 -1.00267045e-01 9.84299514e-03 7.80064319e+01] [-1.00262891e-01 9.94960559e-01 9.15821413e-04 -1.40787018e+02] [-9.88521865e-03 -7.57255557e-05 -9.99951137e-01 -1.80253780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.816559995 meters 0.013333217406629426 Centerline is valid? [True, True] Translation: X:78.00, Y:-140.76, Z:-1.80 [[-9.85333740e-01 -1.70349506e-01 9.92305070e-03 7.79973730e+01] [-1.70341583e-01 9.85383702e-01 1.64435689e-03 -1.40760612e+02] [-1.00581278e-02 -7.00678486e-05 -9.99949413e-01 -1.80281996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.846559995 meters 0.013263880731305387 Centerline is valid? [True, True] Translation: X:77.88, Y:-140.09, Z:-2.79 [[-9.95844319e-01 9.04404598e-02 1.07058569e-02 7.78755380e+01] [-9.04339243e-02 -9.95901857e-01 1.09399348e-03 -1.40089878e+02] [ 1.07609241e-02 1.21274540e-04 9.99942092e-01 -2.78744026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.876559995 meters 0.013194290834917822 Centerline is valid? [True, True] Translation: X:77.88, Y:-140.78, Z:-1.80 [[-9.84664662e-01 -1.74101522e-01 1.11429025e-02 7.78785733e+01] [-1.74090942e-01 9.84727707e-01 1.91997438e-03 -1.40780740e+02] [-1.13069953e-02 -4.93474802e-05 -9.99936073e-01 -1.80269054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.90655999499998 meters 0.013153348858454329 Centerline is valid? [True, True] Translation: X:77.85, Y:-140.76, Z:-1.80 [[-9.69856268e-01 -2.43425580e-01 1.10818125e-02 7.78505197e+01] [-2.43410139e-01 9.69919577e-01 2.74201608e-03 -1.40758966e+02] [-1.14159438e-02 -3.80640400e-05 -9.99934835e-01 -1.80271255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.93655999499998 meters 0.013018220533890795 Centerline is valid? [True, True] Translation: X:77.81, Y:-140.74, Z:-1.80 [[-9.49805229e-01 -3.12628900e-01 1.15411221e-02 7.78076252e+01] [-3.12606205e-01 9.49875344e-01 3.76705854e-03 -1.40743142e+02] [-1.21403187e-02 -2.98544711e-05 -9.99926303e-01 -1.80366469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.96655999499998 meters 0.013258632240848311 Centerline is valid? [True, True] Translation: X:77.75, Y:-140.74, Z:-1.80 [[-9.24730423e-01 -3.80435775e-01 1.19275191e-02 7.77495218e+01] [-3.80404396e-01 9.24807342e-01 4.88623504e-03 -1.40735246e+02] [-1.28895558e-02 -1.88304818e-05 -9.99916926e-01 -1.80300947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.99655999499998 meters 0.013126210112556278 Centerline is valid? [True, True] Translation: X:77.68, Y:-140.74, Z:-1.80 [[-8.94138930e-01 -4.47639165e-01 1.16082388e-02 7.76800117e+01] [-4.47601684e-01 8.94214279e-01 5.79268444e-03 -1.40736230e+02] [-1.29732853e-02 -1.64025487e-05 -9.99915843e-01 -1.80394679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.02655999499999 meters 0.013185266349347425 Centerline is valid? [True, True] Translation: X:77.60, Y:-140.75, Z:-1.80 [[-8.58328911e-01 -5.12967336e-01 1.16615854e-02 7.76040311e+01] [-5.12920259e-01 8.58408127e-01 6.94951517e-03 -1.40745649e+02] [-1.35752740e-02 -1.64936349e-05 -9.99907852e-01 -1.80361185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.056559995 meters 0.013248932890237233 Centerline is valid? [True, True] Translation: X:77.52, Y:-140.76, Z:-1.80 [[-8.17631394e-01 -5.75624432e-01 1.16368738e-02 7.75229544e+01] [-5.75566373e-01 8.17714200e-01 8.17535017e-03 -1.40764790e+02] [-1.42215682e-02 -1.33702853e-05 -9.99898868e-01 -1.80296649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.086559995 meters 0.013272341119282683 Centerline is valid? [True, True] Translation: X:77.43, Y:-140.80, Z:-1.80 [[-7.72151174e-01 -6.35343846e-01 1.09892270e-02 7.74337279e+01] [-6.35279721e-01 7.72229369e-01 9.02656696e-03 -1.40797798e+02] [-1.42211776e-02 -1.13587590e-05 -9.99898874e-01 -1.80268174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.116559995 meters 0.013273647026918188 Centerline is valid? [True, True] Translation: X:77.35, Y:-140.84, Z:-1.80 [[-7.21878732e-01 -6.91937393e-01 1.06648822e-02 7.73489221e+01] [-6.91862149e-01 7.21957508e-01 1.02040627e-02 -1.40836012e+02] [-1.47601643e-02 -1.25324458e-05 -9.99891063e-01 -1.80260699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.146559995 meters 0.01329135570326879 Centerline is valid? [True, True] Translation: X:77.26, Y:-140.89, Z:-1.80 [[-6.67206213e-01 -7.44804574e-01 1.01003472e-02 7.72592025e+01] [-7.44719614e-01 6.67282659e-01 1.12494335e-02 -1.40888689e+02] [-1.51184161e-02 -1.62347751e-05 -9.99885710e-01 -1.80239065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.176559995 meters 0.013464544730983906 Centerline is valid? [True, True] Translation: X:77.17, Y:-140.95, Z:-1.80 [[-6.07972223e-01 -7.93901237e-01 9.51851398e-03 7.71702445e+01] [-7.93804751e-01 6.08046730e-01 1.23770401e-02 -1.40951410e+02] [-1.56138488e-02 -3.09450099e-05 -9.99878096e-01 -1.80216942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.206559995 meters 0.01346583531339167 Centerline is valid? [True, True] Translation: X:77.09, Y:-141.02, Z:-1.80 [[-5.45372283e-01 -8.38149254e-01 8.65451577e-03 7.70891270e+01] [-8.38044822e-01 5.45440946e-01 1.32306594e-02 -1.41016690e+02] [-1.58097946e-02 -3.72371977e-05 -9.99875017e-01 -1.80219184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.236559995 meters 0.013591918569905888 Centerline is valid? [True, True] Translation: X:77.01, Y:-141.10, Z:-1.80 [[-4.79360525e-01 -8.77583473e-01 7.79321655e-03 7.70066710e+01] [-8.77469099e-01 4.79423868e-01 1.41680940e-02 -1.41098773e+02] [-1.61699392e-02 -4.66817239e-05 -9.99869257e-01 -1.80201385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.266559995 meters 0.013220682982510156 Centerline is valid? [True, True] Translation: X:76.93, Y:-141.19, Z:-1.80 [[-4.09725473e-01 -9.12183296e-01 6.83163569e-03 7.69316483e+01] [-9.12059227e-01 4.09782418e-01 1.50444820e-02 -1.41185302e+02] [-1.65228094e-02 -6.67488444e-05 -9.99863487e-01 -1.80446891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.296559995 meters 0.013688301605567709 Centerline is valid? [True, True] Translation: X:76.87, Y:-141.27, Z:-1.80 [[-3.37935288e-01 -9.41153313e-01 5.49383787e-03 7.68656606e+01] [-9.41032624e-01 3.37979933e-01 1.50720175e-02 -1.41269576e+02] [-1.60418862e-02 -7.65140936e-05 -9.99871318e-01 -1.80224415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.326559995 meters 0.013277984755260186 Centerline is valid? [True, True] Translation: X:76.80, Y:-141.37, Z:-1.80 [[-2.64187405e-01 -9.64461956e-01 4.26029827e-03 7.68039575e+01] [-9.64341751e-01 2.64221740e-01 1.52269158e-02 -1.41370783e+02] [-1.58114444e-02 -8.56241230e-05 -9.99874988e-01 -1.80491084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.356559995 meters 0.013663806534166519 Centerline is valid? [True, True] Translation: X:76.75, Y:-141.48, Z:-1.80 [[-1.88848439e-01 -9.82001308e-01 3.11429392e-03 7.67487808e+01] [-9.81875936e-01 1.88874093e-01 1.56915108e-02 -1.41475387e+02] [-1.59972936e-02 -9.45329303e-05 -9.99872031e-01 -1.80299398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.386559995 meters 0.013301955085801924 Centerline is valid? [True, True] Translation: X:76.70, Y:-141.59, Z:-1.81 [[-1.12205285e-01 -9.93683315e-01 1.85569329e-03 7.67029922e+01] [-9.93562080e-01 1.12220583e-01 1.55220366e-02 -1.41585204e+02] [-1.56322357e-02 -1.02091949e-04 -9.99877804e-01 -1.80561687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.416559995 meters 0.01329704917093661 Centerline is valid? [True, True] Translation: X:76.67, Y:-141.70, Z:-1.81 [[-3.56245941e-02 -9.99365039e-01 6.38071868e-04 7.66655701e+01] [-9.99249687e-01 3.56301768e-02 1.51839957e-02 -1.41699214e+02] [-1.51970891e-02 -9.66694309e-05 -9.99884513e-01 -1.80588357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.446559995 meters 0.013189371211640386 Centerline is valid? [True, True] Translation: X:75.98, Y:-141.78, Z:-2.78 [[-1.15455119e-01 9.93311326e-01 1.65060278e-03 7.59810730e+01] [-9.93199388e-01 -1.15466887e-01 1.49121802e-02 -1.41782521e+02] [ 1.50030274e-02 8.23098577e-05 9.99887445e-01 -2.78376173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.476559995 meters 0.013125846853751937 Centerline is valid? [True, True] Translation: X:76.65, Y:-141.98, Z:-1.81 [[-2.67723802e-02 -9.99641448e-01 4.63893552e-04 7.66512406e+01] [-9.99538215e-01 2.67762822e-02 1.43661817e-02 -1.41978281e+02] [-1.43734520e-02 -7.90624532e-05 -9.99896693e-01 -1.80716231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.506559995 meters 0.013094632783887223 Centerline is valid? [True, True] Translation: X:76.62, Y:-142.10, Z:-1.81 [[ 4.98793472e-02 -9.98755046e-01 -6.39350692e-04 7.66242065e+01] [-9.98652645e-01 -4.98833884e-02 1.43018455e-02 -1.42096617e+02] [-1.43159334e-02 -7.48774586e-05 -9.99897519e-01 -1.80779597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.536559995 meters 0.012994480203207218 Centerline is valid? [True, True] Translation: X:76.61, Y:-142.21, Z:-1.81 [[ 1.26337442e-01 -9.91985723e-01 -1.78225896e-03 7.66057335e+01] [-9.91878612e-01 -1.26349991e-01 1.45773207e-02 -1.42213164e+02] [-1.46856824e-02 -7.38768723e-05 -9.99892157e-01 -1.80836477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.566559995 meters 0.013018685562170614 Centerline is valid? [True, True] Translation: X:76.60, Y:-142.34, Z:-1.81 [[ 2.02212217e-01 -9.79337125e-01 -3.00265017e-03 7.65968462e+01] [-9.79223486e-01 -2.02234494e-01 1.49189233e-02 -1.42336369e+02] [-1.52178948e-02 -7.65229684e-05 -9.99884198e-01 -1.80785452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.596559995 meters 0.013233945951633738 Centerline is valid? [True, True] Translation: X:76.59, Y:-142.46, Z:-1.81 [[ 2.77618004e-01 -9.60681276e-01 -4.44186337e-03 7.65949088e+01] [-9.60552845e-01 -2.77653521e-01 1.57083946e-02 -1.42455182e+02] [-1.63240596e-02 -9.42886527e-05 -9.99866749e-01 -1.80656058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.626559995 meters 0.013349192973749757 Centerline is valid? [True, True] Translation: X:76.60, Y:-142.58, Z:-1.81 [[ 3.51093785e-01 -9.36323279e-01 -5.64553701e-03 7.66043397e+01] [-9.36197474e-01 -3.51139157e-01 1.53487232e-02 -1.42576987e+02] [-1.63537360e-02 -1.03503847e-04 -9.99866263e-01 -1.80622172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.65655999499998 meters 0.013273001582165952 Centerline is valid? [True, True] Translation: X:76.62, Y:-142.69, Z:-1.81 [[ 4.22154602e-01 -9.06496974e-01 -6.98053294e-03 7.66205900e+01] [-9.06368723e-01 -4.22212297e-01 1.52484215e-02 -1.42691200e+02] [-1.67699148e-02 -1.10254572e-04 -9.99859369e-01 -1.80613272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.68655999499998 meters 0.013478482157020083 Centerline is valid? [True, True] Translation: X:76.65, Y:-142.80, Z:-1.81 [[ 4.90823035e-01 -8.71220864e-01 -8.18255594e-03 7.66459170e+01] [-8.71095732e-01 -4.90891222e-01 1.47659964e-02 -1.42804448e+02] [-1.68811890e-02 -1.19701606e-04 -9.99857495e-01 -1.80619679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.71655999499998 meters 0.01341475743678428 Centerline is valid? [True, True] Translation: X:76.68, Y:-142.92, Z:-1.81 [[ 5.56342165e-01 -8.30901157e-01 -9.30924174e-03 7.66803615e+01] [-8.30781052e-01 -5.56420031e-01 1.41277371e-02 -1.42915781e+02] [-1.69186017e-02 -1.25914206e-04 -9.99856862e-01 -1.80626301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.74655999499998 meters 0.013502738107864247 Centerline is valid? [True, True] Translation: X:76.72, Y:-143.02, Z:-1.81 [[ 6.18333862e-01 -7.85849292e-01 -1.02041582e-02 7.67202237e+01] [-7.85738920e-01 -6.18418042e-01 1.31710275e-02 -1.43020029e+02] [-1.66608781e-02 -1.26288068e-04 -9.99861190e-01 -1.80605677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.77655999499999 meters 0.013603914643784524 Centerline is valid? [True, True] Translation: X:76.76, Y:-143.12, Z:-1.81 [[ 6.76473637e-01 -7.36380075e-01 -1.13050259e-02 7.67645747e+01] [-7.36274100e-01 -6.76568082e-01 1.24932169e-02 -1.43116635e+02] [-1.68483757e-02 -1.27734150e-04 -9.99858048e-01 -1.80576101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.806559995 meters 0.01358363494945571 Centerline is valid? [True, True] Translation: X:76.82, Y:-143.21, Z:-1.81 [[ 7.30381849e-01 -6.82928180e-01 -1.23067389e-02 7.68194535e+01] [-6.82828348e-01 -7.30485514e-01 1.16773885e-02 -1.43212246e+02] [-1.69647121e-02 -1.25562393e-04 -9.99856081e-01 -1.80556248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.836559995 meters 0.013455498579371715 Centerline is valid? [True, True] Translation: X:76.82, Y:-143.22, Z:-1.81 [[ 7.81429556e-01 -6.23860563e-01 -1.28781540e-02 7.68213004e+01] [-6.23773329e-01 -7.81535658e-01 1.04331396e-02 -1.43217004e+02] [-1.65735609e-02 -1.19714637e-04 -9.99862642e-01 -1.80554182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.866559995 meters 0.013407006105828333 Centerline is valid? [True, True] Translation: X:76.82, Y:-143.22, Z:-1.81 [[ 8.27570151e-01 -5.61202531e-01 -1.33926634e-02 7.68232836e+01] [-5.61126880e-01 -8.27678504e-01 9.21508678e-03 -1.43220599e+02] [-1.62563497e-02 -1.11147309e-04 -9.99867851e-01 -1.80534893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.896559995 meters 0.013289224639702371 Centerline is valid? [True, True] Translation: X:76.83, Y:-143.22, Z:-1.81 [[ 8.68240025e-01 -4.95965157e-01 -1.33349767e-02 7.68263254e+01] [-4.95905171e-01 -8.68342418e-01 7.71400326e-03 -1.43221608e+02] [-1.54052027e-02 -8.47225068e-05 -9.99881329e-01 -1.80503421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.926559995 meters 0.013306997318937743 Centerline is valid? [True, True] Translation: X:76.83, Y:-143.22, Z:-1.81 [[ 9.04171431e-01 -4.26956823e-01 -1.34868428e-02 7.68300681e+01] [-4.26908092e-01 -9.04272009e-01 6.45104118e-03 -1.43222326e+02] [-1.49500905e-02 -7.52048060e-05 -9.99888238e-01 -1.80528477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.956559995 meters 0.01318708355258475 Centerline is valid? [True, True] Translation: X:76.83, Y:-143.22, Z:-1.80 [[ 9.34456470e-01 -3.55826660e-01 -1.33601427e-02 7.68337059e+01] [-3.55789396e-01 -9.34551970e-01 5.14983342e-03 -1.43221782e+02] [-1.43181957e-02 -5.88980551e-05 -9.99897488e-01 -1.80438506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.986559995 meters 0.013148715316873652 Centerline is valid? [True, True] Translation: X:76.84, Y:-143.22, Z:-1.80 [[ 9.59261715e-01 -2.82177757e-01 -1.38807688e-02 7.68371430e+01] [-2.82147426e-01 -9.59362137e-01 4.13758102e-03 -1.43219911e+02] [-1.44842173e-02 -5.25998888e-05 -9.99895097e-01 -1.80383444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.016559995 meters 0.013151208600079746 Centerline is valid? [True, True] Translation: X:76.84, Y:-143.22, Z:-1.80 [[ 9.78222526e-01 -2.07087962e-01 -1.39737559e-02 7.68416480e+01] [-2.07066236e-01 -9.78322326e-01 2.99993888e-03 -1.43217851e+02] [-1.42920887e-02 -4.11147467e-05 -9.99897862e-01 -1.80349832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.046559995 meters 0.013168403098762615 Centerline is valid? [True, True] Translation: X:76.85, Y:-143.22, Z:-1.80 [[ 9.91312332e-01 -1.30808470e-01 -1.37479302e-02 7.68467751e+01] [-1.30795498e-01 -9.91407658e-01 1.84236645e-03 -1.43215212e+02] [-1.38708004e-02 -2.81932068e-05 -9.99903795e-01 -1.80289230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.076559995 meters 0.012744064321802084 Centerline is valid? [True, True] Translation: X:76.85, Y:-143.22, Z:-1.81 [[ 9.98465916e-01 -5.35467978e-02 -1.40909553e-02 7.68459700e+01] [-5.35412141e-02 -9.98565341e-01 7.73477996e-04 -1.43221329e+02] [-1.41121568e-02 -1.78445633e-05 -9.99900418e-01 -1.80538481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.106559995 meters 0.012810169781593609 Centerline is valid? [True, True] Translation: X:76.84, Y:-143.23, Z:-1.80 [[ 9.99636387e-01 2.26574127e-02 -1.46196866e-02 7.68448201e+01] [ 2.26548037e-02 -9.99743288e-01 -3.44071624e-04 -1.43225975e+02] [-1.46237293e-02 1.27403849e-05 -9.99893067e-01 -1.80424391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.136559995 meters 0.012875298122313852 Centerline is valid? [True, True] Translation: X:76.85, Y:-143.23, Z:-1.80 [[ 9.94937057e-01 9.94984461e-02 -1.41531239e-02 7.68453819e+01] [ 9.94879221e-02 -9.95037717e-01 -1.44746773e-03 -1.43230974e+02] [-1.42269128e-02 3.20744015e-05 -9.99898792e-01 -1.80425465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.166559995 meters 0.013066158923410398 Centerline is valid? [True, True] Translation: X:76.85, Y:-143.24, Z:-1.80 [[ 9.84264777e-01 1.76139969e-01 -1.40556156e-02 7.68451276e+01] [ 1.76121337e-01 -9.84365130e-01 -2.56229345e-03 -1.43235143e+02] [-1.42871802e-02 4.64813678e-05 -9.99897932e-01 -1.80433913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.196559995 meters 0.012894304393682903 Centerline is valid? [True, True] Translation: X:76.85, Y:-143.24, Z:-1.81 [[ 9.67771124e-01 2.51484613e-01 -1.32113855e-02 7.68460057e+01] [ 2.51460316e-01 -9.67861295e-01 -3.49622553e-03 -1.43242340e+02] [-1.36660356e-02 6.14069317e-05 -9.99906614e-01 -1.80573933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.226559995 meters 0.012916859470546336 Centerline is valid? [True, True] Translation: X:76.85, Y:-143.25, Z:-1.81 [[ 9.45305127e-01 3.25950619e-01 -1.24262366e-02 7.68484073e+01] [ 3.25921525e-01 -9.45386794e-01 -4.35545487e-03 -1.43250538e+02] [-1.31672632e-02 6.72558167e-05 -9.99913306e-01 -1.80605178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.256559995 meters 0.012899924645672332 Centerline is valid? [True, True] Translation: X:76.85, Y:-143.26, Z:-1.81 [[ 9.16993685e-01 3.98723094e-01 -1.19363449e-02 7.68515708e+01] [ 3.98688329e-01 -9.17071365e-01 -5.26565329e-03 -1.43258506e+02] [-1.30460177e-02 6.96894301e-05 -9.99914895e-01 -1.80605988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.286559995 meters 0.012874968974821276 Centerline is valid? [True, True] Translation: X:76.86, Y:-143.27, Z:-1.81 [[ 8.82802321e-01 4.69617433e-01 -1.09329465e-02 7.68558972e+01] [ 4.69580564e-01 -8.82870015e-01 -5.88479199e-03 -1.43267205e+02] [-1.24159715e-02 6.12088442e-05 -9.99922917e-01 -1.80664605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.316559995 meters 0.012690266782778306 Centerline is valid? [True, True] Translation: X:76.86, Y:-143.28, Z:-1.81 [[ 8.43079348e-01 5.37695649e-01 -1.00300774e-02 7.68602388e+01] [ 5.37656848e-01 -8.43139008e-01 -6.45974666e-03 -1.43275879e+02] [-1.19301271e-02 5.33392306e-05 -9.99928832e-01 -1.80686302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.346559995 meters 0.012579475564591356 Centerline is valid? [True, True] Translation: X:76.87, Y:-143.28, Z:-1.81 [[ 7.97832307e-01 6.02807110e-01 -9.33795440e-03 7.68653008e+01] [ 6.02765223e-01 -7.97886951e-01 -7.10633159e-03 -1.43283185e+02] [-1.17343792e-02 4.10667680e-05 -9.99931149e-01 -1.80719935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.376559995 meters 0.012579475564591356 Centerline is valid? [True, True] Translation: X:76.87, Y:-143.29, Z:-1.81 [[ 7.48159041e-01 6.63461712e-01 -8.75252571e-03 7.68701013e+01] [ 6.63415672e-01 -7.48210235e-01 -7.81602570e-03 -1.43290373e+02] [-1.17343631e-02 4.10675575e-05 -9.99931149e-01 -1.80719949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.40655999499998 meters 0.012600352747815107 Centerline is valid? [True, True] Translation: X:76.88, Y:-143.30, Z:-1.81 [[ 6.93179039e-01 7.20720590e-01 -8.04064189e-03 7.68757891e+01] [ 7.20671630e-01 -6.93225671e-01 -8.40060251e-03 -1.43296870e+02] [-1.16284666e-02 2.84590728e-05 -9.99932387e-01 -1.80696582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.43655999499998 meters 0.012447759502261194 Centerline is valid? [True, True] Translation: X:76.88, Y:-143.30, Z:-1.81 [[ 6.32909619e-01 7.74192638e-01 -7.15360208e-03 7.68833445e+01] [ 7.74143147e-01 -6.32950045e-01 -8.75378586e-03 -1.43304614e+02] [-1.13049893e-02 2.44325546e-06 -9.99936097e-01 -1.80677683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.46655999499998 meters 0.012377882982090927 Centerline is valid? [True, True] Translation: X:76.89, Y:-143.31, Z:-1.81 [[ 5.69359085e-01 8.22063062e-01 -6.52332092e-03 7.68906873e+01] [ 8.22009344e-01 -5.69396454e-01 -9.39772592e-03 -1.43311062e+02] [-1.14398791e-02 -1.15501174e-05 -9.99934562e-01 -1.80668410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.49655999499998 meters 0.012383621122754639 Centerline is valid? [True, True] Translation: X:76.90, Y:-143.32, Z:-1.81 [[ 5.02186868e-01 8.64741693e-01 -5.49132222e-03 7.68988026e+01] [ 8.64690531e-01 -5.02216890e-01 -9.40643643e-03 -1.43316704e+02] [-1.08919725e-02 -2.45054739e-05 -9.99940680e-01 -1.80663043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.52655999499999 meters 0.012368771941814629 Centerline is valid? [True, True] Translation: X:76.91, Y:-143.32, Z:-1.81 [[ 4.31979849e-01 9.01871763e-01 -4.55333477e-03 7.69060814e+01] [ 9.01822510e-01 -4.32003845e-01 -9.42547097e-03 -1.43322675e+02] [-1.04676242e-02 -3.46862592e-05 -9.99945212e-01 -1.80623287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.556559995 meters 0.012368983267478305 Centerline is valid? [True, True] Translation: X:76.91, Y:-143.33, Z:-1.81 [[ 3.58544129e-01 9.33506588e-01 -3.39955028e-03 7.69143471e+01] [ 9.33465835e-01 -3.58560242e-01 -8.72280427e-03 -1.43327164e+02] [-9.36173882e-03 -4.58537780e-05 -9.99956177e-01 -1.80719933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.586559995 meters 0.01228951918532023 Centerline is valid? [True, True] Translation: X:76.92, Y:-143.33, Z:-1.81 [[ 2.83858432e-01 9.58862733e-01 -2.57875542e-03 7.69230367e+01] [ 9.58824700e-01 -2.83870141e-01 -8.54037006e-03 -1.43330921e+02] [-8.92107424e-03 -4.83183374e-05 -9.99960205e-01 -1.80792567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.616559995 meters 0.012314079327926516 Centerline is valid? [True, True] Translation: X:76.93, Y:-143.33, Z:-1.81 [[ 2.07931155e-01 9.78141750e-01 -1.83054613e-03 7.69308651e+01] [ 9.78105777e-01 -2.07939207e-01 -8.38900476e-03 -1.43334866e+02] [-8.58627811e-03 -4.61322971e-05 -9.99963136e-01 -1.80806094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.646559995 meters 0.012139587427285657 Centerline is valid? [True, True] Translation: X:76.94, Y:-143.34, Z:-1.81 [[ 1.30954052e-01 9.91387936e-01 -9.98402935e-04 7.69411299e+01] [ 9.91361282e-01 -1.30957852e-01 -7.26979854e-03 -1.43337218e+02] [-7.33793927e-03 -3.77684414e-05 -9.99973076e-01 -1.80800881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.676559995 meters 0.012109632460800044 Centerline is valid? [True, True] Translation: X:76.95, Y:-143.34, Z:-1.81 [[ 5.31235630e-02 9.98587869e-01 -3.94818670e-04 7.69507008e+01] [ 9.98564795e-01 -5.31250195e-02 -6.78835436e-03 -1.43338297e+02] [-6.79974306e-03 -3.36304534e-05 -9.99976881e-01 -1.80809668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.706559995 meters 0.012125884764112013 Centerline is valid? [True, True] Translation: X:76.96, Y:-143.34, Z:-1.81 [[-2.50183786e-02 9.99686983e-01 1.27836304e-04 7.69598295e+01] [ 9.99667122e-01 2.50186874e-02 -6.30157700e-03 -1.43340188e+02] [-6.30280280e-03 -2.98614897e-05 -9.99980137e-01 -1.80751417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.736559995 meters 0.012116168141279202 Centerline is valid? [True, True] Translation: X:76.97, Y:-143.34, Z:-1.81 [[-1.03308398e-01 9.94649170e-01 6.35811552e-04 7.69679245e+01] [ 9.94628429e-01 1.03310350e-01 -6.42335658e-03 -1.43340381e+02] [-6.45467220e-03 -3.11904328e-05 -9.99979168e-01 -1.80724422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.766559995 meters 0.012137198060291475 Centerline is valid? [True, True] Translation: X:76.97, Y:-143.34, Z:-1.81 [[-1.80562853e-01 9.83562835e-01 1.09835166e-03 7.69748777e+01] [ 9.83543693e-01 1.80566192e-01 -6.13635882e-03 -1.43341297e+02] [-6.23381965e-03 -2.77216063e-05 -9.99980569e-01 -1.80687431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.796559995 meters 0.012032873736997591 Centerline is valid? [True, True] Translation: X:76.98, Y:-143.34, Z:-1.81 [[-2.57126587e-01 9.66376249e-01 1.69195438e-03 7.69819949e+01] [ 9.66354543e-01 2.57132152e-01 -6.47719880e-03 -1.43340489e+02] [-6.69446695e-03 -3.04322235e-05 -9.99977591e-01 -1.80721709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.826559995 meters 0.012032351196926952 Centerline is valid? [True, True] Translation: X:76.99, Y:-143.34, Z:-1.81 [[-3.31806265e-01 9.43345276e-01 2.07193129e-03 7.69895176e+01] [ 9.43326369e-01 3.31812733e-01 -5.97266702e-03 -1.43338813e+02] [-6.32178040e-03 -2.72609097e-05 -9.99980017e-01 -1.80675326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.856559995 meters 0.012055156788087534 Centerline is valid? [True, True] Translation: X:77.00, Y:-143.34, Z:-1.81 [[-4.04299668e-01 9.14622038e-01 2.88189339e-03 7.69968480e+01] [ 9.14598305e-01 4.04309938e-01 -6.58895188e-03 -1.43336410e+02] [-7.19157873e-03 -2.81362493e-05 -9.99974140e-01 -1.80627210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.886559995 meters 0.0120930558558744 Centerline is valid? [True, True] Translation: X:77.00, Y:-143.33, Z:-1.81 [[-4.74648261e-01 8.80168933e-01 3.41717626e-03 7.70042631e+01] [ 8.80145701e-01 4.74660561e-01 -6.39500747e-03 -1.43333081e+02] [-7.25068571e-03 -2.77661844e-05 -9.99973713e-01 -1.80644752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.916559995 meters 0.01196031933305666 Centerline is valid? [True, True] Translation: X:77.01, Y:-143.33, Z:-1.81 [[-5.42111932e-01 8.40297800e-01 3.77633408e-03 7.70115459e+01] [ 8.40277073e-01 5.42125084e-01 -5.90204856e-03 -1.43330712e+02] [-7.00672385e-03 -2.64039943e-05 -9.99975452e-01 -1.80655298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.946559995 meters 0.011930377319335533 Centerline is valid? [True, True] Translation: X:77.02, Y:-143.33, Z:-1.81 [[-6.06259064e-01 7.95257878e-01 3.85423577e-03 7.70190236e+01] [ 7.95241555e-01 6.06271315e-01 -5.09538621e-03 -1.43325989e+02] [-6.38885861e-03 -2.40756268e-05 -9.99979591e-01 -1.80690470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.976559995 meters 0.01192085684779485 Centerline is valid? [True, True] Translation: X:77.03, Y:-143.32, Z:-1.81 [[-6.66678209e-01 7.45333961e-01 4.17757690e-03 7.70262972e+01] [ 7.45319107e-01 6.66691298e-01 -4.70550313e-03 -1.43319399e+02] [-6.29232545e-03 -2.34285151e-05 -9.99980203e-01 -1.80765543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.006559995 meters 0.011855463849044609 Centerline is valid? [True, True] Translation: X:77.03, Y:-143.31, Z:-1.81 [[-7.23102998e-01 6.90725550e-01 4.50210446e-03 7.70338855e+01] [ 6.90711956e-01 7.23117013e-01 -4.33357971e-03 -1.43311530e+02] [-6.24886256e-03 -2.39671031e-05 -9.99980475e-01 -1.80831038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.036559995 meters 0.011838402026334263 Centerline is valid? [True, True] Translation: X:77.05, Y:-143.29, Z:-1.81 [[-7.70072672e-01 6.37935984e-01 5.07540731e-03 7.70539581e+01] [ 6.37921919e-01 7.70089397e-01 -4.23624666e-03 -1.43291344e+02] [-6.61097153e-03 -2.45042115e-05 -9.99978147e-01 -1.80805322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.066559995 meters 0.011912209446611793 Centerline is valid? [True, True] Translation: X:77.07, Y:-143.27, Z:-1.81 [[-8.13482822e-01 5.81557054e-01 6.09020808e-03 7.70693675e+01] [ 5.81540477e-01 8.13505619e-01 -4.39108730e-03 -1.43266980e+02] [-7.50808629e-03 -3.03715745e-05 -9.99971813e-01 -1.80769097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.096559995 meters 0.011934412043004248 Centerline is valid? [True, True] Translation: X:77.08, Y:-143.24, Z:-1.81 [[-8.52744846e-01 5.22285198e-01 6.66337548e-03 7.70838888e+01] [ 5.22268944e-01 8.52770878e-01 -4.12055002e-03 -1.43242774e+02] [-7.83443484e-03 -3.37037156e-05 -9.99969310e-01 -1.80788244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.126559995 meters 0.011925207625373871 Centerline is valid? [True, True] Translation: X:77.10, Y:-143.22, Z:-1.81 [[-8.87796382e-01 4.60181670e-01 7.10032733e-03 7.70956184e+01] [ 4.60166612e-01 8.87824774e-01 -3.72290515e-03 -1.43216370e+02] [-8.01705921e-03 -3.78481483e-05 -9.99967862e-01 -1.80782560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.15655999499998 meters 0.011949215628892854 Centerline is valid? [True, True] Translation: X:77.11, Y:-143.19, Z:-1.81 [[-9.18318189e-01 3.95778497e-01 7.14737804e-03 7.71105052e+01] [ 3.95766174e-01 9.18346002e-01 -3.12341810e-03 -1.43191580e+02] [-7.79994777e-03 -3.96011959e-05 -9.99969579e-01 -1.80797750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.18655999499998 meters 0.011997204581868114 Centerline is valid? [True, True] Translation: X:77.12, Y:-143.16, Z:-1.81 [[-9.44272984e-01 3.29073718e-01 7.68237848e-03 7.71241950e+01] [ 3.29062389e-01 9.44304233e-01 -2.73103836e-03 -1.43164839e+02] [-8.15321547e-03 -5.08639266e-05 -9.99966761e-01 -1.80847280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.21655999499998 meters 0.012257748827946294 Centerline is valid? [True, True] Translation: X:77.12, Y:-143.13, Z:-1.81 [[-9.65405717e-01 2.60627679e-01 8.06320590e-03 7.71205983e+01] [ 2.60618085e-01 9.65439387e-01 -2.23695696e-03 -1.43132431e+02] [-8.36754946e-03 -5.81537594e-05 -9.99964990e-01 -1.80793145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.24655999499998 meters 0.012257748827946294 Centerline is valid? [True, True] Translation: X:77.12, Y:-143.10, Z:-1.81 [[-9.81462809e-01 1.91477121e-01 8.20157888e-03 7.71242889e+01] [ 1.91469941e-01 9.81497075e-01 -1.65926711e-03 -1.43104937e+02] [-8.36753737e-03 -5.81531408e-05 -9.99964990e-01 -1.80793158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.27655999499999 meters 0.01212408417575098 Centerline is valid? [True, True] Translation: X:77.26, Y:-142.48, Z:-2.78 [[-9.62716457e-01 -2.70389602e-01 8.15393851e-03 7.72601343e+01] [ 2.70380467e-01 -9.62750985e-01 -2.22346007e-03 -1.42483713e+02] [ 8.45141281e-03 6.41041091e-05 9.99964284e-01 -2.78181436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.306559995 meters 0.01215883046409985 Centerline is valid? [True, True] Translation: X:77.08, Y:-143.10, Z:-1.81 [[-9.82037941e-01 1.88489194e-01 8.56186012e-03 7.70834357e+01] [ 1.88481559e-01 9.82075262e-01 -1.69733269e-03 -1.43097313e+02] [-8.72831989e-03 -5.30923553e-05 -9.99961906e-01 -1.80930372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.336559995 meters 0.012087666564810508 Centerline is valid? [True, True] Translation: X:77.09, Y:-143.07, Z:-1.81 [[-9.92880465e-01 1.18810333e-01 8.51390527e-03 7.70873368e+01] [ 1.18805554e-01 9.92916967e-01 -1.06666145e-03 -1.43069604e+02] [-8.58033140e-03 -4.75680840e-05 -9.99963187e-01 -1.80919089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.366559995 meters 0.012097160411035255 Centerline is valid? [True, True] Translation: X:77.08, Y:-143.04, Z:-1.81 [[-9.98746583e-01 4.92509406e-02 8.92228557e-03 7.70805173e+01] [ 4.92486307e-02 9.98786435e-01 -4.78550150e-04 -1.43041475e+02] [-8.93502685e-03 -3.85399797e-05 -9.99960081e-01 -1.80997784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.396559995 meters 0.012086776433365889 Centerline is valid? [True, True] Translation: X:77.12, Y:-142.41, Z:-2.78 [[-9.92244160e-01 -1.23949693e-01 9.38088139e-03 7.71228206e+01] [ 1.23944855e-01 -9.92288501e-01 -1.09756759e-03 -1.42406872e+02] [ 9.44458390e-03 7.36569569e-05 9.99955396e-01 -2.77999278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.426559995 meters 0.012141062423810545 Centerline is valid? [True, True] Translation: X:77.02, Y:-143.04, Z:-1.81 [[-9.98867085e-01 4.65542544e-02 9.86147207e-03 7.70218063e+01] [ 4.65517434e-02 9.98915763e-01 -4.84131205e-04 -1.43039582e+02] [-9.87331826e-03 -2.45140075e-05 -9.99951257e-01 -1.80995129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.456559995 meters 0.012194704253022652 Centerline is valid? [True, True] Translation: X:77.06, Y:-142.40, Z:-2.78 [[-9.93049821e-01 -1.17279916e-01 9.87286827e-03 7.70554692e+01] [ 1.17274408e-01 -9.93098898e-01 -1.13690687e-03 -1.42402491e+02] [ 9.93807093e-03 2.88296176e-05 9.99950616e-01 -2.78021650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.486559995 meters 0.012239403827184794 Centerline is valid? [True, True] Translation: X:76.96, Y:-143.04, Z:-1.81 [[-9.98957688e-01 4.44779496e-02 1.02591695e-02 7.69566380e+01] [ 4.44756059e-02 9.99010366e-01 -4.56597017e-04 -1.43038266e+02] [-1.02693251e-02 1.61677894e-07 -9.99947269e-01 -1.81045418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.516559995 meters 0.012428875840079826 Centerline is valid? [True, True] Translation: X:76.95, Y:-143.01, Z:-1.81 [[-9.99654946e-01 -2.38903837e-02 1.09196432e-02 7.69529709e+01] [-2.38886214e-02 9.99714584e-01 2.91806149e-04 -1.43012142e+02] [-1.09234979e-02 3.08502370e-05 -9.99940336e-01 -1.81148862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.546559995 meters 0.012522812647979184 Centerline is valid? [True, True] Translation: X:76.94, Y:-142.37, Z:-2.78 [[-9.99271595e-01 -3.65491567e-02 1.09744872e-02 7.69374183e+01] [ 3.65466543e-02 -9.99331856e-01 -4.28552367e-04 -1.42367492e+02] [ 1.09828179e-02 -2.71594193e-05 9.99939687e-01 -2.77844204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.576559995 meters 0.012663073393816877 Centerline is valid? [True, True] Translation: X:76.87, Y:-143.02, Z:-1.81 [[-9.99574178e-01 -2.69573580e-02 1.11697949e-02 7.68712538e+01] [-2.69550398e-02 9.99636583e-01 3.58057726e-04 -1.43015590e+02] [-1.11753879e-02 5.68229917e-05 -9.99937552e-01 -1.81223418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.606559995 meters 0.012825946116559175 Centerline is valid? [True, True] Translation: X:76.85, Y:-142.37, Z:-2.78 [[-9.99511265e-01 -2.90508678e-02 1.15445966e-02 7.68532196e+01] [ 2.90485345e-02 -9.99577934e-01 -3.69776298e-04 -1.42368473e+02] [ 1.15504663e-02 -3.42419638e-05 9.99933291e-01 -2.77824244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.636559995 meters 0.012826680586264854 Centerline is valid? [True, True] Translation: X:76.79, Y:-143.02, Z:-1.81 [[-9.99455105e-01 -3.09389964e-02 1.15009295e-02 7.67893297e+01] [-3.09360714e-02 9.99521272e-01 4.32182461e-04 -1.43018476e+02] [-1.15087950e-02 7.61533910e-05 -9.99933769e-01 -1.81270130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.666559995 meters 0.012686585523273208 Centerline is valid? [True, True] Translation: X:76.77, Y:-142.37, Z:-2.78 [[-9.99664831e-01 -2.30257235e-02 1.18338820e-02 7.67665570e+01] [ 2.30234416e-02 -9.99734871e-01 -3.29046059e-04 -1.42371082e+02] [ 1.18383211e-02 -5.64790810e-05 9.99929923e-01 -2.77671900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.696559995 meters 0.01272863175167209 Centerline is valid? [True, True] Translation: X:76.70, Y:-143.02, Z:-1.81 [[-9.99242819e-01 -3.69763184e-02 1.21054158e-02 7.67039176e+01] [-3.69727111e-02 9.99316139e-01 5.21723633e-04 -1.43020724e+02] [-1.21164288e-02 7.37585546e-05 -9.99926591e-01 -1.81357031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.726559995 meters 0.012627276275062677 Centerline is valid? [True, True] Translation: X:76.68, Y:-142.38, Z:-2.78 [[-9.99724740e-01 -1.97736214e-02 1.26272527e-02 7.66769525e+01] [ 1.97715151e-02 -9.99804482e-01 -2.91635160e-04 -1.42375407e+02] [ 1.26305505e-02 -4.18949675e-05 9.99920231e-01 -2.77728996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.756559995 meters 0.012627276275062677 Centerline is valid? [True, True] Translation: X:76.62, Y:-143.02, Z:-1.81 [[-9.98942611e-01 -4.42009270e-02 1.26466402e-02 7.66181391e+01] [-4.41966782e-02 9.99022660e-01 6.15380820e-04 -1.43022981e+02] [-1.26614805e-02 5.57906358e-05 -9.99919839e-01 -1.81316124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.786559995 meters 0.012768540606195516 Centerline is valid? [True, True] Translation: X:76.61, Y:-142.99, Z:-1.81 [[-9.92911383e-01 -1.18158081e-01 1.28706646e-02 7.66052206e+01] [-1.18147910e-01 9.92994797e-01 1.55039419e-03 -1.42994273e+02] [-1.29636946e-02 1.87619138e-05 -9.99915968e-01 -1.81092427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.816559995 meters 0.012519275069854752 Centerline is valid? [True, True] Translation: X:76.59, Y:-142.97, Z:-1.81 [[-9.81553280e-01 -1.90752256e-01 1.29125734e-02 7.65879012e+01] [-1.90735852e-01 9.81638211e-01 2.50163435e-03 -1.42967099e+02] [-1.31526678e-02 -7.40327612e-06 -9.99913500e-01 -1.81253994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.846559995 meters 0.012523586403755328 Centerline is valid? [True, True] Translation: X:76.56, Y:-142.94, Z:-1.81 [[-9.64755081e-01 -2.62834915e-01 1.28624015e-02 7.65571555e+01] [-2.62812037e-01 9.64840819e-01 3.46802421e-03 -1.42944064e+02] [-1.33216878e-02 -3.45999560e-05 -9.99911262e-01 -1.81234046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.876559995 meters 0.012718709637953221 Centerline is valid? [True, True] Translation: X:76.51, Y:-142.93, Z:-1.81 [[-9.41993112e-01 -3.35400271e-01 1.24754093e-02 7.65120685e+01] [-3.35372035e-01 9.42075714e-01 4.35280726e-03 -1.42926386e+02] [-1.32127129e-02 -8.35889522e-05 -9.99912705e-01 -1.81266156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.90655999499998 meters 0.01277348221441562 Centerline is valid? [True, True] Translation: X:76.45, Y:-142.92, Z:-1.81 [[-9.14218490e-01 -4.05056007e-01 1.15838102e-02 7.64511324e+01] [-4.05024868e-01 9.14291869e-01 5.02344005e-03 -1.42919357e+02] [-1.26257580e-02 -9.92094081e-05 -9.99920287e-01 -1.81338521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.93655999499998 meters 0.0128751388133869 Centerline is valid? [True, True] Translation: X:76.38, Y:-142.92, Z:-1.81 [[-8.81227129e-01 -4.72571973e-01 1.06994344e-02 7.63836212e+01] [-4.72538662e-01 8.81292073e-01 5.61198007e-03 -1.42919872e+02] [-1.20813912e-02 -1.10467315e-04 -9.99927011e-01 -1.81390863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.96655999499998 meters 0.013172298796472293 Centerline is valid? [True, True] Translation: X:76.31, Y:-142.93, Z:-1.81 [[-8.42624614e-01 -5.38425643e-01 9.03258105e-03 7.63100115e+01] [-5.38396224e-01 8.42673017e-01 5.62965051e-03 -1.42928301e+02] [-1.06426605e-02 -1.19425443e-04 -9.99943358e-01 -1.81429114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.99655999499998 meters 0.013161911210821452 Centerline is valid? [True, True] Translation: X:76.23, Y:-142.95, Z:-1.81 [[-7.99735219e-01 -6.00291831e-01 8.56137886e-03 7.62298079e+01] [-6.00259119e-01 7.99781034e-01 6.26808332e-03 -1.42948560e+02] [-1.06099076e-02 -1.26238744e-04 -9.99943705e-01 -1.81474582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.02655999499996 meters 0.013493454262001355 Centerline is valid? [True, True] Translation: X:76.15, Y:-142.98, Z:-1.81 [[-7.52082011e-01 -6.59026487e-01 7.53248975e-03 7.61458229e+01] [-6.58995091e-01 7.52119720e-01 6.43397575e-03 -1.42978919e+02] [-9.90549452e-03 -1.24996349e-04 -9.99950932e-01 -1.81423189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.056559995 meters 0.013442385401994399 Centerline is valid? [True, True] Translation: X:76.06, Y:-143.02, Z:-1.81 [[-7.00530448e-01 -7.13586866e-01 7.13275089e-03 7.60619651e+01] [-7.13551678e-01 7.00566748e-01 7.08758868e-03 -1.43018727e+02] [-1.00545783e-02 -1.24514699e-04 -9.99949444e-01 -1.81420074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.08655999499996 meters 0.013689543744466489 Centerline is valid? [True, True] Translation: X:75.98, Y:-143.07, Z:-1.81 [[-6.44472417e-01 -7.64602609e-01 6.17682422e-03 7.59780245e+01] [-7.64569250e-01 6.44502006e-01 7.14331168e-03 -1.43067102e+02] [-9.44277035e-03 -1.18942513e-04 -9.99955409e-01 -1.81378401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.116559995 meters 0.013800120803199926 Centerline is valid? [True, True] Translation: X:75.89, Y:-143.13, Z:-1.81 [[-5.84876719e-01 -8.11104003e-01 5.43332196e-03 7.58932530e+01] [-8.11070799e-01 5.84901944e-01 7.33999677e-03 -1.43128301e+02] [-9.13146133e-03 -1.13815560e-04 -9.99958301e-01 -1.81361736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.14655999499996 meters 0.01324755283153753 Centerline is valid? [True, True] Translation: X:75.81, Y:-143.20, Z:-1.81 [[-5.21739945e-01 -8.53089553e-01 5.06398495e-03 7.58137397e+01] [-8.53051537e-01 5.21764506e-01 8.05453351e-03 -1.43198856e+02] [-9.51344600e-03 -1.17468275e-04 -9.99954739e-01 -1.81422233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.176559995 meters 0.013280681455971896 Centerline is valid? [True, True] Translation: X:75.74, Y:-143.27, Z:-1.81 [[-4.55435992e-01 -8.90255970e-01 4.72922570e-03 7.57390491e+01] [-8.90210737e-01 4.55460529e-01 8.97499707e-03 -1.43272976e+02] [-1.01440204e-02 -1.22470807e-04 -9.99948541e-01 -1.81362311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.20655999499996 meters 0.013447484265605315 Centerline is valid? [True, True] Translation: X:75.67, Y:-143.36, Z:-1.81 [[-3.86085861e-01 -9.22453648e-01 4.12011712e-03 7.56669226e+01] [-9.22404576e-01 3.86107824e-01 9.51558064e-03 -1.43358288e+02] [-1.03684915e-02 -1.26583737e-04 -9.99946238e-01 -1.81269399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.236559995 meters 0.01338071349411362 Centerline is valid? [True, True] Translation: X:75.60, Y:-143.45, Z:-1.81 [[-3.14675553e-01 -9.49192997e-01 3.45698665e-03 7.56023000e+01] [-9.49140073e-01 3.14694516e-01 1.00241436e-02 -1.43448049e+02] [-1.06027416e-02 -1.26811629e-04 -9.99943781e-01 -1.81189850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.26655999499997 meters 0.01338071349411362 Centerline is valid? [True, True] Translation: X:75.54, Y:-143.55, Z:-1.81 [[-2.41194654e-01 -9.70473057e-01 2.68052845e-03 7.55433544e+01] [-9.70418838e-01 2.41209515e-01 1.02590477e-02 -1.43546690e+02] [-1.06026983e-02 -1.26807844e-04 -9.99943782e-01 -1.81190053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.29655999499994 meters 0.013437264243128964 Centerline is valid? [True, True] Translation: X:75.49, Y:-143.65, Z:-1.81 [[-1.66939455e-01 -9.85964975e-01 2.07038991e-03 7.54928117e+01] [-9.85898532e-01 1.66952242e-01 1.14469516e-02 -1.43650628e+02] [-1.16319495e-02 -1.30246518e-04 -9.99932338e-01 -1.81066804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.32655999499997 meters 0.01341152384589489 Centerline is valid? [True, True] Translation: X:75.45, Y:-143.76, Z:-1.81 [[-9.14969715e-02 -9.95804597e-01 1.22851910e-03 7.54499715e+01] [-9.95732530e-01 9.15051305e-02 1.19807781e-02 -1.43760455e+02] [-1.20429297e-02 -1.27071522e-04 -9.99927473e-01 -1.81004899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.35655999499994 meters 0.01342478467264611 Centerline is valid? [True, True] Translation: X:74.81, Y:-143.80, Z:-2.78 [[-1.78808521e-01 9.83881789e-01 2.03443877e-03 7.48132654e+01] [-9.83809473e-01 -1.78820046e-01 1.19294361e-02 -1.43803913e+02] [ 1.21009534e-02 1.31584697e-04 9.99926772e-01 -2.78112564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.38655999499997 meters 0.01363552131809106 Centerline is valid? [True, True] Translation: X:75.42, Y:-144.03, Z:-1.81 [[-8.38538561e-02 -9.96477413e-01 1.13860103e-03 7.54210708e+01] [-9.96402287e-01 8.38615158e-02 1.22363496e-02 -1.44030989e+02] [-1.22887308e-02 -1.08439575e-04 -9.99924485e-01 -1.80728754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.41655999499994 meters 0.013203753796912642 Centerline is valid? [True, True] Translation: X:75.39, Y:-144.15, Z:-1.81 [[-7.82326852e-03 -9.99969378e-01 1.98175756e-04 7.53888300e+01] [-9.99893028e-01 7.82512017e-03 1.23571889e-02 -1.44149587e+02] [-1.23583613e-02 -1.01480950e-04 -9.99923627e-01 -1.80871309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.446559995 meters 0.01323399991808471 Centerline is valid? [True, True] Translation: X:75.36, Y:-144.26, Z:-1.81 [[ 6.87789433e-02 -9.97631629e-01 -7.67434406e-04 7.53642882e+01] [-9.97551934e-01 -6.87831494e-02 1.26102006e-02 -1.44261102e+02] [-1.26331215e-02 -1.01760595e-04 -9.99920194e-01 -1.80843945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.47655999499995 meters 0.013193020649135304 Centerline is valid? [True, True] Translation: X:75.35, Y:-144.38, Z:-1.81 [[ 1.44973348e-01 -9.89434153e-01 -1.66881778e-03 7.53490138e+01] [-9.89360783e-01 -1.44982921e-01 1.20496135e-02 -1.44381396e+02] [-1.21642492e-02 -9.58099466e-05 -9.99926008e-01 -1.80861218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.506559995 meters 0.013374634300261942 Centerline is valid? [True, True] Translation: X:75.34, Y:-144.50, Z:-1.81 [[ 2.21184970e-01 -9.75228939e-01 -2.39288724e-03 7.53421809e+01] [-9.75167042e-01 -2.21197892e-01 1.09878552e-02 -1.44495764e+02] [-1.12449759e-02 -9.68836415e-05 -9.99936769e-01 -1.80883155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.53655999499995 meters 0.01343743918279705 Centerline is valid? [True, True] Translation: X:75.34, Y:-144.61, Z:-1.81 [[ 2.95703336e-01 -9.55275154e-01 -2.98622462e-03 7.53444161e+01] [-9.55223212e-01 -2.95718400e-01 9.96206538e-03 -1.44614437e+02] [-1.03995951e-02 -9.33048951e-05 -9.99945918e-01 -1.80892081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.566559995 meters 0.013142547148748228 Centerline is valid? [True, True] Translation: X:75.36, Y:-144.73, Z:-1.81 [[ 3.68458506e-01 -9.29637286e-01 -3.58409646e-03 7.53573308e+01] [-9.29590803e-01 -3.68475926e-01 9.29683781e-03 -1.44733744e+02] [-9.96334033e-03 -9.37558681e-05 -9.99950360e-01 -1.81055926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.59655999499995 meters 0.013977255445130732 Centerline is valid? [True, True] Translation: X:75.37, Y:-144.85, Z:-1.81 [[ 4.40391162e-01 -8.97798524e-01 -3.66548535e-03 7.53746285e+01] [-8.97765562e-01 -4.40406405e-01 7.69381326e-03 -1.44847264e+02] [-8.52179741e-03 -9.75408450e-05 -9.99963684e-01 -1.81002300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.626559995 meters 0.013687153335546487 Centerline is valid? [True, True] Translation: X:75.40, Y:-144.96, Z:-1.81 [[ 5.08996149e-01 -8.60759193e-01 -4.06591360e-03 7.54032928e+01] [-8.60730074e-01 -5.09012378e-01 7.08084553e-03 -1.44958996e+02] [-8.16450323e-03 -1.04468991e-04 -9.99966664e-01 -1.81124499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.65655999499995 meters 0.01368184287977431 Centerline is valid? [True, True] Translation: X:75.44, Y:-145.07, Z:-1.81 [[ 5.74604870e-01 -8.18419270e-01 -4.37522920e-03 7.54392732e+01] [-8.18394050e-01 -5.74621516e-01 6.42588066e-03 -1.45068478e+02] [-7.77316539e-03 -1.11680774e-04 -9.99969782e-01 -1.81142928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.686559995 meters 0.014184703590390936 Centerline is valid? [True, True] Translation: X:75.48, Y:-145.18, Z:-1.81 [[ 6.36883709e-01 -7.70942976e-01 -5.10584579e-03 7.54832275e+01] [-7.70916506e-01 -6.36904161e-01 6.38985143e-03 -1.45175637e+02] [-8.17814551e-03 -1.33411477e-04 -9.99966550e-01 -1.81089360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.71655999499995 meters 0.015195955644741958 Centerline is valid? [True, True] Translation: X:75.53, Y:-145.27, Z:-1.81 [[ 6.96572789e-01 -7.17460389e-01 -6.07779245e-03 7.55271678e+01] [-7.17430801e-01 -6.96599280e-01 6.51827905e-03 -1.45271337e+02] [-8.91039287e-03 -1.80060310e-04 -9.99960285e-01 -1.80940040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.746559995 meters 0.01540824716534601 Centerline is valid? [True, True] Translation: X:75.58, Y:-145.36, Z:-1.81 [[ 7.50265748e-01 -6.61102877e-01 -6.65534774e-03 7.55805946e+01] [-6.61074487e-01 -7.50295239e-01 6.12996973e-03 -1.45363579e+02] [-9.04601635e-03 -1.99425731e-04 -9.99959064e-01 -1.80884995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.77655999499996 meters 0.015902787374669342 Centerline is valid? [True, True] Translation: X:75.58, Y:-145.37, Z:-1.81 [[ 8.00474497e-01 -5.99321224e-01 -7.39261342e-03 7.55790753e+01] [-5.99293109e-01 -8.00508602e-01 5.80923364e-03 -1.45373552e+02] [-9.39944765e-03 -2.19801097e-04 -9.99955800e-01 -1.80843420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.806559995 meters 0.016434090391446568 Centerline is valid? [True, True] Translation: X:75.58, Y:-145.38, Z:-1.81 [[ 8.45570404e-01 -5.33804788e-01 -7.94611835e-03 7.55783744e+01] [-5.33778580e-01 -8.45607706e-01 5.29482808e-03 -1.45382540e+02] [-9.54570349e-03 -2.35682144e-04 -9.99954411e-01 -1.80795388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.83655999499996 meters 0.01701300317376499 Centerline is valid? [True, True] Translation: X:75.58, Y:-145.39, Z:-1.81 [[ 8.85554762e-01 -4.64467030e-01 -7.94621691e-03 7.55798039e+01] [-4.64445871e-01 -8.85590379e-01 4.43991610e-03 -1.45391369e+02] [-9.09928789e-03 -2.41201211e-04 -9.99958572e-01 -1.80877254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.866559995 meters 0.018453284601579918 Centerline is valid? [True, True] Translation: X:75.58, Y:-145.40, Z:-1.81 [[ 9.19365658e-01 -3.93308791e-01 -8.65917527e-03 7.55804442e+01] [-3.93288688e-01 -9.19406400e-01 3.98489298e-03 -1.45400929e+02] [-9.52859460e-03 -2.58018072e-04 -9.99954569e-01 -1.80757676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.89655999499996 meters 0.017238542736427467 Centerline is valid? [True, True] Translation: X:75.58, Y:-145.41, Z:-1.81 [[ 9.47533643e-01 -3.19517001e-01 -9.42765227e-03 7.55838032e+01] [-3.19498241e-01 -9.47580502e-01 3.47363765e-03 -1.45407885e+02] [-1.00433458e-02 -2.79270227e-04 -9.99949525e-01 -1.80746655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.926559995 meters 0.01856402935411694 Centerline is valid? [True, True] Translation: X:75.59, Y:-145.42, Z:-1.81 [[ 9.69755742e-01 -2.43868021e-01 -1.01088509e-02 7.55851125e+01] [-2.43851550e-01 -9.69808383e-01 2.84999205e-03 -1.45416728e+02] [-1.04986703e-02 -2.98737187e-04 -9.99944843e-01 -1.80544590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.95655999499996 meters 0.018659622162039192 Centerline is valid? [True, True] Translation: X:75.59, Y:-145.42, Z:-1.81 [[ 9.85854083e-01 -1.67263949e-01 -1.07003988e-02 7.55902574e+01] [-1.67250666e-01 -9.85912103e-01 2.13068522e-03 -1.45420369e+02] [-1.09060395e-02 -3.10895890e-04 -9.99940479e-01 -1.80523021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.986559995 meters 0.01752423461233135 Centerline is valid? [True, True] Translation: X:75.59, Y:-145.43, Z:-1.81 [[ 9.95919712e-01 -8.96281704e-02 -1.05222703e-02 7.55949814e+01] [-8.96199616e-02 -9.95975251e-01 1.25002419e-03 -1.45425394e+02] [-1.05919582e-02 -3.01918271e-04 -9.99943858e-01 -1.80613815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.01655999499997 meters 0.018107609986539496 Centerline is valid? [True, True] Translation: X:75.59, Y:-145.43, Z:-1.81 [[ 9.99880336e-01 -1.13060813e-02 -1.05586808e-02 7.55947469e+01] [-1.13022589e-02 -9.99936039e-01 4.21616196e-04 -1.45431571e+02] [-1.05627723e-02 -3.02228800e-04 -9.99944167e-01 -1.80603073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.04655999499994 meters 0.017058967999943702 Centerline is valid? [True, True] Translation: X:75.60, Y:-145.44, Z:-1.81 [[ 9.97797672e-01 6.56068636e-02 -9.77476622e-03 7.55965338e+01] [ 6.56063276e-02 -9.97845513e-01 -3.75823670e-04 -1.45435533e+02] [-9.77836323e-03 -2.66290531e-04 -9.99952155e-01 -1.80665069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.07655999499997 meters 0.017601754161585065 Centerline is valid? [True, True] Translation: X:75.60, Y:-145.44, Z:-1.81 [[ 9.89693997e-01 1.42881506e-01 -9.52193547e-03 7.55973029e+01] [ 1.42877362e-01 -9.89739769e-01 -1.11757718e-03 -1.45441765e+02] [-9.58391932e-03 -2.54409596e-04 -9.99954041e-01 -1.80626266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.10655999499994 meters 0.016555017485731616 Centerline is valid? [True, True] Translation: X:75.60, Y:-145.45, Z:-1.81 [[ 9.75665720e-01 2.19090805e-01 -8.69612180e-03 7.55997937e+01] [ 2.19084179e-01 -9.75704447e-01 -1.71914788e-03 -1.45446304e+02] [-8.86149420e-03 -2.27869050e-04 -9.99960710e-01 -1.80705846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.13655999499997 meters 0.01719671010715858 Centerline is valid? [True, True] Translation: X:75.60, Y:-145.45, Z:-1.81 [[ 9.55629200e-01 2.94466023e-01 -7.91157585e-03 7.56013483e+01] [ 2.94457731e-01 -9.55661927e-01 -2.21966715e-03 -1.45452853e+02] [-8.21440837e-03 -2.08445926e-04 -9.99966239e-01 -1.80694288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.16655999499994 meters 0.016265704919302786 Centerline is valid? [True, True] Translation: X:75.60, Y:-145.46, Z:-1.81 [[ 9.30060864e-01 3.67346759e-01 -6.56874184e-03 7.56032420e+01] [ 3.67338883e-01 -9.30084044e-01 -2.41152992e-03 -1.45455843e+02] [-6.99534968e-03 -1.70084688e-04 -9.99975518e-01 -1.80803201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.196559995 meters 0.016292034479672004 Centerline is valid? [True, True] Translation: X:75.61, Y:-145.46, Z:-1.81 [[ 8.98750093e-01 4.38417794e-01 -6.17324095e-03 7.56050739e+01] [ 4.38408672e-01 -8.98771279e-01 -2.83266248e-03 -1.45461017e+02] [-6.79022130e-03 -1.60546697e-04 -9.99976933e-01 -1.80807881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.22655999499995 meters 0.01590633252557334 Centerline is valid? [True, True] Translation: X:75.61, Y:-145.46, Z:-1.81 [[ 8.62212950e-01 5.06509240e-01 -6.10079494e-03 7.56081911e+01] [ 5.06497848e-01 -8.62234519e-01 -3.40077899e-03 -1.45464600e+02] [-6.98284197e-03 -1.57843826e-04 -9.99975607e-01 -1.80744607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.256559995 meters 0.016102734243796952 Centerline is valid? [True, True] Translation: X:75.61, Y:-145.47, Z:-1.81 [[ 8.20206057e-01 5.72037343e-01 -5.94154173e-03 7.56106090e+01] [ 5.72023716e-01 -8.20227562e-01 -3.95158011e-03 -1.45469302e+02] [-7.13386768e-03 -1.57592842e-04 -9.99974541e-01 -1.80676904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.28655999499995 meters 0.01616414054488674 Centerline is valid? [True, True] Translation: X:75.61, Y:-145.47, Z:-1.81 [[ 7.73315720e-01 6.33995611e-01 -5.68874619e-03 7.56124460e+01] [ 6.33979920e-01 -7.73336628e-01 -4.46322579e-03 -1.45472405e+02] [-7.22898136e-03 -1.55068186e-04 -9.99973859e-01 -1.80621474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.316559995 meters 0.016248086936105372 Centerline is valid? [True, True] Translation: X:75.61, Y:-145.47, Z:-1.81 [[ 7.21496435e-01 6.92398250e-01 -5.24955349e-03 7.56135042e+01] [ 6.92381429e-01 -7.21515517e-01 -4.82861189e-03 -1.45474008e+02] [-7.13095672e-03 -1.50867083e-04 -9.99974563e-01 -1.80597498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.34655999499995 meters 0.016305826107386897 Centerline is valid? [True, True] Translation: X:75.61, Y:-145.48, Z:-1.81 [[ 6.65309074e-01 7.46555012e-01 -4.41028324e-03 7.56135716e+01] [ 7.46539941e-01 -6.65323678e-01 -4.74554297e-03 -1.45475918e+02] [-6.47707475e-03 -1.35199791e-04 -9.99979014e-01 -1.80585553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.376559995 meters 0.015823186868274275 Centerline is valid? [True, True] Translation: X:75.61, Y:-145.48, Z:-1.81 [[ 6.05055061e-01 7.96175973e-01 -3.49202963e-03 7.56149864e+01] [ 7.96163804e-01 -6.05065127e-01 -4.40344077e-03 -1.45476668e+02] [-5.61881909e-03 -1.15903469e-04 -9.99984208e-01 -1.80722143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.40655999499995 meters 0.015943695383227388 Centerline is valid? [True, True] Translation: X:75.62, Y:-145.48, Z:-1.81 [[ 5.41017945e-01 8.41006571e-01 -2.74417475e-03 7.56167814e+01] [ 8.40996682e-01 -5.41024895e-01 -4.07978230e-03 -1.45478306e+02] [-4.91579058e-03 -1.00606423e-04 -9.99987912e-01 -1.80763117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.436559995 meters 0.01641950800798279 Centerline is valid? [True, True] Translation: X:75.62, Y:-145.48, Z:-1.81 [[ 4.72807491e-01 8.81162926e-01 -2.23027272e-03 7.56178049e+01] [ 8.81154067e-01 -4.72812741e-01 -3.95242198e-03 -1.45480896e+02] [-4.53722908e-03 -9.64791618e-05 -9.99989702e-01 -1.80790541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.46655999499995 meters 0.016786275707113683 Centerline is valid? [True, True] Translation: X:75.62, Y:-145.48, Z:-1.81 [[ 4.01663731e-01 9.15784990e-01 -2.02474142e-03 7.56189109e+01] [ 9.15774647e-01 -4.01668821e-01 -4.35371831e-03 -1.45482781e+02] [-4.80034538e-03 -1.05476113e-04 -9.99988473e-01 -1.80741431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.496559995 meters 0.01724831939885007 Centerline is valid? [True, True] Translation: X:75.62, Y:-145.48, Z:-1.81 [[ 3.27966511e-01 9.44687681e-01 -1.77568601e-03 7.56200118e+01] [ 9.44675684e-01 -3.27971298e-01 -4.76236702e-03 -1.45483800e+02] [-5.08132350e-03 -1.15550496e-04 -9.99987083e-01 -1.80664454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.52655999499996 meters 0.017672972246520632 Centerline is valid? [True, True] Translation: X:75.62, Y:-145.49, Z:-1.81 [[ 2.52507979e-01 9.67593823e-01 -1.38343750e-03 7.56200740e+01] [ 9.67581733e-01 -2.52511742e-01 -4.83842831e-03 -1.45486015e+02] [-5.03096756e-03 -1.16847097e-04 -9.99987338e-01 -1.80569347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.556559995 meters 0.0181828397458087 Centerline is valid? [True, True] Translation: X:75.62, Y:-145.49, Z:-1.81 [[ 1.75165334e-01 9.84538453e-01 -1.06776325e-03 7.56198388e+01] [ 9.84524381e-01 -1.75168541e-01 -5.26551875e-03 -1.45487173e+02] [-5.37114422e-03 -1.28902602e-04 -9.99985567e-01 -1.80511212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.58655999499996 meters 0.019064948615531294 Centerline is valid? [True, True] Translation: X:75.62, Y:-145.49, Z:-1.80 [[ 9.62442723e-02 9.95357543e-01 -6.34414501e-04 7.56190790e+01] [ 9.95344028e-01 -9.62462726e-02 -5.18859368e-03 -1.45489614e+02] [-5.22556588e-03 -1.32088262e-04 -9.99986338e-01 -1.80455176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.616559995 meters 0.019748019559183014 Centerline is valid? [True, True] Translation: X:75.62, Y:-145.49, Z:-1.80 [[ 1.72428737e-02 9.99851300e-01 -2.49201226e-04 7.56170537e+01] [ 9.99834722e-01 -1.72440233e-02 -5.75952809e-03 -1.45491440e+02] [-5.76296887e-03 -1.49849223e-04 -9.99983383e-01 -1.80423659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.64655999499996 meters 0.020191360525302352 Centerline is valid? [True, True] Translation: X:75.61, Y:-145.49, Z:-1.80 [[-6.17533564e-02 9.98091420e-01 1.98348940e-04 7.56142424e+01] [ 9.98075508e-01 6.17534923e-02 -5.63794350e-03 -1.45493122e+02] [-5.63943178e-03 -1.50194715e-04 -9.99984087e-01 -1.80406397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.676559995 meters 0.01722755912842489 Centerline is valid? [True, True] Translation: X:75.62, Y:-145.49, Z:-1.80 [[-1.40651471e-01 9.90058929e-01 6.93371134e-04 7.56162753e+01] [ 9.90040291e-01 1.40653079e-01 -6.07721838e-03 -1.45494200e+02] [-6.11432910e-03 -1.68304344e-04 -9.99981293e-01 -1.80465091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.70655999499996 meters 0.02147539368560925 Centerline is valid? [True, True] Translation: X:75.63, Y:-145.49, Z:-1.80 [[-2.18097827e-01 9.75926107e-01 1.25352328e-03 7.56292198e+01] [ 9.75904820e-01 2.18101352e-01 -6.44849014e-03 -1.45494539e+02] [-6.56664500e-03 -1.83082270e-04 -9.99978423e-01 -1.80263900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.736559995 meters 0.017385745745271578 Centerline is valid? [True, True] Translation: X:75.63, Y:-145.50, Z:-1.80 [[-2.94017800e-01 9.55798355e-01 1.74281310e-03 7.56293668e+01] [ 9.55777700e-01 2.94022909e-01 -6.28630902e-03 -1.45495720e+02] [-6.52087080e-03 -1.82544857e-04 -9.99978722e-01 -1.80393430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.76655999499997 meters 0.02186351808559285 Centerline is valid? [True, True] Translation: X:75.64, Y:-145.49, Z:-1.80 [[-3.67311560e-01 9.30095714e-01 2.04495608e-03 7.56419513e+01] [ 9.30078733e-01 3.67317216e-01 -5.62260438e-03 -1.45494111e+02] [-5.98070780e-03 -1.63277424e-04 -9.99982102e-01 -1.80223690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.79655999499994 meters 0.016445831628567005 Centerline is valid? [True, True] Translation: X:75.64, Y:-145.50, Z:-1.80 [[-4.38255570e-01 8.98847373e-01 2.33559982e-03 7.56419128e+01] [ 8.98832747e-01 4.38261768e-01 -5.12995603e-03 -1.45495687e+02] [-5.63465161e-03 -1.48918207e-04 -9.99984114e-01 -1.80433606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.82655999499997 meters 0.015457450911804685 Centerline is valid? [True, True] Translation: X:75.65, Y:-145.49, Z:-1.81 [[-5.04912643e-01 8.63167736e-01 2.16388778e-03 7.56479157e+01] [ 8.63158893e-01 5.04917269e-01 -3.90855062e-03 -1.45494302e+02] [-4.46631910e-03 -1.05697639e-04 -9.99990020e-01 -1.80557764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.85655999499994 meters 0.01971544716543521 Centerline is valid? [True, True] Translation: X:75.66, Y:-145.49, Z:-1.80 [[-5.69541297e-01 8.21959789e-01 2.19444207e-03 7.56620834e+01] [ 8.21953087e-01 5.69545518e-01 -3.32051212e-03 -1.45488139e+02] [-3.97916209e-03 -8.74403425e-05 -9.99992079e-01 -1.80443800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.88655999499997 meters 0.01886995926344319 Centerline is valid? [True, True] Translation: X:75.65, Y:-145.50, Z:-1.80 [[-6.30888432e-01 7.75870736e-01 2.09479606e-03 7.56535903e+01] [ 7.75866089e-01 6.30891906e-01 -2.68600579e-03 -1.45498001e+02] [-3.40558317e-03 -6.92887553e-05 -9.99994199e-01 -1.80486598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.91655999499994 meters 0.01886995926344319 Centerline is valid? [True, True] Translation: X:75.65, Y:-145.51, Z:-1.80 [[-6.89721788e-01 7.24070833e-01 2.29872327e-03 7.56478829e+01] [ 7.24066473e-01 6.89725615e-01 -2.51364107e-03 -1.45507193e+02] [-3.40554250e-03 -6.92845633e-05 -9.99994199e-01 -1.80486630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.946559995 meters 0.014245265147997805 Centerline is valid? [True, True] Translation: X:75.65, Y:-145.51, Z:-1.81 [[-7.41978832e-01 6.70417743e-01 2.73186561e-03 7.56467083e+01] [ 6.70412884e-01 7.41983858e-01 -2.55321051e-03 -1.45509849e+02] [-3.73871782e-03 -6.29502489e-05 -9.99993009e-01 -1.80626585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.97655999499995 meters 0.013884055987548678 Centerline is valid? [True, True] Translation: X:75.67, Y:-145.50, Z:-1.81 [[-7.86679840e-01 6.17353572e-01 3.06522864e-03 7.56707974e+01] [ 6.17348584e-01 7.86685810e-01 -2.48263915e-03 -1.45496403e+02] [-3.94403802e-03 -6.07276158e-05 -9.99992220e-01 -1.80591442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.006559995 meters 0.01621769110403812 Centerline is valid? [True, True] Translation: X:75.69, Y:-145.47, Z:-1.80 [[-8.27763087e-01 5.61064435e-01 3.86934950e-03 7.56935405e+01] [ 5.61057923e-01 8.27772128e-01 -2.70399473e-03 -1.45472935e+02] [-4.72005495e-03 -6.73378350e-05 -9.99988858e-01 -1.80364338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.03655999499995 meters 0.013457284635881129 Centerline is valid? [True, True] Translation: X:75.70, Y:-145.45, Z:-1.80 [[-8.64847990e-01 5.02001306e-01 5.71342250e-03 7.57031712e+01] [ 5.01989681e-01 8.64866857e-01 -3.41754681e-03 -1.45453907e+02] [-6.65696272e-03 -8.75793599e-05 -9.99977838e-01 -1.80419097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.066559995 meters 0.01369753143177088 Centerline is valid? [True, True] Translation: X:75.72, Y:-145.43, Z:-1.80 [[-8.98187050e-01 4.39561296e-01 6.77427131e-03 7.57227587e+01] [ 4.39547962e-01 8.98212590e-01 -3.42519236e-03 -1.45432500e+02] [-7.59031777e-03 -9.88462676e-05 -9.99971188e-01 -1.80298421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.09655999499995 meters 0.013704445773032913 Centerline is valid? [True, True] Translation: X:75.73, Y:-145.41, Z:-1.80 [[-9.27062545e-01 3.74828337e-01 7.66520312e-03 7.57336765e+01] [ 3.74814557e-01 9.27094227e-01 -3.21593298e-03 -1.45407188e+02] [-8.31178837e-03 -1.08341302e-04 -9.99965451e-01 -1.80263102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.126559995 meters 0.013468752847566266 Centerline is valid? [True, True] Translation: X:75.75, Y:-145.38, Z:-1.80 [[-9.51209485e-01 3.08432568e-01 8.35864317e-03 7.57456354e+01] [ 3.08419615e-01 9.51246203e-01 -2.82893740e-03 -1.45382526e+02] [-8.82366400e-03 -1.12942581e-04 -9.99961064e-01 -1.80249345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.15655999499995 meters 0.013468752847566266 Centerline is valid? [True, True] Translation: X:75.75, Y:-145.36, Z:-1.80 [[-9.70687629e-01 2.40192892e-01 8.53819460e-03 7.57539318e+01] [ 2.40182576e-01 9.70725173e-01 -2.22900392e-03 -1.45356083e+02] [-8.82363133e-03 -1.12940957e-04 -9.99961065e-01 -1.80249380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.186559995 meters 0.013389391118089074 Centerline is valid? [True, True] Translation: X:75.76, Y:-145.33, Z:-1.80 [[-9.85275914e-01 1.70723920e-01 9.20413994e-03 7.57596115e+01] [ 1.70715332e-01 9.85318897e-01 -1.71654402e-03 -1.45329020e+02] [-9.36206814e-03 -1.19981670e-04 -9.99956168e-01 -1.80251640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.21655999499995 meters 0.0134822021382687 Centerline is valid? [True, True] Translation: X:75.76, Y:-145.30, Z:-1.80 [[-9.94854880e-01 1.00875224e-01 9.37852425e-03 7.57629784e+01] [ 1.00869638e-01 9.94899078e-01 -1.06790164e-03 -1.45300976e+02] [-9.43840995e-03 -1.16398815e-04 -9.99955450e-01 -1.80244347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.246559995 meters 0.013282731445906007 Centerline is valid? [True, True] Translation: X:75.76, Y:-145.27, Z:-1.80 [[-9.99509103e-01 3.00407236e-02 8.89421435e-03 7.57638595e+01] [ 3.00385652e-02 9.99548670e-01 -3.76197716e-04 -1.45273434e+02] [-8.90150138e-03 -1.08843604e-04 -9.99960375e-01 -1.80329055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.27655999499996 meters 0.01356148576840777 Centerline is valid? [True, True] Translation: X:75.75, Y:-145.24, Z:-1.80 [[-9.99118273e-01 -4.10665138e-02 8.73031565e-03 7.57548446e+01] [-4.10658797e-02 9.99156409e-01 2.51959422e-04 -1.45244625e+02] [-8.73329793e-03 -1.06780830e-04 -9.99961858e-01 -1.80316983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.306559995 meters 0.013167131672395757 Centerline is valid? [True, True] Translation: X:75.74, Y:-144.54, Z:-2.79 [[-9.98702555e-01 -5.02414501e-02 8.30683205e-03 7.57379246e+01] [ 5.02403289e-02 -9.98737098e-01 -3.43732202e-04 -1.44537747e+02] [ 8.31361094e-03 7.40517454e-05 9.99965439e-01 -2.78616438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.33655999499996 meters 0.013136115546163993 Centerline is valid? [True, True] Translation: X:75.67, Y:-145.25, Z:-1.81 [[-9.98901832e-01 -4.61505432e-02 8.07825158e-03 7.56695112e+01] [-4.61497839e-02 9.98934492e-01 2.80470324e-04 -1.45248225e+02] [-8.08258799e-03 -9.26472441e-05 -9.99967331e-01 -1.80500828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.366559995 meters 0.013197149925355594 Centerline is valid? [True, True] Translation: X:75.65, Y:-144.54, Z:-2.79 [[-9.99042845e-01 -4.30271610e-02 7.87761694e-03 7.56506466e+01] [ 4.30264327e-02 -9.99073900e-01 -2.61978893e-04 -1.44539545e+02] [ 7.88159368e-03 7.72176165e-05 9.99968937e-01 -2.78504230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.39655999499996 meters 0.013027979520479281 Centerline is valid? [True, True] Translation: X:75.58, Y:-145.25, Z:-1.81 [[-9.98669354e-01 -5.09962261e-02 7.67508811e-03 7.55835178e+01] [-5.09953427e-02 9.98698843e-01 3.10882589e-04 -1.45251393e+02] [-7.68095545e-03 -8.09248341e-05 -9.99970498e-01 -1.80600645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.426559995 meters 0.012878747865516032 Centerline is valid? [True, True] Translation: X:75.58, Y:-145.22, Z:-1.81 [[-9.92601994e-01 -1.21156796e-01 7.89382681e-03 7.55779255e+01] [-1.21153581e-01 9.92633379e-01 8.86031280e-04 -1.45223710e+02] [-7.94302469e-03 -7.68889698e-05 -9.99968451e-01 -1.80571055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.45655999499996 meters 0.012823696427303258 Centerline is valid? [True, True] Translation: X:75.50, Y:-144.52, Z:-2.79 [[-9.99351115e-01 3.50265110e-02 8.39601309e-03 7.55000106e+01] [-3.50243323e-02 -9.99386377e-01 4.06429680e-04 -1.44518713e+02] [ 8.40509692e-03 1.12101201e-04 9.99964670e-01 -2.78500960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.486559995 meters 0.01274564424321442 Centerline is valid? [True, True] Translation: X:75.48, Y:-145.23, Z:-1.81 [[-9.91904154e-01 -1.26728439e-01 8.12721586e-03 7.54770497e+01] [-1.26724794e-01 9.91937446e-01 9.63940264e-04 -1.45233992e+02] [-8.18384839e-03 -7.37834072e-05 -9.99966509e-01 -1.80573536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.51655999499997 meters 0.012813694635595488 Centerline is valid? [True, True] Translation: X:75.46, Y:-145.21, Z:-1.81 [[-9.80346945e-01 -1.97128187e-01 7.76817963e-03 7.54631148e+01] [-1.97122566e-01 9.80377720e-01 1.49028737e-03 -1.45207601e+02] [-7.90952787e-03 -7.02848325e-05 -9.99968717e-01 -1.80582172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.54655999499994 meters 0.012813694635595488 Centerline is valid? [True, True] Translation: X:75.31, Y:-144.52, Z:-2.78 [[-9.93559147e-01 1.13044173e-01 7.82533932e-03 7.53120773e+01] [-1.13040125e-01 -9.93589961e-01 9.59080043e-04 -1.44515384e+02] [ 7.88359700e-03 6.83254143e-05 9.99968922e-01 -2.78478959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.57655999499997 meters 0.012969569764066954 Centerline is valid? [True, True] Translation: X:75.33, Y:-145.23, Z:-1.81 [[-9.78830760e-01 -2.04507632e-01 8.18362930e-03 7.53307333e+01] [-2.04501177e-01 9.78864966e-01 1.62694473e-03 -1.45230733e+02] [-8.34339063e-03 -8.10582750e-05 -9.99965190e-01 -1.80619473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.60655999499994 meters 0.01286447720921982 Centerline is valid? [True, True] Translation: X:75.31, Y:-145.21, Z:-1.81 [[-9.61595808e-01 -2.74335814e-01 8.56519029e-03 7.53052973e+01] [-2.74325719e-01 9.61633950e-01 2.35506298e-03 -1.45208162e+02] [-8.88265589e-03 -8.50332874e-05 -9.99960545e-01 -1.80649280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.63655999499997 meters 0.013084525005676624 Centerline is valid? [True, True] Translation: X:75.26, Y:-145.19, Z:-1.81 [[-9.39167983e-01 -3.43354740e-01 8.42744816e-03 7.52576168e+01] [-3.43341726e-01 9.39205790e-01 2.99057545e-03 -1.45192747e+02] [-8.94193636e-03 -8.48418893e-05 -9.99960017e-01 -1.80552351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.66655999499994 meters 0.01286906924675679 Centerline is valid? [True, True] Translation: X:75.20, Y:-145.19, Z:-1.81 [[-9.11509661e-01 -4.11197804e-01 8.15498682e-03 7.51996580e+01] [-4.11182141e-01 9.11546137e-01 3.58982096e-03 -1.45185405e+02] [-8.90977322e-03 -8.10284543e-05 -9.99960304e-01 -1.80581933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.696559995 meters 0.01297710606016973 Centerline is valid? [True, True] Translation: X:75.13, Y:-145.19, Z:-1.81 [[-8.78550345e-01 -4.77586379e-01 7.78082771e-03 7.51276818e+01] [-4.77568451e-01 8.78584796e-01 4.13887830e-03 -1.45188703e+02] [-8.81278883e-03 -7.96648767e-05 -9.99961163e-01 -1.80538468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.72655999499995 meters 0.012930848467109337 Centerline is valid? [True, True] Translation: X:75.05, Y:-145.20, Z:-1.81 [[-8.40529852e-01 -5.41713263e-01 7.50394521e-03 7.50466610e+01] [-5.41692530e-01 8.40563343e-01 4.74008660e-03 -1.45203530e+02] [-8.87530906e-03 -8.06467788e-05 -9.99960610e-01 -1.80575453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.756559995 meters 0.013071260368549721 Centerline is valid? [True, True] Translation: X:74.97, Y:-145.22, Z:-1.81 [[-7.97245968e-01 -6.03613698e-01 7.02643333e-03 7.49675446e+01] [-6.03591169e-01 7.97276926e-01 5.21571112e-03 -1.45223463e+02] [-8.75028784e-03 -8.28884399e-05 -9.99961712e-01 -1.80614780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.78655999499995 meters 0.013171031367273487 Centerline is valid? [True, True] Translation: X:74.88, Y:-145.26, Z:-1.81 [[-7.49083567e-01 -6.62442370e-01 6.62691356e-03 7.48809357e+01] [-6.62417493e-01 7.49112874e-01 5.74164479e-03 -1.45256785e+02] [-8.76781504e-03 -8.88117084e-05 -9.99961558e-01 -1.80647168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.816559995 meters 0.01331767401905296 Centerline is valid? [True, True] Translation: X:74.79, Y:-145.30, Z:-1.81 [[-6.96148912e-01 -7.17868927e-01 6.39507640e-03 7.47943927e+01] [-7.17839958e-01 6.96178277e-01 6.44988302e-03 -1.45298788e+02] [-9.08228387e-03 -1.00562328e-04 -9.99958750e-01 -1.80729905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.84655999499995 meters 0.013452646957008254 Centerline is valid? [True, True] Translation: X:74.71, Y:-145.35, Z:-1.81 [[-6.39112069e-01 -7.69090607e-01 5.94991014e-03 7.47058879e+01] [-7.69058847e-01 6.39139755e-01 6.99017922e-03 -1.45352556e+02] [-9.17890529e-03 -1.08323129e-04 -9.99957867e-01 -1.80708251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.876559995 meters 0.013659343399081321 Centerline is valid? [True, True] Translation: X:74.62, Y:-145.41, Z:-1.81 [[-5.76898075e-01 -8.16796586e-01 5.65230027e-03 7.46204265e+01] [-8.16759669e-01 5.76925748e-01 7.76684519e-03 -1.45414077e+02] [-9.60489019e-03 -1.35892857e-04 -9.99953863e-01 -1.80775685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.90655999499995 meters 0.013984670320342802 Centerline is valid? [True, True] Translation: X:74.54, Y:-145.49, Z:-1.81 [[-5.11660922e-01 -8.59171586e-01 5.22365406e-03 7.45370358e+01] [-8.59129876e-01 5.11687562e-01 8.46723735e-03 -1.45486015e+02] [-9.94768856e-03 -1.55442797e-04 -9.99950508e-01 -1.80774396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.936559995 meters 0.014445801292178923 Centerline is valid? [True, True] Translation: X:74.46, Y:-145.57, Z:-1.81 [[-4.43382704e-01 -8.96320153e-01 4.68637133e-03 7.44579900e+01] [-8.96274132e-01 4.43407436e-01 9.08435862e-03 -1.45567008e+02] [-1.02204656e-02 -1.72425912e-04 -9.99947755e-01 -1.80759227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.96655999499995 meters 0.014821338597887517 Centerline is valid? [True, True] Translation: X:74.39, Y:-145.65, Z:-1.81 [[-3.72165841e-01 -9.28157770e-01 3.96749506e-03 7.43855835e+01] [-9.28110263e-01 3.72186941e-01 9.39253894e-03 -1.45653398e+02] [-1.01944079e-02 -1.86690730e-04 -9.99948018e-01 -1.80724576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.996559995 meters 0.015745451034206572 Centerline is valid? [True, True] Translation: X:74.32, Y:-145.75, Z:-1.81 [[-2.97282412e-01 -9.54783332e-01 3.45788783e-03 7.43169831e+01] [-9.54727472e-01 2.97302432e-01 1.03304584e-02 -1.45751182e+02] [-1.08913879e-02 -2.30276925e-04 -9.99940661e-01 -1.80721372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.02655999499996 meters 0.016302451891714052 Centerline is valid? [True, True] Translation: X:74.26, Y:-145.85, Z:-1.81 [[-2.22424838e-01 -9.74946240e-01 2.64964799e-03 7.42590540e+01] [-9.74889268e-01 2.22440492e-01 1.05424218e-02 -1.45846104e+02] [-1.08676835e-02 -2.38216923e-04 -9.99940917e-01 -1.80681744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.056559995 meters 0.016869831891921646 Centerline is valid? [True, True] Translation: X:74.21, Y:-145.95, Z:-1.81 [[-1.45921110e-01 -9.89294548e-01 1.82402403e-03 7.42071170e+01] [-9.89237078e-01 1.45932299e-01 1.06661785e-02 -1.45953293e+02] [-1.08181763e-02 -2.47971599e-04 -9.99941451e-01 -1.80677709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.08655999499996 meters 0.01592002826084826 Centerline is valid? [True, True] Translation: X:74.17, Y:-146.07, Z:-1.81 [[-6.89676158e-02 -9.97618412e-01 9.86060682e-04 7.41658922e+01] [-9.97561742e-01 6.89742111e-02 1.06362515e-02 -1.46065791e+02] [-1.06789331e-02 -2.50099501e-04 -9.99942947e-01 -1.80792001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.116559995 meters 0.017515487790644532 Centerline is valid? [True, True] Translation: X:74.13, Y:-146.18, Z:-1.81 [[ 8.25829777e-03 -9.99965887e-01 1.60810404e-04 7.41293884e+01] [-9.99912200e-01 -8.25618757e-03 1.03647608e-02 -1.46177336e+02] [-1.03630796e-02 -2.46391566e-04 -9.99946272e-01 -1.80750459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.14655999499996 meters 0.017724673732162213 Centerline is valid? [True, True] Translation: X:74.10, Y:-146.30, Z:-1.81 [[ 8.53745822e-02 -9.96348733e-01 -6.19067501e-04 7.41041334e+01] [-9.96297900e-01 -8.53764816e-02 1.00673538e-02 -1.46296532e+02] [-1.00834490e-02 -2.42720475e-04 -9.99949131e-01 -1.80792107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.176559995 meters 0.015511867308763628 Centerline is valid? [True, True] Translation: X:74.09, Y:-146.41, Z:-1.81 [[ 1.61676069e-01 -9.86843012e-01 -1.31065125e-03 7.40919056e+01] [-9.86798201e-01 -1.61681221e-01 9.40709869e-03 -1.46411955e+02] [-9.49523730e-03 -2.27554439e-04 -9.99954893e-01 -1.81006347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.20655999499996 meters 0.01582221535613195 Centerline is valid? [True, True] Translation: X:74.09, Y:-146.54, Z:-1.81 [[ 2.36425310e-01 -9.71647846e-01 -1.88068142e-03 7.40854919e+01] [-9.71609819e-01 -2.36432700e-01 8.59871683e-03 -1.46535301e+02] [-8.79957927e-03 -2.05665751e-04 -9.99961262e-01 -1.81056528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.236559995 meters 0.015616159449641618 Centerline is valid? [True, True] Translation: X:74.09, Y:-146.65, Z:-1.81 [[ 3.09758398e-01 -9.50812117e-01 -2.46043271e-03 7.40865703e+01] [-9.50776997e-01 -3.09768110e-01 8.17434317e-03 -1.46647144e+02] [-8.53442812e-03 -1.92748624e-04 -9.99963563e-01 -1.81084630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.26655999499997 meters 0.017425122606371347 Centerline is valid? [True, True] Translation: X:74.09, Y:-146.77, Z:-1.81 [[ 3.81080716e-01 -9.24536567e-01 -3.10217508e-03 7.40949361e+01] [-9.24501850e-01 -3.81093297e-01 8.01424940e-03 -1.46767114e+02] [-8.59168476e-03 -1.86109304e-04 -9.99963073e-01 -1.80917964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.29655999499994 meters 0.014821171310733443 Centerline is valid? [True, True] Translation: X:74.12, Y:-146.88, Z:-1.81 [[ 4.49433556e-01 -8.93306002e-01 -3.72363323e-03 7.41186724e+01] [-8.93272112e-01 -4.49448948e-01 7.78312137e-03 -1.46879620e+02] [-8.62629207e-03 -1.71778192e-04 -9.99962778e-01 -1.81056125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.32655999499997 meters 0.014111815419955976 Centerline is valid? [True, True] Translation: X:74.15, Y:-146.99, Z:-1.81 [[ 5.13238323e-01 -8.58232664e-01 -4.80817763e-03 7.41473797e+01] [-8.58192159e-01 -5.13260821e-01 8.33955997e-03 -1.46989943e+02] [-9.62513197e-03 -1.53841432e-04 -9.99953666e-01 -1.80988125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.35655999499994 meters 0.013784523344753111 Centerline is valid? [True, True] Translation: X:74.18, Y:-147.10, Z:-1.81 [[ 5.75582669e-01 -8.17722952e-01 -5.81069865e-03 7.41818764e+01] [-8.17678800e-01 -5.75611982e-01 8.49858372e-03 -1.47095119e+02] [-1.02941947e-02 -1.40352398e-04 -9.99947004e-01 -1.80905900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.38655999499997 meters 0.012972364887345243 Centerline is valid? [True, True] Translation: X:74.22, Y:-147.20, Z:-1.81 [[ 6.34305627e-01 -7.73053045e-01 -6.73507249e-03 7.42245365e+01] [-7.73007501e-01 -6.34341372e-01 8.39207929e-03 -1.47195154e+02] [-1.07598576e-02 -1.16881564e-04 -9.99942104e-01 -1.80911957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.41655999499994 meters 0.012665127323135336 Centerline is valid? [True, True] Translation: X:74.27, Y:-147.29, Z:-1.81 [[ 6.89154925e-01 -7.24573643e-01 -7.65021734e-03 7.42735540e+01] [-7.24527619e-01 -6.89197380e-01 8.16706004e-03 -1.47291383e+02] [-1.11901462e-02 -8.55758864e-05 -9.99937385e-01 -1.80884429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.446559995 meters 0.012282795528622468 Centerline is valid? [True, True] Translation: X:74.33, Y:-147.38, Z:-1.81 [[ 7.37921412e-01 -6.74833460e-01 -8.47297327e-03 7.43289090e+01] [-6.74788792e-01 -7.37970054e-01 7.76432349e-03 -1.47378839e+02] [-1.14924258e-02 -1.19931485e-05 -9.99933960e-01 -1.80966033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.47655999499995 meters 0.012421885431353207 Centerline is valid? [True, True] Translation: X:74.33, Y:-147.38, Z:-1.81 [[ 7.86404455e-01 -6.17640889e-01 -9.36828389e-03 7.43256105e+01] [-6.17597456e-01 -7.86460254e-01 7.32465801e-03 -1.47384920e+02] [-1.18917912e-02 2.56846069e-05 -9.99929290e-01 -1.80954848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.506559995 meters 0.012620092955914106 Centerline is valid? [True, True] Translation: X:74.32, Y:-147.39, Z:-1.81 [[ 8.30495001e-01 -5.56938262e-01 -9.89069337e-03 7.43238601e+01] [-5.56899676e-01 -8.30553892e-01 6.55617947e-03 -1.47389571e+02] [-1.18661411e-02 6.32496561e-05 -9.99929593e-01 -1.80971628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.53655999499995 meters 0.013414321475999158 Centerline is valid? [True, True] Translation: X:74.32, Y:-147.40, Z:-1.81 [[ 8.68509009e-01 -4.95567676e-01 -1.02362193e-02 7.43228690e+01] [-4.95535055e-01 -8.68569319e-01 5.68750673e-03 -1.47395633e+02] [-1.17094105e-02 1.32754674e-04 -9.99931434e-01 -1.80975927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.566559995 meters 0.01380102236713672 Centerline is valid? [True, True] Translation: X:74.32, Y:-147.40, Z:-1.81 [[ 9.03600685e-01 -4.28243776e-01 -1.06334566e-02 7.43218388e+01] [-4.28216200e-01 -9.03663235e-01 4.86243533e-03 -1.47402824e+02] [-1.16913714e-02 1.59718472e-04 -9.99931641e-01 -1.80946853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.59655999499995 meters 0.014121179230115381 Centerline is valid? [True, True] Translation: X:74.32, Y:-147.41, Z:-1.81 [[ 9.33632725e-01 -3.58060794e-01 -1.10635978e-02 7.43209461e+01] [-3.58037972e-01 -9.33698256e-01 4.04679787e-03 -1.47410927e+02] [-1.17790616e-02 1.82965187e-04 -9.99930608e-01 -1.80960064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.626559995 meters 0.014267576067213133 Centerline is valid? [True, True] Translation: X:74.32, Y:-147.42, Z:-1.81 [[ 9.58354490e-01 -2.85354240e-01 -1.13854873e-02 7.43200944e+01] [-2.85336588e-01 -9.58422098e-01 3.18032266e-03 -1.47419773e+02] [-1.18196212e-02 2.00819596e-04 -9.99930126e-01 -1.81010734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.65655999499995 meters 0.014847297807139006 Centerline is valid? [True, True] Translation: X:74.32, Y:-147.43, Z:-1.81 [[ 9.77525483e-01 -2.10516818e-01 -1.12516746e-02 7.43194231e+01] [-2.10505293e-01 -9.77590214e-01 2.21232806e-03 -1.47426884e+02] [-1.14652592e-02 2.05930010e-04 -9.99934251e-01 -1.81038390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.686559995 meters 0.014716334409766623 Centerline is valid? [True, True] Translation: X:74.32, Y:-147.44, Z:-1.81 [[ 9.91006503e-01 -1.33312489e-01 -1.15711824e-02 7.43166295e+01] [-1.33305863e-01 -9.91074032e-01 1.34549979e-03 -1.47435095e+02] [-1.16472703e-02 2.09107407e-04 -9.99932146e-01 -1.81099741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.71655999499995 meters 0.014661043106375834 Centerline is valid? [True, True] Translation: X:74.31, Y:-147.44, Z:-1.81 [[ 9.98479502e-01 -5.37552277e-02 -1.22089708e-02 7.43134290e+01] [-5.37536597e-02 -9.98554122e-01 4.56782427e-04 -1.47443768e+02] [-1.22158725e-02 2.00188970e-04 -9.99925363e-01 -1.81094378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.746559995 meters 0.014417550496816733 Centerline is valid? [True, True] Translation: X:74.31, Y:-147.45, Z:-1.81 [[ 9.99597530e-01 2.54569434e-02 -1.25188704e-02 7.43124934e+01] [ 2.54525158e-02 -9.99675901e-01 -5.12895708e-04 -1.47452050e+02] [-1.25278698e-02 1.94052535e-04 -9.99921504e-01 -1.81044555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.77655999499996 meters 0.014207446283892347 Centerline is valid? [True, True] Translation: X:74.31, Y:-147.46, Z:-1.81 [[ 9.94385665e-01 1.05030534e-01 -1.28738536e-02 7.43104196e+01] [ 1.05019356e-01 -9.94468981e-01 -1.54308570e-03 -1.47459837e+02] [-1.29647192e-02 1.82418478e-04 -9.99915938e-01 -1.80988254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.806559995 meters 0.012928843568708449 Centerline is valid? [True, True] Translation: X:74.31, Y:-147.48, Z:-1.81 [[ 9.82298003e-01 1.86885269e-01 -1.28269067e-02 7.43119962e+01] [ 1.86867654e-01 -9.82381738e-01 -2.56902811e-03 -1.47475605e+02] [-1.30810324e-02 1.26617233e-04 -9.99914432e-01 -1.81062481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.83655999499996 meters 0.012779281427883465 Centerline is valid? [True, True] Translation: X:74.31, Y:-147.49, Z:-1.81 [[ 9.64058451e-01 2.65407170e-01 -1.22611848e-02 7.43127865e+01] [ 2.65384463e-01 -9.64136414e-01 -3.47295259e-03 -1.47486612e+02] [-1.27432012e-02 9.42013543e-05 -9.99918798e-01 -1.81039432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.866559995 meters 0.012538763708137723 Centerline is valid? [True, True] Translation: X:74.31, Y:-147.50, Z:-1.81 [[ 9.39399864e-01 3.42619029e-01 -1.18362568e-02 7.43141298e+01] [ 3.42591038e-01 -9.39474426e-01 -4.37986038e-03 -1.47496234e+02] [-1.26204840e-02 5.94447531e-05 -9.99920357e-01 -1.81046903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.89655999499996 meters 0.012434858160954578 Centerline is valid? [True, True] Translation: X:74.32, Y:-147.50, Z:-1.81 [[ 9.08739638e-01 4.17219666e-01 -1.09554194e-02 7.43155322e+01] [ 4.17188963e-01 -9.08805672e-01 -5.06154860e-03 -1.47504858e+02] [-1.20681249e-02 2.91497809e-05 -9.99927177e-01 -1.81010621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.926559995 meters 0.012350571233605721 Centerline is valid? [True, True] Translation: X:74.32, Y:-147.51, Z:-1.81 [[ 8.72025439e-01 4.89346425e-01 -1.05693175e-02 7.43187339e+01] [ 4.89310513e-01 -8.72089489e-01 -5.92837376e-03 -1.47512133e+02] [-1.21184192e-02 -1.98543899e-06 -9.99926569e-01 -1.81052170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.95655999499996 meters 0.01237836089894442 Centerline is valid? [True, True] Translation: X:74.32, Y:-147.52, Z:-1.81 [[ 8.29635373e-01 5.58224559e-01 -9.51261255e-03 7.43222238e+01] [ 5.58188295e-01 -8.29689907e-01 -6.36284172e-03 -1.47518798e+02] [-1.14444131e-02 -3.09904165e-05 -9.99934510e-01 -1.81029932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.986559995 meters 0.012608744352813787 Centerline is valid? [True, True] Translation: X:74.33, Y:-147.53, Z:-1.81 [[ 7.79899102e-01 6.25850532e-01 -8.27657989e-03 7.43311200e+01] [ 6.25816481e-01 -7.79943013e-01 -6.52897492e-03 -1.47529888e+02] [-1.05414231e-02 -8.76784227e-05 -9.99944434e-01 -1.81166912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.01655999499997 meters 0.013066413114990667 Centerline is valid? [True, True] Translation: X:74.34, Y:-147.54, Z:-1.81 [[ 7.26336825e-01 6.87295617e-01 -7.71703899e-03 7.43372462e+01] [ 6.87258583e-01 -7.26377809e-01 -7.13572263e-03 -1.47538108e+02] [-1.05098368e-02 -1.20663172e-04 -9.99944763e-01 -1.81151587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.04655999499994 meters 0.013722297735489575 Centerline is valid? [True, True] Translation: X:74.34, Y:-147.54, Z:-1.81 [[ 6.68138733e-01 7.43998070e-01 -7.58324296e-03 7.43446365e+01] [ 7.43952868e-01 -6.68181747e-01 -8.20266421e-03 -1.47544072e+02] [-1.11697509e-02 -1.61057669e-04 -9.99937603e-01 -1.81088309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.07655999499997 meters 0.013722297735489575 Centerline is valid? [True, True] Translation: X:74.35, Y:-147.55, Z:-1.81 [[ 6.07851709e-01 7.94020430e-01 -6.91784377e-03 7.43497103e+01] [ 7.93972000e-01 -6.07891052e-01 -8.77108574e-03 -1.47548269e+02] [-1.11697166e-02 -1.61054801e-04 -9.99937604e-01 -1.81088339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.10655999499994 meters 0.015060520235830974 Centerline is valid? [True, True] Translation: X:74.36, Y:-147.55, Z:-1.81 [[ 5.39221116e-01 8.42136584e-01 -6.82354293e-03 7.43593500e+01] [ 8.42074803e-01 -5.39264234e-01 -1.02035741e-02 -1.47554336e+02] [-1.22724957e-02 -2.43950923e-04 -9.99924660e-01 -1.80952789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.13655999499997 meters 0.015815709095974698 Centerline is valid? [True, True] Translation: X:74.37, Y:-147.56, Z:-1.81 [[ 4.69410918e-01 8.82959668e-01 -5.96786683e-03 7.43670763e+01] [ 8.82895578e-01 -4.69448773e-01 -1.06418201e-02 -1.47558012e+02] [-1.21979057e-02 -2.73616701e-04 -9.99925565e-01 -1.80949963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.16655999499994 meters 0.016340886783469042 Centerline is valid? [True, True] Translation: X:74.38, Y:-147.56, Z:-1.81 [[ 3.96821403e-01 9.17881279e-01 -5.17030656e-03 7.43752944e+01] [ 9.17813085e-01 -3.96854968e-01 -1.11926739e-02 -1.47560670e+02] [-1.23254077e-02 -3.03882448e-04 -9.99923993e-01 -1.81005214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.196559995 meters 0.01831363259021631 Centerline is valid? [True, True] Translation: X:74.39, Y:-147.57, Z:-1.81 [[ 3.20836557e-01 9.47126222e-01 -3.97793680e-03 7.43850139e+01] [ 9.47065234e-01 -3.20861059e-01 -1.07528724e-02 -1.47565175e+02] [-1.14606924e-02 -3.17451081e-04 -9.99934274e-01 -1.80949401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.22655999499995 meters 0.018337937709240925 Centerline is valid? [True, True] Translation: X:74.39, Y:-147.57, Z:-1.81 [[ 2.44933399e-01 9.69534817e-01 -3.14156530e-03 7.43900119e+01] [ 9.69471392e-01 -2.44953325e-01 -1.10945211e-02 -1.47565662e+02] [-1.15260614e-02 -3.28238921e-04 -9.99933519e-01 -1.80940349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.256559995 meters 0.01898681191633148 Centerline is valid? [True, True] Translation: X:74.39, Y:-147.57, Z:-1.81 [[ 1.67635306e-01 9.85846357e-01 -2.31601736e-03 7.43947741e+01] [ 9.85778488e-01 -1.67650953e-01 -1.15728042e-02 -1.47566572e+02] [-1.17972894e-02 -3.43069519e-04 -9.99930351e-01 -1.80858166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.28655999499995 meters 0.01900171440279243 Centerline is valid? [True, True] Translation: X:74.40, Y:-147.57, Z:-1.81 [[ 8.95975010e-02 9.95977029e-01 -1.43014348e-03 7.43984277e+01] [ 9.95905397e-01 -8.96082166e-02 -1.19502335e-02 -1.47566292e+02] [-1.20303106e-02 -3.53576556e-04 -9.99927571e-01 -1.80826420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.316559995 meters 0.018680488916812146 Centerline is valid? [True, True] Translation: X:74.40, Y:-147.57, Z:-1.81 [[ 1.11379390e-02 9.99937853e-01 -4.85825137e-04 7.44019550e+01] [ 9.99866591e-01 -1.11429478e-02 -1.19429679e-02 -1.47565858e+02] [-1.19476392e-02 -3.52740276e-04 -9.99928562e-01 -1.80820873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.34655999499995 meters 0.018734229540639143 Centerline is valid? [True, True] Translation: X:74.40, Y:-147.57, Z:-1.81 [[-6.65426319e-02 9.97783481e-01 4.51761057e-04 7.44042207e+01] [ 9.97711730e-01 6.65432668e-02 -1.19706680e-02 -1.47566414e+02] [-1.19741965e-02 -3.45832452e-04 -9.99928247e-01 -1.80814905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.376559995 meters 0.017587071399997663 Centerline is valid? [True, True] Translation: X:74.41, Y:-147.57, Z:-1.81 [[-1.44050285e-01 9.89569394e-01 1.38896392e-03 7.44085273e+01] [ 9.89497815e-01 1.44056578e-01 -1.19069528e-02 -1.47565606e+02] [-1.19828455e-02 -3.40823192e-04 -9.99928145e-01 -1.80876752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.40655999499995 meters 0.018090605931223906 Centerline is valid? [True, True] Translation: X:74.41, Y:-147.57, Z:-1.81 [[-2.20221034e-01 9.75447354e-01 2.27084799e-03 7.44142182e+01] [ 9.75379333e-01 2.20232505e-01 -1.15239476e-02 -1.47565888e+02] [-1.17411187e-02 -3.22877451e-04 -9.99931019e-01 -1.80834359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.436559995 meters 0.01692757966943714 Centerline is valid? [True, True] Translation: X:74.42, Y:-147.57, Z:-1.81 [[-2.94186251e-01 9.55742971e-01 3.13413644e-03 7.44162223e+01] [ 9.55677453e-01 2.94202795e-01 -1.11946851e-02 -1.47565503e+02] [-1.16213133e-02 -2.98098918e-04 -9.99932426e-01 -1.80879666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.46655999499995 meters 0.015981188084091876 Centerline is valid? [True, True] Translation: X:74.42, Y:-147.56, Z:-1.81 [[-3.67146690e-01 9.30154498e-01 3.98973175e-03 7.44214255e+01] [ 9.30090874e-01 3.67168257e-01 -1.08828611e-02 -1.47563609e+02] [-1.15876450e-02 -2.84793330e-04 -9.99932820e-01 -1.80944569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.496559995 meters 0.015941389803616954 Centerline is valid? [True, True] Translation: X:74.43, Y:-147.56, Z:-1.81 [[-4.38369424e-01 8.98782408e-01 4.73623446e-03 7.44258364e+01] [ 8.98723052e-01 4.38394924e-01 -1.03327649e-02 -1.47562037e+02] [-1.13632484e-02 -2.73005093e-04 -9.99935399e-01 -1.80957347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.52655999499996 meters 0.015906874333582142 Centerline is valid? [True, True] Translation: X:74.43, Y:-147.56, Z:-1.81 [[-5.07226327e-01 8.61795439e-01 5.48405938e-03 7.44317327e+01] [ 8.61739244e-01 5.07255902e-01 -9.84506935e-03 -1.47559405e+02] [-1.12662573e-02 -2.67849179e-04 -9.99936498e-01 -1.80961100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.556559995 meters 0.015680824687728023 Centerline is valid? [True, True] Translation: X:74.44, Y:-147.56, Z:-1.81 [[-5.73297787e-01 8.19322689e-01 6.32292231e-03 7.44379549e+01] [ 8.19267509e-01 5.73332589e-01 -9.51271723e-03 -1.47555745e+02] [-1.14191225e-02 -2.73454928e-04 -9.99934762e-01 -1.80986869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.58655999499996 meters 0.01658405151555891 Centerline is valid? [True, True] Translation: X:74.45, Y:-147.55, Z:-1.81 [[-6.36472856e-01 7.71269583e-01 6.74783681e-03 7.44451978e+01] [ 7.71221625e-01 6.36508566e-01 -8.60526831e-03 -1.47551973e+02] [-1.09320376e-02 -2.72942031e-04 -9.99940206e-01 -1.80987075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.616559995 meters 0.017369224094741755 Centerline is valid? [True, True] Translation: X:74.45, Y:-147.55, Z:-1.81 [[-6.95520598e-01 7.18469741e-01 7.23392257e-03 7.44508377e+01] [ 7.18426704e-01 6.95558161e-01 -7.86865355e-03 -1.47548909e+02] [-1.06850034e-02 -2.75767470e-04 -9.99942876e-01 -1.80977741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.64655999499996 meters 0.01686101019557356 Centerline is valid? [True, True] Translation: X:74.46, Y:-147.54, Z:-1.81 [[-7.50547322e-01 6.60773455e-01 7.56030124e-03 7.44556129e+01] [ 6.60736128e-01 7.50585347e-01 -7.02896366e-03 -1.47544506e+02] [-1.03192039e-02 -2.80205687e-04 -9.99946716e-01 -1.81041324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.676559995 meters 0.017895318959799063 Centerline is valid? [True, True] Translation: X:74.48, Y:-147.52, Z:-1.81 [[-7.96176323e-01 6.05011650e-01 8.01039040e-03 7.44767170e+01] [ 6.04977292e-01 7.96216565e-01 -6.45430828e-03 -1.47524271e+02] [-1.02829372e-02 -2.92663139e-04 -9.99947086e-01 -1.81008630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.70655999499996 meters 0.018651196363484703 Centerline is valid? [True, True] Translation: X:74.49, Y:-147.50, Z:-1.81 [[-8.38546709e-01 5.44760606e-01 8.67754349e-03 7.44915757e+01] [ 5.44727319e-01 8.38591541e-01 -6.03114911e-03 -1.47500031e+02] [-1.05624470e-02 -3.30505233e-04 -9.99944161e-01 -1.80990294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.736559995 meters 0.01934338395084358 Centerline is valid? [True, True] Translation: X:74.87, Y:-146.96, Z:-2.78 [[-7.60226951e-01 -6.49601841e-01 8.51059382e-03 7.48671814e+01] [ 6.49566374e-01 -7.60274502e-01 -6.79762856e-03 -1.46959641e+02] [ 1.08861395e-02 3.60455131e-04 9.99940679e-01 -2.78106517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.76655999499997 meters 0.020063766997476945 Centerline is valid? [True, True] Translation: X:74.46, Y:-147.47, Z:-1.81 [[-8.41744493e-01 5.39803938e-01 8.82706834e-03 7.44557505e+01] [ 5.39769717e-01 8.41790698e-01 -6.08881503e-03 -1.47474089e+02] [-1.07173103e-02 -3.60642342e-04 -9.99942503e-01 -1.80955410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.79655999499994 meters 0.020019256872914837 Centerline is valid? [True, True] Translation: X:74.47, Y:-147.45, Z:-1.81 [[-8.78380875e-01 4.77878236e-01 8.91229891e-03 7.44709248e+01] [ 4.77849451e-01 8.78426014e-01 -5.25738221e-03 -1.47451519e+02] [-1.03411837e-02 -3.59246844e-04 -9.99946464e-01 -1.81010293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.82655999499997 meters 0.020990275866356323 Centerline is valid? [True, True] Translation: X:74.49, Y:-147.43, Z:-1.81 [[-9.11030681e-01 4.12243603e-01 8.84934458e-03 7.44850670e+01] [ 4.12220205e-01 9.11073585e-01 -4.40749823e-03 -1.47426623e+02] [-9.87936704e-03 -3.67487481e-04 -9.99951130e-01 -1.81101303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.85655999499994 meters 0.02202426075079874 Centerline is valid? [True, True] Translation: X:74.49, Y:-147.40, Z:-1.81 [[-9.38355707e-01 3.45552670e-01 9.05095297e-03 7.44931187e+01] [ 3.45532712e-01 9.38399281e-01 -3.73282531e-03 -1.47398620e+02] [-9.78329552e-03 -3.75317603e-04 -9.99952072e-01 -1.81106893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.88655999499997 meters 0.022334183774389726 Centerline is valid? [True, True] Translation: X:74.50, Y:-147.37, Z:-1.81 [[-9.60770439e-01 2.77201803e-01 8.90637539e-03 7.44951673e+01] [ 2.77186306e-01 9.60811649e-01 -2.95430228e-03 -1.47369591e+02] [-9.37628714e-03 -3.69681010e-04 -9.99955973e-01 -1.81128401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.91655999499994 meters 0.023214369475881756 Centerline is valid? [True, True] Translation: X:74.71, Y:-146.76, Z:-2.78 [[-9.09822327e-01 -4.14914691e-01 8.31462585e-03 7.47050842e+01] [ 4.14900650e-01 -9.09860259e-01 -3.42928062e-03 -1.46756455e+02] [ 8.98800654e-03 3.29707591e-04 9.99959553e-01 -2.77932396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.946559995 meters 0.023450101838388134 Centerline is valid? [True, True] Translation: X:74.46, Y:-147.36, Z:-1.81 [[-9.62063986e-01 2.72690506e-01 8.53085610e-03 7.44557215e+01] [ 2.72676432e-01 9.62101739e-01 -2.79400947e-03 -1.47355899e+02] [-8.96945135e-03 -3.61852482e-04 -9.99959708e-01 -1.81117303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.97655999499995 meters 0.024717386921781367 Centerline is valid? [True, True] Translation: X:74.66, Y:-146.74, Z:-2.78 [[-9.11506786e-01 -4.11206372e-01 8.04356299e-03 7.46614599e+01] [ 4.11193545e-01 -9.11542215e-01 -3.26480087e-03 -1.46744883e+02] [ 8.67455414e-03 3.31573028e-04 9.99962320e-01 -2.78009808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.006559995 meters 0.021962434350922034 Centerline is valid? [True, True] Translation: X:74.41, Y:-147.35, Z:-1.81 [[-9.62580035e-01 2.70888975e-01 7.67071279e-03 7.44125525e+01] [ 2.70877795e-01 9.62610548e-01 -2.48060681e-03 -1.47346424e+02] [-8.05587808e-03 -3.09956827e-04 -9.99967503e-01 -1.81163024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.03655999499995 meters 0.023462392347933878 Centerline is valid? [True, True] Translation: X:74.42, Y:-147.32, Z:-1.81 [[-9.79165202e-01 2.02900165e-01 8.18722143e-03 7.44223473e+01] [ 2.02890337e-01 9.79199378e-01 -2.02228892e-03 -1.47319664e+02] [-8.42724489e-03 -3.19046818e-04 -9.99964439e-01 -1.81167541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.066559995 meters 0.02025199511972996 Centerline is valid? [True, True] Translation: X:74.59, Y:-146.68, Z:-2.78 [[-9.40762851e-01 -3.38968058e-01 8.11870417e-03 7.45894614e+01] [ 3.38958420e-01 -9.40797825e-01 -2.57709530e-03 -1.46684569e+02] [ 8.51161222e-03 3.27467613e-04 9.99963722e-01 -2.77782991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.09655999499995 meters 0.02025199511972996 Centerline is valid? [True, True] Translation: X:74.38, Y:-147.32, Z:-1.81 [[-9.79640502e-01 2.00588370e-01 8.29413801e-03 7.43815436e+01] [ 2.00578485e-01 9.79675563e-01 -2.01546965e-03 -1.47316512e+02] [-8.52984410e-03 -3.10810067e-04 -9.99963572e-01 -1.81291464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.126559995 meters 0.020023958237930257 Centerline is valid? [True, True] Translation: X:74.39, Y:-147.29, Z:-1.81 [[-9.91333788e-01 1.31085558e-01 8.59638094e-03 7.43866234e+01] [ 1.31077889e-01 9.91371010e-01 -1.45205245e-03 -1.47290047e+02] [-8.71254596e-03 -3.12673189e-04 -9.99961996e-01 -1.81254441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.15655999499995 meters 0.020735583036805793 Centerline is valid? [True, True] Translation: X:74.39, Y:-147.26, Z:-1.81 [[-9.98091553e-01 6.10760407e-02 9.10870935e-03 7.43903624e+01] [ 6.10705484e-02 9.98133064e-01 -8.80169902e-04 -1.47261846e+02] [-9.14546126e-03 -3.22216270e-04 -9.99958128e-01 -1.81206627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.186559995 meters 0.02058699908808956 Centerline is valid? [True, True] Translation: X:74.46, Y:-146.60, Z:-2.78 [[-9.80451499e-01 -1.96533457e-01 9.45829602e-03 7.44552207e+01] [ 1.96527885e-01 -9.80497051e-01 -1.52408389e-03 -1.46603535e+02] [ 9.57336483e-03 3.64528586e-04 9.99954108e-01 -2.77943038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.21655999499995 meters 0.02071909500492394 Centerline is valid? [True, True] Translation: X:74.33, Y:-147.26, Z:-1.81 [[-9.98241960e-01 5.83975026e-02 1.01351164e-02 7.43324667e+01] [ 5.83910046e-02 9.98293351e-01 -9.36119830e-04 -1.47256907e+02] [-1.01724864e-02 -3.42674463e-04 -9.99948200e-01 -1.81099238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.246559995 meters 0.018896084693003277 Centerline is valid? [True, True] Translation: X:74.40, Y:-146.60, Z:-2.78 [[-9.81604498e-01 -1.90639755e-01 1.04448142e-02 7.44008832e+01] [ 1.90633078e-01 -9.81659991e-01 -1.64031368e-03 -1.46595568e+02] [ 1.05659652e-02 3.80987796e-04 9.99944106e-01 -2.77907489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.27655999499996 meters 0.018000944506219727 Centerline is valid? [True, True] Translation: X:74.28, Y:-147.26, Z:-1.81 [[-9.98228808e-01 5.85003627e-02 1.08145222e-02 7.42793467e+01] [ 5.84934761e-02 9.98287337e-01 -9.52267876e-04 -1.47258079e+02] [-1.08517086e-02 -3.18002233e-04 -9.99941068e-01 -1.81132048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.306559995 meters 0.017068003404732943 Centerline is valid? [True, True] Translation: X:74.28, Y:-147.23, Z:-1.81 [[-9.99890210e-01 -9.84548142e-03 1.10740444e-02 7.42805738e+01] [-9.84813456e-03 9.99951489e-01 -1.85074973e-04 -1.47232630e+02] [-1.10716850e-02 -2.94113333e-04 -9.99938664e-01 -1.81139343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.33655999499996 meters 0.017240286660038608 Centerline is valid? [True, True] Translation: X:74.28, Y:-147.21, Z:-1.81 [[-9.96899818e-01 -7.78851207e-02 1.11651392e-02 7.42766843e+01] [-7.78831839e-02 9.96962306e-01 6.08826061e-04 -1.47205615e+02] [-1.11786414e-02 -2.62637998e-04 -9.99937483e-01 -1.81063658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.366559995 meters 0.014731413454188108 Centerline is valid? [True, True] Translation: X:74.25, Y:-146.52, Z:-2.78 [[-9.99403630e-01 -3.27411793e-02 1.09726349e-02 7.42465975e+01] [ 3.27418923e-02 -9.99463834e-01 -1.14701928e-04 -1.46523476e+02] [ 1.09705073e-02 2.44631308e-04 9.99939792e-01 -2.77801436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.39655999499996 meters 0.01373967023348086 Centerline is valid? [True, True] Translation: X:74.19, Y:-147.22, Z:-1.81 [[-9.97264248e-01 -7.31636817e-02 1.05402104e-02 7.41879576e+01] [-7.31610294e-02 9.97319937e-01 6.37511315e-04 -1.47219682e+02] [-1.05586047e-02 -1.35365404e-04 -9.99944247e-01 -1.81252066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.426559995 meters 0.012916371161227319 Centerline is valid? [True, True] Translation: X:74.18, Y:-147.20, Z:-1.81 [[-9.90084003e-01 -1.40085512e-01 1.04745479e-02 7.41796305e+01] [-1.40078669e-01 9.90139405e-01 1.38776433e-03 -1.47196362e+02] [-1.05656683e-02 -9.32574615e-05 -9.99944177e-01 -1.81344253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.45655999499996 meters 0.012535250166189612 Centerline is valid? [True, True] Translation: X:74.17, Y:-147.17, Z:-1.81 [[-9.78257911e-01 -2.07108487e-01 1.08412954e-02 7.41669309e+01] [-2.07096390e-01 9.78317981e-01 2.23908834e-03 -1.47173223e+02] [-1.10699684e-02 -5.47872598e-05 -9.99938725e-01 -1.81372892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.486559995 meters 0.012591747854011305 Centerline is valid? [True, True] Translation: X:74.13, Y:-147.16, Z:-1.81 [[-9.62721125e-01 -2.70250853e-01 1.15113505e-02 7.41320652e+01] [-2.70231132e-01 9.62789944e-01 3.26495928e-03 -1.47158080e+02] [-1.19653705e-02 3.25200053e-05 -9.99928412e-01 -1.81180064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.51655999499997 meters 0.01281714110144829 Centerline is valid? [True, True] Translation: X:74.07, Y:-147.15, Z:-1.81 [[-9.41435402e-01 -3.36986702e-01 1.18044912e-02 7.40719979e+01] [-3.36959171e-01 9.41509403e-01 4.30815125e-03 -1.47150429e+02] [-1.25658291e-02 7.82145352e-05 -9.99921044e-01 -1.81189077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.54655999499994 meters 0.013300330263691585 Centerline is valid? [True, True] Translation: X:74.01, Y:-147.15, Z:-1.81 [[-9.15348643e-01 -4.02479010e-01 1.21453064e-02 7.40074169e+01] [-4.02441688e-01 9.15429205e-01 5.48252623e-03 -1.47148708e+02] [-1.33247699e-02 1.30645338e-04 -9.99911213e-01 -1.81136200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.57655999499997 meters 0.014053709808901044 Centerline is valid? [True, True] Translation: X:73.93, Y:-147.16, Z:-1.81 [[-8.84232683e-01 -4.66888349e-01 1.21586211e-02 7.39333794e+01] [-4.66841447e-01 8.84316255e-01 6.62009894e-03 -1.47156684e+02] [-1.38429134e-02 1.77559567e-04 -9.99904167e-01 -1.81103191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.60655999499994 meters 0.014467795014855886 Centerline is valid? [True, True] Translation: X:73.85, Y:-147.17, Z:-1.81 [[-8.48397137e-01 -5.29228672e-01 1.18030035e-02 7.38512770e+01] [-5.29173801e-01 8.48479206e-01 7.62402297e-03 -1.47174170e+02] [-1.40494546e-02 2.22359023e-04 -9.99901277e-01 -1.81146394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.63655999499997 meters 0.015420623230778122 Centerline is valid? [True, True] Translation: X:73.77, Y:-147.20, Z:-1.81 [[-8.08699791e-01 -5.88119667e-01 1.09501468e-02 7.37673028e+01] [-5.88061060e-01 8.08773875e-01 8.30720132e-03 -1.47201507e+02] [-1.37418212e-02 2.78677018e-04 -9.99905538e-01 -1.81270958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.66655999499994 meters 0.015767230760392964 Centerline is valid? [True, True] Translation: X:73.68, Y:-147.24, Z:-1.81 [[-7.63171698e-01 -6.46122889e-01 9.70420769e-03 7.36784279e+01] [-6.46065809e-01 7.63233339e-01 8.59305839e-03 -1.47239158e+02] [-1.29587465e-02 2.88422173e-04 -9.99915990e-01 -1.81359155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.696559995 meters 0.016151065997320774 Centerline is valid? [True, True] Translation: X:73.59, Y:-147.29, Z:-1.81 [[-7.12806578e-01 -7.01307304e-01 8.65146362e-03 7.35875053e+01] [-7.01250630e-01 7.12859019e-01 8.92041419e-03 -1.47288003e+02] [-1.24232255e-02 2.91685599e-04 -9.99922786e-01 -1.81442869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.72655999499995 meters 0.016226343340482022 Centerline is valid? [True, True] Translation: X:73.50, Y:-147.35, Z:-1.82 [[-6.57239928e-01 -7.53637015e-01 8.18087196e-03 7.34966118e+01] [-7.53572900e-01 6.57290773e-01 9.83485442e-03 -1.47345145e+02] [-1.27891220e-02 2.98975601e-04 -9.99918171e-01 -1.81511232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.756559995 meters 0.016226343340482022 Centerline is valid? [True, True] Translation: X:73.41, Y:-147.41, Z:-1.82 [[-5.97785446e-01 -8.01621925e-01 7.40606564e-03 7.34092768e+01] [-8.01554115e-01 5.97831247e-01 1.04307283e-02 -1.47412282e+02] [-1.27890780e-02 2.98975187e-04 -9.99918172e-01 -1.81511438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.78655999499995 meters 0.016163746615340997 Centerline is valid? [True, True] Translation: X:73.32, Y:-147.49, Z:-1.81 [[-5.33526883e-01 -8.45756769e-01 6.67475657e-03 7.33246217e+01] [-8.45683799e-01 5.33568558e-01 1.11133035e-02 -1.47485867e+02] [-1.29605919e-02 2.84512702e-04 -9.99915968e-01 -1.81496956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.816559995 meters 0.015846702233310413 Centerline is valid? [True, True] Translation: X:73.24, Y:-147.57, Z:-1.81 [[-4.65990942e-01 -8.84767530e-01 6.23381254e-03 7.32438553e+01] [-8.84679957e-01 4.66032548e-01 1.24514068e-02 -1.47570153e+02] [-1.39217600e-02 2.87313780e-04 -9.99903046e-01 -1.81450355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.84655999499995 meters 0.015194981932869474 Centerline is valid? [True, True] Translation: X:73.17, Y:-147.66, Z:-1.81 [[-3.93014796e-01 -9.19514854e-01 5.63937398e-03 7.31663881e+01] [-9.19410973e-01 3.93055175e-01 1.38235745e-02 -1.47662461e+02] [-1.49275672e-02 2.47966982e-04 -9.99888547e-01 -1.81376858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.876559995 meters 0.014192650080650713 Centerline is valid? [True, True] Translation: X:73.10, Y:-147.76, Z:-1.81 [[-3.18855293e-01 -9.47792152e-01 4.61927001e-03 7.30965560e+01] [-9.47682809e-01 3.18888680e-01 1.43980259e-02 -1.47761332e+02] [-1.51193689e-02 2.13284013e-04 -9.99885673e-01 -1.81447762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.90655999499995 meters 0.013957242179900919 Centerline is valid? [True, True] Translation: X:73.04, Y:-147.87, Z:-1.81 [[-2.42349570e-01 -9.70182419e-01 3.57219356e-03 7.30352255e+01] [-9.70066173e-01 2.42375833e-01 1.50192099e-02 -1.47867170e+02] [-1.54371868e-02 1.74634923e-04 -9.99880824e-01 -1.81385209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.936559995 meters 0.013566874132937088 Centerline is valid? [True, True] Translation: X:72.98, Y:-147.98, Z:-1.81 [[-1.63836579e-01 -9.86484405e-01 2.46869993e-03 7.29812574e+01] [-9.86360366e-01 1.63855127e-01 1.56437420e-02 -1.47980394e+02] [-1.58368166e-02 1.27989394e-04 -9.99874582e-01 -1.81373692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.96655999499995 meters 0.013566874132937088 Centerline is valid? [True, True] Translation: X:72.94, Y:-148.09, Z:-1.81 [[-8.74185071e-02 -9.96170881e-01 1.25708346e-03 7.29396367e+01] [-9.96045783e-01 8.74274514e-02 1.57873207e-02 -1.48093603e+02] [-1.58367728e-02 1.27991325e-04 -9.99874582e-01 -1.81373909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.996559995 meters 0.012933301023175789 Centerline is valid? [True, True] Translation: X:72.90, Y:-148.21, Z:-1.81 [[-3.69756227e-03 -9.99993163e-01 3.77744467e-05 7.29006120e+01] [-9.99871261e-01 3.69770133e-03 1.56137099e-02 -1.48214402e+02] [-1.56137428e-02 1.99630809e-05 -9.99878098e-01 -1.81398497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.02655999499996 meters 0.012615957365368987 Centerline is valid? [True, True] Translation: X:72.87, Y:-148.33, Z:-1.82 [[ 7.66107523e-02 -9.97060412e-01 -1.15245132e-03 7.28740062e+01] [-9.96941146e-01 -7.66194130e-02 1.54213204e-02 -1.48328878e+02] [-1.54642883e-02 -3.25128209e-05 -9.99880420e-01 -1.81576300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.056559995 meters 0.01282074066301074 Centerline is valid? [True, True] Translation: X:72.86, Y:-148.45, Z:-1.82 [[ 1.56158094e-01 -9.87729462e-01 -2.27139420e-03 7.28574880e+01] [-9.87617562e-01 -1.56174592e-01 1.48676698e-02 -1.48454940e+02] [-1.50399695e-02 -7.84381675e-05 -9.99886890e-01 -1.81633879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.08655999499996 meters 0.013134000376566571 Centerline is valid? [True, True] Translation: X:72.85, Y:-148.57, Z:-1.82 [[ 2.36665035e-01 -9.71586236e-01 -3.13797810e-03 7.28466161e+01] [-9.71492597e-01 -2.36685794e-01 1.34896056e-02 -1.48571751e+02] [-1.38490300e-02 -1.43995502e-04 -9.99904087e-01 -1.81739090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.116559995 meters 0.013909996064558743 Centerline is valid? [True, True] Translation: X:72.85, Y:-148.70, Z:-1.82 [[ 3.14078078e-01 -9.49389161e-01 -3.89642422e-03 7.28471846e+01] [-9.49308711e-01 -3.14102193e-01 1.23605988e-02 -1.48696478e+02] [-1.29588940e-02 -1.83283675e-04 -9.99916013e-01 -1.81733031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.14655999499996 meters 0.013909996064558743 Centerline is valid? [True, True] Translation: X:72.86, Y:-148.81, Z:-1.82 [[ 3.85975992e-01 -9.22496165e-01 -4.83313689e-03 7.28592614e+01] [-9.22417802e-01 -3.86006207e-01 1.20252320e-02 -1.48812523e+02] [-1.29588513e-02 -1.83279346e-04 -9.99916014e-01 -1.81733236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.176559995 meters 0.014278454124530847 Centerline is valid? [True, True] Translation: X:72.88, Y:-148.93, Z:-1.82 [[ 4.57561465e-01 -8.89161779e-01 -5.36997818e-03 7.28769923e+01] [-8.89095361e-01 -4.57592931e-01 1.08695603e-02 -1.48927228e+02] [-1.21220616e-02 -1.99069242e-04 -9.99926505e-01 -1.81808309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.20655999499996 meters 0.014444251789489567 Centerline is valid? [True, True] Translation: X:72.91, Y:-149.04, Z:-1.82 [[ 5.24989773e-01 -8.51087010e-01 -6.05308422e-03 7.29055253e+01] [-8.51025887e-01 -5.25024627e-01 1.02019529e-02 -1.49039606e+02] [-1.18607678e-02 -2.04589535e-04 -9.99929638e-01 -1.81865698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.236559995 meters 0.014094527019075754 Centerline is valid? [True, True] Translation: X:72.94, Y:-149.15, Z:-1.82 [[ 5.88582129e-01 -8.08408971e-01 -6.78325435e-03 7.29414844e+01] [-8.08351236e-01 -5.88621180e-01 9.66362367e-03 -1.49146009e+02] [-1.18049272e-02 -2.04584159e-04 -9.99930299e-01 -1.81901689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.26655999499997 meters 0.014570212375885929 Centerline is valid? [True, True] Translation: X:72.98, Y:-149.25, Z:-1.82 [[ 6.48486900e-01 -7.61186500e-01 -7.73645555e-03 7.29822697e+01] [-7.61128451e-01 -6.48533013e-01 9.40280464e-03 -1.49248127e+02] [-1.21746348e-02 -2.09159207e-04 -9.99925865e-01 -1.81817378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.29655999499994 meters 0.013987879616174228 Centerline is valid? [True, True] Translation: X:73.03, Y:-149.34, Z:-1.82 [[ 7.03976718e-01 -7.10165588e-01 -9.03431840e-03 7.30318056e+01] [-7.10103199e-01 -7.04034653e-01 9.41563182e-03 -1.49344726e+02] [-1.30471309e-02 -2.13087189e-04 -9.99914860e-01 -1.81784004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.32655999499997 meters 0.01401343541194671 Centerline is valid? [True, True] Translation: X:73.08, Y:-149.43, Z:-1.82 [[ 7.55311699e-01 -6.55291871e-01 -9.83873352e-03 7.30831582e+01] [-6.55232738e-01 -7.55375749e-01 8.80554022e-03 -1.49432836e+02] [-1.32021396e-02 -2.04267240e-04 -9.99912827e-01 -1.81724490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.35655999499994 meters 0.014655511541067059 Centerline is valid? [True, True] Translation: X:73.08, Y:-149.44, Z:-1.82 [[ 8.03549382e-01 -5.95138934e-01 -1.08646202e-02 7.30790957e+01] [-5.95081230e-01 -8.03622804e-01 8.28972626e-03 -1.49443233e+02] [-1.36645954e-02 -1.95872856e-04 -9.99906616e-01 -1.81525935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.38655999499997 meters 0.01352907396599096 Centerline is valid? [True, True] Translation: X:73.08, Y:-149.45, Z:-1.82 [[ 8.45852547e-01 -5.33281125e-01 -1.20295370e-02 7.30805708e+01] [-5.33224533e-01 -8.45938069e-01 7.77047812e-03 -1.49449425e+02] [-1.43200926e-02 -1.58234480e-04 -9.99897450e-01 -1.81655760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.41655999499994 meters 0.013400814407969827 Centerline is valid? [True, True] Translation: X:73.08, Y:-149.46, Z:-1.82 [[ 8.83858648e-01 -4.67583501e-01 -1.26316982e-02 7.30805216e+01] [-4.67533730e-01 -8.83948898e-01 6.82331355e-03 -1.49456273e+02] [-1.43562445e-02 -1.25099713e-04 -9.99896936e-01 -1.81630327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.446559995 meters 0.0132012993336682 Centerline is valid? [True, True] Translation: X:73.08, Y:-149.46, Z:-1.82 [[ 9.16631669e-01 -3.99504406e-01 -1.35134232e-02 7.30815610e+01] [-3.99459556e-01 -9.16731270e-01 5.98683577e-03 -1.49461899e+02] [-1.47799449e-02 -8.96572428e-05 -9.99890767e-01 -1.81609544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.47655999499995 meters 0.012954905476805209 Centerline is valid? [True, True] Translation: X:73.08, Y:-149.47, Z:-1.82 [[ 9.43139897e-01 -3.32107652e-01 -1.38434985e-02 7.30842219e+01] [-3.32071816e-01 -9.43241490e-01 4.87866059e-03 -1.49467047e+02] [-1.46780026e-02 -4.22375989e-06 -9.99892272e-01 -1.81666236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.506559995 meters 0.01306928107582861 Centerline is valid? [True, True] Translation: X:73.09, Y:-149.47, Z:-1.82 [[ 9.65441427e-01 -2.60262374e-01 -1.36509248e-02 7.30864351e+01] [-2.60236923e-01 -9.65537931e-01 3.63981879e-03 -1.49473834e+02] [-1.41277936e-02 3.84428398e-05 -9.99900197e-01 -1.81648655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.53655999499995 meters 0.013415196342012447 Centerline is valid? [True, True] Translation: X:73.09, Y:-149.48, Z:-1.82 [[ 9.82254862e-01 -1.87059867e-01 -1.35643633e-02 7.30888047e+01] [-1.87043159e-01 -9.82348512e-01 2.50135148e-03 -1.49479029e+02] [-1.37928346e-02 8.01567065e-05 -9.99904871e-01 -1.81593725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.566559995 meters 0.013598850566997838 Centerline is valid? [True, True] Translation: X:73.09, Y:-149.49, Z:-1.82 [[ 9.93547577e-01 -1.12633048e-01 -1.33044535e-02 7.30877033e+01] [-1.12624551e-01 -9.93636645e-01 1.38852614e-03 -1.49486219e+02] [-1.33761865e-02 1.18841317e-04 -9.99910528e-01 -1.81731236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.59655999499995 meters 0.015263754411263467 Centerline is valid? [True, True] Translation: X:73.09, Y:-149.49, Z:-1.82 [[ 9.99100508e-01 -4.03425916e-02 -1.30633333e-02 7.30858287e+01] [-4.03416626e-02 -9.99185888e-01 3.34726566e-04 -1.49488481e+02] [-1.30662020e-02 1.92571101e-04 -9.99914615e-01 -1.81675541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.626559995 meters 0.015465700513611635 Centerline is valid? [True, True] Translation: X:73.09, Y:-149.49, Z:-1.82 [[ 9.99301931e-01 3.51321356e-02 -1.27037071e-02 7.30850479e+01] [ 3.51264514e-02 -9.99382651e-01 -6.70367014e-04 -1.49494057e+02] [-1.27194159e-02 2.23662903e-04 -9.99919080e-01 -1.81802159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.65655999499995 meters 0.016357914417453278 Centerline is valid? [True, True] Translation: X:73.08, Y:-149.50, Z:-1.82 [[ 9.94041386e-01 1.08337023e-01 -1.20337977e-02 7.30849346e+01] [ 1.08325755e-01 -9.94114186e-01 -1.58614904e-03 -1.49499837e+02] [-1.21348076e-02 2.73127568e-04 -9.99926333e-01 -1.81884377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.686559995 meters 0.016412918076135596 Centerline is valid? [True, True] Translation: X:73.09, Y:-149.51, Z:-1.82 [[ 9.82861760e-01 1.83971625e-01 -1.17132822e-02 7.30856958e+01] [ 1.83955010e-01 -9.82931511e-01 -2.48974904e-03 -1.49509775e+02] [-1.19713974e-02 2.92362184e-04 -9.99928298e-01 -1.81975176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.71655999499995 meters 0.01685197719583683 Centerline is valid? [True, True] Translation: X:73.09, Y:-149.52, Z:-1.82 [[ 9.65874353e-01 2.58787524e-01 -1.07587691e-02 7.30871785e+01] [ 2.58768091e-01 -9.65934228e-01 -3.18472172e-03 -1.49518891e+02] [-1.12164296e-02 2.92014880e-04 -9.99937051e-01 -1.82034006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.746559995 meters 0.01689478470759102 Centerline is valid? [True, True] Translation: X:73.09, Y:-149.53, Z:-1.82 [[ 9.43087611e-01 3.32400717e-01 -9.77347356e-03 7.30901936e+01] [ 3.32379715e-01 -9.43138209e-01 -3.74744749e-03 -1.49530219e+02] [-1.04633906e-02 2.85666947e-04 -9.99945216e-01 -1.82106577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.77655999499996 meters 0.01689478470759102 Centerline is valid? [True, True] Translation: X:73.09, Y:-149.54, Z:-1.82 [[ 9.14155167e-01 4.05254279e-01 -9.44987365e-03 7.30932660e+01] [ 4.05229378e-01 -9.14203964e-01 -4.50146201e-03 -1.49540696e+02] [-1.04633487e-02 2.85668333e-04 -9.99945217e-01 -1.82106615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.806559995 meters 0.017699775654939014 Centerline is valid? [True, True] Translation: X:73.10, Y:-149.55, Z:-1.82 [[ 8.79592352e-01 4.75646492e-01 -8.81528541e-03 7.30957109e+01] [ 4.75619433e-01 -8.79636481e-01 -5.08105115e-03 -1.49549932e+02] [-1.01710308e-02 2.76532684e-04 -9.99948236e-01 -1.82059781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.83655999499996 meters 0.017488151250348076 Centerline is valid? [True, True] Translation: X:73.10, Y:-149.56, Z:-1.82 [[ 8.38731151e-01 5.44478424e-01 -8.56164037e-03 7.31003225e+01] [ 5.44446812e-01 -8.38774806e-01 -5.87306827e-03 -1.49558931e+02] [-1.03790472e-02 2.64567507e-04 -9.99946101e-01 -1.82020582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.866559995 meters 0.016743732282744023 Centerline is valid? [True, True] Translation: X:73.11, Y:-149.57, Z:-1.82 [[ 7.92875124e-01 6.09335195e-01 -7.72382862e-03 7.31062386e+01] [ 6.09303279e-01 -7.92912707e-01 -6.24126886e-03 -1.49568761e+02] [-9.92734664e-03 2.42392720e-04 -9.99950693e-01 -1.82025919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.89655999499996 meters 0.015801081631210984 Centerline is valid? [True, True] Translation: X:73.12, Y:-149.58, Z:-1.82 [[ 7.40817194e-01 6.71675651e-01 -6.45785315e-03 7.31157046e+01] [ 6.71647856e-01 -7.40845316e-01 -6.11348145e-03 -1.49579844e+02] [-8.89054689e-03 1.91568953e-04 -9.99960460e-01 -1.82040662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.926559995 meters 0.015083497678466467 Centerline is valid? [True, True] Translation: X:73.13, Y:-149.59, Z:-1.82 [[ 6.84832528e-01 7.28678075e-01 -5.71584028e-03 7.31257384e+01] [ 7.28650597e-01 -6.84856360e-01 -6.33035865e-03 -1.49590035e+02] [-8.52732313e-03 1.70385085e-04 -9.99963627e-01 -1.82099074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.95655999499996 meters 0.014877763262713272 Centerline is valid? [True, True] Translation: X:73.14, Y:-149.60, Z:-1.82 [[ 6.24534578e-01 7.80982929e-01 -4.71426761e-03 7.31355274e+01] [ 7.80958933e-01 -6.24552354e-01 -6.12390632e-03 -1.49598462e+02] [-7.72697324e-03 1.42941848e-04 -9.99970136e-01 -1.82129581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.986559995 meters 0.014698801157502205 Centerline is valid? [True, True] Translation: X:73.15, Y:-149.61, Z:-1.82 [[ 5.60316158e-01 8.28268766e-01 -4.08100680e-03 7.31458870e+01] [ 8.28245115e-01 -5.60331005e-01 -6.26051646e-03 -1.49605690e+02] [-7.47210489e-03 1.27794581e-04 -9.99972075e-01 -1.82152662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.01655999499997 meters 0.014246356190120263 Centerline is valid? [True, True] Translation: X:73.16, Y:-149.61, Z:-1.82 [[ 4.91242302e-01 8.71017239e-01 -3.15767189e-03 7.31575647e+01] [ 8.70998004e-01 -4.91252441e-01 -5.78928001e-03 -1.49614103e+02] [-6.59377672e-03 9.36133235e-05 -9.99978256e-01 -1.82097011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.04655999499994 meters 0.013980196450837444 Centerline is valid? [True, True] Translation: X:73.17, Y:-149.62, Z:-1.82 [[ 4.20097177e-01 9.07475179e-01 -2.67619128e-03 7.31680599e+01] [ 9.07455495e-01 -4.20105693e-01 -5.97760230e-03 -1.49619611e+02] [-6.54880891e-03 8.26493752e-05 -9.99978553e-01 -1.82057947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.07655999499997 meters 0.013795258793434295 Centerline is valid? [True, True] Translation: X:73.18, Y:-149.62, Z:-1.82 [[ 3.46161789e-01 9.38172172e-01 -2.23407847e-03 7.31787288e+01] [ 9.38151261e-01 -3.46168991e-01 -6.26427537e-03 -1.49623352e+02] [-6.65033752e-03 7.25492389e-05 -9.99977884e-01 -1.81994457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.10655999499994 meters 0.013312829963890388 Centerline is valid? [True, True] Translation: X:73.19, Y:-149.63, Z:-1.82 [[ 2.67855603e-01 9.63457584e-01 -1.69090428e-03 7.31924926e+01] [ 9.63437302e-01 -2.67860936e-01 -6.25169559e-03 -1.49627496e+02] [-6.47617074e-03 4.54714303e-05 -9.99979028e-01 -1.81891957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.13655999499997 meters 0.013036932187494629 Centerline is valid? [True, True] Translation: X:73.21, Y:-149.63, Z:-1.82 [[ 1.89571351e-01 9.81866269e-01 -1.15446766e-03 7.32053657e+01] [ 9.81847053e-01 -1.89574864e-01 -6.14287562e-03 -1.49629428e+02] [-6.25034042e-03 3.10025651e-05 -9.99980466e-01 -1.81881846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.16655999499994 meters 0.01285818694209932 Centerline is valid? [True, True] Translation: X:73.22, Y:-149.63, Z:-1.82 [[ 1.10053961e-01 9.93925401e-01 -6.50598583e-04 7.32166998e+01] [ 9.93907077e-01 -1.10055883e-01 -6.03525604e-03 -1.49631382e+02] [-6.07019648e-03 1.75692966e-05 -9.99981576e-01 -1.81857110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.196559995 meters 0.012833953912564297 Centerline is valid? [True, True] Translation: X:73.23, Y:-149.63, Z:-1.82 [[ 2.99336265e-02 9.99551874e-01 -1.71098373e-04 7.32275278e+01] [ 9.99534491e-01 -2.99341150e-02 -5.89485570e-03 -1.49632212e+02] [-5.89733574e-03 5.43568363e-06 -9.99982611e-01 -1.81845907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.22655999499995 meters 0.012748150506988456 Centerline is valid? [True, True] Translation: X:73.24, Y:-149.63, Z:-1.82 [[-5.23030028e-02 9.98631225e-01 2.68746594e-04 7.32402168e+01] [ 9.98616405e-01 5.23036907e-02 -5.44054271e-03 -1.49630654e+02] [-5.44715227e-03 -1.61819631e-05 -9.99985164e-01 -1.81795532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.256559995 meters 0.012844598906544142 Centerline is valid? [True, True] Translation: X:73.25, Y:-149.63, Z:-1.82 [[-1.32459182e-01 9.91188208e-01 7.08323348e-04 7.32509404e+01] [ 9.91172881e-01 1.32461072e-01 -5.51212938e-03 -1.49627799e+02] [-5.55738291e-03 -2.80612517e-05 -9.99984557e-01 -1.81816431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.28655999499995 meters 0.013051211509396234 Centerline is valid? [True, True] Translation: X:73.26, Y:-149.63, Z:-1.82 [[-2.11957091e-01 9.77278261e-01 1.18006364e-03 7.32612907e+01] [ 9.77261982e-01 2.11960371e-01 -5.64087185e-03 -1.49625426e+02] [-5.76282816e-03 -4.23914568e-05 -9.99983394e-01 -1.81723576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.316559995 meters 0.01316024905497236 Centerline is valid? [True, True] Translation: X:73.27, Y:-149.62, Z:-1.82 [[-2.90004755e-01 9.57023855e-01 1.60729958e-03 7.32725778e+01] [ 9.57008089e-01 2.90009204e-01 -5.49348801e-03 -1.49620562e+02] [-5.72353074e-03 -5.49389429e-05 -9.99983619e-01 -1.81695717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.34655999499995 meters 0.013852096298774414 Centerline is valid? [True, True] Translation: X:73.28, Y:-149.61, Z:-1.82 [[-3.67758013e-01 9.29919239e-01 2.06207405e-03 7.32849247e+01] [ 9.29903399e-01 3.67763786e-01 -5.42827691e-03 -1.49614489e+02] [-5.80621530e-03 -7.87626579e-05 -9.99983141e-01 -1.81599264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.376559995 meters 0.014743229732575653 Centerline is valid? [True, True] Translation: X:73.29, Y:-149.61, Z:-1.82 [[-4.41142582e-01 8.97433575e-01 2.49014482e-03 7.32938433e+01] [ 8.97418109e-01 4.41149601e-01 -5.26949314e-03 -1.49609477e+02] [-5.82754646e-03 -8.98967588e-05 -9.99983016e-01 -1.81521009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.40655999499995 meters 0.015308271646106916 Centerline is valid? [True, True] Translation: X:73.30, Y:-149.61, Z:-1.82 [[-5.11283877e-01 8.59407288e-01 2.81240506e-03 7.32972331e+01] [ 8.59393249e-01 5.11291604e-01 -4.91330535e-03 -1.49606062e+02] [-5.66048952e-03 -9.51318887e-05 -9.99983975e-01 -1.81510280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.436559995 meters 0.014657525043346756 Centerline is valid? [True, True] Translation: X:73.30, Y:-149.60, Z:-1.82 [[-5.77711704e-01 8.16235276e-01 3.02679298e-03 7.33012222e+01] [ 8.16223202e-01 5.77719626e-01 -4.44059779e-03 -1.49600300e+02] [-5.37321027e-03 -9.48466586e-05 -9.99985560e-01 -1.81593712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.46655999499995 meters 0.015021816297568867 Centerline is valid? [True, True] Translation: X:73.31, Y:-149.59, Z:-1.82 [[-6.40686760e-01 7.67796406e-01 3.02577077e-03 7.33054275e+01] [ 7.67787169e-01 6.40693898e-01 -3.76719745e-03 -1.49593100e+02] [-4.83103353e-03 -9.04455552e-05 -9.99988326e-01 -1.81638455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.496559995 meters 0.014621030327114697 Centerline is valid? [True, True] Translation: X:73.31, Y:-149.59, Z:-1.82 [[-6.98972502e-01 7.15141539e-01 3.16569484e-03 7.33095876e+01] [ 7.15133634e-01 6.98979665e-01 -3.36350756e-03 -1.49585227e+02] [-4.61814029e-03 -8.71044334e-05 -9.99989333e-01 -1.81669943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.52655999499996 meters 0.014796953799166812 Centerline is valid? [True, True] Translation: X:73.31, Y:-149.58, Z:-1.82 [[-7.53055218e-01 6.57950079e-01 3.08749354e-03 7.33136057e+01] [ 6.57944109e-01 7.53061543e-01 -2.80380024e-03 -1.49577069e+02] [-4.16983324e-03 -8.00182101e-05 -9.99991303e-01 -1.81707785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.556559995 meters 0.014703029114994028 Centerline is valid? [True, True] Translation: X:73.33, Y:-149.55, Z:-1.82 [[-7.97865380e-01 6.02830077e-01 2.59507132e-03 7.33290430e+01] [ 6.02826625e-01 7.97869597e-01 -2.04118258e-03 -1.49554919e+02] [-3.30101476e-03 -6.42108306e-05 -9.99994550e-01 -1.81774144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.58655999499996 meters 0.015410163319718489 Centerline is valid? [True, True] Translation: X:73.34, Y:-149.53, Z:-1.82 [[-8.39251141e-01 5.43733486e-01 3.37906904e-03 7.33442816e+01] [ 5.43728671e-01 8.39257939e-01 -2.28982231e-03 -1.49531390e+02] [-4.08096359e-03 -8.44392701e-05 -9.99991669e-01 -1.81649174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.616559995 meters 0.015491281779107469 Centerline is valid? [True, True] Translation: X:73.35, Y:-149.51, Z:-1.82 [[-8.75871404e-01 4.82526294e-01 4.20228338e-03 7.33546272e+01] [ 4.82520174e-01 8.75881479e-01 -2.43234240e-03 -1.49505417e+02] [-4.85437134e-03 -1.02732647e-04 -9.99988212e-01 -1.81577139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.64655999499996 meters 0.01592264705509631 Centerline is valid? [True, True] Translation: X:73.36, Y:-149.48, Z:-1.82 [[-9.08201655e-01 4.18505868e-01 4.75314981e-03 7.33639433e+01] [ 4.18499464e-01 9.08214086e-01 -2.31807191e-03 -1.49478904e+02] [-5.28700431e-03 -1.16086101e-04 -9.99986017e-01 -1.81534809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.676559995 meters 0.0156226819881311 Centerline is valid? [True, True] Translation: X:73.37, Y:-149.45, Z:-1.82 [[-9.35895273e-01 3.52238110e-01 5.32467364e-03 7.33680095e+01] [ 3.52231608e-01 9.35910411e-01 -2.14413887e-03 -1.49453622e+02] [-5.73866492e-03 -1.31171076e-04 -9.99983525e-01 -1.81527559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.70655999499996 meters 0.016480121515399397 Centerline is valid? [True, True] Translation: X:73.59, Y:-148.91, Z:-2.78 [[-8.90222627e-01 -4.55493514e-01 5.41604525e-03 7.35874797e+01] [ 4.55486129e-01 -8.90239089e-01 -2.59827995e-03 -1.48909363e+02] [ 6.00507485e-03 1.53885880e-04 9.99981958e-01 -2.77586120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.736559995 meters 0.016405119257018787 Centerline is valid? [True, True] Translation: X:73.32, Y:-149.44, Z:-1.82 [[-9.37359960e-01 3.48310922e-01 5.98388383e-03 7.33231222e+01] [ 3.48302799e-01 9.37379048e-01 -2.38361897e-03 -1.49437523e+02] [-6.43940785e-03 -1.50105501e-04 -9.99979256e-01 -1.81513088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.76655999499997 meters 0.016202006241486024 Centerline is valid? [True, True] Translation: X:73.33, Y:-149.42, Z:-1.82 [[-9.59647987e-01 2.81148943e-01 5.56888891e-03 7.33333136e+01] [ 2.81143387e-01 9.59664136e-01 -1.77265437e-03 -1.49415627e+02] [-5.84264287e-03 -1.35467909e-04 -9.99982922e-01 -1.81633164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.79655999499994 meters 0.016251288991654272 Centerline is valid? [True, True] Translation: X:73.34, Y:-149.39, Z:-1.82 [[-9.77168740e-01 2.12397139e-01 5.35802484e-03 7.33365207e+01] [ 2.12393227e-01 9.77183421e-01 -1.29548269e-03 -1.49389545e+02] [-5.51092987e-03 -1.27897004e-04 -9.99984807e-01 -1.81693071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.82655999499997 meters 0.01656529899197721 Centerline is valid? [True, True] Translation: X:73.48, Y:-148.81, Z:-2.77 [[-9.46872567e-01 -3.21559569e-01 5.63785801e-03 7.34757734e+01] [ 3.21554880e-01 -9.46889338e-01 -1.74409025e-03 -1.48805810e+02] [ 5.89925655e-03 1.61449542e-04 9.99982586e-01 -2.77379030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.85655999499994 meters 0.016134554452900476 Centerline is valid? [True, True] Translation: X:73.29, Y:-149.38, Z:-1.82 [[-9.77891588e-01 2.09042757e-01 5.40067248e-03 7.32852672e+01] [ 2.09038850e-01 9.77906493e-01 -1.28428391e-03 -1.49382255e+02] [-5.54982293e-03 -1.26940069e-04 -9.99984592e-01 -1.81748869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.88655999499997 meters 0.016134554452900476 Centerline is valid? [True, True] Translation: X:73.43, Y:-148.79, Z:-2.77 [[-9.48165918e-01 -3.17731942e-01 5.27298890e-03 7.34272231e+01] [ 3.17727755e-01 -9.48180572e-01 -1.63584159e-03 -1.48791391e+02] [ 5.51950476e-03 1.24325681e-04 9.99984760e-01 -2.77340100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.91655999499994 meters 0.015851888500785474 Centerline is valid? [True, True] Translation: X:73.24, Y:-149.38, Z:-1.82 [[-9.78677723e-01 2.05338129e-01 5.11530346e-03 7.32436564e+01] [ 2.05334683e-01 9.78691084e-01 -1.19569535e-03 -1.49375133e+02] [-5.25182374e-03 -1.19851185e-04 -9.99986202e-01 -1.81770540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.946559995 meters 0.01552369747720017 Centerline is valid? [True, True] Translation: X:73.38, Y:-148.78, Z:-2.77 [[-9.49378997e-01 -3.14087150e-01 5.36489705e-03 7.33844420e+01] [ 3.14083024e-01 -9.49394143e-01 -1.61688213e-03 -1.48778431e+02] [ 5.60124374e-03 1.49989151e-04 9.99984302e-01 -2.77259408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.97655999499995 meters 0.015464405678506987 Centerline is valid? [True, True] Translation: X:73.19, Y:-149.37, Z:-1.82 [[-9.79456300e-01 2.01583743e-01 5.41775715e-03 7.31933915e+01] [ 2.01579939e-01 9.79471275e-01 -1.24474882e-03 -1.49367277e+02] [-5.55745863e-03 -1.27065914e-04 -9.99984549e-01 -1.81841737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.006559995 meters 0.01619002948454265 Centerline is valid? [True, True] Translation: X:73.33, Y:-148.76, Z:-2.77 [[-9.50474101e-01 -3.10743982e-01 6.09595382e-03 7.33309225e+01] [ 3.10738904e-01 -9.50493629e-01 -1.78718556e-03 -1.48764917e+02] [ 6.34952243e-03 1.95576419e-04 9.99979822e-01 -2.77310265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.03655999499995 meters 0.015721521006648947 Centerline is valid? [True, True] Translation: X:73.15, Y:-149.36, Z:-1.82 [[-9.80316748e-01 1.97316010e-01 6.74289996e-03 7.31474118e+01] [ 1.97310209e-01 9.80339924e-01 -1.52152329e-03 -1.49360101e+02] [-6.91055494e-03 -1.61131762e-04 -9.99976109e-01 -1.81771440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.066559995 meters 0.016048903521927196 Centerline is valid? [True, True] Translation: X:73.15, Y:-149.33, Z:-1.82 [[-9.91821412e-01 1.27431916e-01 7.16895096e-03 7.31487622e+01] [ 1.27427362e-01 9.91847306e-01 -1.09033745e-03 -1.49332909e+02] [-7.24944849e-03 -1.67899519e-04 -9.99973708e-01 -1.81739743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.09655999499995 meters 0.01612760868365603 Centerline is valid? [True, True] Translation: X:73.24, Y:-148.72, Z:-2.77 [[-9.71016269e-01 -2.38897823e-01 7.43210383e-03 7.32429823e+01] [ 2.38892388e-01 -9.71044690e-01 -1.62358672e-03 -1.48715487e+02] [ 7.60477629e-03 1.98943915e-04 9.99971064e-01 -2.77393453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.126559995 meters 0.016096236062105314 Centerline is valid? [True, True] Translation: X:73.10, Y:-149.33, Z:-1.82 [[-9.92402446e-01 1.22746985e-01 8.40018843e-03 7.30969564e+01] [ 1.22740857e-01 9.92437976e-01 -1.24312567e-03 -1.49329109e+02] [-8.48925594e-03 -2.02634628e-04 -9.99963945e-01 -1.81710605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.15655999499995 meters 0.015638966318714826 Centerline is valid? [True, True] Translation: X:73.10, Y:-149.30, Z:-1.82 [[-9.98637982e-01 5.15286871e-02 8.18389710e-03 7.30965561e+01] [ 5.15253178e-02 9.98671495e-01 -6.22149066e-04 -1.49303435e+02] [-8.20508327e-03 -1.99623789e-04 -9.99966318e-01 -1.81763295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.186559995 meters 0.01668815132914899 Centerline is valid? [True, True] Translation: X:73.14, Y:-148.67, Z:-2.77 [[-9.85804327e-01 -1.67687584e-01 8.40852449e-03 7.31438780e+01] [ 1.67683430e-01 -9.85840161e-01 -1.20157613e-03 -1.48669603e+02] [ 8.49095054e-03 2.25451281e-04 9.99963926e-01 -2.77269500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.21655999499995 meters 0.016592300875245023 Centerline is valid? [True, True] Translation: X:73.04, Y:-149.30, Z:-1.82 [[-9.98952766e-01 4.48784955e-02 8.90460565e-03 7.30379028e+01] [ 4.48745886e-02 9.98992424e-01 -6.38172849e-04 -1.49301935e+02] [-8.92427382e-03 -2.37914018e-04 -9.99960150e-01 -1.81853827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.246559995 meters 0.017215039664497573 Centerline is valid? [True, True] Translation: X:73.04, Y:-149.27, Z:-1.82 [[-9.99595939e-01 -2.69477961e-02 9.04296734e-03 7.30363294e+01] [-2.69489500e-02 9.99636811e-01 -5.75784930e-06 -1.49274192e+02] [-9.03952787e-03 -2.49453998e-04 -9.99959112e-01 -1.81777996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.27655999499996 meters 0.01791293002420999 Centerline is valid? [True, True] Translation: X:73.03, Y:-148.63, Z:-2.77 [[-9.95349812e-01 -9.58816346e-02 9.24470077e-03 7.30341086e+01] [ 9.58800175e-02 -9.95392706e-01 -6.18986910e-04 -1.48634533e+02] [ 9.26145719e-03 2.70273566e-04 9.99957075e-01 -2.77346053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.306559995 meters 0.019544187982004295 Centerline is valid? [True, True] Translation: X:72.97, Y:-149.27, Z:-1.82 [[-9.99392796e-01 -3.37230764e-02 8.76324124e-03 7.29664690e+01] [-3.37240685e-02 9.99431181e-01 3.45756689e-05 -1.49274963e+02] [-8.75942255e-03 -2.60977474e-04 -9.99961601e-01 -1.81756851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.33655999499996 meters 0.01947265397302174 Centerline is valid? [True, True] Translation: X:72.96, Y:-149.25, Z:-1.82 [[-9.94360144e-01 -1.05710932e-01 8.55003975e-03 7.29627335e+01] [-1.05709307e-01 9.94396867e-01 6.42980133e-04 -1.49249098e+02] [-8.57010277e-03 -2.64464960e-04 -9.99963241e-01 -1.81813468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.366559995 meters 0.019603603421091065 Centerline is valid? [True, True] Translation: X:72.95, Y:-149.23, Z:-1.82 [[-9.83887771e-01 -1.78579789e-01 8.60890048e-03 7.29483282e+01] [-1.78575513e-01 9.83925391e-01 1.26909835e-03 -1.49225617e+02] [-8.69715109e-03 -2.88688474e-04 -9.99962137e-01 -1.81929572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.39655999499996 meters 0.021086301971312206 Centerline is valid? [True, True] Translation: X:72.93, Y:-149.20, Z:-1.82 [[-9.68398494e-01 -2.49255827e-01 8.71146338e-03 7.29328134e+01] [-2.49248550e-01 9.68437629e-01 1.92868738e-03 -1.49199903e+02] [-8.91724551e-03 -3.03581664e-04 -9.99960195e-01 -1.81913744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.426559995 meters 0.02125229859145235 Centerline is valid? [True, True] Translation: X:72.90, Y:-149.18, Z:-1.82 [[-9.47876923e-01 -3.18526726e-01 8.37038892e-03 7.29030191e+01] [-3.18517085e-01 9.47913833e-01 2.49638164e-03 -1.49180522e+02] [-8.72957172e-03 -2.99849330e-04 -9.99961852e-01 -1.81937926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.45655999499996 meters 0.021917574836276054 Centerline is valid? [True, True] Translation: X:72.86, Y:-149.17, Z:-1.82 [[-9.21820638e-01 -3.87526641e-01 8.35543481e-03 7.28600610e+01] [-3.87513798e-01 9.21858451e-01 3.17066150e-03 -1.49168375e+02] [-8.93124399e-03 -3.15065069e-04 -9.99960066e-01 -1.81962328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.486559995 meters 0.020892175476872707 Centerline is valid? [True, True] Translation: X:72.80, Y:-149.17, Z:-1.82 [[-8.90534342e-01 -4.54840130e-01 8.30910978e-03 7.27966029e+01] [-4.54823743e-01 8.90573045e-01 3.87479479e-03 -1.49168606e+02] [-9.16228136e-03 -3.28542580e-04 -9.99957971e-01 -1.82047219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.51655999499997 meters 0.021465418637753083 Centerline is valid? [True, True] Translation: X:72.72, Y:-149.18, Z:-1.82 [[-8.54133680e-01 -5.19994484e-01 7.83542548e-03 7.27244337e+01] [-5.19976106e-01 8.54169554e-01 4.38424193e-03 -1.49176611e+02] [-8.97256352e-03 -3.29505338e-04 -9.99959691e-01 -1.82031988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.54655999499994 meters 0.020768649809278613 Centerline is valid? [True, True] Translation: X:72.66, Y:-149.19, Z:-1.82 [[-8.13178782e-01 -5.81967301e-01 7.37083770e-03 7.26568011e+01] [-5.81946925e-01 8.13212124e-01 4.88044532e-03 -1.49189449e+02] [-8.83431416e-03 -3.20761752e-04 -9.99960925e-01 -1.81948424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.57655999499997 meters 0.021866130970511953 Centerline is valid? [True, True] Translation: X:72.58, Y:-149.21, Z:-1.82 [[-7.67612266e-01 -6.40869670e-01 7.58120404e-03 7.25763680e+01] [-6.40842773e-01 7.67649626e-01 5.88151172e-03 -1.49212321e+02] [-9.58899092e-03 -3.43639277e-04 -9.99953966e-01 -1.81802395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.60655999499994 meters 0.022103560147088298 Centerline is valid? [True, True] Translation: X:72.50, Y:-149.25, Z:-1.82 [[-7.17606021e-01 -6.96407986e-01 7.58391966e-03 7.24953796e+01] [-6.96374309e-01 7.17646004e-01 6.85813696e-03 -1.49245678e+02] [-1.02186310e-02 -3.59806440e-04 -9.99947724e-01 -1.81706373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.63655999499997 meters 0.022103560147088298 Centerline is valid? [True, True] Translation: X:72.41, Y:-149.29, Z:-1.82 [[-6.62986464e-01 -7.48598240e-01 7.04448908e-03 7.24110612e+01] [-7.48561641e-01 6.63023790e-01 7.41105687e-03 -1.49289492e+02] [-1.02185680e-02 -3.59803920e-04 -9.99947724e-01 -1.81706634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.66655999499994 meters 0.02169858602694122 Centerline is valid? [True, True] Translation: X:72.32, Y:-149.35, Z:-1.82 [[-6.04903883e-01 -7.96272407e-01 6.44557863e-03 7.23238222e+01] [-7.96233286e-01 6.04938120e-01 7.90101168e-03 -1.49350047e+02] [-1.01905338e-02 -3.52831607e-04 -9.99948013e-01 -1.81645572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.696559995 meters 0.019738403797853146 Centerline is valid? [True, True] Translation: X:72.25, Y:-149.41, Z:-1.82 [[-5.43157700e-01 -8.39607021e-01 6.30586129e-03 7.22500063e+01] [-8.39558217e-01 5.43194175e-01 9.06024819e-03 -1.49412714e+02] [-1.10323551e-02 -3.72994091e-04 -9.99939072e-01 -1.81637281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.72655999499995 meters 0.02018669653175954 Centerline is valid? [True, True] Translation: X:72.17, Y:-149.48, Z:-1.82 [[-4.78099786e-01 -8.78286142e-01 5.83501135e-03 7.21722113e+01] [-8.78230188e-01 4.78135240e-01 9.92119177e-03 -1.49484045e+02] [-1.15035698e-02 -3.81163453e-04 -9.99933759e-01 -1.81557809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.756559995 meters 0.020235127386836218 Centerline is valid? [True, True] Translation: X:72.10, Y:-149.57, Z:-1.81 [[-4.10851948e-01 -9.11687169e-01 5.21362084e-03 7.20995698e+01] [-9.11624975e-01 4.10884855e-01 1.06555701e-02 -1.49565068e+02] [-1.18567444e-02 -3.75005240e-04 -9.99929636e-01 -1.81480792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.78655999499995 meters 0.021673614269493265 Centerline is valid? [True, True] Translation: X:72.03, Y:-149.66, Z:-1.81 [[-3.40706194e-01 -9.40159955e-01 4.30670053e-03 7.20268886e+01] [-9.40097619e-01 3.40733224e-01 1.08322020e-02 -1.49657479e+02] [-1.16514386e-02 -3.58120583e-04 -9.99932056e-01 -1.81379563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.816559995 meters 0.02154630247880867 Centerline is valid? [True, True] Translation: X:71.97, Y:-149.75, Z:-1.81 [[-2.68128427e-01 -9.63377080e-01 3.42751783e-03 7.19667284e+01] [-9.63314145e-01 2.68150108e-01 1.10171644e-02 -1.49748106e+02] [-1.15327730e-02 -3.47761442e-04 -9.99933435e-01 -1.81376733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.84655999499995 meters 0.019948646697682405 Centerline is valid? [True, True] Translation: X:71.91, Y:-149.88, Z:-1.81 [[-1.94231102e-01 -9.80952470e-01 2.55552749e-03 7.19073193e+01] [-9.80888897e-01 1.94247621e-01 1.11729130e-02 -1.49876922e+02] [-1.14565018e-02 -3.36561333e-04 -9.99934316e-01 -1.81440507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.876559995 meters 0.021382031163092938 Centerline is valid? [True, True] Translation: X:71.86, Y:-149.97, Z:-1.81 [[-1.19004293e-01 -9.92892330e-01 1.67323798e-03 7.18613115e+01] [-9.92828747e-01 1.19015616e-01 1.12411369e-02 -1.49965780e+02] [-1.13603800e-02 -3.23495223e-04 -9.99935416e-01 -1.81328076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.90655999499995 meters 0.02092982025273933 Centerline is valid? [True, True] Translation: X:71.82, Y:-150.06, Z:-1.81 [[-4.38283155e-02 -9.99038802e-01 7.41624840e-04 7.18249353e+01] [-9.98983903e-01 4.38336846e-02 1.04770701e-02 -1.50062496e+02] [-1.04995077e-02 -2.81678943e-04 -9.99944839e-01 -1.81339419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.936559995 meters 0.020766204397166886 Centerline is valid? [True, True] Translation: X:71.12, Y:-150.13, Z:-2.78 [[-1.63789448e-01 9.86494293e-01 1.42333674e-03 7.11211877e+01] [-9.86442208e-01 -1.63795431e-01 1.01404123e-02 -1.50126646e+02] [ 1.02365949e-02 2.56853093e-04 9.99947572e-01 -2.77728913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.96655999499995 meters 0.018133267715732267 Centerline is valid? [True, True] Translation: X:71.81, Y:-150.35, Z:-1.82 [[-3.41971942e-02 -9.99414901e-01 6.37697522e-04 7.18077762e+01] [-9.99360080e-01 3.42019999e-02 1.04715850e-02 -1.50347432e+02] [-1.04872687e-02 -2.79190620e-04 -9.99944968e-01 -1.81530024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.996559995 meters 0.017487002250895264 Centerline is valid? [True, True] Translation: X:71.78, Y:-150.46, Z:-1.82 [[ 4.27112365e-02 -9.99087443e-01 -1.80304249e-04 7.17788707e+01] [-9.99026672e-01 -4.27106279e-02 1.10231893e-02 -1.50458730e+02] [-1.10208309e-02 -2.90685291e-04 -9.99939227e-01 -1.81527247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.02655999499996 meters 0.017407877451434774 Centerline is valid? [True, True] Translation: X:71.76, Y:-150.58, Z:-1.82 [[ 1.19470022e-01 -9.92837277e-01 -1.02741535e-03 7.17581343e+01] [-9.92776666e-01 -1.19474085e-01 1.09742746e-02 -1.50579734e+02] [-1.10184185e-02 -2.91102847e-04 -9.99939253e-01 -1.81511259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.056559995 meters 0.0171863155277058 Centerline is valid? [True, True] Translation: X:71.75, Y:-150.70, Z:-1.81 [[ 1.95586273e-01 -9.80684380e-01 -2.03861396e-03 7.17457774e+01] [-9.80612944e-01 -1.95596641e-01 1.18409659e-02 -1.50696355e+02] [-1.20109963e-02 -3.16839150e-04 -9.99927815e-01 -1.81443978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.08655999499996 meters 0.017639422294616985 Centerline is valid? [True, True] Translation: X:71.74, Y:-150.82, Z:-1.81 [[ 2.70819062e-01 -9.62625719e-01 -2.95997097e-03 7.17424457e+01] [-9.62554521e-01 -2.70835045e-01 1.17121014e-02 -1.50819304e+02] [-1.20760339e-02 -3.22726867e-04 -9.99927030e-01 -1.81403871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.116559995 meters 0.01783282982427443 Centerline is valid? [True, True] Translation: X:71.75, Y:-150.94, Z:-1.81 [[ 3.45162950e-01 -9.38535484e-01 -3.69921743e-03 7.17471875e+01] [-9.38471166e-01 -3.45182622e-01 1.09921898e-02 -1.50937794e+02] [-1.15934657e-02 -3.22487745e-04 -9.99932742e-01 -1.81451712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.14655999499996 meters 0.018317097666721762 Centerline is valid? [True, True] Translation: X:71.76, Y:-151.05, Z:-1.81 [[ 4.16595372e-01 -9.09082549e-01 -4.14915051e-03 7.17592138e+01] [-9.09030104e-01 -4.16615927e-01 9.76932208e-03 -1.51051222e+02] [-1.06097224e-02 -2.98151650e-04 -9.99943671e-01 -1.81411466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.176559995 meters 0.017982565379533643 Centerline is valid? [True, True] Translation: X:71.78, Y:-151.17, Z:-1.81 [[ 4.84904578e-01 -8.74555169e-01 -4.56140509e-03 7.17828609e+01] [-8.74511002e-01 -4.84925954e-01 8.79352838e-03 -1.51166152e+02] [-9.90236941e-03 -2.75023229e-04 -9.99950933e-01 -1.81465554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.20655999499996 meters 0.01766101435079703 Centerline is valid? [True, True] Translation: X:71.81, Y:-151.28, Z:-1.81 [[ 5.50211099e-01 -8.35012363e-01 -4.70104980e-03 7.18136601e+01] [-8.34978031e-01 -5.50231128e-01 7.57580392e-03 -1.51275935e+02] [-8.91255387e-03 -2.43018093e-04 -9.99960253e-01 -1.81496195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.236559995 meters 0.016789269795927084 Centerline is valid? [True, True] Translation: X:71.85, Y:-151.38, Z:-1.82 [[ 6.11850802e-01 -7.90959572e-01 -4.64238416e-03 7.18541380e+01] [-7.90934200e-01 -6.11868378e-01 6.33872168e-03 -1.51382782e+02] [-7.85420065e-03 -2.06531541e-04 -9.99969134e-01 -1.81554204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.26655999499997 meters 0.01758089749281014 Centerline is valid? [True, True] Translation: X:71.90, Y:-151.49, Z:-1.81 [[ 6.69656275e-01 -7.42656741e-01 -4.63011743e-03 7.18985694e+01] [-7.42637121e-01 -6.69672258e-01 5.40124746e-03 -1.51486047e+02] [-7.11193403e-03 -1.78482176e-04 -9.99974694e-01 -1.81493243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.29655999499994 meters 0.015995839345649618 Centerline is valid? [True, True] Translation: X:71.95, Y:-151.58, Z:-1.82 [[ 7.22046697e-01 -6.91832146e-01 -4.10470712e-03 7.19510879e+01] [-6.91819966e-01 -7.22058353e-01 4.10709066e-03 -1.51578341e+02] [-5.80525541e-03 -1.25792903e-04 -9.99983141e-01 -1.81534728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.32655999499997 meters 0.015453607232250508 Centerline is valid? [True, True] Translation: X:72.00, Y:-151.66, Z:-1.81 [[ 7.71213172e-01 -6.36563417e-01 -4.15445421e-03 7.20049407e+01] [-6.36553428e-01 -7.71224354e-01 3.56769482e-03 -1.51663479e+02] [-5.47508027e-03 -1.06921168e-04 -9.99985006e-01 -1.81499348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.35655999499994 meters 0.014939195623730462 Centerline is valid? [True, True] Translation: X:72.00, Y:-151.67, Z:-1.81 [[ 8.17016488e-01 -5.76596809e-01 -4.49208672e-03 7.20044307e+01] [-5.76587462e-01 -8.17028831e-01 3.28438679e-03 -1.51668645e+02] [-5.56393130e-03 -9.33172781e-05 -9.99984517e-01 -1.81474451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.38655999499997 meters 0.014410757558936357 Centerline is valid? [True, True] Translation: X:72.00, Y:-151.67, Z:-1.81 [[ 8.58375073e-01 -5.12999583e-01 -4.86436906e-03 7.20038717e+01] [-5.12990800e-01 -8.58388852e-01 3.00310102e-03 -1.51673901e+02] [-5.71610974e-03 -8.24104775e-05 -9.99983660e-01 -1.81416494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.41655999499994 meters 0.014286397791647006 Centerline is valid? [True, True] Translation: X:72.00, Y:-151.68, Z:-1.81 [[ 8.93743455e-01 -4.48540753e-01 -5.81637820e-03 7.20029303e+01] [-4.48530791e-01 -8.93762378e-01 2.99005414e-03 -1.51677326e+02] [-6.53962115e-03 -6.35166007e-05 -9.99978614e-01 -1.81231250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.446559995 meters 0.013684677418917254 Centerline is valid? [True, True] Translation: X:72.00, Y:-151.68, Z:-1.81 [[ 9.24985257e-01 -3.79946403e-01 -6.55787036e-03 7.20041994e+01] [-3.79936480e-01 -9.25008502e-01 2.74633731e-03 -1.51679550e+02] [-7.10954681e-03 -4.87473355e-05 -9.99974726e-01 -1.81275619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.47655999499995 meters 0.013557573946399552 Centerline is valid? [True, True] Translation: X:72.00, Y:-151.68, Z:-1.81 [[ 9.51112886e-01 -3.08771826e-01 -6.65114633e-03 7.20038270e+01] [-3.08764046e-01 -9.51136141e-01 2.19212597e-03 -1.51683986e+02] [-7.00301239e-03 -3.13244048e-05 -9.99975478e-01 -1.81270971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.506559995 meters 0.013477345805481999 Centerline is valid? [True, True] Translation: X:72.00, Y:-151.69, Z:-1.81 [[ 9.71490296e-01 -2.36987801e-01 -6.58684587e-03 7.20043330e+01] [-2.36982314e-01 -9.71512626e-01 1.61271794e-03 -1.51689076e+02] [-6.78139841e-03 -5.77384968e-06 -9.99977006e-01 -1.81190085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.53655999499995 meters 0.013501890184629842 Centerline is valid? [True, True] Translation: X:72.00, Y:-151.70, Z:-1.81 [[ 9.86777470e-01 -1.61960220e-01 -6.25392207e-03 7.20024515e+01] [-1.61957006e-01 -9.86797288e-01 1.02041804e-03 -1.51695187e+02] [-6.33662046e-03 5.94096326e-06 -9.99979923e-01 -1.81188363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.566559995 meters 0.013504207955048713 Centerline is valid? [True, True] Translation: X:72.00, Y:-151.70, Z:-1.81 [[ 9.96152400e-01 -8.75183257e-02 -4.57588199e-03 7.19985794e+01] [-8.75174902e-02 -9.96162910e-01 3.82880834e-04 -1.51702822e+02] [-4.59183300e-03 1.90620456e-05 -9.99989457e-01 -1.81269690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.59655999499995 meters 0.013744926885105573 Centerline is valid? [True, True] Translation: X:71.99, Y:-151.71, Z:-1.81 [[ 9.99935725e-01 -1.06312745e-02 -3.93985916e-03 7.19943759e+01] [-1.06312772e-02 -9.99943486e-01 2.02676999e-05 -1.51710656e+02] [-3.93985197e-03 2.16193375e-05 -9.99992239e-01 -1.81303714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.626559995 meters 0.013765204093476167 Centerline is valid? [True, True] Translation: X:71.99, Y:-151.71, Z:-1.81 [[ 9.97762687e-01 6.67774878e-02 -3.22312206e-03 7.19905169e+01] [ 6.67770735e-02 -9.97767892e-01 -2.36115771e-04 -1.51714958e+02] [-3.23169493e-03 2.03568473e-05 -9.99994778e-01 -1.81352734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.65655999499995 meters 0.013649910598223208 Centerline is valid? [True, True] Translation: X:71.99, Y:-151.72, Z:-1.81 [[ 9.89498305e-01 1.44527821e-01 -2.19405191e-03 7.19884697e+01] [ 1.44527434e-01 -9.89500737e-01 -3.34508861e-04 -1.51724768e+02] [-2.21936181e-03 1.38952581e-05 -9.99997537e-01 -1.81447651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.686559995 meters 0.013656984808441961 Centerline is valid? [True, True] Translation: X:71.99, Y:-151.73, Z:-1.81 [[ 9.75014671e-01 2.22134627e-01 -1.61219754e-03 7.19861917e+01] [ 2.22134308e-01 -9.75016004e-01 -3.76485636e-04 -1.51734024e+02] [-1.65554890e-03 8.95463301e-06 -9.99998630e-01 -1.81466134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.71655999499995 meters 0.013426436741738936 Centerline is valid? [True, True] Translation: X:71.99, Y:-151.74, Z:-1.81 [[ 9.54298834e-01 2.98848501e-01 -1.81918505e-03 7.19858864e+01] [ 2.98847941e-01 -9.54300568e-01 -5.78582062e-04 -1.51743112e+02] [-1.90895771e-03 8.48048185e-06 -9.99998178e-01 -1.81429465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.746559995 meters 0.013316624926751881 Centerline is valid? [True, True] Translation: X:71.99, Y:-151.75, Z:-1.81 [[ 9.27538810e-01 3.73723512e-01 -1.57883104e-03 7.19862275e+01] [ 3.73722961e-01 -9.27540153e-01 -6.41964987e-04 -1.51752057e+02] [-1.70434660e-03 5.40202665e-06 -9.99998548e-01 -1.81381992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.77655999499996 meters 0.013316624926751881 Centerline is valid? [True, True] Translation: X:71.99, Y:-151.76, Z:-1.81 [[ 8.95423902e-01 4.45211987e-01 -1.52365569e-03 7.19863004e+01] [ 4.45211333e-01 -8.95425199e-01 -7.63609782e-04 -1.51759276e+02] [-1.70428793e-03 5.40567016e-06 -9.99998548e-01 -1.81382045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.806559995 meters 0.013273964876084413 Centerline is valid? [True, True] Translation: X:71.99, Y:-151.77, Z:-1.81 [[ 8.56965032e-01 5.15372778e-01 -1.35419410e-03 7.19877182e+01] [ 5.15372130e-01 -8.56966102e-01 -8.17115736e-04 -1.51768136e+02] [-1.58161764e-03 2.32571550e-06 -9.99998749e-01 -1.81337468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.83655999499996 meters 0.01314013528515802 Centerline is valid? [True, True] Translation: X:71.99, Y:-151.78, Z:-1.81 [[ 8.11761536e-01 5.83986760e-01 -1.63477357e-03 7.19939142e+01] [ 5.83985587e-01 -8.11763182e-01 -1.17062657e-03 -1.51781210e+02] [-2.01067941e-03 -4.41458106e-06 -9.99997979e-01 -1.81301644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.866559995 meters 0.013385214396250398 Centerline is valid? [True, True] Translation: X:72.00, Y:-151.79, Z:-1.81 [[ 7.60475493e-01 6.49365067e-01 -1.42608594e-03 7.20002645e+01] [ 6.49363958e-01 -7.60476830e-01 -1.20058584e-03 -1.51793401e+02] [-1.86412382e-03 -1.30327029e-05 -9.99998262e-01 -1.81324611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.89655999499996 meters 0.013657868319618014 Centerline is valid? [True, True] Translation: X:72.01, Y:-151.80, Z:-1.81 [[ 7.05612599e-01 7.08597005e-01 -1.07037320e-03 7.20053498e+01] [ 7.08596220e-01 -7.05613410e-01 -1.05456911e-03 -1.51801850e+02] [-1.50253420e-03 -1.43451557e-05 -9.99998871e-01 -1.81379044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.926559995 meters 0.01406042651898922 Centerline is valid? [True, True] Translation: X:72.02, Y:-151.81, Z:-1.81 [[ 6.44591822e-01 7.64526712e-01 -5.37991910e-04 7.20150026e+01] [ 7.64526462e-01 -6.44592046e-01 -6.19301510e-04 -1.51813362e+02] [-8.20257853e-04 -1.21123628e-05 -9.99999664e-01 -1.81467687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.95655999499996 meters 0.014781473753132336 Centerline is valid? [True, True] Translation: X:72.02, Y:-151.82, Z:-1.81 [[ 5.80996787e-01 8.13905847e-01 -6.99590016e-05 7.20237358e+01] [ 8.13905842e-01 -5.80996791e-01 -9.24628655e-05 -1.51822854e+02] [-1.15902022e-04 -3.21941240e-06 -9.99999993e-01 -1.81473376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.986559995 meters 0.014766842361792362 Centerline is valid? [True, True] Translation: X:72.03, Y:-151.83, Z:-1.82 [[ 5.13908205e-01 8.57845180e-01 -5.43922375e-05 7.20323927e+01] [ 8.57845176e-01 -5.13908208e-01 -8.46330238e-05 -1.51830310e+02] [-1.00554649e-04 -3.16651319e-06 -9.99999995e-01 -1.81524431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.01655999499997 meters 0.015479313410012121 Centerline is valid? [True, True] Translation: X:72.04, Y:-151.84, Z:-1.82 [[ 4.43620271e-01 8.96214848e-01 3.20374849e-05 7.20413197e+01] [ 8.96214846e-01 -4.43620272e-01 6.49709252e-05 -1.51837862e+02] [ 7.24403856e-05 -1.09949827e-07 -9.99999997e-01 -1.81588075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.04655999499994 meters 0.01602433333388874 Centerline is valid? [True, True] Translation: X:72.05, Y:-151.84, Z:-1.82 [[ 3.70466908e-01 9.28845622e-01 2.84984768e-04 7.20483483e+01] [ 9.28845374e-01 -3.70467018e-01 6.78043532e-04 -1.51843398e+02] [ 7.35375223e-04 1.35140926e-05 -9.99999730e-01 -1.81683956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.07655999499997 meters 0.017174586528291503 Centerline is valid? [True, True] Translation: X:72.06, Y:-151.85, Z:-1.82 [[ 2.95034660e-01 9.55486531e-01 1.95515199e-04 7.20557520e+01] [ 9.55486348e-01 -2.95034724e-01 5.91661468e-04 -1.51848948e+02] [ 6.23008336e-04 1.22514633e-05 -9.99999806e-01 -1.81749672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.10655999499994 meters 0.016528617804196524 Centerline is valid? [True, True] Translation: X:72.06, Y:-151.85, Z:-1.82 [[ 2.17681870e-01 9.76019760e-01 1.76795715e-04 7.20634075e+01] [ 9.76019496e-01 -2.17681941e-01 7.18979242e-04 -1.51852030e+02] [ 7.40223182e-04 1.60473192e-05 -9.99999726e-01 -1.81755705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.13655999499997 meters 0.019430650961060326 Centerline is valid? [True, True] Translation: X:72.08, Y:-151.86, Z:-1.82 [[ 1.37714427e-01 9.90471976e-01 -2.88218448e-05 7.20781234e+01] [ 9.90471963e-01 -1.37714430e-01 -1.64661959e-04 -1.51856604e+02] [-1.67062240e-04 -5.87090188e-06 -9.99999986e-01 -1.81714293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.16655999499994 meters 0.018095837416021082 Centerline is valid? [True, True] Translation: X:72.08, Y:-151.86, Z:-1.82 [[ 5.82244618e-02 9.98303516e-01 -5.39371088e-05 7.20840503e+01] [ 9.98303331e-01 -5.82244838e-02 -6.07067501e-04 -1.51857711e+02] [-6.09178081e-04 -1.84994169e-05 -9.99999814e-01 -1.81679888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.196559995 meters 0.019070384207521458 Centerline is valid? [True, True] Translation: X:72.09, Y:-151.86, Z:-1.82 [[-2.20151822e-02 9.99757636e-01 -1.47413658e-05 7.20936639e+01] [ 9.99756201e-01 2.20151256e-02 -1.69488863e-03 -1.51860171e+02] [-1.69415332e-03 -5.20510539e-05 -9.99998564e-01 -1.81606827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.22655999499995 meters 0.019465204670951065 Centerline is valid? [True, True] Translation: X:72.10, Y:-151.86, Z:-1.82 [[-1.00374561e-01 9.94949707e-01 1.65053227e-04 7.20996941e+01] [ 9.94946923e-01 1.00374670e-01 -2.35518363e-03 -1.51861859e+02] [-2.35985642e-03 -7.21813215e-05 -9.99997213e-01 -1.81537580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.256559995 meters 0.01960168007379006 Centerline is valid? [True, True] Translation: X:72.10, Y:-151.86, Z:-1.81 [[-1.77968098e-01 9.84036142e-01 4.76846721e-04 7.21039654e+01] [ 9.84030988e-01 1.77968710e-01 -3.18645845e-03 -1.51862709e+02] [-3.22045408e-03 -9.78560011e-05 -9.99994810e-01 -1.81464724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.28655999499995 meters 0.019603825683511822 Centerline is valid? [True, True] Translation: X:72.11, Y:-151.86, Z:-1.81 [[-2.53978705e-01 9.67209451e-01 8.34459311e-04 7.21077938e+01] [ 9.67202712e-01 2.53980051e-01 -3.61224634e-03 -1.51862831e+02] [-3.70573482e-03 -1.10342339e-04 -9.99993128e-01 -1.81452489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.316559995 meters 0.01916360382039073 Centerline is valid? [True, True] Translation: X:72.11, Y:-151.86, Z:-1.81 [[-3.27441547e-01 9.44870253e-01 1.49601268e-03 7.21095147e+01] [ 9.44858359e-01 3.27444934e-01 -4.74310745e-03 -1.51864606e+02] [-4.97148292e-03 -1.39570356e-04 -9.99987632e-01 -1.81425932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.34655999499995 meters 0.01882019493355748 Centerline is valid? [True, True] Translation: X:72.11, Y:-151.87, Z:-1.81 [[-3.99514115e-01 9.16724881e-01 1.99109334e-03 7.21110606e+01] [ 9.16711648e-01 3.99519051e-01 -4.92777381e-03 -1.51865332e+02] [-5.31289258e-03 -1.43456737e-04 -9.99985876e-01 -1.81411559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.376559995 meters 0.01643269511641073 Centerline is valid? [True, True] Translation: X:72.12, Y:-151.86, Z:-1.81 [[-4.68856519e-01 8.83270768e-01 2.51308218e-03 7.21150068e+01] [ 8.83256391e-01 4.68863232e-01 -5.04161598e-03 -1.51864635e+02] [-5.63140385e-03 -1.44098623e-04 -9.99984133e-01 -1.81475679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.40655999499995 meters 0.017620594001179424 Centerline is valid? [True, True] Translation: X:72.12, Y:-151.86, Z:-1.81 [[-5.34117784e-01 8.45405010e-01 2.92605770e-03 7.21240095e+01] [ 8.45390980e-01 5.34125783e-01 -4.87229591e-03 -1.51861367e+02] [-5.68194624e-03 -1.28717112e-04 -9.99983849e-01 -1.81467315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.436559995 meters 0.01648364103187919 Centerline is valid? [True, True] Translation: X:72.12, Y:-151.87, Z:-1.82 [[-5.95880746e-01 8.03067864e-01 2.85348217e-03 7.21227562e+01] [ 8.03057891e-01 5.95887570e-01 -4.00350566e-03 -1.51866037e+02] [-4.91544130e-03 -9.41005676e-05 -9.99987915e-01 -1.81530179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.46655999499995 meters 0.014259935450714217 Centerline is valid? [True, True] Translation: X:72.13, Y:-151.86, Z:-1.82 [[-6.55554950e-01 7.55140352e-01 3.27974874e-03 7.21270922e+01] [ 7.55130220e-01 6.55563148e-01 -3.91275451e-03 -1.51864002e+02] [-5.10476122e-03 -8.83881987e-05 -9.99986967e-01 -1.81683709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.496559995 meters 0.014771201267558971 Centerline is valid? [True, True] Translation: X:72.14, Y:-151.86, Z:-1.82 [[-7.11267134e-01 7.02912124e-01 3.68931044e-03 7.21358174e+01] [ 7.02902075e-01 7.11276697e-01 -3.75935751e-03 -1.51859074e+02] [-5.26661851e-03 -8.06834773e-05 -9.99986128e-01 -1.81589925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.52655999499996 meters 0.013829632636148583 Centerline is valid? [True, True] Translation: X:72.14, Y:-151.86, Z:-1.82 [[-7.62991810e-01 6.46393862e-01 4.29800649e-03 7.21400250e+01] [ 6.46383035e-01 7.63003911e-01 -3.74215570e-03 -1.51856763e+02] [-5.69830224e-03 -7.70756745e-05 -9.99983762e-01 -1.81651377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.556559995 meters 0.013701027608885545 Centerline is valid? [True, True] Translation: X:72.16, Y:-151.84, Z:-1.82 [[-8.05939979e-01 5.91977156e-01 4.87835691e-03 7.21569692e+01] [ 5.91965760e-01 8.05954739e-01 -3.67380715e-03 -1.51836382e+02] [-6.10654477e-03 -7.30477983e-05 -9.99981352e-01 -1.81620793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.58655999499996 meters 0.01313584330000862 Centerline is valid? [True, True] Translation: X:72.17, Y:-151.82, Z:-1.82 [[-8.44947231e-01 5.34820333e-01 5.60243734e-03 7.21730346e+01] [ 5.34808036e-01 8.44965802e-01 -3.62751260e-03 -1.51816142e+02] [-6.67393545e-03 -6.88282220e-05 -9.99977727e-01 -1.81625883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.616559995 meters 0.013164960937409063 Centerline is valid? [True, True] Translation: X:72.56, Y:-151.23, Z:-2.78 [[-7.95678988e-01 -6.05689079e-01 5.97394607e-03 7.25601462e+01] [ 6.05673136e-01 -7.95701404e-01 -4.39632177e-03 -1.51234203e+02] [ 7.41628136e-03 1.20197798e-04 9.99972492e-01 -2.77503283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.64655999499996 meters 0.012866723259102967 Centerline is valid? [True, True] Translation: X:72.14, Y:-151.80, Z:-1.82 [[-8.44857086e-01 5.34951085e-01 6.62126055e-03 7.21387110e+01] [ 5.34934178e-01 8.44883030e-01 -4.25339951e-03 -1.51798848e+02] [-7.86955136e-03 -5.15761461e-05 -9.99969033e-01 -1.81610227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.676559995 meters 0.012780094424746912 Centerline is valid? [True, True] Translation: X:72.15, Y:-151.78, Z:-1.82 [[-8.80216561e-01 4.74517668e-01 7.19646297e-03 7.21524545e+01] [ 4.74501373e-01 8.80245977e-01 -3.93276735e-03 -1.51775629e+02] [-8.20082518e-03 -4.69553926e-05 -9.99966372e-01 -1.81636573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.70655999499996 meters 0.012730396537339586 Centerline is valid? [True, True] Translation: X:72.17, Y:-151.75, Z:-1.82 [[-9.11270247e-01 4.11738525e-01 7.61078667e-03 7.21670621e+01] [ 4.11723788e-01 9.11302028e-01 -3.48378357e-03 -1.51752700e+02] [-8.37013323e-03 -4.11263897e-05 -9.99964969e-01 -1.81649080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.736559995 meters 0.01253953110408176 Centerline is valid? [True, True] Translation: X:72.18, Y:-151.73, Z:-1.82 [[-9.37884143e-01 3.46853010e-01 8.14401078e-03 7.21780670e+01] [ 3.46839599e-01 9.37919500e-01 -3.05027523e-03 -1.51728473e+02] [-8.69642366e-03 -3.61393342e-05 -9.99962185e-01 -1.81722049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.76655999499997 meters 0.01265093524260303 Centerline is valid? [True, True] Translation: X:72.43, Y:-151.06, Z:-2.77 [[-9.09015558e-01 -4.16677826e-01 8.38482635e-03 7.24307284e+01] [ 4.16660800e-01 -9.09054225e-01 -3.76741584e-03 -1.51064997e+02] [ 9.19206046e-03 6.89888468e-05 9.99957750e-01 -2.77356198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.79655999499994 meters 0.012660951123483852 Centerline is valid? [True, True] Translation: X:72.13, Y:-151.71, Z:-1.82 [[-9.39258567e-01 3.43080218e-01 9.45029734e-03 7.21337925e+01] [ 3.43062380e-01 9.39306107e-01 -3.49876530e-03 -1.51712547e+02] [-1.00770792e-02 -4.42037792e-05 -9.99949224e-01 -1.81696407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.82655999499997 meters 0.012629945547088954 Centerline is valid? [True, True] Translation: X:72.14, Y:-151.69, Z:-1.82 [[-9.61248610e-01 2.75509666e-01 9.77414650e-03 7.21405855e+01] [ 2.75494936e-01 9.61298300e-01 -2.84925925e-03 -1.51685287e+02] [-1.01808689e-02 -4.61186238e-05 -9.99948173e-01 -1.81665967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.85655999499994 meters 0.012592488967057312 Centerline is valid? [True, True] Translation: X:72.35, Y:-151.01, Z:-2.77 [[-9.37395606e-01 -3.48123166e-01 9.98699796e-03 7.23474096e+01] [ 3.48104275e-01 -9.37448802e-01 -3.62743662e-03 -1.51007575e+02] [ 1.06250940e-02 7.61735392e-05 9.99943549e-01 -2.77435302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.88655999499997 meters 0.012630446212813453 Centerline is valid? [True, True] Translation: X:72.09, Y:-151.67, Z:-1.82 [[-9.62417370e-01 2.71393727e-01 9.91212635e-03 7.20914299e+01] [ 2.71378776e-01 9.62468411e-01 -2.84907865e-03 -1.51670557e+02] [-1.03133306e-02 -5.20620663e-05 -9.99946815e-01 -1.81573533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.91655999499994 meters 0.012514278397967937 Centerline is valid? [True, True] Translation: X:72.11, Y:-151.65, Z:-1.82 [[-9.79241523e-01 2.02451365e-01 9.97416333e-03 7.21061959e+01] [ 2.02440334e-01 9.79292317e-01 -2.11398460e-03 -1.51645913e+02] [-1.01956006e-02 -5.09285466e-05 -9.99948022e-01 -1.81649161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.946559995 meters 0.01246041627839585 Centerline is valid? [True, True] Translation: X:72.11, Y:-151.62, Z:-1.82 [[-9.91019568e-01 1.33354357e-01 9.84029278e-03 7.21094696e+01] [ 1.33347374e-01 9.91068420e-01 -1.36526288e-03 -1.51619361e+02] [-9.93446718e-03 -4.08250269e-05 -9.99950651e-01 -1.81707269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.97655999499995 meters 0.01246041627839585 Centerline is valid? [True, True] Translation: X:72.11, Y:-151.59, Z:-1.82 [[-9.97985801e-01 6.26584981e-02 9.91232650e-03 7.21107889e+01] [ 6.26550013e-02 9.98035025e-01 -6.63214420e-04 -1.51591577e+02] [-9.93440505e-03 -4.08217439e-05 -9.99950652e-01 -1.81707340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.006559995 meters 0.012355194822555284 Centerline is valid? [True, True] Translation: X:72.16, Y:-150.88, Z:-2.77 [[-9.90554575e-01 -1.36813851e-01 9.14357881e-03 7.21646662e+01] [ 1.36807955e-01 -9.90596775e-01 -1.27020017e-03 -1.50883811e+02] [ 9.23138066e-03 -7.28827448e-06 9.99957390e-01 -2.77332886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.03655999499995 meters 0.012233583561022067 Centerline is valid? [True, True] Translation: X:72.05, Y:-151.59, Z:-1.82 [[-9.98139671e-01 6.04426849e-02 7.99246778e-03 7.20470819e+01] [ 6.04406315e-02 9.98171669e-01 -4.98420452e-04 -1.51589093e+02] [-8.00798078e-03 -1.44234257e-05 -9.99967936e-01 -1.81902627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.066559995 meters 0.012172202313244812 Centerline is valid? [True, True] Translation: X:72.05, Y:-151.56, Z:-1.82 [[-9.99926359e-01 -9.84752696e-03 7.09238521e-03 7.20478204e+01] [-9.84733055e-03 9.99951512e-01 6.26149734e-05 -1.51561335e+02] [-7.09265792e-03 -7.23069911e-06 -9.99974847e-01 -1.81960981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.09655999499995 meters 0.012288484416893014 Centerline is valid? [True, True] Translation: X:72.05, Y:-150.85, Z:-2.77 [[-9.98303458e-01 -5.78591536e-02 6.52104944e-03 7.20463846e+01] [ 5.78577268e-02 -9.98324756e-01 -4.07398041e-04 -1.50848981e+02] [ 6.53369679e-03 -2.94137762e-05 9.99978655e-01 -2.77144276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.126559995 meters 0.01228384197189988 Centerline is valid? [True, True] Translation: X:71.96, Y:-151.56, Z:-1.82 [[-9.99900007e-01 -1.25539422e-02 6.50962455e-03 7.19604348e+01] [-1.25536259e-02 9.99921196e-01 8.94451816e-05 -1.51561922e+02] [-6.51023446e-03 7.71684633e-06 -9.99978808e-01 -1.81968948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.15655999499995 meters 0.012214518284711881 Centerline is valid? [True, True] Translation: X:71.97, Y:-151.53, Z:-1.82 [[-9.96541261e-01 -8.28635127e-02 6.25733493e-03 7.19710788e+01] [-8.28617962e-02 9.96560905e-01 5.33519133e-04 -1.51533447e+02] [-6.28002463e-03 1.31798174e-05 -9.99980280e-01 -1.81975629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.186559995 meters 0.012318112732012153 Centerline is valid? [True, True] Translation: X:71.96, Y:-151.51, Z:-1.82 [[-9.88262780e-01 -1.52641001e-01 6.11573582e-03 7.19606658e+01] [-1.52637952e-01 9.88281703e-01 9.64884478e-04 -1.51506106e+02] [-6.19135074e-03 2.00660237e-05 -9.99980833e-01 -1.81919893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.21655999499995 meters 0.012282977385051727 Centerline is valid? [True, True] Translation: X:71.84, Y:-150.81, Z:-2.77 [[-9.95643032e-01 9.30375638e-02 6.24223316e-03 7.18393489e+01] [-9.30358314e-02 -9.95662599e-01 5.67966135e-04 -1.50805701e+02] [ 6.26800028e-03 -1.52598268e-05 9.99980356e-01 -2.77161103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.246559995 meters 0.012286918014578029 Centerline is valid? [True, True] Translation: X:71.84, Y:-151.52, Z:-1.82 [[-9.87375211e-01 -1.58268053e-01 6.43551749e-03 7.18386302e+01] [-1.58264517e-01 9.87396183e-01 1.05826389e-03 -1.51523275e+02] [-6.52189477e-03 2.63894587e-05 -9.99978732e-01 -1.81963844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.27655999499996 meters 0.01227142476762585 Centerline is valid? [True, True] Translation: X:71.81, Y:-151.50, Z:-1.82 [[-9.73475220e-01 -2.28706155e-01 6.28420664e-03 7.18115329e+01] [-2.28701209e-01 9.73495503e-01 1.50436568e-03 -1.51499261e+02] [-6.46170459e-03 2.72570559e-05 -9.99979123e-01 -1.81951731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.306559995 meters 0.012227912800533505 Centerline is valid? [True, True] Translation: X:71.77, Y:-151.48, Z:-1.82 [[-9.54275367e-01 -2.98856247e-01 6.59299795e-03 7.17698423e+01] [-2.98848906e-01 9.54298141e-01 2.09499007e-03 -1.51480688e+02] [-6.91778656e-03 2.88871999e-05 -9.99976071e-01 -1.81972537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.33655999499996 meters 0.012399313898585259 Centerline is valid? [True, True] Translation: X:71.71, Y:-151.47, Z:-1.82 [[-9.29665124e-01 -3.68342856e-01 6.80416987e-03 7.17077020e+01] [-3.68332754e-01 9.29690023e-01 2.72818703e-03 -1.51472298e+02] [-7.33067705e-03 3.01017102e-05 -9.99973130e-01 -1.81919425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.366559995 meters 0.012303767011562116 Centerline is valid? [True, True] Translation: X:71.64, Y:-151.47, Z:-1.82 [[-8.99675320e-01 -4.36507359e-01 6.75609295e-03 7.16382941e+01] [-4.36494824e-01 8.99700686e-01 3.30819393e-03 -1.51469918e+02] [-7.52251246e-03 2.73008260e-05 -9.99971705e-01 -1.81913862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.39655999499996 meters 0.01229571474332456 Centerline is valid? [True, True] Translation: X:71.56, Y:-151.48, Z:-1.82 [[-8.64479606e-01 -5.02619636e-01 6.96507526e-03 7.15616061e+01] [-5.02603079e-01 8.64507664e-01 4.07978902e-03 -1.51477814e+02] [-8.07194302e-03 2.62261352e-05 -9.99967421e-01 -1.81892393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.426559995 meters 0.012332018420390268 Centerline is valid? [True, True] Translation: X:71.48, Y:-151.50, Z:-1.82 [[-8.24142288e-01 -5.66332594e-01 7.54203041e-03 7.14762015e+01] [-5.66308606e-01 8.24176797e-01 5.21249488e-03 -1.51496143e+02] [-9.16797221e-03 2.47207285e-05 -9.99957973e-01 -1.81784812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.45655999499996 meters 0.012223129355565847 Centerline is valid? [True, True] Translation: X:71.39, Y:-151.52, Z:-1.82 [[-7.79019523e-01 -6.26954771e-01 7.50322655e-03 7.13894616e+01] [-6.26925415e-01 7.79055656e-01 6.06706368e-03 -1.51524707e+02] [-9.64920560e-03 2.23976388e-05 -9.99953445e-01 -1.81797227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.486559995 meters 0.012261809437597353 Centerline is valid? [True, True] Translation: X:71.30, Y:-151.56, Z:-1.82 [[-7.29314527e-01 -6.84140237e-01 7.24271078e-03 7.13034877e+01] [-6.84106212e-01 7.29350489e-01 6.82313878e-03 -1.51561343e+02] [-9.95045843e-03 2.14307920e-05 -9.99950493e-01 -1.81774116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.51655999499997 meters 0.01225284521280597 Centerline is valid? [True, True] Translation: X:71.22, Y:-151.61, Z:-1.82 [[-6.75319975e-01 -7.37493886e-01 6.76007002e-03 7.12151760e+01] [-7.37456636e-01 6.75353809e-01 7.41232535e-03 -1.51609635e+02] [-1.00319837e-02 2.04328782e-05 -9.99949678e-01 -1.81833446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.54655999499994 meters 0.012130646203069449 Centerline is valid? [True, True] Translation: X:71.13, Y:-151.67, Z:-1.82 [[-6.16877509e-01 -7.87034143e-01 6.27663710e-03 7.11261690e+01] [-7.86993179e-01 6.16909440e-01 8.02989987e-03 -1.51668918e+02] [-1.01919220e-02 1.37940476e-05 -9.99948061e-01 -1.81892839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.57655999499997 meters 0.012135909794145574 Centerline is valid? [True, True] Translation: X:71.04, Y:-151.74, Z:-1.82 [[-5.54885199e-01 -8.31909450e-01 5.39283319e-03 7.10427728e+01] [-8.31869999e-01 5.54911404e-01 8.10171218e-03 -1.51735213e+02] [-9.73243557e-03 9.38403118e-06 -9.99952639e-01 -1.81966363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.60655999499994 meters 0.012067127753755557 Centerline is valid? [True, True] Translation: X:70.96, Y:-151.81, Z:-1.82 [[-4.89038128e-01 -8.72248999e-01 4.83670041e-03 7.09621129e+01] [-8.72206325e-01 4.89062045e-01 8.62797501e-03 -1.51811394e+02] [-9.89118916e-03 8.08052562e-07 -9.99951081e-01 -1.81983932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.63655999499997 meters 0.011992261065309965 Centerline is valid? [True, True] Translation: X:70.88, Y:-151.90, Z:-1.82 [[-4.18877878e-01 -9.08033351e-01 4.09347132e-03 7.08829032e+01] [-9.07990510e-01 4.18897878e-01 8.82052392e-03 -1.51898115e+02] [-9.72407635e-03 -2.21107729e-05 -9.99952720e-01 -1.81997236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.66655999499994 meters 0.011954565429339847 Centerline is valid? [True, True] Translation: X:70.81, Y:-151.99, Z:-1.82 [[-3.47398246e-01 -9.37712088e-01 3.24008109e-03 7.08140305e+01] [-9.37672068e-01 3.47413354e-01 8.66340133e-03 -1.51986575e+02] [-9.24942359e-03 -2.84831093e-05 -9.99957223e-01 -1.82074201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.696559995 meters 0.011954565429339847 Centerline is valid? [True, True] Translation: X:70.75, Y:-152.09, Z:-1.82 [[-2.74473812e-01 -9.61591151e-01 2.56620533e-03 7.07518907e+01] [-9.61550090e-01 2.74485807e-01 8.88628991e-03 -1.52085292e+02] [-9.24936468e-03 -2.84811005e-05 -9.99957223e-01 -1.82074483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.72655999499995 meters 0.011987219675031987 Centerline is valid? [True, True] Translation: X:70.70, Y:-152.19, Z:-1.82 [[-1.98906544e-01 -9.80016734e-01 1.84075558e-03 7.06956615e+01] [-9.79976522e-01 1.98915058e-01 8.87782190e-03 -1.52189945e+02] [-9.06656803e-03 -3.80403772e-05 -9.99958897e-01 -1.82102515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.756559995 meters 0.0120956255633419 Centerline is valid? [True, True] Translation: X:70.65, Y:-152.30, Z:-1.82 [[-1.22468354e-01 -9.92471635e-01 1.24756833e-03 7.06471891e+01] [-9.92423972e-01 1.22474699e-01 9.72663207e-03 -1.52297910e+02] [-9.80620199e-03 -4.69121078e-05 -9.99951917e-01 -1.81951811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.78655999499995 meters 0.011978762272925325 Centerline is valid? [True, True] Translation: X:70.61, Y:-152.41, Z:-1.82 [[-4.60620125e-02 -9.98938454e-01 5.06323694e-04 7.06094620e+01] [-9.98888616e-01 4.60647721e-02 9.97847363e-03 -1.52413021e+02] [-9.99120471e-03 -4.61323972e-05 -9.99950086e-01 -1.82023140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.816559995 meters 0.011987865305018363 Centerline is valid? [True, True] Translation: X:70.58, Y:-152.53, Z:-1.82 [[ 2.99649060e-02 -9.99550915e-01 -2.71008886e-04 7.05805933e+01] [-9.99497515e-01 -2.99661065e-02 1.03319561e-02 -1.52531825e+02] [-1.03354372e-02 -3.87233845e-05 -9.99946587e-01 -1.82009026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.84655999499995 meters 0.011922720321403759 Centerline is valid? [True, True] Translation: X:70.56, Y:-152.65, Z:-1.82 [[ 1.05345806e-01 -9.94435054e-01 -1.08852230e-03 7.05611481e+01] [-9.94379437e-01 -1.05351426e-01 1.05172470e-02 -1.52646679e+02] [-1.05733965e-02 -2.55436665e-05 -9.99944100e-01 -1.82053085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.876559995 meters 0.01209124091955001 Centerline is valid? [True, True] Translation: X:70.55, Y:-152.76, Z:-1.82 [[ 1.79750242e-01 -9.83710182e-01 -2.03198236e-03 7.05508167e+01] [-9.83646907e-01 -1.79761727e-01 1.11572334e-02 -1.52762219e+02] [-1.13407568e-02 -6.76224712e-06 -9.99935692e-01 -1.82079009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.90655999499995 meters 0.01258524310701369 Centerline is valid? [True, True] Translation: X:70.55, Y:-152.88, Z:-1.82 [[ 2.50279867e-01 -9.68168697e-01 -3.05971821e-03 7.05508956e+01] [-9.68098651e-01 -2.50298565e-01 1.16460635e-02 -1.52877506e+02] [-1.20411972e-02 4.73338433e-05 -9.99927501e-01 -1.82190707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.936559995 meters 0.013157433873043724 Centerline is valid? [True, True] Translation: X:70.56, Y:-152.99, Z:-1.82 [[ 3.21750721e-01 -9.46815595e-01 -4.08684762e-03 7.05591398e+01] [-9.46742235e-01 -3.21776666e-01 1.17863306e-02 -1.52994936e+02] [-1.24745338e-02 7.69308899e-05 -9.99922187e-01 -1.82162541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.96655999499995 meters 0.013378203592494697 Centerline is valid? [True, True] Translation: X:70.58, Y:-153.11, Z:-1.82 [[ 3.91502932e-01 -9.20162420e-01 -5.15503082e-03 7.05752726e+01] [-9.20086233e-01 -3.91536855e-01 1.18412673e-02 -1.53108844e+02] [-1.29142737e-02 1.07182028e-04 -9.99916602e-01 -1.82216602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.996559995 meters 0.014133278111658532 Centerline is valid? [True, True] Translation: X:70.60, Y:-153.22, Z:-1.82 [[ 4.57470192e-01 -8.89201799e-01 -6.41747703e-03 7.06023092e+01] [-8.89119377e-01 -4.57515172e-01 1.21079289e-02 -1.53223341e+02] [-1.37024853e-02 1.66886600e-04 -9.99906103e-01 -1.82249639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.02655999499996 meters 0.014427627052648018 Centerline is valid? [True, True] Translation: X:70.63, Y:-153.33, Z:-1.82 [[ 5.22781373e-01 -8.52433823e-01 -7.49750151e-03 7.06329287e+01] [-8.52351419e-01 -5.22835098e-01 1.18541142e-02 -1.53329721e+02] [-1.40248049e-02 1.93395930e-04 -9.99901629e-01 -1.82261130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.056559995 meters 0.014933764205281707 Centerline is valid? [True, True] Translation: X:70.67, Y:-153.44, Z:-1.82 [[ 5.85247901e-01 -8.10811446e-01 -8.34825398e-03 7.06729627e+01] [-8.10734097e-01 -5.85307401e-01 1.12013263e-02 -1.53435287e+02] [-1.39684584e-02 2.12661462e-04 -9.99902414e-01 -1.82259952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.08655999499996 meters 0.015627875974204272 Centerline is valid? [True, True] Translation: X:70.72, Y:-153.54, Z:-1.82 [[ 6.43779511e-01 -7.65149312e-01 -9.71963868e-03 7.07205152e+01] [-7.65068069e-01 -6.43852829e-01 1.11527971e-02 -1.53535664e+02] [-1.47915719e-02 2.56242914e-04 -9.99890566e-01 -1.82242785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.116559995 meters 0.015653143155484252 Centerline is valid? [True, True] Translation: X:70.77, Y:-153.63, Z:-1.82 [[ 6.99814773e-01 -7.14242689e-01 -1.08011588e-02 7.07713163e+01] [-7.14163525e-01 -6.99898070e-01 1.06372624e-02 -1.53630238e+02] [-1.51572971e-02 2.69680333e-04 -9.99885085e-01 -1.82253711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.14655999499996 meters 0.01599741268357226 Centerline is valid? [True, True] Translation: X:70.77, Y:-153.64, Z:-1.82 [[ 7.53458614e-01 -6.57387760e-01 -1.18933066e-02 7.07697901e+01] [-6.57311644e-01 -7.53552425e-01 1.00072684e-02 -1.53635274e+02] [-1.55408858e-02 2.77546346e-04 -9.99879195e-01 -1.82169183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.176559995 meters 0.015530222588941045 Centerline is valid? [True, True] Translation: X:70.77, Y:-153.64, Z:-1.82 [[ 8.03235343e-01 -5.95521449e-01 -1.29300628e-02 7.07689666e+01] [-5.95449591e-01 -8.03339364e-01 9.25480922e-03 -1.53642479e+02] [-1.58986658e-02 2.65410718e-04 -9.99873573e-01 -1.82228522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.20655999499996 meters 0.015240948576378699 Centerline is valid? [True, True] Translation: X:70.77, Y:-153.65, Z:-1.82 [[ 8.48081975e-01 -5.29681934e-01 -1.39288450e-02 7.07682536e+01] [-5.29615296e-01 -8.48196314e-01 8.40542129e-03 -1.53648453e+02] [-1.62665948e-02 2.48443081e-04 -9.99867659e-01 -1.82226998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.236559995 meters 0.014928155245683188 Centerline is valid? [True, True] Translation: X:70.77, Y:-153.65, Z:-1.82 [[ 8.87616808e-01 -4.60356110e-01 -1.44448406e-02 7.07682157e+01] [-4.60299209e-01 -8.87734309e-01 7.24122915e-03 -1.53654955e+02] [-1.61567246e-02 2.21511983e-04 -9.99869447e-01 -1.82191780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.26655999499997 meters 0.01465288442553415 Centerline is valid? [True, True] Translation: X:70.77, Y:-153.66, Z:-1.82 [[ 9.21537903e-01 -3.87993550e-01 -1.51294266e-02 7.07693895e+01] [-3.87944751e-01 -9.21662068e-01 6.15653176e-03 -1.53660984e+02] [-1.63329132e-02 1.95904263e-04 -9.99866590e-01 -1.82158162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.29655999499994 meters 0.013345621532433677 Centerline is valid? [True, True] Translation: X:70.77, Y:-153.67, Z:-1.82 [[ 9.50441963e-01 -3.10543146e-01 -1.49341497e-02 7.07688281e+01] [-3.10506763e-01 -9.50559278e-01 4.75493705e-03 -1.53672414e+02] [-1.56724077e-02 1.17862782e-04 -9.99877173e-01 -1.82284358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.32655999499997 meters 0.013266813383191167 Centerline is valid? [True, True] Translation: X:70.77, Y:-153.68, Z:-1.82 [[ 9.72426162e-01 -2.32722678e-01 -1.50836017e-02 7.07699462e+01] [-2.32695890e-01 -9.72543135e-01 3.53179071e-03 -1.53680571e+02] [-1.54913811e-02 7.54864418e-05 -9.99879999e-01 -1.82159309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.35655999499994 meters 0.012942511361685161 Centerline is valid? [True, True] Translation: X:70.77, Y:-153.69, Z:-1.82 [[ 9.88396243e-01 -1.51142082e-01 -1.51306873e-02 7.07717951e+01] [-1.51124378e-01 -9.88512049e-01 2.31331539e-03 -1.53686572e+02] [-1.53065060e-02 1.43460292e-07 -9.99882849e-01 -1.82025815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.38655999499997 meters 0.012711480699511389 Centerline is valid? [True, True] Translation: X:70.77, Y:-153.69, Z:-1.82 [[ 9.97371179e-01 -7.09498364e-02 -1.47259185e-02 7.07713369e+01] [-7.09415937e-02 -9.97479884e-01 1.08201643e-03 -1.53691856e+02] [-1.47655763e-02 -3.44918802e-05 -9.99890982e-01 -1.82120090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.41655999499994 meters 0.012787478139525535 Centerline is valid? [True, True] Translation: X:70.77, Y:-153.70, Z:-1.82 [[ 9.99847459e-01 9.87820299e-03 -1.44041773e-02 7.07717078e+01] [ 9.87818746e-03 -9.99951207e-01 -7.22270341e-05 -1.53697019e+02] [-1.44041880e-02 -7.00711472e-05 -9.99896252e-01 -1.82159589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.446559995 meters 0.013087623739413402 Centerline is valid? [True, True] Translation: X:70.77, Y:-153.70, Z:-1.82 [[ 9.95780205e-01 9.06914906e-02 -1.40298273e-02 7.07727720e+01] [ 9.06839702e-02 -9.95879030e-01 -1.17259101e-03 -1.53701816e+02] [-1.40783548e-02 -1.04637526e-04 -9.99900890e-01 -1.82157606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.47655999499995 meters 0.01376736512169988 Centerline is valid? [True, True] Translation: X:70.77, Y:-153.71, Z:-1.82 [[ 9.84711444e-01 1.73686883e-01 -1.32754879e-02 7.07741011e+01] [ 1.73673463e-01 -9.84800912e-01 -2.16597333e-03 -1.53708899e+02] [-1.34499137e-02 -1.72741223e-04 -9.99909531e-01 -1.82166834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.506559995 meters 0.014331851231906287 Centerline is valid? [True, True] Translation: X:70.78, Y:-153.72, Z:-1.82 [[ 9.67390641e-01 2.52976408e-01 -1.25811188e-02 7.07757970e+01] [ 2.52957741e-01 -9.67472427e-01 -3.07984656e-03 -1.53715194e+02] [-1.29510141e-02 -2.03076654e-04 -9.99916112e-01 -1.82200081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.53655999499995 meters 0.016464806660247102 Centerline is valid? [True, True] Translation: X:70.78, Y:-153.72, Z:-1.82 [[ 9.43721676e-01 3.30521958e-01 -1.20263590e-02 7.07779309e+01] [ 3.30498263e-01 -9.43798273e-01 -3.96446751e-03 -1.53722684e+02] [-1.26608005e-02 -2.33336853e-04 -9.99919822e-01 -1.82040291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.566559995 meters 0.01568335492168237 Centerline is valid? [True, True] Translation: X:70.78, Y:-153.73, Z:-1.82 [[ 9.13926955e-01 4.05719942e-01 -1.13512026e-02 7.07797304e+01] [ 4.05692140e-01 -9.13997408e-01 -4.75658149e-03 -1.53726273e+02] [-1.23048097e-02 -2.57925641e-04 -9.99924260e-01 -1.82224911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.59655999499995 meters 0.017088261897212045 Centerline is valid? [True, True] Translation: X:70.78, Y:-153.73, Z:-1.82 [[ 8.77229080e-01 4.79970847e-01 -9.85532313e-03 7.07837494e+01] [ 4.79944145e-01 -8.77284393e-01 -5.07063404e-03 -1.53732903e+02] [-1.10796777e-02 -2.81897000e-04 -9.99938579e-01 -1.82167217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.626559995 meters 0.02074020383894565 Centerline is valid? [True, True] Translation: X:70.79, Y:-153.74, Z:-1.82 [[ 8.35102391e-01 5.50025873e-01 -8.69108546e-03 7.07893125e+01] [ 5.49999726e-01 -8.35147563e-01 -5.37119632e-03 -1.53741083e+02] [-1.02126358e-02 -2.94595723e-04 -9.99947806e-01 -1.81961373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.65655999499995 meters 0.01822326675067569 Centerline is valid? [True, True] Translation: X:70.79, Y:-153.74, Z:-1.82 [[ 7.88678498e-01 6.14754242e-01 -7.96544017e-03 7.07923539e+01] [ 6.14726662e-01 -7.88718665e-01 -5.83081046e-03 -1.53742204e+02] [-9.86700680e-03 -2.97933603e-04 -9.99951276e-01 -1.82101792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.686559995 meters 0.019966264179256146 Centerline is valid? [True, True] Translation: X:70.80, Y:-153.75, Z:-1.82 [[ 7.37665481e-01 6.75125606e-01 -7.41979577e-03 7.07978105e+01] [ 6.75095523e-01 -7.37702734e-01 -6.38046763e-03 -1.53748725e+02] [-9.78122071e-03 -3.02420182e-04 -9.99952117e-01 -1.81969758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.71655999499995 meters 0.018873714724092754 Centerline is valid? [True, True] Translation: X:70.80, Y:-153.75, Z:-1.82 [[ 6.82449460e-01 7.30901043e-01 -6.81176900e-03 7.08011066e+01] [ 7.30868954e-01 -6.82483389e-01 -6.85538374e-03 -1.53750557e+02] [-9.65952631e-03 -3.00057555e-04 -9.99953301e-01 -1.81962640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.746559995 meters 0.018992678360156622 Centerline is valid? [True, True] Translation: X:70.80, Y:-153.75, Z:-1.82 [[ 6.23978534e-01 7.81417076e-01 -6.17597619e-03 7.08034495e+01] [ 7.81383254e-01 -6.24009032e-01 -7.27585481e-03 -1.53752554e+02] [-9.53934212e-03 -2.85827162e-04 -9.99954459e-01 -1.81832378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.77655999499996 meters 0.018992678360156622 Centerline is valid? [True, True] Translation: X:70.81, Y:-153.76, Z:-1.82 [[ 5.60862883e-01 8.27889854e-01 -5.58711512e-03 7.08072005e+01] [ 8.27853748e-01 -5.60890638e-01 -7.73717245e-03 -1.53755547e+02] [-9.53928713e-03 -2.85821343e-04 -9.99954459e-01 -1.81832427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.806559995 meters 0.018152356254770477 Centerline is valid? [True, True] Translation: X:70.81, Y:-153.76, Z:-1.82 [[ 4.97237490e-01 8.67601494e-01 -4.74622313e-03 7.08061373e+01] [ 8.67566522e-01 -4.97260082e-01 -7.79360211e-03 -1.53755819e+02] [-9.12184814e-03 -2.42393143e-04 -9.99958366e-01 -1.81810266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.83655999499996 meters 0.01736174408150282 Centerline is valid? [True, True] Translation: X:70.81, Y:-153.76, Z:-1.82 [[ 4.29999247e-01 9.02819936e-01 -4.10013192e-03 7.08063530e+01] [ 9.02783631e-01 -4.30018739e-01 -8.09939037e-03 -1.53756324e+02] [-9.07542464e-03 -2.18800220e-04 -9.99958794e-01 -1.81794145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.866559995 meters 0.01633750372009591 Centerline is valid? [True, True] Translation: X:70.81, Y:-153.76, Z:-1.82 [[ 3.60889989e-01 9.32602278e-01 -3.37748622e-03 7.08060447e+01] [ 9.32566151e-01 -3.60905745e-01 -8.21085652e-03 -1.53757375e+02] [-8.87641767e-03 -1.86513410e-04 -9.99960586e-01 -1.81762967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.89655999499996 meters 0.015480006442020505 Centerline is valid? [True, True] Translation: X:70.80, Y:-153.76, Z:-1.82 [[ 2.89973271e-01 9.57030931e-01 -2.70166124e-03 7.08041715e+01] [ 9.56994250e-01 -2.89985814e-01 -8.38047129e-03 -1.53759168e+02] [-8.80381368e-03 -1.55361606e-04 -9.99961234e-01 -1.81751138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.926559995 meters 0.013609239107686952 Centerline is valid? [True, True] Translation: X:70.80, Y:-153.76, Z:-1.82 [[ 2.22166210e-01 9.75006837e-01 -1.96051415e-03 7.07956362e+01] [ 9.74971982e-01 -2.22174846e-01 -8.24455156e-03 -1.53760002e+02] [-8.47407106e-03 -7.97855946e-05 -9.99964091e-01 -1.81717739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.95655999499996 meters 0.012913458468232322 Centerline is valid? [True, True] Translation: X:70.79, Y:-153.76, Z:-1.82 [[ 1.49848962e-01 9.88708088e-01 -1.26669064e-03 7.07921716e+01] [ 9.88674868e-01 -1.49854311e-01 -8.10494990e-03 -1.53762142e+02] [-8.20324858e-03 -3.78268740e-05 -9.99966352e-01 -1.81714263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.986559995 meters 0.01276962175245897 Centerline is valid? [True, True] Translation: X:70.79, Y:-153.77, Z:-1.82 [[ 7.68074950e-02 9.97045735e-01 -6.40798551e-04 7.07881660e+01] [ 9.97010798e-01 -7.68101679e-02 -8.34665394e-03 -1.53765921e+02] [-8.37121556e-03 2.20250532e-06 -9.99964961e-01 -1.81670322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.01655999499997 meters 0.01381445781540431 Centerline is valid? [True, True] Translation: X:70.78, Y:-153.77, Z:-1.82 [[ 7.49747123e-03 9.99971893e-01 1.44802599e-05 7.07810231e+01] [ 9.99939066e-01 -7.49710776e-03 -8.10295092e-03 -1.53769617e+02] [-8.10261462e-03 7.52310190e-05 -9.99967170e-01 -1.81701488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.04655999499994 meters 0.013980645110143597 Centerline is valid? [True, True] Translation: X:70.79, Y:-153.77, Z:-1.82 [[-6.86769974e-02 9.97638808e-01 5.27973292e-04 7.07854614e+01] [ 9.97617152e-01 6.86789856e-02 -6.57376753e-03 -1.53774157e+02] [-6.59450627e-03 7.52485964e-05 -9.99978253e-01 -1.81778213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.07655999499997 meters 0.015132659519300892 Centerline is valid? [True, True] Translation: X:70.79, Y:-153.78, Z:-1.82 [[-1.42645331e-01 9.89773488e-01 8.66925137e-04 7.07874313e+01] [ 9.89758630e-01 1.42647940e-01 -5.42392577e-03 -1.53779604e+02] [-5.49212302e-03 8.43489499e-05 -9.99984915e-01 -1.81772368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.10655999499994 meters 0.015430201449954942 Centerline is valid? [True, True] Translation: X:70.79, Y:-153.78, Z:-1.82 [[-2.17973353e-01 9.75953930e-01 1.24257315e-03 7.07914725e+01] [ 9.75940365e-01 2.17976876e-01 -5.14648251e-03 -1.53783286e+02] [-5.29358204e-03 9.08812460e-05 -9.99985985e-01 -1.81796589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.13655999499997 meters 0.016135037533606178 Centerline is valid? [True, True] Translation: X:70.79, Y:-153.79, Z:-1.82 [[-2.91777258e-01 9.56484968e-01 1.59291164e-03 7.07943248e+01] [ 9.56472510e-01 2.91781590e-01 -4.88279444e-03 -1.53787185e+02] [-5.13510177e-03 9.88878185e-05 -9.99986810e-01 -1.81789756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.16655999499994 meters 0.016879802406866335 Centerline is valid? [True, True] Translation: X:70.80, Y:-153.79, Z:-1.82 [[-3.64417949e-01 9.31233473e-01 1.94339907e-03 7.07978050e+01] [ 9.31221729e-01 3.64423116e-01 -4.67807910e-03 -1.53792667e+02] [-5.06460339e-03 1.04959454e-04 -9.99987169e-01 -1.81789622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.196559995 meters 0.016525377721769992 Centerline is valid? [True, True] Translation: X:70.81, Y:-153.79, Z:-1.82 [[-4.35025618e-01 9.00415263e-01 2.25078198e-03 7.08055384e+01] [ 9.00404484e-01 4.35031427e-01 -4.40720054e-03 -1.53794285e+02] [-4.94747153e-03 1.09369046e-04 -9.99987755e-01 -1.81827865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.22655999499995 meters 0.01829851650213502 Centerline is valid? [True, True] Translation: X:70.81, Y:-153.80, Z:-1.82 [[-5.02028904e-01 8.64847615e-01 2.36280453e-03 7.08124022e+01] [ 8.64839057e-01 5.02034452e-01 -3.84891434e-03 -1.53797598e+02] [-4.51493367e-03 1.11179396e-04 -9.99989801e-01 -1.81698071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.256559995 meters 0.0179473348340491 Centerline is valid? [True, True] Translation: X:70.82, Y:-153.80, Z:-1.82 [[-5.67359650e-01 8.23465745e-01 2.68217727e-03 7.08211763e+01] [ 8.23457502e-01 5.67365978e-01 -3.68643836e-03 -1.53797660e+02] [-4.55743185e-03 1.17122618e-04 -9.99989608e-01 -1.81620442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.28655999499995 meters 0.018598558375350384 Centerline is valid? [True, True] Translation: X:70.83, Y:-153.80, Z:-1.82 [[-6.29244847e-01 7.77201834e-01 2.86912366e-03 7.08285122e+01] [ 7.77194599e-01 6.29251377e-01 -3.35572268e-03 -1.53798160e+02] [-4.41347383e-03 1.18296208e-04 -9.99990254e-01 -1.81531021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.316559995 meters 0.01956040720951237 Centerline is valid? [True, True] Translation: X:70.84, Y:-153.80, Z:-1.81 [[-6.86829407e-01 7.26813892e-01 2.63279387e-03 7.08352632e+01] [ 7.26809138e-01 6.86834445e-01 -2.63104232e-03 -1.53799046e+02] [-3.72057163e-03 1.06461403e-04 -9.99993073e-01 -1.81485778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.34655999499995 meters 0.019431336209528582 Centerline is valid? [True, True] Translation: X:70.86, Y:-153.78, Z:-1.81 [[-7.36163927e-01 6.76797287e-01 2.84676117e-03 7.08589004e+01] [ 6.76792797e-01 7.36169423e-01 -2.46784011e-03 -1.53780891e+02] [-3.76592602e-03 1.09932589e-04 -9.99992903e-01 -1.81493077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.376559995 meters 0.01720351275522252 Centerline is valid? [True, True] Translation: X:70.88, Y:-153.76, Z:-1.82 [[-7.82058265e-01 6.23198114e-01 2.99678969e-03 7.08822038e+01] [ 6.23194073e-01 7.82063999e-01 -2.24713409e-03 -1.53757393e+02] [-3.74409106e-03 1.10191783e-04 -9.99992985e-01 -1.81546334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.40655999499995 meters 0.01748003807603957 Centerline is valid? [True, True] Translation: X:70.90, Y:-153.73, Z:-1.81 [[-8.24403239e-01 5.65993737e-01 3.22318047e-03 7.09007331e+01] [ 5.65989934e-01 8.24409533e-01 -2.07766997e-03 -1.53733920e+02] [-3.83316889e-03 1.11449846e-04 -9.99992647e-01 -1.81452166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.436559995 meters 0.018692672197920243 Centerline is valid? [True, True] Translation: X:70.92, Y:-153.71, Z:-1.81 [[-8.62752607e-01 5.05612862e-01 3.68426522e-03 7.09182838e+01] [ 5.05608833e-01 8.62760465e-01 -2.02187226e-03 -1.53712193e+02] [-4.20092300e-03 1.18421474e-04 -9.99991169e-01 -1.81372507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.46655999499995 meters 0.01720883003985129 Centerline is valid? [True, True] Translation: X:70.93, Y:-153.68, Z:-1.81 [[-8.96838510e-01 4.42345797e-01 3.29889617e-03 7.09324620e+01] [ 4.42343207e-01 8.96844572e-01 -1.51706394e-03 -1.53683175e+02] [-3.62966398e-03 9.86829418e-05 -9.99993408e-01 -1.81323277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.496559995 meters 0.01675518310805095 Centerline is valid? [True, True] Translation: X:71.24, Y:-153.03, Z:-2.78 [[-8.90710059e-01 -4.54560622e-01 3.19871897e-03 7.12403724e+01] [ 4.54557292e-01 -8.90715797e-01 -1.74273518e-03 -1.53025391e+02] [ 3.64132831e-03 -9.82707228e-05 9.99993366e-01 -2.77856688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.52655999499996 meters 0.016060336158151334 Centerline is valid? [True, True] Translation: X:70.89, Y:-153.66, Z:-1.81 [[-9.00473069e-01 4.34904655e-01 2.48864080e-03 7.08894130e+01] [ 4.34903182e-01 9.00476506e-01 -1.13367061e-03 -1.53657020e+02] [-2.73400120e-03 6.14779521e-05 -9.99996261e-01 -1.81221534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.556559995 meters 0.01577236471295887 Centerline is valid? [True, True] Translation: X:70.90, Y:-153.63, Z:-1.81 [[-9.29632007e-01 3.68481842e-01 2.33749977e-03 7.08998285e+01] [ 3.68480817e-01 9.29634944e-01 -8.70644907e-04 -1.53629151e+02] [-2.49383831e-03 5.19444540e-05 -9.99996889e-01 -1.81249788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.58655999499996 meters 0.01577236471295887 Centerline is valid? [True, True] Translation: X:70.91, Y:-153.60, Z:-1.81 [[-9.53403900e-01 3.01687379e-01 2.39327482e-03 7.09088725e+01] [ 3.01686565e-01 9.53406903e-01 -7.02820604e-04 -1.53602518e+02] [-2.49379684e-03 5.19469535e-05 -9.99996889e-01 -1.81249833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.616559995 meters 0.015285620946568391 Centerline is valid? [True, True] Translation: X:70.92, Y:-153.57, Z:-1.81 [[-9.72777746e-01 2.31734370e-01 1.62414929e-03 7.09161100e+01] [ 2.31734101e-01 9.72779102e-01 -3.54439526e-04 -1.53573224e+02] [-1.66207431e-03 3.15798918e-05 -9.99998618e-01 -1.81315130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.64655999499996 meters 0.014335324938042276 Centerline is valid? [True, True] Translation: X:70.92, Y:-153.54, Z:-1.81 [[-9.87366780e-01 1.58445578e-01 1.35659912e-03 7.09194424e+01] [ 1.58445457e-01 9.87367712e-01 -1.96614448e-04 -1.53540360e+02] [-1.37061486e-03 2.08163939e-05 -9.99999061e-01 -1.81335465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.676559995 meters 0.013543724277412432 Centerline is valid? [True, True] Translation: X:70.92, Y:-153.51, Z:-1.81 [[-9.96305952e-01 8.58720790e-02 6.60572346e-04 7.09191250e+01] [ 8.58720655e-02 9.96306171e-01 -4.88272642e-05 -1.53508409e+02] [-6.62325203e-04 8.07781784e-06 -9.99999781e-01 -1.81323644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.70655999499996 meters 0.012873243407352714 Centerline is valid? [True, True] Translation: X:70.91, Y:-153.47, Z:-1.81 [[-9.99946798e-01 1.03150709e-02 -2.78971646e-05 7.09136055e+01] [ 1.03150710e-02 9.99946798e-01 -1.13324432e-06 -1.53474864e+02] [ 2.78839909e-05 -1.42094526e-06 -1.00000000e+00 -1.81331839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.736559995 meters 0.012586532912124486 Centerline is valid? [True, True] Translation: X:70.91, Y:-152.80, Z:-2.78 [[-9.98107942e-01 -6.14855779e-02 -2.43471610e-04 7.09129212e+01] [ 6.14855789e-02 -9.98107972e-01 3.71807617e-06 -1.52796350e+02] [-2.43239563e-04 -1.12589515e-05 9.99999970e-01 -2.77803948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.76655999499997 meters 0.01228063095853548 Centerline is valid? [True, True] Translation: X:70.84, Y:-153.47, Z:-1.81 [[-9.99999941e-01 2.78568907e-04 2.00308468e-04 7.08366275e+01] [ 2.78568852e-04 9.99999961e-01 -2.99489346e-07 -1.53468991e+02] [-2.00308543e-04 -2.43689634e-07 -9.99999980e-01 -1.81271941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.79655999499994 meters 0.01218752228008522 Centerline is valid? [True, True] Translation: X:70.84, Y:-152.80, Z:-2.78 [[-9.98124889e-01 -6.12069286e-02 6.46360798e-04 7.08352166e+01] [ 6.12069343e-02 -9.98125098e-01 -1.09386511e-05 -1.52801907e+02] [ 6.45818456e-04 2.86436229e-05 9.99999791e-01 -2.77956696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.82655999499997 meters 0.012149330057630267 Centerline is valid? [True, True] Translation: X:70.76, Y:-153.46, Z:-1.81 [[-9.99956535e-01 -9.20935161e-03 1.45462570e-03 7.07618714e+01] [-9.20934409e-03 9.99957593e-01 1.18691702e-05 -1.53464495e+02] [-1.45467332e-03 -1.52749436e-06 -9.99998942e-01 -1.81127774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.85655999499994 meters 0.012238190485565941 Centerline is valid? [True, True] Translation: X:70.75, Y:-152.81, Z:-2.78 [[-9.98071734e-01 -6.20149759e-02 2.63739065e-03 7.07488451e+01] [ 6.20149801e-02 -9.98075216e-01 -8.02620877e-05 -1.52807755e+02] [ 2.63729169e-03 8.34504075e-05 9.99996519e-01 -2.78156271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.88655999499997 meters 0.01228542421258997 Centerline is valid? [True, True] Translation: X:70.68, Y:-153.46, Z:-1.81 [[-9.99816124e-01 -1.88183491e-02 3.68607853e-03 7.06805635e+01] [-1.88182919e-02 9.99822919e-01 5.02093117e-05 -1.53459605e+02] [-3.68637065e-03 -1.91656223e-05 -9.99993205e-01 -1.80916286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.91655999499994 meters 0.012294554137428514 Centerline is valid? [True, True] Translation: X:70.68, Y:-152.81, Z:-2.78 [[-9.98270599e-01 -5.86643150e-02 3.78286714e-03 7.06753209e+01] [ 5.86639940e-02 -9.98277766e-01 -1.95850229e-04 -1.52811006e+02] [ 3.78784157e-03 2.64065699e-05 9.99992826e-01 -2.78262171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.946559995 meters 0.012276891034227076 Centerline is valid? [True, True] Translation: X:70.61, Y:-153.46, Z:-1.81 [[-9.99705433e-01 -2.37748071e-02 4.87915071e-03 7.06091650e+01] [-2.37746407e-02 9.99717339e-01 9.20976599e-05 -1.53460220e+02] [-4.87996117e-03 -2.39295244e-05 -9.99988093e-01 -1.80741416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.97655999499995 meters 0.01215600782046598 Centerline is valid? [True, True] Translation: X:70.60, Y:-152.81, Z:-2.78 [[-9.98660425e-01 -5.14733592e-02 5.27713082e-03 7.05954625e+01] [ 5.14729144e-02 -9.98674367e-01 -2.20166998e-04 -1.52810313e+02] [ 5.28146801e-03 5.17572348e-05 9.99986052e-01 -2.78460157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.006559995 meters 0.012090246593758602 Centerline is valid? [True, True] Translation: X:70.53, Y:-153.47, Z:-1.81 [[-9.99708966e-01 -2.33393082e-02 6.10405896e-03 7.05281077e+01] [-2.33388344e-02 9.99727601e-01 1.48848465e-04 -1.53467713e+02] [-6.10587024e-03 6.34352440e-06 -9.99981359e-01 -1.80615038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.03655999499995 meters 0.012226452752337011 Centerline is valid? [True, True] Translation: X:70.52, Y:-153.44, Z:-1.81 [[-9.95799525e-01 -9.13840892e-02 5.67925338e-03 7.05199997e+01] [-9.13824674e-02 9.95815720e-01 5.44942078e-04 -1.53443428e+02] [-5.70528883e-03 2.36688757e-05 -9.99983724e-01 -1.80651695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.066559995 meters 0.012614186916693103 Centerline is valid? [True, True] Translation: X:70.51, Y:-153.42, Z:-1.81 [[-9.87243074e-01 -1.59123270e-01 5.55850387e-03 7.05096425e+01] [-1.59120511e-01 9.87258721e-01 9.38000232e-04 -1.53420048e+02] [-5.63693909e-03 4.15622559e-05 -9.99984111e-01 -1.80638072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.09655999499995 meters 0.013009208330665082 Centerline is valid? [True, True] Translation: X:70.49, Y:-153.40, Z:-1.81 [[-9.74031685e-01 -2.26345657e-01 5.46998486e-03 7.04854522e+01] [-2.26341734e-01 9.74047042e-01 1.33399745e-03 -1.53399142e+02] [-5.62996710e-03 6.12699266e-05 -9.99984150e-01 -1.80666122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.126559995 meters 0.013673256472598025 Centerline is valid? [True, True] Translation: X:70.44, Y:-153.39, Z:-1.81 [[-9.55938127e-01 -2.93521505e-01 5.23678501e-03 7.04409706e+01] [-2.93516657e-01 9.55952467e-01 1.68893869e-03 -1.53385552e+02] [-5.50185738e-03 7.74372644e-05 -9.99984862e-01 -1.80651402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.15655999499995 meters 0.014566335394905629 Centerline is valid? [True, True] Translation: X:70.39, Y:-153.38, Z:-1.81 [[-9.34053071e-01 -3.57113369e-01 3.86039943e-03 7.03851599e+01] [-3.57109942e-01 9.34061044e-01 1.56701135e-03 -1.53380466e+02] [-4.16544942e-03 8.50847530e-05 -9.99991321e-01 -1.80794959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.186559995 meters 0.016090836819211193 Centerline is valid? [True, True] Translation: X:70.31, Y:-153.39, Z:-1.81 [[-9.06207291e-01 -4.22821647e-01 3.19389552e-03 7.03139509e+01] [-4.22818700e-01 9.06212916e-01 1.58074157e-03 -1.53386038e+02] [-3.56272112e-03 8.20407803e-05 -9.99993650e-01 -1.80842164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.21655999499995 meters 0.01585531999377849 Centerline is valid? [True, True] Translation: X:70.24, Y:-153.40, Z:-1.81 [[-8.73240775e-01 -4.87282343e-01 2.54313397e-03 7.02379340e+01] [-4.87280027e-01 8.73244475e-01 1.50422017e-03 -1.53396043e+02] [-2.95375762e-03 7.43280013e-05 -9.99995635e-01 -1.80932460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.246559995 meters 0.017050193149275535 Centerline is valid? [True, True] Translation: X:70.16, Y:-153.42, Z:-1.81 [[-8.36096410e-01 -5.48578807e-01 2.02125102e-03 7.01563426e+01] [-5.48577000e-01 8.36098850e-01 1.41002623e-03 -1.53419045e+02] [-2.46347616e-03 7.01060516e-05 -9.99996963e-01 -1.80984570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.27655999499996 meters 0.017417987367661092 Centerline is valid? [True, True] Translation: X:70.07, Y:-153.45, Z:-1.81 [[-7.93057504e-01 -6.09144329e-01 1.72713186e-03 7.00690536e+01] [-6.09142702e-01 7.93059382e-01 1.40946968e-03 -1.53450577e+02] [-2.22828859e-03 6.57207334e-05 -9.99997515e-01 -1.80972080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.306559995 meters 0.01764354783497994 Centerline is valid? [True, True] Translation: X:69.98, Y:-153.49, Z:-1.81 [[-7.45148115e-01 -6.66893177e-01 2.78869336e-03 6.99772668e+01] [-6.66887909e-01 7.45153324e-01 2.65340316e-03 -1.53494199e+02] [-3.84754059e-03 1.17432479e-04 -9.99992591e-01 -1.80898864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.33655999499996 meters 0.01773729332448446 Centerline is valid? [True, True] Translation: X:69.89, Y:-153.54, Z:-1.81 [[-6.92007153e-01 -7.21884251e-01 3.03781789e-03 6.98888790e+01] [-7.21876418e-01 6.92013807e-01 3.36570438e-03 -1.53544143e+02] [-4.53186091e-03 1.36162411e-04 -9.99989722e-01 -1.80845963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.366559995 meters 0.017474482869268698 Centerline is valid? [True, True] Translation: X:69.80, Y:-153.61, Z:-1.81 [[-6.33558852e-01 -7.73688539e-01 3.03747580e-03 6.97984079e+01] [-7.73678573e-01 6.33566118e-01 3.92948877e-03 -1.53606524e+02] [-4.96464217e-03 1.39532453e-04 -9.99987666e-01 -1.80813031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.39655999499996 meters 0.017243408408177497 Centerline is valid? [True, True] Translation: X:69.71, Y:-153.68, Z:-1.81 [[-5.71640304e-01 -8.20500243e-01 2.59116961e-03 6.97116349e+01] [-8.20490792e-01 5.71646163e-01 3.94008991e-03 -1.53678706e+02] [-4.71407689e-03 1.26283389e-04 -9.99988881e-01 -1.80848478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.426559995 meters 0.016800071239263806 Centerline is valid? [True, True] Translation: X:69.63, Y:-153.76, Z:-1.81 [[-5.05938850e-01 -8.62566446e-01 2.23757169e-03 6.96302895e+01] [-8.62556968e-01 5.05943784e-01 4.04536500e-03 -1.53756965e+02] [-4.62148160e-03 1.16674261e-04 -9.99989314e-01 -1.80870614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.45655999499996 meters 0.015972774580903355 Centerline is valid? [True, True] Translation: X:69.55, Y:-153.85, Z:-1.81 [[-4.36976362e-01 -8.99471016e-01 1.88443792e-03 6.95523624e+01] [-8.99461566e-01 4.36980412e-01 4.12446084e-03 -1.53845354e+02] [-4.53329544e-03 1.07312407e-04 -9.99989719e-01 -1.80925982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.486559995 meters 0.015944700710601313 Centerline is valid? [True, True] Translation: X:69.48, Y:-153.94, Z:-1.81 [[-3.65045440e-01 -9.30988577e-01 1.44806684e-03 6.94825223e+01] [-9.30980227e-01 3.65048301e-01 3.94403190e-03 -1.53939803e+02] [-4.20046298e-03 9.16292661e-05 -9.99991174e-01 -1.80927505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.51655999499997 meters 0.014301958139853242 Centerline is valid? [True, True] Translation: X:69.42, Y:-154.04, Z:-1.81 [[-2.88443714e-01 -9.57496350e-01 9.81677231e-04 6.94152231e+01] [-9.57490042e-01 2.88445377e-01 3.47615200e-03 -1.54042703e+02] [-3.61156311e-03 6.27280194e-05 -9.99993476e-01 -1.80987826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.54655999499994 meters 0.013701126553077552 Centerline is valid? [True, True] Translation: X:69.36, Y:-154.15, Z:-1.81 [[-2.11502112e-01 -9.77377354e-01 6.03702280e-04 6.93590261e+01] [-9.77372744e-01 2.11502969e-01 3.00218211e-03 -1.54148525e+02] [-3.06194963e-03 4.49257034e-05 -9.99995311e-01 -1.81037881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.57655999499997 meters 0.012860503047059425 Centerline is valid? [True, True] Translation: X:69.31, Y:-154.26, Z:-1.81 [[-1.29734055e-01 -9.91548756e-01 3.72205437e-04 6.93085394e+01] [-9.91544076e-01 1.29734586e-01 3.04679632e-03 -1.54263098e+02] [-3.06933502e-03 2.62151458e-05 -9.99995289e-01 -1.81069329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.60655999499994 meters 0.01248712168179714 Centerline is valid? [True, True] Translation: X:69.27, Y:-154.38, Z:-1.81 [[-4.98246955e-02 -9.98757968e-01 1.43937920e-04 6.92681820e+01] [-9.98752756e-01 4.98249005e-02 3.22658595e-03 -1.54378799e+02] [-3.22975012e-03 1.70052683e-05 -9.99994784e-01 -1.81021204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.63655999499997 meters 0.012270627144385276 Centerline is valid? [True, True] Translation: X:69.24, Y:-154.50, Z:-1.81 [[ 3.03534114e-02 -9.99539223e-01 -1.09382578e-04 6.92369782e+01] [-9.99533439e-01 -3.03536079e-02 3.40029317e-03 -1.54495940e+02] [-3.40204655e-03 6.12104712e-06 -9.99994213e-01 -1.81009981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.66655999499994 meters 0.012125390226789875 Centerline is valid? [True, True] Translation: X:69.21, Y:-154.62, Z:-1.81 [[ 1.10443734e-01 -9.93882311e-01 -3.66343946e-04 6.92147526e+01] [-9.93876680e-01 -1.10444341e-01 3.34539433e-03 -1.54616349e+02] [-3.36538886e-03 -5.37713614e-06 -9.99994337e-01 -1.81020486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.696559995 meters 0.012740822786922746 Centerline is valid? [True, True] Translation: X:69.20, Y:-154.74, Z:-1.81 [[ 1.93257044e-01 -9.81148012e-01 -5.42500228e-04 6.91988549e+01] [-9.81143772e-01 -1.93257803e-01 2.88430528e-03 -1.54737151e+02] [-2.93477279e-03 -2.51415905e-05 -9.99995693e-01 -1.81059211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.72655999499995 meters 0.013456171809416407 Centerline is valid? [True, True] Translation: X:69.20, Y:-154.86, Z:-1.81 [[ 2.70958365e-01 -9.62590777e-01 -7.49043288e-04 6.91951915e+01] [-9.62586746e-01 -2.70959398e-01 2.78572193e-03 -1.54858396e+02] [-2.88447055e-03 -3.37955168e-05 -9.99995839e-01 -1.81111491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.756559995 meters 0.013937170367626914 Centerline is valid? [True, True] Translation: X:69.20, Y:-154.98, Z:-1.81 [[ 3.46595239e-01 -9.38014284e-01 -9.71323386e-04 6.92013009e+01] [-9.38010254e-01 -3.46596597e-01 2.74993828e-03 -1.54977836e+02] [-2.91613877e-03 -4.20042197e-05 -9.99995747e-01 -1.81141531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.78655999499995 meters 0.01516243723400786 Centerline is valid? [True, True] Translation: X:69.22, Y:-155.10, Z:-1.81 [[ 4.20962643e-01 -9.07077274e-01 -1.12743669e-03 6.92150780e+01] [-9.07073691e-01 -4.20964150e-01 2.55016123e-03 -1.55096706e+02] [-2.78780373e-03 -5.08544515e-05 -9.99996113e-01 -1.81179226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.816559995 meters 0.015515227383818898 Centerline is valid? [True, True] Translation: X:69.24, Y:-155.21, Z:-1.81 [[ 4.90461204e-01 -8.71462044e-01 -1.30848116e-03 6.92383625e+01] [-8.71458641e-01 -4.90462947e-01 2.43616650e-03 -1.55209835e+02] [-2.76478817e-03 -5.45579436e-05 -9.99996177e-01 -1.81187495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.84655999499995 meters 0.016201106568185922 Centerline is valid? [True, True] Translation: X:69.27, Y:-155.32, Z:-1.81 [[ 5.56866421e-01 -8.30600539e-01 -1.59163039e-03 6.92698818e+01] [-8.30596821e-01 -5.56868692e-01 2.48620692e-03 -1.55321410e+02] [-2.95137394e-03 -6.24820055e-05 -9.99995643e-01 -1.81111776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.876559995 meters 0.015744852472317442 Centerline is valid? [True, True] Translation: X:69.31, Y:-155.42, Z:-1.81 [[ 6.18519110e-01 -7.85767523e-01 -1.87353206e-03 6.93092562e+01] [-7.85763595e-01 -6.18521944e-01 2.48560244e-03 -1.55424751e+02] [-3.11192637e-03 -6.52393208e-05 -9.99995156e-01 -1.81085524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.90655999499995 meters 0.014892342138474178 Centerline is valid? [True, True] Translation: X:69.36, Y:-155.53, Z:-1.81 [[ 6.76195407e-01 -7.36717548e-01 -2.65065892e-03 6.93582422e+01] [-7.36711410e-01 -6.76200597e-01 3.00842623e-03 -1.55525527e+02] [-4.00873754e-03 -8.15133292e-05 -9.99991962e-01 -1.81073346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.936559995 meters 0.014686694904160774 Centerline is valid? [True, True] Translation: X:69.41, Y:-155.61, Z:-1.81 [[ 7.29658857e-01 -6.83802990e-01 -3.37974230e-03 6.94058186e+01] [-6.83795072e-01 -7.29666679e-01 3.29204162e-03 -1.55614270e+02] [-4.71719325e-03 -9.10161995e-05 -9.99988870e-01 -1.80979834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.96655999499995 meters 0.013694280879537947 Centerline is valid? [True, True] Translation: X:69.41, Y:-155.62, Z:-1.81 [[ 7.78496149e-01 -6.27631738e-01 -4.70614791e-03 6.94077384e+01] [-6.27619535e-01 -7.78510368e-01 3.91499317e-03 -1.55620173e+02] [-6.12095891e-03 -9.41367469e-05 -9.99981262e-01 -1.80863874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.996559995 meters 0.013246337504296928 Centerline is valid? [True, True] Translation: X:69.41, Y:-155.63, Z:-1.81 [[ 8.23710238e-01 -5.66983454e-01 -5.58632842e-03 6.94085941e+01] [-5.66969693e-01 -8.23729176e-01 3.95118454e-03 -1.55625239e+02] [-6.84187797e-03 -8.73522494e-05 -9.99976590e-01 -1.80834628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.02655999499996 meters 0.012363434995598246 Centerline is valid? [True, True] Translation: X:69.41, Y:-155.63, Z:-1.81 [[ 8.61943374e-01 -5.06961373e-01 -6.61711156e-03 6.94125197e+01] [-5.06946045e-01 -8.61968772e-01 3.94239063e-03 -1.55625996e+02] [-7.70238329e-03 -4.35989469e-05 -9.99970335e-01 -1.80867945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.056559995 meters 0.012173864864774111 Centerline is valid? [True, True] Translation: X:69.41, Y:-155.63, Z:-1.81 [[ 8.97194951e-01 -4.41579028e-01 -7.01296204e-03 6.94145175e+01] [-4.41565422e-01 -8.97222359e-01 3.46647534e-03 -1.55629310e+02] [-7.82290916e-03 -1.34226318e-05 -9.99969401e-01 -1.80866380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.08655999499996 meters 0.012250563072820101 Centerline is valid? [True, True] Translation: X:69.42, Y:-155.63, Z:-1.81 [[ 9.27527822e-01 -3.73673030e-01 -7.78504013e-03 6.94169331e+01] [-3.73660030e-01 -9.27560492e-01 3.11689669e-03 -1.55632765e+02] [-8.38579589e-03 1.79499326e-05 -9.99964838e-01 -1.80865435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.116559995 meters 0.012589009683438892 Centerline is valid? [True, True] Translation: X:69.42, Y:-155.63, Z:-1.81 [[ 9.52798274e-01 -3.03510329e-01 -7.54518201e-03 6.94182710e+01] [-3.03501193e-01 -9.52828147e-01 2.35529666e-03 -1.55634905e+02] [-7.90411866e-03 4.58491570e-05 -9.99968761e-01 -1.80861441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.14655999499996 meters 0.013183331960360513 Centerline is valid? [True, True] Translation: X:69.42, Y:-155.64, Z:-1.81 [[ 9.72734221e-01 -2.31789710e-01 -7.85272273e-03 6.94208242e+01] [-2.31782797e-01 -9.72765915e-01 1.79179412e-03 -1.55636589e+02] [-8.05418044e-03 7.71865827e-05 -9.99967562e-01 -1.80928828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.176559995 meters 0.014853489808970883 Centerline is valid? [True, True] Translation: X:69.42, Y:-155.63, Z:-1.81 [[ 9.86809515e-01 -1.61746543e-01 -6.71091697e-03 6.94195063e+01] [-1.61743573e-01 -9.86832328e-01 9.86593736e-04 -1.55632388e+02] [-6.78212794e-03 1.11867603e-04 -9.99976995e-01 -1.81013156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.20655999499996 meters 0.01572965361318059 Centerline is valid? [True, True] Translation: X:69.42, Y:-155.63, Z:-1.81 [[ 9.96151662e-01 -8.74047555e-02 -6.50199675e-03 6.94176182e+01] [-8.74037411e-02 -9.96172873e-01 4.40547729e-04 -1.55632725e+02] [-6.51561874e-03 1.29446488e-04 -9.99978765e-01 -1.81057976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.236559995 meters 0.01683911132076761 Centerline is valid? [True, True] Translation: X:69.42, Y:-155.63, Z:-1.81 [[ 9.99862010e-01 -1.54811412e-02 -6.02451784e-03 6.94157367e+01] [-1.54818114e-02 -9.99880148e-01 -6.46209742e-05 -1.55634665e+02] [-6.02279538e-03 1.57882506e-04 -9.99981850e-01 -1.81209102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.26655999499997 meters 0.017817960118986887 Centerline is valid? [True, True] Translation: X:69.41, Y:-155.64, Z:-1.81 [[ 9.98169472e-01 6.01509883e-02 -6.28997757e-03 6.94140668e+01] [ 6.01486408e-02 -9.98189273e-01 -5.61890553e-04 -1.55639022e+02] [-6.31238641e-03 1.82528395e-04 -9.99980060e-01 -1.81197898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.29655999499994 meters 0.019724107356576967 Centerline is valid? [True, True] Translation: X:69.41, Y:-155.64, Z:-1.81 [[ 9.90871744e-01 1.34635549e-01 -6.81584101e-03 6.94107313e+01] [ 1.34630803e-01 -9.90895160e-01 -1.15251039e-03 -1.55640996e+02] [-6.90895274e-03 2.24367834e-04 -9.99976108e-01 -1.81125057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.32655999499997 meters 0.020111555612867305 Centerline is valid? [True, True] Translation: X:69.41, Y:-155.65, Z:-1.81 [[ 9.77523102e-01 2.10719124e-01 -6.78502722e-03 6.94086652e+01] [ 2.10712378e-01 -9.77546621e-01 -1.70241588e-03 -1.55645694e+02] [-6.99141201e-03 2.34461629e-04 -9.99975532e-01 -1.81129088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.35655999499994 meters 0.020647394146344533 Centerline is valid? [True, True] Translation: X:69.41, Y:-155.65, Z:-1.81 [[ 9.58082806e-01 2.86407524e-01 -6.93308043e-03 6.94056195e+01] [ 2.86398151e-01 -9.58107859e-01 -2.33015613e-03 -1.55650412e+02] [-7.31001309e-03 2.46861111e-04 -9.99973251e-01 -1.81120911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.38655999499997 meters 0.020677622412917377 Centerline is valid? [True, True] Translation: X:69.40, Y:-155.66, Z:-1.81 [[ 9.32591097e-01 3.60871443e-01 -6.75636998e-03 6.94036763e+01] [ 3.60860056e-01 -9.32615538e-01 -2.87713004e-03 -1.55655509e+02] [-7.33936970e-03 2.45081811e-04 -9.99973036e-01 -1.81138958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.41655999499994 meters 0.02062762416410201 Centerline is valid? [True, True] Translation: X:69.40, Y:-155.66, Z:-1.81 [[ 9.01152508e-01 4.33448346e-01 -6.83288031e-03 6.94021616e+01] [ 4.33433753e-01 -9.01178377e-01 -3.56568448e-03 -1.55660840e+02] [-7.70318404e-03 2.51624556e-04 -9.99970298e-01 -1.81116814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.446559995 meters 0.019870334012924984 Centerline is valid? [True, True] Translation: X:69.40, Y:-155.67, Z:-1.81 [[ 8.62959795e-01 5.05229691e-01 -6.58418733e-03 6.94008472e+01] [ 5.05212930e-01 -8.62984882e-01 -4.12180103e-03 -1.55667375e+02] [-7.76451038e-03 2.30531997e-04 -9.99969829e-01 -1.81115370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.47655999499995 meters 0.019151985819759125 Centerline is valid? [True, True] Translation: X:69.40, Y:-155.67, Z:-1.81 [[ 8.19665974e-01 5.72813111e-01 -5.72987285e-03 6.94003061e+01] [ 5.72797412e-01 -8.19685977e-01 -4.24543245e-03 -1.55672732e+02] [-7.12853580e-03 1.97780182e-04 -9.99974572e-01 -1.81156746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.506559995 meters 0.019151985819759125 Centerline is valid? [True, True] Translation: X:69.40, Y:-155.68, Z:-1.81 [[ 7.72308315e-01 6.35225097e-01 -5.37987568e-03 6.93989381e+01] [ 6.35207880e-01 -7.72327028e-01 -4.68093220e-03 -1.55677294e+02] [-7.12846900e-03 1.97783430e-04 -9.99974573e-01 -1.81156806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.53655999499995 meters 0.018940803403483652 Centerline is valid? [True, True] Translation: X:69.40, Y:-155.68, Z:-1.81 [[ 7.19080120e-01 6.94911446e-01 -4.67591803e-03 6.93972239e+01] [ 6.94895158e-01 -7.19095301e-01 -4.76105193e-03 -1.55682416e+02] [-6.67094017e-03 1.74304991e-04 -9.99977734e-01 -1.81216289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.566559995 meters 0.01770490527940029 Centerline is valid? [True, True] Translation: X:69.40, Y:-155.69, Z:-1.81 [[ 6.59953141e-01 7.51293688e-01 -4.43228149e-03 6.93975285e+01] [ 7.51275123e-01 -6.59968006e-01 -5.28398810e-03 -1.55687428e+02] [-6.89499089e-03 1.57321721e-04 -9.99976217e-01 -1.81201731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.59655999499995 meters 0.01680456925936541 Centerline is valid? [True, True] Translation: X:69.40, Y:-155.69, Z:-1.81 [[ 5.96251246e-01 8.02783003e-01 -4.88898794e-03 6.93971995e+01] [ 8.02753756e-01 -5.96271267e-01 -6.85438273e-03 -1.55692754e+02] [-8.41774498e-03 1.62280807e-04 -9.99964557e-01 -1.80971728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.626559995 meters 0.01680456925936541 Centerline is valid? [True, True] Translation: X:69.39, Y:-155.70, Z:-1.81 [[ 5.31554173e-01 8.47013194e-01 -4.33714970e-03 6.93943603e+01] [ 8.46982470e-01 -5.31571842e-01 -7.21614775e-03 -1.55695997e+02] [-8.41767901e-03 1.62283680e-04 -9.99964558e-01 -1.80971784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.65655999499995 meters 0.016220733295363447 Centerline is valid? [True, True] Translation: X:69.39, Y:-155.70, Z:-1.81 [[ 4.61681308e-01 8.87038064e-01 -3.72063642e-03 6.93924722e+01] [ 8.87006726e-01 -4.61696278e-01 -7.45752488e-03 -1.55700049e+02] [-8.33291242e-03 1.42770309e-04 -9.99965271e-01 -1.80942606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.686559995 meters 0.013715149238061221 Centerline is valid? [True, True] Translation: X:69.40, Y:-155.71, Z:-1.81 [[ 3.86612816e-01 9.22237576e-01 -2.89536004e-03 6.94029685e+01] [ 9.22209802e-01 -3.86623645e-01 -7.15809103e-03 -1.55707943e+02] [-7.72087518e-03 9.72803176e-05 -9.99970189e-01 -1.81134917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.71655999499995 meters 0.014060441841764734 Centerline is valid? [True, True] Translation: X:69.41, Y:-155.71, Z:-1.81 [[ 3.10927419e-01 9.50430895e-01 -2.29218797e-03 6.94072620e+01] [ 9.50403201e-01 -3.10935858e-01 -7.25585799e-03 -1.55713443e+02] [-7.60891504e-03 7.75424095e-05 -9.99971049e-01 -1.81006806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.746559995 meters 0.013504429036712406 Centerline is valid? [True, True] Translation: X:69.40, Y:-155.72, Z:-1.81 [[ 2.33391540e-01 9.72381434e-01 -1.65409222e-03 6.94048747e+01] [ 9.72355200e-01 -2.33397394e-01 -7.14295386e-03 -1.55716172e+02] [-7.33173653e-03 5.87398329e-05 -9.99973121e-01 -1.80939910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.77655999499996 meters 0.012398236069649744 Centerline is valid? [True, True] Translation: X:69.41, Y:-155.72, Z:-1.81 [[ 1.51752939e-01 9.88417761e-01 -1.17298025e-03 6.94146871e+01] [ 9.88386925e-01 -1.51757470e-01 -7.80747378e-03 -1.55721108e+02] [-7.89505427e-03 2.54487489e-05 -9.99968833e-01 -1.80966335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.806559995 meters 0.01237003850795731 Centerline is valid? [True, True] Translation: X:69.42, Y:-155.73, Z:-1.81 [[ 7.14445918e-02 9.97444426e-01 -5.35954022e-04 6.94197786e+01] [ 9.97415717e-01 -7.14466018e-02 -7.56768746e-03 -1.55725564e+02] [-7.58663977e-03 6.10137598e-06 -9.99971221e-01 -1.80793123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.83655999499996 meters 0.012198103043589347 Centerline is valid? [True, True] Translation: X:69.43, Y:-155.73, Z:-1.81 [[-9.19982459e-03 9.99957679e-01 5.63027544e-05 6.94291757e+01] [ 9.99930816e-01 9.19999014e-03 -7.32961724e-03 -1.55728323e+02] [-7.32982503e-03 -1.11323338e-05 -9.99973136e-01 -1.80992825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.866559995 meters 0.012267361894922462 Centerline is valid? [True, True] Translation: X:69.44, Y:-155.73, Z:-1.81 [[-9.01540657e-02 9.95927642e-01 6.12931398e-04 6.94391877e+01] [ 9.95902325e-01 9.01561443e-02 -7.10130760e-03 -1.55730472e+02] [-7.12764807e-03 -2.97919478e-05 -9.99974598e-01 -1.81030578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.89655999499996 meters 0.01272010710854048 Centerline is valid? [True, True] Translation: X:69.45, Y:-155.73, Z:-1.81 [[-1.72016744e-01 9.85093409e-01 1.10230760e-03 6.94509066e+01] [ 9.85071032e-01 1.72020266e-01 -6.64007771e-03 -1.55731795e+02] [-6.73071604e-03 -5.63532598e-05 -9.99977347e-01 -1.80997996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.926559995 meters 0.012957228547101976 Centerline is valid? [True, True] Translation: X:69.46, Y:-155.73, Z:-1.81 [[-2.50421158e-01 9.68135666e-01 1.60512332e-03 6.94578848e+01] [ 9.68114005e-01 2.50426293e-01 -6.47655806e-03 -1.55732898e+02] [-6.67215193e-03 -6.79248029e-05 -9.99977739e-01 -1.80974478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.95655999499996 meters 0.013306995529992963 Centerline is valid? [True, True] Translation: X:69.46, Y:-155.73, Z:-1.81 [[-3.27137676e-01 9.44974692e-01 1.94215026e-03 6.94649213e+01] [ 9.44956689e-01 3.27143433e-01 -5.83356033e-03 -1.55733485e+02] [-6.14792858e-03 -7.31294957e-05 -9.99981099e-01 -1.80988123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.986559995 meters 0.01379854296772616 Centerline is valid? [True, True] Translation: X:69.47, Y:-155.73, Z:-1.81 [[-4.03189804e-01 9.15113842e-01 2.15360775e-03 6.94733960e+01] [ 9.15099654e-01 4.03195547e-01 -5.09642632e-03 -1.55732771e+02] [-5.53213533e-03 -8.40614207e-05 -9.99984694e-01 -1.81034382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.01655999499997 meters 0.014708749714961984 Centerline is valid? [True, True] Translation: X:69.48, Y:-155.73, Z:-1.81 [[-4.75149069e-01 8.79901825e-01 2.47807400e-03 6.94815742e+01] [ 8.79888844e-01 4.75155522e-01 -4.78027429e-03 -1.55731998e+02] [-5.38364262e-03 -9.09132133e-05 -9.99985504e-01 -1.81043488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.04655999499994 meters 0.015565154068245579 Centerline is valid? [True, True] Translation: X:69.49, Y:-155.73, Z:-1.81 [[-5.45514795e-01 8.38096375e-01 2.84141680e-03 6.94882728e+01] [ 8.38083946e-01 5.45522184e-01 -4.56568653e-03 -1.55729988e+02] [-5.37654123e-03 -1.09303746e-04 -9.99985540e-01 -1.81003421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.07655999499997 meters 0.014991418051018878 Centerline is valid? [True, True] Translation: X:69.50, Y:-155.72, Z:-1.81 [[-6.12194220e-01 7.90697679e-01 3.92650537e-03 6.94982106e+01] [ 7.90679748e-01 6.12206792e-01 -5.32719463e-03 -1.55724486e+02] [-6.61603368e-03 -1.56669484e-04 -9.99978102e-01 -1.80896804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.10655999499994 meters 0.016199405684252804 Centerline is valid? [True, True] Translation: X:69.51, Y:-155.72, Z:-1.81 [[-6.73298986e-01 7.39353979e-01 4.91624708e-03 6.95091955e+01] [ 7.39332197e-01 6.73316908e-01 -5.67836162e-03 -1.55717321e+02] [-7.50851154e-03 -1.88495365e-04 -9.99971793e-01 -1.80747249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.13655999499997 meters 0.016395052591706365 Centerline is valid? [True, True] Translation: X:69.52, Y:-155.71, Z:-1.81 [[-7.29803981e-01 6.83631299e-01 5.86479078e-03 6.95158997e+01] [ 6.83606832e-01 7.29827514e-01 -5.78786126e-03 -1.55712148e+02] [-8.23704879e-03 -2.14793151e-04 -9.99966052e-01 -1.80639804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.16655999499994 meters 0.01631624901806467 Centerline is valid? [True, True] Translation: X:69.53, Y:-155.69, Z:-1.81 [[-7.76623820e-01 6.29929300e-01 6.67233693e-03 6.95337802e+01] [ 6.29903449e-01 7.76652447e-01 -5.71148307e-03 -1.55692050e+02] [-8.77991734e-03 -2.32745755e-04 -9.99961429e-01 -1.80590928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.196559995 meters 0.015911637510035135 Centerline is valid? [True, True] Translation: X:69.55, Y:-155.67, Z:-1.81 [[-8.18894267e-01 5.73900529e-01 7.09660132e-03 6.95507649e+01] [ 5.73876540e-01 8.18924984e-01 -5.25225925e-03 -1.55674021e+02] [-8.82585849e-03 -2.28471977e-04 -9.99961025e-01 -1.80600777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.22655999499995 meters 0.01635280238579141 Centerline is valid? [True, True] Translation: X:69.56, Y:-155.65, Z:-1.81 [[-8.57060791e-01 5.15166274e-01 7.10705058e-03 6.95629819e+01] [ 5.15146500e-01 8.57090232e-01 -4.51869882e-03 -1.55649979e+02] [-8.41926486e-03 -2.11627349e-04 -9.99964535e-01 -1.80635688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.256559995 meters 0.015321142017937184 Centerline is valid? [True, True] Translation: X:69.58, Y:-155.63, Z:-1.81 [[-8.89926881e-01 4.56065043e-01 5.90119708e-03 6.95794072e+01] [ 4.56053913e-01 8.89946434e-01 -3.18946991e-03 -1.55633474e+02] [-6.70635503e-03 -1.47130987e-04 -9.99977501e-01 -1.80816839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.28655999499995 meters 0.01515355662629311 Centerline is valid? [True, True] Translation: X:69.92, Y:-155.03, Z:-2.78 [[-8.34981227e-01 -5.50257273e-01 4.82533632e-03 6.99157051e+01] [ 5.50248557e-01 -8.34995167e-01 -3.09790327e-03 -1.55026544e+02] [ 5.73377631e-03 6.84432759e-05 9.99983559e-01 -2.78305832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.316559995 meters 0.014663122425736533 Centerline is valid? [True, True] Translation: X:69.54, Y:-155.62, Z:-1.81 [[-8.89987895e-01 4.55961999e-01 4.49468621e-03 6.95431045e+01] [ 4.55955649e-01 8.89999240e-01 -2.40816239e-03 -1.55619660e+02] [-5.09829784e-03 -9.38578073e-05 -9.99986999e-01 -1.80913057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.34655999499995 meters 0.013870503082628419 Centerline is valid? [True, True] Translation: X:69.56, Y:-155.60, Z:-1.81 [[-9.19421078e-01 3.93253397e-01 4.08013564e-03 6.95557775e+01] [ 3.93249159e-01 9.19430128e-01 -1.82721715e-03 -1.55598692e+02] [-4.46995899e-03 -7.54720466e-05 -9.99990007e-01 -1.80956606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.376559995 meters 0.01444402550280929 Centerline is valid? [True, True] Translation: X:69.57, Y:-155.58, Z:-1.81 [[-9.44216297e-01 3.29310595e-01 3.18077092e-03 6.95677781e+01] [ 3.29308548e-01 9.44221653e-01 -1.16219522e-03 -1.55575781e+02] [-3.38607598e-03 -4.99086148e-05 -9.99994266e-01 -1.80973037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.40655999499995 meters 0.013329087848252048 Centerline is valid? [True, True] Translation: X:69.82, Y:-154.91, Z:-2.78 [[-9.08504953e-01 -4.17859153e-01 3.53263359e-03 6.98228946e+01] [ 4.17856356e-01 -9.08511817e-01 -1.53117740e-03 -1.54906632e+02] [ 3.84925585e-03 8.50511445e-05 9.99992588e-01 -2.78069236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.436559995 meters 0.013755364383841135 Centerline is valid? [True, True] Translation: X:69.53, Y:-155.57, Z:-1.81 [[-9.45549748e-01 3.25435689e-01 5.22358898e-03 6.95250864e+01] [ 3.25430234e-01 9.45564173e-01 -1.88611428e-03 -1.55567108e+02] [-5.55304749e-03 -8.35011035e-05 -9.99984578e-01 -1.80931872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.46655999499995 meters 0.014530106380126947 Centerline is valid? [True, True] Translation: X:69.77, Y:-154.89, Z:-2.79 [[-9.08414168e-01 -4.17991296e-01 8.18389144e-03 6.97724863e+01] [ 4.17977737e-01 -9.08450965e-01 -3.38451865e-03 -1.54893208e+02] [ 8.84936342e-03 3.46139727e-04 9.99960784e-01 -2.78616297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.496559995 meters 0.014901938890576475 Centerline is valid? [True, True] Translation: X:69.48, Y:-155.54, Z:-1.80 [[-9.47975489e-01 3.18192448e-01 9.79992632e-03 6.94756198e+01] [ 3.18173291e-01 9.48026122e-01 -3.49710509e-03 -1.55543711e+02] [-1.04033386e-02 -1.97095099e-04 -9.99945864e-01 -1.80354139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.52655999499996 meters 0.015212305914498667 Centerline is valid? [True, True] Translation: X:69.72, Y:-154.88, Z:-2.79 [[-9.09082613e-01 -4.16502054e-01 9.73866603e-03 6.97244850e+01] [ 4.16480671e-01 -9.09134750e-01 -4.22580343e-03 -1.54880482e+02] [ 1.06138155e-02 2.14361744e-04 9.99943649e-01 -2.78827841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.556559995 meters 0.015212305914498667 Centerline is valid? [True, True] Translation: X:69.44, Y:-155.53, Z:-1.80 [[-9.49481030e-01 3.13662741e-01 1.00726743e-02 6.94390867e+01] [ 3.13642707e-01 9.49534433e-01 -3.55144425e-03 -1.55530227e+02] [-1.06783068e-02 -2.12808129e-04 -9.99942963e-01 -1.80329943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.58655999499996 meters 0.015053092866664819 Centerline is valid? [True, True] Translation: X:69.68, Y:-154.87, Z:-2.79 [[-9.10306452e-01 -4.13824701e-01 9.55402109e-03 6.96793495e+01] [ 4.13804098e-01 -9.10356568e-01 -4.13381043e-03 -1.54866149e+02] [ 1.04082387e-02 1.90458769e-04 9.99945815e-01 -2.78728761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.616559995 meters 0.015600588278890635 Centerline is valid? [True, True] Translation: X:69.39, Y:-155.51, Z:-1.80 [[-9.51195407e-01 3.08440434e-01 9.58107702e-03 6.93930954e+01] [ 3.08422450e-01 9.51243634e-01 -3.33795436e-03 -1.55511699e+02] [-1.01434986e-02 -2.20027603e-04 -9.99948529e-01 -1.80477294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.64655999499996 meters 0.01577919319955556 Centerline is valid? [True, True] Translation: X:69.63, Y:-154.85, Z:-2.79 [[-9.11304792e-01 -4.11656208e-01 7.92096687e-03 6.96295197e+01] [ 4.11641555e-01 -9.11339211e-01 -3.47456867e-03 -1.54854333e+02] [ 8.64901546e-03 9.42080484e-05 9.99962592e-01 -2.78615393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.676559995 meters 0.015032680322005732 Centerline is valid? [True, True] Translation: X:69.35, Y:-155.50, Z:-1.81 [[-9.52395989e-01 3.04772785e-01 7.44514633e-03 6.93540655e+01] [ 3.04762059e-01 9.52425073e-01 -2.56257745e-03 -1.55497282e+02] [-7.87194790e-03 -1.71590359e-04 -9.99969001e-01 -1.80631230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.70655999499996 meters 0.015536028647899021 Centerline is valid? [True, True] Translation: X:69.36, Y:-155.47, Z:-1.81 [[-9.71477625e-01 2.37040588e-01 6.55625125e-03 6.93614664e+01] [ 2.37034184e-01 9.71499737e-01 -1.74829707e-03 -1.55469289e+02] [-6.78381373e-03 -1.44375816e-04 -9.99976979e-01 -1.80628462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.736559995 meters 0.014930214797796012 Centerline is valid? [True, True] Translation: X:69.35, Y:-155.44, Z:-1.81 [[-9.85581641e-01 1.69140849e-01 4.49460720e-03 6.93545744e+01] [ 1.69138670e-01 9.85591886e-01 -8.63391773e-04 -1.55441312e+02] [-4.57588320e-03 -9.07311983e-05 -9.99989526e-01 -1.80800993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.76655999499997 meters 0.014151876118005505 Centerline is valid? [True, True] Translation: X:69.50, Y:-154.76, Z:-2.78 [[-9.62384810e-01 -2.71663989e-01 3.76225986e-03 6.95017395e+01] [ 2.71662055e-01 -9.62392163e-01 -1.02556995e-03 -1.54756781e+02] [ 3.89937983e-03 3.50703084e-05 9.99992397e-01 -2.78261047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.79655999499994 meters 0.01412895078912671 Centerline is valid? [True, True] Translation: X:69.32, Y:-155.44, Z:-1.81 [[-9.85865335e-01 1.67501671e-01 3.56809102e-03 6.93208118e+01] [ 1.67500340e-01 9.85871790e-01 -6.70958439e-04 -1.55437612e+02] [-3.63006694e-03 -6.38182087e-05 -9.99993409e-01 -1.80928369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.82655999499997 meters 0.013851770924970737 Centerline is valid? [True, True] Translation: X:69.46, Y:-154.75, Z:-2.78 [[-9.64590470e-01 -2.63732138e-01 3.25324015e-03 6.94566582e+01] [ 2.63730788e-01 -9.64595956e-01 -8.45038890e-04 -1.54749265e+02] [ 3.36092620e-03 4.28631267e-05 9.99994351e-01 -2.78223854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.85655999499994 meters 0.013196435782069171 Centerline is valid? [True, True] Translation: X:69.27, Y:-155.43, Z:-1.81 [[-9.85689360e-01 1.68544350e-01 3.04764587e-03 6.92719531e+01] [ 1.68543422e-01 9.85694070e-01 -5.60855536e-04 -1.55430089e+02] [-3.09857549e-03 -3.91686711e-05 -9.99995199e-01 -1.80948416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.88655999499997 meters 0.01301867057556381 Centerline is valid? [True, True] Translation: X:69.28, Y:-155.40, Z:-1.81 [[-9.95047697e-01 9.93342310e-02 3.57654484e-03 6.92778559e+01] [ 9.93334409e-02 9.95054124e-01 -3.98289723e-04 -1.55402926e+02] [-3.59841949e-03 -4.10467662e-05 -9.99993525e-01 -1.80938600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.91655999499994 meters 0.012860596231621352 Centerline is valid? [True, True] Translation: X:69.36, Y:-154.70, Z:-2.78 [[-9.82477368e-01 -1.86336666e-01 4.10715774e-03 6.93616063e+01] [ 1.86335390e-01 -9.82485949e-01 -6.94434576e-04 -1.54704378e+02] [ 4.16462339e-03 8.30425858e-05 9.99991324e-01 -2.78265867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.946559995 meters 0.012615175426477394 Centerline is valid? [True, True] Translation: X:69.22, Y:-155.40, Z:-1.81 [[-9.95198776e-01 9.77476485e-02 4.97922795e-03 6.92216266e+01] [ 9.77462087e-02 9.95211232e-01 -5.32267976e-04 -1.55397695e+02] [-5.00741153e-03 -4.30117832e-05 -9.99987462e-01 -1.80842920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.97655999499995 meters 0.012352010832340145 Centerline is valid? [True, True] Translation: X:69.30, Y:-154.70, Z:-2.78 [[-9.84032637e-01 -1.77880562e-01 6.18662866e-03 6.93030288e+01] [ 1.77877883e-01 -9.84052076e-01 -9.85156398e-04 -1.54696957e+02] [ 6.26320495e-03 1.31038358e-04 9.99980377e-01 -2.78440656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.006559995 meters 0.012280489435244433 Centerline is valid? [True, True] Translation: X:69.16, Y:-155.39, Z:-1.81 [[-9.95161675e-01 9.80135094e-02 6.82587403e-03 6.91619818e+01] [ 9.80110163e-02 9.95185084e-01 -6.99605672e-04 -1.55393409e+02] [-6.86157882e-03 -2.72099023e-05 -9.99976459e-01 -1.80632850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.03655999499995 meters 0.012162280135849565 Centerline is valid? [True, True] Translation: X:69.24, Y:-154.69, Z:-2.79 [[-9.85737855e-01 -1.68140655e-01 7.04282161e-03 6.92430972e+01] [ 1.68136689e-01 -9.85763013e-01 -1.15562817e-03 -1.54689000e+02] [ 7.13686113e-03 4.50102714e-05 9.99974531e-01 -2.78642082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.066559995 meters 0.012239676412761259 Centerline is valid? [True, True] Translation: X:69.10, Y:-155.39, Z:-1.80 [[-9.94996277e-01 9.96425348e-02 7.33311043e-03 6.91036957e+01] [ 9.96399479e-02 9.95023299e-01 -7.18172178e-04 -1.55390546e+02] [-7.36817622e-03 1.60920979e-05 -9.99972855e-01 -1.80460373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.09655999499995 meters 0.012372848530707489 Centerline is valid? [True, True] Translation: X:69.18, Y:-154.68, Z:-2.79 [[-9.87229087e-01 -1.59157767e-01 6.89461787e-03 6.91768483e+01] [ 1.59153611e-01 -9.87253161e-01 -1.15078074e-03 -1.54679520e+02] [ 6.98988898e-03 -3.87808929e-05 9.99975570e-01 -2.78671161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.126559995 meters 0.013164025568652812 Centerline is valid? [True, True] Translation: X:69.04, Y:-155.39, Z:-1.81 [[-9.94741372e-01 1.02187674e-01 6.87614043e-03 6.90432943e+01] [ 1.02185680e-01 9.94765136e-01 -6.41683738e-04 -1.55391464e+02] [-6.90571694e-03 6.43337236e-05 -9.99976153e-01 -1.80510709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.15655999499995 meters 0.013429436119390792 Centerline is valid? [True, True] Translation: X:69.04, Y:-155.37, Z:-1.81 [[-9.99409490e-01 3.37077803e-02 6.66766788e-03 6.90447012e+01] [ 3.37075550e-02 9.99431728e-01 -1.46196094e-04 -1.55365189e+02] [-6.66880678e-03 7.86410176e-05 -9.99977760e-01 -1.80578902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.186559995 meters 0.013755740859318931 Centerline is valid? [True, True] Translation: X:69.04, Y:-155.34, Z:-1.81 [[-9.99396160e-01 -3.41921894e-02 6.18142086e-03 6.90415722e+01] [-3.41909587e-02 9.99415272e-01 3.04684261e-04 -1.55339118e+02] [-6.18822424e-03 9.31515747e-05 -9.99980848e-01 -1.80671675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.21655999499995 meters 0.014420484515424159 Centerline is valid? [True, True] Translation: X:69.04, Y:-155.31, Z:-1.81 [[-9.94561859e-01 -1.03983716e-01 5.83913492e-03 6.90351779e+01] [-1.03981353e-01 9.94578995e-01 7.07661028e-04 -1.55312807e+02] [-5.88106616e-03 9.66515207e-05 -9.99982702e-01 -1.80648980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.246559995 meters 0.013945203739589518 Centerline is valid? [True, True] Translation: X:69.02, Y:-155.29, Z:-1.81 [[-9.84545245e-01 -1.75021942e-01 6.16273848e-03 6.90167808e+01] [-1.75017856e-01 9.84564528e-01 1.20036538e-03 -1.55285152e+02] [-6.27770398e-03 1.03224748e-04 -9.99980290e-01 -1.80609177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.27655999499996 meters 0.014135295448298365 Centerline is valid? [True, True] Translation: X:68.98, Y:-155.26, Z:-1.80 [[-9.69124179e-01 -2.46494497e-01 6.22797395e-03 6.89830975e+01] [-2.46488748e-01 9.69144186e-01 1.68637626e-03 -1.55262966e+02] [-6.45148721e-03 9.91825079e-05 -9.99979184e-01 -1.80468218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.306559995 meters 0.01373321566687653 Centerline is valid? [True, True] Translation: X:68.94, Y:-155.25, Z:-1.81 [[-9.48581329e-01 -3.16474271e-01 6.12356460e-03 6.89382322e+01] [-3.16466998e-01 9.48601089e-01 2.14782822e-03 -1.55245090e+02] [-6.48855242e-03 9.94836370e-05 -9.99978944e-01 -1.80578090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.33655999499996 meters 0.014151312872808358 Centerline is valid? [True, True] Translation: X:68.87, Y:-155.24, Z:-1.81 [[-9.22761505e-01 -3.85328299e-01 5.77126048e-03 6.88711701e+01] [-3.85320097e-01 9.22779547e-01 2.51609695e-03 -1.55241401e+02] [-6.29512449e-03 9.79747652e-05 -9.99980181e-01 -1.80574601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.366559995 meters 0.014151312872808358 Centerline is valid? [True, True] Translation: X:68.80, Y:-155.25, Z:-1.81 [[-8.91551408e-01 -4.52885287e-01 5.56809204e-03 6.87967630e+01] [-4.52875766e-01 8.91568790e-01 2.93826353e-03 -1.55246025e+02] [-6.29503340e-03 9.79590397e-05 -9.99980181e-01 -1.80574925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.39655999499996 meters 0.014151312872808358 Centerline is valid? [True, True] Translation: X:68.72, Y:-155.26, Z:-1.81 [[-8.55177102e-01 -5.18308486e-01 5.33262710e-03 6.87156079e+01] [-5.18297692e-01 8.55193723e-01 3.34648615e-03 -1.55260387e+02] [-6.29494139e-03 9.79500088e-05 -9.99980182e-01 -1.80575275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.426559995 meters 0.014151312872808358 Centerline is valid? [True, True] Translation: X:68.63, Y:-155.28, Z:-1.81 [[-8.13803573e-01 -5.81117957e-01 5.06595390e-03 6.86300397e+01] [-5.81105945e-01 8.13819335e-01 3.73775660e-03 -1.55284675e+02] [-6.29484872e-03 9.79437486e-05 -9.99980182e-01 -1.80575648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.45655999499996 meters 0.014085278552676604 Centerline is valid? [True, True] Translation: X:68.54, Y:-155.32, Z:-1.81 [[-7.67808290e-01 -6.40661647e-01 4.80460020e-03 6.85441165e+01] [-6.40648274e-01 7.67823316e-01 4.14060416e-03 -1.55315737e+02] [-6.34181034e-03 1.01131370e-04 -9.99979885e-01 -1.80611245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.486559995 meters 0.014085278552676604 Centerline is valid? [True, True] Translation: X:68.45, Y:-155.36, Z:-1.81 [[-7.17055697e-01 -6.97001495e-01 4.47696611e-03 6.84541283e+01] [-6.96987023e-01 7.17069666e-01 4.49270197e-03 -1.55360911e+02] [-6.34171659e-03 1.01130263e-04 -9.99979886e-01 -1.80611657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.51655999499997 meters 0.01406531729193981 Centerline is valid? [True, True] Translation: X:68.36, Y:-155.41, Z:-1.81 [[-6.62724420e-01 -7.48851426e-01 4.22894574e-03 6.83649275e+01] [-7.48835113e-01 6.62737904e-01 4.94412942e-03 -1.55414476e+02] [-6.50510100e-03 1.09812247e-04 -9.99978836e-01 -1.80603956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.54655999499994 meters 0.014519489944416661 Centerline is valid? [True, True] Translation: X:68.28, Y:-155.48, Z:-1.81 [[-6.05221659e-01 -7.96048299e-01 3.72159618e-03 6.82782319e+01] [-7.96032030e-01 6.05233089e-01 5.09072127e-03 -1.55478204e+02] [-6.30489316e-03 1.18505011e-04 -9.99980117e-01 -1.80602766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.57655999499997 meters 0.014712822770437034 Centerline is valid? [True, True] Translation: X:68.19, Y:-155.55, Z:-1.81 [[-5.43361286e-01 -8.39492000e-01 3.41981482e-03 6.81942123e+01] [-8.39473869e-01 5.43372033e-01 5.51883766e-03 -1.55552358e+02] [-6.49125179e-03 1.27877552e-04 -9.99978923e-01 -1.80633080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.60655999499994 meters 0.01542654835092811 Centerline is valid? [True, True] Translation: X:68.12, Y:-155.63, Z:-1.81 [[-4.79722505e-01 -8.77414747e-01 3.11127671e-03 6.81154725e+01] [-8.77394217e-01 4.79732570e-01 6.00415503e-03 -1.55634361e+02] [-6.76071494e-03 1.50512093e-04 -9.99977135e-01 -1.80569036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.63655999499997 meters 0.016050118319635348 Centerline is valid? [True, True] Translation: X:68.04, Y:-155.72, Z:-1.81 [[-4.11995564e-01 -9.11181823e-01 2.70939393e-03 6.80425008e+01] [-9.11159460e-01 4.12004441e-01 6.38581452e-03 -1.55723454e+02] [-6.93492044e-03 1.62237347e-04 -9.99975940e-01 -1.80524249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.66655999499994 meters 0.01574887621011966 Centerline is valid? [True, True] Translation: X:67.97, Y:-155.82, Z:-1.81 [[-3.42017552e-01 -9.39690858e-01 2.25522792e-03 6.79735168e+01] [-9.39666944e-01 3.42024943e-01 6.70616699e-03 -1.55820668e+02] [-7.07306801e-03 1.74463692e-04 -9.99974970e-01 -1.80529679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.696559995 meters 0.017176386688746055 Centerline is valid? [True, True] Translation: X:67.91, Y:-155.93, Z:-1.80 [[-2.70182661e-01 -9.62807317e-01 1.84410669e-03 6.79133299e+01] [-9.62779664e-01 2.70188883e-01 7.29971567e-03 -1.55928440e+02] [-7.52647678e-03 1.96788184e-04 -9.99971656e-01 -1.80438987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.72655999499995 meters 0.016484762057099582 Centerline is valid? [True, True] Translation: X:67.86, Y:-156.03, Z:-1.80 [[-1.95673712e-01 -9.80668155e-01 1.32957600e-03 6.78604023e+01] [-9.80637803e-01 1.95678120e-01 7.71829618e-03 -1.56032062e+02] [-7.82925621e-03 2.06435172e-04 -9.99969330e-01 -1.80460301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.756559995 meters 0.01679773643540679 Centerline is valid? [True, True] Translation: X:67.82, Y:-156.15, Z:-1.80 [[-1.19233383e-01 -9.92865921e-01 8.13816958e-04 6.78155322e+01] [-9.92828019e-01 1.19235945e-01 8.67831616e-03 -1.56145210e+02] [-8.71344061e-03 2.26764719e-04 -9.99962012e-01 -1.80461935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.78655999499995 meters 0.01668229120937766 Centerline is valid? [True, True] Translation: X:67.78, Y:-156.26, Z:-1.80 [[-4.18745442e-02 -9.99122866e-01 1.42813882e-04 6.77794587e+01] [-9.99085264e-01 4.18742076e-02 8.67103908e-03 -1.56262620e+02] [-8.66941364e-03 2.20412564e-04 -9.99962396e-01 -1.80438598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.816559995 meters 0.016689936176453646 Centerline is valid? [True, True] Translation: X:67.75, Y:-156.39, Z:-1.80 [[ 3.60612549e-02 -9.99349429e-01 -5.51949771e-04 6.77528655e+01] [-9.99308106e-01 -3.60647847e-02 9.09067430e-03 -1.56385863e+02] [-9.10466612e-03 2.23746757e-04 -9.99958527e-01 -1.80389240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.84655999499995 meters 0.01589077387219945 Centerline is valid? [True, True] Translation: X:67.73, Y:-156.51, Z:-1.80 [[ 1.15125206e-01 -9.93350069e-01 -1.35208624e-03 6.77317634e+01] [-9.93302153e-01 -1.15132936e-01 9.75908254e-03 -1.56505306e+02] [-9.84985497e-03 2.19513785e-04 -9.99951465e-01 -1.80353444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.876559995 meters 0.01580991301324592 Centerline is valid? [True, True] Translation: X:67.72, Y:-156.63, Z:-1.80 [[ 1.92974118e-01 -9.81201498e-01 -2.14695318e-03 6.77234624e+01] [-9.81152080e-01 -1.92985951e-01 9.84977329e-03 -1.56629880e+02] [-1.00789441e-02 2.05736267e-04 -9.99949185e-01 -1.80286033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.90655999499995 meters 0.014450075299098279 Centerline is valid? [True, True] Translation: X:67.72, Y:-156.76, Z:-1.80 [[ 2.71469457e-01 -9.62441520e-01 -3.26422168e-03 6.77211311e+01] [-9.62380080e-01 -2.71489016e-01 1.08764072e-02 -1.56756906e+02] [-1.13541063e-02 1.88809552e-04 -9.99935522e-01 -1.80192528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.936559995 meters 0.014484757440959334 Centerline is valid? [True, True] Translation: X:67.73, Y:-156.87, Z:-1.80 [[ 3.46501957e-01 -9.38040862e-01 -3.96680687e-03 6.77296734e+01] [-9.37984610e-01 -3.46524626e-01 1.02740245e-02 -1.56873183e+02] [-1.10120511e-02 1.60834184e-04 -9.99939353e-01 -1.80061511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.96655999499995 meters 0.013061251414895909 Centerline is valid? [True, True] Translation: X:67.74, Y:-156.99, Z:-1.80 [[ 4.21651212e-01 -9.06747731e-01 -4.33684662e-03 6.77442542e+01] [-9.06702177e-01 -4.21673503e-01 9.08954282e-03 -1.56993182e+02] [-1.00706556e-02 9.96115286e-05 -9.99949285e-01 -1.80204060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.996559995 meters 0.01270321066686302 Centerline is valid? [True, True] Translation: X:67.77, Y:-157.11, Z:-1.80 [[ 4.91669226e-01 -8.70769426e-01 -4.68817748e-03 6.77701806e+01] [-8.70731246e-01 -4.91691572e-01 8.15446070e-03 -1.57107757e+02] [-9.40579241e-03 7.28452347e-05 -9.99955762e-01 -1.80290742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.02655999499996 meters 0.01213354733019303 Centerline is valid? [True, True] Translation: X:67.80, Y:-157.22, Z:-1.80 [[ 5.60565777e-01 -8.28094424e-01 -5.06314813e-03 6.78015436e+01] [-8.28061105e-01 -5.60588641e-01 7.42843609e-03 -1.57219752e+02] [-8.98978983e-03 2.84689870e-05 -9.99959591e-01 -1.80374121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.056559995 meters 0.012248371266510339 Centerline is valid? [True, True] Translation: X:67.84, Y:-157.33, Z:-1.80 [[ 6.23615364e-01 -7.81711605e-01 -5.55377720e-03 6.78438069e+01] [-7.81680757e-01 -6.23640094e-01 6.94463507e-03 -1.57327418e+02] [-8.89225996e-03 1.04996345e-05 -9.99960463e-01 -1.80215060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.08655999499996 meters 0.012064349317781447 Centerline is valid? [True, True] Translation: X:67.89, Y:-157.43, Z:-1.80 [[ 6.82757296e-01 -7.30621536e-01 -5.88609176e-03 6.78890272e+01] [-7.30594295e-01 -6.82782668e-01 6.30903435e-03 -1.57426433e+02] [-8.62843780e-03 -7.19417105e-06 -9.99962774e-01 -1.80344611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.116559995 meters 0.012050513007272211 Centerline is valid? [True, True] Translation: X:67.94, Y:-157.52, Z:-1.80 [[ 7.37402323e-01 -6.75421961e-01 -6.55662930e-03 6.79421203e+01] [-6.75394994e-01 -7.37431471e-01 6.03552251e-03 -1.57521320e+02] [-8.91158924e-03 -2.22937082e-05 -9.99960291e-01 -1.80333516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.14655999499996 meters 0.012115250467659646 Centerline is valid? [True, True] Translation: X:67.94, Y:-157.53, Z:-1.80 [[ 7.88787378e-01 -6.14629975e-01 -6.66829315e-03 6.79395018e+01] [-6.14607662e-01 -7.88815563e-01 5.23724576e-03 -1.57532074e+02] [-8.47902165e-03 -3.26892859e-05 -9.99964052e-01 -1.80346247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.176559995 meters 0.012309264986821175 Centerline is valid? [True, True] Translation: X:67.94, Y:-157.54, Z:-1.80 [[ 8.35061227e-01 -5.50114863e-01 -6.81060868e-03 6.79373980e+01] [-5.50096164e-01 -8.35088999e-01 4.53592727e-03 -1.57543368e+02] [-8.18274540e-03 -4.12872847e-05 -9.99966520e-01 -1.80208547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.20655999499996 meters 0.012154348506434012 Centerline is valid? [True, True] Translation: X:67.94, Y:-157.56, Z:-1.80 [[ 8.76231099e-01 -4.81844799e-01 -6.68218039e-03 6.79355092e+01] [-4.81830351e-01 -8.76256576e-01 3.73165517e-03 -1.57557440e+02] [-7.65338314e-03 -5.01149916e-05 -9.99970711e-01 -1.80403216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.236559995 meters 0.012260850255644294 Centerline is valid? [True, True] Translation: X:67.93, Y:-157.57, Z:-1.80 [[ 9.11436443e-01 -4.11376266e-01 -7.29231686e-03 6.79345475e+01] [-4.11362600e-01 -9.11465613e-01 3.35367273e-03 -1.57570537e+02] [-8.02631742e-03 -5.68731178e-05 -9.99967787e-01 -1.80327773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.26655999499997 meters 0.012372580943788918 Centerline is valid? [True, True] Translation: X:67.94, Y:-157.58, Z:-1.80 [[ 9.40898215e-01 -3.38576401e-01 -8.75037703e-03 6.79368450e+01] [-3.38561083e-01 -9.40938901e-01 3.22127557e-03 -1.57580321e+02] [-9.32421804e-03 -6.83553108e-05 -9.99956526e-01 -1.80194059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.29655999499994 meters 0.012486842699408036 Centerline is valid? [True, True] Translation: X:67.94, Y:-157.59, Z:-1.80 [[ 9.64497155e-01 -2.63924976e-01 -9.42578545e-03 6.79397425e+01] [-2.63911643e-01 -9.64543209e-01 2.65382536e-03 -1.57588493e+02] [-9.79198814e-03 -7.20324819e-05 -9.99952055e-01 -1.80138013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.32655999499997 meters 0.01264506522672197 Centerline is valid? [True, True] Translation: X:67.94, Y:-157.60, Z:-1.80 [[ 9.82160223e-01 -1.87773984e-01 -1.01107103e-02 6.79435403e+01] [-1.87763246e-01 -9.82212261e-01 2.00953437e-03 -1.57596133e+02] [-1.03082019e-02 -7.52649348e-05 -9.99946866e-01 -1.80015914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.35655999499994 meters 0.012628648836221817 Centerline is valid? [True, True] Translation: X:67.95, Y:-157.60, Z:-1.80 [[ 9.93807656e-01 -1.10587470e-01 -1.08052651e-02 6.79490424e+01] [-1.10580085e-01 -9.93866392e-01 1.28036614e-03 -1.57600254e+02] [-1.08805823e-02 -7.75905455e-05 -9.99940802e-01 -1.80030522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.38655999499997 meters 0.012415629545898671 Centerline is valid? [True, True] Translation: X:67.95, Y:-157.61, Z:-1.80 [[ 9.99405604e-01 -3.26683541e-02 -1.10098638e-02 6.79508089e+01] [-3.26655346e-02 -9.99466244e-01 4.35868217e-04 -1.57607125e+02] [-1.10182263e-02 -7.59660522e-05 -9.99939295e-01 -1.80131475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.41655999499994 meters 0.012478704477662295 Centerline is valid? [True, True] Translation: X:67.95, Y:-157.61, Z:-1.80 [[ 9.98943774e-01 4.47296296e-02 -1.05164810e-02 6.79515734e+01] [ 4.47278085e-02 -9.98999127e-01 -4.08417544e-04 -1.57613384e+02] [-1.05242237e-02 -6.23929839e-05 -9.99944617e-01 -1.80030582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.446559995 meters 0.012215219136362384 Centerline is valid? [True, True] Translation: X:67.95, Y:-157.62, Z:-1.80 [[ 9.92465267e-01 1.22149937e-01 -9.59619174e-03 6.79543101e+01] [ 1.22144721e-01 -9.92511658e-01 -1.12992115e-03 -1.57618834e+02] [-9.66235197e-03 -5.07166668e-05 -9.99953317e-01 -1.80181663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.47655999499995 meters 0.012122903089517488 Centerline is valid? [True, True] Translation: X:67.96, Y:-157.62, Z:-1.80 [[ 9.80066559e-01 1.98496727e-01 -8.28181673e-03 6.79570560e+01] [ 1.98489952e-01 -9.80101550e-01 -1.64037202e-03 -1.57624229e+02] [-8.44262988e-03 -3.61836495e-05 -9.99964360e-01 -1.80246038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.506559995 meters 0.011942054119157722 Centerline is valid? [True, True] Translation: X:67.96, Y:-157.63, Z:-1.80 [[ 9.62149984e-01 2.72431084e-01 -6.97944475e-03 6.79604441e+01] [ 2.72424029e-01 -9.62175298e-01 -1.96068188e-03 -1.57630155e+02] [-7.24960003e-03 -1.48984147e-05 -9.99973721e-01 -1.80385189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.53655999499995 meters 0.012017766149439838 Centerline is valid? [True, True] Translation: X:67.96, Y:-157.64, Z:-1.80 [[ 9.38430430e-01 3.45396022e-01 -7.06513615e-03 6.79632793e+01] [ 3.45386262e-01 -9.38457025e-01 -2.59665511e-03 -1.57636654e+02] [-7.52720100e-03 -3.42078548e-06 -9.99971670e-01 -1.80318943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.566559995 meters 0.012058943714927982 Centerline is valid? [True, True] Translation: X:67.97, Y:-157.64, Z:-1.80 [[ 9.09240232e-01 4.16214278e-01 -6.91914525e-03 6.79679706e+01] [ 4.16202144e-01 -9.09266558e-01 -3.17824033e-03 -1.57642609e+02] [-7.61417640e-03 1.00208899e-05 -9.99971012e-01 -1.80326188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.59655999499995 meters 0.012121361874016532 Centerline is valid? [True, True] Translation: X:67.97, Y:-157.65, Z:-1.80 [[ 8.74889625e-01 4.84282731e-01 -6.19515713e-03 6.79711424e+01] [ 4.84270396e-01 -8.74911559e-01 -3.45651659e-03 -1.57648022e+02] [-7.09414587e-03 2.39393053e-05 -9.99974836e-01 -1.80349266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.626559995 meters 0.012528546339297958 Centerline is valid? [True, True] Translation: X:67.97, Y:-157.65, Z:-1.80 [[ 8.36460563e-01 5.48000014e-01 -5.45077797e-03 6.79743009e+01] [ 5.47988005e-01 -8.36478322e-01 -3.62816044e-03 -1.57650647e+02] [-6.54768958e-03 4.78521792e-05 -9.99978563e-01 -1.80380906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.65655999499995 meters 0.013023759257545885 Centerline is valid? [True, True] Translation: X:67.98, Y:-157.65, Z:-1.80 [[ 7.93298897e-01 6.08807357e-01 -5.51918172e-03 6.79769452e+01] [ 6.08791935e-01 -7.93318092e-01 -4.33401883e-03 -1.57653300e+02] [-7.01704927e-03 7.81390409e-05 -9.99975377e-01 -1.80407992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.686559995 meters 0.013484052300221767 Centerline is valid? [True, True] Translation: X:67.98, Y:-157.66, Z:-1.80 [[ 7.44200384e-01 6.67934366e-01 -5.42880561e-03 6.79801140e+01] [ 6.67915674e-01 -7.44220179e-01 -4.99780360e-03 -1.57657934e+02] [-7.37843146e-03 9.33829975e-05 -9.99972775e-01 -1.80397314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.71655999499995 meters 0.013778471251448099 Centerline is valid? [True, True] Translation: X:67.98, Y:-157.66, Z:-1.80 [[ 6.90730080e-01 7.23095006e-01 -5.05662956e-03 6.79838196e+01] [ 7.23074504e-01 -6.90748580e-01 -5.44617793e-03 -1.57661941e+02] [-7.43096376e-03 1.05519007e-04 -9.99972384e-01 -1.80361466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.746559995 meters 0.01445587252360108 Centerline is valid? [True, True] Translation: X:67.99, Y:-157.66, Z:-1.80 [[ 6.33571320e-01 7.73669112e-01 -4.84644584e-03 6.79854279e+01] [ 7.73644931e-01 -6.33589843e-01 -6.11814940e-03 -1.57664989e+02] [-7.80408207e-03 1.26855735e-04 -9.99969540e-01 -1.80314308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.77655999499996 meters 0.014396166497601169 Centerline is valid? [True, True] Translation: X:67.99, Y:-157.67, Z:-1.80 [[ 5.71952738e-01 8.20275277e-01 -4.30519270e-03 6.79905631e+01] [ 8.20250258e-01 -5.71968925e-01 -6.40803964e-03 -1.57669087e+02] [-7.71879293e-03 1.33760396e-04 -9.99970201e-01 -1.80341015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.806559995 meters 0.014076784240473973 Centerline is valid? [True, True] Translation: X:68.00, Y:-157.68, Z:-1.80 [[ 5.06054114e-01 8.62494150e-01 -3.61587738e-03 6.79986487e+01] [ 8.62470291e-01 -5.06067016e-01 -6.41662258e-03 -1.57675393e+02] [-7.36417571e-03 1.28571434e-04 -9.99972876e-01 -1.80386552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.83655999499996 meters 0.013980270107871368 Centerline is valid? [True, True] Translation: X:68.01, Y:-157.68, Z:-1.80 [[ 4.36633237e-01 8.99634560e-01 -3.01225227e-03 6.80065781e+01] [ 8.99611189e-01 -4.36643611e-01 -6.48584086e-03 -1.57680650e+02] [-7.15016730e-03 1.22077844e-04 -9.99974430e-01 -1.80398436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.866559995 meters 0.014137669554581438 Centerline is valid? [True, True] Translation: X:68.01, Y:-157.69, Z:-1.80 [[ 3.64407352e-01 9.31236720e-01 -2.33540769e-03 6.80134731e+01] [ 9.31215598e-01 -3.64414818e-01 -6.27300432e-03 -1.57685821e+02] [-6.69270913e-03 1.11160826e-04 -9.99977597e-01 -1.80409684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.89655999499996 meters 0.014051481288002121 Centerline is valid? [True, True] Translation: X:68.02, Y:-157.69, Z:-1.80 [[ 2.89545883e-01 9.57162497e-01 -1.77078010e-03 6.80203044e+01] [ 9.57142398e-01 -2.89551280e-01 -6.20375905e-03 -1.57689105e+02] [-6.45073715e-03 1.01384177e-04 -9.99979189e-01 -1.80454437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.926559995 meters 0.013569626001598332 Centerline is valid? [True, True] Translation: X:68.03, Y:-157.69, Z:-1.80 [[ 2.12167926e-01 9.77232365e-01 -1.29505416e-03 6.80291137e+01] [ 9.77211403e-01 -2.12171858e-01 -6.40128874e-03 -1.57692352e+02] [-6.53032058e-03 9.26064608e-05 -9.99978673e-01 -1.80482409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.95655999499996 meters 0.012793234117724444 Centerline is valid? [True, True] Translation: X:68.04, Y:-157.69, Z:-1.81 [[ 1.30479461e-01 9.91450769e-01 -6.95509151e-04 6.80394205e+01] [ 9.91434337e-01 -1.30481303e-01 -5.70830665e-03 -1.57694905e+02] [-5.75025596e-03 5.52651234e-05 -9.99983466e-01 -1.80557658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.986559995 meters 0.01217408490146522 Centerline is valid? [True, True] Translation: X:68.05, Y:-157.70, Z:-1.81 [[ 4.61663792e-02 9.98933734e-01 -2.44406378e-04 6.80513362e+01] [ 9.98917438e-01 -4.61670221e-02 -5.70594386e-03 -1.57696654e+02] [-5.71114333e-03 1.92809749e-05 -9.99983691e-01 -1.80565344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.01655999499997 meters 0.01217408490146522 Centerline is valid? [True, True] Translation: X:68.06, Y:-157.70, Z:-1.81 [[-3.22525534e-02 9.99479730e-01 2.03476758e-04 6.80591340e+01] [ 9.99463434e-01 3.22531894e-02 -5.70746396e-03 -1.57698137e+02] [-5.71105732e-03 1.92872929e-05 -9.99983692e-01 -1.80565418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.04655999499994 meters 0.012082490811739646 Centerline is valid? [True, True] Translation: X:68.07, Y:-157.70, Z:-1.80 [[-1.17306624e-01 9.93095425e-01 7.95539098e-04 6.80728222e+01] [ 9.93071181e-01 1.17309319e-01 -6.93931378e-03 -1.57697596e+02] [-6.98472492e-03 -2.40005229e-05 -9.99975606e-01 -1.80428352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.07655999499997 meters 0.012370715350536252 Centerline is valid? [True, True] Translation: X:68.08, Y:-157.70, Z:-1.80 [[-1.97799628e-01 9.80241299e-01 1.51784480e-03 6.80828847e+01] [ 9.80210401e-01 1.97805445e-01 -7.78299401e-03 -1.57697917e+02] [-7.92945012e-03 -5.16660638e-05 -9.99968560e-01 -1.80302003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.10655999499994 meters 0.012835997271022494 Centerline is valid? [True, True] Translation: X:68.09, Y:-157.70, Z:-1.80 [[-2.76890738e-01 9.60898808e-01 2.23598752e-03 6.80916237e+01] [ 9.60865120e-01 2.76899754e-01 -8.04657912e-03 -1.57697217e+02] [-8.35109269e-03 -7.95408102e-05 -9.99965126e-01 -1.80225638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.13655999499997 meters 0.01344370791709931 Centerline is valid? [True, True] Translation: X:68.10, Y:-157.69, Z:-1.80 [[-3.56152322e-01 9.34423650e-01 2.82239927e-03 6.81017903e+01] [ 9.34391562e-01 3.56163485e-01 -7.74478863e-03 -1.57693635e+02] [-8.24214922e-03 -1.21098393e-04 -9.99966026e-01 -1.80304125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.16655999499994 meters 0.014128822180641227 Centerline is valid? [True, True] Translation: X:68.11, Y:-157.69, Z:-1.80 [[-4.30083029e-01 9.02783273e-01 3.30913346e-03 6.81107501e+01] [ 9.02754117e-01 4.30095739e-01 -7.25665036e-03 -1.57690961e+02] [-7.97442676e-03 -1.33628320e-04 -9.99968195e-01 -1.80289889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.196559995 meters 0.015308770882584777 Centerline is valid? [True, True] Translation: X:68.12, Y:-157.69, Z:-1.80 [[-5.01986998e-01 8.64867255e-01 3.69928814e-03 6.81191801e+01] [ 8.64841525e-01 5.02000606e-01 -6.67298787e-03 -1.57688043e+02] [-7.62829359e-03 -1.50455153e-04 -9.99970893e-01 -1.80292469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.22655999499995 meters 0.015610550285482357 Centerline is valid? [True, True] Translation: X:68.12, Y:-157.69, Z:-1.80 [[-5.69055617e-01 8.22289713e-01 3.91583488e-03 6.81235503e+01] [ 8.22268429e-01 5.69069070e-01 -5.91812420e-03 -1.57685717e+02] [-7.09479316e-03 -1.47874417e-04 -9.99974821e-01 -1.80303730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.256559995 meters 0.015838017371938736 Centerline is valid? [True, True] Translation: X:68.13, Y:-157.68, Z:-1.80 [[-6.32095924e-01 7.74880139e-01 3.93875832e-03 6.81270231e+01] [ 7.74863728e-01 6.32108181e-01 -5.04494259e-03 -1.57683169e+02] [-6.39894717e-03 -1.36886696e-04 -9.99979517e-01 -1.80309141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.28655999499995 meters 0.015264746020469365 Centerline is valid? [True, True] Translation: X:68.13, Y:-157.68, Z:-1.80 [[-6.90668574e-01 7.23160906e-01 3.90196476e-03 6.81292928e+01] [ 7.23148352e-01 6.90679585e-01 -4.26270214e-03 -1.57680502e+02] [-5.77762695e-03 -1.22415019e-04 -9.99983302e-01 -1.80394673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.316559995 meters 0.015264746020469365 Centerline is valid? [True, True] Translation: X:68.13, Y:-157.68, Z:-1.80 [[-7.45179349e-01 6.66850731e-01 4.22374990e-03 6.81344734e+01] [ 6.66839079e-01 7.45191309e-01 -3.94397424e-03 -1.57675800e+02] [-5.77754383e-03 -1.22406659e-04 -9.99983302e-01 -1.80394746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.34655999499995 meters 0.014907682004853396 Centerline is valid? [True, True] Translation: X:68.15, Y:-157.66, Z:-1.80 [[-7.90166941e-01 6.12874887e-01 4.53631058e-03 6.81504771e+01] [ 6.12863907e-01 7.90179953e-01 -3.67057176e-03 -1.57655304e+02] [-5.83410293e-03 -1.20223434e-04 -9.99982974e-01 -1.80419523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.376559995 meters 0.014623330977325724 Centerline is valid? [True, True] Translation: X:68.16, Y:-157.63, Z:-1.80 [[-8.30895667e-01 5.56404350e-01 5.15660329e-03 6.81592527e+01] [ 5.56392716e-01 8.30911659e-01 -3.60012855e-03 -1.57630259e+02] [-6.28780898e-03 -1.22234708e-04 -9.99980224e-01 -1.80336572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.40655999499995 meters 0.014683355548054534 Centerline is valid? [True, True] Translation: X:68.55, Y:-157.10, Z:-2.79 [[-7.67785795e-01 -6.40688562e-01 4.81034620e-03 6.85472371e+01] [ 6.40676903e-01 -7.67800856e-01 -3.86684712e-03 -1.57097366e+02] [ 6.17083265e-03 1.12967412e-04 9.99980954e-01 -2.78910298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.436559995 meters 0.014856537005753897 Centerline is valid? [True, True] Translation: X:68.13, Y:-157.61, Z:-1.80 [[-8.32628390e-01 5.53803415e-01 5.63392387e-03 6.81319915e+01] [ 5.53789675e-01 8.32647441e-01 -3.90328707e-03 -1.57614545e+02] [-6.85272600e-03 -1.29978758e-04 -9.99976511e-01 -1.80218389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.46655999499995 meters 0.015219540658901206 Centerline is valid? [True, True] Translation: X:68.15, Y:-157.59, Z:-1.80 [[-8.69649897e-01 4.93624896e-01 6.59691323e-03 6.81481548e+01] [ 4.93609405e-01 8.69674905e-01 -3.91339804e-03 -1.57592633e+02] [-7.66892059e-03 -1.46987786e-04 -9.99970583e-01 -1.80068298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.496559995 meters 0.015297556118017603 Centerline is valid? [True, True] Translation: X:68.16, Y:-157.57, Z:-1.80 [[-9.02428617e-01 4.30780222e-01 7.14082803e-03 6.81643716e+01] [ 4.30765383e-01 9.02456856e-01 -3.57878789e-03 -1.57571065e+02] [-7.98596025e-03 -1.53579083e-04 -9.99968100e-01 -1.80015912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.52655999499996 meters 0.015297556118017603 Centerline is valid? [True, True] Translation: X:68.47, Y:-156.98, Z:-2.79 [[-8.52142511e-01 -5.23265113e-01 6.83839471e-03 6.84655169e+01] [ 5.23249662e-01 -8.52169936e-01 -4.02381153e-03 -1.56979525e+02] [ 7.93299458e-03 1.49326863e-04 9.99968522e-01 -2.79176505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.556559995 meters 0.014805631200462495 Centerline is valid? [True, True] Translation: X:68.12, Y:-157.55, Z:-1.80 [[-9.03904361e-01 4.27664963e-01 7.71915909e-03 6.81245781e+01] [ 4.27647816e-01 9.03937306e-01 -3.83311158e-03 -1.57554443e+02] [-8.61692340e-03 -1.63684749e-04 -9.99962860e-01 -1.80021390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.58655999499996 meters 0.014362406623423033 Centerline is valid? [True, True] Translation: X:68.13, Y:-157.53, Z:-1.80 [[-9.31306827e-01 3.64134532e-01 8.58118903e-03 6.81328899e+01] [ 3.64117485e-01 9.31346346e-01 -3.52712522e-03 -1.57532067e+02] [-9.27640714e-03 -1.60274827e-04 -9.99956960e-01 -1.79959533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.616559995 meters 0.013976119053901148 Centerline is valid? [True, True] Translation: X:68.40, Y:-156.91, Z:-2.79 [[-8.90265938e-01 -4.55368487e-01 8.13021484e-03 6.83967148e+01] [ 4.55350964e-01 -8.90303050e-01 -3.99737874e-03 -1.56907676e+02] [ 9.05863538e-03 1.43371029e-04 9.99958959e-01 -2.79211781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.64655999499996 meters 0.013565673372767421 Centerline is valid? [True, True] Translation: X:68.09, Y:-157.52, Z:-1.80 [[-9.31311254e-01 3.64139733e-01 7.84876239e-03 6.80922086e+01] [ 3.64125761e-01 9.31344320e-01 -3.19196113e-03 -1.57521795e+02] [-8.47222014e-03 -1.14772745e-04 -9.99964104e-01 -1.80000907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.676559995 meters 0.012661473012721462 Centerline is valid? [True, True] Translation: X:68.36, Y:-156.88, Z:-2.79 [[-8.95784806e-01 -4.44444161e-01 6.24255254e-03 6.83596894e+01] [ 4.44433451e-01 -8.95806557e-01 -3.08548612e-03 -1.56882996e+02] [ 6.96344579e-03 1.04675834e-05 9.99975755e-01 -2.79027803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.70655999499996 meters 0.012314848138132327 Centerline is valid? [True, True] Translation: X:68.05, Y:-157.52, Z:-1.80 [[-9.29069582e-01 3.69859759e-01 5.78538294e-03 6.80539517e+01] [ 3.69852433e-01 9.29087594e-01 -2.32805241e-03 -1.57518964e+02] [-6.23618043e-03 -2.31847246e-05 -9.99980555e-01 -1.80233937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.736559995 meters 0.01238129252546308 Centerline is valid? [True, True] Translation: X:68.33, Y:-156.86, Z:-2.79 [[-9.02789914e-01 -4.30063544e-01 3.96473184e-03 6.83312925e+01] [ 4.30059007e-01 -9.02798617e-01 -1.97690149e-03 -1.56859551e+02] [ 4.42954768e-03 -7.96580892e-05 9.99990186e-01 -2.78766816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.76655999499997 meters 0.012773714142468279 Centerline is valid? [True, True] Translation: X:68.01, Y:-157.51, Z:-1.80 [[-9.25916856e-01 3.77701502e-01 4.42161973e-03 6.80076894e+01] [ 3.77697402e-01 9.25927413e-01 -1.76036369e-03 -1.57514152e+02] [-4.75899093e-03 4.00838668e-05 -9.99988675e-01 -1.80479371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.79655999499994 meters 0.01319490494149085 Centerline is valid? [True, True] Translation: X:68.02, Y:-157.49, Z:-1.80 [[-9.49684433e-01 3.13166543e-01 5.11797146e-03 6.80211567e+01] [ 3.13162318e-01 9.49698222e-01 -1.62771330e-03 -1.57490008e+02] [-5.37027374e-03 5.69418262e-05 -9.99985578e-01 -1.80413658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.82655999499997 meters 0.013637373554735745 Centerline is valid? [True, True] Translation: X:68.25, Y:-156.80, Z:-2.79 [[-9.35504162e-01 -3.53267730e-01 5.82018313e-03 6.82522618e+01] [ 3.53260793e-01 -9.35522266e-01 -2.21396812e-03 -1.56796349e+02] [ 6.22703440e-03 -1.51338841e-05 9.99980612e-01 -2.78951268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.85655999499994 meters 0.013835038012146464 Centerline is valid? [True, True] Translation: X:67.98, Y:-157.48, Z:-1.80 [[-9.49402816e-01 3.13993943e-01 6.48824602e-03 6.79829538e+01] [ 3.13987355e-01 9.49424980e-01 -2.03651585e-03 -1.57478695e+02] [-6.79955649e-03 1.03753330e-04 -9.99976877e-01 -1.80276141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.88655999499997 meters 0.014360310095746275 Centerline is valid? [True, True] Translation: X:67.99, Y:-157.45, Z:-1.80 [[-9.68694634e-01 2.48108569e-01 8.53486488e-03 6.79876123e+01] [ 2.48100342e-01 9.68732220e-01 -2.02643147e-03 -1.57451848e+02] [-8.77077361e-03 1.54509596e-04 -9.99961524e-01 -1.80233217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.91655999499994 meters 0.014986549199345844 Centerline is valid? [True, True] Translation: X:68.00, Y:-157.43, Z:-1.80 [[-9.83656879e-01 1.79770403e-01 1.00869945e-02 6.79962970e+01] [ 1.79762936e-01 9.83708578e-01 -1.64951177e-03 -1.57425693e+02] [-1.02191964e-02 1.90714155e-04 -9.99947764e-01 -1.80123423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.946559995 meters 0.015596802315352973 Centerline is valid? [True, True] Translation: X:68.12, Y:-156.70, Z:-2.79 [[-9.78322235e-01 -2.06798062e-01 1.09620733e-02 6.81210708e+01] [ 2.06783399e-01 -9.78383637e-01 -2.46692062e-03 -1.56701621e+02] [ 1.12352676e-02 -1.46668511e-04 9.99936872e-01 -2.79146958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.97655999499995 meters 0.016556547965558367 Centerline is valid? [True, True] Translation: X:67.94, Y:-157.42, Z:-1.80 [[-9.83068328e-01 1.82868061e-01 1.16590915e-02 6.79416372e+01] [ 1.82858941e-01 9.83137414e-01 -1.85260323e-03 -1.57417077e+02] [-1.18012710e-02 3.10733563e-04 -9.99930314e-01 -1.80005752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.006559995 meters 0.017766878748229385 Centerline is valid? [True, True] Translation: X:68.06, Y:-156.69, Z:-2.79 [[-9.81035159e-01 -1.93531266e-01 1.07548111e-02 6.80645355e+01] [ 1.93515856e-01 -9.81094050e-01 -2.46539690e-03 -1.56693397e+02] [ 1.10286125e-02 -3.37414567e-04 9.99939126e-01 -2.79082675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.03655999499995 meters 0.017766878748229385 Centerline is valid? [True, True] Translation: X:67.89, Y:-157.41, Z:-1.80 [[-9.83233351e-01 1.82021874e-01 1.09642950e-02 6.78850752e+01] [ 1.82014300e-01 9.83294426e-01 -1.69317655e-03 -1.57408596e+02] [-1.10893254e-02 3.30870829e-04 -9.99938457e-01 -1.80111230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.066559995 meters 0.01785876112943867 Centerline is valid? [True, True] Translation: X:67.88, Y:-157.38, Z:-1.80 [[-9.93495878e-01 1.13430445e-01 9.97367623e-03 6.78844486e+01] [ 1.13427910e-01 9.93545890e-01 -8.21318898e-04 -1.57379295e+02] [-1.00024676e-02 3.15316307e-04 -9.99949924e-01 -1.80228491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.09655999499995 meters 0.01850079032294526 Centerline is valid? [True, True] Translation: X:67.95, Y:-156.65, Z:-2.79 [[-9.93272686e-01 -1.15463326e-01 8.80859715e-03 6.79475503e+01] [ 1.15455655e-01 -9.93311682e-01 -1.37618197e-03 -1.56649724e+02] [ 8.90858100e-03 -3.49921613e-04 9.99960257e-01 -2.78786341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.126559995 meters 0.018562109808099986 Centerline is valid? [True, True] Translation: X:67.81, Y:-157.37, Z:-1.80 [[-9.93807035e-01 1.10755923e-01 8.98352250e-03 6.78132544e+01] [ 1.10754162e-01 9.93847590e-01 -6.94790943e-04 -1.57372310e+02] [-9.00520440e-03 3.04474377e-04 -9.99959406e-01 -1.80453454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.15655999499995 meters 0.019166130423277673 Centerline is valid? [True, True] Translation: X:67.81, Y:-157.34, Z:-1.80 [[-9.99172283e-01 3.97031465e-02 8.85492386e-03 6.78137364e+01] [ 3.97042350e-02 9.99211475e-01 -5.29056892e-05 -1.57343573e+02] [-8.85004205e-03 2.98716079e-04 -9.99960793e-01 -1.80444519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.186559995 meters 0.01948908024222875 Centerline is valid? [True, True] Translation: X:67.81, Y:-157.31, Z:-1.80 [[-9.99413368e-01 -3.32570535e-02 8.17848747e-03 6.78072113e+01] [-3.32537915e-02 9.99446797e-01 5.34551096e-04 -1.57312136e+02] [-8.19174070e-03 2.62271794e-04 -9.99966413e-01 -1.80407861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.21655999499995 meters 0.017971715987877775 Centerline is valid? [True, True] Translation: X:67.76, Y:-156.60, Z:-2.79 [[-9.99548570e-01 2.89686361e-02 7.96712525e-03 6.77608695e+01] [-2.89698714e-02 -9.99580284e-01 -3.96736591e-05 -1.56595013e+02] [ 7.96263204e-03 -2.70462344e-04 9.99968261e-01 -2.78785018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.246559995 meters 0.0168374418553203 Centerline is valid? [True, True] Translation: X:67.70, Y:-157.31, Z:-1.80 [[-9.99069195e-01 -4.23213036e-02 8.34574568e-03 6.77018056e+01] [-4.23177887e-02 9.99104023e-01 5.97374517e-04 -1.57310144e+02] [-8.36354974e-03 2.43644976e-04 -9.99964995e-01 -1.80409081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.27655999499996 meters 0.016746262012607913 Centerline is valid? [True, True] Translation: X:67.69, Y:-157.28, Z:-1.80 [[-9.93322388e-01 -1.15096192e-01 7.96870596e-03 6.76897780e+01] [-1.15090695e-01 9.93354326e-01 1.14648443e-03 -1.57281400e+02] [-8.04770453e-03 2.21704749e-04 -9.99967592e-01 -1.80415274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.306559995 meters 0.016157444732092748 Centerline is valid? [True, True] Translation: X:67.66, Y:-157.25, Z:-1.80 [[-9.81870805e-01 -1.89394417e-01 7.71219260e-03 6.76625651e+01] [-1.89387043e-01 9.81901074e-01 1.68221119e-03 -1.57253508e+02] [-7.89121160e-03 1.91124709e-04 -9.99968846e-01 -1.80437552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.33655999499996 meters 0.01560629193528457 Centerline is valid? [True, True] Translation: X:67.62, Y:-157.23, Z:-1.80 [[-9.65134746e-01 -2.61647390e-01 7.45428909e-03 6.76222268e+01] [-2.61638177e-01 9.65163516e-01 2.20260890e-03 -1.57232014e+02] [-7.77091474e-03 1.75487768e-04 -9.99969791e-01 -1.80476607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.366559995 meters 0.015330847010072987 Centerline is valid? [True, True] Translation: X:67.56, Y:-157.22, Z:-1.80 [[-9.42802378e-01 -3.33265597e-01 7.59723405e-03 6.75592638e+01] [-3.33253310e-01 9.42832972e-01 2.86688001e-03 -1.57220985e+02] [-8.11835524e-03 1.71097893e-04 -9.99967031e-01 -1.80433815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.39655999499996 meters 0.014864728529736103 Centerline is valid? [True, True] Translation: X:67.49, Y:-157.22, Z:-1.80 [[-9.15027475e-01 -4.03324818e-01 7.33560330e-03 6.74904004e+01] [-4.03310465e-01 9.15056865e-01 3.40622172e-03 -1.57216465e+02] [-8.08630791e-03 1.58260883e-04 -9.99967293e-01 -1.80431526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.426559995 meters 0.013848032499384707 Centerline is valid? [True, True] Translation: X:67.41, Y:-157.22, Z:-1.80 [[-8.81032117e-01 -4.73001804e-01 7.19037358e-03 6.74130238e+01] [-4.72984802e-01 8.81061448e-01 4.01277324e-03 -1.57218296e+02] [-8.23320994e-03 1.34444679e-04 -9.99966098e-01 -1.80446478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.45655999499996 meters 0.01331261008538871 Centerline is valid? [True, True] Translation: X:67.33, Y:-157.23, Z:-1.80 [[-8.41946227e-01 -5.39525032e-01 6.26825095e-03 6.73289638e+01] [-5.39509165e-01 8.41969554e-01 4.13908857e-03 -1.57232706e+02] [-7.51081835e-03 1.03111171e-04 -9.99971788e-01 -1.80475116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.486559995 meters 0.013242729205854733 Centerline is valid? [True, True] Translation: X:67.24, Y:-157.26, Z:-1.80 [[-7.98374002e-01 -6.02133798e-01 5.81739862e-03 6.72424543e+01] [-6.02116975e-01 7.98395191e-01 4.50187106e-03 -1.57258593e+02] [-7.35531180e-03 9.14223576e-05 -9.99972945e-01 -1.80458491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.51655999499997 meters 0.01304922310292671 Centerline is valid? [True, True] Translation: X:67.15, Y:-157.29, Z:-1.80 [[-7.49299154e-01 -6.62205919e-01 5.83943684e-03 6.71536008e+01] [-6.62184974e-01 7.49321903e-01 5.26748550e-03 -1.57292783e+02] [-7.86377800e-03 8.01350979e-05 -9.99969077e-01 -1.80346917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.54655999499994 meters 0.012521691568910679 Centerline is valid? [True, True] Translation: X:67.06, Y:-157.34, Z:-1.80 [[-6.95472092e-01 -7.18524577e-01 6.40334944e-03 6.70616741e+01] [-7.18493150e-01 6.95501565e-01 6.72052152e-03 -1.57338914e+02] [-9.28239944e-03 7.31724414e-05 -9.99956915e-01 -1.80187223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.57655999499997 meters 0.012255862100789904 Centerline is valid? [True, True] Translation: X:66.97, Y:-157.39, Z:-1.80 [[-6.37189873e-01 -7.70678762e-01 6.58122907e-03 6.69748060e+01] [-7.70636758e-01 6.37223857e-01 8.04632705e-03 -1.57391936e+02] [-1.03948495e-02 5.53010671e-05 -9.99945971e-01 -1.80129683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.60655999499994 meters 0.012144231189227054 Centerline is valid? [True, True] Translation: X:66.89, Y:-157.46, Z:-1.80 [[-5.75350529e-01 -8.17883899e-01 6.13974721e-03 6.68905155e+01] [-8.17836632e-01 5.75383286e-01 8.79302862e-03 -1.57455838e+02] [-1.07243845e-02 3.77634791e-05 -9.99942491e-01 -1.80131885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.63655999499997 meters 0.0120607902369748 Centerline is valid? [True, True] Translation: X:66.81, Y:-157.53, Z:-1.80 [[-5.10640206e-01 -8.59775899e-01 5.65538092e-03 6.68087392e+01] [-8.59722541e-01 5.10671521e-01 9.57867770e-03 -1.57529914e+02] [-1.11235582e-02 2.91994986e-05 -9.99938131e-01 -1.80161129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.66655999499994 meters 0.012166120424179276 Centerline is valid? [True, True] Translation: X:66.73, Y:-157.61, Z:-1.80 [[-4.43831590e-01 -8.96095442e-01 5.14563531e-03 6.67337812e+01] [-8.96034322e-01 4.43861417e-01 1.04659628e-02 -1.57610539e+02] [-1.16624505e-02 3.44590588e-05 -9.99931991e-01 -1.80080514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.696559995 meters 0.012166120424179276 Centerline is valid? [True, True] Translation: X:66.66, Y:-157.70, Z:-1.80 [[-3.74054016e-01 -9.27396807e-01 4.33069526e-03 6.66633898e+01] [-9.27333587e-01 3.74079083e-01 1.08285446e-02 -1.57699871e+02] [-1.16623802e-02 3.44614376e-05 -9.99931992e-01 -1.80080843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.72655999499995 meters 0.012399149357431518 Centerline is valid? [True, True] Translation: X:66.60, Y:-157.80, Z:-1.80 [[-3.02572276e-01 -9.53120209e-01 3.44742564e-03 6.66009649e+01] [-9.53056799e-01 3.02591912e-01 1.09942344e-02 -1.57795265e+02] [-1.15219901e-02 4.09580880e-05 -9.99933619e-01 -1.79899779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.756559995 meters 0.012399149357431518 Centerline is valid? [True, True] Translation: X:66.54, Y:-157.90, Z:-1.80 [[-2.28632971e-01 -9.73509236e-01 2.59458791e-03 6.65441246e+01] [-9.73444508e-01 2.28647689e-01 1.12260602e-02 -1.57897509e+02] [-1.15219198e-02 4.09601436e-05 -9.99933620e-01 -1.79900115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.78655999499995 meters 0.012345755629300468 Centerline is valid? [True, True] Translation: X:66.50, Y:-158.01, Z:-1.80 [[-1.55449652e-01 -9.87842554e-01 1.57957504e-03 6.64979419e+01] [-9.87787503e-01 1.55457666e-01 1.04289233e-02 -1.58005350e+02] [-1.05476912e-02 6.08880149e-05 -9.99944370e-01 -1.80143877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.816559995 meters 0.012529814728278863 Centerline is valid? [True, True] Translation: X:66.46, Y:-158.12, Z:-1.80 [[-8.17979758e-02 -9.96648720e-01 6.47830638e-04 6.64612619e+01] [-9.96609863e-01 8.18005074e-02 8.80103748e-03 -1.58117093e+02] [-8.82453562e-03 7.42726474e-05 -9.99961060e-01 -1.80388824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.84655999499995 meters 0.012529814728278863 Centerline is valid? [True, True] Translation: X:66.43, Y:-158.23, Z:-1.80 [[-5.02048751e-03 -9.99987397e-01 -2.99746349e-05 6.64291183e+01] [-9.99948460e-01 5.02002751e-03 8.82472735e-03 -1.58232997e+02] [-8.82446566e-03 7.42775235e-05 -9.99961061e-01 -1.80389167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.876559995 meters 0.012678586367298836 Centerline is valid? [True, True] Translation: X:66.41, Y:-158.35, Z:-1.80 [[ 7.05957740e-02 -9.97504790e-01 -6.55651320e-04 6.64073871e+01] [-9.97471527e-01 -7.05987745e-02 8.14650543e-03 -1.58348649e+02] [-8.17246637e-03 7.88846679e-05 -9.99966602e-01 -1.80437876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.90655999499995 meters 0.0127643783363896 Centerline is valid? [True, True] Translation: X:66.40, Y:-158.47, Z:-1.80 [[ 1.46425253e-01 -9.89220964e-01 -1.23677339e-03 6.63952339e+01] [-9.89190209e-01 -1.46430454e-01 7.80077423e-03 -1.58473114e+02] [-7.89779069e-03 8.11737811e-05 -9.99968809e-01 -1.80485936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.936559995 meters 0.012764159084295928 Centerline is valid? [True, True] Translation: X:66.39, Y:-158.59, Z:-1.80 [[ 2.22278109e-01 -9.74981650e-01 -1.79547440e-03 6.63914460e+01] [-9.74952599e-01 -2.22285347e-01 7.52688777e-03 -1.58590360e+02] [-7.73768511e-03 7.74400528e-05 -9.99970061e-01 -1.80491800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.96655999499995 meters 0.012830070464570877 Centerline is valid? [True, True] Translation: X:66.40, Y:-158.71, Z:-1.80 [[ 2.97049854e-01 -9.54859002e-01 -2.38106732e-03 6.63963322e+01] [-9.54830289e-01 -2.97059388e-01 7.40539694e-03 -1.58709905e+02] [-7.77842834e-03 7.37431164e-05 -9.99969745e-01 -1.80480679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.996559995 meters 0.01245082511977476 Centerline is valid? [True, True] Translation: X:66.41, Y:-158.83, Z:-1.81 [[ 3.70189174e-01 -9.28951970e-01 -2.86590087e-03 6.64093800e+01] [-9.28925486e-01 -3.70200262e-01 7.01488019e-03 -1.58829534e+02] [-7.57744402e-03 6.53756563e-05 -9.99971289e-01 -1.80540944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.02655999499996 meters 0.01255017103140686 Centerline is valid? [True, True] Translation: X:66.43, Y:-158.94, Z:-1.80 [[ 4.41737095e-01 -8.97137197e-01 -3.63160214e-03 6.64306827e+01] [-8.97107947e-01 -4.41752019e-01 7.24461231e-03 -1.58942245e+02] [-8.10367876e-03 5.77251396e-05 -9.99967163e-01 -1.80464842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.056559995 meters 0.0122107444145071 Centerline is valid? [True, True] Translation: X:66.46, Y:-159.06, Z:-1.80 [[ 5.11960038e-01 -8.58998598e-01 -4.28125605e-03 6.64607624e+01] [-8.58969084e-01 -5.11977937e-01 7.12067335e-03 -1.59056300e+02] [-8.30855706e-03 3.19663961e-05 -9.99965483e-01 -1.80405600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.08655999499996 meters 0.011991556309712341 Centerline is valid? [True, True] Translation: X:66.50, Y:-159.17, Z:-1.80 [[ 5.77725481e-01 -8.16215805e-01 -5.00292310e-03 6.64986515e+01] [-8.16185442e-01 -5.77747142e-01 7.04013971e-03 -1.59167442e+02] [-8.63669782e-03 1.60449042e-05 -9.99962703e-01 -1.80495144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.116559995 meters 0.012058466417874737 Centerline is valid? [True, True] Translation: X:66.54, Y:-159.27, Z:-1.80 [[ 6.41573522e-01 -7.67040370e-01 -5.69967012e-03 6.65433106e+01] [-7.67009808e-01 -6.41598839e-01 6.84723208e-03 -1.59274412e+02] [-8.90900516e-03 -2.12999226e-05 -9.99960314e-01 -1.80374579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.14655999499996 meters 0.012210616539727187 Centerline is valid? [True, True] Translation: X:66.59, Y:-159.37, Z:-1.80 [[ 6.99846117e-01 -7.14265791e-01 -6.30816870e-03 6.65899854e+01] [-7.14236220e-01 -6.99874545e-01 6.49953341e-03 -1.59369185e+02] [-9.05732107e-03 -4.31506479e-05 -9.99958981e-01 -1.80337153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.176559995 meters 0.012404288578934983 Centerline is valid? [True, True] Translation: X:66.64, Y:-159.46, Z:-1.80 [[ 7.53450932e-01 -6.57463974e-01 -7.26751732e-03 6.66433000e+01] [-6.57432535e-01 -7.53485978e-01 6.42988216e-03 -1.59459622e+02] [-9.70338827e-03 -6.66983714e-05 -9.99952919e-01 -1.80325830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.20655999499996 meters 0.012404288578934983 Centerline is valid? [True, True] Translation: X:66.64, Y:-159.47, Z:-1.80 [[ 8.02541916e-01 -5.96545424e-01 -7.74786823e-03 6.66426254e+01] [-5.96516822e-01 -8.02579312e-01 5.84203504e-03 -1.59467277e+02] [-9.70331802e-03 -6.67442639e-05 -9.99952919e-01 -1.80325901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.23655999499994 meters 0.012531385087836458 Centerline is valid? [True, True] Translation: X:66.64, Y:-159.48, Z:-1.80 [[ 8.47811813e-01 -5.30230902e-01 -8.38572102e-03 6.66413541e+01] [-5.30203921e-01 -8.47853279e-01 5.34969400e-03 -1.59477566e+02] [-9.94643414e-03 -8.93916075e-05 -9.99950529e-01 -1.80382637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.26655999499997 meters 0.012669289396506389 Centerline is valid? [True, True] Translation: X:66.64, Y:-159.49, Z:-1.80 [[ 8.87366136e-01 -4.60984089e-01 -8.66079075e-03 6.66405878e+01] [-4.60960996e-01 -8.87408395e-01 4.61531609e-03 -1.59487867e+02] [-9.81324569e-03 -1.03188472e-04 -9.99951844e-01 -1.80382112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.29655999499994 meters 0.013228397310056782 Centerline is valid? [True, True] Translation: X:66.64, Y:-159.50, Z:-1.80 [[ 9.21511891e-01 -3.88236993e-01 -9.37405237e-03 6.66406707e+01] [-3.88215474e-01 -9.21559559e-01 4.08961919e-03 -1.59497017e+02] [-1.02264890e-02 -1.29480523e-04 -9.99947700e-01 -1.80334853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.32655999499997 meters 0.013243533340471077 Centerline is valid? [True, True] Translation: X:66.64, Y:-159.50, Z:-1.80 [[ 9.49193108e-01 -3.14548378e-01 -9.57925683e-03 6.66424352e+01] [-3.14530940e-01 -9.49241434e-01 3.31472289e-03 -1.59504943e+02] [-1.01356682e-02 -1.33339467e-04 -9.99948624e-01 -1.80329943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.35655999499994 meters 0.013433429815714139 Centerline is valid? [True, True] Translation: X:66.64, Y:-159.51, Z:-1.80 [[ 9.70911370e-01 -2.39250613e-01 -9.50027853e-03 6.66437866e+01] [-2.39237843e-01 -9.70957840e-01 2.47538205e-03 -1.59511800e+02] [-9.81660660e-03 -1.30550436e-04 -9.99951807e-01 -1.80304448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.38655999499997 meters 0.013419130276671746 Centerline is valid? [True, True] Translation: X:66.65, Y:-159.52, Z:-1.80 [[ 9.86552803e-01 -1.63198688e-01 -8.93057479e-03 6.66465631e+01] [-1.63190943e-01 -9.86593217e-01 1.59404224e-03 -1.59515131e+02] [-9.07099011e-03 -1.15217916e-04 -9.99958851e-01 -1.80386718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.41655999499994 meters 0.01284729831141164 Centerline is valid? [True, True] Translation: X:66.65, Y:-159.52, Z:-1.81 [[ 9.96251276e-01 -8.61618353e-02 -7.71578984e-03 6.66465357e+01] [-8.61585289e-02 -9.96281150e-01 7.60512745e-04 -1.59521116e+02] [-7.75262315e-03 -9.28806907e-05 -9.99969944e-01 -1.80557170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.446559995 meters 0.012800360860700702 Centerline is valid? [True, True] Translation: X:66.65, Y:-159.53, Z:-1.81 [[ 9.99931879e-01 -9.03715536e-03 -7.38699425e-03 6.66455093e+01] [-9.03631537e-03 -9.99959161e-01 1.47080496e-04 -1.59527770e+02] [-7.38802176e-03 -8.03192673e-05 -9.99972705e-01 -1.80619791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.47655999499995 meters 0.012299939542591362 Centerline is valid? [True, True] Translation: X:66.65, Y:-159.53, Z:-1.81 [[ 9.97833082e-01 6.54175301e-02 -7.04885445e-03 6.66455187e+01] [ 6.54162482e-02 -9.97857978e-01 -4.12504219e-04 -1.59529261e+02] [-7.06074066e-03 -4.94992564e-05 -9.99975071e-01 -1.80649162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.506559995 meters 0.01214040603710207 Centerline is valid? [True, True] Translation: X:66.65, Y:-159.54, Z:-1.81 [[ 9.89813495e-01 1.42194106e-01 -7.07675247e-03 6.66462785e+01] [ 1.42190775e-01 -9.89838792e-01 -9.74290453e-04 -1.59535013e+02] [-7.14338247e-03 -4.18830758e-05 -9.99974485e-01 -1.80658352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.53655999499995 meters 0.012041365437865527 Centerline is valid? [True, True] Translation: X:66.65, Y:-159.54, Z:-1.81 [[ 9.75858663e-01 2.18275441e-01 -7.46332311e-03 6.66471991e+01] [ 2.18269351e-01 -9.75887202e-01 -1.63098723e-03 -1.59542162e+02] [-7.63936596e-03 -3.74016722e-05 -9.99970819e-01 -1.80646229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.566559995 meters 0.012128906958503126 Centerline is valid? [True, True] Translation: X:66.65, Y:-159.55, Z:-1.81 [[ 9.55984343e-01 2.93304087e-01 -8.16389396e-03 6.66488558e+01] [ 2.93293710e-01 -9.56019200e-01 -2.46749296e-03 -1.59549267e+02] [-8.52856515e-03 -3.55341168e-05 -9.99963631e-01 -1.80587848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.59655999499995 meters 0.012127422287400848 Centerline is valid? [True, True] Translation: X:66.65, Y:-159.56, Z:-1.81 [[ 9.30229056e-01 3.66875836e-01 -8.71917739e-03 6.66504336e+01] [ 3.66860073e-01 -9.30269918e-01 -3.40101368e-03 -1.59556123e+02] [-9.35893817e-03 -3.49963105e-05 -9.99956204e-01 -1.80517810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.626559995 meters 0.012206679932160075 Centerline is valid? [True, True] Translation: X:66.65, Y:-159.56, Z:-1.80 [[ 8.98710774e-01 4.38446527e-01 -9.14267199e-03 6.66535002e+01] [ 4.38424255e-01 -8.98757276e-01 -4.41934699e-03 -1.59563387e+02] [-1.01546903e-02 -3.66544033e-05 -9.99948439e-01 -1.80441759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.65655999499995 meters 0.01215248763520379 Centerline is valid? [True, True] Translation: X:66.65, Y:-159.57, Z:-1.80 [[ 8.61389075e-01 5.07843311e-01 -1.01996382e-02 6.66549459e+01] [ 5.07808364e-01 -8.61449458e-01 -5.95787106e-03 -1.59569303e+02] [-1.18121378e-02 -4.74165735e-05 -9.99930233e-01 -1.80326378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.686559995 meters 0.012387593869375697 Centerline is valid? [True, True] Translation: X:66.66, Y:-159.57, Z:-1.80 [[ 8.18648291e-01 5.74211279e-01 -9.81747940e-03 6.66565868e+01] [ 5.74170807e-01 -8.18707154e-01 -6.81765891e-03 -1.59574447e+02] [-1.19524173e-02 -5.56452488e-05 -9.99928566e-01 -1.80229640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.71655999499995 meters 0.012364409761886753 Centerline is valid? [True, True] Translation: X:66.66, Y:-159.58, Z:-1.80 [[ 7.71095733e-01 6.36645866e-01 -9.66498303e-03 6.66591328e+01] [ 6.36596828e-01 -7.71156299e-01 -7.90190797e-03 -1.59579255e+02] [-1.24839296e-02 -5.95700231e-05 -9.99922071e-01 -1.80329440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.746559995 meters 0.012373486934886465 Centerline is valid? [True, True] Translation: X:66.66, Y:-159.58, Z:-1.80 [[ 7.18793060e-01 6.95166792e-01 -8.92573246e-03 6.66605866e+01] [ 6.95114244e-01 -7.18848473e-01 -8.54749449e-03 -1.59584574e+02] [-1.23581835e-02 -6.05240563e-05 -9.99923633e-01 -1.80306258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.77655999499996 meters 0.012290129772999928 Centerline is valid? [True, True] Translation: X:66.66, Y:-159.59, Z:-1.80 [[ 6.62216231e-01 7.49265900e-01 -8.38303356e-03 6.66641543e+01] [ 7.49207034e-01 -6.62269287e-01 -9.39215057e-03 -1.59589780e+02] [-1.25890438e-02 -6.09931643e-05 -9.99920753e-01 -1.80359409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.806559995 meters 0.012395730045321225 Centerline is valid? [True, True] Translation: X:66.67, Y:-159.60, Z:-1.80 [[ 6.01291207e-01 7.98992809e-01 -7.70562270e-03 6.66669493e+01] [ 7.98928583e-01 -6.01340575e-01 -1.01307415e-02 -1.59595996e+02] [-1.27280932e-02 -6.47164374e-05 -9.99918992e-01 -1.80309854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.83655999499996 meters 0.012419962955991069 Centerline is valid? [True, True] Translation: X:66.67, Y:-159.60, Z:-1.80 [[ 5.36047359e-01 8.44158989e-01 -6.98786463e-03 6.66715104e+01] [ 8.44089176e-01 -5.36092898e-01 -1.08566726e-02 -1.59601539e+02] [-1.29109024e-02 -7.86902204e-05 -9.99916648e-01 -1.80361181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.866559995 meters 0.012484755245312262 Centerline is valid? [True, True] Translation: X:66.68, Y:-159.61, Z:-1.80 [[ 4.67245353e-01 8.84106882e-01 -6.06633971e-03 6.66779830e+01] [ 8.84034965e-01 -4.67284722e-01 -1.12768939e-02 -1.59607781e+02] [-1.28046874e-02 -9.37801529e-05 -9.99918012e-01 -1.80380035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.89655999499996 meters 0.012672106174982423 Centerline is valid? [True, True] Translation: X:66.69, Y:-159.61, Z:-1.80 [[ 3.94493297e-01 9.18885065e-01 -5.02751269e-03 6.66858953e+01] [ 9.18814274e-01 -3.94525313e-01 -1.14064784e-02 -1.59613760e+02] [-1.24647237e-02 -1.19571160e-04 -9.99922305e-01 -1.80372149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.926559995 meters 0.012941550779757989 Centerline is valid? [True, True] Translation: X:66.69, Y:-159.62, Z:-1.80 [[ 3.20331005e-01 9.47296801e-01 -4.10085674e-03 6.66922396e+01] [ 9.47224371e-01 -3.20357226e-01 -1.17148926e-02 -1.59619528e+02] [-1.24112194e-02 -1.31788122e-04 -9.99922969e-01 -1.80368226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.95655999499996 meters 0.012926077151091307 Centerline is valid? [True, True] Translation: X:66.70, Y:-159.62, Z:-1.80 [[ 2.44551719e-01 9.69631771e-01 -2.94716335e-03 6.66981634e+01] [ 9.69567636e-01 -2.44569442e-01 -1.11529155e-02 -1.59623390e+02] [-1.15350073e-02 -1.30009550e-04 -9.99933461e-01 -1.80433898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.98655999499994 meters 0.012908779749020185 Centerline is valid? [True, True] Translation: X:66.71, Y:-159.63, Z:-1.81 [[ 1.67204448e-01 9.85920355e-01 -1.93054848e-03 6.67062849e+01] [ 9.85863256e-01 -1.67215543e-01 -1.06114659e-02 -1.59627024e+02] [-1.07848779e-02 -1.28972523e-04 -9.99941833e-01 -1.80573691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.01655999499997 meters 0.013176265105388364 Centerline is valid? [True, True] Translation: X:66.71, Y:-159.63, Z:-1.81 [[ 8.92532594e-02 9.96008568e-01 -8.88354027e-04 6.67147170e+01] [ 9.95970443e-01 -8.92576163e-02 -8.71523819e-03 -1.59631489e+02] [-8.75974427e-03 -1.06910938e-04 -9.99961627e-01 -1.80618623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.04655999499994 meters 0.012972981051623146 Centerline is valid? [True, True] Translation: X:66.72, Y:-159.63, Z:-1.81 [[ 1.14259327e-02 9.99934701e-01 -2.02601297e-04 6.67211049e+01] [ 9.99896588e-01 -1.14272662e-02 -8.73101458e-03 -1.59634400e+02] [-8.73275964e-03 -1.02820361e-04 -9.99961863e-01 -1.80631692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.07655999499997 meters 0.012805429310658383 Centerline is valid? [True, True] Translation: X:66.73, Y:-159.64, Z:-1.81 [[-6.54698832e-02 9.97854416e-01 5.08563933e-04 6.67273062e+01] [ 9.97812007e-01 6.54717897e-02 -9.20024336e-03 -1.59636917e+02] [-9.21380005e-03 -9.48876596e-05 -9.99957548e-01 -1.80564426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.10655999499994 meters 0.012550931373482996 Centerline is valid? [True, True] Translation: X:66.74, Y:-159.64, Z:-1.81 [[-1.42617135e-01 9.89777148e-01 1.24483626e-03 6.67355815e+01] [ 9.89733839e-01 1.42622541e-01 -9.25953729e-03 -1.59638840e+02] [-9.34242012e-03 -8.85121102e-05 -9.99956355e-01 -1.80594165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.13655999499997 meters 0.012482780473773136 Centerline is valid? [True, True] Translation: X:66.74, Y:-159.64, Z:-1.81 [[-2.18937519e-01 9.75736912e-01 1.95992174e-03 6.67438085e+01] [ 9.75694445e-01 2.18946276e-01 -9.10369381e-03 -1.59640331e+02] [-9.31192765e-03 -8.08553833e-05 -9.99956640e-01 -1.80599702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.16655999499994 meters 0.012541704521069763 Centerline is valid? [True, True] Translation: X:66.75, Y:-159.64, Z:-1.81 [[-2.94120252e-01 9.55764277e-01 2.81491968e-03 6.67519950e+01] [ 9.55717894e-01 2.94133711e-01 -9.41632809e-03 -1.59641824e+02] [-9.82775278e-03 -7.92636766e-05 -9.99951703e-01 -1.80563505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.196559995 meters 0.012424872922116591 Centerline is valid? [True, True] Translation: X:66.76, Y:-159.64, Z:-1.81 [[-3.67176225e-01 9.30143607e-01 3.80654323e-03 6.67596834e+01] [ 9.30091503e-01 3.67195948e-01 -9.84536686e-03 -1.59642323e+02] [-1.05553523e-02 -7.45511289e-05 -9.99944288e-01 -1.80544844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.22655999499995 meters 0.01237848811676544 Centerline is valid? [True, True] Translation: X:66.77, Y:-159.64, Z:-1.81 [[-4.38563366e-01 8.98686925e-01 4.89738347e-03 6.67677108e+01] [ 8.98628966e-01 4.38590703e-01 -1.02066713e-02 -1.59641455e+02] [-1.13205489e-02 -7.53414840e-05 -9.99935918e-01 -1.80508253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.256559995 meters 0.012585930221234479 Centerline is valid? [True, True] Translation: X:66.78, Y:-159.64, Z:-1.80 [[-5.07237687e-01 8.61786479e-01 5.83031763e-03 6.67761264e+01] [ 8.61727906e-01 5.07271189e-01 -1.00477344e-02 -1.59640868e+02] [-1.16165538e-02 -7.24421552e-05 -9.99932523e-01 -1.80337945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.28655999499995 meters 0.012464954818071701 Centerline is valid? [True, True] Translation: X:66.78, Y:-159.64, Z:-1.80 [[-5.73092522e-01 8.19457871e-01 7.33202780e-03 6.67822192e+01] [ 8.19389039e-01 5.73139417e-01 -1.06212419e-02 -1.59640499e+02] [-1.29059344e-02 -7.91710687e-05 -9.99916712e-01 -1.80380697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.316559995 meters 0.01241231730724265 Centerline is valid? [True, True] Translation: X:66.79, Y:-159.64, Z:-1.80 [[-6.35622607e-01 7.71954374e-01 8.38724988e-03 6.67890815e+01] [ 7.71885438e-01 6.35677935e-01 -1.03166459e-02 -1.59638007e+02] [-1.32955696e-02 -8.34972754e-05 -9.99911607e-01 -1.80459573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.34655999499995 meters 0.01236277136993302 Centerline is valid? [True, True] Translation: X:66.80, Y:-159.63, Z:-1.81 [[-6.94023734e-01 7.19891316e-01 9.35680546e-03 6.67968562e+01] [ 7.19824280e-01 6.94086800e-01 -9.82446399e-03 -1.59634245e+02] [-1.35669815e-02 -8.31554312e-05 -9.99907961e-01 -1.80584336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.376559995 meters 0.012394172202523517 Centerline is valid? [True, True] Translation: X:66.80, Y:-159.63, Z:-1.81 [[-7.48142586e-01 6.63460517e-01 1.01396736e-02 6.68040583e+01] [ 6.63398121e-01 7.48211291e-01 -9.09929552e-03 -1.59629341e+02] [-1.36236416e-02 -8.09300395e-05 -9.99907191e-01 -1.80627158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.40655999499995 meters 0.012450051869208884 Centerline is valid? [True, True] Translation: X:66.82, Y:-159.61, Z:-1.81 [[-7.93383081e-01 6.08618591e-01 1.12559645e-02 6.68203457e+01] [ 6.08555751e-01 7.93462918e-01 -8.74617902e-03 -1.59605503e+02] [-1.42542776e-02 -8.91885466e-05 -9.99898399e-01 -1.80598113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.436559995 meters 0.01248531505621242 Centerline is valid? [True, True] Translation: X:66.85, Y:-159.59, Z:-1.81 [[-8.34185224e-01 5.51347915e-01 1.22673930e-02 6.68479276e+01] [ 5.51286564e-01 8.34275414e-01 -8.22541895e-03 -1.59589787e+02] [-1.47694520e-02 -9.86740057e-05 -9.99890921e-01 -1.80574562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.46655999499995 meters 0.012745070281712493 Centerline is valid? [True, True] Translation: X:66.87, Y:-159.57, Z:-1.80 [[-8.71339861e-01 4.90510762e-01 1.28855905e-02 6.68680891e+01] [ 4.90455336e-01 8.71435127e-01 -7.37441857e-03 -1.59568325e+02] [-1.48461879e-02 -1.05818213e-04 -9.99889784e-01 -1.80480547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.496559995 meters 0.012591721407097778 Centerline is valid? [True, True] Translation: X:67.22, Y:-158.96, Z:-2.79 [[-8.28460879e-01 -5.59903917e-01 1.26560577e-02 6.72221813e+01] [ 5.59840966e-01 -8.28557534e-01 -8.39674854e-03 -1.58957821e+02] [ 1.51876443e-02 1.29001875e-04 9.99884653e-01 -2.78604592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.52655999499996 meters 0.012618682685666755 Centerline is valid? [True, True] Translation: X:66.83, Y:-159.55, Z:-1.81 [[-8.73277875e-01 4.87052088e-01 1.28847925e-02 6.68348395e+01] [ 4.86996964e-01 8.73372915e-01 -7.32863071e-03 -1.59548353e+02] [-1.48226537e-02 -1.25076231e-04 -9.99890131e-01 -1.80615244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.556559995 meters 0.012548101235682462 Centerline is valid? [True, True] Translation: X:66.85, Y:-159.52, Z:-1.81 [[-9.05795172e-01 4.23510221e-01 1.31984583e-02 6.68459261e+01] [ 4.23463161e-01 9.05891316e-01 -6.31470666e-03 -1.59522735e+02] [-1.46307115e-02 -1.30769938e-04 -9.99892957e-01 -1.80741332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.58655999499996 meters 0.01264083218963391 Centerline is valid? [True, True] Translation: X:66.86, Y:-159.50, Z:-1.81 [[-9.33836733e-01 3.57446604e-01 1.34492453e-02 6.68572725e+01] [ 3.57407349e-01 9.33933566e-01 -5.29924418e-03 -1.59496662e+02] [-1.44548985e-02 -1.41769759e-04 -9.99895512e-01 -1.80837454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.616559995 meters 0.012883488856233914 Centerline is valid? [True, True] Translation: X:66.87, Y:-159.47, Z:-1.81 [[-9.57154927e-01 2.89254070e-01 1.36575833e-02 6.68688518e+01] [ 2.89222269e-01 9.57252348e-01 -4.29196821e-03 -1.59469789e+02] [-1.43152229e-02 -1.58001290e-04 -9.99897519e-01 -1.80854077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.64655999499996 meters 0.01348023096433191 Centerline is valid? [True, True] Translation: X:66.88, Y:-159.44, Z:-1.81 [[-9.75397472e-01 2.19994661e-01 1.42169176e-02 6.68787741e+01] [ 2.19968729e-01 9.75501061e-01 -3.38203994e-03 -1.59441563e+02] [-1.46126489e-02 -1.71555921e-04 -9.99893215e-01 -1.80730624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.676559995 meters 0.013162420459489533 Centerline is valid? [True, True] Translation: X:67.04, Y:-158.77, Z:-2.78 [[-9.51079787e-01 -3.08621996e-01 1.41316026e-02 6.70411005e+01] [ 3.08590826e-01 -9.51184750e-01 -4.39005871e-03 -1.58767460e+02] [ 1.47966336e-02 1.85586827e-04 9.99890507e-01 -2.78375479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.70655999499996 meters 0.013805769124537251 Centerline is valid? [True, True] Translation: X:66.83, Y:-159.43, Z:-1.81 [[-9.76597369e-01 2.14596579e-01 1.43487541e-02 6.68293165e+01] [ 2.14570453e-01 9.76702754e-01 -3.35425630e-03 -1.59428178e+02] [-1.47342796e-02 -1.96939205e-04 -9.99891425e-01 -1.80773002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.73655999499994 meters 0.012922833162054987 Centerline is valid? [True, True] Translation: X:66.99, Y:-158.76, Z:-2.78 [[-9.52196633e-01 -3.05168197e-01 1.39263564e-02 6.69896460e+01] [ 3.05138383e-01 -9.52298450e-01 -4.26959760e-03 -1.58755855e+02] [ 1.45649930e-02 1.83969423e-04 9.99893908e-01 -2.78228014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.76655999499997 meters 0.01310089415062371 Centerline is valid? [True, True] Translation: X:66.78, Y:-159.42, Z:-1.81 [[-9.77442216e-01 2.10711578e-01 1.43994899e-02 6.67781426e+01] [ 2.10685713e-01 9.77548255e-01 -3.30742311e-03 -1.59418316e+02] [-1.47731086e-02 -1.99048164e-04 -9.99890852e-01 -1.81000437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.79655999499994 meters 0.013326728183906303 Centerline is valid? [True, True] Translation: X:66.94, Y:-158.75, Z:-2.78 [[-9.53009221e-01 -3.02628114e-01 1.37712996e-02 6.69402809e+01] [ 3.02599088e-01 -9.53108701e-01 -4.19473914e-03 -1.58748063e+02] [ 1.43949915e-02 1.69557618e-04 9.99896372e-01 -2.78223021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.82655999499997 meters 0.01392632157304006 Centerline is valid? [True, True] Translation: X:66.74, Y:-159.40, Z:-1.81 [[-9.78544514e-01 2.05558018e-01 1.40191127e-02 6.67351781e+01] [ 2.05533798e-01 9.78644908e-01 -3.16259204e-03 -1.59404603e+02] [-1.43698294e-02 -2.13335607e-04 -9.99896726e-01 -1.80866189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.85655999499994 meters 0.01413028107691373 Centerline is valid? [True, True] Translation: X:66.88, Y:-158.74, Z:-2.78 [[-9.53995707e-01 -2.99473309e-01 1.44197242e-02 6.68846716e+01] [ 2.99443293e-01 -9.54104642e-01 -4.24820061e-03 -1.58739371e+02] [ 1.50301485e-02 2.65124563e-04 9.99887006e-01 -2.78416497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.88655999499997 meters 0.01390408461729013 Centerline is valid? [True, True] Translation: X:66.68, Y:-159.39, Z:-1.81 [[-9.79458438e-01 2.01086141e-01 1.50177142e-02 6.66848749e+01] [ 2.01058767e-01 9.79573533e-01 -3.32648745e-03 -1.59392729e+02] [-1.53798659e-02 -2.38713102e-04 -9.99881694e-01 -1.80836299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.91655999499994 meters 0.014646152379374507 Centerline is valid? [True, True] Translation: X:66.84, Y:-158.73, Z:-2.79 [[-9.54854895e-01 -2.96673651e-01 1.53907222e-02 6.68362874e+01] [ 2.96640003e-01 -9.54978880e-01 -4.47747774e-03 -1.58731357e+02] [ 1.60261643e-02 2.90162322e-04 9.99871531e-01 -2.78562476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.946559995 meters 0.013882615354304776 Centerline is valid? [True, True] Translation: X:66.63, Y:-159.38, Z:-1.81 [[-9.80354261e-01 1.96594749e-01 1.60008726e-02 6.66317362e+01] [ 1.96564142e-01 9.80484796e-01 -3.47903559e-03 -1.59380832e+02] [-1.63725724e-02 -2.65489574e-04 -9.99865925e-01 -1.80801562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.97655999499995 meters 0.01414766528523172 Centerline is valid? [True, True] Translation: X:66.78, Y:-158.72, Z:-2.78 [[-9.55925843e-01 -2.93161944e-01 1.61820099e-02 6.67827172e+01] [ 2.93125286e-01 -9.56062751e-01 -4.64582459e-03 -1.58719249e+02] [ 1.68329958e-02 3.02292481e-04 9.99858269e-01 -2.78492840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.006559995 meters 0.013615091474477627 Centerline is valid? [True, True] Translation: X:66.59, Y:-159.37, Z:-1.81 [[-9.80860165e-01 1.94000805e-01 1.66440730e-02 6.65899442e+01] [ 1.93968488e-01 9.81001337e-01 -3.54993513e-03 -1.59373715e+02] [-1.70165481e-02 -2.53564279e-04 -9.99855176e-01 -1.80754522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.03655999499995 meters 0.013430729792800362 Centerline is valid? [True, True] Translation: X:66.59, Y:-159.35, Z:-1.81 [[-9.92036111e-01 1.24834308e-01 1.67556273e-02 6.65929303e+01] [ 1.24812476e-01 9.92177575e-01 -2.34653200e-03 -1.59347095e+02] [-1.69174853e-02 -2.36533157e-04 -9.99856861e-01 -1.80789906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.066559995 meters 0.013475340022137051 Centerline is valid? [True, True] Translation: X:66.59, Y:-159.32, Z:-1.81 [[-9.98363754e-01 5.46994978e-02 1.66667504e-02 6.65942535e+01] [ 5.46881605e-02 9.98502837e-01 -1.13558834e-03 -1.59320290e+02] [-1.67039137e-02 -2.22256318e-04 -9.99860455e-01 -1.80806639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.09655999499995 meters 0.013659842447517773 Centerline is valid? [True, True] Translation: X:66.65, Y:-158.64, Z:-2.78 [[-9.88972592e-01 -1.47205971e-01 1.62362146e-02 6.66469002e+01] [ 1.47189412e-01 -9.89105840e-01 -2.21672309e-03 -1.58637445e+02] [ 1.63856496e-02 1.97520509e-04 9.99865727e-01 -2.78457707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.126559995 meters 0.013659842447517773 Centerline is valid? [True, True] Translation: X:66.53, Y:-159.32, Z:-1.81 [[-9.98571579e-01 5.08504688e-02 1.64021879e-02 6.65318127e+01] [ 5.08402210e-02 9.98706257e-01 -1.04142615e-03 -1.59316607e+02] [-1.64339247e-02 -2.06047700e-04 -9.99864933e-01 -1.80763384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.15655999499995 meters 0.012961882526215383 Centerline is valid? [True, True] Translation: X:66.58, Y:-158.63, Z:-2.78 [[-9.89944163e-01 -1.40632481e-01 1.52662587e-02 6.65775828e+01] [ 1.40617753e-01 -9.90061861e-01 -2.03925996e-03 -1.58630059e+02] [ 1.54013267e-02 1.27953491e-04 9.99881384e-01 -2.78274207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.186559995 meters 0.012729544554516574 Centerline is valid? [True, True] Translation: X:66.47, Y:-159.32, Z:-1.81 [[-9.98670754e-01 4.93115087e-02 1.50033405e-02 6.64667417e+01] [ 4.93038015e-02 9.98783437e-01 -8.83367702e-04 -1.59316520e+02] [-1.50286482e-02 -1.42471766e-04 -9.99887053e-01 -1.81001849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.21655999499995 meters 0.012393934649784515 Centerline is valid? [True, True] Translation: X:66.46, Y:-159.29, Z:-1.81 [[-9.99690960e-01 -2.04906917e-02 1.40753498e-02 6.64641987e+01] [-2.04902863e-02 9.99790037e-01 1.73025064e-04 -1.59289816e+02] [-1.40759399e-02 -1.15436355e-04 -9.99900922e-01 -1.81052062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.246559995 meters 0.012424234501287998 Centerline is valid? [True, True] Translation: X:66.46, Y:-159.26, Z:-1.81 [[-9.95795002e-01 -9.05887460e-02 1.36379369e-02 6.64583051e+01] [-9.05816097e-02 9.95888382e-01 1.14134042e-03 -1.59263962e+02] [-1.36852556e-02 -9.88051913e-05 -9.99906348e-01 -1.81087809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.27655999499996 meters 0.012416562152549122 Centerline is valid? [True, True] Translation: X:66.40, Y:-158.57, Z:-2.78 [[-9.99858165e-01 9.18927441e-03 1.41140735e-02 6.64039173e+01] [-9.18651584e-03 -9.99957769e-01 2.60269975e-04 -1.58567676e+02] [ 1.41158692e-02 1.30573900e-04 9.99900358e-01 -2.78231519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.306559995 meters 0.012411327517898951 Centerline is valid? [True, True] Translation: X:66.36, Y:-159.27, Z:-1.81 [[-9.95262781e-01 -9.61761184e-02 1.42179663e-02 6.63604695e+01] [-9.61676610e-02 9.95364328e-01 1.27892383e-03 -1.59271803e+02] [-1.42750584e-02 -9.44432705e-05 -9.99898102e-01 -1.80884809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.33655999499996 meters 0.012540011532462356 Centerline is valid? [True, True] Translation: X:66.35, Y:-159.25, Z:-1.81 [[-9.86233119e-01 -1.64717320e-01 1.45753312e-02 6.63500744e+01] [-1.64700288e-01 9.86340814e-01 2.36957042e-03 -1.59246934e+02] [-1.47665533e-02 -6.36124114e-05 -9.99890967e-01 -1.80664371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.366559995 meters 0.012368007953089845 Centerline is valid? [True, True] Translation: X:66.32, Y:-159.23, Z:-1.81 [[-9.72125205e-01 -2.34011428e-01 1.45340138e-02 6.63239019e+01] [-2.33985973e-01 9.72233845e-01 3.45177979e-03 -1.59225181e+02] [-1.49382160e-02 -4.51932220e-05 -9.99888418e-01 -1.80771520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.39655999499996 meters 0.012220868717130783 Centerline is valid? [True, True] Translation: X:66.28, Y:-159.21, Z:-1.81 [[-9.53225990e-01 -3.01994851e-01 1.26222521e-02 6.62817158e+01] [-3.01968563e-01 9.53309556e-01 3.98461227e-03 -1.59209652e+02] [-1.32362459e-02 -1.32873500e-05 -9.99912397e-01 -1.80768026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.426559995 meters 0.01219405906432392 Centerline is valid? [True, True] Translation: X:66.22, Y:-159.20, Z:-1.81 [[-9.28855752e-01 -3.70259006e-01 1.16301371e-02 6.62223730e+01] [-3.70229965e-01 9.28928559e-01 4.63729694e-03 -1.59202200e+02] [-1.25205674e-02 1.55470078e-06 -9.99921615e-01 -1.80851492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.45655999499996 meters 0.01228986646696598 Centerline is valid? [True, True] Translation: X:66.16, Y:-159.20, Z:-1.81 [[-8.99261242e-01 -4.37288299e-01 1.04000928e-02 6.61571428e+01] [-4.37258915e-01 8.99321379e-01 5.06931028e-03 -1.59201504e+02] [-1.15697759e-02 1.11009662e-05 -9.99933068e-01 -1.80956078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.48655999499994 meters 0.012312162644017707 Centerline is valid? [True, True] Translation: X:66.08, Y:-159.21, Z:-1.81 [[-8.64164860e-01 -5.03115734e-01 9.67744964e-03 6.60805839e+01] [-5.03084066e-01 8.64219045e-01 5.64483972e-03 -1.59210763e+02] [-1.12034440e-02 9.50140566e-06 -9.99937239e-01 -1.80979890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.51655999499997 meters 0.01224093299825502 Centerline is valid? [True, True] Translation: X:66.00, Y:-159.23, Z:-1.81 [[-8.23686238e-01 -5.66968696e-01 9.35300981e-03 6.59987720e+01] [-5.66932135e-01 8.23739339e-01 6.43867210e-03 -1.59229047e+02] [-1.13549676e-02 9.23779428e-07 -9.99935530e-01 -1.80989920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.54655999499994 meters 0.012355023334027625 Centerline is valid? [True, True] Translation: X:65.91, Y:-159.26, Z:-1.81 [[-7.78590850e-01 -6.27469303e-01 8.86350856e-03 6.59106905e+01] [-6.27428673e-01 7.78641300e-01 7.14046457e-03 -1.59259678e+02] [-1.13819161e-02 -1.71903766e-06 -9.99935224e-01 -1.80844526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.57655999499997 meters 0.01233371490231902 Centerline is valid? [True, True] Translation: X:65.82, Y:-159.30, Z:-1.81 [[-7.28775333e-01 -6.84705260e-01 8.07596307e-03 6.58233055e+01] [-6.84663286e-01 7.28820078e-01 7.58142645e-03 -1.59298692e+02] [-1.10769666e-02 -4.15883103e-06 -9.99938649e-01 -1.80831019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.60655999499994 meters 0.012468250660805983 Centerline is valid? [True, True] Translation: X:65.73, Y:-159.35, Z:-1.81 [[-6.73401984e-01 -7.39243935e-01 6.94060129e-03 6.57347289e+01] [-7.39205030e-01 6.73437750e-01 7.58417052e-03 -1.59346894e+02] [-1.02806150e-02 -2.33319106e-05 -9.99947153e-01 -1.80801411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.63655999499997 meters 0.012561802221524946 Centerline is valid? [True, True] Translation: X:65.65, Y:-159.41, Z:-1.81 [[-6.14383685e-01 -7.88982369e-01 6.28560768e-03 6.56455928e+01] [-7.88941647e-01 6.14415836e-01 8.01613002e-03 -1.59407262e+02] [-1.01865622e-02 -3.39981724e-05 -9.99948115e-01 -1.80828404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.66655999499994 meters 0.012632963118101876 Centerline is valid? [True, True] Translation: X:65.56, Y:-159.47, Z:-1.81 [[-5.51694872e-01 -8.34028347e-01 5.43005143e-03 6.55626645e+01] [-8.33988704e-01 5.51721592e-01 8.13183815e-03 -1.59471982e+02] [-9.77806015e-03 -4.23081447e-05 -9.99952193e-01 -1.80780056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.696559995 meters 0.0126734751728394 Centerline is valid? [True, True] Translation: X:65.48, Y:-159.55, Z:-1.81 [[-4.85025189e-01 -8.74489341e-01 4.35399521e-03 6.54776424e+01] [-8.74455083e-01 4.85044729e-01 7.74068044e-03 -1.59553529e+02] [-8.88102497e-03 -5.29482503e-05 -9.99960562e-01 -1.80743796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.72655999499995 meters 0.012634364003526853 Centerline is valid? [True, True] Translation: X:65.40, Y:-159.63, Z:-1.81 [[-4.16018096e-01 -9.09348958e-01 3.66275090e-03 6.54045266e+01] [-9.09314937e-01 4.16034216e-01 7.86621904e-03 -1.59633328e+02] [-8.67696779e-03 -5.81046397e-05 -9.99962353e-01 -1.80699056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.756559995 meters 0.013048767519721807 Centerline is valid? [True, True] Translation: X:65.33, Y:-159.73, Z:-1.81 [[-3.43655064e-01 -9.39091892e-01 2.75955502e-03 6.53330101e+01] [-9.39063116e-01 3.43666137e-01 7.35188538e-03 -1.59726169e+02] [-7.85246156e-03 -6.48837015e-05 -9.99969167e-01 -1.80628392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.78655999499995 meters 0.012934532054466897 Centerline is valid? [True, True] Translation: X:65.27, Y:-159.83, Z:-1.81 [[-2.69684864e-01 -9.62946440e-01 2.05606561e-03 6.52709580e+01] [-9.62920349e-01 2.69692693e-01 7.08893697e-03 -1.59827011e+02] [-7.38077249e-03 -6.80484098e-05 -9.99972759e-01 -1.80806770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.816559995 meters 0.012934532054466897 Centerline is valid? [True, True] Translation: X:65.22, Y:-159.93, Z:-1.81 [[-1.94976137e-01 -9.80806830e-01 1.50583971e-03 6.52168349e+01] [-9.80780215e-01 1.94981940e-01 7.22577878e-03 -1.59929569e+02] [-7.38070473e-03 -6.80433558e-05 -9.99972760e-01 -1.80807096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.84655999499995 meters 0.012800792282239902 Centerline is valid? [True, True] Translation: X:65.17, Y:-160.03, Z:-1.81 [[-1.17589644e-01 -9.93062053e-01 6.58903463e-04 6.51704465e+01] [-9.93049011e-01 1.17591477e-01 5.08992185e-03 -1.60032511e+02] [-5.13208968e-03 -5.58013328e-05 -9.99986829e-01 -1.81012444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.876559995 meters 0.012915996479045032 Centerline is valid? [True, True] Translation: X:65.13, Y:-160.15, Z:-1.81 [[-4.01073074e-02 -9.99195355e-01 2.17292797e-04 6.51307193e+01] [-9.99186571e-01 4.01078660e-02 4.18990856e-03 -1.60150999e+02] [-4.19525232e-03 -4.90700943e-05 -9.99991199e-01 -1.81017097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.90655999499995 meters 0.013577242385029897 Centerline is valid? [True, True] Translation: X:65.10, Y:-160.26, Z:-1.81 [[ 3.79698257e-02 -9.99278883e-01 -8.04223356e-05 6.50978800e+01] [-9.99273761e-01 -3.79698886e-02 3.19981481e-03 -1.60262044e+02] [-3.20056100e-03 -4.11324811e-05 -9.99994877e-01 -1.80925452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.936559995 meters 0.01331283375802176 Centerline is valid? [True, True] Translation: X:65.08, Y:-160.38, Z:-1.81 [[ 1.15208428e-01 -9.93341311e-01 -2.40229619e-04 6.50779154e+01] [-9.93338538e-01 -1.15208674e-01 2.34727077e-03 -1.60380937e+02] [-2.35931756e-03 -3.17960372e-05 -9.99997216e-01 -1.80955638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.96655999499995 meters 0.013828973474319085 Centerline is valid? [True, True] Translation: X:65.06, Y:-160.50, Z:-1.81 [[ 1.91711711e-01 -9.81451236e-01 -3.02599717e-04 6.50645542e+01] [-9.81449807e-01 -1.91711948e-01 1.67505869e-03 -1.60500656e+02] [-1.70200041e-03 -2.41419337e-05 -9.99998551e-01 -1.80958690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.996559995 meters 0.013968188061431625 Centerline is valid? [True, True] Translation: X:65.06, Y:-160.62, Z:-1.81 [[ 2.66935402e-01 -9.63714380e-01 -2.92047644e-04 6.50614041e+01] [-9.63713730e-01 -2.66935561e-01 1.11971773e-03 -1.60618346e+02] [-1.15704598e-03 -1.74419780e-05 -9.99999330e-01 -1.80975301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.02655999499996 meters 0.014045125663147154 Centerline is valid? [True, True] Translation: X:65.07, Y:-160.74, Z:-1.81 [[ 3.41907038e-01 -9.39733717e-01 -3.43034813e-04 6.50684769e+01] [-9.39733190e-01 -3.41907210e-01 9.95249513e-04 -1.60741971e+02] [-1.05255560e-03 -1.79216141e-05 -9.99999446e-01 -1.80941302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.056559995 meters 0.014308044057926067 Centerline is valid? [True, True] Translation: X:65.08, Y:-160.86, Z:-1.81 [[ 4.15238970e-01 -9.09711964e-01 -8.59901908e-04 6.50804120e+01] [-9.09709809e-01 -4.15239859e-01 1.98080439e-03 -1.60856555e+02] [-2.15902700e-03 -4.02459755e-05 -9.99997669e-01 -1.80766214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.08655999499996 meters 0.015331225801909706 Centerline is valid? [True, True] Translation: X:65.10, Y:-160.97, Z:-1.81 [[ 4.84934453e-01 -8.74549681e-01 -1.19694261e-03 6.51018986e+01] [-8.74546754e-01 -4.84935927e-01 2.26317995e-03 -1.60972550e+02] [-2.55970378e-03 -5.07116562e-05 -9.99996723e-01 -1.80642887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.116559995 meters 0.014796655137426134 Centerline is valid? [True, True] Translation: X:65.13, Y:-161.08, Z:-1.81 [[ 5.51625358e-01 -8.34090142e-01 -1.76068628e-03 6.51345900e+01] [-8.34085485e-01 -5.51628163e-01 2.78798384e-03 -1.61084028e+02] [-3.29667397e-03 -6.93597113e-05 -9.99994564e-01 -1.80585193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.14655999499996 meters 0.015498871223817209 Centerline is valid? [True, True] Translation: X:65.17, Y:-161.19, Z:-1.80 [[ 6.14942548e-01 -7.88569477e-01 -1.96025330e-03 6.51725529e+01] [-7.88565083e-01 -6.14945668e-01 2.63361799e-03 -1.61193329e+02] [-3.28224003e-03 -7.37364464e-05 -9.99994611e-01 -1.80479201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.176559995 meters 0.015097502541558281 Centerline is valid? [True, True] Translation: X:65.22, Y:-161.29, Z:-1.81 [[ 6.73160753e-01 -7.39494432e-01 -1.60804397e-03 6.52166951e+01] [-7.39492125e-01 -6.73162672e-01 1.84784969e-03 -1.61292004e+02] [-2.44894973e-03 -5.47640342e-05 -9.99997000e-01 -1.80532470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.20655999499996 meters 0.014848381650670102 Centerline is valid? [True, True] Translation: X:65.27, Y:-161.39, Z:-1.81 [[ 7.27011837e-01 -6.86623453e-01 -1.42245160e-03 6.52682257e+01] [-6.86622020e-01 -7.27013227e-01 1.40316122e-03 -1.61385917e+02] [-1.99758453e-03 -4.34282189e-05 -9.99998004e-01 -1.80600208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.23655999499994 meters 0.015310627911891087 Centerline is valid? [True, True] Translation: X:65.27, Y:-161.39, Z:-1.81 [[ 7.77558781e-01 -6.28809896e-01 -6.75395459e-04 6.52654582e+01] [-6.28809638e-01 -7.77559074e-01 5.70525035e-04 -1.61394967e+02] [-8.83911655e-04 -1.89215772e-05 -9.99999609e-01 -1.80667570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.26655999499997 meters 0.013843146605753618 Centerline is valid? [True, True] Translation: X:65.27, Y:-161.40, Z:-1.81 [[ 8.23512205e-01 -5.67298413e-01 3.98517023e-04 6.52652789e+01] [-5.67298342e-01 -8.23512302e-01 -2.83131932e-04 -1.61403554e+02] [ 4.88803967e-04 7.08455507e-06 -9.99999881e-01 -1.80805502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.29655999499994 meters 0.01440135942603362 Centerline is valid? [True, True] Translation: X:65.26, Y:-161.41, Z:-1.81 [[ 8.64652828e-01 -5.02367959e-01 1.38573821e-03 6.52621220e+01] [-5.02367267e-01 -8.64653938e-01 -8.34236788e-04 -1.61413954e+02] [ 1.61727783e-03 2.51756827e-05 -9.99998692e-01 -1.80957330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.32655999499997 meters 0.013518550096784047 Centerline is valid? [True, True] Translation: X:65.26, Y:-161.42, Z:-1.81 [[ 9.00446696e-01 -4.34966102e-01 4.87590179e-04 6.52635764e+01] [-4.34966034e-01 -9.00446828e-01 -2.42514653e-04 -1.61420643e+02] [ 5.44534683e-04 6.28635177e-06 -9.99999852e-01 -1.80839147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.35655999499994 meters 0.013145419229734492 Centerline is valid? [True, True] Translation: X:65.26, Y:-161.43, Z:-1.81 [[ 9.31283798e-01 -3.64293413e-01 -8.92695843e-04 6.52638991e+01] [-3.64293230e-01 -9.31284226e-01 3.65027075e-04 -1.61429646e+02] [-9.64330516e-04 -1.47407486e-05 -9.99999535e-01 -1.80612235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.38655999499997 meters 0.012884992520204554 Centerline is valid? [True, True] Translation: X:65.26, Y:-161.44, Z:-1.81 [[ 9.56821872e-01 -2.90674532e-01 -4.70685613e-04 6.52649812e+01] [-2.90674492e-01 -9.56821988e-01 1.51571981e-04 -1.61439629e+02] [-4.94420458e-04 -8.21108513e-06 -9.99999878e-01 -1.80589891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.41655999499994 meters 0.013232785694387942 Centerline is valid? [True, True] Translation: X:65.27, Y:-161.45, Z:-1.81 [[ 9.76596704e-01 -2.15078167e-01 -5.08911277e-04 6.52659084e+01] [-2.15078133e-01 -9.76596837e-01 1.20808667e-04 -1.61449175e+02] [-5.22984450e-04 -8.52565804e-06 -9.99999863e-01 -1.80656707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.446559995 meters 0.013143767985790873 Centerline is valid? [True, True] Translation: X:65.27, Y:-161.46, Z:-1.81 [[ 9.90501093e-01 -1.37503579e-01 -5.92830803e-04 6.52686701e+01] [-1.37503549e-01 -9.90501270e-01 9.22571787e-05 -1.61459524e+02] [-5.99885355e-04 -9.86449720e-06 -9.99999820e-01 -1.80646418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.47655999499995 meters 0.013143767985790873 Centerline is valid? [True, True] Translation: X:65.27, Y:-161.47, Z:-1.81 [[ 9.98223611e-01 -5.95757011e-02 -5.98166635e-04 6.52677927e+01] [-5.95756844e-02 -9.98223790e-01 4.55769517e-05 -1.61469046e+02] [-5.99819445e-04 -9.85980266e-06 -9.99999820e-01 -1.80646478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.506559995 meters 0.013421999541958374 Centerline is valid? [True, True] Translation: X:65.27, Y:-161.48, Z:-1.81 [[ 9.99809996e-01 1.94373585e-02 -1.47035166e-03 6.52673729e+01] [ 1.94373709e-02 -9.99811076e-01 -5.87959081e-06 -1.61479596e+02] [-1.47018816e-03 -2.27012969e-05 -9.99998919e-01 -1.80599117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.53655999499995 meters 0.013418793428800034 Centerline is valid? [True, True] Translation: X:65.27, Y:-161.49, Z:-1.80 [[ 9.95206322e-01 9.77785399e-02 -1.93226081e-03 6.52686822e+01] [ 9.77784136e-02 -9.95208197e-01 -1.59980005e-04 -1.61488858e+02] [-1.93864441e-03 -2.97202844e-05 -9.99998120e-01 -1.80465503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.566559995 meters 0.013269810362636284 Centerline is valid? [True, True] Translation: X:65.27, Y:-161.50, Z:-1.80 [[ 9.84467978e-01 1.75549333e-01 -2.28725656e-03 6.52710395e+01] [ 1.75548943e-01 -9.84470635e-01 -3.71723509e-04 -1.61497458e+02] [-2.31699273e-03 -3.55755790e-05 -9.99997315e-01 -1.80444818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.59655999499995 meters 0.013704779274615225 Centerline is valid? [True, True] Translation: X:65.27, Y:-161.51, Z:-1.80 [[ 9.67670232e-01 2.52206769e-01 -2.46332518e-03 6.52723010e+01] [ 2.52206054e-01 -9.67673366e-01 -6.01667932e-04 -1.61506249e+02] [-2.53543889e-03 -3.90493775e-05 -9.99996785e-01 -1.80421706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.626559995 meters 0.013497765221274364 Centerline is valid? [True, True] Translation: X:65.27, Y:-161.51, Z:-1.80 [[ 9.45065829e-01 3.26870619e-01 -2.48529666e-03 6.52745900e+01] [ 3.26869598e-01 -9.45069097e-01 -8.17971040e-04 -1.61512068e+02] [-2.61614777e-03 -3.93314410e-05 -9.99996577e-01 -1.80423666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.65655999499995 meters 0.01319111648071332 Centerline is valid? [True, True] Translation: X:65.28, Y:-161.52, Z:-1.80 [[ 9.16996429e-01 3.98887522e-01 -2.50857739e-03 6.52775608e+01] [ 3.98886142e-01 -9.16999860e-01 -1.04986711e-03 -1.61516937e+02] [-2.71914400e-03 -3.79123657e-05 -9.99996302e-01 -1.80419296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.686559995 meters 0.013125592241782875 Centerline is valid? [True, True] Translation: X:65.28, Y:-161.52, Z:-1.80 [[ 8.83309973e-01 4.68782989e-01 -2.44975174e-03 6.52809156e+01] [ 4.68781300e-01 -8.83313369e-01 -1.25900736e-03 -1.61521756e+02] [-2.75409969e-03 -3.63040498e-05 -9.99996207e-01 -1.80400976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.71655999499995 meters 0.013030729273560398 Centerline is valid? [True, True] Translation: X:65.28, Y:-161.53, Z:-1.80 [[ 8.44284838e-01 5.35890188e-01 -2.19491812e-03 6.52839403e+01] [ 5.35888476e-01 -8.44287691e-01 -1.35492144e-03 -1.61526530e+02] [-2.57923146e-03 -3.22916978e-05 -9.99996673e-01 -1.80399679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.746559995 meters 0.012732993868027852 Centerline is valid? [True, True] Translation: X:65.29, Y:-161.53, Z:-1.80 [[ 8.00490991e-01 5.99343814e-01 -1.07992092e-03 6.52862667e+01] [ 5.99343295e-01 -8.00491719e-01 -7.88737401e-04 -1.61529767e+02] [-1.33719264e-03 -1.58661793e-05 -9.99999106e-01 -1.80480740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.77655999499996 meters 0.012609691972619269 Centerline is valid? [True, True] Translation: X:65.29, Y:-161.53, Z:-1.81 [[ 7.51518755e-01 6.59711724e-01 4.26359735e-05 6.52897039e+01] [ 6.59711723e-01 -7.51518757e-01 3.88304950e-05 -1.61533668e+02] [ 5.76586665e-05 -1.05439376e-06 -9.99999998e-01 -1.80620555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.806559995 meters 0.012604540192399186 Centerline is valid? [True, True] Translation: X:65.29, Y:-161.54, Z:-1.81 [[ 6.97428344e-01 7.16654511e-01 1.29904574e-04 6.52948746e+01] [ 7.16654499e-01 -6.97428356e-01 1.33099213e-04 -1.61539097e+02] [ 1.85985284e-04 2.69533333e-07 -9.99999983e-01 -1.80625591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.83655999499996 meters 0.012813537671053619 Centerline is valid? [True, True] Translation: X:65.30, Y:-161.54, Z:-1.81 [[ 6.38412157e-01 7.69694658e-01 -2.28188267e-04 6.52997929e+01] [ 7.69694612e-01 -6.38412197e-01 -2.66403769e-04 -1.61544473e+02] [-3.50727731e-04 -5.55987530e-06 -9.99999939e-01 -1.80582141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.866559995 meters 0.012813537671053619 Centerline is valid? [True, True] Translation: X:65.30, Y:-161.55, Z:-1.81 [[ 5.76180357e-01 8.17322552e-01 -2.06586027e-04 6.53049589e+01] [ 8.17322503e-01 -5.76180394e-01 -2.83405233e-04 -1.61549577e+02] [-3.50664307e-04 -5.55488041e-06 -9.99999939e-01 -1.80582198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.89655999499996 meters 0.013257648915670864 Centerline is valid? [True, True] Translation: X:65.31, Y:-161.55, Z:-1.80 [[ 5.08179734e-01 8.61250600e-01 -8.72604006e-04 6.53112711e+01] [ 8.61249413e-01 -5.08180482e-01 -1.43024269e-03 -1.61554219e+02] [-1.67523770e-03 -2.47093379e-05 -9.99998597e-01 -1.80416254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.926559995 meters 0.013356978183833898 Centerline is valid? [True, True] Translation: X:65.32, Y:-161.56, Z:-1.80 [[ 4.37970963e-01 8.98988574e-01 -9.89703667e-04 6.53188492e+01] [ 8.98986455e-01 -4.37972080e-01 -1.95227180e-03 -1.61558600e+02] [-2.18853262e-03 -3.46918293e-05 -9.99997605e-01 -1.80340985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.95655999499996 meters 0.013390508220174487 Centerline is valid? [True, True] Translation: X:65.33, Y:-161.56, Z:-1.80 [[ 3.65047119e-01 9.30988537e-01 -9.72345648e-04 6.53271388e+01] [ 9.30985545e-01 -3.65048412e-01 -2.36058927e-03 -1.61562619e+02] [-2.55263479e-03 -4.35134286e-05 -9.99996741e-01 -1.80298809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.98655999499994 meters 0.014022320346984035 Centerline is valid? [True, True] Translation: X:65.34, Y:-161.57, Z:-1.80 [[ 2.90003910e-01 9.57025054e-01 -8.82368592e-04 6.53358054e+01] [ 9.57021153e-01 -2.90005247e-01 -2.73316743e-03 -1.61567715e+02] [-2.87160123e-03 -5.18161657e-05 -9.99995876e-01 -1.80251411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.01655999499997 meters 0.014022320346984035 Centerline is valid? [True, True] Translation: X:65.34, Y:-161.57, Z:-1.80 [[ 2.14146344e-01 9.76801362e-01 -6.65541101e-04 6.53424601e+01] [ 9.76797368e-01 -2.14147371e-01 -2.79382789e-03 -1.61570897e+02] [-2.87153877e-03 -5.18107679e-05 -9.99995876e-01 -1.80251465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.04655999499994 meters 0.014205375416988589 Centerline is valid? [True, True] Translation: X:65.35, Y:-161.57, Z:-1.80 [[ 1.35941164e-01 9.90716780e-01 -5.12097833e-04 6.53490680e+01] [ 9.90711387e-01 -1.35942114e-01 -3.26950940e-03 -1.61573185e+02] [-3.30877348e-03 -6.28802425e-05 -9.99994524e-01 -1.80194961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.07655999499997 meters 0.014354772005929675 Centerline is valid? [True, True] Translation: X:65.35, Y:-161.57, Z:-1.80 [[ 5.80303820e-02 9.98314786e-01 -2.52481301e-04 6.53544293e+01] [ 9.98309424e-01 -5.80308979e-02 -3.27253550e-03 -1.61574785e+02] [-3.28167229e-03 -6.21479766e-05 -9.99994613e-01 -1.80180551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.10655999499994 meters 0.013737105666650415 Centerline is valid? [True, True] Translation: X:65.36, Y:-161.58, Z:-1.80 [[-1.96872924e-02 9.99806186e-01 4.45585717e-06 6.53613971e+01] [ 9.99801054e-01 1.96872056e-02 -3.20425537e-03 -1.61575804e+02] [-3.20372207e-03 -5.86281417e-05 -9.99994866e-01 -1.80215635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.13655999499997 meters 0.013869369468578743 Centerline is valid? [True, True] Translation: X:65.37, Y:-161.58, Z:-1.80 [[-9.69259684e-02 9.95291559e-01 2.64797886e-04 6.53679314e+01] [ 9.95286057e-01 9.69263132e-02 -3.30974912e-03 -1.61577932e+02] [-3.31983124e-03 -5.72509950e-05 -9.99994488e-01 -1.80206348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.16655999499994 meters 0.013865076859051724 Centerline is valid? [True, True] Translation: X:65.37, Y:-161.58, Z:-1.80 [[-1.74181880e-01 9.84713351e-01 5.36719253e-04 6.53729635e+01] [ 9.84707610e-01 1.74182698e-01 -3.36309778e-03 -1.61579616e+02] [-3.40517449e-03 -5.72791618e-05 -9.99994201e-01 -1.80247856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.196559995 meters 0.013664933459401682 Centerline is valid? [True, True] Translation: X:65.38, Y:-161.58, Z:-1.80 [[-2.50106981e-01 9.68217522e-01 1.15254446e-03 6.53765285e+01] [ 9.68205749e-01 2.50109624e-01 -4.77531085e-03 -1.61581357e+02] [-4.91180210e-03 -7.84384094e-05 -9.99987934e-01 -1.80085236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.22655999499995 meters 0.013813481634199517 Centerline is valid? [True, True] Translation: X:65.38, Y:-161.58, Z:-1.80 [[-3.25584215e-01 9.45510998e-01 1.96784453e-03 6.53818146e+01] [ 9.45491760e-01 3.25590145e-01 -6.03238708e-03 -1.61582441e+02] [-6.34439911e-03 -1.03469226e-04 -9.99979869e-01 -1.79990732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.256559995 meters 0.01465106495923483 Centerline is valid? [True, True] Translation: X:65.39, Y:-161.58, Z:-1.80 [[-3.98851303e-01 9.17011485e-01 2.75230619e-03 6.53884284e+01] [ 9.16987567e-01 3.98860781e-01 -6.62413005e-03 -1.61583350e+02] [-7.17219033e-03 -1.18212348e-04 -9.99974273e-01 -1.79883179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.28655999499995 meters 0.014296633171458118 Centerline is valid? [True, True] Translation: X:65.39, Y:-161.58, Z:-1.80 [[-4.69394522e-01 8.82981545e-01 3.51757497e-03 6.53910447e+01] [ 8.82954701e-01 4.69407685e-01 -6.88634797e-03 -1.61584713e+02] [-7.73169490e-03 -1.26554657e-04 -9.99970102e-01 -1.79861970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.316559995 meters 0.014296633171458118 Centerline is valid? [True, True] Translation: X:65.40, Y:-161.59, Z:-1.80 [[-5.37119207e-01 8.43496642e-01 4.04618715e-03 6.53952709e+01] [ 8.43470912e-01 5.37134432e-01 -6.58957917e-03 -1.61585945e+02] [-7.73163434e-03 -1.26548378e-04 -9.99970102e-01 -1.79862021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.34655999499995 meters 0.014296633171458118 Centerline is valid? [True, True] Translation: X:65.40, Y:-161.59, Z:-1.80 [[-6.01543433e-01 7.98827138e-01 4.54992785e-03 6.53995414e+01] [ 7.98802680e-01 6.01560627e-01 -6.25231200e-03 -1.61586780e+02] [-7.73157395e-03 -1.26542666e-04 -9.99970103e-01 -1.79862071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.376559995 meters 0.013766879456884519 Centerline is valid? [True, True] Translation: X:65.40, Y:-161.59, Z:-1.80 [[-6.62195952e-01 7.49312101e-01 5.28164957e-03 6.54043233e+01] [ 7.49286661e-01 6.62217002e-01 -6.17594611e-03 -1.61585630e+02] [-8.12530930e-03 -1.32216947e-04 -9.99966980e-01 -1.79905297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.40655999499995 meters 0.014031530668625631 Centerline is valid? [True, True] Translation: X:65.41, Y:-161.58, Z:-1.80 [[-7.18071832e-01 6.95943066e-01 6.00771488e-03 6.54098759e+01] [ 6.95917201e-01 7.18096952e-01 -6.00138082e-03 -1.61584855e+02] [-8.49074111e-03 -1.28550400e-04 -9.99963945e-01 -1.79860128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.436559995 meters 0.013901236791131607 Centerline is valid? [True, True] Translation: X:65.43, Y:-161.57, Z:-1.80 [[-7.64683530e-01 6.44376601e-01 6.15594075e-03 6.54306101e+01] [ 6.44354522e-01 7.64708299e-01 -5.33536696e-03 -1.61567259e+02] [-8.14548460e-03 -1.13258976e-04 -9.99966819e-01 -1.79876015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.46655999499995 meters 0.013173445644892659 Centerline is valid? [True, True] Translation: X:65.45, Y:-161.55, Z:-1.80 [[-8.06930802e-01 5.90614614e-01 6.08755208e-03 6.54480884e+01] [ 5.90596987e-01 8.06953759e-01 -4.56387421e-03 -1.61547928e+02] [-7.60786384e-03 -8.74407611e-05 -9.99971056e-01 -1.79888392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.496559995 meters 0.013173445644892659 Centerline is valid? [True, True] Translation: X:65.47, Y:-161.53, Z:-1.80 [[-8.46706917e-01 5.32021144e-01 6.39525642e-03 6.54657868e+01] [ 5.32005186e-01 8.46731064e-01 -4.12155228e-03 -1.61526496e+02] [-7.60781523e-03 -8.74372425e-05 -9.99971056e-01 -1.79888440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.52655999499996 meters 0.012702771079689255 Centerline is valid? [True, True] Translation: X:65.48, Y:-161.51, Z:-1.80 [[-8.81622010e-01 4.71913142e-01 6.37316954e-03 6.54847973e+01] [ 4.71900204e-01 8.81645042e-01 -3.49527155e-03 -1.61506816e+02] [-7.26833791e-03 -7.40083227e-05 -9.99973583e-01 -1.79920199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.556559995 meters 0.012114835370666913 Centerline is valid? [True, True] Translation: X:65.50, Y:-161.49, Z:-1.80 [[-9.11281027e-01 4.11743832e-01 5.82292342e-03 6.54986740e+01] [ 4.11735138e-01 9.11299630e-01 -2.67597335e-03 -1.61485960e+02] [-6.40824348e-03 -4.10615699e-05 -9.99979466e-01 -1.80064515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.58655999499996 meters 0.011938948940813139 Centerline is valid? [True, True] Translation: X:65.51, Y:-161.46, Z:-1.80 [[-9.36694179e-01 3.50104921e-01 5.52802003e-03 6.55117217e+01] [ 3.50098744e-01 9.36710491e-01 -2.07974325e-03 -1.61463959e+02] [-5.90628270e-03 -1.27305255e-05 -9.99982558e-01 -1.80172639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.616559995 meters 0.011933234818760824 Centerline is valid? [True, True] Translation: X:65.77, Y:-160.78, Z:-2.79 [[-9.10050404e-01 -4.14471683e-01 4.63530763e-03 6.57728760e+01] [ 4.14466100e-01 -9.10062208e-01 -2.15159576e-03 -1.60783702e+02] [ 5.11019381e-03 -3.68827127e-05 9.99986942e-01 -2.79031065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.64655999499996 meters 0.01197503814032471 Centerline is valid? [True, True] Translation: X:65.47, Y:-161.45, Z:-1.80 [[-9.37073144e-01 3.49104928e-01 4.43527352e-03 6.54696011e+01] [ 3.49101029e-01 9.37083640e-01 -1.64986017e-03 -1.61449011e+02] [-4.73219657e-03 2.31889681e-06 -9.99988803e-01 -1.80236587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.676559995 meters 0.012121347400008193 Centerline is valid? [True, True] Translation: X:65.48, Y:-161.42, Z:-1.80 [[-9.58639771e-01 2.84574926e-01 5.18663973e-03 6.54816435e+01] [ 2.84570865e-01 9.58653801e-01 -1.52045499e-03 -1.61423406e+02] [-5.40487527e-03 1.83979295e-05 -9.99985393e-01 -1.80118020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.70655999499996 meters 0.012368616728155068 Centerline is valid? [True, True] Translation: X:65.48, Y:-161.40, Z:-1.80 [[-9.76041861e-01 2.17505468e-01 5.80141063e-03 6.54833594e+01] [ 2.17501810e-01 9.76059102e-01 -1.26194744e-03 -1.61395370e+02] [-5.93700011e-03 3.01037846e-05 -9.99982375e-01 -1.80020590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.73655999499994 meters 0.012563800869932763 Centerline is valid? [True, True] Translation: X:65.65, Y:-160.69, Z:-2.79 [[-9.62612082e-01 -2.70810341e-01 6.30381109e-03 6.56506620e+01] [ 2.70804565e-01 -9.62632723e-01 -1.76879254e-03 -1.60686319e+02] [ 6.54726215e-03 4.43975009e-06 9.99978566e-01 -2.79266667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.76655999499997 meters 0.012790111529930329 Centerline is valid? [True, True] Translation: X:65.44, Y:-161.39, Z:-1.80 [[-9.76060932e-01 2.17393989e-01 6.70154425e-03 6.54435954e+01] [ 2.17389295e-01 9.76083936e-01 -1.42984127e-03 -1.61388027e+02] [-6.85210858e-03 6.12317788e-05 -9.99976522e-01 -1.79946462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.79655999499994 meters 0.013187016105788634 Centerline is valid? [True, True] Translation: X:65.60, Y:-160.68, Z:-2.79 [[-9.64733739e-01 -2.63135648e-01 6.96015249e-03 6.55996832e+01] [ 2.63128489e-01 -9.64758845e-01 -1.94149985e-03 -1.60675584e+02] [ 7.22574650e-03 -4.16160027e-05 9.99973893e-01 -2.79362685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.82655999499997 meters 0.014226457442774263 Centerline is valid? [True, True] Translation: X:65.39, Y:-161.38, Z:-1.80 [[-9.75633553e-01 2.19300942e-01 6.80194941e-03 6.53937998e+01] [ 2.19296353e-01 9.75657258e-01 -1.42252268e-03 -1.61378794e+02] [-6.94833188e-03 1.03781844e-04 -9.99975855e-01 -1.79866355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.85655999499994 meters 0.0143399400989375 Centerline is valid? [True, True] Translation: X:65.40, Y:-161.35, Z:-1.80 [[-9.88478990e-01 1.51198319e-01 6.95371481e-03 6.54013723e+01] [ 1.51195410e-01 9.88503442e-01 -9.45134142e-04 -1.61351000e+02] [-7.01667372e-03 1.17124519e-04 -9.99975376e-01 -1.79912882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.88655999499997 meters 0.015247760207223121 Centerline is valid? [True, True] Translation: X:65.40, Y:-161.32, Z:-1.80 [[-9.96595351e-01 8.21484968e-02 7.02365719e-03 6.54023933e+01] [ 8.21473633e-02 9.96620092e-01 -4.50202808e-04 -1.61323832e+02] [-7.03690136e-03 1.28304894e-04 -9.99975232e-01 -1.79872141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.91655999499994 meters 0.015543499498932573 Centerline is valid? [True, True] Translation: X:65.46, Y:-160.60, Z:-2.79 [[-9.93892165e-01 -1.10142387e-01 6.85706385e-03 6.54552633e+01] [ 1.10138836e-01 -9.93915810e-01 -8.94486949e-04 -1.60595399e+02] [ 6.91386509e-03 -1.33794539e-04 9.99976090e-01 -2.79343662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.946559995 meters 0.015646980492182633 Centerline is valid? [True, True] Translation: X:65.33, Y:-161.32, Z:-1.80 [[-9.96742010e-01 8.03645402e-02 6.84882938e-03 6.53327080e+01] [ 8.03636463e-02 9.96765529e-01 -4.06064153e-04 -1.61318510e+02] [-6.85931019e-03 1.45655702e-04 -9.99976464e-01 -1.79943582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.97655999499995 meters 0.01582707325728979 Centerline is valid? [True, True] Translation: X:65.38, Y:-160.59, Z:-2.79 [[-9.94538508e-01 -1.04169936e-01 6.46381744e-03 6.53821942e+01] [ 1.04166686e-01 -9.94559500e-01 -8.38465046e-04 -1.60591477e+02] [ 6.51599389e-03 -1.60571335e-04 9.99978758e-01 -2.79285233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.006559995 meters 0.016480846100066567 Centerline is valid? [True, True] Translation: X:65.26, Y:-161.31, Z:-1.80 [[-9.97073086e-01 7.61583637e-02 6.72044245e-03 6.52623653e+01] [ 7.61576348e-02 9.97095723e-01 -3.64666225e-04 -1.61314775e+02] [-6.72869681e-03 1.48214123e-04 -9.99977351e-01 -1.79948099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.03655999499995 meters 0.016140313506375518 Centerline is valid? [True, True] Translation: X:65.30, Y:-160.59, Z:-2.79 [[-9.95076365e-01 -9.88896388e-02 6.62320183e-03 6.53016662e+01] [ 9.88864392e-02 -9.95098395e-01 -8.09636113e-04 -1.60588909e+02] [ 6.67080213e-03 -1.50704916e-04 9.99977739e-01 -2.79337466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.066559995 meters 0.015941892552224727 Centerline is valid? [True, True] Translation: X:65.19, Y:-161.31, Z:-1.80 [[-9.97452730e-01 7.10742509e-02 6.04178362e-03 6.51868564e+01] [ 7.10737545e-02 9.97471019e-01 -2.97106882e-04 -1.61306309e+02] [-6.04762071e-03 1.33062176e-04 -9.99981704e-01 -1.79927477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.09655999499995 meters 0.01596568745876908 Centerline is valid? [True, True] Translation: X:65.18, Y:-161.28, Z:-1.80 [[-9.99981712e-01 -6.00462891e-04 6.01793244e-03 6.51782005e+01] [-5.99675162e-04 9.99999811e-01 1.32700663e-04 -1.61277374e+02] [-6.01801099e-03 1.29089431e-04 -9.99981883e-01 -1.79928717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.126559995 meters 0.01567573686078962 Centerline is valid? [True, True] Translation: X:65.17, Y:-160.56, Z:-2.79 [[-9.99674172e-01 -2.50193607e-02 5.05783489e-03 6.51707894e+01] [ 2.50181629e-02 -9.99686952e-01 -2.99962186e-04 -1.60559771e+02] [ 5.06375641e-03 -1.73326712e-04 9.99987164e-01 -2.79233562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.15655999499995 meters 0.015466183720938926 Centerline is valid? [True, True] Translation: X:65.09, Y:-161.28, Z:-1.80 [[-9.99948857e-01 -9.22602477e-03 4.14302567e-03 6.50907748e+01] [-9.22562664e-03 9.99957436e-01 1.15197512e-04 -1.61275627e+02] [-4.14391215e-03 7.69696120e-05 -9.99991411e-01 -1.80092513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.186559995 meters 0.014676516815779084 Centerline is valid? [True, True] Translation: X:65.07, Y:-160.57, Z:-2.79 [[-9.99719114e-01 -2.35193516e-02 2.92131020e-03 6.50693022e+01] [ 2.35188468e-02 -9.99723372e-01 -2.07035474e-04 -1.60566160e+02] [ 2.92537142e-03 -1.38271473e-04 9.99995712e-01 -2.79087175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.21655999499995 meters 0.014088519475936081 Centerline is valid? [True, True] Translation: X:65.00, Y:-161.27, Z:-1.80 [[-9.99791629e-01 -2.01677994e-02 3.15568893e-03 6.49961182e+01] [-2.01675633e-02 9.99796608e-01 1.06607386e-04 -1.61271770e+02] [-3.15719712e-03 4.29426163e-05 -9.99995015e-01 -1.80114587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.246559995 meters 0.013821125748921055 Centerline is valid? [True, True] Translation: X:64.97, Y:-160.57, Z:-2.79 [[-9.99764210e-01 -2.14369608e-02 3.46137714e-03 6.49736638e+01] [ 2.14367411e-02 -9.99770202e-01 -1.00571709e-04 -1.60572488e+02] [ 3.46273767e-03 -2.63473500e-05 9.99994004e-01 -2.79224759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.27655999499996 meters 0.013544977730840338 Centerline is valid? [True, True] Translation: X:64.90, Y:-161.27, Z:-1.80 [[-9.99560770e-01 -2.93687004e-02 3.96826646e-03 6.49027811e+01] [-2.93683111e-02 9.99568646e-01 1.56366612e-04 -1.61270318e+02] [-3.97114702e-03 3.97566468e-05 -9.99992114e-01 -1.79940155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.306559995 meters 0.012754038063896233 Centerline is valid? [True, True] Translation: X:64.90, Y:-161.24, Z:-1.80 [[-9.94549709e-01 -1.04162906e-01 4.57881522e-03 6.48962520e+01] [-1.04161666e-01 9.94560249e-01 5.09103335e-04 -1.61237976e+02] [-4.60693728e-03 2.93915526e-05 -9.99989388e-01 -1.79880094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.33655999499996 meters 0.012561037716456462 Centerline is valid? [True, True] Translation: X:64.88, Y:-161.21, Z:-1.80 [[-9.84329868e-01 -1.76276741e-01 4.60668748e-03 6.48799498e+01] [-1.76274699e-01 9.84340647e-01 8.48747843e-04 -1.61210034e+02] [-4.68416424e-03 2.34054011e-05 -9.99989029e-01 -1.79912638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.366559995 meters 0.01244830969289806 Centerline is valid? [True, True] Translation: X:64.74, Y:-160.55, Z:-2.79 [[-9.92988618e-01 1.18122813e-01 4.53938839e-03 6.47410108e+01] [-1.18121720e-01 -9.92998993e-01 5.09016213e-04 -1.60545749e+02] [ 4.56773453e-03 -3.07530586e-05 9.99989567e-01 -2.79294782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.39655999499996 meters 0.012422207367620243 Centerline is valid? [True, True] Translation: X:64.75, Y:-161.23, Z:-1.80 [[-9.82513984e-01 -1.86143765e-01 4.09513907e-03 6.47524706e+01] [-1.86142125e-01 9.82522518e-01 7.81508115e-04 -1.61228033e+02] [-4.16903922e-03 5.56476440e-06 -9.99991310e-01 -1.79914595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.426559995 meters 0.01247120758652755 Centerline is valid? [True, True] Translation: X:64.72, Y:-161.20, Z:-1.80 [[-9.66326684e-01 -2.57284698e-01 4.16209445e-03 6.47214102e+01] [-2.57282306e-01 9.66335648e-01 1.10952065e-03 -1.61204081e+02] [-4.30744292e-03 1.32615141e-06 -9.99990723e-01 -1.79905683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.45655999499996 meters 0.012455013896546066 Centerline is valid? [True, True] Translation: X:64.68, Y:-161.19, Z:-1.80 [[-9.44862642e-01 -3.27443609e-01 3.90768915e-03 6.46761848e+01] [-3.27440814e-01 9.44870723e-01 1.35291936e-03 -1.61187878e+02] [-4.13526587e-03 -1.21395160e-06 -9.99991450e-01 -1.79870190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.48655999499994 meters 0.012459896340348867 Centerline is valid? [True, True] Translation: X:64.62, Y:-161.18, Z:-1.80 [[-9.18068829e-01 -3.96401171e-01 3.96701488e-03 6.46159664e+01] [-3.96397484e-01 9.18077399e-01 1.70981928e-03 -1.61180555e+02] [-4.31980107e-03 -2.78293041e-06 -9.99990670e-01 -1.79848800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.51655999499997 meters 0.012501325672894843 Centerline is valid? [True, True] Translation: X:64.55, Y:-161.18, Z:-1.80 [[-8.86172431e-01 -4.63339021e-01 3.92097158e-03 6.45457334e+01] [-4.63334504e-01 8.86181105e-01 2.04599425e-03 -1.61182074e+02] [-4.42267990e-03 -3.61772589e-06 -9.99990220e-01 -1.79822627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.54655999499994 meters 0.01241357049542724 Centerline is valid? [True, True] Translation: X:64.47, Y:-161.19, Z:-1.80 [[-8.49115116e-01 -5.28195548e-01 3.60314910e-03 6.44681559e+01] [-5.28190816e-01 8.49122761e-01 2.23581614e-03 -1.61193626e+02] [-4.24046404e-03 -4.68497997e-06 -9.99991009e-01 -1.79851392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.57655999499997 meters 0.012495309196485603 Centerline is valid? [True, True] Translation: X:64.39, Y:-161.21, Z:-1.80 [[-8.07160152e-01 -5.90322891e-01 3.37255922e-03 6.43872426e+01] [-5.90317765e-01 8.07167197e-01 2.46003616e-03 -1.61213950e+02] [-4.17443483e-03 -5.23846600e-06 -9.99991287e-01 -1.79830286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.60655999499994 meters 0.012434614832950833 Centerline is valid? [True, True] Translation: X:64.30, Y:-161.24, Z:-1.80 [[-7.60453941e-01 -6.49385068e-01 2.97254672e-03 6.43030869e+01] [-6.49380135e-01 7.60459751e-01 2.53131906e-03 -1.61244231e+02] [-3.90430294e-03 -5.36123675e-06 -9.99992378e-01 -1.79873576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.63655999499997 meters 0.01245113408656284 Centerline is valid? [True, True] Translation: X:64.21, Y:-161.29, Z:-1.80 [[-7.09490389e-01 -7.04709305e-01 2.86066647e-03 6.42142991e+01] [-7.04703603e-01 7.09496156e-01 2.83470747e-03 -1.61287736e+02] [-4.02727660e-03 -4.72426763e-06 -9.99991891e-01 -1.79853486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.66655999499994 meters 0.01244926758295455 Centerline is valid? [True, True] Translation: X:64.13, Y:-161.34, Z:-1.80 [[-6.54045990e-01 -7.56452480e-01 1.86766887e-03 6.41293144e+01] [-7.56449413e-01 6.54048657e-01 2.15405927e-03 -1.61338234e+02] [-2.85098979e-03 -3.94319718e-06 -9.99995936e-01 -1.79971011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.696559995 meters 0.012411001869194324 Centerline is valid? [True, True] Translation: X:64.05, Y:-161.40, Z:-1.80 [[-5.94589511e-01 -8.04028431e-01 1.26312327e-03 6.40462823e+01] [-8.04026629e-01 5.94590853e-01 1.70224098e-03 -1.61397894e+02] [-2.11969169e-03 -3.45011328e-06 -9.99997753e-01 -1.80104292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.72655999499995 meters 0.012402750130596791 Centerline is valid? [True, True] Translation: X:63.97, Y:-161.47, Z:-1.80 [[-5.31738516e-01 -8.46907662e-01 1.24986751e-03 6.39652299e+01] [-8.46905338e-01 5.31739985e-01 1.98393704e-03 -1.61468063e+02] [-2.34481601e-03 -3.58373057e-06 -9.99997251e-01 -1.80122457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.756559995 meters 0.012556644876891822 Centerline is valid? [True, True] Translation: X:63.89, Y:-161.55, Z:-1.80 [[-4.65218820e-01 -8.85191109e-01 2.85500204e-03 6.38857611e+01] [-8.85174576e-01 4.65227580e-01 5.41008801e-03 -1.61549690e+02] [-6.11718750e-03 -1.03004622e-05 -9.99981290e-01 -1.79748040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.78655999499995 meters 0.01253331628462056 Centerline is valid? [True, True] Translation: X:63.81, Y:-161.63, Z:-1.80 [[-3.96433806e-01 -9.18058514e-01 2.96697498e-03 6.38146815e+01] [-9.18032994e-01 3.96444909e-01 6.84522569e-03 -1.61633690e+02] [-7.46055985e-03 -1.01020512e-05 -9.99972170e-01 -1.79615036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.816559995 meters 0.012534117523229275 Centerline is valid? [True, True] Translation: X:63.75, Y:-161.73, Z:-1.80 [[-3.27257748e-01 -9.44931208e-01 2.71637481e-03 6.37510577e+01] [-9.44898415e-01 3.27269021e-01 7.87234464e-03 -1.61727165e+02] [-8.32780945e-03 9.58752320e-06 -9.99965323e-01 -1.79545806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.84655999499995 meters 0.01263795074669868 Centerline is valid? [True, True] Translation: X:63.69, Y:-161.83, Z:-1.80 [[-2.55496852e-01 -9.66807635e-01 2.08700194e-03 6.36931119e+01] [-9.66774628e-01 2.55505374e-01 7.98895784e-03 -1.61828729e+02] [-8.25702565e-03 2.34930513e-05 -9.99965910e-01 -1.79588382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.876559995 meters 0.012801858254331402 Centerline is valid? [True, True] Translation: X:63.64, Y:-161.93, Z:-1.80 [[-1.82085082e-01 -9.83281726e-01 1.43896818e-03 6.36426320e+01] [-9.83249433e-01 1.82090765e-01 7.96901829e-03 -1.61934131e+02] [-8.09781288e-03 3.61747005e-05 -9.99967212e-01 -1.79658642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.90655999499995 meters 0.012801858254331402 Centerline is valid? [True, True] Translation: X:63.60, Y:-162.05, Z:-1.80 [[-1.06020922e-01 -9.94363559e-01 8.22588428e-04 6.35985520e+01] [-9.94330926e-01 1.06024107e-01 8.05597541e-03 -1.62045659e+02] [-8.09778259e-03 3.61768245e-05 -9.99967212e-01 -1.79658790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.936559995 meters 0.012801858254331402 Centerline is valid? [True, True] Translation: X:63.56, Y:-162.16, Z:-1.80 [[-2.92822363e-02 -9.99571163e-01 2.00963879e-04 6.35631485e+01] [-9.99538382e-01 2.92829035e-02 8.09533912e-03 -1.62160795e+02] [-8.09775235e-03 3.61785227e-05 -9.99967212e-01 -1.79658939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.96655999499995 meters 0.0133405417322021 Centerline is valid? [True, True] Translation: X:63.54, Y:-162.28, Z:-1.80 [[ 4.20075675e-02 -9.99117203e-01 -4.23556734e-04 6.35399326e+01] [-9.99084335e-01 -4.20096213e-02 8.10455474e-03 -1.62275241e+02] [-8.11519352e-03 8.27162676e-05 -9.99967068e-01 -1.79719593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.996559995 meters 0.014976439586030559 Centerline is valid? [True, True] Translation: X:63.53, Y:-162.39, Z:-1.80 [[ 1.10331589e-01 -9.93894374e-01 -9.55892792e-04 6.35284404e+01] [-9.93867152e-01 -1.10335643e-01 7.35732286e-03 -1.62393193e+02] [-7.41787084e-03 1.38285326e-04 -9.99972478e-01 -1.79811946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.02655999499996 meters 0.01600591510938173 Centerline is valid? [True, True] Translation: X:63.52, Y:-162.51, Z:-1.80 [[ 1.82073098e-01 -9.83283948e-01 -1.43722264e-03 6.35233678e+01] [-9.83259968e-01 -1.82078698e-01 6.86895892e-03 -1.62513330e+02] [-7.01582467e-03 1.62510854e-04 -9.99975376e-01 -1.79898804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.056559995 meters 0.019272489409539413 Centerline is valid? [True, True] Translation: X:63.53, Y:-162.62, Z:-1.80 [[ 2.48871050e-01 -9.68535430e-01 -1.52378493e-03 6.35286815e+01] [-9.68521305e-01 -2.48875655e-01 5.23359197e-03 -1.62622760e+02] [-5.44815222e-03 1.73328637e-04 -9.99985144e-01 -1.80058439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.08655999499996 meters 0.018911597353384966 Centerline is valid? [True, True] Translation: X:63.54, Y:-162.74, Z:-1.80 [[ 3.19738282e-01 -9.47504212e-01 -1.78856630e-03 6.35387004e+01] [-9.47492333e-01 -3.19743236e-01 4.74777071e-03 -1.62743526e+02] [-5.07041473e-03 1.76608804e-04 -9.99987130e-01 -1.80157510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.116559995 meters 0.020320699064421088 Centerline is valid? [True, True] Translation: X:63.56, Y:-162.86, Z:-1.80 [[ 3.87993038e-01 -9.21659718e-01 -2.18324644e-03 6.35573913e+01] [-9.21647901e-01 -3.87999129e-01 4.67156256e-03 -1.62858961e+02] [-5.15268875e-03 1.99650752e-04 -9.99986705e-01 -1.80192284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.14655999499996 meters 0.020320699064421088 Centerline is valid? [True, True] Translation: X:63.58, Y:-162.97, Z:-1.80 [[ 4.57513323e-01 -8.89199153e-01 -2.53497565e-03 6.35847887e+01] [-8.89187837e-01 -4.57520302e-01 4.49039602e-03 -1.62974590e+02] [-5.15265916e-03 1.99653517e-04 -9.99986705e-01 -1.80192429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.176559995 meters 0.020797245774130325 Centerline is valid? [True, True] Translation: X:63.62, Y:-163.09, Z:-1.80 [[ 5.23744565e-01 -8.51869620e-01 -3.12760774e-03 6.36178806e+01] [-8.51856874e-01 -5.23753857e-01 4.66518672e-03 -1.63086423e+02] [-5.61222745e-03 2.20907958e-04 -9.99984227e-01 -1.80173129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.20655999499996 meters 0.02055512675403434 Centerline is valid? [True, True] Translation: X:63.66, Y:-163.20, Z:-1.80 [[ 5.87947622e-01 -8.08890651e-01 -3.67552655e-03 6.36602554e+01] [-8.08877219e-01 -5.87959066e-01 4.66711781e-03 -1.63195999e+02] [-5.93624712e-03 2.29028871e-04 -9.99982354e-01 -1.80140024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.23655999499994 meters 0.019844227717706827 Centerline is valid? [True, True] Translation: X:63.71, Y:-163.30, Z:-1.80 [[ 6.49184682e-01 -7.60619319e-01 -4.18334956e-03 6.37062301e+01] [-7.60605742e-01 -6.49198121e-01 4.55029132e-03 -1.63297035e+02] [-6.17686216e-03 2.27900274e-04 -9.99980897e-01 -1.80159173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.26655999499997 meters 0.01860843360539384 Centerline is valid? [True, True] Translation: X:63.76, Y:-163.39, Z:-1.80 [[ 7.06487923e-01 -7.07707647e-01 -4.97002696e-03 6.37570628e+01] [-7.07692461e-01 -7.06505364e-01 4.64229764e-03 -1.63392994e+02] [-6.79674025e-03 2.37523395e-04 -9.99976874e-01 -1.80195044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.29655999499994 meters 0.01843916909225836 Centerline is valid? [True, True] Translation: X:63.75, Y:-163.40, Z:-1.80 [[ 7.63007262e-01 -6.46365605e-01 -5.60565739e-03 6.37503309e+01] [-6.46350190e-01 -7.63027824e-01 4.46895941e-03 -1.63403817e+02] [-7.16585421e-03 2.13369237e-04 -9.99974302e-01 -1.80174737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.32655999499997 meters 0.018729659974124003 Centerline is valid? [True, True] Translation: X:63.75, Y:-163.41, Z:-1.80 [[ 8.12676280e-01 -5.82679755e-01 -6.44718294e-03 6.37478220e+01] [-5.82663469e-01 -8.12701826e-01 4.36173351e-03 -1.63411452e+02] [-7.78113116e-03 2.11860611e-04 -9.99969704e-01 -1.80094883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.35655999499994 meters 0.016168194890476197 Centerline is valid? [True, True] Translation: X:63.74, Y:-163.43, Z:-1.80 [[ 8.57225660e-01 -5.14882566e-01 -7.75312335e-03 6.37425291e+01] [-5.14863776e-01 -8.57260693e-01 4.40403571e-03 -1.63426946e+02] [-8.91400911e-03 2.16549949e-04 -9.99960246e-01 -1.80071968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.38655999499997 meters 0.014869243516409005 Centerline is valid? [True, True] Translation: X:63.74, Y:-163.44, Z:-1.80 [[ 8.97514684e-01 -4.40877602e-01 -9.71245070e-03 6.37391123e+01] [-4.40854141e-01 -8.97567213e-01 4.55248580e-03 -1.63443367e+02] [-1.07246663e-02 1.95851252e-04 -9.99942470e-01 -1.79849459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.41655999499994 meters 0.01416167383771449 Centerline is valid? [True, True] Translation: X:63.74, Y:-163.46, Z:-1.80 [[ 9.30475570e-01 -3.66227895e-01 -9.60954372e-03 6.37385112e+01] [-3.66210054e-01 -9.30525178e-01 3.61802120e-03 -1.63456833e+02] [-1.02669427e-02 1.52631192e-04 -9.99947282e-01 -1.79901335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.446559995 meters 0.013165658714256647 Centerline is valid? [True, True] Translation: X:63.74, Y:-163.47, Z:-1.80 [[ 9.58227389e-01 -2.85902850e-01 -7.73503596e-03 6.37381437e+01] [-2.85894084e-01 -9.58258606e-01 2.23987979e-03 -1.63470788e+02] [-8.05255279e-03 6.50868579e-05 -9.99967576e-01 -1.80125597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.47655999499995 meters 0.012887936044232499 Centerline is valid? [True, True] Translation: X:63.74, Y:-163.48, Z:-1.80 [[ 9.78347936e-01 -2.06844796e-01 -7.10963376e-03 6.37410174e+01] [-2.06839588e-01 -9.78373768e-01 1.46818563e-03 -1.63482649e+02] [-7.25956573e-03 3.41573382e-05 -9.99973648e-01 -1.80206084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.506559995 meters 0.012631639610555558 Centerline is valid? [True, True] Translation: X:63.74, Y:-163.50, Z:-1.80 [[ 9.92450504e-01 -1.22468939e-01 -6.58452931e-03 6.37433427e+01] [-1.22466131e-01 -9.92472347e-01 8.29562307e-04 -1.63498301e+02] [-6.63655887e-03 -1.69177038e-05 -9.99977978e-01 -1.80230614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.53655999499995 meters 0.014303924316547435 Centerline is valid? [True, True] Translation: X:63.74, Y:-163.52, Z:-1.80 [[ 9.99474186e-01 -3.14196335e-02 -8.00993630e-03 6.37438778e+01] [-3.14176254e-02 -9.99506274e-01 3.76430071e-04 -1.63517029e+02] [-8.01780888e-03 -1.24578960e-04 -9.99967849e-01 -1.80053912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.566559995 meters 0.015091475134198382 Centerline is valid? [True, True] Translation: X:63.75, Y:-163.53, Z:-1.80 [[ 9.98612554e-01 5.21055342e-02 -7.61451358e-03 6.37469325e+01] [ 5.21052220e-02 -9.98641572e-01 -2.39512647e-04 -1.63529870e+02] [-7.61664974e-03 -1.57575585e-04 -9.99970981e-01 -1.80147507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.59655999499995 meters 0.016654371157622253 Centerline is valid? [True, True] Translation: X:63.75, Y:-163.54, Z:-1.80 [[ 9.90842103e-01 1.34669701e-01 -9.79791657e-03 6.37498531e+01] [ 1.34665595e-01 -9.90890514e-01 -1.08071217e-03 -1.63544584e+02] [-9.85420176e-03 -2.48627144e-04 -9.99951415e-01 -1.79820992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.626559995 meters 0.016654371157622253 Centerline is valid? [True, True] Translation: X:63.75, Y:-163.55, Z:-1.80 [[ 9.77268399e-01 2.11784583e-01 -9.68329657e-03 6.37540395e+01] [ 2.11776701e-01 -9.77316340e-01 -1.84398999e-03 -1.63551974e+02] [-9.85417262e-03 -2.48623458e-04 -9.99951416e-01 -1.79821018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.65655999499995 meters 0.016654371157622253 Centerline is valid? [True, True] Translation: X:63.76, Y:-163.56, Z:-1.80 [[ 9.57702392e-01 2.87603375e-01 -9.50930293e-03 6.37589176e+01] [ 2.87591766e-01 -9.57749569e-01 -2.59598053e-03 -1.63558989e+02] [-9.85414354e-03 -2.48620462e-04 -9.99951416e-01 -1.79821045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.686559995 meters 0.016654371157622253 Centerline is valid? [True, True] Translation: X:63.76, Y:-163.57, Z:-1.80 [[ 9.32265023e-01 3.61657109e-01 -9.27701130e-03 6.37642333e+01] [ 3.61641845e-01 -9.32311146e-01 -3.33203324e-03 -1.63565628e+02] [-9.85411455e-03 -2.48617435e-04 -9.99951416e-01 -1.79821072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.71655999499995 meters 0.016594297740149717 Centerline is valid? [True, True] Translation: X:63.77, Y:-163.57, Z:-1.80 [[ 9.01233573e-01 4.33221488e-01 -9.85849403e-03 6.37700195e+01] [ 4.33198813e-01 -9.01287451e-01 -4.44054234e-03 -1.63570981e+02] [-1.08090753e-02 -2.68722072e-04 -9.99941544e-01 -1.79761999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.746559995 meters 0.016594297740149717 Centerline is valid? [True, True] Translation: X:63.78, Y:-163.58, Z:-1.80 [[ 8.64544643e-01 5.02466597e-01 -9.48047977e-03 6.37760435e+01] [ 5.02439773e-01 -8.64596580e-01 -5.19886512e-03 -1.63576179e+02] [-1.08090465e-02 -2.68719119e-04 -9.99941544e-01 -1.79762025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.77655999499996 meters 0.016594297740149717 Centerline is valid? [True, True] Translation: X:63.78, Y:-163.58, Z:-1.80 [[ 8.22544805e-01 5.68628390e-01 -9.04422967e-03 6.37825392e+01] [ 5.68597581e-01 -8.22594482e-01 -5.92528323e-03 -1.63580842e+02] [-1.08090177e-02 -2.68716167e-04 -9.99941545e-01 -1.79762052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.806559995 meters 0.015856726409820287 Centerline is valid? [True, True] Translation: X:63.79, Y:-163.58, Z:-1.80 [[ 7.76333212e-01 6.30257540e-01 -9.06521058e-03 6.37890170e+01] [ 6.30218598e-01 -7.76386090e-01 -7.01133325e-03 -1.63584140e+02] [-1.14570490e-02 -2.69933446e-04 -9.99934329e-01 -1.79743752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.83655999499996 meters 0.015380231650998787 Centerline is valid? [True, True] Translation: X:63.80, Y:-163.59, Z:-1.80 [[ 7.26023495e-01 6.87611753e-01 -8.94216641e-03 6.37955915e+01] [ 6.87563964e-01 -7.26078515e-01 -8.11085300e-03 -1.63587138e+02] [-1.20698328e-02 -2.59641539e-04 -9.99927123e-01 -1.79726315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.866559995 meters 0.01482033317519174 Centerline is valid? [True, True] Translation: X:63.80, Y:-163.59, Z:-1.80 [[ 6.72084874e-01 7.40424269e-01 -8.59213806e-03 6.38019765e+01] [ 7.40368167e-01 -6.72139753e-01 -9.11756128e-03 -1.63588758e+02] [-1.25259812e-02 -2.33570480e-04 -9.99921520e-01 -1.79689369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.89655999499996 meters 0.013393557066589044 Centerline is valid? [True, True] Translation: X:63.80, Y:-163.59, Z:-1.80 [[ 6.18527084e-01 7.85715799e-01 -8.65612939e-03 6.38039629e+01] [ 7.85642099e-01 -6.18587635e-01 -1.07624663e-02 -1.63587862e+02] [-1.38108145e-02 -1.43742735e-04 -9.99904616e-01 -1.79585685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.926559995 meters 0.01286861553274113 Centerline is valid? [True, True] Translation: X:63.81, Y:-163.59, Z:-1.80 [[ 5.59108810e-01 8.29057274e-01 -7.83424537e-03 6.38084518e+01] [ 8.28977830e-01 -5.59163689e-01 -1.14771834e-02 -1.63589388e+02] [-1.38958679e-02 -7.74213952e-05 -9.99903445e-01 -1.79602729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.95655999499996 meters 0.012720763238098365 Centerline is valid? [True, True] Translation: X:63.81, Y:-163.59, Z:-1.80 [[ 4.97007386e-01 8.67721767e-01 -6.52635673e-03 6.38128249e+01] [ 8.67647082e-01 -4.97050234e-01 -1.13844516e-02 -1.63590198e+02] [-1.31224636e-02 -4.41782433e-06 -9.99913897e-01 -1.79668487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.98655999499994 meters 0.013423831303241304 Centerline is valid? [True, True] Translation: X:63.81, Y:-163.59, Z:-1.80 [[ 4.37145011e-01 8.99377840e-01 -4.87248692e-03 6.38112304e+01] [ 8.99318960e-01 -4.37172149e-01 -1.02917772e-02 -1.63588380e+02] [-1.13863120e-02 1.17079201e-04 -9.99935167e-01 -1.79913026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.01655999499997 meters 0.014715744605072705 Centerline is valid? [True, True] Translation: X:63.81, Y:-163.59, Z:-1.80 [[ 3.70334127e-01 9.28891481e-01 -3.64010837e-03 6.38123289e+01] [ 9.28842298e-01 -3.70351982e-01 -9.56004508e-03 -1.63590479e+02] [-1.02283658e-02 1.59324317e-04 -9.99947676e-01 -1.79943697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.04655999499994 meters 0.017213627217585504 Centerline is valid? [True, True] Translation: X:63.81, Y:-163.59, Z:-1.80 [[ 3.06211185e-01 9.51960129e-01 -2.57361780e-03 6.38096035e+01] [ 9.51919747e-01 -3.06221909e-01 -8.77138828e-03 -1.63590471e+02] [-9.13811007e-03 2.36019590e-04 -9.99958219e-01 -1.80106634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.07655999499997 meters 0.017332659113718594 Centerline is valid? [True, True] Translation: X:63.82, Y:-163.59, Z:-1.80 [[ 2.35160886e-01 9.71954579e-01 -1.91135972e-03 6.38177868e+01] [ 9.71912027e-01 -2.35168484e-01 -9.09924936e-03 -1.63593939e+02] [-9.29354866e-03 2.82114045e-04 -9.99956774e-01 -1.80175183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.10655999499994 meters 0.02001087960255788 Centerline is valid? [True, True] Translation: X:63.82, Y:-163.60, Z:-1.80 [[ 1.65474516e-01 9.86213286e-01 -1.24027783e-03 6.38206028e+01] [ 9.86166738e-01 -1.65478765e-01 -9.58865747e-03 -1.63597973e+02] [-9.66170104e-03 3.63557707e-04 -9.99953259e-01 -1.80106380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.13655999499997 meters 0.020098751439376707 Centerline is valid? [True, True] Translation: X:63.83, Y:-163.60, Z:-1.80 [[ 9.08677612e-02 9.95862832e-01 -5.18807869e-04 6.38304284e+01] [ 9.95809395e-01 -9.08682643e-02 -1.03250605e-02 -1.63601554e+02] [-1.03294872e-02 4.21581381e-04 -9.99946561e-01 -1.80151436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.16655999499994 meters 0.023522164252593996 Centerline is valid? [True, True] Translation: X:63.83, Y:-163.61, Z:-1.80 [[ 1.75175339e-02 9.99846509e-01 3.08812387e-04 6.38347898e+01] [ 9.99786752e-01 -1.75131072e-02 -1.09426216e-02 -1.63605311e+02] [-1.09355337e-02 5.00434278e-04 -9.99940080e-01 -1.80044442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.196559995 meters 0.02408430382525236 Centerline is valid? [True, True] Translation: X:63.84, Y:-163.61, Z:-1.80 [[-5.70675366e-02 9.98369559e-01 1.23294769e-03 6.38432967e+01] [ 9.98303280e-01 5.70779725e-02 -1.15180536e-02 -1.63607872e+02] [-1.15696482e-02 5.73548781e-04 -9.99932905e-01 -1.80021354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.22655999499995 meters 0.025089221262951083 Centerline is valid? [True, True] Translation: X:63.85, Y:-163.61, Z:-1.80 [[-1.32981231e-01 9.91115925e-01 2.28387329e-03 6.38516787e+01] [ 9.91041044e-01 1.32999296e-01 -1.21998884e-02 -1.63610488e+02] [-1.23952572e-02 6.41055998e-04 -9.99922970e-01 -1.79966785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.256559995 meters 0.024151440271184616 Centerline is valid? [True, True] Translation: X:63.86, Y:-163.61, Z:-1.80 [[-2.10070292e-01 9.77680863e-01 3.25627012e-03 6.38647704e+01] [ 9.77606528e-01 2.10094531e-01 -1.20733116e-02 -1.63611104e+02] [-1.24879703e-02 6.47106832e-04 -9.99921813e-01 -1.79980816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.28655999499995 meters 0.024151440271184616 Centerline is valid? [True, True] Translation: X:63.88, Y:-163.61, Z:-1.80 [[-2.85968260e-01 9.58229923e-01 4.19156084e-03 6.38756842e+01] [ 9.58157714e-01 2.85998246e-01 -1.17812683e-02 -1.63611482e+02] [-1.24879428e-02 6.47107563e-04 -9.99921813e-01 -1.79980839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.316559995 meters 0.02496639589763566 Centerline is valid? [True, True] Translation: X:63.89, Y:-163.61, Z:-1.80 [[-3.60912625e-01 9.32585097e-01 5.20712647e-03 6.38858560e+01] [ 9.32512522e-01 3.60949600e-01 -1.16525837e-02 -1.63612281e+02] [-1.27465361e-02 6.50146065e-04 -9.99918548e-01 -1.79946698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.34655999499995 meters 0.02496639589763566 Centerline is valid? [True, True] Translation: X:63.90, Y:-163.61, Z:-1.80 [[-4.32833401e-01 9.01453267e-01 6.10368915e-03 6.38954566e+01] [ 9.01383810e-01 4.32875947e-01 -1.12089767e-02 -1.63611582e+02] [-1.27465089e-02 6.50147089e-04 -9.99918549e-01 -1.79946721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.376559995 meters 0.02496639589763566 Centerline is valid? [True, True] Translation: X:63.90, Y:-163.61, Z:-1.80 [[-5.02097365e-01 8.64783069e-01 6.96277881e-03 6.39049343e+01] [ 8.64717158e-01 5.02145220e-01 -1.06965040e-02 -1.63610066e+02] [-1.27464817e-02 6.50147814e-04 -9.99918549e-01 -1.79946745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.40655999499995 meters 0.02127895630313564 Centerline is valid? [True, True] Translation: X:63.92, Y:-163.60, Z:-1.80 [[-5.71397344e-01 8.20636700e-01 7.77706025e-03 6.39222840e+01] [ 8.20574577e-01 5.71449950e-01 -1.01152707e-02 -1.63600478e+02] [-1.27451630e-02 6.01819133e-04 -9.99918596e-01 -1.80028285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.436559995 meters 0.020314780503123582 Centerline is valid? [True, True] Translation: X:63.94, Y:-163.59, Z:-1.80 [[-6.35986523e-01 7.71656058e-01 8.25047531e-03 6.39357205e+01] [ 7.71602029e-01 6.36039800e-01 -9.14776176e-03 -1.63592133e+02] [-1.23065564e-02 5.48230304e-04 -9.99924121e-01 -1.80082190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.46655999499995 meters 0.020926978213140802 Centerline is valid? [True, True] Translation: X:63.95, Y:-163.59, Z:-1.80 [[-6.96831260e-01 7.17180476e-01 8.85213984e-03 6.39463388e+01] [ 7.17131592e-01 6.96887303e-01 -8.38855490e-03 -1.63585193e+02] [-1.21850517e-02 5.02741855e-04 -9.99925633e-01 -1.80057783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.496559995 meters 0.01847940083347349 Centerline is valid? [True, True] Translation: X:64.43, Y:-163.08, Z:-2.79 [[-7.01808373e-01 -7.12327944e-01 7.34217151e-03 6.44289358e+01] [ 7.12280806e-01 -7.01846576e-01 -8.21202459e-03 -1.63075083e+02] [ 1.10027325e-02 -5.33579774e-04 9.99939326e-01 -2.79059388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.52655999499996 meters 0.017931524297950037 Centerline is valid? [True, True] Translation: X:64.41, Y:-163.06, Z:-2.79 [[-6.98599329e-01 -7.15477577e-01 7.12833915e-03 6.44091444e+01] [ 7.15435938e-01 -6.98635633e-01 -7.72464442e-03 -1.63057695e+02] [ 1.05069216e-02 -2.96561407e-04 9.99944757e-01 -2.79050322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.556559995 meters 0.015972333267963622 Centerline is valid? [True, True] Translation: X:64.39, Y:-163.04, Z:-2.79 [[-6.95229768e-01 -7.18757442e-01 6.58087398e-03 6.43867396e+01] [ 7.18722142e-01 -6.95260878e-01 -7.12701230e-03 -1.63041366e+02] [ 9.69801735e-03 -2.25091274e-04 9.99952948e-01 -2.78950661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.58655999499996 meters 0.013779157940751229 Centerline is valid? [True, True] Translation: X:64.36, Y:-163.03, Z:-2.79 [[-6.88170882e-01 -7.25525769e-01 5.76156991e-03 6.43622885e+01] [ 7.25498979e-01 -6.88194991e-01 -6.23585336e-03 -1.63027811e+02] [ 8.48935586e-03 -1.11319616e-04 9.99963959e-01 -2.78895059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.616559995 meters 0.013328427600454761 Centerline is valid? [True, True] Translation: X:64.34, Y:-163.01, Z:-2.79 [[-6.84810665e-01 -7.28699504e-01 5.60241851e-03 6.43406445e+01] [ 7.28674306e-01 -6.84833578e-01 -6.06028575e-03 -1.63010396e+02] [ 8.25285153e-03 -6.78098930e-05 9.99965942e-01 -2.79017448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.64655999499996 meters 0.012337833166646684 Centerline is valid? [True, True] Translation: X:64.31, Y:-163.00, Z:-2.79 [[-6.78308069e-01 -7.34759104e-01 5.21749030e-03 6.43138617e+01] [ 7.34737452e-01 -6.78328135e-01 -5.64073700e-03 -1.62997065e+02] [ 7.68375333e-03 7.32810799e-06 9.99970480e-01 -2.78943908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.676559995 meters 0.012478175218715979 Centerline is valid? [True, True] Translation: X:64.29, Y:-162.98, Z:-2.79 [[-6.75546026e-01 -7.37300347e-01 5.07591682e-03 6.42924371e+01] [ 7.37279946e-01 -6.75565094e-01 -5.48500170e-03 -1.62980519e+02] [ 7.47320588e-03 3.70005796e-05 9.99972075e-01 -2.78968090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.70655999499996 meters 0.012787782754889005 Centerline is valid? [True, True] Translation: X:64.27, Y:-162.96, Z:-2.79 [[-6.72975575e-01 -7.39649205e-01 4.78841805e-03 6.42709715e+01] [ 7.39631130e-01 -6.72992608e-01 -5.17125046e-03 -1.62962773e+02] [ 7.04748124e-03 6.15377930e-05 9.99975164e-01 -2.78949961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.73655999499994 meters 0.013276861009719703 Centerline is valid? [True, True] Translation: X:64.25, Y:-162.94, Z:-2.79 [[-6.70832030e-01 -7.41594440e-01 4.69831989e-03 6.42494632e+01] [ 7.41577106e-01 -6.70848478e-01 -5.07110720e-03 -1.62944669e+02] [ 6.91256565e-03 8.23053307e-05 9.99976105e-01 -2.78951292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.76655999499997 meters 0.015078283199873452 Centerline is valid? [True, True] Translation: X:64.23, Y:-162.93, Z:-2.79 [[-6.66338563e-01 -7.45639976e-01 3.73438534e-03 6.42254573e+01] [ 7.45629097e-01 -6.66349020e-01 -4.02904986e-03 -1.62929805e+02] [ 5.49262465e-03 9.97550765e-05 9.99984910e-01 -2.78883192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.79655999499994 meters 0.016161931787526732 Centerline is valid? [True, True] Translation: X:64.20, Y:-162.91, Z:-2.79 [[-6.62636008e-01 -7.48928314e-01 4.46109851e-03 6.42031623e+01] [ 7.48912881e-01 -6.62651007e-01 -4.81040788e-03 -1.62912014e+02] [ 6.55880208e-03 1.53424662e-04 9.99978479e-01 -2.78953881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.82655999499997 meters 0.016161931787526732 Centerline is valid? [True, True] Translation: X:64.18, Y:-162.89, Z:-2.79 [[-6.62869473e-01 -7.48721675e-01 4.46259803e-03 6.41848905e+01] [ 7.48706246e-01 -6.62884477e-01 -4.80901682e-03 -1.62892472e+02] [ 6.55880209e-03 1.53424573e-04 9.99978479e-01 -2.78953874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.85655999499994 meters 0.016893031826511702 Centerline is valid? [True, True] Translation: X:64.16, Y:-162.87, Z:-2.79 [[-6.61984841e-01 -7.49495511e-01 5.70512911e-03 6.41646719e+01] [ 7.49470354e-01 -6.62009392e-01 -6.14439874e-03 -1.62874072e+02] [ 8.38204832e-03 2.08326309e-04 9.99964848e-01 -2.79146855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.88655999499997 meters 0.017758311727460865 Centerline is valid? [True, True] Translation: X:64.14, Y:-162.86, Z:-2.79 [[-6.60727758e-01 -7.50592369e-01 7.06580842e-03 6.41439021e+01] [ 7.50553886e-01 -6.60765479e-01 -7.60568170e-03 -1.62855043e+02] [ 1.03776089e-02 2.77984955e-04 9.99946113e-01 -2.79398411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.91655999499994 meters 0.017758311727460865 Centerline is valid? [True, True] Translation: X:64.13, Y:-162.84, Z:-2.79 [[-6.60958078e-01 -7.50389539e-01 7.06814227e-03 6.41256074e+01] [ 7.50351067e-01 -6.60995811e-01 -7.60351285e-03 -1.62835523e+02] [ 1.03776089e-02 2.77984861e-04 9.99946113e-01 -2.79398404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.946559995 meters 0.01805851136268085 Centerline is valid? [True, True] Translation: X:64.11, Y:-162.82, Z:-2.79 [[-6.61067828e-01 -7.50289686e-01 7.39682011e-03 6.41067063e+01] [ 7.50247600e-01 -6.61109145e-01 -7.95222716e-03 -1.62815783e+02] [ 1.08565794e-02 2.92484993e-04 9.99941023e-01 -2.79454566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.97655999499995 meters 0.01744541376997706 Centerline is valid? [True, True] Translation: X:64.09, Y:-162.79, Z:-2.79 [[-6.61768523e-01 -7.49669954e-01 7.57514188e-03 6.40890205e+01] [ 7.49625829e-01 -6.61811812e-01 -8.13890073e-03 -1.62794745e+02] [ 1.11148077e-02 2.92453693e-04 9.99938186e-01 -2.79473095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.006559995 meters 0.015693440706571558 Centerline is valid? [True, True] Translation: X:64.07, Y:-162.77, Z:-2.79 [[-6.64406367e-01 -7.47330931e-01 7.78838369e-03 6.40723843e+01] [ 7.47284177e-01 -6.64451962e-01 -8.36355485e-03 -1.62771248e+02] [ 1.14253501e-02 2.63336802e-04 9.99934694e-01 -2.79470367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.03655999499995 meters 0.015023893159661671 Centerline is valid? [True, True] Translation: X:64.05, Y:-162.75, Z:-2.79 [[-6.66176869e-01 -7.45752412e-01 7.85618830e-03 6.40543676e+01] [ 7.45704783e-01 -6.66223148e-01 -8.43174619e-03 -1.62748899e+02] [ 1.15219696e-02 2.41362910e-04 9.99933591e-01 -2.79472812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.066559995 meters 0.01433665446091544 Centerline is valid? [True, True] Translation: X:64.04, Y:-162.73, Z:-2.79 [[-6.68336106e-01 -7.43817010e-01 7.94390258e-03 6.40369223e+01] [ 7.43768229e-01 -6.68383281e-01 -8.52121597e-03 -1.62726785e+02] [ 1.16477971e-02 2.13386049e-04 9.99932139e-01 -2.79483707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.09655999499995 meters 0.014075199650910078 Centerline is valid? [True, True] Translation: X:64.02, Y:-162.71, Z:-2.80 [[-6.70878961e-01 -7.41526387e-01 7.74836671e-03 6.40198531e+01] [ 7.41479879e-01 -6.70923682e-01 -8.30676762e-03 -1.62705028e+02] [ 1.13582501e-02 1.72422386e-04 9.99935478e-01 -2.79557871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.126559995 meters 0.012953232183316742 Centerline is valid? [True, True] Translation: X:64.01, Y:-162.68, Z:-2.79 [[-6.76672074e-01 -7.36247719e-01 7.36218905e-03 6.40073088e+01] [ 7.36205463e-01 -6.76712118e-01 -7.88835025e-03 -1.62679169e+02] [ 1.07898624e-02 8.22574787e-05 9.99941784e-01 -2.79488668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.15655999499995 meters 0.012438800131744468 Centerline is valid? [True, True] Translation: X:63.99, Y:-162.66, Z:-2.79 [[-6.79974131e-01 -7.33203603e-01 6.90349823e-03 6.39920139e+01] [ 7.33166333e-01 -6.80009173e-01 -7.39273692e-03 -1.62655219e+02] [ 1.01148235e-02 3.45426268e-05 9.99948843e-01 -2.79254238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.186559995 meters 0.012369152234694297 Centerline is valid? [True, True] Translation: X:63.98, Y:-162.63, Z:-2.79 [[-6.83508324e-01 -7.29918132e-01 5.99101665e-03 6.39772750e+01] [ 7.29889974e-01 -6.83534579e-01 -6.41135728e-03 -1.62633226e+02] [ 8.77483297e-03 -9.43308405e-06 9.99961500e-01 -2.79185427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.21655999499995 meters 0.013017283377184278 Centerline is valid? [True, True] Translation: X:63.96, Y:-162.61, Z:-2.79 [[-6.89799434e-01 -7.23978853e-01 5.60015305e-03 6.39641755e+01] [ 7.23954079e-01 -6.89822162e-01 -5.98969509e-03 -1.62607528e+02] [ 8.19952226e-03 -7.74346394e-05 9.99966380e-01 -2.79074071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.246559995 meters 0.013599456692549366 Centerline is valid? [True, True] Translation: X:63.95, Y:-162.58, Z:-2.79 [[-6.92845786e-01 -7.21065498e-01 5.40970364e-03 6.39477873e+01] [ 7.21042317e-01 -6.92866897e-01 -5.78275676e-03 -1.62584931e+02] [ 7.91795095e-03 -1.05933400e-04 9.99968647e-01 -2.79050159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.27655999499996 meters 0.014159730624455904 Centerline is valid? [True, True] Translation: X:63.93, Y:-162.56, Z:-2.79 [[-6.95635993e-01 -7.18379013e-01 4.70727505e-03 6.39307210e+01] [ 7.18361419e-01 -6.95651910e-01 -5.02905484e-03 -1.62562563e+02] [ 6.88739234e-03 -1.16866773e-04 9.99976275e-01 -2.78988303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.306559995 meters 0.015454447473109147 Centerline is valid? [True, True] Translation: X:63.92, Y:-162.54, Z:-2.79 [[-7.00086637e-01 -7.14049620e-01 3.44107707e-03 6.39163779e+01] [ 7.14040176e-01 -7.00095084e-01 -3.67423496e-03 -1.62537857e+02] [ 5.03266722e-03 -1.15215515e-04 9.99987329e-01 -2.78838334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.33655999499996 meters 0.016045519554176626 Centerline is valid? [True, True] Translation: X:63.90, Y:-162.52, Z:-2.79 [[-7.02252926e-01 -7.11920103e-01 3.25503298e-03 6.38993944e+01] [ 7.11911640e-01 -7.02260459e-01 -3.47351762e-03 -1.62516093e+02] [ 4.75874798e-03 -1.21992044e-04 9.99988670e-01 -2.78788099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.366559995 meters 0.01678431513466437 Centerline is valid? [True, True] Translation: X:63.88, Y:-162.49, Z:-2.79 [[-7.04015563e-01 -7.10175229e-01 3.63742506e-03 6.38820270e+01] [ 7.10164650e-01 -7.04024944e-01 -3.87927864e-03 -1.62494421e+02] [ 5.31580557e-03 -1.47901845e-04 9.99985860e-01 -2.78827669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.39655999499996 meters 0.01803212814414224 Centerline is valid? [True, True] Translation: X:63.87, Y:-162.47, Z:-2.79 [[-7.06274855e-01 -7.07920322e-01 4.96452656e-03 6.38659327e+01] [ 7.07900574e-01 -7.06292268e-01 -5.29247010e-03 -1.62472622e+02] [ 7.25305386e-03 -2.23547347e-04 9.99973671e-01 -2.79020710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.426559995 meters 0.01821382704554848 Centerline is valid? [True, True] Translation: X:63.85, Y:-162.45, Z:-2.79 [[-7.06836084e-01 -7.07357137e-01 5.35078577e-03 6.38475820e+01] [ 7.07334204e-01 -7.06856295e-01 -5.70110321e-03 -1.62451426e+02] [ 7.81495264e-03 -2.44951672e-04 9.99969433e-01 -2.79110305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.45655999499996 meters 0.019036395247578934 Centerline is valid? [True, True] Translation: X:63.83, Y:-162.43, Z:-2.79 [[-7.07426067e-01 -7.06762582e-01 5.91714324e-03 6.38304419e+01] [ 7.06734549e-01 -7.07450759e-01 -6.30087914e-03 -1.62430490e+02] [ 8.63931309e-03 -2.75556585e-04 9.99962642e-01 -2.79193785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.48655999499994 meters 0.018831159724105418 Centerline is valid? [True, True] Translation: X:63.81, Y:-162.41, Z:-2.79 [[-7.07813895e-01 -7.06373363e-01 6.01358189e-03 6.38122216e+01] [ 7.06344428e-01 -7.07839384e-01 -6.39964106e-03 -1.62410217e+02] [ 8.77718607e-03 -2.82094798e-04 9.99961440e-01 -2.79201514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.51655999499997 meters 0.018747216919666625 Centerline is valid? [True, True] Translation: X:63.79, Y:-162.39, Z:-2.79 [[-7.08005483e-01 -7.06182143e-01 5.91749481e-03 6.37938408e+01] [ 7.06154153e-01 -7.08030158e-01 -6.29351275e-03 -1.62390320e+02] [ 8.63413110e-03 -2.77178005e-04 9.99962687e-01 -2.79154302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.54655999499994 meters 0.01950084212388188 Centerline is valid? [True, True] Translation: X:63.78, Y:-162.37, Z:-2.79 [[-7.08272770e-01 -7.05916758e-01 5.58692351e-03 6.37768363e+01] [ 7.05891831e-01 -7.08294756e-01 -5.93810786e-03 -1.62370043e+02] [ 8.14899848e-03 -2.62036439e-04 9.99966762e-01 -2.79131191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.57655999499997 meters 0.01818690068073571 Centerline is valid? [True, True] Translation: X:63.76, Y:-162.35, Z:-2.79 [[-7.08536471e-01 -7.05657605e-01 4.83885652e-03 6.37571837e+01] [ 7.05638922e-01 -7.08552957e-01 -5.13981032e-03 -1.62351397e+02] [ 7.05553234e-03 -2.27257564e-04 9.99975084e-01 -2.78961236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.60655999499994 meters 0.0179058689286267 Centerline is valid? [True, True] Translation: X:63.74, Y:-162.33, Z:-2.79 [[-7.08271649e-01 -7.05929449e-01 3.85801064e-03 6.37374194e+01] [ 7.05917590e-01 -7.08282134e-01 -4.09554633e-03 -1.62331870e+02] [ 5.62372677e-03 -1.77321777e-04 9.99984171e-01 -2.78876834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.63655999499997 meters 0.01696208758874511 Centerline is valid? [True, True] Translation: X:63.72, Y:-162.31, Z:-2.79 [[-7.07618100e-01 -7.06586577e-01 3.46906686e-03 6.37167897e+01] [ 7.06577007e-01 -7.07626587e-01 -3.68057908e-03 -1.62312969e+02] [ 5.05545172e-03 -1.53281495e-04 9.99987209e-01 -2.78817963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.66655999499994 meters 0.01650123626538884 Centerline is valid? [True, True] Translation: X:63.70, Y:-162.30, Z:-2.79 [[-7.05064152e-01 -7.09136121e-01 3.24095810e-03 6.36964728e+01] [ 7.09127803e-01 -7.05071589e-01 -3.43708467e-03 -1.62295448e+02] [ 4.72246837e-03 -1.25111695e-04 9.99988841e-01 -2.78842026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.696559995 meters 0.014926096141956377 Centerline is valid? [True, True] Translation: X:63.67, Y:-162.28, Z:-2.79 [[-7.01500308e-01 -7.12660672e-01 3.47626470e-03 6.36727033e+01] [ 7.12651155e-01 -7.01508913e-01 -3.68462526e-03 -1.62278873e+02] [ 5.06451818e-03 -1.07401702e-04 9.99987170e-01 -2.78874814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.72655999499995 meters 0.013185076970281054 Centerline is valid? [True, True] Translation: X:63.65, Y:-162.26, Z:-2.79 [[-6.95319799e-01 -7.18687846e-01 4.26114892e-03 6.36472658e+01] [ 7.18673674e-01 -6.95332851e-01 -4.51405861e-03 -1.62263955e+02] [ 6.20711589e-03 -7.63387738e-05 9.99980733e-01 -2.78981404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.756559995 meters 0.013054344523707677 Centerline is valid? [True, True] Translation: X:63.63, Y:-162.25, Z:-2.79 [[-6.94108617e-01 -7.19855373e-01 4.63351578e-03 6.36274782e+01] [ 7.19838661e-01 -6.94124079e-01 -4.90566039e-03 -1.62245624e+02] [ 6.74760086e-03 -6.96773507e-05 9.99977232e-01 -2.79044295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.78655999499995 meters 0.013054344523707677 Centerline is valid? [True, True] Translation: X:63.61, Y:-162.23, Z:-2.79 [[-6.94333314e-01 -7.19638636e-01 4.63504704e-03 6.36090305e+01] [ 7.19621928e-01 -6.94348781e-01 -4.90421362e-03 -1.62226240e+02] [ 6.74760086e-03 -6.96774076e-05 9.99977232e-01 -2.79044288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.816559995 meters 0.012817784004046233 Centerline is valid? [True, True] Translation: X:63.59, Y:-162.21, Z:-2.79 [[-6.93366660e-01 -7.20567216e-01 5.05587623e-03 6.35887658e+01] [ 7.20547386e-01 -6.93385090e-01 -5.34613142e-03 -1.62207766e+02] [ 7.35791623e-03 -6.38308786e-05 9.99972928e-01 -2.79103539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.84655999499995 meters 0.012817784004046233 Centerline is valid? [True, True] Translation: X:63.57, Y:-162.19, Z:-2.79 [[-6.93592057e-01 -7.20350247e-01 5.05754858e-03 6.35703067e+01] [ 7.20330423e-01 -6.93610494e-01 -5.34454937e-03 -1.62188394e+02] [ 7.35791623e-03 -6.38308791e-05 9.99972928e-01 -2.79103532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.876559995 meters 0.012817784004046233 Centerline is valid? [True, True] Translation: X:63.55, Y:-162.17, Z:-2.79 [[-6.93817387e-01 -7.20133208e-01 5.05922044e-03 6.35518417e+01] [ 7.20113390e-01 -6.93835829e-01 -5.34296679e-03 -1.62169028e+02] [ 7.35791623e-03 -6.38308791e-05 9.99972928e-01 -2.79103524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.90655999499995 meters 0.0127518004775454 Centerline is valid? [True, True] Translation: X:63.53, Y:-162.15, Z:-2.79 [[-6.93286820e-01 -7.20634200e-01 6.30355641e-03 6.35316229e+01] [ 7.20603493e-01 -6.93315473e-01 -6.65294274e-03 -1.62150659e+02] [ 9.16469127e-03 -7.00327515e-05 9.99958001e-01 -2.79258548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.936559995 meters 0.01291858085831205 Centerline is valid? [True, True] Translation: X:63.51, Y:-162.13, Z:-2.79 [[-6.93924023e-01 -7.20017993e-01 6.59847372e-03 6.35125872e+01] [ 7.19984358e-01 -6.93955390e-01 -6.95987944e-03 -1.62131024e+02] [ 9.59028483e-03 -7.88296799e-05 9.99954009e-01 -2.79329990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.96655999499995 meters 0.01308152266568396 Centerline is valid? [True, True] Translation: X:63.49, Y:-162.11, Z:-2.79 [[-6.95079609e-01 -7.18899508e-01 6.91625941e-03 6.34942220e+01] [ 7.18862545e-01 -6.95114011e-01 -7.29056664e-03 -1.62111219e+02] [ 1.00487736e-02 -9.56843676e-05 9.99949505e-01 -2.79404465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.996559995 meters 0.013867634263756846 Centerline is valid? [True, True] Translation: X:63.48, Y:-162.09, Z:-2.79 [[-6.97802572e-01 -7.16253805e-01 7.21509260e-03 6.34776316e+01] [ 7.16213469e-01 -6.97839858e-01 -7.60253473e-03 -1.62090067e+02] [ 1.04803236e-02 -1.37521784e-04 9.99945070e-01 -2.79461490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.02655999499996 meters 0.014261867547019967 Centerline is valid? [True, True] Translation: X:63.46, Y:-162.07, Z:-2.79 [[-6.99709741e-01 -7.14391989e-01 7.09682058e-03 6.34594877e+01] [ 7.14352911e-01 -6.99745711e-01 -7.47381046e-03 -1.62068869e+02] [ 1.03052001e-02 -1.59863539e-04 9.99946887e-01 -2.79410366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.056559995 meters 0.01508122706165001 Centerline is valid? [True, True] Translation: X:63.44, Y:-162.05, Z:-2.79 [[-7.03327578e-01 -7.10829924e-01 7.15105956e-03 6.34423824e+01] [ 7.10790105e-01 -7.03363900e-01 -7.52673791e-03 -1.62046533e+02] [ 1.03800277e-02 -2.10859970e-04 9.99946104e-01 -2.79347731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.08655999499996 meters 0.015473402216076005 Centerline is valid? [True, True] Translation: X:63.42, Y:-162.03, Z:-2.79 [[-7.05184053e-01 -7.08985581e-01 7.40928665e-03 6.34238016e+01] [ 7.08942779e-01 -7.05222934e-01 -7.79416127e-03 -1.62025200e+02] [ 1.07511468e-02 -2.43557965e-04 9.99942175e-01 -2.79336454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.116559995 meters 0.0168720802219266 Centerline is valid? [True, True] Translation: X:63.41, Y:-162.00, Z:-2.79 [[-7.08707936e-01 -7.05461082e-01 7.59757058e-03 6.34068711e+01] [ 7.05415923e-01 -7.08748595e-01 -7.98773310e-03 -1.62002308e+02] [ 1.10198023e-02 -3.01522573e-04 9.99939235e-01 -2.79322697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.14655999499996 meters 0.01877406446994181 Centerline is valid? [True, True] Translation: X:63.39, Y:-161.98, Z:-2.79 [[-7.11954421e-01 -7.02185321e-01 7.52844446e-03 6.33912066e+01] [ 7.02140844e-01 -7.11994140e-01 -7.91073914e-03 -1.61980793e+02] [ 1.09150132e-02 -3.46057355e-04 9.99940370e-01 -2.79297833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.176559995 meters 0.018569766908810216 Centerline is valid? [True, True] Translation: X:63.37, Y:-161.96, Z:-2.79 [[-7.13581383e-01 -7.00531700e-01 7.54636707e-03 6.33711975e+01] [ 7.00486966e-01 -7.13621189e-01 -7.92515766e-03 -1.61960575e+02] [ 1.09370716e-02 -3.69113190e-04 9.99940120e-01 -2.79256538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.20655999499996 meters 0.018569766908810216 Centerline is valid? [True, True] Translation: X:63.35, Y:-161.94, Z:-2.79 [[-7.13776051e-01 -7.00333326e-01 7.54856952e-03 6.33521162e+01] [ 7.00288604e-01 -7.13815870e-01 -7.92305989e-03 -1.61940633e+02] [ 1.09370716e-02 -3.69113190e-04 9.99940120e-01 -2.79256531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.23655999499994 meters 0.019694306316843668 Centerline is valid? [True, True] Translation: X:63.33, Y:-161.92, Z:-2.79 [[-7.15040697e-01 -6.99034075e-01 8.25609750e-03 6.33342598e+01] [ 6.98980551e-01 -7.15088235e-01 -8.66060536e-03 -1.61919776e+02] [ 1.19578964e-02 -4.21833709e-04 9.99928413e-01 -2.79346436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.26655999499997 meters 0.019555105711849433 Centerline is valid? [True, True] Translation: X:63.31, Y:-161.90, Z:-2.79 [[-7.16866637e-01 -6.97154165e-01 8.84845643e-03 6.33145386e+01] [ 6.97092607e-01 -7.16921082e-01 -9.27680644e-03 -1.61900048e+02] [ 1.28110092e-02 -4.82039466e-04 9.99917819e-01 -2.79349682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.29655999499994 meters 0.02055835204274868 Centerline is valid? [True, True] Translation: X:63.30, Y:-161.88, Z:-2.79 [[-7.17828462e-01 -6.96164402e-01 8.79908101e-03 6.32968024e+01] [ 6.96103503e-01 -7.17882219e-01 -9.22129614e-03 -1.61879958e+02] [ 1.27362419e-02 -4.94237716e-04 9.99918769e-01 -2.79308658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.32655999499997 meters 0.02010947871410158 Centerline is valid? [True, True] Translation: X:63.28, Y:-161.86, Z:-2.79 [[-7.18171014e-01 -6.95809556e-01 8.91384070e-03 6.32768165e+01] [ 6.95747097e-01 -7.18226154e-01 -9.33637510e-03 -1.61860198e+02] [ 1.28984925e-02 -5.03335187e-04 9.99916684e-01 -2.79265773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.35655999499994 meters 0.01944249029748567 Centerline is valid? [True, True] Translation: X:63.26, Y:-161.84, Z:-2.79 [[-7.18318158e-01 -6.95654736e-01 9.13846369e-03 6.32562910e+01] [ 6.95589149e-01 -7.18376101e-01 -9.56625905e-03 -1.61840781e+02] [ 1.32196673e-02 -5.15001401e-04 9.99912484e-01 -2.79246866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.38655999499997 meters 0.019834074390563144 Centerline is valid? [True, True] Translation: X:63.24, Y:-161.82, Z:-2.79 [[-7.18195018e-01 -6.95779365e-01 9.32693238e-03 6.32372800e+01] [ 6.95711128e-01 -7.18255391e-01 -9.75810451e-03 -1.61820794e+02] [ 1.34886072e-02 -5.19371407e-04 9.99908890e-01 -2.79317744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.41655999499994 meters 0.019326598232552752 Centerline is valid? [True, True] Translation: X:63.22, Y:-161.80, Z:-2.79 [[-7.17728869e-01 -6.96254290e-01 9.75881642e-03 6.32167816e+01] [ 6.96179707e-01 -7.17795014e-01 -1.02045997e-02 -1.61800833e+02] [ 1.41098261e-02 -5.30245836e-04 9.99900311e-01 -2.79343855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.446559995 meters 0.019317271239410596 Centerline is valid? [True, True] Translation: X:63.20, Y:-161.78, Z:-2.79 [[-7.16176625e-01 -6.97845154e-01 1.01578934e-02 6.31974438e+01] [ 6.97764592e-01 -7.16248474e-01 -1.06159364e-02 -1.61781307e+02] [ 1.46838554e-02 -5.15067115e-04 9.99892054e-01 -2.79374338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.47655999499995 meters 0.017849450760801105 Centerline is valid? [True, True] Translation: X:63.18, Y:-161.76, Z:-2.79 [[-7.14992440e-01 -6.99063798e-01 9.77843770e-03 6.31763643e+01] [ 6.98989338e-01 -7.15059150e-01 -1.02135813e-02 -1.61763005e+02] [ 1.41321063e-02 -4.67609733e-04 9.99900027e-01 -2.79271753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.506559995 meters 0.018989924958549998 Centerline is valid? [True, True] Translation: X:63.16, Y:-161.74, Z:-2.79 [[-7.13718136e-01 -7.00371573e-01 9.27808544e-03 6.31583058e+01] [ 7.00304718e-01 -7.13778318e-01 -9.68580517e-03 -1.61742867e+02] [ 1.34061588e-02 -4.15447806e-04 9.99910047e-01 -2.79327917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.53655999499995 meters 0.01716482305736623 Centerline is valid? [True, True] Translation: X:63.14, Y:-161.73, Z:-2.79 [[-7.12319661e-01 -7.01801052e-01 8.71682138e-03 6.31364702e+01] [ 7.01742212e-01 -7.12372903e-01 -9.09479039e-03 -1.61725051e+02] [ 1.25923608e-02 -3.61436493e-04 9.99920648e-01 -2.79194520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.566559995 meters 0.016515025536636953 Centerline is valid? [True, True] Translation: X:63.12, Y:-161.71, Z:-2.79 [[-7.10683208e-01 -7.03462901e-01 8.32615142e-03 6.31157809e+01] [ 7.03409389e-01 -7.10731911e-01 -8.68234288e-03 -1.61705989e+02] [ 1.20253676e-02 -3.13702212e-04 9.99927643e-01 -2.79112889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.59655999499995 meters 0.014414365142261376 Centerline is valid? [True, True] Translation: X:63.09, Y:-161.69, Z:-2.79 [[-7.06602962e-01 -7.07569339e-01 7.60821297e-03 6.30926374e+01] [ 7.07524945e-01 -7.06643887e-01 -7.92901264e-03 -1.61689574e+02] [ 1.09866234e-02 -2.19663361e-04 9.99939621e-01 -2.78977475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.626559995 meters 0.013951843200961343 Centerline is valid? [True, True] Translation: X:63.07, Y:-161.67, Z:-2.79 [[-7.04545938e-01 -7.09619641e-01 7.41528234e-03 6.30720228e+01] [ 7.09577630e-01 -7.04584936e-01 -7.72362275e-03 -1.61671140e+02] [ 1.07055306e-02 -1.79928567e-04 9.99942678e-01 -2.78992443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.65655999499995 meters 0.013200071369484742 Centerline is valid? [True, True] Translation: X:63.05, Y:-161.65, Z:-2.79 [[-7.02381874e-01 -7.11764989e-01 7.09250480e-03 6.30505931e+01] [ 7.11726707e-01 -7.02417669e-01 -7.38328088e-03 -1.61652584e+02] [ 1.02370615e-02 -1.37957576e-04 9.99947590e-01 -2.78974729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.686559995 meters 0.012200312956119497 Centerline is valid? [True, True] Translation: X:63.03, Y:-161.64, Z:-2.79 [[-6.97630649e-01 -7.16420963e-01 7.24444756e-03 6.30270768e+01] [ 7.16381314e-01 -6.97668259e-01 -7.53749452e-03 -1.61635717e+02] [ 1.04542402e-02 -6.86003310e-05 9.99945351e-01 -2.78996707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.71655999499995 meters 0.011971734625464867 Centerline is valid? [True, True] Translation: X:63.01, Y:-161.62, Z:-2.79 [[-6.95338289e-01 -7.18643861e-01 7.46084923e-03 6.30060135e+01] [ 7.18601984e-01 -6.95378314e-01 -7.75812818e-03 -1.61618217e+02] [ 1.07634440e-02 -3.31425142e-05 9.99942072e-01 -2.79065316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.746559995 meters 0.011971734625464867 Centerline is valid? [True, True] Translation: X:62.99, Y:-161.60, Z:-2.79 [[-6.95562956e-01 -7.18426387e-01 7.46327473e-03 6.29873949e+01] [ 7.18384523e-01 -6.95602994e-01 -7.75579490e-03 -1.61599003e+02] [ 1.07634440e-02 -3.31425736e-05 9.99942072e-01 -2.79065308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.77655999499996 meters 0.01194954007706696 Centerline is valid? [True, True] Translation: X:62.96, Y:-161.58, Z:-2.79 [[-6.90510920e-01 -7.23279604e-01 7.82840739e-03 6.29644930e+01] [ 7.23233912e-01 -6.90555293e-01 -8.12990720e-03 -1.61584222e+02] [ 1.12861442e-02 4.79799968e-05 9.99936308e-01 -2.79170668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.806559995 meters 0.01221612762360506 Centerline is valid? [True, True] Translation: X:62.94, Y:-161.57, Z:-2.79 [[-6.88151973e-01 -7.25521454e-01 8.09208028e-03 6.29431702e+01] [ 7.25472843e-01 -6.88199543e-01 -8.39899446e-03 -1.61566112e+02] [ 1.16626166e-02 9.07998855e-05 9.99931985e-01 -2.79125302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.83655999499996 meters 0.012656874585205424 Centerline is valid? [True, True] Translation: X:62.92, Y:-161.55, Z:-2.79 [[-6.85832957e-01 -7.27717202e-01 7.79932428e-03 6.29225530e+01] [ 7.27672240e-01 -6.85877291e-01 -8.09031473e-03 -1.61548867e+02] [ 1.12368406e-02 1.26747297e-04 9.99936857e-01 -2.79162228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.866559995 meters 0.014539076323895261 Centerline is valid? [True, True] Translation: X:62.90, Y:-161.53, Z:-2.79 [[-6.81663661e-01 -7.31624469e-01 7.76462054e-03 6.28990197e+01] [ 7.31580212e-01 -6.81707854e-01 -8.04955851e-03 -1.61533759e+02] [ 1.11824568e-02 1.93351217e-04 9.99937456e-01 -2.79247686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.89655999499996 meters 0.01412190108757347 Centerline is valid? [True, True] Translation: X:62.88, Y:-161.51, Z:-2.79 [[-6.80199918e-01 -7.32984817e-01 7.83133520e-03 6.28799024e+01] [ 7.32939937e-01 -6.80244963e-01 -8.11410129e-03 -1.61513653e+02] [ 1.12747394e-02 2.20687293e-04 9.99936414e-01 -2.79122348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.926559995 meters 0.014326345693509338 Centerline is valid? [True, True] Translation: X:62.86, Y:-161.49, Z:-2.79 [[-6.79412510e-01 -7.33713439e-01 7.95171101e-03 6.28596411e+01] [ 7.33667270e-01 -6.79458999e-01 -8.23437988e-03 -1.61494123e+02] [ 1.14445368e-02 2.39369404e-04 9.99934481e-01 -2.79169571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.95655999499996 meters 0.015047260788351604 Centerline is valid? [True, True] Translation: X:62.84, Y:-161.48, Z:-2.79 [[-6.78979445e-01 -7.34111181e-01 8.22722184e-03 6.28396648e+01] [ 7.34061847e-01 -6.79029239e-01 -8.51456414e-03 -1.61475502e+02] [ 1.18371609e-02 2.58075623e-04 9.99929905e-01 -2.79286913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.98655999499994 meters 0.014705321956791938 Centerline is valid? [True, True] Translation: X:62.82, Y:-161.45, Z:-2.79 [[-6.79213359e-01 -7.33891059e-01 8.55139518e-03 6.28207907e+01] [ 7.33837805e-01 -6.79267136e-01 -8.84504263e-03 -1.61454532e+02] [ 1.22999794e-02 2.67665952e-04 9.99924317e-01 -2.79274779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.01655999499997 meters 0.014962645821727785 Centerline is valid? [True, True] Translation: X:62.80, Y:-161.43, Z:-2.79 [[-6.79951689e-01 -7.33197048e-01 9.36953406e-03 6.28025333e+01] [ 7.33133128e-01 -6.80016182e-01 -9.68548870e-03 -1.61434451e+02] [ 1.34728065e-02 2.83451405e-04 9.99909197e-01 -2.79386650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.04655999499994 meters 0.015013609780363793 Centerline is valid? [True, True] Translation: X:62.78, Y:-161.41, Z:-2.79 [[-6.80918436e-01 -7.32295419e-01 9.66970452e-03 6.27848155e+01] [ 7.32227337e-01 -6.80987035e-01 -9.98925923e-03 -1.61414731e+02] [ 1.39000322e-02 2.78551218e-04 9.99903351e-01 -2.79472873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.07655999499997 meters 0.01397574430348372 Centerline is valid? [True, True] Translation: X:62.77, Y:-161.39, Z:-2.79 [[-6.83183288e-01 -7.30177094e-01 1.00997750e-02 6.27687925e+01] [ 7.30102674e-01 -6.83257893e-01 -1.04277380e-02 -1.61391172e+02] [ 1.45148464e-02 2.49816402e-04 9.99894623e-01 -2.79427179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.10655999499994 meters 0.013390993025589095 Centerline is valid? [True, True] Translation: X:62.75, Y:-161.37, Z:-2.79 [[-6.84707568e-01 -7.28748458e-01 1.00613675e-02 6.27513350e+01] [ 7.28674532e-01 -6.84781451e-01 -1.03822534e-02 -1.61369534e+02] [ 1.44558890e-02 2.22654802e-04 9.99895483e-01 -2.79371098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.13655999499997 meters 0.013137550524097659 Centerline is valid? [True, True] Translation: X:62.73, Y:-161.35, Z:-2.79 [[-6.86236943e-01 -7.27310195e-01 9.93668247e-03 6.27340798e+01] [ 7.27238031e-01 -6.86308854e-01 -1.02471682e-02 -1.61348425e+02] [ 1.42725031e-02 1.94348005e-04 9.99898124e-01 -2.79337680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.16655999499994 meters 0.01241361302050229 Centerline is valid? [True, True] Translation: X:62.72, Y:-161.33, Z:-2.79 [[-6.89787543e-01 -7.23957333e-01 8.88401448e-03 6.27193234e+01] [ 7.23899418e-01 -6.89844741e-01 -9.15785372e-03 -1.61325586e+02] [ 1.27584860e-02 1.14159498e-04 9.99918601e-01 -2.79225504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.196559995 meters 0.01205729743740305 Centerline is valid? [True, True] Translation: X:62.70, Y:-161.30, Z:-2.79 [[-6.91945361e-01 -7.21895370e-01 8.87091321e-03 6.27028215e+01] [ 7.21837527e-01 -6.92002218e-01 -9.13869846e-03 -1.61304215e+02] [ 1.27358757e-02 7.98780454e-05 9.99918892e-01 -2.79167283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.22655999499995 meters 0.011888699081038153 Centerline is valid? [True, True] Translation: X:62.69, Y:-161.28, Z:-2.79 [[-6.96339762e-01 -7.17660224e-01 8.64516210e-03 6.26887240e+01] [ 7.17605028e-01 -6.96393425e-01 -8.90061494e-03 -1.61279779e+02] [ 1.24080514e-02 5.95970452e-06 9.99923017e-01 -2.79143877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.256559995 meters 0.011888699081038153 Centerline is valid? [True, True] Translation: X:62.67, Y:-161.26, Z:-2.79 [[-6.96561526e-01 -7.17444948e-01 8.64791269e-03 6.26700044e+01] [ 7.17389769e-01 -6.96615207e-01 -8.89794247e-03 -1.61260661e+02] [ 1.24080514e-02 5.95970632e-06 9.99923017e-01 -2.79143869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.28655999499995 meters 0.011927635218283071 Centerline is valid? [True, True] Translation: X:62.65, Y:-161.24, Z:-2.79 [[-6.98951088e-01 -7.15112965e-01 8.99017328e-03 6.26528361e+01] [ 7.15053205e-01 -6.99008902e-01 -9.24489233e-03 -1.61238283e+02] [ 1.28953535e-02 -3.32753303e-05 9.99916851e-01 -2.79114418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.316559995 meters 0.012214885692301109 Centerline is valid? [True, True] Translation: X:62.64, Y:-161.22, Z:-2.79 [[-7.01266562e-01 -7.12837106e-01 9.40582817e-03 6.26368429e+01] [ 7.12771546e-01 -7.01329634e-01 -9.66793323e-03 -1.61216811e+02] [ 1.34882476e-02 -7.55916108e-05 9.99909027e-01 -2.79192603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.34655999499995 meters 0.01316434902476411 Centerline is valid? [True, True] Translation: X:62.62, Y:-161.19, Z:-2.79 [[-7.06355248e-01 -7.07786655e-01 1.00157167e-02 6.26225203e+01] [ 7.07711889e-01 -7.06426230e-01 -1.02890339e-02 -1.61191971e+02] [ 1.43578059e-02 -1.79471338e-04 9.99896905e-01 -2.79220013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.376559995 meters 0.01397413166687884 Centerline is valid? [True, True] Translation: X:62.61, Y:-161.17, Z:-2.79 [[-7.08980235e-01 -7.05152234e-01 1.03611403e-02 6.26067340e+01] [ 7.05072033e-01 -7.09055901e-01 -1.06375884e-02 -1.61169907e+02] [ 1.48477469e-02 -2.36489671e-04 9.99889738e-01 -2.79275206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.40655999499995 meters 0.015293023777486307 Centerline is valid? [True, True] Translation: X:62.59, Y:-161.15, Z:-2.79 [[-7.11881091e-01 -7.02224512e-01 1.02979524e-02 6.25909311e+01] [ 7.02145069e-01 -7.11955511e-01 -1.05665419e-02 -1.61147138e+02] [ 1.47517687e-02 -2.91464829e-04 9.99891144e-01 -2.79329277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.436559995 meters 0.017459760721787555 Centerline is valid? [True, True] Translation: X:62.58, Y:-161.12, Z:-2.79 [[-7.17270896e-01 -6.96716583e-01 1.04146614e-02 6.25773097e+01] [ 6.96634839e-01 -7.17346387e-01 -1.06799774e-02 -1.61121976e+02] [ 1.49118371e-02 -4.05220960e-04 9.99888730e-01 -2.79280808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.46655999499995 meters 0.018760602144983162 Centerline is valid? [True, True] Translation: X:62.56, Y:-161.10, Z:-2.79 [[-7.19897591e-01 -6.94002872e-01 1.03668610e-02 6.25608104e+01] [ 6.93921686e-01 -7.19972087e-01 -1.06248330e-02 -1.61099306e+02] [ 1.48375151e-02 -4.55002006e-04 9.99889815e-01 -2.79271598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.496559995 meters 0.018965411529705597 Centerline is valid? [True, True] Translation: X:62.54, Y:-161.08, Z:-2.79 [[-7.22489786e-01 -6.91305956e-01 1.02266291e-02 6.25428556e+01] [ 6.91226767e-01 -7.22561987e-01 -1.04752957e-02 -1.61077763e+02] [ 1.46310078e-02 -4.99374370e-04 9.99892836e-01 -2.79216704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.52655999499996 meters 0.020177900213802953 Centerline is valid? [True, True] Translation: X:62.53, Y:-161.05, Z:-2.79 [[-7.26061862e-01 -6.87556510e-01 1.00109336e-02 6.25268328e+01] [ 6.87480351e-01 -7.26130659e-01 -1.02485386e-02 -1.61054458e+02] [ 1.43156952e-02 -5.58752880e-04 9.99897369e-01 -2.79144113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.556559995 meters 0.019455510871047084 Centerline is valid? [True, True] Translation: X:62.51, Y:-161.03, Z:-2.79 [[-7.26952602e-01 -6.86615210e-01 9.97331033e-03 6.25073082e+01] [ 6.86539617e-01 -7.27020789e-01 -1.02042627e-02 -1.61034683e+02] [ 1.42572059e-02 -5.70942703e-04 9.99898198e-01 -2.79075126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.58655999499996 meters 0.019439090612005286 Centerline is valid? [True, True] Translation: X:62.49, Y:-161.01, Z:-2.79 [[-7.27069412e-01 -6.86499813e-01 9.38492261e-03 6.24879817e+01] [ 6.86432940e-01 -7.27129782e-01 -9.59684636e-03 -1.61014049e+02] [ 1.34122900e-02 -5.35453416e-04 9.99909908e-01 -2.79045261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.616559995 meters 0.02010660442253507 Centerline is valid? [True, True] Translation: X:62.47, Y:-160.99, Z:-2.79 [[-7.26689340e-01 -6.86905161e-01 9.15979686e-03 6.24695536e+01] [ 6.86841559e-01 -7.26746887e-01 -9.36139345e-03 -1.60993781e+02] [ 1.30872433e-02 -5.11495679e-04 9.99914228e-01 -2.79047331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.64655999499996 meters 0.019520349810924445 Centerline is valid? [True, True] Translation: X:62.45, Y:-160.97, Z:-2.79 [[-7.25964077e-01 -6.87679239e-01 8.56870907e-03 6.24490185e+01] [ 6.87623672e-01 -7.26014497e-01 -8.75426618e-03 -1.60974082e+02] [ 1.22411341e-02 -4.63235576e-04 9.99924967e-01 -2.78958626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.676559995 meters 0.01857767475130633 Centerline is valid? [True, True] Translation: X:62.43, Y:-160.96, Z:-2.79 [[-7.24458267e-01 -6.89275499e-01 7.71405523e-03 6.24280558e+01] [ 6.89230603e-01 -7.24499231e-01 -7.87660530e-03 -1.60955206e+02] [ 1.10179781e-02 -3.89508885e-04 9.99939224e-01 -2.78804871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.70655999499996 meters 0.018741472685645185 Centerline is valid? [True, True] Translation: X:62.41, Y:-160.94, Z:-2.79 [[-7.23184798e-01 -6.90600220e-01 8.66505187e-03 6.24085071e+01] [ 6.90543727e-01 -7.23236591e-01 -8.84275562e-03 -1.60935764e+02] [ 1.23736916e-02 -4.11349222e-04 9.99923358e-01 -2.78892224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.73655999499994 meters 0.017084371272893716 Centerline is valid? [True, True] Translation: X:62.39, Y:-160.92, Z:-2.79 [[-7.20458363e-01 -6.93433109e-01 9.50106982e-03 6.23857422e+01] [ 6.93365506e-01 -7.20520900e-01 -9.69061699e-03 -1.60918749e+02] [ 1.35655141e-02 -3.93971974e-04 9.99907907e-01 -2.79053306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.76655999499997 meters 0.016552976419727913 Centerline is valid? [True, True] Translation: X:62.36, Y:-160.90, Z:-2.79 [[-7.18958148e-01 -6.94990328e-01 9.36088204e-03 6.23646962e+01] [ 6.94924902e-01 -7.19018997e-01 -9.54267416e-03 -1.60899587e+02] [ 1.33627183e-02 -3.55673309e-04 9.99910652e-01 -2.79028176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.79655999499994 meters 0.016099273650798687 Centerline is valid? [True, True] Translation: X:62.34, Y:-160.88, Z:-2.79 [[-7.17553635e-01 -6.96445411e-01 8.97608552e-03 6.23441354e+01] [ 6.96385432e-01 -7.17609708e-01 -9.14538957e-03 -1.60880470e+02] [ 1.28105907e-02 -3.11492348e-04 9.99917893e-01 -2.78963221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.82655999499997 meters 0.015284825791830044 Centerline is valid? [True, True] Translation: X:62.32, Y:-160.86, Z:-2.79 [[-7.14703638e-01 -6.99377757e-01 8.33447141e-03 6.23228644e+01] [ 6.99326293e-01 -7.14752193e-01 -8.48757721e-03 -1.60863756e+02] [ 1.18931044e-02 -2.37587311e-04 9.99929246e-01 -2.78880433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.85655999499994 meters 0.014479346972334245 Centerline is valid? [True, True] Translation: X:62.30, Y:-160.85, Z:-2.79 [[-7.13376379e-01 -7.00732447e-01 8.25710541e-03 6.23008719e+01] [ 7.00682079e-01 -7.13424133e-01 -8.40421948e-03 -1.60846247e+02] [ 1.17799276e-02 -2.09765869e-04 9.99930592e-01 -2.78891840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.88655999499997 meters 0.013857145142315199 Centerline is valid? [True, True] Translation: X:62.28, Y:-160.83, Z:-2.79 [[-7.12219311e-01 -7.01904714e-01 8.56892990e-03 6.22793188e+01] [ 7.01850620e-01 -7.12270830e-01 -8.71620357e-03 -1.60829054e+02] [ 1.22213432e-02 -1.93739735e-04 9.99925298e-01 -2.78910016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.91655999499994 meters 0.013399776714099034 Centerline is valid? [True, True] Translation: X:62.26, Y:-160.81, Z:-2.79 [[-7.10417999e-01 -7.03722686e-01 8.98041081e-03 6.22581314e+01] [ 7.03663481e-01 -7.10474738e-01 -9.12971611e-03 -1.60812378e+02] [ 1.28051434e-02 -1.66727523e-04 9.99917997e-01 -2.79004317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.946559995 meters 0.013083940340510934 Centerline is valid? [True, True] Translation: X:62.24, Y:-160.79, Z:-2.79 [[-7.09840990e-01 -7.04305129e-01 8.94728865e-03 6.22384429e+01] [ 7.04246478e-01 -7.09897361e-01 -9.09044362e-03 -1.60794046e+02] [ 1.27541027e-02 -1.51672982e-04 9.99918652e-01 -2.78959137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.97655999499995 meters 0.013036405661757958 Centerline is valid? [True, True] Translation: X:62.22, Y:-160.78, Z:-2.79 [[-7.09454656e-01 -7.04698882e-01 8.57769057e-03 6.22190364e+01] [ 7.04645074e-01 -7.09506496e-01 -8.70931288e-03 -1.60775660e+02] [ 1.22233702e-02 -1.34635169e-04 9.99925283e-01 -2.78970962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.006559995 meters 0.01252495471858619 Centerline is valid? [True, True] Translation: X:62.20, Y:-160.76, Z:-2.79 [[-7.08996847e-01 -7.05169561e-01 7.70459667e-03 6.21977084e+01] [ 7.05126232e-01 -7.09038700e-01 -7.81792519e-03 -1.60758083e+02] [ 1.09758201e-02 -1.10171098e-04 9.99939758e-01 -2.78772372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.03655999499995 meters 0.012382285198556104 Centerline is valid? [True, True] Translation: X:62.18, Y:-160.74, Z:-2.79 [[-7.08947013e-01 -7.05221664e-01 7.51916063e-03 6.21774411e+01] [ 7.05180443e-01 -7.08986879e-01 -7.62548582e-03 -1.60739267e+02] [ 1.07086440e-02 -1.03700369e-04 9.99942655e-01 -2.78731194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.066559995 meters 0.012438311757108522 Centerline is valid? [True, True] Translation: X:62.16, Y:-160.72, Z:-2.79 [[-7.09127764e-01 -7.05042063e-01 7.31470502e-03 6.21574279e+01] [ 7.05003092e-01 -7.09165481e-01 -7.41349118e-03 -1.60720182e+02] [ 1.04141594e-02 -1.00222765e-04 9.99945766e-01 -2.78750241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.09655999499995 meters 0.012320979552298847 Centerline is valid? [True, True] Translation: X:62.14, Y:-160.70, Z:-2.79 [[-7.09259803e-01 -7.04910053e-01 7.23524193e-03 6.21371661e+01] [ 7.04871960e-01 -7.09296700e-01 -7.32886944e-03 -1.60701220e+02] [ 1.02981270e-02 -9.81533440e-05 9.99946968e-01 -2.78725308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.126559995 meters 0.012357001244295795 Centerline is valid? [True, True] Translation: X:62.12, Y:-160.68, Z:-2.79 [[-7.09280766e-01 -7.04892260e-01 6.90632680e-03 6.21171490e+01] [ 7.04857589e-01 -7.09314383e-01 -6.99180204e-03 -1.60681903e+02] [ 9.82722407e-03 -9.11738534e-05 9.99951708e-01 -2.78741319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.15655999499995 meters 0.012147029260547153 Centerline is valid? [True, True] Translation: X:62.10, Y:-160.66, Z:-2.79 [[-7.09277166e-01 -7.04898362e-01 6.64841577e-03 6.20967457e+01] [ 7.04866269e-01 -7.09308320e-01 -6.72684920e-03 -1.60662277e+02] [ 9.45752159e-03 -8.49565185e-05 9.99955273e-01 -2.78623623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.186559995 meters 0.012272940254267502 Centerline is valid? [True, True] Translation: X:62.08, Y:-160.64, Z:-2.79 [[-7.09280992e-01 -7.04894939e-01 6.60298863e-03 6.20776533e+01] [ 7.04863321e-01 -7.09311722e-01 -6.67685664e-03 -1.60642569e+02] [ 9.39005969e-03 -8.15630067e-05 9.99955909e-01 -2.78631999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.21655999499995 meters 0.012101362571503193 Centerline is valid? [True, True] Translation: X:62.06, Y:-160.62, Z:-2.79 [[-7.08814520e-01 -7.05359066e-01 7.11081330e-03 6.20568758e+01] [ 7.05322462e-01 -7.08850183e-01 -7.18632416e-03 -1.60624068e+02] [ 1.01094402e-02 -7.83545688e-05 9.99948895e-01 -2.78715732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.246559995 meters 0.01239246376188401 Centerline is valid? [True, True] Translation: X:62.04, Y:-160.61, Z:-2.79 [[-7.08616567e-01 -7.05554102e-01 7.48132527e-03 6.20377110e+01] [ 7.05513628e-01 -7.08656054e-01 -7.55767384e-03 -1.60605173e+02] [ 1.06340342e-02 -7.73159575e-05 9.99943454e-01 -2.78877721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.27655999499996 meters 0.012176383093842905 Centerline is valid? [True, True] Translation: X:62.02, Y:-160.59, Z:-2.79 [[-7.08522638e-01 -7.05646152e-01 7.69284298e-03 6.20170565e+01] [ 7.05603409e-01 -7.08564395e-01 -7.76701991e-03 -1.60586170e+02] [ 1.09316423e-02 -7.50131984e-05 9.99940245e-01 -2.78837831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.306559995 meters 0.01203492101451293 Centerline is valid? [True, True] Translation: X:62.00, Y:-160.57, Z:-2.79 [[-7.08389110e-01 -7.05777375e-01 7.94768916e-03 6.19968721e+01] [ 7.05731812e-01 -7.08433689e-01 -8.01982580e-03 -1.60566619e+02] [ 1.12906224e-02 -7.22201885e-05 9.99936256e-01 -2.78846948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.33655999499996 meters 0.012060942150095604 Centerline is valid? [True, True] Translation: X:61.98, Y:-160.55, Z:-2.79 [[-7.08246359e-01 -7.05920213e-01 7.98421756e-03 6.19771985e+01] [ 7.05874290e-01 -7.08291359e-01 -8.05217338e-03 -1.60546678e+02] [ 1.13393442e-02 -6.70685790e-05 9.99935705e-01 -2.78812915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.366559995 meters 0.012124734269262975 Centerline is valid? [True, True] Translation: X:61.96, Y:-160.53, Z:-2.79 [[-7.08381002e-01 -7.05784220e-01 8.06171277e-03 6.19577684e+01] [ 7.05737445e-01 -7.08426870e-01 -8.12577123e-03 -1.60526605e+02] [ 1.14461751e-02 -6.66893943e-05 9.99934488e-01 -2.78758750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.39655999499996 meters 0.012053863599927678 Centerline is valid? [True, True] Translation: X:61.94, Y:-160.51, Z:-2.79 [[-7.08607023e-01 -7.05563279e-01 7.51970402e-03 6.19383017e+01] [ 7.05522615e-01 -7.08646919e-01 -7.57520661e-03 -1.60506602e+02] [ 1.06736027e-02 -6.25233577e-05 9.99943034e-01 -2.78675029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.426559995 meters 0.012034827546735485 Centerline is valid? [True, True] Translation: X:61.92, Y:-160.49, Z:-2.79 [[-7.08938465e-01 -7.05231962e-01 7.35747957e-03 6.19185937e+01] [ 7.05193060e-01 -7.08976640e-01 -7.40761390e-03 -1.60487279e+02] [ 1.04403672e-02 -6.30989048e-05 9.99945496e-01 -2.78666328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.45655999499996 meters 0.012263355040465721 Centerline is valid? [True, True] Translation: X:61.90, Y:-160.47, Z:-2.79 [[-7.09454620e-01 -7.04708945e-01 7.71006458e-03 6.18996478e+01] [ 7.04666244e-01 -7.09496510e-01 -7.75799457e-03 -1.60468479e+02] [ 1.09373921e-02 -7.09228440e-05 9.99940182e-01 -2.78772537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.48655999499994 meters 0.012420312554838168 Centerline is valid? [True, True] Translation: X:61.88, Y:-160.45, Z:-2.79 [[-7.10266520e-01 -7.03883920e-01 8.30045890e-03 6.18820137e+01] [ 7.03834436e-01 -7.10315015e-01 -8.34663219e-03 -1.60449474e+02] [ 1.17710008e-02 -8.61845945e-05 9.99930716e-01 -2.78871967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.51655999499997 meters 0.012351128688713523 Centerline is valid? [True, True] Translation: X:61.86, Y:-160.43, Z:-2.79 [[-7.11199276e-01 -7.02940043e-01 8.41935806e-03 6.18627704e+01] [ 7.02889123e-01 -7.11249103e-01 -8.46140499e-03 -1.60428349e+02] [ 1.19361212e-02 -9.98699057e-05 9.99928757e-01 -2.78807852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.54655999499994 meters 0.012715656705177294 Centerline is valid? [True, True] Translation: X:61.85, Y:-160.41, Z:-2.79 [[-7.12985272e-01 -7.01132895e-01 8.04145951e-03 6.18455087e+01] [ 7.01086380e-01 -7.13030608e-01 -8.07707866e-03 -1.60405966e+02] [ 1.13969123e-02 -1.21080390e-04 9.99935046e-01 -2.78681607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.57655999499997 meters 0.012715656705177294 Centerline is valid? [True, True] Translation: X:61.83, Y:-160.39, Z:-2.79 [[-7.13182294e-01 -7.00932460e-01 8.04372938e-03 6.18259972e+01] [ 7.00885957e-01 -7.13227644e-01 -8.07481818e-03 -1.60386464e+02] [ 1.13969123e-02 -1.21080390e-04 9.99935046e-01 -2.78681600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.60655999499994 meters 0.01289318198372903 Centerline is valid? [True, True] Translation: X:61.81, Y:-160.37, Z:-2.79 [[-7.13912235e-01 -7.00188010e-01 8.12836363e-03 6.18068113e+01] [ 7.00140528e-01 -7.13958495e-01 -8.15521952e-03 -1.60366040e+02] [ 1.15135012e-02 -1.31114197e-04 9.99933709e-01 -2.78723957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.63655999499997 meters 0.01289318198372903 Centerline is valid? [True, True] Translation: X:61.79, Y:-160.35, Z:-2.79 [[-7.14107846e-01 -6.99988484e-01 8.13064210e-03 6.17872876e+01] [ 6.99941015e-01 -7.14154119e-01 -8.15294792e-03 -1.60346550e+02] [ 1.15135012e-02 -1.31114197e-04 9.99933709e-01 -2.78723950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.66655999499994 meters 0.013176591455046401 Centerline is valid? [True, True] Translation: X:61.77, Y:-160.33, Z:-2.79 [[-7.15045013e-01 -6.99031695e-01 8.08197900e-03 6.17697006e+01] [ 6.98984793e-01 -7.15090672e-01 -8.09881747e-03 -1.60327226e+02] [ 1.14406779e-02 -1.41838630e-04 9.99934543e-01 -2.78738720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.696559995 meters 0.013176591455046401 Centerline is valid? [True, True] Translation: X:61.75, Y:-160.31, Z:-2.79 [[-7.15262447e-01 -6.98809182e-01 8.08449835e-03 6.17507230e+01] [ 6.98762293e-01 -7.15308121e-01 -8.09630257e-03 -1.60308353e+02] [ 1.14406779e-02 -1.41838580e-04 9.99934543e-01 -2.78738713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.72655999499995 meters 0.013176591455046401 Centerline is valid? [True, True] Translation: X:61.73, Y:-160.29, Z:-2.79 [[-7.15479812e-01 -6.98586601e-01 8.08701689e-03 6.17317396e+01] [ 6.98539726e-01 -7.15525500e-01 -8.09378692e-03 -1.60289486e+02] [ 1.14406779e-02 -1.41838580e-04 9.99934543e-01 -2.78738706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.756559995 meters 0.013435574716930309 Centerline is valid? [True, True] Translation: X:61.71, Y:-160.27, Z:-2.79 [[-7.16493033e-01 -6.97547017e-01 8.11745684e-03 6.17136329e+01] [ 6.97499780e-01 -7.16538998e-01 -8.11920129e-03 -1.60269697e+02] [ 1.14799990e-02 -1.55426796e-04 9.99934091e-01 -2.78720870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.78655999499995 meters 0.014190822029455881 Centerline is valid? [True, True] Translation: X:61.70, Y:-160.25, Z:-2.79 [[-7.17442822e-01 -6.96571701e-01 7.97891233e-03 6.16971063e+01] [ 6.96526049e-01 -7.17487170e-01 -7.97651637e-03 -1.60249842e+02] [ 1.12809828e-02 -1.65174131e-04 9.99936354e-01 -2.78787630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.816559995 meters 0.013821528707582933 Centerline is valid? [True, True] Translation: X:61.21, Y:-160.74, Z:-1.81 [[-7.44987698e-01 6.67023526e-01 8.54083632e-03 6.12060117e+01] [ 6.66982435e-01 7.45036632e-01 -7.40591712e-03 -1.60740350e+02] [-1.13031569e-02 1.79270658e-04 -9.99936101e-01 -1.80549332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.84655999499995 meters 0.014541386479361679 Centerline is valid? [True, True] Translation: X:61.22, Y:-160.72, Z:-1.80 [[-7.88442466e-01 6.15039841e-01 9.19083187e-03 6.12236584e+01] [ 6.15001244e-01 7.88496003e-01 -6.89371158e-03 -1.60721517e+02] [-1.14868415e-02 2.17078078e-04 -9.99934001e-01 -1.80497481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.876559995 meters 0.015661888212658917 Centerline is valid? [True, True] Translation: X:61.24, Y:-160.70, Z:-1.80 [[-8.29259459e-01 5.58775667e-01 9.92490231e-03 6.12389211e+01] [ 5.58739071e-01 8.29318815e-01 -6.39950598e-03 -1.60701050e+02] [-1.18067964e-02 2.38579841e-04 -9.99930269e-01 -1.80410495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.90655999499995 meters 0.01498551657596629 Centerline is valid? [True, True] Translation: X:61.26, Y:-160.68, Z:-1.80 [[-8.66095525e-01 4.99773106e-01 1.02656296e-02 6.12562698e+01] [ 4.99741429e-01 8.66156325e-01 -5.63253773e-03 -1.60678073e+02] [-1.17066309e-02 2.51844664e-04 -9.99931443e-01 -1.80493763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.936559995 meters 0.015264050164835799 Centerline is valid? [True, True] Translation: X:61.27, Y:-160.65, Z:-1.81 [[-8.98711755e-01 4.38409784e-01 1.06790855e-02 6.12707391e+01] [ 4.38382366e-01 8.98775161e-01 -4.91040260e-03 -1.60654943e+02] [-1.17508653e-02 2.68486226e-04 -9.99930920e-01 -1.80506712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.96655999499995 meters 0.016149611297956296 Centerline is valid? [True, True] Translation: X:61.57, Y:-160.02, Z:-2.79 [[-8.89681555e-01 -4.56465178e-01 1.03088266e-02 6.15713103e+01] [ 4.56431008e-01 -8.89741237e-01 -5.59159497e-03 -1.60016797e+02] [ 1.17245565e-02 -2.69470791e-04 9.99931229e-01 -2.78793701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.996559995 meters 0.015828220511270745 Centerline is valid? [True, True] Translation: X:61.23, Y:-160.64, Z:-1.81 [[-8.99524681e-01 4.36744082e-01 1.04859139e-02 6.12304218e+01] [ 4.36718069e-01 8.99585752e-01 -4.77514270e-03 -1.60640121e+02] [-1.15184941e-02 2.84029357e-04 -9.99933620e-01 -1.80544812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.02655999499996 meters 0.016445176169706335 Centerline is valid? [True, True] Translation: X:61.53, Y:-160.00, Z:-2.79 [[-8.91412901e-01 -4.53083503e-01 9.91867820e-03 6.15251972e+01] [ 4.53051776e-01 -8.91468033e-01 -5.36983058e-03 -1.59995275e+02] [ 1.12751662e-02 -2.93061482e-04 9.99936390e-01 -2.78755817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.056559995 meters 0.015861540920770228 Centerline is valid? [True, True] Translation: X:61.19, Y:-160.62, Z:-1.81 [[-9.01433687e-01 4.32796387e-01 1.02272279e-02 6.11856806e+01] [ 4.32771897e-01 9.01491661e-01 -4.61193789e-03 -1.60620662e+02] [-1.12157907e-02 2.68700650e-04 -9.99937065e-01 -1.80531410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.08655999499996 meters 0.015201780235901591 Centerline is valid? [True, True] Translation: X:61.48, Y:-159.98, Z:-2.79 [[-8.91834599e-01 -4.52273288e-01 8.93980382e-03 6.14821818e+01] [ 4.52247055e-01 -8.91879351e-01 -4.88109174e-03 -1.59979019e+02] [ 1.01808138e-02 -3.10126548e-04 9.99948126e-01 -2.78649906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.116559995 meters 0.014739250815397502 Centerline is valid? [True, True] Translation: X:61.14, Y:-160.60, Z:-1.81 [[-9.04682931e-01 4.25995775e-01 8.74035770e-03 6.11440569e+01] [ 4.25977949e-01 9.04725131e-01 -3.90183870e-03 -1.60600234e+02] [-9.56978806e-03 1.93272776e-04 -9.99954190e-01 -1.80640452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.14655999499996 meters 0.013990041467416206 Centerline is valid? [True, True] Translation: X:61.43, Y:-159.96, Z:-2.79 [[-8.92000505e-01 -4.51966214e-01 7.85112875e-03 6.14334577e+01] [ 4.51946506e-01 -8.92035029e-01 -4.22647655e-03 -1.59960947e+02] [ 8.91370646e-03 -2.21729012e-04 9.99960248e-01 -2.78549561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.176559995 meters 0.01345979658662375 Centerline is valid? [True, True] Translation: X:61.10, Y:-160.58, Z:-1.81 [[-9.08768826e-01 4.17232019e-01 7.52751232e-03 6.11016301e+01] [ 4.17218776e-01 9.08799994e-01 -3.32638106e-03 -1.60578848e+02] [-8.22887583e-03 1.17708063e-04 -9.99966135e-01 -1.80681890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.20655999499996 meters 0.01309442280148315 Centerline is valid? [True, True] Translation: X:61.11, Y:-160.55, Z:-1.81 [[-9.36850192e-01 3.49642654e-01 7.85703650e-03 6.11100101e+01] [ 3.49631253e-01 9.36883133e-01 -2.82531762e-03 -1.60550821e+02] [-8.34897652e-03 1.00166158e-04 -9.99965142e-01 -1.80660148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.23655999499994 meters 0.012401684414619259 Centerline is valid? [True, True] Translation: X:61.12, Y:-160.52, Z:-1.81 [[-9.60591753e-01 2.77832086e-01 8.53320477e-03 6.11179159e+01] [ 2.77821720e-01 9.60629652e-01 -2.40078678e-03 -1.60521462e+02] [-8.86426513e-03 6.45336426e-05 -9.99960710e-01 -1.80537069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.26655999499997 meters 0.012252474152745808 Centerline is valid? [True, True] Translation: X:61.30, Y:-159.86, Z:-2.79 [[-9.43593872e-01 -3.30991238e-01 8.68365377e-03 6.13009623e+01] [ 3.30976794e-01 -9.43633827e-01 -3.09239273e-03 -1.59856371e+02] [ 9.21774433e-03 -4.38749394e-05 9.99957515e-01 -2.78816852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.29655999499994 meters 0.012026633681042748 Centerline is valid? [True, True] Translation: X:61.06, Y:-160.50, Z:-1.80 [[-9.63241700e-01 2.68463952e-01 9.61947029e-03 6.10646663e+01] [ 2.68450713e-01 9.63289731e-01 -2.66618401e-03 -1.60504070e+02] [-9.98211125e-03 1.41740380e-05 -9.99950177e-01 -1.80432021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.32655999499997 meters 0.01243289346655227 Centerline is valid? [True, True] Translation: X:61.07, Y:-160.47, Z:-1.80 [[-9.81265830e-01 1.92388227e-01 1.02049591e-02 6.10670330e+01] [ 1.92377186e-01 9.81318891e-01 -2.06199067e-03 -1.60471347e+02] [-1.04110219e-02 -6.01596668e-05 -9.99945802e-01 -1.80329725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.35655999499994 meters 0.01275125292748719 Centerline is valid? [True, True] Translation: X:61.07, Y:-160.44, Z:-1.80 [[-9.92874978e-01 1.18693860e-01 1.05378345e-02 6.10717403e+01] [ 1.18686110e-01 9.92930893e-01 -1.35998461e-03 -1.60441982e+02] [-1.06247632e-02 -9.96001091e-05 -9.99943551e-01 -1.80367438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.38655999499997 meters 0.013113923556063698 Centerline is valid? [True, True] Translation: X:61.07, Y:-160.41, Z:-1.80 [[-9.98961683e-01 4.44355523e-02 1.00517642e-02 6.10674746e+01] [ 4.44320020e-02 9.99012245e-01 -5.76348328e-04 -1.60412067e+02] [-1.00674459e-02 -1.29129887e-04 -9.99949314e-01 -1.80434498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.41655999499994 meters 0.013775119603433517 Centerline is valid? [True, True] Translation: X:61.06, Y:-160.38, Z:-1.80 [[-9.99503004e-01 -2.99054132e-02 9.97050154e-03 6.10572218e+01] [-2.99055185e-02 9.99552720e-01 1.38561797e-04 -1.60382392e+02] [-9.97018569e-03 -1.59680086e-04 -9.99950284e-01 -1.80452539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.446559995 meters 0.015095506485102514 Centerline is valid? [True, True] Translation: X:61.05, Y:-160.35, Z:-1.80 [[-9.94345081e-01 -1.05777118e-01 9.43719512e-03 6.10513062e+01] [-1.05774241e-01 9.94389844e-01 8.04925857e-04 -1.60352814e+02] [-9.46939372e-03 -1.97838080e-04 -9.99955145e-01 -1.80484048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.47655999499995 meters 0.015181289705286299 Centerline is valid? [True, True] Translation: X:61.04, Y:-160.33, Z:-1.81 [[-9.84080189e-01 -1.77496352e-01 9.01258881e-03 6.10362269e+01] [-1.77490780e-01 9.84121438e-01 1.42071103e-03 -1.60327200e+02] [-9.12165288e-03 -2.01557839e-04 -9.99958377e-01 -1.80526952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.506559995 meters 0.015497272674383356 Centerline is valid? [True, True] Translation: X:61.02, Y:-160.30, Z:-1.81 [[-9.68573171e-01 -2.48580929e-01 8.57525962e-03 6.10209897e+01] [-2.48573034e-01 9.68611109e-01 1.99148191e-03 -1.60302493e+02] [-8.80113615e-03 -2.02682350e-04 -9.99961249e-01 -1.80566867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.53655999499995 meters 0.015923702833661815 Centerline is valid? [True, True] Translation: X:60.99, Y:-160.28, Z:-1.81 [[-9.48076162e-01 -3.17944509e-01 7.92968468e-03 6.09869555e+01] [-3.17935092e-01 9.48109304e-01 2.45465101e-03 -1.60283348e+02] [-8.29865063e-03 -1.93928920e-04 -9.99965547e-01 -1.80606986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.566559995 meters 0.015750666477727913 Centerline is valid? [True, True] Translation: X:60.94, Y:-160.27, Z:-1.81 [[-9.22094524e-01 -3.86908123e-01 6.61770881e-03 6.09375531e+01] [-3.86899485e-01 9.22118255e-01 2.59098226e-03 -1.60273137e+02] [-7.10478218e-03 -1.71257580e-04 -9.99974746e-01 -1.80700124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.59655999499995 meters 0.016015423361395754 Centerline is valid? [True, True] Translation: X:60.88, Y:-160.27, Z:-1.81 [[-8.91085840e-01 -4.53788380e-01 6.49088911e-03 6.08773679e+01] [-4.53777751e-01 8.91109463e-01 3.11077392e-03 -1.60269353e+02] [-7.19572577e-03 -1.73454470e-04 -9.99974095e-01 -1.80710296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.626559995 meters 0.016328931706991845 Centerline is valid? [True, True] Translation: X:60.81, Y:-160.28, Z:-1.81 [[-8.54764566e-01 -5.18961797e-01 7.49600957e-03 6.08084064e+01] [-5.18943999e-01 8.54797408e-01 4.30319409e-03 -1.60275259e+02] [-8.64076288e-03 -2.11791350e-04 -9.99962646e-01 -1.80569573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.65655999499995 meters 0.015921088328229558 Centerline is valid? [True, True] Translation: X:60.73, Y:-160.29, Z:-1.80 [[-8.13733901e-01 -5.81179451e-01 8.22092768e-03 6.07317353e+01] [-5.81152790e-01 8.13775391e-01 5.57207553e-03 -1.60292068e+02] [-9.92836443e-03 -2.43428306e-04 -9.99950683e-01 -1.80463073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.686559995 meters 0.016104278438744207 Centerline is valid? [True, True] Translation: X:60.65, Y:-160.32, Z:-1.80 [[-7.67984801e-01 -6.40410880e-01 8.55862978e-03 6.06500637e+01] [-6.40374943e-01 7.68032443e-01 6.78964646e-03 -1.60318349e+02] [-1.09214688e-02 -2.66386773e-04 -9.99940324e-01 -1.80357343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.71655999499995 meters 0.016293338496592865 Centerline is valid? [True, True] Translation: X:60.56, Y:-160.36, Z:-1.80 [[-7.17920929e-01 -6.96073707e-01 8.42226684e-03 6.05630479e+01] [-6.96030257e-01 7.17970277e-01 7.78218689e-03 -1.60357654e+02] [-1.14639129e-02 -2.75157707e-04 -9.99934249e-01 -1.80272155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.746559995 meters 0.016525027213365392 Centerline is valid? [True, True] Translation: X:60.48, Y:-160.40, Z:-1.80 [[-6.63767500e-01 -7.47898111e-01 7.81800871e-03 6.04818892e+01] [-7.47850914e-01 6.63813486e-01 8.40632390e-03 -1.60401103e+02] [-1.14767734e-02 -2.66860357e-04 -9.99934104e-01 -1.80209555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.77655999499996 meters 0.01587524559601618 Centerline is valid? [True, True] Translation: X:60.40, Y:-160.46, Z:-1.80 [[-6.05995718e-01 -7.95436989e-01 7.01332805e-03 6.03964090e+01] [-7.95388413e-01 6.06036249e-01 8.79423994e-03 -1.60462489e+02] [-1.12455948e-02 -2.49048124e-04 -9.99936735e-01 -1.80311593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.806559995 meters 0.014780666397592568 Centerline is valid? [True, True] Translation: X:60.32, Y:-160.53, Z:-1.80 [[-5.46908783e-01 -8.37175312e-01 5.31798273e-03 6.03224273e+01] [-8.37138758e-01 5.46934610e-01 7.82505957e-03 -1.60525850e+02] [-9.45953550e-03 -1.72295656e-04 -9.99955243e-01 -1.80468988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.83655999499996 meters 0.01389359660927717 Centerline is valid? [True, True] Translation: X:60.25, Y:-160.60, Z:-1.81 [[-4.83680150e-01 -8.75233644e-01 4.42504118e-03 6.02466876e+01] [-8.75199595e-01 4.83700372e-01 7.72135648e-03 -1.60602075e+02] [-8.89838503e-03 -1.38127387e-04 -9.99960399e-01 -1.80579298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.866559995 meters 0.013019546787851189 Centerline is valid? [True, True] Translation: X:60.18, Y:-160.69, Z:-1.81 [[-4.20137744e-01 -9.07454647e-01 3.21556876e-03 6.01774772e+01] [-9.07429436e-01 4.20150043e-01 6.76461620e-03 -1.60688160e+02] [-7.48960375e-03 -7.58311542e-05 -9.99971950e-01 -1.80800208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.89655999499996 meters 0.012708787172467262 Centerline is valid? [True, True] Translation: X:60.11, Y:-160.78, Z:-1.81 [[-3.51568922e-01 -9.36158791e-01 2.45178091e-03 6.01101115e+01] [-9.36137051e-01 3.51577467e-01 6.38016878e-03 -1.60780988e+02] [-6.83484201e-03 -5.21338921e-05 -9.99976641e-01 -1.80870600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.926559995 meters 0.012688174087386801 Centerline is valid? [True, True] Translation: X:60.05, Y:-160.88, Z:-1.81 [[-2.79457082e-01 -9.60155680e-01 2.19298577e-03 6.00483760e+01] [-9.60127556e-01 2.79465682e-01 7.34904713e-03 -1.60875702e+02] [-7.66909361e-03 -5.18027995e-05 -9.99970591e-01 -1.80848123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.95655999499996 meters 0.012847248794760017 Centerline is valid? [True, True] Translation: X:59.99, Y:-160.98, Z:-1.81 [[-2.03979672e-01 -9.78972602e-01 2.22197242e-03 5.99889101e+01] [-9.78918723e-01 2.03991758e-01 1.02711780e-02 -1.60981516e+02] [-1.05084659e-02 -8.00188832e-05 -9.99944781e-01 -1.80574772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.98655999499994 meters 0.01285340237739122 Centerline is valid? [True, True] Translation: X:59.94, Y:-161.09, Z:-1.80 [[-1.28450874e-01 -9.91714646e-01 1.56030619e-03 5.99405011e+01] [-9.91649126e-01 1.28460324e-01 1.13998114e-02 -1.61090166e+02] [-1.15057974e-02 -8.29605319e-05 -9.99933803e-01 -1.80456270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.01655999499997 meters 0.012858505849441265 Centerline is valid? [True, True] Translation: X:59.90, Y:-161.20, Z:-1.80 [[-5.25227296e-02 -9.98619473e-01 7.15437377e-04 5.99011834e+01] [-9.98545942e-01 5.25275442e-02 1.21185104e-02 -1.61203640e+02] [-1.21393606e-02 -7.78998467e-05 -9.99926312e-01 -1.80423922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.04655999499994 meters 0.012873642220858877 Centerline is valid? [True, True] Translation: X:59.87, Y:-161.32, Z:-1.80 [[ 2.35806941e-02 -9.99721915e-01 -2.10140367e-04 5.98710962e+01] [-9.99654760e-01 -2.35815458e-02 1.15875472e-02 -1.61321918e+02] [-1.15892803e-02 -6.31745874e-05 -9.99932840e-01 -1.80499211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.07655999499997 meters 0.012621441932882397 Centerline is valid? [True, True] Translation: X:59.85, Y:-161.44, Z:-1.81 [[ 9.97796606e-02 -9.95008933e-01 -1.11515500e-03 5.98504511e+01] [-9.94940434e-01 -9.97858766e-02 1.16752610e-02 -1.61439455e+02] [-1.17282657e-02 -5.54407729e-05 -9.99931220e-01 -1.80717685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.10655999499994 meters 0.012612733506363192 Centerline is valid? [True, True] Translation: X:59.84, Y:-161.56, Z:-1.81 [[ 1.74939165e-01 -9.84577373e-01 -1.91959616e-03 5.98387973e+01] [-9.84515618e-01 -1.74949692e-01 1.10273764e-02 -1.61563811e+02] [-1.11931381e-02 -3.92476243e-05 -9.99937354e-01 -1.80773056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.13655999499997 meters 0.012527688075859446 Centerline is valid? [True, True] Translation: X:59.83, Y:-161.68, Z:-1.81 [[ 2.48825227e-01 -9.68544525e-01 -2.74025915e-03 5.98345939e+01] [-9.68484793e-01 -2.48840314e-01 1.07565596e-02 -1.61679599e+02] [-1.11000939e-02 -2.26040799e-05 -9.99938392e-01 -1.80796907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.16655999499994 meters 0.012522600512596823 Centerline is valid? [True, True] Translation: X:59.84, Y:-161.80, Z:-1.81 [[ 3.20029583e-01 -9.47401259e-01 -3.45268361e-03 5.98396516e+01] [-9.47346376e-01 -3.20048207e-01 1.01975005e-02 -1.61799370e+02] [-1.07661500e-02 7.38547024e-06 -9.99942043e-01 -1.80783972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.196559995 meters 0.012517607400163782 Centerline is valid? [True, True] Translation: X:59.85, Y:-161.92, Z:-1.81 [[ 3.90859643e-01 -9.20440347e-01 -4.27863920e-03 5.98538095e+01] [-9.20385768e-01 -3.90883060e-01 1.00235007e-02 -1.61916371e+02] [-1.08984820e-02 2.02167432e-05 -9.99940610e-01 -1.80874572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.22655999499995 meters 0.012466254534075523 Centerline is valid? [True, True] Translation: X:59.88, Y:-162.04, Z:-1.81 [[ 4.60310925e-01 -8.87743791e-01 -4.98141071e-03 5.98792451e+01] [-8.87692307e-01 -4.60337878e-01 9.56071079e-03 -1.62037695e+02] [-1.07805937e-02 2.10603401e-05 -9.99941888e-01 -1.80959974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.256559995 meters 0.012455338972260583 Centerline is valid? [True, True] Translation: X:59.91, Y:-162.14, Z:-1.81 [[ 5.26808367e-01 -8.49965765e-01 -5.58056179e-03 5.99056263e+01] [-8.49918531e-01 -5.26837924e-01 8.96059929e-03 -1.62142999e+02] [-1.05562542e-02 2.25041950e-05 -9.99944281e-01 -1.81068192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.28655999499995 meters 0.012493875380006797 Centerline is valid? [True, True] Translation: X:59.94, Y:-162.25, Z:-1.81 [[ 5.89446101e-01 -8.07782063e-01 -6.43676021e-03 5.99427179e+01] [-8.07734549e-01 -5.89481244e-01 8.76135419e-03 -1.62250697e+02] [-1.08716142e-02 3.48475345e-05 -9.99940902e-01 -1.81151714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.316559995 meters 0.012434103974717505 Centerline is valid? [True, True] Translation: X:59.99, Y:-162.35, Z:-1.81 [[ 6.48710179e-01 -7.61004644e-01 -6.85817472e-03 5.99866316e+01] [-7.60962804e-01 -6.48746429e-01 7.98007062e-03 -1.62352481e+02] [-1.05220872e-02 4.20628228e-05 -9.99944640e-01 -1.81201794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.34655999499995 meters 0.012487927851372626 Centerline is valid? [True, True] Translation: X:60.04, Y:-162.45, Z:-1.81 [[ 7.04214495e-01 -7.09949110e-01 -7.36258194e-03 6.00383992e+01] [-7.09911065e-01 -7.04252980e-01 7.34990145e-03 -1.62450394e+02] [-1.04031763e-02 5.08712483e-05 -9.99945884e-01 -1.81221313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.376559995 meters 0.012642838166438635 Centerline is valid? [True, True] Translation: X:60.03, Y:-162.46, Z:-1.81 [[ 7.56602976e-01 -6.53830987e-01 -7.54832050e-03 6.00343058e+01] [-6.53799281e-01 -7.56640626e-01 6.43917379e-03 -1.62458367e+02] [-9.92149730e-03 6.31884596e-05 -9.99950779e-01 -1.81253403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.40655999499995 meters 0.012658685706901826 Centerline is valid? [True, True] Translation: X:60.03, Y:-162.47, Z:-1.81 [[ 8.05039671e-01 -5.93165998e-01 -8.07630004e-03 6.00308432e+01] [-5.93137019e-01 -8.05080179e-01 5.86362839e-03 -1.62467916e+02] [-9.98017407e-03 6.98990595e-05 -9.99950194e-01 -1.81279149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.436559995 meters 0.012667626250357474 Centerline is valid? [True, True] Translation: X:60.03, Y:-162.48, Z:-1.81 [[ 8.48702860e-01 -5.28788968e-01 -9.25652125e-03 6.00282237e+01] [-5.28758547e-01 -8.48753334e-01 5.67251881e-03 -1.62478978e+02] [-1.08560686e-02 8.01817904e-05 -9.99941068e-01 -1.81252692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.46655999499995 meters 0.012742855353832773 Centerline is valid? [True, True] Translation: X:60.02, Y:-162.49, Z:-1.81 [[ 8.87319200e-01 -4.61027251e-01 -1.08862408e-02 6.00247028e+01] [-4.60993840e-01 -8.87385973e-01 5.55112427e-03 -1.62491579e+02] [-1.22195169e-02 9.28707798e-05 -9.99925335e-01 -1.81203426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.496559995 meters 0.012919507311759048 Centerline is valid? [True, True] Translation: X:60.02, Y:-162.50, Z:-1.81 [[ 9.20642977e-01 -3.90221534e-01 -1.19859468e-02 6.00229788e+01] [-3.90189853e-01 -9.20720992e-01 4.97335267e-03 -1.62502389e+02] [-1.29764222e-02 9.81126306e-05 -9.99915798e-01 -1.81149962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.52655999499996 meters 0.012914149447603798 Centerline is valid? [True, True] Translation: X:60.02, Y:-162.51, Z:-1.81 [[ 9.48299033e-01 -3.17133757e-01 -1.24548979e-02 6.00226155e+01] [-3.17107786e-01 -9.48380815e-01 4.05974862e-03 -1.62513036e+02] [-1.30994696e-02 9.96894199e-05 -9.99914193e-01 -1.81141644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.556559995 meters 0.012914149447603798 Centerline is valid? [True, True] Translation: X:60.02, Y:-162.52, Z:-1.81 [[ 9.70178761e-01 -2.42055809e-01 -1.27340837e-02 6.00233096e+01] [-2.42036309e-01 -9.70262323e-01 3.07409700e-03 -1.62522892e+02] [-1.30995047e-02 9.96869918e-05 -9.99914193e-01 -1.81141608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.58655999499996 meters 0.012948114738542987 Centerline is valid? [True, True] Translation: X:60.02, Y:-162.53, Z:-1.81 [[ 9.86141021e-01 -1.65428391e-01 -1.26227623e-02 6.00242438e+01] [-1.65416110e-01 -9.86221799e-01 2.01811451e-03 -1.62532428e+02] [-1.27826968e-02 9.78627304e-05 -9.99918293e-01 -1.81189155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.616559995 meters 0.012941141999371795 Centerline is valid? [True, True] Translation: X:60.02, Y:-162.54, Z:-1.81 [[ 9.96072495e-01 -8.77623375e-02 -1.17199253e-02 6.00221818e+01] [-8.77573339e-02 -9.96141438e-01 9.41512958e-04 -1.62541272e+02] [-1.17573327e-02 9.06942399e-05 -9.99930876e-01 -1.81352455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.64655999499996 meters 0.01277974688338145 Centerline is valid? [True, True] Translation: X:60.02, Y:-162.55, Z:-1.82 [[ 9.99895394e-01 -9.64161308e-03 -1.07814526e-02 6.00214759e+01] [-9.64196360e-03 -9.99953515e-01 1.94681011e-05 -1.62552895e+02] [-1.07811391e-02 8.44883088e-05 -9.99941878e-01 -1.81534004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.676559995 meters 0.012779953303375419 Centerline is valid? [True, True] Translation: X:60.02, Y:-162.56, Z:-1.81 [[ 9.97545309e-01 6.91417664e-02 -1.10802882e-02 6.00210403e+01] [ 6.91365898e-02 -9.97606841e-01 -8.50008511e-04 -1.62564105e+02] [-1.11125424e-02 8.18686626e-05 -9.99938250e-01 -1.81472034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.70655999499996 meters 0.012702728767106963 Centerline is valid? [True, True] Translation: X:60.02, Y:-162.58, Z:-1.81 [[ 9.88753600e-01 1.48969467e-01 -1.32066856e-02 6.00231827e+01] [ 1.48955202e-01 -9.88841794e-01 -2.06285451e-03 -1.62576153e+02] [-1.33666250e-02 7.24503002e-05 -9.99910660e-01 -1.81292158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.73655999499994 meters 0.012488839137241083 Centerline is valid? [True, True] Translation: X:60.03, Y:-162.59, Z:-1.81 [[ 9.72969329e-01 2.30432780e-01 -1.52124818e-02 6.00274755e+01] [ 2.30404428e-01 -9.73088246e-01 -3.61467843e-03 -1.62590756e+02] [-1.56360276e-02 1.19480882e-05 -9.99877750e-01 -1.81122999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.76655999499997 meters 0.012647949888120503 Centerline is valid? [True, True] Translation: X:60.03, Y:-162.60, Z:-1.81 [[ 9.51126461e-01 3.08339170e-01 -1.68940958e-02 6.00316636e+01] [ 3.08291139e-01 -9.51276487e-01 -5.44229360e-03 -1.62600483e+02] [-1.77490284e-02 -3.19905949e-05 -9.99842473e-01 -1.80873193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.79655999499994 meters 0.012647949888120503 Centerline is valid? [True, True] Translation: X:60.04, Y:-162.61, Z:-1.81 [[ 9.24068003e-01 3.81875420e-01 -1.64161444e-02 6.00353052e+01] [ 3.81815790e-01 -9.24213808e-01 -6.74836691e-03 -1.62607451e+02] [-1.77490628e-02 -3.19932098e-05 -9.99842472e-01 -1.80873162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.82655999499997 meters 0.012647949888120503 Centerline is valid? [True, True] Translation: X:60.04, Y:-162.61, Z:-1.81 [[ 8.91335275e-01 4.53067990e-01 -1.58373875e-02 6.00395362e+01] [ 4.52997126e-01 -8.91475964e-01 -8.01302860e-03 -1.62614088e+02] [-1.77490970e-02 -3.19959507e-05 -9.99842472e-01 -1.80873131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.85655999499994 meters 0.012633036598237477 Centerline is valid? [True, True] Translation: X:60.05, Y:-162.62, Z:-1.81 [[ 8.52779305e-01 5.22027996e-01 -1.59445060e-02 6.00453511e+01] [ 5.21937774e-01 -8.52928349e-01 -9.70521014e-03 -1.62621154e+02] [-1.86659126e-02 -4.56375895e-05 -9.99825776e-01 -1.80885457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.88655999499997 meters 0.012633036598237477 Centerline is valid? [True, True] Translation: X:60.05, Y:-162.63, Z:-1.81 [[ 8.09282666e-01 5.87224390e-01 -1.51354650e-02 6.00511687e+01] [ 5.87122772e-01 -8.09424186e-01 -1.09241633e-02 -1.62628104e+02] [-1.86659466e-02 -4.56401826e-05 -9.99825775e-01 -1.80885426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.91655999499994 meters 0.012633036598237477 Centerline is valid? [True, True] Translation: X:60.06, Y:-162.63, Z:-1.81 [[ 7.60812477e-01 6.48815679e-01 -1.42334045e-02 6.00576106e+01] [ 6.48703288e-01 -7.60945604e-01 -1.20760552e-02 -1.62634505e+02] [-1.86659806e-02 -4.56429012e-05 -9.99825774e-01 -1.80885395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.946559995 meters 0.012633036598237477 Centerline is valid? [True, True] Translation: X:60.06, Y:-162.64, Z:-1.81 [[ 7.07669989e-01 7.06418987e-01 -1.32439306e-02 6.00644493e+01] [ 7.06296515e-01 -7.07793905e-01 -1.31537249e-02 -1.62640455e+02] [-1.86660144e-02 -4.56456744e-05 -9.99825774e-01 -1.80885364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.97655999499995 meters 0.012808775538606142 Centerline is valid? [True, True] Translation: X:60.07, Y:-162.65, Z:-1.81 [[ 6.49493687e-01 7.60255993e-01 -1.29913601e-02 6.00704514e+01] [ 7.60106000e-01 -6.49623599e-01 -1.51012623e-02 -1.62645811e+02] [-1.99203193e-02 -6.66361901e-05 -9.99801569e-01 -1.80801146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.006559995 meters 0.012725093356251924 Centerline is valid? [True, True] Translation: X:60.08, Y:-162.65, Z:-1.81 [[ 5.87391892e-01 8.09214984e-01 -1.19111456e-02 6.00773811e+01] [ 8.09051512e-01 -5.87512641e-01 -1.62649436e-02 -1.62650250e+02] [-2.01597846e-02 -8.28343645e-05 -9.99796767e-01 -1.80871942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.03655999499995 meters 0.01289389732761675 Centerline is valid? [True, True] Translation: X:60.08, Y:-162.65, Z:-1.81 [[ 5.21485337e-01 8.53185437e-01 -1.12983721e-02 6.00848727e+01] [ 8.52989671e-01 -5.21607705e-01 -1.82763040e-02 -1.62653981e+02] [-2.14863943e-02 -1.06570202e-04 -9.99769135e-01 -1.80888532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.066559995 meters 0.013292965640534195 Centerline is valid? [True, True] Translation: X:60.09, Y:-162.66, Z:-1.81 [[ 4.52242067e-01 8.91820333e-01 -1.15588165e-02 6.00912085e+01] [ 8.91537489e-01 -4.52389735e-01 -2.24596015e-02 -1.62656775e+02] [-2.52590192e-02 -1.47941601e-04 -9.99680929e-01 -1.80641076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.09655999499995 meters 0.014316982321188674 Centerline is valid? [True, True] Translation: X:60.10, Y:-162.66, Z:-1.80 [[ 3.79786219e-01 9.25011883e-01 -1.07444862e-02 6.00980793e+01] [ 9.24656659e-01 -3.79938122e-01 -2.56337115e-02 -1.62660241e+02] [-2.77937277e-02 -1.99630309e-04 -9.99613660e-01 -1.80231243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.126559995 meters 0.014944371124244743 Centerline is valid? [True, True] Translation: X:60.10, Y:-162.66, Z:-1.80 [[ 3.04158671e-01 9.52578709e-01 -9.01695364e-03 6.01000680e+01] [ 9.52186143e-01 -3.04292180e-01 -2.73462732e-02 -1.62661965e+02] [-2.87932661e-02 -2.68212196e-04 -9.99585352e-01 -1.80082438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.15655999499995 meters 0.01565421506583294 Centerline is valid? [True, True] Translation: X:60.10, Y:-162.66, Z:-1.80 [[ 2.23483687e-01 9.74685242e-01 -6.61222563e-03 6.01024358e+01] [ 9.74311050e-01 -2.23581115e-01 -2.70085649e-02 -1.62662492e+02] [-2.78032184e-02 -4.06390835e-04 -9.99613333e-01 -1.80330454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.186559995 meters 0.015719162661192207 Centerline is valid? [True, True] Translation: X:60.11, Y:-162.66, Z:-1.81 [[ 1.41260175e-01 9.89964490e-01 -3.98394254e-03 6.01083577e+01] [ 9.89663202e-01 -1.41315486e-01 -2.44270310e-02 -1.62664008e+02] [-2.47448860e-02 -4.92194656e-04 -9.99693677e-01 -1.80915949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.21655999499995 meters 0.016502040305711105 Centerline is valid? [True, True] Translation: X:60.12, Y:-162.67, Z:-1.81 [[ 5.68725053e-02 9.98379729e-01 -1.85331398e-03 6.01194875e+01] [ 9.98133042e-01 -5.68996639e-02 -2.22004146e-02 -1.62665212e+02] [-2.22698968e-02 -5.87260730e-04 -9.99751823e-01 -1.81354726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.246559995 meters 0.016502040305711105 Centerline is valid? [True, True] Translation: X:60.13, Y:-162.67, Z:-1.81 [[-2.14751965e-02 9.99769375e-01 -1.08904448e-04 6.01280375e+01] [ 9.99521319e-01 2.14674415e-02 -2.22774052e-02 -1.62665778e+02] [-2.22699296e-02 -5.87263971e-04 -9.99751822e-01 -1.81354698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.27655999499996 meters 0.019198668646355978 Centerline is valid? [True, True] Translation: X:60.14, Y:-162.67, Z:-1.81 [[-1.02839935e-01 9.94696698e-01 1.55760839e-03 6.01407139e+01] [ 9.94472098e-01 1.02849827e-01 -2.11461344e-02 -1.62666143e+02] [-2.11941898e-02 -6.25669009e-04 -9.99775182e-01 -1.81232644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.306559995 meters 0.02070482258471703 Centerline is valid? [True, True] Translation: X:60.15, Y:-162.67, Z:-1.81 [[-1.83285654e-01 9.83054790e-01 3.10624797e-03 6.01460123e+01] [ 9.82845621e-01 1.83310765e-01 -2.02891092e-02 -1.62665900e+02] [-2.05147147e-02 -6.65740427e-04 -9.99789329e-01 -1.81311808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.33655999499996 meters 0.019257074359878987 Centerline is valid? [True, True] Translation: X:60.15, Y:-162.66, Z:-1.82 [[-2.62313154e-01 9.64973169e-01 4.31196127e-03 6.01513894e+01] [ 9.64798170e-01 2.62347753e-01 -1.83887795e-02 -1.62664325e+02] [-1.88759122e-02 -6.63446414e-04 -9.99821614e-01 -1.81676759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.366559995 meters 0.021418138804267118 Centerline is valid? [True, True] Translation: X:60.16, Y:-162.66, Z:-1.82 [[-3.39528902e-01 9.40579997e-01 5.42159482e-03 6.01612429e+01] [ 9.40426649e-01 3.39571519e-01 -1.69971028e-02 -1.62661856e+02] [-1.78281541e-02 -6.72395387e-04 -9.99840840e-01 -1.81754580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.39655999499996 meters 0.022385547043897752 Centerline is valid? [True, True] Translation: X:60.17, Y:-162.66, Z:-1.82 [[-4.16563573e-01 9.09086909e-01 5.98180146e-03 6.01699623e+01] [ 9.08968806e-01 4.16605976e-01 -1.46687019e-02 -1.62658270e+02] [-1.58271791e-02 -6.73175947e-04 -9.99874516e-01 -1.82051648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.426559995 meters 0.024492499361567895 Centerline is valid? [True, True] Translation: X:60.18, Y:-162.65, Z:-1.82 [[-4.88168537e-01 8.72721187e-01 7.01490658e-03 6.01786534e+01] [ 8.72609801e-01 4.88218443e-01 -1.39602344e-02 -1.62654252e+02] [-1.56081991e-02 -6.93670961e-04 -9.99877944e-01 -1.82030175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.45655999499996 meters 0.023699269558975805 Centerline is valid? [True, True] Translation: X:60.18, Y:-162.65, Z:-1.82 [[-5.56200379e-01 8.31007495e-01 8.22687341e-03 6.01838535e+01] [ 8.30896550e-01 5.56260742e-01 -1.35981839e-02 -1.62649792e+02] [-1.58764795e-02 -7.27634327e-04 -9.99873696e-01 -1.82009512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.48655999499994 meters 0.02417055962946116 Centerline is valid? [True, True] Translation: X:60.19, Y:-162.65, Z:-1.82 [[-6.19585702e-01 7.84872402e-01 9.42706906e-03 6.01888320e+01] [ 7.84762836e-01 6.19656973e-01 -1.31349644e-02 -1.62645577e+02] [-1.61508201e-02 -7.40222689e-04 -9.99869293e-01 -1.81921578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.51655999499997 meters 0.023898046497102775 Centerline is valid? [True, True] Translation: X:60.19, Y:-162.64, Z:-1.82 [[-6.78561715e-01 7.34465019e-01 1.07300864e-02 6.01918023e+01] [ 7.34355323e-01 6.78646134e-01 -1.27155479e-02 -1.62642006e+02] [-1.66210568e-02 -7.48587974e-04 -9.99861580e-01 -1.81886785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.54655999499994 meters 0.02279120182054616 Centerline is valid? [True, True] Translation: X:60.19, Y:-162.64, Z:-1.82 [[-7.31530260e-01 6.81723784e-01 1.07778427e-02 6.01916368e+01] [ 6.81636774e-01 7.31609377e-01 -1.09099750e-02 -1.62641053e+02] [-1.53227602e-02 -6.34402851e-04 -9.99882398e-01 -1.81985764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.57655999499997 meters 0.020997966162760263 Centerline is valid? [True, True] Translation: X:60.19, Y:-162.64, Z:-1.82 [[-7.79532010e-01 6.26287700e-01 9.67274766e-03 6.01902909e+01] [ 6.26231991e-01 7.79591881e-01 -8.36614839e-03 -1.62641526e+02] [-1.27804114e-02 -4.64296449e-04 -9.99918219e-01 -1.82181720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.60655999499994 meters 0.019766210119881607 Centerline is valid? [True, True] Translation: X:60.21, Y:-162.62, Z:-1.82 [[-8.20241335e-01 5.71943797e-01 9.18939566e-03 6.02057766e+01] [ 5.71902616e-01 8.20292720e-01 -6.87392337e-03 -1.62622584e+02] [-1.14694922e-02 -3.82836662e-04 -9.99934150e-01 -1.82251312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.63655999499997 meters 0.014933797996288975 Centerline is valid? [True, True] Translation: X:60.22, Y:-162.62, Z:-1.82 [[-8.51590319e-01 5.24168732e-01 6.40846346e-03 6.02214844e+01] [ 5.24152562e-01 8.51614419e-01 -4.11987195e-03 -1.62615221e+02] [-7.61704794e-03 -1.49430531e-04 -9.99970979e-01 -1.82311842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.66655999499994 meters 0.011932374603640657 Centerline is valid? [True, True] Translation: X:60.24, Y:-162.62, Z:-1.81 [[-8.75275011e-01 4.83538173e-01 9.19189589e-03 6.02391652e+01] [ 4.83512036e-01 8.75323274e-01 -5.02769205e-03 -1.62616754e+02] [-1.04769614e-02 4.37790854e-05 -9.99945114e-01 -1.81374379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.696559995 meters 0.012036256813947 Centerline is valid? [True, True] Translation: X:60.25, Y:-162.59, Z:-1.81 [[-9.07144694e-01 4.20704197e-01 9.82260359e-03 6.02527264e+01] [ 4.20680128e-01 9.07197871e-01 -4.50036057e-03 -1.62592537e+02] [-1.08043656e-02 4.96959310e-05 -9.99941630e-01 -1.81303560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.72655999499995 meters 0.012036256813947 Centerline is valid? [True, True] Translation: X:60.26, Y:-162.57, Z:-1.81 [[-9.34667211e-01 3.55379876e-01 1.01167611e-02 6.02642794e+01] [ 3.55359635e-01 9.34721959e-01 -3.79321560e-03 -1.62567114e+02] [-1.08043913e-02 4.96942977e-05 -9.99941630e-01 -1.81303533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.756559995 meters 0.012036256813947 Centerline is valid? [True, True] Translation: X:60.52, Y:-161.90, Z:-2.78 [[-9.12380088e-01 -4.09225385e-01 9.85698725e-03 6.05193615e+01] [ 4.09200930e-01 -9.12433330e-01 -4.47401386e-03 -1.61902203e+02] [ 1.08247237e-02 -4.85128068e-05 9.99941410e-01 -2.77942190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.78655999499995 meters 0.012036256813947 Centerline is valid? [True, True] Translation: X:60.22, Y:-162.55, Z:-1.81 [[-9.35989817e-01 3.51881268e-01 1.01309150e-02 6.02210557e+01] [ 3.51861232e-01 9.36044641e-01 -3.75536420e-03 -1.62551782e+02] [-1.08044310e-02 4.96935748e-05 -9.99941629e-01 -1.81303483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.816559995 meters 0.012151709866976947 Centerline is valid? [True, True] Translation: X:60.23, Y:-162.53, Z:-1.81 [[-9.58503844e-01 2.84874303e-01 1.08172658e-02 6.02332363e+01] [ 2.84856807e-01 9.58564880e-01 -3.15769783e-03 -1.62526997e+02] [-1.12685981e-02 5.47063020e-05 -9.99936506e-01 -1.81191145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.84655999499995 meters 0.012151709866976947 Centerline is valid? [True, True] Translation: X:60.24, Y:-162.50, Z:-1.81 [[-9.76297529e-01 2.16152319e-01 1.10140533e-02 6.02398991e+01] [ 2.16139197e-01 9.76359653e-01 -2.38233074e-03 -1.62499796e+02] [-1.12686235e-02 5.47050211e-05 -9.99936506e-01 -1.81191117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.876559995 meters 0.012151709866976947 Centerline is valid? [True, True] Translation: X:60.24, Y:-162.47, Z:-1.81 [[-9.89178741e-01 1.46290724e-01 1.11554190e-02 6.02439559e+01] [ 1.46282045e-01 9.89241639e-01 -1.59438693e-03 -1.62472080e+02] [-1.12686490e-02 5.47038481e-05 -9.99936505e-01 -1.81191088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.90655999499995 meters 0.011888788462120867 Centerline is valid? [True, True] Translation: X:60.25, Y:-162.44, Z:-1.81 [[-9.97062330e-01 7.58087602e-02 1.09426736e-02 6.02454329e+01] [ 7.58048025e-02 9.97122374e-01 -7.76584406e-04 -1.62443839e+02] [-1.09700566e-02 5.52041523e-05 -9.99939826e-01 -1.81200917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.936559995 meters 0.011888788462120867 Centerline is valid? [True, True] Translation: X:60.30, Y:-161.73, Z:-2.78 [[-9.91058981e-01 -1.32979721e-01 1.08853177e-02 6.02994270e+01] [ 1.32971102e-01 -9.91118757e-01 -1.51497490e-03 -1.61733144e+02] [ 1.09901035e-02 -5.39967917e-05 9.99939606e-01 -2.78044487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.96655999499995 meters 0.011888788462120867 Centerline is valid? [True, True] Translation: X:60.18, Y:-162.44, Z:-1.81 [[-9.97400559e-01 7.12201281e-02 1.09461743e-02 6.01792240e+01] [ 7.12164468e-02 9.97460621e-01 -7.26224933e-04 -1.62439343e+02] [-1.09700997e-02 5.52104862e-05 -9.99939825e-01 -1.81200848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.996559995 meters 0.011888788462120867 Centerline is valid? [True, True] Translation: X:60.23, Y:-161.73, Z:-2.78 [[-9.91660205e-01 -1.28418847e-01 1.08921284e-02 6.02299006e+01] [ 1.28410503e-01 -9.91720019e-01 -1.46488761e-03 -1.61728404e+02] [ 1.09900610e-02 -5.40070649e-05 9.99939606e-01 -2.78044417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.02655999499996 meters 0.011888788462120867 Centerline is valid? [True, True] Translation: X:60.11, Y:-162.44, Z:-1.81 [[-9.97717733e-01 6.66290896e-02 1.09494426e-02 6.01131593e+01] [ 6.66256846e-02 9.97777812e-01 -6.75848925e-04 -1.62435179e+02] [-1.09701421e-02 5.52076533e-05 -9.99939825e-01 -1.81200778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.056559995 meters 0.011888788462120867 Centerline is valid? [True, True] Translation: X:60.11, Y:-162.41, Z:-1.81 [[-9.99929783e-01 -4.48239103e-03 1.09698097e-02 6.01110228e+01] [-4.48151579e-03 9.99989953e-01 1.04366006e-04 -1.62407142e+02] [-1.09701673e-02 5.51973021e-05 -9.99939824e-01 -1.81200748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.08655999499996 meters 0.011858890942003871 Centerline is valid? [True, True] Translation: X:60.11, Y:-161.69, Z:-2.78 [[-9.98540882e-01 -5.29269947e-02 1.07163207e-02 6.01074642e+01] [ 5.29231993e-02 -9.98598382e-01 -6.37633953e-04 -1.61694094e+02] [ 1.07350486e-02 -6.95615937e-05 9.99942375e-01 -2.78084611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.116559995 meters 0.01194854138414045 Centerline is valid? [True, True] Translation: X:60.02, Y:-162.41, Z:-1.81 [[-9.99889143e-01 -1.03193404e-02 1.07337364e-02 6.00219920e+01] [-1.03182025e-02 9.99946753e-01 1.61386844e-04 -1.62408420e+02] [-1.07348303e-02 5.06160871e-05 -9.99942379e-01 -1.81115167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.14655999499996 meters 0.011785227868055803 Centerline is valid? [True, True] Translation: X:60.02, Y:-161.69, Z:-2.78 [[-9.98766520e-01 -4.85350189e-02 1.04780820e-02 6.00179247e+01] [ 4.85316586e-02 -9.98821479e-01 -5.74879385e-04 -1.61694023e+02] [ 1.04936352e-02 -6.56515838e-05 9.99944938e-01 -2.78127297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.176559995 meters 0.011818867764039277 Centerline is valid? [True, True] Translation: X:59.94, Y:-162.41, Z:-1.81 [[-9.99796099e-01 -1.78023517e-02 9.53086374e-03 5.99374063e+01] [-1.78012793e-02 9.99841525e-01 1.97348726e-04 -1.62409437e+02] [-9.53286661e-03 2.76469189e-05 -9.99954561e-01 -1.81019029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.20655999499996 meters 0.01157997938755314 Centerline is valid? [True, True] Translation: X:59.93, Y:-161.70, Z:-2.78 [[-9.98941310e-01 -4.51293542e-02 8.92192877e-03 5.99277725e+01] [ 4.51269615e-02 -9.98981149e-01 -4.69421017e-04 -1.61695495e+02] [ 8.93402333e-03 -6.63045096e-05 9.99960089e-01 -2.78109240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.23655999499994 meters 0.011416243017468405 Centerline is valid? [True, True] Translation: X:59.85, Y:-162.41, Z:-1.81 [[-9.99579875e-01 -2.82520321e-02 6.47278628e-03 5.98535644e+01] [-2.82515251e-02 9.99600832e-01 1.69774413e-04 -1.62407918e+02] [-6.47499902e-03 -1.31629969e-05 -9.99979037e-01 -1.81335322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.26655999499997 meters 0.0116626698680202 Centerline is valid? [True, True] Translation: X:59.84, Y:-162.38, Z:-1.81 [[-9.94568158e-01 -1.04020318e-01 3.73518454e-03 5.98434699e+01] [-1.04019679e-01 9.94575172e-01 3.65639317e-04 -1.62376297e+02] [-3.75295573e-03 -2.48794746e-05 -9.99992957e-01 -1.81433679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.29655999499994 meters 0.012254787642512572 Centerline is valid? [True, True] Translation: X:59.83, Y:-162.35, Z:-1.81 [[-9.84122651e-01 -1.77466911e-01 2.84661608e-03 5.98310144e+01] [-1.77466248e-01 9.84126768e-01 4.85835370e-04 -1.62347016e+02] [-2.88765078e-03 -2.70566823e-05 -9.99995830e-01 -1.81462812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.32655999499997 meters 0.01240945002180164 Centerline is valid? [True, True] Translation: X:59.71, Y:-161.66, Z:-2.78 [[-9.96082242e-01 8.84025282e-02 2.27180184e-03 5.97103637e+01] [-8.84023469e-02 -9.96084832e-01 1.80294464e-04 -1.61664010e+02] [ 2.27884584e-03 -2.12445009e-05 9.99997403e-01 -2.77761938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.35655999499994 meters 0.013209985295347133 Centerline is valid? [True, True] Translation: X:59.72, Y:-162.36, Z:-1.81 [[-9.81631860e-01 -1.90778951e-01 1.51134075e-03 5.97188888e+01] [-1.90778764e-01 9.81633023e-01 2.68479691e-04 -1.62361306e+02] [-1.53480226e-03 -2.47835026e-05 -9.99998822e-01 -1.81451873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.38655999499997 meters 0.013919938381165892 Centerline is valid? [True, True] Translation: X:59.59, Y:-161.69, Z:-2.78 [[-9.96065471e-01 8.86038274e-02 1.71467961e-03 5.95949157e+01] [-8.86036251e-02 -9.96066946e-01 1.93725625e-04 -1.61686910e+02] [ 1.72510051e-03 4.10365767e-05 9.99998511e-01 -2.77842221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.41655999499994 meters 0.014295069729336555 Centerline is valid? [True, True] Translation: X:59.61, Y:-162.38, Z:-1.81 [[-9.79839282e-01 -1.99777160e-01 2.01704048e-03 5.96071308e+01] [-1.99776820e-01 9.79841357e-01 3.70783088e-04 -1.62377714e+02] [-2.05045367e-03 -3.96500979e-05 -9.99997897e-01 -1.81344288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.446559995 meters 0.014295069729336555 Centerline is valid? [True, True] Translation: X:59.58, Y:-162.35, Z:-1.81 [[-9.62978262e-01 -2.69571745e-01 1.98529210e-03 5.95846079e+01] [-2.69571256e-01 9.62980308e-01 5.14534709e-04 -1.62354428e+02] [-2.05050122e-03 -3.96919468e-05 -9.99997897e-01 -1.81344204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.47655999499995 meters 0.014081041538836485 Centerline is valid? [True, True] Translation: X:59.55, Y:-162.34, Z:-1.81 [[-9.40793406e-01 -3.38972794e-01 2.28310544e-03 5.95476805e+01] [-3.38971919e-01 9.40796175e-01 7.71464129e-04 -1.62336625e+02] [-2.40944221e-03 -4.81202660e-05 -9.99997096e-01 -1.81265737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.506559995 meters 0.014522691769376343 Centerline is valid? [True, True] Translation: X:59.49, Y:-162.33, Z:-1.81 [[-9.13262341e-01 -4.07361159e-01 2.96335708e-03 5.94882107e+01] [-4.07359247e-01 9.13267147e-01 1.25011747e-03 -1.62328533e+02] [-3.21558597e-03 -6.54656984e-05 -9.99994828e-01 -1.81192890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.53655999499995 meters 0.015015741304092282 Centerline is valid? [True, True] Translation: X:59.42, Y:-162.33, Z:-1.81 [[-8.81270334e-01 -4.72602480e-01 3.08132671e-03 5.94244220e+01] [-4.72599853e-01 8.81275718e-01 1.57734719e-03 -1.62327541e+02] [-3.46095660e-03 -6.61652672e-05 -9.99994009e-01 -1.81071921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.566559995 meters 0.013785463460727577 Centerline is valid? [True, True] Translation: X:59.35, Y:-162.34, Z:-1.81 [[-8.44479770e-01 -5.35577190e-01 3.31543139e-03 5.93496372e+01] [-5.35573383e-01 8.44486275e-01 2.02058838e-03 -1.62341725e+02] [-3.88201735e-03 -6.93107954e-05 -9.99992463e-01 -1.81096231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.59655999499995 meters 0.01248762661616169 Centerline is valid? [True, True] Translation: X:59.28, Y:-162.36, Z:-1.81 [[-8.04623141e-01 -5.93774847e-01 3.61010301e-03 5.92774831e+01] [-5.93769199e-01 8.04631237e-01 2.59055568e-03 -1.62362908e+02] [-4.44300845e-03 -5.91469266e-05 -9.99990128e-01 -1.81039740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.626559995 meters 0.012050833753349718 Centerline is valid? [True, True] Translation: X:59.19, Y:-162.40, Z:-1.81 [[-7.59611641e-01 -6.50366735e-01 3.64220379e-03 5.91944063e+01] [-6.50359567e-01 7.59620371e-01 3.05381487e-03 -1.62395601e+02] [-4.75279180e-03 -4.90287558e-05 -9.99988704e-01 -1.81005326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.65655999499995 meters 0.011624066742349165 Centerline is valid? [True, True] Translation: X:59.11, Y:-162.44, Z:-1.81 [[-7.10865113e-01 -7.03319860e-01 3.45913794e-03 5.91103202e+01] [-7.03311752e-01 7.10873529e-01 3.37729661e-03 -1.62438706e+02] [-4.83432938e-03 -3.20500258e-05 -9.99988314e-01 -1.80968651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.686559995 meters 0.01126687828294131 Centerline is valid? [True, True] Translation: X:59.03, Y:-162.49, Z:-1.81 [[-6.58289440e-01 -7.52758170e-01 3.18603051e-03 5.90270766e+01] [-7.52749454e-01 6.58297149e-01 3.62246994e-03 -1.62491395e+02] [-4.82419865e-03 -1.36490247e-05 -9.99988363e-01 -1.80961414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.71655999499995 meters 0.011243911760705622 Centerline is valid? [True, True] Translation: X:58.94, Y:-162.55, Z:-1.81 [[-6.01711217e-01 -7.98709529e-01 2.58835774e-03 5.89434203e+01] [-7.98702122e-01 6.01716784e-01 3.43987465e-03 -1.62553515e+02] [-4.30491896e-03 2.48434402e-06 -9.99990734e-01 -1.81025388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.746559995 meters 0.011400820466221432 Centerline is valid? [True, True] Translation: X:58.86, Y:-162.62, Z:-1.81 [[-5.42415764e-01 -8.40109240e-01 1.26654107e-03 5.88626533e+01] [-8.40106898e-01 5.42417243e-01 1.98344588e-03 -1.62623169e+02] [-2.35330493e-03 1.18224213e-05 -9.99997231e-01 -1.81100886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.77655999499996 meters 0.01147579959045711 Centerline is valid? [True, True] Translation: X:58.78, Y:-162.70, Z:-1.81 [[-4.77726813e-01 -8.78507926e-01 9.57086689e-04 5.87838923e+01] [-8.78506108e-01 4.77727772e-01 1.78730209e-03 -1.62704035e+02] [-2.02738594e-03 1.30356267e-05 -9.99997945e-01 -1.81129020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.806559995 meters 0.011595082664259404 Centerline is valid? [True, True] Translation: X:58.71, Y:-162.79, Z:-1.81 [[-4.09785425e-01 -9.12181474e-01 9.29758247e-04 5.87104171e+01] [-9.12179033e-01 4.09786479e-01 2.11044755e-03 -1.62792269e+02] [-2.30611352e-03 1.67246682e-05 -9.99997341e-01 -1.81155548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.83655999499996 meters 0.011635518967738534 Centerline is valid? [True, True] Translation: X:58.64, Y:-162.89, Z:-1.81 [[-3.38640077e-01 -9.40915718e-01 7.13593176e-04 5.86429101e+01] [-9.40913529e-01 3.38640828e-01 2.02980773e-03 -1.62885954e+02] [-2.15152978e-03 1.59447725e-05 -9.99997685e-01 -1.81174814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.866559995 meters 0.011591621852216738 Centerline is valid? [True, True] Translation: X:58.58, Y:-162.99, Z:-1.81 [[-2.64432107e-01 -9.64403981e-01 7.89381276e-04 5.85798258e+01] [-9.64399464e-01 2.64433284e-01 2.95165627e-03 -1.62992461e+02] [-3.05532774e-03 1.92338057e-05 -9.99995332e-01 -1.81131277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.89655999499996 meters 0.011480090399631496 Centerline is valid? [True, True] Translation: X:58.53, Y:-163.10, Z:-1.81 [[-1.88592338e-01 -9.82055217e-01 6.93486207e-04 5.85265771e+01] [-9.82048179e-01 1.88593612e-01 3.71794833e-03 -1.63095743e+02] [-3.78201762e-03 2.01396989e-05 -9.99992848e-01 -1.81059272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.926559995 meters 0.011403329897323022 Centerline is valid? [True, True] Translation: X:58.48, Y:-163.21, Z:-1.81 [[-1.11180351e-01 -9.93800153e-01 4.31515747e-04 5.84796479e+01] [-9.93792081e-01 1.11181188e-01 4.00545790e-03 -1.63210517e+02] [-4.02860111e-03 1.64912844e-05 -9.99991885e-01 -1.80983627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.95655999499996 meters 0.0113618097191407 Centerline is valid? [True, True] Translation: X:58.44, Y:-163.33, Z:-1.81 [[-3.27135565e-02 -9.99464759e-01 1.35569733e-04 5.84412954e+01] [-9.99454688e-01 3.27138354e-02 4.48681308e-03 -1.63326906e+02] [-4.48884656e-03 1.12838076e-05 -9.99989925e-01 -1.80942065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.98655999499994 meters 0.011374279996982789 Centerline is valid? [True, True] Translation: X:58.41, Y:-163.44, Z:-1.81 [[ 4.75839363e-02 -9.98867230e-01 -1.59698864e-04 5.84090811e+01] [-9.98861450e-01 -4.75842042e-02 3.39812151e-03 -1.63443562e+02] [-3.40187137e-03 -2.17895878e-06 -9.99994214e-01 -1.80942532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.01655999499997 meters 0.011319747680411567 Centerline is valid? [True, True] Translation: X:58.39, Y:-163.56, Z:-1.81 [[ 1.25719072e-01 -9.92065802e-01 -3.98657751e-04 5.83890409e+01] [-9.92060654e-01 -1.25719704e-01 3.19602351e-03 -1.63563502e+02] [-3.22078476e-03 -6.30843981e-06 -9.99994813e-01 -1.80973712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.04655999499994 meters 0.01139219901510711 Centerline is valid? [True, True] Translation: X:58.38, Y:-163.69, Z:-1.81 [[ 2.02992178e-01 -9.79180190e-01 -5.74820340e-04 5.83787751e+01] [-9.79176133e-01 -2.02992991e-01 2.81878862e-03 -1.63685934e+02] [-2.87678647e-03 -9.34168195e-06 -9.99995862e-01 -1.80990910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.07655999499997 meters 0.011636450407634311 Centerline is valid? [True, True] Translation: X:58.38, Y:-163.81, Z:-1.81 [[ 2.79584835e-01 -9.60120791e-01 -6.21459612e-04 5.83766389e+01] [-9.60118328e-01 -2.79585525e-01 2.17515414e-03 -1.63807538e+02] [-2.26216182e-03 -1.14653461e-05 -9.99997441e-01 -1.81016174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.10655999499994 meters 0.011660244150676432 Centerline is valid? [True, True] Translation: X:58.39, Y:-163.93, Z:-1.81 [[ 3.53237398e-01 -9.35533440e-01 -7.23419200e-04 5.83858480e+01] [-9.35531408e-01 -3.53238139e-01 1.94998460e-03 -1.63928679e+02] [-2.07981505e-03 -1.20261027e-05 -9.99997837e-01 -1.81036523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.13655999499997 meters 0.011781191021940406 Centerline is valid? [True, True] Translation: X:58.41, Y:-164.05, Z:-1.81 [[ 4.24812622e-01 -9.05280992e-01 -7.50124597e-04 5.84061164e+01] [-9.05279532e-01 -4.24813284e-01 1.62595506e-03 -1.64052340e+02] [-1.79060910e-03 -1.16537865e-05 -9.99998397e-01 -1.81043387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.16655999499994 meters 0.011895524956505645 Centerline is valid? [True, True] Translation: X:58.43, Y:-164.16, Z:-1.81 [[ 4.94107573e-01 -8.69400416e-01 -7.89556897e-04 5.84270867e+01] [-8.69399265e-01 -4.94108204e-01 1.41437800e-03 -1.64159088e+02] [-1.61978736e-03 -1.24146957e-05 -9.99998688e-01 -1.81049104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.196559995 meters 0.011963422651057697 Centerline is valid? [True, True] Translation: X:58.46, Y:-164.27, Z:-1.81 [[ 5.59759968e-01 -8.28654322e-01 -8.90050505e-04 5.84602292e+01] [-8.28653237e-01 -5.59760675e-01 1.34135413e-03 -1.64269860e+02] [-1.60973417e-03 -1.32931118e-05 -9.99998704e-01 -1.81026204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.22655999499995 meters 0.012256281303087839 Centerline is valid? [True, True] Translation: X:58.50, Y:-164.38, Z:-1.81 [[ 6.22228791e-01 -7.82834712e-01 -1.07045295e-03 5.85001495e+01] [-7.82833509e-01 -6.22229711e-01 1.37261371e-03 -1.64376712e+02] [-1.74059729e-03 -1.60933359e-05 -9.99998485e-01 -1.81012858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.256559995 meters 0.01252504121695958 Centerline is valid? [True, True] Translation: X:58.55, Y:-164.48, Z:-1.81 [[ 6.81199923e-01 -7.32096411e-01 -1.22891810e-03 5.85467608e+01] [-7.32095168e-01 -6.81201031e-01 1.34945822e-03 -1.64478650e+02] [-1.82507380e-03 -1.95658379e-05 -9.99998334e-01 -1.80984163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.28655999499995 meters 0.012673101367157021 Centerline is valid? [True, True] Translation: X:58.60, Y:-164.57, Z:-1.81 [[ 7.35384806e-01 -6.77648133e-01 -1.48151906e-03 5.85991708e+01] [-6.77646694e-01 -7.35386298e-01 1.39674431e-03 -1.64572685e+02] [-2.03598999e-03 -2.31980472e-05 -9.99997927e-01 -1.81035669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.316559995 meters 0.01287949879379604 Centerline is valid? [True, True] Translation: X:58.60, Y:-164.58, Z:-1.81 [[ 7.86267849e-01 -6.17884904e-01 -1.05592173e-03 5.85973180e+01] [-6.17884321e-01 -7.86268558e-01 8.49270659e-04 -1.64579662e+02] [-1.35498957e-03 -1.53167359e-05 -9.99999082e-01 -1.81090229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.34655999499995 meters 0.013234555484769496 Centerline is valid? [True, True] Translation: X:58.60, Y:-164.59, Z:-1.81 [[ 8.32459899e-01 -5.54084861e-01 -6.94936266e-04 5.85963757e+01] [-5.54084659e-01 -8.32460189e-01 4.73930438e-04 -1.64586103e+02] [-8.41104457e-04 -9.47456110e-06 -9.99999646e-01 -1.81195094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.376559995 meters 0.013345578394045382 Centerline is valid? [True, True] Translation: X:58.60, Y:-164.59, Z:-1.81 [[ 8.73420105e-01 -4.86966635e-01 -9.03929948e-04 5.85975809e+01] [-4.86966359e-01 -8.73420572e-01 5.18298810e-04 -1.64591835e+02] [-1.04190524e-03 -1.25091251e-05 -9.99999457e-01 -1.81228402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.40655999499995 meters 0.013222201043263045 Centerline is valid? [True, True] Translation: X:58.60, Y:-164.60, Z:-1.81 [[ 9.08956674e-01 -4.16889418e-01 -9.89350239e-04 5.85986770e+01] [-4.16889154e-01 -9.08957212e-01 4.68748531e-04 -1.64599576e+02] [-1.09469334e-03 -1.36227211e-05 -9.99999401e-01 -1.81235659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.436559995 meters 0.01326445553301131 Centerline is valid? [True, True] Translation: X:58.60, Y:-164.61, Z:-1.81 [[ 9.39158853e-01 -3.43478192e-01 -1.83837949e-03 5.85987668e+01] [-3.43477476e-01 -9.39160652e-01 7.01976456e-04 -1.64610146e+02] [-1.96764728e-03 -2.78254582e-05 -9.99998064e-01 -1.81116935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.46655999499995 meters 0.013413323624425877 Centerline is valid? [True, True] Translation: X:58.60, Y:-164.62, Z:-1.81 [[ 9.63299819e-01 -2.68412165e-01 -2.89284506e-03 5.86003905e+01] [-2.68410814e-01 -9.63304161e-01 8.53020891e-04 -1.64619534e+02] [-3.01565087e-03 -4.52439727e-05 -9.99995452e-01 -1.81080063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.496559995 meters 0.013509446950882237 Centerline is valid? [True, True] Translation: X:58.60, Y:-164.63, Z:-1.81 [[ 9.81471591e-01 -1.91576101e-01 -3.48052611e-03 5.86021856e+01] [-1.91574693e-01 -9.81477761e-01 7.36631522e-04 -1.64628805e+02] [-3.55717996e-03 -5.62021914e-05 -9.99993672e-01 -1.81044560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.52655999499996 meters 0.01374164629220436 Centerline is valid? [True, True] Translation: X:58.61, Y:-164.64, Z:-1.81 [[ 9.93535619e-01 -1.13417927e-01 -4.83191055e-03 5.86051479e+01] [-1.13416187e-01 -9.93547365e-01 6.33577600e-04 -1.64637686e+02] [-4.87259106e-03 -8.14650428e-05 -9.99988126e-01 -1.81004627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.556559995 meters 0.015552904261131694 Centerline is valid? [True, True] Translation: X:58.60, Y:-164.65, Z:-1.81 [[ 9.99414617e-01 -3.36920528e-02 -5.93881685e-03 5.86038131e+01] [-3.36908086e-02 -9.99432256e-01 3.09458188e-04 -1.64647563e+02] [-5.94587140e-03 -1.09193495e-04 -9.99982317e-01 -1.80854753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.58655999499996 meters 0.014586358401709805 Centerline is valid? [True, True] Translation: X:58.60, Y:-164.65, Z:-1.81 [[ 9.98961527e-01 4.50795089e-02 -6.61102123e-03 5.86048748e+01] [ 4.50793452e-02 -9.98983394e-01 -1.73843342e-04 -1.64651422e+02] [-6.61213720e-03 -1.24357698e-04 -9.99978132e-01 -1.80887982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.616559995 meters 0.014399093294070457 Centerline is valid? [True, True] Translation: X:58.61, Y:-164.66, Z:-1.81 [[ 9.92350603e-01 1.23258479e-01 -6.90134815e-03 5.86064918e+01] [ 1.23256419e-01 -9.92374592e-01 -7.24739839e-04 -1.64658130e+02] [-6.93805289e-03 -1.31439442e-04 -9.99975923e-01 -1.80893062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.64655999499996 meters 0.014571026033683376 Centerline is valid? [True, True] Translation: X:58.61, Y:-164.66, Z:-1.81 [[ 9.79612450e-01 2.00771288e-01 -7.09486456e-03 5.86070244e+01] [ 2.00767041e-01 -9.79638133e-01 -1.31325657e-03 -1.64664712e+02] [-7.21406408e-03 -1.37932472e-04 -9.99973969e-01 -1.80896769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.676559995 meters 0.014185921452627797 Centerline is valid? [True, True] Translation: X:58.61, Y:-164.67, Z:-1.81 [[ 9.61264675e-01 2.75529884e-01 -7.31486281e-03 5.86082325e+01] [ 2.75522967e-01 -9.61292497e-01 -1.95698879e-03 -1.64668549e+02] [-7.57093163e-03 -1.34228514e-04 -9.99971331e-01 -1.80934745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.70655999499996 meters 0.014061522870483675 Centerline is valid? [True, True] Translation: X:58.61, Y:-164.67, Z:-1.81 [[ 9.37241863e-01 3.48599909e-01 -7.46954668e-03 5.86085434e+01] [ 3.48589935e-01 -9.37271619e-01 -2.64016437e-03 -1.64673696e+02] [-7.92135517e-03 -1.29336217e-04 -9.99968617e-01 -1.80936857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.73655999499994 meters 0.013152691195289732 Centerline is valid? [True, True] Translation: X:58.61, Y:-164.68, Z:-1.81 [[ 9.08470585e-01 4.17894293e-01 -6.74954077e-03 5.86094148e+01] [ 4.17883540e-01 -9.08495653e-01 -2.99937619e-03 -1.64676219e+02] [-7.38535064e-03 -9.56769410e-05 -9.99972723e-01 -1.81108785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.76655999499997 meters 0.013486055237343276 Centerline is valid? [True, True] Translation: X:58.61, Y:-164.68, Z:-1.81 [[ 8.73793123e-01 4.86256188e-01 -6.36375004e-03 5.86117758e+01] [ 4.86243969e-01 -8.73816292e-01 -3.44817508e-03 -1.64683323e+02] [-7.23744494e-03 -8.13434026e-05 -9.99973806e-01 -1.80999382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.79655999499994 meters 0.01266859468398796 Centerline is valid? [True, True] Translation: X:58.61, Y:-164.68, Z:-1.81 [[ 8.34850637e-01 5.50440189e-01 -6.32548920e-03 5.86099068e+01] [ 5.50424937e-01 -8.34874598e-01 -4.09806174e-03 -1.64682211e+02] [-7.53672814e-03 -6.04375412e-05 -9.99971597e-01 -1.81034603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.82655999499997 meters 0.01251967889246947 Centerline is valid? [True, True] Translation: X:58.61, Y:-164.69, Z:-1.81 [[ 7.89959938e-01 6.13129096e-01 -6.00064236e-03 5.86104308e+01] [ 6.13111901e-01 -7.89982727e-01 -4.59212062e-03 -1.64685227e+02] [-7.55596658e-03 -5.14739225e-05 -9.99971452e-01 -1.81073942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.85655999499994 meters 0.012363632607259796 Centerline is valid? [True, True] Translation: X:58.61, Y:-164.69, Z:-1.81 [[ 7.40081777e-01 6.72495884e-01 -5.31501629e-03 5.86120390e+01] [ 6.72478953e-01 -7.40100861e-01 -4.77205423e-03 -1.64690177e+02] [-7.14283496e-03 -4.25262185e-05 -9.99974489e-01 -1.81133203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.88655999499997 meters 0.012304977497707939 Centerline is valid? [True, True] Translation: X:58.61, Y:-164.70, Z:-1.81 [[ 6.85542460e-01 7.28017157e-01 -4.74912432e-03 5.86148246e+01] [ 7.28000065e-01 -6.85558909e-01 -4.98885146e-03 -1.64695912e+02] [-6.88777395e-03 -3.72933063e-05 -9.99976278e-01 -1.81193706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.91655999499994 meters 0.012277735778403442 Centerline is valid? [True, True] Translation: X:58.62, Y:-164.70, Z:-1.81 [[ 6.26616477e-01 7.79314281e-01 -4.58705760e-03 5.86164438e+01] [ 7.79293842e-01 -6.26633265e-01 -5.64430197e-03 -1.64701302e+02] [-7.27308802e-03 -3.78531256e-05 -9.99973550e-01 -1.81205290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.946559995 meters 0.012366575611025703 Centerline is valid? [True, True] Translation: X:58.62, Y:-164.71, Z:-1.81 [[ 5.63075506e-01 8.26395970e-01 -3.95926229e-03 5.86206947e+01] [ 8.26376056e-01 -5.63089424e-01 -5.73720688e-03 -1.64707973e+02] [-6.97062337e-03 -4.13588895e-05 -9.99975704e-01 -1.81260182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.97655999499995 meters 0.01250985996717287 Centerline is valid? [True, True] Translation: X:58.63, Y:-164.72, Z:-1.81 [[ 4.95277121e-01 8.68727187e-01 -3.69433006e-03 5.86253064e+01] [ 8.68703846e-01 -4.95290896e-01 -6.36838366e-03 -1.64715739e+02] [-7.36215607e-03 -5.51640074e-05 -9.99972897e-01 -1.81253777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.006559995 meters 0.013131590310174187 Centerline is valid? [True, True] Translation: X:58.63, Y:-164.72, Z:-1.81 [[ 4.22438940e-01 9.06384248e-01 -3.59671690e-03 5.86309346e+01] [ 9.06353242e-01 -4.22454241e-01 -7.49763117e-03 -1.64722714e+02] [-8.31518310e-03 -9.26046564e-05 -9.99965424e-01 -1.81173817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.03655999499995 meters 0.013319573860374195 Centerline is valid? [True, True] Translation: X:58.64, Y:-164.73, Z:-1.81 [[ 3.47946971e-01 9.37508731e-01 -3.20712531e-03 5.86382243e+01] [ 9.37472037e-01 -3.47961730e-01 -8.29545939e-03 -1.64728562e+02] [-8.89302247e-03 -1.20210332e-04 -9.99960449e-01 -1.81202674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.066559995 meters 0.014079535665834864 Centerline is valid? [True, True] Translation: X:58.65, Y:-164.74, Z:-1.81 [[ 2.71349094e-01 9.62477079e-01 -2.74613872e-03 5.86475324e+01] [ 9.62433257e-01 -2.71362948e-01 -9.18562109e-03 -1.64735966e+02] [-9.58615006e-03 -1.50465267e-04 -9.99954041e-01 -1.81088347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.09655999499995 meters 0.01419831683030218 Centerline is valid? [True, True] Translation: X:58.66, Y:-164.74, Z:-1.81 [[ 1.93459153e-01 9.81106057e-01 -2.11223399e-03 5.86550642e+01] [ 9.81057046e-01 -1.93470605e-01 -9.80800991e-03 -1.64740767e+02] [-1.00313531e-02 -1.74772745e-04 -9.99949669e-01 -1.81090627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.126559995 meters 0.01600786352623819 Centerline is valid? [True, True] Translation: X:58.66, Y:-164.75, Z:-1.81 [[ 1.14432424e-01 9.93430141e-01 -1.33252806e-03 5.86647270e+01] [ 9.93380765e-01 -1.14440024e-01 -9.90638598e-03 -1.64746260e+02] [-9.99379696e-03 -1.90095984e-04 -9.99950043e-01 -1.80940356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.15655999499995 meters 0.014898996218194299 Centerline is valid? [True, True] Translation: X:58.67, Y:-164.75, Z:-1.81 [[ 3.48817403e-02 9.99391314e-01 -5.15065487e-04 5.86707744e+01] [ 9.99348039e-01 -3.48850240e-02 -9.30230397e-03 -1.64748921e+02] [-9.31460986e-03 -1.90249133e-04 -9.99956600e-01 -1.81127412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.186559995 meters 0.015198177610447085 Centerline is valid? [True, True] Translation: X:58.68, Y:-164.75, Z:-1.81 [[-4.33814261e-02 9.99058562e-01 2.05186085e-04 5.86784940e+01] [ 9.99019100e-01 4.33815367e-02 -8.88148885e-03 -1.64753130e+02] [-8.88202877e-03 -1.80306834e-04 -9.99960538e-01 -1.81154300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.21655999499995 meters 0.014756197468113453 Centerline is valid? [True, True] Translation: X:58.69, Y:-164.76, Z:-1.81 [[-1.20990687e-01 9.92653307e-01 8.16372049e-04 5.86855118e+01] [ 9.92620964e-01 1.20993336e-01 -8.01464375e-03 -1.64755194e+02] [-8.05453820e-03 -1.59349242e-04 -9.99967549e-01 -1.81220270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.246559995 meters 0.014106187319259177 Centerline is valid? [True, True] Translation: X:58.69, Y:-164.76, Z:-1.81 [[-1.96358329e-01 9.80531536e-01 1.14601004e-03 5.86924112e+01] [ 9.80511309e-01 1.96361640e-01 -6.29913323e-03 -1.64756816e+02] [-6.40153119e-03 -1.13211470e-04 -9.99979504e-01 -1.81368033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.27655999499996 meters 0.014106187319259177 Centerline is valid? [True, True] Translation: X:58.70, Y:-164.76, Z:-1.81 [[-2.72577317e-01 9.62132491e-01 1.63603016e-03 5.87015050e+01] [ 9.62112585e-01 2.72582203e-01 -6.19002742e-03 -1.64758358e+02] [-6.40157920e-03 -1.13215859e-04 -9.99979503e-01 -1.81367991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.306559995 meters 0.013722601588828454 Centerline is valid? [True, True] Translation: X:58.71, Y:-164.76, Z:-1.82 [[-3.45086553e-01 9.38569398e-01 1.66030594e-03 5.87084684e+01] [ 9.38557429e-01 3.45090538e-01 -4.74060910e-03 -1.64760452e+02] [-5.02234650e-03 -7.76279821e-05 -9.99987385e-01 -1.81519059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.33655999499996 meters 0.013602801361218702 Centerline is valid? [True, True] Translation: X:58.72, Y:-164.76, Z:-1.82 [[-4.16691383e-01 9.09046131e-01 1.85014809e-03 5.87160974e+01] [ 9.09036453e-01 4.16695485e-01 -4.19522661e-03 -1.64762378e+02] [-4.58460287e-03 -6.62627251e-05 -9.99989488e-01 -1.81533341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.366559995 meters 0.013602801361218702 Centerline is valid? [True, True] Translation: X:58.72, Y:-164.76, Z:-1.82 [[-4.86611381e-01 8.73615843e-01 2.17307322e-03 5.87238105e+01] [ 8.73606516e-01 4.86616229e-01 -4.03746995e-03 -1.64762848e+02] [-4.58465041e-03 -6.62679021e-05 -9.99989488e-01 -1.81533300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.39655999499996 meters 0.013320676899692872 Centerline is valid? [True, True] Translation: X:58.73, Y:-164.76, Z:-1.82 [[-5.52075809e-01 8.33790543e-01 2.37302709e-03 5.87304615e+01] [ 8.33782405e-01 5.52080906e-01 -3.68437512e-03 -1.64764201e+02] [-4.38210008e-03 -5.54661439e-05 -9.99990397e-01 -1.81532355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.426559995 meters 0.013079409349973847 Centerline is valid? [True, True] Translation: X:58.74, Y:-164.76, Z:-1.81 [[-6.15157706e-01 7.88399772e-01 2.60682801e-03 5.87379762e+01] [ 7.88392337e-01 6.15163227e-01 -3.42443081e-03 -1.64763255e+02] [-4.30344520e-03 -5.13617735e-05 -9.99990739e-01 -1.81492962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.45655999499996 meters 0.012900245301409017 Centerline is valid? [True, True] Translation: X:58.75, Y:-164.76, Z:-1.81 [[-6.74376729e-01 7.38381365e-01 2.99771493e-03 5.87453089e+01] [ 7.38373740e-01 6.74383390e-01 -3.35619942e-03 -1.64760536e+02] [-4.49976426e-03 -4.99088076e-05 -9.99989875e-01 -1.81435732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.48655999499994 meters 0.01292241936219749 Centerline is valid? [True, True] Translation: X:58.75, Y:-164.76, Z:-1.81 [[-7.29824049e-01 6.83624143e-01 3.85849174e-03 5.87533540e+01] [ 6.83614175e-01 7.29834247e-01 -3.69215293e-03 -1.64758769e+02] [-5.34010430e-03 -5.69023564e-05 -9.99985740e-01 -1.81304140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.51655999499997 meters 0.012953851319211706 Centerline is valid? [True, True] Translation: X:58.78, Y:-164.74, Z:-1.81 [[-7.76098797e-01 6.30593879e-01 4.69218165e-03 5.87763086e+01] [ 6.30581861e-01 7.76112979e-01 -3.89375339e-03 -1.64742093e+02] [-6.09704013e-03 -6.31326900e-05 -9.99981411e-01 -1.81185313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.54655999499994 meters 0.012983153385004014 Centerline is valid? [True, True] Translation: X:58.80, Y:-164.72, Z:-1.81 [[-8.18638216e-01 5.74283800e-01 5.43944817e-03 5.87972403e+01] [ 5.74270569e-01 8.18656284e-01 -3.89887927e-03 -1.64723231e+02] [-6.69210163e-03 -6.80565762e-05 -9.99977605e-01 -1.81101838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.57655999499997 meters 0.012817244522678841 Centerline is valid? [True, True] Translation: X:58.81, Y:-164.70, Z:-1.81 [[-8.57251020e-01 5.14864503e-01 5.93570945e-03 5.88140574e+01] [ 5.14851586e-01 8.57271566e-01 -3.64780683e-03 -1.64701804e+02] [-6.96664118e-03 -7.10767038e-05 -9.99975730e-01 -1.81065156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.60655999499994 meters 0.013123977414763554 Centerline is valid? [True, True] Translation: X:58.82, Y:-164.68, Z:-1.81 [[-8.91506042e-01 4.52960381e-01 6.62349549e-03 5.88240811e+01] [ 4.52947247e-01 8.91530643e-01 -3.45026675e-03 -1.64675242e+02] [-7.46788333e-03 -7.58396130e-05 -9.99972112e-01 -1.80949379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.63655999499997 meters 0.012926081350883571 Centerline is valid? [True, True] Translation: X:59.17, Y:-164.03, Z:-2.78 [[-8.48217341e-01 -5.29605997e-01 6.69548246e-03 5.91729554e+01] [ 5.29590441e-01 -8.48243761e-01 -4.06052718e-03 -1.64032270e+02] [ 7.82988077e-03 1.01653942e-04 9.99969341e-01 -2.78211182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.66655999499994 meters 0.012975822198721428 Centerline is valid? [True, True] Translation: X:59.16, Y:-164.06, Z:-2.78 [[-8.10780054e-01 -5.85322177e-01 5.80122857e-03 5.91626952e+01] [ 5.85307835e-01 -8.10800804e-01 -4.09806465e-03 -1.64061331e+02] [ 7.10232891e-03 7.28754569e-05 9.99974776e-01 -2.78224435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.696559995 meters 0.012792992375758896 Centerline is valid? [True, True] Translation: X:58.73, Y:-164.66, Z:-1.81 [[-8.60123055e-01 5.10058276e-01 5.37450806e-03 5.87324822e+01] [ 5.10047917e-01 8.60139844e-01 -3.25123364e-03 -1.64659779e+02] [-6.28114715e-03 -5.52043651e-05 -9.99980272e-01 -1.81097415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.72655999499995 meters 0.012596610277585095 Centerline is valid? [True, True] Translation: X:58.76, Y:-164.64, Z:-1.81 [[-8.93438700e-01 4.49157875e-01 4.94900177e-03 5.87565262e+01] [ 4.49150728e-01 8.93452406e-01 -2.53416659e-03 -1.64642516e+02] [-5.55993842e-03 -4.12747540e-05 -9.99984543e-01 -1.81135378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.756559995 meters 0.012429058632536303 Centerline is valid? [True, True] Translation: X:58.77, Y:-164.62, Z:-1.81 [[-9.22574272e-01 3.85795614e-01 4.29620281e-03 5.87707923e+01] [ 3.85791283e-01 9.22584274e-01 -1.82824306e-03 -1.64620357e+02] [-4.66893731e-03 -2.92524183e-05 -9.99989100e-01 -1.81253965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.78655999499995 meters 0.012275430811781686 Centerline is valid? [True, True] Translation: X:59.07, Y:-163.94, Z:-2.78 [[-8.89380829e-01 -4.57153355e-01 3.54284472e-03 5.90685928e+01] [ 4.57149657e-01 -8.89387885e-01 -1.83869260e-03 -1.63940243e+02] [ 3.99152766e-03 -1.56877017e-05 9.99992034e-01 -2.77876003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.816559995 meters 0.012102427592397175 Centerline is valid? [True, True] Translation: X:58.73, Y:-164.61, Z:-1.82 [[-9.22373820e-01 3.86292206e-01 2.20621124e-03 5.87251346e+01] [ 3.86291091e-01 9.22376459e-01 -9.28413055e-04 -1.64606641e+02] [-2.39359604e-03 -4.10414825e-06 -9.99997135e-01 -1.81500386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.84655999499995 meters 0.012102427592397175 Centerline is valid? [True, True] Translation: X:59.02, Y:-163.92, Z:-2.78 [[-8.92314752e-01 -4.51408559e-01 2.16717281e-03 5.90228045e+01] [ 4.51407244e-01 -8.92317384e-01 -1.08945711e-03 -1.63918401e+02] [ 2.42559623e-03 6.13885342e-06 9.99997058e-01 -2.77726230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.876559995 meters 0.012082990292727361 Centerline is valid? [True, True] Translation: X:58.69, Y:-164.60, Z:-1.82 [[-9.23121465e-01 3.84504995e-01 1.63392999e-03 5.86907766e+01] [ 3.84504393e-01 9.23122911e-01 -6.80113260e-04 -1.64595320e+02] [-1.76982516e-03 4.26112678e-07 -9.99998434e-01 -1.81574225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.90655999499995 meters 0.012117076684920786 Centerline is valid? [True, True] Translation: X:58.99, Y:-163.90, Z:-2.78 [[-8.94820429e-01 -4.46421992e-01 1.95079136e-03 5.89867851e+01] [ 4.46420990e-01 -8.94822555e-01 -9.46222620e-04 -1.63902060e+02] [ 2.16802670e-03 2.41748805e-05 9.99997650e-01 -2.77680159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.936559995 meters 0.01206230424329835 Centerline is valid? [True, True] Translation: X:58.65, Y:-164.58, Z:-1.81 [[-9.24820442e-01 3.80394806e-01 2.63468148e-03 5.86492762e+01] [ 3.80393255e-01 9.24824195e-01 -1.08610166e-03 -1.64578010e+02] [-2.84976460e-03 -2.23395218e-06 -9.99995939e-01 -1.81483521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.96655999499995 meters 0.012101839006614401 Centerline is valid? [True, True] Translation: X:58.94, Y:-163.89, Z:-2.78 [[-8.95781086e-01 -4.44486475e-01 2.83189648e-03 5.89396658e+01] [ 4.44484329e-01 -8.95785562e-01 -1.38140652e-03 -1.63885626e+02] [ 3.15078850e-03 2.12957719e-05 9.99995036e-01 -2.77776787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.996559995 meters 0.012062101417019366 Centerline is valid? [True, True] Translation: X:58.60, Y:-164.56, Z:-1.81 [[-9.26803150e-01 3.75531459e-01 3.47049834e-03 5.86043261e+01] [ 3.75528790e-01 9.26809648e-01 -1.41608326e-03 -1.64558074e+02] [-3.74827516e-03 -9.15838555e-06 -9.99992975e-01 -1.81433981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.02655999499996 meters 0.012188431060347019 Centerline is valid? [True, True] Translation: X:58.62, Y:-164.53, Z:-1.81 [[-9.51616428e-01 3.07265850e-01 3.72444110e-03 5.86183919e+01] [ 3.07263430e-01 9.51623716e-01 -1.21973041e-03 -1.64531224e+02] [-3.91904798e-03 -1.63309537e-05 -9.99992320e-01 -1.81425795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.056559995 meters 0.012256713468621264 Centerline is valid? [True, True] Translation: X:58.85, Y:-163.83, Z:-2.78 [[-9.25119990e-01 -3.79656512e-01 3.73317663e-03 5.88496263e+01] [ 3.79653523e-01 -9.25127522e-01 -1.50660784e-03 -1.63825604e+02] [ 4.02565792e-03 2.35206308e-05 9.99991897e-01 -2.77786961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.08655999499996 meters 0.012330688521935817 Centerline is valid? [True, True] Translation: X:58.57, Y:-164.51, Z:-1.82 [[-9.53379040e-01 3.01755415e-01 3.47503168e-03 5.85718483e+01] [ 3.01753324e-01 9.53385373e-01 -1.12359267e-03 -1.64514804e+02] [-3.65209455e-03 -2.26073403e-05 -9.99993331e-01 -1.81512145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.116559995 meters 0.012776381917554973 Centerline is valid? [True, True] Translation: X:58.80, Y:-163.81, Z:-2.78 [[-9.25214534e-01 -3.79428829e-01 3.43951726e-03 5.88045436e+01] [ 3.79426313e-01 -9.25220927e-01 -1.38190380e-03 -1.63814488e+02] [ 3.70664749e-03 2.64858680e-05 9.99993130e-01 -2.77549247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.14655999499996 meters 0.012834549871326408 Centerline is valid? [True, True] Translation: X:58.53, Y:-164.50, Z:-1.82 [[-9.55580416e-01 2.94698748e-01 4.32619393e-03 5.85267400e+01] [ 2.94695514e-01 9.55590208e-01 -1.38126318e-03 -1.64498882e+02] [-4.54112508e-03 -4.49981000e-05 -9.99989688e-01 -1.81641609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.176559995 meters 0.012991837310182065 Centerline is valid? [True, True] Translation: X:58.75, Y:-163.80, Z:-2.78 [[-9.25695106e-01 -3.78228833e-01 5.61440521e-03 5.87522599e+01] [ 3.78222870e-01 -9.25712119e-01 -2.12926258e-03 -1.63799024e+02] [ 6.00267144e-03 1.52448502e-04 9.99981972e-01 -2.77735078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.20655999499996 meters 0.013160899677301016 Centerline is valid? [True, True] Translation: X:58.48, Y:-164.48, Z:-1.81 [[-9.57402446e-01 2.88682970e-01 6.53441597e-03 5.84768841e+01] [ 2.88675632e-01 9.57424742e-01 -2.06004602e-03 -1.64482562e+02] [-6.85091173e-03 -8.59664378e-05 -9.99976529e-01 -1.81369552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.23655999499994 meters 0.013346412723926846 Centerline is valid? [True, True] Translation: X:58.69, Y:-163.78, Z:-2.78 [[-9.26433085e-01 -3.76419612e-01 5.47861827e-03 5.86942090e+01] [ 3.76413126e-01 -9.26449284e-01 -2.20970090e-03 -1.63780584e+02] [ 5.90743673e-03 1.50838077e-05 9.99982551e-01 -2.77788956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.26655999499997 meters 0.01359821956532043 Centerline is valid? [True, True] Translation: X:58.43, Y:-164.47, Z:-1.82 [[-9.58647576e-01 2.84551929e-01 5.00242436e-03 5.84277447e+01] [ 2.84547684e-01 9.58660626e-01 -1.55566507e-03 -1.64468309e+02] [-5.23829476e-03 -6.79062780e-05 -9.99986278e-01 -1.81520925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.29655999499994 meters 0.013760895822071026 Centerline is valid? [True, True] Translation: X:58.44, Y:-164.44, Z:-1.82 [[-9.76261611e-01 2.16543941e-01 4.68909739e-03 5.84410084e+01] [ 2.16541153e-01 9.76272871e-01 -1.10055945e-03 -1.64443520e+02] [-4.81615805e-03 -5.90513889e-05 -9.99988401e-01 -1.81543557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.32655999499997 meters 0.012880766149575822 Centerline is valid? [True, True] Translation: X:58.46, Y:-164.42, Z:-1.82 [[-9.88955763e-01 1.48157026e-01 3.99939209e-03 5.84552996e+01] [ 1.48155636e-01 9.88963849e-01 -6.43187818e-04 -1.64420709e+02] [-4.05054699e-03 -4.35518211e-05 -9.99991796e-01 -1.81680595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.35655999499994 meters 0.012639836738013345 Centerline is valid? [True, True] Translation: X:58.57, Y:-163.69, Z:-2.77 [[-9.71894197e-01 -2.35396657e-01 3.17545209e-03 5.85743926e+01] [ 2.35395352e-01 -9.71899385e-01 -7.83929715e-04 -1.63689921e+02] [ 3.27075437e-03 -1.44100789e-05 9.99994651e-01 -2.77468884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.38655999499997 meters 0.012751967796480634 Centerline is valid? [True, True] Translation: X:58.40, Y:-164.41, Z:-1.82 [[-9.89543069e-01 1.44215345e-01 2.53946377e-03 5.84029615e+01] [ 1.44214801e-01 9.89546327e-01 -3.97052996e-04 -1.64412085e+02] [-2.57017818e-03 -2.66727771e-05 -9.99996697e-01 -1.81771383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.41655999499994 meters 0.012649379274820441 Centerline is valid? [True, True] Translation: X:58.40, Y:-164.38, Z:-1.82 [[-9.97300987e-01 7.33914722e-02 2.10554787e-03 5.84017608e+01] [ 7.33912616e-02 9.97303209e-01 -1.77190419e-04 -1.64383630e+02] [-2.11287392e-03 -2.21833644e-05 -9.99997768e-01 -1.81814772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.446559995 meters 0.012649246278588015 Centerline is valid? [True, True] Translation: X:58.47, Y:-163.65, Z:-2.77 [[-9.86816575e-01 -1.61840881e-01 7.58851936e-04 5.84689150e+01] [ 1.61840772e-01 -9.86816864e-01 -2.03672623e-04 -1.63650888e+02] [ 7.81810445e-04 -7.81743377e-05 9.99999691e-01 -2.77322579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.47655999499995 meters 0.012582101591796704 Centerline is valid? [True, True] Translation: X:58.34, Y:-164.38, Z:-1.82 [[-9.97591653e-01 6.93593462e-02 -4.19147025e-04 5.83411089e+01] [ 6.93593375e-02 9.97591741e-01 3.51011839e-05 -1.64376195e+02] [ 4.20572205e-04 5.94488806e-06 -9.99999912e-01 -1.81953017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.506559995 meters 0.012798615484181807 Centerline is valid? [True, True] Translation: X:58.40, Y:-163.65, Z:-2.77 [[-9.87572932e-01 -1.57152958e-01 -1.62813223e-03 5.84014950e+01] [ 1.57152906e-01 -9.87574270e-01 1.60830952e-04 -1.63647722e+02] [-1.63317656e-03 -9.70334169e-05 9.99998662e-01 -2.77230277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.53655999499995 meters 0.012451336791032903 Centerline is valid? [True, True] Translation: X:58.28, Y:-164.37, Z:-1.82 [[-9.97783125e-01 6.64225568e-02 -4.10837451e-03 5.82796961e+01] [ 6.64218340e-02 9.97791583e-01 3.12275791e-04 -1.64369859e+02] [ 4.12004366e-03 3.86977455e-05 -9.99991512e-01 -1.82109916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.566559995 meters 0.012317850184607324 Centerline is valid? [True, True] Translation: X:58.34, Y:-163.64, Z:-2.77 [[-9.88657978e-01 -1.50096924e-01 -5.12999726e-03 5.83400800e+01] [ 1.50095506e-01 -9.88671280e-01 6.62419498e-04 -1.63642864e+02] [-5.17130809e-03 -1.15083213e-04 9.99986622e-01 -2.77057202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.59655999499995 meters 0.01230172763482175 Centerline is valid? [True, True] Translation: X:58.22, Y:-164.37, Z:-1.82 [[-9.97931324e-01 6.39418293e-02 -6.67189364e-03 5.82170373e+01] [ 6.39400808e-02 9.97953626e-01 4.75268772e-04 -1.64366130e+02] [ 6.68863001e-03 4.76841773e-05 -9.99977630e-01 -1.82238247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.626559995 meters 0.012167006700668686 Centerline is valid? [True, True] Translation: X:58.27, Y:-163.64, Z:-2.77 [[-9.89672215e-01 -1.43147146e-01 -7.60274229e-03 5.82730958e+01] [ 1.43143824e-01 -9.89701410e-01 9.82125486e-04 -1.63636995e+02] [-7.66503322e-03 -1.16303296e-04 9.99970616e-01 -2.76936549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.65655999499995 meters 0.011948316604482492 Centerline is valid? [True, True] Translation: X:58.15, Y:-164.37, Z:-1.82 [[-9.97850705e-01 6.48344913e-02 -9.51106113e-03 5.81512287e+01] [ 6.48314026e-02 9.97896031e-01 6.33024499e-04 -1.64366153e+02] [ 9.53209198e-03 1.50485088e-05 -9.99954568e-01 -1.82384001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.686559995 meters 0.011983315336647317 Centerline is valid? [True, True] Translation: X:58.16, Y:-164.34, Z:-1.82 [[-9.99936022e-01 -3.68754373e-03 -1.06936869e-02 5.81558318e+01] [-3.68721458e-03 9.99993201e-01 -5.04947769e-05 -1.64340713e+02] [ 1.06938004e-02 -1.10616280e-05 -9.99942820e-01 -1.82449181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.71655999499995 meters 0.012099434991743064 Centerline is valid? [True, True] Translation: X:58.15, Y:-164.31, Z:-1.83 [[-9.97310125e-01 -7.23920907e-02 -1.14847572e-02 5.81548969e+01] [-7.23868234e-02 9.97376250e-01 -8.74199931e-04 -1.64314961e+02] [ 1.15179093e-02 -4.05033482e-05 -9.99933666e-01 -1.82523293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.746559995 meters 0.012439983771450317 Centerline is valid? [True, True] Translation: X:58.15, Y:-164.29, Z:-1.83 [[-9.90198009e-01 -1.39080267e-01 -1.28289501e-02 5.81472957e+01] [-1.39067269e-01 9.90281106e-01 -1.90408400e-03 -1.64290997e+02] [ 1.29690874e-02 -1.01333121e-04 -9.99915893e-01 -1.82536406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.77655999499996 meters 0.012649640430023699 Centerline is valid? [True, True] Translation: X:58.13, Y:-164.27, Z:-1.83 [[-9.78039813e-01 -2.07977846e-01 -1.35403121e-02 5.81293191e+01] [-2.07956032e-01 9.78133528e-01 -3.01512906e-03 -1.64266341e+02] [ 1.38713133e-02 -1.33126676e-04 -9.99903780e-01 -1.82543982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.806559995 meters 0.013294251858095341 Centerline is valid? [True, True] Translation: X:58.10, Y:-164.25, Z:-1.83 [[-9.61111602e-01 -2.75776081e-01 -1.45616524e-02 5.80964371e+01] [-2.75741498e-01 9.61221888e-01 -4.37122893e-03 -1.64246703e+02] [ 1.52024594e-02 -1.85986997e-04 -9.99884419e-01 -1.82671907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.83655999499996 meters 0.013295948983199668 Centerline is valid? [True, True] Translation: X:58.04, Y:-164.24, Z:-1.83 [[-9.38608409e-01 -3.44692493e-01 -1.41894085e-02 5.80371465e+01] [-3.44649862e-01 9.38715636e-01 -5.42472821e-03 -1.64236025e+02] [ 1.51896827e-02 -2.01317832e-04 -9.99884610e-01 -1.82603720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.866559995 meters 0.013519144625967969 Centerline is valid? [True, True] Translation: X:57.97, Y:-164.23, Z:-1.83 [[-9.11219656e-01 -4.11707648e-01 -1.32495432e-02 5.79729150e+01] [-4.11660662e-01 9.11315953e-01 -6.22367515e-03 -1.64232357e+02] [ 1.46368548e-02 -2.16819396e-04 -9.99892852e-01 -1.82512036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.89655999499996 meters 0.01408218106570849 Centerline is valid? [True, True] Translation: X:57.90, Y:-164.24, Z:-1.82 [[-8.79554078e-01 -4.75671063e-01 -1.10300975e-02 5.78965235e+01] [-4.75630411e-01 8.79623208e-01 -6.22284040e-03 -1.64239830e+02] [ 1.26623549e-02 -2.27074832e-04 -9.99919803e-01 -1.82290421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.926559995 meters 0.014595264742506251 Centerline is valid? [True, True] Translation: X:57.81, Y:-164.26, Z:-1.82 [[-8.42349278e-01 -5.38839285e-01 -9.99598327e-03 5.78141882e+01] [-5.38798018e-01 8.42408553e-01 -6.67279440e-03 -1.64257781e+02] [ 1.20162656e-02 -2.35007575e-04 -9.99927774e-01 -1.82204364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.95655999499996 meters 0.015474854283996866 Centerline is valid? [True, True] Translation: X:57.73, Y:-164.28, Z:-1.82 [[-8.00463504e-01 -5.99307973e-01 -9.38789996e-03 5.77296695e+01] [-5.99262986e-01 8.00518512e-01 -7.34742781e-03 -1.64282563e+02] [ 1.19185598e-02 -2.55526844e-04 -9.99928939e-01 -1.82087598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.98655999499994 meters 0.016870987699005316 Centerline is valid? [True, True] Translation: X:57.64, Y:-164.32, Z:-1.82 [[-7.54973906e-01 -6.55723295e-01 -6.43136649e-03 5.76397505e+01] [-6.55697058e-01 7.55001268e-01 -5.86964192e-03 -1.64321344e+02] [ 8.70455080e-03 -2.14398394e-04 -9.99962092e-01 -1.81674707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.01655999499997 meters 0.017475134925544172 Centerline is valid? [True, True] Translation: X:57.54, Y:-164.37, Z:-1.81 [[-7.05666944e-01 -7.08534843e-01 -3.54123223e-03 5.75449780e+01] [-7.08524873e-01 7.05675815e-01 -3.76144478e-03 -1.64371174e+02] [ 5.16407662e-03 -1.45276126e-04 -9.99986656e-01 -1.81128321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.04655999499994 meters 0.017475134925544172 Centerline is valid? [True, True] Translation: X:57.46, Y:-164.43, Z:-1.81 [[-6.49609214e-01 -7.60261366e-01 -3.24416514e-03 5.74555453e+01] [-7.60250750e-01 6.49617299e-01 -4.02033889e-03 -1.64430716e+02] [ 5.16397413e-03 -1.45270211e-04 -9.99986656e-01 -1.81127847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.07655999499997 meters 0.01894128677286188 Centerline is valid? [True, True] Translation: X:57.37, Y:-164.50, Z:-1.81 [[-5.89901495e-01 -8.07472296e-01 -2.17199551e-03 5.73706632e+01] [-8.07466133e-01 5.89905484e-01 -3.15665322e-03 -1.64498641e+02] [ 3.83018208e-03 -1.08301642e-04 -9.99992659e-01 -1.81025137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.10655999499994 meters 0.01894128677286188 Centerline is valid? [True, True] Translation: X:57.29, Y:-164.58, Z:-1.81 [[-5.26360280e-01 -8.50259463e-01 -1.92393175e-03 5.72878464e+01] [-8.50253013e-01 5.26363785e-01 -3.31356636e-03 -1.64576548e+02] [ 3.83007915e-03 -1.08300947e-04 -9.99992659e-01 -1.81024643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.13655999499997 meters 0.01894128677286188 Centerline is valid? [True, True] Translation: X:57.21, Y:-164.66, Z:-1.81 [[-4.59582031e-01 -8.88133767e-01 -1.66401549e-03 5.72098242e+01] [-8.88127068e-01 4.59585030e-01 -3.45130383e-03 -1.64663244e+02] [ 3.82997608e-03 -1.08300020e-04 -9.99992660e-01 -1.81024139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.16655999499994 meters 0.01920424363161512 Centerline is valid? [True, True] Translation: X:57.14, Y:-164.76, Z:-1.81 [[-3.89745188e-01 -9.20922182e-01 -1.01129173e-03 5.71378937e+01] [-9.20918552e-01 3.89746493e-01 -2.58693900e-03 -1.64755332e+02] [ 2.77651691e-03 -7.69297116e-05 -9.99996143e-01 -1.80872967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.196559995 meters 0.01920424363161512 Centerline is valid? [True, True] Translation: X:57.07, Y:-164.86, Z:-1.81 [[-3.17749000e-01 -9.48174519e-01 -8.09262780e-04 5.70727771e+01] [-9.48170799e-01 3.17750022e-01 -2.65696930e-03 -1.64856516e+02] [ 2.77641386e-03 -7.69300033e-05 -9.99996143e-01 -1.80872452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.22655999499995 meters 0.018580380252287736 Centerline is valid? [True, True] Translation: X:57.01, Y:-164.97, Z:-1.81 [[-2.41895293e-01 -9.70302358e-01 4.63814834e-05 5.70117967e+01] [-9.70302332e-01 2.41895297e-01 2.22057379e-04 -1.64965168e+02] [-2.26682261e-04 8.71057312e-06 -9.99999974e-01 -1.80573735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.256559995 meters 0.018580380252287736 Centerline is valid? [True, True] Translation: X:56.96, Y:-165.08, Z:-1.81 [[-1.66445946e-01 -9.86050580e-01 2.91610577e-05 5.69627954e+01] [-9.86050554e-01 1.66445949e-01 2.25070886e-04 -1.65076523e+02] [-2.26785018e-04 8.70785941e-06 -9.99999974e-01 -1.80573220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.28655999499995 meters 0.0156652019459972 Centerline is valid? [True, True] Translation: X:56.92, Y:-165.19, Z:-1.80 [[-8.78775203e-02 -9.96131271e-01 1.79844557e-04 5.69160730e+01] [-9.96127138e-01 8.78776740e-02 2.87047649e-03 -1.65193572e+02] [-2.87517571e-03 7.31023117e-05 -9.99995864e-01 -1.80394216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.316559995 meters 0.016056199261689653 Centerline is valid? [True, True] Translation: X:56.88, Y:-165.31, Z:-1.80 [[-8.40952833e-03 -9.99964636e-01 -8.08077285e-05 5.68839034e+01] [-9.99948299e-01 8.40892891e-03 5.71743436e-03 -1.65314246e+02] [-5.71655266e-03 1.28884477e-04 -9.99983652e-01 -1.80092469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.34655999499995 meters 0.014834901836037244 Centerline is valid? [True, True] Translation: X:56.86, Y:-165.43, Z:-1.80 [[ 7.14532939e-02 -9.97443655e-01 -7.62913632e-04 5.68571848e+01] [-9.97408708e-01 -7.14571779e-02 8.35106292e-03 -1.65433635e+02] [-8.38423038e-03 1.64225747e-04 -9.99964838e-01 -1.79797754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.376559995 meters 0.013447011438945718 Centerline is valid? [True, True] Translation: X:56.84, Y:-165.56, Z:-1.79 [[ 1.54341684e-01 -9.88015223e-01 -2.13625738e-03 5.68373899e+01] [-9.87934942e-01 -1.54356378e-01 1.25959502e-02 -1.65563641e+02] [-1.27747355e-02 1.66403145e-04 -9.99918386e-01 -1.79302778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.40655999499995 meters 0.013113290807727404 Centerline is valid? [True, True] Translation: X:56.83, Y:-165.69, Z:-1.79 [[ 2.33186019e-01 -9.72425782e-01 -3.51846603e-03 5.68312428e+01] [-9.72323958e-01 -2.33212520e-01 1.40727099e-02 -1.65688455e+02] [-1.45052163e-02 1.39529610e-04 -9.99894784e-01 -1.79079914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.436559995 meters 0.012943913260306498 Centerline is valid? [True, True] Translation: X:56.83, Y:-165.81, Z:-1.79 [[ 3.10188611e-01 -9.50662441e-01 -4.89368321e-03 5.68335155e+01] [-9.50549206e-01 -3.10227195e-01 1.46728992e-02 -1.65808726e+02] [-1.54671278e-02 1.00320481e-04 -9.99880372e-01 -1.78914393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.46655999499995 meters 0.01265821864338185 Centerline is valid? [True, True] Translation: X:56.84, Y:-165.93, Z:-1.79 [[ 3.87933497e-01 -9.21664436e-01 -6.50153381e-03 5.68420271e+01] [-9.21535204e-01 -3.87987974e-01 1.54337144e-02 -1.65930238e+02] [-1.67472226e-02 4.13746807e-06 -9.99859755e-01 -1.78755934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.496559995 meters 0.012625999005716168 Centerline is valid? [True, True] Translation: X:56.86, Y:-166.05, Z:-1.79 [[ 4.60068035e-01 -8.87848358e-01 -7.91804567e-03 5.68626278e+01] [-8.87715096e-01 -4.60136165e-01 1.53823983e-02 -1.66048423e+02] [-1.73006162e-02 -4.79810844e-05 -9.99850332e-01 -1.78765938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.52655999499996 meters 0.01291764163629147 Centerline is valid? [True, True] Translation: X:56.89, Y:-166.16, Z:-1.79 [[ 5.29089585e-01 -8.48514451e-01 -9.35076377e-03 5.68891735e+01] [-8.48378599e-01 -5.29172199e-01 1.51834498e-02 -1.66159508e+02] [-1.78315408e-02 -1.00417282e-04 -9.99841000e-01 -1.78644158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.556559995 meters 0.013256237848732888 Centerline is valid? [True, True] Translation: X:56.93, Y:-166.27, Z:-1.79 [[ 5.96000737e-01 -8.02904851e-01 -1.12660048e-02 5.69251937e+01] [-8.02755156e-01 -5.96107173e-01 1.55047474e-02 -1.66274477e+02] [-1.91645832e-02 -1.96997460e-04 -9.99816323e-01 -1.78594850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.58655999499996 meters 0.01364285178855695 Centerline is valid? [True, True] Translation: X:56.97, Y:-166.38, Z:-1.79 [[ 6.57236535e-01 -7.53568708e-01 -1.32037472e-02 5.69690705e+01] [-7.53408747e-01 -6.57369101e-01 1.55281927e-02 -1.66380075e+02] [-2.03812955e-02 -2.57876934e-04 -9.99792247e-01 -1.78508213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.616559995 meters 0.014074369671665024 Centerline is valid? [True, True] Translation: X:57.01, Y:-166.47, Z:-1.78 [[ 7.13677125e-01 -7.00323389e-01 -1.45640761e-02 5.70113952e+01] [-7.00169160e-01 -7.13825654e-01 1.46997488e-02 -1.66471958e+02] [-2.06907891e-02 -2.93557543e-04 -9.99785880e-01 -1.78367131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.64655999499996 meters 0.014568170616654968 Centerline is valid? [True, True] Translation: X:57.06, Y:-166.56, Z:-1.78 [[ 7.65739182e-01 -6.42946261e-01 -1.62360756e-02 5.70627677e+01] [-6.42792304e-01 -7.65911215e-01 1.40735461e-02 -1.66561964e+02] [-2.14839263e-02 -3.40241257e-04 -9.99769136e-01 -1.78269622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.676559995 meters 0.015354688006250266 Centerline is valid? [True, True] Translation: X:57.06, Y:-166.58, Z:-1.78 [[ 8.14955628e-01 -5.79260399e-01 -1.74560647e-02 5.70593819e+01] [-5.79117178e-01 -8.15142464e-01 1.28863571e-02 -1.66575143e+02] [-2.16937359e-02 -3.92702269e-04 -9.99764586e-01 -1.78096077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.70655999499996 meters 0.015533982725726498 Centerline is valid? [True, True] Translation: X:57.06, Y:-166.58, Z:-1.78 [[ 8.58035772e-01 -5.13244637e-01 -1.88296826e-02 5.70603372e+01] [-5.13110413e-01 -8.58242256e-01 1.17445192e-02 -1.66584950e+02] [-2.21882407e-02 -4.15511416e-04 -9.99753724e-01 -1.78070026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.73655999499994 meters 0.01578260126615017 Centerline is valid? [True, True] Translation: X:57.06, Y:-166.60, Z:-1.78 [[ 8.95727567e-01 -4.44129629e-01 -2.05182606e-02 5.70622468e+01] [-4.44001721e-01 -8.95962429e-01 1.06675614e-02 -1.66595701e+02] [-2.31213707e-02 -4.45085748e-04 -9.99732566e-01 -1.78009977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.76655999499997 meters 0.01569997835488063 Centerline is valid? [True, True] Translation: X:57.07, Y:-166.60, Z:-1.78 [[ 9.27746224e-01 -3.72599466e-01 -2.13677610e-02 5.70657691e+01] [-3.72489482e-01 -9.27992153e-01 9.06364902e-03 -1.66604407e+02] [-2.32062253e-02 -4.49499937e-04 -9.99730598e-01 -1.78059153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.79655999499994 meters 0.01563250208182708 Centerline is valid? [True, True] Translation: X:57.07, Y:-166.61, Z:-1.78 [[ 9.54066932e-01 -2.98744641e-01 -2.25372711e-02 5.70699268e+01] [-2.98649783e-01 -9.54332973e-01 7.54214614e-03 -1.66613261e+02] [-2.37612367e-02 -4.64961115e-04 -9.99717554e-01 -1.78100105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.82655999499997 meters 0.015874180447580336 Centerline is valid? [True, True] Translation: X:57.07, Y:-166.62, Z:-1.78 [[ 9.74453185e-01 -2.23393105e-01 -2.31626803e-02 5.70738682e+01] [-2.23318708e-01 -9.74728324e-01 5.78346313e-03 -1.66620659e+02] [-2.38693064e-02 -4.63054210e-04 -9.99714980e-01 -1.78104832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.85655999499994 meters 0.0155302273557839 Centerline is valid? [True, True] Translation: X:57.08, Y:-166.63, Z:-1.78 [[ 9.88877426e-01 -1.46845232e-01 -2.36202162e-02 5.70796962e+01] [-1.46792340e-01 -9.89159375e-01 3.96725105e-03 -1.66627934e+02] [-2.39467302e-02 -4.55858208e-04 -9.99713132e-01 -1.78255753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.88655999499997 meters 0.015549975895592065 Centerline is valid? [True, True] Translation: X:57.08, Y:-166.63, Z:-1.78 [[ 9.97269048e-01 -7.00250969e-02 -2.34719487e-02 5.70811720e+01] [-6.99957309e-02 -9.97545140e-01 2.07137680e-03 -1.66634371e+02] [-2.35593768e-02 -4.22783758e-04 -9.99722350e-01 -1.78295356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.91655999499994 meters 0.015251593464635048 Centerline is valid? [True, True] Translation: X:57.08, Y:-166.64, Z:-1.78 [[ 9.99689472e-01 7.65015236e-03 -2.37156996e-02 5.70845527e+01] [ 7.65774962e-03 -9.99970653e-01 2.29545228e-04 -1.66639227e+02] [-2.37132475e-02 -4.11082837e-04 -9.99718717e-01 -1.78335425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.946559995 meters 0.014538417444721452 Centerline is valid? [True, True] Translation: X:57.09, Y:-166.64, Z:-1.78 [[ 9.96143305e-01 8.45459582e-02 -2.34626505e-02 5.70881340e+01] [ 8.45313863e-02 -9.96419510e-01 -1.61395731e-03 -1.66644803e+02] [-2.35150963e-02 -3.75597605e-04 -9.99723411e-01 -1.78422857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.97655999499995 meters 0.014315822593718155 Centerline is valid? [True, True] Translation: X:57.09, Y:-166.65, Z:-1.78 [[ 9.86714567e-01 1.60763548e-01 -2.34402435e-02 5.70920629e+01] [ 1.60726406e-01 -9.86992890e-01 -3.47235617e-03 -1.66650352e+02] [-2.36935819e-02 -3.41241668e-04 -9.99719209e-01 -1.78423012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.006559995 meters 0.013690518622980945 Centerline is valid? [True, True] Translation: X:57.10, Y:-166.65, Z:-1.78 [[ 9.72021439e-01 2.33823492e-01 -2.23807472e-02 5.70953809e+01] [ 2.33767279e-01 -9.72279032e-01 -5.13258591e-03 -1.66651892e+02] [-2.29604504e-02 -2.42902841e-04 -9.99736345e-01 -1.78495970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.03655999499995 meters 0.013341812990733415 Centerline is valid? [True, True] Translation: X:57.10, Y:-166.65, Z:-1.79 [[ 9.51386838e-01 3.07282838e-01 -2.09843075e-02 5.70989724e+01] [ 3.07212464e-01 -9.51618212e-01 -6.57875905e-03 -1.66654648e+02] [-2.19905890e-02 -1.87696044e-04 -9.99758160e-01 -1.78621406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.066559995 meters 0.01300139269410748 Centerline is valid? [True, True] Translation: X:57.10, Y:-166.65, Z:-1.79 [[ 9.25980315e-01 3.77090416e-01 -1.90597672e-02 5.71004229e+01] [ 3.77012585e-01 -9.26176446e-01 -7.66164062e-03 -1.66653488e+02] [-2.05418387e-02 -9.12436920e-05 -9.99788990e-01 -1.78836629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.09655999499995 meters 0.012654253348154192 Centerline is valid? [True, True] Translation: X:57.10, Y:-166.66, Z:-1.79 [[ 8.94319446e-01 4.47058544e-01 -1.82040521e-02 5.71037966e+01] [ 4.46967292e-01 -8.94504698e-01 -9.03242587e-03 -1.66656721e+02] [-2.03216333e-02 -5.87417972e-05 -9.99793493e-01 -1.79043696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.126559995 meters 0.012668664415894608 Centerline is valid? [True, True] Translation: X:57.11, Y:-166.66, Z:-1.79 [[ 8.56958881e-01 5.15094083e-01 -1.73078387e-02 5.71085230e+01] [ 5.14990093e-01 -8.57133644e-01 -1.03498899e-02 -1.66660977e+02] [-2.01662979e-02 -4.39354533e-05 -9.99796639e-01 -1.79177238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.15655999499995 meters 0.012819512808268945 Centerline is valid? [True, True] Translation: X:57.11, Y:-166.66, Z:-1.79 [[ 8.13852852e-01 5.80840636e-01 -1.63612542e-02 5.71102021e+01] [ 5.80724507e-01 -8.14017293e-01 -1.16144217e-02 -1.66663243e+02] [-2.00644719e-02 -4.89510817e-05 -9.99798687e-01 -1.79238909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.186559995 meters 0.012988289639577887 Centerline is valid? [True, True] Translation: X:57.11, Y:-166.67, Z:-1.79 [[ 7.65275801e-01 6.43518071e-01 -1.54090906e-02 5.71120464e+01] [ 6.43389464e-01 -7.65430916e-01 -1.28651125e-02 -1.66665867e+02] [-2.00735267e-02 -6.86872694e-05 -9.99798504e-01 -1.79261655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.21655999499995 meters 0.013239830623825593 Centerline is valid? [True, True] Translation: X:57.11, Y:-166.67, Z:-1.79 [[ 7.11413102e-01 7.02637532e-01 -1.38526788e-02 5.71132821e+01] [ 7.02507034e-01 -7.11547953e-01 -1.35417394e-02 -1.66667654e+02] [-1.93717796e-02 -9.78334973e-05 -9.99812345e-01 -1.79233682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.246559995 meters 0.013277475974458641 Centerline is valid? [True, True] Translation: X:57.12, Y:-166.67, Z:-1.80 [[ 6.50617286e-01 7.59311965e-01 -1.19368030e-02 5.71153296e+01] [ 7.59189183e-01 -6.50726754e-01 -1.36556091e-02 -1.66669754e+02] [-1.81364644e-02 -1.77716433e-04 -9.99835505e-01 -1.79523324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.27655999499996 meters 0.013889223941915404 Centerline is valid? [True, True] Translation: X:57.12, Y:-166.67, Z:-1.80 [[ 5.86979287e-01 8.09535562e-01 -1.03678022e-02 5.71178508e+01] [ 8.09415798e-01 -5.87070802e-01 -1.39262035e-02 -1.66672773e+02] [-1.73603910e-02 -2.17469900e-04 -9.99849273e-01 -1.79576739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.306559995 meters 0.014344599914658179 Centerline is valid? [True, True] Translation: X:57.12, Y:-166.67, Z:-1.80 [[ 5.19486105e-01 8.54431668e-01 -8.98396156e-03 5.71206104e+01] [ 8.54312380e-01 -5.19563719e-01 -1.42793027e-02 -1.66674789e+02] [-1.68684289e-02 -2.57210241e-04 -9.99857685e-01 -1.79659381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.33655999499996 meters 0.015246180999552718 Centerline is valid? [True, True] Translation: X:57.12, Y:-166.68, Z:-1.80 [[ 4.49041483e-01 8.93479055e-01 -7.54488399e-03 5.71223976e+01] [ 8.93363370e-01 -4.49104775e-01 -1.43801909e-02 -1.66678017e+02] [-1.62368428e-02 -2.83020737e-04 -9.99868134e-01 -1.79693967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.366559995 meters 0.015650307732717698 Centerline is valid? [True, True] Translation: X:57.12, Y:-166.68, Z:-1.80 [[ 3.76047063e-01 9.26581335e-01 -5.96956857e-03 5.71233693e+01] [ 9.26476642e-01 -3.76094329e-01 -1.39315578e-02 -1.66678956e+02] [-1.51538423e-02 -2.91744439e-04 -9.99885131e-01 -1.79793458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.39655999499996 meters 0.016415750411592878 Centerline is valid? [True, True] Translation: X:57.12, Y:-166.68, Z:-1.80 [[ 3.00362572e-01 9.53815768e-01 -4.21978974e-03 5.71200856e+01] [ 9.53734338e-01 -3.00392082e-01 -1.24663397e-02 -1.66679731e+02] [-1.31581828e-02 -2.80136524e-04 -9.99913388e-01 -1.80033164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.426559995 meters 0.016195642165362647 Centerline is valid? [True, True] Translation: X:57.12, Y:-166.68, Z:-1.80 [[ 2.23762861e-01 9.74639145e-01 -2.95286001e-03 5.71227258e+01] [ 9.74569392e-01 -2.23782184e-01 -1.16634057e-02 -1.66682547e+02] [-1.20284092e-02 -2.67929958e-04 -9.99927620e-01 -1.80283832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.45655999499996 meters 0.016898373140129548 Centerline is valid? [True, True] Translation: X:57.13, Y:-166.69, Z:-1.80 [[ 1.47380329e-01 9.89077947e-01 -1.96283259e-03 5.71278648e+01] [ 9.89011516e-01 -1.47393184e-01 -1.14660429e-02 -1.66686624e+02] [-1.16301183e-02 -2.51394863e-04 -9.99932336e-01 -1.80203219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.48655999499994 meters 0.0166816591001441 Centerline is valid? [True, True] Translation: X:57.13, Y:-166.69, Z:-1.80 [[ 7.04236967e-02 9.97516618e-01 -1.04860310e-03 5.71277816e+01] [ 9.97450658e-01 -7.04311013e-02 -1.14736555e-02 -1.66689271e+02] [-1.15190163e-02 -2.37912622e-04 -9.99933626e-01 -1.80158914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.51655999499997 meters 0.015847006788607305 Centerline is valid? [True, True] Translation: X:57.13, Y:-166.69, Z:-1.80 [[-5.70529656e-03 9.99983714e-01 -1.45111229e-04 5.71287508e+01] [ 9.99918490e-01 5.70326679e-03 -1.14230302e-02 -1.66691728e+02] [-1.14220165e-02 -2.10271176e-04 -9.99934745e-01 -1.80171619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.54655999499994 meters 0.014374730138852045 Centerline is valid? [True, True] Translation: X:57.13, Y:-166.69, Z:-1.80 [[-8.30224674e-02 9.96547413e-01 7.23160551e-04 5.71347639e+01] [ 9.96486808e-01 8.30253949e-02 -1.09920373e-02 -1.66692980e+02] [-1.10141270e-02 -1.91966111e-04 -9.99939324e-01 -1.80334779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.57655999499997 meters 0.015448751676242552 Centerline is valid? [True, True] Translation: X:57.14, Y:-166.69, Z:-1.80 [[-1.60092855e-01 9.87100875e-01 1.46329540e-03 5.71446747e+01] [ 9.87049390e-01 1.60099452e-01 -1.00830015e-02 -1.66694377e+02] [-1.01872124e-02 -1.69871658e-04 -9.99948095e-01 -1.80246409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.60655999499994 meters 0.01537396003037319 Centerline is valid? [True, True] Translation: X:57.14, Y:-166.70, Z:-1.80 [[-2.36479685e-01 9.71634495e-01 1.94062123e-03 5.71430648e+01] [ 9.71596671e-01 2.36487605e-01 -8.57443282e-03 -1.66697677e+02] [-8.79014757e-03 -1.42178047e-04 -9.99961356e-01 -1.80395511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.63655999499997 meters 0.014220647925433478 Centerline is valid? [True, True] Translation: X:57.14, Y:-166.70, Z:-1.81 [[-3.11058434e-01 9.50387897e-01 2.34431589e-03 5.71430017e+01] [ 9.50357902e-01 3.11067244e-01 -7.55167078e-03 -1.66699667e+02] [-7.90625640e-03 -1.21071751e-04 -9.99968738e-01 -1.80685795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.66655999499994 meters 0.01460976322815608 Centerline is valid? [True, True] Translation: X:57.15, Y:-166.70, Z:-1.81 [[-3.84309007e-01 9.23199712e-01 2.97967096e-03 5.71471429e+01] [ 9.23169470e-01 3.84320538e-01 -7.47346097e-03 -1.66701381e+02] [-8.04464577e-03 -1.21377100e-04 -9.99967634e-01 -1.80571645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.696559995 meters 0.014202640498097968 Centerline is valid? [True, True] Translation: X:57.15, Y:-166.70, Z:-1.81 [[-4.55204106e-01 8.90379874e-01 3.59187898e-03 5.71495725e+01] [ 8.90350041e-01 4.55218261e-01 -7.28972102e-03 -1.66702432e+02] [-8.12570979e-03 -1.20281341e-04 -9.99966979e-01 -1.80542097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.72655999499995 meters 0.013591562750985869 Centerline is valid? [True, True] Translation: X:57.15, Y:-166.70, Z:-1.80 [[-5.23007297e-01 8.52314963e-01 4.75093440e-03 5.71549780e+01] [ 8.52277485e-01 5.23028859e-01 -7.99384997e-03 -1.66701719e+02] [-9.29815374e-03 -1.31727446e-04 -9.99956763e-01 -1.80454998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.756559995 meters 0.013586382461342836 Centerline is valid? [True, True] Translation: X:57.16, Y:-166.70, Z:-1.80 [[-5.88111965e-01 8.08759885e-01 5.63614140e-03 5.71609334e+01] [ 8.08720482e-01 5.88138955e-01 -7.98447869e-03 -1.66699911e+02] [-9.77236038e-03 -1.37704458e-04 -9.99952240e-01 -1.80347540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.78655999499995 meters 0.013796179495457897 Centerline is valid? [True, True] Translation: X:57.17, Y:-166.70, Z:-1.80 [[-6.49576588e-01 7.60265978e-01 6.77488094e-03 5.71670253e+01] [ 7.60222216e-01 6.49611900e-01 -8.15855109e-03 -1.66698249e+02] [-1.06037121e-02 -1.49188779e-04 -9.99943768e-01 -1.80262451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.816559995 meters 0.013933981360581374 Centerline is valid? [True, True] Translation: X:57.17, Y:-166.70, Z:-1.80 [[-7.07273387e-01 7.06901707e-01 7.37111816e-03 5.71714917e+01] [ 7.06861084e-01 7.07311780e-01 -7.57979726e-03 -1.66696424e+02] [-1.05718503e-02 -1.50632303e-04 -9.99944105e-01 -1.80228962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.84655999499995 meters 0.014062611362700162 Centerline is valid? [True, True] Translation: X:57.17, Y:-166.69, Z:-1.80 [[-7.60895131e-01 6.48826003e-01 7.96352118e-03 5.71747258e+01] [ 6.48788281e-01 7.60936786e-01 -6.99812284e-03 -1.66694897e+02] [-1.06003003e-02 -1.58198368e-04 -9.99943803e-01 -1.80342418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.876559995 meters 0.013870230090628283 Centerline is valid? [True, True] Translation: X:57.20, Y:-166.68, Z:-1.80 [[-8.04893232e-01 5.93365284e-01 8.03271908e-03 5.71953554e+01] [ 5.93333863e-01 8.04933300e-01 -6.10816866e-03 -1.66676803e+02] [-1.00901783e-02 -1.50339373e-04 -9.99949082e-01 -1.80406007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.90655999499995 meters 0.014038442504891868 Centerline is valid? [True, True] Translation: X:57.21, Y:-166.65, Z:-1.80 [[-8.44969024e-01 5.34756936e-01 7.89728155e-03 5.72092825e+01] [ 5.34732005e-01 8.45005917e-01 -5.16562018e-03 -1.66652711e+02] [-9.43560086e-03 -1.41859847e-04 -9.99955474e-01 -1.80428039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.936559995 meters 0.013407964949011371 Centerline is valid? [True, True] Translation: X:57.60, Y:-166.07, Z:-2.79 [[-7.88797761e-01 -6.14614362e-01 6.87590670e-03 5.75991450e+01] [ 6.14591924e-01 -7.88827725e-01 -5.25233536e-03 -1.66072868e+02] [ 8.65206658e-03 8.28463557e-05 9.99962567e-01 -2.78660215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.96655999499995 meters 0.013607271636273767 Centerline is valid? [True, True] Translation: X:57.17, Y:-166.63, Z:-1.81 [[-8.46512798e-01 5.32336268e-01 5.84641811e-03 5.71743499e+01] [ 5.32322763e-01 8.46532981e-01 -3.79311487e-03 -1.66633129e+02] [-6.96839837e-03 -9.87388360e-05 -9.99975716e-01 -1.80534183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.996559995 meters 0.014126953951748828 Centerline is valid? [True, True] Translation: X:57.19, Y:-166.61, Z:-1.80 [[-8.81956392e-01 4.71298778e-01 5.51213128e-03 5.71889185e+01] [ 4.71288951e-01 8.81973613e-01 -3.04473182e-03 -1.66608752e+02] [-6.29653273e-03 -8.75141230e-05 -9.99980173e-01 -1.80498347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.02655999499996 meters 0.013927562339096455 Centerline is valid? [True, True] Translation: X:57.54, Y:-166.00, Z:-2.79 [[-8.32878573e-01 -5.53433401e-01 4.97524594e-03 5.75360497e+01] [ 5.53423959e-01 -8.32893431e-01 -3.23349224e-03 -1.66000106e+02] [ 5.93337227e-03 6.03138971e-05 9.99982396e-01 -2.78691821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.056559995 meters 0.01421827934419637 Centerline is valid? [True, True] Translation: X:57.15, Y:-166.59, Z:-1.81 [[-8.83821582e-01 4.67795395e-01 5.18460139e-03 5.71524836e+01] [ 4.67786786e-01 8.83836784e-01 -2.83926350e-03 -1.66591941e+02] [-5.91053581e-03 -8.41143318e-05 -9.99982529e-01 -1.80500721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.08655999499996 meters 0.013527182011977808 Centerline is valid? [True, True] Translation: X:57.50, Y:-165.98, Z:-2.79 [[-8.34331469e-01 -5.51237206e-01 5.34241006e-03 5.74975498e+01] [ 5.51226788e-01 -8.34348566e-01 -3.39100119e-03 -1.65976278e+02] [ 6.32667819e-03 1.15660530e-04 9.99979980e-01 -2.78642443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.116559995 meters 0.013882381390508531 Centerline is valid? [True, True] Translation: X:57.48, Y:-166.00, Z:-2.79 [[-7.95301809e-01 -6.06189098e-01 5.45998358e-03 5.74827864e+01] [ 6.06175709e-01 -7.95320544e-01 -4.03019816e-03 -1.66004216e+02] [ 6.78549929e-03 1.04485529e-04 9.99976973e-01 -2.78743022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.14655999499996 meters 0.013309433081214022 Centerline is valid? [True, True] Translation: X:57.47, Y:-166.03, Z:-2.79 [[-7.52814027e-01 -6.58209683e-01 5.57266858e-03 5.74690220e+01] [ 6.58192728e-01 -7.52834644e-01 -4.72564431e-03 -1.66031105e+02] [ 7.30576281e-03 1.10358612e-04 9.99973306e-01 -2.78755438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.176559995 meters 0.013309433081214022 Centerline is valid? [True, True] Translation: X:57.45, Y:-166.06, Z:-2.79 [[-7.06812636e-01 -7.07381381e-01 5.24210026e-03 5.74539243e+01] [ 7.07363078e-01 -7.06832066e-01 -5.08981782e-03 -1.66057843e+02] [ 7.30572692e-03 1.10520630e-04 9.99973307e-01 -2.78755385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.20655999499996 meters 0.013441070088977023 Centerline is valid? [True, True] Translation: X:57.44, Y:-166.09, Z:-2.79 [[-6.58219397e-01 -7.52809768e-01 4.96782637e-03 5.74382798e+01] [ 7.52789537e-01 -6.58238135e-01 -5.52004554e-03 -1.66088123e+02] [ 7.42555697e-03 1.06326666e-04 9.99972425e-01 -2.78888971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.23655999499994 meters 0.013071478135743655 Centerline is valid? [True, True] Translation: X:57.42, Y:-166.07, Z:-2.79 [[-6.59098408e-01 -7.52037797e-01 5.33301665e-03 5.74203154e+01] [ 7.52014465e-01 -6.59119975e-01 -5.92484607e-03 -1.66068008e+02] [ 7.97080599e-03 1.05449051e-04 9.99968227e-01 -2.78877548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.26655999499997 meters 0.012824681593702652 Centerline is valid? [True, True] Translation: X:57.40, Y:-166.05, Z:-2.79 [[-6.60032335e-01 -7.51219197e-01 5.19961348e-03 5.74014338e+01] [ 7.51197017e-01 -6.60052808e-01 -5.77334593e-03 -1.66046609e+02] [ 7.76906777e-03 9.53391425e-05 9.99969816e-01 -2.78873529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.29655999499994 meters 0.01246198374675397 Centerline is valid? [True, True] Translation: X:57.38, Y:-166.03, Z:-2.79 [[-6.61783910e-01 -7.49676354e-01 5.23650152e-03 5.73838191e+01] [ 7.49653836e-01 -6.61804622e-01 -5.81099508e-03 -1.66025068e+02] [ 7.82190651e-03 7.99404057e-05 9.99969405e-01 -2.78826942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.32655999499997 meters 0.0125693159525534 Centerline is valid? [True, True] Translation: X:57.37, Y:-166.01, Z:-2.79 [[-6.62483723e-01 -7.49059008e-01 5.09119493e-03 5.73659467e+01] [ 7.49037730e-01 -6.62503281e-01 -5.64636694e-03 -1.66005192e+02] [ 7.60239536e-03 7.28709084e-05 9.99971099e-01 -2.78852824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.35655999499994 meters 0.012483697016259732 Centerline is valid? [True, True] Translation: X:57.35, Y:-165.98, Z:-2.79 [[-6.63033465e-01 -7.48573460e-01 4.93954780e-03 5.73474889e+01] [ 7.48553441e-01 -6.63051861e-01 -5.47499093e-03 -1.65984460e+02] [ 7.37360926e-03 6.74132922e-05 9.99972812e-01 -2.78866203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.38655999499997 meters 0.012283486249344673 Centerline is valid? [True, True] Translation: X:57.33, Y:-165.96, Z:-2.79 [[-6.63538645e-01 -7.48126058e-01 4.88541793e-03 5.73289545e+01] [ 7.48106486e-01 -6.63556627e-01 -5.41194036e-03 -1.65963117e+02] [ 7.29056505e-03 6.37812572e-05 9.99973421e-01 -2.78820811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.41655999499994 meters 0.012250425689031489 Centerline is valid? [True, True] Translation: X:57.31, Y:-165.94, Z:-2.79 [[-6.64009173e-01 -7.47709661e-01 4.69907965e-03 5.73098373e+01] [ 7.47691566e-01 -6.64025797e-01 -5.20223730e-03 -1.65943455e+02] [ 7.01007320e-03 5.91289334e-05 9.99975427e-01 -2.78861176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.446559995 meters 0.012250143647931842 Centerline is valid? [True, True] Translation: X:57.29, Y:-165.92, Z:-2.79 [[-6.64483253e-01 -7.47287623e-01 4.81814287e-03 5.72914041e+01] [ 7.47268614e-01 -6.64500718e-01 -5.33052640e-03 -1.65924304e+02] [ 7.18509580e-03 5.84014164e-05 9.99974185e-01 -2.78939913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.47655999499995 meters 0.012146148269087942 Centerline is valid? [True, True] Translation: X:57.27, Y:-165.90, Z:-2.79 [[-6.65255587e-01 -7.46600311e-01 4.79371732e-03 5.72731254e+01] [ 7.46581499e-01 -6.65272856e-01 -5.30015418e-03 -1.65903961e+02] [ 7.14622677e-03 5.29434831e-05 9.99974464e-01 -2.78923986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.506559995 meters 0.011981320633946432 Centerline is valid? [True, True] Translation: X:57.26, Y:-165.88, Z:-2.79 [[-6.66495885e-01 -7.45495271e-01 4.47618117e-03 5.72553697e+01] [ 7.45478866e-01 -6.66510915e-01 -4.94579875e-03 -1.65884134e+02] [ 6.67049318e-03 4.05439470e-05 9.99977751e-01 -2.78950478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.53655999499995 meters 0.011969084671685403 Centerline is valid? [True, True] Translation: X:57.24, Y:-165.86, Z:-2.79 [[-6.66959508e-01 -7.45080637e-01 4.45624662e-03 5.72369932e+01] [ 7.45064390e-01 -6.66974394e-01 -4.92065879e-03 -1.65864142e+02] [ 6.63848998e-03 3.83105025e-05 9.99977964e-01 -2.78937491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.566559995 meters 0.01195307232211374 Centerline is valid? [True, True] Translation: X:57.22, Y:-165.84, Z:-2.79 [[-6.67010409e-01 -7.45034243e-01 4.59248791e-03 5.72185617e+01] [ 7.45017007e-01 -6.67026218e-01 -5.06791466e-03 -1.65844644e+02] [ 6.83907980e-03 4.11297726e-05 9.99976612e-01 -2.78965849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.59655999499995 meters 0.012089427346538256 Centerline is valid? [True, True] Translation: X:57.20, Y:-165.82, Z:-2.79 [[-6.66962101e-01 -7.45078099e-01 4.49251419e-03 5.71997549e+01] [ 7.45061628e-01 -6.66977229e-01 -4.95446165e-03 -1.65824627e+02] [ 6.68786553e-03 4.27617909e-05 9.99977635e-01 -2.78985271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.626559995 meters 0.0122563304306446 Centerline is valid? [True, True] Translation: X:57.18, Y:-165.81, Z:-2.79 [[-6.66451980e-01 -7.45526344e-01 5.67709925e-03 5.71809848e+01] [ 7.45500088e-01 -6.66476157e-01 -6.25714154e-03 -1.65805613e+02] [ 8.44851514e-03 6.21936277e-05 9.99964309e-01 -2.79117102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.65655999499995 meters 0.012463237710405395 Centerline is valid? [True, True] Translation: X:57.16, Y:-165.79, Z:-2.79 [[-6.66291469e-01 -7.45665857e-01 6.17313576e-03 5.71624292e+01] [ 7.45634859e-01 -6.66320062e-01 -6.79940391e-03 -1.65787594e+02] [ 9.18336754e-03 7.25203888e-05 9.99957829e-01 -2.79249167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.686559995 meters 0.012367671852705285 Centerline is valid? [True, True] Translation: X:57.14, Y:-165.77, Z:-2.79 [[-6.66110031e-01 -7.45823584e-01 6.67890710e-03 5.71426878e+01] [ 7.45787348e-01 -6.66143509e-01 -7.35233887e-03 -1.65767225e+02] [ 9.93265834e-03 8.35777446e-05 9.99950666e-01 -2.79311080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.71655999499995 meters 0.012638477054973136 Centerline is valid? [True, True] Translation: X:57.12, Y:-165.75, Z:-2.79 [[-6.65827225e-01 -7.46071821e-01 7.13755712e-03 5.71242872e+01] [ 7.46030506e-01 -6.65865474e-01 -7.85202547e-03 -1.65749087e+02] [ 1.06108278e-02 9.67430221e-05 9.99943699e-01 -2.79407139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.746559995 meters 0.01262788933552858 Centerline is valid? [True, True] Translation: X:57.11, Y:-165.73, Z:-2.79 [[-6.65577223e-01 -7.46292032e-01 7.42726053e-03 5.71059165e+01] [ 7.46247366e-01 -6.65618654e-01 -8.16559121e-03 -1.65729307e+02] [ 1.10376388e-02 1.07742088e-04 9.99939078e-01 -2.79393819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.77655999499996 meters 0.01263306524539439 Centerline is valid? [True, True] Translation: X:57.09, Y:-165.71, Z:-2.79 [[-6.65913561e-01 -7.45994230e-01 7.19292906e-03 5.70872824e+01] [ 7.45952374e-01 -6.65952399e-01 -7.90302840e-03 -1.65709072e+02] [ 1.06857620e-02 1.02848722e-04 9.99942900e-01 -2.79331022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.806559995 meters 0.012449293997916859 Centerline is valid? [True, True] Translation: X:57.07, Y:-165.69, Z:-2.79 [[-6.66961148e-01 -7.45067742e-01 6.07343985e-03 5.70690968e+01] [ 7.45037900e-01 -6.66988796e-01 -6.66884877e-03 -1.65688226e+02] [ 9.01966043e-03 7.70798417e-05 9.99959319e-01 -2.79151609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.83655999499996 meters 0.012310263678216068 Centerline is valid? [True, True] Translation: X:57.05, Y:-165.67, Z:-2.79 [[-6.67649769e-01 -7.44456415e-01 5.33224534e-03 5.70507438e+01] [ 7.44433422e-01 -6.67671059e-01 -5.85130223e-03 -1.65667547e+02] [ 7.91622537e-03 6.28810622e-05 9.99968664e-01 -2.79060528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.866559995 meters 0.012089288172150688 Centerline is valid? [True, True] Translation: X:57.03, Y:-165.65, Z:-2.79 [[-6.68369809e-01 -7.43813552e-01 4.81639774e-03 5.70323319e+01] [ 7.43794798e-01 -6.68387161e-01 -5.28222785e-03 -1.65646543e+02] [ 7.14821107e-03 5.19299571e-05 9.99974450e-01 -2.78959404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.89655999499996 meters 0.01211802676188667 Centerline is valid? [True, True] Translation: X:57.01, Y:-165.63, Z:-2.79 [[-6.69154850e-01 -7.43108976e-01 4.56471216e-03 5.70138149e+01] [ 7.43092133e-01 -6.69170417e-01 -5.00336766e-03 -1.65626117e+02] [ 6.77261776e-03 4.39739604e-05 9.99977065e-01 -2.78941798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.926559995 meters 0.011986766001302707 Centerline is valid? [True, True] Translation: X:57.00, Y:-165.61, Z:-2.79 [[-6.69811935e-01 -7.42520190e-01 3.96727302e-03 5.69956982e+01] [ 7.42507473e-01 -6.69823683e-01 -4.34576999e-03 -1.65605443e+02] [ 5.88419538e-03 3.48812542e-05 9.99982687e-01 -2.78884809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.95655999499996 meters 0.012027282804770988 Centerline is valid? [True, True] Translation: X:56.98, Y:-165.59, Z:-2.79 [[-6.70302124e-01 -7.42080667e-01 3.36848004e-03 5.69774780e+01] [ 7.42071506e-01 -6.70310587e-01 -3.68740852e-03 -1.65586190e+02] [ 4.99428241e-03 2.79752965e-05 9.99987528e-01 -2.78862900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.98655999499994 meters 0.011893485333975433 Centerline is valid? [True, True] Translation: X:56.96, Y:-165.57, Z:-2.79 [[-6.70235776e-01 -7.42139715e-01 3.55632063e-03 5.69581317e+01] [ 7.42129516e-01 -6.70245211e-01 -3.89081925e-03 -1.65565583e+02] [ 5.27113836e-03 3.14842450e-05 9.99986107e-01 -2.78865160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.01655999499997 meters 0.011956446997938703 Centerline is valid? [True, True] Translation: X:56.94, Y:-165.55, Z:-2.79 [[-6.70068286e-01 -7.42290097e-01 3.72876023e-03 5.69386387e+01] [ 7.42278901e-01 -6.70078660e-01 -4.07714763e-03 -1.65545574e+02] [ 5.52498897e-03 3.58127249e-05 9.99984737e-01 -2.78906869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.04655999499994 meters 0.012353414276850924 Centerline is valid? [True, True] Translation: X:56.92, Y:-165.53, Z:-2.79 [[-6.68983833e-01 -7.43259167e-01 5.14213720e-03 5.69181102e+01] [ 7.43237921e-01 -6.69003592e-01 -5.62023148e-03 -1.65527398e+02] [ 7.61739682e-03 6.19873620e-05 9.99970985e-01 -2.79185254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.07655999499997 meters 0.012398866851758877 Centerline is valid? [True, True] Translation: X:56.90, Y:-165.51, Z:-2.79 [[-6.68636148e-01 -7.43565528e-01 6.00064503e-03 5.68993047e+01] [ 7.43536643e-01 -6.68663069e-01 -6.55444888e-03 -1.65507829e+02] [ 8.88607196e-03 7.91580096e-05 9.99960515e-01 -2.79279193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.10655999499994 meters 0.012692399880070659 Centerline is valid? [True, True] Translation: X:56.88, Y:-165.49, Z:-2.79 [[-6.68573128e-01 -7.43617391e-01 6.56870894e-03 5.68810886e+01] [ 7.43582827e-01 -6.68605390e-01 -7.17022463e-03 -1.65489498e+02] [ 9.72377793e-03 9.05596572e-05 9.99952719e-01 -2.79408278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.13655999499997 meters 0.012528350548597068 Centerline is valid? [True, True] Translation: X:56.86, Y:-165.47, Z:-2.79 [[-6.69351122e-01 -7.42907702e-01 7.56453805e-03 5.68630695e+01] [ 7.42861875e-01 -6.69393858e-01 -8.25208555e-03 -1.65469163e+02] [ 1.11941932e-02 9.58642041e-05 9.99937338e-01 -2.79476387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.16655999499994 meters 0.012316280842657082 Centerline is valid? [True, True] Translation: X:56.85, Y:-165.45, Z:-2.79 [[-6.70612399e-01 -7.41772300e-01 7.27091949e-03 5.68454576e+01] [ 7.41729948e-01 -6.70651810e-01 -7.92678971e-03 -1.65448549e+02] [ 1.07561283e-02 7.72552721e-05 9.99942148e-01 -2.79376737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.196559995 meters 0.012120946299459968 Centerline is valid? [True, True] Translation: X:56.83, Y:-165.43, Z:-2.79 [[-6.72046809e-01 -7.40475719e-01 6.98545689e-03 5.68275077e+01] [ 7.40436607e-01 -6.72083110e-01 -7.61082143e-03 -1.65427490e+02] [ 1.03304361e-02 5.74597396e-05 9.99946638e-01 -2.79327697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.22655999499995 meters 0.011892259823453679 Centerline is valid? [True, True] Translation: X:56.81, Y:-165.41, Z:-2.79 [[-6.75529502e-01 -7.37308215e-01 6.04053242e-03 5.68112904e+01] [ 7.37278878e-01 -6.75556509e-01 -6.57717403e-03 -1.65405424e+02] [ 8.93012543e-03 1.04818648e-05 9.99960126e-01 -2.79153733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.256559995 meters 0.011947353621722466 Centerline is valid? [True, True] Translation: X:56.79, Y:-165.39, Z:-2.79 [[-6.77362047e-01 -7.35629163e-01 5.51287921e-03 5.67945857e+01] [ 7.35604705e-01 -6.77384480e-01 -5.99870085e-03 -1.65385135e+02] [ 8.14715810e-03 -7.99239813e-06 9.99966811e-01 -2.79119742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.28655999499995 meters 0.011946068118118904 Centerline is valid? [True, True] Translation: X:56.78, Y:-165.36, Z:-2.79 [[-6.79224447e-01 -7.33914251e-01 4.90135479e-03 5.67775426e+01] [ 7.33894897e-01 -6.79242130e-01 -5.32994259e-03 -1.65364405e+02] [ 7.24092749e-03 -2.31480382e-05 9.99973784e-01 -2.79065468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.316559995 meters 0.012134060347348803 Centerline is valid? [True, True] Translation: X:56.76, Y:-165.34, Z:-2.79 [[-6.81018530e-01 -7.32250065e-01 4.85839808e-03 5.67604784e+01] [ 7.32231030e-01 -6.81035859e-01 -5.27992483e-03 -1.65343379e+02] [ 7.17496861e-03 -3.82568157e-05 9.99974259e-01 -2.79018269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.34655999499995 meters 0.012321439062896391 Centerline is valid? [True, True] Translation: X:56.74, Y:-165.32, Z:-2.79 [[-6.82466425e-01 -7.30901865e-01 4.69489746e-03 5.67431961e+01] [ 7.30884080e-01 -6.82482572e-01 -5.09904245e-03 -1.65322702e+02] [ 6.93108533e-03 -4.84994557e-05 9.99975979e-01 -2.78992452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.376559995 meters 0.012661097910271106 Centerline is valid? [True, True] Translation: X:56.72, Y:-165.30, Z:-2.79 [[-6.84859206e-01 -7.28660724e-01 4.62788445e-03 5.67248732e+01] [ 7.28643411e-01 -6.84874838e-01 -5.02342607e-03 -1.65300792e+02] [ 6.82989489e-03 -6.82620789e-05 9.99976674e-01 -2.79014406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.40655999499995 meters 0.012887436321729966 Centerline is valid? [True, True] Translation: X:56.71, Y:-165.28, Z:-2.79 [[-6.85828903e-01 -7.27747296e-01 4.75272831e-03 5.67067653e+01] [ 7.27729036e-01 -6.85845367e-01 -5.15587867e-03 -1.65280384e+02] [ 7.01181345e-03 -7.73522190e-05 9.99975414e-01 -2.79035945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.436559995 meters 0.012934180182308984 Centerline is valid? [True, True] Translation: X:56.69, Y:-165.26, Z:-2.79 [[-6.86442146e-01 -7.27167432e-01 4.97053469e-03 5.66878424e+01] [ 7.27147467e-01 -6.86460136e-01 -5.38913982e-03 -1.65259636e+02] [ 7.33088089e-03 -8.50209905e-05 9.99973125e-01 -2.79022320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.46655999499995 meters 0.012864531678222614 Centerline is valid? [True, True] Translation: X:56.67, Y:-165.24, Z:-2.79 [[-6.87142988e-01 -7.26501828e-01 5.44134239e-03 5.66678215e+01] [ 7.26477907e-01 -6.87164525e-01 -5.89623152e-03 -1.65239397e+02] [ 8.02272043e-03 -9.85391184e-05 9.99967813e-01 -2.78948633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.496559995 meters 0.013113087391799734 Centerline is valid? [True, True] Translation: X:56.65, Y:-165.22, Z:-2.79 [[-6.87048438e-01 -7.26590652e-01 5.51986153e-03 5.66497455e+01] [ 7.26566059e-01 -6.87070604e-01 -5.97882439e-03 -1.65219742e+02] [ 8.13669251e-03 -9.71979138e-05 9.99966892e-01 -2.78981052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.52655999499996 meters 0.012969580333200477 Centerline is valid? [True, True] Translation: X:56.63, Y:-165.20, Z:-2.79 [[-6.86893055e-01 -7.26737589e-01 5.51431769e-03 5.66304005e+01] [ 7.26713081e-01 -6.86915182e-01 -5.96910128e-03 -1.65200595e+02] [ 8.12583881e-03 -9.28074118e-05 9.99966981e-01 -2.78940101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.556559995 meters 0.012712545131058933 Centerline is valid? [True, True] Translation: X:56.61, Y:-165.18, Z:-2.79 [[-6.86359628e-01 -7.27242376e-01 5.38396993e-03 5.66108330e+01] [ 7.27219057e-01 -6.86380740e-01 -5.82434009e-03 -1.65181518e+02] [ 7.93116018e-03 -8.22663599e-05 9.99968544e-01 -2.78885095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.58655999499996 meters 0.012358236326159894 Centerline is valid? [True, True] Translation: X:56.59, Y:-165.16, Z:-2.79 [[-6.84953081e-01 -7.28568106e-01 5.27176566e-03 5.65890256e+01] [ 7.28545813e-01 -6.84973365e-01 -5.69976105e-03 -1.65163322e+02] [ 7.76368318e-03 -6.33460901e-05 9.99969860e-01 -2.78942384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.616559995 meters 0.012254666591827707 Centerline is valid? [True, True] Translation: X:56.57, Y:-165.14, Z:-2.79 [[-6.84325542e-01 -7.29156795e-01 5.37782744e-03 5.65696935e+01] [ 7.29133637e-01 -6.84346671e-01 -5.81159876e-03 -1.65144803e+02] [ 7.91786502e-03 -5.58705941e-05 9.99968652e-01 -2.78985937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.64655999499996 meters 0.01214792782745444 Centerline is valid? [True, True] Translation: X:56.55, Y:-165.13, Z:-2.79 [[-6.83842934e-01 -7.29611016e-01 5.15813325e-03 5.65497155e+01] [ 7.29589751e-01 -6.83862386e-01 -5.57068717e-03 -1.65126008e+02] [ 7.59188804e-03 -4.61539051e-05 9.99971180e-01 -2.78977486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.676559995 meters 0.012063356348841094 Centerline is valid? [True, True] Translation: X:56.53, Y:-165.11, Z:-2.79 [[-6.83485462e-01 -7.29946786e-01 5.03123489e-03 5.65299283e+01] [ 7.29926588e-01 -6.83503978e-01 -5.43024427e-03 -1.65106768e+02] [ 7.40265841e-03 -3.90608971e-05 9.99972599e-01 -2.78951628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.70655999499996 meters 0.011950939402916144 Centerline is valid? [True, True] Translation: X:56.51, Y:-165.09, Z:-2.79 [[-6.82554510e-01 -7.30819834e-01 4.65943393e-03 5.65095301e+01] [ 7.30802553e-01 -6.82570413e-01 -5.02583642e-03 -1.65088736e+02] [ 6.85337269e-03 -2.52811005e-05 9.99976515e-01 -2.78894689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.73655999499994 meters 0.011902539057307943 Centerline is valid? [True, True] Translation: X:56.49, Y:-165.07, Z:-2.79 [[-6.82348861e-01 -7.31013695e-01 4.36002710e-03 5.64897101e+01] [ 7.30998585e-01 -6.82362790e-01 -4.70024755e-03 -1.65069047e+02] [ 6.41106558e-03 -2.00349239e-05 9.99979449e-01 -2.78792627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.76655999499997 meters 0.011840588140572945 Centerline is valid? [True, True] Translation: X:56.47, Y:-165.05, Z:-2.79 [[-6.82256801e-01 -7.31099630e-01 4.35758624e-03 5.64713246e+01] [ 7.31084558e-01 -6.82270717e-01 -4.69451152e-03 -1.65050734e+02] [ 6.40520912e-03 -1.70984064e-05 9.99979486e-01 -2.78748591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.79655999499994 meters 0.011841341695068466 Centerline is valid? [True, True] Translation: X:56.45, Y:-165.03, Z:-2.79 [[-6.82034711e-01 -7.31309146e-01 3.94789667e-03 5.64513105e+01] [ 7.31296794e-01 -6.82046137e-01 -4.25047165e-03 -1.65032660e+02] [ 5.80105646e-03 -1.18850315e-05 9.99983174e-01 -2.78633393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.82655999499997 meters 0.011827680528876505 Centerline is valid? [True, True] Translation: X:56.43, Y:-165.01, Z:-2.79 [[-6.82201094e-01 -7.31154989e-01 3.74823477e-03 5.64321392e+01] [ 7.31143867e-01 -6.82211391e-01 -4.03285174e-03 -1.65013987e+02] [ 5.50572813e-03 -1.07170132e-05 9.99984843e-01 -2.78609949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.85655999499994 meters 0.011899480676714008 Centerline is valid? [True, True] Translation: X:56.41, Y:-164.99, Z:-2.79 [[-6.82682531e-01 -7.30706751e-01 3.49354432e-03 5.64123892e+01] [ 7.30697096e-01 -6.82691470e-01 -3.75647265e-03 -1.64994861e+02] [ 5.12989283e-03 -1.17555683e-05 9.99986842e-01 -2.78601674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.88655999499997 meters 0.011975713627964802 Centerline is valid? [True, True] Translation: X:56.39, Y:-164.98, Z:-2.79 [[-6.83812299e-01 -7.29651278e-01 3.12276216e-03 5.63920133e+01] [ 7.29643562e-01 -6.83819429e-01 -3.35569345e-03 -1.64976294e+02] [ 4.58389145e-03 -1.61611472e-05 9.99989494e-01 -2.78633802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.91655999499994 meters 0.011989091435732686 Centerline is valid? [True, True] Translation: X:56.37, Y:-164.96, Z:-2.79 [[-6.84538444e-01 -7.28970292e-01 3.07107702e-03 5.63729176e+01] [ 7.28962832e-01 -6.84545333e-01 -3.29807994e-03 -1.64957083e+02] [ 4.50649374e-03 -1.89615110e-05 9.99989846e-01 -2.78648220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.946559995 meters 0.012256957828303407 Centerline is valid? [True, True] Translation: X:56.36, Y:-164.94, Z:-2.79 [[-6.85620023e-01 -7.27951872e-01 3.35511895e-03 5.63551036e+01] [ 7.27942967e-01 -6.85628232e-01 -3.60074350e-03 -1.64937189e+02] [ 4.92153224e-03 -2.64065958e-05 9.99987889e-01 -2.78765674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.97655999499995 meters 0.012142281853578019 Centerline is valid? [True, True] Translation: X:56.34, Y:-164.92, Z:-2.79 [[-6.86535039e-01 -7.27088705e-01 3.41413441e-03 5.63352497e+01] [ 7.27079483e-01 -6.86543527e-01 -3.66202240e-03 -1.64917221e+02] [ 5.00656700e-03 -3.17596051e-05 9.99987467e-01 -2.78701431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.006559995 meters 0.012275391507155491 Centerline is valid? [True, True] Translation: X:56.32, Y:-164.90, Z:-2.79 [[-6.87239716e-01 -7.26422258e-01 3.50359395e-03 5.63156776e+01] [ 7.26412550e-01 -6.87248646e-01 -3.75587171e-03 -1.64896704e+02] [ 5.13618901e-03 -3.61295950e-05 9.99986809e-01 -2.78696143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.03655999499995 meters 0.012282488292474553 Centerline is valid? [True, True] Translation: X:56.30, Y:-164.88, Z:-2.79 [[-6.88087306e-01 -7.25617331e-01 3.91780825e-03 5.62957885e+01] [ 7.25605192e-01 -6.88098458e-01 -4.19737356e-03 -1.64877521e+02] [ 5.74152481e-03 -4.53774568e-05 9.99983516e-01 -2.78736415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.066559995 meters 0.012282488292474553 Centerline is valid? [True, True] Translation: X:56.28, Y:-164.86, Z:-2.79 [[-6.88293154e-01 -7.25422067e-01 3.91899943e-03 5.62769206e+01] [ 7.25409932e-01 -6.88304309e-01 -4.19626140e-03 -1.64857400e+02] [ 5.74152481e-03 -4.53768819e-05 9.99983516e-01 -2.78736326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.09655999499995 meters 0.01237990433865064 Centerline is valid? [True, True] Translation: X:56.26, Y:-164.84, Z:-2.79 [[-6.88307592e-01 -7.25405186e-01 4.46939590e-03 5.62575063e+01] [ 7.25389415e-01 -6.88322100e-01 -4.78360682e-03 -1.64837943e+02] [ 6.54643717e-03 -5.05404066e-05 9.99978571e-01 -2.78791135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.126559995 meters 0.012322338043641672 Centerline is valid? [True, True] Translation: X:56.24, Y:-164.82, Z:-2.79 [[-6.87985208e-01 -7.25710490e-01 4.54288197e-03 5.62376643e+01] [ 7.25694223e-01 -6.88000205e-01 -4.85921559e-03 -1.64819135e+02] [ 6.65188746e-03 -4.63252517e-05 9.99977875e-01 -2.78817407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.15655999499995 meters 0.012129557250166465 Centerline is valid? [True, True] Translation: X:56.22, Y:-164.80, Z:-2.79 [[-6.86596581e-01 -7.27022724e-01 4.80563641e-03 5.62166149e+01] [ 7.27004577e-01 -6.86613397e-01 -5.13688790e-03 -1.64802409e+02] [ 7.03424858e-03 -3.32500000e-05 9.99975259e-01 -2.78899996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.186559995 meters 0.012099525608501728 Centerline is valid? [True, True] Translation: X:56.20, Y:-164.78, Z:-2.79 [[-6.85948958e-01 -7.27632208e-01 5.03958425e-03 5.61964800e+01] [ 7.27612292e-01 -6.85967470e-01 -5.38367688e-03 -1.64783709e+02] [ 7.37432755e-03 -2.60641025e-05 9.99972809e-01 -2.78944392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.21655999499995 meters 0.011996419624455254 Centerline is valid? [True, True] Translation: X:56.18, Y:-164.77, Z:-2.79 [[-6.85315120e-01 -7.28226450e-01 5.42436744e-03 5.61766377e+01] [ 7.28203424e-01 -6.85336587e-01 -5.79110766e-03 -1.64765178e+02] [ 7.93475524e-03 -1.86906968e-05 9.99968519e-01 -2.78943734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.246559995 meters 0.01192442340666022 Centerline is valid? [True, True] Translation: X:56.16, Y:-164.75, Z:-2.79 [[-6.84154546e-01 -7.29313824e-01 5.82260703e-03 5.61557760e+01] [ 7.29287365e-01 -6.84179323e-01 -6.21238165e-03 -1.64746755e+02] [ 8.51448316e-03 -3.87541042e-06 9.99963751e-01 -2.78975949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.27655999499996 meters 0.011998436301487697 Centerline is valid? [True, True] Translation: X:56.14, Y:-164.73, Z:-2.79 [[-6.83777140e-01 -7.29668660e-01 5.69819031e-03 5.61371037e+01] [ 7.29643356e-01 -6.83800882e-01 -6.07669347e-03 -1.64728319e+02] [ 8.33040034e-03 2.54261771e-06 9.99965302e-01 -2.78972557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.306559995 meters 0.011954560702790436 Centerline is valid? [True, True] Translation: X:56.12, Y:-164.71, Z:-2.79 [[-6.83578340e-01 -7.29853905e-01 5.82497875e-03 5.61176056e+01] [ 7.29827499e-01 -6.83603158e-01 -6.20843777e-03 -1.64708656e+02] [ 8.51322641e-03 7.27608644e-06 9.99963762e-01 -2.78947325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.33655999499996 meters 0.012019526346285416 Centerline is valid? [True, True] Translation: X:56.10, Y:-164.69, Z:-2.79 [[-6.83394821e-01 -7.30024103e-01 6.02718345e-03 5.60983884e+01] [ 7.29995874e-01 -6.83421399e-01 -6.41991232e-03 -1.64689423e+02] [ 8.80579688e-03 1.24842206e-05 9.99961228e-01 -2.78939719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.366559995 meters 0.012097747828371651 Centerline is valid? [True, True] Translation: X:56.08, Y:-164.67, Z:-2.79 [[-6.83346998e-01 -7.30069071e-01 6.00255759e-03 5.60796297e+01] [ 7.30041111e-01 -6.83373361e-01 -6.38947391e-03 -1.64670522e+02] [ 8.76674524e-03 1.58859981e-05 9.99961571e-01 -2.79005234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.39655999499996 meters 0.01212594222957914 Centerline is valid? [True, True] Translation: X:56.06, Y:-164.65, Z:-2.79 [[-6.82817931e-01 -7.30561508e-01 6.28930779e-03 5.60599933e+01] [ 7.30530872e-01 -6.82846895e-01 -6.69054013e-03 -1.64651893e+02] [ 9.18248539e-03 2.61127330e-05 9.99957840e-01 -2.78977028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.426559995 meters 0.0120801526110282 Centerline is valid? [True, True] Translation: X:56.04, Y:-164.63, Z:-2.79 [[-6.82709306e-01 -7.30663564e-01 6.22580021e-03 5.60402207e+01] [ 7.30633581e-01 -6.82737692e-01 -6.61924264e-03 -1.64631534e+02] [ 9.08702788e-03 2.97601521e-05 9.99958712e-01 -2.78905273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.45655999499996 meters 0.012123594458639048 Centerline is valid? [True, True] Translation: X:56.02, Y:-164.61, Z:-2.79 [[-6.82739137e-01 -7.30638478e-01 5.88952001e-03 5.60202739e+01] [ 7.30611676e-01 -6.82764538e-01 -6.25814691e-03 -1.64611138e+02] [ 8.59359834e-03 3.02702715e-05 9.99963074e-01 -2.78854917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.48655999499994 meters 0.012167507525454115 Centerline is valid? [True, True] Translation: X:56.00, Y:-164.59, Z:-2.79 [[-6.82600820e-01 -7.30771437e-01 5.40626902e-03 5.60014059e+01] [ 7.30748884e-01 -6.82622228e-01 -5.74120243e-03 -1.64592285e+02] [ 7.88594615e-03 3.16755731e-05 9.99968905e-01 -2.78864610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.51655999499997 meters 0.012054927624039926 Centerline is valid? [True, True] Translation: X:55.98, Y:-164.57, Z:-2.79 [[-6.82564415e-01 -7.30811583e-01 4.49995129e-03 5.59816284e+01] [ 7.30795977e-01 -6.82579247e-01 -4.77605708e-03 -1.64572931e+02] [ 6.56197120e-03 2.85796926e-05 9.99978470e-01 -2.78756664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.54655999499994 meters 0.012131209356865456 Centerline is valid? [True, True] Translation: X:55.96, Y:-164.55, Z:-2.79 [[-6.82495934e-01 -7.30878573e-01 3.97629097e-03 5.59616208e+01] [ 7.30866403e-01 -6.82507517e-01 -4.21788104e-03 -1.64552721e+02] [ 5.79660735e-03 2.74508154e-05 9.99983199e-01 -2.78728838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.57655999499997 meters 0.012306541403900119 Centerline is valid? [True, True] Translation: X:55.94, Y:-164.53, Z:-2.79 [[-6.82399472e-01 -7.30968594e-01 3.98429794e-03 5.59419703e+01] [ 7.30956391e-01 -6.82411103e-01 -4.22385470e-03 -1.64533915e+02] [ 5.80643428e-03 2.99918268e-05 9.99983142e-01 -2.78796391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.60655999499994 meters 0.01224605273129186 Centerline is valid? [True, True] Translation: X:55.92, Y:-164.51, Z:-2.79 [[-6.82278400e-01 -7.31080727e-01 4.14182076e-03 5.59232183e+01] [ 7.31067559e-01 -6.82290971e-01 -4.38810698e-03 -1.64514004e+02] [ 6.03398735e-03 3.40401782e-05 9.99981795e-01 -2.78734847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.63655999499997 meters 0.012210978810569864 Centerline is valid? [True, True] Translation: X:55.90, Y:-164.49, Z:-2.79 [[-6.82381039e-01 -7.30981807e-01 4.65995172e-03 5.59039061e+01] [ 7.30965156e-01 -6.82396949e-01 -4.93395585e-03 -1.64494696e+02] [ 6.78656880e-03 3.94244182e-05 9.99976970e-01 -2.78839485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.66655999499994 meters 0.012226706556439934 Centerline is valid? [True, True] Translation: X:55.89, Y:-164.47, Z:-2.79 [[-6.82835504e-01 -7.30554190e-01 5.12340805e-03 5.58855978e+01] [ 7.30534076e-01 -6.82854723e-01 -5.42127478e-03 -1.64474917e+02] [ 7.45907840e-03 4.09852693e-05 9.99972180e-01 -2.78875571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.696559995 meters 0.01220215700601584 Centerline is valid? [True, True] Translation: X:55.87, Y:-164.45, Z:-2.79 [[-6.83304467e-01 -7.30115140e-01 5.18538537e-03 5.58675938e+01] [ 7.30094550e-01 -6.83324140e-01 -5.48342767e-03 -1.64454874e+02] [ 7.54683257e-03 3.89709781e-05 9.99971522e-01 -2.78904319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.72655999499995 meters 0.012223687244531002 Centerline is valid? [True, True] Translation: X:55.85, Y:-164.44, Z:-2.79 [[-6.83709956e-01 -7.29732550e-01 5.57695773e-03 5.58501670e+01] [ 7.29708742e-01 -6.83732700e-01 -5.89465571e-03 -1.64435392e+02] [ 8.11467050e-03 3.93200222e-05 9.99967075e-01 -2.78916771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.756559995 meters 0.012216053122984764 Centerline is valid? [True, True] Translation: X:55.83, Y:-164.41, Z:-2.79 [[-6.84643013e-01 -7.28850258e-01 6.42227448e-03 5.58326229e+01] [ 7.28818687e-01 -6.84673133e-01 -6.78393375e-03 -1.64414723e+02] [ 9.34163066e-03 3.61008140e-05 9.99956365e-01 -2.79006963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.78655999499995 meters 0.012200371036270585 Centerline is valid? [True, True] Translation: X:55.81, Y:-164.39, Z:-2.79 [[-6.84917006e-01 -7.28588152e-01 6.92820811e-03 5.58137649e+01] [ 7.28551438e-01 -6.84952045e-01 -7.31421326e-03 -1.64393919e+02] [ 1.00745394e-02 3.79269365e-05 9.99949250e-01 -2.79000823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.816559995 meters 0.012150573343505236 Centerline is valid? [True, True] Translation: X:55.80, Y:-164.37, Z:-2.79 [[-6.85132366e-01 -7.28386355e-01 6.85264901e-03 5.57950907e+01] [ 7.28350469e-01 -6.85166634e-01 -7.23032998e-03 -1.64373415e+02] [ 9.96168015e-03 3.73970306e-05 9.99950381e-01 -2.79014456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.84655999499995 meters 0.012235350653450876 Centerline is valid? [True, True] Translation: X:55.78, Y:-164.35, Z:-2.79 [[-6.85429408e-01 -7.28110946e-01 6.40131381e-03 5.57780563e+01] [ 7.28079658e-01 -6.85459298e-01 -6.75008118e-03 -1.64352641e+02] [ 9.30264806e-03 3.39622149e-05 9.99956729e-01 -2.78977385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.876559995 meters 0.012293364444104301 Centerline is valid? [True, True] Translation: X:55.76, Y:-164.33, Z:-2.79 [[-6.85957945e-01 -7.27612650e-01 6.44426161e-03 5.57609631e+01] [ 7.27580960e-01 -6.85988214e-01 -6.79087489e-03 -1.64332685e+02] [ 9.36181399e-03 3.04674678e-05 9.99956177e-01 -2.78999159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.90655999499995 meters 0.012192006714818474 Centerline is valid? [True, True] Translation: X:55.74, Y:-164.31, Z:-2.79 [[-6.86723765e-01 -7.26893123e-01 6.07114212e-03 5.57435858e+01] [ 7.26865003e-01 -6.86750601e-01 -6.39369737e-03 -1.64311820e+02] [ 8.81689515e-03 2.21968048e-05 9.99961130e-01 -2.78965615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.936559995 meters 0.012210853627023134 Centerline is valid? [True, True] Translation: X:55.73, Y:-164.29, Z:-2.79 [[-6.87432149e-01 -7.26221146e-01 6.31562690e-03 5.57270005e+01] [ 7.26190718e-01 -6.87461160e-01 -6.64796228e-03 -1.64292000e+02] [ 9.16963898e-03 1.63266355e-05 9.99957958e-01 -2.78993720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.96655999499995 meters 0.012278706840441628 Centerline is valid? [True, True] Translation: X:55.71, Y:-164.27, Z:-2.79 [[-6.88729584e-01 -7.24995151e-01 5.79577229e-03 5.57108116e+01] [ 7.24969514e-01 -6.88753970e-01 -6.09698539e-03 -1.64270130e+02] [ 8.41214602e-03 2.58400805e-06 9.99964617e-01 -2.78948150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.996559995 meters 0.012173813223392277 Centerline is valid? [True, True] Translation: X:55.69, Y:-164.25, Z:-2.79 [[-6.89513427e-01 -7.24251460e-01 5.57287725e-03 5.56934995e+01] [ 7.24227763e-01 -6.89535947e-01 -5.85871033e-03 -1.64249976e+02] [ 8.08587871e-03 -3.62700959e-06 9.99967309e-01 -2.78929655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.02655999499996 meters 0.012248846947785667 Centerline is valid? [True, True] Translation: X:55.68, Y:-164.23, Z:-2.79 [[-6.89993474e-01 -7.23797896e-01 5.06071212e-03 5.56757878e+01] [ 7.23778366e-01 -6.90012033e-01 -5.31703836e-03 -1.64229396e+02] [ 7.34041343e-03 -5.88782229e-06 9.99973059e-01 -2.78865774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.056559995 meters 0.012147598518760948 Centerline is valid? [True, True] Translation: X:55.66, Y:-164.21, Z:-2.79 [[-6.90141710e-01 -7.23661727e-01 4.25744292e-03 5.56581875e+01] [ 7.23647919e-01 -6.90154841e-01 -4.47035045e-03 -1.64209183e+02] [ 6.17331637e-03 -4.28559237e-06 9.99980945e-01 -2.78728886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.08655999499996 meters 0.012147212903703087 Centerline is valid? [True, True] Translation: X:55.64, Y:-164.19, Z:-2.79 [[-6.89421527e-01 -7.24353621e-01 3.12878178e-03 5.56409512e+01] [ 7.24346181e-01 -6.89428627e-01 -3.28314506e-03 -1.64189778e+02] [ 4.53522974e-03 2.85024607e-06 9.99989716e-01 -2.78612220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.116559995 meters 0.012092035379619835 Centerline is valid? [True, True] Translation: X:55.62, Y:-164.17, Z:-2.79 [[-6.88923079e-01 -7.24828086e-01 3.03901952e-03 5.56228104e+01] [ 7.24821080e-01 -6.88929782e-01 -3.18694209e-03 -1.64170974e+02] [ 4.40365619e-03 7.18745719e-06 9.99990304e-01 -2.78631039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.14655999499996 meters 0.012190022901049825 Centerline is valid? [True, True] Translation: X:55.60, Y:-164.15, Z:-2.79 [[-6.88210372e-01 -7.25504436e-01 3.13003090e-03 5.56040482e+01] [ 7.25497020e-01 -6.88217490e-01 -3.28042093e-03 -1.64151593e+02] [ 4.53410195e-03 1.32083763e-05 9.99989721e-01 -2.78673132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.176559995 meters 0.012308002800733226 Centerline is valid? [True, True] Translation: X:55.59, Y:-164.13, Z:-2.79 [[-6.86253769e-01 -7.27354383e-01 3.37140632e-03 5.55850345e+01] [ 7.27345811e-01 -6.86262049e-01 -3.53140411e-03 -1.64131270e+02] [ 4.88225047e-03 2.87388832e-05 9.99988081e-01 -2.78684922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.20655999499996 meters 0.012379827769723795 Centerline is valid? [True, True] Translation: X:55.57, Y:-164.11, Z:-2.79 [[-6.85644254e-01 -7.27927220e-01 3.73087227e-03 5.55656455e+01] [ 7.27916743e-01 -6.85654404e-01 -3.90572868e-03 -1.64110863e+02] [ 5.40117521e-03 3.78239614e-05 9.99985413e-01 -2.78723243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.23655999499994 meters 0.012432745167002868 Centerline is valid? [True, True] Translation: X:55.55, Y:-164.09, Z:-2.79 [[-6.85519141e-01 -7.28044413e-01 3.85213535e-03 5.55462820e+01] [ 7.28033259e-01 -6.85529963e-01 -4.03039247e-03 -1.64090438e+02] [ 5.57505892e-03 4.15714610e-05 9.99984458e-01 -2.78780017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.26655999499997 meters 0.012575137124813203 Centerline is valid? [True, True] Translation: X:55.53, Y:-164.07, Z:-2.79 [[-6.85437317e-01 -7.28120004e-01 4.11636444e-03 5.55275142e+01] [ 7.28107283e-01 -6.85449676e-01 -4.30427845e-03 -1.64070953e+02] [ 5.95559192e-03 4.68418529e-05 9.99982264e-01 -2.78860504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.29655999499994 meters 0.012538992218654734 Centerline is valid? [True, True] Translation: X:55.51, Y:-164.05, Z:-2.79 [[-6.85673800e-01 -7.27891896e-01 4.98274421e-03 5.55100370e+01] [ 7.27873274e-01 -6.85691902e-01 -5.20693046e-03 -1.64050165e+02] [ 7.20670984e-03 5.65505528e-05 9.99974030e-01 -2.79001384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.32655999499997 meters 0.012592119194229442 Centerline is valid? [True, True] Translation: X:55.49, Y:-164.03, Z:-2.79 [[-6.86099605e-01 -7.27486064e-01 5.59993525e-03 5.54922921e+01] [ 7.27462559e-01 -6.86122455e-01 -5.84822752e-03 -1.64029459e+02] [ 8.09674534e-03 6.12766366e-05 9.99967219e-01 -2.79057049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.35655999499994 meters 0.012612718589038131 Centerline is valid? [True, True] Translation: X:55.48, Y:-164.01, Z:-2.79 [[-6.86552520e-01 -7.27054194e-01 6.15106958e-03 5.54755967e+01] [ 7.27025856e-01 -6.86580071e-01 -6.41959560e-03 -1.64009613e+02] [ 8.89059569e-03 6.45970841e-05 9.99960476e-01 -2.79100513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.38655999499997 meters 0.01262178322902899 Centerline is valid? [True, True] Translation: X:55.46, Y:-163.99, Z:-2.79 [[-6.87185459e-01 -7.26456231e-01 6.12283915e-03 5.54582283e+01] [ 7.26428163e-01 -6.87212733e-01 -6.38620721e-03 -1.63989015e+02] [ 8.84699305e-03 5.92940628e-05 9.99960863e-01 -2.79134192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.41655999499994 meters 0.012563124415948404 Centerline is valid? [True, True] Translation: X:55.44, Y:-163.97, Z:-2.79 [[-6.87844375e-01 -7.25829772e-01 6.42325352e-03 5.54403634e+01] [ 7.25798893e-01 -6.87874363e-01 -6.69543685e-03 -1.63967799e+02] [ 9.27813882e-03 5.65717174e-05 9.99956956e-01 -2.79122249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.446559995 meters 0.012322148711476811 Centerline is valid? [True, True] Translation: X:55.42, Y:-163.95, Z:-2.79 [[-6.89315149e-01 -7.24439698e-01 5.63468368e-03 5.54242275e+01] [ 7.24415918e-01 -6.89338178e-01 -5.86979212e-03 -1.63945582e+02] [ 8.13651300e-03 3.57179218e-05 9.99966897e-01 -2.79102087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.47655999499995 meters 0.012351677449146167 Centerline is valid? [True, True] Translation: X:55.41, Y:-163.93, Z:-2.79 [[-6.90031305e-01 -7.23757023e-01 5.70697277e-03 5.54072161e+01] [ 7.23732638e-01 -6.90054904e-01 -5.94121672e-03 -1.63925383e+02] [ 8.23812188e-03 3.06969306e-05 9.99966066e-01 -2.79126279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.506559995 meters 0.012300422340345792 Centerline is valid? [True, True] Translation: X:55.39, Y:-163.90, Z:-2.79 [[-6.90596176e-01 -7.23220090e-01 5.44276228e-03 5.53900384e+01] [ 7.23197921e-01 -6.90617623e-01 -5.66260424e-03 -1.63904308e+02] [ 7.85417670e-03 2.56215315e-05 9.99969155e-01 -2.79060423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.53655999499995 meters 0.012237272741673287 Centerline is valid? [True, True] Translation: X:55.37, Y:-163.88, Z:-2.79 [[-6.91072547e-01 -7.22766123e-01 5.27878732e-03 5.53729725e+01] [ 7.22745283e-01 -6.91092708e-01 -5.48858562e-03 -1.63883600e+02] [ 7.61509517e-03 2.22077902e-05 9.99971005e-01 -2.79033181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.566559995 meters 0.012292374751214068 Centerline is valid? [True, True] Translation: X:55.36, Y:-163.86, Z:-2.79 [[-6.91495274e-01 -7.22363663e-01 5.00248389e-03 5.53567761e+01] [ 7.22344961e-01 -6.91513368e-01 -5.19806711e-03 -1.63860877e+02] [ 7.21417928e-03 1.90801899e-05 9.99973977e-01 -2.78963579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.59655999499995 meters 0.012325007377186151 Centerline is valid? [True, True] Translation: X:55.34, Y:-163.84, Z:-2.79 [[-6.91614739e-01 -7.22249919e-01 4.90992931e-03 5.53384198e+01] [ 7.22231919e-01 -6.91632167e-01 -5.09903953e-03 -1.63839612e+02] [ 7.07864594e-03 1.95367706e-05 9.99974946e-01 -2.78929250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.626559995 meters 0.012326680542475262 Centerline is valid? [True, True] Translation: X:55.32, Y:-163.82, Z:-2.79 [[-6.91725372e-01 -7.22144112e-01 4.88791175e-03 5.53199966e+01] [ 7.22126294e-01 -6.91742641e-01 -5.07297866e-03 -1.63819116e+02] [ 7.04459865e-03 2.05815439e-05 9.99975186e-01 -2.78954056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.65655999499995 meters 0.012421611139136991 Centerline is valid? [True, True] Translation: X:55.30, Y:-163.80, Z:-2.79 [[-6.91081126e-01 -7.22760538e-01 4.90741778e-03 5.53022775e+01] [ 7.22742615e-01 -6.91098549e-01 -5.09004173e-03 -1.63798976e+02] [ 7.07039061e-03 2.91681876e-05 9.99975004e-01 -2.79008257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.686559995 meters 0.012478071483163895 Centerline is valid? [True, True] Translation: X:55.28, Y:-163.78, Z:-2.79 [[-6.90739248e-01 -7.23086836e-01 4.97182691e-03 5.52832454e+01] [ 7.23068470e-01 -6.90757140e-01 -5.15364515e-03 -1.63778978e+02] [ 7.16085791e-03 3.51463035e-05 9.99974360e-01 -2.79001369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.71655999499995 meters 0.012528190986221434 Centerline is valid? [True, True] Translation: X:55.26, Y:-163.76, Z:-2.79 [[-6.90098473e-01 -7.23700796e-01 4.61040829e-03 5.52644698e+01] [ 7.23685038e-01 -6.90113872e-01 -4.77600039e-03 -1.63759506e+02] [ 6.63810200e-03 4.05729177e-05 9.99977967e-01 -2.78982497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.746559995 meters 0.012576577157421743 Centerline is valid? [True, True] Translation: X:55.25, Y:-163.74, Z:-2.79 [[-6.89526097e-01 -7.24246408e-01 4.57177171e-03 5.52451189e+01] [ 7.24230943e-01 -6.89541252e-01 -4.73326952e-03 -1.63739712e+02] [ 6.58047863e-03 4.73056736e-05 9.99978347e-01 -2.78957690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.77655999499996 meters 0.012882881623033509 Centerline is valid? [True, True] Translation: X:55.23, Y:-163.72, Z:-2.79 [[-6.88297908e-01 -7.25410243e-01 5.09589929e-03 5.52257915e+01] [ 7.25391083e-01 -6.88316769e-01 -5.27273850e-03 -1.63721197e+02] [ 7.33249145e-03 6.73050188e-05 9.99973115e-01 -2.79030972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.806559995 meters 0.013019442700950757 Centerline is valid? [True, True] Translation: X:55.21, Y:-163.70, Z:-2.79 [[-6.88051506e-01 -7.25640981e-01 5.50384480e-03 5.52071605e+01] [ 7.25618668e-01 -6.88073514e-01 -5.69107559e-03 -1.63703301e+02] [ 7.91672751e-03 7.79394046e-05 9.99968659e-01 -2.79084970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.83655999499996 meters 0.013123339862452515 Centerline is valid? [True, True] Translation: X:55.19, Y:-163.68, Z:-2.79 [[-6.87633813e-01 -7.26035900e-01 5.62246448e-03 5.51873841e+01] [ 7.26012657e-01 -6.87656793e-01 -5.81007820e-03 -1.63684383e+02] [ 8.08465124e-03 8.67741560e-05 9.99967315e-01 -2.79102814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.866559995 meters 0.013124952635217301 Centerline is valid? [True, True] Translation: X:55.17, Y:-163.67, Z:-2.79 [[-6.87418669e-01 -7.26238568e-01 5.75458047e-03 5.51677770e+01] [ 7.26214258e-01 -6.87442749e-01 -5.94285885e-03 -1.63665864e+02] [ 8.27187792e-03 9.38262684e-05 9.99965783e-01 -2.79130515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.89655999499996 meters 0.013269846830801102 Centerline is valid? [True, True] Translation: X:55.15, Y:-163.65, Z:-2.79 [[-6.87180851e-01 -7.26462250e-01 5.92255933e-03 5.51478098e+01] [ 7.26436541e-01 -6.87206365e-01 -6.11250019e-03 -1.63647218e+02] [ 8.51052112e-03 1.01970435e-04 9.99963780e-01 -2.79198703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.926559995 meters 0.013426483806741708 Centerline is valid? [True, True] Translation: X:55.13, Y:-163.63, Z:-2.79 [[-6.86658961e-01 -7.26952169e-01 6.32573874e-03 5.51269645e+01] [ 7.26922899e-01 -6.86688087e-01 -6.52451335e-03 -1.63629598e+02] [ 9.08681857e-03 1.18208788e-04 9.99958707e-01 -2.79275539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.95655999499996 meters 0.013628389144927899 Centerline is valid? [True, True] Translation: X:55.11, Y:-163.61, Z:-2.79 [[-6.86568007e-01 -7.27037598e-01 6.37986547e-03 5.51073634e+01] [ 7.27007857e-01 -6.86597638e-01 -6.57715232e-03 -1.63611752e+02] [ 9.16223759e-03 1.22549965e-04 9.99958018e-01 -2.79311454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.98655999499994 meters 0.013628389144927899 Centerline is valid? [True, True] Translation: X:55.09, Y:-163.59, Z:-2.79 [[-6.86792678e-01 -7.26825349e-01 6.38189648e-03 5.50886487e+01] [ 7.26795618e-01 -6.86822318e-01 -6.57518163e-03 -1.63592618e+02] [ 9.16223762e-03 1.22547790e-04 9.99958018e-01 -2.79311368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.01655999499997 meters 0.01394519415505256 Centerline is valid? [True, True] Translation: X:55.07, Y:-163.57, Z:-2.79 [[-6.86697842e-01 -7.26914860e-01 6.39211951e-03 5.50693616e+01] [ 7.26885066e-01 -6.86727581e-01 -6.58256489e-03 -1.63574914e+02] [ 9.17460901e-03 1.26103107e-04 9.99957904e-01 -2.79359336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.04655999499994 meters 0.013822076963094463 Centerline is valid? [True, True] Translation: X:55.05, Y:-163.56, Z:-2.79 [[-6.86595352e-01 -7.27007718e-01 6.82652511e-03 5.50504888e+01] [ 7.26973784e-01 -6.86629273e-01 -7.02556492e-03 -1.63555566e+02] [ 9.79493189e-03 1.38984575e-04 9.99952019e-01 -2.79361417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.07655999499997 meters 0.014126482682962408 Centerline is valid? [True, True] Translation: X:55.03, Y:-163.54, Z:-2.79 [[-6.86055062e-01 -7.27510290e-01 7.56503146e-03 5.50303440e+01] [ 7.27468694e-01 -6.86096750e-01 -7.78133890e-03 -1.63536459e+02] [ 1.08513476e-02 1.64896611e-04 9.99941109e-01 -2.79441137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.10655999499994 meters 0.01467181837029259 Centerline is valid? [True, True] Translation: X:55.01, Y:-163.52, Z:-2.80 [[-6.85959479e-01 -7.27598065e-01 7.78776771e-03 5.50112513e+01] [ 7.27554046e-01 -6.86003663e-01 -8.00527936e-03 -1.63518989e+02] [ 1.11670629e-02 1.74724641e-04 9.99937631e-01 -2.79536761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.13655999499997 meters 0.01378624709241816 Centerline is valid? [True, True] Translation: X:54.99, Y:-163.50, Z:-2.79 [[-6.85879109e-01 -7.27674534e-01 7.72149095e-03 5.49928828e+01] [ 7.27631316e-01 -6.85922548e-01 -7.93264542e-03 -1.63497566e+02] [ 1.10687288e-02 1.77562847e-04 9.99938724e-01 -2.79377242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.16655999499994 meters 0.013900497895630332 Centerline is valid? [True, True] Translation: X:54.97, Y:-163.48, Z:-2.79 [[-6.86396210e-01 -7.27197619e-01 6.62311172e-03 5.49736721e+01] [ 7.27165837e-01 -6.86428147e-01 -6.80028854e-03 -1.63478417e+02] [ 9.49144394e-03 1.48408297e-04 9.99954944e-01 -2.79305756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.196559995 meters 0.013700265562788638 Centerline is valid? [True, True] Translation: X:54.95, Y:-163.46, Z:-2.79 [[-6.87082110e-01 -7.26553045e-01 6.23275587e-03 5.49546038e+01] [ 7.26524905e-01 -6.87110366e-01 -6.39590089e-03 -1.63458418e+02] [ 8.92955243e-03 1.33743282e-04 9.99960122e-01 -2.79216370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.22655999499995 meters 0.01416353815545953 Centerline is valid? [True, True] Translation: X:54.94, Y:-163.44, Z:-2.79 [[-6.87914033e-01 -7.25771107e-01 5.53020236e-03 5.49352777e+01] [ 7.25748958e-01 -6.87936253e-01 -5.67121127e-03 -1.63441024e+02] [ 7.92042797e-03 1.12232782e-04 9.99968627e-01 -2.79274596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.256559995 meters 0.01337132361924728 Centerline is valid? [True, True] Translation: X:54.92, Y:-163.42, Z:-2.79 [[-6.88779415e-01 -7.24950543e-01 5.44311213e-03 5.49177293e+01] [ 7.24929088e-01 -6.88800914e-01 -5.57841822e-03 -1.63420564e+02] [ 7.79329793e-03 1.03570669e-04 9.99969626e-01 -2.79203452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.28655999499995 meters 0.012904364124603496 Centerline is valid? [True, True] Translation: X:54.90, Y:-163.40, Z:-2.79 [[-6.90394372e-01 -7.23413868e-01 5.29026236e-03 5.48996570e+01] [ 7.23393578e-01 -6.90414635e-01 -5.41871755e-03 -1.63399369e+02] [ 7.57244998e-03 8.58897132e-05 9.99971325e-01 -2.79189135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.316559995 meters 0.01285707178495562 Centerline is valid? [True, True] Translation: X:54.88, Y:-163.38, Z:-2.79 [[-6.91379054e-01 -7.22473543e-01 5.19445347e-03 5.48813461e+01] [ 7.22453982e-01 -6.91398563e-01 -5.31705956e-03 -1.63379915e+02] [ 7.43287253e-03 7.66499807e-05 9.99972373e-01 -2.79210100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.34655999499995 meters 0.012487918632051724 Centerline is valid? [True, True] Translation: X:54.86, Y:-163.36, Z:-2.79 [[-6.92490123e-01 -7.21408066e-01 5.27560115e-03 5.48633153e+01] [ 7.21387881e-01 -6.92510215e-01 -5.39705024e-03 -1.63358895e+02] [ 7.54688326e-03 6.83507502e-05 9.99971520e-01 -2.79176751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.376559995 meters 0.012463764111729775 Centerline is valid? [True, True] Translation: X:54.85, Y:-163.34, Z:-2.79 [[-6.93623818e-01 -7.20315821e-01 5.57828288e-03 5.48454438e+01] [ 7.20293244e-01 -6.93646246e-01 -5.70328662e-03 -1.63338850e+02] [ 7.97752256e-03 6.20640304e-05 9.99968177e-01 -2.79207656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.40655999499995 meters 0.012255903552808837 Centerline is valid? [True, True] Translation: X:54.83, Y:-163.32, Z:-2.79 [[-6.95292002e-01 -7.18704439e-01 5.74118018e-03 5.48272799e+01] [ 7.18680497e-01 -6.95315703e-01 -5.86652035e-03 -1.63317905e+02] [ 8.20822695e-03 4.71295418e-05 9.99966311e-01 -2.79231233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.436559995 meters 0.012252482984057402 Centerline is valid? [True, True] Translation: X:54.81, Y:-163.30, Z:-2.79 [[-6.95460369e-01 -7.18538862e-01 6.06448224e-03 5.48074871e+01] [ 7.18512174e-01 -6.95486808e-01 -6.19319051e-03 -1.63299758e+02] [ 8.66781546e-03 5.02857539e-05 9.99962433e-01 -2.79299896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.46655999499995 meters 0.012356278713419674 Centerline is valid? [True, True] Translation: X:54.79, Y:-163.28, Z:-2.79 [[-6.95651141e-01 -7.18350785e-01 6.45284436e-03 5.47880569e+01] [ 7.18320598e-01 -6.95681067e-01 -6.58570110e-03 -1.63281273e+02] [ 9.21996521e-03 5.38605418e-05 9.99957494e-01 -2.79405855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.496559995 meters 0.012372155337285222 Centerline is valid? [True, True] Translation: X:54.77, Y:-163.26, Z:-2.79 [[-6.95280912e-01 -7.18703606e-01 7.04130914e-03 5.47673229e+01] [ 7.18667726e-01 -6.95316562e-01 -7.18178681e-03 -1.63262948e+02] [ 1.00575149e-02 6.70023453e-05 9.99949420e-01 -2.79457995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.52655999499996 meters 0.012339684325408233 Centerline is valid? [True, True] Translation: X:54.75, Y:-163.24, Z:-2.79 [[-6.95414479e-01 -7.18574700e-01 7.00736882e-03 5.47470626e+01] [ 7.18539198e-01 -6.95449779e-01 -7.14316872e-03 -1.63243463e+02] [ 1.00061734e-02 6.76062295e-05 9.99949935e-01 -2.79440288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.556559995 meters 0.01239887810793394 Centerline is valid? [True, True] Translation: X:54.73, Y:-163.22, Z:-2.79 [[-6.95517295e-01 -7.18475855e-01 6.93822958e-03 5.47279773e+01] [ 7.18441091e-01 -6.95551897e-01 -7.06802988e-03 -1.63224985e+02] [ 9.90410756e-03 6.87722054e-05 9.99950951e-01 -2.79433197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.58655999499996 meters 0.012248335821131036 Centerline is valid? [True, True] Translation: X:54.71, Y:-163.21, Z:-2.79 [[-6.95610075e-01 -7.18386254e-01 6.91470924e-03 5.47081714e+01] [ 7.18351761e-01 -6.95644438e-01 -7.04011867e-03 -1.63205104e+02] [ 9.86770351e-03 7.00160792e-05 9.99951311e-01 -2.79377437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.616559995 meters 0.012354574063019232 Centerline is valid? [True, True] Translation: X:54.69, Y:-163.19, Z:-2.79 [[-6.95595125e-01 -7.18403418e-01 6.62961322e-03 5.46886444e+01] [ 7.18371747e-01 -6.95626713e-01 -6.74605230e-03 -1.63185580e+02] [ 9.45812308e-03 7.00057412e-05 9.99955269e-01 -2.79322730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.64655999499996 meters 0.012401569892258095 Centerline is valid? [True, True] Translation: X:54.67, Y:-163.17, Z:-2.79 [[-6.95662469e-01 -7.18338657e-01 6.58049693e-03 5.46688998e+01] [ 7.18307492e-01 -6.95693588e-01 -6.69163499e-03 -1.63167987e+02] [ 9.38486961e-03 7.17009227e-05 9.99955959e-01 -2.79376311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.676559995 meters 0.012345455212208716 Centerline is valid? [True, True] Translation: X:54.65, Y:-163.15, Z:-2.79 [[-6.96226360e-01 -7.17794421e-01 6.32644848e-03 5.46487702e+01] [ 7.17765627e-01 -6.96255100e-01 -6.42968718e-03 -1.63148711e+02] [ 9.02001561e-03 6.43895583e-05 9.99959317e-01 -2.79377143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.70655999499996 meters 0.012292960887476086 Centerline is valid? [True, True] Translation: X:54.63, Y:-163.13, Z:-2.79 [[-6.96713030e-01 -7.17325598e-01 5.91104722e-03 5.46295299e+01] [ 7.17300477e-01 -6.96738102e-01 -6.00353895e-03 -1.63130281e+02] [ 8.42494399e-03 5.72531784e-05 9.99964508e-01 -2.79384540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.73655999499994 meters 0.012270341164747912 Centerline is valid? [True, True] Translation: X:54.61, Y:-163.11, Z:-2.79 [[-6.97434587e-01 -7.16622229e-01 6.13005705e-03 5.46102432e+01] [ 7.16595219e-01 -6.97461524e-01 -6.22210393e-03 -1.63110933e+02] [ 8.73437692e-03 5.32590900e-05 9.99961853e-01 -2.79386150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.76655999499997 meters 0.012328748804909966 Centerline is valid? [True, True] Translation: X:54.59, Y:-163.09, Z:-2.80 [[-6.97828856e-01 -7.16227848e-01 7.24960161e-03 5.45917427e+01] [ 7.16190099e-01 -6.97866510e-01 -7.35366925e-03 -1.63091811e+02] [ 1.03261569e-02 6.04902942e-05 9.99946682e-01 -2.79514883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.79655999499994 meters 0.012364127676358253 Centerline is valid? [True, True] Translation: X:54.57, Y:-163.07, Z:-2.80 [[-6.98901266e-01 -7.15157169e-01 9.34040962e-03 5.45731064e+01] [ 7.15094479e-01 -6.98963675e-01 -9.46927104e-03 -1.63070241e+02] [ 1.33006241e-02 6.11898244e-05 9.99911541e-01 -2.79713346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.82655999499997 meters 0.012418113053653224 Centerline is valid? [True, True] Translation: X:54.55, Y:-163.05, Z:-2.80 [[-6.99670615e-01 -7.14402675e-01 9.47879106e-03 5.45549676e+01] [ 7.14338128e-01 -6.99734817e-01 -9.60334041e-03 -1.63051303e+02] [ 1.34932922e-02 5.18867738e-05 9.99908960e-01 -2.79813612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.85655999499994 meters 0.012243060409020705 Centerline is valid? [True, True] Translation: X:54.54, Y:-163.03, Z:-2.80 [[-7.00294989e-01 -7.13789177e-01 9.58845644e-03 5.45361835e+01] [ 7.13723145e-01 -7.00360627e-01 -9.70894074e-03 -1.63030972e+02] [ 1.36455142e-02 4.43807433e-05 9.99906895e-01 -2.79692082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.88655999499997 meters 0.012208217060630452 Centerline is valid? [True, True] Translation: X:54.52, Y:-163.01, Z:-2.80 [[-7.00918573e-01 -7.13179432e-01 9.39424342e-03 5.45171256e+01] [ 7.13116069e-01 -7.00981523e-01 -9.50660484e-03 -1.63011050e+02] [ 1.33651061e-02 3.58300495e-05 9.99910682e-01 -2.79741059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.91655999499994 meters 0.012079485477674637 Centerline is valid? [True, True] Translation: X:54.50, Y:-162.99, Z:-2.80 [[-7.00862125e-01 -7.13241602e-01 8.87119083e-03 5.44969061e+01] [ 7.13185169e-01 -7.00918266e-01 -8.97216156e-03 -1.62991870e+02] [ 1.26172986e-02 3.85535085e-05 9.99920398e-01 -2.79642249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.946559995 meters 0.012078620680183743 Centerline is valid? [True, True] Translation: X:54.48, Y:-162.97, Z:-2.80 [[-7.01027035e-01 -7.13088292e-01 8.13538467e-03 5.44770086e+01] [ 7.13040879e-01 -7.01074237e-01 -8.22307467e-03 -1.62972806e+02] [ 1.15672869e-02 3.62641825e-05 9.99933096e-01 -2.79690950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.97655999499995 meters 0.011972372621993601 Centerline is valid? [True, True] Translation: X:54.46, Y:-162.95, Z:-2.80 [[-7.02009134e-01 -7.12130569e-01 7.29574032e-03 5.44586652e+01] [ 7.12092434e-01 -7.02047044e-01 -7.36978356e-03 -1.62952231e+02] [ 1.03702011e-02 2.15861064e-05 9.99946228e-01 -2.79531535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.006559995 meters 0.01193714732045308 Centerline is valid? [True, True] Translation: X:54.44, Y:-162.93, Z:-2.79 [[-7.03020097e-01 -7.11136103e-01 6.94163967e-03 5.44403628e+01] [ 7.11101574e-01 -7.03054367e-01 -7.00770815e-03 -1.62931624e+02] [ 9.86378435e-03 9.65123542e-06 9.99951352e-01 -2.79462658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.03655999499995 meters 0.011965452578145144 Centerline is valid? [True, True] Translation: X:54.42, Y:-162.91, Z:-2.79 [[-7.03885782e-01 -7.10285812e-01 6.23467063e-03 5.44219056e+01] [ 7.10257960e-01 -7.03913394e-01 -6.29006839e-03 -1.62911106e+02] [ 8.85641449e-03 7.34734027e-07 9.99960781e-01 -2.79398927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.066559995 meters 0.011882736194927095 Centerline is valid? [True, True] Translation: X:54.40, Y:-162.89, Z:-2.79 [[-7.04461721e-01 -7.09719260e-01 5.67938254e-03 5.44030430e+01] [ 7.09696159e-01 -7.04484614e-01 -5.72627937e-03 -1.62891355e+02] [ 8.06508837e-03 -3.30864167e-06 9.99967477e-01 -2.79325776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.09655999499995 meters 0.011930429660112872 Centerline is valid? [True, True] Translation: X:54.38, Y:-162.87, Z:-2.79 [[-7.04178693e-01 -7.10006815e-01 4.76342520e-03 5.43836390e+01] [ 7.09990592e-01 -7.04194804e-01 -4.79977405e-03 -1.62872227e+02] [ 6.76225156e-03 2.08845944e-06 9.99977136e-01 -2.79211584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.126559995 meters 0.01195667884431873 Centerline is valid? [True, True] Translation: X:54.36, Y:-162.85, Z:-2.79 [[-7.03647975e-01 -7.10534117e-01 4.56019853e-03 5.43641456e+01] [ 7.10519274e-01 -7.03662752e-01 -4.59278536e-03 -1.62854287e+02] [ 6.47217254e-03 8.40482745e-06 9.99979055e-01 -2.79240944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.15655999499995 meters 0.01190310309447415 Centerline is valid? [True, True] Translation: X:54.34, Y:-162.84, Z:-2.79 [[-7.02988212e-01 -7.11184874e-01 4.86303911e-03 5.43429829e+01] [ 7.11168028e-01 -7.03005032e-01 -4.89499902e-03 -1.62835107e+02] [ 6.89999023e-03 1.73113188e-05 9.99976195e-01 -2.79257199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.186559995 meters 0.011988365382337109 Centerline is valid? [True, True] Translation: X:54.32, Y:-162.82, Z:-2.79 [[-7.02065640e-01 -7.12092226e-01 5.33837140e-03 5.43223679e+01] [ 7.12071977e-01 -7.02085935e-01 -5.37022442e-03 -1.62817279e+02] [ 7.57209054e-03 3.10546260e-05 9.99971331e-01 -2.79380668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.21655999499995 meters 0.012288120728820384 Centerline is valid? [True, True] Translation: X:54.30, Y:-162.80, Z:-2.80 [[-6.99678541e-01 -7.14434321e-01 5.79139263e-03 5.42998233e+01] [ 7.14410596e-01 -6.99702506e-01 -5.82268133e-03 -1.62799870e+02] [ 8.21217532e-03 6.34270805e-05 9.99966278e-01 -2.79520682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.246559995 meters 0.013114142068821309 Centerline is valid? [True, True] Translation: X:54.28, Y:-162.78, Z:-2.80 [[-6.97584198e-01 -7.16475589e-01 6.24628137e-03 5.42776868e+01] [ 7.16448105e-01 -6.97612156e-01 -6.27631242e-03 -1.62783605e+02] [ 8.85430645e-03 9.68800846e-05 9.99960795e-01 -2.79709192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.27655999499996 meters 0.013114142068821309 Centerline is valid? [True, True] Translation: X:54.26, Y:-162.76, Z:-2.80 [[-6.97800335e-01 -7.16265072e-01 6.24817465e-03 5.42587262e+01] [ 7.16237596e-01 -6.97828301e-01 -6.27442763e-03 -1.62764722e+02] [ 8.85430645e-03 9.68798946e-05 9.99960795e-01 -2.79709105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.306559995 meters 0.013156671082112107 Centerline is valid? [True, True] Translation: X:54.24, Y:-162.75, Z:-2.80 [[-6.96616913e-01 -7.17412640e-01 6.63177650e-03 5.42380328e+01] [ 7.17381774e-01 -6.96648469e-01 -6.65595867e-03 -1.62745298e+02] [ 9.39508582e-03 1.20862209e-04 9.99955858e-01 -2.79739179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.33655999499996 meters 0.013720382383975292 Centerline is valid? [True, True] Translation: X:54.22, Y:-162.73, Z:-2.80 [[-6.96641008e-01 -7.17390501e-01 6.49424891e-03 5.42185468e+01] [ 7.17360929e-01 -6.96671267e-01 -6.51479542e-03 -1.62727659e+02] [ 9.19800897e-03 1.20246785e-04 9.99957690e-01 -2.79831591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.366559995 meters 0.013682829622079805 Centerline is valid? [True, True] Translation: X:54.20, Y:-162.71, Z:-2.80 [[-6.97144118e-01 -7.16905208e-01 6.08286289e-03 5.41994350e+01] [ 7.16879277e-01 -6.97170647e-01 -6.09850469e-03 -1.62708247e+02] [ 8.61284323e-03 1.09141670e-04 9.99962903e-01 -2.79802367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.39655999499996 meters 0.012980068843339214 Centerline is valid? [True, True] Translation: X:54.18, Y:-162.69, Z:-2.80 [[-6.98057639e-01 -7.16018399e-01 5.76058630e-03 5.41818138e+01] [ 7.15995142e-01 -6.98081402e-01 -5.77181387e-03 -1.62687757e+02] [ 8.15408308e-03 9.54930336e-05 9.99966750e-01 -2.79713475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.426559995 meters 0.012781799405658639 Centerline is valid? [True, True] Translation: X:54.16, Y:-162.67, Z:-2.80 [[-6.99218592e-01 -7.14885144e-01 5.70899810e-03 5.41633051e+01] [ 7.14862292e-01 -6.99241893e-01 -5.71658381e-03 -1.62667951e+02] [ 8.07867148e-03 8.40057890e-05 9.99967364e-01 -2.79733631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.45655999499996 meters 0.012480528214216398 Centerline is valid? [True, True] Translation: X:54.14, Y:-162.65, Z:-2.80 [[-7.00685756e-01 -7.13450182e-01 5.32065484e-03 5.41445791e+01] [ 7.13430317e-01 -7.00705953e-01 -5.32441582e-03 -1.62647560e+02] [ 7.52691996e-03 6.51741453e-05 9.99971670e-01 -2.79721206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.48655999499994 meters 0.012086354735663102 Centerline is valid? [True, True] Translation: X:54.13, Y:-162.63, Z:-2.80 [[-7.03168235e-01 -7.11010272e-01 4.33894489e-03 5.41267745e+01] [ 7.10997029e-01 -7.03181621e-01 -4.33958815e-03 -1.62625973e+02] [ 6.13655805e-03 3.35163829e-05 9.99981171e-01 -2.79611444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.51655999499997 meters 0.011990671751097306 Centerline is valid? [True, True] Translation: X:54.11, Y:-162.61, Z:-2.80 [[-7.04657658e-01 -7.09538458e-01 3.57238876e-03 5.41093225e+01] [ 7.09529474e-01 -7.04666713e-01 -3.57057254e-03 -1.62606403e+02] [ 5.05080198e-03 1.86838326e-05 9.99987244e-01 -2.79541271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.54655999499994 meters 0.011810161224242012 Centerline is valid? [True, True] Translation: X:53.62, Y:-163.11, Z:-1.80 [[-7.55761422e-01 6.54840463e-01 2.93958548e-03 5.36204175e+01] [ 6.54835514e-01 7.55767139e-01 -2.54566034e-03 -1.63108931e+02] [-3.88864351e-03 1.03309133e-06 -9.99992439e-01 -1.79757783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.57655999499997 meters 0.011838622501845654 Centerline is valid? [True, True] Translation: X:53.63, Y:-163.09, Z:-1.80 [[-7.99527335e-01 6.00621232e-01 3.19003414e-03 5.36345892e+01] [ 6.00616478e-01 7.99533699e-01 -2.38971199e-03 -1.63085940e+02] [-3.98585155e-03 5.34700868e-06 -9.99992056e-01 -1.79743215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.60655999499994 meters 0.011949853105240178 Centerline is valid? [True, True] Translation: X:53.65, Y:-163.07, Z:-1.80 [[-8.39496055e-01 5.43344396e-01 4.82100435e-03 5.36541607e+01] [ 5.43335522e-01 8.39509897e-01 -3.10534190e-03 -1.63066634e+02] [-5.73455099e-03 1.25006389e-05 -9.99983557e-01 -1.79566976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.63655999499997 meters 0.011900261867729583 Centerline is valid? [True, True] Translation: X:53.67, Y:-163.04, Z:-1.79 [[-8.77035780e-01 4.80378707e-01 6.67375513e-03 5.36710772e+01] [ 4.80364776e-01 8.77061171e-01 -3.65843463e-03 -1.63042536e+02] [-7.61072559e-03 -2.74118136e-06 -9.99971038e-01 -1.79490467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.66655999499994 meters 0.011914936256613778 Centerline is valid? [True, True] Translation: X:53.68, Y:-163.01, Z:-1.79 [[-9.09996437e-01 4.14536297e-01 8.13284390e-03 5.36826496e+01] [ 4.14519463e-01 9.10032778e-01 -3.73600528e-03 -1.63011913e+02] [-8.94986432e-03 -2.85294152e-05 -9.99959949e-01 -1.79268871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.696559995 meters 0.011914936256613778 Centerline is valid? [True, True] Translation: X:53.98, Y:-162.38, Z:-2.80 [[-8.76751545e-01 -4.80878383e-01 7.91891003e-03 5.39768186e+01] [ 4.80859106e-01 -8.76787306e-01 -4.30589379e-03 -1.62384134e+02] [ 9.01381104e-03 3.26809588e-05 9.99959374e-01 -2.79889416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.72655999499995 meters 0.011914936256613778 Centerline is valid? [True, True] Translation: X:53.64, Y:-162.99, Z:-1.79 [[-9.11522044e-01 4.11170517e-01 8.14670218e-03 5.36421644e+01] [ 4.11153817e-01 9.11558448e-01 -3.70597813e-03 -1.62994269e+02] [-8.94998415e-03 -2.85330681e-05 -9.99959948e-01 -1.79268721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.756559995 meters 0.012119507208843198 Centerline is valid? [True, True] Translation: X:53.65, Y:-162.97, Z:-1.79 [[-9.38450542e-01 3.45310221e-01 8.45167997e-03 5.36548476e+01] [ 3.45295919e-01 9.38488599e-01 -3.14297265e-03 -1.62968613e+02] [-9.01710587e-03 -3.11937823e-05 -9.99959345e-01 -1.79126988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.78655999499995 meters 0.012119507208843198 Centerline is valid? [True, True] Translation: X:53.66, Y:-162.94, Z:-1.79 [[-9.60569549e-01 2.77905130e-01 8.65331591e-03 5.36633283e+01] [ 2.77893562e-01 9.60608525e-01 -2.53589002e-03 -1.62942092e+02] [-9.01718588e-03 -3.11979596e-05 -9.99959344e-01 -1.79126902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.816559995 meters 0.012041217062143462 Centerline is valid? [True, True] Translation: X:53.67, Y:-162.92, Z:-1.79 [[-9.77920598e-01 2.08785467e-01 8.94050346e-03 5.36693356e+01] [ 2.08776422e-01 9.77961465e-01 -1.94372581e-03 -1.62915787e+02] [-9.14928956e-03 -3.42431873e-05 -9.99958144e-01 -1.79276676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.84655999499995 meters 0.012166569592180891 Centerline is valid? [True, True] Translation: X:53.67, Y:-162.89, Z:-1.79 [[-9.90330667e-01 1.38434400e-01 9.00485620e-03 5.36724820e+01] [ 1.38428330e-01 9.90371605e-01 -1.29689807e-03 -1.62888023e+02] [-9.09768919e-03 -3.78307234e-05 -9.99958614e-01 -1.79219882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.876559995 meters 0.012166569592180891 Centerline is valid? [True, True] Translation: X:53.78, Y:-162.20, Z:-2.80 [[-9.76911390e-01 -2.13456972e-01 8.95860850e-03 5.37750651e+01] [ 2.13448393e-01 -9.76952465e-01 -1.91423120e-03 -1.62202269e+02] [ 9.16074065e-03 4.21663180e-05 9.99958039e-01 -2.79937423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.90655999499995 meters 0.012251869809001063 Centerline is valid? [True, True] Translation: X:53.62, Y:-162.88, Z:-1.79 [[-9.90901452e-01 1.34291637e-01 8.94813968e-03 5.36175296e+01] [ 1.34285810e-01 9.90941852e-01 -1.25158465e-03 -1.62880536e+02] [-9.03516346e-03 -3.85888530e-05 -9.99959181e-01 -1.79204001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.936559995 meters 0.012222440477462493 Centerline is valid? [True, True] Translation: X:53.62, Y:-162.85, Z:-1.79 [[-9.97963680e-01 6.32036041e-02 8.59053360e-03 5.36186949e+01] [ 6.32009165e-02 9.98000653e-01 -5.84247862e-04 -1.62852853e+02] [-8.61028471e-03 -4.01285500e-05 -9.99962930e-01 -1.79269925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.96655999499995 meters 0.012125674772822592 Centerline is valid? [True, True] Translation: X:53.67, Y:-162.16, Z:-2.80 [[-9.89993240e-01 -1.40904635e-01 7.69856603e-03 5.36693077e+01] [ 1.40900227e-01 -9.90023173e-01 -1.11472529e-03 -1.62162106e+02] [ 7.77882873e-03 -1.88408029e-05 9.99969744e-01 -2.79738097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.996559995 meters 0.012094430382267495 Centerline is valid? [True, True] Translation: X:53.55, Y:-162.85, Z:-1.79 [[-9.98329083e-01 5.73890856e-02 6.74802468e-03 5.35522317e+01] [ 5.73875088e-02 9.98351888e-01 -4.27226578e-04 -1.62846648e+02] [-6.76142132e-03 -3.92603921e-05 -9.99977141e-01 -1.79442728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.02655999499996 meters 0.012153115088636816 Centerline is valid? [True, True] Translation: X:53.55, Y:-162.82, Z:-1.79 [[-9.99879173e-01 -1.43729385e-02 5.92106676e-03 5.35515048e+01] [-1.43729118e-02 9.99896703e-01 4.70700454e-05 -1.62817753e+02] [-5.92113167e-03 -3.80386123e-05 -9.99982469e-01 -1.79475718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.056559995 meters 0.012255427096167733 Centerline is valid? [True, True] Translation: X:53.55, Y:-162.79, Z:-1.80 [[-9.96325252e-01 -8.55093658e-02 4.91338980e-03 5.35451149e+01] [-8.55084814e-02 9.96337366e-01 3.90170564e-04 -1.62789716e+02] [-4.92875709e-03 -3.13997151e-05 -9.99987853e-01 -1.79502332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.08655999499996 meters 0.012096219561074513 Centerline is valid? [True, True] Translation: X:53.49, Y:-162.10, Z:-2.80 [[-9.99976515e-01 4.84958890e-03 4.84265080e-03 5.34886594e+01] [-4.84941036e-03 -9.99988240e-01 4.86092347e-05 -1.62103934e+02] [ 4.84282959e-03 2.51240921e-05 9.99988273e-01 -2.79554527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.116559995 meters 0.01212630382465186 Centerline is valid? [True, True] Translation: X:53.45, Y:-162.80, Z:-1.80 [[-9.95829232e-01 -9.11320177e-02 4.37001017e-03 5.34466441e+01] [-9.11312505e-02 9.95838820e-01 3.74791024e-04 -1.62799059e+02] [-4.38598123e-03 -2.50166334e-05 -9.99990381e-01 -1.79667896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.14655999499996 meters 0.012081064473403808 Centerline is valid? [True, True] Translation: X:53.44, Y:-162.77, Z:-1.80 [[-9.86863969e-01 -1.61499907e-01 4.15785067e-03 5.34352139e+01] [-1.61498569e-01 9.86872727e-01 6.57695919e-04 -1.62772860e+02] [-4.20948726e-03 -2.24305309e-05 -9.99991140e-01 -1.79714057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.176559995 meters 0.012023560348127033 Centerline is valid? [True, True] Translation: X:53.41, Y:-162.75, Z:-1.80 [[-9.72745932e-01 -2.31840106e-01 3.93923711e-03 5.34145247e+01] [-2.31838294e-01 9.72753908e-01 9.16887489e-04 -1.62748799e+02] [-4.04447959e-03 -2.13674376e-05 -9.99991821e-01 -1.79721938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.20655999499996 meters 0.012112657095086033 Centerline is valid? [True, True] Translation: X:53.38, Y:-162.73, Z:-1.80 [[-9.53309978e-01 -3.01963159e-01 4.28219890e-03 5.33795706e+01] [-3.01960237e-01 9.53319595e-01 1.32882816e-03 -1.62728894e+02] [-4.48356127e-03 -2.62686452e-05 -9.99989948e-01 -1.79694243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.23655999499994 meters 0.012309453307689846 Centerline is valid? [True, True] Translation: X:53.32, Y:-162.72, Z:-1.80 [[-9.28390626e-01 -3.71575444e-01 4.74715386e-03 5.33233885e+01] [-3.71570773e-01 9.28402762e-01 1.86347616e-03 -1.62717666e+02] [-5.09969273e-03 -3.38698361e-05 -9.99986996e-01 -1.79641759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.26655999499997 meters 0.012312451141250944 Centerline is valid? [True, True] Translation: X:53.26, Y:-162.71, Z:-1.80 [[-8.98020869e-01 -4.39924777e-01 4.97089320e-03 5.32607381e+01] [-4.39918295e-01 8.98034625e-01 2.38859710e-03 -1.62713527e+02] [-5.51483726e-03 -4.17768211e-05 -9.99984792e-01 -1.79605880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.29655999499994 meters 0.012427933325429885 Centerline is valid? [True, True] Translation: X:53.19, Y:-162.72, Z:-1.80 [[-8.62525278e-01 -5.05991314e-01 4.78911279e-03 5.31855345e+01] [-5.05983810e-01 8.62538572e-01 2.75602051e-03 -1.62719996e+02] [-5.52531695e-03 -4.60761827e-05 -9.99984734e-01 -1.79528152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.32655999499997 meters 0.012884302066089932 Centerline is valid? [True, True] Translation: X:53.11, Y:-162.73, Z:-1.79 [[-8.21019104e-01 -5.70876544e-01 5.25374916e-03 5.31051609e+01] [-5.70865386e-01 8.21035911e-01 3.57004008e-03 -1.62734600e+02] [-6.35156887e-03 -6.81124312e-05 -9.99979826e-01 -1.79475701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.35655999499994 meters 0.01317808748300499 Centerline is valid? [True, True] Translation: X:53.02, Y:-162.76, Z:-1.80 [[-7.75128010e-01 -6.31785934e-01 4.80641128e-03 5.30212252e+01] [-6.31774371e-01 7.75142908e-01 3.82315509e-03 -1.62760966e+02] [-6.14107123e-03 -7.31328699e-05 -9.99981141e-01 -1.79513182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.38655999499997 meters 0.013257813251742547 Centerline is valid? [True, True] Translation: X:52.93, Y:-162.80, Z:-1.80 [[-7.24066008e-01 -6.89715726e-01 4.54238936e-03 5.29347838e+01] [-6.89702890e-01 7.24080251e-01 4.20874349e-03 -1.62797581e+02] [-6.19189100e-03 -8.54909689e-05 -9.99980826e-01 -1.79593731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.41655999499994 meters 0.013827231137118623 Centerline is valid? [True, True] Translation: X:52.85, Y:-162.84, Z:-1.80 [[-6.69271412e-01 -7.43006111e-01 4.20668969e-03 5.28474529e+01] [-7.42992276e-01 6.69284627e-01 4.53500355e-03 -1.62842947e+02] [-6.18500809e-03 -9.03897161e-05 -9.99980869e-01 -1.79545803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.446559995 meters 0.01365150984967808 Centerline is valid? [True, True] Translation: X:52.76, Y:-162.90, Z:-1.80 [[-6.10607903e-01 -7.91922958e-01 4.00206096e-03 5.27612132e+01] [-7.91906985e-01 6.10621011e-01 5.03071949e-03 -1.62900453e+02] [-6.42768477e-03 -9.74629525e-05 -9.99979338e-01 -1.79572139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.47655999499995 meters 0.01382031236140881 Centerline is valid? [True, True] Translation: X:52.68, Y:-162.96, Z:-1.80 [[-5.48472659e-01 -8.36160401e-01 3.67774325e-03 5.26787850e+01] [-8.36142816e-01 5.48484980e-01 5.42382511e-03 -1.62964792e+02] [-6.55237471e-03 -1.00298817e-04 -9.99978528e-01 -1.79554819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.506559995 meters 0.0137774991500538 Centerline is valid? [True, True] Translation: X:52.60, Y:-163.04, Z:-1.80 [[-4.83349422e-01 -8.75421138e-01 3.34184077e-03 5.25985113e+01] [-8.75401646e-01 4.83360964e-01 5.84266809e-03 -1.63040313e+02] [-6.73011052e-03 -1.01402671e-04 -9.99977347e-01 -1.79508209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.53655999499995 meters 0.014073244725309176 Centerline is valid? [True, True] Translation: X:52.52, Y:-163.12, Z:-1.79 [[-4.16202861e-01 -9.09266578e-01 3.07714983e-03 5.25244883e+01] [-9.09243462e-01 4.16214225e-01 6.48436886e-03 -1.63120516e+02] [-7.17677341e-03 -9.90654943e-05 -9.99974242e-01 -1.79408638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.566559995 meters 0.013470734006252818 Centerline is valid? [True, True] Translation: X:52.46, Y:-163.21, Z:-1.79 [[-3.46444307e-01 -9.38067139e-01 2.52705045e-03 5.24574126e+01] [-9.38044036e-01 3.46453511e-01 6.58414772e-03 -1.63210489e+02] [-7.05187811e-03 -8.94441122e-05 -9.99975131e-01 -1.79456564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.59655999499995 meters 0.013117327104446675 Centerline is valid? [True, True] Translation: X:52.39, Y:-163.31, Z:-1.79 [[-2.75050198e-01 -9.61427870e-01 1.95955805e-03 5.23942906e+01] [-9.61405396e-01 2.75057168e-01 6.57408599e-03 -1.63313519e+02] [-6.85949997e-03 -7.57260305e-05 -9.99976471e-01 -1.79459545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.626559995 meters 0.012820278936827623 Centerline is valid? [True, True] Translation: X:52.34, Y:-163.41, Z:-1.80 [[-2.02182666e-01 -9.79346927e-01 1.32867703e-03 5.23422073e+01] [-9.79327613e-01 2.02187024e-01 6.15099467e-03 -1.63411012e+02] [-6.29259899e-03 -5.75855988e-05 -9.99980200e-01 -1.79512484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.65655999499995 meters 0.012316903585446565 Centerline is valid? [True, True] Translation: X:52.30, Y:-163.52, Z:-1.80 [[-1.30043210e-01 -9.91508077e-01 7.04213195e-04 5.22978064e+01] [-9.91494675e-01 1.30045114e-01 5.15543053e-03 -1.63519834e+02] [-5.20323050e-03 -2.77948967e-05 -9.99986463e-01 -1.79678400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.686559995 meters 0.012042475068466554 Centerline is valid? [True, True] Translation: X:52.26, Y:-163.63, Z:-1.80 [[-5.53378485e-02 -9.98467647e-01 2.85225042e-04 5.22598615e+01] [-9.98455874e-01 5.53385811e-02 4.84856015e-03 -1.63634114e+02] [-4.85691439e-03 -1.64757316e-05 -9.99988205e-01 -1.79714343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.71655999499995 meters 0.011944000097486286 Centerline is valid? [True, True] Translation: X:52.23, Y:-163.75, Z:-1.80 [[ 1.99857792e-02 -9.99800260e-01 -9.46900981e-05 5.22300583e+01] [-9.99786777e-01 -1.99860014e-02 5.19239110e-03 -1.63745927e+02] [-5.19324645e-03 -9.10407400e-06 -9.99986515e-01 -1.79660728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.746559995 meters 0.011928554093601896 Centerline is valid? [True, True] Translation: X:52.21, Y:-163.87, Z:-1.80 [[ 9.47127191e-02 -9.95504499e-01 -5.41776430e-04 5.22098486e+01] [-9.95488329e-01 -9.47142687e-02 5.67403022e-03 -1.63865752e+02] [-5.69983657e-03 1.92928216e-06 -9.99983756e-01 -1.79671269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.77655999499996 meters 0.011887876107854231 Centerline is valid? [True, True] Translation: X:52.20, Y:-163.99, Z:-1.80 [[ 1.70370534e-01 -9.85379475e-01 -1.08227752e-03 5.21979318e+01] [-9.85359827e-01 -1.70373971e-01 6.22262505e-03 -1.63985285e+02] [-6.31603892e-03 6.28083672e-06 -9.99980054e-01 -1.79642290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.806559995 meters 0.011918177228643877 Centerline is valid? [True, True] Translation: X:52.19, Y:-164.10, Z:-1.80 [[ 2.44963308e-01 -9.69531058e-01 -1.58263290e-03 5.21945172e+01] [-9.69511104e-01 -2.44968420e-01 6.22037267e-03 -1.64100902e+02] [-6.41853958e-03 1.06171088e-05 -9.99979401e-01 -1.79635657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.83655999499996 meters 0.01206664901019497 Centerline is valid? [True, True] Translation: X:52.20, Y:-164.22, Z:-1.80 [[ 3.18184817e-01 -9.48026294e-01 -2.13739378e-03 5.22014004e+01] [-9.48005219e-01 -3.18191995e-01 6.32127132e-03 -1.64220642e+02] [-6.67283301e-03 1.49279062e-05 -9.99977736e-01 -1.79576145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.866559995 meters 0.011984448440340415 Centerline is valid? [True, True] Translation: X:52.22, Y:-164.34, Z:-1.80 [[ 3.89790003e-01 -9.20899293e-01 -2.87168360e-03 5.22160122e+01] [-9.20874648e-01 -3.89800580e-01 6.73727582e-03 -1.64338921e+02] [-7.32373647e-03 1.83378626e-05 -9.99973181e-01 -1.79683058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.89655999499996 meters 0.012017887847449999 Centerline is valid? [True, True] Translation: X:52.24, Y:-164.46, Z:-1.80 [[ 4.59583849e-01 -8.88127345e-01 -3.53613762e-03 5.22408857e+01] [-8.88101342e-01 -4.59597453e-01 6.79615402e-03 -1.64458420e+02] [-7.66105007e-03 1.70459387e-05 -9.99970654e-01 -1.79665128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.926559995 meters 0.012067886574114908 Centerline is valid? [True, True] Translation: X:52.27, Y:-164.57, Z:-1.80 [[ 5.26546955e-01 -8.50134930e-01 -4.34792487e-03 5.22703220e+01] [-8.50106195e-01 -5.26564906e-01 6.98977678e-03 -1.64568037e+02] [-8.23171805e-03 1.57521922e-05 -9.99966119e-01 -1.79604060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.95655999499996 meters 0.012020813914096361 Centerline is valid? [True, True] Translation: X:52.31, Y:-164.68, Z:-1.80 [[ 5.90609681e-01 -8.06940575e-01 -5.20711510e-03 5.23083416e+01] [-8.06909368e-01 -5.90632634e-01 7.09669174e-03 -1.64676195e+02] [-8.80210062e-03 1.02951078e-05 -9.99961261e-01 -1.79587953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.98655999499994 meters 0.012061115323190147 Centerline is valid? [True, True] Translation: X:52.35, Y:-164.78, Z:-1.80 [[ 6.51268451e-01 -7.58823371e-01 -6.04127955e-03 5.23531749e+01] [-7.58790752e-01 -6.51296470e-01 7.03577290e-03 -1.64780125e+02] [-9.27357295e-03 1.89013951e-06 -9.99957000e-01 -1.79528508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.01655999499997 meters 0.012218997775571476 Centerline is valid? [True, True] Translation: X:52.40, Y:-164.88, Z:-1.79 [[ 7.08346602e-01 -7.05826378e-01 -7.36310808e-03 5.23994542e+01] [-7.05788023e-01 -7.08384870e-01 7.35812222e-03 -1.64875574e+02] [-1.04094711e-02 -1.53073782e-05 -9.99945820e-01 -1.79371190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.04655999499994 meters 0.012151587604950715 Centerline is valid? [True, True] Translation: X:52.40, Y:-164.88, Z:-1.79 [[ 7.62038074e-01 -6.47482109e-01 -8.05553149e-03 5.23961778e+01] [-6.47445564e-01 -7.62080650e-01 6.87925357e-03 -1.64884610e+02] [-1.05931583e-02 -2.67350120e-05 -9.99943891e-01 -1.79364205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.07655999499997 meters 0.012255732438342512 Centerline is valid? [True, True] Translation: X:52.39, Y:-164.89, Z:-1.79 [[ 8.10971276e-01 -5.85021550e-01 -8.68196250e-03 5.23945057e+01] [-5.84987514e-01 -8.11017746e-01 6.31056469e-03 -1.64893403e+02] [-1.07330420e-02 -3.88470296e-05 -9.99942399e-01 -1.79407620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.10655999499994 meters 0.012373366480792848 Centerline is valid? [True, True] Translation: X:52.39, Y:-164.90, Z:-1.80 [[ 8.55523671e-01 -5.17689697e-01 -8.75360606e-03 5.23917781e+01] [-5.17661850e-01 -8.55568451e-01 5.36984722e-03 -1.64904860e+02] [-1.02692238e-02 -6.26235014e-05 -9.99947268e-01 -1.79620601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.13655999499997 meters 0.01244649613331856 Centerline is valid? [True, True] Translation: X:52.39, Y:-164.92, Z:-1.80 [[ 8.93986811e-01 -4.48007395e-01 -8.77249342e-03 5.23892452e+01] [-4.47985017e-01 -8.94029848e-01 4.47839080e-03 -1.64915635e+02] [-9.84922316e-03 -7.36766964e-05 -9.99951493e-01 -1.79656890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.16655999499994 meters 0.01265346578291799 Centerline is valid? [True, True] Translation: X:52.39, Y:-164.93, Z:-1.80 [[ 9.26872608e-01 -3.75274321e-01 -8.73805085e-03 5.23884446e+01] [-3.75256774e-01 -9.26913791e-01 3.63003974e-03 -1.64926939e+02] [-9.46168054e-03 -8.55716284e-05 -9.99955234e-01 -1.79665722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.196559995 meters 0.012814376593823706 Centerline is valid? [True, True] Translation: X:52.39, Y:-164.94, Z:-1.80 [[ 9.53885296e-01 -3.00034449e-01 -9.06482230e-03 5.23890325e+01] [-3.00019880e-01 -9.53928361e-01 2.95855592e-03 -1.64939454e+02] [-9.53485978e-03 -1.02496096e-04 -9.99954537e-01 -1.79670026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.22655999499995 meters 0.013387727700567943 Centerline is valid? [True, True] Translation: X:52.39, Y:-164.95, Z:-1.80 [[ 9.74836505e-01 -2.22739126e-01 -9.00391160e-03 5.23891510e+01] [-2.22728517e-01 -9.74878079e-01 2.17706341e-03 -1.64951631e+02] [-9.26263324e-03 -1.16853012e-04 -9.99957094e-01 -1.79608991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.256559995 meters 0.013868054329239852 Centerline is valid? [True, True] Translation: X:52.39, Y:-164.96, Z:-1.80 [[ 9.89724205e-01 -1.42750931e-01 -8.25648235e-03 5.23919053e+01] [-1.42744854e-01 -9.89758634e-01 1.32375437e-03 -1.64963577e+02] [-8.36089187e-03 -1.31581379e-04 -9.99965039e-01 -1.79665055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.28655999499995 meters 0.014171915287251561 Centerline is valid? [True, True] Translation: X:52.39, Y:-164.97, Z:-1.80 [[ 9.97950159e-01 -6.34904725e-02 -8.02751437e-03 5.23920666e+01] [-6.34873101e-02 -9.97982435e-01 6.48425052e-04 -1.64971775e+02] [-8.05248715e-03 -1.37450590e-04 -9.99967569e-01 -1.79735971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.316559995 meters 0.01413452034536767 Centerline is valid? [True, True] Translation: X:52.39, Y:-164.98, Z:-1.80 [[ 9.99852142e-01 1.55726344e-02 -7.29298121e-03 5.23936524e+01] [ 1.55731630e-02 -9.99878731e-01 1.56906759e-05 -1.64980593e+02] [-7.29185245e-03 -1.29263141e-04 -9.99973406e-01 -1.79867685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.34655999499995 meters 0.014240263425462318 Centerline is valid? [True, True] Translation: X:52.40, Y:-164.99, Z:-1.80 [[ 9.95493139e-01 9.45600769e-02 -7.19736249e-03 5.23951269e+01] [ 9.45585719e-02 -9.95519148e-01 -5.49870016e-04 -1.64989760e+02] [-7.21710792e-03 -1.33180490e-04 -9.99973947e-01 -1.79896265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.376559995 meters 0.014563102576454512 Centerline is valid? [True, True] Translation: X:52.40, Y:-165.00, Z:-1.80 [[ 9.84934188e-01 1.72711050e-01 -8.69133766e-03 5.23966631e+01] [ 1.72705822e-01 -9.84972520e-01 -1.35421750e-03 -1.64999275e+02] [-8.79461709e-03 -1.67229506e-04 -9.99961313e-01 -1.79741985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.40655999499995 meters 0.015524776820994322 Centerline is valid? [True, True] Translation: X:52.40, Y:-165.01, Z:-1.80 [[ 9.68386705e-01 2.49281053e-01 -9.28146983e-03 5.23992263e+01] [ 2.49271397e-01 -9.68431166e-01 -2.20158124e-03 -1.65008642e+02] [-9.53727714e-03 -1.81622941e-04 -9.99954503e-01 -1.79547415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.436559995 meters 0.014454226648104373 Centerline is valid? [True, True] Translation: X:52.40, Y:-165.01, Z:-1.80 [[ 9.46038108e-01 3.23918632e-01 -9.41368011e-03 5.24023211e+01] [ 3.23904523e-01 -9.46084925e-01 -3.02888226e-03 -1.65014529e+02] [-9.88725224e-03 -1.83695524e-04 -9.99951103e-01 -1.79602840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.46655999499995 meters 0.014033154841104994 Centerline is valid? [True, True] Translation: X:52.41, Y:-165.02, Z:-1.80 [[ 9.18080728e-01 3.96282120e-01 -9.39464195e-03 5.24067807e+01] [ 3.96263382e-01 -9.18128776e-01 -3.85786487e-03 -1.65021934e+02] [-1.01542940e-02 -1.80921209e-04 -9.99948427e-01 -1.79644771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.496559995 meters 0.013947477868028555 Centerline is valid? [True, True] Translation: X:52.41, Y:-165.03, Z:-1.80 [[ 8.84782923e-01 4.65910856e-01 -9.28730104e-03 5.24110041e+01] [ 4.65887238e-01 -8.84831647e-01 -4.69438711e-03 -1.65028645e+02] [-1.04048638e-02 -1.73321488e-04 -9.99945853e-01 -1.79616457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.52655999499996 meters 0.013536489044875874 Centerline is valid? [True, True] Translation: X:52.42, Y:-165.03, Z:-1.80 [[ 8.46596868e-01 5.32151560e-01 -9.40533060e-03 5.24163097e+01] [ 5.32120854e-01 -8.46649096e-01 -5.71891767e-03 -1.65033620e+02] [-1.10063456e-02 -1.63154755e-04 -9.99939415e-01 -1.79583717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.556559995 meters 0.013371711592914406 Centerline is valid? [True, True] Translation: X:52.42, Y:-165.04, Z:-1.80 [[ 8.03263899e-01 5.95546755e-01 -9.54836205e-03 5.24207237e+01] [ 5.95506983e-01 -8.03320632e-01 -6.88438102e-03 -1.65038053e+02] [-1.17703670e-02 -1.56141536e-04 -9.99930715e-01 -1.79554551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.58655999499996 meters 0.01274784851092462 Centerline is valid? [True, True] Translation: X:52.42, Y:-165.04, Z:-1.80 [[ 7.56539826e-01 6.53868685e-01 -1.01604510e-02 5.24244418e+01] [ 6.53812006e-01 -7.56608040e-01 -8.61017705e-03 -1.65039779e+02] [-1.33174041e-02 -1.29083011e-04 -9.99911311e-01 -1.79533680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.616559995 meters 0.0126011401840033 Centerline is valid? [True, True] Translation: X:52.43, Y:-165.04, Z:-1.80 [[ 7.04089944e-01 7.10043878e-01 -9.74897823e-03 5.24290823e+01] [ 7.09978039e-01 -7.04157425e-01 -9.66986736e-03 -1.65044019e+02] [-1.37308455e-02 -1.13104073e-04 -9.99905721e-01 -1.79502716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.64655999499996 meters 0.012459468626939797 Centerline is valid? [True, True] Translation: X:52.44, Y:-165.05, Z:-1.79 [[ 6.47486973e-01 7.62022115e-01 -9.10587248e-03 5.24350305e+01] [ 7.61948803e-01 -6.47550993e-01 -1.05703924e-02 -1.65048816e+02] [-1.39513896e-02 -9.40172312e-05 -9.99902670e-01 -1.79497391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.676559995 meters 0.012443779799555058 Centerline is valid? [True, True] Translation: X:52.44, Y:-165.05, Z:-1.79 [[ 5.87488942e-01 8.09190228e-01 -8.24125156e-03 5.24406699e+01] [ 8.09112168e-01 -5.87546739e-01 -1.12396093e-02 -1.65053668e+02] [-1.39371025e-02 -6.49507160e-05 -9.99902872e-01 -1.79307560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.70655999499996 meters 0.012405551712586494 Centerline is valid? [True, True] Translation: X:52.44, Y:-165.06, Z:-1.79 [[ 5.23565122e-01 8.51955345e-01 -7.18702499e-03 5.24430270e+01] [ 8.51876225e-01 -5.23614446e-01 -1.16107388e-02 -1.65055978e+02] [-1.36550611e-02 -4.34778267e-05 -9.99906764e-01 -1.79234171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.73655999499994 meters 0.012141287984277497 Centerline is valid? [True, True] Translation: X:52.45, Y:-165.06, Z:-1.79 [[ 4.56249187e-01 8.89830412e-01 -6.20631414e-03 5.24467492e+01] [ 8.89748924e-01 -4.56291396e-01 -1.20421964e-02 -1.65058056e+02] [-1.35474003e-02 -2.78190035e-05 -9.99908229e-01 -1.79429798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.76655999499997 meters 0.01198345177365431 Centerline is valid? [True, True] Translation: X:52.45, Y:-165.06, Z:-1.80 [[ 3.87259517e-01 9.21957047e-01 -5.02689640e-03 5.24512927e+01] [ 9.21879280e-01 -3.87292142e-01 -1.19745569e-02 -1.65060348e+02] [-1.29869046e-02 3.06947109e-06 -9.99915667e-01 -1.79615749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.79655999499994 meters 0.01198345177365431 Centerline is valid? [True, True] Translation: X:52.46, Y:-165.06, Z:-1.80 [[ 3.13885441e-01 9.49452123e-01 -4.07386676e-03 5.24594392e+01] [ 9.49372039e-01 -3.13911877e-01 -1.23314938e-02 -1.65064510e+02] [-1.29869981e-02 3.06119098e-06 -9.99915665e-01 -1.79615667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.82655999499997 meters 0.011968889768560819 Centerline is valid? [True, True] Translation: X:52.47, Y:-165.07, Z:-1.80 [[ 2.39040987e-01 9.71004740e-01 -3.03348917e-03 5.24663498e+01] [ 9.70926063e-01 -2.39060233e-01 -1.23606384e-02 -1.65067666e+02] [-1.27274251e-02 9.40550104e-06 -9.99919003e-01 -1.79688189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.85655999499994 meters 0.012014701172821034 Centerline is valid? [True, True] Translation: X:52.47, Y:-165.07, Z:-1.80 [[ 1.62415851e-01 9.86720312e-01 -2.02889801e-03 5.24720589e+01] [ 9.86642447e-01 -1.62428523e-01 -1.23958261e-02 -1.65071391e+02] [-1.25607643e-02 1.14817433e-05 -9.99921110e-01 -1.79688973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.88655999499997 meters 0.012014701172821034 Centerline is valid? [True, True] Translation: X:52.48, Y:-165.07, Z:-1.80 [[ 8.46754779e-02 9.96408027e-01 -1.05224784e-03 5.24783973e+01] [ 9.96329408e-01 -8.46820149e-02 -1.25167102e-02 -1.65073911e+02] [-1.25608570e-02 1.14729526e-05 -9.99921109e-01 -1.79688893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.91655999499994 meters 0.012147495969383686 Centerline is valid? [True, True] Translation: X:52.48, Y:-165.08, Z:-1.80 [[ 5.40538575e-03 9.99985388e-01 -7.12632928e-05 5.24849748e+01] [ 9.99900325e-01 -5.40585543e-03 -1.30428966e-02 -1.65076419e+02] [-1.30430913e-02 -7.54302233e-07 -9.99914935e-01 -1.79517565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.946559995 meters 0.011917362232660385 Centerline is valid? [True, True] Translation: X:52.50, Y:-165.08, Z:-1.80 [[-7.39069740e-02 9.97264659e-01 9.79870566e-04 5.24960882e+01] [ 9.97174570e-01 7.39134681e-02 -1.34043619e-02 -1.65077154e+02] [-1.34401220e-02 -1.35738136e-05 -9.99909677e-01 -1.79637130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.97655999499995 meters 0.01194759831622226 Centerline is valid? [True, True] Translation: X:52.51, Y:-165.08, Z:-1.80 [[-1.52610380e-01 9.88284355e-01 2.02604624e-03 5.25065133e+01] [ 9.88195094e-01 1.52623826e-01 -1.32824837e-02 -1.65078216e+02] [-1.34360938e-02 -2.49159240e-05 -9.99909731e-01 -1.79583322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.006559995 meters 0.012027649628667085 Centerline is valid? [True, True] Translation: X:52.52, Y:-165.08, Z:-1.80 [[-2.30815502e-01 9.72992970e-01 2.98056823e-03 5.25157775e+01] [ 9.72909526e-01 2.30834742e-01 -1.27426939e-02 -1.65078857e+02] [-1.30865703e-02 -4.13880673e-05 -9.99914366e-01 -1.79534927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.03655999499995 meters 0.012104026009407163 Centerline is valid? [True, True] Translation: X:52.52, Y:-165.08, Z:-1.80 [[-3.08844268e-01 9.51105662e-01 3.63854256e-03 5.25250000e+01] [ 9.51036973e-01 3.08865692e-01 -1.14306681e-02 -1.65076998e+02] [-1.19955941e-02 -6.99078100e-05 -9.99928048e-01 -1.79724300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.066559995 meters 0.012209979259969651 Centerline is valid? [True, True] Translation: X:52.53, Y:-165.07, Z:-1.80 [[-3.83613836e-01 9.23483237e-01 4.37457535e-03 5.25338451e+01] [ 9.23420707e-01 3.83638769e-01 -1.07467460e-02 -1.65074842e+02] [-1.16026965e-02 -8.30269872e-05 -9.99932683e-01 -1.79739432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.09655999499995 meters 0.012462183779254624 Centerline is valid? [True, True] Translation: X:52.54, Y:-165.07, Z:-1.80 [[-4.55923570e-01 8.90003304e-01 5.27413313e-03 5.25425273e+01] [ 8.89941209e-01 4.55954064e-01 -1.05135871e-02 -1.65073389e+02] [-1.17618897e-02 -9.97237487e-05 -9.99930822e-01 -1.79731909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.126559995 meters 0.012951303908063209 Centerline is valid? [True, True] Translation: X:52.55, Y:-165.07, Z:-1.80 [[-5.25898736e-01 8.50525026e-01 6.14000140e-03 5.25508723e+01] [ 8.50464280e-01 5.25934563e-01 -1.01658423e-02 -1.65071485e+02] [-1.18755422e-02 -1.24351724e-04 -9.99929476e-01 -1.79687552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.15655999499995 meters 0.012818871736025592 Centerline is valid? [True, True] Translation: X:52.56, Y:-165.07, Z:-1.80 [[-5.91527003e-01 8.06255737e-01 6.89144100e-03 5.25580947e+01] [ 8.06198388e-01 5.91567130e-01 -9.61714471e-03 -1.65067943e+02] [-1.18306281e-02 -1.32932165e-04 -9.99930007e-01 -1.79736249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.186559995 meters 0.013027098336642217 Centerline is valid? [True, True] Translation: X:52.57, Y:-165.06, Z:-1.80 [[-6.53391205e-01 7.56978748e-01 7.94405623e-03 5.25654207e+01] [ 7.56920043e-01 6.53439479e-01 -9.42844139e-03 -1.65063707e+02] [-1.23280897e-02 -1.47445305e-04 -9.99923995e-01 -1.79698466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.21655999499995 meters 0.013145647163482536 Centerline is valid? [True, True] Translation: X:52.57, Y:-165.06, Z:-1.80 [[-7.11044198e-01 7.03093420e-01 8.70583995e-03 5.25718723e+01] [ 7.03038038e-01 7.11097475e-01 -8.82601036e-03 -1.65058095e+02] [-1.23962106e-02 -1.55146826e-04 -9.99923152e-01 -1.79596820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.246559995 meters 0.013544088571347234 Centerline is valid? [True, True] Translation: X:52.58, Y:-165.05, Z:-1.80 [[-7.63947441e-01 6.45208014e-01 9.53552762e-03 5.25778766e+01] [ 6.45155159e-01 7.64006933e-01 -8.25996804e-03 -1.65053540e+02] [-1.26146068e-02 -1.58286612e-04 -9.99920420e-01 -1.79520663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.27655999499996 meters 0.013366981087993427 Centerline is valid? [True, True] Translation: X:52.60, Y:-165.03, Z:-1.80 [[-8.07249370e-01 5.90134360e-01 9.48113455e-03 5.25968358e+01] [ 5.90091625e-01 8.07305034e-01 -7.10328104e-03 -1.65034691e+02] [-1.18460579e-02 -1.39381052e-04 -9.99929823e-01 -1.79578334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.306559995 meters 0.012809294924100973 Centerline is valid? [True, True] Translation: X:52.61, Y:-165.01, Z:-1.80 [[-8.46499828e-01 5.32306226e-01 9.38740904e-03 5.26078229e+01] [ 5.32271909e-01 8.46551869e-01 -6.04544159e-03 -1.65011227e+02] [-1.11649549e-02 -1.20811136e-04 -9.99937663e-01 -1.79752488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.33655999499996 meters 0.012425212757877497 Centerline is valid? [True, True] Translation: X:52.98, Y:-164.45, Z:-2.79 [[-7.97643406e-01 -6.03083432e-01 7.44121173e-03 5.29823804e+01] [ 6.03057141e-01 -7.97678115e-01 -5.63124959e-03 -1.64448653e+02] [ 9.33180507e-03 -4.25323269e-06 9.99956458e-01 -2.79309697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.366559995 meters 0.011973986319189734 Centerline is valid? [True, True] Translation: X:52.57, Y:-165.00, Z:-1.80 [[-8.44700093e-01 5.35188452e-01 7.42116479e-03 5.25718836e+01] [ 5.35167459e-01 8.44732692e-01 -4.74035185e-03 -1.64995855e+02] [-8.80588208e-03 -3.26097488e-05 -9.99961227e-01 -1.79913483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.39655999499996 meters 0.011879374686877161 Centerline is valid? [True, True] Translation: X:52.59, Y:-164.98, Z:-1.80 [[-8.79580534e-01 4.75677602e-01 8.30076482e-03 5.25921280e+01] [ 4.75656234e-01 8.79619701e-01 -4.50866701e-03 -1.64977358e+02] [-9.44618818e-03 -1.74252012e-05 -9.99955384e-01 -1.79895967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.426559995 meters 0.011879374686877161 Centerline is valid? [True, True] Translation: X:52.61, Y:-164.95, Z:-1.80 [[-9.10983615e-01 4.12352904e-01 8.59859308e-03 5.26069835e+01] [ 4.12334356e-01 9.11024194e-01 -3.91108319e-03 -1.64953618e+02] [-9.44627284e-03 -1.74373604e-05 -9.99955383e-01 -1.79895886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.45655999499996 meters 0.011913272169546206 Centerline is valid? [True, True] Translation: X:52.90, Y:-164.33, Z:-2.79 [[-8.80071973e-01 -4.74766576e-01 8.36790248e-03 5.28977277e+01] [ 4.74745338e-01 -8.80111753e-01 -4.49061948e-03 -1.64328459e+02] [ 9.49668536e-03 2.05543470e-05 9.99954905e-01 -2.79224173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.48655999499994 meters 0.012027384709428494 Centerline is valid? [True, True] Translation: X:52.57, Y:-164.94, Z:-1.80 [[-9.10127414e-01 4.14220106e-01 9.47601060e-03 5.25654200e+01] [ 4.14198111e-01 9.10176742e-01 -4.26876153e-03 -1.64941356e+02] [-1.03930513e-02 3.98287959e-05 -9.99945990e-01 -1.79840397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.51655999499997 meters 0.012127710351857337 Centerline is valid? [True, True] Translation: X:52.58, Y:-164.92, Z:-1.80 [[-9.36677343e-01 3.50051825e-01 9.96371001e-03 5.25793272e+01] [ 3.50032657e-01 9.36730333e-01 -3.66365797e-03 -1.64918185e+02] [-1.06157796e-02 5.59584756e-05 -9.99943649e-01 -1.79760199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.54655999499994 meters 0.012341365518475714 Centerline is valid? [True, True] Translation: X:52.58, Y:-164.89, Z:-1.80 [[-9.58858625e-01 2.83685200e-01 1.06228151e-02 5.25830023e+01] [ 2.83668587e-01 9.58917464e-01 -3.07086579e-03 -1.64890815e+02] [-1.10575621e-02 6.88327995e-05 -9.99938861e-01 -1.79724477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.57655999499997 meters 0.012505387486872932 Centerline is valid? [True, True] Translation: X:52.59, Y:-164.87, Z:-1.80 [[-9.76290967e-01 2.16196095e-01 1.07329644e-02 5.25934219e+01] [ 2.16183955e-01 9.76349959e-01 -2.29253875e-03 -1.64865666e+02] [-1.09747673e-02 8.21098251e-05 -9.99939772e-01 -1.79689072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.60655999499994 meters 0.012630281467970132 Centerline is valid? [True, True] Translation: X:52.75, Y:-164.18, Z:-2.79 [[-9.63614809e-01 -2.67071027e-01 1.09346524e-02 5.27462681e+01] [ 2.67053123e-01 -9.63676846e-01 -3.09297771e-03 -1.64178218e+02] [ 1.13635160e-02 -6.03060657e-05 9.99935431e-01 -2.79462128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.63655999499997 meters 0.012504568838622061 Centerline is valid? [True, True] Translation: X:52.54, Y:-164.86, Z:-1.80 [[-9.77018943e-01 2.12877519e-01 1.08234628e-02 5.25449981e+01] [ 2.12865470e-01 9.77078888e-01 -2.26665816e-03 -1.64856068e+02] [-1.10578976e-02 8.93735396e-05 -9.99938856e-01 -1.79691604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.66655999499994 meters 0.012561973514646007 Centerline is valid? [True, True] Translation: X:52.54, Y:-164.83, Z:-1.80 [[-9.89938945e-01 1.41019337e-01 1.15944916e-02 5.25434759e+01] [ 1.41010508e-01 9.90006839e-01 -1.57962909e-03 -1.64826031e+02] [-1.17013843e-02 7.12088046e-05 -9.99931534e-01 -1.79569725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.696559995 meters 0.012392922817970534 Centerline is valid? [True, True] Translation: X:52.64, Y:-164.13, Z:-2.80 [[-9.80283429e-01 -1.97206921e-01 1.24027468e-02 5.26442247e+01] [ 1.97190959e-01 -9.80361887e-01 -2.50911914e-03 -1.64133607e+02] [ 1.26539959e-02 -1.39383878e-05 9.99919935e-01 -2.79514829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.72655999499995 meters 0.012308217203902806 Centerline is valid? [True, True] Translation: X:52.49, Y:-164.82, Z:-1.80 [[-9.90937093e-01 1.33649091e-01 1.34758379e-02 5.24873628e+01] [ 1.33637264e-01 9.91028718e-01 -1.77842852e-03 -1.64816503e+02] [-1.35926277e-02 3.85633254e-05 -9.99907615e-01 -1.79506011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.756559995 meters 0.01239271305450215 Centerline is valid? [True, True] Translation: X:52.58, Y:-164.13, Z:-2.80 [[-9.80367018e-01 -1.96675970e-01 1.41093240e-02 5.25813073e+01] [ 1.96655783e-01 -9.80468543e-01 -2.81787628e-03 -1.64127459e+02] [ 1.43879569e-02 1.21271878e-05 9.99896488e-01 -2.79705787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.78655999499995 meters 0.012382295770002182 Centerline is valid? [True, True] Translation: X:52.43, Y:-164.81, Z:-1.79 [[-9.92120770e-01 1.24501596e-01 1.39903471e-02 5.24300735e+01] [ 1.24488777e-01 9.92219407e-01 -1.78684790e-03 -1.64805739e+02] [-1.41039593e-02 -3.11277197e-05 -9.99900534e-01 -1.79396732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.816559995 meters 0.012359277547600514 Centerline is valid? [True, True] Translation: X:52.52, Y:-164.12, Z:-2.80 [[-9.80293567e-01 -1.97083757e-01 1.35098014e-02 5.25189649e+01] [ 1.97065169e-01 -9.80386655e-01 -2.70678826e-03 -1.64123533e+02] [ 1.37782930e-02 8.86416398e-06 9.99905075e-01 -2.79695734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.84655999499995 meters 0.01240340377600247 Centerline is valid? [True, True] Translation: X:52.37, Y:-164.80, Z:-1.79 [[-9.92953189e-01 1.17758907e-01 1.32967489e-02 5.23702661e+01] [ 1.17747485e-01 9.93042212e-01 -1.64136746e-03 -1.64796227e+02] [-1.33975186e-02 -6.41423049e-05 -9.99910247e-01 -1.79460152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.876559995 meters 0.012524148968739593 Centerline is valid? [True, True] Translation: X:52.37, Y:-164.77, Z:-1.80 [[-9.98943979e-01 4.42186507e-02 1.24754505e-02 5.23676270e+01] [ 4.42140292e-02 9.99021873e-01 -6.46147368e-04 -1.64766165e+02] [-1.24918197e-02 -9.38750913e-05 -9.99921970e-01 -1.79513472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.90655999499995 meters 0.012736306395849585 Centerline is valid? [True, True] Translation: X:52.36, Y:-164.74, Z:-1.80 [[-9.99518915e-01 -2.85549065e-02 1.21060601e-02 5.23643847e+01] [-2.85541515e-02 9.99592219e-01 2.35235647e-04 -1.64737245e+02] [-1.21078407e-02 -1.10555797e-04 -9.99926691e-01 -1.79527787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.936559995 meters 0.013129141619181522 Centerline is valid? [True, True] Translation: X:52.36, Y:-164.71, Z:-1.79 [[-9.94768635e-01 -1.01425288e-01 1.21767523e-02 5.23570674e+01] [-1.01419330e-01 9.94843150e-01 1.10738809e-03 -1.64708362e+02] [-1.22262757e-02 -1.33363113e-04 -9.99925247e-01 -1.79494870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.96655999499995 meters 0.013885432497737854 Centerline is valid? [True, True] Translation: X:52.34, Y:-164.68, Z:-1.79 [[-9.84694071e-01 -1.73877782e-01 1.20042956e-02 5.23442924e+01] [-1.73866778e-01 9.84767228e-01 1.96231833e-03 -1.64679407e+02] [-1.21626405e-02 -1.54864969e-04 -9.99926020e-01 -1.79374069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.996559995 meters 0.013895010544137724 Centerline is valid? [True, True] Translation: X:52.32, Y:-164.65, Z:-1.79 [[-9.69269016e-01 -2.45716370e-01 1.18760051e-02 5.23224780e+01] [-2.45700157e-01 9.69341753e-01 2.82820618e-03 -1.64654824e+02] [-1.22068442e-02 -1.76643700e-04 -9.99925478e-01 -1.79427758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.02655999499996 meters 0.0142002912263201 Centerline is valid? [True, True] Translation: X:52.29, Y:-164.63, Z:-1.80 [[-9.48471522e-01 -3.16696137e-01 1.02629407e-02 5.22888062e+01] [-3.16679584e-01 9.48527030e-01 3.24272657e-03 -1.64634250e+02] [-1.07616356e-02 -1.74429979e-04 -9.99942077e-01 -1.79514119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.056559995 meters 0.013966971616501761 Centerline is valid? [True, True] Translation: X:52.23, Y:-164.62, Z:-1.80 [[-9.22719016e-01 -3.85367992e-01 9.00711357e-03 5.22340853e+01] [-3.85351321e-01 9.22762963e-01 3.58806887e-03 -1.64624953e+02] [-9.69415770e-03 -1.60123728e-04 -9.99952998e-01 -1.79597249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.08655999499996 meters 0.01377345467302034 Centerline is valid? [True, True] Translation: X:52.17, Y:-164.62, Z:-1.80 [[-8.91988132e-01 -4.51989222e-01 7.93198040e-03 5.21722651e+01] [-4.51972760e-01 8.92023387e-01 3.86013612e-03 -1.64622571e+02] [-8.82025195e-03 -1.41843466e-04 -9.99961091e-01 -1.79672955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.116559995 meters 0.013712793965263774 Centerline is valid? [True, True] Translation: X:52.10, Y:-164.63, Z:-1.80 [[-8.56488312e-01 -5.16121008e-01 6.84664206e-03 5.20991291e+01] [-5.16105634e-01 8.56515669e-01 3.98546747e-03 -1.64630623e+02] [-7.92123969e-03 -1.20084234e-04 -9.99968619e-01 -1.79689329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.14655999499996 meters 0.013544046235481768 Centerline is valid? [True, True] Translation: X:52.02, Y:-164.65, Z:-1.80 [[-8.15776242e-01 -5.78326363e-01 6.90948726e-03 5.20221845e+01] [-5.78306902e-01 8.15805493e-01 4.74606203e-03 -1.64647111e+02] [-8.38157045e-03 -1.24079527e-04 -9.99964866e-01 -1.79679141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.176559995 meters 0.014337169053805306 Centerline is valid? [True, True] Translation: X:51.94, Y:-164.67, Z:-1.79 [[-7.70337637e-01 -6.37597045e-01 7.06637636e-03 5.19382779e+01] [-6.37571766e-01 7.70370036e-01 5.67901448e-03 -1.64673316e+02] [-9.06464746e-03 -1.30563462e-04 -9.99958907e-01 -1.79457443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.20655999499996 meters 0.013733408245635112 Centerline is valid? [True, True] Translation: X:51.85, Y:-164.71, Z:-1.79 [[-7.19966171e-01 -6.93973619e-01 7.02339160e-03 5.18521540e+01] [-6.93942498e-01 7.20000414e-01 6.57371497e-03 -1.64713438e+02] [-9.61882963e-03 -1.40977508e-04 -9.99953728e-01 -1.79498954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.23655999499994 meters 0.013717218832786128 Centerline is valid? [True, True] Translation: X:51.77, Y:-164.76, Z:-1.79 [[-6.65195031e-01 -7.46638515e-01 6.81907591e-03 5.17674436e+01] [-7.46601585e-01 6.65229965e-01 7.42752198e-03 -1.64759588e+02] [-1.00819276e-02 -1.50382166e-04 -9.99949165e-01 -1.79399353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.26655999499997 meters 0.014001335704824768 Centerline is valid? [True, True] Translation: X:51.68, Y:-164.82, Z:-1.79 [[-6.06357830e-01 -7.95160471e-01 7.07161510e-03 5.16812708e+01] [-7.95109725e-01 6.06399040e-01 8.98496190e-03 -1.64817694e+02] [-1.14327071e-02 -1.74607941e-04 -9.99934629e-01 -1.79257011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.29655999499994 meters 0.015422984451084067 Centerline is valid? [True, True] Translation: X:51.60, Y:-164.88, Z:-1.79 [[-5.43524116e-01 -8.39362497e-01 7.22037651e-03 5.15996630e+01] [-8.39293435e-01 5.43572033e-01 1.07691738e-02 -1.64882174e+02] [-1.29640353e-02 -2.06708948e-04 -9.99915942e-01 -1.78939677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.32655999499997 meters 0.013918085220996235 Centerline is valid? [True, True] Translation: X:51.52, Y:-164.96, Z:-1.79 [[-4.78015081e-01 -8.78327625e-01 6.49352625e-03 5.15229631e+01] [-8.78252434e-01 4.78059138e-01 1.14944187e-02 -1.64961175e+02] [-1.32001550e-02 -2.08449763e-04 -9.99912852e-01 -1.79161137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.35655999499994 meters 0.014633796782978324 Centerline is valid? [True, True] Translation: X:51.45, Y:-165.04, Z:-1.79 [[-4.09419843e-01 -9.12329995e-01 5.41966550e-03 5.14475306e+01] [-9.12256522e-01 4.09455663e-01 1.15800841e-02 -1.65044935e+02] [-1.27839708e-02 -2.03008975e-04 -9.99918261e-01 -1.79046856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.38655999499997 meters 0.01407045972962741 Centerline is valid? [True, True] Translation: X:51.38, Y:-165.14, Z:-1.79 [[-3.38349663e-01 -9.41010277e-01 4.37773874e-03 5.13796234e+01] [-9.40938908e-01 3.38377925e-01 1.15910006e-02 -1.65138438e+02] [-1.23885808e-02 -1.97373576e-04 -9.99923239e-01 -1.79157003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.41655999499994 meters 0.014244566573228387 Centerline is valid? [True, True] Translation: X:51.32, Y:-165.23, Z:-1.79 [[-2.65325782e-01 -9.64152949e-01 3.36451453e-03 5.13189314e+01] [-9.64084201e-01 2.65347046e-01 1.15151512e-02 -1.65232110e+02] [-1.19951310e-02 -1.88408810e-04 -9.99928038e-01 -1.79134961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.446559995 meters 0.013882539741025112 Centerline is valid? [True, True] Translation: X:51.27, Y:-165.34, Z:-1.79 [[-1.90280921e-01 -9.81726986e-01 2.30124370e-03 5.12654641e+01] [-9.81666109e-01 1.90294752e-01 1.09342095e-02 -1.65337535e+02] [-1.11723232e-02 -1.78481494e-04 -9.99937572e-01 -1.79275534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.47655999499995 meters 0.014321254836256686 Centerline is valid? [True, True] Translation: X:51.22, Y:-165.45, Z:-1.79 [[-1.14069678e-01 -9.93471761e-01 1.40280618e-03 5.12173121e+01] [-9.93414357e-01 1.14078169e-01 1.06811662e-02 -1.65449310e+02] [-1.07714665e-02 -1.75170612e-04 -9.99941971e-01 -1.79250680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.506559995 meters 0.014914629260256575 Centerline is valid? [True, True] Translation: X:51.18, Y:-165.56, Z:-1.79 [[-3.69256978e-02 -9.99317873e-01 5.31143716e-04 5.11781185e+01] [-9.99268827e-01 3.69291484e-02 9.90194897e-03 -1.65556355e+02] [-9.91480926e-03 -1.65118984e-04 -9.99950833e-01 -1.79241566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.53655999499995 meters 0.014863099712050014 Centerline is valid? [True, True] Translation: X:51.15, Y:-165.67, Z:-1.79 [[ 4.04861207e-02 -9.99180076e-01 -2.21704828e-04 5.11484810e+01] [-9.99135201e-01 -4.04864039e-02 9.47111355e-03 -1.65674387e+02] [-9.47232399e-03 -1.61935549e-04 -9.99955123e-01 -1.79279437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.566559995 meters 0.01421981755041582 Centerline is valid? [True, True] Translation: X:51.13, Y:-165.80, Z:-1.79 [[ 1.17393828e-01 -9.93084964e-01 -9.71448360e-04 5.11296595e+01] [-9.93038194e-01 -1.17397729e-01 9.63939629e-03 -1.65795865e+02] [-9.68678535e-03 -1.66920308e-04 -9.99953068e-01 -1.79316900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.59655999499995 meters 0.014187812982677569 Centerline is valid? [True, True] Translation: X:51.12, Y:-165.91, Z:-1.79 [[ 1.93224707e-01 -9.81153016e-01 -1.72388208e-03 5.11183266e+01] [-9.81105929e-01 -1.93232325e-01 9.61374797e-03 -1.65912981e+02] [-9.76566755e-03 -1.66302702e-04 -9.99952301e-01 -1.79323932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.626559995 meters 0.01442710732889358 Centerline is valid? [True, True] Translation: X:51.11, Y:-166.03, Z:-1.79 [[ 2.67904562e-01 -9.63442638e-01 -2.32989760e-03 5.11149490e+01] [-9.63401002e-01 -2.67914648e-01 8.95830794e-03 -1.66029865e+02] [-9.25502953e-03 -1.55345878e-04 -9.99957159e-01 -1.79281421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.65655999499995 meters 0.014406396513221028 Centerline is valid? [True, True] Translation: X:51.12, Y:-166.15, Z:-1.79 [[ 3.40521989e-01 -9.40232567e-01 -2.73764809e-03 5.11219032e+01] [-9.40198914e-01 -3.40532967e-01 7.95622402e-03 -1.66149392e+02] [-8.41296036e-03 -1.35335469e-04 -9.99964601e-01 -1.79370140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.686559995 meters 0.014406396513221028 Centerline is valid? [True, True] Translation: X:51.14, Y:-166.27, Z:-1.79 [[ 4.11746500e-01 -9.11292301e-01 -3.34082008e-03 5.11374014e+01] [-9.11259590e-01 -4.11760031e-01 7.72246525e-03 -1.66266070e+02] [-8.41303931e-03 -1.35343704e-04 -9.99964601e-01 -1.79369758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.71655999499995 meters 0.01391280992744502 Centerline is valid? [True, True] Translation: X:51.16, Y:-166.38, Z:-1.79 [[ 4.80744772e-01 -8.76852071e-01 -3.86130987e-03 5.11614462e+01] [-8.76821482e-01 -4.80760259e-01 7.32548809e-03 -1.66377875e+02] [-8.27973374e-03 -1.36010655e-04 -9.99965713e-01 -1.79480371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.746559995 meters 0.01431676132414926 Centerline is valid? [True, True] Translation: X:51.20, Y:-166.50, Z:-1.79 [[ 5.46743060e-01 -8.37288622e-01 -4.44854140e-03 5.12019677e+01] [-8.37258810e-01 -5.46761139e-01 7.06691350e-03 -1.66504957e+02] [-8.34933583e-03 -1.39205430e-04 -9.99965134e-01 -1.79449860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.77655999499996 meters 0.0140136315749154 Centerline is valid? [True, True] Translation: X:51.23, Y:-166.59, Z:-1.79 [[ 6.09260094e-01 -7.92952536e-01 -5.33046541e-03 5.12289928e+01] [-7.92920018e-01 -6.09283394e-01 7.18275380e-03 -1.66591574e+02] [-8.94334689e-03 -1.49532529e-04 -9.99959996e-01 -1.79485585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.806559995 meters 0.014297382019323469 Centerline is valid? [True, True] Translation: X:51.27, Y:-166.69, Z:-1.79 [[ 6.68129084e-01 -7.44018556e-01 -6.31779118e-03 5.12729716e+01] [-7.43982969e-01 -6.68158934e-01 7.27880728e-03 -1.66693884e+02] [-9.63685631e-03 -1.62853810e-04 -9.99953551e-01 -1.79397723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.83655999499996 meters 0.014066827057910932 Centerline is valid? [True, True] Translation: X:51.33, Y:-166.79, Z:-1.79 [[ 7.22891947e-01 -6.90923195e-01 -7.23688842e-03 5.13250071e+01] [-6.90886175e-01 -7.22928150e-01 7.15425531e-03 -1.66790887e+02] [-1.01747913e-02 -1.71887386e-04 -9.99948221e-01 -1.79311564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.866559995 meters 0.014509283773471196 Centerline is valid? [True, True] Translation: X:51.32, Y:-166.80, Z:-1.79 [[ 7.74624364e-01 -6.32366164e-01 -8.37431363e-03 5.13217065e+01] [-6.32326625e-01 -7.74669608e-01 7.07376555e-03 -1.66799266e+02] [-1.09605362e-02 -1.84209667e-04 -9.99939915e-01 -1.79170355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.89655999499996 meters 0.01426352574286318 Centerline is valid? [True, True] Translation: X:51.32, Y:-166.81, Z:-1.79 [[ 8.21325033e-01 -5.70386347e-01 -9.19815044e-03 5.13215324e+01] [-5.70348065e-01 -8.21376516e-01 6.61087101e-03 -1.66806549e+02] [-1.13258953e-02 -1.83526542e-04 -9.99935843e-01 -1.79131560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.926559995 meters 0.013904137214732852 Centerline is valid? [True, True] Translation: X:51.32, Y:-166.81, Z:-1.79 [[ 8.62243502e-01 -5.06418220e-01 -8.75960403e-03 5.13216366e+01] [-5.06390403e-01 -8.62287983e-01 5.30978914e-03 -1.66811157e+02] [-1.02422753e-02 -1.42551768e-04 -9.99947536e-01 -1.79270682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.95655999499996 meters 0.01357209357097125 Centerline is valid? [True, True] Translation: X:51.32, Y:-166.82, Z:-1.79 [[ 8.98369396e-01 -4.39161988e-01 -8.31727204e-03 5.13239826e+01] [-4.39142011e-01 -8.98407889e-01 4.19029456e-03 -1.66815552e+02] [-9.31252090e-03 -1.11968819e-04 -9.99956631e-01 -1.79369157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.98655999499994 meters 0.01307234591972168 Centerline is valid? [True, True] Translation: X:51.33, Y:-166.82, Z:-1.79 [[ 9.29067815e-01 -3.69827066e-01 -7.80616032e-03 5.13269216e+01] [-3.69813281e-01 -9.29100605e-01 3.19416749e-03 -1.66818628e+02] [-8.43399787e-03 -8.07764479e-05 -9.99964430e-01 -1.79482349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.01655999499997 meters 0.012209598820399941 Centerline is valid? [True, True] Translation: X:51.33, Y:-166.82, Z:-1.80 [[ 9.53109200e-01 -3.02560657e-01 -6.31678396e-03 5.13294636e+01] [-3.02553888e-01 -9.53130132e-01 2.02395188e-03 -1.66822830e+02] [-6.63308534e-03 -1.78796108e-05 -9.99978001e-01 -1.79689702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.04655999499994 meters 0.01212369166000618 Centerline is valid? [True, True] Translation: X:51.33, Y:-166.83, Z:-1.80 [[ 9.72988664e-01 -2.30773424e-01 -6.05688010e-03 5.13300211e+01] [-2.30768996e-01 -9.73007516e-01 1.42971255e-03 -1.66827664e+02] [-6.22332953e-03 6.64603756e-06 -9.99980635e-01 -1.79714295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.07655999499997 meters 0.012298374605920363 Centerline is valid? [True, True] Translation: X:51.33, Y:-166.83, Z:-1.80 [[ 9.87476538e-01 -1.57658620e-01 -5.81785439e-03 5.13305537e+01] [-1.57656056e-01 -9.87493675e-01 8.99597381e-04 -1.66833002e+02] [-5.88692369e-03 2.88886690e-05 -9.99982672e-01 -1.79809969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.10655999499994 meters 0.013318913297515913 Centerline is valid? [True, True] Translation: X:51.33, Y:-166.83, Z:-1.80 [[ 9.96181269e-01 -8.70176149e-02 -7.12836363e-03 5.13280813e+01] [-8.70160054e-02 -9.96206769e-01 5.36215110e-04 -1.66833727e+02] [-7.14798426e-03 8.61142793e-05 -9.99974449e-01 -1.79752833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.13655999499997 meters 0.014072094518262076 Centerline is valid? [True, True] Translation: X:51.33, Y:-166.84, Z:-1.80 [[ 9.99895903e-01 -1.20777971e-02 -7.89367140e-03 5.13260743e+01] [-1.20783783e-02 -9.99927053e-01 -2.59591064e-05 -1.66838051e+02] [-7.89278205e-03 1.21299154e-04 -9.99968844e-01 -1.79693523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.16655999499994 meters 0.015133200081234767 Centerline is valid? [True, True] Translation: X:51.32, Y:-166.84, Z:-1.80 [[ 9.97915380e-01 6.40346886e-02 -8.02831753e-03 5.13234292e+01] [ 6.40314736e-02 -9.97947663e-01 -6.57122284e-04 -1.66842608e+02] [-8.05391934e-03 1.41687432e-04 -9.99967557e-01 -1.79636907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.196559995 meters 0.015490477856373915 Centerline is valid? [True, True] Translation: X:51.32, Y:-166.85, Z:-1.80 [[ 9.90159291e-01 1.39713877e-01 -8.03813988e-03 5.13226782e+01] [ 1.39707948e-01 -9.90191904e-01 -1.29731053e-03 -1.66849957e+02] [-8.14055332e-03 1.61552051e-04 -9.99966852e-01 -1.79589896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.22655999499995 meters 0.01587448813759221 Centerline is valid? [True, True] Translation: X:51.32, Y:-166.85, Z:-1.80 [[ 9.76365947e-01 2.15958112e-01 -8.46359444e-03 5.13221561e+01] [ 2.15948396e-01 -9.76402612e-01 -2.05638996e-03 -1.66854583e+02] [-8.70796981e-03 1.80089491e-04 -9.99962069e-01 -1.79556009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.256559995 meters 0.016101765726490323 Centerline is valid? [True, True] Translation: X:51.32, Y:-166.86, Z:-1.80 [[ 9.56614064e-01 2.91231482e-01 -8.58815882e-03 5.13218143e+01] [ 2.91217941e-01 -9.56652595e-01 -2.81485136e-03 -1.66859277e+02] [-9.03565775e-03 1.91700467e-04 -9.99959159e-01 -1.79545001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.28655999499995 meters 0.016561695234477702 Centerline is valid? [True, True] Translation: X:51.32, Y:-166.86, Z:-1.80 [[ 9.31242470e-01 3.64324124e-01 -7.44272064e-03 5.13211047e+01] [ 3.64310944e-01 -9.31272195e-01 -3.10419316e-03 -1.66864117e+02] [-8.06213124e-03 1.79291925e-04 -9.99967484e-01 -1.79591208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.316559995 meters 0.015316656827764081 Centerline is valid? [True, True] Translation: X:51.33, Y:-166.87, Z:-1.80 [[ 8.99613347e-01 4.36631157e-01 -7.00414822e-03 5.13253126e+01] [ 4.36616443e-01 -8.99640597e-01 -3.58857835e-03 -1.66874932e+02] [-7.86810120e-03 1.70206702e-04 -9.99969032e-01 -1.79694576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.34655999499995 meters 0.015125173798684617 Centerline is valid? [True, True] Translation: X:51.33, Y:-166.88, Z:-1.80 [[ 8.62275117e-01 5.06401686e-01 -6.24142991e-03 5.13290671e+01] [ 5.06387129e-01 -8.62297692e-01 -3.84275291e-03 -1.66883898e+02] [-7.32794716e-03 1.52930443e-04 -9.99973139e-01 -1.79701891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.376559995 meters 0.015091483200372059 Centerline is valid? [True, True] Translation: X:51.33, Y:-166.89, Z:-1.80 [[ 8.19156828e-01 5.73539611e-01 -5.86567048e-03 5.13326946e+01] [ 5.73523666e-01 -8.19177817e-01 -4.27890952e-03 -1.66892842e+02] [-7.25915124e-03 1.40997106e-04 -9.99973642e-01 -1.79688667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.40655999499995 meters 0.013849626373790943 Centerline is valid? [True, True] Translation: X:51.34, Y:-166.90, Z:-1.80 [[ 7.69173668e-01 6.39013662e-01 -5.77992002e-03 5.13414322e+01] [ 6.38994470e-01 -7.69195376e-01 -4.95398161e-03 -1.66904503e+02] [-7.61154968e-03 1.17135279e-04 -9.99971025e-01 -1.79669648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.436559995 meters 0.014192287627502107 Centerline is valid? [True, True] Translation: X:51.35, Y:-166.91, Z:-1.80 [[ 7.15162445e-01 6.98933132e-01 -5.92917279e-03 5.13457755e+01] [ 6.98907834e-01 -7.15187014e-01 -5.94761244e-03 -1.66911674e+02] [-8.39745077e-03 1.09563740e-04 -9.99964735e-01 -1.79512970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.46655999499995 meters 0.013583785589122769 Centerline is valid? [True, True] Translation: X:51.35, Y:-166.92, Z:-1.79 [[ 6.56190367e-01 7.54569892e-01 -6.20324091e-03 5.13482212e+01] [ 7.54534748e-01 -6.56219680e-01 -7.28325242e-03 -1.66915033e+02] [-9.56641175e-03 9.86392622e-05 -9.99954236e-01 -1.79435038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.496559995 meters 0.012595432720274014 Centerline is valid? [True, True] Translation: X:51.36, Y:-166.92, Z:-1.79 [[ 5.92752291e-01 8.05361683e-01 -6.10579922e-03 5.13573574e+01] [ 8.05317611e-01 -5.92783733e-01 -8.42562922e-03 -1.66922278e+02] [-1.04050974e-02 7.72033862e-05 -9.99945863e-01 -1.79472760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.52655999499996 meters 0.012124293588161555 Centerline is valid? [True, True] Translation: X:51.37, Y:-166.93, Z:-1.79 [[ 5.23235618e-01 8.52167281e-01 -5.95098588e-03 5.13698545e+01] [ 8.52111684e-01 -5.23269458e-01 -9.73408263e-03 -1.66930025e+02] [-1.14090359e-02 2.23141375e-05 -9.99934915e-01 -1.79361173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.556559995 meters 0.012019304109299996 Centerline is valid? [True, True] Translation: X:51.38, Y:-166.94, Z:-1.79 [[ 4.52931708e-01 8.91530192e-01 -5.17545967e-03 5.13808909e+01] [ 8.91472069e-01 -4.52961276e-01 -1.01800255e-02 -1.66935184e+02] [-1.14200829e-02 -2.92138789e-06 -9.99934789e-01 -1.79377794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.58655999499996 meters 0.012072223502524914 Centerline is valid? [True, True] Translation: X:51.40, Y:-166.94, Z:-1.79 [[ 3.77411734e-01 9.26035437e-01 -4.33030586e-03 5.13955098e+01] [ 9.25976173e-01 -3.77436572e-01 -1.04767377e-02 -1.66940552e+02] [-1.13362462e-02 -5.57163152e-05 -9.99935741e-01 -1.79388866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.616559995 meters 0.012226522112745757 Centerline is valid? [True, True] Translation: X:51.41, Y:-166.94, Z:-1.79 [[ 3.01861239e-01 9.53345760e-01 -3.41369144e-03 5.14066162e+01] [ 9.53287613e-01 -3.01880532e-01 -1.05295266e-02 -1.66943828e+02] [-1.10688066e-02 -7.57738075e-05 -9.99938736e-01 -1.79411977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.64655999499996 meters 0.012515314188838963 Centerline is valid? [True, True] Translation: X:51.42, Y:-166.95, Z:-1.79 [[ 2.24472268e-01 9.74477430e-01 -2.43696508e-03 5.14171447e+01] [ 9.74424322e-01 -2.24485478e-01 -1.01740107e-02 -1.66946655e+02] [-1.04614070e-02 -9.08548008e-05 -9.99945274e-01 -1.79448566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.676559995 meters 0.01278500969551329 Centerline is valid? [True, True] Translation: X:51.43, Y:-166.95, Z:-1.80 [[ 1.44733232e-01 9.89469662e-01 -1.44171365e-03 5.14288314e+01] [ 9.89427568e-01 -1.44740374e-01 -9.12757888e-03 -1.66947756e+02] [-9.24013657e-03 -1.05407233e-04 -9.99957304e-01 -1.79639364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.70655999499996 meters 0.013196299241094485 Centerline is valid? [True, True] Translation: X:51.44, Y:-166.95, Z:-1.80 [[ 6.55745976e-02 9.97847464e-01 -6.40695815e-04 5.14389633e+01] [ 9.97814009e-01 -6.55776459e-02 -8.17170150e-03 -1.66948384e+02] [-8.19612694e-03 -1.03439222e-04 -9.99966406e-01 -1.79712897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.73655999499994 meters 0.01328468838226499 Centerline is valid? [True, True] Translation: X:51.45, Y:-166.95, Z:-1.80 [[-1.39505290e-02 9.99902687e-01 1.19986669e-06 5.14489865e+01] [ 9.99876570e-01 1.39501733e-02 -7.22756568e-03 -1.66947305e+02] [-7.22687908e-03 -9.96286458e-05 -9.99973881e-01 -1.79805956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.76655999499997 meters 0.013807881410773314 Centerline is valid? [True, True] Translation: X:51.46, Y:-166.95, Z:-1.80 [[-9.35230969e-02 9.95616975e-01 5.18737170e-04 5.14588792e+01] [ 9.95595204e-01 9.35244827e-02 -6.58497355e-03 -1.66946193e+02] [-6.60462608e-03 -9.93948814e-05 -9.99978184e-01 -1.79785888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.79655999499994 meters 0.01363847642444943 Centerline is valid? [True, True] Translation: X:51.47, Y:-166.94, Z:-1.80 [[-1.72237991e-01 9.85054882e-01 9.76475929e-04 5.14679178e+01] [ 9.85035581e-01 1.72240730e-01 -6.16734584e-03 -1.66943207e+02] [-6.24336306e-03 -1.00387724e-04 -9.99980505e-01 -1.79815743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.82655999499997 meters 0.014706942150606177 Centerline is valid? [True, True] Translation: X:51.48, Y:-166.94, Z:-1.80 [[-2.51192905e-01 9.67935776e-01 1.56775839e-03 5.14792813e+01] [ 9.67913716e-01 2.51197766e-01 -6.53610575e-03 -1.66939864e+02] [-6.72034799e-03 -1.24368543e-04 -9.99977411e-01 -1.79752910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.85655999499994 meters 0.01485917151670935 Centerline is valid? [True, True] Translation: X:51.49, Y:-166.94, Z:-1.80 [[-3.27279233e-01 9.44925397e-01 2.07295318e-03 5.14868073e+01] [ 9.44903815e-01 3.27285771e-01 -6.38788777e-03 -1.66935709e+02] [-6.71452547e-03 -1.31881644e-04 -9.99977449e-01 -1.79683072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.88655999499997 meters 0.014741896566207053 Centerline is valid? [True, True] Translation: X:51.50, Y:-166.93, Z:-1.80 [[-4.01325083e-01 9.15931663e-01 2.71421877e-03 5.14954766e+01] [ 9.15908165e-01 4.01334234e-01 -6.56248804e-03 -1.66930225e+02] [-7.10009949e-03 -1.47715921e-04 -9.99974783e-01 -1.79669234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.91655999499994 meters 0.016098946617973224 Centerline is valid? [True, True] Translation: X:51.51, Y:-166.92, Z:-1.79 [[-4.73285349e-01 8.80899241e-01 4.18393056e-03 5.15058664e+01] [ 8.80860859e-01 4.73303797e-01 -8.22573986e-03 -1.66923588e+02] [-9.22631822e-03 -2.07661493e-04 -9.99957415e-01 -1.79469367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.946559995 meters 0.016296574757695883 Centerline is valid? [True, True] Translation: X:51.51, Y:-166.92, Z:-1.79 [[-5.41367489e-01 8.40768716e-01 5.40441624e-03 5.15103191e+01] [ 8.40722315e-01 5.41394411e-01 -8.83638552e-03 -1.66918644e+02] [-1.03552773e-02 -2.40118505e-04 -9.99946354e-01 -1.79386694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.97655999499995 meters 0.01762917753072064 Centerline is valid? [True, True] Translation: X:51.52, Y:-166.91, Z:-1.79 [[-6.05896721e-01 7.95514533e-01 6.76689378e-03 5.15155482e+01] [ 7.95459826e-01 6.05934446e-01 -9.33340581e-03 -1.66913211e+02] [-1.15251540e-02 -2.72287826e-04 -9.99933546e-01 -1.79204908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.006559995 meters 0.016487073884792244 Centerline is valid? [True, True] Translation: X:51.52, Y:-166.91, Z:-1.79 [[-6.66384537e-01 7.45563970e-01 8.12503777e-03 5.15167356e+01] [ 7.45503044e-01 6.66434002e-01 -9.53587534e-03 -1.66908588e+02] [-1.25244065e-02 -2.97319480e-04 -9.99921522e-01 -1.79236917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.03655999499995 meters 0.015930696813256175 Centerline is valid? [True, True] Translation: X:51.52, Y:-166.90, Z:-1.79 [[-7.21975740e-01 6.91852771e-01 9.52753388e-03 5.15194100e+01] [ 6.91786885e-01 7.22038537e-01 -9.55286626e-03 -1.66902633e+02] [-1.34884236e-02 -3.05914706e-04 -9.99908980e-01 -1.79156489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.066559995 meters 0.015849577845845016 Centerline is valid? [True, True] Translation: X:51.52, Y:-166.90, Z:-1.79 [[-7.73224282e-01 6.34051867e-01 1.01213029e-02 5.15227346e+01] [ 6.33992661e-01 7.73290468e-01 -8.66936016e-03 -1.66896911e+02] [-1.33235311e-02 -2.86527993e-04 -9.99911197e-01 -1.79101404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.09655999499995 meters 0.01655289298845832 Centerline is valid? [True, True] Translation: X:51.91, Y:-166.46, Z:-2.80 [[-6.99714873e-01 -7.14365017e-01 9.03990141e-03 5.19076656e+01] [ 7.14309700e-01 -6.99773226e-01 -8.89292780e-03 -1.66455564e+02] [ 1.26786775e-02 2.34775420e-04 9.99919595e-01 -2.80098136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.126559995 meters 0.014760562425690151 Centerline is valid? [True, True] Translation: X:51.49, Y:-166.88, Z:-1.79 [[-7.73120410e-01 6.34198640e-01 8.77028560e-03 5.14913881e+01] [ 6.34154814e-01 7.73170126e-01 -7.45845727e-03 -1.66877047e+02] [-1.15110663e-02 -2.04566709e-04 -9.99933725e-01 -1.79237564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.15655999499995 meters 0.013969092659510967 Centerline is valid? [True, True] Translation: X:51.51, Y:-166.86, Z:-1.79 [[-8.13129412e-01 5.82036199e-01 7.37709674e-03 5.15075048e+01] [ 5.82010949e-01 8.13162868e-01 -5.42276640e-03 -1.66860810e+02] [-9.15502748e-03 -1.15859787e-04 -9.99958085e-01 -1.79416573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.186559995 meters 0.01302917719332336 Centerline is valid? [True, True] Translation: X:51.52, Y:-166.84, Z:-1.80 [[-8.50817240e-01 5.25418139e-01 6.76789293e-03 5.15198968e+01] [ 5.25400779e-01 8.50844153e-01 -4.27183954e-03 -1.66840721e+02] [-8.00292411e-03 -7.86985054e-05 -9.99967973e-01 -1.79610606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.21655999499995 meters 0.012829212291866638 Centerline is valid? [True, True] Translation: X:51.53, Y:-166.82, Z:-1.80 [[-8.84655025e-01 4.66205581e-01 6.15162152e-03 5.15346977e+01] [ 4.66193917e-01 8.84676412e-01 -3.29823245e-03 -1.66819857e+02] [-6.97984883e-03 -4.99493781e-05 -9.99975639e-01 -1.79654382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.246559995 meters 0.012554488788617346 Centerline is valid? [True, True] Translation: X:51.54, Y:-166.80, Z:-1.80 [[-9.13567915e-01 4.06653022e-01 5.19472109e-03 5.15434736e+01] [ 4.06646365e-01 9.13582683e-01 -2.32694732e-03 -1.66799424e+02] [-5.69206739e-03 -1.34099614e-05 -9.99983800e-01 -1.79792801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.27655999499996 meters 0.012483879581452029 Centerline is valid? [True, True] Translation: X:51.55, Y:-166.78, Z:-1.80 [[-9.39331022e-01 3.42972290e-01 5.21910949e-03 5.15520519e+01] [ 3.42966991e-01 9.39345521e-01 -1.90635326e-03 -1.66775342e+02] [-5.55637347e-03 -7.14477749e-07 -9.99984563e-01 -1.79805536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.306559995 meters 0.012615831746023447 Centerline is valid? [True, True] Translation: X:51.77, Y:-166.18, Z:-2.79 [[-9.14526964e-01 -4.04481829e-01 5.90605448e-03 5.17735746e+01] [ 4.04473777e-01 -9.14546033e-01 -2.55270477e-03 -1.66180512e+02] [ 6.43388139e-03 5.43268175e-05 9.99979301e-01 -2.79337216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.33655999499996 meters 0.012699830569945003 Centerline is valid? [True, True] Translation: X:51.51, Y:-166.77, Z:-1.80 [[-9.39365887e-01 3.42857882e-01 6.34061790e-03 5.15108953e+01] [ 3.42850237e-01 9.39387286e-01 -2.28978540e-03 -1.66765082e+02] [-6.74136681e-03 2.29360580e-05 -9.99977276e-01 -1.79686465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.366559995 meters 0.012936551904874647 Centerline is valid? [True, True] Translation: X:51.52, Y:-166.74, Z:-1.80 [[-9.60475382e-01 2.78266684e-01 7.39547925e-03 5.15175514e+01] [ 2.78258828e-01 9.60503852e-01 -2.09151016e-03 -1.66741527e+02] [-7.68538391e-03 4.90133694e-05 -9.99970466e-01 -1.79612403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.39655999499996 meters 0.01321637019721312 Centerline is valid? [True, True] Translation: X:51.52, Y:-166.72, Z:-1.80 [[-9.77423074e-01 2.11152803e-01 7.65697050e-03 5.15231097e+01] [ 2.11146836e-01 9.77453063e-01 -1.58872651e-03 -1.66716188e+02] [-7.81979333e-03 6.38871419e-05 -9.99969423e-01 -1.79590617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.426559995 meters 0.013467089748892663 Centerline is valid? [True, True] Translation: X:51.65, Y:-166.08, Z:-2.80 [[-9.65768167e-01 -2.59292413e-01 7.70017515e-03 5.16523528e+01] [ 2.59283718e-01 -9.65798862e-01 -2.12409105e-03 -1.66076032e+02] [ 7.98758109e-03 -5.48494795e-05 9.99968097e-01 -2.79507358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.45655999499996 meters 0.013657573068772725 Centerline is valid? [True, True] Translation: X:51.47, Y:-166.71, Z:-1.80 [[-9.77411077e-01 2.11199840e-01 7.88761834e-03 5.14729410e+01] [ 2.11193773e-01 9.77442897e-01 -1.60391774e-03 -1.66710228e+02] [-8.04844370e-03 9.81289052e-05 -9.99967606e-01 -1.79609182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.48655999499994 meters 0.014297105094406456 Centerline is valid? [True, True] Translation: X:51.48, Y:-166.69, Z:-1.80 [[-9.89316262e-01 1.45580255e-01 7.72813191e-03 5.14754720e+01] [ 1.45576829e-01 9.89346437e-01 -1.00699421e-03 -1.66686779e+02] [-7.79239825e-03 1.28801196e-04 -9.99969631e-01 -1.79697960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.51655999499997 meters 0.015339281814940441 Centerline is valid? [True, True] Translation: X:51.48, Y:-166.66, Z:-1.80 [[-9.96981012e-01 7.72585618e-02 7.74446729e-03 5.14771202e+01] [ 7.72573694e-02 9.97011080e-01 -4.53454772e-04 -1.66662033e+02] [-7.75635296e-03 1.46231373e-04 -9.99969908e-01 -1.79674705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.54655999499994 meters 0.015568389598676492 Centerline is valid? [True, True] Translation: X:51.47, Y:-166.64, Z:-1.80 [[-9.99937353e-01 8.25604151e-03 7.55832556e-03 5.14737314e+01] [ 8.25700155e-03 9.99965906e-01 9.58209667e-05 -1.66635149e+02] [-7.55727676e-03 1.58224070e-04 -9.99971431e-01 -1.79666098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.57655999499997 meters 0.015354258995657644 Centerline is valid? [True, True] Translation: X:51.47, Y:-166.61, Z:-1.80 [[-9.98099621e-01 -6.11540560e-02 7.57158393e-03 5.14684445e+01] [-6.11509800e-02 9.98128324e-01 6.37320796e-04 -1.66607416e+02] [-7.59638713e-03 1.73099867e-04 -9.99971132e-01 -1.79660135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.60655999499994 meters 0.015354258995657644 Centerline is valid? [True, True] Translation: X:51.45, Y:-166.58, Z:-1.80 [[-9.91186327e-01 -1.32262291e-01 7.50680244e-03 5.14549963e+01] [-1.32257174e-01 9.91214738e-01 1.17629648e-03 -1.66580607e+02] [-7.59643288e-03 1.73100507e-04 -9.99971132e-01 -1.79660069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.63655999499997 meters 0.01673613876215186 Centerline is valid? [True, True] Translation: X:51.43, Y:-166.56, Z:-1.80 [[-9.79739081e-01 -2.00158968e-01 6.90802046e-03 5.14304098e+01] [-2.00152667e-01 9.79763417e-01 1.59879423e-03 -1.66561374e+02] [-7.08823873e-03 1.83742474e-04 -9.99974861e-01 -1.79591142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.66655999499994 meters 0.017260755357439622 Centerline is valid? [True, True] Translation: X:51.39, Y:-166.55, Z:-1.80 [[-9.62847456e-01 -2.69968724e-01 6.45486306e-03 5.13882909e+01] [-2.69961394e-01 9.62869075e-01 1.99758619e-03 -1.66545865e+02] [-6.75447382e-03 1.80806947e-04 -9.99977172e-01 -1.79600179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.696559995 meters 0.017481780515028196 Centerline is valid? [True, True] Translation: X:51.33, Y:-166.54, Z:-1.80 [[-9.40447183e-01 -3.39881470e-01 6.29938191e-03 5.13260448e+01] [-3.39872539e-01 9.40468263e-01 2.47056478e-03 -1.66539090e+02] [-6.76406795e-03 1.82448763e-04 -9.99977107e-01 -1.79628165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.72655999499995 meters 0.017397324041217913 Centerline is valid? [True, True] Translation: X:51.26, Y:-166.54, Z:-1.80 [[-9.12548102e-01 -4.08933945e-01 5.38429319e-03 5.12563189e+01] [-4.08925798e-01 9.12563972e-01 2.58624627e-03 -1.66539230e+02] [-5.97111587e-03 1.58297732e-04 -9.99982160e-01 -1.79641511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.756559995 meters 0.017034022794474073 Centerline is valid? [True, True] Translation: X:51.18, Y:-166.55, Z:-1.80 [[-8.78422194e-01 -4.77866201e-01 4.28291450e-03 5.11789705e+01] [-4.77859857e-01 8.78432627e-01 2.46521415e-03 -1.66548243e+02] [-4.94029436e-03 1.18865914e-04 -9.99987790e-01 -1.79670070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.78655999499995 meters 0.015784259653335273 Centerline is valid? [True, True] Translation: X:51.09, Y:-166.57, Z:-1.80 [[-8.39000771e-01 -5.44115883e-01 3.95118948e-03 5.10929384e+01] [-5.44109261e-01 8.39010069e-01 2.68646451e-03 -1.66566322e+02] [-4.77683577e-03 1.04067012e-04 -9.99988585e-01 -1.79697447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.816559995 meters 0.015066752323116248 Centerline is valid? [True, True] Translation: X:51.00, Y:-166.59, Z:-1.80 [[-7.93996047e-01 -6.07912534e-01 3.55357427e-03 5.10039777e+01] [-6.07905959e-01 7.94003995e-01 2.82868941e-03 -1.66594557e+02] [-4.54114791e-03 8.57292348e-05 -9.99989685e-01 -1.79697712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.84655999499995 meters 0.014169201233910545 Centerline is valid? [True, True] Translation: X:50.91, Y:-166.63, Z:-1.80 [[-7.43463024e-01 -6.68769673e-01 3.13958534e-03 5.09141856e+01] [-6.68763336e-01 7.43469650e-01 2.91205857e-03 -1.66631467e+02] [-4.28168287e-03 6.53683057e-05 -9.99990831e-01 -1.79677854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.876559995 meters 0.013127526160504194 Centerline is valid? [True, True] Translation: X:50.82, Y:-166.68, Z:-1.80 [[-6.85371811e-01 -7.28189828e-01 2.24854757e-03 5.08220685e+01] [-7.28185784e-01 6.85375499e-01 2.42685118e-03 -1.66677280e+02] [-3.30830776e-03 2.59350108e-05 -9.99994527e-01 -1.79712297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.90655999499995 meters 0.012785204949378511 Centerline is valid? [True, True] Translation: X:50.73, Y:-166.74, Z:-1.80 [[-6.25342725e-01 -7.80348669e-01 1.55945417e-03 5.07317966e+01] [-7.80346200e-01 6.25344669e-01 1.96283055e-03 -1.66735667e+02] [-2.50688856e-03 1.05276665e-05 -9.99996858e-01 -1.79717202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.936559995 meters 0.012641892744690538 Centerline is valid? [True, True] Translation: X:50.65, Y:-166.80, Z:-1.80 [[-5.61267671e-01 -8.27633245e-01 1.34661202e-03 5.06473507e+01] [-8.27630857e-01 5.61269286e-01 1.98830764e-03 -1.66799600e+02] [-2.40140147e-03 1.47513206e-06 -9.99997117e-01 -1.79715705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.96655999499995 meters 0.013034955022675815 Centerline is valid? [True, True] Translation: X:50.56, Y:-166.88, Z:-1.80 [[-4.90625848e-01 -8.71369712e-01 1.04993972e-03 5.05620308e+01] [-8.71367774e-01 4.90626971e-01 1.83762229e-03 -1.66875878e+02] [-2.11637715e-03 -1.32986437e-05 -9.99997760e-01 -1.79682639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.996559995 meters 0.013371639195505694 Centerline is valid? [True, True] Translation: X:50.49, Y:-166.96, Z:-1.80 [[-4.19833394e-01 -9.07600885e-01 7.44955490e-04 5.04855151e+01] [-9.07599524e-01 4.19834055e-01 1.57176636e-03 -1.66958897e+02] [-1.73929423e-03 -1.62412410e-05 -9.99998487e-01 -1.79701186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.02655999499996 meters 0.01402647239241305 Centerline is valid? [True, True] Translation: X:50.41, Y:-167.05, Z:-1.80 [[-3.46267045e-01 -9.38135849e-01 5.12561366e-04 5.04142859e+01] [-9.38134896e-01 3.46267424e-01 1.33737253e-03 -1.67050060e+02] [-1.43212042e-03 -1.77636691e-05 -9.99998974e-01 -1.79725941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.056559995 meters 0.014469576251461997 Centerline is valid? [True, True] Translation: X:50.35, Y:-167.14, Z:-1.80 [[-2.70554166e-01 -9.62704653e-01 4.40213627e-04 5.03511261e+01] [-9.62703519e-01 2.70554523e-01 1.47806960e-03 -1.67144680e+02] [-1.54204627e-03 -2.38973198e-05 -9.99998811e-01 -1.79696020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.08655999499996 meters 0.015603979089126087 Centerline is valid? [True, True] Translation: X:50.29, Y:-167.25, Z:-1.80 [[-1.93032555e-01 -9.81192262e-01 4.21268391e-04 5.02933080e+01] [-9.81190329e-01 1.93033011e-01 1.94830855e-03 -1.67247323e+02] [-1.99298398e-03 -3.72574932e-05 -9.99998013e-01 -1.79590372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.116559995 meters 0.016427847629162867 Centerline is valid? [True, True] Translation: X:50.24, Y:-167.36, Z:-1.79 [[-1.12026809e-01 -9.93705097e-01 4.17134229e-04 5.02439797e+01] [-9.93700454e-01 1.12027561e-01 3.03863017e-03 -1.67355813e+02] [-3.06623281e-03 -7.40984322e-05 -9.99995296e-01 -1.79421900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.14655999499996 meters 0.017140743490883237 Centerline is valid? [True, True] Translation: X:50.20, Y:-167.47, Z:-1.79 [[-3.32735607e-02 -9.99446260e-01 2.10140209e-04 5.02040211e+01] [-9.99440085e-01 3.32740940e-02 3.51437160e-03 -1.67469560e+02] [-3.51941777e-03 -9.30868914e-05 -9.99993803e-01 -1.79367077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.176559995 meters 0.018595167364567605 Centerline is valid? [True, True] Translation: X:50.17, Y:-167.58, Z:-1.79 [[ 4.64096128e-02 -9.98922490e-01 -8.52289951e-05 5.01736668e+01] [-9.98909858e-01 -4.64094548e-02 5.02583509e-03 -1.67584035e+02] [-5.02437513e-03 -1.48110977e-04 -9.99987367e-01 -1.79233825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.20655999499996 meters 0.01898658667880514 Centerline is valid? [True, True] Translation: X:50.15, Y:-167.71, Z:-1.79 [[ 1.23026758e-01 -9.92403229e-01 -4.99008689e-04 5.01536632e+01] [-9.92389037e-01 -1.23027668e-01 5.30970465e-03 -1.67708132e+02] [-5.33075992e-03 -1.58024996e-04 -9.99985779e-01 -1.79164171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.23655999499994 meters 0.01803168258634056 Centerline is valid? [True, True] Translation: X:50.14, Y:-167.82, Z:-1.79 [[ 1.98566837e-01 -9.80086795e-01 -1.04163778e-03 5.01437476e+01] [-9.80068144e-01 -1.98569488e-01 6.04905373e-03 -1.67815873e+02] [-6.13543517e-03 -1.80265458e-04 -9.99981162e-01 -1.79156593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.26655999499997 meters 0.01838694908649819 Centerline is valid? [True, True] Translation: X:50.14, Y:-167.94, Z:-1.79 [[ 2.72450616e-01 -9.62168588e-01 -1.50667042e-03 5.01418756e+01] [-9.62150116e-01 -2.72454725e-01 5.96465446e-03 -1.67935548e+02] [-6.14950264e-03 -1.75430657e-04 -9.99981076e-01 -1.79092444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.29655999499994 meters 0.017063387666407675 Centerline is valid? [True, True] Translation: X:50.15, Y:-168.05, Z:-1.79 [[ 3.43237990e-01 -9.39246277e-01 -2.02819338e-03 5.01530607e+01] [-9.39226883e-01 -3.43243941e-01 6.03817150e-03 -1.68050031e+02] [-6.36749519e-03 -1.67596097e-04 -9.99979713e-01 -1.79098560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.32655999499997 meters 0.018435911754384054 Centerline is valid? [True, True] Translation: X:50.16, Y:-168.16, Z:-1.79 [[ 4.13286823e-01 -9.10597522e-01 -2.48106720e-03 5.01643678e+01] [-9.10578723e-01 -4.13294239e-01 5.85329603e-03 -1.68158794e+02] [-6.35540764e-03 -1.59883114e-04 -9.99979791e-01 -1.78994711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.35655999499994 meters 0.017616961620458595 Centerline is valid? [True, True] Translation: X:50.19, Y:-168.28, Z:-1.79 [[ 4.80958299e-01 -8.76738976e-01 -2.80748416e-03 5.01934003e+01] [-8.76722216e-01 -4.80966471e-01 5.42307506e-03 -1.68275848e+02] [-6.10492702e-03 -1.46889223e-04 -9.99981354e-01 -1.79055681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.38655999499997 meters 0.016482377042287152 Centerline is valid? [True, True] Translation: X:50.23, Y:-168.38, Z:-1.79 [[ 5.45662517e-01 -8.37998963e-01 -3.18664465e-03 5.02259196e+01] [-8.37983176e-01 -5.45671805e-01 5.14572164e-03 -1.68379343e+02] [-6.05097153e-03 -1.37472819e-04 -9.99981683e-01 -1.79130096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.41655999499994 meters 0.015914794862147315 Centerline is valid? [True, True] Translation: X:50.27, Y:-168.48, Z:-1.79 [[ 6.06422100e-01 -7.95136068e-01 -3.29698562e-03 5.02688053e+01] [-7.95123282e-01 -6.06431052e-01 4.51059651e-03 -1.68481124e+02] [-5.58593243e-03 -1.13815377e-04 -9.99984392e-01 -1.79200571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.446559995 meters 0.01565737165677457 Centerline is valid? [True, True] Translation: X:50.31, Y:-168.58, Z:-1.79 [[ 6.64756481e-01 -7.47049729e-01 -3.93996870e-03 5.03143870e+01] [-7.47035546e-01 -6.64768147e-01 4.60478394e-03 -1.68579190e+02] [-6.05916829e-03 -1.17763300e-04 -9.99981636e-01 -1.79214457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.47655999499995 meters 0.01543797279104561 Centerline is valid? [True, True] Translation: X:50.37, Y:-168.68, Z:-1.79 [[ 7.20085342e-01 -6.93873211e-01 -4.13136182e-03 5.03722596e+01] [-6.93860862e-01 -7.20097184e-01 4.14129833e-03 -1.68681651e+02] [-5.84851798e-03 -1.15497948e-04 -9.99982891e-01 -1.79232591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.506559995 meters 0.016923818051723338 Centerline is valid? [True, True] Translation: X:50.42, Y:-168.77, Z:-1.79 [[ 7.71438789e-01 -6.36280554e-01 -5.40836963e-03 5.04195696e+01] [-6.36263560e-01 -7.71457733e-01 4.65267646e-03 -1.68770940e+02] [-7.13273613e-03 -1.48106574e-04 -9.99974551e-01 -1.78954271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.53655999499995 meters 0.01588275250850781 Centerline is valid? [True, True] Translation: X:50.42, Y:-168.78, Z:-1.79 [[ 8.18777865e-01 -5.74068924e-01 -6.90492251e-03 5.04186639e+01] [-5.74046672e-01 -8.18806961e-01 5.05763127e-03 -1.68778761e+02] [-8.55722756e-03 -1.77328751e-04 -9.99963371e-01 -1.78942381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.566559995 meters 0.016600702876160268 Centerline is valid? [True, True] Translation: X:50.42, Y:-168.79, Z:-1.79 [[ 8.60886587e-01 -5.08737203e-01 -7.79379377e-03 5.04155085e+01] [-5.08714397e-01 -8.60921845e-01 4.82058419e-03 -1.68787970e+02] [-9.16225783e-03 -1.85161168e-04 -9.99958009e-01 -1.78818086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.59655999499995 meters 0.015828945440840948 Centerline is valid? [True, True] Translation: X:50.42, Y:-168.80, Z:-1.79 [[ 8.97734463e-01 -4.40456060e-01 -8.44357896e-03 5.04159054e+01] [-4.40434625e-01 -8.97774150e-01 4.34927894e-03 -1.68795096e+02] [-9.49609319e-03 -1.85653060e-04 -9.99954894e-01 -1.78854358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.626559995 meters 0.015459437239568162 Centerline is valid? [True, True] Translation: X:50.42, Y:-168.80, Z:-1.79 [[ 9.28974953e-01 -3.70055769e-01 -8.01655130e-03 5.04165032e+01] [-3.70040509e-01 -9.29009528e-01 3.36431954e-03 -1.68802288e+02] [-8.69243839e-03 -1.58919858e-04 -9.99962207e-01 -1.78948838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.65655999499995 meters 0.015120154042381163 Centerline is valid? [True, True] Translation: X:50.42, Y:-168.81, Z:-1.79 [[ 9.55011044e-01 -2.96465687e-01 -7.87414436e-03 5.04177058e+01] [-2.96454313e-01 -9.55043493e-01 2.60118274e-03 -1.68810434e+02] [-8.29131176e-03 -1.49834188e-04 -9.99965615e-01 -1.79057681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.686559995 meters 0.015163769828202837 Centerline is valid? [True, True] Translation: X:50.42, Y:-168.82, Z:-1.79 [[ 9.75292078e-01 -2.20775015e-01 -7.98469828e-03 5.04190479e+01] [-2.20766357e-01 -9.75324751e-01 1.96094194e-03 -1.68818778e+02] [-8.22060085e-03 -1.49738391e-04 -9.99966199e-01 -1.79116645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.71655999499995 meters 0.0157772280647612 Centerline is valid? [True, True] Translation: X:50.42, Y:-168.83, Z:-1.79 [[ 9.89574623e-01 -1.43798964e-01 -7.99517013e-03 5.04205268e+01] [-1.43793061e-01 -9.89606910e-01 1.31131145e-03 -1.68827488e+02] [-8.10064084e-03 -1.47990545e-04 -9.99967178e-01 -1.79117653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.746559995 meters 0.015232626854001978 Centerline is valid? [True, True] Translation: X:50.42, Y:-168.83, Z:-1.79 [[ 9.97793548e-01 -6.59133074e-02 -7.96689567e-03 5.04199882e+01] [-6.59100414e-02 -9.97825343e-01 6.72084471e-04 -1.68834277e+02] [-7.99386972e-03 -1.45503125e-04 -9.99968038e-01 -1.79188486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.77655999499996 meters 0.01573115965127041 Centerline is valid? [True, True] Translation: X:50.42, Y:-168.84, Z:-1.79 [[ 9.99901384e-01 1.13523725e-02 -8.26720086e-03 5.04184674e+01] [ 1.13531563e-02 -9.99935550e-01 4.78848779e-05 -1.68842769e+02] [-8.26612443e-03 -1.41738979e-04 -9.99965825e-01 -1.79072770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.806559995 meters 0.01585634603358501 Centerline is valid? [True, True] Translation: X:50.42, Y:-168.85, Z:-1.79 [[ 9.95984181e-01 8.91192517e-02 -8.55983675e-03 5.04170045e+01] [ 8.91171915e-02 -9.96020953e-01 -6.22563813e-04 -1.68846076e+02] [-8.58125918e-03 -1.42764902e-04 -9.99963170e-01 -1.79013882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.83655999499996 meters 0.014874571803108576 Centerline is valid? [True, True] Translation: X:50.42, Y:-168.85, Z:-1.79 [[ 9.86067562e-01 1.66125975e-01 -8.53956089e-03 5.04170126e+01] [ 1.66120955e-01 -9.86104529e-01 -1.29882578e-03 -1.68851974e+02] [-8.63666836e-03 -1.37870033e-04 -9.99962694e-01 -1.79087240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.866559995 meters 0.014728827843663292 Centerline is valid? [True, True] Translation: X:50.42, Y:-168.86, Z:-1.79 [[ 9.70387781e-01 2.41432758e-01 -7.60118062e-03 5.04177824e+01] [ 2.41426264e-01 -9.70417544e-01 -1.77437437e-03 -1.68858711e+02] [-7.80471113e-03 -1.13293438e-04 -9.99969536e-01 -1.79146334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.89655999499996 meters 0.014625841989089098 Centerline is valid? [True, True] Translation: X:50.42, Y:-168.87, Z:-1.79 [[ 9.48673188e-01 3.16184517e-01 -6.82150559e-03 5.04191997e+01] [ 3.16177102e-01 -9.48697708e-01 -2.16771552e-03 -1.68865336e+02] [-7.15694480e-03 -1.00350275e-04 -9.99974384e-01 -1.79221535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.926559995 meters 0.01457466192709442 Centerline is valid? [True, True] Translation: X:50.42, Y:-168.87, Z:-1.79 [[ 9.21073957e-01 3.89332526e-01 -6.55366482e-03 5.04216884e+01] [ 3.89323426e-01 -9.21097267e-01 -2.66369246e-03 -1.68871938e+02] [-7.07362486e-03 -9.80374890e-05 -9.99974977e-01 -1.79316677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.95655999499996 meters 0.014704458310180418 Centerline is valid? [True, True] Translation: X:50.42, Y:-168.88, Z:-1.79 [[ 8.87921243e-01 4.59956974e-01 -5.95386007e-03 5.04227726e+01] [ 4.59947311e-01 -8.87941200e-01 -2.98274355e-03 -1.68879237e+02] [-6.65861135e-03 -9.00205699e-05 -9.99977827e-01 -1.79344121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.98655999499994 meters 0.014469805517252585 Centerline is valid? [True, True] Translation: X:50.43, Y:-168.88, Z:-1.79 [[ 8.49451367e-01 5.27640982e-01 -5.23154944e-03 5.04252711e+01] [ 5.27631549e-01 -8.49467473e-01 -3.15614984e-03 -1.68883961e+02] [-6.10934508e-03 -7.93347334e-05 -9.99981335e-01 -1.79458238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.01655999499997 meters 0.014479380477238438 Centerline is valid? [True, True] Translation: X:50.43, Y:-168.89, Z:-1.79 [[ 8.05585984e-01 5.92458212e-01 -4.94874356e-03 5.04283492e+01] [ 5.92447628e-01 -8.05601180e-01 -3.54225103e-03 -1.68890248e+02] [-6.08534936e-03 -7.82835984e-05 -9.99981481e-01 -1.79498316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.04655999499994 meters 0.014430179025027688 Centerline is valid? [True, True] Translation: X:50.43, Y:-168.90, Z:-1.79 [[ 7.57189264e-01 6.53177217e-01 -4.89299958e-03 5.04320695e+01] [ 6.53164239e-01 -7.57205069e-01 -4.11829827e-03 -1.68896116e+02] [-6.39498269e-03 -7.76011120e-05 -9.99979549e-01 -1.79497164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.07655999499997 meters 0.014326480269959311 Centerline is valid? [True, True] Translation: X:50.44, Y:-168.90, Z:-1.79 [[ 7.04445713e-01 7.09742509e-01 -4.66990047e-03 5.04350413e+01] [ 7.09727597e-01 -7.04461188e-01 -4.60133293e-03 -1.68902451e+02] [-6.55552521e-03 -7.29679839e-05 -9.99978510e-01 -1.79475191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.10655999499994 meters 0.01420391433268481 Centerline is valid? [True, True] Translation: X:50.44, Y:-168.91, Z:-1.80 [[ 6.47361089e-01 7.62171471e-01 -4.27418847e-03 5.04382799e+01] [ 7.62155538e-01 -6.47375196e-01 -4.92870214e-03 -1.68906616e+02] [-6.52351976e-03 -6.69464290e-05 -9.99978719e-01 -1.79540649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.13655999499997 meters 0.013950429836061764 Centerline is valid? [True, True] Translation: X:50.44, Y:-168.91, Z:-1.80 [[ 5.86628474e-01 8.09847631e-01 -3.72117098e-03 5.04419589e+01] [ 8.09831952e-01 -5.86640274e-01 -5.03970605e-03 -1.68911007e+02] [-6.26438277e-03 -5.70880884e-05 -9.99980377e-01 -1.79591946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.16655999499994 meters 0.013872836765285118 Centerline is valid? [True, True] Translation: X:50.45, Y:-168.92, Z:-1.80 [[ 5.22384887e-01 8.52704336e-01 -3.05699981e-03 5.04470573e+01] [ 8.52690246e-01 -5.22393830e-01 -4.90205728e-03 -1.68916348e+02] [-5.77696334e-03 -4.59132862e-05 -9.99983312e-01 -1.79687528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.196559995 meters 0.01375981616482012 Centerline is valid? [True, True] Translation: X:50.45, Y:-168.92, Z:-1.80 [[ 4.54851170e-01 8.90564440e-01 -2.32181614e-03 5.04516811e+01] [ 8.90553228e-01 -4.54857095e-01 -4.46905562e-03 -1.68922330e+02] [-5.03607656e-03 -3.49456796e-05 -9.99987318e-01 -1.79732201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.22655999499995 meters 0.01360895317660667 Centerline is valid? [True, True] Translation: X:50.46, Y:-168.93, Z:-1.80 [[ 3.84948472e-01 9.22936276e-01 -1.81808816e-03 5.04563837e+01] [ 9.22926299e-01 -3.84952764e-01 -4.29138501e-03 -1.68926764e+02] [-4.66055296e-03 -2.59992735e-05 -9.99989139e-01 -1.79813894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.256559995 meters 0.013600934026032166 Centerline is valid? [True, True] Translation: X:50.46, Y:-168.93, Z:-1.80 [[ 3.11840228e-01 9.50133326e-01 -1.52830551e-03 5.04606809e+01] [ 9.50122308e-01 -3.11843972e-01 -4.57560007e-03 -1.68932178e+02] [-4.82402297e-03 -2.52209873e-05 -9.99988364e-01 -1.79785077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.28655999499995 meters 0.013532377600832842 Centerline is valid? [True, True] Translation: X:50.47, Y:-168.94, Z:-1.80 [[ 2.36967064e-01 9.71516910e-01 -1.22645771e-03 5.04672283e+01] [ 9.71504414e-01 -2.36970236e-01 -4.92756436e-03 -1.68936354e+02] [-5.07784607e-03 -2.38386187e-05 -9.99987107e-01 -1.79760836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.316559995 meters 0.013504052610496965 Centerline is valid? [True, True] Translation: X:50.47, Y:-168.94, Z:-1.80 [[ 1.60659406e-01 9.87009440e-01 -9.59758360e-04 5.04739552e+01] [ 9.86992722e-01 -1.60662271e-01 -5.74461340e-03 -1.68940404e+02] [-5.82418461e-03 -2.43483413e-05 -9.99983039e-01 -1.79706017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.34655999499995 meters 0.013531860958208101 Centerline is valid? [True, True] Translation: X:50.48, Y:-168.94, Z:-1.80 [[ 8.32808078e-02 9.96525944e-01 -5.91496644e-04 5.04798257e+01] [ 9.96502952e-01 -8.32829043e-02 -6.76933148e-03 -1.68944052e+02] [-6.79507600e-03 -2.56727587e-05 -9.99976913e-01 -1.79694666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.376559995 meters 0.013513843458619827 Centerline is valid? [True, True] Translation: X:50.49, Y:-168.95, Z:-1.80 [[ 4.81807444e-03 9.99988391e-01 -6.02869485e-05 5.04895031e+01] [ 9.99964477e-01 -4.81837615e-03 -6.91575888e-03 -1.68946933e+02] [-6.91596908e-03 -2.69641659e-05 -9.99976084e-01 -1.79724333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.40655999499995 meters 0.013620717416074632 Centerline is valid? [True, True] Translation: X:50.50, Y:-168.95, Z:-1.80 [[-7.38962265e-02 9.97265807e-01 5.08078087e-04 5.05000434e+01] [ 9.97239219e-01 7.38979664e-02 -7.28221476e-03 -1.68950299e+02] [-7.29984972e-03 -3.14527960e-05 -9.99973355e-01 -1.79652922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.436559995 meters 0.013619714169385209 Centerline is valid? [True, True] Translation: X:50.51, Y:-168.95, Z:-1.80 [[-1.53083567e-01 9.88212551e-01 1.17262881e-03 5.05125684e+01] [ 9.88181278e-01 1.53088051e-01 -7.86195532e-03 -1.68951604e+02] [-7.94879839e-03 -4.47663269e-05 -9.99968407e-01 -1.79525892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.46655999499995 meters 0.013678498635268667 Centerline is valid? [True, True] Translation: X:50.52, Y:-168.95, Z:-1.79 [[-2.30717704e-01 9.73019139e-01 1.75960037e-03 5.05226385e+01] [ 9.72989171e-01 2.30724408e-01 -7.63674253e-03 -1.68951795e+02] [-7.83667939e-03 -4.98595924e-05 -9.99969292e-01 -1.79454169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.496559995 meters 0.013678498635268667 Centerline is valid? [True, True] Translation: X:50.53, Y:-168.95, Z:-1.79 [[-3.06234177e-01 9.51953305e-01 2.35247793e-03 5.05310963e+01] [ 9.51923954e-01 3.06243209e-01 -7.47546610e-03 -1.68952336e+02] [-7.83672505e-03 -4.98631152e-05 -9.99969291e-01 -1.79454130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.52655999499996 meters 0.013697346579286096 Centerline is valid? [True, True] Translation: X:50.54, Y:-168.95, Z:-1.79 [[-3.80115682e-01 9.24933835e-01 3.07705153e-03 5.05413195e+01] [ 9.24902359e-01 3.80128133e-01 -7.63076031e-03 -1.68950729e+02] [-8.22762226e-03 -5.45994381e-05 -9.99966151e-01 -1.79458554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.556559995 meters 0.013898527130553411 Centerline is valid? [True, True] Translation: X:50.55, Y:-168.95, Z:-1.79 [[-4.52042688e-01 8.91988850e-01 3.64693706e-03 5.05518827e+01] [ 8.91958738e-01 4.52057395e-01 -7.32948180e-03 -1.68949348e+02] [-8.18644090e-03 -6.03212750e-05 -9.99966489e-01 -1.79398867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.58655999499996 meters 0.013889295254702935 Centerline is valid? [True, True] Translation: X:50.56, Y:-168.95, Z:-1.79 [[-5.20455642e-01 8.53878162e-01 4.24369218e-03 5.05583570e+01] [ 8.53848826e-01 5.20472939e-01 -7.07824723e-03 -1.68947939e+02] [-8.25268768e-03 -6.04421159e-05 -9.99965944e-01 -1.79371831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.616559995 meters 0.013893584105492175 Centerline is valid? [True, True] Translation: X:50.56, Y:-168.95, Z:-1.79 [[-5.85912287e-01 8.10358840e-01 5.03407882e-03 5.05644783e+01] [ 8.10327965e-01 5.85933909e-01 -7.07416802e-03 -1.68946889e+02] [-8.68225208e-03 -6.55871169e-05 -9.99962306e-01 -1.79358309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.64655999499996 meters 0.013849543422308826 Centerline is valid? [True, True] Translation: X:50.57, Y:-168.94, Z:-1.79 [[-6.47623639e-01 7.61939568e-01 5.63178307e-03 5.05721315e+01] [ 7.61909859e-01 6.47648122e-01 -6.72885854e-03 -1.68943642e+02] [-8.77439730e-03 -6.68568116e-05 -9.99961502e-01 -1.79409503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.676559995 meters 0.01393177061244777 Centerline is valid? [True, True] Translation: X:50.58, Y:-168.94, Z:-1.79 [[-7.05588105e-01 7.08595600e-01 6.14025109e-03 5.05801590e+01] [ 7.08567900e-01 7.05614818e-01 -6.26571607e-03 -1.68939256e+02] [-8.77251099e-03 -7.02299025e-05 -9.99961518e-01 -1.79353670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.70655999499996 meters 0.013977816170679858 Centerline is valid? [True, True] Translation: X:50.59, Y:-168.93, Z:-1.79 [[-7.59172092e-01 6.50854178e-01 6.82448293e-03 5.05878403e+01] [ 6.50826976e-01 7.59202761e-01 -5.95098552e-03 -1.68933351e+02] [-9.05439007e-03 -7.62645391e-05 -9.99959005e-01 -1.79317302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.73655999499994 meters 0.01407144699319343 Centerline is valid? [True, True] Translation: X:50.61, Y:-168.91, Z:-1.79 [[-8.03444677e-01 5.95328092e-01 7.81758117e-03 5.06070532e+01] [ 5.95298882e-01 8.03482704e-01 -5.89783565e-03 -1.68912534e+02] [-9.79243851e-03 -8.47873246e-05 -9.99952049e-01 -1.79292815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.76655999499997 meters 0.014076696896727622 Centerline is valid? [True, True] Translation: X:50.63, Y:-168.89, Z:-1.79 [[-8.43274153e-01 5.37417574e-01 8.42932113e-03 5.06260817e+01] [ 5.37389759e-01 8.43316278e-01 -5.46836107e-03 -1.68892848e+02] [-1.00473771e-02 -8.14967083e-05 -9.99949521e-01 -1.79325595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.79655999499994 meters 0.013961520110496277 Centerline is valid? [True, True] Translation: X:50.64, Y:-168.87, Z:-1.79 [[-8.78784547e-01 4.77134086e-01 8.98798247e-03 5.06414158e+01] [ 4.77108248e-01 8.78830506e-01 -4.96598727e-03 -1.68870314e+02] [-1.02683550e-02 -7.57923048e-05 -9.99947276e-01 -1.79321151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.82655999499997 meters 0.014106114379786518 Centerline is valid? [True, True] Translation: X:50.98, Y:-168.27, Z:-2.80 [[-8.37219183e-01 -5.46796965e-01 8.78173109e-03 5.09830071e+01] [ 5.46767972e-01 -8.37265234e-01 -5.63147912e-03 -1.68265508e+02] [ 1.04319138e-02 8.67869528e-05 9.99945582e-01 -2.79932452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.85655999499994 meters 0.013713486373417402 Centerline is valid? [True, True] Translation: X:50.61, Y:-168.85, Z:-1.79 [[-8.79359325e-01 4.76069371e-01 9.22669949e-03 5.06059019e+01] [ 4.76042546e-01 8.79407727e-01 -5.05403183e-03 -1.68854037e+02] [-1.05201006e-02 -5.20084996e-05 -9.99944661e-01 -1.79277691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.88655999499997 meters 0.013626347131242922 Centerline is valid? [True, True] Translation: X:50.62, Y:-168.83, Z:-1.79 [[-9.10232256e-01 4.13977562e-01 9.99093863e-03 5.06175270e+01] [ 4.13952163e-01 9.10287085e-01 -4.58588302e-03 -1.68830550e+02] [-1.09930751e-02 -3.84479900e-05 -9.99939574e-01 -1.79273592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.91655999499994 meters 0.01369135069253756 Centerline is valid? [True, True] Translation: X:50.92, Y:-168.19, Z:-2.80 [[-8.77698248e-01 -4.79110020e-01 9.96865086e-03 5.09192072e+01] [ 4.79079890e-01 -8.77754855e-01 -5.37347510e-03 -1.68194833e+02] [ 1.13245175e-02 5.94904719e-05 9.99935874e-01 -2.79892661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.946559995 meters 0.01360982911382898 Centerline is valid? [True, True] Translation: X:50.57, Y:-168.82, Z:-1.79 [[-9.09794061e-01 4.14925511e-01 1.05635001e-02 5.05715679e+01] [ 4.14897718e-01 9.09855384e-01 -4.80243423e-03 -1.68815853e+02] [-1.16039099e-02 1.35459521e-05 -9.99932672e-01 -1.79365827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.97655999499995 meters 0.013660644899104166 Centerline is valid? [True, True] Translation: X:50.59, Y:-168.79, Z:-1.79 [[-9.36552410e-01 3.50365366e-01 1.06627132e-02 5.05890211e+01] [ 3.50342963e-01 9.36613106e-01 -3.96213942e-03 -1.68794104e+02] [-1.13750333e-02 2.48553062e-05 -9.99935302e-01 -1.79366297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.006559995 meters 0.01370028444783482 Centerline is valid? [True, True] Translation: X:50.84, Y:-168.13, Z:-2.80 [[-9.12870831e-01 -4.08118111e-01 1.03176289e-02 5.08444943e+01] [ 4.08091694e-01 -9.12929136e-01 -4.64358702e-03 -1.68126475e+02] [ 1.13143960e-02 -2.84564903e-05 9.99935990e-01 -2.79722734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.03655999499995 meters 0.013633379331992755 Centerline is valid? [True, True] Translation: X:50.55, Y:-168.78, Z:-1.79 [[-9.37473974e-01 3.47887734e-01 1.08014982e-02 5.05488479e+01] [ 3.47865115e-01 9.37536198e-01 -3.96719869e-03 -1.68781411e+02] [-1.15069353e-02 3.83188988e-05 -9.99933792e-01 -1.79423909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.066559995 meters 0.013705044033582327 Centerline is valid? [True, True] Translation: X:50.80, Y:-168.11, Z:-2.80 [[-9.14622332e-01 -4.04166733e-01 1.07350716e-02 5.07972339e+01] [ 4.04138586e-01 -9.14685329e-01 -4.76990578e-03 -1.68110189e+02] [ 1.17470497e-02 -2.42056944e-05 9.99931001e-01 -2.79757041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.09655999499995 meters 0.013652881175529413 Centerline is valid? [True, True] Translation: X:50.50, Y:-168.76, Z:-1.79 [[-9.38838547e-01 3.44165256e-01 1.15090663e-02 5.05044847e+01] [ 3.44139899e-01 9.38909088e-01 -4.17795812e-03 -1.68764581e+02] [-1.22438750e-02 3.83007779e-05 -9.99925040e-01 -1.79253273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.126559995 meters 0.013689278889972952 Centerline is valid? [True, True] Translation: X:50.51, Y:-168.74, Z:-1.79 [[-9.60979126e-01 2.76323561e-01 1.28222430e-02 5.05079996e+01] [ 2.76299457e-01 9.61064664e-01 -3.64986964e-03 -1.68736207e+02] [-1.33315496e-02 3.53302368e-05 -9.99911130e-01 -1.79173621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.15655999499995 meters 0.013623332856821812 Centerline is valid? [True, True] Translation: X:50.52, Y:-168.71, Z:-1.79 [[-9.78680175e-01 2.04903787e-01 1.41263240e-02 5.05178408e+01] [ 2.04882457e-01 9.78782120e-01 -2.95651703e-03 -1.68707231e+02] [-1.44323949e-02 7.51347707e-07 -9.99895848e-01 -1.79094273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.186559995 meters 0.013677336544590057 Centerline is valid? [True, True] Translation: X:50.52, Y:-168.68, Z:-1.79 [[-9.90927955e-01 1.33556046e-01 1.49856690e-02 5.05192787e+01] [ 1.33540476e-01 9.91041262e-01 -2.03938058e-03 -1.68678285e+02] [-1.51237880e-02 -1.96858565e-05 -9.99885629e-01 -1.79028129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.21655999499995 meters 0.0137663661775957 Centerline is valid? [True, True] Translation: X:50.62, Y:-167.98, Z:-2.80 [[-9.78848239e-01 -2.04005703e-01 1.54207146e-02 5.06202625e+01] [ 2.03981374e-01 -9.78969698e-01 -3.15109021e-03 -1.67980264e+02] [ 1.57392527e-02 6.10994666e-05 9.99876128e-01 -2.80082348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.246559995 meters 0.013824954179186983 Centerline is valid? [True, True] Translation: X:50.46, Y:-168.67, Z:-1.79 [[-9.91823152e-01 1.26692388e-01 1.53582123e-02 5.04630703e+01] [ 1.26676230e-01 9.91942052e-01 -2.02429414e-03 -1.68668364e+02] [-1.54909193e-02 -6.22213580e-05 -9.99880007e-01 -1.78983454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.27655999499996 meters 0.013720475554105134 Centerline is valid? [True, True] Translation: X:50.46, Y:-168.64, Z:-1.79 [[-9.98335181e-01 5.56725978e-02 1.50807474e-02 5.04631213e+01] [ 5.56652731e-02 9.98449076e-01 -9.05348041e-04 -1.68639698e+02] [-1.51077614e-02 -6.43668748e-05 -9.99885869e-01 -1.79054610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.306559995 meters 0.013668822241821626 Centerline is valid? [True, True] Translation: X:50.51, Y:-167.94, Z:-2.80 [[-9.91290720e-01 -1.30894886e-01 1.44650592e-02 5.05110845e+01] [ 1.30881369e-01 -9.91396252e-01 -1.88129929e-03 -1.67942637e+02] [ 1.45868580e-02 2.82922223e-05 9.99893606e-01 -2.80020602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.33655999499996 meters 0.013611714593184412 Centerline is valid? [True, True] Translation: X:50.40, Y:-168.64, Z:-1.79 [[-9.98551715e-01 5.19248994e-02 1.40810705e-02 5.03990617e+01] [ 5.19190644e-02 9.98650991e-01 -7.79869356e-04 -1.68635359e+02] [-1.41025697e-02 -4.76638769e-05 -9.99900553e-01 -1.79063728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.366559995 meters 0.013472977618021707 Centerline is valid? [True, True] Translation: X:50.40, Y:-168.61, Z:-1.79 [[-9.99763119e-01 -1.73060062e-02 1.31987927e-02 5.03988297e+01] [-1.73047541e-02 9.99850240e-01 2.09076199e-04 -1.68608653e+02] [-1.32004343e-02 -1.93751891e-05 -9.99912870e-01 -1.79149287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.39655999499996 meters 0.013428597663575782 Centerline is valid? [True, True] Translation: X:50.39, Y:-168.58, Z:-1.79 [[-9.96135206e-01 -8.69584473e-02 1.23644384e-02 5.03907403e+01] [-8.69517512e-02 9.96211940e-01 1.07913155e-03 -1.68582538e+02] [-1.24114408e-02 -1.48641962e-07 -9.99922975e-01 -1.79206775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.426559995 meters 0.013347511154805607 Centerline is valid? [True, True] Translation: X:50.38, Y:-168.56, Z:-1.79 [[-9.87593806e-01 -1.56569193e-01 1.20234155e-02 5.03807360e+01] [-1.56557396e-01 9.87666992e-01 1.92198600e-03 -1.68557100e+02] [-1.21760544e-02 1.57868491e-05 -9.99925869e-01 -1.79258775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.45655999499996 meters 0.013411749472773207 Centerline is valid? [True, True] Translation: X:50.36, Y:-168.53, Z:-1.79 [[-9.74134911e-01 -2.25682449e-01 1.13405083e-02 5.03585864e+01] [-2.25666758e-01 9.74200919e-01 2.66145384e-03 -1.68534165e+02] [-1.16485770e-02 3.34393691e-05 -9.99932152e-01 -1.79257073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.48655999499994 meters 0.013549739126484505 Centerline is valid? [True, True] Translation: X:50.32, Y:-168.52, Z:-1.79 [[-9.55950852e-01 -2.93365933e-01 9.71585374e-03 5.03156710e+01] [-2.93350189e-01 9.56000223e-01 3.03976980e-03 -1.68518826e+02] [-1.01801232e-02 5.57230031e-05 -9.99948180e-01 -1.79309569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.51655999499997 meters 0.013718105784604822 Centerline is valid? [True, True] Translation: X:50.25, Y:-168.51, Z:-1.79 [[-9.32155542e-01 -3.61943789e-01 9.09607611e-03 5.02528517e+01] [-3.61925892e-01 9.32199919e-01 3.59992355e-03 -1.68512351e+02] [-9.78233138e-03 6.35832258e-05 -9.99952150e-01 -1.79358542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.54655999499994 meters 0.013934197285563247 Centerline is valid? [True, True] Translation: X:50.19, Y:-168.51, Z:-1.79 [[-9.03259641e-01 -4.29005291e-01 8.74535813e-03 5.01869528e+01] [-4.28984388e-01 9.03301973e-01 4.23563492e-03 -1.68511665e+02] [-9.71680904e-03 7.42559711e-05 -9.99952788e-01 -1.79373665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.57655999499997 meters 0.014543205484230578 Centerline is valid? [True, True] Translation: X:50.11, Y:-168.52, Z:-1.79 [[-8.69626889e-01 -4.93624043e-01 9.18575794e-03 5.01092454e+01] [-4.93595296e-01 8.69675396e-01 5.32820862e-03 -1.68522758e+02] [-1.06187596e-02 9.95065781e-05 -9.99943614e-01 -1.79229294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.60655999499994 meters 0.014762305356577271 Centerline is valid? [True, True] Translation: X:50.03, Y:-168.54, Z:-1.79 [[-8.30475887e-01 -5.56975235e-01 9.40155627e-03 5.00260520e+01] [-5.56938003e-01 8.30529093e-01 6.44098845e-03 -1.68542172e+02] [-1.13957371e-02 1.13001619e-04 -9.99935060e-01 -1.79132956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.63655999499997 meters 0.014029473331346966 Centerline is valid? [True, True] Translation: X:49.94, Y:-168.57, Z:-1.79 [[-7.86330794e-01 -6.17731613e-01 9.56749164e-03 4.99357264e+01] [-6.17683957e-01 7.86388987e-01 7.67401553e-03 -1.68572026e+02] [-1.22642520e-02 1.24628632e-04 -9.99924783e-01 -1.79222128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.66655999499994 meters 0.01523298016169139 Centerline is valid? [True, True] Translation: X:49.85, Y:-168.62, Z:-1.79 [[-7.37377964e-01 -6.75411750e-01 9.62839107e-03 4.98455170e+01] [-6.75351796e-01 7.37440811e-01 9.00012223e-03 -1.68615843e+02] [-1.31791568e-02 1.33940605e-04 -9.99913142e-01 -1.78859069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.696559995 meters 0.014087459185877152 Centerline is valid? [True, True] Translation: X:49.76, Y:-168.66, Z:-1.79 [[-6.83731572e-01 -7.29675967e-01 9.17173008e-03 4.97589416e+01] [-7.29607682e-01 6.83793072e-01 9.98323850e-03 -1.68660544e+02] [-1.35560947e-02 1.34090626e-04 -9.99908103e-01 -1.79056810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.72655999499995 meters 0.015157552915358136 Centerline is valid? [True, True] Translation: X:49.67, Y:-168.72, Z:-1.79 [[-6.26171229e-01 -7.79645616e-01 7.89344525e-03 4.96719387e+01] [-7.79581128e-01 6.26220966e-01 1.00282870e-02 -1.68722460e+02] [-1.27615509e-02 1.25843862e-04 -9.99918560e-01 -1.78808639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.756559995 meters 0.015328128625818144 Centerline is valid? [True, True] Translation: X:49.59, Y:-168.79, Z:-1.79 [[-5.64994669e-01 -8.25065632e-01 6.90849926e-03 4.95874045e+01] [-8.25001235e-01 5.65036890e-01 1.03089549e-02 -1.68791294e+02] [-1.24091213e-02 1.24984128e-04 -9.99922996e-01 -1.78833160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.78655999499995 meters 0.015108431363740748 Centerline is valid? [True, True] Translation: X:49.51, Y:-168.87, Z:-1.79 [[-4.99767357e-01 -8.66140588e-01 5.75076232e-03 4.95076312e+01] [-8.66080703e-01 4.99800431e-01 1.01855486e-02 -1.68866395e+02] [-1.16963505e-02 1.09780429e-04 -9.99931589e-01 -1.78887873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.816559995 meters 0.014349518632113041 Centerline is valid? [True, True] Translation: X:49.43, Y:-168.95, Z:-1.79 [[-4.30079396e-01 -9.02778549e-01 4.75444463e-03 4.94285567e+01] [-9.02721273e-01 4.30105667e-01 1.01694469e-02 -1.68953205e+02] [-1.12256721e-02 8.17312600e-05 -9.99936987e-01 -1.78935032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.84655999499995 meters 0.013851371677890948 Centerline is valid? [True, True] Translation: X:49.36, Y:-169.05, Z:-1.79 [[-3.58292572e-01 -9.33601914e-01 3.72819350e-03 4.93574188e+01] [-9.33549551e-01 3.58311963e-01 9.88806242e-03 -1.69045231e+02] [-1.05673703e-02 6.23659425e-05 -9.99944162e-01 -1.78969741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.876559995 meters 0.013412242167571743 Centerline is valid? [True, True] Translation: X:49.29, Y:-169.15, Z:-1.79 [[-2.83610660e-01 -9.58935092e-01 2.91249507e-03 4.92920770e+01] [-9.58883063e-01 2.83625611e-01 9.98918078e-03 -1.69146853e+02] [-1.04050342e-02 4.02959568e-05 -9.99945865e-01 -1.78946608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.90655999499995 meters 0.012518118134227764 Centerline is valid? [True, True] Translation: X:49.23, Y:-169.25, Z:-1.79 [[-2.04710555e-01 -9.78820497e-01 2.00556475e-03 4.92324051e+01] [-9.78773805e-01 2.04720379e-01 9.56054525e-03 -1.69252628e+02] [-9.76863764e-03 -5.84971796e-06 -9.99952286e-01 -1.79324621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.936559995 meters 0.01309821920306364 Centerline is valid? [True, True] Translation: X:49.18, Y:-169.37, Z:-1.79 [[-1.26138040e-01 -9.92011796e-01 1.33882299e-03 4.91810098e+01] [-9.91958860e-01 1.26145140e-01 1.02480874e-02 -1.69366727e+02] [-1.03351096e-02 -3.53836641e-05 -9.99946591e-01 -1.78938839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.96655999499995 meters 0.012680396719329414 Centerline is valid? [True, True] Translation: X:49.14, Y:-169.48, Z:-1.79 [[-4.60402759e-02 -9.98939410e-01 5.89612038e-04 4.91419412e+01] [-9.98877259e-01 4.60439886e-02 1.11432932e-02 -1.69477626e+02] [-1.11586228e-02 -7.59097642e-05 -9.99937738e-01 -1.79338342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.996559995 meters 0.013126300078941958 Centerline is valid? [True, True] Translation: X:49.11, Y:-169.60, Z:-1.79 [[ 3.41146338e-02 -9.99417887e-01 -2.80127536e-04 4.91093222e+01] [-9.99350693e-01 -3.41155887e-02 1.15895754e-02 -1.69595529e+02] [-1.15923857e-02 -1.15428474e-04 -9.99932799e-01 -1.79257326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.02655999499996 meters 0.014310922848091582 Centerline is valid? [True, True] Translation: X:49.08, Y:-169.72, Z:-1.79 [[ 1.16541697e-01 -9.93185084e-01 -1.19205373e-03 4.90841118e+01] [-9.93115497e-01 -1.16547644e-01 1.17582362e-02 -1.69717147e+02] [-1.18170359e-02 -1.86477769e-04 -9.99930159e-01 -1.79219541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.056559995 meters 0.014851856667425417 Centerline is valid? [True, True] Translation: X:49.07, Y:-169.84, Z:-1.79 [[ 1.94591770e-01 -9.80882101e-01 -2.08503542e-03 4.90712159e+01] [-9.80813570e-01 -1.94602825e-01 1.15966392e-02 -1.69837975e+02] [-1.17806896e-02 -2.11579525e-04 -9.99930583e-01 -1.79195157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.08655999499996 meters 0.015125266285236515 Centerline is valid? [True, True] Translation: X:49.07, Y:-169.96, Z:-1.79 [[ 2.71120432e-01 -9.62541149e-01 -2.87178301e-03 4.90694465e+01] [-9.62478054e-01 -2.71135548e-01 1.10232163e-02 -1.69962483e+02] [-1.13889417e-02 -2.24591040e-04 -9.99935119e-01 -1.79226719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.116559995 meters 0.01577929485428567 Centerline is valid? [True, True] Translation: X:49.07, Y:-170.08, Z:-1.79 [[ 3.45635700e-01 -9.38361990e-01 -3.56903003e-03 4.90735788e+01] [-9.38304824e-01 -3.45654049e-01 1.03602673e-02 -1.70075400e+02] [-1.09553307e-02 -2.32040157e-04 -9.99939962e-01 -1.79244560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.14655999499996 meters 0.01606419570513176 Centerline is valid? [True, True] Translation: X:49.09, Y:-170.19, Z:-1.79 [[ 4.17588831e-01 -9.08625931e-01 -4.29943652e-03 4.90883916e+01] [-9.08571691e-01 -4.17610894e-01 9.93093653e-03 -1.70190835e+02] [-1.08189980e-02 -2.40701867e-04 -9.99941444e-01 -1.79336448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.176559995 meters 0.016670652944112917 Centerline is valid? [True, True] Translation: X:49.11, Y:-170.30, Z:-1.79 [[ 4.86916923e-01 -8.73436184e-01 -4.59818935e-03 4.91104335e+01] [-8.73392705e-01 -4.86938580e-01 8.71794583e-03 -1.70303207e+02] [-9.85360513e-03 -2.28890328e-04 -9.99951426e-01 -1.79370850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.20655999499996 meters 0.01656337416291489 Centerline is valid? [True, True] Translation: X:49.15, Y:-170.43, Z:-1.79 [[ 5.52279262e-01 -8.33644605e-01 -4.92838709e-03 4.91505210e+01] [-8.33607900e-01 -5.52301210e-01 7.82582434e-03 -1.70427511e+02] [-9.24591040e-03 -2.13698078e-04 -9.99957233e-01 -1.79350865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.23655999499994 meters 0.01649605450011565 Centerline is valid? [True, True] Translation: X:49.18, Y:-170.52, Z:-1.79 [[ 6.14046047e-01 -7.89253033e-01 -5.20594698e-03 4.91801824e+01] [-7.89221913e-01 -6.14068083e-01 7.01148437e-03 -1.70518912e+02] [-8.73064119e-03 -1.96726825e-04 -9.99961868e-01 -1.79365302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.26655999499997 meters 0.01632475858537595 Centerline is valid? [True, True] Translation: X:49.23, Y:-170.62, Z:-1.79 [[ 6.71927194e-01 -7.40595675e-01 -5.64727260e-03 4.92264045e+01] [-7.40567153e-01 -6.71950899e-01 6.50242893e-03 -1.70618834e+02] [-8.61036065e-03 -1.86974236e-04 -9.99962913e-01 -1.79411641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.29655999499994 meters 0.015860650822017305 Centerline is valid? [True, True] Translation: X:49.28, Y:-170.71, Z:-1.79 [[ 7.24932324e-01 -6.88793974e-01 -5.99883683e-03 4.92781184e+01] [-6.88768490e-01 -7.24957125e-01 5.92737066e-03 -1.70711245e+02] [-8.43163669e-03 -1.65132807e-04 -9.99964440e-01 -1.79345185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.32655999499997 meters 0.0156664279346067 Centerline is valid? [True, True] Translation: X:49.28, Y:-170.71, Z:-1.79 [[ 7.75848958e-01 -6.30880105e-01 -6.97764445e-03 4.92809905e+01] [-6.30852618e-01 -7.75880316e-01 5.89150934e-03 -1.70713653e+02] [-9.13065300e-03 -1.69056117e-04 -9.99958300e-01 -1.79275207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.35655999499994 meters 0.015494503470827623 Centerline is valid? [True, True] Translation: X:49.28, Y:-170.72, Z:-1.79 [[ 8.22446134e-01 -5.68786301e-01 -8.03123532e-03 4.92841555e+01] [-5.68757065e-01 -8.22485327e-01 5.76962495e-03 -1.70715510e+02] [-9.88725684e-03 -1.77383907e-04 -9.99951104e-01 -1.79213341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.38655999499997 meters 0.014104434551480749 Centerline is valid? [True, True] Translation: X:49.29, Y:-170.72, Z:-1.79 [[ 8.63842739e-01 -5.03674110e-01 -9.38688738e-03 4.92852456e+01] [-5.03642032e-01 -8.63893719e-01 5.68739225e-03 -1.70720309e+02] [-1.09738653e-02 -1.85381463e-04 -9.99939768e-01 -1.79277528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.41655999499994 meters 0.014104434551480749 Centerline is valid? [True, True] Translation: X:49.28, Y:-170.73, Z:-1.79 [[ 9.00550593e-01 -4.34640702e-01 -9.80255988e-03 4.92846339e+01] [-4.34612705e-01 -9.00603923e-01 4.93664809e-03 -1.70728319e+02] [-1.09738921e-02 -1.85384290e-04 -9.99939768e-01 -1.79277500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.446559995 meters 0.013904635203597962 Centerline is valid? [True, True] Translation: X:49.29, Y:-170.74, Z:-1.79 [[ 9.31594428e-01 -3.63353377e-01 -1.03026581e-02 4.92855510e+01] [-3.63328983e-01 -9.31651378e-01 4.21422186e-03 -1.70736531e+02] [-1.11297373e-02 -1.82691323e-04 -9.99938046e-01 -1.79242992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.47655999499995 meters 0.015063730755384766 Centerline is valid? [True, True] Translation: X:49.28, Y:-170.75, Z:-1.79 [[ 9.57007815e-01 -2.89867337e-01 -1.06286729e-02 4.92849943e+01] [-2.89847393e-01 -9.57066819e-01 3.40488897e-03 -1.70746115e+02] [-1.11593163e-02 -1.77812226e-04 -9.99937717e-01 -1.79006635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.506559995 meters 0.014016731471944648 Centerline is valid? [True, True] Translation: X:49.29, Y:-170.75, Z:-1.79 [[ 9.76648848e-01 -2.14555358e-01 -1.10916718e-02 4.92878336e+01] [-2.14539464e-01 -9.76711814e-01 2.61749046e-03 -1.70750323e+02] [-1.13949635e-02 -1.76767715e-04 -9.99935060e-01 -1.79107924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.53655999499995 meters 0.013575342779574022 Centerline is valid? [True, True] Translation: X:49.29, Y:-170.75, Z:-1.79 [[ 9.90249460e-01 -1.38822154e-01 -1.15938206e-02 4.92901973e+01] [-1.38810668e-01 -9.90317314e-01 1.79347418e-03 -1.70754883e+02] [-1.17305352e-02 -1.66640859e-04 -9.99931181e-01 -1.79097879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.566559995 meters 0.013542507379943886 Centerline is valid? [True, True] Translation: X:49.29, Y:-170.76, Z:-1.79 [[ 9.98048060e-01 -6.13785273e-02 -1.15215859e-02 4.92891405e+01] [-6.13726107e-02 -9.98114548e-01 8.66728970e-04 -1.70759632e+02] [-1.15530611e-02 -1.57927359e-04 -9.99933249e-01 -1.79123823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.59655999499995 meters 0.013147183339751047 Centerline is valid? [True, True] Translation: X:49.29, Y:-170.77, Z:-1.79 [[ 9.99806418e-01 1.61575510e-02 -1.12276929e-02 4.92882076e+01] [ 1.61581581e-02 -9.99869448e-01 -3.66444177e-05 -1.70765771e+02] [-1.12268191e-02 -1.44781513e-04 -9.99936967e-01 -1.79209279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.626559995 meters 0.012750642058221682 Centerline is valid? [True, True] Translation: X:49.29, Y:-170.77, Z:-1.79 [[ 9.95629114e-01 9.27824291e-02 -1.06811856e-02 4.92879842e+01] [ 9.27783949e-02 -9.95686400e-01 -8.73649471e-04 -1.70773220e+02] [-1.07161705e-02 -1.21152402e-04 -9.99942573e-01 -1.79263529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.65655999499995 meters 0.012763915380112978 Centerline is valid? [True, True] Translation: X:49.29, Y:-170.78, Z:-1.79 [[ 9.85430969e-01 1.69769285e-01 -1.02075649e-02 4.92877314e+01] [ 1.69761332e-01 -9.85483829e-01 -1.64695712e-03 -1.70781572e+02] [-1.03389929e-02 -1.09887270e-04 -9.99946545e-01 -1.79261656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.686559995 meters 0.012775785036055047 Centerline is valid? [True, True] Translation: X:49.29, Y:-170.79, Z:-1.79 [[ 9.69354971e-01 2.45472118e-01 -9.71490156e-03 4.92878998e+01] [ 2.45460788e-01 -9.69403647e-01 -2.36043180e-03 -1.70788289e+02] [-9.99708119e-03 -9.65310943e-05 -9.99950023e-01 -1.79265295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.71655999499995 meters 0.012451327469328184 Centerline is valid? [True, True] Translation: X:49.29, Y:-170.79, Z:-1.79 [[ 9.47769884e-01 3.18819943e-01 -9.27851096e-03 4.92885346e+01] [ 3.18805447e-01 -9.47815297e-01 -3.04119513e-03 -1.70792169e+02] [-9.76390829e-03 -7.56866809e-05 -9.99952329e-01 -1.79385873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.746559995 meters 0.01262121834945673 Centerline is valid? [True, True] Translation: X:49.29, Y:-170.80, Z:-1.79 [[ 9.20150254e-01 3.91456614e-01 -9.23202086e-03 4.92889642e+01] [ 3.91437690e-01 -9.20196563e-01 -3.84976243e-03 -1.70798691e+02] [-1.00022888e-02 -7.14010372e-05 -9.99949973e-01 -1.79280121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.77655999499996 meters 0.012388656522131556 Centerline is valid? [True, True] Translation: X:49.29, Y:-170.80, Z:-1.79 [[ 8.86768257e-01 4.62132623e-01 -8.68897924e-03 4.92906535e+01] [ 4.62111188e-01 -8.86810822e-01 -4.45148128e-03 -1.70804182e+02] [-9.76265554e-03 -6.78422184e-05 -9.99952342e-01 -1.79400199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.806559995 meters 0.012595259832661338 Centerline is valid? [True, True] Translation: X:49.29, Y:-170.81, Z:-1.79 [[ 8.47254352e-01 5.31131599e-01 -7.69991211e-03 4.92927593e+01] [ 5.31110449e-01 -8.47289336e-01 -4.74036858e-03 -1.70812190e+02] [-9.04181296e-03 -7.32058739e-05 -9.99959119e-01 -1.79423639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.83655999499996 meters 0.012691726135779138 Centerline is valid? [True, True] Translation: X:49.30, Y:-170.82, Z:-1.79 [[ 8.02647855e-01 5.96410388e-01 -7.14637870e-03 4.92953810e+01] [ 5.96387608e-01 -8.02679664e-01 -5.21319257e-03 -1.70817544e+02] [-8.84545505e-03 -7.76538654e-05 -9.99960875e-01 -1.79439511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.866559995 meters 0.012561183098291892 Centerline is valid? [True, True] Translation: X:49.30, Y:-170.83, Z:-1.80 [[ 7.53258220e-01 6.57691601e-01 -6.61908235e-03 4.92998769e+01] [ 6.57667136e-01 -7.53287297e-01 -5.67338014e-03 -1.70825180e+02] [-8.71740512e-03 -7.96327021e-05 -9.99962000e-01 -1.79523302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.89655999499996 meters 0.012777414775152119 Centerline is valid? [True, True] Translation: X:49.30, Y:-170.83, Z:-1.79 [[ 6.99427602e-01 7.14680667e-01 -5.70741257e-03 4.93049555e+01] [ 7.14657736e-01 -6.99450884e-01 -5.72550356e-03 -1.70833464e+02] [-8.08396147e-03 -7.42713230e-05 -9.99967322e-01 -1.79463077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.926559995 meters 0.012995033908453813 Centerline is valid? [True, True] Translation: X:49.31, Y:-170.84, Z:-1.79 [[ 6.40988382e-01 7.67532702e-01 -5.23879398e-03 4.93060375e+01] [ 7.67508052e-01 -6.41009786e-01 -6.15176697e-03 -1.70837611e+02] [-8.07980053e-03 -7.76054034e-05 -9.99967355e-01 -1.79447220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.95655999499996 meters 0.012712728294466574 Centerline is valid? [True, True] Translation: X:49.31, Y:-170.84, Z:-1.80 [[ 5.78653510e-01 8.15559391e-01 -4.79541456e-03 4.93104352e+01] [ 8.15532540e-01 -5.78673374e-01 -6.61830157e-03 -1.70842536e+02] [-8.17259671e-03 -8.11131849e-05 -9.99966601e-01 -1.79555197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.98655999499994 meters 0.013124975591533455 Centerline is valid? [True, True] Translation: X:49.32, Y:-170.85, Z:-1.79 [[ 5.12739420e-01 8.58534124e-01 -4.17671189e-03 4.93156529e+01] [ 8.58506936e-01 -5.12756424e-01 -6.83298368e-03 -1.70849080e+02] [-8.00798551e-03 -8.21960439e-05 -9.99967932e-01 -1.79498210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.01655999499997 meters 0.012980391712414175 Centerline is valid? [True, True] Translation: X:49.32, Y:-170.85, Z:-1.80 [[ 4.43094396e-01 8.96468965e-01 -3.27905321e-03 4.93212081e+01] [ 8.96445754e-01 -4.43106521e-01 -6.45144672e-03 -1.70854019e+02] [-7.23649162e-03 -8.08934432e-05 -9.99973813e-01 -1.79584581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.04655999499994 meters 0.012733560077184795 Centerline is valid? [True, True] Translation: X:49.33, Y:-170.86, Z:-1.80 [[ 3.71464846e-01 9.28443414e-01 -2.58770980e-03 4.93285016e+01] [ 9.28422296e-01 -3.71473851e-01 -6.26237752e-03 -1.70859371e+02] [-6.77552969e-03 -7.62343774e-05 -9.99977043e-01 -1.79621716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.07655999499997 meters 0.01305386172974077 Centerline is valid? [True, True] Translation: X:49.34, Y:-170.86, Z:-1.80 [[ 2.97575330e-01 9.54696366e-01 -1.94224373e-03 4.93358570e+01] [ 9.54677560e-01 -2.97581660e-01 -5.99258680e-03 -1.70864802e+02] [-6.29907695e-03 -7.09705059e-05 -9.99980158e-01 -1.79595629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.10655999499994 meters 0.012779157273744431 Centerline is valid? [True, True] Translation: X:49.34, Y:-170.87, Z:-1.80 [[ 2.22133499e-01 9.75015284e-01 -1.38010198e-03 4.93429999e+01] [ 9.74998254e-01 -2.22137777e-01 -5.76303132e-03 -1.70868067e+02] [-5.92561640e-03 -6.54347100e-05 -9.99982441e-01 -1.79646730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.13655999499997 meters 0.013069226543927599 Centerline is valid? [True, True] Translation: X:49.35, Y:-170.87, Z:-1.80 [[ 1.46048403e-01 9.89277036e-01 -9.00225126e-04 4.93504692e+01] [ 9.89260607e-01 -1.46051166e-01 -5.70155384e-03 -1.70871806e+02] [-5.77189521e-03 -5.78544205e-05 -9.99983341e-01 -1.79625680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.16655999499994 meters 0.012535846220842013 Centerline is valid? [True, True] Translation: X:49.36, Y:-170.87, Z:-1.80 [[ 6.90147487e-02 9.97615551e-01 -4.20721152e-04 4.93562428e+01] [ 9.97601098e-01 -6.90160137e-02 -5.37023498e-03 -1.70873786e+02] [-5.38646643e-03 -4.90864650e-05 -9.99985492e-01 -1.79698436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.196559995 meters 0.012429713906952954 Centerline is valid? [True, True] Translation: X:49.36, Y:-170.88, Z:-1.80 [[-8.27879056e-03 9.99965730e-01 1.12201051e-06 4.93631001e+01] [ 9.99951122e-01 8.27867568e-03 -5.40524638e-03 -1.70875355e+02] [-5.40507044e-03 -4.36269471e-05 -9.99985392e-01 -1.79699986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.22655999499995 meters 0.012387277584199793 Centerline is valid? [True, True] Translation: X:49.37, Y:-170.88, Z:-1.80 [[-8.57059213e-02 9.96320385e-01 4.31646370e-04 4.93699361e+01] [ 9.96305331e-01 8.57069993e-02 -5.47708208e-03 -1.70877371e+02] [-5.49392364e-03 -3.93667870e-05 -9.99984908e-01 -1.79657897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.256559995 meters 0.012198570414888463 Centerline is valid? [True, True] Translation: X:49.38, Y:-170.88, Z:-1.80 [[-1.61872530e-01 9.86811291e-01 8.71868977e-04 4.93783791e+01] [ 9.86795929e-01 1.61874875e-01 -5.50634596e-03 -1.70878688e+02] [-5.57485805e-03 -3.09693928e-05 -9.99984460e-01 -1.79556366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.28655999499995 meters 0.012177405247062902 Centerline is valid? [True, True] Translation: X:49.39, Y:-170.88, Z:-1.79 [[-2.37712196e-01 9.71334782e-01 1.28601146e-03 4.93857698e+01] [ 9.71319985e-01 2.37715673e-01 -5.36153042e-03 -1.70879754e+02] [-5.51354606e-03 -2.53725346e-05 -9.99984800e-01 -1.79486528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.316559995 meters 0.011968377051044341 Centerline is valid? [True, True] Translation: X:49.39, Y:-170.88, Z:-1.79 [[-3.11436407e-01 9.50265598e-01 1.63025571e-03 4.93929770e+01] [ 9.50252323e-01 3.11440674e-01 -5.02280148e-03 -1.70879660e+02] [-5.28072339e-03 -1.51289671e-05 -9.99986057e-01 -1.79420762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.34655999499995 meters 0.011968377051044341 Centerline is valid? [True, True] Translation: X:49.40, Y:-170.88, Z:-1.79 [[-3.84956475e-01 9.22932520e-01 2.01892162e-03 4.94003125e+01] [ 9.22919621e-01 3.84961769e-01 -4.87959868e-03 -1.70879585e+02] [-5.28074795e-03 -1.51307284e-05 -9.99986057e-01 -1.79420741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.376559995 meters 0.011963891060363968 Centerline is valid? [True, True] Translation: X:49.41, Y:-170.88, Z:-1.79 [[-4.54920813e-01 8.90528509e-01 2.45531769e-03 4.94078975e+01] [ 8.90515437e-01 4.54927439e-01 -4.82513561e-03 -1.70878560e+02] [-5.41391221e-03 -8.55631479e-06 -9.99985345e-01 -1.79420296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.40655999499995 meters 0.011993878283981109 Centerline is valid? [True, True] Translation: X:49.42, Y:-170.88, Z:-1.79 [[-5.22762278e-01 8.52474458e-01 2.62661129e-03 4.94153926e+01] [ 8.52463652e-01 5.22768877e-01 -4.29221003e-03 -1.70876791e+02] [-5.03211005e-03 -4.71483962e-06 -9.99987339e-01 -1.79412679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.436559995 meters 0.011958104209001485 Centerline is valid? [True, True] Translation: X:49.42, Y:-170.88, Z:-1.79 [[-5.87624793e-01 8.09127878e-01 3.02964502e-03 4.94227102e+01] [ 8.09117099e-01 5.87632603e-01 -4.17666370e-03 -1.70875167e+02] [-5.15977323e-03 -2.97355136e-06 -9.99986688e-01 -1.79388948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.46655999499995 meters 0.012011660443086323 Centerline is valid? [True, True] Translation: X:49.43, Y:-170.87, Z:-1.79 [[-6.49226851e-01 7.60587566e-01 3.32428732e-03 4.94301000e+01] [ 7.60577569e-01 6.49235361e-01 -3.89962628e-03 -1.70871353e+02] [-5.12425214e-03 -3.36371692e-06 -9.99986871e-01 -1.79355605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.496559995 meters 0.011979640553384062 Centerline is valid? [True, True] Translation: X:49.44, Y:-170.86, Z:-1.79 [[-7.07288258e-01 7.06915899e-01 3.63772510e-03 4.94389188e+01] [ 7.06906499e-01 7.07297612e-01 -3.64549218e-03 -1.70864613e+02] [-5.15001065e-03 -6.88230106e-06 -9.99986739e-01 -1.79262440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.52655999499996 meters 0.011944043523082974 Centerline is valid? [True, True] Translation: X:49.45, Y:-170.86, Z:-1.79 [[-7.60625845e-01 6.49179547e-01 3.77364363e-03 4.94460331e+01] [ 6.49171506e-01 7.60635206e-01 -3.23101412e-03 -1.70859515e+02] [-4.96787448e-03 -7.85092346e-06 -9.99987660e-01 -1.79227399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.556559995 meters 0.011894435930987875 Centerline is valid? [True, True] Translation: X:49.47, Y:-170.84, Z:-1.79 [[-8.04615784e-01 5.93782188e-01 4.01921101e-03 4.94653906e+01] [ 5.93774731e-01 8.04625822e-01 -2.97574832e-03 -1.70839191e+02] [-5.00090731e-03 -7.82813025e-06 -9.99987495e-01 -1.79298281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.58655999499996 meters 0.011948352934872229 Centerline is valid? [True, True] Translation: X:49.48, Y:-170.81, Z:-1.79 [[-8.44576371e-01 5.35420386e-01 3.97041206e-03 4.94771006e+01] [ 5.35414431e-01 8.44585704e-01 -2.52520667e-03 -1.70813357e+02] [-4.70540040e-03 -6.91396889e-06 -9.99988930e-01 -1.79316328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.616559995 meters 0.011913082236838672 Centerline is valid? [True, True] Translation: X:49.85, Y:-170.24, Z:-2.80 [[-8.05006961e-01 -5.93255260e-01 3.46242622e-03 4.98480906e+01] [ 5.93249681e-01 -8.05014407e-01 -2.57299629e-03 -1.70239416e+02] [ 4.31374658e-03 -1.71966762e-05 9.99990696e-01 -2.79679369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.64655999499996 meters 0.011943798575045638 Centerline is valid? [True, True] Translation: X:49.44, Y:-170.79, Z:-1.79 [[-8.46211690e-01 5.32834418e-01 3.64130002e-03 4.94448608e+01] [ 5.32829465e-01 8.46219524e-01 -2.29732824e-03 -1.70793058e+02] [-4.30543473e-03 -3.83407051e-06 -9.99990732e-01 -1.79370641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.676559995 meters 0.011926698981899965 Centerline is valid? [True, True] Translation: X:49.46, Y:-170.77, Z:-1.79 [[-8.81468791e-01 4.72228881e-01 3.55746741e-03 4.94571214e+01] [ 4.72225032e-01 8.81475969e-01 -1.90659993e-03 -1.70766200e+02] [-4.03617359e-03 -6.83176882e-07 -9.99991855e-01 -1.79337838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.70655999499996 meters 0.011948142355464679 Centerline is valid? [True, True] Translation: X:49.79, Y:-170.17, Z:-2.80 [[-8.47541593e-01 -5.30716888e-01 3.58233535e-03 4.97871249e+01] [ 5.30712206e-01 -8.47549164e-01 -2.22916369e-03 -1.70173885e+02] [ 4.21926015e-03 1.18801501e-05 9.99991099e-01 -2.79800695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.73655999499994 meters 0.011864243030646615 Centerline is valid? [True, True] Translation: X:49.43, Y:-170.75, Z:-1.79 [[-8.82633772e-01 4.70044960e-01 3.91919002e-03 4.94250133e+01] [ 4.70040347e-01 8.82642473e-01 -2.08246465e-03 -1.70749257e+02] [-4.43809559e-03 4.12380470e-06 -9.99990152e-01 -1.79273348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.76655999499997 meters 0.011955326247708325 Centerline is valid? [True, True] Translation: X:49.44, Y:-170.72, Z:-1.79 [[-9.13295775e-01 4.07279572e-01 3.76520552e-03 4.94372053e+01] [ 4.07276145e-01 9.13303537e-01 -1.67080117e-03 -1.70724138e+02] [-4.11925871e-03 7.54274302e-06 -9.99991516e-01 -1.79227766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.79655999499994 meters 0.011925138675117289 Centerline is valid? [True, True] Translation: X:49.45, Y:-170.70, Z:-1.79 [[-9.39563234e-01 3.42354646e-01 3.77178001e-03 4.94487540e+01] [ 3.42351934e-01 9.39570804e-01 -1.36293264e-03 -1.70698532e+02] [-4.01046070e-03 1.07147862e-05 -9.99991958e-01 -1.79222042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.82655999499997 meters 0.011994320724470982 Centerline is valid? [True, True] Translation: X:49.46, Y:-170.67, Z:-1.79 [[-9.61303933e-01 2.75449727e-01 4.71131365e-03 4.94560263e+01] [ 2.75446501e-01 9.61315478e-01 -1.33326589e-03 -1.70670695e+02] [-4.89630646e-03 1.60411161e-05 -9.99988013e-01 -1.79121528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.85655999499994 meters 0.011919868546853722 Centerline is valid? [True, True] Translation: X:49.46, Y:-170.64, Z:-1.79 [[-9.78372367e-01 2.06776903e-01 5.55195652e-03 4.94632148e+01] [ 2.06773681e-01 9.78388119e-01 -1.15452920e-03 -1.70642527e+02] [-5.67069827e-03 1.84390195e-05 -9.99983921e-01 -1.79079166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.88655999499997 meters 0.011974398123629198 Centerline is valid? [True, True] Translation: X:49.47, Y:-170.61, Z:-1.79 [[-9.90612946e-01 1.36559978e-01 6.11250059e-03 4.94673103e+01] [ 1.36557495e-01 9.90631804e-01 -8.23844901e-04 -1.70613496e+02] [-6.16774173e-03 1.85963420e-05 -9.99980979e-01 -1.78997647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.91655999499994 meters 0.01196782265580186 Centerline is valid? [True, True] Translation: X:49.47, Y:-170.58, Z:-1.79 [[-9.97841166e-01 6.54109732e-02 5.86616575e-03 4.94657902e+01] [ 6.54099331e-02 9.97858409e-01 -3.69180778e-04 -1.70583768e+02] [-5.87775130e-03 1.53217319e-05 -9.99982726e-01 -1.78931333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.946559995 meters 0.011840431939240217 Centerline is valid? [True, True] Translation: X:49.46, Y:-170.55, Z:-1.79 [[-9.99959449e-01 -6.99204840e-03 5.67559071e-03 4.94605412e+01] [-6.99189352e-03 9.99975555e-01 4.71313372e-05 -1.70552904e+02] [-5.67578152e-03 7.44629998e-06 -9.99983893e-01 -1.78972451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.97655999499995 meters 0.011935227590836671 Centerline is valid? [True, True] Translation: X:49.45, Y:-170.52, Z:-1.79 [[-9.96877262e-01 -7.87522947e-02 5.81383233e-03 4.94508376e+01] [-7.87509325e-02 9.96894215e-01 4.63203572e-04 -1.70524315e+02] [-5.83225416e-03 3.91239083e-06 -9.99982992e-01 -1.78945428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.006559995 meters 0.011844357787815656 Centerline is valid? [True, True] Translation: X:49.40, Y:-169.87, Z:-2.80 [[-9.99922036e-01 1.09107267e-02 6.07269060e-03 4.94005696e+01] [-1.09104500e-02 -9.99940476e-01 7.86805545e-05 -1.69869095e+02] [ 6.07318759e-03 1.24186329e-05 9.99981558e-01 -2.80137037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.03655999499995 meters 0.011890948649394006 Centerline is valid? [True, True] Translation: X:49.36, Y:-170.53, Z:-1.79 [[-9.96185812e-01 -8.70487358e-02 6.02881197e-03 4.93578075e+01] [-8.70472092e-02 9.96204054e-01 5.15658294e-04 -1.70527982e+02] [-6.05081433e-03 -1.10997809e-05 -9.99981694e-01 -1.78979612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.066559995 meters 0.011988871006345077 Centerline is valid? [True, True] Translation: X:49.35, Y:-170.50, Z:-1.79 [[-9.87270987e-01 -1.58951414e-01 5.51788150e-03 4.93493273e+01] [-1.58949024e-01 9.87286406e-01 8.71713045e-04 -1.70499532e+02] [-5.58628941e-03 -1.64448820e-05 -9.99984396e-01 -1.79033642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.09655999499995 meters 0.012042066567982863 Centerline is valid? [True, True] Translation: X:49.33, Y:-170.47, Z:-1.79 [[-9.73135117e-01 -2.30186095e-01 4.73341972e-03 4.93281583e+01] [-2.30183467e-01 9.73146629e-01 1.10014313e-03 -1.70473162e+02] [-4.85954910e-03 -1.89670478e-05 -9.99988192e-01 -1.79063384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.126559995 meters 0.01216326429466482 Centerline is valid? [True, True] Translation: X:49.30, Y:-170.45, Z:-1.79 [[-9.53623349e-01 -3.00969061e-01 4.48697942e-03 4.92960765e+01] [-3.00965852e-01 9.53633904e-01 1.39002930e-03 -1.70450967e+02] [-4.69729152e-03 -2.48631886e-05 -9.99988967e-01 -1.79058791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.15655999499995 meters 0.012608882057114006 Centerline is valid? [True, True] Translation: X:49.24, Y:-170.44, Z:-1.79 [[-9.28128231e-01 -3.72233095e-01 4.52872727e-03 4.92430248e+01] [-3.72228869e-01 9.28139279e-01 1.77409739e-03 -1.70436028e+02] [-4.86366743e-03 -3.91331614e-05 -9.99988172e-01 -1.79046896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.186559995 meters 0.01257941484054953 Centerline is valid? [True, True] Translation: X:49.18, Y:-170.43, Z:-1.79 [[-8.97602051e-01 -4.40781113e-01 4.75058560e-03 4.91765052e+01] [-4.40775233e-01 8.97614621e-01 2.27729646e-03 -1.70434204e+02] [-5.26798436e-03 -4.98345026e-05 -9.99986123e-01 -1.79080752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.21655999499995 meters 0.012817807029440359 Centerline is valid? [True, True] Translation: X:49.10, Y:-170.44, Z:-1.79 [[-8.61615949e-01 -5.07536100e-01 5.00637622e-03 4.91047768e+01] [-5.07527971e-01 8.61630491e-01 2.87325808e-03 -1.70438620e+02] [-5.77192860e-03 -6.52309782e-05 -9.99983340e-01 -1.79045232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.246559995 meters 0.01366537139209717 Centerline is valid? [True, True] Translation: X:49.02, Y:-170.45, Z:-1.79 [[-8.19302378e-01 -5.73339267e-01 5.06929412e-03 4.90243443e+01] [-5.73328995e-01 8.19318056e-01 3.43331441e-03 -1.70450949e+02] [-6.12181817e-03 -9.34506352e-05 -9.99981257e-01 -1.79004743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.27655999499996 meters 0.01414643719439038 Centerline is valid? [True, True] Translation: X:48.94, Y:-170.47, Z:-1.79 [[-7.73013094e-01 -6.34372040e-01 4.78241771e-03 4.89416795e+01] [-6.34360729e-01 7.73027881e-01 3.78963811e-03 -1.70474424e+02] [-6.10098268e-03 -1.04338098e-04 -9.99981383e-01 -1.78976326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.306559995 meters 0.01414643719439038 Centerline is valid? [True, True] Translation: X:48.86, Y:-170.51, Z:-1.79 [[-7.23256743e-01 -6.90564675e-01 4.48472806e-03 4.88594127e+01] [-6.90552287e-01 7.23270640e-01 4.13767503e-03 -1.70508305e+02] [-6.10100434e-03 -1.04337856e-04 -9.99981383e-01 -1.78976242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.33655999499996 meters 0.014733348876990938 Centerline is valid? [True, True] Translation: X:48.77, Y:-170.55, Z:-1.79 [[-6.68009367e-01 -7.44139666e-01 4.43204133e-03 4.87729299e+01] [-7.44124488e-01 6.68024058e-01 4.75435930e-03 -1.70552631e+02] [-6.49861758e-03 -1.22033942e-04 -9.99978876e-01 -1.78954788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.366559995 meters 0.014817995550903419 Centerline is valid? [True, True] Translation: X:48.69, Y:-170.61, Z:-1.79 [[-6.08136323e-01 -7.93818895e-01 4.66630116e-03 4.86881216e+01] [-7.93797481e-01 6.08154205e-01 5.83281210e-03 -1.70607777e+02] [-7.46802713e-03 -1.56953207e-04 -9.99972102e-01 -1.78909651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.39655999499996 meters 0.014738890759239965 Centerline is valid? [True, True] Translation: X:48.61, Y:-170.67, Z:-1.79 [[-5.45523148e-01 -8.38084215e-01 4.39814358e-03 4.86102471e+01] [-8.38059449e-01 5.45540851e-01 6.44521468e-03 -1.70666854e+02] [-7.80099967e-03 -1.69891980e-04 -9.99969557e-01 -1.78938495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.426559995 meters 0.01535793199946152 Centerline is valid? [True, True] Translation: X:48.53, Y:-170.74, Z:-1.79 [[-4.79597151e-01 -8.77479873e-01 3.95532170e-03 4.85315652e+01] [-8.77453054e-01 4.79613428e-01 6.86282831e-03 -1.70738666e+02] [-7.91901911e-03 -1.79216200e-04 -9.99968628e-01 -1.78942568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.45655999499996 meters 0.015458626943193957 Centerline is valid? [True, True] Translation: X:48.46, Y:-170.82, Z:-1.79 [[-4.11133024e-01 -9.11569071e-01 3.38607436e-03 4.84587091e+01] [-9.11541670e-01 4.11146928e-01 7.07018380e-03 -1.70817784e+02] [-7.83713495e-03 -1.79761826e-04 -9.99969273e-01 -1.78949978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.48655999499994 meters 0.01585946406188259 Centerline is valid? [True, True] Translation: X:48.39, Y:-170.90, Z:-1.79 [[-3.40256655e-01 -9.40327324e-01 3.15156517e-03 4.83908713e+01] [-9.40292304e-01 3.40271191e-01 8.11791987e-03 -1.70904662e+02] [-8.70588870e-03 -2.01216217e-04 -9.99962083e-01 -1.78864315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.51655999499997 meters 0.015524056590159896 Centerline is valid? [True, True] Translation: X:48.33, Y:-171.00, Z:-1.79 [[-2.67621784e-01 -9.63520696e-01 2.53949617e-03 4.83300932e+01] [-9.63484159e-01 2.67633757e-01 8.39329781e-03 -1.70998796e+02] [-8.76677105e-03 -2.00534998e-04 -9.99961551e-01 -1.78819953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.54655999499994 meters 0.015162586840946634 Centerline is valid? [True, True] Translation: X:48.28, Y:-171.10, Z:-1.79 [[-1.93463363e-01 -9.81105718e-01 1.86982264e-03 4.82759734e+01] [-9.81069174e-01 1.93472300e-01 8.47029192e-03 -1.71101766e+02] [-8.67201073e-03 -1.95734185e-04 -9.99962378e-01 -1.78823900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.57655999499997 meters 0.015475384144394548 Centerline is valid? [True, True] Translation: X:48.23, Y:-171.21, Z:-1.79 [[-1.18443595e-01 -9.92960164e-01 1.10821709e-03 4.82293055e+01] [-9.92929312e-01 1.18448653e-01 7.82932282e-03 -1.71206325e+02] [-7.90547249e-03 -1.73048087e-04 -9.99968736e-01 -1.78826439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.60655999499994 meters 0.014951160947925474 Centerline is valid? [True, True] Translation: X:48.19, Y:-171.32, Z:-1.79 [[-4.34931812e-02 -9.99053606e-01 4.84541527e-04 4.81940577e+01] [-9.99024871e-01 4.34956060e-02 7.57892706e-03 -1.71315606e+02] [-7.59282984e-03 -1.54437388e-04 -9.99971162e-01 -1.78978117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.63655999499997 meters 0.014591370279339815 Centerline is valid? [True, True] Translation: X:48.17, Y:-171.43, Z:-1.79 [[ 3.19434994e-02 -9.99489672e-01 -9.15336990e-05 4.81655927e+01] [-9.99464529e-01 -3.19433452e-02 7.09070620e-03 -1.71427074e+02] [-7.09001150e-03 -1.35017284e-04 -9.99974856e-01 -1.79031098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.66655999499994 meters 0.013755871294970128 Centerline is valid? [True, True] Translation: X:48.15, Y:-171.54, Z:-1.79 [[ 1.07476745e-01 -9.94207388e-01 -6.46998359e-04 4.81468225e+01] [-9.94181377e-01 -1.07478614e-01 7.19289421e-03 -1.71541802e+02] [-7.22076706e-03 -1.29835135e-04 -9.99973922e-01 -1.79103065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.696559995 meters 0.013811669609725673 Centerline is valid? [True, True] Translation: X:48.14, Y:-171.66, Z:-1.79 [[ 1.81411995e-01 -9.83406450e-01 -1.20061358e-03 4.81366447e+01] [-9.83380529e-01 -1.81415931e-01 7.14113794e-03 -1.71663293e+02] [-7.24045155e-03 -1.14828066e-04 -9.99973781e-01 -1.79041645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.72655999499995 meters 0.013817671918166446 Centerline is valid? [True, True] Translation: X:48.13, Y:-171.78, Z:-1.79 [[ 2.55812064e-01 -9.66724705e-01 -1.87964397e-03 4.81329788e+01] [-9.66695083e-01 -2.55818942e-01 7.56867123e-03 -1.71777048e+02] [-7.79766999e-03 -1.19114820e-04 -9.99969591e-01 -1.78987519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.756559995 meters 0.013263104600746147 Centerline is valid? [True, True] Translation: X:48.14, Y:-171.89, Z:-1.79 [[ 3.28343424e-01 -9.44555077e-01 -2.51034217e-03 4.81402156e+01] [-9.44524749e-01 -3.28353000e-01 7.57004363e-03 -1.71893064e+02] [-7.97460153e-03 -1.14493733e-04 -9.99968196e-01 -1.78977876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.78655999499995 meters 0.01319216571293108 Centerline is valid? [True, True] Translation: X:48.16, Y:-172.01, Z:-1.79 [[ 3.99120084e-01 -9.16891991e-01 -3.49796273e-03 4.81560431e+01] [-9.16854040e-01 -3.99135393e-01 8.34313612e-03 -1.72007450e+02] [-9.04591542e-03 -1.22791928e-04 -9.99959077e-01 -1.78928166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.816559995 meters 0.013841513632284232 Centerline is valid? [True, True] Translation: X:48.18, Y:-172.12, Z:-1.79 [[ 4.68115941e-01 -8.83655606e-01 -4.49843289e-03 4.81779437e+01] [-8.83612042e-01 -4.68137535e-01 8.77541049e-03 -1.72121571e+02] [-9.86032596e-03 -1.33040066e-04 -9.99951377e-01 -1.78773351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.84655999499995 meters 0.013222927560452354 Centerline is valid? [True, True] Translation: X:48.21, Y:-172.23, Z:-1.79 [[ 5.34194998e-01 -8.45344865e-01 -5.26917754e-03 4.82103283e+01] [-8.45301246e-01 -5.34220967e-01 8.58844293e-03 -1.72230822e+02] [-1.00751012e-02 -1.33860916e-04 -9.99949236e-01 -1.78854586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.876559995 meters 0.0134098626577855 Centerline is valid? [True, True] Translation: X:48.25, Y:-172.34, Z:-1.79 [[ 5.97337738e-01 -8.01967377e-01 -5.99614530e-03 4.82481788e+01] [-8.01924650e-01 -5.97367816e-01 8.27935524e-03 -1.72336179e+02] [-1.02216770e-02 -1.37114611e-04 -9.99947748e-01 -1.78812752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.90655999499995 meters 0.013320164061633475 Centerline is valid? [True, True] Translation: X:48.29, Y:-172.44, Z:-1.79 [[ 6.57224331e-01 -7.53664667e-01 -6.76377775e-03 4.82945470e+01] [-7.53622447e-01 -6.57259118e-01 7.97863236e-03 -1.72436201e+02] [-1.04587679e-02 -1.46416578e-04 -9.99945295e-01 -1.78843588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.936559995 meters 0.013912190000262614 Centerline is valid? [True, True] Translation: X:48.34, Y:-172.53, Z:-1.79 [[ 7.13024571e-01 -7.01099327e-01 -7.46293827e-03 4.83433354e+01] [-7.01058650e-01 -7.13063609e-01 7.55373289e-03 -1.72531425e+02] [-1.06174667e-02 -1.54039720e-04 -9.99943621e-01 -1.78795311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.96655999499995 meters 0.013697994702566817 Centerline is valid? [True, True] Translation: X:48.40, Y:-172.62, Z:-1.79 [[ 7.64490029e-01 -6.44590605e-01 -7.61233595e-03 4.83995738e+01] [-6.44556677e-01 -7.64527913e-01 6.61514584e-03 -1.72620503e+02] [-1.00839042e-02 -1.50631068e-04 -9.99949145e-01 -1.78835566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.996559995 meters 0.014303191975880225 Centerline is valid? [True, True] Translation: X:48.40, Y:-172.63, Z:-1.79 [[ 8.12811862e-01 -5.82468273e-01 -8.22115740e-03 4.83988052e+01] [-5.82436508e-01 -8.12853422e-01 6.08508099e-03 -1.72627702e+02] [-1.02269625e-02 -1.57723799e-04 -9.99947691e-01 -1.78787944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.02655999499996 meters 0.013816188909994169 Centerline is valid? [True, True] Translation: X:48.40, Y:-172.63, Z:-1.79 [[ 8.56386236e-01 -5.16253848e-01 -9.19673626e-03 4.83993975e+01] [-5.16221833e-01 -8.56435598e-01 5.75210380e-03 -1.72634003e+02] [-1.08459580e-02 -1.78466478e-04 -9.99941165e-01 -1.78868620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.056559995 meters 0.01440454088378491 Centerline is valid? [True, True] Translation: X:48.40, Y:-172.64, Z:-1.79 [[ 8.94355709e-01 -4.47248930e-01 -9.81126426e-03 4.83990480e+01] [-4.47219703e-01 -8.94409503e-01 5.11640744e-03 -1.72642548e+02] [-1.10635957e-02 -1.88097513e-04 -9.99938779e-01 -1.78810814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.08655999499996 meters 0.014170689031454457 Centerline is valid? [True, True] Translation: X:48.40, Y:-172.65, Z:-1.79 [[ 9.26672385e-01 -3.75723464e-01 -1.04961400e-02 4.84003909e+01] [-3.75696953e-01 -9.26731806e-01 4.46756649e-03 -1.72649237e+02] [-1.14056763e-02 -1.96602680e-04 -9.99934934e-01 -1.78843067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.116559995 meters 0.014513545670823762 Centerline is valid? [True, True] Translation: X:48.40, Y:-172.66, Z:-1.79 [[ 9.53394210e-01 -3.01517619e-01 -1.12519115e-02 4.84015330e+01] [-3.01493985e-01 -9.53460581e-01 3.78105747e-03 -1.72656057e+02] [-1.18683095e-02 -2.12454665e-04 -9.99929547e-01 -1.78806887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.14655999499996 meters 0.014979109643158017 Centerline is valid? [True, True] Translation: X:48.40, Y:-172.66, Z:-1.79 [[ 9.74195717e-01 -2.25415185e-01 -1.14323861e-02 4.84030502e+01] [-2.25397028e-01 -9.74262771e-01 2.86929662e-03 -1.72662323e+02] [-1.17849312e-02 -2.18430619e-04 -9.99930531e-01 -1.78745541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.176559995 meters 0.015167862619424719 Centerline is valid? [True, True] Translation: X:48.41, Y:-172.67, Z:-1.79 [[ 9.88965486e-01 -1.47684117e-01 -1.16905784e-02 4.84063764e+01] [-1.47671042e-01 -9.89034554e-01 1.97861988e-03 -1.72666740e+02] [-1.18545968e-02 -2.30426870e-04 -9.99929705e-01 -1.78768181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.20655999499996 meters 0.01494093147481576 Centerline is valid? [True, True] Translation: X:48.41, Y:-172.67, Z:-1.79 [[ 9.97508053e-01 -6.95530890e-02 -1.18343935e-02 4.84058338e+01] [-6.95454112e-02 -9.97578224e-01 1.05956605e-03 -1.72671455e+02] [-1.18794293e-02 -2.33897909e-04 -9.99929410e-01 -1.78865105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.23655999499994 meters 0.014706635046766914 Centerline is valid? [True, True] Translation: X:48.41, Y:-172.68, Z:-1.79 [[ 9.99904689e-01 8.49061820e-03 -1.08867846e-02 4.84059086e+01] [ 8.49241966e-03 -9.99963932e-01 1.19253221e-04 -1.72677164e+02] [-1.08853794e-02 -2.11696998e-04 -9.99940730e-01 -1.78954653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.26655999499997 meters 0.014944640823645473 Centerline is valid? [True, True] Translation: X:48.41, Y:-172.68, Z:-1.79 [[ 9.96211039e-01 8.63575936e-02 -1.02922792e-02 4.84051376e+01] [ 8.63550187e-02 -9.96264186e-01 -6.95150667e-04 -1.72683838e+02] [-1.03138607e-02 -1.96273197e-04 -9.99946791e-01 -1.79010129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.29655999499994 meters 0.01454193928821225 Centerline is valid? [True, True] Translation: X:48.41, Y:-172.69, Z:-1.79 [[ 9.86680521e-01 1.62441513e-01 -8.62001864e-03 4.84053273e+01] [ 1.62436651e-01 -9.86718162e-01 -1.26589454e-03 -1.72688467e+02] [-8.71116278e-03 -1.51173472e-04 -9.99962046e-01 -1.79104750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.32655999499997 meters 0.014193552364580598 Centerline is valid? [True, True] Translation: X:48.41, Y:-172.69, Z:-1.79 [[ 9.71122645e-01 2.38433018e-01 -8.39669173e-03 4.84065815e+01] [ 2.38425373e-01 -9.71158934e-01 -1.91462851e-03 -1.72694296e+02] [-8.61103284e-03 -1.42645256e-04 -9.99962914e-01 -1.79092757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.35655999499994 meters 0.014476856944430362 Centerline is valid? [True, True] Translation: X:48.41, Y:-172.70, Z:-1.79 [[ 9.49580806e-01 3.13423967e-01 -7.85551560e-03 4.84072801e+01] [ 3.13414404e-01 -9.49613289e-01 -2.45206022e-03 -1.72700024e+02] [-8.22823645e-03 -1.33602422e-04 -9.99966139e-01 -1.79035686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.38655999499997 meters 0.013533544607891702 Centerline is valid? [True, True] Translation: X:48.41, Y:-172.71, Z:-1.79 [[ 9.22321917e-01 3.86347127e-01 -7.62755034e-03 4.84096061e+01] [ 3.86335071e-01 -9.22353447e-01 -3.05486095e-03 -1.72707184e+02] [-8.21553410e-03 -1.29224991e-04 -9.99966244e-01 -1.79147361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.41655999499994 meters 0.01353092402980227 Centerline is valid? [True, True] Translation: X:48.41, Y:-172.72, Z:-1.79 [[ 8.89236663e-01 4.57384580e-01 -7.58302397e-03 4.84140187e+01] [ 4.57369221e-01 -8.89268985e-01 -3.75068992e-03 -1.72715967e+02] [-8.45885577e-03 -1.32990777e-04 -9.99964214e-01 -1.79172333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.446559995 meters 0.014064999908630705 Centerline is valid? [True, True] Translation: X:48.42, Y:-172.73, Z:-1.79 [[ 8.50555746e-01 5.25827390e-01 -7.77678868e-03 4.84177040e+01] [ 5.25806963e-01 -8.50591286e-01 -4.63715912e-03 -1.72725063e+02] [-9.05321396e-03 -1.44927295e-04 -9.99959008e-01 -1.79089561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.47655999499995 meters 0.013737807005132807 Centerline is valid? [True, True] Translation: X:48.42, Y:-172.73, Z:-1.79 [[ 8.06259087e-01 5.91509262e-01 -7.94210287e-03 4.84224567e+01] [ 5.91482558e-01 -8.06298187e-01 -5.62296851e-03 -1.72732270e+02] [-9.72974110e-03 -1.64045861e-04 -9.99952652e-01 -1.79141680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.506559995 meters 0.014164523442203878 Centerline is valid? [True, True] Translation: X:48.43, Y:-172.74, Z:-1.79 [[ 7.56829680e-01 6.53566259e-01 -7.74470448e-03 4.84275766e+01] [ 6.53534454e-01 -7.56869284e-01 -6.45011954e-03 -1.72740631e+02] [-1.00773094e-02 -1.79789307e-04 -9.99949206e-01 -1.79090164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.53655999499995 meters 0.015138971860180825 Centerline is valid? [True, True] Translation: X:48.43, Y:-172.75, Z:-1.79 [[ 7.01309662e-01 7.12808338e-01 -8.30849128e-03 4.84342305e+01] [ 7.12762332e-01 -7.01358835e-01 -8.10202146e-03 -1.72748377e+02] [-1.16024222e-02 -2.39953692e-04 -9.99932661e-01 -1.78891878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.566559995 meters 0.015378233448250563 Centerline is valid? [True, True] Translation: X:48.44, Y:-172.75, Z:-1.79 [[ 6.42637367e-01 7.66126133e-01 -8.24392994e-03 4.84404788e+01] [ 7.66068431e-01 -6.42690186e-01 -9.40658283e-03 -1.72753625e+02] [-1.25049218e-02 -2.70392852e-04 -9.99921774e-01 -1.78747990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.59655999499995 meters 0.015549595517174006 Centerline is valid? [True, True] Translation: X:48.45, Y:-172.76, Z:-1.79 [[ 5.80212982e-01 8.14422284e-01 -8.32101923e-03 4.84469501e+01] [ 8.14346056e-01 -5.80272564e-01 -1.11468301e-02 -1.72757870e+02] [-1.39066860e-02 -3.08653686e-04 -9.99903250e-01 -1.78654882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.626559995 meters 0.015870405721999964 Centerline is valid? [True, True] Translation: X:48.45, Y:-172.76, Z:-1.78 [[ 5.14937234e-01 8.57186421e-01 -8.43120809e-03 4.84513574e+01] [ 8.57082336e-01 -5.15006137e-01 -1.33621817e-02 -1.72762031e+02] [-1.57960046e-02 -3.45554637e-04 -9.99875176e-01 -1.78439889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.65655999499995 meters 0.014970809490855047 Centerline is valid? [True, True] Translation: X:48.46, Y:-172.76, Z:-1.79 [[ 4.47438918e-01 8.94282804e-01 -7.52871713e-03 4.84554825e+01] [ 8.94168482e-01 -4.47502130e-01 -1.43027831e-02 -1.72764699e+02] [-1.61598500e-02 -3.32319762e-04 -9.99869366e-01 -1.78525944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.686559995 meters 0.015295210758295631 Centerline is valid? [True, True] Translation: X:48.46, Y:-172.77, Z:-1.78 [[ 3.77660757e-01 9.25922723e-01 -6.28208316e-03 4.84605958e+01] [ 9.25807526e-01 -3.77712884e-01 -1.46082675e-02 -1.72768291e+02] [-1.58989506e-02 -2.99030495e-04 -9.99873559e-01 -1.78495770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.71655999499995 meters 0.013682553951152485 Centerline is valid? [True, True] Translation: X:48.46, Y:-172.77, Z:-1.79 [[ 3.06141827e-01 9.51973308e-01 -4.89927888e-03 4.84649281e+01] [ 9.51864263e-01 -3.06180923e-01 -1.44106477e-02 -1.72770823e+02] [-1.52186177e-02 -2.51746480e-04 -9.99884158e-01 -1.78786720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.746559995 meters 0.013490972436812357 Centerline is valid? [True, True] Translation: X:48.47, Y:-172.77, Z:-1.79 [[ 2.35025159e-01 9.71984014e-01 -3.20179192e-03 4.84702445e+01] [ 9.71902655e-01 -2.35046916e-01 -1.25768339e-02 -1.72774206e+02] [-1.29770528e-02 -1.55957671e-04 -9.99915782e-01 -1.78819432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.77655999499996 meters 0.012673238583797333 Centerline is valid? [True, True] Translation: X:48.47, Y:-172.78, Z:-1.79 [[ 1.60443954e-01 9.87042759e-01 -2.08070373e-03 4.84733243e+01] [ 9.86969095e-01 -1.60457401e-01 -1.20593597e-02 -1.72775690e+02] [-1.22369680e-02 -1.18738920e-04 -9.99925118e-01 -1.79020568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.806559995 meters 0.012402950134464455 Centerline is valid? [True, True] Translation: X:48.48, Y:-172.78, Z:-1.79 [[ 8.48703339e-02 9.96391430e-01 -1.06978354e-03 4.84766968e+01] [ 9.96324636e-01 -8.48770316e-02 -1.15372749e-02 -1.72779172e+02] [-1.15864419e-02 -8.66793240e-05 -9.99932871e-01 -1.79080544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.83655999499996 meters 0.011898712712050305 Centerline is valid? [True, True] Translation: X:48.48, Y:-172.78, Z:-1.79 [[ 1.08208489e-02 9.99941443e-01 -1.40998049e-04 4.84809679e+01] [ 9.99891238e-01 -1.08217185e-02 -1.00200776e-02 -1.72781056e+02] [-1.00210167e-02 -3.25569679e-05 -9.99949788e-01 -1.79353116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.866559995 meters 0.011841312743259511 Centerline is valid? [True, True] Translation: X:48.49, Y:-172.78, Z:-1.79 [[-6.56249244e-02 9.97844161e-01 6.31611457e-04 4.84875866e+01] [ 9.97796029e-01 6.56279625e-02 -9.80072595e-03 -1.72783979e+02] [-9.82104854e-03 -1.29524947e-05 -9.99951772e-01 -1.79326037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.89655999499996 meters 0.011852945930872556 Centerline is valid? [True, True] Translation: X:48.49, Y:-172.79, Z:-1.79 [[-1.42113630e-01 9.89849386e-01 1.38151614e-03 4.84945462e+01] [ 9.89802733e-01 1.42120344e-01 -9.61027666e-03 -1.72785299e+02] [-9.70906800e-03 1.67715078e-06 -9.99952866e-01 -1.79301738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.926559995 meters 0.01190740164338926 Centerline is valid? [True, True] Translation: X:48.50, Y:-172.79, Z:-1.79 [[-2.17646839e-01 9.76024749e-01 2.35425635e-03 4.85040211e+01] [ 9.75968604e-01 2.17659571e-01 -1.04687865e-02 -1.72786136e+02] [-1.07302211e-02 1.91819987e-05 -9.99942429e-01 -1.79288122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.95655999499996 meters 0.012138723590852279 Centerline is valid? [True, True] Translation: X:48.51, Y:-172.79, Z:-1.79 [[-2.92492596e-01 9.56261890e-01 3.35854541e-03 4.85115982e+01] [ 9.56200078e-01 2.92511876e-01 -1.08726254e-02 -1.72787724e+02] [-1.13794918e-02 3.12789370e-05 -9.99935251e-01 -1.79187263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.98655999499994 meters 0.012098181090608756 Centerline is valid? [True, True] Translation: X:48.52, Y:-172.79, Z:-1.79 [[-3.65721172e-01 9.30714760e-01 4.24968764e-03 4.85180249e+01] [ 9.30653228e-01 3.65745860e-01 -1.07021565e-02 -1.72787556e+02] [-1.15149607e-02 4.09802995e-05 -9.99933700e-01 -1.79251184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.01655999499997 meters 0.012188810634220372 Centerline is valid? [True, True] Translation: X:48.53, Y:-172.79, Z:-1.79 [[-4.36401910e-01 8.99736884e-01 5.18765915e-03 4.85258184e+01] [ 8.99674839e-01 4.36432739e-01 -1.05664033e-02 -1.72787099e+02] [-1.17710471e-02 5.60078286e-05 -9.99930717e-01 -1.79246360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.04655999499994 meters 0.012495531296373737 Centerline is valid? [True, True] Translation: X:48.53, Y:-172.79, Z:-1.79 [[-5.03831568e-01 8.63778169e-01 6.40506319e-03 4.85329608e+01] [ 8.63710498e-01 5.03872272e-01 -1.08124652e-02 -1.72785739e+02] [-1.25669051e-02 8.44590127e-05 -9.99921030e-01 -1.79191030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.07655999499997 meters 0.012521392454415269 Centerline is valid? [True, True] Translation: X:48.54, Y:-172.78, Z:-1.79 [[-5.69163530e-01 8.22190274e-01 7.48532847e-03 4.85416891e+01] [ 8.22121469e-01 5.69212740e-01 -1.06370715e-02 -1.72782257e+02] [-1.30064411e-02 9.96160766e-05 -9.99915408e-01 -1.79229378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.10655999499994 meters 0.012615065004027157 Centerline is valid? [True, True] Translation: X:48.55, Y:-172.78, Z:-1.79 [[-6.31048284e-01 7.75697446e-01 8.45780745e-03 4.85501628e+01] [ 7.75630195e-01 6.31104951e-01 -1.02147955e-02 -1.72777455e+02] [-1.32613549e-02 1.14101663e-04 -9.99912058e-01 -1.79249708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.13655999499997 meters 0.012766637178816468 Centerline is valid? [True, True] Translation: X:48.56, Y:-172.77, Z:-1.79 [[-6.89003515e-01 7.24698149e-01 9.31394994e-03 4.85584744e+01] [ 7.24634494e-01 6.89066453e-01 -9.60590405e-03 -1.72772972e+02] [-1.33793113e-02 1.30707747e-04 -9.99910484e-01 -1.79276055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.16655999499994 meters 0.013369516792703524 Centerline is valid? [True, True] Translation: X:48.57, Y:-172.77, Z:-1.79 [[-7.42340165e-01 6.69947592e-01 1.00649789e-02 4.85660929e+01] [ 6.69888868e-01 7.42408378e-01 -8.87154247e-03 -1.72768483e+02] [-1.34157932e-02 1.56715039e-04 -9.99909992e-01 -1.79189705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.196559995 meters 0.013407923363996951 Centerline is valid? [True, True] Translation: X:48.58, Y:-172.75, Z:-1.79 [[-7.87826674e-01 6.15799952e-01 1.09339598e-02 4.85849133e+01] [ 6.15743498e-01 7.87902528e-01 -8.33974084e-03 -1.72746931e+02] [-1.37505066e-02 1.62244367e-04 -9.99905444e-01 -1.79191604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.22655999499995 meters 0.013407923363996951 Centerline is valid? [True, True] Translation: X:48.60, Y:-172.72, Z:-1.79 [[-8.29415823e-01 5.58513403e-01 1.14966029e-02 4.86022062e+01] [ 5.58462457e-01 8.29495481e-01 -7.54528411e-03 -1.72724840e+02] [-1.37505225e-02 1.62243100e-04 -9.99905444e-01 -1.79191588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.256559995 meters 0.013319545186582795 Centerline is valid? [True, True] Translation: X:48.99, Y:-172.14, Z:-2.80 [[-8.04178649e-01 -5.94285821e-01 1.10028820e-02 4.89904675e+01] [ 5.94227471e-01 -8.04253901e-01 -8.32912249e-03 -1.72142638e+02] [ 1.37989902e-02 -1.59887740e-04 9.99904777e-01 -2.79847870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.28655999499995 meters 0.01322183663763976 Centerline is valid? [True, True] Translation: X:48.56, Y:-172.70, Z:-1.79 [[-8.31682778e-01 5.55139501e-01 1.11306401e-02 4.85634562e+01] [ 5.55092206e-01 8.31757244e-01 -7.24783387e-03 -1.72698319e+02] [-1.32815494e-02 1.50632944e-04 -9.99911785e-01 -1.79245296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.316559995 meters 0.012660967335767057 Centerline is valid? [True, True] Translation: X:48.58, Y:-172.67, Z:-1.79 [[-8.69613590e-01 4.93624594e-01 1.03423826e-02 4.85845697e+01] [ 4.93591292e-01 8.69675081e-01 -5.73497060e-03 -1.72674317e+02] [-1.18254350e-02 1.17701612e-04 -9.99930070e-01 -1.79421161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.34655999499995 meters 0.012506862669599326 Centerline is valid? [True, True] Translation: X:48.92, Y:-172.07, Z:-2.80 [[-8.44624960e-01 -5.35274993e-01 9.45304076e-03 4.89208486e+01] [ 5.35239530e-01 -8.44677845e-01 -6.16314683e-03 -1.72073222e+02] [ 1.12837525e-02 -1.45906549e-04 9.99936326e-01 -2.79640516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.376559995 meters 0.01242298301221495 Centerline is valid? [True, True] Translation: X:48.55, Y:-172.65, Z:-1.79 [[-8.72509256e-01 4.88501207e-01 9.70409684e-03 4.85460838e+01] [ 4.88472087e-01 8.72563215e-01 -5.33446171e-03 -1.72650107e+02] [-1.10733289e-02 8.58132255e-05 -9.99938685e-01 -1.79450782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.40655999499995 meters 0.012269832334565352 Centerline is valid? [True, True] Translation: X:48.55, Y:-172.62, Z:-1.79 [[-9.05495473e-01 4.24242996e-01 9.78919242e-03 4.85538834e+01] [ 4.24219035e-01 9.05548384e-01 -4.50942020e-03 -1.72621091e+02] [-1.07776773e-02 6.95021877e-05 -9.99941917e-01 -1.79489211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.436559995 meters 0.012327203882721533 Centerline is valid? [True, True] Translation: X:48.85, Y:-172.01, Z:-2.80 [[-8.80366941e-01 -4.74199399e-01 9.43290427e-03 4.88465836e+01] [ 4.74171316e-01 -8.80417472e-01 -5.16120316e-03 -1.72008010e+02] [ 1.07523332e-02 -7.09400055e-05 9.99942190e-01 -2.79619501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.46655999499995 meters 0.012058938145335808 Centerline is valid? [True, True] Translation: X:48.51, Y:-172.60, Z:-1.80 [[-9.08619224e-01 4.17518796e-01 9.44252599e-03 4.85133057e+01] [ 4.17496570e-01 9.08668286e-01 -4.30810823e-03 -1.72598269e+02] [-1.03788401e-02 2.77922583e-05 -9.99946138e-01 -1.79548702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.496559995 meters 0.011948325565363894 Centerline is valid? [True, True] Translation: X:48.80, Y:-171.99, Z:-2.79 [[-8.80449130e-01 -4.74061028e-01 8.68738941e-03 4.87978701e+01] [ 4.74037315e-01 -8.80491987e-01 -4.74185580e-03 -1.71992143e+02] [ 9.89710579e-03 -5.68160615e-05 9.99951021e-01 -2.79480202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.52655999499996 meters 0.011887311213112416 Centerline is valid? [True, True] Translation: X:48.47, Y:-172.58, Z:-1.80 [[-9.11093902e-01 4.12108652e-01 8.62319339e-03 4.84735369e+01] [ 4.12090234e-01 9.11134709e-01 -3.89625935e-03 -1.72576557e+02] [-9.46257299e-03 3.67564685e-06 -9.99955229e-01 -1.79630610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.556559995 meters 0.011902606934596369 Centerline is valid? [True, True] Translation: X:48.75, Y:-171.98, Z:-2.79 [[-8.80440591e-01 -4.74094804e-01 7.64736292e-03 4.87461578e+01] [ 4.74076412e-01 -8.80473801e-01 -4.17623184e-03 -1.71976562e+02] [ 8.71323251e-03 -5.14896580e-05 9.99962038e-01 -2.79320392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.58655999499996 meters 0.011802012534614414 Centerline is valid? [True, True] Translation: X:48.44, Y:-172.55, Z:-1.80 [[-9.13848758e-01 4.05986561e-01 7.44037582e-03 4.84353809e+01] [ 4.05972918e-01 9.13879047e-01 -3.32838989e-03 -1.72553788e+02] [-8.15088512e-03 -2.10538865e-05 -9.99966781e-01 -1.79825955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.616559995 meters 0.011836836758667054 Centerline is valid? [True, True] Translation: X:48.45, Y:-172.53, Z:-1.80 [[-9.40368540e-01 3.40077644e-01 7.36237396e-03 4.84459037e+01] [ 3.40067045e-01 9.40397360e-01 -2.68503529e-03 -1.72526251e+02] [-7.83667752e-03 -2.12219533e-05 -9.99969293e-01 -1.79821221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.64655999499996 meters 0.011919528953294291 Centerline is valid? [True, True] Translation: X:48.45, Y:-172.50, Z:-1.80 [[-9.62165360e-01 2.72370612e-01 7.21597010e-03 4.84458355e+01] [ 2.72362785e-01 9.62192418e-01 -2.06501806e-03 -1.72495635e+02] [-7.50560196e-03 -2.15271280e-05 -9.99971832e-01 -1.79865256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.676559995 meters 0.011871573252556469 Centerline is valid? [True, True] Translation: X:48.46, Y:-172.47, Z:-1.80 [[-9.79024235e-01 2.03590136e-01 7.91228786e-03 4.84575316e+01] [ 2.03583309e-01 9.79056207e-01 -1.66745572e-03 -1.72467837e+02] [-8.08605207e-03 -2.16698182e-05 -9.99967307e-01 -1.79808090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.70655999499996 meters 0.011903355236073505 Centerline is valid? [True, True] Translation: X:48.46, Y:-172.44, Z:-1.80 [[-9.90941464e-01 1.34033926e-01 8.36191902e-03 4.84584825e+01] [ 1.34028994e-01 9.90976744e-01 -1.14993603e-03 -1.72439143e+02] [-8.44059772e-03 -1.87796987e-05 -9.99964377e-01 -1.79729017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.73655999499994 meters 0.0119076837236455 Centerline is valid? [True, True] Translation: X:48.46, Y:-172.41, Z:-1.80 [[-9.97939342e-01 6.34808186e-02 9.34108849e-03 4.84577346e+01] [ 6.34778575e-02 9.97983059e-01 -6.13438015e-04 -1.72410933e+02] [-9.36118961e-03 -1.92216442e-05 -9.99956183e-01 -1.79697419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.76655999499997 meters 0.011918012069818221 Centerline is valid? [True, True] Translation: X:48.45, Y:-172.38, Z:-1.80 [[-9.99921962e-01 -7.24736180e-03 1.01757082e-02 4.84499101e+01] [-7.24716646e-03 9.99973737e-01 5.60699695e-05 -1.72382499e+02] [-1.01758473e-02 -1.76794574e-05 -9.99948225e-01 -1.79727748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.79655999499994 meters 0.011906397779626267 Centerline is valid? [True, True] Translation: X:48.44, Y:-172.35, Z:-1.80 [[-9.96888611e-01 -7.80187904e-02 1.12323315e-02 4.84446596e+01] [-7.80140159e-02 9.96951889e-01 8.63264373e-04 -1.72353379e+02] [-1.12654449e-02 -1.57008644e-05 -9.99936543e-01 -1.79595754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.82655999499997 meters 0.012024941431721888 Centerline is valid? [True, True] Translation: X:48.43, Y:-172.33, Z:-1.80 [[-9.88780852e-01 -1.48887906e-01 1.20340853e-02 4.84302946e+01] [-1.48877095e-01 9.88854080e-01 1.79421248e-03 -1.72326057e+02] [-1.21670908e-02 -1.75167194e-05 -9.99925978e-01 -1.79563859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.85655999499994 meters 0.012052121914313941 Centerline is valid? [True, True] Translation: X:48.41, Y:-172.30, Z:-1.79 [[-9.75496076e-01 -2.19646193e-01 1.27654317e-02 4.84094899e+01] [-2.19627671e-01 9.75579597e-01 2.85248111e-03 -1.72300681e+02] [-1.30802314e-02 -2.10579138e-05 -9.99914450e-01 -1.79497373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.88655999499997 meters 0.012177926154030187 Centerline is valid? [True, True] Translation: X:48.38, Y:-172.28, Z:-1.79 [[-9.56811654e-01 -2.90369274e-01 1.40407632e-02 4.83752697e+01] [-2.90338608e-01 9.56914669e-01 4.22008617e-03 -1.72279687e+02] [-1.46611956e-02 -3.87480130e-05 -9.99892518e-01 -1.79377967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.91655999499994 meters 0.012097842274998744 Centerline is valid? [True, True] Translation: X:48.32, Y:-172.27, Z:-1.79 [[-9.32858667e-01 -3.59961859e-01 1.42185607e-02 4.83215050e+01] [-3.59920849e-01 9.32967019e-01 5.43370393e-03 -1.72268076e+02] [-1.52213744e-02 -4.86786386e-05 -9.99884147e-01 -1.79422340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.946559995 meters 0.012178867318046988 Centerline is valid? [True, True] Translation: X:48.26, Y:-172.26, Z:-1.79 [[-9.03584172e-01 -4.28185354e-01 1.38905348e-02 4.82575869e+01] [-4.28135772e-01 9.03690931e-01 6.51627275e-03 -1.72264401e+02] [-1.53429228e-02 -5.90338991e-05 -9.99882289e-01 -1.79367999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.97655999499995 meters 0.012245927820339274 Centerline is valid? [True, True] Translation: X:48.18, Y:-172.27, Z:-1.79 [[-8.69042223e-01 -4.94573230e-01 1.27646096e-02 4.81843007e+01] [-4.94521040e-01 8.69135959e-01 7.18509119e-03 -1.72270507e+02] [-1.46477350e-02 -6.82203946e-05 -9.99892714e-01 -1.79401006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.006559995 meters 0.012184846498066162 Centerline is valid? [True, True] Translation: X:48.11, Y:-172.28, Z:-1.80 [[-8.29149048e-01 -5.58904187e-01 1.17459137e-02 4.81088027e+01] [-5.58849522e-01 8.29232237e-01 7.81726444e-03 -1.72284067e+02] [-1.41091921e-02 -8.25208696e-05 -9.99900457e-01 -1.79581717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.03655999499995 meters 0.012286265042555802 Centerline is valid? [True, True] Translation: X:48.02, Y:-172.31, Z:-1.80 [[-7.84387504e-01 -6.20177755e-01 1.07608629e-02 4.80249288e+01] [-6.20121040e-01 7.84461308e-01 8.38759418e-03 -1.72309413e+02] [-1.36432799e-02 -9.39134339e-05 -9.99906922e-01 -1.79625470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.066559995 meters 0.012364687116766741 Centerline is valid? [True, True] Translation: X:47.94, Y:-172.34, Z:-1.80 [[-7.34691291e-01 -6.78330147e-01 9.84471573e-03 4.79393607e+01] [-6.78271245e-01 7.34757239e-01 8.93968512e-03 -1.72344122e+02] [-1.32975341e-02 -1.09478791e-04 -9.99911578e-01 -1.79679447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.09655999499995 meters 0.012564234492812047 Centerline is valid? [True, True] Translation: X:47.85, Y:-172.39, Z:-1.80 [[-6.80395639e-01 -7.32792173e-01 8.79803518e-03 4.78542415e+01] [-7.32733258e-01 6.80452508e-01 9.29281522e-03 -1.72387411e+02] [-1.27963474e-02 -1.23822032e-04 -9.99918116e-01 -1.79737644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.126559995 meters 0.012891529841577952 Centerline is valid? [True, True] Translation: X:47.77, Y:-172.44, Z:-1.80 [[-6.20605390e-01 -7.84083711e-01 7.85394905e-03 4.77688313e+01] [-7.84024153e-01 6.20655065e-01 9.66536186e-03 -1.72441055e+02] [-1.24530461e-02 -1.59310085e-04 -9.99922445e-01 -1.79834428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.15655999499995 meters 0.01356980361202669 Centerline is valid? [True, True] Translation: X:47.68, Y:-172.51, Z:-1.80 [[-5.57921467e-01 -8.29862340e-01 7.22043859e-03 4.76830835e+01] [-8.29797082e-01 5.57968156e-01 1.04085784e-02 -1.72505763e+02] [-1.26664620e-02 -1.84329564e-04 -9.99919760e-01 -1.79755828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.186559995 meters 0.013683443431562787 Centerline is valid? [True, True] Translation: X:47.60, Y:-172.58, Z:-1.80 [[-4.91919376e-01 -8.70617397e-01 6.37776977e-03 4.76025557e+01] [-8.70549520e-01 4.91960677e-01 1.08732147e-02 -1.72579583e+02] [-1.26040218e-02 -2.03419433e-04 -9.99920546e-01 -1.79781037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.21655999499995 meters 0.014191607250216499 Centerline is valid? [True, True] Translation: X:47.53, Y:-172.66, Z:-1.80 [[-4.22707974e-01 -9.06247689e-01 5.75289163e-03 4.75286628e+01] [-9.06171138e-01 4.22747055e-01 1.17811790e-02 -1.72657280e+02] [-1.31086842e-02 -2.33106067e-04 -9.99914050e-01 -1.79768576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.246559995 meters 0.014369168378312312 Centerline is valid? [True, True] Translation: X:47.46, Y:-172.75, Z:-1.80 [[-3.50894113e-01 -9.36400854e-01 5.17326604e-03 4.74596379e+01] [-9.36310195e-01 3.50932142e-01 1.30326945e-02 -1.72745192e+02] [-1.40192915e-02 -2.70685969e-04 -9.99901688e-01 -1.79754027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.27655999499996 meters 0.015232884740100679 Centerline is valid? [True, True] Translation: X:47.40, Y:-172.84, Z:-1.80 [[-2.76994988e-01 -9.60862108e-01 4.21726515e-03 4.73969523e+01] [-9.60766382e-01 2.77026934e-01 1.35659931e-02 -1.72836286e+02] [-1.42033448e-02 -2.94094488e-04 -9.99899084e-01 -1.79655493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.306559995 meters 0.0161382994670038 Centerline is valid? [True, True] Translation: X:47.34, Y:-172.94, Z:-1.80 [[-2.00511103e-01 -9.79685960e-01 3.27371913e-03 4.73397886e+01] [-9.79581459e-01 2.00537543e-01 1.43128953e-02 -1.72942003e+02] [-1.46786462e-02 -3.36980128e-04 -9.99892206e-01 -1.79627385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.33655999499996 meters 0.016118924181430207 Centerline is valid? [True, True] Translation: X:47.29, Y:-173.05, Z:-1.80 [[-1.24328702e-01 -9.92238813e-01 2.12420365e-03 4.72926167e+01] [-9.92136823e-01 1.24346387e-01 1.42302816e-02 -1.73045583e+02] [-1.43839748e-02 -3.38268223e-04 -9.99896488e-01 -1.79651531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.366559995 meters 0.016565952356075053 Centerline is valid? [True, True] Translation: X:47.25, Y:-173.15, Z:-1.80 [[-4.70794410e-02 -9.98890650e-01 9.98313075e-04 4.72529357e+01] [-9.98793436e-01 4.70887909e-02 1.39397787e-02 -1.73153407e+02] [-1.39713239e-02 -3.40831559e-04 -9.99902338e-01 -1.79591860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.39655999499996 meters 0.01638294250104996 Centerline is valid? [True, True] Translation: X:47.22, Y:-173.27, Z:-1.80 [[ 3.01358102e-02 -9.99545810e-01 -7.61695485e-05 4.72226007e+01] [-9.99441110e-01 -3.01337563e-02 1.44715064e-02 -1.73266697e+02] [-1.44672288e-02 -3.59983592e-04 -9.99895279e-01 -1.79580005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.426559995 meters 0.016196480031007442 Centerline is valid? [True, True] Translation: X:47.20, Y:-173.38, Z:-1.80 [[ 1.07229116e-01 -9.94233628e-01 -1.18735952e-03 4.72017951e+01] [-9.94128764e-01 -1.07235056e-01 1.44444734e-02 -1.73383792e+02] [-1.44885078e-02 -3.68479857e-04 -9.99894968e-01 -1.79586619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.45655999499996 meters 0.01622930816642819 Centerline is valid? [True, True] Translation: X:47.19, Y:-173.50, Z:-1.80 [[ 1.83639122e-01 -9.82990880e-01 -2.36703909e-03 4.71893774e+01] [-9.82879876e-01 -1.83653968e-01 1.47773196e-02 -1.73499398e+02] [-1.49606865e-02 -3.87178911e-04 -9.99888008e-01 -1.79573057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.48655999499994 meters 0.016972232157967098 Centerline is valid? [True, True] Translation: X:47.19, Y:-173.61, Z:-1.79 [[ 2.58907366e-01 -9.65895219e-01 -3.66076327e-03 4.71865728e+01] [-9.65774983e-01 -2.58932918e-01 1.52455124e-02 -1.73614180e+02] [-1.56734597e-02 -4.11701887e-04 -9.99877079e-01 -1.79486246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.51655999499997 meters 0.01648880363937152 Centerline is valid? [True, True] Translation: X:47.19, Y:-173.74, Z:-1.80 [[ 3.32086185e-01 -9.43235987e-01 -4.96366736e-03 4.71947417e+01] [-9.43110906e-01 -3.32123011e-01 1.53663404e-02 -1.73737072e+02] [-1.61426334e-02 -4.21660538e-04 -9.99869610e-01 -1.79510291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.54655999499994 meters 0.016678800400459496 Centerline is valid? [True, True] Translation: X:47.21, Y:-173.85, Z:-1.79 [[ 4.03408476e-01 -9.14999507e-01 -6.12397823e-03 4.72076714e+01] [-9.14877746e-01 -4.03454737e-01 1.49327164e-02 -1.73849428e+02] [-1.61341762e-02 -4.21292976e-04 -9.99869747e-01 -1.79481250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.57655999499997 meters 0.016407821126994203 Centerline is valid? [True, True] Translation: X:47.23, Y:-173.96, Z:-1.79 [[ 4.71973081e-01 -8.81583169e-01 -7.24753537e-03 4.72292077e+01] [-8.81465423e-01 -4.72028541e-01 1.44140275e-02 -1.73960272e+02] [-1.61282076e-02 -4.14581132e-04 -9.99869846e-01 -1.79474961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.60655999499994 meters 0.016805720791608456 Centerline is valid? [True, True] Translation: X:47.26, Y:-174.07, Z:-1.79 [[ 5.37561464e-01 -8.43188767e-01 -7.77016444e-03 4.72625006e+01] [-8.43090348e-01 -5.37617486e-01 1.28881644e-02 -1.74073068e+02] [-1.50445317e-02 -3.77229867e-04 -9.99886754e-01 -1.79495449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.63655999499997 meters 0.016325755956093375 Centerline is valid? [True, True] Translation: X:47.30, Y:-174.18, Z:-1.80 [[ 6.00084637e-01 -7.99892685e-01 -8.37374989e-03 4.72993754e+01] [-7.99806417e-01 -6.00142954e-01 1.17528682e-02 -1.74175034e+02] [-1.44264803e-02 -3.55336760e-04 -9.99895870e-01 -1.79600118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.66655999499994 meters 0.015985117496792597 Centerline is valid? [True, True] Translation: X:47.35, Y:-174.28, Z:-1.80 [[ 6.59447851e-01 -7.51700324e-01 -8.66922216e-03 4.73454585e+01] [-7.51628628e-01 -6.59504747e-01 1.03871821e-02 -1.74276243e+02] [-1.35254413e-02 -3.33769371e-04 -9.99908471e-01 -1.79738276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.696559995 meters 0.01620714403265932 Centerline is valid? [True, True] Translation: X:47.39, Y:-174.37, Z:-1.80 [[ 7.14895487e-01 -6.99175380e-01 -8.84485069e-03 4.73915751e+01] [-6.99116365e-01 -7.14950131e-01 9.08947997e-03 -1.74367188e+02] [-1.26787678e-02 -3.14448340e-04 -9.99919572e-01 -1.79796279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.72655999499995 meters 0.01607219186983169 Centerline is valid? [True, True] Translation: X:47.45, Y:-174.46, Z:-1.80 [[ 7.66097167e-01 -6.42661682e-01 -9.00517718e-03 4.74474532e+01] [-6.42612638e-01 -7.66150032e-01 7.94518228e-03 -1.74456487e+02] [-1.20053810e-02 -2.99940968e-04 -9.99927888e-01 -1.79854797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.756559995 meters 0.016101231345031008 Centerline is valid? [True, True] Translation: X:47.45, Y:-174.47, Z:-1.80 [[ 8.14594620e-01 -5.79954990e-01 -9.37090728e-03 4.74466238e+01] [-5.79912271e-01 -8.14648462e-01 7.04567038e-03 -1.74465351e+02] [-1.17201669e-02 -3.05061057e-04 -9.99931270e-01 -1.79880604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.78655999499995 meters 0.016732345622869797 Centerline is valid? [True, True] Translation: X:47.44, Y:-174.47, Z:-1.80 [[ 8.57799822e-01 -5.13883108e-01 -1.01792522e-02 4.74449512e+01] [-5.13842428e-01 -8.57860156e-01 6.47393964e-03 -1.74474524e+02] [-1.20592231e-02 -3.22812594e-04 -9.99927233e-01 -1.79802281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.816559995 meters 0.017282686845126512 Centerline is valid? [True, True] Translation: X:47.44, Y:-174.48, Z:-1.80 [[ 8.95676209e-01 -4.44577550e-01 -1.07205465e-02 4.74443809e+01] [-4.44541219e-01 -8.95740303e-01 5.69334884e-03 -1.74482203e+02] [-1.21339607e-02 -3.33672294e-04 -9.99926325e-01 -1.79716483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.84655999499995 meters 0.018059688190272108 Centerline is valid? [True, True] Translation: X:47.45, Y:-174.49, Z:-1.80 [[ 9.27851501e-01 -3.72777316e-01 -1.13430505e-02 4.74450923e+01] [-3.72744882e-01 -9.27920769e-01 4.92950276e-03 -1.74489543e+02] [-1.23630589e-02 -3.45782535e-04 -9.99923515e-01 -1.79618141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.876559995 meters 0.01834013801193067 Centerline is valid? [True, True] Translation: X:47.45, Y:-174.50, Z:-1.80 [[ 9.54589151e-01 -2.97684101e-01 -1.19886472e-02 4.74479502e+01] [-2.97655695e-01 -9.54664358e-01 4.12927636e-03 -1.74495350e+02] [-1.26743541e-02 -3.73273304e-04 -9.99919608e-01 -1.79647645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.90655999499995 meters 0.01920036844648167 Centerline is valid? [True, True] Translation: X:47.45, Y:-174.50, Z:-1.80 [[ 9.74898300e-01 -2.22300555e-01 -1.24807196e-02 4.74496923e+01] [-2.22277362e-01 -9.74978113e-01 3.23326614e-03 -1.74501193e+02] [-1.28871853e-02 -3.77924237e-04 -9.99916885e-01 -1.79575732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.936559995 meters 0.017953369731505513 Centerline is valid? [True, True] Translation: X:47.45, Y:-174.51, Z:-1.80 [[ 9.89180013e-01 -1.46150009e-01 -1.27701139e-02 4.74541932e+01] [-1.46132991e-01 -9.89262371e-01 2.26084285e-03 -1.74505768e+02] [-1.29634154e-02 -3.70245622e-04 -9.99915903e-01 -1.79593965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.96655999499995 meters 0.01789170092496299 Centerline is valid? [True, True] Translation: X:47.46, Y:-174.51, Z:-1.80 [[ 9.97495432e-01 -6.94957171e-02 -1.31608697e-02 4.74553656e+01] [-6.94848919e-02 -9.97582185e-01 1.27856784e-03 -1.74510160e+02] [-1.32179041e-02 -3.60883977e-04 -9.99912575e-01 -1.79532745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.996559995 meters 0.016510925046875045 Centerline is valid? [True, True] Translation: X:47.46, Y:-174.52, Z:-1.80 [[ 9.99883418e-01 8.01014151e-03 -1.29995188e-02 4.74556338e+01] [ 8.01393514e-03 -9.99967859e-01 2.39762901e-04 -1.74515042e+02] [-1.29971805e-02 -3.43912249e-04 -9.99915474e-01 -1.79633482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.02655999499996 meters 0.016231177345611886 Centerline is valid? [True, True] Translation: X:47.46, Y:-174.52, Z:-1.80 [[ 9.96279969e-01 8.52915965e-02 -1.23112705e-02 4.74560779e+01] [ 8.52889697e-02 -9.96355983e-01 -7.39191511e-04 -1.74521120e+02] [-1.23294549e-02 -3.13573885e-04 -9.99923940e-01 -1.79667460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.056559995 meters 0.01573466802234348 Centerline is valid? [True, True] Translation: X:47.46, Y:-174.53, Z:-1.80 [[ 9.86772401e-01 1.61713342e-01 -1.13588984e-02 4.74581591e+01] [ 1.61705844e-01 -9.86837737e-01 -1.58148204e-03 -1.74527580e+02] [-1.14651364e-02 -2.76237432e-04 -9.99934235e-01 -1.79723501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.08655999499996 meters 0.0157231041313172 Centerline is valid? [True, True] Translation: X:47.46, Y:-174.53, Z:-1.80 [[ 9.71371393e-01 2.37342456e-01 -1.03041380e-02 4.74593637e+01] [ 2.37331737e-01 -9.71426014e-01 -2.26858342e-03 -1.74533586e+02] [-1.05481388e-02 -2.41861918e-04 -9.99944338e-01 -1.79758154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.116559995 meters 0.0157231041313172 Centerline is valid? [True, True] Translation: X:47.46, Y:-174.54, Z:-1.80 [[ 9.49815788e-01 3.12646862e-01 -1.00950144e-02 4.74609959e+01] [ 3.12631901e-01 -9.49869402e-01 -3.06812831e-03 -1.74539562e+02] [-1.05481860e-02 -2.41866844e-04 -9.99944337e-01 -1.79758112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.14655999499996 meters 0.014241318503936281 Centerline is valid? [True, True] Translation: X:47.46, Y:-174.54, Z:-1.80 [[ 9.23758541e-01 3.82893815e-01 -7.90473199e-03 4.74623341e+01] [ 3.82881319e-01 -9.23792346e-01 -3.09779168e-03 -1.74543545e+02] [-8.48845619e-03 -1.64962692e-04 -9.99963959e-01 -1.79919749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.176559995 meters 0.014042983916655882 Centerline is valid? [True, True] Translation: X:47.47, Y:-174.55, Z:-1.80 [[ 8.91506583e-01 4.52949926e-01 -7.23722428e-03 4.74652662e+01] [ 4.52936325e-01 -8.91535946e-01 -3.51316159e-03 -1.74549181e+02] [-8.04353188e-03 -1.45995082e-04 -9.99967640e-01 -1.79975927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.20655999499996 meters 0.013846502453469238 Centerline is valid? [True, True] Translation: X:47.47, Y:-174.55, Z:-1.80 [[ 8.53942695e-01 5.20324165e-01 -6.68103693e-03 4.74687296e+01] [ 5.20309436e-01 -8.53968820e-01 -3.91724378e-03 -1.74554680e+02] [-7.74363382e-03 -1.31104847e-04 -9.99970009e-01 -1.79987803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.23655999499994 meters 0.01337533119839929 Centerline is valid? [True, True] Translation: X:47.47, Y:-174.56, Z:-1.80 [[ 8.11592469e-01 5.84191771e-01 -6.13514828e-03 4.74717325e+01] [ 5.84176132e-01 -8.11615649e-01 -4.27609251e-03 -1.74559360e+02] [-7.47744041e-03 -1.13562716e-04 -9.99972037e-01 -1.80017221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.26655999499997 meters 0.013373563732011493 Centerline is valid? [True, True] Translation: X:47.48, Y:-174.57, Z:-1.80 [[ 7.63785480e-01 6.45439445e-01 -6.29786558e-03 4.74751668e+01] [ 6.45418778e-01 -7.63811436e-01 -5.16637614e-03 -1.74565971e+02] [-8.14496469e-03 -1.18757623e-04 -9.99966822e-01 -1.79958362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.29655999499994 meters 0.013384632356499188 Centerline is valid? [True, True] Translation: X:47.48, Y:-174.57, Z:-1.80 [[ 7.10883434e-01 7.03280894e-01 -6.38187113e-03 4.74797665e+01] [ 7.03254183e-01 -7.10912068e-01 -6.13078712e-03 -1.74571477e+02] [-8.84861464e-03 -1.29802573e-04 -9.99960842e-01 -1.79913632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.32655999499997 meters 0.013521165151830213 Centerline is valid? [True, True] Translation: X:47.49, Y:-174.58, Z:-1.80 [[ 6.52989256e-01 7.57337547e-01 -6.69860230e-03 4.74857610e+01] [ 7.57300141e-01 -6.53023595e-01 -7.52863974e-03 -1.74578272e+02] [-1.00760669e-02 -1.56731604e-04 -9.99949223e-01 -1.79780178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.35655999499994 meters 0.014033204069120491 Centerline is valid? [True, True] Translation: X:47.49, Y:-174.59, Z:-1.80 [[ 5.91027655e-01 8.06626444e-01 -6.33164502e-03 4.74914084e+01] [ 8.06583235e-01 -5.91061545e-01 -8.35074399e-03 -1.74585245e+02] [-1.04783228e-02 -1.71478082e-04 -9.99945086e-01 -1.79745552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.38655999499997 meters 0.014011637520495737 Centerline is valid? [True, True] Translation: X:47.50, Y:-174.59, Z:-1.80 [[ 5.24929371e-01 8.51127192e-01 -5.62663420e-03 4.74980675e+01] [ 8.51082012e-01 -5.24959493e-01 -8.77153379e-03 -1.74589967e+02] [-1.04194460e-02 -1.84291446e-04 -9.99945699e-01 -1.79759594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.41655999499994 meters 0.014331257856111048 Centerline is valid? [True, True] Translation: X:47.51, Y:-174.60, Z:-1.80 [[ 4.55603738e-01 8.90168281e-01 -5.06602345e-03 4.75052323e+01] [ 8.90118103e-01 -4.55631858e-01 -9.45377298e-03 -1.74595103e+02] [-1.07236905e-02 -2.02184877e-04 -9.99942479e-01 -1.79786855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.446559995 meters 0.014790059317006023 Centerline is valid? [True, True] Translation: X:47.51, Y:-174.60, Z:-1.80 [[ 3.83533873e-01 9.23516715e-01 -4.31796773e-03 4.75129186e+01] [ 9.23464333e-01 -3.83558119e-01 -9.83841402e-03 -1.74600806e+02] [-1.07421314e-02 -2.14124159e-04 -9.99942279e-01 -1.79676039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.47655999499995 meters 0.014540595154275802 Centerline is valid? [True, True] Translation: X:47.52, Y:-174.60, Z:-1.80 [[ 3.09919392e-01 9.50756098e-01 -3.57948192e-03 4.75196466e+01] [ 9.50700595e-01 -3.09939985e-01 -1.02754457e-02 -1.74603976e+02] [-1.08788672e-02 -2.18455713e-04 -9.99940800e-01 -1.79688917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.506559995 meters 0.014364910069615539 Centerline is valid? [True, True] Translation: X:47.53, Y:-174.61, Z:-1.80 [[ 2.34798790e-01 9.72040046e-01 -2.77090594e-03 4.75262960e+01] [ 9.71982810e-01 -2.34815040e-01 -1.05505438e-02 -1.74606918e+02] [-1.09062015e-02 -2.16018018e-04 -9.99940502e-01 -1.79722117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.53655999499995 meters 0.014217123117964314 Centerline is valid? [True, True] Translation: X:47.53, Y:-174.61, Z:-1.80 [[ 1.58835781e-01 9.87303235e-01 -1.87557172e-03 4.75326098e+01] [ 9.87248481e-01 -1.58846728e-01 -1.03997252e-02 -1.74609003e+02] [-1.05656108e-02 -1.99806856e-04 -9.99944162e-01 -1.79754707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.566559995 meters 0.014566761063089597 Centerline is valid? [True, True] Translation: X:47.54, Y:-174.61, Z:-1.80 [[ 8.23348144e-02 9.96604181e-01 -1.04174270e-03 4.75388795e+01] [ 9.96550159e-01 -8.23411997e-02 -1.03782360e-02 -1.74611767e+02] [-1.04287717e-02 -1.83658725e-04 -9.99945602e-01 -1.79692718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.59655999499995 meters 0.0129935402082691 Centerline is valid? [True, True] Translation: X:47.54, Y:-174.61, Z:-1.80 [[ 6.88346190e-03 9.99976285e-01 -2.15667078e-04 4.75432143e+01] [ 9.99926590e-01 -6.88527015e-03 -9.97039007e-03 -1.74612961e+02] [-9.97163855e-03 -1.47020446e-04 -9.99950271e-01 -1.79828248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.626559995 meters 0.012761768641408487 Centerline is valid? [True, True] Translation: X:47.55, Y:-174.62, Z:-1.80 [[-6.98744931e-02 9.97555633e-01 5.61062959e-04 4.75503000e+01] [ 9.97506770e-01 6.98766242e-02 -9.87431092e-03 -1.74615053e+02] [-9.88937966e-03 -1.30298371e-04 -9.99951090e-01 -1.79818754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.65655999499995 meters 0.012340207570980685 Centerline is valid? [True, True] Translation: X:47.56, Y:-174.62, Z:-1.80 [[-1.45797367e-01 9.89313640e-01 1.28418559e-03 4.75575342e+01] [ 9.89268578e-01 1.45802983e-01 -9.44298280e-03 -1.74615431e+02] [-9.52930978e-03 -1.06357577e-04 -9.99954589e-01 -1.79812168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.686559995 meters 0.012599359556442175 Centerline is valid? [True, True] Translation: X:47.57, Y:-174.62, Z:-1.80 [[-2.20987704e-01 9.75274664e-01 1.94015783e-03 4.75653725e+01] [ 9.75233647e-01 2.20996204e-01 -8.94487890e-03 -1.74616235e+02] [-9.15248129e-03 -8.46010547e-05 -9.99958112e-01 -1.79679337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.71655999499995 meters 0.011687152143479412 Centerline is valid? [True, True] Translation: X:47.57, Y:-174.62, Z:-1.80 [[-2.92704340e-01 9.56200005e-01 2.39160999e-03 4.75699062e+01] [ 9.56166901e-01 2.92714107e-01 -7.95674035e-03 -1.74616439e+02] [-8.30829314e-03 -4.21941213e-05 -9.99965485e-01 -1.79820243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.746559995 meters 0.011553130518679003 Centerline is valid? [True, True] Translation: X:47.58, Y:-174.62, Z:-1.80 [[-3.65128019e-01 9.30951914e-01 3.17222106e-03 4.75774054e+01] [ 9.30916065e-01 3.65141798e-01 -8.16989404e-03 -1.74616162e+02] [-8.76408899e-03 -2.99856814e-05 -9.99961594e-01 -1.79777366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.77655999499996 meters 0.01159527323193358 Centerline is valid? [True, True] Translation: X:47.58, Y:-174.62, Z:-1.80 [[-4.35731400e-01 9.00067781e-01 4.01708032e-03 4.75844263e+01] [ 9.00029123e-01 4.35749916e-01 -8.34200398e-03 -1.74616591e+02] [-9.25881142e-03 -1.93837911e-05 -9.99957136e-01 -1.79683602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.806559995 meters 0.011633030687971984 Centerline is valid? [True, True] Translation: X:47.59, Y:-174.62, Z:-1.80 [[-5.02811977e-01 8.64380366e-01 5.16706064e-03 4.75901083e+01] [ 8.64334791e-01 5.02838525e-01 -8.87614539e-03 -1.74616220e+02] [-1.02705630e-02 3.03806784e-06 -9.99947256e-01 -1.79701445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.83655999499996 meters 0.011697174563251507 Centerline is valid? [True, True] Translation: X:47.60, Y:-174.62, Z:-1.80 [[-5.68224614e-01 8.22852062e-01 5.93894093e-03 4.75969743e+01] [ 8.22807354e-01 5.68255649e-01 -8.57755679e-03 -1.74615492e+02] [-1.04328970e-02 1.26253748e-05 -9.99945576e-01 -1.79685366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.866559995 meters 0.011679980474508547 Centerline is valid? [True, True] Translation: X:47.60, Y:-174.61, Z:-1.80 [[-6.30590647e-01 7.76087485e-01 6.60695986e-03 4.76043829e+01] [ 7.76045181e-01 6.30625257e-01 -8.10317415e-03 -1.74612486e+02] [-1.04552878e-02 1.75135361e-05 -9.99945342e-01 -1.79714677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.89655999499996 meters 0.011729045448863136 Centerline is valid? [True, True] Translation: X:47.61, Y:-174.61, Z:-1.80 [[-6.89237705e-01 7.24495416e-01 7.60123484e-03 4.76120269e+01] [ 7.24451698e-01 6.89279618e-01 -7.95898730e-03 -1.74609909e+02] [-1.10056261e-02 2.10933425e-05 -9.99939436e-01 -1.79672634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.926559995 meters 0.011720329396093921 Centerline is valid? [True, True] Translation: X:47.62, Y:-174.60, Z:-1.80 [[-7.44370083e-01 6.67714269e-01 8.41631681e-03 4.76199052e+01] [ 6.67671790e-01 7.44417661e-01 -7.53170915e-03 -1.74603707e+02] [-1.12942845e-02 1.29583416e-05 -9.99936217e-01 -1.79568456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.95655999499996 meters 0.011746987770448507 Centerline is valid? [True, True] Translation: X:47.64, Y:-174.58, Z:-1.79 [[-7.90365428e-01 6.12564099e-01 9.36565642e-03 4.76355138e+01] [ 6.12521120e-01 7.90420916e-01 -7.25624870e-03 -1.74579014e+02] [-1.18477282e-02 1.57424688e-06 -9.99929813e-01 -1.79448966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.98655999499994 meters 0.011785925277373677 Centerline is valid? [True, True] Translation: X:47.65, Y:-174.56, Z:-1.79 [[-8.32305084e-01 5.54224200e-01 1.01874145e-02 4.76543050e+01] [ 5.54182535e-01 8.32367429e-01 -6.79569725e-03 -1.74556959e+02] [-1.22460119e-02 -1.04061744e-05 -9.99925015e-01 -1.79460172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.01655999499997 meters 0.011799446428285787 Centerline is valid? [True, True] Translation: X:47.67, Y:-174.53, Z:-1.79 [[-8.70023792e-01 4.92889790e-01 1.08745949e-02 4.76658151e+01] [ 4.92850935e-01 8.70091750e-01 -6.18887454e-03 -1.74530428e+02] [-1.25123283e-02 -2.49138577e-05 -9.99921717e-01 -1.79466470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.04655999499994 meters 0.011750129998873739 Centerline is valid? [True, True] Translation: X:47.68, Y:-174.51, Z:-1.79 [[-9.03094798e-01 4.29306765e-01 1.07465367e-02 4.76819422e+01] [ 4.29275933e-01 9.03158735e-01 -5.14518728e-03 -1.74506985e+02] [-1.19146922e-02 -3.33623021e-05 -9.99929017e-01 -1.79491774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.07655999499997 meters 0.011836179705280165 Centerline is valid? [True, True] Translation: X:47.99, Y:-173.89, Z:-2.79 [[-8.68481970e-01 -4.95612032e-01 1.03817932e-02 4.79859808e+01] [ 4.95577100e-01 -8.68544019e-01 -5.88427221e-03 -1.73885025e+02] [ 1.19333605e-02 3.45946693e-05 9.99928794e-01 -2.79487368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.10655999499994 meters 0.012052408618067598 Centerline is valid? [True, True] Translation: X:47.64, Y:-174.49, Z:-1.80 [[-9.05831537e-01 4.23498976e-01 1.08556051e-02 4.76425430e+01] [ 4.23467684e-01 9.05896580e-01 -5.14854187e-03 -1.74486975e+02] [-1.20144577e-02 -6.67136510e-05 -9.99927822e-01 -1.79513538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.13655999499997 meters 0.012271775320683525 Centerline is valid? [True, True] Translation: X:47.65, Y:-174.46, Z:-1.80 [[-9.34489390e-01 3.55804680e-01 1.15156563e-02 4.76535951e+01] [ 3.55776327e-01 9.34560335e-01 -4.49288889e-03 -1.74458607e+02] [-1.23606665e-02 -1.01559096e-04 -9.99923599e-01 -1.79504709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.16655999499994 meters 0.012405488036404195 Centerline is valid? [True, True] Translation: X:47.66, Y:-174.43, Z:-1.79 [[-9.57606186e-01 2.87840039e-01 1.17688002e-02 4.76646353e+01] [ 2.87816871e-01 9.57678495e-01 -3.65366672e-03 -1.74431742e+02] [-1.23223984e-02 -1.11514596e-04 -9.99924070e-01 -1.79478959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.196559995 meters 0.012280257642196852 Centerline is valid? [True, True] Translation: X:47.87, Y:-173.78, Z:-2.79 [[-9.29280350e-01 -3.69201926e-01 1.13123116e-02 4.78687077e+01] [ 3.69175853e-01 -9.29349196e-01 -4.38876990e-03 -1.73781439e+02] [ 1.21334300e-02 9.78346581e-05 9.99926382e-01 -2.79491788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.22655999499995 meters 0.012331611941934845 Centerline is valid? [True, True] Translation: X:47.62, Y:-174.42, Z:-1.80 [[-9.58968162e-01 2.83296103e-01 1.11077196e-02 4.76178002e+01] [ 2.83275694e-01 9.59032484e-01 -3.40245715e-03 -1.74417619e+02] [-1.16165667e-02 -1.16301117e-04 -9.99932519e-01 -1.79601129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.256559995 meters 0.012309608106770759 Centerline is valid? [True, True] Translation: X:47.62, Y:-174.39, Z:-1.80 [[-9.76703719e-01 2.14342170e-01 1.03575882e-02 4.76241839e+01] [ 2.14328933e-01 9.76758631e-01 -2.38458984e-03 -1.74390929e+02] [-1.06279818e-02 -1.09106940e-04 -9.99943515e-01 -1.79759703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.28655999499995 meters 0.012436882609705135 Centerline is valid? [True, True] Translation: X:47.63, Y:-174.36, Z:-1.80 [[-9.89505202e-01 1.44133585e-01 1.02452272e-02 4.76263875e+01] [ 1.44124706e-01 9.89558234e-01 -1.60357142e-03 -1.74362953e+02] [-1.03693774e-02 -1.10151904e-04 -9.99946231e-01 -1.79752029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.316559995 meters 0.01255041804377526 Centerline is valid? [True, True] Translation: X:47.74, Y:-173.69, Z:-2.79 [[-9.72686603e-01 -2.31897883e-01 1.02051464e-02 4.77356916e+01] [ 2.31886384e-01 -9.72740129e-01 -2.31236095e-03 -1.73691002e+02] [ 1.04631870e-02 1.17231979e-04 9.99945253e-01 -2.79288214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.34655999499995 meters 0.012595026212962468 Centerline is valid? [True, True] Translation: X:47.57, Y:-174.35, Z:-1.80 [[-9.90229676e-01 1.39062570e-01 1.03339648e-02 4.75738223e+01] [ 1.39053702e-01 9.90283589e-01 -1.57523045e-03 -1.74354895e+02] [-1.04526113e-02 -1.22863887e-04 -9.99945362e-01 -1.79795026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.376559995 meters 0.012839764677821597 Centerline is valid? [True, True] Translation: X:47.57, Y:-174.33, Z:-1.80 [[-9.97681220e-01 6.73360113e-02 9.90180701e-03 4.75749783e+01] [ 6.73314279e-02 9.97730347e-01 -7.95893279e-04 -1.74325388e+02] [-9.93292562e-03 -1.27344972e-04 -9.99950659e-01 -1.79757738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.40655999499995 meters 0.012950583526014662 Centerline is valid? [True, True] Translation: X:47.63, Y:-173.65, Z:-2.79 [[-9.86946607e-01 -1.60737929e-01 9.98566245e-03 4.76332109e+01] [ 1.60731137e-01 -9.86997112e-01 -1.48432110e-03 -1.73652024e+02] [ 1.00944067e-02 1.40061203e-04 9.99949040e-01 -2.79295225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.436559995 meters 0.013227089804565868 Centerline is valid? [True, True] Translation: X:47.51, Y:-174.32, Z:-1.80 [[-9.98042402e-01 6.16746539e-02 1.03731166e-02 4.75115767e+01] [ 6.16697912e-02 9.98096296e-01 -7.88296978e-04 -1.74318683e+02] [-1.04019872e-02 -1.47045875e-04 -9.99945887e-01 -1.79671732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.46655999499995 meters 0.013180682164945143 Centerline is valid? [True, True] Translation: X:47.50, Y:-174.29, Z:-1.80 [[-9.99894736e-01 -1.00758090e-02 1.04401056e-02 4.75048448e+01] [-1.00768783e-02 9.99949226e-01 -4.98305777e-05 -1.74290971e+02] [-1.04390735e-02 -1.55029006e-04 -9.99945499e-01 -1.79685412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.496559995 meters 0.013287441830804016 Centerline is valid? [True, True] Translation: X:47.51, Y:-174.26, Z:-1.80 [[-9.96591179e-01 -8.18583051e-02 1.02586239e-02 4.75067087e+01] [-8.18556133e-02 9.96643965e-01 6.82694512e-04 -1.74263534e+02] [-1.02800799e-02 -1.59358627e-04 -9.99947146e-01 -1.79704107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.52655999499996 meters 0.013524496006126742 Centerline is valid? [True, True] Translation: X:47.49, Y:-174.24, Z:-1.80 [[-9.88069425e-01 -1.53681114e-01 1.00462045e-02 4.74909158e+01] [-1.53674900e-01 9.88120482e-01 1.39218624e-03 -1.74237011e+02] [-1.01408132e-02 -1.68272817e-04 -9.99948567e-01 -1.79754658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.556559995 meters 0.013989247679482697 Centerline is valid? [True, True] Translation: X:47.48, Y:-174.21, Z:-1.80 [[-9.74459917e-01 -2.24347156e-01 9.80933636e-03 4.74761904e+01] [-2.24337543e-01 9.74509274e-01 2.08375730e-03 -1.74210191e+02] [-1.00267743e-02 -1.70064460e-04 -9.99949716e-01 -1.79707936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.58655999499996 meters 0.013868147980454774 Centerline is valid? [True, True] Translation: X:47.45, Y:-174.19, Z:-1.80 [[-9.55703706e-01 -2.94182405e-01 9.33487531e-03 4.74504737e+01] [-2.94170088e-01 9.55749279e-01 2.69720978e-03 -1.74187800e+02] [-9.71527200e-03 -1.68307715e-04 -9.99952791e-01 -1.79684884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.616559995 meters 0.014132296357884062 Centerline is valid? [True, True] Translation: X:47.40, Y:-174.17, Z:-1.80 [[-9.31607988e-01 -3.63344644e-01 9.33947369e-03 4.74015745e+01] [-3.63328287e-01 9.31654785e-01 3.45226441e-03 -1.74173666e+02] [-9.95552713e-03 -1.77137875e-04 -9.99950427e-01 -1.79611187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.64655999499996 meters 0.014737228722598708 Centerline is valid? [True, True] Translation: X:47.33, Y:-174.17, Z:-1.79 [[-9.01873249e-01 -4.31886583e-01 9.93088094e-03 4.73316236e+01] [-4.31862909e-01 9.01927900e-01 4.52669647e-03 -1.74170758e+02] [-1.09119581e-02 -2.06272684e-04 -9.99940442e-01 -1.79472495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.676559995 meters 0.014907261062478864 Centerline is valid? [True, True] Translation: X:47.27, Y:-174.17, Z:-1.79 [[-8.67045163e-01 -4.98128727e-01 1.00228469e-02 4.72666970e+01] [-4.98098419e-01 8.67103063e-01 5.49942416e-03 -1.74172909e+02] [-1.14302624e-02 -2.24115092e-04 -9.99934647e-01 -1.79455918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.70655999499996 meters 0.01500794015155346 Centerline is valid? [True, True] Translation: X:47.19, Y:-174.19, Z:-1.79 [[-8.27591427e-01 -5.61242678e-01 9.95427034e-03 4.71924149e+01] [-5.61205419e-01 8.27651257e-01 6.47100705e-03 -1.74185817e+02] [-1.18704697e-02 -2.31040505e-04 -9.99929517e-01 -1.79455855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.73655999499994 meters 0.01500115518666427 Centerline is valid? [True, True] Translation: X:47.11, Y:-174.21, Z:-1.79 [[-7.83880524e-01 -6.20831247e-01 9.99431761e-03 4.71125026e+01] [-6.20784514e-01 7.83944201e-01 7.62085929e-03 -1.74210182e+02] [-1.25662549e-02 -2.30474426e-04 -9.99921015e-01 -1.79405423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.76655999499997 meters 0.01469634079627005 Centerline is valid? [True, True] Translation: X:47.03, Y:-174.24, Z:-1.79 [[-7.35807697e-01 -6.77126260e-01 9.33067186e-03 4.70292065e+01] [-6.77075469e-01 7.35866824e-01 8.29620521e-03 -1.74244234e+02] [-1.24837103e-02 -2.13157381e-04 -9.99922053e-01 -1.79412536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.79655999499994 meters 0.013664649781814767 Centerline is valid? [True, True] Translation: X:46.94, Y:-174.29, Z:-1.80 [[-6.83595588e-01 -7.29809578e-01 8.66324859e-03 4.69425467e+01] [-7.29754569e-01 6.83650453e-01 8.96257986e-03 -1.74293071e+02] [-1.24636104e-02 -1.95265188e-04 -9.99922307e-01 -1.79541285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.82655999499997 meters 0.013309273441998054 Centerline is valid? [True, True] Translation: X:46.86, Y:-174.35, Z:-1.80 [[-6.27489751e-01 -7.78586879e-01 7.68671228e-03 4.68610218e+01] [-7.78531739e-01 6.27536807e-01 9.26756647e-03 -1.74345441e+02] [-1.20393005e-02 -1.69046503e-04 -9.99927511e-01 -1.79575796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.85655999499994 meters 0.012663603897433982 Centerline is valid? [True, True] Translation: X:46.78, Y:-174.41, Z:-1.80 [[-5.68959659e-01 -8.22343536e-01 6.00123808e-03 4.67792092e+01] [-8.22299893e-01 5.68991296e-01 8.47290096e-03 -1.74412738e+02] [-1.03822876e-02 -1.14078598e-04 -9.99946096e-01 -1.79827506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.88655999499997 meters 0.012311785176041154 Centerline is valid? [True, True] Translation: X:46.70, Y:-174.48, Z:-1.80 [[-5.05843643e-01 -8.62610542e-01 5.02613744e-03 4.67011774e+01] [-8.62569761e-01 5.05868604e-01 8.38824080e-03 -1.74484721e+02] [-9.77835008e-03 -9.22558925e-05 -9.99952187e-01 -1.79938054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.91655999499994 meters 0.012200126200271354 Centerline is valid? [True, True] Translation: X:46.63, Y:-174.57, Z:-1.80 [[-4.39936078e-01 -8.98019061e-01 4.24421733e-03 4.66262259e+01] [-8.97978854e-01 4.39956544e-01 8.49808172e-03 -1.74565873e+02] [-9.49871055e-03 -7.26046768e-05 -9.99954884e-01 -1.79956123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.946559995 meters 0.012109217741018941 Centerline is valid? [True, True] Translation: X:46.56, Y:-174.65, Z:-1.80 [[-3.71340990e-01 -9.28489289e-01 3.67538563e-03 4.65567151e+01] [-9.28445366e-01 3.71359174e-01 9.03139835e-03 -1.74654930e+02] [-9.75044481e-03 -5.86663501e-05 -9.99952462e-01 -1.79921535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.97655999499995 meters 0.01192991507064027 Centerline is valid? [True, True] Translation: X:46.49, Y:-174.75, Z:-1.80 [[-3.01760249e-01 -9.53378056e-01 3.32167889e-03 4.64949295e+01] [-9.53321526e-01 3.01778529e-01 1.03820548e-02 -1.74752722e+02] [-1.09004346e-02 -3.37365335e-05 -9.99940588e-01 -1.79911365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.006559995 meters 0.012179636215336537 Centerline is valid? [True, True] Translation: X:46.44, Y:-174.86, Z:-1.80 [[-2.28600919e-01 -9.73516765e-01 2.59403233e-03 4.64374108e+01] [-9.73455229e-01 2.28615635e-01 1.09456875e-02 -1.74859181e+02] [-1.12488466e-02 -2.29801141e-05 -9.99936729e-01 -1.79705703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.03655999499995 meters 0.012179636215336537 Centerline is valid? [True, True] Translation: X:46.39, Y:-174.97, Z:-1.80 [[-1.53051685e-01 -9.88216646e-01 1.74448477e-03 4.63876333e+01] [-9.88154160e-01 1.53061625e-01 1.11128252e-02 -1.74967662e+02] [-1.12488925e-02 -2.29832567e-05 -9.99936729e-01 -1.79705478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.066559995 meters 0.011918546184956962 Centerline is valid? [True, True] Translation: X:46.35, Y:-175.08, Z:-1.80 [[-7.71023449e-02 -9.97022766e-01 9.12537729e-04 4.63477837e+01] [-9.96955502e-01 7.71077430e-02 1.15811250e-02 -1.75078176e+02] [-1.16170091e-02 -1.68276113e-05 -9.99932520e-01 -1.79925307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.09655999499995 meters 0.011867572286911715 Centerline is valid? [True, True] Translation: X:46.32, Y:-175.20, Z:-1.80 [[-3.34501159e-04 -9.99999944e-01 1.84777727e-05 4.63154400e+01] [-9.99927719e-01 3.34699076e-04 1.20184860e-02 -1.75196661e+02] [-1.20184915e-02 -1.44562396e-05 -9.99927775e-01 -1.79969119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.126559995 meters 0.011894499210534173 Centerline is valid? [True, True] Translation: X:46.29, Y:-175.32, Z:-1.80 [[ 7.70486995e-02 -9.97026887e-01 -9.40748616e-04 4.62918382e+01] [-9.96949513e-01 -7.70544400e-02 1.24209851e-02 -1.75315594e+02] [-1.24565449e-02 -1.91418703e-05 -9.99922414e-01 -1.80008260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.15655999499995 meters 0.011899292956278541 Centerline is valid? [True, True] Translation: X:46.28, Y:-175.44, Z:-1.80 [[ 1.54318060e-01 -9.88019341e-01 -1.92824753e-03 4.62771424e+01] [-9.87939898e-01 -1.54330104e-01 1.25290832e-02 -1.75436662e+02] [-1.26765632e-02 -2.84711500e-05 -9.99919649e-01 -1.80022213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.186559995 meters 0.011966106513894853 Centerline is valid? [True, True] Translation: X:46.27, Y:-175.55, Z:-1.80 [[ 2.30613237e-01 -9.73041067e-01 -2.93541136e-03 4.62706514e+01] [-9.72959970e-01 -2.30631914e-01 1.25625553e-02 -1.75553475e+02] [-1.29008817e-02 -4.10537861e-05 -9.99916779e-01 -1.80031994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.21655999499995 meters 0.012005306332281125 Centerline is valid? [True, True] Translation: X:46.27, Y:-175.67, Z:-1.80 [[ 3.05932413e-01 -9.52045233e-01 -3.90281773e-03 4.62739465e+01] [-9.51965392e-01 -3.05957301e-01 1.23297507e-02 -1.75673711e+02] [-1.29325760e-02 -5.67229872e-05 -9.99916369e-01 -1.80033151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.246559995 meters 0.012019912151537684 Centerline is valid? [True, True] Translation: X:46.29, Y:-175.79, Z:-1.80 [[ 3.80245348e-01 -9.24872920e-01 -4.85361415e-03 4.62861859e+01] [-9.24794705e-01 -3.80276314e-01 1.20282090e-02 -1.75793524e+02] [-1.29702793e-02 -8.50738498e-05 -9.99915879e-01 -1.80167276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.27655999499996 meters 0.012148462812223617 Centerline is valid? [True, True] Translation: X:46.31, Y:-175.91, Z:-1.80 [[ 4.51346539e-01 -8.92330596e-01 -5.69288894e-03 4.63064373e+01] [-8.92256797e-01 -4.51382429e-01 1.14765548e-02 -1.75909027e+02] [-1.28105510e-02 -1.00384431e-04 -9.99917937e-01 -1.80134316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.306559995 meters 0.012359746622713826 Centerline is valid? [True, True] Translation: X:46.33, Y:-176.02, Z:-1.80 [[ 5.19717061e-01 -8.54312330e-01 -6.67970726e-03 4.63347130e+01] [-8.54238761e-01 -5.19759971e-01 1.12121464e-02 -1.76021628e+02] [-1.30505194e-02 -1.21078931e-04 -9.99914831e-01 -1.80135579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.33655999499996 meters 0.01246501805335193 Centerline is valid? [True, True] Translation: X:46.37, Y:-176.13, Z:-1.80 [[ 5.84710586e-01 -8.11206612e-01 -7.57386892e-03 4.63724199e+01] [-8.11135442e-01 -5.84759620e-01 1.07462399e-02 -1.76132185e+02] [-1.31463136e-02 -1.40006708e-04 -9.99913574e-01 -1.80147605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.366559995 meters 0.013050029792057301 Centerline is valid? [True, True] Translation: X:46.41, Y:-176.24, Z:-1.80 [[ 6.47083316e-01 -7.62375515e-01 -8.17049760e-03 4.64145954e+01] [-7.62311369e-01 -6.47134874e-01 9.89103012e-03 -1.76237218e+02] [-1.28280931e-02 -1.71857358e-04 -9.99917702e-01 -1.80138321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.39655999499996 meters 0.013359558206235219 Centerline is valid? [True, True] Translation: X:46.46, Y:-176.34, Z:-1.80 [[ 7.04252868e-01 -7.09894981e-01 -8.77575337e-03 4.64639508e+01] [-7.09836572e-01 -7.04307519e-01 9.10822126e-03 -1.76336533e+02] [-1.26467096e-02 -1.85140252e-04 -9.99920010e-01 -1.80105089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.426559995 meters 0.014419542516386824 Centerline is valid? [True, True] Translation: X:46.52, Y:-176.43, Z:-1.80 [[ 7.56791926e-01 -6.53594353e-01 -8.96675600e-03 4.65175839e+01] [-6.53545550e-01 -7.56845022e-01 7.98914352e-03 -1.76430382e+02] [-1.20081037e-02 -1.85935828e-04 -9.99927883e-01 -1.79984345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.45655999499996 meters 0.013446905008808496 Centerline is valid? [True, True] Translation: X:46.52, Y:-176.44, Z:-1.80 [[ 8.05696341e-01 -5.92258870e-01 -9.10147389e-03 4.65165441e+01] [-5.92218556e-01 -8.05747727e-01 6.91250241e-03 -1.76437671e+02] [-1.14274828e-02 -1.79316172e-04 -9.99934688e-01 -1.80180241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.48655999499994 meters 0.013502632788115084 Centerline is valid? [True, True] Translation: X:46.52, Y:-176.45, Z:-1.80 [[ 8.49538158e-01 -5.27462031e-01 -8.28994548e-03 4.65150332e+01] [-5.27435135e-01 -8.49578591e-01 5.32885798e-03 -1.76446837e+02] [-9.85373045e-03 -1.54659687e-04 -9.99951439e-01 -1.80269978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.51655999499997 meters 0.013441947843864635 Centerline is valid? [True, True] Translation: X:46.51, Y:-176.46, Z:-1.80 [[ 8.87999070e-01 -4.59774101e-01 -8.08871138e-03 4.65142864e+01] [-4.59753579e-01 -8.88035898e-01 4.34638652e-03 -1.76455518e+02] [-9.18142203e-03 -1.40773188e-04 -9.99957840e-01 -1.80306923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.54655999499994 meters 0.013442309151319888 Centerline is valid? [True, True] Translation: X:46.51, Y:-176.46, Z:-1.80 [[ 9.21004712e-01 -3.89476147e-01 -7.65834680e-03 4.65141953e+01] [-3.89461568e-01 -9.21036544e-01 3.37221886e-03 -1.76462927e+02] [-8.36701607e-03 -1.23197709e-04 -9.99964988e-01 -1.80292955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.57655999499997 meters 0.012954383792787632 Centerline is valid? [True, True] Translation: X:46.52, Y:-176.47, Z:-1.80 [[ 9.48129473e-01 -3.17802232e-01 -7.22805453e-03 4.65155428e+01] [-3.17792188e-01 -9.48157018e-01 2.52856826e-03 -1.76470373e+02] [-7.65691527e-03 -1.00390825e-04 -9.99970680e-01 -1.80339322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.60655999499994 meters 0.01284100537765725 Centerline is valid? [True, True] Translation: X:46.52, Y:-176.48, Z:-1.80 [[ 9.69853934e-01 -2.43584802e-01 -7.05623462e-03 4.65159232e+01] [-2.43577687e-01 -9.69879599e-01 1.86383360e-03 -1.76477381e+02] [-7.29769954e-03 -8.89050446e-05 -9.99973368e-01 -1.80325543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.63655999499997 meters 0.012588420731988485 Centerline is valid? [True, True] Translation: X:46.52, Y:-176.49, Z:-1.80 [[ 9.85713604e-01 -1.68286748e-01 -6.94702312e-03 4.65177594e+01] [-1.68282019e-01 -9.85738081e-01 1.26386794e-03 -1.76485201e+02] [-7.06063747e-03 -7.67527432e-05 -9.99975070e-01 -1.80307297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.66655999499994 meters 0.012409946890683669 Centerline is valid? [True, True] Translation: X:46.52, Y:-176.49, Z:-1.80 [[ 9.95757843e-01 -9.17557978e-02 -6.86967958e-03 4.65157538e+01] [-9.17531516e-02 -9.95781537e-01 7.00043861e-04 -1.76491728e+02] [-6.90493317e-03 -6.67594130e-05 -9.99976158e-01 -1.80247121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.696559995 meters 0.012094123485162353 Centerline is valid? [True, True] Translation: X:46.52, Y:-176.50, Z:-1.80 [[ 9.99842117e-01 -1.55757731e-02 -8.55199958e-03 4.65152219e+01] [-1.55746457e-02 -9.99878688e-01 1.98425481e-04 -1.76499191e+02] [-8.55405275e-03 -6.51997896e-05 -9.99963411e-01 -1.80045251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.72655999499995 meters 0.011980260868412368 Centerline is valid? [True, True] Translation: X:46.52, Y:-176.51, Z:-1.80 [[ 9.98058309e-01 6.16548670e-02 -8.84815470e-03 4.65150235e+01] [ 6.16529559e-02 -9.98097527e-01 -4.88849818e-04 -1.76507836e+02] [-8.86146130e-03 -5.76142691e-05 -9.99960735e-01 -1.80004573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.756559995 meters 0.011818727867543989 Centerline is valid? [True, True] Translation: X:46.51, Y:-176.52, Z:-1.80 [[ 9.90345047e-01 1.38325589e-01 -9.09496140e-03 4.65146301e+01] [ 1.38320201e-01 -9.90386808e-01 -1.22187063e-03 -1.76515871e+02] [-9.17654576e-03 -4.79433660e-05 -9.99957894e-01 -1.79943571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.78655999499995 meters 0.011965311937579493 Centerline is valid? [True, True] Translation: X:46.52, Y:-176.52, Z:-1.80 [[ 9.76799262e-01 2.13978079e-01 -8.75116840e-03 4.65153447e+01] [ 2.13969800e-01 -9.76838462e-01 -1.88258820e-03 -1.76522657e+02] [-8.95131049e-03 -3.35749882e-05 -9.99959936e-01 -1.79753968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.816559995 meters 0.011765014426045172 Centerline is valid? [True, True] Translation: X:46.52, Y:-176.53, Z:-1.80 [[ 9.58017123e-01 2.86552228e-01 -9.54007378e-03 4.65164453e+01] [ 2.86538057e-01 -9.58064622e-01 -2.84975762e-03 -1.76528173e+02] [-9.95661158e-03 -3.47761214e-06 -9.99950432e-01 -1.79863982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.84655999499995 meters 0.011833445476929204 Centerline is valid? [True, True] Translation: X:46.52, Y:-176.53, Z:-1.80 [[ 9.33389359e-01 3.58723433e-01 -1.00897324e-02 4.65184483e+01] [ 3.58702262e-01 -9.33443891e-01 -3.89738283e-03 -1.76534875e+02] [-1.08162816e-02 1.85658345e-05 -9.99941502e-01 -1.79796750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.876559995 meters 0.011886530789955944 Centerline is valid? [True, True] Translation: X:46.52, Y:-176.54, Z:-1.80 [[ 9.03225182e-01 4.29045677e-01 -1.02018376e-02 4.65209886e+01] [ 4.29017807e-01 -9.03282794e-01 -4.89042423e-03 -1.76541309e+02] [-1.13133597e-02 4.03843462e-05 -9.99936001e-01 -1.79759640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.90655999499995 meters 0.012010562893371188 Centerline is valid? [True, True] Translation: X:46.52, Y:-176.55, Z:-1.80 [[ 8.67793383e-01 4.96824568e-01 -9.99970842e-03 4.65245898e+01] [ 4.96790751e-01 -8.67850992e-01 -5.79699542e-03 -1.76548414e+02] [-1.15583466e-02 6.28316139e-05 -9.99933198e-01 -1.79735344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.936559995 meters 0.01249513251681452 Centerline is valid? [True, True] Translation: X:46.53, Y:-176.55, Z:-1.80 [[ 8.28175676e-01 5.60389582e-01 -9.41090620e-03 4.65268881e+01] [ 5.60352004e-01 -8.28229138e-01 -6.49048046e-03 -1.76554864e+02] [-1.14315844e-02 1.01837898e-04 -9.99934652e-01 -1.79630560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.96655999499995 meters 0.012781717831756339 Centerline is valid? [True, True] Translation: X:46.53, Y:-176.56, Z:-1.80 [[ 7.82883950e-01 6.22109242e-01 -8.53302174e-03 4.65307369e+01] [ 6.22070651e-01 -7.82930442e-01 -6.93022547e-03 -1.76560711e+02] [-1.09921198e-02 1.17419904e-04 -9.99939578e-01 -1.79633847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.996559995 meters 0.01297999561670597 Centerline is valid? [True, True] Translation: X:46.53, Y:-176.57, Z:-1.80 [[ 7.32737007e-01 6.80469090e-01 -7.63524213e-03 4.65346298e+01] [ 6.80430325e-01 -7.32776775e-01 -7.26441849e-03 -1.76566086e+02] [-1.05381403e-02 1.27657983e-04 -9.99944464e-01 -1.79681073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.02655999499996 meters 0.013151760798451402 Centerline is valid? [True, True] Translation: X:46.54, Y:-176.57, Z:-1.80 [[ 6.78217737e-01 7.34830908e-01 -6.65122575e-03 4.65388109e+01] [ 7.34793622e-01 -6.78250337e-01 -7.40364187e-03 -1.76571863e+02] [-9.95162097e-03 1.34002974e-04 -9.99950472e-01 -1.79755152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.056559995 meters 0.013267970201918186 Centerline is valid? [True, True] Translation: X:46.54, Y:-176.58, Z:-1.80 [[ 6.19355623e-01 7.85088247e-01 -5.92094521e-03 4.65438848e+01] [ 7.85050182e-01 -6.19383908e-01 -7.73212752e-03 -1.76578124e+02] [-9.73774061e-03 1.40697538e-04 -9.99952577e-01 -1.79799704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.08655999499996 meters 0.013326852854974824 Centerline is valid? [True, True] Translation: X:46.55, Y:-176.58, Z:-1.80 [[ 5.56400395e-01 8.30898864e-01 -5.06745471e-03 4.65502221e+01] [ 8.30862101e-01 -5.56423453e-01 -7.81731497e-03 -1.76584419e+02] [-9.31504877e-03 1.39201068e-04 -9.99956604e-01 -1.79890468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.116559995 meters 0.013354212540411659 Centerline is valid? [True, True] Translation: X:46.56, Y:-176.59, Z:-1.80 [[ 4.88893540e-01 8.72333544e-01 -4.15878674e-03 4.65563703e+01] [ 8.72299818e-01 -4.88911212e-01 -7.67166116e-03 -1.76591217e+02] [-8.72552484e-03 1.22916669e-04 -9.99961924e-01 -1.79901549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.14655999499996 meters 0.01287322270213217 Centerline is valid? [True, True] Translation: X:46.57, Y:-176.60, Z:-1.80 [[ 4.17767307e-01 9.08548137e-01 -3.28021611e-03 4.65663048e+01] [ 9.08518192e-01 -4.17780172e-01 -7.37723067e-03 -1.76598616e+02] [-8.07297843e-03 1.01829782e-04 -9.99967408e-01 -1.79964610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.176559995 meters 0.012777115540665775 Centerline is valid? [True, True] Translation: X:46.57, Y:-176.60, Z:-1.80 [[ 3.43731470e-01 9.39064485e-01 -2.56315082e-03 4.65748429e+01] [ 9.39036535e-01 -3.43741016e-01 -7.24562650e-03 -1.76604502e+02] [-7.68517058e-03 8.36575818e-05 -9.99970465e-01 -1.79934012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.20655999499996 meters 0.01211805707233143 Centerline is valid? [True, True] Translation: X:46.58, Y:-176.61, Z:-1.80 [[ 2.65043031e-01 9.64235003e-01 -1.74659769e-03 4.65839667e+01] [ 9.64212931e-01 -2.65048782e-01 -6.52436639e-03 -1.76609144e+02] [-6.75395604e-03 4.51457670e-05 -9.99977191e-01 -1.79994741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.23655999499994 meters 0.011805988343980327 Centerline is valid? [True, True] Translation: X:46.59, Y:-176.61, Z:-1.80 [[ 1.86678625e-01 9.82420318e-01 -1.18722601e-03 4.65941838e+01] [ 9.82399409e-01 -1.86682398e-01 -6.40966737e-03 -1.76613279e+02] [-6.51862165e-03 3.02177628e-05 -9.99978753e-01 -1.80049760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.26655999499997 meters 0.011701364032804307 Centerline is valid? [True, True] Translation: X:46.61, Y:-176.62, Z:-1.80 [[ 1.07109310e-01 9.94247031e-01 -6.60703575e-04 4.66059819e+01] [ 9.94227167e-01 -1.07111347e-01 -6.28497204e-03 -1.76616396e+02] [-6.31958364e-03 1.62895752e-05 -9.99980031e-01 -1.80076919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.29655999499994 meters 0.011722170755645757 Centerline is valid? [True, True] Translation: X:46.62, Y:-176.62, Z:-1.80 [[ 2.42978274e-02 9.99704751e-01 -1.60497051e-04 4.66190888e+01] [ 9.99686119e-01 -2.42983544e-02 -6.10357112e-03 -1.76619517e+02] [-6.10566886e-03 -1.21431570e-05 -9.99981360e-01 -1.80031503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.32655999499997 meters 0.011761746667655231 Centerline is valid? [True, True] Translation: X:46.63, Y:-176.62, Z:-1.80 [[-5.65438918e-02 9.98400066e-01 3.11436185e-04 4.66316493e+01] [ 9.98382220e-01 5.65447433e-02 -5.96950023e-03 -1.76620633e+02] [-5.97755950e-03 -2.66064261e-05 -9.99982134e-01 -1.80051347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.35655999499994 meters 0.011950514329485962 Centerline is valid? [True, True] Translation: X:46.64, Y:-176.62, Z:-1.80 [[-1.36533114e-01 9.90635164e-01 8.25123494e-04 4.66431693e+01] [ 9.90615234e-01 1.36535602e-01 -6.28398814e-03 -1.76621852e+02] [-6.33779835e-03 -4.05925683e-05 -9.99979915e-01 -1.80006807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.38655999499997 meters 0.012347600720069428 Centerline is valid? [True, True] Translation: X:46.65, Y:-176.62, Z:-1.80 [[-2.16416946e-01 9.76300125e-01 1.33085272e-03 4.66541009e+01] [ 9.76279953e-01 2.16421030e-01 -6.27617458e-03 -1.76621214e+02] [-6.41545455e-03 -5.89856996e-05 -9.99979419e-01 -1.79974165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.41655999499994 meters 0.012587654203815182 Centerline is valid? [True, True] Translation: X:46.66, Y:-176.62, Z:-1.80 [[-2.93405326e-01 9.55986277e-01 1.88477003e-03 4.66624758e+01] [ 9.55965005e-01 2.93411371e-01 -6.37781711e-03 -1.76619789e+02] [-6.65011859e-03 -6.95113162e-05 -9.99977885e-01 -1.79947701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.446559995 meters 0.012546503489544853 Centerline is valid? [True, True] Translation: X:46.67, Y:-176.62, Z:-1.80 [[-3.67813634e-01 9.29896211e-01 2.48357901e-03 4.66711369e+01] [ 9.29873598e-01 3.67822011e-01 -6.48540118e-03 -1.76617251e+02] [-6.94426501e-03 -7.60044225e-05 -9.99975885e-01 -1.79962738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.47655999499995 meters 0.01264263917383419 Centerline is valid? [True, True] Translation: X:46.68, Y:-176.61, Z:-1.80 [[-4.39731226e-01 8.98123707e-01 3.20243415e-03 4.66797358e+01] [ 8.98098492e-01 4.39742879e-01 -6.73046418e-03 -1.76613784e+02] [-7.45303705e-03 -8.34939880e-05 -9.99972222e-01 -1.79918296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.506559995 meters 0.012751830141538419 Centerline is valid? [True, True] Translation: X:46.69, Y:-176.61, Z:-1.80 [[-5.08387313e-01 8.61118856e-01 4.08120232e-03 4.66878633e+01] [ 8.61089703e-01 5.08403687e-01 -7.08618654e-03 -1.76610880e+02] [-8.17694715e-03 -8.82460408e-05 -9.99966564e-01 -1.79803179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.53655999499995 meters 0.012698892795766874 Centerline is valid? [True, True] Translation: X:46.69, Y:-176.61, Z:-1.80 [[-5.73591614e-01 8.19127787e-01 4.72539008e-03 4.66930666e+01] [ 8.19098788e-01 5.73611073e-01 -6.89296056e-03 -1.76608107e+02] [-8.35675159e-03 -8.31830893e-05 -9.99965078e-01 -1.79831416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.566559995 meters 0.012643722625739286 Centerline is valid? [True, True] Translation: X:46.70, Y:-176.61, Z:-1.80 [[-6.34781459e-01 7.72671887e-01 5.53664558e-03 4.66983317e+01] [ 7.72641477e-01 6.34805600e-01 -6.85550838e-03 -1.76606382e+02] [-8.81175222e-03 -7.39075913e-05 -9.99961173e-01 -1.79837897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.59655999499995 meters 0.01234346142056782 Centerline is valid? [True, True] Translation: X:46.70, Y:-176.60, Z:-1.80 [[-6.90682627e-01 7.23130682e-01 6.28695350e-03 4.67016918e+01] [ 7.23100156e-01 6.90711238e-01 -6.64449656e-03 -1.76603215e+02] [-9.14730877e-03 -4.31412763e-05 -9.99958162e-01 -1.79836175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.626559995 meters 0.012213599297955933 Centerline is valid? [True, True] Translation: X:46.71, Y:-176.60, Z:-1.80 [[-7.43493953e-01 6.68707531e-01 6.85419603e-03 4.67061345e+01] [ 6.68678866e-01 7.43525546e-01 -6.19164023e-03 -1.76598829e+02] [-9.23666630e-03 -2.01910435e-05 -9.99957341e-01 -1.79878154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.65655999499995 meters 0.01234073060412246 Centerline is valid? [True, True] Translation: X:46.73, Y:-176.59, Z:-1.80 [[-7.87379078e-01 6.16422845e-01 7.55405261e-03 4.67304386e+01] [ 6.16394516e-01 7.87415314e-01 -5.90961615e-03 -1.76585548e+02] [-9.59099911e-03 3.16849355e-06 -9.99954005e-01 -1.79822973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.686559995 meters 0.012432124481405913 Centerline is valid? [True, True] Translation: X:47.15, Y:-176.06, Z:-2.79 [[-7.45931933e-01 -6.65982654e-01 7.25648010e-03 4.71456218e+01] [ 6.65951201e-01 -7.45967228e-01 -6.47247105e-03 -1.76060390e+02] [ 9.72364979e-03 4.43879813e-06 9.99952724e-01 -2.79142835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.71655999499995 meters 0.012675244607889817 Centerline is valid? [True, True] Translation: X:46.69, Y:-176.57, Z:-1.80 [[-7.85557461e-01 6.18738148e-01 7.91076444e-03 4.66947716e+01] [ 6.18707650e-01 7.85597289e-01 -6.14355983e-03 -1.76565145e+02] [-1.00159299e-02 6.83312205e-05 -9.99949837e-01 -1.80042052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.746559995 meters 0.013415316869956256 Centerline is valid? [True, True] Translation: X:46.71, Y:-176.54, Z:-1.80 [[-8.26401973e-01 5.63019899e-01 8.26876700e-03 4.67102207e+01] [ 5.62992750e-01 8.26443335e-01 -5.52965647e-03 -1.76544612e+02] [-9.94697400e-03 8.55368514e-05 -9.99950524e-01 -1.79918051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.77655999499996 meters 0.013211175497533638 Centerline is valid? [True, True] Translation: X:46.73, Y:-176.52, Z:-1.80 [[-8.63543459e-01 5.04199988e-01 8.66406760e-03 4.67279568e+01] [ 5.04175753e-01 8.63586916e-01 -4.94453628e-03 -1.76522804e+02] [-9.97521056e-03 9.83908377e-05 -9.99950242e-01 -1.80032717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.806559995 meters 0.013512471544814261 Centerline is valid? [True, True] Translation: X:46.74, Y:-176.50, Z:-1.80 [[-8.96496990e-01 4.42968378e-01 8.49492903e-03 4.67421582e+01] [ 4.42949605e-01 8.96537230e-01 -4.07950047e-03 -1.76499984e+02] [-9.42310985e-03 1.05565567e-04 -9.99955596e-01 -1.80018220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.83655999499996 meters 0.013712268296793895 Centerline is valid? [True, True] Translation: X:46.75, Y:-176.48, Z:-1.80 [[-9.24903919e-01 3.80083930e-01 9.43119166e-03 4.67530569e+01] [ 3.80065635e-01 9.24951993e-01 -3.73152463e-03 -1.76475360e+02] [-1.01416921e-02 1.33170099e-04 -9.99948563e-01 -1.80111134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.866559995 meters 0.013812723513495195 Centerline is valid? [True, True] Translation: X:47.01, Y:-175.84, Z:-2.79 [[-9.08781408e-01 -4.17166413e-01 9.40940397e-03 4.70114213e+01] [ 4.17142680e-01 -9.08830110e-01 -4.45137433e-03 -1.75839283e+02] [ 1.04085135e-02 -1.20262235e-04 9.99945823e-01 -2.78944593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.89655999499996 meters 0.014483057160534605 Centerline is valid? [True, True] Translation: X:46.71, Y:-176.46, Z:-1.80 [[-9.25620270e-01 3.78323265e-01 9.93091945e-03 4.67107231e+01] [ 3.78303341e-01 9.25673529e-01 -3.88589677e-03 -1.76461793e+02] [-1.06629144e-02 1.60035191e-04 -9.99943137e-01 -1.79983556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.926559995 meters 0.014483057160534605 Centerline is valid? [True, True] Translation: X:46.72, Y:-176.44, Z:-1.80 [[-9.50117304e-01 3.11726555e-01 1.01815074e-02 4.67195210e+01] [ 3.11710458e-01 9.50171842e-01 -3.17187159e-03 -1.76435112e+02] [-1.06629383e-02 1.60032258e-04 -9.99943136e-01 -1.79983530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.95655999499996 meters 0.015359641088879912 Centerline is valid? [True, True] Translation: X:46.93, Y:-175.77, Z:-2.79 [[-9.38175170e-01 -3.46026507e-01 9.64404553e-03 4.69313550e+01] [ 3.46006303e-01 -9.38224721e-01 -3.74332254e-03 -1.75774858e+02] [ 1.03435707e-02 -1.74991721e-04 9.99946489e-01 -2.79018245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.98655999499994 meters 0.014344441178553633 Centerline is valid? [True, True] Translation: X:46.67, Y:-176.42, Z:-1.80 [[-9.50842431e-01 3.09530425e-01 9.46510366e-03 4.66737201e+01] [ 3.09516796e-01 9.50889525e-01 -2.90923379e-03 -1.76422644e+02] [-9.90076430e-03 1.63385630e-04 -9.99950973e-01 -1.80125252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.01655999499997 meters 0.014440009209252634 Centerline is valid? [True, True] Translation: X:46.88, Y:-175.76, Z:-2.79 [[-9.39598797e-01 -3.42152929e-01 9.24519415e-03 4.68752550e+01] [ 3.42134650e-01 -9.39644266e-01 -3.54043538e-03 -1.75760804e+02] [ 9.89856401e-03 -1.63487566e-04 9.99950995e-01 -2.78949514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.04655999499994 meters 0.014521552294255169 Centerline is valid? [True, True] Translation: X:46.62, Y:-176.41, Z:-1.80 [[-9.52079190e-01 3.05718049e-01 9.03833144e-03 4.66227384e+01] [ 3.05705808e-01 9.52122078e-01 -2.74006103e-03 -1.76406368e+02] [-9.44328102e-03 1.54315329e-04 -9.99955399e-01 -1.80029917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.07655999499997 meters 0.014407438096566437 Centerline is valid? [True, True] Translation: X:46.63, Y:-176.38, Z:-1.80 [[-9.71557261e-01 2.36623172e-01 9.27167527e-03 4.66338721e+01] [ 2.36613844e-01 9.71601489e-01 -2.10620634e-03 -1.76379626e+02] [-9.50675072e-03 1.47506664e-04 -9.99954799e-01 -1.80037797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.10655999499994 meters 0.014412985340657951 Centerline is valid? [True, True] Translation: X:46.79, Y:-175.71, Z:-2.79 [[-9.62073862e-01 -2.72633564e-01 9.21001288e-03 4.67891086e+01] [ 2.72619653e-01 -9.62117934e-01 -2.75772971e-03 -1.75709369e+02] [ 9.61296825e-03 -1.42309158e-04 9.99953784e-01 -2.79028030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.13655999499997 meters 0.014238997145624288 Centerline is valid? [True, True] Translation: X:46.58, Y:-176.37, Z:-1.80 [[-9.72833133e-01 2.31314110e-01 9.45922824e-03 4.65839214e+01] [ 2.31304528e-01 9.72879111e-01 -2.10979320e-03 -1.76367526e+02] [-9.69071050e-03 1.35485593e-04 -9.99953035e-01 -1.79946230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.16655999499994 meters 0.014024704961017119 Centerline is valid? [True, True] Translation: X:46.74, Y:-175.70, Z:-2.79 [[-9.62621690e-01 -2.70688035e-01 9.35246989e-03 4.67360127e+01] [ 2.70673923e-01 -9.62667113e-01 -2.76725181e-03 -1.75700354e+02] [ 9.75237714e-03 -1.32346906e-04 9.99952436e-01 -2.79108373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.196559995 meters 0.013799918804460421 Centerline is valid? [True, True] Translation: X:46.54, Y:-176.35, Z:-1.80 [[-9.74252859e-01 2.25256110e-01 9.54209278e-03 4.65352936e+01] [ 2.25246456e-01 9.74299580e-01 -2.08858588e-03 -1.76354504e+02] [-9.76732372e-03 1.14511818e-04 -9.99952292e-01 -1.79865757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.22655999499995 meters 0.013547521755972545 Centerline is valid? [True, True] Translation: X:46.53, Y:-176.32, Z:-1.80 [[-9.88032559e-01 1.53932021e-01 9.82832136e-03 4.65347983e+01] [ 1.53925415e-01 9.88081435e-01 -1.42951592e-03 -1.76324332e+02] [-9.93123015e-03 1.00420176e-04 -9.99950679e-01 -1.79827954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.256559995 meters 0.013043692153600859 Centerline is valid? [True, True] Translation: X:46.54, Y:-176.29, Z:-1.80 [[-9.96738299e-01 8.00487328e-02 1.02451654e-02 4.65354687e+01] [ 8.00452221e-02 9.96790949e-01 -7.52914741e-04 -1.76292790e+02] [-1.02725580e-02 6.96175807e-05 -9.99947233e-01 -1.79725996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.28655999499995 meters 0.012637777681103822 Centerline is valid? [True, True] Translation: X:46.53, Y:-176.26, Z:-1.80 [[-9.99921410e-01 7.18389495e-03 1.02745122e-02 4.65253025e+01] [ 7.18404316e-03 9.99974194e-01 -2.24825250e-05 -1.76262366e+02] [-1.02744086e-02 5.13317811e-05 -9.99947216e-01 -1.79826910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.316559995 meters 0.012384898086503995 Centerline is valid? [True, True] Translation: X:46.52, Y:-176.23, Z:-1.80 [[-9.97794835e-01 -6.56181123e-02 9.98654174e-03 4.65172641e+01] [-6.56144864e-02 9.97844809e-01 6.90642097e-04 -1.76233347e+02] [-1.00103375e-02 3.38573102e-05 -9.99949895e-01 -1.79809931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.34655999499995 meters 0.012281197253382057 Centerline is valid? [True, True] Translation: X:46.51, Y:-176.20, Z:-1.80 [[-9.90176221e-01 -1.39507518e-01 9.41826599e-03 4.65084186e+01] [-1.39501165e-01 9.90221012e-01 1.33141807e-03 -1.76204397e+02] [-9.51190771e-03 4.47943877e-06 -9.99954761e-01 -1.79833528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.376559995 meters 0.012269703153204052 Centerline is valid? [True, True] Translation: X:46.41, Y:-175.55, Z:-2.79 [[-9.97360935e-01 7.19432833e-02 9.76366080e-03 4.64131286e+01] [-7.19396956e-02 -9.97408725e-01 7.18625389e-04 -1.75553201e+02] [ 9.79006074e-03 1.43341038e-05 9.99952076e-01 -2.79188696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.40655999499995 meters 0.012240921020004595 Centerline is valid? [True, True] Translation: X:46.41, Y:-176.21, Z:-1.80 [[-9.88884568e-01 -1.48374034e-01 9.61544938e-03 4.64061752e+01] [-1.48367229e-01 9.88931315e-01 1.42117922e-03 -1.76214988e+02] [-9.71988510e-03 -2.12353815e-05 -9.99952761e-01 -1.79817366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.436559995 meters 0.012296276687370902 Centerline is valid? [True, True] Translation: X:46.31, Y:-175.57, Z:-2.79 [[-9.97089143e-01 7.56850712e-02 9.22017637e-03 4.63074090e+01] [-7.56819471e-02 -9.97131772e-01 6.87772371e-04 -1.75570668e+02] [ 9.24578490e-03 -1.20305361e-05 9.99957257e-01 -2.79270079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.46655999499995 meters 0.012244056064961812 Centerline is valid? [True, True] Translation: X:46.30, Y:-176.23, Z:-1.80 [[-9.87561758e-01 -1.56994370e-01 8.63376678e-03 4.62971730e+01] [-1.56988732e-01 9.87599497e-01 1.33103829e-03 -1.76226754e+02] [-8.73566925e-03 -4.09215843e-05 -9.99961843e-01 -1.79767221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.496559995 meters 0.012379945713580408 Centerline is valid? [True, True] Translation: X:46.20, Y:-175.59, Z:-2.79 [[-9.96737108e-01 8.02869802e-02 8.31491580e-03 4.61957036e+01] [-8.02840799e-02 -9.96771790e-01 6.82550272e-04 -1.75588028e+02] [ 8.34287340e-03 1.27678206e-05 9.99965198e-01 -2.79293569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.52655999499996 meters 0.012242418858694225 Centerline is valid? [True, True] Translation: X:46.19, Y:-176.24, Z:-1.80 [[-9.86647825e-01 -1.62655080e-01 8.33030612e-03 4.61932900e+01] [-1.62649588e-01 9.86682990e-01 1.33715887e-03 -1.76242030e+02] [-8.43686703e-03 -3.56159640e-05 -9.99964408e-01 -1.79729619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.556559995 meters 0.012137736880244773 Centerline is valid? [True, True] Translation: X:46.17, Y:-176.22, Z:-1.80 [[-9.73005536e-01 -2.30648102e-01 7.85362795e-03 4.61700493e+01] [-2.30640708e-01 9.73037231e-01 1.84690089e-03 -1.76220817e+02] [-8.06785658e-03 -1.43215214e-05 -9.99967454e-01 -1.79764364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.58655999499996 meters 0.012090493690126939 Centerline is valid? [True, True] Translation: X:46.13, Y:-176.20, Z:-1.80 [[-9.54177552e-01 -2.99143658e-01 7.63350514e-03 4.61345199e+01] [-2.99134106e-01 9.54208086e-01 2.39054265e-03 -1.76203382e+02] [-7.99906800e-03 -2.43959864e-06 -9.99968007e-01 -1.79797487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.616559995 meters 0.012169964662251023 Centerline is valid? [True, True] Translation: X:46.08, Y:-176.20, Z:-1.80 [[-9.30260578e-01 -3.66822276e-01 7.52831827e-03 4.60759361e+01] [-3.66810171e-01 9.30291039e-01 2.98005209e-03 -1.76195937e+02] [-8.09667652e-03 1.07612684e-05 -9.99967221e-01 -1.79744400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.64655999499996 meters 0.012242534208763095 Centerline is valid? [True, True] Translation: X:46.01, Y:-176.20, Z:-1.80 [[-9.01237438e-01 -4.33259175e-01 7.58732475e-03 4.60103280e+01] [-4.33243607e-01 9.01269375e-01 3.67290823e-03 -1.76195402e+02] [-8.42954463e-03 2.30024587e-05 -9.99964471e-01 -1.79718747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.676559995 meters 0.012464569557253368 Centerline is valid? [True, True] Translation: X:45.94, Y:-176.21, Z:-1.80 [[-8.68119588e-01 -4.96295783e-01 7.67314667e-03 4.59378442e+01] [-4.96275869e-01 8.68153496e-01 4.44616348e-03 -1.76205292e+02] [-8.86808130e-03 5.18040705e-05 -9.99960676e-01 -1.79705757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.70655999499996 meters 0.012597721753707752 Centerline is valid? [True, True] Translation: X:45.86, Y:-176.22, Z:-1.80 [[-8.29465945e-01 -5.58507782e-01 7.43663181e-03 4.58574518e+01] [-5.58484613e-01 8.29499278e-01 5.08760788e-03 -1.76224578e+02] [-9.01014931e-03 6.67530346e-05 -9.99959406e-01 -1.79709424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.73655999499994 meters 0.012671993429352376 Centerline is valid? [True, True] Translation: X:45.77, Y:-176.25, Z:-1.80 [[-7.86021490e-01 -6.18158856e-01 7.06023923e-03 4.57724181e+01] [-6.18133009e-01 7.86053193e-01 5.65341558e-03 -1.76254024e+02] [-9.04443250e-03 7.95392200e-05 -9.99959095e-01 -1.79726644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.76655999499997 meters 0.013047690439289973 Centerline is valid? [True, True] Translation: X:45.69, Y:-176.29, Z:-1.80 [[-7.38287364e-01 -6.74454689e-01 6.52994733e-03 4.56865091e+01] [-6.74427183e-01 7.38316235e-01 6.09190666e-03 -1.76292840e+02] [-8.92988114e-03 9.36037307e-05 -9.99960123e-01 -1.79717856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.79655999499994 meters 0.013469141022674219 Centerline is valid? [True, True] Translation: X:45.60, Y:-176.34, Z:-1.80 [[-6.87182660e-01 -7.26461529e-01 5.79987962e-03 4.56011945e+01] [-7.26434240e-01 6.87207126e-01 6.29766620e-03 -1.76341496e+02] [-8.56073082e-03 1.14415870e-04 -9.99963350e-01 -1.79695779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.82655999499997 meters 0.013885396450518511 Centerline is valid? [True, True] Translation: X:45.51, Y:-176.40, Z:-1.80 [[-6.31177909e-01 -7.75619083e-01 5.43004358e-03 4.55137748e+01] [-7.75588603e-01 6.31201253e-01 6.87723424e-03 -1.76403175e+02] [-8.76156442e-03 1.29278413e-04 -9.99961608e-01 -1.79679208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.85655999499994 meters 0.014242504334266513 Centerline is valid? [True, True] Translation: X:45.43, Y:-176.47, Z:-1.80 [[-5.71390857e-01 -8.20664188e-01 4.77264495e-03 4.54321053e+01] [-8.20633520e-01 5.71410773e-01 7.09616008e-03 -1.76469726e+02] [-8.55070519e-03 1.38088572e-04 -9.99963433e-01 -1.79705165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.88655999499997 meters 0.014619036571080789 Centerline is valid? [True, True] Translation: X:45.35, Y:-176.55, Z:-1.80 [[-5.08279041e-01 -8.61181831e-01 4.27425914e-03 4.53529458e+01] [-8.61148829e-01 5.08296990e-01 7.54083580e-03 -1.76546502e+02] [-8.66662384e-03 1.52075534e-04 -9.99962433e-01 -1.79745075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.91655999499994 meters 0.015171661933267463 Centerline is valid? [True, True] Translation: X:45.28, Y:-176.63, Z:-1.80 [[-4.43249844e-01 -8.96390837e-01 3.61153461e-03 4.52794015e+01] [-8.96357867e-01 4.43264524e-01 7.68999379e-03 -1.76631450e+02] [-8.49410514e-03 1.71361091e-04 -9.99963910e-01 -1.79824950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.946559995 meters 0.015408817355740836 Centerline is valid? [True, True] Translation: X:45.21, Y:-176.73, Z:-1.80 [[-3.74170865e-01 -9.27354633e-01 3.08996039e-03 4.52093038e+01] [-9.27318847e-01 3.74183578e-01 8.14897804e-03 -1.76725903e+02] [-8.71320498e-03 1.83731650e-04 -9.99962022e-01 -1.79843389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.97655999499995 meters 0.015083242365326315 Centerline is valid? [True, True] Translation: X:45.15, Y:-176.82, Z:-1.80 [[-3.02874009e-01 -9.53027690e-01 2.35746671e-03 4.51458082e+01] [-9.52993896e-01 3.02883127e-01 8.02781159e-03 -1.76824119e+02] [-8.36476362e-03 1.84764090e-04 -9.99964998e-01 -1.79922665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.006559995 meters 0.01576849362929604 Centerline is valid? [True, True] Translation: X:45.09, Y:-176.93, Z:-1.80 [[-2.29075886e-01 -9.73407596e-01 1.37512887e-03 4.50907711e+01] [-9.73385945e-01 2.29079965e-01 6.49391335e-03 -1.76931335e+02] [-6.63623905e-03 1.49067836e-04 -9.99977969e-01 -1.80019521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.03655999499995 meters 0.015552353120067945 Centerline is valid? [True, True] Translation: X:45.04, Y:-177.04, Z:-1.80 [[-1.52968494e-01 -9.88230770e-01 7.64968637e-04 4.50418786e+01] [-9.88213895e-01 1.52970354e-01 5.77650212e-03 -1.77042051e+02] [-5.82553466e-03 1.27670194e-04 -9.99983023e-01 -1.80073627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.066559995 meters 0.01596602522910023 Centerline is valid? [True, True] Translation: X:45.00, Y:-177.16, Z:-1.80 [[-7.54025239e-02 -9.97153132e-01 3.01995172e-04 4.50023895e+01] [-9.97137854e-01 7.54030407e-02 5.52107815e-03 -1.77157904e+02] [-5.52813172e-03 1.15172410e-04 -9.99984713e-01 -1.80080003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.09655999499995 meters 0.014888778463259277 Centerline is valid? [True, True] Translation: X:44.97, Y:-177.28, Z:-1.80 [[ 2.83939910e-03 -9.99995963e-01 -1.13190620e-04 4.49690406e+01] [-9.99983116e-01 -2.83993648e-03 5.06972783e-03 -1.77276093e+02] [-5.07002881e-03 9.87937279e-05 -9.99987142e-01 -1.80133955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.126559995 meters 0.014602271679881977 Centerline is valid? [True, True] Translation: X:44.95, Y:-177.40, Z:-1.80 [[ 8.15391179e-02 -9.96670030e-01 -4.72534425e-04 4.49462126e+01] [-9.96658760e-01 -8.15404435e-02 4.74058364e-03 -1.77398844e+02] [-4.76332830e-03 8.44125661e-05 -9.99988652e-01 -1.80146829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.15655999499995 meters 0.01353750457188857 Centerline is valid? [True, True] Translation: X:44.93, Y:-177.52, Z:-1.80 [[ 1.61836447e-01 -9.86817303e-01 -7.58582393e-04 4.49299186e+01] [-9.86808114e-01 -1.61838214e-01 4.25897172e-03 -1.77523777e+02] [-4.32559460e-03 5.93184090e-05 -9.99990643e-01 -1.80173797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.186559995 meters 0.013134285691218916 Centerline is valid? [True, True] Translation: X:44.92, Y:-177.64, Z:-1.80 [[ 2.39354456e-01 -9.70931671e-01 -1.06493072e-03 4.49242340e+01] [-9.70922943e-01 -2.39356820e-01 4.11721170e-03 -1.77642684e+02] [-4.25242967e-03 4.84927053e-05 -9.99990957e-01 -1.80179161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.21655999499995 meters 0.012630675876284386 Centerline is valid? [True, True] Translation: X:44.93, Y:-177.76, Z:-1.80 [[ 3.16041268e-01 -9.48744293e-01 -1.47745820e-03 4.49285891e+01] [-9.48734479e-01 -3.16044719e-01 4.31549655e-03 -1.77764819e+02] [-4.56124558e-03 3.78405362e-05 -9.99989597e-01 -1.80186855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.246559995 meters 0.012355285771232426 Centerline is valid? [True, True] Translation: X:44.94, Y:-177.88, Z:-1.80 [[ 3.90895619e-01 -9.20433010e-01 -1.92100344e-03 4.49409293e+01] [-9.20422196e-01 -3.90900338e-01 4.46176257e-03 -1.77884103e+02] [-4.85767445e-03 2.40507596e-05 -9.99988201e-01 -1.80174163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.27655999499996 meters 0.012078856744000766 Centerline is valid? [True, True] Translation: X:44.96, Y:-178.00, Z:-1.80 [[ 4.66683044e-01 -8.84420829e-01 -2.59486849e-03 4.49581125e+01] [-8.84406994e-01 -4.66690258e-01 4.94685083e-03 -1.78003118e+02] [-5.58609776e-03 -1.36915663e-05 -9.99984398e-01 -1.80069111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.306559995 meters 0.01237858510097816 Centerline is valid? [True, True] Translation: X:44.99, Y:-178.12, Z:-1.80 [[ 5.36022282e-01 -8.44198303e-01 -3.05579695e-03 4.49897204e+01] [-8.44184205e-01 -5.36030991e-01 4.87891539e-03 -1.78121799e+02] [-5.75677396e-03 -3.55518395e-05 -9.99983429e-01 -1.80051492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.33655999499996 meters 0.012900973470995109 Centerline is valid? [True, True] Translation: X:45.02, Y:-178.23, Z:-1.80 [[ 6.01375474e-01 -7.98958504e-01 -3.58450699e-03 4.50220905e+01] [-7.98943750e-01 -6.01386154e-01 4.85567557e-03 -1.78226107e+02] [-6.03515616e-03 -5.62647461e-05 -9.99981787e-01 -1.79999200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.366559995 meters 0.013400453704856036 Centerline is valid? [True, True] Translation: X:45.06, Y:-178.33, Z:-1.80 [[ 6.63972830e-01 -7.47746929e-01 -3.82230873e-03 4.50639975e+01] [-7.47733816e-01 -6.63983827e-01 4.42912312e-03 -1.78331248e+02] [-5.84981439e-03 -8.27479158e-05 -9.99982886e-01 -1.80075006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.39655999499996 meters 0.013642469012517136 Centerline is valid? [True, True] Translation: X:45.11, Y:-178.43, Z:-1.80 [[ 7.19924339e-01 -6.94041448e-01 -3.92629411e-03 4.51123538e+01] [-6.94030461e-01 -7.19935040e-01 3.90605396e-03 -1.78426484e+02] [-5.53764005e-03 -8.70956036e-05 -9.99984663e-01 -1.80102755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.426559995 meters 0.013843438437485634 Centerline is valid? [True, True] Translation: X:45.11, Y:-178.44, Z:-1.80 [[ 7.72665492e-01 -6.34800315e-01 -4.07402769e-03 4.51106911e+01] [-6.34790874e-01 -7.72676227e-01 3.46336558e-03 -1.78438177e+02] [-5.34644990e-03 -8.98674745e-05 -9.99985704e-01 -1.80134899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.45655999499996 meters 0.014330589282691335 Centerline is valid? [True, True] Translation: X:45.11, Y:-178.45, Z:-1.80 [[ 8.20390852e-01 -5.71786157e-01 -4.40913696e-03 4.51101003e+01] [-5.71777266e-01 -8.20402695e-01 3.19000253e-03 -1.78449207e+02] [-5.44126713e-03 -9.60046193e-05 -9.99985192e-01 -1.80139257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.48655999499994 meters 0.014142003666248846 Centerline is valid? [True, True] Translation: X:45.11, Y:-178.46, Z:-1.80 [[ 8.62649858e-01 -5.05776659e-01 -5.01931309e-03 4.51114436e+01] [-5.05767386e-01 -8.62664454e-01 3.06450836e-03 -1.78458896e+02] [-5.87993978e-03 -1.04992842e-04 -9.99982708e-01 -1.80134443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.51655999499997 meters 0.014474752475764486 Centerline is valid? [True, True] Translation: X:45.11, Y:-178.47, Z:-1.80 [[ 8.99453127e-01 -4.36983576e-01 -5.42466959e-03 4.51127338e+01] [-4.36974906e-01 -8.99469479e-01 2.75465176e-03 -1.78468879e+02] [-6.08306230e-03 -1.07235652e-04 -9.99981492e-01 -1.80007113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.54655999499994 meters 0.013889109673253835 Centerline is valid? [True, True] Translation: X:45.12, Y:-178.48, Z:-1.80 [[ 9.30687150e-01 -3.65759443e-01 -6.43884898e-03 4.51158049e+01] [-3.65749796e-01 -9.30709415e-01 2.65916289e-03 -1.78478277e+02] [-6.96531131e-03 -1.19841023e-04 -9.99975735e-01 -1.79981228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.57655999499997 meters 0.013650587803336877 Centerline is valid? [True, True] Translation: X:45.12, Y:-178.49, Z:-1.80 [[ 9.56326145e-01 -2.92221028e-01 -6.86845420e-03 4.51194000e+01] [-2.92212577e-01 -9.56350802e-01 2.22568269e-03 -1.78488820e+02] [-7.21904297e-03 -1.21429848e-04 -9.99973935e-01 -1.79954105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.60655999499994 meters 0.013513101820120546 Centerline is valid? [True, True] Translation: X:45.12, Y:-178.50, Z:-1.80 [[ 9.76130405e-01 -2.17077774e-01 -6.83172990e-03 4.51235645e+01] [-2.17071637e-01 -9.76154305e-01 1.63632629e-03 -1.78498474e+02] [-7.02403262e-03 -1.14293053e-04 -9.99975325e-01 -1.79930781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.63655999499997 meters 0.013455986065221349 Centerline is valid? [True, True] Translation: X:45.13, Y:-178.51, Z:-1.80 [[ 9.90077708e-01 -1.40347539e-01 -6.97864426e-03 4.51290049e+01] [-1.40343247e-01 -9.90102296e-01 1.10340713e-03 -1.78507600e+02] [-7.06443217e-03 -1.13053205e-04 -9.99975040e-01 -1.79962149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.66655999499994 meters 0.013274810001828424 Centerline is valid? [True, True] Translation: X:45.13, Y:-178.52, Z:-1.80 [[ 9.97995050e-01 -6.29137820e-02 -6.90911746e-03 4.51315871e+01] [-6.29115288e-02 -9.98018960e-01 5.43186566e-04 -1.78516409e+02] [-6.92960414e-03 -1.07434362e-04 -9.99975984e-01 -1.79994305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.696559995 meters 0.013210428528880144 Centerline is valid? [True, True] Translation: X:45.13, Y:-178.53, Z:-1.80 [[ 9.99866181e-01 1.49588528e-02 -6.62215969e-03 4.51342828e+01] [ 1.49591851e-02 -9.99888105e-01 6.46002407e-07 -1.78525220e+02] [-6.62140904e-03 -9.97080286e-05 -9.99978073e-01 -1.80018119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.72655999499995 meters 0.012961060301348113 Centerline is valid? [True, True] Translation: X:45.14, Y:-178.53, Z:-1.80 [[ 9.95738708e-01 9.20051991e-02 -6.28245257e-03 4.51378939e+01] [ 9.20039205e-02 -9.95758523e-01 -4.92844187e-04 -1.78532907e+02] [-6.30114992e-03 -8.72662327e-05 -9.99980144e-01 -1.80015943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.756559995 meters 0.01294296323786686 Centerline is valid? [True, True] Translation: X:45.14, Y:-178.54, Z:-1.80 [[ 9.85630403e-01 1.68798240e-01 -6.31377558e-03 4.51406249e+01] [ 1.68795314e-01 -9.85650621e-01 -9.97323383e-04 -1.78540274e+02] [-6.39152326e-03 -8.27434833e-05 -9.99979571e-01 -1.79977649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.78655999499995 meters 0.012773523205830169 Centerline is valid? [True, True] Translation: X:45.14, Y:-178.55, Z:-1.80 [[ 9.69593260e-01 2.44636508e-01 -6.47219064e-03 4.51442094e+01] [ 2.44631613e-01 -9.69614858e-01 -1.54978403e-03 -1.78546441e+02] [-6.65466596e-03 -8.06422878e-05 -9.99977854e-01 -1.80003809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.816559995 meters 0.01261152042931339 Centerline is valid? [True, True] Translation: X:45.15, Y:-178.55, Z:-1.80 [[ 9.47847144e-01 3.18664089e-01 -6.24423420e-03 4.51472564e+01] [ 3.18657671e-01 -9.47867709e-01 -2.02375013e-03 -1.78551854e+02] [-6.56360446e-03 -7.15673444e-05 -9.99978457e-01 -1.79973223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.84655999499995 meters 0.01261152042931339 Centerline is valid? [True, True] Translation: X:45.15, Y:-178.56, Z:-1.80 [[ 9.19999515e-01 3.91872540e-01 -6.06672754e-03 4.51517823e+01] [ 3.91864532e-01 -9.20019515e-01 -2.50626638e-03 -1.78558398e+02] [-6.56364469e-03 -7.15714974e-05 -9.99978457e-01 -1.79973186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.876559995 meters 0.012298622857256249 Centerline is valid? [True, True] Translation: X:45.16, Y:-178.56, Z:-1.80 [[ 8.87578385e-01 4.60605529e-01 -6.86703195e-03 4.51551405e+01] [ 4.60592319e-01 -8.87604947e-01 -3.48907156e-03 -1.78561083e+02] [-7.70229719e-03 -6.60776743e-05 -9.99970335e-01 -1.79970372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.90655999499995 meters 0.012106126134347561 Centerline is valid? [True, True] Translation: X:45.16, Y:-178.57, Z:-1.80 [[ 8.49491711e-01 5.27553717e-01 -7.13498909e-03 4.51600953e+01] [ 5.27535709e-01 -8.49521672e-01 -4.35936494e-03 -1.78565945e+02] [-8.36112704e-03 -6.07171445e-05 -9.99965043e-01 -1.79958266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.936559995 meters 0.01219499091081388 Centerline is valid? [True, True] Translation: X:45.16, Y:-178.57, Z:-1.80 [[ 8.06047321e-01 5.91810005e-01 -6.97379260e-03 4.51645977e+01] [ 5.91788454e-01 -8.06077487e-01 -5.05081636e-03 -1.78570262e+02] [-8.61054087e-03 -5.58129422e-05 -9.99962927e-01 -1.79937641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.96655999499995 meters 0.01204898007916214 Centerline is valid? [True, True] Translation: X:45.17, Y:-178.57, Z:-1.80 [[ 7.58370133e-01 6.51786152e-01 -7.03940273e-03 4.51673100e+01] [ 6.51758615e-01 -7.58402802e-01 -5.99150937e-03 -1.78572886e+02] [-9.24388560e-03 -4.42096161e-05 -9.99957273e-01 -1.79910509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.996559995 meters 0.011969614366133727 Centerline is valid? [True, True] Translation: X:45.17, Y:-178.58, Z:-1.80 [[ 7.05346384e-01 7.08833011e-01 -6.49930659e-03 4.51720784e+01] [ 7.08803431e-01 -7.05376326e-01 -6.47568777e-03 -1.78575865e+02] [-9.17463827e-03 -3.91278581e-05 -9.99957911e-01 -1.79942865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.02655999499996 meters 0.011926456328726302 Centerline is valid? [True, True] Translation: X:45.18, Y:-178.58, Z:-1.80 [[ 6.48235985e-01 7.61417082e-01 -5.84254686e-03 4.51768514e+01] [ 7.61386596e-01 -6.48262313e-01 -6.81358862e-03 -1.78579158e+02] [-8.97548570e-03 -3.16235382e-05 -9.99959719e-01 -1.79977929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.056559995 meters 0.011887643208643852 Centerline is valid? [True, True] Translation: X:45.18, Y:-178.58, Z:-1.80 [[ 5.87397918e-01 8.09283585e-01 -4.87494474e-03 4.51791972e+01] [ 8.09256014e-01 -5.87418147e-01 -6.68013936e-03 -1.78581267e+02] [-8.26975813e-03 -2.11783996e-05 -9.99965805e-01 -1.80017044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.08655999499996 meters 0.011826023795152742 Centerline is valid? [True, True] Translation: X:45.18, Y:-178.58, Z:-1.80 [[ 5.22586126e-01 8.52575591e-01 -4.31303560e-03 4.51822676e+01] [ 8.52546831e-01 -5.22603924e-01 -7.00290059e-03 -1.78583620e+02] [-8.22451144e-03 -1.74461413e-05 -9.99966178e-01 -1.80012626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.116559995 meters 0.011778485841284657 Centerline is valid? [True, True] Translation: X:45.19, Y:-178.59, Z:-1.80 [[ 4.54701040e-01 8.90636946e-01 -3.57701618e-03 4.51862585e+01] [ 8.90609597e-01 -4.54715109e-01 -6.97964760e-03 -1.78585643e+02] [-7.84285532e-03 -1.20719189e-05 -9.99969244e-01 -1.80034056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.14655999499996 meters 0.011849184821973795 Centerline is valid? [True, True] Translation: X:45.19, Y:-178.59, Z:-1.80 [[ 3.84309771e-01 9.23199195e-01 -3.04097263e-03 4.51885470e+01] [ 9.23170413e-01 -3.84321802e-01 -7.28982481e-03 -1.78588283e+02] [-7.89867248e-03 -5.78506274e-06 -9.99968805e-01 -1.80017813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.176559995 meters 0.011770369318127458 Centerline is valid? [True, True] Translation: X:45.19, Y:-178.59, Z:-1.80 [[ 3.11615656e-01 9.50205199e-01 -2.40064521e-03 4.51910178e+01] [ 9.50176985e-01 -3.11624903e-01 -7.32232841e-03 -1.78589823e+02] [-7.70581535e-03 7.14349373e-07 -9.99970310e-01 -1.80110091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.20655999499996 meters 0.011806915645818235 Centerline is valid? [True, True] Translation: X:45.19, Y:-178.59, Z:-1.80 [[ 2.36310481e-01 9.71675890e-01 -1.82258057e-03 4.51946698e+01] [ 9.71646951e-01 -2.36317510e-01 -7.49920453e-03 -1.78593189e+02] [-7.71750394e-03 1.23577879e-06 -9.99970220e-01 -1.80060116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.23655999499994 meters 0.01180848158681268 Centerline is valid? [True, True] Translation: X:45.20, Y:-178.60, Z:-1.80 [[ 1.58912241e-01 9.87291945e-01 -1.23101929e-03 4.52005988e+01] [ 9.87262474e-01 -1.58917009e-01 -7.62836004e-03 -1.78595751e+02] [-7.72704833e-03 -3.09935875e-06 -9.99970146e-01 -1.80103310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.26655999499997 meters 0.011838053490196135 Centerline is valid? [True, True] Translation: X:45.21, Y:-178.60, Z:-1.80 [[ 7.94737848e-02 9.96836747e-01 -6.46454119e-04 4.52050074e+01] [ 9.96805394e-01 -7.94764124e-02 -7.90605343e-03 -1.78598293e+02] [-7.93242244e-03 -1.60649635e-05 -9.99968538e-01 -1.80079340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.29655999499994 meters 0.011941139054757311 Centerline is valid? [True, True] Translation: X:45.21, Y:-178.60, Z:-1.80 [[-1.54612200e-04 9.99999988e-01 -2.55382970e-05 4.52098365e+01] [ 9.99967359e-01 1.54400851e-04 -8.07821793e-03 -1.78601303e+02] [-8.07821388e-03 -2.67864544e-05 -9.99967370e-01 -1.80012295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.32655999499997 meters 0.01202499320008364 Centerline is valid? [True, True] Translation: X:45.21, Y:-178.60, Z:-1.80 [[-7.99435925e-02 9.96799237e-01 5.51332359e-04 4.52137945e+01] [ 9.96772428e-01 7.99454860e-02 -7.31062350e-03 -1.78603240e+02] [-7.33130046e-03 -3.48846123e-05 -9.99973125e-01 -1.80081299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.35655999499994 meters 0.01223040898769097 Centerline is valid? [True, True] Translation: X:45.22, Y:-178.60, Z:-1.80 [[-1.59443027e-01 9.87206452e-01 1.15831124e-03 4.52175935e+01] [ 9.87178131e-01 1.59447227e-01 -7.47796346e-03 -1.78604353e+02] [-7.56698330e-03 -4.88496052e-05 -9.99971369e-01 -1.80071111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.38655999499997 meters 0.0125077061501735 Centerline is valid? [True, True] Translation: X:45.22, Y:-178.61, Z:-1.80 [[-2.37831842e-01 9.71304745e-01 1.76299169e-03 4.52209374e+01] [ 9.71276097e-01 2.37838368e-01 -7.46018273e-03 -1.78606147e+02] [-7.66541795e-03 -6.19173105e-05 -9.99970618e-01 -1.80048154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.41655999499994 meters 0.01344243268838749 Centerline is valid? [True, True] Translation: X:45.23, Y:-178.61, Z:-1.80 [[-3.16931027e-01 9.48445322e-01 2.48927867e-03 4.52251176e+01] [ 9.48413587e-01 3.16940787e-01 -7.75925961e-03 -1.78608560e+02] [-8.14818741e-03 -9.82843994e-05 -9.99966798e-01 -1.79967077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.446559995 meters 0.013132212455527805 Centerline is valid? [True, True] Translation: X:45.23, Y:-178.61, Z:-1.80 [[-3.91952765e-01 9.19980694e-01 2.92433390e-03 4.52327710e+01] [ 9.19953012e-01 3.91963659e-01 -7.13755015e-03 -1.78607569e+02] [-7.71264096e-03 -1.07332737e-04 -9.99970251e-01 -1.80066889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.47655999499995 meters 0.013432459797863226 Centerline is valid? [True, True] Translation: X:45.24, Y:-178.61, Z:-1.80 [[-4.64250871e-01 8.85697770e-01 3.25401447e-03 4.52417310e+01] [ 8.85674293e-01 4.64262261e-01 -6.44977429e-03 -1.78605079e+02] [-7.22326682e-03 -1.12316366e-04 -9.99973906e-01 -1.80080833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.506559995 meters 0.01367412714258812 Centerline is valid? [True, True] Translation: X:45.25, Y:-178.60, Z:-1.80 [[-5.33338753e-01 8.45894164e-01 3.58305977e-03 4.52503588e+01] [ 8.45873589e-01 5.33350776e-01 -5.90086903e-03 -1.78601557e+02] [-6.90253838e-03 -1.16346509e-04 -9.99976170e-01 -1.80077263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.53655999499995 meters 0.014167138143492216 Centerline is valid? [True, True] Translation: X:45.26, Y:-178.60, Z:-1.80 [[-5.99082250e-01 8.00677070e-01 4.08501022e-03 4.52576284e+01] [ 8.00656985e-01 5.99096164e-01 -5.67256576e-03 -1.78600187e+02] [-6.98920728e-03 -1.27641495e-04 -9.99975567e-01 -1.80130348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.566559995 meters 0.014319694259625561 Centerline is valid? [True, True] Translation: X:45.26, Y:-178.60, Z:-1.80 [[-6.60205954e-01 7.51072167e-01 4.32410383e-03 4.52635116e+01] [ 7.51054809e-01 6.60220103e-01 -5.10778003e-03 -1.78597543e+02] [-6.69117170e-03 -1.24547810e-04 -9.99977606e-01 -1.80168860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.59655999499995 meters 0.015424303913484103 Centerline is valid? [True, True] Translation: X:45.27, Y:-178.59, Z:-1.80 [[-7.16981677e-01 6.97078289e-01 4.37426065e-03 4.52710560e+01] [ 6.97064325e-01 7.16995011e-01 -4.41366901e-03 -1.78594495e+02] [-6.21299590e-03 -1.15378755e-04 -9.99980693e-01 -1.80114552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.626559995 meters 0.014328082130868308 Centerline is valid? [True, True] Translation: X:45.27, Y:-178.59, Z:-1.80 [[-7.68951443e-01 6.39286567e-01 5.13456289e-03 4.52746064e+01] [ 6.39271252e-01 7.68968575e-01 -4.42673515e-03 -1.78593080e+02] [-6.77826983e-03 -1.21565929e-04 -9.99977020e-01 -1.80140793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.65655999499995 meters 0.014284938516228312 Centerline is valid? [True, True] Translation: X:45.30, Y:-178.58, Z:-1.80 [[-8.11877191e-01 5.83799965e-01 5.74703738e-03 4.53040779e+01] [ 5.83784249e-01 8.11897522e-01 -4.28546011e-03 -1.78581626e+02] [-7.16785687e-03 -1.24237419e-04 -9.99974303e-01 -1.80044361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.686559995 meters 0.013846137377718195 Centerline is valid? [True, True] Translation: X:45.32, Y:-178.56, Z:-1.80 [[-8.50702094e-01 5.25608832e-01 6.42679746e-03 4.53210036e+01] [ 5.25592711e-01 8.50726360e-01 -4.11849472e-03 -1.78560562e+02] [-7.63216321e-03 -1.25734179e-04 -9.99970867e-01 -1.79973191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.71655999499995 meters 0.01394051934406885 Centerline is valid? [True, True] Translation: X:45.70, Y:-177.97, Z:-2.79 [[-7.94154981e-01 -6.07676160e-01 6.89565834e-03 4.56995887e+01] [ 6.07655359e-01 -7.94184895e-01 -5.03174859e-03 -1.77971348e+02] [ 8.53410135e-03 1.94195538e-04 9.99963565e-01 -2.79148184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.746559995 meters 0.013508461649208285 Centerline is valid? [True, True] Translation: X:45.28, Y:-178.54, Z:-1.80 [[-8.50991986e-01 5.25124163e-01 7.56657426e-03 4.52829433e+01] [ 5.25102128e-01 8.51025616e-01 -4.81209702e-03 -1.78536590e+02] [-8.96629694e-03 -1.21831748e-04 -9.99959795e-01 -1.79779146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.77655999499996 meters 0.013133050833105285 Centerline is valid? [True, True] Translation: X:45.30, Y:-178.52, Z:-1.80 [[-8.85877243e-01 4.63847443e-01 8.18899532e-03 4.53025862e+01] [ 4.63826336e-01 8.85915083e-01 -4.42667531e-03 -1.78517253e+02] [-9.30805650e-03 -1.23219227e-04 -9.99956672e-01 -1.79845198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.806559995 meters 0.013110512727266807 Centerline is valid? [True, True] Translation: X:45.64, Y:-177.90, Z:-2.79 [[-8.38525442e-01 -5.44802616e-01 8.07416138e-03 4.56409557e+01] [ 5.44778964e-01 -8.38564303e-01 -5.07847645e-03 -1.77902096e+02] [ 9.53747076e-03 1.40201558e-04 9.99954507e-01 -2.79141188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.83655999499996 meters 0.013332366717407522 Centerline is valid? [True, True] Translation: X:45.26, Y:-178.49, Z:-1.80 [[-8.87624535e-01 4.60497238e-01 8.06094444e-03 4.52589204e+01] [ 4.60476988e-01 8.87661128e-01 -4.32031957e-03 -1.78494397e+02] [-9.14488227e-03 -1.22942234e-04 -9.99958177e-01 -1.79874664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.866559995 meters 0.013813193429270317 Centerline is valid? [True, True] Translation: X:45.27, Y:-178.47, Z:-1.80 [[-9.18831864e-01 3.94568391e-01 7.98693461e-03 4.52745434e+01] [ 3.94552200e-01 9.18866566e-01 -3.57698089e-03 -1.78470242e+02] [-8.75029077e-03 -1.35381395e-04 -9.99961706e-01 -1.79959326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.89655999499996 meters 0.014160610218005763 Centerline is valid? [True, True] Translation: X:45.56, Y:-177.83, Z:-2.79 [[-8.75079301e-01 -4.83919826e-01 7.60386786e-03 4.55616195e+01] [ 4.83902796e-01 -8.75112328e-01 -4.06172603e-03 -1.77832984e+02] [ 8.61978826e-03 1.25200543e-04 9.99962841e-01 -2.79066834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.926559995 meters 0.014765605589238322 Centerline is valid? [True, True] Translation: X:45.23, Y:-178.45, Z:-1.80 [[-9.21213851e-01 3.88979694e-01 7.73550279e-03 4.52345556e+01] [ 3.88964601e-01 9.21246316e-01 -3.42993070e-03 -1.78450100e+02] [-8.46047684e-03 -1.50862915e-04 -9.99964198e-01 -1.79879056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.95655999499996 meters 0.014506596959115553 Centerline is valid? [True, True] Translation: X:45.25, Y:-178.43, Z:-1.80 [[-9.46616705e-01 3.22257816e-01 8.16784930e-03 4.52471725e+01] [ 3.22244365e-01 9.46651929e-01 -2.94864700e-03 -1.78425187e+02] [-8.68233483e-03 -1.59195094e-04 -9.99962295e-01 -1.79837207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.98655999499994 meters 0.014256720207271771 Centerline is valid? [True, True] Translation: X:45.48, Y:-177.77, Z:-2.79 [[-9.08115579e-01 -4.18634496e-01 8.44119495e-03 4.54821947e+01] [ 4.18618457e-01 -9.08154788e-01 -3.67002577e-03 -1.77770776e+02] [ 9.20231100e-03 2.00832428e-04 9.99957638e-01 -2.79149844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.01655999499997 meters 0.014267488179848619 Centerline is valid? [True, True] Translation: X:45.20, Y:-178.41, Z:-1.80 [[-9.47458632e-01 3.19770869e-01 8.29046267e-03 4.51974684e+01] [ 3.19757225e-01 9.47494891e-01 -2.95779779e-03 -1.78409886e+02] [-8.80098859e-03 -1.51455713e-04 -9.99961259e-01 -1.79901754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.04655999499994 meters 0.013940613794791362 Centerline is valid? [True, True] Translation: X:45.21, Y:-178.39, Z:-1.80 [[-9.67500208e-01 2.52725051e-01 8.56710252e-03 4.52123273e+01] [ 2.52713820e-01 9.67538127e-01 -2.38694967e-03 -1.78386819e+02] [-8.89224030e-03 -1.44349105e-04 -9.99960453e-01 -1.79969961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.07655999499997 meters 0.013830745471868069 Centerline is valid? [True, True] Translation: X:45.40, Y:-177.71, Z:-2.79 [[-9.37991352e-01 -3.46570872e-01 7.80086068e-03 4.54047035e+01] [ 3.46559744e-01 -9.38023785e-01 -2.77897317e-03 -1.77714735e+02] [ 8.28050402e-03 9.68114829e-05 9.99965711e-01 -2.79000099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.10655999499994 meters 0.013446259797951818 Centerline is valid? [True, True] Translation: X:45.17, Y:-178.37, Z:-1.80 [[-9.68030995e-01 2.50710695e-01 7.75494315e-03 4.51689475e+01] [ 2.50701689e-01 9.68062051e-01 -2.12823854e-03 -1.78374744e+02] [-8.04083833e-03 -1.16023531e-04 -9.99967665e-01 -1.80064347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.13655999499997 meters 0.013608758843975647 Centerline is valid? [True, True] Translation: X:45.17, Y:-178.35, Z:-1.80 [[-9.83371089e-01 1.81442932e-01 7.73069875e-03 4.51734198e+01] [ 1.81436416e-01 9.83401469e-01 -1.54178419e-03 -1.78345804e+02] [-7.88212636e-03 -1.13515721e-04 -9.99968929e-01 -1.80025105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.16655999499994 meters 0.014017744856491491 Centerline is valid? [True, True] Translation: X:45.17, Y:-178.32, Z:-1.80 [[-9.93800580e-01 1.10909561e-01 7.71210986e-03 4.51735392e+01] [ 1.10905330e-01 9.93830497e-01 -9.75444634e-04 -1.78315955e+02] [-7.77271611e-03 -1.14083351e-04 -9.99969786e-01 -1.79978187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.196559995 meters 0.013751182147571981 Centerline is valid? [True, True] Translation: X:45.18, Y:-178.29, Z:-1.80 [[-9.99211099e-01 3.89683353e-02 7.65817005e-03 4.51770104e+01] [ 3.89662659e-02 9.99240439e-01 -4.19291921e-04 -1.78288308e+02] [-7.66869231e-03 -1.20550851e-04 -9.99970588e-01 -1.80009968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.22655999499995 meters 0.014418286079117727 Centerline is valid? [True, True] Translation: X:45.17, Y:-178.26, Z:-1.80 [[-9.99425186e-01 -3.29293063e-02 8.05964636e-03 4.51738672e+01] [-3.29293090e-02 9.99457675e-01 1.32406498e-04 -1.78259657e+02] [-8.05963547e-03 -1.33068196e-04 -9.99967512e-01 -1.79978670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.256559995 meters 0.014753508679244737 Centerline is valid? [True, True] Translation: X:45.17, Y:-178.23, Z:-1.80 [[-9.94411294e-01 -1.05195372e-01 8.95056198e-03 4.51670703e+01] [-1.05192553e-01 9.94451562e-01 7.86528935e-04 -1.78232738e+02] [-8.98363954e-03 -1.59399208e-04 -9.99959634e-01 -1.79962431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.28655999499995 meters 0.01394530317845987 Centerline is valid? [True, True] Translation: X:45.16, Y:-178.21, Z:-1.80 [[-9.84321043e-01 -1.76162206e-01 8.88599771e-03 4.51568523e+01] [-1.76156516e-01 9.84361138e-01 1.42522685e-03 -1.78207780e+02] [-8.99810193e-03 -1.62445620e-04 -9.99959503e-01 -1.80057126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.316559995 meters 0.014272007461693057 Centerline is valid? [True, True] Translation: X:45.14, Y:-178.18, Z:-1.80 [[-9.69079471e-01 -2.46591968e-01 8.79660041e-03 4.51368213e+01] [-2.46583366e-01 9.69119380e-01 2.06645145e-03 -1.78182397e+02] [-9.03452627e-03 -1.66539655e-04 -9.99959174e-01 -1.80013563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.34655999499995 meters 0.01447588308071462 Centerline is valid? [True, True] Translation: X:45.11, Y:-178.16, Z:-1.80 [[-9.48615280e-01 -3.16303638e-01 9.00327003e-03 4.51056071e+01] [-3.16291178e-01 9.48657987e-01 2.81320456e-03 -1.78160737e+02] [-9.43085086e-03 -1.79006049e-04 -9.99955513e-01 -1.79940703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.376559995 meters 0.014706811367605793 Centerline is valid? [True, True] Translation: X:45.05, Y:-178.15, Z:-1.80 [[-9.22668677e-01 -3.85488218e-01 9.01919336e-03 4.50507585e+01] [-3.85471799e-01 9.22712739e-01 3.56293523e-03 -1.78149015e+02] [-9.69559416e-03 -1.89235955e-04 -9.99952979e-01 -1.79880675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.40655999499995 meters 0.014962480100809387 Centerline is valid? [True, True] Translation: X:44.99, Y:-178.15, Z:-1.80 [[-8.91255111e-01 -4.53414334e-01 8.93138334e-03 4.49865594e+01] [-4.53393864e-01 8.91299837e-01 4.31326099e-03 -1.78145542e+02] [-9.91623488e-03 -2.05218497e-04 -9.99950812e-01 -1.79858788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.436559995 meters 0.01505813113576686 Centerline is valid? [True, True] Translation: X:44.91, Y:-178.15, Z:-1.80 [[-8.55155753e-01 -5.18297406e-01 8.74279830e-03 4.49131817e+01] [-5.18272810e-01 8.55200418e-01 5.05362974e-03 -1.78153300e+02] [-1.00961279e-02 -2.09514096e-04 -9.99949011e-01 -1.79893046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.46655999499995 meters 0.014852353748790766 Centerline is valid? [True, True] Translation: X:44.83, Y:-178.17, Z:-1.80 [[-8.14217813e-01 -5.80503053e-01 8.09687647e-03 4.48333311e+01] [-5.80476796e-01 8.14258046e-01 5.52485512e-03 -1.78171944e+02] [-9.80014208e-03 -2.01613464e-04 -9.99951957e-01 -1.79935508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.496559995 meters 0.014715190161315261 Centerline is valid? [True, True] Translation: X:44.75, Y:-178.20, Z:-1.80 [[-7.69165325e-01 -6.39007559e-01 7.35140964e-03 4.47533991e+01] [-6.38980610e-01 7.69200433e-01 5.87139779e-03 -1.78197848e+02] [-9.40657505e-03 -1.81332627e-04 -9.99955741e-01 -1.79894025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.52655999499996 meters 0.014593599057227236 Centerline is valid? [True, True] Translation: X:44.67, Y:-178.24, Z:-1.80 [[-7.19362029e-01 -6.94602812e-01 6.72346878e-03 4.46669547e+01] [-6.94574663e-01 7.19393428e-01 6.25562082e-03 -1.78236957e+02] [-9.18199107e-03 -1.69894983e-04 -9.99957830e-01 -1.79897491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.556559995 meters 0.01430851587096821 Centerline is valid? [True, True] Translation: X:44.58, Y:-178.28, Z:-1.80 [[-6.65291713e-01 -7.46558109e-01 6.15840005e-03 4.45841495e+01] [-7.46528337e-01 6.65320196e-01 6.66926129e-03 -1.78282807e+02] [-9.07629903e-03 -1.60415870e-04 -9.99958797e-01 -1.79963801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.58655999499996 meters 0.013819860519856678 Centerline is valid? [True, True] Translation: X:44.50, Y:-178.34, Z:-1.80 [[-6.08604449e-01 -7.93460709e-01 4.55284382e-03 4.44999967e+01] [-7.93439868e-01 6.08621468e-01 5.75190707e-03 -1.78340978e+02] [-7.33487075e-03 -1.11771565e-04 -9.99973093e-01 -1.80079115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.616559995 meters 0.013684851280054002 Centerline is valid? [True, True] Translation: X:44.42, Y:-178.41, Z:-1.80 [[-5.47108333e-01 -8.37052924e-01 3.85672377e-03 4.44158984e+01] [-8.37033391e-01 5.47121917e-01 5.71931241e-03 -1.78409397e+02] [-6.89746528e-03 -9.91230937e-05 -9.99976207e-01 -1.80092224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.64655999499996 meters 0.01322375480799305 Centerline is valid? [True, True] Translation: X:44.34, Y:-178.48, Z:-1.80 [[-4.82356990e-01 -8.75968960e-01 3.18042615e-03 4.43395716e+01] [-8.75951088e-01 4.82367467e-01 5.59626767e-03 -1.78481716e+02] [-6.43629088e-03 -8.64989178e-05 -9.99979283e-01 -1.80136078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.676559995 meters 0.013205239683150672 Centerline is valid? [True, True] Translation: X:44.26, Y:-178.57, Z:-1.80 [[-4.14574396e-01 -9.10011782e-01 2.57439544e-03 4.42643565e+01] [-9.09995372e-01 4.14582382e-01 5.46552687e-03 -1.78565770e+02] [-6.04099284e-03 -7.68204341e-05 -9.99981750e-01 -1.80136056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.70655999499996 meters 0.013256158908867086 Centerline is valid? [True, True] Translation: X:44.20, Y:-178.66, Z:-1.80 [[-3.44720054e-01 -9.38703111e-01 2.13397416e-03 4.41960204e+01] [-9.38686345e-01 3.44726652e-01 5.61089971e-03 -1.78655377e+02] [-6.00260678e-03 -6.89427534e-05 -9.99981982e-01 -1.80090863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.73655999499994 meters 0.013256158908867086 Centerline is valid? [True, True] Translation: X:44.13, Y:-178.75, Z:-1.80 [[-2.71661563e-01 -9.62391353e-01 1.69706521e-03 4.41334959e+01] [-9.62374129e-01 2.71666855e-01 5.75814778e-03 -1.78753655e+02] [-6.00262800e-03 -6.89442251e-05 -9.99981982e-01 -1.80090761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.76655999499997 meters 0.012634380718104816 Centerline is valid? [True, True] Translation: X:44.08, Y:-178.86, Z:-1.80 [[-1.97463061e-01 -9.80309484e-01 1.28616829e-03 4.40808378e+01] [-9.80290858e-01 1.97467238e-01 6.04340469e-03 -1.78857968e+02] [-6.17838303e-03 -6.74698239e-05 -9.99980911e-01 -1.80181533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.79655999499994 meters 0.012563455930215349 Centerline is valid? [True, True] Translation: X:44.03, Y:-178.97, Z:-1.80 [[-1.21904123e-01 -9.92541469e-01 9.03741485e-04 4.40339040e+01] [-9.92518390e-01 1.21907452e-01 6.76901828e-03 -1.78968355e+02] [-6.82870417e-03 -7.18088032e-05 -9.99976682e-01 -1.80150854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.82655999499997 meters 0.012650708843850517 Centerline is valid? [True, True] Translation: X:43.99, Y:-179.09, Z:-1.80 [[-4.54156871e-02 -9.98968090e-01 4.13987751e-04 4.39943262e+01] [-9.98940496e-01 4.54175098e-02 7.42526247e-03 -1.79085653e+02] [-7.43640255e-03 -7.63257323e-05 -9.99972347e-01 -1.80050241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.85655999499994 meters 0.012850243910477078 Centerline is valid? [True, True] Translation: X:43.96, Y:-179.20, Z:-1.80 [[ 3.19025618e-02 -9.99490967e-01 -1.82605767e-04 4.39630569e+01] [-9.99454499e-01 -3.19029578e-02 8.53851942e-03 -1.79197846e+02] [-8.53999870e-03 -8.98944888e-05 -9.99963530e-01 -1.79855102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.88655999499997 meters 0.012807679695052872 Centerline is valid? [True, True] Translation: X:43.94, Y:-179.32, Z:-1.80 [[ 1.09184268e-01 -9.94021119e-01 -9.00077223e-04 4.39423437e+01] [-9.93979395e-01 -1.09187932e-01 9.10812887e-03 -1.79319253e+02] [-9.15195002e-03 -9.98061653e-05 -9.99958115e-01 -1.79802583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.91655999499994 meters 0.012687203514370993 Centerline is valid? [True, True] Translation: X:43.93, Y:-179.44, Z:-1.80 [[ 1.85320336e-01 -9.82676793e-01 -1.64103278e-03 4.39309977e+01] [-9.82633283e-01 -1.85327574e-01 9.24780554e-03 -1.79437279e+02] [-9.39173252e-03 -1.01273003e-04 -9.99955892e-01 -1.79827064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.946559995 meters 0.012644466267402992 Centerline is valid? [True, True] Translation: X:43.93, Y:-179.56, Z:-1.80 [[ 2.59545711e-01 -9.65728119e-01 -2.28567909e-03 4.39287529e+01] [-9.65687553e-01 -2.59555759e-01 8.85204694e-03 -1.79556309e+02] [-9.14193181e-03 -9.02589717e-05 -9.99958208e-01 -1.79779292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.97655999499995 meters 0.012660482923337577 Centerline is valid? [True, True] Translation: X:43.94, Y:-179.68, Z:-1.80 [[ 3.32374753e-01 -9.43142615e-01 -3.00530966e-03 4.39377898e+01] [-9.43101725e-01 -3.32388329e-01 8.78260850e-03 -1.79682583e+02] [-9.28218220e-03 -8.48046069e-05 -9.99956916e-01 -1.79739463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.006559995 meters 0.01236471968920053 Centerline is valid? [True, True] Translation: X:43.95, Y:-179.80, Z:-1.80 [[ 4.03026265e-01 -9.15181324e-01 -3.60180230e-03 4.39533145e+01] [-9.15143114e-01 -4.03042353e-01 8.36314309e-03 -1.79796053e+02] [-9.10547124e-03 -7.44017501e-05 -9.99958542e-01 -1.79783883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.03655999499995 meters 0.01220511792003294 Centerline is valid? [True, True] Translation: X:43.98, Y:-179.91, Z:-1.80 [[ 4.70504170e-01 -8.82387522e-01 -4.25279343e-03 4.39780781e+01] [-8.82350374e-01 -4.70523386e-01 8.09690295e-03 -1.79907214e+02] [-9.14564490e-03 -5.71727312e-05 -9.99958176e-01 -1.79774227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.066559995 meters 0.012094032631393558 Centerline is valid? [True, True] Translation: X:44.01, Y:-180.02, Z:-1.80 [[ 5.36052649e-01 -8.44170945e-01 -4.79307053e-03 4.40105506e+01] [-8.44136402e-01 -5.36074075e-01 7.63678043e-03 -1.80017143e+02] [-9.01618900e-03 -4.77110740e-05 -9.99959352e-01 -1.79785493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.09655999499995 meters 0.012066075528537312 Centerline is valid? [True, True] Translation: X:44.05, Y:-180.12, Z:-1.80 [[ 5.98787562e-01 -8.00890082e-01 -5.34155977e-03 4.40499883e+01] [-8.00857571e-01 -5.98811385e-01 7.21636531e-03 -1.80123946e+02] [-8.97810221e-03 -4.32412080e-05 -9.99959695e-01 -1.79817759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.126559995 meters 0.012075933470194963 Centerline is valid? [True, True] Translation: X:44.09, Y:-180.23, Z:-1.80 [[ 6.58325322e-01 -7.52713714e-01 -5.46222311e-03 4.40940468e+01] [-7.52687289e-01 -6.58347981e-01 6.30720494e-03 -1.80225252e+02] [-8.34356321e-03 -4.08468148e-05 -9.99965191e-01 -1.79787714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.15655999499995 meters 0.012114472929194564 Centerline is valid? [True, True] Translation: X:44.14, Y:-180.32, Z:-1.80 [[ 7.14191279e-01 -6.99924332e-01 -6.06187120e-03 4.41442494e+01] [-6.99898558e-01 -7.14217003e-01 6.00679278e-03 -1.80320805e+02] [-8.53379190e-03 -4.73041026e-05 -9.99963585e-01 -1.79803106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.186559995 meters 0.012061919219445922 Centerline is valid? [True, True] Translation: X:44.14, Y:-180.33, Z:-1.80 [[ 7.67415903e-01 -6.41112798e-01 -6.87107959e-03 4.41387926e+01] [-6.41086402e-01 -7.67446660e-01 5.81793671e-03 -1.80330475e+02] [-9.00314077e-03 -5.98214642e-05 -9.99959469e-01 -1.79782846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.21655999499995 meters 0.0120807674468707 Centerline is valid? [True, True] Translation: X:44.13, Y:-180.34, Z:-1.80 [[ 8.15520433e-01 -5.78679537e-01 -7.51102852e-03 4.41347678e+01] [-5.78654236e-01 -8.15555019e-01 5.41172421e-03 -1.80341210e+02] [-9.25731107e-03 -6.70832042e-05 -9.99957148e-01 -1.79770965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.246559995 meters 0.012264411306164085 Centerline is valid? [True, True] Translation: X:44.13, Y:-180.35, Z:-1.80 [[ 8.58596893e-01 -5.12589436e-01 -7.96524950e-03 4.41306238e+01] [-5.12566586e-01 -8.58633836e-01 4.84049613e-03 -1.80351301e+02] [-9.32041992e-03 -7.33141990e-05 -9.99956561e-01 -1.79708114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.27655999499996 meters 0.01243550511930632 Centerline is valid? [True, True] Translation: X:44.13, Y:-180.36, Z:-1.80 [[ 8.96115580e-01 -4.43745045e-01 -8.19771833e-03 4.41286779e+01] [-4.43725722e-01 -8.96153073e-01 4.14178335e-03 -1.80358327e+02] [-9.18430631e-03 -7.39781039e-05 -9.99957821e-01 -1.79599672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.306559995 meters 0.012177299393647598 Centerline is valid? [True, True] Translation: X:44.13, Y:-180.36, Z:-1.80 [[ 9.27994206e-01 -3.72484791e-01 -9.04625273e-03 4.41290731e+01] [-3.72466285e-01 -9.28038294e-01 3.71378309e-03 -1.80364828e+02] [-9.77859667e-03 -7.69450455e-05 -9.99952185e-01 -1.79660503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.33655999499996 meters 0.012071150552821782 Centerline is valid? [True, True] Translation: X:44.13, Y:-180.37, Z:-1.80 [[ 9.54201054e-01 -2.99008120e-01 -9.72071294e-03 4.41290975e+01] [-2.98991765e-01 -9.54250564e-01 3.12832552e-03 -1.80373691e+02] [-1.02113905e-02 -7.86383927e-05 -9.99947859e-01 -1.79684710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.366559995 meters 0.012130502683097044 Centerline is valid? [True, True] Translation: X:44.13, Y:-180.38, Z:-1.80 [[ 9.74707702e-01 -2.23243315e-01 -1.03594524e-02 4.41296383e+01] [-2.23229783e-01 -9.74762748e-01 2.45947513e-03 -1.80383564e+02] [-1.06470697e-02 -8.47310398e-05 -9.99943315e-01 -1.79654013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.39655999499996 meters 0.012149107593989945 Centerline is valid? [True, True] Translation: X:44.13, Y:-180.39, Z:-1.80 [[ 9.89261645e-01 -1.45780811e-01 -1.04571867e-02 4.41306007e+01] [-1.45771700e-01 -9.89316909e-01 1.63230153e-03 -1.80392878e+02] [-1.05834298e-02 -9.04114264e-05 -9.99943990e-01 -1.79614098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.426559995 meters 0.012286294273914231 Centerline is valid? [True, True] Translation: X:44.13, Y:-180.40, Z:-1.80 [[ 9.97686951e-01 -6.70724247e-02 -1.10470662e-02 4.41287280e+01] [-6.70671637e-02 -9.97748104e-01 8.46426734e-04 -1.80400947e+02] [-1.10789612e-02 -1.03573513e-04 -9.99938621e-01 -1.79626968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.45655999499996 meters 0.012459935646580796 Centerline is valid? [True, True] Translation: X:44.13, Y:-180.41, Z:-1.80 [[ 9.99867679e-01 1.21911241e-02 -1.07703641e-02 4.41280010e+01] [ 1.21916111e-02 -9.99925679e-01 -2.04375338e-05 -1.80409140e+02] [-1.07698128e-02 -1.10873261e-04 -9.99941998e-01 -1.79613227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.48655999499994 meters 0.012618286765868444 Centerline is valid? [True, True] Translation: X:44.13, Y:-180.42, Z:-1.80 [[ 9.95692445e-01 9.21458678e-02 -1.02807763e-02 4.41281391e+01] [ 9.21422404e-02 -9.95745512e-01 -8.26944343e-04 -1.80419004e+02] [-1.03132364e-02 -1.23911526e-04 -9.99946810e-01 -1.79658029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.51655999499997 meters 0.013264053898694854 Centerline is valid? [True, True] Translation: X:44.13, Y:-180.43, Z:-1.80 [[ 9.85337295e-01 1.70355202e-01 -9.46150176e-03 4.41277222e+01] [ 1.70348523e-01 -9.85382713e-01 -1.51324809e-03 -1.80427955e+02] [-9.58098996e-03 -1.20693069e-04 -9.99954094e-01 -1.79571665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.54655999499994 meters 0.01279534463467777 Centerline is valid? [True, True] Translation: X:44.13, Y:-180.44, Z:-1.80 [[ 9.68824240e-01 2.47573176e-01 -9.33355449e-03 4.41289881e+01] [ 2.47562952e-01 -9.68869189e-01 -2.25360723e-03 -1.80435074e+02] [-9.60092607e-03 -1.27292985e-04 -9.99953902e-01 -1.79673164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.57655999499997 meters 0.012931554425706215 Centerline is valid? [True, True] Translation: X:44.13, Y:-180.44, Z:-1.80 [[ 9.46347185e-01 3.23017616e-01 -9.30726923e-03 4.41313750e+01] [ 3.23003382e-01 -9.46392943e-01 -3.03527532e-03 -1.80442820e+02] [-9.78878132e-03 -1.33855185e-04 -9.99952080e-01 -1.79609621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.60655999499994 meters 0.012963472019514059 Centerline is valid? [True, True] Translation: X:44.13, Y:-180.45, Z:-1.79 [[ 9.17982937e-01 3.96514795e-01 -9.12932177e-03 4.41338782e+01] [ 3.96496696e-01 -9.18028321e-01 -3.79104210e-03 -1.80450013e+02] [-9.88418022e-03 -1.39633956e-04 -9.99951141e-01 -1.79488142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.63655999499997 meters 0.012999995506604616 Centerline is valid? [True, True] Translation: X:44.14, Y:-180.46, Z:-1.79 [[ 8.84149963e-01 4.67124352e-01 -8.58392277e-03 4.41370034e+01] [ 4.67103818e-01 -8.84191620e-01 -4.38190402e-03 -1.80455777e+02] [-9.63672666e-03 -1.35322832e-04 -9.99953557e-01 -1.79484432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.66655999499994 meters 0.01286174939075959 Centerline is valid? [True, True] Translation: X:44.14, Y:-180.46, Z:-1.80 [[ 8.44995889e-01 5.34713563e-01 -7.95948193e-03 4.41403691e+01] [ 5.34691272e-01 -8.45033366e-01 -4.88408350e-03 -1.80461938e+02] [-9.33761349e-03 -1.28835036e-04 -9.99956395e-01 -1.79502101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.696559995 meters 0.01298258778527086 Centerline is valid? [True, True] Translation: X:44.14, Y:-180.47, Z:-1.79 [[ 8.00945409e-01 5.98687207e-01 -7.75114649e-03 4.41440943e+01] [ 5.98660687e-01 -8.00982904e-01 -5.63644648e-03 -1.80468295e+02] [-9.58300422e-03 -1.25820752e-04 -9.99954074e-01 -1.79415373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.72655999499995 meters 0.013250122903630309 Centerline is valid? [True, True] Translation: X:44.15, Y:-180.47, Z:-1.79 [[ 7.51776125e-01 6.59373193e-01 -7.72340548e-03 4.41464529e+01] [ 6.59340174e-01 -7.51815785e-01 -6.59993066e-03 -1.80472125e+02] [-1.01583955e-02 -1.30681222e-04 -9.99948394e-01 -1.79297289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.756559995 meters 0.012926714112618412 Centerline is valid? [True, True] Translation: X:44.15, Y:-180.48, Z:-1.79 [[ 6.98051302e-01 7.16011118e-01 -7.24282652e-03 4.41493220e+01] [ 7.15974483e-01 -6.98088864e-01 -7.24416140e-03 -1.80475220e+02] [-1.02430366e-02 -1.28882673e-04 -9.99947530e-01 -1.79337356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.78655999499995 meters 0.01280970861525067 Centerline is valid? [True, True] Translation: X:44.15, Y:-180.48, Z:-1.79 [[ 6.40449575e-01 7.67966845e-01 -7.16013274e-03 4.41525135e+01] [ 7.67921113e-01 -6.40489585e-01 -8.38186906e-03 -1.80478760e+02] [-1.10229880e-02 -1.30252625e-04 -9.99939237e-01 -1.79242975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.816559995 meters 0.012517248697610646 Centerline is valid? [True, True] Translation: X:44.16, Y:-180.48, Z:-1.79 [[ 5.78598620e-01 8.15585331e-01 -6.64859553e-03 4.41570998e+01] [ 8.15534049e-01 -5.78636804e-01 -9.14685442e-03 -1.80482512e+02] [-1.13071624e-02 -1.29798680e-04 -9.99936064e-01 -1.79269266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.84655999499995 meters 0.012922470142653665 Centerline is valid? [True, True] Translation: X:44.16, Y:-180.49, Z:-1.79 [[ 5.13439508e-01 8.58106129e-01 -5.80876889e-03 4.41623721e+01] [ 8.58053867e-01 -5.13472352e-01 -9.47130774e-03 -1.80487530e+02] [-1.11100294e-02 -1.21293017e-04 -9.99938274e-01 -1.79149131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.876559995 meters 0.012860863981203376 Centerline is valid? [True, True] Translation: X:44.16, Y:-180.49, Z:-1.79 [[ 4.44803908e-01 8.95613710e-01 -5.05626898e-03 4.41639255e+01] [ 8.95558884e-01 -4.44832629e-01 -9.91043275e-03 -1.80489127e+02] [-1.11251129e-02 -1.19987394e-04 -9.99938107e-01 -1.79117145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.90655999499995 meters 0.012528381109679201 Centerline is valid? [True, True] Translation: X:44.17, Y:-180.49, Z:-1.79 [[ 3.73324211e-01 9.27690531e-01 -4.39450335e-03 4.41693524e+01] [ 9.27630112e-01 -3.73350054e-01 -1.05883216e-02 -1.80492078e+02] [-1.14633738e-02 -1.23596826e-04 -9.99934286e-01 -1.79222723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.936559995 meters 0.013034304103764478 Centerline is valid? [True, True] Translation: X:44.18, Y:-180.50, Z:-1.79 [[ 2.99666363e-01 9.54037521e-01 -3.53276011e-03 4.41756100e+01] [ 9.53975937e-01 -2.99687161e-01 -1.08405672e-02 -1.80496491e+02] [-1.14010307e-02 -1.21614777e-04 -9.99934999e-01 -1.79003800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.96655999499995 meters 0.012421585650942467 Centerline is valid? [True, True] Translation: X:44.18, Y:-180.50, Z:-1.79 [[ 2.23932583e-01 9.74600912e-01 -2.69438698e-03 4.41825517e+01] [ 9.74536855e-01 -2.23948758e-01 -1.11746445e-02 -1.80499368e+02] [-1.14942233e-02 -1.23412403e-04 -9.99933932e-01 -1.79173952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.996559995 meters 0.012617572251377262 Centerline is valid? [True, True] Translation: X:44.19, Y:-180.50, Z:-1.79 [[ 1.46309238e-01 9.89237037e-01 -1.92136555e-03 4.41903517e+01] [ 9.89163743e-01 -1.46321788e-01 -1.20425884e-02 -1.80503662e+02] [-1.21941121e-02 -1.38603201e-04 -9.99925639e-01 -1.79117089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.02655999499996 meters 0.012631388582559296 Centerline is valid? [True, True] Translation: X:44.20, Y:-180.51, Z:-1.79 [[ 6.80646867e-02 9.97680435e-01 -9.73439708e-04 4.41990471e+01] [ 9.97606192e-01 -6.80714979e-02 -1.21719503e-02 -1.80505882e+02] [-1.22099801e-02 -1.42629498e-04 -9.99925445e-01 -1.79115523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.056559995 meters 0.012862494190185642 Centerline is valid? [True, True] Translation: X:44.21, Y:-180.51, Z:-1.79 [[-1.10154942e-02 9.99939328e-01 -1.61183170e-05 4.42075506e+01] [ 9.99869255e-01 1.10145314e-02 -1.18386145e-02 -1.80508458e+02] [-1.18377186e-02 -1.46524399e-04 -9.99929921e-01 -1.79098120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.08655999499996 meters 0.013201528026946454 Centerline is valid? [True, True] Translation: X:44.22, Y:-180.51, Z:-1.79 [[-9.01969752e-02 9.95923529e-01 9.10800613e-04 4.42159045e+01] [ 9.95853688e-01 9.02014373e-02 -1.17954838e-02 -1.80510136e+02] [-1.18295554e-02 -1.56892809e-04 -9.99930016e-01 -1.79080227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.116559995 meters 0.01329347315169276 Centerline is valid? [True, True] Translation: X:44.22, Y:-180.51, Z:-1.79 [[-1.68983154e-01 9.85617628e-01 1.60811163e-03 4.42244241e+01] [ 9.85564232e-01 1.68990740e-01 -1.02603836e-02 -1.80510757e+02] [-1.03845710e-02 -1.48934689e-04 -9.99946068e-01 -1.79116764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.14655999499996 meters 0.013706210533925567 Centerline is valid? [True, True] Translation: X:44.23, Y:-180.51, Z:-1.79 [[-2.46012103e-01 9.69264174e-01 2.23760850e-03 4.42318868e+01] [ 9.69218688e-01 2.46022238e-01 -9.39107720e-03 -1.80511611e+02] [-9.65293613e-03 -1.41586676e-04 -9.99953399e-01 -1.79117981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.176559995 meters 0.013127297769847945 Centerline is valid? [True, True] Translation: X:44.24, Y:-180.51, Z:-1.79 [[-3.21016457e-01 9.47069721e-01 2.71621136e-03 4.42386591e+01] [ 9.47032362e-01 3.21027922e-01 -8.41300266e-03 -1.80510893e+02] [-8.83967977e-03 -1.28372244e-04 -9.99960921e-01 -1.79294618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.20655999499996 meters 0.013225767093947283 Centerline is valid? [True, True] Translation: X:44.25, Y:-180.51, Z:-1.79 [[-3.93799179e-01 9.19191429e-01 3.05355544e-03 4.42467571e+01] [ 9.19161540e-01 3.93811002e-01 -7.41340584e-03 -1.80510818e+02] [-8.01686283e-03 -1.12682411e-04 -9.99967858e-01 -1.79349866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.23655999499994 meters 0.012838362273024796 Centerline is valid? [True, True] Translation: X:44.25, Y:-180.51, Z:-1.79 [[-4.62973473e-01 8.86365877e-01 3.33098900e-03 4.42519806e+01] [ 8.86341521e-01 4.62985447e-01 -6.57145697e-03 -1.80510619e+02] [-7.36691465e-03 -9.00163947e-05 -9.99972860e-01 -1.79403268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.26655999499997 meters 0.012595018666529524 Centerline is valid? [True, True] Translation: X:44.26, Y:-180.51, Z:-1.79 [[-5.29873262e-01 8.48068579e-01 3.74312727e-03 4.42577352e+01] [ 8.48046363e-01 5.29886477e-01 -6.13906125e-03 -1.80509556e+02] [-7.18977747e-03 -7.85789435e-05 -9.99974150e-01 -1.79392415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.29655999499994 meters 0.012406112255159849 Centerline is valid? [True, True] Translation: X:44.26, Y:-180.51, Z:-1.79 [[-5.93817000e-01 8.04590475e-01 3.94196268e-03 4.42635424e+01] [ 8.04572000e-01 5.93830080e-01 -5.45289000e-03 -1.80507873e+02] [-6.72819937e-03 -6.64259823e-05 -9.99977363e-01 -1.79367620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.32655999499997 meters 0.01221379113301554 Centerline is valid? [True, True] Translation: X:44.27, Y:-180.51, Z:-1.79 [[-6.53403258e-01 7.56998865e-01 4.11109495e-03 4.42690089e+01] [ 7.56983406e-01 6.53416189e-01 -4.83797170e-03 -1.80506744e+02] [-6.34859508e-03 -4.91158130e-05 -9.99979846e-01 -1.79333020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.35655999499994 meters 0.012013991473432486 Centerline is valid? [True, True] Translation: X:44.27, Y:-180.51, Z:-1.79 [[-7.09978807e-01 7.04209651e-01 4.34297786e-03 4.42734682e+01] [ 7.04196118e-01 7.09992089e-01 -4.36597888e-03 -1.80505819e+02] [-6.15804439e-03 -4.14443336e-05 -9.99981038e-01 -1.79309795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.38655999499997 meters 0.011903821015754115 Centerline is valid? [True, True] Translation: X:44.28, Y:-180.51, Z:-1.79 [[-7.62231979e-01 6.47286695e-01 4.72699414e-03 4.42777112e+01] [ 6.47273963e-01 7.62246635e-01 -4.05995017e-03 -1.80505175e+02] [-6.23108711e-03 -3.49636255e-05 -9.99980586e-01 -1.79279853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.41655999499994 meters 0.01171970169353904 Centerline is valid? [True, True] Translation: X:44.73, Y:-179.99, Z:-2.80 [[-7.09740784e-01 -7.04447125e-01 4.71886492e-03 4.47296749e+01] [ 7.04432096e-01 -7.09756468e-01 -4.60189244e-03 -1.79985899e+02] [ 6.59103480e-03 5.79691564e-05 9.99978277e-01 -2.79687042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.446559995 meters 0.011701901974198445 Centerline is valid? [True, True] Translation: X:44.25, Y:-180.48, Z:-1.79 [[-7.62883136e-01 6.46514510e-01 5.32064723e-03 4.42463484e+01] [ 6.46498589e-01 7.62901690e-01 -4.53723727e-03 -1.80482650e+02] [-6.99252049e-03 -2.15908757e-05 -9.99975552e-01 -1.79295378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.47655999499995 meters 0.011634933510476762 Centerline is valid? [True, True] Translation: X:44.26, Y:-180.46, Z:-1.79 [[-8.06283784e-01 5.91501551e-01 5.68986055e-03 4.42630577e+01] [ 5.91486676e-01 8.06303860e-01 -4.19491667e-03 -1.80460861e+02] [-7.06905624e-03 -1.68165830e-05 -9.99975014e-01 -1.79306294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.506559995 meters 0.01168961137782363 Centerline is valid? [True, True] Translation: X:44.28, Y:-180.44, Z:-1.79 [[-8.45968715e-01 5.33197459e-01 6.11581595e-03 4.42806579e+01] [ 5.33183396e-01 8.45990821e-01 -3.87257605e-03 -1.80439068e+02] [-7.23877187e-03 -1.52266626e-05 -9.99973800e-01 -1.79261016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.53655999499995 meters 0.01168912318145074 Centerline is valid? [True, True] Translation: X:44.30, Y:-180.42, Z:-1.79 [[-8.81429208e-01 4.72274147e-01 6.29932860e-03 4.42967514e+01] [ 4.72261983e-01 8.81451718e-01 -3.38953556e-03 -1.80415866e+02] [-7.15334402e-03 -1.27022240e-05 -9.99974414e-01 -1.79224166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.566559995 meters 0.011674928750983492 Centerline is valid? [True, True] Translation: X:44.31, Y:-180.39, Z:-1.79 [[-9.12460179e-01 4.09123455e-01 5.86679304e-03 4.43079977e+01] [ 4.09114941e-01 9.12479040e-01 -2.63954735e-03 -1.80389606e+02] [-6.43322642e-03 -8.28916022e-06 -9.99979307e-01 -1.79299842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.59655999499995 meters 0.011716458397465435 Centerline is valid? [True, True] Translation: X:44.32, Y:-180.36, Z:-1.79 [[-9.39135873e-01 3.43499783e-01 5.63122907e-03 4.43187106e+01] [ 3.43493562e-01 9.39152756e-01 -2.06730259e-03 -1.80363506e+02] [-5.99870229e-03 -7.18709117e-06 -9.99982008e-01 -1.79308597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.626559995 meters 0.011542716458894037 Centerline is valid? [True, True] Translation: X:44.56, Y:-179.72, Z:-2.80 [[-9.12783467e-01 -4.08406247e-01 5.53890198e-03 4.45631286e+01] [ 4.08398803e-01 -9.12800272e-01 -2.46585778e-03 -1.79718833e+02] [ 6.06298296e-03 1.12867267e-05 9.99981620e-01 -2.79639068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.65655999499995 meters 0.011542716458894037 Centerline is valid? [True, True] Translation: X:44.28, Y:-180.35, Z:-1.79 [[-9.40496375e-01 3.39756046e-01 5.69185546e-03 4.42781524e+01] [ 3.39749769e-01 9.40513599e-01 -2.06530413e-03 -1.80349113e+02] [-6.05496702e-03 -8.60447787e-06 -9.99981669e-01 -1.79362915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.686559995 meters 0.011597883017909214 Centerline is valid? [True, True] Translation: X:44.28, Y:-180.32, Z:-1.79 [[-9.62523794e-01 2.71137161e-01 5.70835864e-03 4.42830831e+01] [ 2.71132299e-01 9.62540721e-01 -1.62378284e-03 -1.80320548e+02] [-5.93479551e-03 -1.52092198e-05 -9.99982389e-01 -1.79355010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.71655999499995 meters 0.01169662445848336 Centerline is valid? [True, True] Translation: X:44.29, Y:-180.29, Z:-1.79 [[-9.79486137e-01 2.01431743e-01 5.67109843e-03 4.42915829e+01] [ 2.01428253e-01 9.79502554e-01 -1.18582609e-03 -1.80293270e+02] [-5.79371841e-03 -1.91807640e-05 -9.99983216e-01 -1.79368888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.746559995 meters 0.011813916485177253 Centerline is valid? [True, True] Translation: X:44.43, Y:-179.62, Z:-2.80 [[-9.61558976e-01 -2.74544497e-01 5.44556720e-03 4.44305162e+01] [ 2.74540154e-01 -9.61574396e-01 -1.54428695e-03 -1.79622364e+02] [ 5.66029347e-03 1.01038769e-05 9.99983980e-01 -2.79669604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.77655999499996 meters 0.011946451307580179 Centerline is valid? [True, True] Translation: X:44.24, Y:-180.28, Z:-1.79 [[-9.80716453e-01 1.95364492e-01 5.28715884e-03 4.42417035e+01] [ 1.95361489e-01 9.80730704e-01 -1.08360648e-03 -1.80281049e+02] [-5.39697724e-03 -2.98034750e-05 -9.99985436e-01 -1.79312336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.806559995 meters 0.012025254330870134 Centerline is valid? [True, True] Translation: X:44.38, Y:-179.61, Z:-2.79 [[-9.61779335e-01 -2.73796644e-01 3.98844420e-03 4.43799786e+01] [ 2.73794038e-01 -9.61787604e-01 -1.19588375e-03 -1.79614624e+02] [ 4.16346514e-03 -5.81640334e-05 9.99991331e-01 -2.79488048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.83655999499996 meters 0.012321196885429634 Centerline is valid? [True, True] Translation: X:44.19, Y:-180.27, Z:-1.80 [[-9.82155090e-01 1.88043290e-01 3.33162840e-03 4.41873093e+01] [ 1.88042103e-01 9.82160741e-01 -6.68737567e-04 -1.80267907e+02] [-3.39794623e-03 -3.03175941e-05 -9.99994227e-01 -1.79512989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.866559995 meters 0.012497977618448322 Centerline is valid? [True, True] Translation: X:44.32, Y:-179.61, Z:-2.79 [[-9.62053605e-01 -2.72844011e-01 3.00116086e-03 4.43225378e+01] [ 2.72842714e-01 -9.62058286e-01 -8.41322937e-04 -1.79606416e+02] [ 3.11684160e-03 9.44711172e-06 9.99995143e-01 -2.79442995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.89655999499996 meters 0.012828962984240525 Centerline is valid? [True, True] Translation: X:44.14, Y:-180.26, Z:-1.80 [[-9.83468263e-01 1.81055381e-01 3.02069849e-03 4.41412086e+01] [ 1.81054410e-01 9.83472901e-01 -5.93901512e-04 -1.80257016e+02] [-3.07830418e-03 -3.71725038e-05 -9.99995261e-01 -1.79567789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.926559995 meters 0.014054507521640775 Centerline is valid? [True, True] Translation: X:44.14, Y:-180.23, Z:-1.80 [[-9.94149576e-01 1.07953305e-01 3.56419871e-03 4.41411856e+01] [ 1.07952417e-01 9.94155964e-01 -4.41303330e-04 -1.80226113e+02] [-3.59100956e-03 -5.39576534e-05 -9.99993551e-01 -1.79552042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.95655999499996 meters 0.013479343168962297 Centerline is valid? [True, True] Translation: X:44.14, Y:-180.20, Z:-1.80 [[-9.99360895e-01 3.55454008e-02 3.78494515e-03 4.41399442e+01] [ 3.55449080e-02 9.99368061e-01 -1.97408733e-04 -1.80199314e+02] [-3.78957026e-03 -6.27470408e-05 -9.99992818e-01 -1.79587712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.98655999499994 meters 0.01405569456880856 Centerline is valid? [True, True] Translation: X:44.13, Y:-180.17, Z:-1.80 [[-9.99324638e-01 -3.65401554e-02 3.88394519e-03 4.41295763e+01] [-3.65401448e-02 9.99332183e-01 7.37152429e-05 -1.80169322e+02] [-3.88404499e-03 -6.82544614e-05 -9.99992455e-01 -1.79576469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.01655999499997 meters 0.014062222125968313 Centerline is valid? [True, True] Translation: X:44.13, Y:-180.14, Z:-1.80 [[-9.94045955e-01 -1.08891716e-01 3.90290595e-03 4.41253201e+01] [-1.08891169e-01 9.94053615e-01 3.52946008e-04 -1.80141212e+02] [-3.91813066e-03 -7.41474408e-05 -9.99992321e-01 -1.79574648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.04655999499994 meters 0.014670040153462183 Centerline is valid? [True, True] Translation: X:44.06, Y:-179.48, Z:-2.80 [[-9.99985633e-01 1.57005871e-03 5.12540020e-03 4.40605471e+01] [-1.56911668e-03 -9.99998751e-01 1.87811604e-04 -1.79484136e+02] [ 5.12568867e-03 1.79766555e-04 9.99986847e-01 -2.79576517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.07655999499997 meters 0.015099366978444115 Centerline is valid? [True, True] Translation: X:44.03, Y:-180.15, Z:-1.79 [[-9.93069958e-01 -1.17381923e-01 5.79154248e-03 4.40280383e+01] [-1.17380661e-01 9.93086838e-01 5.58477278e-04 -1.80145793e+02] [-5.81705975e-03 -1.25208078e-04 -9.99983073e-01 -1.79376168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.10655999499994 meters 0.015231549945960016 Centerline is valid? [True, True] Translation: X:43.97, Y:-179.49, Z:-2.80 [[-9.99953376e-01 6.76019602e-03 6.89536626e-03 4.39691599e+01] [-6.75851105e-03 -9.99977125e-01 2.67635126e-04 -1.79492628e+02] [ 6.89701780e-03 2.21020239e-04 9.99976191e-01 -2.79667604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.13655999499997 meters 0.015021284657089877 Centerline is valid? [True, True] Translation: X:43.94, Y:-180.16, Z:-1.79 [[-9.92313760e-01 -1.23527582e-01 7.37151150e-03 4.39357558e+01] [-1.23525384e-01 9.92341126e-01 7.54358610e-04 -1.80155399e+02] [-7.40823812e-03 -1.62008363e-04 -9.99972546e-01 -1.79354269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.16655999499994 meters 0.01501983171640682 Centerline is valid? [True, True] Translation: X:43.88, Y:-179.50, Z:-2.80 [[-9.99878503e-01 1.29960029e-02 8.60712614e-03 4.38764285e+01] [-1.29932107e-02 -9.99915512e-01 3.80242384e-04 -1.79499220e+02] [ 8.61134058e-03 2.68361982e-04 9.99962886e-01 -2.79702609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.196559995 meters 0.015594155209469997 Centerline is valid? [True, True] Translation: X:43.85, Y:-180.16, Z:-1.79 [[-9.91638218e-01 -1.28736810e-01 8.97099427e-03 4.38455877e+01] [-1.28733276e-01 9.91678777e-01 9.72608596e-04 -1.80164025e+02] [-9.02155516e-03 -1.90389630e-04 -9.99959287e-01 -1.79216415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.22655999499995 meters 0.01556559986765561 Centerline is valid? [True, True] Translation: X:43.78, Y:-179.51, Z:-2.80 [[-9.99756861e-01 2.00938580e-02 9.08051436e-03 4.37803555e+01] [-2.00912479e-02 -9.99798079e-01 3.78575633e-04 -1.79508520e+02] [ 9.08628786e-03 1.96044722e-04 9.99958700e-01 -2.79824703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.256559995 meters 0.01542953103613164 Centerline is valid? [True, True] Translation: X:43.75, Y:-180.18, Z:-1.79 [[-9.91017471e-01 -1.33392298e-01 9.53244044e-03 4.37509744e+01] [-1.33387954e-01 9.91063297e-01 1.09284822e-03 -1.80175051e+02] [-9.59302939e-03 -1.88481048e-04 -9.99953968e-01 -1.79147731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.28655999499995 meters 0.014127009548223312 Centerline is valid? [True, True] Translation: X:43.74, Y:-180.15, Z:-1.79 [[-9.79407316e-01 -2.01680528e-01 9.28833646e-03 4.37390150e+01] [-2.01673056e-01 9.79451345e-01 1.74391456e-03 -1.80153488e+02] [-9.44918725e-03 -1.65204518e-04 -9.99955342e-01 -1.79215260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.316559995 meters 0.013487471097183453 Centerline is valid? [True, True] Translation: X:43.72, Y:-180.13, Z:-1.79 [[-9.62682223e-01 -2.70475670e-01 9.26547103e-03 4.37164611e+01] [-2.70464702e-01 9.62726798e-01 2.44078373e-03 -1.80133164e+02] [-9.58028987e-03 -1.56283761e-04 -9.99954096e-01 -1.79269667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.34655999499995 meters 0.013418625196815009 Centerline is valid? [True, True] Translation: X:43.67, Y:-180.12, Z:-1.79 [[-9.40967232e-01 -3.38390350e-01 8.52291395e-03 4.36744859e+01] [-3.38377764e-01 9.41005820e-01 2.92162546e-03 -1.80118911e+02] [-9.00876149e-03 -1.34810740e-04 -9.99959411e-01 -1.79273292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.376559995 meters 0.01284441433165785 Centerline is valid? [True, True] Translation: X:43.61, Y:-180.12, Z:-1.79 [[-9.14551319e-01 -4.04387473e-01 8.16438707e-03 4.36147125e+01] [-4.04372432e-01 9.14587754e-01 3.48953064e-03 -1.80116692e+02] [-8.87817091e-03 -1.10098210e-04 -9.99960582e-01 -1.79286676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.40655999499995 meters 0.012688681196275602 Centerline is valid? [True, True] Translation: X:43.54, Y:-180.12, Z:-1.79 [[-8.82438539e-01 -4.70361190e-01 7.91047251e-03 4.35447728e+01] [-4.70343358e-01 8.82473988e-01 4.09704382e-03 -1.80119713e+02] [-8.90787663e-03 -1.05248841e-04 -9.99960319e-01 -1.79343643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.436559995 meters 0.01344203512543978 Centerline is valid? [True, True] Translation: X:43.47, Y:-180.13, Z:-1.79 [[-8.44862602e-01 -5.34934577e-01 7.22372967e-03 4.34693989e+01] [-5.34916054e-01 8.44893477e-01 4.45278025e-03 -1.80128105e+02] [-8.48522820e-03 -1.02101460e-04 -9.99963995e-01 -1.79212668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.46655999499995 meters 0.01300297561992593 Centerline is valid? [True, True] Translation: X:43.39, Y:-180.15, Z:-1.79 [[-8.01581354e-01 -5.97848043e-01 6.71201853e-03 4.33900554e+01] [-5.97828247e-01 8.01609447e-01 4.86635466e-03 -1.80149305e+02] [-8.28975807e-03 -1.11855114e-04 -9.99965633e-01 -1.79351192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.496559995 meters 0.013368237470688788 Centerline is valid? [True, True] Translation: X:43.30, Y:-180.18, Z:-1.79 [[-7.53762727e-01 -6.57116671e-01 6.27958296e-03 4.33046420e+01] [-6.57095176e-01 7.53788874e-01 5.31625313e-03 -1.80180241e+02] [-8.22687833e-03 -1.19090222e-04 -9.99966152e-01 -1.79341400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.52655999499996 meters 0.013308840071718994 Centerline is valid? [True, True] Translation: X:43.22, Y:-180.22, Z:-1.79 [[-7.01628746e-01 -7.12516901e-01 6.06366964e-03 4.32169822e+01] [-7.12491861e-01 7.01654936e-01 5.97490401e-03 -1.80223217e+02] [-8.51182383e-03 -1.28150858e-04 -9.99963766e-01 -1.79369677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.556559995 meters 0.013771469341945014 Centerline is valid? [True, True] Translation: X:43.13, Y:-180.27, Z:-1.79 [[-6.44724080e-01 -7.64393471e-01 5.78632486e-03 4.31300371e+01] [-7.64364657e-01 6.44750030e-01 6.63851499e-03 -1.80273928e+02] [-8.80517064e-03 -1.42851742e-04 -9.99961224e-01 -1.79346099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.58655999499996 meters 0.013993336321177321 Centerline is valid? [True, True] Translation: X:43.04, Y:-180.34, Z:-1.79 [[-5.84346965e-01 -8.11488571e-01 4.99232012e-03 4.30435743e+01] [-8.11460980e-01 5.84368274e-01 6.69316943e-03 -1.80335391e+02] [-8.34878399e-03 -1.39939736e-04 -9.99965139e-01 -1.79314236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.616559995 meters 0.01413550138634276 Centerline is valid? [True, True] Translation: X:42.96, Y:-180.40, Z:-1.79 [[-5.20561060e-01 -8.53813948e-01 4.23375219e-03 4.29636155e+01] [-8.53787791e-01 5.20578259e-01 6.68467258e-03 -1.80400184e+02] [-7.91146603e-03 -1.34945689e-04 -9.99968695e-01 -1.79295044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.64655999499996 meters 0.01393496351922939 Centerline is valid? [True, True] Translation: X:42.88, Y:-180.48, Z:-1.79 [[-4.53401946e-01 -8.91299079e-01 3.55350443e-03 4.28843845e+01] [-8.91273968e-01 4.53415852e-01 6.69172803e-03 -1.80481062e+02] [-7.57554627e-03 -1.33103479e-04 -9.99971296e-01 -1.79366250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.676559995 meters 0.014044856240143962 Centerline is valid? [True, True] Translation: X:42.81, Y:-180.57, Z:-1.79 [[-3.83101338e-01 -9.23702159e-01 2.77230797e-03 4.28109656e+01] [-9.23680338e-01 3.83111348e-01 6.35044742e-03 -1.80565514e+02] [-6.92802464e-03 -1.27861459e-04 -9.99975993e-01 -1.79424804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.70655999499996 meters 0.014187332563276145 Centerline is valid? [True, True] Translation: X:42.74, Y:-180.66, Z:-1.79 [[-3.10839819e-01 -9.50459910e-01 2.13699014e-03 4.27448329e+01] [-9.50440088e-01 3.10847140e-01 6.13957434e-03 -1.80656181e+02] [-6.49969655e-03 -1.22656926e-04 -9.99978869e-01 -1.79427193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.73655999499994 meters 0.01462181330720229 Centerline is valid? [True, True] Translation: X:42.68, Y:-180.76, Z:-1.79 [[-2.36580790e-01 -9.71610251e-01 1.74638853e-03 4.26837248e+01] [-9.71587753e-01 2.36587199e-01 6.61332918e-03 -1.80757620e+02] [-6.83875160e-03 -1.32183063e-04 -9.99976607e-01 -1.79403289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.76655999499997 meters 0.01447057478237817 Centerline is valid? [True, True] Translation: X:42.63, Y:-180.86, Z:-1.79 [[-1.61314234e-01 -9.86902136e-01 1.37545674e-03 4.26322886e+01] [-9.86873622e-01 1.61320030e-01 7.50349024e-03 -1.80860895e+02] [-7.62709927e-03 -1.46982198e-04 -9.99970902e-01 -1.79391172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.79655999499994 meters 0.014361282820118901 Centerline is valid? [True, True] Translation: X:42.59, Y:-180.97, Z:-1.79 [[-8.51204477e-02 -9.96370305e-01 8.51254981e-04 4.25887174e+01] [-9.96337196e-01 8.51245600e-02 8.12406392e-03 -1.80970496e+02] [-8.16703875e-03 -1.56613044e-04 -9.99966637e-01 -1.79364786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.82655999499997 meters 0.01456207704561696 Centerline is valid? [True, True] Translation: X:42.55, Y:-181.08, Z:-1.79 [[-8.76468762e-03 -9.99961560e-01 2.40656433e-04 4.25523367e+01] [-9.99923251e-01 8.76645875e-03 8.75454997e-03 -1.81084211e+02] [-8.75632315e-03 -1.63907067e-04 -9.99961649e-01 -1.79289210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.85655999499994 meters 0.01422471247746826 Centerline is valid? [True, True] Translation: X:42.53, Y:-181.20, Z:-1.79 [[ 6.83163273e-02 -9.97663601e-01 -4.66844768e-04 4.25260042e+01] [-9.97619187e-01 -6.83176919e-02 9.41540641e-03 -1.81199666e+02] [-9.42530202e-03 -1.77492688e-04 -9.99955565e-01 -1.79256632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.88655999499997 meters 0.01433307470833378 Centerline is valid? [True, True] Translation: X:42.51, Y:-181.32, Z:-1.79 [[ 1.44918515e-01 -9.89442823e-01 -1.23481009e-03 4.25076330e+01] [-9.89395233e-01 -1.44923657e-01 9.70595582e-03 -1.81317791e+02] [-9.78244152e-03 -1.84857485e-04 -9.99952134e-01 -1.79210797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.91655999499994 meters 0.014486785598840651 Centerline is valid? [True, True] Translation: X:42.50, Y:-181.43, Z:-1.79 [[ 2.20598642e-01 -9.75362514e-01 -2.05049334e-03 4.24978557e+01] [-9.75311820e-01 -2.20608086e-01 9.94617273e-03 -1.81433600e+02] [-1.01534795e-02 -1.94241807e-04 -9.99948433e-01 -1.79167857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.946559995 meters 0.014330855892714208 Centerline is valid? [True, True] Translation: X:42.50, Y:-181.55, Z:-1.79 [[ 2.94880336e-01 -9.55529827e-01 -2.88736542e-03 4.24984720e+01] [-9.55477186e-01 -2.94894404e-01 1.00317734e-02 -1.81552360e+02] [-1.04371266e-02 -1.99360924e-04 -9.99945512e-01 -1.79167585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.97655999499995 meters 0.014028269535987636 Centerline is valid? [True, True] Translation: X:42.51, Y:-181.67, Z:-1.79 [[ 3.66483212e-01 -9.30417429e-01 -3.66932407e-03 4.25092173e+01] [-9.30365470e-01 -3.66501531e-01 9.83464775e-03 -1.81672049e+02] [-1.04951406e-02 -1.90420888e-04 -9.99944906e-01 -1.79155932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.006559995 meters 0.013786970820226549 Centerline is valid? [True, True] Translation: X:42.53, Y:-181.79, Z:-1.79 [[ 4.35369006e-01 -9.00241447e-01 -4.37776516e-03 4.25277472e+01] [-9.00191886e-01 -4.35390982e-01 9.44787244e-03 -1.81785118e+02] [-1.04114058e-02 -1.72482161e-04 -9.99945785e-01 -1.79127877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.03655999499995 meters 0.013786970820226549 Centerline is valid? [True, True] Translation: X:42.55, Y:-181.90, Z:-1.79 [[ 5.03138355e-01 -8.64190888e-01 -5.08959238e-03 4.25542432e+01] [-8.64143159e-01 -5.03164067e-01 9.08421644e-03 -1.81897986e+02] [-1.04113971e-02 -1.72481284e-04 -9.99945785e-01 -1.79127919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.066559995 meters 0.013514441209745402 Centerline is valid? [True, True] Translation: X:42.59, Y:-182.00, Z:-1.79 [[ 5.66979336e-01 -8.23713747e-01 -5.48604414e-03 4.25881280e+01] [-8.23672532e-01 -5.67005855e-01 8.24131705e-03 -1.82004258e+02] [-9.89910530e-03 -1.53952599e-04 -9.99950991e-01 -1.79155458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.09655999499995 meters 0.013154139406714392 Centerline is valid? [True, True] Translation: X:42.63, Y:-182.11, Z:-1.79 [[ 6.27222349e-01 -7.78819000e-01 -5.75238407e-03 4.26308615e+01] [-7.78784298e-01 -6.27248713e-01 7.35319185e-03 -1.82107539e+02] [-9.33498102e-03 -1.32219876e-04 -9.99956419e-01 -1.79248378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.126559995 meters 0.013148159043043619 Centerline is valid? [True, True] Translation: X:42.68, Y:-182.20, Z:-1.79 [[ 6.84250571e-01 -7.29224246e-01 -5.75803135e-03 4.26764431e+01] [-7.29196999e-01 -6.84274788e-01 6.30489193e-03 -1.82203819e+02] [-8.53775575e-03 -1.15386724e-04 -9.99963546e-01 -1.79273925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.15655999499995 meters 0.013165899769422127 Centerline is valid? [True, True] Translation: X:42.73, Y:-182.30, Z:-1.79 [[ 7.37574759e-01 -6.75243092e-01 -5.49918572e-03 4.27305152e+01] [-6.75223314e-01 -7.37595253e-01 5.16908208e-03 -1.82297047e+02] [-7.54656024e-03 -9.94060620e-05 -9.99971519e-01 -1.79355703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.186559995 meters 0.01299296747721274 Centerline is valid? [True, True] Translation: X:42.73, Y:-182.30, Z:-1.79 [[ 7.87901838e-01 -6.15779442e-01 -5.13539030e-03 4.27287863e+01] [-6.15765660e-01 -7.87918570e-01 4.12063362e-03 -1.82304906e+02] [-6.58367085e-03 -8.44578077e-05 -9.99978324e-01 -1.79450301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.21655999499995 meters 0.013553930805992667 Centerline is valid? [True, True] Translation: X:42.73, Y:-182.31, Z:-1.80 [[ 8.33595628e-01 -5.52360795e-01 -3.98512284e-03 4.27260659e+01] [-5.52354127e-01 -8.33605152e-01 2.71469239e-03 -1.82312953e+02] [-4.82150858e-03 -6.17566556e-05 -9.99988375e-01 -1.79512415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.246559995 meters 0.01312583198093594 Centerline is valid? [True, True] Translation: X:42.73, Y:-182.32, Z:-1.80 [[ 8.74289862e-01 -4.85389982e-01 -3.71513110e-03 4.27260277e+01] [-4.85385330e-01 -8.74297754e-01 2.12594452e-03 -1.82320202e+02] [-4.28004295e-03 -5.54216110e-05 -9.99990839e-01 -1.79588263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.27655999499996 meters 0.013225963367091012 Centerline is valid? [True, True] Translation: X:42.73, Y:-182.33, Z:-1.80 [[ 9.09742680e-01 -4.15154251e-01 -3.89919813e-03 4.27261372e+01] [-4.15150166e-01 -9.09751034e-01 1.84271381e-03 -1.82328527e+02] [-4.31231001e-03 -5.76426498e-05 -9.99990700e-01 -1.79601271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.306559995 meters 0.013350069593353817 Centerline is valid? [True, True] Translation: X:42.73, Y:-182.34, Z:-1.79 [[ 9.39871041e-01 -3.41497000e-01 -4.71448974e-03 4.27254284e+01] [-3.41492307e-01 -9.39882862e-01 1.79170970e-03 -1.82338779e+02] [-5.04293160e-03 -7.40140783e-05 -9.99987282e-01 -1.79496896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.33655999499996 meters 0.013839086626034497 Centerline is valid? [True, True] Translation: X:42.73, Y:-182.35, Z:-1.79 [[ 9.64020491e-01 -2.65772478e-01 -5.42982664e-03 4.27250154e+01] [-2.65767734e-01 -9.64035778e-01 1.59049197e-03 -1.82349828e+02] [-5.65725615e-03 -9.01941281e-05 -9.99983994e-01 -1.79395132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.366559995 meters 0.014606490769603589 Centerline is valid? [True, True] Translation: X:42.73, Y:-182.36, Z:-1.79 [[ 9.82095249e-01 -1.88291189e-01 -5.94567118e-03 4.27255088e+01] [-1.88287092e-01 -9.82113241e-01 1.24648865e-03 -1.82359892e+02] [-6.07402522e-03 -1.04677441e-04 -9.99981547e-01 -1.79239681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.39655999499996 meters 0.014907422773444232 Centerline is valid? [True, True] Translation: X:42.73, Y:-182.37, Z:-1.79 [[ 9.94091028e-01 -1.08312937e-01 -7.16485165e-03 4.27274484e+01] [-1.08309084e-01 -9.94116838e-01 9.24840533e-04 -1.82369412e+02] [-7.22287186e-03 -1.43357161e-04 -9.99973904e-01 -1.79135082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.426559995 meters 0.01519033555808829 Centerline is valid? [True, True] Translation: X:42.73, Y:-182.38, Z:-1.79 [[ 9.99544300e-01 -2.92872506e-02 -7.31093593e-03 4.27270266e+01] [-2.92853551e-02 -9.99571025e-01 3.66210851e-04 -1.82376916e+02] [-7.31852503e-03 -1.51940614e-04 -9.99973208e-01 -1.79125380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.45655999499996 meters 0.015382545052708583 Centerline is valid? [True, True] Translation: X:42.73, Y:-182.38, Z:-1.79 [[ 9.98752641e-01 4.94009183e-02 -7.26020469e-03 4.27270870e+01] [ 4.94007297e-02 -9.98779017e-01 -2.05416253e-04 -1.82384173e+02] [-7.26148786e-03 -1.53499384e-04 -9.99973623e-01 -1.79139910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.48655999499994 meters 0.015157336401142169 Centerline is valid? [True, True] Translation: X:42.73, Y:-182.39, Z:-1.79 [[ 9.91805000e-01 1.27575762e-01 -6.87508180e-03 4.27286490e+01] [ 1.27573723e-01 -9.91828818e-01 -7.36048897e-04 -1.82392570e+02] [-6.91280625e-03 -1.47062808e-04 -9.99976095e-01 -1.79167250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.51655999499997 meters 0.01532039152460465 Centerline is valid? [True, True] Translation: X:42.73, Y:-182.40, Z:-1.79 [[ 9.78841061e-01 2.04511259e-01 -6.73213683e-03 4.27296212e+01] [ 2.04507430e-01 -9.78864201e-01 -1.25978899e-03 -1.82400582e+02] [-6.84748877e-03 -1.43638810e-04 -9.99976545e-01 -1.79159232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.54655999499994 meters 0.01532039152460465 Centerline is valid? [True, True] Translation: X:42.73, Y:-182.41, Z:-1.79 [[ 9.59824453e-01 2.80523242e-01 -6.61282777e-03 4.27313086e+01] [ 2.80517613e-01 -9.59847222e-01 -1.78301001e-03 -1.82407666e+02] [-6.84748011e-03 -1.43638054e-04 -9.99976545e-01 -1.79159240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.57655999499997 meters 0.015046897914356287 Centerline is valid? [True, True] Translation: X:42.73, Y:-182.41, Z:-1.79 [[ 9.35116117e-01 3.54288286e-01 -6.13669019e-03 4.27336151e+01] [ 3.54281586e-01 -9.35136243e-01 -2.18286096e-03 -1.82414380e+02] [-6.51200347e-03 -1.32887868e-04 -9.99978788e-01 -1.79176556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.60655999499994 meters 0.015084916518062746 Centerline is valid? [True, True] Translation: X:42.74, Y:-182.42, Z:-1.79 [[ 9.04776455e-01 4.25847015e-01 -5.82115217e-03 4.27367711e+01] [ 4.25839093e-01 -9.04795173e-01 -2.60045575e-03 -1.82419838e+02] [-6.37434670e-03 -1.26043029e-04 -9.99979676e-01 -1.79209744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.63655999499997 meters 0.014676443274344971 Centerline is valid? [True, True] Translation: X:42.74, Y:-182.42, Z:-1.79 [[ 8.69785515e-01 4.93396090e-01 -5.78409950e-03 4.27372665e+01] [ 4.93386058e-01 -8.69804740e-01 -3.14845138e-03 -1.82422796e+02] [-6.58447076e-03 -1.15316641e-04 -9.99978316e-01 -1.79276238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.66655999499994 meters 0.0138670616635644 Centerline is valid? [True, True] Translation: X:42.74, Y:-182.43, Z:-1.79 [[ 8.29221447e-01 5.58892950e-01 -5.51921355e-03 4.27413306e+01] [ 5.58881424e-01 -8.29239808e-01 -3.59103270e-03 -1.82428207e+02] [-6.58375445e-03 -1.06824591e-04 -9.99978321e-01 -1.79396166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.696559995 meters 0.013857020283763715 Centerline is valid? [True, True] Translation: X:42.75, Y:-182.44, Z:-1.79 [[ 7.83560866e-01 6.21289150e-01 -5.67108979e-03 4.27455284e+01] [ 6.21273876e-01 -7.83581381e-01 -4.35785532e-03 -1.82435260e+02] [-7.15124860e-03 -1.08655044e-04 -9.99974424e-01 -1.79393789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.72655999499995 meters 0.013606418150340409 Centerline is valid? [True, True] Translation: X:42.75, Y:-182.44, Z:-1.79 [[ 7.33076081e-01 6.80124569e-01 -5.47996382e-03 4.27512445e+01] [ 6.80106640e-01 -7.33096556e-01 -4.93949007e-03 -1.82442371e+02] [-7.37681116e-03 -1.05937758e-04 -9.99972785e-01 -1.79412881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.756559995 meters 0.013778538039314654 Centerline is valid? [True, True] Translation: X:42.76, Y:-182.45, Z:-1.79 [[ 6.78145585e-01 7.34904602e-01 -5.81312951e-03 4.27577312e+01] [ 7.34879041e-01 -6.78170490e-01 -6.13035505e-03 -1.82450365e+02] [-8.44751902e-03 -1.14673829e-04 -9.99964313e-01 -1.79286188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.78655999499995 meters 0.01368037442837674 Centerline is valid? [True, True] Translation: X:42.76, Y:-182.46, Z:-1.79 [[ 6.18579096e-01 7.85702623e-01 -5.59373708e-03 4.27630309e+01] [ 7.85672239e-01 -6.18604375e-01 -6.91086630e-03 -1.82455675e+02] [-8.89019602e-03 -1.19926510e-04 -9.99960474e-01 -1.79273484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.816559995 meters 0.013725385279277334 Centerline is valid? [True, True] Translation: X:42.77, Y:-182.46, Z:-1.79 [[ 5.55018362e-01 8.31818699e-01 -5.68057300e-03 4.27690546e+01] [ 8.31777635e-01 -5.55047415e-01 -8.26640335e-03 -1.82460994e+02] [-1.00291362e-02 -1.36967928e-04 -9.99949698e-01 -1.79238529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.84655999499995 meters 0.014140012614868887 Centerline is valid? [True, True] Translation: X:42.77, Y:-182.47, Z:-1.79 [[ 4.87381376e-01 8.73166972e-01 -6.23158676e-03 4.27749387e+01] [ 8.73100300e-01 -4.87421179e-01 -1.07916940e-02 -1.82467424e+02] [-1.24603582e-02 -1.81129586e-04 -9.99922350e-01 -1.79062606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.876559995 meters 0.014257788066132284 Centerline is valid? [True, True] Translation: X:42.78, Y:-182.47, Z:-1.79 [[ 4.16876415e-01 9.08943771e-01 -5.93939127e-03 4.27797816e+01] [ 9.08858575e-01 -4.16918671e-01 -1.24464093e-02 -1.82471383e+02] [-1.37893293e-02 -2.09452214e-04 -9.99904901e-01 -1.79061475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.90655999499995 meters 0.014441590093972452 Centerline is valid? [True, True] Translation: X:42.79, Y:-182.47, Z:-1.79 [[ 3.43825128e-01 9.39019249e-01 -5.20885674e-03 4.27854052e+01] [ 9.38921417e-01 -3.43864505e-01 -1.35563642e-02 -1.82474607e+02] [-1.45208278e-02 -2.29688505e-04 -9.99894541e-01 -1.79072576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.936559995 meters 0.01441567318982856 Centerline is valid? [True, True] Translation: X:42.80, Y:-182.48, Z:-1.79 [[ 2.67680098e-01 9.63498717e-01 -4.19367775e-03 4.27950033e+01] [ 9.63395101e-01 -2.67712823e-01 -1.41323839e-02 -1.82478784e+02] [-1.47392351e-02 -2.57210679e-04 -9.99891339e-01 -1.79154779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.96655999499995 meters 0.014757622011091875 Centerline is valid? [True, True] Translation: X:42.80, Y:-182.48, Z:-1.79 [[ 1.90650044e-01 9.81653196e-01 -3.09237888e-03 4.28037658e+01] [ 9.81546053e-01 -1.90674931e-01 -1.45057340e-02 -1.82482790e+02] [-1.48292392e-02 -2.69793462e-04 -9.99890004e-01 -1.79110436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.996559995 meters 0.014955824215733654 Centerline is valid? [True, True] Translation: X:42.81, Y:-182.49, Z:-1.79 [[ 1.13100686e-01 9.93581643e-01 -1.93751019e-03 4.28118998e+01] [ 9.93473841e-01 -1.13116960e-01 -1.46383228e-02 -1.82485812e+02] [-1.47635341e-02 -2.69261331e-04 -9.99890977e-01 -1.79138526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.02655999499996 meters 0.014830015773892381 Centerline is valid? [True, True] Translation: X:42.82, Y:-182.49, Z:-1.79 [[ 3.57227262e-02 9.99361457e-01 -7.51939970e-04 4.28175625e+01] [ 9.99261581e-01 -3.57297883e-02 -1.41306358e-02 -1.82487033e+02] [-1.41484794e-02 -2.46599891e-04 -9.99899875e-01 -1.79198798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.056559995 meters 0.01421246176352585 Centerline is valid? [True, True] Translation: X:42.82, Y:-182.49, Z:-1.79 [[-4.13949941e-02 9.99142798e-01 3.51088693e-04 4.28238478e+01] [ 9.99046112e-01 4.13958732e-02 -1.39013486e-02 -1.82488660e+02] [-1.39039660e-02 -2.24692451e-04 -9.99903310e-01 -1.79359190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.08655999499996 meters 0.013678129584568547 Centerline is valid? [True, True] Translation: X:42.83, Y:-182.49, Z:-1.80 [[-1.16687661e-01 9.93167757e-01 1.33998191e-03 4.28295100e+01] [ 9.93084297e-01 1.16695228e-01 -1.28764379e-02 -1.82489568e+02] [-1.29448325e-02 -1.71806434e-04 -9.99916197e-01 -1.79524670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.116559995 meters 0.014279085841336164 Centerline is valid? [True, True] Translation: X:42.84, Y:-182.49, Z:-1.79 [[-1.92675466e-01 9.81259716e-01 2.35266607e-03 4.28385113e+01] [ 9.81176550e-01 1.92689768e-01 -1.27761583e-02 -1.82490479e+02] [-1.29900641e-02 -1.53271469e-04 -9.99915614e-01 -1.79319525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.14655999499996 meters 0.014132278128708894 Centerline is valid? [True, True] Translation: X:42.84, Y:-182.49, Z:-1.79 [[-2.67804692e-01 9.63467151e-01 3.42000821e-03 4.28377826e+01] [ 9.63381770e-01 2.67826492e-01 -1.28271740e-02 -1.82494289e+02] [-1.32745296e-02 -1.40403822e-04 -9.99911880e-01 -1.79258725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.176559995 meters 0.013124084243638161 Centerline is valid? [True, True] Translation: X:42.84, Y:-182.49, Z:-1.80 [[-3.41546095e-01 9.39854244e-01 4.50174390e-03 4.28448609e+01] [ 9.39767536e-01 3.41575736e-01 -1.27669327e-02 -1.82494129e+02] [-1.35367423e-02 -1.29903215e-04 -9.99908366e-01 -1.79510540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.20655999499996 meters 0.012997753538641878 Centerline is valid? [True, True] Translation: X:42.85, Y:-182.49, Z:-1.79 [[-4.12468973e-01 9.10953618e-01 5.73171677e-03 4.28531340e+01] [ 9.10861934e-01 4.12508780e-01 -1.29245008e-02 -1.82494500e+02] [-1.41380043e-02 -1.10152945e-04 -9.99900047e-01 -1.79454161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.23655999499994 meters 0.013031454426120526 Centerline is valid? [True, True] Translation: X:42.86, Y:-182.49, Z:-1.79 [[-4.81929325e-01 8.76183596e-01 6.81411150e-03 4.28612506e+01] [ 8.76093034e-01 4.81977485e-01 -1.25976562e-02 -1.82492212e+02] [-1.43221081e-02 -1.01384341e-04 -9.99897428e-01 -1.79442116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.26655999499997 meters 0.012948917307531916 Centerline is valid? [True, True] Translation: X:42.87, Y:-182.49, Z:-1.79 [[-5.48532821e-01 8.36091503e-01 7.92101739e-03 4.28701832e+01] [ 8.36001853e-01 5.48590001e-01 -1.22439011e-02 -1.82489397e+02] [-1.45824126e-02 -9.41963819e-05 -9.99893667e-01 -1.79444598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.29655999499994 meters 0.012938512914825655 Centerline is valid? [True, True] Translation: X:42.88, Y:-182.49, Z:-1.79 [[-6.11398516e-01 7.91271953e-01 8.97499031e-03 4.28780206e+01] [ 7.91184842e-01 6.11464382e-01 -1.17412224e-02 -1.82486815e+02] [-1.47783869e-02 -7.76896710e-05 -9.99890791e-01 -1.79495383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.32655999499997 meters 0.012866656565312355 Centerline is valid? [True, True] Translation: X:42.89, Y:-182.48, Z:-1.79 [[-6.71077047e-01 7.41323667e-01 9.73747546e-03 4.28856148e+01] [ 7.41244160e-01 6.71147686e-01 -1.08571756e-02 -1.82484083e+02] [-1.45839654e-02 -6.81545500e-05 -9.99893646e-01 -1.79466865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.35655999499994 meters 0.012814621260157989 Centerline is valid? [True, True] Translation: X:42.89, Y:-182.48, Z:-1.79 [[-7.26304853e-01 6.87295607e-01 1.02960711e-02 4.28934905e+01] [ 6.87225568e-01 7.26377826e-01 -9.81189856e-03 -1.82478729e+02] [-1.42225125e-02 -5.07062507e-05 -9.99898854e-01 -1.79488874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.38655999499997 meters 0.012890403980234142 Centerline is valid? [True, True] Translation: X:42.91, Y:-182.46, Z:-1.79 [[-7.72867725e-01 6.34476479e-01 1.07274698e-02 4.29096807e+01] [ 6.34414584e-01 7.72942169e-01 -8.86222041e-03 -1.82455419e+02] [-1.39145842e-02 -4.36607960e-05 -9.99903187e-01 -1.79396747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.41655999499994 meters 0.012777094969545431 Centerline is valid? [True, True] Translation: X:42.94, Y:-182.44, Z:-1.79 [[-8.15201376e-01 5.79073368e-01 1.09886505e-02 4.29389398e+01] [ 5.79020103e-01 8.15275434e-01 -7.85417715e-03 -1.82442086e+02] [-1.35069216e-02 -4.00864821e-05 -9.99908777e-01 -1.79442854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.446559995 meters 0.01278344232092541 Centerline is valid? [True, True] Translation: X:42.96, Y:-182.42, Z:-1.79 [[-8.54406016e-01 5.19498948e-01 1.05452891e-02 4.29575501e+01] [ 5.19458774e-01 8.54471089e-01 -6.46068448e-03 -1.82418974e+02] [-1.23669635e-02 -4.22047170e-05 -9.99923525e-01 -1.79424159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.47655999499995 meters 0.012785747148121026 Centerline is valid? [True, True] Translation: X:42.97, Y:-182.39, Z:-1.79 [[-8.89401008e-01 4.57008711e-01 1.04347897e-02 4.29724890e+01] [ 4.56976610e-01 8.89462217e-01 -5.41682290e-03 -1.82394406e+02] [-1.17568865e-02 -4.92729049e-05 -9.99930884e-01 -1.79438570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.506559995 meters 0.01276169668269431 Centerline is valid? [True, True] Translation: X:42.99, Y:-182.37, Z:-1.79 [[-9.19648266e-01 3.92602526e-01 1.05034712e-02 4.29863019e+01] [ 3.92576283e-01 9.19708244e-01 -4.53967612e-03 -1.82369310e+02] [-1.14424174e-02 -5.14915838e-05 -9.99934532e-01 -1.79425186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.53655999499995 meters 0.012750954242708305 Centerline is valid? [True, True] Translation: X:43.26, Y:-181.74, Z:-2.80 [[-8.86739333e-01 -4.62155726e-01 1.02683986e-02 4.32633400e+01] [ 4.62125507e-01 -8.86798783e-01 -5.28531449e-03 -1.81736832e+02] [ 1.15486417e-02 5.85926479e-05 9.99933311e-01 -2.79512409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.566559995 meters 0.012782395622566431 Centerline is valid? [True, True] Translation: X:42.95, Y:-182.35, Z:-1.79 [[-9.21477799e-01 3.88310069e-01 9.69313625e-03 4.29458710e+01] [ 3.88287930e-01 9.21528777e-01 -4.14682523e-03 -1.82349699e+02] [-1.05427580e-02 -5.74795746e-05 -9.99944422e-01 -1.79441159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.59655999499995 meters 0.012645600676439276 Centerline is valid? [True, True] Translation: X:43.22, Y:-181.72, Z:-2.80 [[-8.88395501e-01 -4.58984328e-01 9.31772285e-03 4.32191795e+01] [ 4.58959698e-01 -8.88444362e-01 -4.75517339e-03 -1.81721905e+02] [ 1.04608284e-02 5.19846186e-05 9.99945283e-01 -2.79534291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.626559995 meters 0.012721146109799861 Centerline is valid? [True, True] Translation: X:42.90, Y:-182.33, Z:-1.79 [[-9.22748518e-01 3.85289911e-01 9.31968790e-03 4.28997491e+01] [ 3.85269705e-01 9.22795580e-01 -3.94615052e-03 -1.82329182e+02] [-1.01205788e-02 -5.07111324e-05 -9.99948784e-01 -1.79414188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.65655999499995 meters 0.012581363641772697 Centerline is valid? [True, True] Translation: X:42.92, Y:-182.31, Z:-1.79 [[-9.47549786e-01 3.19437009e-01 1.04595226e-02 4.29161147e+01] [ 3.19416978e-01 9.47607511e-01 -3.57753501e-03 -1.82305188e+02] [-1.10543193e-02 -4.89434197e-05 -9.99938898e-01 -1.79393058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.686559995 meters 0.012578543189275957 Centerline is valid? [True, True] Translation: X:43.14, Y:-181.66, Z:-2.80 [[-9.20655471e-01 -3.90224357e-01 1.08837007e-02 4.31366120e+01] [ 3.90198337e-01 -9.20719795e-01 -4.50732223e-03 -1.81660766e+02] [ 1.17797056e-02 9.71110434e-05 9.99930612e-01 -2.79706976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.71655999499995 meters 0.0125403598690492 Centerline is valid? [True, True] Translation: X:42.87, Y:-182.29, Z:-1.79 [[-9.48360510e-01 3.16976988e-01 1.17444790e-02 4.28717773e+01] [ 3.16952157e-01 9.48433228e-01 -3.96776920e-03 -1.82290209e+02] [-1.23965457e-02 -4.04376651e-05 -9.99923159e-01 -1.79245404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.746559995 meters 0.012535337479321104 Centerline is valid? [True, True] Translation: X:42.88, Y:-182.26, Z:-1.79 [[-9.68100622e-01 2.50251091e-01 1.24730849e-02 4.28794590e+01] [ 2.50230000e-01 9.68180970e-01 -3.24899985e-03 -1.82263126e+02] [-1.28892692e-02 -2.42187355e-05 -9.99916930e-01 -1.79126839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.77655999499996 meters 0.012537833647341963 Centerline is valid? [True, True] Translation: X:42.89, Y:-182.24, Z:-1.79 [[-9.83238721e-01 1.81885355e-01 1.26228217e-02 4.28855861e+01] [ 1.81870210e-01 9.83319743e-01 -2.34721067e-03 -1.82236352e+02] [-1.28391930e-02 -1.21531958e-05 -9.99917574e-01 -1.79038644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.806559995 meters 0.012469598863650894 Centerline is valid? [True, True] Translation: X:43.01, Y:-181.57, Z:-2.80 [[-9.68533862e-01 -2.48579866e-01 1.22559830e-02 4.30128776e+01] [ 2.48559969e-01 -9.68611403e-01 -3.14507241e-03 -1.81567404e+02] [ 1.26530866e-02 2.37634844e-07 9.99919947e-01 -2.79917519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.83655999499996 meters 0.012562619100193463 Centerline is valid? [True, True] Translation: X:42.83, Y:-182.23, Z:-1.79 [[-9.83541497e-01 1.80344962e-01 1.10371419e-02 4.28344872e+01] [ 1.80333802e-01 9.83603423e-01 -2.00633892e-03 -1.82229255e+02] [-1.12180036e-02 1.70521781e-05 -9.99937076e-01 -1.79165903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.866559995 meters 0.012440950596651004 Centerline is valid? [True, True] Translation: X:42.96, Y:-181.56, Z:-2.80 [[-9.70151709e-01 -2.42270597e-01 1.05175400e-02 4.29599409e+01] [ 2.42255917e-01 -9.70208718e-01 -2.66723693e-03 -1.81556982e+02] [ 1.08504021e-02 -3.96881656e-05 9.99941132e-01 -2.79787688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.89655999499996 meters 0.01258429740430335 Centerline is valid? [True, True] Translation: X:42.78, Y:-182.22, Z:-1.79 [[-9.84045996e-01 1.77606597e-01 1.04582355e-02 4.27841611e+01] [ 1.77596894e-01 9.84101568e-01 -1.85675115e-03 -1.82221291e+02] [-1.06217372e-02 3.02216077e-05 -9.99943587e-01 -1.79104190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.926559995 meters 0.012624091716242607 Centerline is valid? [True, True] Translation: X:42.91, Y:-181.55, Z:-2.80 [[-9.71339915e-01 -2.37473678e-01 1.02480575e-02 4.29069515e+01] [ 2.37460092e-01 -9.71393973e-01 -2.54039673e-03 -1.81547901e+02] [ 1.05581786e-02 -3.40840747e-05 9.99944260e-01 -2.79929708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.95655999499996 meters 0.012445661905336983 Centerline is valid? [True, True] Translation: X:42.73, Y:-182.21, Z:-1.79 [[-9.84740368e-01 1.73704832e-01 1.06320051e-02 4.27311531e+01] [ 1.73695055e-01 9.84797761e-01 -1.84321281e-03 -1.82211612e+02] [-1.07905498e-02 3.16406572e-05 -9.99941780e-01 -1.79138711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.98655999499994 meters 0.012449787898688211 Centerline is valid? [True, True] Translation: X:42.73, Y:-182.18, Z:-1.79 [[-9.94640939e-01 1.02844366e-01 1.06037565e-02 4.27319847e+01] [ 1.02838794e-01 9.94697459e-01 -1.07080091e-03 -1.82182927e+02] [-1.06576555e-02 2.54151101e-05 -9.99943205e-01 -1.79055804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.01655999499997 meters 0.012464064589280205 Centerline is valid? [True, True] Translation: X:42.80, Y:-181.51, Z:-2.80 [[-9.85979568e-01 -1.66470857e-01 1.14780787e-02 4.28023374e+01] [ 1.66460017e-01 -9.86046374e-01 -1.90010887e-03 -1.81506090e+02] [ 1.16342307e-02 3.71726602e-05 9.99932319e-01 -2.80131848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.04655999499994 meters 0.012361906262974776 Centerline is valid? [True, True] Translation: X:42.67, Y:-182.18, Z:-1.79 [[-9.95301830e-01 9.61727098e-02 1.11838213e-02 4.26686258e+01] [ 9.61666376e-02 9.95364662e-01 -1.08070204e-03 -1.82175195e+02] [-1.12359146e-02 -1.14227147e-07 -9.99936875e-01 -1.78850667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.07655999499997 meters 0.012364268750579065 Centerline is valid? [True, True] Translation: X:42.73, Y:-181.50, Z:-2.80 [[-9.86485588e-01 -1.63489359e-01 1.08358111e-02 4.27320466e+01] [ 1.63479317e-01 -9.86545097e-01 -1.81211630e-03 -1.81500281e+02] [ 1.09862780e-02 -1.61956257e-05 9.99939649e-01 -2.80135498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.10655999499994 meters 0.01222545468530002 Centerline is valid? [True, True] Translation: X:42.61, Y:-182.17, Z:-1.79 [[-9.95893356e-01 8.99734049e-02 1.00603113e-02 4.26057585e+01] [ 8.99686405e-02 9.95944168e-01 -9.26070314e-04 -1.82167504e+02] [-1.01028301e-02 -1.71547395e-05 -9.99948965e-01 -1.78926921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.13655999499997 meters 0.012281699005302554 Centerline is valid? [True, True] Translation: X:42.67, Y:-181.50, Z:-2.80 [[-9.86981576e-01 -1.60536545e-01 9.76656601e-03 4.26692729e+01] [ 1.60528718e-01 -9.87029897e-01 -1.58525766e-03 -1.81496102e+02] [ 9.89438443e-03 3.19421677e-06 9.99951049e-01 -2.80072504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.16655999499994 meters 0.012208878312789303 Centerline is valid? [True, True] Translation: X:42.54, Y:-182.16, Z:-1.79 [[-9.96323553e-01 8.51445460e-02 9.47544120e-03 4.25421508e+01] [ 8.51404997e-02 9.96368609e-01 -8.30319781e-04 -1.82161734e+02] [-9.51172937e-03 -2.05233554e-05 -9.99954762e-01 -1.78965675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.196559995 meters 0.01225121687641379 Centerline is valid? [True, True] Translation: X:42.61, Y:-181.49, Z:-2.80 [[-9.87634088e-01 -1.56527254e-01 8.83892882e-03 4.26062790e+01] [ 1.56520830e-01 -9.87673640e-01 -1.41822708e-03 -1.81490585e+02] [ 8.95196819e-03 -1.72129321e-05 9.99959930e-01 -2.80029001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.22655999499995 meters 0.012186782847782594 Centerline is valid? [True, True] Translation: X:42.48, Y:-182.16, Z:-1.79 [[-9.96675385e-01 8.11404085e-02 7.37639502e-03 4.24800625e+01] [ 8.11380839e-02 9.96702681e-01 -6.14338853e-04 -1.82157270e+02] [-7.40192040e-03 -1.37898544e-05 -9.99972605e-01 -1.79039511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.256559995 meters 0.012260385420879373 Centerline is valid? [True, True] Translation: X:42.54, Y:-181.48, Z:-2.80 [[-9.88449525e-01 -1.51377914e-01 7.22932206e-03 4.25448409e+01] [ 1.51373923e-01 -9.88475962e-01 -1.09920578e-03 -1.81484657e+02] [ 7.31240656e-03 7.82140990e-06 9.99973264e-01 -2.79919192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.28655999499995 meters 0.012183940965465285 Centerline is valid? [True, True] Translation: X:42.42, Y:-182.15, Z:-1.79 [[-9.96960827e-01 7.75938630e-02 6.94993926e-03 4.24218089e+01] [ 7.75919323e-02 9.96985051e-01 -5.47409516e-04 -1.82153946e+02] [-6.97146117e-03 -6.48662675e-06 -9.99975699e-01 -1.79066111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.316559995 meters 0.012255990817755852 Centerline is valid? [True, True] Translation: X:42.48, Y:-181.48, Z:-2.80 [[-9.89347786e-01 -1.45395090e-01 7.15722186e-03 4.24792984e+01] [ 1.45391456e-01 -9.89373674e-01 -1.02821051e-03 -1.81478018e+02] [ 7.23066364e-03 2.33411214e-05 9.99973858e-01 -2.80043637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.34655999499995 meters 0.012132123813653273 Centerline is valid? [True, True] Translation: X:42.36, Y:-182.15, Z:-1.79 [[-9.97176752e-01 7.47887297e-02 6.72089306e-03 4.23578726e+01] [ 7.47870662e-02 9.97199401e-01 -4.98846434e-04 -1.82149917e+02] [-6.73937863e-03 5.19780695e-06 -9.99977290e-01 -1.78909625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.376559995 meters 0.012147050502270246 Centerline is valid? [True, True] Translation: X:42.41, Y:-181.47, Z:-2.80 [[-9.90210823e-01 -1.39455333e-01 5.89369743e-03 4.24104010e+01] [ 1.39452534e-01 -9.90228361e-01 -8.85288179e-04 -1.81471985e+02] [ 5.95956450e-03 -5.47308948e-05 9.99982240e-01 -2.80138426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.40655999499995 meters 0.012158104840554105 Centerline is valid? [True, True] Translation: X:42.29, Y:-182.15, Z:-1.79 [[-9.97413295e-01 7.16289888e-02 6.00065354e-03 4.22900564e+01] [ 7.16277704e-02 9.97431345e-01 -4.17982405e-04 -1.82146632e+02] [-6.01517958e-03 1.29122254e-05 -9.99981909e-01 -1.78864650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.436559995 meters 0.012132111446923928 Centerline is valid? [True, True] Translation: X:42.34, Y:-181.47, Z:-2.80 [[-9.90962981e-01 -1.34007072e-01 5.87158971e-03 4.23413745e+01] [ 1.34004610e-01 -9.90980375e-01 -8.12566872e-04 -1.81465432e+02] [ 5.92751988e-03 -1.84036023e-05 9.99982432e-01 -2.80078355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.46655999499995 meters 0.012132111446923928 Centerline is valid? [True, True] Translation: X:42.23, Y:-182.14, Z:-1.79 [[-9.97704391e-01 6.74606750e-02 5.91662646e-03 4.22254346e+01] [ 6.74595783e-02 9.97721934e-01 -3.84966892e-04 -1.82143252e+02] [-5.92911812e-03 1.50499676e-05 -9.99982423e-01 -1.78925823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.496559995 meters 0.01206628723426934 Centerline is valid? [True, True] Translation: X:42.23, Y:-182.12, Z:-1.79 [[-9.99975478e-01 -3.80547073e-03 5.87892923e-03 4.22250314e+01] [-3.80532183e-03 9.99992759e-01 3.65137824e-05 -1.82115992e+02] [-5.87902561e-03 1.41416693e-05 -9.99982718e-01 -1.78936169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.52655999499996 meters 0.012036608564898747 Centerline is valid? [True, True] Translation: X:42.22, Y:-182.09, Z:-1.79 [[-9.97111150e-01 -7.57443962e-02 5.66928625e-03 4.22186496e+01] [-7.57431197e-02 9.97127267e-01 4.39845420e-04 -1.82089272e+02] [-5.68631573e-03 9.16534508e-06 -9.99983833e-01 -1.78876097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.556559995 meters 0.012132759803033992 Centerline is valid? [True, True] Translation: X:42.20, Y:-182.06, Z:-1.79 [[-9.89014582e-01 -1.47705480e-01 5.76607939e-03 4.22044573e+01] [-1.47702952e-01 9.89031390e-01 8.64136340e-04 -1.82062727e+02] [-5.83047119e-03 2.97649406e-06 -9.99983003e-01 -1.78873641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.58655999499996 meters 0.012140844924248743 Centerline is valid? [True, True] Translation: X:42.19, Y:-182.04, Z:-1.79 [[-9.75602589e-01 -2.19469040e-01 5.73834598e-03 4.21851120e+01] [-2.19465266e-01 9.75619465e-01 1.28700628e-03 -1.82037717e+02] [-5.88090006e-03 -3.76096373e-06 -9.99982707e-01 -1.78808812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.616559995 meters 0.01222052085505166 Centerline is valid? [True, True] Translation: X:42.15, Y:-182.01, Z:-1.79 [[-9.56541661e-01 -2.91557112e-01 4.74357417e-03 4.21532985e+01] [-2.91553605e-01 9.56553423e-01 1.42996518e-03 -1.82014971e+02] [-4.95439863e-03 -1.51848875e-05 -9.99987727e-01 -1.78726311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.64655999499996 meters 0.01226808321148567 Centerline is valid? [True, True] Translation: X:42.10, Y:-182.00, Z:-1.79 [[-9.32194616e-01 -3.61929644e-01 4.48667904e-03 4.20978015e+01] [-3.61925568e-01 9.32205413e-01 1.71775844e-03 -1.82003983e+02] [-4.80421419e-03 -2.25586919e-05 -9.99988459e-01 -1.78777192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.676559995 meters 0.012583434378454945 Centerline is valid? [True, True] Translation: X:42.03, Y:-182.00, Z:-1.79 [[-9.02249013e-01 -4.31196338e-01 4.05413040e-03 4.20349888e+01] [-4.31192128e-01 9.02258121e-01 1.90574060e-03 -1.81998836e+02] [-4.47962045e-03 -2.86565347e-05 -9.99989966e-01 -1.78730136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.70655999499996 meters 0.012919502841351198 Centerline is valid? [True, True] Translation: X:41.96, Y:-182.01, Z:-1.79 [[-8.66201108e-01 -4.99685919e-01 3.10215507e-03 4.19604624e+01] [-4.99682859e-01 8.66206662e-01 1.74910912e-03 -1.82006220e+02] [-3.56111259e-03 -3.50134592e-05 -9.99993659e-01 -1.78879963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.73655999499994 meters 0.013245880748954265 Centerline is valid? [True, True] Translation: X:41.89, Y:-182.02, Z:-1.79 [[-8.25611371e-01 -5.64234224e-01 2.36738965e-03 4.18856790e+01] [-5.64232017e-01 8.25614764e-01 1.57869796e-03 -1.82018244e+02] [-2.84530727e-03 -3.23660525e-05 -9.99995952e-01 -1.78928244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.76655999499997 meters 0.013290193685836045 Centerline is valid? [True, True] Translation: X:41.80, Y:-182.04, Z:-1.79 [[-7.80202281e-01 -6.25524976e-01 1.70474034e-03 4.18038409e+01] [-6.25523559e-01 7.80204143e-01 1.33174962e-03 -1.82043280e+02] [-2.16308812e-03 -2.73211566e-05 -9.99997660e-01 -1.78969610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.79655999499994 meters 0.01390739457024848 Centerline is valid? [True, True] Translation: X:41.72, Y:-182.08, Z:-1.79 [[-7.29073979e-01 -6.84433749e-01 1.25581253e-03 4.17154243e+01] [-6.84432795e-01 7.29075060e-01 1.14282020e-03 -1.82079386e+02] [-1.69776631e-03 -2.63188133e-05 -9.99998558e-01 -1.78986879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.82655999499997 meters 0.01407542244289908 Centerline is valid? [True, True] Translation: X:41.63, Y:-182.12, Z:-1.79 [[-6.74076384e-01 -7.38660781e-01 1.13131309e-03 4.16312502e+01] [-7.38659810e-01 6.74077333e-01 1.19797958e-03 -1.82122298e+02] [-1.64749304e-03 -2.81257643e-05 -9.99998643e-01 -1.78949549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.85655999499994 meters 0.014496498537221108 Centerline is valid? [True, True] Translation: X:41.55, Y:-182.18, Z:-1.79 [[-6.15293250e-01 -7.88296758e-01 1.56133966e-03 4.15461493e+01] [-7.88294404e-01 6.15295229e-01 1.92705776e-03 -1.82175864e+02] [-2.47977823e-03 -4.50896807e-05 -9.99996924e-01 -1.78876429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.88655999499997 meters 0.014941802022938657 Centerline is valid? [True, True] Translation: X:41.46, Y:-182.24, Z:-1.79 [[-5.52383896e-01 -8.33587373e-01 2.03056552e-03 4.14624061e+01] [-8.33582201e-01 5.52387624e-01 2.93720519e-03 -1.82240566e+02] [-3.57007642e-03 -7.01784350e-05 -9.99993625e-01 -1.78776586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.91655999499994 meters 0.0148938465595576 Centerline is valid? [True, True] Translation: X:41.38, Y:-182.31, Z:-1.79 [[-4.87112212e-01 -8.73337340e-01 1.89318608e-03 4.13832381e+01] [-8.73331327e-01 4.87115885e-01 3.24153488e-03 -1.82314108e+02] [-3.75315446e-03 -7.43874806e-05 -9.99992954e-01 -1.78780671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.946559995 meters 0.015000552805699691 Centerline is valid? [True, True] Translation: X:41.31, Y:-182.39, Z:-1.79 [[-4.19253888e-01 -9.07868032e-01 1.34671560e-03 4.13092218e+01] [-9.07863801e-01 4.19256046e-01 2.77244494e-03 -1.82394260e+02] [-3.08163279e-03 -6.02760279e-05 -9.99995250e-01 -1.78796182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.97655999499995 meters 0.01481173155322796 Centerline is valid? [True, True] Translation: X:41.24, Y:-182.49, Z:-1.79 [[-3.49000266e-01 -9.37121860e-01 1.19724951e-03 4.12397200e+01] [-9.37116943e-01 3.49002314e-01 3.03633325e-03 -1.82485947e+02] [-3.26325711e-03 -6.22816925e-05 -9.99994674e-01 -1.78840995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.006559995 meters 0.014633014060831848 Centerline is valid? [True, True] Translation: X:41.18, Y:-182.58, Z:-1.79 [[-2.76629802e-01 -9.60976126e-01 9.15004785e-04 4.11779625e+01] [-9.60971538e-01 2.76631309e-01 2.97001285e-03 -1.82579408e+02] [-3.10723041e-03 -5.76994892e-05 -9.99995171e-01 -1.78828832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.03655999499995 meters 0.014575423390806279 Centerline is valid? [True, True] Translation: X:41.12, Y:-182.68, Z:-1.79 [[-2.02565161e-01 -9.79268481e-01 7.73050195e-04 4.11219538e+01] [-9.79262496e-01 2.02566626e-01 3.42432716e-03 -1.82682655e+02] [-3.50992983e-03 -6.33696816e-05 -9.99993838e-01 -1.78834344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.066559995 meters 0.014613941891166252 Centerline is valid? [True, True] Translation: X:41.07, Y:-182.79, Z:-1.79 [[-1.27409185e-01 -9.91850102e-01 5.23992412e-04 4.10735919e+01] [-9.91843629e-01 1.27410247e-01 3.58406288e-03 -1.82791147e+02] [-3.62161513e-03 -6.30760040e-05 -9.99993440e-01 -1.78821771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.09655999499995 meters 0.014393226941593345 Centerline is valid? [True, True] Translation: X:41.03, Y:-182.91, Z:-1.79 [[-5.24691699e-02 -9.98622503e-01 2.87979991e-04 4.10342787e+01] [-9.98613609e-01 5.24699181e-02 4.21508386e-03 -1.82908320e+02] [-4.22438788e-03 -6.64187873e-05 -9.99991075e-01 -1.78753833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.126559995 meters 0.014340091932124824 Centerline is valid? [True, True] Translation: X:41.00, Y:-183.02, Z:-1.79 [[ 2.38537275e-02 -9.99715459e-01 -3.95665443e-05 4.10040338e+01] [-9.99705377e-01 -2.38536646e-02 4.49018100e-03 -1.83019182e+02] [-4.48984717e-03 -6.75526668e-05 -9.99989918e-01 -1.78724458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.15655999499995 meters 0.013709629545481475 Centerline is valid? [True, True] Translation: X:40.98, Y:-183.14, Z:-1.79 [[ 9.97296291e-02 -9.95014492e-01 -4.02327492e-04 4.09842477e+01] [-9.95003504e-01 -9.97304187e-02 4.67652807e-03 -1.83139783e+02] [-4.69333749e-03 -6.60711450e-05 -9.99988984e-01 -1.78775528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.186559995 meters 0.013299301401493302 Centerline is valid? [True, True] Translation: X:40.97, Y:-183.25, Z:-1.79 [[ 1.73289186e-01 -9.84870700e-01 -7.50449886e-04 4.09721746e+01] [-9.84860113e-01 -1.73290803e-01 4.56685279e-03 -1.83249786e+02] [-4.62780556e-03 -5.22980439e-05 -9.99989290e-01 -1.78814200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.21655999499995 meters 0.013004359259205393 Centerline is valid? [True, True] Translation: X:40.97, Y:-183.37, Z:-1.79 [[ 2.46699699e-01 -9.69091489e-01 -9.72344266e-04 4.09695020e+01] [-9.69083335e-01 -2.46701612e-01 3.97537044e-03 -1.83370172e+02] [-4.09237655e-03 -3.84400644e-05 -9.99991625e-01 -1.78822267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.246559995 meters 0.012883436686176404 Centerline is valid? [True, True] Translation: X:40.98, Y:-183.49, Z:-1.79 [[ 3.18572139e-01 -9.47897874e-01 -1.18840091e-03 4.09760387e+01] [-9.47890948e-01 -3.18574355e-01 3.62374136e-03 -1.83490902e+02] [-3.81353079e-03 -2.79485776e-05 -9.99992728e-01 -1.78815976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.27655999499996 meters 0.012541842632094317 Centerline is valid? [True, True] Translation: X:40.99, Y:-183.60, Z:-1.79 [[ 3.86161864e-01 -9.22430385e-01 -1.09552080e-03 4.09922569e+01] [-9.22426617e-01 -3.86163418e-01 2.63637601e-03 -1.83604268e+02] [-2.85492339e-03 -7.53032536e-06 -9.99995925e-01 -1.78919165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.306559995 meters 0.012534117170690489 Centerline is valid? [True, True] Translation: X:41.01, Y:-183.71, Z:-1.79 [[ 4.53822753e-01 -8.91091314e-01 -1.08557178e-03 4.10143698e+01] [-8.91088760e-01 -4.53824051e-01 2.13354047e-03 -1.83714436e+02] [-2.39383797e-03 -9.08394270e-07 -9.99997135e-01 -1.78972664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.33655999499996 meters 0.012530425341940933 Centerline is valid? [True, True] Translation: X:41.05, Y:-183.82, Z:-1.79 [[ 5.17974241e-01 -8.55394971e-01 -1.45916277e-03 4.10469027e+01] [-8.55391623e-01 -5.17976296e-01 2.39354251e-03 -1.83824310e+02] [-2.80323596e-03 8.36224534e-06 -9.99996071e-01 -1.78956847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.366559995 meters 0.012539605396680465 Centerline is valid? [True, True] Translation: X:41.08, Y:-183.93, Z:-1.79 [[ 5.81851325e-01 -8.13293335e-01 -1.72819704e-03 4.10846419e+01] [-8.13289795e-01 -5.81853892e-01 2.39945634e-03 -1.83932597e+02] [-2.95702003e-03 9.39816201e-06 -9.99995628e-01 -1.78960022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.39655999499996 meters 0.012494929475722285 Centerline is valid? [True, True] Translation: X:41.13, Y:-184.04, Z:-1.79 [[ 6.42879788e-01 -7.65964711e-01 -1.90768085e-03 4.11280840e+01] [-7.65961372e-01 -6.42882619e-01 2.26157945e-03 -1.84036810e+02] [-2.95870491e-03 7.28612662e-06 -9.99995623e-01 -1.78950863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.426559995 meters 0.012450729476370312 Centerline is valid? [True, True] Translation: X:41.18, Y:-184.14, Z:-1.79 [[ 7.00705656e-01 -7.13445761e-01 -2.59432683e-03 4.11775635e+01] [-7.13440885e-01 -7.00710458e-01 2.63767974e-03 -1.84136628e+02] [-3.69971337e-03 2.66172075e-06 -9.99993156e-01 -1.78861849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.45655999499996 meters 0.012402089818320234 Centerline is valid? [True, True] Translation: X:41.23, Y:-184.23, Z:-1.79 [[ 7.53436536e-01 -6.57513195e-01 -3.12789086e-03 4.12321532e+01] [-6.57507529e-01 -7.53443029e-01 2.72975814e-03 -1.84228043e+02] [-4.15153956e-03 -8.77341657e-08 -9.99991382e-01 -1.78882224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.48655999499994 meters 0.012462827283754375 Centerline is valid? [True, True] Translation: X:41.23, Y:-184.24, Z:-1.79 [[ 8.02907991e-01 -5.96092072e-01 -3.60552283e-03 4.12292002e+01] [-5.96086046e-01 -8.02916086e-01 2.68041173e-03 -1.84237198e+02] [-4.49270446e-03 -2.92214813e-06 -9.99989908e-01 -1.78894988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.51655999499997 meters 0.012412371865616778 Centerline is valid? [True, True] Translation: X:41.23, Y:-184.25, Z:-1.79 [[ 8.47299175e-01 -5.31103912e-01 -3.56969602e-03 4.12272309e+01] [-5.31099175e-01 -8.47306695e-01 2.24322886e-03 -1.84245444e+02] [-4.21601496e-03 -4.82335042e-06 -9.99991113e-01 -1.78919524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.54655999499994 meters 0.012397264596131115 Centerline is valid? [True, True] Translation: X:41.22, Y:-184.26, Z:-1.79 [[ 8.86305400e-01 -4.63085672e-01 -3.79450617e-03 4.12248575e+01] [-4.63081400e-01 -8.86313523e-01 1.98906985e-03 -1.84256718e+02] [-4.28423188e-03 -5.75811782e-06 -9.99990823e-01 -1.79003005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.57655999499997 meters 0.012489401478573442 Centerline is valid? [True, True] Translation: X:41.22, Y:-184.27, Z:-1.79 [[ 9.20366724e-01 -3.91038980e-01 -3.68903970e-03 4.12217313e+01] [-3.91035790e-01 -9.20374118e-01 1.57953118e-03 -1.84269213e+02] [-4.01295492e-03 -1.12013886e-05 -9.99991948e-01 -1.78995766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.60655999499994 meters 0.012494154992844031 Centerline is valid? [True, True] Translation: X:41.22, Y:-184.28, Z:-1.79 [[ 9.48454555e-01 -3.16892283e-01 -3.63841324e-03 4.12216072e+01] [-3.16889891e-01 -9.48461534e-01 1.23112006e-03 -1.84280654e+02] [-3.84102745e-03 -1.46850468e-05 -9.99992623e-01 -1.79018958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.63655999499997 meters 0.012666711499428076 Centerline is valid? [True, True] Translation: X:41.22, Y:-184.29, Z:-1.79 [[ 9.70807268e-01 -2.39837260e-01 -3.36703371e-03 4.12219556e+01] [-2.39835745e-01 -9.70813107e-01 8.52612181e-04 -1.84294025e+02] [-3.47324862e-03 -2.01870658e-05 -9.99993968e-01 -1.79037029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.66655999499994 meters 0.012713768514380731 Centerline is valid? [True, True] Translation: X:41.22, Y:-184.30, Z:-1.79 [[ 9.86759061e-01 -1.62152647e-01 -3.61585929e-03 4.12238580e+01] [-1.62151465e-01 -9.86765686e-01 6.19795366e-04 -1.84304819e+02] [-3.66850733e-03 -2.52718125e-05 -9.99993271e-01 -1.79048564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.696559995 meters 0.013106323422938852 Centerline is valid? [True, True] Translation: X:41.22, Y:-184.31, Z:-1.79 [[ 9.96532339e-01 -8.31131642e-02 -3.93690470e-03 4.12218985e+01] [-8.31123876e-02 -9.96540115e-01 3.60744360e-04 -1.84314860e+02] [-3.95326607e-03 -3.22878709e-05 -9.99992185e-01 -1.78990933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.72655999499995 meters 0.01303042074581879 Centerline is valid? [True, True] Translation: X:41.22, Y:-184.33, Z:-1.79 [[ 9.99988654e-01 -2.72259588e-03 -3.90878859e-03 4.12221741e+01] [-2.72241766e-03 -9.99996293e-01 5.09156268e-05 -1.84326578e+02] [-3.90891272e-03 -4.02736941e-05 -9.99992359e-01 -1.79095761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.756559995 meters 0.013434413656553608 Centerline is valid? [True, True] Translation: X:41.22, Y:-184.34, Z:-1.79 [[ 9.97073512e-01 7.63698342e-02 -3.47274170e-03 4.12226820e+01] [ 7.63695057e-02 -9.97079559e-01 -2.27286470e-04 -1.84338201e+02] [-3.47995759e-03 -3.85902487e-05 -9.99993944e-01 -1.79110165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.78655999499995 meters 0.013588229712925698 Centerline is valid? [True, True] Translation: X:41.22, Y:-184.34, Z:-1.79 [[ 9.87966862e-01 1.54639745e-01 -2.83355317e-03 4.12243128e+01] [ 1.54639205e-01 -9.87970925e-01 -4.09995001e-04 -1.84344631e+02] [-2.86286967e-03 -3.31169357e-05 -9.99995901e-01 -1.79151047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.816559995 meters 0.013132524665038354 Centerline is valid? [True, True] Translation: X:41.23, Y:-184.36, Z:-1.79 [[ 9.72640996e-01 2.32300218e-01 -2.47030457e-03 4.12282375e+01] [ 2.32299551e-01 -9.72644132e-01 -5.57724345e-04 -1.84357157e+02] [-2.53228674e-03 -3.13850805e-05 -9.99996793e-01 -1.79200542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.84655999499995 meters 0.01379006549014271 Centerline is valid? [True, True] Translation: X:41.23, Y:-184.37, Z:-1.79 [[ 9.51408784e-01 3.07920531e-01 -2.50454209e-03 4.12320504e+01] [ 3.07919555e-01 -9.51412080e-01 -7.75904479e-04 -1.84370139e+02] [-2.62176852e-03 -3.29951486e-05 -9.99996563e-01 -1.79158395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.876559995 meters 0.013404936873639374 Centerline is valid? [True, True] Translation: X:41.24, Y:-184.38, Z:-1.79 [[ 9.24370451e-01 3.81484587e-01 -2.96290052e-03 4.12365700e+01] [ 3.81482766e-01 -9.24375199e-01 -1.17924333e-03 -1.84377627e+02] [-3.18869491e-03 -4.02377956e-05 -9.99994915e-01 -1.79156926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.90655999499995 meters 0.013426218514217122 Centerline is valid? [True, True] Translation: X:41.24, Y:-184.39, Z:-1.79 [[ 8.91753946e-01 4.52506143e-01 -3.61810527e-03 4.12413630e+01] [ 4.52502646e-01 -8.91761284e-01 -1.77980814e-03 -1.84385777e+02] [-4.03186032e-03 -5.00512768e-05 -9.99991871e-01 -1.79091338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.936559995 meters 0.013311532144915454 Centerline is valid? [True, True] Translation: X:41.25, Y:-184.39, Z:-1.79 [[ 8.53621416e-01 5.20881434e-01 -3.60685789e-03 4.12469970e+01] [ 5.20877039e-01 -8.53629035e-01 -2.14027434e-03 -1.84392770e+02] [-4.19374778e-03 -5.17454447e-05 -9.99991205e-01 -1.79108854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.96655999499995 meters 0.013782145757927603 Centerline is valid? [True, True] Translation: X:41.25, Y:-184.40, Z:-1.79 [[ 8.10248814e-01 5.86077331e-01 -3.19700675e-03 4.12533114e+01] [ 5.86073003e-01 -8.10255120e-01 -2.25307813e-03 -1.84400370e+02] [-3.91086911e-03 -4.81254638e-05 -9.99992351e-01 -1.79061790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.996559995 meters 0.013378096267676299 Centerline is valid? [True, True] Translation: X:41.26, Y:-184.41, Z:-1.79 [[ 7.61770536e-01 6.47839821e-01 -3.03590101e-03 4.12606504e+01] [ 6.47834933e-01 -7.61776584e-01 -2.51719017e-03 -1.84405644e+02] [-3.94341433e-03 -4.92414195e-05 -9.99992224e-01 -1.79115910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.02655999499996 meters 0.014171438727552535 Centerline is valid? [True, True] Translation: X:41.27, Y:-184.41, Z:-1.79 [[ 7.08599962e-01 7.05603711e-01 -3.08172303e-03 4.12701778e+01] [ 7.05597371e-01 -7.08606661e-01 -2.99175919e-03 -1.84413911e+02] [-4.29472585e-03 -5.44952240e-05 -9.99990776e-01 -1.79006672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.056559995 meters 0.013610109644832736 Centerline is valid? [True, True] Translation: X:41.28, Y:-184.42, Z:-1.79 [[ 6.51236767e-01 7.58869256e-01 -2.85054534e-03 4.12758354e+01] [ 7.58862349e-01 -6.51243003e-01 -3.23812697e-03 -1.84416331e+02] [-4.31371271e-03 -5.43841989e-05 -9.99990694e-01 -1.79030640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.08655999499996 meters 0.013762656647014128 Centerline is valid? [True, True] Translation: X:41.28, Y:-184.42, Z:-1.79 [[ 5.90051546e-01 8.07359573e-01 -3.11336400e-03 4.12818776e+01] [ 8.07348902e-01 -5.90059756e-01 -4.15154640e-03 -1.84419928e+02] [-5.18886153e-03 -6.39446351e-05 -9.99986536e-01 -1.78990082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.116559995 meters 0.013408541330781256 Centerline is valid? [True, True] Translation: X:41.29, Y:-184.42, Z:-1.79 [[ 5.25228937e-01 8.50955115e-01 -3.15544602e-03 4.12887314e+01] [ 8.50940564e-01 -5.25238411e-01 -4.97686366e-03 -1.84422452e+02] [-5.89244903e-03 -7.11042033e-05 -9.99982637e-01 -1.79002718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.14655999499996 meters 0.013434896369229494 Centerline is valid? [True, True] Translation: X:41.30, Y:-184.43, Z:-1.79 [[ 4.57182013e-01 8.89367627e-01 -3.13535065e-03 4.12964795e+01] [ 8.89347893e-01 -4.57192757e-01 -5.92518459e-03 -1.84425122e+02] [-6.70312697e-03 -7.95296731e-05 -9.99977531e-01 -1.78956341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.176559995 meters 0.013405985143362394 Centerline is valid? [True, True] Translation: X:41.31, Y:-184.43, Z:-1.79 [[ 3.86382253e-01 9.22332740e-01 -3.32746357e-03 4.13051524e+01] [ 9.22300670e-01 -3.86396568e-01 -7.69200205e-03 -1.84426741e+02] [-8.38030583e-03 -9.68687910e-05 -9.99964880e-01 -1.78786406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.20655999499996 meters 0.01350986446724575 Centerline is valid? [True, True] Translation: X:41.31, Y:-184.43, Z:-1.79 [[ 3.12858429e-01 9.49794744e-01 -3.08989921e-03 4.13132413e+01] [ 9.49751885e-01 -3.12873667e-01 -9.02364638e-03 -1.84428540e+02] [-9.53736000e-03 -1.11513774e-04 -9.99954512e-01 -1.78655226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.23655999499994 meters 0.013380896948724668 Centerline is valid? [True, True] Translation: X:41.32, Y:-184.43, Z:-1.79 [[ 2.37484145e-01 9.71387933e-01 -2.60108140e-03 4.13223428e+01] [ 9.71335181e-01 -2.37498357e-01 -1.01240793e-02 -1.84429719e+02] [-1.04521610e-02 -1.22213558e-04 -9.99945367e-01 -1.78591536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.26655999499997 meters 0.01340614974211306 Centerline is valid? [True, True] Translation: X:41.33, Y:-184.43, Z:-1.79 [[ 1.60969943e-01 9.86957473e-01 -1.90356997e-03 4.13306676e+01] [ 9.86897437e-01 -1.60981148e-01 -1.08866348e-02 -1.84430076e+02] [-1.10510845e-02 -1.26207336e-04 -9.99938927e-01 -1.78598465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.29655999499994 meters 0.013317896961179975 Centerline is valid? [True, True] Translation: X:41.34, Y:-184.43, Z:-1.79 [[ 8.33072974e-02 9.96523347e-01 -1.05483722e-03 4.13387952e+01] [ 9.96461493e-01 -8.33138799e-02 -1.11035841e-02 -1.84429878e+02] [-1.11528634e-02 -1.26095093e-04 -9.99937797e-01 -1.78623625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.32655999499997 meters 0.013483853990038522 Centerline is valid? [True, True] Translation: X:41.35, Y:-184.43, Z:-1.79 [[ 4.85349491e-03 9.99988203e-01 -1.91280462e-04 4.13464560e+01] [ 9.99919527e-01 -4.85540347e-03 -1.17202506e-02 -1.84428990e+02] [-1.17210411e-02 -1.34380892e-04 -9.99931297e-01 -1.78632405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.35655999499994 meters 0.013483853990038522 Centerline is valid? [True, True] Translation: X:41.35, Y:-184.43, Z:-1.79 [[-7.35180872e-02 9.97293618e-01 7.27741315e-04 4.13545830e+01] [ 9.97225004e-01 7.35215662e-02 -1.16991969e-02 -1.84427927e+02] [-1.17210391e-02 -1.34380741e-04 -9.99931297e-01 -1.78632407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.38655999499997 meters 0.013442321552550679 Centerline is valid? [True, True] Translation: X:41.36, Y:-184.43, Z:-1.79 [[-1.51990293e-01 9.88380574e-01 1.67096529e-03 4.13633299e+01] [ 9.88310033e-01 1.51999411e-01 -1.18091952e-02 -1.84425193e+02] [-1.19259649e-02 -1.43451281e-04 -9.99928873e-01 -1.78612279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.41655999499994 meters 0.013986900402756096 Centerline is valid? [True, True] Translation: X:41.37, Y:-184.42, Z:-1.79 [[-2.31020227e-01 9.72945321e-01 2.65639416e-03 4.13716222e+01] [ 9.72872129e-01 2.31035434e-01 -1.19351538e-02 -1.84423074e+02] [-1.22259732e-02 -1.72930101e-04 -9.99925245e-01 -1.78607086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.446559995 meters 0.014065858870491789 Centerline is valid? [True, True] Translation: X:41.38, Y:-184.42, Z:-1.79 [[-3.07631668e-01 9.51498634e-01 3.62032178e-03 4.13795215e+01] [ 9.51425344e-01 3.07652912e-01 -1.18110100e-02 -1.84419633e+02] [-1.23519624e-02 -1.88974798e-04 -9.99923694e-01 -1.78693926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.47655999499995 meters 0.014635100880733184 Centerline is valid? [True, True] Translation: X:41.39, Y:-184.42, Z:-1.79 [[-3.82593755e-01 9.23905327e-01 4.57886736e-03 4.13879068e+01] [ 9.23832457e-01 3.82621096e-01 -1.16055553e-02 -1.84415856e+02] [-1.24744056e-02 -2.10106693e-04 -9.99922170e-01 -1.78691353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.506559995 meters 0.015213529568825997 Centerline is valid? [True, True] Translation: X:41.39, Y:-184.41, Z:-1.79 [[-4.55215923e-01 8.90364411e-01 5.44783962e-03 4.13942085e+01] [ 8.90294511e-01 4.55248462e-01 -1.11588735e-02 -1.84412335e+02] [-1.24155844e-02 -2.29515169e-04 -9.99922897e-01 -1.78684001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.53655999499995 meters 0.015759641441752244 Centerline is valid? [True, True] Translation: X:41.40, Y:-184.41, Z:-1.79 [[-5.26167461e-01 8.50358605e-01 6.16815913e-03 4.14007236e+01] [ 8.50294246e-01 5.26203548e-01 -1.04652286e-02 -1.84407271e+02] [-1.21449045e-02 -2.61712564e-04 -9.99926214e-01 -1.78820268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.566559995 meters 0.015637929946599707 Centerline is valid? [True, True] Translation: X:41.41, Y:-184.40, Z:-1.79 [[-5.92207925e-01 8.05757961e-01 6.62435212e-03 4.14068910e+01] [ 8.05702502e-01 5.92244915e-01 -9.45721219e-03 -1.84400669e+02] [-1.15434629e-02 -2.63378934e-04 -9.99933337e-01 -1.78920354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.59655999499995 meters 0.016700669163557866 Centerline is valid? [True, True] Translation: X:41.41, Y:-184.39, Z:-1.79 [[-6.54388193e-01 7.56123273e-01 7.32727998e-03 4.14145271e+01] [ 7.56071074e-01 6.54429156e-01 -8.88878304e-03 -1.84394211e+02] [-1.15162014e-02 -2.76770223e-04 -9.99933648e-01 -1.78879028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.626559995 meters 0.01703473902560741 Centerline is valid? [True, True] Translation: X:41.42, Y:-184.39, Z:-1.79 [[-7.12250734e-01 7.01879978e-01 7.96175935e-03 4.14178620e+01] [ 7.01831591e-01 7.12295174e-01 -8.24640058e-03 -1.84388602e+02] [-1.14591062e-02 -2.85690631e-04 -9.99934302e-01 -1.78857480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.65655999499995 meters 0.01634503473726037 Centerline is valid? [True, True] Translation: X:41.42, Y:-184.38, Z:-1.79 [[-7.65378320e-01 6.43515488e-01 9.15668330e-03 4.14209652e+01] [ 6.43464516e-01 7.65433028e-01 -8.10534884e-03 -1.84382217e+02] [-1.22247453e-02 -3.11657486e-04 -9.99925226e-01 -1.78852655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.686559995 meters 0.017373370098543423 Centerline is valid? [True, True] Translation: X:41.83, Y:-183.93, Z:-2.80 [[-6.84299651e-01 -7.29142494e-01 9.23097799e-03 4.18252118e+01] [ 7.29083622e-01 -6.84361802e-01 -9.27340165e-03 -1.83929006e+02] [ 1.30789599e-02 3.84369357e-04 9.99914393e-01 -2.80306708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.71655999499995 meters 0.016334214820554867 Centerline is valid? [True, True] Translation: X:41.81, Y:-183.91, Z:-2.80 [[-6.85099623e-01 -7.28385525e-01 9.64541675e-03 4.18071873e+01] [ 7.28320133e-01 -6.85167436e-01 -9.76566242e-03 -1.83906943e+02] [ 1.37218926e-02 3.34499562e-04 9.99905794e-01 -2.80293892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.746559995 meters 0.015334592587052701 Centerline is valid? [True, True] Translation: X:41.79, Y:-183.88, Z:-2.80 [[-6.87637545e-01 -7.25989289e-01 9.70355245e-03 4.17902310e+01] [ 7.25922939e-01 -6.87705945e-01 -9.81932595e-03 -1.83883621e+02] [ 1.38019162e-02 2.91894119e-04 9.99904706e-01 -2.80305119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.77655999499996 meters 0.014320388156914667 Centerline is valid? [True, True] Translation: X:41.77, Y:-183.86, Z:-2.80 [[-6.89677472e-01 -7.24053084e-01 9.59771612e-03 4.17730060e+01] [ 7.23988059e-01 -6.89744204e-01 -9.70686856e-03 -1.83860768e+02] [ 1.36482572e-02 2.54023302e-04 9.99906826e-01 -2.80231601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.806559995 meters 0.014655873509754147 Centerline is valid? [True, True] Translation: X:41.75, Y:-183.84, Z:-2.80 [[-6.91621997e-01 -7.22201026e-01 9.20278126e-03 4.17549381e+01] [ 7.22141123e-01 -6.91683189e-01 -9.30397598e-03 -1.83840645e+02] [ 1.30847501e-02 2.10872345e-04 9.99914369e-01 -2.80310630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.83655999499996 meters 0.013052982110198551 Centerline is valid? [True, True] Translation: X:41.74, Y:-183.81, Z:-2.80 [[-6.96193896e-01 -7.17802595e-01 8.57291537e-03 4.17405197e+01] [ 7.17750333e-01 -6.96246666e-01 -8.66253646e-03 -1.83814913e+02] [ 1.21868549e-02 1.22407858e-04 9.99925730e-01 -2.80085654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.866559995 meters 0.012670635222357063 Centerline is valid? [True, True] Translation: X:41.72, Y:-183.79, Z:-2.80 [[-6.98644548e-01 -7.15422562e-01 8.14580799e-03 4.17233002e+01] [ 7.15375269e-01 -6.98692030e-01 -8.22630580e-03 -1.83792316e+02] [ 1.15766959e-02 8.00458851e-05 9.99932985e-01 -2.80001051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.89655999499996 meters 0.012490980229134056 Centerline is valid? [True, True] Translation: X:41.71, Y:-183.77, Z:-2.80 [[-7.01119219e-01 -7.13003766e-01 7.58092386e-03 4.17063768e+01] [ 7.12962711e-01 -7.01160201e-01 -7.65143818e-03 -1.83770388e+02] [ 1.07709463e-02 4.03456647e-05 9.99941991e-01 -2.79988382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.926559995 meters 0.012431720010013756 Centerline is valid? [True, True] Translation: X:41.69, Y:-183.75, Z:-2.80 [[-7.05297146e-01 -7.08876925e-01 7.03145837e-03 4.16917308e+01] [ 7.08841439e-01 -7.05332195e-01 -7.09283556e-03 -1.83745452e+02] [ 9.98746142e-03 -1.83676077e-05 9.99950124e-01 -2.79878519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.95655999499996 meters 0.012596080850258668 Centerline is valid? [True, True] Translation: X:41.67, Y:-183.72, Z:-2.80 [[-7.07041160e-01 -7.07140018e-01 6.76709961e-03 4.16747283e+01] [ 7.07107098e-01 -7.07073542e-01 -6.82334462e-03 -1.83723592e+02] [ 9.60989713e-03 -3.93213204e-05 9.99953823e-01 -2.79906645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.98655999499994 meters 0.012731723451537433 Centerline is valid? [True, True] Translation: X:41.66, Y:-183.70, Z:-2.80 [[-7.08765199e-01 -7.05406212e-01 7.34637289e-03 4.16582518e+01] [ 7.05367364e-01 -7.08803267e-01 -7.40332199e-03 -1.83700688e+02] [ 1.04294824e-02 -6.53252972e-05 9.99945609e-01 -2.79915956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.01655999499997 meters 0.012870735911837846 Centerline is valid? [True, True] Translation: X:41.64, Y:-183.68, Z:-2.80 [[-7.08825978e-01 -7.05343160e-01 7.53385924e-03 4.16405507e+01] [ 7.05302354e-01 -7.08866011e-01 -7.58730491e-03 -1.83681456e+02] [ 1.06921504e-02 -6.44301655e-05 9.99942835e-01 -2.79983952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.04655999499994 meters 0.012545494092342619 Centerline is valid? [True, True] Translation: X:41.62, Y:-183.66, Z:-2.80 [[-7.07826798e-01 -7.06351249e-01 7.00979632e-03 4.16194594e+01] [ 7.06316012e-01 -7.07861505e-01 -7.05556579e-03 -1.83662750e+02] [ 9.94567269e-03 -4.29871615e-05 9.99950540e-01 -2.79898672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.07655999499997 meters 0.012342895428833326 Centerline is valid? [True, True] Translation: X:41.60, Y:-183.64, Z:-2.80 [[-7.06504353e-01 -7.07673036e-01 7.10441681e-03 4.15992506e+01] [ 7.07636952e-01 -7.06540072e-01 -7.14632252e-03 -1.83644611e+02] [ 1.00768149e-02 -2.15601078e-05 9.99949227e-01 -2.79903887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.10655999499994 meters 0.012419690163498049 Centerline is valid? [True, True] Translation: X:41.58, Y:-183.63, Z:-2.80 [[-7.03358887e-01 -7.10797176e-01 7.32470409e-03 4.15784878e+01] [ 7.10759039e-01 -7.03397025e-01 -7.36307112e-03 -1.83628358e+02] [ 1.03858252e-02 2.72181313e-05 9.99946066e-01 -2.80036330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.13655999499997 meters 0.012543160015938123 Centerline is valid? [True, True] Translation: X:41.56, Y:-183.61, Z:-2.80 [[-7.01897034e-01 -7.12235946e-01 7.77889778e-03 4.15577548e+01] [ 7.12193074e-01 -7.01940136e-01 -7.81482060e-03 -1.83610598e+02] [ 1.10263167e-02 5.48777272e-05 9.99939207e-01 -2.80118328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.16655999499994 meters 0.013167701381217613 Centerline is valid? [True, True] Translation: X:41.54, Y:-183.59, Z:-2.80 [[-6.98438154e-01 -7.15621851e-01 8.33730321e-03 4.15362002e+01] [ 7.15572885e-01 -6.98487904e-01 -8.37227932e-03 -1.83594488e+02] [ 1.18148915e-02 1.18428790e-04 9.99930195e-01 -2.80187187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.196559995 meters 0.013536989340286378 Centerline is valid? [True, True] Translation: X:41.52, Y:-183.58, Z:-2.80 [[-6.96844615e-01 -7.17168637e-01 8.75953802e-03 4.15157958e+01] [ 7.17114767e-01 -6.96899650e-01 -8.79140846e-03 -1.83575660e+02] [ 1.24094414e-02 1.55348428e-04 9.99922988e-01 -2.80179487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.22655999499995 meters 0.013613985196978717 Centerline is valid? [True, True] Translation: X:41.50, Y:-183.56, Z:-2.80 [[-6.95559468e-01 -7.18413212e-01 8.91529369e-03 4.14954186e+01] [ 7.18357575e-01 -6.95616577e-01 -8.94265852e-03 -1.83556770e+02] [ 1.26261501e-02 1.84217954e-04 9.99920270e-01 -2.80143966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.256559995 meters 0.014361245839582244 Centerline is valid? [True, True] Translation: X:41.47, Y:-183.54, Z:-2.80 [[-6.93472240e-01 -7.20430615e-01 8.71678082e-03 4.14736434e+01] [ 7.20377651e-01 -6.93526987e-01 -8.73830539e-03 -1.83540515e+02] [ 1.23406655e-02 2.19601886e-04 9.99923827e-01 -2.80175175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.28655999499995 meters 0.0147182821918039 Centerline is valid? [True, True] Translation: X:41.45, Y:-183.52, Z:-2.80 [[-6.92853790e-01 -7.21028398e-01 8.46606419e-03 4.14532910e+01] [ 7.20978547e-01 -6.92905475e-01 -8.48163233e-03 -1.83522347e+02] [ 1.19816800e-02 2.27319545e-04 9.99928191e-01 -2.80160298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.316559995 meters 0.014690432700200148 Centerline is valid? [True, True] Translation: X:41.43, Y:-183.50, Z:-2.80 [[-6.92576777e-01 -7.21302202e-01 7.78085164e-03 4.14335457e+01] [ 7.21260160e-01 -6.92620449e-01 -7.79075390e-03 -1.83503082e+02] [ 1.10086649e-02 2.16323070e-04 9.99939379e-01 -2.80113571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.34655999499995 meters 0.014760870302264799 Centerline is valid? [True, True] Translation: X:41.41, Y:-183.48, Z:-2.80 [[-6.92703251e-01 -7.21184372e-01 7.43695085e-03 4.14135897e+01] [ 7.21146001e-01 -6.92743141e-01 -7.44221379e-03 -1.83483581e+02] [ 1.05191050e-02 2.07881673e-04 9.99944651e-01 -2.80049145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.376559995 meters 0.014768183081342263 Centerline is valid? [True, True] Translation: X:41.39, Y:-183.46, Z:-2.80 [[-6.93760534e-01 -7.20176764e-01 6.46143093e-03 4.13946460e+01] [ 7.20147789e-01 -6.93790602e-01 -6.46235830e-03 -1.83463725e+02] [ 9.13692034e-03 1.69856058e-04 9.99958243e-01 -2.79917091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.40655999499995 meters 0.014243852667093106 Centerline is valid? [True, True] Translation: X:41.38, Y:-183.44, Z:-2.80 [[-6.94895019e-01 -7.19088176e-01 5.75396763e-03 4.13758316e+01] [ 7.19065187e-01 -6.94918827e-01 -5.75156795e-03 -1.83443027e+02] [ 8.13442494e-03 1.40741891e-04 9.99966905e-01 -2.79812013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.436559995 meters 0.014298210982565127 Centerline is valid? [True, True] Translation: X:41.36, Y:-183.47, Z:-2.80 [[-6.46079650e-01 -7.63254405e-01 4.87849993e-03 4.13581211e+01] [ 7.63234003e-01 -6.46098057e-01 -5.58185604e-03 -1.83467406e+02] [ 7.41236553e-03 1.17113435e-04 9.99972521e-01 -2.79811208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.46655999499995 meters 0.013606789013572845 Centerline is valid? [True, True] Translation: X:41.34, Y:-183.44, Z:-2.80 [[-6.48390587e-01 -7.61295024e-01 4.41965023e-03 4.13418686e+01] [ 7.61278255e-01 -6.48405643e-01 -5.05370198e-03 -1.83444390e+02] [ 6.71308432e-03 8.78108230e-05 9.99977463e-01 -2.79768751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.496559995 meters 0.013291199914602597 Centerline is valid? [True, True] Translation: X:41.33, Y:-183.42, Z:-2.80 [[-6.49817256e-01 -7.60078412e-01 4.28263642e-03 4.13252876e+01] [ 7.60062660e-01 -6.49831364e-01 -4.89392777e-03 -1.83422930e+02] [ 6.50276032e-03 7.49133147e-05 9.99978854e-01 -2.79752840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.52655999499996 meters 0.012816219472694014 Centerline is valid? [True, True] Translation: X:41.31, Y:-183.40, Z:-2.80 [[-6.52256843e-01 -7.57981300e-01 5.03582959e-03 4.13085273e+01] [ 7.57959481e-01 -6.52276280e-01 -5.75153928e-03 -1.83399649e+02] [ 7.64431141e-03 6.54739252e-05 9.99970780e-01 -2.79786401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.556559995 meters 0.012792300622361799 Centerline is valid? [True, True] Translation: X:41.29, Y:-183.38, Z:-2.80 [[-6.53547355e-01 -7.56868926e-01 5.02823277e-03 4.12912146e+01] [ 7.56847158e-01 -6.53566696e-01 -5.74045972e-03 -1.83379096e+02] [ 7.63106105e-03 5.39414153e-05 9.99970882e-01 -2.79900811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.58655999499996 meters 0.012551480934527662 Centerline is valid? [True, True] Translation: X:41.27, Y:-183.36, Z:-2.80 [[-6.56028583e-01 -7.54716023e-01 5.49750617e-03 4.12744555e+01] [ 7.54689957e-01 -6.56051617e-01 -6.27258133e-03 -1.83356577e+02] [ 8.34066545e-03 3.39200519e-05 9.99965216e-01 -2.79939837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.616559995 meters 0.012653685710865909 Centerline is valid? [True, True] Translation: X:41.26, Y:-183.34, Z:-2.80 [[-6.56950191e-01 -7.53911735e-01 5.79154275e-03 4.12569803e+01] [ 7.53882811e-01 -6.56975718e-01 -6.60405555e-03 -1.83335826e+02] [ 8.78377794e-03 2.76089771e-05 9.99961422e-01 -2.80034030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.64655999499996 meters 0.01254011183109328 Centerline is valid? [True, True] Translation: X:41.24, Y:-183.31, Z:-2.80 [[-6.57809084e-01 -7.53162069e-01 5.84003144e-03 4.12398633e+01] [ 7.53132666e-01 -6.57835008e-01 -6.65513093e-03 -1.83314779e+02] [ 8.85416931e-03 2.05128671e-05 9.99960801e-01 -2.80019822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.676559995 meters 0.012513510603617398 Centerline is valid? [True, True] Translation: X:41.22, Y:-183.29, Z:-2.80 [[-6.58509326e-01 -7.52548557e-01 6.01137850e-03 4.12217296e+01] [ 7.52517413e-01 -6.58536764e-01 -6.84650043e-03 -1.83292728e+02] [ 9.11103776e-03 1.51826117e-05 9.99958494e-01 -2.80010196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.70655999499996 meters 0.012627284863966729 Centerline is valid? [True, True] Translation: X:41.20, Y:-183.27, Z:-2.80 [[-6.59268257e-01 -7.51882870e-01 6.12501352e-03 4.12047304e+01] [ 7.51850551e-01 -6.59296709e-01 -6.97125706e-03 -1.83273071e+02] [ 9.27977002e-03 9.16629539e-06 9.99956942e-01 -2.80018732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.73655999499994 meters 0.012678369102330033 Centerline is valid? [True, True] Translation: X:41.19, Y:-183.25, Z:-2.80 [[-6.58828579e-01 -7.52266314e-01 6.34790556e-03 4.11854016e+01] [ 7.52231662e-01 -6.58859160e-01 -7.22041275e-03 -1.83253206e+02] [ 9.61404901e-03 1.80812753e-05 9.99953784e-01 -2.80054104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.76655999499997 meters 0.01287328204944401 Centerline is valid? [True, True] Translation: X:41.17, Y:-183.24, Z:-2.80 [[-6.57325269e-01 -7.53573906e-01 7.06113565e-03 4.11651186e+01] [ 7.53531155e-01 -6.57363192e-01 -8.02695130e-03 -1.83235059e+02] [ 1.06906317e-02 4.44677767e-05 9.99942853e-01 -2.80262087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.79655999499994 meters 0.01283449103199849 Centerline is valid? [True, True] Translation: X:41.15, Y:-183.21, Z:-2.80 [[-6.56424621e-01 -7.54353406e-01 7.59316202e-03 4.11458203e+01] [ 7.54304079e-01 -6.56468533e-01 -8.62678787e-03 -1.83214368e+02] [ 1.14923187e-02 6.47171181e-05 9.99933959e-01 -2.80160428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.82655999499997 meters 0.013142132921218753 Centerline is valid? [True, True] Translation: X:41.13, Y:-183.20, Z:-2.80 [[-6.55569523e-01 -7.55090062e-01 8.22190227e-03 4.11262805e+01] [ 7.55032334e-01 -6.55621073e-01 -9.33720332e-03 -1.83195417e+02] [ 1.24408818e-02 8.66161291e-05 9.99922606e-01 -2.80331995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.85655999499994 meters 0.013359137077583507 Centerline is valid? [True, True] Translation: X:41.11, Y:-183.18, Z:-2.80 [[-6.54319669e-01 -7.56164497e-01 9.00133658e-03 4.11056947e+01] [ 7.56095483e-01 -6.54381570e-01 -1.02167145e-02 -1.83175846e+02] [ 1.36158255e-02 1.20872676e-04 9.99907293e-01 -2.80406365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.88655999499997 meters 0.013292128294230742 Centerline is valid? [True, True] Translation: X:41.09, Y:-183.16, Z:-2.80 [[-6.53981821e-01 -7.56457211e-01 8.95912876e-03 4.10870171e+01] [ 7.56388958e-01 -6.54043172e-01 -1.01623736e-02 -1.83156106e+02] [ 1.35470578e-02 1.30578452e-04 9.99908226e-01 -2.80368255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.91655999499994 meters 0.01332375658347167 Centerline is valid? [True, True] Translation: X:41.07, Y:-183.14, Z:-2.80 [[-6.53771153e-01 -7.56637880e-01 9.07733209e-03 4.10672830e+01] [ 7.56567911e-01 -6.53834153e-01 -1.02906465e-02 -1.83135811e+02] [ 1.37213627e-02 1.39890345e-04 9.99905848e-01 -2.80363730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.946559995 meters 0.01384456006064428 Centerline is valid? [True, True] Translation: X:41.05, Y:-183.12, Z:-2.81 [[-6.53139762e-01 -7.57182434e-01 9.12216709e-03 4.10478086e+01] [ 7.57111919e-01 -6.53203443e-01 -1.03346068e-02 -1.83118449e+02] [ 1.37838137e-02 1.56558790e-04 9.99904987e-01 -2.80515051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.97655999499995 meters 0.013490994049223895 Centerline is valid? [True, True] Translation: X:41.03, Y:-183.10, Z:-2.80 [[-6.53188802e-01 -7.57138182e-01 9.28235580e-03 4.10295565e+01] [ 7.57065248e-01 -6.53254734e-01 -1.05101421e-02 -1.83097001e+02] [ 1.40213728e-02 1.62241862e-04 9.99901683e-01 -2.80374567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.006559995 meters 0.013457511079891937 Centerline is valid? [True, True] Translation: X:41.01, Y:-183.08, Z:-2.80 [[-6.53503590e-01 -7.56865616e-01 9.35398528e-03 4.10107468e+01] [ 7.56791609e-01 -6.53570511e-01 -1.05852564e-02 -1.83076057e+02] [ 1.41251055e-02 1.61514508e-04 9.99900223e-01 -2.80361750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.03655999499995 meters 0.01341369888771404 Centerline is valid? [True, True] Translation: X:40.99, Y:-183.06, Z:-2.80 [[-6.54241329e-01 -7.56228028e-01 9.35163252e-03 4.09930854e+01] [ 7.56154093e-01 -6.54308143e-01 -1.05755399e-02 -1.83056081e+02] [ 1.41163690e-02 1.52319950e-04 9.99900348e-01 -2.80390715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.066559995 meters 0.013111227971360032 Centerline is valid? [True, True] Translation: X:40.98, Y:-183.03, Z:-2.80 [[-6.55537403e-01 -7.55106847e-01 9.18496331e-03 4.09764751e+01] [ 7.55035494e-01 -6.55601734e-01 -1.03811796e-02 -1.83033535e+02] [ 1.38605777e-02 1.29721772e-04 9.99903929e-01 -2.80259899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.09655999499995 meters 0.012922904746807571 Centerline is valid? [True, True] Translation: X:40.96, Y:-183.01, Z:-2.80 [[-6.56469418e-01 -7.54303116e-01 8.64369324e-03 4.09588207e+01] [ 7.54239928e-01 -6.56526312e-01 -9.76388066e-03 -1.83011640e+02] [ 1.30397376e-02 1.09729514e-04 9.99914973e-01 -2.80201151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.126559995 meters 0.01280235035428692 Centerline is valid? [True, True] Translation: X:40.94, Y:-182.99, Z:-2.80 [[-6.57135227e-01 -7.53726914e-01 8.30859477e-03 4.09410187e+01] [ 7.53668552e-01 -6.57187743e-01 -9.38002981e-03 -1.82990172e+02] [ 1.25302876e-02 9.79785686e-05 9.99921488e-01 -2.80133526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.15655999499995 meters 0.012768090398924766 Centerline is valid? [True, True] Translation: X:40.92, Y:-182.97, Z:-2.80 [[-6.57587066e-01 -7.53339730e-01 7.64858746e-03 4.09229473e+01] [ 7.53290302e-01 -6.57631541e-01 -8.63002718e-03 -1.82968822e+02] [ 1.15312947e-02 8.66124961e-05 9.99933509e-01 -2.80092930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.186559995 meters 0.012797810761932695 Centerline is valid? [True, True] Translation: X:40.91, Y:-182.95, Z:-2.80 [[-6.57783834e-01 -7.53168259e-01 7.61584408e-03 4.09055791e+01] [ 7.53119307e-01 -6.57827915e-01 -8.58735324e-03 -1.82949183e+02] [ 1.14776367e-02 8.70170802e-05 9.99934126e-01 -2.80092054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.21655999499995 meters 0.01302059259032448 Centerline is valid? [True, True] Translation: X:40.89, Y:-182.93, Z:-2.80 [[-6.57211239e-01 -7.53673755e-01 7.01851132e-03 4.08888432e+01] [ 7.53632265e-01 -6.57248707e-01 -7.90858836e-03 -1.82929391e+02] [ 1.05734030e-02 9.17634300e-05 9.99944096e-01 -2.80101839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.246559995 meters 0.01293338178856787 Centerline is valid? [True, True] Translation: X:40.87, Y:-182.91, Z:-2.80 [[-6.56745383e-01 -7.54080687e-01 6.91518145e-03 4.08710206e+01] [ 7.54040478e-01 -6.56781781e-01 -7.78775854e-03 -1.82907699e+02] [ 1.04143635e-02 9.97522669e-05 9.99945764e-01 -2.80005589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.27655999499996 meters 0.01293338178856787 Centerline is valid? [True, True] Translation: X:40.85, Y:-182.89, Z:-2.80 [[-6.56956724e-01 -7.53896553e-01 6.91736418e-03 4.08526516e+01] [ 7.53856355e-01 -6.56993133e-01 -7.78581982e-03 -1.82887120e+02] [ 1.04143635e-02 9.97522675e-05 9.99945764e-01 -2.80005601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.306559995 meters 0.013248166068631256 Centerline is valid? [True, True] Translation: X:40.84, Y:-182.87, Z:-2.80 [[-6.56283502e-01 -7.54482740e-01 6.91081858e-03 4.08351838e+01] [ 7.54442690e-01 -6.56319878e-01 -7.77463796e-03 -1.82867960e+02] [ 1.04015378e-02 1.11449934e-04 9.99945896e-01 -2.80055509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.33655999499996 meters 0.013407658738569304 Centerline is valid? [True, True] Translation: X:40.82, Y:-182.85, Z:-2.80 [[-6.55666418e-01 -7.55017354e-01 7.09536444e-03 4.08170189e+01] [ 7.54975221e-01 -6.55704796e-01 -7.97726819e-03 -1.82848072e+02] [ 1.06754404e-02 1.26397476e-04 9.99943008e-01 -2.80079968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.366559995 meters 0.013825241092736773 Centerline is valid? [True, True] Translation: X:40.80, Y:-182.83, Z:-2.80 [[-6.53847378e-01 -7.56588437e-01 7.58571049e-03 4.07985630e+01] [ 7.56540439e-01 -6.53891359e-01 -8.52375083e-03 -1.82827370e+02] [ 1.14092019e-02 1.65664606e-04 9.99934899e-01 -2.80141684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.39655999499996 meters 0.014379873192694615 Centerline is valid? [True, True] Translation: X:40.78, Y:-182.81, Z:-2.80 [[-6.53003878e-01 -7.57314882e-01 7.75268767e-03 4.07795070e+01] [ 7.57264859e-01 -6.53049872e-01 -8.70619764e-03 -1.82808178e+02] [ 1.16562247e-02 1.85657113e-04 9.99932047e-01 -2.80256835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.426559995 meters 0.015505541656242823 Centerline is valid? [True, True] Translation: X:40.76, Y:-182.79, Z:-2.80 [[-6.51090539e-01 -7.58960314e-01 7.76864660e-03 4.07584294e+01] [ 7.58910261e-01 -6.51136848e-01 -8.71906897e-03 -1.82790406e+02] [ 1.16758794e-02 2.18802299e-04 9.99931811e-01 -2.80479746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.45655999499996 meters 0.015778210609845442 Centerline is valid? [True, True] Translation: X:40.74, Y:-182.77, Z:-2.81 [[-6.50537293e-01 -7.59433908e-01 7.83389621e-03 4.07383621e+01] [ 7.59383101e-01 -6.50584418e-01 -8.78755789e-03 -1.82770340e+02] [ 1.17701802e-02 2.32294273e-04 9.99930702e-01 -2.80576420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.48655999499994 meters 0.016044299196276066 Centerline is valid? [True, True] Translation: X:40.72, Y:-182.75, Z:-2.81 [[-6.49586691e-01 -7.60243713e-01 8.16257676e-03 4.07191045e+01] [ 7.60188678e-01 -6.49637921e-01 -9.15125576e-03 -1.82749784e+02] [ 1.22599041e-02 2.60564488e-04 9.99924811e-01 -2.80587309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.51655999499997 meters 0.01662915275029851 Centerline is valid? [True, True] Translation: X:40.70, Y:-182.73, Z:-2.81 [[-6.49728709e-01 -7.60123354e-01 8.06789808e-03 4.07002558e+01] [ 7.60069631e-01 -6.49778747e-01 -9.04081816e-03 -1.82730783e+02] [ 1.21144857e-02 2.58085206e-04 9.99926584e-01 -2.80619931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.54655999499994 meters 0.015988199482830947 Centerline is valid? [True, True] Translation: X:40.68, Y:-182.71, Z:-2.81 [[-6.50005188e-01 -7.59888650e-01 7.90541282e-03 4.06824868e+01] [ 7.59837116e-01 -6.50053211e-01 -8.85330242e-03 -1.82709571e+02] [ 1.18664630e-02 2.52133567e-04 9.99929559e-01 -2.80529947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.57655999499997 meters 0.015218612748005822 Centerline is valid? [True, True] Translation: X:40.66, Y:-182.69, Z:-2.80 [[-6.50584428e-01 -7.59394105e-01 7.77791536e-03 4.06647117e+01] [ 7.59344242e-01 -6.50630874e-01 -8.70560875e-03 -1.82687945e+02] [ 1.16715398e-02 2.42381757e-04 9.99931856e-01 -2.80443228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.60655999499994 meters 0.016432266159152425 Centerline is valid? [True, True] Translation: X:40.64, Y:-182.67, Z:-2.81 [[-6.52179222e-01 -7.58027718e-01 7.49940191e-03 4.06445496e+01] [ 7.57981311e-01 -6.52222303e-01 -8.39040966e-03 -1.82670024e+02] [ 1.12514403e-02 2.12355652e-04 9.99936678e-01 -2.80594387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.63655999499997 meters 0.015884565557384628 Centerline is valid? [True, True] Translation: X:40.63, Y:-182.65, Z:-2.81 [[-6.53440737e-01 -7.56940695e-01 7.48252292e-03 4.06269978e+01] [ 7.56894479e-01 -6.53483547e-01 -8.36667266e-03 -1.82649741e+02] [ 1.12227806e-02 1.96355544e-04 9.99937003e-01 -2.80560894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.66655999499994 meters 0.01412326465704738 Centerline is valid? [True, True] Translation: X:40.61, Y:-182.63, Z:-2.80 [[-6.55002293e-01 -7.55594846e-01 6.95874053e-03 4.06108077e+01] [ 7.55554844e-01 -6.55039236e-01 -7.77665961e-03 -1.82626840e+02] [ 1.04342520e-02 1.63980238e-04 9.99945548e-01 -2.80369374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.696559995 meters 0.013388040169850604 Centerline is valid? [True, True] Translation: X:40.59, Y:-182.60, Z:-2.80 [[-6.58098989e-01 -7.52904089e-01 6.41506684e-03 4.05940088e+01] [ 7.52870001e-01 -6.58130245e-01 -7.16533043e-03 -1.82603417e+02] [ 9.61675609e-03 1.14214663e-04 9.99953751e-01 -2.80259084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.72655999499995 meters 0.012999553056252623 Centerline is valid? [True, True] Translation: X:40.58, Y:-182.58, Z:-2.80 [[-6.60148366e-01 -7.51108569e-01 6.32875877e-03 4.05772067e+01] [ 7.51075351e-01 -6.60178696e-01 -7.06446273e-03 -1.82581754e+02] [ 9.48429020e-03 8.97811898e-05 9.99955019e-01 -2.80220248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.756559995 meters 0.01250797352030373 Centerline is valid? [True, True] Translation: X:40.56, Y:-182.56, Z:-2.80 [[-6.63908754e-01 -7.47785689e-01 6.45990765e-03 4.05603778e+01] [ 7.47750962e-01 -6.63940179e-01 -7.20677204e-03 -1.82559355e+02] [ 9.67811323e-03 4.57631160e-05 9.99953165e-01 -2.80180446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.78655999499995 meters 0.012461195905648946 Centerline is valid? [True, True] Translation: X:40.54, Y:-182.54, Z:-2.80 [[-6.66645903e-01 -7.45346008e-01 6.52443354e-03 4.05415395e+01] [ 7.45310507e-01 -6.66677829e-01 -7.27464135e-03 -1.82537914e+02] [ 9.77182008e-03 1.31190249e-05 9.99952255e-01 -2.80243435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.816559995 meters 0.012479510534577196 Centerline is valid? [True, True] Translation: X:40.52, Y:-182.52, Z:-2.80 [[-6.68183918e-01 -7.43967039e-01 6.58001743e-03 4.05236872e+01] [ 7.43930909e-01 -6.68216316e-01 -7.33198651e-03 -1.82516724e+02] [ 9.85163130e-03 -4.03712819e-06 9.99951472e-01 -2.80306098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.84655999499995 meters 0.012479510534577196 Centerline is valid? [True, True] Translation: X:40.51, Y:-182.50, Z:-2.80 [[-6.68391264e-01 -7.43780744e-01 6.58206086e-03 4.05052109e+01] [ 7.43744623e-01 -6.68423672e-01 -7.33015214e-03 -1.82496243e+02] [ 9.85163130e-03 -4.03727963e-06 9.99951472e-01 -2.80306110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.876559995 meters 0.012526720147932484 Centerline is valid? [True, True] Translation: X:40.49, Y:-182.47, Z:-2.80 [[-6.70396837e-01 -7.41976337e-01 6.26070050e-03 4.04882276e+01] [ 7.41943616e-01 -6.70426069e-01 -6.96831135e-03 -1.82474399e+02] [ 9.36765896e-03 -2.64471201e-05 9.99956122e-01 -2.80224098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.90655999499995 meters 0.012593499478819551 Centerline is valid? [True, True] Translation: X:40.47, Y:-182.45, Z:-2.80 [[-6.71081936e-01 -7.41359222e-01 5.96155438e-03 4.04708860e+01] [ 7.41329563e-01 -6.71108414e-01 -6.63138569e-03 -1.82453877e+02] [ 8.91708824e-03 -3.07266419e-05 9.99960242e-01 -2.80208398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.936559995 meters 0.012547263937016136 Centerline is valid? [True, True] Translation: X:40.45, Y:-182.43, Z:-2.80 [[-6.71469860e-01 -7.41010518e-01 5.62488311e-03 4.04523710e+01] [ 7.40984133e-01 -6.71493418e-01 -6.25332749e-03 -1.82432693e+02] [ 8.41085343e-03 -3.09718014e-05 9.99964628e-01 -2.80138524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.96655999499995 meters 0.01251250770591999 Centerline is valid? [True, True] Translation: X:40.43, Y:-182.41, Z:-2.80 [[-6.71038560e-01 -7.41405100e-01 5.07239957e-03 4.04330202e+01] [ 7.41383672e-01 -6.71057730e-01 -5.63677399e-03 -1.82413250e+02] [ 7.58300592e-03 -2.18984772e-05 9.99971248e-01 -2.80133607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.996559995 meters 0.01244454571385153 Centerline is valid? [True, True] Translation: X:40.41, Y:-182.39, Z:-2.80 [[-6.70645038e-01 -7.41764012e-01 4.62417689e-03 4.04129910e+01] [ 7.41746232e-01 -6.70660980e-01 -5.13577848e-03 -1.82393730e+02] [ 6.91079066e-03 -1.43185690e-05 9.99976120e-01 -2.80109009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.02655999499996 meters 0.012420354455609425 Centerline is valid? [True, True] Translation: X:40.39, Y:-182.38, Z:-2.80 [[-6.69132934e-01 -7.43127676e-01 4.73021723e-03 4.03930411e+01] [ 7.43109130e-01 -6.69149653e-01 -5.25004960e-03 -1.82375784e+02] [ 7.06668037e-03 2.08651899e-06 9.99975031e-01 -2.80211828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.056559995 meters 0.012447807456268618 Centerline is valid? [True, True] Translation: X:40.37, Y:-182.36, Z:-2.80 [[-6.68545471e-01 -7.43654658e-01 4.97019858e-03 4.03736779e+01] [ 7.43634224e-01 -6.68563945e-01 -5.51295232e-03 -1.82356027e+02] [ 7.42262825e-03 1.03504622e-05 9.99972452e-01 -2.80217178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.08655999499996 meters 0.012473583332999904 Centerline is valid? [True, True] Translation: X:40.35, Y:-182.34, Z:-2.80 [[-6.67746150e-01 -7.44371745e-01 5.07781004e-03 4.03543047e+01] [ 7.44350464e-01 -6.67765456e-01 -5.62876000e-03 -1.82336292e+02] [ 7.58067604e-03 2.10874355e-05 9.99971266e-01 -2.80254036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.116559995 meters 0.012687379741923695 Centerline is valid? [True, True] Translation: X:40.34, Y:-182.32, Z:-2.80 [[-6.65985991e-01 -7.45947178e-01 5.04648906e-03 4.03351605e+01] [ 7.45926231e-01 -6.66005110e-01 -5.59034410e-03 -1.82318278e+02] [ 7.53108890e-03 4.12177032e-05 9.99971640e-01 -2.80294919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.14655999499996 meters 0.01279161822392568 Centerline is valid? [True, True] Translation: X:40.32, Y:-182.30, Z:-2.80 [[-6.65077304e-01 -7.46759107e-01 4.79752596e-03 4.03161335e+01] [ 7.46740220e-01 -6.65094605e-01 -5.31123263e-03 -1.82298574e+02] [ 7.15701997e-03 5.01253154e-05 9.99974387e-01 -2.80236234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.176559995 meters 0.01331600082875694 Centerline is valid? [True, True] Translation: X:40.30, Y:-182.28, Z:-2.80 [[-6.63024453e-01 -7.48586143e-01 4.16675922e-03 4.02954262e+01] [ 7.48571949e-01 -6.63037542e-01 -4.61022649e-03 -1.82280846e+02] [ 6.21386946e-03 6.24261720e-05 9.99980692e-01 -2.80193507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.20655999499996 meters 0.01355145913787357 Centerline is valid? [True, True] Translation: X:40.28, Y:-182.26, Z:-2.80 [[-6.62261647e-01 -7.49261122e-01 4.15710366e-03 4.02758714e+01] [ 7.49247025e-01 -6.62274691e-01 -4.59675151e-03 -1.82262277e+02] [ 6.19731174e-03 7.04453206e-05 9.99980794e-01 -2.80218141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.23655999499994 meters 0.013763792354040804 Centerline is valid? [True, True] Translation: X:40.26, Y:-182.24, Z:-2.80 [[-6.60793379e-01 -7.50558252e-01 3.79731001e-03 4.02561599e+01] [ 7.50546524e-01 -6.60804286e-01 -4.19658616e-03 -1.82242775e+02] [ 5.65906111e-03 7.69814778e-05 9.99983984e-01 -2.80229466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.26655999499997 meters 0.014471506180500868 Centerline is valid? [True, True] Translation: X:40.24, Y:-182.22, Z:-2.80 [[-6.60443901e-01 -7.50865484e-01 3.85739000e-03 4.02374976e+01] [ 7.50853403e-01 -6.60455160e-01 -4.26020015e-03 -1.82224526e+02] [ 5.74647038e-03 8.27112026e-05 9.99983486e-01 -2.80265854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.29655999499994 meters 0.013866522830502676 Centerline is valid? [True, True] Translation: X:40.22, Y:-182.20, Z:-2.80 [[-6.60214286e-01 -7.51065233e-01 4.25593547e-03 4.02206556e+01] [ 7.51050548e-01 -6.60227996e-01 -4.69752950e-03 -1.82202541e+02] [ 6.33803883e-03 9.50465896e-05 9.99979910e-01 -2.80206767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.32655999499997 meters 0.013983180831332022 Centerline is valid? [True, True] Translation: X:40.20, Y:-182.18, Z:-2.80 [[-6.60187275e-01 -7.51086972e-01 4.59590755e-03 4.02030541e+01] [ 7.51069865e-01 -6.60203264e-01 -5.07028162e-03 -1.82183330e+02] [ 6.84245563e-03 1.04512259e-04 9.99976585e-01 -2.80269654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.35655999499994 meters 0.01404180794191894 Centerline is valid? [True, True] Translation: X:40.19, Y:-182.16, Z:-2.80 [[-6.60267057e-01 -7.51012609e-01 5.24166971e-03 4.01851933e+01] [ 7.50990385e-01 -6.60287852e-01 -5.77884189e-03 -1.82163413e+02] [ 7.80099395e-03 1.20864623e-04 9.99969565e-01 -2.80403500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.38655999499997 meters 0.014083706427152518 Centerline is valid? [True, True] Translation: X:40.17, Y:-182.14, Z:-2.80 [[-6.60393698e-01 -7.50896586e-01 5.87203446e-03 4.01664084e+01] [ 7.50868723e-01 -6.60419789e-01 -6.47016705e-03 -1.82142342e+02] [ 8.73643411e-03 1.36269468e-04 9.99961827e-01 -2.80490650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.41655999499994 meters 0.014013955708178096 Centerline is valid? [True, True] Translation: X:40.15, Y:-182.12, Z:-2.81 [[-6.60457818e-01 -7.50838421e-01 6.09394491e-03 4.01482210e+01] [ 7.50808448e-01 -6.60485916e-01 -6.71044247e-03 -1.82121567e+02] [ 9.06342281e-03 1.43421129e-04 9.99958916e-01 -2.80535356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.446559995 meters 0.01395411892001806 Centerline is valid? [True, True] Translation: X:40.13, Y:-182.10, Z:-2.81 [[-6.61073905e-01 -7.50292972e-01 6.46136315e-03 4.01318284e+01] [ 7.50259292e-01 -6.61105464e-01 -7.11054312e-03 -1.82099739e+02] [ 9.60663301e-03 1.47103236e-04 9.99953844e-01 -2.80555158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.47655999499995 meters 0.013722640474222452 Centerline is valid? [True, True] Translation: X:40.11, Y:-182.08, Z:-2.81 [[-6.61835384e-01 -7.49623008e-01 6.26655819e-03 4.01147337e+01] [ 7.49591339e-01 -6.61865037e-01 -6.89180005e-03 -1.82078111e+02] [ 9.31386765e-03 1.36120614e-04 9.99956616e-01 -2.80530998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.506559995 meters 0.013421152910990197 Centerline is valid? [True, True] Translation: X:40.10, Y:-182.06, Z:-2.81 [[-6.63744141e-01 -7.47932353e-01 6.39609460e-03 4.00998987e+01] [ 7.47899325e-01 -6.63774948e-01 -7.02984813e-03 -1.82055465e+02] [ 9.50341821e-03 1.17614319e-04 9.99954835e-01 -2.80530517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.53655999499995 meters 0.013556119816614642 Centerline is valid? [True, True] Translation: X:40.08, Y:-182.03, Z:-2.81 [[-6.65256966e-01 -7.46586739e-01 6.43511301e-03 4.00832336e+01] [ 7.46553288e-01 -6.65288081e-01 -7.06809484e-03 -1.82034664e+02] [ 9.55814986e-03 1.02055445e-04 9.99954315e-01 -2.80610099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.566559995 meters 0.012839976234912691 Centerline is valid? [True, True] Translation: X:40.07, Y:-182.01, Z:-2.80 [[-6.66817153e-01 -7.45195114e-01 6.25510610e-03 4.00681464e+01] [ 7.45163487e-01 -6.66846486e-01 -6.86604937e-03 -1.82011677e+02] [ 9.28774196e-03 8.26771796e-05 9.99956865e-01 -2.80461008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.59655999499995 meters 0.012732979493669852 Centerline is valid? [True, True] Translation: X:40.05, Y:-181.99, Z:-2.80 [[-6.68270207e-01 -7.43893328e-01 6.13568477e-03 4.00523710e+01] [ 7.43862872e-01 -6.68298371e-01 -6.73168759e-03 -1.81990770e+02] [ 9.10812562e-03 6.55218386e-05 9.99958518e-01 -2.80434625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.626559995 meters 0.012635015877071306 Centerline is valid? [True, True] Translation: X:40.03, Y:-181.97, Z:-2.80 [[-6.68352175e-01 -7.43829005e-01 4.87663314e-03 4.00334133e+01] [ 7.43809788e-01 -6.68369964e-01 -5.34701665e-03 -1.81971247e+02] [ 7.23666119e-03 5.35972554e-05 9.99973814e-01 -2.80307715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.65655999499995 meters 0.01266842778285955 Centerline is valid? [True, True] Translation: X:40.02, Y:-181.95, Z:-2.80 [[-6.68746696e-01 -7.43475689e-01 4.66439110e-03 4.00150930e+01] [ 7.43458121e-01 -6.68762961e-01 -5.11114183e-03 -1.81950931e+02] [ 6.91938170e-03 4.97202259e-05 9.99976060e-01 -2.80297411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.686559995 meters 0.01248867703790866 Centerline is valid? [True, True] Translation: X:40.00, Y:-181.93, Z:-2.80 [[-6.69133164e-01 -7.43127332e-01 4.75149587e-03 3.99966843e+01] [ 7.43109115e-01 -6.69150032e-01 -5.20360231e-03 -1.81929298e+02] [ 7.04640272e-03 4.89770165e-05 9.99975173e-01 -2.80211815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.71655999499995 meters 0.012447165487172078 Centerline is valid? [True, True] Translation: X:39.98, Y:-181.91, Z:-2.80 [[-6.70311233e-01 -7.42061248e-01 5.28729079e-03 3.99789033e+01] [ 7.42038685e-01 -6.70332083e-01 -5.78687951e-03 -1.81909513e+02] [ 7.83845969e-03 4.43639713e-05 9.99969278e-01 -2.80300029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.746559995 meters 0.012379210236036518 Centerline is valid? [True, True] Translation: X:39.96, Y:-181.89, Z:-2.80 [[-6.70990954e-01 -7.41442083e-01 5.89729758e-03 3.99606206e+01] [ 7.41414024e-01 -6.71016867e-01 -6.45049490e-03 -1.81889600e+02] [ 8.73985452e-03 4.41154030e-05 9.99961806e-01 -2.80382909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.77655999499996 meters 0.012373224277593678 Centerline is valid? [True, True] Translation: X:39.94, Y:-181.87, Z:-2.80 [[-6.71338820e-01 -7.41126185e-01 6.01389380e-03 3.99419576e+01] [ 7.41097030e-01 -6.71365754e-01 -6.57391594e-03 -1.81870059e+02] [ 8.90962359e-03 4.35538605e-05 9.99960308e-01 -2.80432894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.806559995 meters 0.012445793151956552 Centerline is valid? [True, True] Translation: X:39.92, Y:-181.85, Z:-2.81 [[-6.71539296e-01 -7.40936017e-01 6.98514266e-03 3.99224693e+01] [ 7.40896723e-01 -6.71575622e-01 -7.63083444e-03 -1.81851115e+02] [ 1.03450116e-02 5.08641153e-05 9.99946488e-01 -2.80505887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.83655999499996 meters 0.012524711657404847 Centerline is valid? [True, True] Translation: X:39.90, Y:-181.83, Z:-2.81 [[-6.71857376e-01 -7.40641594e-01 7.59572423e-03 3.99044243e+01] [ 7.40595173e-01 -6.71900309e-01 -8.29242456e-03 -1.81832059e+02] [ 1.12452840e-02 5.40300927e-05 9.99936768e-01 -2.80562545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.866559995 meters 0.012519572293915131 Centerline is valid? [True, True] Translation: X:39.89, Y:-181.81, Z:-2.81 [[-6.73074395e-01 -7.39529138e-01 8.21662029e-03 3.98860249e+01] [ 7.39474802e-01 -6.73124544e-01 -8.96466683e-03 -1.81812095e+02] [ 1.21604411e-02 4.20959593e-05 9.99926058e-01 -2.80587266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.89655999499996 meters 0.012457879405584432 Centerline is valid? [True, True] Translation: X:39.87, Y:-181.79, Z:-2.81 [[-6.74037463e-01 -7.38649163e-01 8.42092873e-03 3.98675038e+01] [ 7.38592087e-01 -6.74090063e-01 -9.18242220e-03 -1.81791550e+02] [ 1.24590528e-02 3.03347558e-05 9.99922383e-01 -2.80568447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.92655999499993 meters 0.012489256363497542 Centerline is valid? [True, True] Translation: X:39.85, Y:-181.77, Z:-2.81 [[-6.75329186e-01 -7.37464573e-01 8.74612857e-03 3.98500863e+01] [ 7.37402985e-01 -6.75385818e-01 -9.53072702e-03 -1.81772270e+02] [ 1.29355847e-02 1.30431969e-05 9.99916332e-01 -2.80632346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.95655999499996 meters 0.012474576396829222 Centerline is valid? [True, True] Translation: X:39.83, Y:-181.75, Z:-2.81 [[-6.76722236e-01 -7.36187829e-01 8.63108198e-03 3.98313672e+01] [ 7.36127814e-01 -6.76777275e-01 -9.40004482e-03 -1.81751536e+02] [ 1.27615187e-02 -7.63983479e-06 9.99918569e-01 -2.80585162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.98655999499994 meters 0.012566147548624187 Centerline is valid? [True, True] Translation: X:39.81, Y:-181.73, Z:-2.81 [[-6.79814451e-01 -7.33340602e-01 7.99211795e-03 3.98140613e+01] [ 7.33288989e-01 -6.79861426e-01 -8.70056757e-03 -1.81731032e+02] [ 1.18140122e-02 -5.42394703e-05 9.99930211e-01 -2.80588507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.01655999499997 meters 0.013031732782440884 Centerline is valid? [True, True] Translation: X:39.80, Y:-181.71, Z:-2.80 [[-6.83336293e-01 -7.30071645e-01 6.84865748e-03 3.97979615e+01] [ 7.30033627e-01 -6.83370606e-01 -7.45111826e-03 -1.81708647e+02] [ 1.01200214e-02 -9.18692677e-05 9.99948787e-01 -2.80447230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.04655999499994 meters 0.013239625975158034 Centerline is valid? [True, True] Translation: X:39.78, Y:-181.69, Z:-2.80 [[-6.84817724e-01 -7.28688110e-01 6.19055397e-03 3.97806143e+01] [ 7.28657029e-01 -6.84845697e-01 -6.73092386e-03 -1.81687714e+02] [ 9.14431843e-03 -9.86652976e-05 9.99958185e-01 -2.80292519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.07655999499997 meters 0.01347241037295481 Centerline is valid? [True, True] Translation: X:39.76, Y:-181.67, Z:-2.80 [[-6.86199379e-01 -7.27392669e-01 5.50605542e-03 3.97625821e+01] [ 7.27368070e-01 -6.86221462e-01 -5.98295534e-03 -1.81667097e+02] [ 8.13033125e-03 -1.00571335e-04 9.99966943e-01 -2.80201577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.10655999499994 meters 0.01395117934470388 Centerline is valid? [True, True] Translation: X:39.74, Y:-181.65, Z:-2.80 [[-6.87572081e-01 -7.26099176e-01 4.96184705e-03 3.97444632e+01] [ 7.26079192e-01 -6.87589977e-01 -5.38810561e-03 -1.81647870e+02] [ 7.32401534e-03 -1.02017087e-04 9.99973174e-01 -2.80159834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.13655999499997 meters 0.01388059998426879 Centerline is valid? [True, True] Translation: X:39.73, Y:-181.63, Z:-2.80 [[-6.88161580e-01 -7.25541054e-01 4.88053809e-03 3.97250862e+01] [ 7.25521728e-01 -6.88178879e-01 -5.29652290e-03 -1.81628287e+02] [ 7.20152803e-03 -1.03927136e-04 9.99974063e-01 -2.80153777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.16655999499994 meters 0.01388059998426879 Centerline is valid? [True, True] Translation: X:39.71, Y:-181.61, Z:-2.80 [[-6.88385912e-01 -7.25328202e-01 4.88217579e-03 3.97068724e+01] [ 7.25308882e-01 -6.88403217e-01 -5.29501336e-03 -1.81608675e+02] [ 7.20152803e-03 -1.03927137e-04 9.99974063e-01 -2.80153789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.196559995 meters 0.01378321632934302 Centerline is valid? [True, True] Translation: X:39.69, Y:-181.59, Z:-2.80 [[-6.88928361e-01 -7.24814184e-01 4.70229546e-03 3.96873233e+01] [ 7.24796264e-01 -6.88944401e-01 -5.09782480e-03 -1.81589198e+02] [ 6.93459586e-03 -1.03829906e-04 9.99975950e-01 -2.80149712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.22655999499995 meters 0.014080152552821204 Centerline is valid? [True, True] Translation: X:39.67, Y:-181.57, Z:-2.80 [[-6.89459962e-01 -7.24309411e-01 4.56484640e-03 3.96694700e+01] [ 7.24292528e-01 -6.89475066e-01 -4.94640883e-03 -1.81569868e+02] [ 6.73007824e-03 -1.04066707e-04 9.99977347e-01 -2.80158498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.256559995 meters 0.014274250882481755 Centerline is valid? [True, True] Translation: X:39.65, Y:-181.55, Z:-2.80 [[-6.90885543e-01 -7.22952168e-01 4.16277339e-03 3.96506489e+01] [ 7.22938119e-01 -6.90898076e-01 -4.50821254e-03 -1.81549606e+02] [ 6.13527416e-03 -1.05231308e-04 9.99981174e-01 -2.80088142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.28655999499995 meters 0.01453505729563396 Centerline is valid? [True, True] Translation: X:39.63, Y:-181.53, Z:-2.80 [[-6.91914953e-01 -7.21967024e-01 4.16104005e-03 3.96315116e+01] [ 7.21952985e-01 -6.91927455e-01 -4.50382647e-03 -1.81528458e+02] [ 6.13075204e-03 -1.12189599e-04 9.99981201e-01 -2.80042740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.316559995 meters 0.015272879278262711 Centerline is valid? [True, True] Translation: X:39.61, Y:-181.51, Z:-2.80 [[-6.93881592e-01 -7.20080251e-01 3.57325381e-03 3.96126441e+01] [ 7.20069885e-01 -6.93890784e-01 -3.86535135e-03 -1.81508704e+02] [ 5.26281106e-03 -1.09103688e-04 9.99986145e-01 -2.80031479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.34655999499995 meters 0.015675327028437887 Centerline is valid? [True, True] Translation: X:39.59, Y:-181.49, Z:-2.80 [[-6.94801453e-01 -7.19193626e-01 3.38665026e-03 3.95931507e+01] [ 7.19184314e-01 -6.94809698e-01 -3.66149198e-03 -1.81488453e+02] [ 4.98639913e-03 -1.08384205e-04 9.99987562e-01 -2.80054732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.376559995 meters 0.015977761350894862 Centerline is valid? [True, True] Translation: X:39.57, Y:-181.47, Z:-2.80 [[-6.95429717e-01 -7.18587180e-01 3.15807560e-03 3.95741218e+01] [ 7.18579086e-01 -6.95436880e-01 -3.41228359e-03 -1.81469334e+02] [ 4.64826549e-03 -1.03676334e-04 9.99989191e-01 -2.80079809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.40655999499995 meters 0.015836912702292143 Centerline is valid? [True, True] Translation: X:39.55, Y:-181.45, Z:-2.80 [[-6.94910747e-01 -7.19088429e-01 3.29925989e-03 3.95541987e+01] [ 7.19079612e-01 -6.94918571e-01 -3.56255451e-03 -1.81451865e+02] [ 4.85450869e-03 -1.03226895e-04 9.99988212e-01 -2.80154989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.436559995 meters 0.015673396753819843 Centerline is valid? [True, True] Translation: X:39.54, Y:-181.43, Z:-2.80 [[-6.94192423e-01 -7.19781932e-01 3.29399783e-03 3.95350140e+01] [ 7.19773161e-01 -6.94200232e-01 -3.55461942e-03 -1.81433839e+02] [ 4.84524489e-03 -9.66586341e-05 9.99988257e-01 -2.80180312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.46655999499995 meters 0.014062322197137656 Centerline is valid? [True, True] Translation: X:39.51, Y:-181.42, Z:-2.80 [[-6.92973904e-01 -7.20954736e-01 3.38185126e-03 3.95120783e+01] [ 7.20945515e-01 -6.92982150e-01 -3.64742397e-03 -1.81415936e+02] [ 4.97319014e-03 -8.94391279e-05 9.99987630e-01 -2.80136269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.496559995 meters 0.014003354340429583 Centerline is valid? [True, True] Translation: X:39.49, Y:-181.40, Z:-2.80 [[-6.91844237e-01 -7.22039067e-01 3.33715812e-03 3.94922922e+01] [ 7.22030111e-01 -6.91852281e-01 -3.59716126e-03 -1.81397821e+02] [ 4.90611142e-03 -7.91466410e-05 9.99987962e-01 -2.80199904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.52655999499996 meters 0.01305880683672602 Centerline is valid? [True, True] Translation: X:39.47, Y:-181.38, Z:-2.80 [[-6.88660923e-01 -7.25075653e-01 3.38094987e-03 3.94683679e+01] [ 7.25066506e-01 -6.88669220e-01 -3.64238418e-03 -1.81381663e+02] [ 4.96936020e-03 -5.69541468e-05 9.99987651e-01 -2.80299506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.556559995 meters 0.012856278734221129 Centerline is valid? [True, True] Translation: X:39.45, Y:-181.36, Z:-2.80 [[-6.86881338e-01 -7.26760236e-01 3.68602650e-03 3.94480575e+01] [ 7.26749401e-01 -6.86891226e-01 -3.96875502e-03 -1.81363440e+02] [ 5.41623260e-03 -4.72462033e-05 9.99985331e-01 -2.80386348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.58655999499996 meters 0.012321322728725869 Centerline is valid? [True, True] Translation: X:39.42, Y:-181.35, Z:-2.80 [[-6.83265391e-01 -7.30158506e-01 4.11844427e-03 3.94244865e+01] [ 7.30145056e-01 -6.83277803e-01 -4.43184139e-03 -1.81347208e+02] [ 6.04998823e-03 -2.10621176e-05 9.99981698e-01 -2.80425905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.616559995 meters 0.012304013740970744 Centerline is valid? [True, True] Translation: X:39.40, Y:-181.33, Z:-2.80 [[-6.81446338e-01 -7.31855587e-01 4.27653983e-03 3.94031940e+01] [ 7.31841134e-01 -6.81459757e-01 -4.59936804e-03 -1.81329018e+02] [ 6.28036299e-03 -4.47474829e-06 9.99980278e-01 -2.80450807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.64655999499996 meters 0.012277086120630814 Centerline is valid? [True, True] Translation: X:39.38, Y:-181.31, Z:-2.80 [[-6.79456861e-01 -7.33703313e-01 4.22176062e-03 3.93821922e+01] [ 7.33689280e-01 -6.79469976e-01 -4.53774827e-03 -1.81311419e+02] [ 6.19792052e-03 1.42563158e-05 9.99980793e-01 -2.80438637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.67655999499993 meters 0.012758636093770186 Centerline is valid? [True, True] Translation: X:39.36, Y:-181.30, Z:-2.80 [[-6.75453678e-01 -7.37392184e-01 3.88543540e-03 3.93593032e+01] [ 7.37380373e-01 -6.75464852e-01 -4.17378677e-03 -1.81296053e+02] [ 5.70219279e-03 4.58441811e-05 9.99983741e-01 -2.80409293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.70655999499996 meters 0.012920717992217917 Centerline is valid? [True, True] Translation: X:39.34, Y:-181.28, Z:-2.80 [[-6.73938832e-01 -7.38777829e-01 3.71086238e-03 3.93388904e+01] [ 7.38767088e-01 -6.73949046e-01 -3.98407172e-03 -1.81276359e+02] [ 5.44427602e-03 5.64423518e-05 9.99985178e-01 -2.80377200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.73655999499994 meters 0.013823567887611044 Centerline is valid? [True, True] Translation: X:39.32, Y:-181.26, Z:-2.80 [[-6.70815741e-01 -7.41615636e-01 3.53405215e-03 3.93173979e+01] [ 7.41605943e-01 -6.70825046e-01 -3.79248777e-03 -1.81260177e+02] [ 5.18329893e-03 7.68135829e-05 9.99986564e-01 -2.80416022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.76655999499997 meters 0.013788014017364878 Centerline is valid? [True, True] Translation: X:39.30, Y:-181.24, Z:-2.80 [[-6.70017323e-01 -7.42338188e-01 3.28652057e-03 3.92980712e+01] [ 7.42329824e-01 -6.70025379e-01 -3.52482950e-03 -1.81239655e+02] [ 4.81866773e-03 7.79854099e-05 9.99988387e-01 -2.80357433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.79655999499994 meters 0.014236364672406198 Centerline is valid? [True, True] Translation: X:39.28, Y:-181.22, Z:-2.80 [[-6.69435209e-01 -7.42863079e-01 3.30841777e-03 3.92787860e+01] [ 7.42854617e-01 -6.69443379e-01 -3.54682930e-03 -1.81220183e+02] [ 4.84960690e-03 8.33010004e-05 9.99988237e-01 -2.80308013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.82655999499997 meters 0.014502509660740596 Centerline is valid? [True, True] Translation: X:39.26, Y:-181.20, Z:-2.80 [[-6.69334361e-01 -7.42954469e-01 3.18912298e-03 3.92608519e+01] [ 7.42946617e-01 -6.69341953e-01 -3.41666997e-03 -1.81201206e+02] [ 4.67304403e-03 8.24535166e-05 9.99989078e-01 -2.80237191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.85655999499994 meters 0.014159578466469029 Centerline is valid? [True, True] Translation: X:39.24, Y:-181.18, Z:-2.80 [[-6.69684830e-01 -7.42638417e-01 3.22637815e-03 3.92416364e+01] [ 7.42630387e-01 -6.69692597e-01 -3.45461108e-03 -1.81180115e+02] [ 4.72620847e-03 8.25058178e-05 9.99988828e-01 -2.80213714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.88655999499997 meters 0.014278501917545641 Centerline is valid? [True, True] Translation: X:39.22, Y:-181.16, Z:-2.80 [[-6.70046713e-01 -7.42311456e-01 3.33240552e-03 3.92225830e+01] [ 7.42302892e-01 -6.70054995e-01 -3.56665341e-03 -1.81160965e+02] [ 4.88046265e-03 8.38298567e-05 9.99988087e-01 -2.80271882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.91655999499994 meters 0.014225438770992383 Centerline is valid? [True, True] Translation: X:39.20, Y:-181.14, Z:-2.80 [[-6.70270491e-01 -7.42106774e-01 3.87367356e-03 3.92034200e+01] [ 7.42095212e-01 -6.70281677e-01 -4.14362926e-03 -1.81140164e+02] [ 5.67146775e-03 9.72821840e-05 9.99983912e-01 -2.80304468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.946559995 meters 0.014298100178365686 Centerline is valid? [True, True] Translation: X:39.18, Y:-181.12, Z:-2.80 [[-6.70477533e-01 -7.41916937e-01 4.37442571e-03 3.91838623e+01] [ 7.41902206e-01 -6.70491794e-01 -4.67665530e-03 -1.81119756e+02] [ 6.40270632e-03 1.09803773e-04 9.99979496e-01 -2.80382140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.97655999499995 meters 0.014220900369776803 Centerline is valid? [True, True] Translation: X:39.16, Y:-181.10, Z:-2.80 [[-6.70780000e-01 -7.41637916e-01 5.23384783e-03 3.91645618e+01] [ 7.41616843e-01 -6.70800405e-01 -5.59230966e-03 -1.81098841e+02] [ 7.65833613e-03 1.30300233e-04 9.99970666e-01 -2.80463259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.006559995 meters 0.01439298393089302 Centerline is valid? [True, True] Translation: X:39.15, Y:-181.08, Z:-2.81 [[-6.71737996e-01 -7.40758594e-01 6.69107049e-03 3.91473761e+01] [ 7.40724155e-01 -6.71771301e-01 -7.14460686e-03 -1.81079300e+02] [ 9.78729806e-03 1.56933644e-04 9.99952091e-01 -2.80644933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.03655999499995 meters 0.01358185411510628 Centerline is valid? [True, True] Translation: X:39.13, Y:-181.06, Z:-2.81 [[-6.72636963e-01 -7.39937522e-01 7.20970221e-03 3.91297508e+01] [ 7.39897534e-01 -6.72675582e-01 -7.69423505e-03 -1.81056662e+02] [ 1.05430438e-02 1.59013987e-04 9.99944408e-01 -2.80592219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.066559995 meters 0.013806870268317886 Centerline is valid? [True, True] Translation: X:39.11, Y:-181.04, Z:-2.81 [[-6.74486556e-01 -7.38247341e-01 7.66484213e-03 3.91122600e+01] [ 7.38202089e-01 -6.74530091e-01 -8.17515307e-03 -1.81035390e+02] [ 1.12054517e-02 1.44171629e-04 9.99937207e-01 -2.80701728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.09655999499995 meters 0.013050597064395736 Centerline is valid? [True, True] Translation: X:39.10, Y:-181.01, Z:-2.81 [[-6.75943892e-01 -7.36916103e-01 7.38328929e-03 3.90955968e+01] [ 7.36874083e-01 -6.75984203e-01 -7.87036626e-03 -1.81012687e+02] [ 1.07907866e-02 1.20628523e-04 9.99941771e-01 -2.80558910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.126559995 meters 0.012939258752538802 Centerline is valid? [True, True] Translation: X:39.08, Y:-180.99, Z:-2.81 [[-6.77278732e-01 -7.35690643e-01 7.26620896e-03 3.90777015e+01] [ 7.35649921e-01 -6.77317701e-01 -7.74116737e-03 -1.80990470e+02] [ 1.06166363e-02 1.02458035e-04 9.99943637e-01 -2.80518616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.15655999499995 meters 0.012645352414435642 Centerline is valid? [True, True] Translation: X:39.06, Y:-180.97, Z:-2.81 [[-6.79864029e-01 -7.33305471e-01 6.92736153e-03 3.90628184e+01] [ 7.33268366e-01 -6.79899317e-01 -7.37710827e-03 -1.80967653e+02] [ 1.01195822e-02 6.41845158e-05 9.99948794e-01 -2.80508531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.186559995 meters 0.012429542415134756 Centerline is valid? [True, True] Translation: X:39.05, Y:-180.95, Z:-2.80 [[-6.81639253e-01 -7.31656236e-01 6.86159623e-03 3.90463069e+01] [ 7.31619793e-01 -6.81673786e-01 -7.30257887e-03 -1.80945381e+02] [ 1.00203476e-02 4.23552050e-05 9.99949794e-01 -2.80449361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.21655999499995 meters 0.012364236248383863 Centerline is valid? [True, True] Translation: X:39.03, Y:-180.92, Z:-2.80 [[-6.83444155e-01 -7.29970693e-01 6.84650598e-03 3.90302964e+01] [ 7.29934372e-01 -6.83478447e-01 -7.28183146e-03 -1.80923827e+02] [ 9.99496283e-03 2.07748882e-05 9.99950049e-01 -2.80429433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.246559995 meters 0.012271764126551519 Centerline is valid? [True, True] Translation: X:39.01, Y:-180.90, Z:-2.80 [[-6.85526057e-01 -7.28017756e-01 6.64620661e-03 3.90133576e+01] [ 7.27983477e-01 -6.85558274e-01 -7.06477884e-03 -1.80901132e+02] [ 9.69964637e-03 -4.76139149e-06 9.99952957e-01 -2.80323479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.27655999499996 meters 0.012452269920250109 Centerline is valid? [True, True] Translation: X:39.00, Y:-180.88, Z:-2.80 [[-6.89504556e-01 -7.24253514e-01 6.34940355e-03 3.89993692e+01] [ 7.24222104e-01 -6.89533788e-01 -6.74524139e-03 -1.80877275e+02] [ 9.26339306e-03 -5.24962746e-05 9.99957093e-01 -2.80317145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.306559995 meters 0.0127665479565096 Centerline is valid? [True, True] Translation: X:38.98, Y:-180.85, Z:-2.80 [[-6.91552697e-01 -7.22295420e-01 6.64789532e-03 3.89821783e+01] [ 7.22260935e-01 -6.91584645e-01 -7.05837530e-03 -1.80854731e+02] [ 9.69581447e-03 -7.97233798e-05 9.99952991e-01 -2.80341242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.33655999499996 meters 0.013361819777044957 Centerline is valid? [True, True] Translation: X:38.97, Y:-180.83, Z:-2.80 [[-6.94290698e-01 -7.19652832e-01 7.76067266e-03 3.89667573e+01] [ 7.19605723e-01 -6.94334058e-01 -8.23526670e-03 -1.80830461e+02] [ 1.13150323e-02 -1.33044600e-04 9.99935974e-01 -2.80423587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.366559995 meters 0.01355239250828816 Centerline is valid? [True, True] Translation: X:38.95, Y:-180.81, Z:-2.80 [[-6.95249771e-01 -7.18725177e-01 7.86608432e-03 3.89489033e+01] [ 7.18676774e-01 -6.95294253e-01 -8.34245812e-03 -1.80808537e+02] [ 1.14651779e-02 -1.46919996e-04 9.99934262e-01 -2.80390124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.39655999499996 meters 0.013830963596567143 Centerline is valid? [True, True] Translation: X:38.93, Y:-180.79, Z:-2.80 [[-6.96099446e-01 -7.17904458e-01 7.66488519e-03 3.89325141e+01] [ 7.17858494e-01 -6.96141627e-01 -8.12512435e-03 -1.80787332e+02] [ 1.11689086e-02 -1.53591616e-04 9.99937614e-01 -2.80389887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.42655999499993 meters 0.013465329587041224 Centerline is valid? [True, True] Translation: X:38.91, Y:-180.77, Z:-2.80 [[-6.96204889e-01 -7.17799764e-01 7.88996797e-03 3.89130520e+01] [ 7.17751108e-01 -6.96249578e-01 -8.35898686e-03 -1.80767071e+02] [ 1.14934657e-02 -1.56534267e-04 9.99933936e-01 -2.80350213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.45655999499996 meters 0.013479449533916039 Centerline is valid? [True, True] Translation: X:38.90, Y:-180.75, Z:-2.80 [[-6.95916169e-01 -7.18081240e-01 7.74721451e-03 3.88953156e+01] [ 7.18034384e-01 -6.95959275e-01 -8.20435514e-03 -1.80747244e+02] [ 1.12831393e-02 -1.46777000e-04 9.99936333e-01 -2.80351010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.48655999499994 meters 0.013307097672498621 Centerline is valid? [True, True] Translation: X:38.88, Y:-180.73, Z:-2.80 [[-6.94670010e-01 -7.19291487e-01 7.30302701e-03 3.88766095e+01] [ 7.19249953e-01 -6.94708387e-01 -7.73062180e-03 -1.80726844e+02] [ 1.06340446e-02 -1.17529291e-04 9.99943450e-01 -2.80312791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.51655999499997 meters 0.012821666728586298 Centerline is valid? [True, True] Translation: X:38.86, Y:-180.71, Z:-2.80 [[-6.93964915e-01 -7.19975252e-01 6.95223188e-03 3.88571040e+01] [ 7.19937689e-01 -6.93999731e-01 -7.35507118e-03 -1.80706755e+02] [ 1.01203163e-02 -9.89875890e-05 9.99948783e-01 -2.80230945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.54655999499994 meters 0.01259882169869028 Centerline is valid? [True, True] Translation: X:38.84, Y:-180.69, Z:-2.80 [[-6.92098079e-01 -7.21773860e-01 6.53789317e-03 3.88390341e+01] [ 7.21740749e-01 -6.92128955e-01 -6.91382038e-03 -1.80686937e+02] [ 9.51527999e-03 -6.63778856e-05 9.99954727e-01 -2.80224141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.57655999499997 meters 0.01239509485523475 Centerline is valid? [True, True] Translation: X:38.82, Y:-180.67, Z:-2.80 [[-6.89603204e-01 -7.24156117e-01 6.73344524e-03 3.88192098e+01] [ 7.24121148e-01 -6.89636075e-01 -7.11662991e-03 -1.80667690e+02] [ 9.79717783e-03 -3.18206924e-05 9.99952006e-01 -2.80311158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.60655999499994 meters 0.01220132164206218 Centerline is valid? [True, True] Translation: X:38.80, Y:-180.65, Z:-2.80 [[-6.85984815e-01 -7.27578517e-01 7.37124776e-03 3.87999292e+01] [ 7.27536861e-01 -6.86024417e-01 -7.78560621e-03 -1.80649547e+02] [ 1.07214958e-02 2.20468213e-05 9.99942523e-01 -2.80424001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.63655999499997 meters 0.01220132164206218 Centerline is valid? [True, True] Translation: X:38.78, Y:-180.63, Z:-2.80 [[-6.86211134e-01 -7.27365045e-01 7.37366962e-03 3.87814524e+01] [ 7.27323401e-01 -6.86250749e-01 -7.78331253e-03 -1.80630186e+02] [ 1.07214958e-02 2.20467469e-05 9.99942523e-01 -2.80424012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.66655999499994 meters 0.012428274203117599 Centerline is valid? [True, True] Translation: X:38.76, Y:-180.61, Z:-2.80 [[-6.84166117e-01 -7.29283857e-01 7.86008208e-03 3.87626860e+01] [ 7.29236709e-01 -6.84211263e-01 -8.29275462e-03 -1.80612008e+02] [ 1.14257288e-02 5.82386622e-05 9.99934723e-01 -2.80469388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.696559995 meters 0.012639684074525414 Centerline is valid? [True, True] Translation: X:38.74, Y:-180.59, Z:-2.80 [[-6.81969283e-01 -7.31338117e-01 7.90284631e-03 3.87422892e+01] [ 7.31290646e-01 -6.82015065e-01 -8.33319519e-03 -1.80592235e+02] [ 1.14842435e-02 9.62944280e-05 9.99934049e-01 -2.80440084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.72655999499995 meters 0.013177472102906875 Centerline is valid? [True, True] Translation: X:38.72, Y:-180.57, Z:-2.80 [[-6.79786596e-01 -7.33363661e-01 8.24160804e-03 3.87217026e+01] [ 7.33312239e-01 -6.79836540e-01 -8.68555394e-03 -1.80573509e+02] [ 1.19726159e-02 1.39348895e-04 9.99928316e-01 -2.80482385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.756559995 meters 0.013831154371697124 Centerline is valid? [True, True] Translation: X:38.70, Y:-180.56, Z:-2.81 [[-6.77643491e-01 -7.35344959e-01 8.19082338e-03 3.87019218e+01] [ 7.35294356e-01 -6.77692969e-01 -8.62845010e-03 -1.80555647e+02] [ 1.18957507e-02 1.75653153e-04 9.99929228e-01 -2.80505759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.78655999499995 meters 0.014376599971034973 Centerline is valid? [True, True] Translation: X:38.68, Y:-180.54, Z:-2.80 [[-6.75971986e-01 -7.36883790e-01 8.00962111e-03 3.86814092e+01] [ 7.36835563e-01 -6.76019407e-01 -8.43286946e-03 -1.80535935e+02] [ 1.16287041e-02 2.01390169e-04 9.99932364e-01 -2.80483801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.816559995 meters 0.016318010199915346 Centerline is valid? [True, True] Translation: X:38.66, Y:-180.52, Z:-2.80 [[-6.73168428e-01 -7.39450186e-01 7.59541190e-03 3.86601480e+01] [ 7.39407022e-01 -6.73211235e-01 -7.99308149e-03 -1.80519277e+02] [ 1.10238022e-02 2.35410788e-04 9.99939208e-01 -2.80463753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.84655999499995 meters 0.015595991344070602 Centerline is valid? [True, True] Translation: X:38.64, Y:-180.50, Z:-2.80 [[-6.72911722e-01 -7.39687613e-01 7.21449048e-03 3.86418635e+01] [ 7.39648734e-01 -6.72950356e-01 -7.58744024e-03 -1.80498997e+02] [ 1.04673295e-02 2.30511271e-04 9.99945189e-01 -2.80335526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.876559995 meters 0.016214100560610702 Centerline is valid? [True, True] Translation: X:38.62, Y:-180.48, Z:-2.80 [[-6.73732837e-01 -7.38940728e-01 7.11794840e-03 3.86215550e+01] [ 7.38902888e-01 -6.73770400e-01 -7.48124249e-03 -1.80481404e+02] [ 1.03240577e-02 2.19113906e-04 9.99946682e-01 -2.80408937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.90655999499995 meters 0.016336368786939504 Centerline is valid? [True, True] Translation: X:38.60, Y:-180.46, Z:-2.80 [[-6.74690075e-01 -7.38068101e-01 6.98429657e-03 3.86025372e+01] [ 7.38031669e-01 -6.74726193e-01 -7.33612696e-03 -1.80463135e+02] [ 1.01270491e-02 2.05020011e-04 9.99948699e-01 -2.80462891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.936559995 meters 0.014521706020821066 Centerline is valid? [True, True] Translation: X:38.58, Y:-180.44, Z:-2.80 [[-6.75759089e-01 -7.37088061e-01 7.13048690e-03 3.85848133e+01] [ 7.37050078e-01 -6.75796679e-01 -7.48545859e-03 -1.80440696e+02] [ 1.03362015e-02 1.97159243e-04 9.99946561e-01 -2.80304829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.96655999499995 meters 0.014994497316823717 Centerline is valid? [True, True] Translation: X:38.56, Y:-180.42, Z:-2.80 [[-6.77470816e-01 -7.35515291e-01 7.10984680e-03 3.85647202e+01] [ 7.35477484e-01 -6.77508100e-01 -7.45960209e-03 -1.80421885e+02] [ 1.03036302e-02 1.75469521e-04 9.99946901e-01 -2.80377255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.996559995 meters 0.01405283836565788 Centerline is valid? [True, True] Translation: X:38.55, Y:-180.40, Z:-2.80 [[-6.78026759e-01 -7.35003197e-01 7.07211365e-03 3.85469999e+01] [ 7.34965804e-01 -6.78063620e-01 -7.41585039e-03 -1.80400338e+02] [ 1.02460167e-02 1.69616686e-04 9.99947494e-01 -2.80234490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.02655999499996 meters 0.014038978652160939 Centerline is valid? [True, True] Translation: X:38.53, Y:-180.38, Z:-2.80 [[-6.78397904e-01 -7.34661406e-01 6.99310555e-03 3.85280753e+01] [ 7.34624872e-01 -6.78433926e-01 -7.32840502e-03 -1.80380846e+02] [ 1.01282564e-02 1.65734671e-04 9.99948694e-01 -2.80221820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.056559995 meters 0.014104057116428925 Centerline is valid? [True, True] Translation: X:38.51, Y:-180.36, Z:-2.80 [[-6.78888913e-01 -7.34205248e-01 7.24549900e-03 3.85099965e+01] [ 7.34166056e-01 -6.78927555e-01 -7.58791293e-03 -1.80362484e+02] [ 1.04902544e-02 1.68049464e-04 9.99944962e-01 -2.80298809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.08655999499996 meters 0.014104057116428925 Centerline is valid? [True, True] Translation: X:38.49, Y:-180.34, Z:-2.80 [[-6.79116516e-01 -7.33994704e-01 7.24785131e-03 3.84914355e+01] [ 7.33955525e-01 -6.79155171e-01 -7.58566608e-03 -1.80343204e+02] [ 1.04902544e-02 1.68049385e-04 9.99944962e-01 -2.80298821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.116559995 meters 0.013565605242749287 Centerline is valid? [True, True] Translation: X:38.47, Y:-180.32, Z:-2.80 [[-6.79832468e-01 -7.33327125e-01 7.69043443e-03 3.84726016e+01] [ 7.33283022e-01 -6.79875943e-01 -8.04431434e-03 -1.80321809e+02] [ 1.11276553e-02 1.70478930e-04 9.99938071e-01 -2.80330458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.14655999499996 meters 0.01351533258707235 Centerline is valid? [True, True] Translation: X:38.45, Y:-180.30, Z:-2.81 [[-6.81899373e-01 -7.31388195e-01 9.19528805e-03 3.84543214e+01] [ 7.31325042e-01 -6.81961348e-01 -9.61270356e-03 -1.80301896e+02] [ 1.33014489e-02 1.69847879e-04 9.99911517e-01 -2.80627399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.17655999499993 meters 0.012989920537388185 Centerline is valid? [True, True] Translation: X:38.44, Y:-180.28, Z:-2.81 [[-6.83723940e-01 -7.29672711e-01 9.96541698e-03 3.84365539e+01] [ 7.29598447e-01 -6.83796543e-01 -1.04112519e-02 -1.80280664e+02] [ 1.44111240e-02 1.52330611e-04 9.99896143e-01 -2.80724284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.20655999499996 meters 0.012588584762676854 Centerline is valid? [True, True] Translation: X:38.42, Y:-180.26, Z:-2.81 [[-6.87140767e-01 -7.26444710e-01 1.07540783e-02 3.84196602e+01] [ 7.26357938e-01 -6.87224908e-01 -1.12281584e-02 -1.80259421e+02] [ 1.55471068e-02 9.59847713e-05 9.99879132e-01 -2.80799521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.23655999499994 meters 0.012400412100730175 Centerline is valid? [True, True] Translation: X:38.40, Y:-180.24, Z:-2.81 [[-6.89245622e-01 -7.24444458e-01 1.09863528e-02 3.84014125e+01] [ 7.24353745e-01 -6.89333174e-01 -1.14642049e-02 -1.80238571e+02] [ 1.58784371e-02 5.63527566e-05 9.99873928e-01 -2.80719677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.26655999499997 meters 0.012452207168716336 Centerline is valid? [True, True] Translation: X:38.38, Y:-180.22, Z:-2.81 [[-6.91360004e-01 -7.22430179e-01 1.07694581e-02 3.83838030e+01] [ 7.22342871e-01 -6.91443878e-01 -1.12312600e-02 -1.80218092e+02] [ 1.55602771e-02 1.43973606e-05 9.99878931e-01 -2.80748734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.29655999499994 meters 0.012362037621236076 Centerline is valid? [True, True] Translation: X:38.37, Y:-180.20, Z:-2.81 [[-6.93621791e-01 -7.20257942e-01 1.08309149e-02 3.83658519e+01] [ 7.20169475e-01 -6.93706348e-01 -1.12885377e-02 -1.80197081e+02] [ 1.56441333e-02 -2.98814624e-05 9.99877623e-01 -2.80567689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.32655999499997 meters 0.013126592910829373 Centerline is valid? [True, True] Translation: X:38.35, Y:-180.17, Z:-2.81 [[-6.98403619e-01 -7.15617755e-01 1.11181575e-02 3.83499592e+01] [ 7.15524052e-01 -6.98492098e-01 -1.15809919e-02 -1.80174740e+02] [ 1.60535086e-02 -1.32897526e-04 9.99871125e-01 -2.80517789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.35655999499994 meters 0.013605798970710166 Centerline is valid? [True, True] Translation: X:38.33, Y:-180.15, Z:-2.80 [[-7.00754188e-01 -7.13314141e-01 1.12474120e-02 3.83313500e+01] [ 7.13218054e-01 -7.00844422e-01 -1.17091595e-02 -1.80153389e+02] [ 1.62349950e-02 -1.83385239e-04 9.99868187e-01 -2.80458546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.38655999499997 meters 0.015047875764768646 Centerline is valid? [True, True] Translation: X:38.31, Y:-180.13, Z:-2.80 [[-7.04881804e-01 -7.09235726e-01 1.12394960e-02 3.83139603e+01] [ 7.09139364e-01 -7.04971354e-01 -1.16941089e-02 -1.80132585e+02] [ 1.62174025e-02 -2.72595559e-04 9.99868452e-01 -2.80491024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.41655999499994 meters 0.015209854710924866 Centerline is valid? [True, True] Translation: X:38.29, Y:-180.11, Z:-2.80 [[-7.06972442e-01 -7.07147924e-01 1.14794924e-02 3.82941628e+01] [ 7.07047237e-01 -7.07065562e-01 -1.19371908e-02 -1.80112494e+02] [ 1.65581134e-02 -3.22721597e-04 9.99862853e-01 -2.80432590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.446559995 meters 0.015805563953391825 Centerline is valid? [True, True] Translation: X:38.27, Y:-180.09, Z:-2.80 [[-7.08604735e-01 -7.05510374e-01 1.15948817e-02 3.82745811e+01] [ 7.05407544e-01 -7.08699501e-01 -1.20505162e-02 -1.80092135e+02] [ 1.67190511e-02 -3.59935836e-04 9.99860162e-01 -2.80441413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.47655999499995 meters 0.016738674462098 Centerline is valid? [True, True] Translation: X:38.26, Y:-180.07, Z:-2.80 [[-7.09660244e-01 -7.04452646e-01 1.13493230e-02 3.82562395e+01] [ 7.04354068e-01 -7.09750893e-01 -1.17905541e-02 -1.80072203e+02] [ 1.63610792e-02 -3.73345710e-04 9.99866079e-01 -2.80469374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.506559995 meters 0.015886772336372312 Centerline is valid? [True, True] Translation: X:38.23, Y:-180.05, Z:-2.80 [[-7.10163322e-01 -7.03952318e-01 1.09174241e-02 3.82343591e+01] [ 7.03861141e-01 -7.10247140e-01 -1.13355408e-02 -1.80054314e+02] [ 1.57337494e-02 -3.65734748e-04 9.99876150e-01 -2.80241383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.53655999499995 meters 0.01613429406563889 Centerline is valid? [True, True] Translation: X:38.21, Y:-180.04, Z:-2.80 [[-7.09461038e-01 -7.04664175e-01 1.06506305e-02 3.82146652e+01] [ 7.04577574e-01 -7.09540899e-01 -1.10523707e-02 -1.80035375e+02] [ 1.53452676e-02 -3.37030982e-04 9.99882198e-01 -2.80252156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.566559995 meters 0.014262210821987678 Centerline is valid? [True, True] Translation: X:38.19, Y:-180.02, Z:-2.80 [[-7.06456697e-01 -7.07686310e-01 9.95094772e-03 3.81906588e+01] [ 7.07611098e-01 -7.06526733e-01 -1.03203646e-02 -1.80019614e+02] [ 1.43341913e-02 -2.49489629e-04 9.99897229e-01 -2.80017394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.59655999499995 meters 0.013524744748799035 Centerline is valid? [True, True] Translation: X:38.17, Y:-180.00, Z:-2.80 [[-7.04335847e-01 -7.09804685e-01 9.39803519e-03 3.81685216e+01] [ 7.09737856e-01 -7.04398518e-01 -9.74182075e-03 -1.80001195e+02] [ 1.35347521e-02 -1.91372221e-04 9.99908383e-01 -2.79952199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.626559995 meters 0.012973281642713958 Centerline is valid? [True, True] Translation: X:38.15, Y:-179.98, Z:-2.80 [[-7.02035170e-01 -7.12085126e-01 9.02188745e-03 3.81461567e+01] [ 7.12023794e-01 -7.02093124e-01 -9.34671586e-03 -1.79983455e+02] [ 1.29898625e-02 -1.37924715e-04 9.99915619e-01 -2.79931150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.65655999499995 meters 0.011941780374827146 Centerline is valid? [True, True] Translation: X:38.12, Y:-179.97, Z:-2.80 [[-6.95817280e-01 -7.18164852e-01 8.80672189e-03 3.81213215e+01] [ 7.18106956e-01 -6.95873010e-01 -9.11893018e-03 -1.79970312e+02] [ 1.26772552e-02 -2.09409563e-05 9.99919640e-01 -2.79987417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.686559995 meters 0.012015659908364779 Centerline is valid? [True, True] Translation: X:38.10, Y:-179.95, Z:-2.80 [[-6.92290763e-01 -7.21561295e-01 9.09927545e-03 3.80990563e+01] [ 7.21499857e-01 -6.92350558e-01 -9.41600750e-03 -1.79953760e+02] [ 1.30941150e-02 4.65109187e-05 9.99914267e-01 -2.80037047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.71655999499995 meters 0.012344843724541683 Centerline is valid? [True, True] Translation: X:38.08, Y:-179.94, Z:-2.80 [[-6.89000735e-01 -7.24701038e-01 9.29480898e-03 3.80767095e+01] [ 7.24637287e-01 -6.89063418e-01 -9.61295890e-03 -1.79936367e+02] [ 1.33712341e-02 1.12029413e-04 9.99910595e-01 -2.80020607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.746559995 meters 0.01368277533143526 Centerline is valid? [True, True] Translation: X:38.05, Y:-179.92, Z:-2.80 [[-6.82591442e-01 -7.30750570e-01 8.51631377e-03 3.80523349e+01] [ 7.30697583e-01 -6.82644533e-01 -8.80250064e-03 -1.79921726e+02] [ 1.22460474e-02 2.14338288e-04 9.99924991e-01 -2.79987144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.77655999499996 meters 0.015866259671493264 Centerline is valid? [True, True] Translation: X:38.03, Y:-179.91, Z:-2.80 [[-6.80089257e-01 -7.33083887e-01 8.16193820e-03 3.80295647e+01] [ 7.33035426e-01 -6.80138187e-01 -8.43274487e-03 -1.79906106e+02] [ 1.17331552e-02 2.47970654e-04 9.99931133e-01 -2.80110273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.806559995 meters 0.016631855731826305 Centerline is valid? [True, True] Translation: X:38.01, Y:-179.89, Z:-2.80 [[-6.76334016e-01 -7.36556469e-01 7.54101050e-03 3.80083952e+01] [ 7.36515350e-01 -6.76375994e-01 -7.78802344e-03 -1.79887999e+02] [ 1.08368775e-02 2.86764826e-04 9.99941238e-01 -2.79996634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.83655999499996 meters 0.017228757344341993 Centerline is valid? [True, True] Translation: X:37.99, Y:-179.87, Z:-2.80 [[-6.75408616e-01 -7.37408878e-01 7.16576452e-03 3.79878525e+01] [ 7.37371839e-01 -6.75446566e-01 -7.39639333e-03 -1.79868749e+02] [ 1.02942571e-02 2.88245182e-04 9.99946971e-01 -2.79994355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.866559995 meters 0.017545064009634653 Centerline is valid? [True, True] Translation: X:37.97, Y:-179.85, Z:-2.80 [[-6.74861721e-01 -7.37912907e-01 6.79699111e-03 3.79675489e+01] [ 7.37879646e-01 -6.74895889e-01 -7.01186558e-03 -1.79848906e+02] [ 9.76140747e-03 2.83321719e-04 9.99952316e-01 -2.79980752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.89655999499996 meters 0.01849681730934317 Centerline is valid? [True, True] Translation: X:37.95, Y:-179.83, Z:-2.80 [[-6.73580448e-01 -7.39086134e-01 6.40825769e-03 3.79472006e+01] [ 7.39056656e-01 -6.73610870e-01 -6.60720422e-03 -1.79829761e+02] [ 9.19996506e-03 2.85581916e-04 9.99957639e-01 -2.79937498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.92655999499993 meters 0.019008168693747635 Centerline is valid? [True, True] Translation: X:37.93, Y:-179.81, Z:-2.80 [[-6.73386552e-01 -7.39255523e-01 7.19884647e-03 3.79271194e+01] [ 7.39218374e-01 -6.73424951e-01 -7.41828585e-03 -1.79810296e+02] [ 1.03318916e-02 3.26145654e-04 9.99946571e-01 -2.80081594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.95655999499996 meters 0.0194917467169436 Centerline is valid? [True, True] Translation: X:37.91, Y:-179.79, Z:-2.80 [[-6.73572646e-01 -7.39080554e-01 7.73469691e-03 3.79082465e+01] [ 7.39037713e-01 -6.73616962e-01 -7.96534530e-03 -1.79792415e+02] [ 1.10972549e-02 3.50994008e-04 9.99938362e-01 -2.80262464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.98655999499994 meters 0.0184603526140547 Centerline is valid? [True, True] Translation: X:37.89, Y:-179.77, Z:-2.80 [[-6.74137341e-01 -7.38560048e-01 8.24023095e-03 3.78900418e+01] [ 7.38511447e-01 -6.74187600e-01 -8.48068891e-03 -1.79771491e+02] [ 1.18189595e-02 3.68355808e-04 9.99930086e-01 -2.80389246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.01655999499997 meters 0.017225501481655973 Centerline is valid? [True, True] Translation: X:37.87, Y:-179.75, Z:-2.80 [[-6.75004129e-01 -7.37768617e-01 8.17882385e-03 3.78722948e+01] [ 7.37720736e-01 -6.75053584e-01 -8.41273751e-03 -1.79750154e+02] [ 1.17277981e-02 3.55055389e-04 9.99931164e-01 -2.80403808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.04655999499994 meters 0.015848323109222618 Centerline is valid? [True, True] Translation: X:37.86, Y:-179.73, Z:-2.80 [[-6.78204771e-01 -7.34829811e-01 7.96469795e-03 3.78558258e+01] [ 7.34784256e-01 -6.78251472e-01 -8.18771290e-03 -1.79727079e+02] [ 1.14186436e-02 2.99388701e-04 9.99934760e-01 -2.80453842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.07655999499997 meters 0.015196350062490099 Centerline is valid? [True, True] Translation: X:37.84, Y:-179.71, Z:-2.80 [[-6.80413470e-01 -7.32784148e-01 8.05619688e-03 3.78390681e+01] [ 7.32737436e-01 -6.80461108e-01 -8.27834772e-03 -1.79705584e+02] [ 1.15481706e-02 2.70377747e-04 9.99933281e-01 -2.80466077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.10655999499994 meters 0.014043517323617373 Centerline is valid? [True, True] Translation: X:37.82, Y:-179.68, Z:-2.80 [[-6.83038013e-01 -7.30338079e-01 8.08474477e-03 3.78223756e+01] [ 7.30290918e-01 -6.83085819e-01 -8.30295385e-03 -1.79682253e+02] [ 1.15865379e-02 2.32982584e-04 9.99932847e-01 -2.80472721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.13655999499997 meters 0.013667247312112663 Centerline is valid? [True, True] Translation: X:37.81, Y:-179.66, Z:-2.81 [[-6.88387506e-01 -7.25287013e-01 9.02167401e-03 3.78080503e+01] [ 7.25227919e-01 -6.88446600e-01 -9.25983723e-03 -1.79657982e+02] [ 1.29269805e-02 1.68413612e-04 9.99916429e-01 -2.80779289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.16655999499994 meters 0.012295187200272933 Centerline is valid? [True, True] Translation: X:37.79, Y:-179.63, Z:-2.81 [[-6.91096749e-01 -7.22697515e-01 9.67395650e-03 3.77937888e+01] [ 7.22629398e-01 -6.91164441e-01 -9.92312618e-03 -1.79633702e+02] [ 1.38577134e-02 1.32845118e-04 9.99903968e-01 -2.80656679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.196559995 meters 0.01197173597531426 Centerline is valid? [True, True] Translation: X:37.78, Y:-179.61, Z:-2.81 [[-6.93867384e-01 -7.20026531e-01 1.04808853e-02 3.77783635e+01] [ 7.19946371e-01 -6.93946530e-01 -1.07441458e-02 -1.79611189e+02] [ 1.50092440e-02 9.06630314e-05 9.99887351e-01 -2.80745229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.22655999499995 meters 0.011939818415019057 Centerline is valid? [True, True] Translation: X:37.77, Y:-179.58, Z:-2.81 [[-6.98307317e-01 -7.15694870e-01 1.21549688e-02 3.77658026e+01] [ 7.15586516e-01 -6.98413096e-01 -1.24533346e-02 -1.79584800e+02] [ 1.74019771e-02 1.67714109e-06 9.99848574e-01 -2.80879162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.256559995 meters 0.012141514059692245 Centerline is valid? [True, True] Translation: X:37.75, Y:-179.56, Z:-2.81 [[-6.99979727e-01 -7.14044588e-01 1.29887892e-02 3.77482552e+01] [ 7.13920709e-01 -7.00100225e-01 -1.33002331e-02 -1.79562363e+02] [ 1.85904138e-02 -3.69279309e-05 9.99827183e-01 -2.80965832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.28655999499995 meters 0.012109853944312897 Centerline is valid? [True, True] Translation: X:37.73, Y:-179.54, Z:-2.81 [[-7.00007247e-01 -7.14018310e-01 1.29501390e-02 3.77276771e+01] [ 7.13895300e-01 -7.00127025e-01 -1.32532472e-02 -1.79542663e+02] [ 1.85298035e-02 -3.23257248e-05 9.99828308e-01 -2.80969698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.316559995 meters 0.012237742857629444 Centerline is valid? [True, True] Translation: X:37.71, Y:-179.52, Z:-2.81 [[-6.98949772e-01 -7.15030390e-01 1.41688591e-02 3.77074155e+01] [ 7.14883517e-01 -6.99093371e-01 -1.44919531e-02 -1.79524305e+02] [ 2.02675423e-02 -6.35018823e-08 9.99794592e-01 -2.81083879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.34655999499995 meters 0.012389878209619017 Centerline is valid? [True, True] Translation: X:37.69, Y:-179.51, Z:-2.81 [[-6.98248372e-01 -7.15685595e-01 1.55993763e-02 3.76867857e+01] [ 7.15507924e-01 -6.98422600e-01 -1.59462549e-02 -1.79505585e+02] [ 2.23074619e-02 2.70308367e-05 9.99751157e-01 -2.81146804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.376559995 meters 0.012361250263746387 Centerline is valid? [True, True] Translation: X:37.67, Y:-179.49, Z:-2.81 [[-6.97803174e-01 -7.16090749e-01 1.68751267e-02 3.76653590e+01] [ 7.15883178e-01 -6.98007190e-01 -1.72405878e-02 -1.79487062e+02] [ 2.41247852e-02 5.00824014e-05 9.99708954e-01 -2.81143632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.40655999499995 meters 0.012919359896833451 Centerline is valid? [True, True] Translation: X:37.64, Y:-179.47, Z:-2.81 [[-6.97847951e-01 -7.16000302e-01 1.87564644e-02 3.76446129e+01] [ 7.15744068e-01 -6.98099967e-01 -1.91537368e-02 -1.79470185e+02] [ 2.68079686e-02 5.84321444e-05 9.99640600e-01 -2.81437690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.436559995 meters 0.012856124209355247 Centerline is valid? [True, True] Translation: X:37.63, Y:-179.45, Z:-2.81 [[-6.98068320e-01 -7.15774952e-01 1.91530404e-02 3.76252760e+01] [ 7.15508014e-01 -6.98331021e-01 -1.95465396e-02 -1.79450405e+02] [ 2.73660857e-02 5.93338624e-05 9.99625477e-01 -2.81381957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.46655999499995 meters 0.012358579528966143 Centerline is valid? [True, True] Translation: X:37.61, Y:-179.43, Z:-2.81 [[-6.98853649e-01 -7.15033163e-01 1.81975867e-02 3.76066037e+01] [ 7.14792218e-01 -6.99090534e-01 -1.85610010e-02 -1.79429201e+02] [ 2.59934918e-02 3.60700707e-05 9.99662111e-01 -2.81069524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.496559995 meters 0.012374618484978584 Centerline is valid? [True, True] Translation: X:37.59, Y:-179.41, Z:-2.81 [[-6.99721420e-01 -7.14216673e-01 1.68664800e-02 3.75883240e+01] [ 7.14009683e-01 -6.99924670e-01 -1.71938540e-02 -1.79409185e+02] [ 2.40854026e-02 1.19221468e-05 9.99709905e-01 -2.80978030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.52655999499996 meters 0.0120097714148822 Centerline is valid? [True, True] Translation: X:37.57, Y:-179.39, Z:-2.81 [[-7.01673740e-01 -7.12366762e-01 1.36952169e-02 3.75698064e+01] [ 7.12230098e-01 -7.01807378e-01 -1.39532241e-02 -1.79388306e+02] [ 1.95512173e-02 -3.64652591e-05 9.99808856e-01 -2.80546345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.556559995 meters 0.011771414901796931 Centerline is valid? [True, True] Translation: X:37.55, Y:-179.37, Z:-2.80 [[-7.02322886e-01 -7.11752847e-01 1.22657782e-02 3.75495683e+01] [ 7.11643252e-01 -7.02429984e-01 -1.24899488e-02 -1.79369157e+02] [ 1.75056070e-02 -4.31186148e-05 9.99846764e-01 -2.80320458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.58655999499996 meters 0.011307288540050133 Centerline is valid? [True, True] Translation: X:37.53, Y:-179.35, Z:-2.80 [[-7.02116229e-01 -7.12001087e-01 9.34091722e-03 3.75266149e+01] [ 7.11937622e-01 -7.02178361e-01 -9.50638238e-03 -1.79352192e+02] [ 1.33275445e-02 -2.44349530e-05 9.99911184e-01 -2.80065870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.616559995 meters 0.010829809387296135 Centerline is valid? [True, True] Translation: X:37.50, Y:-179.33, Z:-2.80 [[-7.01120622e-01 -7.13017129e-01 6.03717117e-03 3.75041670e+01] [ 7.12990686e-01 -7.01146614e-01 -6.14065601e-03 -1.79334368e+02] [ 8.61133504e-03 -8.93750025e-07 9.99962922e-01 -2.79611004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.64655999499996 meters 0.010755682042321576 Centerline is valid? [True, True] Translation: X:37.48, Y:-179.32, Z:-2.79 [[-6.99763689e-01 -7.14359573e-01 4.60223687e-03 3.74841428e+01] [ 7.14344253e-01 -6.99778823e-01 -4.67838306e-03 -1.79316494e+02] [ 6.56259562e-03 1.38188777e-05 9.99978466e-01 -2.79417178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.67655999499993 meters 0.011417929584397201 Centerline is valid? [True, True] Translation: X:37.46, Y:-179.30, Z:-2.79 [[-6.93788356e-01 -7.20175205e-01 2.32180527e-03 3.74592694e+01] [ 7.20171343e-01 -6.93792240e-01 -2.35888610e-03 -1.79301762e+02] [ 3.30966176e-03 3.55299122e-05 9.99994522e-01 -2.79064594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.70655999499996 meters 0.012367214800053145 Centerline is valid? [True, True] Translation: X:37.43, Y:-179.29, Z:-2.79 [[-6.90365277e-01 -7.23457998e-01 2.07578889e-03 3.74334565e+01] [ 7.23454929e-01 -6.90368396e-01 -2.10775229e-03 -1.79287618e+02] [ 2.95792930e-03 4.66207149e-05 9.99995624e-01 -2.79271824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.73655999499994 meters 0.011635145685216208 Centerline is valid? [True, True] Translation: X:37.41, Y:-179.27, Z:-2.79 [[-6.92515655e-01 -7.21401292e-01 1.49790073e-03 3.74139605e+01] [ 7.21399690e-01 -6.92517275e-01 -1.52013073e-03 -1.79266596e+02] [ 2.13394641e-03 2.78707928e-05 9.99997723e-01 -2.79330319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.76655999499997 meters 0.011635145685216208 Centerline is valid? [True, True] Translation: X:37.39, Y:-179.25, Z:-2.79 [[-6.92721425e-01 -7.21203704e-01 1.49833436e-03 3.73945561e+01] [ 7.21202103e-01 -6.92723045e-01 -1.51970332e-03 -1.79246997e+02] [ 2.13394641e-03 2.78708399e-05 9.99997723e-01 -2.79330331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.79655999499994 meters 0.011396037788604279 Centerline is valid? [True, True] Translation: X:37.38, Y:-179.23, Z:-2.79 [[-6.95042110e-01 -7.18967882e-01 1.28457241e-03 3.73767403e+01] [ 7.18966702e-01 -6.95043297e-01 -1.30234963e-03 -1.79226740e+02] [ 1.82918100e-03 1.83769522e-05 9.99998327e-01 -2.79337824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.82655999499997 meters 0.01313408786431468 Centerline is valid? [True, True] Translation: X:37.37, Y:-179.20, Z:-2.80 [[-7.14264468e-01 -6.99869773e-01 2.92774378e-03 3.73683027e+01] [ 6.99863488e-01 -7.14270465e-01 -2.96663494e-03 -1.79195600e+02] [ 4.16745903e-03 -6.99409511e-05 9.99991314e-01 -2.79798557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.85655999499994 meters 0.01597331896015748 Centerline is valid? [True, True] Translation: X:37.35, Y:-179.18, Z:-2.81 [[-7.21681430e-01 -6.92168506e-01 8.86977307e-03 3.73454855e+01] [ 6.92110285e-01 -7.21735853e-01 -8.98399467e-03 -1.79179301e+02] [ 1.26200714e-02 -3.44720953e-04 9.99920304e-01 -2.80715634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.88655999499997 meters 0.01597331896015748 Centerline is valid? [True, True] Translation: X:37.33, Y:-179.16, Z:-2.81 [[-7.21873609e-01 -6.91968046e-01 8.87226791e-03 3.73260520e+01] [ 6.91909840e-01 -7.21928047e-01 -8.98153086e-03 -1.79159715e+02] [ 1.26200714e-02 -3.44720619e-04 9.99920304e-01 -2.80715646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.91655999499994 meters 0.016609681365689744 Centerline is valid? [True, True] Translation: X:37.31, Y:-179.14, Z:-2.81 [[-7.23422114e-01 -6.90351044e-01 8.71094891e-03 3.73069602e+01] [ 6.90294880e-01 -7.23474467e-01 -8.81334249e-03 -1.79139355e+02] [ 1.23864493e-02 -3.62643425e-04 9.99923219e-01 -2.80674186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.946559995 meters 0.016609681365689744 Centerline is valid? [True, True] Translation: X:37.29, Y:-179.12, Z:-2.81 [[-7.23613096e-01 -6.90150827e-01 8.71338729e-03 3.72875148e+01] [ 6.90094677e-01 -7.23665464e-01 -8.81093177e-03 -1.79119779e+02] [ 1.23864493e-02 -3.62643426e-04 9.99923219e-01 -2.80674198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.97655999499995 meters 0.016609681365689744 Centerline is valid? [True, True] Translation: X:37.27, Y:-179.10, Z:-2.81 [[-7.23804023e-01 -6.89950557e-01 8.71582501e-03 3.72680640e+01] [ 6.89894421e-01 -7.23856407e-01 -8.80852037e-03 -1.79100209e+02] [ 1.23864493e-02 -3.62643426e-04 9.99923219e-01 -2.80674210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.006559995 meters 0.016609681365689744 Centerline is valid? [True, True] Translation: X:37.25, Y:-179.08, Z:-2.81 [[-7.23994894e-01 -6.89750234e-01 8.71826206e-03 3.72486078e+01] [ 6.89694113e-01 -7.24047293e-01 -8.80610830e-03 -1.79080644e+02] [ 1.23864493e-02 -3.62643426e-04 9.99923219e-01 -2.80674222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.03655999499995 meters 0.01616488897465229 Centerline is valid? [True, True] Translation: X:37.23, Y:-179.06, Z:-2.81 [[-7.25305338e-01 -6.88376319e-01 8.37917881e-03 3.72280328e+01] [ 6.88324440e-01 -7.25353644e-01 -8.45910085e-03 -1.79060994e+02] [ 1.19009126e-02 -3.67837442e-04 9.99929114e-01 -2.80603492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.066559995 meters 0.01616488897465229 Centerline is valid? [True, True] Translation: X:37.21, Y:-179.04, Z:-2.81 [[-7.25500559e-01 -6.88170537e-01 8.38157803e-03 3.72085699e+01] [ 6.88118673e-01 -7.25548879e-01 -8.45672362e-03 -1.79041431e+02] [ 1.19009126e-02 -3.67837367e-04 9.99929114e-01 -2.80603504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.09655999499995 meters 0.01616488897465229 Centerline is valid? [True, True] Translation: X:37.19, Y:-179.02, Z:-2.81 [[-7.25695721e-01 -6.87964701e-01 8.38397652e-03 3.71891015e+01] [ 6.87912850e-01 -7.25744056e-01 -8.45434577e-03 -1.79021873e+02] [ 1.19009126e-02 -3.67837367e-04 9.99929114e-01 -2.80603515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.126559995 meters 0.017612946826456602 Centerline is valid? [True, True] Translation: X:37.17, Y:-179.00, Z:-2.81 [[-7.27047815e-01 -6.86537144e-01 8.25978675e-03 3.71712801e+01] [ 6.86486785e-01 -7.27094632e-01 -8.32413337e-03 -1.79001341e+02] [ 1.17204734e-02 -3.81808529e-04 9.99931240e-01 -2.80608349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.15655999499995 meters 0.017612946826456602 Centerline is valid? [True, True] Translation: X:37.15, Y:-178.98, Z:-2.81 [[-7.27261138e-01 -6.86311132e-01 8.26237351e-03 3.71523535e+01] [ 6.86260787e-01 -7.27307971e-01 -8.32156581e-03 -1.78982407e+02] [ 1.17204734e-02 -3.81808479e-04 9.99931240e-01 -2.80608361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.186559995 meters 0.017612946826456602 Centerline is valid? [True, True] Translation: X:37.13, Y:-178.96, Z:-2.81 [[-7.27474391e-01 -6.86085053e-01 8.26495943e-03 3.71334210e+01] [ 6.86034722e-01 -7.27521240e-01 -8.31899748e-03 -1.78963478e+02] [ 1.17204734e-02 -3.81808479e-04 9.99931240e-01 -2.80608372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.21655999499995 meters 0.017612946826456602 Centerline is valid? [True, True] Translation: X:37.11, Y:-178.94, Z:-2.81 [[-7.27687574e-01 -6.85858908e-01 8.26754456e-03 3.71144827e+01] [ 6.85808592e-01 -7.27734438e-01 -8.31642835e-03 -1.78944556e+02] [ 1.17204734e-02 -3.81808479e-04 9.99931240e-01 -2.80608384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.246559995 meters 0.017612946826456602 Centerline is valid? [True, True] Translation: X:37.10, Y:-178.93, Z:-2.81 [[-7.27900687e-01 -6.85632697e-01 8.27012889e-03 3.70955385e+01] [ 6.85582395e-01 -7.27947566e-01 -8.31385841e-03 -1.78925639e+02] [ 1.17204734e-02 -3.81808479e-04 9.99931240e-01 -2.80608395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.27655999499996 meters 0.017214384828613483 Centerline is valid? [True, True] Translation: X:37.07, Y:-178.91, Z:-2.81 [[-7.28825020e-01 -6.84647795e-01 8.45499971e-03 3.70749170e+01] [ 6.84595210e-01 -7.28873950e-01 -8.49492746e-03 -1.78906089e+02] [ 1.19786624e-02 -4.03063367e-04 9.99928172e-01 -2.80555221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.306559995 meters 0.017214384828613483 Centerline is valid? [True, True] Translation: X:37.06, Y:-178.89, Z:-2.81 [[-7.29017523e-01 -6.84442783e-01 8.45738845e-03 3.70554044e+01] [ 6.84390212e-01 -7.29066467e-01 -8.49254928e-03 -1.78886573e+02] [ 1.19786624e-02 -4.03063367e-04 9.99928172e-01 -2.80555233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.33655999499996 meters 0.017214384828613483 Centerline is valid? [True, True] Translation: X:37.04, Y:-178.87, Z:-2.81 [[-7.29209968e-01 -6.84237718e-01 8.45977651e-03 3.70358864e+01] [ 6.84185160e-01 -7.29258928e-01 -8.49017044e-03 -1.78867062e+02] [ 1.19786624e-02 -4.03063367e-04 9.99928172e-01 -2.80555245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.366559995 meters 0.017214384828613483 Centerline is valid? [True, True] Translation: X:37.02, Y:-178.85, Z:-2.81 [[-7.29402356e-01 -6.84032598e-01 8.46216391e-03 3.70163628e+01] [ 6.83980054e-01 -7.29451330e-01 -8.48779092e-03 -1.78847557e+02] [ 1.19786624e-02 -4.03063367e-04 9.99928172e-01 -2.80555256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.39655999499996 meters 0.017214384828613483 Centerline is valid? [True, True] Translation: X:37.00, Y:-178.83, Z:-2.81 [[-7.29594686e-01 -6.83827424e-01 8.46455063e-03 3.69968338e+01] [ 6.83774894e-01 -7.29643675e-01 -8.48541073e-03 -1.78828058e+02] [ 1.19786624e-02 -4.03063367e-04 9.99928172e-01 -2.80555268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.42655999499993 meters 0.01781859403762215 Centerline is valid? [True, True] Translation: X:36.98, Y:-178.81, Z:-2.81 [[-7.30365424e-01 -6.83004998e-01 8.39763907e-03 3.69781466e+01] [ 6.82953300e-01 -7.30413585e-01 -8.41334361e-03 -1.78808763e+02] [ 1.18801054e-02 -4.09619948e-04 9.99929345e-01 -2.80574400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.45655999499996 meters 0.018873833733719154 Centerline is valid? [True, True] Translation: X:36.96, Y:-178.79, Z:-2.81 [[-7.30576730e-01 -6.82775518e-01 8.67377729e-03 3.69599014e+01] [ 6.82720392e-01 -7.30628094e-01 -8.68646710e-03 -1.78788994e+02] [ 1.22682124e-02 -4.24366096e-04 9.99924653e-01 -2.80620923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.48655999499994 meters 0.018193082497575713 Centerline is valid? [True, True] Translation: X:36.94, Y:-178.77, Z:-2.81 [[-7.29548029e-01 -6.83875501e-01 8.60068901e-03 3.69387256e+01] [ 6.83821434e-01 -7.29598615e-01 -8.60856763e-03 -1.78770448e+02] [ 1.21622393e-02 -3.99028061e-04 9.99925958e-01 -2.80582806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.51655999499997 meters 0.015980612175172094 Centerline is valid? [True, True] Translation: X:36.91, Y:-178.75, Z:-2.80 [[-7.26967096e-01 -6.86627234e-01 7.86650142e-03 3.69149879e+01] [ 6.86582212e-01 -7.27009586e-01 -7.86941940e-03 -1.78754087e+02] [ 1.11223796e-02 -3.19809024e-04 9.99938093e-01 -2.80442955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.54655999499994 meters 0.015241105229954215 Centerline is valid? [True, True] Translation: X:36.89, Y:-178.74, Z:-2.80 [[-7.25211044e-01 -6.88485795e-01 7.50013483e-03 3.68935370e+01] [ 6.88445012e-01 -7.25249774e-01 -7.49866728e-03 -1.78736022e+02] [ 1.06021970e-02 -2.74685914e-04 9.99943757e-01 -2.80398660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.57655999499997 meters 0.01458378473155682 Centerline is valid? [True, True] Translation: X:36.43, Y:-179.18, Z:-1.79 [[-7.42772961e-01 6.69505100e-01 7.15881758e-03 3.64320472e+01] [ 6.69476335e-01 7.42807437e-01 -6.20879141e-03 -1.79180967e+02] [-9.47444045e-03 1.80936579e-04 -9.99955100e-01 -1.78672024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.60655999499994 meters 0.012919138509103796 Centerline is valid? [True, True] Translation: X:36.45, Y:-179.16, Z:-1.79 [[-7.90287120e-01 6.12689683e-01 7.59082453e-03 3.64513835e+01] [ 6.12663241e-01 7.90323560e-01 -5.69417750e-03 -1.79155182e+02] [-9.48797127e-03 1.50584025e-04 -9.99954977e-01 -1.78805945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.63655999499997 meters 0.01196146060187831 Centerline is valid? [True, True] Translation: X:36.47, Y:-179.13, Z:-1.79 [[-8.33685976e-01 5.52180337e-01 8.03552523e-03 3.64680217e+01] [ 5.52156043e-01 8.33724692e-01 -5.18098536e-03 -1.79128357e+02] [-9.56025404e-03 1.17548975e-04 -9.99954293e-01 -1.78823244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.66655999499994 meters 0.011544471849532664 Centerline is valid? [True, True] Translation: X:36.80, Y:-178.61, Z:-2.80 [[-8.07315165e-01 -5.90065300e-01 8.07259968e-03 3.68011168e+01] [ 5.90034669e-01 -8.07355519e-01 -6.01300836e-03 -1.78607889e+02] [ 1.00655255e-02 -9.12791580e-05 9.99949337e-01 -2.80216441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.696559995 meters 0.010958279950730105 Centerline is valid? [True, True] Translation: X:36.43, Y:-179.09, Z:-1.79 [[-8.41200332e-01 5.40644189e-01 9.26620945e-03 3.64272416e+01] [ 5.40611700e-01 8.41251366e-01 -5.92706928e-03 -1.79092596e+02] [-1.09996469e-02 2.35685932e-05 -9.99939502e-01 -1.78681735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.72655999499995 meters 0.01097355124015074 Centerline is valid? [True, True] Translation: X:36.44, Y:-179.06, Z:-1.79 [[-8.78854163e-01 4.76986822e-01 9.94640883e-03 3.64404391e+01] [ 4.76956145e-01 8.78910446e-01 -5.40964191e-03 -1.79064532e+02] [-1.13223305e-02 -1.02854970e-05 -9.99935900e-01 -1.78582166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.756559995 meters 0.010885717712405346 Centerline is valid? [True, True] Translation: X:36.72, Y:-178.54, Z:-2.80 [[-8.42375421e-01 -5.38805387e-01 9.61275113e-03 3.67240220e+01] [ 5.38770517e-01 -8.42430267e-01 -6.12988618e-03 -1.78541356e+02] [ 1.14008882e-02 1.54014501e-05 9.99935008e-01 -2.80369515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.78655999499995 meters 0.01114177463690764 Centerline is valid? [True, True] Translation: X:36.70, Y:-178.57, Z:-2.80 [[-8.01482057e-01 -5.97950693e-01 9.02671558e-03 3.67041137e+01] [ 5.97914047e-01 -8.01532882e-01 -6.62058067e-03 -1.78569053e+02] [ 1.11939902e-02 9.09234247e-05 9.99937341e-01 -2.80312010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.816559995 meters 0.011517093648505082 Centerline is valid? [True, True] Translation: X:36.35, Y:-179.04, Z:-1.79 [[-8.51485268e-01 5.24302096e-01 8.95268521e-03 3.63487873e+01] [ 5.24271799e-01 8.51532325e-01 -5.63742183e-03 -1.79035245e+02] [-1.05792129e-02 -1.06541261e-04 -9.99944033e-01 -1.78704987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.84655999499995 meters 0.01185830380708294 Centerline is valid? [True, True] Translation: X:36.36, Y:-179.01, Z:-1.79 [[-8.87838384e-01 4.60066478e-01 9.04658648e-03 3.63619310e+01] [ 4.60041058e-01 8.87884462e-01 -4.83804511e-03 -1.79009716e+02] [-1.02581459e-02 -1.33600933e-04 -9.99947375e-01 -1.78821819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.876559995 meters 0.012744963913637324 Centerline is valid? [True, True] Translation: X:36.37, Y:-178.98, Z:-1.79 [[-9.18643999e-01 3.94970438e-01 9.56849592e-03 3.63693525e+01] [ 3.94947325e-01 9.18693818e-01 -4.27547455e-03 -1.78981105e+02] [-1.04792041e-02 -1.48587168e-04 -9.99945081e-01 -1.78741250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.90655999499995 meters 0.01229382946812277 Centerline is valid? [True, True] Translation: X:36.60, Y:-178.45, Z:-2.80 [[-8.76373589e-01 -4.81538414e-01 9.49150079e-03 3.66046654e+01] [ 4.81512248e-01 -8.76424970e-01 -5.02276177e-03 -1.78452658e+02] [ 1.07372410e-02 1.68458128e-04 9.99942340e-01 -2.80168855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.936559995 meters 0.012857903500026168 Centerline is valid? [True, True] Translation: X:36.33, Y:-178.96, Z:-1.79 [[-9.20553621e-01 3.90480218e-01 1.03067840e-02 3.63269809e+01] [ 3.90453622e-01 9.20611302e-01 -4.56071995e-03 -1.78964825e+02] [-1.12694128e-02 -1.74066099e-04 -9.99936483e-01 -1.78711074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.96655999499995 meters 0.012761207339835384 Centerline is valid? [True, True] Translation: X:36.33, Y:-178.94, Z:-1.79 [[-9.45849639e-01 3.24416539e-01 1.10620754e-02 3.63344141e+01] [ 3.24392135e-01 9.45914308e-01 -3.98314980e-03 -1.78939000e+02] [-1.17559750e-02 -1.79010557e-04 -9.99930880e-01 -1.78654383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.996559995 meters 0.012496495310400117 Centerline is valid? [True, True] Translation: X:36.53, Y:-178.39, Z:-2.80 [[-9.09712952e-01 -4.15081834e-01 1.13761302e-02 3.65308244e+01] [ 4.15052518e-01 -9.09784051e-01 -4.93846582e-03 -1.78389978e+02] [ 1.23996892e-02 2.29105156e-04 9.99923095e-01 -2.80379827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.02655999499996 meters 0.012695588229940102 Centerline is valid? [True, True] Translation: X:36.29, Y:-178.93, Z:-1.79 [[-9.46814720e-01 3.21568030e-01 1.16570914e-02 3.62924892e+01] [ 3.21541314e-01 9.46886461e-01 -4.14891899e-03 -1.78926418e+02] [-1.23721017e-02 -1.80021096e-04 -9.99923446e-01 -1.78528623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.056559995 meters 0.012544237694651107 Centerline is valid? [True, True] Translation: X:36.30, Y:-178.90, Z:-1.78 [[-9.67011850e-01 2.54453724e-01 1.18905085e-02 3.62964995e+01] [ 2.54432339e-01 9.67084936e-01 -3.30317202e-03 -1.78900112e+02] [-1.23396360e-02 -1.68876602e-04 -9.99923850e-01 -1.78487811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.08655999499996 meters 0.012237874566980111 Centerline is valid? [True, True] Translation: X:36.45, Y:-178.33, Z:-2.81 [[-9.39438030e-01 -3.42514325e-01 1.18374241e-02 3.64536833e+01] [ 3.42489589e-01 -9.39512588e-01 -4.12045094e-03 -1.78328895e+02] [ 1.25327224e-02 1.83286196e-04 9.99921446e-01 -2.80609834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.116559995 meters 0.011719254999421069 Centerline is valid? [True, True] Translation: X:36.25, Y:-178.90, Z:-1.79 [[-9.67022175e-01 2.54393676e-01 1.23276122e-02 3.62501882e+01] [ 2.54371325e-01 9.67100740e-01 -3.37453506e-03 -1.78896783e+02] [-1.27805032e-02 -1.27459184e-04 -9.99918318e-01 -1.78506542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.14655999499996 meters 0.011561350656549453 Centerline is valid? [True, True] Translation: X:36.41, Y:-178.31, Z:-2.81 [[-9.41634854e-01 -3.36419585e-01 1.20691800e-02 3.64125725e+01] [ 3.36393676e-01 -9.41712189e-01 -4.17701901e-03 -1.78312048e+02] [ 1.27709249e-02 1.26769147e-04 9.99918440e-01 -2.80521851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.17655999499993 meters 0.01127839474690846 Centerline is valid? [True, True] Translation: X:36.20, Y:-178.89, Z:-1.79 [[-9.67175991e-01 2.53820500e-01 1.20729230e-02 3.62037574e+01] [ 2.53799639e-01 9.67251336e-01 -3.25522727e-03 -1.78893723e+02] [-1.25037943e-02 -8.42741733e-05 -9.99921821e-01 -1.78642277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.20655999499996 meters 0.011222918099028832 Centerline is valid? [True, True] Translation: X:36.37, Y:-178.29, Z:-2.80 [[-9.43753839e-01 -3.30439174e-01 1.17746777e-02 3.63670403e+01] [ 3.30414520e-01 -9.43827286e-01 -4.03725154e-03 -1.78291836e+02] [ 1.24473282e-02 8.03528350e-05 9.99922526e-01 -2.80334948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.23655999499994 meters 0.011507427076085555 Centerline is valid? [True, True] Translation: X:36.15, Y:-178.89, Z:-1.79 [[-9.67966166e-01 2.50809592e-01 1.16640503e-02 3.61539384e+01] [ 2.50790480e-01 9.68036437e-01 -3.09710498e-03 -1.78886781e+02] [-1.20680093e-02 -7.26600603e-05 -9.99927176e-01 -1.78584933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.26655999499997 meters 0.011734098173362907 Centerline is valid? [True, True] Translation: X:36.16, Y:-178.86, Z:-1.78 [[-9.83360617e-01 1.81272012e-01 1.19312452e-02 3.61587671e+01] [ 1.81257736e-01 9.83432993e-01 -2.27627871e-03 -1.78860355e+02] [-1.21462058e-02 -7.57723427e-05 -9.99926229e-01 -1.78445921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.29655999499994 meters 0.011444877311697688 Centerline is valid? [True, True] Translation: X:36.28, Y:-178.24, Z:-2.80 [[-9.65729260e-01 -2.59291739e-01 1.16099129e-02 3.62802409e+01] [ 2.59273821e-01 -9.65799042e-01 -3.04892840e-03 -1.78235845e+02] [ 1.20034047e-02 6.57071057e-05 9.99927954e-01 -2.80470656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.32655999499997 meters 0.011569280860379177 Centerline is valid? [True, True] Translation: X:36.11, Y:-178.86, Z:-1.79 [[-9.84211912e-01 1.76594521e-01 1.18864122e-02 3.61088454e+01] [ 1.76580596e-01 9.84283683e-01 -2.21931356e-03 -1.78855265e+02] [-1.20915202e-02 -8.53651021e-05 -9.99926891e-01 -1.78511894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.35655999499994 meters 0.01166416605856086 Centerline is valid? [True, True] Translation: X:36.11, Y:-178.83, Z:-1.79 [[-9.94326385e-01 1.05732268e-01 1.16502183e-02 3.61059158e+01] [ 1.05723963e-01 9.94394630e-01 -1.32819660e-03 -1.78831226e+02] [-1.17253478e-02 -8.89536698e-05 -9.99931252e-01 -1.78542443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.38655999499997 meters 0.011529386237104328 Centerline is valid? [True, True] Translation: X:36.11, Y:-178.81, Z:-1.79 [[-9.99320444e-01 3.51265868e-02 1.11701958e-02 3.61057631e+01] [ 3.51234870e-02 9.99382868e-01 -4.73618011e-04 -1.78806302e+02] [-1.11799389e-02 -8.09599334e-05 -9.99937499e-01 -1.78627309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.41655999499994 meters 0.01145441298385069 Centerline is valid? [True, True] Translation: X:36.10, Y:-178.78, Z:-1.79 [[-9.99311170e-01 -3.56623312e-02 1.02657041e-02 3.61020030e+01] [-3.56611756e-02 9.99363894e-01 2.95659374e-04 -1.78781359e+02] [-1.02697179e-02 -7.06313596e-05 -9.99947263e-01 -1.78713856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.446559995 meters 0.011369166638371541 Centerline is valid? [True, True] Translation: X:36.08, Y:-178.12, Z:-2.80 [[-9.98947760e-01 -4.48134998e-02 9.75313568e-03 3.60830351e+01] [ 4.48116943e-02 -9.98995370e-01 -4.03675852e-04 -1.78116598e+02] [ 9.76142752e-03 3.38034470e-05 9.99952356e-01 -2.80176878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.47655999499995 meters 0.01124006051779321 Centerline is valid? [True, True] Translation: X:36.02, Y:-178.79, Z:-1.79 [[-9.99160176e-01 -3.98865228e-02 9.38127915e-03 3.60171286e+01] [-3.98852527e-02 9.99204215e-01 3.22519281e-04 -1.78791868e+02] [-9.38667784e-03 -5.19262674e-05 -9.99955943e-01 -1.78886926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.506559995 meters 0.011309233813375038 Centerline is valid? [True, True] Translation: X:36.01, Y:-178.77, Z:-1.79 [[-9.93784454e-01 -1.10961007e-01 8.95062131e-03 3.60088210e+01] [-1.10956963e-01 9.93824759e-01 9.48600326e-04 -1.78766428e+02] [-9.00060671e-03 -5.04295032e-05 -9.99959492e-01 -1.78831693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.53655999499995 meters 0.0115415310339657 Centerline is valid? [True, True] Translation: X:35.94, Y:-178.08, Z:-2.80 [[-9.99470219e-01 3.15318737e-02 8.06358842e-03 3.59382473e+01] [-3.15309940e-02 -9.99502747e-01 2.36230118e-04 -1.78084147e+02] [ 8.06702755e-03 -1.81479900e-05 9.99967461e-01 -2.80155204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.566559995 meters 0.011528388114573735 Centerline is valid? [True, True] Translation: X:35.91, Y:-178.78, Z:-1.79 [[-9.92816697e-01 -1.19412586e-01 7.45930703e-03 3.59104860e+01] [-1.19409662e-01 9.92844716e-01 8.37804999e-04 -1.78780916e+02] [-7.50597804e-03 -5.89265371e-05 -9.99971828e-01 -1.78937272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.59655999499995 meters 0.011816077854784746 Centerline is valid? [True, True] Translation: X:35.89, Y:-178.76, Z:-1.79 [[-9.81449554e-01 -1.91586933e-01 7.15678783e-03 3.58914718e+01] [-1.91582353e-01 9.81475645e-01 1.32649283e-03 -1.78755289e+02] [-7.27835164e-03 -6.92284607e-05 -9.99973510e-01 -1.78946061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.626559995 meters 0.012386560916409169 Centerline is valid? [True, True] Translation: X:35.86, Y:-178.73, Z:-1.79 [[-9.64307301e-01 -2.64680233e-01 7.47021368e-03 3.58647878e+01] [-2.64673073e-01 9.64336230e-01 1.94932191e-03 -1.78731234e+02] [-7.71974467e-03 -9.74190640e-05 -9.99970198e-01 -1.78838087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.65655999499995 meters 0.012860478393613674 Centerline is valid? [True, True] Translation: X:35.82, Y:-178.71, Z:-1.79 [[-9.42052626e-01 -3.35371862e-01 7.90977923e-03 3.58220255e+01] [-3.35361104e-01 9.42085824e-01 2.68893995e-03 -1.78714380e+02] [-8.35348568e-03 -1.19509353e-04 -9.99965102e-01 -1.78791464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.686559995 meters 0.013562672713495483 Centerline is valid? [True, True] Translation: X:35.76, Y:-178.71, Z:-1.79 [[-9.13468447e-01 -4.06823197e-01 8.38347415e-03 3.57581256e+01] [-4.06807686e-01 9.13506902e-01 3.55622971e-03 -1.78706595e+02] [-9.10511824e-03 -1.61958092e-04 -9.99958534e-01 -1.78731123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.71655999499995 meters 0.01442418225914898 Centerline is valid? [True, True] Translation: X:35.69, Y:-178.70, Z:-1.79 [[-8.80180122e-01 -4.74571062e-01 8.07833610e-03 3.56936950e+01] [-4.74552884e-01 8.80217176e-01 4.15738783e-03 -1.78703606e+02] [-9.08366614e-03 -1.74347562e-04 -9.99958727e-01 -1.78701852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.746559995 meters 0.014621030999712776 Centerline is valid? [True, True] Translation: X:35.62, Y:-178.71, Z:-1.79 [[-8.41730030e-01 -5.39840058e-01 7.95419560e-03 3.56212039e+01] [-5.39818084e-01 8.41767590e-01 4.87446896e-03 -1.78711557e+02] [-9.32701766e-03 -1.90831726e-04 -9.99956484e-01 -1.78690767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.77655999499996 meters 0.015060488362839622 Centerline is valid? [True, True] Translation: X:35.54, Y:-178.73, Z:-1.79 [[-7.98356152e-01 -6.02138369e-01 7.53918868e-03 3.55393881e+01] [-6.02113879e-01 7.98391724e-01 5.43431286e-03 -1.78730572e+02] [-9.29143413e-03 -2.00933044e-04 -9.99956814e-01 -1.78702745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.806559995 meters 0.0153409631095033 Centerline is valid? [True, True] Translation: X:35.46, Y:-178.76, Z:-1.79 [[-7.51085526e-01 -6.60172283e-01 6.56425068e-03 3.54561704e+01] [-6.60149180e-01 7.51114188e-01 5.52600363e-03 -1.78758897e+02] [-8.57861625e-03 -1.82883357e-04 -9.99963186e-01 -1.78694349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.83655999499996 meters 0.0153409631095033 Centerline is valid? [True, True] Translation: X:35.37, Y:-178.80, Z:-1.79 [[-6.99168040e-01 -7.14931108e-01 6.12886401e-03 3.53708027e+01] [-7.14905909e-01 6.99194878e-01 6.00524830e-03 -1.78798986e+02] [-8.57860914e-03 -1.82883415e-04 -9.99963186e-01 -1.78694379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.866559995 meters 0.01369234721371331 Centerline is valid? [True, True] Translation: X:35.29, Y:-178.85, Z:-1.79 [[-6.44792815e-01 -7.64338787e-01 5.33343891e-03 3.52870244e+01] [-7.64314591e-01 6.44814854e-01 6.08358517e-03 -1.78852657e+02] [-8.08900074e-03 -1.53773176e-04 -9.99967272e-01 -1.78804219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.89655999499996 meters 0.01369234721371331 Centerline is valid? [True, True] Translation: X:35.20, Y:-178.91, Z:-1.79 [[-5.84837828e-01 -8.11135708e-01 4.85563927e-03 3.52028510e+01] [-8.11109908e-01 5.84857965e-01 6.47133915e-03 -1.78912456e+02] [-8.08899356e-03 -1.53773186e-04 -9.99967272e-01 -1.78804251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.92655999499993 meters 0.013336468979375429 Centerline is valid? [True, True] Translation: X:35.12, Y:-178.98, Z:-1.79 [[-5.23019798e-01 -8.52310448e-01 4.14629787e-03 3.51236676e+01] [-8.52285630e-01 5.23036216e-01 6.50548948e-03 -1.78979900e+02] [-7.71336060e-03 -1.31330304e-04 -9.99970243e-01 -1.78835109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.95655999499996 meters 0.012334150155271747 Centerline is valid? [True, True] Translation: X:35.05, Y:-179.06, Z:-1.79 [[-4.61036784e-01 -8.87374712e-01 3.34732755e-03 3.50495266e+01] [-8.87352623e-01 4.61048928e-01 6.26165745e-03 -1.79057278e+02] [-7.09971826e-03 -8.34054679e-05 -9.99974793e-01 -1.78819750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.98655999499994 meters 0.011950149086133798 Centerline is valid? [True, True] Translation: X:34.98, Y:-179.14, Z:-1.79 [[-3.94174107e-01 -9.19031268e-01 2.88117214e-03 3.49798148e+01] [-9.19007914e-01 3.94184631e-01 6.55212441e-03 -1.79141318e+02] [-7.15732099e-03 -6.51422077e-05 -9.99974384e-01 -1.78789377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.01655999499997 meters 0.01163082794719633 Centerline is valid? [True, True] Translation: X:34.92, Y:-179.24, Z:-1.79 [[-3.25253316e-01 -9.45623657e-01 2.48595185e-03 3.49152088e+01] [-9.45597133e-01 3.25262813e-01 7.08265641e-03 -1.79235334e+02] [-7.50611515e-03 -4.70514588e-05 -9.99971828e-01 -1.78767588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.04655999499994 meters 0.011278257827904899 Centerline is valid? [True, True] Translation: X:34.86, Y:-179.34, Z:-1.79 [[-2.57018246e-01 -9.66404199e-01 2.13205145e-03 3.48598994e+01] [-9.66371122e-01 2.57027089e-01 7.99565707e-03 -1.79335123e+02] [-8.27503154e-03 -5.32319092e-06 -9.99965761e-01 -1.78800480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.07655999499997 meters 0.011248065887722961 Centerline is valid? [True, True] Translation: X:34.81, Y:-179.44, Z:-1.79 [[-1.84013371e-01 -9.82922466e-01 1.58277255e-03 3.48084988e+01] [-9.82885525e-01 1.84020178e-01 8.52170945e-03 -1.79442726e+02] [-8.66744175e-03 1.24242537e-05 -9.99962437e-01 -1.78821343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.10655999499994 meters 0.01138901604622014 Centerline is valid? [True, True] Translation: X:34.77, Y:-179.55, Z:-1.79 [[-1.09475850e-01 -9.93989003e-01 9.48883145e-04 3.47651690e+01] [-9.93949408e-01 1.09479958e-01 8.87201317e-03 -1.79553992e+02] [-8.92256721e-03 2.81293387e-05 -9.99960193e-01 -1.78817988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.13655999499997 meters 0.011623981838603165 Centerline is valid? [True, True] Translation: X:34.73, Y:-179.67, Z:-1.79 [[-3.51751542e-02 -9.99381120e-01 2.92813183e-04 3.47306007e+01] [-9.99332006e-01 3.51763285e-02 9.90792408e-03 -1.79667699e+02] [-9.91209236e-03 5.58951715e-05 -9.99950872e-01 -1.78784828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.16655999499994 meters 0.01173549697909244 Centerline is valid? [True, True] Translation: X:34.70, Y:-179.79, Z:-1.79 [[ 4.10695252e-02 -9.99156176e-01 -4.78724052e-04 3.47034567e+01] [-9.99105633e-01 -4.10722629e-02 1.00500227e-02 -1.79786097e+02] [-1.00612045e-02 6.55462370e-05 -9.99949383e-01 -1.78786759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.196559995 meters 0.011826864975522947 Centerline is valid? [True, True] Translation: X:34.69, Y:-179.91, Z:-1.79 [[ 1.17450187e-01 -9.93077975e-01 -1.26032340e-03 3.46852541e+01] [-9.93027084e-01 -1.17456928e-01 1.00538408e-02 -1.79905772e+02] [-1.01322816e-02 7.07097941e-05 -9.99948665e-01 -1.78739437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.22655999499995 meters 0.011865410344212167 Centerline is valid? [True, True] Translation: X:34.68, Y:-180.03, Z:-1.79 [[ 1.93554887e-01 -9.81087233e-01 -2.08510366e-03 3.46759521e+01] [-9.81034219e-01 -1.93566104e-01 1.01991934e-02 -1.80025397e+02] [-1.04099038e-02 7.14543252e-05 -9.99945813e-01 -1.78691646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.256559995 meters 0.011803300267412421 Centerline is valid? [True, True] Translation: X:34.67, Y:-180.15, Z:-1.79 [[ 2.69348120e-01 -9.63038408e-01 -2.93527117e-03 3.46745845e+01] [-9.62983722e-01 -2.69364106e-01 1.02629963e-02 -1.80145967e+02] [-1.06743163e-02 6.22996032e-05 -9.99943026e-01 -1.78680814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.28655999499995 meters 0.011654121494744457 Centerline is valid? [True, True] Translation: X:34.68, Y:-180.27, Z:-1.79 [[ 3.43779694e-01 -9.39042895e-01 -3.73670783e-03 3.46825853e+01] [-9.38988950e-01 -3.43799998e-01 1.00654166e-02 -1.80265510e+02] [-1.07365381e-02 4.84415282e-05 -9.99942361e-01 -1.78663639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.316559995 meters 0.011548929592485858 Centerline is valid? [True, True] Translation: X:34.70, Y:-180.39, Z:-1.79 [[ 4.18298864e-01 -9.08295383e-01 -5.05549349e-03 3.46991248e+01] [-9.08229290e-01 -4.18329413e-01 1.09571814e-02 -1.80386038e+02] [-1.20672189e-02 8.17071692e-06 -9.99927188e-01 -1.78641378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.34655999499995 meters 0.011690737707351694 Centerline is valid? [True, True] Translation: X:34.72, Y:-180.50, Z:-1.79 [[ 4.88678424e-01 -8.72442025e-01 -6.18960750e-03 3.47248324e+01] [-8.72371540e-01 -4.88717620e-01 1.10898162e-02 -1.80502010e+02] [-1.27001920e-02 -1.97164886e-05 -9.99919349e-01 -1.78537362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.376559995 meters 0.011683429563888695 Centerline is valid? [True, True] Translation: X:34.76, Y:-180.61, Z:-1.79 [[ 5.55805267e-01 -8.31280485e-01 -7.29801392e-03 3.47574019e+01] [-8.31207704e-01 -5.55853176e-01 1.09999732e-02 -1.80612799e+02] [-1.32006873e-02 -4.76776409e-05 -9.99912866e-01 -1.78657003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.40655999499995 meters 0.012122589348467702 Centerline is valid? [True, True] Translation: X:34.79, Y:-180.72, Z:-1.79 [[ 6.21058170e-01 -7.83719491e-01 -8.39690105e-03 3.47945410e+01] [-7.83645510e-01 -6.21114923e-01 1.07688457e-02 -1.80721792e+02] [-1.36551948e-02 -1.07885809e-04 -9.99906758e-01 -1.78516492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.436559995 meters 0.01244275637763821 Centerline is valid? [True, True] Translation: X:34.84, Y:-180.82, Z:-1.79 [[ 6.81342472e-01 -7.31905930e-01 -9.28147092e-03 3.48397007e+01] [-7.31834941e-01 -6.81405670e-01 1.01947086e-02 -1.80824426e+02] [-1.37860146e-02 -1.53583243e-04 -9.99904957e-01 -1.78505917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.46655999499995 meters 0.012852949151343962 Centerline is valid? [True, True] Translation: X:34.89, Y:-180.92, Z:-1.78 [[ 7.35885278e-01 -6.77034305e-01 -9.86948985e-03 3.48939111e+01] [-6.76970343e-01 -7.35951439e-01 9.30769724e-03 -1.80921247e+02] [-1.35650956e-02 -1.68045440e-04 -9.99907976e-01 -1.78475335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.496559995 meters 0.013522831382875227 Centerline is valid? [True, True] Translation: X:34.89, Y:-180.93, Z:-1.78 [[ 7.87073166e-01 -6.16775024e-01 -1.02177350e-02 3.48916473e+01] [-6.16720175e-01 -7.87139467e-01 8.22711273e-03 -1.80929009e+02] [-1.31170602e-02 -1.73856312e-04 -9.99913953e-01 -1.78420673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.52655999499996 meters 0.012993468658117324 Centerline is valid? [True, True] Translation: X:34.89, Y:-180.94, Z:-1.79 [[ 8.32973418e-01 -5.53212998e-01 -1.05196366e-02 3.48926418e+01] [-5.53166282e-01 -8.33039824e-01 7.19134036e-03 -1.80935957e+02] [-1.27416192e-02 -1.71087110e-04 -9.99918808e-01 -1.78620619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.556559995 meters 0.01272959645262769 Centerline is valid? [True, True] Translation: X:34.89, Y:-180.94, Z:-1.79 [[ 8.73205292e-01 -4.87248822e-01 -1.00550363e-02 3.48931544e+01] [-4.87214607e-01 -8.73263170e-01 5.77599416e-03 -1.80943097e+02] [-1.15950392e-02 -1.44668104e-04 -9.99932765e-01 -1.78763933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.58655999499996 meters 0.012455224114673421 Centerline is valid? [True, True] Translation: X:34.89, Y:-180.95, Z:-1.79 [[ 9.08256930e-01 -4.18294881e-01 -9.93686781e-03 3.48935342e+01] [-4.18268305e-01 -9.08311277e-01 4.71680830e-03 -1.80951521e+02] [-1.09987859e-02 -1.27796965e-04 -9.99939503e-01 -1.78854075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.616559995 meters 0.01242105762623371 Centerline is valid? [True, True] Translation: X:34.89, Y:-180.96, Z:-1.79 [[ 9.37895173e-01 -3.46789580e-01 -9.46736126e-03 3.48940987e+01] [-3.46770737e-01 -9.37942949e-01 3.61673403e-03 -1.80959065e+02] [-1.01340904e-02 -1.09113553e-04 -9.99948643e-01 -1.78898057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.64655999499996 meters 0.012245809074487917 Centerline is valid? [True, True] Translation: X:34.90, Y:-180.97, Z:-1.79 [[ 9.61858040e-01 -2.73395966e-01 -9.15181595e-03 3.48965297e+01] [-2.73382670e-01 -9.61901573e-01 2.69787409e-03 -1.80965957e+02] [-9.54073405e-03 -9.30239997e-05 -9.99954482e-01 -1.78945669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.67655999499993 meters 0.012008152690760427 Centerline is valid? [True, True] Translation: X:34.90, Y:-180.97, Z:-1.79 [[ 9.79930902e-01 -1.99143827e-01 -8.78421312e-03 3.48986643e+01] [-1.99135175e-01 -9.79970270e-01 1.85778007e-03 -1.80970314e+02] [-8.97823314e-03 -7.12502848e-05 -9.99959692e-01 -1.79004193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.70655999499996 meters 0.011816787885939671 Centerline is valid? [True, True] Translation: X:34.90, Y:-180.98, Z:-1.79 [[ 9.92411080e-01 -1.22643149e-01 -8.88293764e-03 3.49002210e+01] [-1.22637663e-01 -9.92450832e-01 1.16181103e-03 -1.80976727e+02] [-8.95836702e-03 -6.36114294e-05 -9.99959871e-01 -1.79028999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.73655999499994 meters 0.01186003105803929 Centerline is valid? [True, True] Translation: X:34.90, Y:-180.98, Z:-1.79 [[ 9.98932210e-01 -4.51341587e-02 -9.86653827e-03 3.48998041e+01] [-4.51313186e-02 -9.98980933e-01 5.10430265e-04 -1.80982558e+02] [-9.87952144e-03 -6.45953501e-05 -9.99951194e-01 -1.78963787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.76655999499997 meters 0.011798732556471772 Centerline is valid? [True, True] Translation: X:34.90, Y:-180.99, Z:-1.79 [[ 9.99396070e-01 3.30972470e-02 -1.05862350e-02 3.49002136e+01] [ 3.30961146e-02 -9.99452134e-01 -2.82177392e-04 -1.80991099e+02] [-1.05897745e-02 -6.83562722e-05 -9.99943924e-01 -1.78900564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.79655999499994 meters 0.011954988328901928 Centerline is valid? [True, True] Translation: X:34.90, Y:-181.00, Z:-1.79 [[ 9.93692017e-01 1.11543524e-01 -1.15852500e-02 3.49004882e+01] [ 1.11536868e-01 -9.93759546e-01 -1.22106863e-03 -1.80999802e+02] [-1.16491551e-02 -7.88163495e-05 -9.99932143e-01 -1.78760549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.82655999499997 meters 0.012014171332685218 Centerline is valid? [True, True] Translation: X:34.90, Y:-181.01, Z:-1.79 [[ 9.81735281e-01 1.89831371e-01 -1.26446905e-02 3.49025971e+01] [ 1.89816907e-01 -9.81816704e-01 -2.34539249e-03 -1.81008565e+02] [-1.28599974e-02 -9.76214809e-05 -9.99917302e-01 -1.78674709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.85655999499994 meters 0.012666252352771586 Centerline is valid? [True, True] Translation: X:34.90, Y:-181.02, Z:-1.78 [[ 9.63314157e-01 2.67954597e-01 -1.50389156e-02 3.49046697e+01] [ 2.67924339e-01 -9.63431530e-01 -4.02944551e-03 -1.81019128e+02] [-1.55686739e-02 -1.47669627e-04 -9.99878790e-01 -1.78281485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.88655999499997 meters 0.012586806970679407 Centerline is valid? [True, True] Translation: X:34.91, Y:-181.03, Z:-1.78 [[ 9.38984217e-01 3.43625017e-01 -1.51818582e-02 3.49079718e+01] [ 3.43583046e-01 -9.39106926e-01 -5.37329419e-03 -1.81026612e+02] [-1.61037865e-02 -1.70790648e-04 -9.99870311e-01 -1.78301126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.91655999499994 meters 0.012903281814271736 Centerline is valid? [True, True] Translation: X:34.91, Y:-181.03, Z:-1.78 [[ 9.08859133e-01 4.16837565e-01 -1.48835695e-02 3.49099790e+01] [ 4.16785026e-01 -9.08980973e-01 -6.62055895e-03 -1.81034240e+02] [-1.62885791e-02 -1.86093423e-04 -9.99867315e-01 -1.78266649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.946559995 meters 0.01308116763886571 Centerline is valid? [True, True] Translation: X:34.91, Y:-181.04, Z:-1.78 [[ 8.73151291e-01 4.87245954e-01 -1.40784675e-02 3.49120922e+01] [ 4.87186182e-01 -8.73264761e-01 -7.63418899e-03 -1.81039859e+02] [-1.60139573e-02 -1.93032875e-04 -9.99871750e-01 -1.78321573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.97655999499995 meters 0.012837756570736669 Centerline is valid? [True, True] Translation: X:34.92, Y:-181.05, Z:-1.79 [[ 8.31914989e-01 5.54781193e-01 -1.16309338e-02 3.49155991e+01] [ 5.54729963e-01 -8.31996272e-01 -7.54138629e-03 -1.81045813e+02] [-1.38607128e-02 -1.78235184e-04 -9.99903920e-01 -1.78650400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.006559995 meters 0.013205844197212298 Centerline is valid? [True, True] Translation: X:34.92, Y:-181.05, Z:-1.79 [[ 7.85736967e-01 6.18482062e-01 -9.86700471e-03 3.49198659e+01] [ 6.18435914e-01 -7.85798900e-01 -7.55705278e-03 -1.81053600e+02] [-1.24273830e-02 -1.64254341e-04 -9.99922764e-01 -1.78678587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.03655999499995 meters 0.013058687156115028 Centerline is valid? [True, True] Translation: X:34.92, Y:-181.06, Z:-1.79 [[ 7.34716023e-01 6.78325222e-01 -8.20116497e-03 3.49242320e+01] [ 6.78285219e-01 -7.34761779e-01 -7.36825283e-03 -1.81059309e+02] [-1.10239743e-02 -1.49155559e-04 -9.99939223e-01 -1.78819718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.066559995 meters 0.01304989175081363 Centerline is valid? [True, True] Translation: X:34.93, Y:-181.06, Z:-1.79 [[ 6.79304535e-01 7.33819237e-01 -7.39432848e-03 3.49291698e+01] [ 7.33778091e-01 -6.79344762e-01 -7.77223018e-03 -1.81064426e+02] [-1.07267103e-02 -1.46085022e-04 -9.99942457e-01 -1.78852406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.09655999499995 meters 0.01362833738030887 Centerline is valid? [True, True] Translation: X:34.93, Y:-181.07, Z:-1.79 [[ 6.19706119e-01 7.84804564e-01 -6.79143079e-03 3.49334621e+01] [ 7.84760027e-01 -6.19743314e-01 -8.36212266e-03 -1.81069948e+02] [-1.07715759e-02 -1.47584832e-04 -9.99941974e-01 -1.78777025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.126559995 meters 0.013705188406257493 Centerline is valid? [True, True] Translation: X:34.93, Y:-181.07, Z:-1.79 [[ 5.56588130e-01 8.30761330e-01 -6.72797294e-03 3.49334796e+01] [ 8.30704063e-01 -5.56628769e-01 -9.75567595e-03 -1.81072458e+02] [-1.18496216e-02 -1.59061024e-04 -9.99929778e-01 -1.78647264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.15655999499995 meters 0.013202203264192925 Centerline is valid? [True, True] Translation: X:34.94, Y:-181.08, Z:-1.79 [[ 4.89535999e-01 8.71959542e-01 -6.40796051e-03 3.49381408e+01] [ 8.71889495e-01 -4.89577905e-01 -1.10536259e-02 -1.81076674e+02] [-1.27755104e-02 -1.75885672e-04 -9.99918374e-01 -1.78698802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.186559995 meters 0.013766648410289928 Centerline is valid? [True, True] Translation: X:34.94, Y:-181.08, Z:-1.79 [[ 4.19365538e-01 9.07798981e-01 -5.79271527e-03 3.49444190e+01] [ 9.07718555e-01 -4.19405500e-01 -1.20851415e-02 -1.81081498e+02] [-1.34003758e-02 -1.90063251e-04 -9.99910193e-01 -1.78569165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.21655999499995 meters 0.013636134919707058 Centerline is valid? [True, True] Translation: X:34.95, Y:-181.08, Z:-1.79 [[ 3.46533534e-01 9.38025608e-01 -4.74016661e-03 3.49487398e+01] [ 9.37945347e-01 -3.46565899e-01 -1.22721021e-02 -1.81084623e+02] [-1.31543262e-02 -1.93322289e-04 -9.99913459e-01 -1.78695630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.246559995 meters 0.014003167219292482 Centerline is valid? [True, True] Translation: X:34.95, Y:-181.09, Z:-1.79 [[ 2.71822513e-01 9.62340647e-01 -3.60563274e-03 3.49538582e+01] [ 9.62264919e-01 -2.71846361e-01 -1.20739894e-02 -1.81088651e+02] [-1.25994690e-02 -1.87591751e-04 -9.99920606e-01 -1.78674839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.27655999499996 meters 0.013766747258456266 Centerline is valid? [True, True] Translation: X:34.96, Y:-181.09, Z:-1.79 [[ 1.95175603e-01 9.80764961e-01 -2.56440566e-03 3.49588586e+01] [ 9.80692444e-01 -1.95192359e-01 -1.19278231e-02 -1.81090625e+02] [-1.21989434e-02 -1.86873192e-04 -9.99925573e-01 -1.78793514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.306559995 meters 0.014001841784161993 Centerline is valid? [True, True] Translation: X:34.96, Y:-181.09, Z:-1.79 [[ 1.17460288e-01 9.93076297e-01 -1.59661551e-03 3.49643399e+01] [ 9.93004972e-01 -1.17470990e-01 -1.19034562e-02 -1.81094165e+02] [-1.20085962e-02 -1.87263739e-04 -9.99927877e-01 -1.78758221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.33655999499996 meters 0.01378737738104639 Centerline is valid? [True, True] Translation: X:34.97, Y:-181.10, Z:-1.79 [[ 3.88514320e-02 9.99244752e-01 -7.01930117e-04 3.49705763e+01] [ 9.99163204e-01 -3.88572300e-02 -1.27674070e-02 -1.81096224e+02] [-1.27850395e-02 -2.05310700e-04 -9.99918247e-01 -1.78846699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.366559995 meters 0.013904048507320951 Centerline is valid? [True, True] Translation: X:34.98, Y:-181.10, Z:-1.79 [[-3.96807173e-02 9.99212361e-01 3.13188092e-04 3.49773746e+01] [ 9.99123373e-01 3.96813636e-02 -1.33369856e-02 -1.81097190e+02] [-1.33389086e-02 -2.16307613e-04 -9.99911009e-01 -1.78787581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.39655999499996 meters 0.013653399926367283 Centerline is valid? [True, True] Translation: X:34.99, Y:-181.10, Z:-1.79 [[-1.17868292e-01 9.93028252e-01 1.39899837e-03 3.49855698e+01] [ 9.92933951e-01 1.17876381e-01 -1.36867708e-02 -1.81098198e+02] [-1.37562590e-02 -2.24123320e-04 -9.99905353e-01 -1.78770708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.42655999499993 meters 0.013714793187547567 Centerline is valid? [True, True] Translation: X:34.99, Y:-181.10, Z:-1.79 [[-1.95244425e-01 9.80751227e-01 2.57784671e-03 3.49941478e+01] [ 9.80649262e-01 1.95261303e-01 -1.41438677e-02 -1.81098357e+02] [-1.43749694e-02 -2.33547861e-04 -9.99896648e-01 -1.78676946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.45655999499996 meters 0.014319663449820282 Centerline is valid? [True, True] Translation: X:35.00, Y:-181.10, Z:-1.79 [[-2.71406771e-01 9.62456987e-01 3.86172405e-03 3.50023616e+01] [ 9.62346374e-01 2.71434133e-01 -1.45934301e-02 -1.81098656e+02] [-1.50937525e-02 -2.44439596e-04 -9.99886053e-01 -1.78557508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.48655999499994 meters 0.013988037317134137 Centerline is valid? [True, True] Translation: X:35.01, Y:-181.10, Z:-1.79 [[-3.45927519e-01 9.38248317e-01 4.92413133e-03 3.50082208e+01] [ 9.38143168e-01 3.45962480e-01 -1.40484451e-02 -1.81098947e+02] [-1.48844947e-02 -2.40203604e-04 -9.99889191e-01 -1.78663594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.51655999499997 meters 0.013838331537603894 Centerline is valid? [True, True] Translation: X:35.02, Y:-181.10, Z:-1.79 [[-4.18236385e-01 9.08320508e-01 5.67279498e-03 3.50154175e+01] [ 9.08229547e-01 4.18274795e-01 -1.28563887e-02 -1.81098135e+02] [-1.40505087e-02 -2.24809516e-04 -9.99901261e-01 -1.78765735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.54655999499994 meters 0.013525221343674065 Centerline is valid? [True, True] Translation: X:35.02, Y:-181.09, Z:-1.79 [[-4.88218142e-01 8.72696738e-01 6.59165544e-03 3.50247759e+01] [ 8.72610896e-01 4.88262587e-01 -1.22421606e-02 -1.81094514e+02] [-1.39021524e-02 -2.24894558e-04 -9.99903335e-01 -1.78914587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.57655999499997 meters 0.013847390013378008 Centerline is valid? [True, True] Translation: X:35.03, Y:-181.09, Z:-1.79 [[-5.55248545e-01 8.31649597e-01 7.61578524e-03 3.50343771e+01] [ 8.31565625e-01 5.55300724e-01 -1.18201979e-02 -1.81091213e+02] [-1.40593139e-02 -2.30122485e-04 -9.99901137e-01 -1.78889003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.60655999499994 meters 0.01399175029470705 Centerline is valid? [True, True] Translation: X:35.04, Y:-181.09, Z:-1.79 [[-6.18851618e-01 7.85460864e-01 8.59687684e-03 3.50424074e+01] [ 7.85379737e-01 6.18911282e-01 -1.12912733e-02 -1.81088300e+02] [-1.41895573e-02 -2.35809868e-04 -9.99899295e-01 -1.78901235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.63655999499997 meters 0.014182741252256194 Centerline is valid? [True, True] Translation: X:35.05, Y:-181.09, Z:-1.79 [[-6.78580898e-01 7.34465219e-01 9.42375801e-03 3.50496400e+01] [ 7.34389500e-01 6.78646289e-01 -1.05487753e-02 -1.81085150e+02] [-1.41431070e-02 -2.37488492e-04 -9.99899953e-01 -1.78896052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.66655999499994 meters 0.01369538164680805 Centerline is valid? [True, True] Translation: X:35.06, Y:-181.08, Z:-1.79 [[-7.33619733e-01 6.79478460e-01 1.05408731e-02 3.50558147e+01] [ 6.79403668e-01 7.33695418e-01 -1.00840876e-02 -1.81080548e+02] [-1.45857106e-02 -2.36377824e-04 -9.99893595e-01 -1.78939996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.696559995 meters 0.013643845494172881 Centerline is valid? [True, True] Translation: X:35.53, Y:-180.60, Z:-2.80 [[-6.63154355e-01 -7.48409215e-01 1.04856734e-02 3.55337133e+01] [ 7.48322800e-01 -6.63237179e-01 -1.13768009e-02 -1.80601309e+02] [ 1.54689911e-02 3.02093474e-04 9.99880302e-01 -2.80121027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.72655999499995 meters 0.01379897294660371 Centerline is valid? [True, True] Translation: X:35.52, Y:-180.58, Z:-2.80 [[-6.64102409e-01 -7.47567063e-01 1.05582540e-02 3.55156169e+01] [ 7.47477828e-01 -6.64186298e-01 -1.15524289e-02 -1.80582256e+02] [ 1.56488630e-02 2.20064914e-04 9.99877525e-01 -2.80231337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.756559995 meters 0.013391522474703913 Centerline is valid? [True, True] Translation: X:35.50, Y:-180.56, Z:-2.80 [[-6.64969061e-01 -7.46793330e-01 1.07643051e-02 3.54980430e+01] [ 7.46700594e-01 -6.65056146e-01 -1.17705351e-02 -1.80562033e+02] [ 1.59490244e-02 2.10671327e-04 9.99872784e-01 -2.80167010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.78655999499995 meters 0.013391522474703913 Centerline is valid? [True, True] Translation: X:35.48, Y:-180.54, Z:-2.80 [[-6.65200611e-01 -7.46587033e-01 1.07679551e-02 3.54799004e+01] [ 7.46494324e-01 -6.65287725e-01 -1.17671961e-02 -1.80542356e+02] [ 1.59490244e-02 2.10671323e-04 9.99872784e-01 -2.80167028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.816559995 meters 0.013293677800529249 Centerline is valid? [True, True] Translation: X:35.46, Y:-180.52, Z:-2.80 [[-6.66138960e-01 -7.45746131e-01 1.10270225e-02 3.54618346e+01] [ 7.45648913e-01 -6.66230192e-01 -1.20428324e-02 -1.80522499e+02] [ 1.63274310e-02 2.00087461e-04 9.99866679e-01 -2.80156879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.84655999499995 meters 0.013222341620211669 Centerline is valid? [True, True] Translation: X:35.44, Y:-180.50, Z:-2.80 [[-6.66573673e-01 -7.45356018e-01 1.11330887e-02 3.54435705e+01] [ 7.45256991e-01 -6.66666609e-01 -1.21510950e-02 -1.80502674e+02] [ 1.64789503e-02 1.97412220e-04 9.99864193e-01 -2.80103649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.876559995 meters 0.013009231501128812 Centerline is valid? [True, True] Translation: X:35.43, Y:-180.48, Z:-2.80 [[-6.67145293e-01 -7.44843836e-01 1.11722019e-02 3.54251279e+01] [ 7.44744168e-01 -6.67238805e-01 -1.21860872e-02 -1.80482913e+02] [ 1.65312586e-02 1.90541515e-04 9.99863331e-01 -2.80044363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.90655999499995 meters 0.013664904445342558 Centerline is valid? [True, True] Translation: X:35.41, Y:-180.47, Z:-2.80 [[-6.67546882e-01 -7.44479941e-01 1.14357945e-02 3.54060233e+01] [ 7.44375564e-01 -6.67644801e-01 -1.24675202e-02 -1.80465176e+02] [ 1.69168675e-02 1.89871759e-04 9.99856882e-01 -2.80259556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.936559995 meters 0.013299907150729014 Centerline is valid? [True, True] Translation: X:35.39, Y:-180.44, Z:-2.80 [[-6.68168239e-01 -7.43910160e-01 1.22015550e-02 3.53881645e+01] [ 7.43791388e-01 -6.68279609e-01 -1.32941861e-02 -1.80444555e+02] [ 1.80437305e-02 1.92658593e-04 9.99837180e-01 -2.80139580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.96655999499995 meters 0.013401557351702531 Centerline is valid? [True, True] Translation: X:35.37, Y:-180.42, Z:-2.80 [[-6.68458360e-01 -7.43645921e-01 1.24163187e-02 3.53701226e+01] [ 7.43523044e-01 -6.68573636e-01 -1.35194551e-02 -1.80424790e+02] [ 1.83549110e-02 1.94626261e-04 9.99831516e-01 -2.80157765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.996559995 meters 0.0136458117484746 Centerline is valid? [True, True] Translation: X:35.35, Y:-180.41, Z:-2.80 [[-6.68543361e-01 -7.43559679e-01 1.29915004e-02 3.53514255e+01] [ 7.43425293e-01 -6.68669546e-01 -1.41376347e-02 -1.80405529e+02] [ 1.91991958e-02 2.06588137e-04 9.99815657e-01 -2.80223430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.02655999499996 meters 0.013686583187808465 Centerline is valid? [True, True] Translation: X:35.33, Y:-180.39, Z:-2.80 [[-6.68746712e-01 -7.43371516e-01 1.32900324e-02 3.53323051e+01] [ 7.43231016e-01 -6.68878722e-01 -1.44538015e-02 -1.80385662e+02] [ 1.96339642e-02 2.11631992e-04 9.99807213e-01 -2.80251699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.056559995 meters 0.013865425574044328 Centerline is valid? [True, True] Translation: X:35.31, Y:-180.37, Z:-2.80 [[-6.68932664e-01 -7.43205517e-01 1.32155810e-02 3.53141023e+01] [ 7.43066731e-01 -6.69063162e-01 -1.43637738e-02 -1.80367071e+02] [ 1.95172943e-02 2.11661111e-04 9.99809497e-01 -2.80253213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.08655999499996 meters 0.013055017056735898 Centerline is valid? [True, True] Translation: X:35.30, Y:-180.35, Z:-2.80 [[-6.69288133e-01 -7.42901118e-01 1.23013463e-02 3.52956957e+01] [ 7.42780973e-01 -6.69401143e-01 -1.33617052e-02 -1.80347006e+02] [ 1.81609610e-02 1.94375215e-04 9.99835057e-01 -2.79903096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.116559995 meters 0.01314766709633716 Centerline is valid? [True, True] Translation: X:35.28, Y:-180.33, Z:-2.80 [[-6.69709111e-01 -7.42531758e-01 1.16745505e-02 3.52771107e+01] [ 7.42423633e-01 -6.69810836e-01 -1.26725519e-02 -1.80327895e+02] [ 1.72295127e-02 1.80538748e-04 9.99851545e-01 -2.79848751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.14655999499996 meters 0.013030305556402116 Centerline is valid? [True, True] Translation: X:35.26, Y:-180.31, Z:-2.80 [[-6.70200976e-01 -7.42098861e-01 1.09513040e-02 3.52584889e+01] [ 7.42003779e-01 -6.70290424e-01 -1.18801863e-02 -1.80308073e+02] [ 1.61568269e-02 1.63796525e-04 9.99869457e-01 -2.79745791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.17655999499993 meters 0.012949556890028524 Centerline is valid? [True, True] Translation: X:35.24, Y:-180.29, Z:-2.80 [[-6.70796078e-01 -7.41563739e-01 1.07630355e-02 3.52399631e+01] [ 7.41471942e-01 -6.70882402e-01 -1.16688255e-02 -1.80288318e+02] [ 1.58739090e-02 1.53086411e-04 9.99873990e-01 -2.79682997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.20655999499996 meters 0.012681485655913208 Centerline is valid? [True, True] Translation: X:35.22, Y:-180.27, Z:-2.79 [[-6.71172102e-01 -7.41222821e-01 1.08045710e-02 3.52220866e+01] [ 7.41130388e-01 -6.71259046e-01 -1.17064781e-02 -1.80267968e+02] [ 1.59297748e-02 1.50534362e-04 9.99873102e-01 -2.79472377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.23655999499994 meters 0.01274709620806072 Centerline is valid? [True, True] Translation: X:35.20, Y:-180.25, Z:-2.79 [[-6.70975598e-01 -7.41396911e-01 1.10619484e-02 3.52029556e+01] [ 7.41300168e-01 -6.71066758e-01 -1.19777830e-02 -1.80247971e+02] [ 1.63035972e-02 1.63424106e-04 9.99867074e-01 -2.79467551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.26655999499997 meters 0.012915513955200781 Centerline is valid? [True, True] Translation: X:35.18, Y:-180.23, Z:-2.79 [[-6.70508296e-01 -7.41813557e-01 1.14573640e-02 3.51832020e+01] [ 7.41709951e-01 -6.70606153e-01 -1.23990234e-02 -1.80228440e+02] [ 1.68811425e-02 1.84392850e-04 9.99857486e-01 -2.79498230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.29655999499994 meters 0.01328500381987555 Centerline is valid? [True, True] Translation: X:35.16, Y:-180.21, Z:-2.80 [[-6.69597306e-01 -7.42634499e-01 1.15519991e-02 3.51621726e+01] [ 7.42529414e-01 -6.69696914e-01 -1.24945042e-02 -1.80209521e+02] [ 1.70151881e-02 2.11412763e-04 9.99855209e-01 -2.79543092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.32655999499997 meters 0.013787595988235042 Centerline is valid? [True, True] Translation: X:35.14, Y:-180.19, Z:-2.80 [[-6.69088985e-01 -7.43089963e-01 1.17148239e-02 3.51426955e+01] [ 7.42982070e-01 -6.69191493e-01 -1.26645054e-02 -1.80191844e+02] [ 1.72503273e-02 2.30223069e-04 9.99851176e-01 -2.79631477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.35655999499994 meters 0.013495329335694542 Centerline is valid? [True, True] Translation: X:35.12, Y:-180.17, Z:-2.80 [[-6.68687395e-01 -7.43452087e-01 1.16688503e-02 3.51235238e+01] [ 7.43345230e-01 -6.68789156e-01 -1.26069042e-02 -1.80172493e+02] [ 1.71766298e-02 2.43906278e-04 9.99852441e-01 -2.79538749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.38655999499997 meters 0.01360751148216212 Centerline is valid? [True, True] Translation: X:35.10, Y:-180.15, Z:-2.80 [[-6.68226036e-01 -7.43863503e-01 1.18766058e-02 3.51030405e+01] [ 7.43752998e-01 -6.68331519e-01 -1.28241503e-02 -1.80153718e+02] [ 1.74769273e-02 2.63830037e-04 9.99847232e-01 -2.79597957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.41655999499994 meters 0.014439059851353651 Centerline is valid? [True, True] Translation: X:35.08, Y:-180.14, Z:-2.80 [[-6.68128953e-01 -7.43945609e-01 1.21915568e-02 3.50835943e+01] [ 7.43829334e-01 -6.68240117e-01 -1.31555179e-02 -1.80136082e+02] [ 1.79338771e-02 2.78855152e-04 9.99839136e-01 -2.79783595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.446559995 meters 0.014220919004210584 Centerline is valid? [True, True] Translation: X:35.06, Y:-180.12, Z:-2.80 [[-6.67994084e-01 -7.44064168e-01 1.23457773e-02 3.50648319e+01] [ 7.43945102e-01 -6.68108097e-01 -1.33137429e-02 -1.80115844e+02] [ 1.81545928e-02 2.91079018e-04 9.99835149e-01 -2.79718684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.47655999499995 meters 0.014386594510897419 Centerline is valid? [True, True] Translation: X:35.05, Y:-180.10, Z:-2.80 [[-6.67760210e-01 -7.44264094e-01 1.29329103e-02 3.50451806e+01] [ 7.44133615e-01 -6.67885363e-01 -1.39392894e-02 -1.80095732e+02] [ 1.90122141e-02 3.15710505e-04 9.99819202e-01 -2.79761624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.506559995 meters 0.014746864450794168 Centerline is valid? [True, True] Translation: X:35.03, Y:-180.08, Z:-2.80 [[-6.67523523e-01 -7.44467685e-01 1.34243181e-02 3.50258928e+01] [ 7.44327308e-01 -6.67658408e-01 -1.44605926e-02 -1.80076157e+02] [ 1.97283027e-02 3.39300859e-04 9.99805321e-01 -2.79809005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.53655999499995 meters 0.014824054405589152 Centerline is valid? [True, True] Translation: X:35.01, Y:-180.06, Z:-2.80 [[-6.66752053e-01 -7.45147077e-01 1.40546456e-02 3.50057933e+01] [ 7.44993528e-01 -6.66900058e-01 -1.51312496e-02 -1.80056190e+02] [ 2.06480504e-02 3.81828313e-04 9.99786733e-01 -2.79784187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.566559995 meters 0.014978241106718353 Centerline is valid? [True, True] Translation: X:34.99, Y:-180.04, Z:-2.80 [[-6.66697044e-01 -7.45189075e-01 1.44323976e-02 3.49862008e+01] [ 7.45027374e-01 -6.66853120e-01 -1.55283247e-02 -1.80036684e+02] [ 2.11958273e-02 3.99843071e-04 9.99775263e-01 -2.79776606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.59655999499995 meters 0.015042174621298988 Centerline is valid? [True, True] Translation: X:34.97, Y:-180.02, Z:-2.80 [[-6.66712115e-01 -7.45184358e-01 1.39724297e-02 3.49657349e+01] [ 7.45032990e-01 -6.66858394e-01 -1.50241577e-02 -1.80018171e+02] [ 2.05133994e-02 3.93133074e-04 9.99789501e-01 -2.79732712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.626559995 meters 0.015019937345804719 Centerline is valid? [True, True] Translation: X:34.95, Y:-180.00, Z:-2.80 [[-6.67223022e-01 -7.44735660e-01 1.34994834e-02 3.49468326e+01] [ 7.44594451e-01 -6.67359467e-01 -1.45067117e-02 -1.79998866e+02] [ 1.98126735e-02 3.72428422e-04 9.99803640e-01 -2.79639748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.65655999499995 meters 0.014868710122164145 Centerline is valid? [True, True] Translation: X:34.93, Y:-179.98, Z:-2.80 [[-6.67817041e-01 -7.44216484e-01 1.27367836e-02 3.49273315e+01] [ 7.44090826e-01 -6.67938402e-01 -1.36796887e-02 -1.79978229e+02] [ 1.86880368e-02 3.41794619e-04 9.99825305e-01 -2.79530953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.686559995 meters 0.0146054879023261 Centerline is valid? [True, True] Translation: X:34.91, Y:-179.96, Z:-2.79 [[-6.68690261e-01 -7.43443789e-01 1.20277595e-02 3.49085201e+01] [ 7.43331731e-01 -6.68798354e-01 -1.29112044e-02 -1.79957633e+02] [ 1.76429005e-02 3.07018691e-04 9.99844305e-01 -2.79378838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.71655999499995 meters 0.014300539816650897 Centerline is valid? [True, True] Translation: X:34.89, Y:-179.94, Z:-2.79 [[-6.70066379e-01 -7.42218729e-01 1.10636906e-02 3.48900877e+01] [ 7.42123850e-01 -6.70157662e-01 -1.18700962e-02 -1.79937955e+02] [ 1.62246248e-02 2.56876296e-04 9.99868339e-01 -2.79223815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.746559995 meters 0.013978249417754501 Centerline is valid? [True, True] Translation: X:34.87, Y:-179.92, Z:-2.79 [[-6.70857616e-01 -7.41508818e-01 1.07113256e-02 3.48714370e+01] [ 7.41419904e-01 -6.70943081e-01 -1.14851299e-02 -1.79918138e+02] [ 1.57030150e-02 2.36703137e-04 9.99876672e-01 -2.79161985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.77655999499996 meters 0.01303243939207258 Centerline is valid? [True, True] Translation: X:34.85, Y:-179.90, Z:-2.79 [[-6.71704958e-01 -7.40743142e-01 1.05852128e-02 3.48534730e+01] [ 7.40656314e-01 -6.71788322e-01 -1.13435247e-02 -1.79896920e+02] [ 1.55136604e-02 2.20502886e-04 9.99879632e-01 -2.79003256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.806559995 meters 0.013103061804950652 Centerline is valid? [True, True] Translation: X:34.84, Y:-179.88, Z:-2.79 [[-6.72451981e-01 -7.40063770e-01 1.06747079e-02 3.48353851e+01] [ 7.39975500e-01 -6.72536669e-01 -1.14318555e-02 -1.79878326e+02] [ 1.56394345e-02 2.11648414e-04 9.99877674e-01 -2.79030300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.83655999499996 meters 0.012908989512957329 Centerline is valid? [True, True] Translation: X:34.82, Y:-179.86, Z:-2.79 [[-6.73709452e-01 -7.38914537e-01 1.09945833e-02 3.48170650e+01] [ 7.38820869e-01 -6.73799130e-01 -1.17666968e-02 -1.79860005e+02] [ 1.61027240e-02 1.95692738e-04 9.99870324e-01 -2.79050982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.866559995 meters 0.01363583723238416 Centerline is valid? [True, True] Translation: X:34.80, Y:-179.84, Z:-2.79 [[-6.74309066e-01 -7.38366488e-01 1.10549816e-02 3.47974039e+01] [ 7.38271838e-01 -6.74399654e-01 -1.18236517e-02 -1.79842199e+02] [ 1.61856640e-02 1.88786035e-04 9.99868986e-01 -2.79314136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.89655999499996 meters 0.012538285714491374 Centerline is valid? [True, True] Translation: X:34.78, Y:-179.82, Z:-2.79 [[-6.75021138e-01 -7.37714569e-01 1.11210304e-02 3.47798896e+01] [ 7.37618819e-01 -6.75112718e-01 -1.18868164e-02 -1.79821850e+02] [ 1.62770267e-02 1.79228959e-04 9.99867504e-01 -2.79080231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.92655999499993 meters 0.012466435892564335 Centerline is valid? [True, True] Translation: X:34.76, Y:-179.80, Z:-2.79 [[-6.75564159e-01 -7.37221825e-01 1.08188915e-02 3.47599767e+01] [ 7.37131246e-01 -6.75650763e-01 -1.15573687e-02 -1.79802408e+02] [ 1.58301368e-02 1.67198937e-04 9.99874682e-01 -2.79078277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.95655999499996 meters 0.01363716070259876 Centerline is valid? [True, True] Translation: X:34.74, Y:-179.79, Z:-2.79 [[-6.75789237e-01 -7.37011488e-01 1.10893876e-02 3.47399215e+01] [ 7.36916422e-01 -6.75880195e-01 -1.18384724e-02 -1.79785408e+02] [ 1.62201876e-02 1.71639594e-04 9.99868429e-01 -2.79450058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.98655999499994 meters 0.012369059690983699 Centerline is valid? [True, True] Translation: X:34.72, Y:-179.76, Z:-2.79 [[-6.76187836e-01 -7.36647016e-01 1.10083432e-02 3.47221767e+01] [ 7.36553394e-01 -6.76277418e-01 -1.17452959e-02 -1.79763948e+02] [ 1.60968311e-02 1.66206306e-04 9.99870424e-01 -2.79147815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.01655999499997 meters 0.012486564044155242 Centerline is valid? [True, True] Translation: X:34.70, Y:-179.75, Z:-2.79 [[-6.76509784e-01 -7.36347461e-01 1.12662427e-02 3.47027600e+01] [ 7.36249477e-01 -6.76603568e-01 -1.20132873e-02 -1.79745258e+02] [ 1.64687336e-02 1.67658888e-04 9.99864367e-01 -2.79300374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.04655999499994 meters 0.013007478714635123 Centerline is valid? [True, True] Translation: X:34.68, Y:-179.73, Z:-2.79 [[-6.76249588e-01 -7.36583265e-01 1.14711731e-02 3.46840188e+01] [ 7.36481853e-01 -6.76346849e-01 -1.22237622e-02 -1.79727262e+02] [ 1.67623105e-02 1.81996609e-04 9.99859486e-01 -2.79453595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.07655999499997 meters 0.013246511988258618 Centerline is valid? [True, True] Translation: X:34.67, Y:-179.71, Z:-2.79 [[-6.75895505e-01 -7.36910029e-01 1.13523360e-02 3.46652159e+01] [ 7.36810874e-01 -6.75990807e-01 -1.20898427e-02 -1.79708085e+02] [ 1.65832010e-02 1.93054275e-04 9.99862471e-01 -2.79433889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.10655999499994 meters 0.013436852745035513 Centerline is valid? [True, True] Translation: X:34.65, Y:-179.69, Z:-2.79 [[-6.74180103e-01 -7.38464171e-01 1.23230397e-02 3.46454055e+01] [ 7.38347723e-01 -6.74292669e-01 -1.31163128e-02 -1.79688321e+02] [ 1.79952624e-02 2.55931228e-04 9.99838039e-01 -2.79355596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.13655999499997 meters 0.01431574098588007 Centerline is valid? [True, True] Translation: X:34.63, Y:-179.67, Z:-2.80 [[-6.73136724e-01 -7.39398702e-01 1.32856795e-02 3.46256787e+01] [ 7.39263653e-01 -6.73267751e-01 -1.41345919e-02 -1.79670306e+02] [ 1.93959184e-02 3.07107042e-04 9.99811834e-01 -2.79552832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.16655999499994 meters 0.015144023754859485 Centerline is valid? [True, True] Translation: X:34.61, Y:-179.65, Z:-2.80 [[-6.71484125e-01 -7.40886621e-01 1.40030472e-02 3.46052072e+01] [ 7.40737089e-01 -6.71630013e-01 -1.48892840e-02 -1.79651621e+02] [ 2.04361380e-02 3.74658561e-04 9.99791090e-01 -2.79667908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.196559995 meters 0.016203937372988413 Centerline is valid? [True, True] Translation: X:34.58, Y:-179.63, Z:-2.80 [[-6.67903422e-01 -7.44105178e-01 1.45774896e-02 3.45841451e+01] [ 7.43944081e-01 -6.68062300e-01 -1.54909129e-02 -1.79633775e+02] [ 2.12655397e-02 4.98403379e-04 9.99773739e-01 -2.79673025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.22655999499995 meters 0.01638488768393983 Centerline is valid? [True, True] Translation: X:34.56, Y:-179.61, Z:-2.80 [[-6.66788005e-01 -7.45110501e-01 1.42863040e-02 3.45639516e+01] [ 7.44956182e-01 -6.66940826e-01 -1.51730253e-02 -1.79613953e+02] [ 2.08336999e-02 5.25479195e-04 9.99782817e-01 -2.79642658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.256559995 meters 0.016085707093142075 Centerline is valid? [True, True] Translation: X:34.54, Y:-179.59, Z:-2.79 [[-6.65858918e-01 -7.45953363e-01 1.36191782e-02 3.45449463e+01] [ 7.45813461e-01 -6.65997971e-01 -1.44562445e-02 -1.79593752e+02] [ 1.98540292e-02 5.31547169e-04 9.99802748e-01 -2.79468271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.28655999499995 meters 0.017694913231135288 Centerline is valid? [True, True] Translation: X:34.52, Y:-179.58, Z:-2.79 [[-6.63519477e-01 -7.48050516e-01 1.27408507e-02 3.45243199e+01] [ 7.47928582e-01 -6.63641554e-01 -1.35175617e-02 -1.79576743e+02] [ 1.85671770e-02 5.60080931e-04 9.99827458e-01 -2.79345985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.316559995 meters 0.018357903933550166 Centerline is valid? [True, True] Translation: X:34.50, Y:-179.56, Z:-2.79 [[-6.62540299e-01 -7.48928430e-01 1.21061320e-02 3.45037041e+01] [ 7.48818616e-01 -6.62650656e-01 -1.28369792e-02 -1.79557823e+02] [ 1.76361150e-02 5.60280937e-04 9.99844315e-01 -2.79280067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.34655999499995 meters 0.019103113062767706 Centerline is valid? [True, True] Translation: X:34.48, Y:-179.54, Z:-2.79 [[-6.61826240e-01 -7.49566364e-01 1.16744980e-02 3.44830145e+01] [ 7.49464457e-01 -6.61928962e-01 -1.23724218e-02 -1.79539199e+02] [ 1.70016396e-02 5.61227912e-04 9.99855304e-01 -2.79240019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.376559995 meters 0.01908542717823587 Centerline is valid? [True, True] Translation: X:34.46, Y:-179.52, Z:-2.79 [[-6.61099302e-01 -7.50216506e-01 1.10863638e-02 3.44628887e+01] [ 7.50124806e-01 -6.61192021e-01 -1.17425405e-02 -1.79519119e+02] [ 1.61396630e-02 5.53171182e-04 9.99869594e-01 -2.79141231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.40655999499995 meters 0.02070544767942156 Centerline is valid? [True, True] Translation: X:34.44, Y:-179.50, Z:-2.79 [[-6.60063117e-01 -7.51152553e-01 9.30177262e-03 3.44411442e+01] [ 7.51088172e-01 -6.60128476e-01 -9.84650361e-03 -1.79502317e+02] [ 1.35365913e-02 4.87137523e-04 9.99908258e-01 -2.78976525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.436559995 meters 0.020506186449308864 Centerline is valid? [True, True] Translation: X:34.42, Y:-179.48, Z:-2.79 [[-6.59710317e-01 -7.51471061e-01 8.57562982e-03 3.44218438e+01] [ 7.51416437e-01 -6.59765893e-01 -9.07217410e-03 -1.79483124e+02] [ 1.24753844e-02 4.58862355e-04 9.99922074e-01 -2.78848067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.46655999499995 meters 0.020999985306593288 Centerline is valid? [True, True] Translation: X:34.40, Y:-179.46, Z:-2.79 [[-6.59541578e-01 -7.51624243e-01 8.11813318e-03 3.44015765e+01] [ 7.51575367e-01 -6.59591391e-01 -8.58285504e-03 -1.79464599e+02] [ 1.18057327e-02 4.40639170e-04 9.99930213e-01 -2.78812272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.496559995 meters 0.020776477483635456 Centerline is valid? [True, True] Translation: X:34.38, Y:-179.44, Z:-2.79 [[-6.59298291e-01 -7.51838579e-01 8.03216441e-03 3.43813921e+01] [ 7.51790803e-01 -6.59347068e-01 -8.48723248e-03 -1.79444489e+02] [ 1.16770129e-02 4.42889461e-04 9.99931723e-01 -2.78735762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.52655999499996 meters 0.020782770818112112 Centerline is valid? [True, True] Translation: X:34.36, Y:-179.43, Z:-2.79 [[-6.58637599e-01 -7.52411123e-01 8.60320921e-03 3.43601397e+01] [ 7.52356425e-01 -6.58693603e-01 -9.08551531e-03 -1.79425957e+02] [ 1.25029217e-02 4.88617732e-04 9.99921716e-01 -2.78716719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.556559995 meters 0.021767357070785132 Centerline is valid? [True, True] Translation: X:34.34, Y:-179.41, Z:-2.79 [[-6.58759082e-01 -7.52301379e-01 8.89424201e-03 3.43397389e+01] [ 7.52242967e-01 -6.58818928e-01 -9.38826456e-03 -1.79409045e+02] [ 1.29224994e-02 5.06026450e-04 9.99916373e-01 -2.78820392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.58655999499996 meters 0.021853452880872537 Centerline is valid? [True, True] Translation: X:34.32, Y:-179.39, Z:-2.79 [[-6.58814736e-01 -7.52248729e-01 9.21915852e-03 3.43197400e+01] [ 7.52186047e-01 -6.58879026e-01 -9.72517837e-03 -1.79389821e+02] [ 1.33900633e-02 5.27431579e-04 9.99910210e-01 -2.78872310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.616559995 meters 0.02184048633596 Centerline is valid? [True, True] Translation: X:34.30, Y:-179.37, Z:-2.79 [[-6.59178149e-01 -7.51923693e-01 9.74314933e-03 3.43002413e+01] [ 7.51853737e-01 -6.59249917e-01 -1.02715563e-02 -1.79370881e+02] [ 1.41465969e-02 5.54637798e-04 9.99899778e-01 -2.78927843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.64655999499996 meters 0.022115244842386014 Centerline is valid? [True, True] Translation: X:34.28, Y:-179.35, Z:-2.79 [[-6.59725675e-01 -7.51432395e-01 1.05540853e-02 3.42809645e+01] [ 7.51350358e-01 -6.59809823e-01 -1.11192442e-02 -1.79353644e+02] [ 1.53190495e-02 5.94164851e-04 9.99882480e-01 -2.78986297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.67655999499993 meters 0.021959663831619774 Centerline is valid? [True, True] Translation: X:34.26, Y:-179.33, Z:-2.79 [[-6.60504867e-01 -7.50745538e-01 1.06984961e-02 3.42617264e+01] [ 7.50661258e-01 -6.60591241e-01 -1.12644697e-02 -1.79334309e+02] [ 1.55240832e-02 5.90709430e-04 9.99879320e-01 -2.79019281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.70655999499996 meters 0.021959663831619774 Centerline is valid? [True, True] Translation: X:34.24, Y:-179.31, Z:-2.79 [[-6.60735461e-01 -7.50542549e-01 1.07019564e-02 3.42432093e+01] [ 7.50458295e-01 -6.60821862e-01 -1.12611823e-02 -1.79314988e+02] [ 1.55240832e-02 5.90709435e-04 9.99879320e-01 -2.79019299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.73655999499994 meters 0.021467638463907236 Centerline is valid? [True, True] Translation: X:34.22, Y:-179.29, Z:-2.79 [[-6.62077009e-01 -7.49357986e-01 1.08001529e-02 3.42232303e+01] [ 7.49272112e-01 -6.62164845e-01 -1.13587180e-02 -1.79294521e+02] [ 1.56632277e-02 5.71907355e-04 9.99877161e-01 -2.79039262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.76655999499997 meters 0.018712851631022334 Centerline is valid? [True, True] Translation: X:34.21, Y:-179.27, Z:-2.79 [[-6.64804042e-01 -7.46936838e-01 1.09975142e-02 3.42058907e+01] [ 7.46847533e-01 -6.64894790e-01 -1.15620183e-02 -1.79271958e+02] [ 1.59482873e-02 5.26989820e-04 9.99872679e-01 -2.78928068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.79655999499994 meters 0.019552265393121552 Centerline is valid? [True, True] Translation: X:34.19, Y:-179.25, Z:-2.79 [[-6.66892253e-01 -7.45073503e-01 1.09634322e-02 3.41863141e+01] [ 7.44984596e-01 -6.66982188e-01 -1.15200968e-02 -1.79253508e+02] [ 1.58957329e-02 4.84924756e-04 9.99873537e-01 -2.79069556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.82655999499997 meters 0.01681813145927079 Centerline is valid? [True, True] Translation: X:34.17, Y:-179.23, Z:-2.79 [[-6.69279132e-01 -7.42934397e-01 1.06735714e-02 3.41700289e+01] [ 7.42849955e-01 -6.69364101e-01 -1.12091390e-02 -1.79230188e+02] [ 1.54721605e-02 4.26819185e-04 9.99880208e-01 -2.78877182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.85655999499994 meters 0.015222303540656767 Centerline is valid? [True, True] Translation: X:34.15, Y:-179.21, Z:-2.79 [[-6.74113095e-01 -7.38564078e-01 9.72819016e-03 3.41538719e+01] [ 7.38493548e-01 -6.74183219e-01 -1.02111161e-02 -1.79209660e+02] [ 1.41001461e-02 3.00758560e-04 9.99900543e-01 -2.78706930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.88655999499997 meters 0.013332532306430226 Centerline is valid? [True, True] Translation: X:34.14, Y:-179.19, Z:-2.78 [[-6.78230924e-01 -7.34796711e-01 8.75253814e-03 3.41363881e+01] [ 7.34739372e-01 -6.78287367e-01 -9.18169760e-03 -1.79187620e+02] [ 1.26834172e-02 2.03523126e-04 9.99919542e-01 -2.78477542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.91655999499994 meters 0.012056832632478693 Centerline is valid? [True, True] Translation: X:34.12, Y:-179.17, Z:-2.79 [[-6.85951717e-01 -7.27582143e-01 9.71943132e-03 3.41155373e+01] [ 7.27510784e-01 -6.86020567e-01 -1.01901887e-02 -1.79169587e+02] [ 1.40819291e-02 8.10136525e-05 9.99900841e-01 -2.78758034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.946559995 meters 0.011820797429913602 Centerline is valid? [True, True] Translation: X:34.10, Y:-179.15, Z:-2.79 [[-6.87086085e-01 -7.26512090e-01 9.63826320e-03 3.40965664e+01] [ 7.26441892e-01 -6.87153680e-01 -1.00994105e-02 -1.79148349e+02] [ 1.39603119e-02 6.24737188e-05 9.99902548e-01 -2.78651083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.97655999499995 meters 0.011820797429913602 Centerline is valid? [True, True] Translation: X:34.08, Y:-179.13, Z:-2.79 [[-6.87290308e-01 -7.26318857e-01 9.64110242e-03 3.40774805e+01] [ 7.26248678e-01 -6.87357923e-01 -1.00967002e-02 -1.79128452e+02] [ 1.39603119e-02 6.24737215e-05 9.99902548e-01 -2.78651101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.006559995 meters 0.011896307733706485 Centerline is valid? [True, True] Translation: X:34.06, Y:-179.11, Z:-2.79 [[-6.88673942e-01 -7.25004187e-01 9.85550431e-03 3.40593092e+01] [ 7.24930804e-01 -6.88744457e-01 -1.03151102e-02 -1.79108701e+02] [ 1.42664220e-02 4.08110757e-05 9.99898229e-01 -2.78687112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.03655999499995 meters 0.011896307733706485 Centerline is valid? [True, True] Translation: X:34.04, Y:-179.09, Z:-2.79 [[-6.88898207e-01 -7.24791050e-01 9.85869546e-03 3.40407536e+01] [ 7.24717690e-01 -6.88968745e-01 -1.03120603e-02 -1.79089439e+02] [ 1.42664220e-02 4.08111627e-05 9.99898229e-01 -2.78687129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.066559995 meters 0.011896307733706485 Centerline is valid? [True, True] Translation: X:34.02, Y:-179.07, Z:-2.79 [[-6.89122406e-01 -7.24577844e-01 9.86188561e-03 3.40221920e+01] [ 7.24504506e-01 -6.89192967e-01 -1.03090094e-02 -1.79070183e+02] [ 1.42664220e-02 4.08111627e-05 9.99898229e-01 -2.78687147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.09655999499995 meters 0.011896307733706485 Centerline is valid? [True, True] Translation: X:34.00, Y:-179.05, Z:-2.79 [[-6.89346539e-01 -7.24364569e-01 9.86507481e-03 3.40036245e+01] [ 7.24291252e-01 -6.89417123e-01 -1.03059576e-02 -1.79050932e+02] [ 1.42664220e-02 4.08111627e-05 9.99898229e-01 -2.78687165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.126559995 meters 0.01177499266944854 Centerline is valid? [True, True] Translation: X:33.99, Y:-179.03, Z:-2.79 [[-6.90941066e-01 -7.22845967e-01 9.70319930e-03 3.39854201e+01] [ 7.22774975e-01 -6.91009195e-01 -1.01305277e-02 -1.79030743e+02] [ 1.40278111e-02 1.36320088e-05 9.99901605e-01 -2.78610199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.15655999499995 meters 0.01177499266944854 Centerline is valid? [True, True] Translation: X:33.97, Y:-179.01, Z:-2.79 [[-6.91165669e-01 -7.22631168e-01 9.70634738e-03 3.39668439e+01] [ 7.22560197e-01 -6.91233821e-01 -1.01275115e-02 -1.79011500e+02] [ 1.40278111e-02 1.36320039e-05 9.99901605e-01 -2.78610217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.186559995 meters 0.01177499266944854 Centerline is valid? [True, True] Translation: X:33.95, Y:-178.99, Z:-2.79 [[-6.91390206e-01 -7.22416299e-01 9.70949451e-03 3.39482617e+01] [ 7.22345350e-01 -6.91458379e-01 -1.01244943e-02 -1.78992264e+02] [ 1.40278111e-02 1.36320039e-05 9.99901605e-01 -2.78610235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.21655999499995 meters 0.011802436308277776 Centerline is valid? [True, True] Translation: X:33.93, Y:-178.97, Z:-2.79 [[-6.92922921e-01 -7.20949694e-01 9.45329366e-03 3.39297086e+01] [ 7.20882386e-01 -6.92987401e-01 -9.85122524e-03 -1.78972290e+02] [ 1.36532512e-02 -1.14268697e-05 9.99906790e-01 -2.78576613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.246559995 meters 0.011890768001386703 Centerline is valid? [True, True] Translation: X:33.91, Y:-178.95, Z:-2.79 [[-6.94464978e-01 -7.19466932e-01 9.25897549e-03 3.39110227e+01] [ 7.19402311e-01 -6.94526697e-01 -9.64273920e-03 -1.78952338e+02] [ 1.33682376e-02 -3.56163045e-05 9.99910641e-01 -2.78580658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.27655999499996 meters 0.012034887493300166 Centerline is valid? [True, True] Translation: X:33.89, Y:-178.93, Z:-2.79 [[-6.96063976e-01 -7.17922032e-01 9.10473130e-03 3.38931734e+01] [ 7.17859495e-01 -6.96123518e-01 -9.47593728e-03 -1.78933083e+02] [ 1.31410017e-02 -5.99407676e-05 9.99913652e-01 -2.78561316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.306559995 meters 0.012283449317673806 Centerline is valid? [True, True] Translation: X:33.87, Y:-178.91, Z:-2.78 [[-6.99151242e-01 -7.14925604e-01 8.30186149e-03 3.38745518e+01] [ 7.14873456e-01 -6.99200522e-01 -8.63550704e-03 -1.78911411e+02] [ 1.19784110e-02 -1.02745056e-04 9.99928251e-01 -2.78430817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.33655999499996 meters 0.01322369496455627 Centerline is valid? [True, True] Translation: X:33.86, Y:-178.89, Z:-2.78 [[-7.01643217e-01 -7.12482290e-01 8.11065763e-03 3.38575730e+01] [ 7.12432411e-01 -7.01690080e-01 -8.43165717e-03 -1.78889764e+02] [ 1.16985744e-02 -1.37719691e-04 9.99931560e-01 -2.78443501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.366559995 meters 0.012831469759305372 Centerline is valid? [True, True] Translation: X:33.84, Y:-178.87, Z:-2.78 [[-7.02415415e-01 -7.11723553e-01 7.88468963e-03 3.38371198e+01] [ 7.11676419e-01 -7.02459653e-01 -8.19217141e-03 -1.78869937e+02] [ 1.13692377e-02 -1.42959807e-04 9.99935358e-01 -2.78336670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.39655999499996 meters 0.013001011971939806 Centerline is valid? [True, True] Translation: X:33.82, Y:-178.85, Z:-2.78 [[-7.02732505e-01 -7.11411429e-01 7.79775978e-03 3.38189185e+01] [ 7.11365369e-01 -7.02775753e-01 -8.09653160e-03 -1.78851565e+02] [ 1.12400416e-02 -1.42639679e-04 9.99936819e-01 -2.78339398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.42655999499993 meters 0.012917352785454611 Centerline is valid? [True, True] Translation: X:33.80, Y:-178.83, Z:-2.78 [[-7.02598572e-01 -7.11542517e-01 7.90524224e-03 3.37986577e+01] [ 7.11495245e-01 -7.02643030e-01 -8.20304850e-03 -1.78832755e+02] [ 1.13913811e-02 -1.38907906e-04 9.99935107e-01 -2.78328558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.45655999499996 meters 0.012873132604828974 Centerline is valid? [True, True] Translation: X:33.78, Y:-178.82, Z:-2.78 [[-7.00218406e-01 -7.13885622e-01 7.84238938e-03 3.37768003e+01] [ 7.13839295e-01 -7.00262315e-01 -8.13338787e-03 -1.78815640e+02] [ 1.12980384e-02 -9.69421890e-05 9.99936170e-01 -2.78488492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.48655999499994 meters 0.012164834534659717 Centerline is valid? [True, True] Translation: X:33.76, Y:-178.80, Z:-2.78 [[-6.98642379e-01 -7.15423903e-01 8.21371083e-03 3.37553048e+01] [ 7.15373252e-01 -6.98690657e-01 -8.51336224e-03 -1.78798775e+02] [ 1.18295059e-02 -7.19266269e-05 9.99930026e-01 -2.78446454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.51655999499997 meters 0.011996594509713509 Centerline is valid? [True, True] Translation: X:33.74, Y:-178.78, Z:-2.79 [[-6.96834697e-01 -7.17186227e-01 8.08218131e-03 3.37353926e+01] [ 7.17137364e-01 -6.96881564e-01 -8.37174918e-03 -1.78781954e+02] [ 1.16364264e-02 -3.76911022e-05 9.99932294e-01 -2.78595801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.54655999499994 meters 0.011456272395095503 Centerline is valid? [True, True] Translation: X:33.71, Y:-178.76, Z:-2.78 [[-6.94696775e-01 -7.19250019e-01 8.70636862e-03 3.37132608e+01] [ 7.19193543e-01 -6.94751330e-01 -9.01315842e-03 -1.78763790e+02] [ 1.25314755e-02 1.52013490e-07 9.99921478e-01 -2.78373184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.57655999499997 meters 0.011585893658344424 Centerline is valid? [True, True] Translation: X:33.69, Y:-178.75, Z:-2.78 [[-6.92777466e-01 -7.21096030e-01 8.93857686e-03 3.36925614e+01] [ 7.21036727e-01 -6.92835127e-01 -9.24798455e-03 -1.78746253e+02] [ 1.28616450e-02 3.82469028e-05 9.99917285e-01 -2.78436605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.60655999499994 meters 0.011970726805340302 Centerline is valid? [True, True] Translation: X:33.67, Y:-178.73, Z:-2.78 [[-6.89352218e-01 -7.24367175e-01 9.25821290e-03 3.36698726e+01] [ 7.24303919e-01 -6.89414378e-01 -9.57332588e-03 -1.78729595e+02] [ 1.33173481e-02 1.06366455e-04 9.99911315e-01 -2.78476849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.63655999499997 meters 0.012226934189016193 Centerline is valid? [True, True] Translation: X:33.65, Y:-178.71, Z:-2.78 [[-6.88342802e-01 -7.25323284e-01 9.50375148e-03 3.36486486e+01] [ 7.25256794e-01 -6.88408394e-01 -9.82176464e-03 -1.78710445e+02] [ 1.36664169e-02 1.31919339e-04 9.99906602e-01 -2.78491906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.66655999499994 meters 0.012333220057576429 Centerline is valid? [True, True] Translation: X:33.63, Y:-178.69, Z:-2.78 [[-6.87636711e-01 -7.25993413e-01 9.45083243e-03 3.36281230e+01] [ 7.25927798e-01 -6.87701638e-01 -9.76160042e-03 -1.78691010e+02] [ 1.35862105e-02 1.48187170e-04 9.99907692e-01 -2.78438354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.696559995 meters 0.012729986977202479 Centerline is valid? [True, True] Translation: X:33.61, Y:-178.67, Z:-2.78 [[-6.86731643e-01 -7.26857171e-01 8.84890535e-03 3.36084720e+01] [ 7.26799797e-01 -6.86788634e-01 -9.13384334e-03 -1.78672937e+02] [ 1.27163271e-02 1.58883361e-04 9.99919132e-01 -2.78349345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.72655999499995 meters 0.013070168472009334 Centerline is valid? [True, True] Translation: X:33.59, Y:-178.65, Z:-2.78 [[-6.86536550e-01 -7.27045807e-01 8.48286870e-03 3.35896183e+01] [ 7.26993166e-01 -6.86588937e-01 -8.75029806e-03 -1.78654748e+02] [ 1.21861113e-02 1.59588127e-04 9.99925734e-01 -2.78346486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.756559995 meters 0.012729728613040711 Centerline is valid? [True, True] Translation: X:33.57, Y:-178.63, Z:-2.78 [[-6.86346823e-01 -7.27226290e-01 8.36434615e-03 3.35710414e+01] [ 7.27175181e-01 -6.86397769e-01 -8.62315923e-03 -1.78634133e+02] [ 1.20122566e-02 1.63866989e-04 9.99927837e-01 -2.78219467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.78655999499995 meters 0.013328819038404507 Centerline is valid? [True, True] Translation: X:33.55, Y:-178.62, Z:-2.78 [[-6.86147596e-01 -7.27417290e-01 8.09713318e-03 3.35510010e+01] [ 7.27369466e-01 -6.86195351e-01 -8.34270450e-03 -1.78615264e+02] [ 1.16248426e-02 1.65280801e-04 9.99932416e-01 -2.78268479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.816559995 meters 0.013559739887968367 Centerline is valid? [True, True] Translation: X:33.53, Y:-178.60, Z:-2.78 [[-6.84993745e-01 -7.28511370e-01 7.39955514e-03 3.35316338e+01] [ 7.28471546e-01 -6.85033689e-01 -7.61924144e-03 -1.78596096e+02] [ 1.06196486e-02 1.71232642e-04 9.99943595e-01 -2.78151399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.84655999499995 meters 0.013442794556903337 Centerline is valid? [True, True] Translation: X:33.51, Y:-178.58, Z:-2.78 [[-6.84519326e-01 -7.28957085e-01 7.40680100e-03 3.35121312e+01] [ 7.28917255e-01 -6.84559373e-01 -7.62237854e-03 -1.78575775e+02] [ 1.06267819e-02 1.81279634e-04 9.99943518e-01 -2.78119067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.876559995 meters 0.014170341285681528 Centerline is valid? [True, True] Translation: X:33.49, Y:-178.56, Z:-2.78 [[-6.84094851e-01 -7.29354814e-01 7.46926499e-03 3.34918909e+01] [ 7.29314382e-01 -6.84135599e-01 -7.68206507e-03 -1.78557432e+02] [ 1.07129412e-02 1.92181225e-04 9.99942596e-01 -2.78196937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.90655999499995 meters 0.014636176323294135 Centerline is valid? [True, True] Translation: X:33.47, Y:-178.54, Z:-2.78 [[-6.83805435e-01 -7.29627374e-01 7.34998323e-03 3.34726481e+01] [ 7.29588290e-01 -6.83844907e-01 -7.55447999e-03 -1.78539201e+02] [ 1.05382040e-02 1.96667221e-04 9.99944452e-01 -2.78238662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.936559995 meters 0.01409848448971627 Centerline is valid? [True, True] Translation: X:33.45, Y:-178.52, Z:-2.78 [[-6.83090074e-01 -7.30292964e-01 7.75483334e-03 3.34542431e+01] [ 7.30249544e-01 -6.83134056e-01 -7.96649469e-03 -1.78518208e+02] [ 1.11154658e-02 2.21130062e-04 9.99938197e-01 -2.78157924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.96655999499995 meters 0.014653644844120297 Centerline is valid? [True, True] Translation: X:33.43, Y:-178.50, Z:-2.78 [[-6.82922137e-01 -7.30444587e-01 8.24982593e-03 3.34345285e+01] [ 7.30395519e-01 -6.82971923e-01 -8.46990363e-03 -1.78499108e+02] [ 1.18211947e-02 2.41351198e-04 9.99930098e-01 -2.78225372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.996559995 meters 0.015137452045072362 Centerline is valid? [True, True] Translation: X:33.42, Y:-178.48, Z:-2.78 [[-6.82792861e-01 -7.30561528e-01 8.58849746e-03 3.34161967e+01] [ 7.30508429e-01 -6.82846826e-01 -8.81182248e-03 -1.78480752e+02] [ 1.23022067e-02 2.57320298e-04 9.99924292e-01 -2.78274624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.02655999499996 meters 0.014640710302719588 Centerline is valid? [True, True] Translation: X:33.40, Y:-178.46, Z:-2.78 [[-6.82730711e-01 -7.30615187e-01 8.95685190e-03 3.33977926e+01] [ 7.30557506e-01 -6.82789407e-01 -9.18455610e-03 -1.78459069e+02] [ 1.28260198e-02 2.72916878e-04 9.99917706e-01 -2.78269708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.056559995 meters 0.01544253464294644 Centerline is valid? [True, True] Translation: X:33.38, Y:-178.44, Z:-2.78 [[-6.82953549e-01 -7.30399134e-01 9.56843868e-03 3.33782534e+01] [ 7.30333366e-01 -6.83020512e-01 -9.80583839e-03 -1.78440131e+02] [ 1.36976158e-02 2.91217912e-04 9.99906141e-01 -2.78409472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.08655999499996 meters 0.015025590617542014 Centerline is valid? [True, True] Translation: X:33.36, Y:-178.42, Z:-2.78 [[-6.83400368e-01 -7.29976561e-01 9.90743275e-03 3.33605993e+01] [ 7.29906096e-01 -6.83472115e-01 -1.01469237e-02 -1.78419275e+02] [ 1.41784705e-02 2.97084180e-04 9.99899436e-01 -2.78427176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.116559995 meters 0.015241248700504776 Centerline is valid? [True, True] Translation: X:33.34, Y:-178.40, Z:-2.79 [[-6.84290670e-01 -7.29137557e-01 1.02324370e-02 3.33426430e+01] [ 7.29062392e-01 -6.84367107e-01 -1.04733182e-02 -1.78399430e+02] [ 1.46392330e-02 2.93291096e-04 9.99892798e-01 -2.78512196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.14655999499996 meters 0.01405749433084529 Centerline is valid? [True, True] Translation: X:33.33, Y:-178.38, Z:-2.78 [[-6.86116321e-01 -7.27425227e-01 9.84550790e-03 3.33276433e+01] [ 7.27355542e-01 -6.86186911e-01 -1.00716640e-02 -1.78375180e+02] [ 1.40822411e-02 2.50851696e-04 9.99900809e-01 -2.78381167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.17655999499993 meters 0.015123895066321271 Centerline is valid? [True, True] Translation: X:33.31, Y:-178.36, Z:-2.79 [[-6.87383278e-01 -7.26231095e-01 9.62416161e-03 3.33091723e+01] [ 7.26164481e-01 -6.87450613e-01 -9.83876651e-03 -1.78356312e+02] [ 1.37613540e-02 2.25720747e-04 9.99905283e-01 -2.78542997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.20655999499996 meters 0.01371624478825138 Centerline is valid? [True, True] Translation: X:33.29, Y:-178.33, Z:-2.78 [[-6.88648739e-01 -7.25035443e-01 9.30168721e-03 3.32934561e+01] [ 7.24973186e-01 -6.88711527e-01 -9.50328629e-03 -1.78333383e+02] [ 1.32963986e-02 1.99047694e-04 9.99911579e-01 -2.78329350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.23655999499994 meters 0.012934205189446808 Centerline is valid? [True, True] Translation: X:33.28, Y:-178.31, Z:-2.78 [[-6.90588395e-01 -7.23189078e-01 9.23178292e-03 3.32784458e+01] [ 7.23127658e-01 -6.90650078e-01 -9.42661368e-03 -1.78308765e+02] [ 1.31931556e-02 1.65847549e-04 9.99912953e-01 -2.78194445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.26655999499997 meters 0.012791523883434632 Centerline is valid? [True, True] Translation: X:33.26, Y:-178.29, Z:-2.78 [[-6.91384429e-01 -7.22428019e-01 9.23735158e-03 3.32604040e+01] [ 7.22366526e-01 -6.91446118e-01 -9.42703474e-03 -1.78286566e+02] [ 1.31974849e-02 1.55048536e-04 9.99912897e-01 -2.78152198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.29655999499994 meters 0.012626323225225108 Centerline is valid? [True, True] Translation: X:33.24, Y:-178.26, Z:-2.78 [[-6.92042521e-01 -7.21799586e-01 9.08331941e-03 3.32425491e+01] [ 7.21740140e-01 -6.92102114e-01 -9.26466831e-03 -1.78264615e+02] [ 1.29738183e-02 1.44251817e-04 9.99915826e-01 -2.78139157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.32655999499997 meters 0.012384234106961513 Centerline is valid? [True, True] Translation: X:33.23, Y:-178.24, Z:-2.78 [[-6.92401475e-01 -7.21454015e-01 9.18163653e-03 3.32252903e+01] [ 7.21393315e-01 -6.92462334e-01 -9.35954947e-03 -1.78242543e+02] [ 1.31104220e-02 1.43005358e-04 9.99914045e-01 -2.78027987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.35655999499994 meters 0.012955412426621082 Centerline is valid? [True, True] Translation: X:33.21, Y:-178.22, Z:-2.78 [[-6.91860627e-01 -7.21968264e-01 9.52354842e-03 3.32079403e+01] [ 7.21903063e-01 -6.91926152e-01 -9.70401010e-03 -1.78221306e+02] [ 1.35955795e-02 1.61256265e-04 9.99907563e-01 -2.78137541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.38655999499997 meters 0.012709663003383902 Centerline is valid? [True, True] Translation: X:33.19, Y:-178.20, Z:-2.78 [[-6.91308991e-01 -7.22491830e-01 9.87088521e-03 3.31893012e+01] [ 7.22421918e-01 -6.91379434e-01 -1.00524130e-02 -1.78199923e+02] [ 1.40873133e-02 1.81620315e-04 9.99900752e-01 -2.78058076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.41655999499994 meters 0.013862108493673449 Centerline is valid? [True, True] Translation: X:33.17, Y:-178.18, Z:-2.78 [[-6.90293541e-01 -7.23459161e-01 1.00831733e-02 3.31690471e+01] [ 7.23386387e-01 -6.90367148e-01 -1.02633398e-02 -1.78181019e+02] [ 1.43861988e-02 2.09313165e-04 9.99896491e-01 -2.78253080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.446559995 meters 0.01436213518567209 Centerline is valid? [True, True] Translation: X:33.15, Y:-178.16, Z:-2.78 [[-6.87554156e-01 -7.26051235e-01 1.09035479e-02 3.31501071e+01] [ 7.25966558e-01 -6.87640546e-01 -1.10921960e-02 -1.78160251e+02] [ 1.55512242e-02 2.89125707e-04 9.99879031e-01 -2.78233984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.47655999499995 meters 0.014820119622754 Centerline is valid? [True, True] Translation: X:33.13, Y:-178.14, Z:-2.78 [[-6.86263886e-01 -7.27270686e-01 1.09191365e-02 3.31304993e+01] [ 7.27186017e-01 -6.86350672e-01 -1.11018669e-02 -1.78140310e+02] [ 1.55684190e-02 3.21433082e-04 9.99878753e-01 -2.78257223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.506559995 meters 0.015294467544100377 Centerline is valid? [True, True] Translation: X:33.11, Y:-178.12, Z:-2.78 [[-6.85065064e-01 -7.28403698e-01 1.06729283e-02 3.31115038e+01] [ 7.28323039e-01 -6.85148112e-01 -1.08451060e-02 -1.78120326e+02] [ 1.52121520e-02 3.43736375e-04 9.99884229e-01 -2.78231149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.53655999499995 meters 0.015868042842347357 Centerline is valid? [True, True] Translation: X:33.09, Y:-178.10, Z:-2.78 [[-6.83122885e-01 -7.30225233e-01 1.06879571e-02 3.30939669e+01] [ 7.30144663e-01 -6.83206380e-01 -1.08542238e-02 -1.78098358e+02] [ 1.52281085e-02 3.88986140e-04 9.99883970e-01 -2.78147965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.566559995 meters 0.016573624618362547 Centerline is valid? [True, True] Translation: X:33.07, Y:-178.08, Z:-2.78 [[-6.82848254e-01 -7.30481381e-01 1.07338027e-02 3.30749784e+01] [ 7.30400248e-01 -6.82932495e-01 -1.08942674e-02 -1.78078620e+02] [ 1.52885221e-02 4.00840635e-04 9.99883043e-01 -2.78193002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.59655999499995 meters 0.016573624618362547 Centerline is valid? [True, True] Translation: X:33.06, Y:-178.06, Z:-2.78 [[-6.83076130e-01 -7.30268248e-01 1.07372016e-02 3.30561189e+01] [ 7.30187142e-01 -6.83160395e-01 -1.08909175e-02 -1.78059635e+02] [ 1.52885221e-02 4.00840723e-04 9.99883043e-01 -2.78193019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.626559995 meters 0.016409511485072508 Centerline is valid? [True, True] Translation: X:33.04, Y:-178.04, Z:-2.78 [[-6.82778058e-01 -7.30550159e-01 1.05161170e-02 3.30381780e+01] [ 7.30472482e-01 -6.82858919e-01 -1.06606600e-02 -1.78038286e+02] [ 1.49691711e-02 4.02869351e-04 9.99887875e-01 -2.78137109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.65655999499995 meters 0.016542577015381317 Centerline is valid? [True, True] Translation: X:33.02, Y:-178.02, Z:-2.78 [[-6.82685128e-01 -7.30641067e-01 1.02296701e-02 3.30195284e+01] [ 7.30567660e-01 -6.82761651e-01 -1.03644283e-02 -1.78017278e+02] [ 1.45571034e-02 3.97825088e-04 9.99893961e-01 -2.78108618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.686559995 meters 0.016771481663321063 Centerline is valid? [True, True] Translation: X:33.00, Y:-178.00, Z:-2.78 [[-6.82624742e-01 -7.30702529e-01 9.86281170e-03 3.30014584e+01] [ 7.30634388e-01 -6.82695878e-01 -9.98644210e-03 -1.77996749e+02] [ 1.40304194e-02 3.89116923e-04 9.99901493e-01 -2.78075261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.71655999499995 meters 0.017233006751458085 Centerline is valid? [True, True] Translation: X:32.99, Y:-177.98, Z:-2.78 [[-6.82585543e-01 -7.30748887e-01 9.11267385e-03 3.29853046e+01] [ 7.30690800e-01 -6.82646271e-01 -9.22081776e-03 -1.77975952e+02] [ 1.29588351e-02 3.64550047e-04 9.99915964e-01 -2.77952977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.746559995 meters 0.018657635066209943 Centerline is valid? [True, True] Translation: X:32.97, Y:-177.96, Z:-2.78 [[-6.82739208e-01 -7.30605873e-01 9.06825307e-03 3.29662525e+01] [ 7.30548415e-01 -6.82799331e-01 -9.16988705e-03 -1.77957525e+02] [ 1.28913705e-02 3.64156489e-04 9.99916837e-01 -2.78031595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.77655999499996 meters 0.016298646636412152 Centerline is valid? [True, True] Translation: X:32.95, Y:-177.93, Z:-2.78 [[-6.83109490e-01 -7.30259360e-01 9.09350416e-03 3.29503061e+01] [ 7.30201619e-01 -6.83169917e-01 -9.19019442e-03 -1.77933923e+02] [ 1.29236340e-02 3.62182437e-04 9.99916421e-01 -2.77866206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.806559995 meters 0.01700536862255192 Centerline is valid? [True, True] Translation: X:32.93, Y:-177.91, Z:-2.78 [[-6.83344620e-01 -7.30038648e-01 9.14894532e-03 3.29314174e+01] [ 7.29980253e-01 -6.83405765e-01 -9.24068569e-03 -1.77913981e+02] [ 1.29984997e-02 3.63976568e-04 9.99915450e-01 -2.77917112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.83655999499996 meters 0.01663134785580424 Centerline is valid? [True, True] Translation: X:32.92, Y:-177.89, Z:-2.78 [[-6.83889346e-01 -7.29528033e-01 9.17664877e-03 3.29150980e+01] [ 7.29469314e-01 -6.83950817e-01 -9.26282538e-03 -1.77891715e+02] [ 1.30338672e-02 3.59336089e-04 9.99914991e-01 -2.77847382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.866559995 meters 0.017227541919364 Centerline is valid? [True, True] Translation: X:32.90, Y:-177.87, Z:-2.78 [[-6.84724334e-01 -7.28742768e-01 9.30398807e-03 3.28969844e+01] [ 7.28682418e-01 -6.84787451e-01 -9.38516417e-03 -1.77872530e+02] [ 1.32106248e-02 3.53402238e-04 9.99912673e-01 -2.77905868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.89655999499996 meters 0.016099784077434225 Centerline is valid? [True, True] Translation: X:32.88, Y:-177.85, Z:-2.78 [[-6.85804635e-01 -7.27725711e-01 9.34301709e-03 3.28799321e+01] [ 7.27664837e-01 -6.85868191e-01 -9.41861324e-03 -1.77850537e+02] [ 1.32622452e-02 3.39256389e-04 9.99911995e-01 -2.77874434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.92655999499993 meters 0.015291451046067443 Centerline is valid? [True, True] Translation: X:32.86, Y:-177.83, Z:-2.78 [[-6.88221722e-01 -7.25439634e-01 9.39141332e-03 3.28636733e+01] [ 7.25377985e-01 -6.88285731e-01 -9.46212411e-03 -1.77827152e+02] [ 1.33281756e-02 3.00285111e-04 9.99911131e-01 -2.77859960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.95655999499996 meters 0.01486043047565815 Centerline is valid? [True, True] Translation: X:32.85, Y:-177.81, Z:-2.78 [[-6.89606223e-01 -7.24128534e-01 9.00688085e-03 3.28456418e+01] [ 7.24071782e-01 -6.89664988e-01 -9.06967312e-03 -1.77805088e+02] [ 1.27793395e-02 2.67125242e-04 9.99918305e-01 -2.77827696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.98655999499994 meters 0.014445554992816214 Centerline is valid? [True, True] Translation: X:32.83, Y:-177.78, Z:-2.78 [[-6.91067739e-01 -7.22734070e-01 8.99130924e-03 3.28277496e+01] [ 7.22677460e-01 -6.91126185e-01 -9.04900762e-03 -1.77783487e+02] [ 1.27541554e-02 2.44339288e-04 9.99918633e-01 -2.77804925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.01655999499997 meters 0.013892050126090984 Centerline is valid? [True, True] Translation: X:32.81, Y:-177.76, Z:-2.78 [[-6.92402526e-01 -7.21460771e-01 8.54976284e-03 3.28099474e+01] [ 7.21409545e-01 -6.92455277e-01 -8.59984973e-03 -1.77761541e+02] [ 1.21247826e-02 2.13322847e-04 9.99926469e-01 -2.77722666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.04655999499994 meters 0.013526928746773106 Centerline is valid? [True, True] Translation: X:32.79, Y:-177.74, Z:-2.78 [[-6.94608628e-01 -7.19342862e-01 8.04372634e-03 3.27931994e+01] [ 7.19297428e-01 -6.94655180e-01 -8.08649807e-03 -1.77740000e+02] [ 1.14045808e-02 1.68880334e-04 9.99934951e-01 -2.77721108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.07655999499997 meters 0.01323505138470735 Centerline is valid? [True, True] Translation: X:32.78, Y:-177.72, Z:-2.78 [[-6.95484212e-01 -7.18498098e-01 7.88630548e-03 3.27755018e+01] [ 7.18454426e-01 -6.95528906e-01 -7.92331950e-03 -1.77719360e+02] [ 1.11780434e-02 1.55407462e-04 9.99937512e-01 -2.77681382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.10655999499994 meters 0.012733488599224779 Centerline is valid? [True, True] Translation: X:32.76, Y:-177.70, Z:-2.78 [[-6.96270747e-01 -7.17735346e-01 7.93857480e-03 3.27571711e+01] [ 7.17691094e-01 -6.96315986e-01 -7.97131476e-03 -1.77697401e+02] [ 1.12490509e-02 1.47251154e-04 9.99936717e-01 -2.77652256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.13655999499997 meters 0.012775025092273302 Centerline is valid? [True, True] Translation: X:32.74, Y:-177.68, Z:-2.78 [[-6.97329542e-01 -7.16699101e-01 8.59702512e-03 3.27403436e+01] [ 7.16647195e-01 -6.97382519e-01 -8.62673778e-03 -1.77676993e+02] [ 1.21781902e-02 1.45354826e-04 9.99925833e-01 -2.77784032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.16655999499994 meters 0.012476661900628142 Centerline is valid? [True, True] Translation: X:32.72, Y:-177.66, Z:-2.78 [[-6.97758885e-01 -7.16275984e-01 9.01410753e-03 3.27219749e+01] [ 7.16218950e-01 -6.97817092e-01 -9.04006887e-03 -1.77655939e+02] [ 1.27653825e-02 1.48286256e-04 9.99918508e-01 -2.77763664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.196559995 meters 0.01344466544930877 Centerline is valid? [True, True] Translation: X:32.70, Y:-177.64, Z:-2.78 [[-6.98123388e-01 -7.15916482e-01 9.34485116e-03 3.27022601e+01] [ 7.15855229e-01 -6.98185912e-01 -9.36608972e-03 -1.77637803e+02] [ 1.32297814e-02 1.50874280e-04 9.99912471e-01 -2.78044951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.22655999499995 meters 0.01262725311732662 Centerline is valid? [True, True] Translation: X:32.68, Y:-177.62, Z:-2.78 [[-6.98587571e-01 -7.15463395e-01 9.35605613e-03 3.26844889e+01] [ 7.15402024e-01 -6.98650205e-01 -9.37204479e-03 -1.77615637e+02] [ 1.32419655e-02 1.46147487e-04 9.99912311e-01 -2.77860457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.256559995 meters 0.012663460660948039 Centerline is valid? [True, True] Translation: X:32.67, Y:-177.60, Z:-2.78 [[-6.99376517e-01 -7.14691217e-01 9.43138451e-03 3.26675660e+01] [ 7.14628867e-01 -6.99440094e-01 -9.44123685e-03 -1.77595513e+02] [ 1.33442575e-02 1.36960277e-04 9.99910952e-01 -2.77856362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.28655999499995 meters 0.01302240131094716 Centerline is valid? [True, True] Translation: X:32.65, Y:-177.58, Z:-2.78 [[-6.99821938e-01 -7.14260614e-01 9.00173061e-03 3.26490326e+01] [ 7.14203835e-01 -6.99879818e-01 -9.00680375e-03 -1.77576817e+02] [ 1.27333348e-02 1.25911670e-04 9.99918920e-01 -2.77947226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.316559995 meters 0.013134840747415097 Centerline is valid? [True, True] Translation: X:32.63, Y:-177.56, Z:-2.78 [[-7.00496916e-01 -7.13604715e-01 8.50770012e-03 3.26305536e+01] [ 7.13554012e-01 -7.00548569e-01 -8.50726110e-03 -1.77557808e+02] [ 1.20308788e-02 1.11393393e-04 9.99927620e-01 -2.77984820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.34655999499995 meters 0.012182418975132864 Centerline is valid? [True, True] Translation: X:32.12, Y:-178.07, Z:-1.81 [[-7.61169737e-01 6.48494164e-01 8.71502483e-03 3.21217855e+01] [ 6.48450103e-01 7.61219620e-01 -7.56006225e-03 -1.78066640e+02] [-1.15367041e-02 -1.03231848e-04 -9.99933445e-01 -1.81362508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.376559995 meters 0.012268098942609103 Centerline is valid? [True, True] Translation: X:32.14, Y:-178.05, Z:-1.81 [[-8.05257351e-01 5.92857554e-01 8.97320218e-03 3.21396546e+01] [ 5.92819330e-01 8.05307339e-01 -6.73294832e-03 -1.78046917e+02] [-1.12178648e-02 -1.02268433e-04 -9.99937073e-01 -1.81410827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.40655999499995 meters 0.012350990720965386 Centerline is valid? [True, True] Translation: X:32.16, Y:-178.03, Z:-1.81 [[-8.45372400e-01 5.34092040e-01 9.54975530e-03 3.21569731e+01] [ 5.34056520e-01 8.45426331e-01 -6.16055890e-03 -1.78025407e+02] [-1.13639201e-02 -1.07857386e-04 -9.99935423e-01 -1.81397600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.436559995 meters 0.012438323163944704 Centerline is valid? [True, True] Translation: X:32.17, Y:-178.00, Z:-1.81 [[-8.81398032e-01 4.72270536e-01 9.90202340e-03 3.21747975e+01] [ 4.72239253e-01 8.81453645e-01 -5.43691457e-03 -1.78004103e+02] [-1.12958692e-02 -1.15961665e-04 -9.99936193e-01 -1.81438161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.46655999499995 meters 0.013180173513029981 Centerline is valid? [True, True] Translation: X:32.53, Y:-177.37, Z:-2.78 [[-8.35303096e-01 -5.49689293e-01 1.05080548e-02 3.25268523e+01] [ 5.49648803e-01 -8.35369164e-01 -6.67479831e-03 -1.77373781e+02] [ 1.24471701e-02 2.00260027e-04 9.99922511e-01 -2.77744722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.496559995 meters 0.013015258486517694 Centerline is valid? [True, True] Translation: X:32.13, Y:-177.98, Z:-1.81 [[-8.84825082e-01 4.65788080e-01 1.12266960e-02 3.21290567e+01] [ 4.65748018e-01 8.84896284e-01 -6.11154425e-03 -1.77978426e+02] [-1.27811460e-02 -1.78836222e-04 -9.99918302e-01 -1.81340595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.52655999499996 meters 0.014146064446944972 Centerline is valid? [True, True] Translation: X:32.16, Y:-177.96, Z:-1.81 [[-9.15940971e-01 4.01137578e-01 1.18651660e-02 3.21553512e+01] [ 4.01101097e-01 9.16017797e-01 -5.41347822e-03 -1.77957734e+02] [-1.30402527e-02 -1.99295400e-04 -9.99914952e-01 -1.81166168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.556559995 meters 0.013725600394306356 Centerline is valid? [True, True] Translation: X:32.45, Y:-177.30, Z:-2.78 [[-8.71306488e-01 -4.90599674e-01 1.17031166e-02 3.24508331e+01] [ 4.90558804e-01 -8.71385053e-01 -6.33629156e-03 -1.77304522e+02] [ 1.33065034e-02 2.20214919e-04 9.99911440e-01 -2.77697959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.58655999499996 meters 0.014266469108625801 Centerline is valid? [True, True] Translation: X:32.11, Y:-177.94, Z:-1.81 [[-9.18665608e-01 3.94847689e-01 1.21984520e-02 3.21116927e+01] [ 3.94809301e-01 9.18746560e-01 -5.51128634e-03 -1.77938426e+02] [-1.33834045e-02 -2.46966893e-04 -9.99910408e-01 -1.81291509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.616559995 meters 0.014174194060017797 Centerline is valid? [True, True] Translation: X:32.12, Y:-177.91, Z:-1.81 [[-9.44546988e-01 3.28126437e-01 1.28073586e-02 3.21244368e+01] [ 3.28092524e-01 9.44633777e-01 -4.72464403e-03 -1.77914142e+02] [-1.36485442e-02 -2.60649669e-04 -9.99906820e-01 -1.81358352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.64655999499996 meters 0.014565804756687893 Centerline is valid? [True, True] Translation: X:32.38, Y:-177.24, Z:-2.78 [[-9.04102671e-01 -4.27132885e-01 1.24843664e-02 3.23753066e+01] [ 4.27096174e-01 -9.04188824e-01 -5.60616161e-03 -1.77244331e+02] [ 1.36828006e-02 2.63479455e-04 9.99906351e-01 -2.77624804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.67655999499993 meters 0.015074183186320601 Centerline is valid? [True, True] Translation: X:32.08, Y:-177.90, Z:-1.81 [[-9.46570415e-01 3.22244789e-01 1.27571793e-02 3.20797960e+01] [ 3.22211354e-01 9.46656332e-01 -4.65111923e-03 -1.77896352e+02] [-1.35754635e-02 -2.92103843e-04 -9.99907807e-01 -1.81393912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.70655999499996 meters 0.01572562663828363 Centerline is valid? [True, True] Translation: X:32.09, Y:-177.87, Z:-1.81 [[-9.67221341e-01 2.53612867e-01 1.27824423e-02 3.20876639e+01] [ 2.53586665e-01 9.67305756e-01 -3.65745282e-03 -1.77868371e+02] [-1.32921071e-02 -2.96109504e-04 -9.99911612e-01 -1.81366663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.73655999499994 meters 0.015395926685582168 Centerline is valid? [True, True] Translation: X:32.28, Y:-177.19, Z:-2.78 [[-9.32433730e-01 -3.61126075e-01 1.24618439e-02 3.22843202e+01] [ 3.61098002e-01 -9.32516955e-01 -4.51231040e-03 -1.77186506e+02] [ 1.32503937e-02 2.92516512e-04 9.99912167e-01 -2.77587266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.76655999499997 meters 0.015467114325276306 Centerline is valid? [True, True] Translation: X:32.04, Y:-177.85, Z:-1.81 [[-9.68701941e-01 2.47863253e-01 1.34296893e-02 3.20406975e+01] [ 2.47834543e-01 9.68794969e-01 -3.78787328e-03 -1.77854493e+02] [-1.39494900e-02 -3.40979287e-04 -9.99902643e-01 -1.81373984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.79655999499994 meters 0.015459518967746767 Centerline is valid? [True, True] Translation: X:32.23, Y:-177.17, Z:-2.78 [[-9.33425755e-01 -3.58527732e-01 1.31994673e-02 3.22256070e+01] [ 3.58497106e-01 -9.33519012e-01 -4.69884661e-03 -1.77171774e+02] [ 1.40066204e-02 3.45946365e-04 9.99901843e-01 -2.77669398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.82655999499997 meters 0.015089178759057917 Centerline is valid? [True, True] Translation: X:32.00, Y:-177.84, Z:-1.81 [[-9.69603357e-01 2.44276971e-01 1.40745166e-02 3.20000366e+01] [ 2.44245918e-01 9.69705438e-01 -3.91099486e-03 -1.77844099e+02] [-1.46035013e-02 -3.54470500e-04 -9.99893300e-01 -1.81360880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.85655999499994 meters 0.015187394070406111 Centerline is valid? [True, True] Translation: X:32.19, Y:-177.16, Z:-2.78 [[-9.34982750e-01 -3.54415876e-01 1.40230068e-02 3.21876317e+01] [ 3.54382024e-01 -9.35087828e-01 -4.91275161e-03 -1.77161719e+02] [ 1.48539001e-02 3.76163520e-04 9.99889604e-01 -2.77669571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.88655999499997 meters 0.015217507342480943 Centerline is valid? [True, True] Translation: X:31.95, Y:-177.83, Z:-1.81 [[-9.70163235e-01 2.42009792e-01 1.46477791e-02 3.19535538e+01] [ 2.41976824e-01 9.70273745e-01 -4.00940921e-03 -1.77832289e+02] [-1.51826717e-02 -3.45358350e-04 -9.99884677e-01 -1.81365441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.91655999499994 meters 0.015058145143099357 Centerline is valid? [True, True] Translation: X:32.15, Y:-177.15, Z:-2.78 [[-9.37063134e-01 -3.48875234e-01 1.40980083e-02 3.21463664e+01] [ 3.48840926e-01 -9.37169124e-01 -4.90324844e-03 -1.77150757e+02] [ 1.49228400e-02 3.23308912e-04 9.99888596e-01 -2.77629000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.946559995 meters 0.015909621081718336 Centerline is valid? [True, True] Translation: X:31.91, Y:-177.82, Z:-1.81 [[-9.70673023e-01 2.39994752e-01 1.40143203e-02 3.19078075e+01] [ 2.39965202e-01 9.70774138e-01 -3.77828760e-03 -1.77819585e+02] [-1.45115089e-02 -3.04532650e-04 -9.99894656e-01 -1.81306538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.97655999499995 meters 0.01563498525618931 Centerline is valid? [True, True] Translation: X:32.08, Y:-177.13, Z:-2.78 [[-9.39068087e-01 -3.43470001e-01 1.33972546e-02 3.20815243e+01] [ 3.43439228e-01 -9.39163608e-01 -4.60589863e-03 -1.77133873e+02] [ 1.41642020e-02 2.75890379e-04 9.99899645e-01 -2.77674064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.006559995 meters 0.014046317999598549 Centerline is valid? [True, True] Translation: X:31.86, Y:-177.81, Z:-1.82 [[-9.70770712e-01 2.39696070e-01 1.22482350e-02 3.18628949e+01] [ 2.39674137e-01 9.70847952e-01 -3.24991866e-03 -1.77811639e+02] [-1.26701666e-02 -2.19340700e-04 -9.99919706e-01 -1.81563376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.03655999499995 meters 0.01354838686829474 Centerline is valid? [True, True] Translation: X:31.87, Y:-177.79, Z:-1.82 [[-9.84991690e-01 1.72206835e-01 1.16694546e-02 3.18694430e+01] [ 1.72192562e-01 9.85060797e-01 -2.22458737e-03 -1.77785871e+02] [-1.18782114e-02 -1.81806790e-04 -9.99929435e-01 -1.81610152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.066559995 meters 0.013274841940376706 Centerline is valid? [True, True] Translation: X:32.01, Y:-177.08, Z:-2.77 [[-9.64012776e-01 -2.65612986e-01 1.13626369e-02 3.20090740e+01] [ 2.65596625e-01 -9.64079723e-01 -2.95306315e-03 -1.77084200e+02] [ 1.17388597e-02 1.71087395e-04 9.99931083e-01 -2.77435513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.09655999499995 meters 0.011843315847230279 Centerline is valid? [True, True] Translation: X:31.82, Y:-177.78, Z:-1.82 [[-9.84489789e-01 1.75042918e-01 1.18250633e-02 3.18206788e+01] [ 1.75029063e-01 9.84560799e-01 -2.20458405e-03 -1.77783369e+02] [-1.20283906e-02 -1.00660744e-04 -9.99927651e-01 -1.81720879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.126559995 meters 0.011603730934692321 Centerline is valid? [True, True] Translation: X:31.81, Y:-177.76, Z:-1.82 [[-9.94156613e-01 1.07265874e-01 1.21103337e-02 3.18141277e+01] [ 1.07257043e-01 9.94230369e-01 -1.37823917e-03 -1.77756411e+02] [-1.21882996e-02 -7.12670029e-05 -9.99925717e-01 -1.81692030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.15655999499995 meters 0.011427040791912629 Centerline is valid? [True, True] Translation: X:31.83, Y:-177.73, Z:-1.82 [[-9.99168177e-01 3.88678444e-02 1.23387571e-02 3.18301423e+01] [ 3.88643726e-02 9.99244359e-01 -5.21116083e-04 -1.77732090e+02] [-1.23496881e-02 -4.11445546e-05 -9.99923739e-01 -1.81723928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.186559995 meters 0.011394776974076063 Centerline is valid? [True, True] Translation: X:31.87, Y:-177.00, Z:-2.77 [[-9.93971007e-01 -1.08841256e-01 1.32370026e-02 3.18664703e+01] [ 1.08832989e-01 -9.94059138e-01 -1.34543828e-03 -1.76996499e+02] [ 1.33048026e-02 1.03295909e-04 9.99911482e-01 -2.77304102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.21655999499995 meters 0.011405895957776017 Centerline is valid? [True, True] Translation: X:31.75, Y:-177.73, Z:-1.82 [[-9.99157858e-01 3.87098570e-02 1.36059754e-02 3.17542879e+01] [ 3.87065745e-02 9.99250492e-01 -5.04600450e-04 -1.77731695e+02] [-1.36153106e-02 2.24651954e-05 -9.99907307e-01 -1.81680247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.246559995 meters 0.011504273593518783 Centerline is valid? [True, True] Translation: X:31.79, Y:-176.99, Z:-2.77 [[-9.94704911e-01 -1.01779402e-01 1.42510532e-02 3.17873686e+01] [ 1.01769279e-01 -9.94806993e-01 -1.43564785e-03 -1.76992027e+02] [ 1.43231667e-02 2.22734413e-05 9.99897418e-01 -2.77372364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.27655999499996 meters 0.011650113214752017 Centerline is valid? [True, True] Translation: X:31.68, Y:-177.73, Z:-1.82 [[-9.99288042e-01 3.48406363e-02 1.44754811e-02 3.16775636e+01] [ 3.48376277e-02 9.99392880e-01 -4.60023844e-04 -1.77729112e+02] [-1.44827202e-02 4.45950930e-05 -9.99895119e-01 -1.81611539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.306559995 meters 0.011519395669560081 Centerline is valid? [True, True] Translation: X:31.70, Y:-176.99, Z:-2.77 [[-9.95327745e-01 -9.54570351e-02 1.45132745e-02 3.17029603e+01] [ 9.54463273e-02 -9.95433550e-01 -1.43025593e-03 -1.76988563e+02] [ 1.45835283e-02 -3.83346662e-05 9.99893654e-01 -2.77351214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.33655999499996 meters 0.011540898086482258 Centerline is valid? [True, True] Translation: X:31.60, Y:-177.73, Z:-1.82 [[-9.99465177e-01 2.95948808e-02 1.39105724e-02 3.15955464e+01] [ 2.95926111e-02 9.99561975e-01 -3.69014256e-04 -1.77726206e+02] [-1.39154001e-02 4.28332605e-05 -9.99903175e-01 -1.81720251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.366559995 meters 0.011517651937959146 Centerline is valid? [True, True] Translation: X:31.59, Y:-177.70, Z:-1.82 [[-9.99026709e-01 -4.21261044e-02 1.30776689e-02 3.15928911e+01] [-4.21220597e-02 9.99112301e-01 5.84693288e-04 -1.77697840e+02] [-1.30906908e-02 3.32658597e-05 -9.99914313e-01 -1.81730062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.39655999499996 meters 0.011293919408179236 Centerline is valid? [True, True] Translation: X:31.56, Y:-176.96, Z:-2.77 [[-9.99699760e-01 -2.20134473e-02 1.07609085e-02 3.15639510e+01] [ 2.20101670e-02 -9.99757657e-01 -4.23179421e-04 -1.76961218e+02] [ 1.07676163e-02 -1.86202973e-04 9.99942010e-01 -2.77125146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.42655999499993 meters 0.011320208921705254 Centerline is valid? [True, True] Translation: X:31.49, Y:-177.70, Z:-1.82 [[-9.98616172e-01 -5.16430662e-02 9.93652365e-03 3.14938024e+01] [-5.16406062e-02 9.98665607e-01 5.04162423e-04 -1.77697466e+02] [-9.94930091e-03 -9.66335490e-06 -9.99950504e-01 -1.81946696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.45655999499996 meters 0.011237873189718282 Centerline is valid? [True, True] Translation: X:31.46, Y:-176.97, Z:-2.77 [[-9.99773469e-01 -1.92484018e-02 9.08352764e-03 3.14636379e+01] [ 1.92471526e-02 -9.99814731e-01 -2.24924540e-04 -1.76968539e+02] [ 9.08617419e-03 -5.00415444e-05 9.99958719e-01 -2.76949798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.48655999499994 meters 0.011276227927512879 Centerline is valid? [True, True] Translation: X:31.40, Y:-177.70, Z:-1.82 [[-9.98076308e-01 -6.14327723e-02 8.34849760e-03 3.13999141e+01] [-6.14309460e-02 9.98111223e-01 4.75262996e-04 -1.77697273e+02] [-8.36192587e-03 -3.85073684e-05 -9.99965038e-01 -1.82094923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.51655999499997 meters 0.011276227927512879 Centerline is valid? [True, True] Translation: X:31.36, Y:-176.98, Z:-2.77 [[-9.99850786e-01 -1.51195961e-02 8.35483745e-03 3.13628024e+01] [ 1.51193860e-02 -9.99885692e-01 -8.83031988e-05 -1.76975201e+02] [ 8.35521753e-03 3.80299899e-05 9.99965094e-01 -2.76927372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.54655999499994 meters 0.011435602143357353 Centerline is valid? [True, True] Translation: X:31.30, Y:-177.70, Z:-1.82 [[-9.97543457e-01 -6.95813562e-02 8.09234653e-03 3.13023883e+01] [-6.95795146e-02 9.97576279e-01 5.09225036e-04 -1.77699938e+02] [-8.10816551e-03 -5.50874413e-05 -9.99967127e-01 -1.82134833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.57655999499997 meters 0.012034087849197806 Centerline is valid? [True, True] Translation: X:31.26, Y:-176.99, Z:-2.77 [[-9.99848745e-01 -1.52109726e-02 8.43283823e-03 3.12609813e+01] [ 1.52111075e-02 -9.99884303e-01 -4.81372090e-05 -1.76987055e+02] [ 8.43259479e-03 8.01428811e-05 9.99964442e-01 -2.77012493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.60655999499994 meters 0.01246918590708457 Centerline is valid? [True, True] Translation: X:31.21, Y:-177.70, Z:-1.82 [[-9.96632949e-01 -8.14810536e-02 9.14344136e-03 3.12056548e+01] [-8.14787031e-02 9.96674884e-01 6.29902390e-04 -1.77698081e+02] [-9.16436347e-03 -1.17214267e-04 -9.99958000e-01 -1.81955303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.63655999499997 meters 0.012776268375644715 Centerline is valid? [True, True] Translation: X:31.20, Y:-177.67, Z:-1.82 [[-9.87965023e-01 -1.54393601e-01 9.36635955e-03 3.11966670e+01] [-1.54388018e-01 9.88009411e-01 1.32056376e-03 -1.77669043e+02] [-9.45793797e-03 -1.41382876e-04 -9.99955263e-01 -1.81875308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.66655999499994 meters 0.014132422788702637 Centerline is valid? [True, True] Translation: X:31.10, Y:-176.98, Z:-2.77 [[-9.98499113e-01 5.36827861e-02 1.08480365e-02 3.11001391e+01] [-5.36767535e-02 -9.98558005e-01 8.46697759e-04 -1.76981883e+02] [ 1.08778467e-02 2.63139582e-04 9.99940800e-01 -2.77405367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.696559995 meters 0.014473313582876133 Centerline is valid? [True, True] Translation: X:31.09, Y:-177.67, Z:-1.82 [[-9.86018977e-01 -1.66266788e-01 1.10422984e-02 3.10932648e+01] [-1.66258987e-01 9.86080779e-01 1.62711945e-03 -1.77674729e+02] [-1.11591341e-02 -2.31510692e-04 -9.99937708e-01 -1.81610175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.72655999499995 meters 0.014631913957076822 Centerline is valid? [True, True] Translation: X:31.08, Y:-177.65, Z:-1.82 [[-9.71340758e-01 -2.37440934e-01 1.09056999e-02 3.10771232e+01] [-2.37428782e-01 9.71401948e-01 2.41449601e-03 -1.77648405e+02] [-1.11671183e-02 -2.44028656e-04 -9.99937616e-01 -1.81642908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.756559995 meters 0.015021527170856336 Centerline is valid? [True, True] Translation: X:30.91, Y:-176.99, Z:-2.77 [[-9.91799279e-01 1.27395897e-01 1.02213417e-02 3.09095677e+01] [-1.27387376e-01 -9.91851933e-01 1.48312686e-03 -1.76988487e+02] [ 1.03270018e-02 1.68894254e-04 9.99946661e-01 -2.77311399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.78655999499995 meters 0.014702828319323397 Centerline is valid? [True, True] Translation: X:30.94, Y:-177.68, Z:-1.82 [[-9.69738689e-01 -2.43944915e-01 9.88700936e-03 3.09428093e+01] [-2.43934565e-01 9.69789064e-01 2.25802701e-03 -1.77675282e+02] [-1.01391478e-02 -2.22087171e-04 -9.99948573e-01 -1.81740012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.816559995 meters 0.014751129537488116 Centerline is valid? [True, True] Translation: X:30.91, Y:-177.65, Z:-1.82 [[-9.50062542e-01 -3.11916145e-01 9.45969388e-03 3.09125134e+01] [-3.11902812e-01 9.50109613e-01 2.89117582e-03 -1.77654635e+02] [-9.88955051e-03 -2.03707274e-04 -9.99951076e-01 -1.81697434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.84655999499995 meters 0.01384470840857672 Centerline is valid? [True, True] Translation: X:30.86, Y:-177.65, Z:-1.82 [[-9.25306437e-01 -3.79110226e-01 9.13421136e-03 3.08586520e+01] [-3.79093724e-01 9.25351502e-01 3.54198716e-03 -1.77645815e+02] [-9.79515976e-03 -1.85298682e-04 -9.99952009e-01 -1.81742085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.876559995 meters 0.012739282669350838 Centerline is valid? [True, True] Translation: X:30.80, Y:-177.64, Z:-1.82 [[-8.96656269e-01 -4.42643436e-01 8.62114932e-03 3.07984132e+01] [-4.42624478e-01 8.96697702e-01 4.09914547e-03 -1.77644625e+02] [-9.54502462e-03 -1.40407241e-04 -9.99954435e-01 -1.81736649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.90655999499995 meters 0.01249875892984984 Centerline is valid? [True, True] Translation: X:30.73, Y:-177.65, Z:-1.82 [[-8.62388122e-01 -5.06173225e-01 8.68299603e-03 3.07275018e+01] [-5.06149026e-01 8.62431824e-01 4.95099601e-03 -1.77651028e+02] [-9.99455372e-03 -1.25209840e-04 -9.99950045e-01 -1.81667323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.936559995 meters 0.012050972034562516 Centerline is valid? [True, True] Translation: X:30.65, Y:-177.67, Z:-1.82 [[-8.23390614e-01 -5.67410980e-01 8.52502265e-03 3.06503144e+01] [-5.67381896e-01 8.23434739e-01 5.74594952e-03 -1.77667834e+02] [-1.02801146e-02 -1.05782609e-04 -9.99947153e-01 -1.81625306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.96655999499995 meters 0.011528814399705678 Centerline is valid? [True, True] Translation: X:30.57, Y:-177.70, Z:-1.82 [[-7.81183665e-01 -6.24250617e-01 7.95288017e-03 3.05689683e+01] [-6.24219040e-01 7.81224144e-01 6.27906874e-03 -1.77695750e+02] [-1.01326945e-02 -5.92332857e-05 -9.99948661e-01 -1.81617578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.996559995 meters 0.011291895556355463 Centerline is valid? [True, True] Translation: X:30.48, Y:-177.74, Z:-1.82 [[-7.33196840e-01 -6.79976389e-01 7.38271979e-03 3.04808281e+01] [-6.79942457e-01 7.33234007e-01 6.79317963e-03 -1.77736582e+02] [-1.00324630e-02 -3.90867962e-05 -9.99949673e-01 -1.81706449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.02655999499996 meters 0.011298414969310833 Centerline is valid? [True, True] Translation: X:30.40, Y:-177.78, Z:-1.82 [[-6.81055385e-01 -7.32201579e-01 6.66406094e-03 3.03966263e+01] [-7.32166786e-01 6.81087988e-01 7.13791422e-03 -1.77782999e+02] [-9.76520393e-03 -1.78891626e-05 -9.99952319e-01 -1.81723761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.056559995 meters 0.011316744845171563 Centerline is valid? [True, True] Translation: X:30.31, Y:-177.84, Z:-1.82 [[-6.24706585e-01 -7.80835103e-01 6.18259230e-03 3.03114705e+01] [-7.80796900e-01 6.24737179e-01 7.72390996e-03 -1.77841159e+02] [-9.89359529e-03 -2.17148343e-06 -9.99951057e-01 -1.81771888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.08655999499996 meters 0.011337600093931942 Centerline is valid? [True, True] Translation: X:30.23, Y:-177.91, Z:-1.82 [[-5.65569751e-01 -8.24683513e-01 5.28770994e-03 3.02281571e+01] [-8.24647082e-01 5.65594468e-01 7.75168297e-03 -1.77909843e+02] [-9.38338464e-03 2.36228317e-05 -9.99955975e-01 -1.81779181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.116559995 meters 0.01131451345612644 Centerline is valid? [True, True] Translation: X:30.15, Y:-177.99, Z:-1.82 [[-5.01539883e-01 -8.65122232e-01 4.61191666e-03 3.01477551e+01] [-8.65085101e-01 5.01561086e-01 8.01532447e-03 -1.77985300e+02] [-9.24739332e-03 3.03045027e-05 -9.99957242e-01 -1.81836711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.14655999499996 meters 0.011380367235114729 Centerline is valid? [True, True] Translation: X:30.07, Y:-178.07, Z:-1.82 [[-4.33868900e-01 -9.00967212e-01 3.98268253e-03 3.00705388e+01] [-9.00928598e-01 4.33887177e-01 8.34137211e-03 -1.78071402e+02] [-9.24333765e-03 3.09493473e-05 -9.99957279e-01 -1.81855810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.17655999499993 meters 0.011351216934038112 Centerline is valid? [True, True] Translation: X:30.00, Y:-178.16, Z:-1.82 [[-3.63213342e-01 -9.31699855e-01 3.38351864e-03 3.00000983e+01] [-9.31658689e-01 3.63229100e-01 8.75827649e-03 -1.78163202e+02] [-9.38907737e-03 2.88383307e-05 -9.99955921e-01 -1.81817541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.20655999499996 meters 0.011315119804632201 Centerline is valid? [True, True] Translation: X:29.94, Y:-178.26, Z:-1.82 [[-2.90281306e-01 -9.56937155e-01 2.83644579e-03 2.99372695e+01] [-9.56890560e-01 2.90295163e-01 9.44327423e-03 -1.78259817e+02] [-9.86002646e-03 2.70377835e-05 -9.99951388e-01 -1.81803932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.23655999499994 meters 0.011418189778038459 Centerline is valid? [True, True] Translation: X:29.88, Y:-178.37, Z:-1.82 [[-2.15766594e-01 -9.76442442e-01 2.22148840e-03 2.98810500e+01] [-9.76389345e-01 2.15778028e-01 1.01828439e-02 -1.78365454e+02] [-1.04223094e-02 2.80799453e-05 -9.99945686e-01 -1.81742974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.26655999499997 meters 0.011476202079809355 Centerline is valid? [True, True] Translation: X:29.83, Y:-178.48, Z:-1.82 [[-1.40829363e-01 -9.90032773e-01 1.48304925e-03 2.98329769e+01] [-9.89975023e-01 1.40837167e-01 1.06932407e-02 -1.78476314e+02] [-1.07955272e-02 3.77405610e-05 -9.99941726e-01 -1.81683744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.29655999499994 meters 0.011543491988971177 Centerline is valid? [True, True] Translation: X:29.79, Y:-178.59, Z:-1.82 [[-6.48816499e-02 -9.97892765e-01 6.33631722e-04 2.97936494e+01] [-9.97838302e-01 6.48847288e-02 1.04256895e-02 -1.78588978e+02] [-1.04448331e-02 4.41739346e-05 -9.99945450e-01 -1.81706085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.32655999499997 meters 0.011665614352346546 Centerline is valid? [True, True] Translation: X:29.76, Y:-178.70, Z:-1.82 [[ 1.10006308e-02 -9.99939478e-01 -1.62136371e-04 2.97632583e+01] [-9.99888491e-01 -1.10017073e-02 1.00978886e-02 -1.78700979e+02] [-1.00990612e-02 5.10351470e-05 -9.99949002e-01 -1.81689232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.35655999499994 meters 0.011930051872067783 Centerline is valid? [True, True] Translation: X:29.74, Y:-178.82, Z:-1.82 [[ 8.66878778e-02 -9.96235103e-01 -9.11350117e-04 2.97424336e+01] [-9.96187334e-01 -8.66926459e-02 9.75610877e-03 -1.78818338e+02] [-9.79838538e-03 6.21390784e-05 -9.99951993e-01 -1.81645480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.38655999499997 meters 0.012138630661808422 Centerline is valid? [True, True] Translation: X:29.73, Y:-178.94, Z:-1.82 [[ 1.60459986e-01 -9.87041174e-01 -1.52117457e-03 2.97320961e+01] [-9.87001463e-01 -1.60467176e-01 8.85426496e-03 -1.78940707e+02] [-8.98362267e-03 8.06462981e-05 -9.99959643e-01 -1.81797441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.41655999499994 meters 0.012402950585901538 Centerline is valid? [True, True] Translation: X:29.73, Y:-179.06, Z:-1.82 [[ 2.34313562e-01 -9.72158975e-01 -2.02058162e-03 2.97290639e+01] [-9.72126024e-01 -2.34322257e-01 8.00457359e-03 -1.79056591e+02] [-8.25518530e-03 8.86798250e-05 -9.99965921e-01 -1.81882308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.446559995 meters 0.012670616437024778 Centerline is valid? [True, True] Translation: X:29.74, Y:-179.18, Z:-1.82 [[ 3.07301958e-01 -9.51609052e-01 -2.39122712e-03 2.97361803e+01] [-9.51582470e-01 -3.07311248e-01 7.11329431e-03 -1.79177341e+02] [-7.50392625e-03 8.95205367e-05 -9.99971841e-01 -1.81916134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.47655999499995 meters 0.012862244975690142 Centerline is valid? [True, True] Translation: X:29.75, Y:-179.30, Z:-1.82 [[ 3.78706932e-01 -9.25512130e-01 -2.89083081e-03 2.97514056e+01] [-9.25487056e-01 -3.78717954e-01 6.81323537e-03 -1.79295782e+02] [-7.40054150e-03 9.52070315e-05 -9.99972611e-01 -1.81935245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.506559995 meters 0.012615742668018695 Centerline is valid? [True, True] Translation: X:29.77, Y:-179.41, Z:-1.82 [[ 4.47756715e-01 -8.94149922e-01 -3.13716098e-03 2.97746108e+01] [-8.94129442e-01 -4.47767695e-01 6.05246423e-03 -1.79413745e+02] [-6.81652975e-03 9.49964953e-05 -9.99976763e-01 -1.81951556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.53655999499995 meters 0.013346732589782645 Centerline is valid? [True, True] Translation: X:29.81, Y:-179.52, Z:-1.82 [[ 5.13669280e-01 -8.57980919e-01 -3.55157041e-03 2.98051022e+01] [-8.57961803e-01 -5.13681547e-01 5.72823762e-03 -1.79523647e+02] [-6.73909476e-03 1.04692055e-04 -9.99977287e-01 -1.81888562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.566559995 meters 0.013210537989106257 Centerline is valid? [True, True] Translation: X:29.84, Y:-179.63, Z:-1.82 [[ 5.77504616e-01 -8.16378780e-01 -3.75578081e-03 2.98433169e+01] [-8.16362651e-01 -5.77516819e-01 5.13276954e-03 -1.79632601e+02] [-6.35931072e-03 1.01881074e-04 -9.99979774e-01 -1.81922058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.59655999499995 meters 0.013766672025714225 Centerline is valid? [True, True] Translation: X:29.89, Y:-179.73, Z:-1.82 [[ 6.37591277e-01 -7.70364121e-01 -4.06014836e-03 2.98886600e+01] [-7.70349541e-01 -6.37604196e-01 4.74063220e-03 -1.79734182e+02] [-6.24078059e-03 1.05147686e-04 -9.99980521e-01 -1.81880824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.626559995 meters 0.013483569422033104 Centerline is valid? [True, True] Translation: X:29.94, Y:-179.83, Z:-1.82 [[ 6.93770824e-01 -7.20180979e-01 -4.62618056e-03 2.99382517e+01] [-7.20166080e-01 -6.93786238e-01 4.63393489e-03 -1.79832124e+02] [-6.54685217e-03 1.16729496e-04 -9.99978562e-01 -1.81918355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.65655999499995 meters 0.014049184405329854 Centerline is valid? [True, True] Translation: X:29.99, Y:-179.92, Z:-1.82 [[ 7.46267817e-01 -6.65624173e-01 -5.36700950e-03 2.99936675e+01] [-6.65608190e-01 -7.46287105e-01 4.61454902e-03 -1.79921595e+02] [-7.07688536e-03 1.28636048e-04 -9.99974950e-01 -1.81867210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.686559995 meters 0.014200184912789264 Centerline is valid? [True, True] Translation: X:29.99, Y:-179.93, Z:-1.82 [[ 7.95905256e-01 -6.05392126e-01 -5.93276954e-03 2.99901516e+01] [-6.05376564e-01 -7.95927356e-01 4.34275447e-03 -1.79929368e+02] [-7.35112294e-03 1.35138530e-04 -9.99972971e-01 -1.81830567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.71655999499995 meters 0.013873811367501675 Centerline is valid? [True, True] Translation: X:29.99, Y:-179.94, Z:-1.82 [[ 8.40897087e-01 -5.41159003e-01 -6.24673995e-03 2.99857712e+01] [-5.41145247e-01 -8.40920279e-01 3.86081899e-03 -1.79939789e+02] [-7.34232725e-03 1.33842190e-04 -9.99973036e-01 -1.81809297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.746559995 meters 0.013755858810993124 Centerline is valid? [True, True] Translation: X:29.98, Y:-179.95, Z:-1.82 [[ 8.81125623e-01 -4.72832854e-01 -6.83587388e-03 2.99829696e+01] [-4.72819784e-01 -8.81152129e-01 3.51816359e-03 -1.79951080e+02] [-7.68694815e-03 1.32192328e-04 -9.99970446e-01 -1.81756457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.77655999499996 meters 0.01348995248903391 Centerline is valid? [True, True] Translation: X:29.98, Y:-179.96, Z:-1.82 [[ 9.15815857e-01 -4.01532137e-01 -7.29786488e-03 2.99815757e+01] [-4.01520496e-01 -9.15844925e-01 3.06020596e-03 -1.79962370e+02] [-7.91248355e-03 1.27657179e-04 -9.99968688e-01 -1.81734254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.806559995 meters 0.013288835577672825 Centerline is valid? [True, True] Translation: X:29.98, Y:-179.97, Z:-1.82 [[ 9.44749830e-01 -3.27706782e-01 -7.48493121e-03 2.99813274e+01] [-3.27697488e-01 -9.44779472e-01 2.47082179e-03 -1.79973239e+02] [-7.88131442e-03 1.18484693e-04 -9.99968935e-01 -1.81760009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.83655999499996 meters 0.0130644728503681 Centerline is valid? [True, True] Translation: X:29.98, Y:-179.98, Z:-1.82 [[ 9.67830682e-01 -2.51499024e-01 -7.21195428e-03 2.99820527e+01] [-2.51492820e-01 -9.67857547e-01 1.76943523e-03 -1.79983029e+02] [-7.42515561e-03 1.01241020e-04 -9.99972428e-01 -1.81777856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.866559995 meters 0.012969991577696918 Centerline is valid? [True, True] Translation: X:29.98, Y:-179.99, Z:-1.82 [[ 9.84755472e-01 -1.73800034e-01 -7.08581327e-03 2.99823071e+01] [-1.73796184e-01 -9.84780961e-01 1.16019439e-03 -1.79991685e+02] [-7.17961583e-03 8.89795382e-05 -9.99974222e-01 -1.81765832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.89655999499996 meters 0.01205658462694199 Centerline is valid? [True, True] Translation: X:29.98, Y:-180.01, Z:-1.82 [[ 9.95657266e-01 -9.28720650e-02 -6.43344779e-03 2.99808941e+01] [-9.28705065e-02 -9.95678048e-01 5.41222743e-04 -1.80006554e+02] [-6.45590722e-03 5.86051985e-05 -9.99979159e-01 -1.81877073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.92655999499993 meters 0.011823068420520791 Centerline is valid? [True, True] Translation: X:29.98, Y:-180.02, Z:-1.82 [[ 9.99899090e-01 -1.28623055e-02 -6.03091024e-03 2.99810760e+01] [-1.28623378e-02 -9.99917276e-01 3.34356642e-05 -1.80018635e+02] [-6.03084140e-03 4.41393142e-05 -9.99981813e-01 -1.81863617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.95655999499996 meters 0.011563242801397129 Centerline is valid? [True, True] Translation: X:29.98, Y:-180.03, Z:-1.82 [[ 9.97587704e-01 6.91639923e-02 -5.92581522e-03 2.99810113e+01] [ 6.91626460e-02 -9.97605304e-01 -4.32062117e-04 -1.80032222e+02] [-5.94150783e-03 2.11747946e-05 -9.99982349e-01 -1.81862469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.98655999499994 meters 0.011408499644560805 Centerline is valid? [True, True] Translation: X:29.98, Y:-180.04, Z:-1.82 [[ 9.88812859e-01 1.49046293e-01 -5.85934610e-03 2.99827407e+01] [ 1.49043621e-01 -9.88830219e-01 -8.92610198e-04 -1.80043578e+02] [-5.92693873e-03 9.32628254e-06 -9.99982436e-01 -1.81859244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.01655999499997 meters 0.011450463599056163 Centerline is valid? [True, True] Translation: X:29.99, Y:-180.06, Z:-1.82 [[ 9.73665818e-01 2.27900609e-01 -6.01566444e-03 2.99860421e+01] [ 2.27896272e-01 -9.73684401e-01 -1.40594758e-03 -1.80055063e+02] [-6.17777493e-03 -2.02440177e-06 -9.99980917e-01 -1.81867917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.04655999499994 meters 0.011311498430323126 Centerline is valid? [True, True] Translation: X:29.99, Y:-180.07, Z:-1.82 [[ 9.52301779e-01 3.05094669e-01 -6.21002559e-03 2.99886433e+01] [ 3.05088275e-01 -9.52322027e-01 -1.97538541e-03 -1.80065835e+02] [-6.51662371e-03 -1.34429547e-05 -9.99978767e-01 -1.81846608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.07655999499997 meters 0.011521588421219071 Centerline is valid? [True, True] Translation: X:29.99, Y:-180.08, Z:-1.82 [[ 9.24454057e-01 3.81251399e-01 -5.66270398e-03 2.99924719e+01] [ 3.81244442e-01 -9.24471400e-01 -2.30335264e-03 -1.80076637e+02] [-6.11316429e-03 -2.95307245e-05 -9.99981314e-01 -1.81811819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.10655999499994 meters 0.011543288028770901 Centerline is valid? [True, True] Translation: X:30.00, Y:-180.08, Z:-1.82 [[ 8.91452233e-01 4.53085126e-01 -5.17547030e-03 2.99978788e+01] [ 4.53077697e-01 -8.91467256e-01 -2.59462229e-03 -1.80084948e+02] [-5.78934707e-03 -3.19083391e-05 -9.99983241e-01 -1.81878092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.13655999499997 meters 0.011630310100901977 Centerline is valid? [True, True] Translation: X:30.00, Y:-180.09, Z:-1.82 [[ 8.52911134e-01 5.22035322e-01 -4.66056620e-03 3.00025690e+01] [ 5.22027743e-01 -8.52923866e-01 -2.81312488e-03 -1.80092693e+02] [-5.44365869e-03 -3.35993303e-05 -9.99985183e-01 -1.81887145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.16655999499994 meters 0.011656953122460692 Centerline is valid? [True, True] Translation: X:30.01, Y:-180.10, Z:-1.82 [[ 8.09240930e-01 5.87460315e-01 -4.41538361e-03 3.00081754e+01] [ 5.87451807e-01 -8.09252975e-01 -3.16191028e-03 -1.80099002e+02] [-5.43065913e-03 -3.50778660e-05 -9.99985253e-01 -1.81906149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.196559995 meters 0.011620039171395412 Centerline is valid? [True, True] Translation: X:30.02, Y:-180.11, Z:-1.82 [[ 7.60213775e-01 6.49660393e-01 -4.04857078e-03 3.00162176e+01] [ 6.49651451e-01 -7.60224554e-01 -3.40883175e-03 -1.80107026e+02] [-5.29240589e-03 -3.87190300e-05 -9.99985994e-01 -1.81957654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.22655999499995 meters 0.011789042540166017 Centerline is valid? [True, True] Translation: X:30.02, Y:-180.11, Z:-1.82 [[ 7.06572819e-01 7.07629723e-01 -3.87648516e-03 3.00236328e+01] [ 7.07619407e-01 -7.06583451e-01 -3.82123117e-03 -1.80113909e+02] [-5.44307701e-03 -4.30980516e-05 -9.99985185e-01 -1.81970027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.256559995 meters 0.011878506606313911 Centerline is valid? [True, True] Translation: X:30.03, Y:-180.12, Z:-1.82 [[ 6.48542333e-01 7.61170377e-01 -3.53555077e-03 3.00312990e+01] [ 7.61159452e-01 -6.48551968e-01 -4.07839131e-03 -1.80118929e+02] [-5.39733906e-03 -4.61084766e-05 -9.99985433e-01 -1.81996235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.28655999499995 meters 0.012158041306570092 Centerline is valid? [True, True] Translation: X:30.04, Y:-180.13, Z:-1.82 [[ 5.85232921e-01 8.10859111e-01 -3.15122672e-03 3.00395927e+01] [ 8.10847872e-01 -5.85241402e-01 -4.26970657e-03 -1.80125305e+02] [-5.30635882e-03 -5.63926324e-05 -9.99985920e-01 -1.81970010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.316559995 meters 0.012258473890506926 Centerline is valid? [True, True] Translation: X:30.05, Y:-180.13, Z:-1.82 [[ 5.18864921e-01 8.54851313e-01 -2.90298159e-03 3.00491650e+01] [ 8.54838628e-01 -5.18873038e-01 -4.65727649e-03 -1.80130209e+02] [-5.48755779e-03 -6.50834024e-05 -9.99984941e-01 -1.81946517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.34655999499995 meters 0.012554864615332187 Centerline is valid? [True, True] Translation: X:30.06, Y:-180.13, Z:-1.82 [[ 4.48906667e-01 8.93574152e-01 -2.83543893e-03 3.00592151e+01] [ 8.93557475e-01 -4.48915615e-01 -5.45985795e-03 -1.80133648e+02] [-6.15166074e-03 -8.26610123e-05 -9.99981075e-01 -1.81912612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.376559995 meters 0.012915229711870823 Centerline is valid? [True, True] Translation: X:30.07, Y:-180.14, Z:-1.82 [[ 3.76114893e-01 9.26569481e-01 -2.56585895e-03 3.00681788e+01] [ 9.26549680e-01 -3.76123632e-01 -6.05836626e-03 -1.80136498e+02] [-6.57857747e-03 -9.87540120e-05 -9.99978356e-01 -1.81866633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.40655999499995 meters 0.012915229711870823 Centerline is valid? [True, True] Translation: X:30.08, Y:-180.14, Z:-1.82 [[ 3.02407268e-01 9.53176533e-01 -2.08358258e-03 3.00761151e+01] [ 9.53156108e-01 -3.02414430e-01 -6.24067653e-03 -1.80138305e+02] [-6.57857185e-03 -9.87535182e-05 -9.99978356e-01 -1.81866638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.436559995 meters 0.013499341975205897 Centerline is valid? [True, True] Translation: X:30.09, Y:-180.14, Z:-1.82 [[ 2.24290743e-01 9.74520715e-01 -1.74304996e-03 3.00862311e+01] [ 9.74495542e-01 -2.24297479e-01 -7.00564626e-03 -1.80139549e+02] [-7.21810912e-03 -1.27292816e-04 -9.99973941e-01 -1.81810352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.46655999499995 meters 0.013918713928640771 Centerline is valid? [True, True] Translation: X:30.09, Y:-180.14, Z:-1.82 [[ 1.46507120e-01 9.89208853e-01 -1.22839447e-03 3.00948783e+01] [ 9.89181510e-01 -1.46512205e-01 -7.35620251e-03 -1.80140432e+02] [-7.45679543e-03 -1.37369051e-04 -9.99972188e-01 -1.81759334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.496559995 meters 0.01369660705733636 Centerline is valid? [True, True] Translation: X:30.10, Y:-180.14, Z:-1.82 [[ 6.86144123e-02 9.97643073e-01 -6.01271699e-04 3.01018816e+01] [ 9.97619274e-01 -6.86169293e-02 -6.89213953e-03 -1.80139989e+02] [-6.91715268e-03 -1.26940132e-04 -9.99976068e-01 -1.81820595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.52655999499996 meters 0.01369660705733636 Centerline is valid? [True, True] Translation: X:30.11, Y:-180.14, Z:-1.82 [[-9.72146923e-03 9.99952744e-01 -5.96900980e-05 3.01099484e+01] [ 9.99928821e-01 9.72082369e-03 -6.91805429e-03 -1.80139458e+02] [-6.91714713e-03 -1.26939501e-04 -9.99976068e-01 -1.81820600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.556559995 meters 0.01332352764237506 Centerline is valid? [True, True] Translation: X:30.12, Y:-180.14, Z:-1.82 [[-8.70436285e-02 9.96204400e-01 4.48240731e-04 3.01163702e+01] [ 9.96183771e-01 8.70447111e-02 -6.41184359e-03 -1.80138191e+02] [-6.42652378e-03 -1.11579989e-04 -9.99979343e-01 -1.81920114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.58655999499996 meters 0.014009660809517398 Centerline is valid? [True, True] Translation: X:30.13, Y:-180.14, Z:-1.82 [[-1.63905815e-01 9.86475613e-01 8.64806334e-04 3.01251718e+01] [ 9.86458613e-01 1.63908068e-01 -5.79224457e-03 -1.80136826e+02] [-5.85565675e-03 -9.62869102e-05 -9.99982851e-01 -1.81884416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.616559995 meters 0.013134344074438331 Centerline is valid? [True, True] Translation: X:30.13, Y:-180.13, Z:-1.82 [[-2.40109097e-01 9.70744886e-01 1.41008815e-03 3.01298731e+01] [ 9.70725633e-01 2.40113217e-01 -6.11452943e-03 -1.80134615e+02] [-6.27422897e-03 -9.93454234e-05 -9.99980312e-01 -1.81945265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.64655999499996 meters 0.01288608673028978 Centerline is valid? [True, True] Translation: X:30.13, Y:-180.13, Z:-1.82 [[-3.14181862e-01 9.49360507e-01 2.09421999e-03 3.01345035e+01] [ 9.49337224e-01 3.14188826e-01 -6.64961212e-03 -1.80132970e+02] [-6.97085965e-03 -1.01066534e-04 -9.99975698e-01 -1.81950967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.67655999499993 meters 0.012841932645867363 Centerline is valid? [True, True] Translation: X:30.14, Y:-180.13, Z:-1.82 [[-3.87104239e-01 9.22032332e-01 2.58582114e-03 3.01398951e+01] [ 9.22010064e-01 3.87112863e-01 -6.40886293e-03 -1.80130862e+02] [-6.91018346e-03 -9.67448940e-05 -9.99976120e-01 -1.81956623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.70655999499996 meters 0.012614619901621112 Centerline is valid? [True, True] Translation: X:30.15, Y:-180.13, Z:-1.82 [[-4.57532875e-01 8.89187548e-01 3.02865425e-03 3.01455422e+01] [ 8.89166738e-01 4.57542890e-01 -6.08405749e-03 -1.80127538e+02] [-6.79560738e-03 -9.06776959e-05 -9.99976906e-01 -1.81961260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.73655999499994 meters 0.01250260981869224 Centerline is valid? [True, True] Translation: X:30.15, Y:-180.13, Z:-1.82 [[-5.24525833e-01 8.51388060e-01 3.32003218e-03 3.01499283e+01] [ 8.51370068e-01 5.24536334e-01 -5.53549757e-03 -1.80125391e+02] [-6.45433404e-03 -7.69354550e-05 -9.99979168e-01 -1.81936131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.76655999499997 meters 0.012447556329483677 Centerline is valid? [True, True] Translation: X:30.15, Y:-180.12, Z:-1.82 [[-5.88816325e-01 8.08258973e-01 3.57341265e-03 3.01540076e+01] [ 8.08243386e-01 5.88827164e-01 -5.01996147e-03 -1.80123611e+02] [-6.16155134e-03 -6.76481260e-05 -9.99981015e-01 -1.81949184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.79655999499994 meters 0.012307951657657627 Centerline is valid? [True, True] Translation: X:30.16, Y:-180.12, Z:-1.82 [[-6.49472946e-01 7.60374030e-01 4.02819752e-03 3.01561542e+01] [ 7.60358808e-01 6.49485435e-01 -4.81168399e-03 -1.80121958e+02] [-6.27493517e-03 -6.21831145e-05 -9.99980311e-01 -1.81945973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.82655999499997 meters 0.011724302949854274 Centerline is valid? [True, True] Translation: X:30.16, Y:-180.12, Z:-1.82 [[-7.06062732e-01 7.08136606e-01 4.23861446e-03 3.01612958e+01] [ 7.08123407e-01 7.06075452e-01 -4.32393421e-03 -1.80117335e+02] [-6.05471772e-03 -5.15066897e-05 -9.99981669e-01 -1.82004535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.85655999499994 meters 0.01163076517956475 Centerline is valid? [True, True] Translation: X:30.17, Y:-180.11, Z:-1.82 [[-7.57573313e-01 6.52737056e-01 4.12459671e-03 3.01660194e+01] [ 6.52727154e-01 7.57584540e-01 -3.59550047e-03 -1.80114064e+02] [-5.47164709e-03 -3.16189331e-05 -9.99985030e-01 -1.81989122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.88655999499997 meters 0.011449184780853132 Centerline is valid? [True, True] Translation: X:30.18, Y:-180.10, Z:-1.82 [[-8.00707197e-01 5.99042239e-01 4.04739381e-03 3.01841169e+01] [ 5.99034462e-01 8.00717426e-01 -3.05238030e-03 -1.80096193e+02] [-5.06932349e-03 -1.95344956e-05 -9.99987151e-01 -1.81983348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.91655999499994 meters 0.011342477776094694 Centerline is valid? [True, True] Translation: X:30.20, Y:-180.08, Z:-1.82 [[-8.39962827e-01 5.42628830e-01 4.04986072e-03 3.02019183e+01] [ 5.42622474e-01 8.39972590e-01 -2.62634745e-03 -1.80078181e+02] [-4.82690385e-03 -8.48878385e-06 -9.99988350e-01 -1.82045971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.946559995 meters 0.011374450810634698 Centerline is valid? [True, True] Translation: X:30.57, Y:-179.52, Z:-2.77 [[-8.00738331e-01 -5.99002883e-01 3.69758124e-03 3.05744268e+01] [ 5.98996474e-01 -8.00746868e-01 -2.77087899e-03 -1.79516190e+02] [ 4.62059110e-03 -3.91089081e-06 9.99989325e-01 -2.77020892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.97655999499995 meters 0.011475204378573333 Centerline is valid? [True, True] Translation: X:30.56, Y:-179.54, Z:-2.77 [[-7.60045082e-01 -6.49859846e-01 3.69509211e-03 3.05623779e+01] [ 6.49852085e-01 -7.60054064e-01 -3.17612483e-03 -1.79542631e+02] [ 4.87250577e-03 -1.27347502e-05 9.99988129e-01 -2.77060971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.006559995 meters 0.011931477577557218 Centerline is valid? [True, True] Translation: X:30.12, Y:-180.07, Z:-1.82 [[-7.97747722e-01 6.02977354e-01 4.10884144e-03 3.01204460e+01] [ 6.02969591e-01 7.97758303e-01 -3.05980549e-03 -1.80068710e+02] [-5.12285579e-03 3.65535809e-05 -9.99986877e-01 -1.81826436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.03655999499995 meters 0.012231603705225925 Centerline is valid? [True, True] Translation: X:30.14, Y:-180.05, Z:-1.82 [[-8.37235756e-01 5.46820863e-01 4.82005745e-03 3.01372163e+01] [ 5.46812166e-01 8.37249629e-01 -3.08441428e-03 -1.80049208e+02] [-5.72221339e-03 5.32841329e-05 -9.99983627e-01 -1.81791616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.066559995 meters 0.012644582584226361 Centerline is valid? [True, True] Translation: X:30.52, Y:-179.47, Z:-2.77 [[-8.10764876e-01 -5.85353233e-01 4.68067375e-03 3.05180008e+01] [ 5.85343128e-01 -8.10778386e-01 -3.43977010e-03 -1.79465253e+02] [ 5.80846966e-03 -4.90445633e-05 9.99983130e-01 -2.77240276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.09655999499995 meters 0.013113389348840404 Centerline is valid? [True, True] Translation: X:30.10, Y:-180.03, Z:-1.82 [[-8.37235298e-01 5.46819910e-01 5.00427905e-03 3.01003122e+01] [ 5.46810688e-01 8.37250250e-01 -3.17666498e-03 -1.80032428e+02] [-5.92689754e-03 7.67772159e-05 -9.99982433e-01 -1.81754174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.126559995 meters 0.013397227598261181 Centerline is valid? [True, True] Translation: X:30.12, Y:-180.01, Z:-1.82 [[-8.73071192e-01 4.87560135e-01 5.63999706e-03 3.01157687e+01] [ 4.87550648e-01 8.73089403e-01 -3.04283437e-03 -1.80011453e+02] [-6.40778641e-03 9.31731959e-05 -9.99979466e-01 -1.81729744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.15655999499995 meters 0.01331907567597461 Centerline is valid? [True, True] Translation: X:30.46, Y:-179.39, Z:-2.77 [[-8.53832120e-01 -5.20514220e-01 5.97149533e-03 3.04559165e+01] [ 5.20500963e-01 -8.53852999e-01 -3.71545606e-03 -1.79389905e+02] [ 7.03272690e-03 -6.42066521e-05 9.99975268e-01 -2.77319459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.186559995 meters 0.013033156858627574 Centerline is valid? [True, True] Translation: X:30.08, Y:-179.99, Z:-1.82 [[-8.75096787e-01 4.83905937e-01 6.37635696e-03 3.00755151e+01] [ 4.83893932e-01 8.75120011e-01 -3.41015272e-03 -1.79990413e+02] [-7.23027072e-03 1.01266759e-04 -9.99973856e-01 -1.81678082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.21655999499995 meters 0.012556848566810688 Centerline is valid? [True, True] Translation: X:30.09, Y:-179.96, Z:-1.82 [[-9.07981167e-01 4.18956444e-01 6.76008650e-03 3.00872005e+01] [ 4.18945566e-01 9.08006327e-01 -3.02037006e-03 -1.79963790e+02] [-7.40360481e-03 8.96691318e-05 -9.99972589e-01 -1.81703335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.246559995 meters 0.012482606351041122 Centerline is valid? [True, True] Translation: X:30.38, Y:-179.32, Z:-2.77 [[-8.88621374e-01 -4.58598646e-01 6.27178588e-03 3.03810694e+01] [ 4.58586391e-01 -8.88643501e-01 -3.35417468e-03 -1.79321902e+02] [ 7.11160172e-03 -1.04435663e-04 9.99974707e-01 -2.77319922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.27655999499996 meters 0.012173742357977708 Centerline is valid? [True, True] Translation: X:30.04, Y:-179.94, Z:-1.82 [[-9.10593647e-01 4.13253118e-01 6.40862843e-03 3.00447945e+01] [ 4.13243400e-01 9.10616196e-01 -2.83493806e-03 -1.79944783e+02] [-7.00734783e-03 6.68468143e-05 -9.99975446e-01 -1.81741595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.306559995 meters 0.01190536738562566 Centerline is valid? [True, True] Translation: X:30.06, Y:-179.92, Z:-1.82 [[-9.38104271e-01 3.46297104e-01 6.22024444e-03 3.00601446e+01] [ 3.46289861e-01 9.38124892e-01 -2.24040387e-03 -1.79919715e+02] [-6.61121152e-03 5.22751383e-05 -9.99978144e-01 -1.81799803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.33655999499996 meters 0.011653844411085197 Centerline is valid? [True, True] Translation: X:30.30, Y:-179.26, Z:-2.77 [[-9.18369516e-01 -3.95682234e-01 5.74464733e-03 3.03009526e+01] [ 3.95674012e-01 -9.18387481e-01 -2.55183470e-03 -1.79260513e+02] [ 6.28552785e-03 -7.05195457e-05 9.99980243e-01 -2.77208875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.366559995 meters 0.011367811281748958 Centerline is valid? [True, True] Translation: X:30.01, Y:-179.90, Z:-1.82 [[-9.41199239e-01 3.37811976e-01 5.20200735e-03 3.00125532e+01] [ 3.37806902e-01 9.41213615e-01 -1.85157269e-03 -1.79900631e+02] [-5.52168357e-03 1.45751773e-05 -9.99984755e-01 -1.81888414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.39655999499996 meters 0.011242195280906121 Centerline is valid? [True, True] Translation: X:30.02, Y:-179.87, Z:-1.82 [[-9.63223646e-01 2.68655168e-01 4.96073206e-03 3.00191075e+01] [ 2.68651632e-01 9.63236420e-01 -1.37827172e-03 -1.79872510e+02] [-5.14863761e-03 5.12485042e-06 -9.99986746e-01 -1.81897160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.42655999499993 meters 0.011286491667179599 Centerline is valid? [True, True] Translation: X:30.21, Y:-179.20, Z:-2.77 [[-9.43028928e-01 -3.32678339e-01 4.64364063e-03 3.02110676e+01] [ 3.32674207e-01 -9.43040361e-01 -1.65831402e-03 -1.79204788e+02] [ 4.93082569e-03 -1.90186325e-05 9.99987843e-01 -2.77122557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.45655999499996 meters 0.011313975053177952 Centerline is valid? [True, True] Translation: X:29.97, Y:-179.86, Z:-1.82 [[-9.65186230e-01 2.61522153e-01 4.65891360e-03 2.99737229e+01] [ 2.61519045e-01 9.65197474e-01 -1.27509565e-03 -1.79858807e+02] [-4.83023739e-03 -1.23101258e-05 -9.99988334e-01 -1.81902442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.48655999499994 meters 0.011524838846110046 Centerline is valid? [True, True] Translation: X:29.97, Y:-179.83, Z:-1.82 [[-9.82057028e-01 1.88525676e-01 4.69720750e-03 2.99728029e+01] [ 1.88523368e-01 9.82068261e-01 -9.33385242e-04 -1.79828309e+02] [-4.78894548e-03 -3.11041615e-05 -9.99988532e-01 -1.81905736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.51655999499997 meters 0.011796011894984674 Centerline is valid? [True, True] Translation: X:29.98, Y:-179.80, Z:-1.82 [[-9.93206764e-01 1.16258299e-01 4.93271505e-03 2.99792783e+01] [ 1.16256650e-01 9.93219012e-01 -6.20643789e-04 -1.79800338e+02] [-4.97142136e-03 -4.29666807e-05 -9.99987642e-01 -1.81951619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.54655999499994 meters 0.012616260936758824 Centerline is valid? [True, True] Translation: X:30.06, Y:-179.12, Z:-2.77 [[-9.78931821e-01 -2.04113810e-01 5.48106633e-03 3.00644360e+01] [ 2.04111125e-01 -9.78947161e-01 -1.05087513e-03 -1.79121316e+02] [ 5.58017245e-03 9.00115108e-05 9.99984427e-01 -2.77167737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.57655999499997 meters 0.012728423332303979 Centerline is valid? [True, True] Translation: X:29.92, Y:-179.79, Z:-1.82 [[-9.94390799e-01 1.05629680e-01 5.41375956e-03 2.99220791e+01] [ 1.05627661e-01 9.94405533e-01 -6.58214467e-04 -1.79790303e+02] [-5.45299944e-03 -8.26796502e-05 -9.99985129e-01 -1.81839346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.60655999499994 meters 0.013220631547045624 Centerline is valid? [True, True] Translation: X:29.92, Y:-179.76, Z:-1.82 [[-9.99444857e-01 3.28723783e-02 5.42075631e-03 2.99197007e+01] [ 3.28713922e-02 9.99459553e-01 -2.70930883e-04 -1.79760841e+02] [-5.42673282e-03 -9.25926710e-05 -9.99985271e-01 -1.81763711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.63655999499997 meters 0.013613561803484947 Centerline is valid? [True, True] Translation: X:29.95, Y:-179.08, Z:-2.77 [[-9.90747207e-01 -1.35617256e-01 5.28512900e-03 2.99506957e+01] [ 1.35615778e-01 -9.90761300e-01 -6.38753735e-04 -1.79084514e+02] [ 5.32292731e-03 8.39034013e-05 9.99985830e-01 -2.77284354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.66655999499994 meters 0.014523808390647423 Centerline is valid? [True, True] Translation: X:29.85, Y:-179.76, Z:-1.82 [[-9.99681778e-01 2.46636405e-02 5.29595766e-03 2.98519912e+01] [ 2.46627149e-02 9.99695800e-01 -2.40032894e-04 -1.79755591e+02] [-5.30026672e-03 -1.09343816e-04 -9.99985948e-01 -1.81666995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.696559995 meters 0.014072329894309355 Centerline is valid? [True, True] Translation: X:29.89, Y:-179.08, Z:-2.77 [[-9.91065833e-01 -1.33286632e-01 4.81534896e-03 2.98876216e+01] [ 1.33285404e-01 -9.91077529e-01 -5.76535953e-04 -1.79080933e+02] [ 4.84922868e-03 7.04306442e-05 9.99988240e-01 -2.77310236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.72655999499995 meters 0.014076272531220381 Centerline is valid? [True, True] Translation: X:29.78, Y:-179.76, Z:-1.82 [[-9.99787086e-01 2.00342939e-02 4.94068488e-03 2.97841208e+01] [ 2.00335435e-02 9.99799288e-01 -2.01343963e-04 -1.79755667e+02] [-4.94372701e-03 -1.02321669e-04 -9.99987775e-01 -1.81738916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.756559995 meters 0.013809710664075164 Centerline is valid? [True, True] Translation: X:29.82, Y:-179.08, Z:-2.77 [[-9.91729162e-01 -1.28240193e-01 5.26512401e-03 2.98180833e+01] [ 1.28239092e-01 -9.91743130e-01 -5.47520503e-04 -1.79075059e+02] [ 5.29186470e-03 1.32202673e-04 9.99985989e-01 -2.77269842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.78655999499995 meters 0.014088832894207204 Centerline is valid? [True, True] Translation: X:29.73, Y:-179.76, Z:-1.82 [[-9.99837653e-01 1.69755562e-02 6.04132889e-03 2.97258458e+01] [ 1.69745437e-02 9.99855898e-01 -2.18822662e-04 -1.79757192e+02] [-6.04417296e-03 -1.16238336e-04 -9.99981727e-01 -1.81718800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.816559995 meters 0.014539259090213388 Centerline is valid? [True, True] Translation: X:29.73, Y:-179.07, Z:-2.77 [[-9.92501427e-01 -1.22074695e-01 6.21988034e-03 2.97328296e+01] [ 1.22073139e-01 -9.92520907e-01 -6.30558901e-04 -1.79069642e+02] [ 6.25033657e-03 1.33449711e-04 9.99980458e-01 -2.77377425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.84655999499995 meters 0.01366856440524963 Centerline is valid? [True, True] Translation: X:29.65, Y:-179.76, Z:-1.82 [[-9.99898629e-01 1.26188929e-02 6.59510339e-03 2.96464137e+01] [ 1.26178244e-02 9.99920371e-01 -2.03611209e-04 -1.79756120e+02] [-6.59714757e-03 -1.20374713e-04 -9.99978231e-01 -1.81656705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.876559995 meters 0.013709826232280075 Centerline is valid? [True, True] Translation: X:29.67, Y:-179.06, Z:-2.78 [[-9.93275036e-01 -1.15527270e-01 7.62584332e-03 2.96718109e+01] [ 1.15525470e-01 -9.93304287e-01 -6.77516447e-04 -1.79064012e+02] [ 7.65305449e-03 2.08018962e-04 9.99970693e-01 -2.77504475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.90655999499995 meters 0.01363892937861485 Centerline is valid? [True, True] Translation: X:29.57, Y:-179.76, Z:-1.81 [[-9.99922211e-01 9.22967422e-03 8.38954154e-03 2.95745866e+01] [ 9.22814738e-03 9.99957395e-01 -2.20685731e-04 -1.79757287e+02] [-8.39122096e-03 -1.43248638e-04 -9.99964783e-01 -1.81483503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.936559995 meters 0.013525905408752566 Centerline is valid? [True, True] Translation: X:29.58, Y:-179.73, Z:-1.81 [[-9.98076217e-01 -6.13555379e-02 8.90863140e-03 2.95765831e+01] [-6.13544085e-02 9.98115963e-01 4.00279438e-04 -1.79731478e+02] [-8.91640657e-03 -1.47074423e-04 -9.99960237e-01 -1.81491707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.96655999499995 meters 0.01324301576836096 Centerline is valid? [True, True] Translation: X:29.55, Y:-179.03, Z:-2.78 [[-9.99240578e-01 -3.79060233e-02 9.02227379e-03 2.95532482e+01] [ 3.79058855e-02 -9.99281296e-01 -1.86338785e-04 -1.79029024e+02] [ 9.02285281e-03 1.55800002e-04 9.99959281e-01 -2.77521927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.996559995 meters 0.012717842273418368 Centerline is valid? [True, True] Translation: X:29.49, Y:-179.74, Z:-1.82 [[-9.97913323e-01 -6.39325993e-02 9.03457233e-03 2.94900401e+01] [-6.39310492e-02 9.97954212e-01 4.60570160e-04 -1.79740806e+02] [-9.04553496e-03 -1.17980589e-04 -9.99959081e-01 -1.81552415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.02655999499996 meters 0.012746256851251223 Centerline is valid? [True, True] Translation: X:29.46, Y:-179.03, Z:-2.77 [[-9.99567194e-01 -2.80627563e-02 8.82650051e-03 2.94583105e+01] [ 2.80625536e-02 -9.99606158e-01 -1.46841134e-04 -1.79027374e+02] [ 8.82714504e-03 1.00916563e-04 9.99961035e-01 -2.77488578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.056559995 meters 0.012226948902605285 Centerline is valid? [True, True] Translation: X:29.40, Y:-179.75, Z:-1.82 [[-9.97734819e-01 -6.66951519e-02 8.77426724e-03 2.93961164e+01] [-6.66933319e-02 9.97773396e-01 5.00187413e-04 -1.79749194e+02] [-8.78809050e-03 -8.61307186e-05 -9.99961380e-01 -1.81595889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.08655999499996 meters 0.011836444373979276 Centerline is valid? [True, True] Translation: X:29.39, Y:-179.73, Z:-1.82 [[-9.90966589e-01 -1.33877212e-01 7.88111530e-03 2.93914788e+01] [-1.33873359e-01 9.90997926e-01 1.01685803e-03 -1.79726419e+02] [-7.94630304e-03 -4.73990408e-05 -9.99968427e-01 -1.81692980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.116559995 meters 0.011605732383439895 Centerline is valid? [True, True] Translation: X:29.37, Y:-179.70, Z:-1.82 [[-9.79283332e-01 -2.02359714e-01 7.39603155e-03 2.93733900e+01] [-2.02354168e-01 9.79311261e-01 1.49842784e-03 -1.79703821e+02] [-7.54623841e-03 -2.92324095e-05 -9.99971526e-01 -1.81756570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.14655999499996 meters 0.011467100629226127 Centerline is valid? [True, True] Translation: X:29.34, Y:-179.68, Z:-1.82 [[-9.62554763e-01 -2.70997634e-01 6.97219344e-03 2.93442299e+01] [-2.70990632e-01 9.62580014e-01 1.94805558e-03 -1.79684611e+02] [-7.23921251e-03 -1.42889339e-05 -9.99973796e-01 -1.81852516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.17655999499993 meters 0.011430142690659837 Centerline is valid? [True, True] Translation: X:29.29, Y:-179.67, Z:-1.82 [[-9.40711815e-01 -3.39145820e-01 6.43386507e-03 2.92878209e+01] [-3.39137898e-01 9.40733816e-01 2.31805169e-03 -1.79674380e+02] [-6.83871198e-03 -1.34886253e-06 -9.99976616e-01 -1.81910684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.20655999499996 meters 0.01153561614240126 Centerline is valid? [True, True] Translation: X:29.22, Y:-179.67, Z:-1.82 [[-9.14111028e-01 -4.05423120e-01 5.75522556e-03 2.92238182e+01] [-4.05414987e-01 9.14129145e-01 2.56793520e-03 -1.79670817e+02] [-6.30211972e-03 1.41231921e-05 -9.99980141e-01 -1.81863208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.23655999499994 meters 0.01171553737976085 Centerline is valid? [True, True] Translation: X:29.15, Y:-179.68, Z:-1.82 [[-8.82199431e-01 -4.70843688e-01 5.51222893e-03 2.91519173e+01] [-4.70834323e-01 8.82216652e-01 2.96970390e-03 -1.79676074e+02] [-6.26124649e-03 2.45245070e-05 -9.99980398e-01 -1.81887182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.26655999499997 meters 0.0118806223035726 Centerline is valid? [True, True] Translation: X:29.07, Y:-179.69, Z:-1.82 [[-8.45491392e-01 -5.33964237e-01 5.14787053e-03 2.90721179e+01] [-5.33954082e-01 8.45507063e-01 3.29332935e-03 -1.79691987e+02] [-6.11108098e-03 3.57551297e-05 -9.99981327e-01 -1.81958831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.29655999499994 meters 0.012358720904400785 Centerline is valid? [True, True] Translation: X:28.99, Y:-179.72, Z:-1.82 [[-8.03902102e-01 -5.94733459e-01 5.78996273e-03 2.89870396e+01] [-5.94717540e-01 8.03922950e-01 4.35174196e-03 -1.79718179e+02] [-7.24281046e-03 5.49821134e-05 -9.99973769e-01 -1.81911280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.32655999499997 meters 0.012358720904400785 Centerline is valid? [True, True] Translation: X:28.90, Y:-179.75, Z:-1.82 [[-7.56622354e-01 -6.53829469e-01 5.44425295e-03 2.88977594e+01] [-6.53812019e-01 7.56641938e-01 4.77715111e-03 -1.79754488e+02] [-7.24279228e-03 5.49813063e-05 -9.99973769e-01 -1.81911358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.35655999499994 meters 0.012594052019152929 Centerline is valid? [True, True] Translation: X:28.81, Y:-179.80, Z:-1.82 [[-7.06055264e-01 -7.08121057e-01 7.10863032e-03 2.88070181e+01] [-7.08083807e-01 7.06091042e-01 7.26379000e-03 -1.79799637e+02] [-1.01629828e-02 9.51311509e-05 -9.99948351e-01 -1.81744465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.38655999499997 meters 0.012396426664712357 Centerline is valid? [True, True] Translation: X:28.72, Y:-179.86, Z:-1.82 [[-6.50314068e-01 -7.59633861e-01 6.92896164e-03 2.87151579e+01] [-7.59589027e-01 6.50350972e-01 8.25370835e-03 -1.79855711e+02] [-1.07760533e-02 1.04339423e-04 -9.99941931e-01 -1.81717288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.41655999499994 meters 0.012728355587145761 Centerline is valid? [True, True] Translation: X:28.63, Y:-179.92, Z:-1.82 [[-5.90787457e-01 -8.06799405e-01 6.70089295e-03 2.86253244e+01] [-8.06745269e-01 5.90825446e-01 9.34687140e-03 -1.79924982e+02] [-1.15001083e-02 1.16100695e-04 -9.99933865e-01 -1.81565814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.446559995 meters 0.012818783167684084 Centerline is valid? [True, True] Translation: X:28.54, Y:-180.00, Z:-1.82 [[-5.27903937e-01 -8.49278678e-01 6.56955977e-03 2.85421271e+01] [-8.49209683e-01 5.27944796e-01 1.08262331e-02 -1.79999507e+02] [-1.26628539e-02 1.36277329e-04 -9.99919814e-01 -1.81517971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.47655999499995 meters 0.012992576049100419 Centerline is valid? [True, True] Translation: X:28.47, Y:-180.07, Z:-1.82 [[-4.62975241e-01 -8.86349218e-01 6.24416747e-03 2.84666550e+01] [-8.86263401e-01 4.63017313e-01 1.23350220e-02 -1.80074857e+02] [-1.38242947e-02 1.76832666e-04 -9.99904424e-01 -1.81533893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.506559995 meters 0.013446579201501649 Centerline is valid? [True, True] Translation: X:28.39, Y:-180.17, Z:-1.82 [[-3.94796458e-01 -9.18753888e-01 5.20090193e-03 2.83932140e+01] [-9.18667627e-01 3.94830666e-01 1.25911077e-02 -1.80167533e+02] [-1.36216047e-02 1.93024482e-04 -9.99907203e-01 -1.81517096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.53655999499995 meters 0.013779870024072284 Centerline is valid? [True, True] Translation: X:28.33, Y:-180.27, Z:-1.82 [[-3.24512341e-01 -9.45872180e-01 4.19052648e-03 2.83262297e+01] [-9.45784632e-01 3.24539327e-01 1.28707368e-02 -1.80267141e+02] [-1.35340626e-02 2.13377402e-04 -9.99908388e-01 -1.81531358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.566559995 meters 0.014656736725701544 Centerline is valid? [True, True] Translation: X:28.27, Y:-180.37, Z:-1.82 [[-2.54085088e-01 -9.67177049e-01 3.05334861e-03 2.82679607e+01] [-9.67094980e-01 2.54103312e-01 1.26018297e-02 -1.80366411e+02] [-1.29640664e-02 2.49058886e-04 -9.99915932e-01 -1.81574759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.59655999499995 meters 0.015206872998380345 Centerline is valid? [True, True] Translation: X:28.22, Y:-180.48, Z:-1.82 [[-1.80347309e-01 -9.83600966e-01 1.99685175e-03 2.82170759e+01] [-9.83523754e-01 1.80358178e-01 1.23269194e-02 -1.80476226e+02] [-1.24849184e-02 2.59175622e-04 -9.99922027e-01 -1.81619069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.626559995 meters 0.0182760777327726 Centerline is valid? [True, True] Translation: X:28.18, Y:-180.59, Z:-1.82 [[-1.05208546e-01 -9.94449711e-01 9.67104918e-04 2.81785627e+01] [-9.94382446e-01 1.05212680e-01 1.15690155e-02 -1.80592380e+02] [-1.16065558e-02 2.55487142e-04 -9.99932609e-01 -1.81501716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.65655999499995 meters 0.01463462775656188 Centerline is valid? [True, True] Translation: X:28.14, Y:-180.71, Z:-1.82 [[-2.87693121e-02 -9.99586075e-01 6.85546325e-05 2.81389768e+01] [-9.99525256e-01 2.87683180e-02 1.10293604e-02 -1.80712066e+02] [-1.10267673e-02 2.48785025e-04 -9.99939172e-01 -1.81900028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.686559995 meters 0.015090064746250666 Centerline is valid? [True, True] Translation: X:28.11, Y:-180.83, Z:-1.82 [[ 4.83057061e-02 -9.98832325e-01 -7.38602123e-04 2.81148869e+01] [-9.98778359e-01 -4.83107759e-02 1.03855126e-02 -1.80829556e+02] [-1.04090681e-02 2.36020299e-04 -9.99945796e-01 -1.81927393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.71655999499995 meters 0.014864525063570971 Centerline is valid? [True, True] Translation: X:28.10, Y:-180.95, Z:-1.82 [[ 1.25713803e-01 -9.92065484e-01 -1.45428220e-03 2.80983983e+01] [-9.92017624e-01 -1.25722026e-01 9.74705657e-03 -1.80951989e+02] [-9.85255370e-03 2.17334031e-04 -9.99951439e-01 -1.81976125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.746559995 meters 0.014000665475821893 Centerline is valid? [True, True] Translation: X:28.09, Y:-181.08, Z:-1.82 [[ 2.04775901e-01 -9.78807041e-01 -1.89922781e-03 2.80878970e+01] [-9.78771921e-01 -2.04784645e-01 8.29313169e-03 -1.81075569e+02] [-8.50630838e-03 1.60677342e-04 -9.99963808e-01 -1.81969312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.77655999499996 meters 0.013552365195700298 Centerline is valid? [True, True] Translation: X:28.09, Y:-181.20, Z:-1.82 [[ 2.81771893e-01 -9.59478088e-01 -2.52960392e-03 2.80899562e+01] [-9.59443786e-01 -2.81783212e-01 8.11436073e-03 -1.81202089e+02] [-8.49835124e-03 1.40613981e-04 -9.99963879e-01 -1.81945638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.806559995 meters 0.012043176581103127 Centerline is valid? [True, True] Translation: X:28.10, Y:-181.32, Z:-1.82 [[ 3.60897663e-01 -9.32600478e-01 -3.03739007e-03 2.80963454e+01] [-9.32569319e-01 -3.60910436e-01 7.62380584e-03 -1.81323873e+02] [-8.20619074e-03 8.11630815e-05 -9.99966325e-01 -1.81863794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.83655999499996 meters 0.011170630863918573 Centerline is valid? [True, True] Translation: X:28.11, Y:-181.44, Z:-1.82 [[ 4.35298470e-01 -9.00279255e-01 -3.53640323e-03 2.81142848e+01] [-9.00250379e-01 -4.35312832e-01 7.21064019e-03 -1.81444379e+02] [-8.03103148e-03 4.48677066e-05 -9.99967750e-01 -1.81935683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.866559995 meters 0.010948904133847267 Centerline is valid? [True, True] Translation: X:28.14, Y:-181.56, Z:-1.82 [[ 5.06852921e-01 -8.62022651e-01 -4.13100827e-03 2.81415324e+01] [-8.61994175e-01 -5.06869756e-01 7.00659499e-03 -1.81560985e+02] [-8.13372674e-03 9.59192401e-06 -9.99966921e-01 -1.81846692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.89655999499996 meters 0.010845436196747606 Centerline is valid? [True, True] Translation: X:28.18, Y:-181.68, Z:-1.82 [[ 5.74877536e-01 -8.18226527e-01 -4.60095778e-03 2.81806627e+01] [-8.18199969e-01 -5.74895947e-01 6.59252026e-03 -1.81680418e+02] [-8.03924693e-03 -2.53882915e-05 -9.99967684e-01 -1.81804254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.92655999499993 meters 0.011902711359606764 Centerline is valid? [True, True] Translation: X:28.21, Y:-181.78, Z:-1.82 [[ 6.41770049e-01 -7.66879372e-01 -5.21851673e-03 2.82148838e+01] [-7.66852851e-01 -6.41791259e-01 6.37839118e-03 -1.81783513e+02] [-8.24065504e-03 -9.16259909e-05 -9.99966041e-01 -1.81687971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.95655999499996 meters 0.012396290946141439 Centerline is valid? [True, True] Translation: X:28.27, Y:-181.89, Z:-1.82 [[ 7.00923078e-01 -7.13213207e-01 -5.81040691e-03 2.82660986e+01] [-7.13187226e-01 -7.00947149e-01 6.08892097e-03 -1.81886738e+02] [-8.41548702e-03 -1.23957244e-04 -9.99964582e-01 -1.81663563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.98655999499994 meters 0.012748773994663856 Centerline is valid? [True, True] Translation: X:28.32, Y:-181.98, Z:-1.82 [[ 7.54900430e-01 -6.55805124e-01 -6.70669145e-03 2.83209397e+01] [-6.55777379e-01 -7.54930205e-01 6.03448462e-03 -1.81980793e+02] [-9.02052989e-03 -1.57338499e-04 -9.99959302e-01 -1.81633980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.01655999499997 meters 0.013987723304580516 Centerline is valid? [True, True] Translation: X:28.32, Y:-181.99, Z:-1.82 [[ 8.06241918e-01 -5.91540380e-01 -7.34490188e-03 2.83171432e+01] [-5.91513570e-01 -8.06275349e-01 5.63540569e-03 -1.81992282e+02] [-9.25558335e-03 -1.98891160e-04 -9.99957146e-01 -1.81582453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.04655999499994 meters 0.013977151016287428 Centerline is valid? [True, True] Translation: X:28.32, Y:-182.00, Z:-1.82 [[ 8.50571582e-01 -5.25807291e-01 -7.39437348e-03 2.83157685e+01] [-5.25785379e-01 -8.50603699e-01 4.80436004e-03 -1.82002235e+02] [-8.81584898e-03 -1.98598653e-04 -9.99961120e-01 -1.81613260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.07655999499997 meters 0.014022104114626226 Centerline is valid? [True, True] Translation: X:28.31, Y:-182.01, Z:-1.82 [[ 8.89419705e-01 -4.57027145e-01 -7.66667798e-03 2.83148520e+01] [-4.57008185e-01 -8.89452724e-01 4.16784664e-03 -1.82012896e+02] [-8.72396666e-03 -2.03230338e-04 -9.99961925e-01 -1.81641029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.10655999499994 meters 0.014556878283196946 Centerline is valid? [True, True] Translation: X:28.31, Y:-182.02, Z:-1.82 [[ 9.22676427e-01 -3.85493012e-01 -7.95916560e-03 2.83139107e+01] [-3.85476713e-01 -9.22710732e-01 3.55101851e-03 -1.82023538e+02] [-8.71290034e-03 -2.08368076e-04 -9.99962020e-01 -1.81551195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.13655999499997 meters 0.014067708973137496 Centerline is valid? [True, True] Translation: X:28.31, Y:-182.03, Z:-1.82 [[ 9.50027655e-01 -3.12053239e-01 -8.38037238e-03 2.83147961e+01] [-3.12039107e-01 -9.50064593e-01 2.97743263e-03 -1.82033579e+02] [-8.89101257e-03 -2.13639423e-04 -9.99960451e-01 -1.81545273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.16655999499994 meters 0.015447680734528488 Centerline is valid? [True, True] Translation: X:28.32, Y:-182.04, Z:-1.81 [[ 9.71565397e-01 -2.36583035e-01 -9.44176240e-03 2.83158352e+01] [-2.36569482e-01 -9.71611245e-01 2.54346198e-03 -1.82044289e+02] [-9.77546247e-03 -2.37506809e-04 -9.99952191e-01 -1.81378705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.196559995 meters 0.014621774490298578 Centerline is valid? [True, True] Translation: X:28.32, Y:-182.05, Z:-1.81 [[ 9.86972884e-01 -1.60545978e-01 -1.04649799e-02 2.83191846e+01] [-1.60534246e-01 -9.87028331e-01 1.95715921e-03 -1.82048628e+02] [-1.06434457e-02 -2.51675410e-04 -9.99943325e-01 -1.81404391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.22655999499995 meters 0.01414345648410924 Centerline is valid? [True, True] Translation: X:28.32, Y:-182.05, Z:-1.81 [[ 9.96404849e-01 -8.41236465e-02 -1.00294261e-02 2.83200559e+01] [-8.41171196e-02 -9.96455299e-01 1.07158622e-03 -1.82051778e+02] [-1.00840205e-02 -2.24087268e-04 -9.99949130e-01 -1.81468761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.256559995 meters 0.013743656700470668 Centerline is valid? [True, True] Translation: X:28.32, Y:-182.06, Z:-1.82 [[ 9.99928148e-01 -7.56750140e-03 -9.29684317e-03 2.83202224e+01] [-7.56540025e-03 -9.99971348e-01 2.61155078e-04 -1.82055601e+02] [-9.29855308e-03 -1.90801974e-04 -9.99956749e-01 -1.81502503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.28655999499995 meters 0.013743656700470668 Centerline is valid? [True, True] Translation: X:28.32, Y:-182.06, Z:-1.82 [[ 9.97452932e-01 7.07203422e-02 -9.28874661e-03 2.83203428e+01] [ 7.07190558e-02 -9.97496164e-01 -4.67281445e-04 -1.82062375e+02] [-9.29853541e-03 -1.90800142e-04 -9.99956750e-01 -1.81502519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.316559995 meters 0.01340805478797257 Centerline is valid? [True, True] Translation: X:28.32, Y:-182.07, Z:-1.82 [[ 9.88984514e-01 1.47729934e-01 -9.24650616e-03 2.83211638e+01] [ 1.47725209e-01 -9.89027721e-01 -1.19569764e-03 -1.82067288e+02] [-9.32169125e-03 -1.83415603e-04 -9.99956535e-01 -1.81510391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.34655999499995 meters 0.01340805478797257 Centerline is valid? [True, True] Translation: X:28.32, Y:-182.07, Z:-1.82 [[ 9.74385276e-01 2.24699971e-01 -9.12451129e-03 2.83222048e+01] [ 2.24691878e-01 -9.74427981e-01 -1.91586387e-03 -1.82074331e+02] [-9.32167367e-03 -1.83414030e-04 -9.99956535e-01 -1.81510407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.376559995 meters 0.013222113007001062 Centerline is valid? [True, True] Translation: X:28.32, Y:-182.08, Z:-1.81 [[ 9.54141503e-01 2.99209366e-01 -9.36739177e-03 2.83230611e+01] [ 2.99196805e-01 -9.54187467e-01 -2.74756339e-03 -1.82078913e+02] [-9.76034453e-03 -1.81129430e-04 -9.99952350e-01 -1.81472504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.40655999499995 meters 0.012575298380721946 Centerline is valid? [True, True] Translation: X:28.32, Y:-182.08, Z:-1.81 [[ 9.28715291e-01 3.70681535e-01 -9.11629731e-03 2.83229440e+01] [ 3.70665331e-01 -9.28760020e-01 -3.46947794e-03 -1.82080475e+02] [-9.75292388e-03 -1.56938145e-04 -9.99952427e-01 -1.81442857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.436559995 meters 0.012243534897565314 Centerline is valid? [True, True] Translation: X:28.32, Y:-182.08, Z:-1.81 [[ 8.97347199e-01 4.41246197e-01 -8.35452835e-03 2.83240690e+01] [ 4.41228505e-01 -8.97386079e-01 -3.95373864e-03 -1.82084837e+02] [-9.24180958e-03 -1.38379755e-04 -9.99957284e-01 -1.81485251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.46655999499995 meters 0.012001947065587831 Centerline is valid? [True, True] Translation: X:28.33, Y:-182.09, Z:-1.82 [[ 8.60720786e-01 5.09019737e-01 -7.65740976e-03 2.83253706e+01] [ 5.09000835e-01 -8.60754839e-01 -4.38833302e-03 -1.82088992e+02] [-8.82490062e-03 -1.20498521e-04 -9.99961053e-01 -1.81502781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.496559995 meters 0.011784212634822563 Centerline is valid? [True, True] Translation: X:28.33, Y:-182.09, Z:-1.82 [[ 8.18958525e-01 5.73808326e-01 -7.13723936e-03 2.83261376e+01] [ 5.73787674e-01 -8.18989618e-01 -4.86947950e-03 -1.82092595e+02] [-8.63947282e-03 -1.07358223e-04 -9.99962673e-01 -1.81518414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.52655999499996 meters 0.011193898910430999 Centerline is valid? [True, True] Translation: X:28.33, Y:-182.09, Z:-1.82 [[ 7.73168345e-01 6.34170476e-01 -6.20632443e-03 2.83258701e+01] [ 6.34150858e-01 -7.73193250e-01 -4.98881736e-03 -1.82094039e+02] [-7.96244883e-03 -7.85502994e-05 -9.99968296e-01 -1.81600418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.556559995 meters 0.010749736106194988 Centerline is valid? [True, True] Translation: X:28.33, Y:-182.10, Z:-1.82 [[ 7.22116621e-01 6.91746588e-01 -5.85181717e-03 2.83281029e+01] [ 6.91724635e-01 -7.22140328e-01 -5.51146469e-03 -1.82099372e+02] [-8.03837006e-03 -6.79258435e-05 -9.99967690e-01 -1.81678399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.58655999499996 meters 0.01066717052127285 Centerline is valid? [True, True] Translation: X:28.33, Y:-182.11, Z:-1.82 [[ 6.66559884e-01 7.45433100e-01 -5.23589278e-03 2.83305593e+01] [ 7.45410777e-01 -6.66580445e-01 -5.76919423e-03 -1.82105421e+02] [-7.79069208e-03 -5.73774732e-05 -9.99969650e-01 -1.81657239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.616559995 meters 0.01043388430849418 Centerline is valid? [True, True] Translation: X:28.33, Y:-182.11, Z:-1.82 [[ 6.07357916e-01 7.94414090e-01 -4.75553014e-03 2.83329186e+01] [ 7.94390322e-01 -6.07376531e-01 -6.14539620e-03 -1.82109993e+02] [-7.77038674e-03 -4.52920905e-05 -9.99969809e-01 -1.81610127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.64655999499996 meters 0.010498326583808344 Centerline is valid? [True, True] Translation: X:28.34, Y:-182.12, Z:-1.82 [[ 5.43337268e-01 8.39503459e-01 -4.30754212e-03 2.83366440e+01] [ 8.39477738e-01 -5.43354341e-01 -6.57168141e-03 -1.82116097e+02] [-7.85747098e-03 -4.54462916e-05 -9.99969129e-01 -1.81582634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.67655999499993 meters 0.010486205564594927 Centerline is valid? [True, True] Translation: X:28.34, Y:-182.12, Z:-1.82 [[ 4.75351034e-01 8.79788195e-01 -3.75854978e-03 2.83422922e+01] [ 8.79761527e-01 -4.75365890e-01 -6.85026256e-03 -1.82122310e+02] [-7.81346650e-03 -5.03481016e-05 -9.99969473e-01 -1.81600526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.70655999499996 meters 0.011409647879523591 Centerline is valid? [True, True] Translation: X:28.35, Y:-182.13, Z:-1.81 [[ 4.02474683e-01 9.15425902e-01 -3.08987801e-03 2.83513354e+01] [ 9.15400235e-01 -4.02486538e-01 -6.85545728e-03 -1.82131218e+02] [-7.51929747e-03 -6.93270541e-05 -9.99971727e-01 -1.81462297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.73655999499994 meters 0.011316587930455275 Centerline is valid? [True, True] Translation: X:28.36, Y:-182.14, Z:-1.81 [[ 3.27910491e-01 9.44704959e-01 -2.69277511e-03 2.83569184e+01] [ 9.44675252e-01 -3.27921535e-01 -7.49226995e-03 -1.82136105e+02] [-7.96100352e-03 -8.70040929e-05 -9.99968307e-01 -1.81490330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.76655999499997 meters 0.011873634573975098 Centerline is valid? [True, True] Translation: X:28.36, Y:-182.14, Z:-1.81 [[ 2.51474892e-01 9.67860934e-01 -2.36459082e-03 2.83632520e+01] [ 9.67822225e-01 -2.51485984e-01 -8.65688775e-03 -1.82141634e+02] [-8.97332491e-03 -1.11513637e-04 -9.99959733e-01 -1.81360756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.79655999499994 meters 0.011889922959714938 Centerline is valid? [True, True] Translation: X:28.37, Y:-182.15, Z:-1.81 [[ 1.73198523e-01 9.84885309e-01 -1.78886490e-03 2.83710622e+01] [ 9.84840540e-01 -1.73207708e-01 -9.39153018e-03 -1.82145561e+02] [-9.55942530e-03 -1.35147518e-04 -9.99954299e-01 -1.81342918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.82655999499997 meters 0.012444716477312639 Centerline is valid? [True, True] Translation: X:28.38, Y:-182.15, Z:-1.81 [[ 9.30282540e-02 9.95662733e-01 -1.21092076e-03 2.83804827e+01] [ 9.95602162e-01 -9.30359532e-02 -1.09838838e-02 -1.82148806e+02] [-1.10489029e-02 -1.83783798e-04 -9.99938942e-01 -1.81217272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.85655999499994 meters 0.012506651151468526 Centerline is valid? [True, True] Translation: X:28.39, Y:-182.15, Z:-1.81 [[ 1.39297407e-02 9.99902912e-01 -3.57721196e-04 2.83890116e+01] [ 9.99837907e-01 -1.39329147e-02 -1.14032239e-02 -1.82151681e+02] [-1.14071009e-02 -1.98819259e-04 -9.99934917e-01 -1.81218870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.88655999499997 meters 0.012867350587389493 Centerline is valid? [True, True] Translation: X:28.40, Y:-182.15, Z:-1.81 [[-6.57440986e-02 9.97836400e-01 4.81483897e-04 2.83986162e+01] [ 9.97784076e-01 6.57455827e-02 -1.02203629e-02 -1.82153325e+02] [-1.02299055e-02 -1.91511578e-04 -9.99947655e-01 -1.81244953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.91655999499994 meters 0.013349682002855186 Centerline is valid? [True, True] Translation: X:28.41, Y:-182.16, Z:-1.81 [[-1.43616623e-01 9.89632767e-01 1.11942401e-03 2.84071314e+01] [ 9.89592958e-01 1.43620888e-01 -8.87795257e-03 -1.82155607e+02] [-8.94668543e-03 -1.67247450e-04 -9.99959964e-01 -1.81278528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.946559995 meters 0.01251962403022169 Centerline is valid? [True, True] Translation: X:28.41, Y:-182.16, Z:-1.81 [[-2.20385161e-01 9.75411615e-01 1.60054359e-03 2.84140091e+01] [ 9.75380886e-01 2.20390925e-01 -7.74394050e-03 -1.82156210e+02] [-7.90627480e-03 -1.45509953e-04 -9.99968734e-01 -1.81443759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.97655999499995 meters 0.012575751430968991 Centerline is valid? [True, True] Translation: X:28.42, Y:-182.16, Z:-1.82 [[-2.95558212e-01 9.55322704e-01 1.96835429e-03 2.84224261e+01] [ 9.55298596e-01 2.95564739e-01 -6.78808098e-03 -1.82156823e+02] [-7.06658400e-03 -1.25906988e-04 -9.99975023e-01 -1.81504408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.006559995 meters 0.012601230914626326 Centerline is valid? [True, True] Translation: X:28.43, Y:-182.16, Z:-1.82 [[-3.68636379e-01 9.29571253e-01 2.12238343e-03 2.84293474e+01] [ 9.29554227e-01 3.68642475e-01 -5.62708838e-03 -1.82157917e+02] [-6.01318028e-03 -1.01478997e-04 -9.99981916e-01 -1.81545465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.03655999499995 meters 0.011528049998983747 Centerline is valid? [True, True] Translation: X:28.43, Y:-182.16, Z:-1.82 [[-4.37334032e-01 8.99296558e-01 2.15537799e-03 2.84345392e+01] [ 8.99284850e-01 4.37339338e-01 -4.58923467e-03 -1.82158484e+02] [-5.06971452e-03 -6.87297260e-05 -9.99987147e-01 -1.81618234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.066559995 meters 0.011282394694737324 Centerline is valid? [True, True] Translation: X:28.44, Y:-182.16, Z:-1.82 [[-5.04613795e-01 8.63341764e-01 2.43257056e-03 2.84409338e+01] [ 8.63331189e-01 5.04619655e-01 -4.27347292e-03 -1.82159649e+02] [-4.91699056e-03 -5.63393516e-05 -9.99987910e-01 -1.81594012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.09655999499995 meters 0.010861620802158328 Centerline is valid? [True, True] Translation: X:28.45, Y:-182.16, Z:-1.82 [[-5.68754533e-01 8.22501896e-01 2.98526725e-03 2.84462055e+01] [ 8.22490118e-01 5.68762366e-01 -4.40201552e-03 -1.82159823e+02] [-5.31857378e-03 -4.83134711e-05 -9.99985855e-01 -1.81558527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.126559995 meters 0.010246200542066475 Centerline is valid? [True, True] Translation: X:28.45, Y:-182.16, Z:-1.81 [[-6.27414016e-01 7.78675147e-01 4.08279581e-03 2.84493321e+01] [ 7.78658395e-01 6.27427299e-01 -5.10763425e-03 -1.82162252e+02] [-6.53884540e-03 -2.54980765e-05 -9.99978621e-01 -1.81411435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.15655999499995 meters 0.010182080937354846 Centerline is valid? [True, True] Translation: X:28.46, Y:-182.16, Z:-1.81 [[-6.84729940e-01 7.28779603e-01 5.01990658e-03 2.84553827e+01] [ 7.28759899e-01 6.84748341e-01 -5.35900865e-03 -1.82159942e+02] [-7.34290890e-03 -1.11670585e-05 -9.99973040e-01 -1.81379721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.186559995 meters 0.010305718168443797 Centerline is valid? [True, True] Translation: X:28.46, Y:-182.16, Z:-1.81 [[-7.38357612e-01 6.74383747e-01 5.88209524e-03 2.84617880e+01] [ 6.74362391e-01 7.38381041e-01 -5.36691717e-03 -1.82158732e+02] [-7.96258931e-03 3.95966552e-06 -9.99968298e-01 -1.81272234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.21655999499995 meters 0.010305718168443797 Centerline is valid? [True, True] Translation: X:28.48, Y:-182.14, Z:-1.81 [[-7.84202881e-01 6.20473059e-01 6.24695564e-03 2.84819893e+01] [ 6.20453414e-01 7.84227762e-01 -4.93742646e-03 -1.82139241e+02] [-7.96257615e-03 4.00089666e-06 -9.99968298e-01 -1.81272248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.246559995 meters 0.010477200114017657 Centerline is valid? [True, True] Translation: X:28.50, Y:-182.12, Z:-1.81 [[-8.25067756e-01 5.64992906e-01 6.79818046e-03 2.85002345e+01] [ 5.64973925e-01 8.25095762e-01 -4.63119627e-03 -1.82119920e+02] [-8.22574293e-03 1.97439841e-05 -9.99966168e-01 -1.81240100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.27655999499996 meters 0.010460399747355765 Centerline is valid? [True, True] Translation: X:28.52, Y:-182.10, Z:-1.81 [[-8.62449059e-01 5.06093172e-01 7.16391220e-03 2.85178270e+01] [ 5.06075992e-01 8.62478811e-01 -4.17019434e-03 -1.82098850e+02] [-8.28922936e-03 2.89037894e-05 -9.99965643e-01 -1.81269280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.306559995 meters 0.010489032940520868 Centerline is valid? [True, True] Translation: X:28.53, Y:-182.08, Z:-1.81 [[-8.95537064e-01 4.44923951e-01 7.48633725e-03 2.85339430e+01] [ 4.44908775e-01 8.95568354e-01 -3.67494591e-03 -1.82075953e+02] [-8.33959818e-03 3.96868669e-05 -9.99965224e-01 -1.81282390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.33655999499996 meters 0.01049178796198116 Centerline is valid? [True, True] Translation: X:28.54, Y:-182.05, Z:-1.81 [[-9.24816768e-01 3.80336614e-01 7.61614007e-03 2.85416101e+01] [ 3.80324061e-01 9.24848127e-01 -3.09022513e-03 -1.82048125e+02] [-8.21909864e-03 3.87093013e-05 -9.99966222e-01 -1.81285645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.366559995 meters 0.010311055556536842 Centerline is valid? [True, True] Translation: X:28.55, Y:-182.02, Z:-1.81 [[-9.49815018e-01 3.12717037e-01 7.71272594e-03 2.85521661e+01] [ 3.12706972e-01 9.49846332e-01 -2.50913623e-03 -1.82020502e+02] [-8.11055409e-03 2.86079048e-05 -9.99967109e-01 -1.81257102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.39655999499996 meters 0.010248265393891882 Centerline is valid? [True, True] Translation: X:28.56, Y:-181.99, Z:-1.81 [[-9.69796739e-01 2.43779396e-01 8.11732046e-03 2.85640083e+01] [ 2.43771055e-01 9.69830710e-01 -2.01673201e-03 -1.81993700e+02] [-8.36406438e-03 2.29476490e-05 -9.99965020e-01 -1.81247633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.42655999499993 meters 0.010222412684073394 Centerline is valid? [True, True] Translation: X:28.57, Y:-181.97, Z:-1.81 [[-9.84854606e-01 1.73182556e-01 8.31909652e-03 2.85701339e+01] [ 1.73176488e-01 9.84889741e-01 -1.44980708e-03 -1.81965320e+02] [-8.44447412e-03 1.28227383e-05 -9.99964345e-01 -1.81244803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.45655999499996 meters 0.01012785933517412 Centerline is valid? [True, True] Translation: X:28.70, Y:-181.26, Z:-2.78 [[-9.71360057e-01 -2.37486039e-01 7.74730267e-03 2.86972718e+01] [ 2.37478140e-01 -9.71390951e-01 -1.93738692e-03 -1.81257017e+02] [ 7.98576205e-03 -4.20852482e-05 9.99968112e-01 -2.77765472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.48655999499994 meters 0.010112149285573727 Centerline is valid? [True, True] Translation: X:28.51, Y:-181.95, Z:-1.81 [[-9.86428062e-01 1.64020288e-01 7.55144771e-03 2.85140315e+01] [ 1.64015260e-01 9.86456965e-01 -1.28459311e-03 -1.81951308e+02] [-7.65987752e-03 -2.86060278e-05 -9.99970662e-01 -1.81211517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.51655999499997 meters 0.010380185116647412 Centerline is valid? [True, True] Translation: X:28.64, Y:-181.25, Z:-2.78 [[-9.70845215e-01 -2.39592106e-01 7.42902057e-03 2.86388807e+01] [ 2.39585309e-01 -9.70873639e-01 -1.80493710e-03 -1.81253200e+02] [ 7.64508891e-03 2.75696394e-05 9.99970776e-01 -2.77854404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.54655999499994 meters 0.010859707504423994 Centerline is valid? [True, True] Translation: X:28.46, Y:-181.94, Z:-1.81 [[-9.87858356e-01 1.55184170e-01 7.33095687e-03 2.84626720e+01] [ 1.55179414e-01 9.87885555e-01 -1.21665224e-03 -1.81937682e+02] [-7.43095156e-03 -6.42664940e-05 -9.99972388e-01 -1.81071277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.57655999499997 meters 0.011150982908225299 Centerline is valid? [True, True] Translation: X:28.46, Y:-181.91, Z:-1.81 [[-9.96604781e-01 8.19986345e-02 7.42530569e-03 2.84648064e+01] [ 8.19957270e-02 9.96632438e-01 -6.95662649e-04 -1.81907877e+02] [-7.45734390e-03 -8.44573832e-05 -9.99972190e-01 -1.81088138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.60655999499994 meters 0.0123842754342442 Centerline is valid? [True, True] Translation: X:28.46, Y:-181.88, Z:-1.81 [[-9.99958112e-01 5.51298775e-03 7.30631112e-03 2.84594752e+01] [ 5.51194183e-03 9.99984796e-01 -1.63281492e-04 -1.81875371e+02] [-7.30710020e-03 -1.23002691e-04 -9.99973295e-01 -1.81068579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.63655999499997 meters 0.013397864772443775 Centerline is valid? [True, True] Translation: X:28.44, Y:-181.85, Z:-1.81 [[-9.97645856e-01 -6.81795884e-02 7.36814682e-03 2.84353841e+01] [-6.81787908e-02 9.97673054e-01 3.59669618e-04 -1.81845830e+02] [-7.37552367e-03 -1.43528437e-04 -9.99972790e-01 -1.81013099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.66655999499994 meters 0.014019276557112818 Centerline is valid? [True, True] Translation: X:28.44, Y:-181.82, Z:-1.81 [[-9.89961772e-01 -1.41144373e-01 7.34552782e-03 2.84444816e+01] [-1.41141678e-01 9.89989010e-01 8.86546638e-04 -1.81815882e+02] [-7.39712289e-03 -1.59112841e-04 -9.99972628e-01 -1.80990816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.696559995 meters 0.015577937860788546 Centerline is valid? [True, True] Translation: X:28.43, Y:-181.79, Z:-1.81 [[-9.76724297e-01 -2.14383701e-01 7.01967910e-03 2.84290178e+01] [-2.14379456e-01 9.76749506e-01 1.36058004e-03 -1.81786784e+02] [-7.14815428e-03 -1.75963406e-04 -9.99974436e-01 -1.80977947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.72655999499995 meters 0.017610245683474145 Centerline is valid? [True, True] Translation: X:28.29, Y:-181.13, Z:-2.78 [[-9.95165270e-01 9.80056070e-02 6.40209612e-03 2.82933000e+01] [-9.80028625e-02 -9.95185856e-01 7.41760867e-04 -1.81132130e+02] [ 6.44397223e-03 1.10750907e-04 9.99979231e-01 -2.78122860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.756559995 meters 0.01665454214246616 Centerline is valid? [True, True] Translation: X:28.31, Y:-181.81, Z:-1.81 [[-9.74951873e-01 -2.22339882e-01 5.81572869e-03 2.83143473e+01] [-2.22336885e-01 9.74969206e-01 1.16496719e-03 -1.81805060e+02] [-5.92917505e-03 -1.57264055e-04 -9.99982410e-01 -1.80947095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.78655999499995 meters 0.015187619896518385 Centerline is valid? [True, True] Translation: X:28.29, Y:-181.78, Z:-1.81 [[-9.56214831e-01 -2.92618666e-01 5.24539618e-03 2.82890309e+01] [-2.92615112e-01 9.56229206e-01 1.44982524e-03 -1.81784873e+02] [-5.44004695e-03 -1.48537793e-04 -9.99985192e-01 -1.81049491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.816559995 meters 0.01588951832698272 Centerline is valid? [True, True] Translation: X:28.25, Y:-181.77, Z:-1.81 [[-9.32118888e-01 -3.62135977e-01 3.45152015e-03 2.82507145e+01] [-3.62133907e-01 9.32125272e-01 1.22884375e-03 -1.81766577e+02] [-3.66225770e-03 -1.04484006e-04 -9.99993288e-01 -1.81139950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.84655999499995 meters 0.016008325403082453 Centerline is valid? [True, True] Translation: X:28.19, Y:-181.76, Z:-1.81 [[-9.02893102e-01 -4.29856748e-01 2.68752818e-03 2.81933507e+01] [-4.29855120e-01 9.02897098e-01 1.18615972e-03 -1.81759253e+02] [-2.93644015e-03 -8.42723175e-05 -9.99995685e-01 -1.81162257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.876559995 meters 0.017615622800008734 Centerline is valid? [True, True] Translation: X:28.13, Y:-181.76, Z:-1.81 [[-8.68600882e-01 -4.95507127e-01 2.27917507e-03 2.81258013e+01] [-4.95505645e-01 8.68603869e-01 1.21393117e-03 -1.81758857e+02] [-2.58121183e-03 -7.49224281e-05 -9.99996666e-01 -1.81188470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.90655999499995 meters 0.018091184862512148 Centerline is valid? [True, True] Translation: X:28.05, Y:-181.77, Z:-1.81 [[-8.29450632e-01 -5.58576553e-01 1.97066046e-03 2.80533181e+01] [-5.58575167e-01 8.29452970e-01 1.24595761e-03 -1.81767882e+02] [-2.33053288e-03 -6.73016685e-05 -9.99997282e-01 -1.81168602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.936559995 meters 0.01610251904882544 Centerline is valid? [True, True] Translation: X:27.98, Y:-181.79, Z:-1.81 [[-7.86117269e-01 -6.18073454e-01 2.20126165e-03 2.79759003e+01] [-6.18071298e-01 7.86120347e-01 1.63413961e-03 -1.81790756e+02] [-2.74047489e-03 -7.59112766e-05 -9.99996242e-01 -1.81054425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.96655999499995 meters 0.015622487040425471 Centerline is valid? [True, True] Translation: X:27.89, Y:-181.82, Z:-1.81 [[-7.38055237e-01 -6.74736122e-01 2.37343847e-03 2.78948046e+01] [-6.74732995e-01 7.38059049e-01 2.05567987e-03 -1.81821975e+02] [-3.13877920e-03 -8.42319529e-05 -9.99995071e-01 -1.80975272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.996559995 meters 0.015077177604409771 Centerline is valid? [True, True] Translation: X:27.81, Y:-181.86, Z:-1.81 [[-6.86018891e-01 -7.27579892e-01 2.36252750e-03 2.78112924e+01] [-7.27576002e-01 6.86022954e-01 2.38070429e-03 -1.81864134e+02] [-3.35290067e-03 -8.57102011e-05 -9.99994375e-01 -1.80948056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.02655999499996 meters 0.014549401187849947 Centerline is valid? [True, True] Translation: X:27.73, Y:-181.92, Z:-1.81 [[-6.31413100e-01 -7.75444010e-01 2.02106834e-03 2.77265987e+01] [-7.75440386e-01 6.31416331e-01 2.37161756e-03 -1.81919236e+02] [-3.11519219e-03 -6.97476144e-05 -9.99995145e-01 -1.80913267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.056559995 meters 0.014834591263963713 Centerline is valid? [True, True] Translation: X:27.64, Y:-181.98, Z:-1.81 [[-5.72324879e-01 -8.20025355e-01 1.62808768e-03 2.76440511e+01] [-8.20022313e-01 5.72327192e-01 2.23428920e-03 -1.81980377e+02] [-2.76397265e-03 -5.63289264e-05 -9.99996179e-01 -1.80913387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.08655999499996 meters 0.013196958954029704 Centerline is valid? [True, True] Translation: X:27.57, Y:-182.05, Z:-1.81 [[-5.10280640e-01 -8.60007157e-01 1.16578954e-03 2.75680478e+01] [-8.60005087e-01 5.10281970e-01 1.88701914e-03 -1.82051567e+02] [-2.21773135e-03 -3.96756000e-05 -9.99997540e-01 -1.80954118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.116559995 meters 0.012475524156906464 Centerline is valid? [True, True] Translation: X:27.50, Y:-182.13, Z:-1.81 [[-4.44962768e-01 -8.95548651e-01 8.65625077e-04 2.74959015e+01] [-8.95547083e-01 4.44963609e-01 1.67569062e-03 -1.82128412e+02] [-1.88583413e-03 -2.95880786e-05 -9.99998221e-01 -1.80973064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.14655999499996 meters 0.011459684988496418 Centerline is valid? [True, True] Translation: X:27.43, Y:-182.22, Z:-1.81 [[-3.79323743e-01 -9.25263802e-01 6.28466336e-04 2.74295287e+01] [-9.25262609e-01 3.79324263e-01 1.48600498e-03 -1.82215195e+02] [-1.61333915e-03 -1.78194306e-05 -9.99998698e-01 -1.80916965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.17655999499993 meters 0.010829691100662923 Centerline is valid? [True, True] Translation: X:27.37, Y:-182.31, Z:-1.81 [[-3.08992952e-01 -9.51064221e-01 4.50635411e-04 2.73653794e+01] [-9.51063270e-01 3.08993280e-01 1.34481541e-03 -1.82313139e+02] [-1.41824914e-03 -1.30443041e-05 -9.99998994e-01 -1.80891622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.20655999499996 meters 0.010731205112114322 Centerline is valid? [True, True] Translation: X:27.31, Y:-182.41, Z:-1.81 [[-2.36104152e-01 -9.71727710e-01 2.96344590e-04 2.73086987e+01] [-9.71726995e-01 2.36104338e-01 1.17870708e-03 -1.82411971e+02] [-1.21535057e-03 -9.66840350e-06 -9.99999261e-01 -1.80865407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.23655999499994 meters 0.010587751380571435 Centerline is valid? [True, True] Translation: X:27.26, Y:-182.52, Z:-1.81 [[-1.62469238e-01 -9.86713587e-01 2.11502116e-04 2.72600921e+01] [-9.86712811e-01 1.62469375e-01 1.23755005e-03 -1.82519612e+02] [-1.25547007e-03 -7.62803375e-06 -9.99999212e-01 -1.80810877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.26655999499997 meters 0.010413786864604915 Centerline is valid? [True, True] Translation: X:27.22, Y:-182.63, Z:-1.81 [[-8.70062996e-02 -9.96207751e-01 1.43041559e-04 2.72183956e+01] [-9.96206550e-01 8.70064169e-02 1.54702706e-03 -1.82631578e+02] [-1.55360588e-03 -7.89783765e-06 -9.99998793e-01 -1.80755089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.29655999499994 meters 0.010460952079870136 Centerline is valid? [True, True] Translation: X:27.18, Y:-182.76, Z:-1.81 [[-1.05445609e-02 -9.99944404e-01 2.42183812e-05 2.71843329e+01] [-9.99943122e-01 1.05445861e-02 1.60153873e-03 -1.82756397e+02] [-1.60170507e-03 -7.32948108e-06 -9.99998717e-01 -1.80699805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.32655999499997 meters 0.010599584367697989 Centerline is valid? [True, True] Translation: X:27.16, Y:-182.87, Z:-1.81 [[ 6.72678425e-02 -9.97734952e-01 -4.53630526e-05 2.71571699e+01] [-9.97734686e-01 -6.72678577e-02 7.28597556e-04 -1.82866693e+02] [-7.29998724e-04 -3.75089462e-06 -9.99999734e-01 -1.80666664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.35655999499994 meters 0.010734573906491593 Centerline is valid? [True, True] Translation: X:27.14, Y:-182.99, Z:-1.81 [[ 1.44440880e-01 -9.89513427e-01 -1.03994328e-04 2.71401243e+01] [-9.89513149e-01 -1.44440918e-01 7.41791126e-04 -1.82989787e+02] [-7.49033316e-04 -4.24120864e-06 -9.99999720e-01 -1.80631262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.38655999499997 meters 0.01079322907437129 Centerline is valid? [True, True] Translation: X:27.13, Y:-183.11, Z:-1.81 [[ 2.20926706e-01 -9.75290409e-01 -9.53208108e-05 2.71330207e+01] [-9.75290313e-01 -2.20926727e-01 4.33323730e-04 -1.83109649e+02] [-4.43675393e-04 -2.76732109e-06 -9.99999902e-01 -1.80585160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.41655999499994 meters 0.010898022188679062 Centerline is valid? [True, True] Translation: X:27.13, Y:-183.23, Z:-1.81 [[ 2.95868359e-01 -9.55228703e-01 -1.98627135e-04 2.71347257e+01] [-9.55228477e-01 -2.95868426e-01 6.57225191e-04 -1.83229993e+02] [-6.86567865e-04 -4.71784304e-06 -9.99999764e-01 -1.80567926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.446559995 meters 0.011050924398746132 Centerline is valid? [True, True] Translation: X:27.15, Y:-183.35, Z:-1.81 [[ 3.69463329e-01 -9.29245300e-01 -1.47211197e-04 2.71464103e+01] [-9.29245222e-01 -3.69463359e-01 3.78704094e-04 -1.83349967e+02] [-4.06298142e-04 -3.12197413e-06 -9.99999917e-01 -1.80579803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.47655999499995 meters 0.011119854661768874 Centerline is valid? [True, True] Translation: X:27.17, Y:-183.47, Z:-1.81 [[ 4.40226963e-01 -8.97886465e-01 -3.41430410e-04 2.71665324e+01] [-8.97886184e-01 -4.40227095e-01 7.11312847e-04 -1.83465412e+02] [-7.88985096e-04 -6.57344590e-06 -9.99999689e-01 -1.80597115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.506559995 meters 0.011258982423995012 Centerline is valid? [True, True] Translation: X:27.20, Y:-183.58, Z:-1.81 [[ 5.08287922e-01 -8.61186919e-01 -6.92056908e-04 2.71952458e+01] [-8.61186088e-01 -5.08288392e-01 1.19672254e-03 -1.83579736e+02] [-1.38236629e-03 -1.22898318e-05 -9.99999044e-01 -1.80541142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.53655999499995 meters 0.01145998000693883 Centerline is valid? [True, True] Translation: X:27.23, Y:-183.69, Z:-1.80 [[ 5.73218116e-01 -8.19402076e-01 -1.10890145e-03 2.72304220e+01] [-8.19400480e-01 -5.73219189e-01 1.61724650e-03 -1.83689233e+02] [-1.96081873e-03 -1.84006124e-05 -9.99998077e-01 -1.80447260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.566559995 meters 0.011479601049195069 Centerline is valid? [True, True] Translation: X:27.27, Y:-183.80, Z:-1.80 [[ 6.34568503e-01 -7.72865322e-01 -1.41736678e-03 2.72747879e+01] [-7.72863316e-01 -6.34570085e-01 1.76120279e-03 -1.83798076e+02] [-2.26059112e-03 -2.21730293e-05 -9.99997445e-01 -1.80304315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.59655999499995 meters 0.011457975960609634 Centerline is valid? [True, True] Translation: X:27.32, Y:-183.89, Z:-1.80 [[ 6.91665675e-01 -7.22216423e-01 -1.42570477e-03 2.73207375e+01] [-7.22214828e-01 -6.91667144e-01 1.51784715e-03 -1.83893360e+02] [-2.08232728e-03 -2.01776448e-05 -9.99997832e-01 -1.80298406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.626559995 meters 0.01154722040504001 Centerline is valid? [True, True] Translation: X:27.38, Y:-183.99, Z:-1.80 [[ 7.44534303e-01 -6.67582898e-01 -1.32118527e-03 2.73803099e+01] [-6.67581806e-01 -7.44535475e-01 1.20729423e-03 -1.83991438e+02] [-1.78963828e-03 -1.68727158e-05 -9.99998398e-01 -1.80318281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.65655999499995 meters 0.01181394583549105 Centerline is valid? [True, True] Translation: X:27.38, Y:-184.00, Z:-1.80 [[ 7.94153609e-01 -6.07716424e-01 -8.90818897e-04 2.73777029e+01] [-6.07716027e-01 -7.94154109e-01 6.94292345e-04 -1.83997559e+02] [-1.12938035e-03 -1.00098508e-05 -9.99999362e-01 -1.80376442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.686559995 meters 0.011318943221706184 Centerline is valid? [True, True] Translation: X:27.38, Y:-184.00, Z:-1.80 [[ 8.38688137e-01 -5.44611803e-01 -4.38646425e-04 2.73762772e+01] [-5.44611726e-01 -8.38688252e-01 2.89683103e-04 -1.84003854e+02] [-5.25652441e-04 -4.06179474e-06 -9.99999862e-01 -1.80461554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.71655999499995 meters 0.011211901395580304 Centerline is valid? [True, True] Translation: X:27.37, Y:-184.01, Z:-1.81 [[ 8.77597277e-01 -4.79397880e-01 8.31734928e-04 2.73745811e+01] [-4.79397658e-01 -8.77597671e-01 -4.60864365e-04 -1.84009475e+02] [ 9.50866035e-04 5.72153503e-06 -9.99999548e-01 -1.80605763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.746559995 meters 0.011109292303709084 Centerline is valid? [True, True] Translation: X:27.37, Y:-184.02, Z:-1.81 [[ 9.11800293e-01 -4.10631543e-01 1.40070779e-03 2.73735672e+01] [-4.10631047e-01 -9.11801369e-01 -6.38465493e-04 -1.84016941e+02] [ 1.53934135e-03 6.97891620e-06 -9.99998815e-01 -1.80624828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.77655999499996 meters 0.011087553232572947 Centerline is valid? [True, True] Translation: X:27.37, Y:-184.03, Z:-1.81 [[ 9.40708919e-01 -3.39211335e-01 1.54916811e-03 2.73727943e+01] [-3.39210865e-01 -9.40710195e-01 -5.64555673e-04 -1.84025445e+02] [ 1.64882192e-03 5.58790085e-06 -9.99998641e-01 -1.80624736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.806559995 meters 0.011057365259432716 Centerline is valid? [True, True] Translation: X:27.37, Y:-184.03, Z:-1.81 [[ 9.64068281e-01 -2.65649540e-01 1.63472478e-03 2.73724641e+01] [-2.65649151e-01 -9.64069667e-01 -4.54577020e-04 -1.84033881e+02] [ 1.69674675e-03 3.98003785e-06 -9.99998561e-01 -1.80571038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.83655999499996 meters 0.011046567963250969 Centerline is valid? [True, True] Translation: X:27.37, Y:-184.04, Z:-1.80 [[ 9.81643960e-01 -1.90719267e-01 1.13925037e-03 2.73732945e+01] [-1.90719137e-01 -9.81644621e-01 -2.22676683e-04 -1.84042040e+02] [ 1.16080773e-03 1.31237331e-06 -9.99999326e-01 -1.80499365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.866559995 meters 0.011027494823943215 Centerline is valid? [True, True] Translation: X:27.37, Y:-184.05, Z:-1.80 [[ 9.93518619e-01 -1.13664896e-01 1.02207216e-03 2.73706477e+01] [-1.13664835e-01 -9.93519145e-01 -1.17728782e-04 -1.84048801e+02] [ 1.02882989e-03 7.92073506e-07 -9.99999471e-01 -1.80497956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.89655999499996 meters 0.011018684590371456 Centerline is valid? [True, True] Translation: X:27.37, Y:-184.06, Z:-1.80 [[ 9.99353129e-01 -3.59573631e-02 6.25107915e-04 2.73692380e+01] [-3.59573558e-02 -9.99353325e-01 -2.27960517e-05 -1.84056211e+02] [ 6.25523359e-04 3.04077839e-07 -9.99999804e-01 -1.80495154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.92655999499993 meters 0.010950676967037826 Centerline is valid? [True, True] Translation: X:27.37, Y:-184.06, Z:-1.80 [[ 9.99151947e-01 4.11616401e-02 -1.05200083e-03 2.73682221e+01] [ 4.11616160e-02 -9.99152501e-01 -4.45950221e-05 -1.84063779e+02] [-1.05294487e-03 1.25514877e-06 -9.99999446e-01 -1.80444292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.95655999499996 meters 0.01098919008412568 Centerline is valid? [True, True] Translation: X:27.37, Y:-184.07, Z:-1.80 [[ 9.92934576e-01 1.18653671e-01 -1.49508552e-03 2.73676721e+01] [ 1.18653532e-01 -9.92935701e-01 -1.81270975e-04 -1.84073806e+02] [-1.50603226e-03 2.59304009e-06 -9.99998866e-01 -1.80455783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.98655999499994 meters 0.011026649633782866 Centerline is valid? [True, True] Translation: X:27.37, Y:-184.08, Z:-1.80 [[ 9.80765598e-01 1.95180205e-01 -1.87870693e-03 2.73679192e+01] [ 1.95179838e-01 -9.80767397e-01 -3.78778003e-04 -1.84083707e+02] [-1.91650448e-03 4.80672117e-06 -9.99998164e-01 -1.80421572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.01655999499997 meters 0.011117674889436263 Centerline is valid? [True, True] Translation: X:27.37, Y:-184.09, Z:-1.80 [[ 9.62638827e-01 2.70778620e-01 -2.32990409e-03 2.73685327e+01] [ 2.70777808e-01 -9.62641646e-01 -6.63210801e-04 -1.84093264e+02] [-2.42244601e-03 7.54614490e-06 -9.99997066e-01 -1.80327240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.04655999499994 meters 0.011089670718888086 Centerline is valid? [True, True] Translation: X:27.37, Y:-184.10, Z:-1.80 [[ 9.38767338e-01 3.44529219e-01 -3.93735660e-03 2.73703874e+01] [ 3.44526115e-01 -9.38775594e-01 -1.46260295e-03 -1.84102876e+02] [-4.20020374e-03 1.65217004e-05 -9.99991179e-01 -1.80104430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.07655999499997 meters 0.011146199594051226 Centerline is valid? [True, True] Translation: X:27.37, Y:-184.11, Z:-1.80 [[ 9.08947331e-01 4.16884747e-01 -4.67520884e-03 2.73718688e+01] [ 4.16879115e-01 -9.08959354e-01 -2.16704176e-03 -1.84110136e+02] [-5.15298146e-03 2.07299015e-05 -9.99986723e-01 -1.80045709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.10655999499994 meters 0.011182341489489586 Centerline is valid? [True, True] Translation: X:27.37, Y:-184.12, Z:-1.80 [[ 8.73847832e-01 4.86173649e-01 -5.01500813e-03 2.73746180e+01] [ 4.86165464e-01 -8.73862222e-01 -2.82113999e-03 -1.84118699e+02] [-5.75399007e-03 2.71233138e-05 -9.99983445e-01 -1.80031026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.13655999499997 meters 0.011182341489489586 Centerline is valid? [True, True] Translation: X:27.38, Y:-184.13, Z:-1.80 [[ 8.33094191e-01 5.53110507e-01 -4.77869879e-03 2.73782361e+01] [ 5.53101221e-01 -8.33107896e-01 -3.20519212e-03 -1.84127599e+02] [-5.75399713e-03 2.71227976e-05 -9.99983445e-01 -1.80031019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.16655999499994 meters 0.011332202931021588 Centerline is valid? [True, True] Translation: X:27.38, Y:-184.14, Z:-1.80 [[ 7.87464796e-01 6.16338508e-01 -5.10276109e-03 2.73804908e+01] [ 6.16325297e-01 -7.87481328e-01 -4.03559254e-03 -1.84135409e+02] [-6.50562017e-03 3.29263074e-05 -9.99978838e-01 -1.79987675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.196559995 meters 0.011274888705955236 Centerline is valid? [True, True] Translation: X:27.39, Y:-184.14, Z:-1.80 [[ 7.37128192e-01 6.75730070e-01 -5.55889402e-03 2.73852415e+01] [ 6.75710424e-01 -7.37149151e-01 -5.15281239e-03 -1.84142578e+02] [-7.57964428e-03 4.20806464e-05 -9.99971273e-01 -1.80061521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.22655999499995 meters 0.0112633638490402 Centerline is valid? [True, True] Translation: X:27.39, Y:-184.15, Z:-1.80 [[ 6.82066139e-01 7.31271332e-01 -5.29350672e-03 2.73906405e+01] [ 7.31248799e-01 -6.82086679e-01 -5.74075894e-03 -1.84150959e+02] [-7.80868286e-03 4.47068582e-05 -9.99969511e-01 -1.80101859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.256559995 meters 0.01124232084972075 Centerline is valid? [True, True] Translation: X:27.40, Y:-184.16, Z:-1.80 [[ 6.22798399e-01 7.82367950e-01 -4.74814757e-03 2.73960734e+01] [ 7.82344665e-01 -6.22816496e-01 -6.03632858e-03 -1.84158296e+02] [-7.67985465e-03 4.47278574e-05 -9.99970509e-01 -1.80110560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.28655999499995 meters 0.01105916169073692 Centerline is valid? [True, True] Translation: X:27.40, Y:-184.17, Z:-1.80 [[ 5.59328874e-01 8.28936948e-01 -3.84021058e-03 2.74045500e+01] [ 8.28916943e-01 -5.59342055e-01 -5.75903911e-03 -1.84166883e+02] [-6.92187158e-03 3.79812434e-05 -9.99976043e-01 -1.80238831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.316559995 meters 0.011073147866728004 Centerline is valid? [True, True] Translation: X:27.41, Y:-184.17, Z:-1.80 [[ 4.92292777e-01 8.70424319e-01 -3.05375919e-03 2.74116123e+01] [ 8.70407172e-01 -4.92302248e-01 -5.46361837e-03 -1.84174890e+02] [-6.25903882e-03 3.16859610e-05 -9.99980412e-01 -1.80256344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.34655999499995 meters 0.01094469999303852 Centerline is valid? [True, True] Translation: X:27.42, Y:-184.18, Z:-1.80 [[ 4.21724806e-01 9.06720996e-01 -2.28524850e-03 2.74167480e+01] [ 9.06707395e-01 -4.21730997e-01 -4.96655033e-03 -1.84181391e+02] [-5.46703559e-03 2.24657617e-05 -9.99985055e-01 -1.80323555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.376559995 meters 0.010834634580414742 Centerline is valid? [True, True] Translation: X:27.42, Y:-184.19, Z:-1.80 [[ 3.48109506e-01 9.37452222e-01 -1.76158372e-03 2.74247115e+01] [ 9.37440016e-01 -3.48113963e-01 -4.78381478e-03 -1.84186809e+02] [-5.09782968e-03 1.39123330e-05 -9.99987006e-01 -1.80381921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.40655999499995 meters 0.010673862644647533 Centerline is valid? [True, True] Translation: X:27.43, Y:-184.19, Z:-1.80 [[ 2.70116289e-01 9.62826799e-01 -1.32138834e-03 2.74338243e+01] [ 9.62815359e-01 -2.70119521e-01 -4.69355535e-03 -1.84193232e+02] [-4.87601366e-03 -4.44723656e-06 -9.99988112e-01 -1.80427409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.436559995 meters 0.010738981825241963 Centerline is valid? [True, True] Translation: X:27.44, Y:-184.20, Z:-1.80 [[ 1.91746304e-01 9.81444065e-01 -9.50414076e-04 2.74438263e+01] [ 9.81432401e-01 -1.91748658e-01 -4.78488061e-03 -1.84198066e+02] [-4.87833330e-03 -1.52839978e-05 -9.99988101e-01 -1.80439081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.46655999499995 meters 0.010944324748484578 Centerline is valid? [True, True] Translation: X:27.45, Y:-184.20, Z:-1.80 [[ 1.11972644e-01 9.93711138e-01 -5.49836721e-04 2.74543658e+01] [ 9.93700256e-01 -1.11973991e-01 -4.65040340e-03 -1.84202492e+02] [-4.68272507e-03 -2.56549277e-05 -9.99989036e-01 -1.80359476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.496559995 meters 0.01142026554728523 Centerline is valid? [True, True] Translation: X:27.47, Y:-184.20, Z:-1.80 [[ 2.91085930e-02 9.99576234e-01 -2.07652200e-04 2.74676496e+01] [ 9.99562278e-01 -2.91092839e-02 -5.28223118e-03 -1.84204976e+02] [-5.28603736e-03 -5.38029881e-05 -9.99986027e-01 -1.80296127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.52655999499996 meters 0.011624989623312282 Centerline is valid? [True, True] Translation: X:27.48, Y:-184.21, Z:-1.80 [[-5.09821728e-02 9.98699540e-01 2.18332207e-04 2.74777939e+01] [ 9.98683971e-01 5.09825972e-02 -5.57685218e-03 -1.84206411e+02] [-5.58073085e-03 -6.62751656e-05 -9.99984425e-01 -1.80281132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.556559995 meters 0.011972827935920478 Centerline is valid? [True, True] Translation: X:27.49, Y:-184.21, Z:-1.80 [[-1.30561036e-01 9.91439987e-01 7.54300613e-04 2.74877496e+01] [ 9.91419411e-01 1.30563187e-01 -6.38787579e-03 -1.84207182e+02] [-6.43167938e-03 -8.61794124e-05 -9.99979313e-01 -1.80274064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.58655999499996 meters 0.012275623022907533 Centerline is valid? [True, True] Translation: X:27.50, Y:-184.21, Z:-1.80 [[-2.08941311e-01 9.77927332e-01 1.28902020e-03 2.74970263e+01] [ 9.77905778e-01 2.08945265e-01 -6.49343206e-03 -1.84208283e+02] [-6.61943936e-03 -9.62059114e-05 -9.99978087e-01 -1.80259076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.616559995 meters 0.013047992160594287 Centerline is valid? [True, True] Translation: X:27.51, Y:-184.21, Z:-1.80 [[-2.87506676e-01 9.57776488e-01 2.02739305e-03 2.75069464e+01] [ 9.57749413e-01 2.87513795e-01 -7.20276639e-03 -1.84207062e+02] [-7.48154377e-03 -1.29108920e-04 -9.99972005e-01 -1.80204259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.64655999499996 meters 0.013274038765757409 Centerline is valid? [True, True] Translation: X:27.52, Y:-184.21, Z:-1.80 [[-3.62448193e-01 9.31999772e-01 2.78060732e-03 2.75153256e+01] [ 9.31969183e-01 3.62458830e-01 -7.55242632e-03 -1.84205828e+02] [-8.04671528e-03 -1.45922944e-04 -9.99967614e-01 -1.80144377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.67655999499993 meters 0.012893094404124431 Centerline is valid? [True, True] Translation: X:27.53, Y:-184.20, Z:-1.80 [[-4.34983865e-01 9.00430940e-01 3.62775042e-03 2.75254699e+01] [ 9.00396426e-01 4.34998961e-01 -7.88542037e-03 -1.84202904e+02] [-8.67834414e-03 -1.63617113e-04 -9.99962329e-01 -1.80124943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.70655999499996 meters 0.013874478978988438 Centerline is valid? [True, True] Translation: X:27.54, Y:-184.20, Z:-1.80 [[-5.04632572e-01 8.63323710e-01 4.25902643e-03 2.75367560e+01] [ 8.63290083e-01 5.04650516e-01 -7.62167340e-03 -1.84198909e+02] [-8.72929124e-03 -1.69369371e-04 -9.99961885e-01 -1.80016143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.73655999499994 meters 0.013762226128601614 Centerline is valid? [True, True] Translation: X:27.54, Y:-184.20, Z:-1.80 [[-5.71285588e-01 8.20736018e-01 5.01655671e-03 2.75436208e+01] [ 8.20701546e-01 5.71307584e-01 -7.52439952e-03 -1.84196150e+02] [-9.04154260e-03 -1.81485156e-04 -9.99959108e-01 -1.80100066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.76655999499997 meters 0.013775503330620388 Centerline is valid? [True, True] Translation: X:27.55, Y:-184.19, Z:-1.80 [[-6.33600121e-01 7.73641710e-01 5.42145828e-03 2.75497605e+01] [ 7.73611023e-01 6.33623291e-01 -6.89272283e-03 -1.84193287e+02] [-8.76766011e-03 -1.73130125e-04 -9.99961548e-01 -1.80126757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.79655999499994 meters 0.013366517894149103 Centerline is valid? [True, True] Translation: X:27.56, Y:-184.19, Z:-1.80 [[-6.91453269e-01 7.22400780e-01 5.43050198e-03 2.75550217e+01] [ 7.22376789e-01 6.91474578e-01 -5.88928189e-03 -1.84190735e+02] [-8.00947589e-03 -1.49294638e-04 -9.99967913e-01 -1.80196058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.82655999499997 meters 0.013329506223516314 Centerline is valid? [True, True] Translation: X:27.56, Y:-184.19, Z:-1.80 [[-7.45440419e-01 6.66549147e-01 5.55129494e-03 2.75604632e+01] [ 6.66529299e-01 7.45461077e-01 -5.14556256e-03 -1.84187277e+02] [-7.56804464e-03 -1.35609584e-04 -9.99971353e-01 -1.80216178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.85655999499994 meters 0.012976061283784692 Centerline is valid? [True, True] Translation: X:27.58, Y:-184.17, Z:-1.80 [[-7.90249755e-01 6.12755344e-01 6.01767342e-03 2.75805463e+01] [ 6.12736300e-01 7.90272656e-01 -4.83282758e-03 -1.84168964e+02] [-7.71694369e-03 -1.31893867e-04 -9.99970215e-01 -1.80212966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.88655999499997 meters 0.012646652113763727 Centerline is valid? [True, True] Translation: X:27.59, Y:-184.15, Z:-1.80 [[-8.31187813e-01 5.55954787e-01 6.41046067e-03 2.75939697e+01] [ 5.55937068e-01 8.31212523e-01 -4.44052027e-03 -1.84146435e+02] [-7.79718369e-03 -1.27093621e-04 -9.99969593e-01 -1.80159606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.91655999499994 meters 0.012502478527053641 Centerline is valid? [True, True] Translation: X:27.61, Y:-184.13, Z:-1.80 [[-8.68200768e-01 4.96159299e-01 7.30596042e-03 2.76112989e+01] [ 4.96140428e-01 8.68231497e-01 -4.32938101e-03 -1.84126008e+02] [-8.49132760e-03 -1.33989594e-04 -9.99963939e-01 -1.80150144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.946559995 meters 0.013286985455530474 Centerline is valid? [True, True] Translation: X:27.97, Y:-183.54, Z:-2.79 [[-8.15431798e-01 -5.78796119e-01 8.12624621e-03 2.79662685e+01] [ 5.78770203e-01 -8.15472255e-01 -5.48218642e-03 -1.83537120e+02] [ 9.79979654e-03 2.32880035e-04 9.99951954e-01 -2.79137406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.97655999499995 meters 0.012433660130787217 Centerline is valid? [True, True] Translation: X:27.57, Y:-184.11, Z:-1.80 [[-8.69253451e-01 4.94284691e-01 9.00460644e-03 2.75740758e+01] [ 4.94256378e-01 8.69300076e-01 -5.29257135e-03 -1.84106828e+02] [-1.04437421e-02 -1.50001751e-04 -9.99945451e-01 -1.79902837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.006559995 meters 0.011986753945583324 Centerline is valid? [True, True] Translation: X:27.59, Y:-184.09, Z:-1.80 [[-9.01813973e-01 4.32005152e-01 1.01541175e-02 2.75889685e+01] [ 4.31975815e-01 9.01871124e-01 -5.03696545e-03 -1.84085240e+02] [-1.13337004e-02 -1.56072617e-04 -9.99935759e-01 -1.79898002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.03655999499995 meters 0.012118819629576363 Centerline is valid? [True, True] Translation: X:27.90, Y:-183.46, Z:-2.79 [[-8.57441422e-01 -5.14471390e-01 1.06488251e-02 2.79033434e+01] [ 5.14434976e-01 -8.57507515e-01 -6.12515972e-03 -1.83464584e+02] [ 1.22826670e-02 2.26162420e-04 9.99924540e-01 -2.79245038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.066559995 meters 0.012118819629576363 Centerline is valid? [True, True] Translation: X:27.55, Y:-184.07, Z:-1.80 [[-9.02914930e-01 4.29677486e-01 1.10402261e-02 2.75494333e+01] [ 4.29643255e-01 9.02982410e-01 -5.42583072e-03 -1.84068015e+02] [-1.23004873e-02 -1.55704884e-04 -9.99924334e-01 -1.79786181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.09655999499995 meters 0.012074462483703953 Centerline is valid? [True, True] Translation: X:27.86, Y:-183.44, Z:-2.79 [[-8.59743732e-01 -5.10620993e-01 1.03400809e-02 2.78631357e+01] [ 5.10585879e-01 -8.59805900e-01 -5.98957946e-03 -1.83444941e+02] [ 1.19488675e-02 1.29995884e-04 9.99928601e-01 -2.79279550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.126559995 meters 0.011628382954187872 Centerline is valid? [True, True] Translation: X:27.51, Y:-184.05, Z:-1.80 [[-9.03607423e-01 4.28241338e-01 1.01479881e-02 2.75103450e+01] [ 4.28212839e-01 9.03664397e-01 -4.94188247e-03 -1.84054072e+02] [-1.12866939e-02 -1.20022906e-04 -9.99936296e-01 -1.79915939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.15655999499995 meters 0.011460099033002153 Centerline is valid? [True, True] Translation: X:27.52, Y:-184.03, Z:-1.80 [[-9.31455542e-01 3.63709870e-01 1.02812362e-02 2.75183719e+01] [ 3.63686397e-01 9.31512275e-01 -4.13360244e-03 -1.84029149e+02] [-1.10805297e-02 -1.11121143e-04 -9.99938603e-01 -1.79964575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.186559995 meters 0.011346619390490597 Centerline is valid? [True, True] Translation: X:27.53, Y:-184.00, Z:-1.80 [[-9.54607744e-01 2.97695001e-01 1.00867061e-02 2.75273890e+01] [ 2.97677319e-01 9.54661027e-01 -3.24606610e-03 -1.84004240e+02] [-1.05957228e-02 -9.61362213e-05 -9.99943859e-01 -1.79985767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.21655999499995 meters 0.011290338466907995 Centerline is valid? [True, True] Translation: X:27.53, Y:-183.98, Z:-1.80 [[-9.73144512e-01 2.29999349e-01 9.48986618e-03 2.75341734e+01] [ 2.29987596e-01 9.73190779e-01 -2.32657404e-03 -1.83978841e+02] [-9.77056078e-03 -8.15412559e-05 -9.99952264e-01 -1.80038155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.246559995 meters 0.011012846570930409 Centerline is valid? [True, True] Translation: X:27.54, Y:-183.95, Z:-1.80 [[-9.86764573e-01 1.61906038e-01 9.06157842e-03 2.75380168e+01] [ 1.61898627e-01 9.86806177e-01 -1.55036551e-03 -1.83954471e+02] [-9.19303510e-03 -6.27886617e-05 -9.99957741e-01 -1.80166630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.27655999499996 meters 0.011028661694332758 Centerline is valid? [True, True] Translation: X:27.55, Y:-183.93, Z:-1.80 [[-9.95714037e-01 9.20006836e-02 9.45679984e-03 2.75504471e+01] [ 9.19959691e-02 9.95758942e-01 -9.33257515e-04 -1.83928766e+02] [-9.50255334e-03 -5.92701416e-05 -9.99954848e-01 -1.80144761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.306559995 meters 0.010973169274878566 Centerline is valid? [True, True] Translation: X:27.62, Y:-183.21, Z:-2.79 [[-9.85252834e-01 -1.70869423e-01 8.97184068e-03 2.76230073e+01] [ 1.70862624e-01 -9.85293682e-01 -1.52458520e-03 -1.83212114e+02] [ 9.10040293e-03 3.08503475e-05 9.99958590e-01 -2.78919427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.33655999499996 meters 0.010943908257973863 Centerline is valid? [True, True] Translation: X:27.49, Y:-183.92, Z:-1.80 [[-9.96121959e-01 8.75355124e-02 8.86438046e-03 2.74858725e+01] [ 8.75315583e-02 9.96161398e-01 -8.33802989e-04 -1.83922405e+02] [-8.90334101e-03 -5.46564320e-05 -9.99960363e-01 -1.80087081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.366559995 meters 0.010897511687176255 Centerline is valid? [True, True] Translation: X:27.56, Y:-183.21, Z:-2.79 [[-9.86040014e-01 -1.66322046e-01 7.87827538e-03 2.75584421e+01] [ 1.66316658e-01 -9.86071487e-01 -1.33887780e-03 -1.83206767e+02] [ 7.99122761e-03 -9.89865703e-06 9.99968070e-01 -2.78935943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.39655999499996 meters 0.010918818206680763 Centerline is valid? [True, True] Translation: X:27.42, Y:-183.92, Z:-1.80 [[-9.96513080e-01 8.30977555e-02 7.51296005e-03 2.74227414e+01] [ 8.30950482e-02 9.96541400e-01 -6.72330416e-04 -1.83916469e+02] [-7.54284487e-03 -4.56962767e-05 -9.99971551e-01 -1.80140658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.42655999499993 meters 0.01089742139516018 Centerline is valid? [True, True] Translation: X:27.42, Y:-183.89, Z:-1.80 [[-9.99894720e-01 1.25598377e-02 7.26635993e-03 2.74217809e+01] [ 1.25592106e-02 9.99921121e-01 -1.31922449e-04 -1.83888502e+02] [-7.26744369e-03 -4.06488153e-05 -9.99973591e-01 -1.80180265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.45655999499996 meters 0.010711455234067978 Centerline is valid? [True, True] Translation: X:27.42, Y:-183.86, Z:-1.80 [[-9.98326495e-01 -5.73934885e-02 7.08495407e-03 2.74182911e+01] [-5.73922657e-02 9.98351635e-01 3.75954455e-04 -1.83860751e+02] [-7.09485282e-03 -3.12962732e-05 -9.99974831e-01 -1.80157750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.48655999499994 meters 0.0107512230232795 Centerline is valid? [True, True] Translation: X:27.41, Y:-183.83, Z:-1.80 [[-9.91790133e-01 -1.27669655e-01 7.26570106e-03 2.74123996e+01] [-1.27666427e-01 9.91816746e-01 9.08310711e-04 -1.83833430e+02] [-7.32220770e-03 -2.67324911e-05 -9.99973192e-01 -1.80132071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.51655999499997 meters 0.010659365729936006 Centerline is valid? [True, True] Translation: X:27.40, Y:-183.81, Z:-1.80 [[-9.80573260e-01 -1.96022619e-01 7.15645758e-03 2.73969267e+01] [-1.96017468e-01 9.80599374e-01 1.42099430e-03 -1.83808965e+02] [-7.29616485e-03 -9.40168742e-06 -9.99973383e-01 -1.80140256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.54655999499994 meters 0.010627283815683435 Centerline is valid? [True, True] Translation: X:27.37, Y:-183.79, Z:-1.80 [[-9.64318115e-01 -2.64653015e-01 7.02528633e-03 2.73693005e+01] [-2.64645973e-01 9.64343705e-01 1.93051338e-03 -1.83787313e+02] [-7.28570683e-03 2.41528444e-06 -9.99973459e-01 -1.80121972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.57655999499997 meters 0.01066363368877564 Centerline is valid? [True, True] Translation: X:27.32, Y:-183.78, Z:-1.80 [[-9.42861655e-01 -3.33117269e-01 6.69215834e-03 2.73150594e+01] [-3.33108779e-01 9.42885404e-01 2.37835657e-03 -1.83775359e+02] [-7.10221007e-03 1.32445246e-05 -9.99974779e-01 -1.80067581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.60655999499994 meters 0.010921748773542458 Centerline is valid? [True, True] Translation: X:27.25, Y:-183.77, Z:-1.80 [[-9.17130452e-01 -3.98542381e-01 5.97534601e-03 2.72528763e+01] [-3.98533671e-01 9.17149917e-01 2.63506238e-03 -1.83770943e+02] [-6.53047213e-03 3.53193677e-05 -9.99978676e-01 -1.80050790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.63655999499997 meters 0.011105940877523464 Centerline is valid? [True, True] Translation: X:27.18, Y:-183.78, Z:-1.80 [[-8.85786376e-01 -4.64062236e-01 5.36067864e-03 2.71798154e+01] [-4.64053443e-01 8.85802596e-01 2.85714004e-03 -1.83775620e+02] [-6.07439385e-03 4.31743468e-05 -9.99981550e-01 -1.80049861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.66655999499994 meters 0.011562754075488412 Centerline is valid? [True, True] Translation: X:27.10, Y:-183.79, Z:-1.80 [[-8.49590485e-01 -5.27421006e-01 4.80528124e-03 2.70997325e+01] [-5.27412230e-01 8.49604073e-01 3.04286016e-03 -1.83790317e+02] [-5.68745488e-03 5.08209457e-05 -9.99983825e-01 -1.79986093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.696559995 meters 0.011826024858786647 Centerline is valid? [True, True] Translation: X:27.02, Y:-183.81, Z:-1.80 [[-8.08702984e-01 -5.88199952e-01 4.50551689e-03 2.70154274e+01] [-5.88190399e-01 8.08715532e-01 3.35299277e-03 -1.83813671e+02] [-5.61591168e-03 6.14734799e-05 -9.99984229e-01 -1.79974423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.72655999499995 meters 0.012833598304324803 Centerline is valid? [True, True] Translation: X:26.93, Y:-183.85, Z:-1.80 [[-7.64580276e-01 -6.44517816e-01 3.71297687e-03 2.69295791e+01] [-6.44509745e-01 7.64589288e-01 3.22619063e-03 -1.83848032e+02] [-4.91823968e-03 7.36319434e-05 -9.99987903e-01 -1.79962837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.756559995 meters 0.013461795143959761 Centerline is valid? [True, True] Translation: X:26.84, Y:-183.90, Z:-1.80 [[-7.14658439e-01 -6.99466668e-01 3.11386822e-03 2.68375998e+01] [-6.99459579e-01 7.14665219e-01 3.15001525e-03 -1.83896646e+02] [-4.42870399e-03 7.31600286e-05 -9.99990191e-01 -1.79997748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.78655999499995 meters 0.012925016668992574 Centerline is valid? [True, True] Translation: X:26.75, Y:-183.95, Z:-1.80 [[-6.60316490e-01 -7.50981657e-01 2.94680031e-03 2.67501010e+01] [-7.50973628e-01 6.60323060e-01 3.47372304e-03 -1.83947615e+02] [-4.55454248e-03 8.07872863e-05 -9.99989625e-01 -1.80070152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.816559995 meters 0.0132807547193518 Centerline is valid? [True, True] Translation: X:26.66, Y:-184.01, Z:-1.80 [[-6.01667878e-01 -7.98741585e-01 2.76481529e-03 2.66626314e+01] [-7.98732482e-01 6.01674225e-01 3.81431515e-03 -1.84013104e+02] [-4.71017023e-03 8.66031216e-05 -9.99988903e-01 -1.80019210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.84655999499995 meters 0.01336689398673294 Centerline is valid? [True, True] Translation: X:26.58, Y:-184.09, Z:-1.80 [[-5.38689854e-01 -8.42498870e-01 2.98255648e-03 2.65770778e+01] [-8.42484877e-01 5.38698101e-01 4.85672409e-03 -1.84085727e+02] [-5.69848206e-03 1.03509264e-04 -9.99983758e-01 -1.79933238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.876559995 meters 0.01320387901362052 Centerline is valid? [True, True] Translation: X:26.50, Y:-184.17, Z:-1.80 [[-4.71734867e-01 -8.81735606e-01 2.92170929e-03 2.64961044e+01] [-8.81717230e-01 4.71743902e-01 5.69360622e-03 -1.84168006e+02] [-6.39855387e-03 1.09751149e-04 -9.99979523e-01 -1.79870137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.90655999499995 meters 0.01316662460494174 Centerline is valid? [True, True] Translation: X:26.42, Y:-184.26, Z:-1.80 [[-4.01760777e-01 -9.15740909e-01 2.62022194e-03 2.64209182e+01] [-9.15719629e-01 4.01769306e-01 6.24379879e-03 -1.84257381e+02] [-6.77042673e-03 1.09124788e-04 -9.99977074e-01 -1.79798165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.936559995 meters 0.01265795370673554 Centerline is valid? [True, True] Translation: X:26.35, Y:-184.35, Z:-1.80 [[-3.27560975e-01 -9.44827377e-01 2.24396261e-03 2.63498466e+01] [-9.44803208e-01 3.27568648e-01 6.75869651e-03 -1.84353792e+02] [-7.12085329e-03 9.37821512e-05 -9.99974642e-01 -1.79711563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.96655999499995 meters 0.012381119854937603 Centerline is valid? [True, True] Translation: X:26.29, Y:-184.46, Z:-1.80 [[-2.52525790e-01 -9.67588558e-01 1.76274328e-03 2.62880091e+01] [-9.67562582e-01 2.52531928e-01 7.09055748e-03 -1.84458350e+02] [-7.30589125e-03 8.49841909e-05 -9.99973308e-01 -1.79679629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.996559995 meters 0.012176163980109142 Centerline is valid? [True, True] Translation: X:26.23, Y:-184.57, Z:-1.80 [[-1.75847981e-01 -9.84416591e-01 1.20957583e-03 2.62349057e+01] [-9.84390354e-01 1.75852126e-01 7.18753622e-03 -1.84566762e+02] [-7.28823638e-03 7.32189530e-05 -9.99973438e-01 -1.79637159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.02655999499996 meters 0.012176163980109142 Centerline is valid? [True, True] Translation: X:26.19, Y:-184.68, Z:-1.80 [[-9.95885935e-02 -9.95028485e-01 6.52986766e-04 2.61919927e+01] [-9.95002007e-01 9.95907074e-02 7.25928861e-03 -1.84679691e+02] [-7.28823036e-03 7.32192009e-05 -9.99973438e-01 -1.79637189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.056559995 meters 0.011886465726019693 Centerline is valid? [True, True] Translation: X:26.16, Y:-184.80, Z:-1.80 [[-2.13756709e-02 -9.99771510e-01 9.47025491e-05 2.61559183e+01] [-9.99743818e-01 2.13757837e-02 7.44139845e-03 -1.84798166e+02] [-7.44172251e-03 6.43865960e-05 -9.99972308e-01 -1.79622090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.08655999499996 meters 0.011313509350406894 Centerline is valid? [True, True] Translation: X:26.13, Y:-184.91, Z:-1.80 [[ 5.87150867e-02 -9.98274677e-01 -4.57075379e-04 2.61266435e+01] [-9.98249416e-01 -5.87168526e-02 7.10167868e-03 -1.84914778e+02] [-7.11626402e-03 3.92995503e-05 -9.99974678e-01 -1.79749615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.116559995 meters 0.011216103724686254 Centerline is valid? [True, True] Translation: X:26.11, Y:-185.04, Z:-1.80 [[ 1.36927171e-01 -9.90580642e-01 -9.70146829e-04 2.61089216e+01] [-9.90557143e-01 -1.36930605e-01 6.82321427e-03 -1.85035866e+02] [-6.89178677e-03 2.67024433e-05 -9.99976251e-01 -1.79738458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.14655999499996 meters 0.011047642886094148 Centerline is valid? [True, True] Translation: X:26.10, Y:-185.16, Z:-1.80 [[ 2.13909636e-01 -9.76852316e-01 -1.49030463e-03 2.61005270e+01] [-9.76829178e-01 -2.13914827e-01 6.72334001e-03 -1.85158549e+02] [-6.88650852e-03 1.75858298e-05 -9.99976288e-01 -1.79731046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.17655999499993 meters 0.010877363391657475 Centerline is valid? [True, True] Translation: X:26.10, Y:-185.28, Z:-1.80 [[ 2.90258445e-01 -9.56946407e-01 -1.89976881e-03 2.61003951e+01] [-9.56925982e-01 -2.90264662e-01 6.25232970e-03 -1.85280053e+02] [-6.53458019e-03 3.14663691e-06 -9.99978649e-01 -1.79799420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.20655999499996 meters 0.010831858376649593 Centerline is valid? [True, True] Translation: X:26.11, Y:-185.40, Z:-1.80 [[ 3.63548676e-01 -9.31572474e-01 -2.25512544e-03 2.61097228e+01] [-9.31554527e-01 -3.63555671e-01 5.78249107e-03 -1.85395867e+02] [-6.20667315e-03 -1.44465700e-06 -9.99980738e-01 -1.79818341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.23655999499994 meters 0.010808711629084195 Centerline is valid? [True, True] Translation: X:26.13, Y:-185.51, Z:-1.80 [[ 4.34263556e-01 -9.00781946e-01 -2.65507033e-03 2.61291580e+01] [-9.00765056e-01 -4.34271672e-01 5.51624217e-03 -1.85513461e+02] [-6.12195319e-03 -3.90836910e-06 -9.99981261e-01 -1.79835773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.26655999499997 meters 0.01071410413880306 Centerline is valid? [True, True] Translation: X:26.15, Y:-185.62, Z:-1.80 [[ 5.02377296e-01 -8.64643054e-01 -3.07274251e-03 2.61549434e+01] [-8.64626800e-01 -5.02386693e-01 5.30162727e-03 -1.85624909e+02] [-6.12772014e-03 -6.64165175e-06 -9.99981225e-01 -1.79913018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.29655999499994 meters 0.010784694906067673 Centerline is valid? [True, True] Translation: X:26.19, Y:-185.73, Z:-1.80 [[ 5.67057432e-01 -8.23669945e-01 -3.69996887e-03 2.61906258e+01] [-8.23652329e-01 -5.67069503e-01 5.38693413e-03 -1.85734961e+02] [-6.53519525e-03 -7.21305283e-06 -9.99978645e-01 -1.79884764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.32655999499997 meters 0.010784694906067673 Centerline is valid? [True, True] Translation: X:26.23, Y:-185.84, Z:-1.80 [[ 6.28254639e-01 -7.77996977e-01 -4.10023958e-03 2.62327686e+01] [-7.77980334e-01 -6.28268019e-01 5.08888880e-03 -1.85838430e+02] [-6.53518950e-03 -7.21224250e-06 -9.99978645e-01 -1.79884790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.35655999499994 meters 0.010841388881683529 Centerline is valid? [True, True] Translation: X:26.28, Y:-185.94, Z:-1.80 [[ 6.85641344e-01 -7.27919984e-01 -5.33331429e-03 2.62794803e+01] [-7.27897869e-01 -6.85662086e-01 5.67415460e-03 -1.85937179e+02] [-7.78718193e-03 -8.32687346e-06 -9.99969679e-01 -1.79799667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.38655999499997 meters 0.010783623793714127 Centerline is valid? [True, True] Translation: X:26.33, Y:-186.03, Z:-1.80 [[ 7.38945871e-01 -6.73736836e-01 -6.13800928e-03 2.63338580e+01] [-6.73713498e-01 -7.38971363e-01 5.60773775e-03 -1.86030957e+02] [-8.31395257e-03 -8.55495575e-06 -9.99965439e-01 -1.79716039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.41655999499994 meters 0.010758178879458938 Centerline is valid? [True, True] Translation: X:26.33, Y:-186.04, Z:-1.80 [[ 7.89240570e-01 -6.14041510e-01 -7.23511946e-03 2.63312340e+01] [-6.14015619e-01 -7.89273732e-01 5.63875685e-03 -1.86042325e+02] [-9.17292050e-03 -7.85931880e-06 -9.99957928e-01 -1.79756688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.446559995 meters 0.010795007042893913 Centerline is valid? [True, True] Translation: X:26.33, Y:-186.05, Z:-1.80 [[ 8.34712747e-01 -5.50624101e-01 -8.22982816e-03 2.63290105e+01] [-5.50597262e-01 -8.34753317e-01 5.43645517e-03 -1.86052637e+02] [-9.86331959e-03 -6.55757504e-06 -9.99951356e-01 -1.79676663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.47655999499995 meters 0.01097260860727207 Centerline is valid? [True, True] Translation: X:26.33, Y:-186.06, Z:-1.80 [[ 8.74680486e-01 -4.84595386e-01 -1.00676989e-02 2.63283406e+01] [-4.84563346e-01 -8.74738425e-01 5.57244507e-03 -1.86063333e+02] [-1.15069842e-02 4.32889849e-06 -9.99933792e-01 -1.79548718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.506559995 meters 0.010980550561961991 Centerline is valid? [True, True] Translation: X:26.33, Y:-186.07, Z:-1.79 [[ 9.09557417e-01 -4.15433916e-01 -1.09529028e-02 2.63279173e+01] [-4.15403986e-01 -9.09623362e-01 4.98670625e-03 -1.86072299e+02] [-1.20346632e-02 1.41838159e-05 -9.99927581e-01 -1.79494139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.53655999499995 meters 0.011027259896303994 Centerline is valid? [True, True] Translation: X:26.33, Y:-186.08, Z:-1.80 [[ 9.38463459e-01 -3.45182137e-01 -1.16459483e-02 2.63298534e+01] [-3.45156124e-01 -9.38535716e-01 4.23790367e-03 -1.86081162e+02] [-1.23929871e-02 4.25526403e-05 -9.99923203e-01 -1.79567261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.566559995 meters 0.011222812547007379 Centerline is valid? [True, True] Translation: X:26.33, Y:-186.09, Z:-1.80 [[ 9.62331586e-01 -2.71613053e-01 -1.20111619e-02 2.63309501e+01] [-2.71592601e-01 -9.62406539e-01 3.33351590e-03 -1.86089413e+02] [-1.24650472e-02 5.41950495e-05 -9.99922307e-01 -1.79530455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.59655999499995 meters 0.011724521732526923 Centerline is valid? [True, True] Translation: X:26.33, Y:-186.09, Z:-1.79 [[ 9.80411086e-01 -1.96576075e-01 -1.23267628e-02 2.63329654e+01] [-1.96561405e-01 -9.80488573e-01 2.40250741e-03 -1.86094579e+02] [-1.25585255e-02 6.75209068e-05 -9.99921136e-01 -1.79382144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.626559995 meters 0.011436342161961838 Centerline is valid? [True, True] Translation: X:26.33, Y:-186.10, Z:-1.80 [[ 9.92604239e-01 -1.20763036e-01 -1.23739205e-02 2.63330481e+01] [-1.20754736e-01 -9.92681360e-01 1.41849806e-03 -1.86101453e+02] [-1.24546624e-02 8.62023149e-05 -9.99922434e-01 -1.79595042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.65655999499995 meters 0.011372352606185975 Centerline is valid? [True, True] Translation: X:26.33, Y:-186.11, Z:-1.80 [[ 9.98999511e-01 -4.29784526e-02 -1.23624454e-02 2.63335341e+01] [-4.29762697e-02 -9.99075995e-01 4.42300190e-04 -1.86111253e+02] [-1.23700318e-02 8.94341137e-05 -9.99923484e-01 -1.79658047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.686559995 meters 0.011352389889836525 Centerline is valid? [True, True] Translation: X:26.33, Y:-186.12, Z:-1.80 [[ 9.99286751e-01 3.59896544e-02 -1.14339252e-02 2.63330458e+01] [ 3.59864327e-02 -9.99352160e-01 -4.87447679e-04 -1.86119353e+02] [-1.14440609e-02 7.56338271e-05 -9.99934512e-01 -1.79613515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.71655999499995 meters 0.011352389889836525 Centerline is valid? [True, True] Translation: X:26.33, Y:-186.13, Z:-1.80 [[ 9.93402743e-01 1.14113654e-01 -1.13606688e-02 2.63334051e+01] [ 1.14105321e-01 -9.93467699e-01 -1.38105822e-03 -1.86125834e+02] [-1.14440551e-02 7.56342527e-05 -9.99934512e-01 -1.79613520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.746559995 meters 0.011003818089403254 Centerline is valid? [True, True] Translation: X:26.34, Y:-186.14, Z:-1.80 [[ 9.81233019e-01 1.92549240e-01 -1.03224311e-02 2.63358500e+01] [ 1.92537954e-01 -9.81287311e-01 -2.08556737e-03 -1.86136119e+02] [-1.05308450e-02 5.89678133e-05 -9.99944547e-01 -1.79736040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.77655999499996 meters 0.010827527921654428 Centerline is valid? [True, True] Translation: X:26.34, Y:-186.15, Z:-1.80 [[ 9.62686161e-01 2.70452520e-01 -9.52838182e-03 2.63394202e+01] [ 2.70438880e-01 -9.62733314e-01 -2.71645647e-03 -1.86146258e+02] [-9.90796310e-03 3.82501388e-05 -9.99950914e-01 -1.79814467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.806559995 meters 0.010599761719782535 Centerline is valid? [True, True] Translation: X:26.34, Y:-186.16, Z:-1.80 [[ 9.36871164e-01 3.49555101e-01 -9.14624770e-03 2.63438019e+01] [ 3.49538542e-01 -9.36915808e-01 -3.40232618e-03 -1.86157908e+02] [-9.75856453e-03 -9.42480304e-06 -9.99952384e-01 -1.79807895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.83655999499996 meters 0.010756863043222745 Centerline is valid? [True, True] Translation: X:26.35, Y:-186.17, Z:-1.80 [[ 9.05382344e-01 4.24507105e-01 -8.74807137e-03 2.63485535e+01] [ 4.24487692e-01 -9.05424606e-01 -4.05992535e-03 -1.86167551e+02] [-9.64418623e-03 -3.76638897e-05 -9.99953493e-01 -1.79758557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.866559995 meters 0.011135527852162075 Centerline is valid? [True, True] Translation: X:26.36, Y:-186.18, Z:-1.80 [[ 8.66683689e-01 4.98789026e-01 -8.30005942e-03 2.63553445e+01] [ 4.98767133e-01 -8.66723427e-01 -4.67415717e-03 -1.86177487e+02] [-9.52527425e-03 -8.87810660e-05 -9.99954630e-01 -1.79711658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.89655999499996 meters 0.011619697816694474 Centerline is valid? [True, True] Translation: X:26.36, Y:-186.19, Z:-1.80 [[ 8.23631687e-01 5.67068320e-01 -8.02277920e-03 2.63617382e+01] [ 5.67042754e-01 -8.23670752e-01 -5.38586693e-03 -1.86185007e+02] [-9.66228309e-03 -1.13288145e-04 -9.99953313e-01 -1.79679439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.92655999499993 meters 0.012006801140349575 Centerline is valid? [True, True] Translation: X:26.37, Y:-186.19, Z:-1.80 [[ 7.75454171e-01 6.31357560e-01 -7.64591771e-03 2.63684489e+01] [ 6.31328565e-01 -7.75491853e-01 -6.05214265e-03 -1.86191595e+02] [-9.75041291e-03 -1.33927001e-04 -9.99952455e-01 -1.79693901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.95655999499996 meters 0.012495711857727066 Centerline is valid? [True, True] Translation: X:26.38, Y:-186.20, Z:-1.80 [[ 7.22372267e-01 6.91466807e-01 -7.20843551e-03 2.63753071e+01] [ 6.91434484e-01 -7.22408216e-01 -6.68752893e-03 -1.86197314e+02] [-9.83163732e-03 -1.53275457e-04 -9.99951657e-01 -1.79675168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.98655999499994 meters 0.013295450074631983 Centerline is valid? [True, True] Translation: X:26.38, Y:-186.20, Z:-1.80 [[ 6.63701708e-01 7.47967227e-01 -6.71339885e-03 2.63832368e+01] [ 7.47931759e-01 -6.63735635e-01 -7.28633151e-03 -1.86203264e+02] [-9.90585922e-03 -1.85213544e-04 -9.99950919e-01 -1.79630203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.01655999499997 meters 0.013812066394940089 Centerline is valid? [True, True] Translation: X:26.39, Y:-186.21, Z:-1.80 [[ 6.02246774e-01 7.98285709e-01 -6.22502964e-03 2.63898434e+01] [ 7.98246439e-01 -6.02278912e-01 -7.92048967e-03 -1.86209045e+02] [-1.00720178e-02 -1.99018394e-04 -9.99949256e-01 -1.79566231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.04655999499994 meters 0.013573938828346427 Centerline is valid? [True, True] Translation: X:26.40, Y:-186.21, Z:-1.80 [[ 5.37083600e-01 8.43509142e-01 -5.79083652e-03 2.63975683e+01] [ 8.43464389e-01 -5.37114774e-01 -8.69158887e-03 -1.86213413e+02] [-1.04417785e-02 -2.16254552e-04 -9.99945460e-01 -1.79547500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.07655999499997 meters 0.01419805512640629 Centerline is valid? [True, True] Translation: X:26.40, Y:-186.22, Z:-1.79 [[ 4.68676056e-01 8.83352529e-01 -5.57353444e-03 2.64044699e+01] [ 8.83296179e-01 -4.68709131e-01 -9.98046488e-03 -1.86217878e+02] [-1.14286354e-02 -2.45476758e-04 -9.99934661e-01 -1.79377650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.10655999499994 meters 0.014049748039772044 Centerline is valid? [True, True] Translation: X:26.41, Y:-186.22, Z:-1.79 [[ 3.98392688e-01 9.17201938e-01 -4.88586094e-03 2.64105317e+01] [ 9.17140397e-01 -3.98422571e-01 -1.06276594e-02 -1.86219963e+02] [-1.16943471e-02 -2.47038624e-04 -9.99931588e-01 -1.79372853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.13655999499997 meters 0.014025034685303459 Centerline is valid? [True, True] Translation: X:26.42, Y:-186.22, Z:-1.79 [[ 3.26222120e-01 9.45284374e-01 -4.07191142e-03 2.64154173e+01] [ 9.45219607e-01 -3.26247444e-01 -1.10679870e-02 -1.86222210e+02] [-1.17908459e-02 -2.38228326e-04 -9.99930457e-01 -1.79352829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.16655999499994 meters 0.01310958981718495 Centerline is valid? [True, True] Translation: X:26.42, Y:-186.22, Z:-1.79 [[ 2.53960470e-01 9.67210337e-01 -2.87106973e-03 2.64179128e+01] [ 9.67156472e-01 -2.53976632e-01 -1.02092967e-02 -1.86222253e+02] [-1.06037219e-02 -1.84015897e-04 -9.99943762e-01 -1.79447500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.196559995 meters 0.012455528004738651 Centerline is valid? [True, True] Translation: X:26.42, Y:-186.22, Z:-1.80 [[ 1.79134026e-01 9.83822786e-01 -1.93016821e-03 2.64234318e+01] [ 9.83774634e-01 -1.79144358e-01 -9.73488240e-03 -1.86223203e+02] [-9.92317787e-03 -1.55001843e-04 -9.99950752e-01 -1.79529910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.22655999499995 meters 0.012028980331709889 Centerline is valid? [True, True] Translation: X:26.43, Y:-186.22, Z:-1.80 [[ 1.03505527e-01 9.94628274e-01 -1.09667037e-03 2.64292868e+01] [ 9.94584745e-01 -1.03511258e-01 -9.30610415e-03 -1.86224907e+02] [-9.36963204e-03 -1.27498412e-04 -9.99956096e-01 -1.79590970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.256559995 meters 0.011713932596671438 Centerline is valid? [True, True] Translation: X:26.43, Y:-186.23, Z:-1.80 [[ 2.69959545e-02 9.99635480e-01 -3.53823343e-04 2.64345676e+01] [ 9.99594046e-01 -2.69980572e-02 -9.10215147e-03 -1.86227437e+02] [-9.10838610e-03 -1.07958440e-04 -9.99958512e-01 -1.79626381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.28655999499995 meters 0.011442069705269025 Centerline is valid? [True, True] Translation: X:26.44, Y:-186.23, Z:-1.80 [[-4.80852058e-02 9.98843181e-01 3.34819903e-04 2.64371477e+01] [ 9.98807339e-01 4.80863169e-02 -8.46206563e-03 -1.86229832e+02] [-8.46837681e-03 -7.24795912e-05 -9.99964140e-01 -1.79630453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.316559995 meters 0.011076587629388521 Centerline is valid? [True, True] Translation: X:26.44, Y:-186.23, Z:-1.80 [[-1.24859301e-01 9.92173954e-01 9.99928502e-04 2.64419744e+01] [ 9.92138095e-01 1.24863289e-01 -8.43561095e-03 -1.86230910e+02] [-8.49444783e-03 -6.11973236e-05 -9.99963920e-01 -1.79730086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.34655999499995 meters 0.011143608591310483 Centerline is valid? [True, True] Translation: X:26.45, Y:-186.23, Z:-1.80 [[-2.00941420e-01 9.79601902e-01 1.63084094e-03 2.64488874e+01] [ 9.79567618e-01 2.00948032e-01 -8.19568487e-03 -1.86232081e+02] [-8.35622276e-03 -4.93335789e-05 -9.99965085e-01 -1.79592481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.376559995 meters 0.010855811643317365 Centerline is valid? [True, True] Translation: X:26.45, Y:-186.23, Z:-1.80 [[-2.75887111e-01 9.61187109e-01 2.37561290e-03 2.64533306e+01] [ 9.61150182e-01 2.75897335e-01 -8.42549825e-03 -1.86232912e+02] [-8.75390557e-03 -4.11655989e-05 -9.99961683e-01 -1.79649549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.40655999499995 meters 0.010901616499518669 Centerline is valid? [True, True] Translation: X:26.46, Y:-186.23, Z:-1.80 [[-3.49901236e-01 9.36780728e-01 3.31553490e-03 2.64601082e+01] [ 9.36737574e-01 3.49916941e-01 -8.99180268e-03 -1.86233048e+02] [-9.58350929e-03 -4.04567467e-05 -9.99954076e-01 -1.79614361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.436559995 meters 0.010976366160094253 Centerline is valid? [True, True] Translation: X:26.47, Y:-186.23, Z:-1.80 [[-4.22209808e-01 9.06488213e-01 4.24237218e-03 2.64658304e+01] [ 9.06441432e-01 4.22231119e-01 -9.20933626e-03 -1.86234102e+02] [-1.01394163e-02 -4.28101736e-05 -9.99948594e-01 -1.79555748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.46655999499995 meters 0.011085671223034069 Centerline is valid? [True, True] Translation: X:26.47, Y:-186.24, Z:-1.80 [[-4.92312640e-01 8.70402989e-01 5.18664813e-03 2.64722899e+01] [ 8.70353628e-01 4.92339959e-01 -9.26966578e-03 -1.86235075e+02] [-1.06219389e-02 -4.93556175e-05 -9.99943584e-01 -1.79526294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.496559995 meters 0.011151656279769757 Centerline is valid? [True, True] Translation: X:26.48, Y:-186.23, Z:-1.80 [[-5.59579819e-01 8.28753870e-01 6.11952104e-03 2.64794100e+01] [ 8.28703150e-01 5.59613276e-01 -9.16902361e-03 -1.86233608e+02] [-1.10234290e-02 -5.95342087e-05 -9.99939238e-01 -1.79538889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.52655999499996 meters 0.01144730210118683 Centerline is valid? [True, True] Translation: X:26.49, Y:-186.23, Z:-1.80 [[-6.23973989e-01 7.81412906e-01 7.09443569e-03 2.64868476e+01] [ 7.81360957e-01 6.24014314e-01 -9.01062897e-03 -1.86232841e+02] [-1.14680512e-02 -7.90830380e-05 -9.99934237e-01 -1.79527844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.556559995 meters 0.011605599033131058 Centerline is valid? [True, True] Translation: X:26.49, Y:-186.23, Z:-1.80 [[-6.84252766e-01 7.29202584e-01 7.85772351e-03 2.64935118e+01] [ 7.29152898e-01 6.84297876e-01 -8.51289442e-03 -1.86229994e+02] [-1.15846481e-02 -9.54896874e-05 -9.99932891e-01 -1.79554443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.58655999499996 meters 0.011920510167771098 Centerline is valid? [True, True] Translation: X:26.50, Y:-186.23, Z:-1.80 [[-7.40810332e-01 6.71659846e-01 8.55003182e-03 2.65005374e+01] [ 6.71613195e-01 7.40859660e-01 -7.91709281e-03 -1.86225272e+02] [-1.16519670e-02 -1.22749967e-04 -9.99932106e-01 -1.79595613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.616559995 meters 0.012002278834669766 Centerline is valid? [True, True] Translation: X:26.52, Y:-186.21, Z:-1.80 [[-7.87210786e-01 6.16613183e-01 9.34676550e-03 2.65240150e+01] [ 6.16567593e-01 7.87266259e-01 -7.49933419e-03 -1.86208459e+02] [-1.19825814e-02 -1.40644054e-04 -9.99928196e-01 -1.79609621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.64655999499996 meters 0.012412484832061942 Centerline is valid? [True, True] Translation: X:26.54, Y:-186.19, Z:-1.80 [[-8.29549803e-01 5.58341129e-01 1.01147658e-02 2.65413831e+01] [ 5.58297271e-01 8.29611450e-01 -6.99996582e-03 -1.86185368e+02] [-1.22996943e-02 -1.59774146e-04 -9.99924343e-01 -1.79559314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.67655999499993 meters 0.012813227742993018 Centerline is valid? [True, True] Translation: X:26.56, Y:-186.16, Z:-1.80 [[-8.68263577e-01 4.95994814e-01 1.03684883e-02 2.65555699e+01] [ 4.95956855e-01 8.68325463e-01 -6.13910403e-03 -1.86159322e+02] [-1.20481861e-02 -1.88037588e-04 -9.99927400e-01 -1.79633166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.70655999499996 meters 0.013223641731207833 Centerline is valid? [True, True] Translation: X:26.57, Y:-186.14, Z:-1.80 [[-9.01591171e-01 4.32460283e-01 1.05577133e-02 2.65717000e+01] [ 4.32428096e-01 9.01652963e-01 -5.27970538e-03 -1.86135410e+02] [-1.18026564e-02 -1.94683878e-04 -9.99930327e-01 -1.79638434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.73655999499994 meters 0.01412357742523221 Centerline is valid? [True, True] Translation: X:26.89, Y:-185.52, Z:-2.79 [[-8.53524198e-01 -5.20962260e-01 9.73487368e-03 2.68857037e+01] [ 5.20930456e-01 -8.53579697e-01 -5.75851572e-03 -1.85519769e+02] [ 1.13094599e-02 1.56159673e-04 9.99936034e-01 -2.79456886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.76655999499997 meters 0.013517873719225283 Centerline is valid? [True, True] Translation: X:26.87, Y:-185.54, Z:-2.79 [[-8.16579837e-01 -5.77163914e-01 8.89866248e-03 2.68696828e+01] [ 5.77132054e-01 -8.16628302e-01 -6.06707445e-03 -1.85543710e+02] [ 1.07685961e-02 1.81452683e-04 9.99942001e-01 -2.79266109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.79655999499994 meters 0.01320853682710283 Centerline is valid? [True, True] Translation: X:26.48, Y:-186.12, Z:-1.80 [[-8.72164578e-01 4.89130148e-01 8.98035499e-03 2.64791039e+01] [ 4.89102201e-01 8.72210794e-01 -5.23139156e-03 -1.86117968e+02] [-1.03915939e-02 -1.70323024e-04 -9.99945991e-01 -1.79844430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.82655999499997 meters 0.013457185216873885 Centerline is valid? [True, True] Translation: X:26.50, Y:-186.09, Z:-1.80 [[-9.04432011e-01 4.26526110e-01 8.84391935e-03 2.64950287e+01] [ 4.26504015e-01 9.04475236e-01 -4.34421507e-03 -1.86094594e+02] [-9.85202720e-03 -1.57080060e-04 -9.99951455e-01 -1.79822782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.85655999499994 meters 0.012855635793669053 Centerline is valid? [True, True] Translation: X:26.81, Y:-185.48, Z:-2.79 [[-8.58143572e-01 -5.13347350e-01 8.00681876e-03 2.68075814e+01] [ 5.13326220e-01 -8.58180917e-01 -4.65893999e-03 -1.85476731e+02] [ 9.26295357e-03 1.12070605e-04 9.99957092e-01 -2.79116375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.88655999499997 meters 0.012537704153596702 Centerline is valid? [True, True] Translation: X:26.46, Y:-186.08, Z:-1.80 [[-9.04648301e-01 4.26083224e-01 8.03355555e-03 2.64606549e+01] [ 4.26065302e-01 9.04683963e-01 -3.90962119e-03 -1.86080750e+02] [-8.93365288e-03 -1.14012897e-04 -9.99960088e-01 -1.79894659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.91655999499994 meters 0.01239701912809259 Centerline is valid? [True, True] Translation: X:26.47, Y:-186.06, Z:-1.80 [[-9.32007871e-01 3.62328391e-01 8.91435789e-03 2.64740316e+01] [ 3.62310706e-01 9.32050495e-01 -3.58147034e-03 -1.86056625e+02] [-9.60630007e-03 -1.08191246e-04 -9.99953853e-01 -1.79842050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.946559995 meters 0.01239701912809259 Centerline is valid? [True, True] Translation: X:26.48, Y:-186.03, Z:-1.80 [[-9.55340006e-01 2.95367276e-01 9.14575464e-03 2.64836253e+01] [ 2.95352656e-01 9.55383777e-01 -2.94074842e-03 -1.86030613e+02] [-9.60630646e-03 -1.08191697e-04 -9.99953853e-01 -1.79842043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.97655999499995 meters 0.0124675856140109 Centerline is valid? [True, True] Translation: X:26.70, Y:-185.37, Z:-2.79 [[-9.25525108e-01 -3.78573560e-01 9.23765969e-03 2.67024254e+01] [ 3.78556118e-01 -9.25571198e-01 -3.63639148e-03 -1.85370910e+02] [ 9.92675342e-03 1.31400980e-04 9.99950720e-01 -2.79303662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.006559995 meters 0.011946509454533658 Centerline is valid? [True, True] Translation: X:26.44, Y:-186.02, Z:-1.80 [[-9.55564244e-01 2.94612162e-01 1.00324413e-02 2.64412220e+01] [ 2.94594972e-01 9.55616904e-01 -3.18371459e-03 -1.86019614e+02] [-1.05251315e-02 -8.67370752e-05 -9.99944606e-01 -1.79797085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.03655999499995 meters 0.011666132418738921 Centerline is valid? [True, True] Translation: X:26.66, Y:-185.35, Z:-2.79 [[-9.28710970e-01 -3.70669579e-01 9.99990787e-03 2.66590655e+01] [ 3.70649255e-01 -9.28764800e-01 -3.88285234e-03 -1.85354757e+02] [ 1.07268177e-02 1.00410832e-04 9.99942461e-01 -2.79288946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.066559995 meters 0.011651818850656047 Centerline is valid? [True, True] Translation: X:26.39, Y:-186.01, Z:-1.80 [[-9.55281934e-01 2.95518658e-01 1.02542089e-02 2.63943101e+01] [ 2.95501200e-01 9.55336967e-01 -3.21239802e-03 -1.86007317e+02] [-1.07455484e-02 -3.86147664e-05 -9.99942264e-01 -1.79726307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.09655999499995 meters 0.011553552575655945 Centerline is valid? [True, True] Translation: X:26.41, Y:-185.98, Z:-1.80 [[-9.73184589e-01 2.29772443e-01 1.07879422e-02 2.64061323e+01] [ 2.29758228e-01 9.73244381e-01 -2.55585872e-03 -1.85982537e+02] [-1.10865700e-02 -8.70384227e-06 -9.99938542e-01 -1.79708578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.126559995 meters 0.011513556002926027 Centerline is valid? [True, True] Translation: X:26.57, Y:-185.30, Z:-2.79 [[-9.55417735e-01 -2.95069867e-01 1.05225945e-02 2.65721444e+01] [ 2.95052019e-01 -9.55475679e-01 -3.24540877e-03 -1.85298679e+02] [ 1.10117054e-02 3.99164810e-06 9.99939369e-01 -2.79228645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.15655999499995 meters 0.011602235560590535 Centerline is valid? [True, True] Translation: X:26.36, Y:-185.97, Z:-1.80 [[-9.73634924e-01 2.27864283e-01 1.06256406e-02 2.63592100e+01] [ 2.27850864e-01 9.73692903e-01 -2.47292269e-03 -1.85973210e+02] [-1.09096016e-02 1.33375027e-05 -9.99940488e-01 -1.79747126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.186559995 meters 0.011522924230715562 Centerline is valid? [True, True] Translation: X:26.36, Y:-185.95, Z:-1.80 [[-9.87236369e-01 1.58902861e-01 1.06879528e-02 2.63638983e+01] [ 1.58893779e-01 9.87294222e-01 -1.69899947e-03 -1.85946164e+02] [-1.08221299e-02 2.09351440e-05 -9.99941439e-01 -1.79794277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.21655999499995 meters 0.011795751340482982 Centerline is valid? [True, True] Translation: X:26.48, Y:-185.25, Z:-2.79 [[-9.75235023e-01 -2.20899246e-01 1.09623174e-02 2.64768331e+01] [ 2.20885347e-01 -9.75296633e-01 -2.47791433e-03 -1.85248532e+02] [ 1.12388807e-02 4.86645784e-06 9.99936842e-01 -2.79302790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.246559995 meters 0.011729240486028492 Centerline is valid? [True, True] Translation: X:26.31, Y:-185.94, Z:-1.80 [[-9.87914069e-01 1.54538276e-01 1.19880376e-02 2.63093676e+01] [ 1.54527150e-01 9.87986802e-01 -1.85447544e-03 -1.85937855e+02] [-1.21306104e-02 2.04148993e-05 -9.99926421e-01 -1.79784767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.27655999499996 meters 0.01174101284222206 Centerline is valid? [True, True] Translation: X:26.42, Y:-185.24, Z:-2.79 [[-9.75794769e-01 -2.18347578e-01 1.22026048e-02 2.64209621e+01] [ 2.18330550e-01 -9.75871065e-01 -2.72691208e-03 -1.85242377e+02] [ 1.25035835e-02 3.29486481e-06 9.99921827e-01 -2.79256292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.306559995 meters 0.01168516854443152 Centerline is valid? [True, True] Translation: X:26.25, Y:-185.93, Z:-1.80 [[-9.88867875e-01 1.48250091e-01 1.27371731e-02 2.62533616e+01] [ 1.48237706e-01 9.88949903e-01 -1.91623163e-03 -1.85927067e+02] [-1.28805076e-02 -6.77058371e-06 -9.99917043e-01 -1.79781137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.33655999499996 meters 0.011723053423658902 Centerline is valid? [True, True] Translation: X:26.36, Y:-185.24, Z:-2.79 [[-9.76167165e-01 -2.16651020e-01 1.26491537e-02 2.63626498e+01] [ 2.16632988e-01 -9.76249116e-01 -2.79519595e-03 -1.85236770e+02] [ 1.29543072e-02 1.16454599e-05 9.99916089e-01 -2.79263898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.366559995 meters 0.011764435688882607 Centerline is valid? [True, True] Translation: X:26.20, Y:-185.92, Z:-1.80 [[-9.90034304e-01 1.40255378e-01 1.26690848e-02 2.62000870e+01] [ 1.40243155e-01 9.90115360e-01 -1.85251813e-03 -1.85915831e+02] [-1.28036811e-02 -5.73040719e-05 -9.99918028e-01 -1.79841998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.39655999499996 meters 0.011745977351208805 Centerline is valid? [True, True] Translation: X:26.20, Y:-185.89, Z:-1.80 [[-9.97566472e-01 6.86101802e-02 1.24006779e-02 2.61981383e+01] [ 6.86040294e-02 9.97643543e-01 -9.21207269e-04 -1.85887092e+02] [-1.24346604e-02 -6.82290165e-05 -9.99922684e-01 -1.79907754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.42655999499993 meters 0.011916385554390788 Centerline is valid? [True, True] Translation: X:26.25, Y:-185.20, Z:-2.79 [[-9.89052536e-01 -1.47117062e-01 1.14738994e-02 2.62508672e+01] [ 1.47107266e-01 -9.89119088e-01 -1.69772837e-03 -1.85198300e+02] [ 1.15988177e-02 8.75142037e-06 9.99932731e-01 -2.79046856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.45655999499996 meters 0.011939832195450206 Centerline is valid? [True, True] Translation: X:26.13, Y:-185.88, Z:-1.80 [[-9.97924509e-01 6.33972370e-02 1.12900672e-02 2.61280502e+01] [ 6.33923869e-02 9.97988369e-01 -7.87297909e-04 -1.85880816e+02] [-1.13172683e-02 -6.99595700e-05 -9.99935955e-01 -1.80016388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.48655999499994 meters 0.011805129767102256 Centerline is valid? [True, True] Translation: X:26.13, Y:-185.85, Z:-1.80 [[-9.99912620e-01 -7.27171831e-03 1.10396662e-02 2.61335672e+01] [-7.27197907e-03 9.99973559e-01 1.65210515e-05 -1.85853775e+02] [-1.10394944e-02 -6.37606135e-05 -9.99939061e-01 -1.80083246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.51655999499997 meters 0.011755584252927451 Centerline is valid? [True, True] Translation: X:26.13, Y:-185.83, Z:-1.80 [[-9.96914710e-01 -7.76569184e-02 1.14221205e-02 2.61270435e+01] [-7.76524792e-02 9.96980140e-01 8.32301664e-04 -1.85826311e+02] [-1.14522612e-02 -5.72221994e-05 -9.99934419e-01 -1.80109957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.54655999499994 meters 0.011612250095215146 Centerline is valid? [True, True] Translation: X:26.12, Y:-185.80, Z:-1.80 [[-9.89151757e-01 -1.46462992e-01 1.12868791e-02 2.61175382e+01] [-1.46453834e-01 9.89216150e-01 1.63820069e-03 -1.85800278e+02] [-1.14050988e-02 -3.25776186e-05 -9.99934959e-01 -1.80145796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.57655999499997 meters 0.01161009064810521 Centerline is valid? [True, True] Translation: X:26.10, Y:-185.78, Z:-1.80 [[-9.76399333e-01 -2.15691740e-01 1.10189157e-02 2.60986750e+01] [-2.15678178e-01 9.76461506e-01 2.41874156e-03 -1.85776191e+02] [-1.12812496e-02 -1.48820259e-05 -9.99936365e-01 -1.80152527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.60655999499994 meters 0.011666507207842515 Centerline is valid? [True, True] Translation: X:26.06, Y:-185.76, Z:-1.80 [[-9.58726287e-01 -2.84115954e-01 1.10467316e-02 2.60626616e+01] [-2.84097042e-01 9.58789927e-01 3.27813388e-03 -1.85757410e+02] [-1.15228651e-02 4.48934831e-06 -9.99933610e-01 -1.80156177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.63655999499997 meters 0.011726989883269416 Centerline is valid? [True, True] Translation: X:26.00, Y:-185.75, Z:-1.80 [[-9.35974056e-01 -3.51901297e-01 1.08647665e-02 2.60016746e+01] [-3.51877273e-01 9.36037113e-01 4.11199748e-03 -1.85749393e+02] [-1.16168419e-02 2.56585526e-05 -9.99932522e-01 -1.80173979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.66655999499994 meters 0.012213609997210925 Centerline is valid? [True, True] Translation: X:25.94, Y:-185.75, Z:-1.80 [[-9.09097186e-01 -4.16434004e-01 1.11815082e-02 2.59394080e+01] [-4.16401446e-01 9.09165944e-01 5.20785081e-03 -1.85747397e+02] [-1.23345726e-02 7.84463313e-05 -9.99923923e-01 -1.80104755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.696559995 meters 0.012565364132886557 Centerline is valid? [True, True] Translation: X:25.87, Y:-185.76, Z:-1.80 [[-8.76493252e-01 -4.81287262e-01 1.10521801e-02 2.58650663e+01] [-4.81247500e-01 8.76562924e-01 6.18733726e-03 -1.85755094e+02] [-1.26658179e-02 1.04325326e-04 -9.99919780e-01 -1.80049618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.72655999499995 meters 0.01298989180488013 Centerline is valid? [True, True] Translation: X:25.78, Y:-185.77, Z:-1.80 [[-8.38933376e-01 -5.44127749e-01 1.07602786e-02 2.57823399e+01] [-5.44081031e-01 8.39002370e-01 7.13128711e-03 -1.85774005e+02] [-1.29082304e-02 1.28211302e-04 -9.99916677e-01 -1.80015310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.756559995 meters 0.013267950129934545 Centerline is valid? [True, True] Translation: X:25.70, Y:-185.80, Z:-1.80 [[-7.96403652e-01 -6.04673503e-01 1.05441365e-02 2.56981292e+01] [-6.04618004e-01 7.96473435e-01 8.19370792e-03 -1.85800741e+02] [-1.33526427e-02 1.50324129e-04 -9.99910838e-01 -1.80014869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.78655999499995 meters 0.013226409344861344 Centerline is valid? [True, True] Translation: X:25.61, Y:-185.84, Z:-1.80 [[-7.49149829e-01 -6.62318710e-01 1.04143799e-02 2.56084706e+01] [-6.62251482e-01 7.49222194e-01 9.43813208e-03 -1.85839041e+02] [-1.40537360e-02 1.73636510e-04 -9.99901226e-01 -1.80074772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.816559995 meters 0.013317149258740996 Centerline is valid? [True, True] Translation: X:25.52, Y:-185.89, Z:-1.80 [[-6.96647565e-01 -7.17342136e-01 1.01208050e-02 2.55196891e+01] [-7.17262687e-01 6.96721055e-01 1.06775145e-02 -1.85886070e+02] [-1.47108090e-02 1.79188685e-04 -9.99891774e-01 -1.80014275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.84655999499995 meters 0.013228903166336613 Centerline is valid? [True, True] Translation: X:25.43, Y:-185.95, Z:-1.80 [[-6.39703084e-01 -7.68560088e-01 9.76502673e-03 2.54273473e+01] [-7.68466230e-01 6.39777586e-01 1.20122574e-02 -1.85947326e+02] [-1.54795869e-02 1.80184855e-04 -9.99880168e-01 -1.80012179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.876559995 meters 0.01291321018941132 Centerline is valid? [True, True] Translation: X:25.34, Y:-186.01, Z:-1.80 [[-5.76882724e-01 -8.16769323e-01 9.70549143e-03 2.53416039e+01] [-8.16649384e-01 5.76964342e-01 1.39975564e-02 -1.86009867e+02] [-1.70324971e-02 1.48964865e-04 -9.99854925e-01 -1.79882111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.90655999499995 meters 0.012674972998866232 Centerline is valid? [True, True] Translation: X:25.26, Y:-186.09, Z:-1.80 [[-5.11193258e-01 -8.59419325e-01 8.93735051e-03 2.52568427e+01] [-8.59283878e-01 5.11271365e-01 1.52580635e-02 -1.86087189e+02] [-1.76824860e-02 1.20097966e-04 -9.99843645e-01 -1.79816978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.936559995 meters 0.012511525492737393 Centerline is valid? [True, True] Translation: X:25.18, Y:-186.17, Z:-1.80 [[-4.41857438e-01 -8.97050942e-01 7.84924822e-03 2.51783184e+01] [-8.96906252e-01 4.41927144e-01 1.61113045e-02 -1.86171238e+02] [-1.79214567e-02 7.88599209e-05 -9.99839395e-01 -1.79808056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.96655999499995 meters 0.01221895785836345 Centerline is valid? [True, True] Translation: X:25.11, Y:-186.26, Z:-1.80 [[-3.69582580e-01 -9.29174205e-01 6.63427032e-03 2.51060483e+01] [-9.29022797e-01 3.69642119e-01 1.67733816e-02 -1.86262105e+02] [-1.80376992e-02 3.57612791e-05 -9.99837307e-01 -1.79895959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.996559995 meters 0.012269144032920891 Centerline is valid? [True, True] Translation: X:25.04, Y:-186.37, Z:-1.80 [[-2.92699584e-01 -9.56190043e-01 5.24935004e-03 2.50368320e+01] [-9.56039356e-01 2.92746648e-01 1.69749620e-02 -1.86367792e+02] [-1.77680192e-02 -5.00209180e-05 -9.99842135e-01 -1.79966276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.02655999499996 meters 0.01226799334512843 Centerline is valid? [True, True] Translation: X:24.98, Y:-186.47, Z:-1.80 [[-2.16069998e-01 -9.76369786e-01 3.97447326e-03 2.49803936e+01] [-9.76212560e-01 2.16106528e-01 1.75216044e-02 -1.86466923e+02] [-1.79664748e-02 -9.40376821e-05 -9.99838585e-01 -1.79993642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.056559995 meters 0.01319233818637658 Centerline is valid? [True, True] Translation: X:24.93, Y:-186.58, Z:-1.80 [[-1.36224431e-01 -9.90674979e-01 2.44748765e-03 2.49291270e+01] [-9.90535588e-01 1.36246322e-01 1.66189284e-02 -1.86575237e+02] [-1.67974177e-02 -1.60419558e-04 -9.99858901e-01 -1.79828616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.08655999499996 meters 0.013002621424996861 Centerline is valid? [True, True] Translation: X:24.89, Y:-186.69, Z:-1.80 [[-5.75688403e-02 -9.98340934e-01 1.09906290e-03 2.48895695e+01] [-9.98215576e-01 5.75790293e-02 1.58214526e-02 -1.86687993e+02] [-1.58584868e-02 -1.86279023e-04 -9.99874229e-01 -1.80119102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.116559995 meters 0.013262608489714315 Centerline is valid? [True, True] Translation: X:24.86, Y:-186.80, Z:-1.80 [[ 2.11130857e-02 -9.99777088e-01 -1.06063131e-04 2.48578068e+01] [-9.99679883e-01 -2.11125121e-02 1.39425026e-02 -1.86804438e+02] [-1.39416339e-02 -1.88340074e-04 -9.99902793e-01 -1.80267430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.14655999499996 meters 0.01341840110871884 Centerline is valid? [True, True] Translation: X:24.84, Y:-186.92, Z:-1.80 [[ 9.93543471e-02 -9.95051515e-01 -1.09392662e-03 2.48352665e+01] [-9.94967901e-01 -9.93601811e-02 1.29007978e-02 -1.86922090e+02] [-1.29456512e-02 -1.93328475e-04 -9.99916183e-01 -1.80389875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.17655999499993 meters 0.014031259973842984 Centerline is valid? [True, True] Translation: X:24.82, Y:-187.03, Z:-1.80 [[ 1.77222015e-01 -9.84169195e-01 -1.83098000e-03 2.48198851e+01] [-9.84104804e-01 -1.77231368e-01 1.12595726e-02 -1.87034753e+02] [-1.14058316e-02 -1.93567929e-04 -9.99934933e-01 -1.80456237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.20655999499996 meters 0.01385931409990196 Centerline is valid? [True, True] Translation: X:24.82, Y:-187.15, Z:-1.81 [[ 2.53109711e-01 -9.67434085e-01 -2.60119292e-03 2.48163981e+01] [-9.67374758e-01 -2.53123001e-01 1.07155906e-02 -1.87154461e+02] [-1.10250494e-02 -1.95891672e-04 -9.99939203e-01 -1.80526073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.23655999499994 meters 0.014235596731133941 Centerline is valid? [True, True] Translation: X:24.82, Y:-187.27, Z:-1.80 [[ 3.28006186e-01 -9.44669058e-01 -3.50890916e-03 2.48210121e+01] [-9.44607735e-01 -3.28024883e-01 1.07658309e-02 -1.87274874e+02] [-1.13211568e-02 -2.16716398e-04 -9.99935890e-01 -1.80433076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.26655999499997 meters 0.014503215588936797 Centerline is valid? [True, True] Translation: X:24.83, Y:-187.39, Z:-1.80 [[ 4.00539847e-01 -9.16268140e-01 -4.53067138e-03 2.48338059e+01] [-9.16202610e-01 -4.00565399e-01 1.09607420e-02 -1.87391316e+02] [-1.18578089e-02 -2.39201000e-04 -9.99929665e-01 -1.80369958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.29655999499994 meters 0.01516256448861559 Centerline is valid? [True, True] Translation: X:24.86, Y:-187.51, Z:-1.80 [[ 4.70585476e-01 -8.82335430e-01 -5.78783766e-03 2.48559879e+01] [-8.82261429e-01 -4.70620989e-01 1.14304852e-02 -1.87508638e+02] [-1.28093999e-02 -2.72634394e-04 -9.99917919e-01 -1.80272502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.32655999499997 meters 0.015747446578639843 Centerline is valid? [True, True] Translation: X:24.89, Y:-187.62, Z:-1.80 [[ 5.39005272e-01 -8.42266905e-01 -7.73157845e-03 2.48866696e+01] [-8.42170600e-01 -5.39060602e-01 1.27415985e-02 -1.87622700e+02] [-1.48996161e-02 -3.56480700e-04 -9.99888931e-01 -1.80131282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.35655999499994 meters 0.01665962571592749 Centerline is valid? [True, True] Translation: X:24.92, Y:-187.73, Z:-1.80 [[ 6.02761232e-01 -7.97869197e-01 -9.14553699e-03 2.49213943e+01] [-7.97767298e-01 -6.02830481e-01 1.27573053e-02 -1.87728824e+02] [-1.56918694e-02 -3.93598702e-04 -9.99876798e-01 -1.79950733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.38655999499997 meters 0.016380405714269197 Centerline is valid? [True, True] Translation: X:24.97, Y:-187.83, Z:-1.80 [[ 6.62612811e-01 -7.48880376e-01 -1.10654458e-02 2.49662587e+01] [-7.48764506e-01 -6.62705048e-01 1.31808079e-02 -1.87831247e+02] [-1.72039751e-02 -4.48359138e-04 -9.99851900e-01 -1.79859358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.41655999499994 meters 0.017177754915711642 Centerline is valid? [True, True] Translation: X:25.01, Y:-187.93, Z:-1.80 [[ 7.18074394e-01 -6.95847760e-01 -1.28475971e-02 2.50142976e+01] [-6.95724107e-01 -7.18189152e-01 1.31266424e-02 -1.87927399e+02] [-1.83611496e-02 -4.87522812e-04 -9.99831301e-01 -1.79663451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.446559995 meters 0.01728755216762884 Centerline is valid? [True, True] Translation: X:25.07, Y:-188.01, Z:-1.80 [[ 7.69045230e-01 -6.39029048e-01 -1.45364792e-02 2.50664227e+01] [-6.38902039e-01 -7.69182428e-01 1.27506019e-02 -1.88014197e+02] [-1.93292094e-02 -5.18403396e-04 -9.99813039e-01 -1.79627188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.47655999499995 meters 0.01697187040194667 Centerline is valid? [True, True] Translation: X:25.07, Y:-188.02, Z:-1.80 [[ 8.15776801e-01 -5.78180055e-01 -1.46981300e-02 2.50680041e+01] [-5.78075897e-01 -8.15909069e-01 1.09840006e-02 -1.88018441e+02] [-1.83430676e-02 -4.63858206e-04 -9.99831644e-01 -1.79709689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.506559995 meters 0.01697187040194667 Centerline is valid? [True, True] Translation: X:25.07, Y:-188.02, Z:-1.80 [[ 8.58474683e-01 -5.12621303e-01 -1.55118840e-02 2.50686250e+01] [-5.12527805e-01 -8.58614689e-01 9.80125544e-03 -1.88024164e+02] [-1.83430638e-02 -4.63857800e-04 -9.99831644e-01 -1.79709692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.53655999499995 meters 0.014701524696979074 Centerline is valid? [True, True] Translation: X:25.07, Y:-188.03, Z:-1.80 [[ 8.94558661e-01 -4.46721178e-01 -1.43174978e-02 2.50708642e+01] [-4.46657511e-01 -8.94673158e-01 7.55031677e-03 -1.88028992e+02] [-1.61823674e-02 -3.59183326e-04 -9.99868992e-01 -1.80073881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.566559995 meters 0.015132932668266902 Centerline is valid? [True, True] Translation: X:25.07, Y:-188.04, Z:-1.80 [[ 9.25923706e-01 -3.77467132e-01 -1.35593247e-02 2.50701290e+01] [-3.77421979e-01 -9.26022936e-01 5.84572730e-03 -1.88037954e+02] [-1.47628156e-02 -2.95110306e-04 -9.99890980e-01 -1.80043134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.59655999499995 meters 0.014785950317608872 Centerline is valid? [True, True] Translation: X:25.07, Y:-188.04, Z:-1.80 [[ 9.51941882e-01 -3.06025243e-01 -1.24580470e-02 2.50721330e+01] [-3.05995811e-01 -9.52023369e-01 4.25066257e-03 -1.88040236e+02] [-1.31611620e-02 -2.34273524e-04 -9.99913361e-01 -1.80134778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.626559995 meters 0.013133699198606427 Centerline is valid? [True, True] Translation: X:25.07, Y:-188.05, Z:-1.80 [[ 9.72506428e-01 -2.32572896e-01 -1.18783760e-02 2.50740540e+01] [-2.32553100e-01 -9.72578948e-01 3.04062013e-03 -1.88045712e+02] [-1.22598243e-02 -1.94669448e-04 -9.99924827e-01 -1.80410572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.65655999499995 meters 0.012568379722184228 Centerline is valid? [True, True] Translation: X:25.08, Y:-188.05, Z:-1.80 [[ 9.87239661e-01 -1.58830148e-01 -1.14383501e-02 2.50753911e+01] [-1.58817739e-01 -9.87305911e-01 1.99096399e-03 -1.88051343e+02] [-1.16093758e-02 -1.48945717e-04 -9.99932598e-01 -1.80435188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.686559995 meters 0.012438919626809103 Centerline is valid? [True, True] Translation: X:25.07, Y:-188.06, Z:-1.80 [[ 9.96551351e-01 -8.21515466e-02 -1.16845674e-02 2.50742644e+01] [-8.21442765e-02 -9.96619839e-01 1.10157690e-03 -1.88058068e+02] [-1.17355679e-02 -1.37957613e-04 -9.99931126e-01 -1.80435414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.71655999499995 meters 0.012411215240242496 Centerline is valid? [True, True] Translation: X:25.07, Y:-188.07, Z:-1.80 [[ 9.99915695e-01 -4.48246476e-03 -1.21864677e-02 2.50731910e+01] [-4.48047259e-03 -9.99989944e-01 1.90771081e-04 -1.88065024e+02] [-1.21872003e-02 -1.36153863e-04 -9.99925724e-01 -1.80378793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.746559995 meters 0.012497137118394641 Centerline is valid? [True, True] Translation: X:25.07, Y:-188.07, Z:-1.80 [[ 9.97193162e-01 7.36464975e-02 -1.34904040e-02 2.50719598e+01] [ 7.36417727e-02 -9.97284398e-01 -8.47329744e-04 -1.88072358e+02] [-1.35161723e-02 -1.48505838e-04 -9.99908641e-01 -1.80254703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.77655999499996 meters 0.012311227091391964 Centerline is valid? [True, True] Translation: X:25.07, Y:-188.08, Z:-1.80 [[ 9.88299563e-01 1.51880784e-01 -1.40071945e-02 2.50729916e+01] [ 1.51867838e-01 -9.88398807e-01 -1.98954675e-03 -1.88081095e+02] [-1.41468682e-02 -1.60974157e-04 -9.99899915e-01 -1.80265629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.806559995 meters 0.012636461931106409 Centerline is valid? [True, True] Translation: X:25.07, Y:-188.09, Z:-1.80 [[ 9.73216862e-01 2.29417386e-01 -1.47174194e-02 2.50738254e+01] [ 2.29393968e-01 -9.73328121e-01 -3.28283684e-03 -1.88090810e+02] [-1.50780180e-02 -1.81175068e-04 -9.99886304e-01 -1.80146514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.83655999499996 meters 0.012636461931106409 Centerline is valid? [True, True] Translation: X:25.07, Y:-188.10, Z:-1.80 [[ 9.52263140e-01 3.04937890e-01 -1.44151232e-02 2.50749138e+01] [ 3.04905832e-01 -9.52372223e-01 -4.42533183e-03 -1.88098097e+02] [-1.50780143e-02 -1.81174761e-04 -9.99886304e-01 -1.80146517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.866559995 meters 0.01310422997571818 Centerline is valid? [True, True] Translation: X:25.08, Y:-188.11, Z:-1.80 [[ 9.24759466e-01 3.80253212e-01 -1.50806384e-02 2.50776896e+01] [ 3.80206620e-01 -9.24882395e-01 -5.95668681e-03 -1.88108029e+02] [-1.62128663e-02 -2.25256047e-04 -9.99868538e-01 -1.80030703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.89655999499996 meters 0.013044521487155875 Centerline is valid? [True, True] Translation: X:25.08, Y:-188.12, Z:-1.80 [[ 8.91758193e-01 4.52273301e-01 -1.47032980e-02 2.50816574e+01] [ 4.52216292e-01 -8.91879366e-01 -7.18486767e-03 -1.88115643e+02] [-1.63630919e-02 -2.41906279e-04 -9.99866086e-01 -1.80045191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.92655999499993 meters 0.013900793192811725 Centerline is valid? [True, True] Translation: X:25.09, Y:-188.12, Z:-1.80 [[ 8.53328271e-01 5.21193858e-01 -1.37049319e-02 2.50850591e+01] [ 5.21131225e-01 -8.53438283e-01 -8.08352559e-03 -1.88124511e+02] [-1.59093974e-02 -2.44167029e-04 -9.99873408e-01 -1.79943532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.95655999499996 meters 0.013444438841543713 Centerline is valid? [True, True] Translation: X:25.09, Y:-188.13, Z:-1.80 [[ 8.09309916e-01 5.87235298e-01 -1.31211699e-02 2.50887673e+01] [ 5.87163349e-01 -8.09416232e-01 -9.19594596e-03 -1.88130391e+02] [-1.60206720e-02 -2.61899799e-04 -9.99871627e-01 -1.80179232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.98655999499994 meters 0.013596032619527935 Centerline is valid? [True, True] Translation: X:25.09, Y:-188.14, Z:-1.80 [[ 7.60905455e-01 6.48751005e-01 -1.20425091e-02 2.50919167e+01] [ 6.48675025e-01 -7.61000702e-01 -9.93191160e-03 -1.88136041e+02] [-1.56076955e-02 -2.54429198e-04 -9.99878160e-01 -1.80193451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.01655999499997 meters 0.0138410374472938 Centerline is valid? [True, True] Translation: X:25.10, Y:-188.14, Z:-1.80 [[ 7.07944741e-01 7.06171415e-01 -1.16694492e-02 2.50950714e+01] [ 7.06081517e-01 -7.08040864e-01 -1.12706400e-02 -1.88140982e+02] [-1.62214507e-02 -2.60592052e-04 -9.99868390e-01 -1.80157878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.04655999499994 meters 0.013137130627502954 Centerline is valid? [True, True] Translation: X:25.10, Y:-188.15, Z:-1.80 [[ 6.50670204e-01 7.59281895e-01 -1.09219517e-02 2.51002314e+01] [ 7.59181604e-01 -6.50761812e-01 -1.23432561e-02 -1.88146286e+02] [-1.64796000e-02 -2.60355862e-04 -9.99864168e-01 -1.80284101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.07655999499997 meters 0.012977841712118491 Centerline is valid? [True, True] Translation: X:25.11, Y:-188.15, Z:-1.80 [[ 5.89680121e-01 8.07577141e-01 -9.82430788e-03 2.51057359e+01] [ 8.07472051e-01 -5.89761901e-01 -1.30302562e-02 -1.88151299e+02] [-1.63169396e-02 -2.49170946e-04 -9.99866839e-01 -1.80292661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.10655999499994 meters 0.013032327703376922 Centerline is valid? [True, True] Translation: X:25.11, Y:-188.16, Z:-1.80 [[ 5.24739356e-01 8.51218027e-01 -8.74522438e-03 2.51120345e+01] [ 8.51107575e-01 -5.24812166e-01 -1.37144775e-02 -1.88155778e+02] [-1.62636106e-02 -2.46600631e-04 -9.99867708e-01 -1.80326080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.13655999499997 meters 0.012874669021126026 Centerline is valid? [True, True] Translation: X:25.12, Y:-188.16, Z:-1.80 [[ 4.56530253e-01 8.89676730e-01 -7.44604357e-03 2.51185938e+01] [ 8.89566838e-01 -4.56590909e-01 -1.39850688e-02 -1.88160118e+02] [-1.58419861e-02 -2.39146439e-04 -9.99874479e-01 -1.80473577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.16655999499994 meters 0.01244339927535694 Centerline is valid? [True, True] Translation: X:25.13, Y:-188.16, Z:-1.81 [[ 3.85847924e-01 9.22541396e-01 -6.22511624e-03 2.51265159e+01] [ 9.22430757e-01 -3.85898070e-01 -1.42890582e-02 -1.88164760e+02] [-1.55845080e-02 -2.28835258e-04 -9.99878528e-01 -1.80600811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.196559995 meters 0.012674041448686725 Centerline is valid? [True, True] Translation: X:25.13, Y:-188.17, Z:-1.81 [[ 3.12826450e-01 9.49797263e-01 -4.97714019e-03 2.51349835e+01] [ 9.49687914e-01 -3.12865965e-01 -1.44136959e-02 -1.88169835e+02] [-1.52472667e-02 -2.17744572e-04 -9.99883730e-01 -1.80608545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.22655999499995 meters 0.012644127443990875 Centerline is valid? [True, True] Translation: X:25.14, Y:-188.17, Z:-1.81 [[ 2.37656487e-01 9.71342338e-01 -3.66829973e-03 2.51413570e+01] [ 9.71239674e-01 -2.37684707e-01 -1.41236173e-02 -1.88172710e+02] [-1.45907662e-02 -2.06228944e-04 -9.99893528e-01 -1.80661179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.256559995 meters 0.012692249636970547 Centerline is valid? [True, True] Translation: X:25.15, Y:-188.18, Z:-1.81 [[ 1.61067023e-01 9.86940424e-01 -2.45222389e-03 2.51477158e+01] [ 9.86843778e-01 -1.61085571e-01 -1.38128883e-02 -1.88176232e+02] [-1.40275157e-02 -1.95161089e-04 -9.99901591e-01 -1.80698556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.28655999499995 meters 0.012383544813391087 Centerline is valid? [True, True] Translation: X:25.15, Y:-188.18, Z:-1.81 [[ 8.32201657e-02 9.96530251e-01 -1.36465943e-03 2.51546308e+01] [ 9.96432188e-01 -8.32311225e-02 -1.39812430e-02 -1.88177855e+02] [-1.40463137e-02 -1.96269225e-04 -9.99901326e-01 -1.80739441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.316559995 meters 0.012471611826021842 Centerline is valid? [True, True] Translation: X:25.16, Y:-188.18, Z:-1.81 [[ 4.75677059e-03 9.99988651e-01 -2.66107572e-04 2.51619623e+01] [ 9.99889347e-01 -4.76004873e-03 -1.40937865e-02 -1.88179322e+02] [-1.40948933e-02 -1.99037217e-04 -9.99900642e-01 -1.80731985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.34655999499995 meters 0.012333182704809278 Centerline is valid? [True, True] Translation: X:25.17, Y:-188.18, Z:-1.81 [[-7.37083656e-02 9.97279479e-01 8.47187042e-04 2.51702081e+01] [ 9.97178231e-01 7.37129554e-02 -1.42118428e-02 -1.88179684e+02] [-1.42356278e-02 -2.02735230e-04 -9.99898648e-01 -1.80797312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.376559995 meters 0.013307784148047525 Centerline is valid? [True, True] Translation: X:25.18, Y:-188.18, Z:-1.81 [[-1.52141390e-01 9.88356639e-01 2.03781463e-03 2.51808350e+01] [ 9.88247706e-01 1.52154879e-01 -1.46753296e-02 -1.88180498e+02] [-1.48145229e-02 -2.18859409e-04 -9.99890235e-01 -1.80702302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.40655999499995 meters 0.012949092393170516 Centerline is valid? [True, True] Translation: X:25.19, Y:-188.18, Z:-1.81 [[-2.29583217e-01 9.73283588e-01 3.25638514e-03 2.51875307e+01] [ 9.73170869e-01 2.29606192e-01 -1.48140614e-02 -1.88180371e+02] [-1.51659691e-02 -2.32040724e-04 -9.99884963e-01 -1.80806324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.436559995 meters 0.013215785556118262 Centerline is valid? [True, True] Translation: X:25.20, Y:-188.18, Z:-1.81 [[-3.05581294e-01 9.52154911e-01 4.59319714e-03 2.51959085e+01] [ 9.52034806e-01 3.05615711e-01 -1.51250105e-02 -1.88180570e+02] [-1.58051062e-02 -2.49036727e-04 -9.99875061e-01 -1.80758929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.46655999499995 meters 0.01292911829349047 Centerline is valid? [True, True] Translation: X:25.20, Y:-188.18, Z:-1.81 [[-3.79178245e-01 9.25304338e-01 5.97834193e-03 2.52040736e+01] [ 9.25178428e-01 3.79225284e-01 -1.52662968e-02 -1.88178646e+02] [-1.63931090e-02 -2.57614625e-04 -9.99865591e-01 -1.80798075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.496559995 meters 0.013390928949643095 Centerline is valid? [True, True] Translation: X:25.21, Y:-188.18, Z:-1.81 [[-4.50782119e-01 8.92602938e-01 7.44823488e-03 2.52129257e+01] [ 8.92470920e-01 4.50843565e-01 -1.53537045e-02 -1.88176946e+02] [-1.70627505e-02 -2.73842409e-04 -9.99854383e-01 -1.80636088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.52655999499996 meters 0.013244696923570635 Centerline is valid? [True, True] Translation: X:25.22, Y:-188.17, Z:-1.81 [[-5.19590009e-01 8.54363181e-01 9.47513848e-03 2.52201837e+01] [ 8.54210247e-01 5.19676305e-01 -1.61676196e-02 -1.88173186e+02] [-1.87370239e-02 -3.06773243e-04 -9.99824400e-01 -1.80547170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.556559995 meters 0.013396266787963075 Centerline is valid? [True, True] Translation: X:25.23, Y:-188.17, Z:-1.80 [[-5.84756940e-01 8.11134019e-01 1.09965744e-02 2.52269738e+01] [ 8.10980506e-01 5.84860245e-01 -1.57832855e-02 -1.88170709e+02] [-1.92338190e-02 -3.11378282e-04 -9.99814965e-01 -1.80460856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.58655999499996 meters 0.013906436596995966 Centerline is valid? [True, True] Translation: X:25.23, Y:-188.17, Z:-1.80 [[-6.46297518e-01 7.62987219e-01 1.22483574e-02 2.52332956e+01] [ 7.62841107e-01 6.46413497e-01 -1.49343938e-02 -1.88167442e+02] [-1.93122551e-02 -3.08511129e-04 -9.99813453e-01 -1.80334207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.616559995 meters 0.013323795132411085 Centerline is valid? [True, True] Translation: X:25.24, Y:-188.16, Z:-1.80 [[-7.03578923e-01 7.10492932e-01 1.32850449e-02 2.52365292e+01] [ 7.10358385e-01 7.03704276e-01 -1.38295420e-02 -1.88164992e+02] [-1.91745348e-02 -2.93031253e-04 -9.99816109e-01 -1.80456914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.64655999499996 meters 0.012818953494466748 Centerline is valid? [True, True] Translation: X:25.24, Y:-188.16, Z:-1.81 [[-7.56399237e-01 6.53955010e-01 1.42491789e-02 2.52404154e+01] [ 6.53832184e-01 7.56533390e-01 -1.26769306e-02 -1.88160654e+02] [-1.90701219e-02 -2.72248816e-04 -9.99818112e-01 -1.80543456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.67655999499993 meters 0.01228256896935197 Centerline is valid? [True, True] Translation: X:25.26, Y:-188.14, Z:-1.81 [[-8.00100235e-01 5.99677260e-01 1.50598253e-02 2.52594706e+01] [ 5.99565171e-01 8.00241914e-01 -1.15967397e-02 -1.88141627e+02] [-1.90058045e-02 -2.49207412e-04 -9.99819342e-01 -1.80654704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.70655999499996 meters 0.012167552538624183 Centerline is valid? [True, True] Translation: X:25.28, Y:-188.12, Z:-1.81 [[-8.38889743e-01 5.44091699e-01 1.51070141e-02 2.52756854e+01] [ 5.43999564e-01 8.39025738e-01 -1.00142372e-02 -1.88120552e+02] [-1.81238370e-02 -1.82631806e-04 -9.99835733e-01 -1.80613915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.73655999499994 meters 0.011552850589029601 Centerline is valid? [True, True] Translation: X:25.64, Y:-187.57, Z:-2.78 [[-7.88947395e-01 -6.14295923e-01 1.42311981e-02 2.56435887e+01] [ 6.14199822e-01 -7.89075720e-01 -1.08668031e-02 -1.87572633e+02] [ 1.79049257e-02 1.67463365e-04 9.99839680e-01 -2.78241600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.76655999499997 meters 0.011125069809809172 Centerline is valid? [True, True] Translation: X:25.63, Y:-187.60, Z:-2.78 [[-7.47908791e-01 -6.63670943e-01 1.31650736e-02 2.56334218e+01] [ 6.63570483e-01 -7.48024645e-01 -1.15474856e-02 -1.87602007e+02] [ 1.75115302e-02 9.94882523e-05 9.99846656e-01 -2.78172242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.79655999499994 meters 0.011165012881602881 Centerline is valid? [True, True] Translation: X:25.19, Y:-188.10, Z:-1.81 [[-7.98574209e-01 6.01728659e-01 1.42075421e-02 2.51861040e+01] [ 6.01632072e-01 7.98700581e-01 -1.07810896e-02 -1.88095853e+02] [-1.78348627e-02 -6.17871100e-05 -9.99840944e-01 -1.80732749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.82655999499997 meters 0.010981786528754348 Centerline is valid? [True, True] Translation: X:25.21, Y:-188.08, Z:-1.81 [[-8.37755406e-01 5.45838656e-01 1.50346654e-02 2.52134180e+01] [ 5.45750365e-01 8.37890304e-01 -9.81721873e-03 -1.88082285e+02] [-1.79560178e-02 -1.92539541e-05 -9.99838778e-01 -1.80775198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.85655999499994 meters 0.011282134795176394 Centerline is valid? [True, True] Translation: X:25.23, Y:-188.06, Z:-1.81 [[-8.71790226e-01 4.89625314e-01 1.57751030e-02 2.52279546e+01] [ 4.89546688e-01 8.71932937e-01 -8.77459759e-03 -1.88061385e+02] [-1.80510970e-02 7.30410117e-05 -9.99837063e-01 -1.80709522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.88655999499997 meters 0.011744512205031369 Centerline is valid? [True, True] Translation: X:25.24, Y:-188.04, Z:-1.81 [[-9.03269112e-01 4.28761083e-01 1.63964882e-02 2.52395063e+01] [ 4.28692800e-01 9.03417910e-01 -7.65268530e-03 -1.88037773e+02] [-1.80940548e-02 1.16622184e-04 -9.99836282e-01 -1.80703301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.91655999499994 meters 0.012439696181226343 Centerline is valid? [True, True] Translation: X:25.25, Y:-188.02, Z:-1.81 [[-9.29683316e-01 3.68000792e-01 1.62588061e-02 2.52535018e+01] [ 3.67948176e-01 9.29825456e-01 -6.22579207e-03 -1.88015462e+02] [-1.74089482e-02 1.94383029e-04 -9.99848434e-01 -1.80829276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.946559995 meters 0.013113656259359884 Centerline is valid? [True, True] Translation: X:25.26, Y:-187.99, Z:-1.81 [[-9.52705196e-01 3.03454994e-01 1.63669385e-02 2.52630315e+01] [ 3.03414402e-01 9.52845744e-01 -4.96871054e-03 -1.87989958e+02] [-1.71029477e-02 2.32248512e-04 -9.99853707e-01 -1.80811998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.97655999499995 meters 0.012915324265448053 Centerline is valid? [True, True] Translation: X:25.27, Y:-187.96, Z:-1.81 [[-9.71351146e-01 2.37095759e-01 1.62034489e-02 2.52693700e+01] [ 2.37067223e-01 9.71486250e-01 -3.68754463e-03 -1.87962145e+02] [-1.66157290e-02 2.59405931e-04 -9.99861916e-01 -1.80945428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.006559995 meters 0.012809137450137564 Centerline is valid? [True, True] Translation: X:25.42, Y:-187.30, Z:-2.78 [[-9.62617872e-01 -2.70403147e-01 1.57787961e-02 2.54235202e+01] [ 2.70362282e-01 -9.62747146e-01 -4.70845810e-03 -1.87302124e+02] [ 1.64641728e-02 -2.66454591e-04 9.99864421e-01 -2.77982206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.03655999499995 meters 0.013238628810827244 Centerline is valid? [True, True] Translation: X:25.22, Y:-187.95, Z:-1.81 [[-9.71569296e-01 2.36230904e-01 1.57500140e-02 2.52209211e+01] [ 2.36204876e-01 9.71696902e-01 -3.51951720e-03 -1.87951752e+02] [-1.61356586e-02 3.00775258e-04 -9.99869767e-01 -1.81070492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.066559995 meters 0.013433002831122809 Centerline is valid? [True, True] Translation: X:25.37, Y:-187.29, Z:-2.78 [[-9.64319882e-01 -2.64294948e-01 1.53409541e-02 2.53665516e+01] [ 2.64256431e-01 -9.64441852e-01 -4.52245564e-03 -1.87290230e+02] [ 1.59907204e-02 -3.07148108e-04 9.99872093e-01 -2.77926891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.09655999499995 meters 0.013501583764953085 Centerline is valid? [True, True] Translation: X:25.17, Y:-187.94, Z:-1.81 [[-9.72284853e-01 2.33264194e-01 1.58107782e-02 2.51697646e+01] [ 2.33238647e-01 9.72413346e-01 -3.46668880e-03 -1.87939352e+02] [-1.61832661e-02 3.17075521e-04 -9.99868992e-01 -1.81077949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.126559995 meters 0.013971255278319175 Centerline is valid? [True, True] Translation: X:25.17, Y:-187.91, Z:-1.81 [[-9.86426865e-01 1.63384589e-01 1.63559031e-02 2.51721912e+01] [ 1.63367495e-01 9.86562403e-01 -2.38486750e-03 -1.87910621e+02] [-1.65257697e-02 3.19525550e-04 -9.99863389e-01 -1.81001902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.15655999499995 meters 0.01383263609787452 Centerline is valid? [True, True] Translation: X:25.17, Y:-187.88, Z:-1.81 [[-9.95586625e-01 9.23642643e-02 1.66166811e-02 2.51733815e+01] [ 9.23566449e-02 9.95725236e-01 -1.22698467e-03 -1.87880567e+02] [-1.66589783e-02 3.13091396e-04 -9.99861181e-01 -1.80961451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.186559995 meters 0.01326792689370242 Centerline is valid? [True, True] Translation: X:25.17, Y:-187.85, Z:-1.81 [[-9.99673873e-01 1.94696096e-02 1.65251810e-02 2.51686712e+01] [ 1.94715673e-02 9.99810410e-01 -4.24375983e-05 -1.87848142e+02] [-1.65228742e-02 2.79347416e-04 -9.99863449e-01 -1.80987060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.21655999499995 meters 0.01302856412898965 Centerline is valid? [True, True] Translation: X:25.16, Y:-187.82, Z:-1.81 [[-9.98452395e-01 -5.31632790e-02 1.63242587e-02 2.51608122e+01] [-5.31520300e-02 9.98585801e-01 1.12249487e-03 -1.87818649e+02] [-1.63608484e-02 2.53090205e-04 -9.99866120e-01 -1.80948175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.246559995 meters 0.01231467439293131 Centerline is valid? [True, True] Translation: X:25.15, Y:-187.79, Z:-1.81 [[-9.91931528e-01 -1.25711711e-01 1.63832086e-02 2.51463802e+01] [-1.25690703e-01 9.92066788e-01 2.30981723e-03 -1.87789619e+02] [-1.65436082e-02 2.31963535e-04 -9.99863118e-01 -1.81013793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.27655999499996 meters 0.011829372606476603 Centerline is valid? [True, True] Translation: X:25.12, Y:-187.76, Z:-1.81 [[-9.79824830e-01 -1.99167001e-01 1.66074935e-02 2.51216824e+01] [-1.99135060e-01 9.79965545e-01 3.57204156e-03 -1.87761750e+02] [-1.69862042e-02 1.92840809e-04 -9.99855705e-01 -1.80987791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.306559995 meters 0.01165261665016295 Centerline is valid? [True, True] Translation: X:25.08, Y:-187.74, Z:-1.81 [[-9.62618938e-01 -2.70364298e-01 1.63684559e-02 2.50849682e+01] [-2.70322101e-01 9.62758077e-01 4.77980555e-03 -1.87740097e+02] [-1.70511519e-02 1.76375954e-04 -9.99854603e-01 -1.81006390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.33655999499996 meters 0.011464002041693904 Centerline is valid? [True, True] Translation: X:25.03, Y:-187.73, Z:-1.81 [[-9.39983344e-01 -3.40857794e-01 1.57250418e-02 2.50268179e+01] [-3.40807308e-01 9.40114854e-01 5.86852865e-03 -1.87727986e+02] [-1.67836791e-02 1.57110044e-04 -9.99859132e-01 -1.81013706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.366559995 meters 0.011176605359835941 Centerline is valid? [True, True] Translation: X:24.96, Y:-187.72, Z:-1.81 [[-9.12018354e-01 -4.09894844e-01 1.44478263e-02 2.49612658e+01] [-4.09841075e-01 9.12132775e-01 6.64035737e-03 -1.87722824e+02] [-1.59001841e-02 1.34815134e-04 -9.99873575e-01 -1.81061147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.39655999499996 meters 0.010794012632490095 Centerline is valid? [True, True] Translation: X:24.89, Y:-187.72, Z:-1.81 [[-8.78687750e-01 -4.77227778e-01 1.27077321e-02 2.48893508e+01] [-4.77176081e-01 8.78779629e-01 7.02501097e-03 -1.87724235e+02] [-1.45198265e-02 1.08965261e-04 -9.99894576e-01 -1.81194256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.42655999499993 meters 0.01077176750298783 Centerline is valid? [True, True] Translation: X:24.81, Y:-187.74, Z:-1.81 [[-8.40697344e-01 -5.41379659e-01 1.16636547e-02 2.48099291e+01] [-5.41325858e-01 8.40778243e-01 7.63293025e-03 -1.87738116e+02] [-1.39388603e-02 1.03146296e-04 -9.99902844e-01 -1.81222569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.45655999499996 meters 0.01073408317025951 Centerline is valid? [True, True] Translation: X:24.73, Y:-187.76, Z:-1.81 [[-7.97872623e-01 -6.02736723e-01 1.03788175e-02 2.47280424e+01] [-6.02684141e-01 7.97940119e-01 7.96200230e-03 -1.87760455e+02] [-1.30806661e-02 9.75149373e-05 -9.99914440e-01 -1.81237995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.48655999499994 meters 0.010663000065582023 Centerline is valid? [True, True] Translation: X:24.64, Y:-187.79, Z:-1.81 [[-7.51394988e-01 -6.59791472e-01 8.98807457e-03 2.46405621e+01] [-6.59742542e-01 7.51448735e-01 8.03599620e-03 -1.87794570e+02] [-1.20561590e-02 1.08392099e-04 -9.99927316e-01 -1.81313675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.51655999499997 meters 0.010841398277870963 Centerline is valid? [True, True] Translation: X:24.56, Y:-187.84, Z:-1.81 [[-7.00371547e-01 -7.13731239e-01 8.21063697e-03 2.45561712e+01] [-7.13680159e-01 7.00419663e-01 8.53975951e-03 -1.87836570e+02] [-1.18459847e-02 1.21235881e-04 -9.99929827e-01 -1.81315589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.54655999499994 meters 0.01121649025843755 Centerline is valid? [True, True] Translation: X:24.47, Y:-187.89, Z:-1.81 [[-6.45528738e-01 -7.63696539e-01 7.76181086e-03 2.44694589e+01] [-7.63638649e-01 6.45575384e-01 9.40407680e-03 -1.87892111e+02] [-1.21926949e-02 1.43383070e-04 -9.99925656e-01 -1.81277626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.57655999499997 meters 0.01222109709358403 Centerline is valid? [True, True] Translation: X:24.39, Y:-187.95, Z:-1.81 [[-5.88919954e-01 -8.08156588e-01 7.49785012e-03 2.43879072e+01] [-8.08086665e-01 5.88967647e-01 1.06326693e-02 -1.87953848e+02] [-1.30088529e-02 2.02878406e-04 -9.99915361e-01 -1.81173977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.60655999499994 meters 0.012889064065305862 Centerline is valid? [True, True] Translation: X:24.31, Y:-188.03, Z:-1.81 [[-5.27338675e-01 -8.49627823e-01 6.81793411e-03 2.43080904e+01] [-8.49551073e-01 5.27382697e-01 1.14221258e-02 -1.88026131e+02] [-1.33002163e-02 2.31145424e-04 -9.99911522e-01 -1.81091373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.63655999499997 meters 0.013396245936527535 Centerline is valid? [True, True] Translation: X:24.23, Y:-188.11, Z:-1.81 [[-4.62359562e-01 -8.86671446e-01 6.11412199e-03 2.42321995e+01] [-8.86586389e-01 4.62399913e-01 1.22839096e-02 -1.88107214e+02] [-1.37189614e-02 2.58885734e-04 -9.99905857e-01 -1.81041306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.66655999499994 meters 0.013917894136480653 Centerline is valid? [True, True] Translation: X:24.16, Y:-188.20, Z:-1.81 [[-3.95198627e-01 -9.18578992e-01 5.53905204e-03 2.41608344e+01] [-9.18477553e-01 3.95237322e-01 1.36544323e-02 -1.88196286e+02] [-1.47319147e-02 3.08717936e-04 -9.99891432e-01 -1.80976856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.696559995 meters 0.014319246864060935 Centerline is valid? [True, True] Translation: X:24.10, Y:-188.29, Z:-1.81 [[-3.24378177e-01 -9.45916606e-01 4.53565302e-03 2.40972610e+01] [-9.45809853e-01 3.24409727e-01 1.42144799e-02 -1.88289344e+02] [-1.49171225e-02 3.21001749e-04 -9.99888682e-01 -1.80940620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.72655999499995 meters 0.014269339351043363 Centerline is valid? [True, True] Translation: X:24.04, Y:-188.39, Z:-1.81 [[-2.51667583e-01 -9.67807364e-01 3.51180177e-03 2.40384825e+01] [-9.67693572e-01 2.51691858e-01 1.48445347e-02 -1.88390343e+02] [-1.52505419e-02 3.37540186e-04 -9.99883647e-01 -1.80936571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.756559995 meters 0.014269339351043363 Centerline is valid? [True, True] Translation: X:23.99, Y:-188.50, Z:-1.81 [[-1.76849657e-01 -9.84235036e-01 2.36510731e-03 2.39886643e+01] [-9.84119718e-01 1.76865149e-01 1.50698018e-02 -1.88496968e+02] [-1.52505320e-02 3.37540543e-04 -9.99883647e-01 -1.80936619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.78655999499995 meters 0.014269339351043363 Centerline is valid? [True, True] Translation: X:23.95, Y:-188.61, Z:-1.81 [[-1.00893296e-01 -9.94896525e-01 1.20299730e-03 2.39469794e+01] [-9.94780360e-01 1.00899903e-01 1.52067469e-02 -1.88608697e+02] [-1.52505220e-02 3.37540744e-04 -9.99883647e-01 -1.80936667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.816559995 meters 0.014807116530129682 Centerline is valid? [True, True] Translation: X:23.91, Y:-188.72, Z:-1.81 [[-2.40857951e-02 -9.99709895e-01 3.37975253e-05 2.39140852e+01] [-9.99593404e-01 2.40835046e-02 1.52647427e-02 -1.88723844e+02] [-1.52611282e-02 3.33879680e-04 -9.99883486e-01 -1.80846732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.84655999499995 meters 0.013791941048701557 Centerline is valid? [True, True] Translation: X:23.29, Y:-188.83, Z:-2.78 [[-4.91409406e-02 9.98791267e-01 1.08303979e-03 2.32925841e+01] [-9.98678536e-01 -4.91516701e-02 1.50098166e-02 -1.88830855e+02] [ 1.50449069e-02 -3.44012090e-04 9.99886760e-01 -2.78092246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.876559995 meters 0.01502449229188811 Centerline is valid? [True, True] Translation: X:23.91, Y:-189.00, Z:-1.81 [[-1.25773316e-02 -9.99920897e-01 -1.03571721e-04 2.39095249e+01] [-9.99813660e-01 1.25744656e-02 1.46467618e-02 -1.89002016e+02] [-1.46443009e-02 2.87769602e-04 -9.99892725e-01 -1.80822437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.90655999499995 meters 0.012450003507408585 Centerline is valid? [True, True] Translation: X:23.88, Y:-189.12, Z:-1.81 [[ 6.75075653e-02 -9.97718091e-01 -1.15738797e-03 2.38816531e+01] [-9.97622826e-01 -6.75171152e-02 1.37889910e-02 -1.89118130e+02] [-1.38356693e-02 2.23775452e-04 -9.99904258e-01 -1.81102242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.936559995 meters 0.011598376814347737 Centerline is valid? [True, True] Translation: X:23.87, Y:-189.24, Z:-1.81 [[ 1.46235260e-01 -9.89247597e-01 -2.10736511e-03 2.38658924e+01] [-9.89161866e-01 -1.46250333e-01 1.30247028e-02 -1.89239330e+02] [-1.31928587e-02 1.79854412e-04 -9.99912954e-01 -1.81155191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.96655999499995 meters 0.011259660144770516 Centerline is valid? [True, True] Translation: X:23.86, Y:-189.36, Z:-1.81 [[ 2.24343091e-01 -9.74505354e-01 -3.08093536e-03 2.38592312e+01] [-9.74421872e-01 -2.24364202e-01 1.27561814e-02 -1.89357843e+02] [-1.31222186e-02 1.40369643e-04 -9.99913890e-01 -1.81094593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.996559995 meters 0.010016751735923937 Centerline is valid? [True, True] Translation: X:23.86, Y:-189.48, Z:-1.81 [[ 3.04799419e-01 -9.52408933e-01 -3.81300980e-03 2.38584627e+01] [-9.52336296e-01 -3.04823265e-01 1.17624721e-02 -1.89479058e+02] [-1.23649776e-02 4.60729784e-05 -9.99923550e-01 -1.81194996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.02655999499996 meters 0.009732760441395377 Centerline is valid? [True, True] Translation: X:23.87, Y:-189.59, Z:-1.81 [[ 3.80143341e-01 -9.24915681e-01 -4.69288381e-03 2.38676129e+01] [-9.24845179e-01 -3.80172307e-01 1.14198002e-02 -1.89594066e+02] [-1.23464567e-02 -9.70024158e-07 -9.99923780e-01 -1.81237816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.056559995 meters 0.010130609936795043 Centerline is valid? [True, True] Translation: X:23.88, Y:-189.71, Z:-1.81 [[ 4.56055393e-01 -8.89934820e-01 -5.43095643e-03 2.38845402e+01] [-8.89869373e-01 -4.56087720e-01 1.07931147e-02 -1.89712029e+02] [-1.20821611e-02 -8.94163704e-05 -9.99927004e-01 -1.81162786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.08655999499996 meters 0.01063844322378933 Centerline is valid? [True, True] Translation: X:23.91, Y:-189.83, Z:-1.81 [[ 5.25501863e-01 -8.50769424e-01 -6.25938947e-03 2.39135093e+01] [-8.50706049e-01 -5.25539123e-01 1.03850300e-02 -1.89827302e+02] [-1.21248200e-02 -1.32452113e-04 -9.99926483e-01 -1.81116746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.116559995 meters 0.011045339860210994 Centerline is valid? [True, True] Translation: X:23.95, Y:-189.93, Z:-1.81 [[ 5.91280238e-01 -8.06434725e-01 -7.12140594e-03 2.39467353e+01] [-8.06372663e-01 -5.91323096e-01 1.00062559e-02 -1.89930822e+02] [-1.22804440e-02 -1.73994297e-04 -9.99924577e-01 -1.81140716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.14655999499996 meters 0.01297481950976671 Centerline is valid? [True, True] Translation: X:23.99, Y:-190.03, Z:-1.81 [[ 6.55150889e-01 -7.55457998e-01 -7.77991050e-03 2.39863276e+01] [-7.55400290e-01 -6.55197035e-01 9.34061802e-03 -1.90034158e+02] [-1.21538189e-02 -2.42567555e-04 -9.99926110e-01 -1.81072847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.17655999499993 meters 0.014142488952936613 Centerline is valid? [True, True] Translation: X:24.03, Y:-190.13, Z:-1.81 [[ 7.12132417e-01 -7.01995176e-01 -8.37813869e-03 2.40316573e+01] [-7.01942119e-01 -7.12181649e-01 8.63486267e-03 -1.90128725e+02] [-1.20283886e-02 -2.68197203e-04 -9.99927620e-01 -1.81034617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.20655999499996 meters 0.01389139700421674 Centerline is valid? [True, True] Translation: X:24.08, Y:-190.22, Z:-1.81 [[ 7.64217547e-01 -6.44899208e-01 -8.74937303e-03 2.40831888e+01] [-6.44852706e-01 -7.64267579e-01 7.74950685e-03 -1.90215446e+02] [-1.16845130e-02 -2.80252241e-04 -9.99931695e-01 -1.81116566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.23655999499994 meters 0.015272297400462178 Centerline is valid? [True, True] Translation: X:24.08, Y:-190.23, Z:-1.81 [[ 8.13562923e-01 -5.81409883e-01 -8.82719232e-03 2.40835152e+01] [-5.81371766e-01 -8.13610758e-01 6.66373366e-03 -1.90227219e+02] [-1.10562592e-02 -2.89486250e-04 -9.99938836e-01 -1.81111314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.26655999499997 meters 0.015287583518939038 Centerline is valid? [True, True] Translation: X:24.09, Y:-190.24, Z:-1.81 [[ 8.56815842e-01 -5.15539629e-01 -9.24682272e-03 2.40872805e+01] [-5.15505882e-01 -8.56865687e-01 5.90599795e-03 -1.90237140e+02] [-1.09680611e-02 -2.93561105e-04 -9.99939806e-01 -1.81154419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.29655999499994 meters 0.015854036599842844 Centerline is valid? [True, True] Translation: X:24.09, Y:-190.25, Z:-1.81 [[ 8.94626475e-01 -4.46722011e-01 -9.10577414e-03 2.40911402e+01] [-4.46695677e-01 -8.94672771e-01 4.85850504e-03 -1.90246162e+02] [-1.03170893e-02 -2.79037300e-04 -9.99946739e-01 -1.81183680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.32655999499997 meters 0.01550587599901681 Centerline is valid? [True, True] Translation: X:24.10, Y:-190.25, Z:-1.81 [[ 9.27066036e-01 -3.74774784e-01 -9.61390783e-03 2.40965232e+01] [-3.74751360e-01 -9.27115838e-01 4.20020122e-03 -1.90254369e+02] [-1.04873357e-02 -2.91038867e-04 -9.99944964e-01 -1.81245769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.35655999499994 meters 0.016129574691858547 Centerline is valid? [True, True] Translation: X:24.10, Y:-190.26, Z:-1.81 [[ 9.53598533e-01 -3.00868897e-01 -1.13024043e-02 2.41016996e+01] [-3.00843580e-01 -9.53665452e-01 3.91735900e-03 -1.90261923e+02] [-1.19573240e-02 -3.35332028e-04 -9.99928452e-01 -1.81089860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.38655999499997 meters 0.016635411855477154 Centerline is valid? [True, True] Translation: X:24.11, Y:-190.27, Z:-1.81 [[ 9.74218828e-01 -2.25284842e-01 -1.20172822e-02 2.41069195e+01] [-2.25263269e-01 -9.74292881e-01 3.13717249e-03 -1.90269008e+02] [-1.24151099e-02 -3.49240240e-04 -9.99922869e-01 -1.80976198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.41655999499994 meters 0.01655317754164302 Centerline is valid? [True, True] Translation: X:24.11, Y:-190.27, Z:-1.81 [[ 9.88831984e-01 -1.48517198e-01 -1.24076166e-02 2.41136497e+01] [-1.48501015e-01 -9.88909762e-01 2.22065989e-03 -1.90274632e+02] [-1.25998193e-02 -3.53315872e-04 -9.99920557e-01 -1.80897525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.446559995 meters 0.01654134390051905 Centerline is valid? [True, True] Translation: X:24.12, Y:-190.28, Z:-1.81 [[ 9.97405410e-01 -7.09184234e-02 -1.23703636e-02 2.41218957e+01] [-7.09086562e-02 -9.97482059e-01 1.22693884e-03 -1.90279445e+02] [-1.24262283e-02 -3.46589579e-04 -9.99922731e-01 -1.80875739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.47655999499995 meters 0.016409046140755258 Centerline is valid? [True, True] Translation: X:24.13, Y:-190.28, Z:-1.81 [[ 9.99893132e-01 7.08255979e-03 -1.27891499e-02 2.41260702e+01] [ 7.08648692e-03 -9.99974856e-01 2.61775919e-04 -1.90280383e+02] [-1.27869742e-02 -3.52378086e-04 -9.99918181e-01 -1.80944769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.506559995 meters 0.015709181240551692 Centerline is valid? [True, True] Translation: X:24.13, Y:-190.28, Z:-1.81 [[ 9.96291457e-01 8.51397884e-02 -1.24317596e-02 2.41304835e+01] [ 8.51374153e-02 -9.96368958e-01 -7.20947393e-04 -1.90283508e+02] [-1.24480007e-02 -3.40134155e-04 -9.99922463e-01 -1.81060251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.53655999499995 meters 0.015442472671575072 Centerline is valid? [True, True] Translation: X:24.13, Y:-190.29, Z:-1.81 [[ 9.86626746e-01 1.62553394e-01 -1.20024151e-02 2.41347690e+01] [ 1.62545384e-01 -9.86699695e-01 -1.64640429e-03 -1.90287792e+02] [-1.21104079e-02 -3.26550660e-04 -9.99926613e-01 -1.81134631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.566559995 meters 0.015610551347526161 Centerline is valid? [True, True] Translation: X:24.14, Y:-190.29, Z:-1.81 [[ 9.71122263e-01 2.38320865e-01 -1.11676226e-02 2.41376855e+01] [ 2.38308608e-01 -9.71186428e-01 -2.43510432e-03 -1.90289952e+02] [-1.14261797e-02 -2.96556594e-04 -9.99934675e-01 -1.81187335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.59655999499995 meters 0.015839341511176983 Centerline is valid? [True, True] Translation: X:24.14, Y:-190.29, Z:-1.81 [[ 9.49720077e-01 3.12921086e-01 -1.05910058e-02 2.41411481e+01] [ 3.12904895e-01 -9.49779088e-01 -3.19547794e-03 -1.90292698e+02] [-1.10590483e-02 -2.79168016e-04 -9.99938808e-01 -1.81168647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.626559995 meters 0.01559636229126287 Centerline is valid? [True, True] Translation: X:24.14, Y:-190.29, Z:-1.81 [[ 9.22564952e-01 3.85713919e-01 -9.93390572e-03 2.41446657e+01] [ 3.85694602e-01 -9.22618396e-01 -3.86904644e-03 -1.90293400e+02] [-1.06575492e-02 -2.62007172e-04 -9.99943172e-01 -1.81203734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.65655999499995 meters 0.014457587137021097 Centerline is valid? [True, True] Translation: X:24.15, Y:-190.29, Z:-1.81 [[ 8.90406481e-01 4.55088061e-01 -8.43534042e-03 2.41469435e+01] [ 4.55069893e-01 -8.90446411e-01 -4.07202302e-03 -1.90292467e+02] [-9.36434766e-03 -2.12913772e-04 -9.99956131e-01 -1.81298119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.686559995 meters 0.013618803823620986 Centerline is valid? [True, True] Translation: X:24.15, Y:-190.30, Z:-1.81 [[ 8.52763845e-01 5.22241067e-01 -7.62183032e-03 2.41511536e+01] [ 5.22222174e-01 -8.52797885e-01 -4.44623169e-03 -1.90295332e+02] [-8.82188556e-03 -1.88703172e-04 -9.99961069e-01 -1.81388081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.71655999499995 meters 0.013371897261517683 Centerline is valid? [True, True] Translation: X:24.16, Y:-190.30, Z:-1.81 [[ 8.10044688e-01 5.86328548e-01 -6.81455079e-03 2.41552717e+01] [ 5.86309519e-01 -8.10073334e-01 -4.72670758e-03 -1.90298299e+02] [-8.29168948e-03 -1.66591628e-04 -9.99965610e-01 -1.81433430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.746559995 meters 0.01350704754935199 Centerline is valid? [True, True] Translation: X:24.16, Y:-190.30, Z:-1.81 [[ 7.62724839e-01 6.46697049e-01 -5.80911905e-03 2.41587406e+01] [ 6.46679663e-01 -7.62746948e-01 -4.74403202e-03 -1.90301301e+02] [-7.49883934e-03 -1.38248094e-04 -9.99971874e-01 -1.81451927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.77655999499996 meters 0.012659616553049834 Centerline is valid? [True, True] Translation: X:24.16, Y:-190.30, Z:-1.82 [[ 7.12245974e-01 7.01912899e-01 -4.89435694e-03 2.41585318e+01] [ 7.01897294e-01 -7.12262783e-01 -4.68149767e-03 -1.90299061e+02] [-6.77207190e-03 -1.00958027e-04 -9.99977064e-01 -1.81553762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.806559995 meters 0.011630616927860486 Centerline is valid? [True, True] Translation: X:24.16, Y:-190.30, Z:-1.82 [[ 6.57391992e-01 7.53540773e-01 -3.47449749e-03 2.41600893e+01] [ 7.53530745e-01 -6.57401171e-01 -3.88814706e-03 -1.90299956e+02] [-5.21401606e-03 -6.21039403e-05 -9.99986405e-01 -1.81749669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.83655999499996 meters 0.011775824151147593 Centerline is valid? [True, True] Translation: X:24.17, Y:-190.30, Z:-1.82 [[ 5.97088990e-01 8.02165777e-01 -3.84755798e-03 2.41651373e+01] [ 8.02149874e-01 -5.97101383e-01 -5.05153665e-03 -1.90303654e+02] [-6.34955201e-03 -7.01012288e-05 -9.99979839e-01 -1.81715287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.866559995 meters 0.011981920979850782 Centerline is valid? [True, True] Translation: X:24.17, Y:-190.31, Z:-1.82 [[ 5.32800771e-01 8.46229213e-01 -4.41114986e-03 2.41702934e+01] [ 8.46201541e-01 -5.32819024e-01 -6.84394725e-03 -1.90307107e+02] [-8.14189266e-03 -8.62614329e-05 -9.99966851e-01 -1.81586348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.89655999499996 meters 0.011811974761281943 Centerline is valid? [True, True] Translation: X:24.17, Y:-190.31, Z:-1.81 [[ 4.65753255e-01 8.84902874e-01 -4.56174100e-03 2.41748263e+01] [ 8.84862362e-01 -4.65775584e-01 -8.46791357e-03 -1.90310215e+02] [-9.61802864e-03 -9.25546126e-05 -9.99953741e-01 -1.81336915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.92655999499993 meters 0.01189544478706464 Centerline is valid? [True, True] Translation: X:24.18, Y:-190.31, Z:-1.81 [[ 3.95877047e-01 9.18294858e-01 -3.98964308e-03 2.41793470e+01] [ 9.18250399e-01 -3.95897141e-01 -9.03654262e-03 -1.90314557e+02] [-9.87769891e-03 -8.61315358e-05 -9.99951211e-01 -1.81267484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.95655999499996 meters 0.011696746560812174 Centerline is valid? [True, True] Translation: X:24.19, Y:-190.32, Z:-1.81 [[ 3.23446667e-01 9.46240567e-01 -3.32307234e-03 2.41850246e+01] [ 9.46193132e-01 -3.23463727e-01 -9.47489172e-03 -1.90317313e+02] [-1.00404203e-02 -7.96460747e-05 -9.99949591e-01 -1.81283015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.98655999499994 meters 0.011595292193730304 Centerline is valid? [True, True] Translation: X:24.19, Y:-190.32, Z:-1.81 [[ 2.48970555e-01 9.68507584e-01 -2.59282064e-03 2.41903626e+01] [ 9.68458124e-01 -2.48984045e-01 -9.78811836e-03 -1.90321063e+02] [-1.01254378e-02 -7.40849478e-05 -9.99948734e-01 -1.81268569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.01655999499997 meters 0.0115648322318045 Centerline is valid? [True, True] Translation: X:24.19, Y:-190.32, Z:-1.81 [[ 1.73831203e-01 9.84773758e-01 -1.83286470e-03 2.41936606e+01] [ 9.84722554e-01 -1.73840855e-01 -1.00423919e-02 -1.90324127e+02] [-1.02081108e-02 -5.91821424e-05 -9.99947894e-01 -1.81265752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.04655999499994 meters 0.011432499516206469 Centerline is valid? [True, True] Translation: X:24.20, Y:-190.33, Z:-1.81 [[ 9.74244796e-02 9.95242408e-01 -1.01009039e-03 2.41980592e+01] [ 9.95193603e-01 -9.74297054e-02 -9.85617540e-03 -1.90327549e+02] [-9.90769655e-03 -4.50027376e-05 -9.99950917e-01 -1.81214022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.07655999499997 meters 0.01129984836521281 Centerline is valid? [True, True] Translation: X:24.20, Y:-190.33, Z:-1.81 [[ 2.01908039e-02 9.99796119e-01 -2.28380421e-04 2.42018781e+01] [ 9.99749809e-01 -2.01920668e-02 -9.62292535e-03 -1.90329453e+02] [-9.62557489e-03 -3.40286834e-05 -9.99953673e-01 -1.81190542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.10655999499994 meters 0.011181965587767193 Centerline is valid? [True, True] Translation: X:24.20, Y:-190.33, Z:-1.81 [[-5.62295000e-02 9.98417774e-01 4.37710781e-04 2.42034119e+01] [ 9.98385777e-01 5.62312022e-02 -7.99327165e-03 -1.90332133e+02] [-8.00523749e-03 -1.24534501e-05 -9.99967958e-01 -1.81260293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.13655999499997 meters 0.01106509252926453 Centerline is valid? [True, True] Translation: X:24.21, Y:-190.33, Z:-1.81 [[-1.33532469e-01 9.91043973e-01 9.61029441e-04 2.42067810e+01] [ 9.91017982e-01 1.33535927e-01 -7.17741945e-03 -1.90334286e+02] [-7.24147025e-03 -6.02108195e-06 -9.99973780e-01 -1.81340807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.16655999499994 meters 0.011028388712216286 Centerline is valid? [True, True] Translation: X:24.21, Y:-190.34, Z:-1.81 [[-2.08606645e-01 9.77998840e-01 1.23998264e-03 2.42121783e+01] [ 9.77981788e-01 2.08610330e-01 -5.77514302e-03 -1.90335471e+02] [-5.90675636e-03 7.94722565e-06 -9.99982555e-01 -1.81476601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.196559995 meters 0.011046988425354348 Centerline is valid? [True, True] Translation: X:24.22, Y:-190.34, Z:-1.81 [[-2.83329299e-01 9.59021571e-01 1.46091456e-03 2.42185157e+01] [ 9.59009066e-01 2.83333065e-01 -4.89748320e-03 -1.90337518e+02] [-5.11071743e-03 1.34298220e-05 -9.99986940e-01 -1.81474621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.22655999499995 meters 0.011036718835263063 Centerline is valid? [True, True] Translation: X:24.23, Y:-190.34, Z:-1.81 [[-3.56567930e-01 9.34267845e-01 1.70447731e-03 2.42250285e+01] [ 9.34257404e-01 3.56572003e-01 -4.41695008e-03 -1.90338786e+02] [-4.73438332e-03 1.74777971e-05 -9.99988793e-01 -1.81472139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.256559995 meters 0.011137165589055366 Centerline is valid? [True, True] Translation: X:24.23, Y:-190.34, Z:-1.82 [[-4.26969811e-01 9.04265100e-01 1.18722927e-03 2.42311908e+01] [ 9.04261703e-01 4.26971461e-01 -2.47856034e-03 -1.90338962e+02] [-2.74818863e-03 1.52955238e-05 -9.99996224e-01 -1.81540048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.28655999499995 meters 0.011236170901027435 Centerline is valid? [True, True] Translation: X:24.24, Y:-190.34, Z:-1.82 [[-4.96178507e-01 8.68219977e-01 9.80046647e-04 2.42384344e+01] [ 8.68218329e-01 4.96179475e-01 -1.69144366e-03 -1.90339759e+02] [-1.95482420e-03 1.16364731e-05 -9.99998089e-01 -1.81559410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.316559995 meters 0.011175632958711205 Centerline is valid? [True, True] Translation: X:24.25, Y:-190.34, Z:-1.82 [[-5.62425960e-01 8.26847276e-01 7.88194740e-04 2.42475358e+01] [ 8.26846486e-01 5.62426512e-01 -1.14338117e-03 -1.90337897e+02] [-1.38870323e-03 8.64879598e-06 -9.99999036e-01 -1.81573879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.34655999499995 meters 0.011102701427470553 Centerline is valid? [True, True] Translation: X:24.26, Y:-190.34, Z:-1.82 [[-6.25327197e-01 7.80362152e-01 8.99162776e-04 2.42561646e+01] [ 7.80361366e-01 6.25327843e-01 -1.10751296e-03 -1.90335526e+02] [-1.42653271e-03 9.11391950e-06 -9.99998983e-01 -1.81525703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.376559995 meters 0.011015722871286014 Centerline is valid? [True, True] Translation: X:24.26, Y:-190.33, Z:-1.81 [[-6.85074938e-01 7.28471576e-01 1.22130842e-03 2.42647596e+01] [ 7.28470445e-01 6.85076027e-01 -1.28405570e-03 -1.90333442e+02] [-1.77208720e-03 1.00127035e-05 -9.99998430e-01 -1.81359199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.40655999499995 meters 0.010910780551036716 Centerline is valid? [True, True] Translation: X:24.27, Y:-190.33, Z:-1.81 [[-7.40785513e-01 6.71739498e-01 1.69448797e-03 2.42734506e+01] [ 6.71737772e-01 7.40787451e-01 -1.52253818e-03 -1.90328424e+02] [-2.27800446e-03 1.03773447e-05 -9.99997405e-01 -1.81321291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.436559995 meters 0.010831249256796446 Centerline is valid? [True, True] Translation: X:24.30, Y:-190.31, Z:-1.81 [[-7.87357514e-01 6.16493991e-01 1.81791307e-03 2.42970690e+01] [ 6.16492368e-01 7.87359612e-01 -1.41441534e-03 -1.90311312e+02] [-2.30332988e-03 7.07898491e-06 -9.99997347e-01 -1.81300597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.46655999499995 meters 0.010710136664332667 Centerline is valid? [True, True] Translation: X:24.32, Y:-190.29, Z:-1.81 [[-8.29863768e-01 5.57962855e-01 1.89195305e-03 2.43155569e+01] [ 5.57961414e-01 8.29865925e-01 -1.26777365e-03 -1.90289043e+02] [-2.27743797e-03 3.55738154e-06 -9.99997407e-01 -1.81256925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.496559995 meters 0.01069465638231389 Centerline is valid? [True, True] Translation: X:24.33, Y:-190.26, Z:-1.81 [[-8.69094802e-01 4.94641342e-01 2.04164204e-03 2.43296197e+01] [ 4.94639964e-01 8.69097200e-01 -1.16760296e-03 -1.90261826e+02] [-2.35193007e-03 -4.87992302e-06 -9.99997234e-01 -1.81133449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.52655999499996 meters 0.010911398659294394 Centerline is valid? [True, True] Translation: X:24.69, Y:-189.64, Z:-2.78 [[-8.29786571e-01 -5.58075334e-01 2.48365361e-03 2.46897558e+01] [ 5.58072996e-01 -8.29790286e-01 -1.61610566e-03 -1.89641514e+02] [ 2.96282035e-03 4.50372368e-05 9.99995610e-01 -2.78059296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.556559995 meters 0.010970448295825495 Centerline is valid? [True, True] Translation: X:24.29, Y:-190.23, Z:-1.81 [[-8.73021360e-01 4.87672751e-01 2.99891248e-03 2.42854875e+01] [ 4.87669785e-01 8.73026510e-01 -1.70089537e-03 -1.90234269e+02] [-3.44761042e-03 -2.24389858e-05 -9.99994057e-01 -1.80904836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.58655999499996 meters 0.011245000317016383 Centerline is valid? [True, True] Translation: X:24.65, Y:-189.62, Z:-2.78 [[-8.29910446e-01 -5.57884557e-01 3.67054542e-03 2.46487306e+01] [ 5.57879557e-01 -8.29918558e-01 -2.36369422e-03 -1.89620688e+02] [ 4.36492227e-03 8.60677290e-05 9.99990470e-01 -2.78295493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.616559995 meters 0.011640153430995028 Centerline is valid? [True, True] Translation: X:24.25, Y:-190.21, Z:-1.81 [[-8.76829960e-01 4.80775709e-01 4.89264953e-03 2.42487049e+01] [ 4.80767838e-01 8.76843608e-01 -2.75176842e-03 -1.90213557e+02] [-5.61307188e-03 -6.06044589e-05 -9.99984245e-01 -1.80670480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.64655999499996 meters 0.011640153430995028 Centerline is valid? [True, True] Translation: X:24.26, Y:-190.19, Z:-1.81 [[-9.08654177e-01 4.17518657e-01 5.07510418e-03 2.42629079e+01] [ 4.17511772e-01 9.08668348e-01 -2.39862201e-03 -1.90189776e+02] [-5.61305598e-03 -6.06021666e-05 -9.99984245e-01 -1.80670497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.67655999499993 meters 0.011753144174691952 Centerline is valid? [True, True] Translation: X:24.28, Y:-190.17, Z:-1.81 [[-9.36563597e-01 3.50440885e-01 6.30994670e-03 2.42787829e+01] [ 3.50432318e-01 9.36584849e-01 -2.45184075e-03 -1.90167031e+02] [-6.76902572e-03 -8.50955486e-05 -9.99977086e-01 -1.80604987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.70655999499996 meters 0.01231736615500037 Centerline is valid? [True, True] Translation: X:24.29, Y:-190.14, Z:-1.81 [[-9.59816267e-01 2.80536903e-01 7.19581621e-03 2.42862155e+01] [ 2.80528114e-01 9.59843233e-01 -2.22369569e-03 -1.90139561e+02] [-7.53068420e-03 -1.15710551e-04 -9.99971637e-01 -1.80574769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.73655999499994 meters 0.013693870423438975 Centerline is valid? [True, True] Translation: X:24.29, Y:-190.11, Z:-1.81 [[-9.78316961e-01 2.06974308e-01 7.58685684e-03 2.42922211e+01] [ 2.06966830e-01 9.78346366e-01 -1.76644110e-03 -1.90109293e+02] [-7.78818174e-03 -1.57911580e-04 -9.99969659e-01 -1.80507461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.76655999499997 meters 0.014500804189895307 Centerline is valid? [True, True] Translation: X:24.44, Y:-189.42, Z:-2.79 [[-9.49925709e-01 -3.12392695e-01 7.20777863e-03 2.44449440e+01] [ 3.12384794e-01 -9.49953044e-01 -2.22592746e-03 -1.89420841e+02] [ 7.54241472e-03 1.37134723e-04 9.99971546e-01 -2.78563844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.79655999499994 meters 0.014500804189895307 Centerline is valid? [True, True] Translation: X:24.23, Y:-190.09, Z:-1.80 [[-9.79408739e-01 2.01753104e-01 7.36259526e-03 2.42341506e+01] [ 2.01746144e-01 9.79436398e-01 -1.68382470e-03 -1.90094852e+02] [-7.55091064e-03 -1.63777425e-04 -9.99971478e-01 -1.80470837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.82655999499997 meters 0.014500804189895307 Centerline is valid? [True, True] Translation: X:24.24, Y:-190.07, Z:-1.80 [[-9.91258724e-01 1.31721060e-01 7.46353498e-03 2.42391075e+01] [ 1.31716080e-01 9.91286808e-01 -1.15695614e-03 -1.90067950e+02] [-7.55089926e-03 -1.63775296e-04 -9.99971478e-01 -1.80470850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.85655999499994 meters 0.014500804189895307 Centerline is valid? [True, True] Translation: X:24.24, Y:-190.04, Z:-1.80 [[-9.98109219e-01 6.10027378e-02 7.52683479e-03 2.42414307e+01] [ 6.09997652e-02 9.98137585e-01 -6.24089508e-04 -1.90040662e+02] [-7.55088787e-03 -1.63774336e-04 -9.99971478e-01 -1.80470862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.88655999499997 meters 0.014067928831221849 Centerline is valid? [True, True] Translation: X:24.25, Y:-190.01, Z:-1.80 [[-9.99913328e-01 -1.06077468e-02 7.79819552e-03 2.42489259e+01] [-1.06087772e-02 9.99943721e-01 -9.07774179e-05 -1.90014277e+02] [-7.79679371e-03 -1.73498869e-04 -9.99969590e-01 -1.80479699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.91655999499994 meters 0.014601361249517825 Centerline is valid? [True, True] Translation: X:24.26, Y:-189.31, Z:-2.79 [[-9.94806042e-01 -1.01450732e-01 8.28780850e-03 2.42617468e+01] [ 1.01449040e-01 -9.94840541e-01 -6.25343603e-04 -1.89310249e+02] [ 8.30848945e-03 2.18694622e-04 9.99965460e-01 -2.78580062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.946559995 meters 0.01407741741829944 Centerline is valid? [True, True] Translation: X:24.18, Y:-190.01, Z:-1.81 [[-9.99841340e-01 -1.55780456e-02 8.63821145e-03 2.41777938e+01] [-1.55791289e-02 9.99878636e-01 -5.81339776e-05 -1.90014453e+02] [-8.63625748e-03 -1.92700564e-04 -9.99962688e-01 -1.80508893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.97655999499995 meters 0.013485681505086172 Centerline is valid? [True, True] Translation: X:24.17, Y:-189.99, Z:-1.81 [[-9.96377120e-01 -8.46446641e-02 8.24115317e-03 2.41744905e+01] [-8.46431593e-02 9.96411187e-01 5.31841346e-04 -1.89988254e+02] [-8.25659474e-03 -1.67642692e-04 -9.99965900e-01 -1.80540843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.006559995 meters 0.013418477409496136 Centerline is valid? [True, True] Translation: X:24.13, Y:-189.28, Z:-2.78 [[-9.99726034e-01 -2.21427473e-02 7.58657400e-03 2.41329518e+01] [ 2.21429453e-02 -9.99754813e-01 -5.79078670e-05 -1.89280427e+02] [ 7.58599612e-03 1.10097091e-04 9.99971220e-01 -2.78498551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.03655999499995 meters 0.012912739732537674 Centerline is valid? [True, True] Translation: X:24.08, Y:-189.99, Z:-1.81 [[-9.95999248e-01 -8.90724693e-02 7.18280211e-03 2.40825403e+01] [-8.90711195e-02 9.96025139e-01 5.08234676e-04 -1.89994047e+02] [-7.19952119e-03 -1.33578870e-04 -9.99974074e-01 -1.80614780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.066559995 meters 0.012696658423049258 Centerline is valid? [True, True] Translation: X:24.07, Y:-189.97, Z:-1.81 [[-9.87200544e-01 -1.59326284e-01 7.08670069e-03 2.40738551e+01] [-1.59323118e-01 9.87225971e-01 1.01269015e-03 -1.89967174e+02] [-7.15752313e-03 -1.29346989e-04 -9.99974376e-01 -1.80656345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.09655999499995 meters 0.013198680388800895 Centerline is valid? [True, True] Translation: X:23.96, Y:-189.27, Z:-2.79 [[-9.98406457e-01 5.58053602e-02 8.38498825e-03 2.39639035e+01] [-5.58014003e-02 -9.98441639e-01 7.05647049e-04 -1.89266835e+02] [ 8.41130029e-03 2.36628485e-04 9.99964596e-01 -2.78503727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.126559995 meters 0.013634329679064708 Centerline is valid? [True, True] Translation: X:23.97, Y:-189.98, Z:-1.80 [[-9.85900315e-01 -1.67088597e-01 9.05375561e-03 2.39654687e+01] [-1.67083199e-01 9.85941869e-01 1.35474105e-03 -1.89978596e+02] [-9.15283851e-03 -1.77090823e-04 -9.99958096e-01 -1.80468326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.15655999499995 meters 0.013522514617823353 Centerline is valid? [True, True] Translation: X:23.94, Y:-189.96, Z:-1.80 [[-9.71219504e-01 -2.37993794e-01 9.57233442e-03 2.39440660e+01] [-2.37984248e-01 9.71266655e-01 2.14081442e-03 -1.89955206e+02] [-9.80678977e-03 -1.98864091e-04 -9.99951893e-01 -1.80477455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.186559995 meters 0.014353618105190844 Centerline is valid? [True, True] Translation: X:23.91, Y:-189.93, Z:-1.80 [[-9.51341520e-01 -3.07993885e-01 9.43817217e-03 2.39147296e+01] [-3.07980850e-01 9.51388315e-01 2.84095988e-03 -1.89933335e+02] [-9.85436498e-03 -2.04053200e-04 -9.99951424e-01 -1.80402875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.21655999499995 meters 0.014062639251303041 Centerline is valid? [True, True] Translation: X:23.87, Y:-189.92, Z:-1.80 [[-9.26286230e-01 -3.76706495e-01 9.27558626e-03 2.38668063e+01] [-3.76689857e-01 9.26332647e-01 3.54660374e-03 -1.89921310e+02] [-9.92830704e-03 -2.08849058e-04 -9.99950691e-01 -1.80455993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.246559995 meters 0.013882846935466443 Centerline is valid? [True, True] Translation: X:23.80, Y:-189.92, Z:-1.81 [[-8.96141219e-01 -4.43681226e-01 8.82524278e-03 2.38040153e+01] [-4.43661919e-01 8.96184651e-01 4.14403965e-03 -1.89918825e+02] [-9.74767971e-03 -2.01779400e-04 -9.99952470e-01 -1.80533149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.27655999499996 meters 0.014061216578452966 Centerline is valid? [True, True] Translation: X:23.73, Y:-189.92, Z:-1.81 [[-8.60990603e-01 -5.08556696e-01 8.07895175e-03 2.37339463e+01] [-5.08536330e-01 8.61028485e-01 4.55508367e-03 -1.89923720e+02] [-9.27272589e-03 -1.86556233e-04 -9.99956990e-01 -1.80550883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.306559995 meters 0.013422036087264264 Centerline is valid? [True, True] Translation: X:23.65, Y:-189.95, Z:-1.81 [[-8.21257427e-01 -5.70516960e-01 6.82911167e-03 2.36494268e+01] [-5.70498819e-01 8.21285805e-01 4.55239392e-03 -1.89945098e+02] [-8.20587041e-03 -1.57312820e-04 -9.99966319e-01 -1.80687758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.33655999499996 meters 0.01350795808126113 Centerline is valid? [True, True] Translation: X:23.57, Y:-189.97, Z:-1.81 [[-7.76234715e-01 -6.30415313e-01 6.01664325e-03 2.35685688e+01] [-6.30397811e-01 7.76258019e-01 4.69979999e-03 -1.89969795e+02] [-7.63329346e-03 -1.44730828e-04 -9.99970856e-01 -1.80757826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.366559995 meters 0.01295651744894507 Centerline is valid? [True, True] Translation: X:23.49, Y:-190.00, Z:-1.81 [[-7.26431490e-01 -6.87215298e-01 5.69436093e-03 2.34896740e+01] [-6.87195735e-01 7.26453793e-01 5.18729336e-03 -1.90001330e+02] [-7.70147745e-03 -1.44927301e-04 -9.99970333e-01 -1.80869343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.39655999499996 meters 0.012916936326299436 Centerline is valid? [True, True] Translation: X:23.40, Y:-190.05, Z:-1.81 [[-6.72187683e-01 -7.40363614e-01 5.04348394e-03 2.34009107e+01] [-7.40344321e-01 6.72206589e-01 5.34669546e-03 -1.90049402e+02] [-7.34876191e-03 -1.39931860e-04 -9.99972988e-01 -1.80890872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.42655999499993 meters 0.013617819367727747 Centerline is valid? [True, True] Translation: X:23.32, Y:-190.10, Z:-1.81 [[-6.13312490e-01 -7.89824051e-01 5.07525360e-03 2.33152723e+01] [-7.89799148e-01 6.13333468e-01 6.27400590e-03 -1.90101505e+02] [-8.06818365e-03 -1.60504788e-04 -9.99967439e-01 -1.80749894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.45655999499996 meters 0.014088095010928583 Centerline is valid? [True, True] Translation: X:23.23, Y:-190.17, Z:-1.81 [[-5.51069192e-01 -8.34444484e-01 5.01483458e-03 2.32291364e+01] [-8.34412847e-01 5.51091980e-01 7.26838783e-03 -1.90168219e+02] [-8.82870126e-03 -1.79057793e-04 -9.99961010e-01 -1.80623474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.48655999499994 meters 0.014230540444958181 Centerline is valid? [True, True] Translation: X:23.14, Y:-190.25, Z:-1.81 [[-4.85326205e-01 -8.74320703e-01 4.66716533e-03 2.31446921e+01] [-8.74284026e-01 4.85348608e-01 8.01067708e-03 -1.90249135e+02] [-9.26910301e-03 -1.92636581e-04 -9.99957022e-01 -1.80585394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.51655999499997 meters 0.013464299801808485 Centerline is valid? [True, True] Translation: X:23.08, Y:-190.32, Z:-1.81 [[-4.16471877e-01 -9.09138638e-01 4.25595736e-03 2.30753896e+01] [-9.09096150e-01 4.16493570e-01 8.79186608e-03 -1.90324424e+02] [-9.76560403e-03 -2.07509483e-04 -9.99952294e-01 -1.80640653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.54655999499994 meters 0.013475980275504007 Centerline is valid? [True, True] Translation: X:23.01, Y:-190.41, Z:-1.81 [[-3.45296831e-01 -9.38486485e-01 3.63535904e-03 2.30069141e+01] [-9.38440822e-01 3.45315901e-01 9.26025123e-03 -1.90413419e+02] [-9.94596791e-03 -2.14033916e-04 -9.99950515e-01 -1.80700574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.57655999499997 meters 0.013757956561876854 Centerline is valid? [True, True] Translation: X:22.94, Y:-190.51, Z:-1.81 [[-2.71609393e-01 -9.62403893e-01 2.66184478e-03 2.29433045e+01] [-9.62364698e-01 2.71622361e-01 8.68796457e-03 -1.90512689e+02] [-9.08434749e-03 -2.01932668e-04 -9.99958716e-01 -1.80858107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.60655999499994 meters 0.014653530617405482 Centerline is valid? [True, True] Translation: X:22.88, Y:-190.62, Z:-1.81 [[-1.95005041e-01 -9.80800442e-01 1.87786412e-03 2.28839781e+01] [-9.80764638e-01 1.95013973e-01 8.38307448e-03 -1.90619650e+02] [-8.58833290e-03 -2.07000944e-04 -9.99963098e-01 -1.80870758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.63655999499997 meters 0.015810216660206152 Centerline is valid? [True, True] Translation: X:22.83, Y:-190.74, Z:-1.81 [[-1.18461490e-01 -9.92957893e-01 1.22424778e-03 2.28318535e+01] [-9.92921727e-01 1.18467627e-01 8.47733490e-03 -1.90736014e+02] [-8.56267032e-03 -2.11344495e-04 -9.99963317e-01 -1.80775323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.66655999499994 meters 0.014919731910112253 Centerline is valid? [True, True] Translation: X:22.79, Y:-190.84, Z:-1.81 [[-4.15221796e-02 -9.99137391e-01 6.18180334e-04 2.27944776e+01] [-9.99093982e-01 4.15261398e-02 9.31638207e-03 -1.90837077e+02] [-9.33401632e-03 -2.30783761e-04 -9.99956411e-01 -1.80770462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.696559995 meters 0.014963340653031789 Centerline is valid? [True, True] Translation: X:22.76, Y:-190.95, Z:-1.81 [[ 3.50055605e-02 -9.99387112e-01 -1.08615645e-04 2.27627257e+01] [-9.99336988e-01 -3.50048929e-02 1.00121281e-02 -1.90949532e+02] [-1.00097939e-02 -2.41936525e-04 -9.99949872e-01 -1.80639713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.72655999499995 meters 0.015248725648953783 Centerline is valid? [True, True] Translation: X:22.74, Y:-191.07, Z:-1.81 [[ 1.11812992e-01 -9.93728851e-01 -9.09166570e-04 2.27410346e+01] [-9.93675349e-01 -1.11816409e-01 1.03146631e-02 -1.91072889e+02] [-1.03516380e-02 -2.49896930e-04 -9.99946389e-01 -1.80635864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.756559995 meters 0.015311714868683279 Centerline is valid? [True, True] Translation: X:22.73, Y:-191.19, Z:-1.81 [[ 1.88053377e-01 -9.82157370e-01 -1.68166761e-03 2.27284737e+01] [-9.82105473e-01 -1.88060733e-01 1.00995370e-02 -1.91189588e+02] [-1.02355903e-02 -2.47677073e-04 -9.99947584e-01 -1.80664872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.78655999499995 meters 0.01474967276036652 Centerline is valid? [True, True] Translation: X:22.73, Y:-191.31, Z:-1.81 [[ 2.62620119e-01 -9.64896366e-01 -2.38265749e-03 2.27265660e+01] [-9.64848136e-01 -2.62630822e-01 9.65018396e-03 -1.91310899e+02] [-9.93718673e-03 -2.35429818e-04 -9.99950597e-01 -1.80793852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.816559995 meters 0.015196443165014987 Centerline is valid? [True, True] Translation: X:22.73, Y:-191.42, Z:-1.81 [[ 3.35056352e-01 -9.42193227e-01 -3.02709273e-03 2.27293509e+01] [-9.42148710e-01 -3.35069956e-01 9.16150517e-03 -1.91423579e+02] [-9.64619594e-03 -2.17648993e-04 -9.99953451e-01 -1.80769158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.84655999499995 meters 0.013883160083289414 Centerline is valid? [True, True] Translation: X:22.75, Y:-191.54, Z:-1.81 [[ 4.05389403e-01 -9.14137456e-01 -3.48493081e-03 2.27458210e+01] [-9.14099502e-01 -4.05404336e-01 8.33212552e-03 -1.91541307e+02] [-9.02951408e-03 -1.92181870e-04 -9.99959215e-01 -1.80810495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.876559995 meters 0.012656270085814108 Centerline is valid? [True, True] Translation: X:22.77, Y:-191.65, Z:-1.81 [[ 4.71422360e-01 -8.81899260e-01 -3.82816471e-03 2.27687149e+01] [-8.81867559e-01 -4.71437879e-01 7.47900375e-03 -1.91652708e+02] [-8.40046972e-03 -1.49835333e-04 -9.99964704e-01 -1.80812050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.90655999499995 meters 0.012100614272819691 Centerline is valid? [True, True] Translation: X:22.80, Y:-191.76, Z:-1.81 [[ 5.35975056e-01 -8.44222438e-01 -4.38345397e-03 2.28003559e+01] [-8.44192171e-01 -5.35992964e-01 7.14991031e-03 -1.91762656e+02] [-8.38561520e-03 -1.31696059e-04 -9.99964831e-01 -1.80813910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.936559995 meters 0.010997334105503166 Centerline is valid? [True, True] Translation: X:22.84, Y:-191.87, Z:-1.81 [[ 5.94612936e-01 -8.03997910e-01 -4.77663068e-03 2.28427205e+01] [-8.03970859e-01 -5.94632116e-01 6.59574173e-03 -1.91868609e+02] [-8.14330058e-03 -8.16414811e-05 -9.99966839e-01 -1.80889228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.96655999499995 meters 0.0105983191598227 Centerline is valid? [True, True] Translation: X:22.89, Y:-191.97, Z:-1.81 [[ 6.51924389e-01 -7.58266796e-01 -5.10467018e-03 2.28883429e+01] [-7.58242909e-01 -6.51944371e-01 6.01891818e-03 -1.91968350e+02] [-7.89190680e-03 -5.32995814e-05 -9.99968857e-01 -1.80925805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.996559995 meters 0.010264527856701988 Centerline is valid? [True, True] Translation: X:22.94, Y:-192.06, Z:-1.81 [[ 7.03384129e-01 -7.10785345e-01 -5.91277798e-03 2.29378677e+01] [-7.10760206e-01 -7.03408980e-01 5.97799605e-03 -1.92058046e+02] [-8.40817311e-03 -2.26024850e-06 -9.99964651e-01 -1.80912643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.02655999499996 meters 0.010350146973910353 Centerline is valid? [True, True] Translation: X:22.99, Y:-192.15, Z:-1.81 [[ 7.53269621e-01 -6.57679393e-01 -6.53403007e-03 2.29941463e+01] [-6.57654965e-01 -7.53297959e-01 5.66853176e-03 -1.92146731e+02] [-8.65014805e-03 2.72045453e-05 -9.99962586e-01 -1.80866891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.056559995 meters 0.010699309016790611 Centerline is valid? [True, True] Translation: X:22.99, Y:-192.15, Z:-1.81 [[ 8.00322913e-01 -5.99528027e-01 -7.02706204e-03 2.29915881e+01] [-5.99505544e-01 -8.00353760e-01 5.19251075e-03 -1.92153442e+02] [-8.73719125e-03 5.70773210e-05 -9.99961828e-01 -1.80873978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.08655999499996 meters 0.011058199782568055 Centerline is valid? [True, True] Translation: X:22.99, Y:-192.16, Z:-1.81 [[ 8.43187349e-01 -5.37568314e-01 -7.44321975e-03 2.29881447e+01] [-5.37548236e-01 -8.43220197e-01 4.64685548e-03 -1.92161572e+02] [-8.77427549e-03 8.29198953e-05 -9.99961502e-01 -1.80876574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.116559995 meters 0.011849103764438708 Centerline is valid? [True, True] Translation: X:22.99, Y:-192.17, Z:-1.81 [[ 8.81242763e-01 -4.72595487e-01 -8.04347713e-03 2.29851630e+01] [-4.72576958e-01 -8.81279464e-01 4.18636159e-03 -1.92167883e+02] [-9.06700681e-03 1.11961104e-04 -9.99958888e-01 -1.80815348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.14655999499996 meters 0.012511191349722672 Centerline is valid? [True, True] Translation: X:22.98, Y:-192.17, Z:-1.81 [[ 9.14485762e-01 -4.04522515e-01 -8.79349006e-03 2.29842858e+01] [-4.04505296e-01 -9.14528028e-01 3.73507558e-03 -1.92173454e+02] [-9.55281529e-03 1.41339867e-04 -9.99954361e-01 -1.80801643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.17655999499993 meters 0.013428065189648612 Centerline is valid? [True, True] Translation: X:22.98, Y:-192.18, Z:-1.81 [[ 9.41931118e-01 -3.35670199e-01 -9.55439783e-03 2.29837226e+01] [-3.35654975e-01 -9.41979555e-01 3.20251290e-03 -1.92179907e+02] [-1.00750356e-02 1.90434614e-04 -9.99949227e-01 -1.80794830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.20655999499996 meters 0.013642596661074664 Centerline is valid? [True, True] Translation: X:22.98, Y:-192.19, Z:-1.81 [[ 9.64886017e-01 -2.62466115e-01 -1.03205322e-02 2.29826571e+01] [-2.62453500e-01 -9.64941185e-01 2.58246038e-03 -1.92189001e+02] [-1.06365149e-02 2.16879882e-04 -9.99943407e-01 -1.80785504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.23655999499994 meters 0.014241039078453121 Centerline is valid? [True, True] Translation: X:22.98, Y:-192.20, Z:-1.81 [[ 9.82265850e-01 -1.87156409e-01 -1.12373669e-02 2.29781206e+01] [-1.87147002e-01 -9.82330097e-01 1.89224081e-03 -1.92196294e+02] [-1.13929487e-02 2.44356008e-04 -9.99935068e-01 -1.80661587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.26655999499997 meters 0.014281310242246489 Centerline is valid? [True, True] Translation: X:22.97, Y:-192.20, Z:-1.81 [[ 9.93960121e-01 -1.09026445e-01 -1.25104698e-02 2.29743512e+01] [-1.09021115e-01 -9.94038815e-01 1.10932009e-03 -1.92204431e+02] [-1.25568378e-02 2.61285431e-04 -9.99921126e-01 -1.80587780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.29655999499994 meters 0.01383132706754492 Centerline is valid? [True, True] Translation: X:22.97, Y:-192.21, Z:-1.80 [[ 9.99521431e-01 -2.77353163e-02 -1.36989506e-02 2.29704626e+01] [-2.77360235e-02 -9.99615273e-01 1.38398127e-04 -1.92214361e+02] [-1.36975188e-02 2.41622522e-04 -9.99906155e-01 -1.80356836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.32655999499997 meters 0.013152394839078369 Centerline is valid? [True, True] Translation: X:22.97, Y:-192.22, Z:-1.80 [[ 9.98490959e-01 5.31180448e-02 -1.39383968e-02 2.29685859e+01] [ 5.31099199e-02 -9.98588218e-01 -9.52681640e-04 -1.92222747e+02] [-1.39693234e-02 2.10976869e-04 -9.99902402e-01 -1.80293474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.35655999499994 meters 0.012524366999628524 Centerline is valid? [True, True] Translation: X:22.97, Y:-192.23, Z:-1.80 [[ 9.90857793e-01 1.34173589e-01 -1.40812364e-02 2.29670925e+01] [ 1.34157591e-01 -9.90957829e-01 -2.07893987e-03 -1.92230520e+02] [-1.42328503e-02 1.70829024e-04 -9.99898693e-01 -1.80231602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.38655999499997 meters 0.011732060205687258 Centerline is valid? [True, True] Translation: X:22.97, Y:-192.24, Z:-1.80 [[ 9.76582504e-01 2.14713593e-01 -1.35899202e-02 2.29670447e+01] [ 2.14691106e-01 -9.76677049e-01 -3.10969272e-03 -1.92237902e+02] [-1.39406565e-02 1.19236497e-04 -9.99902817e-01 -1.80209174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.41655999499994 meters 0.010759869744541068 Centerline is valid? [True, True] Translation: X:22.97, Y:-192.25, Z:-1.80 [[ 9.54553508e-01 2.97772288e-01 -1.26200454e-02 2.29677224e+01] [ 2.97746091e-01 -9.54636928e-01 -3.94979334e-03 -1.92248066e+02] [-1.32237004e-02 1.27198924e-05 -9.99912563e-01 -1.80250025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.446559995 meters 0.010647722334672776 Centerline is valid? [True, True] Translation: X:22.97, Y:-192.26, Z:-1.80 [[ 9.25577140e-01 3.78408742e-01 -1.06668954e-02 2.29718826e+01] [ 3.78384526e-01 -9.25638600e-01 -4.28158146e-03 -1.92262225e+02] [-1.14938780e-02 -7.32542518e-05 -9.99933941e-01 -1.80496302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.47655999499995 meters 0.011227145585729462 Centerline is valid? [True, True] Translation: X:22.97, Y:-192.27, Z:-1.80 [[ 8.91632895e-01 4.52656753e-01 -9.62521910e-03 2.29747052e+01] [ 4.52631635e-01 -8.91684840e-01 -4.76971648e-03 -1.92273019e+02] [-1.07417063e-02 -1.03842543e-04 -9.99942301e-01 -1.80463018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.506559995 meters 0.012540385545188678 Centerline is valid? [True, True] Translation: X:22.98, Y:-192.28, Z:-1.81 [[ 8.50252494e-01 5.26316245e-01 -7.86808864e-03 2.29792692e+01] [ 5.26295279e-01 -8.50288886e-01 -4.69996543e-03 -1.92282476e+02] [-9.16381648e-03 -1.44780582e-04 -9.99958001e-01 -1.80585645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.53655999499995 meters 0.01315076380137374 Centerline is valid? [True, True] Translation: X:22.98, Y:-192.29, Z:-1.81 [[ 8.04663194e-01 5.93691343e-01 -6.90894620e-03 2.29843871e+01] [ 5.93671146e-01 -8.04692838e-01 -4.89959257e-03 -1.92289235e+02] [-8.46842522e-03 -1.59120209e-04 -9.99964130e-01 -1.80709642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.566559995 meters 0.01315076380137374 Centerline is valid? [True, True] Translation: X:22.99, Y:-192.29, Z:-1.81 [[ 7.55725853e-01 6.54855809e-01 -6.50422108e-03 2.29878820e+01] [ 6.54833354e-01 -7.55753825e-01 -5.42533176e-03 -1.92294145e+02] [-8.46839998e-03 -1.59117432e-04 -9.99964130e-01 -1.80709665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.59655999499995 meters 0.013892465570247947 Centerline is valid? [True, True] Translation: X:22.99, Y:-192.30, Z:-1.81 [[ 7.00085146e-01 7.14040511e-01 -5.19000239e-03 2.29944508e+01] [ 7.14022541e-01 -7.00104366e-01 -5.06830690e-03 -1.92300316e+02] [-7.25251979e-03 -1.57532314e-04 -9.99973688e-01 -1.80824288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.626559995 meters 0.014056829049785361 Centerline is valid? [True, True] Translation: X:23.00, Y:-192.31, Z:-1.81 [[ 6.40643998e-01 7.67822448e-01 -4.89457265e-03 2.30008888e+01] [ 7.67802098e-01 -6.40662671e-01 -5.59292510e-03 -1.92306643e+02] [-7.43014343e-03 -1.74989255e-04 -9.99972381e-01 -1.80862597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.65655999499995 meters 0.015163339066003124 Centerline is valid? [True, True] Translation: X:23.01, Y:-192.31, Z:-1.81 [[ 5.76076207e-01 8.17373634e-01 -6.04538691e-03 2.30095405e+01] [ 8.17333435e-01 -5.76107864e-01 -8.11082063e-03 -1.92313825e+02] [-1.01123659e-02 -2.68646062e-04 -9.99948833e-01 -1.80559352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.686559995 meters 0.017701226566691868 Centerline is valid? [True, True] Translation: X:23.02, Y:-192.32, Z:-1.80 [[ 5.09362187e-01 8.60534302e-01 -5.55678889e-03 2.30193452e+01] [ 8.60489138e-01 -5.09392415e-01 -8.82101861e-03 -1.92320605e+02] [-1.04213752e-02 -2.88463149e-04 -9.99945654e-01 -1.80339831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.71655999499995 meters 0.016410174562564106 Centerline is valid? [True, True] Translation: X:23.02, Y:-192.32, Z:-1.80 [[ 4.39190542e-01 8.98378337e-01 -5.29457047e-03 2.30246394e+01] [ 8.98321880e-01 -4.39222330e-01 -1.00769854e-02 -1.92323395e+02] [-1.13784389e-02 -3.30511833e-04 -9.99935209e-01 -1.80358461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.746559995 meters 0.01593565604272721 Centerline is valid? [True, True] Translation: X:23.03, Y:-192.33, Z:-1.80 [[ 3.67376932e-01 9.30059335e-01 -4.88095446e-03 2.30309763e+01] [ 9.29989857e-01 -3.67409178e-01 -1.13737462e-02 -1.92325980e+02] [-1.23715663e-02 -3.60786156e-04 -9.99923404e-01 -1.80327943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.77655999499996 meters 0.016359711499161798 Centerline is valid? [True, True] Translation: X:23.04, Y:-192.33, Z:-1.80 [[ 2.93482211e-01 9.55954571e-01 -4.36474386e-03 2.30383488e+01] [ 9.55868013e-01 -2.93514400e-01 -1.28700467e-02 -1.92329876e+02] [-1.35842952e-02 -3.94989281e-04 -9.99907651e-01 -1.80230244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.806559995 meters 0.016844917976553297 Centerline is valid? [True, True] Translation: X:23.05, Y:-192.33, Z:-1.80 [[ 2.18370806e-01 9.75859400e-01 -3.55290481e-03 2.30453979e+01] [ 9.75759110e-01 -2.18399321e-01 -1.39962509e-02 -1.92332529e+02] [-1.44343250e-02 -4.10406652e-04 -9.99895736e-01 -1.80114522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.83655999499996 meters 0.01690842325109915 Centerline is valid? [True, True] Translation: X:23.05, Y:-192.33, Z:-1.80 [[ 1.42598700e-01 9.89777178e-01 -2.59785554e-03 2.30492144e+01] [ 9.89661808e-01 -1.42621757e-01 -1.51175214e-02 -1.92334527e+02] [-1.53334884e-02 -4.15259510e-04 -9.99882349e-01 -1.79973157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.866559995 meters 0.014910375400843442 Centerline is valid? [True, True] Translation: X:23.05, Y:-192.33, Z:-1.80 [[ 6.89908114e-02 9.97616229e-01 -1.45880427e-03 2.30493885e+01] [ 9.97490399e-01 -6.90052846e-02 -1.58485065e-02 -1.92334930e+02] [-1.59113925e-02 -3.61741927e-04 -9.99873340e-01 -1.79955549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.89655999499996 meters 0.013486898274519652 Centerline is valid? [True, True] Translation: X:23.05, Y:-192.34, Z:-1.80 [[-6.82022748e-03 9.99976721e-01 -2.05391986e-04 2.30532347e+01] [ 9.99859209e-01 6.81627665e-03 -1.53329905e-02 -1.92335488e+02] [-1.53312336e-02 -3.09937552e-04 -9.99882422e-01 -1.80096469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.92655999499993 meters 0.012621981115486128 Centerline is valid? [True, True] Translation: X:23.06, Y:-192.34, Z:-1.80 [[-8.20696936e-02 9.96626153e-01 9.35954152e-04 2.30578280e+01] [ 9.96522599e-01 8.20746601e-02 -1.43687243e-02 -1.92335938e+02] [-1.43970646e-02 -2.46537337e-04 -9.99896327e-01 -1.80213751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.95655999499996 meters 0.01136924854849761 Centerline is valid? [True, True] Translation: X:23.06, Y:-192.34, Z:-1.80 [[-1.54004124e-01 9.88068411e-01 1.88300520e-03 2.30594992e+01] [ 9.87982418e-01 1.54015565e-01 -1.30364164e-02 -1.92337379e+02] [-1.31708833e-02 -1.47285854e-04 -9.99913249e-01 -1.80377648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.98655999499994 meters 0.010713898428622083 Centerline is valid? [True, True] Translation: X:23.06, Y:-192.34, Z:-1.80 [[-2.25862059e-01 9.74155727e-01 2.63613032e-03 2.30623985e+01] [ 9.74085604e-01 2.25877431e-01 -1.16885981e-02 -1.92338314e+02] [-1.19819571e-02 -7.21942335e-05 -9.99928211e-01 -1.80465389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.01655999499997 meters 0.010713898428622083 Centerline is valid? [True, True] Translation: X:23.07, Y:-192.34, Z:-1.80 [[-3.01470133e-01 9.53469036e-01 3.54361599e-03 2.30697054e+01] [ 9.53400332e-01 3.01490950e-01 -1.14461659e-02 -1.92339053e+02] [-1.19819329e-02 -7.21924953e-05 -9.99928212e-01 -1.80465409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.04655999499994 meters 0.010550787300634438 Centerline is valid? [True, True] Translation: X:23.07, Y:-192.34, Z:-1.80 [[-3.72880683e-01 9.27869325e-01 4.30261246e-03 2.30743858e+01] [ 9.27806308e-01 3.72905504e-01 -1.08139291e-02 -1.92339606e+02] [-1.16383810e-02 -4.03142908e-05 -9.99932271e-01 -1.80473341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.07655999499997 meters 0.010491094208596933 Centerline is valid? [True, True] Translation: X:23.08, Y:-192.34, Z:-1.81 [[-4.41793166e-01 8.97104251e-01 4.77097662e-03 2.30797092e+01] [ 8.97051802e-01 4.41818926e-01 -9.70060455e-03 -1.92339877e+02] [-1.08103613e-02 -5.84761672e-06 -9.99941566e-01 -1.80681034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.10655999499994 meters 0.010463214045893827 Centerline is valid? [True, True] Translation: X:23.09, Y:-192.34, Z:-1.81 [[-5.09611254e-01 8.60388683e-01 5.26157613e-03 2.30873957e+01] [ 8.60342979e-01 5.09638415e-01 -8.86817484e-03 -1.92338181e+02] [-1.03115786e-02 7.43838045e-06 -9.99946834e-01 -1.80757757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.13655999499997 meters 0.010656568344104368 Centerline is valid? [True, True] Translation: X:23.10, Y:-192.34, Z:-1.81 [[-5.73723450e-01 8.19027606e-01 5.93153283e-03 2.30955511e+01] [ 8.18984357e-01 5.73754111e-01 -8.41684535e-03 -1.92336725e+02] [-1.02968700e-02 2.88910432e-05 -9.99946985e-01 -1.80708331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.16655999499994 meters 0.010737588329022897 Centerline is valid? [True, True] Translation: X:23.10, Y:-192.34, Z:-1.81 [[-6.35284164e-01 7.72248767e-01 6.77286687e-03 2.31032143e+01] [ 7.72205577e-01 6.35320265e-01 -8.16740862e-03 -1.92335550e+02] [-1.06102108e-02 4.14202128e-05 -9.99943709e-01 -1.80640923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.196559995 meters 0.01105722140920917 Centerline is valid? [True, True] Translation: X:23.11, Y:-192.33, Z:-1.81 [[-6.91611379e-01 7.22223968e-01 8.13887352e-03 2.31117208e+01] [ 7.22175343e-01 6.91659262e-01 -8.38094966e-03 -1.92330781e+02] [-1.16822500e-02 8.13336236e-05 -9.99931757e-01 -1.80587537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.22655999499995 meters 0.011823220835594983 Centerline is valid? [True, True] Translation: X:23.12, Y:-192.33, Z:-1.81 [[-7.43299729e-01 6.68898048e-01 8.99525068e-03 2.31186032e+01] [ 6.68851225e-01 7.43354144e-01 -7.91549591e-03 -1.92328246e+02] [-1.19813166e-02 1.32898478e-04 -9.99928213e-01 -1.80578549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.256559995 meters 0.012172863420367379 Centerline is valid? [True, True] Translation: X:23.14, Y:-192.31, Z:-1.81 [[-7.87222941e-01 6.16598858e-01 9.26764628e-03 2.31371830e+01] [ 6.16558496e-01 7.87277476e-01 -7.05674554e-03 -1.92308931e+02] [-1.16473904e-02 1.58814073e-04 -9.99932154e-01 -1.80696882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.28655999499995 meters 0.013003833886770214 Centerline is valid? [True, True] Translation: X:23.15, Y:-192.29, Z:-1.81 [[-8.27430369e-01 5.61492319e-01 9.23902386e-03 2.31526332e+01] [ 5.61459731e-01 8.27481929e-01 -6.05206534e-03 -1.92288171e+02] [-1.10433135e-02 1.79677195e-04 -9.99939005e-01 -1.80724683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.316559995 meters 0.014326312362900901 Centerline is valid? [True, True] Translation: X:23.18, Y:-192.27, Z:-1.81 [[-8.62143990e-01 5.06587229e-01 8.78175441e-03 2.31769395e+01] [ 5.06563572e-01 8.62188685e-01 -4.90080466e-03 -1.92273336e+02] [-1.00542143e-02 2.23317602e-04 -9.99949430e-01 -1.80884855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.34655999499995 meters 0.014983604520554743 Centerline is valid? [True, True] Translation: X:23.54, Y:-191.64, Z:-2.78 [[-8.53164817e-01 -5.21572162e-01 8.50143368e-03 2.35393912e+01] [ 5.21543662e-01 -8.53207144e-01 -5.45693969e-03 -1.91642595e+02] [ 1.00996718e-02 -2.21800096e-04 9.99948972e-01 -2.78054488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.376559995 meters 0.01723794869112893 Centerline is valid? [True, True] Translation: X:23.14, Y:-192.26, Z:-1.81 [[-8.58858865e-01 5.12136481e-01 8.81331120e-03 2.31373435e+01] [ 5.12113364e-01 8.58904022e-01 -4.87679525e-03 -1.92256821e+02] [-1.00673732e-02 3.24935617e-04 -9.99949270e-01 -1.80959888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.40655999499995 meters 0.01723813985219485 Centerline is valid? [True, True] Translation: X:23.16, Y:-192.23, Z:-1.81 [[-8.93507610e-01 4.48899793e-01 1.15380770e-02 2.31576939e+01] [ 4.48868036e-01 8.93582016e-01 -5.35413657e-03 -1.92230383e+02] [-1.27136889e-02 3.95112178e-04 -9.99919100e-01 -1.80803098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.436559995 meters 0.016366668633480932 Centerline is valid? [True, True] Translation: X:23.46, Y:-191.58, Z:-2.78 [[-8.89496825e-01 -4.56781385e-01 1.20898474e-02 2.34624488e+01] [ 4.56733679e-01 -8.89578910e-01 -6.61124498e-03 -1.91577421e+02] [ 1.37747669e-02 -3.58840941e-04 9.99905059e-01 -2.78318182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.46655999499995 meters 0.016366668633480932 Centerline is valid? [True, True] Translation: X:23.11, Y:-192.21, Z:-1.81 [[-8.96809993e-01 4.42238054e-01 1.25435346e-02 2.31146444e+01] [ 4.42200641e-01 8.96897632e-01 -5.76468139e-03 -1.92206166e+02] [-1.37996279e-02 3.76935156e-04 -9.99904710e-01 -1.80726656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.496559995 meters 0.015701360169177433 Centerline is valid? [True, True] Translation: X:23.41, Y:-191.56, Z:-2.78 [[-8.89996727e-01 -4.55807207e-01 1.20671992e-02 2.34148740e+01] [ 4.55759505e-01 -8.90078450e-01 -6.60502732e-03 -1.91558773e+02] [ 1.37513730e-02 -3.78711957e-04 9.99905374e-01 -2.78307724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.52655999499996 meters 0.015701360169177433 Centerline is valid? [True, True] Translation: X:23.07, Y:-192.18, Z:-1.81 [[-8.99592397e-01 4.36550428e-01 1.25396297e-02 2.30714996e+01] [ 4.36513270e-01 8.99679725e-01 -5.70591721e-03 -1.92184545e+02] [-1.37725712e-02 3.40715025e-04 -9.99905096e-01 -1.80735380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.556559995 meters 0.015701360169177433 Centerline is valid? [True, True] Translation: X:23.37, Y:-191.54, Z:-2.78 [[-8.91677351e-01 -4.52509521e-01 1.21092758e-02 2.33708400e+01] [ 4.52462567e-01 -8.91759506e-01 -6.52753786e-03 -1.91539483e+02] [ 1.37523348e-02 -3.41463677e-04 9.99905374e-01 -2.78309156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.58655999499996 meters 0.015031162774537381 Centerline is valid? [True, True] Translation: X:23.03, Y:-192.16, Z:-1.81 [[-9.02400689e-01 4.30711581e-01 1.26701017e-02 2.30293280e+01] [ 4.30673842e-01 9.02489580e-01 -5.70967812e-03 -1.92163734e+02] [-1.38938592e-02 3.04263907e-04 -9.99903429e-01 -1.80763529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.616559995 meters 0.015031162774537381 Centerline is valid? [True, True] Translation: X:23.04, Y:-192.14, Z:-1.81 [[-9.30653844e-01 3.65668301e-01 1.30428699e-02 2.30402097e+01] [ 3.65636957e-01 9.30745186e-01 -4.79736820e-03 -1.92137760e+02] [-1.38938339e-02 3.04266109e-04 -9.99903430e-01 -1.80763557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.64655999499996 meters 0.013274842688907737 Centerline is valid? [True, True] Translation: X:23.28, Y:-191.48, Z:-2.78 [[-9.19445980e-01 -3.92996557e-01 1.31451545e-02 2.32839727e+01] [ 3.92952028e-01 -9.19539900e-01 -5.92255351e-03 -1.91481721e+02] [ 1.44150372e-02 -2.80052922e-04 9.99896059e-01 -2.78192287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.67655999499993 meters 0.01168204261091786 Centerline is valid? [True, True] Translation: X:22.99, Y:-192.11, Z:-1.81 [[-9.36381453e-01 3.50742211e-01 1.30259411e-02 2.29943551e+01] [ 3.50710256e-01 9.36472041e-01 -4.73637487e-03 -1.92106472e+02] [-1.38596763e-02 1.33277561e-04 -9.99903941e-01 -1.80879411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.70655999499996 meters 0.01157126143909893 Centerline is valid? [True, True] Translation: X:23.00, Y:-192.08, Z:-1.81 [[-9.59833845e-01 2.80256118e-01 1.32475963e-02 2.30013002e+01] [ 2.80230676e-01 9.59925258e-01 -3.77728693e-03 -1.92076756e+02] [-1.37753100e-02 8.68150128e-05 -9.99905112e-01 -1.80777709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.73655999499994 meters 0.011238455707689173 Centerline is valid? [True, True] Translation: X:23.00, Y:-192.04, Z:-1.81 [[-9.77891761e-01 2.08685760e-01 1.33400901e-02 2.30004171e+01] [ 2.08667004e-01 9.77982746e-01 -2.79823617e-03 -1.92044707e+02] [-1.36303300e-02 4.72645422e-05 -9.99907102e-01 -1.80807678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.76655999499997 meters 0.010808041541831011 Centerline is valid? [True, True] Translation: X:23.14, Y:-191.40, Z:-2.78 [[-9.62607683e-01 -2.70585104e-01 1.30441623e-02 2.31427717e+01] [ 2.70559539e-01 -9.62696057e-01 -3.71980413e-03 -1.91395693e+02] [ 1.35640873e-02 -5.14894810e-05 9.99908002e-01 -2.78092602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.79655999499994 meters 0.011142417200103281 Centerline is valid? [True, True] Translation: X:22.95, Y:-192.03, Z:-1.81 [[-9.80687971e-01 1.95122392e-01 1.33549832e-02 2.29506411e+01] [ 1.95103071e-01 9.80778897e-01 -2.74720854e-03 -1.92025869e+02] [-1.36343276e-02 -8.85561211e-05 -9.99907044e-01 -1.80882198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.82655999499997 meters 0.011339055807307227 Centerline is valid? [True, True] Translation: X:22.95, Y:-192.00, Z:-1.81 [[-9.92468865e-01 1.21746679e-01 1.35387355e-02 2.29503140e+01] [ 1.21733517e-01 9.92561196e-01 -1.79512488e-03 -1.91995096e+02] [-1.36565740e-02 -1.33487662e-04 -9.99906736e-01 -1.80928935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.85655999499994 meters 0.01244780280635829 Centerline is valid? [True, True] Translation: X:22.95, Y:-191.96, Z:-1.81 [[-9.98907814e-01 4.48491664e-02 1.31046165e-02 2.29467318e+01] [ 4.48425737e-02 9.98993748e-01 -7.96628776e-04 -1.91961112e+02] [-1.31271581e-02 -2.08113977e-04 -9.99913814e-01 -1.80882226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.88655999499997 meters 0.012942372937884465 Centerline is valid? [True, True] Translation: X:22.98, Y:-191.33, Z:-2.78 [[-9.89194469e-01 -1.46032714e-01 1.29903594e-02 2.29809430e+01] [ 1.46022854e-01 -9.89279740e-01 -1.70945439e-03 -1.91330690e+02] [ 1.31007357e-02 2.05906534e-04 9.99914161e-01 -2.78138933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.91655999499994 meters 0.012942372937884465 Centerline is valid? [True, True] Translation: X:22.88, Y:-191.95, Z:-1.81 [[-9.99200448e-01 3.77795586e-02 1.30831885e-02 2.28796170e+01] [ 3.77731511e-02 9.99286068e-01 -7.36599402e-04 -1.91954968e+02] [-1.31016764e-02 -2.41817195e-04 -9.99914140e-01 -1.80905685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.946559995 meters 0.013838651460394862 Centerline is valid? [True, True] Translation: X:22.88, Y:-191.92, Z:-1.81 [[-9.99246689e-01 -3.67536682e-02 1.24588137e-02 2.28759775e+01] [-3.67542088e-02 9.99324319e-01 1.85647313e-04 -1.91924145e+02] [-1.24572188e-02 -2.72406378e-04 -9.99922369e-01 -1.80914458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.97655999499995 meters 0.014244718119994103 Centerline is valid? [True, True] Translation: X:22.87, Y:-191.90, Z:-1.81 [[-9.94000228e-01 -1.08685336e-01 1.22900486e-02 2.28654537e+01] [-1.08680521e-01 9.94076163e-01 1.06098669e-03 -1.91895811e+02] [-1.23325580e-02 -2.81067870e-04 -9.99923912e-01 -1.80919980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.006559995 meters 0.01536362049918924 Centerline is valid? [True, True] Translation: X:22.85, Y:-191.87, Z:-1.81 [[-9.83618913e-01 -1.79873334e-01 1.18074901e-02 2.28517774e+01] [-1.79863786e-01 9.83689740e-01 1.87433995e-03 -1.91867307e+02] [-1.19520506e-02 -2.80103644e-04 -9.99928533e-01 -1.80835262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.03655999499995 meters 0.014913146738383131 Centerline is valid? [True, True] Translation: X:22.83, Y:-191.84, Z:-1.81 [[-9.68036878e-01 -2.50556593e-01 1.12248093e-02 2.28333084e+01] [-2.50543083e-01 9.68101914e-01 2.61677566e-03 -1.91842976e+02] [-1.15224098e-02 -2.79162995e-04 -9.99933576e-01 -1.80951426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.066559995 meters 0.014867615899081997 Centerline is valid? [True, True] Translation: X:22.81, Y:-191.82, Z:-1.81 [[-9.47345749e-01 -3.19974204e-01 1.23507274e-02 2.28051811e+01] [-3.19951380e-01 9.47426202e-01 3.83498371e-03 -1.91821787e+02] [-1.29284986e-02 -3.18576765e-04 -9.99916373e-01 -1.80862147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.09655999499995 meters 0.015273634579044982 Centerline is valid? [True, True] Translation: X:22.76, Y:-191.81, Z:-1.81 [[-9.21641688e-01 -3.87811491e-01 1.33733498e-02 2.27556534e+01] [-3.87776190e-01 9.21738642e-01 5.24436479e-03 -1.91808657e+02] [-1.43605582e-02 -3.52441428e-04 -9.99896820e-01 -1.80670979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.126559995 meters 0.014798728613010558 Centerline is valid? [True, True] Translation: X:22.70, Y:-191.81, Z:-1.81 [[-8.90746430e-01 -4.54280154e-01 1.41541444e-02 2.26965515e+01] [-4.54229544e-01 8.90858798e-01 6.79147921e-03 -1.91805099e+02] [-1.56945783e-02 -3.79744695e-04 -9.99876760e-01 -1.80527515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.15655999499995 meters 0.01546889121160576 Centerline is valid? [True, True] Translation: X:22.63, Y:-191.81, Z:-1.80 [[-8.55127670e-01 -5.18234956e-01 1.37549201e-02 2.26263764e+01] [-5.18174850e-01 8.55238208e-01 7.90137799e-03 -1.91810235e+02] [-1.58585035e-02 -3.70766712e-04 -9.99874177e-01 -1.80420729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.186559995 meters 0.01471287693336748 Centerline is valid? [True, True] Translation: X:22.55, Y:-191.83, Z:-1.80 [[-8.16165525e-01 -5.77672804e-01 1.29602613e-02 2.25496984e+01] [-5.77606063e-01 8.16268359e-01 8.78653661e-03 -1.91829915e+02] [-1.56547944e-02 -3.14657218e-04 -9.99877407e-01 -1.80473560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.21655999499995 meters 0.013076485360528389 Centerline is valid? [True, True] Translation: X:22.47, Y:-191.86, Z:-1.81 [[-7.72373677e-01 -6.35056577e-01 1.19183431e-02 2.24740481e+01] [-6.34986198e-01 7.72465582e-01 9.45800407e-03 -1.91856371e+02] [-1.52128775e-02 -2.62869991e-04 -9.99884243e-01 -1.80681054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.246559995 meters 0.011881650999485337 Centerline is valid? [True, True] Translation: X:22.40, Y:-191.89, Z:-1.81 [[-7.27405692e-01 -6.86130869e-01 1.02659493e-02 2.23971608e+01] [-6.86065240e-01 7.27478117e-01 9.49082091e-03 -1.91893895e+02] [-1.39801987e-02 -1.39433803e-04 -9.99902263e-01 -1.80788382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.27655999499996 meters 0.01151840177856551 Centerline is valid? [True, True] Translation: X:22.31, Y:-191.94, Z:-1.81 [[-6.76735486e-01 -7.36168982e-01 9.18211321e-03 2.23130554e+01] [-7.36102728e-01 6.76797772e-01 9.87675355e-03 -1.91943845e+02] [-1.34853934e-02 -7.50289625e-05 -9.99909065e-01 -1.80821790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.306559995 meters 0.011535664425886298 Centerline is valid? [True, True] Translation: X:22.24, Y:-192.00, Z:-1.81 [[-6.26758379e-01 -7.79175406e-01 7.72148662e-03 2.22366891e+01] [-7.79115177e-01 6.26805938e-01 9.68801285e-03 -1.92003048e+02] [-1.23885350e-02 5.61158183e-05 -9.99923258e-01 -1.80925591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.33655999499996 meters 0.012262754963802894 Centerline is valid? [True, True] Translation: X:22.16, Y:-192.07, Z:-1.81 [[-5.69975518e-01 -8.21636622e-01 6.41641293e-03 2.21587707e+01] [-8.21582313e-01 5.70011622e-01 9.44738913e-03 -1.92069178e+02] [-1.14197508e-02 1.13169137e-04 -9.99934786e-01 -1.80970308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.366559995 meters 0.012262754963802894 Centerline is valid? [True, True] Translation: X:22.08, Y:-192.15, Z:-1.81 [[-5.05616277e-01 -8.62739796e-01 5.67674537e-03 2.20779470e+01] [-8.62682891e-01 5.05648131e-01 9.90949177e-03 -1.92145431e+02] [-1.14197486e-02 1.13169225e-04 -9.99934786e-01 -1.80970318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.39655999499996 meters 0.014792292467749131 Centerline is valid? [True, True] Translation: X:22.01, Y:-192.23, Z:-1.81 [[-4.48136553e-01 -8.93951392e-01 4.95363644e-03 2.20120689e+01] [-8.93890629e-01 4.48163864e-01 1.04256580e-02 -1.92229173e+02] [-1.15400724e-02 2.44109270e-04 -9.99933381e-01 -1.80997270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.42655999499993 meters 0.016472011207381017 Centerline is valid? [True, True] Translation: X:21.94, Y:-192.32, Z:-1.81 [[-3.83230502e-01 -9.23643260e-01 4.18460765e-03 2.19448599e+01] [-9.23579086e-01 3.83253223e-01 1.08921505e-02 -1.92323617e+02] [-1.16642257e-02 3.09388177e-04 -9.99931923e-01 -1.80961313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.45655999499996 meters 0.016472011207381017 Centerline is valid? [True, True] Translation: X:21.88, Y:-192.42, Z:-1.81 [[-3.11208195e-01 -9.50335903e-01 3.33620630e-03 2.18807556e+01] [-9.50270175e-01 3.11225923e-01 1.11812145e-02 -1.92424003e+02] [-1.16642235e-02 3.09388236e-04 -9.99931923e-01 -1.80961324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.48655999499994 meters 0.018850141362411605 Centerline is valid? [True, True] Translation: X:21.83, Y:-192.53, Z:-1.81 [[-2.42389223e-01 -9.70175718e-01 2.55746357e-03 2.18291303e+01] [-9.70103727e-01 2.42402409e-01 1.18250517e-02 -1.92528876e+02] [-1.20923133e-02 3.85260153e-04 -9.99926811e-01 -1.80858782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.51655999499997 meters 0.022128171317073116 Centerline is valid? [True, True] Translation: X:21.79, Y:-192.63, Z:-1.81 [[-1.76710256e-01 -9.84261586e-01 1.61757726e-03 2.17881955e+01] [-9.84190560e-01 1.76716954e-01 1.18347175e-02 -1.92634118e+02] [-1.19343111e-02 4.99311697e-04 -9.99928659e-01 -1.80934007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.54655999499994 meters 0.02092627008294983 Centerline is valid? [True, True] Translation: X:21.75, Y:-192.75, Z:-1.81 [[-1.04693279e-01 -9.94504335e-01 6.67467273e-04 2.17474907e+01] [-9.94439791e-01 1.04694097e-01 1.13423633e-02 -1.92747813e+02] [-1.13499093e-02 5.23713189e-04 -9.99935451e-01 -1.81086501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.57655999499997 meters 0.027364782211652092 Centerline is valid? [True, True] Translation: X:21.73, Y:-192.86, Z:-1.81 [[-3.41458537e-02 -9.99416843e-01 -1.84970667e-04 2.17259912e+01] [-9.99366597e-01 3.41422797e-02 1.00354099e-02 -1.92864413e+02] [-1.00232424e-02 5.27521146e-04 -9.99949627e-01 -1.81063088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.60655999499994 meters 0.029122811738525635 Centerline is valid? [True, True] Translation: X:21.71, Y:-192.99, Z:-1.81 [[ 4.07107903e-02 -9.99170545e-01 -9.23916164e-04 2.17062704e+01] [-9.99124232e-01 -4.07178124e-02 9.63476735e-03 -1.92986810e+02] [-9.66439559e-03 5.30868034e-04 -9.99953158e-01 -1.81073887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.63655999499997 meters 0.02596022765774134 Centerline is valid? [True, True] Translation: X:21.69, Y:-193.11, Z:-1.81 [[ 1.15811769e-01 -9.93270010e-01 -1.52361941e-03 2.16888458e+01] [-9.93231656e-01 -1.15820709e-01 8.74310850e-03 -1.93108246e+02] [-8.86073415e-03 5.00752162e-04 -9.99960618e-01 -1.81167829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.66655999499994 meters 0.031108682163807126 Centerline is valid? [True, True] Translation: X:21.69, Y:-193.23, Z:-1.81 [[ 1.91036693e-01 -9.81580785e-01 -2.03590908e-03 2.16916413e+01] [-9.81548426e-01 -1.91046955e-01 7.98430631e-03 -1.93230048e+02] [-8.22619589e-03 4.73047882e-04 -9.99966052e-01 -1.81098731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.696559995 meters 0.0228291493800201 Centerline is valid? [True, True] Translation: X:21.68, Y:-193.35, Z:-1.81 [[ 2.66937661e-01 -9.63711213e-01 -2.23221265e-03 2.16844359e+01] [-9.63688757e-01 -2.66946706e-01 6.59063657e-03 -1.93354480e+02] [-6.94735218e-03 3.91869121e-04 -9.99975790e-01 -1.81273990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.72655999499995 meters 0.02223488269456177 Centerline is valid? [True, True] Translation: X:21.70, Y:-193.48, Z:-1.81 [[ 3.45048470e-01 -9.38582415e-01 -2.14566198e-03 2.16973309e+01] [-9.38568995e-01 -3.45055028e-01 5.02694819e-03 -1.93478990e+02] [-5.45857663e-03 2.79311027e-04 -9.99985063e-01 -1.81301340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.756559995 meters 0.02218336553301401 Centerline is valid? [True, True] Translation: X:21.72, Y:-193.60, Z:-1.81 [[ 4.19551332e-01 -9.07729162e-01 -2.10895821e-03 2.17209626e+01] [-9.07720156e-01 -4.19556577e-01 4.04927884e-03 -1.93600734e+02] [-4.56047578e-03 2.15463545e-04 -9.99989578e-01 -1.81331420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.78655999499995 meters 0.0205869333373259 Centerline is valid? [True, True] Translation: X:21.75, Y:-193.72, Z:-1.81 [[ 4.92040012e-01 -8.70569647e-01 -2.26213836e-03 2.17489795e+01] [-8.70562080e-01 -4.92045178e-01 3.63413822e-03 -1.93717340e+02] [-4.27684470e-03 1.81190464e-04 -9.99990838e-01 -1.81307941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.816559995 meters 0.01849145967314363 Centerline is valid? [True, True] Translation: X:21.78, Y:-193.83, Z:-1.81 [[ 5.61754089e-01 -8.27300631e-01 -2.45164321e-03 2.17847545e+01] [-8.27293903e-01 -5.61759418e-01 3.33983064e-03 -1.93832329e+02] [-4.14027765e-03 1.52065963e-04 -9.99991417e-01 -1.81286643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.84655999499995 meters 0.015233550150393974 Centerline is valid? [True, True] Translation: X:21.82, Y:-193.95, Z:-1.81 [[ 6.33320982e-01 -7.73884504e-01 -2.70338858e-03 2.18247577e+01] [-7.73878103e-01 -6.33326744e-01 3.14903868e-03 -1.93947820e+02] [-4.14912052e-03 9.77409619e-05 -9.99991388e-01 -1.81081937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.876559995 meters 0.011449371596246207 Centerline is valid? [True, True] Translation: X:21.87, Y:-194.06, Z:-1.81 [[ 7.00386869e-01 -7.13757301e-01 -2.95806829e-03 2.18688611e+01] [-7.13751172e-01 -7.00393114e-01 2.95819474e-03 -1.94058594e+02] [-4.18324375e-03 3.94439575e-05 -9.99991249e-01 -1.81009617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.90655999499995 meters 0.010671315540119077 Centerline is valid? [True, True] Translation: X:21.92, Y:-194.16, Z:-1.81 [[ 7.60586174e-01 -6.49232395e-01 -2.44309327e-03 2.19193830e+01] [-6.49229003e-01 -7.60590098e-01 2.09866617e-03 -1.94160790e+02] [-3.22071461e-03 -1.00894704e-05 -9.99994813e-01 -1.81006533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.936559995 meters 0.011234573439759503 Centerline is valid? [True, True] Translation: X:21.92, Y:-194.17, Z:-1.81 [[ 8.12060489e-01 -5.83568423e-01 -2.37867683e-03 2.19167305e+01] [-5.83565831e-01 -8.12063972e-01 1.73962328e-03 -1.94173626e+02] [-2.94682697e-03 -2.45648165e-05 -9.99995658e-01 -1.80954743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.96655999499995 meters 0.012385598646248087 Centerline is valid? [True, True] Translation: X:21.91, Y:-194.19, Z:-1.81 [[ 8.58980605e-01 -5.12002204e-01 -2.46218189e-03 2.19130497e+01] [-5.11999949e-01 -8.58984133e-01 1.52050506e-03 -1.94192243e+02] [-2.89347712e-03 -4.54473611e-05 -9.99995813e-01 -1.80897900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.996559995 meters 0.01319798815429692 Centerline is valid? [True, True] Translation: X:21.91, Y:-194.21, Z:-1.81 [[ 8.98015859e-01 -4.39959956e-01 -1.65941372e-03 2.19132812e+01] [-4.39959130e-01 -8.98017392e-01 8.53351630e-04 -1.94209361e+02] [-1.86562293e-03 -3.62490802e-05 -9.99998259e-01 -1.80865464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.02655999499996 meters 0.01319798815429692 Centerline is valid? [True, True] Translation: X:21.92, Y:-194.22, Z:-1.81 [[ 9.29657049e-01 -3.68422053e-01 -1.72103557e-03 2.19165182e+01] [-3.68421349e-01 -9.29658642e-01 7.21034824e-04 -1.94220865e+02] [-1.86562072e-03 -3.62488601e-05 -9.99998259e-01 -1.80865466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.056559995 meters 0.013999879470987315 Centerline is valid? [True, True] Translation: X:21.92, Y:-194.23, Z:-1.81 [[ 9.55970179e-01 -2.93461991e-01 -1.03768375e-03 2.19194716e+01] [-2.93461792e-01 -9.55970742e-01 3.42125900e-04 -1.94233460e+02] [-1.09239625e-03 -2.25416240e-05 -9.99999403e-01 -1.80865202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.08655999499996 meters 0.014205985704488005 Centerline is valid? [True, True] Translation: X:21.93, Y:-194.24, Z:-1.81 [[ 9.76056611e-01 -2.17515175e-01 -8.00743296e-04 2.19251577e+01] [-2.17515088e-01 -9.76056939e-01 1.96148087e-04 -1.94243018e+02] [-8.24236237e-04 -1.72778892e-05 -9.99999660e-01 -1.80850922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.116559995 meters 0.014279861540697143 Centerline is valid? [True, True] Translation: X:21.93, Y:-194.25, Z:-1.81 [[ 9.90043452e-01 -1.40759109e-01 -9.14358637e-04 2.19327891e+01] [-1.40759031e-01 -9.90043874e-01 1.49444843e-04 -1.94250680e+02] [-9.26290890e-04 -1.92526524e-05 -9.99999571e-01 -1.80803144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.14655999499996 meters 0.013859414433606615 Centerline is valid? [True, True] Translation: X:21.94, Y:-194.26, Z:-1.81 [[ 9.97913555e-01 -6.45176765e-02 -2.45095357e-03 2.19408511e+01] [-6.45173659e-02 -9.97916563e-01 2.05688061e-04 -1.94256043e+02] [-2.45911767e-03 -4.71298362e-05 -9.99996975e-01 -1.80657417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.17655999499993 meters 0.012963204473115554 Centerline is valid? [True, True] Translation: X:21.95, Y:-194.26, Z:-1.81 [[ 9.99926155e-01 1.16263976e-02 -3.53721868e-03 2.19455430e+01] [ 1.16265376e-02 -9.99932409e-01 1.90306797e-05 -1.94260656e+02] [-3.53675833e-03 -6.01548803e-05 -9.99993744e-01 -1.80537386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.20655999499996 meters 0.012199650029020962 Centerline is valid? [True, True] Translation: X:21.95, Y:-194.27, Z:-1.81 [[ 9.96017828e-01 8.90694281e-02 -3.88881054e-03 2.19503773e+01] [ 8.90689966e-02 -9.96025418e-01 -2.84339621e-04 -1.94268425e+02] [-3.89868011e-03 -6.31651214e-05 -9.99992398e-01 -1.80552009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.23655999499994 meters 0.012056459151148292 Centerline is valid? [True, True] Translation: X:21.96, Y:-194.28, Z:-1.81 [[ 9.86162593e-01 1.65732211e-01 -4.02171085e-03 2.19555359e+01] [ 1.65731088e-01 -9.86170792e-01 -6.13195830e-04 -1.94276424e+02] [-4.06772008e-03 -6.18117259e-05 -9.99991725e-01 -1.80510403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.26655999499997 meters 0.011849137776731312 Centerline is valid? [True, True] Translation: X:21.96, Y:-194.28, Z:-1.80 [[ 9.70518847e-01 2.40957407e-01 -5.71803289e-03 2.19607496e+01] [ 2.40953712e-01 -9.70535688e-01 -1.33679296e-03 -1.94281699e+02] [-5.87166515e-03 -8.03984944e-05 -9.99982758e-01 -1.80316797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.29655999499994 meters 0.011849137776731312 Centerline is valid? [True, True] Translation: X:21.97, Y:-194.29, Z:-1.80 [[ 9.48680627e-01 3.16186267e-01 -5.59585025e-03 2.19665608e+01] [ 3.16181265e-01 -9.48697127e-01 -1.78026689e-03 -1.94287986e+02] [-5.87166300e-03 -8.03982987e-05 -9.99982758e-01 -1.80316799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.32655999499997 meters 0.01139662408472846 Centerline is valid? [True, True] Translation: X:21.97, Y:-194.29, Z:-1.80 [[ 9.21994052e-01 3.87145405e-01 -6.73826240e-03 2.19722713e+01] [ 3.87135705e-01 -9.22018671e-01 -2.74172170e-03 -1.94291825e+02] [-7.27424870e-03 -8.07708637e-05 -9.99973539e-01 -1.80135816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.35655999499994 meters 0.01095225264828371 Centerline is valid? [True, True] Translation: X:21.98, Y:-194.30, Z:-1.80 [[ 8.89638821e-01 4.56616450e-01 -6.64730875e-03 2.19801820e+01] [ 4.56604289e-01 -8.89663652e-01 -3.33322833e-03 -1.94297716e+02] [-7.43587586e-03 -6.98203603e-05 -9.99972351e-01 -1.80148732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.38655999499997 meters 0.011003721200101206 Centerline is valid? [True, True] Translation: X:21.99, Y:-194.30, Z:-1.80 [[ 8.52154871e-01 5.23253828e-01 -6.12434951e-03 2.19869602e+01] [ 5.23240767e-01 -8.52176877e-01 -3.69735406e-03 -1.94304005e+02] [-7.15368370e-03 -5.37910652e-05 -9.99974411e-01 -1.80080591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.41655999499994 meters 0.01057536988314858 Centerline is valid? [True, True] Translation: X:21.99, Y:-194.31, Z:-1.80 [[ 8.10056059e-01 5.86325793e-01 -5.58976618e-03 2.19932048e+01] [ 5.86312124e-01 -8.10075344e-01 -4.00375233e-03 -1.94307126e+02] [-6.87563502e-03 -3.40838429e-05 -9.99976362e-01 -1.80190374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.446559995 meters 0.010475440654306856 Centerline is valid? [True, True] Translation: X:22.00, Y:-194.31, Z:-1.80 [[ 7.65605630e-01 6.43294709e-01 -4.46509030e-03 2.19964567e+01] [ 6.43283718e-01 -7.65618650e-01 -3.76038434e-03 -1.94306888e+02] [-5.83759176e-03 6.65153556e-06 -9.99982961e-01 -1.80333894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.47655999499995 meters 0.01068275381413936 Centerline is valid? [True, True] Translation: X:22.00, Y:-194.31, Z:-1.80 [[ 7.15567228e-01 6.98533849e-01 -3.74215145e-03 2.20012442e+01] [ 6.98524108e-01 -7.15577012e-01 -3.68915523e-03 -1.94307322e+02] [-5.25479736e-03 2.58555761e-05 -9.99986193e-01 -1.80398633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.506559995 meters 0.011117439058260821 Centerline is valid? [True, True] Translation: X:22.01, Y:-194.31, Z:-1.80 [[ 6.61436624e-01 7.49993273e-01 -3.41814806e-03 2.20060806e+01] [ 7.49982906e-01 -6.61445454e-01 -3.94361277e-03 -1.94308711e+02] [-5.21860155e-03 4.48973005e-05 -9.99986382e-01 -1.80414758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.53655999499995 meters 0.01269452000568784 Centerline is valid? [True, True] Translation: X:22.01, Y:-194.31, Z:-1.80 [[ 6.06931314e-01 7.94748347e-01 -3.07349357e-03 2.20077042e+01] [ 7.94737437e-01 -6.06939090e-01 -4.16510795e-03 -1.94307622e+02] [-5.17563604e-03 8.53140325e-05 -9.99986603e-01 -1.80448094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.566559995 meters 0.014102795182837803 Centerline is valid? [True, True] Translation: X:22.01, Y:-194.31, Z:-1.80 [[ 5.46044295e-01 8.37752348e-01 -2.57535932e-03 2.20103753e+01] [ 8.37742163e-01 -5.46050359e-01 -4.13210313e-03 -1.94309815e+02] [-4.86795498e-03 9.88242539e-05 -9.99988147e-01 -1.80496645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.59655999499995 meters 0.015137292999796374 Centerline is valid? [True, True] Translation: X:22.02, Y:-194.31, Z:-1.81 [[ 4.85289857e-01 8.74351329e-01 -1.87309900e-03 2.20151546e+01] [ 8.74343895e-01 -4.85293459e-01 -3.60727160e-03 -1.94312259e+02] [-4.06302541e-03 1.12839647e-04 -9.99991740e-01 -1.80638980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.626559995 meters 0.016711690654229623 Centerline is valid? [True, True] Translation: X:22.02, Y:-194.32, Z:-1.81 [[ 4.18340714e-01 9.08288758e-01 -1.60598701e-03 2.20201342e+01] [ 9.08280849e-01 -4.18343777e-01 -3.79251247e-03 -1.94316094e+02] [-4.11655111e-03 1.27875124e-04 -9.99991519e-01 -1.80646934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.65655999499995 meters 0.018533950103759116 Centerline is valid? [True, True] Translation: X:22.02, Y:-194.32, Z:-1.81 [[ 3.48403766e-01 9.37343573e-01 -1.35700589e-03 2.20237649e+01] [ 9.37334768e-01 -3.48406379e-01 -4.06555535e-03 -1.94319286e+02] [-4.28361169e-03 1.44485990e-04 -9.99990815e-01 -1.80642304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.686559995 meters 0.018219176038029215 Centerline is valid? [True, True] Translation: X:22.03, Y:-194.32, Z:-1.81 [[ 2.77791417e-01 9.60640606e-01 -1.24691238e-03 2.20330747e+01] [ 9.60627543e-01 -2.77794147e-01 -5.01354026e-03 -1.94322746e+02] [-5.16259532e-03 1.94900074e-04 -9.99986655e-01 -1.80641444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.71655999499995 meters 0.017950357849618476 Centerline is valid? [True, True] Translation: X:22.04, Y:-194.33, Z:-1.81 [[ 2.02729351e-01 9.79234422e-01 -8.70128381e-04 2.20449024e+01] [ 9.79220560e-01 -2.02731114e-01 -5.21434333e-03 -1.94326141e+02] [-5.28246658e-03 2.05052836e-04 -9.99986027e-01 -1.80638908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.746559995 meters 0.01864952604523971 Centerline is valid? [True, True] Translation: X:22.05, Y:-194.33, Z:-1.81 [[ 1.26849666e-01 9.91921825e-01 -5.04894097e-04 2.20543692e+01] [ 9.91904955e-01 -1.26850455e-01 -5.78987273e-03 -1.94328003e+02] [-5.80714717e-03 2.33636464e-04 -9.99983111e-01 -1.80716027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.77655999499996 meters 0.020962881468753535 Centerline is valid? [True, True] Translation: X:22.06, Y:-194.33, Z:-1.81 [[ 4.87454989e-02 9.98811230e-01 -5.85646830e-05 2.20615900e+01] [ 9.98788024e-01 -4.87447659e-02 -6.81399210e-03 -1.94330625e+02] [-6.80874655e-03 2.73657740e-04 -9.99976783e-01 -1.80630821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.806559995 meters 0.01868041198475408 Centerline is valid? [True, True] Translation: X:22.08, Y:-194.33, Z:-1.81 [[-3.02768438e-02 9.99541396e-01 5.57720063e-04 2.20762943e+01] [ 9.99509657e-01 3.02803304e-02 -7.97163133e-03 -1.94331593e+02] [-7.98486345e-03 3.16090753e-04 -9.99968071e-01 -1.80642067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.83655999499996 meters 0.018632115050744243 Centerline is valid? [True, True] Translation: X:22.09, Y:-194.33, Z:-1.81 [[-1.10496953e-01 9.93875616e-01 1.29745042e-03 2.20884620e+01] [ 9.93837707e-01 1.10504079e-01 -8.68685886e-03 -1.94332472e+02] [-8.77703076e-03 3.29583711e-04 -9.99961427e-01 -1.80608330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.866559995 meters 0.0184244476174304 Centerline is valid? [True, True] Translation: X:22.10, Y:-194.33, Z:-1.81 [[-1.89068563e-01 9.81962070e-01 1.88997003e-03 2.20995978e+01] [ 9.81927934e-01 1.89077760e-01 -8.19346435e-03 -1.94331912e+02] [-8.40302251e-03 3.06687838e-04 -9.99964647e-01 -1.80658367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.89655999499996 meters 0.017949210347679552 Centerline is valid? [True, True] Translation: X:22.11, Y:-194.33, Z:-1.81 [[-2.67711103e-01 9.63496250e-01 2.39600313e-03 2.21109355e+01] [ 9.63466251e-01 2.67721687e-01 -7.60802275e-03 -1.94329334e+02] [-7.97176340e-03 2.71715992e-04 -9.99968188e-01 -1.80805533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.92655999499993 meters 0.017949210347679552 Centerline is valid? [True, True] Translation: X:22.12, Y:-194.33, Z:-1.81 [[-3.42355660e-01 9.39565695e-01 2.98456767e-03 2.21195952e+01] [ 9.39536616e-01 3.42368562e-01 -7.39696997e-03 -1.94327623e+02] [-7.97176137e-03 2.71716073e-04 -9.99968188e-01 -1.80805535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.95655999499996 meters 0.01800936280974548 Centerline is valid? [True, True] Translation: X:22.13, Y:-194.33, Z:-1.81 [[-4.16585118e-01 9.09090823e-01 3.27331498e-03 2.21302808e+01] [ 9.09067076e-01 4.16597911e-01 -6.57511162e-03 -1.94325139e+02] [-7.34102982e-03 2.36569228e-04 -9.99973026e-01 -1.80902717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.98655999499994 meters 0.01619980530853672 Centerline is valid? [True, True] Translation: X:22.14, Y:-194.32, Z:-1.81 [[-4.86862503e-01 8.73471562e-01 3.51181367e-03 2.21431343e+01] [ 8.73451967e-01 4.86875120e-01 -5.85472420e-03 -1.94317972e+02] [-6.82374980e-03 2.16954880e-04 -9.99976694e-01 -1.81049714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.01655999499997 meters 0.016198413864006257 Centerline is valid? [True, True] Translation: X:22.15, Y:-194.31, Z:-1.81 [[-5.54832173e-01 8.31951690e-01 4.20067470e-03 2.21544538e+01] [ 8.31930797e-01 5.54848030e-01 -5.90013841e-03 -1.94310156e+02] [-7.23936620e-03 2.21084037e-04 -9.99973771e-01 -1.81060561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.04655999499994 meters 0.016522476123717527 Centerline is valid? [True, True] Translation: X:22.16, Y:-194.30, Z:-1.81 [[-6.18718779e-01 7.85596134e-01 5.07802333e-03 2.21631326e+01] [ 7.85572759e-01 6.18739572e-01 -6.06482780e-03 -1.94303871e+02] [-7.90647926e-03 2.36733944e-04 -9.99968715e-01 -1.80999724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.07655999499997 meters 0.016315488736835266 Centerline is valid? [True, True] Translation: X:22.17, Y:-194.30, Z:-1.81 [[-6.78757031e-01 7.34341250e-01 5.64104884e-03 2.21706335e+01] [ 7.34318744e-01 6.78780430e-01 -5.75410555e-03 -1.94295955e+02] [-8.05451062e-03 2.36688299e-04 -9.99967534e-01 -1.80947122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.10655999499994 meters 0.01625558632166891 Centerline is valid? [True, True] Translation: X:22.18, Y:-194.29, Z:-1.81 [[-7.34431141e-01 6.78653104e-01 6.39247471e-03 2.21771949e+01] [ 6.78630274e-01 7.34458919e-01 -5.57208961e-03 -1.94287351e+02] [-8.47652598e-03 2.45810732e-04 -9.99964043e-01 -1.80944548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.13655999499997 meters 0.015425653883022793 Centerline is valid? [True, True] Translation: X:22.19, Y:-194.26, Z:-1.81 [[-7.80850920e-01 6.24677151e-01 7.09201828e-03 2.21949016e+01] [ 6.24654309e-01 7.80883085e-01 -5.34805116e-03 -1.94261081e+02] [-8.87884248e-03 2.54029116e-04 -9.99960550e-01 -1.80979358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.16655999499994 meters 0.015009478059777075 Centerline is valid? [True, True] Translation: X:22.21, Y:-194.23, Z:-1.81 [[-8.23561174e-01 5.67173013e-01 7.85907329e-03 2.22107487e+01] [ 5.67150183e-01 8.23598631e-01 -5.09554921e-03 -1.94231660e+02] [-9.36278000e-03 2.60778365e-04 -9.99956134e-01 -1.80948111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.196559995 meters 0.015024425756116405 Centerline is valid? [True, True] Translation: X:22.23, Y:-194.21, Z:-1.81 [[-8.61776989e-01 5.07203717e-01 9.20929833e-03 2.22265887e+01] [ 5.07178334e-01 8.61826145e-01 -5.08263038e-03 -1.94205386e+02] [-1.05147431e-02 2.90662674e-04 -9.99944676e-01 -1.80912011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.22655999499995 meters 0.015298415803690391 Centerline is valid? [True, True] Translation: X:22.24, Y:-194.18, Z:-1.81 [[-8.95524358e-01 4.44894828e-01 1.02331377e-02 2.22373792e+01] [ 4.44869736e-01 8.95582768e-01 -4.73531372e-03 -1.94175276e+02] [-1.12713384e-02 3.11824505e-04 -9.99936428e-01 -1.80828136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.256559995 meters 0.01564658374326285 Centerline is valid? [True, True] Translation: X:22.49, Y:-193.63, Z:-2.78 [[-8.90164206e-01 -4.55528307e-01 1.00820590e-02 2.24927296e+01] [ 4.55495191e-01 -8.90221247e-01 -5.50113887e-03 -1.93627358e+02] [ 1.14811876e-02 -3.04587527e-04 9.99934043e-01 -2.78269771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.28655999499995 meters 0.01564658374326285 Centerline is valid? [True, True] Translation: X:22.20, Y:-194.16, Z:-1.81 [[-8.97116308e-01 4.41670976e-01 1.04440880e-02 2.21960941e+01] [ 4.41645160e-01 8.97177044e-01 -4.78595585e-03 -1.94155664e+02] [-1.14840138e-02 3.19021889e-04 -9.99934006e-01 -1.80777159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.316559995 meters 0.016441929742125216 Centerline is valid? [True, True] Translation: X:22.21, Y:-194.13, Z:-1.81 [[-9.25632122e-01 3.78263110e-01 1.10541775e-02 2.22060420e+01] [ 3.78240563e-01 9.25698061e-01 -4.14439652e-03 -1.94126119e+02] [-1.18005030e-02 3.44951782e-04 -9.99930312e-01 -1.80714269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.34655999499995 meters 0.018008209034574212 Centerline is valid? [True, True] Translation: X:22.21, Y:-194.10, Z:-1.81 [[-9.49255855e-01 3.14302978e-01 1.12676078e-02 2.22115208e+01] [ 3.14285518e-01 9.49322651e-01 -3.33419918e-03 -1.94096995e+02] [-1.17445440e-02 3.76237857e-04 -9.99930960e-01 -1.80705821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.376559995 meters 0.018008209034574212 Centerline is valid? [True, True] Translation: X:22.38, Y:-193.53, Z:-2.78 [[-9.48219057e-01 -3.17426050e-01 1.10146586e-02 2.23808986e+01] [ 3.17400002e-01 -9.48282954e-01 -4.08385754e-03 -1.93526097e+02] [ 1.17413358e-02 -3.76338891e-04 9.99930997e-01 -2.78340672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.40655999499995 meters 0.018863996352662355 Centerline is valid? [True, True] Translation: X:22.17, Y:-194.08, Z:-1.81 [[-9.49940773e-01 3.12218750e-01 1.14882617e-02 2.21660892e+01] [ 3.12201028e-01 9.50010152e-01 -3.35092210e-03 -1.94084367e+02] [-1.19601859e-02 4.03469579e-04 -9.99928393e-01 -1.80721298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.436559995 meters 0.018907971536528012 Centerline is valid? [True, True] Translation: X:22.34, Y:-193.52, Z:-2.78 [[-9.51211424e-01 -3.08340980e-01 1.10755247e-02 2.23356341e+01] [ 3.08315055e-01 -9.51275814e-01 -4.01913287e-03 -1.93516943e+02] [ 1.17751422e-02 -4.08294086e-04 9.99930587e-01 -2.78194289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.46655999499995 meters 0.022126097668241494 Centerline is valid? [True, True] Translation: X:22.12, Y:-194.07, Z:-1.81 [[-9.49349306e-01 3.14027765e-01 1.10660827e-02 2.21224338e+01] [ 3.14011974e-01 9.49413691e-01 -3.18172392e-03 -1.94072172e+02] [-1.15054401e-02 4.54315082e-04 -9.99933707e-01 -1.80775046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.496559995 meters 0.019931613262857136 Centerline is valid? [True, True] Translation: X:22.13, Y:-194.04, Z:-1.81 [[-9.68769349e-01 2.47704128e-01 1.13408170e-02 2.21253421e+01] [ 2.47692922e-01 9.68835608e-01 -2.40452310e-03 -1.94038731e+02] [-1.15829976e-02 4.79611825e-04 -9.99932800e-01 -1.80926800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.52655999499996 meters 0.020982935736682192 Centerline is valid? [True, True] Translation: X:22.25, Y:-193.47, Z:-2.78 [[-9.72833718e-01 -2.31235403e-01 1.11689840e-02 2.22474680e+01] [ 2.31214480e-01 -9.72897712e-01 -3.14730614e-03 -1.93466936e+02] [ 1.15940476e-02 -4.79374709e-04 9.99932672e-01 -2.78112522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.556559995 meters 0.021321392573192474 Centerline is valid? [True, True] Translation: X:22.08, Y:-194.03, Z:-1.81 [[-9.68976359e-01 2.46904888e-01 1.10811645e-02 2.20784178e+01] [ 2.46894657e-01 9.69039588e-01 -2.30346964e-03 -1.94025399e+02] [-1.13068250e-02 5.03872691e-04 -9.99935949e-01 -1.80955401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.58655999499996 meters 0.022230792059980894 Centerline is valid? [True, True] Translation: X:22.19, Y:-193.46, Z:-2.78 [[-9.74102338e-01 -2.25843866e-01 1.09171510e-02 2.21936022e+01] [ 2.25823860e-01 -9.74163382e-01 -3.04782692e-03 -1.93460834e+02] [ 1.13234217e-02 -5.03542148e-04 9.99935761e-01 -2.78075608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.616559995 meters 0.019470206427450343 Centerline is valid? [True, True] Translation: X:22.03, Y:-194.01, Z:-1.81 [[-9.70285787e-01 2.41715205e-01 1.09202496e-02 2.20279514e+01] [ 2.41705439e-01 9.70347118e-01 -2.22524028e-03 -1.94006174e+02] [-1.11343072e-02 4.80364722e-04 -9.99937896e-01 -1.81068809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.64655999499996 meters 0.018917182392954226 Centerline is valid? [True, True] Translation: X:22.02, Y:-193.97, Z:-1.81 [[-9.85211413e-01 1.70984867e-01 1.10746220e-02 2.20242640e+01] [ 1.70979386e-01 9.85273544e-01 -1.44681715e-03 -1.93973001e+02] [-1.11589159e-02 4.68111303e-04 -9.99937628e-01 -1.81074369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.67655999499993 meters 0.018601193475923785 Centerline is valid? [True, True] Translation: X:22.02, Y:-193.94, Z:-1.81 [[-9.95137047e-01 9.78990961e-02 1.08639598e-02 2.20180869e+01] [ 9.78979370e-02 9.95196254e-01 -6.39709504e-04 -1.93937905e+02] [-1.08743991e-02 4.26960625e-04 -9.99940781e-01 -1.81085153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.70655999499996 meters 0.021424024458219643 Centerline is valid? [True, True] Translation: X:22.05, Y:-193.40, Z:-2.78 [[-9.95954619e-01 -8.91589822e-02 1.11836290e-02 2.20454456e+01] [ 8.91486673e-02 -9.96017321e-01 -1.41846718e-03 -1.93399874e+02] [ 1.12655573e-02 -4.15723310e-04 9.99936455e-01 -2.78122297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.73655999499994 meters 0.018165048499495913 Centerline is valid? [True, True] Translation: X:21.95, Y:-193.93, Z:-1.81 [[-9.95846453e-01 9.03306878e-02 1.14109213e-02 2.19509419e+01] [ 9.03294588e-02 9.95911743e-01 -6.24097873e-04 -1.93926441e+02] [-1.14206457e-02 4.09236690e-04 -9.99934699e-01 -1.81024521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.76655999499997 meters 0.017366597173497648 Centerline is valid? [True, True] Translation: X:21.98, Y:-193.41, Z:-2.78 [[-9.96102888e-01 -8.73950342e-02 1.18804638e-02 2.19793739e+01] [ 8.73841151e-02 -9.96173657e-01 -1.43609435e-03 -1.93406609e+02] [ 1.19605126e-02 -3.92333909e-04 9.99928394e-01 -2.78011744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.79655999499994 meters 0.01717479534636089 Centerline is valid? [True, True] Translation: X:21.89, Y:-193.92, Z:-1.81 [[-9.96452536e-01 8.32941315e-02 1.20179547e-02 2.18944017e+01] [ 8.32928661e-02 9.96524927e-01 -6.06646383e-04 -1.93918049e+02] [-1.20267215e-02 3.96515561e-04 -9.99927598e-01 -1.81034153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.82655999499997 meters 0.01717479534636089 Centerline is valid? [True, True] Translation: X:21.92, Y:-193.41, Z:-2.78 [[-9.96331083e-01 -8.47460773e-02 1.19362994e-02 2.19163593e+01] [ 8.47352171e-02 -9.96402501e-01 -1.41357144e-03 -1.93405994e+02] [ 1.20131532e-02 -3.96960246e-04 9.99927761e-01 -2.78012254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.85655999499994 meters 0.014844385743685634 Centerline is valid? [True, True] Translation: X:21.83, Y:-193.91, Z:-1.81 [[-9.97069148e-01 7.55424809e-02 1.21015716e-02 2.18329897e+01] [ 7.55412372e-02 9.97142521e-01 -5.60494166e-04 -1.93907292e+02] [-1.21093327e-02 3.55316249e-04 -9.99926616e-01 -1.81112431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.88655999499997 meters 0.014733881810652254 Centerline is valid? [True, True] Translation: X:21.82, Y:-193.88, Z:-1.81 [[-9.99924691e-01 2.36135555e-03 1.20431058e-02 2.18194144e+01] [ 2.36514270e-03 9.99997158e-01 3.00233460e-04 -1.93876159e+02] [-1.20423626e-02 3.28694513e-04 -9.99927434e-01 -1.81078120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.91655999499994 meters 0.013724110610215706 Centerline is valid? [True, True] Translation: X:21.80, Y:-193.39, Z:-2.78 [[-9.99763002e-01 -1.86527445e-02 1.12256485e-02 2.18002961e+01] [ 1.86474919e-02 -9.99825957e-01 -5.72410340e-04 -1.93390888e+02] [ 1.12343717e-02 -3.62944491e-04 9.99936827e-01 -2.77885516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.946559995 meters 0.013617485901843482 Centerline is valid? [True, True] Translation: X:21.75, Y:-193.87, Z:-1.81 [[-9.99889452e-01 -8.91553771e-03 1.18994890e-02 2.17513870e+01] [-8.91201284e-03 9.99960226e-01 3.49214607e-04 -1.93869177e+02] [-1.19021291e-02 2.43127603e-04 -9.99929138e-01 -1.81035524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.97655999499995 meters 0.013254397777587114 Centerline is valid? [True, True] Translation: X:21.74, Y:-193.84, Z:-1.81 [[-9.96600045e-01 -8.14248487e-02 1.25834938e-02 2.17351951e+01] [-8.14152944e-02 9.96679455e-01 1.27052784e-03 -1.93839600e+02] [-1.26451623e-02 2.41719247e-04 -9.99920018e-01 -1.80995958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.006559995 meters 0.012711711143205792 Centerline is valid? [True, True] Translation: X:21.68, Y:-193.38, Z:-2.78 [[-9.98695255e-01 4.93054429e-02 1.32951459e-02 2.16805169e+01] [-4.93038533e-02 -9.98783725e-01 4.47504930e-04 -1.93378114e+02] [ 1.33010397e-02 -2.08580870e-04 9.99911516e-01 -2.78111166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.03655999499995 meters 0.012711711143205792 Centerline is valid? [True, True] Translation: X:21.67, Y:-193.84, Z:-1.81 [[-9.95940528e-01 -8.90360731e-02 1.32303798e-02 2.16654000e+01] [-8.90253610e-02 9.96028379e-01 1.39758244e-03 -1.93842671e+02] [-1.33022690e-02 2.14069663e-04 -9.99911498e-01 -1.80936097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.066559995 meters 0.012906460007892707 Centerline is valid? [True, True] Translation: X:21.64, Y:-193.82, Z:-1.81 [[-9.86900780e-01 -1.60796483e-01 1.30897179e-02 2.16439488e+01] [-1.60779640e-01 9.86987564e-01 2.33598394e-03 -1.93816070e+02] [-1.32950068e-02 2.00824238e-04 -9.99911597e-01 -1.80885542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.09655999499995 meters 0.01210472892038168 Centerline is valid? [True, True] Translation: X:21.61, Y:-193.79, Z:-1.81 [[-9.72664783e-01 -2.31866772e-01 1.26893861e-02 2.16144029e+01] [-2.31844539e-01 9.72747534e-01 3.21626779e-03 -1.93790776e+02] [-1.30893147e-02 1.86385524e-04 -9.99914314e-01 -1.81024922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.126559995 meters 0.01241858695219415 Centerline is valid? [True, True] Translation: X:21.58, Y:-193.77, Z:-1.81 [[-9.53216045e-01 -3.02039766e-01 1.22943372e-02 2.15800369e+01] [-3.02012288e-01 9.53295311e-01 4.07778658e-03 -1.93770486e+02] [-1.29517877e-02 1.73970670e-04 -9.99916107e-01 -1.80977952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.15655999499995 meters 0.012115923035825898 Centerline is valid? [True, True] Translation: X:21.53, Y:-193.76, Z:-1.81 [[-9.28714819e-01 -3.70602950e-01 1.19263714e-02 2.15329469e+01] [-3.70570084e-01 9.28791379e-01 4.93833874e-03 -1.93755870e+02] [-1.29072738e-02 1.66751924e-04 -9.99916684e-01 -1.81016036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.186559995 meters 0.011757963656160978 Centerline is valid? [True, True] Translation: X:21.47, Y:-193.75, Z:-1.81 [[-8.98880582e-01 -4.38040638e-01 1.15800823e-02 2.14731479e+01] [-4.38002046e-01 8.98955157e-01 5.81665402e-03 -1.93749488e+02] [-1.29579055e-02 1.56377615e-04 -9.99916031e-01 -1.81120151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.21655999499995 meters 0.011739523899417214 Centerline is valid? [True, True] Translation: X:21.40, Y:-193.76, Z:-1.81 [[-8.64211178e-01 -5.03009782e-01 1.09635052e-02 2.14006941e+01] [-5.02967041e-01 8.64280704e-01 6.55899224e-03 -1.93756634e+02] [-1.27747832e-02 1.54072656e-04 -9.99918387e-01 -1.81173973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.246559995 meters 0.011838588254091864 Centerline is valid? [True, True] Translation: X:21.33, Y:-193.77, Z:-1.81 [[-8.24934122e-01 -5.65147979e-01 9.56326974e-03 2.13294206e+01] [-5.65107981e-01 8.24989540e-01 6.72523515e-03 -1.93768327e+02] [-1.16903506e-02 1.43595906e-04 -9.99931655e-01 -1.81275839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.27655999499996 meters 0.011714237677925097 Centerline is valid? [True, True] Translation: X:21.25, Y:-193.79, Z:-1.81 [[-7.81078747e-01 -6.24373601e-01 8.57887909e-03 2.12539082e+01] [-6.24333980e-01 7.81125846e-01 7.03527772e-03 -1.93789417e+02] [-1.10938259e-02 1.39020183e-04 -9.99938452e-01 -1.81335430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.306559995 meters 0.01191707852762526 Centerline is valid? [True, True] Translation: X:21.18, Y:-193.82, Z:-1.81 [[-7.32809827e-01 -6.80386816e-01 7.97113434e-03 2.11761817e+01] [-6.80344448e-01 7.32853165e-01 7.59411430e-03 -1.93819969e+02] [-1.10086063e-02 1.41924591e-04 -9.99939393e-01 -1.81334234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.33655999499996 meters 0.01224299242975251 Centerline is valid? [True, True] Translation: X:21.10, Y:-193.86, Z:-1.81 [[-6.80395382e-01 -7.32806446e-01 7.53902234e-03 2.10984894e+01] [-7.32759005e-01 6.80437131e-01 8.33973378e-03 -1.93859417e+02] [-1.12412414e-02 1.50029836e-04 -9.99936804e-01 -1.81273086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.366559995 meters 0.012690428493165172 Centerline is valid? [True, True] Translation: X:21.02, Y:-193.91, Z:-1.81 [[-6.24443099e-01 -7.81032609e-01 7.67333251e-03 2.10208069e+01] [-7.80970096e-01 6.24490218e-01 9.88320134e-03 -1.93908913e+02] [-1.25110236e-02 1.78853654e-04 -9.99921718e-01 -1.81155131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.39655999499996 meters 0.012938066915276807 Centerline is valid? [True, True] Translation: X:20.94, Y:-193.97, Z:-1.81 [[-5.64515243e-01 -8.25393285e-01 6.96169113e-03 2.09441125e+01] [-8.25326436e-01 5.64558137e-01 1.05063778e-02 -1.93968805e+02] [-1.26021730e-02 1.85342669e-04 -9.99920572e-01 -1.81145885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.42655999499993 meters 0.012512999092520119 Centerline is valid? [True, True] Translation: X:20.87, Y:-194.03, Z:-1.81 [[-5.01162734e-01 -8.65333045e-01 5.88516335e-03 2.08717699e+01] [-8.65269103e-01 5.01197255e-01 1.05209766e-02 -1.94032378e+02] [-1.20537764e-02 1.80471387e-04 -9.99927334e-01 -1.81315490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.45655999499996 meters 0.012850720986667829 Centerline is valid? [True, True] Translation: X:20.80, Y:-194.11, Z:-1.81 [[-4.35137712e-01 -9.00352256e-01 4.58114534e-03 2.08027139e+01] [-9.00298224e-01 4.35161794e-01 9.86510449e-03 -1.94106980e+02] [-1.08756085e-02 1.68281979e-04 -9.99940845e-01 -1.81420107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.48655999499994 meters 0.012734257533822606 Centerline is valid? [True, True] Translation: X:20.74, Y:-194.19, Z:-1.81 [[-3.65886351e-01 -9.30651674e-01 3.82632615e-03 2.07384567e+01] [-9.30595956e-01 3.65906320e-01 1.01848320e-02 -1.94186475e+02] [-1.08786079e-02 1.65727382e-04 -9.99940813e-01 -1.81443498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.51655999499997 meters 0.012759851726231891 Centerline is valid? [True, True] Translation: X:20.68, Y:-194.27, Z:-1.81 [[-2.94353247e-01 -9.55691838e-01 3.04594135e-03 2.06794227e+01] [-9.55634818e-01 2.94368961e-01 1.04407118e-02 -1.94273902e+02] [-1.08747336e-02 1.62449801e-04 -9.99940855e-01 -1.81426974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.54655999499994 meters 0.012586066532121748 Centerline is valid? [True, True] Translation: X:20.63, Y:-194.37, Z:-1.81 [[-2.19881330e-01 -9.75524009e-01 2.26040816e-03 2.06264630e+01] [-9.75465388e-01 2.19892900e-01 1.06953388e-02 -1.94367593e+02] [-1.09306075e-02 1.46755406e-04 -9.99940248e-01 -1.81346408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.57655999499997 meters 0.012386023985646243 Centerline is valid? [True, True] Translation: X:20.58, Y:-194.47, Z:-1.81 [[-1.44340291e-01 -9.89527136e-01 1.38804456e-03 2.05801402e+01] [-9.89472496e-01 1.44346908e-01 1.03994919e-02 -1.94467649e+02] [-1.04909394e-02 1.27633763e-04 -9.99944960e-01 -1.81352712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.60655999499994 meters 0.011978235041282084 Centerline is valid? [True, True] Translation: X:20.54, Y:-194.57, Z:-1.81 [[-6.73604990e-02 -9.97728526e-01 5.93788292e-04 2.05413612e+01] [-9.97674377e-01 6.73630298e-02 1.03952074e-02 -1.94566954e+02] [-1.04115944e-02 1.07818996e-04 -9.99945792e-01 -1.81346148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.63655999499997 meters 0.011317238789372996 Centerline is valid? [True, True] Translation: X:20.51, Y:-194.67, Z:-1.81 [[ 1.27416425e-02 -9.99918802e-01 -1.99917502e-04 2.05080891e+01] [-9.99861086e-01 -1.27430550e-02 1.07435465e-02 -1.94673119e+02] [-1.07452217e-02 6.29993026e-05 -9.99942266e-01 -1.81269346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.66655999499994 meters 0.011008820185599245 Centerline is valid? [True, True] Translation: X:20.48, Y:-194.78, Z:-1.81 [[ 9.06743130e-02 -9.95880114e-01 -9.83728742e-04 2.04838190e+01] [-9.95825763e-01 -9.06796418e-02 1.04043965e-02 -1.94780247e+02] [-1.04507357e-02 3.62109238e-05 -9.99945389e-01 -1.81254600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.696559995 meters 0.010680609904714037 Centerline is valid? [True, True] Translation: X:20.47, Y:-194.89, Z:-1.81 [[ 1.68107551e-01 -9.85767098e-01 -1.75515699e-03 2.04678652e+01] [-9.85714001e-01 -1.68116713e-01 1.02312572e-02 -1.94889961e+02] [-1.03807079e-02 1.01312319e-05 -9.99946119e-01 -1.81365823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.72655999499995 meters 0.01102350090461502 Centerline is valid? [True, True] Translation: X:20.46, Y:-195.00, Z:-1.81 [[ 2.46855930e-01 -9.69049097e-01 -2.44879820e-03 2.04601934e+01] [-9.68999799e-01 -2.46868072e-01 9.77466343e-03 -1.95002437e+02] [-1.00766589e-02 -4.00486661e-05 -9.99949228e-01 -1.81219008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.756559995 meters 0.010936731428755122 Centerline is valid? [True, True] Translation: X:20.46, Y:-195.11, Z:-1.81 [[ 3.21307332e-01 -9.46969877e-01 -3.10661825e-03 2.04629463e+01] [-9.46923808e-01 -3.21322345e-01 9.34094612e-03 -1.95110765e+02] [-9.84382045e-03 -5.95836913e-05 -9.99951547e-01 -1.81396623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.78655999499995 meters 0.0114595171022222 Centerline is valid? [True, True] Translation: X:20.47, Y:-195.21, Z:-1.81 [[ 3.95532636e-01 -9.18444507e-01 -3.69070144e-03 2.04711800e+01] [-9.18402227e-01 -3.95549842e-01 8.81311313e-03 -1.95213775e+02] [-9.55421172e-03 -9.63254394e-05 -9.99954353e-01 -1.81490877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.816559995 meters 0.011709104256862165 Centerline is valid? [True, True] Translation: X:20.49, Y:-195.32, Z:-1.82 [[ 4.65013314e-01 -8.85293640e-01 -4.21757835e-03 2.04879327e+01] [-8.85255094e-01 -4.65032428e-01 8.26193650e-03 -1.95316599e+02] [-9.27555054e-03 -1.08277758e-04 -9.99956975e-01 -1.81519542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.84655999499995 meters 0.012462950327030813 Centerline is valid? [True, True] Translation: X:20.51, Y:-195.42, Z:-1.82 [[ 5.32591191e-01 -8.46359789e-01 -4.66172318e-03 2.05120249e+01] [-8.46325228e-01 -5.32611576e-01 7.64960443e-03 -1.95417485e+02] [-8.95720532e-03 -1.28777993e-04 -9.99959875e-01 -1.81529086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.876559995 meters 0.01286775083182099 Centerline is valid? [True, True] Translation: X:20.54, Y:-195.51, Z:-1.82 [[ 5.95927092e-01 -8.03020803e-01 -5.33772151e-03 2.05435909e+01] [-8.02986380e-01 -5.95950979e-01 7.43668379e-03 -1.95513508e+02] [-9.15283215e-03 -1.45603670e-04 -9.99958101e-01 -1.81523720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.90655999499995 meters 0.012745141287516113 Centerline is valid? [True, True] Translation: X:20.58, Y:-195.60, Z:-1.82 [[ 6.55051738e-01 -7.55560433e-01 -5.97100954e-03 2.05805616e+01] [-7.55526880e-01 -6.55078933e-01 7.12214215e-03 -1.95603883e+02] [-9.29269137e-03 -1.54113379e-04 -9.99956810e-01 -1.81522831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.936559995 meters 0.012595533808590903 Centerline is valid? [True, True] Translation: X:20.62, Y:-195.69, Z:-1.82 [[ 7.10020104e-01 -7.04151780e-01 -6.45927759e-03 2.06217613e+01] [-7.04120633e-01 -7.10049467e-01 6.62480242e-03 -1.95687834e+02] [-9.25127303e-03 -1.55632277e-04 -9.99957194e-01 -1.81554917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.96655999499995 meters 0.012595533808590903 Centerline is valid? [True, True] Translation: X:20.67, Y:-195.77, Z:-1.82 [[ 7.60738621e-01 -6.49021284e-01 -6.93708783e-03 2.06665401e+01] [-6.48992423e-01 -7.60770234e-01 6.12266732e-03 -1.95768713e+02] [-9.25127134e-03 -1.55632053e-04 -9.99957194e-01 -1.81554924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.996559995 meters 0.01304354466641057 Centerline is valid? [True, True] Translation: X:20.67, Y:-195.78, Z:-1.82 [[ 8.09403420e-01 -5.87205288e-01 -7.48688545e-03 2.06713999e+01] [-5.87178312e-01 -8.09438029e-01 5.63088757e-03 -1.95782904e+02] [-9.36665676e-03 -1.61522900e-04 -9.99956119e-01 -1.81513233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.02655999499996 meters 0.013273043991487096 Centerline is valid? [True, True] Translation: X:20.68, Y:-195.79, Z:-1.82 [[ 8.53032068e-01 -5.21786598e-01 -8.66240908e-03 2.06805495e+01] [-5.21757531e-01 -8.53076030e-01 5.51048774e-03 -1.95793586e+02] [-1.02649922e-02 -1.80945580e-04 -9.99947297e-01 -1.81520550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.056559995 meters 0.013219615149781528 Centerline is valid? [True, True] Translation: X:20.69, Y:-195.81, Z:-1.81 [[ 8.91357715e-01 -4.53206197e-01 -9.25025726e-03 2.06892794e+01] [-4.53179597e-01 -8.91405692e-01 4.91380169e-03 -1.95805998e+02] [-1.04726974e-02 -1.87927194e-04 -9.99945142e-01 -1.81482721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.08655999499996 meters 0.013227882535419597 Centerline is valid? [True, True] Translation: X:20.70, Y:-195.82, Z:-1.81 [[ 9.24216290e-01 -3.81736524e-01 -1.00734851e-02 2.06989077e+01] [-3.81711460e-01 -9.24271164e-01 4.37905410e-03 -1.95818175e+02] [-1.09822767e-02 -2.02028448e-04 -9.99939673e-01 -1.81461113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.116559995 meters 0.013921859175171693 Centerline is valid? [True, True] Translation: X:20.71, Y:-195.83, Z:-1.81 [[ 9.51654860e-01 -3.06988385e-01 -1.05432192e-02 2.07081413e+01] [-3.06966967e-01 -9.51713236e-01 3.63295865e-03 -1.95827516e+02] [-1.11493974e-02 -2.20902721e-04 -9.99937819e-01 -1.81399160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.14655999499996 meters 0.013526336433979167 Centerline is valid? [True, True] Translation: X:20.72, Y:-195.84, Z:-1.81 [[ 9.72917562e-01 -2.30912253e-01 -1.05332180e-02 2.07188135e+01] [-2.30896227e-01 -9.72974553e-01 2.72962863e-03 -1.95837761e+02] [-1.08788578e-02 -2.23623328e-04 -9.99940799e-01 -1.81429534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.17655999499993 meters 0.014668909740739398 Centerline is valid? [True, True] Translation: X:20.73, Y:-195.85, Z:-1.81 [[ 9.88124298e-01 -1.53256183e-01 -1.10866337e-02 2.07289352e+01] [-1.53243788e-01 -9.88186462e-01 1.96401732e-03 -1.95848733e+02] [-1.12566591e-02 -2.41735499e-04 -9.99936613e-01 -1.81362184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.20655999499996 meters 0.014577434755911986 Centerline is valid? [True, True] Translation: X:20.74, Y:-195.85, Z:-1.81 [[ 9.97182309e-01 -7.41449647e-02 -1.14002931e-02 2.07409306e+01] [-7.41371145e-02 -9.97247440e-01 1.11024913e-03 -1.95853279e+02] [-1.14512325e-02 -2.61935958e-04 -9.99934398e-01 -1.81316885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.23655999499994 meters 0.014531125304639517 Centerline is valid? [True, True] Translation: X:20.75, Y:-195.86, Z:-1.81 [[ 9.99918488e-01 4.77075806e-03 -1.18429994e-02 2.07492423e+01] [ 4.77371475e-03 -9.99988581e-01 2.21401003e-04 -1.95860047e+02] [-1.18418079e-02 -2.77918057e-04 -9.99929845e-01 -1.81305166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.26655999499997 meters 0.014531125304639517 Centerline is valid? [True, True] Translation: X:20.76, Y:-195.87, Z:-1.81 [[ 9.96473445e-01 8.30714638e-02 -1.18239619e-02 2.07576883e+01] [ 8.30689220e-02 -9.96543554e-01 -7.06778383e-04 -1.95868466e+02] [-1.18418061e-02 -2.77917878e-04 -9.99929845e-01 -1.81305167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.29655999499994 meters 0.014803571892920347 Centerline is valid? [True, True] Translation: X:20.77, Y:-195.87, Z:-1.81 [[ 9.86766365e-01 1.61706931e-01 -1.19586240e-02 2.07669849e+01] [ 1.61698658e-01 -9.86838782e-01 -1.66190852e-03 -1.95871480e+02] [-1.20699761e-02 -2.93778029e-04 -9.99927112e-01 -1.81289087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.32655999499997 meters 0.015341949424170954 Centerline is valid? [True, True] Translation: X:20.77, Y:-195.88, Z:-1.81 [[ 9.71005317e-01 2.38771201e-01 -1.17041576e-02 2.07748763e+01] [ 2.38757509e-01 -9.71075809e-01 -2.57396558e-03 -1.95875487e+02] [-1.19802132e-02 -2.95121260e-04 -9.99928191e-01 -1.81269833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.35655999499994 meters 0.015281400954943191 Centerline is valid? [True, True] Translation: X:20.78, Y:-195.88, Z:-1.81 [[ 9.49265979e-01 3.14249410e-01 -1.18915760e-02 2.07844551e+01] [ 3.14228807e-01 -9.49340410e-01 -3.61158298e-03 -1.95877633e+02] [-1.24240914e-02 -3.08322880e-04 -9.99922771e-01 -1.81277611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.38655999499997 meters 0.015469173072939242 Centerline is valid? [True, True] Translation: X:20.79, Y:-195.88, Z:-1.81 [[ 9.21761782e-01 3.87572586e-01 -1.19460311e-02 2.07920361e+01] [ 3.87544487e-01 -9.21839134e-01 -4.67768341e-03 -1.95878961e+02] [-1.28252608e-02 -3.17908687e-04 -9.99917702e-01 -1.81258671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.41655999499994 meters 0.015644055729829656 Centerline is valid? [True, True] Translation: X:20.80, Y:-195.88, Z:-1.81 [[ 8.88717166e-01 4.58308445e-01 -1.16261365e-02 2.07991225e+01] [ 4.58273869e-01 -8.88793153e-01 -5.63851303e-03 -1.95879385e+02] [-1.29174086e-02 -3.16911208e-04 -9.99916517e-01 -1.81242962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.446559995 meters 0.015767733355781126 Centerline is valid? [True, True] Translation: X:20.80, Y:-195.88, Z:-1.81 [[ 8.50410950e-01 5.26001722e-01 -1.11087408e-02 2.08041548e+01] [ 5.25961547e-01 -8.50483447e-01 -6.50828293e-03 -1.95875241e+02] [-1.28711682e-02 -3.08055409e-04 -9.99917116e-01 -1.81268200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.47655999499995 meters 0.015061406358037252 Centerline is valid? [True, True] Translation: X:20.81, Y:-195.87, Z:-1.81 [[ 8.06997605e-01 5.90464463e-01 -1.03239603e-02 2.08113576e+01] [ 5.90420761e-01 -8.07063586e-01 -7.18981227e-03 -1.95872974e+02] [-1.25774210e-02 -2.93319206e-04 -9.99920858e-01 -1.81384928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.506559995 meters 0.014182469291392512 Centerline is valid? [True, True] Translation: X:20.82, Y:-195.87, Z:-1.81 [[ 7.58855210e-01 6.51192369e-01 -9.34171999e-03 2.08196837e+01] [ 6.51147396e-01 -7.58912659e-01 -7.65794941e-03 -1.95872247e+02] [-1.20763478e-02 -2.71561834e-04 -9.99927041e-01 -1.81482635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.53655999499995 meters 0.014282877311921223 Centerline is valid? [True, True] Translation: X:20.83, Y:-195.87, Z:-1.81 [[ 7.06146336e-01 7.08013770e-01 -8.59386895e-03 2.08272080e+01] [ 7.07965749e-01 -7.06198581e-01 -8.25003266e-03 -1.95872331e+02] [-1.19101148e-02 -2.58434535e-04 -9.99929039e-01 -1.81471242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.566559995 meters 0.013527098177076346 Centerline is valid? [True, True] Translation: X:20.83, Y:-195.87, Z:-1.82 [[ 6.50241141e-01 7.59687459e-01 -7.83734309e-03 2.08319133e+01] [ 7.59636487e-01 -6.50288330e-01 -8.80316499e-03 -1.95868465e+02] [-1.17841868e-02 -2.29351726e-04 -9.99930538e-01 -1.81507592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.59655999499995 meters 0.013398006824879793 Centerline is valid? [True, True] Translation: X:20.84, Y:-195.87, Z:-1.81 [[ 5.89713645e-01 8.07579714e-01 -7.26797286e-03 2.08378653e+01] [ 8.07522923e-01 -5.89758389e-01 -9.57974982e-03 -1.95867215e+02] [-1.20227596e-02 -2.19745505e-04 -9.99927700e-01 -1.81494435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.626559995 meters 0.012709200272179276 Centerline is valid? [True, True] Translation: X:20.84, Y:-195.86, Z:-1.81 [[ 5.26810233e-01 8.49952607e-01 -7.17941089e-03 2.08397812e+01] [ 8.49879049e-01 -5.26859110e-01 -1.11839013e-02 -1.95862740e+02] [-1.32883241e-02 -2.09837238e-04 -9.99911684e-01 -1.81474845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.65655999499995 meters 0.012425724221845989 Centerline is valid? [True, True] Translation: X:20.84, Y:-195.86, Z:-1.81 [[ 4.59876424e-01 8.87959334e-01 -6.47273471e-03 2.08448127e+01] [ 8.87877333e-01 -4.59921931e-01 -1.20689208e-02 -1.95861549e+02] [-1.36936635e-02 -1.96782278e-04 -9.99906218e-01 -1.81453734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.686559995 meters 0.012215706693074032 Centerline is valid? [True, True] Translation: X:20.85, Y:-195.86, Z:-1.81 [[ 3.89945554e-01 9.20821064e-01 -5.57065250e-03 2.08504888e+01] [ 9.20733735e-01 -3.89985299e-01 -1.26829040e-02 -1.95859997e+02] [-1.38511577e-02 -1.83445669e-04 -9.99904051e-01 -1.81427761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.71655999499995 meters 0.012403376855949045 Centerline is valid? [True, True] Translation: X:20.86, Y:-195.86, Z:-1.81 [[ 3.17302659e-01 9.48313193e-01 -4.59461605e-03 2.08555905e+01] [ 9.48221647e-01 -3.17335875e-01 -1.31776577e-02 -1.95859877e+02] [-1.39545832e-02 -1.75408556e-04 -9.99902615e-01 -1.81363349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.746559995 meters 0.011939522626425423 Centerline is valid? [True, True] Translation: X:20.86, Y:-195.86, Z:-1.81 [[ 2.42528165e-01 9.70137964e-01 -3.52424400e-03 2.08615651e+01] [ 9.70045368e-01 -2.42553712e-01 -1.34045400e-02 -1.95858805e+02] [-1.38590716e-02 -1.67698083e-04 -9.99903944e-01 -1.81469044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.77655999499996 meters 0.0120105440745044 Centerline is valid? [True, True] Translation: X:20.86, Y:-195.86, Z:-1.81 [[ 1.65724165e-01 9.86169031e-01 -2.47853827e-03 2.08644891e+01] [ 9.86073554e-01 -1.65742611e-01 -1.37234679e-02 -1.95857730e+02] [-1.39444584e-02 -1.69710784e-04 -9.99902757e-01 -1.81472620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.806559995 meters 0.011694531840156761 Centerline is valid? [True, True] Translation: X:20.87, Y:-195.86, Z:-1.82 [[ 8.78336439e-02 9.96134160e-01 -1.40917973e-03 2.08726807e+01] [ 9.96035662e-01 -8.78447768e-02 -1.40090800e-02 -1.95857040e+02] [-1.40787122e-02 -1.73124726e-04 -9.99900875e-01 -1.81556152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.83655999499996 meters 0.012187530490294482 Centerline is valid? [True, True] Translation: X:20.88, Y:-195.86, Z:-1.81 [[ 9.19560857e-03 9.99957673e-01 -3.05528185e-04 2.08820011e+01] [ 9.99859705e-01 -9.19898468e-03 -1.39982040e-02 -1.95857251e+02] [-1.40004221e-02 -1.76763316e-04 -9.99901974e-01 -1.81469178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.866559995 meters 0.012242059878220007 Centerline is valid? [True, True] Translation: X:20.89, Y:-195.86, Z:-1.81 [[-6.96870491e-02 9.97568613e-01 7.60128846e-04 2.08874030e+01] [ 9.97478293e-01 6.96909691e-02 -1.34247245e-02 -1.95855902e+02] [-1.34450580e-02 -1.77317414e-04 -9.99909595e-01 -1.81488359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.89655999499996 meters 0.012597240053494555 Centerline is valid? [True, True] Translation: X:20.89, Y:-195.85, Z:-1.81 [[-1.49076271e-01 9.88824028e-01 1.81841358e-03 2.08901261e+01] [ 9.88733318e-01 1.49087228e-01 -1.33949103e-02 -1.95854307e+02] [-1.35163114e-02 -1.98937175e-04 -9.99908631e-01 -1.81376339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.92655999499993 meters 0.012549719237336717 Centerline is valid? [True, True] Translation: X:20.90, Y:-195.85, Z:-1.81 [[-2.26979014e-01 9.73895515e-01 2.83796569e-03 2.08963085e+01] [ 9.73807407e-01 2.26996657e-01 -1.31016012e-02 -1.95852937e+02] [-1.34037994e-02 -2.10156514e-04 -9.99910143e-01 -1.81444810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.95655999499996 meters 0.012981020582057445 Centerline is valid? [True, True] Translation: X:20.90, Y:-195.85, Z:-1.81 [[-3.04455650e-01 9.52520286e-01 3.44409683e-03 2.09000829e+01] [ 9.52451262e-01 3.04475057e-01 -1.14688297e-02 -1.95851570e+02] [-1.19729345e-02 -2.11415633e-04 -9.99928300e-01 -1.81486381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.98655999499994 meters 0.013516244245727033 Centerline is valid? [True, True] Translation: X:20.91, Y:-195.85, Z:-1.82 [[-3.79132945e-01 9.25332712e-01 4.19309319e-03 2.09064658e+01] [ 9.25269637e-01 3.79156069e-01 -1.08061630e-02 -1.95850736e+02] [-1.15891328e-02 -2.17230576e-04 -9.99932820e-01 -1.81504789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.01655999499997 meters 0.013768262173645514 Centerline is valid? [True, True] Translation: X:20.91, Y:-195.85, Z:-1.82 [[-4.51511575e-01 8.92252240e-01 4.82070382e-03 2.09120236e+01] [ 8.92196042e-01 4.51537254e-01 -1.00165237e-02 -1.95849050e+02] [-1.11139931e-02 -2.21563523e-04 -9.99938213e-01 -1.81540792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.04655999499994 meters 0.01427136183136241 Centerline is valid? [True, True] Translation: X:20.92, Y:-195.85, Z:-1.82 [[-5.22014117e-01 8.52922636e-01 4.92326568e-03 2.09161687e+01] [ 8.52880699e-01 5.22037288e-01 -8.46067036e-03 -1.95847600e+02] [-9.78642552e-03 -2.17631088e-04 -9.99952088e-01 -1.81594214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.07655999499997 meters 0.01452256207988352 Centerline is valid? [True, True] Translation: X:20.92, Y:-195.84, Z:-1.82 [[-5.87976638e-01 8.08859558e-01 5.44878702e-03 2.09218921e+01] [ 8.08821278e-01 5.88001842e-01 -7.87229892e-03 -1.95844219e+02] [-9.57148103e-03 -2.21632965e-04 -9.99954168e-01 -1.81589580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.10655999499994 meters 0.014727584256019315 Centerline is valid? [True, True] Translation: X:20.93, Y:-195.84, Z:-1.82 [[-6.50203857e-01 7.59736179e-01 5.99025289e-03 2.09277936e+01] [ 7.59700663e-01 6.50231410e-01 -7.34959284e-03 -1.95840685e+02] [-9.47880217e-03 -2.27934516e-04 -9.99955049e-01 -1.81570462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.13655999499997 meters 0.014921817016754229 Centerline is valid? [True, True] Translation: X:20.93, Y:-195.84, Z:-1.82 [[-7.08203860e-01 7.05977144e-01 6.60037510e-03 2.09314042e+01] [ 7.05943329e-01 7.08234577e-01 -6.91372075e-03 -1.95838018e+02] [-9.55554270e-03 -2.36832948e-04 -9.99954317e-01 -1.81514855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.16655999499994 meters 0.015630300286857687 Centerline is valid? [True, True] Translation: X:20.94, Y:-195.83, Z:-1.81 [[-7.61494863e-01 6.48131921e-01 7.11244503e-03 2.09376923e+01] [ 6.48100686e-01 7.61528040e-01 -6.36745871e-03 -1.95834746e+02] [-9.54327957e-03 -2.39206590e-04 -9.99954433e-01 -1.81493989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.196559995 meters 0.014955092321832815 Centerline is valid? [True, True] Translation: X:20.95, Y:-195.82, Z:-1.82 [[-8.05235499e-01 5.92908192e-01 7.46108798e-03 2.09524420e+01] [ 5.92880034e-01 8.05270031e-01 -5.78304092e-03 -1.95815729e+02] [-9.43700288e-03 -2.33179748e-04 -9.99955443e-01 -1.81533225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.22655999499995 meters 0.015476993064810022 Centerline is valid? [True, True] Translation: X:20.97, Y:-195.80, Z:-1.81 [[-8.44747241e-01 5.35105983e-01 7.98038892e-03 2.09692814e+01] [ 5.35079518e-01 8.44784904e-01 -5.32679368e-03 -1.95795834e+02] [-9.59211126e-03 -2.29651601e-04 -9.99953968e-01 -1.81431734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.256559995 meters 0.014956662109022514 Centerline is valid? [True, True] Translation: X:20.99, Y:-195.78, Z:-1.81 [[-8.79603366e-01 4.75622138e-01 9.02779336e-03 2.09851829e+01] [ 4.75594402e-01 8.79649663e-01 -5.14152584e-03 -1.95780015e+02] [-1.03867189e-02 -2.28935454e-04 -9.99946030e-01 -1.81359886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.28655999499995 meters 0.013823705574030213 Centerline is valid? [True, True] Translation: X:20.99, Y:-195.76, Z:-1.81 [[-9.10473554e-01 4.13466279e-01 9.14020173e-03 2.09910948e+01] [ 4.13443134e-01 9.10519408e-01 -4.37979954e-03 -1.95756919e+02] [-1.01332305e-02 -2.08738002e-04 -9.99948636e-01 -1.81404771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.316559995 meters 0.014016110937207941 Centerline is valid? [True, True] Translation: X:21.00, Y:-195.73, Z:-1.81 [[-9.36971613e-01 3.49283107e-01 9.24707704e-03 2.10011566e+01] [ 3.49264082e-01 9.37017222e-01 -3.65052533e-03 -1.95733230e+02] [-9.93973727e-03 -1.90766728e-04 -9.99950581e-01 -1.81331171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.34655999499995 meters 0.013694775441612224 Centerline is valid? [True, True] Translation: X:21.02, Y:-195.72, Z:-1.81 [[-9.58456899e-01 2.85082355e-01 9.40344833e-03 2.10228980e+01] [ 2.85067023e-01 9.58503013e-01 -2.96077768e-03 -1.95715188e+02] [-9.85729903e-03 -1.57164774e-04 -9.99951403e-01 -1.81254246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.376559995 meters 0.013694775441612224 Centerline is valid? [True, True] Translation: X:21.03, Y:-195.69, Z:-1.81 [[-9.76253391e-01 2.16419397e-01 9.58967286e-03 2.10311612e+01] [ 2.16407372e-01 9.76300476e-01 -2.28674295e-03 -1.95688799e+02] [-9.85729771e-03 -1.57164651e-04 -9.99951403e-01 -1.81254247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.40655999499995 meters 0.012536885522987448 Centerline is valid? [True, True] Translation: X:21.04, Y:-195.66, Z:-1.81 [[-9.88903757e-01 1.48274585e-01 9.16556910e-03 2.10363117e+01] [ 1.48266973e-01 9.88946222e-01 -1.50825163e-03 -1.95663112e+02] [-9.28789031e-03 -1.32564516e-04 -9.99956858e-01 -1.81292753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.436559995 meters 0.012305406972535718 Centerline is valid? [True, True] Translation: X:21.04, Y:-195.63, Z:-1.81 [[-9.96866972e-01 7.85155427e-02 9.56814435e-03 2.10388591e+01] [ 7.85106791e-02 9.96912881e-01 -8.83440891e-04 -1.95634766e+02] [-9.60797019e-03 -1.29471535e-04 -9.99953834e-01 -1.81227050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.46655999499995 meters 0.012476667779855904 Centerline is valid? [True, True] Translation: X:21.04, Y:-195.61, Z:-1.81 [[-9.99919370e-01 7.90446427e-03 9.93843053e-03 2.10419275e+01] [ 7.90278887e-03 9.99968751e-01 -2.07839788e-04 -1.95605665e+02] [-9.93976282e-03 -1.29281712e-04 -9.99950591e-01 -1.81131617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.496559995 meters 0.012043117901688176 Centerline is valid? [True, True] Translation: X:21.04, Y:-195.58, Z:-1.81 [[-9.98014870e-01 -6.22420631e-02 9.60441123e-03 2.10353749e+01] [-6.22402910e-02 9.98061076e-01 4.83586108e-04 -1.95576486e+02] [-9.61588841e-03 -1.15155224e-04 -9.99953760e-01 -1.81109414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.52655999499996 meters 0.012141577898649891 Centerline is valid? [True, True] Translation: X:21.01, Y:-194.86, Z:-2.78 [[-9.99544586e-01 -2.88164523e-02 8.95730845e-03 2.10082199e+01] [ 2.88158665e-02 -9.99584718e-01 -1.94476840e-04 -1.94858324e+02] [ 8.95919277e-03 6.37243330e-05 9.99959864e-01 -2.77908558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.556559995 meters 0.012138796397022714 Centerline is valid? [True, True] Translation: X:20.95, Y:-195.58, Z:-1.81 [[-9.97679334e-01 -6.75266949e-02 8.72307482e-03 2.09467568e+01] [-6.75249795e-02 9.97717463e-01 4.91356528e-04 -1.95579741e+02] [-8.73634376e-03 -9.88091947e-05 -9.99961833e-01 -1.81198260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.58655999499996 meters 0.01178293728438676 Centerline is valid? [True, True] Translation: X:20.91, Y:-194.86, Z:-2.78 [[-9.99715450e-01 -2.22432603e-02 8.61719919e-03 2.09123969e+01] [ 2.22432061e-02 -9.99752584e-01 -1.02137929e-04 -1.94861491e+02] [ 8.61733904e-03 8.95652714e-05 9.99962866e-01 -2.77781909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.616559995 meters 0.01158207788341183 Centerline is valid? [True, True] Translation: X:20.85, Y:-195.59, Z:-1.81 [[-9.97357469e-01 -7.22249975e-02 7.85036581e-03 2.08532458e+01] [-7.22233734e-02 9.97388362e-01 4.90551101e-04 -1.95585358e+02] [-7.86529355e-03 -7.77250969e-05 -9.99969065e-01 -1.81266293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.64655999499996 meters 0.011468466944218679 Centerline is valid? [True, True] Translation: X:20.85, Y:-195.56, Z:-1.81 [[-9.89797323e-01 -1.42295100e-01 7.30511122e-03 2.08452877e+01] [-1.42291720e-01 9.89824277e-01 9.83047605e-04 -1.95558191e+02] [-7.37065929e-03 -6.64389544e-05 -9.99972834e-01 -1.81227245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.67655999499993 meters 0.01126968096032804 Centerline is valid? [True, True] Translation: X:20.83, Y:-195.53, Z:-1.81 [[-9.77425805e-01 -2.11171499e-01 6.73748132e-03 2.08286291e+01] [-2.11166843e-01 9.77449024e-01 1.40330220e-03 -1.95533017e+02] [-6.88188197e-03 -5.11088720e-05 -9.99976318e-01 -1.81195417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.70655999499996 meters 0.010894021899926084 Centerline is valid? [True, True] Translation: X:20.80, Y:-195.51, Z:-1.81 [[-9.60768051e-01 -2.77291966e-01 5.82385558e-03 2.07977861e+01] [-2.77287004e-01 9.60785702e-01 1.65889301e-03 -1.95513782e+02] [-6.05547487e-03 -2.10680592e-05 -9.99981665e-01 -1.81244546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.73655999499994 meters 0.010887793165812624 Centerline is valid? [True, True] Translation: X:20.74, Y:-195.50, Z:-1.81 [[-9.38592328e-01 -3.44988231e-01 5.24999713e-03 2.07428220e+01] [-3.44982880e-01 9.38607011e-01 1.92139265e-03 -1.95503763e+02] [-5.59054196e-03 -7.75472849e-06 -9.99984373e-01 -1.81359183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.76655999499997 meters 0.010865125465512925 Centerline is valid? [True, True] Translation: X:20.68, Y:-195.50, Z:-1.81 [[-9.11354954e-01 -4.11591192e-01 4.98376153e-03 2.06823315e+01] [-4.11585018e-01 9.11368581e-01 2.25446163e-03 -1.95499784e+02] [-5.46996023e-03 3.37319337e-06 -9.99985040e-01 -1.81444920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.79655999499994 meters 0.01088867017913814 Centerline is valid? [True, True] Translation: X:20.61, Y:-195.51, Z:-1.82 [[-8.78961652e-01 -4.76870167e-01 4.61064894e-03 2.06109679e+01] [-4.76863538e-01 8.78973745e-01 2.51439815e-03 -1.95505227e+02] [-5.25168082e-03 1.14091881e-05 -9.99986210e-01 -1.81539182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.82655999499997 meters 0.011022788027124697 Centerline is valid? [True, True] Translation: X:20.53, Y:-195.52, Z:-1.82 [[-8.41738714e-01 -5.39862550e-01 4.93600696e-03 2.05308979e+01] [-5.39853107e-01 8.41753186e-01 3.19309373e-03 -1.95521142e+02] [-5.87873131e-03 2.30319144e-05 -9.99982720e-01 -1.81543906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.85655999499994 meters 0.011028120932426068 Centerline is valid? [True, True] Translation: X:20.44, Y:-195.55, Z:-1.81 [[-7.99011554e-01 -6.01295450e-01 4.93137952e-03 2.04420196e+01] [-6.01283792e-01 7.99026771e-01 3.74432358e-03 -1.95549149e+02] [-6.19174899e-03 2.65992183e-05 -9.99980831e-01 -1.81476852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.88655999499997 meters 0.011052261489444137 Centerline is valid? [True, True] Translation: X:20.36, Y:-195.58, Z:-1.81 [[-7.51207429e-01 -6.60040709e-01 5.80188227e-03 2.03575416e+01] [-6.60020691e-01 7.51229833e-01 5.14055590e-03 -1.95581280e+02] [-7.75152320e-03 3.22614311e-05 -9.99969956e-01 -1.81295986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.91655999499994 meters 0.011052261489444137 Centerline is valid? [True, True] Translation: X:20.27, Y:-195.63, Z:-1.81 [[-6.99035602e-01 -7.15066510e-01 5.39568889e-03 2.02685511e+01] [-7.15044852e-01 6.99056425e-01 5.56541188e-03 -1.95627566e+02] [-7.75153064e-03 3.22614755e-05 -9.99969956e-01 -1.81295953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.946559995 meters 0.011102389540426532 Centerline is valid? [True, True] Translation: X:20.18, Y:-195.68, Z:-1.81 [[-6.42170593e-01 -7.66540219e-01 5.74642627e-03 2.01802345e+01] [-7.66509087e-01 6.42196303e-01 6.90859422e-03 -1.95682924e+02] [-8.98604903e-03 3.18081021e-05 -9.99959624e-01 -1.81095427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.97655999499995 meters 0.011085171795672269 Centerline is valid? [True, True] Translation: X:20.09, Y:-195.75, Z:-1.81 [[-5.81323655e-01 -8.13653531e-01 5.54437692e-03 2.00934917e+01] [-8.13616074e-01 5.81350094e-01 7.80719286e-03 -1.95749291e+02] [-9.57557408e-03 2.75117071e-05 -9.99954153e-01 -1.81065064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.006559995 meters 0.011098461502452944 Centerline is valid? [True, True] Translation: X:20.01, Y:-195.82, Z:-1.81 [[-5.16964507e-01 -8.55992008e-01 5.03786587e-03 2.00106883e+01] [-8.55950936e-01 5.16989053e-01 8.38532951e-03 -1.95824241e+02] [-9.78229655e-03 2.27517259e-05 -9.99952152e-01 -1.81048000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.03655999499995 meters 0.011071914777066254 Centerline is valid? [True, True] Translation: X:19.93, Y:-195.91, Z:-1.81 [[-4.48476805e-01 -8.93784694e-01 4.18052975e-03 1.99310199e+01] [-8.93745726e-01 4.48496289e-01 8.34605179e-03 -1.95908604e+02] [-9.33452542e-03 6.68005024e-06 -9.99956432e-01 -1.81040449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.066559995 meters 0.011022433626687048 Centerline is valid? [True, True] Translation: X:19.86, Y:-196.00, Z:-1.81 [[-3.77760936e-01 -9.25897086e-01 3.35575993e-03 1.98593844e+01] [-9.25860602e-01 3.77775840e-01 8.21955534e-03 -1.95996506e+02] [-8.87818736e-03 -1.93899420e-06 -9.99960588e-01 -1.81096346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.09655999499995 meters 0.011077144560021578 Centerline is valid? [True, True] Translation: X:19.79, Y:-196.10, Z:-1.81 [[-3.04535550e-01 -9.52497432e-01 2.59651581e-03 1.97916604e+01] [-9.52463103e-01 3.04546619e-01 8.08672335e-03 -1.96098765e+02] [-8.49334333e-03 -1.03907617e-05 -9.99963931e-01 -1.81153318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.126559995 meters 0.011128851624282699 Centerline is valid? [True, True] Translation: X:19.73, Y:-196.20, Z:-1.81 [[-2.28971978e-01 -9.73431257e-01 1.84994252e-03 1.97345827e+01] [-9.73400245e-01 2.28979450e-01 7.77014577e-03 -1.96198048e+02] [-7.98730158e-03 -2.15888571e-05 -9.99968101e-01 -1.81166600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.15655999499995 meters 0.011162308202762495 Centerline is valid? [True, True] Translation: X:19.68, Y:-196.31, Z:-1.81 [[-1.52898393e-01 -9.88241172e-01 1.21157864e-03 1.96840752e+01] [-9.88211394e-01 1.52903191e-01 7.67167158e-03 -1.96309331e+02] [-7.76671595e-03 -2.43095586e-05 -9.99969838e-01 -1.81169515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.186559995 meters 0.011162308202762495 Centerline is valid? [True, True] Translation: X:19.64, Y:-196.42, Z:-1.81 [[-7.63153073e-02 -9.97083544e-01 6.16977713e-04 1.96425322e+01] [-9.97053485e-01 7.63177974e-02 7.74221690e-03 -1.96422727e+02] [-7.76672344e-03 -2.43101170e-05 -9.99969838e-01 -1.81169478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.21655999499995 meters 0.01127129815768165 Centerline is valid? [True, True] Translation: X:19.61, Y:-196.54, Z:-1.81 [[ 1.32984847e-03 -9.99999116e-01 1.88047933e-05 1.96097117e+01] [-9.99967775e-01 -1.32965791e-03 7.91716970e-03 -1.96538489e+02] [-7.91713770e-03 -2.93328233e-05 -9.99968659e-01 -1.81137457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.246559995 meters 0.011330525689763971 Centerline is valid? [True, True] Translation: X:19.59, Y:-196.66, Z:-1.81 [[ 7.97479541e-02 -9.96814885e-01 -5.91168254e-04 1.95863274e+01] [-9.96783639e-01 -7.97501351e-02 7.89256066e-03 -1.96660624e+02] [-7.91456770e-03 -4.01487220e-05 -9.99968679e-01 -1.81170009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.27655999499996 meters 0.011330525689763971 Centerline is valid? [True, True] Translation: X:19.57, Y:-196.78, Z:-1.81 [[ 1.56307645e-01 -9.87707693e-01 -1.19749026e-03 1.95719963e+01] [-9.87676708e-01 -1.56312227e-01 7.82356238e-03 -1.96781112e+02] [-7.91457511e-03 -4.01493751e-05 -9.99968678e-01 -1.81169972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.306559995 meters 0.011569376631272658 Centerline is valid? [True, True] Translation: X:19.57, Y:-196.90, Z:-1.81 [[ 2.33464959e-01 -9.72363794e-01 -1.66258749e-03 1.95658401e+01] [-9.72337639e-01 -2.33470874e-01 7.13212218e-03 -1.96899402e+02] [-7.32318314e-03 -4.85042189e-05 -9.99973184e-01 -1.81168938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.33655999499996 meters 0.011685682716827968 Centerline is valid? [True, True] Translation: X:19.57, Y:-197.02, Z:-1.81 [[ 3.08365526e-01 -9.51265091e-01 -2.33008506e-03 1.95694986e+01] [-9.51236520e-01 -3.08374324e-01 7.37288043e-03 -1.97020256e+02] [-7.73210218e-03 -5.70801543e-05 -9.99970105e-01 -1.81184656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.366559995 meters 0.011852471609194103 Centerline is valid? [True, True] Translation: X:19.58, Y:-197.14, Z:-1.81 [[ 3.81419289e-01 -9.24397595e-01 -2.90045412e-03 1.95833635e+01] [-9.24369591e-01 -3.81430312e-01 7.19552777e-03 -1.97143331e+02] [-7.75784968e-03 -6.34215013e-05 -9.99969905e-01 -1.81139759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.39655999499996 meters 0.012344498268140637 Centerline is valid? [True, True] Translation: X:19.60, Y:-197.26, Z:-1.81 [[ 4.52452704e-01 -8.91780254e-01 -3.81167118e-03 1.96041317e+01] [-8.91747093e-01 -4.52468752e-01 7.69090161e-03 -1.97261468e+02] [-8.58325629e-03 -8.07225329e-05 -9.99963160e-01 -1.80979381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.42655999499993 meters 0.01232723002298788 Centerline is valid? [True, True] Translation: X:19.63, Y:-197.37, Z:-1.81 [[ 5.20155293e-01 -8.54059703e-01 -4.52718491e-03 1.96341003e+01] [-8.54025861e-01 -5.20174986e-01 7.60342932e-03 -1.97374967e+02] [-8.84871093e-03 -8.86310195e-05 -9.99960846e-01 -1.80986135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.45655999499996 meters 0.01242492442671042 Centerline is valid? [True, True] Translation: X:19.67, Y:-197.48, Z:-1.81 [[ 5.84436574e-01 -8.11423465e-01 -5.08449029e-03 1.96692826e+01] [-8.11391389e-01 -5.84458683e-01 7.21532799e-03 -1.97480483e+02] [-8.82636094e-03 -9.13899278e-05 -9.99961043e-01 -1.80951160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.48655999499994 meters 0.012387140695064693 Centerline is valid? [True, True] Translation: X:19.71, Y:-197.58, Z:-1.81 [[ 6.44925581e-01 -7.64223272e-01 -5.81255353e-03 1.97142007e+01] [-7.64190892e-01 -6.44951767e-01 7.03549626e-03 -1.97584331e+02] [-9.12550664e-03 -9.54710408e-05 -9.99958357e-01 -1.80961924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.51655999499997 meters 0.012248236848233687 Centerline is valid? [True, True] Translation: X:19.77, Y:-197.68, Z:-1.81 [[ 7.01199321e-01 -7.12935194e-01 -6.55146626e-03 1.97652625e+01] [-7.12902792e-01 -7.01229919e-01 6.79771578e-03 -1.97682327e+02] [-9.44041498e-03 -9.59950908e-05 -9.99955434e-01 -1.80916377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.54655999499994 meters 0.012385405654675545 Centerline is valid? [True, True] Translation: X:19.82, Y:-197.78, Z:-1.81 [[ 7.53318291e-01 -6.57613733e-01 -7.46531836e-03 1.98243661e+01] [-6.57580143e-01 -7.53355274e-01 6.64726749e-03 -1.97777531e+02] [-9.99537134e-03 -9.84630681e-05 -9.99950040e-01 -1.80876711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.57655999499997 meters 0.01221426039661447 Centerline is valid? [True, True] Translation: X:19.82, Y:-197.78, Z:-1.81 [[ 8.01803582e-01 -5.97539629e-01 -7.57676312e-03 1.98219291e+01] [-5.97511961e-01 -8.01839376e-01 5.75085622e-03 -1.97783529e+02] [-9.51171151e-03 -8.38505242e-05 -9.99954759e-01 -1.80783720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.60655999499994 meters 0.011937254904511918 Centerline is valid? [True, True] Translation: X:19.82, Y:-197.79, Z:-1.81 [[ 8.45849538e-01 -5.33359805e-01 -8.11646236e-03 1.98190772e+01] [-5.33334329e-01 -8.45888475e-01 5.21359645e-03 -1.97791673e+02] [-9.64634475e-03 -8.11301504e-05 -9.99953470e-01 -1.80841071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.63655999499997 meters 0.012059568442013158 Centerline is valid? [True, True] Translation: X:19.82, Y:-197.80, Z:-1.81 [[ 8.84696515e-01 -4.66087717e-01 -8.62067967e-03 1.98160790e+01] [-4.66064746e-01 -8.84738512e-01 4.62802475e-03 -1.97799747e+02] [-9.78411279e-03 -7.66024859e-05 -9.99952132e-01 -1.80737005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.66655999499994 meters 0.011944395393406115 Centerline is valid? [True, True] Translation: X:19.82, Y:-197.81, Z:-1.81 [[ 9.18077350e-01 -3.96289123e-01 -9.42923145e-03 1.98152136e+01] [-3.96267416e-01 -9.18125768e-01 4.14839817e-03 -1.97806434e+02] [-1.03011854e-02 -7.20532101e-05 -9.99946939e-01 -1.80722528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.696559995 meters 0.011689920900267882 Centerline is valid? [True, True] Translation: X:19.81, Y:-197.81, Z:-1.81 [[ 9.45541344e-01 -3.25326700e-01 -1.06820236e-02 1.98145885e+01] [-3.25305283e-01 -9.45601679e-01 3.73326991e-03 -1.97813328e+02] [-1.13154718e-02 -5.50423346e-05 -9.99935977e-01 -1.80681058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.72655999499995 meters 0.011667016891457794 Centerline is valid? [True, True] Translation: X:19.81, Y:-197.82, Z:-1.81 [[ 9.67717221e-01 -2.51786103e-01 -1.12755732e-02 1.98139363e+01] [-2.51768526e-01 -9.67782908e-01 2.97535563e-03 -1.97821747e+02] [-1.16614602e-02 -4.04684420e-05 -9.99932002e-01 -1.80692974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.756559995 meters 0.01165397695833941 Centerline is valid? [True, True] Translation: X:19.81, Y:-197.83, Z:-1.81 [[ 9.84218736e-01 -1.76593819e-01 -1.13182583e-02 1.98130093e+01] [-1.76581843e-01 -9.84283812e-01 2.05678930e-03 -1.97829313e+02] [-1.15035947e-02 -2.57316703e-05 -9.99933831e-01 -1.80696990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.78655999499995 meters 0.011622606724906753 Centerline is valid? [True, True] Translation: X:19.81, Y:-197.83, Z:-1.81 [[ 9.94773587e-01 -1.01553167e-01 -1.06049908e-02 1.98090867e+01] [-1.01547434e-01 -9.94830113e-01 1.07906985e-03 -1.97834638e+02] [-1.06597472e-02 3.47942161e-06 -9.99943183e-01 -1.80742060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.816559995 meters 0.011690661084399255 Centerline is valid? [True, True] Translation: X:19.81, Y:-197.84, Z:-1.81 [[ 9.99648516e-01 -2.46087628e-02 -9.86168881e-03 1.98057653e+01] [-2.46077225e-02 -9.99697158e-01 2.26829543e-04 -1.97838667e+02] [-9.86428427e-03 1.59238863e-05 -9.99951347e-01 -1.80793451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.84655999499995 meters 0.011598471999129173 Centerline is valid? [True, True] Translation: X:19.80, Y:-197.84, Z:-1.81 [[ 9.98649680e-01 5.13369241e-02 -7.95851126e-03 1.98036519e+01] [ 5.13350398e-02 -9.98681390e-01 -4.41004522e-04 -1.97844850e+02] [-7.97065691e-03 3.18585321e-05 -9.99968233e-01 -1.81020746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.876559995 meters 0.011598471999129173 Centerline is valid? [True, True] Translation: X:19.80, Y:-197.85, Z:-1.81 [[ 9.91566746e-01 1.29356038e-01 -7.89957541e-03 1.98018753e+01] [ 1.29351677e-01 -9.91598212e-01 -1.06264288e-03 -1.97852645e+02] [-7.97066412e-03 3.18580205e-05 -9.99968233e-01 -1.81020739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.90655999499995 meters 0.011616785427047112 Centerline is valid? [True, True] Translation: X:19.80, Y:-197.86, Z:-1.81 [[ 9.78705789e-01 2.05148949e-01 -6.99191595e-03 1.98011392e+01] [ 2.05143428e-01 -9.78730763e-01 -1.50553153e-03 -1.97860394e+02] [-7.15206145e-03 3.91268165e-05 -9.99974423e-01 -1.81083659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.936559995 meters 0.011826058433814941 Centerline is valid? [True, True] Translation: X:19.80, Y:-197.87, Z:-1.81 [[ 9.60319718e-01 2.78828681e-01 -6.37221406e-03 1.98003314e+01] [ 2.78822180e-01 -9.60340858e-01 -1.90470078e-03 -1.97866972e+02] [-6.65058272e-03 5.24070988e-05 -9.99977883e-01 -1.81095317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.96655999499995 meters 0.01205266963059327 Centerline is valid? [True, True] Translation: X:19.80, Y:-197.87, Z:-1.81 [[ 9.36033756e-01 3.51850893e-01 -6.46190619e-03 1.98009861e+01] [ 3.51842036e-01 -9.36056059e-01 -2.49740455e-03 -1.97874886e+02] [-6.92742046e-03 6.40847278e-05 -9.99976003e-01 -1.81104668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.996559995 meters 0.012246108070799783 Centerline is valid? [True, True] Translation: X:19.80, Y:-197.88, Z:-1.81 [[ 9.06114648e-01 4.22982474e-01 -6.48616589e-03 1.98018972e+01] [ 4.22971046e-01 -9.06137860e-01 -3.11025915e-03 -1.97882797e+02] [-7.19294559e-03 7.47910080e-05 -9.99974128e-01 -1.81062782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.02655999499996 meters 0.01252813042785791 Centerline is valid? [True, True] Translation: X:19.80, Y:-197.89, Z:-1.81 [[ 8.71081045e-01 4.91089609e-01 -6.98630102e-03 1.98035029e+01] [ 4.91072910e-01 -8.71109055e-01 -4.05106350e-03 -1.97890690e+02] [-8.07526527e-03 9.80214608e-05 -9.99967390e-01 -1.80973271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.056559995 meters 0.012763982236941866 Centerline is valid? [True, True] Translation: X:19.81, Y:-197.90, Z:-1.81 [[ 8.30312003e-01 5.57256497e-01 -6.86828655e-03 1.98057451e+01] [ 5.57236366e-01 -8.30340403e-01 -4.73794591e-03 -1.97898180e+02] [-8.34326696e-03 1.06714322e-04 -9.99965189e-01 -1.80962396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.08655999499996 meters 0.01258991574560031 Centerline is valid? [True, True] Translation: X:19.81, Y:-197.91, Z:-1.81 [[ 7.84439417e-01 6.20166687e-01 -6.93411366e-03 1.98099982e+01] [ 6.20141115e-01 -7.84470054e-01 -5.63304704e-03 -1.97908606e+02] [-8.93303264e-03 1.18655154e-04 -9.99960093e-01 -1.80977587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.116559995 meters 0.012730142983784366 Centerline is valid? [True, True] Translation: X:19.81, Y:-197.92, Z:-1.81 [[ 7.33562915e-01 6.79587196e-01 -6.83322011e-03 1.98137159e+01] [ 6.79556096e-01 -7.33594730e-01 -6.50275312e-03 -1.97917961e+02] [-9.43200202e-03 1.26622159e-04 -9.99955510e-01 -1.80923065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.14655999499996 meters 0.013110278911489361 Centerline is valid? [True, True] Translation: X:19.82, Y:-197.93, Z:-1.81 [[ 6.78088260e-01 7.34949626e-01 -6.73488597e-03 1.98169632e+01] [ 7.34911383e-01 -6.78121692e-01 -7.49869625e-03 -1.97926562e+02] [-1.00782363e-02 1.35233534e-04 -9.99949204e-01 -1.80854232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.17655999499993 meters 0.012786452861801814 Centerline is valid? [True, True] Translation: X:19.82, Y:-197.93, Z:-1.81 [[ 6.18346196e-01 7.85879028e-01 -6.49117031e-03 1.98228059e+01] [ 7.85833306e-01 -6.18380250e-01 -8.47827309e-03 -1.97934583e+02] [-1.06769085e-02 1.41530093e-04 -9.99942990e-01 -1.80864814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.20655999499996 meters 0.012819809543555504 Centerline is valid? [True, True] Translation: X:19.83, Y:-197.94, Z:-1.81 [[ 5.54483687e-01 8.32171527e-01 -6.19598383e-03 1.98271864e+01] [ 8.32116613e-01 -5.54518285e-01 -9.56101265e-03 -1.97942217e+02] [-1.13921888e-02 1.45644472e-04 -9.99935096e-01 -1.80819250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.23655999499994 meters 0.012755401542889256 Centerline is valid? [True, True] Translation: X:19.83, Y:-197.95, Z:-1.81 [[ 4.87196515e-01 8.73275119e-01 -5.48840702e-03 1.98321496e+01] [ 8.73216400e-01 -4.87227407e-01 -1.01277724e-02 -1.97949009e+02] [-1.15184340e-02 1.41648399e-04 -9.99933651e-01 -1.80786186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.26655999499997 meters 0.012361380966142392 Centerline is valid? [True, True] Translation: X:19.84, Y:-197.96, Z:-1.81 [[ 4.16109360e-01 9.09303728e-01 -4.44201648e-03 1.98392088e+01] [ 9.09248806e-01 -4.16133051e-01 -9.99465987e-03 -1.97955557e+02] [-1.09366513e-02 1.19973335e-04 -9.99940186e-01 -1.80875221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.29655999499994 meters 0.012581182931205205 Centerline is valid? [True, True] Translation: X:19.84, Y:-197.96, Z:-1.81 [[ 3.43148707e-01 9.39273916e-01 -3.67084126e-03 1.98439081e+01] [ 9.39216537e-01 -3.43168322e-01 -1.03826971e-02 -1.97961539e+02] [-1.10119130e-02 1.15094285e-04 -9.99939360e-01 -1.80856961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.32655999499997 meters 0.011838651069435881 Centerline is valid? [True, True] Translation: X:19.85, Y:-197.97, Z:-1.81 [[ 2.66846419e-01 9.63735407e-01 -2.65595641e-03 1.98529160e+01] [ 9.63684303e-01 -2.66859621e-01 -9.92504157e-03 -1.97967588e+02] [-1.02738815e-02 8.89582924e-05 -9.99947218e-01 -1.81026007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.35655999499994 meters 0.011741237676618213 Centerline is valid? [True, True] Translation: X:19.86, Y:-197.97, Z:-1.81 [[ 1.89552639e-01 9.81868930e-01 -1.78925419e-03 1.98594235e+01] [ 9.81821367e-01 -1.89561069e-01 -9.66459376e-03 -1.97973671e+02] [-9.82853727e-03 7.52212644e-05 -9.99951696e-01 -1.81006930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.38655999499997 meters 0.011405596858877088 Centerline is valid? [True, True] Translation: X:19.87, Y:-197.98, Z:-1.81 [[ 1.11269654e-01 9.93789729e-01 -1.01922679e-03 1.98690866e+01] [ 9.93742391e-01 -1.11274302e-01 -9.69999913e-03 -1.97978247e+02] [-9.75317326e-03 6.64666762e-05 -9.99952435e-01 -1.81095392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.41655999499994 meters 0.011198485344564404 Centerline is valid? [True, True] Translation: X:19.88, Y:-197.98, Z:-1.81 [[ 3.17637105e-02 9.99495376e-01 -2.45944130e-04 1.98787819e+01] [ 9.99451564e-01 -3.17646210e-02 -9.35839370e-03 -1.97982057e+02] [-9.36148355e-03 5.14480624e-05 -9.99956179e-01 -1.81098763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.446559995 meters 0.011148379584609288 Centerline is valid? [True, True] Translation: X:19.89, Y:-197.99, Z:-1.81 [[-4.78086992e-02 9.98856391e-01 4.88665183e-04 1.98878566e+01] [ 9.98812554e-01 4.78111792e-02 -9.35807334e-03 -1.97985993e+02] [-9.37073502e-03 4.06876065e-05 -9.99956093e-01 -1.81054710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.47655999499995 meters 0.010802371134085068 Centerline is valid? [True, True] Translation: X:19.90, Y:-197.99, Z:-1.81 [[-1.28156975e-01 9.91753209e-01 1.16705397e-03 1.99009871e+01] [ 9.91713405e-01 1.28162287e-01 -8.88538175e-03 -1.97987420e+02] [-8.96167817e-03 1.86594248e-05 -9.99959843e-01 -1.81155996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.506559995 meters 0.01101438519692518 Centerline is valid? [True, True] Translation: X:19.91, Y:-197.99, Z:-1.81 [[-2.06783893e-01 9.78385016e-01 1.78389929e-03 1.99118438e+01] [ 9.78348877e-01 2.06791587e-01 -8.40918381e-03 -1.97989013e+02] [-8.59631481e-03 6.39210151e-06 -9.99963051e-01 -1.81003157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.53655999499995 meters 0.010775945246099044 Centerline is valid? [True, True] Translation: X:19.92, Y:-197.99, Z:-1.81 [[-2.84289466e-01 9.58735903e-01 2.22907030e-03 1.99207622e+01] [ 9.58706258e-01 2.84298205e-01 -7.53940939e-03 -1.97989569e+02] [-7.86202315e-03 -6.35101980e-06 -9.99969094e-01 -1.81128640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.566559995 meters 0.010755666300507729 Centerline is valid? [True, True] Translation: X:19.93, Y:-197.99, Z:-1.81 [[-3.59989095e-01 9.32952772e-01 2.64117099e-03 1.99324943e+01] [ 9.32927308e-01 3.59998783e-01 -6.89307968e-03 -1.97987946e+02] [-7.38173614e-03 -1.74129766e-05 -9.99972755e-01 -1.81189317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.59655999499995 meters 0.010905911505422906 Centerline is valid? [True, True] Translation: X:19.95, Y:-197.99, Z:-1.81 [[-4.35200008e-01 9.00328320e-01 3.14154932e-03 1.99450425e+01] [ 9.00304138e-01 4.35211345e-01 -6.59887729e-03 -1.97985602e+02] [-7.30839400e-03 -4.34815984e-05 -9.99973292e-01 -1.81106885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.626559995 meters 0.011069159747930976 Centerline is valid? [True, True] Translation: X:19.95, Y:-197.98, Z:-1.81 [[-5.05661877e-01 8.62723500e-01 3.77221680e-03 1.99547405e+01] [ 8.62698664e-01 5.05675944e-01 -6.54641245e-03 -1.97982342e+02] [-7.55526315e-03 -5.59848141e-05 -9.99971457e-01 -1.81064917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.65655999499995 meters 0.011333352679186543 Centerline is valid? [True, True] Translation: X:19.96, Y:-197.98, Z:-1.81 [[-5.72767624e-01 8.19704389e-01 4.68665147e-03 1.99641584e+01] [ 8.19675909e-01 5.72786793e-01 -6.83324915e-03 -1.97979361e+02] [-8.28569638e-03 -7.23285701e-05 -9.99965670e-01 -1.81008706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.686559995 meters 0.011552929937488968 Centerline is valid? [True, True] Translation: X:19.97, Y:-197.98, Z:-1.81 [[-6.36644848e-01 7.71135403e-01 5.79029648e-03 1.99731170e+01] [ 7.71102108e-01 6.36671171e-01 -7.16648360e-03 -1.97975209e+02] [-9.21284406e-03 -9.75950386e-05 -9.99957556e-01 -1.80922621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.71655999499995 meters 0.01159193369096584 Centerline is valid? [True, True] Translation: X:19.98, Y:-197.97, Z:-1.81 [[-6.95443525e-01 7.18553125e-01 6.30154970e-03 1.99806395e+01] [ 7.18522301e-01 6.95472067e-01 -6.65631044e-03 -1.97970136e+02] [-9.16546446e-03 -1.01284003e-04 -9.99957991e-01 -1.80929588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.746559995 meters 0.011656708687998193 Centerline is valid? [True, True] Translation: X:19.99, Y:-197.96, Z:-1.81 [[-7.49693608e-01 6.61750156e-01 6.79900841e-03 1.99872066e+01] [ 6.61721689e-01 7.49724430e-01 -6.13884011e-03 -1.97964659e+02] [-9.15976110e-03 -1.03197857e-04 -9.99958043e-01 -1.80948590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.77655999499996 meters 0.011730118344072851 Centerline is valid? [True, True] Translation: X:20.45, Y:-197.45, Z:-2.78 [[-6.87065622e-01 -7.26562075e-01 6.95572855e-03 2.04524633e+01] [ 7.26527173e-01 -6.87100812e-01 -7.12328355e-03 -1.97454955e+02] [ 9.95479441e-03 1.59362563e-04 9.99950437e-01 -2.78145925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.806559995 meters 0.012009848870720775 Centerline is valid? [True, True] Translation: X:20.43, Y:-197.44, Z:-2.78 [[-6.87293455e-01 -7.26340630e-01 7.54956436e-03 2.04339615e+01] [ 7.26298801e-01 -6.87334906e-01 -7.79606997e-03 -1.97436570e+02] [ 1.08516815e-02 1.25051674e-04 9.99941111e-01 -2.78301548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.83655999499996 meters 0.01193257500893086 Centerline is valid? [True, True] Translation: X:20.42, Y:-197.42, Z:-2.78 [[-6.87708346e-01 -7.25945178e-01 7.79931219e-03 2.04156692e+01] [ 7.25900568e-01 -6.87752559e-01 -8.04874085e-03 -1.97417025e+02] [ 1.12069415e-02 1.26338890e-04 9.99937192e-01 -2.78301159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.866559995 meters 0.011829510644774712 Centerline is valid? [True, True] Translation: X:20.40, Y:-197.40, Z:-2.78 [[-6.88105489e-01 -7.25567682e-01 7.89776320e-03 2.03970093e+01] [ 7.25521972e-01 -6.88150800e-01 -8.14528404e-03 -1.97396518e+02] [ 1.13448069e-02 1.25186070e-04 9.99935638e-01 -2.78242341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.89655999499996 meters 0.011486946281015587 Centerline is valid? [True, True] Translation: X:20.38, Y:-197.37, Z:-2.78 [[-6.89420123e-01 -7.24320719e-01 7.70643155e-03 2.03797725e+01] [ 7.24277174e-01 -6.89463186e-01 -7.94295539e-03 -1.97374924e+02] [ 1.10665480e-02 1.05559180e-04 9.99938758e-01 -2.78116343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.92655999499993 meters 0.011682678156687627 Centerline is valid? [True, True] Translation: X:20.36, Y:-197.36, Z:-2.78 [[-6.90540408e-01 -7.23249302e-01 8.02448383e-03 2.03618103e+01] [ 7.23202079e-01 -6.90587024e-01 -8.26532459e-03 -1.97356095e+02] [ 1.15194947e-02 9.57827774e-05 9.99933644e-01 -2.78246110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.95655999499996 meters 0.011253568158154353 Centerline is valid? [True, True] Translation: X:20.34, Y:-197.34, Z:-2.78 [[-6.91751339e-01 -7.22091718e-01 7.97724102e-03 2.03442328e+01] [ 7.22045030e-01 -6.91797329e-01 -8.21159595e-03 -1.97335293e+02] [ 1.14481595e-02 7.95447435e-05 9.99934465e-01 -2.78168323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.98655999499994 meters 0.011007214366720851 Centerline is valid? [True, True] Translation: X:20.33, Y:-197.31, Z:-2.78 [[-6.92970590e-01 -7.20918460e-01 8.26654517e-03 2.03260566e+01] [ 7.20868304e-01 -6.93019891e-01 -8.50408833e-03 -1.97314454e+02] [ 1.18596345e-02 6.60072891e-05 9.99929670e-01 -2.78153810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.01655999499997 meters 0.010921244113332366 Centerline is valid? [True, True] Translation: X:20.31, Y:-197.29, Z:-2.78 [[-6.95242189e-01 -7.18728324e-01 8.23984974e-03 2.03100657e+01] [ 7.18678402e-01 -6.95291015e-01 -8.47108836e-03 -1.97293269e+02] [ 1.18175046e-02 3.23440218e-05 9.99930170e-01 -2.78175067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.04655999499994 meters 0.010871767683225193 Centerline is valid? [True, True] Translation: X:20.29, Y:-197.27, Z:-2.78 [[-6.96351009e-01 -7.17652982e-01 8.33488391e-03 2.02933514e+01] [ 7.17601890e-01 -6.96400889e-01 -8.56329449e-03 -1.97273568e+02] [ 1.19498944e-02 1.80696907e-05 9.99928597e-01 -2.78137303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.07655999499997 meters 0.010871767683225193 Centerline is valid? [True, True] Translation: X:20.27, Y:-197.25, Z:-2.78 [[-6.96568553e-01 -7.17441801e-01 8.33747990e-03 2.02746013e+01] [ 7.17390724e-01 -6.96618448e-01 -8.56076698e-03 -1.97254470e+02] [ 1.19498944e-02 1.80696755e-05 9.99928597e-01 -2.78137305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.10655999499994 meters 0.010816723727346982 Centerline is valid? [True, True] Translation: X:20.26, Y:-197.23, Z:-2.78 [[-6.97635521e-01 -7.16408888e-01 7.93636166e-03 2.02566976e+01] [ 7.16362597e-01 -6.97680662e-01 -8.14398873e-03 -1.97233378e+02] [ 1.13714720e-02 3.77682862e-06 9.99935343e-01 -2.78091909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.13655999499997 meters 0.0106893221698156 Centerline is valid? [True, True] Translation: X:20.24, Y:-197.21, Z:-2.78 [[-6.99628655e-01 -7.14468582e-01 7.37499546e-03 2.02394281e+01] [ 7.14428545e-01 -6.99667525e-01 -7.56369083e-03 -1.97210428e+02] [ 1.05640643e-02 -2.28675682e-05 9.99944198e-01 -2.77849371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.16655999499994 meters 0.0107347139098255 Centerline is valid? [True, True] Translation: X:20.22, Y:-197.19, Z:-2.78 [[-7.00641448e-01 -7.13479538e-01 6.96491479e-03 2.02224599e+01] [ 7.13443828e-01 -7.00676064e-01 -7.13840239e-03 -1.97190522e+02] [ 9.97325313e-03 -3.23851161e-05 9.99950265e-01 -2.77855306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.196559995 meters 0.010882365190023096 Centerline is valid? [True, True] Translation: X:20.21, Y:-197.17, Z:-2.78 [[-7.02622730e-01 -7.11528153e-01 6.99912005e-03 2.02055256e+01] [ 7.11492038e-01 -7.02657587e-01 -7.16903464e-03 -1.97169536e+02] [ 1.00189548e-02 -5.73084951e-05 9.99949807e-01 -2.77809807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.22655999499995 meters 0.011037787081415515 Centerline is valid? [True, True] Translation: X:20.19, Y:-197.15, Z:-2.78 [[-7.03489648e-01 -7.10672889e-01 6.80882890e-03 2.01874755e+01] [ 7.10638713e-01 -7.03522594e-01 -6.96984424e-03 -1.97149188e+02] [ 9.74344432e-03 -6.45958615e-05 9.99952529e-01 -2.77837033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.256559995 meters 0.011090499838409821 Centerline is valid? [True, True] Translation: X:20.17, Y:-197.13, Z:-2.78 [[-7.04225290e-01 -7.09939551e-01 7.25088833e-03 2.01693661e+01] [ 7.09900802e-01 -7.04262613e-01 -7.41776705e-03 -1.97129307e+02] [ 1.03726958e-02 -7.63677139e-05 9.99946199e-01 -2.77803755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.28655999499995 meters 0.011193607574666638 Centerline is valid? [True, True] Translation: X:20.15, Y:-197.11, Z:-2.78 [[-7.04956837e-01 -7.09209386e-01 7.60955404e-03 2.01509415e+01] [ 7.09166718e-01 -7.04997900e-01 -7.77989686e-03 -1.97109313e+02] [ 1.08822955e-02 -8.80490132e-05 9.99940782e-01 -2.77825081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.316559995 meters 0.01127685094738114 Centerline is valid? [True, True] Translation: X:20.13, Y:-197.09, Z:-2.78 [[-7.05119347e-01 -7.09047018e-01 7.68333797e-03 2.01318223e+01] [ 7.09003561e-01 -7.05161201e-01 -7.85053228e-03 -1.97089249e+02] [ 1.09843883e-02 -8.80482135e-05 9.99939666e-01 -2.77885394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.34655999499995 meters 0.011226589682472 Centerline is valid? [True, True] Translation: X:20.11, Y:-197.07, Z:-2.78 [[-7.05352747e-01 -7.08813913e-01 7.76780852e-03 2.01124377e+01] [ 7.08769536e-01 -7.05395512e-01 -7.93199237e-03 -1.97069619e+02] [ 1.11016838e-02 -8.92665671e-05 9.99938370e-01 -2.77910397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.376559995 meters 0.01135834860229519 Centerline is valid? [True, True] Translation: X:20.09, Y:-197.05, Z:-2.78 [[-7.05076156e-01 -7.09082878e-01 8.31185716e-03 2.00942553e+01] [ 7.09032149e-01 -7.05125142e-01 -8.48211220e-03 -1.97051024e+02] [ 1.18754200e-02 -8.71611182e-05 9.99929481e-01 -2.78043081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.40655999499995 meters 0.011208636760514293 Centerline is valid? [True, True] Translation: X:20.07, Y:-197.03, Z:-2.78 [[-7.04830922e-01 -7.09324651e-01 8.47998760e-03 2.00743670e+01] [ 7.09271930e-01 -7.04881928e-01 -8.64847972e-03 -1.97031724e+02] [ 1.21119699e-02 -8.10987658e-05 9.99926644e-01 -2.78061229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.436559995 meters 0.010995252542582426 Centerline is valid? [True, True] Translation: X:20.06, Y:-197.01, Z:-2.78 [[-7.03980861e-01 -7.10168350e-01 8.47717914e-03 2.00553515e+01] [ 7.10115791e-01 -7.04031896e-01 -8.64016760e-03 -1.97014184e+02] [ 1.21041781e-02 -6.27338545e-05 9.99926740e-01 -2.78113484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.46655999499995 meters 0.0108440156691528 Centerline is valid? [True, True] Translation: X:20.04, Y:-197.00, Z:-2.78 [[-7.03250452e-01 -7.10892818e-01 8.37879524e-03 2.00362127e+01] [ 7.10841587e-01 -7.03300363e-01 -8.53457565e-03 -1.96995973e+02] [ 1.19599783e-02 -4.59480855e-05 9.99928476e-01 -2.78118183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.496559995 meters 0.010664440061533897 Centerline is valid? [True, True] Translation: X:20.02, Y:-196.98, Z:-2.78 [[-7.02554145e-01 -7.11585447e-01 7.98901892e-03 2.00162306e+01] [ 7.11538971e-01 -7.02599566e-01 -8.13278426e-03 -1.96976901e+02] [ 1.14002522e-02 -2.92229973e-05 9.99935015e-01 -2.78059715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.52655999499996 meters 0.01045780111942441 Centerline is valid? [True, True] Translation: X:20.00, Y:-196.96, Z:-2.78 [[-7.01842551e-01 -7.12289473e-01 7.79355863e-03 1.99966230e+01] [ 7.12245340e-01 -7.01885821e-01 -7.92902701e-03 -1.96958580e+02] [ 1.11179508e-02 -1.40027230e-05 9.99938194e-01 -2.77960545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.556559995 meters 0.010376654514086413 Centerline is valid? [True, True] Translation: X:19.98, Y:-196.94, Z:-2.78 [[-6.99783051e-01 -7.14321947e-01 6.91644902e-03 1.99758455e+01] [ 7.14287320e-01 -6.99817230e-01 -7.03339207e-03 -1.96942230e+02] [ 9.86435652e-03 1.84832734e-05 9.99951346e-01 -2.77949017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.58655999499996 meters 0.010398194604973774 Centerline is valid? [True, True] Translation: X:19.96, Y:-196.92, Z:-2.78 [[-6.98855285e-01 -7.15233952e-01 6.45640170e-03 1.99556767e+01] [ 7.15203853e-01 -6.98885107e-01 -6.56167954e-03 -1.96923960e+02] [ 9.20541898e-03 3.19789527e-05 9.99957629e-01 -2.77924084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.616559995 meters 0.010336255156536115 Centerline is valid? [True, True] Translation: X:19.94, Y:-196.91, Z:-2.78 [[-6.98084792e-01 -7.15987777e-01 6.25514099e-03 1.99357302e+01] [ 7.15959591e-01 -6.98112814e-01 -6.35319039e-03 -1.96905207e+02] [ 8.91560074e-03 4.33625949e-05 9.99960254e-01 -2.77817456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.64655999499996 meters 0.010601805213708074 Centerline is valid? [True, True] Translation: X:19.92, Y:-196.89, Z:-2.78 [[-6.96415879e-01 -7.17611032e-01 6.27133219e-03 1.99152933e+01] [ 7.17582801e-01 -6.96444113e-01 -6.36563462e-03 -1.96886963e+02] [ 8.93568201e-03 6.70710945e-05 9.99960074e-01 -2.77813693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.67655999499993 meters 0.01067625554712198 Centerline is valid? [True, True] Translation: X:19.90, Y:-196.87, Z:-2.78 [[-6.95943593e-01 -7.18069395e-01 6.23373507e-03 1.98959902e+01] [ 7.18041555e-01 -6.95971507e-01 -6.32349684e-03 -1.96868378e+02] [ 8.87921154e-03 7.52837083e-05 9.99960576e-01 -2.77829367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.70655999499996 meters 0.01093327540575125 Centerline is valid? [True, True] Translation: X:19.88, Y:-196.85, Z:-2.78 [[-6.94887961e-01 -7.19089965e-01 6.35173783e-03 1.98757541e+01] [ 7.19061141e-01 -6.94916983e-01 -6.43914327e-03 -1.96849611e+02] [ 9.04425380e-03 9.28047136e-05 9.99959096e-01 -2.77824997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.73655999499994 meters 0.011148620600525067 Centerline is valid? [True, True] Translation: X:19.86, Y:-196.83, Z:-2.78 [[-6.94734691e-01 -7.19236699e-01 6.50224875e-03 1.98563245e+01] [ 7.19206539e-01 -6.94765112e-01 -6.58737947e-03 -1.96831698e+02] [ 9.25542065e-03 9.99787798e-05 9.99957163e-01 -2.77883689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.76655999499997 meters 0.010982046788402087 Centerline is valid? [True, True] Translation: X:19.84, Y:-196.81, Z:-2.78 [[-6.95211681e-01 -7.18776169e-01 6.44498863e-03 1.98369132e+01] [ 7.18746552e-01 -6.95241548e-01 -6.52570772e-03 -1.96811904e+02] [ 9.17134707e-03 9.55651215e-05 9.99957938e-01 -2.77893189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.79655999499994 meters 0.010982046788402087 Centerline is valid? [True, True] Translation: X:19.82, Y:-196.79, Z:-2.78 [[-6.95413248e-01 -7.18581139e-01 6.44681871e-03 1.98174745e+01] [ 7.18551530e-01 -6.95443123e-01 -6.52389977e-03 -1.96792324e+02] [ 9.17134707e-03 9.55651215e-05 9.99957938e-01 -2.77893192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.82655999499997 meters 0.011133484304627572 Centerline is valid? [True, True] Translation: X:19.80, Y:-196.77, Z:-2.78 [[-6.95827539e-01 -7.18179973e-01 6.44682396e-03 1.97988278e+01] [ 7.18150387e-01 -6.95857397e-01 -6.51959484e-03 -1.96774213e+02] [ 9.16831259e-03 9.32754859e-05 9.99957966e-01 -2.77961499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.85655999499994 meters 0.010803471385257835 Centerline is valid? [True, True] Translation: X:19.78, Y:-196.75, Z:-2.78 [[-6.96587745e-01 -7.17444315e-01 6.25840163e-03 1.97802023e+01] [ 7.17416438e-01 -6.96615854e-01 -6.32508330e-03 -1.96753847e+02] [ 8.89759685e-03 8.39046905e-05 9.99960412e-01 -2.77891954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.88655999499997 meters 0.010538657861453839 Centerline is valid? [True, True] Translation: X:19.76, Y:-196.73, Z:-2.78 [[-6.98216773e-01 -7.15862285e-01 5.87595484e-03 1.97632922e+01] [ 7.15837687e-01 -6.98241495e-01 -5.93466513e-03 -1.96734024e+02] [ 8.35123843e-03 6.25471908e-05 9.99965126e-01 -2.77862077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.91655999499994 meters 0.010258122447302103 Centerline is valid? [True, True] Translation: X:19.74, Y:-196.71, Z:-2.78 [[-6.99614319e-01 -7.14498190e-01 5.66934513e-03 1.97448394e+01] [ 7.14475276e-01 -6.99637288e-01 -5.72242905e-03 -1.96713299e+02] [ 8.05515045e-03 4.71136253e-05 9.99967556e-01 -2.77841701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.946559995 meters 0.010176716024321318 Centerline is valid? [True, True] Translation: X:19.73, Y:-196.69, Z:-2.78 [[-7.01194716e-01 -7.12948859e-01 5.46753839e-03 1.97266875e+01] [ 7.12927527e-01 -7.01216032e-01 -5.51529056e-03 -1.96692584e+02] [ 7.76604568e-03 3.06660229e-05 9.99969843e-01 -2.77829285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.97655999499995 meters 0.01008040370477021 Centerline is valid? [True, True] Translation: X:19.71, Y:-196.67, Z:-2.78 [[-7.03036080e-01 -7.11131317e-01 5.70261049e-03 1.97096362e+01] [ 7.11108082e-01 -7.03059208e-01 -5.74863646e-03 -1.96672842e+02] [ 8.09730823e-03 1.36735597e-05 9.99967216e-01 -2.77870396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.006559995 meters 0.010137926171107434 Centerline is valid? [True, True] Translation: X:19.69, Y:-196.65, Z:-2.78 [[-7.04730284e-01 -7.09452186e-01 5.72907912e-03 1.96918450e+01] [ 7.09428707e-01 -7.04753571e-01 -5.77178304e-03 -1.96652138e+02] [ 8.13239306e-03 -3.17711283e-06 9.99966932e-01 -2.77918398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.03655999499995 meters 0.010279680119241 Centerline is valid? [True, True] Translation: X:19.67, Y:-196.63, Z:-2.78 [[-7.06590951e-01 -7.07595494e-01 6.15188105e-03 1.96736713e+01] [ 7.07568384e-01 -7.06617730e-01 -6.19391643e-03 -1.96631314e+02] [ 8.72981558e-03 -2.36887658e-05 9.99961894e-01 -2.77948988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.066559995 meters 0.010680896272617516 Centerline is valid? [True, True] Translation: X:19.66, Y:-196.61, Z:-2.78 [[-7.09435737e-01 -7.04737199e-01 6.81288412e-03 1.96550223e+01] [ 7.04703855e-01 -7.09468447e-01 -6.85567711e-03 -1.96610019e+02] [ 9.66497700e-03 -6.25966459e-05 9.99953291e-01 -2.77972644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.09655999499995 meters 0.010810461831068338 Centerline is valid? [True, True] Translation: X:19.64, Y:-196.59, Z:-2.78 [[-7.10340476e-01 -7.03825630e-01 6.77427305e-03 1.96355246e+01] [ 7.03792662e-01 -7.10372773e-01 -6.81262066e-03 -1.96590876e+02] [ 9.60715616e-03 -7.15965382e-05 9.99953848e-01 -2.78001199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.126559995 meters 0.010914347319008266 Centerline is valid? [True, True] Translation: X:19.62, Y:-196.57, Z:-2.78 [[-7.11364996e-01 -7.02786667e-01 7.12348901e-03 1.96167622e+01] [ 7.02750204e-01 -7.11400656e-01 -7.15934887e-03 -1.96571606e+02] [ 1.00991497e-02 -8.68768162e-05 9.99948999e-01 -2.78024121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.15655999499995 meters 0.01115732541968793 Centerline is valid? [True, True] Translation: X:19.60, Y:-196.55, Z:-2.78 [[-7.12337146e-01 -7.01798284e-01 7.41341292e-03 1.95982550e+01] [ 7.01758788e-01 -7.12375714e-01 -7.44610232e-03 -1.96551806e+02] [ 1.05067972e-02 -1.01707612e-04 9.99944797e-01 -2.78021953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.186559995 meters 0.011516238455252919 Centerline is valid? [True, True] Translation: X:19.58, Y:-196.53, Z:-2.78 [[-7.13722834e-01 -7.00385311e-01 7.75452966e-03 1.95784911e+01] [ 7.00342064e-01 -7.13764948e-01 -7.78413414e-03 -1.96532470e+02] [ 1.09868047e-02 -1.24890976e-04 9.99939635e-01 -2.77996829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.21655999499995 meters 0.01185739803088191 Centerline is valid? [True, True] Translation: X:19.56, Y:-196.51, Z:-2.78 [[-7.14417546e-01 -6.99678039e-01 7.62969151e-03 1.95598992e+01] [ 6.99636187e-01 -7.14458274e-01 -7.65381288e-03 -1.96513531e+02] [ 1.08063010e-02 -1.30009932e-04 9.99941602e-01 -2.78040468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.246559995 meters 0.012043382103509552 Centerline is valid? [True, True] Translation: X:19.54, Y:-196.49, Z:-2.78 [[-7.15162352e-01 -6.98915802e-01 7.71443818e-03 1.95405568e+01] [ 6.98873022e-01 -7.15203945e-01 -7.73409719e-03 -1.96494138e+02] [ 1.09228794e-02 -1.39722413e-04 9.99940334e-01 -2.78012821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.27655999499996 meters 0.012272644192337739 Centerline is valid? [True, True] Translation: X:19.52, Y:-196.47, Z:-2.78 [[-7.16765658e-01 -6.97274254e-01 7.45694119e-03 1.95206362e+01] [ 6.97234237e-01 -7.16804430e-01 -7.47182321e-03 -1.96474786e+02] [ 1.05550784e-02 -1.56311576e-04 9.99944281e-01 -2.77948344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.306559995 meters 0.012560967128009146 Centerline is valid? [True, True] Translation: X:19.50, Y:-196.46, Z:-2.78 [[-7.17596429e-01 -6.96422079e-01 7.18705164e-03 1.95014287e+01] [ 6.96384909e-01 -7.17632401e-01 -7.19695866e-03 -1.96455860e+02] [ 1.01697820e-02 -1.59557531e-04 9.99948274e-01 -2.77897347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.33655999499996 meters 0.012417980765188508 Centerline is valid? [True, True] Translation: X:19.48, Y:-196.44, Z:-2.78 [[-7.18355227e-01 -6.95643329e-01 6.79163630e-03 1.94808618e+01] [ 6.95610139e-01 -7.18387314e-01 -6.79719442e-03 -1.96436509e+02] [ 9.60744832e-03 -1.58469069e-04 9.99953835e-01 -2.77805584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.366559995 meters 0.012769069232214247 Centerline is valid? [True, True] Translation: X:19.46, Y:-196.42, Z:-2.78 [[-7.18914760e-01 -6.95067941e-01 6.49046320e-03 1.94620113e+01] [ 6.95037644e-01 -7.18944041e-01 -6.49148915e-03 -1.96417791e+02] [ 9.17830584e-03 -1.55711113e-04 9.99957866e-01 -2.77752676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.39655999499996 meters 0.012357634224851585 Centerline is valid? [True, True] Translation: X:19.44, Y:-196.40, Z:-2.78 [[-7.19117450e-01 -6.94864436e-01 5.78869092e-03 1.94397320e+01] [ 6.94840355e-01 -7.19140735e-01 -5.78655111e-03 -1.96399654e+02] [ 8.18375202e-03 -1.38993824e-04 9.99966503e-01 -2.77673609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.42655999499993 meters 0.01219772012904049 Centerline is valid? [True, True] Translation: X:18.92, Y:-196.92, Z:-1.81 [[-7.44606518e-01 6.67476823e-01 5.98525661e-03 1.89199699e+01] [ 6.67456655e-01 7.44630562e-01 -5.19043982e-03 -1.96923243e+02] [-7.92130327e-03 1.30064031e-04 -9.99968618e-01 -1.81388416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.45655999499996 meters 0.012085029567459701 Centerline is valid? [True, True] Translation: X:18.94, Y:-196.90, Z:-1.81 [[-7.90471122e-01 6.12468468e-01 6.14672263e-03 1.89401336e+01] [ 6.12451124e-01 7.90495011e-01 -4.61077960e-03 -1.96901523e+02] [-7.68291068e-03 1.19879062e-04 -9.99970479e-01 -1.81397696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.48655999499994 meters 0.0119283398830853 Centerline is valid? [True, True] Translation: X:19.38, Y:-196.32, Z:-2.78 [[-7.67153012e-01 -6.41438399e-01 5.74780258e-03 1.93830693e+01] [ 6.41419178e-01 -7.67174534e-01 -4.96715036e-03 -1.96321943e+02] [ 7.59568874e-03 -1.23813548e-04 9.99971145e-01 -2.77655468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.51655999499997 meters 0.011646665877458289 Centerline is valid? [True, True] Translation: X:18.91, Y:-196.87, Z:-1.81 [[-7.94136399e-01 6.07707129e-01 6.27890360e-03 1.89054363e+01] [ 6.07689153e-01 7.94161215e-01 -4.67529478e-03 -1.96872528e+02] [-7.82767167e-03 1.02799847e-04 -9.99969358e-01 -1.81381672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.54655999499994 meters 0.011149430532633009 Centerline is valid? [True, True] Translation: X:18.92, Y:-196.84, Z:-1.81 [[-8.37050207e-01 5.47070070e-01 7.82884041e-03 1.89202821e+01] [ 5.47047142e-01 8.37086812e-01 -5.00931386e-03 -1.96843595e+02] [-9.29386474e-03 8.96975699e-05 -9.99956807e-01 -1.81218010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.57655999499997 meters 0.010849818540310802 Centerline is valid? [True, True] Translation: X:18.94, Y:-196.82, Z:-1.81 [[-8.74750802e-01 4.84497426e-01 8.56026749e-03 1.89411763e+01] [ 4.84475039e-01 8.74792684e-01 -4.65808543e-03 -1.96820007e+02] [-9.74528977e-03 7.25719588e-05 -9.99952511e-01 -1.81174022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.60655999499994 meters 0.010524868400956136 Centerline is valid? [True, True] Translation: X:18.95, Y:-196.79, Z:-1.81 [[-9.07906765e-01 4.19074247e-01 9.05988501e-03 1.89533966e+01] [ 4.19053926e-01 9.07951966e-01 -4.12718607e-03 -1.96791990e+02] [-9.95553780e-03 4.94802320e-05 -9.99950441e-01 -1.81094822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.63655999499997 meters 0.01026423908013906 Centerline is valid? [True, True] Translation: X:19.25, Y:-196.16, Z:-2.78 [[-8.80018756e-01 -4.74853070e-01 9.03057692e-03 1.92460657e+01] [ 4.74827724e-01 -8.80065089e-01 -4.90633333e-03 -1.96156647e+02] [ 1.02772829e-02 -2.96970758e-05 9.99947187e-01 -2.78023566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.66655999499994 meters 0.010214373184925983 Centerline is valid? [True, True] Translation: X:18.91, Y:-196.77, Z:-1.81 [[-9.12403536e-01 4.09184014e-01 9.39310809e-03 1.89111052e+01] [ 4.09162077e-01 9.12451885e-01 -4.23706041e-03 -1.96765078e+02] [-1.03044966e-02 -2.26052861e-05 -9.99946907e-01 -1.80999881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.696559995 meters 0.010340047186015642 Centerline is valid? [True, True] Translation: X:18.92, Y:-196.74, Z:-1.81 [[-9.39825607e-01 3.41527799e-01 9.30546661e-03 1.89206027e+01] [ 3.41510610e-01 9.39871673e-01 -3.42671751e-03 -1.96736657e+02] [-9.91626376e-03 -4.26012856e-05 -9.99950832e-01 -1.81032305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.72655999499995 meters 0.010466284095483143 Centerline is valid? [True, True] Translation: X:19.16, Y:-196.10, Z:-2.78 [[-9.10402521e-01 -4.13622551e-01 9.14517135e-03 1.91631721e+01] [ 4.13602234e-01 -9.10448451e-01 -4.09995642e-03 -1.96097710e+02] [ 1.00220415e-02 4.98526348e-05 9.99949777e-01 -2.77975130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.756559995 meters 0.010855278685564457 Centerline is valid? [True, True] Translation: X:18.88, Y:-196.72, Z:-1.81 [[-9.42611240e-01 3.33783797e-01 8.51038575e-03 1.88761229e+01] [ 3.33769432e-01 9.42649654e-01 -3.09765204e-03 -1.96715759e+02] [-9.05625824e-03 -7.93750162e-05 -9.99958988e-01 -1.81127843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.78655999499995 meters 0.010635420337000693 Centerline is valid? [True, True] Translation: X:18.89, Y:-196.69, Z:-1.81 [[-9.64113499e-01 2.65346826e-01 8.73061541e-03 1.88857682e+01] [ 2.65335133e-01 9.64153024e-01 -2.49254751e-03 -1.96689658e+02] [-9.07903882e-03 -8.65596952e-05 -9.99958781e-01 -1.81238638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.816559995 meters 0.01088862917361738 Centerline is valid? [True, True] Translation: X:18.89, Y:-196.66, Z:-1.81 [[-9.80742737e-01 1.95115327e-01 8.58449263e-03 1.88909880e+01] [ 1.95107012e-01 9.80780302e-01 -1.80366947e-03 -1.96660842e+02] [-8.77142483e-03 -9.40410215e-05 -9.99961526e-01 -1.81234348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.84655999499995 meters 0.011105817387476812 Centerline is valid? [True, True] Translation: X:18.89, Y:-196.63, Z:-1.81 [[-9.92202367e-01 1.24373680e-01 8.10255492e-03 1.88899539e+01] [ 1.24368767e-01 9.92235445e-01 -1.10941556e-03 -1.96630875e+02] [-8.17762428e-03 -9.30599803e-05 -9.99966558e-01 -1.81206748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.876559995 meters 0.011014798576637657 Centerline is valid? [True, True] Translation: X:18.98, Y:-195.97, Z:-2.78 [[-9.76756588e-01 -2.14197784e-01 8.11649394e-03 1.89842085e+01] [ 2.14191251e-01 -9.76790305e-01 -1.67597312e-03 -1.95969866e+02] [ 8.28710231e-03 1.01464202e-04 9.99965656e-01 -2.77844402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.90655999499995 meters 0.01112523283780984 Centerline is valid? [True, True] Translation: X:18.84, Y:-196.62, Z:-1.81 [[-9.92826484e-01 1.19262175e-01 8.49159463e-03 1.88383247e+01] [ 1.19256900e-01 9.92862791e-01 -1.12672388e-03 -1.96622783e+02] [-8.56536389e-03 -1.05960064e-04 -9.99963311e-01 -1.81179347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.936559995 meters 0.011082124173715163 Centerline is valid? [True, True] Translation: X:18.84, Y:-196.60, Z:-1.81 [[-9.98749446e-01 4.92567894e-02 8.56227643e-03 1.88379402e+01] [ 4.92541292e-02 9.98786143e-01 -5.21397935e-04 -1.96595303e+02] [-8.57756543e-03 -9.90184290e-05 -9.99963207e-01 -1.81130377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.96655999499995 meters 0.010548823855797432 Centerline is valid? [True, True] Translation: X:18.88, Y:-195.93, Z:-2.78 [[-9.90587554e-01 -1.36560134e-01 9.36091986e-03 1.88818352e+01] [ 1.36555580e-01 -9.90631770e-01 -1.12699375e-03 -1.95928401e+02] [ 9.42712703e-03 1.61899859e-04 9.99955551e-01 -2.77983283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.996559995 meters 0.010548823855797432 Centerline is valid? [True, True] Translation: X:18.77, Y:-196.59, Z:-1.81 [[-9.98824353e-01 4.75522052e-02 9.41809861e-03 1.87736593e+01] [ 4.75493124e-02 9.98868751e-01 -5.30961613e-04 -1.96593430e+02] [-9.43269279e-03 -8.25132758e-05 -9.99955508e-01 -1.81064640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.02655999499996 meters 0.010384288292041171 Centerline is valid? [True, True] Translation: X:18.82, Y:-195.92, Z:-2.78 [[-9.91442497e-01 -1.30206392e-01 9.38457589e-03 1.88172005e+01] [ 1.30201362e-01 -9.91486908e-01 -1.14764424e-03 -1.95923175e+02] [ 9.45411475e-03 8.40612896e-05 9.99955305e-01 -2.78018420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.056559995 meters 0.010070393310604567 Centerline is valid? [True, True] Translation: X:18.71, Y:-196.59, Z:-1.81 [[-9.98827935e-01 4.74304388e-02 9.64929932e-03 1.87138320e+01] [ 4.74278229e-02 9.98874543e-01 -4.99866932e-04 -1.96594304e+02] [-9.66214835e-03 -4.16357967e-05 -9.99953320e-01 -1.81071009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.08655999499996 meters 0.009886687566122192 Centerline is valid? [True, True] Translation: X:18.71, Y:-196.57, Z:-1.81 [[-9.99736007e-01 -2.09762468e-02 9.37619893e-03 1.87072121e+01] [-2.09754636e-02 9.99779974e-01 1.81874333e-04 -1.96568891e+02] [-9.37795097e-03 -1.48438000e-05 -9.99956026e-01 -1.81167324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.116559995 meters 0.01019498388844921 Centerline is valid? [True, True] Translation: X:18.71, Y:-196.55, Z:-1.81 [[-9.96245802e-01 -8.61237495e-02 8.77501915e-03 1.87081337e+01] [-8.61200607e-02 9.96284446e-01 7.98085318e-04 -1.96545775e+02] [-8.81114919e-03 3.93839671e-05 -9.99961180e-01 -1.81214890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.14655999499996 meters 0.010634358809972294 Centerline is valid? [True, True] Translation: X:18.69, Y:-196.52, Z:-1.81 [[-9.88112958e-01 -1.53498734e-01 8.42149768e-03 1.86922346e+01] [-1.53492570e-01 9.88148842e-01 1.37735046e-03 -1.96522267e+02] [-8.53311473e-03 6.83405206e-05 -9.99963590e-01 -1.81239599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.17655999499993 meters 0.011191594506179587 Centerline is valid? [True, True] Translation: X:18.67, Y:-196.50, Z:-1.81 [[-9.75261728e-01 -2.20902069e-01 8.17546591e-03 1.86744211e+01] [-2.20893480e-01 9.75295989e-01 1.95030076e-03 -1.96500393e+02] [-8.40432458e-03 9.61465738e-05 -9.99964678e-01 -1.81278067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.20655999499996 meters 0.01211175083850664 Centerline is valid? [True, True] Translation: X:18.63, Y:-196.49, Z:-1.81 [[-9.57608540e-01 -2.87977935e-01 7.38867835e-03 1.86288922e+01] [-2.87968428e-01 9.57637038e-01 2.34290968e-03 -1.96486885e+02] [-7.75037833e-03 1.15884235e-04 -9.99969959e-01 -1.81281074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.23655999499994 meters 0.01338065578900795 Centerline is valid? [True, True] Translation: X:18.57, Y:-196.48, Z:-1.81 [[-9.36278315e-01 -3.51191259e-01 6.90042780e-03 1.85725868e+01] [-3.51180429e-01 9.36303729e-01 2.76282322e-03 -1.96482237e+02] [-7.43117565e-03 1.63476274e-04 -9.99972375e-01 -1.81385197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.26655999499997 meters 0.015096531962488488 Centerline is valid? [True, True] Translation: X:18.50, Y:-196.49, Z:-1.81 [[-9.09101530e-01 -4.16525019e-01 6.42785793e-03 1.85028804e+01] [-4.16513182e-01 9.09124236e-01 3.14543847e-03 -1.96486200e+02] [-7.15387525e-03 1.82235368e-04 -9.99974394e-01 -1.81397243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.29655999499994 meters 0.015573069469402559 Centerline is valid? [True, True] Translation: X:18.42, Y:-196.50, Z:-1.81 [[-8.76888817e-01 -4.80657605e-01 5.85393091e-03 1.84247075e+01] [-4.80645412e-01 8.76908336e-01 3.42907413e-03 -1.96497414e+02] [-6.78157137e-03 1.93251721e-04 -9.99976986e-01 -1.81432184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.32655999499997 meters 0.01766940441366586 Centerline is valid? [True, True] Translation: X:18.34, Y:-196.52, Z:-1.81 [[-8.41468669e-01 -5.40273883e-01 5.88309399e-03 1.83402788e+01] [-5.40258614e-01 8.41489199e-01 4.06930349e-03 -1.96521919e+02] [-7.14909844e-03 2.45799190e-04 -9.99974415e-01 -1.81429323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.35655999499994 meters 0.01892567129579765 Centerline is valid? [True, True] Translation: X:18.25, Y:-196.56, Z:-1.81 [[-7.99976073e-01 -6.00004332e-01 5.75193717e-03 1.82497784e+01] [-5.99986315e-01 7.99996704e-01 4.65780011e-03 -1.96556654e+02] [-7.39623102e-03 2.75045050e-04 -9.99972610e-01 -1.81454437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.38655999499997 meters 0.020527769994734237 Centerline is valid? [True, True] Translation: X:18.16, Y:-196.60, Z:-1.81 [[-7.54143120e-01 -6.56686241e-01 5.59786935e-03 1.81594598e+01] [-6.56665053e-01 7.54163832e-01 5.28424593e-03 -1.96600944e+02] [-7.69180219e-03 3.09152539e-04 -9.99970370e-01 -1.81482935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.41655999499994 meters 0.01932695217347556 Centerline is valid? [True, True] Translation: X:18.07, Y:-196.65, Z:-1.82 [[-7.03793895e-01 -7.10383610e-01 5.41104298e-03 1.80711620e+01] [-7.10358772e-01 7.03814612e-01 5.95037192e-03 -1.96647686e+02] [-8.03541780e-03 3.44053586e-04 -9.99967656e-01 -1.81593649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.446559995 meters 0.021775500015650276 Centerline is valid? [True, True] Translation: X:17.98, Y:-196.71, Z:-1.82 [[-6.51002513e-01 -7.59060059e-01 4.85323848e-03 1.79801146e+01] [-7.59034562e-01 6.51020496e-01 6.23269725e-03 -1.96714120e+02] [-7.89054926e-03 3.73725828e-04 -9.99968799e-01 -1.81631372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.47655999499995 meters 0.023730495218261757 Centerline is valid? [True, True] Translation: X:17.90, Y:-196.79, Z:-1.82 [[-5.92502490e-01 -8.05557045e-01 4.31804565e-03 1.78950973e+01] [-8.05530754e-01 5.92518100e-01 6.51958129e-03 -1.96785218e+02] [-7.81041484e-03 3.84549582e-04 -9.99969424e-01 -1.81598751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.506559995 meters 0.02316084143453413 Centerline is valid? [True, True] Translation: X:17.81, Y:-196.86, Z:-1.82 [[-5.30064127e-01 -8.47949486e-01 3.70009822e-03 1.78101153e+01] [-8.47923559e-01 5.30076902e-01 6.64198001e-03 -1.96864897e+02] [-7.59340014e-03 3.83274884e-04 -9.99971096e-01 -1.81615913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.53655999499995 meters 0.02229781111738189 Centerline is valid? [True, True] Translation: X:17.73, Y:-196.95, Z:-1.82 [[-4.64539258e-01 -8.85546857e-01 3.16892193e-03 1.77296940e+01] [-8.85520186e-01 4.64549901e-01 6.88402894e-03 -1.96949007e+02] [-7.56825256e-03 3.91757358e-04 -9.99971284e-01 -1.81713633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.566559995 meters 0.023301489925661223 Centerline is valid? [True, True] Translation: X:17.66, Y:-197.05, Z:-1.82 [[-3.94914064e-01 -9.18713864e-01 2.77826978e-03 1.76563798e+01] [-9.18683297e-01 3.94923622e-01 7.50546013e-03 -1.97048805e+02] [-7.99257464e-03 4.11661719e-04 -9.99967974e-01 -1.81690151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.59655999499995 meters 0.02487637254343439 Centerline is valid? [True, True] Translation: X:17.59, Y:-197.15, Z:-1.82 [[-3.22807153e-01 -9.46461937e-01 2.31166025e-03 1.75936913e+01] [-9.46427312e-01 3.22815144e-01 8.10713611e-03 -1.97147722e+02] [-8.41933468e-03 4.29223122e-04 -9.99964465e-01 -1.81615634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.626559995 meters 0.02346681074311713 Centerline is valid? [True, True] Translation: X:17.53, Y:-197.26, Z:-1.82 [[-2.48046890e-01 -9.68746488e-01 1.72718601e-03 1.75332224e+01] [-9.68709397e-01 2.48052527e-01 8.48806806e-03 -1.97256144e+02] [-8.65121897e-03 4.32297567e-04 -9.99962484e-01 -1.81613084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.65655999499995 meters 0.02209093363282873 Centerline is valid? [True, True] Translation: X:17.48, Y:-197.37, Z:-1.82 [[-1.69743173e-01 -9.85487735e-01 1.08651947e-03 1.74781719e+01] [-9.85449133e-01 1.69746151e-01 8.73211277e-03 -1.97367330e+02] [-8.78982253e-03 4.11506859e-04 -9.99961284e-01 -1.81667018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.686559995 meters 0.021498473434504842 Centerline is valid? [True, True] Translation: X:17.44, Y:-197.49, Z:-1.82 [[-9.14038970e-02 -9.95813829e-01 3.81709791e-04 1.74353507e+01] [-9.95780629e-01 9.14039696e-02 8.13956575e-03 -1.97485268e+02] [-8.14038193e-03 3.63888813e-04 -9.99966800e-01 -1.81717687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.71655999499995 meters 0.021098290873447254 Centerline is valid? [True, True] Translation: X:17.40, Y:-197.61, Z:-1.82 [[-1.22882419e-02 -9.99924467e-01 -2.43414541e-04 1.74018369e+01] [-9.99891902e-01 1.22858754e-02 8.07728314e-03 -1.97606118e+02] [-8.07368248e-03 3.42643837e-04 -9.99967349e-01 -1.81737941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.746559995 meters 0.018922289664723636 Centerline is valid? [True, True] Translation: X:17.37, Y:-197.73, Z:-1.82 [[ 6.72679420e-02 -9.97734600e-01 -8.31669556e-04 1.73749684e+01] [-9.97704620e-01 -6.72723730e-02 7.74075832e-03 -1.97728819e+02] [-7.77917079e-03 3.09055676e-04 -9.99969694e-01 -1.81809674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.77655999499996 meters 0.018542771247536182 Centerline is valid? [True, True] Translation: X:17.36, Y:-197.85, Z:-1.82 [[ 1.46529646e-01 -9.89205316e-01 -1.38080282e-03 1.73601305e+01] [-9.89177499e-01 -1.46535888e-01 7.42359416e-03 -1.97853625e+02] [-7.54579597e-03 2.78082450e-04 -9.99971491e-01 -1.81800077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.806559995 meters 0.01608812868945439 Centerline is valid? [True, True] Translation: X:17.35, Y:-197.98, Z:-1.82 [[ 2.27934165e-01 -9.73674865e-01 -1.80914184e-03 1.73473752e+01] [-9.73651245e-01 -2.27941244e-01 6.78540307e-03 -1.97977711e+02] [-7.01915446e-03 2.14848022e-04 -9.99975342e-01 -1.81859418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.83655999499996 meters 0.014924314642560098 Centerline is valid? [True, True] Translation: X:17.35, Y:-198.10, Z:-1.82 [[ 3.04788444e-01 -9.52417474e-01 -2.22690983e-03 1.73493827e+01] [-9.52396305e-01 -3.04796523e-01 6.35273461e-03 -1.98101287e+02] [-6.72920982e-03 1.84660593e-04 -9.99977342e-01 -1.81908585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.866559995 meters 0.014730399196384364 Centerline is valid? [True, True] Translation: X:17.36, Y:-198.22, Z:-1.82 [[ 3.79615695e-01 -9.25140927e-01 -2.48801366e-03 1.73599386e+01] [-9.25123588e-01 -3.79623818e-01 5.66605020e-03 -1.98218963e+02] [-6.18640418e-03 1.50798538e-04 -9.99980853e-01 -1.81878766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.89655999499996 meters 0.013752184829163601 Centerline is valid? [True, True] Translation: X:17.37, Y:-198.34, Z:-1.82 [[ 4.54449447e-01 -8.90767835e-01 -2.89194464e-03 1.73745744e+01] [-8.90751349e-01 -4.54458635e-01 5.42057776e-03 -1.98339336e+02] [-6.14274553e-03 1.12625020e-04 -9.99981127e-01 -1.81821225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.92655999499993 meters 0.01315547618754139 Centerline is valid? [True, True] Translation: X:17.40, Y:-198.45, Z:-1.82 [[ 5.22998767e-01 -8.52326623e-01 -3.40846457e-03 1.74019659e+01] [-8.52309767e-01 -5.23009864e-01 5.36127477e-03 -1.98453772e+02] [-6.35221781e-03 1.01127550e-04 -9.99979819e-01 -1.81773091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.95655999499996 meters 0.012610208777363918 Centerline is valid? [True, True] Translation: X:17.43, Y:-198.56, Z:-1.82 [[ 5.88123014e-01 -8.08760899e-01 -4.13872945e-03 1.74345661e+01] [-8.08741987e-01 -5.88137569e-01 5.53161842e-03 -1.98559226e+02] [-6.90789896e-03 9.38921817e-05 -9.99976136e-01 -1.81750928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.98655999499994 meters 0.012380925040643854 Centerline is valid? [True, True] Translation: X:17.47, Y:-198.67, Z:-1.82 [[ 6.50045944e-01 -7.59875172e-01 -5.47664549e-03 1.74747179e+01] [-7.59849330e-01 -6.50069008e-01 6.26741847e-03 -1.98666487e+02] [-8.32265319e-03 8.73154564e-05 -9.99965362e-01 -1.81645561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.01655999499997 meters 0.012205776150365588 Centerline is valid? [True, True] Translation: X:17.52, Y:-198.76, Z:-1.82 [[ 7.06309770e-01 -7.07877581e-01 -5.98658560e-03 1.75164504e+01] [-7.07853111e-01 -7.06335136e-01 5.88627191e-03 -1.98757343e+02] [-8.39529567e-03 8.00918792e-05 -9.99964756e-01 -1.81619943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.04655999499994 meters 0.01269263490846225 Centerline is valid? [True, True] Translation: X:17.51, Y:-198.77, Z:-1.81 [[ 7.59795109e-01 -6.50129302e-01 -6.57900212e-03 1.75143335e+01] [-6.50105814e-01 -7.59823588e-01 5.52679414e-03 -1.98771153e+02] [-8.59201181e-03 7.78163758e-05 -9.99963085e-01 -1.81488582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.07655999499997 meters 0.012146984794441209 Centerline is valid? [True, True] Translation: X:17.51, Y:-198.79, Z:-1.82 [[ 8.08150790e-01 -5.88931565e-01 -7.20496595e-03 1.75109155e+01] [-5.88909067e-01 -8.08182903e-01 5.14836222e-03 -1.98789559e+02] [-8.85496332e-03 8.24167828e-05 -9.99960791e-01 -1.81633102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.10655999499994 meters 0.012562131403355697 Centerline is valid? [True, True] Translation: X:17.51, Y:-198.81, Z:-1.82 [[ 8.51098579e-01 -5.24941984e-01 -8.19282336e-03 1.75088303e+01] [-5.24918793e-01 -8.51138005e-01 4.93533396e-03 -1.98807333e+02] [-9.56398734e-03 1.00111226e-04 -9.99954259e-01 -1.81584940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.13655999499997 meters 0.01286951442257486 Centerline is valid? [True, True] Translation: X:17.51, Y:-198.82, Z:-1.81 [[ 8.88905829e-01 -4.57975499e-01 -1.02405551e-02 1.75113730e+01] [-4.57946854e-01 -8.88964805e-01 5.12393848e-03 -1.98822826e+02] [-1.14501313e-02 1.34931209e-04 -9.99934436e-01 -1.81452817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.16655999499994 meters 0.013675002800362056 Centerline is valid? [True, True] Translation: X:17.52, Y:-198.84, Z:-1.81 [[ 9.21246603e-01 -3.88784291e-01 -1.23074301e-02 1.75150842e+01] [-3.88752221e-01 -9.21328792e-01 4.99680441e-03 -1.98835859e+02] [-1.32818688e-02 1.81251710e-04 -9.99911776e-01 -1.81222607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.196559995 meters 0.013685501567809228 Centerline is valid? [True, True] Translation: X:17.52, Y:-198.85, Z:-1.81 [[ 9.48174486e-01 -3.17456511e-01 -1.36567579e-02 1.75204438e+01] [-3.17426979e-01 -9.48272805e-01 4.33584503e-03 -1.98850852e+02] [-1.43267743e-02 2.23885759e-04 -9.99897341e-01 -1.81191310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.22655999499995 meters 0.01513060271340325 Centerline is valid? [True, True] Translation: X:17.53, Y:-198.86, Z:-1.81 [[ 9.68842701e-01 -2.47304253e-01 -1.35803927e-02 1.75264630e+01] [-2.47284133e-01 -9.68937832e-01 3.16777474e-03 -1.98862674e+02] [-1.39419604e-02 2.89140198e-04 -9.99902764e-01 -1.81196417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.256559995 meters 0.015520503625458286 Centerline is valid? [True, True] Translation: X:17.53, Y:-198.87, Z:-1.81 [[ 9.84735710e-01 -1.73555219e-01 -1.31972216e-02 1.75341153e+01] [-1.73543897e-01 -9.84824090e-01 2.00707469e-03 -1.98874768e+02] [-1.33452801e-02 3.13859148e-04 -9.99910899e-01 -1.81309719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.28655999499995 meters 0.016179238379404035 Centerline is valid? [True, True] Translation: X:17.54, Y:-198.89, Z:-1.81 [[ 9.95009890e-01 -9.89170053e-02 -1.30669131e-02 1.75388081e+01] [-9.89130602e-02 -9.95095626e-01 9.49435764e-04 -1.98885924e+02] [-1.30967434e-02 3.47790381e-04 -9.99914174e-01 -1.81408934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.316559995 meters 0.018481109655508816 Centerline is valid? [True, True] Translation: X:17.54, Y:-198.89, Z:-1.81 [[ 9.99561858e-01 -2.66196673e-02 -1.29415773e-02 1.75434028e+01] [-2.66228700e-02 -9.99645546e-01 -7.52240283e-05 -1.98894637e+02] [-1.29349877e-02 4.19733000e-04 -9.99916251e-01 -1.81465382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.34655999499995 meters 0.019391168645124593 Centerline is valid? [True, True] Translation: X:17.55, Y:-198.90, Z:-1.81 [[ 9.98725671e-01 4.89569294e-02 -1.22577430e-02 1.75498632e+01] [ 4.89479203e-02 -9.98800797e-01 -1.03408859e-03 -1.98903055e+02] [-1.22936693e-02 4.32779798e-04 -9.99924336e-01 -1.81495127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.376559995 meters 0.019705631727681458 Centerline is valid? [True, True] Translation: X:17.56, Y:-198.91, Z:-1.82 [[ 9.92131141e-01 1.24649951e-01 -1.17553744e-02 1.75570405e+01] [ 1.24635847e-01 -9.92200680e-01 -1.92772735e-03 -1.98912890e+02] [-1.19039816e-02 4.47417283e-04 -9.99929045e-01 -1.81550832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.40655999499995 meters 0.01968075559540582 Centerline is valid? [True, True] Translation: X:17.57, Y:-198.93, Z:-1.82 [[ 9.80073311e-01 1.98361862e-01 -1.04344170e-02 1.75659513e+01] [ 1.98345788e-01 -9.80128755e-01 -2.56379046e-03 -1.98926263e+02] [-1.07356304e-02 4.43079946e-04 -9.99942273e-01 -1.81641901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.436559995 meters 0.020318861696370413 Centerline is valid? [True, True] Translation: X:17.58, Y:-198.94, Z:-1.82 [[ 9.61832695e-01 2.73458591e-01 -9.91286334e-03 1.75757266e+01] [ 2.73439308e-01 -9.61883675e-01 -3.27735183e-03 -1.98936616e+02] [-1.04312414e-02 4.41697648e-04 -9.99945496e-01 -1.81651076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.46655999499995 meters 0.020527019324109576 Centerline is valid? [True, True] Translation: X:17.59, Y:-198.95, Z:-1.82 [[ 9.37723930e-01 3.47253059e-01 -9.44162626e-03 1.75865563e+01] [ 3.47230691e-01 -9.37771358e-01 -3.96582787e-03 -1.98947411e+02] [-1.02312325e-02 4.40429285e-04 -9.99947563e-01 -1.81637243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.496559995 meters 0.022260459026283912 Centerline is valid? [True, True] Translation: X:17.60, Y:-198.96, Z:-1.82 [[ 9.07621603e-01 4.19696060e-01 -8.84554738e-03 1.75968152e+01] [ 4.19671493e-01 -9.07664605e-01 -4.56107837e-03 -1.98957259e+02] [-9.94305689e-03 4.27509181e-04 -9.99950475e-01 -1.81543044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.52655999499996 meters 0.02172920961673346 Centerline is valid? [True, True] Translation: X:17.61, Y:-198.96, Z:-1.82 [[ 8.71701805e-01 4.89961568e-01 -8.58049904e-03 1.76084453e+01] [ 4.89932944e-01 -8.71743930e-01 -5.31339019e-03 -1.98964818e+02] [-1.00833549e-02 4.27822670e-04 -9.99949070e-01 -1.81528564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.556559995 meters 0.019165652638354687 Centerline is valid? [True, True] Translation: X:17.63, Y:-198.98, Z:-1.82 [[ 8.29474875e-01 5.58481403e-01 -8.36388534e-03 1.76260888e+01] [ 5.58447862e-01 -8.29516937e-01 -6.13491847e-03 -1.98978019e+02] [-1.03642224e-02 4.17966844e-04 -9.99946203e-01 -1.81564865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.58655999499996 meters 0.019775544432829865 Centerline is valid? [True, True] Translation: X:17.64, Y:-198.98, Z:-1.82 [[ 7.82274062e-01 6.22887355e-01 -7.65735604e-03 1.76394843e+01] [ 6.22852536e-01 -7.82311440e-01 -6.59761341e-03 -1.98984263e+02] [-1.01000072e-02 3.91738206e-04 -9.99948917e-01 -1.81552635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.616559995 meters 0.019775544432829865 Centerline is valid? [True, True] Translation: X:17.65, Y:-198.99, Z:-1.82 [[ 7.31118029e-01 6.82213875e-01 -7.11740426e-03 1.76523506e+01] [ 6.82176237e-01 -7.31152567e-01 -7.17676541e-03 -1.98987257e+02] [-1.00999973e-02 3.91738523e-04 -9.99948917e-01 -1.81552644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.64655999499996 meters 0.0187672071504772 Centerline is valid? [True, True] Translation: X:17.67, Y:-198.99, Z:-1.82 [[ 6.74237899e-01 7.38484184e-01 -6.66075449e-03 1.76697615e+01] [ 7.38442430e-01 -6.74270691e-01 -7.86215138e-03 -1.98991802e+02] [-1.02972260e-02 3.82376697e-04 -9.99946909e-01 -1.81557446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.67655999499993 meters 0.018113489563995 Centerline is valid? [True, True] Translation: X:17.69, Y:-199.00, Z:-1.82 [[ 6.10980718e-01 7.91623333e-01 -5.92120691e-03 1.76874205e+01] [ 7.91580772e-01 -6.11009319e-01 -8.21546728e-03 -1.98995909e+02] [-1.01214682e-02 3.32378556e-04 -9.99948721e-01 -1.81561750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.70655999499996 meters 0.018201630688867362 Centerline is valid? [True, True] Translation: X:17.70, Y:-199.00, Z:-1.82 [[ 5.45388783e-01 8.38167634e-01 -5.10821457e-03 1.77014919e+01] [ 8.38125554e-01 -5.45412621e-01 -8.40413214e-03 -1.98996894e+02] [-9.83015624e-03 3.02194230e-04 -9.99951637e-01 -1.81518734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.73655999499994 meters 0.01687099492140079 Centerline is valid? [True, True] Translation: X:17.72, Y:-199.00, Z:-1.82 [[ 4.76290880e-01 8.79277710e-01 -4.20789430e-03 1.77193851e+01] [ 8.79238299e-01 -4.76309393e-01 -8.32926566e-03 -1.98996696e+02] [-9.32799721e-03 2.67411450e-04 -9.99956458e-01 -1.81594011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.76655999499997 meters 0.016580702726351457 Centerline is valid? [True, True] Translation: X:17.74, Y:-199.00, Z:-1.82 [[ 4.02103396e-01 9.15589370e-01 -2.99394987e-03 1.77351958e+01] [ 9.15560318e-01 -4.02114496e-01 -7.29628897e-03 -1.98995427e+02] [-7.88431527e-03 1.92720874e-04 -9.99968900e-01 -1.81591779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.79655999499994 meters 0.01523576734284693 Centerline is valid? [True, True] Translation: X:17.75, Y:-198.99, Z:-1.82 [[ 3.27099160e-01 9.44987328e-01 -2.25586902e-03 1.77515799e+01] [ 9.44961280e-01 -3.27106897e-01 -7.01836823e-03 -1.98992324e+02] [-7.37017936e-03 1.63993470e-04 -9.99972826e-01 -1.81673844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.82655999499997 meters 0.015485503730391809 Centerline is valid? [True, True] Translation: X:17.76, Y:-198.99, Z:-1.82 [[ 2.49905298e-01 9.68268896e-01 -1.63910990e-03 1.77645320e+01] [ 9.68244190e-01 -2.49910633e-01 -6.91840825e-03 -1.98987400e+02] [-7.10851051e-03 1.41888236e-04 -9.99974724e-01 -1.81630493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.85655999499994 meters 0.013518340800200972 Centerline is valid? [True, True] Translation: X:17.79, Y:-198.98, Z:-1.82 [[ 1.68278785e-01 9.85738839e-01 -1.09140255e-03 1.77860567e+01] [ 9.85713845e-01 -1.68282291e-01 -7.02042226e-03 -1.98981541e+02] [-7.10396661e-03 1.05577525e-04 -9.99974761e-01 -1.81691588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.88655999499997 meters 0.013518340800200972 Centerline is valid? [True, True] Translation: X:17.80, Y:-198.97, Z:-1.82 [[ 9.06017435e-02 9.95887059e-01 -5.38500445e-04 1.77987400e+01] [ 9.95861867e-01 -9.06032823e-02 -7.08430445e-03 -1.98973824e+02] [-7.10395703e-03 1.05578275e-04 -9.99974761e-01 -1.81691597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.91655999499994 meters 0.01310980878594734 Centerline is valid? [True, True] Translation: X:17.81, Y:-198.96, Z:-1.82 [[ 9.53261928e-03 9.99954563e-01 1.82134597e-05 1.78138805e+01] [ 9.99928232e-01 -9.53223608e-03 -7.25723112e-03 -1.98964488e+02] [-7.25672776e-03 8.73925738e-05 -9.99973666e-01 -1.81648595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.946559995 meters 0.012446152068132639 Centerline is valid? [True, True] Translation: X:17.83, Y:-198.95, Z:-1.82 [[-7.52335052e-02 9.97165793e-01 5.48667510e-04 1.78304768e+01] [ 9.97142835e-01 7.52354963e-02 -6.76660632e-03 -1.98954864e+02] [-6.78870763e-03 3.80243642e-05 -9.99976956e-01 -1.81580170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.97655999499995 meters 0.012223206593485168 Centerline is valid? [True, True] Translation: X:17.84, Y:-198.94, Z:-1.82 [[-1.56638260e-01 9.87655456e-01 1.07460476e-03 1.78404092e+01] [ 9.87632811e-01 1.56641946e-01 -6.68818474e-03 -1.98944575e+02] [-6.77395033e-03 1.36892970e-05 -9.99977056e-01 -1.81557896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.006559995 meters 0.012198589551981949 Centerline is valid? [True, True] Translation: X:17.85, Y:-198.93, Z:-1.82 [[-2.40324347e-01 9.70691464e-01 1.51310969e-03 1.78530186e+01] [ 9.70671379e-01 2.40329109e-01 -6.24454801e-03 -1.98931183e+02] [-6.42517376e-03 -3.19846616e-05 -9.99979358e-01 -1.81597560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.03655999499995 meters 0.012876506894241097 Centerline is valid? [True, True] Translation: X:17.86, Y:-198.92, Z:-1.82 [[-3.21826205e-01 9.46796926e-01 1.86426878e-03 1.78642685e+01] [ 9.46779768e-01 3.21831597e-01 -5.70029815e-03 -1.98916158e+02] [-5.99700536e-03 -6.94533586e-05 -9.99982015e-01 -1.81582124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.066559995 meters 0.01391450732279057 Centerline is valid? [True, True] Translation: X:17.87, Y:-198.90, Z:-1.82 [[-4.00718301e-01 9.16198970e-01 2.07145135e-03 1.78733604e+01] [ 9.16185463e-01 4.00723644e-01 -4.97575794e-03 -1.98900341e+02] [-5.38886384e-03 -9.60436536e-05 -9.99985475e-01 -1.81539488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.09655999499995 meters 0.015011367395911693 Centerline is valid? [True, True] Translation: X:17.88, Y:-198.89, Z:-1.81 [[-4.75365275e-01 8.79785042e-01 2.47692172e-03 1.78788110e+01] [ 8.79771732e-01 4.75371712e-01 -4.84105339e-03 -1.98885178e+02] [-5.43654488e-03 -1.22142960e-04 -9.99985214e-01 -1.81486321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.126559995 meters 0.015011367395911693 Centerline is valid? [True, True] Translation: X:17.88, Y:-198.87, Z:-1.81 [[-5.42811169e-01 8.39849940e-01 2.84847345e-03 1.78811074e+01] [ 8.39837174e-01 5.42818629e-01 -4.63217405e-03 -1.98870820e+02] [-5.43653555e-03 -1.22141913e-04 -9.99985215e-01 -1.81486330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.15655999499995 meters 0.015011367395911693 Centerline is valid? [True, True] Translation: X:17.88, Y:-198.86, Z:-1.81 [[-6.06922243e-01 7.94754764e-01 3.20252393e-03 1.78822679e+01] [ 7.94742622e-01 6.06930680e-01 -4.39483520e-03 -1.98856320e+02] [-5.43652624e-03 -1.22140972e-04 -9.99985215e-01 -1.81486338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.186559995 meters 0.01579559416955052 Centerline is valid? [True, True] Translation: X:17.88, Y:-198.84, Z:-1.81 [[-6.68570000e-01 7.43638183e-01 4.05069974e-03 1.78824359e+01] [ 7.43623151e-01 6.68582254e-01 -4.73061235e-03 -1.98841724e+02] [-6.22608993e-03 -1.50551392e-04 -9.99980606e-01 -1.81428076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.21655999499995 meters 0.016387826694403813 Centerline is valid? [True, True] Translation: X:17.88, Y:-198.83, Z:-1.81 [[-7.25716374e-01 6.87978543e-01 4.61196465e-03 1.78792878e+01] [ 6.87963176e-01 7.25731009e-01 -4.60115171e-03 -1.98827895e+02] [-6.51253940e-03 -1.66269281e-04 -9.99978779e-01 -1.81379698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.246559995 meters 0.016896377737544776 Centerline is valid? [True, True] Translation: X:17.89, Y:-198.80, Z:-1.81 [[-7.73216123e-01 6.34119429e-01 5.42011853e-03 1.78915144e+01] [ 6.34102116e-01 7.73235096e-01 -4.68957681e-03 -1.98801967e+02] [-7.16477764e-03 -1.89147769e-04 -9.99974315e-01 -1.81317367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.27655999499996 meters 0.01722897084581036 Centerline is valid? [True, True] Translation: X:17.90, Y:-198.78, Z:-1.81 [[-8.16157240e-01 5.77800171e-01 5.85850698e-03 1.79034608e+01] [ 5.77783550e-01 8.16178243e-01 -4.38689340e-03 -1.98776787e+02] [-7.31633369e-03 -1.95445845e-04 -9.99973216e-01 -1.81266558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.306559995 meters 0.016073315437406994 Centerline is valid? [True, True] Translation: X:18.12, Y:-198.48, Z:-2.78 [[-7.40560219e-01 -6.71967127e-01 5.54459923e-03 1.81167833e+01] [ 6.71950241e-01 -7.40580949e-01 -4.76776011e-03 -1.98479564e+02] [ 7.31000262e-03 1.94881317e-04 9.99973263e-01 -2.77726515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.33655999499996 meters 0.016307677646772642 Centerline is valid? [True, True] Translation: X:17.86, Y:-198.76, Z:-1.81 [[-8.17434609e-01 5.75991093e-01 5.90938700e-03 1.78635019e+01] [ 5.75974378e-01 8.17455948e-01 -4.39198098e-03 -1.98756698e+02] [-7.36040547e-03 -1.86501758e-04 -9.99972895e-01 -1.81287214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.366559995 meters 0.015060153978263437 Centerline is valid? [True, True] Translation: X:17.87, Y:-198.73, Z:-1.81 [[-8.55358199e-01 5.18000746e-01 6.13015623e-03 1.78698034e+01] [ 5.17985993e-01 8.55380148e-01 -3.91327182e-03 -1.98733266e+02] [-7.27069166e-03 -1.71914076e-04 -9.99973553e-01 -1.81363219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.39655999499996 meters 0.014991010751077647 Centerline is valid? [True, True] Translation: X:17.87, Y:-198.71, Z:-1.81 [[-8.89123250e-01 4.57626120e-01 6.17906580e-03 1.78744525e+01] [ 4.57613860e-01 8.89144707e-01 -3.35321960e-03 -1.98707287e+02] [-7.02860452e-03 -1.53799354e-04 -9.99975287e-01 -1.81370508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.42655999499993 meters 0.014324633369292645 Centerline is valid? [True, True] Translation: X:18.06, Y:-198.36, Z:-2.78 [[-8.35328997e-01 -5.49719826e-01 5.79479924e-03 1.80619896e+01] [ 5.49707747e-01 -8.35349085e-01 -3.64691096e-03 -1.98356850e+02] [ 6.84545950e-03 1.39075563e-04 9.99976560e-01 -2.77632477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.45655999499996 meters 0.013771433527490185 Centerline is valid? [True, True] Translation: X:17.84, Y:-198.70, Z:-1.81 [[-8.87758529e-01 4.60275788e-01 5.56718798e-03 1.78350868e+01] [ 4.60266057e-01 8.87775979e-01 -2.99463125e-03 -1.98699494e+02] [-6.32077203e-03 -9.61217755e-05 -9.99980019e-01 -1.81423601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.48655999499994 meters 0.013368070277314084 Centerline is valid? [True, True] Translation: X:17.84, Y:-198.67, Z:-1.81 [[-9.17204652e-01 3.98378683e-01 5.48197460e-03 1.78385557e+01] [ 3.98371065e-01 9.17221031e-01 -2.46477372e-03 -1.98674449e+02] [-6.01009569e-03 -7.68418575e-05 -9.99981936e-01 -1.81429069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.51655999499997 meters 0.012793106350297692 Centerline is valid? [True, True] Translation: X:17.84, Y:-198.65, Z:-1.81 [[-9.42351492e-01 3.34583122e-01 5.27260973e-03 1.78396779e+01] [ 3.34577540e-01 9.42366240e-01 -1.93362742e-03 -1.98649711e+02] [-5.61568851e-03 -5.80598893e-05 -9.99984230e-01 -1.81446362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.54655999499994 meters 0.012539586902834549 Centerline is valid? [True, True] Translation: X:17.84, Y:-198.62, Z:-1.81 [[-9.63094559e-01 2.69115186e-01 5.08791168e-03 1.78371992e+01] [ 2.69111197e-01 9.63107998e-01 -1.46577418e-03 -1.98623758e+02] [-5.29467052e-03 -4.24651370e-05 -9.99985982e-01 -1.81441383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.57655999499997 meters 0.012219210314250979 Centerline is valid? [True, True] Translation: X:17.84, Y:-198.60, Z:-1.81 [[-9.78781789e-01 2.04846831e-01 4.89753782e-03 1.78367435e+01] [ 2.04844186e-01 9.78794042e-01 -1.04101543e-03 -1.98603535e+02] [-5.00692955e-03 -1.56947985e-05 -9.99987465e-01 -1.81459735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.60655999499994 meters 0.012211268272697336 Centerline is valid? [True, True] Translation: X:17.83, Y:-198.58, Z:-1.81 [[-9.90525926e-01 1.37228326e-01 5.17455378e-03 1.78316725e+01] [ 1.37226434e-01 9.90539442e-01 -7.20611892e-04 -1.98578943e+02] [-5.22448798e-03 -3.69919981e-06 -9.99986352e-01 -1.81441686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.63655999499997 meters 0.012232549693565702 Centerline is valid? [True, True] Translation: X:17.89, Y:-198.12, Z:-2.78 [[-9.79265840e-01 -2.02511750e-01 5.23495762e-03 1.78925952e+01] [ 2.02508918e-01 -9.79279833e-01 -1.07113436e-03 -1.98117109e+02] [ 5.34340572e-03 1.12003149e-05 9.99985724e-01 -2.77639667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.66655999499994 meters 0.012497458750785147 Centerline is valid? [True, True] Translation: X:17.78, Y:-198.58, Z:-1.81 [[-9.90336873e-01 1.38566664e-01 5.67086849e-03 1.77848378e+01] [ 1.38564541e-01 9.90353108e-01 -7.67321177e-04 -1.98581963e+02] [-5.72248737e-03 2.58748364e-05 -9.99983626e-01 -1.81386351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.696559995 meters 0.012769173190714184 Centerline is valid? [True, True] Translation: X:17.78, Y:-198.56, Z:-1.81 [[-9.97490051e-01 7.05455778e-02 6.07615101e-03 1.77777717e+01] [ 7.05445384e-02 9.97508556e-01 -3.85476448e-04 -1.98557344e+02] [-6.08820628e-03 4.41303463e-05 -9.99981466e-01 -1.81352711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.72655999499995 meters 0.013696260820579835 Centerline is valid? [True, True] Translation: X:17.81, Y:-198.06, Z:-2.78 [[-9.93029366e-01 -1.17709571e-01 6.09390114e-03 1.78084917e+01] [ 1.17707099e-01 -9.93048063e-01 -7.63935864e-04 -1.98062922e+02] [ 6.14145928e-03 -4.13153212e-05 9.99981140e-01 -2.77731097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.756559995 meters 0.014224192187061927 Centerline is valid? [True, True] Translation: X:17.72, Y:-198.57, Z:-1.81 [[-9.97215705e-01 7.43042945e-02 6.30147583e-03 1.77217231e+01] [ 7.43034140e-02 9.97235610e-01 -3.74044560e-04 -1.98566969e+02] [-6.31184921e-03 9.52180573e-05 -9.99980076e-01 -1.81303318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.78655999499995 meters 0.014622161242398386 Centerline is valid? [True, True] Translation: X:17.72, Y:-198.54, Z:-1.81 [[-9.99965875e-01 5.46514470e-03 6.19523191e-03 1.77173232e+01] [ 5.46570867e-03 9.99985060e-01 7.41060074e-05 -1.98542309e+02] [-6.19473435e-03 1.07964811e-04 -9.99980807e-01 -1.81300547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.816559995 meters 0.015531457593408165 Centerline is valid? [True, True] Translation: X:17.71, Y:-198.52, Z:-1.81 [[-9.98006807e-01 -6.26972145e-02 7.17447663e-03 1.77064995e+01] [-6.26945310e-02 9.98032583e-01 5.98550057e-04 -1.98520944e+02] [-7.19788887e-03 1.47556583e-04 -9.99974084e-01 -1.81256558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.84655999499995 meters 0.015418810666754133 Centerline is valid? [True, True] Translation: X:17.69, Y:-198.50, Z:-1.81 [[-9.91067584e-01 -1.33152113e-01 7.45384041e-03 1.76911475e+01] [-1.33147138e-01 9.91095601e-01 1.16199540e-03 -1.98495964e+02] [-7.54219058e-03 1.59158460e-04 -9.99971545e-01 -1.81237911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.876559995 meters 0.016191744367332922 Centerline is valid? [True, True] Translation: X:17.67, Y:-198.48, Z:-1.81 [[-9.79115856e-01 -2.03164263e-01 7.51149989e-03 1.76657349e+01] [-2.03156970e-01 9.79144654e-01 1.72948149e-03 -1.98475311e+02] [-7.70621380e-03 1.67349191e-04 -9.99970293e-01 -1.81188194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.90655999499995 meters 0.01649480796300177 Centerline is valid? [True, True] Translation: X:17.63, Y:-198.46, Z:-1.81 [[-9.62035242e-01 -2.72822423e-01 7.49123748e-03 1.76325622e+01] [-2.72812748e-01 9.62064393e-01 2.30409404e-03 -1.98457030e+02] [-7.83566136e-03 1.72914586e-04 -9.99969286e-01 -1.81175539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.936559995 meters 0.01666896063773897 Centerline is valid? [True, True] Translation: X:17.58, Y:-198.45, Z:-1.81 [[-9.39439426e-01 -3.42643894e-01 6.98044804e-03 1.75806797e+01] [-3.42633163e-01 9.39465346e-01 2.71648177e-03 -1.98448304e+02] [-7.48867493e-03 1.60237081e-04 -9.99971947e-01 -1.81222331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.96655999499995 meters 0.01573072058509619 Centerline is valid? [True, True] Translation: X:17.51, Y:-198.45, Z:-1.81 [[-9.11335838e-01 -4.11609510e-01 6.67840478e-03 1.75129466e+01] [-4.11597232e-01 9.11360295e-01 3.18289220e-03 -1.98446333e+02] [-7.39654165e-03 1.51870816e-04 -9.99972634e-01 -1.81305353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.996559995 meters 0.015393130711261858 Centerline is valid? [True, True] Translation: X:17.44, Y:-198.45, Z:-1.81 [[-8.78006279e-01 -4.78607771e-01 6.29093615e-03 1.74408040e+01] [-4.78594329e-01 8.78028804e-01 3.58988243e-03 -1.98452988e+02] [-7.24176877e-03 1.41132956e-04 -9.99973768e-01 -1.81314227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.02655999499996 meters 0.014565156322624832 Centerline is valid? [True, True] Translation: X:17.36, Y:-198.47, Z:-1.81 [[-8.39359714e-01 -5.43541378e-01 6.16777669e-03 1.73646781e+01] [-5.43525515e-01 8.39382364e-01 4.15476478e-03 -1.98466613e+02] [-7.43540955e-03 1.34998174e-04 -9.99972348e-01 -1.81416179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.056559995 meters 0.01376118886366772 Centerline is valid? [True, True] Translation: X:17.28, Y:-198.49, Z:-1.81 [[-7.94235089e-01 -6.07591057e-01 4.87148529e-03 1.72815907e+01] [-6.07578942e-01 7.94250024e-01 3.83784798e-03 -1.98492125e+02] [-6.20101942e-03 8.83416562e-05 -9.99980770e-01 -1.81491358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.08655999499996 meters 0.013097293692581473 Centerline is valid? [True, True] Translation: X:17.20, Y:-198.52, Z:-1.82 [[-7.44837664e-01 -6.67231720e-01 4.32269701e-03 1.71990104e+01] [-6.67219951e-01 7.44850204e-01 3.96361881e-03 -1.98523785e+02] [-5.86441395e-03 6.80628903e-05 -9.99982802e-01 -1.81581106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.116559995 meters 0.012284809786569437 Centerline is valid? [True, True] Translation: X:17.11, Y:-198.57, Z:-1.82 [[-6.88221246e-01 -7.25492573e-01 3.47020736e-03 1.71109936e+01] [-7.25483155e-01 6.88229995e-01 3.69672512e-03 -1.98568370e+02] [-5.07024741e-03 2.65877847e-05 -9.99987146e-01 -1.81595055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.14655999499996 meters 0.012062982465607044 Centerline is valid? [True, True] Translation: X:17.03, Y:-198.62, Z:-1.82 [[-6.28937845e-01 -7.77450064e-01 2.93005159e-03 1.70285088e+01] [-7.77441569e-01 6.28944671e-01 3.63433591e-03 -1.98617641e+02] [-4.66835502e-03 7.82749435e-06 -9.99989103e-01 -1.81598289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.17655999499993 meters 0.012032413144914926 Centerline is valid? [True, True] Translation: X:16.95, Y:-198.68, Z:-1.82 [[-5.65542111e-01 -8.24715471e-01 2.55197531e-03 1.69453039e+01] [-8.24707149e-01 5.65547869e-01 3.70499974e-03 -1.98679831e+02] [-4.49883480e-03 -9.29890521e-06 -9.99989880e-01 -1.81552106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.20655999499996 meters 0.012115458438221163 Centerline is valid? [True, True] Translation: X:16.87, Y:-198.75, Z:-1.82 [[-4.98549904e-01 -8.66857597e-01 2.42889222e-03 1.68671138e+01] [-8.66847573e-01 4.98555820e-01 4.16891757e-03 -1.98748225e+02] [-4.82479622e-03 -2.70658738e-05 -9.99988360e-01 -1.81523670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.23655999499994 meters 0.01251903519092156 Centerline is valid? [True, True] Translation: X:16.79, Y:-198.83, Z:-1.81 [[-4.28463277e-01 -9.03556555e-01 2.18464390e-03 1.67925204e+01] [-9.03545340e-01 4.28468844e-01 4.50209533e-03 -1.98825555e+02] [-5.00394959e-03 -4.49422981e-05 -9.99987479e-01 -1.81471632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.26655999499997 meters 0.013548292627514048 Centerline is valid? [True, True] Translation: X:16.72, Y:-198.91, Z:-1.81 [[-3.53450156e-01 -9.35451419e-01 1.90507676e-03 1.67220767e+01] [-9.35438969e-01 3.53455282e-01 4.82689809e-03 -1.98911034e+02] [-5.18868811e-03 -7.60151639e-05 -9.99986536e-01 -1.81388549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.29655999499994 meters 0.014077050134019926 Centerline is valid? [True, True] Translation: X:16.66, Y:-199.00, Z:-1.81 [[-2.79573995e-01 -9.60122821e-01 1.59669864e-03 1.66592684e+01] [-9.60108942e-01 2.79578540e-01 5.16326274e-03 -1.99004374e+02] [-5.40376906e-03 -8.94906554e-05 -9.99985396e-01 -1.81325663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.32655999499997 meters 0.014232599527731362 Centerline is valid? [True, True] Translation: X:16.61, Y:-199.10, Z:-1.81 [[-2.04213608e-01 -9.78925535e-01 1.26441340e-03 1.66062225e+01] [-9.78909777e-01 2.04217496e-01 5.55543320e-03 -1.99098610e+02] [-5.69657076e-03 -1.03251587e-04 -9.99983769e-01 -1.81308945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.35655999499994 meters 0.015054602842660796 Centerline is valid? [True, True] Translation: X:16.56, Y:-199.20, Z:-1.81 [[-1.27222893e-01 -9.91873685e-01 9.63844349e-04 1.65605161e+01] [-9.91852548e-01 1.27226475e-01 6.47660763e-03 -1.99199495e+02] [-6.54660319e-03 -1.32018716e-04 -9.99978562e-01 -1.81243291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.38655999499997 meters 0.015189252378389317 Centerline is valid? [True, True] Translation: X:16.52, Y:-199.31, Z:-1.81 [[-5.06530351e-02 -9.98716195e-01 4.81939037e-04 1.65220953e+01] [-9.98693517e-01 5.06551334e-02 6.73173621e-03 -1.99307158e+02] [-6.74750666e-03 -1.40326521e-04 -9.99977226e-01 -1.81216227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.41655999499994 meters 0.015437386781199817 Centerline is valid? [True, True] Translation: X:16.49, Y:-199.42, Z:-1.81 [[ 2.60829493e-02 -9.99659782e-01 -3.24693755e-05 1.64919600e+01] [-9.99637701e-01 -2.60825890e-02 6.64575966e-03 -1.99415072e+02] [-6.64434553e-03 -1.40883400e-04 -9.99977916e-01 -1.81206241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.446559995 meters 0.016006727097447843 Centerline is valid? [True, True] Translation: X:16.47, Y:-199.53, Z:-1.81 [[ 1.03274062e-01 -9.94652798e-01 -5.28487242e-04 1.64713418e+01] [-9.94631636e-01 -1.03275313e-01 6.48980561e-03 -1.99525222e+02] [-6.50968299e-03 -1.44578459e-04 -9.99978801e-01 -1.81147166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.47655999499995 meters 0.016118257564913106 Centerline is valid? [True, True] Translation: X:16.46, Y:-199.64, Z:-1.81 [[ 1.79224991e-01 -9.83807559e-01 -1.04401276e-03 1.64588006e+01] [-9.83785652e-01 -1.79227969e-01 6.56700327e-03 -1.99638139e+02] [-6.64778375e-03 -1.49886332e-04 -9.99977892e-01 -1.81119750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.506559995 meters 0.016448216653018335 Centerline is valid? [True, True] Translation: X:16.46, Y:-199.76, Z:-1.81 [[ 2.54011091e-01 -9.67200039e-01 -1.56519699e-03 1.64555289e+01] [-9.67177785e-01 -2.54015867e-01 6.56290557e-03 -1.99755187e+02] [-6.74522739e-03 -1.53227045e-04 -9.99977239e-01 -1.81107343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.53655999499995 meters 0.016590165663614362 Centerline is valid? [True, True] Translation: X:16.46, Y:-199.87, Z:-1.81 [[ 3.27525866e-01 -9.44839594e-01 -2.22463161e-03 1.64603219e+01] [-9.44814174e-01 -3.27533377e-01 6.93272373e-03 -1.99867829e+02] [-7.27895298e-03 -1.68782865e-04 -9.99973494e-01 -1.81106792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.566559995 meters 0.016148495240631458 Centerline is valid? [True, True] Translation: X:16.48, Y:-199.98, Z:-1.81 [[ 3.99509722e-01 -9.16723419e-01 -3.18679154e-03 1.64760825e+01] [-9.16690085e-01 -3.99522380e-01 7.82024342e-03 -1.99976845e+02] [-8.44219483e-03 -2.02963072e-04 -9.99964343e-01 -1.81117863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.59655999499995 meters 0.015910241146739397 Centerline is valid? [True, True] Translation: X:16.50, Y:-200.09, Z:-1.81 [[ 4.68602846e-01 -8.83400689e-01 -3.82036864e-03 1.64987504e+01] [-8.83367606e-01 -4.68618372e-01 7.64816711e-03 -2.00088161e+02] [-8.54669103e-03 -2.09162983e-04 -9.99963455e-01 -1.81090541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.626559995 meters 0.015416277189397906 Centerline is valid? [True, True] Translation: X:16.53, Y:-200.19, Z:-1.81 [[ 5.34840327e-01 -8.44940051e-01 -4.70464245e-03 1.65290411e+01] [-8.44903552e-01 -5.34860971e-01 7.85684180e-03 -2.00194535e+02] [-9.15488994e-03 -2.27186722e-04 -9.99958067e-01 -1.81120710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.65655999499995 meters 0.01771654205754323 Centerline is valid? [True, True] Translation: X:16.56, Y:-200.30, Z:-1.81 [[ 5.98039288e-01 -8.01448018e-01 -5.48499004e-03 1.65620464e+01] [-8.01410549e-01 -5.98064392e-01 7.75334918e-03 -2.00298615e+02] [-9.49428356e-03 -2.41078546e-04 -9.99954899e-01 -1.80960085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.686559995 meters 0.016967178652342423 Centerline is valid? [True, True] Translation: X:16.61, Y:-200.39, Z:-1.81 [[ 6.57730661e-01 -7.53227204e-01 -6.25749661e-03 1.66070871e+01] [-7.53189367e-01 -6.57760377e-01 7.55405508e-03 -2.00393447e+02] [-9.80585311e-03 -2.55453734e-04 -9.99951889e-01 -1.80996383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.71655999499995 meters 0.01704475914017842 Centerline is valid? [True, True] Translation: X:16.66, Y:-200.49, Z:-1.81 [[ 7.13039497e-01 -7.01090667e-01 -6.82292854e-03 1.66570016e+01] [-7.01055090e-01 -7.13072094e-01 7.06754088e-03 -2.00487254e+02] [-9.82022689e-03 -2.56187020e-04 -9.99951748e-01 -1.81012138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.746559995 meters 0.016490274588197653 Centerline is valid? [True, True] Translation: X:16.71, Y:-200.57, Z:-1.81 [[ 7.63894557e-01 -6.45300669e-01 -7.22159250e-03 1.67095442e+01] [-6.45268723e-01 -7.63928651e-01 6.42576244e-03 -2.00571478e+02] [-9.66333022e-03 -2.48737186e-04 -9.99953278e-01 -1.81070634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.77655999499996 meters 0.016783007772336395 Centerline is valid? [True, True] Translation: X:16.71, Y:-200.58, Z:-1.81 [[ 8.11797647e-01 -5.83889902e-01 -7.56062793e-03 1.67123504e+01] [-5.83861789e-01 -8.11832818e-01 5.73472394e-03 -2.00578294e+02] [-9.48641328e-03 -2.41073645e-04 -9.99954974e-01 -1.81042424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.806559995 meters 0.016783007772336395 Centerline is valid? [True, True] Translation: X:16.71, Y:-200.59, Z:-1.81 [[ 8.54965984e-01 -5.18622591e-01 -7.98587600e-03 1.67149106e+01] [-5.18597315e-01 -8.55003245e-01 5.12596470e-03 -2.00586189e+02] [-9.48639099e-03 -2.41071605e-04 -9.99954974e-01 -1.81042446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.83655999499996 meters 0.016108776463853756 Centerline is valid? [True, True] Translation: X:16.72, Y:-200.59, Z:-1.81 [[ 8.92153456e-01 -4.51648017e-01 -8.73387898e-03 1.67216679e+01] [-4.51623773e-01 -8.92196174e-01 4.68555238e-03 -2.00588719e+02] [-9.90855385e-03 -2.35804373e-04 -9.99950881e-01 -1.81149369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.866559995 meters 0.015353229199237931 Centerline is valid? [True, True] Translation: X:16.73, Y:-200.59, Z:-1.81 [[ 9.24382764e-01 -3.81365064e-01 -8.78600064e-03 1.67260593e+01] [-3.81345571e-01 -9.24424491e-01 3.86209748e-03 -2.00593945e+02] [-9.59486322e-03 -2.19553910e-04 -9.99953944e-01 -1.81228307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.89655999499996 meters 0.0146541275961956 Centerline is valid? [True, True] Translation: X:16.73, Y:-200.60, Z:-1.81 [[ 9.50827501e-01 -3.09583463e-01 -9.22725458e-03 1.67298109e+01] [-3.09566766e-01 -9.50872251e-01 3.22185174e-03 -2.00600120e+02] [-9.77137235e-03 -2.06973876e-04 -9.99952238e-01 -1.81282822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.92655999499993 meters 0.01481852715940299 Centerline is valid? [True, True] Translation: X:16.73, Y:-200.61, Z:-1.81 [[ 9.71725720e-01 -2.35932935e-01 -9.20733620e-03 1.67331418e+01] [-2.35920530e-01 -9.71769322e-01 2.42651228e-03 -2.00606731e+02] [-9.51990103e-03 -1.85704762e-04 -9.99954668e-01 -1.81219938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.95655999499996 meters 0.01370487459644059 Centerline is valid? [True, True] Translation: X:16.74, Y:-200.61, Z:-1.81 [[ 9.86872822e-01 -1.61207213e-01 -9.70910697e-03 1.67378190e+01] [-1.61197686e-01 -9.86920566e-01 1.76113034e-03 -2.00610793e+02] [-9.86602427e-03 -1.72926093e-04 -9.99951315e-01 -1.81299683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.98655999499994 meters 0.01251798453753831 Centerline is valid? [True, True] Translation: X:16.74, Y:-200.61, Z:-1.81 [[ 9.96022167e-01 -8.85733162e-02 -9.72682727e-03 1.67390785e+01] [-8.85679062e-02 -9.96069653e-01 9.86397671e-04 -2.00611233e+02] [-9.77596597e-03 -1.20989220e-04 -9.99952207e-01 -1.81383788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.01655999499997 meters 0.012166722031836445 Centerline is valid? [True, True] Translation: X:16.74, Y:-200.62, Z:-1.81 [[ 9.99867697e-01 -1.32692453e-02 -9.40831580e-03 1.67385887e+01] [-1.32678247e-02 -9.99911956e-01 2.13386603e-04 -2.00615292e+02] [-9.41031893e-03 -8.85304864e-05 -9.99955718e-01 -1.81344625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.04655999499994 meters 0.011660671041155394 Centerline is valid? [True, True] Translation: X:16.74, Y:-200.62, Z:-1.81 [[ 9.98062170e-01 6.14960530e-02 -9.49419468e-03 1.67395804e+01] [ 6.14938037e-02 -9.98107325e-01 -5.28923442e-04 -2.00617755e+02] [-9.50875196e-03 -5.59356657e-05 -9.99954789e-01 -1.81378807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.07655999499997 meters 0.011454253415128023 Centerline is valid? [True, True] Translation: X:16.74, Y:-200.62, Z:-1.81 [[ 9.91122173e-01 1.32590398e-01 -9.82982446e-03 1.67393775e+01] [ 1.32583775e-01 -9.91170917e-01 -1.32527228e-03 -2.00615713e+02] [-9.91875450e-03 1.02315017e-05 -9.99950808e-01 -1.81391681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.10655999499994 meters 0.011666486337615547 Centerline is valid? [True, True] Translation: X:16.74, Y:-200.62, Z:-1.81 [[ 9.78341592e-01 2.06757173e-01 -9.95995222e-03 1.67383491e+01] [ 2.06746024e-01 -9.78392288e-01 -2.14755871e-03 -2.00618619e+02] [-1.01887636e-02 4.18654854e-05 -9.99948092e-01 -1.81308886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.13655999499997 meters 0.011891312878134337 Centerline is valid? [True, True] Translation: X:16.74, Y:-200.62, Z:-1.81 [[ 9.59982787e-01 2.79886302e-01 -9.83398310e-03 1.67392034e+01] [ 2.79870839e-01 -9.60033152e-01 -2.94288105e-03 -2.00623763e+02] [-1.02646219e-02 7.28700502e-05 -9.99947315e-01 -1.81299909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.16655999499994 meters 0.012241714281440516 Centerline is valid? [True, True] Translation: X:16.74, Y:-200.63, Z:-1.81 [[ 9.35949498e-01 3.51980723e-01 -1.03974599e-02 1.67391647e+01] [ 3.51957755e-01 -9.36007243e-01 -4.02231203e-03 -2.00628307e+02] [-1.11478741e-02 1.05214272e-04 -9.99937855e-01 -1.81221445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.196559995 meters 0.012851221019198217 Centerline is valid? [True, True] Translation: X:16.74, Y:-200.63, Z:-1.81 [[ 9.06889771e-01 4.21224386e-01 -1.09981919e-02 1.67389923e+01] [ 4.21191338e-01 -9.06956445e-01 -5.27870075e-03 -2.00631201e+02] [-1.21983985e-02 1.54856556e-04 -9.99925585e-01 -1.81102992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.22655999499995 meters 0.012733901901427312 Centerline is valid? [True, True] Translation: X:16.74, Y:-200.64, Z:-1.81 [[ 8.71442971e-01 4.90382520e-01 -1.05892521e-02 1.67411928e+01] [ 4.90344037e-01 -8.71507290e-01 -6.14559257e-03 -2.00639293e+02] [-1.22423016e-02 1.63156811e-04 -9.99925047e-01 -1.81086066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.256559995 meters 0.01299706816154717 Centerline is valid? [True, True] Translation: X:16.74, Y:-200.65, Z:-1.81 [[ 8.30604712e-01 5.56761247e-01 -1.06172357e-02 1.67440222e+01] [ 5.56713026e-01 -8.30672548e-01 -7.32974889e-03 -2.00645836e+02] [-1.29003664e-02 1.77370549e-04 -9.99916771e-01 -1.81042490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.28655999499995 meters 0.013025970989572927 Centerline is valid? [True, True] Translation: X:16.75, Y:-200.65, Z:-1.81 [[ 7.84318494e-01 6.20275904e-01 -1.01144541e-02 1.67461516e+01] [ 6.20221422e-01 -7.84383689e-01 -8.22289264e-03 -2.00652361e+02] [-1.30340750e-02 1.76165632e-04 -9.99915037e-01 -1.81012158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.316559995 meters 0.012860051608711181 Centerline is valid? [True, True] Translation: X:16.75, Y:-200.66, Z:-1.81 [[ 7.32415853e-01 6.80792642e-01 -9.40196834e-03 1.67465953e+01] [ 6.80733784e-01 -7.32476180e-01 -8.95327318e-03 -2.00658376e+02] [-1.29820404e-02 1.57281719e-04 -9.99915717e-01 -1.81002281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.34655999499995 meters 0.012804061926531425 Centerline is valid? [True, True] Translation: X:16.75, Y:-200.66, Z:-1.81 [[ 6.75782365e-01 7.37048529e-01 -8.81256379e-03 1.67480614e+01] [ 7.36983133e-01 -6.75839808e-01 -9.81912186e-03 -2.00664892e+02] [-1.31930507e-02 1.40878511e-04 -9.99912958e-01 -1.80940549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.376559995 meters 0.012324123421483833 Centerline is valid? [True, True] Translation: X:16.75, Y:-200.67, Z:-1.81 [[ 6.14572661e-01 7.88821733e-01 -7.79212210e-03 1.67515582e+01] [ 7.88755984e-01 -6.14622047e-01 -1.01851840e-02 -2.00671715e+02] [-1.28235045e-02 1.13452715e-04 -9.99917769e-01 -1.81025700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.40655999499995 meters 0.011458521295432988 Centerline is valid? [True, True] Translation: X:16.76, Y:-200.68, Z:-1.81 [[ 5.45600994e-01 8.38023737e-01 -5.98098125e-03 1.67583263e+01] [ 8.37972846e-01 -5.45633774e-01 -9.23548826e-03 -2.00680172e+02] [-1.10029838e-02 2.69916972e-05 -9.99939465e-01 -1.81147920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.436559995 meters 0.011320607451603123 Centerline is valid? [True, True] Translation: X:16.76, Y:-200.69, Z:-1.81 [[ 4.74998090e-01 8.79970774e-01 -5.31523495e-03 1.67626909e+01] [ 8.79916033e-01 -4.75027828e-01 -9.81516796e-03 -2.00687743e+02] [-1.11619455e-02 -1.47744208e-05 -9.99937703e-01 -1.81144772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.46655999499995 meters 0.011445998979061343 Centerline is valid? [True, True] Translation: X:16.77, Y:-200.69, Z:-1.81 [[ 4.01300202e-01 9.15935188e-01 -4.56944340e-03 1.67699909e+01] [ 9.15877387e-01 -4.01326212e-01 -1.02899830e-02 -2.00694725e+02] [-1.12587949e-02 -5.56776170e-05 -9.99936616e-01 -1.81201694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.496559995 meters 0.011670637660460795 Centerline is valid? [True, True] Translation: X:16.78, Y:-200.70, Z:-1.81 [[ 3.25330653e-01 9.45592215e-01 -3.91518140e-03 1.67790056e+01] [ 9.45527241e-01 -3.25354197e-01 -1.10853047e-02 -2.00701210e+02] [-1.17559985e-02 -9.55212594e-05 -9.99930891e-01 -1.81214812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.52655999499996 meters 0.012941441356584402 Centerline is valid? [True, True] Translation: X:16.79, Y:-200.71, Z:-1.81 [[ 2.44500666e-01 9.69644330e-01 -3.04920326e-03 1.67902417e+01] [ 9.69577197e-01 -2.44519622e-01 -1.14111473e-02 -2.00707950e+02] [-1.18103444e-02 -1.66404817e-04 -9.99930242e-01 -1.81126829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.556559995 meters 0.013258794693241774 Centerline is valid? [True, True] Translation: X:16.80, Y:-200.71, Z:-1.81 [[ 1.65381733e-01 9.86227149e-01 -2.21186486e-03 1.67975036e+01] [ 9.86154502e-01 -1.65396401e-01 -1.19719600e-02 -2.00712040e+02] [-1.21729064e-02 -2.01297005e-04 -9.99925887e-01 -1.81174069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.58655999499996 meters 0.013583263815676216 Centerline is valid? [True, True] Translation: X:16.81, Y:-200.72, Z:-1.81 [[ 8.59555322e-02 9.96298125e-01 -1.30136557e-03 1.68055940e+01] [ 9.96220585e-01 -8.59650810e-02 -1.24318176e-02 -2.00715708e+02] [-1.24976686e-02 -2.27863671e-04 -9.99921875e-01 -1.81161923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.616559995 meters 0.014073523526484572 Centerline is valid? [True, True] Translation: X:16.81, Y:-200.72, Z:-1.81 [[ 6.35264680e-03 9.99979768e-01 -3.27886767e-04 1.68137282e+01] [ 9.99899532e-01 -6.35629141e-03 -1.26697559e-02 -2.00718275e+02] [-1.26715837e-02 -2.47367341e-04 -9.99919682e-01 -1.81139640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.64655999499996 meters 0.01437444375936934 Centerline is valid? [True, True] Translation: X:16.82, Y:-200.72, Z:-1.81 [[-7.35932927e-02 9.97288111e-01 6.72212031e-04 1.68228066e+01] [ 9.97206209e-01 7.35958657e-02 -1.27837986e-02 -2.00720788e+02] [-1.27986023e-02 -2.70467818e-04 -9.99918058e-01 -1.81167900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.67655999499993 meters 0.014366140384263437 Centerline is valid? [True, True] Translation: X:16.83, Y:-200.72, Z:-1.81 [[-1.51824866e-01 9.88406010e-01 1.66393585e-03 1.68310779e+01] [ 9.88325263e-01 1.51833736e-01 -1.26368955e-02 -2.00722407e+02] [-1.27430251e-02 -2.74085119e-04 -9.99918767e-01 -1.81152121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.70655999499996 meters 0.014095775952895327 Centerline is valid? [True, True] Translation: X:16.84, Y:-200.72, Z:-1.81 [[-2.28298153e-01 9.73587294e-01 2.78126131e-03 1.68400537e+01] [ 9.73499342e-01 2.28314921e-01 -1.30892549e-02 -2.00723372e+02] [-1.33785357e-02 -2.80696644e-04 -9.99910464e-01 -1.81100232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.73655999499994 meters 0.013909574801702624 Centerline is valid? [True, True] Translation: X:16.85, Y:-200.72, Z:-1.81 [[-3.03043197e-01 9.52969013e-01 3.85756668e-03 1.68481161e+01] [ 9.52879927e-01 3.03067624e-01 -1.30330452e-02 -2.00723783e+02] [-1.35891918e-02 -2.73777824e-04 -9.99907625e-01 -1.81074343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.76655999499997 meters 0.01378231850512544 Centerline is valid? [True, True] Translation: X:16.86, Y:-200.72, Z:-1.81 [[-3.75694865e-01 9.26730995e-01 4.79904658e-03 1.68553022e+01] [ 9.26646547e-01 3.75725429e-01 -1.25131230e-02 -2.00724877e+02] [-1.33994227e-02 -2.54096107e-04 -9.99910191e-01 -1.81016240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.79655999499994 meters 0.013128061629842641 Centerline is valid? [True, True] Translation: X:16.86, Y:-200.72, Z:-1.81 [[-4.45683747e-01 8.95171320e-01 5.85704170e-03 1.68618648e+01] [ 8.95086944e-01 4.45722169e-01 -1.22926963e-02 -2.00724392e+02] [-1.36146825e-02 -2.36093380e-04 -9.99907288e-01 -1.81056990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.82655999499997 meters 0.012346648986388714 Centerline is valid? [True, True] Translation: X:16.87, Y:-200.72, Z:-1.81 [[-5.11065705e-01 8.59517137e-01 6.49122028e-03 1.68669152e+01] [ 8.59443422e-01 5.11106897e-01 -1.12580497e-02 -2.00724952e+02] [-1.29941941e-02 -1.74766518e-04 -9.99915557e-01 -1.81051976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.85655999499994 meters 0.011840529200089179 Centerline is valid? [True, True] Translation: X:16.87, Y:-200.72, Z:-1.81 [[-5.74833629e-01 8.18237531e-01 7.32401018e-03 1.68727546e+01] [ 8.18167931e-01 5.74880267e-01 -1.06730566e-02 -2.00724094e+02] [-1.29435244e-02 -1.42961603e-04 -9.99916219e-01 -1.81038473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.88655999499997 meters 0.01169150575908262 Centerline is valid? [True, True] Translation: X:16.88, Y:-200.72, Z:-1.81 [[-6.35172249e-01 7.72329214e-01 7.98742313e-03 1.68793847e+01] [ 7.72266010e-01 6.35222460e-01 -9.88109681e-03 -2.00724095e+02] [-1.27052503e-02 -1.07783093e-04 -9.99919279e-01 -1.80950665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.91655999499994 meters 0.011135280847040649 Centerline is valid? [True, True] Translation: X:16.89, Y:-200.72, Z:-1.81 [[-6.91660732e-01 7.22168790e-01 8.81301734e-03 1.68856485e+01] [ 7.22108832e-01 6.91716873e-01 -9.30602789e-03 -2.00721041e+02] [-1.28166357e-02 -7.26564113e-05 -9.99917861e-01 -1.81088745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.946559995 meters 0.011085085752482272 Centerline is valid? [True, True] Translation: X:16.89, Y:-200.72, Z:-1.81 [[-7.41719475e-01 6.70642655e-01 9.52097045e-03 1.68910659e+01] [ 6.70587605e-01 7.41780580e-01 -8.59273653e-03 -2.00720190e+02] [-1.28251266e-02 1.12447447e-05 -9.99917755e-01 -1.81041288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.97655999499995 meters 0.01131678741594073 Centerline is valid? [True, True] Translation: X:16.91, Y:-200.70, Z:-1.81 [[-7.85084451e-01 6.19307638e-01 1.00227406e-02 1.69099143e+01] [ 6.19258069e-01 7.85148424e-01 -7.83559993e-03 -2.00702706e+02] [-1.27219859e-02 5.50553392e-05 -9.99919071e-01 -1.81038638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.006559995 meters 0.01162540978393373 Centerline is valid? [True, True] Translation: X:16.93, Y:-200.69, Z:-1.81 [[-8.25177478e-01 5.64782012e-01 1.01689909e-02 1.69333933e+01] [ 5.64740492e-01 8.25240129e-01 -6.84875177e-03 -2.00687130e+02] [-1.22599111e-02 9.14051972e-05 -9.99924840e-01 -1.81092453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.03655999499995 meters 0.01194143015771389 Centerline is valid? [True, True] Translation: X:16.95, Y:-200.67, Z:-1.81 [[-8.61826464e-01 5.07102958e-01 1.00864273e-02 1.69504357e+01] [ 5.07069799e-01 8.61885478e-01 -5.80025282e-03 -2.00666211e+02] [-1.16346705e-02 1.15711264e-04 -9.99932308e-01 -1.81142538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.066559995 meters 0.012581017053212655 Centerline is valid? [True, True] Translation: X:16.97, Y:-200.64, Z:-1.81 [[-8.94450393e-01 4.47058825e-01 9.84381096e-03 1.69657241e+01] [ 4.47033420e-01 8.94504549e-01 -4.76791858e-03 -2.00644221e+02] [-1.09368738e-02 1.35845826e-04 -9.99940181e-01 -1.81140231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.09655999499995 meters 0.013298972010560496 Centerline is valid? [True, True] Translation: X:16.98, Y:-200.62, Z:-1.81 [[-9.22395421e-01 3.86130600e-01 9.47875065e-03 1.69813802e+01] [ 3.86112054e-01 9.22444108e-01 -3.78803101e-03 -2.00622979e+02] [-1.02062924e-02 1.65797430e-04 -9.99947901e-01 -1.81260318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.126559995 meters 0.013357838831152661 Centerline is valid? [True, True] Translation: X:17.27, Y:-199.93, Z:-2.78 [[-9.09007912e-01 -4.16685032e-01 8.84304506e-03 1.72666013e+01] [ 4.16663346e-01 -9.09050907e-01 -4.25499984e-03 -1.99933180e+02] [ 9.81177287e-03 -1.83255773e-04 9.99951847e-01 -2.77711338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.15655999499995 meters 0.013584959018905444 Centerline is valid? [True, True] Translation: X:16.94, Y:-200.61, Z:-1.81 [[-9.22839913e-01 3.85084837e-01 8.72711353e-03 1.69400941e+01] [ 3.85069423e-01 9.22881161e-01 -3.45003419e-03 -2.00608051e+02] [-9.38264452e-03 1.76715316e-04 -9.99955966e-01 -1.81363185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.186559995 meters 0.014515866948179633 Centerline is valid? [True, True] Translation: X:16.95, Y:-200.58, Z:-1.81 [[-9.47394543e-01 3.19947130e-01 8.79854753e-03 1.69516992e+01] [ 3.19935144e-01 9.47435380e-01 -2.77564849e-03 -2.00583604e+02] [-9.22411599e-03 1.85330339e-04 -9.99957440e-01 -1.81298291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.21655999499995 meters 0.014470403233634405 Centerline is valid? [True, True] Translation: X:17.18, Y:-199.87, Z:-2.78 [[-9.39046805e-01 -3.43675755e-01 8.83597150e-03 1.71848944e+01] [ 3.43658780e-01 -9.39088359e-01 -3.42022855e-03 -1.99872592e+02] [ 9.47320760e-03 -1.75195506e-04 9.99955113e-01 -2.77764622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.246559995 meters 0.014968314535598813 Centerline is valid? [True, True] Translation: X:16.91, Y:-200.57, Z:-1.81 [[-9.47633498e-01 3.19215677e-01 9.59717788e-03 1.69095121e+01] [ 3.19201786e-01 9.47682066e-01 -2.98703700e-03 -2.00570091e+02] [-1.00485824e-02 2.32820004e-04 -9.99949485e-01 -1.81292771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.27655999499996 meters 0.015677700355122576 Centerline is valid? [True, True] Translation: X:17.14, Y:-199.86, Z:-2.78 [[-9.41245579e-01 -3.37595417e-01 9.27866197e-03 1.71376898e+01] [ 3.37576524e-01 -9.41291282e-01 -3.57943314e-03 -1.99857543e+02] [ 9.94232385e-03 -2.36867163e-04 9.99950546e-01 -2.77745760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.306559995 meters 0.015985687027512685 Centerline is valid? [True, True] Translation: X:16.86, Y:-200.56, Z:-1.81 [[-9.47965907e-01 3.18214601e-01 1.00052947e-02 1.68627875e+01] [ 3.18199889e-01 9.48018667e-01 -3.07196852e-03 -2.00557140e+02] [-1.04627514e-02 2.71562249e-04 -9.99945227e-01 -1.81357269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.33655999499996 meters 0.017265293062003747 Centerline is valid? [True, True] Translation: X:17.09, Y:-199.84, Z:-2.78 [[-9.44208705e-01 -3.29200098e-01 9.85987893e-03 1.70906661e+01] [ 3.29179161e-01 -9.44260146e-01 -3.72248983e-03 -1.99842726e+02] [ 1.05357347e-02 -2.69140631e-04 9.99944461e-01 -2.77665779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.366559995 meters 0.01839024778296635 Centerline is valid? [True, True] Translation: X:16.82, Y:-200.55, Z:-1.81 [[-9.47357390e-01 3.20025190e-01 9.89206066e-03 1.68201060e+01] [ 3.20011335e-01 9.47408977e-01 -2.99584007e-03 -2.00546977e+02] [-1.03305714e-02 3.27440311e-04 -9.99946585e-01 -1.81413806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.39655999499996 meters 0.01913492642694627 Centerline is valid? [True, True] Translation: X:16.82, Y:-200.52, Z:-1.81 [[-9.67284257e-01 2.53512590e-01 9.61944769e-03 1.68243352e+01] [ 2.53503407e-01 9.67332032e-01 -2.18241749e-03 -2.00519382e+02] [-9.85847019e-03 3.27544690e-04 -9.99951351e-01 -1.81448860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.42655999499993 meters 0.018679606666929662 Centerline is valid? [True, True] Translation: X:16.84, Y:-200.49, Z:-1.82 [[-9.82584621e-01 1.85584634e-01 9.26317120e-03 1.68361738e+01] [ 1.85579485e-01 9.82628230e-01 -1.41982656e-03 -2.00491443e+02] [-9.36575151e-03 3.23954803e-04 -9.99956088e-01 -1.81563564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.45655999499996 meters 0.019818621450390147 Centerline is valid? [True, True] Translation: X:16.83, Y:-200.46, Z:-1.82 [[-9.93179797e-01 1.16263552e-01 8.75653392e-03 1.68293876e+01] [ 1.16261797e-01 9.93218349e-01 -7.10831170e-04 -2.00461643e+02] [-8.77979392e-03 3.12067215e-04 -9.99961408e-01 -1.81561614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.48655999499994 meters 0.019529718640031227 Centerline is valid? [True, True] Translation: X:16.84, Y:-200.43, Z:-1.82 [[-9.98950876e-01 4.49813931e-02 8.59199631e-03 1.68388421e+01] [ 4.49823302e-02 9.98987779e-01 -8.42395200e-05 -2.00431906e+02] [-8.58708852e-03 3.02336873e-04 -9.99963085e-01 -1.81579073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.51655999499997 meters 0.019064847961950137 Centerline is valid? [True, True] Translation: X:16.83, Y:-200.40, Z:-1.82 [[-9.99595070e-01 -2.73116937e-02 7.98548197e-03 1.68271525e+01] [-2.73086407e-02 9.99626929e-01 4.91129883e-04 -2.00401630e+02] [-7.99591641e-03 2.72858353e-04 -9.99967995e-01 -1.81611642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.54655999499994 meters 0.018393593004349385 Centerline is valid? [True, True] Translation: X:16.82, Y:-200.37, Z:-1.82 [[-9.94684116e-01 -1.02744186e-01 6.86602386e-03 1.68174972e+01] [-1.02740300e-01 9.94707791e-01 9.17240078e-04 -2.00369757e+02] [-6.92392851e-03 2.06946783e-04 -9.99976008e-01 -1.81657791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.57655999499997 meters 0.01741442536140795 Centerline is valid? [True, True] Translation: X:16.79, Y:-200.34, Z:-1.82 [[-9.84181281e-01 -1.77047614e-01 6.43027133e-03 1.67937075e+01] [-1.77042666e-01 9.84202272e-01 1.33525565e-03 -2.00341922e+02] [-6.56509148e-03 1.75701242e-04 -9.99978434e-01 -1.81696171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.60655999499994 meters 0.01649465312235983 Centerline is valid? [True, True] Translation: X:16.76, Y:-200.32, Z:-1.82 [[-9.68020758e-01 -2.50791776e-01 6.26872159e-03 1.67557522e+01] [-2.50785488e-01 9.68041043e-01 1.78266138e-03 -2.00318495e+02] [-6.51545660e-03 1.53548818e-04 -9.99978762e-01 -1.81682098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.63655999499997 meters 0.013287784768572468 Centerline is valid? [True, True] Translation: X:16.70, Y:-200.30, Z:-1.82 [[-9.44659371e-01 -3.27994595e-01 6.18206654e-03 1.66957445e+01] [-3.27986838e-01 9.44679594e-01 2.25831904e-03 -2.00297860e+02] [-6.58078854e-03 1.05705789e-04 -9.99978341e-01 -1.81690857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.66655999499994 meters 0.013014988119471767 Centerline is valid? [True, True] Translation: X:16.62, Y:-200.29, Z:-1.82 [[-9.16365666e-01 -4.00293447e-01 6.25483315e-03 1.66243204e+01] [-4.00283502e-01 9.16387009e-01 2.82281472e-03 -2.00292996e+02] [-6.86180208e-03 8.30239749e-05 -9.99976454e-01 -1.81556953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.696559995 meters 0.013014988119471767 Centerline is valid? [True, True] Translation: X:16.55, Y:-200.30, Z:-1.82 [[-8.84121890e-01 -4.67217452e-01 6.02799596e-03 1.65503462e+01] [-4.67205950e-01 8.84142435e-01 3.27933802e-03 -2.00298424e+02] [-6.86177098e-03 8.30189426e-05 -9.99976454e-01 -1.81557062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.72655999499995 meters 0.012136780107271053 Centerline is valid? [True, True] Translation: X:16.47, Y:-200.31, Z:-1.81 [[-8.44703363e-01 -5.35195854e-01 6.45184508e-03 1.64696509e+01] [-5.35179666e-01 8.44728000e-01 4.16302083e-03 -2.00308201e+02] [-7.67808568e-03 6.36213956e-05 -9.99970521e-01 -1.81433694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.756559995 meters 0.01116108390637658 Centerline is valid? [True, True] Translation: X:16.38, Y:-200.33, Z:-1.81 [[-8.00064429e-01 -5.99875273e-01 6.82397486e-03 1.63809007e+01] [-5.99853032e-01 8.00093529e-01 5.16565622e-03 -2.00329130e+02] [-8.55856756e-03 3.94757801e-05 -9.99963374e-01 -1.81423205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.78655999499995 meters 0.010982977520041085 Centerline is valid? [True, True] Translation: X:16.29, Y:-200.36, Z:-1.81 [[-7.48161838e-01 -6.63479609e-01 6.97655972e-03 1.62889056e+01] [-6.63451035e-01 7.48194365e-01 6.15761052e-03 -2.00356975e+02] [-9.30527169e-03 -2.17165574e-05 -9.99956705e-01 -1.81175866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.816559995 meters 0.011241814357713055 Centerline is valid? [True, True] Translation: X:16.20, Y:-200.40, Z:-1.81 [[-6.93796127e-01 -7.20140075e-01 6.72353419e-03 1.62000356e+01] [-7.20106986e-01 6.93828703e-01 6.90355267e-03 -2.00398366e+02] [-9.63650595e-03 -5.20058358e-05 -9.99953566e-01 -1.81166060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.84655999499995 meters 0.011831671370459717 Centerline is valid? [True, True] Translation: X:16.11, Y:-200.45, Z:-1.81 [[-6.35036189e-01 -7.72458462e-01 6.07975210e-03 1.61106750e+01] [-7.72424257e-01 6.35065287e-01 7.26974486e-03 -2.00450501e+02] [-9.47661544e-03 -7.95969240e-05 -9.99955093e-01 -1.81116443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.876559995 meters 0.012291245056642018 Centerline is valid? [True, True] Translation: X:16.03, Y:-200.51, Z:-1.81 [[-5.72480929e-01 -8.19899320e-01 5.53999372e-03 1.60253812e+01] [-8.19862696e-01 5.72507724e-01 7.75024548e-03 -2.00511304e+02] [-9.52611020e-03 -1.05166454e-04 -9.99954620e-01 -1.81188921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.90655999499995 meters 0.013738406843245638 Centerline is valid? [True, True] Translation: X:15.94, Y:-200.59, Z:-1.81 [[-5.04814671e-01 -8.63216586e-01 4.39013319e-03 1.59369234e+01] [-8.63186176e-01 5.04833743e-01 7.24685631e-03 -2.00586175e+02] [-8.47189393e-03 -1.31182900e-04 -9.99964104e-01 -1.81241903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.936559995 meters 0.014066228492954904 Centerline is valid? [True, True] Translation: X:15.86, Y:-200.66, Z:-1.81 [[-4.35838602e-01 -9.00017542e-01 3.62442935e-03 1.58627571e+01] [-8.99989051e-01 4.35853650e-01 7.16267293e-03 -2.00660238e+02] [-8.02625205e-03 -1.40177377e-04 -9.99967779e-01 -1.81313758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.96655999499995 meters 0.013869707857723335 Centerline is valid? [True, True] Translation: X:15.79, Y:-200.75, Z:-1.81 [[-3.64339717e-01 -9.31261373e-01 2.97088815e-03 1.57907934e+01] [-9.31233682e-01 3.64351798e-01 7.18309840e-03 -2.00749720e+02] [-7.77179051e-03 -1.49503071e-04 -9.99969788e-01 -1.81403828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.996559995 meters 0.016476263524466902 Centerline is valid? [True, True] Translation: X:15.72, Y:-200.84, Z:-1.81 [[-2.89031725e-01 -9.57316520e-01 2.39628009e-03 1.57224034e+01] [-9.57288436e-01 2.89041606e-01 7.33486059e-03 -2.00838919e+02] [-7.71440786e-03 -1.73923808e-04 -9.99970228e-01 -1.81348282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.02655999499996 meters 0.017506243014095486 Centerline is valid? [True, True] Translation: X:15.66, Y:-200.94, Z:-1.81 [[-2.13515232e-01 -9.76938114e-01 1.77959134e-03 1.56632797e+01] [-9.76910898e-01 2.13522571e-01 7.29449911e-03 -2.00938069e+02] [-7.50625712e-03 -1.81015504e-04 -9.99971811e-01 -1.81317538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.056559995 meters 0.01825019485179815 Centerline is valid? [True, True] Translation: X:15.61, Y:-201.04, Z:-1.81 [[-1.36968710e-01 -9.90574564e-01 1.26747863e-03 1.56127425e+01] [-9.90544498e-01 1.36974432e-01 7.72032738e-03 -2.01038650e+02] [-7.82117209e-03 -1.98050698e-04 -9.99969395e-01 -1.81296398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.08655999499996 meters 0.01882421616680322 Centerline is valid? [True, True] Translation: X:15.57, Y:-201.15, Z:-1.81 [[-5.94436023e-02 -9.98231422e-01 6.97600707e-04 1.55698830e+01] [-9.98198717e-01 5.94473037e-02 8.08334527e-03 -2.01147761e+02] [-8.11051972e-03 -2.15840969e-04 -9.99967086e-01 -1.81226689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.116559995 meters 0.018522894984456147 Centerline is valid? [True, True] Translation: X:15.54, Y:-201.26, Z:-1.81 [[ 1.94548800e-02 -9.99810732e-01 8.96976407e-05 1.55363584e+01] [-9.99765211e-01 -1.94531380e-02 9.54449680e-03 -2.01260907e+02] [-9.54094543e-03 -2.75363621e-04 -9.99954446e-01 -1.81124584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.14655999499996 meters 0.017154420290080026 Centerline is valid? [True, True] Translation: X:15.51, Y:-201.37, Z:-1.81 [[ 9.66794757e-02 -9.95315337e-01 -6.77826579e-04 1.55138280e+01] [-9.95264650e-01 -9.66813959e-02 1.00491018e-02 -2.01373557e+02] [-1.00675584e-02 -2.96925062e-04 -9.99949277e-01 -1.81116842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.17655999499993 meters 0.0175238643414602 Centerline is valid? [True, True] Translation: X:15.50, Y:-201.49, Z:-1.81 [[ 1.73007283e-01 -9.84919245e-01 -1.60026640e-03 1.54981912e+01] [-9.84857493e-01 -1.73014364e-01 1.10339329e-02 -2.01492042e+02] [-1.11444019e-02 -3.32916387e-04 -9.99937844e-01 -1.81032306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.20655999499996 meters 0.017511848912480255 Centerline is valid? [True, True] Translation: X:15.49, Y:-201.61, Z:-1.81 [[ 2.48208636e-01 -9.68703010e-01 -2.63678152e-03 1.54920595e+01] [-9.68631832e-01 -2.48222377e-01 1.17484300e-02 -2.01607713e+02] [-1.20352477e-02 -3.61991262e-04 -9.99927508e-01 -1.80975359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.23655999499994 meters 0.017124274357249374 Centerline is valid? [True, True] Translation: X:15.50, Y:-201.72, Z:-1.81 [[ 3.20563995e-01 -9.47218589e-01 -3.95857207e-03 1.54960450e+01] [-9.47130666e-01 -3.20588199e-01 1.29115835e-02 -2.01723415e+02] [-1.34991633e-02 -3.89703782e-04 -9.99908806e-01 -1.80919636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.26655999499997 meters 0.016903628996580922 Centerline is valid? [True, True] Translation: X:15.51, Y:-201.84, Z:-1.81 [[ 3.91354054e-01 -9.20226810e-01 -4.96207887e-03 1.55083977e+01] [-9.20140125e-01 -3.91385327e-01 1.26363349e-02 -2.01838290e+02] [-1.35703790e-02 -3.79473026e-04 -9.99907846e-01 -1.80937811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.29655999499994 meters 0.01619249131851563 Centerline is valid? [True, True] Translation: X:15.53, Y:-201.95, Z:-1.81 [[ 4.58390809e-01 -8.88733301e-01 -5.56651406e-03 1.55307834e+01] [-8.88658909e-01 -4.58424491e-01 1.15035055e-02 -2.01950120e+02] [-1.27753748e-02 -3.26368891e-04 -9.99918338e-01 -1.81051619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.32655999499997 meters 0.014676447544397588 Centerline is valid? [True, True] Translation: X:15.56, Y:-202.05, Z:-1.81 [[ 5.23517293e-01 -8.51993883e-01 -6.00566786e-03 1.55590787e+01] [-8.51931485e-01 -5.23551663e-01 1.03150797e-02 -2.02054637e+02] [-1.19326622e-02 -2.83705076e-04 -9.99928763e-01 -1.81236447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.35655999499994 meters 0.014217613204983253 Centerline is valid? [True, True] Translation: X:15.59, Y:-202.16, Z:-1.81 [[ 5.85666679e-01 -8.10529454e-01 -6.04529372e-03 1.55929289e+01] [-8.10482076e-01 -5.85697831e-01 8.76671961e-03 -2.02156366e+02] [-1.06463999e-02 -2.34773356e-04 -9.99943298e-01 -1.81325176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.38655999499997 meters 0.013761541839693756 Centerline is valid? [True, True] Translation: X:15.63, Y:-202.26, Z:-1.81 [[ 6.44211594e-01 -7.64822722e-01 -6.13399629e-03 1.56349227e+01] [-7.64785134e-01 -6.44240767e-01 7.58504643e-03 -2.02256183e+02] [-9.75298633e-03 -1.95185671e-04 -9.99952419e-01 -1.81388644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.41655999499994 meters 0.012717192045003867 Centerline is valid? [True, True] Translation: X:15.69, Y:-202.35, Z:-1.82 [[ 6.97969747e-01 -7.16103410e-01 -5.84284019e-03 1.56891756e+01] [-7.16076630e-01 -6.97994188e-01 6.19460593e-03 -2.02354477e+02] [-8.51424693e-03 -1.39726222e-04 -9.99963743e-01 -1.81516517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.446559995 meters 0.012114926045555495 Centerline is valid? [True, True] Translation: X:15.74, Y:-202.44, Z:-1.82 [[ 7.49228358e-01 -6.62282752e-01 -6.19867566e-03 1.57408015e+01] [-6.62258718e-01 -7.49253989e-01 5.64354599e-03 -2.02441049e+02] [-8.38200564e-03 -1.23177694e-04 -9.99964863e-01 -1.81555060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.47655999499995 meters 0.011908244873853991 Centerline is valid? [True, True] Translation: X:15.74, Y:-202.45, Z:-1.82 [[ 7.97739488e-01 -6.02964968e-01 -6.70497689e-03 1.57395542e+01] [-6.02942491e-01 -7.97767658e-01 5.20741235e-03 -2.02448740e+02] [-8.48890093e-03 -1.11442992e-04 -9.99963962e-01 -1.81544507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.506559995 meters 0.011704512164521544 Centerline is valid? [True, True] Translation: X:15.74, Y:-202.46, Z:-1.82 [[ 8.41702719e-01 -5.39891027e-01 -7.36283388e-03 1.57402038e+01] [-5.39869294e-01 -8.41734916e-01 4.84534085e-03 -2.02457377e+02] [-8.81351040e-03 -1.03368646e-04 -9.99961155e-01 -1.81530832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.53655999499995 meters 0.011616959640474517 Centerline is valid? [True, True] Translation: X:15.74, Y:-202.46, Z:-1.82 [[ 8.80712558e-01 -4.73578167e-01 -8.31325147e-03 1.57402236e+01] [-4.73556009e-01 -8.80751787e-01 4.58221041e-03 -2.02464788e+02] [-9.49194589e-03 -9.88200674e-05 -9.99954946e-01 -1.81509023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.566559995 meters 0.01151794400310658 Centerline is valid? [True, True] Translation: X:15.74, Y:-202.47, Z:-1.81 [[ 9.14278186e-01 -4.04988238e-01 -8.94011467e-03 1.57414411e+01] [-4.04967975e-01 -9.14321891e-01 4.05208355e-03 -2.02471714e+02] [-9.81518873e-03 -8.42714629e-05 -9.99951826e-01 -1.81444428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.59655999499995 meters 0.0115239915313479 Centerline is valid? [True, True] Translation: X:15.75, Y:-202.48, Z:-1.81 [[ 9.43117119e-01 -3.32327611e-01 -9.40528281e-03 1.57450108e+01] [-3.32310180e-01 -9.43164011e-01 3.40483902e-03 -2.02476407e+02] [-1.00022463e-02 -8.56907471e-05 -9.99949973e-01 -1.81467251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.626559995 meters 0.011457137987677335 Centerline is valid? [True, True] Translation: X:15.75, Y:-202.48, Z:-1.81 [[ 9.66100898e-01 -2.57991809e-01 -9.44886914e-03 1.57486324e+01] [-2.57978662e-01 -9.66147101e-01 2.60578328e-03 -2.02481068e+02] [-9.80126827e-03 -7.98429488e-05 -9.99951963e-01 -1.81471616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.65655999499995 meters 0.01123198449503785 Centerline is valid? [True, True] Translation: X:15.75, Y:-202.49, Z:-1.81 [[ 9.83164692e-01 -1.82457611e-01 -9.81883419e-03 1.57521835e+01] [-1.82447767e-01 -9.83213718e-01 1.89670374e-03 -2.02489076e+02] [-1.00000805e-02 -7.33477738e-05 -9.99949995e-01 -1.81498170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.686559995 meters 0.011153185488874433 Centerline is valid? [True, True] Translation: X:15.75, Y:-202.50, Z:-1.81 [[ 9.94372215e-01 -1.05447135e-01 -1.02371957e-02 1.57536579e+01] [-1.05440823e-01 -9.94424908e-01 1.15587050e-03 -2.02496404e+02] [-1.03020056e-02 -6.99471720e-05 -9.99946931e-01 -1.81445410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.71655999499995 meters 0.011075308278973506 Centerline is valid? [True, True] Translation: X:15.75, Y:-202.50, Z:-1.81 [[ 9.99550068e-01 -2.80057155e-02 -1.07396833e-02 1.57542277e+01] [-2.80034000e-02 -9.99607761e-01 3.65942701e-04 -2.02503772e+02] [-1.07457193e-02 -6.50304036e-05 -9.99942261e-01 -1.81426589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.746559995 meters 0.01110893090205393 Centerline is valid? [True, True] Translation: X:15.75, Y:-202.51, Z:-1.81 [[ 9.98713497e-01 4.95708708e-02 -1.06807800e-02 1.57549729e+01] [ 4.95686381e-02 -9.98770607e-01 -4.73828774e-04 -2.02510788e+02] [-1.06911373e-02 -5.62125287e-05 -9.99942847e-01 -1.81328779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.77655999499996 meters 0.010998894469859436 Centerline is valid? [True, True] Translation: X:15.76, Y:-202.52, Z:-1.81 [[ 9.91993019e-01 1.25804450e-01 -1.10946236e-02 1.57566703e+01] [ 1.25797014e-01 -9.92055058e-01 -1.36836922e-03 -2.02516155e+02] [-1.11786244e-02 -3.82578077e-05 -9.99937517e-01 -1.81316890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.806559995 meters 0.01092373881873821 Centerline is valid? [True, True] Translation: X:15.76, Y:-202.52, Z:-1.81 [[ 9.79265199e-01 2.02273151e-01 -1.11912134e-02 1.57595188e+01] [ 2.02260290e-01 -9.79329144e-01 -2.28110814e-03 -2.02523442e+02] [-1.14212884e-02 -2.97282575e-05 -9.99934775e-01 -1.81383736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.83655999499996 meters 0.010943539287240407 Centerline is valid? [True, True] Translation: X:15.76, Y:-202.53, Z:-1.81 [[ 9.60680604e-01 2.77433938e-01 -1.10989981e-02 1.57629201e+01] [ 2.77415658e-01 -9.60744716e-01 -3.18476320e-03 -2.02530951e+02] [-1.15468652e-02 -1.94956260e-05 -9.99933333e-01 -1.81399738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.866559995 meters 0.010967995220395623 Centerline is valid? [True, True] Translation: X:15.77, Y:-202.54, Z:-1.81 [[ 9.36215074e-01 3.51250768e-01 -1.11460176e-02 1.57653323e+01] [ 3.51226044e-01 -9.36281420e-01 -4.16756962e-03 -2.02537729e+02] [-1.18996712e-02 -1.30301512e-05 -9.99929196e-01 -1.81364244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.89655999499996 meters 0.011030243514422878 Centerline is valid? [True, True] Translation: X:15.77, Y:-202.54, Z:-1.81 [[ 9.06124150e-01 4.22879952e-01 -1.05627290e-02 1.57672548e+01] [ 4.22851284e-01 -9.06185713e-01 -4.92393856e-03 -2.02541815e+02] [-1.16540290e-02 -4.76389328e-06 -9.99932090e-01 -1.81382765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.92655999499993 meters 0.010883764246795038 Centerline is valid? [True, True] Translation: X:15.77, Y:-202.55, Z:-1.82 [[ 8.70339438e-01 4.92344681e-01 -1.02945887e-02 1.57720332e+01] [ 4.92310272e-01 -8.70400319e-01 -5.82071175e-03 -2.02549122e+02] [-1.18262098e-02 -2.13679470e-06 -9.99930068e-01 -1.81522319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.95655999499996 meters 0.010834642704943142 Centerline is valid? [True, True] Translation: X:15.78, Y:-202.56, Z:-1.82 [[ 8.28860773e-01 5.59368875e-01 -9.81224773e-03 1.57785087e+01] [ 5.59329793e-01 -8.28918851e-01 -6.61223247e-03 -2.02557064e+02] [-1.18322342e-02 -7.66236831e-06 -9.99929997e-01 -1.81533686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.98655999499994 meters 0.010851530283180887 Centerline is valid? [True, True] Translation: X:15.78, Y:-202.56, Z:-1.81 [[ 7.82105887e-01 6.23079355e-01 -9.08294893e-03 1.57842742e+01] [ 6.23037570e-01 -7.82158627e-01 -7.21589774e-03 -2.02564756e+02] [-1.16003838e-02 -1.54223275e-05 -9.99932713e-01 -1.81455654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.01655999499997 meters 0.010836787354405904 Centerline is valid? [True, True] Translation: X:15.79, Y:-202.57, Z:-1.81 [[ 7.30243586e-01 6.83131602e-01 -8.69021193e-03 1.57896177e+01] [ 6.83083688e-01 -7.30295292e-01 -8.09085162e-03 -2.02569695e+02] [-1.18735373e-02 -2.78495109e-05 -9.99929507e-01 -1.81428894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.04655999499994 meters 0.01082558411715827 Centerline is valid? [True, True] Translation: X:15.80, Y:-202.58, Z:-1.81 [[ 6.72792392e-01 7.39792927e-01 -7.53805641e-03 1.57968002e+01] [ 7.39747362e-01 -6.72834618e-01 -8.21084434e-03 -2.02575916e+02] [-1.11461899e-02 -5.20637359e-05 -9.99937878e-01 -1.81462296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.07655999499997 meters 0.010868315199634222 Centerline is valid? [True, True] Translation: X:15.80, Y:-202.58, Z:-1.81 [[ 6.11821186e-01 7.90967165e-01 -6.76610033e-03 1.58041560e+01] [ 7.90919973e-01 -6.11858594e-01 -8.64046133e-03 -2.02580717e+02] [-1.09742178e-02 -6.50265964e-05 -9.99939779e-01 -1.81498019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.10655999499994 meters 0.011000926334481258 Centerline is valid? [True, True] Translation: X:15.81, Y:-202.58, Z:-1.81 [[ 5.47054809e-01 8.37076914e-01 -5.76855445e-03 1.58115427e+01] [ 8.37031797e-01 -5.47085217e-01 -8.69118057e-03 -2.02584395e+02] [-1.04310775e-02 -7.39113607e-05 -9.99945592e-01 -1.81499243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.13655999499997 meters 0.011228550344294517 Centerline is valid? [True, True] Translation: X:15.82, Y:-202.59, Z:-1.82 [[ 4.78169303e-01 8.78254621e-01 -4.78941398e-03 1.58186210e+01] [ 8.78212403e-01 -4.78193280e-01 -8.61173708e-03 -2.02587809e+02] [-9.85356346e-03 -8.82544367e-05 -9.99951449e-01 -1.81540931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.16655999499994 meters 0.011459605129871748 Centerline is valid? [True, True] Translation: X:15.82, Y:-202.59, Z:-1.82 [[ 4.07352240e-01 9.13262815e-01 -3.89658209e-03 1.58248568e+01] [ 9.13223127e-01 -4.07370866e-01 -8.51453711e-03 -2.02591162e+02] [-9.36336415e-03 -9.00331169e-05 -9.99956159e-01 -1.81501403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.196559995 meters 0.011554103799436966 Centerline is valid? [True, True] Translation: X:15.83, Y:-202.59, Z:-1.81 [[ 3.33883959e-01 9.42609163e-01 -3.07705336e-03 1.58304147e+01] [ 9.42571663e-01 -3.33898125e-01 -8.40848845e-03 -2.02592726e+02] [-8.95334061e-03 -9.28838876e-05 -9.99959914e-01 -1.81482750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.22655999499995 meters 0.011661872678444311 Centerline is valid? [True, True] Translation: X:15.84, Y:-202.59, Z:-1.82 [[ 2.58345201e-01 9.66049760e-01 -2.37032858e-03 1.58371650e+01] [ 9.66012490e-01 -2.58356056e-01 -8.48634434e-03 -2.02594695e+02] [-8.81061966e-03 -9.73606824e-05 -9.99961181e-01 -1.81501791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.256559995 meters 0.011922817578392154 Centerline is valid? [True, True] Translation: X:15.84, Y:-202.60, Z:-1.81 [[ 1.80598522e-01 9.83555415e-01 -1.70869840e-03 1.58447322e+01] [ 9.83516948e-01 -1.80606572e-01 -8.69942042e-03 -2.02595763e+02] [-8.86496422e-03 -1.09431371e-04 -9.99960699e-01 -1.81400876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.28655999499995 meters 0.012201013375704567 Centerline is valid? [True, True] Translation: X:15.85, Y:-202.60, Z:-1.81 [[ 1.02097762e-01 9.94773807e-01 -1.05812488e-03 1.58513947e+01] [ 9.94732009e-01 -1.02103173e-01 -9.11989148e-03 -2.02597120e+02] [-9.18026707e-03 -1.21430178e-04 -9.99957853e-01 -1.81329419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.316559995 meters 0.012176421337802635 Centerline is valid? [True, True] Translation: X:15.86, Y:-202.60, Z:-1.81 [[ 2.32898816e-02 9.99728689e-01 -3.60277843e-04 1.58587629e+01] [ 9.99681707e-01 -2.32922802e-02 -9.69297173e-03 -2.02597500e+02] [-9.69873361e-03 -1.34415005e-04 -9.99952957e-01 -1.81326508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.34655999499995 meters 0.01241202799717237 Centerline is valid? [True, True] Translation: X:15.87, Y:-202.60, Z:-1.81 [[-5.56341172e-02 9.98451140e-01 4.07387932e-04 1.58665721e+01] [ 9.98402320e-01 5.56354259e-02 -9.87458057e-03 -2.02596867e+02] [-9.88195143e-03 -1.42626516e-04 -9.99951162e-01 -1.81267093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.376559995 meters 0.01231156093985986 Centerline is valid? [True, True] Translation: X:15.88, Y:-202.60, Z:-1.81 [[-1.34281235e-01 9.90942522e-01 1.21123759e-03 1.58759345e+01] [ 9.90891327e-01 1.34286611e-01 -1.00739388e-02 -2.02596090e+02] [-1.01453473e-02 -1.52536120e-04 -9.99948523e-01 -1.81243701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.40655999499995 meters 0.012350281112673485 Centerline is valid? [True, True] Translation: X:15.89, Y:-202.59, Z:-1.81 [[-2.12100028e-01 9.77245661e-01 2.12036682e-03 1.58850536e+01] [ 9.77188557e-01 2.12110559e-01 -1.05657357e-02 -2.02594654e+02] [-1.07750715e-02 -1.68994630e-04 -9.99941933e-01 -1.81161311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.436559995 meters 0.012716112753326415 Centerline is valid? [True, True] Translation: X:15.89, Y:-202.59, Z:-1.81 [[-2.88080766e-01 9.57601657e-01 2.92198917e-03 1.58939825e+01] [ 9.57546300e-01 2.88095535e-01 -1.02979019e-02 -2.02593070e+02] [-1.07031000e-02 -1.68687560e-04 -9.99942706e-01 -1.81060426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.46655999499995 meters 0.012584571135985585 Centerline is valid? [True, True] Translation: X:15.90, Y:-202.59, Z:-1.81 [[-3.62176742e-01 9.32101785e-01 3.77770116e-03 1.59016112e+01] [ 9.32046061e-01 3.62196402e-01 -1.01934073e-02 -2.02590360e+02] [-1.08695629e-02 -1.70823551e-04 -9.99940910e-01 -1.81026505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.496559995 meters 0.01246122505603846 Centerline is valid? [True, True] Translation: X:15.91, Y:-202.59, Z:-1.81 [[-4.34031447e-01 9.00886215e-01 4.55306669e-03 1.59099255e+01] [ 9.00832483e-01 4.34055295e-01 -9.84062296e-03 -2.02587084e+02] [-1.08415643e-02 -1.69589454e-04 -9.99941214e-01 -1.81028558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.52655999499996 meters 0.012465427290132001 Centerline is valid? [True, True] Translation: X:15.92, Y:-202.58, Z:-1.81 [[-5.02278581e-01 8.64692653e-01 4.77937559e-03 1.59164540e+01] [ 8.64650788e-01 5.02301299e-01 -8.50999598e-03 -2.02584640e+02] [-9.75921757e-03 -1.41897829e-04 -9.99952368e-01 -1.81019192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.556559995 meters 0.012445184770255576 Centerline is valid? [True, True] Translation: X:15.92, Y:-202.58, Z:-1.81 [[-5.68104591e-01 8.22938861e-01 5.36698431e-03 1.59233157e+01] [ 8.22899861e-01 5.68129926e-01 -8.01292289e-03 -2.02580503e+02] [-9.64329004e-03 -1.35687643e-04 -9.99953493e-01 -1.81023978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.58655999499996 meters 0.012395521580826336 Centerline is valid? [True, True] Translation: X:15.93, Y:-202.58, Z:-1.81 [[-6.30393880e-01 7.76252731e-01 5.93742729e-03 1.59298780e+01] [ 7.76216351e-01 6.30421827e-01 -7.51643804e-03 -2.02575749e+02] [-9.57773932e-03 -1.29588393e-04 -9.99954124e-01 -1.80989139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.616559995 meters 0.012395521580826336 Centerline is valid? [True, True] Translation: X:15.94, Y:-202.57, Z:-1.81 [[-6.89276819e-01 7.24468848e-01 6.50811148e-03 1.59376480e+01] [ 7.24434769e-01 6.89307531e-01 -7.02807369e-03 -2.02570016e+02] [-9.57771070e-03 -1.29586044e-04 -9.99954124e-01 -1.80989164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.64655999499996 meters 0.01259491622360572 Centerline is valid? [True, True] Translation: X:15.94, Y:-202.57, Z:-1.81 [[-7.43603808e-01 6.68582388e-01 7.13911221e-03 1.59441764e+01] [ 6.68549925e-01 7.43638067e-01 -6.58965243e-03 -2.02565260e+02] [-9.71464116e-03 -1.27237709e-04 -9.99952804e-01 -1.80889894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.67655999499993 meters 0.012273474836268982 Centerline is valid? [True, True] Translation: X:15.96, Y:-202.55, Z:-1.81 [[-7.88675676e-01 6.14766610e-01 7.25898570e-03 1.59633264e+01] [ 6.14739210e-01 7.88709073e-01 -5.80538694e-03 -2.02549505e+02] [-9.29418593e-03 -1.16184336e-04 -9.99956801e-01 -1.80840792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.70655999499996 meters 0.012558355957600822 Centerline is valid? [True, True] Translation: X:15.98, Y:-202.53, Z:-1.81 [[-8.30314991e-01 5.57244710e-01 7.43976012e-03 1.59817419e+01] [ 5.57221101e-01 8.30348313e-01 -5.13065793e-03 -2.02529490e+02] [-9.03662425e-03 -1.14470864e-04 -9.99959162e-01 -1.80760098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.73655999499994 meters 0.012597238431420596 Centerline is valid? [True, True] Translation: X:16.37, Y:-201.98, Z:-2.78 [[-7.75368324e-01 -6.31468410e-01 7.18396101e-03 1.63679648e+01] [ 6.31442778e-01 -7.75401594e-01 -5.69091451e-03 -2.01975695e+02] [ 9.16408756e-03 1.23705446e-04 9.99958001e-01 -2.78376987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.76655999499997 meters 0.012705565937638295 Centerline is valid? [True, True] Translation: X:15.94, Y:-202.51, Z:-1.81 [[-8.32393054e-01 5.54132067e-01 7.71078832e-03 1.59448329e+01] [ 5.54106955e-01 8.32428758e-01 -5.27685802e-03 -2.02509685e+02] [-9.34275819e-03 -1.19818526e-04 -9.99956348e-01 -1.80645170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.79655999499994 meters 0.012705317610671939 Centerline is valid? [True, True] Translation: X:15.96, Y:-202.49, Z:-1.81 [[-8.69534034e-01 4.93810999e-01 7.82697491e-03 1.59578998e+01] [ 4.93789787e-01 8.69569252e-01 -4.57849629e-03 -2.02486874e+02] [-9.06700854e-03 -1.16278076e-04 -9.99958887e-01 -1.80657885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.82655999499997 meters 0.012619361634339485 Centerline is valid? [True, True] Translation: X:15.97, Y:-202.46, Z:-1.81 [[-9.02338932e-01 4.30952987e-01 7.99838410e-03 1.59670724e+01] [ 4.30934923e-01 9.02374373e-01 -3.94751304e-03 -2.02462290e+02] [-8.91872937e-03 -1.15211674e-04 -9.99960221e-01 -1.80668326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.85655999499994 meters 0.012790904769503517 Centerline is valid? [True, True] Translation: X:16.28, Y:-201.85, Z:-2.78 [[-8.58278284e-01 -5.13136585e-01 7.01662593e-03 1.62823027e+01] [ 5.13119983e-01 -8.58306962e-01 -4.12812494e-03 -2.01847940e+02] [ 8.14071083e-03 5.72909882e-05 9.99966862e-01 -2.78304692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.88655999499997 meters 0.012903350894536578 Centerline is valid? [True, True] Translation: X:15.93, Y:-202.45, Z:-1.81 [[-9.04050378e-01 4.27369506e-01 6.94394990e-03 1.59306834e+01] [ 4.27356029e-01 9.04077040e-01 -3.39555306e-03 -2.02449921e+02] [-7.72902151e-03 -1.02212174e-04 -9.99970125e-01 -1.80784236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.91655999499994 meters 0.012849524495336087 Centerline is valid? [True, True] Translation: X:16.24, Y:-201.83, Z:-2.78 [[-8.60125686e-01 -5.10046681e-01 6.01568552e-03 1.62409597e+01] [ 5.10034576e-01 -8.60146721e-01 -3.51418553e-03 -2.01825867e+02] [ 6.96677084e-03 4.55663752e-05 9.99975731e-01 -2.78249752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.946559995 meters 0.012992001572411007 Centerline is valid? [True, True] Translation: X:15.89, Y:-202.43, Z:-1.81 [[-9.05657159e-01 4.23971474e-01 5.77056870e-03 1.58900789e+01] [ 4.23962266e-01 9.05675539e-01 -2.79548049e-03 -2.02433350e+02] [-6.41146690e-03 -8.52435307e-05 -9.99979443e-01 -1.80835371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.97655999499995 meters 0.01298994941131032 Centerline is valid? [True, True] Translation: X:15.90, Y:-202.41, Z:-1.81 [[-9.33408087e-01 3.58775190e-01 5.45042031e-03 1.59007155e+01] [ 3.58768584e-01 9.33423996e-01 -2.17860518e-03 -2.02408878e+02] [-5.86918259e-03 -7.80881147e-05 -9.99982773e-01 -1.80851751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.006559995 meters 0.013100720120067563 Centerline is valid? [True, True] Translation: X:15.91, Y:-202.38, Z:-1.81 [[-9.56611836e-01 2.91323589e-01 4.93574971e-03 1.59052764e+01] [ 2.91319326e-01 9.56624567e-01 -1.57763333e-03 -2.02383246e+02] [-5.18126123e-03 -7.13034360e-05 -9.99986575e-01 -1.80851226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.03655999499995 meters 0.013300974739592738 Centerline is valid? [True, True] Translation: X:15.92, Y:-202.36, Z:-1.81 [[-9.74906034e-01 2.22569754e-01 4.57486058e-03 1.59183687e+01] [ 2.22566987e-01 9.74916766e-01 -1.11191764e-03 -2.02358899e+02] [-4.70758752e-03 -6.58022807e-05 -9.99988917e-01 -1.80855074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.066559995 meters 0.013768381445966572 Centerline is valid? [True, True] Translation: X:15.92, Y:-202.33, Z:-1.81 [[-9.88421546e-01 1.51671181e-01 4.32445221e-03 1.59207007e+01] [ 1.51669435e-01 9.88431003e-01 -7.30774144e-04 -2.02332035e+02] [-4.38526002e-03 -6.64256836e-05 -9.99990383e-01 -1.80878945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.09655999499995 meters 0.01335899466622418 Centerline is valid? [True, True] Translation: X:16.04, Y:-201.63, Z:-2.78 [[-9.68754116e-01 -2.47966575e-01 5.29538456e-03 1.60446835e+01] [ 2.47963712e-01 -9.68768577e-01 -1.20099553e-03 -2.01632270e+02] [ 5.42780891e-03 1.49593852e-04 9.99985258e-01 -2.78228243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.126559995 meters 0.013606033478034464 Centerline is valid? [True, True] Translation: X:15.86, Y:-202.32, Z:-1.81 [[-9.89226306e-01 1.46228099e-01 6.97564231e-03 1.58647264e+01] [ 1.46223622e-01 9.89250893e-01 -1.15036003e-03 -2.02324986e+02] [-7.06887535e-03 -1.17962719e-04 -9.99975008e-01 -1.80675877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.15655999499995 meters 0.013717641029225743 Centerline is valid? [True, True] Translation: X:15.99, Y:-201.62, Z:-2.79 [[-9.69425707e-01 -2.45248974e-01 8.16940424e-03 1.59920866e+01] [ 2.45242204e-01 -9.69460103e-01 -1.83595318e-03 -2.01624380e+02] [ 8.37017711e-03 2.23662493e-04 9.99964944e-01 -2.78565189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.186559995 meters 0.014262755742231547 Centerline is valid? [True, True] Translation: X:15.82, Y:-202.32, Z:-1.80 [[-9.89953934e-01 1.41055539e-01 9.72334801e-03 1.58159933e+01] [ 1.41046988e-01 9.90001669e-01 -1.56306834e-03 -2.02315664e+02] [-9.84661020e-03 -1.75916704e-04 -9.99951506e-01 -1.80359120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.21655999499995 meters 0.014235201830012045 Centerline is valid? [True, True] Translation: X:15.82, Y:-202.29, Z:-1.80 [[-9.97516409e-01 6.97607055e-02 9.71897358e-03 1.58207978e+01] [ 6.97556276e-02 9.97563738e-01 -8.60895701e-04 -2.02288289e+02] [-9.75535230e-03 -1.80804486e-04 -9.99952399e-01 -1.80441243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.246559995 meters 0.014549221606164921 Centerline is valid? [True, True] Translation: X:15.82, Y:-202.26, Z:-1.81 [[-9.99952091e-01 -2.37390808e-03 9.49638494e-03 1.58204648e+01] [-2.37557398e-03 9.99997165e-01 -1.64148734e-04 -2.02259437e+02] [-9.49596834e-03 -1.86700235e-04 -9.99954895e-01 -1.80515285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.27655999499996 meters 0.014924257156307562 Centerline is valid? [True, True] Translation: X:15.82, Y:-202.23, Z:-1.81 [[-9.97180513e-01 -7.45021799e-02 8.96942579e-03 1.58164540e+01] [-7.45008441e-02 9.97220833e-01 4.83422192e-04 -2.02230598e+02] [-8.98051427e-03 -1.86170604e-04 -9.99959657e-01 -1.80609743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.306559995 meters 0.015268975794544197 Centerline is valid? [True, True] Translation: X:15.81, Y:-202.20, Z:-1.81 [[-9.89249171e-01 -1.45981827e-01 8.68243056e-03 1.58097995e+01] [-1.45977865e-01 9.89287254e-01 1.09174785e-03 -2.02201772e+02] [-8.74879323e-03 -1.87432023e-04 -9.99961711e-01 -1.80637423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.33655999499996 meters 0.014300370235980759 Centerline is valid? [True, True] Translation: X:15.80, Y:-202.18, Z:-1.81 [[-9.76509606e-01 -2.15312055e-01 8.34913612e-03 1.57962623e+01] [-2.15305702e-01 9.76545283e-01 1.66300348e-03 -2.02177203e+02] [-8.51137419e-03 -1.73677743e-04 -9.99963763e-01 -1.80708777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.366559995 meters 0.014589933802018685 Centerline is valid? [True, True] Translation: X:15.76, Y:-202.16, Z:-1.81 [[-9.58857550e-01 -2.83761950e-01 8.44719293e-03 1.57644069e+01] [-2.83752477e-01 9.58894743e-01 2.32470508e-03 -2.02156267e+02] [-8.75963173e-03 -1.67850905e-04 -9.99961620e-01 -1.80656523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.39655999499996 meters 0.01449578562079851 Centerline is valid? [True, True] Translation: X:15.72, Y:-202.14, Z:-1.81 [[-9.35960619e-01 -3.52006693e-01 8.30710932e-03 1.57181036e+01] [-3.51994322e-01 9.35997470e-01 2.95530858e-03 -2.02142924e+02] [-8.81572171e-03 -1.58002874e-04 -9.99961128e-01 -1.80659186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.42655999499993 meters 0.01389527267113711 Centerline is valid? [True, True] Translation: X:15.66, Y:-202.14, Z:-1.81 [[-9.07976302e-01 -4.18947066e-01 7.89880306e-03 1.56575549e+01] [-4.18932600e-01 9.08010647e-01 3.48456264e-03 -2.02139506e+02] [-8.63204457e-03 -1.45165794e-04 -9.99962733e-01 -1.80736950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.45655999499996 meters 0.01441274639469887 Centerline is valid? [True, True] Translation: X:15.59, Y:-202.14, Z:-1.81 [[-8.75075548e-01 -4.83931853e-01 7.26266537e-03 1.55879208e+01] [-4.83916389e-01 8.75105677e-01 3.87078163e-03 -2.02142044e+02] [-8.22879422e-03 -1.27296446e-04 -9.99966135e-01 -1.80711814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.48655999499994 meters 0.013346462563941477 Centerline is valid? [True, True] Translation: X:15.51, Y:-202.16, Z:-1.81 [[-8.38543760e-01 -5.44790623e-01 6.89485782e-03 1.55118360e+01] [-5.44773145e-01 8.38572101e-01 4.36495595e-03 -2.02159008e+02] [-8.15982248e-03 -9.59267970e-05 -9.99966704e-01 -1.80807924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.51655999499997 meters 0.01287630056362052 Centerline is valid? [True, True] Translation: X:15.43, Y:-202.18, Z:-1.81 [[-7.96392022e-01 -6.04745207e-01 6.55602539e-03 1.54322185e+01] [-6.04725543e-01 7.96419003e-01 4.87748445e-03 -2.02181948e+02] [-8.17097855e-03 -8.02063061e-05 -9.99966614e-01 -1.80824373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.54655999499994 meters 0.012614620219053893 Centerline is valid? [True, True] Translation: X:15.35, Y:-202.22, Z:-1.81 [[-7.49856171e-01 -6.61573519e-01 6.01684941e-03 1.53463030e+01] [-6.61552881e-01 7.49880308e-01 5.22587261e-03 -2.02216317e+02] [-7.96921582e-03 -6.18112405e-05 -9.99968243e-01 -1.80821501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.57655999499997 meters 0.012357372404630992 Centerline is valid? [True, True] Translation: X:15.26, Y:-202.26, Z:-1.81 [[-6.99657810e-01 -7.14457049e-01 5.48398863e-03 1.52616726e+01] [-7.14435527e-01 6.99679301e-01 5.54554864e-03 -2.02259901e+02] [-7.79908965e-03 -3.79698905e-05 -9.99969586e-01 -1.80879069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.60655999499994 meters 0.012346632581706738 Centerline is valid? [True, True] Translation: X:15.17, Y:-202.31, Z:-1.81 [[-6.44373294e-01 -7.64695116e-01 4.94347585e-03 1.51746171e+01] [-7.64672934e-01 6.44392255e-01 5.82457284e-03 -2.02314165e+02] [-7.63955995e-03 -2.69430001e-05 -9.99970818e-01 -1.80822039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.63655999499997 meters 0.012379930257292962 Centerline is valid? [True, True] Translation: X:15.09, Y:-202.38, Z:-1.81 [[-5.85022488e-01 -8.11005374e-01 4.35575368e-03 1.50884067e+01] [-8.10983137e-01 5.85038702e-01 6.00566083e-03 -2.02380135e+02] [-7.41890769e-03 -1.89961503e-05 -9.99972479e-01 -1.80824304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.66655999499994 meters 0.012352000001169388 Centerline is valid? [True, True] Translation: X:15.00, Y:-202.46, Z:-1.81 [[-5.22158722e-01 -8.52839410e-01 3.89980816e-03 1.50029223e+01] [-8.52815796e-01 5.22173285e-01 6.34646613e-03 -2.02458902e+02] [-7.44889207e-03 -1.19553584e-05 -9.99972257e-01 -1.80814609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.696559995 meters 0.012307820179976985 Centerline is valid? [True, True] Translation: X:14.93, Y:-202.54, Z:-1.81 [[-4.56189615e-01 -8.89874987e-01 3.68003329e-03 1.49266433e+01] [-8.89846111e-01 4.56204458e-01 7.16885600e-03 -2.02538512e+02] [-8.05823324e-03 -4.30565006e-06 -9.99967532e-01 -1.80795821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.72655999499995 meters 0.01236271869520854 Centerline is valid? [True, True] Translation: X:14.86, Y:-202.62, Z:-1.81 [[-3.87087303e-01 -9.22037046e-01 3.33262108e-03 1.48568059e+01] [-9.22002860e-01 3.87101649e-01 7.93972383e-03 -2.02622196e+02] [-8.61078262e-03 6.80113817e-07 -9.99962927e-01 -1.80714174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.756559995 meters 0.012367810287395052 Centerline is valid? [True, True] Translation: X:14.79, Y:-202.72, Z:-1.81 [[-3.15704566e-01 -9.48853333e-01 2.82477579e-03 1.47898029e+01] [-9.48815174e-01 3.15717203e-01 8.50961864e-03 -2.02721230e+02] [-8.96621032e-03 6.33532691e-06 -9.99959803e-01 -1.80696329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.78655999499995 meters 0.012381151517646962 Centerline is valid? [True, True] Translation: X:14.73, Y:-202.82, Z:-1.81 [[-2.42716661e-01 -9.70095101e-01 2.02891711e-03 1.47320213e+01] [-9.70060739e-01 2.42725141e-01 8.16504103e-03 -2.02821599e+02] [-8.41333550e-03 1.36186607e-05 -9.99964607e-01 -1.80689044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.816559995 meters 0.012327306157654294 Centerline is valid? [True, True] Translation: X:14.68, Y:-202.93, Z:-1.81 [[-1.67894073e-01 -9.85804114e-01 1.35211656e-03 1.46808774e+01] [-9.85771269e-01 1.67899517e-01 8.04721459e-03 -2.02931806e+02] [-8.15999696e-03 1.82019830e-05 -9.99966707e-01 -1.80660950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.84655999499995 meters 0.012313287277941332 Centerline is valid? [True, True] Translation: X:14.64, Y:-203.04, Z:-1.81 [[-9.18094589e-02 -9.95776354e-01 6.90672649e-04 1.46382895e+01] [-9.95746507e-01 9.18120546e-02 7.70970665e-03 -2.03043092e+02] [-7.74055565e-03 2.00891178e-05 -9.99970041e-01 -1.80757456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.876559995 meters 0.012239768067569535 Centerline is valid? [True, True] Translation: X:14.60, Y:-203.17, Z:-1.81 [[-1.50087393e-02 -9.99887359e-01 8.75624937e-05 1.46036441e+01] [-9.99861863e-01 1.50089819e-02 7.14046966e-03 -2.03165878e+02] [-7.14097958e-03 1.96190498e-05 -9.99974503e-01 -1.80793222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.90655999499995 meters 0.012284363185793375 Centerline is valid? [True, True] Translation: X:14.58, Y:-203.27, Z:-1.81 [[ 6.23700530e-02 -9.98052992e-01 -4.49690627e-04 1.45777644e+01] [-9.98028840e-01 -6.23716721e-02 6.94325482e-03 -2.03274443e+02] [-6.95778421e-03 1.57530438e-05 -9.99975794e-01 -1.80771222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.936559995 meters 0.012196426309275813 Centerline is valid? [True, True] Translation: X:14.56, Y:-203.40, Z:-1.81 [[ 1.41396729e-01 -9.89952549e-01 -9.57370865e-04 1.45598756e+01] [-9.89929839e-01 -1.41399970e-01 6.70537173e-03 -2.03396629e+02] [-6.77337205e-03 -3.87640548e-07 -9.99977060e-01 -1.80722124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.96655999499995 meters 0.012657593986539886 Centerline is valid? [True, True] Translation: X:14.55, Y:-203.52, Z:-1.81 [[ 2.24280245e-01 -9.74523683e-01 -1.40135303e-03 1.45464654e+01] [-9.74503321e-01 -2.24284618e-01 6.29985690e-03 -2.03522519e+02] [-6.45366168e-03 -4.73102681e-05 -9.99979174e-01 -1.80603006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.996559995 meters 0.01322989592161829 Centerline is valid? [True, True] Translation: X:14.55, Y:-203.65, Z:-1.80 [[ 3.02948088e-01 -9.53004466e-01 -2.22354642e-03 1.45450987e+01] [-9.52976557e-01 -3.02956235e-01 7.29401359e-03 -2.03647559e+02] [-7.62486478e-03 -9.07198676e-05 -9.99970926e-01 -1.80466882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.02655999499996 meters 0.01322989592161829 Centerline is valid? [True, True] Translation: X:14.56, Y:-203.77, Z:-1.80 [[ 3.75358394e-01 -9.26875590e-01 -2.77804113e-03 1.45568290e+01] [-9.26848390e-01 -3.75368663e-01 7.10131899e-03 -2.03766008e+02] [-7.62482881e-03 -9.07167457e-05 -9.99970927e-01 -1.80467057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.056559995 meters 0.01322989592161829 Centerline is valid? [True, True] Translation: X:14.58, Y:-203.88, Z:-1.80 [[ 4.45463736e-01 -8.95293844e-01 -3.31545088e-03 1.45771416e+01] [-8.95267514e-01 -4.45476065e-01 6.86683940e-03 -2.03882124e+02] [-7.62479305e-03 -9.07124694e-05 -9.99970927e-01 -1.80467231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.08655999499996 meters 0.013359798938495803 Centerline is valid? [True, True] Translation: X:14.60, Y:-204.00, Z:-1.80 [[ 5.13881732e-01 -8.57851474e-01 -4.05143230e-03 1.46046911e+01] [-8.57823176e-01 -5.13897692e-01 6.96857851e-03 -2.03995572e+02] [-8.06002705e-03 -1.05612675e-04 -9.99967512e-01 -1.80425012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.116559995 meters 0.013359798938495803 Centerline is valid? [True, True] Translation: X:14.64, Y:-204.10, Z:-1.80 [[ 5.78128155e-01 -8.15933157e-01 -4.57368712e-03 1.46407561e+01] [-8.15906166e-01 -5.78146237e-01 6.63746978e-03 -2.04104331e+02] [-8.05999167e-03 -1.05608638e-04 -9.99967512e-01 -1.80425181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.14655999499996 meters 0.013741590073854757 Centerline is valid? [True, True] Translation: X:14.69, Y:-204.21, Z:-1.80 [[ 6.39531842e-01 -7.68747014e-01 -5.20103709e-03 1.46850145e+01] [-7.68720112e-01 -6.39552980e-01 6.43232933e-03 -2.04211919e+02] [-8.27117274e-03 -1.15537614e-04 -9.99965787e-01 -1.80402926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.17655999499993 meters 0.013488275785385032 Centerline is valid? [True, True] Translation: X:14.73, Y:-204.31, Z:-1.80 [[ 6.96822337e-01 -7.17223270e-01 -5.42324254e-03 1.47314588e+01] [-7.17200247e-01 -6.96843431e-01 5.74790733e-03 -2.04307054e+02] [-7.90168383e-03 -1.15719331e-04 -9.99968775e-01 -1.80449113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.20655999499996 meters 0.013884555170456166 Centerline is valid? [True, True] Translation: X:14.79, Y:-204.40, Z:-1.80 [[ 7.49552009e-01 -6.61919011e-01 -5.91684725e-03 1.47859461e+01] [-6.61897129e-01 -7.49575352e-01 5.38354341e-03 -2.04401805e+02] [-7.99859259e-03 -1.18901567e-04 -9.99968004e-01 -1.80419073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.23655999499994 meters 0.013523245994017117 Centerline is valid? [True, True] Translation: X:14.78, Y:-204.41, Z:-1.80 [[ 7.98507314e-01 -6.01959627e-01 -5.53873862e-03 1.47838993e+01] [-6.01944286e-01 -7.98526517e-01 4.29865614e-03 -2.04409648e+02] [-7.01044711e-03 -9.84963064e-05 -9.99975422e-01 -1.80486050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.26655999499997 meters 0.013523245994017117 Centerline is valid? [True, True] Translation: X:14.78, Y:-204.42, Z:-1.80 [[ 8.43119016e-01 -5.37695091e-01 -5.85779552e-03 1.47820692e+01] [-5.37681299e-01 -8.43139359e-01 3.85250473e-03 -2.04417522e+02] [-7.01041085e-03 -9.84928901e-05 -9.99975422e-01 -1.80486088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.29655999499994 meters 0.013325093572397818 Centerline is valid? [True, True] Translation: X:14.78, Y:-204.43, Z:-1.80 [[ 8.82208527e-01 -4.70825513e-01 -5.60816555e-03 1.47813109e+01] [-4.70815383e-01 -8.82226348e-01 3.08962180e-03 -2.04425949e+02] [-6.40234418e-03 -8.52800826e-05 -9.99979501e-01 -1.80499681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.32655999499997 meters 0.012782286212416855 Centerline is valid? [True, True] Translation: X:14.78, Y:-204.43, Z:-1.81 [[ 9.15338783e-01 -4.02652103e-01 -5.11826130e-03 1.47813469e+01] [-4.02645433e-01 -9.15353091e-01 2.31828956e-03 -2.04433999e+02] [-5.61848046e-03 -6.11758030e-05 -9.99984214e-01 -1.80547862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.35655999499994 meters 0.012669388379592767 Centerline is valid? [True, True] Translation: X:14.78, Y:-204.44, Z:-1.81 [[ 9.43680032e-01 -3.30819159e-01 -5.16534650e-03 1.47817204e+01] [-3.30813889e-01 -9.43694167e-01 1.86803599e-03 -2.04442269e+02] [-5.49248946e-03 -5.40598932e-05 -9.99984915e-01 -1.80532239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.38655999499997 meters 0.012551239249529606 Centerline is valid? [True, True] Translation: X:14.78, Y:-204.45, Z:-1.81 [[ 9.66326843e-01 -2.57255986e-01 -5.63828085e-03 1.47816220e+01] [-2.57251304e-01 -9.66343290e-01 1.55293701e-03 -2.04449570e+02] [-5.84801722e-03 -5.01896136e-05 -9.99982899e-01 -1.80535192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.41655999499994 meters 0.012337887602756595 Centerline is valid? [True, True] Translation: X:14.78, Y:-204.46, Z:-1.80 [[ 9.83129860e-01 -1.82793728e-01 -6.49093667e-03 1.47828444e+01] [-1.82789449e-01 -9.83151286e-01 1.25157195e-03 -2.04455877e+02] [-6.61035224e-03 -4.39830138e-05 -9.99978150e-01 -1.80486060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.446559995 meters 0.01227480095637855 Centerline is valid? [True, True] Translation: X:14.78, Y:-204.46, Z:-1.80 [[ 9.94361165e-01 -1.05841129e-01 -6.59761982e-03 1.47809301e+01] [-1.05838529e-01 -9.94383052e-01 7.43016363e-04 -2.04462769e+02] [-6.63920302e-03 -4.05442409e-05 -9.99977959e-01 -1.80465320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.47655999499995 meters 0.012257765546809116 Centerline is valid? [True, True] Translation: X:14.78, Y:-204.47, Z:-1.80 [[ 9.99583666e-01 -2.79825159e-02 -7.03377508e-03 1.47790750e+01] [-2.79815377e-02 -9.99608412e-01 2.37453228e-04 -2.04469744e+02] [-7.03766528e-03 -4.05385249e-05 -9.99975235e-01 -1.80434638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.506559995 meters 0.012257765546809116 Centerline is valid? [True, True] Translation: X:14.78, Y:-204.48, Z:-1.80 [[ 9.98704740e-01 5.03925631e-02 -7.03073098e-03 1.47779662e+01] [ 5.03916001e-02 -9.98729487e-01 -3.14161080e-04 -2.04475691e+02] [-7.03762973e-03 -4.05356243e-05 -9.99975235e-01 -1.80434670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.53655999499995 meters 0.012240311101370386 Centerline is valid? [True, True] Translation: X:14.78, Y:-204.48, Z:-1.80 [[ 9.91694035e-01 1.28410883e-01 -7.32026979e-03 1.47787246e+01] [ 1.28407702e-01 -9.91721051e-01 -9.04872273e-04 -2.04483973e+02] [-7.37586110e-03 -4.26225885e-05 -9.99972797e-01 -1.80448542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.566559995 meters 0.0122227361244034 Centerline is valid? [True, True] Translation: X:14.78, Y:-204.49, Z:-1.80 [[ 9.78518675e-01 2.06006808e-01 -7.89926069e-03 1.47791398e+01] [ 2.06000504e-01 -9.78550557e-01 -1.61234675e-03 -2.04492624e+02] [-8.06198036e-03 -4.95402791e-05 -9.99967501e-01 -1.80376854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.59655999499995 meters 0.012205837348694445 Centerline is valid? [True, True] Translation: X:14.78, Y:-204.50, Z:-1.80 [[ 9.59292543e-01 2.82312094e-01 -7.59597679e-03 1.47807205e+01] [ 2.82303664e-01 -9.59322615e-01 -2.18228332e-03 -2.04501959e+02] [-7.90307729e-03 -5.09239645e-05 -9.99968769e-01 -1.80400261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.626559995 meters 0.012196674660158066 Centerline is valid? [True, True] Translation: X:14.78, Y:-204.51, Z:-1.80 [[ 9.34154201e-01 3.56797454e-01 -7.17667768e-03 1.47823482e+01] [ 3.56787348e-01 -9.34181767e-01 -2.68595260e-03 -2.04510789e+02] [-7.66266249e-03 -5.14538906e-05 -9.99970640e-01 -1.80383540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.65655999499995 meters 0.012295870471132139 Centerline is valid? [True, True] Translation: X:14.79, Y:-204.52, Z:-1.80 [[ 9.03203853e-01 4.29156231e-01 -6.90860001e-03 1.47851020e+01] [ 4.29144132e-01 -9.03230273e-01 -3.22293769e-03 -2.04518601e+02] [-7.62320047e-03 -5.38154128e-05 -9.99970942e-01 -1.80414314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.686559995 meters 0.012349791919528575 Centerline is valid? [True, True] Translation: X:14.79, Y:-204.53, Z:-1.80 [[ 8.66607058e-01 4.98943178e-01 -6.92185805e-03 1.47886904e+01] [ 4.98927812e-01 -8.66634699e-01 -3.91631206e-03 -2.04525848e+02] [-7.95273956e-03 -5.96038171e-05 -9.99968375e-01 -1.80394684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.71655999499995 meters 0.01238113879421651 Centerline is valid? [True, True] Translation: X:14.79, Y:-204.53, Z:-1.80 [[ 8.24420955e-01 5.65932819e-01 -7.08046159e-03 1.47923863e+01] [ 5.65912685e-01 -8.24451356e-01 -4.77433631e-03 -2.04533085e+02] [-8.53944977e-03 -7.08601314e-05 -9.99963536e-01 -1.80359439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.746559995 meters 0.012387443674951861 Centerline is valid? [True, True] Translation: X:14.80, Y:-204.54, Z:-1.80 [[ 7.77302085e-01 6.29088376e-01 -7.02033078e-03 1.47967370e+01] [ 6.29063628e-01 -7.77333783e-01 -5.58056891e-03 -2.04540255e+02] [-8.96781131e-03 -7.84469028e-05 -9.99959785e-01 -1.80354922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.77655999499996 meters 0.012521089764200218 Centerline is valid? [True, True] Translation: X:14.80, Y:-204.55, Z:-1.80 [[ 7.25403438e-01 6.88292487e-01 -6.58064489e-03 1.48004126e+01] [ 6.88265193e-01 -7.25433281e-01 -6.13021352e-03 -2.04547163e+02] [-8.99319872e-03 -8.23508664e-05 -9.99959557e-01 -1.80331793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.806559995 meters 0.012855383535179715 Centerline is valid? [True, True] Translation: X:14.81, Y:-204.55, Z:-1.80 [[ 6.69091295e-01 7.43156987e-01 -5.87635787e-03 1.48053090e+01] [ 7.43129400e-01 -6.69117094e-01 -6.40380020e-03 -2.04553720e+02] [-8.69100036e-03 -8.21673374e-05 -9.99962229e-01 -1.80278828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.83655999499996 meters 0.012588052228205719 Centerline is valid? [True, True] Translation: X:14.81, Y:-204.56, Z:-1.80 [[ 6.08456534e-01 7.93570581e-01 -5.13616345e-03 1.48084851e+01] [ 7.93543453e-01 -6.08478206e-01 -6.56208745e-03 -2.04557534e+02] [-8.33272307e-03 -8.30238925e-05 -9.99965279e-01 -1.80494477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.866559995 meters 0.012637997866793331 Centerline is valid? [True, True] Translation: X:14.81, Y:-204.56, Z:-1.81 [[ 5.43937873e-01 8.39110888e-01 -4.95057597e-03 1.48143185e+01] [ 8.39077711e-01 -5.43960392e-01 -7.46236746e-03 -2.04563349e+02] [-8.95467103e-03 -9.48536709e-05 -9.99959902e-01 -1.80558675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.89655999499996 meters 0.01293436361292058 Centerline is valid? [True, True] Translation: X:14.82, Y:-204.57, Z:-1.80 [[ 4.76569765e-01 8.79126496e-01 -4.22644812e-03 1.48202025e+01] [ 8.79093626e-01 -4.76588497e-01 -7.60266747e-03 -2.04569571e+02] [-8.69798297e-03 -9.22421501e-05 -9.99962168e-01 -1.80467331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.92655999499993 meters 0.012580394752334328 Centerline is valid? [True, True] Translation: X:14.82, Y:-204.57, Z:-1.81 [[ 4.06718569e-01 9.13546505e-01 -3.57626844e-03 1.48246840e+01] [ 9.13513049e-01 -4.06734282e-01 -7.81872789e-03 -2.04573736e+02] [-8.59736251e-03 -8.69460674e-05 -9.99963038e-01 -1.80525782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.95655999499996 meters 0.012404585765648986 Centerline is valid? [True, True] Translation: X:14.83, Y:-204.58, Z:-1.81 [[ 3.34946596e-01 9.42232783e-01 -2.85677052e-03 1.48303255e+01] [ 9.42200408e-01 -3.34958770e-01 -7.81106759e-03 -2.04577329e+02] [-8.31674429e-03 -7.53598543e-05 -9.99965412e-01 -1.80632349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.98655999499994 meters 0.012380530870791571 Centerline is valid? [True, True] Translation: X:14.84, Y:-204.58, Z:-1.81 [[ 2.60579484e-01 9.65450229e-01 -2.04626544e-03 1.48361696e+01] [ 9.65422399e-01 -2.60587510e-01 -7.33080981e-03 -2.04581610e+02] [-7.61076323e-03 -6.52518483e-05 -9.99971036e-01 -1.80694237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.01655999499997 meters 0.012150507467317247 Centerline is valid? [True, True] Translation: X:14.84, Y:-204.58, Z:-1.81 [[ 1.85313549e-01 9.82678470e-01 -1.38291840e-03 1.48430673e+01] [ 9.82653209e-01 -1.85318702e-01 -7.04632129e-03 -2.04584982e+02] [-7.18054887e-03 -5.31503924e-05 -9.99974218e-01 -1.80778532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.04655999499994 meters 0.012131416765072225 Centerline is valid? [True, True] Translation: X:14.85, Y:-204.59, Z:-1.81 [[ 1.08643441e-01 9.94080448e-01 -8.15818630e-04 1.48494935e+01] [ 9.94055540e-01 -1.08646494e-01 -7.03724194e-03 -2.04589140e+02] [-7.08422046e-03 -4.64188483e-05 -9.99974906e-01 -1.80793132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.07655999499997 meters 0.011902498919447738 Centerline is valid? [True, True] Translation: X:14.86, Y:-204.59, Z:-1.81 [[ 3.30182675e-02 9.99454707e-01 -2.86848575e-04 1.48565628e+01] [ 9.99424696e-01 -3.30194990e-02 -7.74529543e-03 -2.04591383e+02] [-7.75054358e-03 -3.09473137e-05 -9.99969964e-01 -1.80845629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.10655999499994 meters 0.01182463882532294 Centerline is valid? [True, True] Translation: X:14.86, Y:-204.60, Z:-1.81 [[-4.41188082e-02 9.99026242e-01 3.13410301e-04 1.48636987e+01] [ 9.98997571e-01 4.41199165e-02 -7.56880642e-03 -2.04595069e+02] [-7.57526387e-03 -2.08305891e-05 -9.99971307e-01 -1.80862376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.13655999499997 meters 0.011891719980263647 Centerline is valid? [True, True] Translation: X:14.87, Y:-204.60, Z:-1.81 [[-1.21061269e-01 9.92644599e-01 9.32300311e-04 1.48706903e+01] [ 9.92614398e-01 1.21064859e-01 -7.74320822e-03 -2.04597782e+02] [-7.79912262e-03 -1.19879035e-05 -9.99969586e-01 -1.80864787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.16655999499994 meters 0.011828099022719776 Centerline is valid? [True, True] Translation: X:14.88, Y:-204.60, Z:-1.81 [[-1.96995390e-01 9.80403008e-01 1.66065466e-03 1.48810708e+01] [ 9.80368159e-01 1.97002389e-01 -8.26625051e-03 -2.04598491e+02] [-8.43140981e-03 -3.60285238e-07 -9.99964455e-01 -1.80986248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.196559995 meters 0.011907671550333865 Centerline is valid? [True, True] Translation: X:14.89, Y:-204.60, Z:-1.81 [[-2.72537313e-01 9.62142419e-01 2.31919301e-03 1.48917651e+01] [ 9.62107746e-01 2.72547181e-01 -8.16823721e-03 -2.04598995e+02] [-8.49109703e-03 5.16413778e-06 -9.99963950e-01 -1.80922566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.22655999499995 meters 0.011848918845342235 Centerline is valid? [True, True] Translation: X:14.90, Y:-204.60, Z:-1.81 [[-3.46855915e-01 9.37913139e-01 3.14917019e-03 1.49008663e+01] [ 9.37874683e-01 3.46870210e-01 -8.49331996e-03 -2.04598320e+02] [-9.05834971e-03 7.56872965e-06 -9.99958972e-01 -1.80909851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.256559995 meters 0.01197068621852918 Centerline is valid? [True, True] Translation: X:14.91, Y:-204.60, Z:-1.81 [[-4.19038677e-01 9.07958924e-01 4.14475873e-03 1.49097266e+01] [ 9.07914769e-01 4.19059174e-01 -8.95435695e-03 -2.04598729e+02] [-9.86708748e-03 1.08657736e-05 -9.99951319e-01 -1.80804942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.28655999499995 meters 0.011962988382438502 Centerline is valid? [True, True] Translation: X:14.92, Y:-204.60, Z:-1.81 [[-4.88915591e-01 8.72313702e-01 5.50904765e-03 1.49191159e+01] [ 8.72258606e-01 4.88946627e-01 -9.80404263e-03 -2.04596221e+02] [-1.12458310e-02 1.19649323e-05 -9.99936764e-01 -1.80849412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.316559995 meters 0.012014622970387771 Centerline is valid? [True, True] Translation: X:14.93, Y:-204.59, Z:-1.81 [[-5.55678950e-01 8.31372063e-01 6.43417062e-03 1.49272625e+01] [ 8.31316602e-01 5.55716199e-01 -9.60276242e-03 -2.04594549e+02] [-1.15590412e-02 1.27799260e-05 -9.99933192e-01 -1.80786424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.34655999499995 meters 0.011949444845912273 Centerline is valid? [True, True] Translation: X:14.94, Y:-204.59, Z:-1.81 [[-6.19170280e-01 7.85224041e-01 7.16727509e-03 1.49351305e+01] [ 7.85171651e-01 6.19211761e-01 -9.07051025e-03 -2.04590991e+02] [-1.15604437e-02 1.13508472e-05 -9.99933176e-01 -1.80876385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.376559995 meters 0.011865677063164163 Centerline is valid? [True, True] Translation: X:14.94, Y:-204.59, Z:-1.81 [[-6.78673211e-01 7.34396527e-01 8.02582340e-03 1.49430402e+01] [ 7.34345398e-01 6.78720665e-01 -8.66580813e-03 -2.04586114e+02] [-1.18114316e-02 1.24746466e-05 -9.99930243e-01 -1.80966415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.40655999499995 meters 0.011892337439698003 Centerline is valid? [True, True] Translation: X:14.95, Y:-204.58, Z:-1.81 [[-7.34156100e-01 6.78923698e-01 8.79956145e-03 1.49502250e+01] [ 6.78875129e-01 7.34208834e-01 -8.12078224e-03 -2.04581671e+02] [-1.19741073e-02 1.18815992e-05 -9.99928308e-01 -1.80991189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.436559995 meters 0.011823401732198098 Centerline is valid? [True, True] Translation: X:15.43, Y:-204.07, Z:-2.78 [[-6.88468161e-01 -7.25223683e-01 7.88679473e-03 1.54317461e+01] [ 7.25175442e-01 -6.88513332e-01 -8.36475454e-03 -2.04073671e+02] [ 1.14964814e-02 -3.95573221e-05 9.99933913e-01 -2.78093274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.46655999499995 meters 0.01178772430270741 Centerline is valid? [True, True] Translation: X:15.41, Y:-204.05, Z:-2.78 [[-6.88774752e-01 -7.24929752e-01 8.13601608e-03 1.54124593e+01] [ 7.24878918e-01 -6.88822803e-01 -8.58486755e-03 -2.04053826e+02] [ 1.18276993e-02 -1.54134862e-05 9.99930050e-01 -2.78025351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.496559995 meters 0.011800969583226954 Centerline is valid? [True, True] Translation: X:15.39, Y:-204.03, Z:-2.78 [[-6.88918570e-01 -7.24795031e-01 7.96031475e-03 1.53935401e+01] [ 7.24746421e-01 -6.88964558e-01 -8.39421562e-03 -2.04034594e+02] [ 1.15684605e-02 -1.37213931e-05 9.99933083e-01 -2.78000456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.52655999499996 meters 0.011800464702169418 Centerline is valid? [True, True] Translation: X:15.38, Y:-204.02, Z:-2.78 [[-6.88618466e-01 -7.25080185e-01 7.95819353e-03 1.53750250e+01] [ 7.25031667e-01 -6.88664450e-01 -8.38791925e-03 -2.04016041e+02] [ 1.15624390e-02 -6.13376342e-06 9.99933153e-01 -2.78016774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.556559995 meters 0.011739493190463588 Centerline is valid? [True, True] Translation: X:15.36, Y:-204.00, Z:-2.78 [[-6.88289989e-01 -7.25392919e-01 7.87423551e-03 1.53557073e+01] [ 7.25345499e-01 -6.88335029e-01 -8.29422267e-03 -2.03997129e+02] [ 1.14366825e-02 2.71085757e-06 9.99934599e-01 -2.77975047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.58655999499996 meters 0.01168837446430765 Centerline is valid? [True, True] Translation: X:15.33, Y:-203.98, Z:-2.78 [[-6.86589601e-01 -7.26998400e-01 8.24903624e-03 1.53349278e+01] [ 7.26946539e-01 -6.86639153e-01 -8.68355447e-03 -2.03979064e+02] [ 1.19770415e-02 3.45701384e-05 9.99928272e-01 -2.77943686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.616559995 meters 0.01186612420195345 Centerline is valid? [True, True] Translation: X:15.32, Y:-203.96, Z:-2.78 [[-6.85677059e-01 -7.27858309e-01 8.32183091e-03 1.53153639e+01] [ 7.27805662e-01 -6.85727555e-01 -8.75441776e-03 -2.03960876e+02] [ 1.20784845e-02 5.39722313e-05 9.99927051e-01 -2.77966069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.64655999499996 meters 0.011916015155391436 Centerline is valid? [True, True] Translation: X:15.30, Y:-203.94, Z:-2.78 [[-6.84639017e-01 -7.28830578e-01 8.68361904e-03 1.52952370e+01] [ 7.28773400e-01 -6.84694080e-01 -9.12951607e-03 -2.03941962e+02] [ 1.25994930e-02 7.79676658e-05 9.99920620e-01 -2.77925510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.67655999499993 meters 0.012124626591764274 Centerline is valid? [True, True] Translation: X:15.27, Y:-203.92, Z:-2.78 [[-6.83432783e-01 -7.29957958e-01 9.00063658e-03 1.52744519e+01] [ 7.29896697e-01 -6.83492040e-01 -9.45745352e-03 -2.03922390e+02] [ 1.30554069e-02 1.06001135e-04 9.99914769e-01 -2.77955369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.70655999499996 meters 0.012731592730097744 Centerline is valid? [True, True] Translation: X:15.25, Y:-203.90, Z:-2.78 [[-6.80839717e-01 -7.32366390e-01 9.83616187e-03 1.52533634e+01] [ 7.32293565e-01 -6.80910744e-01 -1.03292111e-02 -2.03904866e+02] [ 1.42623153e-02 1.70420895e-04 9.99898274e-01 -2.78028534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.73655999499994 meters 0.013050558417615972 Centerline is valid? [True, True] Translation: X:15.23, Y:-203.89, Z:-2.78 [[-6.79888340e-01 -7.33245431e-01 1.01480487e-02 1.52338174e+01] [ 7.33168106e-01 -6.79964041e-01 -1.06504152e-02 -2.03886531e+02] [ 1.47096765e-02 1.99132539e-04 9.99891787e-01 -2.78083172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.76655999499997 meters 0.013700211734304673 Centerline is valid? [True, True] Translation: X:15.21, Y:-203.87, Z:-2.78 [[-6.78039929e-01 -7.34946250e-01 1.07640684e-02 1.52129886e+01] [ 7.34859562e-01 -6.78125317e-01 -1.12906286e-02 -2.03868032e+02] [ 1.55973925e-02 2.54581594e-04 9.99878321e-01 -2.78100370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.79655999499994 meters 0.013910281119652772 Centerline is valid? [True, True] Translation: X:15.19, Y:-203.85, Z:-2.78 [[-6.76741182e-01 -7.36142045e-01 1.07825312e-02 1.51927135e+01] [ 7.36055312e-01 -6.76827015e-01 -1.13035688e-02 -2.03848426e+02] [ 1.56189406e-02 2.86948865e-04 9.99877976e-01 -2.78065590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.82655999499997 meters 0.01404919465208391 Centerline is valid? [True, True] Translation: X:15.17, Y:-203.83, Z:-2.78 [[-6.76445365e-01 -7.36409986e-01 1.10454372e-02 1.51725574e+01] [ 7.36319112e-01 -6.76535468e-01 -1.15726095e-02 -2.03828208e+02] [ 1.59948152e-02 3.04728420e-04 9.99872028e-01 -2.78066919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.85655999499994 meters 0.015510401842308296 Centerline is valid? [True, True] Translation: X:15.15, Y:-203.81, Z:-2.78 [[-6.76119263e-01 -7.36706129e-01 1.12615053e-02 1.51522431e+01] [ 7.36611821e-01 -6.76212966e-01 -1.17919373e-02 -2.03810470e+02] [ 1.63023684e-02 3.22602029e-04 9.99867056e-01 -2.78251255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.88655999499997 meters 0.015510401842308296 Centerline is valid? [True, True] Translation: X:15.13, Y:-203.79, Z:-2.78 [[-6.76340972e-01 -7.36502538e-01 1.12650545e-02 1.51336711e+01] [ 7.36408258e-01 -6.76434703e-01 -1.17885467e-02 -2.03791202e+02] [ 1.63023684e-02 3.22602050e-04 9.99867056e-01 -2.78251279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.91655999499994 meters 0.014417591307999598 Centerline is valid? [True, True] Translation: X:15.12, Y:-203.77, Z:-2.78 [[-6.76021271e-01 -7.36791520e-01 1.15540850e-02 1.51152812e+01] [ 7.36692497e-01 -6.76119914e-01 -1.20841274e-02 -2.03769325e+02] [ 1.67154296e-02 3.42680552e-04 9.99860229e-01 -2.78100481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.946559995 meters 0.015043827742888864 Centerline is valid? [True, True] Translation: X:15.10, Y:-203.75, Z:-2.78 [[-6.74999063e-01 -7.37721574e-01 1.19642898e-02 1.50955255e+01] [ 7.37615670e-01 -6.75104979e-01 -1.25056430e-02 -2.03750393e+02] [ 1.73028343e-02 3.83750363e-04 9.99850221e-01 -2.78175230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.97655999499995 meters 0.01538654059758984 Centerline is valid? [True, True] Translation: X:15.08, Y:-203.73, Z:-2.78 [[-6.74623328e-01 -7.38062788e-01 1.21114315e-02 1.50759801e+01] [ 7.37954442e-01 -6.74731917e-01 -1.26523216e-02 -2.03730519e+02] [ 1.75101772e-02 4.02133372e-04 9.99846604e-01 -2.78186214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.006559995 meters 0.015815144699509443 Centerline is valid? [True, True] Translation: X:15.06, Y:-203.71, Z:-2.78 [[-6.74493624e-01 -7.38180562e-01 1.21576659e-02 1.50575288e+01] [ 7.38071555e-01 -6.74603059e-01 -1.26921905e-02 -2.03712324e+02] [ 1.75707269e-02 4.12425773e-04 9.99845538e-01 -2.78240650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.03655999499995 meters 0.015840353112484162 Centerline is valid? [True, True] Translation: X:15.04, Y:-203.69, Z:-2.78 [[-6.74279879e-01 -7.38375243e-01 1.21920245e-02 1.50389933e+01] [ 7.38265792e-01 -6.74389962e-01 -1.27200378e-02 -2.03692643e+02] [ 1.76143399e-02 4.24089103e-04 9.99844766e-01 -2.78194847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.066559995 meters 0.016306356528369544 Centerline is valid? [True, True] Translation: X:15.02, Y:-203.67, Z:-2.78 [[-6.74093914e-01 -7.38546548e-01 1.20992759e-02 1.50205945e+01] [ 7.38438891e-01 -6.74202353e-01 -1.26171200e-02 -2.03673399e+02] [ 1.74756907e-02 4.29452113e-04 9.99847196e-01 -2.78202748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.09655999499995 meters 0.016851140637976256 Centerline is valid? [True, True] Translation: X:15.00, Y:-203.66, Z:-2.78 [[-6.74111345e-01 -7.38532971e-01 1.19559951e-02 1.50022562e+01] [ 7.38427951e-01 -6.74217226e-01 -1.24617012e-02 -2.03655218e+02] [ 1.72643151e-02 4.28066774e-04 9.99850869e-01 -2.78239497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.126559995 meters 0.017458122480031882 Centerline is valid? [True, True] Translation: X:14.98, Y:-203.64, Z:-2.78 [[-6.74194680e-01 -7.38462483e-01 1.16058231e-02 1.49840050e+01] [ 7.38363645e-01 -6.74294436e-01 -1.20889377e-02 -2.03636967e+02] [ 1.67529689e-02 4.19020378e-04 9.99859571e-01 -2.78258403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.15655999499995 meters 0.01670479949437125 Centerline is valid? [True, True] Translation: X:14.97, Y:-203.62, Z:-2.78 [[-6.74051337e-01 -7.38595063e-01 1.14946897e-02 1.49663854e+01] [ 7.38498252e-01 -6.74149207e-01 -1.19657261e-02 -2.03615575e+02] [ 1.65869622e-02 4.23294526e-04 9.99862337e-01 -2.78125504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.186559995 meters 0.01620342628040765 Centerline is valid? [True, True] Translation: X:14.95, Y:-203.59, Z:-2.78 [[-6.74163030e-01 -7.38496635e-01 1.12662341e-02 1.49478520e+01] [ 7.38403728e-01 -6.74257032e-01 -1.17212864e-02 -2.03594341e+02] [ 1.62524681e-02 4.16971293e-04 9.99867833e-01 -2.78088297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.21655999499995 meters 0.017018154936905745 Centerline is valid? [True, True] Translation: X:14.93, Y:-203.58, Z:-2.78 [[-6.74450919e-01 -7.38233065e-01 1.13092996e-02 1.49291575e+01] [ 7.38139537e-01 -6.74545601e-01 -1.17582701e-02 -2.03576283e+02] [ 1.63089821e-02 4.17465050e-04 9.99866913e-01 -2.78158327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.246559995 meters 0.0173341536775444 Centerline is valid? [True, True] Translation: X:14.91, Y:-203.56, Z:-2.78 [[-6.74680433e-01 -7.38025623e-01 1.11576460e-02 1.49108012e+01] [ 7.37934679e-01 -6.74772562e-01 -1.15931115e-02 -2.03556993e+02] [ 1.60848867e-02 4.11968402e-04 9.99870545e-01 -2.78176448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.27655999499996 meters 0.016375943757596 Centerline is valid? [True, True] Translation: X:14.89, Y:-203.54, Z:-2.78 [[-6.74934378e-01 -7.37792876e-01 1.11918530e-02 1.48935386e+01] [ 7.37701459e-01 -6.75027038e-01 -1.16213200e-02 -2.03535956e+02] [ 1.61289305e-02 4.12617922e-04 9.99869835e-01 -2.78063437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.306559995 meters 0.0180040400384584 Centerline is valid? [True, True] Translation: X:14.87, Y:-203.52, Z:-2.78 [[-6.75056247e-01 -7.37684727e-01 1.09684780e-02 1.48742436e+01] [ 7.37596996e-01 -6.75145228e-01 -1.13838308e-02 -2.03517922e+02] [ 1.58029937e-02 4.05590352e-04 9.99875043e-01 -2.78185460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.33655999499996 meters 0.01647118106872038 Centerline is valid? [True, True] Translation: X:14.86, Y:-203.50, Z:-2.78 [[-6.75219543e-01 -7.37537488e-01 1.08176880e-02 1.48578721e+01] [ 7.37452244e-01 -6.75306074e-01 -1.12202570e-02 -2.03496299e+02] [ 1.55806106e-02 4.01391480e-04 9.99878534e-01 -2.78001652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.366559995 meters 0.016524555304116423 Centerline is valid? [True, True] Translation: X:14.84, Y:-203.48, Z:-2.78 [[-6.75367475e-01 -7.37405432e-01 1.05831567e-02 1.48393981e+01] [ 7.37323934e-01 -6.75450275e-01 -1.09700773e-02 -2.03476121e+02] [ 1.52377907e-02 3.94381316e-04 9.99883820e-01 -2.77936581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.39655999499996 meters 0.01726076902053975 Centerline is valid? [True, True] Translation: X:14.82, Y:-203.46, Z:-2.78 [[-6.75176319e-01 -7.37586863e-01 1.01270658e-02 1.48211168e+01] [ 7.37512360e-01 -6.75252154e-01 -1.04903776e-02 -2.03457124e+02] [ 1.45758877e-02 3.85981661e-04 9.99893692e-01 -2.77875729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.42655999499993 meters 0.01726076902053975 Centerline is valid? [True, True] Translation: X:14.80, Y:-203.44, Z:-2.78 [[-6.75404061e-01 -7.37378282e-01 1.01303050e-02 1.48024427e+01] [ 7.37303803e-01 -6.75479918e-01 -1.04872496e-02 -2.03437943e+02] [ 1.45758877e-02 3.85981473e-04 9.99893692e-01 -2.77875753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.45655999499996 meters 0.01681889661353779 Centerline is valid? [True, True] Translation: X:14.78, Y:-203.42, Z:-2.78 [[-6.75482458e-01 -7.37307689e-01 1.00409186e-02 1.47840486e+01] [ 7.37234605e-01 -6.75556972e-01 -1.03881711e-02 -2.03417227e+02] [ 1.44424910e-02 3.85485362e-04 9.99895628e-01 -2.77792747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.48655999499994 meters 0.016847734877045717 Centerline is valid? [True, True] Translation: X:14.77, Y:-203.40, Z:-2.78 [[-6.75286108e-01 -7.37490256e-01 9.83844299e-03 1.47650426e+01] [ 7.37420190e-01 -6.75357664e-01 -1.01729560e-02 -2.03397094e+02] [ 1.41469238e-02 3.85410622e-04 9.99899853e-01 -2.77760543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.51655999499997 meters 0.01961313468339605 Centerline is valid? [True, True] Translation: X:14.74, Y:-203.38, Z:-2.78 [[-6.73763259e-01 -7.38879592e-01 1.00009425e-02 1.47428718e+01] [ 7.38807434e-01 -6.73837345e-01 -1.03348402e-02 -2.03380880e+02] [ 1.43752110e-02 4.25535078e-04 9.99896581e-01 -2.77962725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.54655999499994 meters 0.019642162195248964 Centerline is valid? [True, True] Translation: X:14.72, Y:-203.36, Z:-2.78 [[-6.72938384e-01 -7.39624184e-01 1.04880112e-02 1.47228999e+01] [ 7.39545004e-01 -6.73019947e-01 -1.08323183e-02 -2.03361085e+02] [ 1.50704853e-02 4.66873508e-04 9.99886325e-01 -2.77983972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.57655999499997 meters 0.019600756012696095 Centerline is valid? [True, True] Translation: X:14.70, Y:-203.34, Z:-2.78 [[-6.71885569e-01 -7.40580389e-01 1.05104391e-02 1.47032359e+01] [ 7.40501076e-01 -6.71967591e-01 -1.08495114e-02 -2.03341469e+02] [ 1.50976098e-02 4.93361315e-04 9.99885903e-01 -2.77999915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.60655999499994 meters 0.020552601560105 Centerline is valid? [True, True] Translation: X:14.68, Y:-203.32, Z:-2.78 [[-6.71043623e-01 -7.41340950e-01 1.06794993e-02 1.46823082e+01] [ 7.41259253e-01 -6.71128395e-01 -1.10180030e-02 -2.03322427e+02] [ 1.53354120e-02 5.22717005e-04 9.99882269e-01 -2.78044525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.63655999499997 meters 0.02132271978152635 Centerline is valid? [True, True] Translation: X:14.66, Y:-203.30, Z:-2.78 [[-6.70309296e-01 -7.41999914e-01 1.10261251e-02 1.46613183e+01] [ 7.41913014e-01 -6.70399743e-01 -1.13694400e-02 -2.03303105e+02] [ 1.58280349e-02 5.59384405e-04 9.99874572e-01 -2.78093953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.66655999499994 meters 0.022615545122416356 Centerline is valid? [True, True] Translation: X:14.64, Y:-203.29, Z:-2.78 [[-6.69505797e-01 -7.42730398e-01 1.06557024e-02 1.46403439e+01] [ 7.42649428e-01 -6.69590353e-01 -1.09811914e-02 -2.03285536e+02] [ 1.52910202e-02 5.61479988e-04 9.99882928e-01 -2.78102080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.696559995 meters 0.022177212735757384 Centerline is valid? [True, True] Translation: X:14.62, Y:-203.27, Z:-2.78 [[-6.69625779e-01 -7.42624341e-01 1.05073322e-02 1.46218309e+01] [ 7.42545698e-01 -6.69707980e-01 -1.08216360e-02 -2.03265737e+02] [ 1.50732545e-02 5.55727863e-04 9.99886238e-01 -2.78038172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.72655999499995 meters 0.0226830725386789 Centerline is valid? [True, True] Translation: X:14.60, Y:-203.25, Z:-2.78 [[-6.70043831e-01 -7.42256499e-01 9.82616122e-03 1.46024080e+01] [ 7.42187774e-01 -6.70115679e-01 -1.01135836e-02 -2.03247441e+02] [ 1.40915379e-02 5.16312417e-04 9.99900576e-01 -2.78003151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.756559995 meters 0.02154626630844285 Centerline is valid? [True, True] Translation: X:14.58, Y:-203.23, Z:-2.78 [[-6.70602553e-01 -7.41766372e-01 8.65250065e-03 1.45827193e+01] [ 7.41713104e-01 -6.70658220e-01 -8.90073712e-03 -2.03227024e+02] [ 1.24051382e-02 4.48816084e-04 9.99922953e-01 -2.77852540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.78655999499995 meters 0.01981755830068972 Centerline is valid? [True, True] Translation: X:14.56, Y:-203.21, Z:-2.78 [[-6.70876221e-01 -7.41526721e-01 7.95100810e-03 1.45649327e+01] [ 7.41481776e-01 -6.70923210e-01 -8.17448545e-03 -2.03205638e+02] [ 1.13961153e-02 4.11459699e-04 9.99934978e-01 -2.77729596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.816559995 meters 0.0196359897736189 Centerline is valid? [True, True] Translation: X:14.55, Y:-203.19, Z:-2.78 [[-6.71461213e-01 -7.41002521e-01 7.42323761e-03 1.45450582e+01] [ 7.40963359e-01 -6.71502138e-01 -7.62755337e-03 -2.03185935e+02] [ 1.06367562e-02 3.78740837e-04 9.99943356e-01 -2.77700796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.84655999499995 meters 0.02093541246448758 Centerline is valid? [True, True] Translation: X:14.52, Y:-203.17, Z:-2.78 [[-6.71855950e-01 -7.40650922e-01 6.76717566e-03 1.45242270e+01] [ 7.40618404e-01 -6.71889942e-01 -6.94877598e-03 -2.03169422e+02] [ 9.69341459e-03 3.43318356e-04 9.99952959e-01 -2.77741224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.876559995 meters 0.020942673372829575 Centerline is valid? [True, True] Translation: X:14.50, Y:-203.15, Z:-2.78 [[-6.72243295e-01 -7.40300848e-01 6.60357312e-03 1.45042582e+01] [ 7.40269906e-01 -6.72275646e-01 -6.77659922e-03 -2.03150360e+02] [ 9.45614353e-03 3.32903066e-04 9.99955234e-01 -2.77746000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.90655999499995 meters 0.020706073784139304 Centerline is valid? [True, True] Translation: X:14.49, Y:-203.13, Z:-2.78 [[-6.72348082e-01 -7.40206388e-01 6.52373520e-03 1.44850960e+01] [ 7.40176225e-01 -6.72379650e-01 -6.69049802e-03 -2.03131010e+02] [ 9.33877617e-03 3.30370171e-04 9.99956338e-01 -2.77761199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.936559995 meters 0.019903871426259632 Centerline is valid? [True, True] Translation: X:14.47, Y:-203.11, Z:-2.78 [[-6.72493640e-01 -7.40073932e-01 6.54825156e-03 1.44658838e+01] [ 7.40043571e-01 -6.72525438e-01 -6.71183143e-03 -2.03110891e+02] [ 9.37111723e-03 3.32327519e-04 9.99956035e-01 -2.77727444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.96655999499995 meters 0.02056773388529021 Centerline is valid? [True, True] Translation: X:14.45, Y:-203.09, Z:-2.78 [[-6.72692327e-01 -7.39893393e-01 6.54222934e-03 1.44461047e+01] [ 7.39863121e-01 -6.72724057e-01 -6.70115991e-03 -2.03093751e+02] [ 9.35925900e-03 3.32535362e-04 9.99956146e-01 -2.77793121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.996559995 meters 0.020948706540086456 Centerline is valid? [True, True] Translation: X:14.43, Y:-203.08, Z:-2.78 [[-6.72862526e-01 -7.39734918e-01 6.94782439e-03 1.44261233e+01] [ 7.39700814e-01 -6.72898302e-01 -7.11194777e-03 -2.03076666e+02] [ 9.93613534e-03 3.53948218e-04 9.99950573e-01 -2.77881685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.02655999499996 meters 0.02092646773666026 Centerline is valid? [True, True] Translation: X:14.41, Y:-203.06, Z:-2.78 [[-6.73211310e-01 -7.39415866e-01 7.12105485e-03 1.44066582e+01] [ 7.39380068e-01 -6.73248875e-01 -7.28474466e-03 -2.03057632e+02] [ 1.01806979e-02 3.60993516e-04 9.99948110e-01 -2.77910862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.056559995 meters 0.020162922460644512 Centerline is valid? [True, True] Translation: X:14.39, Y:-203.04, Z:-2.78 [[-6.73913114e-01 -7.38777766e-01 6.96618887e-03 1.43877187e+01] [ 7.38743519e-01 -6.73949028e-01 -7.12180960e-03 -2.03037549e+02] [ 9.95629081e-03 3.46746002e-04 9.99950375e-01 -2.77877211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.08655999499996 meters 0.019471789546882598 Centerline is valid? [True, True] Translation: X:14.37, Y:-203.02, Z:-2.78 [[-6.74776181e-01 -7.37989375e-01 6.98483830e-03 1.43685953e+01] [ 7.37954945e-01 -6.74812246e-01 -7.13657294e-03 -2.03017411e+02] [ 9.98016943e-03 3.38906530e-04 9.99950139e-01 -2.77878813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.116559995 meters 0.019531812328087986 Centerline is valid? [True, True] Translation: X:14.35, Y:-203.00, Z:-2.78 [[-6.76998185e-01 -7.35957174e-01 6.36366306e-03 1.43485352e+01] [ 7.35928536e-01 -6.77028033e-01 -6.49860370e-03 -2.02999151e+02] [ 9.09107230e-03 2.83658337e-04 9.99958635e-01 -2.77932656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.14655999499996 meters 0.01916200149721345 Centerline is valid? [True, True] Translation: X:14.33, Y:-202.98, Z:-2.78 [[-6.77960110e-01 -7.35071176e-01 6.36054375e-03 1.43294152e+01] [ 7.35042563e-01 -6.77989891e-01 -6.49141529e-03 -2.02979660e+02] [ 9.08403662e-03 2.74349759e-04 9.99958702e-01 -2.77939551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.17655999499993 meters 0.017940625150862616 Centerline is valid? [True, True] Translation: X:14.31, Y:-202.96, Z:-2.78 [[-6.79123326e-01 -7.33997096e-01 6.30644346e-03 1.43105226e+01] [ 7.33968954e-01 -6.79152557e-01 -6.43260386e-03 -2.02958349e+02] [ 9.00454975e-03 2.60202385e-04 9.99959424e-01 -2.77907552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.20655999499996 meters 0.018662964876770587 Centerline is valid? [True, True] Translation: X:14.29, Y:-202.94, Z:-2.78 [[-6.80309591e-01 -7.32898996e-01 6.15815540e-03 1.42902531e+01] [ 7.32872148e-01 -6.80337419e-01 -6.27787217e-03 -2.02940389e+02] [ 8.79066976e-03 2.42243926e-04 9.99961332e-01 -2.77972033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.23655999499994 meters 0.016778858452391947 Centerline is valid? [True, True] Translation: X:14.27, Y:-202.92, Z:-2.78 [[-6.82189955e-01 -7.31145812e-01 6.53205655e-03 1.42718281e+01] [ 7.31115557e-01 -6.82221186e-01 -6.65555797e-03 -2.02918332e+02] [ 9.32249070e-03 2.35333372e-04 9.99956517e-01 -2.77950994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.26655999499997 meters 0.016200603294952782 Centerline is valid? [True, True] Translation: X:14.25, Y:-202.90, Z:-2.78 [[-6.83039801e-01 -7.30352383e-01 6.48274873e-03 1.42525251e+01] [ 7.30322582e-01 -6.83070527e-01 -6.60157488e-03 -2.02897907e+02] [ 9.24965055e-03 2.25359394e-04 9.99957196e-01 -2.77936807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.29655999499994 meters 0.016659745994023537 Centerline is valid? [True, True] Translation: X:14.23, Y:-202.88, Z:-2.78 [[-6.83653684e-01 -7.29776219e-01 6.65665681e-03 1.42323006e+01] [ 7.29744808e-01 -6.83686053e-01 -6.77465068e-03 -2.02879729e+02] [ 9.49504238e-03 2.26145858e-04 9.99954896e-01 -2.77984094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.32655999499997 meters 0.016496120689043388 Centerline is valid? [True, True] Translation: X:14.21, Y:-202.86, Z:-2.78 [[-6.84171542e-01 -7.29289606e-01 6.78020960e-03 1.42128384e+01] [ 7.29257037e-01 -6.84205100e-01 -6.89607758e-03 -2.02860728e+02] [ 9.66829169e-03 2.26415528e-04 9.99953235e-01 -2.78022224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.35655999499994 meters 0.017185038817845198 Centerline is valid? [True, True] Translation: X:14.19, Y:-202.84, Z:-2.78 [[-6.84771717e-01 -7.28722053e-01 7.20172253e-03 1.41926314e+01] [ 7.28685325e-01 -6.84809546e-01 -7.32001267e-03 -2.02844403e+02] [ 1.02660630e-02 2.35251875e-04 9.99947275e-01 -2.78114195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.38655999499997 meters 0.01577665021269355 Centerline is valid? [True, True] Translation: X:14.17, Y:-202.82, Z:-2.78 [[-6.84968332e-01 -7.28537401e-01 7.18612548e-03 1.41743036e+01] [ 7.28500864e-01 -6.85005986e-01 -7.29999735e-03 -2.02823032e+02] [ 1.02408601e-02 2.34831618e-04 9.99947533e-01 -2.78036009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.41655999499994 meters 0.01599703729984276 Centerline is valid? [True, True] Translation: X:14.15, Y:-202.80, Z:-2.78 [[-6.85035370e-01 -7.28472809e-01 7.34221203e-03 1.41537432e+01] [ 7.28434709e-01 -6.85074673e-01 -7.45433553e-03 -2.02803938e+02] [ 1.04602443e-02 2.41838584e-04 9.99945261e-01 -2.78045554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.446559995 meters 0.016012674461339672 Centerline is valid? [True, True] Translation: X:14.13, Y:-202.78, Z:-2.78 [[-6.85469776e-01 -7.28067029e-01 7.04180542e-03 1.41326393e+01] [ 7.28031999e-01 -6.85505907e-01 -7.14557885e-03 -2.02784641e+02] [ 1.00296596e-02 2.28581340e-04 9.99949676e-01 -2.78073554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.47655999499995 meters 0.015651124496930558 Centerline is valid? [True, True] Translation: X:14.11, Y:-202.76, Z:-2.78 [[-6.86038179e-01 -7.27533579e-01 6.81962743e-03 1.41126600e+01] [ 7.27500737e-01 -6.86072040e-01 -6.91618613e-03 -2.02764366e+02] [ 9.71051335e-03 2.16516247e-04 9.99952828e-01 -2.78036365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.506559995 meters 0.015608494251344746 Centerline is valid? [True, True] Translation: X:14.09, Y:-202.75, Z:-2.78 [[-6.86864228e-01 -7.26757745e-01 6.38062173e-03 1.40933352e+01] [ 7.26728995e-01 -6.86893836e-01 -6.46720787e-03 -2.02745506e+02] [ 9.08290314e-03 1.94889077e-04 9.99958731e-01 -2.78001440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.53655999499995 meters 0.01538260365993102 Centerline is valid? [True, True] Translation: X:14.07, Y:-202.73, Z:-2.78 [[-6.87636263e-01 -7.26033546e-01 5.62672054e-03 1.40732187e+01] [ 7.26011191e-01 -6.87659263e-01 -5.69986708e-03 -2.02725729e+02] [ 8.00756121e-03 1.65626784e-04 9.99967925e-01 -2.77974785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.566559995 meters 0.014455906240311657 Centerline is valid? [True, True] Translation: X:14.05, Y:-202.70, Z:-2.78 [[-6.89275149e-01 -7.24484411e-01 4.70182112e-03 1.40537803e+01] [ 7.24468782e-01 -6.89291174e-01 -4.76047872e-03 -2.02704471e+02] [ 6.68981642e-03 1.25042944e-04 9.99977615e-01 -2.77868932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.59655999499995 meters 0.014672715106007659 Centerline is valid? [True, True] Translation: X:14.03, Y:-202.69, Z:-2.78 [[-6.90560068e-01 -7.23261594e-01 4.41134101e-03 1.40337829e+01] [ 7.23247827e-01 -6.90574149e-01 -4.46376663e-03 -2.02685698e+02] [ 6.27482903e-03 1.07993809e-04 9.99980307e-01 -2.77895136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.626559995 meters 0.014337090460197993 Centerline is valid? [True, True] Translation: X:14.01, Y:-202.67, Z:-2.78 [[-6.91538350e-01 -7.22327365e-01 4.22934698e-03 1.40144831e+01] [ 7.22314708e-01 -6.91551276e-01 -4.27721626e-03 -2.02665502e+02] [ 6.01436065e-03 9.70604513e-05 9.99981909e-01 -2.77877037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.65655999499995 meters 0.014333727838152786 Centerline is valid? [True, True] Translation: X:14.00, Y:-202.65, Z:-2.78 [[-6.92629915e-01 -7.21280849e-01 4.21155417e-03 1.39958204e+01] [ 7.21268296e-01 -6.92642713e-01 -4.25641495e-03 -2.02647682e+02] [ 5.98717290e-03 8.95401777e-05 9.99982073e-01 -2.77906405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.686559995 meters 0.013649989741747132 Centerline is valid? [True, True] Translation: X:13.98, Y:-202.63, Z:-2.78 [[-6.94203106e-01 -7.19764065e-01 4.66241095e-03 1.39772127e+01] [ 7.19748666e-01 -6.94218757e-01 -4.70911061e-03 -2.02627962e+02] [ 6.62618173e-03 8.66848512e-05 9.99978043e-01 -2.77910371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.71655999499995 meters 0.01352265104318601 Centerline is valid? [True, True] Translation: X:13.96, Y:-202.61, Z:-2.78 [[-6.95070926e-01 -7.18925390e-01 4.76361675e-03 1.39575072e+01] [ 7.18909314e-01 -6.95087244e-01 -4.80847122e-03 -2.02608407e+02] [ 6.76806128e-03 8.23799098e-05 9.99977093e-01 -2.77956404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.746559995 meters 0.01344826347905586 Centerline is valid? [True, True] Translation: X:13.94, Y:-202.59, Z:-2.78 [[-6.96023091e-01 -7.18002390e-01 4.94204426e-03 1.39381727e+01] [ 7.17985087e-01 -6.96040632e-01 -4.98528540e-03 -2.02590034e+02] [ 7.01931044e-03 7.84403259e-05 9.99975361e-01 -2.78027325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.77655999499996 meters 0.013016934163155006 Centerline is valid? [True, True] Translation: X:13.92, Y:-202.57, Z:-2.78 [[-6.97842141e-01 -7.16230833e-01 5.45342999e-03 1.39187676e+01] [ 7.16209736e-01 -6.97863446e-01 -5.49774301e-03 -2.02570372e+02] [ 7.74340250e-03 6.92429014e-05 9.99970017e-01 -2.78097436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.806559995 meters 0.012616940555975602 Centerline is valid? [True, True] Translation: X:13.90, Y:-202.55, Z:-2.78 [[-6.99115176e-01 -7.14986559e-01 5.67378090e-03 1.38995823e+01] [ 7.14963707e-01 -6.99138196e-01 -5.71663917e-03 -2.02550212e+02] [ 8.05407711e-03 5.99582328e-05 9.99967564e-01 -2.78072879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.83655999499996 meters 0.012539099639607846 Centerline is valid? [True, True] Translation: X:13.88, Y:-202.53, Z:-2.78 [[-7.00421703e-01 -7.13707078e-01 5.62540952e-03 1.38801514e+01] [ 7.13684600e-01 -7.00444291e-01 -5.66453803e-03 -2.02530709e+02] [ 7.98310687e-03 4.72027692e-05 9.99968133e-01 -2.78145068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.866559995 meters 0.01238818923674181 Centerline is valid? [True, True] Translation: X:13.86, Y:-202.51, Z:-2.78 [[-7.01681392e-01 -7.12467082e-01 5.82066808e-03 1.38608765e+01] [ 7.12443005e-01 -7.01705533e-01 -5.85748828e-03 -2.02510952e+02] [ 8.25766258e-03 3.68037234e-05 9.99965904e-01 -2.78172306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.89655999499996 meters 0.012225795326541361 Centerline is valid? [True, True] Translation: X:13.84, Y:-202.49, Z:-2.78 [[-7.04499829e-01 -7.09678562e-01 6.02742999e-03 1.38420652e+01] [ 7.09652670e-01 -7.04525612e-01 -6.06213787e-03 -2.02490492e+02] [ 8.54864809e-03 6.60669401e-06 9.99963460e-01 -2.78159953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.92655999499993 meters 0.012192540292621323 Centerline is valid? [True, True] Translation: X:13.82, Y:-202.47, Z:-2.78 [[-7.05760667e-01 -7.08423142e-01 6.20748661e-03 1.38226983e+01] [ 7.08395662e-01 -7.05787966e-01 -6.23968564e-03 -2.02470518e+02] [ 8.80150706e-03 -6.36811645e-06 9.99961266e-01 -2.78152093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.95655999499996 meters 0.012306275145233395 Centerline is valid? [True, True] Translation: X:13.80, Y:-202.45, Z:-2.78 [[-7.06940216e-01 -7.07245946e-01 6.22117712e-03 1.38041627e+01] [ 7.07218332e-01 -7.06967589e-01 -6.24970080e-03 -2.02451426e+02] [ 8.81824614e-03 -1.84343248e-05 9.99961118e-01 -2.78182864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.98655999499994 meters 0.012242773506035191 Centerline is valid? [True, True] Translation: X:13.78, Y:-202.43, Z:-2.78 [[-7.07791657e-01 -7.06394321e-01 6.16716506e-03 1.37842914e+01] [ 7.06367183e-01 -7.07818524e-01 -6.19197064e-03 -2.02431547e+02] [ 8.73920657e-03 -2.63421446e-05 9.99961812e-01 -2.78102743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.01655999499997 meters 0.012229989812719838 Centerline is valid? [True, True] Translation: X:13.76, Y:-202.41, Z:-2.78 [[-7.08645506e-01 -7.05541027e-01 5.77977074e-03 1.37641377e+01] [ 7.05517189e-01 -7.08669075e-01 -5.79975039e-03 -2.02412183e+02] [ 8.18790663e-03 -3.22394430e-05 9.99966478e-01 -2.77971023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.04655999499994 meters 0.012148676411728145 Centerline is valid? [True, True] Translation: X:13.74, Y:-202.39, Z:-2.78 [[-7.08458281e-01 -7.05730069e-01 5.65100269e-03 1.37433898e+01] [ 7.05707314e-01 -7.08480818e-01 -5.66728937e-03 -2.02393047e+02] [ 8.00320353e-03 -2.70841615e-05 9.99967974e-01 -2.77906677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.07655999499997 meters 0.012089084786790045 Centerline is valid? [True, True] Translation: X:13.72, Y:-202.38, Z:-2.78 [[-7.08077520e-01 -7.06112993e-01 5.53777477e-03 1.37234661e+01] [ 7.06091170e-01 -7.08099175e-01 -5.55141628e-03 -2.02375281e+02] [ 7.84122091e-03 -2.06592111e-05 9.99969257e-01 -2.77924975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.10655999499994 meters 0.012022164607751837 Centerline is valid? [True, True] Translation: X:13.70, Y:-202.36, Z:-2.78 [[-7.07277550e-01 -7.06914327e-01 5.53189409e-03 1.37027520e+01] [ 7.06892601e-01 -7.07299183e-01 -5.54222457e-03 -2.02357246e+02] [ 7.83058213e-03 -9.43601589e-06 9.99969341e-01 -2.77960809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.13655999499997 meters 0.012010274306641875 Centerline is valid? [True, True] Translation: X:13.68, Y:-202.34, Z:-2.78 [[-7.04807070e-01 -7.09375462e-01 5.78351017e-03 1.36794396e+01] [ 7.09351824e-01 -7.04830798e-01 -5.79101279e-03 -2.02340432e+02] [ 8.18439846e-03 2.09967299e-05 9.99966507e-01 -2.77941853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.16655999499994 meters 0.012065846319359636 Centerline is valid? [True, True] Translation: X:13.66, Y:-202.32, Z:-2.78 [[-7.03326670e-01 -7.10841110e-01 6.04251141e-03 1.36583059e+01] [ 7.10815393e-01 -7.03352625e-01 -6.04671970e-03 -2.02322998e+02] [ 8.54827320e-03 4.22908883e-05 9.99963462e-01 -2.77971025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.196559995 meters 0.012318593940639474 Centerline is valid? [True, True] Translation: X:13.64, Y:-202.31, Z:-2.78 [[-7.01844996e-01 -7.12302751e-01 6.19610727e-03 1.36368347e+01] [ 7.12275797e-01 -7.01872343e-01 -6.19696249e-03 -2.02305058e+02] [ 8.76298976e-03 6.40301270e-05 9.99961602e-01 -2.77975081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.22655999499995 meters 0.012802967968540902 Centerline is valid? [True, True] Translation: X:13.61, Y:-202.29, Z:-2.78 [[-6.99037910e-01 -7.15055678e-01 6.43264794e-03 1.36140039e+01] [ 7.15026775e-01 -6.99067498e-01 -6.42989962e-03 -2.02288386e+02] [ 9.09459133e-03 1.04771925e-04 9.99958638e-01 -2.77964175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.256559995 meters 0.013193171735475283 Centerline is valid? [True, True] Translation: X:13.18, Y:-202.71, Z:-1.81 [[-7.64306078e-01 6.44812335e-01 7.29869355e-03 1.31849663e+01] [ 6.44781288e-01 7.64340915e-01 -6.32894991e-03 -2.02711012e+02] [-9.65967508e-03 -1.31193856e-04 -9.99953336e-01 -1.81122734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.28655999499995 meters 0.01359869583948942 Centerline is valid? [True, True] Translation: X:13.20, Y:-202.68, Z:-1.81 [[-8.09089148e-01 5.87632155e-01 7.94983076e-03 1.31957621e+01] [ 5.87601924e-01 8.09128189e-01 -5.96260882e-03 -2.02681237e+02] [-9.93625284e-03 -1.52946241e-04 -9.99950623e-01 -1.81111687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.316559995 meters 0.01359869583948942 Centerline is valid? [True, True] Translation: X:13.55, Y:-202.21, Z:-2.78 [[-7.47694588e-01 -6.64000222e-01 7.51725015e-03 1.35532347e+01] [ 6.63968690e-01 -7.47732360e-01 -6.47269527e-03 -2.02208417e+02] [ 9.91876230e-03 1.51619516e-04 9.99950796e-01 -2.77971541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.34655999499995 meters 0.013894376197464744 Centerline is valid? [True, True] Translation: X:13.16, Y:-202.66, Z:-1.81 [[-8.12028665e-01 5.83565856e-01 7.76783877e-03 1.31649245e+01] [ 5.83537223e-01 8.12065801e-01 -5.78310230e-03 -2.02657292e+02] [-9.68281726e-03 -1.63221774e-04 -9.99953107e-01 -1.81154346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.376559995 meters 0.014595722955139083 Centerline is valid? [True, True] Translation: X:13.18, Y:-202.63, Z:-1.81 [[-8.52541758e-01 5.22603242e-01 7.64214859e-03 1.31817033e+01] [ 5.22580404e-01 8.52575991e-01 -4.88875457e-03 -2.02631216e+02] [-9.07039139e-03 -1.74230313e-04 -9.99958848e-01 -1.81205796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.40655999499995 meters 0.014607677182028602 Centerline is valid? [True, True] Translation: X:13.19, Y:-202.60, Z:-1.81 [[-8.87541200e-01 4.60670309e-01 7.31333040e-03 1.31920167e+01] [ 4.60653159e-01 8.87571316e-01 -3.97829139e-03 -2.02603869e+02] [-8.32378301e-03 -1.61988761e-04 -9.99965344e-01 -1.81243931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.436559995 meters 0.01474843191850131 Centerline is valid? [True, True] Translation: X:13.20, Y:-202.58, Z:-1.81 [[-9.18073162e-01 3.96350136e-01 6.94537736e-03 1.32025433e+01] [ 3.96337548e-01 9.18099421e-01 -3.16248411e-03 -2.02577293e+02] [-7.62999794e-03 -1.50677956e-04 -9.99970880e-01 -1.81265729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.46655999499995 meters 0.014482252408553806 Centerline is valid? [True, True] Translation: X:13.44, Y:-202.05, Z:-2.78 [[-8.70660098e-01 -4.91842764e-01 6.45677644e-03 1.34428996e+01] [ 4.91830318e-01 -8.70684030e-01 -3.50119456e-03 -2.02051028e+02] [ 7.34384934e-03 1.27288014e-04 9.99973026e-01 -2.77776116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.496559995 meters 0.014491084123070772 Centerline is valid? [True, True] Translation: X:13.16, Y:-202.56, Z:-1.81 [[-9.19251826e-01 3.93617834e-01 6.40941576e-03 1.31645825e+01] [ 3.93607250e-01 9.19274161e-01 -2.88959988e-03 -2.02560476e+02] [-7.02940834e-03 -1.33477455e-04 -9.99975285e-01 -1.81243889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.52655999499996 meters 0.014214947977125334 Centerline is valid? [True, True] Translation: X:13.17, Y:-202.53, Z:-1.81 [[-9.44700847e-01 3.27867099e-01 6.59356576e-03 1.31697883e+01] [ 3.27858145e-01 9.44723848e-01 -2.42661651e-03 -2.02533201e+02] [-7.02470653e-03 -1.30672435e-04 -9.99975318e-01 -1.81217729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.556559995 meters 0.014027529401826803 Centerline is valid? [True, True] Translation: X:13.17, Y:-202.51, Z:-1.81 [[-9.65417519e-01 2.60607518e-01 7.26195645e-03 1.31740487e+01] [ 2.60599082e-01 9.65444821e-01 -2.10136052e-03 -2.02506131e+02] [-7.55864860e-03 -1.36231074e-04 -9.99971424e-01 -1.81178393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.58655999499996 meters 0.013783910045730713 Centerline is valid? [True, True] Translation: X:13.17, Y:-202.48, Z:-1.81 [[-9.81422806e-01 1.91696348e-01 7.86037574e-03 1.31749851e+01] [ 1.91689031e-01 9.81454273e-01 -1.68088166e-03 -2.02478854e+02] [-8.03681823e-03 -1.42907787e-04 -9.99967694e-01 -1.81170715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.616559995 meters 0.014204632533912907 Centerline is valid? [True, True] Translation: X:13.18, Y:-202.45, Z:-1.81 [[-9.92525462e-01 1.21721979e-01 8.77312982e-03 1.31759819e+01] [ 1.21715836e-01 9.92564222e-01 -1.23280900e-03 -2.02450542e+02] [-8.85795473e-03 -1.55765495e-04 -9.99960755e-01 -1.81055064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.64655999499996 meters 0.014108802752629452 Centerline is valid? [True, True] Translation: X:13.26, Y:-201.88, Z:-2.78 [[-9.74844561e-01 -2.22692930e-01 9.27043814e-03 1.32561390e+01] [ 2.22684860e-01 -9.74888618e-01 -1.90692796e-03 -2.01875186e+02] [ 9.46230400e-03 2.05427873e-04 9.99955210e-01 -2.78066913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.67655999499993 meters 0.014457924626316825 Centerline is valid? [True, True] Translation: X:13.12, Y:-202.44, Z:-1.81 [[-9.93060679e-01 1.17152886e-01 1.02805477e-02 1.31247266e+01] [ 1.17144635e-01 9.93113873e-01 -1.40314303e-03 -2.02444191e+02] [-1.03741368e-02 -1.89095153e-04 -9.99946169e-01 -1.80915262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.70655999499996 meters 0.014768620595633216 Centerline is valid? [True, True] Translation: X:13.12, Y:-202.42, Z:-1.81 [[-9.98895440e-01 4.55155181e-02 1.16720796e-02 1.31190774e+01] [ 4.55098122e-02 9.98963607e-01 -7.54127392e-04 -2.02416092e+02] [-1.16943072e-02 -2.22100264e-04 -9.99931595e-01 -1.80764817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.73655999499994 meters 0.014864769512272025 Centerline is valid? [True, True] Translation: X:13.16, Y:-201.84, Z:-2.78 [[-9.88543505e-01 -1.50463834e-01 1.19320642e-02 1.31578631e+01] [ 1.50455929e-01 -9.88615482e-01 -1.56256747e-03 -2.01835719e+02] [ 1.20313333e-02 2.50583881e-04 9.99927590e-01 -2.78383252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.76655999499997 meters 0.014531637502364502 Centerline is valid? [True, True] Translation: X:13.06, Y:-202.41, Z:-1.81 [[-9.99094404e-01 4.07081863e-02 1.23780320e-02 1.30601411e+01] [ 4.07020398e-02 9.99171049e-01 -7.48184229e-04 -2.02414578e+02] [-1.23982284e-02 -2.43695527e-04 -9.99923109e-01 -1.80721532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.79655999499994 meters 0.014455527436021211 Centerline is valid? [True, True] Translation: X:13.05, Y:-202.39, Z:-1.81 [[-9.99463734e-01 -3.02739043e-02 1.24793783e-02 1.30545969e+01] [-3.02745868e-02 9.99541611e-01 1.34260680e-04 -2.02388078e+02] [-1.24777225e-02 -2.43619342e-04 -9.99922121e-01 -1.80729754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.82655999499997 meters 0.016016878288303248 Centerline is valid? [True, True] Translation: X:13.04, Y:-202.36, Z:-1.81 [[-9.94836507e-01 -1.00774002e-01 1.20384949e-02 1.30440227e+01] [-1.00769411e-01 9.94909316e-01 9.88896566e-04 -2.02360034e+02] [-1.20768658e-02 -2.29321634e-04 -9.99927046e-01 -1.80574497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.85655999499994 meters 0.014579736570619574 Centerline is valid? [True, True] Translation: X:13.03, Y:-202.34, Z:-1.81 [[-9.85240161e-01 -1.70815071e-01 1.11371801e-02 1.30317431e+01] [-1.70806531e-01 9.85303085e-01 1.72061754e-03 -2.02337199e+02] [-1.12674054e-02 -2.07081597e-04 -9.99936499e-01 -1.80767910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.88655999499997 meters 0.014301722989124369 Centerline is valid? [True, True] Translation: X:13.02, Y:-202.31, Z:-1.81 [[-9.70562924e-01 -2.40609690e-01 1.07045676e-02 1.30154745e+01] [-2.40597305e-01 9.70621933e-01 2.44935800e-03 -2.02313815e+02] [-1.09794274e-02 -1.98234054e-04 -9.99939705e-01 -1.80847728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.91655999499994 meters 0.013971971920375583 Centerline is valid? [True, True] Translation: X:12.86, Y:-201.74, Z:-2.78 [[-9.90170371e-01 1.39482573e-01 1.03560391e-02 1.28619382e+01] [-1.39473294e-01 -9.90224514e-01 1.61641427e-03 -2.01736535e+02] [ 1.04802654e-02 1.56134641e-04 9.99945068e-01 -2.78182520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.946559995 meters 0.013850659149918667 Centerline is valid? [True, True] Translation: X:12.89, Y:-202.35, Z:-1.81 [[-9.69369472e-01 -2.45421687e-01 9.54053191e-03 1.28927136e+01] [-2.45411461e-01 9.69416406e-01 2.24629246e-03 -2.02345141e+02] [-9.80003704e-03 -1.63868542e-04 -9.99951965e-01 -1.80952677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.97655999499995 meters 0.013945392433008229 Centerline is valid? [True, True] Translation: X:12.86, Y:-202.33, Z:-1.81 [[-9.49174201e-01 -3.14615261e-01 9.25062652e-03 1.28637860e+01] [-3.14601991e-01 9.49219264e-01 2.89422222e-03 -2.02325406e+02] [-9.69143937e-03 -1.63144459e-04 -9.99953024e-01 -1.80979261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.006559995 meters 0.014056207471684581 Centerline is valid? [True, True] Translation: X:12.82, Y:-202.31, Z:-1.81 [[-9.23743210e-01 -3.82902879e-01 9.15797554e-03 1.28154669e+01] [-3.82885854e-01 9.23788589e-01 3.61464114e-03 -2.02313548e+02] [-9.84408980e-03 -1.67459076e-04 -9.99951532e-01 -1.80950714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.03655999499995 meters 0.014179429272798399 Centerline is valid? [True, True] Translation: X:12.75, Y:-202.31, Z:-1.81 [[-8.92105148e-01 -4.51747566e-01 8.51711049e-03 1.27515033e+01] [-4.51728907e-01 8.92145786e-01 4.10980559e-03 -2.02312289e+02] [-9.45509890e-03 -1.81046288e-04 -9.99955283e-01 -1.81002456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.066559995 meters 0.014595811605184418 Centerline is valid? [True, True] Translation: X:12.68, Y:-202.32, Z:-1.81 [[-8.55377783e-01 -5.17933274e-01 8.60067411e-03 1.26815456e+01] [-5.17909518e-01 8.55420996e-01 4.96490928e-03 -2.02317038e+02] [-9.92868894e-03 -2.07497893e-04 -9.99950688e-01 -1.80976164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.09655999499995 meters 0.016076298167200007 Centerline is valid? [True, True] Translation: X:12.61, Y:-202.33, Z:-1.81 [[-8.13548227e-01 -5.81434488e-01 8.55671126e-03 1.26051221e+01] [-5.81405326e-01 8.13593191e-01 5.82801262e-03 -2.02329415e+02] [-1.03502896e-02 -2.33548167e-04 -9.99946407e-01 -1.80837823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.126559995 meters 0.01680336167533852 Centerline is valid? [True, True] Translation: X:12.52, Y:-202.35, Z:-1.81 [[-7.66565140e-01 -6.42107303e-01 8.72344410e-03 1.25241585e+01] [-6.42069761e-01 7.66614725e-01 6.94875163e-03 -2.02353917e+02] [-1.11493649e-02 -2.74388904e-04 -9.99937806e-01 -1.80762805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.15655999499995 meters 0.017015704855647372 Centerline is valid? [True, True] Translation: X:12.44, Y:-202.39, Z:-1.81 [[-7.13812541e-01 -7.00282429e-01 8.72783282e-03 1.24382020e+01] [-7.00235765e-01 7.13865818e-01 8.09119684e-03 -2.02393023e+02] [-1.18966245e-02 -3.35942916e-04 -9.99929176e-01 -1.80757776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.186559995 meters 0.01830868376589411 Centerline is valid? [True, True] Translation: X:12.36, Y:-202.43, Z:-1.81 [[-6.57801814e-01 -7.53147818e-01 8.07075074e-03 1.23572744e+01] [-7.53097636e-01 6.57851228e-01 8.70129397e-03 -2.02433142e+02] [-1.18627139e-02 -3.54336345e-04 -9.99929573e-01 -1.80703032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.21655999499995 meters 0.019741922490847687 Centerline is valid? [True, True] Translation: X:12.27, Y:-202.49, Z:-1.81 [[-5.98098682e-01 -8.01388894e-01 7.33535132e-03 1.22737972e+01] [-8.01335991e-01 5.98143550e-01 9.21538165e-03 -2.02485927e+02] [-1.17726976e-02 -3.66373407e-04 -9.99930632e-01 -1.80648065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.246559995 meters 0.01917827536378557 Centerline is valid? [True, True] Translation: X:12.20, Y:-202.55, Z:-1.81 [[-5.34869001e-01 -8.44910303e-01 6.46000551e-03 1.21950180e+01] [-8.44856820e-01 5.34907884e-01 9.51365341e-03 -2.02549305e+02] [-1.14936917e-02 -3.69221417e-04 -9.99933877e-01 -1.80725970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.27655999499996 meters 0.01820968313483848 Centerline is valid? [True, True] Translation: X:12.12, Y:-202.62, Z:-1.81 [[-4.68491334e-01 -8.83451545e-01 5.40724944e-03 1.21201084e+01] [-8.83401265e-01 4.68522401e-01 9.43208645e-03 -2.02624618e+02] [-1.08662088e-02 -3.57920235e-04 -9.99940897e-01 -1.80881865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.306559995 meters 0.01833692536317273 Centerline is valid? [True, True] Translation: X:12.05, Y:-202.70, Z:-1.81 [[-3.99607569e-01 -9.16676170e-01 4.31169093e-03 1.20502749e+01] [-9.16631486e-01 3.99630690e-01 9.05701711e-03 -2.02701428e+02] [-1.00254358e-02 -3.32979076e-04 -9.99949689e-01 -1.80951067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.33655999499996 meters 0.018679680865995654 Centerline is valid? [True, True] Translation: X:11.98, Y:-202.79, Z:-1.81 [[-3.28498842e-01 -9.44498186e-01 3.41878549e-03 1.19829716e+01] [-9.44456607e-01 3.28516479e-01 8.86795688e-03 -2.02790154e+02] [-9.49889656e-03 -3.15780984e-04 -9.99954835e-01 -1.81032318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.366559995 meters 0.02114328695812566 Centerline is valid? [True, True] Translation: X:11.92, Y:-202.89, Z:-1.81 [[-2.55347040e-01 -9.66846095e-01 2.55305024e-03 1.19187067e+01] [-9.66808722e-01 2.55359631e-01 8.50612969e-03 -2.02885271e+02] [-8.87606424e-03 -2.96296202e-04 -9.99960563e-01 -1.81016057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.39655999499996 meters 0.018061519101670722 Centerline is valid? [True, True] Translation: X:11.87, Y:-202.98, Z:-1.81 [[-1.80538965e-01 -9.83566417e-01 1.66876845e-03 1.18708157e+01] [-9.83536773e-01 1.80546488e-01 7.64080568e-03 -2.02983398e+02] [-7.81653015e-03 -2.61831990e-04 -9.99969416e-01 -1.81189368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.42655999499993 meters 0.018482792363818102 Centerline is valid? [True, True] Translation: X:11.82, Y:-203.09, Z:-1.81 [[-1.03866958e-01 -9.94590670e-01 1.02677288e-03 1.18242620e+01] [-9.94563395e-01 1.03871718e-01 7.37020063e-03 -2.03090777e+02] [-7.43698545e-03 -2.55670407e-04 -9.99972313e-01 -1.81209367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.45655999499996 meters 0.021259475205379456 Centerline is valid? [True, True] Translation: X:11.78, Y:-203.20, Z:-1.81 [[-2.65453637e-02 -9.99647500e-01 4.68170996e-04 1.17821059e+01] [-9.99618831e-01 2.65481503e-02 7.57552609e-03 -2.03198189e+02] [-7.58528479e-03 -2.66897448e-04 -9.99971196e-01 -1.81115803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.48655999499994 meters 0.019393677545316197 Centerline is valid? [True, True] Translation: X:11.76, Y:-203.31, Z:-1.81 [[ 5.11309163e-02 -9.98691952e-01 -1.20824558e-04 1.17553154e+01] [-9.98659650e-01 -5.11302349e-02 8.03758664e-03 -2.03313779e+02] [-8.03325088e-03 -2.90306558e-04 -9.99967691e-01 -1.81115313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.51655999499997 meters 0.02124879085374296 Centerline is valid? [True, True] Translation: X:11.73, Y:-203.43, Z:-1.81 [[ 1.29597399e-01 -9.91566334e-01 -8.48049931e-04 1.17326567e+01] [-9.91523611e-01 -1.29599693e-01 9.21127509e-03 -2.03426984e+02] [-9.24349729e-03 -3.52895765e-04 -9.99957216e-01 -1.80988732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.54655999499994 meters 0.020885434555217644 Centerline is valid? [True, True] Translation: X:11.72, Y:-203.54, Z:-1.81 [[ 2.06094483e-01 -9.78530777e-01 -1.60724466e-03 1.17215909e+01] [-9.78485271e-01 -2.06100411e-01 9.44434847e-03 -2.03544183e+02] [-9.57283943e-03 -3.73762888e-04 -9.99954110e-01 -1.80973587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.57655999499997 meters 0.02229637602108923 Centerline is valid? [True, True] Translation: X:11.72, Y:-203.66, Z:-1.81 [[ 2.81432644e-01 -9.59577988e-01 -2.39840222e-03 1.17177581e+01] [-9.59530248e-01 -2.81442587e-01 9.57980045e-03 -2.03664534e+02] [-9.86757816e-03 -3.94729098e-04 -9.99951236e-01 -1.80907803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.60655999499994 meters 0.02224845958926108 Centerline is valid? [True, True] Translation: X:11.72, Y:-203.78, Z:-1.81 [[ 3.54706822e-01 -9.34972493e-01 -3.08338631e-03 1.17237203e+01] [-9.34926909e-01 -3.54720003e-01 9.24091072e-03 -2.03779984e+02] [-9.73373614e-03 -3.95073239e-04 -9.99952548e-01 -1.80900578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.63655999499997 meters 0.02296602718626116 Centerline is valid? [True, True] Translation: X:11.74, Y:-203.89, Z:-1.81 [[ 4.25987680e-01 -9.04721057e-01 -3.78237127e-03 1.17371256e+01] [-9.04676596e-01 -4.26004281e-01 8.97828369e-03 -2.03892289e+02] [-9.73414866e-03 -4.02815477e-04 -9.99952541e-01 -1.80853802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.66655999499994 meters 0.02219676674017179 Centerline is valid? [True, True] Translation: X:11.76, Y:-204.00, Z:-1.81 [[ 4.94108644e-01 -8.69389581e-01 -4.29008562e-03 1.17600606e+01] [-8.69349718e-01 -4.94127115e-01 8.33437348e-03 -2.04001342e+02] [-9.36566510e-03 -3.88501252e-04 -9.99956066e-01 -1.80874881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.696559995 meters 0.022158681908002027 Centerline is valid? [True, True] Translation: X:11.79, Y:-204.11, Z:-1.81 [[ 5.59129009e-01 -8.29066239e-01 -4.89101538e-03 1.17917100e+01] [-8.29028288e-01 -5.59150268e-01 7.94203499e-03 -2.04110741e+02] [-9.31928564e-03 -3.85832042e-04 -9.99956500e-01 -1.80871616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.72655999499995 meters 0.022553223757210104 Centerline is valid? [True, True] Translation: X:11.83, Y:-204.21, Z:-1.81 [[ 6.20640861e-01 -7.84076275e-01 -5.41450215e-03 1.18297015e+01] [-7.84040965e-01 -6.20664363e-01 7.45071698e-03 -2.04214899e+02] [-9.20251894e-03 -3.79027911e-04 -9.99957584e-01 -1.80842505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.756559995 meters 0.021839524781146966 Centerline is valid? [True, True] Translation: X:11.88, Y:-204.31, Z:-1.81 [[ 6.77840376e-01 -7.35186477e-01 -5.76785922e-03 1.18779286e+01] [-7.35155283e-01 -6.77864822e-01 6.78189786e-03 -2.04313943e+02] [-8.89578846e-03 -3.56772022e-04 -9.99960368e-01 -1.80839921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.78655999499995 meters 0.021716063698380167 Centerline is valid? [True, True] Translation: X:11.93, Y:-204.40, Z:-1.81 [[ 7.31399436e-01 -6.81921646e-01 -6.14278824e-03 1.19263294e+01] [-6.81893578e-01 -7.31425151e-01 6.19652837e-03 -2.04404658e+02] [-8.71853664e-03 -3.43409501e-04 -9.99961934e-01 -1.80865175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.816559995 meters 0.021225519843128045 Centerline is valid? [True, True] Translation: X:11.99, Y:-204.50, Z:-1.81 [[ 7.80792229e-01 -6.24761226e-01 -6.07497156e-03 1.19875784e+01] [-6.24739155e-01 -7.80815800e-01 5.26074219e-03 -2.04496684e+02] [-8.03014151e-03 -3.12274023e-04 -9.99967709e-01 -1.80917202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.84655999499995 meters 0.021987882815076843 Centerline is valid? [True, True] Translation: X:11.99, Y:-204.50, Z:-1.81 [[ 8.27128853e-01 -5.61982486e-01 -5.79191706e-03 1.19883801e+01] [-5.61966322e-01 -8.27149085e-01 4.27135757e-03 -2.04502818e+02] [-7.19120704e-03 -2.78100761e-04 -9.99974104e-01 -1.80949398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.876559995 meters 0.02187335934433382 Centerline is valid? [True, True] Translation: X:11.99, Y:-204.51, Z:-1.81 [[ 8.68313206e-01 -4.95982556e-01 -5.78618144e-03 1.19906585e+01] [-4.95969523e-01 -8.68332446e-01 3.60501465e-03 -2.04508503e+02] [-6.81235346e-03 -2.60512183e-04 -9.99976762e-01 -1.80994832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.90655999499995 meters 0.022211271791672014 Centerline is valid? [True, True] Translation: X:11.99, Y:-204.51, Z:-1.81 [[ 9.04299809e-01 -4.26867014e-01 -5.13881210e-03 1.19923125e+01] [-4.26858731e-01 -9.04314383e-01 2.66833153e-03 -2.04513054e+02] [-5.78612441e-03 -2.19424886e-04 -9.99983236e-01 -1.81023187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.936559995 meters 0.021619362161645252 Centerline is valid? [True, True] Translation: X:12.00, Y:-204.52, Z:-1.81 [[ 9.34804572e-01 -3.55132364e-01 -4.62785586e-03 1.19955121e+01] [-3.55127003e-01 -9.34816008e-01 1.96046255e-03 -2.04517597e+02] [-5.02241744e-03 -1.89172768e-04 -9.99987370e-01 -1.81101843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.96655999499995 meters 0.02016604234957661 Centerline is valid? [True, True] Translation: X:12.00, Y:-204.52, Z:-1.81 [[ 9.59643497e-01 -2.81195095e-01 -3.69830764e-03 1.19992183e+01] [-2.81192417e-01 -9.59650612e-01 1.23589154e-03 -2.04522956e+02] [-3.89660983e-03 -1.46079216e-04 -9.99992398e-01 -1.81240582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.996559995 meters 0.02063956107944321 Centerline is valid? [True, True] Translation: X:12.00, Y:-204.53, Z:-1.81 [[ 9.78722867e-01 -2.05152151e-01 -3.76097184e-03 1.20009333e+01] [-2.05150061e-01 -9.78730082e-01 9.37447483e-04 -2.04530530e+02] [-3.87329565e-03 -1.45937685e-04 -9.99992488e-01 -1.81280169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.02655999499996 meters 0.019714650958615434 Centerline is valid? [True, True] Translation: X:12.00, Y:-204.54, Z:-1.81 [[ 9.91730868e-01 -1.28297224e-01 -3.11585745e-03 1.20044322e+01] [-1.28296215e-01 -9.91735755e-01 5.22406151e-04 -2.04538385e+02] [-3.15713050e-03 -1.18333587e-04 -9.99995009e-01 -1.81273283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.056559995 meters 0.01959754014951702 Centerline is valid? [True, True] Translation: X:12.01, Y:-204.55, Z:-1.81 [[ 9.98730407e-01 -5.02671870e-02 -3.28386741e-03 1.20054930e+01] [-5.02665091e-02 -9.98735798e-01 2.88693259e-04 -2.04547149e+02] [-3.29422774e-03 -1.23258185e-04 -9.99994566e-01 -1.81243253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.08655999499996 meters 0.0212683242723506 Centerline is valid? [True, True] Translation: X:12.01, Y:-204.56, Z:-1.81 [[ 9.99606678e-01 2.77565129e-02 -4.00811537e-03 1.20051794e+01] [ 2.77568847e-02 -9.99614703e-01 3.71652784e-05 -2.04557612e+02] [-4.00553947e-03 -1.48403457e-04 -9.99991967e-01 -1.81068926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.116559995 meters 0.020607571605877877 Centerline is valid? [True, True] Translation: X:12.01, Y:-204.56, Z:-1.81 [[ 9.94346064e-01 1.06082556e-01 -4.73250098e-03 1.20062977e+01] [ 1.06082196e-01 -9.94357310e-01 -3.27691178e-04 -2.04562475e+02] [-4.74055926e-03 -1.76195662e-04 -9.99988748e-01 -1.81056149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.14655999499996 meters 0.021004595226178466 Centerline is valid? [True, True] Translation: X:12.01, Y:-204.57, Z:-1.81 [[ 9.82996574e-01 1.83554137e-01 -5.06098351e-03 1.20074811e+01] [ 1.83552695e-01 -9.83009584e-01 -7.52034666e-04 -2.04568049e+02] [-5.11303437e-03 -1.89709660e-04 -9.99986910e-01 -1.81041613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.17655999499993 meters 0.021283996577758528 Centerline is valid? [True, True] Translation: X:12.01, Y:-204.57, Z:-1.81 [[ 9.65561045e-01 2.60125167e-01 -5.17360520e-03 1.20092618e+01] [ 2.60122525e-01 -9.65574885e-01 -1.18895771e-03 -2.04572733e+02] [-5.30478107e-03 -1.97759996e-04 -9.99985910e-01 -1.81038313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.20655999499996 meters 0.020597052588818568 Centerline is valid? [True, True] Translation: X:12.01, Y:-204.58, Z:-1.81 [[ 9.42141592e-01 3.35175584e-01 -5.15253628e-03 1.20118411e+01] [ 3.35171741e-01 -9.42155660e-01 -1.61771296e-03 -2.04577768e+02] [-5.39670910e-03 -2.02869893e-04 -9.99985417e-01 -1.81078530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.23655999499994 meters 0.020597052588818568 Centerline is valid? [True, True] Translation: X:12.01, Y:-204.58, Z:-1.81 [[ 9.13008253e-01 4.07910321e-01 -5.01004143e-03 1.20145638e+01] [ 4.07905389e-01 -9.13021976e-01 -2.01614341e-03 -2.04583887e+02] [-5.39668363e-03 -2.02867322e-04 -9.99985417e-01 -1.81078554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.26655999499997 meters 0.022246420384320016 Centerline is valid? [True, True] Translation: X:12.02, Y:-204.59, Z:-1.81 [[ 8.78304483e-01 4.78078777e-01 -4.68166452e-03 1.20183817e+01] [ 4.78073162e-01 -8.78316939e-01 -2.32522101e-03 -2.04591373e+02] [-5.22362406e-03 -1.95926126e-04 -9.99986338e-01 -1.81046371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.29655999499994 meters 0.020091032702436458 Centerline is valid? [True, True] Translation: X:12.02, Y:-204.59, Z:-1.81 [[ 8.38391295e-01 5.45051060e-01 -4.40199170e-03 1.20216484e+01] [ 5.45044725e-01 -8.38402830e-01 -2.63484357e-03 -2.04594963e+02] [-5.12676658e-03 -1.90252440e-04 -9.99986840e-01 -1.81064469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.32655999499997 meters 0.01969333086418778 Centerline is valid? [True, True] Translation: X:12.03, Y:-204.60, Z:-1.81 [[ 7.93198897e-01 6.08948772e-01 -4.11138529e-03 1.20261212e+01] [ 6.08941795e-01 -7.93209530e-01 -2.92097023e-03 -2.04600431e+02] [-5.03991122e-03 -1.86683976e-04 -9.99987282e-01 -1.81060010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.35655999499994 meters 0.020134323495206087 Centerline is valid? [True, True] Translation: X:12.03, Y:-204.61, Z:-1.81 [[ 7.43727040e-01 6.68470241e-01 -4.19851819e-03 1.20304828e+01] [ 6.68461064e-01 -7.43738864e-01 -3.50823454e-03 -2.04606004e+02] [-5.46775154e-03 -1.97377050e-04 -9.99985032e-01 -1.81032174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.38655999499997 meters 0.019360285190738555 Centerline is valid? [True, True] Translation: X:12.04, Y:-204.61, Z:-1.81 [[ 6.89350794e-01 7.24415483e-01 -4.20602768e-03 1.20353831e+01] [ 7.24403826e-01 -6.89363594e-01 -4.11497909e-03 -2.04609825e+02] [-5.88043692e-03 -2.10198443e-04 -9.99982688e-01 -1.81049710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.41655999499994 meters 0.019925626926777257 Centerline is valid? [True, True] Translation: X:12.04, Y:-204.62, Z:-1.81 [[ 6.30857556e-01 7.75888164e-01 -4.03748628e-03 1.20403153e+01] [ 7.75874425e-01 -6.30870439e-01 -4.62235324e-03 -2.04615441e+02] [-6.13355991e-03 -2.16535883e-04 -9.99981166e-01 -1.81002646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.446559995 meters 0.019533351433869348 Centerline is valid? [True, True] Translation: X:12.04, Y:-204.62, Z:-1.81 [[ 5.68963035e-01 8.22353041e-01 -4.06689391e-03 1.20448096e+01] [ 8.22334899e-01 -5.68977522e-01 -5.46747495e-03 -2.04618060e+02] [-6.81016587e-03 -2.33557649e-04 -9.99976783e-01 -1.80942441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.47655999499995 meters 0.01959951607491633 Centerline is valid? [True, True] Translation: X:12.05, Y:-204.62, Z:-1.81 [[ 5.03503643e-01 8.63985026e-01 -3.73582782e-03 1.20483841e+01] [ 8.63964615e-01 -5.03517447e-01 -5.94344134e-03 -2.04621935e+02] [-7.01609881e-03 -2.35078684e-04 -9.99975359e-01 -1.80909046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.506559995 meters 0.017913228946868066 Centerline is valid? [True, True] Translation: X:12.05, Y:-204.62, Z:-1.81 [[ 4.35246522e-01 9.00306293e-01 -3.00739792e-03 1.20528692e+01] [ 9.00288034e-01 -4.35256861e-01 -5.73760466e-03 -2.04624985e+02] [-6.47459216e-03 -2.10251887e-04 -9.99979018e-01 -1.80956631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.53655999499995 meters 0.01826881046866477 Centerline is valid? [True, True] Translation: X:12.06, Y:-204.63, Z:-1.81 [[ 3.64586377e-01 9.31166517e-01 -2.38584286e-03 1.20589508e+01] [ 9.31149849e-01 -3.64594134e-01 -5.57465195e-03 -2.04629626e+02] [-6.06079355e-03 -1.89135064e-04 -9.99981615e-01 -1.80947123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.566559995 meters 0.018963441160636658 Centerline is valid? [True, True] Translation: X:12.06, Y:-204.63, Z:-1.81 [[ 2.91696456e-01 9.56509184e-01 -1.83251079e-03 1.20636677e+01] [ 9.56493840e-01 -2.91702162e-01 -5.42059595e-03 -2.04632458e+02] [-5.71939717e-03 -1.71616650e-04 -9.99983629e-01 -1.80955019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.59655999499995 meters 0.01563790115641152 Centerline is valid? [True, True] Translation: X:12.07, Y:-204.63, Z:-1.81 [[ 2.18776053e-01 9.75774311e-01 -1.23837157e-03 1.20657679e+01] [ 9.75762025e-01 -2.18779515e-01 -4.89830984e-03 -2.04634015e+02] [-5.05057524e-03 -1.36723060e-04 -9.99987236e-01 -1.81111926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.626559995 meters 0.015919207802734835 Centerline is valid? [True, True] Translation: X:12.07, Y:-204.64, Z:-1.81 [[ 1.42996972e-01 9.89722761e-01 -8.49733893e-04 1.20741583e+01] [ 9.89710279e-01 -1.42999438e-01 -4.97241954e-03 -2.04637800e+02] [-5.04282827e-03 -1.29949429e-04 -9.99987276e-01 -1.81094235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.65655999499995 meters 0.015435662726797007 Centerline is valid? [True, True] Translation: X:12.08, Y:-204.64, Z:-1.81 [[ 6.61316487e-02 9.97810784e-01 -4.95348301e-04 1.20808712e+01] [ 9.97795973e-01 -6.61333668e-02 -5.43812434e-03 -2.04639859e+02] [-5.45897816e-03 -1.34624412e-04 -9.99985091e-01 -1.81076323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.686559995 meters 0.014954389980810423 Centerline is valid? [True, True] Translation: X:12.09, Y:-204.64, Z:-1.81 [[-9.88829745e-03 9.99951107e-01 -7.35341182e-05 1.20861738e+01] [ 9.99933540e-01 9.88768775e-03 -5.92871768e-03 -2.04641220e+02] [-5.92770073e-03 -1.32154155e-04 -9.99982422e-01 -1.81028775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.71655999499995 meters 0.014954693627505929 Centerline is valid? [True, True] Translation: X:12.09, Y:-204.64, Z:-1.81 [[-8.71777561e-02 9.96192686e-01 4.13782606e-04 1.20921897e+01] [ 9.96173041e-01 8.71786361e-02 -6.25756073e-03 -2.04643424e+02] [-6.26980924e-03 -1.33321026e-04 -9.99980336e-01 -1.81006993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.746559995 meters 0.014455378055809369 Centerline is valid? [True, True] Translation: X:12.10, Y:-204.64, Z:-1.81 [[-1.63779693e-01 9.86496549e-01 8.78158071e-04 1.20970101e+01] [ 9.86478074e-01 1.63782001e-01 -6.03868375e-03 -2.04644728e+02] [-6.10096717e-03 -1.22730087e-04 -9.99981381e-01 -1.80987858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.77655999499996 meters 0.01361383206770068 Centerline is valid? [True, True] Translation: X:12.10, Y:-204.65, Z:-1.81 [[-2.38329404e-01 9.71183264e-01 1.47064521e-03 1.21008732e+01] [ 9.71161589e-01 2.38333912e-01 -6.48948833e-03 -2.04646230e+02] [-6.65298708e-03 -1.18401750e-04 -9.99977862e-01 -1.80972019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.806559995 meters 0.013594794776863556 Centerline is valid? [True, True] Translation: X:12.11, Y:-204.65, Z:-1.81 [[-3.12566309e-01 9.49893423e-01 2.18796576e-03 1.21074389e+01] [ 9.49867338e-01 3.12573942e-01 -7.04067409e-03 -2.04647946e+02] [-7.37179109e-03 -1.22400296e-04 -9.99972821e-01 -1.80946700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.83655999499996 meters 0.013368924619249278 Centerline is valid? [True, True] Translation: X:12.11, Y:-204.65, Z:-1.81 [[-3.85029795e-01 9.22899837e-01 2.81913611e-03 1.21129021e+01] [ 9.22872813e-01 3.85040097e-01 -7.06365784e-03 -2.04648169e+02] [-7.60452911e-03 -1.18014656e-04 -9.99971078e-01 -1.80919328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.866559995 meters 0.012770668238868722 Centerline is valid? [True, True] Translation: X:12.12, Y:-204.65, Z:-1.81 [[-4.54187242e-01 8.90897236e-01 4.00795604e-03 1.21170943e+01] [ 8.90860171e-01 4.54204909e-01 -8.12749402e-03 -2.04648682e+02] [-9.06119527e-03 -1.20875685e-04 -9.99958939e-01 -1.80853603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.89655999499996 meters 0.013200636448648892 Centerline is valid? [True, True] Translation: X:12.13, Y:-204.65, Z:-1.81 [[-5.21797839e-01 8.53055684e-01 4.79730634e-03 1.21250315e+01] [ 8.53017560e-01 5.21819879e-01 -8.06579982e-03 -2.04648440e+02] [-9.38390620e-03 -1.16530378e-04 -9.99955963e-01 -1.80687576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.92655999499993 meters 0.012724795248575985 Centerline is valid? [True, True] Translation: X:12.13, Y:-204.65, Z:-1.81 [[-5.86523809e-01 8.09912551e-01 5.61085981e-03 1.21296759e+01] [ 8.09873605e-01 5.86550635e-01 -7.94335945e-03 -2.04649371e+02] [-9.72447990e-03 -1.14882181e-04 -9.99952710e-01 -1.80718797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.95655999499996 meters 0.012406381162367232 Centerline is valid? [True, True] Translation: X:12.14, Y:-204.65, Z:-1.81 [[-6.47363884e-01 7.62152928e-01 6.55103168e-03 1.21364012e+01] [ 7.62112168e-01 6.47397020e-01 -7.88299189e-03 -2.04648070e+02] [-1.02491637e-02 -1.10543283e-04 -9.99947470e-01 -1.80708318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.98655999499994 meters 0.012254330273879174 Centerline is valid? [True, True] Translation: X:12.14, Y:-204.65, Z:-1.81 [[-7.03857011e-01 7.10307405e-01 6.97851093e-03 1.21416024e+01] [ 7.10271215e-01 7.03891599e-01 -7.17064375e-03 -2.04648645e+02] [-1.00054766e-02 -9.04724388e-05 -9.99949940e-01 -1.80738565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.01655999499997 meters 0.01216899280608981 Centerline is valid? [True, True] Translation: X:12.15, Y:-204.65, Z:-1.81 [[-7.57113459e-01 6.53243016e-01 7.26445904e-03 1.21483843e+01] [ 6.53211875e-01 7.57148305e-01 -6.37894578e-03 -2.04646289e+02] [-9.66727463e-03 -8.43547952e-05 -9.99953267e-01 -1.80813712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.04655999499994 meters 0.01218033864624915 Centerline is valid? [True, True] Translation: X:12.17, Y:-204.63, Z:-1.81 [[-8.01507220e-01 5.97944376e-01 6.97855506e-03 1.21671401e+01] [ 5.97920869e-01 8.01537596e-01 -5.30251149e-03 -2.04625293e+02] [-8.76418117e-03 -7.73775396e-05 -9.99961591e-01 -1.80887107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.07655999499997 meters 0.01247096842474412 Centerline is valid? [True, True] Translation: X:12.19, Y:-204.61, Z:-1.81 [[-8.42337649e-01 5.38905255e-01 6.95782500e-03 1.21883776e+01] [ 5.38886069e-01 8.42366381e-01 -4.54809570e-03 -2.04605354e+02] [-8.31203054e-03 -8.15572736e-05 -9.99965451e-01 -1.80945087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.10655999499994 meters 0.012403247206755492 Centerline is valid? [True, True] Translation: X:12.58, Y:-203.99, Z:-2.78 [[-7.92003642e-01 -6.10481413e-01 6.53265025e-03 1.25849531e+01] [ 6.10461406e-01 -7.92030580e-01 -4.94295418e-03 -2.03992145e+02] [ 8.19164041e-03 7.30931474e-05 9.99966445e-01 -2.78068837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.13655999499997 meters 0.012769833516141159 Centerline is valid? [True, True] Translation: X:12.58, Y:-204.03, Z:-2.78 [[-7.48587845e-01 -6.63004319e-01 6.44297370e-03 1.25787271e+01] [ 6.62980849e-01 -7.48615565e-01 -5.57935909e-03 -2.04028229e+02] [ 8.52244957e-03 9.49277822e-05 9.99963679e-01 -2.78128318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.16655999499994 meters 0.012630980939154816 Centerline is valid? [True, True] Translation: X:12.10, Y:-204.58, Z:-1.81 [[-8.07661955e-01 5.89600018e-01 7.34746458e-03 1.21024612e+01] [ 5.89574354e-01 8.07695367e-01 -5.50218475e-03 -2.04578082e+02] [-9.17860133e-03 -1.12028603e-04 -9.99957870e-01 -1.80984261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.196559995 meters 0.013432131335214535 Centerline is valid? [True, True] Translation: X:12.12, Y:-204.55, Z:-1.81 [[-8.48008485e-01 5.29922298e-01 7.99792775e-03 1.21195952e+01] [ 5.29897307e-01 8.48046191e-01 -5.14807761e-03 -2.04552703e+02] [-9.51069328e-03 -1.27533120e-04 -9.99954764e-01 -1.80842950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.22655999499995 meters 0.013479177034247688 Centerline is valid? [True, True] Translation: X:12.51, Y:-203.95, Z:-2.78 [[-7.93223255e-01 -6.08874957e-01 8.25560251e-03 1.25095152e+01] [ 6.08844387e-01 -7.93266193e-01 -6.10407239e-03 -2.03951787e+02] [ 1.02655072e-02 1.84485082e-04 9.99947291e-01 -2.78208036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.256559995 meters 0.014126849549826653 Centerline is valid? [True, True] Translation: X:12.09, Y:-204.53, Z:-1.81 [[-8.51514024e-01 5.24258587e-01 8.76365502e-03 1.20865307e+01] [ 5.24228740e-01 8.51559102e-01 -5.59668449e-03 -2.04527097e+02] [-1.03968801e-02 -1.71495496e-04 -9.99945936e-01 -1.80805958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.28655999499995 meters 0.013900276630719235 Centerline is valid? [True, True] Translation: X:12.47, Y:-203.93, Z:-2.78 [[-7.94455285e-01 -6.07266342e-01 8.26987959e-03 1.24727265e+01] [ 6.07235564e-01 -7.94498309e-01 -6.11608372e-03 -2.03932917e+02] [ 1.02844971e-02 1.62809962e-04 9.99947100e-01 -2.78236078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.316559995 meters 0.013940080167704587 Centerline is valid? [True, True] Translation: X:12.04, Y:-204.50, Z:-1.81 [[-8.53910399e-01 5.20343858e-01 8.90509067e-03 1.20442104e+01] [ 5.20313299e-01 8.53956811e-01 -5.64225441e-03 -2.04499649e+02] [-1.05404753e-02 -1.84542612e-04 -9.99944431e-01 -1.80870675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.34655999499995 meters 0.0141621468289767 Centerline is valid? [True, True] Translation: X:12.07, Y:-204.48, Z:-1.81 [[-8.88702292e-01 4.58387433e-01 9.44438785e-03 1.20661826e+01] [ 4.58359271e-01 8.88752454e-01 -5.08467645e-03 -2.04479681e+02] [-1.07244747e-02 -1.89840893e-04 -9.99942473e-01 -1.80856902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.376559995 meters 0.014076010254721839 Centerline is valid? [True, True] Translation: X:12.08, Y:-204.46, Z:-1.81 [[-9.18820672e-01 3.94554864e-01 9.74848512e-03 1.20801554e+01] [ 3.94530494e-01 9.18872366e-01 -4.38914031e-03 -2.04455874e+02] [-1.06893702e-02 -1.86758189e-04 -9.99942850e-01 -1.80867859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.40655999499995 meters 0.013794999250767763 Centerline is valid? [True, True] Translation: X:12.38, Y:-203.81, Z:-2.78 [[-8.74154370e-01 -4.85555772e-01 9.47256982e-03 1.23767016e+01] [ 4.85529610e-01 -8.74205671e-01 -5.04403966e-03 -2.03814932e+02] [ 1.07301368e-02 1.89943815e-04 9.99942412e-01 -2.78197289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.436559995 meters 0.013702626959610798 Centerline is valid? [True, True] Translation: X:12.04, Y:-204.44, Z:-1.81 [[-9.19197546e-01 3.93669255e-01 1.00194269e-02 1.20395130e+01] [ 3.93643945e-01 9.19252137e-01 -4.46692092e-03 -2.04440380e+02] [-1.09688690e-02 -1.61896032e-04 -9.99939827e-01 -1.80860138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.46655999499995 meters 0.014078502486466988 Centerline is valid? [True, True] Translation: X:12.05, Y:-204.41, Z:-1.81 [[-9.44334574e-01 3.28813064e-01 1.06855175e-02 1.20490971e+01] [ 3.28790182e-01 9.44395016e-01 -3.88207869e-03 -2.04414185e+02] [-1.13678276e-02 -1.52687881e-04 -9.99935373e-01 -1.80760981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.496559995 meters 0.012987277829171055 Centerline is valid? [True, True] Translation: X:12.30, Y:-203.75, Z:-2.78 [[-9.09877856e-01 -4.14749528e-01 1.02526062e-02 1.23032666e+01] [ 4.14724934e-01 -9.09935607e-01 -4.51876708e-03 -2.03749794e+02] [ 1.12033679e-02 1.40485312e-04 9.99937230e-01 -2.78174464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.52655999499996 meters 0.012672047791262667 Centerline is valid? [True, True] Translation: X:12.01, Y:-204.41, Z:-1.81 [[-9.44605961e-01 3.28039565e-01 1.04700934e-02 1.20105724e+01] [ 3.28018038e-01 9.44663977e-01 -3.75995512e-03 -2.04405844e+02] [-1.11241341e-02 -1.17296533e-04 -9.99938118e-01 -1.80916462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.556559995 meters 0.012373631924648843 Centerline is valid? [True, True] Translation: X:12.02, Y:-204.38, Z:-1.81 [[-9.64716799e-01 2.63108545e-01 9.76680780e-03 1.20237286e+01] [ 2.63094252e-01 9.64766235e-01 -2.74349060e-03 -2.04382747e+02] [-1.01445222e-02 -7.71004771e-05 -9.99948540e-01 -1.80915638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.58655999499996 meters 0.012080361675360097 Centerline is valid? [True, True] Translation: X:12.22, Y:-203.69, Z:-2.78 [[-9.40249089e-01 -3.40380294e-01 8.53850496e-03 1.22168420e+01] [ 3.40366297e-01 -9.40287858e-01 -3.08685293e-03 -2.03686784e+02] [ 9.07935645e-03 3.80865252e-06 9.99958782e-01 -2.78070228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.616559995 meters 0.011888621012529778 Centerline is valid? [True, True] Translation: X:11.98, Y:-204.37, Z:-1.81 [[-9.65076516e-01 2.61848903e-01 7.90381133e-03 1.19785308e+01] [ 2.61839771e-01 9.65108880e-01 -2.18727045e-03 -2.04373490e+02] [-8.20077287e-03 -4.13511948e-05 -9.99966372e-01 -1.81095006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.64655999499996 meters 0.011843372714894605 Centerline is valid? [True, True] Translation: X:11.98, Y:-204.35, Z:-1.81 [[-9.81035318e-01 1.93696245e-01 7.17418575e-03 1.19812370e+01] [ 1.93690843e-01 9.81061550e-01 -1.44688138e-03 -2.04346682e+02] [-7.31857328e-03 -2.98676484e-05 -9.99973218e-01 -1.81143749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.67655999499993 meters 0.011760834061881505 Centerline is valid? [True, True] Translation: X:11.99, Y:-204.32, Z:-1.81 [[-9.92172702e-01 1.24724550e-01 6.09229041e-03 1.19899256e+01] [ 1.24722086e-01 9.92191406e-01 -7.84221063e-04 -2.04321705e+02] [-6.14252981e-03 -1.82395597e-05 -9.99981134e-01 -1.81231669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.70655999499996 meters 0.01181146839018045 Centerline is valid? [True, True] Translation: X:11.98, Y:-204.29, Z:-1.81 [[-9.98524220e-01 5.39782899e-02 5.97721202e-03 1.19820877e+01] [ 5.39772163e-02 9.98542109e-01 -3.40910604e-04 -2.04293487e+02] [-5.98689967e-03 -1.77742290e-05 -9.99982078e-01 -1.81218524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.73655999499994 meters 0.011803706961171103 Centerline is valid? [True, True] Translation: X:11.99, Y:-204.27, Z:-1.81 [[-9.99831654e-01 -1.71780712e-02 6.44807048e-03 1.19895259e+01] [-1.71778375e-02 9.99852446e-01 9.16324167e-05 -2.04266099e+02] [-6.44869311e-03 -1.91469161e-05 -9.99979207e-01 -1.81221033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.76655999499997 meters 0.011920140565298495 Centerline is valid? [True, True] Translation: X:11.99, Y:-204.24, Z:-1.81 [[-9.95979051e-01 -8.92756155e-02 7.45618345e-03 1.19855063e+01] [-8.92733359e-02 9.96006960e-01 6.38652686e-04 -2.04237559e+02] [-7.48342672e-03 -2.95536736e-05 -9.99971998e-01 -1.81080664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.79655999499994 meters 0.011966201289530836 Centerline is valid? [True, True] Translation: X:11.97, Y:-204.21, Z:-1.81 [[-9.86950584e-01 -1.60815876e-01 8.17308748e-03 1.19709132e+01] [-1.60810691e-01 9.86984424e-01 1.29203799e-03 -2.04210500e+02] [-8.27449026e-03 -3.91422001e-05 -9.99965765e-01 -1.81017004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.82655999499997 meters 0.012059970833397621 Centerline is valid? [True, True] Translation: X:11.85, Y:-203.49, Z:-2.78 [[-9.96446346e-01 8.37565281e-02 8.91759791e-03 1.18486425e+01] [-8.37523805e-02 -9.96486245e-01 8.38195941e-04 -2.03492975e+02] [ 8.95646803e-03 8.83472298e-05 9.99959886e-01 -2.78155764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.85655999499994 meters 0.012219663438311854 Centerline is valid? [True, True] Translation: X:11.85, Y:-204.23, Z:-1.81 [[-9.85520567e-01 -1.69271435e-01 9.81801257e-03 1.18481709e+01] [-1.69263721e-01 9.85569468e-01 1.61742840e-03 -2.04226115e+02] [-9.95011785e-03 -6.78243874e-05 -9.99950494e-01 -1.80803885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.88655999499997 meters 0.012251863434827131 Centerline is valid? [True, True] Translation: X:11.83, Y:-204.20, Z:-1.81 [[-9.70698363e-01 -2.40089659e-01 1.00818775e-02 1.18266894e+01] [-2.40077510e-01 9.70750715e-01 2.41647532e-03 -2.04201630e+02] [-1.03671605e-02 -7.47634076e-05 -9.99946257e-01 -1.80775913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.91655999499994 meters 0.012399269977606289 Centerline is valid? [True, True] Translation: X:11.79, Y:-204.18, Z:-1.81 [[-9.50603138e-01 -3.10239598e-01 1.02502018e-02 1.17851144e+01] [-3.10222493e-01 9.50658396e-01 3.25881141e-03 -2.04183553e+02] [-1.07554527e-02 -8.20068010e-05 -9.99942155e-01 -1.80717506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.946559995 meters 0.012412715785635929 Centerline is valid? [True, True] Translation: X:11.73, Y:-204.18, Z:-1.81 [[-9.25246462e-01 -3.79240332e-01 9.78545764e-03 1.17250133e+01] [-3.79220030e-01 9.25298203e-01 3.92483653e-03 -2.04175843e+02] [-1.05429227e-02 -7.94004275e-05 -9.99944419e-01 -1.80734488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.97655999499995 meters 0.012183674836845038 Centerline is valid? [True, True] Translation: X:11.66, Y:-204.18, Z:-1.81 [[-8.94761630e-01 -4.46449496e-01 9.19090601e-03 1.16575349e+01] [-4.46426803e-01 8.94808830e-01 4.50192653e-03 -2.04176282e+02] [-1.02339867e-02 -7.49156667e-05 -9.99947629e-01 -1.80797240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.006559995 meters 0.012203530209877897 Centerline is valid? [True, True] Translation: X:11.58, Y:-204.18, Z:-1.81 [[-8.59395670e-01 -5.11243573e-01 8.31208133e-03 1.15839027e+01] [-5.11220373e-01 8.59435864e-01 4.87089653e-03 -2.04184233e+02] [-9.63391535e-03 -6.32779264e-05 -9.99953591e-01 -1.80779081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.03655999499995 meters 0.011863649210584174 Centerline is valid? [True, True] Translation: X:11.50, Y:-204.20, Z:-1.81 [[-8.18932339e-01 -5.73839929e-01 7.58678723e-03 1.15024799e+01] [-5.73815949e-01 8.18967480e-01 5.24638205e-03 -2.04204175e+02] [-9.22391552e-03 -5.69875848e-05 -9.99957457e-01 -1.80920027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.066559995 meters 0.011862362756161763 Centerline is valid? [True, True] Translation: X:11.42, Y:-204.23, Z:-1.81 [[-7.73506240e-01 -6.33750147e-01 6.98916571e-03 1.14183996e+01] [-6.33724909e-01 7.73537813e-01 5.65606449e-03 -2.04232208e+02] [-8.99091566e-03 -5.42072260e-05 -9.99959579e-01 -1.80936678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.09655999499995 meters 0.012080237973968186 Centerline is valid? [True, True] Translation: X:11.33, Y:-204.27, Z:-1.81 [[-7.23533603e-01 -6.90260921e-01 6.24390875e-03 1.13261426e+01] [-6.90235817e-01 7.23560543e-01 5.88710856e-03 -2.04274471e+02] [-8.58148698e-03 -5.02485874e-05 -9.99963177e-01 -1.80824308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.126559995 meters 0.012080237973968186 Centerline is valid? [True, True] Translation: X:11.24, Y:-204.32, Z:-1.81 [[-6.69099932e-01 -7.43149971e-01 5.77941262e-03 1.12383307e+01] [-7.43122896e-01 6.69124890e-01 6.34369350e-03 -2.04324112e+02] [-8.58146448e-03 -5.02489569e-05 -9.99963177e-01 -1.80824407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.15655999499995 meters 0.011824844660203584 Centerline is valid? [True, True] Translation: X:11.15, Y:-204.39, Z:-1.81 [[-6.11197960e-01 -7.91462800e-01 4.86718341e-03 1.11494160e+01] [-7.91438236e-01 6.11217338e-01 6.23578541e-03 -2.04386586e+02] [-7.91029906e-03 -4.07757308e-05 -9.99968712e-01 -1.80888702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.186559995 meters 0.011663782562804757 Centerline is valid? [True, True] Translation: X:11.07, Y:-204.45, Z:-1.81 [[-5.49259376e-01 -8.35640560e-01 4.35792126e-03 1.10714689e+01] [-8.35614799e-01 5.49276663e-01 6.56162092e-03 -2.04447669e+02] [-7.87686103e-03 -3.75116881e-05 -9.99968976e-01 -1.80924565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.21655999499995 meters 0.011667834323196907 Centerline is valid? [True, True] Translation: X:10.99, Y:-204.53, Z:-1.81 [[-4.84297439e-01 -8.74895040e-01 3.82878736e-03 1.09865657e+01] [-8.74868235e-01 4.84312573e-01 6.84853249e-03 -2.04534468e+02] [-7.84607696e-03 -3.29576959e-05 -9.99969219e-01 -1.80948615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.246559995 meters 0.011635600947626685 Centerline is valid? [True, True] Translation: X:10.92, Y:-204.61, Z:-1.81 [[-4.16450881e-01 -9.09152141e-01 3.32392252e-03 1.09153203e+01] [-9.09123696e-01 4.16464145e-01 7.19173086e-03 -2.04614224e+02] [-7.92267206e-03 -2.68540743e-05 -9.99968615e-01 -1.80958076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.27655999499996 meters 0.011623738444616295 Centerline is valid? [True, True] Translation: X:10.85, Y:-204.71, Z:-1.81 [[-3.46908110e-01 -9.37894587e-01 2.91650246e-03 1.08463188e+01] [-9.37861804e-01 3.46920369e-01 7.84180794e-03 -2.04709512e+02] [-8.36658333e-03 -1.48894846e-05 -9.99964999e-01 -1.80904134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.306559995 meters 0.011663943418198087 Centerline is valid? [True, True] Translation: X:10.79, Y:-204.81, Z:-1.81 [[-2.74642537e-01 -9.61543706e-01 2.27544984e-03 1.07858945e+01] [-9.61510924e-01 2.74651963e-01 7.93986912e-03 -2.04805680e+02] [-8.25948795e-03 -7.24408260e-06 -9.99965890e-01 -1.80911690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.33655999499996 meters 0.011761558618695293 Centerline is valid? [True, True] Translation: X:10.73, Y:-204.91, Z:-1.81 [[-2.00895158e-01 -9.79611242e-01 1.71755787e-03 1.07322754e+01] [-9.79575349e-01 2.00902500e-01 8.38581110e-03 -2.04909173e+02] [-8.55989649e-03 2.19149204e-06 -9.99963363e-01 -1.80850055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.366559995 meters 0.0118399271467353 Centerline is valid? [True, True] Translation: X:10.69, Y:-205.02, Z:-1.81 [[-1.27155412e-01 -9.91882229e-01 1.07051845e-03 1.06867536e+01] [-9.91845578e-01 1.27159916e-01 8.52668572e-03 -2.05019687e+02] [-8.59359507e-03 2.24252455e-05 -9.99963074e-01 -1.80894412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.39655999499996 meters 0.012144611779369444 Centerline is valid? [True, True] Translation: X:10.65, Y:-205.14, Z:-1.81 [[-5.18090293e-02 -9.98656924e-01 4.15605342e-04 1.06491778e+01] [-9.98619052e-01 5.18106840e-02 8.69729651e-03 -2.05137249e+02] [-8.70714818e-03 3.55670769e-05 -9.99962091e-01 -1.80811778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.42655999499993 meters 0.012151289263046714 Centerline is valid? [True, True] Translation: X:10.62, Y:-205.26, Z:-1.81 [[ 2.41655575e-02 -9.99707938e-01 -2.54683595e-04 1.06202290e+01] [-9.99670554e-01 -2.41668564e-02 8.64556500e-03 -2.05257268e+02] [-8.64919486e-03 4.56747928e-05 -9.99962594e-01 -1.80848875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.45655999499996 meters 0.012443812928390661 Centerline is valid? [True, True] Translation: X:10.60, Y:-205.37, Z:-1.81 [[ 9.87642048e-02 -9.95110431e-01 -9.28226169e-04 1.06010565e+01] [-9.95072646e-01 -9.87685438e-02 8.67203020e-03 -2.05374836e+02] [-8.72130726e-03 6.71663036e-05 -9.99961966e-01 -1.80853831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.48655999499994 meters 0.012548167141938621 Centerline is valid? [True, True] Translation: X:10.59, Y:-205.49, Z:-1.81 [[ 1.74312029e-01 -9.84689199e-01 -1.58073012e-03 1.05902045e+01] [-9.84652506e-01 -1.74319180e-01 8.50092977e-03 -2.05492631e+02] [-8.64632530e-03 7.46555584e-05 -9.99962617e-01 -1.80870456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.51655999499997 meters 0.012741979080249 Centerline is valid? [True, True] Translation: X:10.59, Y:-205.61, Z:-1.81 [[ 2.48977327e-01 -9.68506794e-01 -2.20938996e-03 1.05888897e+01] [-9.68471484e-01 -2.48987117e-01 8.27050354e-03 -2.05613443e+02] [-8.56014850e-03 8.05633065e-05 -9.99963358e-01 -1.80858418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.54655999499994 meters 0.01297331719219633 Centerline is valid? [True, True] Translation: X:10.60, Y:-205.74, Z:-1.81 [[ 3.22218344e-01 -9.46661358e-01 -2.75903496e-03 1.05979161e+01] [-9.46628856e-01 -3.22230145e-01 7.84487959e-03 -2.05736216e+02] [-8.31548860e-03 8.40179997e-05 -9.99965422e-01 -1.80864772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.57655999499997 meters 0.01290878551929217 Centerline is valid? [True, True] Translation: X:10.61, Y:-205.85, Z:-1.81 [[ 3.94157215e-01 -9.19037033e-01 -3.31987521e-03 1.06133089e+01] [-9.19006193e-01 -3.94171187e-01 7.52942568e-03 -2.05853449e+02] [-8.22842019e-03 8.32084250e-05 -9.99966143e-01 -1.80914519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.60655999499994 meters 0.012915315310855073 Centerline is valid? [True, True] Translation: X:10.64, Y:-205.97, Z:-1.81 [[ 4.64504208e-01 -8.85560999e-01 -4.19024501e-03 1.06360871e+01] [-8.85526524e-01 -4.64523101e-01 7.81432616e-03 -2.05969270e+02] [-8.86652809e-03 8.07857142e-05 -9.99960688e-01 -1.80802903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.63655999499997 meters 0.01281727728401142 Centerline is valid? [True, True] Translation: X:10.67, Y:-206.09, Z:-1.81 [[ 5.31913370e-01 -8.46783827e-01 -5.03166307e-03 1.06698500e+01] [-8.46747294e-01 -5.31937162e-01 7.86613035e-03 -2.06085107e+02] [-9.33744053e-03 7.64471889e-05 -9.99956402e-01 -1.80716156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.66655999499994 meters 0.012636803620562399 Centerline is valid? [True, True] Translation: X:10.71, Y:-206.19, Z:-1.81 [[ 5.96061810e-01 -8.02916419e-01 -5.96175002e-03 1.07072095e+01] [-8.02877436e-01 -5.96091619e-01 7.91224279e-03 -2.06190936e+02] [-9.90661887e-03 7.03688230e-05 -9.99950926e-01 -1.80642467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.696559995 meters 0.012598082565956159 Centerline is valid? [True, True] Translation: X:10.75, Y:-206.30, Z:-1.81 [[ 6.56598217e-01 -7.54210517e-01 -6.72887038e-03 1.07538348e+01] [-7.54171847e-01 -6.56632693e-01 7.63752413e-03 -2.06295174e+02] [-1.01786973e-02 5.99398760e-05 -9.99948194e-01 -1.80567118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.72655999499995 meters 0.012265873806248351 Centerline is valid? [True, True] Translation: X:10.81, Y:-206.40, Z:-1.81 [[ 7.13246761e-01 -7.00875468e-01 -7.25511562e-03 1.08085846e+01] [-7.00839848e-01 -7.13283658e-01 7.06612436e-03 -2.06396087e+02] [-1.01274286e-02 4.47838161e-05 -9.99948715e-01 -1.80562832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.756559995 meters 0.012133145389872823 Centerline is valid? [True, True] Translation: X:10.81, Y:-206.40, Z:-1.80 [[ 7.67298997e-01 -6.41239281e-01 -8.02708780e-03 1.08051552e+01] [-6.41204506e-01 -7.67340983e-01 6.67819119e-03 -2.06402884e+02] [-1.04418320e-02 2.28354704e-05 -9.99945482e-01 -1.80483337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.78655999499995 meters 0.012079472502172273 Centerline is valid? [True, True] Translation: X:10.80, Y:-206.41, Z:-1.80 [[ 8.15679772e-01 -5.78438500e-01 -8.68399705e-03 1.08039566e+01] [-5.78405881e-01 -8.15725997e-01 6.14288153e-03 -2.06408866e+02] [-1.06370413e-02 1.22507682e-05 -9.99943425e-01 -1.80461671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.816559995 meters 0.01196265124331652 Centerline is valid? [True, True] Translation: X:10.80, Y:-206.42, Z:-1.81 [[ 8.59014503e-01 -5.11875633e-01 -8.79893276e-03 1.08000134e+01] [-5.11848772e-01 -8.59059565e-01 5.24380024e-03 -2.06419236e+02] [-1.02429809e-02 -7.77519293e-07 -9.99947539e-01 -1.80510449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.84655999499995 meters 0.011913141836659803 Centerline is valid? [True, True] Translation: X:10.80, Y:-206.43, Z:-1.80 [[ 8.96516417e-01 -4.42920664e-01 -8.92186915e-03 1.07976752e+01] [-4.42898693e-01 -8.96560810e-01 4.41165574e-03 -2.06427572e+02] [-9.95301172e-03 -3.63760988e-06 -9.99950468e-01 -1.80491196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.876559995 meters 0.011849406968088557 Centerline is valid? [True, True] Translation: X:10.80, Y:-206.43, Z:-1.80 [[ 9.28475352e-01 -3.71287759e-01 -8.88375694e-03 1.07965373e+01] [-3.71270706e-01 -9.28517851e-01 3.55849517e-03 -2.06434382e+02] [-9.56995260e-03 -5.69634851e-06 -9.99954207e-01 -1.80493689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.90655999499995 meters 0.011802348453167279 Centerline is valid? [True, True] Translation: X:10.80, Y:-206.44, Z:-1.81 [[ 9.54507711e-01 -2.98084687e-01 -7.78127764e-03 1.07973950e+01] [-2.98074780e-01 -9.54539428e-01 2.43032452e-03 -2.06442020e+02] [-8.15197883e-03 -3.60877750e-07 -9.99966772e-01 -1.80541466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.936559995 meters 0.011742218245762647 Centerline is valid? [True, True] Translation: X:10.80, Y:-206.45, Z:-1.81 [[ 9.74743228e-01 -2.23206569e-01 -7.38019451e-03 1.07990343e+01] [-2.23200206e-01 -9.74771167e-01 1.68545962e-03 -2.06449666e+02] [-7.57020647e-03 4.37058082e-06 -9.99971346e-01 -1.80594691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.96655999499995 meters 0.011762079544747742 Centerline is valid? [True, True] Translation: X:10.80, Y:-206.46, Z:-1.81 [[ 9.88911888e-01 -1.48376545e-01 -6.13829914e-03 1.07993110e+01] [-1.48373795e-01 -9.88930938e-01 9.03515374e-04 -2.06455363e+02] [-6.20441442e-03 1.72656423e-05 -9.99980752e-01 -1.80637496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.996559995 meters 0.011719287182240985 Centerline is valid? [True, True] Translation: X:10.80, Y:-206.46, Z:-1.81 [[ 9.97426797e-01 -7.14547087e-02 -5.83168379e-03 1.07984126e+01] [-7.14536155e-02 -9.97443845e-01 3.95859346e-04 -2.06460800e+02] [-5.84506311e-03 2.18541714e-05 -9.99982917e-01 -1.80650892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.02655999499996 meters 0.011707582446900473 Centerline is valid? [True, True] Translation: X:10.80, Y:-206.47, Z:-1.81 [[ 9.99968952e-01 5.74915594e-03 -5.38911598e-03 1.07970453e+01] [ 5.74893298e-03 -9.99983473e-01 -5.68624689e-05 -2.06470458e+02] [-5.38935382e-03 2.58790368e-05 -9.99985477e-01 -1.80652767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.056559995 meters 0.011813186880414824 Centerline is valid? [True, True] Translation: X:10.80, Y:-206.48, Z:-1.81 [[ 9.96554031e-01 8.27680591e-02 -5.43252110e-03 1.07974741e+01] [ 8.27666492e-02 -9.96568837e-01 -4.84228647e-04 -2.06479609e+02] [-5.45395990e-03 3.29284422e-05 -9.99985127e-01 -1.80629496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.08655999499996 meters 0.012013008701900165 Centerline is valid? [True, True] Translation: X:10.80, Y:-206.49, Z:-1.81 [[ 9.87393652e-01 1.58143589e-01 -6.66187041e-03 1.07977711e+01] [ 1.58139597e-01 -9.87416124e-01 -1.12506640e-03 -2.06488331e+02] [-6.75596029e-03 5.73779219e-05 -9.99977177e-01 -1.80530240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.11655999499993 meters 0.012272124645973728 Centerline is valid? [True, True] Translation: X:10.80, Y:-206.50, Z:-1.80 [[ 9.72253093e-01 2.33830514e-01 -6.87126913e-03 1.07975533e+01] [ 2.33824179e-01 -9.72277371e-01 -1.72259542e-03 -2.06497133e+02] [-7.08357485e-03 6.81298623e-05 -9.99974909e-01 -1.80446968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.14655999499996 meters 0.012480965975429187 Centerline is valid? [True, True] Translation: X:10.80, Y:-206.50, Z:-1.80 [[ 9.51295928e-01 3.08188447e-01 -7.47919893e-03 1.07974842e+01] [ 3.08178225e-01 -9.51325325e-01 -2.51150388e-03 -2.06504456e+02] [-7.88916783e-03 8.42571612e-05 -9.99968877e-01 -1.80384477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.17655999499993 meters 0.012949250592884327 Centerline is valid? [True, True] Translation: X:10.80, Y:-206.51, Z:-1.80 [[ 9.25162794e-01 3.79480818e-01 -8.25310807e-03 1.07984321e+01] [ 3.79464582e-01 -9.25199597e-01 -3.51232194e-03 -2.06511161e+02] [-8.96863107e-03 1.17707370e-04 -9.99959774e-01 -1.80303910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.20655999499996 meters 0.013406528843666188 Centerline is valid? [True, True] Translation: X:10.80, Y:-206.52, Z:-1.80 [[ 8.93087073e-01 4.49809876e-01 -8.15815118e-03 1.07989883e+01] [ 4.49789774e-01 -8.93124324e-01 -4.25454561e-03 -2.06517586e+02] [-9.19997990e-03 1.30226712e-04 -9.99957671e-01 -1.80221436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.23655999499994 meters 0.01321912492969115 Centerline is valid? [True, True] Translation: X:10.80, Y:-206.53, Z:-1.80 [[ 8.55839110e-01 5.17187161e-01 -7.54046498e-03 1.08024101e+01] [ 5.17165664e-01 -8.55872316e-01 -4.71745336e-03 -2.06525666e+02] [-8.89348154e-03 1.37711503e-04 -9.99960443e-01 -1.80275619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.26655999499997 meters 0.013654035782445544 Centerline is valid? [True, True] Translation: X:10.80, Y:-206.53, Z:-1.80 [[ 8.13156235e-01 5.82003557e-01 -6.98558227e-03 1.08041564e+01] [ 5.81980582e-01 -8.13186227e-01 -5.17325698e-03 -2.06532445e+02] [-8.69143325e-03 1.41192931e-04 -9.99962219e-01 -1.80271166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.29655999499994 meters 0.013507512868496345 Centerline is valid? [True, True] Translation: X:10.81, Y:-206.54, Z:-1.80 [[ 7.65444970e-01 6.43469104e-01 -6.44285078e-03 1.08076053e+01] [ 6.43444727e-01 -7.65472071e-01 -5.60276038e-03 -2.06539427e+02] [-8.53702553e-03 1.42986393e-04 -9.99963549e-01 -1.80329591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.32655999499997 meters 0.013087667461307802 Centerline is valid? [True, True] Translation: X:10.81, Y:-206.55, Z:-1.80 [[ 7.12823689e-01 7.01321858e-01 -5.48075795e-03 1.08141429e+01] [ 7.01299695e-01 -7.12844747e-01 -5.57709300e-03 -2.06548215e+02] [-7.81826674e-03 1.31830128e-04 -9.99969428e-01 -1.80409467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.35655999499994 meters 0.013484966684057553 Centerline is valid? [True, True] Translation: X:10.82, Y:-206.56, Z:-1.80 [[ 6.55699264e-01 7.55007917e-01 -4.63914757e-03 1.08181062e+01] [ 7.54987698e-01 -6.55715663e-01 -5.52678267e-03 -2.06555600e+02] [-7.21472639e-03 1.21407986e-04 -9.99973966e-01 -1.80425992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.38655999499997 meters 0.013163861632034814 Centerline is valid? [True, True] Translation: X:10.82, Y:-206.56, Z:-1.80 [[ 5.94372795e-01 8.04179509e-01 -4.03708842e-03 1.08240071e+01] [ 8.04159627e-01 -5.94386494e-01 -5.65596259e-03 -2.06563150e+02] [-6.94800005e-03 1.15286781e-04 -9.99975856e-01 -1.80463398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.41655999499994 meters 0.012803038499632947 Centerline is valid? [True, True] Translation: X:10.83, Y:-206.57, Z:-1.80 [[ 5.28793160e-01 8.48745334e-01 -3.02520966e-03 1.08302169e+01] [ 8.48730439e-01 -5.28801805e-01 -5.02912320e-03 -2.06569728e+02] [-5.86818118e-03 9.17784238e-05 -9.99982778e-01 -1.80485526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.446559995 meters 0.012767602725338098 Centerline is valid? [True, True] Translation: X:10.84, Y:-206.58, Z:-1.80 [[ 4.59806107e-01 8.88015563e-01 -2.58911562e-03 1.08352098e+01] [ 8.88000433e-01 -4.59813389e-01 -5.18449640e-03 -2.06576577e+02] [-5.79442352e-03 8.47273221e-05 -9.99983209e-01 -1.80495452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.47655999499995 meters 0.012009610010101332 Centerline is valid? [True, True] Translation: X:10.84, Y:-206.58, Z:-1.81 [[ 3.86647549e-01 9.22225060e-01 -2.14738165e-03 1.08449216e+01] [ 9.22209813e-01 -3.86653506e-01 -5.30352885e-03 -2.06583302e+02] [-5.72133985e-03 7.02599971e-05 -9.99983631e-01 -1.80513103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.506559995 meters 0.01181552369697126 Centerline is valid? [True, True] Translation: X:10.85, Y:-206.59, Z:-1.80 [[ 3.11596545e-01 9.50213075e-01 -1.64496576e-03 1.08526843e+01] [ 9.50198842e-01 -3.11600882e-01 -5.20104453e-03 -2.06589164e+02] [-5.45467329e-03 5.75829480e-05 -9.99985122e-01 -1.80453335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.53655999499995 meters 0.011437552842706382 Centerline is valid? [True, True] Translation: X:10.86, Y:-206.59, Z:-1.80 [[ 2.34332187e-01 9.72155782e-01 -1.24936947e-03 1.08617024e+01] [ 9.72140860e-01 -2.34335513e-01 -5.38672210e-03 -2.06593352e+02] [-5.52950467e-03 4.77192626e-05 -9.99984711e-01 -1.80465776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.566559995 meters 0.010863215866938862 Centerline is valid? [True, True] Translation: X:10.87, Y:-206.60, Z:-1.80 [[ 1.52976335e-01 9.88229512e-01 -8.19775949e-04 1.08710827e+01] [ 9.88214530e-01 -1.52978529e-01 -5.44168675e-03 -2.06598588e+02] [-5.50304357e-03 2.23347890e-05 -9.99984858e-01 -1.80440520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.59655999499995 meters 0.010687730914763344 Centerline is valid? [True, True] Translation: X:10.88, Y:-206.60, Z:-1.80 [[ 7.26067610e-02 9.97360564e-01 -4.04535794e-04 1.08793922e+01] [ 9.97344388e-01 -7.26078874e-02 -5.68027689e-03 -2.06601473e+02] [-5.69465666e-03 8.96500298e-06 -9.99983785e-01 -1.80388859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.626559995 meters 0.010735960068696756 Centerline is valid? [True, True] Translation: X:10.89, Y:-206.60, Z:-1.80 [[-8.45586933e-03 9.99964248e-01 4.13677318e-05 1.08870777e+01] [ 9.99948127e-01 8.45596791e-03 -5.67798864e-03 -2.06604712e+02] [-5.67813544e-03 -6.64674405e-06 -9.99983879e-01 -1.80324702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.65655999499995 meters 0.010916555054332798 Centerline is valid? [True, True] Translation: X:10.90, Y:-206.61, Z:-1.80 [[-9.19919328e-02 9.95759609e-01 5.33625107e-04 1.08983461e+01] [ 9.95740254e-01 9.19934719e-02 -6.20874371e-03 -2.06606074e+02] [-6.23150623e-03 -3.98023342e-05 -9.99980583e-01 -1.80267492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.686559995 meters 0.01131158878764897 Centerline is valid? [True, True] Translation: X:10.91, Y:-206.61, Z:-1.80 [[-1.71894479e-01 9.85114807e-01 1.05092421e-03 1.09069402e+01] [ 9.85094377e-01 1.71897683e-01 -6.34473582e-03 -2.06607803e+02] [-6.43094464e-03 -5.53655259e-05 -9.99979320e-01 -1.80203935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.71655999499995 meters 0.011716319864890589 Centerline is valid? [True, True] Translation: X:10.92, Y:-206.61, Z:-1.80 [[-2.52040468e-01 9.67715438e-01 1.55990497e-03 1.09170923e+01] [ 9.67694902e-01 2.52045283e-01 -6.30498858e-03 -2.06606524e+02] [-6.49460147e-03 -7.96001811e-05 -9.99978907e-01 -1.80183917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.746559995 meters 0.012422618487786955 Centerline is valid? [True, True] Translation: X:10.93, Y:-206.61, Z:-1.80 [[-3.28236354e-01 9.44593508e-01 2.00009866e-03 1.09262166e+01] [ 9.44574350e-01 3.28242437e-01 -6.01663224e-03 -2.06606130e+02] [-6.33978902e-03 -8.56355392e-05 -9.99979900e-01 -1.80128689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.77655999499996 meters 0.012751053268629521 Centerline is valid? [True, True] Translation: X:10.93, Y:-206.61, Z:-1.80 [[-4.02103672e-01 9.15591341e-01 2.26556908e-03 1.09304472e+01] [ 9.15575606e-01 4.02110046e-01 -5.36845689e-03 -2.06605690e+02] [-5.82632073e-03 -8.43764481e-05 -9.99983023e-01 -1.80126695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.806559995 meters 0.012962556221938551 Centerline is valid? [True, True] Translation: X:10.93, Y:-206.61, Z:-1.80 [[-4.73269952e-01 8.80913474e-01 2.64657070e-03 1.09342357e+01] [ 8.80898650e-01 4.73277344e-01 -5.11127063e-03 -2.06605186e+02] [-5.75514912e-03 -8.76502465e-05 -9.99983435e-01 -1.80129705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.83655999499996 meters 0.013363262380094495 Centerline is valid? [True, True] Translation: X:10.94, Y:-206.60, Z:-1.80 [[-5.41480644e-01 8.40706901e-01 3.25867732e-03 1.09373015e+01] [ 8.40690565e-01 5.41490440e-01 -5.24182255e-03 -2.06604860e+02] [-6.17137901e-03 -9.88061670e-05 -9.99980952e-01 -1.80048813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.86655999499993 meters 0.012681946376187657 Centerline is valid? [True, True] Translation: X:10.94, Y:-206.60, Z:-1.80 [[-6.05857289e-01 7.95564950e-01 3.65448253e-03 1.09424217e+01] [ 7.95549472e-01 6.05868303e-01 -4.96360066e-03 -2.06602524e+02] [-6.16300183e-03 -9.99119928e-05 -9.99981004e-01 -1.80023020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.89655999499996 meters 0.013689670514321382 Centerline is valid? [True, True] Translation: X:10.95, Y:-206.60, Z:-1.80 [[-6.66359906e-01 7.45618447e-01 4.19611054e-03 1.09493042e+01] [ 7.45602668e-01 6.66373110e-01 -4.85176258e-03 -2.06599700e+02] [-6.41373891e-03 -1.04388842e-04 -9.99979426e-01 -1.79892953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.92655999499993 meters 0.012607313769525674 Centerline is valid? [True, True] Translation: X:10.95, Y:-206.60, Z:-1.80 [[-7.22505140e-01 6.91350334e-01 4.58686588e-03 1.09524909e+01] [ 6.91335491e-01 7.22519692e-01 -4.53141452e-03 -2.06597336e+02] [-6.44689587e-03 -1.02907100e-04 -9.99979213e-01 -1.79990716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.95655999499996 meters 0.012632566321698343 Centerline is valid? [True, True] Translation: X:11.43, Y:-206.12, Z:-2.79 [[-6.51185301e-01 -7.58907598e-01 4.11839084e-03 1.14314811e+01] [ 7.58893253e-01 -6.51198318e-01 -4.66690509e-03 -2.06116452e+02] [ 6.22363893e-03 8.63990317e-05 9.99980629e-01 -2.79109279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.98655999499994 meters 0.011836519011535792 Centerline is valid? [True, True] Translation: X:11.42, Y:-206.09, Z:-2.79 [[-6.53282862e-01 -7.57104438e-01 3.79105930e-03 1.14156147e+01] [ 7.57092325e-01 -6.53293858e-01 -4.28338342e-03 -2.06093119e+02] [ 5.71964435e-03 7.19209136e-05 9.99983640e-01 -2.79051171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.01655999499997 meters 0.011587176311813533 Centerline is valid? [True, True] Translation: X:11.40, Y:-206.07, Z:-2.79 [[-6.54915683e-01 -7.55692203e-01 3.83959254e-03 1.13990353e+01] [ 7.55679769e-01 -6.54926935e-01 -4.33548390e-03 -2.06071780e+02] [ 5.79094395e-03 6.21260029e-05 9.99983230e-01 -2.79024260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.04655999499994 meters 0.011587176311813533 Centerline is valid? [True, True] Translation: X:11.38, Y:-206.05, Z:-2.79 [[-6.55151946e-01 -7.55487376e-01 3.84094802e-03 1.13812123e+01] [ 7.55474945e-01 -6.55163202e-01 -4.33428308e-03 -2.06051814e+02] [ 5.79094395e-03 6.21260009e-05 9.99983230e-01 -2.79024276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.07655999499997 meters 0.010763121518735302 Centerline is valid? [True, True] Translation: X:11.37, Y:-206.03, Z:-2.79 [[-6.58900673e-01 -7.52221900e-01 3.48083207e-03 1.13655782e+01] [ 7.52211657e-01 -6.58909866e-01 -3.92581290e-03 -2.06027517e+02] [ 5.24663703e-03 3.16016982e-05 9.99986236e-01 -2.78971872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.10655999499994 meters 0.010656455799162395 Centerline is valid? [True, True] Translation: X:11.35, Y:-206.01, Z:-2.79 [[-6.61109276e-01 -7.50280519e-01 3.69704809e-03 1.13494262e+01] [ 7.50268942e-01 -6.61119613e-01 -4.16793241e-03 -2.06006061e+02] [ 5.57130949e-03 1.83215769e-05 9.99984480e-01 -2.79006872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.13655999499997 meters 0.0105419912003234 Centerline is valid? [True, True] Translation: X:11.33, Y:-205.98, Z:-2.79 [[-6.63832013e-01 -7.47872364e-01 3.73968829e-03 1.13327212e+01] [ 7.47860494e-01 -6.63842547e-01 -4.21361350e-03 -2.05983325e+02] [ 5.63380929e-03 -3.66402768e-07 9.99984130e-01 -2.79003014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.16655999499994 meters 0.010998349687965613 Centerline is valid? [True, True] Translation: X:11.32, Y:-205.96, Z:-2.79 [[-6.69367655e-01 -7.42918498e-01 4.36429864e-03 1.13186739e+01] [ 7.42902245e-01 -6.69381881e-01 -4.91439735e-03 -2.05958825e+02] [ 6.57237913e-03 -4.72913708e-05 9.99978401e-01 -2.79003814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.196559995 meters 0.011566225355062592 Centerline is valid? [True, True] Translation: X:11.30, Y:-205.94, Z:-2.79 [[-6.72531694e-01 -7.40054903e-01 4.45664432e-03 1.13020626e+01] [ 7.40037910e-01 -6.72546456e-01 -5.01552208e-03 -2.05935683e+02] [ 6.70906205e-03 -7.50118076e-05 9.99977491e-01 -2.78986961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.22655999499995 meters 0.012529749376161359 Centerline is valid? [True, True] Translation: X:11.29, Y:-205.91, Z:-2.79 [[-6.75481129e-01 -7.37364305e-01 4.37336079e-03 1.12866288e+01] [ 7.37347905e-01 -6.75495279e-01 -4.91884059e-03 -2.05913415e+02] [ 6.58116204e-03 -9.78955744e-05 9.99978339e-01 -2.78987375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.256559995 meters 0.01459866024823982 Centerline is valid? [True, True] Translation: X:11.27, Y:-205.89, Z:-2.79 [[-6.80401205e-01 -7.32829595e-01 3.87103298e-03 1.12713870e+01] [ 7.32816687e-01 -6.80412205e-01 -4.35130480e-03 -2.05891124e+02] [ 5.82266302e-03 -1.23875460e-04 9.99983041e-01 -2.78920091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.28655999499995 meters 0.014676347114493457 Centerline is valid? [True, True] Translation: X:11.25, Y:-205.87, Z:-2.79 [[-6.82656306e-01 -7.30728956e-01 3.94470332e-03 1.12523234e+01] [ 7.30715531e-01 -6.82667688e-01 -4.43163568e-03 -2.05869981e+02] [ 5.93124601e-03 -1.42828062e-04 9.99982400e-01 -2.78854040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.316559995 meters 0.015103388452693718 Centerline is valid? [True, True] Translation: X:11.23, Y:-205.85, Z:-2.79 [[-6.84607755e-01 -7.28901699e-01 3.81247825e-03 1.12339048e+01] [ 7.28889146e-01 -6.84618354e-01 -4.28052615e-03 -2.05849453e+02] [ 5.73017537e-03 -1.51607382e-04 9.99983571e-01 -2.78824596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.34655999499995 meters 0.016216665479988165 Centerline is valid? [True, True] Translation: X:11.22, Y:-205.83, Z:-2.79 [[-6.86967537e-01 -7.26678062e-01 3.82065998e-03 1.12159301e+01] [ 7.26665435e-01 -6.86978141e-01 -4.28717138e-03 -2.05829601e+02] [ 5.74010328e-03 -1.68806017e-04 9.99983511e-01 -2.78786848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.376559995 meters 0.015795974599993663 Centerline is valid? [True, True] Translation: X:11.20, Y:-205.81, Z:-2.79 [[-6.88263244e-01 -7.25449418e-01 4.10473725e-03 1.11962737e+01] [ 7.25434838e-01 -6.88275458e-01 -4.60331138e-03 -2.05809080e+02] [ 6.16465947e-03 -1.90570628e-04 9.99980980e-01 -2.78727241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.40655999499995 meters 0.017124220172631457 Centerline is valid? [True, True] Translation: X:11.18, Y:-205.79, Z:-2.79 [[-6.90287849e-01 -7.23522705e-01 4.19290189e-03 1.11787420e+01] [ 7.23507474e-01 -6.90300551e-01 -4.69936244e-03 -2.05788310e+02] [ 6.29445791e-03 -2.10316941e-04 9.99980168e-01 -2.78730066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.436559995 meters 0.017926553814563595 Centerline is valid? [True, True] Translation: X:11.16, Y:-205.77, Z:-2.79 [[-6.91188514e-01 -7.22663241e-01 4.03461233e-03 1.11605805e+01] [ 7.22649140e-01 -6.91200258e-01 -4.51928057e-03 -2.05768632e+02] [ 6.05464302e-03 -2.08065694e-04 9.99981649e-01 -2.78752613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.46655999499995 meters 0.0174839710838907 Centerline is valid? [True, True] Translation: X:11.14, Y:-205.75, Z:-2.79 [[-6.91539448e-01 -7.22327721e-01 3.98179787e-03 1.11403010e+01] [ 7.22313996e-01 -6.91550880e-01 -4.45762330e-03 -2.05749310e+02] [ 5.97348070e-03 -2.06514024e-04 9.99982137e-01 -2.78725419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.496559995 meters 0.017367013026136774 Centerline is valid? [True, True] Translation: X:11.12, Y:-205.73, Z:-2.79 [[-6.91253029e-01 -7.22602869e-01 3.78734099e-03 1.11186473e+01] [ 7.22590471e-01 -6.91263377e-01 -4.23726787e-03 -2.05731545e+02] [ 5.67991205e-03 -1.92327739e-04 9.99983851e-01 -2.78746872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.52655999499996 meters 0.017082066561027055 Centerline is valid? [True, True] Translation: X:11.10, Y:-205.71, Z:-2.79 [[-6.90324074e-01 -7.23490218e-01 3.81807966e-03 1.10977431e+01] [ 7.23477645e-01 -6.90334608e-01 -4.26928497e-03 -2.05712338e+02] [ 5.72453844e-03 -1.84894915e-04 9.99983598e-01 -2.78761271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.556559995 meters 0.015848569288865504 Centerline is valid? [True, True] Translation: X:11.08, Y:-205.70, Z:-2.79 [[-6.86796882e-01 -7.26838288e-01 4.01820103e-03 1.10755874e+01] [ 7.26824432e-01 -6.86808617e-01 -4.49089986e-03 -2.05696714e+02] [ 6.02389306e-03 -1.63809343e-04 9.99981843e-01 -2.78789345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.58655999499996 meters 0.014418516803782892 Centerline is valid? [True, True] Translation: X:11.05, Y:-205.68, Z:-2.79 [[-6.84406378e-01 -7.29089600e-01 4.03285105e-03 1.10534123e+01] [ 7.29075697e-01 -6.84418245e-01 -4.50487386e-03 -2.05678327e+02] [ 6.04461352e-03 -1.42910716e-04 9.99981721e-01 -2.78764409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.61655999499993 meters 0.013797281009289323 Centerline is valid? [True, True] Translation: X:11.03, Y:-205.66, Z:-2.79 [[-6.81439644e-01 -7.31863819e-01 3.91956878e-03 1.10329981e+01] [ 7.31850744e-01 -6.81450907e-01 -4.37610704e-03 -2.05660655e+02] [ 5.87370811e-03 -1.13513492e-04 9.99982743e-01 -2.78794221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.64655999499996 meters 0.012471632771868534 Centerline is valid? [True, True] Translation: X:11.01, Y:-205.64, Z:-2.79 [[-6.78339697e-01 -7.34737209e-01 4.06065964e-03 1.10099883e+01] [ 7.34723243e-01 -6.78351845e-01 -4.53113118e-03 -2.05643466e+02] [ 6.08374663e-03 -9.01851299e-05 9.99981490e-01 -2.78807643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.67655999499993 meters 0.010631218815822054 Centerline is valid? [True, True] Translation: X:10.98, Y:-205.63, Z:-2.79 [[-6.70963542e-01 -7.41479121e-01 4.07899043e-03 1.09828808e+01] [ 7.41465165e-01 -6.70975940e-01 -4.54936877e-03 -2.05631274e+02] [ 6.11016639e-03 -2.80312729e-05 9.99981332e-01 -2.78892158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.70655999499996 meters 0.010311550517374028 Centerline is valid? [True, True] Translation: X:10.96, Y:-205.61, Z:-2.79 [[-6.67691931e-01 -7.44427945e-01 3.81053648e-03 1.09604159e+01] [ 7.44415828e-01 -6.67702804e-01 -4.24738301e-03 -2.05614958e+02] [ 5.70617650e-03 6.80306811e-07 9.99983720e-01 -2.78893615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.73655999499994 meters 0.010764225893519191 Centerline is valid? [True, True] Translation: X:10.93, Y:-205.60, Z:-2.79 [[-6.61664590e-01 -7.49794621e-01 2.82770292e-03 1.09348423e+01] [ 7.49788005e-01 -6.61670631e-01 -3.15007950e-03 -2.05600321e+02] [ 4.23292064e-03 3.58816692e-05 9.99991041e-01 -2.78791241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.76655999499997 meters 0.011481841198821972 Centerline is valid? [True, True] Translation: X:10.91, Y:-205.58, Z:-2.79 [[-6.59362375e-01 -7.51821259e-01 2.46003832e-03 1.09139749e+01] [ 7.51816270e-01 -6.59366963e-01 -2.73938268e-03 -2.05583286e+02] [ 3.68159413e-03 4.32509590e-05 9.99993222e-01 -2.78755685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.79655999499994 meters 0.012683388865950503 Centerline is valid? [True, True] Translation: X:10.89, Y:-205.57, Z:-2.79 [[-6.56153523e-01 -7.54625508e-01 1.70231573e-03 1.08905318e+01] [ 7.54623131e-01 -6.56155730e-01 -1.89456477e-03 -2.05566168e+02] [ 2.54667112e-03 4.14814778e-05 9.99996756e-01 -2.78671128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.82655999499997 meters 0.012634089629083552 Centerline is valid? [True, True] Translation: X:10.87, Y:-205.55, Z:-2.79 [[-6.55285467e-01 -7.55380246e-01 1.28054302e-03 1.08703448e+01] [ 7.55378904e-01 -6.55286718e-01 -1.42434476e-03 -2.05546144e+02] [ 1.91504473e-03 3.39427598e-05 9.99998166e-01 -2.78612994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.85655999499994 meters 0.012960357298757285 Centerline is valid? [True, True] Translation: X:10.85, Y:-205.53, Z:-2.79 [[-6.54700825e-01 -7.55887484e-01 9.69765235e-04 1.08501553e+01] [ 7.55886716e-01 -6.54701543e-01 -1.07805120e-03 -2.05527162e+02] [ 1.44979221e-03 2.72316479e-05 9.99998949e-01 -2.78614339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.88655999499997 meters 0.013417872604112006 Centerline is valid? [True, True] Translation: X:10.83, Y:-205.51, Z:-2.79 [[-6.54196895e-01 -7.56323253e-01 1.24870530e-03 1.08288090e+01] [ 7.56321981e-01 -6.54198086e-01 -1.38730358e-03 -2.05510271e+02] [ 1.86615058e-03 3.68535680e-05 9.99998258e-01 -2.78715949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.91655999499994 meters 0.013515541831378756 Centerline is valid? [True, True] Translation: X:10.81, Y:-205.49, Z:-2.79 [[-6.54361620e-01 -7.56179774e-01 1.73758682e-03 1.08087400e+01] [ 7.56177314e-01 -6.54363925e-01 -1.92936112e-03 -2.05490594e+02] [ 2.59595799e-03 5.14238619e-05 9.99996629e-01 -2.78780165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.946559995 meters 0.0134159555556833 Centerline is valid? [True, True] Translation: X:10.79, Y:-205.47, Z:-2.79 [[-6.54868343e-01 -7.55738918e-01 2.47825659e-03 1.07894496e+01] [ 7.55733917e-01 -6.54873028e-01 -2.75022804e-03 -2.05470815e+02] [ 3.70139776e-03 7.18652840e-05 9.99993147e-01 -2.78868752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.97655999499995 meters 0.012949494760942815 Centerline is valid? [True, True] Translation: X:10.77, Y:-205.45, Z:-2.79 [[-6.56975136e-01 -7.53902836e-01 3.76621201e-03 1.07715137e+01] [ 7.53891270e-01 -6.56985924e-01 -4.17718280e-03 -2.05450667e+02] [ 5.62353824e-03 9.50091167e-05 9.99984183e-01 -2.79078027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.006559995 meters 0.012040793089147886 Centerline is valid? [True, True] Translation: X:10.75, Y:-205.43, Z:-2.79 [[-6.58882444e-01 -7.52233440e-01 4.33327206e-03 1.07539363e+01] [ 7.52218109e-01 -6.58896686e-01 -4.80356323e-03 -2.05428068e+02] [ 6.46857950e-03 9.45822345e-05 9.99979074e-01 -2.79100471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.03655999499995 meters 0.011050147586416042 Centerline is valid? [True, True] Translation: X:10.74, Y:-205.41, Z:-2.79 [[-6.63911323e-01 -7.47794908e-01 4.95280244e-03 1.07381284e+01] [ 7.47774777e-01 -6.63929794e-01 -5.48736858e-03 -2.05405427e+02] [ 7.39173938e-03 6.04546052e-05 9.99972679e-01 -2.79160628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.066559995 meters 0.010743775802183324 Centerline is valid? [True, True] Translation: X:10.72, Y:-205.38, Z:-2.79 [[-6.67180618e-01 -7.44878571e-01 5.09299145e-03 1.07224444e+01] [ 7.44857227e-01 -6.67200056e-01 -5.63895368e-03 -2.05384575e+02] [ 7.59837994e-03 3.13508900e-05 9.99971131e-01 -2.79182989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.09655999499995 meters 0.010613610195884873 Centerline is valid? [True, True] Translation: X:10.71, Y:-205.36, Z:-2.79 [[-6.70643357e-01 -7.41765278e-01 4.66469405e-03 1.07062673e+01] [ 7.41747318e-01 -6.70659580e-01 -5.16185576e-03 -2.05361532e+02] [ 6.95730713e-03 -1.73997074e-06 9.99975798e-01 -2.79061102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.126559995 meters 0.010748145779008214 Centerline is valid? [True, True] Translation: X:10.69, Y:-205.34, Z:-2.79 [[-6.74283036e-01 -7.38459796e-01 4.41780772e-03 1.06900069e+01] [ 7.38443634e-01 -6.74297507e-01 -4.88588646e-03 -2.05338624e+02] [ 6.58694745e-03 -3.21683667e-05 9.99978305e-01 -2.78969639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.15655999499995 meters 0.012635812897272556 Centerline is valid? [True, True] Translation: X:10.68, Y:-205.31, Z:-2.79 [[-6.82054727e-01 -7.31290278e-01 3.98470553e-03 1.06773573e+01] [ 7.31277021e-01 -6.82066361e-01 -4.40426015e-03 -2.05313558e+02] [ 5.93862624e-03 -9.00228618e-05 9.99982362e-01 -2.78915825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.186559995 meters 0.013900371232660169 Centerline is valid? [True, True] Translation: X:10.66, Y:-205.29, Z:-2.79 [[-6.85864704e-01 -7.27719162e-01 3.79852289e-03 1.06613516e+01] [ 7.27707074e-01 -6.85875213e-01 -4.19601910e-03 -2.05290907e+02] [ 5.65883620e-03 -1.13689422e-04 9.99983982e-01 -2.78855515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.21655999499995 meters 0.017094970274694067 Centerline is valid? [True, True] Translation: X:10.65, Y:-205.27, Z:-2.79 [[-6.93043674e-01 -7.20888590e-01 3.17913520e-03 1.06470203e+01] [ 7.20880060e-01 -6.93050951e-01 -3.50974066e-03 -2.05266554e+02] [ 4.73343467e-03 -1.40628391e-04 9.99988787e-01 -2.78768709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.246559995 meters 0.018975093938899235 Centerline is valid? [True, True] Translation: X:10.63, Y:-205.24, Z:-2.79 [[-6.96445859e-01 -7.17603237e-01 2.95971036e-03 1.06302000e+01] [ 7.17595822e-01 -6.96452132e-01 -3.26558793e-03 -2.05244397e+02] [ 4.40469306e-03 -1.50429404e-04 9.99990288e-01 -2.78739653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.27655999499996 meters 0.018892797357571187 Centerline is valid? [True, True] Translation: X:10.61, Y:-205.22, Z:-2.79 [[-6.99431475e-01 -7.14694798e-01 2.63771987e-03 1.06110578e+01] [ 7.14688895e-01 -6.99436433e-01 -2.90867487e-03 -2.05223956e+02] [ 3.92373218e-03 -1.49269659e-04 9.99992291e-01 -2.78671532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.306559995 meters 0.022103675771818564 Centerline is valid? [True, True] Translation: X:10.60, Y:-205.20, Z:-2.79 [[-7.04260713e-01 -7.09934766e-01 3.07836366e-03 1.05958848e+01] [ 7.09926686e-01 -7.04267411e-01 -3.39325010e-03 -2.05202312e+02] [ 4.57697742e-03 -2.04320223e-04 9.99989505e-01 -2.78663987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.33655999499996 meters 0.023437477262485854 Centerline is valid? [True, True] Translation: X:10.58, Y:-205.18, Z:-2.79 [[-7.06127287e-01 -7.08076014e-01 3.55141966e-03 1.05774953e+01] [ 7.08065248e-01 -7.06136174e-01 -3.91255330e-03 -2.05180901e+02] [ 5.27817104e-03 -2.48123804e-04 9.99986040e-01 -2.78662687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.36655999499993 meters 0.022710937410900578 Centerline is valid? [True, True] Translation: X:10.56, Y:-205.16, Z:-2.79 [[-7.08035154e-01 -7.06167002e-01 3.79288612e-03 1.05557044e+01] [ 7.06154708e-01 -7.08045259e-01 -4.17623188e-03 -2.05162752e+02] [ 5.63465218e-03 -2.78554594e-04 9.99984086e-01 -2.78643142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.39655999499996 meters 0.023872808019897426 Centerline is valid? [True, True] Translation: X:10.54, Y:-205.14, Z:-2.79 [[-7.08320356e-01 -7.05877899e-01 4.32037481e-03 1.05372893e+01] [ 7.05861957e-01 -7.08333460e-01 -4.75474342e-03 -2.05143834e+02] [ 6.41653433e-03 -3.18293334e-04 9.99979363e-01 -2.78712384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.42655999499993 meters 0.0217829829845963 Centerline is valid? [True, True] Translation: X:10.51, Y:-205.13, Z:-2.79 [[-7.07898750e-01 -7.06298075e-01 4.73176154e-03 1.05143966e+01] [ 7.06278981e-01 -7.07914481e-01 -5.20457752e-03 -2.05126672e+02] [ 7.02566559e-03 -3.42370200e-04 9.99975261e-01 -2.78732432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.45655999499996 meters 0.021352162195634447 Centerline is valid? [True, True] Translation: X:10.49, Y:-205.11, Z:-2.79 [[-7.07021499e-01 -7.07174131e-01 5.03466168e-03 1.04924816e+01] [ 7.07152561e-01 -7.07039337e-01 -5.53463428e-03 -2.05108286e+02] [ 7.47365405e-03 -3.52831528e-04 9.99972010e-01 -2.78762109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.48655999499994 meters 0.02125941208342437 Centerline is valid? [True, True] Translation: X:10.47, Y:-205.09, Z:-2.79 [[-7.05679318e-01 -7.08512909e-01 5.11438931e-03 1.04717256e+01] [ 7.08490707e-01 -7.05697768e-01 -5.61943308e-03 -2.05090450e+02] [ 7.59065400e-03 -3.42020409e-04 9.99971132e-01 -2.78780746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.51655999499997 meters 0.020015804419865776 Centerline is valid? [True, True] Translation: X:10.45, Y:-205.08, Z:-2.79 [[-7.01546662e-01 -7.12609380e-01 4.48926142e-03 1.04479221e+01] [ 7.12592377e-01 -7.01560977e-01 -4.92953435e-03 -2.05076080e+02] [ 6.66232304e-03 -2.59284900e-04 9.99977773e-01 -2.78740536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.54655999499994 meters 0.017712395753173012 Centerline is valid? [True, True] Translation: X:10.42, Y:-205.06, Z:-2.79 [[-6.99003253e-01 -7.15104808e-01 4.42324474e-03 1.04240858e+01] [ 7.15088369e-01 -6.99017210e-01 -4.85422898e-03 -2.05059996e+02] [ 6.56320668e-03 -2.30110978e-04 9.99978435e-01 -2.78695778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.57655999499997 meters 0.017700196707965143 Centerline is valid? [True, True] Translation: X:10.40, Y:-205.04, Z:-2.79 [[-6.96010929e-01 -7.18018158e-01 4.32573323e-03 1.04028740e+01] [ 7.18002509e-01 -6.96024344e-01 -4.74447277e-03 -2.05042277e+02] [ 6.41743323e-03 -1.96317592e-04 9.99979389e-01 -2.78716790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.60655999499994 meters 0.014092334069137081 Centerline is valid? [True, True] Translation: X:10.37, Y:-205.03, Z:-2.79 [[-6.89306799e-01 -7.24457028e-01 4.26033480e-03 1.03739128e+01] [ 7.24441988e-01 -6.89319952e-01 -4.67001479e-03 -2.05031275e+02] [ 6.31995882e-03 -1.32707531e-04 9.99980020e-01 -2.78721795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.63655999499997 meters 0.01280063486097246 Centerline is valid? [True, True] Translation: X:10.35, Y:-205.02, Z:-2.79 [[-6.85689898e-01 -7.27880185e-01 4.44963393e-03 1.03513722e+01] [ 7.27863864e-01 -6.85704328e-01 -4.87549352e-03 -2.05015842e+02] [ 6.59990837e-03 -1.04348907e-04 9.99978215e-01 -2.78749349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.66655999499994 meters 0.0116279905380315 Centerline is valid? [True, True] Translation: X:10.33, Y:-205.00, Z:-2.79 [[-6.82141980e-01 -7.31205014e-01 4.64173831e-03 1.03275264e+01] [ 7.31187349e-01 -6.82157769e-01 -5.08317702e-03 -2.04999538e+02] [ 6.88324237e-03 -7.34681131e-05 9.99976308e-01 -2.78758504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.696559995 meters 0.010681529273074102 Centerline is valid? [True, True] Translation: X:10.30, Y:-204.99, Z:-2.79 [[-6.75664955e-01 -7.37193411e-01 4.76897456e-03 1.02992718e+01] [ 7.37174924e-01 -6.75681785e-01 -5.22080487e-03 -2.04986280e+02] [ 7.07105219e-03 -1.19464385e-05 9.99975000e-01 -2.78729441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.72655999499995 meters 0.010672107249093623 Centerline is valid? [True, True] Translation: X:10.28, Y:-204.97, Z:-2.79 [[-6.72968502e-01 -7.39653650e-01 5.08667780e-03 1.02768949e+01] [ 7.39632712e-01 -6.72987725e-01 -5.56527587e-03 -2.04969649e+02] [ 7.53964834e-03 1.70179333e-05 9.99971576e-01 -2.78734604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.756559995 meters 0.011052643970768423 Centerline is valid? [True, True] Translation: X:10.25, Y:-204.96, Z:-2.79 [[-6.69083876e-01 -7.43168160e-01 5.27755439e-03 1.02510576e+01] [ 7.43145756e-01 -6.69104687e-01 -5.77087387e-03 -2.04955290e+02] [ 7.81996610e-03 6.07934915e-05 9.99969422e-01 -2.78776282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.78655999499995 meters 0.011270051842904548 Centerline is valid? [True, True] Translation: X:10.23, Y:-204.94, Z:-2.79 [[-6.67971529e-01 -7.44168832e-01 5.17557245e-03 1.02290945e+01] [ 7.44147339e-01 -6.67991575e-01 -5.65618737e-03 -2.04937023e+02] [ 7.66639714e-03 7.32163423e-05 9.99970610e-01 -2.78810972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.816559995 meters 0.011539275539475813 Centerline is valid? [True, True] Translation: X:10.21, Y:-204.92, Z:-2.79 [[-6.67492318e-01 -7.44597659e-01 5.32274980e-03 1.02089610e+01] [ 7.44574963e-01 -6.67513535e-01 -5.81419946e-03 -2.04920229e+02] [ 7.88224685e-03 8.22527567e-05 9.99968931e-01 -2.78874071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.84655999499995 meters 0.011377869230247247 Centerline is valid? [True, True] Translation: X:10.19, Y:-204.90, Z:-2.79 [[-6.68176485e-01 -7.43985227e-01 5.11530688e-03 1.01878129e+01] [ 7.43964271e-01 -6.68196062e-01 -5.58447743e-03 -2.04901865e+02] [ 7.57279662e-03 7.41890563e-05 9.99971323e-01 -2.78916006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.876559995 meters 0.01115733059255928 Centerline is valid? [True, True] Translation: X:10.17, Y:-204.88, Z:-2.79 [[-6.69606831e-01 -7.42698153e-01 5.11321689e-03 1.01690832e+01] [ 7.42677203e-01 -6.69626351e-01 -5.57870789e-03 -2.04882187e+02] [ 7.56724081e-03 6.19287049e-05 9.99971366e-01 -2.78944957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.90655999499995 meters 0.010863928444168341 Centerline is valid? [True, True] Translation: X:10.15, Y:-204.86, Z:-2.79 [[-6.71654265e-01 -7.40846647e-01 5.17631680e-03 1.01506483e+01] [ 7.40825149e-01 -6.71674210e-01 -5.64402779e-03 -2.04861626e+02] [ 7.65815756e-03 4.39103264e-05 9.99970675e-01 -2.78986577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.936559995 meters 0.010863928444168341 Centerline is valid? [True, True] Translation: X:10.13, Y:-204.84, Z:-2.79 [[-6.71884415e-01 -7.40637915e-01 5.17807021e-03 1.01325040e+01] [ 7.40616423e-01 -6.71904366e-01 -5.64241918e-03 -2.04842001e+02] [ 7.65815756e-03 4.39103249e-05 9.99970675e-01 -2.78986594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.96655999499995 meters 0.010585075571271411 Centerline is valid? [True, True] Translation: X:10.12, Y:-204.82, Z:-2.79 [[-6.76851610e-01 -7.36098110e-01 5.60990747e-03 1.01155593e+01] [ 7.36072758e-01 -6.76874857e-01 -6.10919760e-03 -2.04820019e+02] [ 8.29417413e-03 -5.72016826e-06 9.99965603e-01 -2.79032633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.996559995 meters 0.010665392906748863 Centerline is valid? [True, True] Translation: X:10.10, Y:-204.80, Z:-2.79 [[-6.79725396e-01 -7.33445185e-01 5.61652670e-03 1.00973954e+01] [ 7.33419712e-01 -6.79748600e-01 -6.11290006e-03 -2.04798601e+02] [ 8.30130328e-03 -3.58220213e-05 9.99965543e-01 -2.78973893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.02655999499996 meters 0.011793040132878012 Centerline is valid? [True, True] Translation: X:10.08, Y:-204.78, Z:-2.79 [[-6.84892755e-01 -7.28621934e-01 5.65607446e-03 1.00809316e+01] [ 7.28595956e-01 -6.84916103e-01 -6.15343934e-03 -2.04777000e+02] [ 8.35746735e-03 -9.34530464e-05 9.99965071e-01 -2.79065507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.056559995 meters 0.012296353562428962 Centerline is valid? [True, True] Translation: X:10.06, Y:-204.76, Z:-2.79 [[-6.87187718e-01 -7.26455978e-01 5.89501758e-03 1.00623786e+01] [ 7.26427710e-01 -6.87212992e-01 -6.40981827e-03 -2.04755896e+02] [ 8.70758347e-03 -1.22444270e-04 9.99962081e-01 -2.79067094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.08655999499996 meters 0.013278651820085505 Centerline is valid? [True, True] Translation: X:10.04, Y:-204.73, Z:-2.79 [[-6.90544591e-01 -7.23261100e-01 6.44584453e-03 1.00442188e+01] [ 7.23227200e-01 -6.90574652e-01 -7.00482725e-03 -2.04734089e+02] [ 9.51765591e-03 -1.75335475e-04 9.99954691e-01 -2.79141337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.11655999499993 meters 0.01314579002303101 Centerline is valid? [True, True] Translation: X:10.02, Y:-204.71, Z:-2.79 [[-6.91623064e-01 -7.22225455e-01 6.92306948e-03 1.00246367e+01] [ 7.22186338e-01 -6.91657684e-01 -7.51937735e-03 -2.04713488e+02] [ 1.02190799e-02 -2.00828604e-04 9.99947764e-01 -2.79141378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.14655999499996 meters 0.013936443449062554 Centerline is valid? [True, True] Translation: X:10.01, Y:-204.69, Z:-2.79 [[-6.92208888e-01 -7.21659584e-01 7.36888416e-03 1.00063687e+01] [ 7.21615279e-01 -6.92248074e-01 -7.99953621e-03 -2.04692580e+02] [ 1.08740378e-02 -2.19850660e-04 9.99940852e-01 -2.79233989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.17655999499993 meters 0.013743442345485931 Centerline is valid? [True, True] Translation: X:9.99, Y:-204.67, Z:-2.79 [[-6.92564821e-01 -7.21314814e-01 7.67507403e-03 9.98686773e+00] [ 7.21266783e-01 -6.92607309e-01 -8.32724863e-03 -2.04672886e+02] [ 1.13223802e-02 -2.31383510e-04 9.99935873e-01 -2.79234123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.20655999499996 meters 0.013550152461311965 Centerline is valid? [True, True] Translation: X:9.97, Y:-204.65, Z:-2.79 [[-6.92577382e-01 -7.21299702e-01 7.95678922e-03 9.96715358e+00] [ 7.21248135e-01 -6.92623047e-01 -8.62801496e-03 -2.04653227e+02] [ 1.17344402e-02 -2.36748626e-04 9.99931121e-01 -2.79225961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.23655999499994 meters 0.013875981428306474 Centerline is valid? [True, True] Translation: X:9.95, Y:-204.63, Z:-2.79 [[-6.91735846e-01 -7.22103443e-01 8.25450248e-03 9.94774325e+00] [ 7.22048066e-01 -6.91785057e-01 -8.94567072e-03 -2.04634591e+02] [ 1.21700411e-02 -2.27893551e-04 9.99925916e-01 -2.79295523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.26655999499997 meters 0.013418263972874375 Centerline is valid? [True, True] Translation: X:9.93, Y:-204.62, Z:-2.79 [[-6.91220376e-01 -7.22598121e-01 8.14541950e-03 9.92763455e+00] [ 7.22544291e-01 -6.91268335e-01 -8.82254209e-03 -2.04615525e+02] [ 1.20058229e-02 -2.12894505e-04 9.99927905e-01 -2.79239490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.29655999499994 meters 0.012825401594372307 Centerline is valid? [True, True] Translation: X:9.91, Y:-204.60, Z:-2.79 [[-6.90301140e-01 -7.23477756e-01 8.01698044e-03 9.90722623e+00] [ 7.23425724e-01 -6.90347666e-01 -8.67884531e-03 -2.04595592e+02] [ 1.18134553e-02 -1.91326941e-04 9.99930200e-01 -2.79133878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.32655999499997 meters 0.012314497665129409 Centerline is valid? [True, True] Translation: X:9.89, Y:-204.58, Z:-2.79 [[-6.88184053e-01 -7.25500138e-01 7.22906080e-03 9.88675829e+00] [ 7.25457989e-01 -6.88222007e-01 -7.82150686e-03 -2.04576980e+02] [ 1.06497030e-02 -1.38256381e-04 9.99943281e-01 -2.79005435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.35655999499994 meters 0.01219912703543006 Centerline is valid? [True, True] Translation: X:9.87, Y:-204.56, Z:-2.79 [[-6.87048510e-01 -7.26580752e-01 6.68997866e-03 9.86793977e+00] [ 7.26544752e-01 -6.87081072e-01 -7.23351211e-03 -2.04558758e+02] [ 9.85228838e-03 -1.09204831e-04 9.99951459e-01 -2.79001295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.38655999499997 meters 0.011710056635494615 Centerline is valid? [True, True] Translation: X:9.85, Y:-204.54, Z:-2.79 [[-6.85602936e-01 -7.27950024e-01 6.11369274e-03 9.84859235e+00] [ 7.27920052e-01 -6.85630190e-01 -6.60618844e-03 -2.04541245e+02] [ 9.00070735e-03 -7.89426543e-05 9.99959490e-01 -2.78972615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.41655999499994 meters 0.010729565920268037 Centerline is valid? [True, True] Translation: X:9.83, Y:-204.52, Z:-2.79 [[-6.81660283e-01 -7.31648013e-01 5.51762537e-03 9.82519459e+00] [ 7.31623747e-01 -6.81682613e-01 -5.95885626e-03 -2.04524247e+02] [ 8.12105462e-03 -2.50898882e-05 9.99967023e-01 -2.78825789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.446559995 meters 0.0106999491600002 Centerline is valid? [True, True] Translation: X:9.80, Y:-204.51, Z:-2.79 [[-6.79228545e-01 -7.33907188e-01 5.36874280e-03 9.80430857e+00] [ 7.33884310e-01 -6.79249762e-01 -5.79479867e-03 -2.04505462e+02] [ 7.89956167e-03 4.04343770e-06 9.99968798e-01 -2.78852207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.47655999499995 meters 0.010799608598731789 Centerline is valid? [True, True] Translation: X:9.78, Y:-204.49, Z:-2.79 [[-6.76806903e-01 -7.36140952e-01 5.37718306e-03 9.78315213e+00] [ 7.36118099e-01 -6.76828263e-01 -5.80060095e-03 -2.04486372e+02] [ 7.90948938e-03 3.23550050e-05 9.99968719e-01 -2.78840149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.506559995 meters 0.011732462339551707 Centerline is valid? [True, True] Translation: X:9.76, Y:-204.47, Z:-2.79 [[-6.71459999e-01 -7.41019074e-01 5.67465185e-03 9.76110053e+00] [ 7.40993826e-01 -6.71483970e-01 -6.11781309e-03 -2.04469751e+02] [ 8.34385395e-03 9.70152160e-05 9.99965185e-01 -2.78886984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.53655999499995 meters 0.012735302459012277 Centerline is valid? [True, True] Translation: X:9.74, Y:-204.45, Z:-2.79 [[-6.68832497e-01 -7.43390481e-01 5.80376053e-03 9.74054989e+00] [ 7.43364182e-01 -6.68857664e-01 -6.25444492e-03 -2.04451798e+02] [ 8.53138453e-03 1.31131692e-04 9.99963599e-01 -2.78935047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.566559995 meters 0.013505235968213729 Centerline is valid? [True, True] Translation: X:9.72, Y:-204.43, Z:-2.79 [[-6.66559367e-01 -7.45429848e-01 5.74032378e-03 9.72016475e+00] [ 7.45404225e-01 -6.66584066e-01 -6.18262400e-03 -2.04432603e+02] [ 8.43512083e-03 1.57775651e-04 9.99964411e-01 -2.78940300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.59655999499995 meters 0.015283404923084488 Centerline is valid? [True, True] Translation: X:9.70, Y:-204.41, Z:-2.79 [[-6.62811100e-01 -7.48759670e-01 6.35623050e-03 9.69919613e+00] [ 7.48728442e-01 -6.62841539e-01 -6.84214592e-03 -2.04414167e+02] [ 9.33629653e-03 2.24040293e-04 9.99956391e-01 -2.78953211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.626559995 meters 0.016628407102998333 Centerline is valid? [True, True] Translation: X:9.68, Y:-204.40, Z:-2.79 [[-6.61628297e-01 -7.49805604e-01 6.28906091e-03 9.67974628e+00] [ 7.49775115e-01 -6.61658144e-01 -6.76587529e-03 -2.04395740e+02] [ 9.23429957e-03 2.38886822e-04 9.99957334e-01 -2.78996373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.65655999499995 meters 0.01635615486295079 Centerline is valid? [True, True] Translation: X:9.66, Y:-204.37, Z:-2.79 [[-6.60750275e-01 -7.50579059e-01 6.33647073e-03 9.66177162e+00] [ 7.50548180e-01 -6.60780608e-01 -6.81307944e-03 -2.04374035e+02] [ 9.30077173e-03 2.54082454e-04 9.99956715e-01 -2.78948713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.686559995 meters 0.016734488230145565 Centerline is valid? [True, True] Translation: X:9.64, Y:-204.35, Z:-2.79 [[-6.60482208e-01 -7.50816228e-01 6.18428762e-03 9.64333026e+00] [ 7.50786862e-01 -6.60511111e-01 -6.64529996e-03 -2.04353615e+02] [ 9.07418974e-03 2.53979511e-04 9.99958796e-01 -2.78963752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.71655999499995 meters 0.01694309414722176 Centerline is valid? [True, True] Translation: X:9.63, Y:-204.33, Z:-2.79 [[-6.60620227e-01 -7.50695434e-01 6.10580128e-03 9.62639360e+00] [ 7.50666841e-01 -6.60648395e-01 -6.55688827e-03 -2.04331618e+02] [ 8.95601390e-03 2.51809541e-04 9.99959862e-01 -2.78926539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.746559995 meters 0.01644337257353338 Centerline is valid? [True, True] Translation: X:9.61, Y:-204.31, Z:-2.79 [[-6.60935439e-01 -7.50417316e-01 6.18042238e-03 9.60938377e+00] [ 7.50388045e-01 -6.60964286e-01 -6.63283354e-03 -2.04309706e+02] [ 9.06243161e-03 2.53840322e-04 9.99958903e-01 -2.78911062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.77655999499996 meters 0.016803011428743457 Centerline is valid? [True, True] Translation: X:9.59, Y:-204.29, Z:-2.79 [[-6.61573639e-01 -7.49853449e-01 6.33451237e-03 9.59247696e+00] [ 7.49822716e-01 -6.61603915e-01 -6.79371027e-03 -2.04289888e+02] [ 9.28522525e-03 2.55221645e-04 9.99956859e-01 -2.78988056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.806559995 meters 0.015924669862744784 Centerline is valid? [True, True] Translation: X:9.58, Y:-204.27, Z:-2.79 [[-6.63262631e-01 -7.48350259e-01 7.38724485e-03 9.57813403e+00] [ 7.48308417e-01 -6.63303711e-01 -7.91836432e-03 -2.04265392e+02] [ 1.08256969e-02 2.75982339e-04 9.99941362e-01 -2.79098108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.83655999499996 meters 0.01577663519127527 Centerline is valid? [True, True] Translation: X:9.56, Y:-204.24, Z:-2.79 [[-6.64299729e-01 -7.47426101e-01 7.75205866e-03 9.56183136e+00] [ 7.47380018e-01 -6.64344901e-01 -8.30425827e-03 -2.04243527e+02] [ 1.13568600e-02 2.77217230e-04 9.99935470e-01 -2.79153305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.86655999499993 meters 0.0147872823768782 Centerline is valid? [True, True] Translation: X:9.55, Y:-204.22, Z:-2.79 [[-6.65194079e-01 -7.46626243e-01 8.12962203e-03 9.54625458e+00] [ 7.46575561e-01 -6.65243696e-01 -8.70380479e-03 -2.04219843e+02] [ 1.19066689e-02 2.79657714e-04 9.99929074e-01 -2.79096927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.89655999499996 meters 0.014628062330488814 Centerline is valid? [True, True] Translation: X:9.53, Y:-204.20, Z:-2.79 [[-6.66559873e-01 -7.45404922e-01 8.33296550e-03 9.53230763e+00] [ 7.45351639e-01 -6.66611905e-01 -8.91645154e-03 -2.04195904e+02] [ 1.22012209e-02 2.67640684e-04 9.99925527e-01 -2.79049322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.92655999499993 meters 0.014283946010247147 Centerline is valid? [True, True] Translation: X:9.52, Y:-204.17, Z:-2.79 [[-6.67035309e-01 -7.44978649e-01 8.40886053e-03 9.51545727e+00] [ 7.44924420e-01 -6.67088256e-01 -8.99259115e-03 -2.04173301e+02] [ 1.23087405e-02 2.65589734e-04 9.99924209e-01 -2.78970661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.95655999499996 meters 0.014723378574100651 Centerline is valid? [True, True] Translation: X:9.50, Y:-204.15, Z:-2.79 [[-6.67480966e-01 -7.44580304e-01 8.32655870e-03 9.49844031e+00] [ 7.44527172e-01 -6.67532849e-01 -8.89867040e-03 -2.04152825e+02] [ 1.21840262e-02 2.59656084e-04 9.99925738e-01 -2.78978610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.98655999499994 meters 0.014109490154403112 Centerline is valid? [True, True] Translation: X:9.48, Y:-204.13, Z:-2.79 [[-6.67723609e-01 -7.44365528e-01 8.07113215e-03 9.48389388e+00] [ 7.44315648e-01 -6.67772340e-01 -8.62082416e-03 -2.04127559e+02] [ 1.18067231e-02 2.51142140e-04 9.99930267e-01 -2.78844459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.01655999499997 meters 0.0142852141996312 Centerline is valid? [True, True] Translation: X:9.47, Y:-204.11, Z:-2.79 [[-6.67909600e-01 -7.44198353e-01 8.09801982e-03 9.46765169e+00] [ 7.44148189e-01 -6.67958642e-01 -8.64438923e-03 -2.04106170e+02] [ 1.18422826e-02 2.52456238e-04 9.99929846e-01 -2.78853660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.04655999499994 meters 0.013952655892485896 Centerline is valid? [True, True] Translation: X:9.45, Y:-204.08, Z:-2.79 [[-6.68061727e-01 -7.44060388e-01 8.22600482e-03 9.45101315e+00] [ 7.44008675e-01 -6.68112320e-01 -8.77601195e-03 -2.04082800e+02] [ 1.20257780e-02 2.57301243e-04 9.99927655e-01 -2.78824228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.07655999499997 meters 0.014393790586887589 Centerline is valid? [True, True] Translation: X:9.44, Y:-204.06, Z:-2.79 [[-6.68277176e-01 -7.43863117e-01 8.56033716e-03 9.43654567e+00] [ 7.43807167e-01 -6.68331947e-01 -9.12722346e-03 -2.04059560e+02] [ 1.25105517e-02 2.67725017e-04 9.99921704e-01 -2.78872120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.10655999499994 meters 0.014516197826125588 Centerline is valid? [True, True] Translation: X:9.42, Y:-204.04, Z:-2.79 [[-6.68355545e-01 -7.43790097e-01 8.78386834e-03 9.42005496e+00] [ 7.43731257e-01 -6.68413206e-01 -9.35970105e-03 -2.04037777e+02] [ 1.28329066e-02 2.77229341e-04 9.99917616e-01 -2.78895235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.13655999499997 meters 0.014478765921802887 Centerline is valid? [True, True] Translation: X:9.40, Y:-204.02, Z:-2.79 [[-6.68432161e-01 -7.43716990e-01 9.13701188e-03 9.40350612e+00] [ 7.43653397e-01 -6.68494543e-01 -9.72987513e-03 -2.04015666e+02] [ 1.33443160e-02 2.91008468e-04 9.99910918e-01 -2.78914880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.16655999499994 meters 0.01495711804613291 Centerline is valid? [True, True] Translation: X:9.39, Y:-203.99, Z:-2.79 [[-6.68418694e-01 -7.43721148e-01 9.76238269e-03 9.38642335e+00] [ 7.43648639e-01 -6.68489907e-01 -1.03896966e-02 -2.03994082e+02] [ 1.42530913e-02 3.15115202e-04 9.99898370e-01 -2.78988476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.196559995 meters 0.014325688281783905 Centerline is valid? [True, True] Translation: X:9.37, Y:-203.97, Z:-2.79 [[-6.68378275e-01 -7.43756447e-01 9.84013333e-03 9.37280307e+00] [ 7.43682868e-01 -6.68450629e-01 -1.04665246e-02 -2.03968273e+02] [ 1.43621884e-02 3.22340947e-04 9.99896807e-01 -2.78850129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.22655999499995 meters 0.014556185667234758 Centerline is valid? [True, True] Translation: X:9.36, Y:-203.95, Z:-2.79 [[-6.68584549e-01 -7.43573621e-01 9.64211388e-03 9.35601485e+00] [ 7.43503036e-01 -6.68653999e-01 -1.02501485e-02 -2.03946151e+02] [ 1.40689781e-02 3.15849993e-04 9.99900977e-01 -2.78827789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.256559995 meters 0.014733502085852532 Centerline is valid? [True, True] Translation: X:9.34, Y:-203.92, Z:-2.79 [[-6.68471108e-01 -7.43676609e-01 9.56448212e-03 9.33907544e+00] [ 7.43607256e-01 -6.68539452e-01 -1.01612186e-02 -2.03924088e+02] [ 1.39508942e-02 3.19737266e-04 9.99902630e-01 -2.78773953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.28655999499995 meters 0.015104316459802362 Centerline is valid? [True, True] Translation: X:9.32, Y:-203.90, Z:-2.79 [[-6.67430901e-01 -7.44610701e-01 9.53397831e-03 9.32294544e+00] [ 7.44541964e-01 -6.67498904e-01 -1.01231123e-02 -2.03900841e+02] [ 1.39016978e-02 3.41969001e-04 9.99903308e-01 -2.78719972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.316559995 meters 0.01575049147977219 Centerline is valid? [True, True] Translation: X:9.31, Y:-203.88, Z:-2.79 [[-6.66842872e-01 -7.45136536e-01 9.59834267e-03 9.30516971e+00] [ 7.45067006e-01 -6.66911849e-01 -1.01854063e-02 -2.03880708e+02] [ 1.39907668e-02 3.59342835e-04 9.99902060e-01 -2.78788396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.34655999499995 meters 0.016212793915060822 Centerline is valid? [True, True] Translation: X:9.29, Y:-203.86, Z:-2.79 [[-6.66197987e-01 -7.45710965e-01 9.76718384e-03 9.28713892e+00] [ 7.45639112e-01 -6.66269473e-01 -1.03588122e-02 -2.03859620e+02] [ 1.42322563e-02 3.81774450e-04 9.99898643e-01 -2.78830594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.376559995 meters 0.01749185119243407 Centerline is valid? [True, True] Translation: X:9.27, Y:-203.84, Z:-2.79 [[-6.64850077e-01 -7.46908340e-01 1.01146908e-02 9.27118989e+00] [ 7.46831492e-01 -6.64926876e-01 -1.07225133e-02 -2.03837975e+02] [ 1.47342644e-02 4.25105800e-04 9.99891355e-01 -2.78912828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.40655999499995 meters 0.017566168843884056 Centerline is valid? [True, True] Translation: X:9.25, Y:-203.82, Z:-2.79 [[-6.64509182e-01 -7.47206055e-01 1.05194278e-02 9.25437072e+00] [ 7.47123071e-01 -6.64592285e-01 -1.11450249e-02 -2.03815944e+02] [ 1.53187607e-02 4.53335849e-04 9.99882558e-01 -2.78868209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.436559995 meters 0.018360234198839833 Centerline is valid? [True, True] Translation: X:9.24, Y:-203.80, Z:-2.79 [[-6.64449878e-01 -7.47257522e-01 1.06092406e-02 9.23754764e+00] [ 7.47173234e-01 -6.64534409e-01 -1.12328651e-02 -2.03796095e+02] [ 1.54440484e-02 4.63264772e-04 9.99880626e-01 -2.78899203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.46655999499995 meters 0.01767536102126957 Centerline is valid? [True, True] Translation: X:9.22, Y:-203.77, Z:-2.79 [[-6.64586865e-01 -7.47136510e-01 1.05515049e-02 9.22152950e+00] [ 7.47053229e-01 -6.64670461e-01 -1.11647788e-02 -2.03773773e+02] [ 1.53548875e-02 4.62570488e-04 9.99882000e-01 -2.78814850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.496559995 meters 0.01639717997124559 Centerline is valid? [True, True] Translation: X:9.21, Y:-203.75, Z:-2.79 [[-6.65049116e-01 -7.46723848e-01 1.06380454e-02 9.20734364e+00] [ 7.46639241e-01 -6.65134034e-01 -1.12499260e-02 -2.03748423e+02] [ 1.54763141e-02 4.61028792e-04 9.99880128e-01 -2.78683718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.52655999499996 meters 0.018222903349535483 Centerline is valid? [True, True] Translation: X:9.19, Y:-203.73, Z:-2.79 [[-6.65600473e-01 -7.46234195e-01 1.05136427e-02 9.18841326e+00] [ 7.46151566e-01 -6.65683353e-01 -1.11137305e-02 -2.03729023e+02] [ 1.52922027e-02 4.47466665e-04 9.99882967e-01 -2.78797957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.556559995 meters 0.016972671990839842 Centerline is valid? [True, True] Translation: X:9.17, Y:-203.71, Z:-2.79 [[-6.66407179e-01 -7.45517563e-01 1.02486240e-02 9.17264197e+00] [ 7.45439063e-01 -6.66485846e-01 -1.08268262e-02 -2.03705970e+02] [ 1.49021520e-02 4.24649980e-04 9.99888867e-01 -2.78676924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.58655999499996 meters 0.016149402467023097 Centerline is valid? [True, True] Translation: X:9.16, Y:-203.68, Z:-2.79 [[-6.67374381e-01 -7.44659695e-01 9.66302200e-03 9.15611263e+00] [ 7.44589901e-01 -6.67444222e-01 -1.02024514e-02 -2.03682613e+02] [ 1.40468826e-02 3.86133892e-04 9.99901263e-01 -2.78587719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.61655999499993 meters 0.016740538309577512 Centerline is valid? [True, True] Translation: X:9.14, Y:-203.66, Z:-2.79 [[-6.69885432e-01 -7.42402298e-01 9.60912249e-03 9.14090121e+00] [ 7.42333123e-01 -6.69954261e-01 -1.01401689e-02 -2.03659598e+02] [ 1.39657572e-02 3.40418483e-04 9.99902416e-01 -2.78641766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.64655999499996 meters 0.015776878540980737 Centerline is valid? [True, True] Translation: X:9.12, Y:-203.64, Z:-2.79 [[-6.71563877e-01 -7.40879879e-01 9.94806046e-03 9.12493604e+00] [ 7.40805652e-01 -6.71637476e-01 -1.04921980e-02 -2.03636204e+02] [ 1.44549486e-02 3.23398220e-04 9.99895470e-01 -2.78589610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.67655999499993 meters 0.014225396761215946 Centerline is valid? [True, True] Translation: X:9.11, Y:-203.61, Z:-2.79 [[-6.73479738e-01 -7.39133087e-01 1.03596170e-02 9.10919306e+00] [ 7.39052475e-01 -6.73559343e-01 -1.09202210e-02 -2.03611914e+02] [ 1.50493135e-02 3.01752972e-04 9.99886707e-01 -2.78544125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.70655999499996 meters 0.013014110080377271 Centerline is valid? [True, True] Translation: X:9.10, Y:-203.59, Z:-2.79 [[-6.77110784e-01 -7.35800484e-01 1.08919157e-02 9.09549930e+00] [ 7.35711036e-01 -6.77198337e-01 -1.14753491e-02 -2.03585501e+02] [ 1.58195547e-02 2.43219923e-04 9.99874833e-01 -2.78585654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.73655999499994 meters 0.012689899169450325 Centerline is valid? [True, True] Translation: X:9.08, Y:-203.56, Z:-2.79 [[-6.79124753e-01 -7.33939563e-01 1.10583661e-02 9.07994633e+00] [ 7.33847203e-01 -6.79214749e-01 -1.16451084e-02 -2.03563839e+02] [ 1.60578111e-02 2.06669623e-04 9.99871044e-01 -2.78636397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.76655999499997 meters 0.01233461466007108 Centerline is valid? [True, True] Translation: X:9.06, Y:-203.54, Z:-2.79 [[-6.80955157e-01 -7.32237414e-01 1.13332620e-02 9.06385748e+00] [ 7.32140288e-01 -6.81049439e-01 -1.19273151e-02 -2.03541275e+02] [ 1.64521380e-02 1.75570972e-04 9.99864639e-01 -2.78640485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.79655999499994 meters 0.011457782605871583 Centerline is valid? [True, True] Translation: X:9.05, Y:-203.52, Z:-2.78 [[-6.83616695e-01 -7.29750583e-01 1.15021786e-02 9.04936380e+00] [ 7.29650300e-01 -6.83713442e-01 -1.20982821e-02 -2.03516412e+02] [ 1.66929225e-02 1.21980460e-04 9.99860656e-01 -2.78458312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.82655999499997 meters 0.011557469997591009 Centerline is valid? [True, True] Translation: X:9.03, Y:-203.50, Z:-2.78 [[-6.83316939e-01 -7.30040936e-01 1.08716248e-02 9.03082506e+00] [ 7.29951504e-01 -6.83403406e-01 -1.14274932e-02 -2.03498317e+02] [ 1.57722432e-02 1.27159175e-04 9.99875602e-01 -2.78437880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.85655999499994 meters 0.011557469997591009 Centerline is valid? [True, True] Translation: X:9.01, Y:-203.48, Z:-2.78 [[-6.83543592e-01 -7.29828671e-01 1.08751730e-02 9.01229737e+00] [ 7.29739265e-01 -6.83630087e-01 -1.14241165e-02 -2.03478999e+02] [ 1.57722432e-02 1.27159057e-04 9.99875602e-01 -2.78437896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.88655999499997 meters 0.01226127736734622 Centerline is valid? [True, True] Translation: X:8.99, Y:-203.46, Z:-2.79 [[-6.82244924e-01 -7.31047341e-01 1.05664217e-02 8.99233381e+00] [ 7.30963196e-01 -6.82326726e-01 -1.10925519e-02 -2.03461521e+02] [ 1.53189325e-02 1.55828110e-04 9.99882646e-01 -2.78520902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.91655999499994 meters 0.011980418773531974 Centerline is valid? [True, True] Translation: X:8.97, Y:-203.44, Z:-2.78 [[-6.81370640e-01 -7.31856518e-01 1.09584156e-02 8.97307194e+00] [ 7.31766222e-01 -6.81458731e-01 -1.14975900e-02 -2.03440785e+02] [ 1.58822942e-02 1.84878154e-04 9.99873851e-01 -2.78347213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.946559995 meters 0.012159365347444046 Centerline is valid? [True, True] Translation: X:8.95, Y:-203.42, Z:-2.78 [[-6.80802834e-01 -7.32382053e-01 1.11368780e-02 8.95320735e+00] [ 7.32288968e-01 -6.80893888e-01 -1.16782358e-02 -2.03420875e+02] [ 1.61359625e-02 2.04836925e-04 9.99869786e-01 -2.78360009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.97655999499995 meters 0.013984303251540842 Centerline is valid? [True, True] Translation: X:8.93, Y:-203.40, Z:-2.79 [[-6.79650865e-01 -7.33437177e-01 1.20253514e-02 8.93183527e+00] [ 7.33328941e-01 -6.79757195e-01 -1.26023855e-02 -2.03403707e+02] [ 1.74173772e-02 2.53315941e-04 9.99848274e-01 -2.78744274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.006559995 meters 0.012508917492015091 Centerline is valid? [True, True] Translation: X:8.91, Y:-203.38, Z:-2.78 [[-6.79315338e-01 -7.33741262e-01 1.24270914e-02 8.91437909e+00] [ 7.33625858e-01 -6.79428941e-01 -1.30159501e-02 -2.03381407e+02] [ 1.79936652e-02 2.74901019e-04 9.99838063e-01 -2.78412952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.03655999499995 meters 0.013226498901103752 Centerline is valid? [True, True] Translation: X:8.89, Y:-203.36, Z:-2.79 [[-6.79190496e-01 -7.33851779e-01 1.27215216e-02 8.89437659e+00] [ 7.33731009e-01 -6.79309563e-01 -1.33163029e-02 -2.03363251e+02] [ 1.84140438e-02 2.89868521e-04 9.99830405e-01 -2.78563025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.066559995 meters 0.013285890215143814 Centerline is valid? [True, True] Translation: X:8.87, Y:-203.34, Z:-2.79 [[-6.78970860e-01 -7.34051354e-01 1.29298534e-02 8.87486028e+00] [ 7.33926790e-01 -6.79093893e-01 -1.35259159e-02 -2.03343834e+02] [ 1.87093013e-02 3.05863029e-04 9.99824919e-01 -2.78549023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.09655999499995 meters 0.013388807245234531 Centerline is valid? [True, True] Translation: X:8.85, Y:-203.33, Z:-2.78 [[-6.78786286e-01 -7.34219531e-01 1.30712960e-02 8.85491013e+00] [ 7.34092421e-01 -6.78912055e-01 -1.36652714e-02 -2.03325314e+02] [ 1.89075696e-02 3.19740523e-04 9.99821185e-01 -2.78480682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.126559995 meters 0.014311576798425181 Centerline is valid? [True, True] Translation: X:8.84, Y:-203.31, Z:-2.79 [[-6.78883219e-01 -7.34131199e-01 1.29983856e-02 8.83508524e+00] [ 7.34005611e-01 -6.79007570e-01 -1.35824325e-02 -2.03307706e+02] [ 1.87972897e-02 3.20002429e-04 9.99823264e-01 -2.78618697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.15655999499995 meters 0.013525242845516873 Centerline is valid? [True, True] Translation: X:8.82, Y:-203.29, Z:-2.78 [[-6.79268755e-01 -7.33775911e-01 1.29178888e-02 8.81716471e+00] [ 7.33651966e-01 -6.79391503e-01 -1.34899599e-02 -2.03287721e+02] [ 1.86749115e-02 3.13926199e-04 9.99825559e-01 -2.78437033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.186559995 meters 0.013499845013915079 Centerline is valid? [True, True] Translation: X:8.80, Y:-203.27, Z:-2.78 [[-6.79738947e-01 -7.33342181e-01 1.28144122e-02 8.79847894e+00] [ 7.33220290e-01 -6.79859656e-01 -1.33736213e-02 -2.03268447e+02] [ 1.85194426e-02 3.05215775e-04 9.99828454e-01 -2.78372774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.21655999499995 meters 0.013310654514483692 Centerline is valid? [True, True] Translation: X:8.78, Y:-203.25, Z:-2.78 [[-6.80569512e-01 -7.32583373e-01 1.21136704e-02 8.77949255e+00] [ 7.32474451e-01 -6.80677256e-01 -1.26353658e-02 -2.03248067e+02] [ 1.75019589e-02 2.73709343e-04 9.99846792e-01 -2.78231376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.246559995 meters 0.012968627736937022 Centerline is valid? [True, True] Translation: X:8.76, Y:-203.23, Z:-2.78 [[-6.81267999e-01 -7.31935083e-01 1.20394322e-02 8.76147010e+00] [ 7.31827526e-01 -6.81374322e-01 -1.25501240e-02 -2.03228136e+02] [ 1.73892360e-02 2.60790073e-04 9.99848762e-01 -2.78127868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.27655999499996 meters 0.01310656095628714 Centerline is valid? [True, True] Translation: X:8.74, Y:-203.21, Z:-2.78 [[-6.82118680e-01 -7.31154605e-01 1.12716472e-02 8.74289590e+00] [ 7.31060347e-01 -6.82211764e-01 -1.17421215e-02 -2.03209395e+02] [ 1.62749565e-02 2.30733876e-04 9.99867528e-01 -2.78143254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.306559995 meters 0.012581526162758764 Centerline is valid? [True, True] Translation: X:8.72, Y:-203.19, Z:-2.78 [[-6.83963195e-01 -7.29438740e-01 1.06522923e-02 8.72311639e+00] [ 7.29354435e-01 -6.84046117e-01 -1.10913080e-02 -2.03188733e+02] [ 1.53770889e-02 1.83250188e-04 9.99881749e-01 -2.78090939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.33655999499996 meters 0.012202792802751777 Centerline is valid? [True, True] Translation: X:8.70, Y:-203.17, Z:-2.78 [[-6.84840141e-01 -7.28618826e-01 1.04204951e-02 8.70488881e+00] [ 7.28538157e-01 -6.84919396e-01 -1.08432167e-02 -2.03168730e+02] [ 1.50377710e-02 1.65858273e-04 9.99886913e-01 -2.78018259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.36655999499993 meters 0.012128161216432941 Centerline is valid? [True, True] Translation: X:8.69, Y:-203.15, Z:-2.78 [[-6.85861369e-01 -7.27660126e-01 1.02432202e-02 8.68599640e+00] [ 7.27582168e-01 -6.85937840e-01 -1.06521738e-02 -2.03148551e+02] [ 1.47773745e-02 1.46869830e-04 9.99890798e-01 -2.78040423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.39655999499996 meters 0.011888670575762886 Centerline is valid? [True, True] Translation: X:8.67, Y:-203.13, Z:-2.78 [[-6.86625581e-01 -7.26938738e-01 1.02655954e-02 8.66731377e+00] [ 7.26860458e-01 -6.86702303e-01 -1.06687471e-02 -2.03128158e+02] [ 1.48049336e-02 1.36220693e-04 9.99890392e-01 -2.77962795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.42655999499993 meters 0.011980421695340488 Centerline is valid? [True, True] Translation: X:8.65, Y:-203.11, Z:-2.78 [[-6.87566304e-01 -7.26040447e-01 1.08556947e-02 8.64943197e+00] [ 7.25952912e-01 -6.87651985e-01 -1.12746114e-02 -2.03108352e+02] [ 1.56507639e-02 1.28680280e-04 9.99877511e-01 -2.77995675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.45655999499996 meters 0.01209067842574553 Centerline is valid? [True, True] Translation: X:8.63, Y:-203.09, Z:-2.78 [[-6.88041876e-01 -7.25581446e-01 1.13991805e-02 8.63099452e+00] [ 7.25484990e-01 -6.88136286e-01 -1.18313583e-02 -2.03089172e+02] [ 1.64288038e-02 1.29464414e-04 9.99865030e-01 -2.78065745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.48655999499994 meters 0.012491397927233087 Centerline is valid? [True, True] Translation: X:8.61, Y:-203.07, Z:-2.78 [[-6.88477794e-01 -7.25161507e-01 1.17947672e-02 8.61223134e+00] [ 7.25058312e-01 -6.88578806e-01 -1.22340616e-02 -2.03070446e+02] [ 1.69932972e-02 1.29014264e-04 9.99855595e-01 -2.78260818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.51655999499997 meters 0.012031667327056317 Centerline is valid? [True, True] Translation: X:8.59, Y:-203.05, Z:-2.78 [[-6.88592155e-01 -7.25041770e-01 1.24609768e-02 8.59317764e+00] [ 7.24926697e-01 -6.88704881e-01 -1.29178313e-02 -2.03049705e+02] [ 1.79479028e-02 1.38177420e-04 9.99838914e-01 -2.78083550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.54655999499994 meters 0.012283077452182949 Centerline is valid? [True, True] Translation: X:8.57, Y:-203.03, Z:-2.78 [[-6.88119270e-01 -7.25472237e-01 1.34871910e-02 8.57257498e+00] [ 7.25337664e-01 -6.88251412e-01 -1.39738303e-02 -2.03030619e+02] [ 1.94202042e-02 1.67105702e-04 9.99811396e-01 -2.78247135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.57655999499997 meters 0.012314713732196421 Centerline is valid? [True, True] Translation: X:8.55, Y:-203.01, Z:-2.78 [[-6.88130534e-01 -7.25447062e-01 1.42452888e-02 8.55260956e+00] [ 7.25297100e-01 -6.88277943e-01 -1.47509282e-02 -2.03010409e+02] [ 2.05057355e-02 1.81502554e-04 9.99789719e-01 -2.78273530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.60655999499994 meters 0.013171277827205605 Centerline is valid? [True, True] Translation: X:8.53, Y:-202.99, Z:-2.79 [[-6.88656585e-01 -7.24935464e-01 1.48553370e-02 8.53306255e+00] [ 7.24772458e-01 -6.88816769e-01 -1.53734544e-02 -2.02991165e+02] [ 2.13773675e-02 1.79708526e-04 9.99771462e-01 -2.78681177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.63655999499997 meters 0.01253956935780079 Centerline is valid? [True, True] Translation: X:8.52, Y:-202.97, Z:-2.78 [[-6.89617276e-01 -7.24015055e-01 1.51727430e-02 8.51524367e+00] [ 7.23844999e-01 -6.89784150e-01 -1.56921524e-02 -2.02969995e+02] [ 2.18272722e-02 1.61134764e-04 9.99761744e-01 -2.78441848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.66655999499994 meters 0.012584865996715287 Centerline is valid? [True, True] Translation: X:8.50, Y:-202.95, Z:-2.79 [[-6.90891552e-01 -7.22801435e-01 1.50648478e-02 8.49749658e+00] [ 7.22633708e-01 -6.91055765e-01 -1.55709399e-02 -2.02949952e+02] [ 2.16653476e-02 1.28536018e-04 9.99765271e-01 -2.78515882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.696559995 meters 0.012071666006035311 Centerline is valid? [True, True] Translation: X:8.48, Y:-202.93, Z:-2.78 [[-6.92408743e-01 -7.21357758e-01 1.45985734e-02 8.47991781e+00] [ 7.21200119e-01 -6.92562617e-01 -1.50801132e-02 -2.02928326e+02] [ 2.09885828e-02 8.68906170e-05 9.99779712e-01 -2.78329145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.72655999499995 meters 0.011819676898882773 Centerline is valid? [True, True] Translation: X:8.46, Y:-202.91, Z:-2.78 [[-6.93789479e-01 -7.20032806e-01 1.44539992e-02 8.46195514e+00] [ 7.19878163e-01 -6.93940023e-01 -1.49222885e-02 -2.02906305e+02] [ 2.07747458e-02 5.21916073e-05 9.99784180e-01 -2.78143585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.756559995 meters 0.011963492304427245 Centerline is valid? [True, True] Translation: X:8.44, Y:-202.89, Z:-2.78 [[-6.95256737e-01 -7.18643142e-01 1.30423993e-02 8.44381757e+00] [ 7.18517128e-01 -6.95379058e-01 -1.34574107e-02 -2.02886463e+02] [ 1.87404873e-02 1.48318414e-05 9.99824382e-01 -2.78153364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.78655999499995 meters 0.012041982787222679 Centerline is valid? [True, True] Translation: X:8.43, Y:-202.87, Z:-2.78 [[-6.95294791e-01 -7.18616367e-01 1.24767937e-02 8.42558924e+00] [ 7.18501152e-01 -6.95406727e-01 -1.28677365e-02 -2.02867903e+02] [ 1.79234123e-02 1.77204916e-05 9.99839363e-01 -2.78216387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.816559995 meters 0.011630597080865977 Centerline is valid? [True, True] Translation: X:8.41, Y:-202.85, Z:-2.78 [[-6.95294409e-01 -7.18618798e-01 1.23574756e-02 8.40652033e+00] [ 7.18505904e-01 -6.95404215e-01 -1.27374822e-02 -2.02847641e+02] [ 1.77468348e-02 2.26189708e-05 9.99842512e-01 -2.77954257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.84655999499995 meters 0.011752329765564562 Centerline is valid? [True, True] Translation: X:8.39, Y:-202.83, Z:-2.78 [[-6.94808343e-01 -7.19104383e-01 1.14128200e-02 8.38707680e+00] [ 7.19008264e-01 -6.94902068e-01 -1.17571884e-02 -2.02828042e+02] [ 1.63854380e-02 3.69193408e-05 9.99865749e-01 -2.77977750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.876559995 meters 0.011704141399105868 Centerline is valid? [True, True] Translation: X:8.37, Y:-202.81, Z:-2.78 [[-6.94797957e-01 -7.19117811e-01 1.11969993e-02 8.36757121e+00] [ 7.19025409e-01 -6.94888173e-01 -1.15277611e-02 -2.02808835e+02] [ 1.60704807e-02 4.14620777e-05 9.99870861e-01 -2.77965312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.90655999499995 meters 0.011722526180278643 Centerline is valid? [True, True] Translation: X:8.35, Y:-202.79, Z:-2.78 [[-6.95051684e-01 -7.18878066e-01 1.08389380e-02 8.34804858e+00] [ 7.18791556e-01 -6.95136191e-01 -1.11523077e-02 -2.02789232e+02] [ 1.55516874e-02 3.95068668e-05 9.99879064e-01 -2.77991345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.936559995 meters 0.011693476298460286 Centerline is valid? [True, True] Translation: X:8.33, Y:-202.77, Z:-2.78 [[-6.95373572e-01 -7.18568587e-01 1.07135667e-02 8.32859181e+00] [ 7.18484135e-01 -6.95456098e-01 -1.10165183e-02 -2.02770287e+02] [ 1.53669393e-02 3.69320744e-05 9.99881921e-01 -2.78015378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.96655999499995 meters 0.011677420627786608 Centerline is valid? [True, True] Translation: X:8.31, Y:-202.75, Z:-2.78 [[-6.95655570e-01 -7.18296987e-01 1.06191358e-02 8.30885494e+00] [ 7.18214090e-01 -6.95736614e-01 -1.09125549e-02 -2.02750914e+02] [ 1.52265769e-02 3.54333729e-05 9.99884068e-01 -2.78017745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.996559995 meters 0.012044193283588585 Centerline is valid? [True, True] Translation: X:8.29, Y:-202.73, Z:-2.78 [[-6.95959175e-01 -7.18003022e-01 1.06059887e-02 8.29013553e+00] [ 7.17920405e-01 -6.96039984e-01 -1.08918511e-02 -2.02732890e+02] [ 1.52025743e-02 3.39720100e-05 9.99884434e-01 -2.78205946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.02655999499996 meters 0.011836014874080125 Centerline is valid? [True, True] Translation: X:8.27, Y:-202.71, Z:-2.78 [[-6.96183405e-01 -7.17778158e-01 1.10987717e-02 8.27077240e+00] [ 7.17687771e-01 -6.96271868e-01 -1.13907537e-02 -2.02713291e+02] [ 1.59037968e-02 3.53990044e-05 9.99873526e-01 -2.78091237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.056559995 meters 0.011902409412541212 Centerline is valid? [True, True] Translation: X:8.25, Y:-202.69, Z:-2.78 [[-6.96176519e-01 -7.17781095e-01 1.13381490e-02 8.25116989e+00] [ 7.17686873e-01 -6.96268840e-01 -1.16298905e-02 -2.02693709e+02] [ 1.62421154e-02 4.07839917e-05 9.99868087e-01 -2.78086327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.08655999499996 meters 0.01205957876290518 Centerline is valid? [True, True] Translation: X:8.23, Y:-202.68, Z:-2.78 [[-6.96145450e-01 -7.17810350e-01 1.13935955e-02 8.23210548e+00] [ 7.17715301e-01 -6.96238680e-01 -1.16810554e-02 -2.02675410e+02] [ 1.63174444e-02 4.56443017e-05 9.99866861e-01 -2.78173271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.11655999499993 meters 0.012156211637633415 Centerline is valid? [True, True] Translation: X:8.21, Y:-202.66, Z:-2.78 [[-6.95759656e-01 -7.18190016e-01 1.10273194e-02 8.21215527e+00] [ 7.18101145e-01 -6.95847036e-01 -1.12981642e-02 -2.02657697e+02] [ 1.57875562e-02 5.79238239e-05 9.99875367e-01 -2.78234832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.14655999499996 meters 0.012080622302954256 Centerline is valid? [True, True] Translation: X:8.19, Y:-202.64, Z:-2.78 [[-6.95615526e-01 -7.18338192e-01 1.04538018e-02 8.19196080e+00] [ 7.18258431e-01 -6.95694069e-01 -1.07045589e-02 -2.02638527e+02] [ 1.49621414e-02 6.22738822e-05 9.99888059e-01 -2.78145180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.17655999499993 meters 0.012053014792838572 Centerline is valid? [True, True] Translation: X:8.17, Y:-202.62, Z:-2.78 [[-6.95422873e-01 -7.18534012e-01 9.79292562e-03 8.17157530e+00] [ 7.18464117e-01 -6.95491818e-01 -1.00221946e-02 -2.02619600e+02] [ 1.40121874e-02 6.62022772e-05 9.99901822e-01 -2.78116883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.20655999499996 meters 0.01207815693130317 Centerline is valid? [True, True] Translation: X:8.15, Y:-202.60, Z:-2.78 [[-6.95183714e-01 -7.18782889e-01 8.41200193e-03 8.15067007e+00] [ 7.18731393e-01 -6.95234604e-01 -8.60412224e-03 -2.02600933e+02] [ 1.20328107e-02 6.45242046e-05 9.99927601e-01 -2.78076344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.23655999499994 meters 0.012051564689397455 Centerline is valid? [True, True] Translation: X:8.13, Y:-202.58, Z:-2.78 [[-6.95487870e-01 -7.18494025e-01 7.93472825e-03 8.13143671e+00] [ 7.18448245e-01 -6.95533129e-01 -8.11084130e-03 -2.02581758e+02] [ 1.13464574e-02 5.96998501e-05 9.99935625e-01 -2.78013580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.26655999499997 meters 0.012173004856098959 Centerline is valid? [True, True] Translation: X:8.11, Y:-202.56, Z:-2.78 [[-6.95607430e-01 -7.18381701e-01 7.61813121e-03 8.11178898e+00] [ 7.18339548e-01 -6.95649142e-01 -7.78234243e-03 -2.02562337e+02] [ 1.08902388e-02 5.89497196e-05 9.99940698e-01 -2.77998718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.29655999499994 meters 0.012155133689970973 Centerline is valid? [True, True] Translation: X:8.09, Y:-202.54, Z:-2.78 [[-6.95466405e-01 -7.18524047e-01 7.04793230e-03 8.09258915e+00] [ 7.18488022e-01 -6.95502114e-01 -7.19532740e-03 -2.02543611e+02] [ 1.00718676e-02 5.97464551e-05 9.99949276e-01 -2.77954224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.32655999499997 meters 0.012329154268675408 Centerline is valid? [True, True] Translation: X:8.07, Y:-202.53, Z:-2.78 [[-6.94908413e-01 -7.19066014e-01 6.80925281e-03 8.07311829e+00] [ 7.19032457e-01 -6.94941770e-01 -6.94708698e-03 -2.02526214e+02] [ 9.72744834e-03 6.84845894e-05 9.99952685e-01 -2.77983040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.35655999499994 meters 0.012331768027983499 Centerline is valid? [True, True] Translation: X:8.05, Y:-202.51, Z:-2.78 [[-6.94821333e-01 -7.19151520e-01 6.66377785e-03 8.05321026e+00] [ 7.19119427e-01 -6.94853284e-01 -6.79442063e-03 -2.02506948e+02] [ 9.51656585e-03 7.11437056e-05 9.99954714e-01 -2.77980364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.38655999499997 meters 0.012581512242875353 Centerline is valid? [True, True] Translation: X:8.03, Y:-202.49, Z:-2.78 [[-6.94526811e-01 -7.19434277e-01 6.84321274e-03 8.03386847e+00] [ 7.19400490e-01 -6.94560519e-01 -6.97281621e-03 -2.02489102e+02] [ 9.76950838e-03 8.02027860e-05 9.99952274e-01 -2.78037666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.41655999499994 meters 0.012686955424362224 Centerline is valid? [True, True] Translation: X:8.01, Y:-202.47, Z:-2.78 [[-6.94162937e-01 -7.19787193e-01 6.64937627e-03 8.01367744e+00] [ 7.19755349e-01 -6.94194778e-01 -6.77109901e-03 -2.02470894e+02] [ 9.48971263e-03 8.56781678e-05 9.99954968e-01 -2.78091030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.446559995 meters 0.012758818760415437 Centerline is valid? [True, True] Translation: X:7.99, Y:-202.45, Z:-2.78 [[-6.94079415e-01 -7.19869414e-01 6.46475671e-03 7.99417462e+00] [ 7.19839355e-01 -6.94109515e-01 -6.57904049e-03 -2.02451918e+02] [ 9.22329917e-03 8.72097313e-05 9.99957461e-01 -2.78106368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.47655999499995 meters 0.012992141063425165 Centerline is valid? [True, True] Translation: X:7.98, Y:-202.43, Z:-2.78 [[-6.93861453e-01 -7.20083898e-01 5.95509045e-03 7.97504115e+00] [ 7.20058433e-01 -6.93887002e-01 -6.05644715e-03 -2.02433436e+02] [ 8.49330994e-03 8.56778752e-05 9.99963928e-01 -2.78088490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.506559995 meters 0.01287631557434835 Centerline is valid? [True, True] Translation: X:7.96, Y:-202.41, Z:-2.78 [[-6.94146724e-01 -7.19811382e-01 5.64794961e-03 7.95583233e+00] [ 7.19788496e-01 -6.94169697e-01 -5.74052480e-03 -2.02413978e+02] [ 8.05273056e-03 8.05626645e-05 9.99967573e-01 -2.78073579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.53655999499995 meters 0.012813038601212112 Centerline is valid? [True, True] Translation: X:7.94, Y:-202.39, Z:-2.78 [[-6.94365577e-01 -7.19601264e-01 5.51960431e-03 7.93634055e+00] [ 7.19579425e-01 -6.94387510e-01 -5.60692020e-03 -2.02393722e+02] [ 7.86749115e-03 7.85413147e-05 9.99969048e-01 -2.78037176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.566559995 meters 0.01276497710245582 Centerline is valid? [True, True] Translation: X:7.92, Y:-202.37, Z:-2.78 [[-6.94577810e-01 -7.19397741e-01 5.34376967e-03 7.91731331e+00] [ 7.19377291e-01 -6.94598362e-01 -5.42489320e-03 -2.02374864e+02] [ 7.61442957e-03 7.61761044e-05 9.99971007e-01 -2.78059100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.59655999499995 meters 0.012656078443896488 Centerline is valid? [True, True] Translation: X:7.90, Y:-202.35, Z:-2.78 [[-6.94720005e-01 -7.19262358e-01 5.07703851e-03 7.89779091e+00] [ 7.19243915e-01 -6.94738552e-01 -5.15118293e-03 -2.02354374e+02] [ 7.23226637e-03 7.29992251e-05 9.99973844e-01 -2.78033946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.626559995 meters 0.012692648678308034 Centerline is valid? [True, True] Translation: X:7.88, Y:-202.34, Z:-2.78 [[-6.94949963e-01 -7.19039864e-01 5.12077589e-03 7.87897664e+00] [ 7.19021120e-01 -6.94968825e-01 -5.19245379e-03 -2.02335098e+02] [ 7.29236088e-03 7.34504461e-05 9.99973408e-01 -2.78059305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.65655999499995 meters 0.013111499560367033 Centerline is valid? [True, True] Translation: X:7.86, Y:-202.32, Z:-2.78 [[-6.94893744e-01 -7.19095231e-01 4.97318001e-03 7.85982414e+00] [ 7.19077577e-01 -6.94911536e-01 -5.03944653e-03 -2.02316615e+02] [ 7.07976212e-03 7.42223633e-05 9.99974935e-01 -2.78111317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.686559995 meters 0.012802585892764184 Centerline is valid? [True, True] Translation: X:7.84, Y:-202.30, Z:-2.78 [[-6.94725786e-01 -7.19256641e-01 5.09576928e-03 7.84135447e+00] [ 7.19238130e-01 -6.94744470e-01 -5.16074881e-03 -2.02295289e+02] [ 7.25216038e-03 7.97662972e-05 9.99973700e-01 -2.78015795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.71655999499995 meters 0.012987919135204822 Centerline is valid? [True, True] Translation: X:7.82, Y:-202.28, Z:-2.78 [[-6.93907051e-01 -7.20046394e-01 5.11820403e-03 7.82136704e+00] [ 7.20027763e-01 -6.93925920e-01 -5.18054614e-03 -2.02275359e+02] [ 7.28188801e-03 9.04315040e-05 9.99973483e-01 -2.78019980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.746559995 meters 0.012987919135204822 Centerline is valid? [True, True] Translation: X:7.80, Y:-202.26, Z:-2.78 [[-6.94110389e-01 -7.19850371e-01 5.11966703e-03 7.80192921e+00] [ 7.19831746e-01 -6.94129264e-01 -5.17910034e-03 -2.02255784e+02] [ 7.28188801e-03 9.04315063e-05 9.99973483e-01 -2.78019996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.77655999499996 meters 0.013458475620814809 Centerline is valid? [True, True] Translation: X:7.78, Y:-202.24, Z:-2.78 [[-6.93569255e-01 -7.20371795e-01 5.11512372e-03 7.78209045e+00] [ 7.20353239e-01 -6.93588110e-01 -5.17142332e-03 -2.02237717e+02] [ 7.27313650e-03 9.79557212e-05 9.99973546e-01 -2.78116443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.806559995 meters 0.01372156133262173 Centerline is valid? [True, True] Translation: X:7.76, Y:-202.22, Z:-2.78 [[-6.92871801e-01 -7.21039813e-01 5.50060073e-03 7.76206286e+00] [ 7.21018399e-01 -6.92893625e-01 -5.55809252e-03 -2.02218521e+02] [ 7.81893716e-03 1.14988759e-04 9.99969425e-01 -2.78149625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.83655999499996 meters 0.013644969017803849 Centerline is valid? [True, True] Translation: X:7.74, Y:-202.20, Z:-2.78 [[-6.92329850e-01 -7.21558311e-01 5.74299106e-03 7.74264869e+00] [ 7.21535014e-01 -6.92353658e-01 -5.79975227e-03 -2.02198847e+02] [ 8.16104032e-03 1.28427512e-04 9.99966690e-01 -2.78188178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.86655999499993 meters 0.014107852188310939 Centerline is valid? [True, True] Translation: X:7.72, Y:-202.18, Z:-2.78 [[-6.91457672e-01 -7.22387528e-01 6.52289981e-03 7.72261473e+00] [ 7.22357545e-01 -6.91488420e-01 -6.58346321e-03 -2.02179954e+02] [ 9.26632139e-03 1.59679757e-04 9.99957054e-01 -2.78287155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.89655999499996 meters 0.01424571634375802 Centerline is valid? [True, True] Translation: X:7.70, Y:-202.16, Z:-2.78 [[-6.91398509e-01 -7.22443850e-01 6.55632302e-03 7.70392760e+00] [ 7.22413600e-01 -6.91429575e-01 -6.61307042e-03 -2.02160640e+02] [ 9.31080770e-03 1.64109889e-04 9.99956640e-01 -2.78290161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.92655999499993 meters 0.014482518926268083 Centerline is valid? [True, True] Translation: X:7.69, Y:-202.14, Z:-2.78 [[-6.91391266e-01 -7.22450338e-01 6.60501436e-03 7.68600296e+00] [ 7.22419674e-01 -6.91422795e-01 -6.65837483e-03 -2.02142154e+02] [ 9.37720264e-03 1.68050114e-04 9.99956019e-01 -2.78256206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.95655999499996 meters 0.013972964766821194 Centerline is valid? [True, True] Translation: X:7.67, Y:-202.12, Z:-2.78 [[-6.91740062e-01 -7.22118178e-01 6.40499811e-03 7.66739253e+00] [ 7.22089362e-01 -6.91769695e-01 -6.45310917e-03 -2.02120887e+02] [ 9.09069103e-03 1.61106865e-04 9.99958666e-01 -2.78175357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.98655999499994 meters 0.01382173988926704 Centerline is valid? [True, True] Translation: X:7.65, Y:-202.10, Z:-2.78 [[-6.92624009e-01 -7.21274036e-01 5.97889031e-03 7.65029927e+00] [ 7.21248929e-01 -6.92649799e-01 -6.01980772e-03 -2.02100862e+02] [ 8.48320819e-03 1.42804883e-04 9.99964007e-01 -2.78091783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.01655999499997 meters 0.01382046184318588 Centerline is valid? [True, True] Translation: X:7.63, Y:-202.08, Z:-2.78 [[-6.93237967e-01 -7.20687682e-01 5.51239319e-03 7.63120217e+00] [ 7.20666349e-01 -6.93259871e-01 -5.54665175e-03 -2.02080814e+02] [ 7.81892459e-03 1.27446689e-04 9.99969424e-01 -2.78050711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.04655999499994 meters 0.014166376036427697 Centerline is valid? [True, True] Translation: X:7.61, Y:-202.06, Z:-2.78 [[-6.93924694e-01 -7.20030754e-01 4.92269936e-03 7.61242764e+00] [ 7.20013747e-01 -6.93942146e-01 -4.95003760e-03 -2.02062312e+02] [ 6.98024786e-03 1.09457890e-04 9.99975632e-01 -2.78043551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.07655999499997 meters 0.013589219076700592 Centerline is valid? [True, True] Translation: X:7.59, Y:-202.04, Z:-2.78 [[-6.94526844e-01 -7.19453155e-01 4.42944369e-03 7.59460669e+00] [ 7.19439391e-01 -6.94540963e-01 -4.45128200e-03 -2.02041824e+02] [ 6.27891897e-03 9.51814328e-05 9.99980283e-01 -2.77921433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.10655999499994 meters 0.013069335605584993 Centerline is valid? [True, True] Translation: X:7.58, Y:-202.02, Z:-2.78 [[-6.95693656e-01 -7.18327173e-01 4.05090554e-03 7.57678920e+00] [ 7.18315657e-01 -6.95705445e-01 -4.06832137e-03 -2.02020842e+02] [ 5.74062283e-03 7.95235089e-05 9.99983519e-01 -2.77837520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.13655999499997 meters 0.013026684928810634 Centerline is valid? [True, True] Translation: X:7.56, Y:-202.00, Z:-2.78 [[-6.96412388e-01 -7.17630406e-01 4.04797586e-03 7.55775825e+00] [ 7.17618909e-01 -6.96424149e-01 -4.06283679e-03 -2.02000914e+02] [ 5.73472336e-03 7.54941481e-05 9.99983554e-01 -2.77846299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.16655999499994 meters 0.013228313796576567 Centerline is valid? [True, True] Translation: X:7.54, Y:-201.98, Z:-2.78 [[-6.97163522e-01 -7.16900540e-01 4.07917155e-03 7.53865803e+00] [ 7.16888868e-01 -6.97175452e-01 -4.09146637e-03 -2.01982224e+02] [ 5.77707272e-03 7.18915689e-05 9.99983310e-01 -2.77948554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.196559995 meters 0.012778889840999346 Centerline is valid? [True, True] Translation: X:7.52, Y:-201.96, Z:-2.78 [[-6.98236932e-01 -7.15848067e-01 5.17028825e-03 7.52058740e+00] [ 7.15829310e-01 -6.98256070e-01 -5.18267542e-03 -2.01961867e+02] [ 7.32019333e-03 8.23084796e-05 9.99973204e-01 -2.78029839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.22655999499995 meters 0.012587124268005501 Centerline is valid? [True, True] Translation: X:7.50, Y:-201.94, Z:-2.78 [[-6.98846564e-01 -7.15250315e-01 5.51960584e-03 7.50193392e+00] [ 7.15228947e-01 -6.98868356e-01 -5.52935254e-03 -2.01941875e+02] [ 7.81234901e-03 8.36128523e-05 9.99969480e-01 -2.78056085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.256559995 meters 0.012543702269390536 Centerline is valid? [True, True] Translation: X:7.48, Y:-201.92, Z:-2.78 [[-6.99414036e-01 -7.14692468e-01 5.88914391e-03 7.48295575e+00] [ 7.14668154e-01 -6.99438824e-01 -5.89586766e-03 -2.01922571e+02] [ 8.33282810e-03 8.51310081e-05 9.99965278e-01 -2.78097823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.28655999499995 meters 0.012355908295432979 Centerline is valid? [True, True] Translation: X:7.46, Y:-201.90, Z:-2.78 [[-7.00286515e-01 -7.13835482e-01 6.14017440e-03 7.46435165e+00] [ 7.13809051e-01 -7.00313429e-01 -6.14332938e-03 -2.01903199e+02] [ 8.68537307e-03 8.08213338e-05 9.99962278e-01 -2.78110999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.316559995 meters 0.012315645548956323 Centerline is valid? [True, True] Translation: X:7.44, Y:-201.88, Z:-2.78 [[-7.00661329e-01 -7.13463524e-01 6.59558029e-03 7.44469451e+00] [ 7.13433049e-01 -7.00692367e-01 -6.59483841e-03 -2.01883622e+02] [ 9.32664941e-03 8.47567158e-05 9.99956502e-01 -2.78132948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.34655999499995 meters 0.012310657530284583 Centerline is valid? [True, True] Translation: X:6.95, Y:-202.38, Z:-1.81 [[-7.61124179e-01 6.48565082e-01 7.30192512e-03 6.94735167e+00] [ 6.48534159e-01 7.61159199e-01 -6.33387251e-03 -2.02378775e+02] [-9.66585602e-03 -8.53156471e-05 -9.99953281e-01 -1.80966463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.376559995 meters 0.012304807748518231 Centerline is valid? [True, True] Translation: X:7.41, Y:-201.86, Z:-2.78 [[-7.03489738e-01 -7.10669724e-01 7.12268250e-03 7.41210963e+00] [ 7.10634860e-01 -7.03525786e-01 -7.04011361e-03 -2.01856562e+02] [ 1.00141864e-02 1.08978807e-04 9.99949851e-01 -2.78148416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.40655999499995 meters 0.012317018710056308 Centerline is valid? [True, True] Translation: X:6.92, Y:-202.35, Z:-1.81 [[-7.63343580e-01 6.45945893e-01 7.77701203e-03 6.91638082e+00] [ 6.45911180e-01 7.63383190e-01 -6.69714873e-03 -2.02352820e+02] [-1.02628360e-02 -8.89664638e-05 -9.99947332e-01 -1.80927430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.436559995 meters 0.012630098561841743 Centerline is valid? [True, True] Translation: X:6.94, Y:-202.33, Z:-1.81 [[-8.07324227e-01 5.90041766e-01 8.84914946e-03 6.93544637e+00] [ 5.90004955e-01 8.07372717e-01 -6.59157411e-03 -2.02331288e+02] [-1.10338659e-02 -1.00495448e-04 -9.99939120e-01 -1.80905597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.46655999499995 meters 0.012932793700849628 Centerline is valid? [True, True] Translation: X:6.96, Y:-202.31, Z:-1.81 [[-8.47366666e-01 5.30926266e-01 9.32913050e-03 6.95519844e+00] [ 5.30892684e-01 8.47418013e-01 -5.97245706e-03 -2.02310781e+02] [-1.10766076e-02 -1.08093904e-04 -9.99938647e-01 -1.80911300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.496559995 meters 0.013232464033148403 Centerline is valid? [True, True] Translation: X:6.97, Y:-202.29, Z:-1.81 [[-8.83286512e-01 4.68719796e-01 1.03291143e-02 6.97003233e+00] [ 4.68686078e-01 8.83346895e-01 -5.62346412e-03 -2.02285664e+02] [-1.17600200e-02 -1.26017959e-04 -9.99930841e-01 -1.80909350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.52655999499996 meters 0.013301334791034172 Centerline is valid? [True, True] Translation: X:7.31, Y:-201.68, Z:-2.78 [[-8.37876702e-01 -5.45764217e-01 1.02005522e-02 7.30677467e+00] [ 5.45725932e-01 -8.37938779e-01 -6.46608742e-03 -2.01680637e+02] [ 1.20763974e-02 1.48921832e-04 9.99927067e-01 -2.78141863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.556559995 meters 0.013760629450336887 Centerline is valid? [True, True] Translation: X:7.29, Y:-201.71, Z:-2.78 [[-7.98659445e-01 -6.01702009e-01 9.88850291e-03 7.29260405e+00] [ 6.01658229e-01 -7.98720645e-01 -7.25987495e-03 -2.01709093e+02] [ 1.22664328e-02 1.51331451e-04 9.99924753e-01 -2.78202118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.58655999499996 meters 0.013632273613172138 Centerline is valid? [True, True] Translation: X:6.88, Y:-202.26, Z:-1.81 [[-8.52876235e-01 5.22014083e-01 1.01698106e-02 6.88109210e+00] [ 5.21974756e-01 8.52936851e-01 -6.40953206e-03 -2.02264830e+02] [-1.20200722e-02 -1.58153185e-04 -9.99927744e-01 -1.81015913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.61655999499993 meters 0.014050668966896914 Centerline is valid? [True, True] Translation: X:7.25, Y:-201.69, Z:-2.78 [[-7.99519239e-01 -6.00558485e-01 9.92431627e-03 7.25076696e+00] [ 6.00514964e-01 -7.99580812e-01 -7.23205806e-03 -2.01687151e+02] [ 1.22785667e-02 1.77530873e-04 9.99924600e-01 -2.78086065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.64655999499996 meters 0.01424341071780068 Centerline is valid? [True, True] Translation: X:7.23, Y:-201.71, Z:-2.78 [[-7.56663495e-01 -6.53738960e-01 9.25895700e-03 7.23157800e+00] [ 6.53693025e-01 -7.56720119e-01 -7.75189636e-03 -2.01711639e+02] [ 1.20741557e-02 1.86938616e-04 9.99927087e-01 -2.78069898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.67655999499993 meters 0.01426072050279798 Centerline is valid? [True, True] Translation: X:6.80, Y:-202.24, Z:-1.81 [[-8.19688268e-01 5.72731568e-01 9.47077309e-03 6.79796875e+00] [ 5.72690645e-01 8.19742957e-01 -6.84906489e-03 -2.02238086e+02] [-1.16862752e-02 -1.90274982e-04 -9.99931695e-01 -1.81098097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.70655999499996 meters 0.014322013490346574 Centerline is valid? [True, True] Translation: X:6.81, Y:-202.21, Z:-1.81 [[-8.58480009e-01 5.12746248e-01 1.01665617e-02 6.81194989e+00] [ 5.12707491e-01 8.58540182e-01 -6.30751504e-03 -2.02213011e+02] [-1.19625564e-02 -2.02403242e-04 -9.99928426e-01 -1.81180552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.73655999499994 meters 0.014786212874809076 Centerline is valid? [True, True] Translation: X:6.83, Y:-202.19, Z:-1.81 [[-8.93265475e-01 4.49406162e-01 1.05305499e-02 6.82918806e+00] [ 4.49371988e-01 8.93327517e-01 -5.54656217e-03 -2.02187521e+02] [-1.18998892e-02 -2.22418372e-04 -9.99929169e-01 -1.81154012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.76655999499997 meters 0.01492837762046375 Centerline is valid? [True, True] Translation: X:7.15, Y:-201.60, Z:-2.78 [[-8.40952667e-01 -5.41005815e-01 1.05508340e-02 7.14559013e+00] [ 5.40967107e-01 -8.41018811e-01 -6.47681522e-03 -2.01597356e+02] [ 1.23774445e-02 2.60959095e-04 9.99923362e-01 -2.77985781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.79655999499994 meters 0.015364198600688224 Centerline is valid? [True, True] Translation: X:6.79, Y:-202.17, Z:-1.81 [[-8.95470053e-01 4.44967285e-01 1.17260225e-02 6.79352288e+00] [ 4.44925244e-01 8.95546785e-01 -6.12228789e-03 -2.02166160e+02] [-1.32254196e-02 -2.65122040e-04 -9.99912505e-01 -1.81047844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.82655999499997 meters 0.015282967628849882 Centerline is valid? [True, True] Translation: X:7.10, Y:-201.58, Z:-2.78 [[-8.42265123e-01 -5.38938894e-01 1.15901000e-02 7.10318100e+00] [ 5.38892637e-01 -8.42344812e-01 -7.06706088e-03 -2.01579261e+02] [ 1.35715746e-02 2.93480658e-04 9.99907859e-01 -2.78098900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.85655999499994 meters 0.015328303732944217 Centerline is valid? [True, True] Translation: X:6.75, Y:-202.14, Z:-1.81 [[-8.97249239e-01 4.41346026e-01 1.25494095e-02 6.74754826e+00] [ 4.41298336e-01 8.97336950e-01 -6.49440447e-03 -2.02141205e+02] [-1.41273285e-02 -2.89065934e-04 -9.99900163e-01 -1.80939670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.88655999499997 meters 0.015060423734405222 Centerline is valid? [True, True] Translation: X:7.06, Y:-201.56, Z:-2.78 [[-8.44636631e-01 -5.35188566e-01 1.27342614e-02 7.05833645e+00] [ 5.35133918e-01 -8.44732548e-01 -7.65584442e-03 -2.01556814e+02] [ 1.48543655e-02 3.48128548e-04 9.99889607e-01 -2.78129713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.91655999499994 meters 0.015584857139857933 Centerline is valid? [True, True] Translation: X:6.72, Y:-202.12, Z:-1.81 [[-8.98266468e-01 4.39260864e-01 1.29323312e-02 6.71511902e+00] [ 4.39210877e-01 8.98359514e-01 -6.63247849e-03 -2.02124711e+02] [-1.45312710e-02 -2.77712519e-04 -9.99894377e-01 -1.80897903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.946559995 meters 0.014349707951975071 Centerline is valid? [True, True] Translation: X:7.02, Y:-201.54, Z:-2.78 [[-8.48045276e-01 -5.29780903e-01 1.23046964e-02 7.02203260e+00] [ 5.29729619e-01 -8.48134498e-01 -7.37599356e-03 -2.01538540e+02] [ 1.43436981e-02 2.62985651e-04 9.99897089e-01 -2.78031741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.97655999499995 meters 0.013934932693247665 Centerline is valid? [True, True] Translation: X:6.68, Y:-202.11, Z:-1.81 [[-8.98639654e-01 4.38506582e-01 1.25996074e-02 6.67732131e+00] [ 4.38459869e-01 8.98727948e-01 -6.40459893e-03 -2.02108630e+02] [-1.41320781e-02 -2.31004336e-04 -9.99900111e-01 -1.81116241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.006559995 meters 0.01420987144931664 Centerline is valid? [True, True] Translation: X:6.98, Y:-201.52, Z:-2.78 [[-8.50970417e-01 -5.25070923e-01 1.22423398e-02 6.98263682e+00] [ 5.25020615e-01 -8.51058440e-01 -7.27217589e-03 -2.01520286e+02] [ 1.42373548e-02 2.39074247e-04 9.99898615e-01 -2.78094028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.03655999499995 meters 0.014050360547320201 Centerline is valid? [True, True] Translation: X:6.64, Y:-202.09, Z:-1.81 [[-8.99440910e-01 4.36839213e-01 1.33248764e-02 6.64155154e+00] [ 4.36787703e-01 8.99539580e-01 -6.71170659e-03 -2.02090166e+02] [-1.49181904e-02 -2.16641310e-04 -9.99888694e-01 -1.80970581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.066559995 meters 0.013360265023883775 Centerline is valid? [True, True] Translation: X:6.94, Y:-201.50, Z:-2.78 [[-8.54281408e-01 -5.19648759e-01 1.29785744e-02 6.94468086e+00] [ 5.19592811e-01 -8.54379960e-01 -7.62859468e-03 -2.01501163e+02] [ 1.50528236e-02 2.26607337e-04 9.99886674e-01 -2.78122051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.09655999499995 meters 0.01328114230097347 Centerline is valid? [True, True] Translation: X:6.60, Y:-202.07, Z:-1.81 [[-8.99750489e-01 4.36172290e-01 1.42404704e-02 6.60331797e+00] [ 4.36114404e-01 8.99863156e-01 -7.10826901e-03 -2.02073302e+02] [-1.59149046e-02 -1.85194283e-04 -9.99873333e-01 -1.80934452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.126559995 meters 0.013107604338877822 Centerline is valid? [True, True] Translation: X:6.61, Y:-202.05, Z:-1.81 [[-9.28050874e-01 3.72144640e-01 1.51638407e-02 6.61473771e+00] [ 3.72091851e-01 9.28174733e-01 -6.27047340e-03 -2.02048523e+02] [-1.64082169e-02 -1.76976743e-04 -9.99865361e-01 -1.80889597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.15655999499995 meters 0.012934651511252575 Centerline is valid? [True, True] Translation: X:6.87, Y:-201.43, Z:-2.78 [[-8.92206579e-01 -4.51398693e-01 1.43749975e-02 6.87187235e+00] [ 4.51342824e-01 -8.92322362e-01 -7.10336594e-03 -2.01434507e+02] [ 1.60335818e-02 1.50382152e-04 9.99871443e-01 -2.78187518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.186559995 meters 0.012744705321644777 Centerline is valid? [True, True] Translation: X:6.57, Y:-202.03, Z:-1.81 [[-9.28514817e-01 3.71007574e-01 1.46155796e-02 6.57435161e+00] [ 3.70959406e-01 9.28629831e-01 -5.97967313e-03 -2.02034597e+02] [-1.57909672e-02 -1.30428381e-04 -9.99875306e-01 -1.80991204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.21655999499995 meters 0.012719544497195352 Centerline is valid? [True, True] Translation: X:6.59, Y:-202.01, Z:-1.81 [[-9.52219857e-01 3.05044585e-01 1.50048069e-02 6.58736152e+00] [ 3.05004702e-01 9.52338063e-01 -4.93415079e-03 -2.02010080e+02] [-1.57947848e-02 -1.21859701e-04 -9.99875247e-01 -1.80988606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.246559995 meters 0.012449953087777467 Centerline is valid? [True, True] Translation: X:6.59, Y:-201.98, Z:-1.81 [[-9.71319486e-01 2.37303289e-01 1.50201835e-02 6.59142685e+00] [ 2.37273152e-01 9.71435606e-01 -3.78348864e-03 -2.01983157e+02] [-1.54889754e-02 -1.11089962e-04 -9.99880033e-01 -1.81125527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.27655999499996 meters 0.012521378782957294 Centerline is valid? [True, True] Translation: X:6.59, Y:-201.96, Z:-1.81 [[-9.85616421e-01 1.68353557e-01 1.47428234e-02 6.59466319e+00] [ 1.68333234e-01 9.85726671e-01 -2.61766578e-03 -2.01955609e+02] [-1.49730876e-02 -9.83072409e-05 -9.99887892e-01 -1.81050112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.306559995 meters 0.012358874017715479 Centerline is valid? [True, True] Translation: X:6.72, Y:-201.30, Z:-2.78 [[-9.69096437e-01 -2.46272231e-01 1.42156196e-02 6.71838380e+00] [ 2.46246882e-01 -9.69200693e-01 -3.53422606e-03 -2.01296367e+02] [ 1.46481701e-02 7.55461102e-05 9.99892707e-01 -2.78048757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.33655999499996 meters 0.012102371898323075 Centerline is valid? [True, True] Translation: X:6.54, Y:-201.95, Z:-1.81 [[-9.86153070e-01 1.65227390e-01 1.42138187e-02 6.54218180e+00] [ 1.65209018e-01 9.86255496e-01 -2.46533454e-03 -2.01948195e+02] [-1.44257976e-02 -8.29462076e-05 -9.99895939e-01 -1.81202885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.36655999499993 meters 0.012168739717325145 Centerline is valid? [True, True] Translation: X:6.66, Y:-201.29, Z:-2.78 [[-9.69959490e-01 -2.42875580e-01 1.37854910e-02 6.66307763e+00] [ 2.42852029e-01 -9.70057446e-01 -3.38283703e-03 -2.01287888e+02] [ 1.41943267e-02 6.66195946e-05 9.99899253e-01 -2.77940389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.39655999499996 meters 0.011946164174731789 Centerline is valid? [True, True] Translation: X:6.49, Y:-201.94, Z:-1.81 [[-9.86952209e-01 1.60371657e-01 1.43620942e-02 6.49339242e+00] [ 1.60353259e-01 9.87056697e-01 -2.43106072e-03 -2.01938569e+02] [-1.45660745e-02 -9.63321350e-05 -9.99893905e-01 -1.81263333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.42655999499993 meters 0.011931139196000366 Centerline is valid? [True, True] Translation: X:6.50, Y:-201.91, Z:-1.81 [[-9.95856194e-01 8.97438836e-02 1.47131518e-02 6.49774115e+00] [ 8.97326076e-02 9.95964872e-01 -1.42609911e-03 -2.01910420e+02] [-1.47817660e-02 -9.99401481e-05 -9.99890739e-01 -1.81221545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.45655999499996 meters 0.011876926060889142 Centerline is valid? [True, True] Translation: X:6.56, Y:-201.25, Z:-2.78 [[-9.85414557e-01 -1.69519086e-01 1.48805113e-02 6.56285577e+00] [ 1.69501615e-01 -9.85526897e-01 -2.43674179e-03 -2.01246178e+02] [ 1.50782184e-02 1.21069864e-04 9.99886310e-01 -2.77934197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.48655999499994 meters 0.011864681446040859 Centerline is valid? [True, True] Translation: X:6.44, Y:-201.90, Z:-1.81 [[-9.96190899e-01 8.60363100e-02 1.41932056e-02 6.43623804e+00] [ 8.60263492e-02 9.96291998e-01 -1.31197697e-03 -2.01904570e+02] [-1.42534548e-02 -8.59898601e-05 -9.99898411e-01 -1.81156727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.51655999499997 meters 0.011838682803841302 Centerline is valid? [True, True] Translation: X:6.43, Y:-201.88, Z:-1.81 [[-9.99791214e-01 1.54960480e-02 1.33191682e-02 6.43171036e+00] [ 1.54936904e-02 9.99879926e-01 -2.80179325e-04 -2.01876841e+02] [-1.33219106e-02 -7.37577589e-05 -9.99911257e-01 -1.81226169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.54655999499994 meters 0.01216042943769685 Centerline is valid? [True, True] Translation: X:6.45, Y:-201.21, Z:-2.78 [[-9.95534220e-01 -9.35665523e-02 1.25266763e-02 6.45053650e+00] [ 9.35594109e-02 -9.95613027e-01 -1.15619658e-03 -2.01209926e+02] [ 1.25799034e-02 2.09551930e-05 9.99920870e-01 -2.77985936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.57655999499997 meters 0.011754420331888702 Centerline is valid? [True, True] Translation: X:6.36, Y:-201.87, Z:-1.81 [[-9.99868164e-01 1.08300180e-02 1.20981211e-02 6.36292275e+00] [ 1.08284025e-02 9.99941351e-01 -1.99033321e-04 -2.01874471e+02] [-1.20995671e-02 -6.80037567e-05 -9.99926795e-01 -1.81347298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.60655999499994 meters 0.011911886033453507 Centerline is valid? [True, True] Translation: X:6.36, Y:-201.85, Z:-1.81 [[-9.98104667e-01 -6.03292808e-02 1.21429570e-02 6.36429103e+00] [-6.03256482e-02 9.98178528e-01 6.65542957e-04 -2.01845572e+02] [-1.21609907e-02 -6.82502228e-05 -9.99926050e-01 -1.81243133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.63655999499997 meters 0.01177760009738357 Centerline is valid? [True, True] Translation: X:6.35, Y:-201.82, Z:-1.81 [[-9.91244646e-01 -1.31488239e-01 1.20372641e-02 6.35314986e+00] [-1.31479402e-01 9.91317728e-01 1.52603922e-03 -2.01818047e+02] [-1.21334095e-02 -6.99740803e-05 -9.99926385e-01 -1.81289476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.66655999499994 meters 0.01177760009738357 Centerline is valid? [True, True] Translation: X:6.27, Y:-201.16, Z:-2.78 [[-9.98517530e-01 5.30731728e-02 1.20822562e-02 6.27106629e+00] [-5.30684667e-02 -9.98590624e-01 7.10004413e-04 -2.01160950e+02] [ 1.21029100e-02 6.77650401e-05 9.99926755e-01 -2.77820518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.696559995 meters 0.011832448130259255 Centerline is valid? [True, True] Translation: X:6.25, Y:-201.83, Z:-1.81 [[-9.90340844e-01 -1.38151606e-01 1.17960447e-02 6.25051176e+00] [-1.38142700e-01 9.90411091e-01 1.57035492e-03 -2.01829144e+02] [-1.18998806e-02 -7.43508571e-05 -9.99929191e-01 -1.81230959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.72655999499995 meters 0.0119804146542664 Centerline is valid? [True, True] Translation: X:6.23, Y:-201.80, Z:-1.81 [[-9.77722599e-01 -2.09580674e-01 1.15956900e-02 6.23342529e+00] [-2.09566978e-01 9.77791355e-01 2.39756203e-03 -2.01802596e+02] [-1.18406481e-02 -8.59231271e-05 -9.99929893e-01 -1.81189848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.756559995 meters 0.01191795335030163 Centerline is valid? [True, True] Translation: X:6.20, Y:-201.78, Z:-1.81 [[-9.59950434e-01 -2.79948443e-01 1.11369910e-02 6.20129506e+00] [-2.79930710e-01 9.60015032e-01 3.15228795e-03 -2.01781852e+02] [-1.15741568e-02 -9.15456035e-05 -9.99933013e-01 -1.81232137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.78655999499995 meters 0.012126519382553089 Centerline is valid? [True, True] Translation: X:6.15, Y:-201.77, Z:-1.81 [[-9.36889908e-01 -3.49466019e-01 1.05262324e-02 6.15245009e+00] [-3.49445056e-01 9.36949034e-01 3.82885284e-03 -2.01767790e+02] [-1.12005972e-02 -9.11262695e-05 -9.99937267e-01 -1.81225289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.816559995 meters 0.012014361452902113 Centerline is valid? [True, True] Translation: X:6.09, Y:-201.76, Z:-1.81 [[-9.08575875e-01 -4.17598911e-01 1.00513545e-02 6.09206602e+00] [-4.17574471e-01 9.08631466e-01 4.51881051e-03 -2.01762208e+02] [-1.10200274e-02 -9.15068440e-05 -9.99939274e-01 -1.81297229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.84655999499995 meters 0.012159153730658578 Centerline is valid? [True, True] Translation: X:6.02, Y:-201.77, Z:-1.81 [[-8.74071160e-01 -4.85697228e-01 9.88990228e-03 6.02041018e+00] [-4.85667690e-01 8.74127101e-01 5.35782242e-03 -2.01765341e+02] [-1.12473111e-02 -1.20087942e-04 -9.99936740e-01 -1.81356755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.876559995 meters 0.012522809207679968 Centerline is valid? [True, True] Translation: X:5.94, Y:-201.78, Z:-1.81 [[-8.34818966e-01 -5.50437907e-01 9.76749782e-03 5.94349621e+00] [-5.50402163e-01 8.34876093e-01 6.27438594e-03 -2.01776717e+02] [-1.16083103e-02 -1.38075546e-04 -9.99932612e-01 -1.81233393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.90655999499995 meters 0.012857695443338354 Centerline is valid? [True, True] Translation: X:5.86, Y:-201.80, Z:-1.81 [[-7.91041467e-01 -6.11683197e-01 9.85210848e-03 5.85976546e+00] [-6.11638149e-01 7.91102802e-01 7.42504530e-03 -2.01799906e+02] [-1.23358061e-02 -1.52406674e-04 -9.99923899e-01 -1.81099890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.936559995 meters 0.012897884682956193 Centerline is valid? [True, True] Translation: X:5.78, Y:-201.83, Z:-1.81 [[-7.42332005e-01 -6.69967192e-01 9.33572921e-03 5.77632765e+00] [-6.69916955e-01 7.42390689e-01 8.20593525e-03 -2.01831912e+02] [-1.24284658e-02 -1.62634921e-04 -9.99922750e-01 -1.81102016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.96655999499995 meters 0.013363651689834596 Centerline is valid? [True, True] Translation: X:5.69, Y:-201.87, Z:-1.81 [[-6.88347658e-01 -7.25336633e-01 8.01690789e-03 5.68922422e+00] [-7.25290329e-01 6.88394319e-01 8.19751261e-03 -2.01874047e+02] [-1.14647500e-02 -1.71847158e-04 -9.99934263e-01 -1.81124227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.996559995 meters 0.0135843294971771 Centerline is valid? [True, True] Translation: X:5.60, Y:-201.93, Z:-1.81 [[-6.31190624e-01 -7.75596829e-01 6.92494657e-03 5.60374007e+00] [-7.75553016e-01 6.31228589e-01 8.24549693e-03 -2.01925495e+02] [-1.07664055e-02 -1.66182842e-04 -9.99942027e-01 -1.81147589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.02655999499996 meters 0.013941218834399206 Centerline is valid? [True, True] Translation: X:5.52, Y:-201.99, Z:-1.81 [[-5.70169837e-01 -8.21505264e-01 5.95475448e-03 5.51993331e+00] [-8.21463409e-01 5.70200908e-01 8.29407103e-03 -2.01985980e+02] [-1.02090294e-02 -1.62583788e-04 -9.99947873e-01 -1.81167190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.056559995 meters 0.013016842738510942 Centerline is valid? [True, True] Translation: X:5.44, Y:-202.06, Z:-1.81 [[-5.06395689e-01 -8.62286740e-01 4.99840275e-03 5.44132655e+00] [-8.62247609e-01 5.06420335e-01 8.21618403e-03 -2.02056599e+02] [-9.61599933e-03 -1.49220646e-04 -9.99953754e-01 -1.81324295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.08655999499996 meters 0.013235574720505672 Centerline is valid? [True, True] Translation: X:5.36, Y:-202.14, Z:-1.81 [[-4.40070783e-01 -8.97951971e-01 4.46802522e-03 5.36468222e+00] [-8.97908965e-01 4.40093440e-01 8.78945765e-03 -2.02135610e+02] [-9.85885942e-03 -1.43896393e-04 -9.99951390e-01 -1.81236323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.11655999499993 meters 0.012823891860862902 Centerline is valid? [True, True] Translation: X:5.30, Y:-202.22, Z:-1.81 [[-3.71316934e-01 -9.28498218e-01 3.84636490e-03 5.29550509e+00] [-9.28452091e-01 3.71336831e-01 9.25594139e-03 -2.02223155e+02] [-1.00224220e-02 -1.34277751e-04 -9.99949765e-01 -1.81255330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.14655999499996 meters 0.012647834501419283 Centerline is valid? [True, True] Translation: X:5.23, Y:-202.32, Z:-1.81 [[-3.01955271e-01 -9.53316660e-01 3.21880690e-03 5.23418407e+00] [-9.53266249e-01 3.01972407e-01 9.80427550e-03 -2.02315495e+02] [-1.03185700e-02 -1.07927311e-04 -9.99946756e-01 -1.81225710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.17655999499993 meters 0.012578247447478673 Centerline is valid? [True, True] Translation: X:5.18, Y:-202.42, Z:-1.81 [[-2.30753824e-01 -9.73008996e-01 2.48316677e-03 5.17743143e+00] [-9.72956310e-01 2.30767171e-01 1.01258200e-02 -2.02417077e+02] [-1.04255473e-02 -7.94410970e-05 -9.99945649e-01 -1.81130467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.20655999499996 meters 0.01198927759191781 Centerline is valid? [True, True] Translation: X:5.13, Y:-202.52, Z:-1.81 [[-1.57924512e-01 -9.87449699e-01 1.71483547e-03 5.12963838e+00] [-9.87395129e-01 1.57933813e-01 1.03812549e-02 -2.02522011e+02] [-1.05217975e-02 -5.37655773e-05 -9.99944643e-01 -1.81232711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.23655999499994 meters 0.01198927759191781 Centerline is valid? [True, True] Translation: X:5.09, Y:-202.63, Z:-1.81 [[-8.16633783e-02 -9.96659550e-01 9.12875951e-04 5.08760501e+00] [-9.96604428e-01 8.16684628e-02 1.04822169e-02 -2.02632928e+02] [-1.05217548e-02 -5.37629705e-05 -9.99944643e-01 -1.81232917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.26655999499997 meters 0.012004655416603496 Centerline is valid? [True, True] Translation: X:5.06, Y:-202.74, Z:-1.81 [[-5.97930652e-03 -9.99982118e-01 1.05027415e-04 5.05511004e+00] [-9.99926598e-01 5.98008128e-03 1.05373776e-02 -2.02743833e+02] [-1.05378172e-02 -4.20134958e-05 -9.99944475e-01 -1.81164190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.29655999499994 meters 0.011881994983374422 Centerline is valid? [True, True] Translation: X:5.03, Y:-202.86, Z:-1.81 [[ 6.95777181e-02 -9.97576279e-01 -7.13262726e-04 5.03171471e+00] [-9.97519472e-01 -6.95813678e-02 1.06459869e-02 -2.02859881e+02] [-1.06698138e-02 -2.92300213e-05 -9.99943076e-01 -1.81156191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.32655999499997 meters 0.011908781555614971 Centerline is valid? [True, True] Translation: X:5.02, Y:-202.98, Z:-1.81 [[ 1.45070317e-01 -9.89420142e-01 -1.54470915e-03 5.01799058e+00] [-9.89362663e-01 -1.45078539e-01 1.06647920e-02 -2.02981475e+02] [-1.07760642e-02 -1.88671967e-05 -9.99941936e-01 -1.81146983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.35655999499994 meters 0.012052622575117848 Centerline is valid? [True, True] Translation: X:5.01, Y:-203.10, Z:-1.81 [[ 2.19476650e-01 -9.75614813e-01 -2.39502517e-03 5.01377242e+00] [-9.75556461e-01 -2.19489717e-01 1.06703520e-02 -2.03098061e+02] [-1.09358368e-02 -5.41082665e-06 -9.99940202e-01 -1.81158649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.38655999499997 meters 0.012108887840420714 Centerline is valid? [True, True] Translation: X:5.02, Y:-203.22, Z:-1.81 [[ 2.93699157e-01 -9.55892556e-01 -3.19789882e-03 5.01784385e+00] [-9.55835721e-01 -2.93716567e-01 1.04237129e-02 -2.03219452e+02] [-1.09032254e-02 -4.76976645e-06 -9.99940558e-01 -1.81052646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.41655999499994 meters 0.01207377049521355 Centerline is valid? [True, True] Translation: X:5.03, Y:-203.33, Z:-1.81 [[ 3.66108837e-01 -9.30563334e-01 -4.02507883e-03 5.02912597e+00] [-9.30506986e-01 -3.66130963e-01 1.02404679e-02 -2.03334541e+02] [-1.10031099e-02 -3.76181043e-06 -9.99939464e-01 -1.81141523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.446559995 meters 0.012019248741611472 Centerline is valid? [True, True] Translation: X:5.05, Y:-203.45, Z:-1.81 [[ 4.36553547e-01 -8.99666279e-01 -4.64607169e-03 5.05029004e+00] [-8.99615194e-01 -4.36578270e-01 9.58731526e-03 -2.03451851e+02] [-1.06537582e-02 -5.69979759e-06 -9.99943247e-01 -1.81126686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.47655999499995 meters 0.012028733843973958 Centerline is valid? [True, True] Translation: X:5.08, Y:-203.56, Z:-1.81 [[ 5.04554674e-01 -8.63364348e-01 -5.15582815e-03 5.07814039e+00] [-8.63319081e-01 -5.04581016e-01 8.84092691e-03 -2.03562986e+02] [-1.02344741e-02 -9.60617930e-06 -9.99947626e-01 -1.81161358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.506559995 meters 0.012024894838571712 Centerline is valid? [True, True] Translation: X:5.12, Y:-203.68, Z:-1.81 [[ 5.69486327e-01 -8.21983549e-01 -5.32626920e-03 5.11795244e+00] [-8.21947385e-01 -5.69511234e-01 7.71042426e-03 -2.03677332e+02] [-9.37121204e-03 -1.30681484e-05 -9.99956089e-01 -1.81210829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.53655999499995 meters 0.011978555596426714 Centerline is valid? [True, True] Translation: X:5.16, Y:-203.78, Z:-1.81 [[ 6.31091922e-01 -7.75688523e-01 -5.50468155e-03 5.15753111e+00] [-7.75658771e-01 -6.31115929e-01 6.79383853e-03 -2.03776949e+02] [-8.74399478e-03 -1.77820939e-05 -9.99961770e-01 -1.81198880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.566559995 meters 0.012169328791826474 Centerline is valid? [True, True] Translation: X:5.20, Y:-203.87, Z:-1.81 [[ 6.89768973e-01 -7.24002521e-01 -6.25409360e-03 5.20334597e+00] [-7.23972282e-01 -6.89797324e-01 6.61713173e-03 -2.03872684e+02] [-9.10487708e-03 -3.65017432e-05 -9.99958549e-01 -1.81192278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.59655999499995 meters 0.0122119000767103 Centerline is valid? [True, True] Translation: X:5.26, Y:-203.97, Z:-1.81 [[ 7.43747144e-01 -6.68427161e-01 -6.73172465e-03 5.25724545e+00] [-6.68399188e-01 -7.43777607e-01 6.11534180e-03 -2.03965470e+02] [-9.09456661e-03 -4.87887091e-05 -9.99958642e-01 -1.81241834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.626559995 meters 0.012407213589816736 Centerline is valid? [True, True] Translation: X:5.26, Y:-203.97, Z:-1.81 [[ 7.94658116e-01 -6.07014986e-01 -7.16140268e-03 5.25737728e+00] [-6.06989625e-01 -7.94690382e-01 5.54903442e-03 -2.03970448e+02] [-9.05944489e-03 -6.26881120e-05 -9.99958960e-01 -1.81212770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.65655999499995 meters 0.01262980077516786 Centerline is valid? [True, True] Translation: X:5.26, Y:-203.98, Z:-1.81 [[ 8.40412585e-01 -5.41897081e-01 -7.36479641e-03 5.25929381e+00] [-5.41875515e-01 -8.40444851e-01 4.83509146e-03 -2.03975023e+02] [-8.80982718e-03 -7.26688684e-05 -9.99961190e-01 -1.81191367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.686559995 meters 0.013162447619247534 Centerline is valid? [True, True] Translation: X:5.26, Y:-203.98, Z:-1.81 [[ 8.81337664e-01 -4.72433976e-01 -7.07537580e-03 5.26094710e+00] [-4.72417965e-01 -8.81366059e-01 3.89049513e-03 -2.03978981e+02] [-8.07399817e-03 -8.63052539e-05 -9.99967401e-01 -1.81197698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.71655999499995 meters 0.013923730527486128 Centerline is valid? [True, True] Translation: X:5.26, Y:-203.98, Z:-1.81 [[ 9.16487096e-01 -3.99993877e-01 -7.50345160e-03 5.26447862e+00] [-3.99979512e-01 -9.16517805e-01 3.39169445e-03 -2.03980915e+02] [-8.23370401e-03 -1.07217285e-04 -9.99966097e-01 -1.81208053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.746559995 meters 0.014623999398678745 Centerline is valid? [True, True] Translation: X:5.27, Y:-203.98, Z:-1.81 [[ 9.45524761e-01 -3.25442261e-01 -8.38222958e-03 5.26896676e+00] [-3.25428235e-01 -9.45561906e-01 3.02440394e-03 -2.03981105e+02] [-8.91018583e-03 -1.31834638e-04 -9.99960295e-01 -1.81143297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.77655999499996 meters 0.014771398724170179 Centerline is valid? [True, True] Translation: X:5.27, Y:-203.98, Z:-1.81 [[ 9.68298013e-01 -2.49612861e-01 -9.61136511e-03 5.27447866e+00] [-2.49598956e-01 -9.68345700e-01 2.63931812e-03 -2.03981156e+02] [-9.96593182e-03 -1.56659785e-04 -9.99950327e-01 -1.81015022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.806559995 meters 0.015002700033118386 Centerline is valid? [True, True] Translation: X:5.28, Y:-203.98, Z:-1.81 [[ 9.84910949e-01 -1.72762133e-01 -1.01817608e-02 5.27978713e+00] [-1.72751146e-01 -9.84963562e-01 1.95552453e-03 -2.03979829e+02] [-1.03665040e-02 -1.67106673e-04 -9.99946252e-01 -1.80929629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.83655999499996 meters 0.015002700033118386 Centerline is valid? [True, True] Translation: X:5.28, Y:-203.98, Z:-1.81 [[ 9.95400305e-01 -9.52474279e-02 -1.03034174e-02 5.28445031e+00] [-9.52405869e-02 -9.95453615e-01 1.15371296e-03 -2.03978295e+02] [-1.03664623e-02 -1.67102713e-04 -9.99946253e-01 -1.80929672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.86655999499993 meters 0.015205237590459164 Centerline is valid? [True, True] Translation: X:5.28, Y:-203.97, Z:-1.81 [[ 9.99799843e-01 -1.69734282e-02 -1.05913218e-02 5.28423143e+00] [-1.69706612e-02 -9.99855926e-01 3.51075185e-04 -2.03974895e+02] [-1.05957548e-02 -1.71263182e-04 -9.99943849e-01 -1.80898053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.89655999499996 meters 0.015205094862875568 Centerline is valid? [True, True] Translation: X:5.29, Y:-203.97, Z:-1.81 [[ 9.98063814e-01 6.12642476e-02 -1.07384587e-02 5.28559839e+00] [ 6.12625625e-02 -9.98121567e-01 -4.86100185e-04 -2.03970348e+02] [-1.07480678e-02 -1.72706492e-04 -9.99942223e-01 -1.80860883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.92655999499993 meters 0.01510732615644866 Centerline is valid? [True, True] Translation: X:5.28, Y:-203.96, Z:-1.81 [[ 9.90270497e-01 1.38736960e-01 -1.07888238e-02 5.28494942e+00] [ 1.38730589e-01 -9.90329252e-01 -1.34040017e-03 -2.03964651e+02] [-1.08704508e-02 -1.69381138e-04 -9.99940901e-01 -1.80859920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.95655999499996 meters 0.015020296453739375 Centerline is valid? [True, True] Translation: X:5.28, Y:-203.96, Z:-1.81 [[ 9.76461511e-01 2.15440334e-01 -1.04105916e-02 5.28418281e+00] [ 2.15429849e-01 -9.76516992e-01 -2.13166037e-03 -2.03958479e+02] [-1.06253652e-02 -1.61267860e-04 -9.99943536e-01 -1.80908656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.98655999499994 meters 0.014863105499871479 Centerline is valid? [True, True] Translation: X:5.28, Y:-203.95, Z:-1.81 [[ 9.56810466e-01 2.90545474e-01 -9.85185424e-03 5.28188539e+00] [ 2.90531669e-01 -9.56861174e-01 -2.83613039e-03 -2.03950533e+02] [-1.02508817e-02 -1.48636416e-04 -9.99947447e-01 -1.81001177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.01655999499997 meters 0.01375728861975852 Centerline is valid? [True, True] Translation: X:5.28, Y:-203.95, Z:-1.81 [[ 9.31197756e-01 3.64398312e-01 -9.19830325e-03 5.28183134e+00] [ 3.64382024e-01 -9.31243175e-01 -3.44820669e-03 -2.03948948e+02] [-9.82237782e-03 -1.40734021e-04 -9.99951749e-01 -1.81181592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.04655999499994 meters 0.013885623802685126 Centerline is valid? [True, True] Translation: X:5.28, Y:-203.95, Z:-1.81 [[ 8.99843276e-01 4.36131273e-01 -8.46120499e-03 5.28072043e+00] [ 4.36113383e-01 -8.99883045e-01 -3.95244792e-03 -2.03949619e+02] [-9.33788106e-03 -1.33461054e-04 -9.99956392e-01 -1.81193085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.07655999499997 meters 0.013854959102421203 Centerline is valid? [True, True] Translation: X:5.28, Y:-203.95, Z:-1.81 [[ 8.62253490e-01 5.06411244e-01 -8.15909495e-03 5.28184394e+00] [ 5.06390178e-01 -8.62292080e-01 -4.62142778e-03 -2.03951496e+02] [-9.37586594e-03 -1.46843308e-04 -9.99956035e-01 -1.81258273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.10655999499994 meters 0.01424755777712107 Centerline is valid? [True, True] Translation: X:5.28, Y:-203.95, Z:-1.81 [[ 8.19494273e-01 5.73032298e-01 -7.94491667e-03 5.28291164e+00] [ 5.73007227e-01 -8.19532770e-01 -5.36253696e-03 -2.03954180e+02] [-9.58402644e-03 -1.57926344e-04 -9.99954060e-01 -1.81230399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.13655999499997 meters 0.016865796518057776 Centerline is valid? [True, True] Translation: X:5.29, Y:-203.96, Z:-1.81 [[ 7.71458999e-01 6.36229648e-01 -7.92766323e-03 5.28640608e+00] [ 6.36198405e-01 -7.71499710e-01 -6.30758916e-03 -2.03959392e+02] [-1.01292651e-02 -1.77520288e-04 -9.99948682e-01 -1.80930375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.16655999499994 meters 0.015365678226219905 Centerline is valid? [True, True] Translation: X:5.29, Y:-203.96, Z:-1.81 [[ 7.18259235e-01 6.95731593e-01 -7.82449087e-03 5.28542111e+00] [ 6.95693368e-01 -7.18301823e-01 -7.29576634e-03 -2.03958225e+02] [-1.06962412e-02 -2.03194865e-04 -9.99942773e-01 -1.81083963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.196559995 meters 0.019999226664945705 Centerline is valid? [True, True] Translation: X:5.29, Y:-203.96, Z:-1.81 [[ 6.59297733e-01 7.51838640e-01 -8.07209187e-03 5.29027861e+00] [ 7.51787122e-01 -6.59347094e-01 -8.80529656e-03 -2.03963568e+02] [-1.19424725e-02 -2.63182653e-04 -9.99928652e-01 -1.80675143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.22655999499995 meters 0.014851697615382678 Centerline is valid? [True, True] Translation: X:5.29, Y:-203.96, Z:-1.81 [[ 5.97243380e-01 8.02026562e-01 -7.33067826e-03 5.29102350e+00] [ 8.01971813e-01 -5.97288302e-01 -9.37521794e-03 -2.03964486e+02] [-1.18977022e-02 -2.79710486e-04 -9.99929181e-01 -1.81146126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.256559995 meters 0.01742424697247956 Centerline is valid? [True, True] Translation: X:5.30, Y:-203.97, Z:-1.81 [[ 5.31389922e-01 8.47104056e-01 -6.28250008e-03 5.30113986e+00] [ 8.47051039e-01 -5.31426983e-01 -9.48150938e-03 -2.03973117e+02] [-1.13705151e-02 -2.83219694e-04 -9.99935314e-01 -1.80988553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.28655999499995 meters 0.015768345210217822 Centerline is valid? [True, True] Translation: X:5.31, Y:-203.98, Z:-1.81 [[ 4.62569008e-01 8.86567329e-01 -5.31833494e-03 5.30601515e+00] [ 8.86515620e-01 -4.62599493e-01 -9.57939992e-03 -2.03975736e+02] [-1.09530421e-02 -2.83653478e-04 -9.99939973e-01 -1.81205224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.316559995 meters 0.016422742625410987 Centerline is valid? [True, True] Translation: X:5.31, Y:-203.98, Z:-1.81 [[ 3.90802249e-01 9.20466620e-01 -3.84748153e-03 5.31281262e+00] [ 9.20428101e-01 -3.90821109e-01 -8.42445685e-03 -2.03980924e+02] [-9.25810832e-03 -2.49033438e-04 -9.99957112e-01 -1.81283575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.34655999499995 meters 0.016711430511176666 Centerline is valid? [True, True] Translation: X:5.32, Y:-203.99, Z:-1.81 [[ 3.17430885e-01 9.48276627e-01 -3.01186750e-03 5.31805882e+00] [ 9.48240763e-01 -3.17445085e-01 -8.25067111e-03 -2.03985229e+02] [-8.78002111e-03 -2.36957705e-04 -9.99961427e-01 -1.81308487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.376559995 meters 0.019013924541074465 Centerline is valid? [True, True] Translation: X:5.33, Y:-203.99, Z:-1.81 [[ 2.42552329e-01 9.70135714e-01 -2.25019685e-03 5.32565762e+00] [ 9.70102098e-01 -2.42562664e-01 -8.07918953e-03 -2.03989857e+02] [-8.38372405e-03 -2.23294445e-04 -9.99964831e-01 -1.81231645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.40655999499995 meters 0.01615296896008287 Centerline is valid? [True, True] Translation: X:5.33, Y:-203.99, Z:-1.81 [[ 1.66298598e-01 9.86074284e-01 -1.51068603e-03 5.32767233e+00] [ 9.86044076e-01 -1.66305333e-01 -7.72112595e-03 -2.03991098e+02] [-7.86483889e-03 -2.05590583e-04 -9.99969051e-01 -1.81377191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.436559995 meters 0.015530863474017925 Centerline is valid? [True, True] Translation: X:5.33, Y:-203.99, Z:-1.81 [[ 9.04134346e-02 9.95903949e-01 -8.57432761e-04 5.33264047e+00] [ 9.95876221e-01 -9.04173175e-02 -7.43376021e-03 -2.03992798e+02] [-7.48083792e-03 -1.81785106e-04 -9.99972002e-01 -1.81370311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.46655999499995 meters 0.015285094787110858 Centerline is valid? [True, True] Translation: X:5.34, Y:-203.99, Z:-1.81 [[ 1.33003674e-02 9.99911509e-01 -2.73854283e-04 5.33859397e+00] [ 9.99883282e-01 -1.33020501e-02 -7.51515347e-03 -2.03994619e+02] [-7.51813126e-03 -1.73868018e-04 -9.99971723e-01 -1.81334652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.496559995 meters 0.017643011803007 Centerline is valid? [True, True] Translation: X:5.35, Y:-204.00, Z:-1.81 [[-6.36468647e-02 9.97972429e-01 3.26615185e-04 5.34855102e+00] [ 9.97942173e-01 6.36474790e-02 -7.77293199e-03 -2.03997019e+02] [-7.77796005e-03 -1.68779683e-04 -9.99969737e-01 -1.81095518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.52655999499996 meters 0.01445845658019956 Centerline is valid? [True, True] Translation: X:5.35, Y:-204.00, Z:-1.81 [[-1.40256524e-01 9.90114735e-01 9.58184406e-04 5.35032016e+00] [ 9.90083079e-01 1.40259704e-01 -7.91914869e-03 -2.03998120e+02] [-7.97526047e-03 -1.62030104e-04 -9.99968184e-01 -1.81240600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.556559995 meters 0.01445845658019956 Centerline is valid? [True, True] Translation: X:5.36, Y:-204.00, Z:-1.81 [[-2.17368007e-01 9.76088453e-01 1.57545635e-03 5.35886260e+00] [ 9.76057142e-01 2.17373656e-01 -7.81974100e-03 -2.03999269e+02] [-7.97522160e-03 -1.62026094e-04 -9.99968184e-01 -1.81240633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.58655999499996 meters 0.01379667105555458 Centerline is valid? [True, True] Translation: X:5.36, Y:-204.00, Z:-1.81 [[-2.90318542e-01 9.56927203e-01 2.33921838e-03 5.36434469e+00] [ 9.56891911e-01 2.90327928e-01 -8.21977355e-03 -2.04000424e+02] [-8.54486534e-03 -1.47973523e-04 -9.99963481e-01 -1.81152312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.61655999499993 meters 0.013601959680255854 Centerline is valid? [True, True] Translation: X:5.37, Y:-204.00, Z:-1.81 [[-3.63287402e-01 9.31672274e-01 3.00615736e-03 5.37077669e+00] [ 9.31637134e-01 3.63299813e-01 -8.09301838e-03 -2.04000565e+02] [-8.63217724e-03 -1.39443802e-04 -9.99962732e-01 -1.81119042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.64655999499996 meters 0.013546596892041435 Centerline is valid? [True, True] Translation: X:5.38, Y:-204.00, Z:-1.81 [[-4.34554011e-01 9.00637730e-01 3.80662381e-03 5.37741675e+00] [ 9.00600306e-01 4.34570661e-01 -8.21153743e-03 -2.04000185e+02] [-9.04986746e-03 -1.40109960e-04 -9.99959039e-01 -1.81113909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.67655999499993 meters 0.013578962597478383 Centerline is valid? [True, True] Translation: X:5.38, Y:-204.00, Z:-1.81 [[-5.03520243e-01 8.63971139e-01 4.60822952e-03 5.38364774e+00] [ 8.63932332e-01 5.03541310e-01 -8.18996510e-03 -2.04001445e+02] [-9.39632740e-03 -1.42614737e-04 -9.99955843e-01 -1.81096488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.70655999499996 meters 0.01331790548009656 Centerline is valid? [True, True] Translation: X:5.39, Y:-204.00, Z:-1.81 [[-5.69191256e-01 8.22186029e-01 5.60782725e-03 5.38961835e+00] [ 8.22143561e-01 5.69218861e-01 -8.35785978e-03 -2.04000180e+02] [-1.00637966e-02 -1.46781643e-04 -9.99949348e-01 -1.81145111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.73655999499994 meters 0.013360659685246242 Centerline is valid? [True, True] Translation: X:5.40, Y:-204.00, Z:-1.81 [[-6.31663046e-01 7.75217351e-01 6.31308122e-03 5.39777207e+00] [ 7.75176302e-01 6.31694576e-01 -7.97886506e-03 -2.03998982e+02] [-1.01732938e-02 -1.46203248e-04 -9.99948240e-01 -1.81116693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.76655999499997 meters 0.013598653013795632 Centerline is valid? [True, True] Translation: X:5.41, Y:-204.00, Z:-1.81 [[-6.90342737e-01 7.23449359e-01 6.92324044e-03 5.40519871e+00] [ 7.23410867e-01 6.90377436e-01 -7.46410298e-03 -2.03997118e+02] [-1.01795495e-02 -1.44441909e-04 -9.99948177e-01 -1.81028625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.79655999499994 meters 0.013991158417758524 Centerline is valid? [True, True] Translation: X:5.41, Y:-204.00, Z:-1.81 [[-7.45112386e-01 6.66893367e-01 7.79551224e-03 5.41124125e+00] [ 6.66854696e-01 7.45153148e-01 -7.18343257e-03 -2.03995494e+02] [-1.05994340e-02 -1.53990632e-04 -9.99943813e-01 -1.80897394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.82655999499997 meters 0.01348474123247132 Centerline is valid? [True, True] Translation: X:5.89, Y:-203.47, Z:-2.78 [[-6.77700055e-01 -7.35304502e-01 7.06568966e-03 5.89133362e+00] [ 7.35266541e-01 -6.77736875e-01 -7.47272696e-03 -2.03468917e+02] [ 1.02834082e-02 1.30897725e-04 9.99947116e-01 -2.78156814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.85655999499994 meters 0.013907907521034097 Centerline is valid? [True, True] Translation: X:5.87, Y:-203.45, Z:-2.78 [[-6.78073040e-01 -7.34960590e-01 7.06285901e-03 5.87212801e+00] [ 7.34922934e-01 -6.78109807e-01 -7.44118071e-03 -2.03450301e+02] [ 1.02583685e-02 1.44993043e-04 9.99947371e-01 -2.78238255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.88655999499997 meters 0.013942859441945819 Centerline is valid? [True, True] Translation: X:5.85, Y:-203.43, Z:-2.78 [[-6.78488053e-01 -7.34578866e-01 6.91745803e-03 5.85409655e+00] [ 7.34542771e-01 -6.78523301e-01 -7.28343534e-03 -2.03431237e+02] [ 1.00439141e-02 1.39444923e-04 9.99949549e-01 -2.78244769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.91655999499994 meters 0.013506781179247841 Centerline is valid? [True, True] Translation: X:5.84, Y:-203.41, Z:-2.78 [[-6.78901156e-01 -7.34201516e-01 6.43075506e-03 5.83656702e+00] [ 7.34170342e-01 -6.78931600e-01 -6.76686610e-03 -2.03410345e+02] [ 9.33428618e-03 1.27236426e-04 9.99956427e-01 -2.78104396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.946559995 meters 0.013423803726653435 Centerline is valid? [True, True] Translation: X:5.82, Y:-203.39, Z:-2.78 [[-6.79354798e-01 -7.33785725e-01 5.96391254e-03 5.81812078e+00] [ 7.33758930e-01 -6.79380966e-01 -6.27181100e-03 -2.03390882e+02] [ 8.65393404e-03 1.15289190e-04 9.99962547e-01 -2.78069668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.97655999499995 meters 0.013414322449515315 Centerline is valid? [True, True] Translation: X:5.80, Y:-203.37, Z:-2.78 [[-6.79851024e-01 -7.33328488e-01 5.64920143e-03 5.79982276e+00] [ 7.33304462e-01 -6.79874487e-01 -5.93707280e-03 -2.03371858e+02] [ 8.19457254e-03 1.06259593e-04 9.99966418e-01 -2.78034234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.006559995 meters 0.013245709070379072 Centerline is valid? [True, True] Translation: X:5.78, Y:-203.35, Z:-2.78 [[-6.80248469e-01 -7.32962352e-01 5.31140036e-03 5.78069603e+00] [ 7.32941120e-01 -6.80269198e-01 -5.57968971e-03 -2.03351777e+02] [ 7.70288456e-03 9.73683390e-05 9.99970328e-01 -2.78010494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.03655999499995 meters 0.01363223358970117 Centerline is valid? [True, True] Translation: X:5.76, Y:-203.33, Z:-2.78 [[-6.80232400e-01 -7.32980702e-01 4.81377720e-03 5.76093846e+00] [ 7.32963285e-01 -6.80249427e-01 -5.05370869e-03 -2.03333839e+02] [ 6.97884012e-03 9.06255566e-05 9.99975644e-01 -2.78065464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.066559995 meters 0.013021091811575729 Centerline is valid? [True, True] Translation: X:5.74, Y:-203.31, Z:-2.78 [[-6.80347271e-01 -7.32873985e-01 4.82838361e-03 5.74270754e+00] [ 7.32856482e-01 -6.80364398e-01 -5.06586870e-03 -2.03313529e+02] [ 6.99770369e-03 9.19622773e-05 9.99975512e-01 -2.77996945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.09655999499995 meters 0.013838491276878794 Centerline is valid? [True, True] Translation: X:5.72, Y:-203.30, Z:-2.78 [[-6.80230439e-01 -7.32983359e-01 4.68464632e-03 5.72275033e+00] [ 7.32966901e-01 -6.80246564e-01 -4.91268513e-03 -2.03296538e+02] [ 6.78763101e-03 9.19327315e-05 9.99976960e-01 -2.78114630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.126559995 meters 0.013893677875766636 Centerline is valid? [True, True] Translation: X:5.70, Y:-203.28, Z:-2.78 [[-6.80118231e-01 -7.33089146e-01 4.41540719e-03 5.70284840e+00] [ 7.33074546e-01 -6.80132558e-01 -4.62761572e-03 -2.03277667e+02] [ 6.39551704e-03 8.94968026e-05 9.99979545e-01 -2.78125660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.15655999499995 meters 0.013985334595899266 Centerline is valid? [True, True] Translation: X:5.68, Y:-203.26, Z:-2.78 [[-6.80371705e-01 -7.32853936e-01 4.41053967e-03 5.68392423e+00] [ 7.32839380e-01 -6.80385994e-01 -4.61980653e-03 -2.03258661e+02] [ 6.38651282e-03 8.90315073e-05 9.99979602e-01 -2.78124606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.186559995 meters 0.013258369707653702 Centerline is valid? [True, True] Translation: X:5.67, Y:-203.24, Z:-2.78 [[-6.80803124e-01 -7.32452533e-01 4.51578557e-03 5.66583549e+00] [ 7.32437285e-01 -6.80818095e-01 -4.72712128e-03 -2.03238218e+02] [ 6.53682049e-03 8.92907902e-05 9.99978631e-01 -2.78063242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.21655999499995 meters 0.012905483414373177 Centerline is valid? [True, True] Translation: X:5.65, Y:-203.22, Z:-2.78 [[-6.81418842e-01 -7.31881602e-01 4.20496156e-03 5.64673767e+00] [ 7.31868385e-01 -6.81431812e-01 -4.39926207e-03 -2.03217579e+02] [ 6.08513355e-03 7.97383560e-05 9.99981482e-01 -2.78029338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.246559995 meters 0.013829609749287474 Centerline is valid? [True, True] Translation: X:5.63, Y:-203.20, Z:-2.78 [[-6.82553394e-01 -7.30823806e-01 4.17485456e-03 5.62639589e+00] [ 7.30810775e-01 -6.82566158e-01 -4.36484756e-03 -2.03200804e+02] [ 6.03954894e-03 7.17871842e-05 9.99981759e-01 -2.78165447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.27655999499996 meters 0.013625155758317723 Centerline is valid? [True, True] Translation: X:5.61, Y:-203.18, Z:-2.78 [[-6.83161873e-01 -7.30254922e-01 4.19561016e-03 5.60795609e+00] [ 7.30241767e-01 -6.83174753e-01 -4.38381383e-03 -2.03181423e+02] [ 6.06763656e-03 6.89553101e-05 9.99981589e-01 -2.78157064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.306559995 meters 0.012569188928554222 Centerline is valid? [True, True] Translation: X:5.59, Y:-203.16, Z:-2.78 [[-6.83941117e-01 -7.29525880e-01 4.06687708e-03 5.59063703e+00] [ 7.29513522e-01 -6.83953205e-01 -4.24665175e-03 -2.03160122e+02] [ 5.87959597e-03 6.23820872e-05 9.99982713e-01 -2.78024674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.33655999499996 meters 0.012500125555541043 Centerline is valid? [True, True] Translation: X:5.57, Y:-203.14, Z:-2.78 [[-6.84634786e-01 -7.28875061e-01 4.04423714e-03 5.57161642e+00] [ 7.28862844e-01 -6.84646728e-01 -4.22037818e-03 -2.03140971e+02] [ 5.84500212e-03 5.82764756e-05 9.99982916e-01 -2.78048960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.36655999499993 meters 0.012495797256875555 Centerline is valid? [True, True] Translation: X:5.55, Y:-203.12, Z:-2.78 [[-6.85371798e-01 -7.28180709e-01 4.28397863e-03 5.55307028e+00] [ 7.28167006e-01 -6.85385185e-01 -4.46763715e-03 -2.03122834e+02] [ 6.18942268e-03 5.74593884e-05 9.99980844e-01 -2.78103141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.39655999499996 meters 0.012349092836209987 Centerline is valid? [True, True] Translation: X:5.53, Y:-203.10, Z:-2.78 [[-6.85953609e-01 -7.27631589e-01 4.46289543e-03 5.53376148e+00] [ 7.27616724e-01 -6.85968125e-01 -4.65134005e-03 -2.03103250e+02] [ 6.44586595e-03 5.66738583e-05 9.99979224e-01 -2.78113379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.42655999499993 meters 0.012312432018592466 Centerline is valid? [True, True] Translation: X:5.51, Y:-203.08, Z:-2.78 [[-6.86351818e-01 -7.27255309e-01 4.57142448e-03 5.51429280e+00] [ 7.27239724e-01 -6.86367039e-01 -4.76149884e-03 -2.03083989e+02] [ 6.60050040e-03 5.64580901e-05 9.99978215e-01 -2.78134193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.45655999499996 meters 0.012265464602914585 Centerline is valid? [True, True] Translation: X:5.50, Y:-203.07, Z:-2.78 [[-6.87601232e-01 -7.26072689e-01 4.79547389e-03 5.49537432e+00] [ 7.26055526e-01 -6.87617952e-01 -4.99247207e-03 -2.03065929e+02] [ 6.92235155e-03 4.89503719e-05 9.99976039e-01 -2.78222562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.48655999499994 meters 0.011972000131444475 Centerline is valid? [True, True] Translation: X:5.48, Y:-203.05, Z:-2.78 [[-6.88585952e-01 -7.25140367e-01 4.56445907e-03 5.47742486e+00] [ 7.25124817e-01 -6.88601079e-01 -4.74903538e-03 -2.03045888e+02] [ 6.58680870e-03 3.96835006e-05 9.99978306e-01 -2.78167706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.51655999499997 meters 0.01178837521505542 Centerline is valid? [True, True] Translation: X:5.46, Y:-203.03, Z:-2.78 [[-6.89847342e-01 -7.23940726e-01 4.52444672e-03 5.45928167e+00] [ 7.23925441e-01 -6.89862178e-01 -4.70444148e-03 -2.03025807e+02] [ 6.52698145e-03 3.00156372e-05 9.99978699e-01 -2.78093134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.54655999499994 meters 0.01159011590179051 Centerline is valid? [True, True] Translation: X:5.44, Y:-203.00, Z:-2.78 [[-6.91357239e-01 -7.22502074e-01 3.99012232e-03 5.43999180e+00] [ 7.22490176e-01 -6.91368753e-01 -4.14652432e-03 -2.03004732e+02] [ 5.75451832e-03 1.60945680e-05 9.99983443e-01 -2.78019630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.57655999499997 meters 0.011546529952163882 Centerline is valid? [True, True] Translation: X:5.42, Y:-202.98, Z:-2.78 [[-6.94256232e-01 -7.19722196e-01 2.87147671e-03 5.42358724e+00] [ 7.19716016e-01 -6.94262170e-01 -2.98256997e-03 -2.02984712e+02] [ 4.14017946e-03 -4.02000968e-06 9.99991429e-01 -2.77909079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.60655999499994 meters 0.011517543924502934 Centerline is valid? [True, True] Translation: X:5.41, Y:-202.96, Z:-2.78 [[-6.95830072e-01 -7.18202241e-01 2.46011731e-03 5.40513377e+00] [ 7.18197701e-01 -6.95834420e-01 -2.55369574e-03 -2.02964641e+02] [ 3.54590430e-03 -1.00876958e-05 9.99993713e-01 -2.77794041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.63655999499997 meters 0.011659504088031465 Centerline is valid? [True, True] Translation: X:5.39, Y:-202.94, Z:-2.78 [[-6.97524764e-01 -7.16557118e-01 2.25825700e-03 5.38646112e+00] [ 7.16553289e-01 -6.97528420e-01 -2.34270207e-03 -2.02944502e+02] [ 3.25387828e-03 -1.59312314e-05 9.99994706e-01 -2.77773801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.66655999499994 meters 0.012234889585773122 Centerline is valid? [True, True] Translation: X:5.37, Y:-202.92, Z:-2.78 [[-7.00842370e-01 -7.13313632e-01 1.90665339e-03 5.36804253e+00] [ 7.13310893e-01 -7.00844963e-01 -1.97680009e-03 -2.02924228e+02] [ 2.74634688e-03 -2.53886250e-05 9.99996229e-01 -2.77800246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.696559995 meters 0.01242760389392396 Centerline is valid? [True, True] Translation: X:5.35, Y:-202.90, Z:-2.78 [[-7.02619944e-01 -7.11562793e-01 1.89888026e-03 5.34857515e+00] [ 7.11560074e-01 -7.02622509e-01 -1.96764171e-03 -2.02904380e+02] [ 2.73429664e-03 -3.13369260e-05 9.99996261e-01 -2.77798539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.72655999499995 meters 0.012874724336521662 Centerline is valid? [True, True] Translation: X:5.33, Y:-202.88, Z:-2.78 [[-7.04297387e-01 -7.09901463e-01 2.25936394e-03 5.33000662e+00] [ 7.09897608e-01 -7.04301009e-01 -2.33980124e-03 -2.02884584e+02] [ 3.25230062e-03 -4.39988390e-05 9.99994710e-01 -2.77821833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.756559995 meters 0.014040715769284293 Centerline is valid? [True, True] Translation: X:5.31, Y:-202.86, Z:-2.78 [[-7.06827267e-01 -7.07382440e-01 2.30185340e-03 5.31150909e+00] [ 7.07378430e-01 -7.06831013e-01 -2.38241576e-03 -2.02864391e+02] [ 3.31230044e-03 -5.56749713e-05 9.99994513e-01 -2.77877306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.78655999499995 meters 0.013806759684792067 Centerline is valid? [True, True] Translation: X:5.29, Y:-202.85, Z:-2.78 [[-7.07813414e-01 -7.06394643e-01 2.60387078e-03 5.29077904e+00] [ 7.06389511e-01 -7.07818200e-01 -2.69351630e-03 -2.02845126e+02] [ 3.74575261e-03 -6.71599572e-05 9.99992982e-01 -2.77861075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.816559995 meters 0.014068567706179381 Centerline is valid? [True, True] Translation: X:5.27, Y:-202.83, Z:-2.78 [[-7.08457607e-01 -7.05747907e-01 2.77682965e-03 5.27109651e+00] [ 7.05742072e-01 -7.08463045e-01 -2.87065669e-03 -2.02825879e+02] [ 3.99324114e-03 -7.40130597e-05 9.99992024e-01 -2.77880234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.84655999499995 meters 0.014187362869514674 Centerline is valid? [True, True] Translation: X:5.25, Y:-202.81, Z:-2.78 [[-7.08269822e-01 -7.05933336e-01 3.46176331e-03 5.25050746e+00] [ 7.05924282e-01 -7.08278276e-01 -3.57642088e-03 -2.02809248e+02] [ 4.97660647e-03 -8.93281958e-05 9.99987613e-01 -2.77909545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.876559995 meters 0.01373589810606389 Centerline is valid? [True, True] Translation: X:5.23, Y:-202.79, Z:-2.78 [[-7.07737172e-01 -7.06465957e-01 3.73453991e-03 5.22918220e+00] [ 7.06455440e-01 -7.07747019e-01 -3.85585787e-03 -2.02791566e+02] [ 5.36714181e-03 -9.06479081e-05 9.99985593e-01 -2.77892360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.90655999499995 meters 0.013503036249226946 Centerline is valid? [True, True] Translation: X:5.21, Y:-202.77, Z:-2.78 [[-7.07050603e-01 -7.07154291e-01 3.50050321e-03 5.20849936e+00] [ 7.07145071e-01 -7.07059264e-01 -3.61200729e-03 -2.02774282e+02] [ 5.02930968e-03 -7.85083383e-05 9.99987350e-01 -2.77878310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.936559995 meters 0.013057139106168483 Centerline is valid? [True, True] Translation: X:5.19, Y:-202.76, Z:-2.78 [[-7.05931959e-01 -7.08269961e-01 3.70552277e-03 5.18735180e+00] [ 7.08259657e-01 -7.05941681e-01 -3.82122619e-03 -2.02757117e+02] [ 5.32234270e-03 -7.30534019e-05 9.99985834e-01 -2.77852689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.96655999499995 meters 0.012337460102842078 Centerline is valid? [True, True] Translation: X:5.16, Y:-202.74, Z:-2.78 [[-7.03148217e-01 -7.11032622e-01 3.89812082e-03 5.16328556e+00] [ 7.11021273e-01 -7.03159021e-01 -4.01767742e-03 -2.02741972e+02] [ 5.59769853e-03 -5.33758892e-05 9.99984331e-01 -2.77867295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.996559995 meters 0.011769475484570307 Centerline is valid? [True, True] Translation: X:5.14, Y:-202.72, Z:-2.78 [[-7.01569548e-01 -7.12589287e-01 4.08377707e-03 5.14137852e+00] [ 7.12576872e-01 -7.01581433e-01 -4.20646152e-03 -2.02724943e+02] [ 5.86258158e-03 -4.11202158e-05 9.99982814e-01 -2.77856897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.02655999499996 meters 0.011536726702068392 Centerline is valid? [True, True] Translation: X:5.12, Y:-202.71, Z:-2.78 [[-7.00121347e-01 -7.14010729e-01 4.33336356e-03 5.12054583e+00] [ 7.13996796e-01 -7.00134757e-01 -4.46069384e-03 -2.02708209e+02] [ 6.21892171e-03 -2.90192791e-05 9.99980662e-01 -2.77873245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.056559995 meters 0.011356301426804584 Centerline is valid? [True, True] Translation: X:5.10, Y:-202.69, Z:-2.78 [[-6.97187409e-01 -7.16872709e-01 4.82031881e-03 5.09677943e+00] [ 7.16855558e-01 -6.97204072e-01 -4.95881898e-03 -2.02694851e+02] [ 6.91558790e-03 -1.75382098e-06 9.99976087e-01 -2.77952829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.08655999499996 meters 0.011379220666897694 Centerline is valid? [True, True] Translation: X:5.08, Y:-202.68, Z:-2.78 [[-6.95703634e-01 -7.18310873e-01 5.09344130e-03 5.07538908e+00] [ 7.18291779e-01 -6.95722279e-01 -5.23737573e-03 -2.02678565e+02] [ 7.30568452e-03 1.49156864e-05 9.99973313e-01 -2.78006632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.11655999499993 meters 0.011399520576879643 Centerline is valid? [True, True] Translation: X:5.05, Y:-202.66, Z:-2.78 [[-6.94419354e-01 -7.19553499e-01 4.95217840e-03 5.05388367e+00] [ 7.19535503e-01 -6.94437011e-01 -5.08897069e-03 -2.02661482e+02] [ 7.10076263e-03 2.93884407e-05 9.99974789e-01 -2.77958027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.14655999499996 meters 0.011693041244451724 Centerline is valid? [True, True] Translation: X:5.03, Y:-202.65, Z:-2.78 [[-6.92982962e-01 -7.20937848e-01 4.82014995e-03 5.03249093e+00] [ 7.20920855e-01 -6.92999724e-01 -4.95008535e-03 -2.02645632e+02] [ 6.90906646e-03 4.46218117e-05 9.99976131e-01 -2.78003097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.17655999499993 meters 0.012271753178972505 Centerline is valid? [True, True] Translation: X:5.01, Y:-202.63, Z:-2.78 [[-6.89980479e-01 -7.23814000e-01 4.49805491e-03 5.00851955e+00] [ 7.23799279e-01 -6.89995137e-01 -4.61681304e-03 -2.02629895e+02] [ 6.44534992e-03 7.01780214e-05 9.99979226e-01 -2.77858638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.20655999499996 meters 0.012827554489251216 Centerline is valid? [True, True] Translation: X:4.99, Y:-202.61, Z:-2.78 [[-6.88596593e-01 -7.25129529e-01 4.67942877e-03 4.98712861e+00] [ 7.25113646e-01 -6.88612487e-01 -4.80022189e-03 -2.02612221e+02] [ 6.70309573e-03 8.77012132e-05 9.99977530e-01 -2.77833915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.23655999499994 meters 0.013445593941214626 Centerline is valid? [True, True] Translation: X:4.97, Y:-202.60, Z:-2.78 [[-6.87432825e-01 -7.26234444e-01 4.43213324e-03 4.96593741e+00] [ 7.26220235e-01 -6.87447106e-01 -4.54395065e-03 -2.02595342e+02] [ 6.34683065e-03 9.50440127e-05 9.99979854e-01 -2.77830665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.26655999499997 meters 0.0145237531958843 Centerline is valid? [True, True] Translation: X:4.94, Y:-202.58, Z:-2.78 [[-6.85289100e-01 -7.28257139e-01 4.51540539e-03 4.94205551e+00] [ 7.28242450e-01 -6.85303966e-01 -4.62687104e-03 -2.02578999e+02] [ 6.46397709e-03 1.17565594e-04 9.99979101e-01 -2.77866666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.29655999499994 meters 0.01613872753136966 Centerline is valid? [True, True] Translation: X:4.92, Y:-202.56, Z:-2.78 [[-6.84823254e-01 -7.28693770e-01 4.74352212e-03 4.92071780e+00] [ 7.28677585e-01 -6.84839670e-01 -4.85837980e-03 -2.02563645e+02] [ 6.78882321e-03 1.29366777e-04 9.99976947e-01 -2.77987118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.32655999499997 meters 0.015512734600705824 Centerline is valid? [True, True] Translation: X:4.90, Y:-202.54, Z:-2.78 [[-6.84554825e-01 -7.28946785e-01 4.61268121e-03 4.90180395e+00] [ 7.28931504e-01 -6.84570353e-01 -4.72159623e-03 -2.02544418e+02] [ 6.59949719e-03 1.30137171e-04 9.99978215e-01 -2.77932698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.35655999499994 meters 0.015540113133468418 Centerline is valid? [True, True] Translation: X:4.88, Y:-202.53, Z:-2.78 [[-6.84804882e-01 -7.28712914e-01 4.44554148e-03 4.88148363e+00] [ 7.28698733e-01 -6.84819300e-01 -4.54784716e-03 -2.02525526e+02] [ 6.35846756e-03 1.25072512e-04 9.99979777e-01 -2.77971256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.38655999499997 meters 0.01509924357731913 Centerline is valid? [True, True] Translation: X:4.86, Y:-202.51, Z:-2.78 [[-6.86213896e-01 -7.27383113e-01 4.92906478e-03 4.86314190e+00] [ 7.27365667e-01 -6.86231587e-01 -5.03941045e-03 -2.02507372e+02] [ 7.04806201e-03 1.27119011e-04 9.99975154e-01 -2.78003781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.41655999499994 meters 0.014705529698781483 Centerline is valid? [True, True] Translation: X:4.84, Y:-202.49, Z:-2.78 [[-6.87305042e-01 -7.26350980e-01 5.10223652e-03 4.84445355e+00] [ 7.26332280e-01 -6.87323969e-01 -5.21345930e-03 -2.02487270e+02] [ 7.29369073e-03 1.22682224e-04 9.99973393e-01 -2.78009093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.446559995 meters 0.013947998628699502 Centerline is valid? [True, True] Translation: X:4.83, Y:-202.47, Z:-2.78 [[-6.89465743e-01 -7.24292687e-01 6.09029265e-03 4.82791571e+00] [ 7.24265999e-01 -6.89492631e-01 -6.21890705e-03 -2.02467601e+02] [ 8.70352080e-03 1.23268519e-04 9.99962116e-01 -2.78090024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.47655999499995 meters 0.013947998628699502 Centerline is valid? [True, True] Translation: X:4.81, Y:-202.45, Z:-2.78 [[-6.89694394e-01 -7.24074946e-01 6.09225581e-03 4.80965605e+00] [ 7.24048266e-01 -6.89721290e-01 -6.21698389e-03 -2.02449211e+02] [ 8.70352081e-03 1.23268322e-04 9.99962116e-01 -2.78090053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.506559995 meters 0.013674534912494249 Centerline is valid? [True, True] Translation: X:4.79, Y:-202.43, Z:-2.78 [[-6.90679627e-01 -7.23130697e-01 6.60666716e-03 4.79158511e+00] [ 7.23099318e-01 -6.90711213e-01 -6.73768056e-03 -2.02429603e+02] [ 9.43552273e-03 1.23697820e-04 9.99955477e-01 -2.78156921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.53655999499995 meters 0.013601071728378452 Centerline is valid? [True, True] Translation: X:4.77, Y:-202.41, Z:-2.78 [[-6.91382812e-01 -7.22450764e-01 7.39602763e-03 4.77381194e+00] [ 7.22411452e-01 -6.91422358e-01 -7.53774067e-03 -2.02411048e+02] [ 1.05594254e-02 1.31510717e-04 9.99944239e-01 -2.78253115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.566559995 meters 0.013535679632968268 Centerline is valid? [True, True] Translation: X:4.76, Y:-202.39, Z:-2.78 [[-6.92050348e-01 -7.21806097e-01 7.89145791e-03 4.75506033e+00] [ 7.21761356e-01 -6.92095327e-01 -8.03767172e-03 -2.02391765e+02] [ 1.12632816e-02 1.33275850e-04 9.99936558e-01 -2.78337894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.59655999499995 meters 0.01309711509877146 Centerline is valid? [True, True] Translation: X:4.74, Y:-202.37, Z:-2.78 [[-6.93014859e-01 -7.20871118e-01 8.67383354e-03 4.73780768e+00] [ 7.20817062e-01 -6.93069126e-01 -8.82897231e-03 -2.02371431e+02] [ 1.23761174e-02 1.33638201e-04 9.99923404e-01 -2.78407360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.626559995 meters 0.012935357410541382 Centerline is valid? [True, True] Translation: X:4.72, Y:-202.35, Z:-2.78 [[-6.93780006e-01 -7.20133123e-01 8.80842669e-03 4.72012664e+00] [ 7.20077387e-01 -6.93835909e-01 -8.96031038e-03 -2.02351396e+02] [ 1.25642190e-02 1.26264685e-04 9.99921059e-01 -2.78414233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.65655999499995 meters 0.012896637921249414 Centerline is valid? [True, True] Translation: X:4.70, Y:-202.33, Z:-2.78 [[-6.94474108e-01 -7.19461973e-01 8.95447197e-03 4.70293970e+00] [ 7.19404394e-01 -6.94531825e-01 -9.10287689e-03 -2.02332014e+02] [ 1.27683395e-02 1.20174173e-04 9.99918474e-01 -2.78412804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.686559995 meters 0.0124671282693729 Centerline is valid? [True, True] Translation: X:4.69, Y:-202.31, Z:-2.78 [[-6.95678191e-01 -7.18300443e-01 8.73658986e-03 4.68579064e+00] [ 7.18245609e-01 -6.95733041e-01 -8.87584595e-03 -2.02311244e+02] [ 1.24538583e-02 1.00284853e-04 9.99922443e-01 -2.78361962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.71655999499995 meters 0.011840989639974066 Centerline is valid? [True, True] Translation: X:4.67, Y:-202.29, Z:-2.78 [[-6.98567638e-01 -7.15497181e-01 8.18779466e-03 4.67106180e+00] [ 7.15448881e-01 -6.98615618e-01 -8.31367257e-03 -2.02288298e+02] [ 1.16685305e-02 5.02859176e-05 9.99931919e-01 -2.78236536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.746559995 meters 0.011645591839582282 Centerline is valid? [True, True] Translation: X:4.66, Y:-202.27, Z:-2.78 [[-7.00570714e-01 -7.13542353e-01 7.61480362e-03 4.65544853e+00] [ 7.13500515e-01 -7.00612097e-01 -7.72689820e-03 -2.02267717e+02] [ 1.08484927e-02 1.99277118e-05 9.99941153e-01 -2.78167077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.77655999499996 meters 0.011224664321632029 Centerline is valid? [True, True] Translation: X:4.64, Y:-202.25, Z:-2.78 [[-7.02765351e-01 -7.11384855e-01 7.24217017e-03 4.63874697e+00] [ 7.11346944e-01 -7.02802666e-01 -7.34420750e-03 -2.02245829e+02] [ 1.03143745e-02 -9.55894765e-06 9.99946805e-01 -2.77811477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.806559995 meters 0.011639476299053847 Centerline is valid? [True, True] Translation: X:4.63, Y:-202.22, Z:-2.78 [[-7.07477307e-01 -7.06712435e-01 5.77871644e-03 4.62539129e+00] [ 7.06688173e-01 -7.07500905e-01 -5.85631644e-03 -2.02222245e+02] [ 8.22717876e-03 -5.94604253e-05 9.99966154e-01 -2.77700061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.83655999499996 meters 0.012090214157895513 Centerline is valid? [True, True] Translation: X:4.61, Y:-202.20, Z:-2.78 [[-7.10006253e-01 -7.04171405e-01 5.80974558e-03 4.60824513e+00] [ 7.04146824e-01 -7.10030017e-01 -5.88430806e-03 -2.02200430e+02] [ 8.26865523e-03 -8.69816223e-05 9.99965810e-01 -2.77650543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.86655999499993 meters 0.012999221644948726 Centerline is valid? [True, True] Translation: X:4.59, Y:-202.18, Z:-2.78 [[-7.12340397e-01 -7.01809742e-01 5.85194558e-03 4.59223135e+00] [ 7.01784751e-01 -7.12364425e-01 -5.92360099e-03 -2.02178688e+02] [ 8.32595873e-03 -1.12814107e-04 9.99965332e-01 -2.77687213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.89655999499996 meters 0.014249437998120113 Centerline is valid? [True, True] Translation: X:4.58, Y:-202.16, Z:-2.78 [[-7.16274326e-01 -6.97791670e-01 6.15432341e-03 4.57586606e+00] [ 6.97763911e-01 -7.16300746e-01 -6.22629876e-03 -2.02155605e+02] [ 8.75300586e-03 -1.65473179e-04 9.99961678e-01 -2.77705171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.92655999499993 meters 0.015181827246654357 Centerline is valid? [True, True] Translation: X:4.56, Y:-202.13, Z:-2.78 [[-7.18058840e-01 -6.95951868e-01 6.51916298e-03 4.55836384e+00] [ 6.95920679e-01 -7.18088406e-01 -6.59163173e-03 -2.02134643e+02] [ 9.26879377e-03 -1.96359107e-04 9.99957025e-01 -2.77760612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.95655999499996 meters 0.015836336039848953 Centerline is valid? [True, True] Translation: X:4.54, Y:-202.11, Z:-2.78 [[-7.19627534e-01 -6.94323742e-01 7.12412597e-03 4.53998574e+00] [ 6.94286445e-01 -7.19662758e-01 -7.20048095e-03 -2.02113996e+02] [ 1.01264330e-02 -2.35480255e-04 9.99948699e-01 -2.77807016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.98655999499994 meters 0.01658467685085592 Centerline is valid? [True, True] Translation: X:4.52, Y:-202.09, Z:-2.78 [[-7.21056328e-01 -6.92838272e-01 7.27329622e-03 4.52131441e+00] [ 6.92799361e-01 -7.21092963e-01 -7.34731154e-03 -2.02092925e+02] [ 1.03352214e-02 -2.58890508e-04 9.99946557e-01 -2.77835499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.01655999499997 meters 0.015696022822893303 Centerline is valid? [True, True] Translation: X:4.50, Y:-202.07, Z:-2.78 [[-7.23236477e-01 -6.90557469e-01 7.70581108e-03 4.50059020e+00] [ 6.90513709e-01 -7.23277463e-01 -7.78011478e-03 -2.02073251e+02] [ 1.09460559e-02 -3.05894615e-04 9.99940043e-01 -2.77746375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.04655999499994 meters 0.018149148589654312 Centerline is valid? [True, True] Translation: X:4.48, Y:-202.05, Z:-2.78 [[-7.24457234e-01 -6.89277303e-01 7.64955957e-03 4.48433428e+00] [ 6.89234158e-01 -7.24497548e-01 -7.71871202e-03 -2.02051337e+02] [ 1.08624202e-02 -3.19539013e-04 9.99940951e-01 -2.77876763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.07655999499997 meters 0.016552901997498884 Centerline is valid? [True, True] Translation: X:4.46, Y:-202.03, Z:-2.78 [[-7.25505555e-01 -6.88170863e-01 7.90902009e-03 4.46271182e+00] [ 6.88124726e-01 -7.25548582e-01 -7.97602749e-03 -2.02032700e+02] [ 1.12272480e-02 -3.44259971e-04 9.99936913e-01 -2.77743796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.10655999499994 meters 0.017467328044504148 Centerline is valid? [True, True] Translation: X:4.44, Y:-202.01, Z:-2.78 [[-7.26344347e-01 -6.87287539e-01 7.72843368e-03 4.44484004e+00] [ 6.87243469e-01 -7.26385379e-01 -7.79071561e-03 -2.02012246e+02] [ 1.09682830e-02 -3.47426665e-04 9.99939786e-01 -2.77768579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.13655999499997 meters 0.01772129694979005 Centerline is valid? [True, True] Translation: X:4.43, Y:-201.99, Z:-2.78 [[-7.27520989e-01 -6.86044851e-01 7.46145325e-03 4.42555621e+00] [ 6.86003753e-01 -7.27559166e-01 -7.51740325e-03 -2.01992174e+02] [ 1.05859245e-02 -3.50483721e-04 9.99943906e-01 -2.77700192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.16655999499994 meters 0.018437934847431222 Centerline is valid? [True, True] Translation: X:4.41, Y:-201.97, Z:-2.78 [[-7.27809553e-01 -6.85742753e-01 7.08039287e-03 4.40774797e+00] [ 6.85705778e-01 -7.27843916e-01 -7.12881391e-03 -2.01973440e+02] [ 1.00419533e-02 -3.33352559e-04 9.99949523e-01 -2.77728928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.196559995 meters 0.017902251923655146 Centerline is valid? [True, True] Translation: X:4.39, Y:-201.95, Z:-2.78 [[-7.27823397e-01 -6.85728985e-01 6.99018920e-03 4.38723610e+00] [ 6.85692989e-01 -7.27856891e-01 -7.03361312e-03 -2.01954746e+02] [ 9.91100976e-03 -3.26104463e-04 9.99950832e-01 -2.77666362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.22655999499995 meters 0.016520536548128358 Centerline is valid? [True, True] Translation: X:4.36, Y:-201.94, Z:-2.78 [[-7.26075389e-01 -6.87586395e-01 6.28321287e-03 4.36464118e+00] [ 6.87557402e-01 -7.26102525e-01 -6.31996918e-03 -2.01936930e+02] [ 8.90778156e-03 -2.68704565e-04 9.99960289e-01 -2.77617004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.256559995 meters 0.016694225070822136 Centerline is valid? [True, True] Translation: X:4.34, Y:-201.92, Z:-2.78 [[-7.24820043e-01 -6.88912641e-01 5.93947409e-03 4.34491928e+00] [ 6.88886805e-01 -7.24844340e-01 -5.97102775e-03 -2.01918727e+02] [ 8.41871067e-03 -2.36295263e-04 9.99964534e-01 -2.77658715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.28655999499995 meters 0.01606306838836252 Centerline is valid? [True, True] Translation: X:4.32, Y:-201.90, Z:-2.78 [[-7.23135336e-01 -6.90679698e-01 6.06967177e-03 4.32320774e+00] [ 6.90652807e-01 -7.23160776e-01 -6.09856969e-03 -2.01900297e+02] [ 8.60150681e-03 -2.18055395e-04 9.99962983e-01 -2.77678892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.316559995 meters 0.015278821594910534 Centerline is valid? [True, True] Translation: X:4.30, Y:-201.88, Z:-2.78 [[-7.20937642e-01 -6.92972484e-01 6.16874073e-03 4.30223337e+00] [ 6.92944821e-01 -7.20964008e-01 -6.19470989e-03 -2.01882638e+02] [ 8.74020353e-03 -1.91402599e-04 9.99961785e-01 -2.77689296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.34655999499995 meters 0.013215956836065976 Centerline is valid? [True, True] Translation: X:4.28, Y:-201.87, Z:-2.78 [[-7.15766836e-01 -6.98308335e-01 6.58073779e-03 4.27776511e+00] [ 6.98277115e-01 -7.15797075e-01 -6.60445300e-03 -2.01868282e+02] [ 9.32241744e-03 -1.32069824e-04 9.99956537e-01 -2.77705401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.376559995 meters 0.012205057623965971 Centerline is valid? [True, True] Translation: X:4.26, Y:-201.85, Z:-2.78 [[-7.12815968e-01 -7.01319208e-01 6.69055066e-03 4.25501308e+00] [ 7.01287105e-01 -7.12847361e-01 -6.71093861e-03 -2.01851755e+02] [ 9.47585153e-03 -9.16673014e-05 9.99955099e-01 -2.77712957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.40655999499995 meters 0.011645435874085848 Centerline is valid? [True, True] Translation: X:4.23, Y:-201.84, Z:-2.78 [[-7.09820715e-01 -7.04351197e-01 6.62900972e-03 4.23228250e+00] [ 7.04319848e-01 -7.09851667e-01 -6.64547526e-03 -2.01835150e+02] [ 9.38636206e-03 -4.81528805e-05 9.99955946e-01 -2.77735066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.436559995 meters 0.011434731210633507 Centerline is valid? [True, True] Translation: X:4.21, Y:-201.82, Z:-2.78 [[-7.06766750e-01 -7.07415394e-01 6.64993094e-03 4.21015403e+00] [ 7.07384019e-01 -7.06798034e-01 -6.66254755e-03 -2.01818831e+02] [ 9.41334681e-03 -4.81220896e-06 9.99955694e-01 -2.77762129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.46655999499995 meters 0.01187820625614173 Centerline is valid? [True, True] Translation: X:4.18, Y:-201.80, Z:-2.78 [[-7.00555361e-01 -7.13572666e-01 6.01968087e-03 4.18451358e+00] [ 7.13547210e-01 -7.00581220e-01 -6.02772208e-03 -2.01804934e+02] [ 8.51849308e-03 7.25734730e-05 9.99963714e-01 -2.77762353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.496559995 meters 0.012511094392273709 Centerline is valid? [True, True] Translation: X:4.16, Y:-201.79, Z:-2.78 [[-6.97686738e-01 -7.16380377e-01 5.68961723e-03 4.16207919e+00] [ 7.16357754e-01 -6.97709929e-01 -5.69417419e-03 -2.01787249e+02] [ 8.04889709e-03 1.03051597e-04 9.99967602e-01 -2.77741789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.52655999499996 meters 0.013185276460557076 Centerline is valid? [True, True] Translation: X:4.14, Y:-201.77, Z:-2.78 [[-6.95145846e-01 -7.18848579e-01 5.38264488e-03 4.13982870e+00] [ 7.18828427e-01 -6.95166674e-01 -5.38408721e-03 -2.01769360e+02] [ 7.61217878e-03 1.26472296e-04 9.99971019e-01 -2.77728143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.556559995 meters 0.015589666293498885 Centerline is valid? [True, True] Translation: X:4.12, Y:-201.75, Z:-2.78 [[-6.90837470e-01 -7.22993722e-01 4.86495189e-03 4.11658522e+00] [ 7.22977382e-01 -6.90854582e-01 -4.86330690e-03 -2.01754368e+02] [ 6.87711466e-03 1.57495544e-04 9.99976340e-01 -2.77778581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.58655999499996 meters 0.015443392610965903 Centerline is valid? [True, True] Translation: X:4.10, Y:-201.78, Z:-2.78 [[-6.39095039e-01 -7.69115904e-01 4.27297007e-03 4.09634418e+00] [ 7.69100372e-01 -6.39109303e-01 -4.89053189e-03 -2.01776179e+02] [ 6.49228077e-03 1.60828200e-04 9.99978912e-01 -2.77723567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.61655999499993 meters 0.015918543565524503 Centerline is valid? [True, True] Translation: X:4.08, Y:-201.76, Z:-2.78 [[-6.38200786e-01 -7.69857791e-01 4.32890136e-03 4.07753576e+00] [ 7.69841892e-01 -6.38215443e-01 -4.95068707e-03 -2.01755845e+02] [ 6.57409672e-03 1.73037235e-04 9.99978375e-01 -2.77725907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.64655999499996 meters 0.01701337851806322 Centerline is valid? [True, True] Translation: X:4.06, Y:-201.74, Z:-2.78 [[-6.37899566e-01 -7.70107552e-01 4.30141818e-03 4.05872228e+00] [ 7.70091880e-01 -6.37914044e-01 -4.91628915e-03 -2.01736670e+02] [ 6.53000647e-03 1.76388499e-04 9.99978664e-01 -2.77773494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.67655999499993 meters 0.01695016496622896 Centerline is valid? [True, True] Translation: X:4.04, Y:-201.71, Z:-2.78 [[-6.37565014e-01 -7.70383433e-01 4.49657816e-03 4.04102413e+00] [ 7.70366333e-01 -6.37580842e-01 -5.13646172e-03 -2.01714395e+02] [ 6.82397710e-03 1.89184141e-04 9.99976699e-01 -2.77816466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.70655999499996 meters 0.017094565711917916 Centerline is valid? [True, True] Translation: X:4.02, Y:-201.69, Z:-2.78 [[-6.37785283e-01 -7.70199581e-01 4.74735508e-03 4.02334404e+00] [ 7.70180540e-01 -6.37802920e-01 -5.41951747e-03 -2.01693400e+02] [ 7.20198702e-03 1.99832018e-04 9.99974045e-01 -2.77870339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.73655999499994 meters 0.016879936649285603 Centerline is valid? [True, True] Translation: X:4.01, Y:-201.67, Z:-2.78 [[-6.38237148e-01 -7.69820995e-01 5.38319932e-03 4.00617850e+00] [ 7.69796529e-01 -6.38259811e-01 -6.14150875e-03 -2.01672300e+02] [ 8.16374215e-03 2.24229121e-04 9.99966651e-01 -2.77958986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.76655999499997 meters 0.01691319024101706 Centerline is valid? [True, True] Translation: X:3.99, Y:-201.65, Z:-2.78 [[-6.38705798e-01 -7.69427856e-01 5.97305017e-03 3.98914872e+00] [ 7.69397757e-01 -6.38733680e-01 -6.81016086e-03 -2.01651658e+02] [ 9.05511578e-03 2.45962175e-04 9.99958971e-01 -2.78056679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.79655999499994 meters 0.01651027302177703 Centerline is valid? [True, True] Translation: X:3.97, Y:-201.63, Z:-2.78 [[-6.39929980e-01 -7.68403894e-01 6.71390230e-03 3.97310237e+00] [ 7.68365857e-01 -6.39965145e-01 -7.65002860e-03 -2.01629093e+02] [ 1.01749752e-02 2.63250645e-04 9.99948199e-01 -2.78226534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.82655999499997 meters 0.01685966059875877 Centerline is valid? [True, True] Translation: X:3.96, Y:-201.61, Z:-2.78 [[-6.40647677e-01 -7.67804423e-01 6.85003540e-03 3.95651631e+00] [ 7.67764847e-01 -6.40684243e-01 -7.80000136e-03 -2.01608855e+02] [ 1.03775853e-02 2.62163632e-04 9.99946117e-01 -2.78266137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.85655999499994 meters 0.01600208904217288 Centerline is valid? [True, True] Translation: X:3.94, Y:-201.59, Z:-2.78 [[-6.41489294e-01 -7.67102133e-01 6.76786193e-03 3.94123118e+00] [ 7.67063512e-01 -6.41524945e-01 -7.70156985e-03 -2.01586624e+02] [ 1.02496429e-02 2.50905332e-04 9.99947440e-01 -2.78182013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.88655999499997 meters 0.014875470245909603 Centerline is valid? [True, True] Translation: X:3.93, Y:-201.56, Z:-2.78 [[-6.42337123e-01 -7.66392311e-01 6.77095724e-03 3.92605993e+00] [ 7.66353661e-01 -6.42372763e-01 -7.70062583e-03 -2.01562994e+02] [ 1.02511789e-02 2.42550023e-04 9.99947426e-01 -2.78105752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.91655999499994 meters 0.014866214779180547 Centerline is valid? [True, True] Translation: X:3.91, Y:-201.54, Z:-2.78 [[-6.43509978e-01 -7.65405855e-01 6.98463313e-03 3.91005663e+00] [ 7.65364704e-01 -6.43547839e-01 -7.94027943e-03 -2.01541437e+02] [ 1.05724819e-02 2.36142628e-04 9.99944082e-01 -2.78140839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.946559995 meters 0.01431906905920608 Centerline is valid? [True, True] Translation: X:3.90, Y:-201.52, Z:-2.78 [[-6.46411326e-01 -7.62966087e-01 5.92852928e-03 3.89665460e+00] [ 7.62936370e-01 -6.46438490e-01 -6.73607335e-03 -2.01517765e+02] [ 8.97182505e-03 1.68816501e-04 9.99959738e-01 -2.78066696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.97655999499995 meters 0.013694466606733817 Centerline is valid? [True, True] Translation: X:3.88, Y:-201.49, Z:-2.78 [[-6.48148044e-01 -7.61496352e-01 5.23628576e-03 3.88096907e+00] [ 7.61473146e-01 -6.48169182e-01 -5.94637831e-03 -2.01493429e+02] [ 7.92214445e-03 1.33157522e-04 9.99968611e-01 -2.77938491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.006559995 meters 0.01318613077678299 Centerline is valid? [True, True] Translation: X:3.87, Y:-201.47, Z:-2.78 [[-6.50264254e-01 -7.59693123e-01 4.77067963e-03 3.86504671e+00] [ 7.59673834e-01 -6.50281746e-01 -5.41457876e-03 -2.01469557e+02] [ 7.21570413e-03 1.03253466e-04 9.99973961e-01 -2.77841088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.03655999499995 meters 0.012476619757258467 Centerline is valid? [True, True] Translation: X:3.85, Y:-201.44, Z:-2.78 [[-6.53593211e-01 -7.56835024e-01 4.08173149e-03 3.85183612e+00] [ 7.56820863e-01 -6.53605954e-01 -4.63021216e-03 -2.01443239e+02] [ 6.17215073e-03 6.28643156e-05 9.99980950e-01 -2.77747147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.066559995 meters 0.01223973472566739 Centerline is valid? [True, True] Translation: X:3.84, Y:-201.42, Z:-2.78 [[-6.55457846e-01 -7.55220885e-01 4.05313965e-03 3.83656303e+00] [ 7.55206909e-01 -6.55470375e-01 -4.59474705e-03 -2.01421249e+02] [ 6.12676190e-03 4.92960667e-05 9.99981230e-01 -2.77772787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.09655999499995 meters 0.011928590676641485 Centerline is valid? [True, True] Translation: X:3.82, Y:-201.40, Z:-2.78 [[-6.57019010e-01 -7.53862842e-01 4.10317011e-03 3.82093715e+00] [ 7.53848509e-01 -6.57031821e-01 -4.64883768e-03 -2.01397969e+02] [ 6.20049931e-03 3.87939469e-05 9.99980776e-01 -2.77762574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.126559995 meters 0.011895918637225987 Centerline is valid? [True, True] Translation: X:3.81, Y:-201.38, Z:-2.78 [[-6.58643712e-01 -7.52441857e-01 4.43981857e-03 3.80549247e+00] [ 7.52425065e-01 -6.58658675e-01 -5.02708056e-03 -2.01375868e+02] [ 6.70691085e-03 2.95757690e-05 9.99977508e-01 -2.77826106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.15655999499995 meters 0.01190632565542578 Centerline is valid? [True, True] Translation: X:3.79, Y:-201.35, Z:-2.78 [[-6.61064651e-01 -7.50311718e-01 5.08457539e-03 3.79263882e+00] [ 7.50289660e-01 -6.61084204e-01 -5.75331468e-03 -2.01352628e+02] [ 7.67811190e-03 1.15913757e-05 9.99970523e-01 -2.77939342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.186559995 meters 0.011935179057613488 Centerline is valid? [True, True] Translation: X:3.78, Y:-201.33, Z:-2.78 [[-6.62412332e-01 -7.49120473e-01 5.33097847e-03 3.77671144e+00] [ 7.49096216e-01 -6.62433783e-01 -6.02836804e-03 -2.01330680e+02] [ 8.04739415e-03 1.50469878e-07 9.99967619e-01 -2.77998508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.21655999499995 meters 0.011980768570454412 Centerline is valid? [True, True] Translation: X:3.76, Y:-201.31, Z:-2.78 [[-6.63948727e-01 -7.47757788e-01 5.51170040e-03 3.76103463e+00] [ 7.47731844e-01 -6.63971604e-01 -6.22882350e-03 -2.01308514e+02] [ 8.31726384e-03 -1.43455228e-05 9.99965411e-01 -2.78012128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.246559995 meters 0.012074574763332612 Centerline is valid? [True, True] Translation: X:3.75, Y:-201.29, Z:-2.78 [[-6.65867350e-01 -7.46050105e-01 5.46937078e-03 3.74532651e+00] [ 7.46024533e-01 -6.65889811e-01 -6.17710460e-03 -2.01285797e+02] [ 8.25042780e-03 -3.28474910e-05 9.99965964e-01 -2.77993179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.27655999499996 meters 0.012709946578088195 Centerline is valid? [True, True] Translation: X:3.73, Y:-201.26, Z:-2.78 [[-6.70017029e-01 -7.42327770e-01 5.16353761e-03 3.73202980e+00] [ 7.42304892e-01 -6.70036922e-01 -5.82846392e-03 -2.01259791e+02] [ 7.78639147e-03 -7.22508578e-05 9.99969683e-01 -2.77933432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.306559995 meters 0.013215911130064371 Centerline is valid? [True, True] Translation: X:3.72, Y:-201.24, Z:-2.78 [[-6.72331804e-01 -7.40235207e-01 4.66739786e-03 3.71639368e+00] [ 7.40216484e-01 -6.72347999e-01 -5.26552351e-03 -2.01236628e+02] [ 7.03584150e-03 -8.52940874e-05 9.99975245e-01 -2.77898422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.33655999499996 meters 0.013496033221639381 Centerline is valid? [True, True] Translation: X:3.70, Y:-201.21, Z:-2.78 [[-6.74250560e-01 -7.38490394e-01 4.25694975e-03 3.69905776e+00] [ 7.38474801e-01 -6.74263991e-01 -4.79978921e-03 -2.01214536e+02] [ 6.41490615e-03 -9.26104378e-05 9.99979420e-01 -2.77802782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.36655999499993 meters 0.013496033221639381 Centerline is valid? [True, True] Translation: X:3.68, Y:-201.19, Z:-2.78 [[-6.74481196e-01 -7.38279745e-01 4.25844909e-03 3.68121863e+00] [ 7.38264157e-01 -6.74494632e-01 -4.79845902e-03 -2.01194573e+02] [ 6.41490616e-03 -9.26100495e-05 9.99979420e-01 -2.77802812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.39655999499996 meters 0.013601732105711938 Centerline is valid? [True, True] Translation: X:3.66, Y:-201.17, Z:-2.78 [[-6.75875200e-01 -7.37011105e-01 2.71011851e-03 3.66258724e+00] [ 7.37004789e-01 -6.75880630e-01 -3.05194946e-03 -2.01174224e+02] [ 4.08103725e-03 -6.53666294e-05 9.99991670e-01 -2.77677907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.42655999499993 meters 0.013528232909101077 Centerline is valid? [True, True] Translation: X:3.64, Y:-201.15, Z:-2.78 [[-6.76237708e-01 -7.36679347e-01 2.47026395e-03 3.64337849e+00] [ 7.36674103e-01 -6.76242218e-01 -2.78026418e-03 -2.01153569e+02] [ 3.71865997e-03 -6.03400000e-05 9.99993084e-01 -2.77665020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.45655999499996 meters 0.013721516184894735 Centerline is valid? [True, True] Translation: X:3.63, Y:-201.13, Z:-2.78 [[-6.76548325e-01 -7.36393960e-01 2.50968776e-03 3.62567869e+00] [ 7.36388552e-01 -6.76552977e-01 -2.82294681e-03 -2.01133097e+02] [ 3.77673771e-03 -6.17546008e-05 9.99992866e-01 -2.77707469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.48655999499994 meters 0.013817503297608256 Centerline is valid? [True, True] Translation: X:3.61, Y:-201.11, Z:-2.78 [[-6.76885808e-01 -7.36081016e-01 3.21582290e-03 3.60854866e+00] [ 7.36072141e-01 -6.76893442e-01 -3.61545957e-03 -2.01113364e+02] [ 4.83804058e-03 -8.01756274e-05 9.99988293e-01 -2.77760645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.51655999499997 meters 0.013656000566548608 Centerline is valid? [True, True] Translation: X:3.59, Y:-201.09, Z:-2.78 [[-6.77106087e-01 -7.35877447e-01 3.42491043e-03 3.59000330e+00] [ 7.35867386e-01 -6.77114744e-01 -3.84893991e-03 -2.01092959e+02] [ 5.15140542e-03 -8.58607527e-05 9.99986728e-01 -2.77754860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.54655999499994 meters 0.014132547014457524 Centerline is valid? [True, True] Translation: X:3.57, Y:-201.07, Z:-2.78 [[-6.77430467e-01 -7.35577577e-01 3.68653208e-03 3.57277811e+00] [ 7.35565931e-01 -6.77440492e-01 -4.14020586e-03 -2.01072993e+02] [ 5.54284870e-03 -9.30141905e-05 9.99984634e-01 -2.77813149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.57655999499997 meters 0.01392650166992582 Centerline is valid? [True, True] Translation: X:3.55, Y:-201.05, Z:-2.78 [[-6.77718829e-01 -7.35309996e-01 4.04948645e-03 3.55344453e+00] [ 7.35295957e-01 -6.77730919e-01 -4.54497767e-03 -2.01053593e+02] [ 6.08642969e-03 -1.02645931e-04 9.99981472e-01 -2.77852712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.60655999499994 meters 0.013914358947697705 Centerline is valid? [True, True] Translation: X:3.53, Y:-201.04, Z:-2.78 [[-6.77936981e-01 -7.35109195e-01 3.99011427e-03 3.53441497e+00] [ 7.35095578e-01 -6.77948716e-01 -4.47540056e-03 -2.01035457e+02] [ 5.99500095e-03 -1.00924184e-04 9.99982025e-01 -2.77846110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.63655999499997 meters 0.013678215098426517 Centerline is valid? [True, True] Translation: X:3.52, Y:-201.02, Z:-2.78 [[-6.78062122e-01 -7.34995763e-01 3.60368076e-03 3.51521452e+00] [ 7.34984669e-01 -6.78071692e-01 -4.03942564e-03 -2.01016083e+02] [ 5.41251465e-03 -9.03314120e-05 9.99985348e-01 -2.77755848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.66655999499994 meters 0.013538454562446005 Centerline is valid? [True, True] Translation: X:3.50, Y:-201.00, Z:-2.78 [[-6.78308836e-01 -7.34769249e-01 3.35784698e-03 3.49544718e+00] [ 7.34759624e-01 -6.78317141e-01 -3.76174112e-03 -2.00995455e+02] [ 5.04169686e-03 -8.44118509e-05 9.99987287e-01 -2.77670097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.696559995 meters 0.013591169930953996 Centerline is valid? [True, True] Translation: X:3.48, Y:-200.98, Z:-2.78 [[-6.78328988e-01 -7.34750201e-01 3.45350571e-03 3.47687007e+00] [ 7.34740032e-01 -6.78337774e-01 -3.86660258e-03 -2.00975234e+02] [ 5.18363040e-03 -8.53997204e-05 9.99986561e-01 -2.77644642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.72655999499995 meters 0.013514969156774623 Centerline is valid? [True, True] Translation: X:3.46, Y:-200.96, Z:-2.78 [[-6.78080554e-01 -7.34980756e-01 3.17026735e-03 3.45716942e+00] [ 7.34972199e-01 -6.78087961e-01 -3.54726971e-03 -2.00955949e+02] [ 4.75689510e-03 -7.52762461e-05 9.99988683e-01 -2.77579500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.756559995 meters 0.013313380171221733 Centerline is valid? [True, True] Translation: X:3.44, Y:-200.94, Z:-2.78 [[-6.78085243e-01 -7.34976732e-01 3.09941553e-03 3.43809166e+00] [ 7.34968564e-01 -6.78092323e-01 -3.46581561e-03 -2.00936912e+02] [ 4.64898370e-03 -7.21454436e-05 9.99989191e-01 -2.77553571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.78655999499995 meters 0.013550508704740359 Centerline is valid? [True, True] Translation: X:3.42, Y:-200.92, Z:-2.78 [[-6.78181029e-01 -7.34888965e-01 2.94983265e-03 3.42024192e+00] [ 7.34881575e-01 -6.78187441e-01 -3.29637897e-03 -2.00918256e+02] [ 4.42301198e-03 -6.77640223e-05 9.99990216e-01 -2.77581459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.816559995 meters 0.012787115127985997 Centerline is valid? [True, True] Translation: X:3.40, Y:-200.90, Z:-2.78 [[-6.77511759e-01 -7.35505902e-01 2.98075012e-03 3.39801008e+00] [ 7.35498370e-01 -6.77518313e-01 -3.32914256e-03 -2.00899831e+02] [ 4.46811679e-03 -6.31963774e-05 9.99990016e-01 -2.77580911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.84655999499995 meters 0.012786523692531379 Centerline is valid? [True, True] Translation: X:3.38, Y:-200.88, Z:-2.78 [[-6.77211846e-01 -7.35781392e-01 3.13999721e-03 3.37903251e+00] [ 7.35773047e-01 -6.77219122e-01 -3.50489745e-03 -2.00880521e+02] [ 4.70530448e-03 -6.32327599e-05 9.99988928e-01 -2.77625455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.876559995 meters 0.012701240771232535 Centerline is valid? [True, True] Translation: X:3.36, Y:-200.86, Z:-2.78 [[-6.76097005e-01 -7.36801802e-01 3.99307210e-03 3.35971251e+00] [ 7.36788341e-01 -6.76108793e-01 -4.45415578e-03 -2.00863052e+02] [ 5.98158116e-03 -6.93924108e-05 9.99982108e-01 -2.77747169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.90655999499995 meters 0.012668149712011537 Centerline is valid? [True, True] Translation: X:3.34, Y:-200.84, Z:-2.78 [[-6.75687062e-01 -7.37174747e-01 4.51523750e-03 3.34026419e+00] [ 7.37157566e-01 -6.75702144e-01 -5.03351710e-03 -2.00843302e+02] [ 6.76153735e-03 -7.26408962e-05 9.99977138e-01 -2.77826091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.936559995 meters 0.01244577447110855 Centerline is valid? [True, True] Translation: X:3.32, Y:-200.82, Z:-2.78 [[-6.75159127e-01 -7.37653828e-01 5.19458176e-03 3.32101368e+00] [ 7.37631129e-01 -6.75179106e-01 -5.78724732e-03 -2.00824387e+02] [ 7.77625821e-03 -7.56276373e-05 9.99969762e-01 -2.77830985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.96655999499995 meters 0.012276649925603754 Centerline is valid? [True, True] Translation: X:3.30, Y:-200.80, Z:-2.78 [[-6.74648353e-01 -7.38119414e-01 5.41580648e-03 3.30142469e+00] [ 7.38094787e-01 -6.74670087e-01 -6.02996110e-03 -2.00804740e+02] [ 8.10471398e-03 -7.07247945e-05 9.99967154e-01 -2.77853025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.996559995 meters 0.012040756955559978 Centerline is valid? [True, True] Translation: X:3.28, Y:-200.79, Z:-2.78 [[-6.74148762e-01 -7.38575564e-01 5.43906396e-03 3.28092114e+00] [ 7.38550767e-01 -6.74170700e-01 -6.05239188e-03 -2.00785006e+02] [ 8.13700630e-03 -6.31876287e-05 9.99966892e-01 -2.77779266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.02655999499996 meters 0.012088401800926431 Centerline is valid? [True, True] Translation: X:3.26, Y:-200.77, Z:-2.78 [[-6.73852977e-01 -7.38845876e-01 5.37929227e-03 3.26168212e+00] [ 7.38821659e-01 -6.73874446e-01 -5.98226385e-03 -2.00765831e+02] [ 8.04493857e-03 -5.68286671e-05 9.99967637e-01 -2.77784537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.056559995 meters 0.01199534373628065 Centerline is valid? [True, True] Translation: X:3.24, Y:-200.75, Z:-2.78 [[-6.73546188e-01 -7.39126686e-01 5.22258028e-03 3.24159842e+00] [ 7.39103894e-01 -6.73566433e-01 -5.80469856e-03 -2.00746398e+02] [ 7.80816238e-03 -4.97031645e-05 9.99969515e-01 -2.77798924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.08655999499996 meters 0.012023536989485318 Centerline is valid? [True, True] Translation: X:3.22, Y:-200.73, Z:-2.78 [[-6.73788832e-01 -7.38905868e-01 5.16989270e-03 3.22144216e+00] [ 7.38883552e-01 -6.73808664e-01 -5.74287363e-03 -2.00726912e+02] [ 7.72696152e-03 -4.95354328e-05 9.99970145e-01 -2.77800231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.11655999499993 meters 0.012197722860926989 Centerline is valid? [True, True] Translation: X:3.20, Y:-200.71, Z:-2.78 [[-6.74692065e-01 -7.38078281e-01 5.57390820e-03 3.20346678e+00] [ 7.38052334e-01 -6.74715086e-01 -6.18910791e-03 -2.00706530e+02] [ 8.32884608e-03 -6.19060397e-05 9.99965313e-01 -2.77854488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.14655999499996 meters 0.012418915802034266 Centerline is valid? [True, True] Translation: X:3.19, Y:-200.68, Z:-2.78 [[-6.75981023e-01 -7.36896169e-01 5.80457857e-03 3.18502960e+00] [ 7.36868017e-01 -6.76005940e-01 -6.44161777e-03 -2.00684848e+02] [ 8.67073305e-03 -7.72030722e-05 9.99962406e-01 -2.77886211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.17655999499993 meters 0.01269002959970949 Centerline is valid? [True, True] Translation: X:3.17, Y:-200.66, Z:-2.78 [[-6.77478897e-01 -7.35515957e-01 6.21453463e-03 3.16681023e+00] [ 7.35483667e-01 -6.77507393e-01 -6.89270841e-03 -2.00663032e+02] [ 9.28009017e-03 -9.89757760e-05 9.99956934e-01 -2.77925470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.20655999499996 meters 0.013572824168166882 Centerline is valid? [True, True] Translation: X:3.15, Y:-200.64, Z:-2.78 [[-6.80574194e-01 -7.32646970e-01 6.86914811e-03 3.15047301e+00] [ 7.32607417e-01 -6.80608842e-01 -7.61427018e-03 -2.00640777e+02] [ 1.02537749e-02 -1.49686935e-04 9.99947418e-01 -2.77957388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.23655999499994 meters 0.013836790275173717 Centerline is valid? [True, True] Translation: X:3.13, Y:-200.62, Z:-2.78 [[-6.82132132e-01 -7.31196421e-01 6.89557672e-03 3.13250011e+00] [ 7.31156533e-01 -6.82166963e-01 -7.63928999e-03 -2.00619728e+02] [ 1.02897561e-02 -1.69259201e-04 9.99947045e-01 -2.77890577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.26655999499997 meters 0.014715456388530284 Centerline is valid? [True, True] Translation: X:3.12, Y:-200.60, Z:-2.78 [[-6.83781068e-01 -7.29657222e-01 6.61733739e-03 3.11578609e+00] [ 7.29620459e-01 -6.83813063e-01 -7.32672527e-03 -2.00598787e+02] [ 9.87101976e-03 -1.81731288e-04 9.99951264e-01 -2.77904127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.29655999499994 meters 0.014726341247590483 Centerline is valid? [True, True] Translation: X:3.10, Y:-200.58, Z:-2.78 [[-6.85499771e-01 -7.28043525e-01 6.53376744e-03 3.09707042e+00] [ 7.28007650e-01 -6.85530879e-01 -7.23015906e-03 -2.00577837e+02] [ 9.74296982e-03 -1.99639702e-04 9.99952516e-01 -2.77794915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.32655999499997 meters 0.014784414300636916 Centerline is valid? [True, True] Translation: X:3.08, Y:-200.56, Z:-2.78 [[-6.86130806e-01 -7.27448560e-01 6.56584719e-03 3.07849943e+00] [ 7.27412345e-01 -6.86162190e-01 -7.26158783e-03 -2.00557134e+02] [ 9.78766769e-03 -2.06320811e-04 9.99952078e-01 -2.77776325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.35655999499994 meters 0.0143952724897619 Centerline is valid? [True, True] Translation: X:3.06, Y:-200.54, Z:-2.78 [[-6.86202354e-01 -7.27379937e-01 6.69007232e-03 3.05968715e+00] [ 7.27342377e-01 -6.86234934e-01 -7.39475979e-03 -2.00536851e+02] [ 9.96976124e-03 -2.08328470e-04 9.99950279e-01 -2.77739670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.38655999499997 meters 0.014969943320014802 Centerline is valid? [True, True] Translation: X:3.04, Y:-200.52, Z:-2.78 [[-6.86340597e-01 -7.27247789e-01 6.87296190e-03 3.04235982e+00] [ 7.27208188e-01 -6.86374976e-01 -7.59235225e-03 -2.00516432e+02] [ 1.02389505e-02 -2.12865408e-04 9.99947558e-01 -2.77815296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.41655999499994 meters 0.01481170969480931 Centerline is valid? [True, True] Translation: X:3.02, Y:-200.50, Z:-2.78 [[-6.85503817e-01 -7.28036067e-01 6.92843755e-03 3.02356746e+00] [ 7.27995915e-01 -6.85538800e-01 -7.64863924e-03 -2.00497668e+02] [ 1.03181980e-02 -1.99297156e-04 9.99946746e-01 -2.77897037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.446559995 meters 0.014269300368967425 Centerline is valid? [True, True] Translation: X:3.00, Y:-200.48, Z:-2.78 [[-6.85081024e-01 -7.28434211e-01 6.89859667e-03 3.00344068e+00] [ 7.28394469e-01 -6.85115731e-01 -7.61142632e-03 -2.00478199e+02] [ 1.02707604e-02 -1.89544083e-04 9.99947236e-01 -2.77893342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.47655999499995 meters 0.013696215843299555 Centerline is valid? [True, True] Translation: X:2.98, Y:-200.46, Z:-2.78 [[-6.82476510e-01 -7.30871667e-01 7.24016751e-03 2.98345971e+00] [ 7.30828076e-01 -6.82514895e-01 -7.98385151e-03 -2.00459254e+02] [ 1.07766930e-02 -1.57473419e-04 9.99941917e-01 -2.77918930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.506559995 meters 0.013280365303167996 Centerline is valid? [True, True] Translation: X:2.96, Y:-200.44, Z:-2.78 [[-6.80783820e-01 -7.32448138e-01 7.28810308e-03 2.96330265e+00] [ 7.32404105e-01 -6.80822817e-01 -8.03228958e-03 -2.00439927e+02] [ 1.08451424e-02 -1.30416165e-04 9.99941181e-01 -2.77902057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.53655999499995 meters 0.012808506206759485 Centerline is valid? [True, True] Translation: X:2.94, Y:-200.42, Z:-2.78 [[-6.78750370e-01 -7.34332483e-01 7.33068109e-03 2.94333539e+00] [ 7.34288099e-01 -6.78789949e-01 -8.07423632e-03 -2.00421151e+02] [ 1.09051667e-02 -9.75590079e-05 9.99940532e-01 -2.77918492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.566559995 meters 0.012167662347663434 Centerline is valid? [True, True] Translation: X:2.92, Y:-200.40, Z:-2.78 [[-6.73600677e-01 -7.39059469e-01 7.29584844e-03 2.92124755e+00] [ 7.39015828e-01 -6.73640187e-01 -8.03150527e-03 -2.00404005e+02] [ 1.08505367e-02 -1.82799087e-05 9.99941131e-01 -2.77939506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.59655999499995 meters 0.012167662347663434 Centerline is valid? [True, True] Translation: X:2.90, Y:-200.38, Z:-2.78 [[-6.73825407e-01 -7.38854557e-01 7.29829105e-03 2.90317254e+00] [ 7.38810928e-01 -6.73864930e-01 -8.02928572e-03 -2.00384277e+02] [ 1.08505367e-02 -1.82795302e-05 9.99941131e-01 -2.77939536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.626559995 meters 0.012257566191632551 Centerline is valid? [True, True] Translation: X:2.88, Y:-200.37, Z:-2.78 [[-6.68448617e-01 -7.43720467e-01 7.50423886e-03 2.88055714e+00] [ 7.43674696e-01 -6.68490735e-01 -8.25130139e-03 -2.00367472e+02] [ 1.11531759e-02 6.51415527e-05 9.99937799e-01 -2.77924751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.65655999499995 meters 0.012586596301625537 Centerline is valid? [True, True] Translation: X:2.86, Y:-200.35, Z:-2.78 [[-6.66017440e-01 -7.45896581e-01 7.68505814e-03 2.85982576e+00] [ 7.45848776e-01 -6.66061768e-01 -8.44537075e-03 -2.00347779e+02] [ 1.14180966e-02 1.07126996e-04 9.99934806e-01 -2.77907908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.686559995 meters 0.01360719686016756 Centerline is valid? [True, True] Translation: X:2.84, Y:-200.33, Z:-2.78 [[-6.63844820e-01 -7.47832710e-01 7.50278855e-03 2.83937071e+00] [ 7.47787307e-01 -6.63887203e-01 -8.24168639e-03 -2.00329863e+02] [ 1.11444080e-02 1.39289222e-04 9.99937890e-01 -2.78007436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.71655999499995 meters 0.013646554367381433 Centerline is valid? [True, True] Translation: X:2.82, Y:-200.31, Z:-2.78 [[-6.62138046e-01 -7.49346606e-01 7.27132167e-03 2.82055438e+00] [ 7.49304100e-01 -6.62177950e-01 -7.98298567e-03 -2.00309457e+02] [ 1.07969321e-02 1.62592615e-04 9.99941698e-01 -2.77888716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.746559995 meters 0.014678848967157647 Centerline is valid? [True, True] Translation: X:2.80, Y:-200.29, Z:-2.78 [[-6.59550492e-01 -7.51626182e-01 7.15756369e-03 2.80088034e+00] [ 7.51585175e-01 -6.59589299e-01 -7.85375757e-03 -2.00289692e+02] [ 1.06241422e-02 1.99569085e-04 9.99943542e-01 -2.77870180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.77655999499996 meters 0.014781329609056018 Centerline is valid? [True, True] Translation: X:2.78, Y:-200.27, Z:-2.78 [[-6.58915702e-01 -7.52181630e-01 7.27270846e-03 2.78235127e+00] [ 7.52139376e-01 -6.58955802e-01 -7.97565906e-03 -2.00269002e+02] [ 1.07915377e-02 2.14803413e-04 9.99941747e-01 -2.77836958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.806559995 meters 0.014450167121744828 Centerline is valid? [True, True] Translation: X:2.76, Y:-200.25, Z:-2.78 [[-6.58778846e-01 -7.52305863e-01 6.80597438e-03 2.76430014e+00] [ 7.52268907e-01 -6.58813970e-01 -7.45954669e-03 -2.00247004e+02] [ 1.00957317e-02 2.05731347e-04 9.99949016e-01 -2.77749988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.83655999499996 meters 0.01489402334743505 Centerline is valid? [True, True] Translation: X:2.75, Y:-200.23, Z:-2.78 [[-6.58737868e-01 -7.52345172e-01 6.41585818e-03 2.74633544e+00] [ 7.52312374e-01 -6.58769082e-01 -7.02773732e-03 -2.00227097e+02] [ 9.51385324e-03 1.97292800e-04 9.99954723e-01 -2.77735577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.86655999499993 meters 0.014736325852855172 Centerline is valid? [True, True] Translation: X:2.73, Y:-200.20, Z:-2.78 [[-6.59244794e-01 -7.51902681e-01 6.21773984e-03 2.72904854e+00] [ 7.51871893e-01 -6.59274088e-01 -6.80689501e-03 -2.00204394e+02] [ 9.21731737e-03 1.87533729e-04 9.99957502e-01 -2.77718483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.89655999499996 meters 0.0144788281647272 Centerline is valid? [True, True] Translation: X:2.71, Y:-200.18, Z:-2.78 [[-6.59932462e-01 -7.51295591e-01 6.63929913e-03 2.71130709e+00] [ 7.51260496e-01 -6.59965830e-01 -7.26428469e-03 -2.00182117e+02] [ 9.83933562e-03 1.93905877e-04 9.99951574e-01 -2.77715853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.92655999499993 meters 0.014298990369330342 Centerline is valid? [True, True] Translation: X:2.69, Y:-200.16, Z:-2.78 [[-6.60748856e-01 -7.50577394e-01 6.67278306e-03 2.69327228e+00] [ 7.50541948e-01 -6.60782522e-01 -7.29680479e-03 -2.00159988e+02] [ 9.88607514e-03 1.86848178e-04 9.99951114e-01 -2.77784501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.95655999499996 meters 0.014299341833498133 Centerline is valid? [True, True] Translation: X:2.68, Y:-200.14, Z:-2.78 [[-6.62195464e-01 -7.49296064e-01 7.25093994e-03 2.67845376e+00] [ 7.49254189e-01 -6.62235135e-01 -7.92376165e-03 -2.00138367e+02] [ 1.07390706e-02 1.85718100e-04 9.99942317e-01 -2.77906282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.98655999499994 meters 0.014179701556641352 Centerline is valid? [True, True] Translation: X:2.66, Y:-200.12, Z:-2.78 [[-6.63179734e-01 -7.48422865e-01 7.47365498e-03 2.66141225e+00] [ 7.48378378e-01 -6.63221820e-01 -8.16210545e-03 -2.00116379e+02] [ 1.10653974e-02 1.80178875e-04 9.99938760e-01 -2.77945716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.01655999499997 meters 0.013708356924242958 Centerline is valid? [True, True] Translation: X:2.65, Y:-200.09, Z:-2.78 [[-6.64569964e-01 -7.47190335e-01 7.30518152e-03 2.64538810e+00] [ 7.47147811e-01 -6.64610095e-01 -7.97314375e-03 -2.00094528e+02] [ 1.08125533e-02 1.59338517e-04 9.99941530e-01 -2.77924251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.04655999499994 meters 0.013309401344986004 Centerline is valid? [True, True] Translation: X:2.63, Y:-200.07, Z:-2.78 [[-6.65949074e-01 -7.45963128e-01 7.13040048e-03 2.62898398e+00] [ 7.45922595e-01 -6.65987231e-01 -7.77752815e-03 -2.00072440e+02] [ 1.05505049e-02 1.39289158e-04 9.99944332e-01 -2.77901845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.07655999499997 meters 0.012586492498423545 Centerline is valid? [True, True] Translation: X:2.61, Y:-200.05, Z:-2.78 [[-6.69701154e-01 -7.42599795e-01 6.77557063e-03 2.61490364e+00] [ 7.42563062e-01 -6.69735423e-01 -7.38660531e-03 -2.00046725e+02] [ 1.00231312e-02 8.44703743e-05 9.99949764e-01 -2.77797637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.10655999499994 meters 0.01234061296669239 Centerline is valid? [True, True] Translation: X:2.60, Y:-200.02, Z:-2.78 [[-6.72045189e-01 -7.40479418e-01 6.74499558e-03 2.59954503e+00] [ 7.40442957e-01 -6.72079034e-01 -7.34840634e-03 -2.00024814e+02] [ 9.97451376e-03 5.58233459e-05 9.99950252e-01 -2.77774890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.13655999499997 meters 0.012201302877108354 Centerline is valid? [True, True] Translation: X:2.58, Y:-200.00, Z:-2.78 [[-6.74419031e-01 -7.38319405e-01 6.58996323e-03 2.58371462e+00] [ 7.38284536e-01 -6.74451226e-01 -7.17544715e-03 -2.00001715e+02] [ 9.74238065e-03 2.60098312e-05 9.99952542e-01 -2.77712385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.16655999499994 meters 0.012243679127748298 Centerline is valid? [True, True] Translation: X:2.57, Y:-199.98, Z:-2.78 [[-6.76813201e-01 -7.36125336e-01 6.58638165e-03 2.56862755e+00] [ 7.36090436e-01 -6.76845248e-01 -7.16802393e-03 -1.99980114e+02] [ 9.73452515e-03 -3.24068899e-06 9.99952618e-01 -2.77716803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.196559995 meters 0.012381442527453816 Centerline is valid? [True, True] Translation: X:2.55, Y:-199.96, Z:-2.78 [[-6.78596913e-01 -7.34491076e-01 5.39343560e-03 2.55087258e+00] [ 7.34467651e-01 -6.78618345e-01 -5.86607450e-03 -1.99959667e+02] [ 7.96866372e-03 -1.93960663e-05 9.99968250e-01 -2.77577706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.22655999499995 meters 0.012346093859563537 Centerline is valid? [True, True] Translation: X:2.53, Y:-199.94, Z:-2.78 [[-6.79415400e-01 -7.33733581e-01 5.45403666e-03 2.53217093e+00] [ 7.33709631e-01 -6.79437291e-01 -5.92830761e-03 -1.99939654e+02] [ 8.05547426e-03 -2.61042603e-05 9.99967554e-01 -2.77564363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.256559995 meters 0.012422201042518611 Centerline is valid? [True, True] Translation: X:2.51, Y:-199.92, Z:-2.78 [[-6.80127900e-01 -7.33070794e-01 5.76639435e-03 2.51378215e+00] [ 7.33044032e-01 -6.80152344e-01 -6.26389118e-03 -1.99919728e+02] [ 8.51390231e-03 -3.32261867e-05 9.99963756e-01 -2.77595491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.28655999499995 meters 0.012422201042518611 Centerline is valid? [True, True] Translation: X:2.50, Y:-199.90, Z:-2.78 [[-6.80357083e-01 -7.32858080e-01 5.76835273e-03 2.49557781e+00] [ 7.32831326e-01 -6.80381535e-01 -6.26208777e-03 -1.99900103e+02] [ 8.51390231e-03 -3.32261905e-05 9.99963756e-01 -2.77595520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.316559995 meters 0.012532498186587705 Centerline is valid? [True, True] Translation: X:2.48, Y:-199.88, Z:-2.78 [[-6.81325738e-01 -7.31953978e-01 6.21392994e-03 2.47728418e+00] [ 7.31922932e-01 -6.81354073e-01 -6.74159259e-03 -1.99879609e+02] [ 9.16842199e-03 -4.51027280e-05 9.99957968e-01 -2.77659895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.34655999499995 meters 0.012911103152015073 Centerline is valid? [True, True] Translation: X:2.46, Y:-199.86, Z:-2.78 [[-6.83545129e-01 -7.29878663e-01 6.57220572e-03 2.45911917e+00] [ 7.29843876e-01 -6.83576719e-01 -7.12635171e-03 -1.99858481e+02] [ 9.69397889e-03 -7.44989005e-05 9.99953010e-01 -2.77736488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.376559995 meters 0.013287703244083814 Centerline is valid? [True, True] Translation: X:2.44, Y:-199.84, Z:-2.78 [[-6.85058211e-01 -7.28455454e-01 6.92086729e-03 2.44180459e+00] [ 7.28416850e-01 -6.85093163e-01 -7.50003897e-03 -1.99837919e+02] [ 1.02048832e-02 -9.66869240e-05 9.99947924e-01 -2.77746838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.40655999499995 meters 0.013581339254145841 Centerline is valid? [True, True] Translation: X:2.42, Y:-199.82, Z:-2.78 [[-6.86694116e-01 -7.26912825e-01 6.99533511e-03 2.42320314e+00] [ 7.26873349e-01 -6.86729736e-01 -7.57658225e-03 -1.99816591e+02] [ 1.03114194e-02 -1.18071791e-04 9.99946829e-01 -2.77756490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.436559995 meters 0.014008819570133035 Centerline is valid? [True, True] Translation: X:2.40, Y:-199.80, Z:-2.78 [[-6.88430541e-01 -7.25272785e-01 6.54043276e-03 2.40481933e+00] [ 7.25238239e-01 -6.88461597e-01 -7.08001025e-03 -1.99795937e+02] [ 9.63777553e-03 -1.30723347e-04 9.99953547e-01 -2.77767037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.46655999499995 meters 0.01442536145476896 Centerline is valid? [True, True] Translation: X:2.39, Y:-199.78, Z:-2.78 [[-6.90053401e-01 -7.23730958e-01 6.30907040e-03 2.38564600e+00] [ 7.23698783e-01 -6.90082226e-01 -6.82583074e-03 -1.99775365e+02] [ 9.29384237e-03 -1.44321138e-04 9.99956801e-01 -2.77732885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.496559995 meters 0.015137636189807058 Centerline is valid? [True, True] Translation: X:2.37, Y:-199.76, Z:-2.78 [[-6.92776381e-01 -7.21131740e-01 5.46804522e-03 2.36653590e+00] [ 7.21107517e-01 -6.92797943e-01 -5.91266131e-03 -1.99755234e+02] [ 8.05205822e-03 -1.53103596e-04 9.99967570e-01 -2.77630611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.52655999499996 meters 0.015442997157709543 Centerline is valid? [True, True] Translation: X:2.35, Y:-199.73, Z:-2.78 [[-6.94008834e-01 -7.19949934e-01 4.88171337e-03 2.34752602e+00] [ 7.19930618e-01 -6.94025988e-01 -5.27575325e-03 -1.99734872e+02] [ 7.18631415e-03 -1.46924432e-04 9.99974167e-01 -2.77580629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.556559995 meters 0.015812180939632083 Centerline is valid? [True, True] Translation: X:2.33, Y:-199.72, Z:-2.78 [[-6.94831153e-01 -7.19159514e-01 4.38900123e-03 2.32928457e+00] [ 7.19143905e-01 -6.94845001e-01 -4.74020061e-03 -1.99715675e+02] [ 6.45863593e-03 -1.37315571e-04 9.99979133e-01 -2.77536657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.58655999499996 meters 0.015932008425531705 Centerline is valid? [True, True] Translation: X:2.31, Y:-199.70, Z:-2.77 [[-6.94921711e-01 -7.19075693e-01 3.73675184e-03 2.30958389e+00] [ 7.19064388e-01 -6.94931748e-01 -4.03384974e-03 -1.99697796e+02] [ 5.49743079e-03 -1.16244590e-04 9.99984882e-01 -2.77472487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.61655999499993 meters 0.015183502200991308 Centerline is valid? [True, True] Translation: X:2.29, Y:-199.68, Z:-2.77 [[-6.94322054e-01 -7.19655291e-01 3.62595851e-03 2.28886766e+00] [ 7.19644667e-01 -6.94331514e-01 -3.91181326e-03 -1.99680239e+02] [ 5.33277437e-03 -1.06656515e-04 9.99985775e-01 -2.77462209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.64655999499996 meters 0.014905460072628454 Centerline is valid? [True, True] Translation: X:2.27, Y:-199.66, Z:-2.78 [[-6.93124009e-01 -7.20809378e-01 3.59859195e-03 2.26842588e+00] [ 7.20798940e-01 -6.93133344e-01 -3.88016087e-03 -1.99661727e+02] [ 5.29116041e-03 -9.55713910e-05 9.99985997e-01 -2.77532396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.67655999499993 meters 0.013388728169490032 Centerline is valid? [True, True] Translation: X:2.24, Y:-199.65, Z:-2.78 [[-6.89274670e-01 -7.24489965e-01 3.83677503e-03 2.24377956e+00] [ 7.24478170e-01 -6.89285344e-01 -4.13462017e-03 -1.99646886e+02] [ 5.64012362e-03 -7.02291992e-05 9.99984092e-01 -2.77666421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.70655999499996 meters 0.01284617366864237 Centerline is valid? [True, True] Translation: X:2.22, Y:-199.63, Z:-2.78 [[-6.86924716e-01 -7.26716781e-01 4.14184126e-03 2.22206369e+00] [ 7.26703091e-01 -6.86937201e-01 -4.46087374e-03 -1.99629421e+02] [ 6.08697664e-03 -5.43955820e-05 9.99981473e-01 -2.77762527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.73655999499994 meters 0.012520992011379867 Centerline is valid? [True, True] Translation: X:2.20, Y:-199.61, Z:-2.78 [[-6.84528335e-01 -7.28973347e-01 4.33799766e-03 2.20045487e+00] [ 7.28958394e-01 -6.84542080e-01 -4.66919682e-03 -1.99612252e+02] [ 6.37326197e-03 -3.39777167e-05 9.99979690e-01 -2.77812418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.76655999499997 meters 0.012319818609687385 Centerline is valid? [True, True] Translation: X:2.18, Y:-199.60, Z:-2.78 [[-6.79165472e-01 -7.33968430e-01 4.96036750e-03 2.17626638e+00] [ 7.33949034e-01 -6.79183586e-01 -5.33592796e-03 -1.99596847e+02] [ 7.28540285e-03 1.66789043e-05 9.99973461e-01 -2.77849687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.79655999499994 meters 0.012587452795603589 Centerline is valid? [True, True] Translation: X:2.16, Y:-199.58, Z:-2.78 [[-6.76775754e-01 -7.36173822e-01 4.76264521e-03 2.15609972e+00] [ 7.36156019e-01 -6.76792511e-01 -5.11987091e-03 -1.99580268e+02] [ 6.99243754e-03 4.10454418e-05 9.99975552e-01 -2.77847395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.82655999499997 meters 0.013074889653463349 Centerline is valid? [True, True] Translation: X:2.14, Y:-199.56, Z:-2.78 [[-6.74617365e-01 -7.38153285e-01 4.59763193e-03 2.13549370e+00] [ 7.38136755e-01 -6.74633029e-01 -4.94028580e-03 -1.99563154e+02] [ 6.74840255e-03 6.08785220e-05 9.99977227e-01 -2.77837985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.85655999499994 meters 0.01328539418722009 Centerline is valid? [True, True] Translation: X:2.11, Y:-199.54, Z:-2.78 [[-6.72880496e-01 -7.39740091e-01 4.05407405e-03 2.11453013e+00] [ 7.39727282e-01 -6.72892705e-01 -4.35379543e-03 -1.99543678e+02] [ 5.94863388e-03 6.93251479e-05 9.99982304e-01 -2.77761839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.88655999499997 meters 0.01378534544043977 Centerline is valid? [True, True] Translation: X:2.09, Y:-199.53, Z:-2.78 [[-6.70305293e-01 -7.42079846e-01 2.88375765e-03 2.09325394e+00] [ 7.42073394e-01 -6.70311493e-01 -3.09519371e-03 -1.99525620e+02] [ 4.22989677e-03 6.52350963e-05 9.99991052e-01 -2.77596559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.91655999499994 meters 0.01393063480404166 Centerline is valid? [True, True] Translation: X:2.07, Y:-199.51, Z:-2.78 [[-6.69594808e-01 -7.42724141e-01 1.90904581e-03 2.07320320e+00] [ 7.42721319e-01 -6.69597527e-01 -2.04783785e-03 -1.99505705e+02] [ 2.79927096e-03 4.66674308e-05 9.99996081e-01 -2.77515422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.946559995 meters 0.014539279947262083 Centerline is valid? [True, True] Translation: X:2.05, Y:-199.49, Z:-2.77 [[-6.69147157e-01 -7.43128689e-01 1.35411137e-03 2.05344569e+00] [ 7.43127272e-01 -6.69148526e-01 -1.45167716e-03 -1.99487609e+02] [ 1.98488457e-03 3.48914480e-05 9.99998030e-01 -2.77479420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.97655999499995 meters 0.014541629229281195 Centerline is valid? [True, True] Translation: X:2.03, Y:-199.47, Z:-2.77 [[-6.69020284e-01 -7.43243646e-01 8.61017420e-04 2.03379348e+00] [ 7.43243074e-01 -6.69020838e-01 -9.22533850e-04 -1.99467800e+02] [ 1.26170602e-03 2.27513755e-05 9.99999204e-01 -2.77475057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.006559995 meters 0.01461730485002809 Centerline is valid? [True, True] Translation: X:2.01, Y:-199.45, Z:-2.78 [[-6.68857368e-01 -7.43389807e-01 1.18979576e-03 2.01407130e+00] [ 7.43388716e-01 -6.68858425e-01 -1.27408423e-03 -1.99448189e+02] [ 1.74294615e-03 3.23001136e-05 9.99998481e-01 -2.77548286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.03655999499995 meters 0.014822785792256593 Centerline is valid? [True, True] Translation: X:2.00, Y:-199.43, Z:-2.78 [[-6.69013173e-01 -7.43248234e-01 1.85427960e-03 1.99586348e+00] [ 7.43245586e-01 -6.69015740e-01 -1.98432402e-03 -1.99429666e+02] [ 2.71538756e-03 5.06462182e-05 9.99996312e-01 -2.77642739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.066559995 meters 0.014733626176119338 Centerline is valid? [True, True] Translation: X:1.98, Y:-199.41, Z:-2.78 [[-6.69015417e-01 -7.43244060e-01 2.57653986e-03 1.97688804e+00] [ 7.43238955e-01 -6.69020375e-01 -2.75568725e-03 -1.99409231e+02] [ 3.77190584e-03 7.13875364e-05 9.99992884e-01 -2.77776074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.09655999499995 meters 0.015004751510370996 Centerline is valid? [True, True] Translation: X:1.96, Y:-199.39, Z:-2.78 [[-6.68823626e-01 -7.43409687e-01 4.12244200e-03 1.95866901e+00] [ 7.43396637e-01 -6.68836321e-01 -4.40645986e-03 -1.99389268e+02] [ 6.03304389e-03 1.17465052e-04 9.99981794e-01 -2.77949634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.126559995 meters 0.015199243336240101 Centerline is valid? [True, True] Translation: X:1.94, Y:-199.37, Z:-2.78 [[-6.69020015e-01 -7.43230405e-01 4.55912470e-03 1.94042036e+00] [ 7.43214461e-01 -6.69035536e-01 -4.87002113e-03 -1.99369957e+02] [ 6.66976422e-03 1.30265794e-04 9.99977748e-01 -2.78040357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.15655999499995 meters 0.015447840042837772 Centerline is valid? [True, True] Translation: X:1.92, Y:-199.35, Z:-2.78 [[-6.69418478e-01 -7.42867289e-01 5.20503281e-03 1.92210355e+00] [ 7.42846524e-01 -6.69438697e-01 -5.55634887e-03 -1.99350716e+02] [ 7.61208020e-03 1.47017921e-04 9.99971017e-01 -2.78120843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.186559995 meters 0.015156354209030054 Centerline is valid? [True, True] Translation: X:1.90, Y:-199.33, Z:-2.78 [[-6.70078470e-01 -7.42269519e-01 5.55033278e-03 1.90408987e+00] [ 7.42245916e-01 -6.70101439e-01 -5.92130752e-03 -1.99329727e+02] [ 8.11449206e-03 1.51971154e-04 9.99967065e-01 -2.78165651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.21655999499995 meters 0.013910642773455308 Centerline is valid? [True, True] Translation: X:1.89, Y:-199.31, Z:-2.78 [[-6.72537216e-01 -7.40039195e-01 5.97354647e-03 1.88879195e+00] [ 7.40011799e-01 -6.72563730e-01 -6.36920169e-03 -1.99305705e+02] [ 8.73104959e-03 1.36969696e-04 9.99961874e-01 -2.78131948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.246559995 meters 0.013680082017752709 Centerline is valid? [True, True] Translation: X:1.87, Y:-199.28, Z:-2.78 [[-6.74326030e-01 -7.38410668e-01 5.83868747e-03 1.87173651e+00] [ 7.38384464e-01 -6.74351297e-01 -6.22188106e-03 -1.99284272e+02] [ 8.53162982e-03 1.15619767e-04 9.99963598e-01 -2.78152201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.27655999499996 meters 0.013186097347525877 Centerline is valid? [True, True] Translation: X:1.86, Y:-199.26, Z:-2.78 [[-6.76595669e-01 -7.36333383e-01 5.60800294e-03 1.85504737e+00] [ 7.36309164e-01 -6.76618904e-01 -5.97273770e-03 -1.99261726e+02] [ 8.19240696e-03 8.80954936e-05 9.99966438e-01 -2.78105447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.306559995 meters 0.012524686700548793 Centerline is valid? [True, True] Translation: X:1.84, Y:-199.24, Z:-2.78 [[-6.81305520e-01 -7.31982388e-01 4.95702236e-03 1.84148030e+00] [ 7.31963371e-01 -6.81323552e-01 -5.27651090e-03 -1.99236587e+02] [ 7.23964913e-03 3.34427938e-05 9.99973793e-01 -2.78058323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.33655999499996 meters 0.012307699397254826 Centerline is valid? [True, True] Translation: X:1.83, Y:-199.21, Z:-2.78 [[-6.83972824e-01 -7.29493717e-01 4.48247313e-03 1.82550531e+00] [ 7.29478132e-01 -6.83987512e-01 -4.76848837e-03 -1.99213915e+02] [ 6.54453795e-03 8.34967140e-06 9.99978584e-01 -2.77976744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.36655999499993 meters 0.012248017588563581 Centerline is valid? [True, True] Translation: X:1.81, Y:-199.19, Z:-2.78 [[-6.86492743e-01 -7.27126092e-01 3.91919633e-03 1.80901477e+00] [ 7.27114154e-01 -6.86503930e-01 -4.16664610e-03 -1.99191845e+02] [ 5.72022078e-03 -1.06691884e-05 9.99983639e-01 -2.77882458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.39655999499996 meters 0.012429063604713193 Centerline is valid? [True, True] Translation: X:1.79, Y:-199.17, Z:-2.78 [[-6.88775438e-01 -7.24967472e-01 3.24960844e-03 1.79316790e+00] [ 7.24959252e-01 -6.88783104e-01 -3.45250624e-03 -1.99171034e+02] [ 4.74123011e-03 -2.21678014e-05 9.99988760e-01 -2.77869601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.42655999499993 meters 0.012670878963243933 Centerline is valid? [True, True] Translation: X:1.78, Y:-199.15, Z:-2.78 [[-6.91804791e-01 -7.22079104e-01 2.81037237e-03 1.77781716e+00] [ 7.22072938e-01 -6.91810499e-01 -2.98416520e-03 -1.99147268e+02] [ 4.09904844e-03 -3.51659460e-05 9.99991598e-01 -2.77791049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.45655999499996 meters 0.012830451957748538 Centerline is valid? [True, True] Translation: X:1.76, Y:-199.13, Z:-2.78 [[-6.92855218e-01 -7.21071515e-01 2.74154101e-03 1.76084268e+00] [ 7.21065648e-01 -6.92860641e-01 -2.90924909e-03 -1.99126058e+02] [ 3.99728251e-03 -3.88573693e-05 9.99992010e-01 -2.77781452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.48655999499994 meters 0.013023767697666748 Centerline is valid? [True, True] Translation: X:1.74, Y:-199.11, Z:-2.78 [[-6.93382647e-01 -7.20564416e-01 2.72533753e-03 1.74395420e+00] [ 7.20558619e-01 -6.93388002e-01 -2.89065389e-03 -1.99106188e+02] [ 3.97261867e-03 -4.05637943e-05 9.99992108e-01 -2.77792233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.51655999499997 meters 0.012875239892508742 Centerline is valid? [True, True] Translation: X:1.73, Y:-199.09, Z:-2.78 [[-6.92991454e-01 -7.20940918e-01 2.65296792e-03 1.72578089e+00] [ 7.20935434e-01 -6.92996531e-01 -2.81213978e-03 -1.99086060e+02] [ 3.86588420e-03 -3.61702553e-05 9.99992527e-01 -2.77850964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.54655999499994 meters 0.012822629277421718 Centerline is valid? [True, True] Translation: X:1.71, Y:-199.07, Z:-2.78 [[-6.92335304e-01 -7.21571580e-01 2.50634960e-03 1.70728092e+00] [ 7.21566696e-01 -6.92339840e-01 -2.65499052e-03 -1.99066891e+02] [ 3.65101139e-03 -2.96452656e-05 9.99993335e-01 -2.77918741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.57655999499997 meters 0.012551984323704348 Centerline is valid? [True, True] Translation: X:1.69, Y:-199.05, Z:-2.78 [[-6.91368591e-01 -7.22498881e-01 2.19953125e-03 1.68724131e+00] [ 7.22495130e-01 -6.91372089e-01 -2.32851383e-03 -1.99047811e+02] [ 3.20304315e-03 -2.07107119e-05 9.99994870e-01 -2.77958187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.60655999499994 meters 0.012424361121136564 Centerline is valid? [True, True] Translation: X:1.67, Y:-199.03, Z:-2.78 [[-6.90239376e-01 -7.23577118e-01 2.39964502e-03 1.66757351e+00] [ 7.23572664e-01 -6.90243547e-01 -2.53877177e-03 -1.99028679e+02] [ 3.49333665e-03 -1.60427004e-05 9.99993898e-01 -2.78030413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.63655999499997 meters 0.012254399490045653 Centerline is valid? [True, True] Translation: X:1.65, Y:-199.01, Z:-2.78 [[-6.87576339e-01 -7.26106239e-01 2.91669958e-03 1.64699544e+00] [ 7.26099690e-01 -6.87582525e-01 -3.08406850e-03 -1.99009323e+02] [ 4.24483304e-03 -2.71786979e-06 9.99990991e-01 -2.78194674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.66655999499994 meters 0.012304903400566043 Centerline is valid? [True, True] Translation: X:1.63, Y:-198.99, Z:-2.78 [[-6.86282157e-01 -7.27328558e-01 3.15746849e-03 1.62817132e+00] [ 7.27320906e-01 -6.86289420e-01 -3.33643691e-03 -1.98990631e+02] [ 4.59362307e-03 6.75571865e-06 9.99989449e-01 -2.78296112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.696559995 meters 0.01238617594632539 Centerline is valid? [True, True] Translation: X:1.61, Y:-198.97, Z:-2.78 [[-6.84990797e-01 -7.28542008e-01 3.76177829e-03 1.60971371e+00] [ 7.28531175e-01 -6.85001126e-01 -3.97294394e-03 -1.98972657e+02] [ 5.47127892e-03 1.91427169e-05 9.99985032e-01 -2.78413298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.72655999499995 meters 0.012507965900748477 Centerline is valid? [True, True] Translation: X:1.59, Y:-198.95, Z:-2.78 [[-6.83794147e-01 -7.29664925e-01 3.82924555e-03 1.59025797e+00] [ 7.29653731e-01 -6.83804868e-01 -4.04169082e-03 -1.98953036e+02] [ 5.56753677e-03 3.03387740e-05 9.99984501e-01 -2.78477189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.756559995 meters 0.012906415574571473 Centerline is valid? [True, True] Translation: X:1.57, Y:-198.93, Z:-2.79 [[-6.81087035e-01 -7.32191467e-01 4.01333602e-03 1.57018491e+00] [ 7.32179228e-01 -6.81098857e-01 -4.23380005e-03 -1.98933696e+02] [ 5.83343084e-03 5.48949486e-05 9.99982984e-01 -2.78508432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.78655999499995 meters 0.013204332683252717 Centerline is valid? [True, True] Translation: X:1.55, Y:-198.92, Z:-2.79 [[-6.80322523e-01 -7.32902888e-01 3.82381984e-03 1.55190164e+00] [ 7.32891804e-01 -6.80333266e-01 -4.03122361e-03 -1.98915341e+02] [ 5.55596727e-03 5.99140052e-05 9.99984564e-01 -2.78514630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.816559995 meters 0.013528258699427491 Centerline is valid? [True, True] Translation: X:1.53, Y:-198.90, Z:-2.79 [[-6.79506053e-01 -7.33660664e-01 3.68172167e-03 1.53284815e+00] [ 7.33650412e-01 -6.79516024e-01 -3.87904492e-03 -1.98896044e+02] [ 5.34769154e-03 6.52621124e-05 9.99985699e-01 -2.78500640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.84655999499995 meters 0.013770084044176003 Centerline is valid? [True, True] Translation: X:1.51, Y:-198.88, Z:-2.78 [[-6.78993988e-01 -7.34136792e-01 3.21489552e-03 1.51463976e+00] [ 7.34128987e-01 -6.79001596e-01 -3.38560080e-03 -1.98877666e+02] [ 4.66841330e-03 6.13454099e-05 9.99989101e-01 -2.78493553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.876559995 meters 0.013580595576993914 Centerline is valid? [True, True] Translation: X:1.50, Y:-198.86, Z:-2.78 [[-6.78318528e-01 -7.34765002e-01 2.08970445e-03 1.49686641e+00] [ 7.34761711e-01 -6.78321746e-01 -2.19941892e-03 -1.98856360e+02] [ 3.03354802e-03 4.35282169e-05 9.99995398e-01 -2.78398634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.90655999499995 meters 0.013755599893423216 Centerline is valid? [True, True] Translation: X:1.48, Y:-198.84, Z:-2.78 [[-6.78478172e-01 -7.34618854e-01 1.58420551e-03 1.47888896e+00] [ 7.34616965e-01 -6.78480021e-01 -1.66626781e-03 -1.98837761e+02] [ 2.29892354e-03 3.32579001e-05 9.99997357e-01 -2.78404071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.936559995 meters 0.013976144557949575 Centerline is valid? [True, True] Translation: X:1.46, Y:-198.82, Z:-2.78 [[-6.78724604e-01 -7.34391986e-01 1.15001189e-03 1.46074292e+00] [ 7.34390991e-01 -6.78725578e-01 -1.20879579e-03 -1.98818276e+02] [ 1.66827243e-03 2.41189264e-05 9.99998608e-01 -2.78364222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.96655999499995 meters 0.013466828000797782 Centerline is valid? [True, True] Translation: X:1.44, Y:-198.80, Z:-2.78 [[-6.79777710e-01 -7.33417949e-01 6.14435439e-04 1.44341388e+00] [ 7.33417665e-01 -6.79777987e-01 -6.45437186e-04 -1.98796756e+02] [ 8.91054903e-04 1.18839930e-05 9.99999603e-01 -2.78304353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.996559995 meters 0.013340456077033625 Centerline is valid? [True, True] Translation: X:1.43, Y:-198.78, Z:-2.78 [[-6.80510802e-01 -7.32737737e-01 6.76174368e-04 1.42531942e+00] [ 7.32737393e-01 -6.80511138e-01 -7.09826723e-04 -1.98777145e+02] [ 9.80261015e-04 1.24134904e-05 9.99999520e-01 -2.78336228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.02655999499996 meters 0.012999979392584269 Centerline is valid? [True, True] Translation: X:1.41, Y:-198.76, Z:-2.78 [[-6.81330349e-01 -7.31975596e-01 8.25503341e-04 1.40630093e+00] [ 7.31975084e-01 -6.81330849e-01 -8.66102515e-04 -1.98756332e+02] [ 1.19640680e-03 1.41459483e-05 9.99999284e-01 -2.78346330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.056559995 meters 0.012785168686225194 Centerline is valid? [True, True] Translation: X:1.39, Y:-198.74, Z:-2.78 [[-6.82701766e-01 -7.30696391e-01 1.04090694e-03 1.38669065e+00] [ 7.30695576e-01 -6.82702559e-01 -1.09141262e-03 -1.98737123e+02] [ 1.50812109e-03 1.54767768e-05 9.99998863e-01 -2.78479699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.08655999499996 meters 0.013017326961986824 Centerline is valid? [True, True] Translation: X:1.37, Y:-198.72, Z:-2.79 [[-6.83007339e-01 -7.30410257e-01 1.35299640e-03 1.36689364e+00] [ 7.30408881e-01 -6.83008679e-01 -1.41795777e-03 -1.98719258e+02] [ 1.95979918e-03 1.97650239e-05 9.99998079e-01 -2.78562498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.11655999499993 meters 0.012685251112281356 Centerline is valid? [True, True] Translation: X:1.35, Y:-198.70, Z:-2.79 [[-6.83270157e-01 -7.30164060e-01 1.52937163e-03 1.34817646e+00] [ 7.30162303e-01 -6.83271868e-01 -1.60179699e-03 -1.98699913e+02] [ 2.21455120e-03 2.22294315e-05 9.99997548e-01 -2.78602023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.14655999499996 meters 0.013116496451177831 Centerline is valid? [True, True] Translation: X:1.33, Y:-198.68, Z:-2.79 [[-6.83147359e-01 -7.30278139e-01 1.87780200e-03 1.32849624e+00] [ 7.30275494e-01 -6.83149939e-01 -1.96543828e-03 -1.98682616e+02] [ 2.71813693e-03 2.86288174e-05 9.99996306e-01 -2.78688452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.17655999499993 meters 0.013116496451177831 Centerline is valid? [True, True] Translation: X:1.31, Y:-198.66, Z:-2.79 [[-6.83363842e-01 -7.30075566e-01 1.87838438e-03 1.30991968e+00] [ 7.30072922e-01 -6.83366423e-01 -1.96488170e-03 -1.98663357e+02] [ 2.71813694e-03 2.86284652e-05 9.99996306e-01 -2.78688482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.20655999499996 meters 0.013416831029512572 Centerline is valid? [True, True] Translation: X:1.29, Y:-198.64, Z:-2.79 [[-6.82682396e-01 -7.30711578e-01 2.30997248e-03 1.28987020e+00] [ 7.30707588e-01 -6.82686303e-01 -2.41490868e-03 -1.98644245e+02] [ 3.34158830e-03 3.92987754e-05 9.99994416e-01 -2.78742250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.23655999499994 meters 0.013246402772079216 Centerline is valid? [True, True] Translation: X:1.27, Y:-198.62, Z:-2.79 [[-6.80976299e-01 -7.32297080e-01 3.50235725e-03 1.27017305e+00] [ 7.32287941e-01 -6.80985302e-01 -3.65938401e-03 -1.98624215e+02] [ 5.06481003e-03 7.27801977e-05 9.99987171e-01 -2.78848103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.26655999499997 meters 0.013512736515928884 Centerline is valid? [True, True] Translation: X:1.25, Y:-198.60, Z:-2.79 [[-6.80189824e-01 -7.33026153e-01 3.80290266e-03 1.24992362e+00] [ 7.33015402e-01 -6.80200449e-01 -3.97114952e-03 -1.98604234e+02] [ 5.49769255e-03 8.64507280e-05 9.99984884e-01 -2.78927862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.29655999499994 meters 0.013805207283832834 Centerline is valid? [True, True] Translation: X:1.23, Y:-198.58, Z:-2.79 [[-6.79574981e-01 -7.33591947e-01 4.54993174e-03 1.23009740e+00] [ 7.33576586e-01 -6.79590203e-01 -4.74853713e-03 -1.98584460e+02] [ 6.57557763e-03 1.10736362e-04 9.99978375e-01 -2.79029033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.32655999499997 meters 0.014347935129574697 Centerline is valid? [True, True] Translation: X:1.21, Y:-198.57, Z:-2.79 [[-6.79222327e-01 -7.33916160e-01 4.90925051e-03 1.21058879e+00] [ 7.33898308e-01 -6.79240057e-01 -5.12047086e-03 -1.98565850e+02] [ 7.09255591e-03 1.24952502e-04 9.99974840e-01 -2.79141205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.35655999499994 meters 0.014909304692895588 Centerline is valid? [True, True] Translation: X:1.19, Y:-198.55, Z:-2.79 [[-6.79035658e-01 -7.34084037e-01 5.58590588e-03 1.19132408e+00] [ 7.34060957e-01 -6.79058617e-01 -5.82284479e-03 -1.98546385e+02] [ 8.06761493e-03 1.46476178e-04 9.99967446e-01 -2.79214202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.38655999499997 meters 0.01457500614616123 Centerline is valid? [True, True] Translation: X:1.17, Y:-198.53, Z:-2.79 [[-6.79756648e-01 -7.33419379e-01 5.18786530e-03 1.17284867e+00] [ 7.33399477e-01 -6.79776432e-01 -5.40461317e-03 -1.98525837e+02] [ 7.49043660e-03 1.30955960e-04 9.99971938e-01 -2.79149804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.41655999499994 meters 0.01410607244738456 Centerline is valid? [True, True] Translation: X:1.16, Y:-198.51, Z:-2.79 [[-6.80487757e-01 -7.32743399e-01 4.85025548e-03 1.15512161e+00] [ 7.32726007e-01 -6.80505032e-01 -5.04976680e-03 -1.98505408e+02] [ 7.00080655e-03 1.17603850e-04 9.99975487e-01 -2.79047171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.446559995 meters 0.01447739209728616 Centerline is valid? [True, True] Translation: X:1.14, Y:-198.49, Z:-2.79 [[-6.81280972e-01 -7.32009628e-01 4.25931628e-03 1.13629702e+00] [ 7.31996215e-01 -6.81294280e-01 -4.43239835e-03 -1.98486549e+02] [ 6.14640609e-03 9.80947380e-05 9.99981106e-01 -2.79016637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.47655999499995 meters 0.013203509009305467 Centerline is valid? [True, True] Translation: X:1.12, Y:-198.46, Z:-2.79 [[-6.83010101e-01 -7.30404517e-01 2.53832147e-03 1.11917876e+00] [ 7.30399748e-01 -6.83014816e-01 -2.63996631e-03 -1.98464013e+02] [ 3.66195449e-03 5.08657102e-05 9.99993294e-01 -2.78751093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.506559995 meters 0.01309410429664135 Centerline is valid? [True, True] Translation: X:1.10, Y:-198.44, Z:-2.79 [[-6.83985127e-01 -7.29492897e-01 2.11172591e-03 1.10025997e+00] [ 7.29489595e-01 -6.83988386e-01 -2.19505023e-03 -1.98443981e+02] [ 3.04566955e-03 3.91003670e-05 9.99995361e-01 -2.78677115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.53655999499995 meters 0.012817660193226426 Centerline is valid? [True, True] Translation: X:1.08, Y:-198.42, Z:-2.79 [[-6.84777146e-01 -7.28750333e-01 1.79244985e-03 1.08143249e+00] [ 7.28747955e-01 -6.84779491e-01 -1.86211943e-03 -1.98423493e+02] [ 2.58445304e-03 3.11073326e-05 9.99996660e-01 -2.78636369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.566559995 meters 0.013010328782790829 Centerline is valid? [True, True] Translation: X:1.06, Y:-198.40, Z:-2.79 [[-6.85489900e-01 -7.28080021e-01 1.75479068e-03 1.06204369e+00] [ 7.28077742e-01 -6.85492146e-01 -1.82191116e-03 -1.98404694e+02] [ 2.52939235e-03 2.87223361e-05 9.99996801e-01 -2.78653799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.59655999499995 meters 0.013220321363085649 Centerline is valid? [True, True] Translation: X:1.04, Y:-198.39, Z:-2.79 [[-6.85844860e-01 -7.27743708e-01 2.43385813e-03 1.04294342e+00] [ 7.27739327e-01 -6.85849177e-01 -2.52532911e-03 -1.98387084e+02] [ 3.50705197e-03 3.92302912e-05 9.99993850e-01 -2.78812222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.626559995 meters 0.012846331506776046 Centerline is valid? [True, True] Translation: X:1.02, Y:-198.37, Z:-2.79 [[-6.85804808e-01 -7.27778794e-01 3.12925221e-03 1.02437649e+00] [ 7.27771563e-01 -6.85811945e-01 -3.24482565e-03 -1.98366582e+02] [ 4.50759384e-03 5.20637414e-05 9.99989839e-01 -2.78847644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.65655999499995 meters 0.013507685600259826 Centerline is valid? [True, True] Translation: X:1.00, Y:-198.35, Z:-2.79 [[-6.85596596e-01 -7.27972192e-01 3.71425994e-03 1.00463065e+00] [ 7.27962020e-01 -6.85606654e-01 -3.84891375e-03 -1.98348686e+02] [ 5.34842350e-03 6.50380026e-05 9.99985695e-01 -2.78963969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.686559995 meters 0.013027857814288977 Centerline is valid? [True, True] Translation: X:0.99, Y:-198.33, Z:-2.79 [[-6.84686685e-01 -7.28823116e-01 4.58357718e-03 9.85540401e-01] [ 7.28807662e-01 -6.84702021e-01 -4.74704494e-03 -1.98328472e+02] [ 6.59814064e-03 9.03077043e-05 9.99978228e-01 -2.79000362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.71655999499995 meters 0.013432498134956257 Centerline is valid? [True, True] Translation: X:0.97, Y:-198.31, Z:-2.79 [[-6.84163291e-01 -7.29310822e-01 5.12995793e-03 9.65499926e-01] [ 7.29291494e-01 -6.84182514e-01 -5.31071309e-03 -1.98310240e+02] [ 7.38298805e-03 1.07839739e-04 9.99972740e-01 -2.79061189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.746559995 meters 0.013679411321228983 Centerline is valid? [True, True] Translation: X:0.95, Y:-198.29, Z:-2.79 [[-6.83650968e-01 -7.29790829e-01 5.16719982e-03 9.45434692e-01] [ 7.29771258e-01 -6.83670485e-01 -5.34591298e-03 -1.98291066e+02] [ 7.43406027e-03 1.16135330e-04 9.99972360e-01 -2.79082533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.77655999499996 meters 0.013937347992674457 Centerline is valid? [True, True] Translation: X:0.92, Y:-198.27, Z:-2.79 [[-6.82539679e-01 -7.30827546e-01 5.53936053e-03 9.23975293e-01] [ 7.30805113e-01 -6.82562143e-01 -5.72775025e-03 -1.98272515e+02] [ 7.96695545e-03 1.38776182e-04 9.99968254e-01 -2.79114140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.806559995 meters 0.014434274805248332 Centerline is valid? [True, True] Translation: X:0.90, Y:-198.25, Z:-2.79 [[-6.82205645e-01 -7.31138246e-01 5.68533106e-03 9.04258747e-01] [ 7.31114650e-01 -6.82229319e-01 -5.87583635e-03 -1.98254606e+02] [ 8.17474822e-03 1.48100103e-04 9.99966575e-01 -2.79153708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.83655999499996 meters 0.014642250803540573 Centerline is valid? [True, True] Translation: X:0.88, Y:-198.24, Z:-2.79 [[-6.82182323e-01 -7.31159694e-01 5.72532282e-03 8.84510078e-01] [ 7.31135796e-01 -6.82206331e-01 -5.91353806e-03 -1.98235171e+02] [ 8.22959216e-03 1.51877325e-04 9.99966125e-01 -2.79167045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.86655999499993 meters 0.013996790020511476 Centerline is valid? [True, True] Translation: X:0.87, Y:-198.21, Z:-2.79 [[-6.82978495e-01 -7.30417293e-01 5.56354381e-03 8.67220806e-01] [ 7.30394730e-01 -6.83001141e-01 -5.74284312e-03 -1.98214493e+02] [ 7.99457869e-03 1.41344730e-04 9.99968033e-01 -2.79074464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.89655999499996 meters 0.014332118220862559 Centerline is valid? [True, True] Translation: X:0.85, Y:-198.20, Z:-2.79 [[-6.83871003e-01 -7.29584091e-01 5.24456803e-03 8.48708258e-01] [ 7.29564037e-01 -6.83891101e-01 -5.41096794e-03 -1.98195690e+02] [ 7.53446953e-03 1.25844156e-04 9.99971608e-01 -2.79109485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.92655999499993 meters 0.013385809984616751 Centerline is valid? [True, True] Translation: X:0.83, Y:-198.17, Z:-2.79 [[-6.84896410e-01 -7.28622598e-01 5.10082744e-03 8.31232277e-01] [ 7.28603622e-01 -6.84915394e-01 -5.25970643e-03 -1.98174067e+02] [ 7.32597620e-03 1.14127301e-04 9.99973158e-01 -2.79006074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.95655999499996 meters 0.012977264253951272 Centerline is valid? [True, True] Translation: X:0.81, Y:-198.15, Z:-2.79 [[-6.87329315e-01 -7.26333298e-01 4.28411970e-03 8.14545011e-01] [ 7.26319883e-01 -6.87342662e-01 -4.41514082e-03 -1.98152893e+02] [ 6.15152203e-03 7.69856023e-05 9.99981076e-01 -2.78932178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.98655999499994 meters 0.012787203268062427 Centerline is valid? [True, True] Translation: X:0.80, Y:-198.13, Z:-2.79 [[-6.88653987e-01 -7.25079787e-01 3.87138276e-03 7.96735895e-01] [ 7.25068827e-01 -6.88664866e-01 -3.98717066e-03 -1.98133368e+02] [ 5.55710215e-03 6.12379849e-05 9.99984557e-01 -2.78935049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.01655999499997 meters 0.012351509006164926 Centerline is valid? [True, True] Translation: X:0.78, Y:-198.11, Z:-2.79 [[-6.89984781e-01 -7.23814065e-01 3.76847709e-03 7.78409531e-01] [ 7.23803674e-01 -6.89995070e-01 -3.87878974e-03 -1.98112659e+02] [ 5.40775318e-03 5.13316694e-05 9.99985377e-01 -2.78884352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.04655999499994 meters 0.012138220751560755 Centerline is valid? [True, True] Translation: X:0.76, Y:-198.09, Z:-2.79 [[-6.91245319e-01 -7.22612637e-01 3.29930914e-03 7.60386881e-01] [ 7.22604669e-01 -6.91253192e-01 -3.39378307e-03 -1.98092514e+02] [ 4.73304850e-03 3.81595275e-05 9.99988798e-01 -2.78864800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.07655999499997 meters 0.011937971125731674 Centerline is valid? [True, True] Translation: X:0.74, Y:-198.07, Z:-2.79 [[-6.93345642e-01 -7.20598246e-01 3.16035966e-03 7.43032352e-01] [ 7.20590923e-01 -6.93352844e-01 -3.24874573e-03 -1.98072470e+02] [ 4.53228484e-03 2.48227912e-05 9.99989729e-01 -2.78918815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.10655999499994 meters 0.01178817852488693 Centerline is valid? [True, True] Translation: X:0.72, Y:-198.05, Z:-2.79 [[-6.94604552e-01 -7.19384428e-01 3.24979465e-03 7.24997629e-01] [ 7.19376681e-01 -6.94612154e-01 -3.33859589e-03 -1.98052961e+02] [ 4.65908075e-03 1.88225892e-05 9.99989146e-01 -2.78921105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.13655999499997 meters 0.01173639446383764 Centerline is valid? [True, True] Translation: X:0.71, Y:-198.03, Z:-2.79 [[-6.95595423e-01 -7.18425572e-01 3.42109799e-03 7.06840900e-01] [ 7.18416987e-01 -6.95603836e-01 -3.51237941e-03 -1.98033055e+02] [ 4.90311207e-03 1.45798695e-05 9.99987980e-01 -2.78900328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.16655999499994 meters 0.011667718379693694 Centerline is valid? [True, True] Translation: X:0.69, Y:-198.01, Z:-2.79 [[-6.97159680e-01 -7.16904034e-01 4.12149897e-03 6.88464169e-01] [ 7.16891562e-01 -6.97171863e-01 -4.22869569e-03 -1.98013713e+02] [ 5.90496211e-03 6.59170761e-06 9.99982566e-01 -2.79056776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.196559995 meters 0.011660837307600471 Centerline is valid? [True, True] Translation: X:0.67, Y:-197.99, Z:-2.79 [[-6.97974802e-01 -7.16109179e-01 4.33814221e-03 6.69722750e-01] [ 7.16095364e-01 -6.97988283e-01 -4.44818460e-03 -1.97994078e+02] [ 6.21335826e-03 1.80275478e-06 9.99980697e-01 -2.79041728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.22655999499995 meters 0.011648674398695418 Centerline is valid? [True, True] Translation: X:0.65, Y:-197.97, Z:-2.79 [[-6.98638792e-01 -7.15459393e-01 4.65788900e-03 6.51236409e-01] [ 7.15443472e-01 -6.98654319e-01 -4.77291768e-03 -1.97974811e+02] [ 6.66908306e-03 -2.08916315e-06 9.99977761e-01 -2.79081809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.256559995 meters 0.011697714114813813 Centerline is valid? [True, True] Translation: X:0.63, Y:-197.96, Z:-2.79 [[-6.99327504e-01 -7.14786826e-01 4.56446122e-03 6.31776083e-01] [ 7.14771543e-01 -6.99342400e-01 -4.67428784e-03 -1.97955319e+02] [ 6.53324063e-03 -6.31106348e-06 9.99978658e-01 -2.79087229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.28655999499995 meters 0.011728175316172384 Centerline is valid? [True, True] Translation: X:0.61, Y:-197.94, Z:-2.79 [[-7.00023165e-01 -7.14102817e-01 4.97333419e-03 6.12950480e-01] [ 7.14084676e-01 -7.00040832e-01 -5.09011592e-03 -1.97937699e+02] [ 7.11640312e-03 -1.18173273e-05 9.99974678e-01 -2.79147843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.316559995 meters 0.011776867767913342 Centerline is valid? [True, True] Translation: X:0.59, Y:-197.92, Z:-2.79 [[-7.00444313e-01 -7.13689473e-01 5.00996913e-03 5.94091321e-01] [ 7.13671077e-01 -7.00462230e-01 -5.12431413e-03 -1.97919252e+02] [ 7.16646320e-03 -1.38266277e-05 9.99974321e-01 -2.79186416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.34655999499995 meters 0.011782978491105836 Centerline is valid? [True, True] Translation: X:0.58, Y:-197.90, Z:-2.79 [[-7.00757267e-01 -7.13379539e-01 5.37452080e-03 5.75047333e-01] [ 7.13358379e-01 -7.00777877e-01 -5.49460272e-03 -1.97900714e+02] [ 7.68608243e-03 -1.64233422e-05 9.99970462e-01 -2.79216868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.376559995 meters 0.01169853169728003 Centerline is valid? [True, True] Translation: X:0.55, Y:-197.88, Z:-2.79 [[-7.01034525e-01 -7.13106877e-01 5.40151696e-03 5.54636051e-01] [ 7.13085520e-01 -7.01055334e-01 -5.51908779e-03 -1.97881300e+02] [ 7.72246174e-03 -1.73275563e-05 9.99970181e-01 -2.79174043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.40655999499995 meters 0.011667495120824184 Centerline is valid? [True, True] Translation: X:0.53, Y:-197.86, Z:-2.79 [[-7.01415098e-01 -7.12728876e-01 5.86601855e-03 5.34494133e-01] [ 7.12703702e-01 -7.01439626e-01 -5.99033203e-03 -1.97862199e+02] [ 8.38414047e-03 -2.09761878e-05 9.99964852e-01 -2.79209837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.436559995 meters 0.011670084314511858 Centerline is valid? [True, True] Translation: X:0.51, Y:-197.84, Z:-2.79 [[-7.01520718e-01 -7.12624855e-01 5.87352451e-03 5.14134756e-01] [ 7.12599641e-01 -7.01545306e-01 -5.99464895e-03 -1.97842282e+02] [ 8.39247939e-03 -1.98989766e-05 9.99964782e-01 -2.79219656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.46655999499995 meters 0.01167670154854689 Centerline is valid? [True, True] Translation: X:0.49, Y:-197.82, Z:-2.79 [[-7.01293967e-01 -7.12846266e-01 6.08057489e-03 4.93593499e-01] [ 7.12819285e-01 -7.01320327e-01 -6.20209113e-03 -1.97823878e+02] [ 8.68556827e-03 -1.51380480e-05 9.99962280e-01 -2.79246964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.496559995 meters 0.011628472683010486 Centerline is valid? [True, True] Translation: X:0.47, Y:-197.81, Z:-2.79 [[-7.01356809e-01 -7.12782256e-01 6.33114299e-03 4.73799920e-01] [ 7.12753039e-01 -7.01385383e-01 -6.45365445e-03 -1.97805499e+02] [ 9.04062153e-03 -1.37730841e-05 9.99959133e-01 -2.79308589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.52655999499996 meters 0.011654433152885803 Centerline is valid? [True, True] Translation: X:0.45, Y:-197.79, Z:-2.79 [[-7.01296752e-01 -7.12836589e-01 6.84559052e-03 4.53822789e-01] [ 7.12802476e-01 -7.01330162e-01 -6.97372152e-03 -1.97786861e+02] [ 9.77214298e-03 -1.10943768e-05 9.99952251e-01 -2.79355774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.556559995 meters 0.01165590324173897 Centerline is valid? [True, True] Translation: X:0.43, Y:-197.77, Z:-2.79 [[-7.01306966e-01 -7.12822107e-01 7.29271280e-03 4.33806866e-01] [ 7.12783439e-01 -7.01344882e-01 -7.42462967e-03 -1.97768092e+02] [ 1.04071470e-02 -8.81959506e-06 9.99945844e-01 -2.79429086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.58655999499996 meters 0.011637560097646018 Centerline is valid? [True, True] Translation: X:0.41, Y:-197.75, Z:-2.79 [[-7.01266973e-01 -7.12857844e-01 7.63725703e-03 4.13207044e-01] [ 7.12815490e-01 -7.01308559e-01 -7.77061084e-03 -1.97749536e+02] [ 1.08954146e-02 -5.31762449e-06 9.99940643e-01 -2.79459269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.61655999499993 meters 0.011671906491401842 Centerline is valid? [True, True] Translation: X:0.39, Y:-197.73, Z:-2.79 [[-7.01379957e-01 -7.12746410e-01 7.66232309e-03 3.94199947e-01] [ 7.12703826e-01 -7.01421810e-01 -7.79107045e-03 -1.97731057e+02] [ 1.09275780e-02 -3.53367112e-06 9.99940292e-01 -2.79461742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.64655999499996 meters 0.011664217419197789 Centerline is valid? [True, True] Translation: X:0.37, Y:-197.71, Z:-2.79 [[-7.01311767e-01 -7.12815719e-01 7.45357527e-03 3.74603231e-01] [ 7.12775478e-01 -7.01351375e-01 -7.57407252e-03 -1.97711965e+02] [ 1.06264932e-02 9.39496990e-07 9.99943537e-01 -2.79328253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.67655999499993 meters 0.011612342164594109 Centerline is valid? [True, True] Translation: X:0.35, Y:-197.69, Z:-2.79 [[-7.01317521e-01 -7.12813033e-01 7.16350464e-03 3.54495811e-01] [ 7.12775910e-01 -7.01354105e-01 -7.27476080e-03 -1.97692907e+02] [ 1.02096977e-02 4.05632423e-06 9.99947880e-01 -2.79280534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.70655999499996 meters 0.01156610963860402 Centerline is valid? [True, True] Translation: X:0.33, Y:-197.67, Z:-2.79 [[-7.01078415e-01 -7.13055685e-01 6.37544971e-03 3.33655961e-01] [ 7.13026324e-01 -7.01107402e-01 -6.47084324e-03 -1.97674296e+02] [ 9.08394654e-03 9.29494865e-06 9.99958740e-01 -2.79174441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.73655999499994 meters 0.01158325173315609 Centerline is valid? [True, True] Translation: X:0.31, Y:-197.66, Z:-2.79 [[-7.01152296e-01 -7.12985555e-01 6.08747225e-03 3.14247040e-01] [ 7.12958819e-01 -7.01178721e-01 -6.17448233e-03 -1.97656324e+02] [ 8.67072272e-03 1.08645620e-05 9.99962409e-01 -2.79170505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.76655999499997 meters 0.011473311135498819 Centerline is valid? [True, True] Translation: X:0.29, Y:-197.64, Z:-2.79 [[-7.01315791e-01 -7.12826997e-01 5.81660011e-03 2.93743902e-01] [ 7.12802610e-01 -7.01339912e-01 -5.89639512e-03 -1.97636707e+02] [ 8.28252344e-03 1.08527328e-05 9.99965699e-01 -2.79087085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.79655999499994 meters 0.011550130802799853 Centerline is valid? [True, True] Translation: X:0.27, Y:-197.62, Z:-2.79 [[-7.01941544e-01 -7.12211453e-01 5.73718929e-03 2.74047867e-01] [ 7.12187734e-01 -7.01964990e-01 -5.81242428e-03 -1.97618743e+02] [ 8.16698116e-03 5.97376556e-06 9.99966650e-01 -2.79149334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.82655999499997 meters 0.011414327797049813 Centerline is valid? [True, True] Translation: X:0.25, Y:-197.60, Z:-2.79 [[-7.02655841e-01 -7.11507571e-01 5.63441608e-03 2.54212628e-01] [ 7.11484698e-01 -7.02678431e-01 -5.70506213e-03 -1.97598584e+02] [ 8.01837754e-03 1.05591946e-07 9.99967852e-01 -2.79051044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.85655999499994 meters 0.011488864699487795 Centerline is valid? [True, True] Translation: X:0.24, Y:-197.58, Z:-2.79 [[-7.03581401e-01 -7.10589537e-01 5.97684927e-03 2.35234303e-01] [ 7.10563797e-01 -7.03606787e-01 -6.04816235e-03 -1.97579407e+02] [ 8.50311259e-03 -8.44183154e-06 9.99963848e-01 -2.79090469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.88655999499997 meters 0.011565923106530556 Centerline is valid? [True, True] Translation: X:0.22, Y:-197.56, Z:-2.79 [[-7.04576626e-01 -7.09602903e-01 5.95810440e-03 2.15514009e-01] [ 7.09577317e-01 -7.04601817e-01 -6.02579194e-03 -1.97559575e+02] [ 8.47401064e-03 -1.78964153e-05 9.99964095e-01 -2.79107087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.91655999499994 meters 0.012122729101849581 Centerline is valid? [True, True] Translation: X:0.20, Y:-197.54, Z:-2.79 [[-7.06696771e-01 -7.07483678e-01 6.82047771e-03 1.96973032e-01] [ 7.07450091e-01 -7.06729682e-01 -6.89386022e-03 -1.97539570e+02] [ 9.69752763e-03 -4.67211758e-05 9.99952977e-01 -2.79311490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.946559995 meters 0.012066461499023818 Centerline is valid? [True, True] Translation: X:0.18, Y:-197.52, Z:-2.79 [[-7.07888482e-01 -7.06288049e-01 7.14756492e-03 1.77454430e-01] [ 7.06251148e-01 -7.07924563e-01 -7.22003558e-03 -1.97519966e+02] [ 1.01593616e-02 -6.30040990e-05 9.99948390e-01 -2.79222380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.97655999499995 meters 0.012188386061503494 Centerline is valid? [True, True] Translation: X:0.16, Y:-197.50, Z:-2.79 [[-7.09126605e-01 -7.05042738e-01 7.36177168e-03 1.58339120e-01] [ 7.05003572e-01 -7.09164813e-01 -7.43180286e-03 -1.97500607e+02] [ 1.04604481e-02 -8.00138018e-05 9.99945285e-01 -2.79216735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.006559995 meters 0.012304024041786958 Centerline is valid? [True, True] Translation: X:0.14, Y:-197.48, Z:-2.79 [[-7.10222774e-01 -7.03936378e-01 7.56221405e-03 1.38451519e-01] [ 7.03895034e-01 -7.10263026e-01 -7.62988934e-03 -1.97481116e+02] [ 1.07421177e-02 -9.59162604e-05 9.99942297e-01 -2.79225627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.03655999499995 meters 0.012706352608170582 Centerline is valid? [True, True] Translation: X:0.12, Y:-197.46, Z:-2.79 [[-7.12144300e-01 -7.01986879e-01 8.05712770e-03 1.18198921e-01] [ 7.01939873e-01 -7.12189866e-01 -8.12467598e-03 -1.97461052e+02] [ 1.14416206e-02 -1.30322495e-04 9.99934534e-01 -2.79305750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.066559995 meters 0.012984687753283555 Centerline is valid? [True, True] Translation: X:0.10, Y:-197.44, Z:-2.79 [[-7.13190991e-01 -7.00919748e-01 8.37361315e-03 9.85307237e-02] [ 7.00868958e-01 -7.13240131e-01 -8.43912737e-03 -1.97440536e+02] [ 1.18875480e-02 -1.49904098e-04 9.99929329e-01 -2.79323213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.09655999499995 meters 0.012984687753283555 Centerline is valid? [True, True] Translation: X:0.08, Y:-197.42, Z:-2.79 [[-7.13409765e-01 -7.00697043e-01 8.37624767e-03 7.96077765e-02] [ 7.00646269e-01 -7.13458921e-01 -8.43651249e-03 -1.97421609e+02] [ 1.18875480e-02 -1.49903709e-04 9.99929329e-01 -2.79323243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.126559995 meters 0.013101000363515495 Centerline is valid? [True, True] Translation: X:0.06, Y:-197.40, Z:-2.79 [[-7.14611181e-01 -6.99470752e-01 8.45737120e-03 5.99654053e-02] [ 6.99418961e-01 -7.14661205e-01 -8.51344071e-03 -1.97401967e+02] [ 1.19990579e-02 -1.68554139e-04 9.99927995e-01 -2.79284191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.15655999499995 meters 0.01400492120226151 Centerline is valid? [True, True] Translation: X:0.04, Y:-197.38, Z:-2.79 [[-7.16380167e-01 -6.97666913e-01 7.76759954e-03 4.17508309e-02] [ 6.97623170e-01 -7.16422255e-01 -7.81447240e-03 -1.97382181e+02] [ 1.10167800e-02 -1.79275629e-04 9.99939297e-01 -2.79325249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.186559995 meters 0.01379847397967324 Centerline is valid? [True, True] Translation: X:0.02, Y:-197.36, Z:-2.79 [[-7.17152904e-01 -6.96872697e-01 7.75597904e-03 2.17191735e-02] [ 6.96829087e-01 -7.17194819e-01 -7.79843050e-03 -1.97363138e+02] [ 1.09970613e-02 -1.88075288e-04 9.99939513e-01 -2.79206121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.21655999499995 meters 0.013972473988776001 Centerline is valid? [True, True] Translation: X:0.00, Y:-197.34, Z:-2.79 [[-7.17740197e-01 -6.96272271e-01 7.34402376e-03 2.61382886e-03] [ 6.96233187e-01 -7.17777745e-01 -7.37960669e-03 -1.97343797e+02] [ 1.04095923e-02 -1.83487294e-04 9.99945802e-01 -2.79162469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.246559995 meters 0.013696472739557897 Centerline is valid? [True, True] Translation: X:-0.02, Y:-197.32, Z:-2.79 [[-7.17936754e-01 -6.96073106e-01 7.00352283e-03 -1.79652295e-02] [ 6.96037592e-01 -7.17970891e-01 -7.03349604e-03 -1.97324676e+02] [ 9.92415296e-03 -1.74890150e-04 9.99950739e-01 -2.79085857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.27655999499996 meters 0.013941049202979896 Centerline is valid? [True, True] Translation: X:-0.04, Y:-197.31, Z:-2.79 [[-7.16991145e-01 -6.97049671e-01 6.74203368e-03 -3.77332261e-02] [ 6.97016829e-01 -7.17022826e-01 -6.76810925e-03 -1.97306425e+02] [ 9.55190036e-03 -1.53363464e-04 9.99954368e-01 -2.79096667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.306559995 meters 0.013613110106220567 Centerline is valid? [True, True] Translation: X:-0.06, Y:-197.29, Z:-2.79 [[-7.16085380e-01 -6.97980876e-01 6.66525269e-03 -5.83579704e-02] [ 6.97948856e-01 -7.16116386e-01 -6.68697459e-03 -1.97288049e+02] [ 9.44047705e-03 -1.36439254e-04 9.99955428e-01 -2.79095478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.33655999499996 meters 0.01269070521842761 Centerline is valid? [True, True] Translation: X:-0.08, Y:-197.27, Z:-2.79 [[-7.14843195e-01 -6.99251223e-01 6.85086014e-03 -8.03785395e-02] [ 6.99217491e-01 -7.14876012e-01 -6.86932302e-03 -1.97270772e+02] [ 9.70089810e-03 -1.20247573e-04 9.99952938e-01 -2.79006278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.36655999499993 meters 0.012021311777368909 Centerline is valid? [True, True] Translation: X:-0.10, Y:-197.26, Z:-2.79 [[-7.11155990e-01 -7.03001798e-01 6.75505300e-03 -1.03350573e-01] [ 7.02969198e-01 -7.11188068e-01 -6.77046838e-03 -1.97255439e+02] [ 9.56376453e-03 -6.62649508e-05 9.99954264e-01 -2.79077038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.39655999499996 meters 0.01167664946090607 Centerline is valid? [True, True] Translation: X:-0.13, Y:-197.24, Z:-2.79 [[-7.09097539e-01 -7.05077849e-01 6.77552097e-03 -1.25108652e-01] [ 7.05045186e-01 -7.09129908e-01 -6.78675477e-03 -1.97238210e+02] [ 9.58991501e-03 -3.54226665e-05 9.99954015e-01 -2.79096190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.42655999499993 meters 0.011585155549889325 Centerline is valid? [True, True] Translation: X:-0.15, Y:-197.22, Z:-2.79 [[-7.06982010e-01 -7.07199515e-01 6.72933269e-03 -1.47452971e-01] [ 7.07167428e-01 -7.07014035e-01 -6.73670058e-03 -1.97220436e+02] [ 9.52192404e-03 -3.96123275e-06 9.99954665e-01 -2.79096366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.45655999499996 meters 0.011598359587905881 Centerline is valid? [True, True] Translation: X:-0.17, Y:-197.20, Z:-2.79 [[-7.04893819e-01 -7.09279234e-01 6.90447945e-03 -1.68774964e-01] [ 7.09245594e-01 -7.04927633e-01 -6.90794140e-03 -1.97203693e+02] [ 9.76681774e-03 2.76064368e-05 9.99952303e-01 -2.79168648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.48655999499994 meters 0.012092770201110999 Centerline is valid? [True, True] Translation: X:-0.19, Y:-197.19, Z:-2.79 [[-7.00890802e-01 -7.13232907e-01 7.13477374e-03 -1.92693025e-01] [ 7.13197229e-01 -7.00927110e-01 -7.13436677e-03 -1.97187794e+02] [ 1.00894215e-02 8.80888137e-05 9.99949097e-01 -2.79210957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.51655999499997 meters 0.012521335378562651 Centerline is valid? [True, True] Translation: X:-0.64, Y:-197.62, Z:-1.80 [[-7.62711524e-01 6.46692139e-01 7.77233155e-03 -6.39698098e-01] [ 6.46657004e-01 7.62751115e-01 -6.74205729e-03 -1.97623376e+02] [-1.02883900e-02 -1.16212153e-04 -9.99947066e-01 -1.79873762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.54655999499994 meters 0.012664797534309777 Centerline is valid? [True, True] Translation: X:-0.62, Y:-197.60, Z:-1.80 [[-8.07763017e-01 5.89449164e-01 8.28199258e-03 -6.22265926e-01] [ 5.89416429e-01 8.07805462e-01 -6.21364152e-03 -1.97600676e+02] [-1.03528646e-02 -1.37607330e-04 -9.99946398e-01 -1.79937438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.57655999499997 meters 0.013234834914337919 Centerline is valid? [True, True] Translation: X:-0.61, Y:-197.57, Z:-1.80 [[-8.48778433e-01 5.28681122e-01 8.45236776e-03 -6.08707334e-01] [ 5.28653038e-01 8.48820503e-01 -5.45158433e-03 -1.97573472e+02] [-1.00566928e-02 -1.58817308e-04 -9.99949418e-01 -1.79955307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.60655999499994 meters 0.01381610910966583 Centerline is valid? [True, True] Translation: X:-0.59, Y:-197.55, Z:-1.80 [[-8.84222154e-01 4.66986644e-01 8.64039460e-03 -5.94518849e-01] [ 4.66962592e-01 8.84264355e-01 -4.74226295e-03 -1.97547396e+02] [-9.85496641e-03 -1.58472909e-04 -9.99951426e-01 -1.79900474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.63655999499997 meters 0.013427161065713428 Centerline is valid? [True, True] Translation: X:-0.58, Y:-197.52, Z:-1.80 [[-9.15222379e-01 4.02862561e-01 8.35182620e-03 -5.83555729e-01] [ 4.02844278e-01 9.15260473e-01 -3.84101200e-03 -1.97522181e+02] [-9.19149634e-03 -1.50894747e-04 -9.99957746e-01 -1.80005613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.66655999499994 meters 0.013421763741869161 Centerline is valid? [True, True] Translation: X:-0.58, Y:-197.49, Z:-1.80 [[-9.41426322e-01 3.37123703e-01 8.00556467e-03 -5.75716965e-01] [ 3.37110252e-01 9.41460349e-01 -3.01468235e-03 -1.97494788e+02] [-8.55324259e-03 -1.39343391e-04 -9.99963411e-01 -1.80041292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.696559995 meters 0.014358129886243968 Centerline is valid? [True, True] Translation: X:-0.36, Y:-196.93, Z:-2.79 [[-9.03410440e-01 -4.28707289e-01 7.72248821e-03 -3.60286582e-01] [ 4.28692890e-01 -9.03443436e-01 -3.51625956e-03 -1.96930193e+02] [ 8.48427739e-03 1.33950192e-04 9.99963999e-01 -2.79281864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.72655999499995 meters 0.013432112878364797 Centerline is valid? [True, True] Translation: X:-0.62, Y:-197.48, Z:-1.80 [[-9.42450034e-01 3.34230488e-01 8.82695924e-03 -6.19250408e-01] [ 3.34214364e-01 9.42491358e-01 -3.28622163e-03 -1.97478057e+02] [-9.41768826e-03 -1.47003112e-04 -9.99955642e-01 -1.79877607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.756559995 meters 0.013271484653057997 Centerline is valid? [True, True] Translation: X:-0.40, Y:-196.91, Z:-2.79 [[-9.05269208e-01 -4.24735715e-01 9.33993059e-03 -4.03980183e-01] [ 4.24715484e-01 -9.05317364e-01 -4.15079688e-03 -1.96912490e+02] [ 1.02185930e-02 2.09224539e-04 9.99947767e-01 -2.79323740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.78655999499995 meters 0.013442914881144194 Centerline is valid? [True, True] Translation: X:-0.66, Y:-197.46, Z:-1.80 [[-9.43310654e-01 3.31760527e-01 9.99815419e-03 -6.60768146e-01] [ 3.31740148e-01 9.43363625e-01 -3.68047261e-03 -1.97463426e+02] [-1.06529305e-02 -1.55039874e-04 -9.99943244e-01 -1.79712402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.816559995 meters 0.013081308079486851 Centerline is valid? [True, True] Translation: X:-0.45, Y:-196.90, Z:-2.79 [[-9.07519323e-01 -4.19897522e-01 9.73392466e-03 -4.48788388e-01] [ 4.19875197e-01 -9.07571511e-01 -4.33263597e-03 -1.96895038e+02] [ 1.06534958e-02 1.55082668e-04 9.99943238e-01 -2.79407772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.84655999499995 meters 0.013191743980665886 Centerline is valid? [True, True] Translation: X:-0.70, Y:-197.45, Z:-1.80 [[-9.44004677e-01 3.29768185e-01 1.03977744e-02 -7.01365871e-01] [ 3.29746510e-01 9.44061928e-01 -3.78351672e-03 -1.97452160e+02] [-1.10638264e-02 -1.43027641e-04 -9.99938784e-01 -1.79700314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.876559995 meters 0.01278868186817873 Centerline is valid? [True, True] Translation: X:-0.70, Y:-197.43, Z:-1.80 [[-9.64583260e-01 2.63535922e-01 1.13116170e-02 -6.98752625e-01] [ 2.63516181e-01 9.64649574e-01 -3.22843328e-03 -1.97426523e+02] [-1.17625547e-02 -1.33298588e-04 -9.99930810e-01 -1.79626437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.90655999499995 meters 0.012675811739082719 Centerline is valid? [True, True] Translation: X:-0.69, Y:-197.40, Z:-1.80 [[-9.80641303e-01 1.95449796e-01 1.19168531e-02 -6.92761365e-01] [ 1.95433811e-01 9.80713700e-01 -2.50283711e-03 -1.97401074e+02] [-1.21762001e-02 -1.25429438e-04 -9.99925860e-01 -1.79583947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.936559995 meters 0.012618655043223324 Centerline is valid? [True, True] Translation: X:-0.57, Y:-196.79, Z:-2.80 [[-9.59998386e-01 -2.79755506e-01 1.18303316e-02 -5.67675020e-01] [ 2.79735974e-01 -9.60071268e-01 -3.30844796e-03 -1.96793881e+02] [ 1.22835180e-02 1.33264617e-04 9.99924546e-01 -2.79566927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.96655999499995 meters 0.01248263436884492 Centerline is valid? [True, True] Translation: X:-0.74, Y:-197.40, Z:-1.80 [[-9.80957192e-01 1.93861963e-01 1.18543788e-02 -7.40913332e-01] [ 1.93846610e-01 9.81028812e-01 -2.44171929e-03 -1.97395845e+02] [-1.21028436e-02 -9.72909513e-05 -9.99926753e-01 -1.79584440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.996559995 meters 0.012156953593364475 Centerline is valid? [True, True] Translation: X:-0.74, Y:-197.37, Z:-1.80 [[-9.91783729e-01 1.27414216e-01 1.14303269e-02 -7.40519015e-01] [ 1.27405179e-01 9.91849593e-01 -1.51824310e-03 -1.97372863e+02] [-1.15306108e-02 -4.94859498e-05 -9.99933519e-01 -1.79567251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.02655999499996 meters 0.012139879272068931 Centerline is valid? [True, True] Translation: X:-0.74, Y:-197.35, Z:-1.80 [[-9.98205644e-01 5.87555910e-02 1.15443487e-02 -7.37812939e-01] [ 5.87513772e-02 9.98272398e-01 -7.04098960e-04 -1.97348274e+02] [-1.15657744e-02 -2.45891713e-05 -9.99933114e-01 -1.79620566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.056559995 meters 0.011997633798322834 Centerline is valid? [True, True] Translation: X:-0.70, Y:-196.70, Z:-2.79 [[-9.91791240e-01 -1.27376972e-01 1.11912274e-02 -6.97528074e-01] [ 1.27368934e-01 -9.91854378e-01 -1.43095053e-03 -1.96704327e+02] [ 1.12823381e-02 6.21051176e-06 9.99936352e-01 -2.79415067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.08655999499996 meters 0.012087579535622471 Centerline is valid? [True, True] Translation: X:-0.80, Y:-197.35, Z:-1.80 [[-9.98174573e-01 5.94049045e-02 1.08894220e-02 -8.02023752e-01] [ 5.94017381e-02 9.98233969e-01 -6.14267071e-04 -1.97351041e+02] [-1.09066814e-02 3.37048247e-05 -9.99940520e-01 -1.79798612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.11655999499993 meters 0.012427752302330142 Centerline is valid? [True, True] Translation: X:-0.81, Y:-197.33, Z:-1.80 [[-9.99903004e-01 -9.05525897e-03 1.05823262e-02 -8.05097352e-01] [-9.05410194e-03 9.99958998e-01 1.57239792e-04 -1.97326064e+02] [-1.05833161e-02 6.14110801e-05 -9.99943993e-01 -1.79783433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.14655999499996 meters 0.013026998966659334 Centerline is valid? [True, True] Translation: X:-0.81, Y:-197.30, Z:-1.80 [[-9.97071691e-01 -7.58314809e-02 9.88075719e-03 -8.09244072e-01] [-7.58267480e-02 9.97120643e-01 8.53285275e-04 -1.97303743e+02] [-9.91701284e-03 1.01560907e-04 -9.99950820e-01 -1.79935940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.17655999499993 meters 0.013312096311106974 Centerline is valid? [True, True] Translation: X:-0.82, Y:-197.28, Z:-1.80 [[-9.89340386e-01 -1.45334205e-01 9.14167827e-03 -8.22309065e-01] [-1.45326984e-01 9.89382614e-01 1.45284359e-03 -1.97279884e+02] [-9.25576541e-03 1.08824309e-04 -9.99957159e-01 -1.79997172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.20655999499996 meters 0.013523435371772032 Centerline is valid? [True, True] Translation: X:-0.85, Y:-197.26, Z:-1.80 [[-9.76661921e-01 -2.14619991e-01 8.35175638e-03 -8.46423894e-01] [-2.14611144e-01 9.76697623e-01 1.95198756e-03 -1.97258108e+02] [-8.57607616e-03 1.14051933e-04 -9.99963218e-01 -1.80183926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.23655999499994 meters 0.013601337434977072 Centerline is valid? [True, True] Translation: X:-0.89, Y:-197.24, Z:-1.80 [[-9.58576050e-01 -2.84727246e-01 7.89631993e-03 -8.88979484e-01] [-2.84716627e-01 9.58608566e-01 2.46156715e-03 -1.97240804e+02] [-8.27035516e-03 1.11385732e-04 -9.99965794e-01 -1.80187935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.26655999499997 meters 0.01351941251945892 Centerline is valid? [True, True] Translation: X:-0.95, Y:-197.23, Z:-1.80 [[-9.34810507e-01 -3.55056689e-01 8.00399688e-03 -9.50677953e-01] [-3.55042655e-01 9.34844766e-01 3.15875548e-03 -1.97232764e+02] [-8.60403184e-03 1.11077513e-04 -9.99962979e-01 -1.80206390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.29655999499994 meters 0.014286168036357832 Centerline is valid? [True, True] Translation: X:-1.02, Y:-197.23, Z:-1.80 [[-9.05693220e-01 -4.23854835e-01 8.17745616e-03 -1.01868240e+00] [-4.23836464e-01 9.05730129e-01 3.94774424e-03 -1.97233547e+02] [-9.07983891e-03 1.09541088e-04 -9.99958771e-01 -1.80045322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.32655999499997 meters 0.013155702596030095 Centerline is valid? [True, True] Translation: X:-1.10, Y:-197.24, Z:-1.80 [[-8.70538274e-01 -4.92022316e-01 8.78372031e-03 -1.09756469e+00] [-4.91996118e-01 8.70582581e-01 5.07831187e-03 -1.97240055e+02] [-1.01455967e-02 9.93085581e-05 -9.99948527e-01 -1.80130973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.35655999499994 meters 0.01300372028875823 Centerline is valid? [True, True] Translation: X:-1.18, Y:-197.26, Z:-1.80 [[-8.30645866e-01 -5.56735580e-01 8.54040820e-03 -1.18025603e+00] [-5.56705060e-01 8.30689765e-01 5.83016668e-03 -1.97258571e+02] [-1.03402909e-02 8.83153930e-05 -9.99946534e-01 -1.80087052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.38655999499997 meters 0.012783811335043851 Centerline is valid? [True, True] Translation: X:-1.27, Y:-197.29, Z:-1.80 [[-7.85624960e-01 -6.18646007e-01 8.39886727e-03 -1.26548052e+00] [-6.18609607e-01 7.85669849e-01 6.71136930e-03 -1.97285467e+02] [-1.07506986e-02 7.69992556e-05 -9.99942207e-01 -1.80134779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.41655999499994 meters 0.012526661252196262 Centerline is valid? [True, True] Translation: X:-1.36, Y:-197.32, Z:-1.80 [[-7.34759230e-01 -6.78276216e-01 8.38145448e-03 -1.35543525e+00] [-6.78231336e-01 7.34807031e-01 7.80269203e-03 -1.97324089e+02] [-1.14511321e-02 4.85349230e-05 -9.99934433e-01 -1.80170910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.446559995 meters 0.012519396313657087 Centerline is valid? [True, True] Translation: X:-1.44, Y:-197.37, Z:-1.80 [[-6.80407403e-01 -7.32793669e-01 7.69450026e-03 -1.44378132e+00] [-7.32746256e-01 6.80450908e-01 8.33580421e-03 -1.97372258e+02] [-1.13441542e-02 3.36266383e-05 -9.99935652e-01 -1.80190770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.47655999499995 meters 0.012354212116818003 Centerline is valid? [True, True] Translation: X:-1.53, Y:-197.43, Z:-1.80 [[-6.21941886e-01 -7.83029357e-01 7.30187617e-03 -1.53049622e+00] [-7.82975005e-01 6.21984748e-01 9.22581315e-03 -1.97430273e+02] [-1.17657381e-02 2.07330960e-05 -9.99930781e-01 -1.80225472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.506559995 meters 0.012326308986436848 Centerline is valid? [True, True] Translation: X:-1.61, Y:-197.50, Z:-1.80 [[-5.59478683e-01 -8.28815178e-01 7.00025095e-03 -1.61418453e+00] [-8.28750178e-01 5.59522476e-01 1.03799101e-02 -1.97497668e+02] [-1.25198248e-02 5.87924319e-06 -9.99921624e-01 -1.80266498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.53655999499995 meters 0.012315569323468627 Centerline is valid? [True, True] Translation: X:-1.70, Y:-197.58, Z:-1.80 [[-4.94272976e-01 -8.69284631e-01 6.20122268e-03 -1.69591873e+00] [-8.69216221e-01 4.94311876e-01 1.09055212e-02 -1.97577124e+02] [-1.25453400e-02 1.01094116e-07 -9.99921304e-01 -1.80308671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.566559995 meters 0.01236885684936333 Centerline is valid? [True, True] Translation: X:-1.77, Y:-197.66, Z:-1.80 [[-4.26051538e-01 -9.04682829e-01 5.39130325e-03 -1.76857042e+00] [-9.04610560e-01 4.26085647e-01 1.14348945e-02 -1.97657483e+02] [-1.26421096e-02 -5.17546527e-06 -9.99920085e-01 -1.80329564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.59655999499995 meters 0.01229348752744181 Centerline is valid? [True, True] Translation: X:-1.84, Y:-197.75, Z:-1.80 [[-3.55630501e-01 -9.34617828e-01 4.05739467e-03 -1.83747836e+00] [-9.34557142e-01 3.55653646e-01 1.06505122e-02 -1.97750584e+02] [-1.13971858e-02 -4.22016169e-06 -9.99935050e-01 -1.80456386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.626559995 meters 0.012190578812289299 Centerline is valid? [True, True] Translation: X:-1.90, Y:-197.85, Z:-1.81 [[-2.83234776e-01 -9.59045599e-01 3.09843622e-03 -1.89909086e+00] [-9.58988219e-01 2.83251723e-01 1.04908490e-02 -1.97847062e+02] [-1.09388400e-02 9.43371892e-09 -9.99940169e-01 -1.80573975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.65655999499995 meters 0.01211760459206631 Centerline is valid? [True, True] Translation: X:-1.95, Y:-197.95, Z:-1.81 [[-2.09474273e-01 -9.77811884e-01 2.10936685e-03 -1.95361150e+00] [-9.77761970e-01 2.09484893e-01 9.87978854e-03 -1.97953064e+02] [-1.01024551e-02 7.10283387e-06 -9.99948969e-01 -1.80668774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.686559995 meters 0.012264776092519912 Centerline is valid? [True, True] Translation: X:-2.00, Y:-198.06, Z:-1.81 [[-1.34088244e-01 -9.90968416e-01 1.39326701e-03 -2.00016812e+00] [-9.90914012e-01 1.34095481e-01 1.03837817e-02 -1.98062592e+02] [-1.04768305e-02 1.17352560e-05 -9.99945116e-01 -1.80613494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.71655999499995 meters 0.012236592890208158 Centerline is valid? [True, True] Translation: X:-2.04, Y:-198.18, Z:-1.81 [[-5.79349294e-02 -9.98320182e-01 5.98766154e-04 -2.03827995e+00] [-9.98263803e-01 5.79380210e-02 1.06097152e-02 -1.98175541e+02] [-1.06265842e-02 1.69465253e-05 -9.99943536e-01 -1.80690825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.746559995 meters 0.0122761246733608 Centerline is valid? [True, True] Translation: X:-2.07, Y:-198.29, Z:-1.81 [[ 1.85684120e-02 -9.99827566e-01 -2.27117324e-04 -2.06763657e+00] [-9.99767103e-01 -1.85697868e-02 1.09955603e-02 -1.98292525e+02] [-1.09978818e-02 2.28943352e-05 -9.99939521e-01 -1.80638985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.77655999499996 meters 0.012203814750287709 Centerline is valid? [True, True] Translation: X:-2.09, Y:-198.40, Z:-1.81 [[ 9.42531107e-02 -9.95547630e-01 -1.12593016e-03 -2.08951259e+00] [-9.95479405e-01 -9.42598329e-02 1.16549390e-02 -1.98401445e+02] [-1.17091769e-02 2.23260231e-05 -9.99931445e-01 -1.80704402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.806559995 meters 0.012266496610702619 Centerline is valid? [True, True] Translation: X:-2.10, Y:-198.52, Z:-1.81 [[ 1.70673844e-01 -9.85325161e-01 -2.18327617e-03 -2.10154535e+00] [-9.85246147e-01 -1.70687807e-01 1.24780443e-02 -1.98519840e+02] [-1.26675897e-02 2.13886393e-05 -9.99919763e-01 -1.80584615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.83655999499996 meters 0.012265837829986654 Centerline is valid? [True, True] Translation: X:-2.11, Y:-198.64, Z:-1.81 [[ 2.46405138e-01 -9.69161404e-01 -3.26823474e-03 -2.10506720e+00] [-9.69076998e-01 -2.46426811e-01 1.27905844e-02 -1.98639306e+02] [-1.32015214e-02 1.55053924e-05 -9.99912856e-01 -1.80565369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.86655999499993 meters 0.012187145261588626 Centerline is valid? [True, True] Translation: X:-2.10, Y:-198.76, Z:-1.81 [[ 3.20628162e-01 -9.47194338e-01 -4.52408932e-03 -2.09856620e+00] [-9.47100480e-01 -3.20660078e-01 1.33340059e-02 -1.98761685e+02] [-1.40805898e-02 9.50935548e-06 -9.99900864e-01 -1.80594852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.89655999499996 meters 0.012247644061243698 Centerline is valid? [True, True] Translation: X:-2.08, Y:-198.88, Z:-1.80 [[ 3.93611872e-01 -9.19256752e-01 -6.05952338e-03 -2.08472554e+00] [-9.19147451e-01 -3.93658511e-01 1.41753286e-02 -1.98879841e+02] [-1.54161495e-02 -9.98215712e-06 -9.99881164e-01 -1.80445960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.92655999499993 meters 0.012374534729034502 Centerline is valid? [True, True] Translation: X:-2.06, Y:-198.99, Z:-1.80 [[ 4.63717319e-01 -8.85951716e-01 -7.47033531e-03 -2.06251771e+00] [-8.85835936e-01 -4.63777487e-01 1.43225976e-02 -1.98993557e+02] [-1.61537032e-02 -2.41450726e-05 -9.99869520e-01 -1.80418032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.95655999499996 meters 0.01255514475465224 Centerline is valid? [True, True] Translation: X:-2.03, Y:-199.11, Z:-1.80 [[ 5.30783147e-01 -8.47460174e-01 -8.97244026e-03 -2.03041406e+00] [-8.47337913e-01 -5.30858976e-01 1.43947270e-02 -1.99107240e+02] [-1.69620583e-02 -3.77896669e-05 -9.99856133e-01 -1.80305043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.98655999499994 meters 0.01255514475465224 Centerline is valid? [True, True] Translation: X:-1.99, Y:-199.21, Z:-1.80 [[ 5.94016013e-01 -8.04390477e-01 -1.00467577e-02 -1.99206642e+00] [-8.04274373e-01 -5.94100967e-01 1.36665241e-02 -1.99213600e+02] [-1.69620104e-02 -3.77844273e-05 -9.99856134e-01 -1.80305269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.01655999499997 meters 0.012380793470131334 Centerline is valid? [True, True] Translation: X:-1.95, Y:-199.31, Z:-1.80 [[ 6.54312677e-01 -7.56138025e-01 -1.14108810e-02 -1.94755536e+00] [-7.56021623e-01 -6.54412167e-01 1.32672806e-02 -1.99314496e+02] [-1.74993147e-02 -5.40770913e-05 -9.99846874e-01 -1.80420834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.04655999499994 meters 0.012327264844869758 Centerline is valid? [True, True] Translation: X:-1.90, Y:-199.41, Z:-1.80 [[ 7.10391229e-01 -7.03691708e-01 -1.27389782e-02 -1.89706243e+00] [-7.03576913e-01 -7.10505437e-01 1.27102942e-02 -1.99410110e+02] [-1.79952419e-02 -6.64305663e-05 -9.99838070e-01 -1.80436309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.07655999499997 meters 0.012319136062375334 Centerline is valid? [True, True] Translation: X:-1.90, Y:-199.42, Z:-1.80 [[ 7.63539427e-01 -6.45616803e-01 -1.36560131e-02 -1.90061153e+00] [-6.45511811e-01 -7.63661534e-01 1.16432245e-02 -1.99418886e+02] [-1.79456333e-02 -7.49432575e-05 -9.99838961e-01 -1.80382563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.10655999499994 meters 0.01232874328556233 Centerline is valid? [True, True] Translation: X:-1.90, Y:-199.43, Z:-1.80 [[ 8.11713367e-01 -5.83881514e-01 -1.42754424e-02 -1.90220034e+00] [-5.83789605e-01 -8.11838883e-01 1.03597529e-02 -1.99427318e+02] [-1.76382274e-02 -7.52950507e-05 -9.99844432e-01 -1.80412438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.13655999499997 meters 0.012372161303097262 Centerline is valid? [True, True] Translation: X:-1.90, Y:-199.44, Z:-1.80 [[ 8.54789665e-01 -5.18757771e-01 -1.50001461e-02 -1.90224613e+00] [-5.18676421e-01 -8.54921266e-01 9.18694206e-03 -1.99435534e+02] [-1.75897415e-02 -7.26810214e-05 -9.99845286e-01 -1.80396743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.16655999499994 meters 0.012245663928981182 Centerline is valid? [True, True] Translation: X:-1.90, Y:-199.44, Z:-1.80 [[ 8.92611497e-01 -4.50562840e-01 -1.54221615e-02 -1.90279941e+00] [-4.50494310e-01 -8.92744713e-01 7.85834138e-03 -1.99443473e+02] [-1.73087298e-02 -6.68498459e-05 -9.99850191e-01 -1.80429155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.196559995 meters 0.012305324972717847 Centerline is valid? [True, True] Translation: X:-1.90, Y:-199.45, Z:-1.80 [[ 9.24755805e-01 -3.80241087e-01 -1.56018455e-02 -1.90307194e+00] [-3.80186076e-01 -9.24887406e-01 6.46794666e-03 -1.99449551e+02] [-1.68893295e-02 -4.96668024e-05 -9.99857364e-01 -1.80402398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.22655999499995 meters 0.012167565547172647 Centerline is valid? [True, True] Translation: X:-1.90, Y:-199.46, Z:-1.81 [[ 9.51530743e-01 -3.07148306e-01 -1.57848878e-02 -1.90225503e+00] [-3.07105317e-01 -9.51661661e-01 5.13885322e-03 -1.99457950e+02] [-1.66002626e-02 -4.21538556e-05 -9.99862205e-01 -1.80516146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.256559995 meters 0.012168474763858435 Centerline is valid? [True, True] Translation: X:-1.90, Y:-199.47, Z:-1.81 [[ 9.72538538e-01 -2.32247388e-01 -1.51638470e-02 -1.90130370e+00] [-2.32218642e-01 -9.72656748e-01 3.65410708e-03 -1.99465491e+02] [-1.55978749e-02 -3.24319928e-05 -9.99878345e-01 -1.80518167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.28655999499995 meters 0.01208773723337518 Centerline is valid? [True, True] Translation: X:-1.90, Y:-199.47, Z:-1.81 [[ 9.87681144e-01 -1.55770695e-01 -1.48811719e-02 -1.90023493e+00] [-1.55752632e-01 -9.87793243e-01 2.37230420e-03 -1.99474109e+02] [-1.50690565e-02 -2.52984378e-05 -9.99886455e-01 -1.80594946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.316559995 meters 0.012118580460605028 Centerline is valid? [True, True] Translation: X:-1.90, Y:-199.48, Z:-1.81 [[ 9.96819223e-01 -7.84676081e-02 -1.39381015e-02 -1.90207387e+00] [-7.84597048e-02 -9.96916664e-01 1.11378596e-03 -1.99481482e+02] [-1.39825218e-02 -1.66639201e-05 -9.99902240e-01 -1.80610340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.34655999499995 meters 0.012079282743260885 Centerline is valid? [True, True] Translation: X:-1.90, Y:-199.49, Z:-1.81 [[ 9.99909481e-01 -8.28099151e-05 -1.34544938e-02 -1.90347508e+00] [-8.25668935e-05 -9.99999996e-01 1.86179326e-05 -1.99488429e+02] [-1.34544953e-02 -1.75053516e-05 -9.99909484e-01 -1.80572532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.376559995 meters 0.011991285179224535 Centerline is valid? [True, True] Translation: X:-1.90, Y:-199.50, Z:-1.81 [[ 9.96836768e-01 7.83038173e-02 -1.36004076e-02 -1.90330985e+00] [ 7.82967929e-02 -9.96929542e-01 -1.04899972e-03 -1.99495758e+02] [-1.36407888e-02 -1.91868062e-05 -9.99906960e-01 -1.80550214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.40655999499995 meters 0.011947078617441579 Centerline is valid? [True, True] Translation: X:-1.90, Y:-199.50, Z:-1.81 [[ 9.87609878e-01 1.56375828e-01 -1.31654504e-02 -1.90283009e+00] [ 1.56362234e-01 -9.87697626e-01 -2.06204538e-03 -1.99504383e+02] [-1.33259381e-02 -2.20828436e-05 -9.99911206e-01 -1.80545448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.436559995 meters 0.012079926439300174 Centerline is valid? [True, True] Translation: X:-1.90, Y:-199.51, Z:-1.80 [[ 9.72159232e-01 2.33931879e-01 -1.35019603e-02 -1.90239232e+00] [ 2.33909795e-01 -9.72252989e-01 -3.21450148e-03 -1.99511321e+02] [-1.38792956e-02 -3.32334638e-05 -9.99903677e-01 -1.80423185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.46655999499995 meters 0.01203774262881288 Centerline is valid? [True, True] Translation: X:-1.90, Y:-199.52, Z:-1.80 [[ 9.50632406e-01 3.10038628e-01 -1.31938468e-02 -1.90122025e+00] [ 3.10009402e-01 -9.50723960e-01 -4.25713762e-03 -1.99519179e+02] [-1.38635834e-02 -4.32435773e-05 -9.99903895e-01 -1.80479773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.496559995 meters 0.012067286333581586 Centerline is valid? [True, True] Translation: X:-1.90, Y:-199.53, Z:-1.80 [[ 9.23206666e-01 3.84085898e-01 -1.29412193e-02 -1.89863601e+00] [ 3.84048957e-01 -9.23297363e-01 -5.32711983e-03 -1.99526361e+02] [-1.39946652e-02 -5.20292266e-05 -9.99902069e-01 -1.80463216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.52655999499996 meters 0.01223843654957526 Centerline is valid? [True, True] Translation: X:-1.90, Y:-199.53, Z:-1.80 [[ 8.89604899e-01 4.56563911e-01 -1.23498825e-02 -1.89719835e+00] [ 4.56521058e-01 -8.89690615e-01 -6.25569039e-03 -1.99533722e+02] [-1.38436970e-02 -7.28886234e-05 -9.99904169e-01 -1.80426155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.556559995 meters 0.012180276266346267 Centerline is valid? [True, True] Translation: X:-1.89, Y:-199.54, Z:-1.80 [[ 8.50797829e-01 5.25368071e-01 -1.14648745e-02 -1.89434778e+00] [ 5.25321637e-01 -8.50875069e-01 -6.98531644e-03 -1.99540195e+02] [-1.34250381e-02 -7.96545566e-05 -9.99909877e-01 -1.80407447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.58655999499996 meters 0.012331319685935867 Centerline is valid? [True, True] Translation: X:-1.89, Y:-199.55, Z:-1.80 [[ 8.06557024e-01 5.91055144e-01 -1.09354053e-02 -1.89231472e+00] [ 5.91002354e-01 -8.06631148e-01 -7.89991338e-03 -1.99546207e+02] [-1.34901230e-02 -9.11196674e-05 -9.99909000e-01 -1.80378237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.61655999499993 meters 0.012503477162991359 Centerline is valid? [True, True] Translation: X:-1.89, Y:-199.55, Z:-1.80 [[ 7.57120910e-01 6.53201360e-01 -9.79337818e-03 -1.88976833e+00] [ 6.53148439e-01 -7.57184240e-01 -8.31532206e-03 -1.99550145e+02] [-1.28469713e-02 -1.00825459e-04 -9.99917469e-01 -1.80368221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.64655999499996 meters 0.012388088844463073 Centerline is valid? [True, True] Translation: X:-1.89, Y:-199.56, Z:-1.80 [[ 7.03301410e-01 7.10836888e-01 -8.83430678e-03 -1.88622319e+00] [ 7.10782669e-01 -7.03356885e-01 -8.78005484e-03 -1.99555746e+02] [-1.24548574e-02 -1.04247196e-04 -9.99922430e-01 -1.80459383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.67655999499993 meters 0.01240452421893835 Centerline is valid? [True, True] Translation: X:-1.88, Y:-199.56, Z:-1.81 [[ 6.45347365e-01 7.63847489e-01 -7.98704040e-03 -1.88120534e+00] [ 7.63790989e-01 -6.45396780e-01 -9.29099155e-03 -1.99561919e+02] [-1.22517107e-02 -1.04512571e-04 -9.99924940e-01 -1.80513926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.70655999499996 meters 0.012220434012254946 Centerline is valid? [True, True] Translation: X:-1.87, Y:-199.57, Z:-1.81 [[ 5.83544271e-01 8.12051265e-01 -6.98762340e-03 -1.87390673e+00] [ 8.11995109e-01 -5.83586098e-01 -9.55040583e-03 -1.99569157e+02] [-1.18332990e-02 -1.00831407e-04 -9.99929979e-01 -1.80590330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.73655999499994 meters 0.012395170489900511 Centerline is valid? [True, True] Translation: X:-1.87, Y:-199.58, Z:-1.80 [[ 5.18265513e-01 8.55199272e-01 -5.92137383e-03 -1.86685619e+00] [ 8.55145530e-01 -5.18299331e-01 -9.58780429e-03 -1.99577022e+02] [-1.12685273e-02 -9.46080490e-05 -9.99936504e-01 -1.80498061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.76655999499997 meters 0.01219120542373389 Centerline is valid? [True, True] Translation: X:-1.86, Y:-199.58, Z:-1.81 [[ 4.50082476e-01 8.92973015e-01 -4.99598208e-03 -1.85968423e+00] [ 8.92920148e-01 -4.50110195e-01 -9.71709718e-03 -1.99582209e+02] [-1.09258480e-02 -8.75178998e-05 -9.99940307e-01 -1.80541685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.79655999499994 meters 0.012205640167659583 Centerline is valid? [True, True] Translation: X:-1.85, Y:-199.59, Z:-1.81 [[ 3.78778938e-01 9.25478521e-01 -4.00296620e-03 -1.85206120e+00] [ 9.25429139e-01 -3.78800080e-01 -9.56078852e-03 -1.99587323e+02] [-1.03646283e-02 -8.30362436e-05 -9.99946282e-01 -1.80536679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.82655999499997 meters 0.012164418890405839 Centerline is valid? [True, True] Translation: X:-1.84, Y:-199.59, Z:-1.81 [[ 3.05250244e-01 9.52266999e-01 -3.13864170e-03 -1.84369209e+00] [ 9.52219297e-01 -3.05266370e-01 -9.53177918e-03 -1.99591702e+02] [-1.00349205e-02 -7.90972707e-05 -9.99949646e-01 -1.80550950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.85655999499994 meters 0.012290413199964413 Centerline is valid? [True, True] Translation: X:-1.84, Y:-199.60, Z:-1.81 [[ 2.29251482e-01 9.73364736e-01 -2.20207776e-03 -1.83616097e+00] [ 9.73323024e-01 -2.29262045e-01 -9.01146602e-03 -1.99596332e+02] [-9.27629609e-03 -7.74410442e-05 -9.99956971e-01 -1.80555508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.88655999499997 meters 0.012292222674347996 Centerline is valid? [True, True] Translation: X:-1.83, Y:-199.60, Z:-1.81 [[ 1.52013812e-01 9.88377298e-01 -1.45542577e-03 -1.82805788e+00] [ 9.88336791e-01 -1.52020759e-01 -8.94855113e-03 -1.99599579e+02] [-9.06579971e-03 -7.81474653e-05 -9.99958902e-01 -1.80587893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.91655999499994 meters 0.012355595288236163 Centerline is valid? [True, True] Translation: X:-1.82, Y:-199.60, Z:-1.81 [[ 7.40851765e-02 9.97251644e-01 -7.38129309e-04 -1.82032911e+00] [ 9.97211996e-01 -7.40888132e-02 -8.89280726e-03 -1.99602705e+02] [-8.92305378e-03 -7.72462068e-05 -9.99960186e-01 -1.80598113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.946559995 meters 0.012512336545790582 Centerline is valid? [True, True] Translation: X:-1.81, Y:-199.61, Z:-1.81 [[-4.90406752e-03 9.99987974e-01 -4.01687418e-05 -1.81238087e+00] [ 9.99946871e-01 4.90350173e-03 -9.06701238e-03 -1.99605064e+02] [-9.06670638e-03 -8.46318486e-05 -9.99958893e-01 -1.80585776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.97655999499995 meters 0.012508724664826032 Centerline is valid? [True, True] Translation: X:-1.80, Y:-199.61, Z:-1.81 [[-8.31989285e-02 9.96532754e-01 6.39286280e-04 -1.80402703e+00] [ 9.96495447e-01 8.32013457e-02 -8.62326931e-03 -1.99606767e+02] [-8.64655980e-03 -8.04008994e-05 -9.99962615e-01 -1.80560474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.006559995 meters 0.012562342430973553 Centerline is valid? [True, True] Translation: X:-1.80, Y:-199.61, Z:-1.81 [[-1.61218887e-01 9.86917813e-01 1.30449344e-03 -1.79554870e+00] [ 9.86881268e-01 1.61224144e-01 -8.49345367e-03 -1.99607668e+02] [-8.59265656e-03 -8.19250118e-05 -9.99963079e-01 -1.80545075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.03655999499995 meters 0.012582264032777346 Centerline is valid? [True, True] Translation: X:-1.79, Y:-199.61, Z:-1.80 [[-2.38071138e-01 9.71245748e-01 1.95719509e-03 -1.78737700e+00] [ 9.71210044e-01 2.38079169e-01 -8.32825491e-03 -1.99607954e+02] [-8.55474955e-03 -8.18695989e-05 -9.99963404e-01 -1.80491271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.066559995 meters 0.012711306584547959 Centerline is valid? [True, True] Translation: X:-1.78, Y:-199.61, Z:-1.80 [[-3.13276872e-01 9.49657712e-01 2.79831634e-03 -1.77981664e+00] [ 9.49617324e-01 3.13289358e-01 -8.75882018e-03 -1.99609696e+02] [-9.19456386e-03 -8.66061170e-05 -9.99957725e-01 -1.80428817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.09655999499995 meters 0.012748311280758118 Centerline is valid? [True, True] Translation: X:-1.77, Y:-199.61, Z:-1.80 [[-3.86774607e-01 9.22167543e-01 3.52497183e-03 -1.77358474e+00] [ 9.22127141e-01 3.86790659e-01 -8.63262476e-03 -1.99610996e+02] [-9.32415254e-03 -8.84078546e-05 -9.99956525e-01 -1.80391793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.126559995 meters 0.012841110337136709 Centerline is valid? [True, True] Translation: X:-1.77, Y:-199.61, Z:-1.80 [[-4.57757670e-01 8.89066901e-01 4.23809122e-03 -1.76755362e+00] [ 8.89026988e-01 4.57777280e-01 -8.42474395e-03 -1.99611883e+02] [-9.43026286e-03 -8.87136869e-05 -9.99955530e-01 -1.80362717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.15655999499995 meters 0.012443029551705061 Centerline is valid? [True, True] Translation: X:-1.76, Y:-199.61, Z:-1.80 [[-5.25169161e-01 8.50982802e-01 5.06192422e-03 -1.75907685e+00] [ 8.50941753e-01 5.25193549e-01 -8.35873592e-03 -1.99609845e+02] [-9.77163046e-03 -8.23476663e-05 -9.99952253e-01 -1.80422908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.186559995 meters 0.012433986540389885 Centerline is valid? [True, True] Translation: X:-1.75, Y:-199.61, Z:-1.80 [[-5.89813309e-01 8.07519069e-01 5.76313178e-03 -1.75016301e+00] [ 8.07479217e-01 5.89841459e-01 -8.02286391e-03 -1.99606876e+02] [-9.87794965e-03 -7.83827758e-05 -9.99951209e-01 -1.80429763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.21655999499995 meters 0.012406585944061126 Centerline is valid? [True, True] Translation: X:-1.74, Y:-199.60, Z:-1.80 [[-6.50851405e-01 7.59178616e-01 6.34648346e-03 -1.74128762e+00] [ 7.59141430e-01 6.50882343e-01 -7.51428385e-03 -1.99604463e+02] [-9.83549764e-03 -7.28036677e-05 -9.99951628e-01 -1.80414510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.246559995 meters 0.012480008988360275 Centerline is valid? [True, True] Translation: X:-1.73, Y:-199.60, Z:-1.80 [[-7.08382125e-01 7.05798535e-01 6.57218927e-03 -1.73446461e+00] [ 7.05767243e-01 7.08412608e-01 -6.64646876e-03 -1.99600461e+02] [-9.34688966e-03 -6.98037646e-05 -9.99956314e-01 -1.80439660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.27655999499996 meters 0.012494458380977621 Centerline is valid? [True, True] Translation: X:-1.73, Y:-199.60, Z:-1.80 [[-7.62029196e-01 6.47502335e-01 7.22711809e-03 -1.72689984e+00] [ 6.47472226e-01 7.62063462e-01 -6.24468578e-03 -1.99595229e+02] [-9.55097126e-03 -7.92746383e-05 -9.99954385e-01 -1.80482280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.306559995 meters 0.012542445394793524 Centerline is valid? [True, True] Translation: X:-1.27, Y:-199.06, Z:-2.79 [[-7.04568856e-01 -7.09602069e-01 6.90145274e-03 -1.26797530e+00] [ 7.09569271e-01 -7.04602651e-01 -6.82311870e-03 -1.99060399e+02] [ 9.70448105e-03 8.97018482e-05 9.99952906e-01 -2.78650867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.33655999499996 meters 0.01294688079354128 Centerline is valid? [True, True] Translation: X:-1.75, Y:-199.57, Z:-1.80 [[-7.65820069e-01 6.43004291e-01 8.06865918e-03 -1.75429848e+00] [ 6.42967044e-01 7.65862566e-01 -6.92180549e-03 -1.99568028e+02] [-1.06302346e-02 -1.12975615e-04 -9.99943491e-01 -1.80425870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.36655999499993 meters 0.01294688079354128 Centerline is valid? [True, True] Translation: X:-1.74, Y:-199.55, Z:-1.80 [[-8.09414174e-01 5.87176116e-01 8.53838120e-03 -1.73562104e+00] [ 5.87141971e-01 8.09459200e-01 -6.33324021e-03 -1.99547370e+02] [-1.06301986e-02 -1.12972427e-04 -9.99943492e-01 -1.80425906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.39655999499996 meters 0.012966587476652183 Centerline is valid? [True, True] Translation: X:-1.32, Y:-198.99, Z:-2.79 [[-7.53651167e-01 -6.57220632e-01 8.42378066e-03 -1.31771192e+00] [ 6.57181692e-01 -7.53698229e-01 -7.15564803e-03 -1.98990030e+02] [ 1.10518281e-02 1.43091939e-04 9.99938916e-01 -2.78722124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.42655999499993 meters 0.013233775335726769 Centerline is valid? [True, True] Translation: X:-1.77, Y:-199.52, Z:-1.80 [[-8.12455624e-01 5.82953343e-01 9.01435895e-03 -1.76944719e+00] [ 5.82915585e-01 8.12505619e-01 -6.63627304e-03 -1.99520288e+02] [-1.11928549e-02 -1.37067030e-04 -9.99937349e-01 -1.80371074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.45655999499996 meters 0.013182671646800887 Centerline is valid? [True, True] Translation: X:-1.75, Y:-199.50, Z:-1.80 [[-8.51782582e-01 5.23800271e-01 9.98546586e-03 -1.75452737e+00] [ 5.23762254e-01 8.51841097e-01 -6.31245237e-03 -1.99497199e+02] [-1.18124945e-02 -1.46826867e-04 -9.99930219e-01 -1.80426492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.48655999499994 meters 0.013092877866305091 Centerline is valid? [True, True] Translation: X:-1.74, Y:-199.47, Z:-1.80 [[-8.86566034e-01 4.62485731e-01 1.03737886e-02 -1.73990412e+00] [ 4.62452187e-01 8.86626713e-01 -5.57197881e-03 -1.99474435e+02] [-1.17746388e-02 -1.42545920e-04 -9.99930666e-01 -1.80461623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.51655999499997 meters 0.01312754993778424 Centerline is valid? [True, True] Translation: X:-1.73, Y:-199.45, Z:-1.80 [[-9.16970091e-01 3.98802302e-01 1.10714435e-02 -1.72726121e+00] [ 3.98771347e-01 9.17036915e-01 -4.97087583e-03 -1.99449987e+02] [-1.21353191e-02 -1.43170022e-04 -9.99926354e-01 -1.80464976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.54655999499994 meters 0.012882368288075857 Centerline is valid? [True, True] Translation: X:-1.71, Y:-199.43, Z:-1.81 [[-9.42619656e-01 3.33690127e-01 1.09124971e-02 -1.71460800e+00] [ 3.33666207e-01 9.42682811e-01 -3.99744372e-03 -1.99425685e+02] [-1.16209309e-02 -1.26937512e-04 -9.99932467e-01 -1.80510364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.57655999499997 meters 0.012446332177857093 Centerline is valid? [True, True] Translation: X:-1.47, Y:-198.77, Z:-2.79 [[-9.09953823e-01 -4.14582602e-01 1.02618873e-02 -1.46893789e+00] [ 4.14557468e-01 -9.10011679e-01 -4.56613952e-03 -1.98773178e+02] [ 1.12314793e-02 9.91659051e-05 9.99936920e-01 -2.78602071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.60655999499994 meters 0.012408209027951506 Centerline is valid? [True, True] Translation: X:-1.76, Y:-199.41, Z:-1.81 [[-9.43054023e-01 3.32469853e-01 1.06257849e-02 -1.75674280e+00] [ 3.32447604e-01 9.43113879e-01 -3.84742851e-03 -1.99412811e+02] [-1.13004792e-02 -9.58162120e-05 -9.99936143e-01 -1.80562961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.63655999499997 meters 0.012327554661192232 Centerline is valid? [True, True] Translation: X:-1.75, Y:-199.39, Z:-1.81 [[-9.64050926e-01 2.65490039e-01 1.09932549e-02 -1.74591389e+00] [ 2.65471732e-01 9.64113599e-01 -3.11898123e-03 -1.99387269e+02] [-1.14268050e-02 -8.84583039e-05 -9.99934708e-01 -1.80521501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.66655999499994 meters 0.012286727751790606 Centerline is valid? [True, True] Translation: X:-1.74, Y:-199.36, Z:-1.81 [[-9.80296528e-01 1.97192475e-01 1.15691160e-02 -1.74034596e+00] [ 1.97177749e-01 9.80364790e-01 -2.41133944e-03 -1.99360779e+02] [-1.18174520e-02 -8.26554263e-05 -9.99930168e-01 -1.80515262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.696559995 meters 0.01209492228674607 Centerline is valid? [True, True] Translation: X:-1.60, Y:-198.67, Z:-2.79 [[-9.61525529e-01 -2.74445565e-01 1.21773728e-02 -1.60462922e+00] [ 2.74425372e-01 -9.61602627e-01 -3.33200141e-03 -1.98670812e+02] [ 1.26242467e-02 1.37975657e-04 9.99920302e-01 -2.78704425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.72655999499995 meters 0.012118517342236837 Centerline is valid? [True, True] Translation: X:-1.79, Y:-199.35, Z:-1.80 [[-9.80653817e-01 1.95319116e-01 1.29820837e-02 -1.79351323e+00] [ 1.95301128e-01 9.80739741e-01 -2.65156114e-03 -1.99352728e+02] [-1.32499460e-02 -6.48479662e-05 -9.99912214e-01 -1.80451730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.756559995 meters 0.012088266548269706 Centerline is valid? [True, True] Translation: X:-1.79, Y:-199.33, Z:-1.80 [[-9.91996324e-01 1.25500909e-01 1.38858193e-02 -1.78813917e+00] [ 1.25487709e-01 9.92093503e-01 -1.82129187e-03 -1.99325971e+02] [-1.40046049e-02 -6.42151827e-05 -9.99901929e-01 -1.80476337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.78655999499995 meters 0.01249463561391028 Centerline is valid? [True, True] Translation: X:-1.69, Y:-198.63, Z:-2.79 [[-9.79519252e-01 -2.00881063e-01 1.37416810e-02 -1.69382848e+00] [ 2.00862227e-01 -9.79615636e-01 -2.75165477e-03 -1.98626336e+02] [ 1.40143209e-02 6.48858180e-05 9.99901793e-01 -2.78921153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.816559995 meters 0.012229904832213426 Centerline is valid? [True, True] Translation: X:-1.85, Y:-199.32, Z:-1.80 [[-9.92612070e-01 1.20520957e-01 1.39991916e-02 -1.84668562e+00] [ 1.20507903e-01 9.92710780e-01 -1.77539373e-03 -1.99317714e+02] [-1.41111206e-02 -7.52640225e-05 -9.99900430e-01 -1.80427526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.84655999499995 meters 0.012186510997008366 Centerline is valid? [True, True] Translation: X:-1.75, Y:-198.62, Z:-2.79 [[-9.80096279e-01 -1.98033603e-01 1.39275218e-02 -1.75267224e+00] [ 1.98014785e-01 -9.80195228e-01 -2.73120957e-03 -1.98620044e+02] [ 1.41925617e-02 8.10069028e-05 9.99899277e-01 -2.78658746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.876559995 meters 0.012279894813779897 Centerline is valid? [True, True] Translation: X:-1.90, Y:-199.31, Z:-1.81 [[-9.93294925e-01 1.14749687e-01 1.40606401e-02 -1.90319865e+00] [ 1.14736804e-01 9.93394433e-01 -1.72216749e-03 -1.99309746e+02] [-1.41653797e-02 -9.73473240e-05 -9.99899661e-01 -1.80538007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.90655999499995 meters 0.012279894813779897 Centerline is valid? [True, True] Translation: X:-1.81, Y:-198.61, Z:-2.79 [[-9.80765484e-01 -1.94696080e-01 1.38744887e-02 -1.81416560e+00] [ 1.94677964e-01 -9.80863613e-01 -2.65760989e-03 -1.98613491e+02] [ 1.41264074e-02 9.45651580e-05 9.99900213e-01 -2.78623867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.936559995 meters 0.012584632119612969 Centerline is valid? [True, True] Translation: X:-1.96, Y:-199.30, Z:-1.81 [[-9.93973907e-01 1.08713151e-01 1.40472053e-02 -1.96230060e+00] [ 1.08700546e-01 9.94073154e-01 -1.66006483e-03 -1.99301197e+02] [-1.41444206e-02 -1.23122238e-04 -9.99899955e-01 -1.80539672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.96655999499995 meters 0.012881830916045214 Centerline is valid? [True, True] Translation: X:-1.88, Y:-198.61, Z:-2.79 [[-9.81040112e-01 -1.93278287e-01 1.42759745e-02 -1.87563659e+00] [ 1.93260064e-01 -9.81143965e-01 -2.65832221e-03 -1.98609845e+02] [ 1.45205822e-02 1.51055036e-04 9.99894559e-01 -2.78690891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.996559995 meters 0.012845126433048196 Centerline is valid? [True, True] Translation: X:-2.02, Y:-199.29, Z:-1.81 [[-9.94674535e-01 1.01977877e-01 1.49359260e-02 -2.01907025e+00] [ 1.01963841e-01 9.94786653e-01 -1.70026590e-03 -1.99292849e+02] [-1.50314493e-02 -1.68286819e-04 -9.99887007e-01 -1.80570825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.02655999499996 meters 0.01352358328386634 Centerline is valid? [True, True] Translation: X:-1.94, Y:-198.60, Z:-2.79 [[-9.81359203e-01 -1.91562518e-01 1.54245275e-02 -1.94149250e+00] [ 1.91542338e-01 -9.81480389e-01 -2.78894456e-03 -1.98604983e+02] [ 1.56731285e-02 2.17493651e-04 9.99877145e-01 -2.78750586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.056559995 meters 0.01366829874180199 Centerline is valid? [True, True] Translation: X:-2.08, Y:-199.28, Z:-1.80 [[-9.95373400e-01 9.47005709e-02 1.62356667e-02 -2.08210863e+00] [ 9.46841690e-02 9.95505775e-01 -1.77769002e-03 -1.99282209e+02] [-1.63310482e-02 -2.32204752e-04 -9.99866613e-01 -1.80495274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.08655999499996 meters 0.014029424490688931 Centerline is valid? [True, True] Translation: X:-2.09, Y:-199.25, Z:-1.81 [[-9.99610275e-01 2.26663400e-02 1.62952747e-02 -2.08520534e+00] [ 2.26592576e-02 9.99743054e-01 -6.19150938e-04 -1.99252961e+02] [-1.63051215e-02 -2.49670813e-04 -9.99867032e-01 -1.80512516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.11655999499993 meters 0.014539308499432685 Centerline is valid? [True, True] Translation: X:-2.05, Y:-198.57, Z:-2.79 [[-9.92505873e-01 -1.21167720e-01 1.58264082e-02 -2.05231039e+00] [ 1.21155816e-01 -9.92632025e-01 -1.71235531e-03 -1.98571404e+02] [ 1.59172818e-02 2.17938707e-04 9.99873288e-01 -2.78652869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.14655999499996 meters 0.014639451335482922 Centerline is valid? [True, True] Translation: X:-2.15, Y:-199.25, Z:-1.81 [[-9.99735394e-01 1.65130773e-02 1.60143624e-02 -2.14635952e+00] [ 1.65066360e-02 9.99863613e-01 -5.34327995e-04 -1.99248649e+02] [-1.60210016e-02 -2.69843358e-04 -9.99871619e-01 -1.80544571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.17655999499993 meters 0.015031002338230163 Centerline is valid? [True, True] Translation: X:-2.15, Y:-199.22, Z:-1.81 [[-9.98366270e-01 -5.49299316e-02 1.57319577e-02 -2.15071053e+00] [-5.49273578e-02 9.98490175e-01 5.95967398e-04 -1.99219363e+02] [-1.57409416e-02 -2.69121120e-04 -9.99876068e-01 -1.80550409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.20655999499996 meters 0.014928951637013318 Centerline is valid? [True, True] Translation: X:-2.18, Y:-198.54, Z:-2.79 [[-9.98815765e-01 -4.61737551e-02 1.53314254e-02 -2.17764765e+00] [ 4.61719350e-02 -9.98933396e-01 -4.72845893e-04 -1.98543644e+02] [ 1.53369060e-02 2.35595647e-04 9.99882355e-01 -2.78564581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.23655999499994 meters 0.013572887042879138 Centerline is valid? [True, True] Translation: X:-2.24, Y:-199.22, Z:-1.81 [[-9.98117017e-01 -5.93801642e-02 1.53758394e-02 -2.24116523e+00] [-5.93768994e-02 9.98235411e-01 6.69162487e-04 -1.99224469e+02] [-1.53884423e-02 -2.45067202e-04 -9.99881561e-01 -1.80838220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.26655999499997 meters 0.012949541605273254 Centerline is valid? [True, True] Translation: X:-2.25, Y:-199.20, Z:-1.81 [[-9.91750405e-01 -1.27375590e-01 1.43733340e-02 -2.24741022e+00] [-1.27364948e-01 9.91854538e-01 1.65710130e-03 -1.99198405e+02] [-1.44673308e-02 -1.87228050e-04 -9.99895325e-01 -1.80874826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.29655999499994 meters 0.012776974927861395 Centerline is valid? [True, True] Translation: X:-2.26, Y:-199.17, Z:-1.81 [[-9.80530102e-01 -1.95852540e-01 1.42303124e-02 -2.25825419e+00] [-1.95834218e-01 9.80633345e-01 2.68342110e-03 -1.99172887e+02] [-1.44802737e-02 -1.55606933e-04 -9.99895143e-01 -1.80835668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.32655999499997 meters 0.012291933278796074 Centerline is valid? [True, True] Translation: X:-2.28, Y:-199.15, Z:-1.81 [[-9.64587203e-01 -2.63399271e-01 1.38690915e-02 -2.28188362e+00] [-2.63373794e-01 9.64686898e-01 3.66530628e-03 -1.99151656e+02] [-1.43447698e-02 -1.17247699e-04 -9.99897102e-01 -1.80849803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.35655999499994 meters 0.011820228964535332 Centerline is valid? [True, True] Translation: X:-2.33, Y:-199.14, Z:-1.81 [[-9.44587469e-01 -3.27968480e-01 1.38271502e-02 -2.33223297e+00] [-3.27933932e-01 9.44688666e-01 4.76038205e-03 -1.99141712e+02] [-1.46236073e-02 -3.77945001e-05 -9.99893069e-01 -1.80961700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.38655999499997 meters 0.01184023684195908 Centerline is valid? [True, True] Translation: X:-2.39, Y:-199.14, Z:-1.81 [[-9.18945026e-01 -3.94161426e-01 1.32969420e-02 -2.39253701e+00] [-3.94120132e-01 9.19041223e-01 5.70541856e-03 -1.99136550e+02] [-1.44692938e-02 2.37345986e-06 -9.99895314e-01 -1.80939045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.41655999499994 meters 0.012572945326550797 Centerline is valid? [True, True] Translation: X:-2.47, Y:-199.14, Z:-1.81 [[-8.88415003e-01 -4.58861107e-01 1.28556182e-02 -2.46573551e+00] [-4.58812418e-01 8.88508010e-01 6.68448545e-03 -1.99142097e+02] [-1.44895701e-02 4.02798823e-05 -9.99895020e-01 -1.80620972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.446559995 meters 0.012937304165434413 Centerline is valid? [True, True] Translation: X:-2.54, Y:-199.15, Z:-1.81 [[-8.52791366e-01 -5.22100340e-01 1.25746401e-02 -2.54254698e+00] [-5.22042306e-01 8.52884066e-01 7.78468855e-03 -1.99154941e+02] [-1.47890987e-02 7.42210765e-05 -9.99890633e-01 -1.80598008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.47655999499995 meters 0.012579645916003534 Centerline is valid? [True, True] Translation: X:-2.63, Y:-199.18, Z:-1.81 [[-8.13612473e-01 -5.81274819e-01 1.24229130e-02 -2.62626722e+00] [-5.81204416e-01 8.13707297e-01 9.04775071e-03 -1.99177096e+02] [-1.53678446e-02 1.41110933e-04 -9.99881898e-01 -1.80941699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.506559995 meters 0.012952686602621062 Centerline is valid? [True, True] Translation: X:-2.71, Y:-199.21, Z:-1.81 [[-7.68653397e-01 -6.39552395e-01 1.20286697e-02 -2.71388279e+00] [-6.39470523e-01 7.68747490e-01 1.02345672e-02 -1.99210417e+02] [-1.57925516e-02 1.74855183e-04 -9.99875275e-01 -1.80906523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.53655999499995 meters 0.01335397371064264 Centerline is valid? [True, True] Translation: X:-2.80, Y:-199.25, Z:-1.81 [[-7.19157506e-01 -6.94752990e-01 1.14352159e-02 -2.80183984e+00] [-6.94660620e-01 7.19248386e-01 1.13305800e-02 -1.99253284e+02] [-1.60967149e-02 2.04877467e-04 -9.99870419e-01 -1.80875068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.566559995 meters 0.01374697641039659 Centerline is valid? [True, True] Translation: X:-2.89, Y:-199.31, Z:-1.81 [[-6.65507029e-01 -7.46317530e-01 1.05137903e-02 -2.89096023e+00] [-7.46218912e-01 6.65590033e-01 1.21344020e-02 -1.99307655e+02] [-1.60539909e-02 2.29940667e-04 -9.99871100e-01 -1.80867331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.59655999499995 meters 0.01394232818459267 Centerline is valid? [True, True] Translation: X:-2.98, Y:-199.37, Z:-1.81 [[-6.08312883e-01 -7.93634726e-01 9.96782499e-03 -2.97873129e+00] [-7.93520767e-01 6.08394483e-01 1.34516228e-02 -1.99370676e+02] [-1.67400447e-02 2.73119324e-04 -9.99859838e-01 -1.80883125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.626559995 meters 0.01411588591548235 Centerline is valid? [True, True] Translation: X:-3.06, Y:-199.44, Z:-1.81 [[-5.46434302e-01 -8.37452080e-01 9.14150242e-03 -3.06164338e+00] [-8.37325900e-01 5.46510685e-01 1.45398859e-02 -1.99440574e+02] [-1.71723865e-02 2.90675667e-04 -9.99852502e-01 -1.80847190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.65655999499995 meters 0.014504764107232882 Centerline is valid? [True, True] Translation: X:-3.14, Y:-199.52, Z:-1.81 [[-4.81284830e-01 -8.76529452e-01 7.81230402e-03 -3.14155265e+00] [-8.76403989e-01 4.81348142e-01 1.48328782e-02 -1.99522036e+02] [-1.67618926e-02 2.92104832e-04 -9.99859467e-01 -1.80778227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.686559995 meters 0.014771650771500113 Centerline is valid? [True, True] Translation: X:-3.22, Y:-199.61, Z:-1.81 [[-4.13185360e-01 -9.10624448e-01 6.40102058e-03 -3.21699860e+00] [-9.10504138e-01 4.13234837e-01 1.48048708e-02 -1.99612131e+02] [-1.61268020e-02 2.89000118e-04 -9.99869913e-01 -1.80873427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.71655999499995 meters 0.014558163453748425 Centerline is valid? [True, True] Translation: X:-3.29, Y:-199.71, Z:-1.81 [[-3.41789682e-01 -9.39764103e-01 4.82130545e-03 -3.28611376e+00] [-9.39659661e-01 3.41823587e-01 1.40127481e-02 -1.99708761e+02] [-1.48167136e-02 2.59026478e-04 -9.99890193e-01 -1.80973109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.746559995 meters 0.013599271420526703 Centerline is valid? [True, True] Translation: X:-3.35, Y:-199.81, Z:-1.81 [[-2.67550591e-01 -9.63537521e-01 3.48225503e-03 -3.34835134e+00] [-9.63444598e-01 2.67573157e-01 1.33832600e-02 -1.99809019e+02] [-1.38270312e-02 2.25739334e-04 -9.99904377e-01 -1.81158243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.77655999499996 meters 0.012948149692714737 Centerline is valid? [True, True] Translation: X:-3.40, Y:-199.91, Z:-1.81 [[-1.90941542e-01 -9.81598747e-01 2.28634955e-03 -3.40315094e+00] [-9.81516212e-01 1.90955139e-01 1.27302628e-02 -1.99914801e+02] [-1.29326002e-02 1.86646855e-04 -9.99916353e-01 -1.81293447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.806559995 meters 0.012121783694315102 Centerline is valid? [True, True] Translation: X:-3.45, Y:-200.03, Z:-1.81 [[-1.08849746e-01 -9.94057533e-01 1.16332898e-03 -3.45344087e+00] [-9.93991021e-01 1.08855920e-01 1.14994913e-02 -2.00032284e+02] [-1.15577912e-02 9.53781402e-05 -9.99933202e-01 -1.81362153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.83655999499996 meters 0.011570605288542287 Centerline is valid? [True, True] Translation: X:-3.49, Y:-200.15, Z:-1.81 [[-2.80134861e-02 -9.99607511e-01 2.63207083e-04 -3.49318570e+00] [-9.99546893e-01 2.80146859e-02 1.10084444e-02 -2.00147489e+02] [-1.10114973e-02 4.52970803e-05 -9.99939371e-01 -1.81393728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.86655999499993 meters 0.011309568799870539 Centerline is valid? [True, True] Translation: X:-3.53, Y:-200.27, Z:-1.81 [[ 5.79919931e-02 -9.98316898e-01 -5.46979216e-04 -3.52895105e+00] [-9.98263378e-01 -5.79945480e-02 1.03373017e-02 -2.00270917e+02] [-1.03516248e-02 -5.34514080e-05 -9.99946419e-01 -1.81451735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.89655999499996 meters 0.011869988179034261 Centerline is valid? [True, True] Translation: X:-3.55, Y:-200.39, Z:-1.81 [[ 1.39214086e-01 -9.90261405e-01 -1.33753822e-03 -3.55100545e+00] [-9.90208285e-01 -1.39220473e-01 1.02572902e-02 -2.00390340e+02] [-1.03436113e-02 -1.03517851e-04 -9.99946498e-01 -1.81414449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.92655999499993 meters 0.012623180663784978 Centerline is valid? [True, True] Translation: X:-3.56, Y:-200.51, Z:-1.81 [[ 2.19152911e-01 -9.75688293e-01 -2.08709686e-03 -3.56335883e+00] [-9.75637403e-01 -2.19162799e-01 9.96624016e-03 -2.00511089e+02] [-1.01813578e-02 -1.47880788e-04 -9.99948158e-01 -1.81415964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.95655999499996 meters 0.014507667802070787 Centerline is valid? [True, True] Translation: X:-3.57, Y:-200.63, Z:-1.81 [[ 3.00895480e-01 -9.53652978e-01 -2.81204014e-03 -3.57054970e+00] [-9.53604023e-01 -3.00908534e-01 9.66549006e-03 -2.00631638e+02] [-1.00636903e-02 -2.26729478e-04 -9.99949334e-01 -1.81382528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.98655999499994 meters 0.01585522829806295 Centerline is valid? [True, True] Translation: X:-3.56, Y:-200.76, Z:-1.81 [[ 3.75872098e-01 -9.26664910e-01 -3.50859906e-03 -3.56283661e+00] [-9.26617976e-01 -3.75888386e-01 9.32994066e-03 -2.00755401e+02] [-9.96457027e-03 -2.55733408e-04 -9.99950320e-01 -1.81358007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.01655999499997 meters 0.017549229640548038 Centerline is valid? [True, True] Translation: X:-3.55, Y:-200.87, Z:-1.81 [[ 4.47837489e-01 -8.94105591e-01 -4.09587986e-03 -3.54886786e+00] [-8.94062462e-01 -4.47856136e-01 8.78608271e-03 -2.00871151e+02] [-9.69005060e-03 -2.72764781e-04 -9.99953013e-01 -1.81289767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.04655999499994 meters 0.017414159615283697 Centerline is valid? [True, True] Translation: X:-3.53, Y:-200.98, Z:-1.81 [[ 5.16394110e-01 -8.56338155e-01 -4.69965661e-03 -3.52749140e+00] [-8.56297505e-01 -5.16415415e-01 8.34874383e-03 -2.00976015e+02] [-9.57632302e-03 -2.86937910e-04 -9.99954105e-01 -1.81331916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.07655999499997 meters 0.019352839969176184 Centerline is valid? [True, True] Translation: X:-3.50, Y:-201.08, Z:-1.81 [[ 5.81339601e-01 -8.13643591e-01 -5.32676825e-03 -3.49818091e+00] [-8.13604584e-01 -5.81363927e-01 7.97275439e-03 -2.01084756e+02] [-9.58377142e-03 -3.00994791e-04 -9.99954029e-01 -1.81241468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.10655999499994 meters 0.017808287719921774 Centerline is valid? [True, True] Translation: X:-3.46, Y:-201.19, Z:-1.81 [[ 6.42253352e-01 -7.66466509e-01 -6.30259825e-03 -3.45652391e+00] [-7.66424453e-01 -6.42284191e-01 8.03594363e-03 -2.01190070e+02] [-1.02073409e-02 -3.30646319e-04 -9.99947849e-01 -1.81227064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.13655999499997 meters 0.018470612479914363 Centerline is valid? [True, True] Translation: X:-3.41, Y:-201.29, Z:-1.81 [[ 6.98354620e-01 -7.15715855e-01 -7.18609697e-03 -3.41331704e+00] [-7.15672849e-01 -6.98391508e-01 7.85335779e-03 -2.01286406e+02] [-1.06394818e-02 -3.41534202e-04 -9.99943341e-01 -1.81132501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.16655999499994 meters 0.016972438534869953 Centerline is valid? [True, True] Translation: X:-3.37, Y:-201.37, Z:-1.81 [[ 7.49900494e-01 -6.61500663e-01 -8.13152855e-03 -3.36566875e+00] [-6.61456694e-01 -7.49944500e-01 7.63474678e-03 -2.01371635e+02] [-1.11485852e-02 -3.46646393e-04 -9.99937793e-01 -1.81139465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.196559995 meters 0.017634213757481445 Centerline is valid? [True, True] Translation: X:-3.37, Y:-201.38, Z:-1.81 [[ 7.98484381e-01 -6.01947860e-01 -9.02597965e-03 -3.36620629e+00] [-6.01904485e-01 -7.98535319e-01 7.23428559e-03 -2.01383306e+02] [-1.15622263e-02 -3.43686420e-04 -9.99933096e-01 -1.81064932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.22655999499995 meters 0.015812420144049332 Centerline is valid? [True, True] Translation: X:-3.36, Y:-201.39, Z:-1.81 [[ 8.40907509e-01 -5.41089193e-01 -9.85122357e-03 -3.36272613e+00] [-5.41047768e-01 -8.40965155e-01 6.70230216e-03 -2.01391398e+02] [-1.19110790e-02 -3.06033688e-04 -9.99929014e-01 -1.81027743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.256559995 meters 0.014689886033640326 Centerline is valid? [True, True] Translation: X:-3.36, Y:-201.40, Z:-1.81 [[ 8.79331855e-01 -4.76095203e-01 -1.04329655e-02 -3.35942852e+00] [-4.76057953e-01 -8.79393701e-01 5.96184467e-03 -2.01400772e+02] [-1.20130898e-02 -2.75743745e-04 -9.99927802e-01 -1.81039352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.28655999499995 meters 0.01467234089867027 Centerline is valid? [True, True] Translation: X:-3.36, Y:-201.41, Z:-1.81 [[ 9.12749750e-01 -4.08365561e-01 -1.12010235e-02 -3.35632511e+00] [-4.08331431e-01 -9.12818441e-01 5.28553214e-03 -2.01410206e+02] [-1.23829301e-02 -2.50638182e-04 -9.99923297e-01 -1.80963273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.316559995 meters 0.012672605997292842 Centerline is valid? [True, True] Translation: X:-3.35, Y:-201.42, Z:-1.81 [[ 9.39922261e-01 -3.41186375e-01 -1.17474173e-02 -3.35121838e+00] [-3.41157311e-01 -9.39995651e-01 4.45695954e-03 -2.01415818e+02] [-1.25631751e-02 -1.81478184e-04 -9.99921064e-01 -1.81128872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.34655999499995 meters 0.012311545295308845 Centerline is valid? [True, True] Translation: X:-3.35, Y:-201.42, Z:-1.81 [[ 9.62885541e-01 -2.69633726e-01 -1.22102112e-02 -3.34769560e+00] [-2.69610139e-01 -9.62962945e-01 3.56932184e-03 -2.01423563e+02] [-1.27203905e-02 -1.44851641e-04 -9.99919082e-01 -1.81118258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.376559995 meters 0.01186378223787296 Centerline is valid? [True, True] Translation: X:-3.34, Y:-201.43, Z:-1.81 [[ 9.80401172e-01 -1.96583484e-01 -1.29798251e-02 -3.34268803e+00] [-1.96564769e-01 -9.80487084e-01 2.71479641e-03 -2.01430244e+02] [-1.32602350e-02 -1.10213259e-04 -9.99912073e-01 -1.81121635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.40655999499995 meters 0.011584439873742624 Centerline is valid? [True, True] Translation: X:-3.34, Y:-201.44, Z:-1.81 [[ 9.92410935e-01 -1.22224051e-01 -1.34839524e-02 -3.33820615e+00] [-1.22211783e-01 -9.92502532e-01 1.73322069e-03 -2.01438088e+02] [-1.35946981e-02 -7.21693096e-05 -9.99907585e-01 -1.81187657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.436559995 meters 0.011580842206388733 Centerline is valid? [True, True] Translation: X:-3.34, Y:-201.44, Z:-1.81 [[ 9.98605354e-01 -5.09902687e-02 -1.36871813e-02 -3.33645129e+00] [-5.09857670e-02 -9.98699150e-01 6.77866355e-04 -2.01442217e+02] [-1.37039409e-02 2.09304637e-05 -9.99906096e-01 -1.81174970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.46655999499995 meters 0.011927332768509475 Centerline is valid? [True, True] Translation: X:-3.34, Y:-201.45, Z:-1.81 [[ 9.99618999e-01 2.39908754e-02 -1.36490041e-02 -3.33545272e+00] [ 2.39877322e-02 -9.99712175e-01 -3.93981142e-04 -2.01447077e+02] [-1.36545275e-02 6.64223813e-05 -9.99906770e-01 -1.81149672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.496559995 meters 0.012356113233965245 Centerline is valid? [True, True] Translation: X:-3.33, Y:-201.45, Z:-1.81 [[ 9.95025784e-01 9.86728718e-02 -1.36877456e-02 -3.33243423e+00] [ 9.86619346e-02 -9.95119918e-01 -1.47368121e-03 -2.01451680e+02] [-1.37663607e-02 1.15891334e-04 -9.99905233e-01 -1.81190046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.52655999499996 meters 0.013401629773569351 Centerline is valid? [True, True] Translation: X:-3.33, Y:-201.46, Z:-1.81 [[ 9.85434078e-01 1.69564128e-01 -1.29493209e-02 -3.32985553e+00] [ 1.69546817e-01 -9.85519135e-01 -2.43115419e-03 -2.01455415e+02] [-1.31740400e-02 2.00226051e-04 -9.99913199e-01 -1.81356811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.556559995 meters 0.014105414422530901 Centerline is valid? [True, True] Translation: X:-3.33, Y:-201.46, Z:-1.81 [[ 9.69878950e-01 2.43244517e-01 -1.29200514e-02 -3.32619239e+00] [ 2.43219578e-01 -9.69964971e-01 -3.49163102e-03 -2.01461901e+02] [-1.33813174e-02 2.44049971e-04 -9.99910436e-01 -1.81408396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.58655999499996 meters 0.01524949627231082 Centerline is valid? [True, True] Translation: X:-3.32, Y:-201.47, Z:-1.81 [[ 9.49480610e-01 3.13576063e-01 -1.25149449e-02 -3.32286225e+00] [ 3.13544509e-01 -9.49563035e-01 -4.45912015e-03 -2.01467576e+02] [-1.32820024e-02 3.09855864e-04 -9.99911742e-01 -1.81490915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.61655999499993 meters 0.01524949627231082 Centerline is valid? [True, True] Translation: X:-3.32, Y:-201.48, Z:-1.81 [[ 9.22035953e-01 3.86914231e-01 -1.21276209e-02 -3.31841334e+00] [ 3.86876325e-01 -9.22115655e-01 -5.42467792e-03 -2.01476419e+02] [-1.32819542e-02 3.09858669e-04 -9.99911743e-01 -1.81490959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.64655999499996 meters 0.017046042687004284 Centerline is valid? [True, True] Translation: X:-3.32, Y:-201.48, Z:-1.81 [[ 8.90385264e-01 4.55060779e-01 -1.15658669e-02 -3.31523027e+00] [ 4.55017259e-01 -8.90460311e-01 -6.30308349e-03 -2.01481924e+02] [-1.31672315e-02 3.49503616e-04 -9.99913247e-01 -1.81464004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.67655999499993 meters 0.017793299043778372 Centerline is valid? [True, True] Translation: X:-3.31, Y:-201.49, Z:-1.81 [[ 8.52518180e-01 5.22583988e-01 -1.08962363e-02 -3.31246825e+00] [ 5.22535911e-01 -8.52587736e-01 -7.09745591e-03 -2.01486788e+02] [-1.29990143e-02 3.57035412e-04 -9.99915446e-01 -1.81448006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.70655999499996 meters 0.017053893578546142 Centerline is valid? [True, True] Translation: X:-3.31, Y:-201.49, Z:-1.82 [[ 8.09368621e-01 5.87214538e-01 -1.00757697e-02 -3.30588611e+00] [ 5.87163494e-01 -8.09431256e-01 -7.75068082e-03 -2.01494920e+02] [-1.27069554e-02 3.57033692e-04 -9.99919200e-01 -1.81527233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.73655999499994 meters 0.01684694233630584 Centerline is valid? [True, True] Translation: X:-3.30, Y:-201.50, Z:-1.82 [[ 7.60824136e-01 6.48893404e-01 -9.16433654e-03 -3.29788876e+00] [ 6.48840814e-01 -7.60879249e-01 -8.26843552e-03 -2.01502250e+02] [-1.23382868e-02 3.44629728e-04 -9.99923821e-01 -1.81558681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.76655999499997 meters 0.0169145492452325 Centerline is valid? [True, True] Translation: X:-3.29, Y:-201.51, Z:-1.82 [[ 7.07091469e-01 7.07070717e-01 -8.52388146e-03 -3.29184225e+00] [ 7.07013548e-01 -7.07142764e-01 -8.99743337e-03 -2.01508322e+02] [-1.23894228e-02 3.35508701e-04 -9.99923192e-01 -1.81530329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.79655999499994 meters 0.0169145492452325 Centerline is valid? [True, True] Translation: X:-3.29, Y:-201.51, Z:-1.82 [[ 6.49578436e-01 7.60254640e-01 -7.79339568e-03 -3.28571035e+00] [ 7.60193632e-01 -6.49625099e-01 -9.63702100e-03 -2.01513036e+02] [-1.23893754e-02 3.35511263e-04 -9.99923193e-01 -1.81530371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.82655999499997 meters 0.01626734738646666 Centerline is valid? [True, True] Translation: X:-3.28, Y:-201.52, Z:-1.82 [[ 5.87096830e-01 8.09486221e-01 -7.02638784e-03 -3.27681219e+00] [ 8.09421586e-01 -5.87138786e-01 -1.02343487e-02 -2.01518916e+02] [-1.24100291e-02 3.21243714e-04 -9.99922941e-01 -1.81568334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.85655999499994 meters 0.015353932910816636 Centerline is valid? [True, True] Translation: X:-3.27, Y:-201.52, Z:-1.82 [[ 5.20367389e-01 8.53917617e-01 -6.51788280e-03 -3.26525473e+00] [ 8.53842917e-01 -5.20408113e-01 -1.12990512e-02 -2.01524658e+02] [-1.30404180e-02 3.14409718e-04 -9.99914921e-01 -1.81583367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.88655999499997 meters 0.014513254044156708 Centerline is valid? [True, True] Translation: X:-3.25, Y:-201.53, Z:-1.81 [[ 4.47498126e-01 8.94265707e-01 -5.85423357e-03 -3.25261524e+00] [ 8.94181415e-01 -4.47536342e-01 -1.22808508e-02 -2.01530620e+02] [-1.36023260e-02 2.60910884e-04 -9.99907450e-01 -1.81462457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.91655999499994 meters 0.013788112879817042 Centerline is valid? [True, True] Translation: X:-3.24, Y:-201.53, Z:-1.81 [[ 3.73475626e-01 9.27627145e-01 -4.88223945e-03 -3.24160838e+00] [ 9.27539930e-01 -3.73507469e-01 -1.27219705e-02 -2.01534314e+02] [-1.36247981e-02 2.22873875e-04 -9.99907153e-01 -1.81418426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.946559995 meters 0.012894833436758959 Centerline is valid? [True, True] Translation: X:-3.23, Y:-201.54, Z:-1.81 [[ 2.96905719e-01 9.54899288e-01 -3.78728043e-03 -3.22906052e+00] [ 9.54813765e-01 -2.96929820e-01 -1.27810751e-02 -2.01537199e+02] [-1.33291960e-02 1.78626803e-04 -9.99911146e-01 -1.81456002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.97655999499995 meters 0.012345077384864312 Centerline is valid? [True, True] Translation: X:-3.22, Y:-201.54, Z:-1.81 [[ 2.18415921e-01 9.75852061e-01 -2.69077706e-03 -3.21656096e+00] [ 9.75770128e-01 -2.18432453e-01 -1.26459878e-02 -2.01538934e+02] [-1.29283663e-02 1.36505199e-04 -9.99916416e-01 -1.81475272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.006559995 meters 0.011530084557434702 Centerline is valid? [True, True] Translation: X:-3.20, Y:-201.54, Z:-1.82 [[ 1.36075756e-01 9.90697299e-01 -1.50021910e-03 -3.20143836e+00] [ 9.90632148e-01 -1.36084013e-01 -1.13617590e-02 -2.01539671e+02] [-1.14602198e-02 5.98946827e-05 -9.99934328e-01 -1.81549771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.03655999499995 meters 0.011277299722148503 Centerline is valid? [True, True] Translation: X:-3.19, Y:-201.54, Z:-1.82 [[ 5.56009223e-02 9.98452917e-01 -5.57372664e-04 -3.18845238e+00] [ 9.98397426e-01 -5.56037085e-02 -1.05265211e-02 -2.01538694e+02] [-1.05412277e-02 2.88048498e-05 -9.99944439e-01 -1.81605896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.066559995 meters 0.011119479673038505 Centerline is valid? [True, True] Translation: X:-3.18, Y:-201.54, Z:-1.82 [[-2.53567542e-02 9.99678440e-01 2.26556341e-04 -3.17649570e+00] [ 9.99638896e-01 2.53577663e-02 -8.89166946e-03 -2.01537396e+02] [-8.89455522e-03 1.01065314e-06 -9.99960443e-01 -1.81621485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.09655999499995 meters 0.011172142945167187 Centerline is valid? [True, True] Translation: X:-3.16, Y:-201.53, Z:-1.82 [[-1.08310608e-01 9.94116842e-01 7.19006035e-04 -3.16063079e+00] [ 9.94092901e-01 1.08312989e-01 -6.89925322e-03 -2.01533981e+02] [-6.93654152e-03 -3.25035135e-05 -9.99975941e-01 -1.81718619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.126559995 meters 0.011355894146867336 Centerline is valid? [True, True] Translation: X:-3.15, Y:-201.53, Z:-1.82 [[-1.88076050e-01 9.82153811e-01 1.13588855e-03 -3.14868092e+00] [ 9.82134477e-01 1.88079476e-01 -6.16285297e-03 -2.01530100e+02] [-6.26650685e-03 -4.34897382e-05 -9.99980364e-01 -1.81692329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.15655999499995 meters 0.011498196676600573 Centerline is valid? [True, True] Translation: X:-3.14, Y:-201.52, Z:-1.82 [[-2.66459337e-01 9.63844896e-01 1.56120377e-03 -3.13699394e+00] [ 9.63827128e-01 2.66463905e-01 -5.85277621e-03 -2.01524045e+02] [-6.05717293e-03 -5.47963240e-05 -9.99981654e-01 -1.81695185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.186559995 meters 0.012404891667924835 Centerline is valid? [True, True] Translation: X:-3.12, Y:-201.52, Z:-1.82 [[-3.44738800e-01 9.38696045e-01 2.21242277e-03 -3.12455186e+00] [ 9.38675094e-01 3.44745888e-01 -6.27223141e-03 -2.01517725e+02] [-6.65044247e-03 -8.55353772e-05 -9.99977882e-01 -1.81601097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.21655999499995 meters 0.012649634418913374 Centerline is valid? [True, True] Translation: X:-3.12, Y:-201.51, Z:-1.82 [[-4.18532298e-01 9.08197636e-01 2.78748241e-03 -3.11722648e+00] [ 9.08175900e-01 4.18541569e-01 -6.28407501e-03 -2.01510738e+02] [-6.87385933e-03 -9.85640056e-05 -9.99976370e-01 -1.81572015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.246559995 meters 0.013289395213507516 Centerline is valid? [True, True] Translation: X:-3.11, Y:-201.50, Z:-1.81 [[-4.90746096e-01 8.71296472e-01 3.27534641e-03 -3.10916648e+00] [ 8.71275446e-01 4.90757012e-01 -6.05418395e-03 -2.01502402e+02] [-6.88238833e-03 -1.17338232e-04 -9.99976309e-01 -1.81483057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.27655999499996 meters 0.013289395213507516 Centerline is valid? [True, True] Translation: X:-3.10, Y:-201.50, Z:-1.81 [[-5.57495811e-01 8.30171330e-01 3.73955871e-03 -3.10391377e+00] [ 8.30151224e-01 5.57508340e-01 -5.77893736e-03 -2.01495252e+02] [-6.88234329e-03 -1.17334127e-04 -9.99976310e-01 -1.81483096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.306559995 meters 0.013576733013850815 Centerline is valid? [True, True] Translation: X:-3.10, Y:-201.49, Z:-1.81 [[-6.21625205e-01 7.83304211e-01 4.07648360e-03 -3.09908762e+00] [ 7.83286070e-01 6.21638560e-01 -5.33234808e-03 -2.01486284e+02] [-6.71095010e-03 -1.21669149e-04 -9.99977474e-01 -1.81460123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.33655999499996 meters 0.013849808107029155 Centerline is valid? [True, True] Translation: X:-3.09, Y:-201.48, Z:-1.81 [[-6.82115869e-01 7.31226065e-01 5.13640225e-03 -3.09481167e+00] [ 7.31203660e-01 6.82135191e-01 -5.72619751e-03 -2.01477411e+02] [-7.69086561e-03 -1.50174066e-04 -9.99970414e-01 -1.81364727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.36655999499993 meters 0.014487129800443053 Centerline is valid? [True, True] Translation: X:-3.09, Y:-201.47, Z:-1.81 [[-7.37478523e-01 6.75342430e-01 6.16694556e-03 -3.09142998e+00] [ 6.75316888e-01 7.37504288e-01 -5.87592978e-03 -2.01469424e+02] [-8.51641349e-03 -1.68729534e-04 -9.99963721e-01 -1.81267743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.39655999499996 meters 0.0144245767676158 Centerline is valid? [True, True] Translation: X:-3.08, Y:-201.44, Z:-1.81 [[-7.83550516e-01 6.21286044e-01 7.22775162e-03 -3.07867966e+00] [ 6.21257392e-01 7.83583828e-01 -5.96969034e-03 -2.01444772e+02] [-9.37243458e-03 -1.87259823e-04 -9.99956060e-01 -1.81176321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.42655999499993 meters 0.014798998861440817 Centerline is valid? [True, True] Translation: X:-3.06, Y:-201.42, Z:-1.81 [[-8.25276136e-01 5.64653709e-01 9.24594727e-03 -3.06224518e+00] [ 5.64615249e-01 8.25327898e-01 -6.59400638e-03 -2.01424219e+02] [-1.13542684e-02 -2.21473288e-04 -9.99935514e-01 -1.80935493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.45655999499996 meters 0.013849473098704131 Centerline is valid? [True, True] Translation: X:-3.05, Y:-201.40, Z:-1.81 [[-8.62951480e-01 5.05183368e-01 1.02228704e-02 -3.05368304e+00] [ 5.05144784e-01 8.63012000e-01 -6.24778171e-03 -2.01400462e+02] [-1.19787353e-02 -2.27502801e-04 -9.99928227e-01 -1.80928574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.48655999499994 meters 0.014304157776822054 Centerline is valid? [True, True] Translation: X:-3.04, Y:-201.38, Z:-1.81 [[-8.96412518e-01 4.43068313e-01 1.16218474e-02 -3.04305895e+00] [ 4.43027521e-01 8.96487819e-01 -6.01710969e-03 -2.01375774e+02] [-1.30848353e-02 -2.45014185e-04 -9.99914360e-01 -1.80812669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.51655999499997 meters 0.014161430320783494 Centerline is valid? [True, True] Translation: X:-3.03, Y:-201.35, Z:-1.81 [[-9.25148665e-01 3.79404938e-01 1.23223988e-02 -3.03467128e+00] [ 3.79367862e-01 9.25230694e-01 -5.30923566e-03 -2.01353822e+02] [-1.34154118e-02 -2.37110175e-04 -9.99909981e-01 -1.80766839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.54655999499994 meters 0.01398668149291831 Centerline is valid? [True, True] Translation: X:-3.03, Y:-201.33, Z:-1.81 [[-9.49590883e-01 3.13250246e-01 1.23060296e-02 -3.03250176e+00] [ 3.13220871e-01 9.49670592e-01 -4.29572239e-03 -2.01328061e+02] [-1.30323106e-02 -2.24673491e-04 -9.99915051e-01 -1.80839316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.57655999499997 meters 0.0139752201480037 Centerline is valid? [True, True] Translation: X:-2.84, Y:-200.78, Z:-2.78 [[-9.13003637e-01 -4.07803906e-01 1.09696358e-02 -2.83817329e+00] [ 4.07776291e-01 -9.13069524e-01 -4.74773472e-03 -2.00781546e+02] [ 1.19521849e-02 1.38458320e-04 9.99928561e-01 -2.78205302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.60655999499994 meters 0.0139752201480037 Centerline is valid? [True, True] Translation: X:-3.08, Y:-201.32, Z:-1.81 [[-9.50672647e-01 3.09989371e-01 1.13185263e-02 -3.07537215e+00] [ 3.09964855e-01 9.50740001e-01 -3.90386190e-03 -2.01319085e+02] [-1.19711314e-02 -2.02949378e-04 -9.99928323e-01 -1.80973476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.63655999499997 meters 0.013436781241273647 Centerline is valid? [True, True] Translation: X:-3.08, Y:-201.29, Z:-1.81 [[-9.70524409e-01 2.40778450e-01 1.03975365e-02 -3.07836675e+00] [ 2.40762491e-01 9.70580084e-01 -2.77896682e-03 -2.01294815e+02] [-1.07607572e-02 -1.93718329e-04 -9.99942083e-01 -1.81186299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.66655999499994 meters 0.013561397306619493 Centerline is valid? [True, True] Translation: X:-3.09, Y:-201.27, Z:-1.81 [[-9.85324953e-01 1.70385372e-01 1.01765363e-02 -3.08698625e+00] [ 1.70374227e-01 9.85377484e-01 -1.95860106e-03 -2.01266235e+02] [-1.03614467e-02 -1.96038997e-04 -9.99946300e-01 -1.81209811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.696559995 meters 0.01413839904184353 Centerline is valid? [True, True] Translation: X:-2.96, Y:-200.68, Z:-2.78 [[-9.61713791e-01 -2.73873714e-01 9.98862280e-03 -2.95898916e+00] [ 2.73861027e-01 -9.61765643e-01 -2.64325666e-03 -2.00681549e+02] [ 1.03306327e-02 1.93438108e-04 9.99946619e-01 -2.78005069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.72655999499995 meters 0.014558418733153165 Centerline is valid? [True, True] Translation: X:-3.12, Y:-201.26, Z:-1.81 [[-9.86543447e-01 1.63188880e-01 1.00706229e-02 -3.12330367e+00] [ 1.63178006e-01 9.86594819e-01 -1.89763377e-03 -2.01263093e+02] [-1.02452971e-02 -2.28793990e-04 -9.99947489e-01 -1.81145292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.756559995 meters 0.014870331670082327 Centerline is valid? [True, True] Translation: X:-3.01, Y:-200.67, Z:-2.78 [[-9.61831959e-01 -2.73469708e-01 9.67482361e-03 -3.00811803e+00] [ 2.73458035e-01 -9.61880593e-01 -2.53515419e-03 -2.00669148e+02] [ 9.99931295e-03 2.07265934e-04 9.99949984e-01 -2.78064484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.78655999499995 meters 0.015925860940333606 Centerline is valid? [True, True] Translation: X:-3.17, Y:-201.26, Z:-1.81 [[-9.87460315e-01 1.57543507e-01 1.01078718e-02 -3.17095466e+00] [ 1.57532675e-01 9.87512016e-01 -1.86404221e-03 -2.01256027e+02] [-1.02753126e-02 -2.48347624e-04 -9.99947177e-01 -1.81027853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.816559995 meters 0.01605003749144759 Centerline is valid? [True, True] Translation: X:-3.06, Y:-200.66, Z:-2.78 [[-9.62575249e-01 -2.70839616e-01 9.73612831e-03 -3.05935675e+00] [ 2.70828155e-01 -9.62624460e-01 -2.50208936e-03 -2.00658595e+02] [ 1.00499002e-02 2.28368377e-04 9.99949472e-01 -2.78158908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.84655999499995 meters 0.015400483788754426 Centerline is valid? [True, True] Translation: X:-3.22, Y:-201.25, Z:-1.81 [[-9.88252690e-01 1.52502354e-01 9.98259911e-03 -3.22287180e+00] [ 1.52491934e-01 9.88303074e-01 -1.80124921e-03 -2.01253536e+02] [-1.01405281e-02 -2.57823533e-04 -9.99948550e-01 -1.81062124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.876559995 meters 0.015726613021224627 Centerline is valid? [True, True] Translation: X:-3.22, Y:-201.23, Z:-1.81 [[-9.96590019e-01 8.18969481e-02 1.00610229e-02 -3.22406046e+00] [ 8.18901580e-02 9.96640769e-01 -1.08569623e-03 -2.01226643e+02] [-1.01161409e-02 -2.58095269e-04 -9.99948797e-01 -1.81008548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.90655999499995 meters 0.015645628835521848 Centerline is valid? [True, True] Translation: X:-3.23, Y:-201.20, Z:-1.81 [[-9.99881973e-01 1.12007821e-02 1.05158256e-02 -3.22557752e+00] [ 1.11973781e-02 9.99937234e-01 -3.82517258e-04 -2.01201113e+02] [-1.05194500e-02 -2.64722435e-04 -9.99944634e-01 -1.80947507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.936559995 meters 0.015424870402037896 Centerline is valid? [True, True] Translation: X:-3.23, Y:-201.18, Z:-1.81 [[-9.98205045e-01 -5.88798240e-02 1.09478139e-02 -3.22992657e+00] [-5.88791819e-02 9.98265043e-01 3.81230007e-04 -2.01175935e+02] [-1.09512667e-02 -2.64052611e-04 -9.99939998e-01 -1.80883279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.96655999499995 meters 0.014281388609798136 Centerline is valid? [True, True] Translation: X:-3.24, Y:-201.16, Z:-1.81 [[-9.92009800e-01 -1.25687304e-01 1.09205521e-02 -3.24248924e+00] [-1.25682113e-01 9.92069884e-01 1.16310992e-03 -2.01155915e+02] [-1.09801390e-02 -2.18701622e-04 -9.99939693e-01 -1.80826234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.996559995 meters 0.013092634113369634 Centerline is valid? [True, True] Translation: X:-3.25, Y:-201.13, Z:-1.81 [[-9.81090078e-01 -1.93261948e-01 1.05866597e-02 -3.24775093e+00] [-1.93252683e-01 9.81147179e-01 1.90099539e-03 -2.01134013e+02] [-1.07544614e-02 -1.80852690e-04 -9.99942153e-01 -1.80925994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.02655999499996 meters 0.01219165912646712 Centerline is valid? [True, True] Translation: X:-3.27, Y:-201.12, Z:-1.81 [[-9.65636503e-01 -2.59716795e-01 9.66074488e-03 -3.27337931e+00] [-2.59705147e-01 9.65684819e-01 2.46316036e-03 -2.01116134e+02] [-9.96895879e-03 -1.30427617e-04 -9.99950300e-01 -1.80992018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.056559995 meters 0.011130593555581166 Centerline is valid? [True, True] Translation: X:-3.32, Y:-201.11, Z:-1.81 [[-9.47153319e-01 -3.20683593e-01 7.91348702e-03 -3.31598013e+00] [-3.20672681e-01 9.47186377e-01 2.64565902e-03 -2.01109458e+02] [-8.34396654e-03 -3.17943775e-05 -9.99965188e-01 -1.81052798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.08655999499996 meters 0.011049632910418916 Centerline is valid? [True, True] Translation: X:-3.37, Y:-201.11, Z:-1.81 [[-9.22990483e-01 -3.84756969e-01 7.11642535e-03 -3.37353336e+00] [-3.84745443e-01 9.23017917e-01 2.97816078e-03 -2.01107096e+02] [-7.71445621e-03 1.08018334e-05 -9.99970243e-01 -1.81111778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.11655999499993 meters 0.011501787699195158 Centerline is valid? [True, True] Translation: X:-3.44, Y:-201.11, Z:-1.81 [[-8.94309366e-01 -4.47399451e-01 6.66997203e-03 -3.44044489e+00] [-4.47386590e-01 8.94334238e-01 3.39275870e-03 -2.01113315e+02] [-7.48310273e-03 5.01198424e-05 -9.99972000e-01 -1.81152491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.14655999499996 meters 0.013350523367521508 Centerline is valid? [True, True] Translation: X:-3.51, Y:-201.13, Z:-1.81 [[-8.63492385e-01 -5.04322545e-01 6.29851081e-03 -3.51015471e+00] [-5.04308071e-01 8.63515347e-01 3.82291846e-03 -2.01132105e+02] [-7.36684472e-03 1.24671146e-04 -9.99972857e-01 -1.81165332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.17655999499993 meters 0.014373385080568192 Centerline is valid? [True, True] Translation: X:-3.59, Y:-201.16, Z:-1.81 [[-8.25821083e-01 -5.63898596e-01 6.15732384e-03 -3.59314499e+00] [-5.63881429e-01 8.25844021e-01 4.40314228e-03 -2.01158293e+02] [-7.56791483e-03 1.64207165e-04 -9.99971349e-01 -1.81146031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.20655999499996 meters 0.017454123700733053 Centerline is valid? [True, True] Translation: X:-3.68, Y:-201.20, Z:-1.81 [[-7.86301610e-01 -6.17807187e-01 6.63765657e-03 -3.67758853e+00] [-6.17782302e-01 7.86329581e-01 5.55124588e-03 -2.01199859e+02] [-8.64898531e-03 2.64326813e-04 -9.99962562e-01 -1.81057186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.23655999499994 meters 0.017454123700733053 Centerline is valid? [True, True] Translation: X:-3.77, Y:-201.24, Z:-1.81 [[-7.37172255e-01 -6.75676446e-01 6.19741258e-03 -3.76866794e+00] [-6.75649511e-01 7.37198258e-01 6.03875822e-03 -2.01243937e+02] [-8.64896844e-03 2.64326232e-04 -9.99962562e-01 -1.81057261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.26655999499997 meters 0.019186466532071747 Centerline is valid? [True, True] Translation: X:-3.86, Y:-201.30, Z:-1.81 [[-6.87611947e-01 -7.26055471e-01 5.76740382e-03 -3.85579360e+00] [-7.26026009e-01 6.87636061e-01 6.54836060e-03 -2.01299245e+02] [-8.72034789e-03 3.15445804e-04 -9.99961927e-01 -1.81049584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.29655999499994 meters 0.01997566442847525 Centerline is valid? [True, True] Translation: X:-3.94, Y:-201.36, Z:-1.81 [[-6.31704319e-01 -7.75193557e-01 4.96011701e-03 -3.94272515e+00] [-7.75165654e-01 6.31723713e-01 6.58477536e-03 -2.01361436e+02] [-8.23789898e-03 3.14718687e-04 -9.99966018e-01 -1.81045476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.32655999499997 meters 0.020173618075759146 Centerline is valid? [True, True] Translation: X:-4.03, Y:-201.44, Z:-1.81 [[-5.71678957e-01 -8.20465193e-01 4.47623371e-03 -4.02925734e+00] [-8.20435403e-01 5.71696387e-01 6.99938613e-03 -2.01435815e+02] [-8.30179933e-03 3.28941156e-04 -9.99965485e-01 -1.81047948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.35655999499994 meters 0.020504026388151835 Centerline is valid? [True, True] Translation: X:-4.11, Y:-201.52, Z:-1.81 [[-5.08166540e-01 -8.61249276e-01 4.05617958e-03 -4.11022592e+00] [-8.61216128e-01 5.08182607e-01 7.56432987e-03 -2.01518177e+02] [-8.57605354e-03 3.50692060e-04 -9.99963164e-01 -1.81025705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.38655999499997 meters 0.021200010705220793 Centerline is valid? [True, True] Translation: X:-4.19, Y:-201.61, Z:-1.81 [[-4.41702892e-01 -8.97155618e-01 3.21763456e-03 -4.18713520e+00] [-8.97126002e-01 4.41714483e-01 7.29736590e-03 -2.01610139e+02] [-7.96814860e-03 3.36643992e-04 -9.99968197e-01 -1.81050072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.41655999499994 meters 0.024867996138210644 Centerline is valid? [True, True] Translation: X:-4.25, Y:-201.71, Z:-1.81 [[-3.71999084e-01 -9.28229836e-01 2.46020348e-03 -4.25196537e+00] [-9.28203539e-01 3.72007083e-01 6.99433981e-03 -2.01708736e+02] [-7.40756801e-03 3.18318430e-04 -9.99972513e-01 -1.80943864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.446559995 meters 0.022240678045013798 Centerline is valid? [True, True] Translation: X:-4.32, Y:-201.81, Z:-1.81 [[-2.99988307e-01 -9.53941037e-01 1.87448393e-03 -4.31784888e+00] [-9.53915289e-01 2.99993996e-01 7.01594900e-03 -2.01811040e+02] [-7.25513559e-03 3.16603783e-04 -9.99973631e-01 -1.81040101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.47655999499995 meters 0.02335571525204434 Centerline is valid? [True, True] Translation: X:-4.37, Y:-201.92, Z:-1.81 [[-2.26103113e-01 -9.74102688e-01 1.15526660e-03 -4.37370189e+00] [-9.74082966e-01 2.26105894e-01 6.20482889e-03 -2.01922509e+02] [-6.30535309e-03 2.77605611e-04 -9.99980083e-01 -1.80997487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.506559995 meters 0.021757566300106276 Centerline is valid? [True, True] Translation: X:-4.42, Y:-202.03, Z:-1.81 [[-1.49907604e-01 -9.88699812e-01 6.25646243e-04 -4.42378941e+00] [-9.88682678e-01 1.49908693e-01 5.82624517e-03 -2.02033519e+02] [-5.85419732e-03 2.54832850e-04 -9.99982832e-01 -1.81020363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.53655999499995 meters 0.021884844764077004 Centerline is valid? [True, True] Translation: X:-4.46, Y:-202.15, Z:-1.81 [[-7.20602340e-02 -9.97400270e-01 1.55718799e-04 -4.46272261e+00] [-9.97386627e-01 7.20600635e-02 5.22143925e-03 -2.02154346e+02] [-5.21908602e-03 2.20946286e-04 -9.99986356e-01 -1.80995625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.566559995 meters 0.01957966026500414 Centerline is valid? [True, True] Translation: X:-4.50, Y:-202.28, Z:-1.81 [[ 9.37172010e-03 -9.99956068e-01 -1.82665796e-04 -4.49734981e+00] [-9.99948625e-01 -9.37235564e-03 3.86095930e-03 -2.02276693e+02] [-3.86250168e-03 1.46472582e-04 -9.99992530e-01 -1.81072568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.59655999499995 meters 0.018739654013944763 Centerline is valid? [True, True] Translation: X:-4.52, Y:-202.40, Z:-1.81 [[ 8.89901053e-02 -9.96032431e-01 -3.98196148e-04 -4.51868891e+00] [-9.96027325e-01 -8.89909249e-02 3.19100410e-03 -2.02401309e+02] [-3.21377941e-03 1.12646454e-04 -9.99994830e-01 -1.81074502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.626559995 meters 0.018904857422065872 Centerline is valid? [True, True] Translation: X:-4.53, Y:-202.52, Z:-1.81 [[ 1.68808100e-01 -9.85648782e-01 -5.51630121e-04 -4.52982072e+00] [-9.85645074e-01 -1.68808979e-01 2.70490735e-03 -2.02520159e+02] [-2.75920875e-03 8.71012404e-05 -9.99996190e-01 -1.81038602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.65655999499995 meters 0.016853809641098547 Centerline is valid? [True, True] Translation: X:-4.53, Y:-202.65, Z:-1.81 [[ 2.47692012e-01 -9.68838544e-01 -7.36096971e-04 -4.53352560e+00] [-9.68835119e-01 -2.47693095e-01 2.57755270e-03 -2.02648977e+02] [-2.67955854e-03 7.47173811e-05 -9.99996407e-01 -1.81035257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.686559995 meters 0.014815595546913867 Centerline is valid? [True, True] Translation: X:-4.53, Y:-202.77, Z:-1.81 [[ 3.28635340e-01 -9.44456198e-01 -1.14186390e-03 -4.53120752e+00] [-9.44451180e-01 -3.28637317e-01 3.07934110e-03 -2.02774828e+02] [-3.28356188e-03 6.64543962e-05 -9.99994607e-01 -1.80886989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.71655999499995 meters 0.014815595546913867 Centerline is valid? [True, True] Translation: X:-4.51, Y:-202.89, Z:-1.81 [[ 4.00194551e-01 -9.16429174e-01 -1.37496608e-03 -4.51301557e+00] [-9.16424323e-01 -4.00196907e-01 2.98254166e-03 -2.02892318e+02] [-3.28354536e-03 6.64554384e-05 -9.99994607e-01 -1.80887070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.746559995 meters 0.013909277900423246 Centerline is valid? [True, True] Translation: X:-4.49, Y:-203.01, Z:-1.81 [[ 4.72919988e-01 -8.81103453e-01 -1.84110249e-03 -4.49074035e+00] [-8.81097271e-01 -4.72923568e-01 3.30126640e-03 -2.03008851e+02] [-3.77945798e-03 6.09555140e-05 -9.99992856e-01 -1.80753993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.77655999499996 meters 0.013295601967028699 Centerline is valid? [True, True] Translation: X:-4.46, Y:-203.12, Z:-1.81 [[ 5.41978491e-01 -8.40389060e-01 -2.35438167e-03 -4.45861128e+00] [-8.40381554e-01 -5.41983602e-01 3.55226312e-03 -2.03124097e+02] [-4.26131932e-03 5.33287273e-05 -9.99990919e-01 -1.80622636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.806559995 meters 0.012421425340814977 Centerline is valid? [True, True] Translation: X:-4.42, Y:-203.23, Z:-1.81 [[ 6.09672823e-01 -7.92647872e-01 -2.89813891e-03 -4.42315319e+00] [-7.92639136e-01 -6.09679711e-01 3.72150062e-03 -2.03233309e+02] [-4.71677604e-03 2.82805320e-05 -9.99988876e-01 -1.80500975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.83655999499996 meters 0.012266103774621047 Centerline is valid? [True, True] Translation: X:-4.38, Y:-203.34, Z:-1.80 [[ 6.70185042e-01 -7.42187588e-01 -3.09729234e-03 -4.37683227e+00] [-7.42179772e-01 -6.70192199e-01 3.40617730e-03 -2.03335628e+02] [-4.60380368e-03 1.59786511e-05 -9.99989402e-01 -1.80487085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.86655999499993 meters 0.012209247361464804 Centerline is valid? [True, True] Translation: X:-4.32, Y:-203.43, Z:-1.80 [[ 7.26288615e-01 -6.87381960e-01 -3.29989688e-03 -4.32455888e+00] [-6.87374897e-01 -7.26296111e-01 3.11608558e-03 -2.03431503e+02] [-4.53864328e-03 5.08880280e-06 -9.99989700e-01 -1.80484656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.89655999499996 meters 0.012189105239901441 Centerline is valid? [True, True] Translation: X:-4.33, Y:-203.44, Z:-1.81 [[ 7.80462751e-01 -6.25194789e-01 -3.06110064e-03 -4.32946857e+00] [-6.25189917e-01 -7.80468754e-01 2.46801730e-03 -2.03444539e+02] [-3.93208496e-03 -1.24263164e-05 -9.99992269e-01 -1.80556291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.92655999499993 meters 0.012352879589584942 Centerline is valid? [True, True] Translation: X:-4.33, Y:-203.46, Z:-1.81 [[ 8.28158353e-01 -5.60487335e-01 -2.77299455e-03 -4.33208739e+00] [-5.60484120e-01 -8.28162996e-01 1.89839008e-03 -2.03456019e+02] [-3.36051507e-03 -1.79481904e-05 -9.99994353e-01 -1.80543807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.95655999499996 meters 0.0124732341511718 Centerline is valid? [True, True] Translation: X:-4.33, Y:-203.47, Z:-1.81 [[ 8.70497896e-01 -4.92165249e-01 -2.60406362e-03 -4.33325879e+00] [-4.92162969e-01 -8.70501790e-01 1.49815513e-03 -2.03469306e+02] [-3.00418194e-03 -2.25172077e-05 -9.99995487e-01 -1.80556553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.98655999499994 meters 0.012656457357445205 Centerline is valid? [True, True] Translation: X:-4.33, Y:-203.48, Z:-1.81 [[ 9.07096435e-01 -4.20916183e-01 -2.37176862e-03 -4.33315973e+00] [-4.20914673e-01 -9.07099535e-01 1.12775467e-03 -2.03481988e+02] [-2.62612041e-03 -2.46700292e-05 -9.99996551e-01 -1.80533980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.01655999499997 meters 0.013426061514493375 Centerline is valid? [True, True] Translation: X:-4.33, Y:-203.49, Z:-1.80 [[ 9.38190946e-01 -3.46109811e-01 -2.39726421e-03 -4.33372015e+00] [-3.46108596e-01 -9.38194009e-01 9.17676081e-04 -2.03494655e+02] [-2.56671562e-03 -3.12416416e-05 -9.99996706e-01 -1.80451903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.04655999499994 meters 0.01335324458074457 Centerline is valid? [True, True] Translation: X:-4.33, Y:-203.50, Z:-1.80 [[ 9.62723518e-01 -2.70474213e-01 -2.66996691e-03 -4.33092463e+00] [-2.70473065e-01 -9.62727219e-01 7.88935777e-04 -2.03503979e+02] [-2.78383661e-03 -3.73728925e-05 -9.99996124e-01 -1.80454655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.07655999499997 meters 0.01420484301100578 Centerline is valid? [True, True] Translation: X:-4.33, Y:-203.51, Z:-1.80 [[ 9.81075150e-01 -1.93608983e-01 -2.66673730e-03 -4.32871272e+00] [-1.93608160e-01 -9.81078774e-01 5.65897232e-04 -2.03514351e+02] [-2.72584215e-03 -3.88856097e-05 -9.99996284e-01 -1.80422708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.10655999499994 meters 0.013389218130127525 Centerline is valid? [True, True] Translation: X:-4.32, Y:-203.52, Z:-1.80 [[ 9.93277405e-01 -1.15720153e-01 -2.97384478e-03 -4.32373514e+00] [-1.15719500e-01 -9.93281855e-01 3.91230748e-04 -2.03523376e+02] [-2.99913934e-03 -4.44688308e-05 -9.99995502e-01 -1.80449217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.13655999499997 meters 0.014509727534060246 Centerline is valid? [True, True] Translation: X:-4.32, Y:-203.54, Z:-1.80 [[ 9.99329722e-01 -3.64115585e-02 -3.78219853e-03 -4.32303884e+00] [-3.64110679e-02 -9.99336878e-01 1.98522059e-04 -2.03535133e+02] [-3.78691896e-03 -6.06751067e-05 -9.99992828e-01 -1.80296120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.16655999499994 meters 0.014655062581067524 Centerline is valid? [True, True] Translation: X:-4.32, Y:-203.54, Z:-1.80 [[ 9.99086476e-01 4.24896096e-02 -4.56579611e-03 -4.32039174e+00] [ 4.24895117e-02 -9.99096906e-01 -1.18471832e-04 -2.03537991e+02] [-4.56670659e-03 -7.56348427e-05 -9.99989570e-01 -1.80201109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.196559995 meters 0.01408737598986839 Centerline is valid? [True, True] Translation: X:-4.32, Y:-203.54, Z:-1.80 [[ 9.92628392e-01 1.21061483e-01 -5.74395935e-03 -4.31741784e+00] [ 1.21060031e-01 -9.92645006e-01 -6.01191728e-04 -2.03543863e+02] [-5.77449373e-03 -9.86039188e-05 -9.99983323e-01 -1.80144123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.22655999499995 meters 0.01447938284010877 Centerline is valid? [True, True] Translation: X:-4.31, Y:-203.55, Z:-1.80 [[ 9.79836495e-01 1.99658059e-01 -7.55666639e-03 -4.31408869e+00] [ 1.99653229e-01 -9.79865623e-01 -1.39593482e-03 -2.03550008e+02] [-7.68322726e-03 -1.40924962e-04 -9.99970474e-01 -1.79954391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.256559995 meters 0.015211358998623888 Centerline is valid? [True, True] Translation: X:-4.31, Y:-203.56, Z:-1.80 [[ 9.61026340e-01 2.76331402e-01 -8.32649489e-03 -4.31101341e+00] [ 2.76322497e-01 -9.61062396e-01 -2.22444436e-03 -2.03556598e+02] [-8.61696496e-03 -1.63048238e-04 -9.99962860e-01 -1.79849944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.28655999499995 meters 0.01457513534321455 Centerline is valid? [True, True] Translation: X:-4.31, Y:-203.56, Z:-1.80 [[ 9.36417624e-01 3.50792344e-01 -8.17099649e-03 -4.30783155e+00] [ 3.50780515e-01 -9.36453258e-01 -2.88541892e-03 -2.03559498e+02] [-8.66393915e-03 -1.64269233e-04 -9.99962454e-01 -1.79900636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.316559995 meters 0.014269459856569846 Centerline is valid? [True, True] Translation: X:-4.30, Y:-203.57, Z:-1.80 [[ 9.06447984e-01 4.22244214e-01 -7.86614565e-03 -4.30395618e+00] [ 4.22229801e-01 -9.06482101e-01 -3.49218521e-03 -2.03565045e+02] [-8.60507524e-03 -1.55836873e-04 -9.99962964e-01 -1.79942091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.34655999499995 meters 0.014180002035287858 Centerline is valid? [True, True] Translation: X:-4.30, Y:-203.57, Z:-1.80 [[ 8.71192588e-01 4.90890017e-01 -7.10396871e-03 -4.30114133e+00] [ 4.90874971e-01 -8.71221540e-01 -3.84584497e-03 -2.03570414e+02] [-8.07701747e-03 -1.36688802e-04 -9.99967371e-01 -1.79954163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.376559995 meters 0.013667844729690164 Centerline is valid? [True, True] Translation: X:-4.30, Y:-203.57, Z:-1.80 [[ 8.31084365e-01 5.56116689e-01 -5.74510401e-03 -4.29737925e+00] [ 5.56104259e-01 -8.31104216e-01 -3.71968206e-03 -2.03574569e+02] [-6.84335743e-03 -1.03507204e-04 -9.99976579e-01 -1.80016039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.40655999499995 meters 0.012719140895712161 Centerline is valid? [True, True] Translation: X:-4.30, Y:-203.57, Z:-1.80 [[ 7.88462422e-01 6.15071431e-01 -3.76083524e-03 -4.29681520e+00] [ 6.15064707e-01 -7.88471390e-01 -2.87632692e-03 -2.03574617e+02] [-4.73445751e-03 -4.52813384e-05 -9.99988791e-01 -1.80217884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.436559995 meters 0.012316740185036283 Centerline is valid? [True, True] Translation: X:-4.29, Y:-203.58, Z:-1.80 [[ 7.40320094e-01 6.72248237e-01 -2.90985358e-03 -4.29336078e+00] [ 6.72243169e-01 -7.40325812e-01 -2.61051570e-03 -2.03577544e+02] [-3.90915429e-03 -2.35119614e-05 -9.99992359e-01 -1.80337560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.46655999499995 meters 0.012080821319289977 Centerline is valid? [True, True] Translation: X:-4.29, Y:-203.58, Z:-1.80 [[ 6.88147371e-01 7.25567299e-01 -2.30003476e-03 -4.29125026e+00] [ 7.25563284e-01 -6.88151215e-01 -2.41404585e-03 -2.03581090e+02] [-3.33432444e-03 -7.60147255e-06 -9.99994441e-01 -1.80405099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.496559995 meters 0.01239278323153669 Centerline is valid? [True, True] Translation: X:-4.29, Y:-203.58, Z:-1.80 [[ 6.35305511e-01 7.72259731e-01 -1.34730816e-03 -4.28999885e+00] [ 7.72257955e-01 -6.35306940e-01 -1.65626090e-03 -2.03582452e+02] [-2.13501782e-03 1.17622320e-05 -9.99997721e-01 -1.80479211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.52655999499996 meters 0.012906228366888178 Centerline is valid? [True, True] Translation: X:-4.29, Y:-203.59, Z:-1.80 [[ 5.75752916e-01 8.17623063e-01 -1.05225943e-03 -4.28736020e+00] [ 8.17621644e-01 -5.75753877e-01 -1.52320400e-03 -2.03587777e+02] [-1.85124917e-03 1.66390540e-05 -9.99998286e-01 -1.80484719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.556559995 meters 0.013540700175370924 Centerline is valid? [True, True] Translation: X:-4.29, Y:-203.59, Z:-1.80 [[ 5.13004240e-01 8.58385673e-01 -8.28610165e-04 -4.28644824e+00] [ 8.58384487e-01 -5.13004909e-01 -1.42672608e-03 -2.03590543e+02] [-1.64976231e-03 2.06504163e-05 -9.99998639e-01 -1.80491590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.58655999499996 meters 0.01432948296522107 Centerline is valid? [True, True] Translation: X:-4.29, Y:-203.59, Z:-1.80 [[ 4.46757868e-01 8.94654608e-01 -7.34435523e-04 -4.28675800e+00] [ 8.94653302e-01 -4.46758471e-01 -1.52899759e-03 -2.03594656e+02] [-1.69604003e-03 2.60265385e-05 -9.99998561e-01 -1.80497698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.61655999499993 meters 0.014711861377190808 Centerline is valid? [True, True] Translation: X:-4.28, Y:-203.60, Z:-1.80 [[ 3.78849692e-01 9.25457585e-01 -1.08157264e-03 -4.28241470e+00] [ 9.25453367e-01 -3.78851232e-01 -2.79450946e-03 -2.03599487e+02] [-2.99595510e-03 5.77540074e-05 -9.99995511e-01 -1.80394757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.64655999499996 meters 0.016039440949464596 Centerline is valid? [True, True] Translation: X:-4.28, Y:-203.60, Z:-1.80 [[ 3.06254299e-01 9.51949041e-01 -1.15194651e-03 -4.27914849e+00] [ 9.51941266e-01 -3.06256454e-01 -3.84839681e-03 -2.03604885e+02] [-4.01626871e-03 8.20026451e-05 -9.99991931e-01 -1.80257041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.67655999499993 meters 0.01659280589379242 Centerline is valid? [True, True] Translation: X:-4.28, Y:-203.61, Z:-1.80 [[ 2.31626929e-01 9.72804142e-01 -1.03267394e-03 -4.27879306e+00] [ 9.72792362e-01 -2.31629207e-01 -4.78862071e-03 -2.03609658e+02] [-4.89758751e-03 1.04596182e-04 -9.99988001e-01 -1.80152154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.70655999499996 meters 0.015697196734175838 Centerline is valid? [True, True] Translation: X:-4.27, Y:-203.62, Z:-1.80 [[ 1.55365006e-01 9.87856856e-01 -7.39264647e-04 -4.27074115e+00] [ 9.87841645e-01 -1.55366717e-01 -5.48341102e-03 -2.03615092e+02] [-5.53168230e-03 1.21653779e-04 -9.99984693e-01 -1.80096081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.73655999499994 meters 0.016047962203387407 Centerline is valid? [True, True] Translation: X:-4.27, Y:-203.62, Z:-1.80 [[ 7.78906245e-02 9.96961847e-01 -3.54508139e-04 -4.26550100e+00] [ 9.96941499e-01 -7.78913003e-02 -6.37120272e-03 -2.03620148e+02] [-6.37945913e-03 1.42833083e-04 -9.99979641e-01 -1.79971245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.76655999499997 meters 0.01593920386469972 Centerline is valid? [True, True] Translation: X:-4.26, Y:-203.62, Z:-1.80 [[-1.33952359e-03 9.99999092e-01 1.46598721e-04 -4.25861172e+00] [ 9.99978465e-01 1.34043777e-03 -6.42442809e-03 -2.03623867e+02] [-6.42461876e-03 1.37989891e-04 -9.99979352e-01 -1.79960582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.79655999499994 meters 0.015503752505039244 Centerline is valid? [True, True] Translation: X:-4.25, Y:-203.63, Z:-1.80 [[-8.07943321e-02 9.96730600e-01 6.22500068e-04 -4.25152324e+00] [ 9.96711760e-01 8.07966331e-02 -6.12955319e-03 -2.03626926e+02] [-6.15980914e-03 1.25219982e-04 -9.99981020e-01 -1.80003298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.82655999499997 meters 0.014159187132632756 Centerline is valid? [True, True] Translation: X:-4.24, Y:-203.63, Z:-1.80 [[-1.60855654e-01 9.86977369e-01 1.06356456e-03 -4.23854439e+00] [ 9.86959994e-01 1.60859135e-01 -5.85732452e-03 -2.03628706e+02] [-5.95213082e-03 1.07511904e-04 -9.99982280e-01 -1.80085888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.85655999499994 meters 0.014235802682236353 Centerline is valid? [True, True] Translation: X:-4.23, Y:-203.63, Z:-1.80 [[-2.38918382e-01 9.71038588e-01 1.43804738e-03 -4.22875395e+00] [ 9.71023309e-01 2.38922691e-01 -5.44813946e-03 -2.03630673e+02] [-5.63393579e-03 9.47168631e-05 -9.99984125e-01 -1.80093171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.88655999499997 meters 0.01397461742994743 Centerline is valid? [True, True] Translation: X:-4.22, Y:-203.63, Z:-1.80 [[-3.15584423e-01 9.48895935e-01 1.72544207e-03 -4.21951856e+00] [ 9.48883114e-01 3.15589130e-01 -4.93318577e-03 -2.03631970e+02] [-5.22561068e-03 8.04062570e-05 -9.99986343e-01 -1.80103209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.91655999499994 meters 0.01352150591369565 Centerline is valid? [True, True] Translation: X:-4.21, Y:-203.63, Z:-1.80 [[-3.90392856e-01 9.20646750e-01 1.72601321e-03 -4.21030749e+00] [ 9.20638411e-01 3.90396667e-01 -3.91905741e-03 -2.03632089e+02] [-4.28189728e-03 5.90620426e-05 -9.99990831e-01 -1.80128202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.946559995 meters 0.012842810492218937 Centerline is valid? [True, True] Translation: X:-4.20, Y:-203.63, Z:-1.80 [[-4.64902880e-01 8.85360097e-01 1.67623601e-03 -4.19869639e+00] [ 8.85354607e-01 4.64905901e-01 -3.11815288e-03 -2.03631764e+02] [-3.53998014e-03 3.44250178e-05 -9.99993734e-01 -1.80126812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.97655999499995 meters 0.012397546009097997 Centerline is valid? [True, True] Translation: X:-4.19, Y:-203.63, Z:-1.80 [[-5.35047575e-01 8.44820039e-01 1.78754805e-03 -4.18753520e+00] [ 8.44815469e-01 5.35050560e-01 -2.77874619e-03 -2.03628175e+02] [-3.30396905e-03 2.33868376e-05 -9.99994542e-01 -1.80136197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.006559995 meters 0.012306613523320126 Centerline is valid? [True, True] Translation: X:-4.18, Y:-203.63, Z:-1.80 [[-6.01551465e-01 7.98831754e-01 1.91388248e-03 -4.17793042e+00] [ 7.98827788e-01 6.01554510e-01 -2.51736069e-03 -2.03625396e+02] [-3.16225229e-03 1.45404950e-05 -9.99995000e-01 -1.80072946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.03655999499995 meters 0.01201527522760725 Centerline is valid? [True, True] Translation: X:-4.17, Y:-203.62, Z:-1.80 [[-6.64456583e-01 7.47324220e-01 1.98969889e-03 -4.17047773e+00] [ 7.47320893e-01 6.64459562e-01 -2.23016358e-03 -2.03622781e+02] [-2.98872971e-03 5.09667774e-06 -9.99995534e-01 -1.80108256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.066559995 meters 0.011987969094428825 Centerline is valid? [True, True] Translation: X:-4.16, Y:-203.62, Z:-1.80 [[-7.24879932e-01 6.88871145e-01 2.37267404e-03 -4.15989406e+00] [ 6.88867397e-01 7.24883815e-01 -2.27266280e-03 -2.03615598e+02] [-3.28548484e-03 -1.29498618e-05 -9.99994603e-01 -1.80085062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.09655999499995 meters 0.012145660683058087 Centerline is valid? [True, True] Translation: X:-4.14, Y:-203.59, Z:-1.80 [[-7.73520635e-01 6.33764773e-01 2.83535403e-03 -4.13917730e+00] [ 6.33760399e-01 7.73525831e-01 -2.35474551e-03 -2.03593830e+02] [-3.68557434e-03 -2.45091432e-05 -9.99993208e-01 -1.80052479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.126559995 meters 0.012831073931926638 Centerline is valid? [True, True] Translation: X:-4.12, Y:-203.57, Z:-1.80 [[-8.19333704e-01 5.73307653e-01 3.25840460e-03 -4.12289657e+00] [ 5.73302891e-01 8.19340182e-01 -2.33717776e-03 -2.03565554e+02] [-4.00966371e-03 -4.68757386e-05 -9.99991960e-01 -1.79984939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.15655999499995 meters 0.013251862190393216 Centerline is valid? [True, True] Translation: X:-3.72, Y:-203.01, Z:-2.79 [[-7.62806590e-01 -6.46618503e-01 3.25834318e-03 -3.72085312e+00] [ 6.46612951e-01 -7.62813547e-01 -2.68040252e-03 -2.03013781e+02] [ 4.21870618e-03 6.22581950e-05 9.99991099e-01 -2.79257508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.186559995 meters 0.013667388787233505 Centerline is valid? [True, True] Translation: X:-4.15, Y:-203.54, Z:-1.80 [[-8.23564136e-01 5.67212335e-01 3.50444625e-03 -4.15479194e+00] [ 5.67206850e-01 8.23571589e-01 -2.49523421e-03 -2.03538382e+02] [-4.30148999e-03 -6.72394891e-05 -9.99990746e-01 -1.79897978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.21655999499995 meters 0.013594959953173119 Centerline is valid? [True, True] Translation: X:-4.14, Y:-203.52, Z:-1.80 [[-8.62293379e-01 5.06395755e-01 3.66982467e-03 -4.13845942e+00] [ 5.06390808e-01 8.62301185e-01 -2.23949143e-03 -2.03515068e+02] [-4.29856312e-03 -7.27331456e-05 -9.99990759e-01 -1.79872343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.246559995 meters 0.014009350710096145 Centerline is valid? [True, True] Translation: X:-4.13, Y:-203.49, Z:-1.80 [[-8.96251514e-01 4.43521557e-01 4.67472055e-03 -4.12953472e+00] [ 4.43514983e-01 8.96263700e-01 -2.41661920e-03 -2.03486527e+02] [-5.26160504e-03 -9.25900100e-05 -9.99986153e-01 -1.79785596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.27655999499996 meters 0.013894228207204292 Centerline is valid? [True, True] Translation: X:-4.12, Y:-203.46, Z:-1.80 [[-9.25256020e-01 3.79308191e-01 5.15685252e-03 -4.11648656e+00] [ 3.79301717e-01 9.25270386e-01 -2.21816535e-03 -2.03462496e+02] [-5.61285121e-03 -9.63678276e-05 -9.99984243e-01 -1.79745072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.306559995 meters 0.01368311518138591 Centerline is valid? [True, True] Translation: X:-4.10, Y:-203.44, Z:-1.80 [[-9.49557332e-01 3.13541353e-01 5.71781851e-03 -4.10154604e+00] [ 3.13535039e-01 9.49574542e-01 -1.99229496e-03 -2.03439743e+02] [-6.05416175e-03 -9.90618384e-05 -9.99981669e-01 -1.79695225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.33655999499996 meters 0.013145934048730776 Centerline is valid? [True, True] Translation: X:-3.88, Y:-202.80, Z:-2.79 [[-9.14681571e-01 -4.04133941e-01 5.77770014e-03 -3.87727206e+00] [ 4.04126670e-01 -9.14699811e-01 -2.42689469e-03 -2.02800701e+02] [ 6.26565174e-03 1.15086871e-04 9.99980364e-01 -2.79493336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.36655999499993 meters 0.012759340012218413 Centerline is valid? [True, True] Translation: X:-4.15, Y:-203.43, Z:-1.80 [[-9.49374653e-01 3.14092108e-01 5.82378091e-03 -4.14677751e+00] [ 3.14085717e-01 9.49392512e-01 -2.00500923e-03 -2.03429868e+02] [-6.15881157e-03 -7.43385371e-05 -9.99981032e-01 -1.79738316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.39655999499996 meters 0.012506725566579323 Centerline is valid? [True, True] Translation: X:-3.91, Y:-202.79, Z:-2.80 [[-9.18093735e-01 -3.96316836e-01 6.07114166e-03 -3.91323680e+00] [ 3.96308914e-01 -9.18113803e-01 -2.50798047e-03 -2.02785228e+02] [ 6.56795384e-03 1.03486398e-04 9.99978425e-01 -2.79523915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.42655999499993 meters 0.012194488978374695 Centerline is valid? [True, True] Translation: X:-4.19, Y:-203.42, Z:-1.80 [[-9.48950900e-01 3.15351805e-01 6.74004657e-03 -4.19205938e+00] [ 3.15343478e-01 9.48974835e-01 -2.29225882e-03 -2.03419540e+02] [-7.11900253e-03 -4.98113484e-05 -9.99974658e-01 -1.79654178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.45655999499996 meters 0.012020595006486582 Centerline is valid? [True, True] Translation: X:-4.18, Y:-203.40, Z:-1.80 [[-9.68449402e-01 2.49094933e-01 7.58095609e-03 -4.17668815e+00] [ 2.49086975e-01 9.68479072e-01 -1.99141568e-03 -2.03396832e+02] [-7.83804887e-03 -4.02678983e-05 -9.99969281e-01 -1.79611484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.48655999499994 meters 0.011922954555029628 Centerline is valid? [True, True] Translation: X:-4.17, Y:-203.37, Z:-1.80 [[-9.83341953e-01 1.81586384e-01 8.06154787e-03 -4.17142805e+00] [ 1.81580057e-01 9.83374997e-01 -1.51609887e-03 -2.03371519e+02] [-8.20282753e-03 -2.70272962e-05 -9.99966356e-01 -1.79587882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.51655999499997 meters 0.0120128885289508 Centerline is valid? [True, True] Translation: X:-4.17, Y:-203.35, Z:-1.80 [[-9.93199180e-01 1.16050198e-01 9.36697423e-03 -4.17166125e+00] [ 1.16045172e-01 9.93243350e-01 -1.08012406e-03 -2.03348891e+02] [-9.42903347e-03 1.42138069e-05 -9.99955546e-01 -1.79543796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.54655999499994 meters 0.012129019746536995 Centerline is valid? [True, True] Translation: X:-4.17, Y:-203.32, Z:-1.80 [[-9.98813090e-01 4.77422789e-02 9.64808089e-03 -4.16676674e+00] [ 4.77404305e-02 9.98859687e-01 -4.21931765e-04 -2.03324180e+02] [-9.65722303e-03 3.91725651e-05 -9.99953367e-01 -1.79550320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.57655999499997 meters 0.01250536442074288 Centerline is valid? [True, True] Translation: X:-4.17, Y:-203.30, Z:-1.80 [[-9.99730719e-01 -2.06615385e-02 1.05636144e-02 -4.16634137e+00] [-2.06596196e-02 9.99786525e-01 2.90756184e-04 -2.03299076e+02] [-1.05673668e-02 7.24376338e-05 -9.99944161e-01 -1.79524848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.60655999499994 meters 0.01250536442074288 Centerline is valid? [True, True] Translation: X:-4.18, Y:-202.58, Z:-2.80 [[-9.99402289e-01 -3.29241024e-02 1.05389160e-02 -4.18234409e+00] [ 3.29214949e-02 -9.99457852e-01 -4.20853521e-04 -2.02578250e+02] [ 1.05470586e-02 -7.36451018e-05 9.99944376e-01 -2.79662396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.63655999499997 meters 0.013465021630617373 Centerline is valid? [True, True] Translation: X:-4.26, Y:-203.31, Z:-1.80 [[-9.99712956e-01 -2.14609004e-02 1.06506418e-02 -4.26379842e+00] [-2.14582918e-02 9.99769680e-01 3.59144671e-04 -2.03305659e+02] [-1.06558963e-02 1.30497001e-04 -9.99943216e-01 -1.79598347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.66655999499994 meters 0.013775280654664865 Centerline is valid? [True, True] Translation: X:-4.29, Y:-202.57, Z:-2.80 [[-9.99766525e-01 -1.92035688e-02 9.90547765e-03 -4.28524362e+00] [ 1.92009487e-02 -9.99815580e-01 -3.59554257e-04 -2.02574746e+02] [ 9.91055560e-03 -1.69275742e-04 9.99950875e-01 -2.79529220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.696559995 meters 0.014325627413597025 Centerline is valid? [True, True] Translation: X:-4.36, Y:-203.31, Z:-1.80 [[-9.99680642e-01 -2.34415464e-02 9.43974786e-03 -4.35984138e+00] [-2.34390249e-02 9.99725197e-01 3.77673097e-04 -2.03310062e+02] [-9.44600703e-03 1.56293999e-04 -9.99955373e-01 -1.79703178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.72655999499995 meters 0.014963810398421642 Centerline is valid? [True, True] Translation: X:-4.37, Y:-203.28, Z:-1.80 [[-9.95678101e-01 -9.24643413e-02 8.68703066e-03 -4.36800813e+00] [-9.24593860e-02 9.95715983e-01 9.71171168e-04 -2.03283985e+02] [-8.73961398e-03 1.63776343e-04 -9.99961795e-01 -1.79763737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.756559995 meters 0.01568398800891542 Centerline is valid? [True, True] Translation: X:-4.38, Y:-203.26, Z:-1.80 [[-9.87168215e-01 -1.59487097e-01 7.92345415e-03 -4.38493282e+00] [-1.59480441e-01 9.87199996e-01 1.46886566e-03 -2.03259079e+02] [-8.05629902e-03 1.86381524e-04 -9.99967530e-01 -1.79923739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.78655999499995 meters 0.01661783284205567 Centerline is valid? [True, True] Translation: X:-4.42, Y:-203.24, Z:-1.80 [[-9.73683622e-01 -2.27781687e-01 7.46369797e-03 -4.41940749e+00] [-2.27773413e-01 9.73712207e-01 1.95182436e-03 -2.03238618e+02] [-7.71208367e-03 2.00427452e-04 -9.99970241e-01 -1.79924055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.816559995 meters 0.01863701230827822 Centerline is valid? [True, True] Translation: X:-4.48, Y:-203.23, Z:-1.80 [[-9.56035695e-01 -2.93154669e-01 7.48933894e-03 -4.47758313e+00] [-2.93143595e-01 9.56064996e-01 2.56057213e-03 -2.03228999e+02] [-7.91093848e-03 2.52546616e-04 -9.99968676e-01 -1.79891750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.84655999499995 meters 0.019322689037277803 Centerline is valid? [True, True] Translation: X:-4.54, Y:-203.22, Z:-1.80 [[-9.32898106e-01 -3.60062131e-01 7.50901940e-03 -4.54488801e+00] [-3.60047973e-01 9.32928282e-01 3.20591585e-03 -2.03224959e+02] [-8.15970546e-03 2.87185609e-04 -9.99966668e-01 -1.79860965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.876559995 meters 0.020943437356030083 Centerline is valid? [True, True] Translation: X:-4.62, Y:-203.23, Z:-1.80 [[-9.04763902e-01 -4.25851498e-01 7.26524500e-03 -4.62098351e+00] [-4.25834968e-01 9.04793017e-01 3.76518911e-03 -2.03230910e+02] [-8.17695437e-03 3.12811816e-04 -9.99966519e-01 -1.79810790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.90655999499995 meters 0.02120745152148459 Centerline is valid? [True, True] Translation: X:-4.70, Y:-203.24, Z:-1.80 [[-8.72775228e-01 -4.88070751e-01 7.09531879e-03 -4.70422022e+00] [-4.88051212e-01 8.72803994e-01 4.38208022e-03 -2.03242904e+02] [-8.33158776e-03 3.61692129e-04 -9.99965226e-01 -1.79846300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.936559995 meters 0.020888928682711312 Centerline is valid? [True, True] Translation: X:-4.80, Y:-203.27, Z:-1.80 [[-8.34488894e-01 -5.50985518e-01 6.57606748e-03 -4.79542063e+00] [-5.50964896e-01 8.34514724e-01 4.78100194e-03 -2.03267530e+02] [-8.12208797e-03 3.66510683e-04 -9.99966948e-01 -1.79865414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.96655999499995 meters 0.022911888469716778 Centerline is valid? [True, True] Translation: X:-4.88, Y:-203.30, Z:-1.80 [[-7.91022891e-01 -6.11754862e-01 6.22691638e-03 -4.88446291e+00] [-6.11732098e-01 7.91047311e-01 5.29073250e-03 -2.03302821e+02] [-8.16241679e-03 3.75885891e-04 -9.99966616e-01 -1.79857977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.996559995 meters 0.026701469751953144 Centerline is valid? [True, True] Translation: X:-4.98, Y:-203.35, Z:-1.80 [[-7.42288165e-01 -6.70051266e-01 6.29131461e-03 -4.97594822e+00] [-6.70022456e-01 7.42314714e-01 6.22688873e-03 -2.03349738e+02] [-8.84247009e-03 4.06823747e-04 -9.99960822e-01 -1.79761041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.02655999499996 meters 0.022464350851130816 Centerline is valid? [True, True] Translation: X:-5.07, Y:-203.40, Z:-1.80 [[-6.88306045e-01 -7.25397279e-01 5.79450759e-03 -5.07399033e+00] [-7.25366616e-01 6.88330321e-01 6.68145962e-03 -2.03401877e+02] [-8.83524789e-03 3.95746684e-04 -9.99960890e-01 -1.79894807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.056559995 meters 0.019838117822171084 Centerline is valid? [True, True] Translation: X:-5.17, Y:-203.46, Z:-1.80 [[-6.30163515e-01 -7.76443537e-01 5.42020818e-03 -5.16784888e+00] [-7.76409237e-01 6.30186700e-01 7.30889135e-03 -2.03463874e+02] [-9.09068456e-03 3.97496968e-04 -9.99958600e-01 -1.79980390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.08655999499996 meters 0.020654111466266174 Centerline is valid? [True, True] Translation: X:-5.26, Y:-203.54, Z:-1.80 [[-5.67525783e-01 -8.23341790e-01 4.77317669e-03 -5.25567000e+00] [-8.23306927e-01 5.67545731e-01 7.58598732e-03 -2.03540176e+02] [-8.95485643e-03 3.75453954e-04 -9.99959834e-01 -1.79943928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.11655999499993 meters 0.019032486260659693 Centerline is valid? [True, True] Translation: X:-5.34, Y:-203.62, Z:-1.80 [[-4.99545895e-01 -8.66277384e-01 4.17049272e-03 -5.34213929e+00] [-8.66241323e-01 4.99563188e-01 7.91153884e-03 -2.03616848e+02] [-8.93701181e-03 3.39523623e-04 -9.99960007e-01 -1.79975215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.14655999499996 meters 0.01867697231417214 Centerline is valid? [True, True] Translation: X:-5.42, Y:-203.71, Z:-1.80 [[-4.30289063e-01 -9.02684382e-01 3.49696779e-03 -5.42022891e+00] [-9.02648290e-01 4.30303155e-01 8.07840679e-03 -2.03705912e+02] [-8.79700792e-03 3.19518095e-04 -9.99961255e-01 -1.79983108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.17655999499993 meters 0.01844851468199441 Centerline is valid? [True, True] Translation: X:-5.49, Y:-203.81, Z:-1.80 [[-3.58227910e-01 -9.33629852e-01 2.83964722e-03 -5.49260508e+00] [-9.33593530e-01 3.58239038e-01 8.24092570e-03 -2.03805996e+02] [-8.71124673e-03 3.01053317e-04 -9.99962011e-01 -1.79998075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.20655999499996 meters 0.018311227819477926 Centerline is valid? [True, True] Translation: X:-5.56, Y:-203.91, Z:-1.80 [[-2.83165933e-01 -9.59068260e-01 2.26431479e-03 -5.55726725e+00] [-9.59028961e-01 2.83174840e-01 8.68688279e-03 -2.03905110e+02] [-8.97251054e-03 2.88285815e-04 -9.99959705e-01 -1.79972775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.23655999499994 meters 0.017838433756002917 Centerline is valid? [True, True] Translation: X:-5.61, Y:-204.01, Z:-1.80 [[-2.07910898e-01 -9.78146381e-01 1.64808747e-03 -5.61257185e+00] [-9.78103610e-01 2.07917227e-01 9.15179470e-03 -2.04011764e+02] [-9.29446064e-03 2.90757551e-04 -9.99956763e-01 -1.80042551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.26655999499997 meters 0.017974848776700688 Centerline is valid? [True, True] Translation: X:-5.66, Y:-204.13, Z:-1.80 [[-1.31307577e-01 -9.91341240e-01 9.30950567e-04 -5.65910087e+00] [-9.91298988e-01 1.31310580e-01 9.15682928e-03 -2.04125063e+02] [-9.19978615e-03 2.79510714e-04 -9.99957642e-01 -1.80067603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.29655999499994 meters 0.01752462625515657 Centerline is valid? [True, True] Translation: X:-5.70, Y:-204.24, Z:-1.80 [[-5.36284736e-02 -9.98560936e-01 2.08244439e-04 -5.69798158e+00] [-9.98524570e-01 5.36282985e-02 8.52579146e-03 -2.04242848e+02] [-8.52469010e-03 2.49287993e-04 -9.99963633e-01 -1.80131864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.32655999499997 meters 0.01725438484069197 Centerline is valid? [True, True] Translation: X:-5.73, Y:-204.36, Z:-1.80 [[ 2.55701628e-02 -9.99672919e-01 -4.70651095e-04 -5.73148659e+00] [-9.99632727e-01 -2.55733566e-02 8.96741562e-03 -2.04362575e+02] [-8.97651868e-03 2.41179960e-04 -9.99959681e-01 -1.80076870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.35655999499994 meters 0.0160634098248922 Centerline is valid? [True, True] Translation: X:-5.75, Y:-204.48, Z:-1.80 [[ 1.03606189e-01 -9.94617681e-01 -1.19425997e-03 -5.75391954e+00] [-9.94575271e-01 -1.03612804e-01 9.18793698e-03 -2.04484889e+02] [-9.26222519e-03 2.35854298e-04 -9.99957077e-01 -1.80046177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.38655999499997 meters 0.016598555552040956 Centerline is valid? [True, True] Translation: X:-5.76, Y:-204.60, Z:-1.80 [[ 1.81081993e-01 -9.83466199e-01 -1.88358359e-03 -5.76426931e+00] [-9.83424912e-01 -1.81091655e-01 9.01409502e-03 -2.04603962e+02] [-9.20615903e-03 2.20072737e-04 -9.99957598e-01 -1.79934687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.41655999499994 meters 0.016039057913683496 Centerline is valid? [True, True] Translation: X:-5.77, Y:-204.72, Z:-1.80 [[ 2.57637811e-01 -9.66237495e-01 -2.80372518e-03 -5.76926451e+00] [-9.66189315e-01 -2.57652970e-01 9.65164136e-03 -2.04722591e+02] [-1.00481659e-02 2.22301555e-04 -9.99949491e-01 -1.79908322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.446559995 meters 0.015039653753891375 Centerline is valid? [True, True] Translation: X:-5.76, Y:-204.84, Z:-1.80 [[ 3.30913003e-01 -9.43654706e-01 -3.51846572e-03 -5.76259434e+00] [-9.43608247e-01 -3.30931634e-01 9.36644451e-03 -2.04843585e+02] [-1.00030611e-02 2.20574984e-04 -9.99949944e-01 -1.79984280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.47655999499995 meters 0.015576163526234473 Centerline is valid? [True, True] Translation: X:-5.75, Y:-204.96, Z:-1.80 [[ 4.00606507e-01 -9.16238047e-01 -4.71889847e-03 -5.74960258e+00] [-9.16182061e-01 -4.00634212e-01 1.01321461e-02 -2.04956252e+02] [-1.11740099e-02 2.64366459e-04 -9.99937534e-01 -1.79910437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.506559995 meters 0.016712508394433986 Centerline is valid? [True, True] Translation: X:-5.73, Y:-205.07, Z:-1.80 [[ 4.66197387e-01 -8.84658129e-01 -6.32386212e-03 -5.72695466e+00] [-8.84586713e-01 -4.66240143e-01 1.12461298e-02 -2.05067123e+02] [-1.28974185e-02 3.51088087e-04 -9.99916763e-01 -1.79773192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.53655999499995 meters 0.01671225935363503 Centerline is valid? [True, True] Translation: X:-5.70, Y:-205.17, Z:-1.80 [[ 5.30157284e-01 -8.47868453e-01 -7.23469641e-03 -5.69564624e+00] [-8.47799248e-01 -5.30206504e-01 1.08396654e-02 -2.05174775e+02] [-1.30264935e-02 3.86842587e-04 -9.99915077e-01 -1.79823084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.566559995 meters 0.01671225935363503 Centerline is valid? [True, True] Translation: X:-5.66, Y:-205.28, Z:-1.80 [[ 5.93084405e-01 -8.05100168e-01 -8.03792841e-03 -5.65635384e+00] [-8.05034906e-01 -5.93138745e-01 1.02581824e-02 -2.05277555e+02] [-1.30264711e-02 3.86844958e-04 -9.99915077e-01 -1.79823186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.59655999499995 meters 0.017933367272777827 Centerline is valid? [True, True] Translation: X:-5.61, Y:-205.37, Z:-1.80 [[ 6.50431063e-01 -7.59516422e-01 -8.61607837e-03 -5.61195843e+00] [-7.59458042e-01 -6.50487997e-01 9.42593490e-03 -2.05371963e+02] [-1.27638079e-02 4.12629150e-04 -9.99918454e-01 -1.79835825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.626559995 meters 0.02113229731672244 Centerline is valid? [True, True] Translation: X:-5.56, Y:-205.46, Z:-1.80 [[ 7.02109576e-01 -7.12007333e-01 -9.36489803e-03 -5.56007512e+00] [-7.11953076e-01 -7.02171860e-01 8.80322333e-03 -2.05460928e+02] [-1.28437274e-02 4.86540563e-04 -9.99917398e-01 -1.79866586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.65655999499995 meters 0.019112249643207433 Centerline is valid? [True, True] Translation: X:-5.57, Y:-205.48, Z:-1.80 [[ 7.53797092e-01 -6.57036181e-01 -9.66443594e-03 -5.56592510e+00] [-6.56990595e-01 -7.53858875e-01 7.75595038e-03 -2.05477758e+02] [-1.23815608e-02 5.03030676e-04 -9.99923219e-01 -1.80020243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.686559995 meters 0.020201169100454372 Centerline is valid? [True, True] Translation: X:-5.57, Y:-205.49, Z:-1.80 [[ 8.01493922e-01 -5.97915049e-01 -1.02512477e-02 -5.56752861e+00] [-5.97874496e-01 -8.01559300e-01 6.98389906e-03 -2.05491361e+02] [-1.23927612e-02 5.31406886e-04 -9.99923066e-01 -1.80008288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.71655999499995 meters 0.020817179501999614 Centerline is valid? [True, True] Translation: X:-5.57, Y:-205.51, Z:-1.80 [[ 8.44110170e-01 -5.36066171e-01 -1.05395123e-02 -5.56918347e+00] [-5.36032534e-01 -8.44175781e-01 6.03111685e-03 -2.05507611e+02] [-1.21302787e-02 5.58594410e-04 -9.99926269e-01 -1.80022378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.746559995 meters 0.021302723082870224 Centerline is valid? [True, True] Translation: X:-5.57, Y:-205.52, Z:-1.80 [[ 8.83080803e-01 -4.69096637e-01 -1.08000686e-02 -5.56929239e+00] [-4.69069195e-01 -8.83146666e-01 5.10454522e-03 -2.05522031e+02] [-1.19325696e-02 5.58253598e-04 -9.99928649e-01 -1.80016693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.77655999499996 meters 0.021517935233650826 Centerline is valid? [True, True] Translation: X:-5.57, Y:-205.54, Z:-1.80 [[ 9.17193890e-01 -3.98304263e-01 -1.04442289e-02 -5.56799791e+00] [-3.98284812e-01 -9.17253207e-01 3.97033529e-03 -2.05538018e+02] [-1.11614039e-02 5.18210465e-04 -9.99937575e-01 -1.80061294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.806559995 meters 0.02096143665833243 Centerline is valid? [True, True] Translation: X:-5.57, Y:-205.55, Z:-1.80 [[ 9.45837763e-01 -3.24473993e-01 -1.03708045e-02 -5.56602748e+00] [-3.24460141e-01 -9.45894490e-01 3.03817058e-03 -2.05553917e+02] [-1.07954942e-02 4.91296219e-04 -9.99941606e-01 -1.80112583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.83655999499996 meters 0.021135920190996162 Centerline is valid? [True, True] Translation: X:-5.56, Y:-205.57, Z:-1.80 [[ 9.68705479e-01 -2.47984603e-01 -1.06457686e-02 -5.56325451e+00] [-2.47975013e-01 -9.68763856e-01 2.23251833e-03 -2.05567653e+02] [-1.08668660e-02 4.77231863e-04 -9.99940840e-01 -1.80110810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.86655999499993 meters 0.019472214269774343 Centerline is valid? [True, True] Translation: X:-5.56, Y:-205.59, Z:-1.80 [[ 9.85964741e-01 -1.66619225e-01 -1.05623829e-02 -5.56152743e+00] [-1.66614170e-01 -9.86021227e-01 1.36294839e-03 -2.05586391e+02] [-1.06418272e-02 4.16023608e-04 -9.99943288e-01 -1.80092729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.89655999499996 meters 0.019099133904534916 Centerline is valid? [True, True] Translation: X:-5.56, Y:-205.60, Z:-1.80 [[ 9.96238023e-01 -8.60420117e-02 -1.03234688e-02 -5.55951821e+00] [-8.60412783e-02 -9.96291439e-01 5.15982072e-04 -2.05600093e+02] [-1.03295797e-02 3.74203489e-04 -9.99946579e-01 -1.80032663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.92655999499993 meters 0.017296870560700756 Centerline is valid? [True, True] Translation: X:-5.55, Y:-205.62, Z:-1.80 [[ 9.99959344e-01 -1.53775459e-03 -8.88518896e-03 -5.55445911e+00] [-1.54005939e-03 -9.99998782e-01 -2.52561653e-04 -2.05617176e+02] [-8.88478976e-03 2.66235103e-04 -9.99960494e-01 -1.80084288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.95655999499996 meters 0.01605651889593947 Centerline is valid? [True, True] Translation: X:-5.55, Y:-205.63, Z:-1.80 [[ 9.96759473e-01 8.00346787e-02 -8.06244650e-03 -5.54850482e+00] [ 8.00303055e-02 -9.96792056e-01 -8.64112022e-04 -2.05631053e+02] [-8.10574155e-03 2.16071787e-04 -9.99967125e-01 -1.80153816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.98655999499994 meters 0.01479308806245645 Centerline is valid? [True, True] Translation: X:-5.54, Y:-205.65, Z:-1.80 [[ 9.86970959e-01 1.60736567e-01 -7.21678386e-03 -5.54081151e+00] [ 1.60730980e-01 -9.86997328e-01 -1.35140748e-03 -2.05645911e+02] [-7.34016699e-03 1.73839198e-04 -9.99973046e-01 -1.80204141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.01655999499997 meters 0.014855043467487153 Centerline is valid? [True, True] Translation: X:-5.53, Y:-205.66, Z:-1.80 [[ 9.70705225e-01 2.40174628e-01 -6.89310352e-03 -5.53300896e+00] [ 2.40167477e-01 -9.70729687e-01 -1.85930156e-03 -2.05657365e+02] [-7.13789729e-03 1.49334450e-04 -9.99974514e-01 -1.80189054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.04655999499994 meters 0.013529301327300658 Centerline is valid? [True, True] Translation: X:-5.52, Y:-205.67, Z:-1.80 [[ 9.47448233e-01 3.19861501e-01 -5.51967052e-03 -5.52185645e+00] [ 3.19855486e-01 -9.47464306e-01 -1.96387955e-03 -2.05671243e+02] [-5.85786025e-03 9.51773085e-05 -9.99982838e-01 -1.80214860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.07655999499997 meters 0.013073944477205862 Centerline is valid? [True, True] Translation: X:-5.51, Y:-205.68, Z:-1.80 [[ 9.18825582e-01 3.94632476e-01 -4.97585097e-03 -5.51050072e+00] [ 3.94626222e-01 -9.18839052e-01 -2.22311260e-03 -2.05681082e+02] [-5.44931862e-03 7.90514565e-05 -9.99985149e-01 -1.80179668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.10655999499994 meters 0.012920992640194872 Centerline is valid? [True, True] Translation: X:-5.50, Y:-205.69, Z:-1.80 [[ 8.84311599e-01 4.66878649e-01 -4.16204072e-03 -5.49901175e+00] [ 4.66873155e-01 -8.84321392e-01 -2.26573799e-03 -2.05690250e+02] [-4.73840633e-03 6.04732994e-05 -9.99988772e-01 -1.80127450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.13655999499997 meters 0.01300460875919113 Centerline is valid? [True, True] Translation: X:-5.49, Y:-205.70, Z:-1.80 [[ 8.45013077e-01 5.34732884e-01 -3.69367302e-03 -5.48905541e+00] [ 5.34727486e-01 -8.45021148e-01 -2.40332326e-03 -2.05695202e+02] [-4.40636779e-03 5.57310986e-05 -9.99990290e-01 -1.80089652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.16655999499994 meters 0.013028994762065567 Centerline is valid? [True, True] Translation: X:-5.48, Y:-205.70, Z:-1.80 [[ 8.00706751e-01 5.99046348e-01 -3.48868920e-03 -5.47716975e+00] [ 5.99040353e-01 -8.00714349e-01 -2.68078388e-03 -2.05698749e+02] [-4.39935730e-03 5.66561398e-05 -9.99990321e-01 -1.80072088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.196559995 meters 0.013164538545011546 Centerline is valid? [True, True] Translation: X:-5.46, Y:-205.70, Z:-1.80 [[ 7.52029881e-01 6.59119073e-01 -3.62020091e-03 -5.46463538e+00] [ 6.59111000e-01 -7.52038592e-01 -3.26283318e-03 -2.05702412e+02] [-4.87312637e-03 6.76338058e-05 -9.99988124e-01 -1.79986675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.22655999499995 meters 0.0135198043087019 Centerline is valid? [True, True] Translation: X:-5.45, Y:-205.70, Z:-1.80 [[ 6.98832153e-01 7.15278565e-01 -3.19331050e-03 -5.45387791e+00] [ 7.15270643e-01 -6.98839445e-01 -3.36701573e-03 -2.05704406e+02] [-4.63996552e-03 6.88975910e-05 -9.99989233e-01 -1.79932596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.256559995 meters 0.013673828086701681 Centerline is valid? [True, True] Translation: X:-5.44, Y:-205.71, Z:-1.80 [[ 6.42269744e-01 7.66471991e-01 -3.20379994e-03 -5.44052985e+00] [ 7.66461779e-01 -6.42277728e-01 -3.95740671e-03 -2.05706846e+02] [-5.09097074e-03 8.61323934e-05 -9.99987037e-01 -1.79905387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.28655999499995 meters 0.014909369321171184 Centerline is valid? [True, True] Translation: X:-5.43, Y:-205.71, Z:-1.80 [[ 5.81687916e-01 8.13407173e-01 -2.81762494e-03 -5.43039842e+00] [ 8.13396847e-01 -5.81694733e-01 -4.09971218e-03 -2.05706791e+02] [-4.97373288e-03 9.29057936e-05 -9.99987627e-01 -1.79841580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.316559995 meters 0.015295981544999762 Centerline is valid? [True, True] Translation: X:-5.42, Y:-205.70, Z:-1.80 [[ 5.17784547e-01 8.55507543e-01 -2.45076845e-03 -5.42074653e+00] [ 8.55497025e-01 -5.17790337e-01 -4.24351005e-03 -2.05704177e+02] [-4.89933908e-03 1.00598815e-04 -9.99987993e-01 -1.79824223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.34655999499995 meters 0.014885341773774098 Centerline is valid? [True, True] Translation: X:-5.41, Y:-205.70, Z:-1.80 [[ 4.51072853e-01 8.92484782e-01 -2.04854090e-03 -5.40705967e+00] [ 8.92474469e-01 -4.51077491e-01 -4.29181487e-03 -2.05703962e+02] [-4.75443015e-03 1.07650729e-04 -9.99988692e-01 -1.79879191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.376559995 meters 0.016045605082748483 Centerline is valid? [True, True] Translation: X:-5.39, Y:-205.70, Z:-1.80 [[ 3.84377235e-01 9.23174726e-01 -1.60214747e-03 -5.39494212e+00] [ 9.23165325e-01 -3.84380554e-01 -4.16807894e-03 -2.05701641e+02] [-4.46369946e-03 1.23067665e-04 -9.99990030e-01 -1.79916359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.40655999499995 meters 0.01682047754880432 Centerline is valid? [True, True] Translation: X:-5.38, Y:-205.70, Z:-1.80 [[ 3.13430196e-01 9.49610576e-01 -1.12569750e-03 -5.38259686e+00] [ 9.49603012e-01 -3.13432194e-01 -3.79206037e-03 -2.05698263e+02] [-3.95381047e-03 1.19580490e-04 -9.99992177e-01 -1.79913828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.436559995 meters 0.018621575626376 Centerline is valid? [True, True] Translation: X:-5.37, Y:-205.69, Z:-1.80 [[ 2.42204049e-01 9.70224992e-01 -8.14304664e-04 -5.37160438e+00] [ 9.70217493e-01 -2.42205381e-01 -3.81707676e-03 -2.05694870e+02] [-3.90065224e-03 1.34458817e-04 -9.99992383e-01 -1.79861805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.46655999499995 meters 0.018621575626376 Centerline is valid? [True, True] Translation: X:-5.36, Y:-205.69, Z:-1.80 [[ 1.65493858e-01 9.86210687e-01 -5.12928584e-04 -5.36115069e+00] [ 9.86203107e-01 -1.65494599e-01 -3.86909589e-03 -2.05690637e+02] [-3.90063063e-03 1.34459845e-04 -9.99992384e-01 -1.79861824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.496559995 meters 0.018553446011277966 Centerline is valid? [True, True] Translation: X:-5.35, Y:-205.69, Z:-1.80 [[ 9.04250480e-02 9.95903244e-01 -1.98606678e-04 -5.34623805e+00] [ 9.95896324e-01 -9.04251605e-02 -3.71526058e-03 -2.05685462e+02] [-3.71799911e-03 1.38160956e-04 -9.99993079e-01 -1.79869262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.52655999499996 meters 0.018553446011277966 Centerline is valid? [True, True] Translation: X:-5.33, Y:-205.68, Z:-1.80 [[ 1.21507892e-02 9.99926172e-01 9.29759512e-05 -5.33452387e+00] [ 9.99919264e-01 -1.21503594e-02 -3.71938191e-03 -2.05679452e+02] [-3.71797762e-03 1.38161870e-04 -9.99993079e-01 -1.79869281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.556559995 meters 0.018737471685996484 Centerline is valid? [True, True] Translation: X:-5.32, Y:-205.67, Z:-1.80 [[-6.52597924e-02 9.97868240e-01 3.66372721e-04 -5.32119875e+00] [ 9.97862005e-01 6.52606808e-02 -3.53019056e-03 -2.05672049e+02] [-3.54657477e-03 1.35209915e-04 -9.99993702e-01 -1.79874680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.58655999499996 meters 0.020569709464140915 Centerline is valid? [True, True] Translation: X:-5.31, Y:-205.66, Z:-1.80 [[-1.42987577e-01 9.89724240e-01 6.93683307e-04 -5.31167027e+00] [ 9.89717060e-01 1.42989184e-01 -3.77296728e-03 -2.05664652e+02] [-3.83338639e-03 1.47062753e-04 -9.99992642e-01 -1.79812912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.61655999499993 meters 0.01929187008949695 Centerline is valid? [True, True] Translation: X:-5.30, Y:-205.65, Z:-1.80 [[-2.20634221e-01 9.75356024e-01 1.08059735e-03 -5.29641335e+00] [ 9.75347591e-01 2.20636811e-01 -4.05889022e-03 -2.05654524e+02] [-4.19728258e-03 1.58427940e-04 -9.99991179e-01 -1.79794084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.64655999499996 meters 0.01881108989898155 Centerline is valid? [True, True] Translation: X:-5.29, Y:-205.64, Z:-1.80 [[-2.97375055e-01 9.54759715e-01 1.40086842e-03 -5.28524704e+00] [ 9.54751440e-01 2.97378315e-01 -3.97827713e-03 -2.05642992e+02] [-4.21488663e-03 1.54440760e-04 -9.99991105e-01 -1.79778024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.67655999499993 meters 0.018137323000610814 Centerline is valid? [True, True] Translation: X:-5.27, Y:-205.63, Z:-1.80 [[-3.73666184e-01 9.27561941e-01 1.55815830e-03 -5.27214168e+00] [ 9.27555279e-01 3.73669410e-01 -3.51794493e-03 -2.05629169e+02] [-3.84534792e-03 1.30740896e-04 -9.99992598e-01 -1.79752606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.70655999499996 meters 0.01769049993461334 Centerline is valid? [True, True] Translation: X:-5.26, Y:-205.62, Z:-1.80 [[-4.46870521e-01 8.94596327e-01 2.03694994e-03 -5.26336633e+00] [ 8.94588395e-01 4.46875142e-01 -3.76987323e-03 -2.05616088e+02] [-4.28277704e-03 1.37586562e-04 -9.99990819e-01 -1.79701293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.73655999499994 meters 0.016854219160558088 Centerline is valid? [True, True] Translation: X:-5.25, Y:-205.60, Z:-1.80 [[-5.17274923e-01 8.55815912e-01 2.40416003e-03 -5.25493343e+00] [ 8.55807839e-01 5.17280492e-01 -3.71951967e-03 -2.05601045e+02] [-4.42684920e-03 1.33484751e-04 -9.99990193e-01 -1.79700887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.76655999499997 meters 0.016328945542897995 Centerline is valid? [True, True] Translation: X:-5.25, Y:-205.59, Z:-1.80 [[-5.84177752e-01 8.11620836e-01 2.82373815e-03 -5.24800342e+00] [ 8.11612423e-01 5.84184561e-01 -3.69774024e-03 -2.05585058e+02] [-4.65074726e-03 1.31643379e-04 -9.99989177e-01 -1.79676377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.79655999499994 meters 0.015651758373953426 Centerline is valid? [True, True] Translation: X:-5.24, Y:-205.57, Z:-1.80 [[-6.48757807e-01 7.60987923e-01 3.26939107e-03 -5.24033385e+00] [ 7.60979183e-01 6.48766034e-01 -3.64910748e-03 -2.05568486e+02] [-4.89799660e-03 1.20551583e-04 -9.99987998e-01 -1.79689830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.82655999499997 meters 0.015260692766082712 Centerline is valid? [True, True] Translation: X:-5.24, Y:-205.55, Z:-1.80 [[-7.07387851e-01 7.06817129e-01 3.46033159e-03 -5.23758732e+00] [ 7.06809429e-01 7.07396306e-01 -3.30112357e-03 -2.05552079e+02] [-4.78111647e-03 1.10620283e-04 -9.99988564e-01 -1.79720656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.85655999499994 meters 0.015076223379446222 Centerline is valid? [True, True] Translation: X:-5.22, Y:-205.52, Z:-1.80 [[-7.56404365e-01 6.54096244e-01 3.24647892e-03 -5.22312241e+00] [ 6.54090737e-01 7.56411327e-01 -2.68571797e-03 -2.05523242e+02] [-4.21239146e-03 9.20029914e-05 -9.99991124e-01 -1.79714992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.88655999499997 meters 0.014646239782883477 Centerline is valid? [True, True] Translation: X:-5.21, Y:-205.49, Z:-1.80 [[-8.01752232e-01 5.97649631e-01 2.87693956e-03 -5.21308212e+00] [ 5.97646103e-01 8.01757391e-01 -2.05488936e-03 -2.05487989e+02] [-3.53471142e-03 7.18795875e-05 -9.99993750e-01 -1.79821474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.91655999499994 meters 0.014889277063776518 Centerline is valid? [True, True] Translation: X:-5.21, Y:-205.46, Z:-1.80 [[-8.42381875e-01 5.38872433e-01 3.04592243e-03 -5.20591617e+00] [ 5.38869212e-01 8.42387379e-01 -1.86460867e-03 -2.05456309e+02] [-3.57063283e-03 7.06412685e-05 -9.99993623e-01 -1.79805412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.946559995 meters 0.014848263841358242 Centerline is valid? [True, True] Translation: X:-5.20, Y:-205.43, Z:-1.80 [[-8.78354648e-01 4.77999067e-01 3.16284542e-03 -5.19551577e+00] [ 4.77996253e-01 8.78360340e-01 -1.64174977e-03 -2.05427035e+02] [-3.56287284e-03 6.97897212e-05 -9.99993651e-01 -1.79782276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.97655999499995 meters 0.01508522961217939 Centerline is valid? [True, True] Translation: X:-5.02, Y:-205.08, Z:-2.79 [[-8.64547424e-01 -5.02541992e-01 3.04922195e-03 -5.02335921e+00] [ 5.02538580e-01 -8.64552799e-01 -1.85292833e-03 -2.05081627e+02] [ 3.56738766e-03 -6.95927436e-05 9.99993634e-01 -2.79417656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.006559995 meters 0.014393285699481995 Centerline is valid? [True, True] Translation: X:-5.23, Y:-205.40, Z:-1.80 [[-8.80321862e-01 4.74369858e-01 2.58013875e-03 -5.23289358e+00] [ 4.74368005e-01 8.80325641e-01 -1.32725538e-03 -2.05401036e+02] [-2.90097224e-03 5.55233432e-05 -9.99995791e-01 -1.79865030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.03655999499995 meters 0.014509651168863677 Centerline is valid? [True, True] Translation: X:-5.23, Y:-205.37, Z:-1.80 [[-9.11791696e-01 4.10644782e-01 2.60125575e-03 -5.23344212e+00] [ 4.10643278e-01 9.11795405e-01 -1.11255795e-03 -2.05367928e+02] [-2.82867916e-03 5.37670873e-05 -9.99995998e-01 -1.79848261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.066559995 meters 0.014602792748901467 Centerline is valid? [True, True] Translation: X:-5.24, Y:-205.33, Z:-1.80 [[-9.38764759e-01 3.44538350e-01 3.74857662e-03 -5.23619880e+00] [ 3.44535918e-01 9.38772241e-01 -1.29679932e-03 -2.05333235e+02] [-3.96585677e-03 7.41297880e-05 -9.99992133e-01 -1.79745817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.09655999499995 meters 0.01472367309390271 Centerline is valid? [True, True] Translation: X:-5.12, Y:-204.99, Z:-2.79 [[-9.28150512e-01 -3.72184048e-01 3.95742057e-03 -5.12345958e+00] [ 3.72180390e-01 -9.28158947e-01 -1.65112260e-03 -2.04988228e+02] [ 4.28763680e-03 -5.96159603e-05 9.99990806e-01 -2.79492926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.126559995 meters 0.01421578521710924 Centerline is valid? [True, True] Translation: X:-5.28, Y:-205.31, Z:-1.80 [[-9.39888857e-01 3.41456025e-01 4.08894942e-03 -5.27848395e+00] [ 3.41453174e-01 9.39897748e-01 -1.39778656e-03 -2.05314958e+02] [-4.32047700e-03 8.24207477e-05 -9.99990663e-01 -1.79720384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.15655999499995 meters 0.01508543486785015 Centerline is valid? [True, True] Translation: X:-5.17, Y:-204.98, Z:-2.79 [[-9.29953242e-01 -3.67659566e-01 3.66222610e-03 -5.17019629e+00] [ 3.67656301e-01 -9.29960447e-01 -1.55273800e-03 -2.04976759e+02] [ 3.97660440e-03 -9.75332371e-05 9.99992089e-01 -2.79485972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.186559995 meters 0.01502876604697073 Centerline is valid? [True, True] Translation: X:-5.32, Y:-205.30, Z:-1.80 [[-9.40602877e-01 3.39490677e-01 3.50816185e-03 -5.32473570e+00] [ 3.39488619e-01 9.40609417e-01 -1.18464303e-03 -2.05297261e+02] [-3.70198534e-03 7.67023763e-05 -9.99993145e-01 -1.79751657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.21655999499995 meters 0.015985609280504732 Centerline is valid? [True, True] Translation: X:-5.33, Y:-205.27, Z:-1.80 [[-9.62121040e-01 2.72601055e-01 3.43065660e-03 -5.33083883e+00] [ 2.72599603e-01 9.62127153e-01 -8.92946586e-04 -2.05266409e+02] [-3.54414605e-03 7.60729300e-05 -9.99993717e-01 -1.79756535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.246559995 meters 0.01603800929338392 Centerline is valid? [True, True] Translation: X:-5.34, Y:-205.23, Z:-1.80 [[-9.78533317e-01 2.06049348e-01 4.02670786e-03 -5.33826668e+00] [ 2.06048017e-01 9.78541597e-01 -7.47256209e-04 -2.05233253e+02] [-4.09427279e-03 9.84800708e-05 -9.99991614e-01 -1.79718410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.27655999499996 meters 0.016277726581730108 Centerline is valid? [True, True] Translation: X:-5.34, Y:-205.20, Z:-1.80 [[-9.90472914e-01 1.37639161e-01 4.34380536e-03 -5.34338360e+00] [ 1.37638334e-01 9.90482432e-01 -4.90026902e-04 -2.05203605e+02] [-4.36990979e-03 1.12515762e-04 -9.99990446e-01 -1.79686381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.306559995 meters 0.01705384153715285 Centerline is valid? [True, True] Translation: X:-5.31, Y:-204.86, Z:-2.80 [[-9.88732596e-01 -1.49614218e-01 4.84144113e-03 -5.31099499e+00] [ 1.49611963e-01 -9.88744445e-01 -8.26700441e-04 -2.04859696e+02] [ 4.91063416e-03 -9.30481620e-05 9.99987938e-01 -2.79504544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.33655999499996 meters 0.017169690272144014 Centerline is valid? [True, True] Translation: X:-5.39, Y:-205.20, Z:-1.80 [[-9.90237905e-01 1.39311966e-01 4.59000441e-03 -5.39040737e+00] [ 1.39311142e-01 9.90248532e-01 -5.00305197e-04 -2.05198123e+02] [-4.61494363e-03 1.44017586e-04 -9.99989341e-01 -1.79707094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.36655999499993 meters 0.017995469721629638 Centerline is valid? [True, True] Translation: X:-5.41, Y:-205.17, Z:-1.80 [[-9.97519727e-01 7.02384981e-02 4.57680060e-03 -5.40534331e+00] [ 7.02384506e-02 9.97530215e-01 -1.71310217e-04 -2.05168867e+02] [-4.57752946e-03 1.50582061e-04 -9.99989512e-01 -1.79747477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.39655999499996 meters 0.018661067449433983 Centerline is valid? [True, True] Translation: X:-5.40, Y:-204.83, Z:-2.79 [[-9.97585122e-01 -6.92960973e-02 4.68784302e-03 -5.40072267e+00] [ 6.92946410e-02 -9.97596125e-01 -4.72544787e-04 -2.04825638e+02] [ 4.70931954e-03 -1.46561250e-04 9.99988900e-01 -2.79437647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.42655999499993 meters 0.019367202432894068 Centerline is valid? [True, True] Translation: X:-5.45, Y:-205.17, Z:-1.80 [[-9.97610241e-01 6.88804832e-02 5.41173221e-03 -5.45490582e+00] [ 6.88805121e-02 9.97624901e-01 -1.81268049e-04 -2.05166647e+02] [-5.41136464e-03 1.91928024e-04 -9.99985340e-01 -1.79751545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.45655999499996 meters 0.017912100248830283 Centerline is valid? [True, True] Translation: X:-5.48, Y:-205.14, Z:-1.80 [[-9.99983026e-01 -2.48180423e-03 5.27150632e-03 -5.47535660e+00] [-2.48079013e-03 9.99996903e-01 1.98903837e-04 -2.05135123e+02] [-5.27198364e-03 1.85822960e-04 -9.99986086e-01 -1.79805524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.48655999499994 meters 0.01841520888103565 Centerline is valid? [True, True] Translation: X:-5.49, Y:-205.11, Z:-1.80 [[-9.97169012e-01 -7.50651805e-02 4.37950574e-03 -5.49445790e+00] [-7.50637995e-02 9.97178618e-01 4.79073622e-04 -2.05107078e+02] [-4.40311123e-03 1.48975029e-04 -9.99990295e-01 -1.79893550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.51655999499997 meters 0.0189883971248743 Centerline is valid? [True, True] Translation: X:-5.54, Y:-204.78, Z:-2.79 [[-9.97215082e-01 7.44556052e-02 4.29443565e-03 -5.54438546e+00] [-7.44555730e-02 -9.97224318e-01 1.67593811e-04 -2.04776516e+02] [ 4.29499396e-03 -1.52617591e-04 9.99990765e-01 -2.79281512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.54655999499994 meters 0.019281009908200555 Centerline is valid? [True, True] Translation: X:-5.55, Y:-205.11, Z:-1.80 [[-9.96670830e-01 -8.14179952e-02 4.28563010e-03 -5.55470896e+00] [-8.14166546e-02 9.96680035e-01 4.86632245e-04 -2.05113263e+02] [-4.31102258e-03 1.36090498e-04 -9.99990698e-01 -1.79894725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.57655999499997 meters 0.018629951067482546 Centerline is valid? [True, True] Translation: X:-5.58, Y:-205.09, Z:-1.80 [[-9.88176548e-01 -1.53253484e-01 4.52538745e-03 -5.57814767e+00] [-1.53251224e-01 9.88186900e-01 8.44243999e-04 -2.05085844e+02] [-4.60131193e-03 1.40740957e-04 -9.99989404e-01 -1.79895253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.60655999499994 meters 0.01662058518526329 Centerline is valid? [True, True] Translation: X:-5.61, Y:-205.06, Z:-1.80 [[-9.74165786e-01 -2.25773932e-01 5.21094071e-03 -5.61081295e+00] [-2.25769867e-01 9.74179711e-01 1.36325994e-03 -2.05058382e+02] [-5.38418127e-03 1.51567800e-04 -9.99985494e-01 -1.79862528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.63655999499997 meters 0.01707328560944778 Centerline is valid? [True, True] Translation: X:-5.65, Y:-205.04, Z:-1.80 [[-9.55071316e-01 -2.96323912e-01 5.56070082e-03 -5.64710072e+00] [-2.96317930e-01 9.55087491e-01 1.88924298e-03 -2.05039313e+02] [-5.87078367e-03 1.56626423e-04 -9.99982755e-01 -1.79798088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.66655999499994 meters 0.016272771833213056 Centerline is valid? [True, True] Translation: X:-5.69, Y:-205.02, Z:-1.80 [[-9.30806866e-01 -3.65463854e-01 5.89480895e-03 -5.68894463e+00] [-3.65455418e-01 9.30825518e-01 2.48848607e-03 -2.05022215e+02] [-6.39649030e-03 1.62010052e-04 -9.99979529e-01 -1.79776172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.696559995 meters 0.01483292963082932 Centerline is valid? [True, True] Translation: X:-5.74, Y:-205.01, Z:-1.80 [[-9.00728519e-01 -4.34342191e-01 5.91575477e-03 -5.74129992e+00] [-4.34331746e-01 9.00747933e-01 3.01571151e-03 -2.05011055e+02] [-6.63845463e-03 1.46937267e-04 -9.99977954e-01 -1.79871669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.72655999499995 meters 0.014954936231132433 Centerline is valid? [True, True] Translation: X:-5.79, Y:-205.01, Z:-1.80 [[-8.66309346e-01 -4.99479044e-01 5.36669636e-03 -5.79276571e+00] [-4.99468519e-01 8.66325959e-01 3.24522910e-03 -2.05006608e+02] [-6.27023230e-03 1.30876411e-04 -9.99980333e-01 -1.79962111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.756559995 meters 0.01427254027899873 Centerline is valid? [True, True] Translation: X:-5.85, Y:-205.01, Z:-1.80 [[-8.26768137e-01 -5.62509661e-01 6.10973167e-03 -5.85419970e+00] [-5.62493030e-01 8.26790700e-01 4.32777489e-03 -2.05009107e+02] [-7.48588451e-03 1.41384904e-04 -9.99971970e-01 -1.79863407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.78655999499995 meters 0.01413500361999007 Centerline is valid? [True, True] Translation: X:-5.92, Y:-205.02, Z:-1.80 [[-7.82909464e-01 -6.22100425e-01 6.62055834e-03 -5.92049660e+00] [-6.22076504e-01 7.82937441e-01 5.45774066e-03 -2.05023125e+02] [-8.57874579e-03 1.54423035e-04 -9.99963190e-01 -1.79771870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.816559995 meters 0.014224959953923127 Centerline is valid? [True, True] Translation: X:-5.99, Y:-205.05, Z:-1.80 [[-7.34591332e-01 -6.78477772e-01 6.59459905e-03 -5.98880583e+00] [-6.78448477e-01 7.34620914e-01 6.30680950e-03 -2.05045761e+02] [-9.12356044e-03 1.58831909e-04 -9.99958367e-01 -1.79734431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.84655999499995 meters 0.014213526039596143 Centerline is valid? [True, True] Translation: X:-6.06, Y:-205.08, Z:-1.80 [[-6.82514556e-01 -7.30846367e-01 6.12112510e-03 -6.06119403e+00] [-7.30814893e-01 6.82541986e-01 6.78452807e-03 -2.05079464e+02] [-9.13637258e-03 1.57129781e-04 -9.99958250e-01 -1.79747346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.876559995 meters 0.014229037185962773 Centerline is valid? [True, True] Translation: X:-6.13, Y:-205.12, Z:-1.80 [[-6.26822688e-01 -7.79141896e-01 5.58779997e-03 -6.12889498e+00] [-7.79108683e-01 6.26847574e-01 7.19575709e-03 -2.05116516e+02] [-9.10921468e-03 1.56960323e-04 -9.99958498e-01 -1.79789861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.90655999499995 meters 0.014505362711061643 Centerline is valid? [True, True] Translation: X:-6.20, Y:-205.16, Z:-1.80 [[-5.68339792e-01 -8.22776537e-01 5.35262708e-03 -6.19651236e+00] [-8.22737106e-01 5.68364970e-01 8.05697763e-03 -2.05163427e+02] [-9.67133788e-03 1.75296084e-04 -9.99953216e-01 -1.79809305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.936559995 meters 0.014677105736208411 Centerline is valid? [True, True] Translation: X:-6.26, Y:-205.21, Z:-1.80 [[-5.06554607e-01 -8.62195143e-01 4.68669474e-03 -6.26047200e+00] [-8.62154870e-01 5.06576255e-01 8.33537296e-03 -2.05214346e+02] [-9.56088635e-03 1.81664880e-04 -9.99954277e-01 -1.79800288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.96655999499995 meters 0.015030302750757197 Centerline is valid? [True, True] Translation: X:-6.32, Y:-205.27, Z:-1.80 [[-4.43349533e-01 -8.96337594e-01 4.48425455e-03 -6.32210634e+00] [-8.96286480e-01 4.43372153e-01 9.57496231e-03 -2.05274436e+02] [-1.05705923e-02 2.25878343e-04 -9.99944104e-01 -1.79840485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.996559995 meters 0.015585582125025301 Centerline is valid? [True, True] Translation: X:-6.38, Y:-205.34, Z:-1.80 [[-3.76711241e-01 -9.26322812e-01 3.83269066e-03 -6.38019805e+00] [-9.26268062e-01 3.76730658e-01 1.00741431e-02 -2.05343364e+02] [-1.07758006e-02 2.44943994e-04 -9.99941909e-01 -1.79817336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.02655999499996 meters 0.017094080827908413 Centerline is valid? [True, True] Translation: X:-6.43, Y:-205.42, Z:-1.80 [[-3.08146218e-01 -9.51334080e-01 3.06219897e-03 -6.43095889e+00] [-9.51278363e-01 3.08161323e-01 1.02992352e-02 -2.05416105e+02] [-1.07416647e-02 2.60666761e-04 -9.99942273e-01 -1.79794153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.056559995 meters 0.01620414319240164 Centerline is valid? [True, True] Translation: X:-6.48, Y:-205.50, Z:-1.80 [[-2.37638558e-01 -9.71350990e-01 2.27394079e-03 -6.48118960e+00] [-9.71294879e-01 2.37649280e-01 1.04440034e-02 -2.05495818e+02] [-1.06851934e-02 2.73230860e-04 -9.99942874e-01 -1.79963073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.08655999499996 meters 0.016902457941025358 Centerline is valid? [True, True] Translation: X:-6.52, Y:-205.58, Z:-1.80 [[-1.66972335e-01 -9.85960642e-01 1.36096935e-03 -6.52342310e+00] [-9.85913177e-01 1.66977656e-01 9.67834863e-03 -2.05582974e+02] [-9.76972230e-03 2.74218849e-04 -9.99952238e-01 -1.80069421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.11655999499993 meters 0.017029219557841962 Centerline is valid? [True, True] Translation: X:-6.56, Y:-205.67, Z:-1.80 [[-9.33407654e-02 -9.95634024e-01 6.26553018e-04 -6.56031764e+00] [-9.95587363e-01 9.33424594e-02 9.64299133e-03 -2.05669438e+02] [-9.65937426e-03 2.76295925e-04 -9.99953309e-01 -1.80099595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.14655999499996 meters 0.017242213782946582 Centerline is valid? [True, True] Translation: X:-6.59, Y:-205.76, Z:-1.80 [[-1.88442930e-02 -9.99822426e-01 -9.65297519e-05 -6.59097730e+00] [-9.99775537e-01 1.88424740e-02 9.68691175e-03 -2.05761200e+02] [-9.68337275e-03 2.79051088e-04 -9.99953076e-01 -1.80102266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.17655999499993 meters 0.017318336318634654 Centerline is valid? [True, True] Translation: X:-6.61, Y:-205.86, Z:-1.80 [[ 5.65642816e-02 -9.98398624e-01 -8.18834451e-04 -6.61481427e+00] [-9.98352091e-01 -5.65695540e-02 9.64305758e-03 -2.05858533e+02] [-9.67393652e-03 2.72032462e-04 -9.99953169e-01 -1.80076989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.20655999499996 meters 0.01708591013433558 Centerline is valid? [True, True] Translation: X:-6.63, Y:-205.96, Z:-1.80 [[ 1.31731920e-01 -9.91284160e-01 -1.55409741e-03 -6.63107580e+00] [-9.91237134e-01 -1.31740814e-01 9.65929944e-03 -2.05959374e+02] [-9.77984859e-03 2.68041003e-04 -9.99952140e-01 -1.80095409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.23655999499994 meters 0.01724748911185031 Centerline is valid? [True, True] Translation: X:-6.64, Y:-206.05, Z:-1.80 [[ 2.06041438e-01 -9.78540639e-01 -2.26797770e-03 -6.64078091e+00] [-9.78494568e-01 -2.06053753e-01 9.49903565e-03 -2.06051194e+02] [-9.76251773e-03 2.62008903e-04 -9.99952311e-01 -1.80085822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.26655999499997 meters 0.016351284808439514 Centerline is valid? [True, True] Translation: X:-6.64, Y:-206.15, Z:-1.80 [[ 2.79213520e-01 -9.60224574e-01 -2.92883306e-03 -6.64343470e+00] [-9.60180799e-01 -2.79228768e-01 9.17214730e-03 -2.06151771e+02] [-9.62513568e-03 2.51221737e-04 -9.99953646e-01 -1.80160323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.29655999499994 meters 0.015424335117999947 Centerline is valid? [True, True] Translation: X:-6.64, Y:-206.25, Z:-1.80 [[ 3.52568890e-01 -9.35778984e-01 -3.58765231e-03 -6.64159938e+00] [-9.35736826e-01 -3.52587072e-01 8.88533584e-03 -2.06246566e+02] [-9.57967036e-03 2.24405388e-04 -9.99954089e-01 -1.80223404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.32655999499997 meters 0.015951206575493267 Centerline is valid? [True, True] Translation: X:-6.63, Y:-206.34, Z:-1.80 [[ 4.22921063e-01 -9.06156291e-01 -4.30702092e-03 -6.62869995e+00] [-9.06114266e-01 -4.22942942e-01 8.72954047e-03 -2.06343129e+02] [-9.73195211e-03 2.10746567e-04 -9.99952621e-01 -1.80119540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.35655999499994 meters 0.015385340833872357 Centerline is valid? [True, True] Translation: X:-6.61, Y:-206.44, Z:-1.80 [[ 4.90949742e-01 -8.71173392e-01 -5.02720588e-03 -6.61190347e+00] [-8.71131709e-01 -4.90975441e-01 8.52419239e-03 -2.06435899e+02] [-9.89428422e-03 1.94408400e-04 -9.99951032e-01 -1.80126735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.38655999499997 meters 0.014229132549187501 Centerline is valid? [True, True] Translation: X:-6.59, Y:-206.53, Z:-1.80 [[ 5.57595092e-01 -8.30094790e-01 -5.50936018e-03 -6.59090551e+00] [-8.30056937e-01 -5.57622288e-01 7.92878417e-03 -2.06525095e+02] [-9.65378446e-03 1.52031496e-04 -9.99953390e-01 -1.80158133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.41655999499994 meters 0.014229132549187501 Centerline is valid? [True, True] Translation: X:-6.56, Y:-206.61, Z:-1.80 [[ 6.17650112e-01 -7.86429490e-01 -6.08249192e-03 -6.56355992e+00] [-7.86393759e-01 -6.17680043e-01 7.49809488e-03 -2.06608570e+02] [-9.65375680e-03 1.52034541e-04 -9.99953390e-01 -1.80158229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.446559995 meters 0.013446887205226344 Centerline is valid? [True, True] Translation: X:-6.53, Y:-206.69, Z:-1.80 [[ 6.75776005e-01 -7.37078281e-01 -6.51141467e-03 -6.53177441e+00] [-7.37045891e-01 -6.75807362e-01 6.91111052e-03 -2.06690270e+02] [-9.49449144e-03 1.28848771e-04 -9.99954918e-01 -1.80229777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.47655999499995 meters 0.01326315925571199 Centerline is valid? [True, True] Translation: X:-6.50, Y:-206.76, Z:-1.80 [[ 7.29716227e-01 -6.83713520e-01 -7.07468292e-03 -6.49679704e+00] [-6.83682854e-01 -7.29750512e-01 6.47653896e-03 -2.06764791e+02] [-9.59085074e-03 1.10803838e-04 -9.99954001e-01 -1.80218013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.506559995 meters 0.012817260598990233 Centerline is valid? [True, True] Translation: X:-6.49, Y:-206.78, Z:-1.80 [[ 7.82248381e-01 -6.22922249e-01 -7.43922727e-03 -6.49090995e+00] [-6.22895172e-01 -7.82283749e-01 5.80874124e-03 -2.06780538e+02] [-9.43798075e-03 8.99803176e-05 -9.99955457e-01 -1.80242652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.53655999499995 meters 0.012617352677105037 Centerline is valid? [True, True] Translation: X:-6.48, Y:-206.80, Z:-1.80 [[ 8.30255258e-01 -5.57317734e-01 -8.55274970e-03 -6.48334807e+00] [-5.57289002e-01 -8.30299307e-01 5.65944294e-03 -2.06795064e+02] [-1.02554501e-02 6.75710888e-05 -9.99947409e-01 -1.80166761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.566559995 meters 0.012446123308803002 Centerline is valid? [True, True] Translation: X:-6.64, Y:-207.09, Z:-2.79 [[ 8.36639712e-01 5.47670490e-01 -9.54077034e-03 -6.64005158e+00] [-5.47634116e-01 8.36694108e-01 6.31218937e-03 -2.07087058e+02] [ 1.14397062e-02 -5.61769624e-05 9.99934563e-01 -2.79104691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.59655999499995 meters 0.012360037114629798 Centerline is valid? [True, True] Translation: X:-6.61, Y:-207.11, Z:-2.79 [[ 8.36438306e-01 5.47969221e-01 -1.00346023e-02 -6.61447808e+00] [-5.47928999e-01 8.36498494e-01 6.63941006e-03 -2.07105222e+02] [ 1.20321221e-02 -5.52072808e-05 9.99927610e-01 -2.79091837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.626559995 meters 0.012382379856848001 Centerline is valid? [True, True] Translation: X:-6.59, Y:-207.12, Z:-2.79 [[ 8.36548802e-01 5.47791155e-01 -1.05333492e-02 -6.58920648e+00] [-5.47746815e-01 8.36615112e-01 6.96992924e-03 -2.07123554e+02] [ 1.26304247e-02 -6.10774863e-05 9.99920231e-01 -2.79151141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.65655999499995 meters 0.012620708765664167 Centerline is valid? [True, True] Translation: X:-6.57, Y:-207.15, Z:-2.79 [[ 8.37372896e-01 5.46520201e-01 -1.10590789e-02 -6.56525283e+00] [-5.46471163e-01 8.37445916e-01 7.32164340e-03 -2.07145001e+02] [ 1.32628065e-02 -8.74780250e-05 9.99912041e-01 -2.79155174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.686559995 meters 0.013391541494735936 Centerline is valid? [True, True] Translation: X:-6.54, Y:-207.17, Z:-2.79 [[ 8.39222943e-01 5.43686279e-01 -1.04919996e-02 -6.54304446e+00] [-5.43641876e-01 8.39288517e-01 6.94956416e-03 -2.07167565e+02] [ 1.25841974e-02 -1.28343347e-04 9.99920808e-01 -2.79111437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.71655999499995 meters 0.013455697242721646 Centerline is valid? [True, True] Translation: X:-6.52, Y:-207.19, Z:-2.79 [[ 8.40342630e-01 5.41963105e-01 -1.00128970e-02 -6.51807407e+00] [-5.41922501e-01 8.40402267e-01 6.63567766e-03 -2.07187243e+02] [ 1.20111538e-02 -1.50028611e-04 9.99927852e-01 -2.78973462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.746559995 meters 0.014107451627568934 Centerline is valid? [True, True] Translation: X:-6.49, Y:-207.21, Z:-2.79 [[ 8.42812777e-01 5.38122959e-01 -9.50287489e-03 -6.49499263e+00] [-5.38086104e-01 8.42866325e-01 6.30101298e-03 -2.07210114e+02] [ 1.14003730e-02 -1.97209317e-04 9.99934994e-01 -2.78804663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.77655999499996 meters 0.014107451627568934 Centerline is valid? [True, True] Translation: X:-6.47, Y:-207.23, Z:-2.79 [[ 8.42662746e-01 5.38357898e-01 -9.50111785e-03 -6.46796610e+00] [-5.38321027e-01 8.42716284e-01 6.30366207e-03 -2.07228115e+02] [ 1.14003730e-02 -1.97209663e-04 9.99934994e-01 -2.78804695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.806559995 meters 0.014107451627568934 Centerline is valid? [True, True] Translation: X:-6.44, Y:-207.25, Z:-2.79 [[ 8.42512649e-01 5.38592794e-01 -9.49936025e-03 -6.44094459e+00] [-5.38555909e-01 8.42566177e-01 6.30631037e-03 -2.07246124e+02] [ 1.14003730e-02 -1.97209663e-04 9.99934994e-01 -2.78804727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.83655999499996 meters 0.015652456930184102 Centerline is valid? [True, True] Translation: X:-6.42, Y:-207.27, Z:-2.79 [[ 8.44783372e-01 5.35022398e-01 -9.59622845e-03 -6.41850405e+00] [-5.34984507e-01 8.44837838e-01 6.37223844e-03 -2.07269158e+02] [ 1.15165472e-02 -2.49327531e-04 9.99933651e-01 -2.78845536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.86655999499993 meters 0.016352645828553187 Centerline is valid? [True, True] Translation: X:-6.39, Y:-207.29, Z:-2.79 [[ 8.45674032e-01 5.33613466e-01 -9.59691699e-03 -6.39304697e+00] [-5.33575442e-01 8.45728441e-01 6.37596545e-03 -2.07289567e+02] [ 1.15186867e-02 -2.71309187e-04 9.99933621e-01 -2.78874749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.89655999499996 meters 0.016538816877773855 Centerline is valid? [True, True] Translation: X:-6.37, Y:-207.31, Z:-2.79 [[ 8.46019587e-01 5.33068048e-01 -9.45067436e-03 -6.36738427e+00] [-5.33031103e-01 8.46072325e-01 6.28203326e-03 -2.07309401e+02] [ 1.13447052e-02 -2.77219809e-04 9.99935608e-01 -2.78854130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.92655999499993 meters 0.017051645086685947 Centerline is valid? [True, True] Translation: X:-6.34, Y:-207.33, Z:-2.79 [[ 8.46388826e-01 5.32482524e-01 -9.39769442e-03 -6.34258227e+00] [-5.32445922e-01 8.46440949e-01 6.24977824e-03 -2.07328639e+02] [ 1.12824911e-02 -2.85978393e-04 9.99936310e-01 -2.78833182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.95655999499996 meters 0.017859198156122396 Centerline is valid? [True, True] Translation: X:-6.32, Y:-207.35, Z:-2.79 [[ 8.46478974e-01 5.32335394e-01 -9.61117839e-03 -6.31885514e+00] [-5.32297067e-01 8.46533484e-01 6.39475512e-03 -2.07348793e+02] [ 1.15403388e-02 -2.97023690e-04 9.99933364e-01 -2.78876814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.98655999499994 meters 0.016246062070718832 Centerline is valid? [True, True] Translation: X:-6.29, Y:-207.37, Z:-2.79 [[ 8.45901388e-01 5.33237272e-01 -1.04332762e-02 -6.29127609e+00] [-5.33192123e-01 8.45965669e-01 6.94590268e-03 -2.07366307e+02] [ 1.25300077e-02 -3.12608036e-04 9.99921448e-01 -2.78787666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.01655999499997 meters 0.015912307919237995 Centerline is valid? [True, True] Translation: X:-6.26, Y:-207.39, Z:-2.79 [[ 8.45563103e-01 5.33763430e-01 -1.09380041e-02 -6.26397934e+00] [-5.33713793e-01 8.45633784e-01 7.28634327e-03 -2.07385036e+02] [ 1.31387294e-02 -3.23299359e-04 9.99913631e-01 -2.78759301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.04655999499994 meters 0.01662670672304094 Centerline is valid? [True, True] Translation: X:-6.24, Y:-207.40, Z:-2.79 [[ 8.45168520e-01 5.34393465e-01 -1.06675683e-02 -6.23911183e+00] [-5.34346258e-01 8.45235783e-01 7.10966186e-03 -2.07404093e+02] [ 1.28159673e-02 -3.08687194e-04 9.99917825e-01 -2.78827001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.07655999499997 meters 0.017553232883968522 Centerline is valid? [True, True] Translation: X:-6.22, Y:-207.42, Z:-2.79 [[ 8.44688690e-01 5.35151466e-01 -1.06736116e-02 -6.21501495e+00] [-5.35104223e-01 8.44756070e-01 7.11705030e-03 -2.07423255e+02] [ 1.28252981e-02 -3.00197277e-04 9.99917707e-01 -2.78876116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.10655999499994 meters 0.015550912369365436 Centerline is valid? [True, True] Translation: X:-6.19, Y:-207.44, Z:-2.79 [[ 8.44113317e-01 5.36057417e-01 -1.07309801e-02 -6.18701541e+00] [-5.36009689e-01 8.44181474e-01 7.15906674e-03 -2.07439109e+02] [ 1.28965654e-02 -2.91154270e-04 9.99916794e-01 -2.78675494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.13655999499997 meters 0.01539353705217653 Centerline is valid? [True, True] Translation: X:-6.16, Y:-207.46, Z:-2.79 [[ 8.43419015e-01 5.37148747e-01 -1.07512287e-02 -6.16035897e+00] [-5.37100878e-01 8.43487490e-01 7.17633799e-03 -2.07457173e+02] [ 1.29232879e-02 -2.78165539e-04 9.99916452e-01 -2.78670136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.16655999499994 meters 0.014885556325219306 Centerline is valid? [True, True] Translation: X:-6.13, Y:-207.47, Z:-2.79 [[ 8.41492269e-01 5.40169102e-01 -1.03972481e-02 -6.13357406e+00] [-5.40124519e-01 8.41556469e-01 6.94366766e-03 -2.07473807e+02] [ 1.25006261e-02 -2.27234012e-04 9.99921838e-01 -2.78687397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.196559995 meters 0.01402550499138386 Centerline is valid? [True, True] Translation: X:-6.11, Y:-207.49, Z:-2.79 [[ 8.40145320e-01 5.42266974e-01 -1.01178185e-02 -6.10602192e+00] [-5.42224864e-01 8.40206219e-01 6.76060846e-03 -2.07489934e+02] [ 1.21671087e-02 -1.93760801e-04 9.99925959e-01 -2.78622605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.22655999499995 meters 0.013782458374637225 Centerline is valid? [True, True] Translation: X:-6.08, Y:-207.51, Z:-2.79 [[ 8.38647018e-01 5.44583761e-01 -9.98531272e-03 -6.08015064e+00] [-5.44542886e-01 8.38706446e-01 6.67406700e-03 -2.07506698e+02] [ 1.20093346e-02 -1.59755383e-04 9.99927873e-01 -2.78677600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.256559995 meters 0.012681045652555824 Centerline is valid? [True, True] Translation: X:-6.05, Y:-207.52, Z:-2.79 [[ 8.35549928e-01 5.49335146e-01 -9.33895876e-03 -6.05197294e+00] [-5.49299651e-01 8.35602112e-01 6.24531493e-03 -2.07521750e+02] [ 1.12344247e-02 -8.83856550e-05 9.99936888e-01 -2.78585874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.28655999499995 meters 0.012347099959506672 Centerline is valid? [True, True] Translation: X:-6.02, Y:-207.54, Z:-2.79 [[ 8.33710360e-01 5.52124804e-01 -9.23236709e-03 -6.02377369e+00] [-5.52090272e-01 8.33761476e-01 6.17519569e-03 -2.07538304e+02] [ 1.11070707e-02 -5.12245628e-05 9.99938313e-01 -2.78568801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.316559995 meters 0.012112788984032716 Centerline is valid? [True, True] Translation: X:-6.00, Y:-207.56, Z:-2.79 [[ 8.31559933e-01 5.55355894e-01 -9.37596962e-03 -5.99525478e+00] [-5.55320442e-01 8.31612789e-01 6.27503215e-03 -2.07555160e+02] [ 1.12820523e-02 -1.13977144e-05 9.99936356e-01 -2.78624379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.34655999499995 meters 0.012172771559596118 Centerline is valid? [True, True] Translation: X:-5.97, Y:-207.57, Z:-2.79 [[ 8.29194328e-01 5.58871347e-01 -9.97919313e-03 -5.96758050e+00] [-5.58831398e-01 8.29254373e-01 6.68228141e-03 -2.07570919e+02] [ 1.20098252e-02 3.57766104e-05 9.99927879e-01 -2.78632184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.376559995 meters 0.012842227047585504 Centerline is valid? [True, True] Translation: X:-5.94, Y:-207.58, Z:-2.79 [[ 8.24431140e-01 5.65877151e-01 -9.81554964e-03 -5.93853921e+00] [-5.65838953e-01 8.24489559e-01 6.57621814e-03 -2.07584952e+02] [ 1.18141498e-02 1.32381317e-04 9.99930202e-01 -2.78588928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.40655999499995 meters 0.013315140304669383 Centerline is valid? [True, True] Translation: X:-5.91, Y:-207.60, Z:-2.79 [[ 8.22128024e-01 5.69223778e-01 -9.47647782e-03 -5.91087486e+00] [-5.69188356e-01 8.22182621e-01 6.35247728e-03 -2.07601177e+02] [ 1.14073765e-02 1.71351238e-04 9.99934919e-01 -2.78531156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.436559995 meters 0.014057118100076944 Centerline is valid? [True, True] Translation: X:-5.88, Y:-207.62, Z:-2.79 [[ 8.19937888e-01 5.72378578e-01 -9.19909488e-03 -5.88347477e+00] [-5.72345361e-01 8.19989464e-01 6.16986319e-03 -2.07617425e+02] [ 1.10746584e-02 2.06154688e-04 9.99938653e-01 -2.78520358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.46655999499995 meters 0.014774800740628485 Centerline is valid? [True, True] Translation: X:-5.86, Y:-207.63, Z:-2.78 [[ 8.18324294e-01 5.74690737e-01 -8.71245990e-03 -5.85594712e+00] [-5.74661039e-01 8.18370642e-01 5.84661360e-03 -2.07634630e+02] [ 1.04900161e-02 2.22285308e-04 9.99944954e-01 -2.78481321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.496559995 meters 0.016124111257876973 Centerline is valid? [True, True] Translation: X:-5.83, Y:-207.65, Z:-2.79 [[ 8.16807603e-01 5.76847890e-01 -8.47653799e-03 -5.82953744e+00] [-5.76819865e-01 8.16851550e-01 5.69110984e-03 -2.07651612e+02] [ 1.02069779e-02 2.40893711e-04 9.99947878e-01 -2.78506591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.52655999499996 meters 0.015684586570135904 Centerline is valid? [True, True] Translation: X:-5.80, Y:-207.67, Z:-2.78 [[ 8.16810697e-01 5.76843896e-01 -8.45019167e-03 -5.80361268e+00] [-5.76816010e-01 8.16854371e-01 5.67686387e-03 -2.07672143e+02] [ 1.01772403e-02 2.37282711e-04 9.99948182e-01 -2.78473828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.556559995 meters 0.015316559986880788 Centerline is valid? [True, True] Translation: X:-5.78, Y:-207.69, Z:-2.78 [[ 8.17317757e-01 5.76126051e-01 -8.39391078e-03 -5.77788519e+00] [-5.76098468e-01 8.17360828e-01 5.64204631e-03 -2.07691874e+02] [ 1.01113837e-02 2.24374502e-04 9.99948854e-01 -2.78488669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.58655999499996 meters 0.013964525891516073 Centerline is valid? [True, True] Translation: X:-5.75, Y:-207.72, Z:-2.78 [[ 8.19265089e-01 5.73355279e-01 -8.27275025e-03 -5.75432498e+00] [-5.73328334e-01 8.19306834e-01 5.56168315e-03 -2.07715326e+02] [ 9.96674121e-03 1.86509277e-04 9.99950313e-01 -2.78478337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.61655999499993 meters 0.0140813192270228 Centerline is valid? [True, True] Translation: X:-5.73, Y:-207.73, Z:-2.79 [[ 8.20239188e-01 5.71956110e-01 -8.59551526e-03 -5.72910657e+00] [-5.71926912e-01 8.20284206e-01 5.78178043e-03 -2.07734576e+02] [ 1.03576901e-02 1.73563613e-04 9.99946343e-01 -2.78572601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.64655999499996 meters 0.013269200483066134 Centerline is valid? [True, True] Translation: X:-5.70, Y:-207.76, Z:-2.79 [[ 8.21273997e-01 5.70467448e-01 -8.71280846e-03 -5.70462503e+00] [-5.70437330e-01 8.21320198e-01 5.86383364e-03 -2.07755952e+02] [ 1.05011318e-02 1.54297110e-04 9.99944850e-01 -2.78553812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.67655999499993 meters 0.012945716194751353 Centerline is valid? [True, True] Translation: X:-5.68, Y:-207.78, Z:-2.79 [[ 8.22914560e-01 5.68092896e-01 -9.06027795e-03 -5.68156059e+00] [-5.68060149e-01 8.22964425e-01 6.10093829e-03 -2.07778273e+02] [ 1.09221861e-02 1.26231898e-04 9.99940343e-01 -2.78608240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.70655999499996 meters 0.012830424960896284 Centerline is valid? [True, True] Translation: X:-5.66, Y:-207.80, Z:-2.79 [[ 8.23132528e-01 5.67774858e-01 -9.19520263e-03 -5.65565180e+00] [-5.67741067e-01 8.23183877e-01 6.19555076e-03 -2.07799324e+02] [ 1.10870205e-02 1.20734794e-04 9.99938530e-01 -2.78590430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.73655999499994 meters 0.012906992291619986 Centerline is valid? [True, True] Translation: X:-5.63, Y:-207.82, Z:-2.79 [[ 8.23206910e-01 5.67666441e-01 -9.23006625e-03 -5.63030145e+00] [-5.67632361e-01 8.23258646e-01 6.22138324e-03 -2.07819334e+02] [ 1.11304023e-02 1.17798614e-04 9.99938048e-01 -2.78615816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.76655999499997 meters 0.012960757866013679 Centerline is valid? [True, True] Translation: X:-5.60, Y:-207.84, Z:-2.79 [[ 8.22926133e-01 5.68074877e-01 -9.13862291e-03 -5.60410165e+00] [-5.68041453e-01 8.22976865e-01 6.16342207e-03 -2.07840040e+02] [ 1.10221605e-02 1.19075544e-04 9.99939247e-01 -2.78623156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.79655999499994 meters 0.01316222912190752 Centerline is valid? [True, True] Translation: X:-5.58, Y:-207.86, Z:-2.79 [[ 8.21799018e-01 5.69708525e-01 -8.86400309e-03 -5.58014785e+00] [-5.69677141e-01 8.21846810e-01 5.98135693e-03 -2.07861339e+02] [ 1.06924827e-02 1.34146690e-04 9.99942825e-01 -2.78556072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.82655999499997 meters 0.013247607476145618 Centerline is valid? [True, True] Translation: X:-5.55, Y:-207.88, Z:-2.79 [[ 8.20839580e-01 5.71091635e-01 -8.75946100e-03 -5.55435366e+00] [-5.71061032e-01 8.20886303e-01 5.91397472e-03 -2.07881152e+02] [ 1.05679431e-02 1.47762318e-04 9.99944147e-01 -2.78518155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.85655999499994 meters 0.013835621809391024 Centerline is valid? [True, True] Translation: X:-5.53, Y:-207.90, Z:-2.79 [[ 8.19655299e-01 5.72780110e-01 -9.38813503e-03 -5.52932863e+00] [-5.72745032e-01 8.19709042e-01 6.34155065e-03 -2.07899204e+02] [ 1.13278532e-02 1.79122107e-04 9.99935822e-01 -2.78586180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.88655999499997 meters 0.013973050856224719 Centerline is valid? [True, True] Translation: X:-5.50, Y:-207.92, Z:-2.79 [[ 8.18454298e-01 5.74492550e-01 -9.53271378e-03 -5.50391778e+00] [-5.74456459e-01 8.18509785e-01 6.44265101e-03 -2.07918556e+02] [ 1.15038745e-02 2.03113595e-04 9.99933808e-01 -2.78603425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.91655999499994 meters 0.015285156707707742 Centerline is valid? [True, True] Translation: X:-5.48, Y:-207.94, Z:-2.79 [[ 8.16223265e-01 5.77643593e-01 -1.03663605e-02 -5.47914095e+00] [-5.77601124e-01 8.16289047e-01 7.00952020e-03 -2.07937661e+02] [ 1.25109510e-02 2.66288003e-04 9.99921700e-01 -2.78763642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.946559995 meters 0.01581316970723308 Centerline is valid? [True, True] Translation: X:-5.45, Y:-207.96, Z:-2.79 [[ 8.15265436e-01 5.78995490e-01 -1.03194710e-02 -5.45384256e+00] [-5.78953470e-01 8.15330695e-01 6.98118889e-03 -2.07956816e+02] [ 1.24558583e-02 2.82971525e-04 9.99922383e-01 -2.78780355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.97655999499995 meters 0.016394626402848427 Centerline is valid? [True, True] Translation: X:-5.43, Y:-207.98, Z:-2.79 [[ 8.14552396e-01 5.80005760e-01 -9.88491232e-03 -5.42893369e+00] [-5.79967257e-01 8.14612323e-01 6.68909654e-03 -2.07976070e+02] [ 1.19320859e-02 2.84305872e-04 9.99928770e-01 -2.78766452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.006559995 meters 0.015633138591637112 Centerline is valid? [True, True] Translation: X:-5.40, Y:-208.00, Z:-2.79 [[ 8.14212258e-01 5.80487814e-01 -9.60712713e-03 -5.40452894e+00] [-5.80451431e-01 8.14268887e-01 6.50509284e-03 -2.07998110e+02] [ 1.15989118e-02 2.79944363e-04 9.99932691e-01 -2.78659460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.03655999499995 meters 0.016442986306059303 Centerline is valid? [True, True] Translation: X:-5.38, Y:-208.02, Z:-2.79 [[ 8.14519830e-01 5.80066708e-01 -8.94767462e-03 -5.38136270e+00] [-5.80035091e-01 8.14568935e-01 6.06154803e-03 -2.08019760e+02] [ 1.08046000e-02 2.52714198e-04 9.99941597e-01 -2.78662453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.066559995 meters 0.015701446398958218 Centerline is valid? [True, True] Translation: X:-5.36, Y:-208.04, Z:-2.79 [[ 8.14902669e-01 5.79535993e-01 -8.46592051e-03 -5.35772028e+00] [-5.79507631e-01 8.14946612e-01 5.73816307e-03 -2.08041363e+02] [ 1.02247453e-02 2.30021137e-04 9.99947700e-01 -2.78559761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.09655999499995 meters 0.015084501410784051 Centerline is valid? [True, True] Translation: X:-5.33, Y:-208.06, Z:-2.79 [[ 8.15510104e-01 5.78690456e-01 -7.78628549e-03 -5.33363671e+00] [-5.78666400e-01 8.15547250e-01 5.28027515e-03 -2.08063160e+02] [ 9.40572856e-03 1.99544053e-04 9.99955745e-01 -2.78507765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.126559995 meters 0.014980298714081524 Centerline is valid? [True, True] Translation: X:-5.31, Y:-208.08, Z:-2.78 [[ 8.16207533e-01 5.77712126e-01 -7.34586175e-03 -5.31046586e+00] [-5.77690662e-01 8.16240570e-01 4.98308429e-03 -2.08083708e+02] [ 8.87477860e-03 1.76404802e-04 9.99960603e-01 -2.78428588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.15655999499995 meters 0.013979785796006108 Centerline is valid? [True, True] Translation: X:-5.29, Y:-208.11, Z:-2.78 [[ 8.16907711e-01 5.76724569e-01 -7.11082188e-03 -5.28710921e+00] [-5.76704397e-01 8.16938643e-01 4.82622800e-03 -2.08106294e+02] [ 8.59250944e-03 1.58259370e-04 9.99963071e-01 -2.78319596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.186559995 meters 0.013553893178322845 Centerline is valid? [True, True] Translation: X:-5.26, Y:-208.13, Z:-2.78 [[ 8.18239334e-01 5.74837688e-01 -6.78421994e-03 -5.26488772e+00] [-5.74819241e-01 8.18267448e-01 4.60700605e-03 -2.08130372e+02] [ 8.19958704e-03 1.30066592e-04 9.99966374e-01 -2.78316406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.21655999499995 meters 0.013624149699772636 Centerline is valid? [True, True] Translation: X:-5.24, Y:-208.15, Z:-2.78 [[ 8.18693388e-01 5.74185086e-01 -7.25419140e-03 -5.24049106e+00] [-5.74163946e-01 8.18725516e-01 4.92874809e-03 -2.08150699e+02] [ 8.76920524e-03 1.29961694e-04 9.99961541e-01 -2.78378893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.246559995 meters 0.013181701116541425 Centerline is valid? [True, True] Translation: X:-5.22, Y:-208.17, Z:-2.78 [[ 8.19805574e-01 5.72584762e-01 -8.09395149e-03 -5.21855511e+00] [-5.72558339e-01 8.19845519e-01 5.50215474e-03 -2.08174809e+02] [ 9.78623982e-03 1.23562293e-04 9.99952106e-01 -2.78424332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.27655999499996 meters 0.013088234105129389 Centerline is valid? [True, True] Translation: X:-5.19, Y:-208.20, Z:-2.78 [[ 8.20060340e-01 5.72211304e-01 -8.67539289e-03 -5.19360921e+00] [-5.72180891e-01 8.20106217e-01 5.90088540e-03 -2.08196632e+02] [ 1.04912970e-02 1.24811941e-04 9.99944957e-01 -2.78449487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.306559995 meters 0.012895385698240813 Centerline is valid? [True, True] Translation: X:-5.17, Y:-208.22, Z:-2.78 [[ 8.20447776e-01 5.71649670e-01 -9.06097354e-03 -5.16873470e+00] [-5.71616419e-01 8.20497800e-01 6.16680257e-03 -2.08218520e+02] [ 1.09597595e-02 1.19861791e-04 9.99939933e-01 -2.78467843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.33655999499996 meters 0.012895385698240813 Centerline is valid? [True, True] Translation: X:-5.14, Y:-208.24, Z:-2.78 [[ 8.20290400e-01 5.71875501e-01 -9.05927570e-03 -5.14195652e+00] [-5.71842236e-01 8.20340415e-01 6.16929649e-03 -2.08236839e+02] [ 1.09597595e-02 1.19861792e-04 9.99939933e-01 -2.78467875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.36655999499993 meters 0.012817980864365083 Centerline is valid? [True, True] Translation: X:-5.12, Y:-208.26, Z:-2.78 [[ 8.20484973e-01 5.71584398e-01 -9.78188392e-03 -5.11696337e+00] [-5.71545547e-01 8.20543272e-01 6.66534447e-03 -2.08258709e+02] [ 1.18362659e-02 1.21977228e-04 9.99929942e-01 -2.78476084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.39655999499996 meters 0.013068941469096441 Centerline is valid? [True, True] Translation: X:-5.09, Y:-208.28, Z:-2.79 [[ 8.21014495e-01 5.70810457e-01 -1.05176795e-02 -5.09364073e+00] [-5.70765443e-01 8.21081853e-01 7.16935858e-03 -2.08281999e+02] [ 1.27282207e-02 1.16980720e-04 9.99918986e-01 -2.78645798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.42655999499993 meters 0.0125232621928492 Centerline is valid? [True, True] Translation: X:-5.07, Y:-208.30, Z:-2.78 [[ 8.21076064e-01 5.70713411e-01 -1.09681042e-02 -5.06888598e+00] [-5.70664391e-01 8.21149309e-01 7.48090988e-03 -2.08304436e+02] [ 1.32759068e-02 1.16710450e-04 9.99911865e-01 -2.78464637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.45655999499996 meters 0.01255349410700837 Centerline is valid? [True, True] Translation: X:-5.04, Y:-208.33, Z:-2.78 [[ 8.21188757e-01 5.70549810e-01 -1.10425882e-02 -5.04382245e+00] [-5.70500070e-01 8.21262992e-01 7.53453636e-03 -2.08325257e+02] [ 1.33676973e-02 1.12520802e-04 9.99910642e-01 -2.78477512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.48655999499994 meters 0.012492832928848792 Centerline is valid? [True, True] Translation: X:-5.02, Y:-208.35, Z:-2.78 [[ 8.21465875e-01 5.70156563e-01 -1.07382757e-02 -5.01923002e+00] [-5.70109443e-01 8.21536052e-01 7.33071461e-03 -2.08345780e+02] [ 1.30015357e-02 1.00060500e-04 9.99915472e-01 -2.78459023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.51655999499997 meters 0.012239743990189605 Centerline is valid? [True, True] Translation: X:-5.00, Y:-208.37, Z:-2.78 [[ 8.22358463e-01 5.68883730e-01 -9.89246559e-03 -4.99663988e+00] [-5.68843606e-01 8.22417957e-01 6.75684634e-03 -2.08369980e+02] [ 1.19796013e-02 7.07160312e-05 9.99928240e-01 -2.78301450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.54655999499994 meters 0.012120746565417803 Centerline is valid? [True, True] Translation: X:-4.97, Y:-208.39, Z:-2.78 [[ 8.23883244e-01 5.66688054e-01 -9.00279859e-03 -4.97468493e+00] [-5.66654656e-01 8.23932430e-01 6.15238796e-03 -2.08394440e+02] [ 1.09041825e-02 3.26283884e-05 9.99940547e-01 -2.78167980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.57655999499997 meters 0.012120746565417803 Centerline is valid? [True, True] Translation: X:-4.95, Y:-208.41, Z:-2.78 [[ 8.23725746e-01 5.66916992e-01 -9.00108838e-03 -4.94794958e+00] [-5.66883581e-01 8.23774923e-01 6.15488977e-03 -2.08412800e+02] [ 1.09041825e-02 3.26280450e-05 9.99940547e-01 -2.78168012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.60655999499994 meters 0.012087297154529249 Centerline is valid? [True, True] Translation: X:-4.93, Y:-208.44, Z:-2.78 [[ 8.25519341e-01 5.64307218e-01 -8.67069730e-03 -4.92521140e+00] [-5.64276033e-01 8.25564875e-01 5.93259295e-03 -2.08437073e+02] [ 1.05060282e-02 -4.80355590e-06 9.99944810e-01 -2.78023467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.63655999499997 meters 0.01212386737158058 Centerline is valid? [True, True] Translation: X:-4.90, Y:-208.46, Z:-2.78 [[ 8.26345618e-01 5.63104247e-01 -8.15633823e-03 -4.89980756e+00] [-5.63076560e-01 8.26385870e-01 5.58406224e-03 -2.08458495e+02] [ 9.88469183e-03 -2.17224911e-05 9.99951145e-01 -2.77995036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.66655999499994 meters 0.0123202043294347 Centerline is valid? [True, True] Translation: X:-4.88, Y:-208.48, Z:-2.78 [[ 8.27010386e-01 5.62130985e-01 -7.91054456e-03 -4.87523511e+00] [-5.62104867e-01 8.27048218e-01 5.41885064e-03 -2.08479692e+02] [ 9.58850563e-03 -3.48901588e-05 9.99954029e-01 -2.78014251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.696559995 meters 0.012311404469093365 Centerline is valid? [True, True] Translation: X:-4.85, Y:-208.50, Z:-2.78 [[ 8.27462430e-01 5.61462530e-01 -8.10889371e-03 -4.85004961e+00] [-5.61435020e-01 8.27502161e-01 5.55811013e-03 -2.08500470e+02] [ 9.83079764e-03 -4.65104127e-05 9.99951676e-01 -2.77941064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.72655999499995 meters 0.012475182510090785 Centerline is valid? [True, True] Translation: X:-4.83, Y:-208.52, Z:-2.78 [[ 8.27350481e-01 5.61621357e-01 -8.52249730e-03 -4.82609297e+00] [-5.61590943e-01 8.27394374e-01 5.84492209e-03 -2.08522267e+02] [ 1.03340994e-02 -4.96418064e-05 9.99946601e-01 -2.78016726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.756559995 meters 0.012370470973271059 Centerline is valid? [True, True] Translation: X:-4.80, Y:-208.54, Z:-2.78 [[ 8.26879244e-01 5.62311866e-01 -8.72243874e-03 -4.79986613e+00] [-5.62280009e-01 8.26925247e-01 5.98563674e-03 -2.08541810e+02] [ 1.05785994e-02 -4.49458537e-05 9.99944044e-01 -2.77994532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.78655999499995 meters 0.012361293878624589 Centerline is valid? [True, True] Translation: X:-4.77, Y:-208.56, Z:-2.78 [[ 8.26173415e-01 5.63343999e-01 -9.00147607e-03 -4.77412958e+00] [-5.63310107e-01 8.26222450e-01 6.17942306e-03 -2.08561154e+02] [ 1.09183625e-02 -3.46526064e-05 9.99940392e-01 -2.78026642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.816559995 meters 0.01240885552635636 Centerline is valid? [True, True] Translation: X:-4.75, Y:-208.58, Z:-2.78 [[ 8.25487448e-01 5.64343568e-01 -9.31720564e-03 -4.74752005e+00] [-5.64307277e-01 8.25540027e-01 6.40000818e-03 -2.08580837e+02] [ 1.13035296e-02 -2.53594758e-05 9.99936113e-01 -2.78009791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.84655999499995 meters 0.012538363279010326 Centerline is valid? [True, True] Translation: X:-4.72, Y:-208.60, Z:-2.78 [[ 8.24443330e-01 5.65859465e-01 -9.81130768e-03 -4.72275241e+00] [-5.65819285e-01 8.24501708e-01 6.74317175e-03 -2.08600832e+02] [ 1.19051275e-02 -7.93587735e-06 9.99929131e-01 -2.78130549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.876559995 meters 0.012571778682959028 Centerline is valid? [True, True] Translation: X:-4.70, Y:-208.62, Z:-2.78 [[ 8.23939770e-01 5.66585623e-01 -1.01974364e-02 -4.69627120e+00] [-5.66542223e-01 8.24002871e-01 7.01264852e-03 -2.08620939e+02] [ 1.23759827e-02 -7.21707023e-07 9.99923415e-01 -2.78161808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.90655999499995 meters 0.012566294758395411 Centerline is valid? [True, True] Translation: X:-4.67, Y:-208.64, Z:-2.78 [[ 8.23681712e-01 5.66955908e-01 -1.04611802e-02 -4.67027104e+00] [-5.66910210e-01 8.23748140e-01 7.19831005e-03 -2.08641104e+02] [ 1.26985021e-02 1.43349162e-06 9.99919371e-01 -2.78105187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.936559995 meters 0.012500499024885535 Centerline is valid? [True, True] Translation: X:-4.65, Y:-208.66, Z:-2.78 [[ 8.23644775e-01 5.67022063e-01 -9.76037820e-03 -4.64631019e+00] [-5.66982245e-01 8.23702604e-01 6.71963781e-03 -2.08662252e+02] [ 1.18498318e-02 -6.33425058e-07 9.99929788e-01 -2.77990499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.96655999499995 meters 0.012643013370876675 Centerline is valid? [True, True] Translation: X:-4.62, Y:-208.68, Z:-2.78 [[ 8.23604921e-01 5.67086539e-01 -9.36969003e-03 -4.62080935e+00] [-5.67049808e-01 8.23658217e-01 6.45428959e-03 -2.08682119e+02] [ 1.13775629e-02 -2.70373599e-06 9.99935273e-01 -2.77969817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.996559995 meters 0.012695010595390237 Centerline is valid? [True, True] Translation: X:-4.60, Y:-208.70, Z:-2.78 [[ 8.23715440e-01 5.66932450e-01 -8.97053714e-03 -4.59547831e+00] [-5.66898736e-01 8.23764285e-01 6.18272796e-03 -2.08701838e+02] [ 1.08947972e-02 -7.42231868e-06 9.99940650e-01 -2.77942537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.02655999499996 meters 0.012739256258751509 Centerline is valid? [True, True] Translation: X:-4.57, Y:-208.72, Z:-2.78 [[ 8.24036911e-01 5.66477719e-01 -8.13413419e-03 -4.57151583e+00] [-5.66449949e-01 8.24077056e-01 5.60910533e-03 -2.08722821e+02] [ 9.88058655e-03 -1.45299317e-05 9.99951186e-01 -2.77835923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.056559995 meters 0.012808333216034713 Centerline is valid? [True, True] Translation: X:-4.55, Y:-208.74, Z:-2.78 [[ 8.24062236e-01 5.66444788e-01 -7.85705445e-03 -4.54514982e+00] [-5.66418846e-01 8.24099691e-01 5.42119196e-03 -2.08743127e+02] [ 9.54580208e-03 -1.70158532e-05 9.99954438e-01 -2.77806777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.08655999499996 meters 0.012773010255624563 Centerline is valid? [True, True] Translation: X:-4.52, Y:-208.76, Z:-2.78 [[ 8.23971891e-01 5.66580449e-01 -7.54433487e-03 -4.51835793e+00] [-5.66556517e-01 8.24006429e-01 5.20754101e-03 -2.08763185e+02] [ 9.16707136e-03 -1.65753190e-05 9.99957981e-01 -2.77749550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.11655999499993 meters 0.012784625856395903 Centerline is valid? [True, True] Translation: X:-4.49, Y:-208.78, Z:-2.78 [[ 8.23713293e-01 5.66961297e-01 -7.16229475e-03 -4.49281738e+00] [-5.66939718e-01 8.23744431e-01 4.94655005e-03 -2.08782281e+02] [ 8.70440284e-03 -1.39496655e-05 9.99962116e-01 -2.77733136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.14655999499996 meters 0.012862641395006638 Centerline is valid? [True, True] Translation: X:-4.47, Y:-208.80, Z:-2.78 [[ 8.23101285e-01 5.67853034e-01 -6.87067677e-03 -4.46641194e+00] [-5.67833183e-01 8.23129961e-01 4.74800797e-03 -2.08801152e+02] [ 8.35163063e-03 -6.69320588e-06 9.99965125e-01 -2.77665304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.17655999499993 meters 0.012945155159889418 Centerline is valid? [True, True] Translation: X:-4.44, Y:-208.82, Z:-2.78 [[ 8.21659258e-01 5.69941280e-01 -6.55756050e-03 -4.43925352e+00] [-5.69923242e-01 8.21685425e-01 4.53435481e-03 -2.08820275e+02] [ 7.97256787e-03 1.16115310e-05 9.99968219e-01 -2.77675862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.20655999499996 meters 0.013087405145039914 Centerline is valid? [True, True] Translation: X:-4.41, Y:-208.84, Z:-2.78 [[ 8.20720201e-01 5.71292266e-01 -6.59541954e-03 -4.41180960e+00] [-5.71274041e-01 8.20746701e-01 4.56328664e-03 -2.08839296e+02] [ 8.02013919e-03 2.26104400e-05 9.99967838e-01 -2.77684414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.23655999499994 meters 0.013135891841029229 Centerline is valid? [True, True] Translation: X:-4.39, Y:-208.86, Z:-2.78 [[ 8.19866759e-01 5.72513047e-01 -6.87809326e-03 -4.38581929e+00] [-5.72493247e-01 8.19895609e-01 4.76154006e-03 -2.08857046e+02] [ 8.36536227e-03 3.38335287e-05 9.99965009e-01 -2.77768285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.26655999499997 meters 0.013490031555490313 Centerline is valid? [True, True] Translation: X:-4.36, Y:-208.87, Z:-2.78 [[ 8.18022505e-01 5.75134584e-01 -7.70658604e-03 -4.35938237e+00] [-5.75109817e-01 8.18058803e-01 5.33786510e-03 -2.08874660e+02] [ 9.37443138e-03 6.56395056e-05 9.99956057e-01 -2.77860268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.29655999499994 meters 0.013703156552961516 Centerline is valid? [True, True] Translation: X:-4.33, Y:-208.89, Z:-2.78 [[ 8.17118030e-01 5.76412937e-01 -8.13947929e-03 -4.33338595e+00] [-5.76385343e-01 8.17158564e-01 5.64067135e-03 -2.08892878e+02] [ 9.90260115e-03 8.23823045e-05 9.99950965e-01 -2.77900556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.32655999499997 meters 0.01418025023034877 Centerline is valid? [True, True] Translation: X:-4.31, Y:-208.91, Z:-2.78 [[ 8.16315459e-01 5.77544243e-01 -8.46871572e-03 -4.30697594e+00] [-5.77514403e-01 8.16359380e-01 5.87168238e-03 -2.08910174e+02] [ 1.03046719e-02 9.76602045e-05 9.99946901e-01 -2.78044306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.35655999499994 meters 0.013936032484447828 Centerline is valid? [True, True] Translation: X:-4.28, Y:-208.93, Z:-2.78 [[ 8.15788627e-01 5.78291118e-01 -8.26432596e-03 -4.28031824e+00] [-5.78262704e-01 8.15830480e-01 5.73342521e-03 -2.08930189e+02] [ 1.00578779e-02 1.01688398e-04 9.99949413e-01 -2.77952534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.38655999499997 meters 0.01407355102740031 Centerline is valid? [True, True] Translation: X:-4.25, Y:-208.95, Z:-2.78 [[ 8.15269719e-01 5.79027404e-01 -7.90888241e-03 -4.25386426e+00] [-5.79001385e-01 8.15308074e-01 5.49015048e-03 -2.08949432e+02] [ 9.62712326e-03 1.03300424e-04 9.99953653e-01 -2.77906580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.41655999499994 meters 0.014239934824628698 Centerline is valid? [True, True] Translation: X:-4.23, Y:-208.97, Z:-2.78 [[ 8.14983673e-01 5.79429156e-01 -7.96650528e-03 -4.22752142e+00] [-5.79402756e-01 8.15022602e-01 5.53222473e-03 -2.08968132e+02] [ 9.69841417e-03 1.07142277e-04 9.99952964e-01 -2.77905941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.446559995 meters 0.014242211778228802 Centerline is valid? [True, True] Translation: X:-4.20, Y:-208.99, Z:-2.78 [[ 8.14642329e-01 5.79910031e-01 -7.88876440e-03 -4.20153700e+00] [-5.79884134e-01 8.14680517e-01 5.48149699e-03 -2.08989046e+02] [ 9.60559774e-03 1.09109840e-04 9.99953859e-01 -2.77894536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.47655999499995 meters 0.014479357143865357 Centerline is valid? [True, True] Translation: X:-4.18, Y:-209.01, Z:-2.78 [[ 8.14399977e-01 5.80247812e-01 -8.07182080e-03 -4.17568917e+00] [-5.80220686e-01 8.14439969e-01 5.61179257e-03 -2.09007596e+02] [ 9.83024385e-03 1.13193665e-04 9.99951676e-01 -2.77980477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.506559995 meters 0.014217022422162544 Centerline is valid? [True, True] Translation: X:-4.15, Y:-209.03, Z:-2.78 [[ 8.14209264e-01 5.80517200e-01 -7.94064992e-03 -4.14953765e+00] [-5.80490929e-01 8.14247977e-01 5.52392826e-03 -2.09028248e+02] [ 9.67239349e-03 1.11841687e-04 9.99953215e-01 -2.77878422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.53655999499995 meters 0.014322995652624982 Centerline is valid? [True, True] Translation: X:-4.12, Y:-209.05, Z:-2.78 [[ 8.13874993e-01 5.80988465e-01 -7.73945574e-03 -4.12375521e+00] [-5.80963500e-01 8.13911784e-01 5.38698479e-03 -2.09047172e+02] [ 9.42901025e-03 1.12009085e-04 9.99955540e-01 -2.77892689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.566559995 meters 0.014492877589661023 Centerline is valid? [True, True] Translation: X:-4.10, Y:-209.07, Z:-2.78 [[ 8.13177085e-01 5.81962084e-01 -7.94743438e-03 -4.09844994e+00] [-5.81935778e-01 8.13215911e-01 5.53465286e-03 -2.09066656e+02] [ 9.68393820e-03 1.24243539e-04 9.99953102e-01 -2.77841577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.59655999499995 meters 0.01492612485594411 Centerline is valid? [True, True] Translation: X:-4.07, Y:-209.08, Z:-2.78 [[ 8.12822976e-01 5.82452647e-01 -8.22946419e-03 -4.07282937e+00] [-5.82424449e-01 8.12864624e-01 5.73272149e-03 -2.09083767e+02] [ 1.00284791e-02 1.33353406e-04 9.99949705e-01 -2.77919442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.626559995 meters 0.014861654909279183 Centerline is valid? [True, True] Translation: X:-4.05, Y:-209.10, Z:-2.78 [[ 8.12262089e-01 5.83227458e-01 -8.71964106e-03 -4.04740032e+00] [-5.83195812e-01 8.12308876e-01 6.07733276e-03 -2.09102621e+02] [ 1.06275092e-02 1.48871155e-04 9.99943515e-01 -2.77908917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.65655999499995 meters 0.015548375600100762 Centerline is valid? [True, True] Translation: X:-4.02, Y:-209.12, Z:-2.78 [[ 8.11369465e-01 5.84456379e-01 -9.50433911e-03 -4.02149688e+00] [-5.84418829e-01 8.11425110e-01 6.62740831e-03 -2.09119498e+02] [ 1.15854905e-02 1.77237997e-04 9.99932870e-01 -2.78060838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.686559995 meters 0.015222568225669043 Centerline is valid? [True, True] Translation: X:-4.00, Y:-209.14, Z:-2.78 [[ 8.10897559e-01 5.85105508e-01 -9.83327160e-03 -3.99613526e+00] [-5.85065322e-01 8.10957156e-01 6.86008406e-03 -2.09138352e+02] [ 1.19882349e-02 1.90280790e-04 9.99928120e-01 -2.78018806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.71655999499995 meters 0.015575127759993387 Centerline is valid? [True, True] Translation: X:-3.97, Y:-209.16, Z:-2.78 [[ 8.10471243e-01 5.85689806e-01 -1.01889860e-02 -3.97027276e+00] [-5.85646663e-01 8.10535261e-01 7.11164897e-03 -2.09155438e+02] [ 1.24237528e-02 2.03358686e-04 9.99922802e-01 -2.78061102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.746559995 meters 0.01566327019374269 Centerline is valid? [True, True] Translation: X:-3.94, Y:-209.17, Z:-2.78 [[ 8.10257425e-01 5.85983070e-01 -1.03318280e-02 -3.94340019e+00] [-5.85938680e-01 8.10323268e-01 7.21553775e-03 -2.09174005e+02] [ 1.26003036e-02 2.07374612e-04 9.99920592e-01 -2.78083713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.77655999499996 meters 0.01527191368816667 Centerline is valid? [True, True] Translation: X:-3.92, Y:-209.19, Z:-2.78 [[ 8.10101040e-01 5.86200972e-01 -1.02335656e-02 -3.91728250e+00] [-5.86157387e-01 8.10165649e-01 7.15116863e-03 -2.09193630e+02] [ 1.24829053e-02 2.05310913e-04 9.99922064e-01 -2.77995481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.806559995 meters 0.015131858576712209 Centerline is valid? [True, True] Translation: X:-3.89, Y:-209.21, Z:-2.78 [[ 8.10509444e-01 5.85642490e-01 -9.86485289e-03 -3.89138085e+00] [-5.85601905e-01 8.10569454e-01 6.89708347e-03 -2.09212033e+02] [ 1.20353736e-02 1.86725351e-04 9.99927555e-01 -2.77957247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.83655999499996 meters 0.015097132951521784 Centerline is valid? [True, True] Translation: X:-3.87, Y:-209.23, Z:-2.78 [[ 8.10925591e-01 5.85069700e-01 -9.65044020e-03 -3.86629978e+00] [-5.85030782e-01 8.10982994e-01 6.75039566e-03 -2.09229682e+02] [ 1.17757948e-02 1.71735980e-04 9.99930648e-01 -2.77932166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.86655999499993 meters 0.01466304488399859 Centerline is valid? [True, True] Translation: X:-3.84, Y:-209.25, Z:-2.78 [[ 8.11407083e-01 5.84405479e-01 -9.42241232e-03 -3.84096441e+00] [-5.84368294e-01 8.11461775e-01 6.59434967e-03 -2.09249046e+02] [ 1.14997015e-02 1.55456983e-04 9.99933864e-01 -2.77837041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.89655999499996 meters 0.014554143067469306 Centerline is valid? [True, True] Translation: X:-3.82, Y:-209.27, Z:-2.78 [[ 8.11958736e-01 5.83640453e-01 -9.31839093e-03 -3.81562982e+00] [-5.83604012e-01 8.12012193e-01 6.52347852e-03 -2.09267179e+02] [ 1.13740130e-02 1.41454959e-04 9.99935304e-01 -2.77830819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.92655999499993 meters 0.014413055281136629 Centerline is valid? [True, True] Translation: X:-3.79, Y:-209.29, Z:-2.78 [[ 8.12560822e-01 5.82801183e-01 -9.36439628e-03 -3.78990371e+00] [-5.82764287e-01 8.12614770e-01 6.55907857e-03 -2.09285969e+02] [ 1.14322855e-02 1.27585448e-04 9.99934641e-01 -2.77842195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.95655999499996 meters 0.01407653109706549 Centerline is valid? [True, True] Translation: X:-3.77, Y:-209.30, Z:-2.78 [[ 8.14344663e-01 5.80310821e-01 -9.06203550e-03 -3.76544200e+00] [-5.80276080e-01 8.14395078e-01 6.35032664e-03 -2.09304761e+02] [ 1.10652404e-02 8.71278324e-05 9.99938775e-01 -2.77885783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.98655999499994 meters 0.014033636557349627 Centerline is valid? [True, True] Translation: X:-3.74, Y:-209.32, Z:-2.78 [[ 8.15145729e-01 5.79182333e-01 -9.23394093e-03 -3.73970471e+00] [-5.79146153e-01 8.15198025e-01 6.47411866e-03 -2.09324243e+02] [ 1.12771856e-02 7.04511880e-05 9.99936408e-01 -2.77892884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.01655999499997 meters 0.013872991023363894 Centerline is valid? [True, True] Translation: X:-3.71, Y:-209.34, Z:-2.78 [[ 8.16257975e-01 5.77607108e-01 -9.64096535e-03 -3.71361216e+00] [-5.77567510e-01 8.16314907e-01 6.76348621e-03 -2.09344580e+02] [ 1.17767014e-02 4.75587927e-05 9.99930651e-01 -2.77931210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.04655999499994 meters 0.01391433534972597 Centerline is valid? [True, True] Translation: X:-3.69, Y:-209.36, Z:-2.78 [[ 8.17357932e-01 5.76045512e-01 -9.87822789e-03 -3.68808734e+00] [-5.76003781e-01 8.17417622e-01 6.93375285e-03 -2.09364424e+02] [ 1.20687948e-02 2.25387201e-05 9.99927169e-01 -2.77952250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.07655999499997 meters 0.0139751919081912 Centerline is valid? [True, True] Translation: X:-3.66, Y:-209.38, Z:-2.78 [[ 8.19536135e-01 5.72957817e-01 -8.93663910e-03 -3.66414644e+00] [-5.72923446e-01 8.19584858e-01 6.27577749e-03 -2.09383867e+02] [ 1.09200899e-02 -2.32163576e-05 9.99940374e-01 -2.77863593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.10655999499994 meters 0.014026385235688665 Centerline is valid? [True, True] Translation: X:-3.64, Y:-209.40, Z:-2.78 [[ 8.20354660e-01 5.71790232e-01 -8.61179483e-03 -3.63739849e+00] [-5.71758213e-01 8.20399859e-01 6.05115888e-03 -2.09403339e+02] [ 1.05251088e-02 -4.02319593e-05 9.99944609e-01 -2.77778704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.13655999499997 meters 0.014212515530171277 Centerline is valid? [True, True] Translation: X:-3.61, Y:-209.42, Z:-2.78 [[ 8.21146248e-01 5.70655571e-01 -8.42961709e-03 -3.61038247e+00] [-5.70624797e-01 8.21189513e-01 5.92655844e-03 -2.09422883e+02] [ 1.03043367e-02 -5.64226856e-05 9.99946907e-01 -2.77730699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.16655999499994 meters 0.01450912178001113 Centerline is valid? [True, True] Translation: X:-3.58, Y:-209.44, Z:-2.78 [[ 8.23057014e-01 5.67911531e-01 -7.32428454e-03 -3.58450197e+00] [-5.67888167e-01 8.23089598e-01 5.15204392e-03 -2.09442330e+02] [ 8.95444757e-03 -8.10513624e-05 9.99959905e-01 -2.77642486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.196559995 meters 0.014767213591805077 Centerline is valid? [True, True] Translation: X:-3.56, Y:-209.46, Z:-2.78 [[ 8.23902920e-01 5.66688541e-01 -6.93364438e-03 -3.55871255e+00] [-5.66667539e-01 8.23932090e-01 4.87972043e-03 -2.09461214e+02] [ 8.47813376e-03 -9.13447105e-05 9.99964056e-01 -2.77632055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.22655999499995 meters 0.014767213591805077 Centerline is valid? [True, True] Translation: X:-3.53, Y:-209.48, Z:-2.78 [[ 8.23748931e-01 5.66912376e-01 -6.93231815e-03 -3.53224821e+00] [-5.66891366e-01 8.23778095e-01 4.88160434e-03 -2.09479936e+02] [ 8.47813376e-03 -9.13450497e-05 9.99964056e-01 -2.77632087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.256559995 meters 0.015037860390360633 Centerline is valid? [True, True] Translation: X:-3.51, Y:-209.50, Z:-2.78 [[ 8.24913587e-01 5.65216808e-01 -6.89451786e-03 -3.50641367e+00] [-5.65195945e-01 8.24942391e-01 4.85746979e-03 -2.09498535e+02] [ 8.43310361e-03 -1.10239285e-04 9.99964435e-01 -2.77588008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.28655999499995 meters 0.0160750154214475 Centerline is valid? [True, True] Translation: X:-3.48, Y:-209.52, Z:-2.78 [[ 8.27509217e-01 5.61409217e-01 -6.94165572e-03 -3.48291989e+00] [-5.61387928e-01 8.27538319e-01 4.89136329e-03 -2.09518256e+02] [ 8.49054253e-03 -1.50686483e-04 9.99963943e-01 -2.77571869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.316559995 meters 0.01625995789142627 Centerline is valid? [True, True] Translation: X:-3.46, Y:-209.54, Z:-2.78 [[ 8.28569075e-01 5.59841897e-01 -7.09494745e-03 -3.45662602e+00] [-5.59819578e-01 8.28599433e-01 5.00195448e-03 -2.09536422e+02] [ 8.67917312e-03 -1.72574310e-04 9.99962320e-01 -2.77517093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.34655999499995 meters 0.017153960006029468 Centerline is valid? [True, True] Translation: X:-3.43, Y:-209.55, Z:-2.78 [[ 8.30698051e-01 5.56669878e-01 -7.70687554e-03 -3.42998436e+00] [-5.56643398e-01 8.30733770e-01 5.43416277e-03 -2.09554589e+02] [ 9.42739650e-03 -2.24167027e-04 9.99955536e-01 -2.77601052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.376559995 meters 0.017662306265755986 Centerline is valid? [True, True] Translation: X:-3.40, Y:-209.57, Z:-2.78 [[ 8.31661409e-01 5.55224140e-01 -8.09047317e-03 -3.40406583e+00] [-5.55194875e-01 8.31700722e-01 5.70617102e-03 -2.09572738e+02] [ 9.89705627e-03 -2.53812987e-04 9.99950991e-01 -2.77631347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.40655999499995 meters 0.018798711142549843 Centerline is valid? [True, True] Translation: X:-3.38, Y:-209.59, Z:-2.78 [[ 8.32477715e-01 5.53989769e-01 -8.72874692e-03 -3.37904475e+00] [-5.53955605e-01 8.32523424e-01 6.15924587e-03 -2.09591624e+02] [ 1.06790455e-02 -2.92096641e-04 9.99942935e-01 -2.77703176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.436559995 meters 0.018828303745621205 Centerline is valid? [True, True] Translation: X:-3.35, Y:-209.61, Z:-2.78 [[ 8.33338905e-01 5.52686347e-01 -9.16901898e-03 -3.35225029e+00] [-5.52648535e-01 8.33389281e-01 6.47319126e-03 -2.09609104e+02] [ 1.12190066e-02 -3.27117210e-04 9.99937012e-01 -2.77698716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.46655999499995 meters 0.020129957894187516 Centerline is valid? [True, True] Translation: X:-3.33, Y:-209.63, Z:-2.78 [[ 8.35175130e-01 5.49892003e-01 -1.00641679e-02 -3.32601224e+00] [-5.49846234e-01 8.35235670e-01 7.10600185e-03 -2.09627700e+02] [ 1.23134856e-02 -4.01011207e-04 9.99924106e-01 -2.77740721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.496559995 meters 0.020359557265563457 Centerline is valid? [True, True] Translation: X:-3.30, Y:-209.65, Z:-2.78 [[ 8.35812012e-01 5.48918545e-01 -1.03301166e-02 -3.29944362e+00] [-5.48870204e-01 8.35875736e-01 7.29746318e-03 -2.09646226e+02] [ 1.26404067e-02 -4.29414188e-04 9.99920015e-01 -2.77705913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.52655999499996 meters 0.020987931997971228 Centerline is valid? [True, True] Translation: X:-3.27, Y:-209.66, Z:-2.78 [[ 8.36397352e-01 5.48025276e-01 -1.03810534e-02 -3.27374108e+00] [-5.47976345e-01 8.36461653e-01 7.33686220e-03 -2.09664752e+02] [ 1.27041390e-02 -4.47960412e-04 9.99919199e-01 -2.77672937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.556559995 meters 0.022303397108986954 Centerline is valid? [True, True] Translation: X:-3.25, Y:-209.68, Z:-2.78 [[ 8.36677951e-01 5.47597629e-01 -1.03365065e-02 -3.24934676e+00] [-5.47549048e-01 8.36741674e-01 7.30824998e-03 -2.09683260e+02] [ 1.26509661e-02 -4.54907315e-04 9.99919870e-01 -2.77671788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.58655999499996 meters 0.02091964954379002 Centerline is valid? [True, True] Translation: X:-3.22, Y:-209.70, Z:-2.78 [[ 8.36637254e-01 5.47667840e-01 -9.90168467e-03 -3.22025360e+00] [-5.47623216e-01 8.36695731e-01 7.00486076e-03 -2.09699718e+02] [ 1.21210342e-02 -4.38135070e-04 9.99926442e-01 -2.77574992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.61655999499993 meters 0.01971007584545515 Centerline is valid? [True, True] Translation: X:-3.19, Y:-209.71, Z:-2.78 [[ 8.36022517e-01 5.48608576e-01 -9.74587837e-03 -3.19047647e+00] [-5.48565367e-01 8.36079215e-01 6.89818602e-03 -2.09713823e+02] [ 1.19327303e-02 -4.20787494e-04 9.99928714e-01 -2.77521710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.64655999499996 meters 0.019804644606488907 Centerline is valid? [True, True] Translation: X:-3.16, Y:-209.73, Z:-2.78 [[ 8.35435409e-01 5.49504936e-01 -9.59184381e-03 -3.16338943e+00] [-5.49463100e-01 8.35490372e-01 6.79262798e-03 -2.09730786e+02] [ 1.17464758e-02 -4.04437698e-04 9.99930926e-01 -2.77581868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.67655999499993 meters 0.019624525667784592 Centerline is valid? [True, True] Translation: X:-3.14, Y:-209.75, Z:-2.78 [[ 8.34643509e-01 5.50705509e-01 -9.67755439e-03 -3.13610594e+00] [-5.50662962e-01 8.34699519e-01 6.85680842e-03 -2.09747769e+02] [ 1.18539322e-02 -3.93919878e-04 9.99929662e-01 -2.77544241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.70655999499996 meters 0.019514475140183746 Centerline is valid? [True, True] Translation: X:-3.11, Y:-209.76, Z:-2.78 [[ 8.33656453e-01 5.52203710e-01 -9.37981718e-03 -3.10977983e+00] [-5.52163799e-01 8.33709140e-01 6.64896568e-03 -2.09764250e+02] [ 1.14916228e-02 -3.63757657e-04 9.99933903e-01 -2.77551485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.73655999499994 meters 0.01909604384069693 Centerline is valid? [True, True] Translation: X:-3.08, Y:-209.78, Z:-2.78 [[ 8.32448318e-01 5.54022319e-01 -9.43757855e-03 -3.08241819e+00] [-5.53981993e-01 8.32501743e-01 6.69327278e-03 -2.09781097e+02] [ 1.15650231e-02 -3.43555097e-04 9.99933064e-01 -2.77500708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.76655999499997 meters 0.017060802643708538 Centerline is valid? [True, True] Translation: X:-3.05, Y:-209.79, Z:-2.77 [[ 8.29977371e-01 5.57722647e-01 -9.11109655e-03 -3.05260673e+00] [-5.57685279e-01 8.30027330e-01 6.46220705e-03 -2.09793456e+02] [ 1.11665784e-02 -2.82361195e-04 9.99937612e-01 -2.77328643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.79655999499994 meters 0.017041973480832844 Centerline is valid? [True, True] Translation: X:-3.03, Y:-209.81, Z:-2.77 [[ 8.28643432e-01 5.59703624e-01 -9.05077658e-03 -3.02613530e+00] [-5.59666833e-01 8.28692819e-01 6.42249870e-03 -2.09809400e+02] [ 1.10950094e-02 -2.56541905e-04 9.99938416e-01 -2.77394798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.82655999499997 meters 0.016550485086824693 Centerline is valid? [True, True] Translation: X:-3.00, Y:-209.82, Z:-2.77 [[ 8.27026833e-01 5.62089965e-01 -9.02710987e-03 -2.99833746e+00] [-5.62053472e-01 8.27076067e-01 6.40894336e-03 -2.09824993e+02] [ 1.10685093e-02 -2.26649687e-04 9.99938717e-01 -2.77387497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.85655999499994 meters 0.015021770795057142 Centerline is valid? [True, True] Translation: X:-2.97, Y:-209.84, Z:-2.77 [[ 8.24303412e-01 5.66081838e-01 -8.67397002e-03 -2.96809925e+00] [-5.66048360e-01 8.24349031e-01 6.15868605e-03 -2.09836540e+02] [ 1.06366991e-02 -1.66739420e-04 9.99943415e-01 -2.77309600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.88655999499997 meters 0.014764083394913889 Centerline is valid? [True, True] Translation: X:-2.94, Y:-209.85, Z:-2.77 [[ 8.22717374e-01 5.68390436e-01 -8.27250309e-03 -2.94089738e+00] [-5.68360073e-01 8.22758953e-01 5.87646806e-03 -2.09852395e+02] [ 1.01464042e-02 -1.32911917e-04 9.99948515e-01 -2.77348407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.91655999499994 meters 0.014300855357602133 Centerline is valid? [True, True] Translation: X:-2.91, Y:-209.87, Z:-2.77 [[ 8.21086188e-01 5.70739850e-01 -8.57300747e-03 -2.91300122e+00] [-5.70707335e-01 8.21130935e-01 6.09310567e-03 -2.09867821e+02] [ 1.05171399e-02 -1.10286662e-04 9.99944687e-01 -2.77326591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.946559995 meters 0.013967834659744108 Centerline is valid? [True, True] Translation: X:-2.89, Y:-209.88, Z:-2.77 [[ 8.19386034e-01 5.73178170e-01 -8.56232306e-03 -2.88611198e+00] [-5.73145838e-01 8.19430765e-01 6.08843061e-03 -2.09882928e+02] [ 1.05059864e-02 -8.13151800e-05 9.99944807e-01 -2.77380760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.97655999499995 meters 0.01356113352165007 Centerline is valid? [True, True] Translation: X:-2.86, Y:-209.90, Z:-2.77 [[ 8.16151284e-01 5.77760380e-01 -9.48815628e-03 -2.85560900e+00] [-5.77720946e-01 8.16206434e-01 6.75025768e-03 -2.09896080e+02] [ 1.16443256e-02 -2.77248612e-05 9.99932202e-01 -2.77440456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.006559995 meters 0.013685711339429064 Centerline is valid? [True, True] Translation: X:-2.83, Y:-209.91, Z:-2.78 [[ 8.14409044e-01 5.80209683e-01 -9.72791501e-03 -2.82766544e+00] [-5.80168375e-01 8.14467141e-01 6.92338236e-03 -2.09911796e+02] [ 1.19400806e-02 5.36344069e-06 9.99928715e-01 -2.77652311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.03655999499995 meters 0.01358179305736324 Centerline is valid? [True, True] Translation: X:-2.80, Y:-209.93, Z:-2.78 [[ 8.12753751e-01 5.82522273e-01 -9.95695500e-03 -2.79904332e+00] [-5.82479120e-01 8.12814739e-01 7.09050847e-03 -2.09928065e+02] [ 1.22235389e-02 3.68810245e-05 9.99925289e-01 -2.77551059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.066559995 meters 0.013661787523588166 Centerline is valid? [True, True] Translation: X:-2.77, Y:-209.94, Z:-2.78 [[ 8.11189015e-01 5.84694429e-01 -1.02374973e-02 -2.77137288e+00] [-5.84648935e-01 8.11253610e-01 7.29401187e-03 -2.09943872e+02] [ 1.25699748e-02 6.85195964e-05 9.99920992e-01 -2.77585545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.09655999499995 meters 0.013913517275440438 Centerline is valid? [True, True] Translation: X:-2.74, Y:-209.96, Z:-2.78 [[ 8.08576005e-01 5.88284828e-01 -1.12162521e-02 -2.74247096e+00] [-5.88230506e-01 8.08653785e-01 7.99553766e-03 -2.09958462e+02] [ 1.37737182e-02 1.32741719e-04 9.99905129e-01 -2.77617402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.126559995 meters 0.01454805650078214 Centerline is valid? [True, True] Translation: X:-2.72, Y:-209.97, Z:-2.78 [[ 8.07369464e-01 5.89936994e-01 -1.13530461e-02 -2.71547465e+00] [-5.89881447e-01 8.07449267e-01 8.09696071e-03 -2.09973810e+02] [ 1.39437054e-02 1.59712445e-04 9.99902769e-01 -2.77784295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.15655999499995 meters 0.014744778878333517 Centerline is valid? [True, True] Translation: X:-2.69, Y:-209.99, Z:-2.78 [[ 8.06369663e-01 5.91296740e-01 -1.16675929e-02 -2.68864868e+00] [-5.91238155e-01 8.06454048e-01 8.32544691e-03 -2.09990881e+02] [ 1.43321871e-02 1.84938270e-04 9.99897272e-01 -2.77753271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.186559995 meters 0.014747283113186852 Centerline is valid? [True, True] Translation: X:-2.66, Y:-210.01, Z:-2.78 [[ 8.04913368e-01 5.93273421e-01 -1.18792953e-02 -2.66090882e+00] [-5.93212841e-01 8.05000993e-01 8.48087852e-03 -2.10007610e+02] [ 1.45943243e-02 2.20577992e-04 9.99893473e-01 -2.77683871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.21655999499995 meters 0.014910911874123411 Centerline is valid? [True, True] Translation: X:-2.63, Y:-210.03, Z:-2.78 [[ 8.04298649e-01 5.94112700e-01 -1.15664236e-02 -2.63319244e+00] [-5.94055288e-01 8.04381780e-01 8.26235619e-03 -2.10025512e+02] [ 1.42125912e-02 2.25693185e-04 9.99898971e-01 -2.77694593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.246559995 meters 0.014680956695536408 Centerline is valid? [True, True] Translation: X:-2.61, Y:-210.04, Z:-2.78 [[ 8.03787204e-01 5.94808451e-01 -1.13594855e-02 -2.60636377e+00] [-5.94753076e-01 8.03867435e-01 8.11943183e-03 -2.10044515e+02] [ 1.39610271e-02 2.29793514e-04 9.99902514e-01 -2.77601285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.27655999499996 meters 0.014950895541824072 Centerline is valid? [True, True] Translation: X:-2.58, Y:-210.06, Z:-2.78 [[ 8.03478096e-01 5.95228146e-01 -1.12429612e-02 -2.57950456e+00] [-5.95173879e-01 8.03556719e-01 8.04065034e-03 -2.10062212e+02] [ 1.38203784e-02 2.31030428e-04 9.99904467e-01 -2.77655177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.306559995 meters 0.015293584104948342 Centerline is valid? [True, True] Translation: X:-2.55, Y:-210.08, Z:-2.78 [[ 8.03008281e-01 5.95874104e-01 -1.05712782e-02 -2.55310309e+00] [-5.95826149e-01 8.03077830e-01 7.56304840e-03 -2.10080101e+02] [ 1.29961839e-02 2.25453490e-04 9.99915521e-01 -2.77675039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.33655999499996 meters 0.015397108383041145 Centerline is valid? [True, True] Translation: X:-2.53, Y:-210.10, Z:-2.78 [[ 8.02641162e-01 5.96375308e-01 -1.01811826e-02 -2.52639500e+00] [-5.96330815e-01 8.02705701e-01 7.28814936e-03 -2.10099087e+02] [ 1.25189656e-02 2.21584227e-04 9.99921610e-01 -2.77651229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.36655999499993 meters 0.015108994292990304 Centerline is valid? [True, True] Translation: X:-2.50, Y:-210.12, Z:-2.78 [[ 8.02180772e-01 5.97004800e-01 -9.55398584e-03 -2.50025749e+00] [-5.96965616e-01 8.02237635e-01 6.84319549e-03 -2.10118729e+02] [ 1.17499876e-02 2.13921208e-04 9.99930944e-01 -2.77546858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.39655999499996 meters 0.01538101422131715 Centerline is valid? [True, True] Translation: X:-2.47, Y:-210.14, Z:-2.78 [[ 8.01492569e-01 5.97943093e-01 -8.58604984e-03 -2.47422843e+00] [-5.97911465e-01 8.01538531e-01 6.15325999e-03 -2.10137177e+02] [ 1.05613491e-02 2.01905483e-04 9.99944207e-01 -2.77506916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.42655999499993 meters 0.01527928023228391 Centerline is valid? [True, True] Translation: X:-2.45, Y:-210.16, Z:-2.77 [[ 8.01025371e-01 5.98572992e-01 -8.29026783e-03 -2.44807071e+00] [-5.98543504e-01 8.01068245e-01 5.94479126e-03 -2.10156942e+02] [ 1.01994618e-02 2.00157335e-04 9.99947964e-01 -2.77454212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.45655999499996 meters 0.015380841724556294 Centerline is valid? [True, True] Translation: X:-2.42, Y:-210.18, Z:-2.77 [[ 8.00358096e-01 5.99469862e-01 -7.92480574e-03 -2.42224301e+00] [-5.99442932e-01 8.00397304e-01 5.68566108e-03 -2.10175967e+02] [ 9.75137561e-03 1.99903911e-04 9.99952434e-01 -2.77454714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.48655999499994 meters 0.01590895473745017 Centerline is valid? [True, True] Translation: X:-2.40, Y:-210.19, Z:-2.78 [[ 7.99946365e-01 6.00025200e-01 -7.45466750e-03 -2.39602858e+00] [-6.00001368e-01 7.99981076e-01 5.35129980e-03 -2.10194044e+02] [ 9.17450767e-03 1.92057873e-04 9.99957895e-01 -2.77516048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.51655999499997 meters 0.016338348291180367 Centerline is valid? [True, True] Translation: X:-2.37, Y:-210.21, Z:-2.78 [[ 7.98705394e-01 6.01674682e-01 -7.56776780e-03 -2.37080888e+00] [-6.01650169e-01 7.98741217e-01 5.43523622e-03 -2.10213739e+02] [ 9.31493209e-03 2.11996293e-04 9.99956593e-01 -2.77507799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.54655999499994 meters 0.016584448790523072 Centerline is valid? [True, True] Translation: X:-2.34, Y:-210.23, Z:-2.78 [[ 7.98226751e-01 6.02312673e-01 -7.31426924e-03 -2.34457559e+00] [-6.02289774e-01 7.98260234e-01 5.25621165e-03 -2.10233010e+02] [ 9.00457316e-03 2.09660820e-04 9.99959436e-01 -2.77563188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.57655999499997 meters 0.01678306601535547 Centerline is valid? [True, True] Translation: X:-2.32, Y:-210.25, Z:-2.78 [[ 7.97710022e-01 6.02992635e-01 -7.65526408e-03 -2.31884494e+00] [-6.02967557e-01 7.97746721e-01 5.50404512e-03 -2.10251921e+02] [ 9.42586049e-03 2.25243931e-04 9.99955550e-01 -2.77650497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.60655999499994 meters 0.016292539657065373 Centerline is valid? [True, True] Translation: X:-2.29, Y:-210.27, Z:-2.78 [[ 7.97228852e-01 6.03626724e-01 -7.80613464e-03 -2.29402981e+00] [-6.03600651e-01 7.97267034e-01 5.61521599e-03 -2.10271517e+02] [ 9.61306824e-03 2.35175755e-04 9.99953766e-01 -2.77691888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.63655999499997 meters 0.01751218370916568 Centerline is valid? [True, True] Translation: X:-2.27, Y:-210.29, Z:-2.78 [[ 7.96235514e-01 6.04925255e-01 -8.62791730e-03 -2.26845776e+00] [-6.04893449e-01 7.96282211e-01 6.20931304e-03 -2.10289723e+02] [ 1.06264273e-02 2.74895086e-04 9.99943500e-01 -2.77875552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.66655999499994 meters 0.017268008407530303 Centerline is valid? [True, True] Translation: X:-2.24, Y:-210.31, Z:-2.78 [[ 7.95842137e-01 6.05439318e-01 -8.86143823e-03 -2.24337176e+00] [-6.05405763e-01 7.95891418e-01 6.38061897e-03 -2.10310063e+02] [ 1.09158202e-02 2.86800333e-04 9.99940380e-01 -2.77882939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.696559995 meters 0.017422593662085765 Centerline is valid? [True, True] Translation: X:-2.22, Y:-210.33, Z:-2.78 [[ 7.95354353e-01 6.06077453e-01 -9.03184180e-03 -2.21815227e+00] [-6.06042599e-01 7.95405577e-01 6.50662954e-03 -2.10330206e+02] [ 1.11274988e-02 2.98604748e-04 9.99938043e-01 -2.77899572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.72655999499995 meters 0.0171119319531531 Centerline is valid? [True, True] Translation: X:-2.19, Y:-210.35, Z:-2.78 [[ 7.95554350e-01 6.05812734e-01 -9.17649145e-03 -2.19404849e+00] [-6.05776699e-01 7.95607216e-01 6.61420494e-03 -2.10352388e+02] [ 1.13078524e-02 2.96945198e-04 9.99936020e-01 -2.77873701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.756559995 meters 0.016866365273462153 Centerline is valid? [True, True] Translation: X:-2.17, Y:-210.37, Z:-2.78 [[ 7.95753151e-01 6.05554672e-01 -8.97005738e-03 -2.16964179e+00] [-6.05520187e-01 7.95803656e-01 6.46870436e-03 -2.10372835e+02] [ 1.10555586e-02 2.84058946e-04 9.99938845e-01 -2.77844457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.78655999499995 meters 0.016993707032260323 Centerline is valid? [True, True] Translation: X:-2.15, Y:-210.39, Z:-2.78 [[ 7.96066346e-01 6.05146617e-01 -8.71462803e-03 -2.14504618e+00] [-6.05114012e-01 7.96114000e-01 6.28744821e-03 -2.10392618e+02] [ 1.07426654e-02 2.68117608e-04 9.99942260e-01 -2.77825624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.816559995 meters 0.0167372750325255 Centerline is valid? [True, True] Translation: X:-2.12, Y:-210.41, Z:-2.78 [[ 7.96582915e-01 6.04474385e-01 -8.14721664e-03 -2.12027562e+00] [-6.04445823e-01 7.96624542e-01 5.88100822e-03 -2.10412962e+02] [ 1.00451915e-02 2.39840398e-04 9.99949517e-01 -2.77818991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.84655999499995 meters 0.015470697814387105 Centerline is valid? [True, True] Translation: X:-2.10, Y:-210.44, Z:-2.78 [[ 7.98114723e-01 6.02467132e-01 -6.80025554e-03 -2.09768012e+00] [-6.02447140e-01 7.98143674e-01 4.91119743e-03 -2.10436649e+02] [ 8.38641597e-03 1.77095525e-04 9.99964818e-01 -2.77676221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.876559995 meters 0.01496359282133812 Centerline is valid? [True, True] Translation: X:-2.07, Y:-210.46, Z:-2.78 [[ 7.98632965e-01 6.01786766e-01 -6.17053961e-03 -2.07326778e+00] [-6.01770268e-01 7.98656788e-01 4.45868084e-03 -2.10458074e+02] [ 7.61131848e-03 1.52397773e-04 9.99971022e-01 -2.77580693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.90655999499995 meters 0.014504841630338 Centerline is valid? [True, True] Translation: X:-2.05, Y:-210.48, Z:-2.78 [[ 7.99178707e-01 6.01069469e-01 -5.37477971e-03 -2.04869458e+00] [-6.01056922e-01 7.99196770e-01 3.88568401e-03 -2.10479394e+02] [ 6.63107262e-03 1.25192627e-04 9.99978006e-01 -2.77503885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.936559995 meters 0.014507074820901368 Centerline is valid? [True, True] Translation: X:-2.02, Y:-210.50, Z:-2.77 [[ 7.99528528e-01 6.00605796e-01 -5.17787545e-03 -2.02455330e+00] [-6.00594131e-01 7.99545286e-01 3.74510631e-03 -2.10498726e+02] [ 6.38927847e-03 1.15482269e-04 9.99979582e-01 -2.77483325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.96655999499995 meters 0.014158232040524223 Centerline is valid? [True, True] Translation: X:-2.00, Y:-210.52, Z:-2.77 [[ 7.99643055e-01 6.00456124e-01 -4.84022837e-03 -2.00000520e+00] [-6.00445917e-01 7.99657697e-01 3.50267734e-03 -2.10519193e+02] [ 5.97372994e-03 1.05403755e-04 9.99982152e-01 -2.77452417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.996559995 meters 0.014595358713564849 Centerline is valid? [True, True] Translation: X:-1.97, Y:-210.54, Z:-2.77 [[ 7.99597696e-01 6.00517844e-01 -4.67370921e-03 -1.97481329e+00] [-6.00508317e-01 7.99611349e-01 3.38401326e-03 -2.10538950e+02] [ 5.76931128e-03 1.00752045e-04 9.99983352e-01 -2.77451613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.02655999499996 meters 0.014249781890293502 Centerline is valid? [True, True] Translation: X:-1.95, Y:-210.56, Z:-2.77 [[ 7.99318627e-01 6.00888132e-01 -4.81516226e-03 -1.94886444e+00] [-6.00878015e-01 7.99333123e-01 3.48844925e-03 -2.10559607e+02] [ 5.94508644e-03 1.04942677e-04 9.99982322e-01 -2.77462731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.056559995 meters 0.014123865012279661 Centerline is valid? [True, True] Translation: X:-1.92, Y:-210.58, Z:-2.78 [[ 7.98846025e-01 6.01514221e-01 -5.06668840e-03 -1.92246998e+00] [-6.01503018e-01 7.98862084e-01 3.67283499e-03 -2.10580071e+02] [ 6.25684774e-03 1.13598735e-04 9.99980419e-01 -2.77504145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.08655999499996 meters 0.014123815132965884 Centerline is valid? [True, True] Translation: X:-1.90, Y:-210.60, Z:-2.78 [[ 7.98144813e-01 6.02442017e-01 -5.33606915e-03 -1.89747392e+00] [-6.02429599e-01 7.98162640e-01 3.87011442e-03 -2.10599523e+02] [ 6.59057058e-03 1.25694254e-04 9.99978274e-01 -2.77577452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.11655999499993 meters 0.014382189193313891 Centerline is valid? [True, True] Translation: X:-1.87, Y:-210.62, Z:-2.78 [[ 7.97852061e-01 6.02825328e-01 -5.80631776e-03 -1.87168662e+00] [-6.02810618e-01 7.97873176e-01 4.21350135e-03 -2.10618301e+02] [ 7.17271052e-03 1.38359260e-04 9.99974266e-01 -2.77648222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.14655999499996 meters 0.014382189193313891 Centerline is valid? [True, True] Translation: X:-1.85, Y:-210.64, Z:-2.78 [[ 7.97684153e-01 6.03047504e-01 -5.80514402e-03 -1.84548335e+00] [-6.03032789e-01 7.97705264e-01 4.21511832e-03 -2.10637408e+02] [ 7.17271053e-03 1.38359104e-04 9.99974266e-01 -2.77648254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.17655999499993 meters 0.014232884130975504 Centerline is valid? [True, True] Translation: X:-1.82, Y:-210.66, Z:-2.78 [[ 7.97491830e-01 6.03298447e-01 -6.14524642e-03 -1.81930059e+00] [-6.03281945e-01 7.97515493e-01 4.46469487e-03 -2.10657409e+02] [ 7.59447271e-03 1.46758529e-04 9.99971151e-01 -2.77670781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.20655999499996 meters 0.014326272007463253 Centerline is valid? [True, True] Translation: X:-1.79, Y:-210.68, Z:-2.78 [[ 7.97896749e-01 6.02757421e-01 -6.65356562e-03 -1.79464294e+00] [-6.02738045e-01 7.97924475e-01 4.83539825e-03 -2.10676039e+02] [ 8.22361504e-03 1.52208589e-04 9.99966174e-01 -2.77810774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.23655999499994 meters 0.01402285804719828 Centerline is valid? [True, True] Translation: X:-1.77, Y:-210.70, Z:-2.78 [[ 7.98001322e-01 6.02618789e-01 -6.66975070e-03 -1.76858448e+00] [-6.02599291e-01 7.98029180e-01 4.85000272e-03 -2.10696270e+02] [ 8.24535845e-03 1.48878459e-04 9.99965995e-01 -2.77820270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.26655999499997 meters 0.013657346481775329 Centerline is valid? [True, True] Translation: X:-1.74, Y:-210.72, Z:-2.78 [[ 7.98399778e-01 6.02088239e-01 -6.89543610e-03 -1.74304318e+00] [-6.02067356e-01 7.98429540e-01 5.01670665e-03 -2.10716247e+02] [ 8.52601995e-03 1.46179514e-04 9.99963642e-01 -2.77818567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.29655999499994 meters 0.013792106476710914 Centerline is valid? [True, True] Translation: X:-1.72, Y:-210.73, Z:-2.78 [[ 7.98844978e-01 6.01496709e-01 -6.95766770e-03 -1.71784518e+00] [-6.01475405e-01 7.98875265e-01 5.06439607e-03 -2.10734770e+02] [ 8.60452620e-03 1.39198627e-04 9.99962971e-01 -2.77849953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.32655999499997 meters 0.013449386093190744 Centerline is valid? [True, True] Translation: X:-1.69, Y:-210.75, Z:-2.78 [[ 7.99532973e-01 6.00583505e-01 -6.81748167e-03 -1.69275981e+00] [-6.00562996e-01 7.99562029e-01 4.96486215e-03 -2.10754442e+02] [ 8.43281379e-03 1.24756227e-04 9.99964435e-01 -2.77825334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.35655999499994 meters 0.012952727948323054 Centerline is valid? [True, True] Translation: X:-1.67, Y:-210.77, Z:-2.78 [[ 8.01219367e-01 5.98336310e-01 -6.41759477e-03 -1.66870168e+00] [-5.98318047e-01 8.01245063e-01 4.67581544e-03 -2.10774771e+02] [ 7.93977628e-03 9.34088780e-05 9.99968475e-01 -2.77794140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.38655999499997 meters 0.012452202584917667 Centerline is valid? [True, True] Translation: X:-1.64, Y:-210.80, Z:-2.78 [[ 8.02130474e-01 5.97116771e-01 -6.18582881e-03 -1.64396214e+00] [-5.97099750e-01 8.02154322e-01 4.50923702e-03 -2.10795530e+02] [ 7.65453036e-03 7.65604000e-05 9.99970701e-01 -2.77740122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.41655999499994 meters 0.012247898252755733 Centerline is valid? [True, True] Translation: X:-1.62, Y:-210.82, Z:-2.78 [[ 8.02947365e-01 5.96020459e-01 -5.92794373e-03 -1.61906670e+00] [-5.96004782e-01 8.02969245e-01 4.32342128e-03 -2.10815357e+02] [ 7.33680404e-03 6.16030791e-05 9.99973083e-01 -2.77709940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.446559995 meters 0.01198499968562162 Centerline is valid? [True, True] Translation: X:-1.60, Y:-210.84, Z:-2.78 [[ 8.04974282e-01 5.93284607e-01 -5.45715047e-03 -1.59602097e+00] [-5.93271245e-01 8.04992779e-01 3.98190247e-03 -2.10835890e+02] [ 6.75536817e-03 3.22413699e-05 9.99977182e-01 -2.77705020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.47655999499995 meters 0.011826997027900025 Centerline is valid? [True, True] Translation: X:-1.57, Y:-210.86, Z:-2.78 [[ 8.05565039e-01 5.92482326e-01 -5.44621238e-03 -1.57062135e+00] [-5.92468983e-01 8.05583449e-01 3.97624477e-03 -2.10856235e+02] [ 6.74323330e-03 2.35881329e-05 9.99977264e-01 -2.77664260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.506559995 meters 0.011875034821406746 Centerline is valid? [True, True] Translation: X:-1.55, Y:-210.88, Z:-2.78 [[ 8.06083851e-01 5.91770832e-01 -6.00900711e-03 -1.54579861e+00] [-5.91754552e-01 8.06106248e-01 4.38951992e-03 -2.10875619e+02] [ 7.44148803e-03 1.75361907e-05 9.99972312e-01 -2.77796052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.53655999499995 meters 0.011904622014178091 Centerline is valid? [True, True] Translation: X:-1.52, Y:-210.90, Z:-2.78 [[ 8.06964873e-01 5.90559465e-01 -6.87115553e-03 -1.52097392e+00] [-5.90538110e-01 8.06994126e-01 5.02215325e-03 -2.10896689e+02] [ 8.51086228e-03 4.97794579e-06 9.99963782e-01 -2.77808643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.566559995 meters 0.011921570818993116 Centerline is valid? [True, True] Translation: X:-1.49, Y:-210.92, Z:-2.78 [[ 8.07038006e-01 5.90456954e-01 -7.08814501e-03 -1.49483619e+00] [-5.90434199e-01 8.07069133e-01 5.18377899e-03 -2.10916771e+02] [ 8.78142140e-03 1.57655827e-06 9.99961443e-01 -2.77758464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.59655999499995 meters 0.012017516648691306 Centerline is valid? [True, True] Translation: X:-1.47, Y:-210.94, Z:-2.78 [[ 8.07016425e-01 5.90480824e-01 -7.54237160e-03 -1.46937856e+00] [-5.90455032e-01 8.07051669e-01 5.51896364e-03 -2.10935944e+02] [ 9.34592579e-03 -4.63036308e-07 9.99956326e-01 -2.77834824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.626559995 meters 0.012113306060653894 Centerline is valid? [True, True] Translation: X:-1.44, Y:-210.96, Z:-2.78 [[ 8.06884041e-01 5.90661088e-01 -7.59100355e-03 -1.44349832e+00] [-5.90634943e-01 8.06919747e-01 5.55746833e-03 -2.10955477e+02] [ 9.40791096e-03 -7.20550166e-07 9.99955745e-01 -2.77952244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.65655999499995 meters 0.012051770549636258 Centerline is valid? [True, True] Translation: X:-1.42, Y:-210.98, Z:-2.78 [[ 8.06425791e-01 5.91286262e-01 -7.61571833e-03 -1.41737279e+00] [-5.91259944e-01 8.06461751e-01 5.57875609e-03 -2.10975862e+02] [ 9.44042738e-03 4.01639600e-06 9.99955438e-01 -2.77807923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.686559995 meters 0.012014261429395524 Centerline is valid? [True, True] Translation: X:-1.39, Y:-211.00, Z:-2.78 [[ 8.06095235e-01 5.91737953e-01 -7.52775333e-03 -1.39126065e+00] [-5.91712229e-01 8.06130384e-01 5.51750177e-03 -2.10995662e+02] [ 9.33326588e-03 6.63181467e-06 9.99956444e-01 -2.77764536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.71655999499995 meters 0.01208296035064092 Centerline is valid? [True, True] Translation: X:-1.37, Y:-211.01, Z:-2.78 [[ 8.05671142e-01 5.92319431e-01 -7.19048724e-03 -1.36557338e+00] [-5.92295958e-01 8.05703228e-01 5.27313033e-03 -2.11014709e+02] [ 8.91677634e-03 1.04875955e-05 9.99960245e-01 -2.77838622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.746559995 meters 0.012050963460030211 Centerline is valid? [True, True] Translation: X:-1.34, Y:-211.03, Z:-2.78 [[ 8.05017283e-01 5.93206664e-01 -7.28204750e-03 -1.33896968e+00] [-5.93182598e-01 8.05050218e-01 5.34339013e-03 -2.11034900e+02] [ 9.03214856e-03 1.80624559e-05 9.99959209e-01 -2.77719492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.77655999499996 meters 0.011945630817310511 Centerline is valid? [True, True] Translation: X:-1.31, Y:-211.05, Z:-2.78 [[ 8.04231263e-01 5.94273131e-01 -7.17782227e-03 -1.31204945e+00] [-5.94249765e-01 8.04263293e-01 5.26998627e-03 -2.11054615e+02] [ 8.90467022e-03 2.71314877e-05 9.99960352e-01 -2.77725659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.806559995 meters 0.01200959621008413 Centerline is valid? [True, True] Translation: X:-1.29, Y:-211.07, Z:-2.78 [[ 8.03547271e-01 5.95194293e-01 -7.45230522e-03 -1.28588043e+00] [-5.95169117e-01 8.03581827e-01 5.47448385e-03 -2.11073492e+02] [ 9.24691859e-03 3.63753628e-05 9.99957246e-01 -2.77751721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.83655999499996 meters 0.012142825274237686 Centerline is valid? [True, True] Translation: X:-1.26, Y:-211.09, Z:-2.78 [[ 8.02920315e-01 5.96041396e-01 -7.32272888e-03 -1.26012935e+00] [-5.96017097e-01 8.02953705e-01 5.38219271e-03 -2.11091757e+02] [ 9.08782194e-03 4.29997389e-05 9.99958704e-01 -2.77809818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.86655999499993 meters 0.012118014887503166 Centerline is valid? [True, True] Translation: X:-1.23, Y:-211.11, Z:-2.78 [[ 8.01904356e-01 5.97407229e-01 -7.34887885e-03 -1.23362684e+00] [-5.97382784e-01 8.01938027e-01 5.40459026e-03 -2.11111327e+02] [ 9.12208670e-03 5.61292407e-05 9.99958391e-01 -2.77779226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.89655999499996 meters 0.012149306123918504 Centerline is valid? [True, True] Translation: X:-1.21, Y:-211.13, Z:-2.78 [[ 8.01536244e-01 5.97899234e-01 -7.49370844e-03 -1.20789022e+00] [-5.97873810e-01 8.01571271e-01 5.51412072e-03 -2.11130266e+02] [ 9.30362995e-03 6.05244102e-05 9.99956719e-01 -2.77797031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.92655999499993 meters 0.012165773503161418 Centerline is valid? [True, True] Translation: X:-1.18, Y:-211.15, Z:-2.78 [[ 8.01420053e-01 5.98057138e-01 -7.31838653e-03 -1.18165915e+00] [-5.98032867e-01 8.01453465e-01 5.38822395e-03 -2.11149842e+02] [ 9.08781204e-03 5.84049597e-05 9.99958703e-01 -2.77807834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.95655999499996 meters 0.011974375897426639 Centerline is valid? [True, True] Translation: X:-1.16, Y:-211.17, Z:-2.78 [[ 8.01912567e-01 5.97392104e-01 -7.67516440e-03 -1.15716028e+00] [-5.97365350e-01 8.01949295e-01 5.65394115e-03 -2.11169723e+02] [ 9.53271248e-03 5.09108119e-05 9.99954561e-01 -2.77872786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.98655999499994 meters 0.011885451090848074 Centerline is valid? [True, True] Translation: X:-1.13, Y:-211.19, Z:-2.78 [[ 8.02419281e-01 5.96706725e-01 -8.02384986e-03 -1.13130420e+00] [-5.96677417e-01 8.02459396e-01 5.91416269e-03 -2.11190316e+02] [ 9.96783437e-03 4.20118367e-05 9.99950319e-01 -2.77903815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.01655999499997 meters 0.011806615524080032 Centerline is valid? [True, True] Translation: X:-1.11, Y:-211.21, Z:-2.78 [[ 8.03054630e-01 5.95846815e-01 -8.35666689e-03 -1.10604921e+00] [-5.95814942e-01 8.03098109e-01 6.16306149e-03 -2.11210888e+02] [ 1.03834639e-02 2.97519249e-05 9.99946090e-01 -2.77864311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.04655999499994 meters 0.01184330972795198 Centerline is valid? [True, True] Translation: X:-1.08, Y:-211.23, Z:-2.78 [[ 8.03984806e-01 5.94588224e-01 -8.56005955e-03 -1.08098486e+00] [-5.94554685e-01 8.04030375e-01 6.31534599e-03 -2.11231084e+02] [ 1.06375782e-02 1.19812867e-05 9.99943419e-01 -2.78008384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.07655999499997 meters 0.011974895951895841 Centerline is valid? [True, True] Translation: X:-1.06, Y:-211.25, Z:-2.78 [[ 8.06619474e-01 5.91004111e-01 -8.89747787e-03 -1.05664832e+00] [-5.90967616e-01 8.06668543e-01 6.56792033e-03 -2.11254187e+02] [ 1.10589834e-02 -3.96911542e-05 9.99938847e-01 -2.78049190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.10655999499994 meters 0.012048525886791091 Centerline is valid? [True, True] Translation: X:-1.03, Y:-211.27, Z:-2.78 [[ 8.08126025e-01 5.88940896e-01 -8.99713124e-03 -1.03177869e+00] [-5.88903414e-01 8.08176104e-01 6.64483419e-03 -2.11274929e+02] [ 1.11846811e-02 -7.14221408e-05 9.99937447e-01 -2.77953395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.13655999499997 meters 0.012453795428941936 Centerline is valid? [True, True] Translation: X:-1.01, Y:-211.30, Z:-2.78 [[ 8.09811883e-01 5.86626717e-01 -8.59118135e-03 -1.00749280e+00] [-5.86592376e-01 8.09857447e-01 6.34820180e-03 -2.11296075e+02] [ 1.06816570e-02 -1.01327776e-04 9.99942944e-01 -2.77942005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.16655999499994 meters 0.012975459480013687 Centerline is valid? [True, True] Translation: X:-0.98, Y:-211.32, Z:-2.78 [[ 8.11386186e-01 5.84446600e-01 -8.63879510e-03 -9.83516798e-01] [-5.84411735e-01 8.11432163e-01 6.38511030e-03 -2.11316841e+02] [ 1.07415522e-02 -1.32177062e-04 9.99942299e-01 -2.77906073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.196559995 meters 0.014424321303034277 Centerline is valid? [True, True] Translation: X:-0.96, Y:-211.34, Z:-2.78 [[ 8.14635632e-01 5.79920013e-01 -7.84644864e-03 -9.61861433e-01] [-5.79891030e-01 8.14673400e-01 5.80041164e-03 -2.11339045e+02] [ 9.75606778e-03 -1.75136815e-04 9.99952393e-01 -2.77829016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.22655999499995 meters 0.014873092823501638 Centerline is valid? [True, True] Translation: X:-0.94, Y:-211.36, Z:-2.78 [[ 8.15877089e-01 5.78179031e-01 -7.32012343e-03 -9.36868922e-01] [-5.78153712e-01 8.15909905e-01 5.41401652e-03 -2.11359564e+02] [ 9.10283204e-03 -1.85015502e-04 9.99958551e-01 -2.77769458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.256559995 meters 0.015773193477030396 Centerline is valid? [True, True] Translation: X:-0.91, Y:-211.38, Z:-2.78 [[ 8.16913166e-01 5.76719679e-01 -6.87690322e-03 -9.12903835e-01] [-5.76697270e-01 8.16942088e-01 5.08755003e-03 -2.11379909e+02] [ 8.55212190e-03 -1.90195290e-04 9.99963412e-01 -2.77727245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.28655999499995 meters 0.015724227515490564 Centerline is valid? [True, True] Translation: X:-0.89, Y:-211.40, Z:-2.78 [[ 8.18507081e-01 5.74458219e-01 -6.62662690e-03 -8.87068301e-01] [-5.74437317e-01 8.18533879e-01 4.90486555e-03 -2.11399427e+02] [ 8.24175895e-03 -2.08085406e-04 9.99966015e-01 -2.77611846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.316559995 meters 0.015830980765814698 Centerline is valid? [True, True] Translation: X:-0.86, Y:-211.42, Z:-2.78 [[ 8.18717672e-01 5.74160269e-01 -6.43108242e-03 -8.61877008e-01] [-5.74140554e-01 8.18742904e-01 4.76252394e-03 -2.11418616e+02] [ 7.99985512e-03 -2.06817300e-04 9.99967979e-01 -2.77617798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.34655999499995 meters 0.015952992023829344 Centerline is valid? [True, True] Translation: X:-0.84, Y:-211.44, Z:-2.78 [[ 8.18868751e-01 5.73945236e-01 -6.39023732e-03 -8.35695490e-01] [-5.73925745e-01 8.18893657e-01 4.73466415e-03 -2.11437816e+02] [ 7.95036274e-03 -2.09546807e-04 9.99968373e-01 -2.77650539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.376559995 meters 0.015933046035841125 Centerline is valid? [True, True] Translation: X:-0.81, Y:-211.46, Z:-2.78 [[ 8.18591282e-01 5.74337833e-01 -6.66085219e-03 -8.08674705e-01] [-5.74316645e-01 8.18618352e-01 4.93801247e-03 -2.11457350e+02] [ 8.28878322e-03 -2.16775669e-04 9.99965624e-01 -2.77696491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.40655999499995 meters 0.015962591527862974 Centerline is valid? [True, True] Translation: X:-0.78, Y:-211.47, Z:-2.78 [[ 8.17480627e-01 5.75906190e-01 -7.58192599e-03 -7.82961798e-01] [-5.75878780e-01 8.17515753e-01 5.62345407e-03 -2.11474729e+02] [ 9.43692595e-03 -2.30794461e-04 9.99955445e-01 -2.77841726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.436559995 meters 0.015594137426671227 Centerline is valid? [True, True] Translation: X:-0.76, Y:-211.49, Z:-2.78 [[ 8.16453373e-01 5.77357940e-01 -7.85490778e-03 -7.55900850e-01] [-5.77328560e-01 8.16491126e-01 5.82880040e-03 -2.11492820e+02] [ 9.77876669e-03 -2.24081143e-04 9.99952162e-01 -2.77863511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.46655999499995 meters 0.015181431891013395 Centerline is valid? [True, True] Translation: X:-0.73, Y:-211.51, Z:-2.78 [[ 8.15329403e-01 5.78940358e-01 -8.12573813e-03 -7.28904065e-01] [-5.78908965e-01 8.15369865e-01 6.03273377e-03 -2.11510914e+02] [ 1.01180750e-02 -2.14602572e-04 9.99948788e-01 -2.77918376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.496559995 meters 0.01475209338922063 Centerline is valid? [True, True] Translation: X:-0.70, Y:-211.53, Z:-2.78 [[ 8.14132260e-01 5.80619787e-01 -8.32627705e-03 -7.01689068e-01] [-5.80586896e-01 8.14174811e-01 6.18324344e-03 -2.11529002e+02] [ 1.03691585e-02 -1.99850598e-04 9.99946219e-01 -2.77971324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.52655999499996 meters 0.0137102963659755 Centerline is valid? [True, True] Translation: X:-0.67, Y:-211.54, Z:-2.78 [[ 8.11621261e-01 5.84128287e-01 -8.06677499e-03 -6.74235315e-01] [-5.84097561e-01 8.11661334e-01 5.99322452e-03 -2.11543999e+02] [ 1.00483013e-02 -1.52444844e-04 9.99949503e-01 -2.77984485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.556559995 meters 0.012811916648552725 Centerline is valid? [True, True] Translation: X:-0.65, Y:-211.56, Z:-2.78 [[ 8.10097591e-01 5.86242937e-01 -7.81738287e-03 -6.46700107e-01] [-5.86214151e-01 8.10135299e-01 5.81080734e-03 -2.11560720e+02] [ 9.73968257e-03 -1.24660565e-04 9.99952560e-01 -2.77923632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.58655999499996 meters 0.012219862866125237 Centerline is valid? [True, True] Translation: X:-0.62, Y:-211.58, Z:-2.78 [[ 8.08631249e-01 5.88269890e-01 -7.35116775e-03 -6.18916572e-01] [-5.88244506e-01 8.08664657e-01 5.46572442e-03 -2.11577973e+02] [ 9.15995065e-03 -9.54715260e-05 9.99958042e-01 -2.77886123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.61655999499993 meters 0.011743484589615544 Centerline is valid? [True, True] Translation: X:-0.59, Y:-211.59, Z:-2.78 [[ 8.06864272e-01 5.90699461e-01 -6.64778905e-03 -5.92564135e-01] [-5.90678765e-01 8.06891655e-01 4.94501046e-03 -2.11594465e+02] [ 8.28506052e-03 -6.32444403e-05 9.99965676e-01 -2.77864424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.64655999499996 meters 0.011261376279639065 Centerline is valid? [True, True] Translation: X:-0.57, Y:-211.61, Z:-2.78 [[ 8.05107172e-01 5.93096272e-01 -6.26526406e-03 -5.65240892e-01] [-5.93077945e-01 8.05131548e-01 4.66275351e-03 -2.11611506e+02] [ 7.80982348e-03 -3.82263547e-05 9.99969502e-01 -2.77803800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.67655999499993 meters 0.01096671188405191 Centerline is valid? [True, True] Translation: X:-0.54, Y:-211.63, Z:-2.78 [[ 8.01723126e-01 5.97672731e-01 -5.22845727e-03 -5.37553349e-01] [-5.97660053e-01 8.01740174e-01 3.89289841e-03 -2.11625908e+02] [ 6.51854346e-03 3.81336853e-06 9.99978754e-01 -2.77710399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.70655999499996 meters 0.011064764791339466 Centerline is valid? [True, True] Translation: X:-0.51, Y:-211.64, Z:-2.78 [[ 7.99789296e-01 6.00261879e-01 -4.77070524e-03 -5.09399730e-01] [-6.00251358e-01 7.99803524e-01 3.55403720e-03 -2.11643745e+02] [ 5.94897991e-03 2.11413879e-05 9.99982304e-01 -2.77683148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.73655999499994 meters 0.011315236074351689 Centerline is valid? [True, True] Translation: X:-0.48, Y:-211.66, Z:-2.78 [[ 7.98173682e-01 6.02410454e-01 -4.51862133e-03 -4.81346055e-01] [-6.02401039e-01 7.98186472e-01 3.36809050e-03 -2.11661605e+02] [ 5.63567534e-03 3.37009873e-05 9.99984119e-01 -2.77675568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.76655999499997 meters 0.01231362180759774 Centerline is valid? [True, True] Translation: X:-0.45, Y:-211.68, Z:-2.78 [[ 7.95257684e-01 6.06256209e-01 -4.31572919e-03 -4.53494180e-01] [-6.06247669e-01 7.95269392e-01 3.21828066e-03 -2.11676359e+02] [ 5.38326996e-03 5.70383394e-05 9.99985509e-01 -2.77678868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.79655999499994 meters 0.012917968984826795 Centerline is valid? [True, True] Translation: X:-0.43, Y:-211.69, Z:-2.78 [[ 7.93818037e-01 6.08140128e-01 -4.30216816e-03 -4.26309455e-01] [-6.08131662e-01 7.93829692e-01 3.20968751e-03 -2.11693639e+02] [ 5.36712859e-03 6.83768348e-05 9.99985595e-01 -2.77709324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.82655999499997 meters 0.013601929687991671 Centerline is valid? [True, True] Translation: X:-0.40, Y:-211.71, Z:-2.78 [[ 7.92603961e-01 6.09722119e-01 -4.23062487e-03 -3.99415515e-01] [-6.09713947e-01 7.92615248e-01 3.15780041e-03 -2.11710819e+02] [ 5.27863854e-03 7.65858710e-05 9.99986065e-01 -2.77738335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.85655999499994 meters 0.01427853869553641 Centerline is valid? [True, True] Translation: X:-0.37, Y:-211.73, Z:-2.78 [[ 7.91320920e-01 6.11383466e-01 -4.63242686e-03 -3.72683844e-01] [-6.11373687e-01 7.91334473e-01 3.45933561e-03 -2.11728382e+02] [ 5.78077966e-03 9.46992523e-05 9.99983287e-01 -2.77762542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.88655999499997 meters 0.015009212846239057 Centerline is valid? [True, True] Translation: X:-0.35, Y:-211.75, Z:-2.78 [[ 7.90305919e-01 6.12696389e-01 -4.43723897e-03 -3.45633557e-01] [-6.12687428e-01 7.90318369e-01 3.31512394e-03 -2.11746418e+02] [ 5.53799593e-03 9.86784655e-05 9.99984660e-01 -2.77792096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.91655999499994 meters 0.016204879534621137 Centerline is valid? [True, True] Translation: X:-0.32, Y:-211.76, Z:-2.78 [[ 7.88780410e-01 6.14657400e-01 -4.66317475e-03 -3.19414555e-01] [-6.14647533e-01 7.88794185e-01 3.48476811e-03 -2.11762700e+02] [ 5.82022363e-03 1.17492037e-04 9.99983056e-01 -2.77821983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.946559995 meters 0.01680977927626986 Centerline is valid? [True, True] Translation: X:-0.29, Y:-211.78, Z:-2.78 [[ 7.88106621e-01 6.15519956e-01 -4.81007226e-03 -2.93993715e-01] [-6.15509465e-01 7.88121290e-01 3.59608155e-03 -2.11780345e+02] [ 6.00438032e-03 1.26549320e-04 9.99981966e-01 -2.77824086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.97655999499995 meters 0.017343054432867912 Centerline is valid? [True, True] Translation: X:-0.27, Y:-211.80, Z:-2.78 [[ 7.87443542e-01 6.16367086e-01 -4.92783726e-03 -2.67432872e-01] [-6.16356080e-01 7.87458949e-01 3.68581117e-03 -2.11798830e+02] [ 6.15228224e-03 1.34934258e-04 9.99981065e-01 -2.77836335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.006559995 meters 0.018493624002794445 Centerline is valid? [True, True] Translation: X:-0.24, Y:-211.82, Z:-2.78 [[ 7.86265772e-01 6.17869335e-01 -4.86009721e-03 -2.41102128e-01] [-6.17858649e-01 7.86280780e-01 3.63667884e-03 -2.11815290e+02] [ 6.06839336e-03 1.43456997e-04 9.99981577e-01 -2.77832669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.03655999499995 meters 0.018493624002794445 Centerline is valid? [True, True] Translation: X:-0.22, Y:-211.83, Z:-2.78 [[ 7.86111489e-01 6.18065624e-01 -4.85918882e-03 -2.15194255e-01] [-6.18054934e-01 7.86126494e-01 3.63789251e-03 -2.11834821e+02] [ 6.06839337e-03 1.43456531e-04 9.99981577e-01 -2.77832701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.066559995 meters 0.01897194450039083 Centerline is valid? [True, True] Translation: X:-0.19, Y:-211.85, Z:-2.78 [[ 7.85525264e-01 6.18813028e-01 -4.52718849e-03 -1.88864709e-01] [-6.18803753e-01 7.85538298e-01 3.39087306e-03 -2.11853414e+02] [ 5.65459637e-03 1.37824769e-04 9.99984003e-01 -2.77810977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.09655999499995 meters 0.0155157117788875 Centerline is valid? [True, True] Translation: X:-0.17, Y:-211.88, Z:-2.78 [[ 7.85019790e-01 6.19455400e-01 -4.35164511e-03 -1.65926993e-01] [-6.19446830e-01 7.85031839e-01 3.26129832e-03 -2.11877654e+02] [ 5.43640882e-03 1.35429053e-04 9.99985214e-01 -2.77658319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.126559995 meters 0.015861631055115653 Centerline is valid? [True, True] Translation: X:-0.14, Y:-211.90, Z:-2.78 [[ 7.84593823e-01 6.19997657e-01 -3.92909459e-03 -1.39576621e-01] [-6.19990669e-01 7.84603651e-01 2.94633138e-03 -2.11897113e+02] [ 4.90950051e-03 1.24328586e-04 9.99987941e-01 -2.77593628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.15655999499995 meters 0.015658483541347003 Centerline is valid? [True, True] Translation: X:-0.11, Y:-211.92, Z:-2.78 [[ 7.84464315e-01 6.20161623e-01 -3.91160329e-03 -1.13512829e-01] [-6.20154690e-01 7.84474057e-01 2.93493612e-03 -2.11917278e+02] [ 4.88868605e-03 1.23446476e-04 9.99988043e-01 -2.77552787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.186559995 meters 0.01762633467247028 Centerline is valid? [True, True] Translation: X:-0.09, Y:-211.93, Z:-2.78 [[ 7.84244894e-01 6.20441259e-01 -3.54835180e-03 -8.62170563e-02] [-6.20435550e-01 7.84252913e-01 2.66384068e-03 -2.11933946e+02] [ 4.43556190e-03 1.12420153e-04 9.99990157e-01 -2.77612145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.21655999499995 meters 0.01588615366496967 Centerline is valid? [True, True] Translation: X:-0.06, Y:-211.96, Z:-2.78 [[ 7.84062510e-01 6.20671921e-01 -3.51387848e-03 -6.18437864e-02] [-6.20666319e-01 7.84070376e-01 2.63949372e-03 -2.11955777e+02] [ 4.39338766e-03 1.11417954e-04 9.99990343e-01 -2.77542542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.246559995 meters 0.01590392582372462 Centerline is valid? [True, True] Translation: X:-0.04, Y:-211.98, Z:-2.78 [[ 7.83657533e-01 6.21184085e-01 -3.34723049e-03 -3.54841233e-02] [-6.21179000e-01 7.83664674e-01 2.51578509e-03 -2.11975528e+02] [ 4.18587194e-03 1.07715350e-04 9.99991233e-01 -2.77511018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.27655999499996 meters 0.01863951710442761 Centerline is valid? [True, True] Translation: X:-0.01, Y:-211.99, Z:-2.78 [[ 7.83484536e-01 6.21401122e-01 -3.55345551e-03 -7.05656118e-03] [-6.21395389e-01 7.83492586e-01 2.67175239e-03 -2.11991182e+02] [ 4.44433598e-03 1.14824184e-04 9.99990117e-01 -2.77617094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.306559995 meters 0.016176324902904115 Centerline is valid? [True, True] Translation: X:0.02, Y:-212.01, Z:-2.78 [[ 7.83291805e-01 6.21642425e-01 -3.82666411e-03 1.70701356e-02] [-6.21635771e-01 7.83301143e-01 2.87884544e-03 -2.12014031e+02] [ 4.78704283e-03 1.23815257e-04 9.99988534e-01 -2.77585160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.33655999499996 meters 0.016578825616428816 Centerline is valid? [True, True] Translation: X:0.04, Y:-212.03, Z:-2.78 [[ 7.83062668e-01 6.21929035e-01 -4.13934843e-03 4.28865723e-02] [-6.21921244e-01 7.83073597e-01 3.11577347e-03 -2.12032177e+02] [ 5.17920445e-03 1.34502842e-04 9.99986579e-01 -2.77625007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.36655999499993 meters 0.017349579060376784 Centerline is valid? [True, True] Translation: X:0.07, Y:-212.05, Z:-2.78 [[ 7.82471926e-01 6.22669044e-01 -4.57677714e-03 6.84105998e-02] [-6.22659524e-01 7.82485296e-01 3.44662168e-03 -2.12049601e+02] [ 5.72736544e-03 1.52889171e-04 9.99983587e-01 -2.77634929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.39655999499996 meters 0.01632514337646918 Centerline is valid? [True, True] Translation: X:0.09, Y:-212.07, Z:-2.78 [[ 7.82299261e-01 6.22886122e-01 -4.55469196e-03 9.36897773e-02] [-6.22876686e-01 7.82312505e-01 3.43199060e-03 -2.12070281e+02] [ 5.70093180e-03 1.52167718e-04 9.99983738e-01 -2.77588918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.42655999499993 meters 0.016248789899186936 Centerline is valid? [True, True] Translation: X:0.12, Y:-212.09, Z:-2.78 [[ 7.82297600e-01 6.22887172e-01 -4.69430588e-03 1.19774783e-01] [-6.22877136e-01 7.82311669e-01 3.53924923e-03 -2.12089690e+02] [ 5.87696321e-03 1.55229621e-04 9.99982719e-01 -2.77601031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.45655999499996 meters 0.01772426524917724 Centerline is valid? [True, True] Translation: X:0.15, Y:-212.11, Z:-2.78 [[ 7.82293629e-01 6.22892279e-01 -4.67837429e-03 1.47022898e-01] [-6.22882300e-01 7.82307603e-01 3.52914307e-03 -2.12107166e+02] [ 5.85820375e-03 1.53250404e-04 9.99982829e-01 -2.77646030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.48655999499994 meters 0.015698528461397316 Centerline is valid? [True, True] Translation: X:0.17, Y:-212.13, Z:-2.78 [[ 7.82450953e-01 6.22696206e-01 -4.46549308e-03 1.70731887e-01] [-6.22687102e-01 7.82463682e-01 3.37028720e-03 -2.12129229e+02] [ 5.59275121e-03 1.43520514e-04 9.99984350e-01 -2.77568956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.51655999499997 meters 0.01647079078890402 Centerline is valid? [True, True] Translation: X:0.20, Y:-212.15, Z:-2.78 [[ 7.83322345e-01 6.21600222e-01 -4.38961135e-03 1.96193569e-01] [-6.21591399e-01 7.83334633e-01 3.31458493e-03 -2.12146823e+02] [ 5.49888132e-03 1.32156217e-04 9.99984872e-01 -2.77588218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.54655999499994 meters 0.015274372193793274 Centerline is valid? [True, True] Translation: X:0.22, Y:-212.17, Z:-2.78 [[ 7.83420510e-01 6.21474565e-01 -4.65506667e-03 2.21026579e-01] [-6.21464628e-01 7.83434328e-01 3.51708122e-03 -2.12168518e+02] [ 5.83271555e-03 1.37605720e-04 9.99982980e-01 -2.77531333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.57655999499997 meters 0.0152551419202566 Centerline is valid? [True, True] Translation: X:0.25, Y:-212.19, Z:-2.78 [[ 7.83008058e-01 6.21992573e-01 -4.86005010e-03 2.47028569e-01] [-6.21981738e-01 7.83023128e-01 3.67410332e-03 -2.12188172e+02] [ 6.09079660e-03 1.46009901e-04 9.99981440e-01 -2.77508647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.60655999499994 meters 0.01517969225041279 Centerline is valid? [True, True] Translation: X:0.27, Y:-212.21, Z:-2.78 [[ 7.81965014e-01 6.23295191e-01 -5.81569355e-03 2.72811103e-01] [-6.23279696e-01 7.81986618e-01 4.39883969e-03 -2.12206897e+02] [ 7.28957016e-03 1.85064960e-04 9.99973414e-01 -2.77583327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.63655999499997 meters 0.015530256428809987 Centerline is valid? [True, True] Translation: X:0.30, Y:-212.22, Z:-2.78 [[ 7.81723962e-01 6.23593590e-01 -6.21944415e-03 2.98070269e-01] [-6.23575868e-01 7.81748678e-01 4.70557036e-03 -2.12224478e+02] [ 7.79640575e-03 1.99838174e-04 9.99969588e-01 -2.77669816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.66655999499994 meters 0.015762225599828258 Centerline is valid? [True, True] Translation: X:0.32, Y:-212.24, Z:-2.78 [[ 7.81338969e-01 6.24071414e-01 -6.65480230e-03 3.24456531e-01] [-6.24051119e-01 7.81367278e-01 5.03753673e-03 -2.12243562e+02] [ 8.34362743e-03 2.16913071e-04 9.99965168e-01 -2.77719511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.696559995 meters 0.015482608051671268 Centerline is valid? [True, True] Translation: X:0.35, Y:-212.26, Z:-2.78 [[ 7.80926160e-01 6.24585873e-01 -6.84253020e-03 3.50605471e-01] [-6.24564410e-01 7.80956104e-01 5.18272437e-03 -2.12263886e+02] [ 8.58077215e-03 2.26275793e-04 9.99963159e-01 -2.77710046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.72655999499995 meters 0.016253337548161124 Centerline is valid? [True, True] Translation: X:0.38, Y:-212.28, Z:-2.78 [[ 7.80298397e-01 6.25375303e-01 -6.33582077e-03 3.75888090e-01] [-6.25356910e-01 7.80324089e-01 4.80122607e-03 -2.12281331e+02] [ 7.94656178e-03 2.15760292e-04 9.99968402e-01 -2.77661563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.756559995 meters 0.01637513806121621 Centerline is valid? [True, True] Translation: X:0.40, Y:-212.30, Z:-2.78 [[ 7.80348158e-01 6.25319040e-01 -5.73154841e-03 4.00757683e-01] [-6.25303972e-01 7.80369182e-01 4.34535023e-03 -2.12299855e+02] [ 7.18995398e-03 1.93073940e-04 9.99974133e-01 -2.77643513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.78655999499995 meters 0.015950876304366 Centerline is valid? [True, True] Translation: X:0.43, Y:-212.32, Z:-2.78 [[ 7.80475660e-01 6.25160923e-01 -5.61818583e-03 4.25930815e-01] [-6.25146425e-01 7.80495859e-01 4.26157318e-03 -2.12320266e+02] [ 7.04913980e-03 1.86134645e-04 9.99975137e-01 -2.77585419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.816559995 meters 0.015832827418895967 Centerline is valid? [True, True] Translation: X:0.45, Y:-212.34, Z:-2.78 [[ 7.80711049e-01 6.24870754e-01 -5.17668986e-03 4.51552774e-01] [-6.24858426e-01 7.80728194e-01 3.92867727e-03 -2.12340298e+02] [ 6.49650325e-03 1.67536520e-04 9.99978884e-01 -2.77537436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.84655999499995 meters 0.016076035952436202 Centerline is valid? [True, True] Translation: X:0.48, Y:-212.36, Z:-2.78 [[ 7.81559817e-01 6.23812032e-01 -4.77506788e-03 4.75938035e-01] [-6.23801517e-01 7.81574390e-01 3.62492533e-03 -2.12359108e+02] [ 5.99334280e-03 1.45598605e-04 9.99982029e-01 -2.77575780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.876559995 meters 0.014927315187823016 Centerline is valid? [True, True] Translation: X:0.50, Y:-212.38, Z:-2.78 [[ 7.81976520e-01 6.23289270e-01 -4.81743853e-03 4.99991385e-01] [-6.23278546e-01 7.81991346e-01 3.65896338e-03 -2.12380317e+02] [ 6.04778785e-03 1.41382631e-04 9.99981702e-01 -2.77548630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.90655999499995 meters 0.014763575552244775 Centerline is valid? [True, True] Translation: X:0.52, Y:-212.40, Z:-2.78 [[ 7.82536841e-01 6.22585461e-01 -4.84107675e-03 5.24674812e-01] [-6.22574608e-01 7.82551804e-01 3.67865092e-03 -2.12399487e+02] [ 6.07866793e-03 1.35251589e-04 9.99981516e-01 -2.77565703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.936559995 meters 0.01455231215677023 Centerline is valid? [True, True] Translation: X:0.55, Y:-212.42, Z:-2.78 [[ 7.82915990e-01 6.22104817e-01 -5.30559618e-03 5.49827414e-01] [-6.22091756e-01 7.82933954e-01 4.03367338e-03 -2.12419516e+02] [ 6.66329903e-03 1.42540256e-04 9.99977790e-01 -2.77591751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.96655999499995 meters 0.014260629772946943 Centerline is valid? [True, True] Translation: X:0.57, Y:-212.44, Z:-2.78 [[ 7.83932912e-01 6.20816775e-01 -5.97678464e-03 5.74299098e-01] [-6.20800147e-01 7.83955681e-01 4.54607489e-03 -2.12439391e+02] [ 7.50781383e-03 1.46571054e-04 9.99971805e-01 -2.77669792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.996559995 meters 0.013732831455213245 Centerline is valid? [True, True] Translation: X:0.60, Y:-212.46, Z:-2.78 [[ 7.84413746e-01 6.20208858e-01 -6.00396892e-03 5.98927770e-01] [-6.20192044e-01 7.84436711e-01 4.56907093e-03 -2.12459902e+02] [ 7.54351189e-03 1.39571711e-04 9.99971538e-01 -2.77671447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.02655999499996 meters 0.01314145562184108 Centerline is valid? [True, True] Translation: X:0.62, Y:-212.48, Z:-2.78 [[ 7.86134580e-01 6.18022030e-01 -6.41823105e-03 6.23683956e-01] [-6.18002734e-01 7.86160769e-01 4.88521031e-03 -2.12481173e+02] [ 8.06492905e-03 1.26051585e-04 9.99967470e-01 -2.77749888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.056559995 meters 0.012928558195598863 Centerline is valid? [True, True] Translation: X:0.65, Y:-212.50, Z:-2.78 [[ 7.86859832e-01 6.17097308e-01 -6.52056970e-03 6.48517324e-01] [-6.17077340e-01 7.86886840e-01 4.96560647e-03 -2.12501593e+02] [ 8.19521287e-03 1.16459538e-04 9.99966412e-01 -2.77796113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.08655999499996 meters 0.01264862920765445 Centerline is valid? [True, True] Translation: X:0.67, Y:-212.52, Z:-2.78 [[ 7.87789207e-01 6.15905535e-01 -6.96686782e-03 6.72323541e-01] [-6.15882672e-01 7.87820005e-01 5.30793878e-03 -2.12521556e+02] [ 8.75782672e-03 1.09236293e-04 9.99961644e-01 -2.77808096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.11655999499993 meters 0.012278518187339013 Centerline is valid? [True, True] Translation: X:0.70, Y:-212.54, Z:-2.78 [[ 7.88491832e-01 6.15005068e-01 -7.02832496e-03 6.96720842e-01] [-6.14981740e-01 7.88523150e-01 5.35747508e-03 -2.12542675e+02] [ 8.83687126e-03 9.79661716e-05 9.99960949e-01 -2.77775934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.14655999499996 meters 0.012127407764109475 Centerline is valid? [True, True] Translation: X:0.72, Y:-212.56, Z:-2.78 [[ 7.89777828e-01 6.13357708e-01 -6.58066057e-03 7.19843910e-01] [-6.13337181e-01 7.89805240e-01 5.01857835e-03 -2.12563101e+02] [ 8.27562392e-03 7.26018937e-05 9.99965754e-01 -2.77757712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.17655999499993 meters 0.012063332681271903 Centerline is valid? [True, True] Translation: X:0.75, Y:-212.58, Z:-2.78 [[ 7.90061817e-01 6.12988446e-01 -6.89129515e-03 7.45366803e-01] [-6.12965895e-01 7.90091868e-01 5.25848860e-03 -2.12583598e+02] [ 8.66814902e-03 6.95978402e-05 9.99962429e-01 -2.77742053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.20655999499996 meters 0.012082037316858972 Centerline is valid? [True, True] Translation: X:0.77, Y:-212.60, Z:-2.78 [[ 7.90038067e-01 6.13019636e-01 -6.83952442e-03 7.70990942e-01] [-6.12997399e-01 7.90067669e-01 5.22176814e-03 -2.12603136e+02] [ 8.60473352e-03 6.72150747e-05 9.99962976e-01 -2.77774461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.23655999499994 meters 0.01197480608724322 Centerline is valid? [True, True] Translation: X:0.80, Y:-212.62, Z:-2.78 [[ 7.89939695e-01 6.13145519e-01 -6.91740459e-03 7.97058017e-01] [-6.13122752e-01 7.89969979e-01 5.28426131e-03 -2.12623528e+02] [ 8.70456311e-03 6.69703662e-05 9.99962112e-01 -2.77771528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.26655999499997 meters 0.012224201752091695 Centerline is valid? [True, True] Translation: X:0.82, Y:-212.64, Z:-2.78 [[ 7.89101009e-01 6.14219904e-01 -7.31485868e-03 8.22797555e-01] [-6.14194465e-01 7.89134908e-01 5.59066967e-03 -2.12643124e+02] [ 9.20631092e-03 8.11426377e-05 9.99957618e-01 -2.77814996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.29655999499994 meters 0.012375281945764925 Centerline is valid? [True, True] Translation: X:0.85, Y:-212.66, Z:-2.78 [[ 7.88519870e-01 6.14962916e-01 -7.55157978e-03 8.48774657e-01] [-6.14935809e-01 7.88556025e-01 5.77466342e-03 -2.12662379e+02] [ 9.50604758e-03 9.02999731e-05 9.99954812e-01 -2.77834736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.32655999499997 meters 0.012771972261325837 Centerline is valid? [True, True] Translation: X:0.87, Y:-212.68, Z:-2.78 [[ 7.87871457e-01 6.15787596e-01 -8.01271410e-03 8.73979246e-01] [-6.15757092e-01 7.87912194e-01 6.13008463e-03 -2.12680681e+02] [ 1.00881452e-02 1.04166820e-04 9.99949108e-01 -2.77886828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.35655999499994 meters 0.013099264527070815 Centerline is valid? [True, True] Translation: X:0.90, Y:-212.70, Z:-2.78 [[ 7.86959422e-01 6.16953774e-01 -7.93151802e-03 8.99655496e-01] [-6.16923916e-01 7.86999382e-01 6.07087184e-03 -2.12699894e+02] [ 9.98754708e-03 1.15613360e-04 9.99950117e-01 -2.77887510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.38655999499997 meters 0.013240629398943023 Centerline is valid? [True, True] Translation: X:0.93, Y:-212.72, Z:-2.78 [[ 7.86493895e-01 6.17544214e-01 -8.15454640e-03 9.25451951e-01] [-6.17512649e-01 7.86536158e-01 6.24501026e-03 -2.12719790e+02] [ 1.02704155e-02 1.23873108e-04 9.99947250e-01 -2.77873230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.41655999499994 meters 0.012919566850787637 Centerline is valid? [True, True] Translation: X:0.95, Y:-212.74, Z:-2.78 [[ 7.86285997e-01 6.17807207e-01 -8.28162292e-03 9.51269009e-01] [-6.17774627e-01 7.86329599e-01 6.34595346e-03 -2.12740964e+02] [ 1.04326610e-02 1.26442168e-04 9.99945570e-01 -2.77788888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.446559995 meters 0.012902533942875634 Centerline is valid? [True, True] Translation: X:0.98, Y:-212.76, Z:-2.78 [[ 7.86219269e-01 6.17891091e-01 -8.35827183e-03 9.76937114e-01] [-6.17857871e-01 7.86263686e-01 6.40834612e-03 -2.12761141e+02] [ 1.05314656e-02 1.25858837e-04 9.99944535e-01 -2.77770211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.47655999499995 meters 0.013154665085720753 Centerline is valid? [True, True] Translation: X:1.00, Y:-212.78, Z:-2.78 [[ 7.86550189e-01 6.17472862e-01 -8.12798454e-03 1.00144964e+00] [-6.17441408e-01 7.86592176e-01 6.23352563e-03 -2.12780830e+02] [ 1.02424420e-02 1.15573457e-04 9.99947538e-01 -2.77795868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.506559995 meters 0.013123576413719936 Centerline is valid? [True, True] Translation: X:1.03, Y:-212.80, Z:-2.78 [[ 7.86819175e-01 6.17135159e-01 -7.73181690e-03 1.02627579e+00] [-6.17106652e-01 7.86857157e-01 5.93251258e-03 -2.12801357e+02] [ 9.74499755e-03 1.03540983e-04 9.99952511e-01 -2.77752232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.53655999499995 meters 0.012497315448306349 Centerline is valid? [True, True] Translation: X:1.05, Y:-212.82, Z:-2.78 [[ 7.87280166e-01 6.16550738e-01 -7.42477391e-03 1.05019626e+00] [-6.16524398e-01 7.87315171e-01 5.69980348e-03 -2.12822911e+02] [ 9.35985519e-03 9.02120348e-05 9.99956192e-01 -2.77579822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.566559995 meters 0.012418963356423882 Centerline is valid? [True, True] Translation: X:1.07, Y:-212.84, Z:-2.78 [[ 7.88165404e-01 6.15424779e-01 -6.90195152e-03 1.07351364e+00] [-6.15401953e-01 7.88195621e-01 5.30091783e-03 -2.12843606e+02] [ 8.70240415e-03 6.94743967e-05 9.99962131e-01 -2.77503664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.59655999499995 meters 0.012251807907338968 Centerline is valid? [True, True] Translation: X:1.10, Y:-212.86, Z:-2.78 [[ 7.88711150e-01 6.14724746e-01 -6.94324788e-03 1.09838537e+00] [-6.14701594e-01 7.88741709e-01 5.33546692e-03 -2.12863967e+02] [ 8.75627275e-03 5.98832856e-05 9.99961661e-01 -2.77528873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.626559995 meters 0.012153774794843697 Centerline is valid? [True, True] Translation: X:1.12, Y:-212.89, Z:-2.78 [[ 7.89108293e-01 6.14214052e-01 -7.01428701e-03 1.12327703e+00] [-6.14190376e-01 7.89139465e-01 5.39317953e-03 -2.12885284e+02] [ 8.84781735e-03 5.23048789e-05 9.99960856e-01 -2.77505979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.65655999499995 meters 0.012213886202768807 Centerline is valid? [True, True] Translation: X:1.15, Y:-212.91, Z:-2.78 [[ 7.89519928e-01 6.13683390e-01 -7.13996555e-03 1.14804564e+00] [-6.13658810e-01 7.89552211e-01 5.49277056e-03 -2.12905866e+02] [ 9.00819765e-03 4.48509478e-05 9.99959424e-01 -2.77551382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.686559995 meters 0.012104862693432729 Centerline is valid? [True, True] Translation: X:1.17, Y:-212.93, Z:-2.78 [[ 7.90467273e-01 6.12456432e-01 -7.65563323e-03 1.17220546e+00] [-6.12428082e-01 7.90504344e-01 5.89290903e-03 -2.12928015e+02] [ 9.66096137e-03 3.03730478e-05 9.99953331e-01 -2.77528562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.71655999499995 meters 0.012278207229292081 Centerline is valid? [True, True] Translation: X:1.20, Y:-212.95, Z:-2.78 [[ 7.90671387e-01 6.12187752e-01 -8.05692699e-03 1.19696949e+00] [-6.12156315e-01 7.90712436e-01 6.20404904e-03 -2.12948240e+02] [ 1.01687552e-02 2.67346795e-05 9.99948297e-01 -2.77669057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.746559995 meters 0.012293038200647545 Centerline is valid? [True, True] Translation: X:1.22, Y:-212.97, Z:-2.78 [[ 7.90747810e-01 6.12081924e-01 -8.58015063e-03 1.22219399e+00] [-6.12046225e-01 7.90794359e-01 6.61067677e-03 -2.12969242e+02] [ 1.08314105e-02 2.40706181e-05 9.99941338e-01 -2.77626531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.77655999499996 meters 0.012255934771379404 Centerline is valid? [True, True] Translation: X:1.25, Y:-212.99, Z:-2.78 [[ 7.90928960e-01 6.11837175e-01 -9.30868419e-03 1.24759450e+00] [-6.11795090e-01 7.90983736e-01 7.17613545e-03 -2.12990771e+02] [ 1.17536442e-02 1.91939362e-05 9.99930923e-01 -2.77581994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.806559995 meters 0.012295482512866966 Centerline is valid? [True, True] Translation: X:1.27, Y:-213.01, Z:-2.78 [[ 7.90953672e-01 6.11804104e-01 -9.38225649e-03 1.27338130e+00] [-6.11761299e-01 7.91009316e-01 7.23701796e-03 -2.13011270e+02] [ 1.18490896e-02 1.55554901e-05 9.99929797e-01 -2.77608155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.83655999499996 meters 0.012291394980660965 Centerline is valid? [True, True] Translation: X:1.30, Y:-213.03, Z:-2.78 [[ 7.90831597e-01 6.11961162e-01 -9.42985047e-03 1.29945274e+00] [-6.11917883e-01 7.90887815e-01 7.27791563e-03 -2.13032075e+02] [ 1.19117555e-02 1.46884981e-05 9.99929052e-01 -2.77594734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.86655999499993 meters 0.012341010040444982 Centerline is valid? [True, True] Translation: X:1.32, Y:-213.05, Z:-2.78 [[ 7.90834947e-01 6.11958428e-01 -9.32571602e-03 1.32436028e+00] [-6.11916069e-01 7.90889931e-01 7.20011480e-03 -2.13052510e+02] [ 1.17817858e-02 1.24530828e-05 9.99930592e-01 -2.77643436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.89655999499996 meters 0.012276980387105592 Centerline is valid? [True, True] Translation: X:1.35, Y:-213.07, Z:-2.78 [[ 7.90833093e-01 6.11966245e-01 -8.96295819e-03 1.34991943e+00] [-6.11927073e-01 7.90883882e-01 6.92399565e-03 -2.13074007e+02] [ 1.13259108e-02 8.95187758e-06 9.99935860e-01 -2.77540814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.92655999499993 meters 0.012211474342034899 Centerline is valid? [True, True] Translation: X:1.37, Y:-213.10, Z:-2.77 [[ 7.91085872e-01 6.11643638e-01 -8.67194838e-03 1.37456114e+00] [-6.11606908e-01 7.91133402e-01 6.70305317e-03 -2.13096120e+02] [ 1.09605479e-02 1.13286409e-06 9.99939931e-01 -2.77422306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.95655999499996 meters 0.012211474342034899 Centerline is valid? [True, True] Translation: X:1.40, Y:-213.12, Z:-2.77 [[ 7.90914977e-01 6.11864633e-01 -8.67007541e-03 1.40016538e+00] [-6.11827889e-01 7.90962496e-01 6.70547559e-03 -2.13116001e+02] [ 1.09605479e-02 1.13286176e-06 9.99939931e-01 -2.77422338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.98655999499994 meters 0.012219881759879585 Centerline is valid? [True, True] Translation: X:1.43, Y:-213.14, Z:-2.77 [[ 7.90655384e-01 6.12199796e-01 -8.68755798e-03 1.42523791e+00] [-6.12162884e-01 7.90703111e-01 6.72260694e-03 -2.13136450e+02] [ 1.09848577e-02 2.93517539e-06 9.99939665e-01 -2.77433222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.01655999499997 meters 0.012126900101478865 Centerline is valid? [True, True] Translation: X:1.45, Y:-213.16, Z:-2.77 [[ 7.90390821e-01 6.12541888e-01 -8.64786848e-03 1.45121160e+00] [-6.12505292e-01 7.90438129e-01 6.69566162e-03 -2.13157332e+02] [ 1.09369782e-02 4.67571830e-06 9.99940190e-01 -2.77412891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.04655999499994 meters 0.012019549066582343 Centerline is valid? [True, True] Translation: X:1.48, Y:-213.18, Z:-2.77 [[ 7.89211986e-01 6.14061563e-01 -8.53453827e-03 1.47728904e+00] [-6.14025967e-01 7.89258130e-01 6.61174685e-03 -2.13177109e+02] [ 1.07959733e-02 2.23582598e-05 9.99941722e-01 -2.77345381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.07655999499997 meters 0.012167230798636632 Centerline is valid? [True, True] Translation: X:1.50, Y:-213.20, Z:-2.77 [[ 7.88124187e-01 6.15455676e-01 -8.63581082e-03 1.50323907e+00] [-6.15419274e-01 7.88171498e-01 6.69381157e-03 -2.13195981e+02] [ 1.09262443e-02 3.90896238e-05 9.99940306e-01 -2.77416089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.10655999499994 meters 0.012163796407557732 Centerline is valid? [True, True] Translation: X:1.53, Y:-213.22, Z:-2.77 [[ 7.87024031e-01 6.16861545e-01 -8.66081391e-03 1.53002020e+00] [-6.16824975e-01 7.87071681e-01 6.71701347e-03 -2.13215621e+02] [ 1.09601487e-02 5.57553116e-05 9.99939934e-01 -2.77405278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.13655999499997 meters 0.01233310245423829 Centerline is valid? [True, True] Translation: X:1.56, Y:-213.23, Z:-2.77 [[ 7.84839528e-01 6.19636938e-01 -8.77389928e-03 1.55659660e+00] [-6.19599542e-01 7.84888563e-01 6.80818208e-03 -2.13234445e+02] [ 1.11051343e-02 9.29735639e-05 9.99938332e-01 -2.77328395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.16655999499994 meters 0.012548047989484636 Centerline is valid? [True, True] Translation: X:1.58, Y:-213.25, Z:-2.77 [[ 7.83680702e-01 6.21108251e-01 -8.31248360e-03 1.58361742e+00] [-6.21074728e-01 7.83724779e-01 6.45387542e-03 -2.13254087e+02] [ 1.05232546e-02 1.04895868e-04 9.99944624e-01 -2.77351640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.196559995 meters 0.012859311548710416 Centerline is valid? [True, True] Translation: X:1.61, Y:-213.27, Z:-2.77 [[ 7.82644991e-01 6.22414628e-01 -8.17613303e-03 1.60867469e+00] [-6.22382248e-01 7.82687688e-01 6.34976537e-03 -2.13272002e+02] [ 1.03515455e-02 1.19067997e-04 9.99946414e-01 -2.77356060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.22655999499995 meters 0.013037132412509787 Centerline is valid? [True, True] Translation: X:1.63, Y:-213.29, Z:-2.77 [[ 7.81598460e-01 6.23727764e-01 -8.21728357e-03 1.63479694e+00] [-6.23695097e-01 7.81641643e-01 6.38493824e-03 -2.13291313e+02] [ 1.04054343e-02 1.34621576e-04 9.99945853e-01 -2.77326332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.256559995 meters 0.013587156109912343 Centerline is valid? [True, True] Translation: X:1.66, Y:-213.31, Z:-2.77 [[ 7.79820309e-01 6.25953239e-01 -7.92641745e-03 1.66098027e+00] [-6.25922930e-01 7.79860576e-01 6.16179146e-03 -2.13309200e+02] [ 1.00384938e-02 1.56236319e-04 9.99949601e-01 -2.77335185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.28655999499995 meters 0.013886193003136628 Centerline is valid? [True, True] Translation: X:1.69, Y:-213.33, Z:-2.77 [[ 7.78919716e-01 6.27073008e-01 -7.96986072e-03 1.68647820e+00] [-6.27042393e-01 7.78960470e-01 6.19866133e-03 -2.13328039e+02] [ 1.00952197e-02 1.69181021e-04 9.99949028e-01 -2.77318686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.316559995 meters 0.014266179291685546 Centerline is valid? [True, True] Translation: X:1.71, Y:-213.35, Z:-2.77 [[ 7.78103007e-01 6.28085589e-01 -8.01267787e-03 1.71232797e+00] [-6.28054666e-01 7.78144241e-01 6.23507049e-03 -2.13347205e+02] [ 1.01511771e-02 1.80872630e-04 9.99948459e-01 -2.77332286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.34655999499995 meters 0.014547963279161701 Centerline is valid? [True, True] Translation: X:1.74, Y:-213.37, Z:-2.77 [[ 7.77574809e-01 6.28738103e-01 -8.11262335e-03 1.73712006e+00] [-6.28706410e-01 7.77617105e-01 6.31574716e-03 -2.13365557e+02] [ 1.02794656e-02 1.89492411e-04 9.99947147e-01 -2.77367115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.376559995 meters 0.014734522431575142 Centerline is valid? [True, True] Translation: X:1.76, Y:-213.39, Z:-2.77 [[ 7.76994119e-01 6.29459992e-01 -7.76255521e-03 1.76341822e+00] [-6.29430978e-01 7.77032871e-01 6.04662613e-03 -2.13385765e+02] [ 9.83786980e-03 1.87799774e-04 9.99951589e-01 -2.77361478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.40655999499995 meters 0.014970449017289444 Centerline is valid? [True, True] Translation: X:1.79, Y:-213.41, Z:-2.77 [[ 7.76877707e-01 6.29606896e-01 -7.49568244e-03 1.78901603e+00] [-6.29579830e-01 7.76913846e-01 5.84079067e-03 -2.13405488e+02] [ 9.50090156e-03 1.81550417e-04 9.99954849e-01 -2.77368518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.436559995 meters 0.014899659968483872 Centerline is valid? [True, True] Translation: X:1.81, Y:-213.43, Z:-2.77 [[ 7.76969606e-01 6.29497111e-01 -7.18454844e-03 1.81440593e+00] [-6.29472216e-01 7.77002804e-01 5.60107872e-03 -2.13425663e+02] [ 9.10827716e-03 1.70605699e-04 9.99958504e-01 -2.77394194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.46655999499995 meters 0.0147482402088427 Centerline is valid? [True, True] Translation: X:1.84, Y:-213.45, Z:-2.77 [[ 7.77774009e-01 6.28505996e-01 -6.91403557e-03 1.83790428e+00] [-6.28482888e-01 7.77804725e-01 5.39168220e-03 -2.13445578e+02] [ 8.76647413e-03 1.51842768e-04 9.99961562e-01 -2.77388284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.496559995 meters 0.014702121355101972 Centerline is valid? [True, True] Translation: X:1.86, Y:-213.47, Z:-2.77 [[ 7.78106577e-01 6.28094912e-01 -6.85100910e-03 1.86165703e+00] [-6.28072186e-01 7.78136724e-01 5.34490678e-03 -2.13465225e+02] [ 8.68813053e-03 1.44021148e-04 9.99962247e-01 -2.77389488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.52655999499996 meters 0.014463548999892264 Centerline is valid? [True, True] Translation: X:1.89, Y:-213.49, Z:-2.77 [[ 7.78557500e-01 6.27534650e-01 -6.96290061e-03 1.88637527e+00] [-6.27511131e-01 7.78588623e-01 5.43478630e-03 -2.13486257e+02] [ 8.83175192e-03 1.38004003e-04 9.99960990e-01 -2.77402645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.556559995 meters 0.014351502859310855 Centerline is valid? [True, True] Translation: X:1.91, Y:-213.51, Z:-2.77 [[ 7.78831669e-01 6.27191041e-01 -7.25463979e-03 1.91171097e+00] [-6.27165466e-01 7.78865444e-01 5.66556186e-03 -2.13507335e+02] [ 9.20377788e-03 1.37340545e-04 9.99957635e-01 -2.77438210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.58655999499996 meters 0.013957990406393716 Centerline is valid? [True, True] Translation: X:1.94, Y:-213.53, Z:-2.78 [[ 7.79711710e-01 6.26087547e-01 -8.00204653e-03 1.93611481e+00] [-6.26056343e-01 7.79752759e-01 6.25219234e-03 -2.13528658e+02] [ 1.01540376e-02 1.34824400e-04 9.99948437e-01 -2.77573985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.61655999499993 meters 0.013082165483328419 Centerline is valid? [True, True] Translation: X:1.96, Y:-213.55, Z:-2.77 [[ 7.80004294e-01 6.25719157e-01 -8.29679446e-03 1.96048731e+00] [-6.25685552e-01 7.80048408e-01 6.48623618e-03 -2.13550872e+02] [ 1.05304635e-02 1.31892349e-04 9.99944544e-01 -2.77498695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.64655999499996 meters 0.013781354763702442 Centerline is valid? [True, True] Translation: X:1.99, Y:-213.57, Z:-2.78 [[ 7.80300035e-01 6.25345669e-01 -8.64004019e-03 1.98668973e+00] [-6.25309176e-01 7.80347857e-01 6.75700352e-03 -2.13569682e+02] [ 1.09676997e-02 1.30206329e-04 9.99939845e-01 -2.77731233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.67655999499993 meters 0.013102345777933665 Centerline is valid? [True, True] Translation: X:2.01, Y:-213.59, Z:-2.78 [[ 7.80560118e-01 6.25016806e-01 -8.93831871e-03 2.01113400e+00] [-6.24977684e-01 7.80611283e-01 6.99418404e-03 -2.13591278e+02] [ 1.13488350e-02 1.26868604e-04 9.99935592e-01 -2.77648663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.70655999499996 meters 0.01285270088692124 Centerline is valid? [True, True] Translation: X:2.04, Y:-213.61, Z:-2.78 [[ 7.80908384e-01 6.24586255e-01 -8.60847230e-03 2.03552024e+00] [-6.24549904e-01 7.80955823e-01 6.73941653e-03 -2.13612212e+02] [ 1.09321835e-02 1.13553683e-04 9.99940236e-01 -2.77593592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.73655999499994 meters 0.012627655388074657 Centerline is valid? [True, True] Translation: X:2.06, Y:-213.63, Z:-2.77 [[ 7.80832283e-01 6.24683937e-01 -8.42164741e-03 2.06108350e+00] [-6.24649112e-01 7.80877690e-01 6.59699514e-03 -2.13633417e+02] [ 1.06973135e-02 1.09427796e-04 9.99942776e-01 -2.77468542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.76655999499997 meters 0.012546129499084173 Centerline is valid? [True, True] Translation: X:2.09, Y:-213.65, Z:-2.77 [[ 7.81063596e-01 6.24406209e-01 -7.51965215e-03 2.08647036e+00] [-6.24378403e-01 7.81099787e-01 5.89341675e-03 -2.13653542e+02] [ 9.55348470e-03 9.19751257e-05 9.99954360e-01 -2.77397200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.79655999499994 meters 0.012555337612743186 Centerline is valid? [True, True] Translation: X:2.11, Y:-213.67, Z:-2.77 [[ 7.81000850e-01 6.24485760e-01 -7.43020973e-03 2.11185021e+00] [-6.24458585e-01 7.81036189e-01 5.82646037e-03 -2.13673274e+02] [ 9.44180422e-03 8.93877560e-05 9.99955421e-01 -2.77388066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.82655999499997 meters 0.012481843207857894 Centerline is valid? [True, True] Translation: X:2.14, Y:-213.69, Z:-2.77 [[ 7.80947875e-01 6.24556719e-01 -7.02289291e-03 2.13735439e+00] [-6.24532416e-01 7.80979448e-01 5.51028663e-03 -2.13693312e+02] [ 8.92622156e-03 8.27776386e-05 9.99960157e-01 -2.77323938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.85655999499994 meters 0.012776878944071186 Centerline is valid? [True, True] Translation: X:2.16, Y:-213.71, Z:-2.77 [[ 7.80774009e-01 6.24775892e-01 -6.85800950e-03 2.16334290e+00] [-6.24752700e-01 7.80804123e-01 5.38384781e-03 -2.13712000e+02] [ 8.71846040e-03 8.09915160e-05 9.99961990e-01 -2.77399204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.88655999499997 meters 0.012458049454331039 Centerline is valid? [True, True] Translation: X:2.19, Y:-213.73, Z:-2.77 [[ 7.80652328e-01 6.24929162e-01 -6.74430316e-03 2.18854315e+00] [-6.24906712e-01 7.80681456e-01 5.29766082e-03 -2.13732648e+02] [ 8.57581515e-03 7.89290568e-05 9.99963224e-01 -2.77326880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.91655999499994 meters 0.012479811230146154 Centerline is valid? [True, True] Translation: X:2.21, Y:-213.75, Z:-2.77 [[ 7.80500238e-01 6.25117949e-01 -6.85042670e-03 2.21447755e+00] [-6.25094767e-01 7.80530296e-01 5.38412608e-03 -2.13752867e+02] [ 8.71267944e-03 7.98541988e-05 9.99962041e-01 -2.77362745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.946559995 meters 0.012498531105516776 Centerline is valid? [True, True] Translation: X:2.24, Y:-213.77, Z:-2.77 [[ 7.80540065e-01 6.25068069e-01 -6.86411507e-03 2.24029428e+00] [-6.25044766e-01 7.80570242e-01 5.39797986e-03 -2.13772583e+02] [ 8.73202881e-03 7.70396439e-05 9.99961872e-01 -2.77380057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.97655999499995 meters 0.01251691132489859 Centerline is valid? [True, True] Translation: X:2.27, Y:-213.79, Z:-2.77 [[ 7.80525618e-01 6.25087670e-01 -6.72037965e-03 2.26619460e+00] [-6.25065307e-01 7.80554546e-01 5.28797194e-03 -2.13792857e+02] [ 8.55106895e-03 7.32786031e-05 9.99963436e-01 -2.77388642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.006559995 meters 0.01259304285680395 Centerline is valid? [True, True] Translation: X:2.29, Y:-213.81, Z:-2.77 [[ 7.80592037e-01 6.25006930e-01 -6.51223673e-03 2.29109863e+00] [-6.24985905e-01 7.80619199e-01 5.12692082e-03 -2.13812073e+02] [ 8.28793806e-03 6.80226002e-05 9.99965652e-01 -2.77435805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.03655999499995 meters 0.012393623966512033 Centerline is valid? [True, True] Translation: X:2.32, Y:-213.83, Z:-2.77 [[ 7.81144920e-01 6.24313122e-01 -6.76309065e-03 2.31637823e+00] [-6.24290394e-01 7.81174195e-01 5.32744547e-03 -2.13832418e+02] [ 8.60914600e-03 6.06255601e-05 9.99962939e-01 -2.77466582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.066559995 meters 0.012336427514914088 Centerline is valid? [True, True] Translation: X:2.34, Y:-213.85, Z:-2.77 [[ 7.81483364e-01 6.23892081e-01 -6.51335073e-03 2.34180735e+00] [-6.23870978e-01 7.81510505e-01 5.13163596e-03 -2.13852869e+02] [ 8.29183905e-03 5.32023592e-05 9.99965621e-01 -2.77480647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.09655999499995 meters 0.012387065303847707 Centerline is valid? [True, True] Translation: X:2.37, Y:-213.87, Z:-2.78 [[ 7.81628395e-01 6.23706164e-01 -6.90460226e-03 2.36699991e+00] [-6.23682426e-01 7.81658889e-01 5.44182343e-03 -2.13872875e+02] [ 8.79114255e-03 5.27953688e-05 9.99961356e-01 -2.77519369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.126559995 meters 0.012392884376979219 Centerline is valid? [True, True] Translation: X:2.39, Y:-213.89, Z:-2.78 [[ 7.81718953e-01 6.23593548e-01 -6.82395405e-03 2.39251326e+00] [-6.23570330e-01 7.81748735e-01 5.38127394e-03 -2.13893385e+02] [ 8.69034516e-03 4.85714548e-05 9.99962237e-01 -2.77539024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.15655999499995 meters 0.012468978494789918 Centerline is valid? [True, True] Translation: X:2.42, Y:-213.91, Z:-2.78 [[ 7.81683566e-01 6.23641722e-01 -6.46574009e-03 2.41789652e+00] [-6.23620858e-01 7.81710305e-01 5.10144744e-03 -2.13912922e+02] [ 8.23581112e-03 4.44527617e-05 9.99966084e-01 -2.77590101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.186559995 meters 0.01232616343737544 Centerline is valid? [True, True] Translation: X:2.44, Y:-213.93, Z:-2.78 [[ 7.81511328e-01 6.23858898e-01 -6.33401151e-03 2.44338265e+00] [-6.23838860e-01 7.81536994e-01 5.00038091e-03 -2.13933555e+02] [ 8.06979644e-03 4.35481925e-05 9.99967438e-01 -2.77508768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.21655999499995 meters 0.012393086272235454 Centerline is valid? [True, True] Translation: X:2.47, Y:-213.95, Z:-2.78 [[ 7.81181569e-01 6.24270388e-01 -6.46833638e-03 2.46950466e+00] [-6.24249480e-01 7.81208347e-01 5.10935104e-03 -2.13953622e+02] [ 8.24273492e-03 4.65247573e-05 9.99966027e-01 -2.77525477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.246559995 meters 0.012532587698730405 Centerline is valid? [True, True] Translation: X:2.50, Y:-213.97, Z:-2.78 [[ 7.80215024e-01 6.25480602e-01 -6.20746314e-03 2.49607076e+00] [-6.25461365e-01 7.80239715e-01 4.90590119e-03 -2.13972193e+02] [ 7.91185530e-03 5.48705547e-05 9.99968699e-01 -2.77549235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.27655999499996 meters 0.012619738896687858 Centerline is valid? [True, True] Translation: X:2.52, Y:-213.99, Z:-2.78 [[ 7.79260851e-01 6.26666548e-01 -6.44695530e-03 2.52244767e+00] [-6.26645815e-01 7.79287516e-01 5.09807417e-03 -2.13991498e+02] [ 8.21882433e-03 6.72279372e-05 9.99966223e-01 -2.77551330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.306559995 meters 0.012893211302736194 Centerline is valid? [True, True] Translation: X:2.55, Y:-214.01, Z:-2.78 [[ 7.78210481e-01 6.27970182e-01 -6.47292603e-03 2.54769544e+00] [-6.27949306e-01 7.78237396e-01 5.12095323e-03 -2.14009111e+02] [ 8.25327903e-03 7.94899382e-05 9.99965938e-01 -2.77580922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.33655999499996 meters 0.014144220281174522 Centerline is valid? [True, True] Translation: X:2.58, Y:-214.02, Z:-2.78 [[ 7.75682648e-01 6.31084120e-01 -7.01881687e-03 2.57506998e+00] [-6.31059679e-01 7.75714393e-01 5.55533333e-03 -2.14024715e+02] [ 8.95047991e-03 1.20116656e-04 9.99959936e-01 -2.77724931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.36655999499993 meters 0.014175535169721767 Centerline is valid? [True, True] Translation: X:2.60, Y:-214.04, Z:-2.78 [[ 7.74407209e-01 6.32644555e-01 -7.37176639e-03 2.60019206e+00] [-6.32617640e-01 7.74442281e-01 5.83732364e-03 -2.14043884e+02] [ 9.40195860e-03 1.43043948e-04 9.99955790e-01 -2.77652681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.39655999499996 meters 0.014502000275893417 Centerline is valid? [True, True] Translation: X:2.63, Y:-214.06, Z:-2.78 [[ 7.71841044e-01 6.35776344e-01 -7.06005110e-03 2.62685684e+00] [-6.35751762e-01 7.71873313e-01 5.59331073e-03 -2.14062333e+02] [ 9.00555968e-03 1.71293139e-04 9.99959435e-01 -2.77559648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.42655999499993 meters 0.014775948461628413 Centerline is valid? [True, True] Translation: X:2.65, Y:-214.08, Z:-2.78 [[ 7.70828224e-01 6.37008695e-01 -6.61593622e-03 2.65289450e+00] [-6.36987132e-01 7.70856597e-01 5.24411663e-03 -2.14081287e+02] [ 8.44048597e-03 1.71953130e-04 9.99964364e-01 -2.77559627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.45655999499996 meters 0.01662717470933063 Centerline is valid? [True, True] Translation: X:2.68, Y:-214.10, Z:-2.78 [[ 7.69838375e-01 6.38206566e-01 -6.42300285e-03 2.67961669e+00] [-6.38186265e-01 7.69865149e-01 5.09356582e-03 -2.14097118e+02] [ 8.19559320e-03 1.77849765e-04 9.99966400e-01 -2.77635214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.48655999499994 meters 0.015689191852553765 Centerline is valid? [True, True] Translation: X:2.70, Y:-214.12, Z:-2.78 [[ 7.69092753e-01 6.39108184e-01 -6.08824770e-03 2.70434399e+00] [-6.39089953e-01 7.69116830e-01 4.83051930e-03 -2.14118329e+02] [ 7.76979819e-03 1.75820550e-04 9.99969799e-01 -2.77524698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.51655999499997 meters 0.015697360026690796 Centerline is valid? [True, True] Translation: X:2.73, Y:-214.14, Z:-2.77 [[ 7.67947956e-01 6.40488484e-01 -5.51713539e-03 2.72963556e+00] [-6.40473540e-01 7.67967755e-01 4.37858595e-03 -2.14137368e+02] [ 7.04141596e-03 1.71053105e-04 9.99975194e-01 -2.77422468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.54655999499994 meters 0.018274731860709378 Centerline is valid? [True, True] Translation: X:2.76, Y:-214.15, Z:-2.78 [[ 7.67577117e-01 6.40935112e-01 -5.24903332e-03 2.75697212e+00] [-6.40921588e-01 7.67595046e-01 4.16697243e-03 -2.14152512e+02] [ 6.69989091e-03 1.65746086e-04 9.99977542e-01 -2.77511948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.57655999499997 meters 0.016499113822140817 Centerline is valid? [True, True] Translation: X:2.78, Y:-214.17, Z:-2.77 [[ 7.67007811e-01 6.41615254e-01 -5.37442879e-03 2.78031645e+00] [-6.41601079e-01 7.67026620e-01 4.26848987e-03 -2.14173972e+02] [ 6.86105816e-03 1.74274245e-04 9.99976448e-01 -2.77444751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.60655999499994 meters 0.018343112660172863 Centerline is valid? [True, True] Translation: X:2.81, Y:-214.19, Z:-2.78 [[ 7.66248998e-01 6.42518634e-01 -5.68141568e-03 2.80740077e+00] [-6.42502803e-01 7.66270037e-01 4.51437598e-03 -2.14189657e+02] [ 7.25406929e-03 1.91189425e-04 9.99973671e-01 -2.77602985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.63655999499997 meters 0.016459049445749458 Centerline is valid? [True, True] Translation: X:2.83, Y:-214.21, Z:-2.78 [[ 7.65856662e-01 6.42983007e-01 -6.03538313e-03 2.83038929e+00] [-6.42965137e-01 7.65880415e-01 4.79805251e-03 -2.14211702e+02] [ 7.70744797e-03 2.05920468e-04 9.99970276e-01 -2.77541732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.66655999499994 meters 0.018669529692225104 Centerline is valid? [True, True] Translation: X:2.86, Y:-214.23, Z:-2.78 [[ 7.65647974e-01 6.43227500e-01 -6.44694687e-03 2.85754214e+00] [-6.43207104e-01 7.65675084e-01 5.12707632e-03 -2.14228431e+02] [ 8.23414307e-03 2.21186431e-04 9.99966074e-01 -2.77681604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.696559995 meters 0.01592248127879965 Centerline is valid? [True, True] Translation: X:2.88, Y:-214.25, Z:-2.78 [[ 7.65426267e-01 6.43489274e-01 -6.64720759e-03 2.88050218e+00] [-6.43467574e-01 7.65455095e-01 5.28945047e-03 -2.14252032e+02] [ 8.49184356e-03 2.28578219e-04 9.99963918e-01 -2.77591253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.72655999499995 meters 0.016742309147708932 Centerline is valid? [True, True] Translation: X:2.91, Y:-214.27, Z:-2.78 [[ 7.65500925e-01 6.43391396e-01 -7.47306204e-03 2.90632510e+00] [-6.43363934e-01 7.65537359e-01 5.94987043e-03 -2.14270310e+02] [ 9.54900362e-03 2.53267278e-04 9.99954375e-01 -2.77717465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.756559995 meters 0.016649036266695522 Centerline is valid? [True, True] Translation: X:2.93, Y:-214.29, Z:-2.78 [[ 7.65557676e-01 6.43322619e-01 -7.57977364e-03 2.93211220e+00] [-6.43294331e-01 7.65595156e-01 6.03826318e-03 -2.14291028e+02] [ 9.68758927e-03 2.53386683e-04 9.99953042e-01 -2.77747213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.78655999499995 meters 0.015843027374704607 Centerline is valid? [True, True] Translation: X:2.96, Y:-214.31, Z:-2.78 [[ 7.66134879e-01 6.42627057e-01 -8.23484076e-03 2.95634574e+00] [-6.42593593e-01 7.66179089e-01 6.56341573e-03 -2.14312210e+02] [ 1.05271913e-02 2.63194192e-04 9.99944553e-01 -2.77782436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.816559995 meters 0.01560550934998025 Centerline is valid? [True, True] Translation: X:2.98, Y:-214.33, Z:-2.78 [[ 7.66774248e-01 6.41862016e-01 -8.39082148e-03 2.98109213e+00] [-6.41827190e-01 7.66820114e-01 6.69109260e-03 -2.14332641e+02] [ 1.07290089e-02 2.54899877e-04 9.99942410e-01 -2.77837007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.84655999499995 meters 0.01560550934998025 Centerline is valid? [True, True] Translation: X:3.01, Y:-214.35, Z:-2.78 [[ 7.66594627e-01 6.42076556e-01 -8.38894869e-03 3.00640244e+00] [-6.42041717e-01 7.66640484e-01 6.69344045e-03 -2.14352919e+02] [ 1.07290089e-02 2.54899529e-04 9.99942410e-01 -2.77837039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.876559995 meters 0.01522536463958702 Centerline is valid? [True, True] Translation: X:3.03, Y:-214.37, Z:-2.78 [[ 7.67013196e-01 6.41570467e-01 -8.83698073e-03 3.03097874e+00] [-6.41531734e-01 7.67064058e-01 7.05447039e-03 -2.14374058e+02] [ 1.13044702e-02 2.58331689e-04 9.99936069e-01 -2.77868742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.90655999499995 meters 0.014697004757769548 Centerline is valid? [True, True] Translation: X:3.05, Y:-214.40, Z:-2.78 [[ 7.68253387e-01 6.40087250e-01 -8.66290218e-03 3.05488268e+00] [-6.40049912e-01 7.68302193e-01 6.91739150e-03 -2.14396473e+02] [ 1.10834608e-02 2.30380333e-04 9.99938550e-01 -2.77829279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.936559995 meters 0.014582978078474263 Centerline is valid? [True, True] Translation: X:3.08, Y:-214.42, Z:-2.78 [[ 7.68762720e-01 6.39479738e-01 -8.33935901e-03 3.07817906e+00] [-6.39445069e-01 7.68807921e-01 6.66212482e-03 -2.14416704e+02] [ 1.06716591e-02 2.10968801e-04 9.99943034e-01 -2.77799315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.96655999499995 meters 0.01561720067489061 Centerline is valid? [True, True] Translation: X:3.10, Y:-214.44, Z:-2.78 [[ 7.69409941e-01 6.38706653e-01 -7.88370998e-03 3.10298328e+00] [-6.38675600e-01 7.69450308e-01 6.30100729e-03 -2.14435232e+02] [ 1.00906184e-02 1.87075551e-04 9.99949071e-01 -2.77876227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.996559995 meters 0.014040319570746466 Centerline is valid? [True, True] Translation: X:3.12, Y:-214.46, Z:-2.78 [[ 7.70656284e-01 6.37215824e-01 -6.69973039e-03 3.12482797e+00] [-6.37193318e-01 7.70685392e-01 5.35732287e-03 -2.14458694e+02] [ 8.57715525e-03 1.40368911e-04 9.99963206e-01 -2.77647652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.02655999499996 meters 0.01328949845880491 Centerline is valid? [True, True] Translation: X:3.15, Y:-214.48, Z:-2.78 [[ 7.71014847e-01 6.36789122e-01 -5.97669949e-03 3.14882790e+00] [-6.36771192e-01 7.71038002e-01 4.78002545e-03 -2.14480953e+02] [ 7.65213064e-03 1.20319475e-04 9.99970715e-01 -2.77521662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.056559995 meters 0.013314310090466712 Centerline is valid? [True, True] Translation: X:3.17, Y:-214.50, Z:-2.78 [[ 7.71198068e-01 6.36568883e-01 -5.79634554e-03 3.17282481e+00] [-6.36551997e-01 7.71219842e-01 4.63794180e-03 -2.14500570e+02] [ 7.42262612e-03 1.12903579e-04 9.99972446e-01 -2.77533462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.08655999499996 meters 0.013245095352959653 Centerline is valid? [True, True] Translation: X:3.20, Y:-214.52, Z:-2.78 [[ 7.71144750e-01 6.36634756e-01 -5.65346735e-03 3.19853185e+00] [-6.36618676e-01 7.71165466e-01 4.52621267e-03 -2.14521815e+02] [ 7.24130308e-03 1.08737763e-04 9.99973776e-01 -2.77563131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.11655999499993 meters 0.013282732447098175 Centerline is valid? [True, True] Translation: X:3.22, Y:-214.54, Z:-2.78 [[ 7.70667866e-01 6.37207066e-01 -6.18018856e-03 3.22383689e+00] [-6.37187845e-01 7.70692636e-01 4.95077098e-03 -2.14542696e+02] [ 7.91769207e-03 1.22540929e-04 9.99968647e-01 -2.77709526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.14655999499996 meters 0.014244841202774038 Centerline is valid? [True, True] Translation: X:3.25, Y:-214.56, Z:-2.78 [[ 7.70372319e-01 6.37556354e-01 -6.95603097e-03 3.24950202e+00] [-6.37531991e-01 7.70403710e-01 5.57527316e-03 -2.14561009e+02] [ 8.91350289e-03 1.39656160e-04 9.99960264e-01 -2.77884313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.17655999499993 meters 0.014031042202493417 Centerline is valid? [True, True] Translation: X:3.27, Y:-214.58, Z:-2.78 [[ 7.69643230e-01 6.38433872e-01 -7.17564614e-03 3.27381971e+00] [-6.38407959e-01 7.69676665e-01 5.75409112e-03 -2.14581735e+02] [ 9.19653406e-03 1.52392334e-04 9.99957699e-01 -2.77941664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.20655999499996 meters 0.014131368502170111 Centerline is valid? [True, True] Translation: X:3.30, Y:-214.60, Z:-2.78 [[ 7.69137084e-01 6.39039121e-01 -7.55970531e-03 3.29905587e+00] [-6.39010360e-01 7.69174216e-01 6.06503638e-03 -2.14601895e+02] [ 9.69052593e-03 1.65885619e-04 9.99953032e-01 -2.77964077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.23655999499994 meters 0.013948164482834735 Centerline is valid? [True, True] Translation: X:3.32, Y:-214.62, Z:-2.78 [[ 7.68587465e-01 6.39710537e-01 -6.61338642e-03 3.32380548e+00] [-6.39688525e-01 7.68615903e-01 5.30887049e-03 -2.14622973e+02] [ 8.47929436e-03 1.50176093e-04 9.99964039e-01 -2.77877258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.26655999499997 meters 0.013939925580536972 Centerline is valid? [True, True] Translation: X:3.35, Y:-214.64, Z:-2.78 [[ 7.68315848e-01 6.40041450e-01 -6.14003776e-03 3.34936248e+00] [-6.40022465e-01 7.68340369e-01 4.93173465e-03 -2.14644132e+02] [ 7.87415348e-03 1.40632213e-04 9.99968989e-01 -2.77799260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.29655999499994 meters 0.013870054881334725 Centerline is valid? [True, True] Translation: X:3.37, Y:-214.66, Z:-2.78 [[ 7.68288013e-01 6.40080161e-01 -5.56027519e-03 3.37389034e+00] [-6.40064577e-01 7.68308123e-01 4.46831000e-03 -2.14664360e+02] [ 7.13208117e-03 1.25986175e-04 9.99974559e-01 -2.77726254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.32655999499997 meters 0.013735896271589791 Centerline is valid? [True, True] Translation: X:3.40, Y:-214.69, Z:-2.78 [[ 7.68072323e-01 6.40347522e-01 -4.46736225e-03 3.39931282e+00] [-6.40337455e-01 7.68085308e-01 3.59212037e-03 -2.14685687e+02] [ 5.73152069e-03 1.01611129e-04 9.99983570e-01 -2.77648369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.35655999499994 meters 0.014259814461459174 Centerline is valid? [True, True] Translation: X:3.42, Y:-214.71, Z:-2.78 [[ 7.67562562e-01 6.40960516e-01 -4.16292677e-03 3.42442197e+00] [-6.40951773e-01 7.67573845e-01 3.34914006e-03 -2.14705112e+02] [ 5.34202024e-03 9.75607706e-05 9.99985727e-01 -2.77565924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.38655999499997 meters 0.013861082303446374 Centerline is valid? [True, True] Translation: X:3.45, Y:-214.73, Z:-2.78 [[ 7.67077644e-01 6.41543693e-01 -3.68502018e-03 3.44921643e+00] [-6.41536841e-01 7.67086490e-01 2.96640575e-03 -2.14726356e+02] [ 4.72980809e-03 8.86126739e-05 9.99988811e-01 -2.77536642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.41655999499994 meters 0.014474833745390553 Centerline is valid? [True, True] Translation: X:3.47, Y:-214.74, Z:-2.78 [[ 7.66500410e-01 6.42228617e-01 -4.41880778e-03 3.47453787e+00] [-6.42218766e-01 7.66513139e-01 3.55878190e-03 -2.14744353e+02] [ 5.67262580e-03 1.10033492e-04 9.99983905e-01 -2.77663012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.446559995 meters 0.014637628348603656 Centerline is valid? [True, True] Translation: X:3.50, Y:-214.76, Z:-2.78 [[ 7.66211473e-01 6.42571781e-01 -4.63528896e-03 3.50037097e+00] [-6.42560935e-01 7.66225485e-01 3.73525699e-03 -2.14764452e+02] [ 5.95184727e-03 1.16458844e-04 9.99982281e-01 -2.77756568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.47655999499995 meters 0.014696765607405037 Centerline is valid? [True, True] Translation: X:3.53, Y:-214.78, Z:-2.78 [[ 7.66053987e-01 6.42758271e-01 -4.80562907e-03 3.52627061e+00] [-6.42746603e-01 7.66069051e-01 3.87472173e-03 -2.14784889e+02] [ 6.17195314e-03 1.20555727e-04 9.99980946e-01 -2.77787683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.506559995 meters 0.014651440063855534 Centerline is valid? [True, True] Translation: X:3.55, Y:-214.81, Z:-2.78 [[ 7.65782569e-01 6.43079148e-01 -5.12497782e-03 3.55166888e+00] [-6.43065870e-01 7.65799708e-01 4.13457605e-03 -2.14805743e+02] [ 6.58356616e-03 1.29512053e-04 9.99978320e-01 -2.77784703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.53655999499995 meters 0.014745652552931154 Centerline is valid? [True, True] Translation: X:3.58, Y:-214.83, Z:-2.78 [[ 7.65730135e-01 6.43142855e-01 -4.96267661e-03 3.57720504e+00] [-6.43130391e-01 7.65746207e-01 4.00592034e-03 -2.14826391e+02] [ 6.37652983e-03 1.24194222e-04 9.99979662e-01 -2.77779126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.566559995 meters 0.014606248870706169 Centerline is valid? [True, True] Translation: X:3.60, Y:-214.85, Z:-2.78 [[ 7.65959797e-01 6.42867817e-01 -5.15357447e-03 3.60183859e+00] [-6.42854356e-01 7.65977124e-01 4.16209040e-03 -2.14847613e+02] [ 6.62319412e-03 1.25003881e-04 9.99978059e-01 -2.77771630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.59655999499995 meters 0.014602003643452264 Centerline is valid? [True, True] Translation: X:3.63, Y:-214.87, Z:-2.78 [[ 7.66152782e-01 6.42639310e-01 -4.96295150e-03 3.62682978e+00] [-6.42626809e-01 7.66168848e-01 4.01012741e-03 -2.14868193e+02] [ 6.37952434e-03 1.16955413e-04 9.99979644e-01 -2.77746025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.626559995 meters 0.014557639753745374 Centerline is valid? [True, True] Translation: X:3.65, Y:-214.89, Z:-2.78 [[ 7.66190104e-01 6.42593812e-01 -5.09089286e-03 3.65195178e+00] [-6.42580641e-01 7.66207008e-01 4.11583923e-03 -2.14888896e+02] [ 6.54549061e-03 1.17793910e-04 9.99978571e-01 -2.77754382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.65655999499995 meters 0.014330250422732596 Centerline is valid? [True, True] Translation: X:3.68, Y:-214.91, Z:-2.78 [[ 7.66811935e-01 6.41854398e-01 -4.73168951e-03 3.67715062e+00] [-6.41843000e-01 7.66826526e-01 3.82645504e-03 -2.14909590e+02] [ 6.08441203e-03 1.02830396e-04 9.99981485e-01 -2.77723954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.686559995 meters 0.014014990776758976 Centerline is valid? [True, True] Translation: X:3.70, Y:-214.93, Z:-2.78 [[ 7.67271526e-01 6.41306250e-01 -4.54961045e-03 3.70164004e+00] [-6.41295693e-01 7.67285009e-01 3.68104171e-03 -2.14930001e+02] [ 5.85152295e-03 9.32870940e-05 9.99982875e-01 -2.77703401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.71655999499995 meters 0.013809205704068097 Centerline is valid? [True, True] Translation: X:3.73, Y:-214.95, Z:-2.78 [[ 7.67879955e-01 6.40578076e-01 -4.48364906e-03 3.72666817e+00] [-6.40567799e-01 7.67893040e-01 3.62946784e-03 -2.14950558e+02] [ 5.76792043e-03 8.50856076e-05 9.99983362e-01 -2.77685089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.746559995 meters 0.013620966558385211 Centerline is valid? [True, True] Translation: X:3.75, Y:-214.97, Z:-2.78 [[ 7.69090047e-01 6.39128885e-01 -3.84301634e-03 3.75025143e+00] [-6.39121310e-01 7.69099646e-01 3.11230059e-03 -2.14970329e+02] [ 4.94482371e-03 6.25142352e-05 9.99987772e-01 -2.77663368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.77655999499996 meters 0.01332715180349947 Centerline is valid? [True, True] Translation: X:3.77, Y:-214.99, Z:-2.78 [[ 7.69618401e-01 6.38492111e-01 -3.91677578e-03 3.77446138e+00] [-6.38484226e-01 7.69628366e-01 3.17357301e-03 -2.14991403e+02] [ 5.04076307e-03 5.83593636e-05 9.99987294e-01 -2.77620126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.806559995 meters 0.013059448129930405 Centerline is valid? [True, True] Translation: X:3.80, Y:-215.01, Z:-2.78 [[ 7.70213858e-01 6.37775596e-01 -3.59187235e-03 3.79912335e+00] [-6.37768951e-01 7.70222232e-01 2.91173342e-03 -2.15012606e+02] [ 4.62357246e-03 4.81272227e-05 9.99989310e-01 -2.77603891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.83655999499996 meters 0.012781056584932947 Centerline is valid? [True, True] Translation: X:3.82, Y:-215.03, Z:-2.78 [[ 7.70756435e-01 6.37117979e-01 -3.89868581e-03 3.82344200e+00] [-6.37110134e-01 7.70766293e-01 3.16202273e-03 -2.15033607e+02] [ 5.01955714e-03 4.67428751e-05 9.99987401e-01 -2.77583475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.86655999499993 meters 0.012788912529155684 Centerline is valid? [True, True] Translation: X:3.85, Y:-215.05, Z:-2.78 [[ 7.71134831e-01 6.36655321e-01 -4.59059229e-03 3.84876440e+00] [-6.36644424e-01 7.71148494e-01 3.72530802e-03 -2.15054047e+02] [ 5.91176551e-03 4.98602126e-05 9.99982524e-01 -2.77663107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.89655999499996 meters 0.01270190381238881 Centerline is valid? [True, True] Translation: X:3.87, Y:-215.07, Z:-2.78 [[ 7.70952770e-01 6.36873268e-01 -4.92607444e-03 3.87496170e+00] [-6.36860710e-01 7.70968506e-01 3.99984991e-03 -2.15074722e+02] [ 6.34524573e-03 5.35278947e-05 9.99979867e-01 -2.77703427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.92655999499993 meters 0.01290332319576995 Centerline is valid? [True, True] Translation: X:3.90, Y:-215.09, Z:-2.78 [[ 7.70163419e-01 6.37823398e-01 -5.44252840e-03 3.90127169e+00] [-6.37808077e-01 7.70182646e-01 4.42140052e-03 -2.15093196e+02] [ 7.01181363e-03 6.60876366e-05 9.99975415e-01 -2.77768083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.95655999499996 meters 0.013210619885245828 Centerline is valid? [True, True] Translation: X:3.93, Y:-215.11, Z:-2.78 [[ 7.69479607e-01 6.38648480e-01 -5.40862086e-03 3.92623007e+00] [-6.38633361e-01 7.69498612e-01 4.39505747e-03 -2.15111613e+02] [ 6.96882301e-03 7.22186244e-05 9.99975715e-01 -2.77794364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.98655999499994 meters 0.013169860177205773 Centerline is valid? [True, True] Translation: X:3.95, Y:-215.13, Z:-2.78 [[ 7.69018581e-01 6.39205848e-01 -5.12893253e-03 3.95205900e+00] [-6.39192249e-01 7.69035681e-01 4.17014667e-03 -2.15132258e+02] [ 6.60991426e-03 7.14536479e-05 9.99978152e-01 -2.77729699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.01655999499997 meters 0.013152936346830978 Centerline is valid? [True, True] Translation: X:3.98, Y:-215.15, Z:-2.78 [[ 7.68681720e-01 6.39615011e-01 -4.58821364e-03 3.97759440e+00] [-6.39604123e-01 7.68695410e-01 3.73264481e-03 -2.15152748e+02] [ 5.91439442e-03 6.54245298e-05 9.99982508e-01 -2.77652938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.04655999499994 meters 0.01323110030648159 Centerline is valid? [True, True] Translation: X:4.00, Y:-215.17, Z:-2.78 [[ 7.68622757e-01 6.39688267e-01 -4.24023321e-03 4.00225512e+00] [-6.39678958e-01 7.68634450e-01 3.45139157e-03 -2.15172628e+02] [ 5.46700402e-03 5.95698623e-05 9.99985054e-01 -2.77667571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.07655999499997 meters 0.013132641511678906 Centerline is valid? [True, True] Translation: X:4.03, Y:-215.19, Z:-2.78 [[ 7.68543946e-01 6.39782316e-01 -4.33487071e-03 4.02713856e+00] [-6.39772578e-01 7.68556169e-01 3.53044607e-03 -2.15193494e+02] [ 5.59030859e-03 6.00284592e-05 9.99984372e-01 -2.77647304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.10655999499994 meters 0.013117367208741392 Centerline is valid? [True, True] Translation: X:4.05, Y:-215.21, Z:-2.78 [[ 7.68722107e-01 6.39565982e-01 -4.65590697e-03 4.05163115e+00] [-6.39554732e-01 7.68736204e-01 3.79393198e-03 -2.15213972e+02] [ 6.00563408e-03 6.12279555e-05 9.99981964e-01 -2.77683128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.13655999499997 meters 0.013113392064686154 Centerline is valid? [True, True] Translation: X:4.08, Y:-215.23, Z:-2.78 [[ 7.68535188e-01 6.39789489e-01 -4.80362857e-03 4.07692488e+00] [-6.39777504e-01 7.68550197e-01 3.91653168e-03 -2.15234818e+02] [ 6.19758549e-03 6.32610871e-05 9.99980793e-01 -2.77702474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.16655999499994 meters 0.013339009598868828 Centerline is valid? [True, True] Translation: X:4.10, Y:-215.25, Z:-2.78 [[ 7.68217796e-01 6.40171207e-01 -4.71634158e-03 4.10190061e+00] [-6.40159648e-01 7.68232271e-01 3.84739946e-03 -2.15254683e+02] [ 6.08624016e-03 6.35708343e-05 9.99981477e-01 -2.77708034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.196559995 meters 0.013121770779676334 Centerline is valid? [True, True] Translation: X:4.13, Y:-215.28, Z:-2.78 [[ 7.67789109e-01 6.40684396e-01 -4.83621047e-03 4.12738382e+00] [-6.40672239e-01 7.67804337e-01 3.94745826e-03 -2.15276212e+02] [ 6.24233829e-03 6.76103358e-05 9.99980514e-01 -2.77629515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.22655999499995 meters 0.013182820480150334 Centerline is valid? [True, True] Translation: X:4.15, Y:-215.30, Z:-2.78 [[ 7.67537271e-01 6.40988194e-01 -4.54667204e-03 4.15233859e+00] [-6.40977442e-01 7.67550735e-01 3.71311377e-03 -2.15296029e+02] [ 5.86986356e-03 6.43610045e-05 9.99982770e-01 -2.77621872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.256559995 meters 0.013022868111732325 Centerline is valid? [True, True] Translation: X:4.18, Y:-215.32, Z:-2.78 [[ 7.67268324e-01 6.41313677e-01 -4.01085045e-03 4.17760072e+00] [-6.41305305e-01 7.67278805e-01 3.27744293e-03 -2.15317487e+02] [ 5.17930951e-03 5.75015217e-05 9.99986586e-01 -2.77541999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.28655999499995 meters 0.013049777462853194 Centerline is valid? [True, True] Translation: X:4.20, Y:-215.34, Z:-2.78 [[ 7.66884001e-01 6.41773243e-01 -4.00430797e-03 4.20286655e+00] [-6.41764894e-01 7.66894453e-01 3.27399932e-03 -2.15338112e+02] [ 5.17204673e-03 5.90465844e-05 9.99986623e-01 -2.77531402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.316559995 meters 0.013681823752905683 Centerline is valid? [True, True] Translation: X:4.23, Y:-215.36, Z:-2.78 [[ 7.66455949e-01 6.42277432e-01 -4.99792233e-03 4.22798472e+00] [-6.42264426e-01 7.66472240e-01 4.08802222e-03 -2.15355770e+02] [ 6.45641314e-03 7.66987731e-05 9.99979154e-01 -2.77777461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.34655999499995 meters 0.01401676391981979 Centerline is valid? [True, True] Translation: X:4.25, Y:-215.38, Z:-2.78 [[ 7.66168374e-01 6.42617552e-01 -5.35774956e-03 4.25335189e+00] [-6.42602604e-01 7.66187102e-01 4.38380593e-03 -2.15375679e+02] [ 6.92214924e-03 8.41703637e-05 9.99976038e-01 -2.77886832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.376559995 meters 0.013289815933525443 Centerline is valid? [True, True] Translation: X:4.28, Y:-215.40, Z:-2.78 [[ 7.66012225e-01 6.42797654e-01 -6.03720321e-03 4.27718962e+00] [-6.42778658e-01 7.66036009e-01 4.94257454e-03 -2.15397766e+02] [ 7.80179037e-03 9.45128576e-05 9.99969561e-01 -2.77862462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.40655999499995 meters 0.013216829742785726 Centerline is valid? [True, True] Translation: X:4.30, Y:-215.42, Z:-2.78 [[ 7.65990075e-01 6.42822512e-01 -6.19872527e-03 4.30177651e+00] [-6.42802464e-01 7.66015150e-01 5.07769044e-03 -2.15418981e+02] [ 8.01237119e-03 9.50953963e-05 9.99967896e-01 -2.77899828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.436559995 meters 0.013228250861777226 Centerline is valid? [True, True] Translation: X:4.33, Y:-215.44, Z:-2.78 [[ 7.65899000e-01 6.42932738e-01 -6.01800897e-03 4.32663428e+00] [-6.42913824e-01 7.65922637e-01 4.93244940e-03 -2.15440269e+02] [ 7.78056249e-03 9.13030921e-05 9.99969727e-01 -2.77854289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.46655999499995 meters 0.01376663985707699 Centerline is valid? [True, True] Translation: X:4.35, Y:-215.46, Z:-2.78 [[ 7.66163823e-01 6.42622143e-01 -5.45677476e-03 4.35103384e+00] [-6.42606570e-01 7.66183251e-01 4.47449140e-03 -2.15458840e+02] [ 7.05629668e-03 7.83658718e-05 9.99975101e-01 -2.77858958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.496559995 meters 0.013045209199735957 Centerline is valid? [True, True] Translation: X:4.38, Y:-215.48, Z:-2.78 [[ 7.66068564e-01 6.42736999e-01 -5.30147364e-03 4.37510178e+00] [-6.42722285e-01 7.66086904e-01 4.34960607e-03 -2.15481106e+02] [ 6.85704228e-03 7.52787764e-05 9.99976487e-01 -2.77717848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.52655999499996 meters 0.013223048657543547 Centerline is valid? [True, True] Translation: X:4.40, Y:-215.50, Z:-2.78 [[ 7.65635646e-01 6.43254182e-01 -5.11027758e-03 4.40041546e+00] [-6.43240508e-01 7.65652696e-01 4.19494517e-03 -2.15501291e+02] [ 6.61111383e-03 7.53379910e-05 9.99978144e-01 -2.77706813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.556559995 meters 0.013662694025879591 Centerline is valid? [True, True] Translation: X:4.43, Y:-215.52, Z:-2.78 [[ 7.64188345e-01 6.44974476e-01 -4.90908078e-03 4.42671579e+00] [-6.44961880e-01 7.64204107e-01 4.03173890e-03 -2.15520067e+02] [ 6.35190838e-03 8.51620951e-05 9.99979823e-01 -2.77706262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.58655999499996 meters 0.013889617239948962 Centerline is valid? [True, True] Translation: X:4.45, Y:-215.54, Z:-2.78 [[ 7.63112953e-01 6.46244978e-01 -5.10384893e-03 4.45208668e+00] [-6.46231377e-01 7.63130015e-01 4.19375552e-03 -2.15539381e+02] [ 6.60509375e-03 9.79581583e-05 9.99978181e-01 -2.77739176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.61655999499993 meters 0.014245859944307297 Centerline is valid? [True, True] Translation: X:4.48, Y:-215.56, Z:-2.78 [[ 7.62121068e-01 6.47410998e-01 -5.52063603e-03 4.47771098e+00] [-6.47395101e-01 7.62141054e-01 4.53844508e-03 -2.15558626e+02] [ 7.14574263e-03 1.15188111e-04 9.99974462e-01 -2.77817633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.64655999499996 meters 0.014592764336276307 Centerline is valid? [True, True] Translation: X:4.50, Y:-215.58, Z:-2.78 [[ 7.61275227e-01 6.48402394e-01 -5.86207993e-03 4.50347500e+00] [-6.48384481e-01 7.61297786e-01 4.82148978e-03 -2.15578212e+02] [ 7.58905398e-03 1.30400920e-04 9.99971194e-01 -2.77891135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.67655999499993 meters 0.014211200237881324 Centerline is valid? [True, True] Translation: X:4.53, Y:-215.60, Z:-2.78 [[ 7.60388146e-01 6.49436325e-01 -6.50589644e-03 4.52833311e+00] [-6.49414276e-01 7.60415962e-01 5.35373663e-03 -2.15598146e+02] [ 8.42409855e-03 1.54104156e-04 9.99964505e-01 -2.77886560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.70655999499996 meters 0.015246902255247967 Centerline is valid? [True, True] Translation: X:4.55, Y:-215.62, Z:-2.78 [[ 7.59901195e-01 6.50007207e-01 -6.38793159e-03 4.55365614e+00] [-6.49985958e-01 7.59928028e-01 5.25812638e-03 -2.15615968e+02] [ 8.27218829e-03 1.56409310e-04 9.99965773e-01 -2.77957185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.73655999499994 meters 0.015586883508373499 Centerline is valid? [True, True] Translation: X:4.58, Y:-215.64, Z:-2.78 [[ 7.59572805e-01 6.50392425e-01 -6.23276009e-03 4.57908883e+00] [-6.50372187e-01 7.59598361e-01 5.13303556e-03 -2.15635940e+02] [ 8.07288179e-03 1.54699596e-04 9.99967402e-01 -2.77937382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.76655999499997 meters 0.015586883508373499 Centerline is valid? [True, True] Translation: X:4.60, Y:-215.66, Z:-2.78 [[ 7.59399490e-01 6.50594792e-01 -6.23139211e-03 4.60406594e+00] [-6.50574548e-01 7.59425041e-01 5.13469617e-03 -2.15656628e+02] [ 8.07288179e-03 1.54699453e-04 9.99967402e-01 -2.77937414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.79655999499994 meters 0.015671908304531173 Centerline is valid? [True, True] Translation: X:4.63, Y:-215.68, Z:-2.78 [[ 7.59328031e-01 6.50685453e-01 -5.42056107e-03 4.62759771e+00] [-6.50670123e-01 7.59347367e-01 4.46852131e-03 -2.15676332e+02] [ 7.02369059e-03 1.33923646e-04 9.99975325e-01 -2.77825461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.82655999499997 meters 0.015780200818476905 Centerline is valid? [True, True] Translation: X:4.65, Y:-215.70, Z:-2.78 [[ 7.59294686e-01 6.50726332e-01 -5.17892714e-03 4.65315851e+00] [-6.50712324e-01 7.59312337e-01 4.27161128e-03 -2.15697476e+02] [ 6.71207321e-03 1.26579974e-04 9.99977466e-01 -2.77746616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.85655999499994 meters 0.015789084897457402 Centerline is valid? [True, True] Translation: X:4.68, Y:-215.72, Z:-2.78 [[ 7.59509214e-01 6.50481039e-01 -4.49124267e-03 4.67758341e+00] [-6.50470494e-01 7.59522486e-01 3.70538121e-03 -2.15717477e+02] [ 5.82148002e-03 1.07149672e-04 9.99983049e-01 -2.77706532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.88655999499997 meters 0.015661321254883794 Centerline is valid? [True, True] Translation: X:4.70, Y:-215.74, Z:-2.78 [[ 7.59834915e-01 6.50102702e-01 -4.16873471e-03 4.70207325e+00] [-6.50093603e-01 7.59846345e-01 3.44088838e-03 -2.15737645e+02] [ 5.40452866e-03 9.55606384e-05 9.99985391e-01 -2.77634740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.91655999499994 meters 0.015800813173527307 Centerline is valid? [True, True] Translation: X:4.73, Y:-215.76, Z:-2.78 [[ 7.59684697e-01 6.50280497e-01 -3.79956802e-03 4.72677329e+00] [-6.50272933e-01 7.59694194e-01 3.13771373e-03 -2.15757311e+02] [ 4.92690380e-03 8.70831319e-05 9.99987859e-01 -2.77620002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.946559995 meters 0.014271419063597805 Centerline is valid? [True, True] Translation: X:4.75, Y:-215.78, Z:-2.78 [[ 7.59452820e-01 6.50552353e-01 -3.61251393e-03 4.75027522e+00] [-6.50545510e-01 7.59461407e-01 2.98495479e-03 -2.15779767e+02] [ 4.68543428e-03 8.31723831e-05 9.99989020e-01 -2.77547548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.97655999499995 meters 0.014349591964577161 Centerline is valid? [True, True] Translation: X:4.78, Y:-215.80, Z:-2.78 [[ 7.59075098e-01 6.50992278e-01 -3.74827927e-03 4.77588195e+00] [-6.50984908e-01 7.59084347e-01 3.09891815e-03 -2.15800001e+02] [ 4.86263191e-03 8.77616373e-05 9.99988174e-01 -2.77567782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.006559995 meters 0.014301274841998324 Centerline is valid? [True, True] Translation: X:4.80, Y:-215.82, Z:-2.78 [[ 7.58864739e-01 6.51236858e-01 -3.85530417e-03 4.80186245e+00] [-6.51229055e-01 7.58874526e-01 3.18924193e-03 -2.15820650e+02] [ 5.00264402e-03 9.04828468e-05 9.99987483e-01 -2.77610324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.03655999499995 meters 0.014498399297104735 Centerline is valid? [True, True] Translation: X:4.83, Y:-215.84, Z:-2.78 [[ 7.58547623e-01 6.51603895e-01 -4.22705634e-03 4.82813932e+00] [-6.51594509e-01 7.58559394e-01 3.49876587e-03 -2.15840568e+02] [ 5.48628276e-03 1.00346168e-04 9.99984945e-01 -2.77645553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.066559995 meters 0.014680353628777074 Centerline is valid? [True, True] Translation: X:4.85, Y:-215.86, Z:-2.78 [[ 7.58410340e-01 6.51761767e-01 -4.51162811e-03 4.85358999e+00] [-6.51751066e-01 7.58423752e-01 3.73629293e-03 -2.15860324e+02] [ 5.85689880e-03 1.06815239e-04 9.99982843e-01 -2.77702725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.09655999499995 meters 0.014669791931266213 Centerline is valid? [True, True] Translation: X:4.88, Y:-215.88, Z:-2.78 [[ 7.58138459e-01 6.52075530e-01 -4.85598563e-03 4.87960804e+00] [-6.52063125e-01 7.58154002e-01 4.02375065e-03 -2.15880275e+02] [ 6.30537428e-03 1.15849047e-04 9.99980114e-01 -2.77745630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.126559995 meters 0.014726940295625171 Centerline is valid? [True, True] Translation: X:4.91, Y:-215.90, Z:-2.78 [[ 7.57767713e-01 6.52503552e-01 -5.21599365e-03 4.90539345e+00] [-6.52489234e-01 7.57785654e-01 4.32451077e-03 -2.15900832e+02] [ 6.77436380e-03 1.26405064e-04 9.99977046e-01 -2.77761856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.15655999499995 meters 0.014726056688538129 Centerline is valid? [True, True] Translation: X:4.93, Y:-215.92, Z:-2.78 [[ 7.57460985e-01 6.52857084e-01 -5.52123441e-03 4.93116684e+00] [-6.52841032e-01 7.57481095e-01 4.58018431e-03 -2.15921168e+02] [ 7.17243647e-03 1.35177448e-04 9.99974269e-01 -2.77773587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.186559995 meters 0.014665459091377868 Centerline is valid? [True, True] Translation: X:4.96, Y:-215.94, Z:-2.78 [[ 7.56895114e-01 6.53514710e-01 -5.32076037e-03 4.95760604e+00] [-6.53499801e-01 7.56913803e-01 4.41642230e-03 -2.15941072e+02] [ 6.91355391e-03 1.34347385e-04 9.99976092e-01 -2.77785809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.21655999499995 meters 0.014844027733126769 Centerline is valid? [True, True] Translation: X:4.98, Y:-215.96, Z:-2.78 [[ 7.56403663e-01 6.54083540e-01 -5.31236649e-03 4.98382050e+00] [-6.54068674e-01 7.56422305e-01 4.41199274e-03 -2.15961430e+02] [ 6.90420433e-03 1.37405034e-04 9.99976156e-01 -2.77774982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.246559995 meters 0.01536882113264465 Centerline is valid? [True, True] Translation: X:5.01, Y:-215.98, Z:-2.78 [[ 7.55954162e-01 6.54607508e-01 -4.72393414e-03 5.00992008e+00] [-6.54595750e-01 7.55968911e-01 3.92539166e-03 -2.15979233e+02] [ 6.14073820e-03 1.24851050e-04 9.99981138e-01 -2.77803205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.27655999499996 meters 0.01493560487870733 Centerline is valid? [True, True] Translation: X:5.03, Y:-216.00, Z:-2.78 [[ 7.55777252e-01 6.54813549e-01 -4.46792384e-03 5.03498489e+00] [-6.54803022e-01 7.55790449e-01 3.71479052e-03 -2.16000557e+02] [ 5.80930933e-03 1.18055860e-04 9.99983119e-01 -2.77742255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.306559995 meters 0.014984209960672653 Centerline is valid? [True, True] Translation: X:5.06, Y:-216.02, Z:-2.78 [[ 7.55680915e-01 6.54924861e-01 -4.44753577e-03 5.06049821e+00] [-6.54914420e-01 7.55693994e-01 3.69995468e-03 -2.16021368e+02] [ 5.78416838e-03 1.16770171e-04 9.99983265e-01 -2.77719617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.33655999499996 meters 0.015136052116405715 Centerline is valid? [True, True] Translation: X:5.09, Y:-216.04, Z:-2.78 [[ 7.55827512e-01 6.54756389e-01 -4.34085663e-03 5.08508982e+00] [-6.54746431e-01 7.55839969e-01 3.61287167e-03 -2.16041037e+02] [ 5.64654375e-03 1.11452579e-04 9.99984052e-01 -2.77697440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.36655999499993 meters 0.014747140110777324 Centerline is valid? [True, True] Translation: X:5.11, Y:-216.06, Z:-2.78 [[ 7.56225627e-01 6.54297348e-01 -4.21669879e-03 5.10925417e+00] [-6.54287935e-01 7.56237376e-01 3.51127124e-03 -2.16062379e+02] [ 5.48624069e-03 1.03621852e-04 9.99984945e-01 -2.77662790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.39655999499996 meters 0.014307705996534713 Centerline is valid? [True, True] Translation: X:5.13, Y:-216.08, Z:-2.78 [[ 7.57240817e-01 6.53126628e-01 -3.45736004e-03 5.13326877e+00] [-6.53120281e-01 7.57248706e-01 2.88040108e-03 -2.16084126e+02] [ 4.49934806e-03 7.69146958e-05 9.99989875e-01 -2.77572713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.42655999499993 meters 0.013989110562214425 Centerline is valid? [True, True] Translation: X:5.16, Y:-216.11, Z:-2.78 [[ 7.57854151e-01 6.52413930e-01 -3.62635217e-03 5.15786489e+00] [-6.52406932e-01 7.57862823e-01 3.02269802e-03 -2.16105134e+02] [ 4.72032779e-03 7.50930546e-05 9.99988856e-01 -2.77582606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.45655999499996 meters 0.01401494451283493 Centerline is valid? [True, True] Translation: X:5.18, Y:-216.12, Z:-2.78 [[ 7.58525352e-01 6.51633299e-01 -3.65158415e-03 5.18202809e+00] [-6.51626188e-01 7.58534138e-01 3.04512595e-03 -2.16124748e+02] [ 4.75415671e-03 6.96626230e-05 9.99988697e-01 -2.77604740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.48655999499994 meters 0.013195824269345499 Centerline is valid? [True, True] Translation: X:5.21, Y:-216.15, Z:-2.78 [[ 7.59383029e-01 6.50635348e-01 -3.32551100e-03 5.20545082e+00] [-6.50629434e-01 7.59390309e-01 2.77463176e-03 -2.16146949e+02] [ 4.33063432e-03 5.66670694e-05 9.99990621e-01 -2.77579125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.51655999499997 meters 0.01328313126074017 Centerline is valid? [True, True] Translation: X:5.23, Y:-216.17, Z:-2.78 [[ 7.61650251e-01 6.47980451e-01 -3.19860336e-03 5.22972644e+00] [-6.47974951e-01 7.61656966e-01 2.67001017e-03 -2.16166757e+02] [ 4.16635293e-03 3.90009358e-05 9.99991320e-01 -2.77734038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.54655999499994 meters 0.012675132036515081 Centerline is valid? [True, True] Translation: X:5.25, Y:-216.19, Z:-2.78 [[ 7.62855145e-01 6.46559044e-01 -3.66485473e-03 5.25225777e+00] [-6.46551800e-01 7.62863947e-01 3.06071909e-03 -2.16189310e+02] [ 4.77472115e-03 3.46331158e-05 9.99988600e-01 -2.77694710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.57655999499997 meters 0.012222282689814552 Centerline is valid? [True, True] Translation: X:5.27, Y:-216.21, Z:-2.78 [[ 7.66349662e-01 6.42407781e-01 -4.52101403e-03 5.27474995e+00] [-6.42396674e-01 7.66362997e-01 3.77760170e-03 -2.16212572e+02] [ 5.89149859e-03 9.32058809e-06 9.99982645e-01 -2.77833620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.60655999499994 meters 0.012295730554991708 Centerline is valid? [True, True] Translation: X:5.30, Y:-216.24, Z:-2.78 [[ 7.68123131e-01 6.40282533e-01 -5.01323451e-03 5.29891606e+00] [-6.40268815e-01 7.68139491e-01 4.19129585e-03 -2.16235548e+02] [ 6.53447693e-03 -9.61357456e-06 9.99978650e-01 -2.77845302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.63655999499997 meters 0.012427308634972021 Centerline is valid? [True, True] Translation: X:5.32, Y:-216.26, Z:-2.78 [[ 7.69961532e-01 6.38069152e-01 -5.19589392e-03 5.32322036e+00] [-6.38054349e-01 7.69979062e-01 4.34648854e-03 -2.16258464e+02] [ 6.77408979e-03 -3.13662650e-05 9.99977055e-01 -2.77889139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.66655999499994 meters 0.012687600686330269 Centerline is valid? [True, True] Translation: X:5.35, Y:-216.28, Z:-2.78 [[ 7.71673639e-01 6.35996533e-01 -5.31078784e-03 5.34631192e+00] [-6.35981003e-01 7.71691912e-01 4.44480815e-03 -2.16280337e+02] [ 6.92517460e-03 -5.23811080e-05 9.99976019e-01 -2.77904777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.696559995 meters 0.013696256424582538 Centerline is valid? [True, True] Translation: X:5.37, Y:-216.30, Z:-2.78 [[ 7.75221735e-01 6.31666355e-01 -5.37385131e-03 5.36766997e+00] [-6.31650335e-01 7.75240355e-01 4.49964928e-03 -2.16303780e+02] [ 7.00830346e-03 -9.38309459e-05 9.99975437e-01 -2.77873347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.72655999499995 meters 0.01409516988582135 Centerline is valid? [True, True] Translation: X:5.39, Y:-216.33, Z:-2.78 [[ 7.76499004e-01 6.30097200e-01 -5.17840001e-03 5.39151971e+00] [-6.30082275e-01 7.76516264e-01 4.33811504e-03 -2.16325895e+02] [ 6.75454596e-03 -1.05723949e-04 9.99977182e-01 -2.77824841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.756559995 meters 0.014150968757868213 Centerline is valid? [True, True] Translation: X:5.42, Y:-216.35, Z:-2.78 [[ 7.77483971e-01 6.28882604e-01 -5.03432595e-03 5.41612589e+00] [-6.28868459e-01 7.77500262e-01 4.21953657e-03 -2.16347152e+02] [ 6.56778289e-03 -1.14693246e-04 9.99978425e-01 -2.77751278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.78655999499995 meters 0.01500118696260731 Centerline is valid? [True, True] Translation: X:5.44, Y:-216.37, Z:-2.78 [[ 7.78725203e-01 6.27350283e-01 -4.32211401e-03 5.43851062e+00] [-6.27339828e-01 7.78737190e-01 3.62356716e-03 -2.16368293e+02] [ 5.63903680e-03 -1.10328816e-04 9.99984094e-01 -2.77750088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.816559995 meters 0.01518016064259816 Centerline is valid? [True, True] Translation: X:5.46, Y:-216.39, Z:-2.78 [[ 7.78797831e-01 6.27260267e-01 -4.30065806e-03 5.46382531e+00] [-6.27249903e-01 7.78809697e-01 3.60759019e-03 -2.16389617e+02] [ 5.61229219e-03 -1.11996065e-04 9.99984245e-01 -2.77752967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.84655999499995 meters 0.015159122386541202 Centerline is valid? [True, True] Translation: X:5.49, Y:-216.41, Z:-2.78 [[ 7.78635932e-01 6.27463085e-01 -4.02013830e-03 5.48954463e+00] [-6.27454022e-01 7.78646303e-01 3.37416075e-03 -2.16410389e+02] [ 5.24742714e-03 -1.04790858e-04 9.99986227e-01 -2.77783775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.876559995 meters 0.01477834844016412 Centerline is valid? [True, True] Translation: X:5.52, Y:-216.43, Z:-2.78 [[ 7.78007594e-01 6.28241580e-01 -4.08675924e-03 5.51522347e+00] [-6.28232215e-01 7.78018321e-01 3.43177183e-03 -2.16430351e+02] [ 5.33555532e-03 -1.02510735e-04 9.99985761e-01 -2.77777987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.90655999499995 meters 0.014305048195950203 Centerline is valid? [True, True] Translation: X:5.54, Y:-216.45, Z:-2.78 [[ 7.76313210e-01 6.30331592e-01 -4.45922121e-03 5.54171687e+00] [-6.30320466e-01 7.76326011e-01 3.74638766e-03 -2.16449243e+02] [ 5.82327591e-03 -9.76318417e-05 9.99983040e-01 -2.77872699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.936559995 meters 0.013890696325053698 Centerline is valid? [True, True] Translation: X:5.57, Y:-216.47, Z:-2.78 [[ 7.75004000e-01 6.31936593e-01 -4.99417452e-03 5.56760286e+00] [-6.31922657e-01 7.75020086e-01 4.19790810e-03 -2.16468893e+02] [ 6.52339730e-03 -9.74635387e-05 9.99978718e-01 -2.77879139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.96655999499995 meters 0.013730672431834684 Centerline is valid? [True, True] Translation: X:5.59, Y:-216.49, Z:-2.78 [[ 7.73560408e-01 6.33700946e-01 -5.23499804e-03 5.59190503e+00] [-6.33685661e-01 7.73578117e-01 4.40234383e-03 -2.16487858e+02] [ 6.83944938e-03 -8.81356955e-05 9.99976607e-01 -2.77932136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.996559995 meters 0.013117162483884916 Centerline is valid? [True, True] Translation: X:5.62, Y:-216.51, Z:-2.78 [[ 7.70413305e-01 6.37520618e-01 -5.54982959e-03 5.61838485e+00] [-6.37503528e-01 7.70433292e-01 4.66839237e-03 -2.16505056e+02] [ 7.25196988e-03 -5.85556508e-05 9.99973702e-01 -2.77978126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.02655999499996 meters 0.012604595286664837 Centerline is valid? [True, True] Translation: X:5.65, Y:-216.52, Z:-2.78 [[ 7.68521873e-01 6.39797336e-01 -5.78783034e-03 5.64531393e+00] [-6.39778795e-01 7.68543666e-01 4.87100733e-03 -2.16523422e+02] [ 7.56465786e-03 -4.05445635e-05 9.99971387e-01 -2.77906950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.056559995 meters 0.012471115306016557 Centerline is valid? [True, True] Translation: X:5.67, Y:-216.54, Z:-2.78 [[ 7.66544433e-01 6.42166088e-01 -5.68740833e-03 5.67147786e+00] [-6.42148232e-01 7.66565532e-01 4.78884839e-03 -2.16542223e+02] [ 7.43500723e-03 -1.87058710e-05 9.99972360e-01 -2.77905726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.08655999499996 meters 0.012360529657604744 Centerline is valid? [True, True] Translation: X:5.70, Y:-216.56, Z:-2.78 [[ 7.62859402e-01 6.46541111e-01 -5.48853237e-03 5.69992196e+00] [-6.46524576e-01 7.62879146e-01 4.62398761e-03 -2.16559311e+02] [ 7.17668497e-03 2.10186472e-05 9.99974247e-01 -2.77900831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.11655999499993 meters 0.012528517099405877 Centerline is valid? [True, True] Translation: X:5.73, Y:-216.58, Z:-2.78 [[ 7.60927327e-01 6.48817785e-01 -5.00844741e-03 5.72672388e+00] [-6.48804050e-01 7.60943809e-01 4.22190854e-03 -2.16578704e+02] [ 6.55039640e-03 3.69353795e-05 9.99978545e-01 -2.77887153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.14655999499996 meters 0.012698888204264826 Centerline is valid? [True, True] Translation: X:5.75, Y:-216.60, Z:-2.78 [[ 7.59314107e-01 6.50705960e-01 -4.88271992e-03 5.75256812e+00] [-6.50692931e-01 7.59329804e-01 4.11797201e-03 -2.16598000e+02] [ 6.38718369e-03 5.03170968e-05 9.99979601e-01 -2.77864551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.17655999499993 meters 0.01336181970461854 Centerline is valid? [True, True] Translation: X:5.78, Y:-216.61, Z:-2.78 [[ 7.56763818e-01 6.53675334e-01 -4.13304166e-03 5.77846546e+00] [-6.53666038e-01 7.56775102e-01 3.48657155e-03 -2.16614816e+02] [ 5.40686884e-03 6.31177692e-05 9.99985381e-01 -2.77818950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.20655999499996 meters 0.013373700726618504 Centerline is valid? [True, True] Translation: X:5.80, Y:-216.64, Z:-2.78 [[ 7.55455808e-01 6.55189396e-01 -3.65741167e-03 5.80374888e+00] [-6.55182128e-01 7.55464659e-01 3.08689359e-03 -2.16635030e+02] [ 4.78554521e-03 6.42590635e-05 9.99988547e-01 -2.77757598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.23655999499994 meters 0.013864083990046471 Centerline is valid? [True, True] Translation: X:5.83, Y:-216.65, Z:-2.78 [[ 7.54172191e-01 6.56666709e-01 -3.62485158e-03 5.82879988e+00] [-6.56659579e-01 7.54180899e-01 3.06083466e-03 -2.16653380e+02] [ 4.74374205e-03 7.18971331e-05 9.99988746e-01 -2.77789668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.26655999499997 meters 0.014136531683420163 Centerline is valid? [True, True] Translation: X:5.85, Y:-216.67, Z:-2.78 [[ 7.52937072e-01 6.58081265e-01 -3.84893292e-03 5.85409677e+00] [-6.58073237e-01 7.52946905e-01 3.25166745e-03 -2.16673462e+02] [ 5.03790355e-03 8.45787788e-05 9.99987306e-01 -2.77790386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.29655999499994 meters 0.015063658119993242 Centerline is valid? [True, True] Translation: X:5.88, Y:-216.69, Z:-2.78 [[ 7.50733025e-01 6.60591918e-01 -4.27122004e-03 5.87903615e+00] [-6.60582067e-01 7.50745167e-01 3.60931530e-03 -2.16691432e+02] [ 5.59088232e-03 1.11859171e-04 9.99984365e-01 -2.77808658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.32655999499997 meters 0.01636147773412555 Centerline is valid? [True, True] Translation: X:5.90, Y:-216.71, Z:-2.78 [[ 7.49511223e-01 6.61974645e-01 -4.74291451e-03 5.90435568e+00] [-6.61962515e-01 7.49526218e-01 4.00973029e-03 -2.16709776e+02] [ 6.20927856e-03 1.34293766e-04 9.99980713e-01 -2.77884611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.35655999499994 meters 0.016015201301382252 Centerline is valid? [True, True] Translation: X:5.93, Y:-216.73, Z:-2.78 [[ 7.48364536e-01 6.63269978e-01 -4.84331766e-03 5.92844211e+00] [-6.63257343e-01 7.48380194e-01 4.09661665e-03 -2.16731255e+02] [ 6.34180584e-03 1.46603381e-04 9.99979880e-01 -2.77853288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.38655999499997 meters 0.016256530598395377 Centerline is valid? [True, True] Translation: X:5.95, Y:-216.75, Z:-2.78 [[ 7.47287093e-01 6.64480843e-01 -5.21635631e-03 5.95293448e+00] [-6.64466201e-01 7.47305280e-01 4.41432143e-03 -2.16751428e+02] [ 6.83144264e-03 1.67327029e-04 9.99976651e-01 -2.77858101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.41655999499994 meters 0.017261324186720387 Centerline is valid? [True, True] Translation: X:5.98, Y:-216.77, Z:-2.78 [[ 7.45526926e-01 6.66450133e-01 -5.81570464e-03 5.97871840e+00] [-6.66431974e-01 7.45549581e-01 4.92392914e-03 -2.16770675e+02] [ 7.61744939e-03 2.04849766e-04 9.99970966e-01 -2.77994294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.446559995 meters 0.017536820706881555 Centerline is valid? [True, True] Translation: X:6.00, Y:-216.79, Z:-2.78 [[ 7.44763821e-01 6.67299237e-01 -6.21124015e-03 6.00374373e+00] [-6.67278533e-01 7.44789687e-01 5.26139258e-03 -2.16791414e+02] [ 8.13699086e-03 2.26132366e-04 9.99966869e-01 -2.78048832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.47655999499995 meters 0.018189361630345485 Centerline is valid? [True, True] Translation: X:6.03, Y:-216.81, Z:-2.78 [[ 7.44310241e-01 6.67800848e-01 -6.65529226e-03 6.02766471e+00] [-6.67777075e-01 7.44339954e-01 5.64008635e-03 -2.16810814e+02] [ 8.72025437e-03 2.46277568e-04 9.99961948e-01 -2.78124566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.506559995 meters 0.017162802782633622 Centerline is valid? [True, True] Translation: X:6.05, Y:-216.84, Z:-2.78 [[ 7.44768146e-01 6.67284027e-01 -7.24128971e-03 6.04980071e+00] [-6.67255849e-01 7.44803303e-01 6.13777985e-03 -2.16835140e+02] [ 9.48897895e-03 2.60569990e-04 9.99954945e-01 -2.78123188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.53655999499995 meters 0.01654216982784851 Centerline is valid? [True, True] Translation: X:6.07, Y:-216.86, Z:-2.78 [[ 7.45251588e-01 6.66742987e-01 -7.33892443e-03 6.07225824e+00] [-6.66713988e-01 7.45287679e-01 6.22364573e-03 -2.16858109e+02] [ 9.61918210e-03 2.54781710e-04 9.99953702e-01 -2.78083311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.566559995 meters 0.01624021409544706 Centerline is valid? [True, True] Translation: X:6.09, Y:-216.88, Z:-2.78 [[ 7.46303580e-01 6.65566509e-01 -7.22418233e-03 6.09477959e+00] [-6.65538326e-01 7.46338507e-01 6.12937268e-03 -2.16880306e+02] [ 9.47119064e-03 2.33597442e-04 9.99955120e-01 -2.78067261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.59655999499995 meters 0.014854940060306451 Centerline is valid? [True, True] Translation: X:6.11, Y:-216.91, Z:-2.78 [[ 7.49434037e-01 6.62044705e-01 -6.74039313e-03 6.11438761e+00] [-6.62020024e-01 7.49464327e-01 5.71930384e-03 -2.16905227e+02] [ 8.83811902e-03 1.76034260e-04 9.99960928e-01 -2.77955152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.626559995 meters 0.014236743837870913 Centerline is valid? [True, True] Translation: X:6.14, Y:-216.93, Z:-2.78 [[ 7.51177783e-01 6.60071194e-01 -6.16101791e-03 6.13636758e+00] [-6.60050486e-01 7.51203035e-01 5.23027419e-03 -2.16928526e+02] [ 8.08052868e-03 1.37717100e-04 9.99967343e-01 -2.77896849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.65655999499995 meters 0.014236743837870913 Centerline is valid? [True, True] Translation: X:6.16, Y:-216.95, Z:-2.78 [[ 7.50994135e-01 6.60280144e-01 -6.15956245e-03 6.16104077e+00] [-6.60259429e-01 7.51019382e-01 5.23198817e-03 -2.16949572e+02] [ 8.08052869e-03 1.37716752e-04 9.99967343e-01 -2.77896881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.686559995 meters 0.013596229131853462 Centerline is valid? [True, True] Translation: X:6.18, Y:-216.97, Z:-2.78 [[ 7.52946121e-01 6.58056391e-01 -5.82445581e-03 6.18282112e+00] [-6.58037784e-01 7.52968641e-01 4.94976355e-03 -2.16972703e+02] [ 7.64285612e-03 1.05806723e-04 9.99970787e-01 -2.77856006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.71655999499995 meters 0.012936232855963929 Centerline is valid? [True, True] Translation: X:6.20, Y:-217.00, Z:-2.78 [[ 7.55033808e-01 6.55662471e-01 -5.53837490e-03 6.20431828e+00] [-6.55645565e-01 7.55054117e-01 4.70897432e-03 -2.16996643e+02] [ 7.26927050e-03 7.57761290e-05 9.99973576e-01 -2.77800415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.746559995 meters 0.012315974569741605 Centerline is valid? [True, True] Translation: X:6.22, Y:-217.02, Z:-2.78 [[ 7.59739599e-01 6.50203394e-01 -5.59356705e-03 6.22319951e+00] [-6.50185984e-01 7.59760190e-01 4.75823105e-03 -2.17023127e+02] [ 7.34358754e-03 2.18423418e-05 9.99973035e-01 -2.77906080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.77655999499996 meters 0.012280580656741364 Centerline is valid? [True, True] Translation: X:6.25, Y:-217.05, Z:-2.78 [[ 7.62087620e-01 6.47447666e-01 -5.82926514e-03 6.24529725e+00] [-6.47428654e-01 7.62109914e-01 4.96155576e-03 -2.17048105e+02] [ 7.65488845e-03 -7.10693812e-06 9.99970701e-01 -2.77789862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.806559995 meters 0.012407384024840692 Centerline is valid? [True, True] Translation: X:6.27, Y:-217.07, Z:-2.78 [[ 7.64465421e-01 6.44638187e-01 -5.85052929e-03 6.26760843e+00] [-6.44618932e-01 7.64487807e-01 4.98250158e-03 -2.17072548e+02] [ 7.68456909e-03 -3.75882247e-05 9.99970473e-01 -2.77801778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.83655999499996 meters 0.013617505590882657 Centerline is valid? [True, True] Translation: X:6.29, Y:-217.10, Z:-2.78 [[ 7.69616749e-01 6.38471566e-01 -6.64225264e-03 6.28574371e+00] [-6.38446507e-01 7.69645403e-01 5.65778827e-03 -2.17098754e+02] [ 8.72451615e-03 -1.13605614e-04 9.99961934e-01 -2.77918779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.86655999499993 meters 0.01459311896280252 Centerline is valid? [True, True] Translation: X:6.31, Y:-217.12, Z:-2.78 [[ 7.72118730e-01 6.35440795e-01 -6.90381918e-03 6.30742241e+00] [-6.35413577e-01 7.72149579e-01 5.88344056e-03 -2.17122827e+02] [ 9.06935922e-03 -1.55934216e-04 9.99958860e-01 -2.77954538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.89655999499996 meters 0.01521885746801901 Centerline is valid? [True, True] Translation: X:6.33, Y:-217.15, Z:-2.78 [[ 7.74481202e-01 6.32557231e-01 -7.08646256e-03 6.32952621e+00] [-6.32528424e-01 7.74513597e-01 6.03993777e-03 -2.17145989e+02] [ 9.30916792e-03 -1.95429262e-04 9.99956650e-01 -2.77990761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.92655999499993 meters 0.016220321847751733 Centerline is valid? [True, True] Translation: X:6.35, Y:-217.17, Z:-2.78 [[ 7.77721076e-01 6.28558121e-01 -8.03846278e-03 6.34993814e+00] [-6.28520809e-01 7.77762567e-01 6.85434227e-03 -2.17170248e+02] [ 1.05603679e-02 -2.78425312e-04 9.99944199e-01 -2.77966077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.95655999499996 meters 0.016974983631003637 Centerline is valid? [True, True] Translation: X:6.37, Y:-217.19, Z:-2.78 [[ 7.79108684e-01 6.26840130e-01 -7.81737199e-03 6.37276354e+00] [-6.26804721e-01 7.79147845e-01 6.66912128e-03 -2.17193374e+02] [ 1.02713614e-02 -2.96004627e-04 9.99947204e-01 -2.77979657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.98655999499994 meters 0.018882850996245603 Centerline is valid? [True, True] Translation: X:6.39, Y:-217.22, Z:-2.78 [[ 7.80117952e-01 6.25583222e-01 -7.84941271e-03 6.39379435e+00] [-6.25547428e-01 7.80157377e-01 6.69951039e-03 -2.17217174e+02] [ 1.03148785e-02 -3.16228398e-04 9.99946750e-01 -2.78027124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.01655999499997 meters 0.01806898576474372 Centerline is valid? [True, True] Translation: X:6.42, Y:-217.24, Z:-2.78 [[ 7.80716028e-01 6.24839276e-01 -7.63957010e-03 6.41833322e+00] [-6.24805302e-01 7.80753339e-01 6.52361137e-03 -2.17238114e+02] [ 1.00408285e-02 -3.19844053e-04 9.99949539e-01 -2.77927886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.04655999499994 meters 0.019699670209518634 Centerline is valid? [True, True] Translation: X:6.44, Y:-217.26, Z:-2.78 [[ 7.80954160e-01 6.24549865e-01 -6.93305640e-03 6.44000269e+00] [-6.24521845e-01 7.80984878e-01 5.92339833e-03 -2.17261712e+02] [ 9.11406983e-03 -2.96057397e-04 9.99958422e-01 -2.77895570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.07655999499997 meters 0.01835710371360873 Centerline is valid? [True, True] Translation: X:6.47, Y:-217.28, Z:-2.78 [[ 7.80420416e-01 6.25221550e-01 -6.47979087e-03 6.46571454e+00] [-6.25197075e-01 7.80447269e-01 5.53883578e-03 -2.17281035e+02] [ 8.52013458e-03 -2.71474230e-04 9.99963666e-01 -2.77839719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.10655999499994 meters 0.01847206645109551 Centerline is valid? [True, True] Translation: X:6.49, Y:-217.30, Z:-2.78 [[ 7.79406554e-01 6.26484262e-01 -6.54924620e-03 6.48931294e+00] [-6.26459282e-01 7.79434026e-01 5.60071593e-03 -2.17301341e+02] [ 8.61346572e-03 -2.62398631e-04 9.99962869e-01 -2.77850068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.13655999499997 meters 0.0170622615403683 Centerline is valid? [True, True] Translation: X:6.52, Y:-217.32, Z:-2.78 [[ 7.77102892e-01 6.29337623e-01 -6.72685678e-03 6.51508449e+00] [-6.29311359e-01 7.77131970e-01 5.75454628e-03 -2.17319510e+02] [ 8.84920794e-03 -2.38587180e-04 9.99960817e-01 -2.77853663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.16655999499994 meters 0.016783771875599256 Centerline is valid? [True, True] Translation: X:6.54, Y:-217.34, Z:-2.78 [[ 7.75385041e-01 6.31452056e-01 -6.80725789e-03 6.53968993e+00] [-6.31425216e-01 7.75414891e-01 5.82614004e-03 -2.17339484e+02] [ 8.95737724e-03 -2.19227554e-04 9.99959858e-01 -2.77904304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.196559995 meters 0.01571216679944868 Centerline is valid? [True, True] Translation: X:6.57, Y:-217.36, Z:-2.78 [[ 7.73566231e-01 6.33676368e-01 -7.03889218e-03 6.56577393e+00] [-6.33647735e-01 7.73598229e-01 6.02730927e-03 -2.17358747e+02] [ 9.26463797e-03 -2.02344835e-04 9.99957062e-01 -2.77925912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.22655999499995 meters 0.01523186855501879 Centerline is valid? [True, True] Translation: X:6.59, Y:-217.38, Z:-2.78 [[ 7.71628706e-01 6.36032400e-01 -7.20599486e-03 6.59053267e+00] [-6.36002468e-01 7.71662331e-01 6.17315586e-03 -2.17377751e+02] [ 9.48692193e-03 -1.80353757e-04 9.99954982e-01 -2.77963968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.256559995 meters 0.01368234071588158 Centerline is valid? [True, True] Translation: X:6.62, Y:-217.39, Z:-2.78 [[ 7.67358879e-01 6.41177112e-01 -7.22924365e-03 6.61742060e+00] [-6.41147209e-01 7.67392922e-01 6.19349880e-03 -2.17394288e+02] [ 9.51880009e-03 -1.17626905e-04 9.99954688e-01 -2.78023554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.28655999499995 meters 0.013007435841059102 Centerline is valid? [True, True] Translation: X:6.64, Y:-217.41, Z:-2.78 [[ 7.64935100e-01 6.44066248e-01 -7.27737245e-03 6.64412364e+00] [-6.44036046e-01 7.64969712e-01 6.23782437e-03 -2.17413085e+02] [ 9.58454165e-03 -8.46406327e-05 9.99954064e-01 -2.77990960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.316559995 meters 0.012654911623009184 Centerline is valid? [True, True] Translation: X:6.67, Y:-217.43, Z:-2.78 [[ 7.62481514e-01 6.46970544e-01 -7.14533478e-03 6.66971363e+00] [-6.46941529e-01 7.62514992e-01 6.12745140e-03 -2.17431423e+02] [ 9.41270546e-03 -4.94546156e-05 9.99955698e-01 -2.78016690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.34655999499995 meters 0.012341595570049402 Centerline is valid? [True, True] Translation: X:6.70, Y:-217.45, Z:-2.78 [[ 7.57611495e-01 6.52668564e-01 -6.96904236e-03 6.69794774e+00] [-6.52641175e-01 7.57643548e-01 5.97924853e-03 -2.17448126e+02] [ 9.18251753e-03 1.83365775e-05 9.99957840e-01 -2.78002359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.376559995 meters 0.012612810482862918 Centerline is valid? [True, True] Translation: X:6.72, Y:-217.47, Z:-2.78 [[ 7.55262306e-01 6.55390923e-01 -6.44883399e-03 6.72472864e+00] [-6.55367542e-01 7.55289836e-01 5.53605468e-03 -2.17467383e+02] [ 8.49901875e-03 4.51830620e-05 9.99963882e-01 -2.78025989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.40655999499995 meters 0.01286623458526995 Centerline is valid? [True, True] Translation: X:6.75, Y:-217.49, Z:-2.78 [[ 7.53149625e-01 6.57820501e-01 -6.15078886e-03 6.75080741e+00] [-6.57799291e-01 7.53174737e-01 5.28280558e-03 -2.17486676e+02] [ 8.10775660e-03 6.72415121e-05 9.99967129e-01 -2.78043247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.436559995 meters 0.013199058534885188 Centerline is valid? [True, True] Translation: X:6.78, Y:-217.51, Z:-2.78 [[ 7.51425197e-01 6.59791399e-01 -5.95677520e-03 6.77661039e+00] [-6.59771549e-01 7.51448802e-01 5.11868205e-03 -2.17505804e+02] [ 7.85347398e-03 8.38041368e-05 9.99969158e-01 -2.78075939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.46655999499995 meters 0.013774628861791378 Centerline is valid? [True, True] Translation: X:6.80, Y:-217.53, Z:-2.78 [[ 7.48751889e-01 6.62824043e-01 -5.90742726e-03 6.80284108e+00] [-6.62804594e-01 7.48775184e-01 5.07879660e-03 -2.17525091e+02] [ 7.78968343e-03 1.12711383e-04 9.99969654e-01 -2.78092593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.496559995 meters 0.013938059427195294 Centerline is valid? [True, True] Translation: X:6.83, Y:-217.55, Z:-2.78 [[ 7.47653270e-01 6.64065282e-01 -5.64710846e-03 6.82720823e+00] [-6.64047527e-01 7.47674587e-01 4.85743645e-03 -2.17545463e+02] [ 7.44785439e-03 1.18270165e-04 9.99972257e-01 -2.78101771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.52655999499996 meters 0.014477446587877826 Centerline is valid? [True, True] Translation: X:6.85, Y:-217.56, Z:-2.78 [[ 7.46959516e-01 6.64845526e-01 -5.64869387e-03 6.85195745e+00] [-6.64827767e-01 7.46980864e-01 4.86105552e-03 -2.17564645e+02] [ 7.45131724e-03 1.24396859e-04 9.99972231e-01 -2.78165967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.556559995 meters 0.014726938103724744 Centerline is valid? [True, True] Translation: X:6.88, Y:-217.59, Z:-2.78 [[ 7.46409256e-01 6.65464134e-01 -5.54153959e-03 6.87687707e+00] [-6.65447039e-01 7.46429816e-01 4.77148777e-03 -2.17585807e+02] [ 7.31162435e-03 1.26118480e-04 9.99973262e-01 -2.78161205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.58655999499996 meters 0.014332819842044564 Centerline is valid? [True, True] Translation: X:6.90, Y:-217.61, Z:-2.78 [[ 7.46246279e-01 6.65648842e-01 -5.30189693e-03 6.90098948e+00] [-6.65633180e-01 7.46265104e-01 4.56774335e-03 -2.17608934e+02] [ 6.99713373e-03 1.20457034e-04 9.99975513e-01 -2.78110286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.61655999499993 meters 0.014351989863210882 Centerline is valid? [True, True] Translation: X:6.93, Y:-217.63, Z:-2.78 [[ 7.46193713e-01 6.65710035e-01 -5.00914037e-03 6.92517172e+00] [-6.65696041e-01 7.46210518e-01 4.31797794e-03 -2.17630855e+02] [ 6.61239447e-03 1.12516911e-04 9.99978132e-01 -2.78088503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.64655999499996 meters 0.014925062529031679 Centerline is valid? [True, True] Translation: X:6.95, Y:-217.65, Z:-2.78 [[ 7.45783945e-01 6.66173344e-01 -4.40259591e-03 6.94918702e+00] [-6.66162534e-01 7.45796933e-01 3.79646371e-03 -2.17652246e+02] [ 5.81254545e-03 1.01502756e-04 9.99983102e-01 -2.77986614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.67655999499993 meters 0.01468391180430664 Centerline is valid? [True, True] Translation: X:6.97, Y:-217.67, Z:-2.78 [[ 7.45404070e-01 6.66592647e-01 -5.19757465e-03 6.97339309e+00] [-6.66577573e-01 7.45422181e-01 4.48454086e-03 -2.17674845e+02] [ 6.86374939e-03 1.21791690e-04 9.99976437e-01 -2.78016720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.70655999499996 meters 0.014642088961131719 Centerline is valid? [True, True] Translation: X:7.00, Y:-217.70, Z:-2.78 [[ 7.45196223e-01 6.66810639e-01 -6.79410946e-03 6.99703918e+00] [-6.66784865e-01 7.45227177e-01 5.86497665e-03 -2.17696478e+02] [ 8.97398384e-03 1.59650909e-04 9.99959720e-01 -2.78182393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.73655999499994 meters 0.015005944056763405 Centerline is valid? [True, True] Translation: X:7.02, Y:-217.72, Z:-2.79 [[ 7.44641352e-01 6.67392327e-01 -9.83561249e-03 7.02073157e+00] [-6.67338310e-01 7.44706268e-01 8.49441282e-03 -2.17717163e+02] [ 1.29937482e-02 2.38389970e-04 9.99915549e-01 -2.78627408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.76655999499997 meters 0.01502703597752982 Centerline is valid? [True, True] Translation: X:7.04, Y:-217.74, Z:-2.79 [[ 7.44288818e-01 6.67767184e-01 -1.10065219e-02 7.04417548e+00] [-6.67699512e-01 7.44370147e-01 9.51034722e-03 -2.17738550e+02] [ 1.45436241e-02 2.70604174e-04 9.99894199e-01 -2.78714111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.79655999499994 meters 0.01489309554314962 Centerline is valid? [True, True] Translation: X:7.07, Y:-217.76, Z:-2.79 [[ 7.44580642e-01 6.67433428e-01 -1.15016500e-02 7.06700562e+00] [-6.67359405e-01 7.44669421e-01 9.94378388e-03 -2.17763187e+02] [ 1.52017408e-02 2.71785323e-04 9.99884410e-01 -2.78661095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.82655999499997 meters 0.01454941208321272 Centerline is valid? [True, True] Translation: X:7.09, Y:-217.79, Z:-2.79 [[ 7.44995794e-01 6.66971432e-01 -1.14182024e-02 7.08944118e+00] [-6.66898351e-01 7.45083246e-01 9.87654781e-03 -2.17785632e+02] [ 1.50948865e-02 2.56793784e-04 9.99886033e-01 -2.78533048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.85655999499994 meters 0.014868238553890413 Centerline is valid? [True, True] Translation: X:7.11, Y:-217.81, Z:-2.79 [[ 7.45727021e-01 6.66163312e-01 -1.08467342e-02 7.11278489e+00] [-6.66097216e-01 7.45805867e-01 9.38654222e-03 -2.17806372e+02] [ 1.43425281e-02 2.25181290e-04 9.99897115e-01 -2.78508244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.88655999499997 meters 0.013829114237945864 Centerline is valid? [True, True] Translation: X:7.14, Y:-217.83, Z:-2.78 [[ 7.47806072e-01 6.63838931e-01 -1.01956605e-02 7.13515968e+00] [-6.63780295e-01 7.47875554e-01 8.82465637e-03 -2.17830469e+02] [ 1.34832357e-02 1.68546914e-04 9.99909083e-01 -2.78288673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.91655999499994 meters 0.013829114237945864 Centerline is valid? [True, True] Translation: X:7.16, Y:-217.85, Z:-2.78 [[ 7.47622651e-01 6.64045534e-01 -1.01932208e-02 7.15962354e+00] [-6.63986879e-01 7.47692116e-01 8.82747437e-03 -2.17851745e+02] [ 1.34832357e-02 1.68545040e-04 9.99909083e-01 -2.78288705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.946559995 meters 0.013268895516027992 Centerline is valid? [True, True] Translation: X:7.18, Y:-217.87, Z:-2.78 [[ 7.50189522e-01 6.61157653e-01 -9.28653560e-03 7.18095452e+00] [-6.61108702e-01 7.50246991e-01 8.04588857e-03 -2.17874735e+02] [ 1.22867962e-02 1.03468204e-04 9.99924509e-01 -2.78154637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.97655999499995 meters 0.012960968615099029 Centerline is valid? [True, True] Translation: X:7.20, Y:-217.90, Z:-2.78 [[ 7.51467987e-01 6.59714309e-01 -8.53790630e-03 7.20406349e+00] [-6.59672799e-01 7.51516484e-01 7.40081506e-03 -2.17897075e+02] [ 1.12988009e-02 7.07489560e-05 9.99936164e-01 -2.78079387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.006559995 meters 0.01263754266272921 Centerline is valid? [True, True] Translation: X:7.23, Y:-217.92, Z:-2.78 [[ 7.52597441e-01 6.58433918e-01 -7.86559714e-03 7.22739086e+00] [-6.58398584e-01 7.52638541e-01 6.82138613e-03 -2.17919632e+02] [ 1.04113836e-02 4.49402742e-05 9.99945799e-01 -2.77914971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.03655999499995 meters 0.012598232983524027 Centerline is valid? [True, True] Translation: X:7.25, Y:-217.94, Z:-2.78 [[ 7.53832777e-01 6.57024969e-01 -7.37114239e-03 7.25079470e+00] [-6.56993840e-01 7.53868814e-01 6.39571001e-03 -2.17941753e+02] [ 9.75901555e-03 2.14993099e-05 9.99952380e-01 -2.77840421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.066559995 meters 0.012775317419601246 Centerline is valid? [True, True] Translation: X:7.27, Y:-217.97, Z:-2.78 [[ 7.57721288e-01 6.52539950e-01 -7.07557406e-03 7.27253842e+00] [-6.52511040e-01 7.57754322e-01 6.14246745e-03 -2.17965496e+02] [ 9.36975223e-03 -3.73881635e-05 9.99956102e-01 -2.77822655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.09655999499995 meters 0.01291814335796196 Centerline is valid? [True, True] Translation: X:7.30, Y:-217.99, Z:-2.78 [[ 7.59998357e-01 6.49885145e-01 -7.19694009e-03 7.29552994e+00] [-6.49855087e-01 7.60032429e-01 6.25089325e-03 -2.17987769e+02] [ 9.53227053e-03 -7.37004779e-05 9.99954564e-01 -2.77751197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.126559995 meters 0.013422760333949955 Centerline is valid? [True, True] Translation: X:7.32, Y:-218.01, Z:-2.78 [[ 7.62200400e-01 6.47300461e-01 -7.25694550e-03 7.31880345e+00] [-6.47269752e-01 7.62234938e-01 6.30609703e-03 -2.18010412e+02] [ 9.61343692e-03 -1.09308362e-04 9.99953784e-01 -2.77690071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.15655999499995 meters 0.014673724921578141 Centerline is valid? [True, True] Translation: X:7.34, Y:-218.03, Z:-2.78 [[ 7.66234871e-01 6.42520094e-01 -7.21469525e-03 7.34037822e+00] [-6.42489502e-01 7.66268817e-01 6.27222088e-03 -2.18033734e+02] [ 9.55842394e-03 -1.70628403e-04 9.99954303e-01 -2.77563527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.186559995 meters 0.01515453018344073 Centerline is valid? [True, True] Translation: X:7.36, Y:-218.06, Z:-2.78 [[ 7.67908815e-01 6.40518364e-01 -7.23038773e-03 7.36395798e+00] [-6.40487519e-01 7.67942828e-01 6.28895535e-03 -2.18055283e+02] [ 9.58071579e-03 -1.98371145e-04 9.99954084e-01 -2.77501119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.21655999499995 meters 0.016095662209499376 Centerline is valid? [True, True] Translation: X:7.39, Y:-218.08, Z:-2.78 [[ 7.69602739e-01 6.38478556e-01 -7.53373997e-03 7.38647258e+00] [-6.38444942e-01 7.69639577e-01 6.55577953e-03 -2.18076590e+02] [ 9.98398909e-03 -2.35467702e-04 9.99950131e-01 -2.77504590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.246559995 meters 0.018098394544975263 Centerline is valid? [True, True] Translation: X:7.41, Y:-218.10, Z:-2.78 [[ 7.71127093e-01 6.36636912e-01 -7.51323918e-03 7.40782212e+00] [-6.36603378e-01 7.71163650e-01 6.53951614e-03 -2.18098627e+02] [ 9.95723431e-03 -2.59844635e-04 9.99950392e-01 -2.77616516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.27655999499996 meters 0.017873668728209193 Centerline is valid? [True, True] Translation: X:7.43, Y:-218.12, Z:-2.78 [[ 7.73457917e-01 6.33801414e-01 -7.65630509e-03 7.43366685e+00] [-6.33766441e-01 7.73495751e-01 6.66496429e-03 -2.18118133e+02] [ 1.01463832e-02 -3.02760167e-04 9.99948478e-01 -2.77560133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.306559995 meters 0.018117629009071805 Centerline is valid? [True, True] Translation: X:7.46, Y:-218.14, Z:-2.78 [[ 7.74480071e-01 6.32551640e-01 -7.68388329e-03 7.45857569e+00] [-6.32516321e-01 7.74518120e-01 6.69223511e-03 -2.18138721e+02] [ 1.01844911e-02 -3.22821134e-04 9.99948085e-01 -2.77572971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.33655999499996 meters 0.018731624328685335 Centerline is valid? [True, True] Translation: X:7.48, Y:-218.16, Z:-2.78 [[ 7.75305081e-01 6.31543790e-01 -7.38062963e-03 7.48327531e+00] [-6.31511127e-01 7.75340142e-01 6.43124371e-03 -2.18159800e+02] [ 9.78411045e-03 -3.25226194e-04 9.99952082e-01 -2.77599431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.36655999499993 meters 0.019561781178710144 Centerline is valid? [True, True] Translation: X:7.51, Y:-218.18, Z:-2.78 [[ 7.76255971e-01 6.30380328e-01 -6.87824786e-03 7.50717309e+00] [-6.30351890e-01 7.76286378e-01 5.99617205e-03 -2.18179493e+02] [ 9.11935902e-03 -3.18847820e-04 9.99958367e-01 -2.77572869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.39655999499996 meters 0.019276629087179448 Centerline is valid? [True, True] Translation: X:7.53, Y:-218.20, Z:-2.78 [[ 7.75997410e-01 6.30699082e-01 -6.83289437e-03 7.53327886e+00] [-6.30671000e-01 7.76027428e-01 5.95993426e-03 -2.18199869e+02] [ 9.06143851e-03 -3.15585217e-04 9.99958895e-01 -2.77531396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.42655999499993 meters 0.018957191303167135 Centerline is valid? [True, True] Translation: X:7.56, Y:-218.22, Z:-2.78 [[ 7.74380508e-01 6.32679993e-01 -7.13130905e-03 7.55972985e+00] [-6.32649460e-01 7.74413283e-01 6.22321183e-03 -2.18217473e+02] [ 9.45988207e-03 -3.07515114e-04 9.99955207e-01 -2.77531090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.45655999499996 meters 0.01621697238774092 Centerline is valid? [True, True] Translation: X:7.59, Y:-218.23, Z:-2.78 [[ 7.69295744e-01 6.38839209e-01 -8.27789780e-03 7.59056106e+00] [-6.38798416e-01 7.69340232e-01 7.22431659e-03 -2.18229430e+02] [ 1.09836965e-02 -2.69728002e-04 9.99939641e-01 -2.77599249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.48655999499994 meters 0.012562464986947734 Centerline is valid? [True, True] Translation: X:7.63, Y:-218.23, Z:-2.78 [[ 7.57860136e-01 6.52361304e-01 -8.52899444e-03 7.62739755e+00] [-6.52318841e-01 7.57908123e-01 7.44355435e-03 -2.18233157e+02] [ 1.13200810e-02 -7.75493379e-05 9.99935923e-01 -2.77747323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.51655999499997 meters 0.012017822714316308 Centerline is valid? [True, True] Translation: X:7.66, Y:-218.25, Z:-2.78 [[ 7.53488483e-01 6.57419428e-01 -7.40282732e-03 7.65630846e+00] [-6.57387650e-01 7.53524847e-01 6.46389475e-03 -2.18248395e+02] [ 9.82770431e-03 -3.94299744e-06 9.99951707e-01 -2.77696126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.54655999499994 meters 0.012017822714316308 Centerline is valid? [True, True] Translation: X:7.68, Y:-218.27, Z:-2.78 [[ 7.53304554e-01 6.57630195e-01 -7.40101857e-03 7.68068544e+00] [-6.57598407e-01 7.53340910e-01 6.46596565e-03 -2.18269773e+02] [ 9.82770431e-03 -3.94335011e-06 9.99951707e-01 -2.77696158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.57655999499997 meters 0.012017822714316308 Centerline is valid? [True, True] Translation: X:7.71, Y:-218.29, Z:-2.78 [[ 7.53120566e-01 6.57840912e-01 -7.39920947e-03 7.70505643e+00] [-6.57809113e-01 7.53156913e-01 6.46803578e-03 -2.18291159e+02] [ 9.82770431e-03 -3.94335011e-06 9.99951707e-01 -2.77696190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.60655999499994 meters 0.012017822714316308 Centerline is valid? [True, True] Translation: X:7.73, Y:-218.31, Z:-2.78 [[ 7.52936519e-01 6.58051576e-01 -7.39739979e-03 7.72942144e+00] [-6.58019768e-01 7.52972857e-01 6.47010541e-03 -2.18312551e+02] [ 9.82770431e-03 -3.94335011e-06 9.99951707e-01 -2.77696222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.63655999499997 meters 0.01215708109769183 Centerline is valid? [True, True] Translation: X:7.76, Y:-218.33, Z:-2.78 [[ 7.50629625e-01 6.60682218e-01 -7.36022073e-03 7.75590658e+00] [-6.60650821e-01 7.50665709e-01 6.44096944e-03 -2.18331418e+02] [ 9.78049929e-03 2.77533901e-05 9.99952169e-01 -2.77761305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.66655999499994 meters 0.01215708109769183 Centerline is valid? [True, True] Translation: X:7.78, Y:-218.35, Z:-2.78 [[ 7.50452320e-01 6.60883627e-01 -7.35849205e-03 7.78025362e+00] [-6.60852221e-01 7.50488395e-01 6.44294430e-03 -2.18352838e+02] [ 9.78049929e-03 2.77533112e-05 9.99952169e-01 -2.77761338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.696559995 meters 0.01215708109769183 Centerline is valid? [True, True] Translation: X:7.80, Y:-218.37, Z:-2.78 [[ 7.50274961e-01 6.61084988e-01 -7.35676290e-03 7.80459490e+00] [-6.61053572e-01 7.50311027e-01 6.44491864e-03 -2.18374265e+02] [ 9.78049929e-03 2.77533112e-05 9.99952169e-01 -2.77761370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.72655999499995 meters 0.012309341231144105 Centerline is valid? [True, True] Translation: X:7.83, Y:-218.39, Z:-2.78 [[ 7.48149697e-01 6.63488857e-01 -7.38700001e-03 7.83032031e+00] [-6.63457270e-01 7.48186162e-01 6.47445033e-03 -2.18392967e+02] [ 9.82257683e-03 5.71008110e-05 9.99951756e-01 -2.77790207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.756559995 meters 0.012309341231144105 Centerline is valid? [True, True] Translation: X:7.85, Y:-218.41, Z:-2.78 [[ 7.47972629e-01 6.63688484e-01 -7.38527185e-03 7.85465064e+00] [-6.63656887e-01 7.48009086e-01 6.47642154e-03 -2.18414409e+02] [ 9.82257684e-03 5.71004769e-05 9.99951756e-01 -2.77790239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.78655999499995 meters 0.012560666903106466 Centerline is valid? [True, True] Translation: X:7.88, Y:-218.43, Z:-2.78 [[ 7.45704795e-01 6.66230523e-01 -7.82612751e-03 7.88005938e+00] [-6.66195145e-01 7.45745856e-01 6.86640072e-03 -2.18434069e+02] [ 1.04109079e-02 9.34202015e-05 9.99945801e-01 -2.77748598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.816559995 meters 0.0129926692937832 Centerline is valid? [True, True] Translation: X:7.91, Y:-218.45, Z:-2.78 [[ 7.43681947e-01 6.68483842e-01 -8.15565960e-03 7.90562727e+00] [-6.68445518e-01 7.43726655e-01 7.15903924e-03 -2.18453172e+02] [ 1.08512835e-02 1.27565870e-04 9.99941115e-01 -2.77808035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.84655999499995 meters 0.01344242251507996 Centerline is valid? [True, True] Translation: X:7.93, Y:-218.47, Z:-2.78 [[ 7.41575017e-01 6.70813180e-01 -8.72762148e-03 7.93133374e+00] [-6.70769409e-01 7.41626354e-01 7.66489565e-03 -2.18472511e+02] [ 1.16143471e-02 1.70126379e-04 9.99932537e-01 -2.77872430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.876559995 meters 0.015021544422604179 Centerline is valid? [True, True] Translation: X:7.96, Y:-218.49, Z:-2.78 [[ 7.37630274e-01 6.75141219e-01 -9.26900933e-03 7.95827453e+00] [-6.75092143e-01 7.37688466e-01 8.14407277e-03 -2.18488765e+02] [ 1.23360405e-02 2.50120743e-04 9.99923877e-01 -2.78024703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.90655999499995 meters 0.016672844483592738 Centerline is valid? [True, True] Translation: X:7.98, Y:-218.51, Z:-2.78 [[ 7.34844707e-01 6.78171271e-01 -9.32652306e-03 7.98477407e+00] [-6.78121781e-01 7.34903829e-01 8.19830039e-03 -2.18505405e+02] [ 1.24139493e-02 3.00040784e-04 9.99922899e-01 -2.78090050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.936559995 meters 0.01654871769757905 Centerline is valid? [True, True] Translation: X:8.01, Y:-218.53, Z:-2.78 [[ 7.34058731e-01 6.79025644e-01 -9.05291690e-03 8.00888299e+00] [-6.78979034e-01 7.34114490e-01 7.96166218e-03 -2.18526106e+02] [ 1.20520503e-02 3.02413136e-04 9.99927326e-01 -2.78049283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.96655999499995 meters 0.016015701031901388 Centerline is valid? [True, True] Translation: X:8.03, Y:-218.55, Z:-2.78 [[ 7.34146195e-01 6.78934793e-01 -8.76994429e-03 8.03269780e+00] [-6.78891000e-01 7.34198518e-01 7.71660175e-03 -2.18547790e+02] [ 1.16779495e-02 2.88722437e-04 9.99931769e-01 -2.77990396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.996559995 meters 0.016015701031901388 Centerline is valid? [True, True] Translation: X:8.06, Y:-218.57, Z:-2.78 [[ 7.33956158e-01 6.79140253e-01 -8.76778400e-03 8.05700256e+00] [-6.79096446e-01 7.34008469e-01 7.71905625e-03 -2.18569276e+02] [ 1.16779495e-02 2.88722087e-04 9.99931769e-01 -2.77990428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.02655999499996 meters 0.015056948261905652 Centerline is valid? [True, True] Translation: X:8.08, Y:-218.59, Z:-2.78 [[ 7.35940567e-01 6.77001727e-01 -7.75520277e-03 8.07900902e+00] [-6.76967326e-01 7.35981393e-01 6.82855231e-03 -2.18592554e+02] [ 1.03306266e-02 2.24610222e-04 9.99946612e-01 -2.77857964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.056559995 meters 0.014685686656034699 Centerline is valid? [True, True] Translation: X:8.10, Y:-218.61, Z:-2.78 [[ 7.37102875e-01 6.75738384e-01 -7.54901972e-03 8.10105997e+00] [-6.75705690e-01 7.37141504e-01 6.65003573e-03 -2.18613934e+02] [ 1.00583801e-02 1.99155123e-04 9.99949393e-01 -2.77813541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.08655999499996 meters 0.014118763057078161 Centerline is valid? [True, True] Translation: X:8.12, Y:-218.64, Z:-2.78 [[ 7.38331962e-01 6.74399543e-01 -7.15328135e-03 8.12426692e+00] [-6.74370109e-01 7.38366594e-01 6.30309445e-03 -2.18636846e+02] [ 9.53254801e-03 1.70183032e-04 9.99954550e-01 -2.77767333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.11655999499993 meters 0.013700818958979368 Centerline is valid? [True, True] Translation: X:8.15, Y:-218.66, Z:-2.78 [[ 7.39697514e-01 6.72901433e-01 -7.15891038e-03 8.14758933e+00] [-6.72871853e-01 7.39732140e-01 6.31111703e-03 -2.18659267e+02] [ 9.54243579e-03 1.48711716e-04 9.99954459e-01 -2.77777202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.14655999499996 meters 0.01270610173217976 Centerline is valid? [True, True] Translation: X:8.17, Y:-218.68, Z:-2.78 [[ 7.42541540e-01 6.69754771e-01 -7.78517987e-03 8.16903346e+00] [-6.69719580e-01 7.42582342e-01 6.86657941e-03 -2.18683493e+02] [ 1.03800614e-02 1.15166950e-04 9.99946119e-01 -2.77811216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.17655999499993 meters 0.012308212424304767 Centerline is valid? [True, True] Translation: X:8.19, Y:-218.71, Z:-2.78 [[ 7.44025104e-01 6.68099302e-01 -8.36464418e-03 8.19112873e+00] [-6.68058531e-01 7.44072116e-01 7.38140402e-03 -2.18706421e+02] [ 1.11554094e-02 9.61220120e-05 9.99937772e-01 -2.77785263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.20655999499996 meters 0.012054502821554064 Centerline is valid? [True, True] Translation: X:8.21, Y:-218.73, Z:-2.78 [[ 7.45555396e-01 6.66387783e-01 -8.62985606e-03 8.21387563e+00] [-6.66344227e-01 7.45605337e-01 7.61927863e-03 -2.18729285e+02] [ 1.15118609e-02 6.98604605e-05 9.99933734e-01 -2.77832214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.23655999499994 meters 0.0119919277936849 Centerline is valid? [True, True] Translation: X:8.23, Y:-218.75, Z:-2.78 [[ 7.49035781e-01 6.62461741e-01 -9.47843523e-03 8.23429888e+00] [-6.62408826e-01 7.49095749e-01 8.37297540e-03 -2.18754155e+02] [ 1.26470314e-02 6.94098434e-06 9.99920023e-01 -2.77967027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.26655999499997 meters 0.012051574592074068 Centerline is valid? [True, True] Translation: X:8.26, Y:-218.78, Z:-2.78 [[ 7.50956760e-01 6.60278513e-01 -9.80970255e-03 8.25700608e+00] [-6.60221583e-01 7.51020828e-01 8.67050735e-03 -2.18777954e+02] [ 1.30922406e-02 -3.45987541e-05 9.99914292e-01 -2.77962673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.29655999499994 meters 0.012379018202354765 Centerline is valid? [True, True] Translation: X:8.28, Y:-218.80, Z:-2.78 [[ 7.53008569e-01 6.57936219e-01 -9.90087597e-03 8.27819319e+00] [-6.57877969e-01 7.53073653e-01 8.75507435e-03 -2.18800892e+02] [ 1.32163693e-02 -7.90778324e-05 9.99912657e-01 -2.78028962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.32655999499997 meters 0.012934345614298662 Centerline is valid? [True, True] Translation: X:8.30, Y:-218.82, Z:-2.78 [[ 7.55347192e-01 6.55241918e-01 -1.04234868e-02 8.29991715e+00] [-6.55177041e-01 7.55419096e-01 9.22138856e-03 -2.18824119e+02] [ 1.39163413e-02 -1.36120718e-04 9.99903154e-01 -2.78002959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.35655999499994 meters 0.014340290673439933 Centerline is valid? [True, True] Translation: X:8.32, Y:-218.85, Z:-2.78 [[ 7.59992706e-01 6.49844821e-01 -1.06205662e-02 8.31922818e+00] [-6.49776919e-01 7.60066873e-01 9.39704650e-03 -2.18850402e+02] [ 1.41789625e-02 -2.40688034e-04 9.99899445e-01 -2.77957845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.38655999499997 meters 0.014645092023218504 Centerline is valid? [True, True] Translation: X:8.34, Y:-218.87, Z:-2.78 [[ 7.62332449e-01 6.47097909e-01 -1.06551991e-02 8.34172567e+00] [-6.47029228e-01 7.62406852e-01 9.43238700e-03 -2.18873568e+02] [ 1.42272747e-02 -2.96389416e-04 9.99898743e-01 -2.77832969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.41655999499994 meters 0.015499016173158624 Centerline is valid? [True, True] Translation: X:8.36, Y:-218.90, Z:-2.78 [[ 7.64957418e-01 6.43994259e-01 -1.05613817e-02 8.36325141e+00] [-6.43926454e-01 7.65030241e-01 9.35158479e-03 -2.18896782e+02] [ 1.41021433e-02 -3.52811125e-04 9.99900498e-01 -2.77791068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.446559995 meters 0.016731521987369054 Centerline is valid? [True, True] Translation: X:8.38, Y:-218.92, Z:-2.78 [[ 7.67672954e-01 6.40758983e-01 -1.03035053e-02 8.38470434e+00] [-6.40694099e-01 7.67741989e-01 9.12745121e-03 -2.18920406e+02] [ 1.37589300e-02 -4.05502364e-04 9.99905259e-01 -2.77750917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.47655999499995 meters 0.01873071933804201 Centerline is valid? [True, True] Translation: X:8.40, Y:-218.95, Z:-2.78 [[ 7.72868113e-01 6.34497864e-01 -9.34561761e-03 8.40406282e+00] [-6.34443979e-01 7.72924471e-01 8.28243955e-03 -2.18945177e+02] [ 1.24786467e-02 -4.71962601e-04 9.99922027e-01 -2.77548266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.506559995 meters 0.020451044122624266 Centerline is valid? [True, True] Translation: X:8.42, Y:-218.97, Z:-2.78 [[ 7.75064041e-01 6.31821654e-01 -8.78240409e-03 8.42442536e+00] [-6.31773878e-01 7.75113645e-01 7.78486359e-03 -2.18967620e+02] [ 1.17260066e-02 -4.85274335e-04 9.99931130e-01 -2.77500792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.53655999499995 meters 0.021834817876215697 Centerline is valid? [True, True] Translation: X:8.45, Y:-218.99, Z:-2.77 [[ 7.77015736e-01 6.29424325e-01 -8.45963691e-03 8.44652391e+00] [-6.29379847e-01 7.77061623e-01 7.49947641e-03 -2.18990319e+02] [ 1.12940121e-02 -5.02886191e-04 9.99936094e-01 -2.77454123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.566559995 meters 0.02237776250992393 Centerline is valid? [True, True] Translation: X:8.47, Y:-219.01, Z:-2.77 [[ 7.78617401e-01 6.27449325e-01 -7.89221118e-03 8.47000247e+00] [-6.27410503e-01 7.78657240e-01 6.99742344e-03 -2.19012511e+02] [ 1.05358560e-02 -4.96659468e-04 9.99944373e-01 -2.77390852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.59655999499995 meters 0.02298057515741092 Centerline is valid? [True, True] Translation: X:8.49, Y:-219.03, Z:-2.77 [[ 7.79664874e-01 6.26145559e-01 -8.02639602e-03 8.49350161e+00] [-6.26105326e-01 7.79706011e-01 7.11738493e-03 -2.19034372e+02] [ 1.07147482e-02 -5.23805729e-04 9.99942458e-01 -2.77377336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.626559995 meters 0.02456058906324153 Centerline is valid? [True, True] Translation: X:8.52, Y:-219.06, Z:-2.77 [[ 7.80306853e-01 6.25335285e-01 -8.77475839e-03 8.51613612e+00] [-6.25287106e-01 7.80355968e-01 7.78447596e-03 -2.19056095e+02] [ 1.17153426e-02 -5.87536661e-04 9.99931200e-01 -2.77423253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.65655999499995 meters 0.023617901527901858 Centerline is valid? [True, True] Translation: X:8.54, Y:-219.08, Z:-2.77 [[ 7.79888037e-01 6.25848107e-01 -9.42319741e-03 8.54205818e+00] [-6.25792524e-01 7.79944713e-01 8.36436073e-03 -2.19076179e+02] [ 1.25843923e-02 -6.26298382e-04 9.99920617e-01 -2.77436144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.686559995 meters 0.02390893916540535 Centerline is valid? [True, True] Translation: X:8.57, Y:-219.10, Z:-2.77 [[ 7.79012280e-01 6.26933587e-01 -9.70289352e-03 8.56602356e+00] [-6.26874685e-01 7.79072449e-01 8.61675878e-03 -2.19096706e+02] [ 1.29613925e-02 -6.30062579e-04 9.99915799e-01 -2.77460528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.71655999499995 meters 0.020323279359323917 Centerline is valid? [True, True] Translation: X:8.60, Y:-219.11, Z:-2.77 [[ 7.76659513e-01 6.29844058e-01 -9.82156217e-03 8.59523732e+00] [-6.29783927e-01 7.76721388e-01 8.72295392e-03 -2.19111561e+02] [ 1.31227181e-02 -5.89303143e-04 9.99913720e-01 -2.77406560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.746559995 meters 0.021263622046574445 Centerline is valid? [True, True] Translation: X:8.62, Y:-219.13, Z:-2.77 [[ 7.75048457e-01 6.31826713e-01 -9.74138218e-03 8.61878756e+00] [-6.31767708e-01 7.75109476e-01 8.65235927e-03 -2.19131662e+02] [ 1.30174294e-02 -5.51707009e-04 9.99915118e-01 -2.77498752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.77655999499996 meters 0.022100415465124916 Centerline is valid? [True, True] Translation: X:8.64, Y:-219.15, Z:-2.78 [[ 7.73346590e-01 6.33908471e-01 -9.75201320e-03 8.64190212e+00] [-6.33849498e-01 7.73407902e-01 8.66210191e-03 -2.19151057e+02] [ 1.30332638e-02 -5.17498305e-04 9.99914930e-01 -2.77575706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.806559995 meters 0.01799276869569429 Centerline is valid? [True, True] Translation: X:8.67, Y:-219.16, Z:-2.77 [[ 7.69948974e-01 6.38043367e-01 -8.90160720e-03 8.67188812e+00] [-6.37994498e-01 7.70000321e-01 7.90730008e-03 -2.19164970e+02] [ 1.18994408e-02 -4.09041168e-04 9.99929116e-01 -2.77418640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.83655999499996 meters 0.01739594849163875 Centerline is valid? [True, True] Translation: X:8.70, Y:-219.18, Z:-2.77 [[ 7.68478294e-01 6.39820751e-01 -8.39754961e-03 8.69751646e+00] [-6.39777357e-01 7.68524090e-01 7.46033060e-03 -2.19183851e+02] [ 1.12269935e-02 -3.60540031e-04 9.99936910e-01 -2.77388918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.86655999499993 meters 0.01733095691579497 Centerline is valid? [True, True] Translation: X:8.72, Y:-219.20, Z:-2.77 [[ 7.66861712e-01 6.41765087e-01 -7.79028992e-03 8.72207994e+00] [-6.41727810e-01 7.66901217e-01 6.92397392e-03 -2.19202774e+02] [ 1.04179476e-02 -3.10484806e-04 9.99945684e-01 -2.77404708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.89655999499996 meters 0.01646373722379097 Centerline is valid? [True, True] Translation: X:8.75, Y:-219.22, Z:-2.77 [[ 7.65427624e-01 6.43478112e-01 -7.51478337e-03 8.74850938e+00] [-6.43443475e-01 7.65464461e-01 6.68233603e-03 -2.19221774e+02] [ 1.00522366e-02 -2.79506266e-04 9.99949436e-01 -2.77377310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.92655999499993 meters 0.01576493360690077 Centerline is valid? [True, True] Translation: X:8.78, Y:-219.24, Z:-2.77 [[ 7.63424666e-01 6.45858076e-01 -7.07997191e-03 8.77519587e+00] [-6.45827429e-01 7.63457459e-01 6.29612278e-03 -2.19238434e+02] [ 9.47165911e-03 -2.34175372e-04 9.99955115e-01 -2.77411319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.95655999499996 meters 0.014892610123774339 Centerline is valid? [True, True] Translation: X:8.80, Y:-219.26, Z:-2.77 [[ 7.62501234e-01 6.46947225e-01 -7.15228557e-03 8.80155807e+00] [-6.46915967e-01 7.62534745e-01 6.36355936e-03 -2.19256892e+02] [ 9.57075332e-03 -2.25294129e-04 9.99954174e-01 -2.77367537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.98655999499994 meters 0.014514129458011114 Centerline is valid? [True, True] Translation: X:8.83, Y:-219.28, Z:-2.77 [[ 7.61598983e-01 6.48010027e-01 -7.07067774e-03 8.82734109e+00] [-6.47979494e-01 7.61631775e-01 6.29405184e-03 -2.19275992e+02] [ 9.46386154e-03 -2.11889298e-04 9.99955194e-01 -2.77371333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.01655999499997 meters 0.014311477748312342 Centerline is valid? [True, True] Translation: X:8.85, Y:-219.30, Z:-2.77 [[ 7.60819300e-01 6.48923172e-01 -7.26016684e-03 8.85278318e+00] [-6.48890991e-01 7.60853911e-01 6.46591461e-03 -2.19295098e+02] [ 9.71980815e-03 -2.08335773e-04 9.99952740e-01 -2.77395571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.04655999499994 meters 0.014322906433172846 Centerline is valid? [True, True] Translation: X:8.88, Y:-219.31, Z:-2.77 [[ 7.59977644e-01 6.49910306e-01 -7.11157344e-03 8.87934223e+00] [-6.49879443e-01 7.60010893e-01 6.33667387e-03 -2.19312766e+02] [ 9.52314292e-03 -1.94065098e-04 9.99954635e-01 -2.77443653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.07655999499997 meters 0.014525299632448141 Centerline is valid? [True, True] Translation: X:8.90, Y:-219.33, Z:-2.77 [[ 7.59714858e-01 6.50216672e-01 -7.18434649e-03 8.90419138e+00] [-6.50185156e-01 7.59748802e-01 6.40483686e-03 -2.19332321e+02] [ 9.62283035e-03 -1.94694279e-04 9.99953681e-01 -2.77468778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.10655999499994 meters 0.014479575321393488 Centerline is valid? [True, True] Translation: X:8.93, Y:-219.35, Z:-2.77 [[ 7.59631970e-01 6.50315875e-01 -6.96649028e-03 8.93007412e+00] [-6.50286213e-01 7.59663890e-01 6.21407024e-03 -2.19352397e+02] [ 9.33329963e-03 -1.90193837e-04 9.99956426e-01 -2.77480560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.13655999499997 meters 0.014229564094870384 Centerline is valid? [True, True] Translation: X:8.96, Y:-219.37, Z:-2.77 [[ 7.59732664e-01 6.50198031e-01 -6.98573453e-03 8.95609707e+00] [-6.50168167e-01 7.59764755e-01 6.23474984e-03 -2.19372537e+02] [ 9.36133695e-03 -1.94840891e-04 9.99956163e-01 -2.77476939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.16655999499994 meters 0.014726952964039348 Centerline is valid? [True, True] Translation: X:8.98, Y:-219.39, Z:-2.77 [[ 7.60531856e-01 6.49261474e-01 -7.12988205e-03 8.98184151e+00] [-6.49230294e-01 7.60565246e-01 6.36651246e-03 -2.19392087e+02] [ 9.55627176e-03 -2.13000120e-04 9.99954315e-01 -2.77471852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.196559995 meters 0.014343523564695749 Centerline is valid? [True, True] Translation: X:9.01, Y:-219.41, Z:-2.77 [[ 7.61011383e-01 6.48700373e-01 -7.03575997e-03 9.00726117e+00] [-6.48669956e-01 7.61043874e-01 6.28562364e-03 -2.19411688e+02] [ 9.43200843e-03 -2.19545027e-04 9.99955494e-01 -2.77428650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.22655999499995 meters 0.015434472114599815 Centerline is valid? [True, True] Translation: X:9.03, Y:-219.43, Z:-2.77 [[ 7.61705865e-01 6.47884029e-01 -7.10348735e-03 9.03016549e+00] [-6.47852961e-01 7.61738951e-01 6.34906650e-03 -2.19432404e+02] [ 9.52446179e-03 -2.34105879e-04 9.99954614e-01 -2.77496746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.256559995 meters 0.016741019431691137 Centerline is valid? [True, True] Translation: X:9.05, Y:-219.45, Z:-2.78 [[ 7.63965807e-01 6.45207024e-01 -8.00890833e-03 9.05464704e+00] [-6.45167373e-01 7.64007726e-01 7.15931637e-03 -2.19453407e+02] [ 1.07381090e-02 -3.02386549e-04 9.99942299e-01 -2.77534682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.28655999499995 meters 0.016770469340734423 Centerline is valid? [True, True] Translation: X:9.08, Y:-219.47, Z:-2.77 [[ 7.65403045e-01 6.43494481e-01 -8.54582590e-03 9.07915123e+00] [-6.43449217e-01 7.65450672e-01 7.64035447e-03 -2.19473750e+02] [ 1.14579341e-02 -3.49145595e-04 9.99934295e-01 -2.77494823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.316559995 meters 0.01809049872835686 Centerline is valid? [True, True] Translation: X:9.10, Y:-219.50, Z:-2.78 [[ 7.66775009e-01 6.41858689e-01 -8.57372682e-03 9.10197276e+00] [-6.41812986e-01 7.66822848e-01 7.66877619e-03 -2.19495197e+02] [ 1.14968003e-02 -3.77496716e-04 9.99933838e-01 -2.77531317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.34655999499995 meters 0.0190772937136531 Centerline is valid? [True, True] Translation: X:9.13, Y:-219.52, Z:-2.77 [[ 7.69879271e-01 6.38127677e-01 -8.88679106e-03 9.12607258e+00] [-6.38078320e-01 7.69930429e-01 7.94934992e-03 -2.19515353e+02] [ 1.19149111e-02 -4.49571014e-04 9.99928914e-01 -2.77430452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.376559995 meters 0.019852534038967612 Centerline is valid? [True, True] Translation: X:9.15, Y:-219.54, Z:-2.77 [[ 7.71200360e-01 6.36532464e-01 -8.74219404e-03 9.15009009e+00] [-6.36484585e-01 7.71249767e-01 7.82109903e-03 -2.19536724e+02] [ 1.17207986e-02 -4.67362642e-04 9.99931200e-01 -2.77395214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.40655999499995 meters 0.02045441657933879 Centerline is valid? [True, True] Translation: X:9.17, Y:-219.56, Z:-2.77 [[ 7.72132781e-01 6.35401421e-01 -8.71793059e-03 9.17436614e+00] [-6.35353691e-01 7.72181842e-01 7.80319067e-03 -2.19557908e+02] [ 1.16899861e-02 -4.86129934e-04 9.99931552e-01 -2.77368674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.436559995 meters 0.019967666175169183 Centerline is valid? [True, True] Translation: X:9.20, Y:-219.58, Z:-2.77 [[ 7.72925996e-01 6.34439015e-01 -8.51707934e-03 9.19995304e+00] [-6.34393358e-01 7.72972764e-01 7.62718433e-03 -2.19577804e+02] [ 1.14224537e-02 -4.92070485e-04 9.99934641e-01 -2.77294865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.46655999499995 meters 0.019967666175169183 Centerline is valid? [True, True] Translation: X:9.22, Y:-219.60, Z:-2.77 [[ 7.72747784e-01 6.34656094e-01 -8.51493653e-03 9.22409609e+00] [-6.34610423e-01 7.72794539e-01 7.62957647e-03 -2.19599504e+02] [ 1.14224537e-02 -4.92070832e-04 9.99934641e-01 -2.77294897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.496559995 meters 0.02057698843992385 Centerline is valid? [True, True] Translation: X:9.25, Y:-219.62, Z:-2.77 [[ 7.73723406e-01 6.33471827e-01 -8.09539650e-03 9.25000587e+00] [-6.33430443e-01 7.73765602e-01 7.25720379e-03 -2.19618919e+02] [ 1.08611735e-02 -4.87197848e-04 9.99940897e-01 -2.77223747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.52655999499996 meters 0.021211618848058514 Centerline is valid? [True, True] Translation: X:9.27, Y:-219.64, Z:-2.77 [[ 7.73600272e-01 6.33622513e-01 -8.07032317e-03 9.27455693e+00] [-6.33581365e-01 7.73642214e-01 7.23726061e-03 -2.19639498e+02] [ 1.08292339e-02 -4.85540406e-04 9.99941244e-01 -2.77223963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.556559995 meters 0.021241144955032158 Centerline is valid? [True, True] Translation: X:9.30, Y:-219.66, Z:-2.77 [[ 7.73077707e-01 6.34255795e-01 -8.39319192e-03 9.29974695e+00] [-6.34211285e-01 7.73123107e-01 7.53046059e-03 -2.19659201e+02] [ 1.12652089e-02 -4.98574171e-04 9.99936421e-01 -2.77210402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.58655999499996 meters 0.020673012064734896 Centerline is valid? [True, True] Translation: X:9.33, Y:-219.68, Z:-2.77 [[ 7.71080981e-01 6.36674647e-01 -8.91710926e-03 9.32673779e+00] [-6.36624561e-01 7.71132382e-01 8.00107705e-03 -2.19675922e+02] [ 1.19703546e-02 -4.92627571e-04 9.99928231e-01 -2.77241995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.61655999499993 meters 0.018698593816297984 Centerline is valid? [True, True] Translation: X:9.35, Y:-219.69, Z:-2.77 [[ 7.69449348e-01 6.38638060e-01 -9.44082798e-03 9.35440065e+00] [-6.38582012e-01 7.69507106e-01 8.47518838e-03 -2.19693393e+02] [ 1.26773621e-02 -4.92485249e-04 9.99919518e-01 -2.77191870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.64655999499996 meters 0.019400006553779704 Centerline is valid? [True, True] Translation: X:9.38, Y:-219.71, Z:-2.77 [[ 7.67627985e-01 6.40826876e-01 -9.39100620e-03 9.37851184e+00] [-6.40771573e-01 7.67685292e-01 8.43105475e-03 -2.19712516e+02] [ 1.26121838e-02 -4.54423756e-04 9.99920360e-01 -2.77292916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.67655999499993 meters 0.02039051438640712 Centerline is valid? [True, True] Translation: X:9.40, Y:-219.73, Z:-2.77 [[ 7.65601154e-01 6.43247016e-01 -9.38875366e-03 9.40214383e+00] [-6.43191917e-01 7.65658608e-01 8.42932315e-03 -2.19731843e+02] [ 1.26107170e-02 -4.14729066e-04 9.99920396e-01 -2.77401808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.70655999499996 meters 0.015521625272932134 Centerline is valid? [True, True] Translation: X:9.43, Y:-219.74, Z:-2.77 [[ 7.61323346e-01 6.48310511e-01 -8.95787485e-03 9.43380356e+00] [-6.48260698e-01 7.61375979e-01 8.04275765e-03 -2.19743142e+02] [ 1.20345151e-02 -3.16100969e-04 9.99927533e-01 -2.77216376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.73655999499994 meters 0.014674021882735304 Centerline is valid? [True, True] Translation: X:9.46, Y:-219.76, Z:-2.77 [[ 7.59070936e-01 6.50950526e-01 -8.64446594e-03 9.45965456e+00] [-6.50904302e-01 7.59120111e-01 7.76191341e-03 -2.19760781e+02] [ 1.16148096e-02 -2.65122815e-04 9.99932511e-01 -2.77206212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.76655999499997 meters 0.01416681331110951 Centerline is valid? [True, True] Translation: X:9.49, Y:-219.78, Z:-2.77 [[ 7.56761298e-01 6.53638129e-01 -8.33872760e-03 9.48521828e+00] [-6.53595256e-01 7.56807208e-01 7.48948313e-03 -2.19778882e+02] [ 1.12062209e-02 -2.17598182e-04 9.99937185e-01 -2.77248652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.79655999499994 meters 0.012573250920416723 Centerline is valid? [True, True] Translation: X:9.51, Y:-219.79, Z:-2.77 [[ 7.52639732e-01 6.58385933e-01 -7.83564830e-03 9.51446049e+00] [-6.58348322e-01 7.52680506e-01 7.03869398e-03 -2.19793630e+02] [ 1.05319168e-02 -1.39014845e-04 9.99944528e-01 -2.77249549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.82655999499997 meters 0.012081230559059006 Centerline is valid? [True, True] Translation: X:9.54, Y:-219.81, Z:-2.77 [[ 7.50607741e-01 6.60702623e-01 -7.75003769e-03 9.54101106e+00] [-6.60665940e-01 7.50647742e-01 6.96300328e-03 -2.19812937e+02] [ 1.04180228e-02 -1.06298235e-04 9.99945725e-01 -2.77280351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.85655999499994 meters 0.011571428431570245 Centerline is valid? [True, True] Translation: X:9.57, Y:-219.83, Z:-2.77 [[ 7.48512415e-01 6.63073104e-01 -7.95134410e-03 9.56680938e+00] [-6.63034586e-01 7.48554643e-01 7.14740343e-03 -2.19831610e+02] [ 1.06912665e-02 -7.79040590e-05 9.99942844e-01 -2.77285428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.88655999499997 meters 0.011349683158284357 Centerline is valid? [True, True] Translation: X:9.59, Y:-219.85, Z:-2.77 [[ 7.46656343e-01 6.65159371e-01 -8.20464093e-03 9.59197095e+00] [-6.65118448e-01 7.46701418e-01 7.37845480e-03 -2.19850730e+02] [ 1.10342654e-02 -5.21120343e-05 9.99939119e-01 -2.77336994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.91655999499994 meters 0.0111355432361826 Centerline is valid? [True, True] Translation: X:9.62, Y:-219.87, Z:-2.77 [[ 7.43599088e-01 6.68571950e-01 -8.48196071e-03 9.61967116e+00] [-6.68528386e-01 7.43647462e-01 7.63212754e-03 -2.19868988e+02] [ 1.14102149e-02 -4.81157569e-06 9.99934901e-01 -2.77414815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.946559995 meters 0.011120841453131755 Centerline is valid? [True, True] Translation: X:9.65, Y:-219.89, Z:-2.77 [[ 7.42012960e-01 6.70327074e-01 -8.85336575e-03 9.64593455e+00] [-6.70279683e-01 7.42065775e-01 7.97076975e-03 -2.19889621e+02] [ 1.19128025e-02 1.98167253e-05 9.99929040e-01 -2.77434302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.97655999499995 meters 0.011187795782635446 Centerline is valid? [True, True] Translation: X:9.67, Y:-219.91, Z:-2.77 [[ 7.40371709e-01 6.72142055e-01 -8.64819717e-03 9.67169933e+00] [-6.72096907e-01 7.40422215e-01 7.79048225e-03 -2.19910128e+02] [ 1.16396281e-02 4.45739132e-05 9.99932256e-01 -2.77409198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.006559995 meters 0.011291355167958516 Centerline is valid? [True, True] Translation: X:9.70, Y:-219.93, Z:-2.77 [[ 7.38882643e-01 6.73778379e-01 -8.66812393e-03 9.69664709e+00] [-6.73733087e-01 7.38933483e-01 7.81256609e-03 -2.19929907e+02] [ 1.16691051e-02 6.74324069e-05 9.99931911e-01 -2.77458377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.03655999499995 meters 0.011690190397281064 Centerline is valid? [True, True] Translation: X:9.72, Y:-219.95, Z:-2.77 [[ 7.35762840e-01 6.77186109e-01 -8.48623420e-03 9.72294511e+00] [-6.77142881e-01 7.35811769e-01 7.65239458e-03 -2.19949148e+02] [ 1.14263663e-02 1.16045502e-04 9.99934710e-01 -2.77424659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.066559995 meters 0.012032183299894925 Centerline is valid? [True, True] Translation: X:9.75, Y:-219.97, Z:-2.77 [[ 7.34287944e-01 6.78788397e-01 -8.21751589e-03 9.74781786e+00] [-6.78747923e-01 7.34333912e-01 7.41371184e-03 -2.19969922e+02] [ 1.10667422e-02 1.33822617e-04 9.99938753e-01 -2.77442043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.09655999499995 meters 0.012374653076452668 Centerline is valid? [True, True] Translation: X:9.77, Y:-219.99, Z:-2.77 [[ 7.33079711e-01 6.80092047e-01 -8.30329110e-03 9.77216850e+00] [-6.80050766e-01 7.33126718e-01 7.49474870e-03 -2.19990716e+02] [ 1.11844835e-02 1.52411261e-04 9.99937440e-01 -2.77455630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.126559995 meters 0.013050054192377659 Centerline is valid? [True, True] Translation: X:9.80, Y:-220.01, Z:-2.77 [[ 7.31374152e-01 6.81927480e-01 -8.17077820e-03 9.79586232e+00] [-6.81887584e-01 7.31419771e-01 7.37845223e-03 -2.20010884e+02] [ 1.10078381e-02 1.75142961e-04 9.99939397e-01 -2.77463940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.15655999499995 meters 0.013021854437904596 Centerline is valid? [True, True] Translation: X:9.82, Y:-220.03, Z:-2.77 [[ 7.30888852e-01 6.82447176e-01 -8.20596963e-03 9.81993335e+00] [-6.82406923e-01 7.30934894e-01 7.41432282e-03 -2.20033645e+02] [ 1.10579132e-02 1.80764593e-04 9.99938843e-01 -2.77419981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.186559995 meters 0.013081622730196646 Centerline is valid? [True, True] Translation: X:9.84, Y:-220.06, Z:-2.77 [[ 7.30578613e-01 6.82778004e-01 -8.31191127e-03 9.84390198e+00] [-6.82736680e-01 7.30625871e-01 7.51417564e-03 -2.20056455e+02] [ 1.12034113e-02 1.85150696e-04 9.99937223e-01 -2.77452369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.21655999499995 meters 0.013163477091910132 Centerline is valid? [True, True] Translation: X:9.87, Y:-220.08, Z:-2.77 [[ 7.30568164e-01 6.82787269e-01 -8.46774747e-03 9.86645666e+00] [-6.82744343e-01 7.30617212e-01 7.65844466e-03 -2.20077995e+02] [ 1.14157706e-02 1.86290834e-04 9.99934821e-01 -2.77468871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.246559995 meters 0.01303622650484795 Centerline is valid? [True, True] Translation: X:9.89, Y:-220.10, Z:-2.77 [[ 7.30945908e-01 6.82386455e-01 -8.17347687e-03 9.88739547e+00] [-6.82346433e-01 7.30991584e-01 7.39254611e-03 -2.20100474e+02] [ 1.10193161e-02 1.73591463e-04 9.99939270e-01 -2.77408974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.27655999499996 meters 0.012631217955984144 Centerline is valid? [True, True] Translation: X:9.91, Y:-220.12, Z:-2.77 [[ 7.30919225e-01 6.82420910e-01 -7.66728639e-03 9.90955688e+00] [-6.82385659e-01 7.30959421e-01 6.93806744e-03 -2.20123718e+02] [ 1.03391575e-02 1.60879398e-04 9.99946537e-01 -2.77298820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.306559995 meters 0.012149598685866694 Centerline is valid? [True, True] Translation: X:9.93, Y:-220.15, Z:-2.77 [[ 7.30912409e-01 6.82429209e-01 -7.57794771e-03 9.93250565e+00] [-6.82394736e-01 7.30951674e-01 6.86111068e-03 -2.20147514e+02] [ 1.02213359e-02 1.56280687e-04 9.99947749e-01 -2.77235170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.33655999499996 meters 0.013044440689525526 Centerline is valid? [True, True] Translation: X:9.95, Y:-220.17, Z:-2.77 [[ 7.31222669e-01 6.82099461e-01 -7.33032045e-03 9.95475246e+00] [-6.82067157e-01 7.31259396e-01 6.63993321e-03 -2.20168750e+02] [ 9.88946057e-03 1.44501153e-04 9.99951088e-01 -2.77363218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.36655999499993 meters 0.01194822131507184 Centerline is valid? [True, True] Translation: X:9.98, Y:-220.19, Z:-2.77 [[ 7.31137713e-01 6.82188885e-01 -7.48129271e-03 9.97654790e+00] [-6.82155203e-01 7.31175974e-01 6.78050421e-03 -2.20193766e+02] [ 1.00957261e-02 1.45920402e-04 9.99949026e-01 -2.77211133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.39655999499996 meters 0.011816061056671675 Centerline is valid? [True, True] Translation: X:10.00, Y:-220.22, Z:-2.77 [[ 7.31471411e-01 6.81828796e-01 -7.68555868e-03 9.99955585e+00] [-6.81793189e-01 7.31511772e-01 6.96955499e-03 -2.20217174e+02] [ 1.03741199e-02 1.41931330e-04 9.99946177e-01 -2.77257005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.42655999499993 meters 0.011546968046004713 Centerline is valid? [True, True] Translation: X:10.02, Y:-220.24, Z:-2.77 [[ 7.31945525e-01 6.81316464e-01 -7.97651292e-03 1.00224974e+01] [-6.81278036e-01 7.31988973e-01 7.23749792e-03 -2.20241268e+02] [ 1.07697460e-02 1.36768844e-04 9.99941995e-01 -2.77285677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.45655999499996 meters 0.010902715681759182 Centerline is valid? [True, True] Translation: X:10.04, Y:-220.27, Z:-2.77 [[ 7.34031168e-01 6.79068117e-01 -8.04595933e-03 1.00421396e+01] [-6.79028841e-01 7.34075256e-01 7.30415508e-03 -2.20266877e+02] [ 1.08663585e-02 1.01960960e-04 9.99940954e-01 -2.77320152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.48655999499994 meters 0.01065045181502049 Centerline is valid? [True, True] Translation: X:10.06, Y:-220.29, Z:-2.77 [[ 7.35334497e-01 6.77655474e-01 -8.13850759e-03 1.00632835e+01] [-6.77615166e-01 7.35379529e-01 7.39156779e-03 -2.20290559e+02] [ 1.09938283e-02 7.95013795e-05 9.99939563e-01 -2.77309623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.51655999499997 meters 0.010362090260016492 Centerline is valid? [True, True] Translation: X:10.08, Y:-220.32, Z:-2.77 [[ 7.37049962e-01 6.75790008e-01 -8.07575676e-03 1.00848954e+01] [-6.75750166e-01 7.37094202e-01 7.33829311e-03 -2.20315217e+02] [ 1.09117387e-02 4.85053128e-05 9.99940464e-01 -2.77245982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.54655999499994 meters 0.010476592577130097 Centerline is valid? [True, True] Translation: X:10.10, Y:-220.34, Z:-2.77 [[ 7.41160052e-01 6.71280227e-01 -8.03952140e-03 1.01025426e+01] [-6.71240438e-01 7.41203654e-01 7.30877333e-03 -2.20341704e+02] [ 1.08651577e-02 -2.05189540e-05 9.99940972e-01 -2.77342640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.57655999499997 meters 0.010580110475030954 Centerline is valid? [True, True] Translation: X:10.12, Y:-220.37, Z:-2.77 [[ 7.43377494e-01 6.68827421e-01 -7.73189629e-03 1.01239225e+01] [-6.68790444e-01 7.43417701e-01 7.03310370e-03 -2.20366479e+02] [ 1.04519612e-02 -5.72326548e-05 9.99945375e-01 -2.77226416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.60655999499994 meters 0.01115804638319475 Centerline is valid? [True, True] Translation: X:10.14, Y:-220.39, Z:-2.77 [[ 7.45884138e-01 6.66034329e-01 -7.42463247e-03 1.01436868e+01] [-6.66000063e-01 7.45921084e-01 6.75669462e-03 -2.20390480e+02] [ 1.00383805e-02 -9.49056528e-05 9.99949610e-01 -2.77240840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.63655999499997 meters 0.011829874062308487 Centerline is valid? [True, True] Translation: X:10.16, Y:-220.42, Z:-2.77 [[ 7.48385575e-01 6.63227709e-01 -6.93094167e-03 1.01647728e+01] [-6.63197698e-01 7.48417658e-01 6.31049414e-03 -2.20415544e+02] [ 9.37253370e-03 -1.26098222e-04 9.99956069e-01 -2.77211594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.66655999499994 meters 0.01331822731639921 Centerline is valid? [True, True] Translation: X:10.18, Y:-220.44, Z:-2.77 [[ 7.53538864e-01 6.57370201e-01 -6.60303180e-03 1.01828439e+01] [-6.57342733e-01 7.53567770e-01 6.01236115e-03 -2.20441958e+02] [ 8.92817901e-03 -1.90092821e-04 9.99960125e-01 -2.77100411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.696559995 meters 0.013982719779144026 Centerline is valid? [True, True] Translation: X:10.20, Y:-220.47, Z:-2.77 [[ 7.55624497e-01 6.54972546e-01 -6.52562091e-03 1.02041278e+01] [-6.54945605e-01 7.55652643e-01 5.94463191e-03 -2.20465528e+02] [ 8.82467338e-03 -2.17982762e-04 9.99961038e-01 -2.77068340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.72655999499995 meters 0.015686741473423887 Centerline is valid? [True, True] Translation: X:10.22, Y:-220.49, Z:-2.77 [[ 7.57601856e-01 6.52684004e-01 -6.55888280e-03 1.02243799e+01] [-6.52656689e-01 7.57630207e-01 5.97636679e-03 -2.20489706e+02] [ 8.86988673e-03 -2.47007843e-04 9.99960631e-01 -2.77114471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.756559995 meters 0.01681120611699561 Centerline is valid? [True, True] Translation: X:10.24, Y:-220.51, Z:-2.77 [[ 7.60934888e-01 6.48794150e-01 -6.65181501e-03 1.02448713e+01] [-6.48765902e-01 7.60963904e-01 6.06146933e-03 -2.20514085e+02] [ 8.99443696e-03 -2.96912727e-04 9.99959505e-01 -2.77132698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.78655999499995 meters 0.017862420934857893 Centerline is valid? [True, True] Translation: X:10.27, Y:-220.54, Z:-2.77 [[ 7.62004029e-01 6.47536714e-01 -6.78705859e-03 1.02658213e+01] [-6.47507230e-01 7.62034187e-01 6.18751098e-03 -2.20536971e+02] [ 9.17861120e-03 -3.20238786e-04 9.99957824e-01 -2.77167708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.816559995 meters 0.017764363854395795 Centerline is valid? [True, True] Translation: X:10.29, Y:-220.56, Z:-2.77 [[ 7.62782745e-01 6.46618095e-01 -6.89371575e-03 1.02885337e+01] [-6.46587611e-01 7.62813820e-01 6.28783656e-03 -2.20559487e+02] [ 9.32445055e-03 -3.38862030e-04 9.99956469e-01 -2.77149694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.84655999499995 meters 0.01835569561986555 Centerline is valid? [True, True] Translation: X:10.31, Y:-220.58, Z:-2.77 [[ 7.63714917e-01 6.45515528e-01 -7.01630532e-03 1.03098495e+01] [-6.45483876e-01 7.63747061e-01 6.40256744e-03 -2.20583054e+02] [ 9.49163927e-03 -3.60824305e-04 9.99954888e-01 -2.77140440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.876559995 meters 0.018404336066997064 Centerline is valid? [True, True] Translation: X:10.33, Y:-220.61, Z:-2.77 [[ 7.63476452e-01 6.45795138e-01 -7.23504857e-03 1.03339554e+01] [-6.45761458e-01 7.63510643e-01 6.60587660e-03 -2.20606063e+02] [ 9.79007958e-03 -3.71315722e-04 9.99952007e-01 -2.77138022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.90655999499995 meters 0.01927897446242455 Centerline is valid? [True, True] Translation: X:10.36, Y:-220.63, Z:-2.77 [[ 7.62995172e-01 6.46361445e-01 -7.43301865e-03 1.03563135e+01] [-6.46325904e-01 7.63031285e-01 6.78851343e-03 -2.20628261e+02] [ 1.00594591e-02 -3.75450472e-04 9.99949332e-01 -2.77202791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.936559995 meters 0.018521558319532172 Centerline is valid? [True, True] Translation: X:10.38, Y:-220.65, Z:-2.77 [[ 7.61264195e-01 6.48395483e-01 -7.75384995e-03 1.03804147e+01] [-6.48356908e-01 7.61303596e-01 7.08201232e-03 -2.20648215e+02] [ 1.04949786e-02 -3.64020224e-04 9.99944860e-01 -2.77254154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.96655999499995 meters 0.017980723149109264 Centerline is valid? [True, True] Translation: X:10.41, Y:-220.67, Z:-2.77 [[ 7.60047989e-01 6.49824441e-01 -7.43300902e-03 1.04052186e+01] [-6.49789049e-01 7.60084263e-01 6.79013453e-03 -2.20669601e+02] [ 1.00621086e-02 -3.30940236e-04 9.99949321e-01 -2.77245506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.996559995 meters 0.0176535040975883 Centerline is valid? [True, True] Translation: X:10.43, Y:-220.69, Z:-2.77 [[ 7.58585602e-01 6.51536782e-01 -6.90692065e-03 1.04289117e+01] [-6.51506265e-01 7.58616991e-01 6.31254991e-03 -2.20690505e+02] [ 9.35256582e-03 -2.88707403e-04 9.99956222e-01 -2.77238822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.02655999499996 meters 0.016302826899522248 Centerline is valid? [True, True] Translation: X:10.45, Y:-220.71, Z:-2.77 [[ 7.55646785e-01 6.54948682e-01 -6.33723523e-03 1.04539871e+01] [-6.54923104e-01 7.55673324e-01 5.79273657e-03 -2.20710068e+02] [ 8.58282479e-03 -2.26860995e-04 9.99963141e-01 -2.77212553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.056559995 meters 0.014452325301279444 Centerline is valid? [True, True] Translation: X:10.48, Y:-220.73, Z:-2.77 [[ 7.53945333e-01 6.56907695e-01 -6.22216655e-03 1.04801435e+01] [-6.56883080e-01 7.53970980e-01 5.69034768e-03 -2.20729343e+02] [ 8.42936619e-03 -2.02975145e-04 9.99964452e-01 -2.77138039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.08655999499996 meters 0.014182000146362285 Centerline is valid? [True, True] Translation: X:10.50, Y:-220.75, Z:-2.77 [[ 7.52094982e-01 6.59026381e-01 -6.11291607e-03 1.05040417e+01] [-6.59002670e-01 7.52119803e-01 5.59315682e-03 -2.20749872e+02] [ 8.28368313e-03 -1.78157170e-04 9.99965674e-01 -2.77201333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.11655999499993 meters 0.013529492327477763 Centerline is valid? [True, True] Translation: X:10.53, Y:-220.77, Z:-2.77 [[ 7.50165532e-01 6.61219349e-01 -6.37546682e-03 1.05290887e+01] [-6.61193612e-01 7.50192606e-01 5.83620123e-03 -2.20770240e+02] [ 8.64183724e-03 -1.62699064e-04 9.99962645e-01 -2.77211762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.14655999499996 meters 0.011998412794279685 Centerline is valid? [True, True] Translation: X:10.56, Y:-220.79, Z:-2.77 [[ 7.46201854e-01 6.65691219e-01 -6.16393965e-03 1.05551975e+01] [-6.65667310e-01 7.46227304e-01 5.64295711e-03 -2.20787623e+02] [ 8.35616706e-03 -1.07651927e-04 9.99965081e-01 -2.77234050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.17655999499993 meters 0.011670130852298628 Centerline is valid? [True, True] Translation: X:10.58, Y:-220.81, Z:-2.77 [[ 7.44093629e-01 6.68049206e-01 -5.91012743e-03 1.05791721e+01] [-6.68027287e-01 7.44117096e-01 5.41209605e-03 -2.20807198e+02] [ 8.01337333e-03 -7.89797958e-05 9.99967889e-01 -2.77276596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.20655999499996 meters 0.010987813425710613 Centerline is valid? [True, True] Translation: X:10.60, Y:-220.83, Z:-2.77 [[ 7.41634412e-01 6.70779825e-01 -5.72935400e-03 1.06044615e+01] [-6.70759288e-01 7.41656541e-01 5.24910526e-03 -2.20826648e+02] [ 7.77020678e-03 -4.98996785e-05 9.99969810e-01 -2.77220250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.23655999499994 meters 0.010802456116625161 Centerline is valid? [True, True] Translation: X:10.63, Y:-220.85, Z:-2.77 [[ 7.39322367e-01 6.73329738e-01 -5.43150439e-03 1.06282199e+01] [-6.73311334e-01 7.39342318e-01 4.97845139e-03 -2.20846156e+02] [ 7.36788042e-03 -2.35870045e-05 9.99972857e-01 -2.77318615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.26655999499997 meters 0.010476496815034592 Centerline is valid? [True, True] Translation: X:10.66, Y:-220.86, Z:-2.77 [[ 7.35018045e-01 6.78028339e-01 -5.10347170e-03 1.06560440e+01] [-6.78012185e-01 7.35035762e-01 4.68029553e-03 -2.20864885e+02] [ 6.92460721e-03 2.01143294e-05 9.99976024e-01 -2.77243541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.29655999499994 meters 0.010697578510416235 Centerline is valid? [True, True] Translation: X:10.68, Y:-220.88, Z:-2.77 [[ 7.32759409e-01 6.80469426e-01 -5.00097054e-03 1.06809864e+01] [-6.80453956e-01 7.32776473e-01 4.58848558e-03 -2.20884950e+02] [ 6.78691770e-03 4.06742064e-05 9.99976968e-01 -2.77256314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.32655999499997 meters 0.011129977733323046 Centerline is valid? [True, True] Translation: X:10.71, Y:-220.90, Z:-2.77 [[ 7.30676668e-01 6.82705713e-01 -4.95137132e-03 1.07058749e+01] [-6.82690585e-01 7.30693442e-01 4.54513292e-03 -2.20904763e+02] [ 6.72092277e-03 5.92320083e-05 9.99977413e-01 -2.77305880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.35655999499994 meters 0.012182077455352143 Centerline is valid? [True, True] Translation: X:10.73, Y:-220.92, Z:-2.77 [[ 7.26942242e-01 6.86678906e-01 -5.20167049e-03 1.07313480e+01] [-6.86662295e-01 7.26960845e-01 4.77719062e-03 -2.20924015e+02] [ 7.06180680e-03 9.90493388e-05 9.99975060e-01 -2.77410353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.38655999499997 meters 0.012182077455352143 Centerline is valid? [True, True] Translation: X:10.76, Y:-220.95, Z:-2.77 [[ 7.26753697e-01 6.86878461e-01 -5.20035852e-03 1.07551903e+01] [-6.86861845e-01 7.26772296e-01 4.77861877e-03 -2.20946021e+02] [ 7.06180681e-03 9.90489914e-05 9.99975060e-01 -2.77410386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.41655999499994 meters 0.012440118554833674 Centerline is valid? [True, True] Translation: X:10.78, Y:-220.97, Z:-2.77 [[ 7.25032812e-01 6.88694420e-01 -5.23610575e-03 1.07791112e+01] [-6.88677606e-01 7.25051710e-01 4.81383103e-03 -2.20967469e+02] [ 7.11170599e-03 1.15803323e-04 9.99974705e-01 -2.77433679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.446559995 meters 0.012895772474123266 Centerline is valid? [True, True] Translation: X:10.80, Y:-220.99, Z:-2.77 [[ 7.23543655e-01 6.90255373e-01 -5.66564169e-03 1.08027716e+01] [-6.90235715e-01 7.23565823e-01 5.21128851e-03 -2.20988807e+02] [ 7.69658458e-03 1.40033508e-04 9.99970371e-01 -2.77485674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.47655999499995 meters 0.013755118954208157 Centerline is valid? [True, True] Translation: X:10.83, Y:-221.01, Z:-2.78 [[ 7.22396503e-01 6.91450711e-01 -6.26153717e-03 1.08262712e+01] [-6.91426722e-01 7.22423620e-01 5.76200947e-03 -2.21009594e+02] [ 8.50762789e-03 1.66938631e-04 9.99963796e-01 -2.77557381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.506559995 meters 0.013894284196205343 Centerline is valid? [True, True] Translation: X:10.85, Y:-221.03, Z:-2.78 [[ 7.21484687e-01 6.92397241e-01 -6.77550990e-03 1.08493641e+01] [-6.92369167e-01 7.21516475e-01 6.23800215e-03 -2.21031648e+02] [ 9.20781751e-03 1.90531115e-04 9.99957589e-01 -2.77609943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.53655999499995 meters 0.013751404943373083 Centerline is valid? [True, True] Translation: X:10.87, Y:-221.05, Z:-2.78 [[ 7.20459426e-01 6.93462577e-01 -6.91880535e-03 1.08712645e+01] [-6.93433322e-01 7.20492617e-01 6.37309353e-03 -2.21054661e+02] [ 9.40445004e-03 2.06174878e-04 9.99955756e-01 -2.77607140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.566559995 meters 0.013812774575410192 Centerline is valid? [True, True] Translation: X:10.90, Y:-221.08, Z:-2.78 [[ 7.20078483e-01 6.93859916e-01 -6.73757416e-03 1.08950771e+01] [-6.93832159e-01 7.20109974e-01 6.20968545e-03 -2.21078104e+02] [ 9.16044619e-03 2.03284747e-04 9.99958022e-01 -2.77595070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.59655999499995 meters 0.014078295240736165 Centerline is valid? [True, True] Translation: X:10.92, Y:-221.10, Z:-2.78 [[ 7.19861457e-01 6.94086459e-01 -6.59317353e-03 1.09178065e+01] [-6.94059859e-01 7.19891622e-01 6.07981203e-03 -2.21099997e+02] [ 8.96628559e-03 1.99434743e-04 9.99959782e-01 -2.77605834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.626559995 meters 0.014300766598549826 Centerline is valid? [True, True] Translation: X:10.94, Y:-221.12, Z:-2.78 [[ 7.19690780e-01 6.94262592e-01 -6.68087385e-03 1.09401842e+01] [-6.94235259e-01 7.19721760e-01 6.16391411e-03 -2.21122189e+02] [ 9.08774528e-03 2.01986035e-04 9.99958685e-01 -2.77601632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.65655999499995 meters 0.014132788875394469 Centerline is valid? [True, True] Translation: X:10.96, Y:-221.15, Z:-2.78 [[ 7.20072136e-01 6.93868360e-01 -6.54357662e-03 1.09613242e+01] [-6.93842096e-01 7.20101842e-01 6.04017514e-03 -2.21146770e+02] [ 8.90312800e-03 1.90847100e-04 9.99960348e-01 -2.77580339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.686559995 meters 0.013684423529888787 Centerline is valid? [True, True] Translation: X:10.98, Y:-221.17, Z:-2.78 [[ 7.20307503e-01 6.93619914e-01 -6.96534705e-03 1.09833458e+01] [-6.93590109e-01 7.20341152e-01 6.43311154e-03 -2.21171068e+02] [ 9.47956040e-03 1.97277311e-04 9.99955049e-01 -2.77529908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.71655999499995 meters 0.01334856302083155 Centerline is valid? [True, True] Translation: X:11.01, Y:-221.19, Z:-2.78 [[ 7.20968704e-01 6.92937352e-01 -6.47714866e-03 1.10056533e+01] [-6.92911542e-01 7.20997778e-01 5.98326761e-03 -2.21194968e+02] [ 8.81603941e-03 1.74342370e-04 9.99961123e-01 -2.77501374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.746559995 meters 0.01290948743192156 Centerline is valid? [True, True] Translation: X:11.03, Y:-221.22, Z:-2.77 [[ 7.21770664e-01 6.92105716e-01 -6.06517814e-03 1.10274974e+01] [-6.92083033e-01 7.21796131e-01 5.60547828e-03 -2.21218821e+02] [ 8.25740568e-03 1.51737108e-04 9.99965896e-01 -2.77471908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.77655999499996 meters 0.012168581907813402 Centerline is valid? [True, True] Translation: X:11.05, Y:-221.24, Z:-2.77 [[ 7.24253746e-01 6.89511292e-01 -5.53981835e-03 1.10463448e+01] [-6.89492274e-01 7.24274924e-01 5.12226597e-03 -2.21244136e+02] [ 7.54421174e-03 1.09841636e-04 9.99971536e-01 -2.77431150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.806559995 meters 0.011553089821093257 Centerline is valid? [True, True] Translation: X:11.07, Y:-221.27, Z:-2.77 [[ 7.25715731e-01 6.87974882e-01 -5.21914433e-03 1.10670031e+01] [-6.87957946e-01 7.25734493e-01 4.82813336e-03 -2.21268813e+02] [ 7.10934754e-03 8.66994786e-05 9.99974725e-01 -2.77358120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.83655999499996 meters 0.011202587737563772 Centerline is valid? [True, True] Translation: X:11.09, Y:-221.29, Z:-2.77 [[ 7.27264292e-01 6.86341146e-01 -4.74139304e-03 1.10878506e+01] [-6.86327120e-01 7.27279745e-01 4.38831721e-03 -2.21293894e+02] [ 6.46020179e-03 6.26802211e-05 9.99979131e-01 -2.77285562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.86655999499993 meters 0.010482505910409449 Centerline is valid? [True, True] Translation: X:11.10, Y:-221.32, Z:-2.77 [[ 7.31107336e-01 6.82247582e-01 -4.50564699e-03 1.11045527e+01] [-6.82234831e-01 7.31121219e-01 4.17128422e-03 -2.21321350e+02] [ 6.14002269e-03 2.42528209e-05 9.99981150e-01 -2.77163481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.89655999499996 meters 0.010461093399376243 Centerline is valid? [True, True] Translation: X:11.13, Y:-221.35, Z:-2.77 [[ 7.32826185e-01 6.80401477e-01 -4.42852451e-03 1.11250758e+01] [-6.80389112e-01 7.32839566e-01 4.10199511e-03 -2.21346183e+02] [ 6.03640151e-03 7.07043165e-06 9.99981781e-01 -2.77160665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.92655999499993 meters 0.010453483882994939 Centerline is valid? [True, True] Translation: X:11.15, Y:-221.37, Z:-2.77 [[ 7.34581608e-01 6.78506339e-01 -4.35985492e-03 1.11463052e+01] [-6.78494308e-01 7.34594546e-01 4.04058417e-03 -2.21371342e+02] [ 5.94428762e-03 -1.00020702e-05 9.99982333e-01 -2.77167855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.95655999499996 meters 0.010510093900933347 Centerline is valid? [True, True] Translation: X:11.17, Y:-221.40, Z:-2.77 [[ 7.36226495e-01 6.76720531e-01 -4.45773853e-03 1.11680687e+01] [-6.76707906e-01 7.36239990e-01 4.13361599e-03 -2.21396347e+02] [ 6.07926818e-03 -2.66907047e-05 9.99981521e-01 -2.77150284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.98655999499994 meters 0.011555002339119278 Centerline is valid? [True, True] Translation: X:11.19, Y:-221.42, Z:-2.77 [[ 7.39609192e-01 6.73019966e-01 -4.72954808e-03 1.11855172e+01] [-6.73005671e-01 7.39624312e-01 4.38680168e-03 -2.21423524e+02] [ 6.45049386e-03 -6.15061690e-05 9.99979194e-01 -2.77239591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.01655999499997 meters 0.012110189827006089 Centerline is valid? [True, True] Translation: X:11.21, Y:-221.45, Z:-2.77 [[ 7.41045021e-01 6.71437671e-01 -4.87151150e-03 1.12060606e+01] [-6.71422458e-01 7.41061028e-01 4.52057941e-03 -2.21447949e+02] [ 6.64537463e-03 -7.91106422e-05 9.99977916e-01 -2.77245507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.04655999499994 meters 0.012268700087715865 Centerline is valid? [True, True] Translation: X:11.23, Y:-221.47, Z:-2.77 [[ 7.42533343e-01 6.69787978e-01 -5.31969843e-03 1.12277301e+01] [-6.69769777e-01 7.42552391e-01 4.93886252e-03 -2.21472024e+02] [ 7.25814553e-03 -1.04296863e-04 9.99973654e-01 -2.77208195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.07655999499997 meters 0.013312700428264834 Centerline is valid? [True, True] Translation: X:11.25, Y:-221.50, Z:-2.77 [[ 7.45219911e-01 6.66792276e-01 -5.94515295e-03 1.12466870e+01] [-6.66769441e-01 7.45243610e-01 5.52029963e-03 -2.21499006e+02] [ 8.11148040e-03 -1.49790887e-04 9.99967090e-01 -2.77219725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.10655999499994 meters 0.014401204648813157 Centerline is valid? [True, True] Translation: X:11.27, Y:-221.52, Z:-2.77 [[ 7.46116006e-01 6.65786955e-01 -6.21577956e-03 1.12664457e+01] [-6.65761947e-01 7.46141878e-01 5.77296651e-03 -2.21522791e+02] [ 8.48141923e-03 -1.69073212e-04 9.99964018e-01 -2.77261839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.13655999499997 meters 0.014945356605206421 Centerline is valid? [True, True] Translation: X:11.29, Y:-221.55, Z:-2.77 [[ 7.47526326e-01 6.64207721e-01 -5.70045810e-03 1.12869202e+01] [-6.64186623e-01 7.47548041e-01 5.29685028e-03 -2.21547506e+02] [ 7.77957514e-03 -1.73367008e-04 9.99969724e-01 -2.77197616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.16655999499994 meters 0.01461184792651115 Centerline is valid? [True, True] Translation: X:11.31, Y:-221.57, Z:-2.77 [[ 7.47665104e-01 6.64054468e-01 -5.34383280e-03 1.13101883e+01] [-6.64035903e-01 7.47684182e-01 4.96819242e-03 -2.21570405e+02] [ 7.29464963e-03 -1.66047260e-04 9.99973380e-01 -2.77120973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.196559995 meters 0.013776606760453506 Centerline is valid? [True, True] Translation: X:11.33, Y:-221.59, Z:-2.77 [[ 7.47439396e-01 6.64312679e-01 -4.79726801e-03 1.13347649e+01] [-6.64297706e-01 7.47454776e-01 4.46256914e-03 -2.21592709e+02] [ 6.55028215e-03 -1.48685851e-04 9.99978536e-01 -2.77035360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.22655999499995 meters 0.013814210777751952 Centerline is valid? [True, True] Translation: X:11.36, Y:-221.62, Z:-2.77 [[ 7.46981879e-01 6.64830547e-01 -4.29144071e-03 1.13574836e+01] [-6.64818562e-01 7.46994195e-01 3.99399125e-03 -2.21615262e+02] [ 5.86100868e-03 -1.30409646e-04 9.99982816e-01 -2.76972028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.256559995 meters 0.013493679621101035 Centerline is valid? [True, True] Translation: X:11.38, Y:-221.64, Z:-2.77 [[ 7.45485985e-01 6.66512758e-01 -3.37481143e-03 1.13798648e+01] [-6.66505360e-01 7.45493618e-01 3.14177219e-03 -2.21636586e+02] [ 4.60993163e-03 -9.28172253e-05 9.99989370e-01 -2.76871986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.28655999499995 meters 0.012827999042750195 Centerline is valid? [True, True] Translation: X:11.40, Y:-221.66, Z:-2.77 [[ 7.44281137e-01 6.67859468e-01 -3.05292494e-03 1.14041346e+01] [-6.67853420e-01 7.44287394e-01 2.84351686e-03 -2.21657538e+02] [ 4.17132320e-03 -7.74695989e-05 9.99991297e-01 -2.76832241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.316559995 meters 0.01301000704267145 Centerline is valid? [True, True] Translation: X:11.43, Y:-221.68, Z:-2.77 [[ 7.42886404e-01 6.69410683e-01 -3.02139558e-03 1.14262947e+01] [-6.69404766e-01 7.42892544e-01 2.81542997e-03 -2.21678837e+02] [ 4.12925116e-03 -6.90080440e-05 9.99991472e-01 -2.76863593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.34655999499995 meters 0.012387315602865956 Centerline is valid? [True, True] Translation: X:11.45, Y:-221.70, Z:-2.77 [[ 7.41127472e-01 6.71357140e-01 -3.10829130e-03 1.14511763e+01] [-6.71350889e-01 7.41133987e-01 2.89778972e-03 -2.21699802e+02] [ 4.24911214e-03 -6.08774378e-05 9.99990971e-01 -2.76867152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.376559995 meters 0.011806074790322063 Centerline is valid? [True, True] Translation: X:11.48, Y:-221.72, Z:-2.77 [[ 7.39296139e-01 6.73372473e-01 -3.27585209e-03 1.14761638e+01] [-6.73365543e-01 7.39303395e-01 3.05547337e-03 -2.21720490e+02] [ 4.47932023e-03 -5.30537408e-05 9.99989966e-01 -2.76913482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.40655999499995 meters 0.010903407610451896 Centerline is valid? [True, True] Translation: X:11.50, Y:-221.74, Z:-2.77 [[ 7.35332273e-01 6.77696662e-01 -3.69894692e-03 1.15026723e+01] [-6.77687872e-01 7.35341576e-01 3.45182587e-03 -2.21738742e+02] [ 5.05928033e-03 -3.15074948e-05 9.99987201e-01 -2.77016682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.436559995 meters 0.010733164490754763 Centerline is valid? [True, True] Translation: X:11.53, Y:-221.76, Z:-2.77 [[ 7.33276007e-01 6.79920829e-01 -3.73681876e-03 1.15263097e+01] [-6.79911882e-01 7.33285528e-01 3.48814824e-03 -2.21758575e+02] [ 5.11181976e-03 -1.70679405e-05 9.99986934e-01 -2.77075590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.46655999499995 meters 0.010647829066960475 Centerline is valid? [True, True] Translation: X:11.55, Y:-221.78, Z:-2.77 [[ 7.31269523e-01 6.82078434e-01 -3.72764547e-03 1.15509324e+01] [-6.82069549e-01 7.31279024e-01 3.48142346e-03 -2.21779343e+02] [ 5.10055280e-03 -3.34540519e-06 9.99986992e-01 -2.77128737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.496559995 meters 0.010833250857865174 Centerline is valid? [True, True] Translation: X:11.58, Y:-221.80, Z:-2.77 [[ 7.28008294e-01 6.85557187e-01 -3.90738102e-03 1.15766494e+01] [-6.85547463e-01 7.28018780e-01 3.65135389e-03 -2.21799808e+02] [ 5.34785867e-03 2.04792273e-05 9.99985700e-01 -2.77187244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.52655999499996 meters 0.011064522730339746 Centerline is valid? [True, True] Translation: X:11.60, Y:-221.82, Z:-2.77 [[ 7.26855685e-01 6.86778705e-01 -3.97795867e-03 1.16006003e+01] [-6.86768638e-01 7.26866569e-01 3.71861545e-03 -2.21820587e+02] [ 5.44531107e-03 2.90404841e-05 9.99985174e-01 -2.77288514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.556559995 meters 0.011189341732279446 Centerline is valid? [True, True] Translation: X:11.62, Y:-221.84, Z:-2.77 [[ 7.25626689e-01 6.88075720e-01 -4.20849200e-03 1.16243031e+01] [-6.88064463e-01 7.25638892e-01 3.93617405e-03 -2.21842718e+02] [ 5.76223127e-03 3.95208427e-05 9.99983397e-01 -2.77278618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.58655999499996 meters 0.011406072953705906 Centerline is valid? [True, True] Translation: X:11.65, Y:-221.86, Z:-2.77 [[ 7.24809294e-01 6.88936376e-01 -4.26119007e-03 1.16479582e+01] [-6.88924838e-01 7.24821818e-01 3.98752281e-03 -2.21864270e+02] [ 5.83575305e-03 4.54460904e-05 9.99982971e-01 -2.77355889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.61655999499993 meters 0.011404452815770445 Centerline is valid? [True, True] Translation: X:11.67, Y:-221.89, Z:-2.77 [[ 7.24286392e-01 6.89490344e-01 -3.50538974e-03 1.16710364e+01] [-6.89482534e-01 7.24294873e-01 3.28209329e-03 -2.21887383e+02] [ 4.80190745e-03 3.97294927e-05 9.99988470e-01 -2.77350152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.64655999499996 meters 0.011408788193739333 Centerline is valid? [True, True] Translation: X:11.69, Y:-221.91, Z:-2.77 [[ 7.24150104e-01 6.89634651e-01 -3.26731328e-03 1.16940436e+01] [-6.89627859e-01 7.24157474e-01 3.06089706e-03 -2.21910773e+02] [ 4.47695001e-03 3.66813367e-05 9.99989978e-01 -2.77328353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.67655999499993 meters 0.011456536438451466 Centerline is valid? [True, True] Translation: X:11.72, Y:-221.93, Z:-2.77 [[ 7.24563409e-01 6.89202321e-01 -2.83314135e-03 1.17169188e+01] [-6.89197209e-01 7.24568948e-01 2.65461373e-03 -2.21934087e+02] [ 3.88237219e-03 2.91571401e-05 9.99992463e-01 -2.77327737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.70655999499996 meters 0.011304036071918344 Centerline is valid? [True, True] Translation: X:11.74, Y:-221.96, Z:-2.77 [[ 7.24711759e-01 6.89047069e-01 -2.64617687e-03 1.17400609e+01] [-6.89042604e-01 7.24716590e-01 2.48082349e-03 -2.21957883e+02] [ 3.62713243e-03 2.54466457e-05 9.99993422e-01 -2.77309677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.73655999499994 meters 0.011404951246631587 Centerline is valid? [True, True] Translation: X:11.76, Y:-221.98, Z:-2.77 [[ 7.24852356e-01 6.88901408e-01 -1.97773062e-03 1.17618737e+01] [-6.88898911e-01 7.24855054e-01 1.85511523e-03 -2.21981755e+02] [ 2.71155952e-03 1.77718247e-05 9.99996324e-01 -2.77314032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.76655999499997 meters 0.011439304485539058 Centerline is valid? [True, True] Translation: X:11.79, Y:-222.01, Z:-2.77 [[ 7.24319686e-01 6.89461562e-01 -1.93567203e-03 1.17855583e+01] [-6.89459169e-01 7.24322273e-01 1.81667839e-03 -2.22005238e+02] [ 2.65458028e-03 1.87109104e-05 9.99996476e-01 -2.77318966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.79655999499994 meters 0.01155936155033065 Centerline is valid? [True, True] Translation: X:11.81, Y:-222.03, Z:-2.77 [[ 7.23463364e-01 6.90359423e-01 -2.15150048e-03 1.18089323e+01] [-6.90356467e-01 7.23466563e-01 2.02038442e-03 -2.22027938e+02] [ 2.95133008e-03 2.36281564e-05 9.99995645e-01 -2.77325117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.82655999499997 meters 0.0122009080672157 Centerline is valid? [True, True] Translation: X:11.83, Y:-222.05, Z:-2.77 [[ 7.20608059e-01 6.93337057e-01 -2.78416372e-03 1.18321025e+01] [-6.93332126e-01 7.20613436e-01 2.61513234e-03 -2.22048034e+02] [ 3.81947394e-03 4.58647159e-05 9.99992705e-01 -2.77483579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.85655999499994 meters 0.01275245304623315 Centerline is valid? [True, True] Translation: X:11.86, Y:-222.07, Z:-2.78 [[ 7.18826713e-01 6.95180743e-01 -3.44824973e-03 1.18561474e+01] [-6.95173194e-01 7.18834981e-01 3.24048141e-03 -2.22069462e+02] [ 4.73144280e-03 6.77861736e-05 9.99988804e-01 -2.77568149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.88655999499997 meters 0.013197731150393665 Centerline is valid? [True, True] Translation: X:11.88, Y:-222.09, Z:-2.78 [[ 7.16907800e-01 6.97157473e-01 -3.82932764e-03 1.18798440e+01] [-6.97148182e-01 7.16918022e-01 3.60037008e-03 -2.22091237e+02] [ 5.25533890e-03 8.84754084e-05 9.99986187e-01 -2.77656043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.91655999499994 meters 0.01364049932548437 Centerline is valid? [True, True] Translation: X:11.90, Y:-222.11, Z:-2.78 [[ 7.15245111e-01 6.98861118e-01 -4.19145963e-03 1.19034818e+01] [-6.98850004e-01 7.15257384e-01 3.94279787e-03 -2.22113109e+02] [ 5.75344058e-03 1.09134677e-04 9.99983443e-01 -2.77716079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.946559995 meters 0.01545975792209774 Centerline is valid? [True, True] Translation: X:11.93, Y:-222.13, Z:-2.78 [[ 7.12768863e-01 7.01384581e-01 -4.49638429e-03 1.19264749e+01] [-7.01371839e-01 7.12783032e-01 4.22992788e-03 -2.22133454e+02] [ 6.17175262e-03 1.38676432e-04 9.99980945e-01 -2.77824390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.97655999499995 meters 0.0152958827442401 Centerline is valid? [True, True] Translation: X:11.95, Y:-222.16, Z:-2.78 [[ 7.12159146e-01 7.02004459e-01 -4.36922847e-03 1.19488811e+01] [-7.01992428e-01 7.12172536e-01 4.11231018e-03 -2.22157004e+02] [ 5.99850460e-03 1.38545999e-04 9.99981999e-01 -2.77803507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.006559995 meters 0.016308531041407042 Centerline is valid? [True, True] Translation: X:11.97, Y:-222.18, Z:-2.78 [[ 7.11895449e-01 7.02273943e-01 -4.02231896e-03 1.19717812e+01] [-7.02263740e-01 7.11906801e-01 3.78776535e-03 -2.22178796e+02] [ 5.52356513e-03 1.28235843e-04 9.99984737e-01 -2.77831666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.03655999499995 meters 0.014390462592196316 Centerline is valid? [True, True] Translation: X:11.99, Y:-222.21, Z:-2.78 [[ 7.13212419e-01 7.00940938e-01 -3.13796035e-03 1.19898820e+01] [-7.00934709e-01 7.13219317e-01 2.95644456e-03 -2.22206767e+02] [ 4.31034696e-03 9.09323419e-05 9.99990706e-01 -2.77693589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.066559995 meters 0.014144038893126215 Centerline is valid? [True, True] Translation: X:12.01, Y:-222.23, Z:-2.78 [[ 7.14489064e-01 6.99641257e-01 -2.73654599e-03 1.20103526e+01] [-6.99636506e-01 7.14494301e-01 2.57943080e-03 -2.22230091e+02] [ 3.75992273e-03 7.16123746e-05 9.99992929e-01 -2.77677076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.09655999499995 meters 0.013364026965654696 Centerline is valid? [True, True] Translation: X:12.03, Y:-222.26, Z:-2.78 [[ 7.16277089e-01 6.97812012e-01 -2.35107744e-03 1.20304374e+01] [-6.97808491e-01 7.16280946e-01 2.21718652e-03 -2.22255066e+02] [ 3.23121136e-03 5.24818934e-05 9.99994778e-01 -2.77626626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.126559995 meters 0.01291575984503852 Centerline is valid? [True, True] Translation: X:12.05, Y:-222.28, Z:-2.78 [[ 7.18248708e-01 6.95783690e-01 -1.96229698e-03 1.20512984e+01] [-6.95781229e-01 7.18251388e-01 1.85086843e-03 -2.22280607e+02] [ 2.69722660e-03 3.59455434e-05 9.99996362e-01 -2.77587945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.15655999499995 meters 0.012070801653210774 Centerline is valid? [True, True] Translation: X:12.07, Y:-222.31, Z:-2.78 [[ 7.22368567e-01 6.91507464e-01 -1.03937277e-03 1.20681196e+01] [-6.91506769e-01 7.22369315e-01 9.80795824e-04 -2.22307586e+02] [ 1.42903863e-03 1.02372287e-05 9.99998979e-01 -2.77526072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.186559995 meters 0.011834379278518235 Centerline is valid? [True, True] Translation: X:12.09, Y:-222.33, Z:-2.77 [[ 7.24243557e-01 6.89543837e-01 -7.52942744e-04 1.20888130e+01] [-6.89543471e-01 7.24243948e-01 7.10856711e-04 -2.22332819e+02] [ 1.03548109e-03 4.35335993e-06 9.99999464e-01 -2.77497982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.21655999499995 meters 0.011789022347860232 Centerline is valid? [True, True] Translation: X:12.11, Y:-222.36, Z:-2.78 [[ 7.25991125e-01 6.87703809e-01 -5.98213278e-04 1.21093087e+01] [-6.87703577e-01 7.25991371e-01 5.65070906e-04 -2.22357281e+02] [ 8.22899093e-04 1.15694793e-06 9.99999661e-01 -2.77532037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.246559995 meters 0.011910996202592608 Centerline is valid? [True, True] Translation: X:12.13, Y:-222.38, Z:-2.78 [[ 7.29154259e-01 6.84348870e-01 -8.31474610e-04 1.21280187e+01] [-6.84348419e-01 7.29154733e-01 7.85846780e-04 -2.22384841e+02] [ 1.14406700e-03 -3.98519187e-06 9.99999346e-01 -2.77558364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.27655999499996 meters 0.011910996202592608 Centerline is valid? [True, True] Translation: X:12.15, Y:-222.41, Z:-2.78 [[ 7.28963760e-01 6.84551784e-01 -8.31255862e-04 1.21515239e+01] [-6.84551333e-01 7.28964234e-01 7.86078165e-04 -2.22407153e+02] [ 1.14406700e-03 -3.98518657e-06 9.99999346e-01 -2.77558396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.306559995 meters 0.01206207759651849 Centerline is valid? [True, True] Translation: X:12.17, Y:-222.43, Z:-2.78 [[ 7.29988764e-01 6.83457952e-01 -1.27779863e-03 1.21731514e+01] [-6.83456883e-01 7.29989882e-01 1.20902193e-03 -2.22431947e+02] [ 1.75909573e-03 -9.25215298e-06 9.99998453e-01 -2.77619908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.33655999499996 meters 0.012154074624188094 Centerline is valid? [True, True] Translation: X:12.20, Y:-222.46, Z:-2.78 [[ 7.30136332e-01 6.83300224e-01 -1.31931853e-03 1.21965139e+01] [-6.83299083e-01 7.30137524e-01 1.24900270e-03 -2.22455837e+02] [ 1.81672779e-03 -1.04531119e-05 9.99998350e-01 -2.77652853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.36655999499993 meters 0.01215777263632957 Centerline is valid? [True, True] Translation: X:12.22, Y:-222.48, Z:-2.78 [[ 7.29346762e-01 6.84142854e-01 -1.36236921e-03 1.22205903e+01] [-6.84141637e-01 7.29348034e-01 1.29042874e-03 -2.22477494e+02] [ 1.87647891e-03 -9.11652138e-06 9.99998239e-01 -2.77668381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.39655999499996 meters 0.01185126874077255 Centerline is valid? [True, True] Translation: X:12.25, Y:-222.50, Z:-2.78 [[ 7.26774269e-01 6.86873802e-01 -1.88212871e-03 1.22460883e+01] [-6.86871486e-01 7.26776706e-01 1.78362512e-03 -2.22496902e+02] [ 2.59301267e-03 -3.51229866e-06 9.99996638e-01 -2.77763235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.42655999499993 meters 0.011901004947590544 Centerline is valid? [True, True] Translation: X:12.27, Y:-222.52, Z:-2.78 [[ 7.25562653e-01 6.88151675e-01 -2.47161534e-03 1.22699606e+01] [-6.88147684e-01 7.25566863e-01 2.34349714e-03 -2.22517633e+02] [ 3.40600367e-03 4.82368618e-07 9.99994200e-01 -2.77872032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.45655999499996 meters 0.01194120241151523 Centerline is valid? [True, True] Translation: X:12.29, Y:-222.54, Z:-2.78 [[ 7.24344375e-01 6.89431119e-01 -3.15575034e-03 1.22947461e+01] [-6.89424618e-01 7.24351249e-01 2.99384067e-03 -2.22539549e+02] [ 4.34991863e-03 7.08032333e-06 9.99990539e-01 -2.77961491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.48655999499994 meters 0.011990888975272026 Centerline is valid? [True, True] Translation: X:12.32, Y:-222.56, Z:-2.78 [[ 7.23485654e-01 6.90329794e-01 -3.64473560e-03 1.23192754e+01] [-6.90321125e-01 7.23494834e-01 3.45967464e-03 -2.22561794e+02] [ 5.02526386e-03 1.30130123e-05 9.99987373e-01 -2.78019248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.51655999499997 meters 0.012008780729826746 Centerline is valid? [True, True] Translation: X:12.34, Y:-222.58, Z:-2.78 [[ 7.22229837e-01 6.91640950e-01 -4.10604620e-03 1.23436157e+01] [-6.91629956e-01 7.22241508e-01 3.89973431e-03 -2.22584083e+02] [ 5.66277294e-03 2.33600746e-05 9.99983966e-01 -2.78026646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.54655999499994 meters 0.012035367802027573 Centerline is valid? [True, True] Translation: X:12.37, Y:-222.61, Z:-2.78 [[ 7.21857767e-01 6.92030730e-01 -3.85131373e-03 1.23676607e+01] [-6.92021053e-01 7.21868041e-01 3.65985335e-03 -2.22606562e+02] [ 5.31287128e-03 2.32966141e-05 9.99985886e-01 -2.78011286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.57655999499997 meters 0.01203492477447247 Centerline is valid? [True, True] Translation: X:12.39, Y:-222.63, Z:-2.78 [[ 7.21505658e-01 6.92399645e-01 -3.50963036e-03 1.23911436e+01] [-6.92391605e-01 7.21514193e-01 3.33689689e-03 -2.22627890e+02] [ 4.84271434e-03 2.24486097e-05 9.99988274e-01 -2.77995483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.60655999499994 meters 0.012030819491415393 Centerline is valid? [True, True] Translation: X:12.41, Y:-222.65, Z:-2.78 [[ 7.21674327e-01 6.92228551e-01 -2.40812501e-03 1.24140231e+01] [-6.92224763e-01 7.21678344e-01 2.29022614e-03 -2.22648729e+02] [ 3.32325160e-03 1.41663616e-05 9.99994478e-01 -2.77861684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.63655999499997 meters 0.011956486417865978 Centerline is valid? [True, True] Translation: X:12.44, Y:-222.67, Z:-2.78 [[ 7.21849081e-01 6.92048092e-01 -1.82819341e-03 1.24380086e+01] [-6.92045906e-01 7.21851396e-01 1.73964496e-03 -2.22671706e+02] [ 2.52360194e-03 9.43265036e-06 9.99996816e-01 -2.77774319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.66655999499994 meters 0.01189163730025035 Centerline is valid? [True, True] Translation: X:12.46, Y:-222.69, Z:-2.78 [[ 7.21789225e-01 6.92111786e-01 -1.26081500e-03 1.24610436e+01] [-6.92110746e-01 7.21790326e-01 1.20036152e-03 -2.22693331e+02] [ 1.74082843e-03 6.21560225e-06 9.99998485e-01 -2.77720881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.696559995 meters 0.011853869256795761 Centerline is valid? [True, True] Translation: X:12.48, Y:-222.72, Z:-2.78 [[ 7.21589881e-01 6.92319978e-01 -1.04519923e-03 1.24845547e+01] [-6.92319262e-01 7.21590637e-01 9.95628079e-04 -2.22715720e+02] [ 1.44349919e-03 5.17641043e-06 9.99998958e-01 -2.77673721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.72655999499995 meters 0.011948906520646837 Centerline is valid? [True, True] Translation: X:12.51, Y:-222.74, Z:-2.78 [[ 7.20972875e-01 6.92962651e-01 -9.37027195e-04 1.25086556e+01] [-6.92962076e-01 7.20973484e-01 8.93039887e-04 -2.22737227e+02] [ 1.29441505e-03 5.46677572e-06 9.99999162e-01 -2.77626806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.756559995 meters 0.011940033650405626 Centerline is valid? [True, True] Translation: X:12.53, Y:-222.76, Z:-2.78 [[ 7.20218944e-01 6.93745813e-01 -1.19165403e-03 1.25333810e+01] [-6.93744882e-01 7.20219930e-01 1.13632486e-03 -2.22759247e+02] [ 1.64657360e-03 8.30119102e-06 9.99998644e-01 -2.77665236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.78655999499995 meters 0.012022419058657 Centerline is valid? [True, True] Translation: X:12.56, Y:-222.78, Z:-2.78 [[ 7.19326153e-01 6.94670903e-01 -1.49040453e-03 1.25577533e+01] [-6.94669448e-01 7.19327697e-01 1.42198933e-03 -2.22780995e+02] [ 2.05990387e-03 1.24643763e-05 9.99997878e-01 -2.77774563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.816559995 meters 0.012222470564374479 Centerline is valid? [True, True] Translation: X:12.58, Y:-222.80, Z:-2.78 [[ 7.18378990e-01 6.95648764e-01 -2.10326622e-03 1.25821072e+01] [-6.95645867e-01 7.18382069e-01 2.00774864e-03 -2.22801314e+02] [ 2.90763660e-03 2.08040114e-05 9.99995773e-01 -2.77901280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.84655999499995 meters 0.01266141906507292 Centerline is valid? [True, True] Translation: X:12.61, Y:-222.82, Z:-2.78 [[ 7.16811497e-01 6.97259585e-01 -3.21697865e-03 1.26062340e+01] [-6.97252820e-01 7.16818715e-01 3.07158432e-03 -2.22820441e+02] [ 4.44768211e-03 4.13004850e-05 9.99990108e-01 -2.78094393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.876559995 meters 0.012749377666105694 Centerline is valid? [True, True] Translation: X:12.63, Y:-222.84, Z:-2.78 [[ 7.16163600e-01 6.97923809e-01 -3.47202193e-03 1.26305897e+01] [-6.97915929e-01 7.16172014e-01 3.31686704e-03 -2.22842945e+02] [ 4.80148542e-03 4.77599714e-05 9.99988472e-01 -2.78142008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.90655999499995 meters 0.012454862012800959 Centerline is valid? [True, True] Translation: X:12.65, Y:-222.87, Z:-2.78 [[ 7.15731742e-01 6.98366414e-01 -3.52498537e-03 1.26541472e+01] [-6.98358288e-01 7.15740421e-01 3.36933374e-03 -2.22866027e+02] [ 4.87600404e-03 5.01636378e-05 9.99988111e-01 -2.78137032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.936559995 meters 0.013027772636561366 Centerline is valid? [True, True] Translation: X:12.68, Y:-222.89, Z:-2.78 [[ 7.15700134e-01 6.98399532e-01 -3.37804394e-03 1.26781851e+01] [-6.98392062e-01 7.15708105e-01 3.23054451e-03 -2.22887323e+02] [ 4.67390420e-03 4.70979340e-05 9.99989076e-01 -2.78180283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.96655999499995 meters 0.01237149739202178 Centerline is valid? [True, True] Translation: X:12.70, Y:-222.91, Z:-2.78 [[ 7.15948590e-01 6.98147496e-01 -2.77318273e-03 1.27000735e+01] [-6.98142455e-01 7.15953960e-01 2.65339044e-03 -2.22911193e+02] [ 3.83792905e-03 3.63854573e-05 9.99992635e-01 -2.78068047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.996559995 meters 0.012495842213480433 Centerline is valid? [True, True] Translation: X:12.72, Y:-222.93, Z:-2.78 [[ 7.16236836e-01 6.97851429e-01 -2.85969286e-03 1.27229219e+01] [-6.97846061e-01 7.16242544e-01 2.73758602e-03 -2.22932980e+02] [ 3.95866201e-03 3.48654456e-05 9.99992164e-01 -2.78078208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.02655999499996 meters 0.012287266719131506 Centerline is valid? [True, True] Translation: X:12.75, Y:-222.96, Z:-2.78 [[ 7.16560878e-01 6.97518975e-01 -2.79060180e-03 1.27461257e+01] [-6.97513855e-01 7.16566311e-01 2.67292534e-03 -2.22956263e+02] [ 3.86406738e-03 3.11696907e-05 9.99992534e-01 -2.78096587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.056559995 meters 0.012508051247826541 Centerline is valid? [True, True] Translation: X:12.77, Y:-222.98, Z:-2.78 [[ 7.17165014e-01 6.96895532e-01 -3.31065131e-03 1.27687368e+01] [-6.96888311e-01 7.17172655e-01 3.17268006e-03 -2.22978209e+02] [ 4.58533515e-03 3.18190652e-05 9.99989487e-01 -2.78258481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.08655999499996 meters 0.012279743216129763 Centerline is valid? [True, True] Translation: X:12.79, Y:-223.00, Z:-2.78 [[ 7.17491481e-01 6.96558596e-01 -3.47807102e-03 1.27910880e+01] [-6.96550613e-01 7.17499911e-01 3.33496548e-03 -2.23002064e+02] [ 4.81851452e-03 2.98431777e-05 9.99988391e-01 -2.78216332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.11655999499993 meters 0.012202625665315044 Centerline is valid? [True, True] Translation: X:12.81, Y:-223.03, Z:-2.78 [[ 7.17712802e-01 6.96329319e-01 -3.71661360e-03 1.28139085e+01] [-6.96320190e-01 7.17722425e-01 3.56571024e-03 -2.23025516e+02] [ 5.15040551e-03 2.87972021e-05 9.99986736e-01 -2.78209200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.14655999499996 meters 0.012177010469826957 Centerline is valid? [True, True] Translation: X:12.84, Y:-223.05, Z:-2.78 [[ 7.18642650e-01 6.95368457e-01 -3.93073219e-03 1.28362491e+01] [-6.95358221e-01 7.18653399e-01 3.77312095e-03 -2.23048895e+02] [ 5.44854334e-03 2.17413062e-05 9.99985156e-01 -2.78253358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.17655999499993 meters 0.012165618325142602 Centerline is valid? [True, True] Translation: X:12.86, Y:-223.07, Z:-2.78 [[ 7.19178489e-01 6.94814140e-01 -3.95118528e-03 1.28585115e+01] [-6.94803777e-01 7.19189343e-01 3.79472297e-03 -2.23071238e+02] [ 5.47827752e-03 1.62153222e-05 9.99984994e-01 -2.78306102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.20655999499996 meters 0.0120708574351639 Centerline is valid? [True, True] Translation: X:12.88, Y:-223.09, Z:-2.78 [[ 7.19640176e-01 6.94336363e-01 -3.87710754e-03 1.28813793e+01] [-6.94326368e-01 7.19650620e-01 3.72563476e-03 -2.23094240e+02] [ 5.37700654e-03 1.08615449e-05 9.99985544e-01 -2.78265605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.23655999499994 meters 0.012133734652206154 Centerline is valid? [True, True] Translation: X:12.90, Y:-223.12, Z:-2.78 [[ 7.20668434e-01 6.93270686e-01 -3.57269789e-03 1.29041769e+01] [-6.93262176e-01 7.20677290e-01 3.43501775e-03 -2.23117548e+02] [ 4.95615934e-03 1.30744545e-06 9.99987718e-01 -2.78219846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.26655999499997 meters 0.012121064219038422 Centerline is valid? [True, True] Translation: X:12.93, Y:-223.14, Z:-2.78 [[ 7.20957261e-01 6.92973044e-01 -2.99818211e-03 1.29272452e+01] [-6.92967041e-01 7.20963495e-01 2.88423823e-03 -2.23140367e+02] [ 4.16027920e-03 -1.77110665e-06 9.99991346e-01 -2.78217687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.29655999499994 meters 0.012172462572169418 Centerline is valid? [True, True] Translation: X:12.95, Y:-223.16, Z:-2.78 [[ 7.21268411e-01 6.92649554e-01 -2.91108429e-03 1.29508545e+01] [-6.92643887e-01 7.21274286e-01 2.80199592e-03 -2.23163888e+02] [ 4.04049147e-03 -4.64640849e-06 9.99991837e-01 -2.78189515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.32655999499997 meters 0.012173426354905216 Centerline is valid? [True, True] Translation: X:12.97, Y:-223.19, Z:-2.78 [[ 7.21700513e-01 6.92199734e-01 -2.81031827e-03 1.29743879e+01] [-6.92194443e-01 7.21705984e-01 2.70649674e-03 -2.23187159e+02] [ 3.90165984e-03 -7.99339111e-06 9.99992389e-01 -2.78197064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.35655999499994 meters 0.012212651674003074 Centerline is valid? [True, True] Translation: X:13.00, Y:-223.21, Z:-2.78 [[ 7.22093253e-01 6.91789878e-01 -2.84583514e-03 1.29974934e+01] [-6.91784443e-01 7.22098861e-01 2.74220348e-03 -2.23210265e+02] [ 3.95200292e-03 -1.14221519e-05 9.99992191e-01 -2.78239321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.38655999499997 meters 0.01227495769497724 Centerline is valid? [True, True] Translation: X:13.02, Y:-223.23, Z:-2.78 [[ 7.22583569e-01 6.91276654e-01 -3.09403066e-03 1.30211557e+01] [-6.91270218e-01 7.22590193e-01 2.98303170e-03 -2.23233463e+02] [ 4.29781638e-03 -1.66784456e-05 9.99990764e-01 -2.78268852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.41655999499994 meters 0.012401765670161873 Centerline is valid? [True, True] Translation: X:13.04, Y:-223.26, Z:-2.78 [[ 7.23685448e-01 6.90120133e-01 -3.68452179e-03 1.30435829e+01] [-6.90110982e-01 7.23694827e-01 3.55394129e-03 -2.23255270e+02] [ 5.11911579e-03 -2.92066354e-05 9.99986897e-01 -2.78411221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.446559995 meters 0.012497330321073523 Centerline is valid? [True, True] Translation: X:13.07, Y:-223.28, Z:-2.78 [[ 7.24085245e-01 6.89699359e-01 -3.91817976e-03 1.30663900e+01] [-6.89688995e-01 7.24095845e-01 3.78124133e-03 -2.23277469e+02] [ 5.44505740e-03 -3.56155918e-05 9.99985175e-01 -2.78455006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.47655999499995 meters 0.012442206046310578 Centerline is valid? [True, True] Translation: X:13.09, Y:-223.30, Z:-2.78 [[ 7.24344421e-01 6.89426791e-01 -3.98246251e-03 1.30902021e+01] [-6.89416068e-01 7.24355367e-01 3.84539767e-03 -2.23300173e+02] [ 5.53583828e-03 -3.98187030e-05 9.99984676e-01 -2.78438755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.506559995 meters 0.012577871218738584 Centerline is valid? [True, True] Translation: X:13.11, Y:-223.32, Z:-2.78 [[ 7.24754894e-01 6.88995708e-01 -3.90625085e-03 1.31127822e+01] [-6.88985378e-01 7.24765419e-01 3.77310154e-03 -2.23322407e+02] [ 5.43076630e-03 -4.32240892e-05 9.99985252e-01 -2.78436493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.53655999499995 meters 0.01238883442393575 Centerline is valid? [True, True] Translation: X:13.14, Y:-223.34, Z:-2.78 [[ 7.25078716e-01 6.88656151e-01 -3.68245677e-03 1.31370351e+01] [-6.88646956e-01 7.25088066e-01 3.55895123e-03 -2.23344079e+02] [ 5.12099912e-03 -4.46071407e-05 9.99986887e-01 -2.78321212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.566559995 meters 0.012556704777236416 Centerline is valid? [True, True] Translation: X:13.16, Y:-223.37, Z:-2.78 [[ 7.25043138e-01 6.88695138e-01 -3.38469188e-03 1.31603936e+01] [-6.88687362e-01 7.25051037e-01 3.27289602e-03 -2.23366337e+02] [ 4.70810193e-03 -4.19962743e-05 9.99988916e-01 -2.78313003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.59655999499995 meters 0.01272366865165815 Centerline is valid? [True, True] Translation: X:13.18, Y:-223.39, Z:-2.78 [[ 7.24919381e-01 6.88825871e-01 -3.28781524e-03 1.31837157e+01] [-6.88818528e-01 7.24926836e-01 3.18084607e-03 -2.23388586e+02] [ 4.57447456e-03 -4.11489086e-05 9.99989536e-01 -2.78337900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.626559995 meters 0.012156539672570724 Centerline is valid? [True, True] Translation: X:13.21, Y:-223.41, Z:-2.78 [[ 7.24280517e-01 6.89497842e-01 -3.23394206e-03 1.32094450e+01] [-6.89490736e-01 7.24287736e-01 3.13050370e-03 -2.23408711e+02] [ 4.50078012e-03 -3.75897450e-05 9.99989871e-01 -2.78277524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.65655999499995 meters 0.01209119352055615 Centerline is valid? [True, True] Translation: X:13.23, Y:-223.43, Z:-2.78 [[ 7.23861418e-01 6.89937921e-01 -3.21135998e-03 1.32332550e+01] [-6.89930912e-01 7.23868540e-01 3.11028674e-03 -2.23430266e+02] [ 4.47050723e-03 -3.58000497e-05 9.99990007e-01 -2.78302263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.686559995 meters 0.012225590887455218 Centerline is valid? [True, True] Translation: X:13.26, Y:-223.45, Z:-2.78 [[ 7.23296260e-01 6.90530616e-01 -3.16052724e-03 1.32569950e+01] [-6.90523824e-01 7.23303165e-01 3.06265533e-03 -2.23452016e+02] [ 4.40087663e-03 -3.27877855e-05 9.99990316e-01 -2.78333280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.71655999499995 meters 0.012074349098445724 Centerline is valid? [True, True] Translation: X:13.28, Y:-223.47, Z:-2.78 [[ 7.22713578e-01 6.91139521e-01 -3.35375430e-03 1.32814928e+01] [-6.91131872e-01 7.22721358e-01 3.25166720e-03 -2.23473798e+02] [ 4.67118557e-03 -3.21375463e-05 9.99989089e-01 -2.78362300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.746559995 meters 0.011913272028753903 Centerline is valid? [True, True] Translation: X:13.31, Y:-223.49, Z:-2.78 [[ 7.21333588e-01 6.92576353e-01 -3.98116438e-03 1.33069718e+01] [-6.92565586e-01 7.21344574e-01 3.86208342e-03 -2.23494460e+02] [ 5.54657897e-03 -2.86330472e-05 9.99984617e-01 -2.78395929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.77655999499996 meters 0.011857353516570784 Centerline is valid? [True, True] Translation: X:13.33, Y:-223.52, Z:-2.78 [[ 7.20596012e-01 6.93342750e-01 -4.14947091e-03 1.33317884e+01] [-6.93331053e-01 7.20607959e-01 4.02757143e-03 -2.23516104e+02] [ 5.78262922e-03 -2.52948728e-05 9.99983280e-01 -2.78411920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.806559995 meters 0.011679938533009028 Centerline is valid? [True, True] Translation: X:13.36, Y:-223.54, Z:-2.78 [[ 7.19715108e-01 6.94256873e-01 -4.19021905e-03 1.33566752e+01] [-6.94244947e-01 7.19727306e-01 4.06936312e-03 -2.23538107e+02] [ 5.84099837e-03 -1.97437172e-05 9.99982941e-01 -2.78426542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.83655999499996 meters 0.011586427841535378 Centerline is valid? [True, True] Translation: X:13.38, Y:-223.56, Z:-2.78 [[ 7.18810186e-01 6.95195158e-01 -3.95090317e-03 1.33810884e+01] [-6.95184558e-01 7.18821044e-01 3.83905212e-03 -2.23559682e+02] [ 5.50888278e-03 -1.29429010e-05 9.99984826e-01 -2.78427687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.86655999499993 meters 0.011422608639541245 Centerline is valid? [True, True] Translation: X:13.41, Y:-223.58, Z:-2.78 [[ 7.17697173e-01 6.96345780e-01 -3.65011489e-03 1.34065852e+01] [-6.96336737e-01 7.17706455e-01 3.54877823e-03 -2.23580139e+02] [ 5.09088776e-03 -5.23900574e-06 9.99987041e-01 -2.78337514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.89655999499996 meters 0.011429947901853301 Centerline is valid? [True, True] Translation: X:13.43, Y:-223.60, Z:-2.78 [[ 7.16944895e-01 6.97122366e-01 -3.22855306e-03 1.34311935e+01] [-6.97115291e-01 7.16952165e-01 3.14069294e-03 -2.23602258e+02] [ 4.50416540e-03 -1.03005868e-06 9.99989856e-01 -2.78301937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.92655999499993 meters 0.011378997011116405 Centerline is valid? [True, True] Translation: X:13.46, Y:-223.62, Z:-2.78 [[ 7.16139150e-01 6.97951590e-01 -2.88022711e-03 1.34568775e+01] [-6.97945960e-01 7.16144942e-01 2.80342359e-03 -2.23623570e+02] [ 4.01931403e-03 2.60148732e-06 9.99991923e-01 -2.78292797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.95655999499996 meters 0.011561714040304358 Centerline is valid? [True, True] Translation: X:13.48, Y:-223.64, Z:-2.78 [[ 7.15647531e-01 6.98454952e-01 -3.04812595e-03 1.34802789e+01] [-6.98448644e-01 7.15654023e-01 2.96839839e-03 -2.23644602e+02] [ 4.25469615e-03 4.63245777e-06 9.99990949e-01 -2.78335624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.98655999499994 meters 0.011576747655887185 Centerline is valid? [True, True] Translation: X:13.50, Y:-223.67, Z:-2.78 [[ 7.15337261e-01 6.98773243e-01 -2.92532044e-03 1.35047717e+01] [-6.98767430e-01 7.15343242e-01 2.85038678e-03 -2.23667102e+02] [ 4.08438222e-03 5.13077222e-06 9.99991659e-01 -2.78336412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.01655999499997 meters 0.011616374683646607 Centerline is valid? [True, True] Translation: X:13.53, Y:-223.69, Z:-2.78 [[ 7.15051029e-01 6.99066112e-01 -2.93214297e-03 1.35289936e+01] [-6.99060267e-01 7.15057041e-01 2.85863323e-03 -2.23689750e+02] [ 4.09502310e-03 5.67601359e-06 9.99991615e-01 -2.78338707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.04655999499994 meters 0.011696791582814118 Centerline is valid? [True, True] Translation: X:13.55, Y:-223.71, Z:-2.78 [[ 7.15007727e-01 6.99108926e-01 -3.26494482e-03 1.35520686e+01] [-6.99101672e-01 7.15015181e-01 3.18474743e-03 -2.23711154e+02] [ 4.56097047e-03 5.40935891e-06 9.99989599e-01 -2.78397163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.07655999499997 meters 0.01178810659403565 Centerline is valid? [True, True] Translation: X:13.58, Y:-223.73, Z:-2.78 [[ 7.15188649e-01 6.98920164e-01 -3.97511909e-03 1.35762848e+01] [-6.98909396e-01 7.15199696e-01 3.87959767e-03 -2.23733567e+02] [ 5.55453300e-03 3.60386925e-06 9.99984574e-01 -2.78452876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.10655999499994 meters 0.011800877274331241 Centerline is valid? [True, True] Translation: X:13.60, Y:-223.76, Z:-2.79 [[ 7.15119773e-01 6.98988239e-01 -4.37638529e-03 1.36003627e+01] [-6.98975175e-01 7.15133164e-01 4.27356578e-03 -2.23756662e+02] [ 6.11687048e-03 2.87328600e-06 9.99981292e-01 -2.78500602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.13655999499997 meters 0.011813165214191427 Centerline is valid? [True, True] Translation: X:13.62, Y:-223.78, Z:-2.79 [[ 7.15129858e-01 6.98973607e-01 -5.01827761e-03 1.36241709e+01] [-6.98956409e-01 7.15147466e-01 4.90310484e-03 -2.23779604e+02] [ 7.01594939e-03 1.20063120e-06 9.99975388e-01 -2.78545326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.16655999499994 meters 0.01188541554316346 Centerline is valid? [True, True] Translation: X:13.65, Y:-223.80, Z:-2.79 [[ 7.14798733e-01 6.99305272e-01 -5.90830910e-03 1.36483186e+01] [-6.99281418e-01 7.14823151e-01 5.77592473e-03 -2.23802127e+02] [ 8.26253074e-03 2.94708584e-06 9.99965865e-01 -2.78588336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.196559995 meters 0.01188541554316346 Centerline is valid? [True, True] Translation: X:13.67, Y:-223.82, Z:-2.79 [[ 7.14604079e-01 6.99504197e-01 -5.90670130e-03 1.36714509e+01] [-6.99480337e-01 7.14628490e-01 5.77756893e-03 -2.23824841e+02] [ 8.26253074e-03 2.94708651e-06 9.99965865e-01 -2.78588368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.22655999499995 meters 0.01188831858005767 Centerline is valid? [True, True] Translation: X:13.69, Y:-223.85, Z:-2.79 [[ 7.14062950e-01 7.00054508e-01 -6.14734153e-03 1.36948289e+01] [-7.00028655e-01 7.14089410e-01 6.01630672e-03 -2.23847343e+02] [ 8.60149413e-03 7.29350823e-06 9.99963006e-01 -2.78595263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.256559995 meters 0.011928200715523307 Centerline is valid? [True, True] Translation: X:13.72, Y:-223.87, Z:-2.79 [[ 7.13560609e-01 7.00563982e-01 -6.43157744e-03 1.37190050e+01] [-7.00535672e-01 7.13589593e-01 6.29800338e-03 -2.23870248e+02] [ 9.00166105e-03 1.15422995e-05 9.99959484e-01 -2.78607259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.28655999499995 meters 0.0120738016014581 Centerline is valid? [True, True] Translation: X:13.74, Y:-223.89, Z:-2.79 [[ 7.12723443e-01 7.01409481e-01 -7.07341238e-03 1.37421015e+01] [-7.01375263e-01 7.12758542e-01 6.92836361e-03 -2.23891278e+02] [ 9.90125502e-03 2.31092935e-05 9.99950981e-01 -2.78647381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.316559995 meters 0.012070859040492083 Centerline is valid? [True, True] Translation: X:13.77, Y:-223.91, Z:-2.79 [[ 7.12383564e-01 7.01754726e-01 -7.06836715e-03 1.37655092e+01] [-7.01720535e-01 7.12418629e-01 6.92729836e-03 -2.23913776e+02] [ 9.89690080e-03 2.51248824e-05 9.99951024e-01 -2.78614562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.34655999499995 meters 0.012151634994163645 Centerline is valid? [True, True] Translation: X:13.79, Y:-223.94, Z:-2.79 [[ 7.12108393e-01 7.02030201e-01 -7.43191038e-03 1.37887616e+01] [-7.01992377e-01 7.12147173e-01 7.28738064e-03 -2.23936250e+02] [ 1.04085753e-02 2.77395161e-05 9.99945829e-01 -2.78691085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.376559995 meters 0.012123786990553874 Centerline is valid? [True, True] Translation: X:13.81, Y:-223.96, Z:-2.79 [[ 7.12162701e-01 7.01975731e-01 -7.37300418e-03 1.38120335e+01] [-7.01938460e-01 7.12200866e-01 7.23362757e-03 -2.23959623e+02] [ 1.03288910e-02 2.38754521e-05 9.99946655e-01 -2.78668448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.40655999499995 meters 0.011998587330789698 Centerline is valid? [True, True] Translation: X:13.83, Y:-223.98, Z:-2.79 [[ 7.12710578e-01 7.01422489e-01 -7.07981890e-03 1.38344118e+01] [-7.01388058e-01 7.12745741e-01 6.94986656e-03 -2.23983483e+02] [ 9.92090347e-03 1.24570122e-05 9.99950787e-01 -2.78622257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.436559995 meters 0.011975611398149467 Centerline is valid? [True, True] Translation: X:13.86, Y:-224.01, Z:-2.79 [[ 7.13211079e-01 7.00918006e-01 -6.62615024e-03 1.38571228e+01] [-7.00887790e-01 7.13241859e-01 6.50813634e-03 -2.24007229e+02] [ 9.28771766e-03 2.51285713e-06 9.99956868e-01 -2.78584665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.46655999499995 meters 0.011950987737016675 Centerline is valid? [True, True] Translation: X:13.88, Y:-224.03, Z:-2.79 [[ 7.13864914e-01 7.00256406e-01 -6.15225405e-03 1.38786864e+01] [-7.00230306e-01 7.13891425e-01 6.04579833e-03 -2.24030349e+02] [ 8.62565042e-03 -7.88856986e-06 9.99962798e-01 -2.78551596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.496559995 meters 0.01188898921549911 Centerline is valid? [True, True] Translation: X:13.90, Y:-224.05, Z:-2.78 [[ 7.14670975e-01 6.99435405e-01 -5.95915340e-03 1.39010726e+01] [-6.99410863e-01 7.14695819e-01 5.85927549e-03 -2.24054550e+02] [ 8.35716675e-03 -1.95574988e-05 9.99965078e-01 -2.78497738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.52655999499996 meters 0.012104640358369412 Centerline is valid? [True, True] Translation: X:13.92, Y:-224.08, Z:-2.78 [[ 7.16546010e-01 6.97515689e-01 -5.80332615e-03 1.39228607e+01] [-6.97492325e-01 7.16569509e-01 5.70923959e-03 -2.24079864e+02] [ 8.14077075e-03 -4.31574036e-05 9.99966863e-01 -2.78436776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.556559995 meters 0.012280470183779767 Centerline is valid? [True, True] Translation: X:13.94, Y:-224.10, Z:-2.78 [[ 7.17566073e-01 6.96465869e-01 -5.85006101e-03 1.39445637e+01] [-6.96442068e-01 7.17589917e-01 5.75819753e-03 -2.24103361e+02] [ 8.20833284e-03 -5.76586055e-05 9.99966309e-01 -2.78454622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.58655999499996 meters 0.012472192094146335 Centerline is valid? [True, True] Translation: X:13.97, Y:-224.13, Z:-2.78 [[ 7.18509262e-01 6.95492584e-01 -5.87412952e-03 1.39664826e+01] [-6.95468531e-01 7.18533270e-01 5.78466444e-03 -2.24126901e+02] [ 8.24394871e-03 -7.10627467e-05 9.99966016e-01 -2.78476439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.61655999499993 meters 0.012957942217153028 Centerline is valid? [True, True] Translation: X:13.99, Y:-224.15, Z:-2.79 [[ 7.20228129e-01 6.93710095e-01 -6.14385332e-03 1.39875346e+01] [-6.93683692e-01 7.20254326e-01 6.05316602e-03 -2.24151307e+02] [ 8.62427931e-03 -9.77695840e-05 9.99962805e-01 -2.78501504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.64655999499996 meters 0.013158768925281955 Centerline is valid? [True, True] Translation: X:14.01, Y:-224.17, Z:-2.78 [[ 7.20784770e-01 6.93131848e-01 -6.12830423e-03 1.40098801e+01] [-6.93105533e-01 7.20810814e-01 6.04071836e-03 -2.24174903e+02] [ 8.60436224e-03 -1.06496227e-04 9.99962976e-01 -2.78493343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.67655999499993 meters 0.013079805644008062 Centerline is valid? [True, True] Translation: X:14.03, Y:-224.20, Z:-2.78 [[ 7.21292361e-01 6.92606875e-01 -5.74857269e-03 1.40332292e+01] [-6.92583678e-01 7.21315260e-01 5.66956592e-03 -2.24198415e+02] [ 8.07331354e-03 -1.08046968e-04 9.99967404e-01 -2.78458369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.70655999499996 meters 0.01298908045004839 Centerline is valid? [True, True] Translation: X:14.06, Y:-224.22, Z:-2.78 [[ 7.21354713e-01 6.92543013e-01 -5.61733015e-03 1.40566761e+01] [-6.92520836e-01 7.21376576e-01 5.54325157e-03 -2.24222112e+02] [ 7.89115052e-03 -1.08532469e-04 9.99968859e-01 -2.78431238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.73655999499994 meters 0.013164877616827745 Centerline is valid? [True, True] Translation: X:14.08, Y:-224.25, Z:-2.78 [[ 7.21333734e-01 6.92562051e-01 -5.95395684e-03 1.40783186e+01] [-6.92537112e-01 7.21358297e-01 5.87852185e-03 -2.24245087e+02] [ 8.36617731e-03 -1.17040051e-04 9.99964996e-01 -2.78483104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.76655999499997 meters 0.0132118895441145 Centerline is valid? [True, True] Translation: X:14.10, Y:-224.27, Z:-2.79 [[ 7.20959137e-01 6.92951747e-01 -5.98328131e-03 1.41014945e+01] [-6.92926547e-01 7.20983955e-01 5.91072911e-03 -2.24268247e+02] [ 8.40969988e-03 -1.15419703e-04 9.99964631e-01 -2.78526041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.79655999499994 meters 0.013030221997448785 Centerline is valid? [True, True] Translation: X:14.13, Y:-224.29, Z:-2.79 [[ 7.20435321e-01 6.93494630e-01 -6.17632866e-03 1.41254210e+01] [-6.93467768e-01 7.20461786e-01 6.10483963e-03 -2.24291311e+02] [ 8.68348228e-03 -1.15057246e-04 9.99962291e-01 -2.78509096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.82655999499997 meters 0.01286207518451075 Centerline is valid? [True, True] Translation: X:14.15, Y:-224.31, Z:-2.79 [[ 7.19121667e-01 6.94854166e-01 -6.45876981e-03 1.41476564e+01] [-6.94824831e-01 7.19150663e-01 6.38577215e-03 -2.24312726e+02] [ 9.08200898e-03 -1.04433470e-04 9.99958752e-01 -2.78576801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.85655999499994 meters 0.01281982161972289 Centerline is valid? [True, True] Translation: X:14.17, Y:-224.33, Z:-2.79 [[ 7.18322652e-01 6.95679467e-01 -6.53044390e-03 1.41697537e+01] [-6.95649484e-01 7.18352330e-01 6.45948657e-03 -2.24334487e+02] [ 9.18489177e-03 -9.70955902e-05 9.99957813e-01 -2.78675531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.88655999499997 meters 0.012315842979784908 Centerline is valid? [True, True] Translation: X:14.19, Y:-224.36, Z:-2.79 [[ 7.17305414e-01 6.96728035e-01 -6.55652170e-03 1.41937110e+01] [-6.96697827e-01 7.17335373e-01 6.48844318e-03 -2.24356069e+02] [ 9.22390521e-03 -8.62810006e-05 9.99957455e-01 -2.78595347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.91655999499994 meters 0.012210754033793307 Centerline is valid? [True, True] Translation: X:14.22, Y:-224.38, Z:-2.79 [[ 7.16458008e-01 6.97601320e-01 -6.34990033e-03 1.42159239e+01] [-6.97572995e-01 7.16486143e-01 6.28679022e-03 -2.24377956e+02] [ 8.93528875e-03 -7.47022141e-05 9.99960077e-01 -2.78626317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.946559995 meters 0.011824594194112406 Centerline is valid? [True, True] Translation: X:14.24, Y:-224.40, Z:-2.79 [[ 7.14250826e-01 6.99857962e-01 -6.67766085e-03 1.42396661e+01] [-6.99826706e-01 7.14282038e-01 6.61449951e-03 -2.24399593e+02] [ 9.39894335e-03 -5.12063366e-05 9.99955828e-01 -2.78591794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.97655999499995 meters 0.011718438278012108 Centerline is valid? [True, True] Translation: X:14.26, Y:-224.42, Z:-2.79 [[ 7.12820057e-01 7.01317270e-01 -6.45393157e-03 1.42634717e+01] [-7.01288117e-01 7.12849273e-01 6.39457891e-03 -2.24421894e+02] [ 9.08530905e-03 -3.21185768e-05 9.99958727e-01 -2.78538699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.006559995 meters 0.01157869340545811 Centerline is valid? [True, True] Translation: X:14.29, Y:-224.44, Z:-2.79 [[ 7.11481460e-01 7.02678224e-01 -6.11931251e-03 1.42872271e+01] [-7.02652037e-01 7.11507775e-01 6.06641979e-03 -2.24444017e+02] [ 8.61667951e-03 -1.63978110e-05 9.99962876e-01 -2.78524030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.03655999499995 meters 0.011558768002103544 Centerline is valid? [True, True] Translation: X:14.31, Y:-224.46, Z:-2.79 [[ 7.08559680e-01 7.05624251e-01 -6.13164542e-03 1.43117060e+01] [-7.05598050e-01 7.08586210e-01 6.08075075e-03 -2.24464790e+02] [ 8.63552458e-03 1.79022416e-05 9.99962713e-01 -2.78600071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.066559995 meters 0.011594982445813341 Centerline is valid? [True, True] Translation: X:14.34, Y:-224.49, Z:-2.79 [[ 7.06804913e-01 7.07381886e-01 -6.13863316e-03 1.43358748e+01] [-7.07355662e-01 7.06831569e-01 6.09106270e-03 -2.24486963e+02] [ 8.64768713e-03 3.70038755e-05 9.99962607e-01 -2.78591150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.09655999499995 meters 0.011827684814854043 Centerline is valid? [True, True] Translation: X:14.36, Y:-224.51, Z:-2.79 [[ 7.05128866e-01 7.09053494e-01 -6.03541108e-03 1.43587120e+01] [-7.09028192e-01 7.05154692e-01 5.99023418e-03 -2.24507650e+02] [ 8.50329492e-03 5.53895735e-05 9.99963845e-01 -2.78614622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.126559995 meters 0.012280168146316075 Centerline is valid? [True, True] Translation: X:14.38, Y:-224.53, Z:-2.79 [[ 7.03399037e-01 7.10770635e-01 -5.90765228e-03 1.43819902e+01] [-7.10746432e-01 7.03423841e-01 5.86602035e-03 -2.24527920e+02] [ 8.32497847e-03 7.26897157e-05 9.99965344e-01 -2.78706317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.15655999499995 meters 0.012518639855022702 Centerline is valid? [True, True] Translation: X:14.41, Y:-224.55, Z:-2.79 [[ 7.00356179e-01 7.13770658e-01 -5.71572381e-03 1.44055002e+01] [-7.13748080e-01 7.00379495e-01 5.67821978e-03 -2.24550358e+02] [ 8.05612242e-03 1.02810583e-04 9.99967544e-01 -2.78535126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.186559995 meters 0.012873328971617411 Centerline is valid? [True, True] Translation: X:14.43, Y:-224.57, Z:-2.79 [[ 6.98952741e-01 7.15147225e-01 -5.43253309e-03 1.44290690e+01] [-7.15126850e-01 6.98973843e-01 5.39951501e-03 -2.24572722e+02] [ 7.65864671e-03 1.10944461e-04 9.99970666e-01 -2.78500503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.21655999499995 meters 0.013402014331056877 Centerline is valid? [True, True] Translation: X:14.45, Y:-224.59, Z:-2.79 [[ 6.97745186e-01 7.16329017e-01 -4.93906540e-03 1.44518730e+01] [-7.16312190e-01 6.97762658e-01 4.91124615e-03 -2.24593806e+02] [ 6.96436353e-03 1.11114394e-04 9.99975742e-01 -2.78510331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.246559995 meters 0.013377458858464067 Centerline is valid? [True, True] Translation: X:14.47, Y:-224.62, Z:-2.78 [[ 6.96830021e-01 7.17221474e-01 -4.61294499e-03 1.44742488e+01] [-7.17206801e-01 6.96845281e-01 4.58904597e-03 -2.24616160e+02] [ 6.50587126e-03 1.10650524e-04 9.99978831e-01 -2.78473640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.27655999499996 meters 0.013463804616354937 Centerline is valid? [True, True] Translation: X:14.50, Y:-224.64, Z:-2.78 [[ 6.95528766e-01 7.18488220e-01 -3.79645476e-03 1.44968025e+01] [-7.18478291e-01 6.95539120e-01 3.77865909e-03 -2.24638972e+02] [ 5.35550485e-03 9.95042260e-05 9.99985654e-01 -2.78381197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.306559995 meters 0.013855679936300975 Centerline is valid? [True, True] Translation: X:14.52, Y:-224.66, Z:-2.78 [[ 6.94960252e-01 7.19038851e-01 -3.65786038e-03 1.45193202e+01] [-7.19029631e-01 6.94969871e-01 3.64263545e-03 -2.24660968e+02] [ 5.16129917e-03 9.86231466e-05 9.99986676e-01 -2.78414573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.33655999499996 meters 0.014139673670248853 Centerline is valid? [True, True] Translation: X:14.54, Y:-224.68, Z:-2.78 [[ 6.95015432e-01 7.18984460e-01 -3.85938393e-03 1.45422536e+01] [-7.18974188e-01 6.95026140e-01 3.84465566e-03 -2.24683759e+02] [ 5.44662039e-03 1.02702410e-04 9.99985162e-01 -2.78486862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.36655999499993 meters 0.013669866950551562 Centerline is valid? [True, True] Translation: X:14.56, Y:-224.71, Z:-2.79 [[ 6.95073534e-01 7.18925769e-01 -4.30352624e-03 1.45649031e+01] [-7.18912981e-01 6.95086848e-01 4.28950552e-03 -2.24708303e+02] [ 6.07516054e-03 1.12339115e-04 9.99981540e-01 -2.78531832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.39655999499996 meters 0.013435506980201725 Centerline is valid? [True, True] Translation: X:14.59, Y:-224.73, Z:-2.79 [[ 6.95544546e-01 7.18469220e-01 -4.44581831e-03 1.45866431e+01] [-7.18455558e-01 6.95558745e-01 4.43210815e-03 -2.24732738e+02] [ 6.27666109e-03 1.11394222e-04 9.99980295e-01 -2.78630208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.42655999499993 meters 0.013443841589464742 Centerline is valid? [True, True] Translation: X:14.61, Y:-224.76, Z:-2.79 [[ 6.95737807e-01 7.18280397e-01 -4.70906352e-03 1.46095877e+01] [-7.18265047e-01 6.95753734e-01 4.69715681e-03 -2.24756698e+02] [ 6.65022418e-03 1.14366151e-04 9.99977881e-01 -2.78713390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.45655999499996 meters 0.013341640481256887 Centerline is valid? [True, True] Translation: X:14.63, Y:-224.78, Z:-2.79 [[ 6.95996697e-01 7.18026458e-01 -5.15780249e-03 1.46318421e+01] [-7.18008016e-01 6.96015798e-01 5.14761781e-03 -2.24780465e+02] [ 7.28603780e-03 1.20618541e-04 9.99973449e-01 -2.78770097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.48655999499994 meters 0.012839081870273383 Centerline is valid? [True, True] Translation: X:14.65, Y:-224.80, Z:-2.79 [[ 6.96495024e-01 7.17539284e-01 -5.66191730e-03 1.46531392e+01] [-7.17517022e-01 6.96518026e-01 5.65354669e-03 -2.24804787e+02] [ 8.00026930e-03 1.24854908e-04 9.99967990e-01 -2.78748265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.51655999499997 meters 0.012475464565358604 Centerline is valid? [True, True] Translation: X:14.67, Y:-224.83, Z:-2.79 [[ 6.98343033e-01 7.15734258e-01 -6.44055964e-03 1.46736170e+01] [-7.15705348e-01 6.98372722e-01 6.43397849e-03 -2.24828428e+02] [ 9.10292998e-03 1.16418936e-04 9.99958561e-01 -2.78845994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.54655999499994 meters 0.012292254020173657 Centerline is valid? [True, True] Translation: X:14.69, Y:-224.85, Z:-2.79 [[ 6.99568961e-01 7.14534140e-01 -6.65067940e-03 1.46949093e+01] [-7.14503231e-01 6.99600566e-01 6.64686082e-03 -2.24851346e+02] [ 9.40222806e-03 1.01994406e-04 9.99955793e-01 -2.78906522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.57655999499997 meters 0.011876351433578604 Centerline is valid? [True, True] Translation: X:14.72, Y:-224.88, Z:-2.79 [[ 7.00987624e-01 7.13143035e-01 -6.58512241e-03 1.47159751e+01] [-7.13112641e-01 7.01018549e-01 6.58447653e-03 -2.24875025e+02] [ 9.31196653e-03 8.02974809e-05 9.99956640e-01 -2.78916683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.60655999499994 meters 0.011468298444436552 Centerline is valid? [True, True] Translation: X:14.74, Y:-224.90, Z:-2.79 [[ 7.02644787e-01 7.11513354e-01 -6.24905902e-03 1.47369376e+01] [-7.11485892e-01 7.02672573e-01 6.25153158e-03 -2.24899744e+02] [ 8.83909058e-03 5.35112517e-05 9.99960933e-01 -2.78795413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.63655999499997 meters 0.011295785114139315 Centerline is valid? [True, True] Translation: X:15.32, Y:-224.47, Z:-1.81 [[ 7.60030787e-01 -6.49867492e-01 -5.04436545e-03 1.53160294e+01] [-6.49853062e-01 -7.60047526e-01 4.33082409e-03 -2.24465115e+02] [-6.64841927e-03 -1.34633050e-05 -9.99977899e-01 -1.80540827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.66655999499994 meters 0.011118227435254804 Centerline is valid? [True, True] Translation: X:15.31, Y:-224.47, Z:-1.81 [[ 8.07087206e-01 -5.90414895e-01 -4.52699757e-03 1.53138695e+01] [-5.90405621e-01 -8.07099902e-01 3.30922730e-03 -2.24471615e+02] [-5.60755639e-03 1.92979601e-06 -9.99984278e-01 -1.80664240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.696559995 meters 0.011225582063253118 Centerline is valid? [True, True] Translation: X:15.31, Y:-224.48, Z:-1.81 [[ 8.49521054e-01 -5.27533637e-01 -4.71601893e-03 1.53120362e+01] [-5.27525606e-01 -8.49534144e-01 2.91081081e-03 -2.24476872e+02] [-5.54196972e-03 1.50256802e-05 -9.99984643e-01 -1.80700667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.72655999499995 meters 0.011516996903040273 Centerline is valid? [True, True] Translation: X:15.31, Y:-224.48, Z:-1.81 [[ 8.87049908e-01 -4.61648796e-01 -4.78019546e-03 1.53118013e+01] [-4.61642259e-01 -8.87062787e-01 2.45685719e-03 -2.24482903e+02] [-5.37453867e-03 2.73852856e-05 -9.99985557e-01 -1.80741548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.756559995 meters 0.012300816331625181 Centerline is valid? [True, True] Translation: X:15.31, Y:-224.49, Z:-1.81 [[ 9.18179057e-01 -3.96141510e-01 -4.37289307e-03 1.53121975e+01] [-3.96137282e-01 -9.18189469e-01 1.83098218e-03 -2.24486944e+02] [-4.74047241e-03 5.10964889e-05 -9.99988763e-01 -1.80757871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.78655999499995 meters 0.012911141943744629 Centerline is valid? [True, True] Translation: X:15.31, Y:-224.49, Z:-1.81 [[ 9.45347458e-01 -3.26034379e-01 -4.44610811e-03 1.53115983e+01] [-3.26031095e-01 -9.45357911e-01 1.46490428e-03 -2.24493648e+02] [-4.68077263e-03 6.47259627e-05 -9.99989043e-01 -1.80736259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.816559995 meters 0.013656776504884435 Centerline is valid? [True, True] Translation: X:15.31, Y:-224.50, Z:-1.81 [[ 9.67091298e-01 -2.54391496e-01 -4.40321825e-03 1.53112049e+01] [-2.54389224e-01 -9.67101319e-01 1.07780562e-03 -2.24501077e+02] [-4.53254275e-03 7.77948420e-05 -9.99989725e-01 -1.80738923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.84655999499995 meters 0.015830578690709005 Centerline is valid? [True, True] Translation: X:15.31, Y:-224.51, Z:-1.81 [[ 9.82795400e-01 -1.84634109e-01 -4.84232849e-03 1.53081364e+01] [-1.84632458e-01 -9.82807322e-01 7.89569953e-04 -2.24506408e+02] [-4.90485744e-03 1.18065294e-04 -9.99987964e-01 -1.80701461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.876559995 meters 0.017367821974402984 Centerline is valid? [True, True] Translation: X:15.30, Y:-224.51, Z:-1.81 [[ 9.93817452e-01 -1.10898364e-01 -5.33160491e-03 1.53044264e+01] [-1.10897571e-01 -9.93831742e-01 4.45000584e-04 -2.24510777e+02] [-5.34806803e-03 1.49012686e-04 -9.99985688e-01 -1.80631556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.90655999499995 meters 0.01769487562454988 Centerline is valid? [True, True] Translation: X:15.30, Y:-224.52, Z:-1.81 [[ 9.99303214e-01 -3.68761197e-02 -5.76533113e-03 1.53019884e+01] [-3.68765700e-02 -9.99319828e-01 2.82210123e-05 -2.24519811e+02] [-5.76245040e-03 1.84404289e-04 -9.99983380e-01 -1.80607948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.936559995 meters 0.0209421642984383 Centerline is valid? [True, True] Translation: X:15.30, Y:-224.52, Z:-1.81 [[ 9.99266771e-01 3.76916715e-02 -6.72747066e-03 1.52987217e+01] [ 3.76891910e-02 -9.99289387e-01 -4.95163106e-04 -2.24524144e+02] [-6.74135356e-03 2.41247111e-04 -9.99977248e-01 -1.80535982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.96655999499995 meters 0.021723458874191602 Centerline is valid? [True, True] Translation: X:15.30, Y:-224.53, Z:-1.81 [[ 9.94086187e-01 1.08381724e-01 -6.78638888e-03 1.52975749e+01] [ 1.08377154e-01 -9.94109307e-01 -1.03864662e-03 -2.24533257e+02] [-6.85898266e-03 2.97014743e-04 -9.99976433e-01 -1.80588577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.996559995 meters 0.023496124570004943 Centerline is valid? [True, True] Translation: X:15.30, Y:-224.54, Z:-1.81 [[ 9.83078952e-01 1.83068999e-01 -6.44334375e-03 1.52957448e+01] [ 1.83063024e-01 -9.83100020e-01 -1.51028124e-03 -2.24540324e+02] [-6.61093704e-03 3.05187710e-04 -9.99978101e-01 -1.80590711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.02655999499996 meters 0.021936204459946804 Centerline is valid? [True, True] Translation: X:15.30, Y:-224.55, Z:-1.81 [[ 9.66327521e-01 2.57250881e-01 -5.75384783e-03 1.52977942e+01] [ 2.57244508e-01 -9.66344607e-01 -1.83424292e-03 -2.24554824e+02] [-6.03206042e-03 2.92333656e-04 -9.99981764e-01 -1.80644422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.056559995 meters 0.024404443463542546 Centerline is valid? [True, True] Translation: X:15.30, Y:-224.56, Z:-1.81 [[ 9.43755017e-01 3.30605540e-01 -5.14234987e-03 1.52979800e+01] [ 3.30599015e-01 -9.43768986e-01 -2.09565828e-03 -2.24564195e+02] [-5.54602656e-03 2.77732211e-04 -9.99984582e-01 -1.80608809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.08655999499996 meters 0.024404443463542546 Centerline is valid? [True, True] Translation: X:15.30, Y:-224.57, Z:-1.81 [[ 9.14983494e-01 4.03460752e-01 -4.96251819e-03 1.52989282e+01] [ 4.03453154e-01 -9.14996909e-01 -2.49171381e-03 -2.24572971e+02] [-5.54599754e-03 2.77733398e-04 -9.99984582e-01 -1.80608835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.11655999499993 meters 0.023251881372999515 Centerline is valid? [True, True] Translation: X:15.31, Y:-224.59, Z:-1.81 [[ 8.81038009e-01 4.73023581e-01 -4.55179288e-03 1.53055328e+01] [ 4.73015657e-01 -8.81049725e-01 -2.75131915e-03 -2.24587746e+02] [-5.31179470e-03 2.70947443e-04 -9.99985856e-01 -1.80626607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.14655999499996 meters 0.02356775529874733 Centerline is valid? [True, True] Translation: X:15.31, Y:-224.60, Z:-1.81 [[ 8.40877278e-01 5.41209941e-01 -4.14762469e-03 1.53091138e+01] [ 5.41201831e-01 -8.40887468e-01 -2.97375493e-03 -2.24598514e+02] [-5.09711136e-03 2.55860879e-04 -9.99986977e-01 -1.80600402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.17655999499993 meters 0.022417443593523816 Centerline is valid? [True, True] Translation: X:15.32, Y:-224.61, Z:-1.81 [[ 7.95054141e-01 6.06526655e-01 -3.78561482e-03 1.53161465e+01] [ 6.06518308e-01 -7.95063117e-01 -3.19106672e-03 -2.24610588e+02] [-4.94526974e-03 2.41026110e-04 -9.99987743e-01 -1.80627645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.20655999499996 meters 0.021255085403131833 Centerline is valid? [True, True] Translation: X:15.33, Y:-224.62, Z:-1.81 [[ 7.42104230e-01 6.70278090e-01 -2.93162410e-03 1.53251915e+01] [ 6.70271872e-01 -7.42109998e-01 -2.89286239e-03 -2.24622681e+02] [-4.11460984e-03 1.81820243e-04 -9.99991518e-01 -1.80718142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.23655999499994 meters 0.020304583105477947 Centerline is valid? [True, True] Translation: X:15.33, Y:-224.63, Z:-1.81 [[ 6.84998484e-01 7.28540631e-01 -2.37210868e-03 1.53338894e+01] [ 7.28535496e-01 -6.85002575e-01 -2.73933587e-03 -2.24632684e+02] [-3.62061804e-03 1.48275545e-04 -9.99993435e-01 -1.80766430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.26655999499997 meters 0.01952637678965478 Centerline is valid? [True, True] Translation: X:15.34, Y:-224.64, Z:-1.81 [[ 6.22672929e-01 7.82480105e-01 -1.81898156e-03 1.53419476e+01] [ 7.82476224e-01 -6.22675576e-01 -2.46697202e-03 -2.24642534e+02] [-3.06299191e-03 1.12806868e-04 -9.99995303e-01 -1.80783057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.29655999499994 meters 0.016332189473826263 Centerline is valid? [True, True] Translation: X:15.36, Y:-224.65, Z:-1.81 [[ 5.51409180e-01 8.34234335e-01 -9.94968625e-04 1.53576298e+01] [ 8.34232808e-01 -5.51410075e-01 -1.59722747e-03 -2.24653928e+02] [-1.88109772e-03 5.06904190e-05 -9.99998230e-01 -1.80836226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.32655999499997 meters 0.014915732806105423 Centerline is valid? [True, True] Translation: X:15.37, Y:-224.66, Z:-1.81 [[ 4.79680097e-01 8.77443178e-01 -6.87748471e-04 1.53691515e+01] [ 8.77442179e-01 -4.79680589e-01 -1.32469094e-03 -2.24660569e+02] [-1.49224062e-03 3.19683607e-05 -9.99998886e-01 -1.80794986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.35655999499994 meters 0.012287595647284455 Centerline is valid? [True, True] Translation: X:15.39, Y:-224.67, Z:-1.81 [[ 3.99560643e-01 9.16706425e-01 -7.89631727e-04 1.53868893e+01] [ 9.16704526e-01 -3.99561423e-01 -1.86585137e-03 -2.24668134e+02] [-2.02594431e-03 2.16617939e-05 -9.99997948e-01 -1.80704180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.38655999499997 meters 0.012287595647284455 Centerline is valid? [True, True] Translation: X:15.39, Y:-224.67, Z:-1.81 [[ 3.26526553e-01 9.45187812e-01 -6.41040618e-04 1.53939836e+01] [ 9.45185858e-01 -3.26527181e-01 -1.92194502e-03 -2.24670485e+02] [-2.02591619e-03 2.16635538e-05 -9.99997948e-01 -1.80704204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.41655999499994 meters 0.011271830444146652 Centerline is valid? [True, True] Translation: X:15.41, Y:-224.67, Z:-1.81 [[ 2.41575336e-01 9.70381834e-01 -6.73632780e-04 1.54124628e+01] [ 9.70378043e-01 -2.41576275e-01 -2.71251350e-03 -2.24674583e+02] [-2.79490752e-03 1.59790068e-06 -9.99996094e-01 -1.80560217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.446559995 meters 0.011398378445010507 Centerline is valid? [True, True] Translation: X:15.43, Y:-224.68, Z:-1.81 [[ 1.60518288e-01 9.87032743e-01 -4.92600717e-04 1.54266122e+01] [ 9.87028313e-01 -1.60519044e-01 -2.95750737e-03 -2.24675806e+02] [-2.99822841e-03 -1.14768348e-05 -9.99995505e-01 -1.80502802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.47655999499995 meters 0.01181676359914161 Centerline is valid? [True, True] Translation: X:15.44, Y:-224.68, Z:-1.80 [[ 7.86101100e-02 9.96905402e-01 -2.64097510e-04 1.54391767e+01] [ 9.96900762e-01 -7.86105499e-02 -3.04164614e-03 -2.24676046e+02] [-3.05299432e-03 -2.41748716e-05 -9.99995339e-01 -1.80425987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.506559995 meters 0.012295769889364306 Centerline is valid? [True, True] Translation: X:15.45, Y:-224.67, Z:-1.80 [[-3.32955943e-03 9.99994457e-01 -2.24422123e-05 1.54514119e+01] [ 9.99990740e-01 3.32948586e-03 -2.72656417e-03 -2.24674601e+02] [-2.72647434e-03 -3.15202620e-05 -9.99996283e-01 -1.80415389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.53655999499995 meters 0.013697023540224526 Centerline is valid? [True, True] Translation: X:15.47, Y:-224.67, Z:-1.80 [[-8.78785976e-02 9.96131183e-01 1.32358152e-04 1.54659511e+01] [ 9.96129400e-01 8.78786907e-02 -1.88536246e-03 -2.24672004e+02] [-1.88969980e-03 -3.38371619e-05 -9.99998214e-01 -1.80438902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.566559995 meters 0.014728907269512715 Centerline is valid? [True, True] Translation: X:15.48, Y:-224.67, Z:-1.80 [[-1.68357109e-01 9.85726043e-01 2.28876557e-04 1.54761900e+01] [ 9.85724855e-01 1.68357261e-01 -1.53092030e-03 -2.24669156e+02] [-1.54760104e-03 -3.21320037e-05 -9.99998802e-01 -1.80411703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.59655999499995 meters 0.01557077946260894 Centerline is valid? [True, True] Translation: X:15.48, Y:-224.66, Z:-1.80 [[-2.47211364e-01 9.68961511e-01 3.63827074e-04 1.54837090e+01] [ 9.68960229e-01 2.47211629e-01 -1.57647997e-03 -2.24664388e+02] [-1.61749070e-03 -3.71898000e-05 -9.99998691e-01 -1.80378328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.626559995 meters 0.016455489329712154 Centerline is valid? [True, True] Translation: X:15.49, Y:-224.66, Z:-1.80 [[-3.26069551e-01 9.45345494e-01 7.38194948e-04 1.54929613e+01] [ 9.45342595e-01 3.26070380e-01 -2.34196440e-03 -2.24658624e+02] [-2.45466900e-03 -6.57961525e-05 -9.99996985e-01 -1.80259564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.65655999499995 meters 0.01725370449432448 Centerline is valid? [True, True] Translation: X:15.50, Y:-224.65, Z:-1.80 [[-4.00321105e-01 9.16374142e-01 1.20194115e-03 1.55006010e+01] [ 9.16369313e-01 4.00322899e-01 -2.97629623e-03 -2.24653470e+02] [-3.20856547e-03 -9.00522125e-05 -9.99994849e-01 -1.80133089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.686559995 meters 0.017856404400950796 Centerline is valid? [True, True] Translation: X:15.51, Y:-224.65, Z:-1.80 [[-4.72040647e-01 8.81574909e-01 1.81860741e-03 1.55062037e+01] [ 8.81567362e-01 4.72044135e-01 -3.64967052e-03 -2.24647633e+02] [-4.07592092e-03 -1.19567892e-04 -9.99991686e-01 -1.80017319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.71655999499995 meters 0.017963934115490028 Centerline is valid? [True, True] Translation: X:15.51, Y:-224.64, Z:-1.80 [[-5.40398071e-01 8.41405665e-01 2.53610309e-03 1.55106244e+01] [ 8.41395078e-01 5.40404001e-01 -4.22350711e-03 -2.24641013e+02] [-4.92420307e-03 -1.48510439e-04 -9.99987865e-01 -1.79912451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.746559995 meters 0.017463210739416816 Centerline is valid? [True, True] Translation: X:15.51, Y:-224.63, Z:-1.80 [[-6.04410068e-01 7.96665231e-01 3.60273891e-03 1.55132206e+01] [ 7.96649216e-01 6.04420777e-01 -5.05481973e-03 -2.24634206e+02] [-6.20456938e-03 -1.85064807e-04 -9.99980734e-01 -1.79798507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.77655999499996 meters 0.017261254724588834 Centerline is valid? [True, True] Translation: X:15.52, Y:-224.63, Z:-1.80 [[-6.64099114e-01 7.47633125e-01 4.13244802e-03 1.55156294e+01] [ 7.47616893e-01 6.64111946e-01 -4.92996672e-03 -2.24627648e+02] [-6.43021452e-03 -1.84498581e-04 -9.99979309e-01 -1.79782056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.80655999499993 meters 0.01720103233760213 Centerline is valid? [True, True] Translation: X:15.52, Y:-224.62, Z:-1.80 [[-7.19575225e-01 6.94401529e-01 4.24403076e-03 1.55174341e+01] [ 6.94388083e-01 7.19587722e-01 -4.32453105e-03 -2.24622195e+02] [-6.05691340e-03 -1.64821015e-04 -9.99981643e-01 -1.79784255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.83655999499996 meters 0.016633456038893962 Centerline is valid? [True, True] Translation: X:15.52, Y:-224.62, Z:-1.80 [[-7.70579720e-01 6.37325759e-01 4.77196834e-03 1.55171327e+01] [ 6.37312235e-01 7.70594479e-01 -4.15503582e-03 -2.24617156e+02] [-6.32536381e-03 -1.60552531e-04 -9.99979982e-01 -1.79800094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.86655999499993 meters 0.01595855066912112 Centerline is valid? [True, True] Translation: X:15.53, Y:-224.60, Z:-1.80 [[-8.12633354e-01 5.82754636e-01 4.90571941e-03 1.55322517e+01] [ 5.82742940e-01 8.12648149e-01 -3.69486030e-03 -2.24597165e+02] [-6.13982076e-03 -1.43793365e-04 -9.99981141e-01 -1.79804220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.89655999499996 meters 0.014611198177583115 Centerline is valid? [True, True] Translation: X:15.54, Y:-224.58, Z:-1.80 [[-8.50094763e-01 5.26605135e-01 5.09162690e-03 1.55435473e+01] [ 5.26594826e-01 8.50110003e-01 -3.29742974e-03 -2.24577359e+02] [-6.06488639e-03 -1.21903380e-04 -9.99981601e-01 -1.79816592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.92655999499993 meters 0.014337790034584021 Centerline is valid? [True, True] Translation: X:15.56, Y:-224.55, Z:-1.80 [[-8.84616088e-01 4.66285874e-01 5.64453095e-03 1.55554887e+01] [ 4.66275507e-01 8.84634088e-01 -3.11168852e-03 -2.24554423e+02] [-6.44428089e-03 -1.20743195e-04 -9.99979228e-01 -1.79798757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.95655999499996 meters 0.013964319333762647 Centerline is valid? [True, True] Translation: X:15.57, Y:-224.53, Z:-1.80 [[-9.14963855e-01 4.03491447e-01 5.98291835e-03 1.55670030e+01] [ 4.03481991e-01 9.14983409e-01 -2.76477086e-03 -2.24531738e+02] [-6.58983242e-03 -1.15665595e-04 -9.99978280e-01 -1.79797169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.98655999499994 meters 0.013800998274704011 Centerline is valid? [True, True] Translation: X:15.57, Y:-224.51, Z:-1.80 [[-9.41035177e-01 3.38245568e-01 6.53693929e-03 1.55731806e+01] [ 3.38236533e-01 9.41057874e-01 -2.47512618e-03 -2.24506218e+02] [-6.98883865e-03 -1.18149121e-04 -9.99975571e-01 -1.79804605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.01655999499997 meters 0.013583465855083429 Centerline is valid? [True, True] Translation: X:15.58, Y:-224.48, Z:-1.80 [[-9.62402612e-01 2.71545565e-01 6.64963365e-03 1.55799821e+01] [ 2.71538283e-01 9.62425578e-01 -1.99174409e-03 -2.24481201e+02] [-6.94062679e-03 -1.11229613e-04 -9.99975907e-01 -1.79810942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.04655999499994 meters 0.01400840578437802 Centerline is valid? [True, True] Translation: X:15.75, Y:-223.91, Z:-2.79 [[-9.30902683e-01 -3.65216952e-01 6.06412946e-03 1.57540926e+01] [ 3.65209729e-01 -9.30922431e-01 -2.29812242e-03 -2.23905923e+02] [ 6.48454740e-03 7.53507479e-05 9.99978972e-01 -2.79465185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.07655999499997 meters 0.013367966085183498 Centerline is valid? [True, True] Translation: X:15.53, Y:-224.47, Z:-1.80 [[-9.63297958e-01 2.68365935e-01 6.06369743e-03 1.55349360e+01] [ 2.68359974e-01 9.63317038e-01 -1.79137686e-03 -2.24473238e+02] [-6.32200757e-03 -9.83759911e-05 -9.99980011e-01 -1.79902950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.10655999499994 meters 0.013887709117732098 Centerline is valid? [True, True] Translation: X:15.70, Y:-223.89, Z:-2.79 [[-9.31869893e-01 -3.62748472e-01 5.66109150e-03 1.57044126e+01] [ 3.62742275e-01 -9.31887086e-01 -2.12172679e-03 -2.23887617e+02] [ 6.04515121e-03 7.63438882e-05 9.99981725e-01 -2.79281656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.13655999499997 meters 0.014106955861417322 Centerline is valid? [True, True] Translation: X:15.48, Y:-224.46, Z:-1.80 [[-9.64855992e-01 2.62719742e-01 5.59038549e-03 1.54847753e+01] [ 2.62714714e-01 9.64872182e-01 -1.62851552e-03 -2.24460893e+02] [-5.82185062e-03 -1.02606434e-04 -9.99983048e-01 -1.80008549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.16655999499994 meters 0.01428005678008132 Centerline is valid? [True, True] Translation: X:15.66, Y:-223.87, Z:-2.79 [[-9.32555059e-01 -3.60979243e-01 5.92010551e-03 1.56587910e+01] [ 3.60972926e-01 -9.32573840e-01 -2.14021785e-03 -2.23873792e+02] [ 6.29350975e-03 1.41126827e-04 9.99980186e-01 -2.79249248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.196559995 meters 0.014787238312708674 Centerline is valid? [True, True] Translation: X:15.44, Y:-224.45, Z:-1.80 [[-9.66390737e-01 2.56998362e-01 6.38629871e-03 1.54388029e+01] [ 2.56991851e-01 9.66411830e-01 -1.83410437e-03 -2.24448972e+02] [-6.64315644e-03 -1.31234745e-04 -9.99977925e-01 -1.79991236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.22655999499995 meters 0.015531329510155227 Centerline is valid? [True, True] Translation: X:15.44, Y:-224.42, Z:-1.80 [[-9.82673020e-01 1.85207284e-01 7.21099748e-03 1.54421708e+01] [ 1.85201059e-01 9.82699463e-01 -1.52746035e-03 -2.24421325e+02] [-7.36914013e-03 -1.65509706e-04 -9.99972834e-01 -1.79897618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.256559995 meters 0.016229004284014657 Centerline is valid? [True, True] Translation: X:15.44, Y:-224.39, Z:-1.80 [[-9.93493144e-01 1.13611465e-01 7.98794012e-03 1.54430561e+01] [ 1.13606233e-01 9.93525238e-01 -1.10713341e-03 -2.24392729e+02] [-8.06200316e-03 -1.92449662e-04 -9.99967483e-01 -1.79849404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.28655999499995 meters 0.01634740272417876 Centerline is valid? [True, True] Translation: X:15.53, Y:-223.79, Z:-2.79 [[-9.73560465e-01 -2.28277910e-01 8.31964457e-03 1.55276977e+01] [ 2.28271596e-01 -9.73595985e-01 -1.71349172e-03 -2.23787130e+02] [ 8.49112487e-03 2.30950747e-04 9.99963923e-01 -2.79441985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.316559995 meters 0.016368616371404278 Centerline is valid? [True, True] Translation: X:15.39, Y:-224.39, Z:-1.80 [[-9.94262951e-01 1.06624312e-01 8.51117497e-03 1.53883933e+01] [ 1.06618408e-01 9.94299353e-01 -1.14567215e-03 -2.24386168e+02] [-8.58481226e-03 -2.31651447e-04 -9.99963123e-01 -1.79792449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.34655999499995 meters 0.0178049905439496 Centerline is valid? [True, True] Translation: X:15.47, Y:-223.78, Z:-2.80 [[-9.73472376e-01 -2.28654508e-01 8.28549365e-03 1.54710751e+01] [ 2.28648143e-01 -9.73507610e-01 -1.72024404e-03 -2.23781259e+02] [ 8.45933268e-03 2.19852683e-04 9.99964195e-01 -2.79526537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.376559995 meters 0.01872335271377857 Centerline is valid? [True, True] Translation: X:15.33, Y:-224.38, Z:-1.80 [[-9.95069644e-01 9.88269300e-02 8.34520481e-03 1.53345747e+01] [ 9.88212623e-02 9.95104603e-01 -1.08980944e-03 -2.24376853e+02] [-8.41205424e-03 -2.59752615e-04 -9.99964584e-01 -1.79730611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.40655999499995 meters 0.018069808367203066 Centerline is valid? [True, True] Translation: X:15.42, Y:-223.77, Z:-2.79 [[-9.73881691e-01 -2.26923277e-01 7.76390148e-03 1.54188681e+01] [ 2.26917801e-01 -9.73912615e-01 -1.59074655e-03 -2.23774181e+02] [ 7.92233901e-03 2.12568512e-04 9.99968595e-01 -2.79428110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.436559995 meters 0.019171466709495318 Centerline is valid? [True, True] Translation: X:15.29, Y:-224.37, Z:-1.80 [[-9.95651257e-01 9.29312977e-02 6.50752480e-03 1.52867939e+01] [ 9.29278993e-02 9.95672500e-01 -8.23319033e-04 -2.24372197e+02] [-6.55587559e-03 -2.15008021e-04 -9.99978487e-01 -1.79914016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.46655999499995 meters 0.018907211052106177 Centerline is valid? [True, True] Translation: X:15.37, Y:-223.77, Z:-2.79 [[-9.74577232e-01 -2.23969265e-01 6.08166170e-03 1.53660400e+01] [ 2.23966054e-01 -9.74596191e-01 -1.21263909e-03 -2.23767898e+02] [ 6.19875822e-03 1.80275331e-04 9.99980771e-01 -2.79279136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.496559995 meters 0.018324893916848 Centerline is valid? [True, True] Translation: X:15.23, Y:-224.37, Z:-1.80 [[-9.95974334e-01 8.94743157e-02 5.42891061e-03 1.52309146e+01] [ 8.94720180e-02 9.95989114e-01 -6.65125686e-04 -2.24367747e+02] [-5.46664754e-03 -1.76712524e-04 -9.99985042e-01 -1.80026239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.52655999499996 meters 0.01836358908388773 Centerline is valid? [True, True] Translation: X:15.32, Y:-223.76, Z:-2.79 [[-9.75631997e-01 -2.19360106e-01 4.83226640e-03 1.53159064e+01] [ 2.19358045e-01 -9.75643956e-01 -9.59030769e-04 -2.23760750e+02] [ 4.92494459e-03 1.24335404e-04 9.99987865e-01 -2.79218547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.55655999499993 meters 0.017334115086358654 Centerline is valid? [True, True] Translation: X:15.19, Y:-224.37, Z:-1.80 [[-9.96150764e-01 8.75674012e-02 3.95051834e-03 1.51881182e+01] [ 8.75662337e-02 9.96158590e-01 -4.67848969e-04 -2.24366406e+02] [-3.97631110e-03 -1.20116095e-04 -9.99992087e-01 -1.80096749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.58655999499996 meters 0.01789045553810143 Centerline is valid? [True, True] Translation: X:15.19, Y:-224.34, Z:-1.80 [[-9.99835920e-01 1.76957276e-02 3.87214843e-03 1.51880055e+01] [ 1.76951579e-02 9.99843412e-01 -1.81322947e-04 -2.24338345e+02] [-3.87475074e-03 -1.12774918e-04 -9.99992487e-01 -1.80098694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.61655999499993 meters 0.016915260463680457 Centerline is valid? [True, True] Translation: X:15.22, Y:-223.72, Z:-2.79 [[-9.89921048e-01 -1.41562445e-01 4.04873475e-03 1.52153646e+01] [ 1.41561802e-01 -9.89929319e-01 -4.46600721e-04 -2.23719382e+02] [ 4.07118312e-03 1.31046731e-04 9.99991704e-01 -2.79184219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.64655999499996 meters 0.015927280736732892 Centerline is valid? [True, True] Translation: X:15.13, Y:-224.34, Z:-1.80 [[-9.99864215e-01 1.58859956e-02 4.38028068e-03 1.51255777e+01] [ 1.58853351e-02 9.99873803e-01 -1.85543547e-04 -2.24339462e+02] [-4.38267545e-03 -1.15936127e-04 -9.99990389e-01 -1.80050597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.67655999499993 meters 0.015964413182689107 Centerline is valid? [True, True] Translation: X:15.12, Y:-224.31, Z:-1.80 [[-9.98620828e-01 -5.22420544e-02 5.21624902e-03 1.51247385e+01] [-5.22419809e-02 9.98634444e-01 1.50449518e-04 -2.24312528e+02] [-5.21698574e-03 -1.22265160e-04 -9.99986384e-01 -1.79930050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.70655999499996 meters 0.015075547704130936 Centerline is valid? [True, True] Translation: X:15.12, Y:-224.29, Z:-1.80 [[-9.92563967e-01 -1.21598515e-01 5.52928672e-03 1.51152111e+01] [-1.21597308e-01 9.92579360e-01 5.55180302e-04 -2.24287892e+02] [-5.55576498e-03 -1.21294418e-04 -9.99984559e-01 -1.79939078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.73655999499994 meters 0.014865046830908618 Centerline is valid? [True, True] Translation: X:15.11, Y:-224.26, Z:-1.80 [[-9.81752742e-01 -1.90078488e-01 5.63230002e-03 1.51051915e+01] [-1.90076020e-01 9.81768891e-01 9.75215777e-04 -2.24262344e+02] [-5.71498449e-03 -1.13144407e-04 -9.99983663e-01 -1.79899200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.76655999499997 meters 0.014354199514353752 Centerline is valid? [True, True] Translation: X:15.08, Y:-224.24, Z:-1.80 [[-9.66149605e-01 -2.57911077e-01 6.06776778e-03 1.50841975e+01] [-2.57906705e-01 9.66168652e-01 1.50571652e-03 -2.24240176e+02] [-6.25082798e-03 -1.10170572e-04 -9.99980457e-01 -1.79870479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.79655999499994 meters 0.013120571242787822 Centerline is valid? [True, True] Translation: X:15.05, Y:-224.23, Z:-1.80 [[-9.46528380e-01 -3.22552154e-01 6.64331168e-03 1.50481928e+01] [-3.22544872e-01 9.46551689e-01 2.16930796e-03 -2.24225750e+02] [-6.98795285e-03 -8.94545604e-05 -9.99975580e-01 -1.79834151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.82655999499997 meters 0.012788575836009819 Centerline is valid? [True, True] Translation: X:14.99, Y:-224.22, Z:-1.80 [[-9.21307098e-01 -3.88777447e-01 6.73253026e-03 1.49912000e+01] [-3.88767657e-01 9.21331694e-01 2.76005022e-03 -2.24218488e+02] [-7.27593879e-03 -7.45361598e-05 -9.99973527e-01 -1.79774019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.85655999499994 meters 0.012393010362627209 Centerline is valid? [True, True] Translation: X:14.92, Y:-224.22, Z:-1.80 [[-8.91448551e-01 -4.53072407e-01 6.69892928e-03 1.49231532e+01] [-4.53060087e-01 8.91473719e-01 3.34169467e-03 -2.24220282e+02] [-7.48594904e-03 -5.60686109e-05 -9.99971978e-01 -1.79725542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.88655999499997 meters 0.012217875512618263 Centerline is valid? [True, True] Translation: X:14.85, Y:-224.23, Z:-1.80 [[-8.56865185e-01 -5.15501247e-01 6.36540471e-03 1.48473747e+01] [-5.15487323e-01 8.56888828e-01 3.78909294e-03 -2.24231845e+02] [-7.40772632e-03 -3.45436029e-05 -9.99972562e-01 -1.79683682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.91655999499994 meters 0.012075394318607907 Centerline is valid? [True, True] Translation: X:14.78, Y:-224.25, Z:-1.80 [[-8.17546364e-01 -5.75829403e-01 6.20002590e-03 1.47768837e+01] [-5.75812965e-01 8.17569873e-01 4.35107784e-03 -2.24246512e+02] [-7.57443295e-03 -1.28474287e-05 -9.99971314e-01 -1.79677432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.946559995 meters 0.01220110820467322 Centerline is valid? [True, True] Translation: X:14.69, Y:-224.28, Z:-1.80 [[-7.75678573e-01 -6.31104672e-01 5.44473282e-03 1.46916989e+01] [-6.31088865e-01 7.75697681e-01 4.46680388e-03 -2.24280755e+02] [-7.04248742e-03 2.86938049e-05 -9.99975201e-01 -1.79641021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.97655999499995 meters 0.012400317913585935 Centerline is valid? [True, True] Translation: X:14.61, Y:-224.32, Z:-1.80 [[-7.27434612e-01 -6.86159572e-01 4.89150872e-03 1.46115618e+01] [-6.86143652e-01 7.27451057e-01 4.67427346e-03 -2.24316199e+02] [-6.76563066e-03 4.39506372e-05 -9.99977112e-01 -1.79680139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.006559995 meters 0.012400317913585935 Centerline is valid? [True, True] Translation: X:14.52, Y:-224.37, Z:-1.80 [[-6.73429081e-01 -7.39237992e-01 4.52378453e-03 1.45242956e+01] [-7.39220873e-01 6.73444274e-01 5.03100735e-03 -2.24365776e+02] [-6.76562856e-03 4.39507098e-05 -9.99977112e-01 -1.79680148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.03655999499995 meters 0.012549946150176218 Centerline is valid? [True, True] Translation: X:14.44, Y:-224.43, Z:-1.80 [[-6.17013272e-01 -7.86941595e-01 4.18906594e-03 1.44400268e+01] [-7.86922809e-01 6.17027489e-01 5.43789241e-03 -2.24425481e+02] [-6.86407256e-03 5.87802531e-05 -9.99976440e-01 -1.79723712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.066559995 meters 0.013079840740236378 Centerline is valid? [True, True] Translation: X:14.36, Y:-224.50, Z:-1.80 [[-5.57309649e-01 -8.30295694e-01 3.87507726e-03 1.43585925e+01] [-8.30274642e-01 5.57323116e-01 5.91302627e-03 -2.24495090e+02] [-7.06923038e-03 7.80082093e-05 -9.99975010e-01 -1.79737568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.09655999499995 meters 0.013035566602287607 Centerline is valid? [True, True] Translation: X:14.28, Y:-224.57, Z:-1.80 [[-4.92408251e-01 -8.70357157e-01 3.54032953e-03 1.42791655e+01] [-8.70333458e-01 4.92420971e-01 6.42332792e-03 -2.24571659e+02] [-7.33392193e-03 8.16324263e-05 -9.99973103e-01 -1.79722393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.126559995 meters 0.012860945396917699 Centerline is valid? [True, True] Translation: X:14.20, Y:-224.66, Z:-1.80 [[-4.23495584e-01 -9.05892047e-01 3.33003717e-03 1.42012520e+01] [-9.05862521e-01 4.23508669e-01 7.31436471e-03 -2.24661944e+02] [-8.03632443e-03 8.10452891e-05 -9.99967705e-01 -1.79674294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.15655999499995 meters 0.012642249203438672 Centerline is valid? [True, True] Translation: X:14.13, Y:-224.75, Z:-1.80 [[-3.51300805e-01 -9.36257899e-01 2.98183214e-03 1.41325904e+01] [-9.36222382e-01 3.51313452e-01 8.15542138e-03 -2.24751730e+02] [-8.68313543e-03 7.33481066e-05 -9.99962298e-01 -1.79611694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.186559995 meters 0.012230971517926844 Centerline is valid? [True, True] Translation: X:14.07, Y:-224.85, Z:-1.80 [[-2.73673453e-01 -9.61818783e-01 2.73301504e-03 1.40661780e+01] [-9.61769590e-01 2.73687097e-01 9.72769006e-03 -2.24854013e+02] [-1.01042660e-02 3.36797661e-05 -9.99948950e-01 -1.79500503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.21655999499995 meters 0.012121350262306327 Centerline is valid? [True, True] Translation: X:14.01, Y:-224.96, Z:-1.80 [[-1.95952525e-01 -9.80611154e-01 2.09118794e-03 1.40092529e+01] [-9.80555276e-01 1.95963683e-01 1.04682705e-02 -2.24961328e+02] [-1.06750997e-02 7.58662752e-07 -9.99943020e-01 -1.79560388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.246559995 meters 0.012083048069299896 Centerline is valid? [True, True] Translation: X:13.96, Y:-225.07, Z:-1.80 [[-1.16958845e-01 -9.93135847e-01 1.34796044e-03 1.39614793e+01] [-9.93073284e-01 1.16966608e-01 1.11474140e-02 -2.25068820e+02] [-1.12285628e-02 -3.48348327e-05 -9.99936957e-01 -1.79513821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.27655999499996 meters 0.012203074128713536 Centerline is valid? [True, True] Translation: X:13.92, Y:-225.18, Z:-1.80 [[-3.73867302e-02 -9.99300749e-01 4.95421687e-04 1.39222061e+01] [-9.99236102e-01 3.73899468e-02 1.13668508e-02 -2.25183280e+02] [-1.13774264e-02 -7.00738502e-05 -9.99935273e-01 -1.79530829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.30655999499993 meters 0.012932272883531782 Centerline is valid? [True, True] Translation: X:13.89, Y:-225.30, Z:-1.80 [[ 4.45202792e-02 -9.99008414e-01 -3.66515890e-04 1.38897739e+01] [-9.98947642e-01 -4.45216139e-02 1.10197427e-02 -2.25303715e+02] [-1.10251335e-02 -1.24471837e-04 -9.99939214e-01 -1.79521089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.33655999499996 meters 0.013461048213986014 Centerline is valid? [True, True] Translation: X:13.87, Y:-225.42, Z:-1.80 [[ 1.22979046e-01 -9.92408547e-01 -1.19595606e-03 1.38682914e+01] [-9.92349590e-01 -1.22984777e-01 1.08182903e-02 -2.25420070e+02] [-1.08832482e-02 -1.43616522e-04 -9.99940765e-01 -1.79522247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.36655999499993 meters 0.013777901296294224 Centerline is valid? [True, True] Translation: X:13.86, Y:-225.54, Z:-1.80 [[ 2.00356113e-01 -9.79721415e-01 -1.83748156e-03 1.38567725e+01] [-9.79673244e-01 -2.00364485e-01 9.71640684e-03 -2.25537646e+02] [-9.88753791e-03 -1.46609985e-04 -9.99951106e-01 -1.79626224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.39655999499996 meters 0.01501711167339015 Centerline is valid? [True, True] Translation: X:13.85, Y:-225.66, Z:-1.80 [[ 2.77849412e-01 -9.60621980e-01 -2.26199104e-03 1.38536790e+01] [-9.60585439e-01 -2.77858576e-01 8.38015472e-03 -2.25659204e+02] [-8.67867443e-03 -1.55585402e-04 -9.99962328e-01 -1.79758543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.42655999499993 meters 0.01403925287794865 Centerline is valid? [True, True] Translation: X:13.86, Y:-225.78, Z:-1.80 [[ 3.51769603e-01 -9.36082378e-01 -2.81570203e-03 1.38642668e+01] [-9.36048637e-01 -3.51780835e-01 7.94948682e-03 -2.25777688e+02] [-8.43188453e-03 -1.60753773e-04 -9.99964438e-01 -1.79953125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.45655999499996 meters 0.015237878583153603 Centerline is valid? [True, True] Translation: X:13.88, Y:-225.89, Z:-1.80 [[ 4.23208015e-01 -9.06026464e-01 -3.32014248e-03 1.38776958e+01] [-9.05995495e-01 -4.23221007e-01 7.49277937e-03 -2.25892170e+02] [-8.19381044e-03 -1.62970156e-04 -9.99966417e-01 -1.79892379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.48655999499994 meters 0.014379924580707725 Centerline is valid? [True, True] Translation: X:13.90, Y:-226.00, Z:-1.80 [[ 4.91888805e-01 -8.70649222e-01 -3.91625041e-03 1.39032497e+01] [-8.70618826e-01 -4.91904365e-01 7.27706466e-03 -2.26002350e+02] [-8.26219135e-03 -1.69945304e-04 -9.99965853e-01 -1.79997498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.51655999499997 meters 0.016489801922468798 Centerline is valid? [True, True] Translation: X:13.93, Y:-226.11, Z:-1.80 [[ 5.57803366e-01 -8.29961529e-01 -4.38912873e-03 1.39338750e+01] [-8.29933328e-01 -5.57820607e-01 6.84413985e-03 -2.26114406e+02] [-8.12871922e-03 -1.75000034e-04 -9.99966946e-01 -1.79864977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.54655999499994 meters 0.01581531573016668 Centerline is valid? [True, True] Translation: X:13.97, Y:-226.22, Z:-1.80 [[ 6.19710488e-01 -7.84814145e-01 -5.06650182e-03 1.39726677e+01] [-7.84785472e-01 -6.19731172e-01 6.71105728e-03 -2.26215271e+02] [-8.40680178e-03 -1.82795562e-04 -9.99964646e-01 -1.79895291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.57655999499997 meters 0.0166609087335862 Centerline is valid? [True, True] Translation: X:14.02, Y:-226.32, Z:-1.80 [[ 6.77745305e-01 -7.35273350e-01 -5.86537040e-03 1.40179041e+01] [-7.35243316e-01 -6.77770657e-01 6.64859165e-03 -2.26315687e+02] [-8.86390821e-03 -1.93577395e-04 -9.99960696e-01 -1.79820042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.60655999499994 meters 0.014752389904630821 Centerline is valid? [True, True] Translation: X:14.07, Y:-226.41, Z:-1.80 [[ 7.31501770e-01 -6.81806849e-01 -6.67695006e-03 1.40741967e+01] [-6.81775914e-01 -7.31532214e-01 6.49794471e-03 -2.26409067e+02] [-9.31474727e-03 -2.01074324e-04 -9.99956597e-01 -1.79908706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.63655999499997 meters 0.014323817250803766 Centerline is valid? [True, True] Translation: X:14.07, Y:-226.42, Z:-1.80 [[ 7.81936989e-01 -6.23300356e-01 -8.43868746e-03 1.40738456e+01] [-6.23260914e-01 -7.81982490e-01 7.01549788e-03 -2.26417268e+02] [-1.09716682e-02 -2.26173225e-04 -9.99939784e-01 -1.79819414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.66655999499994 meters 0.014471268994929235 Centerline is valid? [True, True] Translation: X:14.07, Y:-226.43, Z:-1.80 [[ 8.27720389e-01 -5.61057633e-01 -9.65868165e-03 1.40725022e+01] [-5.61016141e-01 -8.27776708e-01 6.82720091e-03 -2.26425689e+02] [-1.18256849e-02 -2.32337087e-04 -9.99930047e-01 -1.79710616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.696559995 meters 0.013558187895326729 Centerline is valid? [True, True] Translation: X:14.07, Y:-226.43, Z:-1.80 [[ 8.67379154e-01 -4.97510852e-01 -1.16771458e-02 1.40747825e+01] [-4.97462323e-01 -8.67457724e-01 6.95227993e-03 -2.26431171e+02] [-1.35882650e-02 -2.21322615e-04 -9.99907651e-01 -1.79644230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.72655999499995 meters 0.013240331709866195 Centerline is valid? [True, True] Translation: X:14.08, Y:-226.44, Z:-1.80 [[ 9.02567356e-01 -4.30357430e-01 -1.28316616e-02 1.40753096e+01] [-4.30310799e-01 -9.02658542e-01 6.33823284e-03 -2.26437902e+02] [-1.43103146e-02 -1.99079474e-04 -9.99897582e-01 -1.79593683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.756559995 meters 0.012899768011427276 Centerline is valid? [True, True] Translation: X:14.08, Y:-226.44, Z:-1.80 [[ 9.32454228e-01 -3.61018697e-01 -1.39504105e-02 1.40775722e+01] [-3.60975602e-01 -9.32558563e-01 5.58054396e-03 -2.26443628e+02] [-1.50242555e-02 -1.67843967e-04 -9.99887115e-01 -1.79576917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.78655999499995 meters 0.012518304534121075 Centerline is valid? [True, True] Translation: X:14.08, Y:-226.45, Z:-1.80 [[ 9.56829761e-01 -2.90277558e-01 -1.46883559e-02 1.40796146e+01] [-2.90241437e-01 -9.56942488e-01 4.58070770e-03 -2.26448328e+02] [-1.53855885e-02 -1.19787929e-04 -9.99881628e-01 -1.79567676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.816559995 meters 0.012197672487929712 Centerline is valid? [True, True] Translation: X:14.08, Y:-226.45, Z:-1.80 [[ 9.74844447e-01 -2.22353326e-01 -1.54046437e-02 1.40830222e+01] [-2.22325623e-01 -9.74966152e-01 3.50986302e-03 -2.26447110e+02] [-1.57994359e-02 3.27653379e-06 -9.99875181e-01 -1.79584555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.84655999499995 meters 0.012524095433343905 Centerline is valid? [True, True] Translation: X:14.08, Y:-226.45, Z:-1.80 [[ 9.88617468e-01 -1.49683873e-01 -1.51736353e-02 1.40828726e+01] [-1.49667351e-01 -9.88733904e-01 2.22510555e-03 -2.26448244e+02] [-1.53357501e-02 7.12195880e-05 -9.99882398e-01 -1.79625129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.876559995 meters 0.012842693967725848 Centerline is valid? [True, True] Translation: X:14.08, Y:-226.45, Z:-1.80 [[ 9.96983939e-01 -7.62236131e-02 -1.45940259e-02 1.40815863e+01] [-7.62173854e-02 -9.97090740e-01 9.83250901e-04 -2.26451292e+02] [-1.46265150e-02 1.32033141e-04 -9.99893018e-01 -1.79771659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.90655999499995 meters 0.013245378278654294 Centerline is valid? [True, True] Translation: X:14.08, Y:-226.46, Z:-1.80 [[ 9.99906447e-01 -1.31222736e-03 -1.36152751e-02 1.40797656e+01] [-1.31440674e-03 -9.99999125e-01 -1.51121230e-04 -2.26457319e+02] [-1.36150649e-02 1.69003101e-04 -9.99907296e-01 -1.79926544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.936559995 meters 0.014200379342899428 Centerline is valid? [True, True] Translation: X:14.08, Y:-226.46, Z:-1.80 [[ 9.97141972e-01 7.45580694e-02 -1.22058456e-02 1.40775588e+01] [ 7.45502478e-02 -9.97216657e-01 -1.09518467e-03 -2.26463300e+02] [-1.22535274e-02 1.82105790e-04 -9.99924906e-01 -1.79938839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.96655999499995 meters 0.014297765168818833 Centerline is valid? [True, True] Translation: X:14.08, Y:-226.47, Z:-1.80 [[ 9.88561647e-01 1.50403791e-01 -1.11610621e-02 1.40773655e+01] [ 1.50392018e-01 -9.88624632e-01 -1.89157888e-03 -2.26470751e+02] [-1.13186016e-02 1.91407683e-04 -9.99935924e-01 -1.80133925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.996559995 meters 0.014240326610006966 Centerline is valid? [True, True] Translation: X:14.08, Y:-226.48, Z:-1.80 [[ 9.73753088e-01 2.27326619e-01 -1.12929800e-02 1.40771333e+01] [ 2.27308980e-01 -9.73818551e-01 -2.83864134e-03 -2.26478123e+02] [-1.16426122e-02 1.97139999e-04 -9.99932203e-01 -1.80175607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.02655999499996 meters 0.015131727635478615 Centerline is valid? [True, True] Translation: X:14.08, Y:-226.48, Z:-1.80 [[ 9.52895477e-01 3.03084903e-01 -1.13908224e-02 1.40765236e+01] [ 3.03060724e-01 -9.52963536e-01 -3.83355120e-03 -2.26483744e+02] [-1.20169299e-02 2.00862704e-04 -9.99927774e-01 -1.80075188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.05655999499993 meters 0.013721303044127749 Centerline is valid? [True, True] Translation: X:14.08, Y:-226.50, Z:-1.80 [[ 9.25422740e-01 3.78741405e-01 -1.21532150e-02 1.40790387e+01] [ 3.78706013e-01 -9.25502518e-01 -5.18123368e-03 -2.26495586e+02] [-1.32101788e-02 1.92335884e-04 -9.99912723e-01 -1.80125655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.08655999499996 meters 0.013341964558227438 Centerline is valid? [True, True] Translation: X:14.08, Y:-226.51, Z:-1.80 [[ 8.92267082e-01 4.51344341e-01 -1.21548401e-02 1.40822238e+01] [ 4.51299717e-01 -8.92349849e-01 -6.34919821e-03 -2.26506126e+02] [-1.37120444e-02 1.79704667e-04 -9.99905969e-01 -1.80124396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.11655999499993 meters 0.013302586528356313 Centerline is valid? [True, True] Translation: X:14.09, Y:-226.52, Z:-1.80 [[ 8.53561421e-01 5.20849205e-01 -1.22068347e-02 1.40864323e+01] [ 5.20793074e-01 -8.53648685e-01 -7.64837505e-03 -2.26515367e+02] [-1.44039985e-02 1.71122888e-04 -9.99896242e-01 -1.80057479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.14655999499996 meters 0.013141591983277967 Centerline is valid? [True, True] Translation: X:14.09, Y:-226.52, Z:-1.80 [[ 8.09499640e-01 5.87001436e-01 -1.18172212e-02 1.40916869e+01] [ 5.86936047e-01 -8.09585875e-01 -8.76283871e-03 -2.26524111e+02] [-1.47108543e-02 1.57561673e-04 -9.99891777e-01 -1.80015567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.17655999499993 meters 0.012696096241755016 Centerline is valid? [True, True] Translation: X:14.10, Y:-226.53, Z:-1.80 [[ 7.59833789e-01 6.50025586e-01 -1.09247581e-02 1.40989688e+01] [ 6.49955991e-01 -7.59912312e-01 -9.51251605e-03 -2.26534511e+02] [-1.44852370e-02 1.27319106e-04 -9.99895075e-01 -1.79984583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.20655999499996 meters 0.012767183617815297 Centerline is valid? [True, True] Translation: X:14.10, Y:-226.54, Z:-1.80 [[ 7.06149346e-01 7.07994671e-01 -9.83092597e-03 1.41036267e+01] [ 7.07923799e-01 -7.06217766e-01 -1.00180836e-02 -2.26542026e+02] [-1.40355244e-02 1.14716700e-04 -9.99901491e-01 -1.80001162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.23655999499994 meters 0.012742017128161792 Centerline is valid? [True, True] Translation: X:14.11, Y:-226.55, Z:-1.80 [[ 6.48115957e-01 7.61491558e-01 -8.73577310e-03 1.41065975e+01] [ 7.61420239e-01 -6.48174820e-01 -1.04222418e-02 -2.26547713e+02] [-1.35987573e-02 1.03226758e-04 -9.99907527e-01 -1.80049806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.26655999499997 meters 0.012591860481742203 Centerline is valid? [True, True] Translation: X:14.11, Y:-226.55, Z:-1.80 [[ 5.86403831e-01 8.09981720e-01 -7.75634889e-03 1.41124345e+01] [ 8.09908611e-01 -5.86455117e-01 -1.08829652e-02 -2.26553926e+02] [-1.33637533e-02 9.98787173e-05 -9.99910696e-01 -1.80173227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.29655999499994 meters 0.012791324405874301 Centerline is valid? [True, True] Translation: X:14.12, Y:-226.56, Z:-1.80 [[ 5.21110398e-01 8.53465568e-01 -6.36220866e-03 1.41168948e+01] [ 8.53399813e-01 -5.21149227e-01 -1.05944521e-02 -2.26559499e+02] [-1.23576602e-02 9.13714505e-05 -9.99923637e-01 -1.80230174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.32655999499997 meters 0.012651328377660654 Centerline is valid? [True, True] Translation: X:14.12, Y:-226.56, Z:-1.80 [[ 4.52592558e-01 8.91701652e-01 -5.30485397e-03 1.41200685e+01] [ 8.91638155e-01 -4.52623637e-01 -1.06415603e-02 -2.26562653e+02] [-1.18901992e-02 8.62807788e-05 -9.99929305e-01 -1.80338626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.35655999499994 meters 0.012675103711798391 Centerline is valid? [True, True] Translation: X:14.12, Y:-226.57, Z:-1.80 [[ 3.81305023e-01 9.24438723e-01 -4.41891996e-03 1.41233301e+01] [ 9.24374040e-01 -3.81330618e-01 -1.09358995e-02 -2.26565447e+02] [-1.17946385e-02 8.51785198e-05 -9.99930437e-01 -1.80357424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.38655999499997 meters 0.012360578242672157 Centerline is valid? [True, True] Translation: X:14.13, Y:-226.57, Z:-1.80 [[ 3.06613101e-01 9.51828743e-01 -3.23277340e-03 1.41319780e+01] [ 9.51773587e-01 -3.06630136e-01 -1.02468600e-02 -2.26569481e+02] [-1.07445216e-02 6.49531926e-05 -9.99942274e-01 -1.80468079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.41655999499994 meters 0.012077979157916651 Centerline is valid? [True, True] Translation: X:14.14, Y:-226.57, Z:-1.81 [[ 2.30259194e-01 9.73126417e-01 -2.38331884e-03 1.41426453e+01] [ 9.73071795e-01 -2.30271522e-01 -1.03106179e-02 -2.26573949e+02] [-1.05823451e-02 5.49742353e-05 -9.99944004e-01 -1.80564772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.446559995 meters 0.01208875913944408 Centerline is valid? [True, True] Translation: X:14.15, Y:-226.58, Z:-1.81 [[ 1.51911967e-01 9.88392918e-01 -1.48130354e-03 1.41524429e+01] [ 9.88343482e-01 -1.51919185e-01 -9.88553134e-03 -2.26577754e+02] [-9.99582759e-03 3.76938193e-05 -9.99950040e-01 -1.80506641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.47655999499995 meters 0.011933667308033472 Centerline is valid? [True, True] Translation: X:14.16, Y:-226.58, Z:-1.81 [[ 7.21782821e-02 9.97391507e-01 -6.91255263e-04 1.41625158e+01] [ 9.97343246e-01 -7.21815896e-02 -9.81159701e-03 -2.26579665e+02] [-9.83589943e-03 1.87654488e-05 -9.99951626e-01 -1.80559879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.506559995 meters 0.011839865853857098 Centerline is valid? [True, True] Translation: X:14.18, Y:-226.58, Z:-1.81 [[-1.04692460e-02 9.99945193e-01 7.98030220e-05 1.41750775e+01] [ 9.99896712e-01 1.04695242e-02 -9.84655571e-03 -2.26580937e+02] [-9.84685155e-03 -2.32912347e-05 -9.99951518e-01 -1.80535097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.53655999499995 meters 0.01201899886288735 Centerline is valid? [True, True] Translation: X:14.18, Y:-226.58, Z:-1.81 [[-9.10747209e-02 9.95843677e-01 8.75936978e-04 1.41848655e+01] [ 9.95792435e-01 9.10789205e-02 -1.01023049e-02 -2.26580625e+02] [-1.01400959e-02 -4.78131852e-05 -9.99948587e-01 -1.80542075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.566559995 meters 0.012121512623255115 Centerline is valid? [True, True] Translation: X:14.20, Y:-226.58, Z:-1.81 [[-1.70911151e-01 9.85284913e-01 1.73757741e-03 1.41960695e+01] [ 9.85229601e-01 1.70919968e-01 -1.04401718e-02 -2.26579825e+02] [-1.05835305e-02 -7.24290915e-05 -9.99943990e-01 -1.80575050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.59655999499995 meters 0.012347971701863069 Centerline is valid? [True, True] Translation: X:14.21, Y:-226.58, Z:-1.81 [[-2.49537912e-01 9.68361074e-01 2.76791041e-03 1.42069636e+01] [ 9.68296873e-01 2.49553242e-01 -1.11510197e-02 -2.26578971e+02] [-1.14889544e-02 -1.02443177e-04 -9.99933995e-01 -1.80507330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.626559995 meters 0.013015070273870248 Centerline is valid? [True, True] Translation: X:14.22, Y:-226.58, Z:-1.80 [[-3.28152677e-01 9.44616556e-01 3.92212432e-03 1.42181726e+01] [ 9.44543281e-01 3.28176078e-01 -1.17665728e-02 -2.26575624e+02] [-1.24020469e-02 -1.56616194e-04 -9.99923079e-01 -1.80393423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.65655999499995 meters 0.013962848698052534 Centerline is valid? [True, True] Translation: X:14.23, Y:-226.57, Z:-1.80 [[-4.02557413e-01 9.15380274e-01 5.14622354e-03 1.42270014e+01] [ 9.15299451e-01 4.02590263e-01 -1.21652993e-02 -2.26573690e+02] [-1.32076945e-02 -1.86895844e-04 -9.99912757e-01 -1.80232931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.686559995 meters 0.013415192838594846 Centerline is valid? [True, True] Translation: X:14.23, Y:-226.57, Z:-1.80 [[-4.74416439e-01 8.80279388e-01 6.10260886e-03 1.42346429e+01] [ 8.80200837e-01 4.74455642e-01 -1.17614368e-02 -2.26570045e+02] [-1.32487676e-02 -2.08297521e-04 -9.99912210e-01 -1.80366114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.71655999499995 meters 0.01419178429245464 Centerline is valid? [True, True] Translation: X:14.24, Y:-226.57, Z:-1.80 [[-5.42841051e-01 8.39805546e-01 7.08791779e-03 1.42442841e+01] [ 8.39728458e-01 5.42887276e-01 -1.13807552e-02 -2.26565559e+02] [-1.34055617e-02 -2.26014842e-04 -9.99910116e-01 -1.80264657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.746559995 meters 0.01404702125447154 Centerline is valid? [True, True] Translation: X:14.25, Y:-226.56, Z:-1.80 [[-6.07992345e-01 7.93897323e-01 8.50583843e-03 1.42512344e+01] [ 7.93813569e-01 6.08051785e-01 -1.15345359e-02 -2.26559810e+02] [-1.43292274e-02 -2.60859573e-04 -9.99897297e-01 -1.80318167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.77655999499996 meters 0.014117737839473865 Centerline is valid? [True, True] Translation: X:14.26, Y:-226.55, Z:-1.80 [[-6.68292659e-01 7.43835467e-01 9.68092507e-03 1.42567411e+01] [ 7.43751550e-01 6.68362720e-01 -1.11761327e-02 -2.26554590e+02] [-1.47835733e-02 -2.68724431e-04 -9.99890681e-01 -1.80299580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.80655999499993 meters 0.013927886361546404 Centerline is valid? [True, True] Translation: X:14.26, Y:-226.55, Z:-1.80 [[-7.24073719e-01 6.89639699e-01 1.06927711e-02 1.42609553e+01] [ 6.89559085e-01 7.24152620e-01 -1.05476148e-02 -2.26548675e+02] [-1.50172520e-02 -2.63953227e-04 -9.99887200e-01 -1.80309821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.83655999499996 meters 0.01301321235914619 Centerline is valid? [True, True] Translation: X:14.28, Y:-226.54, Z:-1.80 [[-7.68569296e-01 6.39660313e-01 1.16585351e-02 1.42837247e+01] [ 6.39582472e-01 7.68657686e-01 -9.98117234e-03 -2.26536278e+02] [-1.53459824e-02 -2.14627907e-04 -9.99882221e-01 -1.80373498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.86655999499993 meters 0.012724708142134031 Centerline is valid? [True, True] Translation: X:14.30, Y:-226.52, Z:-1.80 [[-8.10199196e-01 5.86025483e-01 1.23042768e-02 1.43035971e+01] [ 5.85954640e-01 8.10292603e-01 -9.11357119e-03 -2.26519607e+02] [-1.53108495e-02 -1.74059950e-04 -9.99882767e-01 -1.80389642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.89655999499996 meters 0.012724708142134031 Centerline is valid? [True, True] Translation: X:14.32, Y:-226.50, Z:-1.80 [[-8.49668656e-01 5.27158683e-01 1.29189048e-02 1.43187796e+01] [ 5.27094634e-01 8.49766846e-01 -8.21913979e-03 -2.26496395e+02] [-1.53108479e-02 -1.74060047e-04 -9.99882767e-01 -1.80389644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.92655999499993 meters 0.012343460692616942 Centerline is valid? [True, True] Translation: X:14.33, Y:-226.48, Z:-1.80 [[-8.83292728e-01 4.68636157e-01 1.31950226e-02 1.43319124e+01] [ 4.68581847e-01 8.83391271e-01 -7.13541198e-03 -2.26475405e+02] [-1.50002799e-02 -1.19709426e-04 -9.99887482e-01 -1.80441457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.95655999499996 meters 0.011983701597383893 Centerline is valid? [True, True] Translation: X:14.65, Y:-225.90, Z:-2.79 [[-8.43346480e-01 -5.37225900e-01 1.24517921e-02 1.46473093e+01] [ 5.37169100e-01 -8.43438393e-01 -7.81255022e-03 -2.25903627e+02] [ 1.46994238e-02 1.00031196e-04 9.99891953e-01 -2.78724736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.98655999499994 meters 0.012074291782099138 Centerline is valid? [True, True] Translation: X:14.30, Y:-226.47, Z:-1.81 [[-8.78722085e-01 4.77177139e-01 1.22260069e-02 1.42958121e+01] [ 4.77132143e-01 8.78807130e-01 -6.55335095e-03 -2.26468454e+02] [-1.38714113e-02 7.48466636e-05 -9.99903785e-01 -1.80664805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.01655999499997 meters 0.012909739715885162 Centerline is valid? [True, True] Translation: X:14.31, Y:-226.45, Z:-1.81 [[-9.08027998e-01 4.18728539e-01 1.23111921e-02 1.43085043e+01] [ 4.18692206e-01 9.08111441e-01 -5.51786108e-03 -2.26447721e+02] [-1.34904203e-02 1.44227818e-04 -9.99908990e-01 -1.80649203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.04655999499994 meters 0.01356649592422301 Centerline is valid? [True, True] Translation: X:14.60, Y:-225.83, Z:-2.78 [[-8.90379197e-01 -4.55067241e-01 1.17767413e-02 1.45954054e+01] [ 4.55025165e-01 -8.90457064e-01 -6.19005821e-03 -2.25831317e+02] [ 1.33035752e-02 -1.52785407e-04 9.99911492e-01 -2.78483649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.07655999499997 meters 0.01472109262062351 Centerline is valid? [True, True] Translation: X:14.27, Y:-226.44, Z:-1.81 [[-9.04844536e-01 4.25581478e-01 1.16949438e-02 1.42710511e+01] [ 4.25549922e-01 9.04920067e-01 -5.19008683e-03 -2.26439417e+02] [-1.27917941e-02 2.80560700e-04 -9.99918142e-01 -1.80864568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.10655999499994 meters 0.01774132490281501 Centerline is valid? [True, True] Translation: X:14.29, Y:-226.42, Z:-1.81 [[-9.28751396e-01 3.70502537e-01 1.21948673e-02 1.42869482e+01] [ 3.70476571e-01 9.28831357e-01 -4.40686262e-03 -2.26423336e+02] [-1.29597289e-02 4.25032819e-04 -9.99915929e-01 -1.80934849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.13655999499997 meters 0.020504447675176132 Centerline is valid? [True, True] Translation: X:14.54, Y:-225.76, Z:-2.78 [[-9.29969067e-01 -3.67446104e-01 1.18699705e-02 1.45373165e+01] [ 3.67410295e-01 -9.30044719e-01 -5.14737632e-03 -2.25759441e+02] [ 1.29309868e-02 -4.25751377e-04 9.99916301e-01 -2.78398239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.16655999499994 meters 0.021348832832609847 Centerline is valid? [True, True] Translation: X:14.25, Y:-226.42, Z:-1.81 [[-9.26526674e-01 3.76014003e-01 1.27197403e-02 1.42461224e+01] [ 3.75987003e-01 9.26613803e-01 -4.54241577e-03 -2.26416913e+02] [-1.34942989e-02 5.73787661e-04 -9.99908783e-01 -1.80901794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.196559995 meters 0.02470417012536108 Centerline is valid? [True, True] Translation: X:14.50, Y:-225.74, Z:-2.79 [[-9.35755745e-01 -3.52387613e-01 1.35703693e-02 1.44985815e+01] [ 3.52341852e-01 -9.35853973e-01 -5.70623385e-03 -2.25739782e+02] [ 1.47106901e-02 -5.58232071e-04 9.99891636e-01 -2.78500472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.22655999499995 meters 0.026167634536674176 Centerline is valid? [True, True] Translation: X:14.20, Y:-226.41, Z:-1.81 [[-9.23949798e-01 3.82243812e-01 1.43679513e-02 1.42041810e+01] [ 3.82211044e-01 9.24061154e-01 -5.06967026e-03 -2.26409523e+02] [-1.52147157e-02 8.07468846e-04 -9.99883924e-01 -1.80686545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.256559995 meters 0.026551633259990378 Centerline is valid? [True, True] Translation: X:14.45, Y:-225.72, Z:-2.79 [[-9.38830631e-01 -3.44076318e-01 1.44407040e-02 1.44523602e+01] [ 3.44022327e-01 -9.38941341e-01 -6.14793549e-03 -2.25722584e+02] [ 1.56743330e-02 -8.03945553e-04 9.99876827e-01 -2.78581063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.28655999499995 meters 0.028014613013185644 Centerline is valid? [True, True] Translation: X:14.16, Y:-226.39, Z:-1.81 [[-9.23637363e-01 3.82970574e-01 1.50851206e-02 1.41580323e+01] [ 3.82935588e-01 9.23760084e-01 -5.25767403e-03 -2.26394956e+02] [-1.59485667e-02 9.20445339e-04 -9.99872390e-01 -1.80694615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.316559995 meters 0.026133025929519698 Centerline is valid? [True, True] Translation: X:14.17, Y:-226.36, Z:-1.81 [[-9.48404325e-01 3.16677740e-01 1.56347475e-02 1.41667971e+01] [ 3.16650841e-01 9.48532726e-01 -4.23243590e-03 -2.26364506e+02] [-1.61703879e-02 9.36695428e-04 -9.99868812e-01 -1.80814413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.34655999499995 meters 0.0257028591786286 Centerline is valid? [True, True] Translation: X:14.17, Y:-226.33, Z:-1.81 [[-9.68634941e-01 2.47986657e-01 1.57787761e-02 1.41731225e+01] [ 2.47969121e-01 9.68763011e-01 -3.08930346e-03 -2.26334991e+02] [-1.60520007e-02 9.20241970e-04 -9.99870735e-01 -1.80847709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.376559995 meters 0.02762574795271017 Centerline is valid? [True, True] Translation: X:14.18, Y:-226.31, Z:-1.81 [[-9.84030825e-01 1.77311601e-01 1.56183120e-02 1.41753194e+01] [ 1.77303402e-01 9.84154368e-01 -1.91911167e-03 -2.26307492e+02] [-1.57111108e-02 8.80714825e-04 -9.99876185e-01 -1.80792595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.40655999499995 meters 0.02466849644973227 Centerline is valid? [True, True] Translation: X:14.17, Y:-226.27, Z:-1.81 [[-9.94616124e-01 1.02529639e-01 1.50478761e-02 1.41728413e+01] [ 1.02529677e-01 9.94729647e-01 -7.71037539e-04 -2.26271278e+02] [-1.50476227e-02 7.75967500e-04 -9.99886477e-01 -1.80897559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.436559995 meters 0.022649252267533504 Centerline is valid? [True, True] Translation: X:14.17, Y:-226.24, Z:-1.81 [[-9.99498734e-01 2.82194873e-02 1.43506553e-02 1.41664579e+01] [ 2.82265063e-02 9.99601512e-01 2.86760783e-04 -2.26237873e+02] [-1.43368445e-02 6.91685902e-04 -9.99896983e-01 -1.80948449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.46655999499995 meters 0.0219093340433132 Centerline is valid? [True, True] Translation: X:14.15, Y:-225.54, Z:-2.78 [[-9.99901918e-01 -2.77167107e-03 1.37284933e-02 1.41546391e+01] [ 2.76172962e-03 -9.99995910e-01 -7.43052383e-04 -2.25539847e+02] [ 1.37304966e-02 -7.05065116e-04 9.99905484e-01 -2.78317750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.496559995 meters 0.02032758023274681 Centerline is valid? [True, True] Translation: X:14.07, Y:-226.23, Z:-1.81 [[-9.99810544e-01 1.45923794e-02 1.28816893e-02 1.40688905e+01] [ 1.45978504e-02 9.99893391e-01 3.30783343e-04 -2.26231093e+02] [-1.28754891e-02 5.18765648e-04 -9.99916973e-01 -1.80984241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.52655999499996 meters 0.01724658640797229 Centerline is valid? [True, True] Translation: X:14.05, Y:-225.56, Z:-2.78 [[-9.99877315e-01 -1.09333168e-02 1.12168868e-02 1.40485975e+01] [ 1.09261486e-02 -9.99940063e-01 -7.00143338e-04 -2.25555032e+02] [ 1.12238693e-02 -5.77500069e-04 9.99936844e-01 -2.78165418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.55655999499993 meters 0.015731668591346632 Centerline is valid? [True, True] Translation: X:13.98, Y:-226.22, Z:-1.81 [[-9.99923513e-01 -5.52185036e-03 1.10669628e-02 1.39754412e+01] [-5.51836938e-03 9.99984714e-01 3.45050126e-04 -2.26218671e+02] [-1.10686990e-02 2.83952145e-04 -9.99938700e-01 -1.81094380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.58655999499996 meters 0.014473337406486245 Centerline is valid? [True, True] Translation: X:13.95, Y:-225.57, Z:-2.78 [[-9.99809454e-01 -1.59438953e-02 1.12626499e-02 1.39548433e+01] [ 1.59397880e-02 -9.99872850e-01 -4.54356220e-04 -2.25566829e+02] [ 1.12684620e-02 -2.74745394e-04 9.99936471e-01 -2.78226839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.61655999499993 meters 0.01211887409229707 Centerline is valid? [True, True] Translation: X:13.89, Y:-226.21, Z:-1.81 [[-9.99575928e-01 -2.65381765e-02 1.19870314e-02 1.38911962e+01] [-2.65348769e-02 9.99647794e-01 4.34251626e-04 -2.26205563e+02] [-1.19943337e-02 1.15993069e-04 -9.99928059e-01 -1.80935984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.64655999499996 meters 0.011695935862040624 Centerline is valid? [True, True] Translation: X:13.88, Y:-226.17, Z:-1.81 [[-9.94632716e-01 -1.02759687e-01 1.20915931e-02 1.38760875e+01] [-1.02751420e-01 9.94706210e-01 1.30463546e-03 -2.26173547e+02] [-1.21616467e-02 5.52047576e-05 -9.99926043e-01 -1.80787236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.67655999499993 meters 0.011310397662271031 Centerline is valid? [True, True] Translation: X:13.86, Y:-226.14, Z:-1.81 [[-9.83964237e-01 -1.77961812e-01 1.19988810e-02 1.38580006e+01] [-1.77948587e-01 9.84037394e-01 2.16951830e-03 -2.26142608e+02] [-1.21934390e-02 -4.55499242e-07 -9.99925657e-01 -1.80809757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.70655999499996 meters 0.01140611824375535 Centerline is valid? [True, True] Translation: X:13.83, Y:-226.12, Z:-1.81 [[-9.67553014e-01 -2.52380875e-01 1.20440837e-02 1.38298086e+01] [-2.52362039e-01 9.67627971e-01 3.08392105e-03 -2.26115427e+02] [-1.24325149e-02 -5.56123987e-05 -9.99922712e-01 -1.80758050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.73655999499994 meters 0.012061099076098258 Centerline is valid? [True, True] Translation: X:13.79, Y:-226.09, Z:-1.81 [[-9.44779315e-01 -3.27503665e-01 1.15496700e-02 1.37887340e+01] [-3.27480920e-01 9.44849899e-01 3.86211971e-03 -2.26091155e+02] [-1.21775629e-02 -1.33445734e-04 -9.99925842e-01 -1.80750519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.76655999499997 meters 0.012607632159234262 Centerline is valid? [True, True] Translation: X:13.73, Y:-226.08, Z:-1.81 [[-9.17455167e-01 -3.97682363e-01 1.11693339e-02 1.37334897e+01] [-3.97655031e-01 9.17523140e-01 4.66521533e-03 -2.26078939e+02] [-1.21033962e-02 -1.61415915e-04 -9.99926738e-01 -1.80706411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.79655999499994 meters 0.012824296185183697 Centerline is valid? [True, True] Translation: X:13.67, Y:-226.08, Z:-1.81 [[-8.84871280e-01 -4.65715730e-01 1.05677260e-02 1.36682838e+01] [-4.65684934e-01 8.84934363e-01 5.35869260e-03 -2.26076759e+02] [-1.18473713e-02 -1.79477629e-04 -9.99929801e-01 -1.80736790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.82655999499997 meters 0.012874478612112581 Centerline is valid? [True, True] Translation: X:13.60, Y:-226.08, Z:-1.81 [[-8.47668512e-01 -5.30436785e-01 9.74223908e-03 1.35957866e+01] [-5.30404206e-01 8.47724474e-01 5.88173886e-03 -2.26083946e+02] [-1.13786252e-02 -1.81559755e-04 -9.99935245e-01 -1.80775814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.85655999499994 meters 0.013045094775299597 Centerline is valid? [True, True] Translation: X:13.52, Y:-226.10, Z:-1.81 [[-8.05730666e-01 -5.92218784e-01 8.66055762e-03 1.35214157e+01] [-5.92186866e-01 8.05777191e-01 6.15095419e-03 -2.26097805e+02] [-1.06211904e-02 -1.72656057e-04 -9.99943579e-01 -1.80749889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.88655999499997 meters 0.013300984802791838 Centerline is valid? [True, True] Translation: X:13.44, Y:-226.12, Z:-1.81 [[-7.59558337e-01 -6.50387077e-01 8.23302984e-03 1.34410848e+01] [-6.50351272e-01 7.59602937e-01 6.82658182e-03 -2.26123813e+02] [-1.06937542e-02 -1.69174295e-04 -9.99942806e-01 -1.80710543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.91655999499994 meters 0.01253933932240767 Centerline is valid? [True, True] Translation: X:13.36, Y:-226.16, Z:-1.81 [[-7.09343979e-01 -7.04820857e-01 7.66015824e-03 1.33600217e+01] [-7.04782155e-01 7.09385321e-01 7.38785095e-03 -2.26160923e+02] [-1.06411153e-02 -1.58215237e-04 -9.99943369e-01 -1.80776173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.946559995 meters 0.012788466362011378 Centerline is valid? [True, True] Translation: X:13.28, Y:-226.21, Z:-1.81 [[-6.54929478e-01 -7.55656750e-01 7.08910630e-03 1.32782428e+01] [-7.55614943e-01 6.54967827e-01 7.95011248e-03 -2.26205335e+02] [-1.06506927e-02 -1.49871634e-04 -9.99943269e-01 -1.80672288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.97655999499995 meters 0.012247349060574833 Centerline is valid? [True, True] Translation: X:13.20, Y:-226.26, Z:-1.81 [[-5.97489457e-01 -8.01848005e-01 6.79166412e-03 1.31981251e+01] [-8.01798800e-01 5.97528040e-01 8.88403309e-03 -2.26262430e+02] [-1.11818540e-02 -1.37432035e-04 -9.99937472e-01 -1.80650958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.006559995 meters 0.01234211039876799 Centerline is valid? [True, True] Translation: X:13.12, Y:-226.33, Z:-1.81 [[-5.35614843e-01 -8.44440739e-01 6.04800426e-03 1.31181564e+01] [-8.44389619e-01 5.35648972e-01 9.29242798e-03 -2.26328129e+02] [-1.10865120e-02 -1.29709666e-04 -9.99938534e-01 -1.80611224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.03655999499995 meters 0.011806187904077947 Centerline is valid? [True, True] Translation: X:13.04, Y:-226.40, Z:-1.81 [[-4.70579429e-01 -8.82340618e-01 5.48038456e-03 1.30440273e+01] [-8.82283859e-01 4.70611323e-01 1.00087299e-02 -2.26401191e+02] [-1.14102400e-02 -1.25352423e-04 -9.99934893e-01 -1.80683369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.066559995 meters 0.01184288089595895 Centerline is valid? [True, True] Translation: X:12.97, Y:-226.48, Z:-1.81 [[-4.02689357e-01 -9.15324217e-01 4.78112054e-03 1.29732654e+01] [-9.15263222e-01 4.02717721e-01 1.05675194e-02 -2.26482993e+02] [-1.15981484e-02 -1.20556189e-04 -9.99932732e-01 -1.80630640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.09655999499995 meters 0.012061587031126385 Centerline is valid? [True, True] Translation: X:12.91, Y:-226.57, Z:-1.81 [[-3.32198383e-01 -9.43200709e-01 4.08120592e-03 1.29073830e+01] [-9.43133891e-01 3.32223430e-01 1.12274426e-02 -2.26571281e+02] [-1.19456040e-02 -1.19385346e-04 -9.99928642e-01 -1.80536621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.126559995 meters 0.011782757512097418 Centerline is valid? [True, True] Translation: X:12.85, Y:-226.67, Z:-1.81 [[-2.59840135e-01 -9.65646169e-01 3.25269260e-03 1.28490123e+01] [-9.65575966e-01 2.59860467e-01 1.16443488e-02 -2.26667290e+02] [-1.20895670e-02 -1.15052641e-04 -9.99926912e-01 -1.80614283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.15655999499995 meters 0.011677265513991333 Centerline is valid? [True, True] Translation: X:12.80, Y:-226.77, Z:-1.81 [[-1.86141639e-01 -9.82519949e-01 2.41667673e-03 1.27971429e+01] [-9.82444501e-01 1.86157295e-01 1.21763776e-02 -2.26771027e+02] [-1.24134159e-02 -1.07719896e-04 -9.99922945e-01 -1.80588775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.186559995 meters 0.011626958641574267 Centerline is valid? [True, True] Translation: X:12.76, Y:-226.88, Z:-1.81 [[-1.12670601e-01 -9.93631244e-01 1.51229568e-03 1.27559851e+01] [-9.93551238e-01 1.12680720e-01 1.26092493e-02 -2.26875625e+02] [-1.26993507e-02 -8.18515438e-05 -9.99919357e-01 -1.80544970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.21655999499995 meters 0.011417196666779865 Centerline is valid? [True, True] Translation: X:12.72, Y:-226.99, Z:-1.81 [[-3.78340071e-02 -9.99283901e-01 5.23361099e-04 1.27210518e+01] [-9.99209220e-01 3.78375780e-02 1.22168748e-02 -2.26991381e+02] [-1.22279290e-02 -6.07339091e-05 -9.99925234e-01 -1.80628927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.246559995 meters 0.011327981288841459 Centerline is valid? [True, True] Translation: X:12.69, Y:-227.10, Z:-1.81 [[ 3.71954148e-02 -9.99307928e-01 -4.06586468e-04 1.26948141e+01] [-9.99236076e-01 -3.71976160e-02 1.19834292e-02 -2.27099636e+02] [-1.19902599e-02 -3.94527535e-05 -9.99928114e-01 -1.80674777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.27655999499996 meters 0.011216228095412518 Centerline is valid? [True, True] Translation: X:12.68, Y:-227.21, Z:-1.81 [[ 1.12050380e-01 -9.93701776e-01 -1.22197988e-03 1.26774729e+01] [-9.93640778e-01 -1.12057041e-01 1.10101564e-02 -2.27213685e+02] [-1.10777434e-02 -1.94831706e-05 -9.99938640e-01 -1.80729152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.30655999499993 meters 0.011256406111800905 Centerline is valid? [True, True] Translation: X:12.67, Y:-227.33, Z:-1.81 [[ 1.84376127e-01 -9.82853932e-01 -1.89547474e-03 1.26707647e+01] [-9.82803002e-01 -1.84385869e-01 1.00055272e-02 -2.27326073e+02] [-1.01834705e-02 1.80979025e-05 -9.99948147e-01 -1.80881624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.33655999499996 meters 0.011344555855347962 Centerline is valid? [True, True] Translation: X:12.67, Y:-227.44, Z:-1.81 [[ 2.57489735e-01 -9.66277349e-01 -2.66856650e-03 1.26716240e+01] [-9.66226882e-01 -2.57503560e-01 9.87571880e-03 -2.27444635e+02] [-1.02298488e-02 3.55444718e-05 -9.99947673e-01 -1.80894998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.36655999499993 meters 0.011422122233764462 Centerline is valid? [True, True] Translation: X:12.68, Y:-227.56, Z:-1.81 [[ 3.29080462e-01 -9.44296476e-01 -3.19625604e-03 1.26810897e+01] [-9.44253410e-01 -3.29095980e-01 9.01856504e-03 -2.27560890e+02] [-9.56807420e-03 5.02421140e-05 -9.99954224e-01 -1.80921398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.39655999499996 meters 0.011805897786883532 Centerline is valid? [True, True] Translation: X:12.70, Y:-227.67, Z:-1.81 [[ 3.97343092e-01 -9.17662673e-01 -3.69961163e-03 1.26993919e+01] [-9.17624721e-01 -3.97360307e-01 8.34613594e-03 -2.27670680e+02] [-9.12901622e-03 7.85756314e-05 -9.99958327e-01 -1.81034482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.42655999499993 meters 0.012122375273115995 Centerline is valid? [True, True] Translation: X:12.73, Y:-227.78, Z:-1.81 [[ 4.65279721e-01 -8.85153120e-01 -4.32847125e-03 1.27253647e+01] [-8.85116611e-01 -4.65299845e-01 8.03985662e-03 -2.27783125e+02] [-9.13054118e-03 9.04195614e-05 -9.99958312e-01 -1.81013931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.45655999499996 meters 0.012368942356993637 Centerline is valid? [True, True] Translation: X:12.76, Y:-227.89, Z:-1.81 [[ 5.30468045e-01 -8.47689178e-01 -5.16822637e-03 1.27590440e+01] [-8.47650889e-01 -5.30493210e-01 8.05763048e-03 -2.27892505e+02] [-9.57207516e-03 1.06536192e-04 -9.99954181e-01 -1.80983230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.48655999499994 meters 0.013055935030336693 Centerline is valid? [True, True] Translation: X:12.80, Y:-227.99, Z:-1.81 [[ 5.90537274e-01 -8.06988150e-01 -5.98785084e-03 1.27982662e+01] [-8.06949188e-01 -5.90567612e-01 7.93113069e-03 -2.27992189e+02] [-9.93655925e-03 1.48263082e-04 -9.99950620e-01 -1.80990941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.51655999499997 meters 0.013617941896866792 Centerline is valid? [True, True] Translation: X:12.85, Y:-228.09, Z:-1.81 [[ 6.48478644e-01 -7.61202656e-01 -6.77976276e-03 1.28458689e+01] [-7.61163884e-01 -6.48514060e-01 7.68480086e-03 -2.28091066e+02] [-1.02464623e-02 1.77081319e-04 -9.99947488e-01 -1.81009166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.54655999499994 meters 0.014320461098032384 Centerline is valid? [True, True] Translation: X:12.90, Y:-228.18, Z:-1.81 [[ 7.02702333e-01 -7.11444503e-01 -7.49335146e-03 1.28966371e+01] [-7.11407166e-01 -7.02742255e-01 7.29165037e-03 -2.28181205e+02] [-1.04534993e-02 2.06964201e-04 -9.99945339e-01 -1.81035327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.57655999499997 meters 0.015881703789216328 Centerline is valid? [True, True] Translation: X:12.90, Y:-228.19, Z:-1.81 [[ 7.52403844e-01 -6.58651281e-01 -8.18204123e-03 1.28979294e+01] [-6.58616218e-01 -7.52448281e-01 6.80155376e-03 -2.28186820e+02] [-1.06364150e-02 2.71309856e-04 -9.99943395e-01 -1.81097874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.60655999499994 meters 0.01668550948812097 Centerline is valid? [True, True] Translation: X:12.90, Y:-228.19, Z:-1.81 [[ 7.99798219e-01 -6.00208683e-01 -8.50563853e-03 1.28968678e+01] [-6.00178653e-01 -7.99843390e-01 6.01124170e-03 -2.28194466e+02] [-1.04111782e-02 2.97122272e-04 -9.99945758e-01 -1.81135468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.63655999499997 meters 0.017784636172339444 Centerline is valid? [True, True] Translation: X:12.90, Y:-228.20, Z:-1.81 [[ 8.42807770e-01 -5.38142303e-01 -8.82749277e-03 1.28973459e+01] [-5.38116740e-01 -8.42853937e-01 5.25504372e-03 -2.28201658e+02] [-1.02682484e-02 3.21229950e-04 -9.99947229e-01 -1.81138109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.66655999499994 meters 0.019213964635869468 Centerline is valid? [True, True] Translation: X:12.90, Y:-228.21, Z:-1.81 [[ 8.81046386e-01 -4.72948561e-01 -8.77063076e-03 1.28977206e+01] [-4.72928844e-01 -8.81089978e-01 4.33129774e-03 -2.28207490e+02] [-9.77619590e-03 3.31810039e-04 -9.99952157e-01 -1.81132006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.696559995 meters 0.01905450425719182 Centerline is valid? [True, True] Translation: X:12.90, Y:-228.22, Z:-1.81 [[ 9.13662786e-01 -4.06381198e-01 -8.63912085e-03 1.28974166e+01] [-4.06366667e-01 -9.13703560e-01 3.45478992e-03 -2.28217818e+02] [-9.29755715e-03 3.54137759e-04 -9.99956714e-01 -1.81265684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.72655999499995 meters 0.021815575159604347 Centerline is valid? [True, True] Translation: X:12.90, Y:-228.22, Z:-1.81 [[ 9.42131571e-01 -3.35129858e-01 -8.72241879e-03 1.28977888e+01] [-3.35119024e-01 -9.42171878e-01 2.71883915e-03 -2.28224010e+02] [-9.12918187e-03 3.61544270e-04 -9.99958263e-01 -1.81231041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.756559995 meters 0.020002675969968846 Centerline is valid? [True, True] Translation: X:12.90, Y:-228.24, Z:-1.81 [[ 9.65206067e-01 -2.61361101e-01 -8.22339200e-03 1.28974579e+01] [-2.61354617e-01 -9.65241036e-01 1.87250095e-03 -2.28236878e+02] [-8.42695433e-03 3.41872191e-04 -9.99964434e-01 -1.81331828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.78655999499995 meters 0.020928743823209785 Centerline is valid? [True, True] Translation: X:12.89, Y:-228.25, Z:-1.81 [[ 9.82683605e-01 -1.85142130e-01 -7.43798833e-03 1.28949223e+01] [-1.85139175e-01 -9.82711707e-01 1.08981713e-03 -2.28245519e+02] [-7.51116926e-03 3.06117602e-04 -9.99971744e-01 -1.81354284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.816559995 meters 0.020928743823209785 Centerline is valid? [True, True] Translation: X:12.89, Y:-228.25, Z:-1.81 [[ 9.94158359e-01 -1.07670332e-01 -7.50045569e-03 1.28933410e+01] [-1.07669586e-01 -9.94186605e-01 5.04399409e-04 -2.28254026e+02] [-7.51116143e-03 3.06118069e-04 -9.99971744e-01 -1.81354291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.84655999499995 meters 0.02063443730674666 Centerline is valid? [True, True] Translation: X:12.89, Y:-228.26, Z:-1.81 [[ 9.99561173e-01 -2.86179200e-02 -7.64692616e-03 1.28928553e+01] [-2.86194125e-02 -9.99590377e-01 -8.57965799e-05 -2.28264023e+02] [-7.64133849e-03 3.04609464e-04 -9.99970758e-01 -1.81321348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.876559995 meters 0.019679471531193014 Centerline is valid? [True, True] Translation: X:12.89, Y:-228.28, Z:-1.81 [[ 9.98646856e-01 5.14173306e-02 -7.79203750e-03 1.28931284e+01] [ 5.14134305e-02 -9.98677210e-01 -7.00149193e-04 -2.28275899e+02] [-7.81773007e-03 2.98586411e-04 -9.99969397e-01 -1.81273605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.90655999499995 meters 0.018588799524050646 Centerline is valid? [True, True] Translation: X:12.90, Y:-228.29, Z:-1.81 [[ 9.91256207e-01 1.31684770e-01 -8.38179394e-03 1.28951019e+01] [ 1.31677454e-01 -9.91291596e-01 -1.42111339e-03 -2.28289153e+02] [-8.49594088e-03 3.04994173e-04 -9.99963862e-01 -1.81225592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.936559995 meters 0.016501863933783556 Centerline is valid? [True, True] Translation: X:12.90, Y:-228.31, Z:-1.81 [[ 9.76539674e-01 2.15086678e-01 -1.03916701e-02 1.28989823e+01] [ 2.15071047e-01 -9.76594911e-01 -2.61224858e-03 -2.28305624e+02] [-1.07103120e-02 3.16017010e-04 -9.99942593e-01 -1.81124825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.96655999499995 meters 0.016069000374920202 Centerline is valid? [True, True] Translation: X:12.90, Y:-228.32, Z:-1.81 [[ 9.55608692e-01 2.94449112e-01 -1.05710823e-02 1.29027082e+01] [ 2.94427764e-01 -9.55667117e-01 -3.55722655e-03 -2.28317185e+02] [-1.11498579e-02 2.86896492e-04 -9.99937797e-01 -1.81034070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.996559995 meters 0.015376135036620636 Centerline is valid? [True, True] Translation: X:12.91, Y:-228.33, Z:-1.81 [[ 9.28144190e-01 3.72055671e-01 -1.10878198e-02 1.29069134e+01] [ 3.72025732e-01 -9.28210380e-01 -4.72712660e-03 -2.28327605e+02] [-1.20505837e-02 2.62500807e-04 -9.99927355e-01 -1.80944468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.02655999499996 meters 0.012966718811210825 Centerline is valid? [True, True] Translation: X:12.92, Y:-228.34, Z:-1.81 [[ 8.92753296e-01 4.50423644e-01 -1.04925627e-02 1.29161217e+01] [ 4.50390331e-01 -8.92814938e-01 -5.48053885e-03 -2.28343729e+02] [-1.18364810e-02 1.67020318e-04 -9.99929933e-01 -1.80966387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.05655999499993 meters 0.012569544038141684 Centerline is valid? [True, True] Translation: X:12.92, Y:-228.35, Z:-1.81 [[ 8.52921420e-01 5.21949040e-01 -9.70830664e-03 1.29225669e+01] [ 5.21913612e-01 -8.52976661e-01 -6.08249508e-03 -2.28353781e+02] [-1.14557115e-02 1.20992956e-04 -9.99934374e-01 -1.80915120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.08655999499996 meters 0.011824473228089667 Centerline is valid? [True, True] Translation: X:12.93, Y:-228.36, Z:-1.81 [[ 8.07533672e-01 5.89757413e-01 -8.69263999e-03 1.29315651e+01] [ 5.89722188e-01 -8.07580453e-01 -6.44616858e-03 -2.28363227e+02] [-1.08216818e-02 7.92555046e-05 -9.99941441e-01 -1.80977650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.11655999499993 meters 0.011585242442533762 Centerline is valid? [True, True] Translation: X:12.94, Y:-228.37, Z:-1.81 [[ 7.57027001e-01 6.53340011e-01 -7.54651808e-03 1.29392807e+01] [ 6.53306964e-01 -7.57064613e-01 -6.57138109e-03 -2.28370741e+02] [-1.00065480e-02 4.45201014e-05 -9.99949932e-01 -1.80986936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.14655999499996 meters 0.011239385710501846 Centerline is valid? [True, True] Translation: X:12.95, Y:-228.38, Z:-1.81 [[ 7.00439527e-01 7.13687059e-01 -5.93722334e-03 1.29513461e+01] [ 7.13661420e-01 -7.00464690e-01 -6.04936763e-03 -2.28378972e+02] [-8.47617070e-03 4.89669635e-08 -9.99964077e-01 -1.81138243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.17655999499993 meters 0.011267357368245358 Centerline is valid? [True, True] Translation: X:12.96, Y:-228.38, Z:-1.81 [[ 6.40961340e-01 7.67554647e-01 -5.33148632e-03 1.29615638e+01] [ 7.67528297e-01 -6.40983513e-01 -6.35994133e-03 -2.28384280e+02] [-8.29899735e-03 -1.55900978e-05 -9.99965563e-01 -1.81127851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.20655999499996 meters 0.011384800149875477 Centerline is valid? [True, True] Translation: X:12.97, Y:-228.39, Z:-1.81 [[ 5.77647327e-01 8.16270296e-01 -5.13522222e-03 1.29708798e+01] [ 8.16238508e-01 -5.77670151e-01 -7.20378594e-03 -2.28389235e+02] [-8.84670108e-03 -3.03184246e-05 -9.99960867e-01 -1.81018836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.23655999499994 meters 0.011687953959795619 Centerline is valid? [True, True] Translation: X:12.98, Y:-228.39, Z:-1.81 [[ 5.09570243e-01 8.60414558e-01 -4.99550283e-03 1.29796430e+01] [ 8.60374371e-01 -5.09594725e-01 -8.31611052e-03 -2.28392497e+02] [-9.70098445e-03 -6.03601453e-05 -9.99952943e-01 -1.80871182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.26655999499997 meters 0.011643061088437249 Centerline is valid? [True, True] Translation: X:12.99, Y:-228.39, Z:-1.81 [[ 4.39387394e-01 8.98285493e-01 -4.67880391e-03 1.29897935e+01] [ 8.98236486e-01 -4.39412297e-01 -9.38341949e-03 -2.28394403e+02] [-1.04849136e-02 -7.97161502e-05 -9.99945029e-01 -1.80932133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.29655999499994 meters 0.011706785551022482 Centerline is valid? [True, True] Translation: X:13.00, Y:-228.40, Z:-1.81 [[ 3.66515809e-01 9.30403877e-01 -3.84539465e-03 1.30011750e+01] [ 9.30355245e-01 -3.66535970e-01 -9.51314841e-03 -2.28395844e+02] [-1.02605456e-02 -9.08637961e-05 -9.99947355e-01 -1.80927307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.32655999499997 meters 0.012165519584013252 Centerline is valid? [True, True] Translation: X:13.01, Y:-228.40, Z:-1.81 [[ 2.89505820e-01 9.57170532e-01 -3.30967479e-03 1.30140783e+01] [ 9.57113085e-01 -2.89524708e-01 -1.04874106e-02 -2.28397254e+02] [-1.09964730e-02 -1.31566658e-04 -9.99939528e-01 -1.80879983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.35655999499994 meters 0.012560956356689943 Centerline is valid? [True, True] Translation: X:13.02, Y:-228.40, Z:-1.81 [[ 2.12284930e-01 9.77204445e-01 -2.56557968e-03 1.30247720e+01] [ 9.77141489e-01 -2.12300378e-01 -1.10932537e-02 -2.28398114e+02] [-1.13850504e-02 -1.52003758e-04 -9.99935177e-01 -1.80828006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.38655999499997 meters 0.012781912870896696 Centerline is valid? [True, True] Translation: X:13.03, Y:-228.40, Z:-1.81 [[ 1.33988908e-01 9.90981298e-01 -1.74345324e-03 1.30342806e+01] [ 9.90913124e-01 -1.34000143e-01 -1.16250364e-02 -2.28396799e+02] [-1.17538166e-02 -1.69984762e-04 -9.99930907e-01 -1.80793429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.41655999499994 meters 0.013216306474700066 Centerline is valid? [True, True] Translation: X:13.04, Y:-228.40, Z:-1.81 [[ 5.48699831e-02 9.98493072e-01 -9.32695790e-04 1.30426959e+01] [ 9.98405636e-01 -5.48775226e-02 -1.32152977e-02 -2.28395233e+02] [-1.32465672e-02 -2.06085573e-04 -9.99912239e-01 -1.80653487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.446559995 meters 0.012840949716387398 Centerline is valid? [True, True] Translation: X:13.05, Y:-228.39, Z:-1.81 [[-2.33400013e-02 9.99727579e-01 1.07066196e-04 1.30503296e+01] [ 9.99636202e-01 2.33393157e-02 -1.35181475e-02 -2.28392537e+02] [-1.35169637e-02 -2.08486334e-04 -9.99908620e-01 -1.80665717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.47655999499995 meters 0.014021159034323905 Centerline is valid? [True, True] Translation: X:13.06, Y:-228.39, Z:-1.80 [[-1.01058090e-01 9.94879785e-01 1.21521221e-03 1.30593820e+01] [ 9.94780698e-01 1.01065177e-01 -1.40425671e-02 -2.28389610e+02] [-1.40934818e-02 -2.10245365e-04 -9.99900660e-01 -1.80431570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.506559995 meters 0.013129302966008102 Centerline is valid? [True, True] Translation: X:13.06, Y:-228.39, Z:-1.81 [[-1.77731581e-01 9.84076184e-01 2.35583618e-03 1.30612274e+01] [ 9.83974199e-01 1.77747081e-01 -1.41686636e-02 -2.28386858e+02] [-1.43617874e-02 -2.00136971e-04 -9.99896844e-01 -1.80549595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.53655999499995 meters 0.012560376022544801 Centerline is valid? [True, True] Translation: X:13.07, Y:-228.38, Z:-1.81 [[-2.53111200e-01 9.67430864e-01 3.49923257e-03 1.30655717e+01] [ 9.67328033e-01 2.53135319e-01 -1.41062531e-02 -2.28382936e+02] [-1.45326040e-02 -1.85544899e-04 -9.99894379e-01 -1.80638526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.566559995 meters 0.012354862249394867 Centerline is valid? [True, True] Translation: X:13.07, Y:-228.38, Z:-1.81 [[-3.26958677e-01 9.45027988e-01 4.48609687e-03 1.30704577e+01] [ 9.44932045e-01 3.26989410e-01 -1.34668752e-02 -2.28379321e+02] [-1.41934802e-02 -1.64055013e-04 -9.99899254e-01 -1.80656933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.59655999499995 meters 0.01232663087220145 Centerline is valid? [True, True] Translation: X:13.07, Y:-228.38, Z:-1.81 [[-3.97448956e-01 9.17608025e-01 5.46256732e-03 1.30731641e+01] [ 9.17517068e-01 3.97486474e-01 -1.29202921e-02 -2.28377021e+02] [-1.40270604e-02 -1.23157868e-04 -9.99901608e-01 -1.80587437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.626559995 meters 0.011808263375382967 Centerline is valid? [True, True] Translation: X:13.08, Y:-228.37, Z:-1.81 [[-4.66749215e-01 8.84366775e-01 6.37001156e-03 1.30753691e+01] [ 8.84281491e-01 4.66792670e-01 -1.22820235e-02 -2.28373800e+02] [-1.38352882e-02 -9.97415132e-05 -9.99904283e-01 -1.80709394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.65655999499995 meters 0.011480976239837131 Centerline is valid? [True, True] Translation: X:13.08, Y:-228.37, Z:-1.81 [[-5.33102609e-01 8.46021500e-01 7.01638791e-03 1.30794617e+01] [ 8.45946436e-01 5.33148775e-01 -1.12699579e-02 -2.28369205e+02] [-1.32754053e-02 -7.25556399e-05 -9.99911875e-01 -1.80806782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.686559995 meters 0.011453811604257924 Centerline is valid? [True, True] Translation: X:13.08, Y:-228.37, Z:-1.81 [[-5.94809019e-01 8.03833668e-01 7.32566815e-03 1.30811064e+01] [ 8.03772241e-01 5.94854128e-01 -9.93736451e-03 -2.28367533e+02] [-1.23456921e-02 -2.26653268e-05 -9.99923789e-01 -1.80843555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.71655999499995 meters 0.01134646959784704 Centerline is valid? [True, True] Translation: X:13.08, Y:-228.36, Z:-1.81 [[-6.54717522e-01 7.55831303e-01 8.00054707e-03 1.30842216e+01] [ 7.55774834e-01 6.54766403e-01 -9.23891651e-03 -2.28363927e+02] [-1.22215517e-02 -2.26838165e-06 -9.99925314e-01 -1.80913679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.746559995 meters 0.011358523465111599 Centerline is valid? [True, True] Translation: X:13.09, Y:-228.36, Z:-1.81 [[-7.10906354e-01 7.03236175e-01 8.42833766e-03 1.30876419e+01] [ 7.03186996e-01 7.10956315e-01 -8.31670505e-03 -2.28361182e+02] [-1.18407877e-02 1.42989705e-05 -9.99929895e-01 -1.80937382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.77655999499996 meters 0.011428837999757021 Centerline is valid? [True, True] Translation: X:13.10, Y:-228.34, Z:-1.81 [[-7.57369000e-01 6.52928922e-01 8.71898809e-03 1.30969955e+01] [ 6.52886277e-01 7.57419185e-01 -7.46239965e-03 -2.28338774e+02] [-1.14763454e-02 4.07175155e-05 -9.99934144e-01 -1.81041063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.80655999499993 meters 0.011446194424308226 Centerline is valid? [True, True] Translation: X:13.12, Y:-228.33, Z:-1.81 [[-8.01040614e-01 5.98542209e-01 9.00878030e-03 1.31225093e+01] [ 5.98505093e-01 8.01091269e-01 -6.66580688e-03 -2.28326359e+02] [-1.12066220e-02 5.22188481e-05 -9.99937203e-01 -1.81073309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.83655999499996 meters 0.011594264165749131 Centerline is valid? [True, True] Translation: X:13.14, Y:-228.31, Z:-1.81 [[-8.40464327e-01 5.41781597e-01 9.61333902e-03 1.31414063e+01] [ 5.41747067e-01 8.40519302e-01 -6.11703326e-03 -2.28308418e+02] [-1.13942930e-02 6.68499768e-05 -9.99935081e-01 -1.81068821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.86655999499993 meters 0.011749675033502318 Centerline is valid? [True, True] Translation: X:13.15, Y:-228.29, Z:-1.81 [[-8.76035834e-01 4.82140843e-01 1.00709647e-02 1.31516915e+01] [ 4.82110080e-01 8.76093717e-01 -5.44706839e-03 -2.28285372e+02] [-1.14493631e-02 8.34865048e-05 -9.99934450e-01 -1.81098405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.89655999499996 meters 0.012023691673448385 Centerline is valid? [True, True] Translation: X:13.16, Y:-228.26, Z:-1.81 [[-9.07246351e-01 4.20461013e-01 1.07978865e-02 1.31647015e+01] [ 4.20432637e-01 9.07310600e-01 -4.88601387e-03 -2.28264337e+02] [-1.18514152e-02 1.06965646e-04 -9.99929764e-01 -1.81104349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.92655999499993 meters 0.012881214660461772 Centerline is valid? [True, True] Translation: X:13.17, Y:-228.24, Z:-1.81 [[-9.33211661e-01 3.59153193e-01 1.11794786e-02 1.31715588e+01] [ 3.59129469e-01 9.33278607e-01 -4.13109693e-03 -2.28243783e+02] [-1.19172649e-02 1.59692394e-04 -9.99928974e-01 -1.81089288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.95655999499996 meters 0.013222556350460853 Centerline is valid? [True, True] Translation: X:13.18, Y:-228.22, Z:-1.81 [[-9.55644537e-01 2.94301982e-01 1.13956876e-02 1.31798115e+01] [ 2.94283382e-01 9.55712461e-01 -3.31396703e-03 -2.28219815e+02] [-1.18663077e-02 1.86586993e-04 -9.99929576e-01 -1.81151360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.98655999499994 meters 0.013889306660552787 Centerline is valid? [True, True] Translation: X:13.19, Y:-228.20, Z:-1.81 [[-9.73490864e-01 2.28442570e-01 1.13811305e-02 1.31904128e+01] [ 2.28429492e-01 9.73557367e-01 -2.45349837e-03 -2.28196842e+02] [-1.16406669e-02 2.11327611e-04 -9.99932223e-01 -1.81179916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.01655999499997 meters 0.015194384023569029 Centerline is valid? [True, True] Translation: X:13.35, Y:-227.52, Z:-2.78 [[-9.67142763e-01 -2.53997023e-01 1.09721377e-02 1.33474114e+01] [ 2.53978078e-01 -9.67204975e-01 -3.11001855e-03 -2.27521039e+02] [ 1.14022417e-02 -2.21149477e-04 9.99934968e-01 -2.78038849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.04655999499994 meters 0.01586548587508575 Centerline is valid? [True, True] Translation: X:13.15, Y:-228.20, Z:-1.81 [[-9.72851545e-01 2.31176535e-01 1.08296395e-02 1.31465618e+01] [ 2.31165365e-01 9.72911781e-01 -2.28928502e-03 -2.28195399e+02] [-1.10655129e-02 2.76303106e-04 -9.99938737e-01 -1.81234588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.07655999499997 meters 0.01640550687555143 Centerline is valid? [True, True] Translation: X:13.15, Y:-228.17, Z:-1.81 [[-9.86456787e-01 1.63699697e-01 1.02673009e-02 1.31500925e+01] [ 1.63693794e-01 9.86510177e-01 -1.41844505e-03 -2.28169304e+02] [-1.03609958e-02 2.81458685e-04 -9.99946284e-01 -1.81287941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.10655999499994 meters 0.01796316653489005 Centerline is valid? [True, True] Translation: X:13.25, Y:-227.47, Z:-2.78 [[-9.84835816e-01 -1.73248179e-01 9.13690292e-03 1.32534201e+01] [ 1.73237732e-01 -9.84878149e-01 -1.92874419e-03 -2.27465646e+02] [ 9.33288746e-03 -3.16640016e-04 9.99956398e-01 -2.77901533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.13655999499997 meters 0.018614537269956495 Centerline is valid? [True, True] Translation: X:13.09, Y:-228.17, Z:-1.81 [[-9.86505421e-01 1.63458765e-01 9.39610097e-03 1.30886191e+01] [ 1.63454220e-01 9.86550122e-01 -1.25479040e-03 -2.28166995e+02] [-9.47483105e-03 2.97974822e-04 -9.99955068e-01 -1.81364016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.16655999499994 meters 0.016881090596232644 Centerline is valid? [True, True] Translation: X:13.09, Y:-228.14, Z:-1.81 [[-9.95619263e-01 9.30412863e-02 9.25217614e-03 1.30904849e+01] [ 9.30399940e-02 9.95662209e-01 -5.70930043e-04 -2.28135812e+02] [-9.26516220e-03 2.92393464e-04 -9.99957035e-01 -1.81428451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.196559995 meters 0.017111422603608966 Centerline is valid? [True, True] Translation: X:13.14, Y:-227.43, Z:-2.78 [[-9.95149888e-01 -9.79268328e-02 9.32934504e-03 1.31356689e+01] [ 9.79198162e-02 -9.95193576e-01 -1.20702721e-03 -2.27425182e+02] [ 9.40270460e-03 -2.87645240e-04 9.99955752e-01 -2.77897894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.22655999499995 meters 0.016761521836877482 Centerline is valid? [True, True] Translation: X:13.02, Y:-228.13, Z:-1.81 [[-9.96235596e-01 8.61752812e-02 9.40521012e-03 1.30151031e+01] [ 8.61740650e-02 9.96279953e-01 -5.35241490e-04 -2.28129204e+02] [-9.41634688e-03 2.77258564e-04 -9.99955627e-01 -1.81352703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.256559995 meters 0.016294085646963025 Centerline is valid? [True, True] Translation: X:13.06, Y:-227.42, Z:-2.78 [[-9.95239310e-01 -9.70165832e-02 9.30044021e-03 1.30590062e+01] [ 9.70097243e-02 -9.95282726e-01 -1.18685855e-03 -2.27423757e+02] [ 9.37171245e-03 -2.78975141e-04 9.99956046e-01 -2.77987429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.28655999499995 meters 0.014883969692925676 Centerline is valid? [True, True] Translation: X:12.94, Y:-228.12, Z:-1.81 [[-9.97020294e-01 7.65488202e-02 9.52946052e-03 1.29434705e+01] [ 7.65475574e-02 9.97065807e-01 -4.97716216e-04 -2.28119947e+02] [-9.53959883e-03 2.33223758e-04 -9.99954470e-01 -1.81270999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.316559995 meters 0.013540218165696224 Centerline is valid? [True, True] Translation: X:12.94, Y:-228.09, Z:-1.81 [[-9.99947994e-01 -1.14773953e-03 1.01337529e-02 1.29381857e+01] [-1.14584851e-03 9.99999325e-01 1.92410222e-04 -2.28086547e+02] [-1.01339669e-02 1.80788470e-04 -9.99948634e-01 -1.81175414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.34655999499995 meters 0.01274985017229523 Centerline is valid? [True, True] Translation: X:12.92, Y:-227.40, Z:-2.78 [[-9.99357968e-01 -3.42462509e-02 1.05283323e-02 1.29183994e+01] [ 3.42426662e-02 -9.99413412e-01 -5.20612740e-04 -2.27401580e+02] [ 1.05399855e-02 -1.59760322e-04 9.99944440e-01 -2.78124787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.376559995 meters 0.012103655422076606 Centerline is valid? [True, True] Translation: X:12.84, Y:-228.08, Z:-1.81 [[-9.99849522e-01 -1.40685342e-02 1.01493412e-02 1.28443001e+01] [-1.40667227e-02 9.99901028e-01 2.49846231e-04 -2.28081291e+02] [-1.01518517e-02 1.07040666e-04 -9.99948463e-01 -1.81127312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.40655999499995 meters 0.011611050669364307 Centerline is valid? [True, True] Translation: X:12.83, Y:-227.41, Z:-2.78 [[-9.99312498e-01 -3.57087477e-02 9.97081686e-03 1.28301148e+01] [ 3.57058008e-02 -9.99362232e-01 -4.73470856e-04 -2.27409502e+02] [ 9.98136485e-03 -1.17129343e-04 9.99950178e-01 -2.78147203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.436559995 meters 0.011262605852100083 Centerline is valid? [True, True] Translation: X:12.76, Y:-228.07, Z:-1.81 [[-9.99545357e-01 -2.86679922e-02 9.33947147e-03 1.27629239e+01] [-2.86666467e-02 9.99588989e-01 2.77924125e-04 -2.28074154e+02] [-9.34360037e-03 1.00664397e-05 -9.99956348e-01 -1.81033604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.46655999499995 meters 0.011241168360610608 Centerline is valid? [True, True] Translation: X:12.75, Y:-228.04, Z:-1.81 [[-9.94715587e-01 -1.02281574e-01 8.90958037e-03 1.27510050e+01] [-1.02277592e-01 9.94755487e-01 9.02601898e-04 -2.28044620e+02] [-8.95517350e-03 -1.34182529e-05 -9.99959902e-01 -1.81011169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.496559995 meters 0.011675176270219847 Centerline is valid? [True, True] Translation: X:12.74, Y:-228.01, Z:-1.81 [[-9.84037448e-01 -1.77781639e-01 7.99939928e-03 1.27363968e+01] [-1.77776193e-01 9.84069960e-01 1.39248677e-03 -2.28014384e+02] [-8.11952711e-03 -5.18436206e-05 -9.99967035e-01 -1.80986198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.52655999499996 meters 0.011854395578698086 Centerline is valid? [True, True] Translation: X:12.71, Y:-227.99, Z:-1.81 [[-9.68158708e-01 -2.50210426e-01 7.96612080e-03 1.27123339e+01] [-2.50202567e-01 9.68191478e-01 1.98448955e-03 -2.27989207e+02] [-8.20927024e-03 -7.18430334e-05 -9.99966301e-01 -1.81009919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.55655999499993 meters 0.012409384790763837 Centerline is valid? [True, True] Translation: X:12.68, Y:-227.97, Z:-1.81 [[-9.46850281e-01 -3.21591892e-01 7.29381553e-03 1.26765634e+01] [-3.21583047e-01 9.46878370e-01 2.38673199e-03 -2.27968056e+02] [-7.67390981e-03 -8.56895679e-05 -9.99970552e-01 -1.80969649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.58655999499996 meters 0.012702856736699623 Centerline is valid? [True, True] Translation: X:12.62, Y:-227.96, Z:-1.81 [[-9.19978197e-01 -3.91907460e-01 6.97568071e-03 1.26203672e+01] [-3.91897031e-01 9.20004637e-01 2.86089379e-03 -2.27957677e+02] [-7.53886421e-03 -1.01788655e-04 -9.99971577e-01 -1.81029649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.61655999499993 meters 0.012922910659473071 Centerline is valid? [True, True] Translation: X:12.56, Y:-227.95, Z:-1.81 [[-8.87686718e-01 -4.60407483e-01 6.10252395e-03 1.25569211e+01] [-4.60397426e-01 8.87707687e-01 3.04494214e-03 -2.27954981e+02] [-6.81917157e-03 -1.06631625e-04 -9.99976744e-01 -1.81062250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.64655999499996 meters 0.014046071239017374 Centerline is valid? [True, True] Translation: X:12.49, Y:-227.96, Z:-1.81 [[-8.49268951e-01 -5.27926647e-01 5.97536528e-03 1.24851491e+01] [-5.27914685e-01 8.49289961e-01 3.55641020e-03 -2.27958402e+02] [-6.95234145e-03 -1.34134313e-04 -9.99975823e-01 -1.81019381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.67655999499993 meters 0.01455674810844088 Centerline is valid? [True, True] Translation: X:12.41, Y:-227.97, Z:-1.81 [[-8.06835155e-01 -5.90748778e-01 5.73710267e-03 1.24061868e+01] [-5.90735113e-01 8.06855539e-01 4.02076984e-03 -2.27974317e+02] [-7.00427793e-03 -1.45009541e-04 -9.99975459e-01 -1.80963268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.70655999499996 meters 0.01455674810844088 Centerline is valid? [True, True] Translation: X:12.33, Y:-228.00, Z:-1.81 [[-7.60405958e-01 -6.49425437e-01 5.42040558e-03 1.23251919e+01] [-6.49410285e-01 7.60425263e-01 4.43849491e-03 -2.28000998e+02] [-7.00428483e-03 -1.45009157e-04 -9.99975459e-01 -1.80963242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.73655999499994 meters 0.01519389430546567 Centerline is valid? [True, True] Translation: X:12.24, Y:-228.04, Z:-1.81 [[-7.08431079e-01 -7.05760949e-01 5.18541612e-03 1.22428802e+01] [-7.05743667e-01 7.08450039e-01 4.94158441e-03 -2.28035322e+02] [-7.16118556e-03 -1.58802613e-04 -9.99974346e-01 -1.80902347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.76655999499997 meters 0.015015755187437892 Centerline is valid? [True, True] Translation: X:12.16, Y:-228.08, Z:-1.81 [[-6.51860320e-01 -7.58321072e-01 5.22256887e-03 1.21586960e+01] [-7.58299003e-01 6.51881214e-01 5.78833749e-03 -2.28081958e+02] [-7.79391282e-03 -1.87081239e-04 -9.99969610e-01 -1.80866102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.79655999499994 meters 0.017383246439872303 Centerline is valid? [True, True] Translation: X:12.07, Y:-228.13, Z:-1.81 [[-5.92148697e-01 -8.05813619e-01 4.93281687e-03 1.20735695e+01] [-8.05788414e-01 5.92169209e-01 6.37648497e-03 -2.28134173e+02] [-8.05932069e-03 -1.98979422e-04 -9.99967503e-01 -1.80706161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.82655999499997 meters 0.015783781555826347 Centerline is valid? [True, True] Translation: X:12.00, Y:-228.20, Z:-1.81 [[-5.29172070e-01 -8.48501425e-01 4.71717624e-03 1.19950741e+01] [-8.48471241e-01 5.29193052e-01 7.16007297e-03 -2.28201169e+02] [-8.57162901e-03 -2.13477744e-04 -9.99963240e-01 -1.80748028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.85655999499994 meters 0.016546512552216317 Centerline is valid? [True, True] Translation: X:11.92, Y:-228.28, Z:-1.81 [[-4.63474640e-01 -8.86098313e-01 4.58677738e-03 1.19183323e+01] [-8.86059760e-01 4.63497278e-01 8.26894621e-03 -2.28275649e+02] [-9.45305811e-03 -2.31711994e-04 -9.99955292e-01 -1.80611347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.88655999499997 meters 0.015685281419380127 Centerline is valid? [True, True] Translation: X:11.85, Y:-228.36, Z:-1.81 [[-3.95378155e-01 -9.18508712e-01 4.22618636e-03 1.18475244e+01] [-9.18462565e-01 3.95400668e-01 9.21017751e-03 -2.28360069e+02] [-1.01306652e-02 -2.40090970e-04 -9.99948655e-01 -1.80585059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.91655999499994 meters 0.015528448221177247 Centerline is valid? [True, True] Translation: X:11.78, Y:-228.45, Z:-1.80 [[-3.25272107e-01 -9.45612788e-01 3.80944122e-03 1.17831585e+01] [-9.45556598e-01 3.25294318e-01 1.03115155e-02 -2.28447922e+02] [-1.09898906e-02 -2.47993893e-04 -9.99939579e-01 -1.80470345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.946559995 meters 0.01504657926292316 Centerline is valid? [True, True] Translation: X:11.73, Y:-228.54, Z:-1.80 [[-2.53570929e-01 -9.67311805e-01 3.10745367e-03 1.17260871e+01] [-9.67250219e-01 2.53589858e-01 1.09177902e-02 -2.28541954e+02] [-1.13489261e-02 -2.37251032e-04 -9.99935571e-01 -1.80410193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.97655999499995 meters 0.013823394815714757 Centerline is valid? [True, True] Translation: X:11.68, Y:-228.64, Z:-1.80 [[-1.82783069e-01 -9.83150231e-01 2.44388971e-03 1.16796290e+01] [-9.83076711e-01 1.82799291e-01 1.20249890e-02 -2.28644059e+02] [-1.22691121e-02 -2.04566667e-04 -9.99924711e-01 -1.80367925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.006559995 meters 0.012541333725564036 Centerline is valid? [True, True] Translation: X:11.64, Y:-228.75, Z:-1.80 [[-1.11934416e-01 -9.93714484e-01 1.48680759e-03 1.16416830e+01] [-9.93642505e-01 1.11944205e-01 1.19610578e-02 -2.28753593e+02] [-1.20523159e-02 -1.38501185e-04 -9.99927359e-01 -1.80473053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.03655999499995 meters 0.012541333725564036 Centerline is valid? [True, True] Translation: X:11.60, Y:-228.87, Z:-1.80 [[-3.52388055e-02 -9.99378762e-01 5.63165913e-04 1.16041590e+01] [-9.99306243e-01 3.52430332e-02 1.20399550e-02 -2.28866146e+02] [-1.20523230e-02 -1.38501581e-04 -9.99927359e-01 -1.80473019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.066559995 meters 0.01174798293762671 Centerline is valid? [True, True] Translation: X:11.58, Y:-228.98, Z:-1.81 [[ 3.61345743e-02 -9.99346881e-01 -3.23757555e-04 1.15836646e+01] [-9.99289633e-01 -3.61359698e-02 1.06968216e-02 -2.28976930e+02] [-1.07015346e-02 -6.29975274e-05 -9.99942735e-01 -1.80571239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.09655999499995 meters 0.011614214178208888 Centerline is valid? [True, True] Translation: X:11.57, Y:-229.09, Z:-1.81 [[ 1.10220321e-01 -9.93906608e-01 -1.06577454e-03 1.15680993e+01] [-9.93857303e-01 -1.10225469e-01 9.89983770e-03 -2.29094808e+02] [-9.95698960e-03 -3.19354806e-05 -9.99950428e-01 -1.80673912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.126559995 meters 0.011487517174495709 Centerline is valid? [True, True] Translation: X:11.56, Y:-229.21, Z:-1.81 [[ 1.81828101e-01 -9.83329193e-01 -1.49681427e-03 1.15648647e+01] [-9.83296411e-01 -1.81834261e-01 8.02924546e-03 -2.29211368e+02] [-8.16756358e-03 1.18696459e-05 -9.99966645e-01 -1.80894884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.15655999499995 meters 0.011526222932122146 Centerline is valid? [True, True] Translation: X:11.57, Y:-229.33, Z:-1.81 [[ 2.55129769e-01 -9.66904735e-01 -2.00881489e-03 1.15660515e+01] [-9.66875581e-01 -2.55137675e-01 7.50852854e-03 -2.29329678e+02] [-7.77255616e-03 2.66249167e-05 -9.99969793e-01 -1.81051130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.186559995 meters 0.011811067766372927 Centerline is valid? [True, True] Translation: X:11.58, Y:-229.45, Z:-1.81 [[ 3.27108923e-01 -9.44983236e-01 -2.53708448e-03 1.15773613e+01] [-9.44955749e-01 -3.27118759e-01 7.20763826e-03 -2.29450689e+02] [-7.64102525e-03 3.97497812e-05 -9.99970806e-01 -1.81024505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.21655999499995 meters 0.011885526758975615 Centerline is valid? [True, True] Translation: X:11.60, Y:-229.57, Z:-1.81 [[ 3.97472312e-01 -9.17608492e-01 -3.22734811e-03 1.15953659e+01] [-9.17579330e-01 -3.97485411e-01 7.31586105e-03 -2.29565952e+02] [-7.99592002e-03 5.34957077e-05 -9.99968031e-01 -1.81059726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.246559995 meters 0.012275603017201998 Centerline is valid? [True, True] Translation: X:11.62, Y:-229.68, Z:-1.81 [[ 4.64857666e-01 -8.85373876e-01 -4.52221485e-03 1.16242712e+01] [-8.85333759e-01 -4.64879654e-01 8.42864492e-03 -2.29679401e+02] [-9.56478770e-03 8.55492726e-05 -9.99954253e-01 -1.80989729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.27655999499996 meters 0.012275603017201998 Centerline is valid? [True, True] Translation: X:11.66, Y:-229.79, Z:-1.81 [[ 5.31453667e-01 -8.47071671e-01 -5.15594673e-03 1.16573576e+01] [-8.47033361e-01 -5.31478670e-01 8.05660147e-03 -2.29791267e+02] [-9.56479458e-03 8.55484897e-05 -9.99954253e-01 -1.80989696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.30655999499993 meters 0.01270953820797686 Centerline is valid? [True, True] Translation: X:11.70, Y:-229.89, Z:-1.81 [[ 5.93211777e-01 -8.05019767e-01 -6.55456571e-03 1.16996622e+01] [-8.04972823e-01 -5.93247976e-01 8.69443195e-03 -2.29894092e+02] [-1.08876724e-02 1.18607832e-04 -9.99940721e-01 -1.80963049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.33655999499996 meters 0.012880020680306258 Centerline is valid? [True, True] Translation: X:11.75, Y:-230.00, Z:-1.81 [[ 6.52332409e-01 -7.57896268e-01 -7.46158071e-03 1.17490104e+01] [-7.57849030e-01 -6.52375068e-01 8.46275948e-03 -2.29996446e+02] [-1.12816431e-02 1.34219431e-04 -9.99936351e-01 -1.80936105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.36655999499993 meters 0.013275984102383015 Centerline is valid? [True, True] Translation: X:11.80, Y:-230.09, Z:-1.81 [[ 7.07506712e-01 -7.06658191e-01 -8.27364014e-03 1.18015337e+01] [-7.06612345e-01 -7.07555071e-01 8.05081382e-03 -2.30089865e+02] [-1.15432296e-02 1.50251447e-04 -9.99933363e-01 -1.80926057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.39655999499996 meters 0.013784357720951932 Centerline is valid? [True, True] Translation: X:11.80, Y:-230.09, Z:-1.81 [[ 7.59451933e-01 -6.50502503e-01 -8.90252941e-03 1.17995246e+01] [-6.50460431e-01 -7.59504091e-01 7.40016272e-03 -2.30093132e+02] [-1.15753319e-02 1.70675236e-04 -9.99932989e-01 -1.80942722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.42655999499993 meters 0.013487023202610582 Centerline is valid? [True, True] Translation: X:11.80, Y:-230.10, Z:-1.81 [[ 8.07930723e-01 -5.89205789e-01 -9.19156343e-03 1.17953926e+01] [-5.89169997e-01 -8.07982989e-01 6.49651008e-03 -2.30101312e+02] [-1.12544082e-02 1.66663307e-04 -9.99936653e-01 -1.81029936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.45655999499996 meters 0.013224408734596058 Centerline is valid? [True, True] Translation: X:11.79, Y:-230.11, Z:-1.81 [[ 8.51648157e-01 -5.24027064e-01 -9.54214255e-03 1.17905958e+01] [-5.23996289e-01 -8.51701597e-01 5.68140792e-03 -2.30110501e+02] [-1.11042696e-02 1.61486704e-04 -9.99938333e-01 -1.81080929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.48655999499994 meters 0.013277112059146789 Centerline is valid? [True, True] Translation: X:11.79, Y:-230.12, Z:-1.81 [[ 8.90092634e-01 -4.55669767e-01 -1.00083476e-02 1.17881953e+01] [-4.55642976e-01 -8.90148885e-01 4.94371825e-03 -2.30119169e+02] [-1.11616224e-02 1.59866075e-04 -9.99937694e-01 -1.81134482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.51655999499997 meters 0.013415032399927493 Centerline is valid? [True, True] Translation: X:11.78, Y:-230.13, Z:-1.81 [[ 9.23303973e-01 -3.83919010e-01 -1.07688258e-02 1.17847917e+01] [-3.83894866e-01 -9.23366758e-01 4.30836993e-03 -2.30126868e+02] [-1.15976409e-02 1.56161861e-04 -9.99932733e-01 -1.81143192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.54655999499994 meters 0.013057761317990175 Centerline is valid? [True, True] Translation: X:11.78, Y:-230.14, Z:-1.81 [[ 9.50589849e-01 -3.10255068e-01 -1.09877706e-02 1.17828826e+01] [-3.10236179e-01 -9.50653338e-01 3.42693312e-03 -2.30136029e+02] [-1.15087842e-02 1.51196123e-04 -9.99933760e-01 -1.81221136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.57655999499997 meters 0.013042270231201865 Centerline is valid? [True, True] Translation: X:11.78, Y:-230.14, Z:-1.81 [[ 9.72036368e-01 -2.34568967e-01 -1.10769275e-02 1.17823702e+01] [-2.34555430e-01 -9.72099470e-01 2.52413208e-03 -2.30144878e+02] [-1.13599584e-02 1.44605307e-04 -9.99935463e-01 -1.81235505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.60655999499994 meters 0.012705023908925278 Centerline is valid? [True, True] Translation: X:11.78, Y:-230.16, Z:-1.81 [[ 9.87543943e-01 -1.56971149e-01 -1.08175318e-02 1.17780802e+01] [-1.56963182e-01 -9.87603180e-01 1.58688820e-03 -2.30156107e+02] [-1.09325245e-02 1.30832388e-04 -9.99940230e-01 -1.81286038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.63655999499997 meters 0.012905036780625535 Centerline is valid? [True, True] Translation: X:11.77, Y:-230.17, Z:-1.81 [[ 9.96839229e-01 -7.87184152e-02 -1.07220728e-02 1.17740838e+01] [-7.87152003e-02 -9.96896883e-01 7.22177039e-04 -2.30165084e+02] [-1.07456496e-02 1.24095708e-04 -9.99942256e-01 -1.81224832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.66655999499994 meters 0.012523468402601637 Centerline is valid? [True, True] Translation: X:11.77, Y:-230.18, Z:-1.81 [[ 9.99945501e-01 -1.39265032e-04 -1.04391525e-02 1.17724494e+01] [-1.40488361e-04 -9.99999983e-01 -1.16453451e-04 -2.30176375e+02] [-1.04391361e-02 1.17913684e-04 -9.99945504e-01 -1.81275773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.696559995 meters 0.012426560085277935 Centerline is valid? [True, True] Translation: X:11.77, Y:-230.19, Z:-1.81 [[ 9.96857848e-01 7.85469443e-02 -1.02375866e-02 1.17715521e+01] [ 7.85416464e-02 -9.96910410e-01 -9.19140453e-04 -2.30188019e+02] [-1.02781523e-02 1.12175467e-04 -9.99947172e-01 -1.81322357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.72655999499995 meters 0.012344859698225252 Centerline is valid? [True, True] Translation: X:11.77, Y:-230.20, Z:-1.81 [[ 9.87377619e-01 1.58052289e-01 -1.02425975e-02 1.17710535e+01] [ 1.58042781e-01 -9.87430739e-01 -1.73623018e-03 -2.30199588e+02] [-1.03882708e-02 9.55462333e-05 -9.99946036e-01 -1.81394925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.756559995 meters 0.012145222953326998 Centerline is valid? [True, True] Translation: X:11.77, Y:-230.21, Z:-1.81 [[ 9.71694176e-01 2.36029531e-01 -1.00244404e-02 1.17722403e+01] [ 2.36016091e-01 -9.71745879e-01 -2.52021035e-03 -2.30209981e+02] [-1.03360528e-02 8.29444707e-05 -9.99946578e-01 -1.81396288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.78655999499995 meters 0.01195342977963738 Centerline is valid? [True, True] Translation: X:11.77, Y:-230.22, Z:-1.81 [[ 9.49735836e-01 3.12900252e-01 -9.76079362e-03 1.17742082e+01] [ 3.12883009e-01 -9.49785991e-01 -3.28558646e-03 -2.30219924e+02] [-1.02987259e-02 6.64527331e-05 -9.99946965e-01 -1.81384228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.816559995 meters 0.011708618724087435 Centerline is valid? [True, True] Translation: X:11.78, Y:-230.23, Z:-1.81 [[ 9.21689410e-01 3.87808457e-01 -9.65567093e-03 1.17776117e+01] [ 3.87786603e-01 -9.21739984e-01 -4.11729496e-03 -2.30231285e+02] [-1.04967398e-02 5.05273316e-05 -9.99944906e-01 -1.81358267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.84655999499995 meters 0.011457159786592378 Centerline is valid? [True, True] Translation: X:11.78, Y:-230.24, Z:-1.81 [[ 8.86331934e-01 4.62950834e-01 -9.60358933e-03 1.17836427e+01] [ 4.62923644e-01 -8.86383961e-01 -5.01733966e-03 -2.30244484e+02] [-1.08352491e-02 1.29978502e-06 -9.99941297e-01 -1.81267526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.876559995 meters 0.011470027574697388 Centerline is valid? [True, True] Translation: X:11.79, Y:-230.25, Z:-1.81 [[ 8.45796173e-01 5.33424751e-01 -9.32035665e-03 1.17877221e+01] [ 5.33392768e-01 -8.45847524e-01 -5.84123348e-03 -2.30254623e+02] [-1.09994591e-02 -3.09179137e-05 -9.99939504e-01 -1.81200046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.90655999499995 meters 0.012100172485775608 Centerline is valid? [True, True] Translation: X:11.79, Y:-230.27, Z:-1.81 [[ 7.97829690e-01 6.02818115e-01 -8.83774889e-03 1.17944194e+01] [ 6.02782482e-01 -7.97878631e-01 -6.55512036e-03 -2.30265536e+02] [-1.10029963e-02 -9.73705673e-05 -9.99939461e-01 -1.81110087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.936559995 meters 0.012592020915882358 Centerline is valid? [True, True] Translation: X:11.80, Y:-230.27, Z:-1.81 [[ 7.46139375e-01 6.65736076e-01 -8.45635724e-03 1.18009318e+01] [ 6.65695349e-01 -7.46187281e-01 -7.36507473e-03 -2.30272211e+02] [-1.12132222e-02 -1.33985421e-04 -9.99937121e-01 -1.81116609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.96655999499995 meters 0.013178129413758899 Centerline is valid? [True, True] Translation: X:11.81, Y:-230.28, Z:-1.81 [[ 6.89484631e-01 7.24256198e-01 -7.99402811e-03 1.18079906e+01] [ 7.24210384e-01 -6.89530950e-01 -8.14793390e-03 -2.30279025e+02] [-1.14133214e-02 -1.71482973e-04 -9.99934851e-01 -1.81126277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.996559995 meters 0.014232374546234293 Centerline is valid? [True, True] Translation: X:11.81, Y:-230.29, Z:-1.81 [[ 6.28734543e-01 7.77583738e-01 -7.51034991e-03 1.18148674e+01] [ 7.77532114e-01 -6.28779365e-01 -8.96225424e-03 -2.30285729e+02] [-1.16912562e-02 -2.04659415e-04 -9.99931634e-01 -1.81037288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.02655999499996 meters 0.01669799653112818 Centerline is valid? [True, True] Translation: X:11.82, Y:-230.29, Z:-1.81 [[ 5.62145027e-01 8.27005041e-01 -7.45862604e-03 1.18216170e+01] [ 8.26938842e-01 -5.62194435e-01 -1.04675137e-02 -2.30291862e+02] [-1.28498846e-02 -2.83566822e-04 -9.99917397e-01 -1.80882883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.05655999499993 meters 0.01592303025790455 Centerline is valid? [True, True] Translation: X:11.83, Y:-230.29, Z:-1.81 [[ 4.94224056e-01 8.69308419e-01 -6.74197328e-03 1.18262939e+01] [ 8.69235944e-01 -4.94269942e-01 -1.12293843e-02 -2.30293394e+02] [-1.30941530e-02 -3.10533671e-04 -9.99914220e-01 -1.80982009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.08655999499996 meters 0.01658642814980971 Centerline is valid? [True, True] Translation: X:11.83, Y:-230.30, Z:-1.81 [[ 4.23191422e-01 9.06021328e-01 -5.86300421e-03 1.18326035e+01] [ 9.05944982e-01 -4.23231903e-01 -1.17662950e-02 -2.30296080e+02] [-1.31419247e-02 -3.32164126e-04 -9.99913586e-01 -1.80950570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.11655999499993 meters 0.01738345073606737 Centerline is valid? [True, True] Translation: X:11.84, Y:-230.30, Z:-1.81 [[ 3.49951568e-01 9.36753753e-01 -5.12903493e-03 1.18379203e+01] [ 9.36667761e-01 -3.49988967e-01 -1.26975633e-02 -2.30298923e+02] [-1.36895957e-02 -3.60669482e-04 -9.99906228e-01 -1.80866929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.14655999499996 meters 0.018028215008723453 Centerline is valid? [True, True] Translation: X:11.84, Y:-230.30, Z:-1.81 [[ 2.74464602e-01 9.61587239e-01 -4.37767845e-03 1.18419794e+01] [ 9.61487118e-01 -2.74499222e-01 -1.38816428e-02 -2.30299663e+02] [-1.45500799e-02 -3.99061874e-04 -9.99894062e-01 -1.80795324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.17655999499993 meters 0.016297057161958336 Centerline is valid? [True, True] Translation: X:11.85, Y:-230.30, Z:-1.81 [[ 1.98366634e-01 9.80122375e-01 -3.28772812e-03 1.18472996e+01] [ 9.80019154e-01 -1.98393475e-01 -1.42297972e-02 -2.30300155e+02] [-1.45992065e-02 -3.99319553e-04 -9.99893346e-01 -1.80947607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.20655999499996 meters 0.016815838458131976 Centerline is valid? [True, True] Translation: X:11.85, Y:-230.30, Z:-1.81 [[ 1.22414951e-01 9.92476673e-01 -2.15259663e-03 1.18546547e+01] [ 9.92372666e-01 -1.22433296e-01 -1.43728986e-02 -2.30301857e+02] [-1.45283161e-02 -3.76720378e-04 -9.99894388e-01 -1.80889236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.23655999499994 meters 0.016363503488356204 Centerline is valid? [True, True] Translation: X:11.86, Y:-230.30, Z:-1.81 [[ 4.56863132e-02 9.98955310e-01 -1.02478118e-03 1.18582790e+01] [ 9.98849207e-01 -4.56964009e-02 -1.45636532e-02 -2.30301855e+02] [-1.45952675e-02 -3.58242249e-04 -9.99893419e-01 -1.80887596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.26655999499997 meters 0.015982297909908603 Centerline is valid? [True, True] Translation: X:11.86, Y:-230.30, Z:-1.81 [[-3.09859935e-02 9.99519812e-01 1.15474860e-04 1.18612691e+01] [ 9.99419048e-01 3.09845098e-02 -1.41960343e-02 -2.30301543e+02] [-1.41927954e-02 -3.24470451e-04 -9.99899225e-01 -1.80897014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.29655999499994 meters 0.014083906589852535 Centerline is valid? [True, True] Translation: X:11.86, Y:-230.30, Z:-1.81 [[-1.05392694e-01 9.94429960e-01 1.19799619e-03 1.18634170e+01] [ 9.94334107e-01 1.05399171e-01 -1.38093576e-02 -2.30301830e+02] [-1.38587067e-02 -2.64196923e-04 -9.99903929e-01 -1.81007362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.32655999499997 meters 0.013384986781523538 Centerline is valid? [True, True] Translation: X:11.87, Y:-230.30, Z:-1.81 [[-1.80824149e-01 9.83512908e-01 2.23314162e-03 1.18703515e+01] [ 9.83421412e-01 1.80837792e-01 -1.34171335e-02 -2.30301272e+02] [-1.35997604e-02 -2.30022457e-04 -9.99907493e-01 -1.81061206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.35655999499994 meters 0.013115041534530768 Centerline is valid? [True, True] Translation: X:11.88, Y:-230.30, Z:-1.81 [[-2.55323415e-01 9.66850249e-01 3.24807918e-03 1.18770893e+01] [ 9.66761736e-01 2.55343996e-01 -1.30839135e-02 -2.30300021e+02] [-1.34795625e-02 -2.00510812e-04 -9.99909127e-01 -1.81077757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.38655999499997 meters 0.012981093915551533 Centerline is valid? [True, True] Translation: X:11.88, Y:-230.30, Z:-1.81 [[-3.28315967e-01 9.44558688e-01 4.18449852e-03 1.18839188e+01] [ 9.44475283e-01 3.28342589e-01 -1.25532785e-02 -2.30300244e+02] [-1.32312574e-02 -1.69286364e-04 -9.99912449e-01 -1.81061034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.41655999499994 meters 0.012136664529615863 Centerline is valid? [True, True] Translation: X:11.89, Y:-230.30, Z:-1.81 [[-3.97156799e-01 9.17737001e-01 5.02727018e-03 1.18870041e+01] [ 9.17660040e-01 3.97188601e-01 -1.18855195e-02 -2.30300714e+02] [-1.29045554e-02 -1.07089901e-04 -9.99916727e-01 -1.81166492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.446559995 meters 0.01199266960277684 Centerline is valid? [True, True] Translation: X:11.89, Y:-230.30, Z:-1.81 [[-4.65691208e-01 8.84927637e-01 5.89711935e-03 1.18927147e+01] [ 8.84854626e-01 4.65728539e-01 -1.13674571e-02 -2.30299426e+02] [-1.28058337e-02 -7.56314955e-05 -9.99917999e-01 -1.81167678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.47655999499995 meters 0.011898728438019658 Centerline is valid? [True, True] Translation: X:11.90, Y:-230.30, Z:-1.81 [[-5.31655783e-01 8.46932901e-01 6.84027377e-03 1.18983982e+01] [ 8.46861676e-01 5.31699782e-01 -1.09837416e-02 -2.30298751e+02] [-1.29394642e-02 -4.68040404e-05 -9.99916281e-01 -1.81118896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.506559995 meters 0.011817660546147028 Centerline is valid? [True, True] Translation: X:11.90, Y:-230.30, Z:-1.81 [[-5.92938594e-01 8.05210101e-01 7.77925718e-03 1.19015200e+01] [ 8.05140995e-01 5.92989623e-01 -1.05491761e-02 -2.30298923e+02] [-1.31073219e-02 8.38522756e-06 -9.99914095e-01 -1.81128394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.53655999499995 meters 0.011938078768730102 Centerline is valid? [True, True] Translation: X:11.91, Y:-230.30, Z:-1.81 [[-6.52932334e-01 7.57368567e-01 8.49821952e-03 1.19068257e+01] [ 7.57305015e-01 6.52987636e-01 -9.81131592e-03 -2.30297905e+02] [-1.29800146e-02 2.96188503e-05 -9.99915756e-01 -1.81111846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.566559995 meters 0.012078086762388385 Centerline is valid? [True, True] Translation: X:11.91, Y:-230.30, Z:-1.81 [[-7.08943790e-01 7.05205508e-01 9.15939287e-03 1.19113067e+01] [ 7.05147632e-01 7.09002954e-01 -9.03482861e-03 -2.30296169e+02] [-1.28654475e-02 5.35385501e-05 -9.99917235e-01 -1.81130215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.59655999499995 meters 0.01225104222363345 Centerline is valid? [True, True] Translation: X:11.93, Y:-230.28, Z:-1.81 [[-7.56009069e-01 6.54487918e-01 9.79047318e-03 1.19319527e+01] [ 6.54434308e-01 7.56072457e-01 -8.37711723e-03 -2.30279340e+02] [-1.28850291e-02 7.40449416e-05 -9.99916982e-01 -1.81161442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.626559995 meters 0.01225104222363345 Centerline is valid? [True, True] Translation: X:12.40, Y:-229.75, Z:-2.78 [[-7.18312501e-01 -6.95659664e-01 9.20780308e-03 1.23971743e+01] [ 6.95601195e-01 -7.18371510e-01 -9.01944534e-03 -2.29745357e+02] [ 1.28890877e-02 -7.38215052e-05 9.99916930e-01 -2.78102999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.65655999499995 meters 0.01250923890638736 Centerline is valid? [True, True] Translation: X:11.90, Y:-230.25, Z:-1.81 [[-7.57395569e-01 6.52882674e-01 9.80645117e-03 1.18995295e+01] [ 6.52829545e-01 7.57459045e-01 -8.32944025e-03 -2.30254919e+02] [-1.28661324e-02 9.32599190e-05 -9.99917224e-01 -1.81195138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.686559995 meters 0.013167335893394217 Centerline is valid? [True, True] Translation: X:12.37, Y:-229.72, Z:-2.78 [[-7.23810317e-01 -6.89942382e-01 8.83936206e-03 1.23671984e+01] [ 6.89888907e-01 -7.23864279e-01 -8.59075830e-03 -2.29716435e+02] [ 1.23256267e-02 -1.19901655e-04 9.99924029e-01 -2.78072543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.71655999499995 meters 0.01356927121411624 Centerline is valid? [True, True] Translation: X:11.87, Y:-230.23, Z:-1.81 [[-7.56770932e-01 6.53615239e-01 9.21281649e-03 1.18665013e+01] [ 6.53569079e-01 7.56826994e-01 -7.76915809e-03 -2.30231551e+02] [-1.20505483e-02 1.41738982e-04 -9.99927380e-01 -1.81175996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.746559995 meters 0.013768044900426473 Centerline is valid? [True, True] Translation: X:11.89, Y:-230.21, Z:-1.81 [[-8.00246901e-01 5.99595554e-01 9.49047405e-03 1.18875842e+01] [ 5.99555687e-01 8.00303159e-01 -6.91600007e-03 -2.30212538e+02] [-1.17420593e-02 1.55560074e-04 -9.99931048e-01 -1.81211403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.77655999499996 meters 0.013529579962923711 Centerline is valid? [True, True] Translation: X:12.31, Y:-229.64, Z:-2.78 [[-7.76765780e-01 -6.29734174e-01 8.35422201e-03 1.23145190e+01] [ 6.29695075e-01 -7.76810681e-01 -7.01989400e-03 -2.29639435e+02] [ 1.09103160e-02 -1.92200984e-04 9.99940462e-01 -2.77920974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.80655999499993 meters 0.014068003051871619 Centerline is valid? [True, True] Translation: X:11.85, Y:-230.19, Z:-1.81 [[-8.00161458e-01 5.99725094e-01 8.45297609e-03 1.18548748e+01] [ 5.99693956e-01 8.00206086e-01 -6.11386524e-03 -2.30188199e+02] [-1.04307613e-02 1.77119349e-04 -9.99945583e-01 -1.81293193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.83655999499996 meters 0.014033012182414994 Centerline is valid? [True, True] Translation: X:11.87, Y:-230.17, Z:-1.81 [[-8.39959212e-01 5.42576214e-01 8.92041508e-03 1.18742316e+01] [ 5.42548019e-01 8.40006557e-01 -5.53455787e-03 -2.30166786e+02] [-1.04961266e-02 1.90950668e-04 -9.99944896e-01 -1.81374515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.86655999499993 meters 0.014761808880105313 Centerline is valid? [True, True] Translation: X:11.89, Y:-230.14, Z:-1.81 [[-8.75440435e-01 4.83241852e-01 9.01987441e-03 1.18912014e+01] [ 4.83218577e-01 8.75486877e-01 -4.74712547e-03 -2.30144540e+02] [-1.01907914e-02 2.02745288e-04 -9.99948052e-01 -1.81381015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.89655999499996 meters 0.014804685237246798 Centerline is valid? [True, True] Translation: X:11.91, Y:-230.12, Z:-1.81 [[-9.06982741e-01 4.21066972e-01 9.21483839e-03 1.19076413e+01] [ 4.21047549e-01 9.07029527e-01 -4.04959054e-03 -2.30120271e+02] [-1.00632793e-02 2.06976383e-04 -9.99949343e-01 -1.81401705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.92655999499993 meters 0.01478660649546268 Centerline is valid? [True, True] Translation: X:12.20, Y:-229.47, Z:-2.78 [[-8.95829911e-01 -4.44304107e-01 9.09016479e-03 1.22011237e+01] [ 4.44278964e-01 -8.95876007e-01 -4.73091734e-03 -2.29472576e+02] [ 1.02456265e-02 -1.99528261e-04 9.99947492e-01 -2.77837775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.95655999499996 meters 0.015265116069959976 Centerline is valid? [True, True] Translation: X:11.87, Y:-230.10, Z:-1.81 [[-9.08122518e-01 4.18606974e-01 9.03845817e-03 1.18675205e+01] [ 4.18588555e-01 9.08167471e-01 -3.93258819e-03 -2.30101903e+02] [-9.85464255e-03 2.12123256e-04 -9.99951419e-01 -1.81402111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.98655999499994 meters 0.015116948672088269 Centerline is valid? [True, True] Translation: X:11.88, Y:-230.07, Z:-1.81 [[-9.35598303e-01 3.52976653e-01 7.95598512e-03 1.18807187e+01] [ 3.52965517e-01 9.35632113e-01 -2.80958570e-03 -2.30073560e+02] [-8.43559332e-03 1.79544782e-04 -9.99964404e-01 -1.81446581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.01655999499997 meters 0.014984113735130674 Centerline is valid? [True, True] Translation: X:11.89, Y:-230.04, Z:-1.81 [[-9.58291392e-01 2.85691127e-01 7.62806492e-03 1.18884204e+01] [ 2.85683463e-01 9.58321737e-01 -2.09925261e-03 -2.30044385e+02] [-7.90987827e-03 1.67516301e-04 -9.99968702e-01 -1.81497624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.04655999499994 meters 0.015033945400925513 Centerline is valid? [True, True] Translation: X:11.89, Y:-230.01, Z:-1.82 [[-9.76149177e-01 2.16991279e-01 6.89707662e-03 1.18924081e+01] [ 2.16986939e-01 9.76173531e-01 -1.38045341e-03 -2.30014871e+02] [-7.03228999e-03 1.49047077e-04 -9.99975262e-01 -1.81531259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.07655999499997 meters 0.014864113474213759 Centerline is valid? [True, True] Translation: X:11.90, Y:-229.98, Z:-1.82 [[-9.89099179e-01 1.47112190e-01 6.38891582e-03 1.18993038e+01] [ 1.47110009e-01 9.89119803e-01 -8.12527160e-04 -2.29983838e+02] [-6.43893581e-03 1.36203515e-04 -9.99979261e-01 -1.81604371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.10655999499994 meters 0.014738750515855001 Centerline is valid? [True, True] Translation: X:11.90, Y:-229.95, Z:-1.82 [[-9.97090604e-01 7.59656558e-02 6.28853762e-03 1.18968718e+01] [ 7.59649678e-02 9.97110426e-01 -3.48545601e-04 -2.29953359e+02] [-6.29684392e-03 1.30177014e-04 -9.99980166e-01 -1.81620227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.13655999499997 meters 0.01450645749958006 Centerline is valid? [True, True] Translation: X:11.89, Y:-229.92, Z:-1.82 [[-9.99973490e-01 4.04179923e-03 6.05671996e-03 1.18943085e+01] [ 4.04245213e-03 9.99991825e-01 9.55580611e-05 -2.29922485e+02] [-6.05628422e-03 1.20039528e-04 -9.99981653e-01 -1.81615439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.16655999499994 meters 0.014010907650853003 Centerline is valid? [True, True] Translation: X:11.88, Y:-229.25, Z:-2.78 [[-9.99387914e-01 -3.43990199e-02 6.36432796e-03 1.18823858e+01] [ 3.43976555e-02 -9.99408173e-01 -3.23757790e-04 -2.29248852e+02] [ 6.37169833e-03 -1.04641662e-04 9.99979695e-01 -2.77752907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.196559995 meters 0.013709363526598595 Centerline is valid? [True, True] Translation: X:11.81, Y:-229.91, Z:-1.81 [[-9.99964006e-01 -5.36644808e-03 6.57169465e-03 1.18083970e+01] [-5.36565473e-03 9.99985595e-01 1.38347090e-04 -2.29914088e+02] [-6.57234241e-03 1.03080666e-04 -9.99978397e-01 -1.81487661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.22655999499995 meters 0.013400606016908727 Centerline is valid? [True, True] Translation: X:11.80, Y:-229.26, Z:-2.78 [[-9.99444434e-01 -3.26611050e-02 6.63898062e-03 1.17951349e+01] [ 3.26597248e-02 -9.99466479e-01 -3.16231701e-04 -2.29256893e+02] [ 6.64576706e-03 -9.92287333e-05 9.99977912e-01 -2.77819439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.256559995 meters 0.013010344645222542 Centerline is valid? [True, True] Translation: X:11.73, Y:-229.91, Z:-1.81 [[-9.99874110e-01 -1.43846144e-02 6.69678360e-03 1.17265040e+01] [-1.43837604e-02 9.99896533e-01 1.75676736e-04 -2.29908251e+02] [-6.69861774e-03 7.93296896e-05 -9.99977561e-01 -1.81431299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.28655999499995 meters 0.012246494477485433 Centerline is valid? [True, True] Translation: X:11.71, Y:-229.87, Z:-1.81 [[-9.95931201e-01 -8.98618570e-02 6.77412710e-03 1.17122308e+01] [-8.98594314e-02 9.95954238e-01 6.62199545e-04 -2.29873386e+02] [-6.80622707e-03 5.07859791e-05 -9.99976836e-01 -1.81442253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.316559995 meters 0.011964616302564044 Centerline is valid? [True, True] Translation: X:11.65, Y:-229.25, Z:-2.78 [[-9.99360482e-01 3.50090053e-02 7.27989971e-03 1.16534736e+01] [-3.50082321e-02 -9.99386997e-01 2.33659847e-04 -2.29249216e+02] [ 7.28361731e-03 -2.13460014e-05 9.99973474e-01 -2.77830573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.34655999499995 meters 0.011807929020392266 Centerline is valid? [True, True] Translation: X:11.62, Y:-229.87, Z:-1.81 [[-9.94941930e-01 -1.00173997e-01 7.46505090e-03 1.16202197e+01] [-1.00171024e-01 9.94969934e-01 7.71957635e-04 -2.29874083e+02] [-7.50483128e-03 2.02712239e-05 -9.99971838e-01 -1.81386894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.376559995 meters 0.011750238982143946 Centerline is valid? [True, True] Translation: X:11.56, Y:-229.27, Z:-2.78 [[-9.99318884e-01 3.61126782e-02 7.59233736e-03 1.15624861e+01] [-3.61117438e-02 -9.99347724e-01 2.60165482e-04 -2.29265783e+02] [ 7.59678034e-03 -1.41842629e-05 9.99971144e-01 -2.77944892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.40655999499995 meters 0.011808141292997263 Centerline is valid? [True, True] Translation: X:11.54, Y:-229.87, Z:-1.81 [[-9.93676334e-01 -1.11978044e-01 8.26201654e-03 1.15361867e+01] [-1.11974419e-01 9.93710681e-01 9.01525798e-04 -2.29870797e+02] [-8.31100517e-03 -2.93096520e-05 -9.99965463e-01 -1.81196075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.436559995 meters 0.012000137159918784 Centerline is valid? [True, True] Translation: X:11.52, Y:-229.84, Z:-1.81 [[-9.82842057e-01 -1.84250636e-01 8.55540296e-03 1.15194612e+01] [-1.84244059e-01 9.82879291e-01 1.55739133e-03 -2.29842052e+02] [-8.69587874e-03 -4.56124779e-05 -9.99962189e-01 -1.81230829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.46655999499995 meters 0.012301667865777927 Centerline is valid? [True, True] Translation: X:11.49, Y:-229.81, Z:-1.81 [[-9.66495355e-01 -2.56541711e-01 8.54864590e-03 1.14925870e+01] [-2.56532301e-01 9.66533158e-01 2.19830001e-03 -2.29813691e+02] [-8.82650536e-03 -6.83570562e-05 -9.99961043e-01 -1.81156303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.496559995 meters 0.012421633545045717 Centerline is valid? [True, True] Translation: X:11.46, Y:-229.79, Z:-1.81 [[-9.45252322e-01 -3.26241723e-01 8.02411986e-03 1.14581333e+01] [-3.26230625e-01 9.45286376e-01 2.69196548e-03 -2.29792327e+02] [-8.46332264e-03 -7.31270230e-05 -9.99964183e-01 -1.81169165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.52655999499996 meters 0.012643834281728192 Centerline is valid? [True, True] Translation: X:11.40, Y:-229.78, Z:-1.81 [[-9.18657829e-01 -3.94971311e-01 8.09055679e-03 1.14049010e+01] [-3.94956799e-01 9.18693451e-01 3.38674553e-03 -2.29779922e+02] [-8.77040885e-03 -8.41601178e-05 -9.99961536e-01 -1.81147902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.55655999499993 meters 0.012771009768294098 Centerline is valid? [True, True] Translation: X:11.34, Y:-229.78, Z:-1.81 [[-8.86798933e-01 -4.62089634e-01 7.79887242e-03 1.13391876e+01] [-4.62072653e-01 8.86833221e-01 3.96240950e-03 -2.29777019e+02] [-8.74728751e-03 -8.97851540e-05 -9.99961738e-01 -1.81125108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.58655999499996 meters 0.012927805278809563 Centerline is valid? [True, True] Translation: X:11.27, Y:-229.78, Z:-1.81 [[-8.50066950e-01 -5.26623788e-01 7.31889819e-03 1.12674587e+01] [-5.26605196e-01 8.50098452e-01 4.42609518e-03 -2.29782752e+02] [-8.55267103e-03 -9.16925811e-05 -9.99963421e-01 -1.81093317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.61655999499993 meters 0.013077007272230278 Centerline is valid? [True, True] Translation: X:11.19, Y:-229.80, Z:-1.81 [[-8.08512682e-01 -5.88438383e-01 6.89294873e-03 1.11926616e+01] [-5.88417970e-01 8.08542059e-01 4.90220627e-03 -2.29795097e+02] [-8.45788529e-03 -9.24389629e-05 -9.99964227e-01 -1.81083360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.64655999499996 meters 0.012354705383029603 Centerline is valid? [True, True] Translation: X:11.11, Y:-229.82, Z:-1.81 [[-7.62370315e-01 -6.47107665e-01 6.57058505e-03 1.11143159e+01] [-6.47084686e-01 7.62398624e-01 5.45414756e-03 -2.29821076e+02] [-8.53882569e-03 -9.36447649e-05 -9.99963539e-01 -1.81239461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.67655999499993 meters 0.012429931173838116 Centerline is valid? [True, True] Translation: X:11.03, Y:-229.86, Z:-1.81 [[-7.11664502e-01 -7.02494511e-01 5.92431930e-03 1.10312752e+01] [-7.02471244e-01 7.11689155e-01 5.71826960e-03 -2.29856470e+02] [-8.23332680e-03 -9.21744621e-05 -9.99966101e-01 -1.81228452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.70655999499996 meters 0.012638903827038311 Centerline is valid? [True, True] Translation: X:10.95, Y:-229.90, Z:-1.81 [[-6.56894698e-01 -7.53963330e-01 5.35293414e-03 1.09494443e+01] [-7.53939407e-01 6.56916501e-01 6.00669975e-03 -2.29899496e+02] [-8.04526211e-03 -9.00187772e-05 -9.99967632e-01 -1.81199150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.73655999499994 meters 0.0125400340147332 Centerline is valid? [True, True] Translation: X:10.87, Y:-229.96, Z:-1.81 [[-5.98713880e-01 -8.00950229e-01 4.51888618e-03 1.08655463e+01] [-8.00928413e-01 5.98730928e-01 5.91210359e-03 -2.29955885e+02] [-7.44089764e-03 -7.96458553e-05 -9.99972313e-01 -1.81153016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.76655999499997 meters 0.012337086516064102 Centerline is valid? [True, True] Translation: X:10.79, Y:-230.02, Z:-1.81 [[-5.36864654e-01 -8.43658997e-01 3.97998206e-03 1.07896911e+01] [-8.43636838e-01 5.36879401e-01 6.11502257e-03 -2.30015797e+02] [-7.29576419e-03 -7.47200013e-05 -9.99973383e-01 -1.81188696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.79655999499994 meters 0.012230708071447402 Centerline is valid? [True, True] Translation: X:10.72, Y:-230.09, Z:-1.81 [[-4.72221373e-01 -8.81473831e-01 3.29544288e-03 1.07152875e+01] [-8.81453313e-01 4.72232867e-01 6.01467746e-03 -2.30086506e+02] [-6.85799723e-03 -6.45198001e-05 -9.99976482e-01 -1.81191823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.82655999499997 meters 0.012135976908905456 Centerline is valid? [True, True] Translation: X:10.64, Y:-230.17, Z:-1.81 [[-4.04971277e-01 -9.14324897e-01 2.87190595e-03 1.06449974e+01] [-9.14302911e-01 4.04981456e-01 6.34090526e-03 -2.30167666e+02] [-6.96071621e-03 -5.79074752e-05 -9.99975772e-01 -1.81178853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.85655999499994 meters 0.01218453153473234 Centerline is valid? [True, True] Translation: X:10.58, Y:-230.26, Z:-1.81 [[-3.34799476e-01 -9.42285790e-01 2.60790245e-03 1.05793143e+01] [-9.42258574e-01 3.34809627e-01 7.16189102e-03 -2.30256403e+02] [-7.62169898e-03 -5.95210860e-05 -9.99970953e-01 -1.81149158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.88655999499997 meters 0.011930013373670445 Centerline is valid? [True, True] Translation: X:10.52, Y:-230.35, Z:-1.81 [[-2.62567991e-01 -9.64911014e-01 2.18759399e-03 1.05214216e+01] [-9.64879391e-01 2.62577098e-01 7.81203667e-03 -2.30349599e+02] [-8.11233230e-03 -5.95735819e-05 -9.99967093e-01 -1.81167392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.91655999499994 meters 0.011935655869806926 Centerline is valid? [True, True] Translation: X:10.47, Y:-230.45, Z:-1.81 [[-1.88102767e-01 -9.82147855e-01 1.71464166e-03 1.04690158e+01] [-9.82110184e-01 1.88110570e-01 8.60233768e-03 -2.30452015e+02] [-8.77130972e-03 -6.58435124e-05 -9.99961529e-01 -1.81126985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.946559995 meters 0.012027151440186208 Centerline is valid? [True, True] Translation: X:10.43, Y:-230.56, Z:-1.81 [[-1.12016217e-01 -9.93705658e-01 1.19652020e-03 1.04252311e+01] [-9.93656418e-01 1.12022578e-01 9.89263297e-03 -2.30555370e+02] [-9.96440264e-03 -8.07946622e-05 -9.99950351e-01 -1.81046613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.97655999499995 meters 0.01216904694068328 Centerline is valid? [True, True] Translation: X:10.39, Y:-230.66, Z:-1.81 [[-3.52149421e-02 -9.99379664e-01 4.41312997e-04 1.03885111e+01] [-9.99329375e-01 3.52175974e-02 1.00260433e-02 -2.30663953e+02] [-1.00353658e-02 -8.79505060e-05 -9.99949641e-01 -1.80987879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.006559995 meters 0.01215408813931329 Centerline is valid? [True, True] Translation: X:10.36, Y:-230.78, Z:-1.81 [[ 4.15917500e-02 -9.99134632e-01 -3.36891018e-04 1.03608827e+01] [-9.99080770e-01 -4.15930061e-02 1.03748387e-02 -2.30776602e+02] [-1.03798729e-02 -9.49263582e-05 -9.99946123e-01 -1.81052024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.03655999499995 meters 0.01240501731345141 Centerline is valid? [True, True] Translation: X:10.34, Y:-230.89, Z:-1.81 [[ 1.18231526e-01 -9.92985461e-01 -1.08677776e-03 1.03416854e+01] [-9.92935644e-01 -1.18236481e-01 9.94689132e-03 -2.30888174e+02] [-1.00056152e-02 -9.69357674e-05 -9.99949938e-01 -1.81009306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.066559995 meters 0.012163879546676646 Centerline is valid? [True, True] Translation: X:10.33, Y:-231.01, Z:-1.81 [[ 1.93747311e-01 -9.81049760e-01 -1.82999559e-03 1.03324893e+01] [-9.81001168e-01 -1.93755929e-01 9.76467102e-03 -2.31005877e+02] [-9.93420066e-03 -9.66509388e-05 -9.99950650e-01 -1.81064443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.09655999499995 meters 0.012176420038014342 Centerline is valid? [True, True] Translation: X:10.33, Y:-231.12, Z:-1.81 [[ 2.67780042e-01 -9.63476679e-01 -2.55715059e-03 1.03305873e+01] [-9.63429400e-01 -2.67792236e-01 9.54519265e-03 -2.31116757e+02] [-9.88135559e-03 -9.23780368e-05 -9.99951174e-01 -1.81053562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.126559995 meters 0.012046920332099415 Centerline is valid? [True, True] Translation: X:10.34, Y:-231.23, Z:-1.81 [[ 3.39848289e-01 -9.40474718e-01 -3.23197186e-03 1.03405729e+01] [-9.40429818e-01 -3.39863647e-01 9.19012610e-03 -2.31230924e+02] [-9.74151099e-03 -8.38059159e-05 -9.99952547e-01 -1.81102890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.15655999499995 meters 0.011961660275160602 Centerline is valid? [True, True] Translation: X:10.36, Y:-231.34, Z:-1.81 [[ 4.10248822e-01 -9.11966283e-01 -3.66097070e-03 1.03569470e+01] [-9.11928338e-01 -4.10265150e-01 8.31949226e-03 -2.31343542e+02] [-9.08906513e-03 -7.45189739e-05 -9.99958691e-01 -1.81128477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.186559995 meters 0.011882353947395835 Centerline is valid? [True, True] Translation: X:10.38, Y:-231.45, Z:-1.81 [[ 4.78155447e-01 -8.78265538e-01 -4.12477169e-03 1.03810904e+01] [-8.78231633e-01 -4.78173233e-01 7.71741508e-03 -2.31453352e+02] [-8.75029512e-03 -6.76190777e-05 -9.99961713e-01 -1.81164640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.21655999499995 meters 0.011872855879513585 Centerline is valid? [True, True] Translation: X:10.41, Y:-231.56, Z:-1.81 [[ 5.43496110e-01 -8.39399937e-01 -4.44123853e-03 1.04137410e+01] [-8.39370965e-01 -5.43514252e-01 6.97439256e-03 -2.31561373e+02] [-8.26818111e-03 -6.27085505e-05 -9.99965816e-01 -1.81195249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.246559995 meters 0.011855554210972246 Centerline is valid? [True, True] Translation: X:10.45, Y:-231.66, Z:-1.81 [[ 6.05733598e-01 -7.95655922e-01 -4.29674331e-03 1.04501985e+01] [-7.95635278e-01 -6.05748834e-01 5.73185964e-03 -2.31658686e+02] [-7.16333532e-03 -5.33394018e-05 -9.99974342e-01 -1.81287564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.27655999499996 meters 0.011984780125144987 Centerline is valid? [True, True] Translation: X:10.49, Y:-231.76, Z:-1.81 [[ 6.64625268e-01 -7.47162180e-01 -4.68306487e-03 1.04938571e+01] [-7.47143047e-01 -6.64641764e-01 5.34719835e-03 -2.31755673e+02] [-7.10778487e-03 -5.49637755e-05 -9.99974738e-01 -1.81258409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.30655999499993 meters 0.011988870135022063 Centerline is valid? [True, True] Translation: X:10.54, Y:-231.85, Z:-1.81 [[ 7.19799691e-01 -6.94161663e-01 -5.29067545e-03 1.05436807e+01] [-6.94142273e-01 -7.19819131e-01 5.18871901e-03 -2.31847295e+02] [-7.41013923e-03 -6.23568564e-05 -9.99972543e-01 -1.81267883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.33655999499996 meters 0.012245126535801025 Centerline is valid? [True, True] Translation: X:10.54, Y:-231.86, Z:-1.81 [[ 7.72367945e-01 -6.35148925e-01 -5.79657260e-03 1.05433142e+01] [-6.35130360e-01 -7.72389693e-01 4.85667893e-03 -2.31857496e+02] [-7.56192734e-03 -6.95638865e-05 -9.99971406e-01 -1.81161740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.36655999499993 meters 0.01244785220228623 Centerline is valid? [True, True] Translation: X:10.54, Y:-231.87, Z:-1.81 [[ 8.21154274e-01 -5.70674495e-01 -6.02327659e-03 1.05445949e+01] [-5.70658360e-01 -8.21176360e-01 4.29212326e-03 -2.31867848e+02] [-7.39557762e-03 -8.72622111e-05 -9.99972649e-01 -1.81206076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.39655999499996 meters 0.012862410327823951 Centerline is valid? [True, True] Translation: X:10.55, Y:-231.88, Z:-1.81 [[ 8.63909202e-01 -5.03608678e-01 -6.26012210e-03 1.05450672e+01] [-5.03594652e-01 -8.63931878e-01 3.75979875e-03 -2.31877865e+02] [-7.30178632e-03 -9.55607264e-05 -9.99973337e-01 -1.81169460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.42655999499993 meters 0.012865689708096116 Centerline is valid? [True, True] Translation: X:10.55, Y:-231.89, Z:-1.81 [[ 9.01113741e-01 -4.33531226e-01 -6.68604037e-03 1.05475507e+01] [-4.33518417e-01 -9.01138538e-01 3.33422072e-03 -2.31888128e+02] [-7.47053744e-03 -1.05990466e-04 -9.99972090e-01 -1.81178718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.45655999499996 meters 0.013740748077591715 Centerline is valid? [True, True] Translation: X:10.55, Y:-231.90, Z:-1.81 [[ 9.33168501e-01 -3.59375618e-01 -6.76122900e-03 1.05500560e+01] [-3.59365233e-01 -9.33192987e-01 2.73483687e-03 -2.31898520e+02] [-7.29236518e-03 -1.22312988e-04 -9.99973403e-01 -1.81099202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.48655999499994 meters 0.014083490245130692 Centerline is valid? [True, True] Translation: X:10.55, Y:-231.91, Z:-1.81 [[ 9.58757585e-01 -2.84133079e-01 -7.23093733e-03 1.05549161e+01] [-2.84123922e-01 -9.58784843e-01 2.28515651e-03 -2.31906250e+02] [-7.58220166e-03 -1.36428860e-04 -9.99971245e-01 -1.81084912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.51655999499997 meters 0.014083490245130692 Centerline is valid? [True, True] Translation: X:10.56, Y:-231.91, Z:-1.81 [[ 9.78035731e-01 -2.08306346e-01 -7.38746202e-03 1.05600878e+01] [-2.08299348e-01 -9.78063622e-01 1.71285446e-03 -2.31913987e+02] [-7.58220631e-03 -1.36429337e-04 -9.99971245e-01 -1.81084907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.54655999499994 meters 0.013831918143481595 Centerline is valid? [True, True] Translation: X:10.57, Y:-231.92, Z:-1.81 [[ 9.91524799e-01 -1.29692137e-01 -7.64994872e-03 1.05656758e+01] [-1.29687100e-01 -9.91554298e-01 1.15298514e-03 -2.31923131e+02] [-7.73487265e-03 -1.51113691e-04 -9.99970074e-01 -1.81126597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.57655999499997 meters 0.015826555360247963 Centerline is valid? [True, True] Translation: X:10.57, Y:-231.93, Z:-1.81 [[ 9.98781781e-01 -4.87030576e-02 -7.93514131e-03 1.05674191e+01] [-4.87001003e-02 -9.98813286e-01 5.65591403e-04 -2.31934011e+02] [-7.95327060e-03 -1.78460211e-04 -9.99968356e-01 -1.81023521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.60655999499994 meters 0.016170640958611596 Centerline is valid? [True, True] Translation: X:10.57, Y:-231.94, Z:-1.81 [[ 9.99494237e-01 3.08136557e-02 -7.86064623e-03 1.05705634e+01] [ 3.08141618e-02 -9.99525129e-01 -5.67492569e-05 -2.31938268e+02] [-7.85866209e-03 -1.85498670e-04 -9.99969103e-01 -1.81038038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.63655999499997 meters 0.015924025510110247 Centerline is valid? [True, True] Translation: X:10.57, Y:-231.94, Z:-1.81 [[ 9.93927417e-01 1.09759808e-01 -7.81495662e-03 1.05740954e+01] [ 1.09757928e-01 -9.93958122e-01 -6.70438132e-04 -2.31943605e+02] [-7.84132677e-03 -1.91386603e-04 -9.99969238e-01 -1.81060074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.66655999499994 meters 0.01563491603291488 Centerline is valid? [True, True] Translation: X:10.58, Y:-231.95, Z:-1.81 [[ 9.82158190e-01 1.87891214e-01 -7.88556816e-03 1.05788734e+01] [ 1.87886793e-01 -9.82189825e-01 -1.30439214e-03 -2.31949790e+02] [-7.99020863e-03 -2.00474696e-04 -9.99968058e-01 -1.81073269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.696559995 meters 0.017316752593555886 Centerline is valid? [True, True] Translation: X:10.58, Y:-231.96, Z:-1.81 [[ 9.64335560e-01 2.64556037e-01 -8.18725884e-03 1.05829911e+01] [ 2.64548385e-01 -9.64370291e-01 -2.02351721e-03 -2.31956757e+02] [-8.43088288e-03 -2.14576506e-04 -9.99964437e-01 -1.80970627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.72655999499995 meters 0.016610707498660914 Centerline is valid? [True, True] Translation: X:10.59, Y:-231.96, Z:-1.81 [[ 9.40746447e-01 3.39017122e-01 -7.96957914e-03 1.05865287e+01] [ 3.39006856e-01 -9.40780179e-01 -2.64681734e-03 -2.31958513e+02] [-8.39493849e-03 -2.11757961e-04 -9.99964740e-01 -1.81006558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.756559995 meters 0.015690444008991427 Centerline is valid? [True, True] Translation: X:10.59, Y:-231.96, Z:-1.81 [[ 9.11481662e-01 4.11268836e-01 -7.68926582e-03 1.05909440e+01] [ 4.11256111e-01 -9.11514071e-01 -3.24185221e-03 -2.31962440e+02] [-8.34214678e-03 -2.07368726e-04 -9.99965182e-01 -1.81063143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.78655999499995 meters 0.01519738177754716 Centerline is valid? [True, True] Translation: X:10.60, Y:-231.97, Z:-1.81 [[ 8.76554514e-01 4.81244997e-01 -7.44562032e-03 1.05969028e+01] [ 4.81229631e-01 -8.76586111e-01 -3.85134201e-03 -2.31967837e+02] [-8.38016644e-03 -2.07141895e-04 -9.99964864e-01 -1.81108398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.816559995 meters 0.015263379603210473 Centerline is valid? [True, True] Translation: X:10.60, Y:-231.97, Z:-1.81 [[ 8.36190941e-01 5.48390515e-01 -7.24939671e-03 1.06024956e+01] [ 5.48372072e-01 -8.36222338e-01 -4.50237868e-03 -2.31972747e+02] [-8.53116923e-03 -2.10518431e-04 -9.99963587e-01 -1.81082500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.84655999499995 meters 0.015593848021826293 Centerline is valid? [True, True] Translation: X:10.61, Y:-231.98, Z:-1.81 [[ 7.90869721e-01 6.11940037e-01 -7.38079903e-03 1.06084559e+01] [ 6.11916002e-01 -7.90904129e-01 -5.42822414e-03 -2.31978749e+02] [-9.15925211e-03 -2.23410927e-04 -9.99958028e-01 -1.81028035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.876559995 meters 0.015544958149188562 Centerline is valid? [True, True] Translation: X:10.61, Y:-231.98, Z:-1.81 [[ 7.40681495e-01 6.71819544e-01 -7.03014851e-03 1.06146790e+01] [ 6.71792134e-01 -7.40714824e-01 -6.07274361e-03 -2.31982404e+02] [-9.28712306e-03 -2.24829657e-04 -9.99956849e-01 -1.81022210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.90655999499995 meters 0.015753425692333886 Centerline is valid? [True, True] Translation: X:10.62, Y:-231.98, Z:-1.81 [[ 6.86759838e-01 7.26856482e-01 -6.37017268e-03 1.06182467e+01] [ 7.26827980e-01 -6.86789350e-01 -6.44022414e-03 -2.31984470e+02] [-9.05608541e-03 -2.07132456e-04 -9.99958971e-01 -1.81038885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.936559995 meters 0.014997979854755632 Centerline is valid? [True, True] Translation: X:10.62, Y:-231.99, Z:-1.81 [[ 6.28426990e-01 7.77847423e-01 -5.73632796e-03 1.06226978e+01] [ 7.77817825e-01 -6.28453140e-01 -6.78839804e-03 -2.31986306e+02] [-8.88535123e-03 -1.95805587e-04 -9.99960505e-01 -1.81103000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.96655999499995 meters 0.014602109755975638 Centerline is valid? [True, True] Translation: X:10.63, Y:-231.99, Z:-1.81 [[ 5.66649525e-01 8.23941897e-01 -5.29778089e-03 1.06283389e+01] [ 8.23908955e-01 -5.66674259e-01 -7.37013408e-03 -2.31988636e+02] [-9.07467831e-03 -1.88606140e-04 -9.99958807e-01 -1.81154148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.996559995 meters 0.014389609871947153 Centerline is valid? [True, True] Translation: X:10.63, Y:-231.99, Z:-1.81 [[ 5.01338790e-01 8.65239302e-01 -4.51317255e-03 1.06334940e+01] [ 8.65207270e-01 -5.01359075e-01 -7.44707501e-03 -2.31991582e+02] [-8.70622199e-03 -1.71322122e-04 -9.99962086e-01 -1.81166585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.02655999499996 meters 0.013857115482239822 Centerline is valid? [True, True] Translation: X:10.64, Y:-231.99, Z:-1.81 [[ 4.34803379e-01 9.00517836e-01 -3.69431355e-03 1.06350974e+01] [ 9.00487962e-01 -4.34819052e-01 -7.33644408e-03 -2.31993382e+02] [-8.21295666e-03 -1.36774205e-04 -9.99966264e-01 -1.81204774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.05655999499993 meters 0.013346820111068138 Centerline is valid? [True, True] Translation: X:10.64, Y:-232.00, Z:-1.81 [[ 3.64440593e-01 9.31221526e-01 -3.08610366e-03 1.06397601e+01] [ 9.31190942e-01 -3.64453639e-01 -7.54813291e-03 -2.31995791e+02] [-8.15372555e-03 -1.22905741e-04 -9.99966750e-01 -1.81203608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.08655999499996 meters 0.012896119465603626 Centerline is valid? [True, True] Translation: X:10.65, Y:-232.00, Z:-1.81 [[ 2.91905992e-01 9.56443932e-01 -2.42834347e-03 1.06457301e+01] [ 9.56413828e-01 -2.91916073e-01 -7.58920939e-03 -2.31998217e+02] [-7.96752576e-03 -1.07165575e-04 -9.99968253e-01 -1.81217736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.11655999499993 meters 0.012486852043841062 Centerline is valid? [True, True] Translation: X:10.65, Y:-232.00, Z:-1.81 [[ 2.19305327e-01 9.75654612e-01 -1.80297761e-03 1.06482951e+01] [ 9.75624576e-01 -2.19312724e-01 -7.65606662e-03 -2.32000749e+02] [-7.86509264e-03 -8.00130706e-05 -9.99969067e-01 -1.81180792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.14655999499996 meters 0.012369163745904296 Centerline is valid? [True, True] Translation: X:10.65, Y:-232.00, Z:-1.81 [[ 1.43505331e-01 9.89648777e-01 -1.23245458e-03 1.06541270e+01] [ 9.89616467e-01 -1.43510605e-01 -7.99717750e-03 -2.32002949e+02] [-8.09126723e-03 -7.20197361e-05 -9.99967263e-01 -1.81160232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.17655999499993 meters 0.012231781077030915 Centerline is valid? [True, True] Translation: X:10.66, Y:-232.01, Z:-1.81 [[ 6.65864996e-02 9.97780449e-01 -6.43341461e-04 1.06613645e+01] [ 9.97743191e-01 -6.65895730e-02 -8.62283453e-03 -2.32005028e+02] [-8.64653554e-03 -6.77251946e-05 -9.99962616e-01 -1.81161717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.20655999499996 meters 0.012227588009039432 Centerline is valid? [True, True] Translation: X:10.67, Y:-232.01, Z:-1.81 [[-1.02013257e-02 9.99947965e-01 3.54111527e-05 1.06666950e+01] [ 9.99907891e-01 1.02012339e-02 -8.95234419e-03 -2.32008591e+02] [-8.95223958e-03 -5.59178877e-05 -9.99959926e-01 -1.81052516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.23655999499994 meters 0.012140170917340046 Centerline is valid? [True, True] Translation: X:10.67, Y:-232.01, Z:-1.81 [[-8.82183954e-02 9.96100855e-01 7.76119657e-04 1.06735129e+01] [ 9.96056522e-01 8.82217916e-02 -9.39793375e-03 -2.32010583e+02] [-9.42976051e-03 -5.60115902e-05 -9.99955537e-01 -1.81084908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.26655999499997 meters 0.012242559224643155 Centerline is valid? [True, True] Translation: X:10.68, Y:-232.01, Z:-1.81 [[-1.65881545e-01 9.86144443e-01 1.56535864e-03 1.06808992e+01] [ 9.86097234e-01 1.65888921e-01 -9.64943840e-03 -2.32013291e+02] [-9.77541571e-03 -5.70679320e-05 -9.99952218e-01 -1.81011982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.29655999499994 meters 0.012229551348969513 Centerline is valid? [True, True] Translation: X:10.69, Y:-232.01, Z:-1.81 [[-2.43447864e-01 9.69910957e-01 2.42328396e-03 1.06881604e+01] [ 9.69860073e-01 2.43459915e-01 -9.93526314e-03 -2.32014731e+02] [-1.02262931e-02 -6.84722341e-05 -9.99947708e-01 -1.81033515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.32655999499997 meters 0.012374619845349296 Centerline is valid? [True, True] Translation: X:10.70, Y:-232.02, Z:-1.81 [[-3.19552229e-01 9.47563271e-01 3.19692231e-03 1.06969792e+01] [ 9.47513378e-01 3.19568211e-01 -9.72409339e-03 -2.32015337e+02] [-1.02358285e-02 -7.82290641e-05 -9.99947610e-01 -1.81021849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.35655999499994 meters 0.012660059866302954 Centerline is valid? [True, True] Translation: X:10.71, Y:-232.02, Z:-1.81 [[-3.94182029e-01 9.19024119e-01 3.89828034e-03 1.07061453e+01] [ 9.18976829e-01 3.94201294e-01 -9.32349006e-03 -2.32015868e+02] [-1.01052194e-02 -9.27229262e-05 -9.99948937e-01 -1.80997863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.38655999499997 meters 0.012991519975901152 Centerline is valid? [True, True] Translation: X:10.72, Y:-232.01, Z:-1.81 [[-4.68349716e-01 8.83532706e-01 4.30126053e-03 1.07174179e+01] [ 8.83493024e-01 4.68369450e-01 -8.37465206e-03 -2.32013763e+02] [-9.41385803e-03 -1.22132237e-04 -9.99955681e-01 -1.81120581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.41655999499994 meters 0.013900564122161037 Centerline is valid? [True, True] Translation: X:10.73, Y:-232.01, Z:-1.81 [[-5.37712912e-01 8.43112632e-01 5.09061308e-03 1.07284103e+01] [ 8.43072280e-01 5.37736989e-01 -8.24995628e-03 -2.32011480e+02] [-9.69305330e-03 -1.44353230e-04 -9.99953011e-01 -1.81062396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.446559995 meters 0.013413766792254265 Centerline is valid? [True, True] Translation: X:10.74, Y:-232.01, Z:-1.81 [[-6.03349400e-01 7.97455495e-01 5.85112083e-03 1.07376519e+01] [ 7.97415345e-01 6.03377748e-01 -8.00374548e-03 -2.32007621e+02] [-9.91306692e-03 -1.63281492e-04 -9.99950851e-01 -1.81154116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.47655999499995 meters 0.013968905166763487 Centerline is valid? [True, True] Translation: X:10.75, Y:-232.00, Z:-1.81 [[-6.65406674e-01 7.46448899e-01 6.92819320e-03 1.07488603e+01] [ 7.46405345e-01 6.65442712e-01 -8.06587874e-03 -2.32002166e+02] [-1.06310820e-02 -1.95849106e-04 -9.99943469e-01 -1.81148891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.506559995 meters 0.014565116067567224 Centerline is valid? [True, True] Translation: X:10.76, Y:-232.00, Z:-1.81 [[-7.22069072e-01 6.91781007e-01 7.43595237e-03 1.07582154e+01] [ 6.91741496e-01 7.22107333e-01 -7.39611067e-03 -2.31997414e+02] [-1.04860446e-02 -1.96745950e-04 -9.99945001e-01 -1.81159287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.53655999499995 meters 0.014175694236196792 Centerline is valid? [True, True] Translation: X:10.78, Y:-231.98, Z:-1.81 [[-7.69118239e-01 6.39054020e-01 8.19105745e-03 1.07801932e+01] [ 6.39014943e-01 7.69161828e-01 -7.07004439e-03 -2.31980843e+02] [-1.08183890e-02 -2.03491986e-04 -9.99941459e-01 -1.81214896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.566559995 meters 0.014452685079601181 Centerline is valid? [True, True] Translation: X:10.80, Y:-231.96, Z:-1.81 [[-8.12478125e-01 5.82921738e-01 9.03018803e-03 1.08018709e+01] [ 5.82882799e-01 8.12528278e-01 -6.74093588e-03 -2.31961517e+02] [-1.12667212e-02 -2.13321673e-04 -9.99936506e-01 -1.81123557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.59655999499995 meters 0.014773760472425687 Centerline is valid? [True, True] Translation: X:10.81, Y:-231.93, Z:-1.81 [[-8.52075680e-01 5.23322463e-01 1.00317139e-02 1.08134278e+01] [ 5.23282939e-01 8.52134699e-01 -6.43588750e-03 -2.31933418e+02] [-1.19164160e-02 -2.34438510e-04 -9.99928970e-01 -1.81054242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.626559995 meters 0.014646004653487905 Centerline is valid? [True, True] Translation: X:10.84, Y:-231.92, Z:-1.81 [[-8.86837540e-01 4.61967877e-01 1.02400391e-02 1.08368722e+01] [ 4.61934120e-01 8.86896628e-01 -5.58924699e-03 -2.31915129e+02] [-1.16639087e-02 -2.26530596e-04 -9.99931949e-01 -1.81089877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.65655999499995 meters 0.014692128018582766 Centerline is valid? [True, True] Translation: X:10.85, Y:-231.89, Z:-1.81 [[-9.17263381e-01 3.98158847e-01 9.87027797e-03 1.08493494e+01] [ 3.98133342e-01 9.17316461e-01 -4.51141315e-03 -2.31890313e+02] [-1.08504275e-02 -2.08467328e-04 -9.99941111e-01 -1.81130948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.686559995 meters 0.01492128727215333 Centerline is valid? [True, True] Translation: X:10.86, Y:-231.86, Z:-1.81 [[-9.43203797e-01 3.32087598e-01 9.18822679e-03 1.08599698e+01] [ 3.32069884e-01 9.43248531e-01 -3.43519841e-03 -2.31863660e+02] [-9.80756822e-03 -1.88958780e-04 -9.99951887e-01 -1.81223265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.71655999499995 meters 0.014714090068862826 Centerline is valid? [True, True] Translation: X:10.87, Y:-231.84, Z:-1.81 [[-9.64172241e-01 2.65115025e-01 9.26892178e-03 1.08711703e+01] [ 2.65100990e-01 9.64216776e-01 -2.73374856e-03 -2.31838121e+02] [-9.66200770e-03 -1.78604138e-04 -9.99953306e-01 -1.81227380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.746559995 meters 0.014464793513038636 Centerline is valid? [True, True] Translation: X:10.88, Y:-231.81, Z:-1.81 [[-9.80286946e-01 1.97352402e-01 9.46221416e-03 1.08777499e+01] [ 1.97341564e-01 9.80332598e-01 -2.07491313e-03 -2.31811430e+02] [-9.68560608e-03 -1.66722109e-04 -9.99953080e-01 -1.81161485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.77655999499996 meters 0.0141097656711074 Centerline is valid? [True, True] Translation: X:10.88, Y:-231.78, Z:-1.81 [[-9.91616756e-01 1.28834902e-01 9.88828476e-03 1.08762322e+01] [ 1.28826916e-01 9.91666044e-01 -1.44301411e-03 -2.31783827e+02] [-9.99178682e-03 -1.57039736e-04 -9.99950069e-01 -1.81098520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.80655999499993 meters 0.012959022207993809 Centerline is valid? [True, True] Translation: X:10.98, Y:-231.10, Z:-2.78 [[-9.74871239e-01 -2.22512004e-01 1.06993532e-02 1.09810357e+01] [ 2.22501166e-01 -9.74929924e-01 -2.20796417e-03 -2.31096369e+02] [ 1.09224182e-02 2.28137806e-04 9.99940323e-01 -2.78224680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.83655999499996 meters 0.012625632096338718 Centerline is valid? [True, True] Translation: X:10.83, Y:-231.78, Z:-1.81 [[-9.91496842e-01 1.29653754e-01 1.11318134e-02 1.08267863e+01] [ 1.29644220e-01 9.91559322e-01 -1.57688457e-03 -2.31782194e+02] [-1.12423024e-02 -1.20300803e-04 -9.99936796e-01 -1.81086728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.86655999499993 meters 0.012780713314441491 Centerline is valid? [True, True] Translation: X:10.83, Y:-231.76, Z:-1.81 [[-9.98114366e-01 6.04320558e-02 1.07554441e-02 1.08319038e+01] [ 6.04274455e-02 9.98172308e-01 -7.53400336e-04 -2.31755093e+02] [-1.07813160e-02 -1.02055686e-04 -9.99941875e-01 -1.81036054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.89655999499996 meters 0.0120355182602186 Centerline is valid? [True, True] Translation: X:10.84, Y:-231.73, Z:-1.81 [[-9.99905270e-01 -8.79335779e-03 1.05890497e-02 1.08354888e+01] [-8.79373378e-03 9.99961334e-01 1.10534657e-05 -2.31730096e+02] [-1.05887375e-02 -8.20648652e-05 -9.99943934e-01 -1.81269952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.92655999499993 meters 0.01193679017797262 Centerline is valid? [True, True] Translation: X:10.84, Y:-231.02, Z:-2.78 [[-9.97258908e-01 -7.32441650e-02 1.04863482e-02 1.08366980e+01] [ 7.32409198e-02 -9.97314036e-01 -6.93675814e-04 -2.31022411e+02] [ 1.05089900e-02 7.62554049e-05 9.99944776e-01 -2.78004509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.95655999499996 meters 0.01185293151955211 Centerline is valid? [True, True] Translation: X:10.75, Y:-231.73, Z:-1.81 [[-9.99859992e-01 -1.28206453e-02 1.07530334e-02 1.07531187e+01] [-1.28206361e-02 9.99917810e-01 6.97896800e-05 -2.31730388e+02] [-1.07530444e-02 -6.80808195e-05 -9.99942182e-01 -1.81205622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.98655999499994 meters 0.011875677183380721 Centerline is valid? [True, True] Translation: X:10.75, Y:-231.02, Z:-2.78 [[-9.97711955e-01 -6.67023479e-02 1.10296220e-02 1.07515746e+01] [ 6.66992614e-02 -9.97772914e-01 -6.47854970e-04 -2.31021801e+02] [ 1.10482715e-02 8.92949913e-05 9.99938962e-01 -2.78151135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.01655999499997 meters 0.011814501533991028 Centerline is valid? [True, True] Translation: X:10.67, Y:-231.73, Z:-1.81 [[-9.99775296e-01 -1.79429492e-02 1.12875569e-02 1.06692435e+01] [-1.79425698e-02 9.99839010e-01 1.34889099e-04 -2.31731614e+02] [-1.12881601e-02 -6.76689888e-05 -9.99936284e-01 -1.81183764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.04655999499994 meters 0.011749999944604843 Centerline is valid? [True, True] Translation: X:10.66, Y:-231.70, Z:-1.81 [[-9.95948133e-01 -8.92357575e-02 1.11487779e-02 1.06636794e+01] [-8.92309388e-02 9.96010530e-01 9.29890802e-04 -2.31704230e+02] [-1.11872797e-02 -6.86929088e-05 -9.99937418e-01 -1.81175785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.07655999499997 meters 0.011939365938211693 Centerline is valid? [True, True] Translation: X:10.61, Y:-231.00, Z:-2.78 [[-9.99894747e-01 8.97702469e-03 1.13977590e-02 1.06073099e+01] [-8.97548086e-03 -9.99959702e-01 1.86596516e-04 -2.30996041e+02] [ 1.13989748e-02 8.42765088e-05 9.99935026e-01 -2.78103077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.10655999499994 meters 0.011989491571824589 Centerline is valid? [True, True] Translation: X:10.56, Y:-231.71, Z:-1.81 [[-9.95218005e-01 -9.69933741e-02 1.15502040e-02 1.05628390e+01] [-9.69878796e-02 9.95285023e-01 1.03621577e-03 -2.31710757e+02] [-1.15962511e-02 -8.89691990e-05 -9.99932757e-01 -1.81131922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.13655999499997 meters 0.012275450226632512 Centerline is valid? [True, True] Translation: X:10.55, Y:-231.68, Z:-1.81 [[-9.85527190e-01 -1.69153584e-01 1.11005327e-02 1.05523561e+01] [-1.69144024e-01 9.85589699e-01 1.80128039e-03 -2.31682784e+02] [-1.12452637e-02 -1.02377962e-04 -9.99936765e-01 -1.81100298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.16655999499994 meters 0.012361953865068403 Centerline is valid? [True, True] Translation: X:10.53, Y:-231.66, Z:-1.81 [[-9.70650617e-01 -2.40247864e-01 1.08785826e-02 1.05285431e+01] [-2.40234048e-01 9.70711570e-01 2.57880319e-03 -2.31658828e+02] [-1.11795180e-02 -1.10289039e-04 -9.99937501e-01 -1.81103520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.196559995 meters 0.012496928383380327 Centerline is valid? [True, True] Translation: X:10.49, Y:-231.64, Z:-1.81 [[-9.50490496e-01 -3.10579550e-01 1.04000511e-02 1.04914279e+01] [-3.10562275e-01 9.50547385e-01 3.27769289e-03 -2.31640429e+02] [-1.09037257e-02 -1.14447591e-04 -9.99940546e-01 -1.81169211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.22655999499995 meters 0.012641126677022647 Centerline is valid? [True, True] Translation: X:10.43, Y:-231.63, Z:-1.81 [[-9.24888855e-01 -3.80127907e-01 9.13132801e-03 1.04316871e+01] [-3.80110540e-01 9.24933924e-01 3.63515212e-03 -2.31632871e+02] [-9.82769781e-03 -1.08802339e-04 -9.99951701e-01 -1.81310624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.256559995 meters 0.012617649485837273 Centerline is valid? [True, True] Translation: X:10.37, Y:-231.63, Z:-1.81 [[-8.94300912e-01 -4.47390738e-01 8.21011493e-03 1.03659067e+01] [-4.47372922e-01 8.94338592e-01 3.99395331e-03 -2.31631758e+02] [-9.12948035e-03 -1.01187011e-04 -9.99958320e-01 -1.81403130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.28655999499995 meters 0.012569514276372169 Centerline is valid? [True, True] Translation: X:10.29, Y:-231.64, Z:-1.81 [[-8.58734685e-01 -5.12377926e-01 6.60311115e-03 1.02908993e+01] [-5.12363519e-01 8.58760068e-01 3.84330387e-03 -2.31640300e+02] [-7.63971225e-03 -8.28149211e-05 -9.99970814e-01 -1.81457250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.316559995 meters 0.012590512668978196 Centerline is valid? [True, True] Translation: X:10.21, Y:-231.66, Z:-1.81 [[-8.18250752e-01 -5.74831266e-01 5.89258487e-03 1.02080166e+01] [-5.74817017e-01 8.18271966e-01 4.04813578e-03 -2.31659864e+02] [-7.14873203e-03 -7.47679118e-05 -9.99974445e-01 -1.81462424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.34655999499995 meters 0.012562484401544097 Centerline is valid? [True, True] Translation: X:10.13, Y:-231.69, Z:-1.81 [[-7.72825090e-01 -6.34592569e-01 5.80089888e-03 1.01261785e+01] [-6.34575433e-01 7.72846857e-01 4.66422509e-03 -2.31686291e+02] [-7.44308905e-03 -7.64777409e-05 -9.99972297e-01 -1.81403465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.376559995 meters 0.012182506924724591 Centerline is valid? [True, True] Translation: X:10.04, Y:-231.73, Z:-1.81 [[-7.22944445e-01 -6.90865464e-01 7.49932628e-03 1.00399283e+01] [-6.90829741e-01 7.22983334e-01 7.02627548e-03 -2.31726450e+02] [-1.02760990e-02 -1.01150800e-04 -9.99947194e-01 -1.81185583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.40655999499995 meters 0.01218240301724711 Centerline is valid? [True, True] Translation: X:9.95, Y:-231.78, Z:-1.81 [[-6.67845777e-01 -7.44262075e-01 7.48209446e-03 9.94953512e+00] [-7.44217354e-01 6.67887677e-01 8.15970336e-03 -2.31777323e+02] [-1.10701564e-02 -1.18881114e-04 -9.99938717e-01 -1.81151772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.436559995 meters 0.01218240301724711 Centerline is valid? [True, True] Translation: X:9.86, Y:-231.84, Z:-1.81 [[-6.09312042e-01 -7.92901036e-01 6.83984732e-03 9.86342386e+00] [-7.92853257e-01 6.09350420e-01 8.70508627e-03 -2.31835801e+02] [-1.10701357e-02 -1.18881335e-04 -9.99938717e-01 -1.81151865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.46655999499995 meters 0.01218240301724711 Centerline is valid? [True, True] Translation: X:9.78, Y:-231.90, Z:-1.81 [[-5.47075672e-01 -8.37060519e-01 6.15607847e-03 9.77997266e+00] [-8.37009953e-01 5.47110294e-01 9.20131929e-03 -2.31903494e+02] [-1.10701150e-02 -1.18881011e-04 -9.99938717e-01 -1.81151960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.496559995 meters 0.012168494139227567 Centerline is valid? [True, True] Translation: X:9.70, Y:-231.98, Z:-1.81 [[-4.80791126e-01 -8.76817570e-01 5.55368230e-03 9.70115440e+00] [-8.76762198e-01 4.80823182e-01 9.85474957e-03 -2.31978076e+02] [-1.13111568e-02 -1.31182561e-04 -9.99936018e-01 -1.81160186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.52655999499996 meters 0.012168494139227567 Centerline is valid? [True, True] Translation: X:9.63, Y:-232.06, Z:-1.81 [[-4.12240261e-01 -9.11062617e-01 4.78272678e-03 9.62650534e+00] [-9.11004953e-01 4.12267984e-01 1.02510746e-02 -2.32062470e+02] [-1.13111360e-02 -1.31182120e-04 -9.99936019e-01 -1.81160285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.55655999499993 meters 0.012168494139227567 Centerline is valid? [True, True] Translation: X:9.56, Y:-232.15, Z:-1.81 [[-3.41110676e-01 -9.40014708e-01 3.98190941e-03 9.55745963e+00] [-9.39955087e-01 3.41133891e-01 1.05878672e-02 -2.32154930e+02] [-1.13111151e-02 -1.31181469e-04 -9.99936019e-01 -1.81160384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.58655999499996 meters 0.012333419209482905 Centerline is valid? [True, True] Translation: X:9.49, Y:-232.25, Z:-1.81 [[-2.67335899e-01 -9.63597723e-01 3.30835717e-03 9.49347558e+00] [-9.63530511e-01 2.67356330e-01 1.13819048e-02 -2.32254904e+02] [-1.18520878e-02 -1.44911316e-04 -9.99929751e-01 -1.81134146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.61655999499993 meters 0.012691661931382197 Centerline is valid? [True, True] Translation: X:9.44, Y:-232.36, Z:-1.81 [[-1.91526133e-01 -9.81484388e-01 2.47708190e-03 9.43712325e+00] [-9.81412769e-01 1.91542084e-01 1.18577820e-02 -2.32359204e+02] [-1.21126934e-02 -1.59964667e-04 -9.99926626e-01 -1.81053640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.64655999499996 meters 0.012896557837682562 Centerline is valid? [True, True] Translation: X:9.39, Y:-232.47, Z:-1.81 [[-1.14194676e-01 -9.93457167e-01 1.55959566e-03 9.38888264e+00] [-9.93384357e-01 1.14205191e-01 1.20288595e-02 -2.32468530e+02] [-1.21282706e-02 -1.75646210e-04 -9.99926434e-01 -1.81025399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.67655999499993 meters 0.012881279600491595 Centerline is valid? [True, True] Translation: X:9.35, Y:-232.58, Z:-1.81 [[-3.69020238e-02 -9.99318700e-01 6.14258328e-04 9.35087765e+00] [-9.99248649e-01 3.69067108e-02 1.18335064e-02 -2.32581046e+02] [-1.18481145e-02 -1.77116471e-04 -9.99929793e-01 -1.81080315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.70655999499996 meters 0.013021224895910085 Centerline is valid? [True, True] Translation: X:9.32, Y:-232.69, Z:-1.81 [[ 4.05117004e-02 -9.99179020e-01 -2.98112637e-04 9.32143860e+00] [-9.99109397e-01 -4.05123971e-02 1.17965088e-02 -2.32694579e+02] [-1.17989013e-02 -1.80049491e-04 -9.99930374e-01 -1.81105554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.73655999499994 meters 0.013089201985354649 Centerline is valid? [True, True] Translation: X:9.30, Y:-232.82, Z:-1.81 [[ 1.17543135e-01 -9.93067152e-01 -1.11475281e-03 9.30126671e+00] [-9.93007814e-01 -1.17548299e-01 1.08571911e-02 -2.32815190e+02] [-1.09129572e-02 -1.69230031e-04 -9.99940438e-01 -1.81153264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.76655999499997 meters 0.013253773188477638 Centerline is valid? [True, True] Translation: X:9.29, Y:-232.93, Z:-1.81 [[ 1.93957996e-01 -9.81008021e-01 -1.88664276e-03 9.28973215e+00] [-9.80952883e-01 -1.93967099e-01 1.04021881e-02 -2.32933699e+02] [-1.05705766e-02 -1.66879904e-04 -9.99944116e-01 -1.81162460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.79655999499994 meters 0.012944266773642561 Centerline is valid? [True, True] Translation: X:9.29, Y:-233.06, Z:-1.81 [[ 2.68837170e-01 -9.63182889e-01 -2.30192309e-03 9.29008510e+00] [-9.63142895e-01 -2.68846987e-01 8.77849174e-03 -2.33059857e+02] [-9.07415812e-03 -1.42904008e-04 -9.99958819e-01 -1.81303413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.82655999499997 meters 0.012978788126874233 Centerline is valid? [True, True] Translation: X:9.30, Y:-233.17, Z:-1.81 [[ 3.42362675e-01 -9.39563474e-01 -2.87699196e-03 9.29603558e+00] [-9.39526790e-01 -3.42374734e-01 8.30375711e-03 -2.33174373e+02] [-8.78691623e-03 -1.39885471e-04 -9.99961385e-01 -1.81292850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.85655999499994 meters 0.013197129332967048 Centerline is valid? [True, True] Translation: X:9.31, Y:-233.29, Z:-1.81 [[ 4.13741439e-01 -9.10387358e-01 -3.58885180e-03 9.31164725e+00] [-9.10350016e-01 -4.13756978e-01 8.24693831e-03 -2.33290986e+02] [-8.99282086e-03 -1.44988832e-04 -9.99959553e-01 -1.81268892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.88655999499997 meters 0.013039353878095489 Centerline is valid? [True, True] Translation: X:9.34, Y:-233.40, Z:-1.81 [[ 4.83007534e-01 -8.75606847e-01 -4.04606121e-03 9.33631659e+00] [-8.75573583e-01 -4.83024459e-01 7.63368773e-03 -2.33403803e+02] [-8.63845577e-03 -1.44504371e-04 -9.99962677e-01 -1.81317450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.91655999499994 meters 0.013501572499968351 Centerline is valid? [True, True] Translation: X:9.37, Y:-233.52, Z:-1.81 [[ 5.49218281e-01 -8.35665509e-01 -4.73673963e-03 9.36851337e+00] [-8.35631998e-01 -5.49238685e-01 7.48540022e-03 -2.33516401e+02] [-8.85689143e-03 -1.52947439e-04 -9.99960765e-01 -1.81275843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.946559995 meters 0.013040632647545153 Centerline is valid? [True, True] Translation: X:9.41, Y:-233.62, Z:-1.81 [[ 6.12100370e-01 -7.90761304e-01 -5.44958741e-03 9.40930485e+00] [-7.90727568e-01 -6.12124607e-01 7.30609970e-03 -2.33623358e+02] [-9.11320748e-03 -1.62927329e-04 -9.99958461e-01 -1.81294418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.97655999499995 meters 0.01341159078642936 Centerline is valid? [True, True] Translation: X:9.45, Y:-233.72, Z:-1.81 [[ 6.71269254e-01 -7.41186380e-01 -6.35127983e-03 9.45371812e+00] [-7.41150648e-01 -6.71299276e-01 7.28007579e-03 -2.33724661e+02] [-9.65950257e-03 -1.79635890e-04 -9.99953330e-01 -1.81224282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.006559995 meters 0.013840134969842962 Centerline is valid? [True, True] Translation: X:9.50, Y:-233.82, Z:-1.81 [[ 7.26813136e-01 -6.86798396e-01 -7.11535973e-03 9.50454354e+00] [-6.86762779e-01 -7.26847937e-01 6.99722732e-03 -2.33822418e+02] [-9.97746904e-03 -1.99112507e-04 -9.99950204e-01 -1.81071532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.03655999499995 meters 0.014045659146083501 Centerline is valid? [True, True] Translation: X:9.50, Y:-233.83, Z:-1.81 [[ 7.78397641e-01 -6.27720143e-01 -8.03330355e-03 9.50145198e+00] [-6.27683890e-01 -7.78439064e-01 6.74957732e-03 -2.33831047e+02] [-1.04902829e-02 -2.11479841e-04 -9.99944953e-01 -1.81013336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.066559995 meters 0.01381823355004639 Centerline is valid? [True, True] Translation: X:9.50, Y:-233.84, Z:-1.81 [[ 8.25156452e-01 -5.64834224e-01 -8.89544646e-03 9.49919552e+00] [-5.64798493e-01 -8.25204369e-01 6.35700665e-03 -2.33839685e+02] [-1.09312162e-02 -2.21390292e-04 -9.99940228e-01 -1.80990723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.09655999499995 meters 0.013965884075881476 Centerline is valid? [True, True] Translation: X:9.50, Y:-233.85, Z:-1.81 [[ 8.66780629e-01 -4.98604973e-01 -9.18814450e-03 9.49757621e+00] [-4.98574290e-01 -8.66829299e-01 5.53572456e-03 -2.33848347e+02] [-1.07246927e-02 -2.17286199e-04 -9.99942465e-01 -1.81015125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.126559995 meters 0.01385812832626728 Centerline is valid? [True, True] Translation: X:9.50, Y:-233.86, Z:-1.81 [[ 9.03194760e-01 -4.29135014e-01 -9.07556234e-03 9.49649152e+00] [-4.29111031e-01 -9.03240331e-01 4.54166020e-03 -2.33857323e+02] [-1.01463994e-02 -2.07579784e-04 -9.99948502e-01 -1.81059862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.15655999499995 meters 0.013950474911800024 Centerline is valid? [True, True] Translation: X:9.50, Y:-233.87, Z:-1.81 [[ 9.34109451e-01 -3.56881634e-01 -8.66214704e-03 9.49636631e+00] [-3.56864348e-01 -9.34149593e-01 3.51786931e-03 -2.33866619e+02] [-9.34720408e-03 -1.94863510e-04 -9.99956295e-01 -1.81136272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.186559995 meters 0.013950474911800024 Centerline is valid? [True, True] Translation: X:9.50, Y:-233.88, Z:-1.81 [[ 9.59145248e-01 -2.82773752e-01 -8.91059462e-03 9.49585521e+00] [-2.82759657e-01 -9.59186618e-01 2.83003885e-03 -2.33876034e+02] [-9.34718381e-03 -1.94861631e-04 -9.99956295e-01 -1.81136293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.21655999499995 meters 0.01401326293200217 Centerline is valid? [True, True] Translation: X:9.50, Y:-233.89, Z:-1.81 [[ 9.78399415e-01 -2.06539556e-01 -8.71761954e-03 9.49593036e+00] [-2.06529624e-01 -9.78438233e-01 2.03437575e-03 -2.33886216e+02] [-8.94983133e-03 -1.89985355e-04 -9.99959931e-01 -1.81124574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.246559995 meters 0.014604690647733395 Centerline is valid? [True, True] Translation: X:9.50, Y:-233.90, Z:-1.81 [[ 9.91589584e-01 -1.29124729e-01 -8.76939142e-03 9.49694139e+00] [-1.29117975e-01 -9.91628342e-01 1.33444808e-03 -2.33896228e+02] [-8.86828732e-03 -1.90938754e-04 -9.99960658e-01 -1.81071078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.27655999499996 meters 0.014441102347312338 Centerline is valid? [True, True] Translation: X:9.50, Y:-233.90, Z:-1.81 [[ 9.98654734e-01 -5.07998734e-02 -1.03968407e-02 9.49561377e+00] [-5.07947474e-02 -9.98708827e-01 7.56673177e-04 -2.33903212e+02] [-1.04218555e-02 -2.27550353e-04 -9.99945665e-01 -1.80911333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.30655999499993 meters 0.014979072416706362 Centerline is valid? [True, True] Translation: X:9.49, Y:-233.91, Z:-1.81 [[ 9.99546764e-01 2.78416597e-02 -1.14502500e-02 9.49410229e+00] [ 2.78427372e-02 -9.99612314e-01 -6.53291756e-05 -2.33910967e+02] [-1.14476298e-02 -2.53506736e-04 -9.99934442e-01 -1.80776410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.33655999499996 meters 0.014413890800716797 Centerline is valid? [True, True] Translation: X:9.49, Y:-233.92, Z:-1.81 [[ 9.94206950e-01 1.06772135e-01 -1.23390452e-02 9.49423654e+00] [ 1.06767448e-01 -9.94283476e-01 -1.03983264e-03 -2.33918818e+02] [-1.23795339e-02 -2.83599526e-04 -9.99923330e-01 -1.80792636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.36655999499993 meters 0.01688952117765322 Centerline is valid? [True, True] Translation: X:9.49, Y:-233.93, Z:-1.81 [[ 9.82693746e-01 1.84835042e-01 -1.22069280e-02 9.49460944e+00] [ 1.84824442e-01 -9.82769517e-01 -2.00064541e-03 -2.33931072e+02] [-1.23663861e-02 -2.90116919e-04 -9.99923491e-01 -1.80645509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.39655999499996 meters 0.015456395247775173 Centerline is valid? [True, True] Translation: X:9.50, Y:-233.94, Z:-1.81 [[ 9.64950329e-01 2.62171645e-01 -1.17000402e-02 9.49570629e+00] [ 2.62156064e-01 -9.65021213e-01 -2.87335455e-03 -2.33935269e+02] [-1.20440991e-02 -2.94592073e-04 -9.99927424e-01 -1.80871215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.42655999499993 meters 0.015417605861072473 Centerline is valid? [True, True] Translation: X:9.50, Y:-233.94, Z:-1.81 [[ 9.41046470e-01 3.38108030e-01 -1.07005012e-02 9.49782777e+00] [ 3.38089662e-01 -9.41107261e-01 -3.53614178e-03 -2.33943627e+02] [-1.12659173e-02 -2.90055092e-04 -9.99936496e-01 -1.80980886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.45655999499996 meters 0.015478109560471175 Centerline is valid? [True, True] Translation: X:9.50, Y:-233.95, Z:-1.81 [[ 9.11408492e-01 4.11383000e-01 -9.92913414e-03 9.50147924e+00] [ 4.11361976e-01 -9.11462531e-01 -4.16872414e-03 -2.33952145e+02] [-1.07649760e-02 -2.85057663e-04 -9.99942015e-01 -1.81044608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.48655999499994 meters 0.016398879981382855 Centerline is valid? [True, True] Translation: X:9.51, Y:-233.96, Z:-1.81 [[ 8.76203926e-01 4.81862555e-01 -8.66935431e-03 9.50509392e+00] [ 4.81841911e-01 -8.76246774e-01 -4.46797997e-03 -2.33961973e+02] [-9.74944599e-03 -2.62396659e-04 -9.99952439e-01 -1.81008552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.51655999499997 meters 0.015622564811428966 Centerline is valid? [True, True] Translation: X:9.51, Y:-233.97, Z:-1.81 [[ 8.36181942e-01 5.48389460e-01 -8.29223898e-03 9.50830840e+00] [ 5.48365506e-01 -8.36223018e-01 -5.13194439e-03 -2.33967959e+02] [-9.74846531e-03 -2.55938599e-04 -9.99952450e-01 -1.81017112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.54655999499994 meters 0.01569797440663246 Centerline is valid? [True, True] Translation: X:9.51, Y:-233.97, Z:-1.81 [[ 7.90922605e-01 6.11866745e-01 -7.77944861e-03 9.51248833e+00] [ 6.11840226e-01 -7.90960823e-01 -5.70211308e-03 -2.33974170e+02] [-9.64217245e-03 -2.49849466e-04 -9.99953482e-01 -1.81006844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.57655999499997 meters 0.015706954841677605 Centerline is valid? [True, True] Translation: X:9.52, Y:-233.98, Z:-1.81 [[ 7.40578562e-01 6.71936668e-01 -6.67142127e-03 9.51676754e+00] [ 6.71912151e-01 -7.40608575e-01 -5.74451053e-03 -2.33980009e+02] [-8.80085907e-03 -2.28347671e-04 -9.99961246e-01 -1.81131746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.60655999499994 meters 0.015700950060411435 Centerline is valid? [True, True] Translation: X:9.52, Y:-233.99, Z:-1.81 [[ 6.85472566e-01 7.28076722e-01 -5.62561502e-03 9.52159458e+00] [ 7.28054680e-01 -6.85495618e-01 -5.66921271e-03 -2.33985861e+02] [-7.98395626e-03 -2.09665556e-04 -9.99968106e-01 -1.81209919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.63655999499997 meters 0.015942918177572367 Centerline is valid? [True, True] Translation: X:9.53, Y:-233.99, Z:-1.81 [[ 6.26046368e-01 7.79770964e-01 -4.81542382e-03 9.52786545e+00] [ 7.79750297e-01 -6.26064856e-01 -5.68071950e-03 -2.33992370e+02] [-7.44442774e-03 -1.98434338e-04 -9.99972270e-01 -1.81216343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.66655999499994 meters 0.01633599521703873 Centerline is valid? [True, True] Translation: X:9.53, Y:-234.00, Z:-1.81 [[ 5.63072898e-01 8.26395598e-01 -4.38490016e-03 9.53274480e+00] [ 8.26373252e-01 -5.63089936e-01 -6.08055412e-03 -2.33998620e+02] [-7.49403631e-03 -1.99768970e-04 -9.99971899e-01 -1.81166781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.696559995 meters 0.015773525899625662 Centerline is valid? [True, True] Translation: X:9.54, Y:-234.00, Z:-1.81 [[ 4.96693132e-01 8.67917820e-01 -3.81973750e-03 9.53837724e+00] [ 8.67895111e-01 -4.96707781e-01 -6.28140839e-03 -2.34003064e+02] [-7.34903962e-03 -1.95199100e-04 -9.99972976e-01 -1.81177745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.72655999499995 meters 0.016040125930525232 Centerline is valid? [True, True] Translation: X:9.54, Y:-234.01, Z:-1.81 [[ 4.27127274e-01 9.04185551e-01 -3.28345211e-03 9.54467673e+00] [ 9.04162229e-01 -4.27139850e-01 -6.49704476e-03 -2.34008338e+02] [-7.27702724e-03 -1.93708366e-04 -9.99973503e-01 -1.81182221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.756559995 meters 0.015813302370391472 Centerline is valid? [True, True] Translation: X:9.55, Y:-234.01, Z:-1.81 [[ 3.55028603e-01 9.34851683e-01 -2.64979162e-03 9.55180965e+00] [ 9.34829416e-01 -3.55038443e-01 -6.45499923e-03 -2.34012586e+02] [-6.97524478e-03 -1.85393797e-04 -9.99975656e-01 -1.81251158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.78655999499995 meters 0.0156480495353382 Centerline is valid? [True, True] Translation: X:9.56, Y:-234.02, Z:-1.81 [[ 2.80998383e-01 9.59705649e-01 -2.23052019e-03 9.55911133e+00] [ 9.59680598e-01 -2.81007171e-01 -6.93678129e-03 -2.34016031e+02] [-7.28406036e-03 -1.91362626e-04 -9.99973453e-01 -1.81265857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.816559995 meters 0.015390412475566473 Centerline is valid? [True, True] Translation: X:9.57, Y:-234.02, Z:-1.81 [[ 2.05914655e-01 9.78568570e-01 -1.64566245e-03 9.56644576e+00] [ 9.78543956e-01 -2.05921151e-01 -6.94301296e-03 -2.34018888e+02] [-7.13309097e-03 -1.80684929e-04 -9.99974543e-01 -1.81268552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.84655999499995 meters 0.015114959386664099 Centerline is valid? [True, True] Translation: X:9.57, Y:-234.02, Z:-1.81 [[ 1.29645960e-01 9.91559761e-01 -1.07917922e-03 9.57400092e+00] [ 9.91535507e-01 -1.29650339e-01 -6.93745818e-03 -2.34021392e+02] [-7.01882033e-03 -1.70631085e-04 -9.99975353e-01 -1.81282551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.876559995 meters 0.014571508460903939 Centerline is valid? [True, True] Translation: X:9.58, Y:-234.02, Z:-1.81 [[ 5.28499372e-02 9.98602333e-01 -5.13804121e-04 9.58206133e+00] [ 9.98579511e-01 -5.28522040e-02 -6.75319859e-03 -2.34023807e+02] [-6.77091555e-03 -1.56168147e-04 -9.99977065e-01 -1.81314306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.90655999499995 meters 0.014209062124531463 Centerline is valid? [True, True] Translation: X:9.59, Y:-234.03, Z:-1.81 [[-2.30204945e-02 9.99734993e-01 1.69059891e-05 9.59037697e+00] [ 9.99712231e-01 2.30200844e-02 -6.74768901e-03 -2.34025870e+02] [-6.74629000e-03 -1.38434013e-04 -9.99977234e-01 -1.81281174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.936559995 meters 0.013446047576013516 Centerline is valid? [True, True] Translation: X:9.60, Y:-234.03, Z:-1.81 [[-9.91584041e-02 9.95071529e-01 5.13931161e-04 9.59715625e+00] [ 9.95051356e-01 9.91596669e-02 -6.33712604e-03 -2.34026777e+02] [-6.35685494e-03 -1.16991406e-04 -9.99979788e-01 -1.81302323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.96655999499995 meters 0.012554200121746233 Centerline is valid? [True, True] Translation: X:9.60, Y:-234.03, Z:-1.81 [[-1.71930384e-01 9.85108680e-01 9.11592716e-04 9.60278718e+00] [ 9.85092356e-01 1.71932784e-01 -5.67178002e-03 -2.34029123e+02] [-5.74405240e-03 -7.71483019e-05 -9.99983500e-01 -1.81355796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.996559995 meters 0.012091563890233543 Centerline is valid? [True, True] Translation: X:9.61, Y:-234.03, Z:-1.81 [[-2.46303129e-01 9.69191990e-01 1.28627373e-03 9.60838593e+00] [ 9.69177466e-01 2.46306480e-01 -5.30641809e-03 -2.34029696e+02] [-5.45975546e-03 -6.03598612e-05 -9.99985094e-01 -1.81404390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.02655999499996 meters 0.011410498847081882 Centerline is valid? [True, True] Translation: X:9.61, Y:-234.03, Z:-1.81 [[-3.17415445e-01 9.48285160e-01 1.64001117e-03 9.61380536e+00] [ 9.48271917e-01 3.17419680e-01 -5.01182635e-03 -2.34030149e+02] [-5.27321237e-03 -3.56545554e-05 -9.99986096e-01 -1.81452944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.05655999499993 meters 0.011264945453813829 Centerline is valid? [True, True] Translation: X:9.62, Y:-234.03, Z:-1.81 [[-3.88606808e-01 9.21401513e-01 1.99993443e-03 9.62213221e+00] [ 9.21389001e-01 3.88611954e-01 -4.80191498e-03 -2.34030007e+02] [-5.20169016e-03 -2.33392653e-05 -9.99986471e-01 -1.81404380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.08655999499996 meters 0.011247788438741088 Centerline is valid? [True, True] Translation: X:9.63, Y:-234.03, Z:-1.81 [[-4.59166056e-01 8.88347177e-01 2.41365752e-03 9.63043685e+00] [ 8.88334659e-01 4.59172399e-01 -4.71610597e-03 -2.34028655e+02] [-5.29782434e-03 -2.13401432e-05 -9.99985966e-01 -1.81394527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.11655999499993 meters 0.01117625645384309 Centerline is valid? [True, True] Translation: X:9.64, Y:-234.03, Z:-1.81 [[-5.26765743e-01 8.50004304e-01 3.24579475e-03 9.63958820e+00] [ 8.49987928e-01 5.26775742e-01 -5.27640213e-03 -2.34026667e+02] [-6.19477045e-03 -2.05415332e-05 -9.99980812e-01 -1.81275703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.14655999499996 meters 0.011246242001225882 Centerline is valid? [True, True] Translation: X:9.65, Y:-234.03, Z:-1.81 [[-5.91820579e-01 8.06060844e-01 3.78393687e-03 9.64697217e+00] [ 8.06044132e-01 5.91832675e-01 -5.19052847e-03 -2.34025075e+02] [-6.42333924e-03 -2.18414510e-05 -9.99979370e-01 -1.81238244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.17655999499993 meters 0.011246242001225882 Centerline is valid? [True, True] Translation: X:9.65, Y:-234.02, Z:-1.81 [[-6.53168248e-01 7.57201278e-01 4.17905815e-03 9.65236877e+00] [ 7.57185565e-01 6.53181617e-01 -4.87801191e-03 -2.34023534e+02] [-6.42332081e-03 -2.18399869e-05 -9.99979370e-01 -1.81238259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.20655999499996 meters 0.011193362101270275 Centerline is valid? [True, True] Translation: X:9.66, Y:-234.02, Z:-1.81 [[-7.10514783e-01 7.03664505e-01 5.00066526e-03 9.66002466e+00] [ 7.03646833e-01 7.10532380e-01 -4.98704916e-03 -2.34018301e+02] [-7.06234407e-03 -2.46698773e-05 -9.99975061e-01 -1.81233346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.23655999499994 meters 0.011193362101270275 Centerline is valid? [True, True] Translation: X:9.68, Y:-234.00, Z:-1.81 [[-7.58504334e-01 6.51646109e-01 5.34089489e-03 9.68011676e+00] [ 6.51629726e-01 7.58523137e-01 -4.62081630e-03 -2.33998935e+02] [-7.06232930e-03 -2.46233170e-05 -9.99975061e-01 -1.81233362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.26655999499997 meters 0.011298929293376784 Centerline is valid? [True, True] Translation: X:9.70, Y:-233.98, Z:-1.81 [[-8.02940749e-01 5.96025185e-01 6.33499338e-03 9.69786353e+00] [ 5.96006333e-01 8.02965739e-01 -4.74059617e-03 -2.33976772e+02] [-7.91229735e-03 -3.07216638e-05 -9.99968697e-01 -1.81172053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.29655999499994 meters 0.011293186459749601 Centerline is valid? [True, True] Translation: X:10.11, Y:-233.43, Z:-2.78 [[-7.55801539e-01 -6.54768726e-01 6.47687141e-03 1.01148683e+01] [ 6.54745464e-01 -7.55829287e-01 -5.51961313e-03 -2.33431162e+02] [ 8.50947916e-03 6.89700847e-05 9.99963791e-01 -2.78146244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.32655999499997 meters 0.011293186459749601 Centerline is valid? [True, True] Translation: X:9.67, Y:-233.95, Z:-1.81 [[-8.05260968e-01 5.92881039e-01 6.84447798e-03 9.66531946e+00] [ 5.92859242e-01 8.05290055e-01 -5.08399531e-03 -2.33953134e+02] [-8.52599447e-03 -3.61309627e-05 -9.99963652e-01 -1.81123797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.35655999499994 meters 0.011396950764863963 Centerline is valid? [True, True] Translation: X:9.68, Y:-233.93, Z:-1.81 [[-8.45488902e-01 5.33938452e-01 7.63189561e-03 9.67847664e+00] [ 5.33916240e-01 8.45523345e-01 -4.87045265e-03 -2.33927200e+02] [-9.05346786e-03 -4.31206511e-05 -9.99959016e-01 -1.81121995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.38655999499997 meters 0.011301885383245551 Centerline is valid? [True, True] Translation: X:9.70, Y:-233.90, Z:-1.81 [[-8.81346020e-01 4.72400289e-01 8.19509186e-03 9.69557012e+00] [ 4.72379365e-01 8.81384119e-01 -4.44644111e-03 -2.33904899e+02] [-9.32352388e-03 -4.76608810e-05 -9.99956534e-01 -1.81178316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.41655999499994 meters 0.011343853760404903 Centerline is valid? [True, True] Translation: X:10.02, Y:-233.31, Z:-2.78 [[-8.42017529e-01 -5.39389871e-01 8.06523291e-03 1.00247787e+01] [ 5.39365832e-01 -8.42056152e-01 -5.09278390e-03 -2.33305669e+02] [ 9.53837504e-03 6.18977473e-05 9.99954507e-01 -2.78132021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.446559995 meters 0.011337580531284603 Centerline is valid? [True, True] Translation: X:9.66, Y:-233.88, Z:-1.81 [[-8.83459127e-01 4.68436097e-01 8.22149176e-03 9.65785103e+00] [ 4.68415227e-01 8.83497380e-01 -4.42211576e-03 -2.33884234e+02] [-9.33514507e-03 -5.56866003e-05 -9.99956425e-01 -1.81221812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.47655999499995 meters 0.011289514043517026 Centerline is valid? [True, True] Translation: X:9.98, Y:-233.29, Z:-2.78 [[-8.43598779e-01 -5.36923553e-01 7.36201840e-03 9.98492530e+00] [ 5.36903256e-01 -8.43630902e-01 -4.66858513e-03 -2.33285855e+02] [ 8.71749953e-03 1.42789277e-05 9.99962002e-01 -2.77957133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.506559995 meters 0.01129451479664047 Centerline is valid? [True, True] Translation: X:9.62, Y:-233.86, Z:-1.81 [[-8.85397021e-01 4.64781136e-01 7.11410790e-03 9.61623219e+00] [ 4.64765666e-01 8.85425600e-01 -3.79246275e-03 -2.33861994e+02] [-8.06167840e-03 -5.14421279e-05 -9.99967503e-01 -1.81418599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.53655999499995 meters 0.01121119181455969 Centerline is valid? [True, True] Translation: X:9.63, Y:-233.84, Z:-1.81 [[-9.16101553e-01 4.00879058e-01 7.34340613e-03 9.63021665e+00] [ 4.00865727e-01 9.16130983e-01 -3.26966721e-03 -2.33838018e+02] [-8.03826298e-03 -5.16273669e-05 -9.99967691e-01 -1.81481919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.566559995 meters 0.01117754370923313 Centerline is valid? [True, True] Translation: X:9.91, Y:-233.22, Z:-2.78 [[-8.81069288e-01 -4.72932650e-01 7.18467005e-03 9.91359719e+00] [ 4.72917457e-01 -8.81098579e-01 -3.79121775e-03 -2.33219149e+02] [ 8.12339323e-03 5.74303679e-05 9.99967003e-01 -2.77758907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.59655999499995 meters 0.011309432249534075 Centerline is valid? [True, True] Translation: X:9.59, Y:-233.82, Z:-1.81 [[-9.17670031e-01 3.97274621e-01 7.38853295e-03 9.58854794e+00] [ 3.97261271e-01 9.17699773e-01 -3.25731515e-03 -2.33819561e+02] [-8.07450365e-03 -5.39624992e-05 -9.99967399e-01 -1.81483360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.626559995 meters 0.011256514517450808 Centerline is valid? [True, True] Translation: X:9.60, Y:-233.79, Z:-1.81 [[-9.43675189e-01 3.30777844e-01 7.94700685e-03 9.60149053e+00] [ 3.30765578e-01 9.43708649e-01 -2.84931012e-03 -2.33793892e+02] [-8.44214776e-03 -6.02269548e-05 -9.99964363e-01 -1.81468710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.65655999499995 meters 0.011256514517450808 Centerline is valid? [True, True] Translation: X:9.61, Y:-233.77, Z:-1.81 [[-9.64743830e-01 2.63065132e-01 8.12894039e-03 9.60913300e+00] [ 2.63055267e-01 9.64778074e-01 -2.27893245e-03 -2.33767157e+02] [-8.44213112e-03 -6.02254284e-05 -9.99964363e-01 -1.81468728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.686559995 meters 0.011359845768961718 Centerline is valid? [True, True] Translation: X:9.61, Y:-233.74, Z:-1.81 [[-9.81151178e-01 1.93036915e-01 8.89471035e-03 9.61050070e+00] [ 1.93028304e-01 9.81191492e-01 -1.82474292e-03 -2.33737395e+02] [-9.07965687e-03 -7.34178074e-05 -9.99958776e-01 -1.81412500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.71655999499995 meters 0.01155673345780528 Centerline is valid? [True, True] Translation: X:9.61, Y:-233.71, Z:-1.81 [[-9.92512439e-01 1.21813757e-01 8.97033965e-03 9.61186557e+00] [ 1.21808024e-01 9.92552972e-01 -1.18478844e-03 -2.33707787e+02] [-9.04786081e-03 -8.32579195e-05 -9.99959064e-01 -1.81402219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.746559995 meters 0.011700362985845146 Centerline is valid? [True, True] Translation: X:9.62, Y:-233.68, Z:-1.81 [[-9.98676798e-01 5.06053397e-02 9.15168133e-03 9.61707335e+00] [ 5.06024079e-02 9.98718725e-01 -5.51775878e-04 -2.33679497e+02] [-9.16787832e-03 -8.79486554e-05 -9.99957970e-01 -1.81370887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.77655999499996 meters 0.011746957789813309 Centerline is valid? [True, True] Translation: X:9.61, Y:-233.65, Z:-1.81 [[-9.99743486e-01 -2.07415215e-02 9.09679148e-03 9.61026761e+00] [-2.07414783e-02 9.99784868e-01 9.91013259e-05 -2.33651026e+02] [-9.09688998e-03 -8.96049984e-05 -9.99958618e-01 -1.81356425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.80655999499993 meters 0.011792170523042367 Centerline is valid? [True, True] Translation: X:9.60, Y:-232.98, Z:-2.78 [[-9.97750972e-01 -6.63235610e-02 9.70477439e-03 9.60064016e+00] [ 6.63217548e-02 -9.97798159e-01 -5.08170059e-04 -2.32984237e+02] [ 9.71710967e-03 1.36610498e-04 9.99952779e-01 -2.78027634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.83655999499996 meters 0.011808296422257038 Centerline is valid? [True, True] Translation: X:9.53, Y:-233.65, Z:-1.81 [[-9.99613742e-01 -2.60061010e-02 9.80050430e-03 9.53119553e+00] [-2.60057953e-02 9.99661780e-01 1.58657570e-04 -2.33649615e+02] [-9.80131563e-03 -9.62736211e-05 -9.99951961e-01 -1.81201685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.86655999499993 meters 0.011859306686195312 Centerline is valid? [True, True] Translation: X:9.52, Y:-232.99, Z:-2.78 [[-9.98164206e-01 -5.97272280e-02 1.00437486e-02 9.52408588e+00] [ 5.97253656e-02 -9.98214729e-01 -4.85537866e-04 -2.32985164e+02] [ 1.00548176e-02 1.15220040e-04 9.99949442e-01 -2.78139826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.89655999499996 meters 0.011766404301203274 Centerline is valid? [True, True] Translation: X:9.45, Y:-233.65, Z:-1.81 [[-9.99517756e-01 -2.93513083e-02 1.01368802e-02 9.45374859e+00] [-2.93506220e-02 9.99569154e-01 2.16495334e-04 -2.33652043e+02] [-1.01388672e-02 -8.11328091e-05 -9.99948597e-01 -1.81159046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.92655999499993 meters 0.011663209763651084 Centerline is valid? [True, True] Translation: X:9.45, Y:-233.63, Z:-1.81 [[-9.94986773e-01 -9.94763055e-02 1.02852771e-02 9.44840025e+00] [-9.94717444e-02 9.95039929e-01 9.55345216e-04 -2.33625658e+02] [-1.03292956e-02 -7.25386058e-05 -9.99946649e-01 -1.81196009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.95655999499996 meters 0.011660227296310359 Centerline is valid? [True, True] Translation: X:9.44, Y:-233.60, Z:-1.81 [[-9.85499849e-01 -1.69388525e-01 9.87803782e-03 9.43554301e+00] [-1.69380647e-01 9.85549351e-01 1.63477960e-03 -2.33600140e+02] [-1.00122067e-02 -6.20733915e-05 -9.99949875e-01 -1.81168118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.98655999499994 meters 0.01158146084084214 Centerline is valid? [True, True] Translation: X:9.32, Y:-232.94, Z:-2.78 [[-9.95709202e-01 9.20473202e-02 9.51190500e-03 9.31618590e+00] [-9.20428366e-02 -9.95754633e-01 9.08983464e-04 -2.32938391e+02] [ 9.55519297e-03 2.95804810e-05 9.99954348e-01 -2.78059658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.01655999499997 meters 0.011531458009038851 Centerline is valid? [True, True] Translation: X:9.32, Y:-233.62, Z:-1.81 [[-9.84836193e-01 -1.73247610e-01 9.10705416e-03 9.32110746e+00] [-1.73240525e-01 9.84878299e-01 1.56722029e-03 -2.33620761e+02] [-9.24085719e-03 -3.42555764e-05 -9.99957302e-01 -1.81237584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.04655999499994 meters 0.011449408788408116 Centerline is valid? [True, True] Translation: X:9.29, Y:-233.60, Z:-1.81 [[-9.69936040e-01 -2.43213809e-01 8.43338857e-03 9.29460746e+00] [-2.43204872e-01 9.69972702e-01 2.08517225e-03 -2.33598513e+02] [-8.68729938e-03 -2.85574729e-05 -9.99962264e-01 -1.81242872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.07655999499997 meters 0.011402347444357816 Centerline is valid? [True, True] Translation: X:9.25, Y:-233.58, Z:-1.81 [[-9.49997651e-01 -3.12177194e-01 7.06128990e-03 9.25440699e+00] [-3.12168721e-01 9.50023894e-01 2.30009003e-03 -2.33582261e+02] [-7.42642978e-03 -1.92337154e-05 -9.99972424e-01 -1.81377725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.10655999499994 meters 0.011409682302855235 Centerline is valid? [True, True] Translation: X:9.19, Y:-233.58, Z:-1.81 [[-9.24469365e-01 -3.81198951e-01 6.61456456e-03 9.19377255e+00] [-3.81189332e-01 9.24493029e-01 2.70798077e-03 -2.33575327e+02] [-7.14739825e-03 -1.79561887e-05 -9.99974457e-01 -1.81398105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.13655999499997 meters 0.011482469966326481 Centerline is valid? [True, True] Translation: X:9.13, Y:-233.58, Z:-1.81 [[-8.93795338e-01 -4.48421908e-01 6.90549394e-03 9.12566389e+00] [-4.48408690e-01 8.93822014e-01 3.44305365e-03 -2.33575686e+02] [-7.71622319e-03 -1.90981885e-05 -9.99970229e-01 -1.81335648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.16655999499994 meters 0.011469198737564247 Centerline is valid? [True, True] Translation: X:9.05, Y:-233.59, Z:-1.81 [[-8.58043252e-01 -5.13525561e-01 7.29902173e-03 9.05001396e+00] [-5.13507173e-01 8.58074296e-01 4.34568855e-03 -2.33585820e+02] [-8.49472509e-03 -1.93112833e-05 -9.99963919e-01 -1.81242708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.196559995 meters 0.011456829019790681 Centerline is valid? [True, True] Translation: X:8.97, Y:-233.61, Z:-1.81 [[-8.17053214e-01 -5.76523223e-01 6.70962051e-03 8.96859646e+00] [-5.76503994e-01 8.17080763e-01 4.70876802e-03 -2.33605805e+02] [-8.19701596e-03 -2.08089769e-05 -9.99966404e-01 -1.81245996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.22655999499995 meters 0.0114790660461972 Centerline is valid? [True, True] Translation: X:8.88, Y:-233.63, Z:-1.81 [[-7.71076554e-01 -6.36712517e-01 6.17403486e-03 8.88462017e+00] [-6.36692362e-01 7.71101271e-01 5.06618094e-03 -2.33634485e+02] [-7.98650695e-03 -2.45475006e-05 -9.99968107e-01 -1.81249034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.256559995 meters 0.011556079561767903 Centerline is valid? [True, True] Translation: X:8.80, Y:-233.67, Z:-1.81 [[-7.20406251e-01 -6.93529043e-01 5.68331698e-03 8.79829862e+00] [-6.93507786e-01 7.20428668e-01 5.43005131e-03 -2.33672750e+02] [-7.86032277e-03 -2.95816688e-05 -9.99969107e-01 -1.81181931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.28655999499995 meters 0.01163242309599528 Centerline is valid? [True, True] Translation: X:8.71, Y:-233.72, Z:-1.81 [[-6.64481496e-01 -7.47287686e-01 5.04534907e-03 8.71048319e+00] [-7.47266630e-01 6.64500649e-01 5.60997023e-03 -2.33721604e+02] [-7.54489941e-03 -4.24995780e-05 -9.99971536e-01 -1.81275402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.316559995 meters 0.011735330612681012 Centerline is valid? [True, True] Translation: X:8.62, Y:-233.79, Z:-1.81 [[-6.04857152e-01 -7.96320281e-01 4.67292926e-03 8.61955978e+00] [-7.96297194e-01 6.04875200e-01 6.06399688e-03 -2.33786315e+02] [-7.65542272e-03 -5.31885738e-05 -9.99970695e-01 -1.81295122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.34655999499995 meters 0.01219681957711605 Centerline is valid? [True, True] Translation: X:8.54, Y:-233.85, Z:-1.81 [[-5.40383670e-01 -8.41406402e-01 4.55581389e-03 8.53822313e+00] [-8.41377708e-01 5.40402868e-01 6.94924915e-03 -2.33849661e+02] [-8.30911762e-03 -7.78994895e-05 -9.99965476e-01 -1.81192374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.376559995 meters 0.01219681957711605 Centerline is valid? [True, True] Translation: X:8.46, Y:-233.93, Z:-1.81 [[-4.74592062e-01 -8.80196727e-01 4.01213180e-03 8.45948098e+00] [-8.80166651e-01 4.74609014e-01 7.27666247e-03 -2.33926401e+02] [-8.30908840e-03 -7.78983673e-05 -9.99965476e-01 -1.81192509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.40655999499995 meters 0.012334459011783087 Centerline is valid? [True, True] Translation: X:8.39, Y:-234.01, Z:-1.81 [[-4.04888771e-01 -9.14358708e-01 3.63823890e-03 8.38615462e+00] [-9.14323826e-01 4.04905107e-01 7.98721145e-03 -2.34008924e+02] [-8.77631784e-03 -9.25962785e-05 -9.99961483e-01 -1.81133622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.436559995 meters 0.012457981844615343 Centerline is valid? [True, True] Translation: X:8.32, Y:-234.10, Z:-1.81 [[-3.32117798e-01 -9.43233432e-01 2.90896526e-03 8.31634499e+00] [-9.43199939e-01 3.32130521e-01 7.94933607e-03 -2.34104299e+02] [-8.46423569e-03 -1.03619866e-04 -9.99964172e-01 -1.81138714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.46655999499995 meters 0.012537765018750273 Centerline is valid? [True, True] Translation: X:8.25, Y:-234.21, Z:-1.81 [[-2.58528635e-01 -9.66001032e-01 2.22528775e-03 8.25433411e+00] [-9.65968636e-01 2.58538191e-01 7.91187392e-03 -2.34205833e+02] [-8.21820024e-03 -1.04112208e-04 -9.99966225e-01 -1.81140910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.496559995 meters 0.012811030439160499 Centerline is valid? [True, True] Translation: X:8.20, Y:-234.30, Z:-1.81 [[-1.83242508e-01 -9.83066487e-01 1.56991783e-03 8.20238612e+00] [-9.83035129e-01 1.83249204e-01 7.85273174e-03 -2.34302268e+02] [-8.00744360e-03 -1.04330114e-04 -9.99967935e-01 -1.81145587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.52655999499996 meters 0.012761690553332749 Centerline is valid? [True, True] Translation: X:8.16, Y:-234.41, Z:-1.81 [[-1.07305744e-01 -9.94225653e-01 9.09863154e-04 8.15752642e+00] [-9.94197216e-01 1.07309557e-01 7.52031818e-03 -2.34411109e+02] [-7.57453026e-03 -9.76100739e-05 -9.99971308e-01 -1.81195000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.55655999499993 meters 0.012734817986423255 Centerline is valid? [True, True] Translation: X:8.12, Y:-234.52, Z:-1.81 [[-3.11227975e-02 -9.99515525e-01 2.95941222e-04 8.12044185e+00] [-9.99492414e-01 3.11240905e-02 6.79752070e-03 -2.34524195e+02] [-6.80343837e-03 -8.42331460e-05 -9.99976853e-01 -1.81221067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.58655999499996 meters 0.012292474516261434 Centerline is valid? [True, True] Translation: X:8.09, Y:-234.65, Z:-1.81 [[ 4.45424092e-02 -9.99007476e-01 -1.91338891e-04 8.09456652e+00] [-9.98991076e-01 -4.45427745e-02 5.72461438e-03 -2.34646163e+02] [-5.72745533e-03 -6.38422718e-05 -9.99983596e-01 -1.81331679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.61655999499993 meters 0.012229201909893926 Centerline is valid? [True, True] Translation: X:8.08, Y:-234.76, Z:-1.81 [[ 1.20224311e-01 -9.92746549e-01 -6.35349555e-04 8.07576572e+00] [-9.92730015e-01 -1.20225976e-01 5.73001373e-03 -2.34763351e+02] [-5.76483687e-03 -5.81563809e-05 -9.99983382e-01 -1.81320353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.64655999499996 meters 0.011963058050691611 Centerline is valid? [True, True] Translation: X:8.07, Y:-234.88, Z:-1.81 [[ 1.94177409e-01 -9.80965864e-01 -1.05277817e-03 8.06635785e+00] [-9.80950160e-01 -1.94180257e-01 5.55070911e-03 -2.34878432e+02] [-5.64948489e-03 -4.50993951e-05 -9.99984041e-01 -1.81264239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.67655999499993 meters 0.011718401099948001 Centerline is valid? [True, True] Translation: X:8.07, Y:-235.00, Z:-1.81 [[ 2.67741453e-01 -9.63489808e-01 -1.37984444e-03 8.06658023e+00] [-9.63476337e-01 -2.67745006e-01 5.09501556e-03 -2.34997377e+02] [-5.27844202e-03 -3.46994043e-05 -9.99986068e-01 -1.81273417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.70655999499996 meters 0.011569724009825557 Centerline is valid? [True, True] Translation: X:8.07, Y:-235.11, Z:-1.81 [[ 3.39577954e-01 -9.40576314e-01 -1.73535980e-03 8.07491087e+00] [-9.40563634e-01 -3.39582387e-01 4.88401256e-03 -2.35113206e+02] [-5.18308416e-03 -2.62866743e-05 -9.99986567e-01 -1.81302074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.73655999499994 meters 0.011399338822941807 Centerline is valid? [True, True] Translation: X:8.09, Y:-235.23, Z:-1.81 [[ 4.08175943e-01 -9.12900616e-01 -2.20548778e-03 8.09364110e+00] [-9.12887129e-01 -4.08181901e-01 4.96236285e-03 -2.35229163e+02] [-5.43038430e-03 -1.21557267e-05 -9.99985255e-01 -1.81281046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.76655999499997 meters 0.011399338822941807 Centerline is valid? [True, True] Translation: X:8.12, Y:-235.34, Z:-1.81 [[ 4.77074443e-01 -8.78859101e-01 -2.58004037e-03 8.11884207e+00] [-8.78846111e-01 -4.77081419e-01 4.77831601e-03 -2.35343784e+02] [-5.43035583e-03 -1.21540029e-05 -9.99985255e-01 -1.81281184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.79655999499994 meters 0.011416539992272948 Centerline is valid? [True, True] Translation: X:8.15, Y:-235.45, Z:-1.81 [[ 5.41066391e-01 -8.40971279e-01 -3.80366088e-03 8.15199213e+00] [-8.40950516e-01 -5.41079761e-01 5.90948727e-03 -2.35451871e+02] [-7.02779299e-03 1.26562865e-06 -9.99975305e-01 -1.81079450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.82655999499997 meters 0.011479326868782634 Centerline is valid? [True, True] Translation: X:8.19, Y:-235.56, Z:-1.81 [[ 6.02760452e-01 -7.97910383e-01 -4.34264357e-03 8.19230582e+00] [-7.97889808e-01 -6.02776095e-01 5.73005881e-03 -2.35556120e+02] [-7.18971515e-03 1.10982090e-05 -9.99974154e-01 -1.81047969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.85655999499994 meters 0.011527660266641688 Centerline is valid? [True, True] Translation: X:8.24, Y:-235.66, Z:-1.81 [[ 6.61637067e-01 -7.49809043e-01 -4.77387904e-03 8.24005198e+00] [-7.49789679e-01 -6.61654289e-01 5.38882922e-03 -2.35657688e+02] [-7.19925043e-03 1.39560653e-05 -9.99974085e-01 -1.81014839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.88655999499997 meters 0.011444663650096509 Centerline is valid? [True, True] Translation: X:8.29, Y:-235.75, Z:-1.81 [[ 7.16770333e-01 -6.97292066e-01 -4.90549111e-03 8.29092707e+00] [-6.97275870e-01 -7.16787119e-01 4.75258982e-03 -2.35751664e+02] [-6.83013602e-03 1.39652005e-05 -9.99976674e-01 -1.81043635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.91655999499994 meters 0.01152732597364712 Centerline is valid? [True, True] Translation: X:8.29, Y:-235.76, Z:-1.81 [[ 7.69278069e-01 -6.38890419e-01 -5.50321979e-03 8.28652107e+00] [-6.38874183e-01 -7.69297753e-01 4.55467361e-03 -2.35762114e+02] [-7.14355195e-03 1.20545344e-05 -9.99974484e-01 -1.80997279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.946559995 meters 0.011563494118986875 Centerline is valid? [True, True] Translation: X:8.28, Y:-235.77, Z:-1.81 [[ 8.17122882e-01 -5.76433347e-01 -5.89851431e-03 8.28235640e+00] [-5.76418409e-01 -8.17144171e-01 4.14989065e-03 -2.35771156e+02] [-7.21207195e-03 9.04162389e-06 -9.99973993e-01 -1.80931457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.97655999499995 meters 0.01150248910492157 Centerline is valid? [True, True] Translation: X:8.28, Y:-235.78, Z:-1.81 [[ 8.60211746e-01 -5.09896341e-01 -6.43997793e-03 8.27944656e+00] [-5.09882067e-01 -8.60235853e-01 3.81518702e-03 -2.35780570e+02] [-7.48524981e-03 1.76057460e-06 -9.99971985e-01 -1.80733441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.006559995 meters 0.011516219620190291 Centerline is valid? [True, True] Translation: X:8.28, Y:-235.79, Z:-1.81 [[ 8.97732675e-01 -4.40489906e-01 -6.68480823e-03 8.27686730e+00] [-4.40477669e-01 -8.97757563e-01 3.28337075e-03 -2.35791673e+02] [-7.44762883e-03 -3.08045823e-06 -9.99972266e-01 -1.80779952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.03655999499995 meters 0.011539102959833977 Centerline is valid? [True, True] Translation: X:8.27, Y:-235.80, Z:-1.81 [[ 9.29902945e-01 -3.67750187e-01 -6.34920080e-03 8.27462080e+00] [-3.67741529e-01 -9.29924621e-01 2.52347357e-03 -2.35802674e+02] [-6.83228602e-03 -1.17206950e-05 -9.99976660e-01 -1.80760607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.066559995 meters 0.01152486856982264 Centerline is valid? [True, True] Translation: X:8.27, Y:-235.81, Z:-1.81 [[ 9.56032338e-01 -2.93206777e-01 -5.65287218e-03 8.27400676e+00] [-2.93201561e-01 -9.56049050e-01 1.74905679e-03 -2.35810667e+02] [-5.91725839e-03 -1.47239031e-05 -9.99982493e-01 -1.80820513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.09655999499995 meters 0.01152486856982264 Centerline is valid? [True, True] Translation: X:8.28, Y:-235.82, Z:-1.81 [[ 9.76026755e-01 -2.17574020e-01 -5.77227267e-03 8.27521842e+00] [-2.17570126e-01 -9.76043824e-01 1.30180414e-03 -2.35817933e+02] [-5.91722985e-03 -1.47215830e-05 -9.99982493e-01 -1.80820542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.126559995 meters 0.011588815054584638 Centerline is valid? [True, True] Translation: X:8.28, Y:-235.83, Z:-1.81 [[ 9.90162634e-01 -1.39826028e-01 -5.16150694e-03 8.27653803e+00] [-1.39824040e-01 -9.90176086e-01 7.45813438e-04 -2.35827124e+02] [-5.21508487e-03 -1.67738458e-05 -9.99986401e-01 -1.80891293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.15655999499995 meters 0.011652646123748191 Centerline is valid? [True, True] Translation: X:8.28, Y:-235.84, Z:-1.81 [[ 9.98216172e-01 -5.94642745e-02 -5.33618306e-03 8.27527881e+00] [-5.94632633e-02 -9.98230434e-01 3.48093659e-04 -2.35837409e+02] [-5.34743947e-03 -3.01658614e-05 -9.99985702e-01 -1.80851557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.186559995 meters 0.011857735059490164 Centerline is valid? [True, True] Translation: X:8.27, Y:-235.85, Z:-1.81 [[ 9.99780144e-01 2.02087832e-02 -5.59190010e-03 8.27476644e+00] [ 2.02086857e-02 -9.99795781e-01 -7.39479749e-05 -2.35846952e+02] [-5.59225253e-03 -3.90732349e-05 -9.99984363e-01 -1.80828843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.21655999499995 meters 0.01209439272164984 Centerline is valid? [True, True] Translation: X:8.27, Y:-235.86, Z:-1.81 [[ 9.94985755e-01 9.98752027e-02 -5.31887547e-03 8.27489183e+00] [ 9.98740192e-02 -9.94999971e-01 -4.88308019e-04 -2.35856165e+02] [-5.34105080e-03 -4.53579476e-05 -9.99985736e-01 -1.80827651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.246559995 meters 0.01209439272164984 Centerline is valid? [True, True] Translation: X:8.28, Y:-235.86, Z:-1.81 [[ 9.84108504e-01 1.77490113e-01 -5.26427111e-03 8.27534138e+00] [ 1.77487820e-01 -9.84122583e-01 -9.03343421e-04 -2.35862368e+02] [-5.34102260e-03 -4.53560615e-05 -9.99985736e-01 -1.80827676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.27655999499996 meters 0.012247052410028464 Centerline is valid? [True, True] Translation: X:8.28, Y:-235.87, Z:-1.81 [[ 9.66765670e-01 2.55619222e-01 -4.79084073e-03 8.27741755e+00] [ 2.55616341e-01 -9.66777540e-01 -1.21473579e-03 -2.35871658e+02] [-4.94218704e-03 -5.02523154e-05 -9.99987786e-01 -1.80868108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.30655999499993 meters 0.012714294672920467 Centerline is valid? [True, True] Translation: X:8.28, Y:-235.88, Z:-1.81 [[ 9.42778438e-01 3.33389775e-01 -4.48042533e-03 8.28159496e+00] [ 3.33386325e-01 -9.42789083e-01 -1.51798632e-03 -2.35882476e+02] [-4.73017720e-03 -6.25877654e-05 -9.99988811e-01 -1.80837429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.33655999499996 meters 0.013031668910704565 Centerline is valid? [True, True] Translation: X:8.28, Y:-235.89, Z:-1.81 [[ 9.13418484e-01 4.06994852e-01 -4.67580829e-03 8.28462275e+00] [ 4.06989921e-01 -9.13430449e-01 -2.00488051e-03 -2.35891824e+02] [-5.08700172e-03 -7.17119249e-05 -9.99987059e-01 -1.80804048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.36655999499993 meters 0.013336139143067686 Centerline is valid? [True, True] Translation: X:8.29, Y:-235.90, Z:-1.81 [[ 8.78308454e-01 4.78072801e-01 -4.54499308e-03 8.28881654e+00] [ 4.78066852e-01 -8.78320210e-01 -2.38617489e-03 -2.35898309e+02] [-5.13272459e-03 -7.70129566e-05 -9.99986825e-01 -1.80764685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.39655999499996 meters 0.013632758853700105 Centerline is valid? [True, True] Translation: X:8.29, Y:-235.90, Z:-1.81 [[ 8.37632591e-01 5.46217261e-01 -4.28318159e-03 8.29333233e+00] [ 5.46210613e-01 -8.37643538e-01 -2.69602495e-03 -2.35903813e+02] [-5.06039474e-03 -8.12408771e-05 -9.99987193e-01 -1.80751305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.42655999499993 meters 0.0137394810372556 Centerline is valid? [True, True] Translation: X:8.30, Y:-235.91, Z:-1.81 [[ 7.92096287e-01 6.10385157e-01 -3.66507458e-03 8.29749294e+00] [ 6.10379059e-01 -7.92104763e-01 -2.72950278e-03 -2.35908588e+02] [-4.56917101e-03 -7.50557507e-05 -9.99989559e-01 -1.80811724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.45655999499996 meters 0.013761359921745858 Centerline is valid? [True, True] Translation: X:8.30, Y:-235.91, Z:-1.81 [[ 7.41680244e-01 6.70745804e-01 -3.23755575e-03 8.30210212e+00] [ 6.70739833e-01 -7.41687307e-01 -2.83106923e-03 -2.35913564e+02] [-4.30018181e-03 -7.18094890e-05 -9.99990752e-01 -1.80858072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.48655999499994 meters 0.013906662880179714 Centerline is valid? [True, True] Translation: X:8.31, Y:-235.92, Z:-1.81 [[ 6.85922768e-01 7.27665592e-01 -3.56957101e-03 8.30815895e+00] [ 7.27656430e-01 -6.85932050e-01 -3.65273329e-03 -2.35918882e+02] [-5.10645150e-03 -9.19283671e-05 -9.99986958e-01 -1.80845718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.51655999499997 meters 0.014274866948725285 Centerline is valid? [True, True] Translation: X:8.31, Y:-235.92, Z:-1.81 [[ 6.26107272e-01 7.79728144e-01 -3.70199866e-03 8.31423851e+00] [ 7.79715535e-01 -6.26118207e-01 -4.43572620e-03 -2.35924014e+02] [-5.77654932e-03 -1.09265429e-04 -9.99983310e-01 -1.80771258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.54655999499994 meters 0.014552732369565844 Centerline is valid? [True, True] Translation: X:8.32, Y:-235.93, Z:-1.81 [[ 5.61577590e-01 8.27413224e-01 -4.23874164e-03 8.32222080e+00] [ 8.27391668e-01 -5.61593566e-01 -5.97443130e-03 -2.35929304e+02] [-7.32377350e-03 -1.51992793e-04 -9.99973169e-01 -1.80644371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.57655999499997 meters 0.015370346295082903 Centerline is valid? [True, True] Translation: X:8.33, Y:-235.93, Z:-1.81 [[ 4.93631141e-01 8.69661770e-01 -4.08686390e-03 8.32917180e+00] [ 8.69634903e-01 -4.93648026e-01 -6.83829136e-03 -2.35934901e+02] [-7.96447287e-03 -1.78485924e-04 -9.99968267e-01 -1.80525707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.60655999499994 meters 0.0164489082919742 Centerline is valid? [True, True] Translation: X:8.34, Y:-235.94, Z:-1.80 [[ 4.23538594e-01 9.05871409e-01 -3.47131176e-03 8.33538340e+00] [ 9.05844373e-01 -4.23552781e-01 -7.00099897e-03 -2.35939474e+02] [-7.81228855e-03 -1.79274962e-04 -9.99969468e-01 -1.80468687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.63655999499997 meters 0.015423410813215582 Centerline is valid? [True, True] Translation: X:8.34, Y:-235.94, Z:-1.81 [[ 3.51162701e-01 9.36310263e-01 -2.80156602e-03 8.33984139e+00] [ 9.36284292e-01 -3.51173834e-01 -6.97587729e-03 -2.35941250e+02] [-7.51542218e-03 -1.73394345e-04 -9.99971744e-01 -1.80561186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.66655999499994 meters 0.015853411793594768 Centerline is valid? [True, True] Translation: X:8.35, Y:-235.94, Z:-1.81 [[ 2.76783680e-01 9.60929688e-01 -2.22025570e-03 8.34521768e+00] [ 9.60903551e-01 -2.76792532e-01 -7.08949594e-03 -2.35944349e+02] [-7.42705732e-03 -1.71194814e-04 -9.99972404e-01 -1.80591612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.696559995 meters 0.016211337898657058 Centerline is valid? [True, True] Translation: X:8.35, Y:-235.95, Z:-1.81 [[ 2.01007719e-01 9.79588283e-01 -1.64124241e-03 8.34984576e+00] [ 9.79562071e-01 -2.01014350e-01 -7.16803760e-03 -2.35947196e+02] [-7.35163892e-03 -1.66867929e-04 -9.99972962e-01 -1.80534896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.72655999499995 meters 0.01733054968784855 Centerline is valid? [True, True] Translation: X:8.35, Y:-235.95, Z:-1.80 [[ 1.24029670e-01 9.92277965e-01 -1.03975859e-03 8.35413758e+00] [ 9.92253018e-01 -1.24033927e-01 -7.03804952e-03 -2.35949125e+02] [-7.11266680e-03 -1.58776639e-04 -9.99974692e-01 -1.80452114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.756559995 meters 0.01491522865879336 Centerline is valid? [True, True] Translation: X:8.36, Y:-235.95, Z:-1.81 [[ 4.65878778e-02 9.98914081e-01 -4.77551985e-04 8.35750389e+00] [ 9.98889677e-01 -4.65900786e-02 -6.98407674e-03 -2.35950298e+02] [-6.99874179e-03 -1.51648434e-04 -9.99975497e-01 -1.80574350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.78655999499995 meters 0.01491522865879336 Centerline is valid? [True, True] Translation: X:8.37, Y:-235.95, Z:-1.81 [[-3.18088767e-02 9.99493967e-01 7.10538314e-05 8.36543568e+00] [ 9.99469466e-01 3.18085945e-02 -6.99999723e-03 -2.35951593e+02] [-6.99871512e-03 -1.51645914e-04 -9.99975497e-01 -1.80574373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.816559995 meters 0.014541544185785385 Centerline is valid? [True, True] Translation: X:8.37, Y:-235.95, Z:-1.81 [[-1.09359450e-01 9.94002086e-01 6.03985351e-04 8.37334168e+00] [ 9.93978827e-01 1.09361024e-01 -6.80139594e-03 -2.35952165e+02] [-6.82665420e-03 -1.43448268e-04 -9.99976688e-01 -1.80545617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.84655999499995 meters 0.014185048984334103 Centerline is valid? [True, True] Translation: X:8.38, Y:-235.95, Z:-1.81 [[-1.85612502e-01 9.82622301e-01 1.18853194e-03 8.38019057e+00] [ 9.82597013e-01 1.85616254e-01 -7.05092698e-03 -2.35951735e+02] [-7.14900894e-03 -1.40892261e-04 -9.99974436e-01 -1.80580839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.876559995 meters 0.013946585519408172 Centerline is valid? [True, True] Translation: X:8.39, Y:-235.95, Z:-1.81 [[-2.61410064e-01 9.65226254e-01 1.74878392e-03 8.38912924e+00] [ 9.65201014e-01 2.61415877e-01 -6.98149782e-03 -2.35951254e+02] [-7.19588487e-03 -1.37105770e-04 -9.99974100e-01 -1.80568525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.90655999499995 meters 0.013954239867051974 Centerline is valid? [True, True] Translation: X:8.40, Y:-235.95, Z:-1.81 [[-3.35399956e-01 9.42072666e-01 2.44183894e-03 8.39796108e+00] [ 9.42044584e-01 3.35408815e-01 -7.27523258e-03 -2.35950687e+02] [-7.67281205e-03 -1.39791537e-04 -9.99970554e-01 -1.80512145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.936559995 meters 0.01368017805179199 Centerline is valid? [True, True] Translation: X:8.41, Y:-235.95, Z:-1.80 [[-4.06854573e-01 9.13487632e-01 3.11491554e-03 8.40562010e+00] [ 9.13458294e-01 4.06866475e-01 -7.32233315e-03 -2.35949298e+02] [-7.95621548e-03 -1.33779290e-04 -9.99968340e-01 -1.80472132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.96655999499995 meters 0.013744492127940908 Centerline is valid? [True, True] Translation: X:8.41, Y:-235.95, Z:-1.80 [[-4.77272925e-01 8.78747183e-01 3.73418785e-03 8.41304058e+00] [ 8.78718013e-01 4.77287513e-01 -7.16118813e-03 -2.35946969e+02] [-8.07515512e-03 -1.36543077e-04 -9.99967386e-01 -1.80455022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.996559995 meters 0.013642558948455803 Centerline is valid? [True, True] Translation: X:8.42, Y:-235.94, Z:-1.80 [[-5.43951090e-01 8.39106262e-01 4.22989149e-03 8.41917816e+00] [ 8.39079034e-01 5.43967521e-01 -6.76090918e-03 -2.35944480e+02] [-7.97404482e-03 -1.28390655e-04 -9.99968199e-01 -1.80452185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.02655999499996 meters 0.013156331109718715 Centerline is valid? [True, True] Translation: X:8.43, Y:-235.94, Z:-1.81 [[-6.07875301e-01 7.94018784e-01 4.66791391e-03 8.42656365e+00] [ 7.93993775e-01 6.07893210e-01 -6.30315858e-03 -2.35940561e+02] [-7.84241948e-03 -1.25239831e-04 -9.99969240e-01 -1.80508694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.05655999499993 meters 0.013283778668516244 Centerline is valid? [True, True] Translation: X:8.43, Y:-235.94, Z:-1.80 [[-6.68044258e-01 7.44102240e-01 5.35963507e-03 8.43493847e+00] [ 7.44076732e-01 6.68065745e-01 -6.16262089e-03 -2.35936780e+02] [-8.16620861e-03 -1.28923753e-04 -9.99966648e-01 -1.80499148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.08655999499996 meters 0.013376251782011557 Centerline is valid? [True, True] Translation: X:8.44, Y:-235.93, Z:-1.80 [[-7.24357222e-01 6.89399783e-01 5.87837268e-03 8.44165456e+00] [ 6.89375600e-01 7.24381062e-01 -5.77578417e-03 -2.35931617e+02] [-8.24000620e-03 -1.31324282e-04 -9.99966042e-01 -1.80468252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.11655999499993 meters 0.013662993376908005 Centerline is valid? [True, True] Translation: X:8.46, Y:-235.91, Z:-1.80 [[-7.72207323e-01 6.35332738e-01 6.93995292e-03 8.46063503e+00] [ 6.35305224e-01 7.72238491e-01 -5.91488953e-03 -2.35910496e+02] [-9.11722173e-03 -1.58532662e-04 -9.99958425e-01 -1.80443888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.14655999499996 meters 0.013748170097138534 Centerline is valid? [True, True] Translation: X:8.48, Y:-235.89, Z:-1.80 [[-8.15512102e-01 5.78689699e-01 7.63176777e-03 8.47662612e+00] [ 5.78662402e-01 8.15547794e-01 -5.62324808e-03 -2.35887678e+02] [-9.47818711e-03 -1.69609796e-04 -9.99955067e-01 -1.80423299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.17655999499993 meters 0.013748170097138534 Centerline is valid? [True, True] Translation: X:8.49, Y:-235.87, Z:-1.80 [[-8.54400199e-01 5.19553783e-01 8.01038665e-03 8.49343735e+00] [ 5.19529080e-01 8.54437732e-01 -5.06933004e-03 -2.35865756e+02] [-9.47816620e-03 -1.69607797e-04 -9.99955067e-01 -1.80423320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.20655999499996 meters 0.014073547873848886 Centerline is valid? [True, True] Translation: X:8.51, Y:-235.84, Z:-1.80 [[-8.88940050e-01 4.57953391e-01 8.01745263e-03 8.51244730e+00] [ 4.57933127e-01 8.88976190e-01 -4.31113901e-03 -2.35844132e+02] [-9.10162522e-03 -1.60886978e-04 -9.99958566e-01 -1.80375158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.23655999499994 meters 0.013511073679152023 Centerline is valid? [True, True] Translation: X:8.53, Y:-235.82, Z:-1.80 [[-9.18510606e-01 3.95310510e-01 8.23814056e-03 8.52809446e+00] [ 3.95293144e-01 9.18547538e-01 -3.70835295e-03 -2.35822689e+02] [-9.03307462e-03 -1.49681032e-04 -9.99959190e-01 -1.80439171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.26655999499997 meters 0.013330101216163218 Centerline is valid? [True, True] Translation: X:8.81, Y:-235.20, Z:-2.79 [[-8.74660469e-01 -4.84674935e-01 7.69880592e-03 8.81240954e+00] [ 4.84657427e-01 -8.74694342e-01 -4.12148952e-03 -2.35204340e+02] [ 8.73168464e-03 1.26379521e-04 9.99961870e-01 -2.78804887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.29655999499994 meters 0.012960723962380929 Centerline is valid? [True, True] Translation: X:8.49, Y:-235.81, Z:-1.81 [[-9.18962835e-01 3.94274313e-01 7.42115429e-03 8.48599420e+00] [ 3.94260449e-01 9.18992793e-01 -3.30839693e-03 -2.35807233e+02] [-8.12440324e-03 -1.14426206e-04 -9.99966990e-01 -1.80529109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.32655999499997 meters 0.012279110475197462 Centerline is valid? [True, True] Translation: X:8.51, Y:-235.79, Z:-1.81 [[-9.43088566e-01 3.32478816e-01 6.46480341e-03 8.50729619e+00] [ 3.32470504e-01 9.43110721e-01 -2.35205870e-03 -2.35789545e+02] [-6.87903509e-03 -6.88432219e-05 -9.99976337e-01 -1.80633713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.35655999499994 meters 0.012018928148862167 Centerline is valid? [True, True] Translation: X:8.75, Y:-235.14, Z:-2.79 [[-9.11405295e-01 -4.11466054e-01 6.00621471e-03 8.74913496e+00] [ 4.11457460e-01 -9.11425084e-01 -2.65985544e-03 -2.35140431e+02] [ 6.56865497e-03 4.70955171e-05 9.99978425e-01 -2.78607028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.38655999499997 meters 0.011822693465283123 Centerline is valid? [True, True] Translation: X:8.46, Y:-235.78, Z:-1.81 [[-9.42827901e-01 3.33216349e-01 6.51264925e-03 8.46391734e+00] [ 3.33208121e-01 9.42850393e-01 -2.34193757e-03 -2.35778181e+02] [-6.92082580e-03 -3.79764642e-05 -9.99976050e-01 -1.80622964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.41655999499994 meters 0.011627500678235547 Centerline is valid? [True, True] Translation: X:8.47, Y:-235.76, Z:-1.81 [[-9.62830748e-01 2.70007993e-01 7.25488567e-03 8.47458610e+00] [ 2.70000279e-01 9.62858081e-01 -2.04108055e-03 -2.35755998e+02] [-7.53653336e-03 -6.39395891e-06 -9.99971600e-01 -1.80572038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.446559995 meters 0.011702434819153177 Centerline is valid? [True, True] Translation: X:8.67, Y:-235.08, Z:-2.79 [[-9.42799071e-01 -3.33280512e-01 7.34930407e-03 8.67219574e+00] [ 3.33270567e-01 -9.42827715e-01 -2.57483827e-03 -2.35078253e+02] [ 7.78727097e-03 2.17516049e-05 9.99969679e-01 -2.78790113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.47655999499995 meters 0.011863494157975982 Centerline is valid? [True, True] Translation: X:8.43, Y:-235.75, Z:-1.80 [[-9.62567467e-01 2.70920264e-01 8.12911313e-03 8.42982628e+00] [ 2.70910897e-01 9.62601792e-01 -2.25313056e-03 -2.35747430e+02] [-8.43551759e-03 3.34751460e-05 -9.99964420e-01 -1.80443721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.506559995 meters 0.011971346671346873 Centerline is valid? [True, True] Translation: X:8.43, Y:-235.72, Z:-1.80 [[-9.78951563e-01 2.03906628e-01 8.71344497e-03 8.43345816e+00] [ 2.03899030e-01 9.78990339e-01 -1.76107779e-03 -2.35720937e+02] [-8.88947388e-03 5.26531198e-05 -9.99960487e-01 -1.80407907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.53655999499995 meters 0.012349749102538535 Centerline is valid? [True, True] Translation: X:8.44, Y:-235.70, Z:-1.80 [[-9.90496500e-01 1.37193957e-01 9.72114754e-03 8.44100867e+00] [ 1.37188250e-01 9.90544199e-01 -1.25472637e-03 -2.35695847e+02] [-9.80136718e-03 9.08251349e-05 -9.99951961e-01 -1.80355466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.566559995 meters 0.01261157572179112 Centerline is valid? [True, True] Translation: X:8.44, Y:-235.67, Z:-1.80 [[-9.97664369e-01 6.76265726e-02 9.61529296e-03 8.44023098e+00] [ 6.76243967e-02 9.97710698e-01 -5.51615966e-04 -2.35668120e+02] [-9.63058454e-03 9.99007906e-05 -9.99953620e-01 -1.80364259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.59655999499995 meters 0.012785903947437052 Centerline is valid? [True, True] Translation: X:8.44, Y:-235.64, Z:-1.80 [[-9.99948134e-01 -2.97225970e-03 9.74145100e-03 8.44079553e+00] [-2.97108010e-03 9.99995577e-01 1.35560345e-04 -2.35640256e+02] [-9.74181083e-03 1.06610682e-04 -9.99952542e-01 -1.80357154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.626559995 meters 0.01269018378256785 Centerline is valid? [True, True] Translation: X:8.43, Y:-235.61, Z:-1.80 [[-9.97215291e-01 -7.40928452e-02 8.48021808e-03 8.42892266e+00] [-7.40893670e-02 9.97251343e-01 7.24011652e-04 -2.35611863e+02] [-8.51055296e-03 9.37015003e-05 -9.99963780e-01 -1.80429111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.65655999499995 meters 0.01252152643458989 Centerline is valid? [True, True] Translation: X:8.42, Y:-235.58, Z:-1.80 [[-9.89148662e-01 -1.46715282e-01 7.71693684e-03 8.42272039e+00] [-1.46710237e-01 9.89178761e-01 1.21895128e-03 -2.35582543e+02] [-7.81226880e-03 7.35703965e-05 -9.99969481e-01 -1.80448388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.686559995 meters 0.01252152643458989 Centerline is valid? [True, True] Translation: X:8.30, Y:-234.88, Z:-2.79 [[-9.95104598e-01 9.85219659e-02 7.76275899e-03 8.29881469e+00] [-9.85195532e-02 -9.95134874e-01 6.93524758e-04 -2.34881185e+02] [ 7.79331961e-03 -7.46538719e-05 9.99969629e-01 -2.78831427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.71655999499995 meters 0.012125580322706797 Centerline is valid? [True, True] Translation: X:8.30, Y:-235.60, Z:-1.80 [[-9.87953292e-01 -1.54578874e-01 7.32555737e-03 8.29597585e+00] [-1.54574183e-01 9.87980449e-01 1.20569631e-03 -2.35599274e+02] [-7.42388264e-03 5.88295988e-05 -9.99972441e-01 -1.80494716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.746559995 meters 0.012052841884862905 Centerline is valid? [True, True] Translation: X:8.27, Y:-235.57, Z:-1.80 [[-9.73878756e-01 -2.26943418e-01 7.54010274e-03 8.27061727e+00] [-2.26936236e-01 9.73907944e-01 1.80622555e-03 -2.35574498e+02] [-7.75327696e-03 4.79221625e-05 -9.99969942e-01 -1.80451874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.77655999499996 meters 0.011810827569325704 Centerline is valid? [True, True] Translation: X:8.23, Y:-235.55, Z:-1.80 [[-9.54228209e-01 -2.98983987e-01 7.55644054e-03 8.22839520e+00] [-2.98974349e-01 9.54258128e-01 2.40084221e-03 -2.35554722e+02] [-7.92860818e-03 3.17694679e-05 -9.99968568e-01 -1.80463723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.80655999499993 meters 0.011632794411639266 Centerline is valid? [True, True] Translation: X:8.16, Y:-235.54, Z:-1.80 [[-9.27623181e-01 -3.73428755e-01 8.13624225e-03 8.16493029e+00] [-3.73414516e-01 9.27658862e-01 3.26102837e-03 -2.35541933e+02] [-8.76541899e-03 -1.31854477e-05 -9.99961583e-01 -1.80425728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.83655999499996 meters 0.011976896130275926 Centerline is valid? [True, True] Translation: X:8.09, Y:-235.54, Z:-1.80 [[-8.96209279e-01 -4.43558772e-01 8.03393141e-03 8.09109464e+00] [-4.43541375e-01 8.96245287e-01 3.92867503e-03 -2.35540138e+02] [-8.94297143e-03 -4.24659753e-05 -9.99960010e-01 -1.80261498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.86655999499993 meters 0.012499185382247119 Centerline is valid? [True, True] Translation: X:8.02, Y:-235.54, Z:-1.80 [[-8.57859459e-01 -5.13812179e-01 8.61358204e-03 8.01656530e+00] [-5.13787493e-01 8.57902695e-01 5.03763699e-03 -2.35541756e+02] [-9.97801449e-03 -1.03966176e-04 -9.99950213e-01 -1.80212857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.89655999499996 meters 0.013017035026934904 Centerline is valid? [True, True] Translation: X:7.94, Y:-235.56, Z:-1.80 [[-8.15776447e-01 -5.78301797e-01 8.70743650e-03 7.93599339e+00] [-5.78270607e-01 8.15822906e-01 6.00759906e-03 -2.35557066e+02] [-1.05779315e-02 -1.34396775e-04 -9.99944043e-01 -1.80149100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.92655999499993 meters 0.013335349549856079 Centerline is valid? [True, True] Translation: X:7.85, Y:-235.58, Z:-1.80 [[-7.68964368e-01 -6.39237856e-01 8.29243742e-03 7.85233977e+00] [-6.39202851e-01 7.69009063e-01 6.69148185e-03 -2.35582628e+02] [-1.06544080e-02 -1.55038526e-04 -9.99943228e-01 -1.80151568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.95655999499996 meters 0.014907350810888113 Centerline is valid? [True, True] Translation: X:7.76, Y:-235.62, Z:-1.80 [[-7.16553648e-01 -6.97485811e-01 8.02574417e-03 7.76362421e+00] [-6.97445086e-01 7.16598567e-01 7.53965203e-03 -2.35617523e+02] [-1.10100371e-02 -1.94950665e-04 -9.99939369e-01 -1.80078123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.98655999499994 meters 0.014907350810888113 Centerline is valid? [True, True] Translation: X:7.68, Y:-235.66, Z:-1.80 [[-6.61780747e-01 -7.49660587e-01 7.43281181e-03 7.67818731e+00] [-7.49616583e-01 6.61822458e-01 8.12475533e-03 -2.35664588e+02] [-1.10100106e-02 -1.94952337e-04 -9.99939369e-01 -1.80078234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.01655999499997 meters 0.014491331759542397 Centerline is valid? [True, True] Translation: X:7.59, Y:-235.72, Z:-1.80 [[-6.01278914e-01 -7.99014875e-01 6.23675535e-03 7.59181674e+00] [-7.98975339e-01 6.01311225e-01 7.95101727e-03 -2.35722112e+02] [-1.01032121e-02 -2.02234689e-04 -9.99948941e-01 -1.80277152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.04655999499994 meters 0.014773448821781247 Centerline is valid? [True, True] Translation: X:7.51, Y:-235.78, Z:-1.80 [[-5.38220837e-01 -8.42786255e-01 5.44598671e-03 7.51108463e+00] [-8.42746874e-01 5.38248350e-01 8.14985212e-03 -2.35784118e+02] [-9.79987671e-03 -2.03168050e-04 -9.99951959e-01 -1.80289925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.07655999499997 meters 0.014912924592295956 Centerline is valid? [True, True] Translation: X:7.43, Y:-235.86, Z:-1.80 [[-4.71951451e-01 -8.81612729e-01 4.56341512e-03 7.43117848e+00] [-8.81575508e-01 4.71973471e-01 8.10344851e-03 -2.35858409e+02] [-9.29791423e-03 -1.98560729e-04 -9.99956754e-01 -1.80380125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.10655999499994 meters 0.014815744706290386 Centerline is valid? [True, True] Translation: X:7.36, Y:-235.94, Z:-1.80 [[-4.03334597e-01 -9.15045318e-01 3.64255556e-03 7.35630403e+00] [-9.15012022e-01 4.03351003e-01 7.80812672e-03 -2.35942311e+02] [-8.61401824e-03 -1.83694482e-04 -9.99962882e-01 -1.80454245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.13655999499997 meters 0.014815744706290386 Centerline is valid? [True, True] Translation: X:7.29, Y:-236.03, Z:-1.80 [[-3.32217058e-01 -9.43198078e-01 3.03508648e-03 7.28860991e+00] [-9.43163626e-01 3.32230871e-01 8.06367443e-03 -2.36031960e+02] [-8.61399165e-03 -1.83692977e-04 -9.99962882e-01 -1.80454369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.16655999499994 meters 0.014815744706290386 Centerline is valid? [True, True] Translation: X:7.23, Y:-236.13, Z:-1.80 [[-2.59054041e-01 -9.65859825e-01 2.40899195e-03 7.22739533e+00] [-9.65824417e-01 2.59065176e-01 8.27229681e-03 -2.36128254e+02] [-8.61396507e-03 -1.83691331e-04 -9.99962882e-01 -1.80454493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.196559995 meters 0.015137284749031244 Centerline is valid? [True, True] Translation: X:7.17, Y:-236.23, Z:-1.80 [[-1.84167793e-01 -9.82893167e-01 1.80199596e-03 7.17291211e+00] [-9.82855621e-01 1.84176512e-01 8.59303513e-03 -2.36228302e+02] [-8.77792084e-03 -1.88541547e-04 -9.99961456e-01 -1.80473349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.22655999499995 meters 0.015429686616019803 Centerline is valid? [True, True] Translation: X:7.13, Y:-236.34, Z:-1.80 [[-1.07850723e-01 -9.94166302e-01 1.25889618e-03 7.12550171e+00] [-9.94119676e-01 1.07857860e-01 9.63074623e-03 -2.36335155e+02] [-9.71034522e-03 -2.12810516e-04 -9.99952831e-01 -1.80409829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.256559995 meters 0.015534544021181342 Centerline is valid? [True, True] Translation: X:7.09, Y:-236.45, Z:-1.80 [[-3.05284900e-02 -9.99533748e-01 5.46451051e-04 7.08656713e+00] [-9.99480925e-01 3.05324959e-02 1.02785148e-02 -2.36445235e+02] [-1.02904069e-02 -2.32379867e-04 -9.99947025e-01 -1.80352728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.28655999499995 meters 0.016335398107198314 Centerline is valid? [True, True] Translation: X:7.05, Y:-236.57, Z:-1.80 [[ 4.75897732e-02 -9.98866926e-01 -2.80310299e-04 7.05447741e+00] [-9.98796790e-01 -4.75897543e-02 1.18400562e-02 -2.36567150e+02] [-1.18399805e-02 -2.83492564e-04 -9.99929865e-01 -1.80216529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.316559995 meters 0.017125540138033184 Centerline is valid? [True, True] Translation: X:7.03, Y:-236.68, Z:-1.80 [[ 1.25248209e-01 -9.92124674e-01 -1.23222598e-03 7.03166260e+00] [-9.92049550e-01 -1.25253894e-01 1.22127901e-02 -2.36675626e+02] [-1.22709515e-02 -3.07200855e-04 -9.99924662e-01 -1.80168580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.34655999499995 meters 0.016977356632123613 Centerline is valid? [True, True] Translation: X:7.02, Y:-236.79, Z:-1.80 [[ 2.03008271e-01 -9.79174195e-01 -2.35340362e-03 7.01844883e+00] [-9.79086096e-01 -2.03021587e-01 1.31396786e-02 -2.36793025e+02] [-1.33438259e-02 -3.63278666e-04 -9.99910901e-01 -1.80221431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.376559995 meters 0.017021537776037134 Centerline is valid? [True, True] Translation: X:7.01, Y:-236.91, Z:-1.80 [[ 2.78325797e-01 -9.60481033e-01 -3.30708185e-03 7.01470052e+00] [-9.60396590e-01 -2.78345198e-01 1.27412887e-02 -2.36910202e+02] [-1.31582765e-02 -3.70119202e-04 -9.99913358e-01 -1.80229625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.40655999499995 meters 0.017788671485198134 Centerline is valid? [True, True] Translation: X:7.02, Y:-237.03, Z:-1.80 [[ 3.51818954e-01 -9.36057684e-01 -4.40850567e-03 7.02037213e+00] [-9.35969658e-01 -3.51846355e-01 1.28429764e-02 -2.37031809e+02] [-1.35728834e-02 -3.92174987e-04 -9.99907807e-01 -1.80208588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.436559995 meters 0.017526313953318058 Centerline is valid? [True, True] Translation: X:7.03, Y:-237.14, Z:-1.80 [[ 4.22628162e-01 -9.06287844e-01 -5.27069795e-03 7.03395276e+00] [-9.06205592e-01 -4.22660850e-01 1.22159759e-02 -2.37143818e+02] [-1.32989081e-02 -3.86479481e-04 -9.99911491e-01 -1.80226218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.46655999499995 meters 0.017697506001061007 Centerline is valid? [True, True] Translation: X:7.06, Y:-237.26, Z:-1.80 [[ 4.90545424e-01 -8.71393014e-01 -6.27713048e-03 7.05692847e+00] [-8.71311264e-01 -4.90585430e-01 1.19422600e-02 -2.37256828e+02] [-1.34858707e-02 -3.88886517e-04 -9.99908986e-01 -1.80249716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.496559995 meters 0.01783418558363622 Centerline is valid? [True, True] Translation: X:7.09, Y:-237.37, Z:-1.80 [[ 5.55674047e-01 -8.31371122e-01 -6.95782155e-03 7.08884209e+00] [-8.31297281e-01 -5.55717478e-01 1.10867277e-02 -2.37367369e+02] [-1.30837683e-02 -3.76588713e-04 -9.99914333e-01 -1.80290449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.52655999499996 meters 0.01670904109329378 Centerline is valid? [True, True] Translation: X:7.12, Y:-237.46, Z:-1.81 [[ 6.16377699e-01 -7.87420199e-01 -6.92549571e-03 7.12336253e+00] [-7.87364600e-01 -6.16416523e-01 9.36251343e-03 -2.37463396e+02] [-1.16412222e-02 -3.17954329e-04 -9.99932188e-01 -1.80514494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.55655999499993 meters 0.017274874327958975 Centerline is valid? [True, True] Translation: X:7.17, Y:-237.56, Z:-1.81 [[ 6.73584509e-01 -7.39076605e-01 -7.04843199e-03 7.16626084e+00] [-7.39031744e-01 -6.73621328e-01 8.14784295e-03 -2.37562721e+02] [-1.07698542e-02 -2.79245807e-04 -9.99941965e-01 -1.80518671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.58655999499996 meters 0.0169035127120499 Centerline is valid? [True, True] Translation: X:7.22, Y:-237.66, Z:-1.81 [[ 7.27025651e-01 -6.86569733e-01 -7.46360324e-03 7.21657497e+00] [-6.86529829e-01 -7.27063913e-01 7.40674691e-03 -2.37655868e+02] [-1.05117648e-02 -2.60908728e-04 -9.99944716e-01 -1.80614626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.61655999499993 meters 0.015028983732710598 Centerline is valid? [True, True] Translation: X:7.22, Y:-237.66, Z:-1.81 [[ 7.76894725e-01 -6.29581937e-01 -7.82121418e-03 7.21746835e+00] [-6.29547043e-01 -7.76934059e-01 6.63231167e-03 -2.37663575e+02] [-1.02521513e-02 -2.28785687e-04 -9.99947419e-01 -1.80759468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.64655999499996 meters 0.014760744627477096 Centerline is valid? [True, True] Translation: X:7.22, Y:-237.67, Z:-1.81 [[ 8.22930348e-01 -5.68085082e-01 -8.06119211e-03 7.21782208e+00] [-5.68055336e-01 -8.22969803e-01 5.81712113e-03 -2.37673174e+02] [-9.93873742e-03 -2.07882316e-04 -9.99950588e-01 -1.80771819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.67655999499993 meters 0.014304975834432906 Centerline is valid? [True, True] Translation: X:7.22, Y:-237.68, Z:-1.81 [[ 8.64178894e-01 -5.03108145e-01 -8.77691797e-03 7.21862189e+00] [-5.03079810e-01 -8.64223440e-01 5.34326545e-03 -2.37682366e+02] [-1.02734586e-02 -2.02047001e-04 -9.99947206e-01 -1.80786419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.70655999499996 meters 0.014485831684850074 Centerline is valid? [True, True] Translation: X:7.22, Y:-237.69, Z:-1.81 [[ 9.00389826e-01 -4.34980331e-01 -9.50114347e-03 7.21926733e+00] [-4.34953780e-01 -9.00439932e-01 4.81011480e-03 -2.37692237e+02] [-1.06475143e-02 -1.98420160e-04 -9.99943294e-01 -1.80739779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.73655999499994 meters 0.014079584854808634 Centerline is valid? [True, True] Translation: X:7.22, Y:-237.70, Z:-1.81 [[ 9.31038298e-01 -3.64776406e-01 -1.02889275e-02 7.22259714e+00] [-3.64751884e-01 -9.31095128e-01 4.23387754e-03 -2.37700323e+02] [-1.11243889e-02 -1.88996446e-04 -9.99938104e-01 -1.80707910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.76655999499997 meters 0.013739642597081379 Centerline is valid? [True, True] Translation: X:7.23, Y:-237.71, Z:-1.81 [[ 9.56445289e-01 -2.91694492e-01 -1.12575408e-02 7.22633355e+00] [-2.91671934e-01 -9.56511520e-01 3.63256506e-03 -2.37708863e+02] [-1.18275667e-02 -1.90841043e-04 -9.99930034e-01 -1.80725239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.79655999499994 meters 0.01356322467793616 Centerline is valid? [True, True] Translation: X:7.23, Y:-237.72, Z:-1.81 [[ 9.76142628e-01 -2.16800582e-01 -1.19614810e-02 7.23038985e+00] [-2.16781934e-01 -9.76215894e-01 2.84978340e-03 -2.37717716e+02] [-1.22948225e-02 -1.88762080e-04 -9.99924398e-01 -1.80697857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.82655999499997 meters 0.01328304610283065 Centerline is valid? [True, True] Translation: X:7.23, Y:-237.73, Z:-1.81 [[ 9.89867626e-01 -1.41390722e-01 -1.30670386e-02 7.23470105e+00] [-1.41375973e-01 -9.89953853e-01 2.05025332e-03 -2.37725091e+02] [-1.32256520e-02 -1.82114095e-04 -9.99912521e-01 -1.80647940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.85655999499994 meters 0.01286016595663035 Centerline is valid? [True, True] Translation: X:7.24, Y:-237.73, Z:-1.81 [[ 9.97838517e-01 -6.44232823e-02 -1.29589502e-02 7.23640325e+00] [-6.44156839e-02 -9.97922649e-01 1.00332510e-03 -2.37733492e+02] [-1.29966674e-02 -1.66396788e-04 -9.99915526e-01 -1.80765925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.88655999499997 meters 0.013033339776530374 Centerline is valid? [True, True] Translation: X:7.24, Y:-237.74, Z:-1.81 [[ 9.99836730e-01 1.29835315e-02 -1.25674753e-02 7.23649429e+00] [ 1.29843841e-02 -9.99915699e-01 -1.37562704e-05 -2.37742714e+02] [-1.25665945e-02 -1.49426902e-04 -9.99921026e-01 -1.80699385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.91655999499994 meters 0.01251869068140437 Centerline is valid? [True, True] Translation: X:7.24, Y:-237.75, Z:-1.81 [[ 9.95922743e-01 8.93817935e-02 -1.21977786e-02 7.23854923e+00] [ 8.93765989e-02 -9.95997430e-01 -9.71415424e-04 -2.37748600e+02] [-1.22357830e-02 -1.22741254e-04 -9.99925133e-01 -1.80770357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.946559995 meters 0.012506796568326562 Centerline is valid? [True, True] Translation: X:7.24, Y:-237.75, Z:-1.81 [[ 9.86095429e-01 1.65755149e-01 -1.18758068e-02 7.24094415e+00] [ 1.65744409e-01 -9.86166933e-01 -1.88974961e-03 -2.37754876e+02] [-1.20247637e-02 -1.04875130e-04 -9.99927694e-01 -1.80692948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.97655999499995 meters 0.01205681961088627 Centerline is valid? [True, True] Translation: X:7.24, Y:-237.76, Z:-1.81 [[ 9.70346603e-01 2.41430184e-01 -1.17871720e-02 7.24390456e+00] [ 2.41413539e-01 -9.70418187e-01 -2.83648276e-03 -2.37762138e+02] [-1.21232986e-02 -9.32114942e-05 -9.99926506e-01 -1.80845846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.006559995 meters 0.012098066204960274 Centerline is valid? [True, True] Translation: X:7.25, Y:-237.77, Z:-1.81 [[ 9.48658791e-01 3.16100604e-01 -1.12652454e-02 7.24672545e+00] [ 3.16079368e-01 -9.48725672e-01 -3.66498743e-03 -2.37770258e+02] [-1.18461322e-02 -8.38890937e-05 -9.99929829e-01 -1.80826909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.03655999499995 meters 0.01202296157747285 Centerline is valid? [True, True] Translation: X:7.25, Y:-237.78, Z:-1.81 [[ 9.21077490e-01 3.89245117e-01 -1.02223516e-02 7.25129607e+00] [ 3.89222066e-01 -9.21134210e-01 -4.23678097e-03 -2.37776290e+02] [-1.10653041e-02 -7.63612367e-05 -9.99938775e-01 -1.80895935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.066559995 meters 0.012067758501049504 Centerline is valid? [True, True] Translation: X:7.26, Y:-237.78, Z:-1.81 [[ 8.87707069e-01 4.60301778e-01 -9.92135888e-03 7.25519131e+00] [ 4.60274017e-01 -8.87762506e-01 -5.05583286e-03 -2.37782124e+02] [-1.11350193e-02 -7.84451426e-05 -9.99938001e-01 -1.80913374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.09655999499995 meters 0.01213092686711405 Centerline is valid? [True, True] Translation: X:7.26, Y:-237.79, Z:-1.81 [[ 8.48883997e-01 5.28491839e-01 -9.60915495e-03 7.26044190e+00] [ 5.28459059e-01 -8.48938378e-01 -5.88668568e-03 -2.37786886e+02] [-1.12686458e-02 -8.09317174e-05 -9.99936504e-01 -1.80859930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.126559995 meters 0.012152723454184817 Centerline is valid? [True, True] Translation: X:7.27, Y:-237.79, Z:-1.81 [[ 8.04751840e-01 5.93535336e-01 -9.50165575e-03 7.26600395e+00] [ 5.93495252e-01 -8.04807926e-01 -6.89846143e-03 -2.37791419e+02] [-1.17414885e-02 -8.76380399e-05 -9.99931063e-01 -1.80815047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.15655999499995 meters 0.012057591009808846 Centerline is valid? [True, True] Translation: X:7.27, Y:-237.80, Z:-1.81 [[ 7.55754011e-01 6.54791666e-01 -9.15146198e-03 7.27320957e+00] [ 6.54745116e-01 -7.55809411e-01 -7.80812984e-03 -2.37796667e+02] [-1.20294594e-02 -9.08495899e-05 -9.99927639e-01 -1.80843746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.186559995 meters 0.012247693026601792 Centerline is valid? [True, True] Translation: X:7.28, Y:-237.80, Z:-1.81 [[ 7.01628556e-01 7.12490459e-01 -8.64382270e-03 7.28075542e+00] [ 7.12438162e-01 -7.01681791e-01 -8.63310660e-03 -2.37802424e+02] [-1.22162191e-02 -1.00955044e-04 -9.99925374e-01 -1.80880222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.21655999499995 meters 0.012582208219442791 Centerline is valid? [True, True] Translation: X:7.29, Y:-237.81, Z:-1.81 [[ 6.43463375e-01 7.65436604e-01 -7.85428359e-03 7.28784629e+00] [ 7.65381541e-01 -6.43511301e-01 -9.18159496e-03 -2.37807753e+02] [-1.20822491e-02 -1.03503592e-04 -9.99927002e-01 -1.80748769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.246559995 meters 0.012136905523101987 Centerline is valid? [True, True] Translation: X:7.30, Y:-237.81, Z:-1.81 [[ 5.82209999e-01 8.13009127e-01 -6.90481753e-03 7.29519620e+00] [ 8.12953803e-01 -5.82250934e-01 -9.48490219e-03 -2.37811733e+02] [-1.17316485e-02 -9.10927795e-05 -9.99931178e-01 -1.80896566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.27655999499996 meters 0.01213060421703383 Centerline is valid? [True, True] Translation: X:7.30, Y:-237.82, Z:-1.81 [[ 5.17554611e-01 8.55630395e-01 -5.81818938e-03 7.30214825e+00] [ 8.55577979e-01 -5.17587307e-01 -9.47110350e-03 -2.37815475e+02] [-1.11151850e-02 -7.61014203e-05 -9.99938222e-01 -1.80861716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.30655999499993 meters 0.012014067161182994 Centerline is valid? [True, True] Translation: X:7.31, Y:-237.82, Z:-1.81 [[ 4.50082922e-01 8.92973867e-01 -4.79956671e-03 7.30798081e+00] [ 8.92924484e-01 -4.50108508e-01 -9.39126733e-03 -2.37816492e+02] [-1.05464821e-02 -5.88015881e-05 -9.99944383e-01 -1.80864960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.33655999499996 meters 0.011960863223642726 Centerline is valid? [True, True] Translation: X:7.31, Y:-237.82, Z:-1.81 [[ 3.80129559e-01 9.24924542e-01 -4.01366177e-03 7.31402614e+00] [ 9.24874181e-01 -3.80150745e-01 -9.65192792e-03 -2.37817209e+02] [-1.04531015e-02 -4.31490417e-05 -9.99945364e-01 -1.80910374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.36655999499993 meters 0.01184842939546696 Centerline is valid? [True, True] Translation: X:7.32, Y:-237.82, Z:-1.81 [[ 3.07795944e-01 9.51447149e-01 -3.15908922e-03 7.32127781e+00] [ 9.51397977e-01 -3.07812154e-01 -9.67302711e-03 -2.37818152e+02] [-1.01757801e-02 -2.82325855e-05 -9.99948225e-01 -1.80980628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.39655999499996 meters 0.011790731088531162 Centerline is valid? [True, True] Translation: X:7.33, Y:-237.82, Z:-1.81 [[ 2.33849188e-01 9.72270004e-01 -2.36575806e-03 7.32925368e+00] [ 9.72220791e-01 -2.33861154e-01 -9.78236556e-03 -2.37819662e+02] [-1.00643595e-02 -1.24409262e-05 -9.99949353e-01 -1.80981749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.42655999499993 meters 0.011947403695300984 Centerline is valid? [True, True] Translation: X:7.34, Y:-237.82, Z:-1.81 [[ 1.60320661e-01 9.87063454e-01 -1.73869638e-03 7.33875594e+00] [ 9.87003782e-01 -1.60330087e-01 -1.08534130e-02 -2.37820354e+02] [-1.09917726e-02 2.39264372e-05 -9.99939588e-01 -1.80969465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.45655999499996 meters 0.012194533508649493 Centerline is valid? [True, True] Translation: X:7.35, Y:-237.82, Z:-1.81 [[ 8.45372318e-02 9.96419876e-01 -9.42088429e-04 7.34768252e+00] [ 9.96351339e-01 -8.45424666e-02 -1.16867499e-02 -2.37821883e+02] [-1.17245563e-02 4.93144138e-05 -9.99931264e-01 -1.80832476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.48655999499994 meters 0.012313782418149712 Centerline is valid? [True, True] Translation: X:7.36, Y:-237.82, Z:-1.81 [[ 8.03867764e-03 9.99967689e-01 -2.55037285e-05 7.35627706e+00] [ 9.99891233e-01 -8.03837839e-03 -1.23655246e-02 -2.37821802e+02] [-1.23653300e-02 7.39015114e-05 -9.99923544e-01 -1.80821945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.51655999499997 meters 0.012539312210015217 Centerline is valid? [True, True] Translation: X:7.36, Y:-237.82, Z:-1.81 [[-6.84665740e-02 9.97652924e-01 9.85494222e-04 7.36438495e+00] [ 9.97569791e-01 6.84735912e-02 -1.28794313e-02 -2.37820408e+02] [-1.29166826e-02 1.01288728e-04 -9.99916571e-01 -1.80774415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.54655999499994 meters 0.012914422879727806 Centerline is valid? [True, True] Translation: X:7.37, Y:-237.82, Z:-1.81 [[-1.43430287e-01 9.89658273e-01 2.06270480e-03 7.37271068e+00] [ 9.89569950e-01 1.43445046e-01 -1.32224456e-02 -2.37818725e+02] [-1.33815875e-02 1.44691517e-04 -9.99910452e-01 -1.80782810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.57655999499997 meters 0.013180442736740993 Centerline is valid? [True, True] Translation: X:7.38, Y:-237.82, Z:-1.81 [[-2.19051994e-01 9.75708539e-01 3.01182448e-03 7.38146840e+00] [ 9.75626104e-01 2.19072640e-01 -1.26839645e-02 -2.37816567e+02] [-1.30356608e-02 1.59966867e-04 -9.99915019e-01 -1.80808747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.60655999499994 meters 0.013398378561737473 Centerline is valid? [True, True] Translation: X:7.39, Y:-237.82, Z:-1.81 [[-2.94141780e-01 9.55753421e-01 4.00133919e-03 7.38958484e+00] [ 9.55672661e-01 2.94168946e-01 -1.24255964e-02 -2.37815154e+02] [-1.30528760e-02 1.69083423e-04 -9.99914793e-01 -1.80784812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.63655999499997 meters 0.013783546859129726 Centerline is valid? [True, True] Translation: X:7.40, Y:-237.81, Z:-1.81 [[-3.67124904e-01 9.30158075e-01 5.02602742e-03 7.39688203e+00] [ 9.30077696e-01 3.67159260e-01 -1.22293411e-02 -2.37813412e+02] [-1.32205728e-02 1.84900339e-04 -9.99912587e-01 -1.80787627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.66655999499994 meters 0.013566530462761175 Centerline is valid? [True, True] Translation: X:7.40, Y:-237.81, Z:-1.81 [[-4.38964599e-01 8.98484676e-01 5.94711549e-03 7.40492125e+00] [ 8.98407779e-01 4.39004845e-01 -1.17561819e-02 -2.37808973e+02] [-1.31735618e-02 1.82387156e-04 -9.99913208e-01 -1.80803338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.696559995 meters 0.013873743961232374 Centerline is valid? [True, True] Translation: X:7.41, Y:-237.81, Z:-1.81 [[-5.08197190e-01 8.61212134e-01 7.01970042e-03 7.41176027e+00] [ 8.61134915e-01 5.08245636e-01 -1.15339148e-02 -2.37806092e+02] [-1.35008795e-02 1.83406040e-04 -9.99908842e-01 -1.80737608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.72655999499995 meters 0.01311601403892706 Centerline is valid? [True, True] Translation: X:7.42, Y:-237.80, Z:-1.81 [[-5.75315248e-01 8.17891263e-01 8.13925029e-03 7.42142370e+00] [ 8.17813511e-01 5.75372796e-01 -1.12785877e-02 -2.37799174e+02] [-1.39077615e-02 1.67645380e-04 -9.99903268e-01 -1.80815664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.756559995 meters 0.013026401175915574 Centerline is valid? [True, True] Translation: X:7.43, Y:-237.79, Z:-1.81 [[-6.38473641e-01 7.69594294e-01 8.71960569e-03 7.42860509e+00] [ 7.69525670e-01 6.38533163e-01 -1.02782569e-02 -2.37793179e+02] [-1.34778453e-02 1.47564294e-04 -9.99909159e-01 -1.80800906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.78655999499995 meters 0.01256164687155181 Centerline is valid? [True, True] Translation: X:7.44, Y:-237.78, Z:-1.81 [[-6.97766722e-01 7.16264395e-01 9.32298572e-03 7.43662352e+00] [ 7.16202891e-01 6.97828991e-01 -9.38718424e-03 -2.37783904e+02] [-1.32295556e-02 1.27084547e-04 -9.99912478e-01 -1.80899453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.816559995 meters 0.012729342044994256 Centerline is valid? [True, True] Translation: X:7.44, Y:-237.77, Z:-1.81 [[-7.53781999e-01 6.57053284e-01 9.67882552e-03 7.44376466e+00] [ 6.57000529e-01 7.53844132e-01 -8.32651818e-03 -2.37774816e+02] [-1.27672919e-02 8.26139645e-05 -9.99918491e-01 -1.80723124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.84655999499995 meters 0.012160802073061581 Centerline is valid? [True, True] Translation: X:7.46, Y:-237.75, Z:-1.81 [[-7.99390131e-01 6.00728594e-01 1.00287011e-02 7.46317067e+00] [ 6.00682269e-01 7.99453033e-01 -7.46053674e-03 -2.37751348e+02] [-1.24992333e-02 6.01835177e-05 -9.99921880e-01 -1.80922286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.876559995 meters 0.011984332394523897 Centerline is valid? [True, True] Translation: X:7.83, Y:-237.26, Z:-2.78 [[-7.61340057e-01 -6.48291367e-01 8.92309847e-03 7.82946143e+00] [ 6.48245285e-01 -7.61392339e-01 -7.73026675e-03 -2.37256582e+02] [ 1.18054440e-02 -1.01005208e-04 9.99930308e-01 -2.78377667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.90655999499995 meters 0.011847093817464344 Centerline is valid? [True, True] Translation: X:7.43, Y:-237.72, Z:-1.81 [[-8.04555690e-01 5.93800888e-01 9.52091078e-03 7.42924602e+00] [ 5.93759244e-01 8.04612022e-01 -7.03236929e-03 -2.37721877e+02] [-1.18364664e-02 -4.80392874e-06 -9.99929947e-01 -1.80985247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.936559995 meters 0.011847093817464344 Centerline is valid? [True, True] Translation: X:7.79, Y:-237.23, Z:-2.78 [[-7.62286906e-01 -6.47176371e-01 9.02317220e-03 7.79372994e+00] [ 6.47131107e-01 -7.62340308e-01 -7.65410784e-03 -2.37232858e+02] [ 1.18322856e-02 4.54923173e-06 9.99929996e-01 -2.78303686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.96655999499995 meters 0.011945250436576137 Centerline is valid? [True, True] Translation: X:7.40, Y:-237.69, Z:-1.81 [[-8.08742451e-01 5.88098398e-01 8.71332784e-03 7.39516599e+00] [ 5.88063711e-01 8.08789387e-01 -6.38737939e-03 -2.37693706e+02] [-1.08036547e-02 -4.17529573e-05 -9.99941638e-01 -1.81002841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.996559995 meters 0.012016494437936237 Centerline is valid? [True, True] Translation: X:7.41, Y:-237.67, Z:-1.81 [[-8.49299391e-01 5.27833949e-01 9.04801183e-03 7.40982358e+00] [ 5.27803240e-01 8.49347584e-01 -5.69397550e-03 -2.37668584e+02] [-1.06903806e-02 -6.03199677e-05 -9.99942854e-01 -1.81042572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.02655999499996 meters 0.012222393393349696 Centerline is valid? [True, True] Translation: X:7.42, Y:-237.64, Z:-1.81 [[-8.85114487e-01 4.65284020e-01 9.11735476e-03 7.42170506e+00] [ 4.65258515e-01 8.85161441e-01 -4.87217470e-03 -2.37641662e+02] [-1.03372759e-02 -7.05054695e-05 -9.99946567e-01 -1.81030159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.05655999499993 meters 0.012222393393349696 Centerline is valid? [True, True] Translation: X:7.43, Y:-237.62, Z:-1.81 [[-9.15872254e-01 4.01358823e-01 9.43982594e-03 7.43111642e+00] [ 4.01336711e-01 9.15920898e-01 -4.21352850e-03 -2.37615285e+02] [-1.03372707e-02 -7.05051470e-05 -9.99946567e-01 -1.81030165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.08655999499996 meters 0.012377897999289938 Centerline is valid? [True, True] Translation: X:7.67, Y:-237.07, Z:-2.78 [[-8.79874797e-01 -4.75116157e-01 9.21838161e-03 7.67426549e+00] [ 4.75091002e-01 -8.79923083e-01 -4.88961249e-03 -2.37069768e+02] [ 1.04346007e-02 7.73233571e-05 9.99945555e-01 -2.78293183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.11655999499993 meters 0.012762139969029758 Centerline is valid? [True, True] Translation: X:7.39, Y:-237.59, Z:-1.81 [[-9.18445979e-01 3.95418270e-01 1.00685365e-02 7.38787926e+00] [ 3.95393254e-01 9.18501160e-01 -4.44906824e-03 -2.37594747e+02] [-1.10072053e-02 -1.05197414e-04 -9.99939413e-01 -1.80919558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.14655999499996 meters 0.013006525905284274 Centerline is valid? [True, True] Translation: X:7.39, Y:-237.57, Z:-1.81 [[-9.44396490e-01 3.28631410e-01 1.08011798e-02 7.39356818e+00] [ 3.28608487e-01 9.44458248e-01 -3.88326819e-03 -2.37566950e+02] [-1.14774273e-02 -1.17985490e-04 -9.99934125e-01 -1.80918193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.17655999499993 meters 0.012809653486218663 Centerline is valid? [True, True] Translation: X:7.40, Y:-237.54, Z:-1.81 [[-9.65407954e-01 2.60499799e-01 1.12843515e-02 7.39502706e+00] [ 2.60480493e-01 9.65473893e-01 -3.17394102e-03 -2.37539042e+02] [-1.17215578e-02 -1.24794463e-04 -9.99931292e-01 -1.80976153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.20655999499996 meters 0.012845297267312821 Centerline is valid? [True, True] Translation: X:7.39, Y:-237.51, Z:-1.81 [[-9.81581918e-01 1.90681518e-01 1.17259432e-02 7.39143280e+00] [ 1.90666257e-01 9.81651945e-01 -2.41620571e-03 -2.37510231e+02] [-1.19715207e-02 -1.35962133e-04 -9.99928330e-01 -1.81028257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.23655999499994 meters 0.013399551347469767 Centerline is valid? [True, True] Translation: X:7.40, Y:-237.48, Z:-1.81 [[-9.92650535e-01 1.20394525e-01 1.22504274e-02 7.39627478e+00] [ 1.20383592e-01 9.92726114e-01 -1.62874198e-03 -2.37482362e+02] [-1.23574108e-02 -1.42021155e-04 -9.99923634e-01 -1.80906478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.26655999499997 meters 0.013399551347469767 Centerline is valid? [True, True] Translation: X:7.39, Y:-237.45, Z:-1.81 [[-9.98693399e-01 4.95917297e-02 1.23351593e-02 7.39326899e+00] [ 4.95861908e-02 9.98769563e-01 -7.54660478e-04 -2.37454316e+02] [-1.23574066e-02 -1.42020876e-04 -9.99923634e-01 -1.80906482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.29655999499994 meters 0.013154423246689933 Centerline is valid? [True, True] Translation: X:7.39, Y:-237.43, Z:-1.81 [[-9.99697281e-01 -2.09281652e-02 1.29366996e-02 7.39206675e+00] [-2.09282318e-02 9.99780972e-01 1.30242895e-04 -2.37428617e+02] [-1.29365919e-02 -1.40538781e-04 -9.99916309e-01 -1.80951304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.32655999499997 meters 0.01325733404299322 Centerline is valid? [True, True] Translation: X:7.38, Y:-237.40, Z:-1.81 [[-9.95708213e-01 -9.16539777e-02 1.28336835e-02 7.37796385e+00] [-9.16481192e-02 9.95790907e-01 1.04510520e-03 -2.37402514e+02] [-1.28754534e-02 -1.35563121e-04 -9.99917099e-01 -1.80940431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.35655999499994 meters 0.01284561540615302 Centerline is valid? [True, True] Translation: X:7.37, Y:-237.38, Z:-1.81 [[-9.86745593e-01 -1.61751136e-01 1.30270819e-02 7.36932555e+00] [-1.61738769e-01 9.86831573e-01 2.00430104e-03 -2.37377607e+02] [-1.31797337e-02 -1.29248978e-04 -9.99913135e-01 -1.81022438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.38655999499997 meters 0.01268846522225142 Centerline is valid? [True, True] Translation: X:7.35, Y:-237.36, Z:-1.81 [[-9.72989715e-01 -2.30465794e-01 1.32865426e-02 7.34855999e+00] [-2.30445881e-01 9.73080421e-01 3.03164897e-03 -2.37356202e+02] [-1.36275659e-02 -1.12065758e-04 -9.99907134e-01 -1.81055233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.41655999499994 meters 0.012807171115802523 Centerline is valid? [True, True] Translation: X:7.32, Y:-237.34, Z:-1.81 [[-9.54039176e-01 -2.99393850e-01 1.31367371e-02 7.31687231e+00] [-2.99366980e-01 9.54129609e-01 4.01243532e-03 -2.37336318e+02] [-1.37354483e-02 -1.04684818e-04 -9.99905659e-01 -1.80939261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.446559995 meters 0.01242804549145855 Centerline is valid? [True, True] Translation: X:7.27, Y:-237.33, Z:-1.81 [[-9.29926213e-01 -3.67530329e-01 1.25974250e-02 7.26569915e+00] [-3.67497988e-01 9.30011531e-01 4.87651573e-03 -2.37326616e+02] [-1.35080179e-02 -9.47285323e-05 -9.99908758e-01 -1.81133426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.47655999499995 meters 0.012486429384754024 Centerline is valid? [True, True] Translation: X:7.20, Y:-237.33, Z:-1.81 [[-9.00499121e-01 -4.34687188e-01 1.21812293e-02 7.20292996e+00] [-4.34648776e-01 9.00581501e-01 5.77934080e-03 -2.37325327e+02] [-1.34823951e-02 -9.02650918e-05 -9.99909104e-01 -1.81090779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.506559995 meters 0.01238359600101699 Centerline is valid? [True, True] Translation: X:7.13, Y:-237.33, Z:-1.81 [[-8.65947724e-01 -4.99994779e-01 1.18220114e-02 7.13257661e+00] [-4.99949581e-01 8.66028413e-01 6.72338762e-03 -2.37332038e+02] [-1.35998565e-02 -8.83074240e-05 -9.99907514e-01 -1.81139124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.53655999499995 meters 0.012473708936897697 Centerline is valid? [True, True] Translation: X:7.05, Y:-237.35, Z:-1.81 [[-8.26325833e-01 -5.63071707e-01 1.16563410e-02 7.05451789e+00] [-5.63017254e-01 8.26408037e-01 7.83118663e-03 -2.37348815e+02] [-1.40424135e-02 -9.16093015e-05 -9.99901396e-01 -1.81125084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.566559995 meters 0.01252962359518736 Centerline is valid? [True, True] Translation: X:6.97, Y:-237.37, Z:-1.81 [[-7.81903861e-01 -6.23298019e-01 1.12219754e-02 6.97287924e+00] [-6.23235536e-01 7.81984381e-01 8.82583371e-03 -2.37374493e+02] [-1.42765342e-02 -9.29804189e-05 -9.99898081e-01 -1.81096534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.59655999499995 meters 0.012661747421718864 Centerline is valid? [True, True] Translation: X:6.89, Y:-237.41, Z:-1.81 [[-7.32236888e-01 -6.80972353e-01 1.02856374e-02 6.88783807e+00] [-6.80907171e-01 7.32309117e-01 9.42235149e-03 -2.37411604e+02] [-1.39486269e-02 -1.04170951e-04 -9.99902708e-01 -1.81079136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.626559995 meters 0.012493466080464543 Centerline is valid? [True, True] Translation: X:6.80, Y:-237.46, Z:-1.81 [[-6.78626329e-01 -7.34424693e-01 9.30999794e-03 6.80265970e+00] [-7.34357705e-01 6.78690179e-01 9.91979114e-03 -2.37457912e+02] [-1.36039437e-02 -1.05037269e-04 -9.99907457e-01 -1.81172870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.65655999499995 meters 0.012507870429240758 Centerline is valid? [True, True] Translation: X:6.72, Y:-237.51, Z:-1.81 [[-6.20749235e-01 -7.83963859e-01 8.42947743e-03 6.71833863e+00] [-7.83893983e-01 6.20806457e-01 1.04674354e-02 -2.37513204e+02] [-1.34391651e-02 -1.10164119e-04 -9.99909684e-01 -1.81224653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.686559995 meters 0.012610050664935443 Centerline is valid? [True, True] Translation: X:6.64, Y:-237.58, Z:-1.81 [[-5.58930231e-01 -8.29184443e-01 7.08219069e-03 6.63602267e+00] [-8.29120393e-01 5.58975087e-01 1.03065899e-02 -2.37579108e+02] [-1.25048321e-02 -1.11324072e-04 -9.99921805e-01 -1.81251015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.71655999499995 meters 0.012439815906015872 Centerline is valid? [True, True] Translation: X:6.56, Y:-237.66, Z:-1.81 [[-4.93784174e-01 -8.69562606e-01 6.16955330e-03 6.55551201e+00] [-8.69497648e-01 4.93822701e-01 1.06291920e-02 -2.37656853e+02] [-1.22894134e-02 -1.15885300e-04 -9.99924476e-01 -1.81358176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.746559995 meters 0.012548460321792633 Centerline is valid? [True, True] Translation: X:6.48, Y:-237.74, Z:-1.81 [[-4.25400999e-01 -9.04990793e-01 5.06503170e-03 6.48304063e+00] [-9.04929916e-01 4.25431135e-01 1.04975093e-02 -2.37736013e+02] [-1.16549715e-02 -1.17847751e-04 -9.99932072e-01 -1.81420047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.77655999499996 meters 0.012640259507753635 Centerline is valid? [True, True] Translation: X:6.41, Y:-237.83, Z:-1.81 [[-3.54175829e-01 -9.35169084e-01 4.27387204e-03 6.41347479e+00] [-9.35105347e-01 3.54201591e-01 1.09188966e-02 -2.37828907e+02] [-1.17248268e-02 -1.29311329e-04 -9.99931254e-01 -1.81415559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.80655999499993 meters 0.012822673801588072 Centerline is valid? [True, True] Translation: X:6.35, Y:-237.92, Z:-1.81 [[-2.81335592e-01 -9.59603108e-01 3.48722271e-03 6.35196510e+00] [-9.59535241e-01 2.81357171e-01 1.14133245e-02 -2.37923066e+02] [-1.19334168e-02 -1.35138676e-04 -9.99928785e-01 -1.81350807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.83655999499996 meters 0.012888162741226119 Centerline is valid? [True, True] Translation: X:6.30, Y:-238.02, Z:-1.81 [[-2.07086653e-01 -9.78318876e-01 2.70097678e-03 6.29837872e+00] [-9.78244152e-01 2.07104221e-01 1.20921763e-02 -2.38019662e+02] [-1.23893880e-02 -1.38086429e-04 -9.99923239e-01 -1.81283911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.86655999499993 meters 0.012847056692437067 Centerline is valid? [True, True] Translation: X:6.25, Y:-238.13, Z:-1.81 [[-1.31680796e-01 -9.91290510e-01 1.81441592e-03 6.25116946e+00] [-9.91210433e-01 1.31693222e-01 1.26005004e-02 -2.38129369e+02] [-1.27297028e-02 -1.39224072e-04 -9.99918964e-01 -1.81248874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.89655999499996 meters 0.012929324829691582 Centerline is valid? [True, True] Translation: X:6.21, Y:-238.24, Z:-1.81 [[-5.57235317e-02 -9.98445850e-01 8.78874841e-04 6.21362662e+00] [-9.98357867e-01 5.57302893e-02 1.32553434e-02 -2.38239195e+02] [-1.32837226e-02 -1.38797063e-04 -9.99911758e-01 -1.81183701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.92655999499993 meters 0.012741362967367132 Centerline is valid? [True, True] Translation: X:6.18, Y:-238.36, Z:-1.81 [[ 2.09311243e-02 -9.99780910e-01 -1.40701911e-04 6.18401199e+00] [-9.99693842e-01 -2.09311584e-02 1.31950137e-02 -2.38356570e+02] [-1.31950679e-02 -1.35527638e-04 -9.99912932e-01 -1.81244690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.95655999499996 meters 0.012450581209315463 Centerline is valid? [True, True] Translation: X:6.16, Y:-238.47, Z:-1.81 [[ 9.69498159e-02 -9.95288555e-01 -1.19437435e-03 6.16416177e+00] [-9.95195593e-01 -9.69570852e-02 1.36035063e-02 -2.38472486e+02] [-1.36552172e-02 -1.30221344e-04 -9.99906755e-01 -1.81313826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.98655999499994 meters 0.01255409179038758 Centerline is valid? [True, True] Translation: X:6.15, Y:-238.59, Z:-1.81 [[ 1.72792761e-01 -9.84955673e-01 -2.23275029e-03 6.15125328e+00] [-9.84863867e-01 -1.72807140e-01 1.34482973e-02 -2.38588730e+02] [-1.36318119e-02 -1.24813334e-04 -9.99907075e-01 -1.81283004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.01655999499997 meters 0.01252693961481553 Centerline is valid? [True, True] Translation: X:6.15, Y:-238.71, Z:-1.81 [[ 2.47622010e-01 -9.68851136e-01 -3.28897504e-03 6.14802713e+00] [-9.68759012e-01 -2.47643821e-01 1.33609723e-02 -2.38706686e+02] [-1.37592875e-02 -1.22246609e-04 -9.99905329e-01 -1.81286035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.04655999499994 meters 0.0123269810448591 Centerline is valid? [True, True] Translation: X:6.15, Y:-238.82, Z:-1.81 [[ 3.21248802e-01 -9.46985605e-01 -4.17992134e-03 6.15400253e+00] [-9.46900623e-01 -3.21275973e-01 1.26869567e-02 -2.38824875e+02] [-1.33572736e-02 -1.17699512e-04 -9.99910781e-01 -1.81361333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.07655999499997 meters 0.01246252680597152 Centerline is valid? [True, True] Translation: X:6.17, Y:-238.94, Z:-1.81 [[ 3.93171391e-01 -9.19452272e-01 -4.87610562e-03 6.16793794e+00] [-9.19377934e-01 -3.93201610e-01 1.16922294e-02 -2.38941152e+02] [-1.26677395e-02 -1.14066186e-04 -9.99919755e-01 -1.81345124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.10655999499994 meters 0.012409399492848142 Centerline is valid? [True, True] Translation: X:6.19, Y:-239.06, Z:-1.81 [[ 4.62811147e-01 -8.86438405e-01 -5.72684966e-03 6.19148330e+00] [-8.86367352e-01 -4.62846562e-01 1.12239851e-02 -2.39057030e+02] [-1.26000241e-02 -1.18492843e-04 -9.99920610e-01 -1.81400626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.13655999499997 meters 0.012420726968968596 Centerline is valid? [True, True] Translation: X:6.22, Y:-239.17, Z:-1.81 [[ 5.29513875e-01 -8.48277084e-01 -6.40663210e-03 6.22207858e+00] [-8.48212283e-01 -5.29552617e-01 1.04856569e-02 -2.39168080e+02] [-1.22873912e-02 -1.18116773e-04 -9.99924500e-01 -1.81438375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.16655999499994 meters 0.012491776674513224 Centerline is valid? [True, True] Translation: X:6.26, Y:-239.27, Z:-1.81 [[ 5.93270673e-01 -8.04972605e-01 -7.00103568e-03 6.25989128e+00] [-8.04914133e-01 -5.93311968e-01 9.70294728e-03 -2.39274702e+02] [-1.19644050e-02 -1.21241499e-04 -9.99928417e-01 -1.81483842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.196559995 meters 0.012547681068895547 Centerline is valid? [True, True] Translation: X:6.30, Y:-239.38, Z:-1.81 [[ 6.53407102e-01 -7.56968599e-01 -7.59604768e-03 6.30334510e+00] [-7.56915201e-01 -6.53451242e-01 8.99187001e-03 -2.39375835e+02] [-1.17702100e-02 -1.25787770e-04 -9.99930721e-01 -1.81488408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.22655999499995 meters 0.012900579999050386 Centerline is valid? [True, True] Translation: X:6.36, Y:-239.48, Z:-1.81 [[ 7.10219777e-01 -7.03931030e-01 -8.30500227e-03 6.36376633e+00] [-7.03880508e-01 -7.10268318e-01 8.43479070e-03 -2.39484673e+02] [-1.18362909e-02 -1.44825955e-04 -9.99929938e-01 -1.81437715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.256559995 meters 0.01282463918196527 Centerline is valid? [True, True] Translation: X:6.41, Y:-239.56, Z:-1.81 [[ 7.62147485e-01 -6.47347313e-01 -8.52456328e-03 6.40536231e+00] [-6.47304661e-01 -7.62195142e-01 7.43243347e-03 -2.39561694e+02] [-1.13087466e-02 -1.46620933e-04 -9.99936043e-01 -1.81480104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.28655999499995 meters 0.01316115181166899 Centerline is valid? [True, True] Translation: X:6.40, Y:-239.57, Z:-1.81 [[ 8.11043874e-01 -5.84910596e-01 -9.35039019e-03 6.40341072e+00] [-5.84869391e-01 -8.11097755e-01 6.94460006e-03 -2.39570634e+02] [-1.16460507e-02 -1.63618317e-04 -9.99932169e-01 -1.81448809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.316559995 meters 0.013710430685918318 Centerline is valid? [True, True] Translation: X:6.40, Y:-239.58, Z:-1.81 [[ 8.55242975e-01 -5.18126912e-01 -1.01959376e-02 6.40222027e+00] [-5.18087411e-01 -8.55303727e-01 6.40065977e-03 -2.39579262e+02] [-1.20369775e-02 -1.91732407e-04 -9.99927535e-01 -1.81393170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.34655999499995 meters 0.013787176547034099 Centerline is valid? [True, True] Translation: X:6.40, Y:-239.59, Z:-1.81 [[ 8.93633448e-01 -4.48675455e-01 -1.04688805e-02 6.40237965e+00] [-4.48642021e-01 -8.93694744e-01 5.48099756e-03 -2.39587562e+02] [-1.18151726e-02 -2.01223043e-04 -9.99930178e-01 -1.81398318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.376559995 meters 0.01408696948706468 Centerline is valid? [True, True] Translation: X:6.40, Y:-239.60, Z:-1.81 [[ 9.26251816e-01 -3.76737236e-01 -1.12529037e-02 6.40352877e+00] [-3.76706576e-01 -9.26320143e-01 4.81118086e-03 -2.39595915e+02] [-1.22363423e-02 -2.17322195e-04 -9.99925110e-01 -1.81377131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.40655999499995 meters 0.013936354709888656 Centerline is valid? [True, True] Translation: X:6.41, Y:-239.60, Z:-1.81 [[ 9.52991141e-01 -3.02789850e-01 -1.12335356e-02 6.40529808e+00] [-3.02766141e-01 -9.53057323e-01 3.79523243e-03 -2.39604861e+02] [-1.18553612e-02 -2.15688664e-04 -9.99929700e-01 -1.81404499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.436559995 meters 0.015590023366490553 Centerline is valid? [True, True] Translation: X:6.41, Y:-239.62, Z:-1.81 [[ 9.73806855e-01 -2.27117716e-01 -1.08513614e-02 6.40593931e+00] [-2.27101248e-01 -9.73867291e-01 2.74279565e-03 -2.39616185e+02] [-1.11907234e-02 -2.06595500e-04 -9.99937361e-01 -1.81210411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.46655999499995 meters 0.013879904216717741 Centerline is valid? [True, True] Translation: X:6.41, Y:-239.62, Z:-1.81 [[ 9.88497727e-01 -1.50847759e-01 -1.08257422e-02 6.40979389e+00] [-1.50836531e-01 -9.88556986e-01 1.85092847e-03 -2.39621138e+02] [-1.09810715e-02 -1.96721200e-04 -9.99939687e-01 -1.81372216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.496559995 meters 0.013842233990304488 Centerline is valid? [True, True] Translation: X:6.41, Y:-239.63, Z:-1.81 [[ 9.97249601e-01 -7.33053523e-02 -1.09343250e-02 6.41030653e+00] [-7.32988216e-02 -9.97309525e-01 9.97364439e-04 -2.39628898e+02] [-1.09780186e-02 -1.93148149e-04 -9.99939721e-01 -1.81392506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.52655999499996 meters 0.013999620978848 Centerline is valid? [True, True] Translation: X:6.41, Y:-239.64, Z:-1.81 [[ 9.99936505e-01 4.63951783e-03 -1.02694604e-02 6.41021183e+00] [ 4.64108882e-03 -9.99989222e-01 1.29150751e-04 -2.39636108e+02] [-1.02687505e-02 -1.76804028e-04 -9.99947259e-01 -1.81368362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.55655999499993 meters 0.014042398129529053 Centerline is valid? [True, True] Translation: X:6.41, Y:-239.64, Z:-1.81 [[ 9.96496991e-01 8.30116532e-02 -1.01396142e-02 6.41128032e+00] [ 8.30091477e-02 -9.96548561e-01 -6.68432660e-04 -2.39642071e+02] [-1.01601057e-02 -1.75589601e-04 -9.99948369e-01 -1.81362784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.58655999499996 meters 0.014274925073587193 Centerline is valid? [True, True] Translation: X:6.41, Y:-239.65, Z:-1.81 [[ 9.86915743e-01 1.60925076e-01 -1.00217999e-02 6.41198240e+00] [ 1.60918592e-01 -9.86966610e-01 -1.45528690e-03 -2.39648266e+02] [-1.01253740e-02 -1.76448380e-04 -9.99948722e-01 -1.81321865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.61655999499993 meters 0.014477494921387401 Centerline is valid? [True, True] Translation: X:6.41, Y:-239.65, Z:-1.81 [[ 9.71135336e-01 2.38314744e-01 -1.01114827e-02 6.41384787e+00] [ 2.38303828e-01 -9.71187957e-01 -2.28862896e-03 -2.39652946e+02] [-1.03655643e-02 -1.87036590e-04 -9.99946259e-01 -1.81294988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.64655999499996 meters 0.014789751682765747 Centerline is valid? [True, True] Translation: X:6.41, Y:-239.66, Z:-1.81 [[ 9.49369216e-01 3.13990861e-01 -1.03841854e-02 6.41494542e+00] [ 3.13974378e-01 -9.49425984e-01 -3.22347950e-03 -2.39656951e+02] [-1.08711585e-02 -2.00095939e-04 -9.99940887e-01 -1.81174070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.67655999499993 meters 0.014961127232341687 Centerline is valid? [True, True] Translation: X:6.42, Y:-239.66, Z:-1.81 [[ 9.21758404e-01 3.87624976e-01 -1.04078171e-02 6.41692221e+00] [ 3.87602820e-01 -9.21817137e-01 -4.14964125e-03 -2.39659682e+02] [-1.12026088e-02 -2.09132565e-04 -9.99937227e-01 -1.81110753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.70655999499996 meters 0.015090535226334056 Centerline is valid? [True, True] Translation: X:6.42, Y:-239.66, Z:-1.81 [[ 8.88596117e-01 4.58574199e-01 -1.03269216e-02 6.41933184e+00] [ 4.58546028e-01 -8.88656097e-01 -5.08744104e-03 -2.39661265e+02] [-1.15100510e-02 -2.14688515e-04 -9.99933734e-01 -1.81113255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.73655999499994 meters 0.01432252029997403 Centerline is valid? [True, True] Translation: X:6.42, Y:-239.66, Z:-1.81 [[ 8.49995114e-01 5.26698816e-01 -9.83179880e-03 6.42255150e+00] [ 5.26666469e-01 -8.50051947e-01 -5.84110820e-03 -2.39664850e+02] [-1.14340445e-02 -2.13165330e-04 -9.99934607e-01 -1.81246808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.76655999499997 meters 0.014656500501116602 Centerline is valid? [True, True] Translation: X:6.43, Y:-239.67, Z:-1.81 [[ 8.05834239e-01 5.92070924e-01 -9.12144070e-03 6.42603336e+00] [ 5.92035991e-01 -8.05885832e-01 -6.43512516e-03 -2.39669401e+02] [-1.11608903e-02 -2.14576999e-04 -9.99937692e-01 -1.81276668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.79655999499994 meters 0.01506953194569912 Centerline is valid? [True, True] Translation: X:6.43, Y:-239.67, Z:-1.81 [[ 7.56534409e-01 6.53896770e-01 -8.64309410e-03 6.43069693e+00] [ 6.53857461e-01 -7.56583746e-01 -7.17332659e-03 -2.39673092e+02] [-1.12298396e-02 -2.24483177e-04 -9.99936918e-01 -1.81261407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.82655999499997 meters 0.014762322013234625 Centerline is valid? [True, True] Translation: X:6.44, Y:-239.68, Z:-1.81 [[ 7.02600533e-01 7.11540156e-01 -7.94341208e-03 6.43613190e+00] [ 7.11498318e-01 -7.02645397e-01 -7.71939655e-03 -2.39677220e+02] [-1.10740626e-02 -2.28072204e-04 -9.99938655e-01 -1.81296625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.85655999499994 meters 0.015064144226051677 Centerline is valid? [True, True] Translation: X:6.44, Y:-239.68, Z:-1.81 [[ 6.43798028e-01 7.65157321e-01 -7.64024897e-03 6.44181739e+00] [ 7.65108039e-01 -6.43843312e-01 -8.68778539e-03 -2.39682155e+02] [-1.15666458e-02 -2.52436803e-04 -9.99933072e-01 -1.81262976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.88655999499997 meters 0.01571194419967693 Centerline is valid? [True, True] Translation: X:6.45, Y:-239.69, Z:-1.81 [[ 5.81678713e-01 8.13388822e-01 -6.96413249e-03 6.44772197e+00] [ 8.13335740e-01 -5.81720344e-01 -9.29602804e-03 -2.39687172e+02] [-1.16124628e-02 -2.56876220e-04 -9.99932540e-01 -1.81223078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.91655999499994 meters 0.015399056251704183 Centerline is valid? [True, True] Translation: X:6.45, Y:-239.69, Z:-1.81 [[ 5.15837723e-01 8.56663028e-01 -6.31665605e-03 6.45288485e+00] [ 8.56605010e-01 -5.15876328e-01 -9.97352594e-03 -2.39690507e+02] [-1.18025643e-02 -2.66158308e-04 -9.99930312e-01 -1.81272811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.946559995 meters 0.015399056251704183 Centerline is valid? [True, True] Translation: X:6.46, Y:-239.69, Z:-1.81 [[ 4.47149758e-01 8.94442099e-01 -5.51595903e-03 6.45905610e+00] [ 8.94381235e-01 -4.47183699e-01 -1.04376940e-02 -2.39694375e+02] [-1.18025599e-02 -2.66157915e-04 -9.99930312e-01 -1.81272815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.97655999499995 meters 0.015662576240606286 Centerline is valid? [True, True] Translation: X:6.46, Y:-239.70, Z:-1.81 [[ 3.75632357e-01 9.26757432e-01 -4.58189274e-03 6.46464804e+00] [ 9.26696761e-01 -3.75660210e-01 -1.06075425e-02 -2.39698165e+02] [-1.15518537e-02 -2.61488957e-04 -9.99933241e-01 -1.81270523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.006559995 meters 0.015857620603467435 Centerline is valid? [True, True] Translation: X:6.47, Y:-239.70, Z:-1.81 [[ 3.01807901e-01 9.53361674e-01 -3.67563261e-03 6.46976062e+00] [ 9.53301059e-01 -3.01830172e-01 -1.07535664e-02 -2.39699932e+02] [-1.13614549e-02 -2.58473158e-04 -9.99935423e-01 -1.81304049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.03655999499995 meters 0.015441314186975287 Centerline is valid? [True, True] Translation: X:6.48, Y:-239.70, Z:-1.81 [[ 2.26158523e-01 9.74086772e-01 -2.69887684e-03 6.47529252e+00] [ 9.74029904e-01 -2.26174490e-01 -1.05283271e-02 -2.39701848e+02] [-1.08659212e-02 -2.47715851e-04 -9.99940934e-01 -1.81417341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.066559995 meters 0.01698924838390248 Centerline is valid? [True, True] Translation: X:6.48, Y:-239.71, Z:-1.81 [[ 1.49220823e-01 9.88802324e-01 -1.76361370e-03 6.48374590e+00] [ 9.88750559e-01 -1.49231061e-01 -1.01203925e-02 -2.39705004e+02] [-1.02702536e-02 -2.33600732e-04 -9.99947232e-01 -1.81339181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.09655999499995 meters 0.015189401313043034 Centerline is valid? [True, True] Translation: X:6.49, Y:-239.71, Z:-1.82 [[ 7.15225103e-02 9.97438569e-01 -9.12497061e-04 6.48818879e+00] [ 9.97391759e-01 -7.15279963e-02 -9.66562709e-03 -2.39705809e+02] [-9.70613834e-03 -2.18807136e-04 -9.99952870e-01 -1.81514223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.126559995 meters 0.014809868672507453 Centerline is valid? [True, True] Translation: X:6.50, Y:-239.71, Z:-1.82 [[-6.56480163e-03 9.99978441e-01 -1.46350520e-04 6.49548665e+00] [ 9.99935108e-01 6.56315436e-03 -9.31159650e-03 -2.39706828e+02] [-9.31043522e-03 -2.07469807e-04 -9.99956635e-01 -1.81629170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.15655999499995 meters 0.01498177850041726 Centerline is valid? [True, True] Translation: X:6.50, Y:-239.71, Z:-1.82 [[-8.47308013e-02 9.96403717e-01 5.68945942e-04 6.50397261e+00] [ 9.96362563e-01 8.47324739e-02 -9.05820027e-03 -2.39707702e+02] [-9.07383261e-03 -2.00632130e-04 -9.99958812e-01 -1.81643449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.186559995 meters 0.014992415399823987 Centerline is valid? [True, True] Translation: X:6.51, Y:-239.71, Z:-1.82 [[-1.62563894e-01 9.86697252e-01 1.22991529e-03 6.51226162e+00] [ 9.86659317e-01 1.62568431e-01 -8.65436964e-03 -2.39707519e+02] [-8.73918814e-03 -1.93380650e-04 -9.99961794e-01 -1.81667054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.21655999499995 meters 0.015517838927128281 Centerline is valid? [True, True] Translation: X:6.52, Y:-239.71, Z:-1.82 [[-2.39722983e-01 9.70839289e-01 1.99159758e-03 6.52103922e+00] [ 9.70798313e-01 2.39731168e-01 -8.92208217e-03 -2.39707739e+02] [-9.13935592e-03 -2.05388577e-04 -9.99958214e-01 -1.81560759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.246559995 meters 0.015518923976844972 Centerline is valid? [True, True] Translation: X:6.53, Y:-239.71, Z:-1.82 [[-3.15461946e-01 9.48933933e-01 2.85508346e-03 6.52767955e+00] [ 9.48888441e-01 3.15474787e-01 -9.29434398e-03 -2.39706641e+02] [-9.72042523e-03 -2.22856138e-04 -9.99952731e-01 -1.81533013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.27655999499996 meters 0.01654225355096913 Centerline is valid? [True, True] Translation: X:6.54, Y:-239.71, Z:-1.81 [[-3.89170022e-01 9.21158507e-01 3.70115384e-03 6.53600369e+00] [ 9.21110959e-01 3.89187550e-01 -9.36228372e-03 -2.39705759e+02] [-1.00645903e-02 -2.34346802e-04 -9.99949323e-01 -1.81443383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.30655999499993 meters 0.017220267978467343 Centerline is valid? [True, True] Translation: X:6.54, Y:-239.71, Z:-1.81 [[-4.60863682e-01 8.87459316e-01 4.54191306e-03 6.54029547e+00] [ 8.87410764e-01 4.60885995e-01 -9.28631714e-03 -2.39706593e+02] [-1.03345328e-02 -2.49183774e-04 -9.99946566e-01 -1.81370937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.33655999499996 meters 0.015673159065594577 Centerline is valid? [True, True] Translation: X:6.55, Y:-239.70, Z:-1.81 [[-5.29468581e-01 8.48309848e-01 5.78140033e-03 6.54547687e+00] [ 8.48253370e-01 5.29500070e-01 -9.79263861e-03 -2.39704437e+02] [-1.13684436e-02 -2.80802149e-04 -9.99935338e-01 -1.81474110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.36655999499993 meters 0.017383955959800097 Centerline is valid? [True, True] Translation: X:6.56, Y:-239.70, Z:-1.81 [[-5.95116083e-01 8.03611376e-01 6.75314034e-03 6.55531958e+00] [ 8.03553772e-01 5.95154321e-01 -9.62657026e-03 -2.39700206e+02] [-1.17551820e-02 -3.02415394e-04 -9.99930860e-01 -1.81317912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.39655999499996 meters 0.016655183677685502 Centerline is valid? [True, True] Translation: X:6.56, Y:-239.70, Z:-1.81 [[-6.56604792e-01 7.54196471e-01 7.60464358e-03 6.55970527e+00] [ 7.54140292e-01 6.56648753e-01 -9.21062594e-03 -2.39698199e+02] [-1.19402013e-02 -3.12772999e-04 -9.99928664e-01 -1.81378991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.42655999499993 meters 0.01614902931625228 Centerline is valid? [True, True] Translation: X:6.57, Y:-239.69, Z:-1.81 [[-7.13661409e-01 7.00442753e-01 8.20627012e-03 6.56506660e+00] [ 7.00391393e-01 7.13708521e-01 -8.48783760e-03 -2.39693400e+02] [-1.18021293e-02 -3.09841174e-04 -9.99930305e-01 -1.81441225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.45655999499996 meters 0.016345097327381545 Centerline is valid? [True, True] Translation: X:6.57, Y:-239.69, Z:-1.81 [[-7.66146370e-01 6.42614440e-01 8.14988008e-03 6.57134178e+00] [ 6.42574127e-01 7.66189664e-01 -7.20342802e-03 -2.39689345e+02] [-1.08733807e-02 -2.81978147e-04 -9.99940843e-01 -1.81475903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.48655999499994 meters 0.016607309315820964 Centerline is valid? [True, True] Translation: X:6.59, Y:-239.67, Z:-1.81 [[-8.09725945e-01 5.86747288e-01 8.45657678e-03 6.58977249e+00] [ 5.86711689e-01 8.09770056e-01 -6.46918297e-03 -2.39668961e+02] [-1.06436582e-02 -2.76692845e-04 -9.99943316e-01 -1.81497240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.51655999499997 meters 0.01724378942305427 Centerline is valid? [True, True] Translation: X:6.61, Y:-239.65, Z:-1.82 [[-8.49134449e-01 5.28106395e-01 8.62113756e-03 6.60673323e+00] [ 5.28075967e-01 8.49178170e-01 -5.67525174e-03 -2.39646178e+02] [-1.03180186e-02 -2.66436199e-04 -9.99946732e-01 -1.81502227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.54655999499994 meters 0.018480147538965933 Centerline is valid? [True, True] Translation: X:6.62, Y:-239.62, Z:-1.81 [[-8.84279773e-01 4.66882348e-01 8.37590926e-03 6.62037332e+00] [ 4.66858761e-01 8.84319407e-01 -4.69935002e-03 -2.39620024e+02] [-9.60102268e-03 -2.45173545e-04 -9.99953879e-01 -1.81452237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.57655999499997 meters 0.017638914269799005 Centerline is valid? [True, True] Translation: X:6.63, Y:-239.60, Z:-1.82 [[-9.15091778e-01 4.03169688e-01 7.82567579e-03 6.63422939e+00] [ 4.03152880e-01 9.15125212e-01 -3.68793106e-03 -2.39597726e+02] [-8.64833523e-03 -2.19851654e-04 -9.99962578e-01 -1.81561654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.60655999499994 meters 0.01746337616209626 Centerline is valid? [True, True] Translation: X:6.64, Y:-239.57, Z:-1.82 [[-9.41435007e-01 3.37108534e-01 7.61340615e-03 6.64457756e+00] [ 3.37095705e-01 9.41465768e-01 -2.94834127e-03 -2.39572936e+02] [-8.16167228e-03 -2.09225171e-04 -9.99966671e-01 -1.81637934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.63655999499997 meters 0.016116765299358 Centerline is valid? [True, True] Translation: X:6.65, Y:-239.55, Z:-1.82 [[-9.63007518e-01 2.69364686e-01 7.69327043e-03 6.65233845e+00] [ 2.69354361e-01 9.63038225e-01 -2.36755414e-03 -2.39549246e+02] [-8.04664898e-03 -2.07756491e-04 -9.99967604e-01 -1.81726611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.66655999499994 meters 0.016365315007481857 Centerline is valid? [True, True] Translation: X:6.85, Y:-238.91, Z:-2.78 [[-9.23996241e-01 -3.82325198e-01 7.64134812e-03 6.85422058e+00] [ 3.82314079e-01 -9.24027811e-01 -2.92411043e-03 -2.38906299e+02] [ 8.17877927e-03 2.19527925e-04 9.99966529e-01 -2.77542042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.696559995 meters 0.01663545640287469 Centerline is valid? [True, True] Translation: X:6.60, Y:-239.53, Z:-1.82 [[-9.64408730e-01 2.64287361e-01 8.24571414e-03 6.60400986e+00] [ 2.64275606e-01 9.64443951e-01 -2.50373478e-03 -2.39534499e+02] [-8.61423458e-03 -2.35482579e-04 -9.99962869e-01 -1.81695854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.72655999499995 meters 0.016877782637203322 Centerline is valid? [True, True] Translation: X:6.61, Y:-239.51, Z:-1.82 [[-9.80811550e-01 1.94756301e-01 8.87053611e-03 6.60805538e+00] [ 1.94745999e-01 9.80851630e-01 -2.01909111e-03 -2.39506958e+02] [-9.09391051e-03 -2.52846471e-04 -9.99958618e-01 -1.81670957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.756559995 meters 0.017219683578232347 Centerline is valid? [True, True] Translation: X:6.62, Y:-239.48, Z:-1.82 [[-9.92181116e-01 1.24464538e-01 9.23100911e-03 6.61765292e+00] [ 1.24456692e-01 9.92224022e-01 -1.42182169e-03 -2.39480348e+02] [-9.33619537e-03 -2.61843777e-04 -9.99956383e-01 -1.81620200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.78655999499995 meters 0.016910277067757495 Centerline is valid? [True, True] Translation: X:6.72, Y:-238.82, Z:-2.78 [[-9.69191655e-01 -2.46152345e-01 8.74982761e-03 6.72332373e+00] [ 2.46144430e-01 -9.69231124e-01 -1.98704083e-03 -2.38816401e+02] [ 8.96972001e-03 2.27897940e-04 9.99959745e-01 -2.77634316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.816559995 meters 0.017133718633997565 Centerline is valid? [True, True] Translation: X:6.57, Y:-239.47, Z:-1.82 [[-9.92710899e-01 1.20183609e-01 8.99842856e-03 6.56631956e+00] [ 1.20176309e-01 9.92751647e-01 -1.34958571e-03 -2.39473763e+02] [-9.09540286e-03 -2.58350520e-04 -9.99958603e-01 -1.81666950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.84655999499995 meters 0.017261718011147453 Centerline is valid? [True, True] Translation: X:6.56, Y:-239.45, Z:-1.82 [[-9.98727948e-01 4.95969301e-02 9.09013835e-03 6.56467413e+00] [ 4.95925330e-02 9.98769282e-01 -7.08635339e-04 -2.39446106e+02] [-9.11409709e-03 -2.56930932e-04 -9.99958433e-01 -1.81668508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.876559995 meters 0.01681315718110131 Centerline is valid? [True, True] Translation: X:6.55, Y:-239.42, Z:-1.82 [[-9.99768451e-01 -1.96256196e-02 8.82498632e-03 6.55337128e+00] [-1.96269014e-02 9.99807372e-01 -5.86559174e-05 -2.39419311e+02] [-8.82213522e-03 -2.31849472e-04 -9.99961057e-01 -1.81616681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.90655999499995 meters 0.015727520367915655 Centerline is valid? [True, True] Translation: X:6.57, Y:-238.74, Z:-2.78 [[-9.95030061e-01 -9.91871705e-02 8.77966692e-03 6.57370095e+00] [ 9.91853450e-02 -9.95068768e-01 -6.44165824e-04 -2.38742258e+02] [ 8.80026533e-03 2.29849934e-04 9.99961251e-01 -2.77656253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.936559995 meters 0.017316098801367624 Centerline is valid? [True, True] Translation: X:6.50, Y:-239.42, Z:-1.82 [[-9.99706992e-01 -2.24382611e-02 9.08043890e-03 6.49662679e+00] [-2.24393488e-02 9.99748206e-01 -1.79093366e-05 -2.39418860e+02] [-9.07775064e-03 -2.21663225e-04 -9.99958772e-01 -1.81516461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.96655999499995 meters 0.015451494865065153 Centerline is valid? [True, True] Translation: X:6.49, Y:-239.40, Z:-1.82 [[-9.95704943e-01 -9.20882916e-02 9.56102372e-03 6.49386727e+00] [-9.20861718e-02 9.95750821e-01 6.62639692e-04 -2.39395266e+02] [-9.58141857e-03 -2.20644456e-04 -9.99954073e-01 -1.81615850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.996559995 meters 0.01528677086883532 Centerline is valid? [True, True] Translation: X:6.49, Y:-239.37, Z:-1.82 [[-9.86720815e-01 -1.62126644e-01 9.84810263e-03 6.48707770e+00] [-1.62120811e-01 9.86769934e-01 1.39303569e-03 -2.39368776e+02] [-9.94365978e-03 -2.22045079e-04 -9.99950536e-01 -1.81608921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.02655999499996 meters 0.014874277937064839 Centerline is valid? [True, True] Translation: X:6.39, Y:-238.69, Z:-2.78 [[-9.98633400e-01 5.13164867e-02 9.89701937e-03 6.39299353e+00] [-5.13117817e-02 -9.98682417e-01 7.28900485e-04 -2.38691432e+02] [ 9.92138383e-03 2.20070673e-04 9.99950758e-01 -2.77661241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.05655999499993 meters 0.015189119043121186 Centerline is valid? [True, True] Translation: X:6.39, Y:-239.38, Z:-1.82 [[-9.85891164e-01 -1.67089708e-01 9.98209718e-03 6.38912963e+00] [-1.67083312e-01 9.85941674e-01 1.47714973e-03 -2.39381695e+02] [-1.00885821e-02 -2.11532989e-04 -9.99949087e-01 -1.81576583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.08655999499996 meters 0.014848595371382592 Centerline is valid? [True, True] Translation: X:6.37, Y:-239.36, Z:-1.82 [[-9.71533501e-01 -2.36692541e-01 9.96485205e-03 6.37021432e+00] [-2.36682293e-01 9.71584581e-01 2.21250869e-03 -2.39357508e+02] [-1.02053809e-02 -2.08977715e-04 -9.99947902e-01 -1.81608003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.11655999499993 meters 0.015384190084900043 Centerline is valid? [True, True] Translation: X:6.34, Y:-239.33, Z:-1.82 [[-9.52244317e-01 -3.05198937e-01 9.18532518e-03 6.34111178e+00] [-3.05186641e-01 9.52288598e-01 2.74606357e-03 -2.39334639e+02] [-9.58517611e-03 -1.88315106e-04 -9.99954043e-01 -1.81578926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.14655999499996 meters 0.014384167632398978 Centerline is valid? [True, True] Translation: X:6.29, Y:-239.32, Z:-1.82 [[-9.27528141e-01 -3.73651318e-01 8.73155043e-03 6.29067140e+00] [-3.73636592e-01 9.27569221e-01 3.32224474e-03 -2.39324450e+02] [-9.34047856e-03 -1.80951257e-04 -9.99956360e-01 -1.81734573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.17655999499993 meters 0.015564790293462409 Centerline is valid? [True, True] Translation: X:6.23, Y:-239.32, Z:-1.82 [[-8.97681406e-01 -4.40572949e-01 7.97309428e-03 6.23020372e+00] [-4.40557212e-01 8.97716798e-01 3.72754265e-03 -2.39316769e+02] [-8.79983512e-03 -1.66458458e-04 -9.99961267e-01 -1.81649624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.20655999499996 meters 0.01389302368836277 Centerline is valid? [True, True] Translation: X:6.16, Y:-239.33, Z:-1.82 [[-8.63049888e-01 -5.05067634e-01 7.18162359e-03 6.15966019e+00] [-5.05051567e-01 8.63079755e-01 4.03141865e-03 -2.39325120e+02] [-8.23445301e-03 -1.47774832e-04 -9.99966085e-01 -1.81848694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.23655999499994 meters 0.013791368624438138 Centerline is valid? [True, True] Translation: X:6.08, Y:-239.34, Z:-1.82 [[-8.23409594e-01 -5.67410623e-01 6.46728185e-03 6.08187277e+00] [-5.67394389e-01 8.23434981e-01 4.29423986e-03 -2.39340445e+02] [-7.76198342e-03 -1.33581129e-04 -9.99969866e-01 -1.81913086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.26655999499997 meters 0.013825609006572658 Centerline is valid? [True, True] Translation: X:6.00, Y:-239.37, Z:-1.82 [[-7.79055904e-01 -6.26926163e-01 5.95685213e-03 5.99794946e+00] [-6.26909047e-01 7.79078668e-01 4.63426672e-03 -2.39366587e+02] [-7.54619947e-03 -1.24051634e-04 -9.99971519e-01 -1.81960880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.29655999499994 meters 0.013722676468169734 Centerline is valid? [True, True] Translation: X:5.91, Y:-239.40, Z:-1.82 [[-7.30067425e-01 -6.83354411e-01 5.32016491e-03 5.91428810e+00] [-6.83337389e-01 7.30086800e-01 4.82464472e-03 -2.39400346e+02] [-7.18112442e-03 -1.13151654e-04 -9.99974209e-01 -1.82008429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.32655999499997 meters 0.013501430238460342 Centerline is valid? [True, True] Translation: X:5.83, Y:-239.45, Z:-1.82 [[-6.76444730e-01 -7.36476297e-01 5.01916245e-03 5.82603993e+00] [-7.36457260e-01 6.76463341e-01 5.29653349e-03 -2.39447489e+02] [-7.29605076e-03 -1.13586458e-04 -9.99973377e-01 -1.82045951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.35655999499994 meters 0.013767693389452726 Centerline is valid? [True, True] Translation: X:5.73, Y:-239.51, Z:-1.82 [[-6.18643800e-01 -7.85658643e-01 4.51057314e-03 5.73492261e+00] [-7.85639065e-01 6.18660233e-01 5.54757511e-03 -2.39507425e+02] [-7.14901256e-03 -1.11709525e-04 -9.99974439e-01 -1.81968170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.38655999499997 meters 0.013554226584607908 Centerline is valid? [True, True] Translation: X:5.66, Y:-239.56, Z:-1.82 [[-5.56964796e-01 -8.30525915e-01 4.11344206e-03 5.65875901e+00] [-8.30504745e-01 5.56979974e-01 5.93107898e-03 -2.39562196e+02] [-7.21701965e-03 -1.12830956e-04 -9.99973951e-01 -1.81948871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.41655999499994 meters 0.013918861602370507 Centerline is valid? [True, True] Translation: X:5.58, Y:-239.63, Z:-1.82 [[-4.91477037e-01 -8.70882379e-01 3.76890365e-03 5.57793095e+00] [-8.70858645e-01 4.91491473e-01 6.43059697e-03 -2.39632286e+02] [-7.45267760e-03 -1.21691582e-04 -9.99972221e-01 -1.81870334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.446559995 meters 0.01394782064453615 Centerline is valid? [True, True] Translation: X:5.50, Y:-239.72, Z:-1.82 [[-4.23311751e-01 -9.05978325e-01 3.23066799e-03 5.50031601e+00] [-9.05954106e-01 4.23324061e-01 6.62548678e-03 -2.39716187e+02] [-7.37016690e-03 -1.22190520e-04 -9.99972833e-01 -1.81847473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.47655999499995 meters 0.014038297163376276 Centerline is valid? [True, True] Translation: X:5.43, Y:-239.80, Z:-1.82 [[-3.52603401e-01 -9.35768924e-01 2.71330890e-03 5.43062899e+00] [-9.35743851e-01 3.52613819e-01 6.85129397e-03 -2.39802606e+02] [-7.36797821e-03 -1.23172566e-04 -9.99972849e-01 -1.81810098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.506559995 meters 0.013656017966954313 Centerline is valid? [True, True] Translation: X:5.37, Y:-239.90, Z:-1.82 [[-2.79645800e-01 -9.60100913e-01 2.11277737e-03 5.36693701e+00] [-9.60076687e-01 2.79653755e-01 6.82152498e-03 -2.39897377e+02] [-7.14019848e-03 -1.20817494e-04 -9.99974501e-01 -1.81838823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.53655999499995 meters 0.013629587054805341 Centerline is valid? [True, True] Translation: X:5.31, Y:-240.00, Z:-1.82 [[-2.05518735e-01 -9.78652069e-01 1.47579232e-03 5.30998469e+00] [-9.78630546e-01 2.05524004e-01 6.49134287e-03 -2.39999994e+02] [-6.65607687e-03 -1.10162874e-04 -9.99977842e-01 -1.81862678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.566559995 meters 0.013756517655806457 Centerline is valid? [True, True] Translation: X:5.26, Y:-240.11, Z:-1.82 [[-1.30271810e-01 -9.91477974e-01 8.26122420e-04 5.26068116e+00] [-9.91462221e-01 1.30274397e-01 5.58986366e-03 -2.40107713e+02] [-5.64984930e-03 -9.08675151e-05 -9.99984035e-01 -1.81889141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.59655999499995 meters 0.013548404914578854 Centerline is valid? [True, True] Translation: X:5.22, Y:-240.22, Z:-1.82 [[-5.42228933e-02 -9.98528808e-01 3.12209651e-04 5.21963655e+00] [-9.98518849e-01 5.42237471e-02 4.46011710e-03 -2.40218518e+02] [-4.47048459e-03 -6.99067680e-05 -9.99990005e-01 -1.82005601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.626559995 meters 0.01357570499492581 Centerline is valid? [True, True] Translation: X:5.19, Y:-240.33, Z:-1.82 [[ 2.25284188e-02 -9.99746203e-01 -2.86569691e-05 5.18735268e+00] [-9.99737963e-01 -2.25283495e-02 4.05952368e-03 -2.40330714e+02] [-4.05913898e-03 -6.28051896e-05 -9.99991760e-01 -1.82039188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.65655999499995 meters 0.013728031646913663 Centerline is valid? [True, True] Translation: X:5.16, Y:-240.45, Z:-1.82 [[ 9.92582568e-02 -9.95061662e-01 -2.93895378e-04 5.16383732e+00] [-9.95055533e-01 -9.92586770e-02 3.49316836e-03 -2.40453484e+02] [-3.50508958e-03 -5.42835802e-05 -9.99993856e-01 -1.82010507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.686559995 meters 0.013788798567983375 Centerline is valid? [True, True] Translation: X:5.15, Y:-240.57, Z:-1.82 [[ 1.75474535e-01 -9.84483782e-01 -6.09236899e-04 5.14889450e+00] [-9.84476621e-01 -1.75475583e-01 3.75533578e-03 -2.40570917e+02] [-3.80397337e-03 -5.91863170e-05 -9.99992763e-01 -1.81959326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.71655999499995 meters 0.014170197336887938 Centerline is valid? [True, True] Translation: X:5.14, Y:-240.69, Z:-1.82 [[ 2.50648086e-01 -9.68077699e-01 -1.05145379e-03 5.14170341e+00] [-9.68067978e-01 -2.50650282e-01 4.33901530e-03 -2.40688839e+02] [-4.46405113e-03 -6.96871331e-05 -9.99990034e-01 -1.81806319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.746559995 meters 0.014095879074312166 Centerline is valid? [True, True] Translation: X:5.14, Y:-240.80, Z:-1.82 [[ 3.23805373e-01 -9.46122405e-01 -1.57344231e-03 5.14464374e+00] [-9.46110050e-01 -3.23809187e-01 4.83566589e-03 -2.40804701e+02] [-5.08462691e-03 -7.71650166e-05 -9.99987070e-01 -1.81761235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.77655999499996 meters 0.014052579144953746 Centerline is valid? [True, True] Translation: X:5.16, Y:-240.92, Z:-1.82 [[ 3.95147335e-01 -9.18615264e-01 -2.14022034e-03 5.15806736e+00] [-9.18600621e-01 -3.95153123e-01 5.18730521e-03 -2.40924224e+02] [-5.61085249e-03 -8.37420956e-05 -9.99984256e-01 -1.81718415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.80655999499993 meters 0.013913134492390029 Centerline is valid? [True, True] Translation: X:5.18, Y:-241.04, Z:-1.82 [[ 4.63360419e-01 -8.86165444e-01 -2.81575270e-03 5.17750529e+00] [-8.86147936e-01 -4.63368967e-01 5.57108325e-03 -2.41035891e+02] [-6.24163387e-03 -8.62460271e-05 -9.99980517e-01 -1.81634679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.83655999499996 meters 0.013295037666936264 Centerline is valid? [True, True] Translation: X:5.21, Y:-241.15, Z:-1.82 [[ 5.29033730e-01 -8.48593911e-01 -3.41855054e-03 5.20750990e+00] [-8.48575145e-01 -5.29044768e-01 5.64418821e-03 -2.41145070e+02] [-6.59819003e-03 -8.50689230e-05 -9.99978228e-01 -1.81678337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.86655999499993 meters 0.013295037666936264 Centerline is valid? [True, True] Translation: X:5.24, Y:-241.25, Z:-1.82 [[ 5.92295161e-01 -8.05711921e-01 -3.83961803e-03 5.24427946e+00] [-8.05694052e-01 -5.92307600e-01 5.36662524e-03 -2.41251432e+02] [-6.59818887e-03 -8.50687547e-05 -9.99978228e-01 -1.81678343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.89655999499996 meters 0.013000353366165297 Centerline is valid? [True, True] Translation: X:5.29, Y:-241.35, Z:-1.82 [[ 6.51498520e-01 -7.58637078e-01 -4.41158075e-03 5.28814409e+00] [-7.58618812e-01 -6.51513451e-01 5.26516700e-03 -2.41352389e+02] [-6.86855510e-03 -8.35403629e-05 -9.99976408e-01 -1.81720066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.92655999499993 meters 0.01301918066295077 Centerline is valid? [True, True] Translation: X:5.34, Y:-241.45, Z:-1.82 [[ 7.06749893e-01 -7.07448664e-01 -4.58005805e-03 5.33690197e+00] [-7.07433127e-01 -7.06764729e-01 4.68918401e-03 -2.41448081e+02] [-6.55438045e-03 -7.39955059e-05 -9.99978517e-01 -1.81718764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.95655999499996 meters 0.012781438344872031 Centerline is valid? [True, True] Translation: X:5.39, Y:-241.54, Z:-1.82 [[ 7.57799091e-01 -6.52469894e-01 -4.85547804e-03 5.39031367e+00] [-6.52455930e-01 -7.57814643e-01 4.26920350e-03 -2.41535736e+02] [-6.46507911e-03 -6.72130841e-05 -9.99979099e-01 -1.81804299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.98655999499994 meters 0.012480476291125673 Centerline is valid? [True, True] Translation: X:5.39, Y:-241.54, Z:-1.82 [[ 8.05335387e-01 -5.92799192e-01 -4.90223243e-03 5.38972156e+00] [-5.92787817e-01 -8.05350306e-01 3.67283433e-03 -2.41544884e+02] [-6.12526761e-03 -5.18797970e-05 -9.99981239e-01 -1.81851409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.01655999499997 meters 0.01242716758318429 Centerline is valid? [True, True] Translation: X:5.39, Y:-241.55, Z:-1.82 [[ 8.48791004e-01 -5.28703888e-01 -5.10189613e-03 5.38922090e+00] [-5.28694009e-01 -8.48806336e-01 3.23240985e-03 -2.41553445e+02] [-6.03950942e-03 -4.62984793e-05 -9.99981761e-01 -1.81828767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.04655999499994 meters 0.012320875550708325 Centerline is valid? [True, True] Translation: X:5.39, Y:-241.56, Z:-1.82 [[ 8.86979231e-01 -4.61780205e-01 -5.18525876e-03 5.39005796e+00] [-4.61772064e-01 -8.86994386e-01 2.74230642e-03 -2.41562917e+02] [-5.86563823e-03 -3.79611976e-05 -9.99982796e-01 -1.81837118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.07655999499997 meters 0.012138588538586783 Centerline is valid? [True, True] Translation: X:5.39, Y:-241.57, Z:-1.82 [[ 9.19958987e-01 -3.91975335e-01 -5.54969211e-03 5.39106891e+00] [-3.91967987e-01 -9.19975726e-01 2.40025554e-03 -2.41572587e+02] [-6.04642300e-03 -3.28350093e-05 -9.99981720e-01 -1.81841165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.10655999499994 meters 0.012142043319696264 Centerline is valid? [True, True] Translation: X:5.39, Y:-241.58, Z:-1.82 [[ 9.47820304e-01 -3.18761412e-01 -5.27573476e-03 5.39273768e+00] [-3.18756292e-01 -9.47834986e-01 1.80689644e-03 -2.41583104e+02] [-5.57649484e-03 -3.09394876e-05 -9.99984451e-01 -1.81838278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.13655999499997 meters 0.012060252589725623 Centerline is valid? [True, True] Translation: X:5.40, Y:-241.59, Z:-1.82 [[ 9.69933707e-01 -2.43306503e-01 -5.52720279e-03 5.39508866e+00] [-2.43302352e-01 -9.69949455e-01 1.42164210e-03 -2.41593806e+02] [-5.70700210e-03 -3.41171544e-05 -9.99983714e-01 -1.81857014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.16655999499994 meters 0.012157705001285964 Centerline is valid? [True, True] Translation: X:5.40, Y:-241.60, Z:-1.82 [[ 9.86146975e-01 -1.65779952e-01 -5.58125302e-03 5.39758425e+00] [-1.65777072e-01 -9.86162769e-01 9.77896067e-04 -2.41603749e+02] [-5.66613950e-03 -3.91054621e-05 -9.99983947e-01 -1.81839400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.196559995 meters 0.012239346729636714 Centerline is valid? [True, True] Translation: X:5.40, Y:-241.61, Z:-1.82 [[ 9.96172768e-01 -8.72132450e-02 -5.80233587e-03 5.39750253e+00] [-8.72115015e-02 -9.96189665e-01 5.53308380e-04 -2.41612499e+02] [-5.82848284e-03 -4.51603169e-05 -9.99983013e-01 -1.81844841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.22655999499995 meters 0.01294546198388518 Centerline is valid? [True, True] Translation: X:5.40, Y:-241.62, Z:-1.82 [[ 9.99961381e-01 -6.18297624e-03 -6.24555523e-03 5.39790220e+00] [-6.18244441e-03 -9.99980883e-01 1.04456125e-04 -2.41622313e+02] [-6.24608168e-03 -6.58392932e-05 -9.99980491e-01 -1.81745710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.256559995 meters 0.01282698651812417 Centerline is valid? [True, True] Translation: X:5.40, Y:-241.63, Z:-1.82 [[ 9.97250621e-01 7.37988236e-02 -6.70315568e-03 5.39998997e+00] [ 7.37977077e-02 -9.97273146e-01 -4.14003604e-04 -2.41630847e+02] [-6.71543013e-03 -8.18121723e-05 -9.99977448e-01 -1.81782057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.28655999499995 meters 0.01308150369911948 Centerline is valid? [True, True] Translation: X:5.40, Y:-241.64, Z:-1.82 [[ 9.88133229e-01 1.53449545e-01 -6.77935942e-03 5.40314243e+00] [ 1.53446597e-01 -9.88156480e-01 -9.56002677e-04 -2.41640984e+02] [-6.84576612e-03 -9.56116203e-05 -9.99976563e-01 -1.81756613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.316559995 meters 0.013308778872017476 Centerline is valid? [True, True] Translation: X:5.41, Y:-241.65, Z:-1.82 [[ 9.72784397e-01 2.31603547e-01 -7.09322842e-03 5.40657983e+00] [ 2.31598222e-01 -9.72810251e-01 -1.57448086e-03 -2.41650982e+02] [-7.26502067e-03 -1.11148678e-04 -9.99973603e-01 -1.81710166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.34655999499995 meters 0.014138672774683822 Centerline is valid? [True, True] Translation: X:5.41, Y:-241.66, Z:-1.82 [[ 9.50854062e-01 3.09553324e-01 -7.30011843e-03 5.41014968e+00] [ 3.09545305e-01 -9.50882075e-01 -2.23234669e-03 -2.41660503e+02] [-7.63258210e-03 -1.37081466e-04 -9.99970862e-01 -1.81614460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.376559995 meters 0.014425765342746366 Centerline is valid? [True, True] Translation: X:5.41, Y:-241.67, Z:-1.82 [[ 9.23362760e-01 3.83850893e-01 -7.72695278e-03 5.41464945e+00] [ 3.83838865e-01 -9.23395076e-01 -3.04280999e-03 -2.41666773e+02] [-8.30301549e-03 -1.56287352e-04 -9.99965517e-01 -1.81589061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.40655999499995 meters 0.015105064715010922 Centerline is valid? [True, True] Translation: X:5.42, Y:-241.67, Z:-1.81 [[ 8.90380528e-01 4.55159241e-01 -7.25133405e-03 5.41842018e+00] [ 4.55145545e-01 -8.90410042e-01 -3.53418673e-03 -2.41672981e+02] [-8.06527840e-03 -1.53641349e-04 -9.99967463e-01 -1.81467248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.436559995 meters 0.014665849003123501 Centerline is valid? [True, True] Translation: X:5.42, Y:-241.68, Z:-1.81 [[ 8.51972466e-01 5.23536597e-01 -7.23533520e-03 5.42216612e+00] [ 5.23519308e-01 -8.52003173e-01 -4.25765879e-03 -2.41675937e+02] [-8.39356874e-03 -1.60429625e-04 -9.99964761e-01 -1.81499618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.46655999499995 meters 0.014618247658300805 Centerline is valid? [True, True] Translation: X:5.43, Y:-241.68, Z:-1.82 [[ 8.08444552e-01 5.88530884e-01 -6.98612525e-03 5.42577328e+00] [ 5.88510627e-01 -8.08474720e-01 -4.88560720e-03 -2.41678893e+02] [-8.52343638e-03 -1.61666426e-04 -9.99963662e-01 -1.81503351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.496559995 meters 0.014386434875932845 Centerline is valid? [True, True] Translation: X:5.43, Y:-241.68, Z:-1.82 [[ 7.60207595e-01 6.49647913e-01 -6.48083959e-03 5.43056062e+00] [ 6.49626032e-01 -7.60235204e-01 -5.33416639e-03 -2.41682414e+02] [-8.39229247e-03 -1.55048307e-04 -9.99964772e-01 -1.81504083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.52655999499996 meters 0.014565164614009285 Centerline is valid? [True, True] Translation: X:5.44, Y:-241.69, Z:-1.81 [[ 7.07262349e-01 7.06926960e-01 -5.85169654e-03 5.43511321e+00] [ 7.06904475e-01 -7.07286541e-01 -5.64024259e-03 -2.41685880e+02] [-8.12606576e-03 -1.47459239e-04 -9.99966972e-01 -1.81487101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.55655999499993 meters 0.01453703131519041 Centerline is valid? [True, True] Translation: X:5.44, Y:-241.69, Z:-1.82 [[ 6.50215157e-01 7.59734386e-01 -4.89008834e-03 5.43784514e+00] [ 7.59714381e-01 -6.50233532e-01 -5.51473705e-03 -2.41687765e+02] [-7.36943478e-03 -1.29304820e-04 -9.99972837e-01 -1.81520595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.58655999499996 meters 0.014172578866800853 Centerline is valid? [True, True] Translation: X:5.44, Y:-241.69, Z:-1.82 [[ 5.88776369e-01 8.08283876e-01 -4.42305494e-03 5.44284039e+00] [ 8.08262690e-01 -5.88792968e-01 -5.85360443e-03 -2.41690539e+02] [-7.33563772e-03 -1.28526323e-04 -9.99973086e-01 -1.81580727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.61655999499993 meters 0.01413488909997349 Centerline is valid? [True, True] Translation: X:5.45, Y:-241.69, Z:-1.82 [[ 5.23687515e-01 8.51902289e-01 -3.72513469e-03 5.44885689e+00] [ 8.51882362e-01 -5.23700750e-01 -5.82797122e-03 -2.41693826e+02] [-6.91571786e-03 -1.21340774e-04 -9.99976079e-01 -1.81595444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.64655999499996 meters 0.01457787785508901 Centerline is valid? [True, True] Translation: X:5.45, Y:-241.70, Z:-1.82 [[ 4.54384913e-01 8.90800294e-01 -3.03115833e-03 5.45399461e+00] [ 8.90782207e-01 -4.54395007e-01 -5.67787581e-03 -2.41697536e+02] [-6.43519665e-03 -1.20160799e-04 -9.99979287e-01 -1.81613256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.67655999499993 meters 0.014980102933894096 Centerline is valid? [True, True] Translation: X:5.46, Y:-241.70, Z:-1.82 [[ 3.82357946e-01 9.24009823e-01 -2.87182942e-03 5.45909451e+00] [ 9.23986458e-01 -3.82368705e-01 -6.57261922e-03 -2.41700480e+02] [-7.17126242e-03 -1.40438311e-04 -9.99974276e-01 -1.81590512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.70655999499996 meters 0.015326127760691586 Centerline is valid? [True, True] Translation: X:5.46, Y:-241.70, Z:-1.82 [[ 3.07830768e-01 9.51438085e-01 -2.40588243e-03 5.46498755e+00] [ 9.51412754e-01 -3.07840132e-01 -6.94436082e-03 -2.41702250e+02] [-7.34775653e-03 -1.51299304e-04 -9.99972993e-01 -1.81532776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.73655999499994 meters 0.015895698109128966 Centerline is valid? [True, True] Translation: X:5.47, Y:-241.70, Z:-1.81 [[ 2.31006115e-01 9.72950107e-01 -2.06496039e-03 5.47064677e+00] [ 9.72917904e-01 -2.31015274e-01 -7.91799628e-03 -2.41703295e+02] [-8.18085271e-03 -1.79931376e-04 -9.99966520e-01 -1.81455367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.76655999499997 meters 0.016549432922053943 Centerline is valid? [True, True] Translation: X:5.48, Y:-241.70, Z:-1.81 [[ 1.52940403e-01 9.88234122e-01 -1.59780037e-03 5.47549124e+00] [ 9.88193647e-01 -1.52948604e-01 -8.94650848e-03 -2.41704688e+02] [-9.08562629e-03 -2.10653564e-04 -9.99958703e-01 -1.81356744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.79655999499994 meters 0.01729348669627943 Centerline is valid? [True, True] Translation: X:5.48, Y:-241.70, Z:-1.81 [[ 7.29609107e-02 9.97334337e-01 -9.61806636e-04 5.47936878e+00] [ 9.97286708e-01 -7.29668291e-02 -9.75009488e-03 -2.41704724e+02] [-9.79428440e-03 -2.47821172e-04 -9.99952004e-01 -1.81278469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.82655999499997 meters 0.018026280165609476 Centerline is valid? [True, True] Translation: X:5.48, Y:-241.71, Z:-1.81 [[-6.13561842e-03 9.99981157e-01 -1.98266419e-04 5.48227981e+00] [ 9.99931632e-01 6.13334066e-03 -9.95555271e-03 -2.41705884e+02] [-9.95414909e-03 -2.59336336e-04 -9.99950423e-01 -1.81236990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.85655999499994 meters 0.016500469836080493 Centerline is valid? [True, True] Translation: X:5.49, Y:-241.71, Z:-1.81 [[-8.47583783e-02 9.96401369e-01 5.73484786e-04 5.48602561e+00] [ 9.96353303e-01 8.47599244e-02 -9.79034385e-03 -2.41705963e+02] [-9.80372054e-03 -2.58420206e-04 -9.99951909e-01 -1.81358925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.88655999499997 meters 0.017925545575904964 Centerline is valid? [True, True] Translation: X:5.49, Y:-241.71, Z:-1.81 [[-1.62666290e-01 9.86680259e-01 1.32097480e-03 5.49427744e+00] [ 9.86633700e-01 1.62671451e-01 -9.58861125e-03 -2.41706471e+02] [-9.67577832e-03 -2.56425556e-04 -9.99953156e-01 -1.81270164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.91655999499994 meters 0.01656997535079967 Centerline is valid? [True, True] Translation: X:5.50, Y:-241.71, Z:-1.81 [[-2.39036134e-01 9.71008710e-01 1.95248009e-03 5.49816954e+00] [ 9.70967701e-01 2.39043989e-01 -8.92722211e-03 -2.41706254e+02] [-9.13513905e-03 -2.38133559e-04 -9.99958245e-01 -1.81396987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.946559995 meters 0.016351217863375202 Centerline is valid? [True, True] Translation: X:5.50, Y:-241.71, Z:-1.82 [[-3.13458637e-01 9.49599526e-01 2.10294610e-03 5.50310367e+00] [ 9.49574089e-01 3.13465638e-01 -6.95294812e-03 -2.41705454e+02] [-7.26171758e-03 -1.82558510e-04 -9.99973617e-01 -1.81500765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.97655999499995 meters 0.01705797407235137 Centerline is valid? [True, True] Translation: X:5.51, Y:-241.70, Z:-1.82 [[-3.86537826e-01 9.22270266e-01 2.46281147e-03 5.51011259e+00] [ 9.22248693e-01 3.86545635e-01 -6.31029811e-03 -2.41704693e+02] [-6.77178935e-03 -1.67844250e-04 -9.99977057e-01 -1.81522309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.006559995 meters 0.0162060980547145 Centerline is valid? [True, True] Translation: X:5.51, Y:-241.70, Z:-1.82 [[-4.57208431e-01 8.89355754e-01 2.60653493e-03 5.51482616e+00] [ 8.89339441e-01 4.57215838e-01 -5.38854264e-03 -2.41703382e+02] [-5.98408045e-03 -1.45592811e-04 -9.99982085e-01 -1.81589405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.03655999499995 meters 0.016112222065610173 Centerline is valid? [True, True] Translation: X:5.52, Y:-241.70, Z:-1.82 [[-5.25177299e-01 8.50988718e-01 2.64698171e-03 5.51986364e+00] [ 8.50976677e-01 5.25183954e-01 -4.52885042e-03 -2.41701455e+02] [-5.24415294e-03 -1.25929728e-04 -9.99986241e-01 -1.81607073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.066559995 meters 0.016455325394305154 Centerline is valid? [True, True] Translation: X:5.53, Y:-241.70, Z:-1.82 [[-5.90177986e-01 8.07267040e-01 3.14166490e-03 5.52583806e+00] [ 8.07254391e-01 5.90186333e-01 -4.52115656e-03 -2.41699607e+02] [-5.50394837e-03 -1.32164293e-04 -9.99984844e-01 -1.81560827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.09655999499995 meters 0.01619807127958802 Centerline is valid? [True, True] Translation: X:5.53, Y:-241.70, Z:-1.82 [[-6.51688804e-01 7.58478042e-01 3.57251242e-03 5.53121478e+00] [ 7.58465483e-01 6.51698582e-01 -4.36676571e-03 -2.41696690e+02] [-5.64029718e-03 -1.36144962e-04 -9.99984084e-01 -1.81551221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.126559995 meters 0.016164155757890212 Centerline is valid? [True, True] Translation: X:5.54, Y:-241.69, Z:-1.81 [[-7.08945500e-01 7.05250853e-01 4.18477100e-03 5.53636324e+00] [ 7.05237349e-01 7.08957837e-01 -4.36664630e-03 -2.41693614e+02] [-6.04640722e-03 -1.44457436e-04 -9.99981710e-01 -1.81499942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.15655999499995 meters 0.015575775983166845 Centerline is valid? [True, True] Translation: X:5.54, Y:-241.69, Z:-1.81 [[-7.61319210e-01 6.48357580e-01 5.05073715e-03 5.54107886e+00] [ 6.48341951e-01 7.61335947e-01 -4.50442103e-03 -2.41690261e+02] [-6.76578328e-03 -1.54697481e-04 -9.99977100e-01 -1.81391420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.186559995 meters 0.015347993617588977 Centerline is valid? [True, True] Translation: X:5.56, Y:-241.67, Z:-1.81 [[-8.05107199e-01 5.93101010e-01 5.79568051e-03 5.55581937e+00] [ 5.93084155e-01 8.05128043e-01 -4.47441669e-03 -2.41668656e+02] [-7.32004596e-03 -1.65058813e-04 -9.99973195e-01 -1.81371509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.21655999499995 meters 0.015613193343039655 Centerline is valid? [True, True] Translation: X:5.98, Y:-241.13, Z:-2.78 [[-7.33584133e-01 -6.79574759e-01 5.69801517e-03 5.98447305e+00] [ 6.79556223e-01 -7.33606238e-01 -5.02273191e-03 -2.41132276e+02] [ 7.59342130e-03 1.87525236e-04 9.99971152e-01 -2.77943800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.246559995 meters 0.01705840026030416 Centerline is valid? [True, True] Translation: X:5.53, Y:-241.65, Z:-1.81 [[-8.07096517e-01 5.90386676e-01 6.22781003e-03 5.52830984e+00] [ 5.90367407e-01 8.07120525e-01 -4.77304445e-03 -2.41647642e+02] [-7.84453515e-03 -1.75611495e-04 -9.99969216e-01 -1.81250428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.27655999499996 meters 0.01635788457611539 Centerline is valid? [True, True] Translation: X:5.54, Y:-241.63, Z:-1.81 [[-8.46911912e-01 5.31693301e-01 6.51512087e-03 5.54272826e+00] [ 5.31675963e-01 8.46936954e-01 -4.29733116e-03 -2.41627572e+02] [-7.80275881e-03 -1.75527786e-04 -9.99969543e-01 -1.81266327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.30655999499993 meters 0.015415157356823327 Centerline is valid? [True, True] Translation: X:5.55, Y:-241.61, Z:-1.81 [[-8.82541987e-01 4.70179403e-01 7.13931338e-03 5.55485971e+00] [ 4.70162298e-01 8.82570844e-01 -4.01489355e-03 -2.41605988e+02] [-8.18867008e-03 -1.86676144e-04 -9.99966455e-01 -1.81334559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.33655999499996 meters 0.01673920959771793 Centerline is valid? [True, True] Translation: X:5.57, Y:-241.58, Z:-1.81 [[-9.13596658e-01 4.06549741e-01 7.64553537e-03 5.56863018e+00] [ 4.06533737e-01 9.13628629e-01 -3.61234936e-03 -2.41580205e+02] [-8.45377970e-03 -1.92062238e-04 -9.99964248e-01 -1.81199148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.36655999499993 meters 0.01550900476676528 Centerline is valid? [True, True] Translation: X:5.58, Y:-241.56, Z:-1.81 [[-9.39967693e-01 3.41175222e-01 7.75915586e-03 5.57949351e+00] [ 3.41161964e-01 9.39999699e-01 -3.01342284e-03 -2.41559187e+02] [-8.32170938e-03 -1.85391258e-04 -9.99965357e-01 -1.81275678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.39655999499996 meters 0.015937547025814434 Centerline is valid? [True, True] Translation: X:5.59, Y:-241.53, Z:-1.81 [[-9.61648012e-01 2.74164457e-01 8.18239680e-03 5.59240926e+00] [ 2.74152874e-01 9.61682804e-01 -2.52702818e-03 -2.41534443e+02] [-8.56169160e-03 -1.86884020e-04 -9.99963331e-01 -1.81228398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.42655999499993 meters 0.015655707811855362 Centerline is valid? [True, True] Translation: X:5.80, Y:-240.87, Z:-2.78 [[-9.25628812e-01 -3.78354869e-01 7.67434068e-03 5.80455454e+00] [ 3.78343282e-01 -9.25660612e-01 -2.96529488e-03 -2.40865459e+02] [ 8.22576864e-03 1.58772865e-04 9.99966155e-01 -2.78014416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.45655999499996 meters 0.015265218734060677 Centerline is valid? [True, True] Translation: X:5.54, Y:-241.52, Z:-1.81 [[-9.62274297e-01 2.71980665e-01 7.39567157e-03 5.54333510e+00] [ 2.71971374e-01 9.62302703e-01 -2.25366894e-03 -2.41524029e+02] [-7.72982912e-03 -1.57236743e-04 -9.99970112e-01 -1.81353088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.48655999499994 meters 0.015125894367881849 Centerline is valid? [True, True] Translation: X:5.76, Y:-240.85, Z:-2.78 [[-9.27951034e-01 -3.72645194e-01 6.51442209e-03 5.76132638e+00] [ 3.72636738e-01 -9.27973895e-01 -2.51224078e-03 -2.40849242e+02] [ 6.98138810e-03 9.62765708e-05 9.99975625e-01 -2.77858723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.51655999499997 meters 0.015126934177543587 Centerline is valid? [True, True] Translation: X:5.50, Y:-241.51, Z:-1.81 [[-9.62670548e-01 2.70600491e-01 6.38668818e-03 5.49595570e+00] [ 2.70593705e-01 9.62691726e-01 -1.92013273e-03 -2.41512788e+02] [-6.66800073e-03 -1.20257611e-04 -9.99977761e-01 -1.81459196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.54655999499994 meters 0.014892721669622442 Centerline is valid? [True, True] Translation: X:5.71, Y:-240.83, Z:-2.78 [[-9.29970415e-01 -3.67587611e-01 5.86301917e-03 5.70957794e+00] [ 3.67580904e-01 -9.29988893e-01 -2.22225433e-03 -2.40832722e+02] [ 6.26941587e-03 8.85031072e-05 9.99980343e-01 -2.77802894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.57655999499997 meters 0.014273097376800733 Centerline is valid? [True, True] Translation: X:5.45, Y:-241.50, Z:-1.82 [[-9.63021759e-01 2.69373752e-01 5.18402443e-03 5.45486172e+00] [ 2.69369380e-01 9.63035708e-01 -1.53703349e-03 -2.41504428e+02] [-5.40643711e-03 -8.37792516e-05 -9.99985382e-01 -1.81549279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.60655999499994 meters 0.014249835430054859 Centerline is valid? [True, True] Translation: X:5.47, Y:-241.48, Z:-1.82 [[-9.79525940e-01 2.01256565e-01 4.97267452e-03 5.46945211e+00] [ 2.01253586e-01 9.79538559e-01 -1.09762842e-03 -2.41479685e+02] [-5.09183136e-03 -7.43869308e-05 -9.99987034e-01 -1.81532368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.63655999499997 meters 0.01402992040404902 Centerline is valid? [True, True] Translation: X:5.63, Y:-240.78, Z:-2.78 [[-9.55804248e-01 -2.93956410e-01 5.27908121e-03 5.62955644e+00] [ 2.93952532e-01 -9.55818821e-01 -1.51356362e-03 -2.40779361e+02] [ 5.49076691e-03 1.05128750e-04 9.99984920e-01 -2.77825850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.66655999499994 meters 0.013554968386545374 Centerline is valid? [True, True] Translation: X:5.42, Y:-241.47, Z:-1.81 [[-9.79800982e-01 1.99882050e-01 6.09930397e-03 5.42258346e+00] [ 1.99877698e-01 9.79819963e-01 -1.32120481e-03 -2.41472522e+02] [-6.24030492e-03 -7.54029349e-05 -9.99980526e-01 -1.81377948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.696559995 meters 0.013495417960531152 Centerline is valid? [True, True] Translation: X:5.43, Y:-241.45, Z:-1.81 [[-9.91432122e-01 1.30444904e-01 6.81724363e-03 5.42647513e+00] [ 1.30441271e-01 9.91455557e-01 -9.76676197e-04 -2.41445176e+02] [-6.88639651e-03 -7.90582285e-05 -9.99976285e-01 -1.81303693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.72655999499995 meters 0.013480565379416304 Centerline is valid? [True, True] Translation: X:5.43, Y:-241.42, Z:-1.81 [[-9.98157662e-01 6.02196348e-02 7.40794629e-03 5.42950162e+00] [ 6.02173710e-02 9.98185148e-01 -5.28464006e-04 -2.41417753e+02] [-7.42632587e-03 -8.14033468e-05 -9.99972421e-01 -1.81252042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.756559995 meters 0.013480565379416304 Centerline is valid? [True, True] Translation: X:5.43, Y:-241.39, Z:-1.81 [[-9.99913339e-01 -1.08700577e-02 7.42677456e-03 5.42874923e+00] [-1.08703624e-02 9.99940916e-01 -6.71839920e-07 -2.41389983e+02] [-7.42632845e-03 -8.14035130e-05 -9.99972421e-01 -1.81252039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.78655999499995 meters 0.01321925260303781 Centerline is valid? [True, True] Translation: X:5.42, Y:-241.36, Z:-1.81 [[-9.96665120e-01 -8.12264197e-02 7.80431144e-03 5.42306749e+00] [-8.12245553e-02 9.96695672e-01 5.56084403e-04 -2.41363455e+02] [-7.82369218e-03 -7.96717980e-05 -9.99969391e-01 -1.81238882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.816559995 meters 0.013021721613930571 Centerline is valid? [True, True] Translation: X:5.42, Y:-241.34, Z:-1.81 [[-9.88527555e-01 -1.50837865e-01 7.82376138e-03 5.41726263e+00] [-1.50833705e-01 9.88558513e-01 1.12248540e-03 -2.41336829e+02] [-7.90355922e-03 -7.04791690e-05 -9.99968764e-01 -1.81241062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.84655999499995 meters 0.012982197150678342 Centerline is valid? [True, True] Translation: X:5.40, Y:-241.31, Z:-1.81 [[-9.75328715e-01 -2.20622171e-01 7.73013272e-03 5.39900230e+00] [-2.20615771e-01 9.75359346e-01 1.68166410e-03 -2.41312181e+02] [-7.91066958e-03 -6.52139116e-05 -9.99968708e-01 -1.81238424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.876559995 meters 0.012908608662235225 Centerline is valid? [True, True] Translation: X:5.37, Y:-241.29, Z:-1.81 [[-9.57141374e-01 -2.89529811e-01 7.27181161e-03 5.36616097e+00] [-2.89521886e-01 9.57168995e-01 2.14288988e-03 -2.41292122e+02] [-7.58078311e-03 -5.43000424e-05 -9.99971264e-01 -1.81225170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.90655999499995 meters 0.012784648423532635 Centerline is valid? [True, True] Translation: X:5.31, Y:-241.28, Z:-1.81 [[-9.33591823e-01 -3.58275351e-01 6.71424746e-03 5.30939207e+00] [-3.58266436e-01 9.33615965e-01 2.52780893e-03 -2.41282412e+02] [-7.17418026e-03 -4.55477611e-05 -9.99974264e-01 -1.81240953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.936559995 meters 0.012651420963658448 Centerline is valid? [True, True] Translation: X:5.25, Y:-241.28, Z:-1.81 [[-9.05122096e-01 -4.25109072e-01 6.02234885e-03 5.24618984e+00] [-4.25099911e-01 9.05142130e-01 2.79109653e-03 -2.41279206e+02] [-6.63760212e-03 -3.38168143e-05 -9.99977970e-01 -1.81276065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.96655999499995 meters 0.01261068689856187 Centerline is valid? [True, True] Translation: X:5.17, Y:-241.28, Z:-1.81 [[-8.71361738e-01 -4.90609609e-01 5.56182843e-03 5.17415664e+00] [-4.90599823e-01 8.71379488e-01 3.09871895e-03 -2.41284436e+02] [-6.36672450e-03 -2.85269143e-05 -9.99979732e-01 -1.81260945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.996559995 meters 0.012617817589504681 Centerline is valid? [True, True] Translation: X:5.09, Y:-241.30, Z:-1.81 [[-8.32340313e-01 -5.54240203e-01 5.23445279e-03 5.09392599e+00] [-5.54229445e-01 8.32356772e-01 3.45338706e-03 -2.41300159e+02] [-6.27093817e-03 -2.66946022e-05 -9.99980337e-01 -1.81245388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.02655999499996 meters 0.012509176346272962 Centerline is valid? [True, True] Translation: X:5.01, Y:-241.33, Z:-1.81 [[-7.88423067e-01 -6.15110644e-01 5.28805738e-03 5.00778514e+00] [-6.15097041e-01 7.88440800e-01 4.09090601e-03 -2.41327136e+02] [-6.68568002e-03 -2.73037848e-05 -9.99977650e-01 -1.81235296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.05655999499993 meters 0.012526492153395508 Centerline is valid? [True, True] Translation: X:4.92, Y:-241.36, Z:-1.81 [[-7.39489086e-01 -6.73147322e-01 5.34542874e-03 4.92006459e+00] [-6.73130044e-01 7.39508405e-01 4.82305233e-03 -2.41363585e+02] [-7.19961424e-03 -3.15741192e-05 -9.99974082e-01 -1.81221773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.08655999499996 meters 0.012589692137519457 Centerline is valid? [True, True] Translation: X:4.83, Y:-241.41, Z:-1.81 [[-6.86292826e-01 -7.27307887e-01 5.03924391e-03 4.83231224e+00] [-7.27288629e-01 6.86311326e-01 5.29285902e-03 -2.41409368e+02] [-7.30802828e-03 -3.25336195e-05 -9.99973296e-01 -1.81174489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.11655999499993 meters 0.012543827885470999 Centerline is valid? [True, True] Translation: X:4.74, Y:-241.47, Z:-1.81 [[-6.28295796e-01 -7.77955710e-01 5.41342497e-03 4.74271852e+00] [-7.77927466e-01 6.28319115e-01 6.62929364e-03 -2.41467968e+02] [-8.55865523e-03 -4.60946418e-05 -9.99963373e-01 -1.81127790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.14655999499996 meters 0.012616587316255 Centerline is valid? [True, True] Translation: X:4.66, Y:-241.54, Z:-1.81 [[-5.66814865e-01 -8.23830833e-01 4.86501603e-03 4.65548001e+00] [-8.23801234e-01 5.66835741e-01 6.98355370e-03 -2.41537211e+02] [-8.51093183e-03 -4.94241586e-05 -9.99963780e-01 -1.81156548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.17655999499993 meters 0.012587722522579602 Centerline is valid? [True, True] Translation: X:4.57, Y:-241.61, Z:-1.81 [[-5.02081762e-01 -8.64810500e-01 4.08705410e-03 4.57273785e+00] [-8.64782618e-01 5.02098394e-01 6.94444426e-03 -2.41613688e+02] [-8.05773161e-03 -4.77345340e-05 -9.99967535e-01 -1.81139719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.20655999499996 meters 0.012550857974680578 Centerline is valid? [True, True] Translation: X:4.50, Y:-241.69, Z:-1.81 [[-4.34238604e-01 -9.00791527e-01 3.38516940e-03 4.49851157e+00] [-9.00764981e-01 4.34251797e-01 6.91561290e-03 -2.41690708e+02] [-7.69954140e-03 -4.62159604e-05 -9.99970357e-01 -1.81084114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.23655999499994 meters 0.012585109503806535 Centerline is valid? [True, True] Translation: X:4.43, Y:-241.78, Z:-1.81 [[-3.64142088e-01 -9.31339345e-01 2.75036519e-03 4.42766530e+00] [-9.31313663e-01 3.64152472e-01 6.91655263e-03 -2.41781229e+02] [-7.44320988e-03 -4.28447625e-05 -9.99972298e-01 -1.81040148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.26655999499997 meters 0.012528336199334708 Centerline is valid? [True, True] Translation: X:4.36, Y:-241.88, Z:-1.81 [[-2.91792703e-01 -9.56479036e-01 2.20727490e-03 4.36453560e+00] [-9.56452721e-01 2.91801049e-01 7.09512558e-03 -2.41875900e+02] [-7.43042401e-03 -4.08482124e-05 -9.99972393e-01 -1.81031600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.29655999499994 meters 0.012560353612356369 Centerline is valid? [True, True] Translation: X:4.31, Y:-241.98, Z:-1.81 [[-2.18078260e-01 -9.75929892e-01 1.64885604e-03 4.30810423e+00] [-9.75903198e-01 2.18084490e-01 7.21829352e-03 -2.41980195e+02] [-7.40413834e-03 -3.49709985e-05 -9.99972588e-01 -1.80966992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.32655999499997 meters 0.012484486620214393 Centerline is valid? [True, True] Translation: X:4.26, Y:-242.09, Z:-1.81 [[-1.42895116e-01 -9.89737244e-01 1.08334818e-03 4.25932136e+00] [-9.89710392e-01 1.42899219e-01 7.29061358e-03 -2.42091481e+02] [-7.37060140e-03 -3.04078786e-05 -9.99972836e-01 -1.80937807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.35655999499994 meters 0.012415586879564464 Centerline is valid? [True, True] Translation: X:4.22, Y:-242.20, Z:-1.81 [[-6.64378589e-02 -9.97790424e-01 5.30293517e-04 4.21974944e+00] [-9.97762073e-01 6.64399687e-02 7.52176852e-03 -2.42203033e+02] [-7.54038129e-03 -2.93765626e-05 -9.99971571e-01 -1.80971525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.38655999499997 meters 0.012386497443096807 Centerline is valid? [True, True] Translation: X:4.19, Y:-242.32, Z:-1.81 [[ 1.02583746e-02 -9.99947380e-01 -5.45801610e-05 4.18835599e+00] [-9.99915167e-01 -1.02584823e-02 8.02641811e-03 -2.42320993e+02] [-8.02655567e-03 -2.77624733e-05 -9.99967786e-01 -1.80898002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.41655999499994 meters 0.012556754033746993 Centerline is valid? [True, True] Translation: X:4.17, Y:-242.44, Z:-1.81 [[ 8.73594073e-02 -9.96176631e-01 -6.74402408e-04 4.16557350e+00] [-9.96144433e-01 -8.73620060e-02 8.00923287e-03 -2.42440640e+02] [-8.03752776e-03 -2.78796314e-05 -9.99967698e-01 -1.80836514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.446559995 meters 0.012467613418407403 Centerline is valid? [True, True] Translation: X:4.15, Y:-242.56, Z:-1.81 [[ 1.64084306e-01 -9.86445411e-01 -1.33831607e-03 4.15240099e+00] [-9.86411058e-01 -1.64089761e-01 8.23254574e-03 -2.42562492e+02] [-8.34056093e-03 -3.07017818e-05 -9.99965217e-01 -1.80866192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.47655999499995 meters 0.012425202332302245 Centerline is valid? [True, True] Translation: X:4.15, Y:-242.68, Z:-1.81 [[ 2.39914273e-01 -9.70792157e-01 -1.93139270e-03 4.14818307e+00] [-9.70759600e-01 -2.39922044e-01 7.95053327e-03 -2.42684271e+02] [-8.18169903e-03 -3.25283975e-05 -9.99966529e-01 -1.80842725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.506559995 meters 0.01252427481009721 Centerline is valid? [True, True] Translation: X:4.15, Y:-242.81, Z:-1.81 [[ 3.14675710e-01 -9.49195417e-01 -2.69395904e-03 4.15350992e+00] [-9.49159526e-01 -3.14687239e-01 8.25442394e-03 -2.42807158e+02] [-8.68281590e-03 -4.04698283e-05 -9.99962303e-01 -1.80827254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.53655999499995 meters 0.01263373555897779 Centerline is valid? [True, True] Translation: X:4.17, Y:-242.92, Z:-1.81 [[ 3.87190226e-01 -9.21993380e-01 -3.45481154e-03 4.16529046e+00] [-9.21955607e-01 -3.87205636e-01 8.34589760e-03 -2.42920962e+02] [-9.03258484e-03 -4.62671098e-05 -9.99959204e-01 -1.80772580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.566559995 meters 0.012637168965165065 Centerline is valid? [True, True] Translation: X:4.19, Y:-243.04, Z:-1.81 [[ 4.57163311e-01 -8.89372357e-01 -4.30336572e-03 4.18837728e+00] [-8.89331897e-01 -4.57183561e-01 8.48337595e-03 -2.43038820e+02] [-9.51230813e-03 -5.11678342e-05 -9.99954756e-01 -1.80687242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.59655999499995 meters 0.012689825696122198 Centerline is valid? [True, True] Translation: X:4.22, Y:-243.15, Z:-1.81 [[ 5.24390689e-01 -8.51462067e-01 -5.17251607e-03 4.21968039e+00] [-8.51419569e-01 -5.24416195e-01 8.50715966e-03 -2.43152980e+02] [-9.95607494e-03 -5.70939043e-05 -9.99950435e-01 -1.80657910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.626559995 meters 0.012696533111829094 Centerline is valid? [True, True] Translation: X:4.26, Y:-243.26, Z:-1.81 [[ 5.88306349e-01 -8.08618386e-01 -5.65210541e-03 4.25660737e+00] [-8.08580123e-01 -5.88333496e-01 7.86646420e-03 -2.43259663e+02] [-9.68629052e-03 -5.77107421e-05 -9.99953085e-01 -1.80668634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.65655999499995 meters 0.01249103170386375 Centerline is valid? [True, True] Translation: X:4.30, Y:-243.36, Z:-1.81 [[ 6.48908383e-01 -7.60842189e-01 -6.08883069e-03 4.30362278e+00] [-7.60807799e-01 -6.48936946e-01 7.23413632e-03 -2.43363303e+02] [-9.45530330e-03 -6.18618254e-05 -9.99955296e-01 -1.80877065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.686559995 meters 0.012914401852098653 Centerline is valid? [True, True] Translation: X:4.36, Y:-243.46, Z:-1.81 [[ 7.04988897e-01 -7.09189487e-01 -6.39742094e-03 4.35593013e+00] [-7.09159536e-01 -7.05017921e-01 6.51799439e-03 -2.43464086e+02] [-9.13278950e-03 -5.83216154e-05 -9.99958294e-01 -1.80690851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.71655999499995 meters 0.012430101981209467 Centerline is valid? [True, True] Translation: X:4.41, Y:-243.55, Z:-1.81 [[ 7.56961451e-01 -6.53423585e-01 -6.85417409e-03 4.41127611e+00] [-6.53396107e-01 -7.56992480e-01 5.99270135e-03 -2.43551867e+02] [-9.10433064e-03 -5.77532453e-05 -9.99958553e-01 -1.80918669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.746559995 meters 0.012450177146854414 Centerline is valid? [True, True] Translation: X:4.41, Y:-243.56, Z:-1.81 [[ 8.05706855e-01 -5.92270301e-01 -7.23567417e-03 4.40768409e+00] [-5.92245784e-01 -8.05739342e-01 5.38927182e-03 -2.43557572e+02] [-9.02197299e-03 -5.68757226e-05 -9.99959300e-01 -1.80894440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.77655999499996 meters 0.01247404473753166 Centerline is valid? [True, True] Translation: X:4.41, Y:-243.56, Z:-1.81 [[ 8.49879858e-01 -5.26914276e-01 -8.09771009e-03 4.40558898e+00] [-5.26889613e-01 -8.49918432e-01 5.09847610e-03 -2.43562741e+02] [-9.56885291e-03 -6.64928115e-05 -9.99954215e-01 -1.80827769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.80655999499993 meters 0.012431900901606101 Centerline is valid? [True, True] Translation: X:4.40, Y:-243.57, Z:-1.81 [[ 8.88623893e-01 -4.58555336e-01 -8.63602121e-03 4.40365832e+00] [-4.58532904e-01 -8.88665853e-01 4.53617143e-03 -2.43570329e+02] [-9.75462278e-03 -7.10504282e-05 -9.99952420e-01 -1.80836705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.83655999499996 meters 0.0125261945162155 Centerline is valid? [True, True] Translation: X:4.40, Y:-243.58, Z:-1.81 [[ 9.21949971e-01 -3.87195997e-01 -9.35470338e-03 4.40219796e+00] [-3.87175186e-01 -9.21997426e-01 4.01520441e-03 -2.43577453e+02] [-1.01796835e-02 -7.99085712e-05 -9.99948183e-01 -1.80805627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.86655999499993 meters 0.012537616984883421 Centerline is valid? [True, True] Translation: X:4.40, Y:-243.58, Z:-1.81 [[ 9.49461706e-01 -3.13738871e-01 -9.50739554e-03 4.40146023e+00] [-3.13722286e-01 -9.49509302e-01 3.22688949e-03 -2.43584474e+02] [-1.00397612e-02 -8.11261305e-05 -9.99949597e-01 -1.80798600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.89655999499996 meters 0.012786760097495164 Centerline is valid? [True, True] Translation: X:4.40, Y:-243.59, Z:-1.81 [[ 9.71067010e-01 -2.38612575e-01 -9.63855074e-03 4.40121497e+00] [-2.38600002e-01 -9.71114840e-01 2.45070706e-03 -2.43590950e+02] [-9.94490919e-03 -8.00425427e-05 -9.99950545e-01 -1.80695113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.92655999499993 meters 0.012327861472070899 Centerline is valid? [True, True] Translation: X:4.40, Y:-243.60, Z:-1.81 [[ 9.86688852e-01 -1.62333233e-01 -9.64523475e-03 4.40190831e+00] [-1.62324734e-01 -9.86735991e-01 1.66278110e-03 -2.43598452e+02] [-9.78722490e-03 -7.49874133e-05 -9.99952101e-01 -1.80883823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.95655999499996 meters 0.012402453325834102 Centerline is valid? [True, True] Translation: X:4.40, Y:-243.61, Z:-1.81 [[ 9.96297142e-01 -8.54391198e-02 -9.60004738e-03 4.39770004e+00] [-8.54345197e-02 -9.96343391e-01 8.89007011e-04 -2.43605871e+02] [-9.64089974e-03 -6.55397078e-05 -9.99953523e-01 -1.80814723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.98655999499994 meters 0.012287814684774608 Centerline is valid? [True, True] Translation: X:4.40, Y:-243.61, Z:-1.81 [[ 9.99921988e-01 -8.36875805e-03 -9.27259862e-03 4.39598653e+00] [-8.36791492e-03 -9.99964980e-01 1.29721559e-04 -2.43608456e+02] [-9.27335950e-03 -5.21191233e-05 -9.99957000e-01 -1.80834928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.01655999499997 meters 0.012032620159552181 Centerline is valid? [True, True] Translation: X:4.39, Y:-243.61, Z:-1.81 [[ 9.97729623e-01 6.67906568e-02 -8.63760981e-03 4.39381497e+00] [ 6.67883390e-02 -9.97767011e-01 -5.56842890e-04 -2.43608605e+02] [-8.65551403e-03 -2.13129653e-05 -9.99962540e-01 -1.80954920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.04655999499994 meters 0.011928873101379342 Centerline is valid? [True, True] Translation: X:4.39, Y:-243.62, Z:-1.81 [[ 9.89665620e-01 1.43161128e-01 -8.17629890e-03 4.39198983e+00] [ 1.43156308e-01 -9.89699394e-01 -1.17487853e-03 -2.43615958e+02] [-8.26027500e-03 -7.75186826e-06 -9.99965883e-01 -1.81047925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.07655999499997 meters 0.01201378839826284 Centerline is valid? [True, True] Translation: X:4.39, Y:-243.62, Z:-1.81 [[ 9.76001738e-01 2.17611153e-01 -8.12363280e-03 4.39009923e+00] [ 2.17603494e-01 -9.76035546e-01 -1.82569369e-03 -2.43622341e+02] [-8.32624568e-03 1.41493342e-05 -9.99965336e-01 -1.81037426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.10655999499994 meters 0.012006338659649682 Centerline is valid? [True, True] Translation: X:4.39, Y:-243.63, Z:-1.81 [[ 9.56189804e-01 2.92639625e-01 -7.94405807e-03 4.38879483e+00] [ 2.92629347e-01 -9.56222803e-01 -2.45273926e-03 -2.43628914e+02] [-8.31405818e-03 2.06197434e-05 -9.99965437e-01 -1.81013810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.13655999499997 meters 0.012055920287486416 Centerline is valid? [True, True] Translation: X:4.39, Y:-243.64, Z:-1.81 [[ 9.30564436e-01 3.66032295e-01 -8.37788709e-03 4.38793843e+00] [ 3.66017189e-01 -9.30602148e-01 -3.32549780e-03 -2.43635515e+02] [-9.01371932e-03 2.81392951e-05 -9.99959375e-01 -1.80968305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.16655999499994 meters 0.012181064490955065 Centerline is valid? [True, True] Translation: X:4.39, Y:-243.64, Z:-1.81 [[ 8.99598450e-01 4.36636612e-01 -8.43192139e-03 4.38831535e+00] [ 4.36617005e-01 -8.99637964e-01 -4.13807175e-03 -2.43642799e+02] [-9.39251022e-03 4.10826628e-05 -9.99955889e-01 -1.80913688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.196559995 meters 0.012155506753098008 Centerline is valid? [True, True] Translation: X:4.39, Y:-243.65, Z:-1.81 [[ 8.62709582e-01 5.05626072e-01 -8.62858087e-03 4.38982415e+00] [ 5.05600260e-01 -8.62752730e-01 -5.10918479e-03 -2.43651507e+02] [-1.00276687e-02 4.51299528e-05 -9.99949721e-01 -1.80928672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.22655999499995 meters 0.01224702955116826 Centerline is valid? [True, True] Translation: X:4.39, Y:-243.66, Z:-1.81 [[ 8.20632433e-01 5.71396178e-01 -8.29556928e-03 4.39136655e+00] [ 5.71366386e-01 -8.20674360e-01 -5.83503929e-03 -2.43659583e+02] [-1.01420802e-02 4.86130464e-05 -9.99948567e-01 -1.80918311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.256559995 meters 0.012258002816473615 Centerline is valid? [True, True] Translation: X:4.39, Y:-243.67, Z:-1.81 [[ 7.73562701e-01 6.33673441e-01 -7.66270989e-03 4.39222606e+00] [ 6.33641709e-01 -7.73600651e-01 -6.34170790e-03 -2.43665941e+02] [-9.94644922e-03 5.02961040e-05 -9.99950532e-01 -1.80923087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.28655999499995 meters 0.012257376142050637 Centerline is valid? [True, True] Translation: X:4.39, Y:-243.67, Z:-1.81 [[ 7.21655001e-01 6.92218979e-01 -6.85168693e-03 4.39289169e+00] [ 6.92187137e-01 -7.21687525e-01 -6.63954406e-03 -2.43672688e+02] [-9.54079539e-03 4.88106107e-05 -9.99954484e-01 -1.80984313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.316559995 meters 0.012241593791276126 Centerline is valid? [True, True] Translation: X:4.39, Y:-243.68, Z:-1.81 [[ 6.65218743e-01 7.46621393e-01 -6.36546211e-03 4.39424816e+00] [ 7.46586510e-01 -6.65249196e-01 -7.21738571e-03 -2.43678332e+02] [-9.62327313e-03 4.87721129e-05 -9.99953694e-01 -1.81025892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.34655999499995 meters 0.012157517313777311 Centerline is valid? [True, True] Translation: X:4.40, Y:-243.69, Z:-1.81 [[ 6.04895420e-01 7.96284887e-01 -5.64885311e-03 4.40022531e+00] [ 7.96249391e-01 -6.04921794e-01 -7.51865662e-03 -2.43686243e+02] [-9.40410699e-03 5.01051018e-05 -9.99955779e-01 -1.81091633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.376559995 meters 0.012163084953064188 Centerline is valid? [True, True] Translation: X:4.41, Y:-243.69, Z:-1.81 [[ 5.40894611e-01 8.41074789e-01 -5.12045017e-03 4.40582819e+00] [ 8.41036164e-01 -5.40918844e-01 -8.06068523e-03 -2.43694333e+02] [-9.54938712e-03 5.34974343e-05 -9.99954402e-01 -1.81062440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.40655999499995 meters 0.012192094220408931 Centerline is valid? [True, True] Translation: X:4.41, Y:-243.70, Z:-1.81 [[ 4.73673028e-01 8.80688963e-01 -4.56222637e-03 4.40991922e+00] [ 8.80646929e-01 -4.73694995e-01 -8.60452333e-03 -2.43699560e+02] [-9.73901252e-03 5.80199754e-05 -9.99952573e-01 -1.81053592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.436559995 meters 0.012185066277626404 Centerline is valid? [True, True] Translation: X:4.42, Y:-243.71, Z:-1.81 [[ 4.03686850e-01 9.14889035e-01 -3.87063315e-03 4.41591233e+00] [ 9.14845491e-01 -4.03705401e-01 -8.92616936e-03 -2.43705206e+02] [-9.72904997e-03 6.23459057e-05 -9.99952670e-01 -1.81094141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.46655999499995 meters 0.012301079665918958 Centerline is valid? [True, True] Translation: X:4.42, Y:-243.71, Z:-1.81 [[ 3.31892287e-01 9.43311691e-01 -3.25030081e-03 4.42310463e+00] [ 9.43264208e-01 -3.31908193e-01 -9.46498951e-03 -2.43711099e+02] [-1.00072367e-02 7.54645962e-05 -9.99949924e-01 -1.81064578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.496559995 meters 0.012166427324646043 Centerline is valid? [True, True] Translation: X:4.43, Y:-243.72, Z:-1.81 [[ 2.57771316e-01 9.66201876e-01 -2.80778337e-03 4.43497481e+00] [ 9.66140525e-01 -2.57786590e-01 -1.08884949e-02 -2.43717374e+02] [-1.12442931e-02 9.40283472e-05 -9.99936777e-01 -1.81124383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.52655999499996 meters 0.012541082308086074 Centerline is valid? [True, True] Translation: X:4.44, Y:-243.72, Z:-1.81 [[ 1.81667960e-01 9.83358078e-01 -1.90848246e-03 4.44387289e+00] [ 9.83298103e-01 -1.81677959e-01 -1.08609210e-02 -2.43723154e+02] [-1.10269036e-02 9.64741844e-05 -9.99939197e-01 -1.81017097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.55655999499993 meters 0.012541082308086074 Centerline is valid? [True, True] Translation: X:4.45, Y:-243.73, Z:-1.81 [[ 1.04102896e-01 9.94565976e-01 -1.05204711e-03 4.44866671e+00] [ 9.94505402e-01 -1.04108167e-01 -1.09770290e-02 -2.43727138e+02] [-1.10269062e-02 9.64739756e-05 -9.99939197e-01 -1.81017094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.58655999499996 meters 0.012386450539269286 Centerline is valid? [True, True] Translation: X:4.46, Y:-243.73, Z:-1.81 [[ 2.60137283e-02 9.99661568e-01 -1.88538556e-04 4.45815057e+00] [ 9.99601016e-01 -2.60142278e-02 -1.10030929e-02 -2.43729948e+02] [-1.10042737e-02 9.77681364e-05 -9.99939446e-01 -1.81099333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.61655999499993 meters 0.01266065024047036 Centerline is valid? [True, True] Translation: X:4.47, Y:-243.73, Z:-1.81 [[-5.22880988e-02 9.98631816e-01 6.71059533e-04 4.46547213e+00] [ 9.98571928e-01 5.22923125e-02 -1.09370259e-02 -2.43733248e+02] [-1.09571533e-02 9.82249232e-05 -9.99939964e-01 -1.81044387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.64655999499996 meters 0.012401941064685331 Centerline is valid? [True, True] Translation: X:4.47, Y:-243.73, Z:-1.81 [[-1.30162618e-01 9.91491595e-01 1.45252232e-03 4.47491542e+00] [ 9.91437796e-01 1.30170687e-01 -1.03290244e-02 -2.43734578e+02] [-1.04302167e-02 9.56326759e-05 -9.99945599e-01 -1.81144259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.67655999499993 meters 0.012401941064685331 Centerline is valid? [True, True] Translation: X:4.48, Y:-243.74, Z:-1.81 [[-2.07450872e-01 9.78242833e-01 2.25743271e-03 4.48282594e+00] [ 9.78189831e-01 2.07463132e-01 -1.01834482e-02 -2.43736243e+02] [-1.04302193e-02 9.56325044e-05 -9.99945599e-01 -1.81144257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.70655999499996 meters 0.012343552534863134 Centerline is valid? [True, True] Translation: X:4.49, Y:-243.74, Z:-1.81 [[-2.83730868e-01 9.58899209e-01 3.01701337e-03 4.49214705e+00] [ 9.58848391e-01 2.83746893e-01 -9.87235547e-03 -2.43736149e+02] [-1.03226620e-02 9.17664284e-05 -9.99946716e-01 -1.81168378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.73655999499994 meters 0.012365318038815753 Centerline is valid? [True, True] Translation: X:4.50, Y:-243.74, Z:-1.81 [[-3.58520777e-01 9.33514056e-01 3.78936047e-03 4.50094972e+00] [ 9.33464419e-01 3.58540792e-01 -9.62697313e-03 -2.43736741e+02] [-1.03455550e-02 8.57632836e-05 -9.99946480e-01 -1.81173045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.76655999499997 meters 0.012147516749871953 Centerline is valid? [True, True] Translation: X:4.51, Y:-243.74, Z:-1.81 [[-4.32117164e-01 9.01807272e-01 4.28950042e-03 4.51089887e+00] [ 9.01764307e-01 4.32138449e-01 -8.80313267e-03 -2.43736354e+02] [-9.79238712e-03 6.41336430e-05 -9.99952051e-01 -1.81159029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.79655999499994 meters 0.012062854415958018 Centerline is valid? [True, True] Translation: X:4.52, Y:-243.74, Z:-1.81 [[-5.02343158e-01 8.64654098e-01 4.96403359e-03 4.51769224e+00] [ 8.64612930e-01 5.02367681e-01 -8.43761734e-03 -2.43735456e+02] [-9.78939045e-03 5.33882849e-05 -9.99952081e-01 -1.81121512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.82655999499997 meters 0.011906606748790953 Centerline is valid? [True, True] Translation: X:4.52, Y:-243.73, Z:-1.81 [[-5.69451195e-01 8.22005055e-01 5.74685834e-03 4.52404150e+00] [ 8.21963962e-01 5.69480191e-01 -8.21939851e-03 -2.43734552e+02] [-1.00291091e-02 4.31641442e-05 -9.99949706e-01 -1.81122800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.85655999499994 meters 0.01163265843269091 Centerline is valid? [True, True] Translation: X:4.54, Y:-243.73, Z:-1.81 [[-6.34521724e-01 7.72877612e-01 6.50991406e-03 4.53533038e+00] [ 7.72837129e-01 6.34555118e-01 -7.91046528e-03 -2.43727515e+02] [-1.02447208e-02 1.17412220e-05 -9.99947521e-01 -1.81176351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.88655999499997 meters 0.011618908079659134 Centerline is valid? [True, True] Translation: X:4.54, Y:-243.72, Z:-1.81 [[-6.94250363e-01 7.19696140e-01 7.34161084e-03 4.54366040e+00] [ 7.19655823e-01 6.94289180e-01 -7.61773469e-03 -2.43722770e+02] [-1.05796552e-02 -5.18208231e-06 -9.99944034e-01 -1.81155206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.91655999499994 meters 0.011779252613425367 Centerline is valid? [True, True] Translation: X:4.55, Y:-243.72, Z:-1.81 [[-7.49648524e-01 6.61786636e-01 8.09555972e-03 4.55090031e+00] [ 6.61747701e-01 7.49692235e-01 -7.17858413e-03 -2.43718089e+02] [-1.08198693e-02 -2.41969639e-05 -9.99941463e-01 -1.81074633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.946559995 meters 0.011637055632330657 Centerline is valid? [True, True] Translation: X:4.99, Y:-243.22, Z:-2.78 [[-6.99062368e-01 -7.15022020e-01 7.43753111e-03 4.99015108e+00] [ 7.14981737e-01 -6.99101932e-01 -7.58979796e-03 -2.43223048e+02] [ 1.06264650e-02 1.19567780e-05 9.99943538e-01 -2.78120809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.97655999499995 meters 0.011805503449974062 Centerline is valid? [True, True] Translation: X:4.97, Y:-243.21, Z:-2.78 [[-6.97759753e-01 -7.16292684e-01 7.49118411e-03 4.96931128e+00] [ 7.16252394e-01 -6.97799961e-01 -7.59752116e-03 -2.43205902e+02] [ 1.06693968e-02 6.43340694e-05 9.99943078e-01 -2.78105424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.006559995 meters 0.012221352214455033 Centerline is valid? [True, True] Translation: X:4.95, Y:-243.19, Z:-2.78 [[-6.95509910e-01 -7.18472286e-01 7.97113536e-03 4.94537400e+00] [ 7.18426861e-01 -6.95555578e-01 -8.07979085e-03 -2.43189566e+02] [ 1.13494735e-02 1.07103147e-04 9.99935587e-01 -2.78153138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.03655999499995 meters 0.012416897955983788 Centerline is valid? [True, True] Translation: X:4.92, Y:-243.17, Z:-2.78 [[-6.94506626e-01 -7.19442480e-01 7.94134266e-03 4.92423321e+00] [ 7.19397514e-01 -6.94552016e-01 -8.04457255e-03 -2.43172003e+02] [ 1.13032828e-02 1.25973221e-04 9.99936108e-01 -2.78194371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.066559995 meters 0.012773617339157087 Centerline is valid? [True, True] Translation: X:4.90, Y:-243.15, Z:-2.78 [[-6.93697120e-01 -7.20224518e-01 7.80700415e-03 4.90315195e+00] [ 7.20181164e-01 -6.93741036e-01 -7.90359115e-03 -2.43154588e+02] [ 1.11083993e-02 1.39758919e-04 9.99938290e-01 -2.78222185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.09655999499995 meters 0.012841454351008247 Centerline is valid? [True, True] Translation: X:4.88, Y:-243.14, Z:-2.78 [[-6.92263760e-01 -7.21604438e-01 7.61069324e-03 4.88132335e+00] [ 7.21563367e-01 -6.92305575e-01 -7.70046939e-03 -2.43137140e+02] [ 1.08256182e-02 1.60841553e-04 9.99941388e-01 -2.78136073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.126559995 meters 0.013029253359128056 Centerline is valid? [True, True] Translation: X:4.86, Y:-243.12, Z:-2.78 [[-6.92045218e-01 -7.21820137e-01 7.00757795e-03 4.86034524e+00] [ 7.21785369e-01 -6.92080679e-01 -7.08622911e-03 -2.43118155e+02] [ 9.96479218e-03 1.53976272e-04 9.99950338e-01 -2.78089828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.15655999499995 meters 0.01347342426966765 Centerline is valid? [True, True] Translation: X:4.84, Y:-243.10, Z:-2.78 [[-6.91993516e-01 -7.21875426e-01 6.39091005e-03 4.83970662e+00] [ 7.21846546e-01 -6.92023012e-01 -6.45879132e-03 -2.43099960e+02] [ 9.08509956e-03 1.43814631e-04 9.99958719e-01 -2.78085177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.186559995 meters 0.013038067890974284 Centerline is valid? [True, True] Translation: X:4.82, Y:-243.08, Z:-2.78 [[-6.92588307e-01 -7.21313710e-01 5.28857709e-03 4.81955150e+00] [ 7.21293940e-01 -6.92608489e-01 -5.34174632e-03 -2.43080870e+02] [ 7.51598824e-03 1.14987565e-04 9.99971748e-01 -2.77970416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.21655999499995 meters 0.012602710258709827 Centerline is valid? [True, True] Translation: X:4.80, Y:-243.06, Z:-2.78 [[-6.93381463e-01 -7.20552565e-01 5.11338218e-03 4.80018150e+00] [ 7.20534084e-01 -6.93400310e-01 -5.16181908e-03 -2.43060928e+02] [ 7.26498277e-03 1.05256477e-04 9.99973604e-01 -2.77937201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.246559995 meters 0.012365983746460975 Centerline is valid? [True, True] Translation: X:4.78, Y:-243.04, Z:-2.78 [[-6.94506760e-01 -7.19468990e-01 4.97331137e-03 4.77996518e+00] [ 7.19451499e-01 -6.94524560e-01 -5.01754139e-03 -2.43040984e+02] [ 7.06405232e-03 9.33399112e-05 9.99975045e-01 -2.77960058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.27655999499996 meters 0.012417647377397636 Centerline is valid? [True, True] Translation: X:4.76, Y:-243.02, Z:-2.78 [[-6.95776539e-01 -7.18240260e-01 5.09276465e-03 4.76059548e+00] [ 7.18221909e-01 -6.95795172e-01 -5.13501225e-03 -2.43022107e+02] [ 7.23169359e-03 8.49140938e-05 9.99973847e-01 -2.78025251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.30655999499993 meters 0.011768535044853251 Centerline is valid? [True, True] Translation: X:4.74, Y:-243.00, Z:-2.78 [[-6.99194292e-01 -7.14913155e-01 5.14991196e-03 4.74131552e+00] [ 7.14894319e-01 -6.99213256e-01 -5.18990644e-03 -2.43000921e+02] [ 7.31121910e-03 5.28898434e-05 9.99973271e-01 -2.78065363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.33655999499996 meters 0.011441995868675194 Centerline is valid? [True, True] Translation: X:4.72, Y:-242.98, Z:-2.78 [[-7.01101108e-01 -7.13043766e-01 5.08175322e-03 4.72234700e+00] [ 7.13025396e-01 -7.01119524e-01 -5.11831958e-03 -2.42980148e+02] [ 7.21250227e-03 3.49595710e-05 9.99973989e-01 -2.78010495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.36655999499993 meters 0.011450583814470405 Centerline is valid? [True, True] Translation: X:4.70, Y:-242.96, Z:-2.78 [[-7.03221865e-01 -7.10954193e-01 4.81092174e-03 4.70415048e+00] [ 7.10937700e-01 -7.03238321e-01 -4.84268080e-03 -2.42960449e+02] [ 6.82614874e-03 1.47866094e-05 9.99976702e-01 -2.78095127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.39655999499996 meters 0.011341251218348131 Centerline is valid? [True, True] Translation: X:4.69, Y:-242.94, Z:-2.78 [[-7.05488205e-01 -7.08704646e-01 4.91097272e-03 4.68520673e+00] [ 7.08687425e-01 -7.05505297e-01 -4.94059741e-03 -2.42939435e+02] [ 6.96614161e-03 -5.18858503e-06 9.99975736e-01 -2.77964123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.42655999499993 meters 0.011684629494718006 Centerline is valid? [True, True] Translation: X:4.67, Y:-242.92, Z:-2.78 [[-7.10093976e-01 -7.04093366e-01 4.36777147e-03 4.66692108e+00] [ 7.04079671e-01 -7.10107408e-01 -4.39163342e-03 -2.42917874e+02] [ 6.19370683e-03 -4.32133350e-05 9.99980818e-01 -2.77990235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.45655999499996 meters 0.012169812938566416 Centerline is valid? [True, True] Translation: X:4.65, Y:-242.90, Z:-2.78 [[-7.12290804e-01 -7.01868900e-01 4.67536657e-03 4.64848965e+00] [ 7.01853173e-01 -7.12306145e-01 -4.69897300e-03 -2.42897592e+02] [ 6.62835534e-03 -6.56143894e-05 9.99978030e-01 -2.78056253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.48655999499994 meters 0.012589823808418749 Centerline is valid? [True, True] Translation: X:4.63, Y:-242.88, Z:-2.78 [[-7.14453992e-01 -6.99665381e-01 4.88348692e-03 4.62946392e+00] [ 6.99648190e-01 -7.14470676e-01 -4.90540356e-03 -2.42877354e+02] [ 6.92124925e-03 -8.79623699e-05 9.99976044e-01 -2.78100377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.51655999499997 meters 0.013809696162013597 Centerline is valid? [True, True] Translation: X:4.61, Y:-242.86, Z:-2.78 [[-7.18244347e-01 -6.95773136e-01 4.98004182e-03 4.61196335e+00] [ 6.95755186e-01 -7.18261601e-01 -4.99945054e-03 -2.42856813e+02] [ 7.05545619e-03 -1.25937166e-04 9.99975102e-01 -2.78180039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.54655999499994 meters 0.014461420361575737 Centerline is valid? [True, True] Translation: X:4.59, Y:-242.84, Z:-2.78 [[-7.20103546e-01 -6.93848771e-01 4.97656584e-03 4.59236996e+00] [ 6.93830819e-01 -7.20120728e-01 -4.99320873e-03 -2.42836333e+02] [ 7.04825995e-03 -1.42732559e-04 9.99975151e-01 -2.78227024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.57655999499997 meters 0.014870386925551137 Centerline is valid? [True, True] Translation: X:4.57, Y:-242.82, Z:-2.78 [[-7.21539468e-01 -6.92357831e-01 4.62925698e-03 4.57305383e+00] [ 6.92342283e-01 -7.21554303e-01 -4.64217760e-03 -2.42816399e+02] [ 6.55430831e-03 -1.44484004e-04 9.99978510e-01 -2.78216643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.60655999499994 meters 0.01506887049645037 Centerline is valid? [True, True] Translation: X:4.55, Y:-242.80, Z:-2.78 [[-7.23347623e-01 -6.90469236e-01 4.52223963e-03 4.55276167e+00] [ 6.90454378e-01 -7.23361742e-01 -4.53231717e-03 -2.42797407e+02] [ 6.40064071e-03 -1.56040697e-04 9.99979504e-01 -2.78200633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.63655999499997 meters 0.015404889112743788 Centerline is valid? [True, True] Translation: X:4.53, Y:-242.78, Z:-2.78 [[-7.23873053e-01 -6.89920155e-01 4.24070063e-03 4.53334669e+00] [ 6.89907090e-01 -7.23885459e-01 -4.24841196e-03 -2.42778369e+02] [ 6.00084656e-03 -1.49621507e-04 9.99981984e-01 -2.78218320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.66655999499994 meters 0.015395215105412597 Centerline is valid? [True, True] Translation: X:4.51, Y:-242.76, Z:-2.78 [[-7.24149403e-01 -6.89631392e-01 4.02304159e-03 4.51241872e+00] [ 6.89619643e-01 -7.24160564e-01 -4.02811360e-03 -2.42759138e+02] [ 5.69124166e-03 -1.42587552e-04 9.99983795e-01 -2.78215383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.696559995 meters 0.014943848407328998 Centerline is valid? [True, True] Translation: X:4.49, Y:-242.74, Z:-2.78 [[-7.23897131e-01 -6.89897502e-01 3.79216846e-03 4.49156479e+00] [ 6.89887078e-01 -7.23907052e-01 -3.79481104e-03 -2.42740842e+02] [ 5.36320814e-03 -1.30884805e-04 9.99985609e-01 -2.78213682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.72655999499995 meters 0.014940799607811407 Centerline is valid? [True, True] Translation: X:4.47, Y:-242.72, Z:-2.78 [[-7.23358154e-01 -6.90462693e-01 3.77503475e-03 4.47096844e+00] [ 6.90452381e-01 -7.23367994e-01 -3.77549945e-03 -2.42722545e+02] [ 5.33758083e-03 -1.24556577e-04 9.99985747e-01 -2.78238342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.756559995 meters 0.014063646693401136 Centerline is valid? [True, True] Translation: X:4.45, Y:-242.71, Z:-2.78 [[-7.20712010e-01 -6.93225116e-01 3.62455765e-03 4.44764745e+00] [ 6.93215655e-01 -7.20721118e-01 -3.62308292e-03 -2.42705760e+02] [ 5.12390732e-03 -9.85992656e-05 9.99986868e-01 -2.78281978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.78655999499995 meters 0.013593070969939914 Centerline is valid? [True, True] Translation: X:4.01, Y:-243.15, Z:-1.81 [[-7.44367747e-01 6.67759321e-01 3.76113464e-03 4.00856150e+00] [ 6.67751358e-01 7.44377245e-01 -3.26225630e-03 -2.43145496e+02] [-4.97810509e-03 8.31843855e-05 -9.99987606e-01 -1.80961451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.816559995 meters 0.012392088337918447 Centerline is valid? [True, True] Translation: X:4.03, Y:-243.11, Z:-1.81 [[-7.93686105e-01 6.08315050e-01 3.89450466e-03 4.02520384e+00] [ 6.08308036e-01 7.93695658e-01 -2.92164823e-03 -2.43113894e+02] [-4.86833403e-03 5.01868744e-05 -9.99988148e-01 -1.80907307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.84655999499995 meters 0.01191752867138727 Centerline is valid? [True, True] Translation: X:4.04, Y:-243.09, Z:-1.81 [[-8.36674643e-01 5.47687328e-01 3.75932446e-03 4.04140011e+00] [ 5.47681961e-01 8.36683088e-01 -2.42491744e-03 -2.43086337e+02] [-4.47345975e-03 3.00472648e-05 -9.99989994e-01 -1.80891792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.876559995 meters 0.01166387559971569 Centerline is valid? [True, True] Translation: X:4.05, Y:-243.06, Z:-1.81 [[-8.75277373e-01 4.83606052e-01 3.83505328e-03 4.05252540e+00] [ 4.83601471e-01 8.75285774e-01 -2.10482604e-03 -2.43056417e+02] [-4.37467419e-03 1.23307986e-05 -9.99990431e-01 -1.80889341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.90655999499995 meters 0.01161377372640065 Centerline is valid? [True, True] Translation: X:4.06, Y:-243.02, Z:-1.81 [[-9.08989945e-01 4.16800018e-01 3.87614040e-03 4.05958638e+00] [ 4.16796206e-01 9.08998210e-01 -1.78260869e-03 -2.43024414e+02] [-4.26639602e-03 -4.81276537e-06 -9.99990899e-01 -1.80911532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.936559995 meters 0.012455826276695005 Centerline is valid? [True, True] Translation: X:4.29, Y:-242.50, Z:-2.78 [[-8.73861310e-01 -4.86162906e-01 3.46984263e-03 4.29255025e+00] [ 4.86159003e-01 -8.73868199e-01 -1.94825954e-03 -2.42501639e+02] [ 3.97935665e-03 -1.56133986e-05 9.99992082e-01 -2.78428537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.96655999499995 meters 0.012840359154014028 Centerline is valid? [True, True] Translation: X:4.02, Y:-242.99, Z:-1.81 [[-9.15305753e-01 4.02743053e-01 3.66215561e-03 4.01612618e+00] [ 4.02739603e-01 9.15313078e-01 -1.66781846e-03 -2.42992658e+02] [-4.02372122e-03 -5.16687361e-05 -9.99991904e-01 -1.80867383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.996559995 meters 0.01459705266649069 Centerline is valid? [True, True] Translation: X:4.02, Y:-242.96, Z:-1.81 [[-9.43578995e-01 3.31117442e-01 4.46311007e-03 4.02142024e+00] [ 3.31113284e-01 9.43589546e-01 -1.66187560e-03 -2.42957344e+02] [-4.76162000e-03 -9.03158847e-05 -9.99988659e-01 -1.80817090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.02655999499996 meters 0.014745131203542736 Centerline is valid? [True, True] Translation: X:4.21, Y:-242.45, Z:-2.78 [[-9.02493648e-01 -4.30679483e-01 4.51646840e-03 4.20868939e+00] [ 4.30674677e-01 -9.02504943e-01 -2.03732353e-03 -2.42448016e+02] [ 4.95356850e-03 1.06457023e-04 9.99987725e-01 -2.78486782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.05655999499993 meters 0.01574072215698315 Centerline is valid? [True, True] Translation: X:3.98, Y:-242.94, Z:-1.81 [[-9.46018967e-01 3.24078011e-01 4.64294310e-03 3.97714603e+00] [ 3.24073522e-01 9.46030354e-01 -1.70955346e-03 -2.42936957e+02] [-4.94639379e-03 -1.12615072e-04 -9.99987760e-01 -1.80799806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.08655999499996 meters 0.016179926325404513 Centerline is valid? [True, True] Translation: X:3.98, Y:-242.91, Z:-1.81 [[-9.66974072e-01 2.54831995e-01 4.66882977e-03 3.98061073e+00] [ 2.54828437e-01 9.66985336e-01 -1.35164966e-03 -2.42906765e+02] [-4.85913351e-03 -1.17259585e-04 -9.99988188e-01 -1.80819996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.11655999499993 meters 0.015829146870656428 Centerline is valid? [True, True] Translation: X:4.13, Y:-242.40, Z:-2.78 [[-9.31078232e-01 -3.64794571e-01 4.27156055e-03 4.12840900e+00] [ 3.64791176e-01 -9.31088026e-01 -1.57650699e-03 -2.42396769e+02] [ 4.55230007e-03 9.03762541e-05 9.99989634e-01 -2.78442109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.14655999499996 meters 0.01583487335114134 Centerline is valid? [True, True] Translation: X:3.94, Y:-242.89, Z:-1.81 [[-9.67764434e-01 2.51818680e-01 4.39908618e-03 3.93713469e+00] [ 2.51815572e-01 9.67774427e-01 -1.25570372e-03 -2.42895000e+02] [-4.57353276e-03 -1.07467000e-04 -9.99989536e-01 -1.80846994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.17655999499993 meters 0.01471205448299571 Centerline is valid? [True, True] Translation: X:4.08, Y:-242.38, Z:-2.78 [[-9.32964399e-01 -3.59945197e-01 4.10925139e-03 4.08296143e+00] [ 3.59942128e-01 -9.32973444e-01 -1.48898990e-03 -2.42382606e+02] [ 4.36977718e-03 8.99181180e-05 9.99990449e-01 -2.78431495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.20655999499996 meters 0.014846378601380822 Centerline is valid? [True, True] Translation: X:3.89, Y:-242.89, Z:-1.81 [[-9.67905276e-01 2.51265883e-01 4.98316277e-03 3.89111999e+00] [ 2.51261995e-01 9.67918098e-01 -1.40181734e-03 -2.42885438e+02] [-5.17552230e-03 -1.04746986e-04 -9.99986601e-01 -1.80772715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.23655999499994 meters 0.014359273776058269 Centerline is valid? [True, True] Translation: X:3.89, Y:-242.86, Z:-1.81 [[-9.83060467e-01 1.83200093e-01 5.46303339e-03 3.89246154e+00] [ 1.83196665e-01 9.83075640e-01 -1.12575650e-03 -2.42858819e+02] [-5.57681374e-03 -1.05877218e-04 -9.99984444e-01 -1.80756630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.26655999499997 meters 0.01437492298267876 Centerline is valid? [True, True] Translation: X:3.89, Y:-242.83, Z:-1.81 [[-9.93465600e-01 1.13962663e-01 6.21397074e-03 3.88868776e+00] [ 1.13959724e-01 9.93485027e-01 -8.26166854e-04 -2.42830566e+02] [-6.26763907e-03 -1.12625959e-04 -9.99980352e-01 -1.80700409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.29655999499994 meters 0.013464930423667023 Centerline is valid? [True, True] Translation: X:3.88, Y:-242.81, Z:-1.81 [[-9.98961981e-01 4.49447641e-02 7.41145862e-03 3.88261070e+00] [ 4.49426365e-02 9.98989466e-01 -4.53450374e-04 -2.42805677e+02] [-7.42434931e-03 -1.19889193e-04 -9.99972432e-01 -1.80661787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.32655999499997 meters 0.013309797246407067 Centerline is valid? [True, True] Translation: X:3.92, Y:-242.26, Z:-2.79 [[-9.89551036e-01 -1.43968304e-01 7.86606584e-03 3.91913187e+00] [ 1.43965044e-01 -9.89582286e-01 -9.82042678e-04 -2.42259834e+02] [ 7.92550244e-03 1.60657168e-04 9.99968580e-01 -2.78630421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.35655999499994 meters 0.013437565004157583 Centerline is valid? [True, True] Translation: X:3.83, Y:-242.80, Z:-1.81 [[-9.99094067e-01 4.16982861e-02 8.50280389e-03 3.82805715e+00] [ 4.16956622e-02 9.99130240e-01 -4.85707953e-04 -2.42804619e+02] [-8.51566168e-03 -1.30737895e-04 -9.99963733e-01 -1.80618298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.38655999499997 meters 0.013776779839230148 Centerline is valid? [True, True] Translation: X:3.82, Y:-242.78, Z:-1.81 [[-9.99540097e-01 -2.90446439e-02 8.71803284e-03 3.82116876e+00] [-2.90446786e-02 9.99578107e-01 1.22657105e-04 -2.42777087e+02] [-8.71791729e-03 -1.30611766e-04 -9.99961990e-01 -1.80580784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.41655999499994 meters 0.013206746626095233 Centerline is valid? [True, True] Translation: X:3.82, Y:-242.22, Z:-2.79 [[-9.97694169e-01 -6.72616577e-02 9.06718651e-03 3.81771142e+00] [ 6.72603310e-02 -9.97735358e-01 -4.51522629e-04 -2.42224136e+02] [ 9.07702274e-03 1.59380472e-04 9.99958790e-01 -2.78637484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.446559995 meters 0.01326240386135407 Centerline is valid? [True, True] Translation: X:3.76, Y:-242.78, Z:-1.81 [[-9.99461064e-01 -3.16181957e-02 8.82451960e-03 3.76142777e+00] [-3.16179788e-02 9.99500013e-01 1.64116023e-04 -2.42782429e+02] [-8.82529651e-03 -1.14985899e-04 -9.99961050e-01 -1.80617131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.47655999499995 meters 0.012925004689667514 Centerline is valid? [True, True] Translation: X:3.75, Y:-242.22, Z:-2.79 [[-9.98079653e-01 -6.12680853e-02 9.12298863e-03 3.75068667e+00] [ 6.12667988e-02 -9.98121337e-01 -4.20695226e-04 -2.42222523e+02] [ 9.13162479e-03 1.39048963e-04 9.99958296e-01 -2.78634123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.506559995 meters 0.012634082746633277 Centerline is valid? [True, True] Translation: X:3.70, Y:-242.79, Z:-1.81 [[-9.99372346e-01 -3.40815314e-02 9.66248230e-03 3.69719251e+00] [-3.40809644e-02 9.99419050e-01 2.23372334e-04 -2.42788741e+02] [-9.66448175e-03 -1.06074582e-04 -9.99953292e-01 -1.80612579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.53655999499995 meters 0.012708817202141563 Centerline is valid? [True, True] Translation: X:3.69, Y:-242.76, Z:-1.81 [[-9.94424699e-01 -1.04972554e-01 1.00140733e-02 3.68797262e+00] [-1.04968329e-01 9.94475113e-01 9.48014763e-04 -2.42762634e+02] [-1.00582622e-02 -1.08431241e-04 -9.99949409e-01 -1.80626308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.566559995 meters 0.012708817202141563 Centerline is valid? [True, True] Translation: X:3.67, Y:-242.74, Z:-1.81 [[-9.84411478e-01 -1.75600726e-01 9.92101574e-03 3.67316669e+00] [-1.75592918e-01 9.84461464e-01 1.65949774e-03 -2.42736601e+02] [-1.00582667e-02 -1.08431477e-04 -9.99949409e-01 -1.80626302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.59655999499995 meters 0.012430677696676337 Centerline is valid? [True, True] Translation: X:3.65, Y:-242.71, Z:-1.81 [[-9.69363942e-01 -2.45408277e-01 1.04079285e-02 3.64954718e+00] [-2.45395384e-01 9.69419808e-01 2.51810574e-03 -2.42714768e+02] [-1.07076161e-02 -1.13096720e-04 -9.99942666e-01 -1.80676931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.626559995 meters 0.012657776436492584 Centerline is valid? [True, True] Translation: X:3.49, Y:-242.16, Z:-2.79 [[-9.87371288e-01 1.58064420e-01 1.06573097e-02 3.49006313e+00] [-1.58053887e-01 -9.87428795e-01 1.82877763e-03 -2.42163078e+02] [ 1.08123991e-02 1.21253306e-04 9.99941537e-01 -2.78634316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.65655999499995 meters 0.012991729511664147 Centerline is valid? [True, True] Translation: X:3.52, Y:-242.75, Z:-1.81 [[-9.67358627e-01 -2.53184566e-01 1.07173884e-02 3.52390984e+00] [-2.53170586e-01 9.67417985e-01 2.66411992e-03 -2.42745422e+02] [-1.10427084e-02 -1.36168126e-04 -9.99939018e-01 -1.80659755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.686559995 meters 0.013116086614124878 Centerline is valid? [True, True] Translation: X:3.49, Y:-242.73, Z:-1.81 [[-9.46308094e-01 -3.23108775e-01 1.00851801e-02 3.49167323e+00] [-3.23092012e-01 9.46361823e-01 3.29427690e-03 -2.42726130e+02] [-1.06086392e-02 -1.41040225e-04 -9.99943717e-01 -1.80690574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.71655999499995 meters 0.013356879319618766 Centerline is valid? [True, True] Translation: X:3.44, Y:-242.72, Z:-1.81 [[-9.19957905e-01 -3.91893006e-01 9.86538828e-03 3.44007683e+00] [-3.91872221e-01 9.20010788e-01 4.03899897e-03 -2.42715520e+02] [-1.06591191e-02 -1.50262585e-04 -9.99943179e-01 -1.80680509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.746559995 meters 0.013743144434969316 Centerline is valid? [True, True] Translation: X:3.37, Y:-242.72, Z:-1.81 [[-8.87661620e-01 -4.60398757e-01 9.47806015e-03 3.37383826e+00] [-4.60374563e-01 8.87712203e-01 4.72295130e-03 -2.42716339e+02] [-1.05882306e-02 -1.71075208e-04 -9.99943929e-01 -1.80704629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.77655999499996 meters 0.014096202383119876 Centerline is valid? [True, True] Translation: X:3.30, Y:-242.72, Z:-1.81 [[-8.50689367e-01 -5.25588060e-01 9.20826608e-03 3.30341345e+00] [-5.25559607e-01 8.50739183e-01 5.47194169e-03 -2.42723307e+02] [-1.07098200e-02 -1.84570084e-04 -9.99942631e-01 -1.80689617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.80655999499993 meters 0.014303790889910094 Centerline is valid? [True, True] Translation: X:3.23, Y:-242.74, Z:-1.81 [[-8.08517042e-01 -5.88406378e-01 8.83896112e-03 3.22765215e+00] [-5.88373917e-01 8.08565331e-01 6.18384349e-03 -2.42739675e+02] [-1.07854905e-02 -2.00871326e-04 -9.99941815e-01 -1.80697087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.83655999499996 meters 0.014915241554077013 Centerline is valid? [True, True] Translation: X:3.15, Y:-242.77, Z:-1.81 [[-7.61493856e-01 -6.48118270e-01 8.35561536e-03 3.14672494e+00] [-6.48082341e-01 7.61539665e-01 6.82768707e-03 -2.42765392e+02] [-1.07882813e-02 -2.15885010e-04 -9.99941782e-01 -1.80651539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.86655999499993 meters 0.015691922195095204 Centerline is valid? [True, True] Translation: X:3.07, Y:-242.80, Z:-1.81 [[-7.08562330e-01 -7.05602550e-01 8.02909467e-03 3.06605348e+00] [-7.05561313e-01 7.08607773e-01 7.63269194e-03 -2.42800184e+02] [-1.10751258e-02 -2.56780588e-04 -9.99938636e-01 -1.80632661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.89655999499996 meters 0.016629084736226995 Centerline is valid? [True, True] Translation: X:2.98, Y:-242.84, Z:-1.81 [[-6.52387176e-01 -7.57845973e-01 7.77518485e-03 2.98250843e+00] [-7.57797306e-01 6.52433444e-01 8.59322487e-03 -2.42844858e+02] [-1.15851315e-02 -2.85904428e-04 -9.99932849e-01 -1.80592554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.92655999499993 meters 0.016795894232185523 Centerline is valid? [True, True] Translation: X:2.90, Y:-242.90, Z:-1.81 [[-5.91980306e-01 -8.05920900e-01 7.12884803e-03 2.90059617e+00] [-8.05868602e-01 5.92023149e-01 9.18631122e-03 -2.42900179e+02] [-1.16238833e-02 -3.06799471e-04 -9.99932393e-01 -1.80624966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.95655999499996 meters 0.017883546924497326 Centerline is valid? [True, True] Translation: X:2.82, Y:-242.96, Z:-1.81 [[-5.28160189e-01 -8.49120838e-01 6.37322831e-03 2.81965908e+00] [-8.49066202e-01 5.28198542e-01 9.63763297e-03 -2.42963745e+02] [-1.15498449e-02 -3.21078708e-04 -9.99933247e-01 -1.80592668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.98655999499994 meters 0.01836922781306641 Centerline is valid? [True, True] Translation: X:2.74, Y:-243.04, Z:-1.81 [[-4.60105873e-01 -8.87847614e-01 5.40368408e-03 2.74401945e+00] [-8.87794727e-01 4.60137481e-01 9.69647593e-03 -2.43037204e+02] [-1.10954306e-02 -3.35956710e-04 -9.99938387e-01 -1.80675104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.01655999499997 meters 0.018722649087622466 Centerline is valid? [True, True] Translation: X:2.67, Y:-243.12, Z:-1.81 [[-3.90394912e-01 -9.20635980e-01 4.60493711e-03 2.67239714e+00] [-9.20581958e-01 3.90421919e-01 9.97919282e-03 -2.43118142e+02] [-1.09850723e-02 -3.43395913e-04 -9.99939603e-01 -1.80720247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.04655999499994 meters 0.019001875529647407 Centerline is valid? [True, True] Translation: X:2.61, Y:-243.21, Z:-1.81 [[-3.18531303e-01 -9.47905517e-01 3.59711065e-03 2.60591162e+00] [-9.47856251e-01 3.18551443e-01 9.66981850e-03 -2.43207223e+02] [-1.03119391e-02 -3.29403925e-04 -9.99946776e-01 -1.80763771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.07655999499997 meters 0.0189052447763523 Centerline is valid? [True, True] Translation: X:2.55, Y:-243.30, Z:-1.81 [[-2.44561144e-01 -9.69629747e-01 2.82871587e-03 2.54950790e+00] [-9.69579804e-01 2.44577274e-01 9.84688416e-03 -2.43297344e+02] [-1.02396714e-02 -3.34500527e-04 -9.99947517e-01 -1.80854714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.10655999499994 meters 0.019471653081010076 Centerline is valid? [True, True] Translation: X:2.50, Y:-243.40, Z:-1.81 [[-1.70043143e-01 -9.85434567e-01 2.01091609e-03 2.49628718e+00] [-9.85386361e-01 1.70054726e-01 9.75242158e-03 -2.43399038e+02] [-9.95233912e-03 -3.23196875e-04 -9.99950422e-01 -1.80837671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.13655999499997 meters 0.018646609229992065 Centerline is valid? [True, True] Translation: X:2.45, Y:-243.50, Z:-1.81 [[-9.61272433e-02 -9.95368389e-01 1.15070526e-03 2.45445388e+00] [-9.95327591e-01 9.61337267e-02 9.01628502e-03 -2.43499486e+02] [-9.08514667e-03 -2.78618066e-04 -9.99958690e-01 -1.80857175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.16655999499994 meters 0.01794708166151656 Centerline is valid? [True, True] Translation: X:2.42, Y:-243.61, Z:-1.81 [[-2.06209346e-02 -9.99787253e-01 4.74309766e-04 2.41906758e+00] [-9.99742932e-01 2.06244885e-02 9.41808836e-03 -2.43609935e+02] [-9.42586709e-03 -2.79978051e-04 -9.99955536e-01 -1.80843342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.196559995 meters 0.017151791429777925 Centerline is valid? [True, True] Translation: X:2.39, Y:-243.72, Z:-1.81 [[ 5.47402095e-02 -9.98500596e-01 -2.63650435e-04 2.39271365e+00] [-9.98450450e-01 -5.47401037e-02 1.00110092e-02 -2.43719611e+02] [-1.00104309e-02 -2.84762844e-04 -9.99949854e-01 -1.80824428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.22655999499995 meters 0.015996907968406797 Centerline is valid? [True, True] Translation: X:2.38, Y:-243.84, Z:-1.81 [[ 1.28283353e-01 -9.91736845e-01 -1.18833756e-03 2.37698252e+00] [-9.91670210e-01 -1.28288513e-01 1.15000631e-02 -2.43836905e+02] [-1.15574864e-02 -2.96827697e-04 -9.99933166e-01 -1.80723494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.256559995 meters 0.01724060977741253 Centerline is valid? [True, True] Translation: X:2.36, Y:-243.95, Z:-1.81 [[ 2.02617627e-01 -9.79255496e-01 -2.18435898e-03 2.36477604e+00] [-9.79181709e-01 -2.02629183e-01 1.20247754e-02 -2.43952518e+02] [-1.22179423e-02 -2.97547100e-04 -9.99925314e-01 -1.80551730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.28655999499995 meters 0.01523515276374395 Centerline is valid? [True, True] Translation: X:2.37, Y:-244.07, Z:-1.81 [[ 2.75364925e-01 -9.61334206e-01 -3.27132794e-03 2.36808367e+00] [-9.61253285e-01 -2.75384202e-01 1.24765249e-02 -2.44072291e+02] [-1.28949822e-02 -2.91022612e-04 -9.99916814e-01 -1.80636711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.316559995 meters 0.014599626782630657 Centerline is valid? [True, True] Translation: X:2.38, Y:-244.18, Z:-1.81 [[ 3.44769778e-01 -9.38676557e-01 -4.48577079e-03 2.37624638e+00] [-9.38587115e-01 -3.44798862e-01 1.29603797e-02 -2.44179603e+02] [-1.37122933e-02 -2.58060569e-04 -9.99905949e-01 -1.80573856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.34655999499995 meters 0.013744203046020686 Centerline is valid? [True, True] Translation: X:2.39, Y:-244.29, Z:-1.81 [[ 4.13787246e-01 -9.10356403e-01 -5.59763090e-03 2.39320263e+00] [-9.10265304e-01 -4.13825040e-01 1.28807378e-02 -2.44289829e+02] [-1.40425020e-02 -2.34555844e-04 -9.99901372e-01 -1.80624533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.376559995 meters 0.01334429073399595 Centerline is valid? [True, True] Translation: X:2.42, Y:-244.40, Z:-1.81 [[ 4.80287201e-01 -8.77086749e-01 -6.56039485e-03 2.41762440e+00] [-8.76999087e-01 -4.80331962e-01 1.24019369e-02 -2.44398200e+02] [-1.40287419e-02 -2.03031280e-04 -9.99901572e-01 -1.80622952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.40655999499995 meters 0.012580428999140626 Centerline is valid? [True, True] Translation: X:2.45, Y:-244.51, Z:-1.81 [[ 5.44033236e-01 -8.39031753e-01 -7.31810996e-03 2.45318264e+00] [-8.38951700e-01 -5.44082429e-01 1.15912043e-02 -2.44507077e+02] [-1.37070435e-02 -1.66459569e-04 -9.99906040e-01 -1.80771291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.436559995 meters 0.012207038021057952 Centerline is valid? [True, True] Translation: X:2.49, Y:-244.61, Z:-1.81 [[ 6.03267646e-01 -7.97505856e-01 -7.24959431e-03 2.49485676e+00] [-7.97446331e-01 -6.03311197e-01 9.74415837e-03 -2.44608504e+02] [-1.21447848e-02 -9.71731029e-05 -9.99926245e-01 -1.80833149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.46655999499995 meters 0.01186410555523013 Centerline is valid? [True, True] Translation: X:2.54, Y:-244.71, Z:-1.81 [[ 6.60992133e-01 -7.50352847e-01 -7.74626281e-03 2.54250560e+00] [-7.50300030e-01 -6.61037518e-01 8.90312073e-03 -2.44707985e+02] [-1.18010523e-02 -7.28715502e-05 -9.99930363e-01 -1.80916170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.496559995 meters 0.011767333886025334 Centerline is valid? [True, True] Translation: X:2.59, Y:-244.80, Z:-1.81 [[ 7.15311017e-01 -6.98758659e-01 -8.15385370e-03 2.59087124e+00] [-6.98712373e-01 -7.15357486e-01 8.04282773e-03 -2.44797626e+02] [-1.14529158e-02 -5.59248113e-05 -9.99934412e-01 -1.80946827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.52655999499996 meters 0.01178152776374761 Centerline is valid? [True, True] Translation: X:2.59, Y:-244.80, Z:-1.81 [[ 7.66666571e-01 -6.41981441e-01 -9.06631876e-03 2.59199015e+00] [-6.41935962e-01 -7.66720176e-01 7.64153310e-03 -2.44803464e+02] [-1.18570519e-02 -3.85119318e-05 -9.99929702e-01 -1.80930969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.55655999499993 meters 0.011930030865387761 Centerline is valid? [True, True] Translation: X:2.59, Y:-244.81, Z:-1.81 [[ 8.14315579e-01 -5.80335515e-01 -1.00413561e-02 2.59112633e+00] [-5.80290849e-01 -8.14377486e-01 7.20013882e-03 -2.44809646e+02] [-1.23559506e-02 -3.62781829e-05 -9.99923662e-01 -1.80764416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.58655999499996 meters 0.011834504708160422 Centerline is valid? [True, True] Translation: X:2.59, Y:-244.82, Z:-1.81 [[ 8.57226732e-01 -5.14819587e-01 -1.10960484e-02 2.59184688e+00] [-5.14775870e-01 -8.57298543e-01 6.70911512e-03 -2.44816225e+02] [-1.29666100e-02 -3.92548593e-05 -9.99915929e-01 -1.80871088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.61655999499993 meters 0.011875509045305504 Centerline is valid? [True, True] Translation: X:2.59, Y:-244.82, Z:-1.81 [[ 8.95440450e-01 -4.45018787e-01 -1.20282741e-02 2.59250843e+00] [-4.44977757e-01 -8.95521232e-01 6.04314756e-03 -2.44824063e+02] [-1.34608890e-02 -5.89643412e-05 -9.99909396e-01 -1.80874023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.64655999499996 meters 0.012088564044837097 Centerline is valid? [True, True] Translation: X:2.59, Y:-244.83, Z:-1.81 [[ 9.27759659e-01 -3.72969359e-01 -1.24849010e-02 2.59196296e+00] [-3.72934595e-01 -9.27843658e-01 5.09262009e-03 -2.44831768e+02] [-1.34834275e-02 -6.86759604e-05 -9.99909092e-01 -1.80815468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.67655999499993 meters 0.011971129352138612 Centerline is valid? [True, True] Translation: X:2.59, Y:-244.84, Z:-1.81 [[ 9.54378583e-01 -2.98349051e-01 -1.22214746e-02 2.59350275e+00] [-2.98323547e-01 -9.54456829e-01 3.90173481e-03 -2.44839552e+02] [-1.28289488e-02 -7.77784703e-05 -9.99917703e-01 -1.80865759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.70655999499996 meters 0.012176715271176917 Centerline is valid? [True, True] Translation: X:2.60, Y:-244.85, Z:-1.81 [[ 9.75276297e-01 -2.20687505e-01 -1.15399130e-02 2.59578870e+00] [-2.20670870e-01 -9.75344562e-01 2.71137856e-03 -2.44847939e+02] [-1.18537587e-02 -9.78206038e-05 -9.99929737e-01 -1.80942706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.73655999499994 meters 0.012223259935346242 Centerline is valid? [True, True] Translation: X:2.60, Y:-244.86, Z:-1.81 [[ 9.89739667e-01 -1.42396631e-01 -1.17724741e-02 2.59745590e+00] [-1.42385181e-01 -9.89809672e-01 1.80934846e-03 -2.44857868e+02] [-1.19101539e-02 -1.14558076e-04 -9.99929065e-01 -1.81003832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.76655999499997 meters 0.012433620541326589 Centerline is valid? [True, True] Translation: X:2.60, Y:-244.87, Z:-1.81 [[ 9.97936663e-01 -6.31781192e-02 -1.14430142e-02 2.59641554e+00] [-6.31725222e-02 -9.98002259e-01 8.50276139e-04 -2.44866944e+02] [-1.14738729e-02 -1.25637661e-04 -9.99934165e-01 -1.80988039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.79655999499994 meters 0.013230453404669364 Centerline is valid? [True, True] Translation: X:2.60, Y:-244.88, Z:-1.81 [[ 9.99751533e-01 1.89436129e-02 -1.17478302e-02 2.59571680e+00] [ 1.89443419e-02 -9.99820539e-01 -4.92344484e-05 -2.44875299e+02] [-1.17466546e-02 -1.73332697e-04 -9.99930991e-01 -1.80964749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.82655999499997 meters 0.013722368784338836 Centerline is valid? [True, True] Translation: X:2.60, Y:-244.88, Z:-1.81 [[ 9.94975547e-01 9.94288555e-02 -1.17287522e-02 2.59648938e+00] [ 9.94243187e-02 -9.95044654e-01 -9.70704166e-04 -2.44883448e+02] [-1.17671482e-02 -2.00296289e-04 -9.99930745e-01 -1.80953578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.85655999499994 meters 0.014333522228298003 Centerline is valid? [True, True] Translation: X:2.60, Y:-244.89, Z:-1.81 [[ 9.83728093e-01 1.79277138e-01 -1.17791021e-02 2.59798242e+00] [ 1.79267084e-01 -9.83798584e-01 -1.91253210e-03 -2.44890954e+02] [-1.19311373e-02 -2.30193742e-04 -9.99928795e-01 -1.80921399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.88655999499997 meters 0.01637729032843769 Centerline is valid? [True, True] Translation: X:2.60, Y:-244.90, Z:-1.81 [[ 9.66065702e-01 2.58022736e-01 -1.18880922e-02 2.59909713e+00] [ 2.58006569e-01 -9.66138808e-01 -2.90053110e-03 -2.44900305e+02] [-1.22339502e-02 -2.65102263e-04 -9.99925127e-01 -1.80778409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.91655999499994 meters 0.016209398872317878 Centerline is valid? [True, True] Translation: X:2.60, Y:-244.91, Z:-1.81 [[ 9.41385501e-01 3.37120580e-01 -1.19605145e-02 2.60175147e+00] [ 3.37097799e-01 -9.41461420e-01 -3.93291487e-03 -2.44906695e+02] [-1.25862295e-02 -3.29474095e-04 -9.99920736e-01 -1.80937595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.946559995 meters 0.01980369135436344 Centerline is valid? [True, True] Translation: X:2.61, Y:-244.92, Z:-1.81 [[ 9.11298410e-01 4.11586977e-01 -1.14615811e-02 2.60597767e+00] [ 4.11559217e-01 -9.11370418e-01 -4.79296908e-03 -2.44917830e+02] [-1.24184696e-02 -3.49294227e-04 -9.99922827e-01 -1.80727316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.97655999499995 meters 0.01876232070050938 Centerline is valid? [True, True] Translation: X:2.61, Y:-244.92, Z:-1.81 [[ 8.75573525e-01 4.82954249e-01 -1.12336908e-02 2.60787180e+00] [ 4.82919933e-01 -8.75645507e-01 -5.76920720e-03 -2.44918445e+02] [-1.26229940e-02 -3.73608107e-04 -9.99920257e-01 -1.80856405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.006559995 meters 0.018956828516875034 Centerline is valid? [True, True] Translation: X:2.61, Y:-244.92, Z:-1.81 [[ 8.34103241e-01 5.51493744e-01 -1.12442854e-02 2.61093124e+00] [ 5.51450263e-01 -8.34178925e-01 -6.93740796e-03 -2.44921019e+02] [-1.32056830e-02 -4.14149708e-04 -9.99912715e-01 -1.80890841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.03655999499995 meters 0.019246918743477028 Centerline is valid? [True, True] Translation: X:2.61, Y:-244.92, Z:-1.81 [[ 7.88192943e-01 6.15339210e-01 -1.04662174e-02 2.61393746e+00] [ 6.15291789e-01 -7.88262322e-01 -7.65019903e-03 -2.44923909e+02] [-1.29575922e-02 -4.09944721e-04 -9.99915963e-01 -1.80875456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.066559995 meters 0.019678545074658358 Centerline is valid? [True, True] Translation: X:2.62, Y:-244.93, Z:-1.81 [[ 7.37484396e-01 6.75294379e-01 -9.70911682e-03 2.61585575e+00] [ 6.75243019e-01 -7.37548193e-01 -8.33840607e-03 -2.44926532e+02] [-1.27918203e-02 -4.06568990e-04 -9.99918099e-01 -1.80896651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.09655999499995 meters 0.017600109239136397 Centerline is valid? [True, True] Translation: X:2.62, Y:-244.93, Z:-1.81 [[ 6.82706085e-01 7.30639177e-01 -8.87662714e-03 2.61848520e+00] [ 7.30584794e-01 -6.82763677e-01 -8.92299387e-03 -2.44928379e+02] [-1.25801275e-02 -3.93346600e-04 -9.99920790e-01 -1.81042714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.126559995 meters 0.01871341915631552 Centerline is valid? [True, True] Translation: X:2.62, Y:-244.93, Z:-1.81 [[ 6.23888462e-01 7.81470853e-01 -8.15431613e-03 2.62434956e+00] [ 7.81412035e-01 -6.23941630e-01 -9.59554656e-03 -2.44933937e+02] [-1.25864573e-02 -3.85329978e-04 -9.99920713e-01 -1.80941926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.15655999499995 meters 0.018907229859572213 Centerline is valid? [True, True] Translation: X:2.63, Y:-244.94, Z:-1.81 [[ 5.61624520e-01 8.27358048e-01 -7.52058760e-03 2.62557769e+00] [ 8.27292738e-01 -5.61674743e-01 -1.04023435e-02 -2.44936419e+02] [-1.28305867e-02 -3.79516357e-04 -9.99917613e-01 -1.80923481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.186559995 meters 0.016918548845149185 Centerline is valid? [True, True] Translation: X:2.63, Y:-244.94, Z:-1.81 [[ 4.96012982e-01 8.68288364e-01 -6.81467632e-03 2.62810323e+00] [ 8.68216518e-01 -4.96059652e-01 -1.11758704e-02 -2.44938017e+02] [-1.30843642e-02 -3.73237736e-04 -9.99914326e-01 -1.81033640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.21655999499995 meters 0.0185733786094233 Centerline is valid? [True, True] Translation: X:2.63, Y:-244.94, Z:-1.81 [[ 4.28974347e-01 9.03296215e-01 -6.07930768e-03 2.63270142e+00] [ 9.03216673e-01 -4.29017282e-01 -1.19922101e-02 -2.44942418e+02] [-1.34406460e-02 -3.46581558e-04 -9.99909610e-01 -1.80859265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.246559995 meters 0.015717007350024778 Centerline is valid? [True, True] Translation: X:2.63, Y:-244.94, Z:-1.81 [[ 3.58266703e-01 9.33606012e-01 -4.97828478e-03 2.63327895e+00] [ 9.33527859e-01 -3.58301148e-01 -1.20840443e-02 -2.44943375e+02] [-1.30654615e-02 -3.18056840e-04 -9.99914593e-01 -1.81079550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.27655999499996 meters 0.01764785059104003 Centerline is valid? [True, True] Translation: X:2.64, Y:-244.95, Z:-1.81 [[ 2.85172883e-01 9.58467599e-01 -4.03576967e-03 2.64057373e+00] [ 9.58386208e-01 -2.85201276e-01 -1.24943185e-02 -2.44948683e+02] [-1.31264061e-02 -3.04785157e-04 -9.99913799e-01 -1.80883344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.30655999499993 meters 0.017446458392742434 Centerline is valid? [True, True] Translation: X:2.64, Y:-244.95, Z:-1.81 [[ 2.10467028e-01 9.77596586e-01 -2.92319290e-03 2.63649807e+00] [ 9.77519733e-01 -2.10487145e-01 -1.22610777e-02 -2.44950686e+02] [-1.26016822e-02 -2.76926149e-04 -9.99920557e-01 -1.80887383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.33655999499996 meters 0.01407354756933722 Centerline is valid? [True, True] Translation: X:2.64, Y:-244.95, Z:-1.81 [[ 1.35771445e-01 9.90738273e-01 -1.94647782e-03 2.63698438e+00] [ 9.90660626e-01 -1.35785178e-01 -1.24060465e-02 -2.44952592e+02] [-1.25554479e-02 -2.43912078e-04 -9.99921148e-01 -1.81258885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.36655999499993 meters 0.014050505823790834 Centerline is valid? [True, True] Translation: X:2.64, Y:-244.96, Z:-1.81 [[ 5.86485379e-02 9.98278229e-01 -9.62661458e-04 2.64394327e+00] [ 9.98200707e-01 -5.86559824e-02 -1.24428135e-02 -2.44956762e+02] [-1.24778557e-02 -2.31176527e-04 -9.99922122e-01 -1.81232204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.39655999499996 meters 0.013958598046563455 Centerline is valid? [True, True] Translation: X:2.65, Y:-244.96, Z:-1.81 [[-1.82489273e-02 9.99833474e-01 1.50848712e-05 2.65007111e+00] [ 9.99753545e-01 1.82476592e-02 -1.26440534e-02 -2.44960061e+02] [-1.26422231e-02 -2.15659258e-04 -9.99920061e-01 -1.81208413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.42655999499993 meters 0.01343402721150435 Centerline is valid? [True, True] Translation: X:2.65, Y:-244.96, Z:-1.81 [[-9.38772974e-02 9.95583222e-01 1.04919216e-03 2.65332728e+00] [ 9.95496337e-01 9.38829671e-02 -1.31541285e-02 -2.44962276e+02] [-1.31945309e-02 -1.90407082e-04 -9.99912930e-01 -1.81214241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.45655999499996 meters 0.013258210266634516 Centerline is valid? [True, True] Translation: X:2.66, Y:-244.97, Z:-1.81 [[-1.70675008e-01 9.85325316e-01 2.01569185e-03 2.65870788e+00] [ 9.85244143e-01 1.70686823e-01 -1.26486193e-02 -2.44965010e+02] [-1.28070569e-02 -1.72854622e-04 -9.99917971e-01 -1.81239597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.48655999499994 meters 0.013258210266634516 Centerline is valid? [True, True] Translation: X:2.67, Y:-244.97, Z:-1.81 [[-2.47314845e-01 9.68930527e-01 3.00013788e-03 2.66531975e+00] [ 9.68850528e-01 2.47332981e-01 -1.24519020e-02 -2.44967315e+02] [-1.28070610e-02 -1.72855059e-04 -9.99917971e-01 -1.81239593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.51655999499997 meters 0.012808371964209468 Centerline is valid? [True, True] Translation: X:2.67, Y:-244.97, Z:-1.81 [[-3.21805658e-01 9.46797814e-01 3.87523856e-03 2.67390681e+00] [ 9.46723066e-01 3.21828951e-01 -1.18980288e-02 -2.44968130e+02] [-1.25121917e-02 -1.60075274e-04 -9.99921707e-01 -1.81324856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.54655999499994 meters 0.012738487765468254 Centerline is valid? [True, True] Translation: X:2.68, Y:-244.97, Z:-1.81 [[-3.94109127e-01 9.19051716e-01 4.68396162e-03 2.68228591e+00] [ 9.18982399e-01 3.94136934e-01 -1.12884013e-02 -2.44967745e+02] [-1.22207468e-02 -1.44383690e-04 -9.99925314e-01 -1.81328462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.57655999499997 meters 0.012521497230663411 Centerline is valid? [True, True] Translation: X:2.69, Y:-244.97, Z:-1.81 [[-4.63499416e-01 8.86080483e-01 5.44691459e-03 2.69011969e+00] [ 8.86016151e-01 4.63531404e-01 -1.06779482e-02 -2.44967950e+02] [-1.19863375e-02 -1.23168447e-04 -9.99928154e-01 -1.81403302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.60655999499994 meters 0.012245361694234293 Centerline is valid? [True, True] Translation: X:2.70, Y:-244.97, Z:-1.81 [[-5.31113555e-01 8.47277836e-01 6.21780358e-03 2.69907914e+00] [ 8.47217188e-01 5.31149937e-01 -1.01380765e-02 -2.44966397e+02] [-1.18923535e-02 -1.16639804e-04 -9.99929277e-01 -1.81491964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.63655999499997 meters 0.012309615873441539 Centerline is valid? [True, True] Translation: X:2.71, Y:-244.97, Z:-1.82 [[-5.95706333e-01 8.03171110e-01 7.08038117e-03 2.70795439e+00] [ 8.03112057e-01 5.95748398e-01 -9.74013578e-03 -2.44965324e+02] [-1.20411214e-02 -1.15921091e-04 -9.99927496e-01 -1.81502297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.66655999499994 meters 0.012219100161915387 Centerline is valid? [True, True] Translation: X:2.72, Y:-244.96, Z:-1.82 [[-6.56604136e-01 7.54194646e-01 7.83863290e-03 2.71505314e+00] [ 7.54138831e-01 6.56650914e-01 -9.17608914e-03 -2.44962600e+02] [-1.20678028e-02 -1.13640627e-04 -9.99927175e-01 -1.81530013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.696559995 meters 0.012102525524689154 Centerline is valid? [True, True] Translation: X:2.73, Y:-244.96, Z:-1.82 [[-7.13998871e-01 7.00090433e-01 8.88804684e-03 2.72540185e+00] [ 7.00034009e-01 7.14054179e-01 -8.88912901e-03 -2.44956617e+02] [-1.25697412e-02 -1.24893023e-04 -9.99920990e-01 -1.81591254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.72655999499995 meters 0.012521635562888432 Centerline is valid? [True, True] Translation: X:2.74, Y:-244.95, Z:-1.81 [[-7.67021930e-01 6.41546826e-01 9.74830190e-03 2.73563138e+00] [ 6.41492767e-01 7.67083862e-01 -8.32936457e-03 -2.44950173e+02] [-1.28214425e-02 -1.35340131e-04 -9.99917793e-01 -1.81474210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.756559995 meters 0.01251549834544208 Centerline is valid? [True, True] Translation: X:2.76, Y:-244.93, Z:-1.81 [[-8.10771864e-01 5.85263310e-01 1.07630198e-02 2.75653852e+00] [ 5.85209299e-01 8.10843287e-01 -7.95233487e-03 -2.44929339e+02] [-1.33813322e-02 -1.48910102e-04 -9.99910455e-01 -1.81445969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.78655999499995 meters 0.012822623240227175 Centerline is valid? [True, True] Translation: X:2.77, Y:-244.90, Z:-1.81 [[-8.50913021e-01 5.25177112e-01 1.16632599e-02 2.77331957e+00] [ 5.25124977e-01 8.50992933e-01 -7.40186046e-03 -2.44903092e+02] [-1.38126394e-02 -1.73670390e-04 -9.99904586e-01 -1.81396642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.816559995 meters 0.013393542642711885 Centerline is valid? [True, True] Translation: X:2.79, Y:-244.88, Z:-1.81 [[-8.86305879e-01 4.62937021e-01 1.22964557e-02 2.79238156e+00] [ 4.62889549e-01 8.86391155e-01 -6.63219538e-03 -2.44879079e+02] [-1.39697583e-02 -1.86252941e-04 -9.99902401e-01 -1.81297653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.84655999499995 meters 0.01305346564064684 Centerline is valid? [True, True] Translation: X:2.80, Y:-244.85, Z:-1.81 [[-9.17174168e-01 3.98284032e-01 1.27033601e-02 2.80466974e+00] [ 3.98242855e-01 9.17262117e-01 -5.73037710e-03 -2.44853860e+02] [-1.39346287e-02 -1.96731447e-04 -9.99902889e-01 -1.81421967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.876559995 meters 0.013244125855287078 Centerline is valid? [True, True] Translation: X:3.09, Y:-244.22, Z:-2.78 [[-8.74370409e-01 -4.85103831e-01 1.22744193e-02 3.09312245e+00] [ 4.85059176e-01 -8.74456537e-01 -6.58486800e-03 -2.44224494e+02] [ 1.39277909e-02 1.96205988e-04 9.99902984e-01 -2.77791364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.90655999499995 meters 0.013094323584678547 Centerline is valid? [True, True] Translation: X:2.76, Y:-244.83, Z:-1.82 [[-9.19216285e-01 3.93560574e-01 1.23083682e-02 2.76304745e+00] [ 3.93522223e-01 9.19298662e-01 -5.49816282e-03 -2.44833565e+02] [-1.34789266e-02 -2.10384369e-04 -9.99909133e-01 -1.81546418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.936559995 meters 0.013257441283403207 Centerline is valid? [True, True] Translation: X:3.04, Y:-244.20, Z:-2.78 [[-8.75855460e-01 -4.82427086e-01 1.18877925e-02 3.04427872e+00] [ 4.82385875e-01 -8.75936107e-01 -6.30908468e-03 -2.44204722e+02] [ 1.34566200e-02 2.08656920e-04 9.99909434e-01 -2.77733661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.96655999499995 meters 0.01336280292799064 Centerline is valid? [True, True] Translation: X:2.73, Y:-244.82, Z:-1.82 [[-9.20987432e-01 3.89403515e-01 1.21265577e-02 2.72575942e+00] [ 3.89366644e-01 9.21067237e-01 -5.36289460e-03 -2.44816021e+02] [-1.32577050e-02 -2.17481452e-04 -9.99912089e-01 -1.81585079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.996559995 meters 0.013841090604407282 Centerline is valid? [True, True] Translation: X:2.73, Y:-244.79, Z:-1.82 [[-9.46588860e-01 3.22191714e-01 1.27290702e-02 2.73019371e+00] [ 3.22159230e-01 9.46674413e-01 -4.58112712e-03 -2.44786080e+02] [-1.35262863e-02 -2.35656446e-04 -9.99908488e-01 -1.81605092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.02655999499996 meters 0.015076280309969258 Centerline is valid? [True, True] Translation: X:2.74, Y:-244.76, Z:-1.81 [[-9.67211488e-01 2.53643516e-01 1.29191307e-02 2.74445942e+00] [ 2.53617534e-01 9.67297735e-01 -3.63849496e-03 -2.44758782e+02] [-1.34195265e-02 -2.42676061e-04 -9.99909925e-01 -1.81462259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.05655999499993 meters 0.013680767137570073 Centerline is valid? [True, True] Translation: X:2.93, Y:-244.10, Z:-2.78 [[-9.35608264e-01 -3.52822250e-01 1.23950039e-02 2.92899306e+00] [ 3.52794422e-01 -9.35690339e-01 -4.43680793e-03 -2.44104728e+02] [ 1.31632899e-02 2.21774061e-04 9.99913336e-01 -2.77568858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.08655999499996 meters 0.014062575295503678 Centerline is valid? [True, True] Translation: X:2.69, Y:-244.75, Z:-1.82 [[-9.68558901e-01 2.48445349e-01 1.29832199e-02 2.69401979e+00] [ 2.48419359e-01 9.68645879e-01 -3.60324071e-03 -2.44746562e+02] [-1.34713508e-02 -2.64667694e-04 -9.99909222e-01 -1.81751017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.11655999499993 meters 0.0143254882893524 Centerline is valid? [True, True] Translation: X:2.70, Y:-244.72, Z:-1.82 [[-9.83842759e-01 1.78551799e-01 1.31407886e-02 2.70239891e+00] [ 1.78532185e-01 9.83930476e-01 -2.66036193e-03 -2.44719203e+02] [-1.34046348e-02 -2.71324121e-04 -9.99910117e-01 -1.81743527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.14655999499996 meters 0.014305761612202709 Centerline is valid? [True, True] Translation: X:2.84, Y:-244.06, Z:-2.77 [[-9.58676056e-01 -2.84191151e-01 1.32517921e-02 2.83992949e+00] [ 2.84168303e-01 -9.58767594e-01 -3.61601639e-03 -2.44055659e+02] [ 1.37330287e-02 2.99150958e-04 9.99905653e-01 -2.77492133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.17655999499993 meters 0.01490558799365423 Centerline is valid? [True, True] Translation: X:2.65, Y:-244.71, Z:-1.82 [[-9.84776850e-01 1.73285770e-01 1.36600543e-02 2.65064498e+00] [ 1.73264834e-01 9.84871540e-01 -2.71048322e-03 -2.44707565e+02] [-1.39230869e-02 -3.02414091e-04 -9.99903023e-01 -1.81741128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.20655999499996 meters 0.015201290804285365 Centerline is valid? [True, True] Translation: X:2.79, Y:-244.05, Z:-2.77 [[-9.58968060e-01 -2.83181075e-01 1.37381833e-02 2.78609237e+00] [ 2.83156919e-01 -9.59066406e-01 -3.71333817e-03 -2.44048233e+02] [ 1.42273772e-02 3.29088957e-04 9.99898732e-01 -2.77490960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.23655999499994 meters 0.015373077203871304 Centerline is valid? [True, True] Translation: X:2.60, Y:-244.70, Z:-1.82 [[-9.86013370e-01 1.66074441e-01 1.40326121e-02 2.60274741e+00] [ 1.66052428e-01 9.86113153e-01 -2.72762697e-03 -2.44696894e+02] [-1.42907325e-02 -3.59327351e-04 -9.99897818e-01 -1.81814022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.26655999499997 meters 0.016006645311899197 Centerline is valid? [True, True] Translation: X:2.60, Y:-244.67, Z:-1.82 [[-9.95475099e-01 9.38943582e-02 1.46005737e-02 2.60197150e+00] [ 9.38784285e-02 9.95582088e-01 -1.77412092e-03 -2.44667544e+02] [-1.47026496e-02 -3.95414285e-04 -9.99891832e-01 -1.81765835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.29655999499994 meters 0.017226092983074023 Centerline is valid? [True, True] Translation: X:2.69, Y:-244.01, Z:-2.78 [[-9.76161462e-01 -2.16461323e-01 1.59152784e-02 2.68515229e+00] [ 2.16441464e-01 -9.76291047e-01 -2.98054225e-03 -2.44007353e+02] [ 1.61831160e-02 5.35235681e-04 9.99868902e-01 -2.77661138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.32655999499997 meters 0.018358553404200652 Centerline is valid? [True, True] Translation: X:2.55, Y:-244.66, Z:-1.82 [[-9.96178240e-01 8.57055018e-02 1.68369279e-02 2.54808939e+00] [ 8.56843119e-02 9.96320375e-01 -1.97724224e-03 -2.44657325e+02] [-1.69444349e-02 -5.27025108e-04 -9.99856294e-01 -1.81524492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.35655999499994 meters 0.01820093384947509 Centerline is valid? [True, True] Translation: X:2.55, Y:-244.63, Z:-1.82 [[-9.99746442e-01 1.37379873e-02 1.78414990e-02 2.54616020e+00] [ 1.37255775e-02 9.99905465e-01 -8.17827220e-04 -2.44629772e+02] [-1.78510477e-02 -5.72734975e-04 -9.99840493e-01 -1.81526758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.38655999499997 meters 0.018715797346218723 Centerline is valid? [True, True] Translation: X:2.54, Y:-244.60, Z:-1.81 [[-9.98139316e-01 -5.82097441e-02 1.81530110e-02 2.53885683e+00] [-5.82109955e-02 9.98304196e-01 4.59900495e-04 -2.44601568e+02] [-1.81489977e-02 -5.97660075e-04 -9.99835115e-01 -1.81487432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.41655999499994 meters 0.020697375966070145 Centerline is valid? [True, True] Translation: X:2.53, Y:-243.95, Z:-2.78 [[-9.96981624e-01 -7.55818612e-02 1.77488872e-02 2.52583754e+00] [ 7.55798460e-02 -9.97139444e-01 -7.85252203e-04 -2.43945883e+02] [ 1.77574664e-02 5.58576148e-04 9.99842168e-01 -2.77906936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.446559995 meters 0.019384262992264582 Centerline is valid? [True, True] Translation: X:2.47, Y:-244.60, Z:-1.82 [[-9.97806572e-01 -6.39656168e-02 1.70424381e-02 2.46588348e+00] [-6.39660609e-02 9.97951939e-01 5.19610532e-04 -2.44603315e+02] [-1.70407713e-02 -5.71666827e-04 -9.99854632e-01 -1.81559467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.47655999499995 meters 0.01966596272981105 Centerline is valid? [True, True] Translation: X:2.45, Y:-244.58, Z:-1.82 [[-9.90720778e-01 -1.34883205e-01 1.66991358e-02 2.44975396e+00] [-1.34873619e-01 9.90861344e-01 1.70412361e-03 -2.44577187e+02] [-1.67763858e-02 -5.63962211e-04 -9.99859108e-01 -1.81607098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.506559995 meters 0.01894883998447922 Centerline is valid? [True, True] Translation: X:2.44, Y:-244.55, Z:-1.82 [[-9.78729069e-01 -2.04545327e-01 1.58309381e-02 2.44426177e+00] [-2.04527268e-01 9.78856951e-01 2.76877943e-03 -2.44551948e+02] [-1.60625647e-02 -5.27973601e-04 -9.99870849e-01 -1.81705865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.53655999499995 meters 0.01784310258799529 Centerline is valid? [True, True] Translation: X:2.32, Y:-243.90, Z:-2.77 [[-9.97120544e-01 7.43761184e-02 1.47923844e-02 2.32456413e+00] [-7.43618242e-02 -9.97230176e-01 1.51477265e-03 -2.43898354e+02] [ 1.48640750e-02 4.10422243e-04 9.99889439e-01 -2.77443011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.566559995 meters 0.0168581821454987 Centerline is valid? [True, True] Translation: X:2.34, Y:-244.57, Z:-1.82 [[-9.78026695e-01 -2.08018053e-01 1.38663086e-02 2.33585894e+00] [-2.08003291e-01 9.78124894e-01 2.51434184e-03 -2.44574978e+02] [-1.40860101e-02 -4.25144387e-04 -9.99900697e-01 -1.81948743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.59655999499995 meters 0.017832102487399866 Centerline is valid? [True, True] Translation: X:2.31, Y:-244.55, Z:-1.82 [[-9.60931518e-01 -2.76493718e-01 1.27216816e-02 2.31157124e+00] [-2.76474714e-01 9.61015650e-01 3.26398639e-03 -2.44550856e+02] [-1.31282069e-02 -3.80755887e-04 -9.99913749e-01 -1.81921572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.626559995 meters 0.01680103742006746 Centerline is valid? [True, True] Translation: X:2.28, Y:-244.53, Z:-1.82 [[-9.38415712e-01 -3.45299556e-01 1.20070456e-02 2.27637300e+00] [-3.45276255e-01 9.38492452e-01 4.02797987e-03 -2.44534186e+02] [-1.26593813e-02 -3.65828146e-04 -9.99919800e-01 -1.82016334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.65655999499995 meters 0.017238259530570774 Centerline is valid? [True, True] Translation: X:2.22, Y:-244.53, Z:-1.82 [[-9.10652988e-01 -4.13010758e-01 1.15433595e-02 2.21757442e+00] [-4.12982585e-01 9.10726075e-01 4.83752685e-03 -2.44525788e+02] [-1.25107891e-02 -3.61898170e-04 -9.99921672e-01 -1.82008010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.686559995 meters 0.01740583370807821 Centerline is valid? [True, True] Translation: X:2.16, Y:-244.52, Z:-1.82 [[-8.77524960e-01 -4.79399325e-01 1.12352553e-02 2.15513093e+00] [-4.79365368e-01 8.77596804e-01 5.71772931e-03 -2.44523414e+02] [-1.26010997e-02 -3.68342116e-04 -9.99920535e-01 -1.82003329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.71655999499995 meters 0.0173930166210841 Centerline is valid? [True, True] Translation: X:2.08, Y:-244.53, Z:-1.82 [[-8.38654566e-01 -5.44554230e-01 1.09182911e-02 2.08248878e+00] [-5.44514137e-01 8.38725542e-01 6.61963569e-03 -2.44530559e+02] [-1.27622002e-02 -3.93576139e-04 -9.99918482e-01 -1.81973592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.746559995 meters 0.017462066435314883 Centerline is valid? [True, True] Translation: X:2.00, Y:-244.55, Z:-1.82 [[-7.95246054e-01 -6.06197477e-01 1.04083056e-02 2.00190689e+00] [-6.06152118e-01 7.95314062e-01 7.42653565e-03 -2.44549908e+02] [-1.27798189e-02 -4.03093298e-04 -9.99918254e-01 -1.81960724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.77655999499996 meters 0.019470530826126615 Centerline is valid? [True, True] Translation: X:1.92, Y:-244.58, Z:-1.82 [[-7.47201358e-01 -6.64524832e-01 9.84271463e-03 1.91653370e+00] [-6.64474331e-01 7.47266070e-01 8.20267349e-03 -2.44576248e+02] [-1.28060069e-02 -4.11182455e-04 -9.99917915e-01 -1.81833504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.80655999499993 meters 0.018418203537673483 Centerline is valid? [True, True] Translation: X:1.83, Y:-244.61, Z:-1.82 [[-6.94599583e-01 -7.19337727e-01 9.20073057e-03 1.83452573e+00] [-7.19282475e-01 6.94660391e-01 8.92535946e-03 -2.44614233e+02] [-1.28117309e-02 -4.18373299e-04 -9.99917839e-01 -1.81894088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.83655999499996 meters 0.01836625948877276 Centerline is valid? [True, True] Translation: X:1.75, Y:-244.66, Z:-1.82 [[-6.36943262e-01 -7.70865232e-01 8.37107757e-03 1.74900675e+00] [-7.70807433e-01 6.36998121e-01 9.44956659e-03 -2.44662560e+02] [-1.26167030e-02 -4.33651043e-04 -9.99920312e-01 -1.81963282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.86655999499993 meters 0.018891478594911436 Centerline is valid? [True, True] Translation: X:1.67, Y:-244.72, Z:-1.82 [[-5.76067451e-01 -8.17366609e-01 7.62353793e-03 1.66604835e+00] [-8.17304956e-01 5.76117723e-01 1.00487928e-02 -2.44717990e+02] [-1.26056030e-02 -4.41972896e-04 -9.99920449e-01 -1.81959197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.89655999499996 meters 0.020774596710265533 Centerline is valid? [True, True] Translation: X:1.58, Y:-244.79, Z:-1.82 [[-5.11602535e-01 -8.59196487e-01 6.65151028e-03 1.57722192e+00] [-8.59134771e-01 5.11645583e-01 1.03074238e-02 -2.44791253e+02] [-1.22593182e-02 -4.41239599e-04 -9.99924754e-01 -1.81896095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.92655999499993 meters 0.01993229363199263 Centerline is valid? [True, True] Translation: X:1.51, Y:-244.86, Z:-1.82 [[-4.43262762e-01 -8.96372696e-01 5.84071410e-03 1.50708727e+00] [-8.96308062e-01 4.43301003e-01 1.07739984e-02 -2.44855022e+02] [-1.22467124e-02 -4.59366833e-04 -9.99924901e-01 -1.81965173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.95655999499996 meters 0.01994136661023874 Centerline is valid? [True, True] Translation: X:1.43, Y:-244.94, Z:-1.82 [[-3.72576464e-01 -9.27987447e-01 5.10646905e-03 1.43414126e+00] [-9.27917252e-01 3.72611145e-01 1.14240340e-02 -2.44938684e+02] [-1.25040874e-02 -4.82054545e-04 -9.99921705e-01 -1.81982228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.98655999499994 meters 0.021190184978013903 Centerline is valid? [True, True] Translation: X:1.36, Y:-245.03, Z:-1.82 [[-2.99539622e-01 -9.54074787e-01 4.16114293e-03 1.36349298e+00] [-9.54004145e-01 2.99568124e-01 1.16202864e-02 -2.45033951e+02] [-1.23331680e-02 -4.89011414e-04 -9.99923824e-01 -1.81927127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.01655999499997 meters 0.02146741224723446 Centerline is valid? [True, True] Translation: X:1.30, Y:-245.13, Z:-1.82 [[-2.24383570e-01 -9.74495370e-01 3.28429791e-03 1.30443091e+00] [-9.74421657e-01 2.24407029e-01 1.19966764e-02 -2.45127144e+02] [-1.24277251e-02 -5.08433934e-04 -9.99922644e-01 -1.81960189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.04655999499994 meters 0.021686199677458527 Centerline is valid? [True, True] Translation: X:1.25, Y:-245.23, Z:-1.82 [[-1.47356233e-01 -9.89080937e-01 2.24500402e-03 1.25082232e+00] [-9.89012603e-01 1.47372467e-01 1.16373589e-02 -2.45227852e+02] [-1.18411416e-02 -5.05499890e-04 -9.99929764e-01 -1.82021972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.07655999499997 meters 0.02205594065618425 Centerline is valid? [True, True] Translation: X:1.20, Y:-245.34, Z:-1.82 [[-7.09792566e-02 -9.97476974e-01 1.27734456e-03 1.20489901e+00] [-9.97414558e-01 7.09891178e-02 1.11689498e-02 -2.45338055e+02] [-1.12314478e-02 -4.81278303e-04 -9.99936810e-01 -1.82029375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.10655999499994 meters 0.022777575221906432 Centerline is valid? [True, True] Translation: X:1.17, Y:-245.44, Z:-1.82 [[ 5.69731728e-03 -9.99983696e-01 3.84855017e-04 1.16797797e+00] [-9.99929759e-01 -5.69300914e-03 1.03955264e-02 -2.45441875e+02] [-1.03931659e-02 -4.44054596e-04 -9.99945891e-01 -1.82017320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.13655999499997 meters 0.02261078896909702 Centerline is valid? [True, True] Translation: X:1.14, Y:-245.56, Z:-1.82 [[ 8.19974486e-02 -9.96632462e-01 -3.91717575e-04 1.14038415e+00] [-9.96584009e-01 -8.19973281e-02 9.83623190e-03 -2.45555622e+02] [-9.83522782e-03 -4.16166448e-04 -9.99951546e-01 -1.82059637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.16655999499994 meters 0.021569431391047073 Centerline is valid? [True, True] Translation: X:1.12, Y:-245.67, Z:-1.82 [[ 1.57488559e-01 -9.87520378e-01 -9.25758966e-04 1.12247082e+00] [-9.87488854e-01 -1.57490935e-01 7.89733972e-03 -2.45668355e+02] [-7.94458255e-03 -3.29563993e-04 -9.99968387e-01 -1.82261814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.196559995 meters 0.022589785990296627 Centerline is valid? [True, True] Translation: X:1.11, Y:-245.79, Z:-1.82 [[ 2.32894086e-01 -9.72501104e-01 -1.39549763e-03 1.11204517e+00] [-9.72475054e-01 -2.32898071e-01 7.12442093e-03 -2.45792863e+02] [-7.25351593e-03 -3.02148870e-04 -9.99973647e-01 -1.82265292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.22655999499995 meters 0.02241094991017538 Centerline is valid? [True, True] Translation: X:1.11, Y:-245.91, Z:-1.82 [[ 3.07380718e-01 -9.51584759e-01 -1.88200333e-03 1.11020534e+00] [-9.51560552e-01 -3.07386335e-01 6.79394639e-03 -2.45906484e+02] [-7.04351794e-03 -2.97487987e-04 -9.99975150e-01 -1.82281865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.256559995 meters 0.0213145108974812 Centerline is valid? [True, True] Translation: X:1.12, Y:-246.02, Z:-1.82 [[ 3.79343017e-01 -9.25253393e-01 -2.24391771e-03 1.11653446e+00] [-9.25232629e-01 -3.79349552e-01 6.20475801e-03 -2.46018082e+02] [-6.59220257e-03 -2.77585741e-04 -9.99978233e-01 -1.82248301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.28655999499995 meters 0.023590371759461597 Centerline is valid? [True, True] Translation: X:1.13, Y:-246.15, Z:-1.82 [[ 4.48960349e-01 -8.93547507e-01 -2.73089119e-03 1.13457277e+00] [-8.93527022e-01 -4.48968568e-01 6.05698587e-03 -2.46145871e+02] [-6.63828893e-03 -2.79221417e-04 -9.99977927e-01 -1.82161531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.316559995 meters 0.022060592353361965 Centerline is valid? [True, True] Translation: X:1.15, Y:-246.24, Z:-1.82 [[ 5.16174033e-01 -8.56478349e-01 -3.03386378e-03 1.15469158e+00] [-8.56460403e-01 -5.16182880e-01 5.55085881e-03 -2.46244765e+02] [-6.32021893e-03 -2.66824985e-04 -9.99979992e-01 -1.82162710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.34655999499995 meters 0.022192995976363598 Centerline is valid? [True, True] Translation: X:1.18, Y:-246.35, Z:-1.82 [[ 5.80204730e-01 -8.14463290e-01 -3.46691607e-03 1.18371541e+00] [-8.14445897e-01 -5.80215026e-01 5.32954627e-03 -2.46349004e+02] [-6.35227659e-03 -2.68612385e-04 -9.99979788e-01 -1.82127103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.376559995 meters 0.022192995976363598 Centerline is valid? [True, True] Translation: X:1.22, Y:-246.45, Z:-1.82 [[ 6.40684505e-01 -7.67794528e-01 -3.86365367e-03 1.22293150e+00] [-7.67777971e-01 -6.40696099e-01 5.04935509e-03 -2.46452118e+02] [-6.35229504e-03 -2.68615392e-04 -9.99979788e-01 -1.82127019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.40655999499995 meters 0.022302544210821364 Centerline is valid? [True, True] Translation: X:1.27, Y:-246.55, Z:-1.82 [[ 6.97208293e-01 -7.16853931e-01 -4.58666562e-03 1.26791331e+00] [-7.16835620e-01 -6.97223319e-01 5.13191231e-03 -2.46552137e+02] [-6.87676174e-03 -2.90126519e-04 -9.99976313e-01 -1.82043625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.436559995 meters 0.02218810431517481 Centerline is valid? [True, True] Translation: X:1.32, Y:-246.64, Z:-1.82 [[ 7.49562603e-01 -6.61911281e-01 -5.41849134e-03 1.31789809e+00] [-6.61890880e-01 -7.49582121e-01 5.20640214e-03 -2.46644115e+02] [-7.50778054e-03 -3.16074347e-04 -9.99971766e-01 -1.81988004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.46655999499995 meters 0.02167056419645893 Centerline is valid? [True, True] Translation: X:1.32, Y:-246.65, Z:-1.82 [[ 7.98641239e-01 -6.01772812e-01 -6.45396175e-03 1.31819318e+00] [-6.01749605e-01 -7.98667241e-01 5.29631909e-03 -2.46653359e+02] [-8.34174866e-03 -3.46189909e-04 -9.99965147e-01 -1.81893102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.496559995 meters 0.020998916191188093 Centerline is valid? [True, True] Translation: X:1.32, Y:-246.66, Z:-1.82 [[ 8.42911575e-01 -5.38005426e-01 -7.08791256e-03 1.31994170e+00] [-5.37982838e-01 -8.42941301e-01 4.94256480e-03 -2.46662918e+02] [-8.63382092e-03 -3.52969768e-04 -9.99962666e-01 -1.81898613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.52655999499996 meters 0.020928036894369104 Centerline is valid? [True, True] Translation: X:1.32, Y:-246.67, Z:-1.82 [[ 8.82046594e-01 -4.71100906e-01 -7.59888578e-03 1.32131804e+00] [-4.71079929e-01 -8.82079255e-01 4.45971193e-03 -2.46672587e+02] [-8.80379384e-03 -3.53991142e-04 -9.99961183e-01 -1.81877712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.55655999499993 meters 0.0208748440487577 Centerline is valid? [True, True] Translation: X:1.32, Y:-246.68, Z:-1.82 [[ 9.15853025e-01 -4.01442747e-01 -7.54703834e-03 1.32424697e+00] [-4.01426117e-01 -9.15884060e-01 3.66888505e-03 -2.46681752e+02] [-8.38505941e-03 -3.30581179e-04 -9.99964790e-01 -1.81856336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.58655999499996 meters 0.02090983307988861 Centerline is valid? [True, True] Translation: X:1.33, Y:-246.69, Z:-1.82 [[ 9.44064377e-01 -3.29678712e-01 -7.37549572e-03 1.32719888e+00] [-3.29666125e-01 -9.44093139e-01 2.89685540e-03 -2.46689404e+02] [-7.91818646e-03 -3.03366900e-04 -9.99968605e-01 -1.81864280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.61655999499993 meters 0.018442703840587448 Centerline is valid? [True, True] Translation: X:1.33, Y:-246.70, Z:-1.82 [[ 9.66145817e-01 -2.57908529e-01 -6.74166766e-03 1.33186149e+00] [-2.57900453e-01 -9.66169307e-01 2.05601999e-03 -2.46695840e+02] [-7.04385746e-03 -2.47735976e-04 -9.99975161e-01 -1.81950960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.64655999499996 meters 0.016646145945068684 Centerline is valid? [True, True] Translation: X:1.34, Y:-246.70, Z:-1.82 [[ 9.82913916e-01 -1.83969423e-01 -5.95696566e-03 1.33682470e+00] [-1.83964810e-01 -9.82931947e-01 1.31789990e-03 -2.46704854e+02] [-6.09774514e-03 -1.99510094e-04 -9.99981389e-01 -1.81972614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.67655999499993 meters 0.017337935000851925 Centerline is valid? [True, True] Translation: X:1.34, Y:-246.72, Z:-1.82 [[ 9.93995097e-01 -1.09270527e-01 -5.80504484e-03 1.34056669e+00] [-1.09267629e-01 -9.94012033e-01 8.14911202e-04 -2.46716159e+02] [-5.85933020e-03 -1.75714251e-04 -9.99982819e-01 -1.81949385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.70655999499996 meters 0.014440141797310575 Centerline is valid? [True, True] Translation: X:1.34, Y:-246.72, Z:-1.82 [[ 9.99295028e-01 -3.72431232e-02 -4.73250311e-03 1.34256987e+00] [-3.72421705e-02 -9.99306228e-01 2.89304711e-04 -2.46719242e+02] [-4.73999444e-03 -1.12852072e-04 -9.99988760e-01 -1.82035762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.73655999499994 meters 0.013385164242268318 Centerline is valid? [True, True] Translation: X:1.35, Y:-246.73, Z:-1.82 [[ 9.99272386e-01 3.78903947e-02 -4.36079391e-03 1.34530280e+00] [ 3.78904258e-02 -9.99281897e-01 -7.55323380e-05 -2.46726305e+02] [-4.36052437e-03 -8.97549585e-05 -9.99990489e-01 -1.82034327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.76655999499997 meters 0.012838713251540297 Centerline is valid? [True, True] Translation: X:1.35, Y:-246.73, Z:-1.82 [[ 9.93579675e-01 1.13047963e-01 -4.42588751e-03 1.34750050e+00] [ 1.13047191e-01 -9.93589529e-01 -4.24975495e-04 -2.46733632e+02] [-4.44555810e-03 -7.80871367e-05 -9.99990115e-01 -1.82051921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.79655999499994 meters 0.0122141331560899 Centerline is valid? [True, True] Translation: X:1.35, Y:-246.74, Z:-1.82 [[ 9.82215555e-01 1.87700498e-01 -4.59645714e-03 1.35067942e+00] [ 1.87698769e-01 -9.82226307e-01 -8.08466281e-04 -2.46739448e+02] [-4.66651065e-03 -6.86611908e-05 -9.99989109e-01 -1.82005472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.82655999499997 meters 0.011071327877929867 Centerline is valid? [True, True] Translation: X:1.35, Y:-246.75, Z:-1.82 [[ 9.65940794e-01 2.58701449e-01 -5.65177882e-03 1.35403549e+00] [ 2.58697346e-01 -9.65957327e-01 -1.45799368e-03 -2.46745088e+02] [-5.83656224e-03 -5.37646100e-05 -9.99982966e-01 -1.81966680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.85655999499994 meters 0.010740471389331168 Centerline is valid? [True, True] Translation: X:1.36, Y:-246.75, Z:-1.82 [[ 9.43623739e-01 3.30969299e-01 -5.79331714e-03 1.35733033e+00] [ 3.30963320e-01 -9.43641522e-01 -1.98969145e-03 -2.46752385e+02] [-6.12534138e-03 -3.98553879e-05 -9.99981239e-01 -1.81904517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.88655999499997 meters 0.010609931691947898 Centerline is valid? [True, True] Translation: X:1.36, Y:-246.76, Z:-1.82 [[ 9.15809509e-01 4.01566696e-01 -6.09357419e-03 1.36175026e+00] [ 4.01558002e-01 -9.15829781e-01 -2.64244577e-03 -2.46759497e+02] [-6.64179494e-03 -2.69465152e-05 -9.99977943e-01 -1.81881309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.91655999499994 meters 0.010515193637470608 Centerline is valid? [True, True] Translation: X:1.37, Y:-246.76, Z:-1.82 [[ 8.84031092e-01 4.67390300e-01 -5.94435142e-03 1.36570824e+00] [ 4.67379674e-01 -8.84051077e-01 -3.15164395e-03 -2.46764335e+02] [-6.72815809e-03 7.88221956e-06 -9.99977366e-01 -1.81873237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.946559995 meters 0.010639154238000421 Centerline is valid? [True, True] Translation: X:1.37, Y:-246.77, Z:-1.82 [[ 8.46180469e-01 5.32864949e-01 -5.79320957e-03 1.37130532e+00] [ 5.32852247e-01 -8.46200299e-01 -3.67932536e-03 -2.46771240e+02] [-6.86279919e-03 2.64485270e-05 -9.99976450e-01 -1.81888009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.97655999499995 meters 0.010862476056115095 Centerline is valid? [True, True] Translation: X:1.38, Y:-246.78, Z:-1.82 [[ 8.03269589e-01 5.95588567e-01 -5.67685676e-03 1.37603235e+00] [ 5.95573306e-01 -8.03289647e-01 -4.26382806e-03 -2.46777668e+02] [-7.09964751e-03 4.40190716e-05 -9.99974796e-01 -1.81888460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.006559995 meters 0.01141629449952457 Centerline is valid? [True, True] Translation: X:1.38, Y:-246.78, Z:-1.82 [[ 7.57336687e-01 6.53002489e-01 -5.37509610e-03 1.38123360e+00] [ 6.52985298e-01 -7.57355757e-01 -4.73895096e-03 -2.46782352e+02] [-7.16540675e-03 7.91226916e-05 -9.99974325e-01 -1.81944705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.03655999499995 meters 0.011854672783306939 Centerline is valid? [True, True] Translation: X:1.39, Y:-246.79, Z:-1.82 [[ 7.05220452e-01 7.08970956e-01 -4.92921708e-03 1.38633818e+00] [ 7.08952725e-01 -7.05237673e-01 -5.08518056e-03 -2.46787803e+02] [-7.08151491e-03 9.15914587e-05 -9.99974922e-01 -1.81936048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.066559995 meters 0.01217960795501899 Centerline is valid? [True, True] Translation: X:1.39, Y:-246.79, Z:-1.82 [[ 6.49022332e-01 7.60753675e-01 -4.88450799e-03 1.39313172e+00] [ 7.60730798e-01 -6.49040702e-01 -5.90089527e-03 -2.46793674e+02] [-7.65937226e-03 1.14017148e-04 -9.99970660e-01 -1.81970841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.09655999499995 meters 0.01294985576046221 Centerline is valid? [True, True] Translation: X:1.40, Y:-246.80, Z:-1.82 [[ 5.89173087e-01 8.07992580e-01 -4.80249344e-03 1.39863731e+00] [ 8.07963756e-01 -5.89192642e-01 -6.82634338e-03 -2.46799522e+02] [-8.34522860e-03 1.41657163e-04 -9.99965168e-01 -1.81883019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.126559995 meters 0.012901746845999172 Centerline is valid? [True, True] Translation: X:1.41, Y:-246.80, Z:-1.82 [[ 5.24611037e-01 8.51330003e-01 -4.52618561e-03 1.40672035e+00] [ 8.51295713e-01 -5.24630539e-01 -7.64243105e-03 -2.46804574e+02] [-8.88080604e-03 1.56181270e-04 -9.99960553e-01 -1.81874110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.15655999499995 meters 0.012917511580473726 Centerline is valid? [True, True] Translation: X:1.42, Y:-246.81, Z:-1.82 [[ 4.56611507e-01 8.89656794e-01 -4.08904017e-03 1.41619414e+00] [ 8.89617809e-01 -4.56629786e-01 -8.33027260e-03 -2.46809860e+02] [-9.27826115e-03 1.66015368e-04 -9.99956942e-01 -1.81845528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.186559995 meters 0.012914340705165006 Centerline is valid? [True, True] Translation: X:1.42, Y:-246.81, Z:-1.82 [[ 3.84689438e-01 9.23039012e-01 -3.60806281e-03 1.42452307e+00] [ 9.22994282e-01 -3.84706322e-01 -9.08855823e-03 -2.46814420e+02] [-9.77713838e-03 1.66051014e-04 -9.99952189e-01 -1.81822675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.21655999499995 meters 0.01275866668100763 Centerline is valid? [True, True] Translation: X:1.43, Y:-246.82, Z:-1.82 [[ 3.10255642e-01 9.50648549e-01 -2.96186743e-03 1.43325586e+00] [ 9.50600172e-01 -3.10269738e-01 -9.59180829e-03 -2.46817236e+02] [-1.00374165e-02 1.60360953e-04 -9.99949611e-01 -1.81824323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.246559995 meters 0.01239950541884608 Centerline is valid? [True, True] Translation: X:1.44, Y:-246.82, Z:-1.82 [[ 2.33374230e-01 9.72384382e-01 -2.25449038e-03 1.44227180e+00] [ 9.72332666e-01 -2.33385072e-01 -1.00296941e-02 -2.46819897e+02] [-1.02788823e-02 1.48557503e-04 -9.99947160e-01 -1.81808592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.27655999499996 meters 0.011869506376335735 Centerline is valid? [True, True] Translation: X:1.45, Y:-246.82, Z:-1.82 [[ 1.54737851e-01 9.87954441e-01 -1.49018564e-03 1.45327060e+00] [ 9.87900000e-01 -1.54744970e-01 -1.03723103e-02 -2.46821792e+02] [-1.04779687e-02 1.32834609e-04 -9.99945096e-01 -1.81826073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.30655999499993 meters 0.011338514824363459 Centerline is valid? [True, True] Translation: X:1.47, Y:-246.82, Z:-1.82 [[ 7.48009545e-02 9.97198249e-01 -6.85565033e-04 1.46546621e+00] [ 9.97141412e-01 -7.48040110e-02 -1.06473176e-02 -2.46822642e+02] [-1.06687695e-02 1.12824238e-04 -9.99943081e-01 -1.81867751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.33655999499996 meters 0.010704270594706996 Centerline is valid? [True, True] Translation: X:1.48, Y:-246.82, Z:-1.82 [[-7.78699991e-03 9.99969669e-01 1.55480507e-04 1.48056359e+00] [ 9.99908763e-01 7.78824166e-03 -1.10366726e-02 -2.46822721e+02] [-1.10375487e-02 6.95237532e-05 -9.99939082e-01 -1.81852773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.36655999499993 meters 0.010587241491912291 Centerline is valid? [True, True] Translation: X:1.49, Y:-246.82, Z:-1.82 [[-8.82832833e-02 9.96094899e-01 1.00675295e-03 1.49218509e+00] [ 9.96035733e-01 8.82890124e-02 -1.08567366e-02 -2.46822890e+02] [-1.09032251e-02 4.42935578e-05 -9.99940557e-01 -1.81803037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.39655999499996 meters 0.010425589954209828 Centerline is valid? [True, True] Translation: X:1.50, Y:-246.82, Z:-1.82 [[-1.68254717e-01 9.85741706e-01 1.90791394e-03 1.50387994e+00] [ 9.85679695e-01 1.68265532e-01 -1.10566772e-02 -2.46820320e+02] [-1.12200640e-02 2.02539398e-05 -9.99937053e-01 -1.81842611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.42655999499993 meters 0.010366804023635922 Centerline is valid? [True, True] Translation: X:1.51, Y:-246.82, Z:-1.82 [[-2.47338584e-01 9.68925263e-01 2.73117710e-03 1.51432791e+00] [ 9.68865889e-01 2.47353663e-01 -1.07263239e-02 -2.46817751e+02] [-1.10685729e-02 -6.88944241e-06 -9.99938742e-01 -1.81845190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.45655999499996 meters 0.010521620364175243 Centerline is valid? [True, True] Translation: X:1.53, Y:-246.81, Z:-1.82 [[-3.26803049e-01 9.45085756e-01 3.56088489e-03 1.52616278e+00] [ 9.45027728e-01 3.26822444e-01 -1.04729843e-02 -2.46812715e+02] [-1.10616454e-02 -5.74682570e-05 -9.99938817e-01 -1.81894772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.48655999499994 meters 0.010807777161615512 Centerline is valid? [True, True] Translation: X:1.54, Y:-246.81, Z:-1.82 [[-4.02000850e-01 9.15628956e-01 4.35105160e-03 1.53562740e+00] [ 9.15573072e-01 4.02024387e-01 -1.01164048e-02 -2.46808496e+02] [-1.10121020e-02 -8.30976475e-05 -9.99939362e-01 -1.81897876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.51655999499997 meters 0.01092158115736131 Centerline is valid? [True, True] Translation: X:1.55, Y:-246.80, Z:-1.82 [[-4.74606197e-01 8.80184015e-01 5.00577157e-03 1.54580364e+00] [ 8.80132659e-01 4.74632583e-01 -9.50867160e-03 -2.46802164e+02] [-1.07452830e-02 -1.07131424e-04 -9.99942262e-01 -1.81978962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.54655999499994 meters 0.011302719049695457 Centerline is valid? [True, True] Translation: X:1.56, Y:-246.80, Z:-1.82 [[-5.43998114e-01 8.39068681e-01 5.45902941e-03 1.55542891e+00] [ 8.39024101e-01 5.44025489e-01 -8.65012134e-03 -2.46795361e+02] [-1.02278970e-02 -1.25392447e-04 -9.99947686e-01 -1.81982631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.57655999499997 meters 0.012592780651787535 Centerline is valid? [True, True] Translation: X:1.56, Y:-246.79, Z:-1.82 [[-6.11260663e-01 7.91409214e-01 5.64432368e-03 1.56474627e+00] [ 7.91373128e-01 6.11286702e-01 -7.55904991e-03 -2.46787037e+02] [-9.43260176e-03 -1.53783765e-04 -9.99955500e-01 -1.81994420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.60655999499994 meters 0.013146522217318638 Centerline is valid? [True, True] Translation: X:1.57, Y:-246.78, Z:-1.82 [[-6.72610035e-01 7.39971741e-01 6.12885389e-03 1.56840116e+00] [ 7.39938735e-01 6.72637937e-01 -6.99095224e-03 -2.46780561e+02] [-9.29560674e-03 -1.67208236e-04 -9.99956781e-01 -1.82011400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.63655999499997 meters 0.013424168908765986 Centerline is valid? [True, True] Translation: X:1.57, Y:-246.77, Z:-1.82 [[-7.29613277e-01 6.83830311e-01 6.36960974e-03 1.57156873e+00] [ 6.83802145e-01 7.29641059e-01 -6.20896881e-03 -2.46773369e+02] [-8.89340987e-03 -1.74593278e-04 -9.99960438e-01 -1.82064926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.66655999499994 meters 0.01450685541501543 Centerline is valid? [True, True] Translation: X:1.59, Y:-246.75, Z:-1.82 [[-7.77621689e-01 6.28696946e-01 6.68272308e-03 1.59369232e+00] [ 6.28671554e-01 7.77650379e-01 -5.65384850e-03 -2.46752761e+02] [-8.75137942e-03 -1.95317316e-04 -9.99961687e-01 -1.82051781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.696559995 meters 0.01509524870037968 Centerline is valid? [True, True] Translation: X:1.61, Y:-246.73, Z:-1.82 [[-8.20980577e-01 5.70909962e-01 7.25997252e-03 1.60805735e+00] [ 5.70885323e-01 8.21012649e-01 -5.30827611e-03 -2.46727148e+02] [-8.99107698e-03 -2.13379823e-04 -9.99959557e-01 -1.82019915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.72655999499995 meters 0.015051907198508192 Centerline is valid? [True, True] Translation: X:1.62, Y:-246.70, Z:-1.82 [[-8.59951074e-01 5.10316182e-01 7.84500197e-03 1.62294668e+00] [ 5.10292479e-01 8.59986826e-01 -4.92390122e-03 -2.46703039e+02] [-9.25934482e-03 -2.31068639e-04 -9.99957105e-01 -1.82003270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.756559995 meters 0.016116029113881908 Centerline is valid? [True, True] Translation: X:1.63, Y:-246.67, Z:-1.82 [[-8.94659088e-01 4.46666305e-01 8.62139722e-03 1.63248095e+00] [ 4.46642750e-01 8.94700589e-01 -4.59451224e-03 -2.46674531e+02] [-9.76578298e-03 -2.59837563e-04 -9.99952280e-01 -1.81921889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.78655999499995 meters 0.018135810252345477 Centerline is valid? [True, True] Translation: X:1.64, Y:-246.65, Z:-1.82 [[-9.25100288e-01 3.79584798e-01 1.02390953e-02 1.64241930e+00] [ 3.79557594e-01 9.25156891e-01 -4.55628998e-03 -2.46645503e+02] [-1.12022680e-02 -3.28698811e-04 -9.99937199e-01 -1.81769134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.816559995 meters 0.017456471763790338 Centerline is valid? [True, True] Translation: X:1.87, Y:-246.12, Z:-2.77 [[-8.69668664e-01 -4.93527042e-01 1.03669345e-02 1.87236569e+00] [ 4.93497077e-01 -8.69730371e-01 -5.45128797e-03 -2.46121598e+02] [ 1.17067958e-02 3.75237536e-04 9.99931403e-01 -2.77496112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.84655999499995 meters 0.017160314255583894 Centerline is valid? [True, True] Translation: X:1.59, Y:-246.63, Z:-1.82 [[-9.26940341e-01 3.75053869e-01 1.07796195e-02 1.59103516e+00] [ 3.75023968e-01 9.27002948e-01 -4.74950748e-03 -2.46625974e+02] [-1.17740602e-02 -3.59894404e-04 -9.99930619e-01 -1.81818005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.876559995 meters 0.01708573068403887 Centerline is valid? [True, True] Translation: X:1.83, Y:-246.10, Z:-2.77 [[-8.71366008e-01 -4.90522163e-01 1.04541379e-02 1.83187045e+00] [ 4.90491801e-01 -8.71428642e-01 -5.46959448e-03 -2.46102062e+02] [ 1.17929925e-02 3.61650230e-04 9.99930395e-01 -2.77452208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.90655999499995 meters 0.016279717824507604 Centerline is valid? [True, True] Translation: X:1.56, Y:-246.62, Z:-1.82 [[-9.27312204e-01 3.74151327e-01 1.01420283e-02 1.55702835e+00] [ 3.74125296e-01 9.27367613e-01 -4.42418666e-03 -2.46617186e+02] [-1.10607039e-02 -3.08212943e-04 -9.99938781e-01 -1.81893422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.936559995 meters 0.01750163063392392 Centerline is valid? [True, True] Translation: X:1.57, Y:-246.59, Z:-1.82 [[-9.50941183e-01 3.09199608e-01 1.03184031e-02 1.56851818e+00] [ 3.09178140e-01 9.50997120e-01 -3.65462569e-03 -2.46591831e+02] [-1.09427805e-02 -2.85109388e-04 -9.99940085e-01 -1.81845945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.96655999499995 meters 0.014311730115657905 Centerline is valid? [True, True] Translation: X:1.57, Y:-246.57, Z:-1.82 [[-9.69275479e-01 2.45774803e-01 9.98957211e-03 1.57411616e+00] [ 2.45759424e-01 9.69326931e-01 -2.75802094e-03 -2.46573343e+02] [-1.03610133e-02 -2.18250582e-04 -9.99946300e-01 -1.81991686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.996559995 meters 0.013566413859048705 Centerline is valid? [True, True] Translation: X:1.73, Y:-245.99, Z:-2.77 [[-9.37470077e-01 -3.47932181e-01 9.64632305e-03 1.73401424e+00] [ 3.47916017e-01 -9.37519682e-01 -3.36010662e-03 -2.45991068e+02] [ 1.02127070e-02 2.06110881e-04 9.99947828e-01 -2.77286654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.02655999499996 meters 0.012656170677670308 Centerline is valid? [True, True] Translation: X:1.53, Y:-246.57, Z:-1.82 [[-9.68931021e-01 2.47132184e-01 9.91768898e-03 1.52501593e+00] [ 2.47117506e-01 9.68981763e-01 -2.69847074e-03 -2.46567849e+02] [-1.02769387e-02 -1.63797443e-04 -9.99947178e-01 -1.82010617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.05655999499993 meters 0.011948532703906256 Centerline is valid? [True, True] Translation: X:1.69, Y:-245.97, Z:-2.77 [[-9.40636208e-01 -3.39274213e-01 9.82508770e-03 1.69299343e+00] [ 3.39257610e-01 -9.40687503e-01 -3.36085893e-03 -2.45973555e+02] [ 1.03825900e-02 1.71890170e-04 9.99946085e-01 -2.77317711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.08655999499996 meters 0.010415862722783248 Centerline is valid? [True, True] Translation: X:1.48, Y:-246.57, Z:-1.82 [[-9.67636667e-01 2.52143740e-01 1.01397710e-02 1.48478435e+00] [ 2.52129105e-01 9.67689790e-01 -2.71758460e-03 -2.46569922e+02] [-1.04973748e-02 -7.31031282e-05 -9.99944898e-01 -1.82098219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.11655999499993 meters 0.010206653821155185 Centerline is valid? [True, True] Translation: X:1.49, Y:-246.55, Z:-1.82 [[-9.82494793e-01 1.86007016e-01 1.02650900e-02 1.48837680e+00] [ 1.85996443e-01 9.82548415e-01 -1.98361719e-03 -2.46545675e+02] [-1.04549147e-02 -3.96233258e-05 -9.99945345e-01 -1.82111789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.14655999499996 meters 0.010171320835695217 Centerline is valid? [True, True] Translation: X:1.49, Y:-246.52, Z:-1.82 [[-9.92851340e-01 1.18938542e-01 9.99197532e-03 1.48920973e+00] [ 1.18932458e-01 9.92901618e-01 -1.20303240e-03 -2.46520960e+02] [-1.00641354e-02 -6.06214736e-06 -9.99949355e-01 -1.82109738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.17655999499993 meters 0.010395286139312818 Centerline is valid? [True, True] Translation: X:1.49, Y:-246.50, Z:-1.82 [[-9.98501882e-01 5.39712841e-02 9.00508639e-03 1.49164110e+00] [ 5.39695207e-02 9.98542487e-01 -4.38886352e-04 -2.46499399e+02] [-9.01564862e-03 4.77713480e-05 -9.99959357e-01 -1.82220348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.20655999499996 meters 0.01076709088024935 Centerline is valid? [True, True] Translation: X:1.53, Y:-245.83, Z:-2.77 [[-9.94113485e-01 -1.07963977e-01 9.06419792e-03 1.53013646e+00] [ 1.07959108e-01 -9.94154806e-01 -1.02623910e-03 -2.45834713e+02] [ 9.12201278e-03 -4.16354088e-05 9.99958393e-01 -2.77057006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.23655999499994 meters 0.011176484461459937 Centerline is valid? [True, True] Translation: X:1.43, Y:-246.50, Z:-1.82 [[-9.98494583e-01 5.41305064e-02 8.85759745e-03 1.42893374e+00] [ 5.41291725e-02 9.98533865e-01 -3.90423820e-04 -2.46502062e+02] [-8.86574486e-03 8.96183512e-05 -9.99960695e-01 -1.82203133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.26655999499997 meters 0.011569248899844412 Centerline is valid? [True, True] Translation: X:1.46, Y:-245.83, Z:-2.77 [[-9.95004338e-01 -9.94137637e-02 9.12529040e-03 1.46124165e+00] [ 9.94089115e-02 -9.95046179e-01 -9.84908756e-04 -2.45826879e+02] [ 9.17799883e-03 -7.28532997e-05 9.99957879e-01 -2.77110733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.29655999499994 meters 0.011569248899844412 Centerline is valid? [True, True] Translation: X:1.36, Y:-246.50, Z:-1.82 [[-9.98650283e-01 5.11208521e-02 9.17996318e-03 1.36012102e+00] [ 5.11196916e-02 9.98692469e-01 -3.61175064e-04 -2.46501428e+02] [-9.18642367e-03 1.08589307e-04 -9.99957798e-01 -1.82171208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.32655999499997 meters 0.012086958740692624 Centerline is valid? [True, True] Translation: X:1.39, Y:-245.82, Z:-2.77 [[-9.95657583e-01 -9.25729381e-02 9.80964643e-03 1.39103302e+00] [ 9.25677147e-02 -9.95705903e-01 -9.86157102e-04 -2.45820933e+02] [ 9.85881432e-03 -7.38182448e-05 9.99951398e-01 -2.77160106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.35655999499994 meters 0.012303241092338959 Centerline is valid? [True, True] Translation: X:1.29, Y:-246.50, Z:-1.82 [[-9.98759121e-01 4.87014527e-02 1.04109145e-02 1.28873122e+00] [ 4.87003597e-02 9.98813369e-01 -3.58625054e-04 -2.46502960e+02] [-1.04160261e-02 1.48835237e-04 -9.99945741e-01 -1.82084722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.38655999499997 meters 0.011830862884460164 Centerline is valid? [True, True] Translation: X:1.28, Y:-246.47, Z:-1.82 [[-9.99689685e-01 -2.26900222e-02 1.02808881e-02 1.28357758e+00] [-2.26873326e-02 9.99742538e-01 3.78173150e-04 -2.46474241e+02] [-1.02868219e-02 1.44809870e-04 -9.99947079e-01 -1.82111820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.41655999499994 meters 0.01203137516272241 Centerline is valid? [True, True] Translation: X:1.27, Y:-246.45, Z:-1.82 [[-9.95481497e-01 -9.43868838e-02 1.03780938e-02 1.27400061e+00] [-9.43802774e-02 9.95535583e-01 1.12559287e-03 -2.46447225e+02] [-1.04380028e-02 1.41019512e-04 -9.99945513e-01 -1.82073799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.446559995 meters 0.011216474581609058 Centerline is valid? [True, True] Translation: X:1.26, Y:-246.42, Z:-1.82 [[-9.85712545e-01 -1.68135019e-01 1.00694839e-02 1.25598250e+00] [-1.68125127e-01 9.85763970e-01 1.82703497e-03 -2.46420041e+02] [-1.02333230e-02 1.07998035e-04 -9.99947632e-01 -1.82147656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.47655999499995 meters 0.010919796336253057 Centerline is valid? [True, True] Translation: X:1.23, Y:-246.40, Z:-1.82 [[-9.70648233e-01 -2.40312809e-01 9.57922435e-03 1.22876561e+00] [-2.40300217e-01 9.70695496e-01 2.46162977e-03 -2.46396318e+02] [-9.89007110e-03 8.74868972e-05 -9.99951088e-01 -1.82153453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.506559995 meters 0.010573363992770764 Centerline is valid? [True, True] Translation: X:1.18, Y:-246.38, Z:-1.82 [[-9.49992567e-01 -3.12127596e-01 9.51245057e-03 1.18192944e+00] [-3.12111213e-01 9.50040188e-01 3.19875249e-03 -2.46379500e+02] [-1.00356292e-02 6.98486026e-05 -9.99949639e-01 -1.82162895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.53655999499995 meters 0.01017548379105763 Centerline is valid? [True, True] Translation: X:1.11, Y:-246.37, Z:-1.82 [[-9.22755970e-01 -3.85272623e-01 9.29654001e-03 1.11407585e+00] [-3.85252801e-01 9.22802799e-01 3.90811027e-03 -2.46372741e+02] [-1.00845610e-02 2.47140005e-05 -9.99949149e-01 -1.82163339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.566559995 meters 0.010142149355146091 Centerline is valid? [True, True] Translation: X:1.04, Y:-246.37, Z:-1.82 [[-8.90734505e-01 -4.54437992e-01 8.84042689e-03 1.04489555e+00] [-4.54415580e-01 8.90778374e-01 4.51320629e-03 -2.46372616e+02] [-9.92583349e-03 2.84085552e-06 -9.99950738e-01 -1.82073898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.59655999499995 meters 0.010059775326088587 Centerline is valid? [True, True] Translation: X:0.97, Y:-246.38, Z:-1.82 [[-8.53516448e-01 -5.20994821e-01 8.60636040e-03 9.66104293e-01] [-5.20968527e-01 8.53559838e-01 5.23418279e-03 -2.46383106e+02] [-1.00730257e-02 -1.61817979e-05 -9.99949266e-01 -1.82153492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.626559995 meters 0.010161265660465279 Centerline is valid? [True, True] Translation: X:0.88, Y:-246.40, Z:-1.82 [[-8.10355673e-01 -5.85884190e-01 7.96241760e-03 8.83195005e-01] [-5.85856477e-01 8.10394789e-01 5.69859007e-03 -2.46401544e+02] [-9.79141555e-03 -4.69491337e-05 -9.99952062e-01 -1.82165653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.65655999499995 meters 0.010346074800572843 Centerline is valid? [True, True] Translation: X:0.80, Y:-246.43, Z:-1.82 [[-7.63129097e-01 -6.46204225e-01 7.35393852e-03 7.98505660e-01] [-6.46174987e-01 7.63164528e-01 6.14738019e-03 -2.46430510e+02] [-9.58472806e-03 -6.06864330e-05 -9.99954064e-01 -1.82161556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.686559995 meters 0.01040326141801336 Centerline is valid? [True, True] Translation: X:0.71, Y:-246.47, Z:-1.82 [[-7.11432308e-01 -7.02723713e-01 6.59195163e-03 7.13037663e-01] [-7.02694444e-01 7.11462844e-01 6.41408238e-03 -2.46469142e+02] [-9.19725644e-03 -6.89423521e-05 -9.99957702e-01 -1.82230930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.71655999499995 meters 0.010719825805385387 Centerline is valid? [True, True] Translation: X:0.63, Y:-246.52, Z:-1.82 [[-6.55428936e-01 -7.55235604e-01 5.66501617e-03 6.25175596e-01] [-7.55208365e-01 6.55453413e-01 6.41471285e-03 -2.46518820e+02] [-8.55777372e-03 -7.38791810e-05 -9.99963379e-01 -1.82173067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.746559995 meters 0.010748636220207141 Centerline is valid? [True, True] Translation: X:0.54, Y:-246.58, Z:-1.82 [[-5.95030301e-01 -8.03689225e-01 4.75082940e-03 5.36901115e-01] [-8.03664685e-01 5.95049261e-01 6.28101698e-03 -2.46582778e+02] [-7.87496320e-03 -8.06783867e-05 -9.99968989e-01 -1.82295813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.77655999499996 meters 0.010946861519433174 Centerline is valid? [True, True] Translation: X:0.46, Y:-246.65, Z:-1.82 [[-5.31434618e-01 -8.47088861e-01 4.20815168e-03 4.58070699e-01] [-8.47063571e-01 5.31451272e-01 6.54615412e-03 -2.46646550e+02] [-7.78160180e-03 -8.57190708e-05 -9.99969719e-01 -1.82307473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.80655999499993 meters 0.010916507857402433 Centerline is valid? [True, True] Translation: X:0.38, Y:-246.73, Z:-1.82 [[-4.64711388e-01 -8.85454722e-01 3.64168599e-03 3.79597421e-01] [-8.85429035e-01 4.64725648e-01 6.74513679e-03 -2.46725067e+02] [-7.66489810e-03 -8.99126296e-05 -9.99970620e-01 -1.82330039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.83655999499996 meters 0.01112767543800289 Centerline is valid? [True, True] Translation: X:0.31, Y:-246.81, Z:-1.82 [[-3.94822681e-01 -9.18751954e-01 3.14601851e-03 3.06742598e-01] [-9.18724751e-01 3.94835203e-01 7.07065412e-03 -2.46809174e+02] [-7.73833614e-03 -9.86704533e-05 -9.99970054e-01 -1.82298771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.86655999499993 meters 0.011345339942752814 Centerline is valid? [True, True] Translation: X:0.24, Y:-246.90, Z:-1.82 [[-3.22253532e-01 -9.46649402e-01 2.75149945e-03 2.39306728e-01] [-9.46617862e-01 3.22265258e-01 7.72832316e-03 -2.46901498e+02] [-8.20272518e-03 -1.14139087e-04 -9.99966351e-01 -1.82257971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.89655999499996 meters 0.012029909756021391 Centerline is valid? [True, True] Translation: X:0.18, Y:-247.00, Z:-1.82 [[-2.46137956e-01 -9.69231794e-01 2.41595055e-03 1.77483306e-01] [-9.69191044e-01 2.46149765e-01 8.88896443e-03 -2.47000997e+02] [-9.21015260e-03 -1.53606105e-04 -9.99957574e-01 -1.82159525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.92655999499993 meters 0.013579353293450357 Centerline is valid? [True, True] Translation: X:0.12, Y:-247.11, Z:-1.82 [[-1.69698099e-01 -9.85494459e-01 1.79601960e-03 1.21847300e-01] [-9.85449564e-01 1.69707514e-01 9.40836409e-03 -2.47105246e+02] [-9.57668870e-03 -1.73305232e-04 -9.99954128e-01 -1.81976466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.95655999499996 meters 0.013724169811613706 Centerline is valid? [True, True] Translation: X:0.08, Y:-247.21, Z:-1.82 [[-9.18564526e-02 -9.95771627e-01 1.12179490e-03 7.75761953e-02] [-9.95721493e-01 9.18630868e-02 9.99411224e-03 -2.47212837e+02] [-1.00549050e-02 -1.98971599e-04 -9.99949428e-01 -1.81975506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.98655999499994 meters 0.01364249852167764 Centerline is valid? [True, True] Translation: X:0.04, Y:-247.33, Z:-1.82 [[-1.33723420e-02 -9.99910518e-01 3.70012587e-04 4.26777467e-02] [-9.99854423e-01 1.33755120e-02 1.05937755e-02 -2.47325249e+02] [-1.05977767e-02 -2.28295133e-04 -9.99943816e-01 -1.81945434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.01655999499997 meters 0.013190210891001907 Centerline is valid? [True, True] Translation: X:0.02, Y:-247.44, Z:-1.82 [[ 6.38525078e-02 -9.97959246e-01 -4.48360081e-04 1.71686630e-02] [-9.97902169e-01 -6.38536522e-02 1.06757733e-02 -2.47444106e+02] [-1.06826161e-02 -2.34255402e-04 -9.99942912e-01 -1.81980943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.04655999499994 meters 0.013380887339059684 Centerline is valid? [True, True] Translation: X:-0.00, Y:-247.56, Z:-1.82 [[ 1.40700437e-01 -9.90051353e-01 -1.30579427e-03 -5.88147697e-04] [-9.89991090e-01 -1.40706284e-01 1.09262993e-02 -2.47559359e+02] [-1.10013309e-02 -2.44610399e-04 -9.99939454e-01 -1.81963798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.07655999499997 meters 0.013221714957388548 Centerline is valid? [True, True] Translation: X:-0.01, Y:-247.68, Z:-1.82 [[ 2.15716633e-01 -9.76453687e-01 -2.12881062e-03 -7.07517911e-03] [-9.76394772e-01 -2.15727008e-01 1.07287971e-02 -2.47677503e+02] [-1.09354154e-02 -2.35820422e-04 -9.99940179e-01 -1.81971884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.10655999499994 meters 0.01322980145138375 Centerline is valid? [True, True] Translation: X:-0.01, Y:-247.80, Z:-1.82 [[ 2.89371200e-01 -9.57212478e-01 -2.92938497e-03 -5.89102937e-03] [-9.57155223e-01 -2.89385939e-01 1.04717498e-02 -2.47795466e+02] [-1.08714124e-02 -2.26346695e-04 -9.99940879e-01 -1.81961868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.13655999499997 meters 0.013125638465846195 Centerline is valid? [True, True] Translation: X:0.00, Y:-247.91, Z:-1.82 [[ 3.61284032e-01 -9.32448661e-01 -3.65275458e-03 4.45876825e-03] [-9.32394866e-01 -3.61302434e-01 1.00182701e-02 -2.47913307e+02] [-1.06612716e-02 -2.13631395e-04 -9.99943144e-01 -1.81947613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.16655999499994 meters 0.012969606408724386 Centerline is valid? [True, True] Translation: X:0.02, Y:-248.03, Z:-1.82 [[ 4.31219529e-01 -9.02237369e-01 -4.17708725e-03 2.34774171e-02] [-9.02190546e-01 -4.31239715e-01 9.19387824e-03 -2.48028238e+02] [-1.00963864e-02 -1.96051224e-04 -9.99949011e-01 -1.81991327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.196559995 meters 0.012806807589876455 Centerline is valid? [True, True] Translation: X:0.05, Y:-248.14, Z:-1.82 [[ 4.97387785e-01 -8.67515773e-01 -4.66631317e-03 5.10193352e-02] [-8.67474378e-01 -4.97409645e-01 8.47636977e-03 -2.48137796e+02] [-9.67445365e-03 -1.68135669e-04 -9.99953187e-01 -1.81993589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.22655999499995 meters 0.011917550871747496 Centerline is valid? [True, True] Translation: X:0.09, Y:-248.25, Z:-1.82 [[ 5.61710403e-01 -8.27317523e-01 -5.20957454e-03 8.80393396e-02] [-8.27279317e-01 -5.61734539e-01 7.95236849e-03 -2.48246861e+02] [-9.50553175e-03 -1.57154843e-04 -9.99954809e-01 -1.82076479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.256559995 meters 0.012284226708623757 Centerline is valid? [True, True] Translation: X:0.13, Y:-248.35, Z:-1.82 [[ 6.22675243e-01 -7.82458731e-01 -5.82032038e-03 1.27971264e-01] [-7.82422283e-01 -6.22702427e-01 7.55367462e-03 -2.48349533e+02] [-9.53476628e-03 -1.49537823e-04 -9.99954532e-01 -1.82014134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.28655999499995 meters 0.01167155748072163 Centerline is valid? [True, True] Translation: X:0.18, Y:-248.45, Z:-1.82 [[ 6.80118652e-01 -7.33074541e-01 -6.35115514e-03 1.77900467e-01] [-7.33040615e-01 -6.80148291e-01 7.05400139e-03 -2.48448934e+02] [-9.49083614e-03 -1.41903250e-04 -9.99954951e-01 -1.82052200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.316559995 meters 0.011744295416452829 Centerline is valid? [True, True] Translation: X:0.23, Y:-248.54, Z:-1.82 [[ 7.33707398e-01 -6.79428192e-01 -7.12650037e-03 2.32895470e-01] [-6.79394244e-01 -7.33741993e-01 6.79334865e-03 -2.48541333e+02] [-9.84460517e-03 -1.42626823e-04 -9.99951531e-01 -1.82007186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.34655999499995 meters 0.01160900979901418 Centerline is valid? [True, True] Translation: X:0.23, Y:-248.55, Z:-1.82 [[ 7.84365810e-01 -6.20251024e-01 -7.67740442e-03 2.32106746e-01] [-6.20219559e-01 -7.84403370e-01 6.24906721e-03 -2.48547730e+02] [-9.89817224e-03 -1.39878277e-04 -9.99951002e-01 -1.81988825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.376559995 meters 0.01158407051257247 Centerline is valid? [True, True] Translation: X:0.23, Y:-248.55, Z:-1.82 [[ 8.30323137e-01 -5.57219272e-01 -8.37684851e-03 2.31626570e-01] [-5.57189189e-01 -8.30365379e-01 5.79182898e-03 -2.48554125e+02] [-1.01831637e-02 -1.41600178e-04 -9.99948140e-01 -1.81972452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.40655999499995 meters 0.011497666139034956 Centerline is valid? [True, True] Translation: X:0.23, Y:-248.56, Z:-1.82 [[ 8.71419631e-01 -4.90460555e-01 -8.73328514e-03 2.30922731e-01] [-4.90434287e-01 -8.71463381e-01 5.07798872e-03 -2.48559984e+02] [-1.01012914e-02 -1.41956589e-04 -9.99948971e-01 -1.81933071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.436559995 meters 0.011590018444544364 Centerline is valid? [True, True] Translation: X:0.23, Y:-248.57, Z:-1.82 [[ 9.07128135e-01 -4.20764757e-01 -8.69290110e-03 2.30651369e-01] [-4.20743993e-01 -9.07169775e-01 4.18234701e-03 -2.48567162e+02] [-9.64572136e-03 -1.36438732e-04 -9.99953470e-01 -1.81955834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.46655999499995 meters 0.011269684892488642 Centerline is valid? [True, True] Translation: X:0.23, Y:-248.58, Z:-1.82 [[ 9.37287851e-01 -3.48447137e-01 -8.72227928e-03 2.29743066e-01] [-3.48430719e-01 -9.37328424e-01 3.38513713e-03 -2.48575632e+02] [-9.35518163e-03 -1.33737862e-04 -9.99956230e-01 -1.82027472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.496559995 meters 0.011286209518351447 Centerline is valid? [True, True] Translation: X:0.23, Y:-248.58, Z:-1.82 [[ 9.61549564e-01 -2.74493113e-01 -8.71594852e-03 2.28511360e-01] [-2.74480639e-01 -9.61589057e-01 2.61991605e-03 -2.48583884e+02] [-9.10030964e-03 -1.26820018e-04 -9.99958583e-01 -1.82004154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.52655999499996 meters 0.010927703959023852 Centerline is valid? [True, True] Translation: X:0.23, Y:-248.59, Z:-1.82 [[ 9.79700258e-01 -2.00292313e-01 -8.39014621e-03 2.30019103e-01] [-2.00284062e-01 -9.79736178e-01 1.82099129e-03 -2.48589755e+02] [-8.58486034e-03 -1.03613078e-04 -9.99963144e-01 -1.81997558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.55655999499993 meters 0.010691951833417136 Centerline is valid? [True, True] Translation: X:0.23, Y:-248.60, Z:-1.82 [[ 9.92211077e-01 -1.24284513e-01 -8.39869955e-03 2.29067543e-01] [-1.24279288e-01 -9.92246618e-01 1.14312626e-03 -2.48595799e+02] [-8.47565412e-03 -9.04381349e-05 -9.99964077e-01 -1.81991062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.58655999499996 meters 0.010714841775844348 Centerline is valid? [True, True] Translation: X:0.23, Y:-248.60, Z:-1.82 [[ 9.98801936e-01 -4.82935317e-02 -7.90112917e-03 2.25870653e-01] [-4.82914803e-02 -9.98833184e-01 4.50319141e-04 -2.48601738e+02] [-7.91365751e-03 -6.82224059e-05 -9.99968684e-01 -1.81873745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.61655999499993 meters 0.010083043320705897 Centerline is valid? [True, True] Translation: X:0.22, Y:-248.61, Z:-1.82 [[ 9.99573999e-01 2.80009124e-02 -8.23223597e-03 2.24488640e-01] [ 2.80004076e-02 -9.99607896e-01 -1.76597795e-04 -2.48605920e+02] [-8.23395298e-03 -5.39833981e-05 -9.99966099e-01 -1.81970461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.64655999499996 meters 0.0096567273821334 Centerline is valid? [True, True] Translation: X:0.22, Y:-248.61, Z:-1.82 [[ 9.94823694e-01 1.01326623e-01 -7.66382205e-03 2.22118336e-01] [ 1.01323719e-01 -9.94853213e-01 -7.67259285e-04 -2.48608192e+02] [-7.70212178e-03 -1.32392322e-05 -9.99970338e-01 -1.81973547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.67655999499993 meters 0.0096785909010244 Centerline is valid? [True, True] Translation: X:0.22, Y:-248.62, Z:-1.82 [[ 9.84216330e-01 1.76819944e-01 -7.27484449e-03 2.21585085e-01] [ 1.76815091e-01 -9.84243216e-01 -1.31003011e-03 -2.48615215e+02] [-7.39185579e-03 3.05074055e-06 -9.99972680e-01 -1.82058110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.70655999499996 meters 0.009873071651743203 Centerline is valid? [True, True] Translation: X:0.22, Y:-248.62, Z:-1.82 [[ 9.68410140e-01 2.49272508e-01 -6.70958346e-03 2.19950742e-01] [ 2.49266296e-01 -9.68433382e-01 -1.76013291e-03 -2.48620960e+02] [-6.93653735e-03 3.20575427e-05 -9.99975941e-01 -1.82077041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.73655999499994 meters 0.010034894221630546 Centerline is valid? [True, True] Translation: X:0.22, Y:-248.63, Z:-1.82 [[ 9.46355096e-01 3.23069697e-01 -6.16459662e-03 2.18611261e-01] [ 3.23062577e-01 -9.46375174e-01 -2.14521369e-03 -2.48628623e+02] [-6.52707473e-03 3.85834362e-05 -9.99978698e-01 -1.82094277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.76655999499997 meters 0.010110996188261643 Centerline is valid? [True, True] Translation: X:0.22, Y:-248.64, Z:-1.82 [[ 9.18565368e-01 3.95230118e-01 -5.55144113e-03 2.19212059e-01] [ 3.95222623e-01 -9.18582142e-01 -2.43423656e-03 -2.48636174e+02] [-6.06153829e-03 4.19502738e-05 -9.99981628e-01 -1.82105569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.79655999499994 meters 0.010201187776352144 Centerline is valid? [True, True] Translation: X:0.22, Y:-248.65, Z:-1.82 [[ 8.85132124e-01 4.65308126e-01 -5.42869276e-03 2.20413471e-01] [ 4.65299048e-01 -8.85148770e-01 -2.90699133e-03 -2.48645142e+02] [-6.15784741e-03 4.71058373e-05 -9.99981039e-01 -1.82128651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.82655999499997 meters 0.010490273433788336 Centerline is valid? [True, True] Translation: X:0.22, Y:-248.65, Z:-1.82 [[ 8.46655865e-01 5.32113671e-01 -5.37480144e-03 2.21787270e-01] [ 5.32102520e-01 -8.46672923e-01 -3.44529112e-03 -2.48652929e+02] [-6.38398534e-03 5.70305419e-05 -9.99979621e-01 -1.82087721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.85655999499994 meters 0.010750578206912198 Centerline is valid? [True, True] Translation: X:0.22, Y:-248.66, Z:-1.82 [[ 8.02712443e-01 5.96345272e-01 -5.00506169e-03 2.22590875e-01] [ 5.96333217e-01 -8.02728044e-01 -3.79233965e-03 -2.48660293e+02] [-6.27924721e-03 5.94736812e-05 -9.99980284e-01 -1.82042869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.88655999499997 meters 0.010682626886642952 Centerline is valid? [True, True] Translation: X:0.23, Y:-248.67, Z:-1.82 [[ 7.53770754e-01 6.57120287e-01 -4.75176543e-03 2.25066386e-01] [ 6.57106707e-01 -7.53785729e-01 -4.22500428e-03 -2.48667407e+02] [-6.35814899e-03 6.22677227e-05 -9.99979785e-01 -1.82052287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.91655999499994 meters 0.010721351247920634 Centerline is valid? [True, True] Translation: X:0.23, Y:-248.67, Z:-1.82 [[ 7.00277262e-01 7.13857299e-01 -4.41745922e-03 2.27762995e-01] [ 7.13842509e-01 -7.00291191e-01 -4.59566639e-03 -2.48674071e+02] [-6.37415778e-03 6.48705019e-05 -9.99979683e-01 -1.82069059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.946559995 meters 0.011074606073230806 Centerline is valid? [True, True] Translation: X:0.23, Y:-248.68, Z:-1.82 [[ 6.43129505e-01 7.65744914e-01 -4.37789083e-03 2.30920061e-01] [ 7.65726338e-01 -6.43144401e-01 -5.33433971e-03 -2.48680907e+02] [-6.90035948e-03 7.84049425e-05 -9.99976189e-01 -1.81982376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.97655999499995 meters 0.011067060114982635 Centerline is valid? [True, True] Translation: X:0.24, Y:-248.69, Z:-1.82 [[ 5.81472941e-01 8.13555963e-01 -3.98936011e-03 2.35919373e-01] [ 8.13535843e-01 -5.81486620e-01 -5.72212191e-03 -2.48689107e+02] [-6.97502592e-03 8.17716153e-05 -9.99975671e-01 -1.81958529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.006559995 meters 0.011146173395298567 Centerline is valid? [True, True] Translation: X:0.24, Y:-248.70, Z:-1.82 [[ 5.16323349e-01 8.56385973e-01 -3.64201985e-03 2.41776565e-01] [ 8.56363461e-01 -5.16336186e-01 -6.21015788e-03 -2.48696157e+02] [-7.19879874e-03 8.75567946e-05 -9.99974085e-01 -1.81923414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.03655999499995 meters 0.011252779157856595 Centerline is valid? [True, True] Translation: X:0.25, Y:-248.70, Z:-1.82 [[ 4.47310671e-01 8.94372534e-01 -3.30662204e-03 2.47980748e-01] [ 8.94346605e-01 -4.47322883e-01 -6.81085387e-03 -2.48703629e+02] [-7.57056834e-03 8.93014205e-05 -9.99971339e-01 -1.81899262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.066559995 meters 0.011183458173889731 Centerline is valid? [True, True] Translation: X:0.25, Y:-248.71, Z:-1.82 [[ 3.75264834e-01 9.26913456e-01 -2.78391995e-03 2.54868384e-01] [ 9.26886254e-01 -3.75275150e-01 -7.10162243e-03 -2.48710545e+02] [-7.62732536e-03 8.46120225e-05 -9.99970908e-01 -1.81864358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.09655999499995 meters 0.011044274312354217 Centerline is valid? [True, True] Translation: X:0.26, Y:-248.72, Z:-1.82 [[ 3.00475361e-01 9.53786727e-01 -2.33163335e-03 2.63371263e-01] [ 9.53755902e-01 -3.00484396e-01 -7.66856014e-03 -2.48716635e+02] [-8.01479031e-03 8.04043045e-05 -9.99967878e-01 -1.81845630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.126559995 meters 0.010986078188171655 Centerline is valid? [True, True] Translation: X:0.27, Y:-248.72, Z:-1.82 [[ 2.23950626e-01 9.74598938e-01 -1.73972283e-03 2.72119178e-01] [ 9.74566911e-01 -2.23957371e-01 -7.90141054e-03 -2.48722179e+02] [-8.09033007e-03 7.40495295e-05 -9.99967270e-01 -1.81826337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.15655999499995 meters 0.010618510400065475 Centerline is valid? [True, True] Translation: X:0.28, Y:-248.73, Z:-1.82 [[ 1.44353054e-01 9.89525614e-01 -1.12013520e-03 2.84482644e-01] [ 9.89492901e-01 -1.44357390e-01 -8.04631601e-03 -2.48727704e+02] [-8.12373558e-03 5.31444563e-05 -9.99967001e-01 -1.81844831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.186559995 meters 0.010618510400065475 Centerline is valid? [True, True] Translation: X:0.29, Y:-248.73, Z:-1.82 [[ 6.64031021e-02 9.97792760e-01 -4.86427111e-04 2.93876312e-01] [ 9.97759807e-01 -6.64048625e-02 -8.10931111e-03 -2.48732018e+02] [-8.12371304e-03 5.31459931e-05 -9.99967001e-01 -1.81844850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.21655999499995 meters 0.010605190153584198 Centerline is valid? [True, True] Translation: X:0.30, Y:-248.74, Z:-1.82 [[-1.32995574e-02 9.99911546e-01 1.48611606e-04 3.04158320e-01] [ 9.99879416e-01 1.33003214e-02 -8.01596056e-03 -2.48736501e+02] [-8.01722809e-03 4.19849582e-05 -9.99967861e-01 -1.81793653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.246559995 meters 0.010484341159328118 Centerline is valid? [True, True] Translation: X:0.31, Y:-248.74, Z:-1.82 [[-9.29004122e-02 9.95675136e-01 7.33443081e-04 3.12424332e-01] [ 9.95646543e-01 9.29033028e-02 -7.54575475e-03 -2.48739071e+02] [-7.58125967e-03 2.92463411e-05 -9.99971261e-01 -1.81766819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.27655999499996 meters 0.010306114624926775 Centerline is valid? [True, True] Translation: X:0.32, Y:-248.74, Z:-1.82 [[-1.72065752e-01 9.85084544e-01 1.34849210e-03 3.23526130e-01] [ 9.85055133e-01 1.72071035e-01 -7.61204197e-03 -2.48740733e+02] [-7.73054132e-03 1.85673454e-05 -9.99970119e-01 -1.81818852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.30655999499993 meters 0.010351373171555068 Centerline is valid? [True, True] Translation: X:0.34, Y:-248.74, Z:-1.82 [[-2.51516115e-01 9.67851182e-01 1.93219961e-03 3.35225554e-01] [ 9.67822500e-01 2.51523537e-01 -7.45115058e-03 -2.48741611e+02] [-7.69759858e-03 -4.05819022e-06 -9.99970373e-01 -1.81805364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.33655999499996 meters 0.010433579596245846 Centerline is valid? [True, True] Translation: X:0.35, Y:-248.74, Z:-1.82 [[-3.28147463e-01 9.44622834e-01 2.63505619e-03 3.45172861e-01] [ 9.44591950e-01 3.28158043e-01 -7.63853784e-03 -2.48741343e+02] [-8.08025214e-03 -1.75139540e-05 -9.99967354e-01 -1.81776953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.36655999499993 meters 0.010492254880403694 Centerline is valid? [True, True] Translation: X:0.35, Y:-248.74, Z:-1.82 [[-4.02763230e-01 9.15297927e-01 3.38892116e-03 3.54867638e-01] [ 9.15264822e-01 4.02777486e-01 -7.78473100e-03 -2.48740382e+02] [-8.49032929e-03 -3.36430751e-05 -9.99963956e-01 -1.81758277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.39655999499996 meters 0.010920081830387432 Centerline is valid? [True, True] Translation: X:0.37, Y:-248.74, Z:-1.82 [[-4.76856232e-01 8.78970598e-01 4.33846129e-03 3.67190946e-01] [ 8.78932785e-01 4.76875961e-01 -8.15330829e-03 -2.48736899e+02] [-9.23542616e-03 -7.47400031e-05 -9.99957350e-01 -1.81722428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.42655999499993 meters 0.011101715973123764 Centerline is valid? [True, True] Translation: X:0.38, Y:-248.73, Z:-1.82 [[-5.45692750e-01 8.37969977e-01 5.07348088e-03 3.78137316e-01] [ 8.37932170e-01 5.45716327e-01 -7.96051319e-03 -2.48732763e+02] [-9.43935240e-03 -9.27614965e-05 -9.99955444e-01 -1.81718152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.45655999499996 meters 0.011413601405395237 Centerline is valid? [True, True] Translation: X:0.39, Y:-248.73, Z:-1.82 [[-6.10973522e-01 7.91630745e-01 5.66742492e-03 3.88052641e-01] [ 7.91595032e-01 6.10999797e-01 -7.52024710e-03 -2.48727574e+02] [-9.41605429e-03 -1.08366448e-04 -9.99955662e-01 -1.81684052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.48655999499994 meters 0.012107244855014389 Centerline is valid? [True, True] Translation: X:0.40, Y:-248.72, Z:-1.82 [[-6.73136092e-01 7.39490455e-01 6.45510037e-03 3.98073652e-01] [ 7.39454455e-01 6.73167028e-01 -7.29805761e-03 -2.48721928e+02] [-9.74220467e-03 -1.39333246e-04 -9.99952534e-01 -1.81614049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.51655999499997 meters 0.01240677823474609 Centerline is valid? [True, True] Translation: X:0.40, Y:-248.72, Z:-1.82 [[-7.29866146e-01 6.83552336e-01 7.18419321e-03 4.04703645e-01] [ 6.83517115e-01 7.29901487e-01 -6.94072987e-03 -2.48716438e+02] [-9.98810542e-03 -1.55284746e-04 -9.99950106e-01 -1.81585586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.54655999499994 meters 0.012641514250714343 Centerline is valid? [True, True] Translation: X:0.42, Y:-248.70, Z:-1.82 [[-7.77079234e-01 6.29359434e-01 7.38698404e-03 4.24400147e-01] [ 6.29329026e-01 7.77114327e-01 -6.18858960e-03 -2.48695702e+02] [-9.63537838e-03 -1.60180993e-04 -9.99953566e-01 -1.81608226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.57655999499997 meters 0.013805783769129483 Centerline is valid? [True, True] Translation: X:0.44, Y:-248.67, Z:-1.82 [[-8.20293454e-01 5.71888202e-01 7.90781858e-03 4.40759101e-01] [ 5.71859583e-01 8.20331551e-01 -5.72394446e-03 -2.48669918e+02] [-9.76048939e-03 -1.73152336e-04 -9.99952350e-01 -1.81524033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.60655999499994 meters 0.013325126768810988 Centerline is valid? [True, True] Translation: X:0.45, Y:-248.65, Z:-1.82 [[-8.59509285e-01 5.11055341e-01 8.13807510e-03 4.54138493e-01] [ 5.11030387e-01 8.59547791e-01 -5.05362623e-03 -2.48646424e+02] [-9.57774715e-03 -1.84835001e-04 -9.99954115e-01 -1.81668183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.63655999499997 meters 0.013552572540399889 Centerline is valid? [True, True] Translation: X:0.47, Y:-248.62, Z:-1.82 [[-8.93923950e-01 4.48134573e-01 8.68192250e-03 4.69436743e-01] [ 4.48111280e-01 8.93966087e-01 -4.57336645e-03 -2.48622522e+02] [-9.81082791e-03 -1.97774402e-04 -9.99951853e-01 -1.81664362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.66655999499994 meters 0.013879160328474933 Centerline is valid? [True, True] Translation: X:0.48, Y:-248.60, Z:-1.82 [[-9.23718078e-01 3.82967341e-01 8.99599760e-03 4.83697628e-01] [ 3.82947002e-01 9.23761860e-01 -3.95231598e-03 -2.48597911e+02] [-9.82376741e-03 -2.05835406e-04 -9.99951725e-01 -1.81645700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.696559995 meters 0.014394528554120132 Centerline is valid? [True, True] Translation: X:0.75, Y:-247.99, Z:-2.78 [[-8.76054404e-01 -4.82129506e-01 8.93417896e-03 7.53663356e-01] [ 4.82107059e-01 -8.76099930e-01 -4.65793243e-03 -2.47985453e+02] [ 1.00729602e-02 2.26628522e-04 9.99949241e-01 -2.77685240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.72655999499995 meters 0.014837076678035358 Centerline is valid? [True, True] Translation: X:0.44, Y:-248.58, Z:-1.82 [[-9.25952358e-01 3.77518710e-01 9.58412187e-03 4.40316981e-01] [ 3.77495770e-01 9.26001925e-01 -4.16877801e-03 -2.48577491e+02] [-1.04487070e-02 -2.42124360e-04 -9.99945382e-01 -1.81536295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.756559995 meters 0.014911008691243023 Centerline is valid? [True, True] Translation: X:0.44, Y:-248.55, Z:-1.82 [[-9.50519040e-01 3.10514507e-01 9.71055669e-03 4.37464926e-01] [ 3.10495680e-01 9.50568610e-01 -3.42793529e-03 -2.48546573e+02] [-1.02949740e-02 -2.43231859e-04 -9.99946976e-01 -1.81544072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.78655999499995 meters 0.015206662149208478 Centerline is valid? [True, True] Translation: X:0.46, Y:-248.52, Z:-1.82 [[-9.70237935e-01 2.41951991e-01 9.87848025e-03 4.56617211e-01] [ 2.41936858e-01 9.70288191e-01 -2.71723018e-03 -2.48523443e+02] [-1.02424120e-02 -2.46391323e-04 -9.99947515e-01 -1.81507216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.816559995 meters 0.015453748329064172 Centerline is valid? [True, True] Translation: X:0.46, Y:-248.50, Z:-1.82 [[-9.84894275e-01 1.72914231e-01 9.16162847e-03 4.57631307e-01] [ 1.72904659e-01 9.84936861e-01 -1.83276546e-03 -2.48495537e+02] [-9.34053682e-03 -2.20991958e-04 -9.99956352e-01 -1.81583652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.84655999499995 meters 0.015603925691227205 Centerline is valid? [True, True] Translation: X:0.59, Y:-247.84, Z:-2.78 [[-9.58795638e-01 -2.83976691e-01 8.25616567e-03 5.94796837e-01] [ 2.83967538e-01 -9.58831172e-01 -2.28511421e-03 -2.47844889e+02] [ 8.56518817e-03 1.53525506e-04 9.99963306e-01 -2.77653730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.876559995 meters 0.014387869736031844 Centerline is valid? [True, True] Translation: X:0.41, Y:-248.49, Z:-1.82 [[-9.85425423e-01 1.69927442e-01 7.83589743e-03 4.14843175e-01] [ 1.69920599e-01 9.85456560e-01 -1.53578297e-03 -2.48489825e+02] [-7.98290820e-03 -1.81919197e-04 -9.99968120e-01 -1.81792403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.90655999499995 meters 0.015442718275966716 Centerline is valid? [True, True] Translation: X:0.42, Y:-248.46, Z:-1.82 [[-9.94901203e-01 1.00624077e-01 6.81118715e-03 4.16347350e-01] [ 1.00620695e-01 9.94924506e-01 -8.38174292e-04 -2.48460230e+02] [-6.86095753e-03 -1.48554225e-04 -9.99976452e-01 -1.81800775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.936559995 meters 0.014036515168899344 Centerline is valid? [True, True] Translation: X:0.50, Y:-247.80, Z:-2.77 [[-9.77778056e-01 -2.09538326e-01 6.61537326e-03 4.98552426e-01] [ 2.09534482e-01 -9.77800425e-01 -1.27666973e-03 -2.47797604e+02] [ 6.73602603e-03 1.37849168e-04 9.99977303e-01 -2.77421060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.96655999499995 meters 0.013936584063116316 Centerline is valid? [True, True] Translation: X:0.36, Y:-248.46, Z:-1.82 [[-9.95250361e-01 9.70962021e-02 7.00336790e-03 3.62848770e-01] [ 9.70927483e-02 9.95274990e-01 -8.32281817e-04 -2.48456698e+02] [-7.05108832e-03 -1.48352542e-04 -9.99975130e-01 -1.81850075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.996559995 meters 0.01386446654219413 Centerline is valid? [True, True] Translation: X:0.36, Y:-248.43, Z:-1.82 [[-9.99621435e-01 2.64690806e-02 7.50826541e-03 3.63682014e-01] [ 2.64671627e-02 9.99649620e-01 -3.54697778e-04 -2.48428549e+02] [-7.51502319e-03 -1.55841020e-04 -9.99971750e-01 -1.81780546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.02655999499996 meters 0.01392231594884986 Centerline is valid? [True, True] Translation: X:0.40, Y:-247.76, Z:-2.78 [[-9.90858317e-01 -1.34664613e-01 8.07696847e-03 3.96480529e-01] [ 1.34661847e-01 -9.90891214e-01 -8.87798783e-04 -2.47761123e+02] [ 8.12295217e-03 2.07976685e-04 9.99966987e-01 -2.77564484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.05655999499993 meters 0.013705813868553277 Centerline is valid? [True, True] Translation: X:0.30, Y:-248.42, Z:-1.82 [[-9.99707214e-01 2.26221371e-02 8.58631592e-03 2.98725615e-01] [ 2.26198241e-02 9.99744072e-01 -3.66403372e-04 -2.48424570e+02] [-8.59240726e-03 -1.72075139e-04 -9.99963070e-01 -1.81649656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.08655999499996 meters 0.0142658316988766 Centerline is valid? [True, True] Translation: X:0.33, Y:-247.76, Z:-2.78 [[-9.91599362e-01 -1.29086133e-01 8.21438843e-03 3.29385547e-01] [ 1.29082908e-01 -9.91633375e-01 -9.23801337e-04 -2.47759789e+02] [ 8.26491166e-03 1.44296332e-04 9.99965835e-01 -2.77680882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.11655999499993 meters 0.013615461266611853 Centerline is valid? [True, True] Translation: X:0.23, Y:-248.42, Z:-1.82 [[-9.99772264e-01 1.95695727e-02 8.51185797e-03 2.30981615e-01] [ 1.95675190e-02 9.99808485e-01 -3.24496434e-04 -2.48421436e+02] [-8.51657808e-03 -1.57866591e-04 -9.99963721e-01 -1.81694872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.14655999499996 meters 0.013724610669514381 Centerline is valid? [True, True] Translation: X:0.26, Y:-247.76, Z:-2.78 [[-9.92350461e-01 -1.23197000e-01 7.94119939e-03 2.59882011e-01] [ 1.23193972e-01 -9.92382228e-01 -8.71223479e-04 -2.47756906e+02] [ 7.98803727e-03 1.13748875e-04 9.99968089e-01 -2.77582163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.17655999499993 meters 0.013441434312911043 Centerline is valid? [True, True] Translation: X:0.17, Y:-248.42, Z:-1.82 [[-9.99848203e-01 1.56970525e-02 7.56127188e-03 1.68636904e-01] [ 1.56955852e-02 9.99876785e-01 -2.53362784e-04 -2.48418953e+02] [-7.56431727e-03 -1.34645737e-04 -9.99971381e-01 -1.81774395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.20655999499996 meters 0.013421991009207818 Centerline is valid? [True, True] Translation: X:0.19, Y:-247.75, Z:-2.78 [[-9.93019376e-01 -1.17711992e-01 7.51034426e-03 1.91547543e-01] [ 1.17709639e-01 -9.93047768e-01 -7.56090060e-04 -2.47754831e+02] [ 7.54713147e-03 1.33227832e-04 9.99971511e-01 -2.77522373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.23655999499994 meters 0.013193436195585046 Centerline is valid? [True, True] Translation: X:0.10, Y:-248.42, Z:-1.82 [[-9.99893167e-01 1.27927584e-02 7.07108653e-03 1.04125418e-01] [ 1.27916302e-02 9.99918163e-01 -2.04751037e-04 -2.48416056e+02] [-7.07312718e-03 -1.14278439e-04 -9.99974979e-01 -1.81782942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.26655999499997 meters 0.012966052684075642 Centerline is valid? [True, True] Translation: X:0.12, Y:-247.75, Z:-2.77 [[-9.93686360e-01 -1.11965435e-01 7.15253427e-03 1.21800761e-01] [ 1.11963426e-01 -9.93712094e-01 -6.81846876e-04 -2.47753181e+02] [ 7.18390309e-03 1.23280303e-04 9.99974188e-01 -2.77497179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.29655999499994 meters 0.012978447150570614 Centerline is valid? [True, True] Translation: X:0.04, Y:-248.41, Z:-1.82 [[-9.99938206e-01 8.72565432e-03 6.88815344e-03 3.84303200e-02] [ 8.72470773e-03 9.99961925e-01 -1.67459963e-04 -2.48413845e+02] [-6.88935238e-03 -1.07352489e-04 -9.99976262e-01 -1.81807893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.32655999499997 meters 0.013020804463198903 Centerline is valid? [True, True] Translation: X:0.03, Y:-248.38, Z:-1.82 [[-9.98000755e-01 -6.28880329e-02 6.29188377e-03 3.19077693e-02] [-6.28874239e-02 9.98020584e-01 2.94769160e-04 -2.48384762e+02] [-6.29796696e-03 -1.01500518e-04 -9.99980163e-01 -1.81891432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.35655999499994 meters 0.013487218194364861 Centerline is valid? [True, True] Translation: X:0.03, Y:-248.36, Z:-1.82 [[-9.90932483e-01 -1.34216924e-01 6.21550572e-03 2.50568791e-02] [-1.34214940e-01 9.90951970e-01 7.37160119e-04 -2.48355616e+02] [-6.25820700e-03 -1.03737818e-04 -9.99980412e-01 -1.81854456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.38655999499997 meters 0.013518330481915364 Centerline is valid? [True, True] Translation: X:0.00, Y:-248.33, Z:-1.82 [[-9.78713337e-01 -2.05146184e-01 5.93701265e-03 3.41514388e-03] [-2.05143054e-01 9.78731338e-01 1.13795045e-03 -2.48330013e+02] [-6.04418653e-03 -1.04209630e-04 -9.99981728e-01 -1.81875658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.41655999499994 meters 0.01355531284003618 Centerline is valid? [True, True] Translation: X:-0.02, Y:-248.31, Z:-1.82 [[-9.61334460e-01 -2.75325156e-01 5.66692010e-03 -1.75415567e-02] [-2.75321003e-01 9.61351157e-01 1.51565539e-03 -2.48305398e+02] [-5.86519825e-03 -1.03170374e-04 -9.99982794e-01 -1.81886624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.446559995 meters 0.01346680573294702 Centerline is valid? [True, True] Translation: X:-0.06, Y:-248.29, Z:-1.82 [[-9.38658323e-01 -3.44804883e-01 5.49053148e-03 -5.63694567e-02] [-3.44799645e-01 9.38674375e-01 1.90352455e-03 -2.48286016e+02] [-5.81016577e-03 -1.06374144e-04 -9.99983115e-01 -1.81893594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.47655999499995 meters 0.014727233994545659 Centerline is valid? [True, True] Translation: X:-0.12, Y:-248.28, Z:-1.82 [[-9.10654726e-01 -4.13135729e-01 5.18059653e-03 -1.16017033e-01] [-4.13129700e-01 9.10669456e-01 2.23455049e-03 -2.48275583e+02] [-5.64098367e-03 -1.05354321e-04 -9.99984084e-01 -1.81830069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.506559995 meters 0.013569283401573535 Centerline is valid? [True, True] Translation: X:-0.18, Y:-248.28, Z:-1.82 [[-8.77519863e-01 -4.79516540e-01 4.77266730e-03 -1.81968253e-01] [-4.79510083e-01 8.77532835e-01 2.49061547e-03 -2.48277760e+02] [-5.38246358e-03 -1.02977549e-04 -9.99985509e-01 -1.81905548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.53655999499995 meters 0.013758926923547861 Centerline is valid? [True, True] Translation: X:-0.25, Y:-248.28, Z:-1.82 [[-8.39362629e-01 -5.43553782e-01 4.43419913e-03 -2.54850533e-01] [-5.43546830e-01 8.39374336e-01 2.75110751e-03 -2.48284592e+02] [-5.21732785e-03 -1.01018048e-04 -9.99986385e-01 -1.81905286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.566559995 meters 0.014127173155935624 Centerline is valid? [True, True] Translation: X:-0.33, Y:-248.30, Z:-1.82 [[-7.96521589e-01 -6.04595774e-01 4.16032312e-03 -3.33578673e-01] [-6.04588174e-01 7.96532448e-01 3.03294495e-03 -2.48302183e+02] [-5.14753806e-03 -9.94760269e-05 -9.99986746e-01 -1.81868648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.59655999499995 meters 0.01388142864058564 Centerline is valid? [True, True] Translation: X:-0.42, Y:-248.33, Z:-1.82 [[-7.49304594e-01 -6.62214859e-01 3.75573136e-03 -4.15876892e-01] [-6.62207159e-01 7.49314001e-01 3.19474456e-03 -2.48331033e+02] [-4.92982941e-03 -9.32354192e-05 -9.99987844e-01 -1.81854886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.626559995 meters 0.013819666362468619 Centerline is valid? [True, True] Translation: X:-0.50, Y:-248.37, Z:-1.82 [[-6.97732034e-01 -7.16349061e-01 3.74588124e-03 -4.98804219e-01] [-7.16339477e-01 6.97742083e-01 3.70667127e-03 -2.48369012e+02] [-5.26892946e-03 -9.70593223e-05 -9.99986114e-01 -1.81810701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.65655999499995 meters 0.013064476421365328 Centerline is valid? [True, True] Translation: X:-0.58, Y:-248.42, Z:-1.82 [[-6.43511175e-01 -7.65426688e-01 3.91825188e-03 -5.83371026e-01] [-7.65413395e-01 6.43523097e-01 4.51203606e-03 -2.48420034e+02] [-5.97511840e-03 -9.55368463e-05 -9.99982144e-01 -1.81722649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.686559995 meters 0.013067624140267487 Centerline is valid? [True, True] Translation: X:-0.67, Y:-248.48, Z:-1.82 [[-5.84834091e-01 -8.11144686e-01 3.65840605e-03 -6.65225119e-01] [-8.11129757e-01 5.84845527e-01 4.92211135e-03 -2.48477634e+02] [-6.13214688e-03 -8.88234899e-05 -9.99981194e-01 -1.81665726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.71655999499995 meters 0.012457568338423236 Centerline is valid? [True, True] Translation: X:-0.75, Y:-248.55, Z:-1.82 [[-5.22680447e-01 -8.52521632e-01 3.46657463e-03 -7.45028865e-01] [-8.52503953e-01 5.22691936e-01 5.49097652e-03 -2.48547721e+02] [-6.49312687e-03 -8.52425088e-05 -9.99978916e-01 -1.81686604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.746559995 meters 0.012191823303087924 Centerline is valid? [True, True] Translation: X:-0.82, Y:-248.63, Z:-1.82 [[-4.59016390e-01 -8.88422158e-01 3.16585507e-03 -8.21374942e-01] [-8.88402032e-01 4.59027302e-01 5.98038676e-03 -2.48625723e+02] [-6.76632203e-03 -6.74565402e-05 -9.99977106e-01 -1.81629810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.77655999499996 meters 0.01188455002863674 Centerline is valid? [True, True] Translation: X:-0.89, Y:-248.71, Z:-1.82 [[-3.91170228e-01 -9.20314464e-01 2.67200653e-03 -8.91067786e-01] [-9.20293975e-01 3.91179350e-01 6.14130998e-03 -2.48708856e+02] [-6.69717018e-03 -5.67338856e-05 -9.99977572e-01 -1.81657835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.80655999499993 meters 0.011808976716992816 Centerline is valid? [True, True] Translation: X:-0.96, Y:-248.80, Z:-1.82 [[-3.20999331e-01 -9.47076825e-01 2.21763175e-03 -9.56611977e-01] [-9.47055244e-01 3.21006988e-01 6.39368692e-03 -2.48801095e+02] [-6.76718799e-03 -4.78505501e-05 -9.99977101e-01 -1.81652975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.83655999499996 meters 0.011645996886863266 Centerline is valid? [True, True] Translation: X:-1.02, Y:-248.90, Z:-1.82 [[-2.49110410e-01 -9.68473688e-01 1.64885134e-03 -1.01600578e+00] [-9.68453413e-01 2.49115865e-01 6.26676515e-03 -2.48901765e+02] [-6.47995219e-03 -3.57192717e-05 -9.99979004e-01 -1.81695322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.86655999499993 meters 0.011632691136905618 Centerline is valid? [True, True] Translation: X:-1.07, Y:-249.01, Z:-1.82 [[-1.74888393e-01 -9.84587661e-01 1.08991891e-03 -1.06833531e+00] [-9.84569564e-01 1.74891787e-01 5.96958945e-03 -2.49008871e+02] [-6.06820198e-03 -2.90890768e-05 -9.99981588e-01 -1.81717608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.89655999499996 meters 0.011551361889831373 Centerline is valid? [True, True] Translation: X:-1.11, Y:-249.11, Z:-1.82 [[-9.94432272e-02 -9.95043060e-01 5.94335678e-04 -1.11075097e+00] [-9.95026685e-01 9.94450004e-02 5.70862686e-03 -2.49111029e+02] [-5.73943325e-03 -2.36955813e-05 -9.99983529e-01 -1.81780625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.92655999499993 meters 0.011606026078761267 Centerline is valid? [True, True] Translation: X:-1.15, Y:-249.23, Z:-1.82 [[-2.35031537e-02 -9.99723751e-01 1.50422464e-04 -1.14651993e+00] [-9.99708149e-01 2.35036273e-02 5.58536900e-03 -2.49226509e+02] [-5.58736152e-03 -1.91047770e-05 -9.99984390e-01 -1.81792924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.95655999499996 meters 0.011571187041728067 Centerline is valid? [True, True] Translation: X:-1.17, Y:-249.34, Z:-1.82 [[ 5.26258768e-02 -9.98614258e-01 -2.82704795e-04 -1.17341867e+00] [-9.98598250e-01 -5.26266339e-02 5.65451579e-03 -2.49341581e+02] [-5.66155789e-03 -1.52653378e-05 -9.99983973e-01 -1.81825241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.98655999499994 meters 0.011581338732049976 Centerline is valid? [True, True] Translation: X:-1.19, Y:-249.46, Z:-1.82 [[ 1.28706399e-01 -9.91682467e-01 -7.40126833e-04 -1.19128518e+00] [-9.91665475e-01 -1.28708526e-01 5.80526012e-03 -2.49459117e+02] [-5.85223531e-03 -1.32158960e-05 -9.99982876e-01 -1.81833147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.01655999499997 meters 0.011635032871625482 Centerline is valid? [True, True] Translation: X:-1.20, Y:-249.58, Z:-1.82 [[ 2.04442123e-01 -9.78877918e-01 -1.20020832e-03 -1.19973127e+00] [-9.78860670e-01 -2.04445645e-01 5.81101760e-03 -2.49578803e+02] [-5.93365417e-03 -1.31800490e-05 -9.99982396e-01 -1.81849479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.04655999499994 meters 0.011603603911199134 Centerline is valid? [True, True] Translation: X:-1.20, Y:-249.69, Z:-1.82 [[ 2.78925247e-01 -9.60311139e-01 -1.79520606e-03 -1.20070322e+00] [-9.60290915e-01 -2.78931023e-01 6.23243751e-03 -2.49693943e+02] [-6.48581783e-03 -1.44641046e-05 -9.99978967e-01 -1.81851471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.07655999499997 meters 0.0116501925948952 Centerline is valid? [True, True] Translation: X:-1.19, Y:-249.81, Z:-1.82 [[ 3.52127916e-01 -9.35948804e-01 -2.40133552e-03 -1.19159499e+00] [-9.35926673e-01 -3.52136103e-01 6.43646075e-03 -2.49813334e+02] [-6.86979468e-03 -1.89835444e-05 -9.99976403e-01 -1.81790646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.10655999499994 meters 0.0116501925948952 Centerline is valid? [True, True] Translation: X:-1.17, Y:-249.93, Z:-1.82 [[ 4.22816223e-01 -9.06210849e-01 -2.88752111e-03 -1.17388208e+00] [-9.06189410e-01 -4.22826083e-01 6.23349763e-03 -2.49928317e+02] [-6.86978242e-03 -1.89828780e-05 -9.99976403e-01 -1.81790705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.13655999499997 meters 0.011734523217745712 Centerline is valid? [True, True] Translation: X:-1.15, Y:-250.04, Z:-1.82 [[ 4.91151483e-01 -8.71066276e-01 -3.71001927e-03 -1.14926315e+00] [-8.71041064e-01 -4.91165495e-01 6.62729476e-03 -2.50039364e+02] [-7.59504642e-03 -2.34265160e-05 -9.99971157e-01 -1.81760276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.16655999499994 meters 0.011732593641169945 Centerline is valid? [True, True] Translation: X:-1.12, Y:-250.15, Z:-1.82 [[ 5.56709338e-01 -8.30695744e-01 -4.39245791e-03 -1.11706460e+00] [-8.30669477e-01 -5.56726665e-01 6.60601528e-03 -2.50146947e+02] [-7.93298722e-03 -2.89496721e-05 -9.99968533e-01 -1.81777020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.196559995 meters 0.011891329164214245 Centerline is valid? [True, True] Translation: X:-1.08, Y:-250.25, Z:-1.82 [[ 6.19458033e-01 -7.85009169e-01 -5.68776109e-03 -1.07582046e+00] [-7.84975387e-01 -6.19484143e-01 7.28277494e-03 -2.50254922e+02] [-9.24052290e-03 -4.66209800e-05 -9.99957304e-01 -1.81710752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.22655999499995 meters 0.011986017810897814 Centerline is valid? [True, True] Translation: X:-1.03, Y:-250.35, Z:-1.82 [[ 6.77643645e-01 -7.35361329e-01 -6.54262892e-03 -1.03169967e+00] [-7.35326313e-01 -6.77675226e-01 7.17639516e-03 -2.50351453e+02] [-9.71102102e-03 -5.20713678e-05 -9.99952846e-01 -1.81666460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.256559995 meters 0.011987859357629251 Centerline is valid? [True, True] Translation: X:-0.98, Y:-250.44, Z:-1.82 [[ 7.31761930e-01 -6.81521501e-01 -7.27467905e-03 -9.80113001e-01] [-6.81487041e-01 -7.31798087e-01 6.85367747e-03 -2.50444329e+02] [-9.99452477e-03 -5.76607583e-05 -9.99950052e-01 -1.81656369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.28655999499995 meters 0.011963300301461836 Centerline is valid? [True, True] Translation: X:-0.98, Y:-250.46, Z:-1.82 [[ 7.82821622e-01 -6.22196265e-01 -7.88142207e-03 -9.82212848e-01] [-6.22163973e-01 -7.82861293e-01 6.33929343e-03 -2.50455357e+02] [-1.01143450e-02 -5.89990993e-05 -9.99948847e-01 -1.81691663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.316559995 meters 0.012042222733788162 Centerline is valid? [True, True] Translation: X:-0.98, Y:-250.47, Z:-1.82 [[ 8.28940951e-01 -5.59275051e-01 -8.26539492e-03 -9.83520265e-01] [-5.59246576e-01 -8.28982155e-01 5.64392203e-03 -2.50465601e+02] [-1.00083697e-02 -5.60842903e-05 -9.99949914e-01 -1.81695666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.34655999499995 meters 0.011996766651144998 Centerline is valid? [True, True] Translation: X:-0.98, Y:-250.48, Z:-1.82 [[ 8.69763135e-01 -4.93390877e-01 -8.80522602e-03 -9.82931591e-01] [-4.93365021e-01 -8.69807703e-01 5.05125329e-03 -2.50475752e+02] [-1.01510957e-02 -4.92033697e-05 -9.99948475e-01 -1.81736086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.376559995 meters 0.011949111965009852 Centerline is valid? [True, True] Translation: X:-0.98, Y:-250.49, Z:-1.82 [[ 9.05227300e-01 -4.24835419e-01 -8.85450913e-03 -9.81953695e-01] [-4.24814689e-01 -9.05270603e-01 4.19702591e-03 -2.50485691e+02] [-9.79877209e-03 -3.77368932e-05 -9.99951990e-01 -1.81776466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.40655999499995 meters 0.012108824546732939 Centerline is valid? [True, True] Translation: X:-0.98, Y:-250.49, Z:-1.82 [[ 9.34957119e-01 -3.54646885e-01 -8.98740271e-03 -9.80273125e-01] [-3.54630316e-01 -9.35000314e-01 3.42809641e-03 -2.50494279e+02] [-9.61898807e-03 -1.79176734e-05 -9.99953736e-01 -1.81711981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.436559995 meters 0.011906851675934332 Centerline is valid? [True, True] Translation: X:-0.98, Y:-250.50, Z:-1.82 [[ 9.59449144e-01 -2.81737829e-01 -9.00758358e-03 -9.76987609e-01] [-2.81725361e-01 -9.59491425e-01 2.65054890e-03 -2.50503438e+02] [-9.38945910e-03 -5.40213118e-06 -9.99955918e-01 -1.81842117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.46655999499995 meters 0.011958247042268355 Centerline is valid? [True, True] Translation: X:-0.97, Y:-250.51, Z:-1.82 [[ 9.78346902e-01 -2.06761554e-01 -9.32732593e-03 -9.73647272e-01] [-2.06752188e-01 -9.78391363e-01 1.96792351e-03 -2.50513447e+02] [-9.53266605e-03 3.13317389e-06 -9.99954563e-01 -1.81859934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.496559995 meters 0.012005500643807307 Centerline is valid? [True, True] Translation: X:-0.97, Y:-250.52, Z:-1.82 [[ 9.91348457e-01 -1.30883060e-01 -9.89249893e-03 -9.72055406e-01] [-1.30876714e-01 -9.91397813e-01 1.28888806e-03 -2.50521988e+02] [-9.97609542e-03 1.69605669e-05 -9.99950237e-01 -1.81796316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.52655999499996 meters 0.012044757538872172 Centerline is valid? [True, True] Translation: X:-0.97, Y:-250.53, Z:-1.82 [[ 9.98541701e-01 -5.29878344e-02 -1.03325446e-02 -9.70674670e-01] [-5.29851949e-02 -9.98595158e-01 5.29220894e-04 -2.50531140e+02] [-1.03460713e-02 1.90227581e-05 -9.99946478e-01 -1.81829200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.55655999499993 meters 0.01213591791809669 Centerline is valid? [True, True] Translation: X:-0.97, Y:-250.54, Z:-1.82 [[ 9.99618354e-01 2.55226646e-02 -1.05707543e-02 -9.69529364e-01] [ 2.55210487e-02 -9.99674244e-01 -2.87757488e-04 -2.50539500e+02] [-1.05746551e-02 1.78709321e-05 -9.99944087e-01 -1.81746857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.58655999499996 meters 0.012099875715326195 Centerline is valid? [True, True] Translation: X:-0.97, Y:-250.55, Z:-1.82 [[ 9.94500060e-01 1.04136776e-01 -1.11876199e-02 -9.67431670e-01] [ 1.04130029e-01 -9.94562985e-01 -1.18547866e-03 -2.50546386e+02] [-1.12502446e-02 1.39914105e-05 -9.99936714e-01 -1.81746227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.61655999499993 meters 0.012058133828382596 Centerline is valid? [True, True] Translation: X:-0.96, Y:-250.56, Z:-1.82 [[ 9.82980793e-01 1.83318866e-01 -1.19563358e-02 -9.64205081e-01] [ 1.83305370e-01 -9.83053505e-01 -2.22441693e-03 -2.50555867e+02] [-1.21614954e-02 -5.10144149e-06 -9.99926046e-01 -1.81689019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.64655999499996 meters 0.012133156505125347 Centerline is valid? [True, True] Translation: X:-0.96, Y:-250.56, Z:-1.82 [[ 9.65325733e-01 2.60748790e-01 -1.25019075e-02 -9.60773940e-01] [ 2.60727185e-01 -9.65406685e-01 -3.35661418e-03 -2.50563514e+02] [-1.29446581e-02 -1.93610944e-05 -9.99916214e-01 -1.81660562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.67655999499993 meters 0.012261092192942207 Centerline is valid? [True, True] Translation: X:-0.96, Y:-250.57, Z:-1.82 [[ 9.41582671e-01 3.36559462e-01 -1.22394126e-02 -9.57429245e-01] [ 3.36531491e-01 -9.41662215e-01 -4.33913264e-03 -2.50570237e+02] [-1.29857686e-02 -3.32956840e-05 -9.99915681e-01 -1.81592067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.70655999499996 meters 0.0124270361158774 Centerline is valid? [True, True] Translation: X:-0.95, Y:-250.58, Z:-1.82 [[ 9.11301293e-01 4.11558309e-01 -1.22357034e-02 -9.53135534e-01] [ 4.11522224e-01 -9.11383428e-01 -5.45031678e-03 -2.50575783e+02] [-1.33945405e-02 -6.83831413e-05 -9.99910287e-01 -1.81573554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.73655999499994 meters 0.01247197571599817 Centerline is valid? [True, True] Translation: X:-0.95, Y:-250.58, Z:-1.82 [[ 8.75773737e-01 4.82574814e-01 -1.19125866e-02 -9.48894657e-01] [ 4.82531476e-01 -8.75854749e-01 -6.46785732e-03 -2.50580468e+02] [-1.35549206e-02 -8.38184123e-05 -9.99908124e-01 -1.81599746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.76655999499997 meters 0.012558443300171748 Centerline is valid? [True, True] Translation: X:-0.94, Y:-250.58, Z:-1.82 [[ 8.34836698e-01 5.50379561e-01 -1.14028605e-02 -9.43200131e-01] [ 5.50329791e-01 -8.34914564e-01 -7.40219058e-03 -2.50584893e+02] [-1.35944287e-02 -9.57135095e-05 -9.99907587e-01 -1.81629709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.79655999499994 meters 0.012736703276088031 Centerline is valid? [True, True] Translation: X:-0.94, Y:-250.59, Z:-1.82 [[ 7.88634618e-01 6.14775780e-01 -1.03043491e-02 -9.38643178e-01] [ 6.14725026e-01 -7.88701927e-01 -7.90021312e-03 -2.50588484e+02] [-1.29839197e-02 -1.03959694e-04 -9.99915700e-01 -1.81687218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.82655999499997 meters 0.012533196831872997 Centerline is valid? [True, True] Translation: X:-0.93, Y:-250.59, Z:-1.82 [[ 7.38027449e-01 6.74705075e-01 -9.40994195e-03 -9.32185743e-01] [ 6.74652011e-01 -7.38087428e-01 -8.46240657e-03 -2.50593177e+02] [-1.26549885e-02 -1.02947933e-04 -9.99919917e-01 -1.81796943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.85655999499994 meters 0.012745335689682452 Centerline is valid? [True, True] Translation: X:-0.93, Y:-250.60, Z:-1.82 [[ 6.83270640e-01 7.30116867e-01 -8.40201249e-03 -9.25695724e-01] [ 7.30063356e-01 -6.83322290e-01 -8.83994516e-03 -2.50597879e+02] [-1.21954755e-02 -9.39264527e-05 -9.99925628e-01 -1.81706850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.88655999499997 meters 0.012699418809085473 Centerline is valid? [True, True] Translation: X:-0.92, Y:-250.60, Z:-1.82 [[ 6.24323521e-01 7.81127519e-01 -7.74208600e-03 -9.22312957e-01] [ 7.81069236e-01 -6.24371517e-01 -9.54244146e-03 -2.50598341e+02] [-1.22878016e-02 -8.95345495e-05 -9.99924498e-01 -1.81753089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.91655999499994 meters 0.012330577920574107 Centerline is valid? [True, True] Translation: X:-0.92, Y:-250.60, Z:-1.82 [[ 5.62618995e-01 8.26690734e-01 -6.50359050e-03 -9.15873123e-01] [ 8.26636837e-01 -5.62656579e-01 -9.44004195e-03 -2.50600519e+02] [-1.14632832e-02 -6.49605629e-05 -9.99934292e-01 -1.81981273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.946559995 meters 0.012416941444905629 Centerline is valid? [True, True] Translation: X:-0.91, Y:-250.60, Z:-1.82 [[ 4.96852743e-01 8.67816822e-01 -5.59600824e-03 -9.08950190e-01] [ 8.67763005e-01 -4.96884253e-01 -9.66466973e-03 -2.50604012e+02] [-1.11677313e-02 -5.40912589e-05 -9.99937638e-01 -1.82006060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.97655999499995 meters 0.012280712880871167 Centerline is valid? [True, True] Translation: X:-0.90, Y:-250.61, Z:-1.82 [[ 4.28221984e-01 9.03660957e-01 -4.77570467e-03 -9.01644396e-01] [ 9.03605891e-01 -4.28248612e-01 -9.97601918e-03 -2.50606730e+02] [-1.10601279e-02 -4.34041403e-05 -9.99938834e-01 -1.82048868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.006559995 meters 0.012301075922004839 Centerline is valid? [True, True] Translation: X:-0.90, Y:-250.61, Z:-1.82 [[ 3.57887678e-01 9.33755744e-01 -4.07679583e-03 -8.96175043e-01] [ 9.33695898e-01 -3.57910896e-01 -1.05716683e-02 -2.50609227e+02] [-1.13304857e-02 -2.30177084e-05 -9.99935808e-01 -1.82000653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.03655999499995 meters 0.012285167293877717 Centerline is valid? [True, True] Translation: X:-0.89, Y:-250.61, Z:-1.82 [[ 2.84641784e-01 9.58628008e-01 -3.37605114e-03 -8.88844867e-01] [ 9.58561088e-01 -2.84661804e-01 -1.13268360e-02 -2.50610667e+02] [-1.18192551e-02 -1.20604434e-05 -9.99930150e-01 -1.81980617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.066559995 meters 0.012318496138316133 Centerline is valid? [True, True] Translation: X:-0.88, Y:-250.61, Z:-1.82 [[ 2.09805692e-01 9.77739527e-01 -2.64347375e-03 -8.80918829e-01] [ 9.77661861e-01 -2.09822345e-01 -1.23235178e-02 -2.50612643e+02] [-1.26038503e-02 1.12071545e-06 -9.99920568e-01 -1.81940684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.09655999499995 meters 0.01250209326886388 Centerline is valid? [True, True] Translation: X:-0.87, Y:-250.61, Z:-1.82 [[ 1.33523166e-01 9.91044119e-01 -1.76607473e-03 -8.73827104e-01] [ 9.90956046e-01 -1.33534844e-01 -1.32121500e-02 -2.50614229e+02] [-1.33296561e-02 1.40256674e-05 -9.99911156e-01 -1.81855729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.126559995 meters 0.012543250337806754 Centerline is valid? [True, True] Translation: X:-0.87, Y:-250.62, Z:-1.82 [[ 5.77118501e-02 9.98332966e-01 -7.94728958e-04 -8.67091402e-01] [ 9.98226651e-01 -5.77173022e-02 -1.45693893e-02 -2.50615067e+02] [-1.45909712e-02 4.75067822e-05 -9.99893545e-01 -1.81825051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.15655999499995 meters 0.012648015989120725 Centerline is valid? [True, True] Translation: X:-0.86, Y:-250.62, Z:-1.82 [[-1.99166839e-02 9.99801578e-01 3.62151993e-04 -8.59731221e-01] [ 9.99686808e-01 1.99198849e-02 -1.51487506e-02 -2.50616544e+02] [-1.51529588e-02 6.03256921e-05 -9.99885186e-01 -1.81798286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.186559995 meters 0.012697835004933856 Centerline is valid? [True, True] Translation: X:-0.85, Y:-250.62, Z:-1.82 [[-9.73416688e-02 9.95249800e-01 1.56059853e-03 -8.51848295e-01] [ 9.95133632e-01 9.73541506e-02 -1.52060701e-02 -2.50616308e+02] [-1.52857689e-02 7.28198482e-05 -9.99883163e-01 -1.81822519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.21655999499995 meters 0.013686145929599753 Centerline is valid? [True, True] Translation: X:-0.85, Y:-250.62, Z:-1.81 [[-1.74259830e-01 9.84695964e-01 2.71466281e-03 -8.46047141e-01] [ 9.84583830e-01 1.74280954e-01 -1.48603802e-02 -2.50616734e+02] [-1.51060704e-02 8.32457805e-05 -9.99885893e-01 -1.81424621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.246559995 meters 0.012868282006928449 Centerline is valid? [True, True] Translation: X:-0.84, Y:-250.62, Z:-1.82 [[-2.50252978e-01 9.68173020e-01 3.80145288e-03 -8.39115395e-01] [ 9.68066817e-01 2.50281832e-01 -1.43402303e-02 -2.50616347e+02] [-1.48352587e-02 9.13750574e-05 -9.99889947e-01 -1.81847947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.27655999499996 meters 0.012822432455618649 Centerline is valid? [True, True] Translation: X:-0.83, Y:-250.61, Z:-1.82 [[-3.25341964e-01 9.45584672e-01 4.71528405e-03 -8.32544756e-01] [ 9.45489228e-01 3.25376121e-01 -1.34350287e-02 -2.50614945e+02] [-1.42381980e-02 8.72716554e-05 -9.99898628e-01 -1.81939960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.30655999499993 meters 0.01273098718387298 Centerline is valid? [True, True] Translation: X:-0.82, Y:-250.61, Z:-1.82 [[-3.98420785e-01 9.17185742e-01 5.58501142e-03 -8.24851507e-01] [ 9.17098600e-01 3.98459920e-01 -1.26432186e-02 -2.50612466e+02] [-1.38215830e-02 8.46850765e-05 -9.99904474e-01 -1.82030844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.33655999499996 meters 0.012486923875251885 Centerline is valid? [True, True] Translation: X:-0.82, Y:-250.61, Z:-1.82 [[-4.69927881e-01 8.82683851e-01 6.08333109e-03 -8.16069232e-01] [ 8.82611686e-01 4.69967250e-01 -1.12869656e-02 -2.50609015e+02] [-1.28217887e-02 6.51592685e-05 -9.99917795e-01 -1.82177374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.36655999499993 meters 0.012522370332742519 Centerline is valid? [True, True] Translation: X:-0.81, Y:-250.61, Z:-1.82 [[-5.38596515e-01 8.42535651e-01 6.88982486e-03 -8.07062268e-01] [ 8.42467902e-01 5.38640579e-01 -1.06846329e-02 -2.50605844e+02] [-1.27133234e-02 4.97502689e-05 -9.99919181e-01 -1.82184758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.39655999499996 meters 0.012396504196469413 Centerline is valid? [True, True] Translation: X:-0.80, Y:-250.60, Z:-1.82 [[-6.03971174e-01 7.96969245e-01 7.67095673e-03 -7.98312780e-01] [ 7.96905657e-01 6.04019885e-01 -1.00674263e-02 -2.50600398e+02] [-1.26568395e-02 3.25935437e-05 -9.99919899e-01 -1.82208222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.42655999499993 meters 0.012432449094925082 Centerline is valid? [True, True] Translation: X:-0.79, Y:-250.60, Z:-1.82 [[-6.65586036e-01 7.46272064e-01 8.55774427e-03 -7.89982828e-01] [ 7.46210674e-01 6.65641049e-01 -9.57200847e-03 -2.50595579e+02] [-1.28397084e-02 1.48849496e-05 -9.99917568e-01 -1.82189671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.45655999499996 meters 0.012432656720198061 Centerline is valid? [True, True] Translation: X:-0.78, Y:-250.59, Z:-1.82 [[-7.24413747e-01 6.89295377e-01 9.82881033e-03 -7.81817216e-01] [ 6.89231333e-01 7.24480422e-01 -9.39615315e-03 -2.50590236e+02] [-1.35975056e-02 -3.23784653e-05 -9.99907549e-01 -1.82146186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.48655999499994 meters 0.012388761700892415 Centerline is valid? [True, True] Translation: X:-0.76, Y:-250.57, Z:-1.82 [[-7.72560836e-01 6.34849139e-01 1.07854395e-02 -7.62012417e-01] [ 6.34786197e-01 7.72636116e-01 -8.93960970e-03 -2.50569280e+02] [-1.40085236e-02 -5.99442117e-05 -9.99901874e-01 -1.82202019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.51655999499997 meters 0.012563187677169864 Centerline is valid? [True, True] Translation: X:-0.74, Y:-250.55, Z:-1.82 [[-8.16604233e-01 5.77081518e-01 1.15951532e-02 -7.44510882e-01] [ 5.77021839e-01 8.16686546e-01 -8.29963518e-03 -2.50546096e+02] [-1.42591717e-02 -8.68605845e-05 -9.99898329e-01 -1.82135463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.54655999499994 meters 0.01291560844406286 Centerline is valid? [True, True] Translation: X:-0.36, Y:-250.01, Z:-2.77 [[-7.66393014e-01 -6.42267077e-01 1.16081993e-02 -3.58351115e-01] [ 6.42196170e-01 -7.66480908e-01 -9.54446418e-03 -2.50009950e+02] [ 1.50275583e-02 1.39930487e-04 9.99887070e-01 -2.77183051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.57655999499997 meters 0.012944449586391927 Centerline is valid? [True, True] Translation: X:-0.78, Y:-250.52, Z:-1.82 [[-8.20639567e-01 5.71314445e-01 1.22680823e-02 -7.81704552e-01] [ 5.71247984e-01 8.20731250e-01 -8.71531355e-03 -2.50518125e+02] [-1.50479831e-02 -1.44013830e-04 -9.99886762e-01 -1.82111067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.60655999499994 meters 0.01303758060720898 Centerline is valid? [True, True] Translation: X:-0.76, Y:-250.50, Z:-1.82 [[-8.59249284e-01 5.11399024e-01 1.27163328e-02 -7.64992141e-01] [ 5.11340470e-01 8.59343363e-01 -7.73999906e-03 -2.50495744e+02] [-1.48859242e-02 -1.48213069e-04 -9.99889188e-01 -1.82102240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.63655999499997 meters 0.01306693466546238 Centerline is valid? [True, True] Translation: X:-0.75, Y:-250.47, Z:-1.82 [[-8.93295011e-01 4.49281015e-01 1.30611305e-02 -7.51854032e-01] [ 4.49230607e-01 8.93390479e-01 -6.73157356e-03 -2.50471577e+02] [-1.46930579e-02 -1.45821476e-04 -9.99892041e-01 -1.82071943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.66655999499994 meters 0.012813297192254188 Centerline is valid? [True, True] Translation: X:-0.45, Y:-249.89, Z:-2.77 [[-8.51674402e-01 -5.23946866e-01 1.14190532e-02 -4.46336265e-01] [ 5.23900627e-01 -8.51750949e-01 -6.96089912e-03 -2.49885602e+02] [ 1.33733307e-02 5.40295461e-05 9.99910572e-01 -2.77175192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.696559995 meters 0.012732113237248481 Centerline is valid? [True, True] Translation: X:-0.80, Y:-250.45, Z:-1.82 [[-8.93638030e-01 4.48647235e-01 1.12574322e-02 -7.98080609e-01] [ 4.48610386e-01 8.93708929e-01 -5.75073886e-03 -2.50452413e+02] [-1.26409207e-02 -8.88779554e-05 -9.99920096e-01 -1.82103232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.72655999499995 meters 0.012545336521986127 Centerline is valid? [True, True] Translation: X:-0.78, Y:-250.43, Z:-1.82 [[-9.22525822e-01 3.85762957e-01 1.15346357e-02 -7.79580667e-01] [ 3.85731896e-01 9.22597928e-01 -4.89576377e-03 -2.50432509e+02] [-1.25304353e-02 -6.71916028e-05 -9.99921489e-01 -1.82102740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.756559995 meters 0.012421182801619458 Centerline is valid? [True, True] Translation: X:-0.51, Y:-249.81, Z:-2.77 [[-8.91361311e-01 -4.53162295e-01 1.09063172e-02 -5.13061503e-01] [ 4.53129020e-01 -8.91428030e-01 -5.49166680e-03 -2.49813812e+02] [ 1.22108131e-02 4.69094935e-05 9.99925444e-01 -2.77245309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.78655999499995 meters 0.012463654921506214 Centerline is valid? [True, True] Translation: X:-0.82, Y:-250.42, Z:-1.82 [[-9.21680791e-01 3.87778123e-01 1.15172871e-02 -8.24499152e-01] [ 3.87747938e-01 9.21752748e-01 -4.83830486e-03 -2.50421854e+02] [-1.24922798e-02 6.43167947e-06 -9.99921968e-01 -1.82008490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.816559995 meters 0.012455936376632174 Centerline is valid? [True, True] Translation: X:-0.81, Y:-250.40, Z:-1.82 [[-9.46116750e-01 3.23609156e-01 1.18410109e-02 -8.12462099e-01] [ 3.23584277e-01 9.46190844e-01 -4.01279685e-03 -2.50399065e+02] [-1.25024339e-02 3.49906389e-05 -9.99921841e-01 -1.82048084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.84655999499995 meters 0.012973527354178982 Centerline is valid? [True, True] Translation: X:-0.79, Y:-250.38, Z:-1.82 [[-9.65300844e-01 2.60848158e-01 1.23498695e-02 -7.94146426e-01] [ 2.60828011e-01 9.65379837e-01 -3.24314701e-03 -2.50380219e+02] [-1.27682839e-02 9.05793602e-05 -9.99918478e-01 -1.81996873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.876559995 meters 0.013125504776317558 Centerline is valid? [True, True] Translation: X:-0.79, Y:-250.35, Z:-1.82 [[-9.80952517e-01 1.93849888e-01 1.24249824e-02 -7.93431688e-01] [ 1.93835853e-01 9.81031196e-01 -2.33561841e-03 -2.50353883e+02] [-1.26420547e-02 1.17276292e-04 -9.99920079e-01 -1.82067038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.90655999499995 meters 0.013670251237120087 Centerline is valid? [True, True] Translation: X:-0.65, Y:-249.66, Z:-2.77 [[-9.70821120e-01 -2.39493634e-01 1.22127750e-02 -6.51275687e-01] [ 2.39473142e-01 -9.70897927e-01 -3.13517953e-03 -2.49663960e+02] [ 1.26082134e-02 -1.19066911e-04 9.99920506e-01 -2.77247529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.936559995 meters 0.01425076526768433 Centerline is valid? [True, True] Translation: X:-0.84, Y:-250.35, Z:-1.82 [[-9.80908815e-01 1.94073715e-01 1.23810448e-02 -8.44008817e-01] [ 1.94060437e-01 9.80986934e-01 -2.27647333e-03 -2.50350894e+02] [-1.25874468e-02 1.69658206e-04 -9.99920761e-01 -1.82060363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.96655999499995 meters 0.013901956076900517 Centerline is valid? [True, True] Translation: X:-0.84, Y:-250.32, Z:-1.82 [[-9.92001912e-01 1.25608194e-01 1.24414238e-02 -8.35350813e-01] [ 1.25600716e-01 9.92079909e-01 -1.38365180e-03 -2.50324458e+02] [-1.25166846e-02 1.90066506e-04 -9.99921645e-01 -1.82164124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.996559995 meters 0.013901956076900517 Centerline is valid? [True, True] Translation: X:-0.75, Y:-249.62, Z:-2.77 [[-9.86682127e-01 -1.62193643e-01 1.23126875e-02 -7.52740518e-01] [ 1.62178605e-01 -9.86758930e-01 -2.21681525e-03 -2.49615361e+02] [ 1.25092077e-02 -1.90437516e-04 9.99921739e-01 -2.77129432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.02655999499996 meters 0.015127196041770393 Centerline is valid? [True, True] Translation: X:-0.90, Y:-250.32, Z:-1.82 [[-9.92201295e-01 1.24046383e-01 1.22100489e-02 -8.98738016e-01] [ 1.24039766e-01 9.92276395e-01 -1.30071763e-03 -2.50321971e+02] [-1.22770926e-02 2.23957887e-04 -9.99924609e-01 -1.82087902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.05655999499993 meters 0.015211748365041005 Centerline is valid? [True, True] Translation: X:-0.82, Y:-249.60, Z:-2.77 [[-9.88056352e-01 -1.53633296e-01 1.18935442e-02 -8.17441434e-01] [ 1.53619321e-01 -9.88127905e-01 -2.08528078e-03 -2.49603007e+02] [ 1.20727115e-02 -2.33296737e-04 9.99927095e-01 -2.77177643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.08655999499996 meters 0.015698236792934743 Centerline is valid? [True, True] Translation: X:-0.96, Y:-250.32, Z:-1.82 [[-9.92522866e-01 1.21493347e-01 1.17357196e-02 -9.64212077e-01] [ 1.21487695e-01 9.92592217e-01 -1.19602121e-03 -2.50317996e+02] [-1.17940926e-02 2.38667125e-04 -9.99930419e-01 -1.82097665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.11655999499993 meters 0.015192487491598355 Centerline is valid? [True, True] Translation: X:-0.97, Y:-250.29, Z:-1.82 [[-9.98609263e-01 5.13575025e-02 1.19141347e-02 -9.69959409e-01] [ 5.13568316e-02 9.98680301e-01 -3.62458037e-04 -2.50290025e+02] [-1.19170266e-02 2.49918256e-04 -9.99928959e-01 -1.82195792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.14655999499996 meters 0.015609843217809987 Centerline is valid? [True, True] Translation: X:-0.97, Y:-250.26, Z:-1.82 [[-9.99722605e-01 -2.01945435e-02 1.21199461e-02 -9.68259348e-01] [-2.01900205e-02 9.99796038e-01 4.95441540e-04 -2.50263463e+02] [-1.21274793e-02 2.50602147e-04 -9.99926428e-01 -1.82146152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.17655999499993 meters 0.015474111051176595 Centerline is valid? [True, True] Translation: X:-0.98, Y:-250.24, Z:-1.82 [[-9.95684096e-01 -9.20363551e-02 1.19368928e-02 -9.75774530e-01] [-9.20268416e-02 9.95755618e-01 1.34499520e-03 -2.50235954e+02] [-1.20100165e-02 2.40675787e-04 -9.99927848e-01 -1.82169993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.20655999499996 meters 0.01508656581400954 Centerline is valid? [True, True] Translation: X:-1.00, Y:-250.21, Z:-1.82 [[-9.86142656e-01 -1.65490268e-01 1.16461870e-02 -9.96436510e-01] [-1.65476237e-01 9.86211401e-01 2.16494808e-03 -2.50210333e+02] [-1.18438802e-02 2.07780450e-04 -9.99929837e-01 -1.82217736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.23655999499994 meters 0.014566420930902086 Centerline is valid? [True, True] Translation: X:-1.03, Y:-250.19, Z:-1.82 [[-9.71227666e-01 -2.37882497e-01 1.13462982e-02 -1.02592045e+00] [-2.37864014e-01 9.71293922e-01 2.97120830e-03 -2.50186689e+02] [-1.17273890e-02 1.86843662e-04 -9.99931214e-01 -1.82236070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.26655999499997 meters 0.013747905537888135 Centerline is valid? [True, True] Translation: X:-1.08, Y:-250.17, Z:-1.82 [[-9.50602947e-01 -3.10219055e-01 1.08708474e-02 -1.08091599e+00] [-3.10196859e-01 9.50665090e-01 3.71427622e-03 -2.50171617e+02] [-1.14867744e-02 1.58699202e-04 -9.99934012e-01 -1.82329202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.29655999499994 meters 0.013373576297144594 Centerline is valid? [True, True] Translation: X:-1.14, Y:-250.16, Z:-1.82 [[-9.24252168e-01 -3.81639431e-01 1.04534368e-02 -1.14437471e+00] [-3.81613429e-01 9.24311272e-01 4.45679839e-03 -2.50164208e+02] [-1.13631194e-02 1.30033723e-04 -9.99935429e-01 -1.82324641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.32655999499997 meters 0.012873691874305435 Centerline is valid? [True, True] Translation: X:-1.22, Y:-250.17, Z:-1.82 [[-8.91250003e-01 -4.53404460e-01 9.89076442e-03 -1.21985166e+00] [-4.53375636e-01 8.91304881e-01 5.11297432e-03 -2.50165281e+02] [-1.11339320e-02 7.27067648e-05 -9.99938013e-01 -1.82278606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.35655999499994 meters 0.01269360842553606 Centerline is valid? [True, True] Translation: X:-1.30, Y:-250.18, Z:-1.82 [[-8.53598307e-01 -5.20836809e-01 9.94731958e-03 -1.30092654e+00] [-5.20800836e-01 8.53656264e-01 6.12145025e-03 -2.50176958e+02] [-1.16798683e-02 4.46872098e-05 -9.99931787e-01 -1.82257365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.38655999499997 meters 0.012545256279336755 Centerline is valid? [True, True] Translation: X:-1.39, Y:-250.20, Z:-1.82 [[-8.10514286e-01 -5.85637162e-01 9.78292424e-03 -1.38545559e+00] [-5.85594314e-01 8.10573324e-01 7.08421500e-03 -2.50197466e+02] [-1.20785570e-02 1.30326585e-05 -9.99927052e-01 -1.82259737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.41655999499994 meters 0.012600908268589745 Centerline is valid? [True, True] Translation: X:-1.48, Y:-250.23, Z:-1.82 [[-7.62341274e-01 -6.47107464e-01 9.36553101e-03 -1.47560309e+00] [-6.47058975e-01 7.62398800e-01 7.92165384e-03 -2.50230150e+02] [-1.22664309e-02 -2.10472183e-05 -9.99924764e-01 -1.82168337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.446559995 meters 0.013032154985171407 Centerline is valid? [True, True] Translation: X:-1.57, Y:-250.27, Z:-1.82 [[-7.07111649e-01 -7.07043897e-01 9.05783736e-03 -1.56611109e+00] [-7.06987650e-01 7.07169654e-01 8.91874667e-03 -2.50268872e+02] [-1.27113731e-02 -9.72294813e-05 -9.99919203e-01 -1.82091262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.47655999499995 meters 0.013470432340371345 Centerline is valid? [True, True] Translation: X:-1.66, Y:-250.32, Z:-1.82 [[-6.49127503e-01 -7.60629889e-01 8.69806510e-03 -1.65594903e+00] [-7.60564541e-01 6.49185760e-01 9.97131570e-03 -2.50320608e+02] [-1.32311408e-02 -1.42784630e-04 -9.99912454e-01 -1.82086799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.506559995 meters 0.014042521851987592 Centerline is valid? [True, True] Translation: X:-1.75, Y:-250.38, Z:-1.82 [[-5.87001147e-01 -8.09547884e-01 7.86620400e-03 -1.74585750e+00] [-8.09479313e-01 5.87053822e-01 1.05381042e-02 -2.50384064e+02] [-1.31489851e-02 -1.81650179e-04 -9.99913532e-01 -1.82033395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.53655999499995 meters 0.01538299929717361 Centerline is valid? [True, True] Translation: X:-1.83, Y:-250.45, Z:-1.82 [[-5.18960262e-01 -8.54768673e-01 7.12470900e-03 -1.83004144e+00] [-8.54694822e-01 5.19009103e-01 1.12388448e-02 -2.50450808e+02] [-1.33044013e-02 -2.56938069e-04 -9.99911460e-01 -1.81997095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.566559995 meters 0.016127282313451036 Centerline is valid? [True, True] Translation: X:-1.91, Y:-250.53, Z:-1.82 [[-4.50319307e-01 -8.92846277e-01 6.16826411e-03 -1.91028501e+00] [-8.92770943e-01 4.50361462e-01 1.16015881e-02 -2.50530780e+02] [-1.31363832e-02 -2.82427853e-04 -9.99913674e-01 -1.81984815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.59655999499995 meters 0.01691092081927567 Centerline is valid? [True, True] Translation: X:-1.98, Y:-250.62, Z:-1.82 [[-3.79065887e-01 -9.25355327e-01 5.15483085e-03 -1.98337973e+00] [-9.25280226e-01 3.79100817e-01 1.17929666e-02 -2.50615286e+02] [-1.28668850e-02 -2.99351719e-04 -9.99917173e-01 -1.81962697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.626559995 meters 0.0159171760768827 Centerline is valid? [True, True] Translation: X:-2.05, Y:-250.71, Z:-1.82 [[-3.05528506e-01 -9.52173818e-01 4.16570212e-03 -2.04693614e+00] [-9.52098861e-01 3.05556741e-01 1.19514378e-02 -2.50707687e+02] [-1.26527045e-02 -3.14655311e-04 -9.99919902e-01 -1.82156228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.65655999499995 meters 0.016726722616570166 Centerline is valid? [True, True] Translation: X:-2.11, Y:-250.81, Z:-1.82 [[-2.29156390e-01 -9.73385247e-01 2.91729941e-03 -2.10793907e+00] [-9.73322850e-01 2.29174745e-01 1.10257131e-02 -2.50808049e+02] [-1.14008378e-02 -3.12861562e-04 -9.99934959e-01 -1.82257620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.686559995 meters 0.019245936151559197 Centerline is valid? [True, True] Translation: X:-2.16, Y:-250.91, Z:-1.82 [[-1.52565649e-01 -9.88291278e-01 2.01823244e-03 -2.16444990e+00] [-9.88230454e-01 1.52578660e-01 1.09691817e-02 -2.50913965e+02] [-1.11486858e-02 -3.20958428e-04 -9.99937800e-01 -1.82145716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.71655999499995 meters 0.0207175841776381 Centerline is valid? [True, True] Translation: X:-2.21, Y:-251.03, Z:-1.82 [[-7.39237680e-02 -9.97263216e-01 1.16369958e-03 -2.21126166e+00] [-9.97202284e-01 7.39321214e-02 1.10293737e-02 -2.51025925e+02] [-1.10852234e-02 -3.45111014e-04 -9.99938498e-01 -1.82111728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.746559995 meters 0.019815328735957094 Centerline is valid? [True, True] Translation: X:-2.24, Y:-251.13, Z:-1.82 [[ 4.12671510e-03 -9.99991435e-01 3.15507395e-04 -2.24475257e+00] [-9.99928758e-01 -4.12292217e-03 1.12017929e-02 -2.51132417e+02] [-1.12003962e-02 -3.61711526e-04 -9.99937208e-01 -1.82167460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.77655999499996 meters 0.019405727158598597 Centerline is valid? [True, True] Translation: X:-2.27, Y:-251.25, Z:-1.82 [[ 8.21247345e-02 -9.96621905e-01 -5.54038865e-04 -2.27055119e+00] [-9.96557424e-01 -8.21257269e-02 1.13430514e-02 -2.51246958e+02] [-1.13502343e-02 -3.79413540e-04 -9.99935512e-01 -1.82192317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.80655999499993 meters 0.01937836249835942 Centerline is valid? [True, True] Translation: X:-2.29, Y:-251.38, Z:-1.82 [[ 1.59279291e-01 -9.87232525e-01 -1.43149925e-03 -2.28582054e+00] [-9.87167631e-01 -1.59285244e-01 1.13260723e-02 -2.51384252e+02] [-1.14094836e-02 -3.90879033e-04 -9.99934833e-01 -1.82195319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.83655999499996 meters 0.021326396333053915 Centerline is valid? [True, True] Translation: X:-2.30, Y:-251.49, Z:-1.82 [[ 2.35907350e-01 -9.71772422e-01 -2.46605013e-03 -2.29896623e+00] [-9.71698477e-01 -2.35919840e-01 1.19957798e-02 -2.51486314e+02] [-1.22389582e-02 -4.33635463e-04 -9.99925007e-01 -1.82105400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.86655999499993 meters 0.020360564885884093 Centerline is valid? [True, True] Translation: X:-2.30, Y:-251.60, Z:-1.82 [[ 3.11427564e-01 -9.50262713e-01 -3.69445419e-03 -2.29650689e+00] [-9.50175788e-01 -3.11449083e-01 1.28623726e-02 -2.51602825e+02] [-1.33732674e-02 -4.95316436e-04 -9.99910451e-01 -1.82122252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.89655999499996 meters 0.021035260986274725 Centerline is valid? [True, True] Translation: X:-2.29, Y:-251.73, Z:-1.82 [[ 3.83743132e-01 -9.23427458e-01 -4.78941643e-03 -2.28567179e+00] [-9.23338086e-01 -3.83772678e-01 1.28573350e-02 -2.51726295e+02] [-1.37108633e-02 -5.11663407e-04 -9.99905871e-01 -1.82036511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.92655999499993 meters 0.02034326158751895 Centerline is valid? [True, True] Translation: X:-2.27, Y:-251.84, Z:-1.82 [[ 4.53303361e-01 -8.91336228e-01 -5.98261018e-03 -2.26557228e+00] [-8.91242621e-01 -4.53342530e-01 1.29282703e-02 -2.51841323e+02] [-1.42356073e-02 -5.28471196e-04 -9.99898529e-01 -1.82016199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.95655999499996 meters 0.02069274251953039 Centerline is valid? [True, True] Translation: X:-2.24, Y:-251.94, Z:-1.82 [[ 5.20086198e-01 -8.54085204e-01 -6.98649319e-03 -2.24415388e+00] [-8.53994117e-01 -5.20132856e-01 1.24844371e-02 -2.51943738e+02] [-1.42966776e-02 -5.26559342e-04 -9.99897659e-01 -1.81985384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.98655999499994 meters 0.020780515618057063 Centerline is valid? [True, True] Translation: X:-2.21, Y:-252.05, Z:-1.82 [[ 5.83726511e-01 -8.11916099e-01 -7.45707331e-03 -2.20788262e+00] [-8.11838816e-01 -5.83773934e-01 1.12129568e-02 -2.52054713e+02] [-1.34572252e-02 -4.91358574e-04 -9.99909327e-01 -1.82019533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.01655999499997 meters 0.02039254228015665 Centerline is valid? [True, True] Translation: X:-2.17, Y:-252.15, Z:-1.82 [[ 6.43698572e-01 -7.65232486e-01 -8.44928111e-03 -2.16856804e+00] [-7.65156279e-01 -6.43753834e-01 1.08106504e-02 -2.52153601e+02] [-1.37119180e-02 -4.93779737e-04 -9.99905865e-01 -1.82079739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.04655999499994 meters 0.01944563576053429 Centerline is valid? [True, True] Translation: X:-2.12, Y:-252.26, Z:-1.82 [[ 7.00006527e-01 -7.14081890e-01 -8.82705880e-03 -2.11570540e+00] [-7.14016550e-01 -7.00062023e-01 9.67111631e-03 -2.52255062e+02] [-1.30854576e-02 -4.67178474e-04 -9.99914273e-01 -1.82164609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.07655999499997 meters 0.0195452362514283 Centerline is valid? [True, True] Translation: X:-2.07, Y:-252.34, Z:-1.82 [[ 7.51756968e-01 -6.59376554e-01 -9.16625173e-03 -2.06747523e+00] [-6.59320345e-01 -7.51812722e-01 8.62052798e-03 -2.52341839e+02] [-1.25754787e-02 -4.37045730e-04 -9.99920830e-01 -1.82206726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.10655999499994 meters 0.020008632419788952 Centerline is valid? [True, True] Translation: X:-2.07, Y:-252.35, Z:-1.82 [[ 8.00553912e-01 -5.99185850e-01 -9.47377205e-03 -2.07000849e+00] [-5.99137718e-01 -8.00609860e-01 7.60577692e-03 -2.52349256e+02] [-1.21420692e-02 -4.12740293e-04 -9.99926197e-01 -1.82176209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.13655999499997 meters 0.02007422107059774 Centerline is valid? [True, True] Translation: X:-2.07, Y:-252.36, Z:-1.82 [[ 8.44673248e-01 -5.35195045e-01 -9.66270571e-03 -2.06979794e+00] [-5.35154675e-01 -8.44728424e-01 6.58505535e-03 -2.52356399e+02] [-1.16866512e-02 -3.91177957e-04 -9.99931632e-01 -1.82158363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.16655999499994 meters 0.019093444356127476 Centerline is valid? [True, True] Translation: X:-2.07, Y:-252.36, Z:-1.82 [[ 8.83765784e-01 -4.67827293e-01 -9.78074483e-03 -2.06896671e+00] [-4.67793936e-01 -8.83819826e-01 5.59902240e-03 -2.52363730e+02] [-1.12637917e-02 -3.72851305e-04 -9.99936492e-01 -1.82184263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.196559995 meters 0.020856398242090297 Centerline is valid? [True, True] Translation: X:-2.07, Y:-252.37, Z:-1.82 [[ 9.17678262e-01 -3.97191804e-01 -1.02604769e-02 -2.07045872e+00] [-3.97162355e-01 -9.17735544e-01 4.85134535e-03 -2.52373484e+02] [-1.13433189e-02 -3.76899022e-04 -9.99935592e-01 -1.82111281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.22655999499995 meters 0.018796669840137902 Centerline is valid? [True, True] Translation: X:-2.07, Y:-252.38, Z:-1.82 [[ 9.46136408e-01 -3.23595236e-01 -1.05840059e-02 -2.06831432e+00] [-3.23570428e-01 -9.46195528e-01 4.02514894e-03 -2.52380298e+02] [-1.13170580e-02 -3.83668655e-04 -9.99935887e-01 -1.82241412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.256559995 meters 0.02022663496979558 Centerline is valid? [True, True] Translation: X:-2.07, Y:-252.39, Z:-1.82 [[ 9.68934119e-01 -2.47092635e-01 -1.05784147e-02 -2.06924051e+00] [-2.47073484e-01 -9.68991784e-01 3.10108308e-03 -2.52391770e+02] [-1.10166517e-02 -3.91099422e-04 -9.99939238e-01 -1.82183694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.28655999499995 meters 0.01989255542924222 Centerline is valid? [True, True] Translation: X:-2.07, Y:-252.40, Z:-1.82 [[ 9.85461719e-01 -1.69566507e-01 -1.06018887e-02 -2.06690683e+00] [-1.69552357e-01 -9.85518667e-01 2.22606130e-03 -2.52401064e+02] [-1.08258246e-02 -3.96122982e-04 -9.99941321e-01 -1.82200557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.316559995 meters 0.020583052057402785 Centerline is valid? [True, True] Translation: X:-2.06, Y:-252.41, Z:-1.82 [[ 9.95825567e-01 -9.06703862e-02 -1.05034357e-02 -2.06454407e+00] [-9.06610856e-02 -9.95880876e-01 1.35923967e-03 -2.52411269e+02] [-1.05834136e-02 -4.01312731e-04 -9.99943914e-01 -1.82166849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.34655999499995 meters 0.021495125800414246 Centerline is valid? [True, True] Translation: X:-2.06, Y:-252.42, Z:-1.82 [[ 9.99885570e-01 -1.01745783e-02 -1.11948419e-02 -2.06448253e+00] [-1.01689015e-02 -9.99948136e-01 5.63896322e-04 -2.52421100e+02] [-1.11999987e-02 -4.49992552e-04 -9.99937177e-01 -1.82077171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.376559995 meters 0.02269676450390534 Centerline is valid? [True, True] Translation: X:-2.06, Y:-252.43, Z:-1.82 [[ 9.97575578e-01 6.86388663e-02 -1.14748344e-02 -2.06489258e+00] [ 6.86396992e-02 -9.97641463e-01 -3.21693393e-04 -2.52429940e+02] [-1.14698512e-02 -4.66715709e-04 -9.99934110e-01 -1.81986913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.40655999499995 meters 0.025010017492131616 Centerline is valid? [True, True] Translation: X:-2.06, Y:-252.44, Z:-1.82 [[ 9.89092157e-01 1.46808358e-01 -1.20004849e-02 -2.06428899e+00] [ 1.46803595e-01 -9.89164831e-01 -1.28158660e-03 -2.52437897e+02] [-1.20586052e-02 -4.94107069e-04 -9.99927170e-01 -1.81853350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.436559995 meters 0.021844657255418263 Centerline is valid? [True, True] Translation: X:-2.06, Y:-252.44, Z:-1.82 [[ 9.74557332e-01 2.23825745e-01 -1.18339690e-02 -2.06320308e+00] [ 2.23815361e-01 -9.74629054e-01 -2.21173058e-03 -2.52439981e+02] [-1.20287723e-02 -4.93165790e-04 -9.99927530e-01 -1.82012203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.46655999499995 meters 0.02235300064926428 Centerline is valid? [True, True] Translation: X:-2.06, Y:-252.45, Z:-1.82 [[ 9.54019506e-01 2.99524231e-01 -1.14898870e-02 -2.06226895e+00] [ 2.99508633e-01 -9.54088569e-01 -3.09553035e-03 -2.52447452e+02] [-1.18895562e-02 -4.88123992e-04 -9.99929198e-01 -1.82022570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.496559995 meters 0.022447634904073355 Centerline is valid? [True, True] Translation: X:-2.06, Y:-252.45, Z:-1.82 [[ 9.27624705e-01 3.73346313e-01 -1.11775008e-02 -2.05953090e+00] [ 3.73325494e-01 -9.27691917e-01 -3.97280267e-03 -2.52452973e+02] [-1.18525084e-02 -4.87576105e-04 -9.99929638e-01 -1.82045914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.52655999499996 meters 0.023136462472747966 Centerline is valid? [True, True] Translation: X:-2.06, Y:-252.46, Z:-1.82 [[ 8.95760518e-01 4.44421314e-01 -1.01385905e-02 -2.05696626e+00] [ 4.44398491e-01 -8.95817779e-01 -4.52646082e-03 -2.52459489e+02] [-1.10939853e-02 -4.50949412e-04 -9.99938358e-01 -1.82045742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.55655999499993 meters 0.02128650734001293 Centerline is valid? [True, True] Translation: X:-2.05, Y:-252.46, Z:-1.82 [[ 8.58457310e-01 5.12801470e-01 -9.25736879e-03 -2.05360838e+00] [ 5.12776913e-01 -8.58507119e-01 -5.03629712e-03 -2.52463950e+02] [-1.05301376e-02 -4.23518917e-04 -9.99944467e-01 -1.82109472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.58655999499996 meters 0.0237623993623124 Centerline is valid? [True, True] Translation: X:-2.05, Y:-252.47, Z:-1.82 [[ 8.15897741e-01 5.78134739e-01 -8.43208859e-03 -2.04829308e+00] [ 5.78108872e-01 -8.15941213e-01 -5.48356578e-03 -2.52473734e+02] [-1.00503285e-02 -4.00636291e-04 -9.99949414e-01 -1.82024598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.61655999499993 meters 0.02269960211648412 Centerline is valid? [True, True] Translation: X:-2.05, Y:-252.48, Z:-1.82 [[ 7.68422169e-01 6.39898787e-01 -7.54402473e-03 -2.04597530e+00] [ 6.39872659e-01 -7.68459109e-01 -5.79466853e-03 -2.52475347e+02] [-9.50527588e-03 -3.74463402e-04 -9.99954754e-01 -1.82065484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.64655999499996 meters 0.021489658227020984 Centerline is valid? [True, True] Translation: X:-2.04, Y:-252.48, Z:-1.82 [[ 7.17120731e-01 6.96918300e-01 -6.53760082e-03 -2.04275446e+00] [ 6.96893491e-01 -7.17150453e-01 -5.88982650e-03 -2.52477841e+02] [-8.79317126e-03 -3.32294771e-04 -9.99961284e-01 -1.82125383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.67655999499993 meters 0.022996856380796987 Centerline is valid? [True, True] Translation: X:-2.04, Y:-252.48, Z:-1.82 [[ 6.61007782e-01 7.50355202e-01 -5.98194204e-03 -2.03812882e+00] [ 7.50328783e-01 -6.61034771e-01 -6.30474982e-03 -2.52483169e+02] [-8.68507350e-03 -3.20934595e-04 -9.99962233e-01 -1.82091021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.70655999499996 meters 0.020816099969018825 Centerline is valid? [True, True] Translation: X:-2.04, Y:-252.48, Z:-1.82 [[ 6.01056274e-01 7.99189530e-01 -5.23945008e-03 -2.03659441e+00] [ 7.99163401e-01 -6.01079035e-01 -6.46932243e-03 -2.52483844e+02] [-8.31953835e-03 -2.98749907e-04 -9.99965347e-01 -1.82157373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.73655999499994 meters 0.020857960358189338 Centerline is valid? [True, True] Translation: X:-2.03, Y:-252.49, Z:-1.82 [[ 5.38237301e-01 8.42781095e-01 -4.54239036e-03 -2.03311771e+00] [ 8.42755248e-01 -5.38256400e-01 -6.60603729e-03 -2.52487584e+02] [-8.01241402e-03 -2.72507631e-04 -9.99967863e-01 -1.82184642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.76655999499997 meters 0.02013916584473825 Centerline is valid? [True, True] Translation: X:-2.03, Y:-252.49, Z:-1.82 [[ 4.71990633e-01 8.81594704e-01 -3.95229741e-03 -2.03019040e+00] [ 8.81568209e-01 -4.72007111e-01 -6.83954179e-03 -2.52489956e+02] [-7.89521630e-03 -2.56020085e-04 -9.99968800e-01 -1.82194561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.79655999499994 meters 0.01965633596202698 Centerline is valid? [True, True] Translation: X:-2.03, Y:-252.49, Z:-1.82 [[ 4.02733610e-01 9.15310441e-01 -3.52650356e-03 -2.02801147e+00] [ 9.15280695e-01 -4.02748970e-01 -7.38359164e-03 -2.52491693e+02] [-8.17857419e-03 -2.54120113e-04 -9.99966523e-01 -1.82171925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.82655999499997 meters 0.019624213534255034 Centerline is valid? [True, True] Translation: X:-2.03, Y:-252.49, Z:-1.82 [[ 3.31596015e-01 9.43416931e-01 -2.92858268e-03 -2.02570695e+00] [ 9.43386232e-01 -3.31608861e-01 -7.61450443e-03 -2.52494561e+02] [-8.15479637e-03 -2.37845261e-04 -9.99966721e-01 -1.82113077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.85655999499994 meters 0.01587473036382261 Centerline is valid? [True, True] Translation: X:-2.02, Y:-252.50, Z:-1.82 [[ 2.60900929e-01 9.65361968e-01 -2.64134529e-03 -2.02368251e+00] [ 9.65321054e-01 -2.60914197e-01 -8.89073349e-03 -2.52495646e+02] [-9.27194046e-03 -2.30145595e-04 -9.99956988e-01 -1.82171868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.88655999499997 meters 0.016664096975360063 Centerline is valid? [True, True] Translation: X:-2.01, Y:-252.50, Z:-1.82 [[ 1.87166977e-01 9.82326172e-01 -1.95303952e-03 -2.01436063e+00] [ 9.82283621e-01 -1.87177052e-01 -9.14543125e-03 -2.52499965e+02] [-9.34936065e-03 -2.06716007e-04 -9.99956272e-01 -1.81997488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.91655999499994 meters 0.016664096975360063 Centerline is valid? [True, True] Translation: X:-2.01, Y:-252.50, Z:-1.82 [[ 1.09655993e-01 9.93968837e-01 -1.23073456e-03 -2.01136644e+00] [ 9.93925627e-01 -1.09662705e-01 -9.27029613e-03 -2.52502222e+02] [-9.34935114e-03 -2.06715088e-04 -9.99956273e-01 -1.81997496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.946559995 meters 0.016071990223215125 Centerline is valid? [True, True] Translation: X:-2.01, Y:-252.50, Z:-1.82 [[ 3.43514236e-02 9.99409687e-01 -5.07806879e-04 -2.01076866e+00] [ 9.99364800e-01 -3.43546945e-02 -9.47376623e-03 -2.52504981e+02] [-9.48561929e-03 -1.82046962e-04 -9.99954994e-01 -1.81957400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.97655999499995 meters 0.014187896862805352 Centerline is valid? [True, True] Translation: X:-2.01, Y:-252.51, Z:-1.82 [[-4.10271525e-02 9.99158003e-01 2.41225089e-04 -2.00719527e+00] [ 9.99110930e-01 4.10275615e-02 -9.69996221e-03 -2.52506437e+02] [-9.70169175e-03 -1.56951206e-04 -9.99952925e-01 -1.82090527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.006559995 meters 0.01325864874465203 Centerline is valid? [True, True] Translation: X:-2.00, Y:-252.51, Z:-1.82 [[-1.13378246e-01 9.93551436e-01 9.58013632e-04 -2.00305236e+00] [ 9.93508461e-01 1.13382253e-01 -9.24134496e-03 -2.52508548e+02] [-9.29037330e-03 -9.59728339e-05 -9.99956839e-01 -1.82122909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.03655999499995 meters 0.01286157740742867 Centerline is valid? [True, True] Translation: X:-2.00, Y:-252.51, Z:-1.82 [[-1.87921204e-01 9.82182779e-01 1.61563834e-03 -1.99696750e+00] [ 9.82143421e-01 1.87928137e-01 -8.79290293e-03 -2.52509942e+02] [-8.93986174e-03 -6.55843369e-05 -9.99960037e-01 -1.82169647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.066559995 meters 0.012700311015846856 Centerline is valid? [True, True] Translation: X:-1.99, Y:-252.51, Z:-1.82 [[-2.61634404e-01 9.65164724e-01 2.12011523e-03 -1.99127780e+00] [ 9.65131848e-01 2.61642992e-01 -7.96620106e-03 -2.52510888e+02] [-8.24340954e-03 -3.80415386e-05 -9.99966022e-01 -1.82207622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.09655999499995 meters 0.012454234194835682 Centerline is valid? [True, True] Translation: X:-1.99, Y:-252.51, Z:-1.82 [[-3.32176055e-01 9.43214237e-01 2.44376608e-03 -1.98728768e+00] [ 9.43188702e-01 3.32185044e-01 -6.94040334e-03 -2.52512648e+02] [-7.35806978e-03 -5.03247247e-07 -9.99972929e-01 -1.82294186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.126559995 meters 0.01262875075722979 Centerline is valid? [True, True] Translation: X:-1.98, Y:-252.51, Z:-1.82 [[-4.03138635e-01 9.15134128e-01 2.96130055e-03 -1.98307925e+00] [ 9.15109706e-01 4.03149511e-01 -6.68559897e-03 -2.52513800e+02] [-7.31206665e-03 1.46916341e-05 -9.99973266e-01 -1.82315255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.15655999499995 meters 0.012649921244782224 Centerline is valid? [True, True] Translation: X:-1.98, Y:-252.51, Z:-1.82 [[-4.71926967e-01 8.81631150e-01 3.38415871e-03 -1.97755081e+00] [ 8.81608902e-01 4.71939100e-01 -6.26340698e-03 -2.52514835e+02] [-7.11913152e-03 2.76337901e-05 -9.99974658e-01 -1.82347709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.186559995 meters 0.012983541585269112 Centerline is valid? [True, True] Translation: X:-1.97, Y:-252.52, Z:-1.82 [[-5.37112511e-01 8.43502367e-01 3.72932558e-03 -1.97260365e+00] [ 8.43482634e-01 5.37125456e-01 -5.76988992e-03 -2.52516266e+02] [-6.87003151e-03 4.65412954e-05 -9.99976400e-01 -1.82373141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.21655999499995 meters 0.013004643658329717 Centerline is valid? [True, True] Translation: X:-1.97, Y:-252.52, Z:-1.82 [[-6.00770258e-01 7.99411225e-01 4.09765702e-03 -1.96572587e+00] [ 7.99393218e-01 6.00784230e-01 -5.36584241e-03 -2.52515632e+02] [-6.75132237e-03 5.20007050e-05 -9.99977208e-01 -1.82391760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.246559995 meters 0.012808673020889597 Centerline is valid? [True, True] Translation: X:-1.96, Y:-252.51, Z:-1.82 [[-6.61197509e-01 7.50198778e-01 4.43263299e-03 -1.95591469e+00] [ 7.50182468e-01 6.61212364e-01 -4.94710483e-03 -2.52510742e+02] [-6.64222374e-03 5.42701618e-05 -9.99977939e-01 -1.82420678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.27655999499996 meters 0.012892628077558583 Centerline is valid? [True, True] Translation: X:-1.95, Y:-252.51, Z:-1.82 [[-7.17917131e-01 6.96111428e-01 4.88595566e-03 -1.94641052e+00] [ 6.96095829e-01 7.17933755e-01 -4.66053826e-03 -2.52506796e+02] [-6.75204643e-03 5.52130961e-05 -9.99977203e-01 -1.82383602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.30655999499993 meters 0.012783035228154242 Centerline is valid? [True, True] Translation: X:-1.92, Y:-252.49, Z:-1.82 [[-7.65962806e-01 6.42862184e-01 5.40296966e-03 -1.92498794e+00] [ 6.42846660e-01 7.65981860e-01 -4.46796825e-03 -2.52485654e+02] [-7.01086458e-03 5.09835026e-05 -9.99975422e-01 -1.82328215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.33655999499996 meters 0.012812333702386793 Centerline is valid? [True, True] Translation: X:-1.91, Y:-252.46, Z:-1.82 [[-8.09959773e-01 5.86452354e-01 6.22912860e-03 -1.90792162e+00] [ 5.86435489e-01 8.09983724e-01 -4.44786919e-03 -2.52462633e+02] [-7.65395614e-03 5.03869580e-05 -9.99970707e-01 -1.82294284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.36655999499993 meters 0.01257205035927098 Centerline is valid? [True, True] Translation: X:-1.49, Y:-251.89, Z:-2.77 [[-7.76417170e-01 -6.30191154e-01 5.95717486e-03 -1.48933643e+00] [ 6.30172136e-01 -7.76440022e-01 -4.89600881e-03 -2.51888531e+02] [ 7.71081042e-03 -4.72997004e-05 9.99970270e-01 -2.76967748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.39655999499996 meters 0.012566060308912533 Centerline is valid? [True, True] Translation: X:-1.94, Y:-252.44, Z:-1.82 [[-8.13290873e-01 5.81822462e-01 6.37016364e-03 -1.94204344e+00] [ 5.81804951e-01 8.13315819e-01 -4.51412799e-03 -2.52436253e+02] [-7.80737592e-03 3.48936579e-05 -9.99969521e-01 -1.82264657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.42655999499993 meters 0.012300979859628502 Centerline is valid? [True, True] Translation: X:-1.92, Y:-252.41, Z:-1.82 [[-8.54087615e-01 5.20088045e-01 6.54000378e-03 -1.92463119e+00] [ 5.20072885e-01 8.54112654e-01 -3.97102885e-03 -2.52409548e+02] [-7.65118461e-03 9.67207926e-06 -9.99970729e-01 -1.82306432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.45655999499996 meters 0.0122354127610343 Centerline is valid? [True, True] Translation: X:-1.56, Y:-251.82, Z:-2.77 [[-8.17566022e-01 -5.75804830e-01 5.88194873e-03 -1.55975165e+00] [ 5.75789611e-01 -8.17587180e-01 -4.18655290e-03 -2.51815648e+02] [ 7.21964325e-03 -3.60184292e-05 9.99973937e-01 -2.76970356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.48655999499994 meters 0.012221264972042607 Centerline is valid? [True, True] Translation: X:-1.96, Y:-252.38, Z:-1.82 [[-8.57923210e-01 5.13743563e-01 5.94288843e-03 -1.96286147e+00] [ 5.13731095e-01 8.57943793e-01 -3.57917907e-03 -2.52382049e+02] [-6.93744445e-03 -1.76142142e-05 -9.99975936e-01 -1.82310722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.51655999499997 meters 0.012408707642483637 Centerline is valid? [True, True] Translation: X:-1.61, Y:-251.79, Z:-2.77 [[-8.16001421e-01 -5.78022721e-01 5.60499147e-03 -1.60977943e+00] [ 5.78009190e-01 -8.16020670e-01 -3.95506641e-03 -2.51793646e+02] [ 6.85990714e-03 1.23967707e-05 9.99976471e-01 -2.76968370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.54655999499994 meters 0.012624003942054198 Centerline is valid? [True, True] Translation: X:-2.01, Y:-252.35, Z:-1.82 [[-8.63197034e-01 5.04835488e-01 5.65786062e-03 -2.00513979e+00] [ 5.04824178e-01 8.63215574e-01 -3.37978251e-03 -2.52350040e+02] [-6.59018755e-03 -6.11933992e-05 -9.99978283e-01 -1.82326817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.57655999499997 meters 0.013472329653279446 Centerline is valid? [True, True] Translation: X:-1.98, Y:-252.33, Z:-1.82 [[-8.97848955e-01 4.40259392e-01 6.23870168e-03 -1.98329472e+00] [ 4.40248132e-01 8.97870626e-01 -3.14989957e-03 -2.52326658e+02] [-6.98831985e-03 -8.15572822e-05 -9.99975578e-01 -1.82232436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.60655999499994 meters 0.013292962932223195 Centerline is valid? [True, True] Translation: X:-1.97, Y:-252.30, Z:-1.82 [[-9.27680524e-01 3.73319511e-01 6.43341993e-03 -1.97348261e+00] [ 3.73309798e-01 9.27702826e-01 -2.69463904e-03 -2.52300277e+02] [-6.97426318e-03 -9.81054557e-05 -9.99975675e-01 -1.82305683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.63655999499997 meters 0.014250606227540964 Centerline is valid? [True, True] Translation: X:-1.97, Y:-252.27, Z:-1.82 [[-9.53136649e-01 3.02459763e-01 6.97281785e-03 -1.96959326e+00] [ 3.02450623e-01 9.53162144e-01 -2.35522011e-03 -2.52267667e+02] [-7.35858533e-03 -1.35913497e-04 -9.99972916e-01 -1.82231896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.66655999499994 meters 0.014866357051074164 Centerline is valid? [True, True] Translation: X:-1.75, Y:-251.64, Z:-2.77 [[-9.15682253e-01 -4.01842374e-01 6.97977102e-03 -1.75217661e+00] [ 4.01831962e-01 -9.15708842e-01 -2.89668806e-03 -2.51644416e+02] [ 7.55545005e-03 1.52249235e-04 9.99971446e-01 -2.77082847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.696559995 meters 0.015250956890239808 Centerline is valid? [True, True] Translation: X:-2.01, Y:-252.25, Z:-1.82 [[-9.55301920e-01 2.95543647e-01 7.22454358e-03 -2.01063202e+00] [ 2.95533865e-01 9.55329223e-01 -2.41033669e-03 -2.52250992e+02] [-7.61417730e-03 -1.67501980e-04 -9.99970998e-01 -1.82244235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.72655999499995 meters 0.01556103756340932 Centerline is valid? [True, True] Translation: X:-2.00, Y:-252.22, Z:-1.82 [[-9.74147838e-01 2.25798166e-01 7.15391067e-03 -2.00398146e+00] [ 2.25790776e-01 9.74174091e-01 -1.83487328e-03 -2.52223026e+02] [-7.38346544e-03 -1.72150798e-04 -9.99972727e-01 -1.82264457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.756559995 meters 0.016076300070666412 Centerline is valid? [True, True] Translation: X:-1.84, Y:-251.59, Z:-2.77 [[-9.41502162e-01 -3.36942574e-01 6.58645008e-03 -1.83954142e+00] [ 3.36935319e-01 -9.41525190e-01 -2.21515381e-03 -2.51593144e+02] [ 6.94768829e-03 1.33635556e-04 9.99975856e-01 -2.77042228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.78655999499995 meters 0.016474335086374584 Centerline is valid? [True, True] Translation: X:-2.05, Y:-252.21, Z:-1.82 [[-9.75528736e-01 2.19761089e-01 6.98201184e-03 -2.05044832e+00] [ 2.19754102e-01 9.75553704e-01 -1.76210927e-03 -2.52208738e+02] [-7.19857056e-03 -1.84662488e-04 -9.99974073e-01 -1.82239489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.816559995 meters 0.01625159520137693 Centerline is valid? [True, True] Translation: X:-1.89, Y:-251.58, Z:-2.77 [[-9.42565911e-01 -3.33941063e-01 7.27117815e-03 -1.88887743e+00] [ 3.33932947e-01 -9.42593930e-01 -2.33886358e-03 -2.51581932e+02] [ 7.63481097e-03 2.23552865e-04 9.99970829e-01 -2.77127361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.84655999499995 meters 0.01705541546665564 Centerline is valid? [True, True] Translation: X:-2.10, Y:-252.20, Z:-1.82 [[-9.76377108e-01 2.15915108e-01 8.27097848e-03 -2.09657422e+00] [ 2.15905451e-01 9.76412115e-01 -2.05388278e-03 -2.52196996e+02] [-8.51934792e-03 -2.19614788e-04 -9.99963686e-01 -1.82066362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.876559995 meters 0.015896419841370895 Centerline is valid? [True, True] Translation: X:-1.94, Y:-251.57, Z:-2.77 [[-9.43992753e-01 -3.29861336e-01 8.31753044e-03 -1.93569013e+00] [ 3.29850744e-01 -9.44029365e-01 -2.65410703e-03 -2.51569949e+02] [ 8.72748027e-03 2.38085809e-04 9.99961887e-01 -2.77203074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.90655999499995 meters 0.01592302023304128 Centerline is valid? [True, True] Translation: X:-2.14, Y:-252.19, Z:-1.82 [[-9.76932118e-01 2.13385529e-01 8.38174625e-03 -2.14445641e+00] [ 2.13375810e-01 9.76968050e-01 -2.04758186e-03 -2.52188649e+02] [-8.62562263e-03 -2.11886590e-04 -9.99962776e-01 -1.82069111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.936559995 meters 0.014943141998218858 Centerline is valid? [True, True] Translation: X:-2.14, Y:-252.17, Z:-1.82 [[-9.89318933e-01 1.45533060e-01 8.25699847e-03 -2.13794678e+00] [ 1.45526396e-01 9.89353371e-01 -1.40537189e-03 -2.52165081e+02] [-8.37361735e-03 -1.88749792e-04 -9.99964923e-01 -1.82131160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.96655999499995 meters 0.014569271141193876 Centerline is valid? [True, True] Translation: X:-2.14, Y:-252.14, Z:-1.82 [[-9.97056334e-01 7.62220211e-02 8.29886292e-03 -2.13591478e+00] [ 7.62179018e-02 9.97090855e-01 -8.11969301e-04 -2.52139150e+02] [-8.33661026e-03 -1.77057216e-04 -9.99965234e-01 -1.82182795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.996559995 meters 0.014199619403520684 Centerline is valid? [True, True] Translation: X:-2.14, Y:-252.11, Z:-1.82 [[-9.99943774e-01 6.99448020e-03 7.97038924e-03 -2.14021563e+00] [ 6.99302459e-03 9.99975526e-01 -2.10481838e-04 -2.52113162e+02] [-7.97166639e-03 -1.54732875e-04 -9.99968214e-01 -1.82238525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.02655999499996 meters 0.013286246338404731 Centerline is valid? [True, True] Translation: X:-2.14, Y:-252.09, Z:-1.82 [[-9.98206831e-01 -5.94432607e-02 7.04419513e-03 -2.14023850e+00] [-5.94425135e-02 9.98231681e-01 3.15572129e-04 -2.52090271e+02] [-7.05049738e-03 -1.03718409e-04 -9.99975140e-01 -1.82318312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.05655999499993 meters 0.01281319210257605 Centerline is valid? [True, True] Translation: X:-2.17, Y:-251.42, Z:-2.77 [[-9.99378215e-01 -3.45831703e-02 6.86928781e-03 -2.16978140e+00] [ 3.45829697e-02 -9.99401819e-01 -1.48024199e-04 -2.51415304e+02] [ 6.87029788e-03 8.96282118e-05 9.99976395e-01 -2.76952415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.08655999499996 meters 0.012281104987165897 Centerline is valid? [True, True] Translation: X:-2.23, Y:-252.10, Z:-1.82 [[-9.98225649e-01 -5.91524497e-02 6.82214173e-03 -2.22693732e+00] [-5.91514632e-02 9.98248959e-01 3.46462772e-04 -2.52099316e+02] [-6.83069001e-03 -5.76916399e-05 -9.99976669e-01 -1.82364277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.11655999499993 meters 0.011862979697797883 Centerline is valid? [True, True] Translation: X:-2.24, Y:-252.08, Z:-1.82 [[-9.92409846e-01 -1.22784624e-01 6.82890508e-03 -2.23986132e+00] [-1.22781767e-01 9.92433341e-01 8.37671793e-04 -2.52078517e+02] [-6.88008630e-03 -7.15129774e-06 -9.99976332e-01 -1.82330112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.14655999499996 meters 0.011925138117295937 Centerline is valid? [True, True] Translation: X:-2.25, Y:-252.06, Z:-1.82 [[-9.81767130e-01 -1.89978135e-01 6.45062132e-03 -2.25122724e+00] [-1.89973905e-01 9.81788321e-01 1.26786533e-03 -2.52055355e+02] [-6.57401137e-03 1.92987889e-05 -9.99978391e-01 -1.82327452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.17655999499993 meters 0.012352264305175775 Centerline is valid? [True, True] Translation: X:-2.28, Y:-252.04, Z:-1.82 [[-9.66533152e-01 -2.56461158e-01 6.42964337e-03 -2.27970698e+00] [-2.56455169e-01 9.66554537e-01 1.75322548e-03 -2.52036702e+02] [-6.66423520e-03 4.56352725e-05 -9.99977793e-01 -1.82333669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.20655999499996 meters 0.013579782091094507 Centerline is valid? [True, True] Translation: X:-2.33, Y:-252.03, Z:-1.82 [[-9.47530116e-01 -3.19597216e-01 6.65567680e-03 -2.33490689e+00] [-3.19588569e-01 9.47553486e-01 2.35326242e-03 -2.52031149e+02] [-7.05870587e-03 1.02708792e-04 -9.99975082e-01 -1.82325873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.23655999499994 meters 0.014481926593732593 Centerline is valid? [True, True] Translation: X:-2.40, Y:-252.03, Z:-1.82 [[-9.22735200e-01 -3.85380853e-01 6.43025305e-03 -2.39983163e+00] [-3.85370531e-01 9.22757597e-01 2.82353127e-03 -2.52029625e+02] [-7.02169974e-03 1.27341665e-04 -9.99975340e-01 -1.82349097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.26655999499997 meters 0.015423603277082892 Centerline is valid? [True, True] Translation: X:-2.47, Y:-252.04, Z:-1.82 [[-8.92923770e-01 -4.50169002e-01 5.91691600e-03 -2.47148255e+00] [-4.50158055e-01 8.92943363e-01 3.14269670e-03 -2.52035968e+02] [-6.69821551e-03 1.42641187e-04 -9.99977557e-01 -1.82374603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.29655999499994 meters 0.016466362509781514 Centerline is valid? [True, True] Translation: X:-2.55, Y:-252.05, Z:-1.82 [[-8.58129899e-01 -5.13400572e-01 5.73837229e-03 -2.55081651e+00] [-5.13387807e-01 8.58149070e-01 3.62398277e-03 -2.52052177e+02] [-6.78493367e-03 1.63837601e-04 -9.99976969e-01 -1.82366431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.32655999499997 meters 0.017975607076647884 Centerline is valid? [True, True] Translation: X:-2.63, Y:-252.08, Z:-1.82 [[-8.19446378e-01 -5.73130642e-01 5.37590359e-03 -2.63482430e+00] [-5.73116780e-01 8.19463990e-01 3.99073863e-03 -2.52079477e+02] [-6.69257400e-03 1.89175757e-04 -9.99977587e-01 -1.82345589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.35655999499994 meters 0.018381718628279985 Centerline is valid? [True, True] Translation: X:-2.73, Y:-252.12, Z:-1.82 [[-7.74278931e-01 -6.32824431e-01 5.03757174e-03 -2.72587231e+00] [-6.32809391e-01 7.74295294e-01 4.36719385e-03 -2.52117174e+02] [-6.66423505e-03 1.93603482e-04 -9.99977775e-01 -1.82328176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.38655999499997 meters 0.018734639631481437 Centerline is valid? [True, True] Translation: X:-2.82, Y:-252.16, Z:-1.82 [[-7.24004949e-01 -6.89778707e-01 4.70849674e-03 -2.81641517e+00] [-6.89762351e-01 7.24020233e-01 4.75401111e-03 -2.52163779e+02] [-6.68826254e-03 1.94183793e-04 -9.99977615e-01 -1.82304076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.41655999499994 meters 0.016445767111995253 Centerline is valid? [True, True] Translation: X:-2.91, Y:-252.22, Z:-1.82 [[-6.68207002e-01 -7.43960327e-01 4.73643939e-03 -2.91187555e+00] [-7.43939481e-01 6.68223758e-01 5.57296511e-03 -2.52219035e+02] [-7.31106628e-03 2.00270051e-04 -9.99973254e-01 -1.82321466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.446559995 meters 0.01623666225974048 Centerline is valid? [True, True] Translation: X:-3.00, Y:-252.28, Z:-1.82 [[-6.08049297e-01 -7.93886523e-01 4.49914992e-03 -3.00094584e+00] [-7.93862369e-01 6.08065910e-01 6.19579293e-03 -2.52284920e+02] [-7.65453619e-03 1.95641723e-04 -9.99970685e-01 -1.82242251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.47655999499995 meters 0.015407192083224384 Centerline is valid? [True, True] Translation: X:-3.09, Y:-252.36, Z:-1.82 [[-5.43915631e-01 -8.39128913e-01 4.29584417e-03 -3.08689506e+00] [-8.39099887e-01 5.43932561e-01 6.98207641e-03 -2.52358306e+02] [-8.19551171e-03 1.93018143e-04 -9.99966398e-01 -1.82179196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.506559995 meters 0.015480516050085573 Centerline is valid? [True, True] Translation: X:-3.17, Y:-252.45, Z:-1.82 [[-4.76067202e-01 -8.79399836e-01 3.99336610e-03 -3.16930999e+00] [-8.79365561e-01 4.76083914e-01 7.76645209e-03 -2.52445624e+02] [-8.73099406e-03 1.85724498e-04 -9.99961867e-01 -1.82094919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.53655999499995 meters 0.014040489916256406 Centerline is valid? [True, True] Translation: X:-3.25, Y:-252.54, Z:-1.82 [[-4.02626544e-01 -9.15358557e-01 3.25243198e-03 -3.24852234e+00] [-9.15325903e-01 4.02639658e-01 7.73286261e-03 -2.52537823e+02] [-8.38790006e-03 1.36420511e-04 -9.99964812e-01 -1.82101515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.566559995 meters 0.013752776250482126 Centerline is valid? [True, True] Translation: X:-3.32, Y:-252.63, Z:-1.82 [[-3.28438445e-01 -9.44521487e-01 2.71099370e-03 -3.31540558e+00] [-9.44486369e-01 3.28449613e-01 8.14556291e-03 -2.52631567e+02] [-8.58408402e-03 1.14819415e-04 -9.99963150e-01 -1.82082243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.59655999499995 meters 0.013298531527844248 Centerline is valid? [True, True] Translation: X:-3.38, Y:-252.73, Z:-1.82 [[-2.52353273e-01 -9.67633048e-01 2.02718140e-03 -3.37699103e+00] [-9.67598897e-01 2.52361399e-01 8.13009038e-03 -2.52734614e+02] [-8.37852647e-03 9.01564322e-05 -9.99964896e-01 -1.82098387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.626559995 meters 0.012464980788962757 Centerline is valid? [True, True] Translation: X:-3.43, Y:-252.84, Z:-1.82 [[-1.72046705e-01 -9.85087975e-01 1.26991175e-03 -3.43386842e+00] [-9.85059322e-01 1.72051387e-01 7.51346975e-03 -2.52844839e+02] [-7.61991878e-03 4.17293049e-05 -9.99970967e-01 -1.82186507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.65655999499995 meters 0.012399259767376453 Centerline is valid? [True, True] Translation: X:-3.48, Y:-252.96, Z:-1.82 [[-9.33633112e-02 -9.95631915e-01 6.17614373e-04 -3.47960798e+00] [-9.95608635e-01 9.33653517e-02 6.80862978e-03 -2.52962905e+02] [-6.83655290e-03 2.07740183e-05 -9.99976630e-01 -1.82164653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.686559995 meters 0.0122075501889927 Centerline is valid? [True, True] Translation: X:-3.52, Y:-253.07, Z:-1.82 [[-1.38965374e-02 -9.99903435e-01 8.23678772e-05 -3.51613639e+00] [-9.99884691e-01 1.38967812e-02 6.12238776e-03 -2.53074663e+02] [-6.12294120e-03 2.72161084e-06 -9.99981255e-01 -1.82276966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.71655999499995 meters 0.01232567747304603 Centerline is valid? [True, True] Translation: X:-3.55, Y:-253.19, Z:-1.82 [[ 6.73874707e-02 -9.97726849e-01 -2.52481477e-04 -3.54585760e+00] [-9.97718965e-01 -6.73879419e-02 3.96645207e-03 -2.53194959e+02] [-3.97444993e-03 -1.53836143e-05 -9.99992102e-01 -1.82355934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.746559995 meters 0.012457410347315236 Centerline is valid? [True, True] Translation: X:-3.56, Y:-253.32, Z:-1.82 [[ 1.45592024e-01 -9.89344572e-01 -5.29795212e-04 -3.56370210e+00] [-9.89337483e-01 -1.45592986e-01 3.74532793e-03 -2.53318079e+02] [-3.78255432e-03 -2.11436113e-05 -9.99992846e-01 -1.82354598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.77655999499996 meters 0.01261121362453084 Centerline is valid? [True, True] Translation: X:-3.57, Y:-253.44, Z:-1.82 [[ 2.22640030e-01 -9.74900420e-01 -7.67313076e-04 -3.57217377e+00] [-9.74894235e-01 -2.22641351e-01 3.47265972e-03 -2.53437865e+02] [-3.55633304e-03 -2.51039722e-05 -9.99993676e-01 -1.82360103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.80655999499993 meters 0.01261121362453084 Centerline is valid? [True, True] Translation: X:-3.57, Y:-253.56, Z:-1.82 [[ 2.96913916e-01 -9.54903692e-01 -1.03196049e-03 -3.56969801e+00] [-9.54897628e-01 -2.96915708e-01 3.40341412e-03 -2.53557397e+02] [-3.55633799e-03 -2.51043915e-05 -9.99993676e-01 -1.82360079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.83655999499996 meters 0.012658266205955383 Centerline is valid? [True, True] Translation: X:-3.56, Y:-253.68, Z:-1.82 [[ 3.70419050e-01 -9.28863913e-01 -1.24816378e-03 -3.55916826e+00] [-9.28858380e-01 -3.70421152e-01 3.20610354e-03 -2.53676126e+02] [-3.44038015e-03 -2.82344427e-05 -9.99994082e-01 -1.82362587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.86655999499993 meters 0.012723470055091848 Centerline is valid? [True, True] Translation: X:-3.54, Y:-253.79, Z:-1.82 [[ 4.41851688e-01 -8.97086365e-01 -1.77191313e-03 -3.54041212e+00] [-8.97078792e-01 -4.41855240e-01 3.68626129e-03 -2.53793315e+02] [-4.08982384e-03 -3.92350815e-05 -9.99991636e-01 -1.82323100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.89655999499996 meters 0.01295647120612202 Centerline is valid? [True, True] Translation: X:-3.51, Y:-253.91, Z:-1.82 [[ 5.09732498e-01 -8.60328908e-01 -2.63630413e-03 -3.51365298e+00] [-8.60316859e-01 -5.09739312e-01 4.55358395e-03 -2.53906414e+02] [-5.26140776e-03 -5.30528293e-05 -9.99986157e-01 -1.82235246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.92655999499993 meters 0.013077694126993052 Centerline is valid? [True, True] Translation: X:-3.48, Y:-254.02, Z:-1.82 [[ 5.74306082e-01 -8.18633728e-01 -3.36798552e-03 -3.47862978e+00] [-8.18619013e-01 -5.74315955e-01 4.90875117e-03 -2.54016239e+02] [-5.95275709e-03 -6.20286684e-05 -9.99982280e-01 -1.82129431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.95655999499996 meters 0.013702385095145882 Centerline is valid? [True, True] Translation: X:-3.44, Y:-254.12, Z:-1.82 [[ 6.35384509e-01 -7.72181713e-01 -4.68276222e-03 -3.44038086e+00] [-7.72159810e-01 -6.35401759e-01 5.81650582e-03 -2.54119471e+02] [-7.46683478e-03 -7.98769051e-05 -9.99972120e-01 -1.81871390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.98655999499994 meters 0.01311078966247825 Centerline is valid? [True, True] Translation: X:-3.39, Y:-254.22, Z:-1.82 [[ 6.92151334e-01 -7.21731693e-01 -5.46763065e-03 -3.39083155e+00] [-7.21708227e-01 -6.92172924e-01 5.82055735e-03 -2.54217153e+02] [-7.98542660e-03 -8.26725078e-05 -9.99968113e-01 -1.81937764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.01655999499997 meters 0.012833860241620336 Centerline is valid? [True, True] Translation: X:-3.34, Y:-254.31, Z:-1.82 [[ 7.44549712e-01 -6.67541801e-01 -5.80269218e-03 -3.33857899e+00] [-6.67520730e-01 -7.44572319e-01 5.30436517e-03 -2.54307070e+02] [-7.86140945e-03 -7.59462397e-05 -9.99969096e-01 -1.81933224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.04655999499994 meters 0.012507455110990705 Centerline is valid? [True, True] Translation: X:-3.34, Y:-254.32, Z:-1.82 [[ 7.93107396e-01 -6.09047694e-01 -6.44709388e-03 -3.34041592e+00] [-6.09026944e-01 -7.93133597e-01 5.02775358e-03 -2.54315904e+02] [-8.17554848e-03 -6.10946687e-05 -9.99966578e-01 -1.81968376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.07655999499997 meters 0.012350288400979228 Centerline is valid? [True, True] Translation: X:-3.34, Y:-254.33, Z:-1.82 [[ 8.37472905e-01 -5.46439404e-01 -6.56594459e-03 -3.34223196e+00] [-5.46422167e-01 -8.37498642e-01 4.34040418e-03 -2.54325282e+02] [-7.87073755e-03 -4.71932266e-05 -9.99969024e-01 -1.81997859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.10655999499994 meters 0.012265311394777798 Centerline is valid? [True, True] Translation: X:-3.34, Y:-254.33, Z:-1.82 [[ 8.76825882e-01 -4.80761208e-01 -6.71074334e-03 -3.34314988e+00] [-4.80746838e-01 -8.76851561e-01 3.71727502e-03 -2.54334229e+02] [-7.67144740e-03 -3.32343042e-05 -9.99970574e-01 -1.81998226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.13655999499997 meters 0.012192557102684461 Centerline is valid? [True, True] Translation: X:-3.34, Y:-254.34, Z:-1.82 [[ 9.11019364e-01 -4.12307923e-01 -6.77453542e-03 -3.34237771e+00] [-4.12296363e-01 -9.11044552e-01 3.08754032e-03 -2.54342947e+02] [-7.44492093e-03 -1.96927000e-05 -9.99972286e-01 -1.81987509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.16655999499994 meters 0.012158404398912586 Centerline is valid? [True, True] Translation: X:-3.34, Y:-254.35, Z:-1.82 [[ 9.39981299e-01 -3.41148797e-01 -7.25644153e-03 -3.34228925e+00] [-3.41138555e-01 -9.40009307e-01 2.64360984e-03 -2.54350462e+02] [-7.72298690e-03 -9.49183705e-06 -9.99970177e-01 -1.81926867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.196559995 meters 0.012188162369619093 Centerline is valid? [True, True] Translation: X:-3.34, Y:-254.36, Z:-1.82 [[ 9.63230117e-01 -2.68565902e-01 -7.75228720e-03 -3.34075587e+00] [-2.68557258e-01 -9.63261313e-01 2.15474107e-03 -2.54359709e+02] [-8.04616832e-03 6.42149729e-06 -9.99967629e-01 -1.81950331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.22655999499995 meters 0.012186963532807871 Centerline is valid? [True, True] Translation: X:-3.34, Y:-254.37, Z:-1.82 [[ 9.81137023e-01 -1.93146016e-01 -8.04724407e-03 -3.33853841e+00] [-1.93139622e-01 -9.81170024e-01 1.57161773e-03 -2.54368965e+02] [-8.19926637e-03 1.22693391e-05 -9.99966385e-01 -1.81925351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.256559995 meters 0.01218194454444727 Centerline is valid? [True, True] Translation: X:-3.34, Y:-254.38, Z:-1.82 [[ 9.93186388e-01 -1.16253846e-01 -8.11432696e-03 -3.33975977e+00] [-1.16250099e-01 -9.93219534e-01 9.33465230e-04 -2.54377046e+02] [-8.16782696e-03 1.61863551e-05 -9.99966643e-01 -1.81934413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.28655999499995 meters 0.012140377100366716 Centerline is valid? [True, True] Translation: X:-3.34, Y:-254.39, Z:-1.82 [[ 9.99230679e-01 -3.83493813e-02 -8.20821324e-03 -3.33985105e+00] [-3.83482346e-02 -9.99264392e-01 2.97102377e-04 -2.54385217e+02] [-8.21356890e-03 1.78966769e-05 -9.99966268e-01 -1.81947077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.316559995 meters 0.012144272739693613 Centerline is valid? [True, True] Translation: X:-3.34, Y:-254.39, Z:-1.82 [[ 9.99169266e-01 3.98389230e-02 -8.58125996e-03 -3.34101199e+00] [ 3.98372815e-02 -9.99206115e-01 -3.62210487e-04 -2.54392293e+02] [-8.58887750e-03 2.00555185e-05 -9.99963115e-01 -1.81911943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.34655999499995 meters 0.012166145550384463 Centerline is valid? [True, True] Translation: X:-3.34, Y:-254.40, Z:-1.82 [[ 9.92989198e-01 1.17924084e-01 -8.14638176e-03 -3.34071705e+00] [ 1.17919957e-01 -9.93022613e-01 -9.86759008e-04 -2.54398146e+02] [-8.20590395e-03 1.92200487e-05 -9.99966331e-01 -1.81878971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.376559995 meters 0.012145731484279464 Centerline is valid? [True, True] Translation: X:-3.34, Y:-254.40, Z:-1.82 [[ 9.80702192e-01 1.95342652e-01 -8.02862181e-03 -3.33996318e+00] [ 1.95335949e-01 -9.80735055e-01 -1.61840647e-03 -2.54403360e+02] [-8.19009466e-03 1.88963146e-05 -9.99966461e-01 -1.81876253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.40655999499995 meters 0.012118818666811868 Centerline is valid? [True, True] Translation: X:-3.34, Y:-254.41, Z:-1.82 [[ 9.62336734e-01 2.71747405e-01 -7.83313739e-03 -3.33872202e+00] [ 2.71738259e-01 -9.62368613e-01 -2.22950405e-03 -2.54408896e+02] [-8.14422751e-03 1.69705282e-05 -9.99966835e-01 -1.81875872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.436559995 meters 0.011969338729023928 Centerline is valid? [True, True] Translation: X:-3.34, Y:-254.42, Z:-1.82 [[ 9.37843394e-01 3.46983716e-01 -7.21582949e-03 -3.33574897e+00] [ 3.46973366e-01 -9.37871154e-01 -2.68009725e-03 -2.54416983e+02] [-7.69746844e-03 9.81085529e-06 -9.99970374e-01 -1.81946534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.46655999499995 meters 0.011959306373155287 Centerline is valid? [True, True] Translation: X:-3.33, Y:-254.43, Z:-1.82 [[ 9.07649741e-01 4.19670214e-01 -6.98997850e-03 -3.33149484e+00] [ 4.19657710e-01 -9.07676656e-01 -3.23961935e-03 -2.54425457e+02] [-7.70421206e-03 7.04128933e-06 -9.99970322e-01 -1.81979406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.496559995 meters 0.011944696664096751 Centerline is valid? [True, True] Translation: X:-3.33, Y:-254.43, Z:-1.82 [[ 8.71711946e-01 4.89967898e-01 -7.05281277e-03 -3.32840763e+00] [ 4.89951838e-01 -8.71740477e-01 -3.96710061e-03 -2.54433507e+02] [-8.09197432e-03 2.63040969e-06 -9.99967260e-01 -1.81929709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.52655999499996 meters 0.012009142379854496 Centerline is valid? [True, True] Translation: X:-3.32, Y:-254.44, Z:-1.82 [[ 8.30164970e-01 5.57468974e-01 -7.38010934e-03 -3.32343109e+00] [ 5.57447003e-01 -8.30197773e-01 -4.94933848e-03 -2.54440885e+02] [-8.88605298e-03 -5.25240630e-06 -9.99960518e-01 -1.81886890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.55655999499993 meters 0.012059523709398433 Centerline is valid? [True, True] Translation: X:-3.32, Y:-254.45, Z:-1.82 [[ 7.83492960e-01 6.21361065e-01 -7.01491563e-03 -3.31800247e+00] [ 6.21336302e-01 -7.83524363e-01 -5.54738626e-03 -2.54447506e+02] [-8.94328713e-03 -1.22836562e-05 -9.99960008e-01 -1.81849861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.58655999499996 meters 0.01202103955450339 Centerline is valid? [True, True] Translation: X:-3.31, Y:-254.45, Z:-1.82 [[ 7.32059533e-01 6.81210162e-01 -6.44634620e-03 -3.31241080e+00] [ 6.81183961e-01 -7.32087914e-01 -5.97475162e-03 -2.54453864e+02] [-8.78935367e-03 -1.72737572e-05 -9.99961373e-01 -1.81877909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.61655999499993 meters 0.012033323404546025 Centerline is valid? [True, True] Translation: X:-3.31, Y:-254.46, Z:-1.82 [[ 6.75994301e-01 7.36883531e-01 -5.86237567e-03 -3.30642203e+00] [ 7.36856113e-01 -6.76019720e-01 -6.35660159e-03 -2.54459206e+02] [-8.64715658e-03 -2.27009025e-05 -9.99962612e-01 -1.81887578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.64655999499996 meters 0.012081021859607653 Centerline is valid? [True, True] Translation: X:-3.30, Y:-254.47, Z:-1.82 [[ 6.15359237e-01 7.88226748e-01 -5.62158405e-03 -3.29880857e+00] [ 7.88194361e-01 -6.15384914e-01 -7.14538930e-03 -2.54466002e+02] [-9.09162499e-03 -3.39195454e-05 -9.99958670e-01 -1.81980124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.67655999499993 meters 0.012147527339420667 Centerline is valid? [True, True] Translation: X:-3.29, Y:-254.47, Z:-1.82 [[ 5.51479844e-01 8.34172009e-01 -5.20013786e-03 -3.29188037e+00] [ 8.34135575e-01 -5.51504360e-01 -7.79641274e-03 -2.54471987e+02] [-9.37144798e-03 -3.80554975e-05 -9.99956086e-01 -1.81972147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.70655999499996 meters 0.012137787865792296 Centerline is valid? [True, True] Translation: X:-3.28, Y:-254.48, Z:-1.82 [[ 4.83936749e-01 8.75091524e-01 -4.47731912e-03 -3.28408811e+00] [ 8.75054888e-01 -4.83957459e-01 -8.00757005e-03 -2.54476955e+02] [-9.17418867e-03 -4.27425584e-05 -9.99957915e-01 -1.81990971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.73655999499994 meters 0.012090413259745516 Centerline is valid? [True, True] Translation: X:-3.28, Y:-254.48, Z:-1.82 [[ 4.13459398e-01 9.10514719e-01 -3.77790834e-03 -3.27632947e+00] [ 9.10477736e-01 -4.13476655e-01 -8.20661411e-03 -2.54480850e+02] [-9.03431984e-03 -4.65996981e-05 -9.99959189e-01 -1.82001098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.76655999499997 meters 0.012259865615845035 Centerline is valid? [True, True] Translation: X:-3.27, Y:-254.48, Z:-1.82 [[ 3.39951704e-01 9.40438406e-01 -2.90575319e-03 -3.26830711e+00] [ 9.40405340e-01 -3.39964118e-01 -7.88641639e-03 -2.54484301e+02] [-8.40454068e-03 -5.15851230e-05 -9.99964680e-01 -1.82015287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.79655999499994 meters 0.012235598256390309 Centerline is valid? [True, True] Translation: X:-3.26, Y:-254.49, Z:-1.82 [[ 2.64741107e-01 9.64316995e-01 -2.20894360e-03 -3.26058110e+00] [ 9.64285132e-01 -2.64750317e-01 -7.83921647e-03 -2.54487242e+02] [-8.14430818e-03 -5.46886232e-05 -9.99966833e-01 -1.82034466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.82655999499997 meters 0.012293192697960137 Centerline is valid? [True, True] Translation: X:-3.25, Y:-254.49, Z:-1.82 [[ 1.87698715e-01 9.82225466e-01 -1.52506959e-03 -3.25146360e+00] [ 9.82195523e-01 -1.87704901e-01 -7.66971236e-03 -2.54489961e+02] [-7.81964984e-03 -5.83213733e-05 -9.99969424e-01 -1.82047715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.85655999499994 meters 0.012239008740393412 Centerline is valid? [True, True] Translation: X:-3.24, Y:-254.49, Z:-1.82 [[ 1.09325173e-01 9.94005579e-01 -9.56693812e-04 -3.24225604e+00] [ 9.93972762e-01 -1.09329338e-01 -8.07743225e-03 -2.54491902e+02] [-8.13360742e-03 -6.78609139e-05 -9.99966919e-01 -1.82057846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.88655999499997 meters 0.01238451302699649 Centerline is valid? [True, True] Translation: X:-3.23, Y:-254.49, Z:-1.82 [[ 3.04551515e-02 9.99536078e-01 -3.34168119e-04 -3.23305542e+00] [ 9.99500280e-01 -3.04568890e-02 -8.45979432e-03 -2.54494313e+02] [-8.46604736e-03 -7.63568110e-05 -9.99964160e-01 -1.82037661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.91655999499994 meters 0.012573893048395053 Centerline is valid? [True, True] Translation: X:-3.22, Y:-254.50, Z:-1.82 [[-4.87115618e-02 9.98812826e-01 3.49344842e-04 -3.22446846e+00] [ 9.98772546e-01 4.87127349e-02 -8.97054640e-03 -2.54496020e+02] [-8.97691435e-03 -8.80532884e-05 -9.99959703e-01 -1.81978352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.946559995 meters 0.012777560324335918 Centerline is valid? [True, True] Translation: X:-3.22, Y:-254.50, Z:-1.82 [[-1.27669312e-01 9.91816214e-01 1.07002888e-03 -3.21688041e+00] [ 9.91774693e-01 1.27673759e-01 -9.07577033e-03 -2.54496551e+02] [-9.13811077e-03 -9.74697910e-05 -9.99958242e-01 -1.81922535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.97655999499995 meters 0.01306941388307779 Centerline is valid? [True, True] Translation: X:-3.21, Y:-254.50, Z:-1.82 [[-2.06838791e-01 9.78373425e-01 1.77628202e-03 -3.20865623e+00] [ 9.78332429e-01 2.06846386e-01 -8.95715089e-03 -2.54495578e+02] [-9.13085592e-03 -1.14891956e-04 -9.99958306e-01 -1.81869645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.006559995 meters 0.013337370778283314 Centerline is valid? [True, True] Translation: X:-3.20, Y:-254.50, Z:-1.82 [[-2.83643112e-01 9.58926937e-01 2.39052378e-03 -3.20147708e+00] [ 9.58889277e-01 2.83653161e-01 -8.49932232e-03 -2.54495838e+02] [-8.82830875e-03 -1.18526612e-04 -9.99961023e-01 -1.81841652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.03655999499995 meters 0.013456608027016688 Centerline is valid? [True, True] Translation: X:-3.19, Y:-254.49, Z:-1.82 [[-3.58574768e-01 9.33495941e-01 3.07631398e-03 -3.19467595e+00] [ 9.33458508e-01 3.58587942e-01 -8.36075751e-03 -2.54494195e+02] [-8.90786230e-03 -1.26345224e-04 -9.99960316e-01 -1.81817074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.066559995 meters 0.013433530526712723 Centerline is valid? [True, True] Translation: X:-3.19, Y:-254.49, Z:-1.82 [[-4.31250446e-01 9.02224172e-01 3.82058574e-03 -3.18683880e+00] [ 9.02185925e-01 4.31267348e-01 -8.30856952e-03 -2.54491618e+02] [-9.14388614e-03 -1.36195626e-04 -9.99958185e-01 -1.81812892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.09655999499995 meters 0.013840102754694486 Centerline is valid? [True, True] Translation: X:-3.18, Y:-254.49, Z:-1.82 [[-5.01922180e-01 8.64900937e-01 4.52710941e-03 -3.17989869e+00] [ 8.64862976e-01 5.01942572e-01 -8.10471312e-03 -2.54488755e+02] [-9.28212292e-03 -1.52605958e-04 -9.99956909e-01 -1.81738119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.126559995 meters 0.013802436502506888 Centerline is valid? [True, True] Translation: X:-3.17, Y:-254.48, Z:-1.82 [[-5.68706585e-01 8.22524481e-01 5.12818716e-03 -3.17239501e+00] [ 8.22488492e-01 5.68729683e-01 -7.69600494e-03 -2.54484297e+02] [-9.24670473e-03 -1.58893763e-04 -9.99957236e-01 -1.81742789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.15655999499995 meters 0.013967805418208405 Centerline is valid? [True, True] Translation: X:-3.16, Y:-254.48, Z:-1.82 [[-6.32139217e-01 7.74834115e-01 5.66610870e-03 -3.16412912e+00] [ 7.74800599e-01 6.32164588e-01 -7.20863281e-03 -2.54478973e+02] [-9.16740790e-03 -1.66755086e-04 -9.99957965e-01 -1.81721083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.186559995 meters 0.01424053496056108 Centerline is valid? [True, True] Translation: X:-3.16, Y:-254.47, Z:-1.82 [[-6.91374318e-01 7.22471634e-01 6.02412000e-03 -3.15622122e+00] [ 7.22442072e-01 6.91400542e-01 -6.53779990e-03 -2.54474150e+02] [-8.88845481e-03 -1.67989216e-04 -9.99960483e-01 -1.81702473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.21655999499995 meters 0.014790529881576895 Centerline is valid? [True, True] Translation: X:-3.15, Y:-254.47, Z:-1.82 [[-7.46462506e-01 6.65396833e-01 6.38614262e-03 -3.14860925e+00] [ 6.65370488e-01 7.46489803e-01 -5.92358588e-03 -2.54468874e+02] [-8.70872562e-03 -1.72583934e-04 -9.99962064e-01 -1.81651883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.246559995 meters 0.015140334783013666 Centerline is valid? [True, True] Translation: X:-3.13, Y:-254.45, Z:-1.82 [[-7.92511933e-01 6.09819886e-01 6.67402015e-03 -3.13173832e+00] [ 6.09796317e-01 7.92540014e-01 -5.36447236e-03 -2.54447481e+02] [-8.56078994e-03 -1.81615452e-04 -9.99963339e-01 -1.81653935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.27655999499996 meters 0.015296284989701116 Centerline is valid? [True, True] Translation: X:-3.11, Y:-254.43, Z:-1.82 [[-8.33895145e-01 5.51878493e-01 7.00108789e-03 -3.11127193e+00] [ 5.51857178e-01 8.33924514e-01 -4.85390647e-03 -2.54428870e+02] [-8.51714541e-03 -1.84048437e-04 -9.99963712e-01 -1.81655694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.30655999499993 meters 0.014817208037374116 Centerline is valid? [True, True] Translation: X:-3.10, Y:-254.41, Z:-1.82 [[-8.70963427e-01 4.91294791e-01 7.22065848e-03 -3.09731871e+00] [ 4.91276155e-01 8.70993338e-01 -4.28306437e-03 -2.54407308e+02] [-8.39339265e-03 -1.83055088e-04 -9.99964758e-01 -1.81738316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.33655999499996 meters 0.015073771511466608 Centerline is valid? [True, True] Translation: X:-3.08, Y:-254.39, Z:-1.82 [[-9.03487440e-01 4.28555658e-01 7.10591283e-03 -3.08311096e+00] [ 4.28540902e-01 9.03515367e-01 -3.56045243e-03 -2.54385059e+02] [-7.94615348e-03 -1.71649759e-04 -9.99968414e-01 -1.81728177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.36655999499993 meters 0.015197394704828698 Centerline is valid? [True, True] Translation: X:-2.78, Y:-253.78, Z:-2.78 [[-8.50989288e-01 -5.25140319e-01 6.69905324e-03 -2.78283529e+00] [ 5.25125497e-01 -8.51015641e-01 -3.94866963e-03 -2.53781408e+02] [ 7.77460472e-03 1.57568110e-04 9.99969765e-01 -2.77569439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.39655999499996 meters 0.01475513845624853 Centerline is valid? [True, True] Translation: X:-3.13, Y:-254.37, Z:-1.82 [[-9.04480741e-01 4.26457267e-01 6.98497091e-03 -3.12540127e+00] [ 4.26443197e-01 9.04507698e-01 -3.46772354e-03 -2.54368318e+02] [-7.79679586e-03 -1.57795837e-04 -9.99969592e-01 -1.81755946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.42655999499993 meters 0.014524519021818002 Centerline is valid? [True, True] Translation: X:-2.82, Y:-253.76, Z:-2.78 [[-8.53692705e-01 -5.20732466e-01 6.81650781e-03 -2.81748553e+00] [ 5.20717399e-01 -8.53719902e-01 -3.96470413e-03 -2.53760912e+02] [ 7.88393854e-03 1.64835228e-04 9.99968908e-01 -2.77550880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.45655999499996 meters 0.014312628669059746 Centerline is valid? [True, True] Translation: X:-3.16, Y:-254.35, Z:-1.82 [[-9.05419029e-01 4.24456698e-01 7.27279728e-03 -3.16482492e+00] [ 4.24441650e-01 9.05448225e-01 -3.57724595e-03 -2.54352849e+02] [-8.10352740e-03 -1.52028476e-04 -9.99967154e-01 -1.81671849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.48655999499994 meters 0.01375387824695633 Centerline is valid? [True, True] Translation: X:-3.16, Y:-254.33, Z:-1.82 [[-9.32844684e-01 3.60189412e-01 8.02387727e-03 -3.15860686e+00] [ 3.60174668e-01 9.32879180e-01 -3.26264339e-03 -2.54328936e+02] [-8.66047765e-03 -1.53542206e-04 -9.99962486e-01 -1.81586126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.51655999499997 meters 0.014099752194838788 Centerline is valid? [True, True] Translation: X:-3.14, Y:-254.31, Z:-1.82 [[-9.55933248e-01 2.93459708e-01 8.54543155e-03 -3.14387095e+00] [ 2.93446515e-01 9.55971430e-01 -2.78713472e-03 -2.54305654e+02] [-8.98710016e-03 -1.56687648e-04 -9.99959603e-01 -1.81516030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.54655999499994 meters 0.01417297448344679 Centerline is valid? [True, True] Translation: X:-3.14, Y:-254.28, Z:-1.82 [[-9.74296185e-01 2.25099986e-01 8.77153614e-03 -3.13843307e+00] [ 2.25089420e-01 9.74335657e-01 -2.18654386e-03 -2.54279684e+02] [-9.03861141e-03 -1.55961361e-04 -9.99959139e-01 -1.81501013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.57655999499997 meters 0.013832967678793396 Centerline is valid? [True, True] Translation: X:-3.14, Y:-254.25, Z:-1.82 [[-9.87781503e-01 1.55564956e-01 9.34058545e-03 -3.13696204e+00] [ 1.55556447e-01 9.87825652e-01 -1.63513227e-03 -2.54253716e+02] [-9.48123919e-03 -1.62165120e-04 -9.99955039e-01 -1.81506011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.60655999499994 meters 0.01393319951974204 Centerline is valid? [True, True] Translation: X:-3.01, Y:-253.57, Z:-2.78 [[-9.67040458e-01 -2.54450742e-01 9.35798550e-03 -3.00724280e+00] [ 2.54440568e-01 -9.67085720e-01 -2.28205055e-03 -2.53566204e+02] [ 9.63064360e-03 1.74215939e-04 9.99953609e-01 -2.77796626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.63655999499997 meters 0.014125385096395661 Centerline is valid? [True, True] Translation: X:-3.18, Y:-254.25, Z:-1.81 [[-9.88075299e-01 1.53672821e-01 9.58471401e-03 -3.18043643e+00] [ 1.53664162e-01 9.88121775e-01 -1.63780439e-03 -2.54249581e+02] [-9.72255065e-03 -1.45447018e-04 -9.99952724e-01 -1.81391314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.66655999499994 meters 0.012948591857788405 Centerline is valid? [True, True] Translation: X:-3.06, Y:-253.55, Z:-2.78 [[-9.68824970e-01 -2.47580685e-01 9.05435537e-03 -3.05786928e+00] [ 2.47570972e-01 -9.68867272e-01 -2.19609509e-03 -2.53552884e+02] [ 9.31617932e-03 1.13963792e-04 9.99956597e-01 -2.77760691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.696559995 meters 0.012787546818801 Centerline is valid? [True, True] Translation: X:-3.23, Y:-254.25, Z:-1.81 [[-9.88264802e-01 1.52511653e-01 8.53680086e-03 -3.23340925e+00] [ 1.52505048e-01 9.88301667e-01 -1.42327567e-03 -2.54246256e+02] [-8.65400065e-03 -1.04668026e-04 -9.99962548e-01 -1.81497870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.72655999499995 meters 0.012787546818801 Centerline is valid? [True, True] Translation: X:-3.23, Y:-254.22, Z:-1.81 [[-9.96596358e-01 8.19845032e-02 8.61628948e-03 -3.23061709e+00] [ 8.19805308e-02 9.96633599e-01 -8.13806493e-04 -2.54218686e+02] [-8.65400312e-03 -1.04668602e-04 -9.99962548e-01 -1.81497867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.756559995 meters 0.01214634874012614 Centerline is valid? [True, True] Translation: X:-3.23, Y:-254.20, Z:-1.82 [[-9.99859190e-01 1.52038360e-02 7.10237712e-03 -3.22887591e+00] [ 1.52030536e-02 9.99884413e-01 -1.64137591e-04 -2.54195145e+02] [-7.10405170e-03 -5.61366587e-05 -9.99974764e-01 -1.81613209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.78655999499995 meters 0.011918354045339712 Centerline is valid? [True, True] Translation: X:-3.20, Y:-253.47, Z:-2.78 [[-9.95392365e-01 -9.57225186e-02 5.58916631e-03 -3.20405692e+00] [ 9.57207313e-02 -9.95408056e-01 -5.87019329e-04 -2.53471364e+02] [ 5.61969214e-03 -4.93154712e-05 9.99984208e-01 -2.77618263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.816559995 meters 0.011669622372258924 Centerline is valid? [True, True] Translation: X:-3.30, Y:-254.20, Z:-1.82 [[-9.99871635e-01 1.52877537e-02 4.79561148e-03 -3.30050262e+00] [ 1.52875198e-02 9.99883135e-01 -8.54240248e-05 -2.54198028e+02] [-4.79635698e-03 -1.21000540e-05 -9.99988497e-01 -1.81726037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.84655999499995 meters 0.01166982854902911 Centerline is valid? [True, True] Translation: X:-3.30, Y:-254.17, Z:-1.82 [[-9.98595816e-01 -5.28664428e-02 3.39629319e-03 -3.30176491e+00] [-5.28661306e-02 9.98601592e-01 1.81694435e-04 -2.54172385e+02] [-3.40114932e-03 1.89042363e-06 -9.99994216e-01 -1.81756592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.876559995 meters 0.011967131494239619 Centerline is valid? [True, True] Translation: X:-3.31, Y:-254.15, Z:-1.82 [[-9.93009782e-01 -1.18006732e-01 2.44625516e-03 -3.30557460e+00] [-1.18006334e-01 9.93012795e-01 3.07020189e-04 -2.54148764e+02] [-2.46539312e-03 1.62004477e-05 -9.99996961e-01 -1.81739788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.90655999499995 meters 0.012418831171289467 Centerline is valid? [True, True] Translation: X:-3.32, Y:-254.13, Z:-1.82 [[-9.82592033e-01 -1.85761277e-01 2.37573273e-03 -3.32213445e+00] [-1.85760676e-01 9.82594905e-01 4.73223575e-04 -2.54125315e+02] [-2.42228949e-03 2.36679966e-05 -9.99997066e-01 -1.81691866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.936559995 meters 0.013646884630841969 Centerline is valid? [True, True] Translation: X:-3.36, Y:-254.11, Z:-1.82 [[-9.68086822e-01 -2.50591639e-01 3.42583569e-03 -3.35772260e+00] [-2.50589862e-01 9.68092881e-01 9.45610369e-04 -2.54109096e+02] [-3.55348919e-03 5.69532455e-05 -9.99993685e-01 -1.81543268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.96655999499995 meters 0.015216585225997637 Centerline is valid? [True, True] Translation: X:-3.42, Y:-254.10, Z:-1.81 [[-9.47869652e-01 -3.18638526e-01 3.55136493e-03 -3.41630542e+00] [-3.18636011e-01 9.47876303e-01 1.26804242e-03 -2.54101714e+02] [-3.77030183e-03 7.03461764e-05 -9.99992890e-01 -1.81475490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.996559995 meters 0.01614741945469122 Centerline is valid? [True, True] Translation: X:-3.48, Y:-254.10, Z:-1.81 [[-9.22561594e-01 -3.85829494e-01 3.96317770e-03 -3.48148057e+00] [-3.85825508e-01 9.22570102e-01 1.75595500e-03 -2.54098558e+02] [-4.33380848e-03 9.08815967e-05 -9.99990605e-01 -1.81438101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.02655999499996 meters 0.01600677410365853 Centerline is valid? [True, True] Translation: X:-3.56, Y:-254.10, Z:-1.81 [[-8.92292608e-01 -4.51441055e-01 3.85690439e-03 -3.55816370e+00] [-4.51436342e-01 8.92300938e-01 2.06540538e-03 -2.54103669e+02] [-4.37392819e-03 1.01799142e-04 -9.99990429e-01 -1.81444393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.05655999499993 meters 0.016511508662949332 Centerline is valid? [True, True] Translation: X:-3.64, Y:-254.12, Z:-1.81 [[-8.56918676e-01 -5.15437507e-01 3.81549855e-03 -3.64149300e+00] [-5.15431801e-01 8.56927163e-01 2.42806937e-03 -2.54119722e+02] [-4.52112237e-03 1.14028698e-04 -9.99989773e-01 -1.81431228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.08655999499996 meters 0.018143492256859812 Centerline is valid? [True, True] Translation: X:-3.73, Y:-254.15, Z:-1.81 [[-8.17687654e-01 -5.75651474e-01 3.50451471e-03 -3.72891525e+00] [-5.75645520e-01 8.17695154e-01 2.62113814e-03 -2.54146189e+02] [-4.37448673e-03 1.25914100e-04 -9.99990424e-01 -1.81404856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.11655999499993 meters 0.01912382554807897 Centerline is valid? [True, True] Translation: X:-3.82, Y:-254.18, Z:-1.81 [[-7.73176335e-01 -6.34185082e-01 2.76344384e-03 -3.81775073e+00] [-6.34180499e-01 7.73181265e-01 2.41379151e-03 -2.54181945e+02] [-3.66743357e-03 1.13764282e-04 -9.99993269e-01 -1.81427822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.14655999499996 meters 0.02035199123285367 Centerline is valid? [True, True] Translation: X:-3.91, Y:-254.23, Z:-1.81 [[-7.24321445e-01 -6.89460026e-01 1.82124408e-03 -3.91237054e+00] [-6.89457541e-01 7.24323730e-01 1.85301505e-03 -2.54233572e+02] [-2.59675011e-03 8.65080754e-05 -9.99996625e-01 -1.81487024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.17655999499993 meters 0.02100134812653659 Centerline is valid? [True, True] Translation: X:-4.00, Y:-254.29, Z:-1.81 [[-6.71608852e-01 -7.40901431e-01 2.57278201e-03 -3.99990183e+00] [-7.40895160e-01 6.71613764e-01 3.05170720e-03 -2.54285820e+02] [-3.98893005e-03 1.43391826e-04 -9.99992034e-01 -1.81388536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.20655999499996 meters 0.01872986212953212 Centerline is valid? [True, True] Translation: X:-4.09, Y:-254.35, Z:-1.81 [[-6.13182887e-01 -7.89936911e-01 2.53451880e-03 -4.09286161e+00] [-7.89929080e-01 6.13188105e-01 3.52072934e-03 -2.54351000e+02] [-4.33529084e-03 1.56760874e-04 -9.99990590e-01 -1.81360327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.23655999499994 meters 0.018845193969086866 Centerline is valid? [True, True] Translation: X:-4.18, Y:-254.43, Z:-1.81 [[-5.51005633e-01 -8.34498066e-01 2.40192482e-03 -4.17804561e+00] [-8.34488777e-01 5.51010843e-01 3.94113774e-03 -2.54425084e+02] [-4.61235844e-03 1.67209793e-04 -9.99989349e-01 -1.81355947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.26655999499997 meters 0.018889126795398888 Centerline is valid? [True, True] Translation: X:-4.26, Y:-254.51, Z:-1.81 [[-4.84322050e-01 -8.74887891e-01 1.82478979e-03 -4.26146287e+00] [-8.74880550e-01 4.84325467e-01 3.58698775e-03 -2.54508957e+02] [-4.02200432e-03 1.40784170e-04 -9.99991902e-01 -1.81432839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.29655999499994 meters 0.01793344749433147 Centerline is valid? [True, True] Translation: X:-4.34, Y:-254.60, Z:-1.81 [[-4.14181180e-01 -9.10193203e-01 1.51134497e-03 -4.34097071e+00] [-9.10185945e-01 4.14183916e-01 3.63713494e-03 -2.54604273e+02] [-3.93647028e-03 1.30827888e-04 -9.99992244e-01 -1.81464817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.32655999499997 meters 0.017452129392568114 Centerline is valid? [True, True] Translation: X:-4.41, Y:-254.70, Z:-1.81 [[-3.41153908e-01 -9.40006644e-01 1.23280490e-03 -4.40996078e+00] [-9.39999135e-01 3.41156113e-01 3.75937132e-03 -2.54697954e+02] [-3.95441295e-03 1.23688681e-04 -9.99992174e-01 -1.81446288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.35655999499994 meters 0.017194481168998025 Centerline is valid? [True, True] Translation: X:-4.47, Y:-254.80, Z:-1.81 [[-2.65693334e-01 -9.64057090e-01 9.89415460e-04 -4.47348197e+00] [-9.64048618e-01 2.65695148e-01 4.04359887e-03 -2.54804648e+02] [-4.16114305e-03 1.20512657e-04 -9.99991335e-01 -1.81407082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.38655999499997 meters 0.01586731263566385 Centerline is valid? [True, True] Translation: X:-4.53, Y:-254.91, Z:-1.81 [[-1.85100732e-01 -9.82719205e-01 8.26793168e-04 -4.53237910e+00] [-9.82706347e-01 1.85102541e-01 5.02834613e-03 -2.54913122e+02] [-5.09449383e-03 1.18255654e-04 -9.99987016e-01 -1.81255040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.41655999499994 meters 0.015384217345441122 Centerline is valid? [True, True] Translation: X:-4.58, Y:-255.03, Z:-1.81 [[-1.05604758e-01 -9.94408056e-01 5.03754148e-04 -4.57897581e+00] [-9.94390892e-01 1.05605895e-01 5.84372718e-03 -2.55029917e+02] [-5.86424879e-03 1.16196857e-04 -9.99982798e-01 -1.81156638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.446559995 meters 0.013244589214519048 Centerline is valid? [True, True] Translation: X:-4.62, Y:-255.15, Z:-1.81 [[-2.16863600e-02 -9.99764822e-01 5.21177581e-05 -4.62314759e+00] [-9.99748303e-01 2.16863013e-02 5.74763207e-03 -2.55149348e+02] [-5.74741059e-03 7.25405781e-05 -9.99983481e-01 -1.81189683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.47655999499995 meters 0.012717817176633709 Centerline is valid? [True, True] Translation: X:-4.65, Y:-255.27, Z:-1.81 [[ 5.93816324e-02 -9.98235286e-01 -3.67502008e-04 -4.65222552e+00] [-9.98220622e-01 -5.93827521e-02 5.41106734e-03 -2.55273106e+02] [-5.42334163e-03 4.55300718e-05 -9.99985293e-01 -1.81209193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.506559995 meters 0.012368679252590133 Centerline is valid? [True, True] Translation: X:-4.67, Y:-255.39, Z:-1.81 [[ 1.39935340e-01 -9.90160399e-01 -6.96047908e-04 -4.67298169e+00] [-9.90148880e-01 -1.39937069e-01 4.77628320e-03 -2.55391605e+02] [-4.82668939e-03 2.08202424e-05 -9.99988351e-01 -1.81221418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.53655999499995 meters 0.012246247677222913 Centerline is valid? [True, True] Translation: X:-4.68, Y:-255.51, Z:-1.81 [[ 2.19915961e-01 -9.75518321e-01 -9.87635145e-04 -4.68367841e+00] [-9.75508470e-01 -2.19918179e-01 4.38407344e-03 -2.55514646e+02] [-4.49394288e-03 -6.81273970e-07 -9.99989902e-01 -1.81231657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.566559995 meters 0.01277745112030894 Centerline is valid? [True, True] Translation: X:-4.69, Y:-255.64, Z:-1.81 [[ 3.02382920e-01 -9.53185759e-01 -1.21575819e-03 -4.68826309e+00] [-9.53177559e-01 -3.02385362e-01 3.95403971e-03 -2.55639170e+02] [-4.13656182e-03 -3.68006526e-05 -9.99991444e-01 -1.81269447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.59655999499995 meters 0.013473605517641256 Centerline is valid? [True, True] Translation: X:-4.68, Y:-255.76, Z:-1.81 [[ 3.78061409e-01 -9.25779255e-01 -1.53052034e-03 -4.67884895e+00] [-9.25771089e-01 -3.78064503e-01 3.88877945e-03 -2.55760076e+02] [-4.17878675e-03 -5.32859593e-05 -9.99991267e-01 -1.81335467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.626559995 meters 0.014394129864423493 Centerline is valid? [True, True] Translation: X:-4.66, Y:-255.88, Z:-1.81 [[ 4.51319077e-01 -8.92360596e-01 -1.91256008e-03 -4.66175469e+00] [-8.92351885e-01 -4.51323123e-01 3.94363780e-03 -2.55876417e+02] [-4.38232957e-03 -7.31623850e-05 -9.99990395e-01 -1.81343987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.65655999499995 meters 0.015558051008227181 Centerline is valid? [True, True] Translation: X:-4.64, Y:-255.99, Z:-1.81 [[ 5.21029367e-01 -8.53535302e-01 -2.42643551e-03 -4.63661455e+00] [-8.53525169e-01 -5.21035008e-01 4.16014842e-03 -2.55990899e+02] [-4.81509139e-03 -9.65357173e-05 -9.99988403e-01 -1.81332728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.686559995 meters 0.016047056025546368 Centerline is valid? [True, True] Translation: X:-4.60, Y:-256.10, Z:-1.81 [[ 5.87111602e-01 -8.09499957e-01 -3.12823313e-03 -4.60219719e+00] [-8.09487293e-01 -5.87119922e-01 4.52982492e-03 -2.56101165e+02] [-5.50354107e-03 -1.27247793e-04 -9.99984847e-01 -1.81296815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.71655999499995 meters 0.018003352307380815 Centerline is valid? [True, True] Translation: X:-4.56, Y:-256.21, Z:-1.81 [[ 6.50476044e-01 -7.59516285e-01 -3.99108400e-03 -4.56327748e+00] [-7.59500307e-01 -6.50488264e-01 4.92966011e-03 -2.56210414e+02] [-6.34031044e-03 -1.75396281e-04 -9.99979885e-01 -1.81153003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.746559995 meters 0.01771310920156221 Centerline is valid? [True, True] Translation: X:-4.52, Y:-256.30, Z:-1.81 [[ 7.07291236e-01 -7.06908584e-01 -4.40025082e-03 -4.52046263e+00] [-7.06893245e-01 -7.07304899e-01 4.66049925e-03 -2.56302185e+02] [-6.40686589e-03 -1.85822694e-04 -9.99979459e-01 -1.81181708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.77655999499996 meters 0.0187284901782401 Centerline is valid? [True, True] Translation: X:-4.47, Y:-256.40, Z:-1.81 [[ 7.59522028e-01 -6.50465223e-01 -4.61339237e-03 -4.46802947e+00] [-6.50451706e-01 -7.59536016e-01 4.19759127e-03 -2.56395327e+02] [-6.23442479e-03 -1.87374097e-04 -9.99980548e-01 -1.81213431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.80655999499993 meters 0.018416277422529773 Centerline is valid? [True, True] Translation: X:-4.47, Y:-256.41, Z:-1.81 [[ 8.08294369e-01 -5.88761942e-01 -4.42590523e-03 -4.46699128e+00] [-5.88751946e-01 -8.08306469e-01 3.43501236e-03 -2.56405419e+02] [-5.59989238e-03 -1.70740832e-04 -9.99984306e-01 -1.81319032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.83655999499996 meters 0.018649284605895582 Centerline is valid? [True, True] Translation: X:-4.46, Y:-256.41, Z:-1.81 [[ 8.51825775e-01 -5.23801671e-01 -4.96577006e-03 -4.46485946e+00] [-5.23791521e-01 -8.51840229e-01 3.26587020e-03 -2.56414597e+02] [-5.94071098e-03 -1.80924163e-04 -9.99982338e-01 -1.81312225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.86655999499993 meters 0.018999083642292188 Centerline is valid? [True, True] Translation: X:-4.46, Y:-256.42, Z:-1.81 [[ 8.89993875e-01 -4.55942607e-01 -5.21932926e-03 -4.46224268e+00] [-4.55933577e-01 -8.90009161e-01 2.87513635e-03 -2.56423315e+02] [-5.95614802e-03 -1.79186280e-04 -9.99982246e-01 -1.81301043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.89655999499996 meters 0.01823887534177074 Centerline is valid? [True, True] Translation: X:-4.46, Y:-256.43, Z:-1.81 [[ 9.22652326e-01 -3.85587953e-01 -5.88353122e-03 -4.45809605e+00] [-3.85578794e-01 -9.22671065e-01 2.66446387e-03 -2.56431595e+02] [-6.45594919e-03 -1.89808914e-04 -9.99979142e-01 -1.81298860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.92655999499993 meters 0.018404994809794684 Centerline is valid? [True, True] Translation: X:-4.45, Y:-256.44, Z:-1.81 [[ 9.49886197e-01 -3.12528420e-01 -6.49615774e-03 -4.45420885e+00] [-3.12519656e-01 -9.49908388e-01 2.34917954e-03 -2.56439789e+02] [-6.90494010e-03 -2.01276240e-04 -9.99976140e-01 -1.81237040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.95655999499996 meters 0.01806505610603006 Centerline is valid? [True, True] Translation: X:-4.45, Y:-256.45, Z:-1.81 [[ 9.71432087e-01 -2.37194709e-01 -7.64004214e-03 -4.44875521e+00] [-2.37185490e-01 -9.71462102e-01 2.10400539e-03 -2.56447756e+02] [-7.92107035e-03 -2.31791203e-04 -9.99968601e-01 -1.81246026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.98655999499994 meters 0.017572813090158654 Centerline is valid? [True, True] Translation: X:-4.44, Y:-256.46, Z:-1.81 [[ 9.86973606e-01 -1.60683968e-01 -7.98520134e-03 -4.44333794e+00] [-1.60676764e-01 -9.87005880e-01 1.53985116e-03 -2.56456055e+02] [-8.12887007e-03 -2.36756150e-04 -9.99966932e-01 -1.81262144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.01655999499997 meters 0.017896772356626275 Centerline is valid? [True, True] Translation: X:-4.44, Y:-256.46, Z:-1.81 [[ 9.96420079e-01 -8.40919333e-02 -8.69325154e-03 -4.43798089e+00] [-8.40865825e-02 -9.96457970e-01 9.79840781e-04 -2.56464471e+02] [-8.74485650e-03 -2.45347215e-04 -9.99961733e-01 -1.81213067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.04655999499994 meters 0.017410169748542644 Centerline is valid? [True, True] Translation: X:-4.43, Y:-256.47, Z:-1.81 [[ 9.99939977e-01 -6.77846495e-03 -8.60780001e-03 -4.43447019e+00] [-6.77620277e-03 -9.99976999e-01 2.91943185e-04 -2.56470460e+02] [-8.60958095e-03 -2.33597464e-04 -9.99962910e-01 -1.81262903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.07655999499997 meters 0.01642037421853717 Centerline is valid? [True, True] Translation: X:-4.43, Y:-256.48, Z:-1.81 [[ 9.97431767e-01 7.10151498e-02 -9.31226264e-03 -4.43110891e+00] [ 7.10143749e-02 -9.97475206e-01 -4.14259630e-04 -2.56477667e+02] [-9.31816981e-03 -2.48108796e-04 -9.99956554e-01 -1.81312509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.10655999499994 meters 0.01642037421853717 Centerline is valid? [True, True] Translation: X:-4.43, Y:-256.49, Z:-1.81 [[ 9.88811348e-01 1.48884289e-01 -9.25127064e-03 -4.42718212e+00] [ 1.48880116e-01 -9.88854594e-01 -1.14199706e-03 -2.56486278e+02] [-9.31818689e-03 -2.48110588e-04 -9.99956554e-01 -1.81312493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.13655999499997 meters 0.01642037421853717 Centerline is valid? [True, True] Translation: X:-4.42, Y:-256.49, Z:-1.81 [[ 9.74121593e-01 2.25839992e-01 -9.13349416e-03 -4.42257893e+00] [ 2.25832446e-01 -9.74164379e-01 -1.86273147e-03 -2.56494552e+02] [-9.31820393e-03 -2.48112381e-04 -9.99956554e-01 -1.81312477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.16655999499994 meters 0.016851988091413223 Centerline is valid? [True, True] Translation: X:-4.42, Y:-256.50, Z:-1.81 [[ 9.53539393e-01 3.01134774e-01 -8.97075204e-03 -4.41804321e+00] [ 3.01123860e-01 -9.53581558e-01 -2.57554996e-03 -2.56502416e+02] [-9.32993136e-03 -2.45419138e-04 -9.99956445e-01 -1.81250464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.196559995 meters 0.016851988091413223 Centerline is valid? [True, True] Translation: X:-4.41, Y:-256.51, Z:-1.81 [[ 9.27041380e-01 3.74857124e-01 -8.74162673e-03 -4.41308021e+00] [ 3.74842943e-01 -9.27082562e-01 -3.26988203e-03 -2.56507982e+02] [-9.32994828e-03 -2.45421134e-04 -9.99956445e-01 -1.81250448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.22655999499995 meters 0.01755066456084139 Centerline is valid? [True, True] Translation: X:-4.41, Y:-256.51, Z:-1.81 [[ 8.94895792e-01 4.46177391e-01 -9.34119448e-03 -4.40784919e+00] [ 4.46156215e-01 -8.94944503e-01 -4.35535335e-03 -2.56513508e+02] [-1.03031108e-02 -2.70044583e-04 -9.99946885e-01 -1.81190356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.256559995 meters 0.016459776554203855 Centerline is valid? [True, True] Translation: X:-4.40, Y:-256.52, Z:-1.81 [[ 8.57204158e-01 5.14899726e-01 -8.90523939e-03 -4.40177599e+00] [ 5.14875170e-01 -8.57250372e-01 -5.03586074e-03 -2.56517274e+02] [-1.02269831e-02 -2.68325880e-04 -9.99947667e-01 -1.81298624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.28655999499995 meters 0.01703347502662387 Centerline is valid? [True, True] Translation: X:-4.39, Y:-256.52, Z:-1.81 [[ 8.14267318e-01 5.80427452e-01 -8.52686925e-03 -4.39480937e+00] [ 5.80399065e-01 -8.14311918e-01 -5.74669704e-03 -2.56522927e+02] [-1.02790720e-02 -2.69639353e-04 -9.99947133e-01 -1.81297266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.316559995 meters 0.01719604969866803 Centerline is valid? [True, True] Translation: X:-4.39, Y:-256.52, Z:-1.81 [[ 7.66395343e-01 6.42321559e-01 -7.82262836e-03 -4.38818150e+00] [ 6.42291543e-01 -7.66435220e-01 -6.21508407e-03 -2.56524995e+02] [-9.98762038e-03 -2.61196554e-04 -9.99950088e-01 -1.81324465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.34655999499995 meters 0.016896383994721504 Centerline is valid? [True, True] Translation: X:-4.38, Y:-256.53, Z:-1.81 [[ 7.13884355e-01 7.00228831e-01 -6.97943276e-03 -4.38112187e+00] [ 7.00198721e-01 -7.13918429e-01 -6.49831747e-03 -2.56527322e+02] [-9.53305491e-03 -2.47942716e-04 -9.99954529e-01 -1.81398678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.376559995 meters 0.017067060379051018 Centerline is valid? [True, True] Translation: X:-4.37, Y:-256.53, Z:-1.81 [[ 6.56374319e-01 7.54406557e-01 -6.59545491e-03 -4.37393948e+00] [ 7.54372401e-01 -6.56407403e-01 -7.18348903e-03 -2.56530160e+02] [-9.74857666e-03 -2.60371436e-04 -9.99952448e-01 -1.81495514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.40655999499995 meters 0.017142371326446883 Centerline is valid? [True, True] Translation: X:-4.37, Y:-256.53, Z:-1.82 [[ 5.95123666e-01 8.03613318e-01 -5.78423455e-03 -4.36682002e+00] [ 8.03579414e-01 -5.95151722e-01 -7.38602675e-03 -2.56532087e+02] [-9.37800661e-03 -2.52492489e-04 -9.99955994e-01 -1.81503089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.436559995 meters 0.017367982917810096 Centerline is valid? [True, True] Translation: X:-4.36, Y:-256.53, Z:-1.82 [[ 5.30081065e-01 8.47929741e-01 -5.40542797e-03 -4.35958427e+00] [ 8.47890672e-01 -5.30108558e-01 -8.14405533e-03 -2.56532739e+02] [-9.77105035e-03 -2.66202430e-04 -9.99952227e-01 -1.81504323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.46655999499995 meters 0.01818221534440132 Centerline is valid? [True, True] Translation: X:-4.35, Y:-256.53, Z:-1.81 [[ 4.61257766e-01 8.87250534e-01 -5.26908927e-03 -4.35275365e+00] [ 8.87200014e-01 -4.61287759e-01 -9.47305416e-03 -2.56534820e+02] [-1.08355387e-02 -3.05216276e-04 -9.99941247e-01 -1.81489913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.496559995 meters 0.017750457309442524 Centerline is valid? [True, True] Translation: X:-4.35, Y:-256.53, Z:-1.82 [[ 3.89690094e-01 9.20934045e-01 -4.70271719e-03 -4.34574487e+00] [ 9.20876782e-01 -3.89718332e-01 -1.02749172e-02 -2.56534974e+02] [-1.12952562e-02 -3.26589622e-04 -9.99936153e-01 -1.81527229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.52655999499996 meters 0.017803086212614096 Centerline is valid? [True, True] Translation: X:-4.34, Y:-256.54, Z:-1.82 [[ 3.15896443e-01 9.48785360e-01 -3.97219376e-03 -4.33782557e+00] [ 9.48723352e-01 -3.15921233e-01 -1.08524404e-02 -2.56535110e+02] [-1.15515369e-02 -3.40265679e-04 -9.99933221e-01 -1.81541670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.55655999499993 meters 0.016882831075253207 Centerline is valid? [True, True] Translation: X:-4.33, Y:-256.53, Z:-1.82 [[ 2.40352904e-01 9.70680497e-01 -3.13922891e-03 -4.32872687e+00] [ 9.70615547e-01 -2.40373154e-01 -1.12341740e-02 -2.56534980e+02] [-1.16593799e-02 -3.46818038e-04 -9.99931967e-01 -1.81604489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.58655999499996 meters 0.017616993919299873 Centerline is valid? [True, True] Translation: X:-4.32, Y:-256.54, Z:-1.82 [[ 1.63008767e-01 9.86622089e-01 -2.23487289e-03 -4.31777968e+00] [ 9.86556647e-01 -1.63023707e-01 -1.13689257e-02 -2.56535373e+02] [-1.15811705e-02 -3.51594148e-04 -9.99932874e-01 -1.81643966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.61655999499993 meters 0.017616993919299873 Centerline is valid? [True, True] Translation: X:-4.31, Y:-256.53, Z:-1.82 [[ 8.52015962e-02 9.96362836e-01 -1.33714216e-03 -4.30969724e+00] [ 9.96296424e-01 -8.52113626e-02 -1.15091075e-02 -2.56534034e+02] [-1.15811867e-02 -3.51595619e-04 -9.99932874e-01 -1.81643952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.64655999499996 meters 0.01809063485893734 Centerline is valid? [True, True] Translation: X:-4.30, Y:-256.53, Z:-1.82 [[ 6.90912321e-03 9.99976042e-01 -4.24482282e-04 -4.30138395e+00] [ 9.99911380e-01 -6.91350589e-03 -1.13769656e-02 -2.56532658e+02] [-1.13796277e-02 -3.45839807e-04 -9.99935190e-01 -1.81641691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.67655999499993 meters 0.018160760143026887 Centerline is valid? [True, True] Translation: X:-4.29, Y:-256.53, Z:-1.82 [[-7.14706513e-02 9.97442590e-01 4.74985932e-04 -4.29488856e+00] [ 9.97375844e-01 7.14713660e-02 -1.15442618e-02 -2.56529615e+02] [-1.15486863e-02 -3.51336414e-04 -9.99933250e-01 -1.81659723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.70655999499996 meters 0.01866706490842978 Centerline is valid? [True, True] Translation: X:-4.29, Y:-256.53, Z:-1.82 [[-1.49379532e-01 9.88778874e-01 1.44730652e-03 -4.28822288e+00] [ 9.88705548e-01 1.49386088e-01 -1.20472787e-02 -2.56527526e+02] [-1.21283021e-02 -3.68656871e-04 -9.99926382e-01 -1.81613478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.73655999499994 meters 0.018281211997608644 Centerline is valid? [True, True] Translation: X:-4.28, Y:-256.52, Z:-1.82 [[-2.26187791e-01 9.74080387e-01 2.54610980e-03 -4.28334213e+00] [ 9.73997730e-01 2.26201782e-01 -1.26954730e-02 -2.56523664e+02] [-1.29423458e-02 -3.91655832e-04 -9.99916168e-01 -1.81583074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.76655999499997 meters 0.017827838145590098 Centerline is valid? [True, True] Translation: X:-4.28, Y:-256.52, Z:-1.82 [[-3.01502099e-01 9.53458674e-01 3.61123563e-03 -4.27797343e+00] [ 9.53373706e-01 3.01523464e-01 -1.27349221e-02 -2.56519304e+02] [-1.32310942e-02 -3.96748639e-04 -9.99912387e-01 -1.81569002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.79655999499994 meters 0.019132496194123064 Centerline is valid? [True, True] Translation: X:-4.27, Y:-256.51, Z:-1.81 [[-3.73961190e-01 9.27431464e-01 4.88955533e-03 -4.27027389e+00] [ 9.27337577e-01 3.73992937e-01 -1.32023324e-02 -2.56514886e+02] [-1.40729176e-02 -4.02891525e-04 -9.99900890e-01 -1.81379985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.82655999499997 meters 0.016818789804529912 Centerline is valid? [True, True] Translation: X:-4.27, Y:-256.51, Z:-1.82 [[-4.44781686e-01 8.95619480e-01 5.91597589e-03 -4.26796634e+00] [ 8.95528171e-01 4.44820854e-01 -1.27946291e-02 -2.56510301e+02] [-1.40906685e-02 -3.92893633e-04 -9.99900644e-01 -1.81532654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.85655999499994 meters 0.017528503754700615 Centerline is valid? [True, True] Translation: X:-4.26, Y:-256.51, Z:-1.81 [[-5.12907631e-01 8.58415401e-01 6.98292573e-03 -4.26191852e+00] [ 8.58325341e-01 5.12955016e-01 -1.24402359e-02 -2.56505079e+02] [-1.42608169e-02 -3.87069801e-04 -9.99898235e-01 -1.81463100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.88655999499997 meters 0.016264468382628093 Centerline is valid? [True, True] Translation: X:-4.26, Y:-256.50, Z:-1.82 [[-5.77828506e-01 8.16118904e-01 8.00951368e-03 -4.25882952e+00] [ 8.16031283e-01 5.77883891e-01 -1.19646686e-02 -2.56500008e+02] [-1.43931611e-02 -3.77512818e-04 -9.99896342e-01 -1.81540175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.91655999499994 meters 0.015322460076711392 Centerline is valid? [True, True] Translation: X:-4.25, Y:-256.49, Z:-1.82 [[-6.39009835e-01 7.69145493e-01 9.03555305e-03 -4.25427901e+00] [ 7.69060432e-01 6.39073609e-01 -1.14443768e-02 -2.56492850e+02] [-1.45767743e-02 -3.64182974e-04 -9.99893687e-01 -1.81609923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.946559995 meters 0.015430438554477795 Centerline is valid? [True, True] Translation: X:-4.25, Y:-256.49, Z:-1.82 [[-6.95567654e-01 7.18393352e-01 9.83014174e-03 -4.24902708e+00] [ 7.18314891e-01 6.95637036e-01 -1.06222567e-02 -2.56485197e+02] [-1.44691692e-02 -3.27360950e-04 -9.99895263e-01 -1.81526441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.97655999499995 meters 0.015617240109693956 Centerline is valid? [True, True] Translation: X:-4.25, Y:-256.48, Z:-1.82 [[-7.49148769e-01 6.62314410e-01 1.07584524e-02 -4.24573253e+00] [ 6.62239950e-01 7.49225947e-01 -9.93626163e-03 -2.56479797e+02] [-1.46414409e-02 -3.19061201e-04 -9.99892758e-01 -1.81519689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.006559995 meters 0.014750670198389298 Centerline is valid? [True, True] Translation: X:-3.84, Y:-256.05, Z:-2.78 [[-6.71925424e-01 -7.40550708e-01 1.00435257e-02 -3.84498731e+00] [ 7.40474930e-01 -6.72000408e-01 -1.05985389e-02 -2.56048435e+02] [ 1.45980089e-02 3.15551217e-04 9.99893394e-01 -2.77714687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.03655999499995 meters 0.014496273039842428 Centerline is valid? [True, True] Translation: X:-3.86, Y:-256.03, Z:-2.78 [[-6.73583141e-01 -7.39043576e-01 1.00172291e-02 -3.86266344e+00] [ 7.38967874e-01 -6.73657567e-01 -1.05812991e-02 -2.56027519e+02] [ 1.45682233e-02 2.75025841e-04 9.99893840e-01 -2.77732861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.066559995 meters 0.014162541997849092 Centerline is valid? [True, True] Translation: X:-3.88, Y:-256.01, Z:-2.78 [[-6.74264802e-01 -7.38416050e-01 1.04266459e-02 -3.88097423e+00] [ 7.38334052e-01 -6.74345358e-01 -1.10075978e-02 -2.56006104e+02] [ 1.51593472e-02 2.76311970e-04 9.99885052e-01 -2.77732592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.09655999499995 meters 0.014103824248803113 Centerline is valid? [True, True] Translation: X:-3.90, Y:-255.99, Z:-2.78 [[-6.75137518e-01 -7.37616243e-01 1.05646218e-02 -3.89829603e+00] [ 7.37532075e-01 -6.75220118e-01 -1.11459044e-02 -2.55986797e+02] [ 1.53548453e-02 2.66729227e-04 9.99882072e-01 -2.77748230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.126559995 meters 0.013698388350984907 Centerline is valid? [True, True] Translation: X:-3.92, Y:-255.97, Z:-2.78 [[-6.76381881e-01 -7.36475314e-01 1.05670558e-02 -3.91562872e+00] [ 7.36391076e-01 -6.76464375e-01 -1.11414793e-02 -2.55965316e+02] [ 1.53536612e-02 2.45590822e-04 9.99882096e-01 -2.77706925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.15655999499995 meters 0.013619065467611722 Centerline is valid? [True, True] Translation: X:-3.93, Y:-255.95, Z:-2.78 [[-6.77143552e-01 -7.35781114e-01 1.01371729e-02 -3.93315034e+00] [ 7.35703615e-01 -6.77219390e-01 -1.06812115e-02 -2.55946028e+02] [ 1.47241237e-02 2.25241216e-04 9.99891569e-01 -2.77700171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.186559995 meters 0.013296283209201369 Centerline is valid? [True, True] Translation: X:-3.95, Y:-255.92, Z:-2.78 [[-6.77675396e-01 -7.35296006e-01 9.78990535e-03 -3.95148536e+00] [ 7.35223758e-01 -6.77746073e-01 -1.03095316e-02 -2.55924592e+02] [ 1.42156273e-02 2.11255067e-04 9.99898931e-01 -2.77612399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.21655999499995 meters 0.013015822136475804 Centerline is valid? [True, True] Translation: X:-3.97, Y:-255.90, Z:-2.78 [[-6.78103047e-01 -7.34905070e-01 9.52871414e-03 -3.96943707e+00] [ 7.34836667e-01 -6.78169962e-01 -1.00287510e-02 -2.55903425e+02] [ 1.38322676e-02 2.01521957e-04 9.99904309e-01 -2.77514026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.246559995 meters 0.013124972208626276 Centerline is valid? [True, True] Translation: X:-3.99, Y:-255.88, Z:-2.78 [[-6.78550796e-01 -7.34491180e-01 9.56681870e-03 -3.98707224e+00] [ 7.34422271e-01 -6.78618205e-01 -1.00627978e-02 -2.55882868e+02] [ 1.38832536e-02 1.97965256e-04 9.99903603e-01 -2.77519842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.27655999499996 meters 0.01303564064722139 Centerline is valid? [True, True] Translation: X:-4.01, Y:-255.86, Z:-2.78 [[-6.78764536e-01 -7.34296758e-01 9.32604464e-03 -4.00534177e+00] [ 7.34231340e-01 -6.78828574e-01 -9.80337942e-03 -2.55862020e+02] [ 1.35293753e-02 1.93287966e-04 9.99908455e-01 -2.77504921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.30655999499993 meters 0.012963963539171772 Centerline is valid? [True, True] Translation: X:-4.02, Y:-255.84, Z:-2.77 [[-6.78982743e-01 -7.34094570e-01 9.35931217e-03 -4.02389030e+00] [ 7.34028740e-01 -6.79047218e-01 -9.83282256e-03 -2.55841214e+02] [ 1.35736365e-02 1.93687280e-04 9.99907855e-01 -2.77458698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.33655999499996 meters 0.012963550069964925 Centerline is valid? [True, True] Translation: X:-4.04, Y:-255.82, Z:-2.77 [[-6.78676608e-01 -7.34380368e-01 9.13984242e-03 -4.04267390e+00] [ 7.34317687e-01 -6.78738120e-01 -9.59683481e-03 -2.55820405e+02] [ 1.32512865e-02 1.98400651e-04 9.99912178e-01 -2.77456041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.36655999499993 meters 0.013220829254928682 Centerline is valid? [True, True] Translation: X:-4.06, Y:-255.80, Z:-2.77 [[-6.78435251e-01 -7.34602423e-01 9.21358983e-03 -4.06232667e+00] [ 7.34538819e-01 -6.78497780e-01 -9.66884107e-03 -2.55799956e+02] [ 1.33541543e-02 2.08056769e-04 9.99910808e-01 -2.77458254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.39655999499996 meters 0.013277450334074833 Centerline is valid? [True, True] Translation: X:-4.08, Y:-255.78, Z:-2.77 [[-6.78083523e-01 -7.34929384e-01 9.02973911e-03 -4.08155786e+00] [ 7.34868392e-01 -6.78143609e-01 -9.47057618e-03 -2.55779473e+02] [ 1.30836646e-02 2.13828204e-04 9.99914382e-01 -2.77449438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.42655999499993 meters 0.013871610458220433 Centerline is valid? [True, True] Translation: X:-4.10, Y:-255.76, Z:-2.78 [[-6.77704989e-01 -7.35281187e-01 8.80476610e-03 -4.10031069e+00] [ 7.35223304e-01 -6.77762147e-01 -9.22850624e-03 -2.55760741e+02] [ 1.27530842e-02 2.19264510e-04 9.99918652e-01 -2.77518845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.45655999499996 meters 0.014747745075975089 Centerline is valid? [True, True] Translation: X:-4.12, Y:-255.74, Z:-2.78 [[-6.76534709e-01 -7.36352473e-01 9.26403960e-03 -4.11915793e+00] [ 7.36288546e-01 -6.76598086e-01 -9.70598607e-03 -2.55741756e+02] [ 1.34150583e-02 2.54569784e-04 9.99909982e-01 -2.77550480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.48655999499994 meters 0.014668412945981469 Centerline is valid? [True, True] Translation: X:-4.14, Y:-255.72, Z:-2.78 [[-6.76251472e-01 -7.36613547e-01 9.18851257e-03 -4.13746024e+00] [ 7.36550761e-01 -6.76313843e-01 -9.62095686e-03 -2.55721480e+02] [ 1.33012454e-02 2.61619679e-04 9.99911500e-01 -2.77504895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.51655999499997 meters 0.01424019126551167 Centerline is valid? [True, True] Translation: X:-4.16, Y:-255.70, Z:-2.77 [[-6.75864906e-01 -7.36967879e-01 9.21819478e-03 -4.15534992e+00] [ 7.36904792e-01 -6.75927712e-01 -9.64659874e-03 -2.55700272e+02] [ 1.33400667e-02 2.73134359e-04 9.99910980e-01 -2.77376147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.54655999499994 meters 0.014515944446373077 Centerline is valid? [True, True] Translation: X:-4.17, Y:-255.68, Z:-2.77 [[-6.75580718e-01 -7.37230615e-01 9.03960199e-03 -4.17442875e+00] [ 7.37170042e-01 -6.75641136e-01 -9.45439434e-03 -2.55680162e+02] [ 1.30775959e-02 2.76517259e-04 9.99914446e-01 -2.77378596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.57655999499997 meters 0.016080298473332786 Centerline is valid? [True, True] Translation: X:-4.19, Y:-255.66, Z:-2.77 [[-6.75065731e-01 -7.37703973e-01 8.89424592e-03 -4.19450911e+00] [ 7.37645444e-01 -6.75124260e-01 -9.29684567e-03 -2.55661417e+02] [ 1.28630412e-02 2.84818068e-04 9.99917227e-01 -2.77467747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.60655999499994 meters 0.01594474067669638 Centerline is valid? [True, True] Translation: X:-4.21, Y:-255.64, Z:-2.77 [[-6.74888200e-01 -7.37869517e-01 8.63096072e-03 -4.21268345e+00] [ 7.37814484e-01 -6.74943328e-01 -9.01619386e-03 -2.55640860e+02] [ 1.24781840e-02 2.83124983e-04 9.99922104e-01 -2.77392201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.63655999499997 meters 0.015936516979551993 Centerline is valid? [True, True] Translation: X:-4.23, Y:-255.62, Z:-2.77 [[-6.74757239e-01 -7.37990455e-01 8.52982777e-03 -4.23118306e+00] [ 7.37936780e-01 -6.74811090e-01 -8.90513052e-03 -2.55620327e+02] [ 1.23279237e-02 2.85672365e-04 9.99923968e-01 -2.77352632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.66655999499994 meters 0.015780969201718183 Centerline is valid? [True, True] Translation: X:-4.25, Y:-255.60, Z:-2.77 [[-6.73998003e-01 -7.38689173e-01 8.06210795e-03 -4.24933756e+00] [ 7.38641327e-01 -6.74046159e-01 -8.41217441e-03 -2.55598467e+02] [ 1.16482151e-02 2.85217363e-04 9.99932117e-01 -2.77220710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.696559995 meters 0.01683866937129379 Centerline is valid? [True, True] Translation: X:-4.27, Y:-255.58, Z:-2.77 [[-6.73596479e-01 -7.39056909e-01 7.91641138e-03 -4.26870622e+00] [ 7.39010857e-01 -6.73642934e-01 -8.25533514e-03 -2.55579765e+02] [ 1.14339971e-02 2.89549282e-04 9.99934588e-01 -2.77262930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.72655999499995 meters 0.017338612231601852 Centerline is valid? [True, True] Translation: X:-4.29, Y:-255.56, Z:-2.77 [[-6.73121404e-01 -7.39490236e-01 7.85910444e-03 -4.28865418e+00] [ 7.39444929e-01 -6.73167217e-01 -8.19118396e-03 -2.55559392e+02] [ 1.13477920e-02 2.97713672e-04 9.99935567e-01 -2.77273050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.756559995 meters 0.01614794642441108 Centerline is valid? [True, True] Translation: X:-4.31, Y:-255.54, Z:-2.77 [[-6.72591199e-01 -7.39972915e-01 7.82081924e-03 -4.30664602e+00] [ 7.39928132e-01 -6.72636597e-01 -8.14669372e-03 -2.55537217e+02] [ 1.12889019e-02 3.07449676e-04 9.99936231e-01 -2.77167979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.78655999499995 meters 0.018527328573196656 Centerline is valid? [True, True] Translation: X:-4.33, Y:-255.52, Z:-2.77 [[-6.71092387e-01 -7.41327909e-01 8.24252262e-03 -4.32763371e+00] [ 7.41278329e-01 -6.71142912e-01 -8.58087564e-03 -2.55519495e+02] [ 1.18931532e-02 3.51443075e-04 9.99929212e-01 -2.77331234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.816559995 meters 0.017674315717163033 Centerline is valid? [True, True] Translation: X:-4.35, Y:-255.50, Z:-2.77 [[-6.70802826e-01 -7.41588648e-01 8.35736871e-03 -4.34599869e+00] [ 7.41537755e-01 -6.70854786e-01 -8.69560980e-03 -2.55497852e+02] [ 1.20551463e-02 3.64264803e-04 9.99927268e-01 -2.77275519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.84655999499995 meters 0.01816135674568741 Centerline is valid? [True, True] Translation: X:-4.37, Y:-255.48, Z:-2.77 [[-6.70566719e-01 -7.41799448e-01 8.59387741e-03 -4.36545421e+00] [ 7.41745712e-01 -6.70621677e-01 -8.93676082e-03 -2.55477619e+02] [ 1.23925247e-02 3.81777337e-04 9.99923137e-01 -2.77277907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.876559995 meters 0.018605753341983187 Centerline is valid? [True, True] Translation: X:-4.38, Y:-255.46, Z:-2.77 [[-6.69670585e-01 -7.42612163e-01 8.27546407e-03 -4.38467841e+00] [ 7.42562454e-01 -6.69721604e-01 -8.60088766e-03 -2.55457062e+02] [ 1.19293809e-02 3.85287442e-04 9.99928768e-01 -2.77260364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.90655999499995 meters 0.01934955892892233 Centerline is valid? [True, True] Translation: X:-4.40, Y:-255.44, Z:-2.77 [[-6.69247514e-01 -7.42992882e-01 8.32718285e-03 -4.40346656e+00] [ 7.42942625e-01 -6.69299200e-01 -8.65078196e-03 -2.55438219e+02] [ 1.20008462e-02 3.97104766e-04 9.99927908e-01 -2.77266094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.936559995 meters 0.01855979049055654 Centerline is valid? [True, True] Translation: X:-4.42, Y:-255.42, Z:-2.77 [[-6.68575578e-01 -7.43602838e-01 7.84316843e-03 -4.42133978e+00] [ 7.43558351e-01 -6.68621469e-01 -8.14307731e-03 -2.55417134e+02] [ 1.12993262e-02 3.87590763e-04 9.99936086e-01 -2.77142249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.96655999499995 meters 0.018877708771538108 Centerline is valid? [True, True] Translation: X:-4.44, Y:-255.40, Z:-2.77 [[-6.68585724e-01 -7.43594714e-01 7.74799065e-03 -4.44041027e+00] [ 7.43551356e-01 -6.68630505e-01 -8.03917906e-03 -2.55398195e+02] [ 1.11584340e-02 3.86148611e-04 9.99937668e-01 -2.77123431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.996559995 meters 0.019705313691665904 Centerline is valid? [True, True] Translation: X:-4.46, Y:-255.38, Z:-2.77 [[-6.68618885e-01 -7.43568663e-01 7.37764396e-03 -4.45940489e+00] [ 7.43529390e-01 -6.68659485e-01 -7.65117788e-03 -2.55380070e+02] [ 1.06223077e-02 3.69773093e-04 9.99943513e-01 -2.77135162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.02655999499996 meters 0.019497787732612636 Centerline is valid? [True, True] Translation: X:-4.48, Y:-255.36, Z:-2.77 [[-6.68850535e-01 -7.43359786e-01 7.42901200e-03 -4.47784035e+00] [ 7.43320002e-01 -6.68891688e-01 -7.69963738e-03 -2.55360268e+02] [ 1.06928052e-02 3.72226635e-04 9.99942761e-01 -2.77131890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.05655999499993 meters 0.020258649355501597 Centerline is valid? [True, True] Translation: X:-4.50, Y:-255.34, Z:-2.77 [[-6.69144601e-01 -7.43089190e-01 7.99739862e-03 -4.49643973e+00] [ 7.43043112e-01 -6.69192272e-01 -8.28472655e-03 -2.55341104e+02] [ 1.15080881e-02 3.98731916e-04 9.99933700e-01 -2.77239180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.08655999499996 meters 0.020258649355501597 Centerline is valid? [True, True] Translation: X:-4.52, Y:-255.32, Z:-2.77 [[-6.69372024e-01 -7.42884308e-01 7.99993409e-03 -4.51511620e+00] [ 7.42838245e-01 -6.69419708e-01 -8.28227827e-03 -2.55321927e+02] [ 1.15080881e-02 3.98731635e-04 9.99933700e-01 -2.77239169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.11655999499993 meters 0.019215260048519766 Centerline is valid? [True, True] Translation: X:-4.53, Y:-255.30, Z:-2.77 [[-6.70080441e-01 -7.42235019e-01 8.90948268e-03 -4.53208519e+00] [ 7.42177902e-01 -6.70139528e-01 -9.21816522e-03 -2.55300868e+02] [ 1.28126416e-02 4.35508947e-04 9.99917820e-01 -2.77294323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.14655999499996 meters 0.019738304102714318 Centerline is valid? [True, True] Translation: X:-4.55, Y:-255.28, Z:-2.77 [[-6.70526270e-01 -7.41827614e-01 9.29045367e-03 -4.55049210e+00] [ 7.41765553e-01 -6.70590478e-01 -9.60603365e-03 -2.55282221e+02] [ 1.33561108e-02 4.50240586e-04 9.99910702e-01 -2.77357848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.17655999499993 meters 0.018092424338433787 Centerline is valid? [True, True] Translation: X:-4.57, Y:-255.26, Z:-2.77 [[-6.71240863e-01 -7.41173348e-01 9.88792439e-03 -4.56759704e+00] [ 7.41103059e-01 -6.71313524e-01 -1.02180258e-02 -2.55260330e+02] [ 1.42112257e-02 4.69214584e-04 9.99898905e-01 -2.77308363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.20655999499996 meters 0.01822514243681603 Centerline is valid? [True, True] Translation: X:-4.59, Y:-255.24, Z:-2.77 [[-6.71984933e-01 -7.40501234e-01 9.70418469e-03 -4.58671542e+00] [ 7.40433552e-01 -6.72054848e-01 -1.00218240e-02 -2.55240652e+02] [ 1.39429174e-02 4.50789188e-04 9.99902691e-01 -2.77330537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.23655999499994 meters 0.018136923193550793 Centerline is valid? [True, True] Translation: X:-4.61, Y:-255.22, Z:-2.77 [[-6.72631518e-01 -7.39913614e-01 9.73064301e-03 -4.60500700e+00] [ 7.39845588e-01 -6.72701752e-01 -1.00428358e-02 -2.55221074e+02] [ 1.39766515e-02 4.44045416e-04 9.99902223e-01 -2.77363248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.26655999499997 meters 0.018832673062879345 Centerline is valid? [True, True] Translation: X:-4.62, Y:-255.20, Z:-2.77 [[-6.73573492e-01 -7.39062771e-01 9.21794503e-03 -4.62429365e+00] [ 7.39001716e-01 -6.73636440e-01 -9.50843822e-03 -2.55202007e+02] [ 1.32368764e-02 4.07445259e-04 9.99912306e-01 -2.77402954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.29655999499994 meters 0.016644871739752685 Centerline is valid? [True, True] Translation: X:-4.64, Y:-255.18, Z:-2.77 [[-6.75096321e-01 -7.37672098e-01 9.21046428e-03 -4.64015311e+00] [ 7.37611083e-01 -6.75159040e-01 -9.49534145e-03 -2.55178740e+02] [ 1.32229767e-02 3.83470452e-04 9.99912499e-01 -2.77238227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.32655999499997 meters 0.01681336730678235 Centerline is valid? [True, True] Translation: X:-4.66, Y:-255.16, Z:-2.77 [[-6.75871732e-01 -7.36962586e-01 9.14045467e-03 -4.65879563e+00] [ 7.36902502e-01 -6.75933435e-01 -9.41771376e-03 -2.55158905e+02] [ 1.31188416e-02 3.70457404e-04 9.99913876e-01 -2.77258005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.35655999499994 meters 0.016784351155528576 Centerline is valid? [True, True] Translation: X:-4.68, Y:-255.14, Z:-2.77 [[-6.76801927e-01 -7.36110422e-01 8.97769698e-03 -4.67713129e+00] [ 7.36052457e-01 -6.76861377e-01 -9.24425520e-03 -2.55139426e+02] [ 1.28814489e-02 3.51526192e-04 9.99916969e-01 -2.77263062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.38655999499997 meters 0.015369384276940451 Centerline is valid? [True, True] Translation: X:-4.69, Y:-255.12, Z:-2.77 [[-6.78168999e-01 -7.34855730e-01 8.59448039e-03 -4.69462262e+00] [ 7.34802568e-01 -6.78223382e-01 -8.84479407e-03 -2.55116826e+02] [ 1.23286252e-02 3.16981130e-04 9.99923949e-01 -2.77172363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.41655999499994 meters 0.016390862501406114 Centerline is valid? [True, True] Translation: X:-4.71, Y:-255.10, Z:-2.77 [[-6.78628781e-01 -7.34430351e-01 8.66242831e-03 -4.71480469e+00] [ 7.34376377e-01 -6.78683991e-01 -8.90934651e-03 -2.55098423e+02] [ 1.24223459e-02 3.15343763e-04 9.99922790e-01 -2.77268409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.446559995 meters 0.015558422627512555 Centerline is valid? [True, True] Translation: X:-4.73, Y:-255.08, Z:-2.77 [[-6.78899397e-01 -7.34180893e-01 8.60383706e-03 -4.73348841e+00] [ 7.34127689e-01 -6.78953842e-01 -8.84405622e-03 -2.55076896e+02] [ 1.23347453e-02 3.12090579e-04 9.99923875e-01 -2.77196776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.47655999499995 meters 0.015955398185392794 Centerline is valid? [True, True] Translation: X:-4.75, Y:-255.06, Z:-2.77 [[-6.79223133e-01 -7.33884066e-01 8.37337097e-03 -4.75285853e+00] [ 7.33833713e-01 -6.79274677e-01 -8.60201791e-03 -2.55057687e+02] [ 1.20007027e-02 3.01972361e-04 9.99927943e-01 -2.77220977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.506559995 meters 0.016276899503492263 Centerline is valid? [True, True] Translation: X:-4.77, Y:-255.04, Z:-2.77 [[-6.79056104e-01 -7.34041501e-01 8.11676211e-03 -4.77157512e+00] [ 7.33994260e-01 -6.79104547e-01 -8.33315802e-03 -2.55037977e+02] [ 1.16290139e-02 2.98974975e-04 9.99932336e-01 -2.77188626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.53655999499995 meters 0.016276899503492263 Centerline is valid? [True, True] Translation: X:-4.79, Y:-255.02, Z:-2.77 [[-6.79286256e-01 -7.33828494e-01 8.11937504e-03 -4.79033115e+00] [ 7.33781268e-01 -6.79334713e-01 -8.33061214e-03 -2.55018878e+02] [ 1.16290139e-02 2.98974978e-04 9.99932336e-01 -2.77188615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.566559995 meters 0.01648095591205938 Centerline is valid? [True, True] Translation: X:-4.81, Y:-255.00, Z:-2.77 [[-6.79182495e-01 -7.33923856e-01 8.18002560e-03 -4.80931384e+00] [ 7.33875990e-01 -6.79231684e-01 -8.38758621e-03 -2.54999901e+02] [ 1.17119822e-02 3.06422654e-04 9.99931366e-01 -2.77196611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.59655999499995 meters 0.01681514798341601 Centerline is valid? [True, True] Translation: X:-4.83, Y:-254.98, Z:-2.77 [[-6.78979214e-01 -7.34109730e-01 8.37439034e-03 -4.82882372e+00] [ 7.34059641e-01 -6.79030781e-01 -8.58153674e-03 -2.54980642e+02] [ 1.19862584e-02 3.20616889e-04 9.99928111e-01 -2.77228170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.626559995 meters 0.017037499100023928 Centerline is valid? [True, True] Translation: X:-4.85, Y:-254.96, Z:-2.77 [[-6.78688696e-01 -7.34376623e-01 8.52231774e-03 -4.84888343e+00] [ 7.34324828e-01 -6.78742119e-01 -8.72829390e-03 -2.54960816e+02] [ 1.21943110e-02 3.34355099e-04 9.99925591e-01 -2.77259606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.65655999499995 meters 0.019208828417288184 Centerline is valid? [True, True] Translation: X:-4.87, Y:-254.94, Z:-2.77 [[-6.78510075e-01 -7.34535359e-01 9.04904649e-03 -4.87059266e+00] [ 7.34477048e-01 -6.78570317e-01 -9.26234400e-03 -2.54943657e+02] [ 1.29439335e-02 3.61723227e-04 9.99916158e-01 -2.77487990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.686559995 meters 0.01819990495114588 Centerline is valid? [True, True] Translation: X:-4.89, Y:-254.92, Z:-2.77 [[-6.78695156e-01 -7.34362293e-01 9.21461999e-03 -4.88839113e+00] [ 7.34301887e-01 -6.78757606e-01 -9.42611579e-03 -2.54923286e+02] [ 1.31766774e-02 3.68853723e-04 9.99913116e-01 -2.77465118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.71655999499995 meters 0.01642793586264318 Centerline is valid? [True, True] Translation: X:-4.90, Y:-254.90, Z:-2.77 [[-6.78875610e-01 -7.34191644e-01 9.51506601e-03 -4.90499677e+00] [ 7.34127293e-01 -6.78942181e-01 -9.72792486e-03 -2.54900592e+02] [ 1.36023408e-02 3.81218724e-04 9.99907411e-01 -2.77342860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.746559995 meters 0.017215321323522645 Centerline is valid? [True, True] Translation: X:-4.92, Y:-254.88, Z:-2.77 [[-6.79165564e-01 -7.33924211e-01 9.45457309e-03 -4.92461394e+00] [ 7.33860728e-01 -6.79231264e-01 -9.66029175e-03 -2.54881297e+02] [ 1.35117636e-02 3.77402394e-04 9.99908641e-01 -2.77364194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.77655999499996 meters 0.016865712554529566 Centerline is valid? [True, True] Translation: X:-4.94, Y:-254.86, Z:-2.77 [[-6.79310365e-01 -7.33792553e-01 9.26911643e-03 -4.94253118e+00] [ 7.33731604e-01 -6.79373499e-01 -9.46482680e-03 -2.54861187e+02] [ 1.32424115e-02 3.71488716e-04 9.99912246e-01 -2.77275733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.80655999499993 meters 0.01683683648287999 Centerline is valid? [True, True] Translation: X:-4.96, Y:-254.84, Z:-2.77 [[-6.79606731e-01 -7.33522225e-01 8.93509973e-03 -4.96138736e+00] [ 7.33465640e-01 -6.79665372e-01 -9.11800813e-03 -2.54841766e+02] [ 1.27611395e-02 3.56928940e-04 9.99918510e-01 -2.77228273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.83655999499996 meters 0.017055172364557288 Centerline is valid? [True, True] Translation: X:-4.98, Y:-254.82, Z:-2.77 [[-6.79693238e-01 -7.33451729e-01 8.10333822e-03 -4.98030316e+00] [ 7.33405243e-01 -6.79741462e-01 -8.26403539e-03 -2.54822574e+02] [ 1.15694460e-02 3.26021761e-04 9.99933019e-01 -2.77139432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.86655999499993 meters 0.016780168820296232 Centerline is valid? [True, True] Translation: X:-5.00, Y:-254.80, Z:-2.77 [[-6.79813346e-01 -7.33340876e-01 8.06066452e-03 -4.99921884e+00] [ 7.33294924e-01 -6.79861055e-01 -8.21589076e-03 -2.54802479e+02] [ 1.15051804e-02 3.25572195e-04 9.99933760e-01 -2.77077285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.89655999499996 meters 0.017074602814788835 Centerline is valid? [True, True] Translation: X:-5.02, Y:-254.78, Z:-2.77 [[-6.79899535e-01 -7.33265730e-01 7.61518885e-03 -5.01773655e+00] [ 7.33224768e-01 -6.79942110e-01 -7.75669598e-03 -2.54784389e+02] [ 1.08656069e-02 3.09871089e-04 9.99940920e-01 -2.77090401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.92655999499993 meters 0.017388427062984397 Centerline is valid? [True, True] Translation: X:-5.04, Y:-254.77, Z:-2.77 [[-6.79808568e-01 -7.33352057e-01 7.42105329e-03 -5.03687786e+00] [ 7.33313212e-01 -6.79849003e-01 -7.55423384e-03 -2.54765265e+02] [ 1.05851086e-02 3.06523534e-04 9.99943929e-01 -2.77091836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.95655999499996 meters 0.017239312115225003 Centerline is valid? [True, True] Translation: X:-5.06, Y:-254.75, Z:-2.77 [[-6.79638292e-01 -7.33509975e-01 7.41010109e-03 -5.05553354e+00] [ 7.33471304e-01 -6.79678615e-01 -7.53832434e-03 -2.54745219e+02] [ 1.05659233e-02 3.11762632e-04 9.99944131e-01 -2.77063523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.98655999499994 meters 0.016970732485795836 Centerline is valid? [True, True] Translation: X:-5.08, Y:-254.72, Z:-2.77 [[-6.79322515e-01 -7.33797685e-01 7.86623681e-03 -5.07504877e+00] [ 7.33754178e-01 -6.79367973e-01 -7.99777737e-03 -2.54724486e+02] [ 1.12128199e-02 3.38813881e-04 9.99937077e-01 -2.77077773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.016559995 meters 0.017526542035040015 Centerline is valid? [True, True] Translation: X:-5.10, Y:-254.71, Z:-2.77 [[-6.79259545e-01 -7.33853066e-01 8.13315081e-03 -5.09509047e+00] [ 7.33806617e-01 -6.79308142e-01 -8.26416564e-03 -2.54705751e+02] [ 1.15895989e-02 3.54646492e-04 9.99932776e-01 -2.77135783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.0465599949999 meters 0.018089597140880737 Centerline is valid? [True, True] Translation: X:-5.12, Y:-254.69, Z:-2.77 [[-6.78490311e-01 -7.34550769e-01 9.27716282e-03 -5.11593119e+00] [ 7.34490469e-01 -6.78553602e-01 -9.42131870e-03 -2.54686834e+02] [ 1.32154891e-02 4.21714210e-04 9.99912583e-01 -2.77255871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.0765599949999 meters 0.020014186534262464 Centerline is valid? [True, True] Translation: X:-5.14, Y:-254.67, Z:-2.77 [[-6.78340702e-01 -7.34683421e-01 9.70374916e-03 -5.13775462e+00] [ 7.34617517e-01 -6.78409958e-01 -9.85050155e-03 -2.54669719e+02] [ 1.38201202e-02 4.46547971e-04 9.99904398e-01 -2.77441935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.106559995 meters 0.017903822582431016 Centerline is valid? [True, True] Translation: X:-5.15, Y:-254.65, Z:-2.77 [[-6.78257102e-01 -7.34753224e-01 1.02471093e-02 -5.15491867e+00] [ 7.34679832e-01 -6.78334337e-01 -1.03958053e-02 -2.54647943e+02] [ 1.45893176e-02 4.77315742e-04 9.99893456e-01 -2.77340402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.136559995 meters 0.019635733936995158 Centerline is valid? [True, True] Translation: X:-5.18, Y:-254.63, Z:-2.78 [[-6.78781334e-01 -7.34261227e-01 1.07866407e-02 -5.17571091e+00] [ 7.34179941e-01 -6.78866854e-01 -1.09366222e-02 -2.54630507e+02] [ 1.53530305e-02 4.95760245e-04 9.99882012e-01 -2.77508547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.166559995 meters 0.018493061755135296 Centerline is valid? [True, True] Translation: X:-5.19, Y:-254.61, Z:-2.77 [[-6.79431208e-01 -7.33656261e-01 1.10329186e-02 -5.19312695e+00] [ 7.33571250e-01 -6.79520598e-01 -1.11793210e-02 -2.54609974e+02] [ 1.56988743e-02 4.97852335e-04 9.99876641e-01 -2.77421877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.1965599949999 meters 0.01755705167323822 Centerline is valid? [True, True] Translation: X:-5.21, Y:-254.59, Z:-2.77 [[-6.79930327e-01 -7.33195995e-01 1.08804003e-02 -5.21175236e+00] [ 7.33113357e-01 -6.80017204e-01 -1.10185545e-02 -2.54589069e+02] [ 1.54776195e-02 4.84717408e-04 9.99880097e-01 -2.77326164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.226559995 meters 0.016763458729038547 Centerline is valid? [True, True] Translation: X:-5.23, Y:-254.57, Z:-2.77 [[-6.81281955e-01 -7.31946313e-01 1.04638708e-02 -5.23084377e+00] [ 7.31869789e-01 -6.81362165e-01 -1.05929854e-02 -2.54567881e+02] [ 1.48831823e-02 4.41381067e-04 9.99889142e-01 -2.77263897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.256559995 meters 0.017095144937156807 Centerline is valid? [True, True] Translation: X:-5.25, Y:-254.55, Z:-2.77 [[-6.82566387e-01 -7.30755302e-01 9.99078582e-03 -5.25047719e+00] [ 7.30685493e-01 -6.82639384e-01 -1.01084790e-02 -2.54548961e+02] [ 1.42069285e-02 4.00414281e-04 9.99898996e-01 -2.77307894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.286559995 meters 0.016260606599785125 Centerline is valid? [True, True] Translation: X:-5.27, Y:-254.53, Z:-2.77 [[-6.83845861e-01 -7.29560339e-01 9.82599612e-03 -5.26942315e+00] [ 7.29492764e-01 -6.83916349e-01 -9.93652995e-03 -2.54527562e+02] [ 1.39694576e-02 3.72938195e-04 9.99902353e-01 -2.77222583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.3165599949999 meters 0.015678201181678994 Centerline is valid? [True, True] Translation: X:-5.29, Y:-254.51, Z:-2.77 [[-6.84986643e-01 -7.28494765e-01 9.41679497e-03 -5.28834952e+00] [ 7.28432673e-01 -6.85051284e-01 -9.51736427e-03 -2.54506736e+02] [ 1.33843375e-02 3.40233734e-04 9.99910368e-01 -2.77149772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.346559995 meters 0.01531826786521264 Centerline is valid? [True, True] Translation: X:-5.31, Y:-254.49, Z:-2.77 [[-6.86718604e-01 -7.26866236e-01 9.11224726e-03 -5.30715222e+00] [ 7.26808016e-01 -6.86778992e-01 -9.20456308e-03 -2.54486777e+02] [ 1.29485861e-02 3.01909643e-04 9.99916118e-01 -2.77134816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.376559995 meters 0.014841548493287155 Centerline is valid? [True, True] Translation: X:-5.33, Y:-254.47, Z:-2.77 [[-6.87473913e-01 -7.26155112e-01 8.85274577e-03 -5.32644597e+00] [ 7.26100166e-01 -6.87530852e-01 -8.93739363e-03 -2.54465952e+02] [ 1.25764699e-02 2.83755201e-04 9.99920873e-01 -2.77078929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.406559995 meters 0.014669166950549106 Centerline is valid? [True, True] Translation: X:-5.35, Y:-254.45, Z:-2.77 [[-6.88340446e-01 -7.25336092e-01 8.65935912e-03 -5.34548114e+00] [ 7.25283523e-01 -6.88394860e-01 -8.73662780e-03 -2.54446115e+02] [ 1.22980498e-02 2.66716209e-04 9.99924341e-01 -2.77077825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.4365599949999 meters 0.014402049618976898 Centerline is valid? [True, True] Translation: X:-5.37, Y:-254.43, Z:-2.77 [[-6.89067756e-01 -7.24642782e-01 8.85811840e-03 -5.36518892e+00] [ 7.24587778e-01 -6.89124640e-01 -8.93212985e-03 -2.54425897e+02] [ 1.25769511e-02 2.63641656e-04 9.99920872e-01 -2.77052775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.466559995 meters 0.014440516090328209 Centerline is valid? [True, True] Translation: X:-5.38, Y:-254.41, Z:-2.77 [[-6.89822108e-01 -7.23924299e-01 8.89198594e-03 -5.38379314e+00] [ 7.23868889e-01 -6.89879369e-01 -8.96033177e-03 -2.54407393e+02] [ 1.26209995e-02 2.55597029e-04 9.99920319e-01 -2.77110280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.496559995 meters 0.013925239312172894 Centerline is valid? [True, True] Translation: X:-5.40, Y:-254.39, Z:-2.77 [[-6.90479609e-01 -7.23295104e-01 9.06095036e-03 -5.40327345e+00] [ 7.23237581e-01 -6.90539013e-01 -9.12540641e-03 -2.54386747e+02] [ 1.28573015e-02 2.52312772e-04 9.99917310e-01 -2.77092272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.526559995 meters 0.013697060181508852 Centerline is valid? [True, True] Translation: X:-5.42, Y:-254.37, Z:-2.77 [[-6.91874814e-01 -7.21958826e-01 9.20299132e-03 -5.42221108e+00] [ 7.21899436e-01 -6.91935978e-01 -9.26312398e-03 -2.54367081e+02] [ 1.30554749e-02 2.34712068e-04 9.99914746e-01 -2.77130089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.5565599949999 meters 0.013409239295605184 Centerline is valid? [True, True] Translation: X:-5.44, Y:-254.35, Z:-2.77 [[-6.92845984e-01 -7.21030685e-01 8.89908212e-03 -5.44153636e+00] [ 7.20975140e-01 -6.92903100e-01 -8.95218731e-03 -2.54346658e+02] [ 1.26210033e-02 2.13529956e-04 9.99920329e-01 -2.77123436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.5865599949999 meters 0.012984641667384349 Centerline is valid? [True, True] Translation: X:-5.46, Y:-254.33, Z:-2.77 [[-6.94743833e-01 -7.19209112e-01 8.32230416e-03 -5.46038005e+00] [ 7.19160458e-01 -6.94793656e-01 -8.36727019e-03 -2.54325443e+02] [ 1.18001011e-02 1.71962713e-04 9.99930362e-01 -2.77036900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.616559995 meters 0.012709700589790044 Centerline is valid? [True, True] Translation: X:-5.48, Y:-254.30, Z:-2.77 [[-6.95454037e-01 -7.18523705e-01 8.20779088e-03 -5.47995133e+00] [ 7.18476388e-01 -6.95502451e-01 -8.24748714e-03 -2.54304799e+02] [ 1.16345537e-02 1.61355727e-04 9.99932303e-01 -2.77029574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.646559995 meters 0.013254497392536656 Centerline is valid? [True, True] Translation: X:-5.50, Y:-254.29, Z:-2.77 [[-6.96409734e-01 -7.17598318e-01 8.13240092e-03 -5.49921937e+00] [ 7.17551866e-01 -6.96457200e-01 -8.16629245e-03 -2.54287260e+02] [ 1.15239869e-02 1.48333901e-04 9.99933586e-01 -2.77199492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.6765599949999 meters 0.012613211852772015 Centerline is valid? [True, True] Translation: X:-5.52, Y:-254.27, Z:-2.77 [[-6.97371386e-01 -7.16662833e-01 8.21791618e-03 -5.51736491e+00] [ 7.16615392e-01 -6.97419791e-01 -8.24711722e-03 -2.54266806e+02] [ 1.16417398e-02 1.37781648e-04 9.99932223e-01 -2.77103534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.7065599949999 meters 0.012064275458381051 Centerline is valid? [True, True] Translation: X:-5.54, Y:-254.25, Z:-2.77 [[-6.98509617e-01 -7.15557669e-01 7.84455514e-03 -5.53610093e+00] [ 7.15514421e-01 -6.98553654e-01 -7.86798374e-03 -2.54245335e+02] [ 1.11098388e-02 1.17030021e-04 9.99938277e-01 -2.76984543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.736559995 meters 0.012301127619580098 Centerline is valid? [True, True] Translation: X:-5.56, Y:-254.23, Z:-2.77 [[-6.98592106e-01 -7.15479161e-01 7.65765482e-03 -5.55587589e+00] [ 7.15437994e-01 -6.98634065e-01 -7.67595275e-03 -2.54226321e+02] [ 1.08418828e-02 1.16217208e-04 9.99941218e-01 -2.77031014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.766559995 meters 0.012192160836732762 Centerline is valid? [True, True] Translation: X:-5.58, Y:-254.21, Z:-2.77 [[-6.98627551e-01 -7.15443015e-01 7.79983222e-03 -5.57507698e+00] [ 7.15400357e-01 -6.98671079e-01 -7.81355972e-03 -2.54207234e+02] [ 1.10396739e-02 1.21234669e-04 9.99939054e-01 -2.76971532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.7965599949999 meters 0.012332196144109464 Centerline is valid? [True, True] Translation: X:-5.59, Y:-254.19, Z:-2.77 [[-6.98603029e-01 -7.15467332e-01 7.76560749e-03 -5.59451402e+00] [ 7.15425106e-01 -6.98646177e-01 -7.77415602e-03 -2.54189195e+02] [ 1.09875667e-02 1.24661613e-04 9.99939627e-01 -2.77026808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.8265599949999 meters 0.012504906886163266 Centerline is valid? [True, True] Translation: X:-5.62, Y:-254.17, Z:-2.77 [[-6.97768543e-01 -7.16276520e-01 8.18580148e-03 -5.61574457e+00] [ 7.16229709e-01 -6.97816541e-01 -8.19023262e-03 -2.54170080e+02] [ 1.15786590e-02 1.48027536e-04 9.99932954e-01 -2.77062111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.856559995 meters 0.012450524449352535 Centerline is valid? [True, True] Translation: X:-5.64, Y:-254.15, Z:-2.77 [[-6.97526277e-01 -7.16512439e-01 8.18647011e-03 -5.63617898e+00] [ 7.16465690e-01 -6.97574298e-01 -8.18626581e-03 -2.54150551e+02] [ 1.15762324e-02 1.55189439e-04 9.99932981e-01 -2.77044582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.886559995 meters 0.012915322774010238 Centerline is valid? [True, True] Translation: X:-6.12, Y:-254.64, Z:-1.82 [[-7.64541164e-01 6.44517044e-01 8.63654031e-03 -6.12133319e+00] [ 6.44473529e-01 7.64589926e-01 -7.49101892e-03 -2.54636090e+02] [-1.14315011e-02 -1.61170707e-04 -9.99934645e-01 -1.82183643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.916559995 meters 0.012837825716223775 Centerline is valid? [True, True] Translation: X:-6.11, Y:-254.61, Z:-1.82 [[-8.08592317e-01 5.88300066e-01 9.02759058e-03 -6.10767662e+00] [ 5.88261101e-01 8.08642693e-01 -6.77286959e-03 -2.54610796e+02] [-1.12845748e-02 -1.65909946e-04 -9.99936313e-01 -1.82228419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.9465599949999 meters 0.01299484509652484 Centerline is valid? [True, True] Translation: X:-6.09, Y:-254.59, Z:-1.82 [[-8.48139023e-01 5.29687601e-01 9.55207132e-03 -6.08640051e+00] [ 5.29651804e-01 8.48192795e-01 -6.16028621e-03 -2.54591181e+02] [-1.13650253e-02 -1.65507330e-04 -9.99935402e-01 -1.82199694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.976559995 meters 0.012793947753763966 Centerline is valid? [True, True] Translation: X:-6.07, Y:-254.57, Z:-1.82 [[-8.83388760e-01 4.68534088e-01 1.00053048e-02 -6.07307039e+00] [ 4.68501942e-01 8.83445404e-01 -5.49082199e-03 -2.54567750e+02] [-1.14117778e-02 -1.63025690e-04 -9.99934870e-01 -1.82272423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.006559995 meters 0.012658599616976057 Centerline is valid? [True, True] Translation: X:-6.06, Y:-254.54, Z:-1.82 [[-9.13741771e-01 4.06164585e-01 1.03104561e-02 -6.05928629e+00] [ 4.06136909e-01 9.13799928e-01 -4.74367024e-03 -2.54544223e+02] [-1.13484049e-02 -1.47032863e-04 -9.99935594e-01 -1.82300911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.036559995 meters 0.012458480889483634 Centerline is valid? [True, True] Translation: X:-6.05, Y:-254.52, Z:-1.82 [[-9.39949906e-01 3.41154083e-01 1.03954747e-02 -6.05005436e+00] [ 3.41131631e-01 9.40007379e-01 -3.91626032e-03 -2.54518712e+02] [-1.11078711e-02 -1.34863290e-04 -9.99938297e-01 -1.82347052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.0665599949999 meters 0.012415728458062159 Centerline is valid? [True, True] Translation: X:-6.04, Y:-254.49, Z:-1.82 [[-9.61500409e-01 2.74617567e-01 1.01072467e-02 -6.04014191e+00] [ 2.74601112e-01 9.61553523e-01 -3.00852774e-03 -2.54493144e+02] [-1.05448532e-02 -1.17239472e-04 -9.99944395e-01 -1.82411698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.096559995 meters 0.012447759071942613 Centerline is valid? [True, True] Translation: X:-5.84, Y:-253.84, Z:-2.77 [[-9.33142969e-01 -3.59376377e-01 9.63424298e-03 -5.83969205e+00] [ 3.59358308e-01 -9.33192697e-01 -3.60500340e-03 -2.53839150e+02] [ 1.02861583e-02 9.81616799e-05 9.99947091e-01 -2.76873479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.126559995 meters 0.012346337637376628 Centerline is valid? [True, True] Translation: X:-6.08, Y:-254.48, Z:-1.82 [[-9.62321624e-01 2.71754002e-01 9.31961700e-03 -6.08285045e+00] [ 2.71740258e-01 9.62366745e-01 -2.73486272e-03 -2.54481453e+02] [-9.71209937e-03 -9.93024002e-05 -9.99952832e-01 -1.82437423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.156559995 meters 0.012273342217510204 Centerline is valid? [True, True] Translation: X:-6.07, Y:-254.46, Z:-1.82 [[-9.78955260e-01 2.03839400e-01 9.80294498e-03 -6.07302794e+00] [ 2.03828240e-01 9.79004336e-01 -2.13495677e-03 -2.54455847e+02] [-1.00323140e-02 -9.19101469e-05 -9.99949671e-01 -1.82397567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.1865599949999 meters 0.012328673150233957 Centerline is valid? [True, True] Translation: X:-6.07, Y:-254.43, Z:-1.82 [[-9.90914466e-01 1.34111438e-01 1.01313563e-02 -6.07026203e+00] [ 1.34103490e-01 9.90966253e-01 -1.46283836e-03 -2.54427923e+02] [-1.02360156e-02 -9.08974452e-05 -9.99947607e-01 -1.82344491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.216559995 meters 0.012188387394122105 Centerline is valid? [True, True] Translation: X:-6.07, Y:-254.40, Z:-1.82 [[-9.97919152e-01 6.36589635e-02 1.02421661e-02 -6.06874921e+00] [ 6.36547029e-02 9.97971707e-01 -7.41774545e-04 -2.54400657e+02] [-1.02686126e-02 -8.82689833e-05 -9.99947273e-01 -1.82398685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.246559995 meters 0.012176299040486536 Centerline is valid? [True, True] Translation: X:-6.07, Y:-254.37, Z:-1.82 [[-9.99928126e-01 -6.92733115e-03 9.78544180e-03 -6.07471961e+00] [-6.92777488e-03 9.99976003e-01 -1.14499584e-05 -2.54372437e+02] [-9.78512766e-03 -7.92404734e-05 -9.99952121e-01 -1.82396996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.276559995 meters 0.01199145173683203 Centerline is valid? [True, True] Translation: X:-6.09, Y:-254.35, Z:-1.82 [[-9.96932481e-01 -7.76842744e-02 9.52799602e-03 -6.09019667e+00] [-7.76814390e-02 9.96978008e-01 6.67863438e-04 -2.54345752e+02] [-9.55108498e-03 -7.43336881e-05 -9.99954385e-01 -1.82463789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.3065599949999 meters 0.012012203746903177 Centerline is valid? [True, True] Translation: X:-6.09, Y:-254.32, Z:-1.82 [[-9.88785154e-01 -1.49034157e-01 9.63010598e-03 -6.08894346e+00] [-1.49027867e-01 9.88832045e-01 1.37150878e-03 -2.54316760e+02] [-9.72695905e-03 -7.90266305e-05 -9.99952689e-01 -1.82442974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.3365599949999 meters 0.012046102287097389 Centerline is valid? [True, True] Translation: X:-6.11, Y:-254.29, Z:-1.82 [[-9.75507183e-01 -2.19744563e-01 9.90272269e-03 -6.10734315e+00] [-2.19734131e-01 9.75557441e-01 2.14291397e-03 -2.54291046e+02] [-1.01315685e-02 -8.55381900e-05 -9.99948671e-01 -1.82449899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.366559995 meters 0.012053210703848063 Centerline is valid? [True, True] Translation: X:-6.14, Y:-254.27, Z:-1.82 [[-9.57099205e-01 -2.89604475e-01 9.50577240e-03 -6.13668927e+00] [-2.89591071e-01 9.57146405e-01 2.78762399e-03 -2.54268866e+02] [-9.90572426e-03 -8.47541047e-05 -9.99950934e-01 -1.82420565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.396559995 meters 0.011944717289874878 Centerline is valid? [True, True] Translation: X:-6.19, Y:-254.25, Z:-1.82 [[-9.33294012e-01 -3.59020519e-01 8.15803512e-03 -6.18799977e+00] [-3.59007530e-01 9.33329664e-01 3.05489559e-03 -2.54254708e+02] [-8.71090637e-03 -7.76802731e-05 -9.99962056e-01 -1.82492138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.4265599949999 meters 0.011944717289874878 Centerline is valid? [True, True] Translation: X:-6.25, Y:-254.25, Z:-1.82 [[-9.04331430e-01 -4.26757637e-01 7.91100883e-03 -6.25038794e+00] [-4.26742059e-01 9.04366028e-01 3.64720499e-03 -2.54250521e+02] [-8.71092022e-03 -7.76780946e-05 -9.99962056e-01 -1.82492096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.4565599949999 meters 0.012015105398656726 Centerline is valid? [True, True] Translation: X:-6.32, Y:-254.26, Z:-1.83 [[-8.70122484e-01 -4.92785993e-01 6.98775123e-03 -6.32439856e+00] [-4.92770781e-01 8.70150539e-01 3.87264525e-03 -2.54255241e+02] [-7.98878083e-03 -7.36839257e-05 -9.99968087e-01 -1.82502464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.486559995 meters 0.01205349743701085 Centerline is valid? [True, True] Translation: X:-6.40, Y:-254.27, Z:-1.83 [[-8.30773474e-01 -5.56574454e-01 6.34919979e-03 -6.40204025e+00] [-5.56558866e-01 8.30797732e-01 4.16621387e-03 -2.54268383e+02] [-7.59370900e-03 -7.25234619e-05 -9.99971165e-01 -1.82511450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.516559995 meters 0.012110896892768785 Centerline is valid? [True, True] Translation: X:-6.49, Y:-254.29, Z:-1.82 [[-7.86640447e-01 -6.17381251e-01 6.09899767e-03 -6.48612628e+00] [-6.17363429e-01 7.86664086e-01 4.69162207e-03 -2.54292609e+02] [-7.69438193e-03 -7.46784398e-05 -9.99970395e-01 -1.82496007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.5465599949999 meters 0.011930661573124338 Centerline is valid? [True, True] Translation: X:-6.57, Y:-254.33, Z:-1.82 [[-7.38179002e-01 -6.74579321e-01 5.87372138e-03 -6.57172256e+00] [-6.74558763e-01 7.38202366e-01 5.26708590e-03 -2.54326251e+02] [-7.88906225e-03 -7.41180148e-05 -9.99968878e-01 -1.82478137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.5765599949999 meters 0.011901738165695626 Centerline is valid? [True, True] Translation: X:-6.66, Y:-254.37, Z:-1.82 [[-6.85279611e-01 -7.28259447e-01 5.48017322e-03 -6.65648323e+00] [-7.28237001e-01 6.85301520e-01 5.71816692e-03 -2.54368924e+02] [-7.91988011e-03 -7.23217044e-05 -9.99968635e-01 -1.82490642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.606559995 meters 0.011765645514860753 Centerline is valid? [True, True] Translation: X:-6.74, Y:-254.42, Z:-1.83 [[-6.28372628e-01 -7.77899718e-01 4.45760930e-03 -6.74313684e+00] [-7.77880836e-01 6.28388435e-01 5.42029971e-03 -2.54423191e+02] [-7.01755975e-03 -6.15208793e-05 -9.99975375e-01 -1.82571991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.636559995 meters 0.011704570062256068 Centerline is valid? [True, True] Translation: X:-6.83, Y:-254.49, Z:-1.83 [[-5.67524869e-01 -8.23348313e-01 3.61641067e-03 -6.82968196e+00] [-8.23332210e-01 5.67536388e-01 5.14984404e-03 -2.54490281e+02] [-6.29256005e-03 -5.48428280e-05 -9.99980200e-01 -1.82624672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.666559995 meters 0.011864685863149373 Centerline is valid? [True, True] Translation: X:-6.91, Y:-254.56, Z:-1.83 [[-5.02968595e-01 -8.64298777e-01 3.19633390e-03 -6.90893220e+00] [-8.64282025e-01 5.02978748e-01 5.38143464e-03 -2.54559800e+02] [-6.25885541e-03 -5.58413165e-05 -9.99980412e-01 -1.82626231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.6965599949999 meters 0.011878996362764361 Centerline is valid? [True, True] Translation: X:-6.98, Y:-254.64, Z:-1.83 [[-4.35220298e-01 -9.00320007e-01 2.67900277e-03 -6.98484655e+00] [-9.00303734e-01 4.35228539e-01 5.41348181e-03 -2.54639294e+02] [-6.03984444e-03 -5.58590371e-05 -9.99981758e-01 -1.82608945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.726559995 meters 0.011855457470789902 Centerline is valid? [True, True] Translation: X:-7.05, Y:-254.73, Z:-1.83 [[-3.64893849e-01 -9.31046568e-01 2.18328417e-03 -7.05498980e+00] [-9.31030802e-01 3.64900376e-01 5.41870866e-03 -2.54726716e+02] [-5.84175132e-03 -5.54513550e-05 -9.99982935e-01 -1.82625339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.756559995 meters 0.012225658556909118 Centerline is valid? [True, True] Translation: X:-7.12, Y:-254.82, Z:-1.83 [[-2.91396123e-01 -9.56600713e-01 1.83693267e-03 -7.12175868e+00] [-9.56583097e-01 2.91401906e-01 5.80587232e-03 -2.54823656e+02] [-6.08918729e-03 -6.53700544e-05 -9.99981459e-01 -1.82582687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.786559995 meters 0.012297904394872066 Centerline is valid? [True, True] Translation: X:-7.18, Y:-254.92, Z:-1.83 [[-2.16688970e-01 -9.76239713e-01 1.38321065e-03 -7.17938943e+00] [-9.76221814e-01 2.16693373e-01 5.91198773e-03 -2.54924571e+02] [-6.07124979e-03 -6.92578839e-05 -9.99981567e-01 -1.82604321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.8165599949999 meters 0.012199847763383936 Centerline is valid? [True, True] Translation: X:-7.23, Y:-255.03, Z:-1.83 [[-1.40185311e-01 -9.90124880e-01 8.95220483e-04 -7.22889400e+00] [-9.90107872e-01 1.40188151e-01 5.80379145e-03 -2.55031224e+02] [-5.87197761e-03 -7.27585381e-05 -9.99982757e-01 -1.82638734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.846559995 meters 0.012547474268069549 Centerline is valid? [True, True] Translation: X:-7.27, Y:-255.14, Z:-1.83 [[-6.28150638e-02 -9.98025073e-01 4.69985266e-04 -7.27116118e+00] [-9.98006128e-01 6.28167675e-02 6.15003557e-03 -2.55140001e+02] [-6.16741265e-03 -8.27332993e-05 -9.99980978e-01 -1.82636765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.876559995 meters 0.013214046222535362 Centerline is valid? [True, True] Translation: X:-7.31, Y:-255.26, Z:-1.83 [[ 1.65844960e-02 -9.99862468e-01 -2.95100199e-06 -7.30658787e+00] [-9.99845165e-01 -1.65842264e-02 5.88306907e-03 -2.55257431e+02] [-5.88230890e-03 -9.46171906e-05 -9.99982695e-01 -1.82658328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.906559995 meters 0.01341275301124569 Centerline is valid? [True, True] Translation: X:-7.33, Y:-255.37, Z:-1.83 [[ 9.47792361e-02 -9.95498205e-01 -4.69982449e-04 -7.33111055e+00] [-9.95479738e-01 -9.47803410e-02 6.06454922e-03 -2.55371878e+02] [-6.08179295e-03 -1.06935337e-04 -9.99981500e-01 -1.82676241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.9365599949999 meters 0.013891931515178577 Centerline is valid? [True, True] Translation: X:-7.35, Y:-255.49, Z:-1.83 [[ 1.72327456e-01 -9.85039305e-01 -9.02738793e-04 -7.34687434e+00] [-9.85022177e-01 -1.72329784e-01 5.81011071e-03 -2.55490115e+02] [-5.87875620e-03 -1.12023867e-04 -9.99982714e-01 -1.82694937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.966559995 meters 0.014585020108443793 Centerline is valid? [True, True] Translation: X:-7.35, Y:-255.61, Z:-1.83 [[ 2.49835080e-01 -9.68287253e-01 -1.49285174e-03 -7.35438099e+00] [-9.68266446e-01 -2.49839500e-01 6.34932091e-03 -2.55609113e+02] [-6.52093984e-03 -1.40804851e-04 -9.99978729e-01 -1.82694203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.996559995 meters 0.014355960210611446 Centerline is valid? [True, True] Translation: X:-7.35, Y:-255.73, Z:-1.83 [[ 3.24108680e-01 -9.46017629e-01 -2.05145767e-03 -7.35109130e+00] [-9.45995610e-01 -3.24115137e-01 6.45630564e-03 -2.55725268e+02] [-6.77268744e-03 -1.51874747e-04 -9.99977054e-01 -1.82694433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.026559995 meters 0.014835114098862488 Centerline is valid? [True, True] Translation: X:-7.34, Y:-255.84, Z:-1.83 [[ 3.96270480e-01 -9.18130413e-01 -2.50015317e-03 -7.33900278e+00] [-9.18109619e-01 -3.96278337e-01 6.18126489e-03 -2.55843628e+02] [-6.66596383e-03 -1.54038130e-04 -9.99977770e-01 -1.82702267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.0565599949999 meters 0.014750132223163069 Centerline is valid? [True, True] Translation: X:-7.32, Y:-255.96, Z:-1.83 [[ 4.65762038e-01 -8.84904736e-01 -3.05479936e-03 -7.31784228e+00] [-8.84883382e-01 -4.65772028e-01 6.14958442e-03 -2.55958364e+02] [-6.86463647e-03 -1.61101778e-04 -9.99976425e-01 -1.82710281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.0865599949999 meters 0.01519592423000395 Centerline is valid? [True, True] Translation: X:-7.29, Y:-256.07, Z:-1.83 [[ 5.32135196e-01 -8.46652307e-01 -3.46482629e-03 -7.29149425e+00] [-8.46632373e-01 -5.32146452e-01 5.81199159e-03 -2.56066083e+02] [-6.76453110e-03 -1.59331179e-04 -9.99977108e-01 -1.82720290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.116559995 meters 0.014938407590259105 Centerline is valid? [True, True] Translation: X:-7.25, Y:-256.17, Z:-1.83 [[ 5.95059534e-01 -8.03671716e-01 -3.99049652e-03 -7.25452362e+00] [-8.03651795e-01 -5.95072892e-01 5.66090565e-03 -2.56172476e+02] [-6.92414606e-03 -1.61606185e-04 -9.99976015e-01 -1.82767554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.146559995 meters 0.014711054129645098 Centerline is valid? [True, True] Translation: X:-7.21, Y:-256.28, Z:-1.83 [[ 6.53935379e-01 -7.56538092e-01 -4.31691829e-03 -7.20965886e+00] [-7.56520054e-01 -6.53949610e-01 5.22642652e-03 -2.56275740e+02] [-6.77703778e-03 -1.51909954e-04 -9.99977024e-01 -1.82784743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.1765599949999 meters 0.014745969065594564 Centerline is valid? [True, True] Translation: X:-7.16, Y:-256.37, Z:-1.83 [[ 7.09418557e-01 -7.04771405e-01 -4.75152312e-03 -7.16484484e+00] [-7.04754151e-01 -7.09434453e-01 4.93387347e-03 -2.56367306e+02] [-6.84814715e-03 -1.51525756e-04 -9.99976540e-01 -1.82759091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.2065599949999 meters 0.014599924110332793 Centerline is valid? [True, True] Translation: X:-7.11, Y:-256.46, Z:-1.83 [[ 7.60561427e-01 -6.49244450e-01 -5.28778423e-03 -7.11040839e+00] [-6.49227344e-01 -7.60579793e-01 4.71536615e-03 -2.56457951e+02] [-7.08320713e-03 -1.53351491e-04 -9.99974902e-01 -1.82733520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.236559995 meters 0.014576362198831811 Centerline is valid? [True, True] Translation: X:-7.11, Y:-256.46, Z:-1.83 [[ 8.08198652e-01 -5.88875047e-01 -6.41228533e-03 -7.10976904e+00] [-5.88854893e-01 -8.08224073e-01 4.87474956e-03 -2.56464948e+02] [-8.05318174e-03 -1.63860434e-04 -9.99967559e-01 -1.82631422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.266559995 meters 0.014010964757351304 Centerline is valid? [True, True] Translation: X:-7.11, Y:-256.47, Z:-1.83 [[ 8.50597163e-01 -5.25773066e-01 -6.86663450e-03 -7.10660761e+00] [-5.25754519e-01 -8.50624865e-01 4.41866754e-03 -2.56468932e+02] [-8.16414643e-03 -1.48341955e-04 -9.99966662e-01 -1.82590391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.2965599949999 meters 0.013896185519558213 Centerline is valid? [True, True] Translation: X:-7.10, Y:-256.47, Z:-1.83 [[ 8.88621896e-01 -4.58580255e-01 -7.43478339e-03 -7.10313119e+00] [-4.58562836e-01 -8.88652985e-01 3.99966821e-03 -2.56473042e+02] [-8.44111133e-03 -1.44877388e-04 -9.99964363e-01 -1.82578475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.3265599949999 meters 0.012804890259046988 Centerline is valid? [True, True] Translation: X:-7.10, Y:-256.48, Z:-1.83 [[ 9.21234805e-01 -3.88935835e-01 -7.43979444e-03 -7.10029558e+00] [-3.88922024e-01 -9.21264837e-01 3.28017208e-03 -2.56478631e+02] [-8.12979748e-03 -1.28308777e-04 -9.99966944e-01 -1.82633261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.356559995 meters 0.012804890259046988 Centerline is valid? [True, True] Translation: X:-7.10, Y:-256.49, Z:-1.83 [[ 9.48813871e-01 -3.15742548e-01 -7.67341870e-03 -7.09862018e+00] [-3.15731126e-01 -9.48844891e-01 2.68867016e-03 -2.56486907e+02] [-8.12981169e-03 -1.28310411e-04 -9.99966944e-01 -1.82633246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.386559995 meters 0.012194610670166693 Centerline is valid? [True, True] Translation: X:-7.10, Y:-256.49, Z:-1.83 [[ 9.70186356e-01 -2.42226963e-01 -8.03331934e-03 -7.09531965e+00] [-2.42217657e-01 -9.70219607e-01 2.12649280e-03 -2.56494792e+02] [-8.30917782e-03 -1.17282512e-04 -9.99965471e-01 -1.82654962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.416559995 meters 0.011894323391892172 Centerline is valid? [True, True] Translation: X:-7.09, Y:-256.50, Z:-1.83 [[ 9.85661524e-01 -1.68515198e-01 -8.60167801e-03 -7.09255593e+00] [-1.68507911e-01 -9.85699051e-01 1.57021204e-03 -2.56501421e+02] [-8.74327044e-03 -9.82467973e-05 -9.99961772e-01 -1.82585321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.4465599949999 meters 0.011611650935806702 Centerline is valid? [True, True] Translation: X:-7.09, Y:-256.51, Z:-1.83 [[ 9.95700488e-01 -9.22289002e-02 -8.62367856e-03 -7.09168049e+00] [-9.22246989e-02 -9.95737828e-01 8.84428176e-04 -2.56505475e+02] [-8.66849280e-03 -8.53094079e-05 -9.99962424e-01 -1.82593686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.476559995 meters 0.011091429709265903 Centerline is valid? [True, True] Translation: X:-7.09, Y:-256.51, Z:-1.83 [[ 9.99839411e-01 -1.60219967e-02 -8.02791234e-03 -7.09120229e+00] [-1.60209757e-02 -9.99871638e-01 1.91475644e-04 -2.56510677e+02] [-8.02994968e-03 -6.28299071e-05 -9.99967758e-01 -1.82672138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.506559995 meters 0.011058203418079634 Centerline is valid? [True, True] Translation: X:-7.09, Y:-256.52, Z:-1.83 [[ 9.98057076e-01 6.17849147e-02 -8.04351922e-03 -7.09081155e+00] [ 6.17833844e-02 -9.98089485e-01 -4.38837690e-04 -2.56518371e+02] [-8.05526551e-03 -5.89707787e-05 -9.99967554e-01 -1.82692943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.536559995 meters 0.011035796067507531 Centerline is valid? [True, True] Translation: X:-7.09, Y:-256.53, Z:-1.83 [[ 9.90193402e-01 1.39487347e-01 -7.76568978e-03 -7.09069769e+00] [ 1.39483497e-01 -9.90223852e-01 -1.03783091e-03 -2.56525521e+02] [-7.83453552e-03 -5.55322444e-05 -9.99969308e-01 -1.82709983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.5665599949999 meters 0.010986427805029923 Centerline is valid? [True, True] Translation: X:-7.09, Y:-256.53, Z:-1.83 [[ 9.76318203e-01 2.16205250e-01 -7.61953074e-03 -7.08876748e+00] [ 2.16199084e-01 -9.76347934e-01 -1.63365172e-03 -2.56533158e+02] [-7.79251717e-03 -5.23716553e-05 -9.99969637e-01 -1.82743973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.596559995 meters 0.011026837139791147 Centerline is valid? [True, True] Translation: X:-7.09, Y:-256.54, Z:-1.83 [[ 9.56288185e-01 2.92330947e-01 -7.45154278e-03 -7.08679535e+00] [ 2.92322522e-01 -9.56317214e-01 -2.22013958e-03 -2.56539687e+02] [-7.77505414e-03 -5.51605294e-05 -9.99969772e-01 -1.82727047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.626559995 meters 0.011139999955317817 Centerline is valid? [True, True] Translation: X:-7.08, Y:-256.55, Z:-1.83 [[ 9.30409024e-01 3.66446769e-01 -7.47086522e-03 -7.08445121e+00] [ 3.66435455e-01 -9.30439016e-01 -2.88011565e-03 -2.56546607e+02] [-8.00659356e-03 -5.79043049e-05 -9.99967945e-01 -1.82683794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.656559995 meters 0.011158604576137912 Centerline is valid? [True, True] Translation: X:-7.08, Y:-256.55, Z:-1.83 [[ 8.98619332e-01 4.38666883e-01 -7.39336724e-03 -7.08118021e+00] [ 4.38652621e-01 -8.98649743e-01 -3.53792460e-03 -2.56553405e+02] [-8.19601793e-03 -6.38724787e-05 -9.99966410e-01 -1.82643039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.6865599949999 meters 0.011448872041355992 Centerline is valid? [True, True] Translation: X:-7.08, Y:-256.56, Z:-1.83 [[ 8.60958515e-01 5.08622271e-01 -7.33630449e-03 -7.07826329e+00] [ 5.08604551e-01 -8.60989768e-01 -4.24631688e-03 -2.56559717e+02] [-8.47625443e-03 -7.53751783e-05 -9.99964073e-01 -1.82591583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.716559995 meters 0.011434572425528951 Centerline is valid? [True, True] Translation: X:-7.07, Y:-256.57, Z:-1.83 [[ 8.17345811e-01 5.76105935e-01 -6.91211811e-03 -7.07284016e+00] [ 5.76086276e-01 -8.17375032e-01 -4.76020023e-03 -2.56567103e+02] [-8.39217237e-03 -9.12466667e-05 -9.99964781e-01 -1.82639871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.746559995 meters 0.012130917168885428 Centerline is valid? [True, True] Translation: X:-7.07, Y:-256.58, Z:-1.83 [[ 7.68789611e-01 6.39467742e-01 -6.59863352e-03 -7.06712652e+00] [ 6.39445359e-01 -7.68817922e-01 -5.35132250e-03 -2.56575937e+02] [-8.49514582e-03 -1.05424434e-04 -9.99963910e-01 -1.82571973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.776559995 meters 0.012031350383207321 Centerline is valid? [True, True] Translation: X:-7.06, Y:-256.58, Z:-1.83 [[ 7.15397193e-01 6.98688708e-01 -6.39888089e-03 -7.06162220e+00] [ 6.98662275e-01 -7.15425800e-01 -6.07871521e-03 -2.56582981e+02] [-8.82505415e-03 -1.21960878e-04 -9.99961051e-01 -1.82598620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.8065599949999 meters 0.012665069161742296 Centerline is valid? [True, True] Translation: X:-7.05, Y:-256.59, Z:-1.83 [[ 6.56169372e-01 7.54590316e-01 -5.93376768e-03 -7.05464250e+00] [ 7.54561508e-01 -6.56196184e-01 -6.59535039e-03 -2.56589800e+02] [-8.87050325e-03 -1.49725762e-04 -9.99960645e-01 -1.82560920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.8365599949999 meters 0.014602159942803047 Centerline is valid? [True, True] Translation: X:-7.05, Y:-256.60, Z:-1.82 [[ 5.93826235e-01 8.04573640e-01 -5.62675162e-03 -7.04687331e+00] [ 8.04540213e-01 -5.93852868e-01 -7.33598358e-03 -2.56598265e+02] [-9.24380160e-03 -1.70648435e-04 -9.99957261e-01 -1.82414148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.866559995 meters 0.013668440421072016 Centerline is valid? [True, True] Translation: X:-7.04, Y:-256.60, Z:-1.83 [[ 5.27770502e-01 8.49372570e-01 -4.95326475e-03 -7.04267367e+00] [ 8.49338335e-01 -5.27793714e-01 -7.62814809e-03 -2.56601497e+02] [-9.09344175e-03 -1.81086091e-04 -9.99958637e-01 -1.82518397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.896559995 meters 0.014293261731068216 Centerline is valid? [True, True] Translation: X:-7.04, Y:-256.61, Z:-1.83 [[ 4.58391858e-01 8.88740265e-01 -4.20069872e-03 -7.03748413e+00] [ 8.88706621e-01 -4.58411067e-01 -7.73532593e-03 -2.56606130e+02] [-8.80034240e-03 -1.87378338e-04 -9.99961259e-01 -1.82505268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.9265599949999 meters 0.014913892256732305 Centerline is valid? [True, True] Translation: X:-7.03, Y:-256.61, Z:-1.83 [[ 3.85560741e-01 9.22675222e-01 -3.65360889e-03 -7.03276621e+00] [ 9.22638800e-01 -3.85577995e-01 -8.20083136e-03 -2.56608925e+02] [-8.97545509e-03 -2.09042700e-04 -9.99959698e-01 -1.82511936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.9565599949999 meters 0.0145867758306084 Centerline is valid? [True, True] Translation: X:-7.03, Y:-256.61, Z:-1.83 [[ 3.11389919e-01 9.50277537e-01 -2.98680467e-03 -7.02701813e+00] [ 9.50240217e-01 -3.11404169e-01 -8.42455590e-03 -2.56612282e+02] [-8.93576966e-03 -2.14860141e-04 -9.99960052e-01 -1.82538311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.986559995 meters 0.01543579061896878 Centerline is valid? [True, True] Translation: X:-7.02, Y:-256.62, Z:-1.82 [[ 2.35477836e-01 9.71876884e-01 -2.34746239e-03 -7.02007391e+00] [ 9.71837583e-01 -2.35489432e-01 -8.74304462e-03 -2.56616819e+02] [-9.04996554e-03 -2.22558944e-04 -9.99959024e-01 -1.82469000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.016559995 meters 0.015244567478478067 Centerline is valid? [True, True] Translation: X:-7.01, Y:-256.62, Z:-1.82 [[ 1.58221084e-01 9.87402258e-01 -1.69421988e-03 -7.01473445e+00] [ 9.87360272e-01 -1.58229985e-01 -9.10849817e-03 -2.56618929e+02] [-9.26182804e-03 -2.31648948e-04 -9.99957082e-01 -1.82461203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.0465599949999 meters 0.015377362853045926 Centerline is valid? [True, True] Translation: X:-7.01, Y:-256.62, Z:-1.82 [[ 8.01467481e-02 9.96782606e-01 -9.67043009e-04 -7.00932121e+00] [ 9.96740809e-01 -8.01522460e-02 -9.13113611e-03 -2.56620943e+02] [-9.17926832e-03 -2.32060365e-04 -9.99957843e-01 -1.82445736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.0765599949999 meters 0.0146340614406667 Centerline is valid? [True, True] Translation: X:-7.00, Y:-256.62, Z:-1.83 [[ 1.58000271e-03 9.99998723e-01 -2.42166420e-04 -7.00282540e+00] [ 9.99958909e-01 -1.58210143e-03 -8.92619849e-03 -2.56623323e+02] [-8.92657022e-03 -2.28053051e-04 -9.99960131e-01 -1.82545668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.106559995 meters 0.015031169139404449 Centerline is valid? [True, True] Translation: X:-6.99, Y:-256.63, Z:-1.83 [[-7.68261148e-02 9.97044409e-01 4.41632751e-04 -6.99449129e+00] [ 9.97007339e-01 7.68270680e-02 -8.60044546e-03 -2.56626424e+02] [-8.60895541e-03 -2.20427717e-04 -9.99962918e-01 -1.82519181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.136559995 meters 0.015350237586173944 Centerline is valid? [True, True] Translation: X:-6.99, Y:-256.63, Z:-1.83 [[-1.55102690e-01 9.87897780e-01 1.06368902e-03 -6.98752269e+00] [ 9.87864153e-01 1.55106189e-01 -8.15387292e-03 -2.56627459e+02] [-8.22017771e-03 -2.13907372e-04 -9.99966191e-01 -1.82555282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.166559995 meters 0.014737693259011603 Centerline is valid? [True, True] Translation: X:-6.98, Y:-256.63, Z:-1.83 [[-2.32141537e-01 9.72680640e-01 1.63723548e-03 -6.97980843e+00] [ 9.72649774e-01 2.32147218e-01 -7.75154428e-03 -2.56628415e+02] [-7.91985671e-03 -2.06998677e-04 -9.99968616e-01 -1.82588162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.1965599949999 meters 0.015017430806621965 Centerline is valid? [True, True] Translation: X:-6.97, Y:-256.63, Z:-1.83 [[-3.07791381e-01 9.51451252e-01 2.23192649e-03 -6.97248106e+00] [ 9.51421136e-01 3.07799404e-01 -7.57297437e-03 -2.56628578e+02] [-7.89230158e-03 -2.07394208e-04 -9.99968834e-01 -1.82573822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.226559995 meters 0.015425651965251782 Centerline is valid? [True, True] Translation: X:-6.96, Y:-256.63, Z:-1.83 [[-3.81168726e-01 9.24500896e-01 2.91468379e-03 -6.96427528e+00] [ 9.24469461e-01 3.81179811e-01 -7.62680633e-03 -2.56629799e+02] [-8.16200790e-03 -2.12563896e-04 -9.99966668e-01 -1.82517398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.256559995 meters 0.01578429592315651 Centerline is valid? [True, True] Translation: X:-6.96, Y:-256.63, Z:-1.82 [[-4.52184781e-01 8.91916863e-01 3.63789183e-03 -6.95744574e+00] [ 8.91884010e-01 4.52199362e-01 -7.65834525e-03 -2.56631248e+02] [-8.47565963e-03 -2.18409616e-04 -9.99964057e-01 -1.82443248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.286559995 meters 0.014618117170038008 Centerline is valid? [True, True] Translation: X:-6.95, Y:-256.63, Z:-1.82 [[-5.19480458e-01 8.54471745e-01 4.25328580e-03 -6.95267975e+00] [ 8.54439761e-01 5.19497829e-01 -7.39600990e-03 -2.56632075e+02] [-8.52925422e-03 -2.07906112e-04 -9.99963604e-01 -1.82428731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.3165599949999 meters 0.014958655772957519 Centerline is valid? [True, True] Translation: X:-6.94, Y:-256.63, Z:-1.82 [[-5.84165023e-01 8.11620979e-01 4.75516433e-03 -6.94490744e+00] [ 8.11591282e-01 5.84184343e-01 -6.94584819e-03 -2.56632079e+02] [-8.41528866e-03 -1.98271659e-04 -9.99964571e-01 -1.82424693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.346559995 meters 0.014958655772957519 Centerline is valid? [True, True] Translation: X:-6.94, Y:-256.63, Z:-1.82 [[-6.45944983e-01 7.63365674e-01 5.28465422e-03 -6.93786510e+00] [ 7.63337580e-01 6.45966570e-01 -6.55202580e-03 -2.56631310e+02] [-8.41530155e-03 -1.98273027e-04 -9.99964571e-01 -1.82424682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.376559995 meters 0.014150145923768552 Centerline is valid? [True, True] Translation: X:-6.93, Y:-256.63, Z:-1.82 [[-7.02000506e-01 7.12150779e-01 6.04631005e-03 -6.93442226e+00] [ 7.12122063e-01 7.02026519e-01 -6.39796138e-03 -2.56631921e+02] [-8.80098318e-03 -1.85661345e-04 -9.99961253e-01 -1.82343156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.406559995 meters 0.013371489607117135 Centerline is valid? [True, True] Translation: X:-6.93, Y:-256.63, Z:-1.82 [[-7.54920940e-01 6.55782054e-01 6.65378018e-03 -6.92813909e+00] [ 6.55754472e-01 7.54950241e-01 -6.01723798e-03 -2.56630598e+02] [-8.96926963e-03 -1.79292846e-04 -9.99959759e-01 -1.82356272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.4365599949999 meters 0.013262621573454193 Centerline is valid? [True, True] Translation: X:-6.43, Y:-256.08, Z:-2.77 [[-6.81072692e-01 -7.32190409e-01 6.09858735e-03 -6.43092372e+00] [ 7.32163197e-01 -6.81099976e-01 -6.31467534e-03 -2.56084734e+02] [ 8.77729242e-03 1.64408283e-04 9.99961465e-01 -2.76938138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.466559995 meters 0.012798976789086577 Centerline is valid? [True, True] Translation: X:-6.45, Y:-256.06, Z:-2.77 [[-6.82121558e-01 -7.31215358e-01 5.85494068e-03 -6.44876269e+00] [ 7.31190299e-01 -6.82146669e-01 -6.05546473e-03 -2.56064214e+02] [ 8.42177709e-03 1.50512790e-04 9.99964525e-01 -2.76917129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.496559995 meters 0.012546395025122094 Centerline is valid? [True, True] Translation: X:-6.47, Y:-256.04, Z:-2.77 [[-6.83391143e-01 -7.30034528e-01 5.11220930e-03 -6.46630147e+00] [ 7.30015416e-01 -6.83410253e-01 -5.28378630e-03 -2.56044831e+02] [ 7.35108269e-03 1.21098838e-04 9.99972973e-01 -2.76859655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.526559995 meters 0.01228662506586092 Centerline is valid? [True, True] Translation: X:-6.48, Y:-256.03, Z:-2.77 [[-6.83714736e-01 -7.29733068e-01 4.87950062e-03 -6.48475290e+00] [ 7.29715672e-01 -6.83732138e-01 -5.04007202e-03 -2.56025179e+02] [ 7.01417861e-03 1.14676568e-04 9.99975394e-01 -2.76813623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.5565599949999 meters 0.012515570569788668 Centerline is valid? [True, True] Translation: X:-6.50, Y:-256.01, Z:-2.77 [[-6.84136871e-01 -7.29337296e-01 4.88375467e-03 -6.50427502e+00] [ 7.29319883e-01 -6.84154293e-01 -5.04112212e-03 -2.56006834e+02] [ 7.01792010e-03 1.13001869e-04 9.99975368e-01 -2.76819503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.5865599949999 meters 0.012613996398495456 Centerline is valid? [True, True] Translation: X:-6.52, Y:-255.99, Z:-2.77 [[-6.84407564e-01 -7.29085174e-01 4.59303196e-03 -6.52462150e+00] [ 7.29069786e-01 -6.84422967e-01 -4.73811476e-03 -2.55988753e+02] [ 6.59806579e-03 1.05839242e-04 9.99978227e-01 -2.76869987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.616559995 meters 0.012096626047190676 Centerline is valid? [True, True] Translation: X:-6.54, Y:-255.97, Z:-2.77 [[-6.85246358e-01 -7.28294653e-01 4.93226071e-03 -6.54361893e+00] [ 7.28276910e-01 -6.85264100e-01 -5.08485165e-03 -2.55968542e+02] [ 7.08317147e-03 1.07675510e-04 9.99974908e-01 -2.76911569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.646559995 meters 0.012096626047190676 Centerline is valid? [True, True] Translation: X:-6.56, Y:-255.95, Z:-2.77 [[-6.85476681e-01 -7.28077864e-01 4.93386882e-03 -6.56233748e+00] [ 7.28060127e-01 -6.85494429e-01 -5.08329131e-03 -2.55949399e+02] [ 7.08317147e-03 1.07675504e-04 9.99974908e-01 -2.76911558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.6765599949999 meters 0.011879469669282989 Centerline is valid? [True, True] Translation: X:-6.58, Y:-255.93, Z:-2.77 [[-6.86117835e-01 -7.27472918e-01 5.04676451e-03 -6.58113091e+00] [ 7.27454367e-01 -6.86136388e-01 -5.19632337e-03 -2.55929783e+02] [ 7.24295330e-03 1.06000740e-04 9.99973764e-01 -2.76949625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.7065599949999 meters 0.011672047981209003 Centerline is valid? [True, True] Translation: X:-6.60, Y:-255.91, Z:-2.77 [[-6.87467002e-01 -7.26196271e-01 5.30066268e-03 -6.59926719e+00] [ 7.26175788e-01 -6.87487430e-01 -5.45509654e-03 -2.55910591e+02] [ 7.60560973e-03 9.90140335e-05 9.99971072e-01 -2.77012278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.736559995 meters 0.011672047981209003 Centerline is valid? [True, True] Translation: X:-6.62, Y:-255.89, Z:-2.77 [[-6.87694463e-01 -7.25980861e-01 5.30237116e-03 -6.61800472e+00] [ 7.25960385e-01 -6.87714897e-01 -5.45343591e-03 -2.55891468e+02] [ 7.60560973e-03 9.90137277e-05 9.99971072e-01 -2.77012267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.766559995 meters 0.011476209979158407 Centerline is valid? [True, True] Translation: X:-6.64, Y:-255.87, Z:-2.77 [[-6.88733145e-01 -7.24993549e-01 5.56863183e-03 -6.63670824e+00] [ 7.24970962e-01 -6.88755650e-01 -5.72352326e-03 -2.55872519e+02] [ 7.98494408e-03 9.51162039e-05 9.99968115e-01 -2.77031488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.7965599949999 meters 0.011237136611578848 Centerline is valid? [True, True] Translation: X:-6.66, Y:-255.85, Z:-2.77 [[-6.89510771e-01 -7.24254538e-01 5.50104829e-03 -6.65607224e+00] [ 7.24232500e-01 -6.89532709e-01 -5.65055619e-03 -2.55852890e+02] [ 7.88559370e-03 8.79186061e-05 9.99968904e-01 -2.77057679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.8265599949999 meters 0.010803268060336385 Centerline is valid? [True, True] Translation: X:-6.68, Y:-255.83, Z:-2.77 [[-6.90956144e-01 -7.22873984e-01 5.72799111e-03 -6.67514119e+00] [ 7.22850074e-01 -6.90979882e-01 -5.87998024e-03 -2.55833318e+02] [ 8.20841137e-03 7.76703190e-05 9.99966307e-01 -2.77037057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.856559995 meters 0.010953513084061152 Centerline is valid? [True, True] Translation: X:-6.69, Y:-255.82, Z:-2.77 [[-6.91929214e-01 -7.21943098e-01 5.66798211e-03 -6.69375695e+00] [ 7.21919685e-01 -6.91952425e-01 -5.81455933e-03 -2.55815010e+02] [ 8.11975494e-03 6.85643880e-05 9.99967032e-01 -2.77099918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.886559995 meters 0.010632882512615146 Centerline is valid? [True, True] Translation: X:-6.71, Y:-255.79, Z:-2.77 [[-6.92882136e-01 -7.21029554e-01 5.54330093e-03 -6.71264573e+00] [ 7.21007150e-01 -6.92904307e-01 -5.68422728e-03 -2.55794673e+02] [ 7.93947295e-03 5.82600689e-05 9.99968480e-01 -2.77034798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.916559995 meters 0.010331899233345975 Centerline is valid? [True, True] Translation: X:-6.73, Y:-255.77, Z:-2.77 [[-6.95152460e-01 -7.18845565e-01 4.91035133e-03 -6.73053545e+00] [ 7.18827952e-01 -6.95169802e-01 -5.03211237e-03 -2.55774392e+02] [ 7.03083962e-03 3.16125017e-05 9.99975283e-01 -2.76970853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.9465599949999 meters 0.0102105586416514 Centerline is valid? [True, True] Translation: X:-6.75, Y:-255.75, Z:-2.77 [[-6.96485096e-01 -7.17555207e-01 4.79965522e-03 -6.74906707e+00] [ 7.17538370e-01 -6.96501633e-01 -4.91558968e-03 -2.55754402e+02] [ 6.87017467e-03 2.03018290e-05 9.99976400e-01 -2.76900347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.976559995 meters 0.010146209989932452 Centerline is valid? [True, True] Translation: X:-6.77, Y:-255.74, Z:-2.77 [[-6.97759365e-01 -7.16317996e-01 4.51642644e-03 -6.76726265e+00] [ 7.16303081e-01 -6.97773981e-01 -4.62248817e-03 -2.55735223e+02] [ 6.46261632e-03 9.74576721e-06 9.99979117e-01 -2.76861824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.006559995 meters 0.010140632021994908 Centerline is valid? [True, True] Translation: X:-6.79, Y:-255.72, Z:-2.77 [[-6.98918204e-01 -7.15189053e-01 4.23834165e-03 -6.78673142e+00] [ 7.15175912e-01 -6.98931055e-01 -4.33543439e-03 -2.55715028e+02] [ 6.06296381e-03 1.04583566e-06 9.99981620e-01 -2.76827039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.036559995 meters 0.010213652653015238 Centerline is valid? [True, True] Translation: X:-6.81, Y:-255.70, Z:-2.77 [[-7.00739871e-01 -7.13404117e-01 4.26612022e-03 -6.80512953e+00] [ 7.13390783e-01 -7.00752857e-01 -4.36172041e-03 -2.55695958e+02] [ 6.10116523e-03 -1.30205541e-05 9.99981388e-01 -2.76829425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.0665599949999 meters 0.01022412375726032 Centerline is valid? [True, True] Translation: X:-6.82, Y:-255.68, Z:-2.77 [[-7.01655884e-01 -7.12503655e-01 4.19072348e-03 -6.82418240e+00] [ 7.12490788e-01 -7.01668398e-01 -4.28196652e-03 -2.55676966e+02] [ 5.99141503e-03 -1.86151247e-05 9.99982051e-01 -2.76822133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.096559995 meters 0.010363342552837551 Centerline is valid? [True, True] Translation: X:-6.84, Y:-255.66, Z:-2.77 [[-7.02730535e-01 -7.11443677e-01 4.20596098e-03 -6.84258110e+00] [ 7.11430714e-01 -7.02743121e-01 -4.29473262e-03 -2.55658775e+02] [ 6.01117051e-03 -2.57899280e-05 9.99981932e-01 -2.76833094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.126559995 meters 0.01050209602276608 Centerline is valid? [True, True] Translation: X:-6.86, Y:-255.64, Z:-2.77 [[-7.04413417e-01 -7.09777306e-01 4.23239879e-03 -6.86229660e+00] [ 7.09764165e-01 -7.04426131e-01 -4.31929806e-03 -2.55639279e+02] [ 6.04715205e-03 -3.85665194e-05 9.99981715e-01 -2.76819829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.156559995 meters 0.010731622686274499 Centerline is valid? [True, True] Translation: X:-6.88, Y:-255.62, Z:-2.77 [[-7.05414700e-01 -7.08781066e-01 4.41600570e-03 -6.88059267e+00] [ 7.08766759e-01 -7.05428521e-01 -4.50369005e-03 -2.55620471e+02] [ 6.30730660e-03 -4.70511179e-05 9.99980108e-01 -2.76810652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.1865599949999 meters 0.010897403562000937 Centerline is valid? [True, True] Translation: X:-6.90, Y:-255.60, Z:-2.77 [[-7.06333001e-01 -7.07866192e-01 4.37569710e-03 -6.89973217e+00] [ 7.07852144e-01 -7.06346552e-01 -4.45981326e-03 -2.55601512e+02] [ 6.24770959e-03 -5.27667029e-05 9.99980482e-01 -2.76809580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.216559995 meters 0.010873645487134275 Centerline is valid? [True, True] Translation: X:-6.92, Y:-255.58, Z:-2.77 [[-7.07197136e-01 -7.07002533e-01 4.43043827e-03 -6.92086401e+00] [ 7.06988131e-01 -7.07211011e-01 -4.51305728e-03 -2.55583340e+02] [ 6.32399766e-03 -5.93539115e-05 9.99980002e-01 -2.76800342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.246559995 meters 0.010950238409698783 Centerline is valid? [True, True] Translation: X:-6.94, Y:-255.56, Z:-2.77 [[-7.07268639e-01 -7.06928763e-01 4.77453305e-03 -6.94078489e+00] [ 7.06912055e-01 -7.07284752e-01 -4.86067345e-03 -2.55564763e+02] [ 6.81310430e-03 -6.26269282e-05 9.99976789e-01 -2.76848465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.276559995 meters 0.010821378943087873 Centerline is valid? [True, True] Translation: X:-6.96, Y:-255.55, Z:-2.77 [[-7.07300283e-01 -7.06896947e-01 4.79749478e-03 -6.96211629e+00] [ 7.06880096e-01 -7.07316551e-01 -4.88131156e-03 -2.55545664e+02] [ 6.84393170e-03 -6.12994813e-05 9.99976578e-01 -2.76863061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.3065599949999 meters 0.010807710019995902 Centerline is valid? [True, True] Translation: X:-6.98, Y:-255.53, Z:-2.77 [[-7.06259944e-01 -7.07930294e-01 5.62057795e-03 -6.98292239e+00] [ 7.07907228e-01 -7.06282306e-01 -5.71499923e-03 -2.55529795e+02] [ 8.01553584e-03 -5.74272781e-05 9.99967873e-01 -2.76965433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.3365599949999 meters 0.010556288238766308 Centerline is valid? [True, True] Translation: X:-7.00, Y:-255.51, Z:-2.77 [[-7.05529004e-01 -7.08658114e-01 5.70114604e-03 -7.00390432e+00] [ 7.08634435e-01 -7.05552036e-01 -5.79328828e-03 -2.55511810e+02] [ 8.12791594e-03 -4.73045092e-05 9.99966967e-01 -2.76981582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.366559995 meters 0.010421914700330931 Centerline is valid? [True, True] Translation: X:-7.02, Y:-255.49, Z:-2.77 [[-7.04722445e-01 -7.09457690e-01 6.00521114e-03 -7.02379937e+00] [ 7.09431481e-01 -7.04748030e-01 -6.09826031e-03 -2.55494970e+02] [ 8.55861839e-03 -3.72950810e-05 9.99963374e-01 -2.77017211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.396559995 meters 0.010411301218147786 Centerline is valid? [True, True] Translation: X:-7.04, Y:-255.48, Z:-2.77 [[-7.03929122e-01 -7.10243954e-01 6.10875625e-03 -7.04471288e+00] [ 7.10216897e-01 -7.03955627e-01 -6.19954323e-03 -2.55477219e+02] [ 8.70348143e-03 -2.54971116e-05 9.99962124e-01 -2.77042088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.4265599949999 meters 0.010288147398124205 Centerline is valid? [True, True] Translation: X:-7.07, Y:-255.46, Z:-2.77 [[-7.03060454e-01 -7.11104940e-01 5.98020767e-03 -7.06568406e+00] [ 7.11079073e-01 -7.03085887e-01 -6.06530153e-03 -2.55459632e+02] [ 8.51766549e-03 -1.18731281e-05 9.99963724e-01 -2.77040636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.4565599949999 meters 0.01024278022898764 Centerline is valid? [True, True] Translation: X:-7.09, Y:-255.44, Z:-2.77 [[-7.00987172e-01 -7.13153052e-01 5.45067175e-03 -7.08842640e+00] [ 7.13131652e-01 -7.01008363e-01 -5.52475777e-03 -2.55443419e+02] [ 7.76096434e-03 1.42622195e-05 9.99969883e-01 -2.77005138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.486559995 meters 0.010345329599788455 Centerline is valid? [True, True] Translation: X:-7.11, Y:-255.43, Z:-2.77 [[-7.00135508e-01 -7.13991455e-01 5.14521934e-03 -7.10979881e+00] [ 7.13972430e-01 -7.00154413e-01 -5.21223426e-03 -2.55425090e+02] [ 7.32393875e-03 2.42744748e-05 9.99973179e-01 -2.77023224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.516559995 meters 0.010425750560659208 Centerline is valid? [True, True] Translation: X:-7.13, Y:-255.41, Z:-2.77 [[-6.99348823e-01 -7.14762703e-01 5.04998738e-03 -7.13046262e+00] [ 7.14744419e-01 -6.99367055e-01 -5.11255167e-03 -2.55407205e+02] [ 7.18605605e-03 3.39933014e-05 9.99974179e-01 -2.77020823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.5465599949999 meters 0.010762974174468162 Centerline is valid? [True, True] Translation: X:-7.15, Y:-255.39, Z:-2.77 [[-6.97880650e-01 -7.16196866e-01 4.96457303e-03 -7.15150222e+00] [ 7.16179255e-01 -6.97898307e-01 -5.02277617e-03 -2.55391125e+02] [ 7.06206366e-03 5.02259085e-05 9.99975062e-01 -2.77031953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.5765599949999 meters 0.01088864627310382 Centerline is valid? [True, True] Translation: X:-7.17, Y:-255.37, Z:-2.77 [[-6.97196526e-01 -7.16863491e-01 4.87231500e-03 -7.17207025e+00] [ 7.16846566e-01 -6.97213548e-01 -4.92634626e-03 -2.55372573e+02] [ 6.92856181e-03 5.80707748e-05 9.99975996e-01 -2.77017463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.606559995 meters 0.01103979637508576 Centerline is valid? [True, True] Translation: X:-7.19, Y:-255.35, Z:-2.77 [[-6.96763662e-01 -7.17285822e-01 4.63142190e-03 -7.19226485e+00] [ 7.17270557e-01 -6.96779051e-01 -4.67985334e-03 -2.55354541e+02] [ 6.58387021e-03 6.12308200e-05 9.99978324e-01 -2.77012204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.636559995 meters 0.011369633003274175 Centerline is valid? [True, True] Translation: X:-7.21, Y:-255.34, Z:-2.77 [[-6.96068223e-01 -7.17962659e-01 4.31845318e-03 -7.21387985e+00] [ 7.17949418e-01 -6.96081616e-01 -4.36088810e-03 -2.55337717e+02] [ 6.13695068e-03 6.49553203e-05 9.99981167e-01 -2.77034576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.666559995 meters 0.011340943513739422 Centerline is valid? [True, True] Translation: X:-7.23, Y:-255.32, Z:-2.77 [[-6.96124875e-01 -7.17910170e-01 3.89188172e-03 -7.23378494e+00] [ 7.17899428e-01 -6.96135751e-01 -3.92765618e-03 -2.55319674e+02] [ 5.52898232e-03 5.98404914e-05 9.99984713e-01 -2.77055736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.6965599949999 meters 0.011285277670530981 Centerline is valid? [True, True] Translation: X:-7.25, Y:-255.30, Z:-2.77 [[-6.96293620e-01 -7.17747460e-01 3.71191813e-03 -7.25407710e+00] [ 7.17737698e-01 -6.96303512e-01 -3.74391983e-03 -2.55300397e+02] [ 5.27181058e-03 5.73160762e-05 9.99986102e-01 -2.77048402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.726559995 meters 0.01125568091532851 Centerline is valid? [True, True] Translation: X:-7.27, Y:-255.28, Z:-2.77 [[-6.97174842e-01 -7.16891655e-01 3.68708612e-03 -7.27448264e+00] [ 7.16882023e-01 -6.97184589e-01 -3.71667410e-03 -2.55281821e+02] [ 5.23503227e-03 5.20340735e-05 9.99986296e-01 -2.77139818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.756559995 meters 0.01125568091532851 Centerline is valid? [True, True] Translation: X:-7.29, Y:-255.26, Z:-2.77 [[-6.97375936e-01 -7.16696032e-01 3.68812873e-03 -7.29395929e+00] [ 7.16686402e-01 -6.97385686e-01 -3.71563950e-03 -2.55262290e+02] [ 5.23503227e-03 5.20341397e-05 9.99986296e-01 -2.77139806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.786559995 meters 0.010978541935332738 Centerline is valid? [True, True] Translation: X:-7.31, Y:-255.24, Z:-2.77 [[-6.99106602e-01 -7.15005993e-01 4.04831446e-03 -7.31404481e+00] [ 7.14994376e-01 -6.99118322e-01 -4.07619804e-03 -2.55242131e+02] [ 5.74475683e-03 4.48251079e-05 9.99983498e-01 -2.77252043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.8165599949999 meters 0.010816745524487182 Centerline is valid? [True, True] Translation: X:-7.33, Y:-255.22, Z:-2.77 [[-7.00210806e-01 -7.13923455e-01 4.25757635e-03 -7.33358409e+00] [ 7.13910600e-01 -7.00223749e-01 -4.28447309e-03 -2.55222287e+02] [ 6.04004190e-03 3.94945276e-05 9.99981758e-01 -2.77302437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.846559995 meters 0.010724173403058245 Centerline is valid? [True, True] Translation: X:-7.35, Y:-255.20, Z:-2.77 [[-7.02244893e-01 -7.11919174e-01 4.81666966e-03 -7.35317864e+00] [ 7.11902692e-01 -7.02261411e-01 -4.84435449e-03 -2.55201636e+02] [ 6.83135008e-03 2.70768984e-05 9.99976666e-01 -2.77397054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.876559995 meters 0.010668218389184853 Centerline is valid? [True, True] Translation: X:-7.37, Y:-255.18, Z:-2.77 [[-7.03542708e-01 -7.10636721e-01 4.80706917e-03 -7.37169813e+00] [ 7.10620295e-01 -7.03559131e-01 -4.83181594e-03 -2.55182507e+02] [ 6.81572325e-03 1.66120366e-05 9.99976773e-01 -2.77451631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.906559995 meters 0.010696553106884499 Centerline is valid? [True, True] Translation: X:-7.39, Y:-255.16, Z:-2.78 [[-7.04498369e-01 -7.09688397e-01 4.94231495e-03 -7.38998915e+00] [ 7.09671033e-01 -7.04515705e-01 -4.96449180e-03 -2.55163867e+02] [ 7.00518073e-03 9.94137255e-06 9.99975463e-01 -2.77503166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.9365599949999 meters 0.010696343981334344 Centerline is valid? [True, True] Translation: X:-7.41, Y:-255.14, Z:-2.78 [[-7.05544877e-01 -7.08648149e-01 4.92209743e-03 -7.40957144e+00] [ 7.08630922e-01 -7.05562046e-01 -4.94116133e-03 -2.55144219e+02] [ 6.97438996e-03 1.73938017e-06 9.99975679e-01 -2.77518625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.966559995 meters 0.010761724265469641 Centerline is valid? [True, True] Translation: X:-7.43, Y:-255.12, Z:-2.78 [[-7.06485067e-01 -7.07707936e-01 5.32242887e-03 -7.42868163e+00] [ 7.07687791e-01 -7.06505115e-01 -5.33971073e-03 -2.55124706e+02] [ 7.53927888e-03 -5.80796014e-06 9.99971579e-01 -2.77545835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.996559995 meters 0.010805520157732736 Centerline is valid? [True, True] Translation: X:-7.45, Y:-255.11, Z:-2.78 [[-7.06890708e-01 -7.07303069e-01 5.28170800e-03 -7.44849964e+00] [ 7.07283245e-01 -7.06910439e-01 -5.29555098e-03 -2.55105313e+02] [ 7.47925398e-03 -7.71220856e-06 9.99972030e-01 -2.77564686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.026559995 meters 0.010816990809912686 Centerline is valid? [True, True] Translation: X:-7.47, Y:-255.09, Z:-2.78 [[-7.07006863e-01 -7.07186951e-01 5.28315000e-03 -7.46832857e+00] [ 7.07167136e-01 -7.07026602e-01 -5.29403173e-03 -2.55086114e+02] [ 7.47919776e-03 -6.84671315e-06 9.99972030e-01 -2.77573415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.0565599949999 meters 0.010818894373824018 Centerline is valid? [True, True] Translation: X:-7.49, Y:-255.07, Z:-2.78 [[-7.06870330e-01 -7.07323427e-01 5.28259409e-03 -7.48843272e+00] [ 7.07303642e-01 -7.06890069e-01 -5.29048680e-03 -2.55066485e+02] [ 7.47629855e-03 -3.29011947e-06 9.99972052e-01 -2.77573733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.0865599949999 meters 0.010927434285669373 Centerline is valid? [True, True] Translation: X:-7.51, Y:-255.05, Z:-2.78 [[-7.06291792e-01 -7.07900453e-01 5.37158208e-03 -7.50937712e+00] [ 7.07880035e-01 -7.06312218e-01 -5.37655815e-03 -2.55047265e+02] [ 7.60008200e-03 5.01682016e-06 9.99971119e-01 -2.77600073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.116559995 meters 0.010947049301094306 Centerline is valid? [True, True] Translation: X:-7.53, Y:-255.03, Z:-2.78 [[-7.05969325e-01 -7.08217648e-01 5.92244362e-03 -7.52862924e+00] [ 7.08192859e-01 -7.05994167e-01 -5.92547615e-03 -2.55028684e+02] [ 8.37773743e-03 1.10278756e-05 9.99964906e-01 -2.77679764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.146559995 meters 0.011123138807452757 Centerline is valid? [True, True] Translation: X:-7.55, Y:-255.01, Z:-2.78 [[-7.05724451e-01 -7.08460230e-01 6.09114642e-03 -7.54756424e+00] [ 7.08434053e-01 -7.05750736e-01 -6.09025175e-03 -2.55011119e+02] [ 8.61353223e-03 1.71359785e-05 9.99962903e-01 -2.77842876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.1765599949999 meters 0.011097782046023614 Centerline is valid? [True, True] Translation: X:-8.02, Y:-255.48, Z:-1.82 [[-7.57574459e-01 6.52719751e-01 6.15350835e-03 -8.02041101e+00] [ 6.52697934e-01 7.57599450e-01 -5.33675071e-03 -2.55478440e+02] [-8.14529714e-03 -2.66038477e-05 -9.99966826e-01 -1.81562549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.2065599949999 meters 0.011140922582352764 Centerline is valid? [True, True] Translation: X:-8.00, Y:-255.46, Z:-1.82 [[-8.02268618e-01 5.96934119e-01 5.89257084e-03 -8.00379279e+00] [ 5.96917751e-01 8.02290257e-01 -4.42058417e-03 -2.55455743e+02] [-7.36634969e-03 -2.91158185e-05 -9.99972868e-01 -1.81621256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.236559995 meters 0.011140922582352764 Centerline is valid? [True, True] Translation: X:-7.99, Y:-255.43, Z:-1.82 [[-8.42521545e-01 5.38627070e-01 6.19080253e-03 -7.98791138e+00] [ 5.38612276e-01 8.42544289e-01 -3.99225233e-03 -2.55432960e+02] [-7.36636049e-03 -2.91163558e-05 -9.99972868e-01 -1.81621245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.266559995 meters 0.01113514775941074 Centerline is valid? [True, True] Translation: X:-7.98, Y:-255.41, Z:-1.82 [[-8.78784096e-01 4.77182138e-01 5.97657555e-03 -7.97748782e+00] [ 4.77170869e-01 8.78804419e-01 -3.27960469e-03 -2.55406880e+02] [-6.81720978e-03 -3.02166930e-05 -9.99976762e-01 -1.81698833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.2965599949999 meters 0.011221599597918058 Centerline is valid? [True, True] Translation: X:-7.65, Y:-254.83, Z:-2.78 [[-8.39532339e-01 -5.43285493e-01 5.13076578e-03 -7.65219146e+00] [ 5.43275231e-01 -8.39548017e-01 -3.33909020e-03 -2.54831862e+02] [ 6.12160350e-03 -1.58562386e-05 9.99981263e-01 -2.77594656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.3265599949999 meters 0.011258156280268336 Centerline is valid? [True, True] Translation: X:-8.01, Y:-255.39, Z:-1.82 [[-8.81061933e-01 4.72978121e-01 4.64411360e-03 -8.01015108e+00] [ 4.72971376e-01 8.81074172e-01 -2.52621085e-03 -2.55388723e+02] [-5.28665101e-03 -2.92154141e-05 -9.99986025e-01 -1.81727253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.356559995 meters 0.01148080043006303 Centerline is valid? [True, True] Translation: X:-8.00, Y:-255.36, Z:-1.82 [[-9.12425667e-01 4.09218564e-01 4.42367932e-03 -7.99854832e+00] [ 4.09213606e-01 9.12436390e-01 -2.01453172e-03 -2.55363015e+02] [-4.86070977e-03 -2.78806833e-05 -9.99988186e-01 -1.81700767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.386559995 meters 0.011295264320568231 Centerline is valid? [True, True] Translation: X:-7.99, Y:-255.34, Z:-1.82 [[-9.39141592e-01 3.43503882e-01 4.26054690e-03 -7.98929121e+00] [ 3.43500221e-01 9.39151256e-01 -1.58631737e-03 -2.55337700e+02] [-4.54620415e-03 -2.62778238e-05 -9.99989666e-01 -1.81750656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.416559995 meters 0.011383308383570117 Centerline is valid? [True, True] Translation: X:-7.98, Y:-255.31, Z:-1.82 [[-9.61134837e-01 2.76053447e-01 3.78401449e-03 -7.98106940e+00] [ 2.76051215e-01 9.61142286e-01 -1.11040799e-03 -2.55312034e+02] [-3.94350829e-03 -2.26700058e-05 -9.99992224e-01 -1.81797039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.4465599949999 meters 0.011352821741032129 Centerline is valid? [True, True] Translation: X:-7.79, Y:-254.68, Z:-2.78 [[-9.36300919e-01 -3.51176976e-01 3.91432031e-03 -7.79389103e+00] [ 3.51174076e-01 -9.36309100e-01 -1.42755559e-03 -2.54677204e+02] [ 4.16633838e-03 3.79862065e-05 9.99991320e-01 -2.77528532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.476559995 meters 0.011309765492818208 Centerline is valid? [True, True] Translation: X:-8.03, Y:-255.30, Z:-1.82 [[-9.62151295e-01 2.72483501e-01 4.19861275e-03 -8.02742829e+00] [ 2.72480794e-01 9.62160455e-01 -1.21480816e-03 -2.55299361e+02] [-4.37075433e-03 -2.47879133e-05 -9.99990448e-01 -1.81708610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.506559995 meters 0.011394045525512628 Centerline is valid? [True, True] Translation: X:-7.84, Y:-254.66, Z:-2.78 [[-9.37562549e-01 -3.47780410e-01 5.02525822e-03 -7.84413779e+00] [ 3.47775931e-01 -9.37576012e-01 -1.76737402e-03 -2.54663443e+02] [ 5.32621963e-03 9.06401714e-05 9.99985812e-01 -2.77675887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.536559995 meters 0.011362510722559376 Centerline is valid? [True, True] Translation: X:-8.07, Y:-255.29, Z:-1.81 [[-9.63203376e-01 2.68693569e-01 6.55919357e-03 -8.07367004e+00] [ 2.68687053e-01 9.63225708e-01 -1.87166253e-03 -2.55286711e+02] [-6.82088756e-03 -4.04212693e-05 -9.99976737e-01 -1.81466921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.5665599949999 meters 0.011442685597981837 Centerline is valid? [True, True] Translation: X:-7.89, Y:-254.65, Z:-2.78 [[-9.38794587e-01 -3.44403287e-01 7.14846322e-03 -7.89003064e+00] [ 3.44394055e-01 -9.38821798e-01 -2.52332316e-03 -2.54650727e+02] [ 7.58017388e-03 9.30061165e-05 9.99971266e-01 -2.77881831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.596559995 meters 0.011468470725116675 Centerline is valid? [True, True] Translation: X:-8.12, Y:-255.28, Z:-1.81 [[-9.64324034e-01 2.64607467e-01 7.87689741e-03 -8.11879651e+00] [ 2.64598196e-01 9.64356203e-01 -2.21563643e-03 -2.55275198e+02] [-8.18240882e-03 -5.23786121e-05 -9.99966522e-01 -1.81365366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.626559995 meters 0.011408079870035004 Centerline is valid? [True, True] Translation: X:-7.94, Y:-254.64, Z:-2.78 [[-9.39841773e-01 -3.41522513e-01 7.73406377e-03 -7.93672139e+00] [ 3.41511425e-01 -9.39873593e-01 -2.75261439e-03 -2.54636961e+02] [ 8.20912209e-03 5.42491448e-05 9.99966303e-01 -2.77860874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.656559995 meters 0.01154007234433611 Centerline is valid? [True, True] Translation: X:-8.17, Y:-255.26, Z:-1.81 [[-9.65548862e-01 2.60101905e-01 7.89899150e-03 -8.16501185e+00] [ 2.60092696e-01 9.65581170e-01 -2.18941763e-03 -2.55263669e+02] [-8.19658915e-03 -5.95197027e-05 -9.99966406e-01 -1.81382284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.6865599949999 meters 0.011630773956389083 Centerline is valid? [True, True] Translation: X:-8.16, Y:-255.24, Z:-1.81 [[-9.81579940e-01 1.90897436e-01 7.68053227e-03 -8.16078060e+00] [ 1.90891133e-01 9.81609987e-01 -1.55230654e-03 -2.55235484e+02] [-7.83561851e-03 -5.75674588e-05 -9.99969299e-01 -1.81295177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.716559995 meters 0.011510430026457614 Centerline is valid? [True, True] Translation: X:-8.03, Y:-254.59, Z:-2.78 [[-9.62610401e-01 -2.70783743e-01 7.57494391e-03 -8.02639361e+00] [ 2.70775839e-01 -9.62640203e-01 -2.06973668e-03 -2.54585731e+02] [ 7.85239660e-03 5.87617358e-05 9.99969168e-01 -2.77944401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.746559995 meters 0.011539996289965954 Centerline is valid? [True, True] Translation: X:-8.21, Y:-255.23, Z:-1.81 [[-9.82449723e-01 1.86387522e-01 7.22720618e-03 -8.21104281e+00] [ 1.86382036e-01 9.82476304e-01 -1.43126840e-03 -2.55227746e+02] [-7.36732938e-03 -5.91278369e-05 -9.99972859e-01 -1.81360953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.776559995 meters 0.011550052463588908 Centerline is valid? [True, True] Translation: X:-8.08, Y:-254.57, Z:-2.78 [[-9.63461995e-01 -2.67762031e-01 6.66923984e-03 -8.07743375e+00] [ 2.67755807e-01 -9.63485077e-01 -1.82590431e-03 -2.54574637e+02] [ 6.91462091e-03 2.65382905e-05 9.99976093e-01 -2.77898006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.8065599949999 meters 0.011549022158203638 Centerline is valid? [True, True] Translation: X:-8.26, Y:-255.22, Z:-1.81 [[-9.83312104e-01 1.81806921e-01 6.59920483e-03 -8.25932525e+00] [ 1.81802426e-01 9.83334246e-01 -1.27985496e-03 -2.55220060e+02] [-6.72191060e-03 -5.87454291e-05 -9.99977406e-01 -1.81433533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.8365599949999 meters 0.011624380876857266 Centerline is valid? [True, True] Translation: X:-8.26, Y:-255.19, Z:-1.81 [[-9.93789774e-01 1.11065602e-01 6.80561896e-03 -8.26089943e+00] [ 1.11062559e-01 9.93813075e-01 -8.24572001e-04 -2.55192029e+02] [-6.85509469e-03 -6.36017664e-05 -9.99976502e-01 -1.81415003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.866559995 meters 0.01196278497783989 Centerline is valid? [True, True] Translation: X:-8.26, Y:-255.16, Z:-1.81 [[-9.99240597e-01 3.83108117e-02 7.10706800e-03 -8.26086506e+00] [ 3.83092775e-02 9.99265868e-01 -3.51927885e-04 -2.55164095e+02] [-7.11533312e-03 -7.93939898e-05 -9.99974683e-01 -1.81387735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.896559995 meters 0.012022391703297258 Centerline is valid? [True, True] Translation: X:-8.28, Y:-255.14, Z:-1.81 [[-9.99396099e-01 -3.40349891e-02 7.00412996e-03 -8.27895312e+00] [-3.40347629e-02 9.99420638e-01 1.51521033e-04 -2.55136346e+02] [-7.00522905e-03 -8.69543734e-05 -9.99975459e-01 -1.81400993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.9265599949999 meters 0.01232912235478624 Centerline is valid? [True, True] Translation: X:-8.27, Y:-255.11, Z:-1.81 [[-9.94238613e-01 -1.06969810e-01 6.85857547e-03 -8.27298816e+00] [-1.06967946e-01 9.94262264e-01 6.39155223e-04 -2.55107913e+02] [-6.88759309e-03 -9.81749246e-05 -9.99976276e-01 -1.81371222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.9565599949999 meters 0.01428624891595947 Centerline is valid? [True, True] Translation: X:-8.29, Y:-255.08, Z:-1.81 [[-9.83447995e-01 -1.81063556e-01 6.78446646e-03 -8.28658345e+00] [-1.81060105e-01 9.83471389e-01 1.12459878e-03 -2.55078223e+02] [-6.87595251e-03 -1.22411797e-04 -9.99976353e-01 -1.81269664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.986559995 meters 0.014968085052610448 Centerline is valid? [True, True] Translation: X:-8.31, Y:-255.05, Z:-1.81 [[-9.67414330e-01 -2.53111896e-01 6.62437583e-03 -8.30779843e+00] [-2.53106925e-01 9.67437000e-01 1.59210558e-03 -2.55053652e+02] [-6.81164714e-03 -1.36449646e-04 -9.99976791e-01 -1.81289214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.016559995 meters 0.014850714794498149 Centerline is valid? [True, True] Translation: X:-8.34, Y:-255.03, Z:-1.81 [[-9.45527069e-01 -3.25482173e-01 6.31798292e-03 -8.33704284e+00] [-3.25476010e-01 9.45548164e-01 2.00911577e-03 -2.55034454e+02] [-6.62788852e-03 -1.56678528e-04 -9.99978023e-01 -1.81361530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.0465599949999 meters 0.01555327929116963 Centerline is valid? [True, True] Translation: X:-8.39, Y:-255.02, Z:-1.81 [[-9.18664147e-01 -3.94986842e-01 6.44827848e-03 -8.38996893e+00] [-3.94978439e-01 9.18686761e-01 2.58232284e-03 -2.55023000e+02] [-6.94393161e-03 -1.74643566e-04 -9.99975875e-01 -1.81326489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.0765599949999 meters 0.015410632691698897 Centerline is valid? [True, True] Translation: X:-8.45, Y:-255.02, Z:-1.81 [[-8.86410028e-01 -4.62858941e-01 6.23404505e-03 -8.45307205e+00] [-4.62848951e-01 8.86431930e-01 3.04659331e-03 -2.55021523e+02] [-6.93619954e-03 -1.84890344e-04 -9.99975927e-01 -1.81354484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.106559995 meters 0.016261527373518957 Centerline is valid? [True, True] Translation: X:-8.53, Y:-255.03, Z:-1.81 [[-8.48371844e-01 -5.29367353e-01 5.95147116e-03 -8.52512481e+00] [-5.29355978e-01 8.48392695e-01 3.47614031e-03 -2.55028511e+02] [-6.88933985e-03 -2.01387275e-04 -9.99976248e-01 -1.81363586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.136559995 meters 0.01690744239119405 Centerline is valid? [True, True] Translation: X:-8.60, Y:-255.04, Z:-1.81 [[-8.06023398e-01 -5.91854918e-01 5.83428027e-03 -8.60289166e+00] [-5.91841311e-01 8.06044484e-01 4.01888060e-03 -2.55044629e+02] [-7.08128368e-03 -2.13656287e-04 -9.99974905e-01 -1.81350666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.166559995 meters 0.01690744239119405 Centerline is valid? [True, True] Translation: X:-8.68, Y:-255.07, Z:-1.81 [[-7.59383527e-01 -6.50619879e-01 5.51656090e-03 -8.68401662e+00] [-6.50604730e-01 7.59403534e-01 4.44498005e-03 -2.55070761e+02] [-7.08128822e-03 -2.13655991e-04 -9.99974905e-01 -1.81350649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.1965599949999 meters 0.017467121072221696 Centerline is valid? [True, True] Translation: X:-8.77, Y:-255.11, Z:-1.81 [[-7.07116982e-01 -7.07078718e-01 5.02602492e-03 -8.76904944e+00] [-7.07063028e-01 7.07134810e-01 4.71549530e-03 -2.55109187e+02] [-6.88830355e-03 -2.19309595e-04 -9.99976251e-01 -1.81377613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.226559995 meters 0.018039521943202484 Centerline is valid? [True, True] Translation: X:-8.85, Y:-255.16, Z:-1.81 [[-6.51108683e-01 -7.58969412e-01 4.78691598e-03 -8.85414284e+00] [-7.58951459e-01 6.51126239e-01 5.22543157e-03 -2.55156347e+02] [-7.08282932e-03 -2.30712994e-04 -9.99974890e-01 -1.81371616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.256559995 meters 0.01793693385272989 Centerline is valid? [True, True] Translation: X:-8.93, Y:-255.21, Z:-1.81 [[-5.90883920e-01 -8.06742910e-01 4.69786249e-03 -8.93451834e+00] [-8.06720768e-01 5.90902540e-01 5.98248520e-03 -2.55211177e+02] [-7.60230640e-03 -2.54908927e-04 -9.99971070e-01 -1.81334859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.286559995 meters 0.018905533523197515 Centerline is valid? [True, True] Translation: X:-9.01, Y:-255.27, Z:-1.81 [[-5.27566270e-01 -8.49502055e-01 4.48200799e-03 -9.01465722e+00] [-8.49475675e-01 5.27585238e-01 6.70032144e-03 -2.55273771e+02] [-8.05657809e-03 -2.72493168e-04 -9.99967508e-01 -1.81258177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.3165599949999 meters 0.018002398334245637 Centerline is valid? [True, True] Translation: X:-9.09, Y:-255.35, Z:-1.81 [[-4.61063893e-01 -8.87357297e-01 4.13701739e-03 -9.09184371e+00] [-8.87326990e-01 4.61082364e-01 7.33945060e-03 -2.55351152e+02] [-8.42022080e-03 -2.86931524e-04 -9.99964508e-01 -1.81238024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.346559995 meters 0.017996998951539285 Centerline is valid? [True, True] Translation: X:-9.16, Y:-255.43, Z:-1.81 [[-3.91943292e-01 -9.19982645e-01 3.51983224e-03 -9.16224842e+00] [-9.19951785e-01 3.91958994e-01 7.54061536e-03 -2.55430909e+02] [-8.31686517e-03 -2.82582347e-04 -9.99965374e-01 -1.81238533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.376559995 meters 0.019868783787054117 Centerline is valid? [True, True] Translation: X:-9.23, Y:-255.53, Z:-1.81 [[-3.20889695e-01 -9.47113359e-01 2.46754227e-03 -9.23306606e+00] [-9.47090718e-01 3.20899097e-01 6.55300978e-03 -2.55528704e+02] [-6.99827519e-03 -2.34193070e-04 -9.99975484e-01 -1.81337150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.406559995 meters 0.01759769613646363 Centerline is valid? [True, True] Translation: X:-9.29, Y:-255.62, Z:-1.82 [[-2.47715561e-01 -9.68831277e-01 1.71993481e-03 -9.28647794e+00] [-9.68813281e-01 2.47721449e-01 5.90852438e-03 -2.55617957e+02] [-6.15042796e-03 -2.02662251e-04 -9.99981065e-01 -1.81504278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.4365599949999 meters 0.01787120086648333 Centerline is valid? [True, True] Translation: X:-9.34, Y:-255.72, Z:-1.81 [[-1.73126850e-01 -9.84898643e-01 1.32516225e-03 -9.34030389e+00] [-9.84878334e-01 1.73131795e-01 6.32838953e-03 -2.55724085e+02] [-6.46224998e-03 -2.09509440e-04 -9.99979098e-01 -1.81492087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.466559995 meters 0.017614363453444856 Centerline is valid? [True, True] Translation: X:-9.39, Y:-255.83, Z:-1.81 [[-9.72665155e-02 -9.95257972e-01 8.90790741e-04 -9.38570427e+00] [-9.95234493e-01 9.72703428e-02 6.83993053e-03 -2.55834869e+02] [-6.89414291e-03 -2.21249463e-04 -9.99976211e-01 -1.81479969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.496559995 meters 0.01860088846322278 Centerline is valid? [True, True] Translation: X:-9.42, Y:-255.94, Z:-1.81 [[-2.12918766e-02 -9.99773248e-01 3.28553115e-04 -9.42457354e+00] [-9.99753665e-01 2.12935169e-02 6.26063480e-03 -2.55938253e+02] [-6.26621124e-03 -1.95171518e-04 -9.99980348e-01 -1.81408572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.526559995 meters 0.01726452734495238 Centerline is valid? [True, True] Translation: X:-9.45, Y:-256.06, Z:-1.81 [[ 5.50778305e-02 -9.98482054e-01 -1.43673139e-04 -9.45201080e+00] [-9.98465005e-01 -5.50777300e-02 5.83753305e-03 -2.56061018e+02] [-5.83658518e-03 -1.78066055e-04 -9.99982951e-01 -1.81451730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.5565599949999 meters 0.0175833280956445 Centerline is valid? [True, True] Translation: X:-9.47, Y:-256.18, Z:-1.81 [[ 1.31605427e-01 -9.91302025e-01 -5.53857389e-04 -9.47303852e+00] [-9.91287165e-01 -1.31606488e-01 5.43032632e-03 -2.56176795e+02] [-5.45598471e-03 -1.65628695e-04 -9.99985102e-01 -1.81425755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.5865599949999 meters 0.01711624156736547 Centerline is valid? [True, True] Translation: X:-9.49, Y:-256.29, Z:-1.81 [[ 2.07691612e-01 -9.78194002e-01 -8.29746479e-04 -9.48543871e+00] [-9.78183231e-01 -2.07693220e-01 4.59270171e-03 -2.56290048e+02] [-4.66488598e-03 -1.42221527e-04 -9.99989109e-01 -1.81490810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.616559995 meters 0.016706499286137527 Centerline is valid? [True, True] Translation: X:-9.49, Y:-256.41, Z:-1.81 [[ 2.82931650e-01 -9.59139441e-01 -1.10164399e-03 -9.48717218e+00] [-9.59130197e-01 -2.82933762e-01 4.21316495e-03 -2.56411724e+02] [-4.35270495e-03 -1.35417695e-04 -9.99990518e-01 -1.81482290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.646559995 meters 0.017233202004030997 Centerline is valid? [True, True] Translation: X:-9.48, Y:-256.53, Z:-1.81 [[ 3.56963162e-01 -9.34117348e-01 -1.44249607e-03 -9.48228721e+00] [-9.34108033e-01 -3.56966048e-01 4.17418296e-03 -2.56527414e+02] [-4.41409884e-03 -1.42582378e-04 -9.99990248e-01 -1.81450406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.6765599949999 meters 0.018091713482265674 Centerline is valid? [True, True] Translation: X:-9.47, Y:-256.64, Z:-1.81 [[ 4.29880166e-01 -9.02884296e-01 -1.72956166e-03 -9.46945906e+00] [-9.02875522e-01 -4.29883619e-01 3.98317168e-03 -2.56643250e+02] [-4.33985339e-03 -1.50707617e-04 -9.99990572e-01 -1.81356774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.7065599949999 meters 0.018648970605740955 Centerline is valid? [True, True] Translation: X:-9.45, Y:-256.76, Z:-1.81 [[ 4.98646422e-01 -8.66803204e-01 -1.98763394e-03 -9.44708313e+00] [-8.66795071e-01 -4.98650361e-01 3.75794927e-03 -2.56757218e+02] [-4.24853685e-03 -1.51016655e-04 -9.99990964e-01 -1.81369290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.736559995 meters 0.020035662518703912 Centerline is valid? [True, True] Translation: X:-9.42, Y:-256.87, Z:-1.81 [[ 5.64362789e-01 -8.25524002e-01 -2.18310119e-03 -9.41676146e+00] [-8.25516774e-01 -5.64366991e-01 3.45758660e-03 -2.56869899e+02] [-4.08639098e-03 -1.49146563e-04 -9.99991640e-01 -1.81327821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.766559995 meters 0.01989691232356439 Centerline is valid? [True, True] Translation: X:-9.38, Y:-256.98, Z:-1.81 [[ 6.26473318e-01 -7.79439513e-01 -2.28621205e-03 -9.37732115e+00] [-7.79433473e-01 -6.26477473e-01 3.07187401e-03 -2.56976621e+02] [-3.82660033e-03 -1.42496908e-04 -9.99992668e-01 -1.81330866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.7965599949999 meters 0.02026620925677011 Centerline is valid? [True, True] Translation: X:-9.33, Y:-257.08, Z:-1.81 [[ 6.84817988e-01 -7.28710078e-01 -2.43845190e-03 -9.33237156e+00] [-7.28704707e-01 -6.84822314e-01 2.80132630e-03 -2.57079873e+02] [-3.71126098e-03 -1.41487262e-04 -9.99993103e-01 -1.81295011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.8265599949999 meters 0.02024711430630775 Centerline is valid? [True, True] Translation: X:-9.28, Y:-257.18, Z:-1.81 [[ 7.38410144e-01 -6.74347193e-01 -2.51439302e-03 -9.28046988e+00] [-6.74342651e-01 -7.38414413e-01 2.47861965e-03 -2.57176843e+02] [-3.52811425e-03 -1.34675441e-04 -9.99993767e-01 -1.81276091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.856559995 meters 0.02112869443561711 Centerline is valid? [True, True] Translation: X:-9.28, Y:-257.19, Z:-1.81 [[ 7.88712015e-01 -6.14757312e-01 -2.60872712e-03 -9.28270756e+00] [-6.14753399e-01 -7.88716318e-01 2.19718129e-03 -2.57185700e+02] [-3.40827891e-03 -1.29219413e-04 -9.99994184e-01 -1.81236703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.886559995 meters 0.021261451466833767 Centerline is valid? [True, True] Translation: X:-9.28, Y:-257.19, Z:-1.81 [[ 8.34168093e-01 -5.51504183e-01 -2.59393802e-03 -9.28220134e+00] [-5.51501065e-01 -8.34172117e-01 1.85859793e-03 -2.57192957e+02] [-3.18881530e-03 -1.19823506e-04 -9.99994909e-01 -1.81242061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.916559995 meters 0.020928013831104157 Centerline is valid? [True, True] Translation: X:-9.28, Y:-257.20, Z:-1.81 [[ 8.74201786e-01 -4.85558882e-01 -1.95178023e-03 -9.28041027e+00] [-4.85557457e-01 -8.74203961e-01 1.17917178e-03 -2.57200184e+02] [-2.27881134e-03 -8.31326290e-05 -9.99997400e-01 -1.81273569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.9465599949999 meters 0.022355816852854187 Centerline is valid? [True, True] Translation: X:-9.28, Y:-257.21, Z:-1.81 [[ 9.09250802e-01 -4.16245529e-01 -1.62451198e-03 -9.27928401e+00] [-4.16244736e-01 -9.09252251e-01 8.15429363e-04 -2.57207449e+02] [-1.81651000e-03 -6.52352431e-05 -9.99998348e-01 -1.81306362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.976559995 meters 0.021871953916962714 Centerline is valid? [True, True] Translation: X:-9.28, Y:-257.21, Z:-1.81 [[ 9.38823543e-01 -3.44393845e-01 -1.79873681e-03 -9.27510148e+00] [-3.44393072e-01 -9.38825263e-01 7.33026362e-04 -2.57211074e+02] [-1.94114932e-03 -6.87099117e-05 -9.99998114e-01 -1.81333274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.006559995 meters 0.021001754586164195 Centerline is valid? [True, True] Translation: X:-9.27, Y:-257.21, Z:-1.81 [[ 9.62112323e-01 -2.72642688e-01 -2.41719391e-03 -9.27108675e+00] [-2.72641610e-01 -9.62115356e-01 7.70886492e-04 -2.57212481e+02] [-2.53579595e-03 -8.26517534e-05 -9.99996782e-01 -1.81214065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.036559995 meters 0.017456101430538145 Centerline is valid? [True, True] Translation: X:-9.27, Y:-257.22, Z:-1.81 [[ 9.80026424e-01 -1.98849089e-01 -2.69226516e-03 -9.26649823e+00] [-1.98848103e-01 -9.80030118e-01 6.31709662e-04 -2.57215947e+02] [-2.76411584e-03 -8.37403401e-05 -9.99996176e-01 -1.81180591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.0665599949999 meters 0.018160032963652786 Centerline is valid? [True, True] Translation: X:-9.26, Y:-257.22, Z:-1.81 [[ 9.91942806e-01 -1.26634700e-01 -3.62251933e-03 -9.26449352e+00] [-1.26633514e-01 -9.91949416e-01 5.55770651e-04 -2.57223664e+02] [-3.66373578e-03 -9.25603466e-05 -9.99993284e-01 -1.81003874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.096559995 meters 0.014154511570116386 Centerline is valid? [True, True] Translation: X:-9.26, Y:-257.23, Z:-1.81 [[ 9.98662753e-01 -5.15431025e-02 -4.00178905e-03 -9.26326548e+00] [-5.15423290e-02 -9.98670767e-01 2.96252545e-04 -2.57226531e+02] [-4.01173951e-03 -8.95948542e-05 -9.99991949e-01 -1.81072680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.126559995 meters 0.013832067792055905 Centerline is valid? [True, True] Translation: X:-9.26, Y:-257.23, Z:-1.81 [[ 9.99711194e-01 2.37326247e-02 -3.78038752e-03 -9.26392485e+00] [ 2.37327306e-02 -9.99718339e-01 -1.68439065e-05 -2.57234481e+02] [-3.77972248e-03 -7.28798767e-05 -9.99992854e-01 -1.81106075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.156559995 meters 0.013832067792055905 Centerline is valid? [True, True] Translation: X:-9.26, Y:-257.24, Z:-1.81 [[ 9.94783151e-01 1.01942572e-01 -3.76746522e-03 -9.26353240e+00] [ 1.01942118e-01 -9.94790283e-01 -3.12815030e-04 -2.57242314e+02] [-3.77972696e-03 -7.28802622e-05 -9.99992854e-01 -1.81106071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.1865599949999 meters 0.012966316822401845 Centerline is valid? [True, True] Translation: X:-9.26, Y:-257.25, Z:-1.81 [[ 9.84844820e-01 1.73405682e-01 -3.33914996e-03 -9.26330998e+00] [ 1.73404837e-01 -9.84850480e-01 -5.43099684e-04 -2.57246558e+02] [-3.38274001e-03 -4.41558433e-05 -9.99994278e-01 -1.81125273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.216559995 meters 0.011935543645935253 Centerline is valid? [True, True] Translation: X:-9.26, Y:-257.25, Z:-1.81 [[ 9.68982380e-01 2.47113006e-01 -2.88252366e-03 -9.26235119e+00] [ 2.47112004e-01 -9.68986667e-01 -7.04242799e-04 -2.57249539e+02] [-2.96715455e-03 -2.99073357e-05 -9.99995598e-01 -1.81154314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.246559995 meters 0.011230621406114468 Centerline is valid? [True, True] Translation: X:-9.26, Y:-257.26, Z:-1.81 [[ 9.48306115e-01 3.17349901e-01 -2.13359384e-03 -9.26095584e+00] [ 3.17349124e-01 -9.48308515e-01 -7.02314355e-04 -2.57255231e+02] [-2.24618460e-03 -1.10851408e-05 -9.99997477e-01 -1.81206075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.276559995 meters 0.011079739630678147 Centerline is valid? [True, True] Translation: X:-9.26, Y:-257.26, Z:-1.81 [[ 9.21854846e-01 3.87529352e-01 -2.15521398e-03 -9.25846798e+00] [ 3.87528302e-01 -9.21857365e-01 -9.01907748e-04 -2.57262422e+02] [-2.33631561e-03 -3.77838860e-06 -9.99997271e-01 -1.81179616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.3065599949999 meters 0.011148951214483529 Centerline is valid? [True, True] Translation: X:-9.26, Y:-257.27, Z:-1.81 [[ 8.89495777e-01 4.56935445e-01 -2.69482527e-03 -9.25651034e+00] [ 4.56933347e-01 -8.89499859e-01 -1.38473041e-03 -2.57270360e+02] [-3.02977910e-03 3.56315668e-07 -9.99995410e-01 -1.81108308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.3365599949999 meters 0.011263291562610384 Centerline is valid? [True, True] Translation: X:-9.25, Y:-257.28, Z:-1.81 [[ 8.51244269e-01 5.24752661e-01 -4.22355050e-03 -9.25279039e+00] [ 5.24746184e-01 -8.51254747e-01 -2.60719466e-03 -2.57278804e+02] [-4.96344975e-03 3.06750765e-06 -9.99987682e-01 -1.80945374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.366559995 meters 0.011247340544901696 Centerline is valid? [True, True] Translation: X:-9.25, Y:-257.29, Z:-1.81 [[ 8.07109093e-01 5.90384674e-01 -4.56613870e-03 -9.24697328e+00] [ 5.90375232e-01 -8.07122009e-01 -3.33889196e-03 -2.57286841e+02] [-5.65666168e-03 -8.85134618e-07 -9.99984001e-01 -1.80883530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.396559995 meters 0.011247340544901696 Centerline is valid? [True, True] Translation: X:-9.24, Y:-257.29, Z:-1.81 [[ 7.58433388e-01 6.51736438e-01 -4.29085014e-03 -9.24195088e+00] [ 6.51726014e-01 -7.58445526e-01 -3.68598380e-03 -2.57294353e+02] [-5.65666604e-03 -8.85482193e-07 -9.99984001e-01 -1.80883526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.4265599949999 meters 0.011247340544901696 Centerline is valid? [True, True] Translation: X:-9.24, Y:-257.30, Z:-1.81 [[ 7.05082818e-01 7.09113748e-01 -3.98911304e-03 -9.23649985e+00] [ 7.09102406e-01 -7.05094102e-01 -4.01059820e-03 -2.57301593e+02] [-5.65667040e-03 -8.85778578e-07 -9.99984001e-01 -1.80883522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.4565599949999 meters 0.011247340544901696 Centerline is valid? [True, True] Translation: X:-9.23, Y:-257.31, Z:-1.81 [[ 6.47406476e-01 7.62136102e-01 -3.66290181e-03 -9.23060556e+00] [ 7.62123912e-01 -6.47416838e-01 -4.31058236e-03 -2.57308495e+02] [-5.65667474e-03 -8.86124789e-07 -9.99984001e-01 -1.80883518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.486559995 meters 0.011347119146788286 Centerline is valid? [True, True] Translation: X:-9.22, Y:-257.31, Z:-1.81 [[ 5.85017109e-01 8.11012460e-01 -3.71105424e-03 -9.22349758e+00] [ 8.10996216e-01 -5.85028879e-01 -5.13308452e-03 -2.57314535e+02] [-6.33406941e-03 -6.70867870e-06 -9.99979940e-01 -1.80797251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.516559995 meters 0.011489033236057792 Centerline is valid? [True, True] Translation: X:-9.21, Y:-257.32, Z:-1.81 [[ 5.17106885e-01 8.55911204e-01 -4.05945753e-03 -9.21418336e+00] [ 8.55885315e-01 -5.17122818e-01 -6.65719215e-03 -2.57322024e+02] [-7.79720347e-03 -3.19501871e-05 -9.99969601e-01 -1.80675972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.5465599949999 meters 0.011751733994195889 Centerline is valid? [True, True] Translation: X:-9.21, Y:-257.33, Z:-1.81 [[ 4.46839698e-01 8.94605634e-01 -3.87858001e-03 -9.20597540e+00] [ 8.94572927e-01 -4.46856528e-01 -7.65000335e-03 -2.57327854e+02] [-8.57690490e-03 -5.13474822e-05 -9.99963216e-01 -1.80572650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.5765599949999 meters 0.012134681712070284 Centerline is valid? [True, True] Translation: X:-9.20, Y:-257.33, Z:-1.81 [[ 3.73648694e-01 9.27563753e-01 -3.48401224e-03 -9.19989204e+00] [ 9.27525219e-01 -3.73664930e-01 -8.45508695e-03 -2.57331716e+02] [-9.14448537e-03 -7.22770177e-05 -9.99958186e-01 -1.80516897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.606559995 meters 0.012597659425696415 Centerline is valid? [True, True] Translation: X:-9.19, Y:-257.34, Z:-1.81 [[ 2.96236782e-01 9.55110251e-01 -2.85947531e-03 -9.19037920e+00] [ 9.55069242e-01 -2.96250563e-01 -8.85141109e-03 -2.57335689e+02] [-9.30119464e-03 -1.08883380e-04 -9.99956737e-01 -1.80567790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.636559995 meters 0.01290349582753125 Centerline is valid? [True, True] Translation: X:-9.18, Y:-257.34, Z:-1.81 [[ 2.18956521e-01 9.75732317e-01 -2.11823483e-03 -9.18225433e+00] [ 9.75691868e-01 -2.18966733e-01 -8.88526631e-03 -2.57337957e+02] [-9.13346445e-03 -1.21257494e-04 -9.99958282e-01 -1.80583517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.666559995 meters 0.013016201460988166 Centerline is valid? [True, True] Translation: X:-9.17, Y:-257.34, Z:-1.81 [[ 1.40496255e-01 9.90080278e-01 -1.35832611e-03 -9.17345466e+00] [ 9.90042440e-01 -1.40502762e-01 -8.65687209e-03 -2.57339938e+02] [-8.76184690e-03 -1.28542384e-04 -9.99961606e-01 -1.80653844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.6965599949999 meters 0.013485641719924602 Centerline is valid? [True, True] Translation: X:-9.16, Y:-257.34, Z:-1.81 [[ 6.14789962e-02 9.98108164e-01 -6.53056309e-04 -9.16472193e+00] [ 9.98072502e-01 -6.14823207e-02 -8.43829618e-03 -2.57342725e+02] [-8.46248372e-03 -1.33019566e-04 -9.99964184e-01 -1.80655101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.726559995 meters 0.01375671909312908 Centerline is valid? [True, True] Translation: X:-9.16, Y:-257.34, Z:-1.81 [[-1.76307553e-02 9.99844566e-01 8.79145722e-06 -9.15780299e+00] [ 9.99814239e-01 1.76302890e-02 -7.78851554e-03 -2.57342934e+02] [-7.78745994e-03 -1.28527588e-04 -9.99969669e-01 -1.80714528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.756559995 meters 0.013688243834005267 Centerline is valid? [True, True] Translation: X:-9.15, Y:-257.34, Z:-1.81 [[-9.64291047e-02 9.95339716e-01 5.26253615e-04 -9.14960525e+00] [ 9.95317826e-01 9.64304746e-02 -6.60225249e-03 -2.57342659e+02] [-6.62223101e-03 -1.12859693e-04 -9.99978066e-01 -1.80856244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.786559995 meters 0.01376310349069518 Centerline is valid? [True, True] Translation: X:-9.14, Y:-257.34, Z:-1.81 [[-1.74415832e-01 9.84671631e-01 9.46952387e-04 -9.14156722e+00] [ 9.84653698e-01 1.74418371e-01 -5.94360611e-03 -2.57341729e+02] [-6.01766621e-03 -1.04238831e-04 -9.99981888e-01 -1.80919085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.8165599949999 meters 0.013604532958873445 Centerline is valid? [True, True] Translation: X:-9.13, Y:-257.34, Z:-1.81 [[-2.51328944e-01 9.67900772e-01 1.36270038e-03 -9.13240823e+00] [ 9.67884246e-01 2.51332617e-01 -5.65709093e-03 -2.57339912e+02] [-5.81799373e-03 -1.02854462e-04 -9.99983070e-01 -1.80974865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.846559995 meters 0.014025183292837893 Centerline is valid? [True, True] Translation: X:-9.12, Y:-257.34, Z:-1.81 [[-3.26910434e-01 9.45053458e-01 1.87847061e-03 -9.12221901e+00] [ 9.45035855e-01 3.26915812e-01 -5.76933021e-03 -2.57338669e+02] [-6.06642722e-03 -1.10832171e-04 -9.99981593e-01 -1.80942953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.876559995 meters 0.014050938481155338 Centerline is valid? [True, True] Translation: X:-9.11, Y:-257.34, Z:-1.81 [[-4.00369847e-01 9.16349836e-01 2.63878857e-03 -9.11466320e+00] [ 9.16327759e-01 4.00378522e-01 -6.36218404e-03 -2.57336428e+02] [-6.88650057e-03 -1.29231436e-04 -9.99976279e-01 -1.80884416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.906559995 meters 0.014103329915112367 Centerline is valid? [True, True] Translation: X:-9.11, Y:-257.33, Z:-1.81 [[-4.71199651e-01 8.82020315e-01 3.32449433e-03 -9.10693097e+00] [ 8.81996234e-01 4.71211358e-01 -6.51910579e-03 -2.57332345e+02] [-7.31652323e-03 -1.39608896e-04 -9.99973224e-01 -1.80826862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.9365599949999 meters 0.014571923307498279 Centerline is valid? [True, True] Translation: X:-9.10, Y:-257.33, Z:-1.81 [[-5.39949087e-01 8.41684506e-01 4.70904590e-03 -9.09878400e+00] [ 8.41649487e-01 5.39969590e-01 -7.68001613e-03 -2.57327287e+02] [-9.00689217e-03 -1.83451634e-04 -9.99959420e-01 -1.80651799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.966559995 meters 0.014473897828864076 Centerline is valid? [True, True] Translation: X:-9.09, Y:-257.32, Z:-1.81 [[-6.04445847e-01 7.96625556e-01 5.73949221e-03 -9.09217070e+00] [ 7.96586426e-01 6.04473062e-01 -7.89824189e-03 -2.57321683e+02] [-9.76130977e-03 -2.02057917e-04 -9.99952337e-01 -1.80626012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.996559995 meters 0.014319041812703772 Centerline is valid? [True, True] Translation: X:-9.08, Y:-257.31, Z:-1.81 [[-6.65463829e-01 7.46397670e-01 6.95781351e-03 -9.08496092e+00] [ 7.46353237e-01 6.65500163e-01 -8.14732251e-03 -2.57314616e+02] [-1.07115686e-02 -2.28761796e-04 -9.99942603e-01 -1.80584395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.026559995 meters 0.014775120550609517 Centerline is valid? [True, True] Translation: X:-9.08, Y:-257.31, Z:-1.81 [[-7.22323985e-01 6.91509552e-01 7.91201026e-03 -9.07711651e+00] [ 6.91464295e-01 7.22367274e-01 -7.91514620e-03 -2.57307763e+02] [-1.11887765e-02 -2.46427348e-04 -9.99937373e-01 -1.80522229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.0565599949999 meters 0.014804360016641477 Centerline is valid? [True, True] Translation: X:-9.07, Y:-257.30, Z:-1.80 [[-7.74312131e-01 6.32739038e-01 9.05723581e-03 -9.07197786e+00] [ 6.32691740e-01 7.74365056e-01 -7.74098206e-03 -2.57300840e+02] [-1.19116285e-02 -2.63498030e-04 -9.99929019e-01 -1.80480883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.0865599949999 meters 0.014817005192758059 Centerline is valid? [True, True] Translation: X:-8.66, Y:-256.82, Z:-2.79 [[-6.99338400e-01 -7.14738659e-01 8.62855386e-03 -8.65547159e+00] [ 7.14689063e-01 -6.99391574e-01 -8.42434913e-03 -2.56820967e+02] [ 1.20559459e-02 2.75262236e-04 9.99927287e-01 -2.78763290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.116559995 meters 0.014696447250319484 Centerline is valid? [True, True] Translation: X:-9.10, Y:-257.28, Z:-1.81 [[-7.75949233e-01 6.30732106e-01 8.93302023e-03 -9.10242055e+00] [ 6.30686608e-01 7.76000612e-01 -7.57977897e-03 -2.57276692e+02] [-1.17128391e-02 -2.47587450e-04 -9.99931372e-01 -1.80532672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.146559995 meters 0.014340365521426314 Centerline is valid? [True, True] Translation: X:-9.09, Y:-257.26, Z:-1.81 [[-8.17691222e-01 5.75588540e-01 8.88249846e-03 -9.08652303e+00] [ 5.75551716e-01 8.17739437e-01 -6.51425710e-03 -2.57255279e+02] [-1.10131010e-02 -2.14313622e-04 -9.99939331e-01 -1.80575048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.1765599949999 meters 0.013957296109252802 Centerline is valid? [True, True] Translation: X:-9.07, Y:-257.23, Z:-1.81 [[-8.55766710e-01 5.17276271e-01 9.41258570e-03 -9.07071298e+00] [ 5.17242356e-01 8.55818449e-01 -5.92688195e-03 -2.57233887e+02] [-1.11212999e-02 -2.03440264e-04 -9.99938136e-01 -1.80638534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.2065599949999 meters 0.01339459185935841 Centerline is valid? [True, True] Translation: X:-8.73, Y:-256.69, Z:-2.79 [[-7.98110420e-01 -6.02451133e-01 8.50823929e-03 -8.72652147e+00] [ 6.02419004e-01 -7.98155754e-01 -6.22390627e-03 -2.56692713e+02] [ 1.05404995e-02 1.58160590e-04 9.99944435e-01 -2.78545043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.236559995 meters 0.01316207545858291 Centerline is valid? [True, True] Translation: X:-8.74, Y:-256.72, Z:-2.78 [[-7.56334576e-01 -6.54140673e-01 7.61507563e-03 -8.73923415e+00] [ 6.54109671e-01 -7.56372893e-01 -6.37068428e-03 -2.56720070e+02] [ 9.92716049e-03 1.62725827e-04 9.99950711e-01 -2.78479420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.266559995 meters 0.013042458202758612 Centerline is valid? [True, True] Translation: X:-9.16, Y:-257.21, Z:-1.81 [[-8.18792503e-01 5.74039903e-01 7.55162116e-03 -9.15667460e+00] [ 5.74013984e-01 8.18827315e-01 -5.45660854e-03 -2.57213978e+02] [-9.31578472e-03 -1.33094015e-04 -9.99956598e-01 -1.80862970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.2965599949999 meters 0.01342716389986936 Centerline is valid? [True, True] Translation: X:-9.14, Y:-257.19, Z:-1.81 [[-8.56950626e-01 5.15340918e-01 7.70477601e-03 -9.14263200e+00] [ 5.15318805e-01 8.56985253e-01 -4.77560006e-03 -2.57188967e+02] [-9.06394153e-03 -1.22037498e-04 -9.99958914e-01 -1.80787019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.3265599949999 meters 0.013137263898202597 Centerline is valid? [True, True] Translation: X:-9.13, Y:-257.17, Z:-1.81 [[-8.91041219e-01 4.53853777e-01 7.89271604e-03 -9.12696260e+00] [ 4.53834824e-01 8.91076167e-01 -4.14927284e-03 -2.57166953e+02] [-8.91617431e-03 -1.15183735e-04 -9.99960244e-01 -1.80841718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.356559995 meters 0.012616304980037619 Centerline is valid? [True, True] Translation: X:-9.12, Y:-257.14, Z:-1.81 [[-9.20843125e-01 3.89835814e-01 8.71649734e-03 -9.11916429e+00] [ 3.89817107e-01 9.20884371e-01 -3.82094126e-03 -2.57140793e+02] [-9.51642591e-03 -1.20647717e-04 -9.99954711e-01 -1.80892967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.386559995 meters 0.012794719785989178 Centerline is valid? [True, True] Translation: X:-9.11, Y:-257.11, Z:-1.81 [[-9.46238325e-01 3.23340981e-01 9.14564036e-03 -9.10711180e+00] [ 3.23324589e-01 9.46282513e-01 -3.25823078e-03 -2.57114993e+02] [-9.70787908e-03 -1.26052430e-04 -9.99952870e-01 -1.80853167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.416559995 meters 0.012822905027960645 Centerline is valid? [True, True] Translation: X:-9.10, Y:-257.09, Z:-1.81 [[-9.66913271e-01 2.54920578e-01 9.70693584e-03 -9.10256464e+00] [ 2.54906320e-01 9.66961985e-01 -2.69957345e-03 -2.57087016e+02] [-1.00744148e-02 -1.35894105e-04 -9.99949243e-01 -1.80822919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.4465599949999 meters 0.013165980778162303 Centerline is valid? [True, True] Translation: X:-9.10, Y:-257.06, Z:-1.81 [[-9.82645392e-01 1.85209122e-01 1.02769221e-02 -9.09647223e+00] [ 1.85197438e-01 9.82699120e-01 -2.08548441e-03 -2.57058573e+02] [-1.04853730e-02 -1.46032007e-04 -9.99945016e-01 -1.80737163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.476559995 meters 0.013610635542494498 Centerline is valid? [True, True] Translation: X:-8.97, Y:-256.43, Z:-2.79 [[-9.60243509e-01 -2.78919703e-01 1.16706083e-02 -8.96959383e+00] [ 2.78902527e-01 -9.60314389e-01 -3.10715788e-03 -2.56432607e+02] [ 1.20741006e-02 2.71333949e-04 9.99927069e-01 -2.78691859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.506559995 meters 0.0134488955547758 Centerline is valid? [True, True] Translation: X:-9.15, Y:-257.05, Z:-1.81 [[-9.83615270e-01 1.79864018e-01 1.22447838e-02 -9.14679743e+00] [ 1.79847627e-01 9.83691465e-01 -2.43594206e-03 -2.57047592e+02] [-1.24832276e-02 -1.93834510e-04 -9.99922063e-01 -1.80576973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.536559995 meters 0.013228432820031293 Centerline is valid? [True, True] Translation: X:-9.14, Y:-257.02, Z:-1.81 [[-9.93942230e-01 1.09168826e-01 1.26890333e-02 -9.14401833e+00] [ 1.09157314e-01 9.94023202e-01 -1.59841672e-03 -2.57020805e+02] [-1.27876908e-02 -2.03633094e-04 -9.99918213e-01 -1.80608328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.5665599949999 meters 0.013469573258140775 Centerline is valid? [True, True] Translation: X:-9.15, Y:-256.99, Z:-1.81 [[-9.99179820e-01 3.84952044e-02 1.25621164e-02 -9.14841946e+00] [ 3.84896691e-02 9.99258765e-01 -6.82191232e-04 -2.56992874e+02] [-1.25790660e-02 -1.98120011e-04 -9.99920861e-01 -1.80562656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.596559995 meters 0.013127395394389025 Centerline is valid? [True, True] Translation: X:-9.11, Y:-256.35, Z:-2.79 [[-9.90506294e-01 -1.36919318e-01 1.22630566e-02 -9.11219339e+00] [ 1.36911072e-01 -9.90582186e-01 -1.51337115e-03 -2.56352855e+02] [ 1.23547752e-02 1.79944585e-04 9.99923661e-01 -2.78609292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.626559995 meters 0.013047295299582921 Centerline is valid? [True, True] Translation: X:-9.21, Y:-256.99, Z:-1.81 [[-9.99329616e-01 3.46600134e-02 1.17899190e-02 -9.21234255e+00] [ 3.46555069e-02 9.99399146e-01 -5.86374231e-04 -2.56992913e+02] [-1.18031587e-02 -1.77395517e-04 -9.99930325e-01 -1.80761865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.656559995 meters 0.013174198882751205 Centerline is valid? [True, True] Translation: X:-9.22, Y:-256.97, Z:-1.81 [[-9.99276869e-01 -3.63518478e-02 1.11482409e-02 -9.21898941e+00] [-3.63514389e-02 9.99339039e-01 2.39372287e-04 -2.56965662e+02] [-1.11495740e-02 -1.66055408e-04 -9.99937828e-01 -1.80787051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.6865599949999 meters 0.012881569445240073 Centerline is valid? [True, True] Translation: X:-9.22, Y:-256.94, Z:-1.81 [[-9.94126126e-01 -1.07643597e-01 1.12295011e-02 -9.22284508e+00] [-1.07638669e-01 9.94189533e-01 1.04406927e-03 -2.56939536e+02] [-1.12766398e-02 -1.70792014e-04 -9.99936402e-01 -1.80889183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.716559995 meters 0.01320286477234098 Centerline is valid? [True, True] Translation: X:-9.24, Y:-256.91, Z:-1.81 [[-9.83877744e-01 -1.78533894e-01 1.04992259e-02 -9.23519195e+00] [-1.78525509e-01 9.83933749e-01 1.73814493e-03 -2.56912976e+02] [-1.06408604e-02 -1.64257518e-04 -9.99943371e-01 -1.80872130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.746559995 meters 0.013403760306467448 Centerline is valid? [True, True] Translation: X:-9.26, Y:-256.89, Z:-1.81 [[-9.68370503e-01 -2.49313484e-01 1.00675144e-02 -9.25694326e+00] [-2.49301810e-01 9.68422820e-01 2.41852193e-03 -2.56889525e+02] [-1.03525808e-02 -1.67824259e-04 -9.99946397e-01 -1.80917157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.776559995 meters 0.013796316532141214 Centerline is valid? [True, True] Translation: X:-9.29, Y:-256.87, Z:-1.81 [[-9.47191829e-01 -3.20535060e-01 9.21490166e-03 -9.28824979e+00] [-3.20521724e-01 9.47236635e-01 2.92943301e-03 -2.56869907e+02] [-9.66767843e-03 -1.78841154e-04 -9.99953251e-01 -1.81031980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.8065599949999 meters 0.014429115789326501 Centerline is valid? [True, True] Translation: X:-9.34, Y:-256.86, Z:-1.81 [[-9.20603668e-01 -3.90400818e-01 8.72287212e-03 -9.34163299e+00] [-3.90385239e-01 9.20644973e-01 3.49274816e-03 -2.56858599e+02] [-9.39424010e-03 -1.89843751e-04 -9.99955855e-01 -1.81003653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.8365599949999 meters 0.014883927829573868 Centerline is valid? [True, True] Translation: X:-9.41, Y:-256.86, Z:-1.81 [[-8.88602711e-01 -4.58593207e-01 8.80297054e-03 -9.41336943e+00] [-4.58573081e-01 8.88646288e-01 4.30172087e-03 -2.56859674e+02] [-9.79546706e-03 -2.14284495e-04 -9.99952000e-01 -1.80987804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.866559995 meters 0.015308426782779891 Centerline is valid? [True, True] Translation: X:-9.48, Y:-256.86, Z:-1.81 [[-8.51372476e-01 -5.24488125e-01 8.78145861e-03 -9.48152400e+00] [-5.24463079e-01 8.51417730e-01 5.13109297e-03 -2.56864248e+02] [-1.01678869e-02 -2.37079487e-04 -9.99948278e-01 -1.80939253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.896559995 meters 0.016252607368109687 Centerline is valid? [True, True] Translation: X:-9.56, Y:-256.88, Z:-1.81 [[-8.07846947e-01 -5.89325502e-01 8.87488980e-03 -9.55928613e+00] [-5.89293848e-01 8.07895642e-01 6.11491811e-03 -2.56880218e+02] [-1.07736620e-02 -2.90000030e-04 -9.99941920e-01 -1.80891989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.9265599949999 meters 0.01718154002366178 Centerline is valid? [True, True] Translation: X:-9.65, Y:-256.91, Z:-1.81 [[-7.60432661e-01 -6.49361935e-01 8.44075902e-03 -9.64774414e+00] [-6.49326415e-01 7.60479442e-01 6.79893837e-03 -2.56910505e+02] [-1.08339955e-02 -3.10672993e-04 -9.99941262e-01 -1.80856278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.9565599949999 meters 0.017443833234609143 Centerline is valid? [True, True] Translation: X:-9.72, Y:-256.94, Z:-1.81 [[-7.08326362e-01 -7.05839473e-01 8.02517150e-03 -9.72392667e+00] [-7.05799404e-01 7.08371745e-01 7.52810867e-03 -2.56940357e+02] [-1.09984410e-02 -3.31803442e-04 -9.99939460e-01 -1.80868500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.986559995 meters 0.018805147831447145 Centerline is valid? [True, True] Translation: X:-9.81, Y:-256.99, Z:-1.81 [[-6.51045101e-01 -7.58996713e-01 8.01665446e-03 -9.80876654e+00] [-7.58946399e-01 6.51094339e-01 8.74787332e-03 -2.56985375e+02] [-1.18592054e-02 -3.88950968e-04 -9.99929602e-01 -1.80781666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.016559995 meters 0.019144947980383954 Centerline is valid? [True, True] Translation: X:-9.89, Y:-257.04, Z:-1.81 [[-5.91052668e-01 -8.06598532e-01 7.45335961e-03 -9.89236858e+00] [-8.06542868e-01 5.91099522e-01 9.48462909e-03 -2.57041172e+02] [-1.20559652e-02 -4.05538706e-04 -9.99927242e-01 -1.80734753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.0465599949999 meters 0.019144947980383954 Centerline is valid? [True, True] Translation: X:-9.97, Y:-257.11, Z:-1.81 [[-5.28115373e-01 -8.49146103e-01 6.71178575e-03 -9.97319363e+00] [-8.49087043e-01 5.28157866e-01 1.00230975e-02 -2.57105556e+02] [-1.20559566e-02 -4.05538444e-04 -9.99927242e-01 -1.80734791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.0765599949999 meters 0.01943955767933733 Centerline is valid? [True, True] Translation: X:-10.05, Y:-257.18, Z:-1.81 [[-4.61353635e-01 -8.87194959e-01 6.15854814e-03 -1.00515601e+01] [-8.87127988e-01 4.61394537e-01 1.09093285e-02 -2.57180989e+02] [-1.25202218e-02 -4.30362048e-04 -9.99921526e-01 -1.80703728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.106559995 meters 0.02043962702174034 Centerline is valid? [True, True] Translation: X:-10.12, Y:-257.26, Z:-1.81 [[-3.92219245e-01 -9.19855291e-01 5.50523117e-03 -1.01243379e+01] [-9.19780120e-01 3.92257624e-01 1.17680836e-02 -2.57260962e+02] [-1.29844028e-02 -4.47933329e-04 -9.99915599e-01 -1.80625239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.136559995 meters 0.020335746649320266 Centerline is valid? [True, True] Translation: X:-10.19, Y:-257.35, Z:-1.81 [[-3.21571703e-01 -9.46874534e-01 4.50074061e-03 -1.01893067e+01] [-9.46799618e-01 3.21602912e-01 1.19184662e-02 -2.57351686e+02] [-1.27327435e-02 -4.28658000e-04 -9.99918844e-01 -1.80630157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.166559995 meters 0.019873548962296116 Centerline is valid? [True, True] Translation: X:-10.25, Y:-257.45, Z:-1.81 [[-2.49105661e-01 -9.68470211e-01 3.43805474e-03 -1.02479819e+01] [-9.68398905e-01 2.49129064e-01 1.17588190e-02 -2.57447207e+02] [-1.22445853e-02 -4.00220070e-04 -9.99924952e-01 -1.80680506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.1965599949999 meters 0.01890844739555797 Centerline is valid? [True, True] Translation: X:-10.30, Y:-257.55, Z:-1.81 [[-1.75371083e-01 -9.84499562e-01 2.36550934e-03 -1.02995319e+01] [-9.84435597e-01 1.75386667e-01 1.12282106e-02 -2.57550940e+02] [-1.14690472e-02 -3.59588148e-04 -9.99934164e-01 -1.80771215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.226559995 meters 0.01674066743075141 Centerline is valid? [True, True] Translation: X:-10.34, Y:-257.66, Z:-1.81 [[-1.02973726e-01 -9.94683211e-01 1.31245753e-03 -1.03394792e+01] [-9.94633180e-01 1.02981715e-01 9.98021133e-03 -2.57657212e+02] [-1.00623078e-02 -2.77714259e-04 -9.99949335e-01 -1.80934807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.256559995 meters 0.017540687534311105 Centerline is valid? [True, True] Translation: X:-10.38, Y:-257.77, Z:-1.81 [[-2.83053108e-02 -9.99599194e-01 5.11100592e-04 -1.03773385e+01] [-9.99554206e-01 2.83088875e-02 9.48663674e-03 -2.57766233e+02] [-9.49730313e-03 -2.42350545e-04 -9.99954870e-01 -1.80909629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.286559995 meters 0.015235863384657683 Centerline is valid? [True, True] Translation: X:-10.40, Y:-257.88, Z:-1.81 [[ 4.43474306e-02 -9.99016147e-01 -2.10009085e-04 -1.04004292e+01] [-9.98975103e-01 -4.43475127e-02 9.05765902e-03 -2.57881298e+02] [-9.05806099e-03 -1.91890056e-04 -9.99958957e-01 -1.81021871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.3165599949999 meters 0.014283308826308848 Centerline is valid? [True, True] Translation: X:-10.42, Y:-258.00, Z:-1.81 [[ 1.19135113e-01 -9.92877628e-01 -9.16630768e-04 -1.04178666e+01] [-9.92835829e-01 -1.19138510e-01 9.11219262e-03 -2.57998073e+02] [-9.15649822e-03 -1.75518227e-04 -9.99958063e-01 -1.81064311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.346559995 meters 0.013948052832871333 Centerline is valid? [True, True] Translation: X:-10.43, Y:-258.11, Z:-1.81 [[ 1.93284762e-01 -9.81141303e-01 -1.65670487e-03 -1.04279475e+01] [-9.81097775e-01 -1.93291794e-01 9.24332730e-03 -2.58113098e+02] [-9.38923765e-03 -1.61204851e-04 -9.99955907e-01 -1.81051089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.376559995 meters 0.013235432351375094 Centerline is valid? [True, True] Translation: X:-10.43, Y:-258.24, Z:-1.81 [[ 2.66441266e-01 -9.63847978e-01 -2.47531609e-03 -1.04263756e+01] [-9.63800969e-01 -2.66452721e-01 9.52052558e-03 -2.58235964e+02] [-9.83589404e-03 -1.50948838e-04 -9.99951615e-01 -1.81088820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.406559995 meters 0.0132715424847952 Centerline is valid? [True, True] Translation: X:-10.42, Y:-258.36, Z:-1.81 [[ 3.38220554e-01 -9.41060790e-01 -3.38318787e-03 -1.04176464e+01] [-9.41009445e-01 -3.38237445e-01 9.83136578e-03 -2.58356736e+02] [-1.03962337e-02 -1.41558240e-04 -9.99945948e-01 -1.80973858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.4365599949999 meters 0.012812091286818107 Centerline is valid? [True, True] Translation: X:-10.40, Y:-258.47, Z:-1.81 [[ 4.06104116e-01 -9.13814629e-01 -4.71921333e-03 -1.04015146e+01] [-9.13749576e-01 -4.06131519e-01 1.09041995e-02 -2.58465151e+02] [-1.18810383e-02 -1.16061127e-04 -9.99929411e-01 -1.80789801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.466559995 meters 0.012476447959995128 Centerline is valid? [True, True] Translation: X:-10.37, Y:-258.58, Z:-1.81 [[ 4.73233952e-01 -8.80918034e-01 -5.74839414e-03 -1.03748995e+01] [-8.80850627e-01 -4.73268855e-01 1.08979221e-02 -2.58579678e+02] [-1.23207121e-02 -9.37901808e-05 -9.99924093e-01 -1.80753475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.496559995 meters 0.012356704782799738 Centerline is valid? [True, True] Translation: X:-10.34, Y:-258.69, Z:-1.81 [[ 5.37877713e-01 -8.42996175e-01 -6.70927854e-03 -1.03418029e+01] [-8.42928905e-01 -5.37919551e-01 1.06497325e-02 -2.58688941e+02] [-1.25867358e-02 -7.28089287e-05 -9.99920781e-01 -1.80644726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.526559995 meters 0.011930277548074335 Centerline is valid? [True, True] Translation: X:-10.30, Y:-258.79, Z:-1.81 [[ 5.98393651e-01 -8.01168098e-01 -7.39714269e-03 -1.03000680e+01] [-8.01106217e-01 -5.98439368e-01 9.95745861e-03 -2.58790887e+02] [-1.24043396e-02 -3.25830044e-05 -9.99923063e-01 -1.80783745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.5565599949999 meters 0.011866455581272034 Centerline is valid? [True, True] Translation: X:-10.25, Y:-258.89, Z:-1.81 [[ 6.56833748e-01 -7.53992784e-01 -8.01930481e-03 -1.02530819e+01] [-7.53936334e-01 -6.56882700e-01 9.22619850e-03 -2.58890600e+02] [-1.22242297e-02 -1.40332743e-05 -9.99925281e-01 -1.80894895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.5865599949999 meters 0.011927023925167077 Centerline is valid? [True, True] Translation: X:-10.20, Y:-258.99, Z:-1.81 [[ 7.11923290e-01 -7.02207748e-01 -8.33715474e-03 -1.01991909e+01] [-7.02159530e-01 -7.11972105e-01 8.22899523e-03 -2.58987047e+02] [-1.17142858e-02 -4.40070613e-06 -9.99931385e-01 -1.80881416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.616559995 meters 0.01178290714979929 Centerline is valid? [True, True] Translation: X:-10.20, Y:-258.99, Z:-1.81 [[ 7.64453495e-01 -6.44624465e-01 -8.37578670e-03 -1.02026542e+01] [-6.44585766e-01 -7.64499379e-01 7.06334767e-03 -2.58994125e+02] [-1.09564904e-02 -6.87929747e-07 -9.99939976e-01 -1.81088872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.646559995 meters 0.011796155431910243 Centerline is valid? [True, True] Translation: X:-10.21, Y:-259.00, Z:-1.81 [[ 8.12691819e-01 -5.82630408e-01 -8.59154983e-03 -1.02070391e+01] [-5.82597801e-01 -8.12737231e-01 6.16395886e-03 -2.59000442e+02] [-1.05739823e-02 -3.98089759e-06 -9.99944094e-01 -1.81048777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.6765599949999 meters 0.011719285154808927 Centerline is valid? [True, True] Translation: X:-10.21, Y:-259.00, Z:-1.81 [[ 8.55952463e-01 -5.16978673e-01 -8.85624249e-03 -1.02079137e+01] [-5.16950911e-01 -8.55998278e-01 5.35764600e-03 -2.59004911e+02] [-1.03507170e-02 -7.64766301e-06 -9.99946430e-01 -1.81026637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.7065599949999 meters 0.011739490951352497 Centerline is valid? [True, True] Translation: X:-10.21, Y:-259.01, Z:-1.81 [[ 8.94293928e-01 -4.47392227e-01 -8.86372056e-03 -1.02094788e+01] [-4.47370037e-01 -8.94337853e-01 4.45590362e-03 -2.59011782e+02] [-9.92069746e-03 -1.95245628e-05 -9.99950789e-01 -1.81050596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.736559995 meters 0.011726742529622006 Centerline is valid? [True, True] Translation: X:-10.21, Y:-259.02, Z:-1.81 [[ 9.26833801e-01 -3.75365834e-01 -8.92168307e-03 -1.02112690e+01] [-3.75348165e-01 -9.26876739e-01 3.64211413e-03 -2.59017672e+02] [-9.63642572e-03 -2.68971126e-05 -9.99953568e-01 -1.81026409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.766559995 meters 0.011711709695833409 Centerline is valid? [True, True] Translation: X:-10.21, Y:-259.03, Z:-1.81 [[ 9.53673797e-01 -3.00707665e-01 -9.01046697e-03 -1.02122166e+01] [-3.00693880e-01 -9.53716362e-01 2.87953225e-03 -2.59026260e+02] [-9.45932719e-03 -3.67421785e-05 -9.99955259e-01 -1.81116532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.7965599949999 meters 0.01198987666653757 Centerline is valid? [True, True] Translation: X:-10.21, Y:-259.04, Z:-1.81 [[ 9.74798862e-01 -2.22910619e-01 -8.83372818e-03 -1.02136356e+01] [-2.22900937e-01 -9.74838886e-01 2.07838316e-03 -2.59036250e+02] [-9.07475541e-03 -5.69592561e-05 -9.99958822e-01 -1.81027205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.8265599949999 meters 0.012068839256414174 Centerline is valid? [True, True] Translation: X:-10.21, Y:-259.04, Z:-1.81 [[ 9.89434231e-01 -1.44729960e-01 -8.55221164e-03 -1.02127849e+01] [-1.44723984e-01 -9.89471189e-01 1.31681276e-03 -2.59043718e+02] [-8.65274928e-03 -6.51894806e-05 -9.99962562e-01 -1.81049734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.856559995 meters 0.012494058479425443 Centerline is valid? [True, True] Translation: X:-10.22, Y:-259.05, Z:-1.81 [[ 9.97825863e-01 -6.53680257e-02 -8.40049696e-03 -1.02154230e+01] [-6.53650714e-02 -9.97861221e-01 6.26048432e-04 -2.59050047e+02] [-8.42345370e-03 -7.55882335e-05 -9.99964519e-01 -1.81013143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.886559995 meters 0.012832194996623811 Centerline is valid? [True, True] Translation: X:-10.22, Y:-259.05, Z:-1.81 [[ 9.99860522e-01 1.43975194e-02 -8.46456824e-03 -1.02180846e+01] [ 1.43977492e-02 -9.99896347e-01 -3.37835415e-05 -2.59053610e+02] [-8.46417725e-03 -8.80919012e-05 -9.99964174e-01 -1.81015969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.916559995 meters 0.013520233748351028 Centerline is valid? [True, True] Translation: X:-10.22, Y:-259.06, Z:-1.81 [[ 9.95426113e-01 9.51825912e-02 -8.19313832e-03 -1.02191774e+01] [ 9.51802486e-02 -9.95459825e-01 -6.76255583e-04 -2.59058403e+02] [-8.22030780e-03 -1.06662476e-04 -9.99966207e-01 -1.80997692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.9465599949999 meters 0.014029621278266954 Centerline is valid? [True, True] Translation: X:-10.22, Y:-259.06, Z:-1.81 [[ 9.84707756e-01 1.74039469e-01 -7.80380731e-03 -1.02210723e+01] [ 1.74034908e-01 -9.84738671e-01 -1.26498723e-03 -2.59060763e+02] [-7.90486855e-03 -1.12492153e-04 -9.99968750e-01 -1.80980501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.976559995 meters 0.013412858248360618 Centerline is valid? [True, True] Translation: X:-10.22, Y:-259.07, Z:-1.81 [[ 9.67783026e-01 2.51667798e-01 -7.70284875e-03 -1.02206808e+01] [ 2.51660827e-01 -9.67813672e-01 -1.87715132e-03 -2.59066996e+02] [-7.92734088e-03 -1.21830108e-04 -9.99968571e-01 -1.81094269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.006559995 meters 0.013533454892445142 Centerline is valid? [True, True] Translation: X:-10.22, Y:-259.08, Z:-1.81 [[ 9.44923809e-01 3.27211106e-01 -7.20325805e-03 -1.02194697e+01] [ 3.27202572e-01 -9.44951257e-01 -2.36629392e-03 -2.59075042e+02] [-7.58100540e-03 -1.20957096e-04 -9.99971257e-01 -1.81084764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.036559995 meters 0.014281825501417027 Centerline is valid? [True, True] Translation: X:-10.22, Y:-259.08, Z:-1.81 [[ 9.16003718e-01 4.01111578e-01 -6.83302843e-03 -1.02175937e+01] [ 4.01101438e-01 -9.16029195e-01 -2.85486591e-03 -2.59084108e+02] [-7.40437330e-03 -1.25669737e-04 -9.99972579e-01 -1.81006020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.0665599949999 meters 0.014748491095115739 Centerline is valid? [True, True] Translation: X:-10.22, Y:-259.09, Z:-1.81 [[ 8.81653490e-01 4.71851299e-01 -6.59354665e-03 -1.02173441e+01] [ 4.71839184e-01 -8.81678136e-01 -3.38367024e-03 -2.59088840e+02] [-7.40997512e-03 -1.27868994e-04 -9.99972538e-01 -1.80961897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.096559995 meters 0.014284184203306 Centerline is valid? [True, True] Translation: X:-10.22, Y:-259.09, Z:-1.81 [[ 8.41792077e-01 5.39764296e-01 -6.37219581e-03 -1.02151132e+01] [ 5.39750014e-01 -8.41816184e-01 -3.92867136e-03 -2.59092746e+02] [-7.48477409e-03 -1.32268354e-04 -9.99971980e-01 -1.81011998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.126559995 meters 0.015505959134796255 Centerline is valid? [True, True] Translation: X:-10.21, Y:-259.10, Z:-1.81 [[ 7.96920063e-01 6.04053037e-01 -6.19214606e-03 -1.02118401e+01] [ 6.04036120e-01 -7.96944108e-01 -4.52275529e-03 -2.59099142e+02] [-7.66677838e-03 -1.36005446e-04 -9.99970601e-01 -1.80887513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.156559995 meters 0.015100751377062249 Centerline is valid? [True, True] Translation: X:-10.21, Y:-259.10, Z:-1.81 [[ 7.47491670e-01 6.64236925e-01 -6.74615964e-03 -1.02125285e+01] [ 6.64211714e-01 -7.47522096e-01 -5.78919095e-03 -2.59098768e+02] [-8.88829779e-03 -1.53506242e-04 -9.99960487e-01 -1.80803495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.1865599949999 meters 0.013767532355672511 Centerline is valid? [True, True] Translation: X:-10.21, Y:-259.10, Z:-1.81 [[ 6.93573612e-01 7.20355747e-01 -6.57595201e-03 -1.02098114e+01] [ 7.20325490e-01 -6.93604768e-01 -6.60417678e-03 -2.59102578e+02] [-9.31846837e-03 -1.56343108e-04 -9.99956570e-01 -1.80848479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.216559995 meters 0.013713467005902829 Centerline is valid? [True, True] Translation: X:-10.21, Y:-259.11, Z:-1.81 [[ 6.36013451e-01 7.71649343e-01 -6.64687083e-03 -1.02069571e+01] [ 7.71609797e-01 -6.36048163e-01 -7.81377935e-03 -2.59108104e+02] [-1.02572277e-02 -1.59121883e-04 -9.99947381e-01 -1.80760817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.246559995 meters 0.013633355460742583 Centerline is valid? [True, True] Translation: X:-10.20, Y:-259.11, Z:-1.81 [[ 5.74414726e-01 8.18541194e-01 -6.16740124e-03 -1.02044830e+01] [ 8.18496851e-01 -5.74447814e-01 -8.52134204e-03 -2.59112350e+02] [-1.05179196e-02 -1.53214139e-04 -9.99944673e-01 -1.80703319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.276559995 meters 0.0136497852950882 Centerline is valid? [True, True] Translation: X:-10.20, Y:-259.12, Z:-1.81 [[ 5.09452160e-01 8.60480758e-01 -5.60016899e-03 -1.02033626e+01] [ 8.60431878e-01 -5.09482918e-01 -9.17275788e-03 -2.59115894e+02] [-1.07461721e-02 -1.45482604e-04 -9.99942248e-01 -1.80686807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.3065599949999 meters 0.012850914151502467 Centerline is valid? [True, True] Translation: X:-10.20, Y:-259.12, Z:-1.81 [[ 4.41577634e-01 8.97209560e-01 -4.91916229e-03 -1.01985756e+01] [ 8.97157243e-01 -4.41605012e-01 -9.68991086e-03 -2.59119863e+02] [-1.08662074e-02 -1.34414172e-04 -9.99940952e-01 -1.80800751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.3365599949999 meters 0.012472242258542102 Centerline is valid? [True, True] Translation: X:-10.19, Y:-259.12, Z:-1.81 [[ 3.72065422e-01 9.28196768e-01 -4.25222477e-03 -1.01930663e+01] [ 9.28139575e-01 -3.72089703e-01 -1.03044762e-02 -2.59124459e+02] [-1.11467906e-02 -1.12718798e-04 -9.99937866e-01 -1.80829906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.366559995 meters 0.01252602727436189 Centerline is valid? [True, True] Translation: X:-10.19, Y:-259.13, Z:-1.81 [[ 2.99000546e-01 9.54246665e-01 -3.46073802e-03 -1.01863953e+01] [ 9.54186731e-01 -2.99020555e-01 -1.06953453e-02 -2.59130000e+02] [-1.12408294e-02 -1.04276201e-04 -9.99936815e-01 -1.80794515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.396559995 meters 0.0124806339436963 Centerline is valid? [True, True] Translation: X:-10.18, Y:-259.14, Z:-1.81 [[ 2.24227355e-01 9.74533357e-01 -2.61325200e-03 -1.01812239e+01] [ 9.74471980e-01 -2.24242563e-01 -1.09376797e-02 -2.59135371e+02] [-1.12451360e-02 -9.40138612e-05 -9.99936767e-01 -1.80762362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.4265599949999 meters 0.012452502150152046 Centerline is valid? [True, True] Translation: X:-10.18, Y:-259.14, Z:-1.81 [[ 1.47969303e-01 9.88990415e-01 -1.74478083e-03 -1.01780529e+01] [ 9.88928273e-01 -1.47979565e-01 -1.10868821e-02 -2.59139206e+02] [-1.12230121e-02 -8.49448782e-05 -9.99937016e-01 -1.80781449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.4565599949999 meters 0.012084202466924016 Centerline is valid? [True, True] Translation: X:-10.17, Y:-259.14, Z:-1.81 [[ 7.19897948e-02 9.97405042e-01 -8.06767837e-04 -1.01734066e+01] [ 9.97351167e-01 -7.19942916e-02 -1.03668964e-02 -2.59142393e+02] [-1.03980774e-02 -5.83201004e-05 -9.99945937e-01 -1.80978036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.486559995 meters 0.012094670197141699 Centerline is valid? [True, True] Translation: X:-10.17, Y:-259.15, Z:-1.81 [[-5.83585923e-03 9.99982971e-01 7.02425112e-06 -1.01667763e+01] [ 9.99934690e-01 5.83564648e-03 -9.82657094e-03 -2.59146456e+02] [-9.82644459e-03 -5.03226923e-05 -9.99951718e-01 -1.80967991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.516559995 meters 0.012146662338315491 Centerline is valid? [True, True] Translation: X:-10.16, Y:-259.15, Z:-1.81 [[-8.41158882e-02 9.96455714e-01 7.26155584e-04 -1.01615186e+01] [ 9.96413630e-01 8.41190095e-02 -9.15807172e-03 -2.59149982e+02] [-9.18669639e-03 -4.67880153e-05 -9.99957800e-01 -1.81021012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.5465599949999 meters 0.012040957679671378 Centerline is valid? [True, True] Translation: X:-10.15, Y:-259.15, Z:-1.81 [[-1.61685598e-01 9.86841355e-01 1.38133269e-03 -1.01542083e+01] [ 9.86803048e-01 1.61691493e-01 -8.69519946e-03 -2.59152378e+02] [-8.80413216e-03 -4.27852178e-05 -9.99961242e-01 -1.81098358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.5765599949999 meters 0.012055743745505188 Centerline is valid? [True, True] Translation: X:-10.15, Y:-259.15, Z:-1.81 [[-2.38622127e-01 9.71110181e-01 2.12069168e-03 -1.01462751e+01] [ 9.71070125e-01 2.38631546e-01 -8.82033443e-03 -2.59154589e+02] [-9.07158050e-03 -4.53866318e-05 -9.99958851e-01 -1.81092509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.606559995 meters 0.012048983755443526 Centerline is valid? [True, True] Translation: X:-10.14, Y:-259.16, Z:-1.81 [[-3.13836403e-01 9.49472739e-01 2.86874087e-03 -1.01382803e+01] [ 9.49431747e-01 3.13849510e-01 -8.82286696e-03 -2.59155769e+02] [-9.27742458e-03 -4.52631736e-05 -9.99956963e-01 -1.81079300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.636559995 meters 0.012097568401280555 Centerline is valid? [True, True] Translation: X:-10.13, Y:-259.16, Z:-1.81 [[-3.87172052e-01 9.22000072e-01 3.69710012e-03 -1.01306265e+01] [ 9.21956888e-01 3.87189701e-01 -8.92367448e-03 -2.59156774e+02] [-9.65910761e-03 -4.64304416e-05 -9.99953349e-01 -1.81043955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.666559995 meters 0.011974218635680782 Centerline is valid? [True, True] Translation: X:-10.12, Y:-259.16, Z:-1.81 [[-4.57972639e-01 8.88954400e-01 4.59737541e-03 -1.01224292e+01] [ 8.88908602e-01 4.57995712e-01 -9.02356156e-03 -2.59156797e+02] [-1.01271130e-02 -4.58977507e-05 -9.99948718e-01 -1.81028201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.6965599949999 meters 0.012145670919200597 Centerline is valid? [True, True] Translation: X:-10.11, Y:-259.16, Z:-1.81 [[-5.26179664e-01 8.50356445e-01 5.37388094e-03 -1.01141362e+01] [ 8.50311201e-01 5.26207103e-01 -8.77188184e-03 -2.59156917e+02] [-1.02870006e-02 -4.61146741e-05 -9.99947086e-01 -1.80911542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.726559995 meters 0.011996531182098164 Centerline is valid? [True, True] Translation: X:-10.11, Y:-259.16, Z:-1.81 [[-5.91092081e-01 8.06581410e-01 6.04821464e-03 -1.01077533e+01] [ 8.06538410e-01 5.91123022e-01 -8.32866002e-03 -2.59156302e+02] [-1.02929813e-02 -4.48875678e-05 -9.99947025e-01 -1.81022026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.756559995 meters 0.01195153043898175 Centerline is valid? [True, True] Translation: X:-10.10, Y:-259.15, Z:-1.81 [[-6.52277590e-01 7.57949290e-01 6.84245141e-03 -1.01006607e+01] [ 7.57906892e-01 6.52313476e-01 -8.01699389e-03 -2.59154444e+02] [-1.05398981e-02 -4.33643728e-05 -9.99944453e-01 -1.80976067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.786559995 meters 0.012062388313143112 Centerline is valid? [True, True] Translation: X:-10.09, Y:-259.15, Z:-1.81 [[-7.09503626e-01 7.04664109e-01 7.28680834e-03 -1.00944925e+01] [ 7.04626361e-01 7.09541043e-01 -7.29381227e-03 -2.59153532e+02] [-1.03099773e-02 -4.05090087e-05 -9.99946850e-01 -1.80977132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.8165599949999 meters 0.011989317420001208 Centerline is valid? [True, True] Translation: X:-10.09, Y:-259.15, Z:-1.81 [[-7.62461769e-01 6.46984642e-01 7.93249403e-03 -1.00889841e+01] [ 6.46949079e-01 7.62503030e-01 -6.78365474e-03 -2.59152688e+02] [-1.04374712e-02 -4.03576861e-05 -9.99945527e-01 -1.80963744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.846559995 meters 0.011987877329903876 Centerline is valid? [True, True] Translation: X:-9.62, Y:-258.61, Z:-2.78 [[-7.11674562e-01 -7.02468767e-01 7.54651917e-03 -9.61941488e+00] [ 7.02429987e-01 -7.11714570e-01 -7.38126799e-03 -2.58607880e+02] [ 1.05560779e-02 4.78407010e-05 9.99944282e-01 -2.78257620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.876559995 meters 0.011938077218482895 Centerline is valid? [True, True] Translation: X:-10.12, Y:-259.12, Z:-1.81 [[-7.65254574e-01 6.43678191e-01 7.98902328e-03 -1.01213620e+01] [ 6.43642446e-01 7.65296272e-01 -6.78360659e-03 -2.59122868e+02] [-1.04804294e-02 -4.91114865e-05 -9.99945078e-01 -1.81000724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.906559995 meters 0.011962269989370942 Centerline is valid? [True, True] Translation: X:-10.10, Y:-259.10, Z:-1.81 [[-8.08971233e-01 5.87792927e-01 8.06345891e-03 -1.00996783e+01] [ 5.87763135e-01 8.09011417e-01 -5.91815181e-03 -2.59103682e+02] [-1.00020781e-02 -4.82106746e-05 -9.99949977e-01 -1.80999559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.9365599949999 meters 0.01181804956852755 Centerline is valid? [True, True] Translation: X:-9.67, Y:-258.53, Z:-2.78 [[-7.61552511e-01 -6.48065640e-01 6.97845708e-03 -9.67342434e+00] [ 6.48038368e-01 -7.61584484e-01 -5.94541849e-03 -2.58533234e+02] [ 9.16770607e-03 -5.44045196e-06 9.99957976e-01 -2.78185474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.966559995 meters 0.01181804956852755 Centerline is valid? [True, True] Translation: X:-10.13, Y:-259.08, Z:-1.81 [[-8.10949114e-01 5.85069771e-01 7.40932350e-03 -1.01333107e+01] [ 5.85044876e-01 8.10982960e-01 -5.39736687e-03 -2.59078798e+02] [-9.16667130e-03 -4.22031407e-05 -9.99957984e-01 -1.81094742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.996559995 meters 0.011770299779530731 Centerline is valid? [True, True] Translation: X:-9.71, Y:-258.51, Z:-2.78 [[-7.64034804e-01 -6.45140082e-01 6.71514060e-03 -9.70927987e+00] [ 6.45115362e-01 -7.64064313e-01 -5.64761762e-03 -2.58508728e+02] [ 8.77430378e-03 1.70639396e-05 9.99961505e-01 -2.78163950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.026559995 meters 0.011802179650506629 Centerline is valid? [True, True] Translation: X:-10.17, Y:-259.06, Z:-1.81 [[-8.12843904e-01 5.82442669e-01 6.73247099e-03 -1.01658764e+01] [ 5.82422336e-01 8.12871784e-01 -4.86687440e-03 -2.59055268e+02] [-8.30731102e-03 -3.48677115e-05 -9.99965493e-01 -1.81139246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.0565599949999 meters 0.011683938814468532 Centerline is valid? [True, True] Translation: X:-10.15, Y:-259.03, Z:-1.81 [[-8.51643730e-01 5.24079306e-01 6.62102768e-03 -1.01493592e+01] [ 5.24063225e-01 8.51669467e-01 -4.10554104e-03 -2.59032647e+02] [-7.79055622e-03 -2.66211641e-05 -9.99969653e-01 -1.81177190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.0865599949999 meters 0.011675185085202525 Centerline is valid? [True, True] Translation: X:-10.13, Y:-259.01, Z:-1.81 [[-8.86523306e-01 4.62634860e-01 6.73906445e-03 -1.01330599e+01] [ 4.62621284e-01 8.86548919e-01 -3.54436186e-03 -2.59009755e+02] [-7.61425565e-03 -2.45247482e-05 -9.99971011e-01 -1.81180498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.116559995 meters 0.011723631604605933 Centerline is valid? [True, True] Translation: X:-10.12, Y:-258.98, Z:-1.81 [[-9.17002846e-01 3.98824259e-01 6.70758523e-03 -1.01217474e+01] [ 3.98813411e-01 9.17027377e-01 -2.94165725e-03 -2.58984024e+02] [-7.32424356e-03 -2.24331234e-05 -9.99973177e-01 -1.81165324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.146559995 meters 0.011772482390927543 Centerline is valid? [True, True] Translation: X:-9.83, Y:-258.34, Z:-2.78 [[-8.84972937e-01 -4.65599014e-01 6.36078230e-03 -9.83241484e+00] [ 4.65587094e-01 -8.84995795e-01 -3.33167735e-03 -2.58339581e+02] [ 7.18049128e-03 1.30538641e-05 9.99974220e-01 -2.78165147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.1765599949999 meters 0.011802514729460223 Centerline is valid? [True, True] Translation: X:-10.16, Y:-258.96, Z:-1.81 [[-9.18948364e-01 3.94323669e-01 6.53820588e-03 -1.01617930e+01] [ 3.94313453e-01 9.18971623e-01 -2.83854081e-03 -2.58963875e+02] [-7.12772950e-03 -3.03698946e-05 -9.99974597e-01 -1.81078898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.2065599949999 meters 0.011891545111162739 Centerline is valid? [True, True] Translation: X:-10.15, Y:-258.94, Z:-1.81 [[-9.44772368e-01 3.27659644e-01 6.65805738e-03 -1.01521710e+01] [ 3.27651254e-01 9.44795828e-01 -2.34506493e-03 -2.58936347e+02] [-7.05888797e-03 -3.40317060e-05 -9.99975085e-01 -1.81023114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.236559995 meters 0.011913239301983274 Centerline is valid? [True, True] Translation: X:-10.14, Y:-258.91, Z:-1.81 [[-9.65738435e-01 2.59414427e-01 7.30964016e-03 -1.01412989e+01] [ 2.59406683e-01 9.65766097e-01 -2.00493670e-03 -2.58909472e+02] [-7.57951215e-03 -4.00749225e-05 -9.99971274e-01 -1.80962921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.266559995 meters 0.011888470872146641 Centerline is valid? [True, True] Translation: X:-10.14, Y:-258.88, Z:-1.81 [[-9.81879233e-01 1.89325821e-01 8.30087978e-03 -1.01369615e+01] [ 1.89318601e-01 9.81914320e-01 -1.65427076e-03 -2.58880953e+02] [-8.46394889e-03 -5.27831649e-05 -9.99964179e-01 -1.80900230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.2965599949999 meters 0.01202455176066175 Centerline is valid? [True, True] Translation: X:-10.14, Y:-258.85, Z:-1.81 [[-9.92877695e-01 1.18820384e-01 8.69481783e-03 -1.01367778e+01] [ 1.18815318e-01 9.92915763e-01 -1.09880229e-03 -2.58852104e+02] [-8.76378179e-03 -5.78987405e-05 -9.99961596e-01 -1.80813232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.3265599949999 meters 0.011955456469472773 Centerline is valid? [True, True] Translation: X:-10.13, Y:-258.83, Z:-1.81 [[-9.98810397e-01 4.79006953e-02 9.12770406e-03 -1.01326703e+01] [ 4.78981329e-02 9.98852101e-01 -4.99257338e-04 -2.58825022e+02] [-9.14114116e-03 -6.14634380e-05 -9.99958217e-01 -1.80863346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.356559995 meters 0.011977377166079406 Centerline is valid? [True, True] Translation: X:-10.14, Y:-258.80, Z:-1.81 [[-9.99685515e-01 -2.31945282e-02 9.53337026e-03 -1.01359625e+01] [-2.31940803e-02 9.99730969e-01 1.57556587e-04 -2.58796917e+02] [-9.53445994e-03 -6.36107169e-05 -9.99954544e-01 -1.80806900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.386559995 meters 0.011924925808927409 Centerline is valid? [True, True] Translation: X:-10.14, Y:-258.77, Z:-1.81 [[-9.95552746e-01 -9.37268307e-02 9.48743401e-03 -1.01421248e+01] [-9.37231298e-02 9.95597950e-01 8.34926427e-04 -2.58769586e+02] [-9.52392486e-03 -5.79787119e-05 -9.99954645e-01 -1.80814696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.416559995 meters 0.011986727029552693 Centerline is valid? [True, True] Translation: X:-10.20, Y:-258.08, Z:-2.79 [[-9.99852367e-01 1.44791424e-02 9.25196687e-03 -1.01996843e+01] [-1.44781677e-02 -9.99895171e-01 1.72316419e-04 -2.58078357e+02] [ 9.25349199e-03 3.83394518e-05 9.99957185e-01 -2.78522813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.4465599949999 meters 0.011945041481588075 Centerline is valid? [True, True] Translation: X:-10.24, Y:-258.78, Z:-1.81 [[-9.95014025e-01 -9.93201385e-02 9.08841927e-03 -1.02426046e+01] [-9.93164527e-02 9.95055530e-01 8.57094884e-04 -2.58777176e+02] [-9.12860864e-03 -4.98081316e-05 -9.99958332e-01 -1.80803651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.476559995 meters 0.011966491172383388 Centerline is valid? [True, True] Translation: X:-10.25, Y:-258.75, Z:-1.81 [[-9.85304858e-01 -1.70610914e-01 8.13956262e-03 -1.02542784e+01] [-1.70605512e-01 9.85338477e-01 1.35866340e-03 -2.58750773e+02] [-8.25202704e-03 -4.99566003e-05 -9.99965950e-01 -1.80935779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.506559995 meters 0.012330039776773409 Centerline is valid? [True, True] Translation: X:-10.28, Y:-258.73, Z:-1.81 [[-9.70368176e-01 -2.41518340e-01 7.38204735e-03 -1.02784167e+01] [-2.41511750e-01 9.70396254e-01 1.78484002e-03 -2.58725755e+02] [-7.59458269e-03 -5.08992192e-05 -9.99971160e-01 -1.80862136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.536559995 meters 0.012024708115254256 Centerline is valid? [True, True] Translation: X:-10.46, Y:-258.06, Z:-2.78 [[-9.86890937e-01 1.61249697e-01 6.69435620e-03 -1.04614630e+01] [-1.61246053e-01 -9.86913641e-01 1.08404513e-03 -2.58059200e+02] [ 6.78155341e-03 -9.60420712e-06 9.99977005e-01 -2.78211335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.5665599949999 meters 0.01223693366471319 Centerline is valid? [True, True] Translation: X:-10.42, Y:-258.76, Z:-1.81 [[-9.68111723e-01 -2.50433387e-01 6.54291121e-03 -1.04165101e+01] [-2.50428087e-01 9.68133831e-01 1.63049075e-03 -2.58757237e+02] [-6.74274302e-03 -6.00315286e-05 -9.99977266e-01 -1.81083874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.596559995 meters 0.012722070142484321 Centerline is valid? [True, True] Translation: X:-10.45, Y:-258.74, Z:-1.81 [[-9.46506228e-01 -3.22619280e-01 6.53912861e-03 -1.04548289e+01] [-3.22612179e-01 9.46528813e-01 2.14208292e-03 -2.58736791e+02] [-6.88055089e-03 -8.21077065e-05 -9.99976325e-01 -1.81076736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.626559995 meters 0.013117397711146958 Centerline is valid? [True, True] Translation: X:-10.51, Y:-258.72, Z:-1.81 [[-9.19886441e-01 -3.92124991e-01 6.85039965e-03 -1.05060258e+01] [-3.92114929e-01 9.19911942e-01 2.81084077e-03 -2.58724493e+02] [-7.40396536e-03 -1.00489660e-04 -9.99972585e-01 -1.81027320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.656559995 meters 0.013349706089091097 Centerline is valid? [True, True] Translation: X:-10.57, Y:-258.72, Z:-1.81 [[-8.87698980e-01 -4.60375642e-01 6.69253455e-03 -1.05703676e+01] [-4.60363520e-01 8.87724200e-01 3.34277982e-03 -2.58722348e+02] [-7.48005929e-03 -1.13616528e-04 -9.99972018e-01 -1.80996130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.6865599949999 meters 0.013556248597835172 Centerline is valid? [True, True] Translation: X:-10.65, Y:-258.73, Z:-1.81 [[-8.50260998e-01 -5.26314806e-01 6.99713678e-03 -1.06472542e+01] [-5.26298303e-01 8.50289778e-01 4.17010010e-03 -2.58732054e+02] [-8.14437930e-03 -1.36907742e-04 -9.99966825e-01 -1.80986613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.716559995 meters 0.014401335641848164 Centerline is valid? [True, True] Translation: X:-10.72, Y:-258.75, Z:-1.81 [[-8.06940126e-01 -5.90588329e-01 7.28413118e-03 -1.07243786e+01] [-5.90566202e-01 8.06972983e-01 5.11515141e-03 -2.58746862e+02] [-8.89904580e-03 -1.74140765e-04 -9.99960388e-01 -1.80922958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.746559995 meters 0.014727782405430894 Centerline is valid? [True, True] Translation: X:-10.81, Y:-258.78, Z:-1.81 [[-7.59598662e-01 -6.50354352e-01 7.00637681e-03 -1.08085321e+01] [-6.50328950e-01 7.59630951e-01 5.75107241e-03 -2.58775407e+02] [-9.06249565e-03 -1.87942763e-04 -9.99958917e-01 -1.80927603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.776559995 meters 0.015207322962818291 Centerline is valid? [True, True] Translation: X:-10.89, Y:-258.81, Z:-1.81 [[-7.07506473e-01 -7.06676772e-01 6.52151471e-03 -1.08945238e+01] [-7.06649330e-01 7.07536501e-01 6.23089205e-03 -2.58812441e+02] [-9.01743637e-03 -2.00027542e-04 -9.99959322e-01 -1.80917434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.8065599949999 meters 0.015279339167160816 Centerline is valid? [True, True] Translation: X:-10.98, Y:-258.86, Z:-1.81 [[-6.51795453e-01 -7.58370970e-01 6.01335357e-03 -1.09841262e+01] [-7.58341536e-01 6.51823160e-01 6.68456367e-03 -2.58864117e+02] [-8.98902215e-03 -2.03207575e-04 -9.99959577e-01 -1.80900569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.8365599949999 meters 0.01620209361549183 Centerline is valid? [True, True] Translation: X:-11.07, Y:-258.92, Z:-1.81 [[-5.92119505e-01 -8.05829808e-01 5.72829096e-03 -1.10666985e+01] [-8.05795555e-01 5.92147174e-01 7.43291945e-03 -2.58917239e+02] [-9.38165935e-03 -2.14654806e-04 -9.99955968e-01 -1.80870710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.866559995 meters 0.015550071670310892 Centerline is valid? [True, True] Translation: X:-11.15, Y:-258.99, Z:-1.81 [[-5.28865658e-01 -8.48691571e-01 4.87157491e-03 -1.11479800e+01] [-8.48659087e-01 5.28888055e-01 7.42828505e-03 -2.58986081e+02] [-8.88084069e-03 -2.05741453e-04 -9.99960543e-01 -1.80950459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.896559995 meters 0.015679137557099904 Centerline is valid? [True, True] Translation: X:-11.22, Y:-259.06, Z:-1.81 [[-4.62146509e-01 -8.86794638e-01 3.98421750e-03 -1.12247902e+01] [-8.86765247e-01 4.62163641e-01 7.22256945e-03 -2.59060701e+02] [-8.24629633e-03 -1.95180355e-04 -9.99965980e-01 -1.81081418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.9265599949999 meters 0.01579480524945151 Centerline is valid? [True, True] Translation: X:-11.30, Y:-259.15, Z:-1.81 [[-3.92932843e-01 -9.19561359e-01 3.26922554e-03 -1.12986384e+01] [-9.19533399e-01 3.92946398e-01 7.17335999e-03 -2.59146092e+02] [-7.88097506e-03 -1.87513333e-04 -9.99968927e-01 -1.81109697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.9565599949999 meters 0.016775416029505975 Centerline is valid? [True, True] Translation: X:-11.37, Y:-259.23, Z:-1.81 [[-3.20915570e-01 -9.47103730e-01 2.77877361e-03 -1.13665733e+01] [-9.47073351e-01 3.20927540e-01 7.58825439e-03 -2.59234020e+02] [-8.07864902e-03 -1.96513456e-04 -9.99967348e-01 -1.81048943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.986559995 meters 0.01630337067249909 Centerline is valid? [True, True] Translation: X:-11.43, Y:-259.33, Z:-1.81 [[-2.47186976e-01 -9.68965225e-01 2.23425978e-03 -1.14261311e+01] [-9.68932721e-01 2.47196991e-01 7.93917461e-03 -2.59329375e+02] [-8.24508640e-03 -2.02386838e-04 -9.99965988e-01 -1.81042961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.016559995 meters 0.01677640919586811 Centerline is valid? [True, True] Translation: X:-11.48, Y:-259.44, Z:-1.81 [[-1.71554183e-01 -9.85173070e-01 1.78456384e-03 -1.14825749e+01] [-9.85132758e-01 1.71563312e-01 8.91513545e-03 -2.59436634e+02] [-9.08911704e-03 -2.28603526e-04 -9.99958667e-01 -1.80929118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.0465599949999 meters 0.01700424813789248 Centerline is valid? [True, True] Translation: X:-11.53, Y:-259.54, Z:-1.81 [[-9.52599329e-02 -9.95451743e-01 1.17192183e-03 -1.15289395e+01] [-9.95404894e-01 9.52668231e-02 9.66072112e-03 -2.59544495e+02] [-9.72842694e-03 -2.46257080e-04 -9.99952647e-01 -1.80860683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.0765599949999 meters 0.017106424264243695 Centerline is valid? [True, True] Translation: X:-11.57, Y:-259.65, Z:-1.81 [[-1.79779394e-02 -9.99838276e-01 4.63386798e-04 -1.15661663e+01] [-9.99782403e-01 1.79818352e-02 1.05736090e-02 -2.59654648e+02] [-1.05802316e-02 -2.73194264e-04 -9.99943991e-01 -1.80822487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.106559995 meters 0.016939979322664993 Centerline is valid? [True, True] Translation: X:-11.59, Y:-259.78, Z:-1.81 [[ 5.97349458e-02 -9.98214205e-01 -3.70884615e-04 -1.15947254e+01] [-9.98151358e-01 -5.97353482e-02 1.12051056e-02 -2.59775126e+02] [-1.12072505e-02 -2.99137392e-04 -9.99937152e-01 -1.80817106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.136559995 meters 0.01691774120736713 Centerline is valid? [True, True] Translation: X:-11.61, Y:-259.89, Z:-1.81 [[ 1.36563054e-01 -9.90630552e-01 -1.28147384e-03 -1.16146224e+01] [-9.90562710e-01 -1.36568704e-01 1.15976927e-02 -2.59887241e+02] [-1.16640379e-02 -3.14436128e-04 -9.99931923e-01 -1.80788682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.166559995 meters 0.01708026207727434 Centerline is valid? [True, True] Translation: X:-11.63, Y:-260.00, Z:-1.81 [[ 2.12420953e-01 -9.77175588e-01 -2.28252237e-03 -1.16259886e+01] [-9.77101131e-01 -2.12432954e-01 1.20672789e-02 -2.60003218e+02] [-1.22767333e-02 -3.33087684e-04 -9.99924583e-01 -1.80762394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.1965599949999 meters 0.016562317404666255 Centerline is valid? [True, True] Translation: X:-11.63, Y:-260.12, Z:-1.81 [[ 2.86884660e-01 -9.57959577e-01 -3.26204543e-03 -1.16267338e+01] [-9.57883534e-01 -2.86903004e-01 1.20748490e-02 -2.60121252e+02] [-1.25031079e-02 -3.39429345e-04 -9.99921776e-01 -1.80778900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.226559995 meters 0.016649328172737902 Centerline is valid? [True, True] Translation: X:-11.62, Y:-260.24, Z:-1.81 [[ 3.58602910e-01 -9.33479698e-01 -4.42786793e-03 -1.16196369e+01] [-9.33396222e-01 -3.58630080e-01 1.24883109e-02 -2.60239927e+02] [-1.32455513e-02 -3.45389428e-04 -9.99912214e-01 -1.80730467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.256559995 meters 0.016398143841785506 Centerline is valid? [True, True] Translation: X:-11.60, Y:-260.35, Z:-1.81 [[ 4.28644566e-01 -9.03457015e-01 -5.40912370e-03 -1.16035430e+01] [-9.03374796e-01 -4.28678559e-01 1.21930714e-02 -2.60354248e+02] [-1.33346913e-02 -3.40027772e-04 -9.99911031e-01 -1.80765142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.286559995 meters 0.01669607272278735 Centerline is valid? [True, True] Translation: X:-11.58, Y:-260.47, Z:-1.81 [[ 4.95815760e-01 -8.68407500e-01 -5.92834422e-03 -1.15793850e+01] [-8.68337867e-01 -4.95851106e-01 1.10013818e-02 -2.60467417e+02] [-1.24932585e-02 -3.06852699e-04 -9.99921909e-01 -1.80756490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.3165599949999 meters 0.016406637217890464 Centerline is valid? [True, True] Translation: X:-11.55, Y:-260.58, Z:-1.81 [[ 5.59745057e-01 -8.28637260e-01 -6.76482871e-03 -1.15465587e+01] [-8.28570349e-01 -5.59785858e-01 1.05342855e-02 -2.60576864e+02] [-1.25159569e-02 -2.91377760e-04 -9.99921630e-01 -1.80831009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.346559995 meters 0.015452253599743003 Centerline is valid? [True, True] Translation: X:-11.51, Y:-260.68, Z:-1.81 [[ 6.19290466e-01 -7.85132868e-01 -6.76006193e-03 -1.15082870e+01] [-7.85081974e-01 -6.19327317e-01 8.94252016e-03 -2.60677564e+02] [-1.12077575e-02 -2.30814713e-04 -9.99937165e-01 -1.81040558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.376559995 meters 0.01438152316633063 Centerline is valid? [True, True] Translation: X:-11.46, Y:-260.78, Z:-1.81 [[ 6.76422762e-01 -7.36478283e-01 -7.21010035e-03 -1.14615888e+01] [-7.36433107e-01 -6.76461156e-01 8.15990180e-03 -2.60775391e+02] [-1.08869433e-02 -2.09786716e-04 -9.99940714e-01 -1.81183551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.406559995 meters 0.013637175837550529 Centerline is valid? [True, True] Translation: X:-11.41, Y:-260.87, Z:-1.81 [[ 7.28758810e-01 -6.84730528e-01 -7.39594952e-03 -1.14104848e+01] [-6.84692848e-01 -7.28796318e-01 7.18538484e-03 -2.60867911e+02] [-1.03101931e-02 -1.72458762e-04 -9.99946834e-01 -1.81295455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.4365599949999 meters 0.013429226820253272 Centerline is valid? [True, True] Translation: X:-11.41, Y:-260.88, Z:-1.81 [[ 7.79314950e-01 -6.26583310e-01 -7.84635221e-03 -1.14128954e+01] [-6.26549494e-01 -7.79354432e-01 6.51161916e-03 -2.60876664e+02] [-1.01951613e-02 -1.58474158e-04 -9.99948016e-01 -1.81286744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.466559995 meters 0.01333744880270129 Centerline is valid? [True, True] Translation: X:-11.41, Y:-260.89, Z:-1.81 [[ 8.25207188e-01 -5.64762370e-01 -8.74997455e-03 -1.14147674e+01] [-5.64728649e-01 -8.25253562e-01 6.17345143e-03 -2.60885356e+02] [-1.07074807e-02 -1.53015193e-04 -9.99942662e-01 -1.81237655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.496559995 meters 0.012943685252039604 Centerline is valid? [True, True] Translation: X:-11.42, Y:-260.89, Z:-1.81 [[ 8.66215707e-01 -4.99576734e-01 -9.66615877e-03 -1.14151471e+01] [-4.99543731e-01 -8.66269626e-01 5.74417693e-03 -2.60894167e+02] [-1.12431569e-02 -1.47027263e-04 -9.99936783e-01 -1.81220057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.526559995 meters 0.012735335617014102 Centerline is valid? [True, True] Translation: X:-11.42, Y:-260.90, Z:-1.81 [[ 9.02018343e-01 -4.31564420e-01 -1.07265878e-02 -1.14152741e+01] [-4.31532060e-01 -9.02082109e-01 5.28669926e-03 -2.60903433e+02] [-1.19578142e-02 -1.39833171e-04 -9.99928493e-01 -1.81150227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.5565599949999 meters 0.012521748599432048 Centerline is valid? [True, True] Translation: X:-11.41, Y:-260.91, Z:-1.81 [[ 9.32241715e-01 -3.61611613e-01 -1.27446636e-02 -1.14139936e+01] [-3.61575874e-01 -9.32328817e-01 5.08565294e-03 -2.60913136e+02] [-1.37212483e-02 -1.32894931e-04 -9.99905850e-01 -1.81040735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.5865599949999 meters 0.012907577515906973 Centerline is valid? [True, True] Translation: X:-11.41, Y:-260.92, Z:-1.81 [[ 9.57316087e-01 -2.88718117e-01 -1.37025393e-02 -1.14134400e+01] [-2.88686707e-01 -9.57414139e-01 4.26042914e-03 -2.60922313e+02] [-1.43490680e-02 -1.22836401e-04 -9.99897039e-01 -1.80802558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.616559995 meters 0.012324023988302478 Centerline is valid? [True, True] Translation: X:-11.41, Y:-260.93, Z:-1.81 [[ 9.76655833e-01 -2.14333237e-01 -1.43054977e-02 -1.14099849e+01] [-2.14308659e-01 -9.76760591e-01 3.24753059e-03 -2.60928910e+02] [-1.46691001e-02 -1.05927671e-04 -9.99892397e-01 -1.80951250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.646559995 meters 0.012052687837793655 Centerline is valid? [True, True] Translation: X:-11.41, Y:-260.94, Z:-1.81 [[ 9.90043030e-01 -1.39942529e-01 -1.51949721e-02 -1.14075363e+01] [-1.39924993e-01 -9.90159626e-01 2.21641830e-03 -2.60936433e+02] [-1.53556190e-02 -6.81931329e-05 -9.99882093e-01 -1.80981108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.6765599949999 meters 0.012197116575905066 Centerline is valid? [True, True] Translation: X:-11.41, Y:-260.94, Z:-1.81 [[ 9.97879417e-01 -6.32284812e-02 -1.54540985e-02 -1.14085864e+01] [-6.32201339e-02 -9.97999077e-01 1.02856708e-03 -2.60942894e+02] [-1.54882108e-02 -4.93757391e-05 -9.99880049e-01 -1.80865844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.7065599949999 meters 0.011914211561688927 Centerline is valid? [True, True] Translation: X:-11.41, Y:-260.95, Z:-1.81 [[ 9.99783591e-01 1.38027073e-02 -1.55646023e-02 -1.14077851e+01] [ 1.38014962e-02 -9.99904738e-01 -1.85226120e-04 -2.60950215e+02] [-1.55656762e-02 -2.96287634e-05 -9.99878847e-01 -1.80982333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.736559995 meters 0.011985400352704083 Centerline is valid? [True, True] Translation: X:-11.41, Y:-260.96, Z:-1.81 [[ 9.95754336e-01 9.07212997e-02 -1.55868132e-02 -1.14066767e+01] [ 9.07103253e-02 -9.95876321e-01 -1.41109253e-03 -2.60958196e+02] [-1.56505543e-02 -8.78339410e-06 -9.99877523e-01 -1.81015706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.766559995 meters 0.011880195930584174 Centerline is valid? [True, True] Translation: X:-11.41, Y:-260.97, Z:-1.81 [[ 9.85668781e-01 1.67964002e-01 -1.56572154e-02 -1.14052012e+01] [ 1.67942833e-01 -9.85793130e-01 -2.66656219e-03 -2.60967188e+02] [-1.58826618e-02 -1.17002042e-06 -9.99873863e-01 -1.81023909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.7965599949999 meters 0.011845883177558943 Centerline is valid? [True, True] Translation: X:-11.40, Y:-260.98, Z:-1.81 [[ 9.69487976e-01 2.44665489e-01 -1.52270266e-02 -1.14020382e+01] [ 2.44635354e-01 -9.69607549e-01 -3.83995739e-03 -2.60976762e+02] [-1.57037450e-02 -2.27651527e-06 -9.99876689e-01 -1.81061328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.8265599949999 meters 0.01183061264204523 Centerline is valid? [True, True] Translation: X:-11.40, Y:-260.99, Z:-1.81 [[ 9.46937231e-01 3.21087460e-01 -1.45850354e-02 -1.13986033e+01] [ 3.21049746e-01 -9.47049546e-01 -4.92119104e-03 -2.60986644e+02] [-1.53928839e-02 -2.24629043e-05 -9.99881522e-01 -1.81075822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.856559995 meters 0.01183061264204523 Centerline is valid? [True, True] Translation: X:-11.40, Y:-260.99, Z:-1.81 [[ 9.18902090e-01 3.94231636e-01 -1.41551061e-02 -1.13950908e+01] [ 3.94185246e-01 -9.19011108e-01 -6.04772719e-03 -2.60993490e+02] [-1.53929052e-02 -2.24648411e-05 -9.99881522e-01 -1.81075803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.886559995 meters 0.011901945280544774 Centerline is valid? [True, True] Translation: X:-11.39, Y:-261.00, Z:-1.81 [[ 8.84583261e-01 4.66194132e-01 -1.32471318e-02 -1.13896151e+01] [ 4.66142588e-01 -8.84682446e-01 -6.93239881e-03 -2.61001294e+02] [-1.49513486e-02 -4.27683641e-05 -9.99888221e-01 -1.81123484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.916559995 meters 0.012014185881269807 Centerline is valid? [True, True] Translation: X:-11.38, Y:-261.01, Z:-1.81 [[ 8.44463183e-01 5.35475308e-01 -1.21707653e-02 -1.13846779e+01] [ 5.35420821e-01 -8.44550881e-01 -7.63902454e-03 -2.61009199e+02] [-1.43693395e-02 -6.56061553e-05 -9.99896754e-01 -1.81135420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.9465599949999 meters 0.012224216379907681 Centerline is valid? [True, True] Translation: X:-11.38, Y:-261.02, Z:-1.81 [[ 7.97824414e-01 6.02777447e-01 -1.16427241e-02 -1.13763652e+01] [ 6.02715422e-01 -7.97909353e-01 -8.64786295e-03 -2.61018467e+02] [-1.45025752e-02 -1.17773190e-04 -9.99894825e-01 -1.81153542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.976559995 meters 0.012492043033868982 Centerline is valid? [True, True] Translation: X:-11.37, Y:-261.03, Z:-1.81 [[ 7.47162661e-01 6.64550074e-01 -1.10071501e-02 -1.13697326e+01] [ 6.64480737e-01 -7.47243721e-01 -9.60056742e-03 -2.61025384e+02] [-1.46050816e-02 -1.40853720e-04 -9.99893330e-01 -1.81086389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.006559995 meters 0.012666842583539834 Centerline is valid? [True, True] Translation: X:-11.36, Y:-261.03, Z:-1.81 [[ 6.91503657e-01 7.22299457e-01 -1.03046432e-02 -1.13612577e+01] [ 7.22222889e-01 -6.91580411e-01 -1.05182208e-02 -2.61030771e+02] [-1.47237946e-02 -1.68860988e-04 -9.99891585e-01 -1.81094025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.036559995 meters 0.013493170606951049 Centerline is valid? [True, True] Translation: X:-11.35, Y:-261.04, Z:-1.81 [[ 6.31387256e-01 7.75408834e-01 -9.55371058e-03 -1.13527549e+01] [ 7.75324809e-01 -6.31459501e-01 -1.14166431e-02 -2.61036591e+02] [-1.48853472e-02 -1.98905865e-04 -9.99889187e-01 -1.80984276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.0665599949999 meters 0.013799885219084445 Centerline is valid? [True, True] Translation: X:-11.34, Y:-261.04, Z:-1.81 [[ 5.66106430e-01 8.24290932e-01 -8.24437518e-03 -1.13440000e+01] [ 8.24209533e-01 -5.66166410e-01 -1.15862392e-02 -2.61040619e+02] [-1.42181202e-02 -2.36048133e-04 -9.99898890e-01 -1.81106868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.096559995 meters 0.014210194756183278 Centerline is valid? [True, True] Translation: X:-11.34, Y:-261.04, Z:-1.81 [[ 4.98791615e-01 8.66692296e-01 -7.16866947e-03 -1.13364508e+01] [ 8.66609848e-01 -4.98843065e-01 -1.19569634e-02 -2.61043126e+02] [-1.39390491e-02 -2.48406472e-04 -9.99902816e-01 -1.81118983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.126559995 meters 0.014157522547506388 Centerline is valid? [True, True] Translation: X:-11.33, Y:-261.05, Z:-1.81 [[ 4.28588013e-01 9.03478819e-01 -6.19185448e-03 -1.13285961e+01] [ 9.03393152e-01 -4.28632659e-01 -1.24441343e-02 -2.61045410e+02] [-1.38970428e-02 -2.60272129e-04 -9.99903398e-01 -1.81168738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.156559995 meters 0.01415365610564004 Centerline is valid? [True, True] Translation: X:-11.32, Y:-261.05, Z:-1.81 [[ 3.55962766e-01 9.34486488e-01 -5.05099446e-03 -1.13200578e+01] [ 9.34402580e-01 -3.55998505e-01 -1.25252867e-02 -2.61047213e+02] [-1.35028577e-02 -2.61126543e-04 -9.99908798e-01 -1.81225232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.1865599949999 meters 0.01486340101023724 Centerline is valid? [True, True] Translation: X:-11.31, Y:-261.05, Z:-1.81 [[ 2.81347228e-01 9.59597731e-01 -3.99155776e-03 -1.13111046e+01] [ 9.59513943e-01 -2.81375420e-01 -1.26833195e-02 -2.61049391e+02] [-1.32940108e-02 -2.61538546e-04 -9.99911597e-01 -1.81159984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.216559995 meters 0.014294395173613899 Centerline is valid? [True, True] Translation: X:-11.30, Y:-261.05, Z:-1.81 [[ 2.05179031e-01 9.78720264e-01 -2.86532257e-03 -1.13025385e+01] [ 9.78641306e-01 -2.05198882e-01 -1.24343946e-02 -2.61049890e+02] [-1.27577549e-02 -2.52845990e-04 -9.99918585e-01 -1.81237930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.246559995 meters 0.015618506554514 Centerline is valid? [True, True] Translation: X:-11.29, Y:-261.05, Z:-1.81 [[ 1.27897351e-01 9.91785533e-01 -1.92977669e-03 -1.12926163e+01] [ 9.91701182e-01 -1.27911646e-01 -1.29374409e-02 -2.61050613e+02] [-1.30780076e-02 -2.59097415e-04 -9.99914446e-01 -1.81061804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.276559995 meters 0.014290410450229352 Centerline is valid? [True, True] Translation: X:-11.29, Y:-261.05, Z:-1.81 [[ 5.00859607e-02 9.98744495e-01 -9.10728518e-04 -1.12868356e+01] [ 9.98659182e-01 -5.00935881e-02 -1.30564130e-02 -2.61048806e+02] [-1.30856422e-02 -2.55564411e-04 -9.99914347e-01 -1.81190968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.3065599949999 meters 0.014168092487878817 Centerline is valid? [True, True] Translation: X:-11.28, Y:-261.05, Z:-1.81 [[-2.82604701e-02 9.99600586e-01 1.23087022e-04 -1.12781468e+01] [ 9.99501936e-01 2.82594106e-02 -1.40458778e-02 -2.61047144e+02] [-1.40437460e-02 -2.73917392e-04 -9.99901344e-01 -1.81153938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.3365599949999 meters 0.014374210727818266 Centerline is valid? [True, True] Translation: X:-11.27, Y:-261.05, Z:-1.81 [[-1.06470840e-01 9.94314988e-01 1.29020184e-03 -1.12695817e+01] [ 9.94205424e-01 1.06478265e-01 -1.47632498e-02 -2.61046080e+02] [-1.48166990e-02 -2.89129950e-04 -9.99890185e-01 -1.81091796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.366559995 meters 0.015889490364164097 Centerline is valid? [True, True] Translation: X:-11.26, Y:-261.04, Z:-1.81 [[-1.83923663e-01 9.82937322e-01 2.51129079e-03 -1.12602890e+01] [ 9.82822461e-01 1.83940568e-01 -1.50292487e-02 -2.61043982e+02] [-1.52347378e-02 -2.96081483e-04 -9.99883901e-01 -1.80861662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.396559995 meters 0.014493171117354106 Centerline is valid? [True, True] Translation: X:-11.26, Y:-261.04, Z:-1.81 [[-2.60584549e-01 9.65444076e-01 3.66445026e-03 -1.12557587e+01] [ 9.65331905e-01 2.60610143e-01 -1.47195720e-02 -2.61040991e+02] [-1.51659165e-02 -2.98282280e-04 -9.99884946e-01 -1.81037130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.4265599949999 meters 0.014571305134213808 Centerline is valid? [True, True] Translation: X:-11.25, Y:-261.04, Z:-1.81 [[-3.35383727e-01 9.42068466e-01 4.97596341e-03 -1.12491898e+01] [ 9.41950734e-01 3.35420496e-01 -1.48964846e-02 -2.61037635e+02] [-1.57025485e-02 -3.08926146e-04 -9.99876660e-01 -1.80994347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.4565599949999 meters 0.01468080768808174 Centerline is valid? [True, True] Translation: X:-11.24, Y:-261.03, Z:-1.81 [[-4.08127996e-01 9.12903718e-01 6.19203755e-03 -1.12432116e+01] [ 9.12786834e-01 4.08174846e-01 -1.46113315e-02 -2.61033601e+02] [-1.58661728e-02 -3.11283079e-04 -9.99874076e-01 -1.80988223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.486559995 meters 0.014411394320920446 Centerline is valid? [True, True] Translation: X:-11.24, Y:-261.03, Z:-1.81 [[-4.78419163e-01 8.78101810e-01 7.23303549e-03 -1.12374142e+01] [ 8.77991535e-01 4.78473737e-01 -1.39193545e-02 -2.61028478e+02] [-1.56834279e-02 -3.08742018e-04 -9.99876960e-01 -1.81034536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.516559995 meters 0.014821307882780105 Centerline is valid? [True, True] Translation: X:-11.23, Y:-261.02, Z:-1.81 [[-5.45358622e-01 8.38162207e-01 8.25152731e-03 -1.12312166e+01] [ 8.38057840e-01 5.45420961e-01 -1.32299521e-02 -2.61024324e+02] [-1.55894018e-02 -2.99811274e-04 -9.99878433e-01 -1.81015035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.5465599949999 meters 0.014721696348987255 Centerline is valid? [True, True] Translation: X:-11.23, Y:-261.02, Z:-1.81 [[-6.09402684e-01 7.92808762e-01 9.09042959e-03 -1.12276595e+01] [ 7.92713225e-01 6.09470409e-01 -1.23110807e-02 -2.61019479e+02] [-1.53006805e-02 -2.96301847e-04 -9.99882894e-01 -1.81073554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.5765599949999 meters 0.01435769154997963 Centerline is valid? [True, True] Translation: X:-11.22, Y:-261.01, Z:-1.81 [[-6.69594125e-01 7.42662673e-01 9.79089197e-03 -1.12238506e+01] [ 7.42576930e-01 6.69665641e-01 -1.12886268e-02 -2.61013740e+02] [-1.49402657e-02 -2.88307667e-04 -9.99888347e-01 -1.81165064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.606559995 meters 0.014341294992771444 Centerline is valid? [True, True] Translation: X:-11.22, Y:-261.01, Z:-1.81 [[-7.25641588e-01 6.87995440e-01 1.03227783e-02 -1.12202123e+01] [ 6.87920322e-01 7.25714955e-01 -1.01702375e-02 -2.61007351e+02] [-1.44884716e-02 -2.78698330e-04 -9.99894998e-01 -1.81204020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.636559995 meters 0.014471927219475824 Centerline is valid? [True, True] Translation: X:-11.20, Y:-260.99, Z:-1.81 [[-7.72510717e-01 6.34910185e-01 1.07818962e-02 -1.12025519e+01] [ 6.34843388e-01 7.72585906e-01 -9.21361060e-03 -2.60986152e+02] [-1.41797563e-02 -2.72797411e-04 -9.99899425e-01 -1.81184481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.666559995 meters 0.013992396169422787 Centerline is valid? [True, True] Translation: X:-11.19, Y:-260.97, Z:-1.81 [[-8.15463920e-01 5.78695283e-01 1.14177738e-02 -1.11867537e+01] [ 5.78633861e-01 8.15543804e-01 -8.43561957e-03 -2.60965137e+02] [-1.41933479e-02 -2.72232876e-04 -9.99899232e-01 -1.81273449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.6965599949999 meters 0.014448954165141031 Centerline is valid? [True, True] Translation: X:-11.17, Y:-260.94, Z:-1.81 [[-8.54393786e-01 5.19492352e-01 1.17879111e-02 -1.11732835e+01] [ 5.19438557e-01 8.54475058e-01 -7.48068652e-03 -2.60940868e+02] [-1.39586355e-02 -2.68356536e-04 -9.99902538e-01 -1.81240631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.726559995 meters 0.014444165915182921 Centerline is valid? [True, True] Translation: X:-11.16, Y:-260.92, Z:-1.81 [[-8.88955693e-01 4.57818129e-01 1.26624545e-02 -1.11617745e+01] [ 4.57767278e-01 8.89045829e-01 -6.82884422e-03 -2.60916319e+02] [-1.43838710e-02 -2.74082622e-04 -9.99896509e-01 -1.81235212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.756559995 meters 0.013912268313730367 Centerline is valid? [True, True] Translation: X:-11.15, Y:-260.89, Z:-1.81 [[-9.19051183e-01 3.93914555e-01 1.32757552e-02 -1.11500573e+01] [ 3.93869153e-01 9.19147022e-01 -5.98682038e-03 -2.60893399e+02] [-1.45606666e-02 -2.73283891e-04 -9.99893951e-01 -1.81318325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.786559995 meters 0.014162326729849907 Centerline is valid? [True, True] Translation: X:-11.14, Y:-260.87, Z:-1.81 [[-9.44471743e-01 3.28312246e-01 1.35718768e-02 -1.11433295e+01] [ 3.28274334e-01 9.44569214e-01 -4.99619265e-03 -2.60866506e+02] [-1.44598882e-02 -2.63463963e-04 -9.99895416e-01 -1.81270759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.8165599949999 meters 0.013789265983549808 Centerline is valid? [True, True] Translation: X:-11.14, Y:-260.84, Z:-1.81 [[-9.65062563e-01 2.61654099e-01 1.38340719e-02 -1.11368608e+01] [ 2.61623568e-01 9.65161682e-01 -4.00453131e-03 -2.60842336e+02] [-1.43999181e-02 -2.45303995e-04 -9.99896286e-01 -1.81336107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.846559995 meters 0.013787657420332715 Centerline is valid? [True, True] Translation: X:-10.97, Y:-260.25, Z:-2.78 [[-9.33888225e-01 -3.57318539e-01 1.32757468e-02 -1.09669005e+01] [ 3.57285836e-01 -9.33982554e-01 -4.83938959e-03 -2.60245060e+02] [ 1.41285195e-02 2.23787337e-04 9.99900163e-01 -2.77940754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.876559995 meters 0.013913009166035014 Centerline is valid? [True, True] Translation: X:-11.18, Y:-260.83, Z:-1.81 [[-9.65604661e-01 2.59663324e-01 1.35128332e-02 -1.11838058e+01] [ 2.59634776e-01 9.65699183e-01 -3.85631345e-03 -2.60831103e+02] [-1.40506752e-02 -2.15272809e-04 -9.99901261e-01 -1.81319909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.906559995 meters 0.013175759116998136 Centerline is valid? [True, True] Translation: X:-11.01, Y:-260.23, Z:-2.78 [[-9.36261089e-01 -3.51066052e-01 1.29537606e-02 -1.10084527e+01] [ 3.51035302e-01 -9.36350677e-01 -4.65048768e-03 -2.60229703e+02] [ 1.37618909e-02 1.93156617e-04 9.99905282e-01 -2.77800399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.9365599949999 meters 0.013219371930981673 Centerline is valid? [True, True] Translation: X:-11.23, Y:-260.82, Z:-1.81 [[-9.65854346e-01 2.58729083e-01 1.35884132e-02 -1.12268050e+01] [ 2.58700911e-01 9.65949911e-01 -3.82200961e-03 -2.60824816e+02] [-1.41145916e-02 -1.76169714e-04 -9.99900369e-01 -1.81441024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.966559995 meters 0.012951674677137206 Centerline is valid? [True, True] Translation: X:-11.22, Y:-260.80, Z:-1.81 [[-9.81466284e-01 1.91103915e-01 1.42558017e-02 -1.12213169e+01] [ 1.91081385e-01 9.81569798e-01 -2.93877227e-03 -2.60799417e+02] [-1.45546753e-02 -1.60287570e-04 -9.99894062e-01 -1.81447700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.996559995 meters 0.01287710857834533 Centerline is valid? [True, True] Translation: X:-11.23, Y:-260.77, Z:-1.81 [[-9.92342257e-01 1.22635035e-01 1.47476699e-02 -1.12294504e+01] [ 1.22619408e-01 9.92451827e-01 -1.96263726e-03 -2.60771741e+02] [-1.48770400e-02 -1.39257342e-04 -9.99889321e-01 -1.81407958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.026559995 meters 0.012678237416176782 Centerline is valid? [True, True] Translation: X:-11.22, Y:-260.75, Z:-1.81 [[-9.98355961e-01 5.51190328e-02 1.57247588e-02 -1.12215687e+01] [ 5.51106931e-02 9.98479786e-01 -9.63525523e-04 -2.60748554e+02] [-1.57539624e-02 -9.53390941e-05 -9.99875894e-01 -1.81364220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.0565599949999 meters 0.012354005660831169 Centerline is valid? [True, True] Translation: X:-11.23, Y:-260.72, Z:-1.82 [[-9.99760757e-01 -1.45254216e-02 1.63536203e-02 -1.12297576e+01] [-1.45246974e-02 9.99894498e-01 1.63063786e-04 -2.60722802e+02] [-1.63542635e-02 -7.45066125e-05 -9.99866257e-01 -1.81538179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.0865599949999 meters 0.012518569182329685 Centerline is valid? [True, True] Translation: X:-11.23, Y:-260.07, Z:-2.78 [[-9.98024707e-01 -6.05734168e-02 1.66597216e-02 -1.12276281e+01] [ 6.05666087e-02 -9.98163740e-01 -9.13360161e-04 -2.60070237e+02] [ 1.66844554e-02 9.74668327e-05 9.99860800e-01 -2.77817088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.116559995 meters 0.012532357312224275 Centerline is valid? [True, True] Translation: X:-11.30, Y:-260.73, Z:-1.82 [[-9.99727754e-01 -1.58862685e-02 1.70893259e-02 -1.13039498e+01] [-1.58841559e-02 9.99873805e-01 2.59358405e-04 -2.60727518e+02] [-1.70912896e-02 -1.21617217e-05 -9.99853933e-01 -1.81520403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.146559995 meters 0.01263664281130278 Centerline is valid? [True, True] Translation: X:-11.31, Y:-260.70, Z:-1.82 [[-9.96151085e-01 -8.59464327e-02 1.72112603e-02 -1.13076038e+01] [-8.59334894e-02 9.96299759e-01 1.49155788e-03 -2.60701180e+02] [-1.72757685e-02 6.79335273e-06 -9.99850763e-01 -1.81511422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.1765599949999 meters 0.012590745975837283 Centerline is valid? [True, True] Translation: X:-11.32, Y:-260.68, Z:-1.82 [[-9.87591188e-01 -1.56140878e-01 1.68425535e-02 -1.13193881e+01] [-1.56117853e-01 9.87734795e-01 2.68144546e-03 -2.60675668e+02] [-1.70546594e-02 1.87486108e-05 -9.99854559e-01 -1.81592071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.2065599949999 meters 0.012667913090268932 Centerline is valid? [True, True] Translation: X:-11.35, Y:-260.65, Z:-1.82 [[-9.73997243e-01 -2.25966211e-01 1.63903088e-02 -1.13465600e+01] [-2.25933680e-01 9.74135140e-01 3.83426872e-03 -2.60653347e+02] [-1.68327909e-02 3.14443804e-05 -9.99858318e-01 -1.81650996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.236559995 meters 0.012681797420845343 Centerline is valid? [True, True] Translation: X:-11.39, Y:-260.64, Z:-1.82 [[-9.55125899e-01 -2.95812735e-01 1.51440839e-02 -1.13853515e+01] [-2.95775007e-01 9.55245950e-01 4.72441558e-03 -2.60636038e+02] [-1.58638671e-02 3.31701608e-05 -9.99874160e-01 -1.81745288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.266559995 meters 0.012739937986610597 Centerline is valid? [True, True] Translation: X:-11.45, Y:-260.63, Z:-1.82 [[-9.30695464e-01 -3.65509877e-01 1.44389719e-02 -1.14454588e+01] [-3.65465421e-01 9.30807461e-01 5.70063710e-03 -2.60627541e+02] [-1.55235419e-02 2.86121501e-05 -9.99879502e-01 -1.81715000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.2965599949999 meters 0.012751202404534579 Centerline is valid? [True, True] Translation: X:-11.52, Y:-260.63, Z:-1.82 [[-9.01110836e-01 -4.33365216e-01 1.39230586e-02 -1.15162069e+01] [-4.33313109e-01 9.01218392e-01 6.72013423e-03 -2.60627970e+02] [-1.54599889e-02 2.25419487e-05 -9.99880487e-01 -1.81723299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.3265599949999 meters 0.012703212144329103 Centerline is valid? [True, True] Translation: X:-11.59, Y:-260.63, Z:-1.82 [[-8.65566033e-01 -5.00610085e-01 1.36009381e-02 -1.15892348e+01] [-5.00548367e-01 8.65672885e-01 7.86060161e-03 -2.60634333e+02] [-1.57090597e-02 -4.05759363e-06 -9.99876605e-01 -1.81650063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.356559995 meters 0.012630417531342817 Centerline is valid? [True, True] Translation: X:-11.67, Y:-260.65, Z:-1.82 [[-8.25206204e-01 -5.64684631e-01 1.28836743e-02 -1.16721265e+01] [-5.64616185e-01 8.25306772e-01 8.79180471e-03 -2.60653186e+02] [-1.55975807e-02 -1.92792665e-05 -9.99878350e-01 -1.81629482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.386559995 meters 0.012733528539221927 Centerline is valid? [True, True] Translation: X:-11.76, Y:-260.68, Z:-1.82 [[-7.79574387e-01 -6.26192846e-01 1.20952326e-02 -1.17570264e+01] [-6.26118336e-01 7.79668210e-01 9.65978958e-03 -2.60680658e+02] [-1.54791595e-02 -4.25223796e-05 -9.99880190e-01 -1.81590779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.416559995 meters 0.012859215425228549 Centerline is valid? [True, True] Translation: X:-11.84, Y:-260.72, Z:-1.82 [[-7.27254584e-01 -6.86277514e-01 1.11330523e-02 -1.18438822e+01] [-6.86199359e-01 7.27339785e-01 1.03574428e-02 -2.60716215e+02] [-1.52055920e-02 -1.06995580e-04 -9.99884383e-01 -1.81577157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.4465599949999 meters 0.013206911361629015 Centerline is valid? [True, True] Translation: X:-11.93, Y:-260.76, Z:-1.82 [[-6.71546474e-01 -7.40890373e-01 1.03338540e-02 -1.19313673e+01] [-7.40805931e-01 6.71625963e-01 1.11865090e-02 -2.60762740e+02] [-1.52284615e-02 -1.43119614e-04 -9.99884030e-01 -1.81545389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.476559995 meters 0.013447337749665824 Centerline is valid? [True, True] Translation: X:-12.02, Y:-260.82, Z:-1.82 [[-6.11332549e-01 -7.91318605e-01 9.34775762e-03 -1.20184114e+01] [-7.91230618e-01 6.11403985e-01 1.18015291e-02 -2.60819700e+02] [-1.50540258e-02 -1.81573178e-04 -9.99886665e-01 -1.81514595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.506559995 meters 0.013812988496287317 Centerline is valid? [True, True] Translation: X:-12.10, Y:-260.88, Z:-1.82 [[-5.47149476e-01 -8.36994771e-01 8.19787960e-03 -1.21015474e+01] [-8.36906721e-01 5.47210843e-01 1.21422244e-02 -2.60883832e+02] [-1.46489470e-02 -2.17248807e-04 -9.99892675e-01 -1.81526422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.536559995 meters 0.014903065716617687 Centerline is valid? [True, True] Translation: X:-12.19, Y:-260.96, Z:-1.82 [[-4.76885775e-01 -8.78940346e-01 6.62014921e-03 -1.21853125e+01] [-8.78863528e-01 4.76931644e-01 1.16235412e-02 -2.60960486e+02] [-1.33737580e-02 -2.75106228e-04 -9.99910530e-01 -1.81554651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.5665599949999 meters 0.016110336056876364 Centerline is valid? [True, True] Translation: X:-12.26, Y:-261.04, Z:-1.82 [[-4.05895770e-01 -9.13902826e-01 5.49990179e-03 -1.22619480e+01] [-9.13828745e-01 4.05932918e-01 1.16400912e-02 -2.61043108e+02] [-1.28705034e-02 -3.01304566e-04 -9.99917126e-01 -1.81527638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.596559995 meters 0.01651602864898786 Centerline is valid? [True, True] Translation: X:-12.33, Y:-261.13, Z:-1.82 [[-3.32594798e-01 -9.43059971e-01 4.31185531e-03 -1.23311344e+01] [-9.42992475e-01 3.32622601e-01 1.12870462e-02 -2.61132691e+02] [-1.20785820e-02 -3.12034255e-04 -9.99927003e-01 -1.81570006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.626559995 meters 0.019089055113246982 Centerline is valid? [True, True] Translation: X:-12.40, Y:-261.23, Z:-1.81 [[-2.55226096e-01 -9.66875891e-01 3.26353535e-03 -1.23980512e+01] [-9.66813354e-01 2.55246724e-01 1.10022319e-02 -2.61230602e+02] [-1.14707995e-02 -3.47172851e-04 -9.99934148e-01 -1.81473901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.656559995 meters 0.01913427424298949 Centerline is valid? [True, True] Translation: X:-12.45, Y:-261.33, Z:-1.81 [[-1.78657623e-01 -9.83908528e-01 2.33711341e-03 -1.24509748e+01] [-9.83848496e-01 1.78672553e-01 1.08745444e-02 -2.61326807e+02] [-1.11171350e-02 -3.56545250e-04 -9.99938139e-01 -1.81485052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.6865599949999 meters 0.020234918769280505 Centerline is valid? [True, True] Translation: X:-12.50, Y:-261.44, Z:-1.81 [[-1.01305103e-01 -9.94854321e-01 1.46826953e-03 -1.24997590e+01] [-9.94795639e-01 1.01315083e-01 1.08115971e-02 -2.61436104e+02] [-1.09047220e-02 -3.65358175e-04 -9.99940475e-01 -1.81414758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.716559995 meters 0.020224848630524334 Centerline is valid? [True, True] Translation: X:-12.54, Y:-261.55, Z:-1.81 [[-2.37629672e-02 -9.99717423e-01 6.29446475e-04 -1.25379009e+01] [-9.99659180e-01 2.37683812e-02 1.07976181e-02 -2.61548053e+02] [-1.08095278e-02 -3.72648503e-04 -9.99941506e-01 -1.81428477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.746559995 meters 0.021736112534517654 Centerline is valid? [True, True] Translation: X:-12.57, Y:-261.66, Z:-1.81 [[ 5.47511389e-02 -9.98500010e-01 -2.07793421e-04 -1.25691234e+01] [-9.98437425e-01 -5.47500352e-02 1.11866506e-02 -2.61658497e+02] [-1.11812474e-02 -4.05013132e-04 -9.99937406e-01 -1.81341191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.776559995 meters 0.021736112534517654 Centerline is valid? [True, True] Translation: X:-12.59, Y:-261.77, Z:-1.81 [[ 1.31244420e-01 -9.91349467e-01 -1.06603378e-03 -1.25901072e+01] [-9.91286983e-01 -1.31248124e-01 1.11376874e-02 -2.61773737e+02] [-1.11812554e-02 -4.05013911e-04 -9.99937406e-01 -1.81341152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.8065599949999 meters 0.022001039973809883 Centerline is valid? [True, True] Translation: X:-12.60, Y:-261.89, Z:-1.81 [[ 2.07731432e-01 -9.78183929e-01 -1.96313985e-03 -1.26022619e+01] [-9.78118938e-01 -2.07740275e-01 1.12836883e-02 -2.61889899e+02] [-1.14453458e-02 -4.23792460e-04 -9.99934410e-01 -1.81305920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.8365599949999 meters 0.022487928928529556 Centerline is valid? [True, True] Translation: X:-12.61, Y:-262.01, Z:-1.81 [[ 2.82644887e-01 -9.59220258e-01 -2.89203701e-03 -1.26057835e+01] [-9.59152972e-01 -2.82659340e-01 1.13698227e-02 -2.62007563e+02] [-1.17236255e-02 -4.39716348e-04 -9.99931179e-01 -1.81200742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.866559995 meters 0.021154012409689747 Centerline is valid? [True, True] Translation: X:-12.60, Y:-262.13, Z:-1.81 [[ 3.56112509e-01 -9.34434078e-01 -4.10297911e-03 -1.25962663e+01] [-9.34355281e-01 -3.56135806e-01 1.21448487e-02 -2.62128519e+02] [-1.28097783e-02 -4.91292340e-04 -9.99917831e-01 -1.81176547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.896559995 meters 0.021857834932996385 Centerline is valid? [True, True] Translation: X:-12.58, Y:-262.24, Z:-1.81 [[ 4.26824563e-01 -9.04320431e-01 -5.03493683e-03 -1.25847053e+01] [-9.04243248e-01 -4.26853972e-01 1.18251395e-02 -2.62237694e+02] [-1.28428980e-02 -4.94452352e-04 -9.99917404e-01 -1.81093179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.9265599949999 meters 0.021711438865182755 Centerline is valid? [True, True] Translation: X:-12.56, Y:-262.35, Z:-1.81 [[ 4.94685816e-01 -8.69050226e-01 -6.13579022e-03 -1.25597653e+01] [-8.68970133e-01 -4.94723604e-01 1.18095016e-02 -2.62351740e+02] [-1.32985702e-02 -5.10174467e-04 -9.99911440e-01 -1.81077027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.9565599949999 meters 0.021711438865182755 Centerline is valid? [True, True] Translation: X:-12.53, Y:-262.46, Z:-1.81 [[ 5.59707625e-01 -8.28660412e-01 -7.02117503e-03 -1.25294055e+01] [-8.28583443e-01 -5.59751429e-01 1.13055543e-02 -2.62460492e+02] [-1.32985780e-02 -5.10175568e-04 -9.99911440e-01 -1.81076991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.986559995 meters 0.02313922940326298 Centerline is valid? [True, True] Translation: X:-12.49, Y:-262.56, Z:-1.81 [[ 6.21073686e-01 -7.83716690e-01 -7.45836066e-03 -1.24941590e+01] [-7.83650697e-01 -6.21118283e-01 1.01815434e-02 -2.62563244e+02] [-1.26119697e-02 -4.78739161e-04 -9.99920351e-01 -1.81040478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.016559995 meters 0.022266065326627664 Centerline is valid? [True, True] Translation: X:-12.45, Y:-262.66, Z:-1.81 [[ 6.78590632e-01 -7.34470968e-01 -8.19459498e-03 -1.24493678e+01] [-7.34408872e-01 -6.78639945e-01 9.56208458e-03 -2.62661156e+02] [-1.25842530e-02 -4.70557759e-04 -9.99920705e-01 -1.81138682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.0465599949999 meters 0.021679195681510516 Centerline is valid? [True, True] Translation: X:-12.39, Y:-262.76, Z:-1.81 [[ 7.31962213e-01 -6.81294291e-01 -8.33114588e-03 -1.23930531e+01] [-6.81243352e-01 -7.32009497e-01 8.34213597e-03 -2.62760032e+02] [-1.17819275e-02 -4.30590558e-04 -9.99930498e-01 -1.81192225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.0765599949999 meters 0.0214001231360059 Centerline is valid? [True, True] Translation: X:-12.34, Y:-262.84, Z:-1.81 [[ 7.80843392e-01 -6.24676992e-01 -7.89007374e-03 -1.23422661e+01] [-6.24640288e-01 -7.80883167e-01 6.78156856e-03 -2.62842252e+02] [-1.03975156e-02 -3.66885061e-04 -9.99945877e-01 -1.81287380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.106559995 meters 0.021548330507184937 Centerline is valid? [True, True] Translation: X:-12.34, Y:-262.85, Z:-1.81 [[ 8.26994256e-01 -5.62152150e-01 -8.09082686e-03 -1.23400562e+01] [-5.62121076e-01 -8.27033759e-01 5.92093249e-03 -2.62847624e+02] [-1.00198519e-02 -3.48552866e-04 -9.99949739e-01 -1.81314250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.136559995 meters 0.021121887675371244 Centerline is valid? [True, True] Translation: X:-12.34, Y:-262.85, Z:-1.81 [[ 8.68216411e-01 -4.96118363e-01 -8.17522890e-03 -1.23373337e+01] [-4.96092754e-01 -8.68254837e-01 5.05155570e-03 -2.62852734e+02] [-9.60435157e-03 -3.30171737e-04 -9.99953823e-01 -1.81352538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.166559995 meters 0.022124368224329716 Centerline is valid? [True, True] Translation: X:-12.34, Y:-262.86, Z:-1.81 [[ 9.04300066e-01 -4.26809118e-01 -8.68148873e-03 -1.23350509e+01] [-4.26785874e-01 -9.04341675e-01 4.46682319e-03 -2.62858623e+02] [-9.75751293e-03 -3.34211746e-04 -9.99952339e-01 -1.81279754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.1965599949999 meters 0.019080845759713357 Centerline is valid? [True, True] Translation: X:-12.33, Y:-262.86, Z:-1.81 [[ 9.34901312e-01 -3.54794155e-01 -8.98020198e-03 -1.23311822e+01] [-3.54774342e-01 -9.34944381e-01 3.76436103e-03 -2.62863784e+02] [-9.73156268e-03 -3.33360825e-04 -9.99952592e-01 -1.81384609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.226559995 meters 0.02181605516341525 Centerline is valid? [True, True] Translation: X:-12.33, Y:-262.88, Z:-1.81 [[ 9.59706935e-01 -2.80843111e-01 -9.47345525e-03 -1.23310198e+01] [-2.80825927e-01 -9.59753631e-01 3.12518320e-03 -2.62876263e+02] [-9.96986925e-03 -3.38868140e-04 -9.99950242e-01 -1.81229732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.256559995 meters 0.02023823332424045 Centerline is valid? [True, True] Translation: X:-12.33, Y:-262.88, Z:-1.81 [[ 9.78691880e-01 -2.05100590e-01 -9.79550685e-03 -1.23268065e+01] [-2.05086820e-01 -9.78740840e-01 2.40093864e-03 -2.62880264e+02] [-1.00796965e-02 -3.40849801e-04 -9.99949141e-01 -1.81256902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.286559995 meters 0.020539576951134682 Centerline is valid? [True, True] Translation: X:-12.32, Y:-262.88, Z:-1.81 [[ 9.91654667e-01 -1.28587735e-01 -9.28528660e-03 -1.23227378e+01] [-1.28579145e-01 -9.91698088e-01 1.51866441e-03 -2.62884991e+02] [-9.40348258e-03 -3.12096432e-04 -9.99955738e-01 -1.81297851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.3165599949999 meters 0.020213663343278697 Centerline is valid? [True, True] Translation: X:-12.32, Y:-262.89, Z:-1.81 [[ 9.98665619e-01 -5.08636330e-02 -8.93718770e-03 -1.23195558e+01] [-5.08589526e-02 -9.98705564e-01 7.50346055e-04 -2.62888980e+02] [-8.96378441e-03 -2.94808802e-04 -9.99959781e-01 -1.81357343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.346559995 meters 0.020861472734124135 Centerline is valid? [True, True] Translation: X:-12.32, Y:-262.89, Z:-1.81 [[ 9.99582650e-01 2.73535826e-02 -9.29013374e-03 -1.23190621e+01] [ 2.73552268e-02 -9.99625775e-01 4.99311033e-05 -2.62893264e+02] [-9.28529134e-03 -3.04043980e-04 -9.99956845e-01 -1.81349983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.376559995 meters 0.02095038433567257 Centerline is valid? [True, True] Translation: X:-12.32, Y:-262.90, Z:-1.81 [[ 9.94390166e-01 1.05397088e-01 -8.92478637e-03 -1.23172637e+01] [ 1.05395474e-01 -9.94430173e-01 -6.52335812e-04 -2.62895906e+02] [-8.94383114e-03 -2.91955773e-04 -9.99959961e-01 -1.81341886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.406559995 meters 0.02166596795117321 Centerline is valid? [True, True] Translation: X:-12.32, Y:-262.90, Z:-1.81 [[ 9.83067674e-01 1.83029833e-01 -8.83340525e-03 -1.23160565e+01] [ 1.83025107e-01 -9.83107316e-01 -1.34732416e-03 -2.62898614e+02] [-8.93078585e-03 -2.92224110e-04 -9.99960077e-01 -1.81310058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.4365599949999 meters 0.02166596795117321 Centerline is valid? [True, True] Translation: X:-12.31, Y:-262.90, Z:-1.81 [[ 9.65727758e-01 2.59411242e-01 -8.70086916e-03 -1.23148725e+01] [ 2.59403428e-01 -9.65766909e-01 -2.03453837e-03 -2.62899229e+02] [-8.93079364e-03 -2.92225112e-04 -9.99960077e-01 -1.81310051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.466559995 meters 0.01943093612112777 Centerline is valid? [True, True] Translation: X:-12.31, Y:-262.90, Z:-1.81 [[ 9.42346863e-01 3.34533338e-01 -8.35676678e-03 -1.23126933e+01] [ 3.34522898e-01 -9.42383872e-01 -2.65876681e-03 -2.62902431e+02] [-8.76472837e-03 -2.90049278e-04 -9.99961547e-01 -1.81365558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.496559995 meters 0.018849652770940143 Centerline is valid? [True, True] Translation: X:-12.31, Y:-262.91, Z:-1.81 [[ 9.13203949e-01 4.07416545e-01 -8.38488431e-03 -1.23088010e+01] [ 4.07402378e-01 -9.13242393e-01 -3.41089840e-03 -2.62908328e+02] [-9.04708825e-03 -3.01175914e-04 -9.99959029e-01 -1.81356312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.526559995 meters 0.020128780360491046 Centerline is valid? [True, True] Translation: X:-12.30, Y:-262.92, Z:-1.81 [[ 8.78506736e-01 4.77661869e-01 -8.06558403e-03 -1.23048719e+01] [ 4.77644847e-01 -8.78543709e-01 -4.04374245e-03 -2.62916901e+02] [-9.01750969e-03 -3.00029666e-04 -9.99959296e-01 -1.81312366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.5565599949999 meters 0.01942773557113026 Centerline is valid? [True, True] Translation: X:-12.30, Y:-262.92, Z:-1.81 [[ 8.38402142e-01 5.45007720e-01 -6.95947504e-03 -1.23005235e+01] [ 5.44991594e-01 -8.38430982e-01 -4.20125800e-03 -2.62920643e+02] [-8.12475754e-03 -2.70511692e-04 -9.99966957e-01 -1.81392605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.5865599949999 meters 0.01896374267579965 Centerline is valid? [True, True] Translation: X:-12.30, Y:-262.93, Z:-1.81 [[ 7.93174045e-01 6.08959711e-01 -6.55777087e-03 -1.22950136e+01] [ 6.08941658e-01 -7.93201109e-01 -4.69659517e-03 -2.62925522e+02] [-8.06166836e-03 -2.68082476e-04 -9.99967468e-01 -1.81466650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.616559995 meters 0.018372925842158806 Centerline is valid? [True, True] Translation: X:-12.29, Y:-262.93, Z:-1.82 [[ 7.43196145e-01 6.69047680e-01 -5.89002271e-03 -1.22887629e+01] [ 6.69029342e-01 -7.43219441e-01 -4.96009258e-03 -2.62931703e+02] [-7.69611781e-03 -2.54276332e-04 -9.99970352e-01 -1.81542909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.646559995 meters 0.02034111574901469 Centerline is valid? [True, True] Translation: X:-12.28, Y:-262.94, Z:-1.82 [[ 6.88781686e-01 7.24949922e-01 -5.23450936e-03 -1.22807533e+01] [ 7.24931596e-01 -6.88801534e-01 -5.16028005e-03 -2.62940437e+02] [-7.34648269e-03 -2.40354829e-04 -9.99972985e-01 -1.81514054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.6765599949999 meters 0.01909467432480269 Centerline is valid? [True, True] Translation: X:-12.28, Y:-262.94, Z:-1.82 [[ 6.29985604e-01 7.76591090e-01 -4.94140764e-03 -1.22757044e+01] [ 7.76570207e-01 -6.30004935e-01 -5.70054782e-03 -2.62942858e+02] [-7.54010585e-03 -2.46086891e-04 -9.99971543e-01 -1.81598151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.7065599949999 meters 0.01918873059934954 Centerline is valid? [True, True] Translation: X:-12.27, Y:-262.95, Z:-1.82 [[ 5.67292742e-01 8.23504008e-01 -4.48263766e-03 -1.22699068e+01] [ 8.23481648e-01 -5.67310399e-01 -6.07347064e-03 -2.62946797e+02] [-7.54457438e-03 -2.45934037e-04 -9.99971509e-01 -1.81584523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.736559995 meters 0.019473414011301936 Centerline is valid? [True, True] Translation: X:-12.26, Y:-262.95, Z:-1.82 [[ 5.01201787e-01 8.65320484e-01 -4.15086053e-03 -1.22641609e+01] [ 8.65294900e-01 -5.01218910e-01 -6.65878215e-03 -2.62950695e+02] [-7.84247038e-03 -2.54324939e-04 -9.99969215e-01 -1.81550441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.766559995 meters 0.0196498129112198 Centerline is valid? [True, True] Translation: X:-12.26, Y:-262.95, Z:-1.82 [[ 4.32430982e-01 9.01659239e-01 -3.75012555e-03 -1.22598791e+01] [ 9.01630370e-01 -4.32447165e-01 -7.21977967e-03 -2.62953912e+02] [-8.13151220e-03 -2.59170674e-04 -9.99966905e-01 -1.81528148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.7965599949999 meters 0.018100044708798307 Centerline is valid? [True, True] Translation: X:-12.25, Y:-262.96, Z:-1.82 [[ 3.61957442e-01 9.32188243e-01 -3.44806861e-03 -1.22547979e+01] [ 9.32152736e-01 -3.61973766e-01 -8.14066034e-03 -2.62955298e+02] [-8.83673824e-03 -2.67553992e-04 -9.99960920e-01 -1.81526700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.8265599949999 meters 0.017842012281188552 Centerline is valid? [True, True] Translation: X:-12.25, Y:-262.96, Z:-1.81 [[ 2.88852504e-01 9.57368633e-01 -3.08733921e-03 -1.22485492e+01] [ 9.57324008e-01 -2.88868862e-01 -9.24787903e-03 -2.62957747e+02] [-9.74546547e-03 -2.84310940e-04 -9.99952471e-01 -1.81480861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.856559995 meters 0.017132494736495696 Centerline is valid? [True, True] Translation: X:-12.24, Y:-262.96, Z:-1.81 [[ 2.16131054e-01 9.76360797e-01 -2.63865443e-03 -1.22438511e+01] [ 9.76303239e-01 -2.16146974e-01 -1.06052236e-02 -2.62959656e+02] [-1.09248617e-02 -2.84008717e-04 -9.99940282e-01 -1.81432553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.886559995 meters 0.01586648648547812 Centerline is valid? [True, True] Translation: X:-12.24, Y:-262.96, Z:-1.81 [[ 1.40901340e-01 9.90021844e-01 -1.88718748e-03 -1.22376846e+01] [ 9.89957395e-01 -1.40913707e-01 -1.12997186e-02 -2.62960894e+02] [-1.14528988e-02 -2.76089704e-04 -9.99934375e-01 -1.81447291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.916559995 meters 0.015934272788793287 Centerline is valid? [True, True] Translation: X:-12.23, Y:-262.96, Z:-1.81 [[ 6.47755966e-02 9.97899330e-01 -1.02436899e-03 -1.22300471e+01] [ 9.97830435e-01 -6.47831644e-02 -1.17288150e-02 -2.62963234e+02] [-1.17705385e-02 -2.62405566e-04 -9.99930690e-01 -1.81372237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.9465599949999 meters 0.01473320240579365 Centerline is valid? [True, True] Translation: X:-12.22, Y:-262.96, Z:-1.81 [[-1.13649638e-02 9.99935411e-01 -1.04607666e-04 -1.22234468e+01] [ 9.99863794e-01 1.13628976e-02 -1.19698682e-02 -2.62963611e+02] [-1.19679065e-02 -2.40630537e-04 -9.99928353e-01 -1.81429385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.976559995 meters 0.01360123445764807 Centerline is valid? [True, True] Translation: X:-12.22, Y:-262.96, Z:-1.81 [[-8.42541436e-02 9.96443937e-01 8.48555103e-04 -1.22181227e+01] [ 9.96369756e-01 8.42582263e-02 -1.21597596e-02 -2.62964349e+02] [-1.21880165e-02 -1.79035488e-04 -9.99925707e-01 -1.81435330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.006559995 meters 0.012988224099598916 Centerline is valid? [True, True] Translation: X:-12.21, Y:-262.96, Z:-1.82 [[-1.59008117e-01 9.87275652e-01 1.79060900e-03 -1.22103162e+01] [ 9.87202649e-01 1.59018136e-01 -1.20067188e-02 -2.62964252e+02] [-1.21386805e-02 -1.41471814e-04 -9.99926314e-01 -1.81504222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.036559995 meters 0.012765385886730936 Centerline is valid? [True, True] Translation: X:-12.20, Y:-262.97, Z:-1.81 [[-2.32493755e-01 9.72594344e-01 2.62581311e-03 -1.22021672e+01] [ 9.72527586e-01 2.32508563e-01 -1.13957253e-02 -2.62965325e+02] [-1.16939420e-02 -9.57592813e-05 -9.99931619e-01 -1.81465415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.0665599949999 meters 0.01255082230525818 Centerline is valid? [True, True] Translation: X:-12.20, Y:-262.97, Z:-1.81 [[-3.04967641e-01 9.52356636e-01 3.40217414e-03 -1.21968223e+01] [ 9.52295271e-01 3.04986613e-01 -1.08112472e-02 -2.62966802e+02] [-1.13337806e-02 -5.72062229e-05 -9.99935769e-01 -1.81436865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.096559995 meters 0.012277294091565255 Centerline is valid? [True, True] Translation: X:-12.19, Y:-262.97, Z:-1.82 [[-3.72680125e-01 9.27951445e-01 3.95471837e-03 -1.21934171e+01] [ 9.27899609e-01 3.72701107e-01 -9.80820663e-03 -2.62967189e+02] [-1.05754674e-02 1.42579484e-05 -9.99944078e-01 -1.81561288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.126559995 meters 0.012283230890112903 Centerline is valid? [True, True] Translation: X:-12.19, Y:-262.97, Z:-1.82 [[-4.41475958e-01 8.97262415e-01 4.37460568e-03 -1.21868201e+01] [ 8.97219342e-01 4.41497629e-01 -8.79186045e-03 -2.62966394e+02] [-9.81998397e-03 4.35858148e-05 -9.99951782e-01 -1.81590788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.156559995 meters 0.012854611238658173 Centerline is valid? [True, True] Translation: X:-12.18, Y:-262.97, Z:-1.82 [[-5.05729999e-01 8.62678115e-01 4.86186583e-03 -1.21807820e+01] [ 8.62640012e-01 5.05753359e-01 -8.10862924e-03 -2.62966045e+02] [-9.45404197e-03 9.32629430e-05 -9.99955305e-01 -1.81630604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.1865599949999 meters 0.013162308318136647 Centerline is valid? [True, True] Translation: X:-12.17, Y:-262.96, Z:-1.82 [[-5.69818574e-01 8.21753757e-01 5.24935351e-03 -1.21727523e+01] [ 8.21720659e-01 5.69842742e-01 -7.37622431e-03 -2.62963600e+02] [-9.05274603e-03 1.10392607e-04 -9.99959017e-01 -1.81624992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.216559995 meters 0.014083312622372725 Centerline is valid? [True, True] Translation: X:-12.17, Y:-262.96, Z:-1.82 [[-6.29440098e-01 7.77027982e-01 5.71647467e-03 -1.21658584e+01] [ 7.76997984e-01 6.29466040e-01 -6.82916413e-03 -2.62962266e+02] [-8.90477830e-03 1.43139553e-04 -9.99960342e-01 -1.81594358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.246559995 meters 0.014344577334815787 Centerline is valid? [True, True] Translation: X:-12.16, Y:-262.96, Z:-1.82 [[-6.87342186e-01 7.26306186e-01 6.32801717e-03 -1.21585859e+01] [ 7.26277504e-01 6.87371297e-01 -6.45657079e-03 -2.62958402e+02] [-9.03914468e-03 1.58023033e-04 -9.99959134e-01 -1.81617562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.276559995 meters 0.014782298262643752 Centerline is valid? [True, True] Translation: X:-12.15, Y:-262.95, Z:-1.82 [[-7.40988763e-01 6.71490673e-01 5.99404394e-03 -1.21517443e+01] [ 6.71470353e-01 7.41012991e-01 -5.22606045e-03 -2.62953905e+02] [-7.95091527e-03 1.52370733e-04 -9.99968379e-01 -1.81593240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.3065599949999 meters 0.014782298262643752 Centerline is valid? [True, True] Translation: X:-12.13, Y:-262.93, Z:-1.82 [[-7.86626770e-01 6.17396161e-01 6.34867033e-03 -1.21323949e+01] [ 6.17377606e-01 7.86652374e-01 -4.78902375e-03 -2.62933362e+02] [-7.95092146e-03 1.52352604e-04 -9.99968379e-01 -1.81593234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.3365599949999 meters 0.015082047645013882 Centerline is valid? [True, True] Translation: X:-11.70, Y:-262.36, Z:-2.78 [[-7.68947249e-01 -6.39287895e-01 5.57810538e-03 -1.16973397e+01] [ 6.39269415e-01 -7.68967462e-01 -4.86400251e-03 -2.62364721e+02] [ 7.39887946e-03 -1.74249186e-04 9.99972613e-01 -2.77706487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.366559995 meters 0.01450476654018786 Centerline is valid? [True, True] Translation: X:-12.16, Y:-262.91, Z:-1.82 [[-7.88115784e-01 6.15499082e-01 5.86443674e-03 -1.21649665e+01] [ 6.15483440e-01 7.88137588e-01 -4.39058355e-03 -2.62906825e+02] [-7.32438317e-03 1.49175506e-04 -9.99973165e-01 -1.81600775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.396559995 meters 0.0162328358545274 Centerline is valid? [True, True] Translation: X:-12.15, Y:-262.89, Z:-1.81 [[-8.29614390e-01 5.58305150e-01 5.94332240e-03 -1.21452403e+01] [ 5.58292057e-01 8.29635667e-01 -3.82618561e-03 -2.62889377e+02] [-7.06697137e-03 1.43851046e-04 -9.99975018e-01 -1.81467567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.4265599949999 meters 0.014909566718908054 Centerline is valid? [True, True] Translation: X:-11.75, Y:-262.29, Z:-2.78 [[-8.14444471e-01 -5.80213041e-01 5.74724244e-03 -1.17535267e+01] [ 5.80197371e-01 -8.14464737e-01 -4.26647560e-03 -2.62292758e+02] [ 7.15639108e-03 -1.40272502e-04 9.99974383e-01 -2.77750162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.4565599949999 meters 0.014490274494339884 Centerline is valid? [True, True] Translation: X:-12.18, Y:-262.86, Z:-1.82 [[-8.32169202e-01 5.54492063e-01 5.74206480e-03 -1.21790255e+01] [ 5.54479950e-01 8.32189002e-01 -3.66749565e-03 -2.62862514e+02] [-6.81208041e-03 1.31882869e-04 -9.99976789e-01 -1.81533934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.486559995 meters 0.014139808326675846 Centerline is valid? [True, True] Translation: X:-11.80, Y:-262.27, Z:-2.78 [[-8.15165174e-01 -5.79203468e-01 5.39276793e-03 -1.17987477e+01] [ 5.79189681e-01 -8.15183001e-01 -3.99863259e-03 -2.62269360e+02] [ 6.71211461e-03 -1.36110494e-04 9.99977464e-01 -2.77719158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.516559995 meters 0.013529397075270792 Centerline is valid? [True, True] Translation: X:-11.82, Y:-262.30, Z:-2.78 [[-7.71771778e-01 -6.35880039e-01 4.98977857e-03 -1.18160937e+01] [ 6.35865985e-01 -7.71787903e-01 -4.22877640e-03 -2.62300087e+02] [ 6.54004524e-03 -9.08198153e-05 9.99978610e-01 -2.77747796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.5465599949999 meters 0.012821086876502335 Centerline is valid? [True, True] Translation: X:-12.26, Y:-262.83, Z:-1.82 [[-7.99894417e-01 6.00119845e-01 5.00934965e-03 -1.22625618e+01] [ 6.00108622e-01 7.99910099e-01 -3.67088252e-03 -2.62829773e+02] [-6.20999883e-03 6.98354819e-05 -9.99980715e-01 -1.81534250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.5765599949999 meters 0.01257802781390824 Centerline is valid? [True, True] Translation: X:-11.86, Y:-262.28, Z:-2.78 [[-7.70138214e-01 -6.37861881e-01 4.39917933e-03 -1.18553449e+01] [ 6.37850790e-01 -7.70150772e-01 -3.76261465e-03 -2.62279834e+02] [ 5.78805982e-03 -9.17133172e-05 9.99983245e-01 -2.77783406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.606559995 meters 0.011821016488695706 Centerline is valid? [True, True] Translation: X:-12.30, Y:-262.79, Z:-1.82 [[-8.07522272e-01 5.89822637e-01 4.12757781e-03 -1.22961909e+01] [ 5.89814997e-01 8.07532821e-01 -3.00205117e-03 -2.62793281e+02] [-5.10383229e-03 1.02841100e-05 -9.99986975e-01 -1.81573548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.636559995 meters 0.011796931922563045 Centerline is valid? [True, True] Translation: X:-12.28, Y:-262.77, Z:-1.82 [[-8.48970498e-01 5.28425841e-01 3.90174153e-03 -1.22803645e+01] [ 5.28420231e-01 8.48979464e-01 -2.43511536e-03 -2.62766212e+02] [-4.59927632e-03 -5.58194171e-06 -9.99989423e-01 -1.81577259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.666559995 meters 0.011796931922563045 Centerline is valid? [True, True] Translation: X:-12.27, Y:-262.74, Z:-1.82 [[-8.84268336e-01 4.66961444e-01 4.06444748e-03 -1.22667952e+01] [ 4.66956483e-01 8.84277677e-01 -2.15263066e-03 -2.62741832e+02] [-4.59929570e-03 -5.58303328e-06 -9.99989423e-01 -1.81577239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.6965599949999 meters 0.011984425540960337 Centerline is valid? [True, True] Translation: X:-12.26, Y:-262.71, Z:-1.82 [[-9.16446315e-01 4.00140081e-01 3.75064542e-03 -1.22554593e+01] [ 4.00136648e-01 9.16453990e-01 -1.65762987e-03 -2.62712228e+02] [-4.10057811e-03 -1.83580964e-05 -9.99991592e-01 -1.81575845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.726559995 meters 0.012168991940300829 Centerline is valid? [True, True] Translation: X:-12.25, Y:-262.68, Z:-1.82 [[-9.43543525e-01 3.31225903e-01 3.87540426e-03 -1.22481612e+01] [ 3.31222972e-01 9.43551483e-01 -1.39384080e-03 -2.62682231e+02] [-4.11831961e-03 -3.15265496e-05 -9.99991519e-01 -1.81616334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.756559995 meters 0.012690781307356463 Centerline is valid? [True, True] Translation: X:-12.03, Y:-262.08, Z:-2.78 [[-9.11604156e-01 -4.11050610e-01 3.90632498e-03 -1.20283362e+01] [ 4.11047035e-01 -9.11612524e-01 -1.71493213e-03 -2.62077879e+02] [ 4.26597867e-03 4.23440450e-05 9.99990900e-01 -2.77735913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.786559995 meters 0.013695238762652233 Centerline is valid? [True, True] Translation: X:-12.29, Y:-262.66, Z:-1.81 [[-9.47500327e-01 3.19710985e-01 5.29305938e-03 -1.22933973e+01] [ 3.19705460e-01 9.47515107e-01 -1.88165783e-03 -2.62656467e+02] [-5.61684040e-03 -9.06514183e-05 -9.99984221e-01 -1.81413292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.8165599949999 meters 0.014867318710335213 Centerline is valid? [True, True] Translation: X:-12.08, Y:-262.07, Z:-2.78 [[-9.09934834e-01 -4.14721052e-01 5.00465356e-03 -1.20812866e+01] [ 4.14715251e-01 -9.09948593e-01 -2.19492427e-03 -2.62069680e+02] [ 5.46425877e-03 7.82681010e-05 9.99985068e-01 -2.77917995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.846559995 meters 0.014911627530639158 Centerline is valid? [True, True] Translation: X:-12.34, Y:-262.64, Z:-1.81 [[-9.50218074e-01 3.11549962e-01 4.71510701e-03 -1.23372193e+01] [ 3.11545579e-01 9.50229767e-01 -1.65605075e-03 -2.62636529e+02] [-4.99637759e-03 -1.04638612e-04 -9.99987513e-01 -1.81419161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.876559995 meters 0.016415054748906498 Centerline is valid? [True, True] Translation: X:-12.13, Y:-262.06, Z:-2.78 [[-9.08886266e-01 -4.17019463e-01 4.53023105e-03 -1.21329548e+01] [ 4.17014827e-01 -9.08897550e-01 -1.96898907e-03 -2.62058353e+02] [ 4.93862267e-03 9.95863988e-05 9.99987800e-01 -2.77856253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.906559995 meters 0.01705936722680403 Centerline is valid? [True, True] Translation: X:-12.38, Y:-262.61, Z:-1.81 [[-9.52934284e-01 3.03132554e-01 5.18701028e-03 -1.23847263e+01] [ 3.03127241e-01 9.52948390e-01 -1.80047861e-03 -2.62613060e+02] [-5.48873678e-03 -1.43413683e-04 -9.99984927e-01 -1.81382683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.9365599949999 meters 0.018086981998574697 Centerline is valid? [True, True] Translation: X:-12.38, Y:-262.58, Z:-1.81 [[-9.72298970e-01 2.33668794e-01 5.79725644e-03 -1.23758774e+01] [ 2.33663633e-01 9.72316239e-01 -1.56176379e-03 -2.62584216e+02] [-6.00170203e-03 -1.63893320e-04 -9.99981976e-01 -1.81288447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.966559995 meters 0.018440352108923606 Centerline is valid? [True, True] Translation: X:-12.22, Y:-262.01, Z:-2.78 [[-9.36225705e-01 -3.51344411e-01 6.20759264e-03 -1.22207983e+01] [ 3.51338196e-01 -9.36246260e-01 -2.10080392e-03 -2.62007882e+02] [ 6.54994111e-03 2.14137773e-04 9.99978526e-01 -2.78045171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.996559995 meters 0.020448001253895093 Centerline is valid? [True, True] Translation: X:-12.42, Y:-262.57, Z:-1.81 [[-9.73527855e-01 2.28474572e-01 6.54866499e-03 -1.24220102e+01] [ 2.28468043e-01 9.73549861e-01 -1.73836024e-03 -2.62566786e+02] [-6.77262300e-03 -1.96181442e-04 -9.99977046e-01 -1.81098019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.026559995 meters 0.01816500531101429 Centerline is valid? [True, True] Translation: X:-12.27, Y:-262.00, Z:-2.78 [[-9.37069799e-01 -3.49077024e-01 6.73964986e-03 -1.22681416e+01] [ 3.49069730e-01 -9.37094008e-01 -2.26799509e-03 -2.61997164e+02] [ 7.10739048e-03 2.27338060e-04 9.99974716e-01 -2.78142281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.0565599949999 meters 0.018422126165843804 Centerline is valid? [True, True] Translation: X:-12.47, Y:-262.56, Z:-1.81 [[-9.74486616e-01 2.24342157e-01 6.81408917e-03 -1.24654698e+01] [ 2.24335183e-01 9.74510417e-01 -1.78095386e-03 -2.62558165e+02] [-7.03994391e-03 -2.06875755e-04 -9.99975198e-01 -1.81116287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.0865599949999 meters 0.01827175476146817 Centerline is valid? [True, True] Translation: X:-12.32, Y:-261.99, Z:-2.78 [[-9.38585057e-01 -3.44981022e-01 6.79598951e-03 -1.23157283e+01] [ 3.44973652e-01 -9.38609635e-01 -2.26556171e-03 -2.61986170e+02] [ 7.16035703e-03 2.18014953e-04 9.99974341e-01 -2.78113507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.116559995 meters 0.01765926998874717 Centerline is valid? [True, True] Translation: X:-12.51, Y:-262.55, Z:-1.81 [[-9.75029081e-01 2.21983371e-01 6.45558095e-03 -1.25116843e+01] [ 2.21977235e-01 9.75050434e-01 -1.66101280e-03 -2.62547947e+02] [-6.66323423e-03 -1.86543775e-04 -9.99977783e-01 -1.81223367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.146559995 meters 0.01731002911188459 Centerline is valid? [True, True] Translation: X:-12.51, Y:-262.52, Z:-1.81 [[-9.88224357e-01 1.52862603e-01 6.75616692e-03 -1.25095894e+01] [ 1.52857727e-01 9.88247433e-01 -1.23527165e-03 -2.62521196e+02] [-6.86559146e-03 -1.87993204e-04 -9.99976414e-01 -1.81259812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.1765599949999 meters 0.01644223727108096 Centerline is valid? [True, True] Translation: X:-12.51, Y:-262.50, Z:-1.81 [[-9.96529828e-01 8.29547131e-02 6.84240445e-03 -1.25100705e+01] [ 8.29514878e-02 9.96553301e-01 -7.54325782e-04 -2.62495060e+02] [-6.88139562e-03 -1.84120513e-04 -9.99976306e-01 -1.81304667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.2065599949999 meters 0.016179576785686548 Centerline is valid? [True, True] Translation: X:-12.51, Y:-262.47, Z:-1.81 [[-9.99896033e-01 1.26265862e-02 6.96365666e-03 -1.25104328e+01] [ 1.26250147e-02 9.99920265e-01 -2.69597741e-04 -2.62468264e+02] [-6.96650551e-03 -1.81653444e-04 -9.99975717e-01 -1.81363143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.236559995 meters 0.016615798170910308 Centerline is valid? [True, True] Translation: X:-12.49, Y:-261.87, Z:-2.78 [[-9.91237111e-01 -1.31926292e-01 6.66660987e-03 -1.24873449e+01] [ 1.31924376e-01 -9.91259516e-01 -7.28204414e-04 -2.61869253e+02] [ 6.70440978e-03 1.57665109e-04 9.99977513e-01 -2.77916533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.266559995 meters 0.016277099168598933 Centerline is valid? [True, True] Translation: X:-12.57, Y:-262.47, Z:-1.81 [[-9.99943953e-01 8.33663509e-03 6.52624623e-03 -1.25714235e+01] [ 8.33534772e-03 9.99965235e-01 -2.24435111e-04 -2.62465915e+02] [-6.52789038e-03 -1.70024000e-04 -9.99978679e-01 -1.81368190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.2965599949999 meters 0.016995305237694054 Centerline is valid? [True, True] Translation: X:-12.58, Y:-262.44, Z:-1.81 [[-9.97980595e-01 -6.31506896e-02 6.83533790e-03 -1.25811323e+01] [-6.31504457e-02 9.98003987e-01 2.51716794e-04 -2.62436969e+02] [-6.83759056e-03 -1.80446159e-04 -9.99976607e-01 -1.81311866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.3265599949999 meters 0.016873292719270967 Centerline is valid? [True, True] Translation: X:-12.61, Y:-261.84, Z:-2.78 [[-9.98341682e-01 -5.70811080e-02 7.45882360e-03 -1.26061299e+01] [ 5.70812927e-02 -9.98369516e-01 -1.88287208e-04 -2.61840477e+02] [ 7.45740975e-03 2.37784326e-04 9.99972165e-01 -2.77965489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.356559995 meters 0.01774654797147121 Centerline is valid? [True, True] Translation: X:-12.65, Y:-262.44, Z:-1.81 [[-9.97668263e-01 -6.78181718e-02 7.66374399e-03 -1.26505343e+01] [-6.78177222e-02 9.97697677e-01 3.18826881e-04 -2.62438787e+02] [-7.66772184e-03 -2.01654200e-04 -9.99970582e-01 -1.81288615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.386559995 meters 0.0169743329007763 Centerline is valid? [True, True] Translation: X:-12.67, Y:-261.84, Z:-2.78 [[-9.98653272e-01 -5.12886654e-02 7.81758965e-03 -1.26732624e+01] [ 5.12887806e-02 -9.98683847e-01 -1.85873210e-04 -2.61842636e+02] [ 7.81683370e-03 2.15331751e-04 9.99969425e-01 -2.77927334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.416559995 meters 0.01601392879741426 Centerline is valid? [True, True] Translation: X:-12.72, Y:-262.45, Z:-1.81 [[-9.97423974e-01 -7.13243088e-02 7.63272319e-03 -1.27195801e+01] [-7.13236923e-02 9.97453160e-01 3.53283350e-04 -2.62445208e+02] [-7.63848156e-03 -1.92020717e-04 -9.99970808e-01 -1.81427589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.4465599949999 meters 0.01576537960145061 Centerline is valid? [True, True] Translation: X:-12.72, Y:-262.42, Z:-1.81 [[-9.89835641e-01 -1.42008024e-01 7.68925715e-03 -1.27239153e+01] [-1.42005254e-01 9.89865488e-01 9.07918210e-04 -2.62418607e+02] [-7.74026195e-03 -1.93225109e-04 -9.99970025e-01 -1.81481129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.476559995 meters 0.01581770575049014 Centerline is valid? [True, True] Translation: X:-12.74, Y:-262.39, Z:-1.82 [[-9.77303860e-01 -2.11690191e-01 8.02678328e-03 -1.27388195e+01] [-2.11684723e-01 9.77336801e-01 1.53453145e-03 -2.62392834e+02] [-8.16971595e-03 -1.99443879e-04 -9.99966607e-01 -1.81526237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.506559995 meters 0.015474061885303795 Centerline is valid? [True, True] Translation: X:-12.76, Y:-262.37, Z:-1.82 [[-9.59636960e-01 -2.81122423e-01 8.19079976e-03 -1.27640554e+01] [-2.81114020e-01 9.59671892e-01 2.18349794e-03 -2.62370952e+02] [-8.47431053e-03 -2.07183322e-04 -9.99964071e-01 -1.81568491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.536559995 meters 0.01641734722230926 Centerline is valid? [True, True] Translation: X:-12.80, Y:-262.35, Z:-1.82 [[-9.36709220e-01 -3.50007541e-01 8.39987829e-03 -1.27986603e+01] [-3.49995580e-01 9.36746856e-01 2.90211594e-03 -2.62350813e+02] [-8.88432205e-03 -2.21481516e-04 -9.99960509e-01 -1.81511905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.5665599949999 meters 0.017191412503389434 Centerline is valid? [True, True] Translation: X:-12.85, Y:-262.34, Z:-1.81 [[-9.07934190e-01 -4.19018250e-01 8.90015717e-03 -1.28529784e+01] [-4.19000879e-01 9.07977775e-01 3.82401568e-03 -2.62339620e+02] [-9.68347726e-03 -2.57219099e-04 -9.99953081e-01 -1.81483640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.596559995 meters 0.017358188333143156 Centerline is valid? [True, True] Translation: X:-12.92, Y:-262.34, Z:-1.81 [[-8.74011323e-01 -4.85822719e-01 8.97177249e-03 -1.29222803e+01] [-4.85800402e-01 8.74057325e-01 4.66503559e-03 -2.62341127e+02] [-1.01082237e-02 -2.81196756e-04 -9.99948871e-01 -1.81496292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.626559995 meters 0.018233191637090175 Centerline is valid? [True, True] Translation: X:-12.99, Y:-262.35, Z:-1.81 [[-8.34500568e-01 -5.50923199e-01 9.61410944e-03 -1.29934402e+01] [-5.50891266e-01 8.34555878e-01 5.94131459e-03 -2.62347188e+02] [-1.12967196e-02 -3.38298520e-04 -9.99936133e-01 -1.81408210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.656559995 meters 0.01852833369641855 Centerline is valid? [True, True] Translation: X:-13.07, Y:-262.36, Z:-1.81 [[-7.90770362e-01 -6.12040148e-01 9.43884451e-03 -1.30682489e+01] [-6.12001895e-01 7.90826611e-01 6.85212272e-03 -2.62363057e+02] [-1.16582636e-02 -3.58135168e-04 -9.99931976e-01 -1.81358829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.6865599949999 meters 0.01740394073775825 Centerline is valid? [True, True] Translation: X:-13.15, Y:-262.39, Z:-1.81 [[-7.42175716e-01 -6.70136081e-01 9.63538926e-03 -1.31496025e+01] [-6.70086530e-01 7.42238151e-01 8.15901244e-03 -2.62394397e+02] [-1.26194021e-02 -4.01123656e-04 -9.99920292e-01 -1.81453425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.716559995 meters 0.018474710986485825 Centerline is valid? [True, True] Translation: X:-13.23, Y:-262.43, Z:-1.81 [[-6.89942822e-01 -7.23808945e-01 8.91703884e-03 -1.32303004e+01] [-7.23755788e-01 6.90000329e-01 8.78094442e-03 -2.62429171e+02] [-1.25084859e-02 -3.95408910e-04 -9.99921688e-01 -1.81399018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.746559995 meters 0.01852229861397169 Centerline is valid? [True, True] Translation: X:-13.31, Y:-262.48, Z:-1.81 [[-6.33589704e-01 -7.73626169e-01 8.16319029e-03 -1.33124250e+01] [-7.73569762e-01 6.33642169e-01 9.35011369e-03 -2.62476653e+02] [-1.24060342e-02 -3.90661408e-04 -9.99922966e-01 -1.81434321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.776559995 meters 0.018419169471261834 Centerline is valid? [True, True] Translation: X:-13.39, Y:-262.53, Z:-1.81 [[-5.73515996e-01 -8.19161617e-01 7.32448221e-03 -1.33910460e+01] [-8.19103152e-01 5.73562638e-01 9.79421330e-03 -2.62530979e+02] [-1.22240929e-02 -3.82368473e-04 -9.99925210e-01 -1.81467522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.8065599949999 meters 0.018340149988012717 Centerline is valid? [True, True] Translation: X:-13.47, Y:-262.60, Z:-1.82 [[-5.10207422e-01 -8.60027679e-01 6.38574270e-03 -1.34686373e+01] [-8.59969108e-01 5.10247250e-01 1.00437813e-02 -2.62595456e+02] [-1.18962376e-02 -3.67129673e-04 -9.99929170e-01 -1.81516401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.8365599949999 meters 0.018164607755249657 Centerline is valid? [True, True] Translation: X:-13.54, Y:-262.67, Z:-1.82 [[-4.43676248e-01 -8.96171088e-01 5.36349197e-03 -1.35438307e+01] [-8.96114826e-01 4.43708530e-01 1.00478750e-02 -2.62670700e+02] [-1.13844422e-02 -3.48301178e-04 -9.99935135e-01 -1.81562411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.866559995 meters 0.017917109586725825 Centerline is valid? [True, True] Translation: X:-13.61, Y:-262.75, Z:-1.82 [[-3.74835744e-01 -9.27081632e-01 4.22048945e-03 -1.36143581e+01] [-9.27031970e-01 3.74859372e-01 9.60089243e-03 -2.62753789e+02] [-1.04829010e-02 -3.13770999e-04 -9.99945004e-01 -1.81617141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.896559995 meters 0.01774173257093312 Centerline is valid? [True, True] Translation: X:-13.68, Y:-262.84, Z:-1.82 [[-3.04492049e-01 -9.52509254e-01 3.27316861e-03 -1.36769705e+01] [-9.52463711e-01 3.04509512e-01 9.31858615e-03 -2.62839755e+02] [-9.87275052e-03 -2.80138931e-04 -9.99951224e-01 -1.81635462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.9265599949999 meters 0.016943839725255237 Centerline is valid? [True, True] Translation: X:-13.73, Y:-262.94, Z:-1.82 [[-2.31762139e-01 -9.72769403e-01 2.44963796e-03 -1.37347754e+01] [-9.72726327e-01 2.31774938e-01 9.15810515e-03 -2.62939284e+02] [-9.47648916e-03 -2.60325305e-04 -9.99955063e-01 -1.81695372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.9565599949999 meters 0.01757672316342716 Centerline is valid? [True, True] Translation: X:-13.79, Y:-263.04, Z:-1.82 [[-1.57336308e-01 -9.87543626e-01 1.69472659e-03 -1.37857595e+01] [-9.87502041e-01 1.57345241e-01 9.06613795e-03 -2.63038165e+02] [-9.21986391e-03 -2.47113287e-04 -9.99957466e-01 -1.81697659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.986559995 meters 0.016935973777105765 Centerline is valid? [True, True] Translation: X:-13.83, Y:-263.15, Z:-1.82 [[-8.14177742e-02 -9.96679578e-01 9.82377252e-04 -1.38282582e+01] [-9.96638574e-01 8.14233388e-02 9.04397284e-03 -2.63148599e+02] [-9.09393147e-03 -2.42734924e-04 -9.99958620e-01 -1.81708256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.016559995 meters 0.01701541779953388 Centerline is valid? [True, True] Translation: X:-13.86, Y:-263.26, Z:-1.82 [[-4.04873051e-03 -9.99991744e-01 3.45932031e-04 -1.38635800e+01] [-9.99931699e-01 4.05227972e-03 1.09625049e-02 -2.63256996e+02] [-1.09638162e-02 -3.01524175e-04 -9.99939850e-01 -1.81566459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.0465599949999 meters 0.018939649483584464 Centerline is valid? [True, True] Translation: X:-13.89, Y:-263.37, Z:-1.81 [[ 7.32183450e-02 -9.97315792e-01 -5.34232716e-04 -1.38934441e+01] [-9.97245682e-01 -7.32195349e-02 1.18299885e-02 -2.63369700e+02] [-1.18373506e-02 -3.33410910e-04 -9.99929881e-01 -1.81375477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.0765599949999 meters 0.016752186928404883 Centerline is valid? [True, True] Translation: X:-13.91, Y:-263.48, Z:-1.81 [[ 1.50360830e-01 -9.88630005e-01 -1.52770961e-03 -1.39080131e+01] [-9.88551225e-01 -1.50368143e-01 1.24858786e-02 -2.63483293e+02] [-1.25736331e-02 -3.67167871e-04 -9.99920881e-01 -1.81474606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.106559995 meters 0.01707988481769571 Centerline is valid? [True, True] Translation: X:-13.92, Y:-263.60, Z:-1.81 [[ 2.27475307e-01 -9.73779938e-01 -2.75981082e-03 -1.39169712e+01] [-9.73683300e-01 -2.27491632e-01 1.37254770e-02 -2.63602519e+02] [-1.39934280e-02 -4.35025379e-04 -9.99901993e-01 -1.81397109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.136559995 meters 0.018795399748609033 Centerline is valid? [True, True] Translation: X:-13.92, Y:-263.72, Z:-1.81 [[ 3.01991679e-01 -9.53303240e-01 -3.73612406e-03 -1.39194989e+01] [-9.53211406e-01 -3.02014473e-01 1.32391200e-02 -2.63718974e+02] [-1.37492595e-02 -4.36788000e-04 -9.99905379e-01 -1.81270425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.166559995 meters 0.01803494837389682 Centerline is valid? [True, True] Translation: X:-13.91, Y:-263.83, Z:-1.81 [[ 3.74718648e-01 -9.27125471e-01 -4.92908307e-03 -1.39100439e+01] [-9.27028185e-01 -3.74750775e-01 1.34387579e-02 -2.63831934e+02] [-1.43065924e-02 -4.66354254e-04 -9.99897547e-01 -1.81361289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.1965599949999 meters 0.017873940562894913 Centerline is valid? [True, True] Translation: X:-13.89, Y:-263.94, Z:-1.81 [[ 4.45161244e-01 -8.95431612e-01 -5.80472614e-03 -1.38932782e+01] [-8.95341389e-01 -4.45198845e-01 1.27195116e-02 -2.63943691e+02] [-1.39737101e-02 -4.65022030e-04 -9.99902255e-01 -1.81398347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.226559995 meters 0.01892344643075129 Centerline is valid? [True, True] Translation: X:-13.87, Y:-264.06, Z:-1.81 [[ 5.12597201e-01 -8.58606328e-01 -6.26762895e-03 -1.38681736e+01] [-8.58531444e-01 -5.12635332e-01 1.13479831e-02 -2.64055211e+02] [-1.29564581e-02 -4.35987816e-04 -9.99915967e-01 -1.81397561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.256559995 meters 0.017810987445411753 Centerline is valid? [True, True] Translation: X:-13.83, Y:-264.16, Z:-1.82 [[ 5.76522481e-01 -8.17053665e-01 -6.71847686e-03 -1.38345771e+01] [-8.16989712e-01 -5.76561481e-01 1.02307931e-02 -2.64159730e+02] [-1.22327220e-02 -4.09355767e-04 -9.99925094e-01 -1.81517446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.286559995 meters 0.018393051289945506 Centerline is valid? [True, True] Translation: X:-13.80, Y:-264.26, Z:-1.82 [[ 6.37359247e-01 -7.70534783e-01 -7.02415719e-03 -1.37961862e+01] [-7.70481141e-01 -6.37397833e-01 9.10023438e-03 -2.64261054e+02] [-1.14892297e-02 -3.88137886e-04 -9.99933921e-01 -1.81563185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.3165599949999 meters 0.01932454355887813 Centerline is valid? [True, True] Translation: X:-13.75, Y:-264.36, Z:-1.82 [[ 6.94070703e-01 -7.19871463e-01 -7.13698180e-03 -1.37496589e+01] [-7.19827996e-01 -6.94107303e-01 7.91882871e-03 -2.64360122e+02] [-1.06543700e-02 -3.58827698e-04 -9.99943176e-01 -1.81567547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.346559995 meters 0.018002745799013193 Centerline is valid? [True, True] Translation: X:-13.70, Y:-264.45, Z:-1.82 [[ 7.46760296e-01 -6.65050447e-01 -7.54744021e-03 -1.36985061e+01] [-6.65011654e-01 -7.46798353e-01 7.19171676e-03 -2.64448527e+02] [-1.04192704e-02 -3.51352837e-04 -9.99945656e-01 -1.81652130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.376559995 meters 0.019226933325355165 Centerline is valid? [True, True] Translation: X:-13.70, Y:-264.46, Z:-1.82 [[ 7.96426541e-01 -6.04681550e-01 -8.06153887e-03 -1.36999201e+01] [-6.04646070e-01 -7.96467263e-01 6.55966489e-03 -2.64459576e+02] [-1.03872601e-02 -3.49913426e-04 -9.99945990e-01 -1.81630222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.406559995 meters 0.021227999696536975 Centerline is valid? [True, True] Translation: X:-13.70, Y:-264.47, Z:-1.82 [[ 8.41497143e-01 -5.40190738e-01 -8.74792249e-03 -1.36992011e+01] [-5.40157012e-01 -8.41542533e-01 6.04708472e-03 -2.64468952e+02] [-1.06283280e-02 -3.63352835e-04 -9.99943452e-01 -1.81525129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.4365599949999 meters 0.018662363125920147 Centerline is valid? [True, True] Translation: X:-13.70, Y:-264.48, Z:-1.82 [[ 8.81283456e-01 -4.72494806e-01 -9.38771397e-03 -1.36959323e+01] [-4.72463440e-01 -8.81333375e-01 5.45710159e-03 -2.64475818e+02] [-1.08521578e-02 -3.73901710e-04 -9.99941044e-01 -1.81622651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.466559995 meters 0.019849969785078914 Centerline is valid? [True, True] Translation: X:-13.70, Y:-264.49, Z:-1.82 [[ 9.15534501e-01 -4.02119458e-01 -9.82442461e-03 -1.36954904e+01] [-4.02091872e-01 -9.15587134e-01 4.72508353e-03 -2.64486017e+02] [-1.08951648e-02 -3.75655702e-04 -9.99940575e-01 -1.81532420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.496559995 meters 0.018879822693933915 Centerline is valid? [True, True] Translation: X:-13.69, Y:-264.49, Z:-1.82 [[ 9.44095657e-01 -3.29500659e-01 -1.06163055e-02 -1.36916791e+01] [-3.29475153e-01 -9.44155265e-01 4.11824096e-03 -2.64493325e+02] [-1.13804038e-02 -3.90204534e-04 -9.99935165e-01 -1.81536221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.526559995 meters 0.018928375482379346 Centerline is valid? [True, True] Translation: X:-13.69, Y:-264.50, Z:-1.82 [[ 9.66827357e-01 -2.55189200e-01 -1.11055711e-02 -1.36876781e+01] [-2.55167698e-01 -9.66891058e-01 3.33572908e-03 -2.64501419e+02] [-1.15891194e-02 -3.91291125e-04 -9.99932767e-01 -1.81501307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.5565599949999 meters 0.018108287386985576 Centerline is valid? [True, True] Translation: X:-13.68, Y:-264.51, Z:-1.82 [[ 9.83511183e-01 -1.80509068e-01 -1.10557356e-02 -1.36824669e+01] [-1.80493509e-01 -9.83573253e-01 2.39757441e-03 -2.64507528e+02] [-1.13069097e-02 -3.62552736e-04 -9.99936009e-01 -1.81547348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.5865599949999 meters 0.018108287386985576 Centerline is valid? [True, True] Translation: X:-13.68, Y:-264.52, Z:-1.82 [[ 9.94614544e-01 -1.03035234e-01 -1.12093909e-02 -1.36780091e+01] [-1.03024577e-01 -9.94677641e-01 1.52561281e-03 -2.64515669e+02] [-1.13069224e-02 -3.62553932e-04 -9.99936009e-01 -1.81547335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.616559995 meters 0.018175372323521417 Centerline is valid? [True, True] Translation: X:-13.68, Y:-264.52, Z:-1.82 [[ 9.99610194e-01 -2.55239007e-02 -1.13133209e-02 -1.36757896e+01] [-2.55182358e-02 -9.99674149e-01 6.44829728e-04 -2.64521732e+02] [-1.13260930e-02 -3.55882380e-04 -9.99935794e-01 -1.81569398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.646559995 meters 0.017357609288093826 Centerline is valid? [True, True] Translation: X:-13.67, Y:-264.53, Z:-1.82 [[ 9.98584952e-01 5.19542992e-02 -1.13509612e-02 -1.36734617e+01] [ 5.19548850e-02 -9.98649403e-01 -2.43467879e-04 -2.64527574e+02] [-1.13482798e-02 -3.46614523e-04 -9.99935546e-01 -1.81618961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.6765599949999 meters 0.016542036533972397 Centerline is valid? [True, True] Translation: X:-13.67, Y:-264.53, Z:-1.82 [[ 9.91831787e-01 1.27105595e-01 -1.06711729e-02 -1.36713209e+01] [ 1.27101442e-01 -9.91889147e-01 -1.06922397e-03 -2.64531970e+02] [-1.07205249e-02 -2.95831145e-04 -9.99942490e-01 -1.81631882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.7065599949999 meters 0.01638737118822172 Centerline is valid? [True, True] Translation: X:-13.67, Y:-264.54, Z:-1.82 [[ 9.79172099e-01 2.02767284e-01 -1.03647680e-02 -1.36695808e+01] [ 2.02758869e-01 -9.79226917e-01 -1.86737348e-03 -2.64537230e+02] [-1.05281020e-02 -2.73068619e-04 -9.99944541e-01 -1.81623022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.736559995 meters 0.014542377007017698 Centerline is valid? [True, True] Translation: X:-13.67, Y:-264.54, Z:-1.82 [[ 9.61136361e-01 2.75908918e-01 -9.54807218e-03 -1.36667827e+01] [ 2.75897635e-01 -9.61183759e-01 -2.50535069e-03 -2.64540803e+02] [-9.86870050e-03 -2.26306889e-04 -9.99951278e-01 -1.81740070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.766559995 meters 0.014835183797217783 Centerline is valid? [True, True] Translation: X:-13.66, Y:-264.55, Z:-1.82 [[ 9.36935345e-01 3.49378840e-01 -9.30516455e-03 -1.36633498e+01] [ 3.49363887e-01 -9.36981526e-01 -3.23952302e-03 -2.64549045e+02] [-9.85058807e-03 -2.15664836e-04 -9.99951459e-01 -1.81718039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.7965599949999 meters 0.013775191761798092 Centerline is valid? [True, True] Translation: X:-13.66, Y:-264.56, Z:-1.82 [[ 9.07090405e-01 4.20842463e-01 -8.86669941e-03 -1.36586110e+01] [ 4.20824534e-01 -9.07133717e-01 -3.88988863e-03 -2.64556621e+02] [-9.68031230e-03 -2.02843991e-04 -9.99953124e-01 -1.81808461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.8265599949999 meters 0.01371133967433771 Centerline is valid? [True, True] Translation: X:-13.65, Y:-264.56, Z:-1.82 [[ 8.72254082e-01 4.88978593e-01 -8.52946921e-03 -1.36542647e+01] [ 4.88957278e-01 -8.72295765e-01 -4.56933661e-03 -2.64564702e+02] [-9.67452765e-03 -1.84923536e-04 -9.99953184e-01 -1.81733267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.856559995 meters 0.01440387741262915 Centerline is valid? [True, True] Translation: X:-13.65, Y:-264.57, Z:-1.82 [[ 8.32050033e-01 5.54645104e-01 -7.84549506e-03 -1.36488315e+01] [ 5.54622314e-01 -8.32087003e-01 -5.03064593e-03 -2.64572684e+02] [-9.31835761e-03 -1.65537511e-04 -9.99956570e-01 -1.81618501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.886559995 meters 0.013280870183889423 Centerline is valid? [True, True] Translation: X:-13.64, Y:-264.58, Z:-1.82 [[ 7.86707709e-01 6.17276550e-01 -7.78733815e-03 -1.36442481e+01] [ 6.17248353e-01 -7.86746233e-01 -5.90220101e-03 -2.64576935e+02] [-9.76994923e-03 -1.63414616e-04 -9.99952260e-01 -1.81697272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.916559995 meters 0.013744771744140506 Centerline is valid? [True, True] Translation: X:-13.64, Y:-264.58, Z:-1.81 [[ 7.37529160e-01 6.75272657e-01 -7.58798910e-03 -1.36391381e+01] [ 6.75238945e-01 -7.37568178e-01 -6.74900434e-03 -2.64583000e+02] [-1.01540774e-02 -1.46118256e-04 -9.99948435e-01 -1.81498830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.9465599949999 meters 0.012562321788827359 Centerline is valid? [True, True] Translation: X:-13.64, Y:-264.58, Z:-1.82 [[ 6.84368552e-01 7.29096199e-01 -7.64305976e-03 -1.36355780e+01] [ 7.29052822e-01 -6.84411218e-01 -7.95404502e-03 -2.64584977e+02] [-1.10302598e-02 -1.28696013e-04 -9.99939157e-01 -1.81594254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.976559995 meters 0.012252098341053654 Centerline is valid? [True, True] Translation: X:-13.63, Y:-264.59, Z:-1.82 [[ 6.26564268e-01 7.79339012e-01 -6.92260172e-03 -1.36295280e+01] [ 7.79293345e-01 -6.26602499e-01 -8.43742365e-03 -2.64589278e+02] [-1.09133329e-02 -1.08149279e-04 -9.99940442e-01 -1.81565982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.006559995 meters 0.012228667832667468 Centerline is valid? [True, True] Translation: X:-13.62, Y:-264.59, Z:-1.81 [[ 5.65125549e-01 8.24979814e-01 -6.43592544e-03 -1.36243215e+01] [ 8.24928144e-01 -5.65162188e-01 -9.23356720e-03 -2.64594103e+02] [-1.12548483e-02 -9.10512957e-05 -9.99936658e-01 -1.81491757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.036559995 meters 0.011961731229126056 Centerline is valid? [True, True] Translation: X:-13.62, Y:-264.60, Z:-1.81 [[ 5.00498939e-01 8.65719609e-01 -5.51085501e-03 -1.36192633e+01] [ 8.65668598e-01 -5.00529273e-01 -9.39815291e-03 -2.64596962e+02] [-1.08945095e-02 -6.68085616e-05 -9.99940651e-01 -1.81495625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.0665599949999 meters 0.011807876181256335 Centerline is valid? [True, True] Translation: X:-13.61, Y:-264.60, Z:-1.81 [[ 4.32975176e-01 9.01393545e-01 -4.70883993e-03 -1.36142258e+01] [ 9.01341354e-01 -4.33000779e-01 -9.69993099e-03 -2.64600490e+02] [-1.07823865e-02 -4.44428255e-05 -9.99941867e-01 -1.81486618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.096559995 meters 0.011743845064835735 Centerline is valid? [True, True] Translation: X:-13.61, Y:-264.60, Z:-1.81 [[ 3.62946049e-01 9.31802217e-01 -3.84620661e-03 -1.36098514e+01] [ 9.31750551e-01 -3.62966427e-01 -9.81246851e-03 -2.64604176e+02] [-1.05393238e-02 -2.23084546e-05 -9.99944460e-01 -1.81470631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.126559995 meters 0.011779414869481326 Centerline is valid? [True, True] Translation: X:-13.61, Y:-264.61, Z:-1.82 [[ 2.92707974e-01 9.56198108e-01 -2.68685524e-03 -1.36065541e+01] [ 9.56157265e-01 -2.92720305e-01 -8.83783175e-03 -2.64606123e+02] [-9.23721509e-03 1.78476733e-05 -9.99957336e-01 -1.81570756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.156559995 meters 0.01187942484365908 Centerline is valid? [True, True] Translation: X:-13.60, Y:-264.61, Z:-1.82 [[ 2.18324256e-01 9.75874541e-01 -1.84355978e-03 -1.36019424e+01] [ 9.75838625e-01 -2.18332038e-01 -8.37257315e-03 -2.64610085e+02] [-8.57308915e-03 2.89189672e-05 -9.99963250e-01 -1.81594595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.1865599949999 meters 0.011895752941405437 Centerline is valid? [True, True] Translation: X:-13.60, Y:-264.61, Z:-1.82 [[ 1.42483650e-01 9.89796491e-01 -1.14734077e-03 -1.35954294e+01] [ 9.89762186e-01 -1.42488264e-01 -8.24071296e-03 -2.64612937e+02] [-8.32011136e-03 3.85723478e-05 -9.99965387e-01 -1.81658032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.216559995 meters 0.012003157760779965 Centerline is valid? [True, True] Translation: X:-13.59, Y:-264.61, Z:-1.82 [[ 6.52994653e-02 9.97865597e-01 -4.80673344e-04 -1.35883949e+01] [ 9.97833463e-01 -6.53012201e-02 -8.00819199e-03 -2.64614945e+02] [-8.02248783e-03 4.32987075e-05 -9.99967818e-01 -1.81672533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.246559995 meters 0.012042390721582205 Centerline is valid? [True, True] Translation: X:-13.58, Y:-264.62, Z:-1.82 [[-1.32167530e-02 9.99912644e-01 1.47076969e-04 -1.35809756e+01] [ 9.99880861e-01 1.32175056e-02 -7.97260392e-03 -2.64617229e+02] [-7.97385145e-03 4.16875093e-05 -9.99968208e-01 -1.81620793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.276559995 meters 0.011988738046221085 Centerline is valid? [True, True] Translation: X:-13.57, Y:-264.62, Z:-1.82 [[-9.22478495e-02 9.95735788e-01 7.58664777e-04 -1.35720640e+01] [ 9.95705183e-01 9.22509624e-02 -7.80692984e-03 -2.64618511e+02] [-7.84362699e-03 3.52339618e-05 -9.99969238e-01 -1.81608560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.3065599949999 meters 0.011927824654106505 Centerline is valid? [True, True] Translation: X:-13.56, Y:-264.62, Z:-1.82 [[-1.71082700e-01 9.85255653e-01 1.41699796e-03 -1.35631214e+01] [ 9.85223170e-01 1.71088566e-01 -8.00053059e-03 -2.64619142e+02] [-8.12500014e-03 2.73068525e-05 -9.99966991e-01 -1.81588680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.3365599949999 meters 0.01183726241040838 Centerline is valid? [True, True] Translation: X:-13.55, Y:-264.62, Z:-1.82 [[-2.50515887e-01 9.68110462e-01 1.98097062e-03 -1.35524958e+01] [ 9.68080318e-01 2.50523719e-01 -7.63958132e-03 -2.64618741e+02] [-7.89223872e-03 3.90217311e-06 -9.99968856e-01 -1.81562578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.366559995 meters 0.011891916883518108 Centerline is valid? [True, True] Translation: X:-13.54, Y:-264.62, Z:-1.82 [[-3.27196128e-01 9.44952518e-01 2.72616499e-03 -1.35417845e+01] [ 9.44919466e-01 3.27207485e-01 -7.90348460e-03 -2.64617151e+02] [-8.36043927e-03 -9.98319005e-06 -9.99965051e-01 -1.81557760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.396559995 meters 0.01192586440642331 Centerline is valid? [True, True] Translation: X:-13.53, Y:-264.62, Z:-1.82 [[-4.01911802e-01 9.15672061e-01 3.40305649e-03 -1.35312419e+01] [ 9.15638689e-01 4.01926208e-01 -7.81760501e-03 -2.64615692e+02] [-8.52614008e-03 -2.60175363e-05 -9.99963652e-01 -1.81532184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.4265599949999 meters 0.01201587688815176 Centerline is valid? [True, True] Translation: X:-13.52, Y:-264.61, Z:-1.82 [[-4.74113928e-01 8.80454412e-01 4.00147995e-03 -1.35203321e+01] [ 8.80422299e-01 4.74130812e-01 -7.51995292e-03 -2.64612115e+02] [-8.51820066e-03 -4.23222365e-05 -9.99963719e-01 -1.81576100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.4565599949999 meters 0.012444841967088246 Centerline is valid? [True, True] Translation: X:-13.51, Y:-264.61, Z:-1.81 [[-5.44131925e-01 8.38986845e-01 4.63917680e-03 -1.35091697e+01] [ 8.38955268e-01 5.44151696e-01 -7.27942034e-03 -2.64607585e+02] [-8.63175383e-03 -6.89031851e-05 -9.99962743e-01 -1.81460869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.486559995 meters 0.012710133131680356 Centerline is valid? [True, True] Translation: X:-13.50, Y:-264.61, Z:-1.81 [[-6.09189416e-01 7.93006224e-01 5.42069606e-03 -1.35022956e+01] [ 7.92973603e-01 6.09213528e-01 -7.19321723e-03 -2.64605574e+02] [-9.00662740e-03 -8.35629206e-05 -9.99959436e-01 -1.81423455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.516559995 meters 0.012936287728961412 Centerline is valid? [True, True] Translation: X:-13.50, Y:-264.60, Z:-1.81 [[-6.71080618e-01 7.41361795e-01 5.78738237e-03 -1.34954484e+01] [ 7.41332933e-01 6.71105565e-01 -6.54243973e-03 -2.64600500e+02] [-8.73425937e-03 -1.00127356e-04 -9.99961851e-01 -1.81484440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.5465599949999 meters 0.013067850460251567 Centerline is valid? [True, True] Translation: X:-13.49, Y:-264.60, Z:-1.81 [[-7.27673490e-01 6.85893477e-01 6.43668565e-03 -1.34886593e+01] [ 6.85865300e-01 7.27701949e-01 -6.21809321e-03 -2.64595054e+02] [-8.94893826e-03 -1.10042260e-04 -9.99959951e-01 -1.81492673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.5765599949999 meters 0.013322011217084281 Centerline is valid? [True, True] Translation: X:-13.01, Y:-264.12, Z:-2.78 [[-6.60815814e-01 -7.50526191e-01 5.73557094e-03 -1.30097117e+01] [ 7.50499014e-01 -6.60840700e-01 -6.38750694e-03 -2.64118791e+02] [ 8.58428996e-03 8.35747363e-05 9.99963151e-01 -2.77810908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.606559995 meters 0.013699786890155748 Centerline is valid? [True, True] Translation: X:-13.03, Y:-264.10, Z:-2.78 [[-6.60671919e-01 -7.50650908e-01 5.98583638e-03 -1.30275544e+01] [ 7.50621788e-01 -6.60699024e-01 -6.61295394e-03 -2.64099615e+02] [ 8.91885613e-03 1.24106236e-04 9.99960219e-01 -2.77852378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.636559995 meters 0.013592918564009085 Centerline is valid? [True, True] Translation: X:-13.05, Y:-264.08, Z:-2.78 [[-6.60939317e-01 -7.50417020e-01 5.78916591e-03 -1.30453847e+01] [ 7.50389809e-01 -6.60964660e-01 -6.39170283e-03 -2.64078943e+02] [ 8.62287667e-03 1.19603397e-04 9.99962815e-01 -2.77834081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.666559995 meters 0.01368341712152501 Centerline is valid? [True, True] Translation: X:-13.06, Y:-264.06, Z:-2.78 [[-6.60983365e-01 -7.50377928e-01 5.82714235e-03 -1.30629316e+01] [ 7.50350391e-01 -6.61009039e-01 -6.42964079e-03 -2.64058556e+02] [ 8.67645430e-03 1.22512934e-04 9.99962351e-01 -2.77815012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.6965599949999 meters 0.013685350480911504 Centerline is valid? [True, True] Translation: X:-13.08, Y:-264.04, Z:-2.78 [[-6.61156279e-01 -7.50225518e-01 5.83492823e-03 -1.30806998e+01] [ 7.50197937e-01 -6.61182015e-01 -6.43422652e-03 -2.64037598e+02] [ 8.68507052e-03 1.23321856e-04 9.99962277e-01 -2.77814409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.726559995 meters 0.013871581934422773 Centerline is valid? [True, True] Translation: X:-13.10, Y:-264.02, Z:-2.78 [[-6.61310190e-01 -7.50089257e-01 5.91087963e-03 -1.30981935e+01] [ 7.50060985e-01 -6.61336594e-01 -6.51373033e-03 -2.64017961e+02] [ 8.79496015e-03 1.25923956e-04 9.99961316e-01 -2.77844582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.756559995 meters 0.01382374960294307 Centerline is valid? [True, True] Translation: X:-13.12, Y:-264.00, Z:-2.78 [[-6.60962015e-01 -7.50392479e-01 6.35159065e-03 -1.31152317e+01] [ 7.50359889e-01 -6.60992517e-01 -6.99503314e-03 -2.63996882e+02] [ 9.44737414e-03 1.42527657e-04 9.99955362e-01 -2.77809203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.786559995 meters 0.014072395020843748 Centerline is valid? [True, True] Translation: X:-13.13, Y:-263.98, Z:-2.78 [[-6.60664771e-01 -7.50653646e-01 6.41603266e-03 -1.31336973e+01] [ 7.50620445e-01 -6.60695907e-01 -7.06161997e-03 -2.63976278e+02] [ 9.53987730e-03 1.50641749e-04 9.99954483e-01 -2.77824273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.8165599949999 meters 0.014402591732259828 Centerline is valid? [True, True] Translation: X:-13.15, Y:-263.96, Z:-2.78 [[-6.60365880e-01 -7.50913992e-01 6.71434600e-03 -1.31519289e+01] [ 7.50877693e-01 -6.60399993e-01 -7.38514763e-03 -2.63956989e+02] [ 9.97976473e-03 1.64753127e-04 9.99950187e-01 -2.77878462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.846559995 meters 0.014305680567905774 Centerline is valid? [True, True] Translation: X:-13.17, Y:-263.94, Z:-2.78 [[-6.59838887e-01 -7.51373792e-01 7.07585840e-03 -1.31705954e+01] [ 7.51333551e-01 -6.59876800e-01 -7.77841830e-03 -2.63935572e+02] [ 1.05136944e-02 1.83826939e-04 9.99944713e-01 -2.77862697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.876559995 meters 0.014929991917883472 Centerline is valid? [True, True] Translation: X:-13.19, Y:-263.92, Z:-2.78 [[-6.58082474e-01 -7.52910013e-01 7.34645213e-03 -1.31895379e+01] [ 7.52866767e-01 -6.58123442e-01 -8.07255960e-03 -2.63915516e+02] [ 1.09127833e-02 2.18489670e-04 9.99940430e-01 -2.77922207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.906559995 meters 0.01539713269656678 Centerline is valid? [True, True] Translation: X:-13.21, Y:-263.90, Z:-2.78 [[-6.57437497e-01 -7.53470398e-01 7.63523967e-03 -1.32092638e+01] [ 7.53423776e-01 -6.57481788e-01 -8.38521278e-03 -2.63895111e+02] [ 1.13380406e-02 2.39817801e-04 9.99935694e-01 -2.77959043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.9365599949999 meters 0.016788439257186424 Centerline is valid? [True, True] Translation: X:-13.23, Y:-263.88, Z:-2.78 [[-6.56809625e-01 -7.54016095e-01 7.80031847e-03 -1.32292516e+01] [ 7.53967532e-01 -6.56855891e-01 -8.56145314e-03 -2.63876554e+02] [ 1.15791586e-02 2.57942039e-04 9.99932926e-01 -2.78070372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.966559995 meters 0.01570261618001416 Centerline is valid? [True, True] Translation: X:-13.25, Y:-263.85, Z:-2.78 [[-6.55652348e-01 -7.55017764e-01 8.25684206e-03 -1.32456915e+01] [ 7.54963492e-01 -6.55704270e-01 -9.05736467e-03 -2.63854018e+02] [ 1.22525178e-02 2.95131908e-04 9.99924892e-01 -2.77930766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.996559995 meters 0.017148898083795234 Centerline is valid? [True, True] Translation: X:-13.27, Y:-263.84, Z:-2.78 [[-6.55445416e-01 -7.55196575e-01 8.33306494e-03 -1.32652801e+01] [ 7.55141358e-01 -6.55498315e-01 -9.13717787e-03 -2.63835627e+02] [ 1.23626755e-02 3.03720628e-04 9.99923533e-01 -2.78055145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.026559995 meters 0.01755162531089445 Centerline is valid? [True, True] Translation: X:-13.28, Y:-263.82, Z:-2.78 [[-6.55124259e-01 -7.55477754e-01 8.09745634e-03 -1.32837126e+01] [ 7.55425702e-01 -6.55174229e-01 -8.87342682e-03 -2.63815423e+02] [ 1.20089213e-02 3.03829473e-04 9.99927844e-01 -2.78024774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.0565599949999 meters 0.0182900241819303 Centerline is valid? [True, True] Translation: X:-13.30, Y:-263.80, Z:-2.78 [[-6.54463425e-01 -7.56053355e-01 7.80703290e-03 -1.33018031e+01] [ 7.56005068e-01 -6.54509916e-01 -8.55027647e-03 -2.63795204e+02] [ 1.15742457e-02 3.06313218e-04 9.99932969e-01 -2.77984565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.0865599949999 meters 0.0187381708308275 Centerline is valid? [True, True] Translation: X:-13.32, Y:-263.77, Z:-2.78 [[-6.54461286e-01 -7.56056335e-01 7.69690408e-03 -1.33206395e+01] [ 7.56009458e-01 -6.54506474e-01 -8.42462805e-03 -2.63774866e+02] [ 1.14071670e-02 3.05339374e-04 9.99934890e-01 -2.77974654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.116559995 meters 0.01717927326816314 Centerline is valid? [True, True] Translation: X:-13.34, Y:-263.75, Z:-2.78 [[-6.54388526e-01 -7.56117045e-01 7.91652419e-03 -1.33366364e+01] [ 7.56067523e-01 -6.54436332e-01 -8.65953426e-03 -2.63752583e+02] [ 1.17284825e-02 3.18726972e-04 9.99931168e-01 -2.77833814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.146559995 meters 0.017142265962004685 Centerline is valid? [True, True] Translation: X:-13.35, Y:-263.73, Z:-2.78 [[-6.53936367e-01 -7.56505139e-01 8.19769665e-03 -1.33549046e+01] [ 7.56452129e-01 -6.53987659e-01 -8.96201301e-03 -2.63731248e+02] [ 1.21410013e-02 3.40578855e-04 9.99926237e-01 -2.77807536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.1765599949999 meters 0.018169689647265855 Centerline is valid? [True, True] Translation: X:-13.37, Y:-263.71, Z:-2.78 [[-6.53738478e-01 -7.56671948e-01 8.57705885e-03 -1.33740155e+01] [ 7.56614003e-01 -6.53794640e-01 -9.37114969e-03 -2.63712519e+02] [ 1.26985212e-02 3.63241698e-04 9.99919305e-01 -2.77898878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.2065599949999 meters 0.017631273433686076 Centerline is valid? [True, True] Translation: X:-13.39, Y:-263.69, Z:-2.78 [[-6.53550431e-01 -7.56833954e-01 8.61398293e-03 -1.33917309e+01] [ 7.56775600e-01 -6.53607090e-01 -9.40552540e-03 -2.63691918e+02] [ 1.27485813e-02 3.71866926e-04 9.99918664e-01 -2.77875939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.236559995 meters 0.01967833646792744 Centerline is valid? [True, True] Translation: X:-13.41, Y:-263.67, Z:-2.78 [[-6.53172147e-01 -7.57162215e-01 8.45731757e-03 -1.34120699e+01] [ 7.57106060e-01 -6.53226790e-01 -9.22897580e-03 -2.63673876e+02] [ 1.25123782e-02 3.74976445e-04 9.99921647e-01 -2.77949304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.266559995 meters 0.017997197128431786 Centerline is valid? [True, True] Translation: X:-13.43, Y:-263.65, Z:-2.78 [[-6.53147963e-01 -7.57188289e-01 7.97701592e-03 -1.34286408e+01] [ 7.57138399e-01 -6.53196576e-01 -8.69933111e-03 -2.63651947e+02] [ 1.17975911e-02 3.57754658e-04 9.99930342e-01 -2.77788065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.2965599949999 meters 0.018334867098012502 Centerline is valid? [True, True] Translation: X:-13.45, Y:-263.63, Z:-2.78 [[-6.53188881e-01 -7.57155866e-01 7.69935724e-03 -1.34475137e+01] [ 7.57109447e-01 -6.53234165e-01 -8.39120797e-03 -2.63632148e+02] [ 1.13829355e-02 3.48212353e-04 9.99935152e-01 -2.77765231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.3265599949999 meters 0.018025271708317747 Centerline is valid? [True, True] Translation: X:-13.47, Y:-263.61, Z:-2.78 [[-6.53197522e-01 -7.57148556e-01 7.68515926e-03 -1.34660891e+01] [ 7.57102361e-01 -6.53242636e-01 -8.37097133e-03 -2.63611449e+02] [ 1.13583426e-02 3.50554488e-04 9.99935431e-01 -2.77696187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.356559995 meters 0.017877560157135645 Centerline is valid? [True, True] Translation: X:-13.48, Y:-263.59, Z:-2.78 [[-6.53764701e-01 -7.56655606e-01 8.00066492e-03 -1.34848947e+01] [ 7.56605561e-01 -6.53813556e-01 -8.70971044e-03 -2.63590889e+02] [ 1.18211944e-02 3.59246335e-04 9.99930063e-01 -2.77702655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.386559995 meters 0.018804702700773102 Centerline is valid? [True, True] Translation: X:-13.50, Y:-263.57, Z:-2.78 [[-6.54494015e-01 -7.56023700e-01 8.10861595e-03 -1.35040394e+01] [ 7.55972318e-01 -6.54544145e-01 -8.82135463e-03 -2.63572483e+02] [ 1.19766003e-02 3.56365386e-04 9.99928215e-01 -2.77816173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.416559995 meters 0.018300413030173743 Centerline is valid? [True, True] Translation: X:-13.52, Y:-263.55, Z:-2.78 [[-6.55227563e-01 -7.55380458e-01 8.78661641e-03 -1.35223066e+01] [ 7.55320144e-01 -6.55286366e-01 -9.55299406e-03 -2.63551837e+02] [ 1.29738950e-02 3.77323354e-04 9.99915764e-01 -2.77870547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.4465599949999 meters 0.017341589719002275 Centerline is valid? [True, True] Translation: X:-13.54, Y:-263.53, Z:-2.78 [[-6.56585062e-01 -7.54197493e-01 9.06636575e-03 -1.35406323e+01] [ 7.54133209e-01 -6.56647552e-01 -9.85369781e-03 -2.63529990e+02] [ 1.33850411e-02 3.67456719e-04 9.99910349e-01 -2.77940036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.476559995 meters 0.017341589719002275 Centerline is valid? [True, True] Translation: X:-13.56, Y:-263.51, Z:-2.78 [[-6.56821783e-01 -7.53991307e-01 9.06945818e-03 -1.35588421e+01] [ 7.53927043e-01 -6.56884293e-01 -9.85085157e-03 -2.63510361e+02] [ 1.33850411e-02 3.67455898e-04 9.99910349e-01 -2.77940020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.506559995 meters 0.017622882589916594 Centerline is valid? [True, True] Translation: X:-13.58, Y:-263.49, Z:-2.78 [[-6.57572671e-01 -7.53336423e-01 9.07833868e-03 -1.35771593e+01] [ 7.53272059e-01 -6.57635237e-01 -9.85399215e-03 -2.63491016e+02] [ 1.33936066e-02 3.58742930e-04 9.99910237e-01 -2.77958558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.536559995 meters 0.016808074040308662 Centerline is valid? [True, True] Translation: X:-13.59, Y:-263.47, Z:-2.78 [[-6.58261512e-01 -7.52735587e-01 8.99546281e-03 -1.35944338e+01] [ 7.52672418e-01 -6.58322881e-01 -9.75785979e-03 -2.63470051e+02] [ 1.32670073e-02 3.47413203e-04 9.99911929e-01 -2.77894600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.5665599949999 meters 0.016295066338808888 Centerline is valid? [True, True] Translation: X:-13.61, Y:-263.45, Z:-2.78 [[-6.59789564e-01 -7.51401273e-01 8.59411117e-03 -1.36125949e+01] [ 7.51343568e-01 -6.59845460e-01 -9.31727345e-03 -2.63448546e+02] [ 1.26717964e-02 3.09690362e-04 9.99919662e-01 -2.77825336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.596559995 meters 0.015565407179167646 Centerline is valid? [True, True] Translation: X:-13.63, Y:-263.43, Z:-2.78 [[-6.60812078e-01 -7.50502137e-01 8.59876803e-03 -1.36303697e+01] [ 7.50444361e-01 -6.60867955e-01 -9.31702246e-03 -2.63427005e+02] [ 1.26750955e-02 2.96096005e-04 9.99919624e-01 -2.77780380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.626559995 meters 0.01518736688538736 Centerline is valid? [True, True] Translation: X:-13.65, Y:-263.41, Z:-2.78 [[-6.61910326e-01 -7.49535984e-01 8.39819285e-03 -1.36483063e+01] [ 7.49480858e-01 -6.61963544e-01 -9.09450891e-03 -2.63405925e+02] [ 1.23759592e-02 2.74535431e-04 9.99923377e-01 -2.77745170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.656559995 meters 0.015191517441563784 Centerline is valid? [True, True] Translation: X:-13.67, Y:-263.39, Z:-2.78 [[-6.62765405e-01 -7.48778844e-01 8.50064014e-03 -1.36664713e+01] [ 7.48722371e-01 -6.62819863e-01 -9.20003026e-03 -2.63386068e+02] [ 1.25231812e-02 2.67157657e-04 9.99921546e-01 -2.77736918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.6865599949999 meters 0.01650075068069799 Centerline is valid? [True, True] Translation: X:-13.69, Y:-263.37, Z:-2.78 [[-6.63985462e-01 -7.47695615e-01 8.63564950e-03 -1.36857149e+01] [ 7.47637300e-01 -6.64041568e-01 -9.34156894e-03 -2.63368485e+02] [ 1.27190804e-02 2.53667713e-04 9.99919077e-01 -2.77938920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.716559995 meters 0.014631037634760298 Centerline is valid? [True, True] Translation: X:-13.70, Y:-263.35, Z:-2.78 [[-6.64755661e-01 -7.47006624e-01 9.00083381e-03 -1.37018590e+01] [ 7.46943282e-01 -6.64816546e-01 -9.73111430e-03 -2.63345582e+02] [ 1.32531101e-02 2.54299021e-04 9.99912141e-01 -2.77771046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.746559995 meters 0.01569366454447363 Centerline is valid? [True, True] Translation: X:-13.72, Y:-263.33, Z:-2.78 [[-6.65425515e-01 -7.46406654e-01 9.27311115e-03 -1.37208732e+01] [ 7.46339455e-01 -6.65490077e-01 -1.00188046e-02 -2.63327826e+02] [ 1.36492658e-02 2.54120531e-04 9.99906812e-01 -2.77982303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.776559995 meters 0.014627785540808246 Centerline is valid? [True, True] Translation: X:-13.74, Y:-263.31, Z:-2.78 [[-6.66115662e-01 -7.45787791e-01 9.51295427e-03 -1.37379984e+01] [ 7.45717097e-01 -6.66183539e-01 -1.02715015e-02 -2.63306155e+02] [ 1.39977340e-02 2.51964606e-04 9.99901995e-01 -2.77877737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.8065599949999 meters 0.014310842775662228 Centerline is valid? [True, True] Translation: X:-13.76, Y:-263.29, Z:-2.78 [[-6.66989181e-01 -7.45002819e-01 9.80982522e-03 -1.37557719e+01] [ 7.44927655e-01 -6.67061271e-01 -1.05853461e-02 -2.63285267e+02] [ 1.44298672e-02 2.47298769e-04 9.99895854e-01 -2.77880566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.8365599949999 meters 0.014251165808026964 Centerline is valid? [True, True] Translation: X:-13.77, Y:-263.27, Z:-2.78 [[-6.67469103e-01 -7.44574415e-01 9.69211664e-03 -1.37739553e+01] [ 7.44501093e-01 -6.67539425e-01 -1.04517345e-02 -2.63265497e+02] [ 1.42519641e-02 2.39581551e-04 9.99898407e-01 -2.77842278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.866559995 meters 0.013940227100295176 Centerline is valid? [True, True] Translation: X:-13.79, Y:-263.24, Z:-2.78 [[-6.67880812e-01 -7.44208824e-01 9.40467547e-03 -1.37927025e+01] [ 7.44139831e-01 -6.67946985e-01 -1.01360018e-02 -2.63243974e+02] [ 1.38251266e-02 2.28752488e-04 9.99904402e-01 -2.77773260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.896559995 meters 0.01480926139917717 Centerline is valid? [True, True] Translation: X:-13.81, Y:-263.23, Z:-2.78 [[-6.69051330e-01 -7.43165656e-01 8.66755622e-03 -1.38121023e+01] [ 7.43107034e-01 -6.69107443e-01 -9.33624897e-03 -2.63225358e+02] [ 1.27379060e-02 1.94492208e-04 9.99918851e-01 -2.77880527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.9265599949999 meters 0.01365178433766579 Centerline is valid? [True, True] Translation: X:-13.83, Y:-263.20, Z:-2.78 [[-6.69828055e-01 -7.42468299e-01 8.43812625e-03 -1.38288521e+01] [ 7.42412755e-01 -6.69881178e-01 -9.08337990e-03 -2.63203073e+02] [ 1.23966636e-02 1.80269861e-04 9.99923142e-01 -2.77635524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.9565599949999 meters 0.013482669747884597 Centerline is valid? [True, True] Translation: X:-13.85, Y:-263.18, Z:-2.78 [[-6.70602418e-01 -7.41771640e-01 8.19941594e-03 -1.38472997e+01] [ 7.41719210e-01 -6.70652523e-01 -8.82086802e-03 -2.63182360e+02] [ 1.20420287e-02 1.66368886e-04 9.99927478e-01 -2.77565910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.986559995 meters 0.013372582201086761 Centerline is valid? [True, True] Translation: X:-13.87, Y:-263.16, Z:-2.77 [[-6.71165690e-01 -7.41265183e-01 7.90856938e-03 -1.38658480e+01] [ 7.41216433e-01 -6.71212265e-01 -8.50263741e-03 -2.63161827e+02] [ 1.16110378e-02 1.55283085e-04 9.99932578e-01 -2.77480402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.016559995 meters 0.013457463395940047 Centerline is valid? [True, True] Translation: X:-13.88, Y:-263.14, Z:-2.77 [[-6.71178208e-01 -7.41257152e-01 7.59267468e-03 -1.38847457e+01] [ 7.41212275e-01 -6.71221135e-01 -8.15791867e-03 -2.63142086e+02] [ 1.11434793e-02 1.52366448e-04 9.99937898e-01 -2.77392776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.0465599949999 meters 0.01356676919672687 Centerline is valid? [True, True] Translation: X:-13.90, Y:-263.12, Z:-2.77 [[-6.71219800e-01 -7.41217830e-01 7.75303461e-03 -1.39035433e+01] [ 7.41171097e-01 -6.71264556e-01 -8.32476184e-03 -2.63122994e+02] [ 1.13747992e-02 1.58580191e-04 9.99935292e-01 -2.77407368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.0765599949999 meters 0.013606368957705485 Centerline is valid? [True, True] Translation: X:-13.92, Y:-263.10, Z:-2.77 [[-6.71528536e-01 -7.40938374e-01 7.72997565e-03 -1.39223861e+01] [ 7.40891958e-01 -6.71573006e-01 -8.29487373e-03 -2.63103907e+02] [ 1.13372332e-02 1.56832380e-04 9.99935719e-01 -2.77446736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.106559995 meters 0.01326089867972133 Centerline is valid? [True, True] Translation: X:-13.94, Y:-263.08, Z:-2.77 [[-6.71714982e-01 -7.40764888e-01 8.14645632e-03 -1.39410598e+01] [ 7.40713382e-01 -6.71764359e-01 -8.73682896e-03 -2.63083249e+02] [ 1.19444351e-02 1.65530306e-04 9.99928649e-01 -2.77415935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.136559995 meters 0.013097212002844439 Centerline is valid? [True, True] Translation: X:-13.96, Y:-263.06, Z:-2.77 [[-6.72700910e-01 -7.39869264e-01 8.18279683e-03 -1.39603004e+01] [ 7.39817291e-01 -6.72750658e-01 -8.77085396e-03 -2.63063153e+02] [ 1.19942672e-02 1.53613144e-04 9.99928054e-01 -2.77460023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.166559995 meters 0.013002876355355247 Centerline is valid? [True, True] Translation: X:-13.98, Y:-263.04, Z:-2.77 [[-6.73716829e-01 -7.38947001e-01 7.93499705e-03 -1.39785240e+01] [ 7.38898130e-01 -6.73763542e-01 -8.49959626e-03 -2.63043696e+02] [ 1.16270629e-02 1.36833441e-04 9.99932394e-01 -2.77488532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.1965599949999 meters 0.01266083393280688 Centerline is valid? [True, True] Translation: X:-14.00, Y:-263.02, Z:-2.77 [[-6.75453496e-01 -7.37363007e-01 7.64002742e-03 -1.39962163e+01] [ 7.37317658e-01 -6.75496694e-01 -8.17847744e-03 -2.63022814e+02] [ 1.11913200e-02 1.08945943e-04 9.99937369e-01 -2.77387820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.226559995 meters 0.01245813108684666 Centerline is valid? [True, True] Translation: X:-14.01, Y:-263.00, Z:-2.77 [[-6.76428022e-01 -7.36470186e-01 7.53638013e-03 -1.40143856e+01] [ 7.36426059e-01 -6.76469996e-01 -8.06245661e-03 -2.63002856e+02] [ 1.10358940e-02 9.63151418e-05 9.99939098e-01 -2.77338518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.256559995 meters 0.012360718720163599 Centerline is valid? [True, True] Translation: X:-14.03, Y:-262.98, Z:-2.77 [[-6.77341602e-01 -7.35634093e-01 7.12988328e-03 -1.40323108e+01] [ 7.35594605e-01 -6.77379121e-01 -7.62256750e-03 -2.62983673e+02] [ 1.04370546e-02 8.16215905e-05 9.99945529e-01 -2.77350423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.286559995 meters 0.012188295110960503 Centerline is valid? [True, True] Translation: X:-14.05, Y:-262.96, Z:-2.77 [[-6.78101067e-01 -7.34935065e-01 7.02805926e-03 -1.40506328e+01] [ 7.34896706e-01 -6.78137483e-01 -7.50901303e-03 -2.62963728e+02] [ 1.02846274e-02 7.30278533e-05 9.99947109e-01 -2.77281617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.3165599949999 meters 0.012178160904837539 Centerline is valid? [True, True] Translation: X:-14.07, Y:-262.94, Z:-2.77 [[-6.78756027e-01 -7.34332749e-01 6.75784522e-03 -1.40695461e+01] [ 7.34297299e-01 -6.78789665e-01 -7.21581815e-03 -2.62943583e+02] [ 9.88596707e-03 6.44874310e-05 9.99951131e-01 -2.77296052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.346559995 meters 0.012023837278258917 Centerline is valid? [True, True] Translation: X:-14.09, Y:-262.92, Z:-2.77 [[-6.79411869e-01 -7.33729680e-01 6.34579157e-03 -1.40882505e+01] [ 7.33698434e-01 -6.79441502e-01 -6.77157692e-03 -2.62924285e+02] [ 9.28010112e-03 5.52076003e-05 9.99956937e-01 -2.77262387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.376559995 meters 0.012098011759965827 Centerline is valid? [True, True] Translation: X:-14.11, Y:-262.90, Z:-2.77 [[-6.79515822e-01 -7.33632807e-01 6.41490513e-03 -1.41074847e+01] [ 7.33600913e-01 -6.79546099e-01 -6.84104945e-03 -2.62904846e+02] [ 9.37804207e-03 5.73789137e-05 9.99956024e-01 -2.77300499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.406559995 meters 0.01224205236371928 Centerline is valid? [True, True] Translation: X:-14.13, Y:-262.89, Z:-2.77 [[-6.79151126e-01 -7.33967489e-01 6.74338280e-03 -1.41266070e+01] [ 7.33932307e-01 -6.79184600e-01 -7.18663625e-03 -2.62886679e+02] [ 9.85475911e-03 6.83743926e-05 9.99951438e-01 -2.77361884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.4365599949999 meters 0.012334182770260122 Centerline is valid? [True, True] Translation: X:-14.15, Y:-262.87, Z:-2.77 [[-6.78938787e-01 -7.34163425e-01 6.79623000e-03 -1.41459486e+01] [ 7.34127744e-01 -6.78972798e-01 -7.23850358e-03 -2.62867714e+02] [ 9.92869988e-03 7.48001521e-05 9.99950707e-01 -2.77401975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.466559995 meters 0.012591691381530249 Centerline is valid? [True, True] Translation: X:-14.17, Y:-262.85, Z:-2.77 [[-6.77884895e-01 -7.35134969e-01 6.97471206e-03 -1.41663048e+01] [ 7.35097484e-01 -6.77920769e-01 -7.42431456e-03 -2.62849169e+02] [ 1.01861754e-02 9.42625844e-05 9.99948115e-01 -2.77421597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.496559995 meters 0.012889339002484302 Centerline is valid? [True, True] Translation: X:-14.19, Y:-262.83, Z:-2.77 [[-6.77476660e-01 -7.35510073e-01 7.09277153e-03 -1.41854739e+01] [ 7.35471379e-01 -6.77513779e-01 -7.54517129e-03 -2.62830946e+02] [ 1.03549999e-02 1.04853012e-04 9.99946380e-01 -2.77447727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.526559995 meters 0.012985876929508143 Centerline is valid? [True, True] Translation: X:-14.20, Y:-262.81, Z:-2.77 [[-6.77133178e-01 -7.35825900e-01 7.13479778e-03 -1.42044823e+01] [ 7.35786813e-01 -6.77170756e-01 -7.58502843e-03 -2.62812092e+02] [ 1.04127368e-02 1.13615716e-04 9.99945780e-01 -2.77459823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.5565599949999 meters 0.012986701275641013 Centerline is valid? [True, True] Translation: X:-14.22, Y:-262.79, Z:-2.77 [[-6.76759226e-01 -7.36168116e-01 7.31130836e-03 -1.42231881e+01] [ 7.36127146e-01 -6.76798707e-01 -7.76761377e-03 -2.62792926e+02] [ 1.06665536e-02 1.25248276e-04 9.99943103e-01 -2.77414649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.5865599949999 meters 0.01307045036303911 Centerline is valid? [True, True] Translation: X:-14.24, Y:-262.77, Z:-2.77 [[-6.75804868e-01 -7.37047237e-01 7.01073202e-03 -1.42434485e+01] [ 7.37009656e-01 -6.75841218e-01 -7.44409125e-03 -2.62772867e+02] [ 1.02247886e-02 1.36224092e-04 9.99947716e-01 -2.77360415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.616559995 meters 0.013606720193846447 Centerline is valid? [True, True] Translation: X:-14.26, Y:-262.76, Z:-2.77 [[-6.75590721e-01 -7.37247661e-01 6.56225639e-03 -1.42623593e+01] [ 7.37214789e-01 -6.75622578e-01 -6.96328039e-03 -2.62755162e+02] [ 9.56727076e-03 1.33464835e-04 9.99954224e-01 -2.77434063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.646559995 meters 0.013403936561982048 Centerline is valid? [True, True] Translation: X:-14.28, Y:-262.74, Z:-2.77 [[-6.75371944e-01 -7.37452125e-01 6.09105282e-03 -1.42808700e+01] [ 7.37423848e-01 -6.75399398e-01 -6.45923780e-03 -2.62735210e+02] [ 8.87727205e-03 1.29299615e-04 9.99960588e-01 -2.77331075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.6765599949999 meters 0.013723912761810524 Centerline is valid? [True, True] Translation: X:-14.30, Y:-262.72, Z:-2.77 [[-6.75096215e-01 -7.37711220e-01 5.22078006e-03 -1.42996203e+01] [ 7.37690481e-01 -6.75116392e-01 -5.53273034e-03 -2.62716778e+02] [ 7.60619145e-03 1.16194443e-04 9.99971066e-01 -2.77267705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.7065599949999 meters 0.013868440096563217 Centerline is valid? [True, True] Translation: X:-14.32, Y:-262.70, Z:-2.77 [[-6.73867596e-01 -7.38840865e-01 4.07917622e-03 -1.43194707e+01] [ 7.38828239e-01 -6.73879935e-01 -4.32047792e-03 -2.62697102e+02] [ 5.94102065e-03 1.02380513e-04 9.99982347e-01 -2.77138824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.736559995 meters 0.014131585799232974 Centerline is valid? [True, True] Translation: X:-14.34, Y:-262.68, Z:-2.77 [[-6.73009959e-01 -7.39624492e-01 3.63403101e-03 -1.43394256e+01] [ 7.39614494e-01 -6.73019763e-01 -3.84681865e-03 -2.62677244e+02] [ 5.29097598e-03 9.88347417e-05 9.99985998e-01 -2.77102983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.766559995 meters 0.014616360104142027 Centerline is valid? [True, True] Translation: X:-14.36, Y:-262.66, Z:-2.77 [[-6.72074232e-01 -7.40475779e-01 3.44200224e-03 -1.43598057e+01] [ 7.40466832e-01 -6.72083038e-01 -3.64149382e-03 -2.62657624e+02] [ 5.00974930e-03 1.01334329e-04 9.99987446e-01 -2.77076874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.7965599949999 meters 0.01662000772315573 Centerline is valid? [True, True] Translation: X:-14.38, Y:-262.64, Z:-2.77 [[-6.70023828e-01 -7.42330391e-01 3.69605324e-03 -1.43817545e+01] [ 7.42320115e-01 -6.70034010e-01 -3.90794735e-03 -2.62640969e+02] [ 5.37746946e-03 1.25236829e-04 9.99985534e-01 -2.77163486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.8265599949999 meters 0.015675954978319945 Centerline is valid? [True, True] Translation: X:-14.40, Y:-262.62, Z:-2.77 [[-6.69280401e-01 -7.42998665e-01 4.08998206e-03 -1.44001055e+01] [ 7.42986109e-01 -6.69292882e-01 -4.32199110e-03 -2.62619627e+02] [ 5.94862950e-03 1.46175923e-04 9.99982296e-01 -2.77169799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.856559995 meters 0.01632519548038732 Centerline is valid? [True, True] Translation: X:-14.42, Y:-262.60, Z:-2.77 [[-6.68524007e-01 -7.43674575e-01 4.87633851e-03 -1.44195902e+01] [ 7.43656759e-01 -6.68541766e-01 -5.15081168e-03 -2.62601037e+02] [ 7.09056365e-03 1.82880829e-04 9.99974845e-01 -2.77242403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.886559995 meters 0.01727579007172421 Centerline is valid? [True, True] Translation: X:-14.44, Y:-262.58, Z:-2.77 [[-6.68114739e-01 -7.44039404e-01 5.29728929e-03 -1.44393116e+01] [ 7.44018417e-01 -6.68135707e-01 -5.59213332e-03 -2.62582860e+02] [ 7.70007566e-03 2.05094101e-04 9.99970333e-01 -2.77352612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.916559995 meters 0.016714512559537674 Centerline is valid? [True, True] Translation: X:-14.46, Y:-262.56, Z:-2.77 [[-6.67995984e-01 -7.44139964e-01 6.08921040e-03 -1.44578942e+01] [ 7.44112270e-01 -6.68023694e-01 -6.42450039e-03 -2.62561960e+02] [ 8.84846432e-03 2.39515703e-04 9.99960823e-01 -2.77381589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.9465599949999 meters 0.016813077963114268 Centerline is valid? [True, True] Translation: X:-14.48, Y:-262.54, Z:-2.77 [[-6.68267631e-01 -7.43898991e-01 5.71535047e-03 -1.44770428e+01] [ 7.43874615e-01 -6.68292033e-01 -6.02624232e-03 -2.62542062e+02] [ 8.30243877e-03 2.24361453e-04 9.99965509e-01 -2.77411590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.976559995 meters 0.016375632554850236 Centerline is valid? [True, True] Translation: X:-14.50, Y:-262.52, Z:-2.77 [[-6.68765513e-01 -7.43451877e-01 5.65641174e-03 -1.44955019e+01] [ 7.43428013e-01 -6.68789398e-01 -5.96071008e-03 -2.62521359e+02] [ 8.21444930e-03 2.18817604e-04 9.99966237e-01 -2.77333043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.006559995 meters 0.016375632554850236 Centerline is valid? [True, True] Translation: X:-14.51, Y:-262.50, Z:-2.77 [[-6.68976419e-01 -7.43262092e-01 5.65810274e-03 -1.45145478e+01] [ 7.43238235e-01 -6.69000311e-01 -5.95910495e-03 -2.62501391e+02] [ 8.21444930e-03 2.18817603e-04 9.99966237e-01 -2.77333027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.036559995 meters 0.01643822393051008 Centerline is valid? [True, True] Translation: X:-14.53, Y:-262.48, Z:-2.77 [[-6.69614951e-01 -7.42694180e-01 4.60128724e-03 -1.45341295e+01] [ 7.42678408e-01 -6.69630738e-01 -4.84333836e-03 -2.62480884e+02] [ 6.67828258e-03 1.74104902e-04 9.99977685e-01 -2.77244858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.0665599949999 meters 0.017458704281902295 Centerline is valid? [True, True] Translation: X:-14.55, Y:-262.46, Z:-2.77 [[-6.69985569e-01 -7.42359869e-01 4.60011673e-03 -1.45535957e+01] [ 7.42344119e-01 -6.70001339e-01 -4.83889090e-03 -2.62463004e+02] [ 6.67428278e-03 1.72882525e-04 9.99977712e-01 -2.77233580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.096559995 meters 0.01844049353462473 Centerline is valid? [True, True] Translation: X:-14.57, Y:-262.45, Z:-2.77 [[-6.70364568e-01 -7.42019367e-01 4.31324622e-03 -1.45731481e+01] [ 7.42005531e-01 -6.70378425e-01 -4.53422246e-03 -2.62445069e+02] [ 6.25598809e-03 1.60870473e-04 9.99980418e-01 -2.77237218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.126559995 meters 0.0170622994100125 Centerline is valid? [True, True] Translation: X:-14.59, Y:-262.42, Z:-2.77 [[-6.70370100e-01 -7.42014056e-01 4.36688918e-03 -1.45900029e+01] [ 7.41999891e-01 -6.70384303e-01 -4.58776718e-03 -2.62423910e+02] [ 6.33168169e-03 1.64729356e-04 9.99979941e-01 -2.77169248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.156559995 meters 0.017011104746247105 Centerline is valid? [True, True] Translation: X:-14.61, Y:-262.40, Z:-2.77 [[-6.70444112e-01 -7.41945716e-01 4.60958557e-03 -1.46087539e+01] [ 7.41929951e-01 -6.70459935e-01 -4.83972139e-03 -2.62404427e+02] [ 6.68135300e-03 1.75226889e-04 9.99977664e-01 -2.77203464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.1865599949999 meters 0.017290994829564532 Centerline is valid? [True, True] Translation: X:-14.63, Y:-262.39, Z:-2.77 [[-6.70661089e-01 -7.41749281e-01 4.65915756e-03 -1.46276731e+01] [ 7.41733193e-01 -6.70677250e-01 -4.88857452e-03 -2.62385596e+02] [ 6.75088761e-03 1.77275104e-04 9.99977197e-01 -2.77211470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.216559995 meters 0.016220824189904694 Centerline is valid? [True, True] Translation: X:-14.65, Y:-262.36, Z:-2.77 [[-6.70824160e-01 -7.41602187e-01 4.59806997e-03 -1.46457339e+01] [ 7.41586533e-01 -6.70839896e-01 -4.82171755e-03 -2.62364354e+02] [ 6.66036506e-03 1.75342139e-04 9.99977804e-01 -2.77150894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.246559995 meters 0.017067096526569858 Centerline is valid? [True, True] Translation: X:-14.67, Y:-262.35, Z:-2.77 [[-6.70941223e-01 -7.41497460e-01 4.40373642e-03 -1.46661659e+01] [ 7.41483116e-01 -6.70955653e-01 -4.61514679e-03 -2.62345881e+02] [ 6.37683147e-03 1.68803974e-04 9.99979654e-01 -2.77184748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.276559995 meters 0.01611789025119811 Centerline is valid? [True, True] Translation: X:-14.68, Y:-262.33, Z:-2.77 [[-6.71554254e-01 -7.40941971e-01 4.45867402e-03 -1.46847946e+01] [ 7.40927272e-01 -6.71569035e-01 -4.67005118e-03 -2.62325135e+02] [ 6.45454433e-03 1.67360436e-04 9.99979155e-01 -2.77160764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.3065599949999 meters 0.016292537775890664 Centerline is valid? [True, True] Translation: X:-14.70, Y:-262.31, Z:-2.77 [[-6.71839344e-01 -7.40681774e-01 4.73340390e-03 -1.47046275e+01] [ 7.40665221e-01 -6.71855995e-01 -4.95499257e-03 -2.62305310e+02] [ 6.85023847e-03 1.76908691e-04 9.99976521e-01 -2.77202272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.3365599949999 meters 0.01833272826568704 Centerline is valid? [True, True] Translation: X:-14.73, Y:-262.29, Z:-2.77 [[-6.72175909e-01 -7.40375215e-01 4.90809049e-03 -1.47264794e+01] [ 7.40357431e-01 -6.72193803e-01 -5.13478263e-03 -2.62288091e+02] [ 7.10085380e-03 1.82264086e-04 9.99974772e-01 -2.77321083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.366559995 meters 0.01863397817638271 Centerline is valid? [True, True] Translation: X:-14.75, Y:-262.27, Z:-2.77 [[-6.72564771e-01 -7.40021545e-01 4.97410989e-03 -1.47455480e+01] [ 7.40003294e-01 -6.72583139e-01 -5.20062758e-03 -2.62269565e+02] [ 7.19407890e-03 1.83098805e-04 9.99974106e-01 -2.77320082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.396559995 meters 0.01863397817638271 Centerline is valid? [True, True] Translation: X:-14.76, Y:-262.25, Z:-2.77 [[-6.72781143e-01 -7.39824828e-01 4.97563059e-03 -1.47641425e+01] [ 7.39806582e-01 -6.72799517e-01 -5.19917270e-03 -2.62250320e+02] [ 7.19407890e-03 1.83098905e-04 9.99974106e-01 -2.77320066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.4265599949999 meters 0.01875353078543742 Centerline is valid? [True, True] Translation: X:-14.78, Y:-262.23, Z:-2.77 [[-6.72917187e-01 -7.39701333e-01 4.93945780e-03 -1.47837961e+01] [ 7.39683369e-01 -6.72935290e-01 -5.15836301e-03 -2.62230852e+02] [ 7.13958346e-03 1.82483659e-04 9.99974496e-01 -2.77316352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.4565599949999 meters 0.016503333402792628 Centerline is valid? [True, True] Translation: X:-14.80, Y:-262.21, Z:-2.77 [[-6.73059730e-01 -7.39573069e-01 4.71967958e-03 -1.48005591e+01] [ 7.39556687e-01 -6.73076254e-01 -4.92573932e-03 -2.62208944e+02] [ 6.81964840e-03 1.75153814e-04 9.99976731e-01 -2.77185901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.486559995 meters 0.01740600980358615 Centerline is valid? [True, True] Translation: X:-14.82, Y:-262.19, Z:-2.77 [[-6.72904073e-01 -7.39714650e-01 4.72716231e-03 -1.48203962e+01] [ 7.39698240e-01 -6.72920653e-01 -4.93029533e-03 -2.62191770e+02] [ 6.82801683e-03 1.79057833e-04 9.99976673e-01 -2.77218150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.516559995 meters 0.018631567232350727 Centerline is valid? [True, True] Translation: X:-14.84, Y:-262.18, Z:-2.77 [[-6.72516230e-01 -7.40068515e-01 4.52924086e-03 -1.48417942e+01] [ 7.40053477e-01 -6.72531458e-01 -4.72114429e-03 -2.62175338e+02] [ 6.54002720e-03 1.76834289e-04 9.99978598e-01 -2.77264754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.5465599949999 meters 0.017013211820872433 Centerline is valid? [True, True] Translation: X:-14.86, Y:-262.15, Z:-2.77 [[-6.72443073e-01 -7.40134320e-01 4.63703396e-03 -1.48592897e+01] [ 7.40118579e-01 -6.72459036e-01 -4.83045032e-03 -2.62154590e+02] [ 6.69339745e-03 1.83752131e-04 9.99977582e-01 -2.77189063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.5765599949999 meters 0.018361629120267852 Centerline is valid? [True, True] Translation: X:-14.88, Y:-262.14, Z:-2.77 [[-6.72407949e-01 -7.40168766e-01 4.21278935e-03 -1.48798306e+01] [ 7.40155792e-01 -6.72421125e-01 -4.38560411e-03 -2.62137737e+02] [ 6.07885574e-03 1.69205370e-04 9.99981509e-01 -2.77215517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.606559995 meters 0.01819056040425092 Centerline is valid? [True, True] Translation: X:-14.90, Y:-262.12, Z:-2.77 [[-6.71546598e-01 -7.40950327e-01 4.21653752e-03 -1.49001039e+01] [ 7.40937361e-01 -6.71559812e-01 -4.38708234e-03 -2.62118668e+02] [ 6.08226724e-03 1.78059955e-04 9.99981487e-01 -2.77207908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.636559995 meters 0.017987732303525985 Centerline is valid? [True, True] Translation: X:-14.92, Y:-262.10, Z:-2.77 [[-6.70975805e-01 -7.41466216e-01 4.39534903e-03 -1.49195983e+01] [ 7.41452150e-01 -6.70990174e-01 -4.57123861e-03 -2.62099168e+02] [ 6.33865501e-03 1.91750481e-04 9.99979892e-01 -2.77184466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.666559995 meters 0.018071360725238354 Centerline is valid? [True, True] Translation: X:-14.94, Y:-262.08, Z:-2.77 [[-6.70509450e-01 -7.41888312e-01 4.33710135e-03 -1.49399011e+01] [ 7.41874641e-01 -6.70523448e-01 -4.50810522e-03 -2.62079776e+02] [ 6.25263873e-03 1.94858350e-04 9.99980433e-01 -2.77200875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.6965599949999 meters 0.01933824416441631 Centerline is valid? [True, True] Translation: X:-14.96, Y:-262.06, Z:-2.77 [[-6.68871024e-01 -7.43365204e-01 4.44150166e-03 -1.49615401e+01] [ 7.43350913e-01 -6.68885735e-01 -4.61451374e-03 -2.62063590e+02] [ 6.40112605e-03 2.15079780e-04 9.99979490e-01 -2.77231793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.726559995 meters 0.02018352967385272 Centerline is valid? [True, True] Translation: X:-14.98, Y:-262.05, Z:-2.77 [[-6.68258985e-01 -7.43915985e-01 4.35162915e-03 -1.49820605e+01] [ 7.43902294e-01 -6.68273118e-01 -4.51846952e-03 -2.62046175e+02] [ 6.26943848e-03 2.17679047e-04 9.99980323e-01 -2.77270693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.756559995 meters 0.020805982761351267 Centerline is valid? [True, True] Translation: X:-15.00, Y:-262.03, Z:-2.77 [[-6.67806484e-01 -7.44320656e-01 4.61102367e-03 -1.50030471e+01] [ 7.44305311e-01 -6.67822361e-01 -4.78516948e-03 -2.62027362e+02] [ 6.64104520e-03 2.36442200e-04 9.99977920e-01 -2.77272923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.786559995 meters 0.021556870338274903 Centerline is valid? [True, True] Translation: X:-15.02, Y:-262.01, Z:-2.77 [[-6.66950856e-01 -7.45087349e-01 4.62575844e-03 -1.50243000e+01] [ 7.45071944e-01 -6.66966852e-01 -4.79766162e-03 -2.62009651e+02] [ 6.65990452e-03 2.46718306e-04 9.99977792e-01 -2.77261265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.8165599949999 meters 0.022880124177825117 Centerline is valid? [True, True] Translation: X:-15.04, Y:-261.99, Z:-2.77 [[-6.66982984e-01 -7.45059702e-01 4.44282494e-03 -1.50449573e+01] [ 7.45045510e-01 -6.66997738e-01 -4.60495606e-03 -2.61992554e+02] [ 6.39432138e-03 2.38679439e-04 9.99979528e-01 -2.77308808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.846559995 meters 0.021528164320450842 Centerline is valid? [True, True] Translation: X:-15.06, Y:-261.97, Z:-2.77 [[-6.67191247e-01 -7.44873083e-01 4.46435431e-03 -1.50630751e+01] [ 7.44858766e-01 -6.67206140e-01 -4.62440589e-03 -2.61972322e+02] [ 6.42324008e-03 2.39950306e-04 9.99979342e-01 -2.77259823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.876559995 meters 0.021358801687924246 Centerline is valid? [True, True] Translation: X:-15.08, Y:-261.95, Z:-2.77 [[-6.67465731e-01 -7.44627091e-01 4.47138532e-03 -1.50833870e+01] [ 7.44612743e-01 -6.67480664e-01 -4.62881288e-03 -2.61953944e+02] [ 6.43130272e-03 2.39876519e-04 9.99979290e-01 -2.77259776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.906559995 meters 0.021086317637783635 Centerline is valid? [True, True] Translation: X:-15.10, Y:-261.94, Z:-2.77 [[-6.67732448e-01 -7.44388693e-01 4.34188589e-03 -1.51026074e+01] [ 7.44375176e-01 -6.67746524e-01 -4.49194763e-03 -2.61935069e+02] [ 6.24303423e-03 2.32572888e-04 9.99980485e-01 -2.77260112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.9365599949999 meters 0.021537428280132952 Centerline is valid? [True, True] Translation: X:-15.12, Y:-261.92, Z:-2.77 [[-6.68032045e-01 -7.44120646e-01 4.20127959e-03 -1.51220324e+01] [ 7.44108003e-01 -6.68045218e-01 -4.34363991e-03 -2.61917668e+02] [ 6.03883688e-03 2.24515115e-04 9.99981741e-01 -2.77275024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.966559995 meters 0.021444455860945868 Centerline is valid? [True, True] Translation: X:-15.14, Y:-261.90, Z:-2.77 [[-6.68504281e-01 -7.43696885e-01 4.11949854e-03 -1.51418915e+01] [ 7.43684736e-01 -6.68516938e-01 -4.25645691e-03 -2.61898516e+02] [ 5.91946830e-03 2.18148524e-04 9.99982456e-01 -2.77255171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.996559995 meters 0.02141217910121487 Centerline is valid? [True, True] Translation: X:-15.16, Y:-261.88, Z:-2.77 [[-6.69242323e-01 -7.43033820e-01 3.93132201e-03 -1.51620617e+01] [ 7.43022759e-01 -6.69253839e-01 -4.05953041e-03 -2.61879811e+02] [ 5.64742074e-03 2.04252163e-04 9.99984032e-01 -2.77267432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.026559995 meters 0.02159423158282721 Centerline is valid? [True, True] Translation: X:-15.18, Y:-261.86, Z:-2.77 [[-6.69718404e-01 -7.42604555e-01 3.96672894e-03 -1.51810032e+01] [ 7.42593300e-01 -6.69730120e-01 -4.09345892e-03 -2.61861932e+02] [ 5.69645909e-03 2.04201561e-04 9.99983754e-01 -2.77279396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.0565599949999 meters 0.021930249288169928 Centerline is valid? [True, True] Translation: X:-15.20, Y:-261.84, Z:-2.77 [[-6.70155900e-01 -7.42209749e-01 3.96965253e-03 -1.52002713e+01] [ 7.42198486e-01 -6.70167626e-01 -4.09386405e-03 -2.61843939e+02] [ 5.69883842e-03 2.02742953e-04 9.99983741e-01 -2.77292474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.0865599949999 meters 0.02063523953123542 Centerline is valid? [True, True] Translation: X:-15.22, Y:-261.82, Z:-2.77 [[-6.69875187e-01 -7.42464013e-01 3.79778844e-03 -1.52197473e+01] [ 7.42453721e-01 -6.69885923e-01 -3.91444627e-03 -2.61823563e+02] [ 5.45042051e-03 1.97491728e-04 9.99985127e-01 -2.77259348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.116559995 meters 0.021367463837619616 Centerline is valid? [True, True] Translation: X:-15.24, Y:-261.81, Z:-2.77 [[-6.69950082e-01 -7.42395397e-01 3.99515426e-03 -1.52394981e+01] [ 7.42384021e-01 -6.69961962e-01 -4.11518051e-03 -2.61806603e+02] [ 5.73169246e-03 2.08973167e-04 9.99983552e-01 -2.77309706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.146559995 meters 0.021627582011543092 Centerline is valid? [True, True] Translation: X:-15.26, Y:-261.79, Z:-2.77 [[-6.69635620e-01 -7.42676870e-01 4.38221631e-03 -1.52601220e+01] [ 7.42663204e-01 -6.69649918e-01 -4.51139420e-03 -2.61787434e+02] [ 6.28505892e-03 2.33520551e-04 9.99980222e-01 -2.77337018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.1765599949999 meters 0.022036926350378534 Centerline is valid? [True, True] Translation: X:-15.28, Y:-261.77, Z:-2.77 [[-6.69437637e-01 -7.42854175e-01 4.57439016e-03 -1.52807787e+01] [ 7.42839306e-01 -6.69453220e-01 -4.70665780e-03 -2.61768752e+02] [ 6.55870062e-03 2.47222937e-04 9.99978461e-01 -2.77376156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.2065599949999 meters 0.023582129451854363 Centerline is valid? [True, True] Translation: X:-15.30, Y:-261.75, Z:-2.77 [[-6.68184226e-01 -7.43977913e-01 5.16778872e-03 -1.53025458e+01] [ 7.43958987e-01 -6.68204145e-01 -5.31474185e-03 -2.61752691e+02] [ 7.40718839e-03 2.93396192e-04 9.99972523e-01 -2.77466444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.236559995 meters 0.024278395658973 Centerline is valid? [True, True] Translation: X:-15.32, Y:-261.73, Z:-2.78 [[-6.67582175e-01 -7.44513924e-01 5.74949171e-03 -1.53234431e+01] [ 7.44490544e-01 -6.67606849e-01 -5.90981283e-03 -2.61734386e+02] [ 8.23833799e-03 3.35156508e-04 9.99966008e-01 -2.77509901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.266559995 meters 0.02494091922440138 Centerline is valid? [True, True] Translation: X:-15.34, Y:-261.72, Z:-2.78 [[-6.66976989e-01 -7.45054393e-01 5.97053595e-03 -1.53446826e+01] [ 7.45029230e-01 -6.67003616e-01 -6.13373260e-03 -2.61715875e+02] [ 8.55233349e-03 3.57165296e-04 9.99963364e-01 -2.77533746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.2965599949999 meters 0.025790446570732744 Centerline is valid? [True, True] Translation: X:-15.37, Y:-261.70, Z:-2.78 [[-6.66329209e-01 -7.45633001e-01 6.06735881e-03 -1.53660978e+01] [ 7.45607068e-01 -6.66356728e-01 -6.22987784e-03 -2.61697742e+02] [ 8.68822788e-03 3.72716042e-04 9.99962187e-01 -2.77552547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.3265599949999 meters 0.027180504208107234 Centerline is valid? [True, True] Translation: X:-15.39, Y:-261.68, Z:-2.78 [[-6.65455118e-01 -7.46413400e-01 6.04341262e-03 -1.53882515e+01] [ 7.46387733e-01 -6.65482449e-01 -6.20180190e-03 -2.61681938e+02] [ 8.65089306e-03 3.83708229e-04 9.99962507e-01 -2.77566422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.356559995 meters 0.027002398624755557 Centerline is valid? [True, True] Translation: X:-15.41, Y:-261.66, Z:-2.78 [[-6.65371207e-01 -7.46488753e-01 5.97480840e-03 -1.54078203e+01] [ 7.46463700e-01 -6.65397922e-01 -6.12774285e-03 -2.61663413e+02] [ 8.54991621e-03 3.82753931e-04 9.99963376e-01 -2.77556851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.386559995 meters 0.023023259615938093 Centerline is valid? [True, True] Translation: X:-15.42, Y:-261.64, Z:-2.77 [[-6.65427684e-01 -7.46438858e-01 5.91842727e-03 -1.54238653e+01] [ 7.46414303e-01 -6.65453894e-01 -6.06647393e-03 -2.61640191e+02] [ 8.46669235e-03 3.80799074e-04 9.99964084e-01 -2.77422432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.416559995 meters 0.026713070894587018 Centerline is valid? [True, True] Translation: X:-15.45, Y:-261.63, Z:-2.77 [[-6.66043496e-01 -7.45892277e-01 5.54724498e-03 -1.54468521e+01] [ 7.45870717e-01 -6.66066503e-01 -5.68220538e-03 -2.61625871e+02] [ 7.93314717e-03 3.52931655e-04 9.99968470e-01 -2.77454408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.4465599949999 meters 0.024167725119144712 Centerline is valid? [True, True] Translation: X:-15.46, Y:-261.60, Z:-2.77 [[-6.66984458e-01 -7.45052843e-01 5.29091898e-03 -1.54645732e+01] [ 7.45033226e-01 -6.67005362e-01 -5.41666278e-03 -2.61603924e+02] [ 7.56477133e-03 3.29080540e-04 9.99971333e-01 -2.77393975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.476559995 meters 0.021934703017061 Centerline is valid? [True, True] Translation: X:-15.48, Y:-261.58, Z:-2.77 [[-6.67929985e-01 -7.44208293e-01 4.85314445e-03 -1.54822555e+01] [ 7.44191784e-01 -6.67947551e-01 -4.96566124e-03 -2.61582322e+02] [ 6.93713222e-03 2.94956196e-04 9.99975894e-01 -2.77306072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.506559995 meters 0.022821858530228153 Centerline is valid? [True, True] Translation: X:-15.50, Y:-261.56, Z:-2.77 [[-6.68798857e-01 -7.43430206e-01 4.42921333e-03 -1.55029531e+01] [ 7.43416455e-01 -6.68813471e-01 -4.52934875e-03 -2.61564107e+02] [ 6.32957222e-03 2.63526811e-04 9.99979933e-01 -2.77325316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.536559995 meters 0.021845528719464196 Centerline is valid? [True, True] Translation: X:-15.52, Y:-261.54, Z:-2.77 [[-6.70781658e-01 -7.41642304e-01 4.31960342e-03 -1.55225182e+01] [ 7.41629204e-01 -6.70795523e-01 -4.41475307e-03 -2.61544072e+02] [ 6.17173828e-03 2.42208663e-04 9.99980925e-01 -2.77314045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.5665599949999 meters 0.02074901431681122 Centerline is valid? [True, True] Translation: X:-15.54, Y:-261.52, Z:-2.77 [[-6.72037236e-01 -7.40505701e-01 4.15464261e-03 -1.55415761e+01] [ 7.40493574e-01 -6.72050040e-01 -4.24377629e-03 -2.61523135e+02] [ 5.93466827e-03 2.24510467e-04 9.99982365e-01 -2.77314672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.596559995 meters 0.020471640491871508 Centerline is valid? [True, True] Translation: X:-15.56, Y:-261.50, Z:-2.77 [[-6.73332643e-01 -7.39325539e-01 4.57155635e-03 -1.55614826e+01] [ 7.39310847e-01 -6.73348120e-01 -4.66703174e-03 -2.61503023e+02] [ 6.52870463e-03 2.37336380e-04 9.99978660e-01 -2.77346186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.626559995 meters 0.02033641868209642 Centerline is valid? [True, True] Translation: X:-15.58, Y:-261.48, Z:-2.77 [[-6.74705630e-01 -7.38071486e-01 4.77431140e-03 -1.55805548e+01] [ 7.38055448e-01 -6.74722480e-01 -4.87139564e-03 -2.61483992e+02] [ 6.81677345e-03 2.36948473e-04 9.99976738e-01 -2.77407158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.656559995 meters 0.017235005096065174 Centerline is valid? [True, True] Translation: X:-15.60, Y:-261.46, Z:-2.77 [[-6.78378491e-01 -7.34694345e-01 5.18094631e-03 -1.55972826e+01] [ 7.34675381e-01 -6.78398239e-01 -5.28335104e-03 -2.61460745e+02] [ 7.39639298e-03 2.22201998e-04 9.99972622e-01 -2.77426596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.6865599949999 meters 0.017678904092559473 Centerline is valid? [True, True] Translation: X:-15.62, Y:-261.44, Z:-2.78 [[-6.80754489e-01 -7.32492227e-01 5.33511308e-03 -1.56170996e+01] [ 7.32472073e-01 -6.80775363e-01 -5.43764454e-03 -2.61442265e+02] [ 7.61504590e-03 2.06120409e-04 9.99970984e-01 -2.77516292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.716559995 meters 0.014573668576956623 Centerline is valid? [True, True] Translation: X:-15.63, Y:-261.42, Z:-2.77 [[-6.86158124e-01 -7.27434659e-01 5.08385544e-03 -1.56330353e+01] [ 7.27416240e-01 -6.86176942e-01 -5.17865201e-03 -2.61418372e+02] [ 7.25555534e-03 1.44704857e-04 9.99973668e-01 -2.77459882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.746559995 meters 0.013644619578037068 Centerline is valid? [True, True] Translation: X:-15.65, Y:-261.40, Z:-2.77 [[-6.89214424e-01 -7.24542115e-01 4.71194301e-03 -1.56509422e+01] [ 7.24526242e-01 -6.89230522e-01 -4.79709022e-03 -2.61397159e+02] [ 6.72330883e-03 1.07702592e-04 9.99977393e-01 -2.77465187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.776559995 meters 0.012848693447453827 Centerline is valid? [True, True] Translation: X:-15.67, Y:-261.38, Z:-2.77 [[-6.92335922e-01 -7.21559992e-01 4.70621596e-03 -1.56690816e+01] [ 7.21544106e-01 -6.92351913e-01 -4.78871858e-03 -2.61375029e+02] [ 6.71370537e-03 8.03404897e-05 9.99977460e-01 -2.77447769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.8065599949999 meters 0.012182225454535282 Centerline is valid? [True, True] Translation: X:-15.69, Y:-261.35, Z:-2.77 [[-6.95664114e-01 -7.18353061e-01 4.50785313e-03 -1.56871703e+01] [ 7.18338435e-01 -6.95678718e-01 -4.58427388e-03 -2.61352989e+02] [ 6.42914465e-03 4.90493304e-05 9.99979332e-01 -2.77444379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.8365599949999 meters 0.011866461181084833 Centerline is valid? [True, True] Translation: X:-15.70, Y:-261.33, Z:-2.77 [[-7.02273946e-01 -7.11892440e-01 4.52309507e-03 -1.57019396e+01] [ 7.11877592e-01 -7.02288512e-01 -4.59786759e-03 -2.61330205e+02] [ 6.44970488e-03 -9.07258880e-06 9.99979200e-01 -2.77468808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.866559995 meters 0.012100042823989946 Centerline is valid? [True, True] Translation: X:-15.72, Y:-261.31, Z:-2.77 [[-7.05488684e-01 -7.08706836e-01 4.50968487e-03 -1.57201958e+01] [ 7.08692028e-01 -7.05503096e-01 -4.58162382e-03 -2.61308582e+02] [ 6.42862476e-03 -3.63060500e-05 9.99979336e-01 -2.77466700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.896559995 meters 0.012511020362529351 Centerline is valid? [True, True] Translation: X:-15.74, Y:-261.29, Z:-2.77 [[-7.08507462e-01 -7.05689002e-01 4.49532913e-03 -1.57385515e+01] [ 7.05674243e-01 -7.08521721e-01 -4.56445617e-03 -2.61287203e+02] [ 6.40612485e-03 -6.17132729e-05 9.99979479e-01 -2.77488778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.9265599949999 meters 0.013184598550859895 Centerline is valid? [True, True] Translation: X:-15.76, Y:-261.27, Z:-2.78 [[-7.11009259e-01 -7.03169106e-01 4.36385498e-03 -1.57564201e+01] [ 7.03155166e-01 -7.11022646e-01 -4.42832220e-03 -2.61266457e+02] [ 6.21665907e-03 -8.01109100e-05 9.99980673e-01 -2.77523714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.9565599949999 meters 0.014213512827375381 Centerline is valid? [True, True] Translation: X:-15.77, Y:-261.25, Z:-2.78 [[-7.14508799e-01 -6.99612611e-01 4.40124601e-03 -1.57748718e+01] [ 6.99598380e-01 -7.14522345e-01 -4.46379826e-03 -2.61245659e+02] [ 6.26771818e-03 -1.10318558e-04 9.99980352e-01 -2.77568240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.986559995 meters 0.014491597300673223 Centerline is valid? [True, True] Translation: X:-15.79, Y:-261.23, Z:-2.78 [[-7.15698001e-01 -6.98395422e-01 4.49498337e-03 -1.57942768e+01] [ 6.98380571e-01 -7.15712107e-01 -4.55618587e-03 -2.61226118e+02] [ 6.39913337e-03 -1.21644071e-04 9.99979518e-01 -2.77591177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.016559995 meters 0.014727755615044124 Centerline is valid? [True, True] Translation: X:-15.81, Y:-261.21, Z:-2.78 [[-7.16572825e-01 -6.97496892e-01 4.63384576e-03 -1.58140988e+01] [ 6.97481107e-01 -7.16587795e-01 -4.69433519e-03 -2.61206762e+02] [ 6.59484152e-03 -1.31813160e-04 9.99978245e-01 -2.77571754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.0465599949999 meters 0.015060112184035133 Centerline is valid? [True, True] Translation: X:-15.83, Y:-261.19, Z:-2.78 [[-7.17461971e-01 -6.96585091e-01 4.18704318e-03 -1.58345158e+01] [ 6.96572204e-01 -7.17474178e-01 -4.23907573e-03 -2.61188145e+02] [ 5.95697232e-03 -1.24797734e-04 9.99982249e-01 -2.77574566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.0765599949999 meters 0.014757199931583555 Centerline is valid? [True, True] Translation: X:-15.86, Y:-261.17, Z:-2.78 [[-7.17489532e-01 -6.96557295e-01 4.08730256e-03 -1.58554390e+01] [ 6.96545027e-01 -7.17501164e-01 -4.13579503e-03 -2.61169502e+02] [ 5.81346254e-03 -1.20399364e-04 9.99983095e-01 -2.77538831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.106559995 meters 0.014449293034858882 Centerline is valid? [True, True] Translation: X:-15.88, Y:-261.15, Z:-2.78 [[-7.17431298e-01 -6.96619031e-01 3.77607619e-03 -1.58764740e+01] [ 6.96608573e-01 -7.17441227e-01 -3.81872856e-03 -2.61151180e+02] [ 5.36931172e-03 -1.09228337e-04 9.99985579e-01 -2.77535832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.136559995 meters 0.014693427841846199 Centerline is valid? [True, True] Translation: X:-15.90, Y:-261.13, Z:-2.78 [[-7.17066333e-01 -6.96995979e-01 3.53266293e-03 -1.58963856e+01] [ 6.96986841e-01 -7.17075028e-01 -3.57049479e-03 -2.61132369e+02] [ 5.02180488e-03 -9.80620337e-05 9.99987386e-01 -2.77581854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.166559995 meters 0.014123287644733477 Centerline is valid? [True, True] Translation: X:-15.92, Y:-261.11, Z:-2.78 [[-7.16054880e-01 -6.98034427e-01 3.65334344e-03 -1.59191404e+01] [ 6.98024678e-01 -7.16064194e-01 -3.69052937e-03 -2.61114628e+02] [ 5.19214498e-03 -9.24976910e-05 9.99986517e-01 -2.77631475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.1965599949999 meters 0.014156532781397464 Centerline is valid? [True, True] Translation: X:-15.94, Y:-261.10, Z:-2.78 [[-7.15607139e-01 -6.98492547e-01 3.81896194e-03 -1.59387802e+01] [ 6.98481912e-01 -7.15617323e-01 -3.85559638e-03 -2.61096476e+02] [ 5.42602066e-03 -9.16164584e-05 9.99985275e-01 -2.77711864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.226559995 meters 0.013621790224037299 Centerline is valid? [True, True] Translation: X:-15.96, Y:-261.08, Z:-2.78 [[-7.13978710e-01 -7.00156083e-01 3.98259135e-03 -1.59614064e+01] [ 7.00144555e-01 -7.13989813e-01 -4.01857726e-03 -2.61078977e+02] [ 5.65716096e-03 -8.07889569e-05 9.99983995e-01 -2.77763452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.256559995 meters 0.01324076547152364 Centerline is valid? [True, True] Translation: X:-15.98, Y:-261.06, Z:-2.78 [[-7.13066677e-01 -7.01086139e-01 3.76041495e-03 -1.59821159e+01] [ 7.01075887e-01 -7.13076589e-01 -3.79203085e-03 -2.61061488e+02] [ 5.34000413e-03 -6.76345903e-05 9.99985740e-01 -2.77741064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.286559995 meters 0.01324076547152364 Centerline is valid? [True, True] Translation: X:-16.00, Y:-261.04, Z:-2.78 [[-7.13285111e-01 -7.00863896e-01 3.76159644e-03 -1.60010231e+01] [ 7.00853647e-01 -7.13295027e-01 -3.79085885e-03 -2.61042567e+02] [ 5.34000413e-03 -6.76345913e-05 9.99985740e-01 -2.77741049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.3165599949999 meters 0.012784289003492317 Centerline is valid? [True, True] Translation: X:-16.02, Y:-261.02, Z:-2.78 [[-7.12305615e-01 -7.01860994e-01 3.44311355e-03 -1.60229624e+01] [ 7.01852429e-01 -7.12313935e-01 -3.46793520e-03 -2.61024788e+02] [ 4.88658621e-03 -5.36721105e-05 9.99988059e-01 -2.77701552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.346559995 meters 0.012401841383454347 Centerline is valid? [True, True] Translation: X:-16.05, Y:-261.01, Z:-2.78 [[-7.09912572e-01 -7.04283413e-01 3.00237459e-03 -1.60451805e+01] [ 7.04276929e-01 -7.09918920e-01 -3.02231203e-03 -2.61008837e+02] [ 4.26000676e-03 -3.10741495e-05 9.99990926e-01 -2.77705813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.376559995 meters 0.012236579827187632 Centerline is valid? [True, True] Translation: X:-16.07, Y:-260.99, Z:-2.78 [[-7.09054293e-01 -7.05147453e-01 3.01316883e-03 -1.60662916e+01] [ 7.05140937e-01 -7.09060695e-01 -3.03146733e-03 -2.60990926e+02] [ 4.27415105e-03 -2.47662293e-05 9.99990866e-01 -2.77699779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.406559995 meters 0.01212258149126844 Centerline is valid? [True, True] Translation: X:-16.09, Y:-260.97, Z:-2.78 [[-7.08337486e-01 -7.05866998e-01 3.12862915e-03 -1.60874802e+01] [ 7.05859988e-01 -7.08344395e-01 -3.14586454e-03 -2.60972429e+02] [ 4.43670888e-03 -1.99596472e-05 9.99990158e-01 -2.77751213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.4365599949999 meters 0.012050123266329472 Centerline is valid? [True, True] Translation: X:-16.11, Y:-260.95, Z:-2.78 [[-7.07646038e-01 -7.06560437e-01 3.07158469e-03 -1.61074145e+01] [ 7.06553695e-01 -7.07652704e-01 -3.08668038e-03 -2.60954591e+02] [ 4.35454145e-03 -1.40376280e-05 9.99990519e-01 -2.77784468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.466559995 meters 0.012040664952652335 Centerline is valid? [True, True] Translation: X:-16.13, Y:-260.94, Z:-2.78 [[-7.06987526e-01 -7.07218390e-01 3.28433263e-03 -1.61269159e+01] [ 7.07210699e-01 -7.06995155e-01 -3.29831989e-03 -2.60937346e+02] [ 4.65463974e-03 -9.15584772e-06 9.99989167e-01 -2.77840325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.496559995 meters 0.012045032528266697 Centerline is valid? [True, True] Translation: X:-16.15, Y:-260.92, Z:-2.78 [[-7.05532973e-01 -7.08669570e-01 3.26564700e-03 -1.61490091e+01] [ 7.08661990e-01 -7.05540531e-01 -3.27772886e-03 -2.60919963e+02] [ 4.62687302e-03 1.69410833e-06 9.99989296e-01 -2.77846825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.526559995 meters 0.01211595716630027 Centerline is valid? [True, True] Translation: X:-16.17, Y:-260.90, Z:-2.78 [[-7.04737904e-01 -7.09461620e-01 2.94878575e-03 -1.61686255e+01] [ 7.09455453e-01 -7.04744074e-01 -2.95826331e-03 -2.60902794e+02] [ 4.17691356e-03 7.23184356e-06 9.99991277e-01 -2.77866069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.5565599949999 meters 0.012110687149807045 Centerline is valid? [True, True] Translation: X:-16.19, Y:-260.88, Z:-2.78 [[-7.04255403e-01 -7.09940461e-01 2.97808548e-03 -1.61891676e+01] [ 7.09934183e-01 -7.04261699e-01 -2.98578892e-03 -2.60884258e+02] [ 4.21708390e-03 1.14867065e-05 9.99991108e-01 -2.77836545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.5865599949999 meters 0.012194399855633963 Centerline is valid? [True, True] Translation: X:-16.21, Y:-260.87, Z:-2.78 [[-7.02902567e-01 -7.11280037e-01 2.94783178e-03 -1.62092205e+01] [ 7.11273903e-01 -7.02908748e-01 -2.95402839e-03 -2.60867128e+02] [ 4.17319817e-03 2.03216777e-05 9.99991292e-01 -2.77792807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.616559995 meters 0.012373291286180498 Centerline is valid? [True, True] Translation: X:-16.23, Y:-260.85, Z:-2.78 [[-7.02514120e-01 -7.11664136e-01 2.84052703e-03 -1.62287428e+01] [ 7.11658451e-01 -7.02519862e-01 -2.84466035e-03 -2.60848860e+02] [ 4.01996940e-03 2.30710043e-05 9.99991920e-01 -2.77788567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.646559995 meters 0.012323820391179421 Centerline is valid? [True, True] Translation: X:-16.25, Y:-260.83, Z:-2.78 [[-7.02252095e-01 -7.11922305e-01 2.93706081e-03 -1.62484115e+01] [ 7.11916237e-01 -7.02258236e-01 -2.93949749e-03 -2.60829441e+02] [ 4.15526897e-03 2.66730108e-05 9.99991367e-01 -2.77774065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.6765599949999 meters 0.01257362704651904 Centerline is valid? [True, True] Translation: X:-16.27, Y:-260.81, Z:-2.78 [[-7.01212336e-01 -7.12946859e-01 2.83477199e-03 -1.62684521e+01] [ 7.12941222e-01 -7.01218066e-01 -2.83535205e-03 -2.60810654e+02] [ 4.00924867e-03 3.28419683e-05 9.99991962e-01 -2.77697357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.7065599949999 meters 0.012657128592478433 Centerline is valid? [True, True] Translation: X:-16.29, Y:-260.79, Z:-2.78 [[-7.00829760e-01 -7.13321498e-01 3.17612564e-03 -1.62882927e+01] [ 7.13314434e-01 -7.00836956e-01 -3.17478757e-03 -2.60791703e+02] [ 4.49059045e-03 4.05906545e-05 9.99989916e-01 -2.77719702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.736559995 meters 0.013087195627264885 Centerline is valid? [True, True] Translation: X:-16.68, Y:-261.17, Z:-1.81 [[-7.62687893e-01 6.46750469e-01 4.58360797e-03 -1.66819172e+01] [ 6.46738265e-01 7.62701663e-01 -3.97366622e-03 -2.61168837e+02] [-6.06589591e-03 -6.62724557e-05 -9.99981600e-01 -1.81357958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.766559995 meters 0.013208889467044342 Centerline is valid? [True, True] Translation: X:-16.67, Y:-261.14, Z:-1.81 [[-8.07282033e-01 5.90144756e-01 4.98866519e-03 -1.66679126e+01] [ 5.90132905e-01 8.07297443e-01 -3.74072615e-03 -2.61144966e+02] [-6.23490658e-03 -7.58455282e-05 -9.99980560e-01 -1.81343572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.7965599949999 meters 0.013320403187696256 Centerline is valid? [True, True] Translation: X:-16.65, Y:-261.12, Z:-1.81 [[-8.47714025e-01 5.30425280e-01 5.47297040e-03 -1.66544464e+01] [ 5.30413560e-01 8.47731688e-01 -3.52719537e-03 -2.61120750e+02] [-6.51052403e-03 -8.71152696e-05 -9.99978803e-01 -1.81362228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.8265599949999 meters 0.013941086334157778 Centerline is valid? [True, True] Translation: X:-16.64, Y:-261.09, Z:-1.81 [[-8.83636480e-01 4.68141795e-01 5.46178774e-03 -1.66442431e+01] [ 4.68132224e-01 8.83653355e-01 -2.99488565e-03 -2.61093886e+02] [-6.22835820e-03 -8.95513739e-05 -9.99980600e-01 -1.81332736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.856559995 meters 0.014002891379526535 Centerline is valid? [True, True] Translation: X:-16.64, Y:-261.07, Z:-1.81 [[-9.14941366e-01 4.03547433e-01 5.63610046e-03 -1.66392311e+01] [ 4.03539136e-01 9.14958721e-01 -2.58949302e-03 -2.61066669e+02] [-6.20178253e-03 -9.48471690e-05 -9.99980764e-01 -1.81389252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.886559995 meters 0.014423526864498404 Centerline is valid? [True, True] Translation: X:-16.41, Y:-260.57, Z:-2.78 [[-8.70492338e-01 -4.92158344e-01 4.82228874e-03 -1.64109628e+01] [ 4.92151052e-01 -8.70505694e-01 -2.67942834e-03 -2.60573599e+02] [ 5.51653283e-03 4.08726346e-05 9.99984783e-01 -2.77818367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.916559995 meters 0.013855025411436657 Centerline is valid? [True, True] Translation: X:-16.68, Y:-261.05, Z:-1.81 [[-9.16851747e-01 3.99196856e-01 4.97446718e-03 -1.66807548e+01] [ 3.99190450e-01 9.16865237e-01 -2.26318428e-03 -2.61051872e+02] [-5.46437208e-03 -8.92446687e-05 -9.99985066e-01 -1.81483837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.9465599949999 meters 0.014231111402195856 Centerline is valid? [True, True] Translation: X:-16.67, Y:-261.02, Z:-1.81 [[-9.42757739e-01 3.33443427e-01 4.82976604e-03 -1.66749723e+01] [ 3.33438600e-01 9.42770107e-01 -1.79594069e-03 -2.61024598e+02] [-5.15220367e-03 -8.27065548e-05 -9.99986724e-01 -1.81483155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.976559995 meters 0.01376463616137471 Centerline is valid? [True, True] Translation: X:-16.48, Y:-260.51, Z:-2.78 [[-9.05411080e-01 -4.24517576e-01 3.95009957e-03 -1.64813529e+01] [ 4.24513635e-01 -9.05419697e-01 -1.82932517e-03 -2.60507475e+02] [ 4.35307864e-03 2.05798526e-05 9.99990525e-01 -2.77729922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.006559995 meters 0.01401941629051198 Centerline is valid? [True, True] Translation: X:-16.72, Y:-261.01, Z:-1.82 [[-9.43420194e-01 3.31577934e-01 3.79630004e-03 -1.67177127e+01] [ 3.31575004e-01 9.43427830e-01 -1.39506787e-03 -2.61013966e+02] [-4.04410883e-03 -5.73770019e-05 -9.99991821e-01 -1.81518634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.036559995 meters 0.013267770659955613 Centerline is valid? [True, True] Translation: X:-16.71, Y:-260.99, Z:-1.82 [[-9.64237782e-01 2.65012142e-01 3.75028883e-03 -1.67142761e+01] [ 2.65009933e-01 9.64245074e-01 -1.08318513e-03 -2.60988914e+02] [-3.90325474e-03 -5.05842290e-05 -9.99992381e-01 -1.81559016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.0665599949999 meters 0.012739059957963208 Centerline is valid? [True, True] Translation: X:-16.71, Y:-260.97, Z:-1.81 [[-9.80009586e-01 1.98908059e-01 4.09823358e-03 -1.67127620e+01] [ 1.98906141e-01 9.80018154e-01 -8.74335970e-04 -2.60965124e+02] [-4.19025578e-03 -4.16938044e-05 -9.99991220e-01 -1.81483995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.096559995 meters 0.012460666943163149 Centerline is valid? [True, True] Translation: X:-16.59, Y:-260.40, Z:-2.78 [[-9.59398539e-01 -2.82016174e-01 4.61758020e-03 -1.65900293e+01] [ 2.82013332e-01 -9.59409647e-01 -1.26893688e-03 -2.60404980e+02] [ 4.78801171e-03 8.48029874e-05 9.99988534e-01 -2.77853870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.126559995 meters 0.012211873089015125 Centerline is valid? [True, True] Translation: X:-16.76, Y:-260.96, Z:-1.81 [[-9.79877788e-01 1.99526095e-01 5.37196602e-03 -1.67595133e+01] [ 1.99522925e-01 9.79892513e-01 -1.12513704e-03 -2.60961882e+02] [-5.48844348e-03 -3.06664205e-05 -9.99984938e-01 -1.81372536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.156559995 meters 0.012061023280756334 Centerline is valid? [True, True] Translation: X:-16.76, Y:-260.94, Z:-1.81 [[-9.91211660e-01 1.32149379e-01 5.99884181e-03 -1.67563789e+01] [ 1.32146852e-01 9.91229813e-01 -8.17436655e-04 -2.60937535e+02] [-6.05425459e-03 -1.75246813e-05 -9.99981673e-01 -1.81337967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.1865599949999 meters 0.011982007668690215 Centerline is valid? [True, True] Translation: X:-16.67, Y:-260.35, Z:-2.78 [[-9.79451687e-01 -2.01573191e-01 6.52999937e-03 -1.66747941e+01] [ 2.01569095e-01 -9.79473453e-01 -1.28625026e-03 -2.60350699e+02] [ 6.65523460e-03 5.64260783e-05 9.99977852e-01 -2.77920182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.216559995 meters 0.012288922693292565 Centerline is valid? [True, True] Translation: X:-16.81, Y:-260.94, Z:-1.81 [[-9.90553562e-01 1.36968696e-01 6.57404540e-03 -1.68107374e+01] [ 1.36965947e-01 9.90575376e-01 -8.68601010e-04 -2.60941617e+02] [-6.63105864e-03 4.00245307e-05 -9.99978014e-01 -1.81406727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.246559995 meters 0.012665464303821821 Centerline is valid? [True, True] Translation: X:-16.73, Y:-260.33, Z:-2.78 [[-9.82003672e-01 -1.88756623e-01 6.30280005e-03 -1.67265137e+01] [ 1.88752399e-01 -9.82023897e-01 -1.26377136e-03 -2.60333468e+02] [ 6.42804548e-03 -5.13594884e-05 9.99979339e-01 -2.77822167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.276559995 meters 0.013541517239433129 Centerline is valid? [True, True] Translation: X:-16.86, Y:-260.95, Z:-1.82 [[-9.90016273e-01 1.40835559e-01 5.75547557e-03 -1.68583240e+01] [ 1.40833663e-01 9.90032999e-01 -7.35474053e-04 -2.60945461e+02] [-5.80169164e-03 8.24334248e-05 -9.99983167e-01 -1.81527367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.3065599949999 meters 0.01362932598849448 Centerline is valid? [True, True] Translation: X:-16.78, Y:-260.32, Z:-2.78 [[-9.84116909e-01 -1.77434783e-01 5.55049219e-03 -1.67776609e+01] [ 1.77431447e-01 -9.84132557e-01 -1.09167121e-03 -2.60319824e+02] [ 5.65612051e-03 -8.95002340e-05 9.99984000e-01 -2.77709145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.3365599949999 meters 0.014210705271485486 Centerline is valid? [True, True] Translation: X:-16.92, Y:-260.94, Z:-1.82 [[-9.90084916e-01 1.40348894e-01 5.83498687e-03 -1.69159031e+01] [ 1.40347083e-01 9.90102104e-01 -7.20778891e-04 -2.60943160e+02] [-5.87839329e-03 1.05291075e-04 -9.99982717e-01 -1.81547163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.366559995 meters 0.014497580517419058 Centerline is valid? [True, True] Translation: X:-16.83, Y:-260.31, Z:-2.78 [[-9.85332954e-01 -1.70532523e-01 6.13415130e-03 -1.68342135e+01] [ 1.70528658e-01 -9.85352044e-01 -1.15162125e-03 -2.60308872e+02] [ 6.24068740e-03 -8.86817835e-05 9.99980523e-01 -2.77724308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.396559995 meters 0.014755853948144932 Centerline is valid? [True, True] Translation: X:-16.97, Y:-260.94, Z:-1.82 [[-9.90421145e-01 1.37919765e-01 6.64033289e-03 -1.69719931e+01] [ 1.37917553e-01 9.90443396e-01 -7.91945645e-04 -2.60941697e+02] [-6.68609882e-03 1.31458754e-04 -9.99977639e-01 -1.81551598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.4265599949999 meters 0.014859460030113899 Centerline is valid? [True, True] Translation: X:-16.98, Y:-260.91, Z:-1.82 [[-9.97732813e-01 6.69327289e-02 7.01742767e-03 -1.69753060e+01] [ 6.69320345e-02 9.97757481e-01 -3.34023167e-04 -2.60914193e+02] [-7.02404804e-03 1.36424837e-04 -9.99975322e-01 -1.81580125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.4565599949999 meters 0.0147837301557099 Centerline is valid? [True, True] Translation: X:-16.95, Y:-260.26, Z:-2.78 [[-9.95344297e-01 -9.61398421e-02 6.84548437e-03 -1.69453508e+01] [ 9.61365819e-02 -9.95367827e-01 -8.04488563e-04 -2.60264837e+02] [ 6.89111830e-03 -1.42641635e-04 9.99976246e-01 -2.77658474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.486559995 meters 0.014382755569748346 Centerline is valid? [True, True] Translation: X:-17.04, Y:-260.91, Z:-1.82 [[-9.98135927e-01 6.06166821e-02 7.09154783e-03 -1.70426095e+01] [ 6.06160470e-02 9.98161110e-01 -3.04659118e-04 -2.60910890e+02] [-7.09697468e-03 1.25770385e-04 -9.99974808e-01 -1.81661164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.516559995 meters 0.013383139756971368 Centerline is valid? [True, True] Translation: X:-17.02, Y:-260.26, Z:-2.78 [[-9.95350662e-01 -9.60756686e-02 6.82102867e-03 -1.70175898e+01] [ 9.60724645e-02 -9.95374024e-01 -7.96625062e-04 -2.60264335e+02] [ 6.86601104e-03 -1.37608247e-04 9.99976419e-01 -2.77513660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.5465599949999 meters 0.013184395377238504 Centerline is valid? [True, True] Translation: X:-17.12, Y:-260.90, Z:-1.82 [[-9.98709341e-01 5.02555498e-02 7.35065289e-03 -1.71195521e+01] [ 5.02548379e-02 9.98736388e-01 -2.81637814e-04 -2.60904629e+02] [-7.35551838e-03 8.81315537e-05 -9.99972944e-01 -1.81767460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.5765599949999 meters 0.01261595200693321 Centerline is valid? [True, True] Translation: X:-17.12, Y:-260.87, Z:-1.82 [[-9.99646382e-01 -2.56090981e-02 7.16139810e-03 -1.71249347e+01] [-2.56080685e-02 9.99672032e-01 2.35443454e-04 -2.60874412e+02] [-7.16507889e-03 5.19706233e-05 -9.99974329e-01 -1.81773294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.606559995 meters 0.012234663931986639 Centerline is valid? [True, True] Translation: X:-17.15, Y:-260.24, Z:-2.77 [[-9.99440780e-01 -3.26524070e-02 7.20746743e-03 -1.71496729e+01] [ 3.26512051e-02 -9.99466767e-01 -2.84396075e-04 -2.60238760e+02] [ 7.21291039e-03 -4.89045381e-05 9.99973986e-01 -2.77477896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.636559995 meters 0.012359169895410561 Centerline is valid? [True, True] Translation: X:-17.21, Y:-260.87, Z:-1.82 [[-9.99121401e-01 -4.12319154e-02 7.50704018e-03 -1.72072524e+01] [-4.12309496e-02 9.99149603e-01 2.83445712e-04 -2.60870466e+02] [-7.51234322e-03 -2.63257181e-05 -9.99971782e-01 -1.81755749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.666559995 meters 0.01246860497469492 Centerline is valid? [True, True] Translation: X:-17.21, Y:-260.84, Z:-1.82 [[-9.93318301e-01 -1.15143087e-01 7.79882119e-03 -1.72144892e+01] [-1.15139933e-01 9.93348915e-01 8.53741874e-04 -2.60841966e+02] [-7.84525305e-03 -4.99183183e-05 -9.99969224e-01 -1.81792693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.6965599949999 meters 0.012875313042169045 Centerline is valid? [True, True] Translation: X:-17.23, Y:-260.81, Z:-1.82 [[-9.82036269e-01 -1.88519135e-01 8.08101589e-03 -1.72300128e+01] [-1.88513388e-01 9.82069514e-01 1.47393025e-03 -2.60814183e+02] [-8.21398340e-03 -7.59267242e-05 -9.99966262e-01 -1.81706637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.726559995 meters 0.012875313042169045 Centerline is valid? [True, True] Translation: X:-17.26, Y:-260.79, Z:-1.82 [[-9.65959183e-01 -2.58572208e-01 7.95429423e-03 -1.72559272e+01] [-2.58564088e-01 9.65991929e-01 2.05057391e-03 -2.60791458e+02] [-8.21400545e-03 -7.59241295e-05 -9.99966262e-01 -1.81706599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.756559995 meters 0.013180208111218967 Centerline is valid? [True, True] Translation: X:-17.29, Y:-260.77, Z:-1.82 [[-9.43902298e-01 -3.30108398e-01 8.76911364e-03 -1.72931568e+01] [-3.30095234e-01 9.43943025e-01 2.95008940e-03 -2.60772680e+02] [-9.25139294e-03 -1.10046450e-04 -9.99957199e-01 -1.81713683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.786559995 meters 0.013802070295569561 Centerline is valid? [True, True] Translation: X:-17.35, Y:-260.76, Z:-1.82 [[-9.16094807e-01 -4.00853493e-01 9.31571594e-03 -1.73501678e+01] [-4.00834438e-01 9.16142159e-01 3.91138461e-03 -2.60763024e+02] [-1.01024123e-02 -1.50860631e-04 -9.99948958e-01 -1.81666494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.8165599949999 meters 0.014803353113202373 Centerline is valid? [True, True] Translation: X:-17.42, Y:-260.76, Z:-1.82 [[-8.81564282e-01 -4.71967470e-01 9.54595000e-03 -1.74187203e+01] [-4.71942464e-01 8.81615937e-01 4.86317162e-03 -2.60762155e+02] [-1.07111205e-02 -2.17940773e-04 -9.99942611e-01 -1.81673372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.846559995 meters 0.015345940228075401 Centerline is valid? [True, True] Translation: X:-17.49, Y:-260.77, Z:-1.82 [[-8.42807338e-01 -5.38128500e-01 9.66992016e-03 -1.74909242e+01] [-5.38096587e-01 8.42862770e-01 5.86629121e-03 -2.60769493e+02] [-1.13072342e-02 -2.59197751e-04 -9.99936038e-01 -1.81675253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.876559995 meters 0.016791854440392502 Centerline is valid? [True, True] Translation: X:-17.57, Y:-260.78, Z:-1.82 [[-7.99153500e-01 -6.01053041e-01 9.43002126e-03 -1.75689074e+01] [-6.01015454e-01 7.99209083e-01 6.72806760e-03 -2.60784639e+02] [-1.15804841e-02 -2.90829740e-04 -9.99932902e-01 -1.81605863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.906559995 meters 0.017019543831140106 Centerline is valid? [True, True] Translation: X:-17.65, Y:-260.81, Z:-1.82 [[-7.50796541e-01 -6.60474833e-01 8.80618979e-03 -1.76497594e+01] [-6.60434166e-01 7.50848120e-01 7.33571459e-03 -2.60812281e+02] [-1.14571659e-02 -3.08279475e-04 -9.99934317e-01 -1.81689872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.9365599949999 meters 0.017426128444475573 Centerline is valid? [True, True] Translation: X:-17.73, Y:-260.85, Z:-1.82 [[-6.97835507e-01 -7.16208366e-01 8.43692097e-03 -1.77325364e+01] [-7.16161770e-01 6.97886426e-01 8.17657987e-03 -2.60849945e+02] [-1.17441475e-02 -3.36292500e-04 -9.99930979e-01 -1.81718810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.966559995 meters 0.017177363359497586 Centerline is valid? [True, True] Translation: X:-17.81, Y:-260.90, Z:-1.82 [[-6.41729056e-01 -7.66893470e-01 7.63051068e-03 -1.78136822e+01] [-7.66845291e-01 6.41774334e-01 8.60257639e-03 -2.60896775e+02] [-1.14943256e-02 -3.30897960e-04 -9.99933883e-01 -1.81764987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.996559995 meters 0.0180165057633882 Centerline is valid? [True, True] Translation: X:-17.90, Y:-260.95, Z:-1.82 [[-5.82389327e-01 -8.12878990e-01 7.10070026e-03 -1.78968875e+01] [-8.12825370e-01 5.82432519e-01 9.34234480e-03 -2.60953774e+02] [-1.17298745e-02 -3.30747408e-04 -9.99931148e-01 -1.81742317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.026559995 meters 0.01680508146006305 Centerline is valid? [True, True] Translation: X:-17.97, Y:-261.02, Z:-1.82 [[-5.19834585e-01 -8.54241271e-01 6.62231672e-03 -1.79746531e+01] [-8.54179945e-01 5.19876658e-01 1.02411979e-02 -2.61021940e+02] [-1.21912418e-02 -3.32921270e-04 -9.99925629e-01 -1.81819851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.0565599949999 meters 0.01752156738714617 Centerline is valid? [True, True] Translation: X:-18.05, Y:-261.10, Z:-1.82 [[-4.55391507e-01 -8.90270044e-01 6.15008369e-03 -1.80492487e+01] [-8.90198186e-01 4.55432921e-01 1.13156544e-02 -2.61096058e+02] [-1.28749387e-02 -3.21740442e-04 -9.99917063e-01 -1.81688819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.0865599949999 meters 0.016265091447320426 Centerline is valid? [True, True] Translation: X:-18.12, Y:-261.18, Z:-1.82 [[-3.87538210e-01 -9.21837449e-01 5.46390932e-03 -1.81172253e+01] [-9.21756992e-01 3.87576598e-01 1.21831551e-02 -2.61178849e+02] [-1.33485720e-02 -3.14958507e-04 -9.99910854e-01 -1.81744552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.116559995 meters 0.01553519755927267 Centerline is valid? [True, True] Translation: X:-18.18, Y:-261.27, Z:-1.82 [[-3.18578997e-01 -9.47884665e-01 4.69940331e-03 -1.81783325e+01] [-9.47794603e-01 3.18613524e-01 1.30695742e-02 -2.61268134e+02] [-1.38857425e-02 -2.90377235e-04 -9.99903546e-01 -1.81758390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.146559995 meters 0.015061605654998948 Centerline is valid? [True, True] Translation: X:-18.24, Y:-261.37, Z:-1.82 [[-2.46435310e-01 -9.69151927e-01 3.76569233e-03 -1.82358293e+01] [-9.69055412e-01 2.46463922e-01 1.36800639e-02 -2.61366115e+02] [-1.41861676e-02 -2.77913737e-04 -9.99899333e-01 -1.81760579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.1765599949999 meters 0.014199929408257591 Centerline is valid? [True, True] Translation: X:-18.28, Y:-261.47, Z:-1.82 [[-1.72742247e-01 -9.84962902e-01 2.86305526e-03 -1.82849290e+01] [-9.84852671e-01 1.72765755e-01 1.47380458e-02 -2.61468368e+02] [-1.50110663e-02 -2.73804467e-04 -9.99887290e-01 -1.81835720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.2065599949999 meters 0.014199929408257591 Centerline is valid? [True, True] Translation: X:-18.33, Y:-261.58, Z:-1.82 [[-9.67000970e-02 -9.95312071e-01 1.72429119e-03 -1.83297532e+01] [-9.95200361e-01 9.67150814e-02 1.49142422e-02 -2.61576749e+02] [-1.50110903e-02 -2.73806547e-04 -9.99887290e-01 -1.81835605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.236559995 meters 0.015022033974163686 Centerline is valid? [True, True] Translation: X:-18.37, Y:-261.69, Z:-1.82 [[-2.12760557e-02 -9.99773469e-01 5.82582568e-04 -1.83658927e+01] [-9.99657654e-01 2.12824596e-02 1.52194365e-02 -2.61686125e+02] [-1.52283876e-02 -2.58573545e-04 -9.99884008e-01 -1.81638988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.266559995 meters 0.01402657257504261 Centerline is valid? [True, True] Translation: X:-18.39, Y:-261.80, Z:-1.82 [[ 5.40966282e-02 -9.98535522e-01 -6.05878280e-04 -1.83901238e+01] [-9.98412399e-01 -5.40994733e-02 1.56821017e-02 -2.61804442e+02] [-1.56919133e-02 -2.43432438e-04 -9.99876845e-01 -1.81727441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.2965599949999 meters 0.01332136519179456 Centerline is valid? [True, True] Translation: X:-18.40, Y:-261.92, Z:-1.82 [[ 1.28249834e-01 -9.91740192e-01 -1.83604716e-03 -1.84036308e+01] [-9.91614091e-01 -1.28262808e-01 1.58160367e-02 -2.61917837e+02] [-1.59208958e-02 -2.07753843e-04 -9.99873233e-01 -1.81764325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.3265599949999 meters 0.013891151272690742 Centerline is valid? [True, True] Translation: X:-18.41, Y:-262.04, Z:-1.82 [[ 2.03510361e-01 -9.79068094e-01 -3.03308981e-03 -1.84115904e+01] [-9.78944414e-01 -2.03532866e-01 1.55629955e-02 -2.62040354e+02] [-1.58545658e-02 -1.98004499e-04 -9.99874289e-01 -1.81686165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.356559995 meters 0.013864087564993546 Centerline is valid? [True, True] Translation: X:-18.41, Y:-262.15, Z:-1.82 [[ 2.77686433e-01 -9.60663150e-01 -4.06915628e-03 -1.84115637e+01] [-9.60549876e-01 -2.77716182e-01 1.47532272e-02 -2.62152874e+02] [-1.53029522e-02 -1.88143469e-04 -9.99882885e-01 -1.81729450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.386559995 meters 0.013370673428887616 Centerline is valid? [True, True] Translation: X:-18.40, Y:-262.27, Z:-1.82 [[ 3.51164407e-01 -9.36300224e-01 -5.04469039e-03 -1.84001314e+01] [-9.36195740e-01 -3.51200589e-01 1.39886304e-02 -2.62266470e+02] [-1.48692560e-02 -1.89491455e-04 -9.99889429e-01 -1.82039010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.416559995 meters 0.014077301491936738 Centerline is valid? [True, True] Translation: X:-18.38, Y:-262.38, Z:-1.82 [[ 4.22716251e-01 -9.06243367e-01 -5.82505893e-03 -1.83841524e+01] [-9.06150991e-01 -4.22756340e-01 1.29405912e-02 -2.62381729e+02] [-1.41899055e-02 -1.91815274e-04 -9.99899300e-01 -1.81946782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.4465599949999 meters 0.013551137060276258 Centerline is valid? [True, True] Translation: X:-18.36, Y:-262.50, Z:-1.82 [[ 4.92074917e-01 -8.70527626e-01 -6.62776698e-03 -1.83565299e+01] [-8.70442994e-01 -4.92119508e-01 1.21401889e-02 -2.62495620e+02] [-1.38300233e-02 -2.04789128e-04 -9.99904340e-01 -1.82158363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.476559995 meters 0.014173012506910837 Centerline is valid? [True, True] Translation: X:-18.32, Y:-262.61, Z:-1.82 [[ 5.60039541e-01 -8.28429669e-01 -7.74570163e-03 -1.83216361e+01] [-8.28344000e-01 -5.60093043e-01 1.19164257e-02 -2.62608645e+02] [-1.42102342e-02 -2.57564109e-04 -9.99898996e-01 -1.82188993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.506559995 meters 0.015081606245307163 Centerline is valid? [True, True] Translation: X:-18.28, Y:-262.72, Z:-1.82 [[ 6.23427246e-01 -7.81834432e-01 -8.56677562e-03 -1.82811583e+01] [-7.81754249e-01 -6.23486038e-01 1.12006503e-02 -2.62716440e+02] [-1.40983190e-02 -2.85677325e-04 -9.99900573e-01 -1.82128649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.536559995 meters 0.01567161821284263 Centerline is valid? [True, True] Translation: X:-18.24, Y:-262.82, Z:-1.82 [[ 6.82841559e-01 -7.30505974e-01 -9.40356961e-03 -1.82352728e+01] [-7.30430249e-01 -6.82906232e-01 1.05228344e-02 -2.62816226e+02] [-1.41087497e-02 -3.16776986e-04 -9.99900417e-01 -1.82111557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.5665599949999 meters 0.016009831298187744 Centerline is valid? [True, True] Translation: X:-18.18, Y:-262.91, Z:-1.82 [[ 7.37931045e-01 -6.74793005e-01 -1.05912118e-02 -1.81822951e+01] [-6.74716398e-01 -7.38006958e-01 1.01741258e-02 -2.62911331e+02] [-1.46818169e-02 -3.61738991e-04 -9.99892151e-01 -1.82157262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.596559995 meters 0.01584645545914193 Centerline is valid? [True, True] Translation: X:-18.19, Y:-262.92, Z:-1.82 [[ 7.89652820e-01 -6.13446485e-01 -1.14819222e-02 -1.81855244e+01] [-6.13374288e-01 -7.89736193e-01 9.41961655e-03 -2.62921591e+02] [-1.48461202e-02 -3.95510926e-04 -9.99889712e-01 -1.82194043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.626559995 meters 0.017826937945017773 Centerline is valid? [True, True] Translation: X:-18.19, Y:-262.93, Z:-1.82 [[ 8.36973109e-01 -5.47097075e-01 -1.26809176e-02 -1.81900944e+01] [-5.47025838e-01 -8.37069039e-01 8.84059307e-03 -2.62934008e+02] [-1.54514661e-02 -4.62549093e-04 -9.99880512e-01 -1.82071252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.656559995 meters 0.019040013978305268 Centerline is valid? [True, True] Translation: X:-18.19, Y:-262.94, Z:-1.82 [[ 8.77723596e-01 -4.78992073e-01 -1.29569619e-02 -1.81906945e+01] [-4.78931980e-01 -8.77819102e-01 7.60143076e-03 -2.62942227e+02] [-1.50148937e-02 -4.66451738e-04 -9.99887161e-01 -1.82032993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.6865599949999 meters 0.018400530254816697 Centerline is valid? [True, True] Translation: X:-18.19, Y:-262.95, Z:-1.82 [[ 9.12763836e-01 -4.08267476e-01 -1.34107350e-02 -1.81892470e+01] [-4.08215747e-01 -9.12862226e-01 6.51614075e-03 -2.62948988e+02] [-1.49024818e-02 -4.73224423e-04 -9.99888840e-01 -1.82130684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.716559995 meters 0.019652563893920894 Centerline is valid? [True, True] Translation: X:-18.19, Y:-262.96, Z:-1.82 [[ 9.42146841e-01 -3.34923661e-01 -1.36187682e-02 -1.81895081e+01] [-3.34881341e-01 -9.42245146e-01 5.34530121e-03 -2.62956885e+02] [-1.46224861e-02 -4.75387287e-04 -9.99892973e-01 -1.82091452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.746559995 meters 0.018498944556456755 Centerline is valid? [True, True] Translation: X:-18.19, Y:-262.96, Z:-1.82 [[ 9.65496399e-01 -2.60054603e-01 -1.37224718e-02 -1.81870768e+01] [-2.60021417e-01 -9.65593799e-01 4.18071680e-03 -2.62963116e+02] [-1.43375484e-02 -4.68330443e-04 -9.99897102e-01 -1.82189902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.776559995 meters 0.018614668099529785 Centerline is valid? [True, True] Translation: X:-18.19, Y:-262.97, Z:-1.82 [[ 9.82784485e-01 -1.84205002e-01 -1.42538774e-02 -1.81860041e+01] [-1.84178672e-01 -9.82887733e-01 3.14972667e-03 -2.62970300e+02] [-1.45901567e-02 -4.70242287e-04 -9.99893447e-01 -1.82130433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.8065599949999 meters 0.0175094495860021 Centerline is valid? [True, True] Translation: X:-18.18, Y:-262.98, Z:-1.82 [[ 9.94112948e-01 -1.07481854e-01 -1.36783458e-02 -1.81834709e+01] [-1.07465657e-01 -9.94206951e-01 1.91586466e-03 -2.62977156e+02] [-1.38050272e-02 -4.34633450e-04 -9.99904612e-01 -1.82221119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.8365599949999 meters 0.018597055453171068 Centerline is valid? [True, True] Translation: X:-18.18, Y:-262.99, Z:-1.82 [[ 9.99489072e-01 -2.89431226e-02 -1.35606262e-02 -1.81847306e+01] [-2.89345838e-02 -9.99580966e-01 8.25490061e-04 -2.62986446e+02] [-1.35788361e-02 -4.32697219e-04 -9.99907710e-01 -1.82176895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.866559995 meters 0.018743023667897096 Centerline is valid? [True, True] Translation: X:-18.18, Y:-262.99, Z:-1.82 [[ 9.98635926e-01 5.03594777e-02 -1.37916742e-02 -1.81843535e+01] [ 5.03609193e-02 -9.98731054e-01 -2.42971844e-04 -2.62993009e+02] [-1.37864093e-02 -4.51920980e-04 -9.99904861e-01 -1.82159096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.896559995 meters 0.018846409177652197 Centerline is valid? [True, True] Translation: X:-18.18, Y:-263.00, Z:-1.82 [[ 9.91527453e-01 1.29185985e-01 -1.35754239e-02 -1.81834785e+01] [ 1.29180187e-01 -9.91620276e-01 -1.30676086e-03 -2.63000434e+02] [-1.36304808e-02 -4.57986535e-04 -9.99906996e-01 -1.82144379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.9265599949999 meters 0.01906078656482099 Centerline is valid? [True, True] Translation: X:-18.18, Y:-263.01, Z:-1.82 [[ 9.78342159e-01 2.06566335e-01 -1.33029595e-02 -1.81817604e+01] [ 2.06553550e-01 -9.78432492e-01 -2.34292064e-03 -2.63007845e+02] [-1.35000164e-02 -4.55595470e-04 -9.99908767e-01 -1.82089915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.9565599949999 meters 0.019516956319912765 Centerline is valid? [True, True] Translation: X:-18.18, Y:-263.01, Z:-1.82 [[ 9.59052932e-01 2.82943080e-01 -1.26762526e-02 -1.81808446e+01] [ 2.82924499e-01 -9.59136598e-01 -3.27323083e-03 -2.63014649e+02] [-1.30843958e-02 -4.47220801e-04 -9.99914296e-01 -1.82067003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.986559995 meters 0.019728984225854913 Centerline is valid? [True, True] Translation: X:-18.18, Y:-263.02, Z:-1.82 [[ 9.33825896e-01 3.57530479e-01 -1.18807947e-02 -1.81782199e+01] [ 3.57507417e-01 -9.33901370e-01 -4.08395635e-03 -2.63020925e+02] [-1.25556293e-02 -4.33768031e-04 -9.99921081e-01 -1.82078161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.016559995 meters 0.019902158822113138 Centerline is valid? [True, True] Translation: X:-18.18, Y:-263.03, Z:-1.82 [[ 9.02995614e-01 4.29495989e-01 -1.14942247e-02 -1.81757737e+01] [ 4.29467242e-01 -9.03068662e-01 -4.98793116e-03 -2.63026779e+02] [-1.25223706e-02 -4.32313019e-04 -9.99921499e-01 -1.82086710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.0465599949999 meters 0.018985529299850444 Centerline is valid? [True, True] Translation: X:-18.17, Y:-263.03, Z:-1.82 [[ 8.66846040e-01 4.98461689e-01 -1.06717941e-02 -1.81728331e+01] [ 4.98429703e-01 -8.66911631e-01 -5.66176612e-03 -2.63032524e+02] [-1.20736760e-02 -4.11259644e-04 -9.99927026e-01 -1.82118082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.0765599949999 meters 0.02027691292857415 Centerline is valid? [True, True] Translation: X:-18.17, Y:-263.04, Z:-1.82 [[ 8.25525428e-01 5.64273205e-01 -1.01743642e-02 -1.81690563e+01] [ 5.64236300e-01 -8.25588025e-01 -6.46603384e-03 -2.63041074e+02] [-1.20484429e-02 -4.02870233e-04 -9.99927334e-01 -1.82039635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.106559995 meters 0.020508365961248196 Centerline is valid? [True, True] Translation: X:-18.17, Y:-263.04, Z:-1.82 [[ 7.79107295e-01 6.26820353e-01 -9.38448416e-03 -1.81675960e+01] [ 6.26780793e-01 -7.79163716e-01 -7.05284183e-03 -2.63044669e+02] [-1.17329144e-02 -3.87093905e-04 -9.99931092e-01 -1.82040781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.136559995 meters 0.018306807334733152 Centerline is valid? [True, True] Translation: X:-18.16, Y:-263.05, Z:-1.82 [[ 7.28209318e-01 6.85304598e-01 -8.29440078e-03 -1.81640602e+01] [ 6.85265633e-01 -7.28256467e-01 -7.31647373e-03 -2.63048466e+02] [-1.10544641e-02 -3.55943457e-04 -9.99938834e-01 -1.82210181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.166559995 meters 0.018362422717600656 Centerline is valid? [True, True] Translation: X:-18.16, Y:-263.05, Z:-1.82 [[ 6.72335786e-01 7.40208306e-01 -7.50029405e-03 -1.81586400e+01] [ 7.40167905e-01 -6.72377531e-01 -7.74137553e-03 -2.63054010e+02] [-1.07732597e-02 -3.46673129e-04 -9.99941907e-01 -1.82245378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.1965599949999 meters 0.018400780149874243 Centerline is valid? [True, True] Translation: X:-18.15, Y:-263.06, Z:-1.82 [[ 6.12625733e-01 7.90345242e-01 -6.64149457e-03 -1.81527622e+01] [ 7.90304549e-01 -6.12661642e-01 -8.02695803e-03 -2.63059015e+02] [-1.04130571e-02 -3.31282329e-04 -9.99945728e-01 -1.82261625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.226559995 meters 0.018313429487172087 Centerline is valid? [True, True] Translation: X:-18.15, Y:-263.06, Z:-1.82 [[ 5.49585403e-01 8.35414277e-01 -6.23466053e-03 -1.81476747e+01] [ 8.35367289e-01 -5.49620664e-01 -8.86669769e-03 -2.63063699e+02] [-1.08340641e-02 -3.35223841e-04 -9.99941254e-01 -1.82209908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.256559995 meters 0.018657278894321467 Centerline is valid? [True, True] Translation: X:-18.14, Y:-263.07, Z:-1.82 [[ 4.82613793e-01 8.75814833e-01 -5.68381715e-03 -1.81425447e+01] [ 8.75762262e-01 -4.82647139e-01 -9.60204580e-03 -2.63068393e+02] [-1.11528922e-02 -3.43592818e-04 -9.99937746e-01 -1.82145481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.286559995 meters 0.01816246111404006 Centerline is valid? [True, True] Translation: X:-18.14, Y:-263.07, Z:-1.82 [[ 4.12582924e-01 9.10905237e-01 -5.19419320e-03 -1.81366676e+01] [ 9.10843770e-01 -4.12615460e-01 -1.05881791e-02 -2.63071677e+02] [-1.17880322e-02 -3.62596620e-04 -9.99930453e-01 -1.82128702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.3165599949999 meters 0.01932979606227121 Centerline is valid? [True, True] Translation: X:-18.13, Y:-263.08, Z:-1.82 [[ 3.39677755e-01 9.40531147e-01 -4.49281797e-03 -1.81297555e+01] [ 9.40463036e-01 -3.39707255e-01 -1.13251116e-02 -2.63076766e+02] [-1.21778631e-02 -3.78440734e-04 -9.99925776e-01 -1.82025529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.346559995 meters 0.01842752022970446 Centerline is valid? [True, True] Translation: X:-18.12, Y:-263.08, Z:-1.82 [[ 2.63965141e-01 9.64524595e-01 -3.83536033e-03 -1.81240958e+01] [ 9.64444592e-01 -2.63992673e-01 -1.24296938e-02 -2.63079475e+02] [-1.30012524e-02 -4.17986642e-04 -9.99915393e-01 -1.82064479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.376559995 meters 0.01865345692372905 Centerline is valid? [True, True] Translation: X:-18.12, Y:-263.08, Z:-1.82 [[ 1.87250684e-01 9.82308215e-01 -2.78438878e-03 -1.81165335e+01] [ 9.82230021e-01 -1.87270930e-01 -1.24009728e-02 -2.63081982e+02] [-1.27030125e-02 -4.12819611e-04 -9.99919228e-01 -1.82072607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.406559995 meters 0.019006060731842335 Centerline is valid? [True, True] Translation: X:-18.11, Y:-263.08, Z:-1.82 [[ 1.09277753e-01 9.94009592e-01 -1.81746377e-03 -1.81089197e+01] [ 9.93928925e-01 -1.09292052e-01 -1.26704062e-02 -2.63084559e+02] [-1.27931396e-02 -4.21836291e-04 -9.99918076e-01 -1.82061933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.4365599949999 meters 0.019827994365060823 Centerline is valid? [True, True] Translation: X:-18.10, Y:-263.09, Z:-1.82 [[ 3.06046932e-02 9.99531263e-01 -7.79098869e-04 -1.81014526e+01] [ 9.99457554e-01 -3.06119031e-02 -1.21453627e-02 -2.63087539e+02] [-1.21635194e-02 -4.06971152e-04 -9.99925939e-01 -1.82040870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.466559995 meters 0.01936817901293078 Centerline is valid? [True, True] Translation: X:-18.09, Y:-263.09, Z:-1.82 [[-4.85160015e-02 9.98822392e-01 1.64323159e-04 -1.80944305e+01] [ 9.98756716e-01 4.85146968e-02 -1.14606661e-02 -2.63088815e+02] [-1.14551420e-02 -3.91906832e-04 -9.99934311e-01 -1.82129026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.496559995 meters 0.022196452889143365 Centerline is valid? [True, True] Translation: X:-18.08, Y:-263.09, Z:-1.82 [[-1.26940611e-01 9.91909794e-01 1.02080593e-03 -1.80837928e+01] [ 9.91849145e-01 1.26944144e-01 -1.09753242e-02 -2.63089623e+02] [-1.10161169e-02 -3.80728869e-04 -9.99939248e-01 -1.82037979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.526559995 meters 0.020630932114496722 Centerline is valid? [True, True] Translation: X:-18.08, Y:-263.09, Z:-1.82 [[-2.04136207e-01 9.78941172e-01 1.60951044e-03 -1.80807947e+01] [ 9.78896923e-01 2.04142292e-01 -9.31336189e-03 -2.63090322e+02] [-9.44580256e-03 -3.25649553e-04 -9.99955334e-01 -1.82155635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.5565599949999 meters 0.02047468323232474 Centerline is valid? [True, True] Translation: X:-18.08, Y:-263.09, Z:-1.82 [[-2.79859631e-01 9.60038464e-01 2.17600491e-03 -1.80768780e+01] [ 9.60000549e-01 2.79867930e-01 -8.53740111e-03 -2.63090826e+02] [-8.80522744e-03 -3.00308025e-04 -9.99961188e-01 -1.82229195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.5865599949999 meters 0.020461451816048287 Centerline is valid? [True, True] Translation: X:-18.07, Y:-263.09, Z:-1.82 [[-3.53851083e-01 9.35297928e-01 2.68289045e-03 -1.80724643e+01] [ 9.35264738e-01 3.53861142e-01 -7.88433940e-03 -2.63090190e+02] [-8.32357698e-03 -2.80669204e-04 -9.99965319e-01 -1.82272272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.616559995 meters 0.019026149855850702 Centerline is valid? [True, True] Translation: X:-18.07, Y:-263.09, Z:-1.82 [[-4.25764767e-01 9.04828975e-01 2.98147989e-03 -1.80673802e+01] [ 9.04802490e-01 4.25775131e-01 -6.92765687e-03 -2.63089167e+02] [-7.53778466e-03 -2.51901782e-04 -9.99971559e-01 -1.82345724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.646559995 meters 0.017393774829331576 Centerline is valid? [True, True] Translation: X:-18.06, Y:-263.09, Z:-1.82 [[-4.94608999e-01 8.69109117e-01 3.35867124e-03 -1.80584650e+01] [ 8.69085762e-01 4.94620347e-01 -6.37574592e-03 -2.63085606e+02] [-7.20248605e-03 -2.34527955e-04 -9.99974034e-01 -1.82447290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.6765599949999 meters 0.017509272876839486 Centerline is valid? [True, True] Translation: X:-18.05, Y:-263.08, Z:-1.82 [[-5.60664393e-01 8.28035035e-01 3.66317068e-03 -1.80488298e+01] [ 8.28014746e-01 5.60676317e-01 -5.80068982e-03 -2.63081640e+02] [-6.85702745e-03 -2.19080899e-04 -9.99976466e-01 -1.82439129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.7065599949999 meters 0.01777871935605604 Centerline is valid? [True, True] Translation: X:-18.04, Y:-263.08, Z:-1.82 [[-6.21939914e-01 7.83054526e-01 4.04400345e-03 -1.80387600e+01] [ 7.83035843e-01 6.21953029e-01 -5.41288450e-03 -2.63076562e+02] [-6.75376390e-03 -1.99889274e-04 -9.99977173e-01 -1.82341596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.736559995 meters 0.016331621566281568 Centerline is valid? [True, True] Translation: X:-18.03, Y:-263.07, Z:-1.82 [[-6.80217644e-01 7.32995145e-01 4.69838084e-03 -1.80317789e+01] [ 7.32975600e-01 6.80233841e-01 -5.35654693e-03 -2.63071833e+02] [-7.12232053e-03 -1.99819221e-04 -9.99974616e-01 -1.82305705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.766559995 meters 0.015290030189351567 Centerline is valid? [True, True] Translation: X:-18.03, Y:-263.07, Z:-1.82 [[-7.32201100e-01 6.81060958e-01 6.12539631e-03 -1.80251638e+01] [ 6.81034838e-01 7.32226694e-01 -5.96807361e-03 -2.63067533e+02] [-8.54980063e-03 -1.98221779e-04 -9.99963430e-01 -1.82189331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.7965599949999 meters 0.013760397939671019 Centerline is valid? [True, True] Translation: X:-18.00, Y:-263.05, Z:-1.82 [[-7.74551348e-01 6.32474319e-01 6.81507017e-03 -1.80034307e+01] [ 6.32448120e-01 7.74581315e-01 -5.75864020e-03 -2.63054518e+02] [-8.92101805e-03 -1.50184213e-04 -9.99960196e-01 -1.82140011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.8265599949999 meters 0.01313081637348024 Centerline is valid? [True, True] Translation: X:-17.99, Y:-263.03, Z:-1.82 [[-8.15494335e-01 5.78717069e-01 7.45281615e-03 -1.79899662e+01] [ 5.78691491e-01 8.15528380e-01 -5.44244162e-03 -2.63032203e+02] [-9.22761694e-03 -1.25399014e-04 -9.99957417e-01 -1.82150354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.856559995 meters 0.01313081637348024 Centerline is valid? [True, True] Translation: X:-17.97, Y:-263.01, Z:-1.82 [[-8.54416177e-01 5.19530417e-01 7.81942366e-03 -1.79737802e+01] [ 5.19507313e-01 8.54451947e-01 -4.90118076e-03 -2.63009827e+02] [-9.22763425e-03 -1.25400353e-04 -9.99957417e-01 -1.82150337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.886559995 meters 0.012731940550272132 Centerline is valid? [True, True] Translation: X:-17.60, Y:-262.44, Z:-2.77 [[-8.03678229e-01 -5.95018735e-01 7.34916090e-03 -1.76017830e+01] [ 5.94995145e-01 -8.03711822e-01 -5.29958803e-03 -2.62439941e+02] [ 9.05996166e-03 1.13551532e-04 9.99958951e-01 -2.77160365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.916559995 meters 0.011855948672776277 Centerline is valid? [True, True] Translation: X:-18.00, Y:-263.00, Z:-1.82 [[-8.50886859e-01 5.25291455e-01 7.77437195e-03 -1.80024193e+01] [ 5.25269205e-01 8.50922374e-01 -4.83477912e-03 -2.62999268e+02] [-9.15505520e-03 -3.02118441e-05 -9.99958091e-01 -1.82202680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.9465599949999 meters 0.011736045842652167 Centerline is valid? [True, True] Translation: X:-17.99, Y:-262.98, Z:-1.82 [[-8.84545526e-01 4.66388215e-01 7.82596575e-03 -1.79864565e+01] [ 4.66369940e-01 8.84580145e-01 -4.12878569e-03 -2.62977773e+02] [-8.84831090e-03 -2.30373050e-06 -9.99960853e-01 -1.82223613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.976559995 meters 0.011743654790626163 Centerline is valid? [True, True] Translation: X:-17.97, Y:-262.95, Z:-1.82 [[-9.14356991e-01 4.04835632e-01 7.70742015e-03 -1.79739276e+01] [ 4.04821424e-01 9.14389474e-01 -3.39178595e-03 -2.62953631e+02] [-8.42069966e-03 1.88256070e-05 -9.99964545e-01 -1.82259575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.006559995 meters 0.01187356728051906 Centerline is valid? [True, True] Translation: X:-17.69, Y:-262.32, Z:-2.77 [[-8.88775081e-01 -4.58297314e-01 6.51362800e-03 -1.76890241e+01] [ 4.58284365e-01 -8.88798946e-01 -3.44597384e-03 -2.62320643e+02] [ 7.36858625e-03 -7.76018099e-05 9.99972849e-01 -2.76946166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.036559995 meters 0.011965068568924117 Centerline is valid? [True, True] Translation: X:-18.01, Y:-262.94, Z:-1.82 [[-9.13878786e-01 4.05930847e-01 6.76098231e-03 -1.80138605e+01] [ 4.05920168e-01 9.13903794e-01 -2.94502414e-03 -2.62937469e+02] [-7.37436353e-03 5.30239827e-05 -9.99972808e-01 -1.82345910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.0665599949999 meters 0.012153217626421388 Centerline is valid? [True, True] Translation: X:-18.00, Y:-262.91, Z:-1.82 [[-9.40152466e-01 3.40691030e-01 6.55465572e-03 -1.80018130e+01] [ 3.40683149e-01 9.40175313e-01 -2.31799101e-03 -2.62912342e+02] [-6.95224424e-03 5.37957879e-05 -9.99975831e-01 -1.82296370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.096559995 meters 0.012153217626421388 Centerline is valid? [True, True] Translation: X:-17.99, Y:-262.89, Z:-1.82 [[-9.61944770e-01 2.73161737e-01 6.70255018e-03 -1.79937940e+01] [ 2.73155496e-01 9.61968119e-01 -1.84734431e-03 -2.62885514e+02] [-6.95226337e-03 5.37952218e-05 -9.99975831e-01 -1.82296349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.126559995 meters 0.012145980113342277 Centerline is valid? [True, True] Translation: X:-17.99, Y:-262.86, Z:-1.82 [[-9.78846197e-01 2.04483850e-01 6.81751036e-03 -1.79898726e+01] [ 2.04479283e-01 9.78869936e-01 -1.36772184e-03 -2.62856528e+02] [-6.95313296e-03 5.52503060e-05 -9.99975825e-01 -1.82325227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.156559995 meters 0.012045077894823827 Centerline is valid? [True, True] Translation: X:-17.99, Y:-262.83, Z:-1.82 [[-9.90962171e-01 1.33954067e-01 7.09114641e-03 -1.79856255e+01] [ 1.33951018e-01 9.90987540e-01 -9.05380664e-04 -2.62826314e+02] [-7.14851716e-03 5.26682913e-05 -9.99974448e-01 -1.82319617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.1865599949999 meters 0.011973748552016892 Centerline is valid? [True, True] Translation: X:-17.89, Y:-262.15, Z:-2.77 [[-9.82349470e-01 -1.86917309e-01 7.17211881e-03 -1.78942034e+01] [ 1.86912006e-01 -9.82375650e-01 -1.40874906e-03 -2.62146929e+02] [ 7.30903447e-03 -4.33287818e-05 9.99973288e-01 -2.76910879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.216559995 meters 0.011897820658337287 Centerline is valid? [True, True] Translation: X:-18.04, Y:-262.82, Z:-1.82 [[-9.91758144e-01 1.27939497e-01 6.87523746e-03 -1.80419829e+01] [ 1.27936688e-01 9.91781974e-01 -8.48618099e-04 -2.62816222e+02] [-6.92730835e-03 3.79712004e-05 -9.99976005e-01 -1.82302137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.246559995 meters 0.011720695614759342 Centerline is valid? [True, True] Translation: X:-17.96, Y:-262.14, Z:-2.77 [[-9.82691756e-01 -1.85125906e-01 6.73136714e-03 -1.79614229e+01] [ 1.85121269e-01 -9.82714810e-01 -1.31098056e-03 -2.62142520e+02] [ 6.85771064e-03 -4.21705611e-05 9.99976485e-01 -2.76887031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.276559995 meters 0.011677789175064792 Centerline is valid? [True, True] Translation: X:-18.10, Y:-262.80, Z:-1.82 [[-9.92884297e-01 1.18921003e-01 6.21026000e-03 -1.81005376e+01] [ 1.18918704e-01 9.92903719e-01 -7.39457812e-04 -2.62802802e+02] [-6.25412731e-03 4.32001933e-06 -9.99980443e-01 -1.82388165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.3065599949999 meters 0.011671937216561675 Centerline is valid? [True, True] Translation: X:-18.11, Y:-262.77, Z:-1.82 [[-9.98916178e-01 4.61117716e-02 6.33835233e-03 -1.81057320e+01] [ 4.61107909e-02 9.98936287e-01 -3.00852458e-04 -2.62771899e+02] [-6.34548298e-03 -8.25994842e-06 -9.99979867e-01 -1.82356825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.3365599949999 meters 0.01177061630370365 Centerline is valid? [True, True] Translation: X:-18.11, Y:-262.74, Z:-1.82 [[-9.99609112e-01 -2.71670556e-02 6.60114150e-03 -1.81124390e+01] [-2.71666124e-02 9.99630907e-01 1.56813644e-04 -2.62741469e+02] [-6.60296524e-03 -2.25783048e-05 -9.99978200e-01 -1.82312869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.366559995 meters 0.01205922709763488 Centerline is valid? [True, True] Translation: X:-18.12, Y:-262.71, Z:-1.82 [[-9.94724273e-01 -1.02321520e-01 7.34359002e-03 -1.81211986e+01] [-1.02319144e-01 9.94751378e-01 6.99473836e-04 -2.62709302e+02] [-7.37661752e-03 -5.56062443e-05 -9.99972791e-01 -1.82194916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.396559995 meters 0.012356605451366187 Centerline is valid? [True, True] Translation: X:-18.14, Y:-262.68, Z:-1.82 [[-9.84561453e-01 -1.74868167e-01 7.73748129e-03 -1.81364185e+01] [-1.74863363e-01 9.84591854e-01 1.29832551e-03 -2.62681170e+02] [-7.84529685e-03 -7.47207490e-05 -9.99969222e-01 -1.82111298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.4265599949999 meters 0.012868574268158418 Centerline is valid? [True, True] Translation: X:-18.16, Y:-262.66, Z:-1.82 [[-9.68953020e-01 -2.47117771e-01 7.92797306e-03 -1.81579684e+01] [-2.47110304e-01 9.68985448e-01 1.92344270e-03 -2.62655044e+02] [-8.15740740e-03 -9.53582191e-05 -9.99966723e-01 -1.82021674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.4565599949999 meters 0.013289994256957623 Centerline is valid? [True, True] Translation: X:-18.33, Y:-262.04, Z:-2.77 [[-9.87711426e-01 1.56044461e-01 8.73298646e-03 -1.83336219e+01] [-1.56036996e-01 -9.87750021e-01 1.53382689e-03 -2.62042196e+02] [ 8.86535275e-03 1.52309365e-04 9.99960690e-01 -2.77283271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.486559995 meters 0.013915833440340065 Centerline is valid? [True, True] Translation: X:-18.30, Y:-262.68, Z:-1.82 [[-9.65881041e-01 -2.58831154e-01 8.95818557e-03 -1.82969582e+01] [-2.58821568e-01 9.65922568e-01 2.23349734e-03 -2.62682961e+02] [-9.23101231e-03 -1.61278896e-04 -9.99957380e-01 -1.81962083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.516559995 meters 0.01441912795414813 Centerline is valid? [True, True] Translation: X:-18.33, Y:-262.66, Z:-1.82 [[-9.43963218e-01 -3.29928157e-01 8.99191090e-03 -1.83304107e+01] [-3.29915054e-01 9.44006026e-01 2.94623203e-03 -2.62662373e+02] [-9.46046298e-03 -1.85432105e-04 -9.99955232e-01 -1.81964765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.5465599949999 meters 0.016878939795174797 Centerline is valid? [True, True] Translation: X:-18.38, Y:-262.65, Z:-1.82 [[-9.16723326e-01 -3.99428494e-01 8.67301304e-03 -1.83805843e+01] [-3.99412685e-01 9.16764330e-01 3.55940772e-03 -2.62646094e+02] [-9.37283786e-03 -2.01119343e-04 -9.99956054e-01 -1.81820099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.5765599949999 meters 0.01590622497238291 Centerline is valid? [True, True] Translation: X:-18.45, Y:-262.65, Z:-1.82 [[-8.83101671e-01 -4.69109713e-01 8.21682047e-03 -1.84452505e+01] [-4.69091828e-01 8.83139867e-01 4.10278406e-03 -2.62646612e+02] [-9.18125759e-03 -2.31267879e-04 -9.99957825e-01 -1.82015642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.606559995 meters 0.01608137323941035 Centerline is valid? [True, True] Translation: X:-18.52, Y:-262.65, Z:-1.82 [[-8.45310989e-01 -5.34215867e-01 7.92076631e-03 -1.85156128e+01] [-5.34195103e-01 8.45348063e-01 4.71643333e-03 -2.62653172e+02] [-9.21539798e-03 -2.44381645e-04 -9.99957508e-01 -1.82033829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.636559995 meters 0.019040633242146717 Centerline is valid? [True, True] Translation: X:-18.59, Y:-262.66, Z:-1.82 [[-8.02417375e-01 -5.96714698e-01 7.61092595e-03 -1.85930732e+01] [-5.96690890e-01 8.02453427e-01 5.33665020e-03 -2.62664511e+02] [-9.29187122e-03 -2.59149339e-04 -9.99956796e-01 -1.81864824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.666559995 meters 0.01769645870346095 Centerline is valid? [True, True] Translation: X:-18.67, Y:-262.69, Z:-1.82 [[-7.55121707e-01 -6.55546649e-01 7.05681992e-03 -1.86740511e+01] [-6.55521219e-01 7.55154635e-01 5.78005715e-03 -2.62694122e+02] [-9.11808737e-03 -2.61248576e-04 -9.99958395e-01 -1.81934333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.6965599949999 meters 0.020630551779075395 Centerline is valid? [True, True] Translation: X:-18.76, Y:-262.73, Z:-1.82 [[-7.02982621e-01 -7.11175827e-01 6.66158767e-03 -1.87578126e+01] [-7.11147540e-01 7.03014130e-01 6.34889480e-03 -2.62726500e+02] [-9.19837077e-03 -2.74208980e-04 -9.99957657e-01 -1.81813367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.726559995 meters 0.017377108610678697 Centerline is valid? [True, True] Translation: X:-18.84, Y:-262.78, Z:-1.82 [[-6.47223359e-01 -7.62275994e-01 6.10185783e-03 -1.88370958e+01] [-7.62246035e-01 6.47252064e-01 6.76368866e-03 -2.62776423e+02] [-9.10523757e-03 -2.73499648e-04 -9.99958509e-01 -1.81981060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.756559995 meters 0.018013714380839662 Centerline is valid? [True, True] Translation: X:-18.92, Y:-262.83, Z:-1.82 [[-5.86849546e-01 -8.09678114e-01 5.38162437e-03 -1.89195572e+01] [-8.09648264e-01 5.86874158e-01 6.95783039e-03 -2.62831954e+02] [-8.79193925e-03 -2.74023221e-04 -9.99961313e-01 -1.81947940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.786559995 meters 0.019389072406157223 Centerline is valid? [True, True] Translation: X:-19.00, Y:-262.89, Z:-1.82 [[-5.22932836e-01 -8.52358719e-01 5.08559379e-03 -1.90005096e+01] [-8.52323804e-01 5.22957480e-01 7.72063595e-03 -2.62894984e+02] [-9.24030068e-03 -2.97198596e-04 -9.99957263e-01 -1.81887748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.8165599949999 meters 0.019258669477284125 Centerline is valid? [True, True] Translation: X:-19.08, Y:-262.97, Z:-1.82 [[-4.55787437e-01 -8.90076536e-01 4.64459608e-03 -1.90751726e+01] [-8.90037211e-01 4.55810991e-01 8.37278185e-03 -2.62966864e+02] [-9.56947461e-03 -3.17654560e-04 -9.99954161e-01 -1.81883937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.846559995 meters 0.02121316982113252 Centerline is valid? [True, True] Translation: X:-19.15, Y:-263.05, Z:-1.82 [[-3.85917922e-01 -9.22523899e-01 4.12476909e-03 -1.91504860e+01] [-9.22480175e-01 3.85939818e-01 8.98796915e-03 -2.63049541e+02] [-9.88352897e-03 -3.36399336e-04 -9.99951100e-01 -1.81781876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.876559995 meters 0.020255844656137962 Centerline is valid? [True, True] Translation: X:-19.21, Y:-263.14, Z:-1.82 [[-3.13509373e-01 -9.49578857e-01 3.44489869e-03 -1.92149020e+01] [-9.49533137e-01 3.13528106e-01 9.32464774e-03 -2.63138930e+02] [-9.93456091e-03 -3.47680991e-04 -9.99950591e-01 -1.81840797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.906559995 meters 0.019883334560595232 Centerline is valid? [True, True] Translation: X:-19.27, Y:-263.24, Z:-1.82 [[-2.37963991e-01 -9.71270602e-01 2.56050646e-03 -1.92747927e+01] [-9.71229037e-01 2.37977513e-01 8.99223961e-03 -2.63240039e+02] [-9.34324094e-03 -3.47008998e-04 -9.99956291e-01 -1.81912913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.9365599949999 meters 0.020675472492446504 Centerline is valid? [True, True] Translation: X:-19.33, Y:-263.34, Z:-1.82 [[-1.62109665e-01 -9.86771086e-01 1.81114762e-03 -1.93269451e+01] [-9.86731026e-01 1.62119416e-01 8.89816852e-03 -2.63336249e+02] [-9.07407761e-03 -3.44636430e-04 -9.99958770e-01 -1.81944665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.966559995 meters 0.020784838416549576 Centerline is valid? [True, True] Translation: X:-19.37, Y:-263.45, Z:-1.82 [[-8.54777649e-02 -9.96339495e-01 1.07820057e-03 -1.93722314e+01] [-9.96302068e-01 8.54839064e-02 8.64239048e-03 -2.63445203e+02] [-8.70292376e-03 -3.35481239e-04 -9.99962073e-01 -1.82015861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.996559995 meters 0.021512306325069397 Centerline is valid? [True, True] Translation: X:-19.41, Y:-263.55, Z:-1.82 [[-8.32143241e-03 -9.99965309e-01 3.65822231e-04 -1.94094382e+01] [-9.99935563e-01 8.32400868e-03 7.71880001e-03 -2.63551760e+02] [-7.72157735e-03 -3.01567186e-04 -9.99970143e-01 -1.82016186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.026559995 meters 0.021944961913827027 Centerline is valid? [True, True] Translation: X:-20.03, Y:-263.63, Z:-2.77 [[-1.53876922e-01 9.88089636e-01 8.73921763e-04 -2.00334066e+01] [-9.88062459e-01 -1.53879176e-01 7.33326868e-03 -2.63627521e+02] [ 7.38040514e-03 2.64931529e-04 9.99972729e-01 -2.77248409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.0565599949999 meters 0.020668948179445173 Centerline is valid? [True, True] Translation: X:-19.42, Y:-263.82, Z:-1.82 [[ 9.69765713e-04 -9.99999495e-01 2.63854501e-04 -1.94218441e+01] [-9.99975328e-01 -9.67906517e-04 6.95746755e-03 -2.63821610e+02] [-6.95720865e-03 -2.70595104e-04 -9.99975762e-01 -1.82025571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.0865599949999 meters 0.020919749479873642 Centerline is valid? [True, True] Translation: X:-19.45, Y:-263.94, Z:-1.82 [[ 7.67167164e-02 -9.97052895e-01 -2.65664178e-04 -1.94480666e+01] [-9.97029561e-01 -7.67167399e-02 6.82610100e-03 -2.63935145e+02] [-6.82636465e-03 -2.58801016e-04 -9.99976667e-01 -1.81960643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.116559995 meters 0.020878910898162847 Centerline is valid? [True, True] Translation: X:-19.47, Y:-264.05, Z:-1.82 [[ 1.52309296e-01 -9.88332544e-01 -8.12482680e-04 -1.94659426e+01] [-9.88307851e-01 -1.52311238e-01 6.99125759e-03 -2.64049751e+02] [-7.03343765e-03 -2.61850509e-04 -9.99975231e-01 -1.81915132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.146559995 meters 0.02051753695604794 Centerline is valid? [True, True] Translation: X:-19.47, Y:-264.17, Z:-1.82 [[ 2.27109622e-01 -9.73868252e-01 -1.35902988e-03 -1.94738655e+01] [-9.73843330e-01 -2.27113540e-01 6.97201030e-03 -2.64168020e+02] [-7.09847358e-03 -2.59928441e-04 -9.99974772e-01 -1.81904794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.1765599949999 meters 0.020515801774579012 Centerline is valid? [True, True] Translation: X:-19.47, Y:-264.28, Z:-1.82 [[ 3.00645737e-01 -9.53733862e-01 -1.96513594e-03 -1.94744950e+01] [-9.53707333e-01 -3.00652042e-01 7.11853296e-03 -2.64281863e+02] [-7.38000806e-03 -2.65992035e-04 -9.99972732e-01 -1.81884145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.2065599949999 meters 0.020937483104757574 Centerline is valid? [True, True] Translation: X:-19.47, Y:-264.40, Z:-1.82 [[ 3.72258632e-01 -9.28125543e-01 -2.54688064e-03 -1.94663973e+01] [-9.28098708e-01 -3.72267250e-01 7.06273160e-03 -2.64397777e+02] [-7.50322185e-03 -2.65406174e-04 -9.99971815e-01 -1.81892026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.236559995 meters 0.020617691301335676 Centerline is valid? [True, True] Translation: X:-19.45, Y:-264.52, Z:-1.82 [[ 4.41756926e-01 -8.97129817e-01 -2.98490168e-03 -1.94467351e+01] [-8.97105325e-01 -4.41766938e-01 6.63394641e-03 -2.64515972e+02] [-7.27014201e-03 -2.52820586e-04 -9.99973540e-01 -1.81930258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.266559995 meters 0.021745680422847212 Centerline is valid? [True, True] Translation: X:-19.43, Y:-264.62, Z:-1.82 [[ 5.09076854e-01 -8.60714178e-01 -3.44384866e-03 -1.94250797e+01] [-8.60691070e-01 -5.09088442e-01 6.31188241e-03 -2.64624240e+02] [-7.18595023e-03 -2.49143453e-04 -9.99974150e-01 -1.81915853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.2965599949999 meters 0.0197099442260276 Centerline is valid? [True, True] Translation: X:-19.39, Y:-264.73, Z:-1.82 [[ 5.73395866e-01 -8.19269232e-01 -3.88673269e-03 -1.93903789e+01] [-8.19247417e-01 -5.73408985e-01 5.98370567e-03 -2.64729718e+02] [-7.13095339e-03 -2.46836372e-04 -9.99974544e-01 -1.81977725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.3265599949999 meters 0.01956081863504959 Centerline is valid? [True, True] Translation: X:-19.35, Y:-264.83, Z:-1.82 [[ 6.34169407e-01 -7.73182365e-01 -4.26541827e-03 -1.93511231e+01] [-7.73162260e-01 -6.34183706e-01 5.58099580e-03 -2.64832685e+02] [-7.02018630e-03 -2.41436370e-04 -9.99975329e-01 -1.81955606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.356559995 meters 0.021129518078387206 Centerline is valid? [True, True] Translation: X:-19.31, Y:-264.93, Z:-1.82 [[ 6.91411903e-01 -7.22447285e-01 -4.41599527e-03 -1.93071873e+01] [-7.22430395e-01 -6.91425967e-01 4.94543621e-03 -2.64932588e+02] [-6.62615077e-03 -2.29084251e-04 -9.99978021e-01 -1.81915374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.386559995 meters 0.020246476073168432 Centerline is valid? [True, True] Translation: X:-19.25, Y:-265.03, Z:-1.82 [[ 7.44594019e-01 -6.67501326e-01 -4.66115305e-03 -1.92523544e+01] [-6.67486321e-01 -7.44608574e-01 4.48145531e-03 -2.65027186e+02] [-6.46211189e-03 -2.25608920e-04 -9.99979095e-01 -1.81971470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.416559995 meters 0.020506864584714055 Centerline is valid? [True, True] Translation: X:-19.25, Y:-265.04, Z:-1.82 [[ 7.95073835e-01 -6.06492974e-01 -4.88558464e-03 -1.92528742e+01] [-6.06479749e-01 -7.95088813e-01 4.01173312e-03 -2.65035642e+02] [-6.31756164e-03 -2.26615888e-04 -9.99980018e-01 -1.82007930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.4465599949999 meters 0.02311874078691194 Centerline is valid? [True, True] Translation: X:-19.25, Y:-265.05, Z:-1.82 [[ 8.40506176e-01 -5.41778352e-01 -5.05828578e-03 -1.92548250e+01] [-5.41766902e-01 -8.40521366e-01 3.52945345e-03 -2.65045167e+02] [-6.16377874e-03 -2.26115607e-04 -9.99980978e-01 -1.81963144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.476559995 meters 0.022010396511730326 Centerline is valid? [True, True] Translation: X:-19.25, Y:-265.05, Z:-1.82 [[ 8.80772964e-01 -4.73507271e-01 -5.46364882e-03 -1.92516170e+01] [-4.73496458e-01 -8.80789877e-01 3.20885863e-03 -2.65050705e+02] [-6.33174446e-03 -2.39257566e-04 -9.99979926e-01 -1.82009745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.506559995 meters 0.021915097434346286 Centerline is valid? [True, True] Translation: X:-19.25, Y:-265.06, Z:-1.82 [[ 9.15493644e-01 -4.02294155e-01 -5.54989852e-03 -1.92492516e+01] [-4.02285166e-01 -9.15510435e-01 2.69989527e-03 -2.65057588e+02] [-6.16714210e-03 -2.39095110e-04 -9.99980954e-01 -1.82042594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.536559995 meters 0.024257075147714954 Centerline is valid? [True, True] Translation: X:-19.25, Y:-265.07, Z:-1.82 [[ 9.44679645e-01 -3.27936753e-01 -6.15254193e-03 -1.92477383e+01] [-3.27927943e-01 -9.44699643e-01 2.41855645e-03 -2.65067404e+02] [-6.60543771e-03 -2.67170635e-04 -9.99978148e-01 -1.81964938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.5665599949999 meters 0.022885144727737082 Centerline is valid? [True, True] Translation: X:-19.24, Y:-265.07, Z:-1.82 [[ 9.67553118e-01 -2.52585023e-01 -6.46301701e-03 -1.92429343e+01] [-2.52577468e-01 -9.67574664e-01 1.97318475e-03 -2.65072367e+02] [-6.75184843e-03 -2.76748588e-04 -9.99977168e-01 -1.81985671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.596559995 meters 0.02256230255960502 Centerline is valid? [True, True] Translation: X:-19.24, Y:-265.08, Z:-1.82 [[ 9.84349217e-01 -1.76111692e-01 -6.42583636e-03 -1.92386671e+01] [-1.76106143e-01 -9.84370154e-01 1.42379958e-03 -2.65079366e+02] [-6.57614928e-03 -2.69886745e-04 -9.99978341e-01 -1.81969971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.626559995 meters 0.02311526362707195 Centerline is valid? [True, True] Translation: X:-19.23, Y:-265.09, Z:-1.82 [[ 9.95064708e-01 -9.90063888e-02 -6.63041519e-03 -1.92349861e+01] [-9.90023666e-02 -9.95086761e-01 9.32933608e-04 -2.65085967e+02] [-6.69020476e-03 -2.71902513e-04 -9.99977583e-01 -1.81939894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.656559995 meters 0.022197223070968313 Centerline is valid? [True, True] Translation: X:-19.23, Y:-265.09, Z:-1.82 [[ 9.99724549e-01 -2.26931769e-02 -5.98718483e-03 -1.92323485e+01] [-2.26913809e-02 -9.99742450e-01 3.67741888e-04 -2.65089177e+02] [-5.99398806e-03 -2.31783101e-04 -9.99982009e-01 -1.81953835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.6865599949999 meters 0.021069136813656186 Centerline is valid? [True, True] Translation: X:-19.23, Y:-265.09, Z:-1.82 [[ 9.98490404e-01 5.46383543e-02 -5.61814498e-03 -1.92298337e+01] [ 5.46386800e-02 -9.98506187e-01 -9.56061176e-05 -2.65093353e+02] [-5.61497629e-03 -2.11506235e-04 -9.99984214e-01 -1.82029389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.716559995 meters 0.02239847567742744 Centerline is valid? [True, True] Translation: X:-19.23, Y:-265.10, Z:-1.82 [[ 9.91243855e-01 1.31939856e-01 -5.24354317e-03 -1.92278989e+01] [ 1.31939045e-01 -9.91257704e-01 -5.01769263e-04 -2.65100324e+02] [-5.26390593e-03 -1.94452380e-04 -9.99986127e-01 -1.82064665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.746559995 meters 0.01983133501233301 Centerline is valid? [True, True] Translation: X:-19.23, Y:-265.10, Z:-1.82 [[ 9.78076836e-01 2.08197040e-01 -4.43801090e-03 -1.92256786e+01] [ 2.08195645e-01 -9.78086891e-01 -7.79057849e-04 -2.65104186e+02] [-4.50295782e-03 -1.61996105e-04 -9.99989849e-01 -1.82181760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.776559995 meters 0.01993915634182426 Centerline is valid? [True, True] Translation: X:-19.22, Y:-265.11, Z:-1.82 [[ 9.58908768e-01 2.83682635e-01 -4.25869868e-03 -1.92217928e+01] [ 2.83680557e-01 -9.58918212e-01 -1.09694052e-03 -2.65110943e+02] [-4.39492670e-03 -1.56244129e-04 -9.99990330e-01 -1.82163285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.8065599949999 meters 0.01925793761140684 Centerline is valid? [True, True] Translation: X:-19.22, Y:-265.12, Z:-1.82 [[ 9.33845667e-01 3.57649287e-01 -4.38840767e-03 -1.92179160e+01] [ 3.57646156e-01 -9.33855964e-01 -1.50548938e-03 -2.65117142e+02] [-4.63657788e-03 -1.63602398e-04 -9.99989238e-01 -1.82134961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.8365599949999 meters 0.01986641168838366 Centerline is valid? [True, True] Translation: X:-19.21, Y:-265.13, Z:-1.82 [[ 9.03046770e-01 4.29506067e-01 -5.57406488e-03 -1.92140237e+01] [ 4.29499331e-01 -9.03063947e-01 -2.41492320e-03 -2.65125432e+02] [-6.07096120e-03 -2.13268539e-04 -9.99981549e-01 -1.82017625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.866559995 meters 0.020234963411128525 Centerline is valid? [True, True] Translation: X:-19.21, Y:-265.13, Z:-1.82 [[ 8.66586088e-01 4.98987084e-01 -6.35938645e-03 -1.92100677e+01] [ 4.98975775e-01 -8.66609385e-01 -3.36909137e-03 -2.65131062e+02] [-7.19223706e-03 -2.53572072e-04 -9.99974103e-01 -1.81917873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.896559995 meters 0.019930422775982205 Centerline is valid? [True, True] Translation: X:-19.20, Y:-265.13, Z:-1.82 [[ 8.24843264e-01 5.65321106e-01 -6.75551269e-03 -1.92046744e+01] [ 5.65304914e-01 -8.24870879e-01 -4.28793695e-03 -2.65134930e+02] [-7.99648695e-03 -2.82048613e-04 -9.99967988e-01 -1.81862953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.9265599949999 meters 0.01949375410521464 Centerline is valid? [True, True] Translation: X:-19.20, Y:-265.14, Z:-1.82 [[ 7.78050890e-01 6.28152801e-01 -7.80201810e-03 -1.91984638e+01] [ 6.28125596e-01 -7.78089931e-01 -5.85621620e-03 -2.65139682e+02] [-9.74927033e-03 -3.44213041e-04 -9.99952416e-01 -1.81783482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.9565599949999 meters 0.019495286075455805 Centerline is valid? [True, True] Translation: X:-19.19, Y:-265.14, Z:-1.82 [[ 7.26454454e-01 6.87171903e-01 -7.66171685e-03 -1.91916148e+01] [ 6.87138843e-01 -7.26494766e-01 -6.75017899e-03 -2.65144171e+02] [-1.02047305e-02 -3.60965664e-04 -9.99947865e-01 -1.81783266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.986559995 meters 0.020300858426563886 Centerline is valid? [True, True] Translation: X:-19.19, Y:-265.15, Z:-1.82 [[ 6.70502817e-01 7.41871307e-01 -7.27574931e-03 -1.91852674e+01] [ 7.41833482e-01 -6.70542190e-01 -7.50047608e-03 -2.65149755e+02] [-1.04430849e-02 -3.68304099e-04 -9.99945402e-01 -1.81728390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.016559995 meters 0.020300858426563886 Centerline is valid? [True, True] Translation: X:-19.18, Y:-265.15, Z:-1.82 [[ 6.10344020e-01 7.92108416e-01 -6.66598952e-03 -1.91802739e+01] [ 7.92067623e-01 -6.10380309e-01 -8.04727829e-03 -2.65152160e+02] [-1.04431056e-02 -3.68306295e-04 -9.99945402e-01 -1.81728371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.0465599949999 meters 0.02062549434776257 Centerline is valid? [True, True] Translation: X:-19.17, Y:-265.15, Z:-1.82 [[ 5.46453776e-01 8.37468008e-01 -5.96710283e-03 -1.91749396e+01] [ 8.37425192e-01 -5.46486232e-01 -8.47617247e-03 -2.65153821e+02] [-1.03594628e-02 -3.65165786e-04 -9.99946273e-01 -1.81810812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.0765599949999 meters 0.019214391681807823 Centerline is valid? [True, True] Translation: X:-19.17, Y:-265.16, Z:-1.82 [[ 4.79069084e-01 8.77762429e-01 -5.09218283e-03 -1.91693437e+01] [ 8.77720442e-01 -4.79096017e-01 -8.59255065e-03 -2.65155618e+02] [-9.98186265e-03 -3.53087594e-04 -9.99950118e-01 -1.81920593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.106559995 meters 0.02132308880643942 Centerline is valid? [True, True] Translation: X:-19.16, Y:-265.16, Z:-1.82 [[ 4.08902309e-01 9.12568630e-01 -4.17098063e-03 -1.91600941e+01] [ 9.12529187e-01 -4.08923445e-01 -8.49116555e-03 -2.65159803e+02] [-9.45438309e-03 -3.34084367e-04 -9.99955251e-01 -1.81901731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.136559995 meters 0.02196508482424376 Centerline is valid? [True, True] Translation: X:-19.16, Y:-265.16, Z:-1.82 [[ 3.36427048e-01 9.41703411e-01 -3.39508405e-03 -1.91571014e+01] [ 9.41664703e-01 -3.36444024e-01 -8.54440888e-03 -2.65160975e+02] [-9.18855473e-03 -3.22460554e-04 -9.99957732e-01 -1.81936529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.166559995 meters 0.019281825899686432 Centerline is valid? [True, True] Translation: X:-19.15, Y:-265.16, Z:-1.82 [[ 2.61913987e-01 9.65088031e-01 -2.48124560e-03 -1.91532582e+01] [ 9.65054685e-01 -2.61925577e-01 -8.02785150e-03 -2.65160661e+02] [-8.39748508e-03 -2.91931100e-04 -9.99964698e-01 -1.82151814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.1965599949999 meters 0.018895497563783812 Centerline is valid? [True, True] Translation: X:-19.15, Y:-265.16, Z:-1.82 [[ 1.85437555e-01 9.82654507e-01 -1.74189599e-03 -1.91453786e+01] [ 9.82624054e-01 -1.85445530e-01 -7.74108785e-03 -2.65161964e+02] [-7.92984169e-03 -2.76140503e-04 -9.99968520e-01 -1.82211177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.226559995 meters 0.020562033735923305 Centerline is valid? [True, True] Translation: X:-19.13, Y:-265.16, Z:-1.82 [[ 1.07836381e-01 9.94168033e-01 -1.11265243e-03 -1.91349441e+01] [ 9.94138009e-01 -1.07841777e-01 -7.73115374e-03 -2.65163705e+02] [-7.80605632e-03 -2.72430430e-04 -9.99969495e-01 -1.82146121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.256559995 meters 0.01941952235714664 Centerline is valid? [True, True] Translation: X:-19.13, Y:-265.16, Z:-1.82 [[ 2.94500984e-02 9.99566122e-01 -5.09723935e-04 -1.91293263e+01] [ 9.99534999e-01 -2.94532062e-02 -7.89270450e-03 -2.65163046e+02] [-7.90429303e-03 -2.77045989e-04 -9.99968722e-01 -1.82181913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.286559995 meters 0.019550962528205682 Centerline is valid? [True, True] Translation: X:-19.12, Y:-265.16, Z:-1.82 [[-4.92139921e-02 9.98788250e-01 1.19826939e-04 -1.91218538e+01] [ 9.98751159e-01 4.92131978e-02 -8.61302129e-03 -2.65161680e+02] [-8.60848153e-03 -3.04203867e-04 -9.99962900e-01 -1.82195019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.3165599949999 meters 0.020311561169100448 Centerline is valid? [True, True] Translation: X:-19.11, Y:-265.16, Z:-1.82 [[-1.27630588e-01 9.91821443e-01 8.11838707e-04 -1.91142141e+01] [ 9.91782727e-01 1.27632784e-01 -8.76898111e-03 -2.65161654e+02] [-8.80088072e-03 -3.14022609e-04 -9.99961222e-01 -1.82177720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.346559995 meters 0.020522746745283635 Centerline is valid? [True, True] Translation: X:-19.11, Y:-265.16, Z:-1.82 [[-2.04753657e-01 9.78812193e-01 1.62212510e-03 -1.91085912e+01] [ 9.78767009e-01 2.04759802e-01 -9.41095412e-03 -2.65159523e+02] [-9.54370265e-03 -3.39244740e-04 -9.99954400e-01 -1.82186910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.376559995 meters 0.0202420429120177 Centerline is valid? [True, True] Translation: X:-19.10, Y:-265.16, Z:-1.82 [[-2.80875506e-01 9.59741030e-01 2.47082218e-03 -1.91034160e+01] [ 9.59691944e-01 2.80886147e-01 -9.71318387e-03 -2.65157350e+02] [-1.00161608e-02 -3.56967292e-04 -9.99949773e-01 -1.82177513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.406559995 meters 0.019613493475166194 Centerline is valid? [True, True] Translation: X:-19.10, Y:-265.15, Z:-1.82 [[-3.54312178e-01 9.35120832e-01 3.45106090e-03 -1.90979114e+01] [ 9.35065731e-01 3.54328789e-01 -1.01581908e-02 -2.65154493e+02] [-1.07219460e-02 -3.72201909e-04 -9.99942449e-01 -1.82165409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.4365599949999 meters 0.019589548378349305 Centerline is valid? [True, True] Translation: X:-19.09, Y:-265.15, Z:-1.82 [[-4.25917849e-01 9.04751723e-01 4.27851434e-03 -1.90931057e+01] [ 9.04697039e-01 4.25939179e-01 -9.95408932e-03 -2.65151613e+02] [-1.08283664e-02 -3.68865056e-04 -9.99941304e-01 -1.82150663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.466559995 meters 0.019344319277266982 Centerline is valid? [True, True] Translation: X:-19.09, Y:-265.15, Z:-1.82 [[-4.94581714e-01 8.69116584e-01 5.02917332e-03 -1.90886231e+01] [ 8.69064093e-01 4.94607154e-01 -9.55851619e-03 -2.65148795e+02] [-1.07949300e-02 -3.56793364e-04 -9.99941669e-01 -1.82155444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.496559995 meters 0.018291679269295175 Centerline is valid? [True, True] Translation: X:-19.09, Y:-265.15, Z:-1.82 [[-5.58641487e-01 8.29392347e-01 5.29380889e-03 -1.90858993e+01] [ 8.29349940e-01 5.58666489e-01 -8.39228153e-03 -2.65146515e+02] [-9.91796770e-03 -2.97856540e-04 -9.99950771e-01 -1.82223909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.526559995 meters 0.01630682609021012 Centerline is valid? [True, True] Translation: X:-19.08, Y:-265.14, Z:-1.82 [[-6.20250943e-01 7.84384906e-01 5.39323449e-03 -1.90816755e+01] [ 7.84351666e-01 6.20274339e-01 -7.22550716e-03 -2.65142075e+02] [-9.01286372e-03 -2.51435172e-04 -9.99959352e-01 -1.82347867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.5565599949999 meters 0.016280913927371788 Centerline is valid? [True, True] Translation: X:-19.08, Y:-265.14, Z:-1.82 [[-6.78195441e-01 7.34862187e-01 5.33946662e-03 -1.90753423e+01] [ 7.34836960e-01 6.78216428e-01 -6.09257694e-03 -2.65137091e+02] [-8.09851839e-03 -2.08320486e-04 -9.99967185e-01 -1.82363866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.5865599949999 meters 0.014685377006613381 Centerline is valid? [True, True] Translation: X:-19.07, Y:-265.13, Z:-1.82 [[-7.30662509e-01 6.82718960e-01 5.20768098e-03 -1.90728035e+01] [ 6.82700096e-01 7.30681051e-01 -5.07756095e-03 -2.65133438e+02] [-7.27170094e-03 -1.54699115e-04 -9.99973549e-01 -1.82476660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.616559995 meters 0.014990373361658116 Centerline is valid? [True, True] Translation: X:-18.63, Y:-264.68, Z:-2.77 [[-6.52864217e-01 -7.57458734e-01 4.95784474e-03 -1.86271279e+01] [ 7.57438789e-01 -6.52883021e-01 -5.49930231e-03 -2.64678917e+02] [ 7.40238722e-03 1.64966211e-04 9.99972588e-01 -2.76811676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.646559995 meters 0.013686433345559882 Centerline is valid? [True, True] Translation: X:-18.64, Y:-264.66, Z:-2.77 [[-6.54521098e-01 -7.56027813e-01 4.90696131e-03 -1.86438198e+01] [ 7.56008017e-01 -6.54539479e-01 -5.47256923e-03 -2.64656440e+02] [ 7.34921445e-03 1.27790065e-04 9.99972986e-01 -2.76747729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.6765599949999 meters 0.012980978268011287 Centerline is valid? [True, True] Translation: X:-18.66, Y:-264.63, Z:-2.77 [[-6.57107556e-01 -7.53776882e-01 5.48371027e-03 -1.86614568e+01] [ 7.53752109e-01 -6.57130427e-01 -6.11233968e-03 -2.64634846e+02] [ 8.21085322e-03 1.16893589e-04 9.99966284e-01 -2.76794952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.7065599949999 meters 0.012840032917277318 Centerline is valid? [True, True] Translation: X:-18.68, Y:-264.61, Z:-2.77 [[-6.58257356e-01 -7.52774442e-01 5.28135695e-03 -1.86797839e+01] [ 7.52751460e-01 -6.58278535e-01 -5.88306215e-03 -2.64614304e+02] [ 7.90522274e-03 1.02980220e-04 9.99968748e-01 -2.76793101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.736559995 meters 0.012606523204928825 Centerline is valid? [True, True] Translation: X:-18.70, Y:-264.59, Z:-2.77 [[-6.59326218e-01 -7.51836925e-01 5.49327679e-03 -1.86985807e+01] [ 7.51812058e-01 -6.59349094e-01 -6.11568004e-03 -2.64592989e+02] [ 8.21998115e-03 9.76835325e-05 9.99966211e-01 -2.76800276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.766559995 meters 0.012213304048446899 Centerline is valid? [True, True] Translation: X:-18.72, Y:-264.57, Z:-2.77 [[-6.60958229e-01 -7.50402858e-01 5.45627993e-03 -1.87171317e+01] [ 7.50378303e-01 -6.60980745e-01 -6.07105984e-03 -2.64571980e+02] [ 8.16223663e-03 8.15571170e-05 9.99966685e-01 -2.76804592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.7965599949999 meters 0.012067472976483765 Centerline is valid? [True, True] Translation: X:-18.74, Y:-264.55, Z:-2.77 [[-6.61911109e-01 -7.49564209e-01 5.21346388e-03 -1.87355919e+01] [ 7.49541791e-01 -6.61931637e-01 -5.79762122e-03 -2.64551138e+02] [ 7.79664604e-03 7.01991583e-05 9.99969603e-01 -2.76795197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.8265599949999 meters 0.012045283293456001 Centerline is valid? [True, True] Translation: X:-18.75, Y:-264.53, Z:-2.77 [[-6.62768334e-01 -7.48808668e-01 4.86967702e-03 -1.87534882e+01] [ 7.48789115e-01 -6.62786221e-01 -5.41172148e-03 -2.64531392e+02] [ 7.27989878e-03 5.96435137e-05 9.99973499e-01 -2.76804642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.856559995 meters 0.011913934908457671 Centerline is valid? [True, True] Translation: X:-18.77, Y:-264.51, Z:-2.77 [[-6.63560080e-01 -7.48109112e-01 4.55824749e-03 -1.87719737e+01] [ 7.48091978e-01 -6.63575734e-01 -5.06342849e-03 -2.64510718e+02] [ 6.81273941e-03 5.00993695e-05 9.99976792e-01 -2.76786704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.886559995 meters 0.011730616667039317 Centerline is valid? [True, True] Translation: X:-18.79, Y:-264.49, Z:-2.77 [[-6.64184491e-01 -7.47555623e-01 4.42191057e-03 -1.87904177e+01] [ 7.47539505e-01 -6.64199209e-01 -4.90918477e-03 -2.64489838e+02] [ 6.60691818e-03 4.49484466e-05 9.99978173e-01 -2.76744663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.916559995 meters 0.011778378308151597 Centerline is valid? [True, True] Translation: X:-18.81, Y:-264.47, Z:-2.77 [[-6.65003900e-01 -7.46829579e-01 3.92337400e-03 -1.88092420e+01] [ 7.46816893e-01 -6.65015473e-01 -4.35311965e-03 -2.64470139e+02] [ 5.86014293e-03 3.52004393e-05 9.99982829e-01 -2.76826108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.9465599949999 meters 0.011862212253994506 Centerline is valid? [True, True] Translation: X:-18.83, Y:-264.45, Z:-2.77 [[-6.65233537e-01 -7.46626897e-01 3.55213079e-03 -1.88274361e+01] [ 7.46616508e-01 -6.65243020e-01 -3.93881985e-03 -2.64450230e+02] [ 5.30385906e-03 3.18444261e-05 9.99985934e-01 -2.76855307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.976559995 meters 0.01199344114506875 Centerline is valid? [True, True] Translation: X:-18.85, Y:-264.43, Z:-2.77 [[-6.64726681e-01 -7.47080244e-01 3.09009235e-03 -1.88455328e+01] [ 7.47072397e-01 -6.64733862e-01 -3.42430423e-03 -2.64431672e+02] [ 4.61231907e-03 3.22963181e-05 9.99989363e-01 -2.76831945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.006559995 meters 0.011940428033043987 Centerline is valid? [True, True] Translation: X:-18.86, Y:-264.41, Z:-2.77 [[-6.64242957e-01 -7.47511017e-01 2.92809879e-03 -1.88639208e+01] [ 7.47503984e-01 -6.64249410e-01 -3.24277286e-03 -2.64411918e+02] [ 4.36899633e-03 3.47764747e-05 9.99990455e-01 -2.76788058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.036559995 meters 0.012392422515384468 Centerline is valid? [True, True] Translation: X:-18.88, Y:-264.39, Z:-2.77 [[-6.63468569e-01 -7.48199528e-01 2.63132244e-03 -1.88832505e+01] [ 7.48193860e-01 -6.63473786e-01 -2.91270383e-03 -2.64393697e+02] [ 3.92509709e-03 3.62518470e-05 9.99992296e-01 -2.76825617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.0665599949999 meters 0.012707305233908641 Centerline is valid? [True, True] Translation: X:-18.90, Y:-264.37, Z:-2.77 [[-6.62560180e-01 -7.49005247e-01 2.26885824e-03 -1.89029111e+01] [ 7.49001043e-01 -6.62564064e-01 -2.50999039e-03 -2.64374664e+02] [ 3.38325990e-03 3.63575011e-05 9.99994276e-01 -2.76820407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.096559995 meters 0.013001951958553602 Centerline is valid? [True, True] Translation: X:-18.92, Y:-264.36, Z:-2.77 [[-6.59762644e-01 -7.51471326e-01 2.02460937e-03 -1.89226812e+01] [ 7.51467994e-01 -6.59765749e-01 -2.23844121e-03 -2.64355438e+02] [ 3.01789230e-03 4.45892436e-05 9.99995445e-01 -2.76864934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.126559995 meters 0.013603062641286833 Centerline is valid? [True, True] Translation: X:-18.94, Y:-264.34, Z:-2.77 [[-6.58286577e-01 -7.52764716e-01 2.01596529e-03 -1.89425366e+01] [ 7.52761422e-01 -6.58289662e-01 -2.22755481e-03 -2.64336127e+02] [ 3.00391377e-03 5.11714735e-05 9.99995487e-01 -2.76929675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.156559995 meters 0.014167613087799688 Centerline is valid? [True, True] Translation: X:-18.96, Y:-264.32, Z:-2.77 [[-6.57033161e-01 -7.53858844e-01 2.06630217e-03 -1.89624392e+01] [ 7.53855393e-01 -6.57036407e-01 -2.28189896e-03 -2.64316633e+02] [ 3.07786547e-03 5.84097534e-05 9.99995262e-01 -2.76986259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.1865599949999 meters 0.01434776843715531 Centerline is valid? [True, True] Translation: X:-18.98, Y:-264.30, Z:-2.77 [[-6.55971318e-01 -7.54782908e-01 2.09563484e-03 -1.89813843e+01] [ 7.54779367e-01 -6.55974662e-01 -2.31297416e-03 -2.64296255e+02] [ 3.12047672e-03 6.44972257e-05 9.99995129e-01 -2.77018077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.216559995 meters 0.015968769292911238 Centerline is valid? [True, True] Translation: X:-19.00, Y:-264.28, Z:-2.77 [[-6.53500842e-01 -7.56923117e-01 2.01092518e-03 -1.90013429e+01] [ 7.56919870e-01 -6.53503932e-01 -2.21841621e-03 -2.64278343e+02] [ 2.99331803e-03 7.23723612e-05 9.99995517e-01 -2.77050192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.246559995 meters 0.01666730631597386 Centerline is valid? [True, True] Translation: X:-19.02, Y:-264.26, Z:-2.77 [[-6.51827843e-01 -7.58364801e-01 1.81418632e-03 -1.90211296e+01] [ 7.58362166e-01 -6.51830364e-01 -2.00026238e-03 -2.64257975e+02] [ 2.69947031e-03 7.19835554e-05 9.99996354e-01 -2.77007467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.276559995 meters 0.017978977462779083 Centerline is valid? [True, True] Translation: X:-19.04, Y:-264.24, Z:-2.77 [[-6.50035664e-01 -7.59900197e-01 2.30777232e-03 -1.90402999e+01] [ 7.59895948e-01 -6.50039753e-01 -2.54328636e-03 -2.64239603e+02] [ 3.43278756e-03 1.00440000e-04 9.99994103e-01 -2.77024746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.3065599949999 meters 0.020086983720323557 Centerline is valid? [True, True] Translation: X:-19.06, Y:-264.22, Z:-2.77 [[-6.46162539e-01 -7.63187026e-01 4.41995263e-03 -1.90609221e+01] [ 7.63171534e-01 -6.46177616e-01 -4.86809975e-03 -2.64221242e+02] [ 6.57134503e-03 2.27598327e-04 9.99978383e-01 -2.77292085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.3365599949999 meters 0.02078090943005204 Centerline is valid? [True, True] Translation: X:-19.08, Y:-264.20, Z:-2.77 [[-6.44452166e-01 -7.64624558e-01 5.53992604e-03 -1.90807171e+01] [ 7.64600301e-01 -6.44475905e-01 -6.09823476e-03 -2.64200974e+02] [ 8.23320890e-03 3.05808512e-04 9.99966060e-01 -2.77437911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.366559995 meters 0.021069911753644793 Centerline is valid? [True, True] Translation: X:-19.10, Y:-264.18, Z:-2.77 [[-6.42586455e-01 -7.66188958e-01 6.09327246e-03 -1.90996416e+01] [ 7.66159717e-01 -6.42615243e-01 -6.70353840e-03 -2.64180397e+02] [ 9.05180686e-03 3.60816923e-04 9.99958967e-01 -2.77499670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.396559995 meters 0.02248492430487437 Centerline is valid? [True, True] Translation: X:-19.12, Y:-264.16, Z:-2.78 [[-6.40771210e-01 -7.67706508e-01 6.24289805e-03 -1.91194622e+01] [ 7.67675911e-01 -6.40801500e-01 -6.86531042e-03 -2.64161431e+02] [ 9.27100192e-03 3.93429189e-04 9.99956946e-01 -2.77535296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.4265599949999 meters 0.02388979002059772 Centerline is valid? [True, True] Translation: X:-19.14, Y:-264.14, Z:-2.77 [[-6.37622177e-01 -7.70328260e-01 5.68608400e-03 -1.91396946e+01] [ 7.70303012e-01 -6.37647407e-01 -6.24939043e-03 -2.64141758e+02] [ 8.43979877e-03 3.95257699e-04 9.99964306e-01 -2.77432849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.4565599949999 meters 0.025851843662899856 Centerline is valid? [True, True] Translation: X:-19.16, Y:-264.12, Z:-2.77 [[-6.36492320e-01 -7.71264684e-01 5.32111869e-03 -1.91600634e+01] [ 7.71242626e-01 -6.36514446e-01 -5.84560671e-03 -2.64124376e+02] [ 7.89547893e-03 3.83189775e-04 9.99968757e-01 -2.77423835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.486559995 meters 0.028750007496846836 Centerline is valid? [True, True] Translation: X:-19.18, Y:-264.11, Z:-2.77 [[-6.35496048e-01 -7.72089225e-01 4.79612457e-03 -1.91813721e+01] [ 7.72071350e-01 -6.35514046e-01 -5.26578624e-03 -2.64107335e+02] [ 7.11366134e-03 3.56564035e-04 9.99974634e-01 -2.77423355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.516559995 meters 0.027254936455582596 Centerline is valid? [True, True] Translation: X:-19.20, Y:-264.09, Z:-2.77 [[-6.34641271e-01 -7.72793249e-01 4.58818603e-03 -1.91989417e+01] [ 7.72776928e-01 -6.34657759e-01 -5.03468844e-03 -2.64085526e+02] [ 6.80270110e-03 3.50423237e-04 9.99976800e-01 -2.77337182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.5465599949999 meters 0.030259891158070096 Centerline is valid? [True, True] Translation: X:-19.22, Y:-264.07, Z:-2.77 [[-6.33247666e-01 -7.73938403e-01 4.09170176e-03 -1.92203521e+01] [ 7.73925463e-01 -6.33260801e-01 -4.48724622e-03 -2.64068829e+02] [ 6.06396651e-03 3.25133988e-04 9.99981561e-01 -2.77264914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.5765599949999 meters 0.027740916345134585 Centerline is valid? [True, True] Translation: X:-19.24, Y:-264.05, Z:-2.77 [[-6.33211728e-01 -7.73971308e-01 3.36487981e-03 -1.92368693e+01] [ 7.73962568e-01 -6.33220611e-01 -3.68783443e-03 -2.64046858e+02] [ 4.98498929e-03 2.69111006e-04 9.99987539e-01 -2.77135163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.606559995 meters 0.029449460025911037 Centerline is valid? [True, True] Translation: X:-19.26, Y:-264.03, Z:-2.77 [[-6.34353437e-01 -7.73040670e-01 1.95942226e-03 -1.92578683e+01] [ 7.73037706e-01 -6.34356445e-01 -2.14634301e-03 -2.64029764e+02] [ 2.90218258e-03 1.53167218e-04 9.99995777e-01 -2.77022824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.636559995 meters 0.025594317524731732 Centerline is valid? [True, True] Translation: X:-19.27, Y:-264.01, Z:-2.77 [[-6.35627104e-01 -7.71995102e-01 1.32225483e-03 -1.92734690e+01] [ 7.71993751e-01 -6.35628471e-01 -1.44761664e-03 -2.64005413e+02] [ 1.95801577e-03 1.00628088e-04 9.99998078e-01 -2.76901058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.666559995 meters 0.02393504782593832 Centerline is valid? [True, True] Translation: X:-19.29, Y:-263.98, Z:-2.77 [[-6.37770237e-01 -7.70226355e-01 6.98283552e-04 -1.92909418e+01] [ 7.70225977e-01 -6.37770617e-01 -7.64035060e-04 -2.63983695e+02] [ 1.03382467e-03 5.05573105e-05 9.99999464e-01 -2.76854322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.6965599949999 meters 0.023067843744781075 Centerline is valid? [True, True] Translation: X:-19.31, Y:-263.96, Z:-2.77 [[-6.42586964e-01 -7.66212759e-01 -3.87348274e-05 -1.93082155e+01] [ 7.66212758e-01 -6.42586966e-01 4.23529038e-05 -2.63962773e+02] [-5.73418299e-05 -2.46369506e-06 9.99999998e-01 -2.76770006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.726559995 meters 0.021603519879009134 Centerline is valid? [True, True] Translation: X:-19.32, Y:-263.94, Z:-2.77 [[-6.45582629e-01 -7.63690357e-01 -3.28365921e-04 -1.93248725e+01] [ 7.63690273e-01 -6.45582713e-01 3.58830921e-04 -2.63941137e+02] [-4.86023075e-04 -1.91148509e-05 9.99999882e-01 -2.76757149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.756559995 meters 0.01844565888509264 Centerline is valid? [True, True] Translation: X:-19.34, Y:-263.92, Z:-2.77 [[-6.51624100e-01 -7.58542009e-01 -2.31107114e-04 -1.93396346e+01] [ 7.58541967e-01 -6.51624141e-01 2.52397759e-04 -2.63917780e+02] [-3.42049278e-04 -1.08359821e-05 9.99999942e-01 -2.76871444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.786559995 meters 0.017398421227392 Centerline is valid? [True, True] Translation: X:-19.36, Y:-263.90, Z:-2.77 [[-6.54814449e-01 -7.55789593e-01 3.58044821e-04 -1.93563633e+01] [ 7.55789492e-01 -6.54814547e-01 -3.90836654e-04 -2.63897090e+02] [ 5.29843233e-04 1.46810244e-05 9.99999860e-01 -2.76980320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.8165599949999 meters 0.014477334049499694 Centerline is valid? [True, True] Translation: X:-19.37, Y:-263.87, Z:-2.77 [[-6.61313736e-01 -7.50108122e-01 1.39575751e-03 -1.93706896e+01] [ 7.50106578e-01 -6.61315207e-01 -1.52269102e-03 -2.63872823e+02] [ 2.06521856e-03 3.99904037e-05 9.99997867e-01 -2.77254917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.846559995 meters 0.012989590696979018 Centerline is valid? [True, True] Translation: X:-19.39, Y:-263.85, Z:-2.77 [[-6.64810691e-01 -7.47008801e-01 2.14403705e-03 -1.93869016e+01] [ 7.47005145e-01 -6.64814146e-01 -2.33770624e-03 -2.63849341e+02] [ 3.17167330e-03 4.74746129e-05 9.99994969e-01 -2.77353817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.876559995 meters 0.011339579551697364 Centerline is valid? [True, True] Translation: X:-19.40, Y:-263.82, Z:-2.77 [[-6.74542340e-01 -7.38232107e-01 2.44704106e-03 -1.93981735e+01] [ 7.38227291e-01 -6.74546778e-01 -2.66652788e-03 -2.63821600e+02] [ 3.61916016e-03 7.78653725e-06 9.99993451e-01 -2.77360496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.906559995 meters 0.011339579551697364 Centerline is valid? [True, True] Translation: X:-19.42, Y:-263.80, Z:-2.77 [[-6.74750436e-01 -7.38041908e-01 2.44779275e-03 -1.94168709e+01] [ 7.38037093e-01 -6.74754876e-01 -2.66583788e-03 -2.63801326e+02] [ 3.61916016e-03 7.78657629e-06 9.99993451e-01 -2.77360483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.9365599949999 meters 0.011439480748782292 Centerline is valid? [True, True] Translation: X:-19.43, Y:-263.78, Z:-2.78 [[-6.80112976e-01 -7.33096533e-01 3.97662125e-03 -1.94304491e+01] [ 7.33083755e-01 -6.80124601e-01 -4.32841173e-03 -2.63775443e+02] [ 5.87774157e-03 -2.86125483e-05 9.99982726e-01 -2.77735231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.966559995 meters 0.011369708766315257 Centerline is valid? [True, True] Translation: X:-19.45, Y:-263.76, Z:-2.78 [[-6.78718578e-01 -7.34387868e-01 3.94351531e-03 -1.94492238e+01] [ 7.34375340e-01 -6.78730034e-01 -4.28953015e-03 -2.63756645e+02] [ 5.82676118e-03 -1.53634076e-05 9.99983024e-01 -2.77761680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.996559995 meters 0.011369708766315257 Centerline is valid? [True, True] Translation: X:-19.47, Y:-263.74, Z:-2.78 [[-6.78946305e-01 -7.34177331e-01 3.94484555e-03 -1.94674105e+01] [ 7.34164807e-01 -6.78957765e-01 -4.28830683e-03 -2.63737018e+02] [ 5.82676118e-03 -1.53633075e-05 9.99983024e-01 -2.77761667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.026559995 meters 0.011369708766315257 Centerline is valid? [True, True] Translation: X:-19.49, Y:-263.72, Z:-2.78 [[-6.79173967e-01 -7.33966723e-01 3.94617534e-03 -1.94856032e+01] [ 7.33954203e-01 -6.79185431e-01 -4.28708316e-03 -2.63717397e+02] [ 5.82676118e-03 -1.53633075e-05 9.99983024e-01 -2.77761654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.0565599949999 meters 0.011369708766315257 Centerline is valid? [True, True] Translation: X:-19.50, Y:-263.70, Z:-2.78 [[-6.79401563e-01 -7.33756045e-01 3.94750474e-03 -1.95038020e+01] [ 7.33743528e-01 -6.79413031e-01 -4.28585909e-03 -2.63697782e+02] [ 5.82676118e-03 -1.53633075e-05 9.99983024e-01 -2.77761641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.0865599949999 meters 0.011274228402774615 Centerline is valid? [True, True] Translation: X:-19.52, Y:-263.68, Z:-2.78 [[-6.78135462e-01 -7.34924866e-01 4.21148851e-03 -1.95232043e+01] [ 7.34910659e-01 -6.78148539e-01 -4.56962481e-03 -2.63677935e+02] [ 6.21434568e-03 -3.75683730e-06 9.99980691e-01 -2.77761211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.116559995 meters 0.011274228402774615 Centerline is valid? [True, True] Translation: X:-19.54, Y:-263.66, Z:-2.78 [[-6.78363596e-01 -7.34714287e-01 4.21290703e-03 -1.95414158e+01] [ 7.34700084e-01 -6.78376678e-01 -4.56831706e-03 -2.63658332e+02] [ 6.21434568e-03 -3.75683891e-06 9.99980691e-01 -2.77761198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.146559995 meters 0.011274228402774615 Centerline is valid? [True, True] Translation: X:-19.56, Y:-263.64, Z:-2.78 [[-6.78591665e-01 -7.34503636e-01 4.21432515e-03 -1.95596335e+01] [ 7.34489438e-01 -6.78604751e-01 -4.56700886e-03 -2.63638734e+02] [ 6.21434568e-03 -3.75683891e-06 9.99980691e-01 -2.77761185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.1765599949999 meters 0.011274228402774615 Centerline is valid? [True, True] Translation: X:-19.58, Y:-263.62, Z:-2.78 [[-6.78819668e-01 -7.34292915e-01 4.21574286e-03 -1.95778572e+01] [ 7.34278721e-01 -6.78832759e-01 -4.56570022e-03 -2.63619142e+02] [ 6.21434568e-03 -3.75683891e-06 9.99980691e-01 -2.77761172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.2065599949999 meters 0.011283970252476239 Centerline is valid? [True, True] Translation: X:-19.60, Y:-263.60, Z:-2.78 [[-6.77594536e-01 -7.35421179e-01 4.61879468e-03 -1.95970993e+01] [ 7.35404186e-01 -6.77610278e-01 -4.99938980e-03 -2.63599307e+02] [ 6.80639989e-03 9.12173155e-06 9.99976836e-01 -2.77760122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.236559995 meters 0.011283970252476239 Centerline is valid? [True, True] Translation: X:-19.62, Y:-263.58, Z:-2.78 [[-6.77801104e-01 -7.35230792e-01 4.62019896e-03 -1.96158665e+01] [ 7.35213803e-01 -6.77816850e-01 -4.99809206e-03 -2.63579095e+02] [ 6.80639989e-03 9.12173223e-06 9.99976836e-01 -2.77760109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.266559995 meters 0.011283970252476239 Centerline is valid? [True, True] Translation: X:-19.63, Y:-263.56, Z:-2.78 [[-6.78007618e-01 -7.35040346e-01 4.62160288e-03 -1.96346395e+01] [ 7.35023362e-01 -6.78023369e-01 -4.99679393e-03 -2.63558888e+02] [ 6.80639989e-03 9.12173223e-06 9.99976836e-01 -2.77760095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.2965599949999 meters 0.011283970252476239 Centerline is valid? [True, True] Translation: X:-19.65, Y:-263.54, Z:-2.78 [[-6.78214079e-01 -7.34849842e-01 4.62300643e-03 -1.96534181e+01] [ 7.34832863e-01 -6.78229835e-01 -4.99549540e-03 -2.63538687e+02] [ 6.80639989e-03 9.12173223e-06 9.99976836e-01 -2.77760082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.3265599949999 meters 0.011283970252476239 Centerline is valid? [True, True] Translation: X:-19.67, Y:-263.52, Z:-2.78 [[-6.78420486e-01 -7.34659281e-01 4.62440961e-03 -1.96722024e+01] [ 7.34642305e-01 -6.78436247e-01 -4.99419648e-03 -2.63518491e+02] [ 6.80639989e-03 9.12173223e-06 9.99976836e-01 -2.77760068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.356559995 meters 0.011389564471964875 Centerline is valid? [True, True] Translation: X:-19.69, Y:-263.50, Z:-2.78 [[-6.77673285e-01 -7.35348914e-01 4.57094053e-03 -1.96903976e+01] [ 7.35332367e-01 -6.77688700e-01 -4.93317621e-03 -2.63500147e+02] [ 6.72528052e-03 1.80787914e-05 9.99977385e-01 -2.77835948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.386559995 meters 0.011389564471964875 Centerline is valid? [True, True] Translation: X:-19.71, Y:-263.48, Z:-2.78 [[-6.77899522e-01 -7.35140347e-01 4.57245839e-03 -1.97086630e+01] [ 7.35123805e-01 -6.77914943e-01 -4.93176938e-03 -2.63480596e+02] [ 6.72528052e-03 1.80789051e-05 9.99977385e-01 -2.77835935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.416559995 meters 0.011437110376030124 Centerline is valid? [True, True] Translation: X:-19.73, Y:-263.46, Z:-2.78 [[-6.76813912e-01 -7.36142069e-01 4.21699699e-03 -1.97282470e+01] [ 7.36128036e-01 -6.76827048e-01 -4.54554558e-03 -2.63461409e+02] [ 6.20034496e-03 2.77612243e-05 9.99980777e-01 -2.77845466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.4465599949999 meters 0.011498021075318752 Centerline is valid? [True, True] Translation: X:-19.75, Y:-263.44, Z:-2.78 [[-6.76453561e-01 -7.36474118e-01 4.05626401e-03 -1.97469580e+01] [ 7.36461156e-01 -6.76465722e-01 -4.36958319e-03 -2.63442019e+02] [ 5.96200849e-03 3.14607718e-05 9.99982227e-01 -2.77875739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.476559995 meters 0.011660978474100681 Centerline is valid? [True, True] Translation: X:-19.76, Y:-263.42, Z:-2.78 [[-6.76436974e-01 -7.36491247e-01 3.69642833e-03 -1.97646827e+01] [ 7.36480497e-01 -6.76447073e-01 -3.97936931e-03 -2.63422399e+02] [ 5.43120879e-03 3.05548321e-05 9.99985250e-01 -2.77855935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.506559995 meters 0.011823857465334063 Centerline is valid? [True, True] Translation: X:-19.78, Y:-263.40, Z:-2.78 [[-6.76310907e-01 -7.36607575e-01 3.58300006e-03 -1.97818210e+01] [ 7.36597489e-01 -6.76320397e-01 -3.85479845e-03 -2.63402133e+02] [ 5.26272976e-03 3.21866109e-05 9.99986151e-01 -2.77795695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.536559995 meters 0.011818919601986963 Centerline is valid? [True, True] Translation: X:-19.80, Y:-263.38, Z:-2.78 [[-6.76315351e-01 -7.36603755e-01 3.52888826e-03 -1.97997307e+01] [ 7.36593984e-01 -6.76324557e-01 -3.79424409e-03 -2.63381882e+02] [ 5.18152824e-03 3.32523355e-05 9.99986575e-01 -2.77731487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.5665599949999 meters 0.011976235476964019 Centerline is valid? [True, True] Translation: X:-19.82, Y:-263.36, Z:-2.78 [[-6.75899619e-01 -7.36984941e-01 3.59190963e-03 -1.98180157e+01] [ 7.36974836e-01 -6.75909162e-01 -3.85951329e-03 -2.63362865e+02] [ 5.27220780e-03 3.85034564e-05 9.99986101e-01 -2.77747207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.596559995 meters 0.012026413523233642 Centerline is valid? [True, True] Translation: X:-19.84, Y:-263.34, Z:-2.78 [[-6.75298922e-01 -7.37535060e-01 3.66076527e-03 -1.98372964e+01] [ 7.37524583e-01 -6.75308843e-01 -3.93129037e-03 -2.63342307e+02] [ 5.37161164e-03 4.51082322e-05 9.99985572e-01 -2.77722903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.626559995 meters 0.012202612480972212 Centerline is valid? [True, True] Translation: X:-19.86, Y:-263.32, Z:-2.78 [[-6.74408013e-01 -7.38348961e-01 3.82679277e-03 -1.98571124e+01] [ 7.38337539e-01 -6.74418868e-01 -4.10728458e-03 -2.63322615e+02] [ 5.61347055e-03 5.54791208e-05 9.99984243e-01 -2.77766133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.656559995 meters 0.012701258476856441 Centerline is valid? [True, True] Translation: X:-19.88, Y:-263.30, Z:-2.78 [[-6.72084017e-01 -7.40462784e-01 4.23544268e-03 -1.98772240e+01] [ 7.40448851e-01 -6.72097358e-01 -4.54331287e-03 -2.63303336e+02] [ 6.21078393e-03 8.26406992e-05 9.99980710e-01 -2.77882024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.6865599949999 meters 0.013247241585661295 Centerline is valid? [True, True] Translation: X:-19.90, Y:-263.28, Z:-2.78 [[-6.71089879e-01 -7.41359947e-01 4.87884900e-03 -1.98963452e+01] [ 7.41341504e-01 -6.71107605e-01 -5.23036162e-03 -2.63284020e+02] [ 7.15181328e-03 1.06850510e-04 9.99974420e-01 -2.77937153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.716559995 meters 0.013455908602699879 Centerline is valid? [True, True] Translation: X:-19.92, Y:-263.26, Z:-2.78 [[-6.70173779e-01 -7.42186960e-01 5.06181825e-03 -1.99154855e+01] [ 7.42167154e-01 -6.70192884e-01 -5.42344635e-03 -2.63263078e+02] [ 7.41760573e-03 1.22063711e-04 9.99972482e-01 -2.77969940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.746559995 meters 0.01429808580917642 Centerline is valid? [True, True] Translation: X:-19.93, Y:-263.24, Z:-2.78 [[-6.69236154e-01 -7.43024741e-01 6.09954162e-03 -1.99337940e+01] [ 7.42996052e-01 -6.69263930e-01 -6.53141103e-03 -2.63243242e+02] [ 8.93520318e-03 1.60878941e-04 9.99960067e-01 -2.78088272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.776559995 meters 0.014187901451117674 Centerline is valid? [True, True] Translation: X:-19.95, Y:-263.22, Z:-2.78 [[-6.69387128e-01 -7.42887218e-01 6.28128570e-03 -1.99517610e+01] [ 7.42856825e-01 -6.69416577e-01 -6.72184836e-03 -2.63222441e+02] [ 9.19837200e-03 1.66577185e-04 9.99957680e-01 -2.78081881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.8065599949999 meters 0.013785511753777048 Centerline is valid? [True, True] Translation: X:-19.97, Y:-263.20, Z:-2.78 [[-6.69625099e-01 -7.42671590e-01 6.41373918e-03 -1.99695099e+01] [ 7.42639929e-01 -6.69655792e-01 -6.85970783e-03 -2.63200714e+02] [ 9.38950772e-03 1.69666273e-04 9.99955903e-01 -2.78050962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.8365599949999 meters 0.013958466977266656 Centerline is valid? [True, True] Translation: X:-19.99, Y:-263.18, Z:-2.78 [[-6.70085522e-01 -7.42257222e-01 6.29363787e-03 -1.99871275e+01] [ 7.42226758e-01 -6.70115057e-01 -6.72677404e-03 -2.63181452e+02] [ 9.21045811e-03 1.63792535e-04 9.99957569e-01 -2.78106872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.866559995 meters 0.013388282707788444 Centerline is valid? [True, True] Translation: X:-20.00, Y:-263.16, Z:-2.78 [[-6.70894860e-01 -7.41529657e-01 5.81840561e-03 -2.00035505e+01] [ 7.41503624e-01 -6.70920075e-01 -6.21527886e-03 -2.63158755e+02] [ 8.51249873e-03 1.44570198e-04 9.99963758e-01 -2.78005750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.896559995 meters 0.014310611879254392 Centerline is valid? [True, True] Translation: X:-20.02, Y:-263.14, Z:-2.78 [[-6.71100106e-01 -7.41345580e-01 5.60169457e-03 -2.00221815e+01] [ 7.41321464e-01 -6.71123470e-01 -5.98128739e-03 -2.63139553e+02] [ 8.19362967e-03 1.38613825e-04 9.99966422e-01 -2.78068393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.9265599949999 meters 0.013681696012576619 Centerline is valid? [True, True] Translation: X:-20.04, Y:-263.12, Z:-2.78 [[-6.71691773e-01 -7.40811131e-01 5.38792330e-03 -2.00385009e+01] [ 7.40788832e-01 -6.71713370e-01 -5.74942938e-03 -2.63118124e+02] [ 7.87838140e-03 1.29468992e-04 9.99968957e-01 -2.77981764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.9565599949999 meters 0.013287992462984953 Centerline is valid? [True, True] Translation: X:-20.06, Y:-263.10, Z:-2.78 [[-6.71954301e-01 -7.40573937e-01 5.25934967e-03 -2.00563375e+01] [ 7.40552707e-01 -6.71974871e-01 -5.60902858e-03 -2.63095916e+02] [ 7.68805119e-03 1.25814755e-04 9.99970439e-01 -2.77893881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.986559995 meters 0.013272051118542388 Centerline is valid? [True, True] Translation: X:-20.07, Y:-263.07, Z:-2.78 [[-6.72326743e-01 -7.40235708e-01 5.27712278e-03 -2.00732788e+01] [ 7.40214348e-01 -6.72347441e-01 -5.62479154e-03 -2.63073716e+02] [ 7.71173155e-03 1.24504222e-04 9.99970256e-01 -2.77896970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.016559995 meters 0.013363750914459014 Centerline is valid? [True, True] Translation: X:-20.09, Y:-263.05, Z:-2.78 [[-6.72487790e-01 -7.40089691e-01 5.23652145e-03 -2.00913748e+01] [ 7.40068678e-01 -6.72508166e-01 -5.57835771e-03 -2.63052482e+02] [ 7.65008847e-03 1.24008056e-04 9.99970730e-01 -2.77916584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.0465599949999 meters 0.01363250173737093 Centerline is valid? [True, True] Translation: X:-20.11, Y:-263.03, Z:-2.78 [[-6.72537405e-01 -7.40041781e-01 5.62149732e-03 -2.01089072e+01] [ 7.40017587e-01 -6.72560885e-01 -5.98552225e-03 -2.63033015e+02] [ 8.21033576e-03 1.34519281e-04 9.99966286e-01 -2.77938310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.0765599949999 meters 0.013622623329461497 Centerline is valid? [True, True] Translation: X:-20.13, Y:-263.01, Z:-2.78 [[-6.72391420e-01 -7.40173527e-01 5.73826687e-03 -2.01271647e+01] [ 7.40148352e-01 -6.72415890e-01 -6.10641665e-03 -2.63011650e+02] [ 8.37830978e-03 1.41266605e-04 9.99964891e-01 -2.77957379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.106559995 meters 0.013986959831041198 Centerline is valid? [True, True] Translation: X:-20.15, Y:-262.99, Z:-2.78 [[-6.71600861e-01 -7.40891911e-01 5.60889894e-03 -2.01450004e+01] [ 7.40867910e-01 -6.71624265e-01 -5.96540251e-03 -2.62989840e+02] [ 8.18679110e-03 1.49083779e-04 9.99966477e-01 -2.77968494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.136559995 meters 0.01477026714705601 Centerline is valid? [True, True] Translation: X:-20.16, Y:-262.97, Z:-2.78 [[-6.71268969e-01 -7.41193966e-01 5.42926537e-03 -2.01631763e+01] [ 7.41171517e-01 -6.71290908e-01 -5.77054106e-03 -2.62970920e+02] [ 7.92170669e-03 1.50431710e-04 9.99968612e-01 -2.77978612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.166559995 meters 0.014552839244468868 Centerline is valid? [True, True] Translation: X:-20.18, Y:-262.95, Z:-2.78 [[-6.69913837e-01 -7.42420182e-01 5.26536443e-03 -2.01801381e+01] [ 7.42399131e-01 -6.69934510e-01 -5.59317377e-03 -2.62948857e+02] [ 7.67993442e-03 1.62057471e-04 9.99970496e-01 -2.77888454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.1965599949999 meters 0.01458401544994864 Centerline is valid? [True, True] Translation: X:-20.20, Y:-262.93, Z:-2.78 [[-6.69357554e-01 -7.42921298e-01 5.33009169e-03 -2.01984376e+01] [ 7.42899767e-01 -6.69378754e-01 -5.65868220e-03 -2.62927978e+02] [ 7.77180566e-03 1.72042196e-04 9.99969784e-01 -2.77849249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.226559995 meters 0.015332113790606625 Centerline is valid? [True, True] Translation: X:-20.22, Y:-262.91, Z:-2.78 [[-6.68635033e-01 -7.43572237e-01 5.24601395e-03 -2.02172666e+01] [ 7.43551418e-01 -6.68655589e-01 -5.56709295e-03 -2.62908669e+02] [ 7.64731230e-03 1.78327730e-04 9.99970743e-01 -2.77888359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.256559995 meters 0.015841885877756128 Centerline is valid? [True, True] Translation: X:-20.24, Y:-262.89, Z:-2.78 [[-6.68109893e-01 -7.44044262e-01 5.22573023e-03 -2.02361912e+01] [ 7.44023643e-01 -6.68130304e-01 -5.54227432e-03 -2.62888864e+02] [ 7.61516613e-03 1.85218541e-04 9.99970987e-01 -2.77912188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.286559995 meters 0.016233216489652584 Centerline is valid? [True, True] Translation: X:-20.26, Y:-262.87, Z:-2.78 [[-6.67231765e-01 -7.44830276e-01 5.44351779e-03 -2.02551210e+01] [ 7.44807954e-01 -6.67253939e-01 -5.77002802e-03 -2.62868152e+02] [ 7.92990025e-03 2.04429366e-04 9.99968537e-01 -2.77935821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.3165599949999 meters 0.01570491526257291 Centerline is valid? [True, True] Translation: X:-20.27, Y:-262.85, Z:-2.78 [[-6.66887263e-01 -7.45139319e-01 5.36417604e-03 -2.02731986e+01] [ 7.45117679e-01 -6.66908804e-01 -5.68262100e-03 -2.62846108e+02] [ 7.81176057e-03 2.07274836e-04 9.99969466e-01 -2.77885375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.346559995 meters 0.016419008115470913 Centerline is valid? [True, True] Translation: X:-20.29, Y:-262.83, Z:-2.78 [[-6.66879861e-01 -7.45146010e-01 5.35494935e-03 -2.02919205e+01] [ 7.45124472e-01 -6.66901327e-01 -5.66934584e-03 -2.62827018e+02] [ 7.79571326e-03 2.09331241e-04 9.99969591e-01 -2.77917227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.376559995 meters 0.01819759698902218 Centerline is valid? [True, True] Translation: X:-20.31, Y:-262.81, Z:-2.78 [[-6.66564803e-01 -7.45422768e-01 6.02168379e-03 -2.03114035e+01] [ 7.45395577e-01 -6.66591958e-01 -6.37142227e-03 -2.62808511e+02] [ 8.76340921e-03 2.41570639e-04 9.99961571e-01 -2.78010954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.406559995 meters 0.016365887212535866 Centerline is valid? [True, True] Translation: X:-20.33, Y:-262.79, Z:-2.78 [[-6.67058040e-01 -7.44980322e-01 6.15556032e-03 -2.03284177e+01] [ 7.44951923e-01 -6.67086396e-01 -6.50937763e-03 -2.62785614e+02] [ 8.95564880e-03 2.43463816e-04 9.99959868e-01 -2.77921238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.4365599949999 meters 0.016266665517899275 Centerline is valid? [True, True] Translation: X:-20.35, Y:-262.77, Z:-2.78 [[-6.67305676e-01 -7.44757668e-01 6.25713118e-03 -2.03471246e+01] [ 7.44728348e-01 -6.67334965e-01 -6.61301979e-03 -2.62765066e+02] [ 9.10069961e-03 2.46957329e-04 9.99958557e-01 -2.77907769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.466559995 meters 0.01739548895163185 Centerline is valid? [True, True] Translation: X:-20.37, Y:-262.75, Z:-2.78 [[-6.67721491e-01 -7.44384140e-01 6.34529502e-03 -2.03668099e+01] [ 7.44354009e-01 -6.67751594e-01 -6.70217479e-03 -2.62746351e+02] [ 9.22607347e-03 2.47959640e-04 9.99957408e-01 -2.77915515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.496559995 meters 0.016691928840894907 Centerline is valid? [True, True] Translation: X:-20.38, Y:-262.73, Z:-2.78 [[-6.68082418e-01 -7.44059236e-01 6.46032458e-03 -2.03847143e+01] [ 7.44028028e-01 -6.68113606e-01 -6.81938796e-03 -2.62725794e+02] [ 9.39025935e-03 2.50749361e-04 9.99955879e-01 -2.77864328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.526559995 meters 0.018495016652310556 Centerline is valid? [True, True] Translation: X:-20.40, Y:-262.71, Z:-2.78 [[-6.68123591e-01 -7.44023836e-01 6.27677958e-03 -2.04048761e+01] [ 7.43994414e-01 -6.68153030e-01 -6.62128490e-03 -2.62708971e+02] [ 9.12024309e-03 2.46052296e-04 9.99958380e-01 -2.77941640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.5565599949999 meters 0.01728749123809541 Centerline is valid? [True, True] Translation: X:-20.42, Y:-262.69, Z:-2.78 [[-6.67588381e-01 -7.44501113e-01 6.62166746e-03 -2.04230725e+01] [ 7.44468429e-01 -6.67621165e-01 -6.98122559e-03 -2.62687839e+02] [ 9.61829557e-03 2.69037287e-04 9.99953707e-01 -2.77871668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.5865599949999 meters 0.017398437710100037 Centerline is valid? [True, True] Translation: X:-20.44, Y:-262.67, Z:-2.78 [[-6.67652142e-01 -7.44440273e-01 7.02115682e-03 -2.04419920e+01] [ 7.44403570e-01 -6.67688997e-01 -7.39779761e-03 -2.62668838e+02] [ 1.01951676e-02 2.87418779e-04 9.99947987e-01 -2.77943170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.616559995 meters 0.01689060751541284 Centerline is valid? [True, True] Translation: X:-20.46, Y:-262.65, Z:-2.78 [[-6.68058877e-01 -7.44071463e-01 7.41582046e-03 -2.04606721e+01] [ 7.44030548e-01 -6.68099968e-01 -7.80869886e-03 -2.62648514e+02] [ 1.07647394e-02 3.00926371e-04 9.99942013e-01 -2.77965709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.646559995 meters 0.018260105158466697 Centerline is valid? [True, True] Translation: X:-20.48, Y:-262.63, Z:-2.78 [[-6.68235435e-01 -7.43908820e-01 7.81478003e-03 -2.04806737e+01] [ 7.43863435e-01 -6.68281053e-01 -8.22335561e-03 -2.62631545e+02] [ 1.13398962e-02 3.17991507e-04 9.99935651e-01 -2.78110356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.6765599949999 meters 0.017973525321406864 Centerline is valid? [True, True] Translation: X:-20.50, Y:-262.61, Z:-2.78 [[-6.68369975e-01 -7.43786407e-01 7.95973060e-03 -2.04993726e+01] [ 7.43739374e-01 -6.68417291e-01 -8.37075142e-03 -2.62611475e+02] [ 1.15464727e-02 3.25206131e-04 9.99933284e-01 -2.78081693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.7065599949999 meters 0.017100515899219834 Centerline is valid? [True, True] Translation: X:-20.52, Y:-262.59, Z:-2.78 [[-6.68501682e-01 -7.43667551e-01 8.00464588e-03 -2.05172100e+01] [ 7.43620038e-01 -6.68549524e-01 -8.41269133e-03 -2.62590934e+02] [ 1.16077478e-02 3.28516767e-04 9.99932574e-01 -2.77987193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.736559995 meters 0.018339835045805355 Centerline is valid? [True, True] Translation: X:-20.54, Y:-262.57, Z:-2.78 [[-6.68270683e-01 -7.43874637e-01 8.05095046e-03 -2.05373868e+01] [ 7.43826646e-01 -6.68319093e-01 -8.45637256e-03 -2.62572338e+02] [ 1.16710850e-02 3.37365604e-04 9.99931834e-01 -2.77986984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.766559995 meters 0.017352936753082953 Centerline is valid? [True, True] Translation: X:-20.56, Y:-262.55, Z:-2.78 [[-6.68525129e-01 -7.43649544e-01 7.71408714e-03 -2.05557942e+01] [ 7.43605527e-01 -6.68569556e-01 -8.09745412e-03 -2.62551669e+02] [ 1.11790719e-02 3.22886269e-04 9.99937460e-01 -2.77885262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.7965599949999 meters 0.017123908526787426 Centerline is valid? [True, True] Translation: X:-20.57, Y:-262.53, Z:-2.78 [[-6.68962381e-01 -7.43256393e-01 7.69853750e-03 -2.05748760e+01] [ 7.43212584e-01 -6.69006601e-01 -8.07602488e-03 -2.62531862e+02] [ 1.11529295e-02 3.19093122e-04 9.99937753e-01 -2.77898264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.8265599949999 meters 0.017123908526787426 Centerline is valid? [True, True] Translation: X:-20.59, Y:-262.51, Z:-2.78 [[-6.69197237e-01 -7.43044919e-01 7.70108951e-03 -2.05934302e+01] [ 7.43001124e-01 -6.69241472e-01 -8.07359138e-03 -2.62512553e+02] [ 1.11529295e-02 3.19093120e-04 9.99937753e-01 -2.77898251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.856559995 meters 0.017185841319564573 Centerline is valid? [True, True] Translation: X:-20.61, Y:-262.49, Z:-2.78 [[-6.69532058e-01 -7.42745740e-01 7.45583919e-03 -2.06121956e+01] [ 7.42704724e-01 -6.69573500e-01 -7.81155612e-03 -2.62493415e+02] [ 1.07942324e-02 3.07399740e-04 9.99941693e-01 -2.77868031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.886559995 meters 0.016708064520817013 Centerline is valid? [True, True] Translation: X:-20.63, Y:-262.47, Z:-2.78 [[-6.70167298e-01 -7.42175561e-01 7.15739561e-03 -2.06319211e+01] [ 7.42137776e-01 -6.70205456e-01 -7.49463805e-03 -2.62472882e+02] [ 1.03592628e-02 2.89112321e-04 9.99946300e-01 -2.77823611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.916559995 meters 0.0169497424884079 Centerline is valid? [True, True] Translation: X:-20.65, Y:-262.45, Z:-2.78 [[-6.70329711e-01 -7.42027707e-01 7.27746505e-03 -2.06507169e+01] [ 7.41988687e-01 -6.70369149e-01 -7.61528931e-03 -2.62454657e+02] [ 1.05293437e-02 2.95042061e-04 9.99944521e-01 -2.77822517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.9465599949999 meters 0.017340357022211803 Centerline is valid? [True, True] Translation: X:-20.67, Y:-262.44, Z:-2.78 [[-6.70414197e-01 -7.41953461e-01 7.06162133e-03 -2.06696587e+01] [ 7.41916768e-01 -6.70451324e-01 -7.38454975e-03 -2.62436309e+02] [ 1.02134656e-02 2.88428290e-04 9.99947800e-01 -2.77814937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.976559995 meters 0.017645995351540125 Centerline is valid? [True, True] Translation: X:-20.69, Y:-262.42, Z:-2.78 [[-6.70239721e-01 -7.42110076e-01 7.16600440e-03 -2.06892985e+01] [ 7.42072347e-01 -6.70277962e-01 -7.48904369e-03 -2.62417288e+02] [ 1.03609096e-02 2.98239158e-04 9.99946280e-01 -2.77812276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.006559995 meters 0.018249341055993767 Centerline is valid? [True, True] Translation: X:-20.71, Y:-262.40, Z:-2.78 [[-6.69565122e-01 -7.42716295e-01 7.41973008e-03 -2.07100269e+01] [ 7.42675930e-01 -6.69606154e-01 -7.74993771e-03 -2.62398497e+02] [ 1.07243019e-02 3.21366953e-04 9.99942441e-01 -2.77865159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.036559995 meters 0.01858438815460095 Centerline is valid? [True, True] Translation: X:-20.73, Y:-262.38, Z:-2.78 [[-6.69335210e-01 -7.42922584e-01 7.51073590e-03 -2.07300518e+01] [ 7.42881282e-01 -6.69377266e-01 -7.84068028e-03 -2.62379139e+02] [ 1.08525343e-02 3.31541733e-04 9.99941055e-01 -2.77879923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.0665599949999 meters 0.01854506536175792 Centerline is valid? [True, True] Translation: X:-20.75, Y:-262.36, Z:-2.78 [[-6.69027734e-01 -7.43200626e-01 7.39733792e-03 -2.07499731e+01] [ 7.43160625e-01 -6.69068545e-01 -7.71801880e-03 -2.62359190e+02] [ 1.06853625e-02 3.33841644e-04 9.99942854e-01 -2.77859958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.096559995 meters 0.01929152523134209 Centerline is valid? [True, True] Translation: X:-20.77, Y:-262.34, Z:-2.78 [[-6.68257697e-01 -7.43891719e-01 7.53397308e-03 -2.07709667e+01] [ 7.43850318e-01 -6.68300071e-01 -7.85624978e-03 -2.62340411e+02] [ 1.08791539e-02 3.54148888e-04 9.99940758e-01 -2.77895892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.126559995 meters 0.019930265761348143 Centerline is valid? [True, True] Translation: X:-20.79, Y:-262.32, Z:-2.78 [[-6.67835503e-01 -7.44268744e-01 7.73162284e-03 -2.07914487e+01] [ 7.44225215e-01 -6.67880153e-01 -8.05794587e-03 -2.62321029e+02] [ 1.11610747e-02 3.72686336e-04 9.99937644e-01 -2.77917238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.156559995 meters 0.019966925969308637 Centerline is valid? [True, True] Translation: X:-20.81, Y:-262.30, Z:-2.78 [[-6.67738718e-01 -7.44354039e-01 7.87840205e-03 -2.08108909e+01] [ 7.44308906e-01 -6.67785083e-01 -8.20585912e-03 -2.62301799e+02] [ 1.13691437e-02 3.84594959e-04 9.99935295e-01 -2.77931519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.1865599949999 meters 0.02051473910945318 Centerline is valid? [True, True] Translation: X:-20.83, Y:-262.28, Z:-2.78 [[-6.67082428e-01 -7.44937472e-01 8.31849938e-03 -2.08320523e+01] [ 7.44887257e-01 -6.67134160e-01 -8.65951717e-03 -2.62283007e+02] [ 1.20003539e-02 4.19732446e-04 9.99927905e-01 -2.78035124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.216559995 meters 0.020723018524108457 Centerline is valid? [True, True] Translation: X:-20.85, Y:-262.26, Z:-2.78 [[-6.67179968e-01 -7.44847779e-01 8.52500064e-03 -2.08517407e+01] [ 7.44795100e-01 -6.67234291e-01 -8.86901998e-03 -2.62264395e+02] [ 1.22942426e-02 4.32146237e-04 9.99924330e-01 -2.78122924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.246559995 meters 0.01969017048433151 Centerline is valid? [True, True] Translation: X:-20.87, Y:-262.24, Z:-2.78 [[-6.67180112e-01 -7.44843942e-01 8.84309666e-03 -2.08697206e+01] [ 7.44787332e-01 -6.67238561e-01 -9.19412987e-03 -2.62244084e+02] [ 1.27486470e-02 4.52085772e-04 9.99918631e-01 -2.78080740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.276559995 meters 0.021043449257823203 Centerline is valid? [True, True] Translation: X:-20.89, Y:-262.23, Z:-2.78 [[-6.67445036e-01 -7.44604525e-01 9.01245062e-03 -2.08900243e+01] [ 7.44545785e-01 -6.67505722e-01 -9.36402155e-03 -2.62226522e+02] [ 1.29883552e-02 4.60212419e-04 9.99915542e-01 -2.78166235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.3065599949999 meters 0.022145066042110837 Centerline is valid? [True, True] Translation: X:-20.91, Y:-262.21, Z:-2.78 [[-6.67942584e-01 -7.44161294e-01 8.75636681e-03 -2.09094185e+01] [ 7.44105880e-01 -6.67999830e-01 -9.09211011e-03 -2.62209009e+02] [ 1.26152480e-02 4.42656512e-04 9.99920327e-01 -2.78196978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.3365599949999 meters 0.019500631959238172 Centerline is valid? [True, True] Translation: X:-20.93, Y:-262.19, Z:-2.78 [[-6.69030923e-01 -7.43192744e-01 7.88477034e-03 -2.09263446e+01] [ 7.43147794e-01 -6.69077273e-01 -8.18284532e-03 -2.62185677e+02] [ 1.13569519e-02 3.84973129e-04 9.99935434e-01 -2.77983005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.366559995 meters 0.019931881273470883 Centerline is valid? [True, True] Translation: X:-20.95, Y:-262.17, Z:-2.78 [[-6.69779796e-01 -7.42523128e-01 7.37756625e-03 -2.09458174e+01] [ 7.42483781e-01 -6.69820334e-01 -7.65218298e-03 -2.62166342e+02] [ 1.06235667e-02 3.52445717e-04 9.99943506e-01 -2.77956864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.396559995 meters 0.019083099101715604 Centerline is valid? [True, True] Translation: X:-20.96, Y:-262.14, Z:-2.78 [[-6.70834756e-01 -7.41572673e-01 7.12054473e-03 -2.09645616e+01] [ 7.41536004e-01 -6.70872465e-01 -7.38179672e-03 -2.62144690e+02] [ 1.02511161e-02 3.28174493e-04 9.99947402e-01 -2.77900544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.4265599949999 meters 0.01685332546372265 Centerline is valid? [True, True] Translation: X:-20.98, Y:-262.12, Z:-2.78 [[-6.73226919e-01 -7.39409299e-01 6.27731706e-03 -2.09812176e+01] [ 7.39380741e-01 -6.73256133e-01 -6.50386888e-03 -2.62121761e+02] [ 9.03526333e-03 2.62747728e-04 9.99959147e-01 -2.77736864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.4565599949999 meters 0.017624338341785107 Centerline is valid? [True, True] Translation: X:-21.00, Y:-262.10, Z:-2.78 [[-6.74400098e-01 -7.38341332e-01 6.04862809e-03 -2.10011460e+01] [ 7.38314805e-01 -6.74427179e-01 -6.26341689e-03 -2.62102832e+02] [ 8.70389875e-03 2.41742704e-04 9.99962091e-01 -2.77775760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.486559995 meters 0.015858914954388896 Centerline is valid? [True, True] Translation: X:-21.02, Y:-262.08, Z:-2.78 [[-6.75334409e-01 -7.37486458e-01 6.09591176e-03 -2.10184874e+01] [ 7.37459511e-01 -6.75361880e-01 -6.30875821e-03 -2.62080708e+02] [ 8.76957017e-03 2.34966610e-04 9.99961519e-01 -2.77693404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.516559995 meters 0.015661465627192932 Centerline is valid? [True, True] Translation: X:-21.04, Y:-262.06, Z:-2.78 [[-6.77626730e-01 -7.35379619e-01 6.23139741e-03 -2.10370968e+01] [ 7.35351403e-01 -6.77655347e-01 -6.44545590e-03 -2.62060997e+02] [ 8.96259668e-03 2.14653626e-04 9.99959812e-01 -2.77784780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.5465599949999 meters 0.015191513526057642 Centerline is valid? [True, True] Translation: X:-21.06, Y:-262.04, Z:-2.78 [[-6.79007846e-01 -7.34103477e-01 6.35839675e-03 -2.10558385e+01] [ 7.34074077e-01 -6.79037586e-01 -6.57315914e-03 -2.62040649e+02] [ 9.14296936e-03 2.04307597e-04 9.99958181e-01 -2.77796699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.5765599949999 meters 0.014412011078696456 Centerline is valid? [True, True] Translation: X:-21.07, Y:-262.02, Z:-2.78 [[-6.80160068e-01 -7.33033182e-01 6.68101217e-03 -2.10748327e+01] [ 7.33000706e-01 -6.80192850e-01 -6.90300512e-03 -2.62019322e+02] [ 9.60450852e-03 2.02038209e-04 9.99953855e-01 -2.77803678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.606559995 meters 0.014722149480232668 Centerline is valid? [True, True] Translation: X:-21.09, Y:-262.00, Z:-2.78 [[-6.81171750e-01 -7.32092057e-01 6.80195566e-03 -2.10940071e+01] [ 7.32058382e-01 -6.81205683e-01 -7.02451496e-03 -2.62000803e+02] [ 9.77612246e-03 1.94527506e-04 9.99952194e-01 -2.77901195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.636559995 meters 0.013576566557700653 Centerline is valid? [True, True] Translation: X:-21.11, Y:-261.98, Z:-2.78 [[-6.82895445e-01 -7.30477352e-01 7.52660770e-03 -2.11122432e+01] [ 7.30436068e-01 -6.82936894e-01 -7.76846967e-03 -2.61978854e+02] [ 1.08148892e-02 1.92653178e-04 9.99941499e-01 -2.77810808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.666559995 meters 0.013557217192308292 Centerline is valid? [True, True] Translation: X:-21.13, Y:-261.96, Z:-2.78 [[-6.83778087e-01 -7.29649147e-01 7.72335209e-03 -2.11312532e+01] [ 7.29605660e-01 -6.83821679e-01 -7.96823578e-03 -2.61959335e+02] [ 1.10954120e-02 1.86496382e-04 9.99938427e-01 -2.77809126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.6965599949999 meters 0.013807126350036909 Centerline is valid? [True, True] Translation: X:-21.15, Y:-261.94, Z:-2.78 [[-6.84878286e-01 -7.28612710e-01 8.07781881e-03 -2.11502461e+01] [ 7.28565132e-01 -6.84925898e-01 -8.32846464e-03 -2.61941449e+02] [ 1.16009325e-02 1.81232539e-04 9.99932691e-01 -2.77931964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.726559995 meters 0.012777382255742827 Centerline is valid? [True, True] Translation: X:-21.17, Y:-261.92, Z:-2.78 [[-6.86874714e-01 -7.26725057e-01 8.59175493e-03 -2.11683796e+01] [ 7.26671152e-01 -6.86928428e-01 -8.85278154e-03 -2.61920882e+02] [ 1.23354589e-02 1.62628658e-04 9.99923902e-01 -2.77879962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.756559995 meters 0.012577203872631523 Centerline is valid? [True, True] Translation: X:-21.19, Y:-261.90, Z:-2.78 [[-6.88062874e-01 -7.25598865e-01 8.70452441e-03 -2.11876322e+01] [ 7.25543516e-01 -6.88117915e-01 -8.96338651e-03 -2.61901088e+02] [ 1.24935623e-02 1.48137767e-04 9.99921942e-01 -2.77924520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.786559995 meters 0.012292562414339982 Centerline is valid? [True, True] Translation: X:-21.21, Y:-261.88, Z:-2.78 [[-6.89351359e-01 -7.24371959e-01 8.94250913e-03 -2.12066421e+01] [ 7.24313512e-01 -6.89409346e-01 -9.20272707e-03 -2.61881110e+02] [ 1.28312468e-02 1.33267780e-04 9.99917667e-01 -2.77905378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.8165599949999 meters 0.012129804028492662 Centerline is valid? [True, True] Translation: X:-21.23, Y:-261.86, Z:-2.78 [[-6.90712844e-01 -7.23075036e-01 8.84643979e-03 -2.12253639e+01] [ 7.23017786e-01 -6.90769484e-01 -9.09949575e-03 -2.61862735e+02] [ 1.26904689e-02 1.10994722e-04 9.99919467e-01 -2.77866560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.846559995 meters 0.011947333439768807 Centerline is valid? [True, True] Translation: X:-21.24, Y:-261.84, Z:-2.78 [[-6.91574871e-01 -7.22251610e-01 8.76408766e-03 -2.12447085e+01] [ 7.22195426e-01 -6.91630394e-01 -9.00918007e-03 -2.61843196e+02] [ 1.25684042e-02 9.88614798e-05 9.99921010e-01 -2.77815460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.876559995 meters 0.011934165074072536 Centerline is valid? [True, True] Translation: X:-21.26, Y:-261.83, Z:-2.78 [[-6.92409362e-01 -7.21454123e-01 8.55715712e-03 -2.12636985e+01] [ 7.21400569e-01 -6.92462231e-01 -8.79073311e-03 -2.61825001e+02] [ 1.22676188e-02 8.63521252e-05 9.99924746e-01 -2.77840439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.906559995 meters 0.011817683036905233 Centerline is valid? [True, True] Translation: X:-21.28, Y:-261.81, Z:-2.78 [[-6.93574856e-01 -7.20335396e-01 8.41642377e-03 -2.12827721e+01] [ 7.20283571e-01 -6.93625917e-01 -8.64088242e-03 -2.61806156e+02] [ 1.20621831e-02 6.91129851e-05 9.99927247e-01 -2.77806376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.9365599949999 meters 0.011572091106616098 Centerline is valid? [True, True] Translation: X:-21.30, Y:-261.79, Z:-2.78 [[-6.95088290e-01 -7.18880486e-01 7.94452555e-03 -2.13013943e+01] [ 7.18834274e-01 -6.95133688e-01 -8.15118372e-03 -2.61788118e+02] [ 1.13822343e-02 4.50049006e-05 9.99935219e-01 -2.77740865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.966559995 meters 0.011486110681725616 Centerline is valid? [True, True] Translation: X:-21.32, Y:-261.77, Z:-2.78 [[-6.95793885e-01 -7.18200078e-01 7.71482641e-03 -2.13204617e+01] [ 7.18156510e-01 -6.95836653e-01 -7.91072172e-03 -2.61769232e+02] [ 1.10497399e-02 3.62210086e-05 9.99938949e-01 -2.77633386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.996559995 meters 0.01142434089316557 Centerline is valid? [True, True] Translation: X:-21.34, Y:-261.75, Z:-2.78 [[-6.96443075e-01 -7.17575423e-01 7.24956841e-03 -2.13402044e+01] [ 7.17536967e-01 -6.96480805e-01 -7.42894518e-03 -2.61751925e+02] [ 1.03800137e-02 2.79959017e-05 9.99946126e-01 -2.77620263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.026559995 meters 0.011271290251234573 Centerline is valid? [True, True] Translation: X:-21.36, Y:-261.73, Z:-2.77 [[-6.96631297e-01 -7.17392138e-01 7.30450068e-03 -2.13596882e+01] [ 7.17353136e-01 -6.96669591e-01 -7.48056543e-03 -2.61733511e+02] [ 1.04553223e-02 2.87104732e-05 9.99945341e-01 -2.77466736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.0565599949999 meters 0.011234093609664592 Centerline is valid? [True, True] Translation: X:-21.38, Y:-261.71, Z:-2.77 [[-6.96530224e-01 -7.17486818e-01 7.63627273e-03 -2.13803030e+01] [ 7.17444251e-01 -6.96572082e-01 -7.81545278e-03 -2.61714982e+02] [ 1.09266987e-02 3.49008897e-05 9.99940301e-01 -2.77473007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.0865599949999 meters 0.011383886108389491 Centerline is valid? [True, True] Translation: X:-21.40, Y:-261.70, Z:-2.78 [[-6.95804560e-01 -7.18188679e-01 7.81256323e-03 -2.14022984e+01] [ 7.18144227e-01 -6.95848417e-01 -7.99064205e-03 -2.61699407e+02] [ 1.11751484e-02 5.06219950e-05 9.99937555e-01 -2.77550416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.116559995 meters 0.011401640521968787 Centerline is valid? [True, True] Translation: X:-21.42, Y:-261.68, Z:-2.78 [[-6.95283478e-01 -7.18691923e-01 7.92499507e-03 -2.14228865e+01] [ 7.18646272e-01 -6.95328639e-01 -8.10057170e-03 -2.61681795e+02] [ 1.13322915e-02 6.30745012e-05 9.99935786e-01 -2.77556744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.146559995 meters 0.011475617039117581 Centerline is valid? [True, True] Translation: X:-21.44, Y:-261.66, Z:-2.78 [[-6.94566958e-01 -7.19385427e-01 7.83248865e-03 -2.14431366e+01] [ 7.19340939e-01 -6.94611115e-01 -8.00077444e-03 -2.61664631e+02] [ 1.11961742e-02 7.71561778e-05 9.99937318e-01 -2.77609051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.1765599949999 meters 0.011508916868592275 Centerline is valid? [True, True] Translation: X:-21.46, Y:-261.65, Z:-2.77 [[-6.93783835e-01 -7.20137583e-01 8.11488815e-03 -2.14639415e+01] [ 7.20089935e-01 -6.93831285e-01 -8.28450378e-03 -2.61645758e+02] [ 1.15963458e-02 9.57944748e-05 9.99932756e-01 -2.77499432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.2065599949999 meters 0.011841765249721706 Centerline is valid? [True, True] Translation: X:-21.49, Y:-261.63, Z:-2.78 [[-6.92034639e-01 -7.21815829e-01 8.36463493e-03 -2.14865392e+01] [ 7.21765387e-01 -6.92085177e-01 -8.53432244e-03 -2.61629741e+02] [ 1.19492489e-02 1.31257211e-04 9.99928597e-01 -2.77505862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.236559995 meters 0.011991852902528336 Centerline is valid? [True, True] Translation: X:-21.51, Y:-261.61, Z:-2.77 [[-6.91226147e-01 -7.22592054e-01 8.19373877e-03 -2.15074385e+01] [ 7.22543762e-01 -6.91274694e-01 -8.35520531e-03 -2.61611436e+02] [ 1.17015292e-02 1.44998456e-04 9.99931524e-01 -2.77463388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.266559995 meters 0.01228861451981384 Centerline is valid? [True, True] Translation: X:-21.53, Y:-261.59, Z:-2.77 [[-6.90537442e-01 -7.23252166e-01 8.02153712e-03 -2.15279134e+01] [ 7.23205963e-01 -6.90584014e-01 -8.17651409e-03 -2.61594288e+02] [ 1.14532268e-02 1.55034352e-04 9.99934398e-01 -2.77445278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.2965599949999 meters 0.013068797566552605 Centerline is valid? [True, True] Translation: X:-21.55, Y:-261.58, Z:-2.77 [[-6.88904517e-01 -7.24807076e-01 8.07893948e-03 -2.15509153e+01] [ 7.24760354e-01 -6.88951863e-01 -8.23164695e-03 -2.61578702e+02] [ 1.15323564e-02 1.84476278e-04 9.99933483e-01 -2.77487469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.3265599949999 meters 0.012905549586796962 Centerline is valid? [True, True] Translation: X:-21.57, Y:-261.56, Z:-2.77 [[-6.88236019e-01 -7.25438585e-01 8.36902966e-03 -2.15719491e+01] [ 7.25388553e-01 -6.88286871e-01 -8.52238082e-03 -2.61559689e+02] [ 1.19427571e-02 2.05388858e-04 9.99928662e-01 -2.77445553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.356559995 meters 0.013414808829026485 Centerline is valid? [True, True] Translation: X:-21.59, Y:-261.54, Z:-2.77 [[-6.86625109e-01 -7.26961584e-01 8.53321633e-03 -2.15948794e+01] [ 7.26909746e-01 -6.86678089e-01 -8.68463710e-03 -2.61542929e+02] [ 1.21729702e-02 2.39788224e-04 9.99925878e-01 -2.77489851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.386559995 meters 0.013681768665736015 Centerline is valid? [True, True] Translation: X:-21.62, Y:-261.52, Z:-2.78 [[-6.85943837e-01 -7.27600955e-01 8.82625579e-03 -2.16159505e+01] [ 7.27545609e-01 -6.86000570e-01 -8.97802297e-03 -2.61524236e+02] [ 1.25872346e-02 2.63084124e-04 9.99920743e-01 -2.77509943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.416559995 meters 0.014900072924052314 Centerline is valid? [True, True] Translation: X:-21.64, Y:-261.51, Z:-2.78 [[-6.85521255e-01 -7.27998807e-01 8.85132575e-03 -2.16376284e+01] [ 7.27943248e-01 -6.85578341e-01 -8.99809789e-03 -2.61507654e+02] [ 1.26188818e-02 2.74875462e-04 9.99920341e-01 -2.77652830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.4465599949999 meters 0.015266307166168861 Centerline is valid? [True, True] Translation: X:-21.66, Y:-261.49, Z:-2.78 [[-6.85186003e-01 -7.28311635e-01 9.07216572e-03 -2.16587818e+01] [ 7.28253361e-01 -6.85245998e-01 -9.21759552e-03 -2.61488978e+02] [ 1.29299473e-02 2.91067756e-04 9.99916362e-01 -2.77673269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.476559995 meters 0.014525819133534667 Centerline is valid? [True, True] Translation: X:-21.68, Y:-261.47, Z:-2.78 [[-6.84776996e-01 -7.28698385e-01 8.89547422e-03 -2.16783897e+01] [ 7.28642457e-01 -6.84834707e-01 -9.03296144e-03 -2.61469331e+02] [ 1.26742339e-02 2.96055992e-04 9.99919635e-01 -2.77520657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.506559995 meters 0.015841946291449187 Centerline is valid? [True, True] Translation: X:-21.70, Y:-261.45, Z:-2.78 [[-6.84882957e-01 -7.28600653e-01 8.74211189e-03 -2.16990597e+01] [ 7.28546694e-01 -6.84938686e-01 -8.87193753e-03 -2.61452363e+02] [ 1.24519101e-02 2.92797909e-04 9.99922429e-01 -2.77587100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.536559995 meters 0.014599687222369116 Centerline is valid? [True, True] Translation: X:-21.72, Y:-261.43, Z:-2.77 [[-6.85194741e-01 -7.28311774e-01 8.37418731e-03 -2.17174388e+01] [ 7.28262297e-01 -6.85245856e-01 -8.49376506e-03 -2.61431582e+02] [ 1.19244862e-02 2.78721736e-04 9.99928862e-01 -2.77390839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.5665599949999 meters 0.014375721877580254 Centerline is valid? [True, True] Translation: X:-21.74, Y:-261.41, Z:-2.77 [[-6.85809699e-01 -7.27739931e-01 7.72331610e-03 -2.17374706e+01] [ 7.27697859e-01 -6.85853140e-01 -7.82919737e-03 -2.61412379e+02] [ 1.09946802e-02 2.50901103e-04 9.99939525e-01 -2.77239277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.596559995 meters 0.014596341393391561 Centerline is valid? [True, True] Translation: X:-21.76, Y:-261.39, Z:-2.77 [[-6.86397644e-01 -7.27191905e-01 7.08577698e-03 -2.17563313e+01] [ 7.27156511e-01 -6.86434180e-01 -7.17816528e-03 -2.61394724e+02] [ 1.00838232e-02 2.25393126e-04 9.99949132e-01 -2.77243026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.626559995 meters 0.013951300033686479 Centerline is valid? [True, True] Translation: X:-21.78, Y:-261.37, Z:-2.77 [[-6.87020108e-01 -7.26604879e-01 6.98005937e-03 -2.17753298e+01] [ 7.26570543e-01 -6.87055531e-01 -7.06707155e-03 -2.61374337e+02] [ 9.93065707e-03 2.16285272e-04 9.99950666e-01 -2.77166080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.656559995 meters 0.013826114053665003 Centerline is valid? [True, True] Translation: X:-21.80, Y:-261.35, Z:-2.77 [[-6.87861529e-01 -7.25809100e-01 6.90415474e-03 -2.17951433e+01] [ 7.25775505e-01 -6.87896147e-01 -6.98628162e-03 -2.61354064e+02] [ 9.82004822e-03 2.05272032e-04 9.99951761e-01 -2.77156893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.6865599949999 meters 0.013057467836015028 Centerline is valid? [True, True] Translation: X:-21.81, Y:-261.33, Z:-2.77 [[-6.90015979e-01 -7.23759077e-01 7.12374497e-03 -2.18139778e+01] [ 7.23723242e-01 -6.90052726e-01 -7.20442280e-03 -2.61332994e+02] [ 1.01300260e-02 1.84452957e-04 9.99948673e-01 -2.77200921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.716559995 meters 0.013057467836015028 Centerline is valid? [True, True] Translation: X:-21.83, Y:-261.31, Z:-2.77 [[-6.90219314e-01 -7.23565147e-01 7.12576910e-03 -2.18334206e+01] [ 7.23529323e-01 -6.90256072e-01 -7.20242078e-03 -2.61313434e+02] [ 1.01300260e-02 1.84452961e-04 9.99948673e-01 -2.77200907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.746559995 meters 0.01325335230672171 Centerline is valid? [True, True] Translation: X:-21.85, Y:-261.29, Z:-2.77 [[-6.91658072e-01 -7.22187307e-01 7.38943506e-03 -2.18520627e+01] [ 7.22148756e-01 -6.91697523e-01 -7.46397957e-03 -2.61294844e+02] [ 1.05016452e-02 1.73749618e-04 9.99944841e-01 -2.77324576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.776559995 meters 0.012063103426295895 Centerline is valid? [True, True] Translation: X:-21.87, Y:-261.27, Z:-2.77 [[-6.94647035e-01 -7.19304403e-01 8.16531897e-03 -2.18693011e+01] [ 7.19257184e-01 -6.94695008e-01 -8.24311015e-03 -2.61272671e+02] [ 1.16017118e-02 1.46912307e-04 9.99932687e-01 -2.77374394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.8065599949999 meters 0.01150474100151734 Centerline is valid? [True, True] Translation: X:-21.89, Y:-261.25, Z:-2.77 [[-6.96402838e-01 -7.17602824e-01 8.32310797e-03 -2.18877531e+01] [ 7.17553697e-01 -6.96452563e-01 -8.39765489e-03 -2.61251218e+02] [ 1.18228307e-02 1.24126190e-04 9.99930100e-01 -2.77350650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.8365599949999 meters 0.011293971464049604 Centerline is valid? [True, True] Translation: X:-21.91, Y:-261.23, Z:-2.77 [[-6.98203454e-01 -7.15850764e-01 8.34394928e-03 -2.19063645e+01] [ 7.15801321e-01 -6.98253303e-01 -8.41396319e-03 -2.61230219e+02] [ 1.18493321e-02 9.79517558e-05 9.99929789e-01 -2.77375569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.866559995 meters 0.011042671799481922 Centerline is valid? [True, True] Translation: X:-21.92, Y:-261.21, Z:-2.77 [[-7.00127502e-01 -7.13970591e-01 8.21435132e-03 -2.19234393e+01] [ 7.13922606e-01 -7.00175685e-01 -8.27780285e-03 -2.61210588e+02] [ 1.16615969e-02 6.88936715e-05 9.99931999e-01 -2.77340758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.896559995 meters 0.010865200550121606 Centerline is valid? [True, True] Translation: X:-21.94, Y:-261.19, Z:-2.77 [[-7.03685695e-01 -7.10465606e-01 8.06629268e-03 -2.19403370e+01] [ 7.10419162e-01 -7.03731925e-01 -8.12351565e-03 -2.61188437e+02] [ 1.14479861e-02 1.40471285e-05 9.99934470e-01 -2.77303866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.9265599949999 meters 0.010850826364224542 Centerline is valid? [True, True] Translation: X:-21.96, Y:-261.17, Z:-2.77 [[-7.05568236e-01 -7.08594477e-01 8.20561114e-03 -2.19584882e+01] [ 7.08546348e-01 -7.05615949e-01 -8.25866819e-03 -2.61167563e+02] [ 1.16420568e-02 -1.29981331e-05 9.99932229e-01 -2.77312500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.9565599949999 meters 0.011003198121688887 Centerline is valid? [True, True] Translation: X:-21.98, Y:-261.15, Z:-2.77 [[-7.07514829e-01 -7.06653234e-01 7.99835351e-03 -2.19761418e+01] [ 7.06607438e-01 -7.07560037e-01 -8.04507863e-03 -2.61147070e+02] [ 1.13443961e-02 -4.03163545e-05 9.99935650e-01 -2.77328578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.986559995 meters 0.011205475965473253 Centerline is valid? [True, True] Translation: X:-21.99, Y:-261.13, Z:-2.77 [[-7.09391936e-01 -7.04773751e-01 7.55263527e-03 -2.19943970e+01] [ 7.04732860e-01 -7.09432137e-01 -7.59203599e-03 -2.61126322e+02] [ 1.07087499e-02 -6.31388450e-05 9.99942658e-01 -2.77328183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.016559995 meters 0.011907368743792153 Centerline is valid? [True, True] Translation: X:-22.01, Y:-261.11, Z:-2.77 [[-7.12636331e-01 -7.01499073e-01 6.96495686e-03 -2.20112502e+01] [ 7.01464182e-01 -7.12670359e-01 -6.99720986e-03 -2.61105070e+02] [ 9.87225454e-03 -1.00798195e-04 9.99951263e-01 -2.77334425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.0465599949999 meters 0.012265711812984283 Centerline is valid? [True, True] Translation: X:-22.03, Y:-261.08, Z:-2.77 [[-7.14093725e-01 -7.00015282e-01 6.98262174e-03 -2.20302012e+01] [ 6.99980181e-01 -7.14127853e-01 -7.01112902e-03 -2.61084320e+02] [ 9.89438213e-03 -1.18906410e-04 9.99951042e-01 -2.77337124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.0765599949999 meters 0.012598312988290275 Centerline is valid? [True, True] Translation: X:-22.05, Y:-261.06, Z:-2.77 [[-7.15238784e-01 -6.98848062e-01 6.69832072e-03 -2.20486872e+01] [ 6.98815749e-01 -7.15270138e-01 -6.72155125e-03 -2.61064273e+02] [ 9.48845185e-03 -1.26622138e-04 9.99954976e-01 -2.77362947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.106559995 meters 0.012209184549144981 Centerline is valid? [True, True] Translation: X:-22.07, Y:-261.04, Z:-2.77 [[-7.16689812e-01 -6.97362463e-01 6.42712933e-03 -2.20689078e+01] [ 6.97332686e-01 -7.16718617e-01 -6.44588560e-03 -2.61044097e+02] [ 9.10156191e-03 -1.37853186e-04 9.99958571e-01 -2.77283541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.136559995 meters 0.012764119448453017 Centerline is valid? [True, True] Translation: X:-22.09, Y:-261.02, Z:-2.77 [[-7.17117311e-01 -6.96922643e-01 6.44917802e-03 -2.20867944e+01] [ 6.96892679e-01 -7.17146296e-01 -6.46408198e-03 -2.61024103e+02] [ 9.12996922e-03 -1.41120136e-04 9.99958311e-01 -2.77365898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.166559995 meters 0.012358071949494141 Centerline is valid? [True, True] Translation: X:-22.11, Y:-261.00, Z:-2.77 [[-7.16802061e-01 -6.97247057e-01 6.43008192e-03 -2.21072249e+01] [ 6.97217317e-01 -7.16830889e-01 -6.44129844e-03 -2.61004162e+02] [ 9.10045772e-03 -1.33971540e-04 9.99958581e-01 -2.77312126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.1965599949999 meters 0.012586581118367022 Centerline is valid? [True, True] Translation: X:-22.13, Y:-260.98, Z:-2.77 [[-7.16405215e-01 -6.97654567e-01 6.45548090e-03 -2.21261316e+01] [ 6.97624632e-01 -7.16434288e-01 -6.46406903e-03 -2.60984723e+02] [ 9.13461514e-03 -1.27390272e-04 9.99958270e-01 -2.77362040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.226559995 meters 0.012046009037169113 Centerline is valid? [True, True] Translation: X:-22.15, Y:-260.97, Z:-2.77 [[-7.15912758e-01 -6.98159579e-01 6.49044786e-03 -2.21471776e+01] [ 6.98129373e-01 -7.15942169e-01 -6.49539708e-03 -2.60965766e+02] [ 9.18160900e-03 -1.18965342e-04 9.99957841e-01 -2.77303483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.256559995 meters 0.012018096492943964 Centerline is valid? [True, True] Translation: X:-22.17, Y:-260.95, Z:-2.77 [[-7.15372757e-01 -6.98716080e-01 6.13669760e-03 -2.21666361e+01] [ 6.98689128e-01 -7.15399070e-01 -6.13778122e-03 -2.60946946e+02] [ 8.67875419e-03 -1.03157576e-04 9.99962334e-01 -2.77329800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.286559995 meters 0.012013841291224228 Centerline is valid? [True, True] Translation: X:-22.19, Y:-260.93, Z:-2.77 [[-7.14401967e-01 -6.99709874e-01 5.99345454e-03 -2.21855865e+01] [ 6.99684235e-01 -7.14427102e-01 -5.99056978e-03 -2.60928667e+02] [ 8.47354719e-03 -8.61491830e-05 9.99964095e-01 -2.77370491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.3165599949999 meters 0.011619794097148752 Centerline is valid? [True, True] Translation: X:-22.65, Y:-261.39, Z:-1.82 [[-7.49346066e-01 6.62149865e-01 6.16682878e-03 -2.26513820e+01] [ 6.62128289e-01 7.49371437e-01 -5.34596337e-03 -2.61393050e+02] [-8.16107427e-03 7.72551716e-05 -9.99966695e-01 -1.81925135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.346559995 meters 0.011526296854148634 Centerline is valid? [True, True] Translation: X:-22.63, Y:-261.37, Z:-1.82 [[-7.94490237e-01 6.07243230e-01 6.39714219e-03 -2.26326151e+01] [ 6.07224287e-01 7.94515988e-01 -4.79694003e-03 -2.61371800e+02] [-7.99554110e-03 7.33780885e-05 -9.99968033e-01 -1.81935578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.376559995 meters 0.011577725333125127 Centerline is valid? [True, True] Translation: X:-22.62, Y:-261.35, Z:-1.82 [[-8.35587800e-01 5.49319549e-01 6.40787965e-03 -2.26181928e+01] [ 5.49304022e-01 8.35612367e-01 -4.13076401e-03 -2.61347704e+02] [-7.62361291e-03 6.82580574e-05 -9.99970938e-01 -1.81901032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.406559995 meters 0.011416458416466704 Centerline is valid? [True, True] Translation: X:-22.60, Y:-261.32, Z:-1.82 [[-8.72454636e-01 4.88650993e-01 6.56622503e-03 -2.26036761e+01] [ 4.88637722e-01 8.72479342e-01 -3.60194613e-03 -2.61323419e+02] [-7.48899025e-03 6.59706339e-05 -9.99971955e-01 -1.81936635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.4365599949999 meters 0.011498012812852135 Centerline is valid? [True, True] Translation: X:-22.29, Y:-260.75, Z:-2.77 [[-8.47067962e-01 -5.31450720e-01 6.00004201e-03 -2.22907411e+01] [ 5.31436679e-01 -8.47089208e-01 -3.86399131e-03 -2.60750158e+02] [ 7.13609179e-03 -8.44208393e-05 9.99974534e-01 -2.77337578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.466559995 meters 0.011455500736049676 Centerline is valid? [True, True] Translation: X:-22.30, Y:-260.78, Z:-2.77 [[-8.09339624e-01 -5.87318339e-01 5.15186506e-03 -2.23030432e+01] [ 5.87306001e-01 -8.09356019e-01 -3.80727650e-03 -2.60778687e+02] [ 6.40577631e-03 -5.56584636e-05 9.99979481e-01 -2.77363663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.496559995 meters 0.01134393028578345 Centerline is valid? [True, True] Translation: X:-22.69, Y:-261.30, Z:-1.82 [[-8.39593361e-01 5.43192328e-01 5.00827386e-03 -2.26916734e+01] [ 5.43183033e-01 8.39608297e-01 -3.17815115e-03 -2.61304930e+02] [-5.93133561e-03 5.20547782e-05 -9.99982408e-01 -1.81892408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.526559995 meters 0.011231018033095563 Centerline is valid? [True, True] Translation: X:-22.34, Y:-260.76, Z:-2.77 [[-8.10959472e-01 -5.85083535e-01 4.68957769e-03 -2.23403805e+01] [ 5.85073340e-01 -8.10973029e-01 -3.45449464e-03 -2.60758099e+02] [ 5.82428896e-03 -5.77082640e-05 9.99983037e-01 -2.77343627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.5565599949999 meters 0.01122448771816496 Centerline is valid? [True, True] Translation: X:-22.73, Y:-261.28, Z:-1.82 [[-8.42279149e-01 5.39020700e-01 4.74555403e-03 -2.27279368e+01] [ 5.39012421e-01 8.42292517e-01 -2.98772534e-03 -2.61280814e+02] [-5.60759045e-03 4.14138037e-05 -9.99984277e-01 -1.81844661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.5865599949999 meters 0.010914449933076659 Centerline is valid? [True, True] Translation: X:-22.72, Y:-261.25, Z:-1.82 [[-8.79341810e-01 4.76159379e-01 5.49781303e-03 -2.27155406e+01] [ 4.76150307e-01 8.79358996e-01 -2.93945602e-03 -2.61252311e+02] [-6.23420090e-03 3.29987802e-05 -9.99980567e-01 -1.81767881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.616559995 meters 0.010858146485338954 Centerline is valid? [True, True] Translation: X:-22.70, Y:-261.23, Z:-1.82 [[-9.11373443e-01 4.11534992e-01 6.11539392e-03 -2.27047554e+01] [ 4.11525926e-01 9.11393960e-01 -2.73171984e-03 -2.61225013e+02] [-6.69773138e-03 2.70262259e-05 -9.99977570e-01 -1.81684703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.646559995 meters 0.010783840785994713 Centerline is valid? [True, True] Translation: X:-22.70, Y:-261.20, Z:-1.82 [[-9.38646506e-01 3.44815315e-01 6.71833978e-03 -2.26997368e+01] [ 3.44806637e-01 9.38670548e-01 -2.44631623e-03 -2.61195554e+02] [-7.14983499e-03 2.03019681e-05 -9.99974439e-01 -1.81684788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.6765599949999 meters 0.010782987558216616 Centerline is valid? [True, True] Translation: X:-22.48, Y:-260.60, Z:-2.78 [[-9.15046760e-01 -4.03287046e-01 6.99901561e-03 -2.24771811e+01] [ 4.03275332e-01 -9.15073526e-01 -3.07375427e-03 -2.60600846e+02] [ 7.64421917e-03 9.90145543e-06 9.99970783e-01 -2.77628434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.7065599949999 meters 0.010809428189911352 Centerline is valid? [True, True] Translation: X:-22.74, Y:-261.18, Z:-1.82 [[-9.41198752e-01 3.37739352e-01 8.77716761e-03 -2.27417774e+01] [ 3.37724576e-01 9.41239677e-01 -3.15922712e-03 -2.61177406e+02] [-9.32841373e-03 -9.19541370e-06 -9.99956489e-01 -1.81507571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.736559995 meters 0.010843248255862047 Centerline is valid? [True, True] Translation: X:-22.74, Y:-261.15, Z:-1.82 [[-9.63102464e-01 2.68958305e-01 9.75057254e-03 -2.27384370e+01] [ 2.68944289e-01 9.63151821e-01 -2.74591984e-03 -2.61148061e+02] [-1.01298196e-02 -2.22413675e-05 -9.99948692e-01 -1.81515889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.766559995 meters 0.010973528147699058 Centerline is valid? [True, True] Translation: X:-22.57, Y:-260.55, Z:-2.78 [[-9.40323972e-01 -3.40141149e-01 9.73792345e-03 -2.25660264e+01] [ 3.40123316e-01 -9.40374392e-01 -3.48319412e-03 -2.60547366e+02] [ 1.03420715e-02 3.67638858e-05 9.99946519e-01 -2.77687086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.7965599949999 meters 0.011450030730024407 Centerline is valid? [True, True] Translation: X:-22.78, Y:-261.13, Z:-1.81 [[-9.65289437e-01 2.60985504e-01 1.01425086e-02 -2.27839852e+01] [ 2.60970336e-01 9.65342717e-01 -2.81460729e-03 -2.61131359e+02] [-1.05255685e-02 -7.00168161e-05 -9.99944602e-01 -1.81396923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.8265599949999 meters 0.011300196977634612 Centerline is valid? [True, True] Translation: X:-22.78, Y:-261.10, Z:-1.82 [[-9.81684820e-01 1.90242214e-01 1.01397258e-02 -2.27812123e+01] [ 1.90231165e-01 9.81737181e-01 -2.05204120e-03 -2.61102862e+02] [-1.03449307e-02 -8.55658426e-05 -9.99946486e-01 -1.81567815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.856559995 meters 0.011849988927602348 Centerline is valid? [True, True] Translation: X:-22.78, Y:-261.07, Z:-1.82 [[-9.93171280e-01 1.16262649e-01 9.68528596e-03 -2.27846683e+01] [ 1.16255959e-01 9.93218497e-01 -1.25281841e-03 -2.61071523e+02] [-9.76526115e-03 -1.18291053e-04 -9.99952312e-01 -1.81654197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.886559995 meters 0.012133426447324366 Centerline is valid? [True, True] Translation: X:-22.70, Y:-260.47, Z:-2.78 [[-9.77892248e-01 -2.08912989e-01 9.06167367e-03 -2.27038466e+01] [ 2.08904754e-01 -9.77934229e-01 -1.85653207e-03 -2.60466083e+02] [ 9.24957452e-03 7.75383870e-05 9.99957219e-01 -2.77548894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.916559995 meters 0.012927455617535277 Centerline is valid? [True, True] Translation: X:-22.84, Y:-261.06, Z:-1.82 [[-9.94333003e-01 1.05908498e-01 9.23417109e-03 -2.28409463e+01] [ 1.05902319e-01 9.94375865e-01 -1.15689922e-03 -2.61060544e+02] [-9.30476232e-03 -1.72422947e-04 -9.99956695e-01 -1.81685463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.9465599949999 meters 0.01373150551971946 Centerline is valid? [True, True] Translation: X:-22.84, Y:-261.03, Z:-1.82 [[-9.99421855e-01 3.25041605e-02 9.97173719e-03 -2.28438957e+01] [ 3.25004423e-02 9.99471578e-01 -5.34737116e-04 -2.61030417e+02] [-9.98384908e-03 -2.10342091e-04 -9.99950138e-01 -1.81651970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.976559995 meters 0.01501323692459448 Centerline is valid? [True, True] Translation: X:-22.85, Y:-261.00, Z:-1.82 [[-9.99123403e-01 -4.07476744e-02 9.59441590e-03 -2.28510240e+01] [-4.07479334e-02 9.99169444e-01 1.68568228e-04 -2.61000110e+02] [-9.59331596e-03 -2.22532159e-04 -9.99953958e-01 -1.81588931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.006559995 meters 0.01537453764682937 Centerline is valid? [True, True] Translation: X:-22.86, Y:-260.97, Z:-1.82 [[-9.93451997e-01 -1.13842421e-01 9.64537583e-03 -2.28606464e+01] [-1.13839469e-01 9.93498788e-01 8.56305106e-04 -2.60972142e+02] [-9.68015304e-03 -2.47326446e-04 -9.99953116e-01 -1.81638679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.036559995 meters 0.016848989231653157 Centerline is valid? [True, True] Translation: X:-22.91, Y:-260.39, Z:-2.78 [[-9.99913022e-01 -9.11132539e-03 9.53588992e-03 -2.29133360e+01] [ 9.11313473e-03 -9.99958464e-01 1.46303795e-04 -2.60385338e+02] [ 9.53416081e-03 2.33192919e-04 9.99954522e-01 -2.77579188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.0665599949999 meters 0.017923214481502067 Centerline is valid? [True, True] Translation: X:-22.94, Y:-260.97, Z:-1.82 [[-9.92042831e-01 -1.25544731e-01 9.46265785e-03 -2.29380700e+01] [-1.25541950e-01 9.92087913e-01 8.89722015e-04 -2.60974208e+02] [-9.49948839e-03 -3.05318170e-04 -9.99954832e-01 -1.81651260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.096559995 meters 0.01868007497849279 Centerline is valid? [True, True] Translation: X:-22.95, Y:-260.95, Z:-1.82 [[-9.80270597e-01 -1.97447255e-01 9.17271659e-03 -2.29509612e+01] [-1.97441594e-01 9.80313462e-01 1.52761770e-03 -2.60947059e+02] [-9.29376147e-03 -3.13597073e-04 -9.99956763e-01 -1.81644406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.126559995 meters 0.020534014090147275 Centerline is valid? [True, True] Translation: X:-22.97, Y:-260.92, Z:-1.82 [[-9.62993417e-01 -2.69397047e-01 8.30116137e-03 -2.29706072e+01] [-2.69389798e-01 9.63029145e-01 2.00040972e-03 -2.60920587e+02] [-8.53316481e-03 -3.09866794e-04 -9.99963544e-01 -1.81678557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.156559995 meters 0.02150596584457387 Centerline is valid? [True, True] Translation: X:-23.00, Y:-260.90, Z:-1.82 [[-9.40918008e-01 -3.38539985e-01 7.99879968e-03 -2.30019769e+01] [-3.38530535e-01 9.40951955e-01 2.54841837e-03 -2.60899458e+02] [-8.38922772e-03 -3.09985200e-04 -9.99964762e-01 -1.81606932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.1865599949999 meters 0.01964682952208552 Centerline is valid? [True, True] Translation: X:-23.04, Y:-260.89, Z:-1.82 [[-9.13695357e-01 -4.06312387e-01 8.42847314e-03 -2.30436692e+01] [-4.06298521e-01 9.13734167e-01 3.37406757e-03 -2.60888323e+02] [-9.07230933e-03 -3.41606306e-04 -9.99958787e-01 -1.81658264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.216559995 meters 0.020659987106034672 Centerline is valid? [True, True] Translation: X:-23.10, Y:-260.89, Z:-1.81 [[-8.81417545e-01 -4.72252800e-01 8.96687552e-03 -2.31049951e+01] [-4.72232676e-01 8.81463074e-01 4.37597128e-03 -2.60885252e+02] [-9.97053434e-03 -3.77393767e-04 -9.99950222e-01 -1.81497483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.246559995 meters 0.020959531086673183 Centerline is valid? [True, True] Translation: X:-23.17, Y:-260.89, Z:-1.81 [[-8.44243755e-01 -5.35877405e-01 9.37486586e-03 -2.31676807e+01] [-5.35849671e-01 8.44295707e-01 5.46712240e-03 -2.60888500e+02] [-1.08448664e-02 -4.07934843e-04 -9.99941110e-01 -1.81420049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.276559995 meters 0.020228514617699683 Centerline is valid? [True, True] Translation: X:-23.24, Y:-260.91, Z:-1.81 [[-8.02689029e-01 -5.96323212e-01 9.43126074e-03 -2.32413146e+01] [-5.96288135e-01 8.02744324e-01 6.48156922e-03 -2.60905241e+02] [-1.14360012e-02 -4.21064374e-04 -9.99934518e-01 -1.81413323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.3065599949999 meters 0.020146662541498023 Centerline is valid? [True, True] Translation: X:-23.32, Y:-260.93, Z:-1.81 [[-7.57014177e-01 -6.53330276e-01 9.43851794e-03 -2.33171430e+01] [-6.53286413e-01 7.57072895e-01 7.58247062e-03 -2.60930807e+02] [-1.20995037e-02 -4.26017771e-04 -9.99926708e-01 -1.81366247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.3365599949999 meters 0.020013326696818833 Centerline is valid? [True, True] Translation: X:-23.40, Y:-260.97, Z:-1.81 [[-7.06493356e-01 -7.07665193e-01 8.78133321e-03 -2.33992045e+01] [-7.07617687e-01 7.06547807e-01 8.21005945e-03 -2.60967745e+02] [-1.20144050e-02 -4.13474239e-04 -9.99927739e-01 -1.81384018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.366559995 meters 0.018541010497719758 Centerline is valid? [True, True] Translation: X:-23.48, Y:-261.01, Z:-1.81 [[-6.51829608e-01 -7.58325435e-01 7.79082315e-03 -2.34758604e+01] [-7.58278225e-01 6.51876051e-01 8.47038951e-03 -2.61011047e+02] [-1.15019628e-02 -3.86360877e-04 -9.99933776e-01 -1.81481080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.396559995 meters 0.018118989996218138 Centerline is valid? [True, True] Translation: X:-23.56, Y:-261.07, Z:-1.82 [[-5.93897288e-01 -8.04510340e-01 7.00891269e-03 -2.35561116e+01] [-8.04461387e-01 5.93938533e-01 8.88230818e-03 -2.61068175e+02] [-1.13087721e-02 -3.63220885e-04 -9.99935988e-01 -1.81554930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.4265599949999 meters 0.01970003404227828 Centerline is valid? [True, True] Translation: X:-23.64, Y:-261.13, Z:-1.81 [[-5.31682196e-01 -8.46923508e-01 5.88334188e-03 -2.36371945e+01] [-8.46878418e-01 5.31714642e-01 8.74551650e-03 -2.61130729e+02] [-1.05350425e-02 -3.32639850e-04 -9.99944450e-01 -1.81472106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.4565599949999 meters 0.017505998759050678 Centerline is valid? [True, True] Translation: X:-23.71, Y:-261.20, Z:-1.82 [[-4.66442926e-01 -8.84537600e-01 4.92254876e-03 -2.37096075e+01] [-8.84495110e-01 4.66468799e-01 8.67530542e-03 -2.61203965e+02] [-9.96984924e-03 -3.07435462e-04 -9.99950253e-01 -1.81599984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.486559995 meters 0.01727176195535211 Centerline is valid? [True, True] Translation: X:-23.78, Y:-261.28, Z:-1.82 [[-3.99164453e-01 -9.16871458e-01 3.80373864e-03 -2.37782816e+01] [-9.16835859e-01 3.99182491e-01 8.08370463e-03 -2.61283403e+02] [-8.93010392e-03 -2.60676452e-04 -9.99960092e-01 -1.81640773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.516559995 meters 0.01704342260034122 Centerline is valid? [True, True] Translation: X:-23.84, Y:-261.37, Z:-1.82 [[-3.28961466e-01 -9.44338596e-01 2.99507797e-03 -2.38435003e+01] [-9.44305785e-01 3.28975014e-01 7.87557085e-03 -2.61370327e+02] [-8.42251133e-03 -2.37510124e-04 -9.99964502e-01 -1.81662026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.5465599949999 meters 0.016735882740511496 Centerline is valid? [True, True] Translation: X:-23.90, Y:-261.47, Z:-1.82 [[-2.57732342e-01 -9.66213699e-01 2.26468463e-03 -2.39019276e+01] [-9.66183226e-01 2.57742206e-01 7.67656727e-03 -2.61467356e+02] [-8.00090926e-03 -2.09600644e-04 -9.99967970e-01 -1.81622626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.5765599949999 meters 0.015165855941726421 Centerline is valid? [True, True] Translation: X:-23.95, Y:-261.57, Z:-1.82 [[-1.84137994e-01 -9.82898896e-01 1.72059209e-03 -2.39519858e+01] [-9.82865846e-01 1.84145917e-01 8.06294887e-03 -2.61569050e+02] [-8.24190355e-03 -2.06415971e-04 -9.99966014e-01 -1.81690229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.606559995 meters 0.014961500693297838 Centerline is valid? [True, True] Translation: X:-24.00, Y:-261.68, Z:-1.82 [[-1.09135980e-01 -9.94026210e-01 1.11018519e-03 -2.39966156e+01] [-9.93991866e-01 1.09141440e-01 8.26535892e-03 -2.61675886e+02] [-8.33715061e-03 -2.01467006e-04 -9.99965225e-01 -1.81666043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.636559995 meters 0.014961500693297838 Centerline is valid? [True, True] Translation: X:-24.03, Y:-261.79, Z:-1.82 [[-3.25633698e-02 -9.99469561e-01 4.72866690e-04 -2.40349332e+01] [-9.99434899e-01 3.25661798e-02 8.32620674e-03 -2.61786764e+02] [-8.33718966e-03 -2.01470124e-04 -9.99965225e-01 -1.81665856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.666559995 meters 0.014576805024823886 Centerline is valid? [True, True] Translation: X:-24.06, Y:-261.90, Z:-1.82 [[ 4.34202478e-02 -9.99056881e-01 -1.73364341e-04 -2.40626998e+01] [-9.99019063e-01 -4.34201130e-02 8.69515094e-03 -2.61895556e+02] [-8.69447788e-03 -2.04351326e-04 -9.99962182e-01 -1.81637044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.6965599949999 meters 0.014508302124239373 Centerline is valid? [True, True] Translation: X:-24.08, Y:-262.01, Z:-1.82 [[ 1.19496767e-01 -9.92834228e-01 -8.48106393e-04 -2.40811984e+01] [-9.92795846e-01 -1.19499607e-01 8.73228382e-03 -2.62011496e+02] [-8.77105864e-03 -2.01483180e-04 -9.99961513e-01 -1.81569646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.726559995 meters 0.015585193191601605 Centerline is valid? [True, True] Translation: X:-24.09, Y:-262.13, Z:-1.81 [[ 1.95437571e-01 -9.80714963e-01 -1.52198715e-03 -2.40939978e+01] [-9.80676624e-01 -1.95443392e-01 8.67408228e-03 -2.62128664e+02] [-8.80426462e-03 -2.02664352e-04 -9.99961221e-01 -1.81482023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.756559995 meters 0.014596562163606353 Centerline is valid? [True, True] Translation: X:-24.09, Y:-262.25, Z:-1.82 [[ 2.70293726e-01 -9.62775331e-01 -2.22801362e-03 -2.40939883e+01] [-9.62735997e-01 -2.70302829e-01 8.70521199e-03 -2.62247566e+02] [-8.98340173e-03 -2.07975269e-04 -9.99959627e-01 -1.81548281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.786559995 meters 0.014981049404882176 Centerline is valid? [True, True] Translation: X:-24.09, Y:-262.37, Z:-1.82 [[ 3.43517318e-01 -9.39142243e-01 -2.77497122e-03 -2.40875443e+01] [-9.39106719e-01 -3.43528467e-01 8.17081040e-03 -2.62366094e+02] [-8.62683482e-03 -2.00820753e-04 -9.99962768e-01 -1.81513786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.8165599949999 meters 0.015147613196056666 Centerline is valid? [True, True] Translation: X:-24.07, Y:-262.48, Z:-1.81 [[ 4.14327000e-01 -9.10122237e-01 -3.26369997e-03 -2.40728954e+01] [-9.10090276e-01 -4.14339810e-01 7.62970917e-03 -2.62479919e+02] [-8.29624880e-03 -1.90932907e-04 -9.99965567e-01 -1.81463069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.846559995 meters 0.014808887846277456 Centerline is valid? [True, True] Translation: X:-24.05, Y:-262.60, Z:-1.81 [[ 4.82723473e-01 -8.75765060e-01 -3.68888240e-03 -2.40470747e+01] [-8.75736539e-01 -4.82737534e-01 7.07021413e-03 -2.62596462e+02] [-7.97260849e-03 -1.82469214e-04 -9.99968202e-01 -1.81449920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.876559995 meters 0.015738241787776434 Centerline is valid? [True, True] Translation: X:-24.02, Y:-262.70, Z:-1.81 [[ 5.48222606e-01 -8.36321071e-01 -4.36357208e-03 -2.40188556e+01] [-8.36291810e-01 -5.48239940e-01 6.99839706e-03 -2.62703464e+02] [-8.24519142e-03 -1.87459884e-04 -9.99965990e-01 -1.81377145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.906559995 meters 0.014907397450497717 Centerline is valid? [True, True] Translation: X:-23.98, Y:-262.81, Z:-1.81 [[ 6.10403730e-01 -7.92074237e-01 -5.06841504e-03 -2.39801974e+01] [-7.92044279e-01 -6.10424742e-01 6.89157803e-03 -2.62805385e+02] [-8.55252735e-03 -1.92235802e-04 -9.99963408e-01 -1.81372797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.9365599949999 meters 0.014526095582193125 Centerline is valid? [True, True] Translation: X:-23.93, Y:-262.91, Z:-1.81 [[ 6.69050139e-01 -7.43195208e-01 -5.72661274e-03 -2.39325945e+01] [-7.43165436e-01 -6.69074617e-01 6.65520055e-03 -2.62907492e+02] [-8.77764438e-03 -1.96842199e-04 -9.99961456e-01 -1.81403651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.966559995 meters 0.014426619656540254 Centerline is valid? [True, True] Translation: X:-23.88, Y:-263.01, Z:-1.81 [[ 7.23716843e-01 -6.90068357e-01 -6.29231649e-03 -2.38773161e+01] [-6.90039857e-01 -7.23744169e-01 6.27480395e-03 -2.63006304e+02] [-8.88407102e-03 -1.99232137e-04 -9.99960516e-01 -1.81415320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.996559995 meters 0.015039199128530417 Centerline is valid? [True, True] Translation: X:-23.88, Y:-263.01, Z:-1.81 [[ 7.75600464e-01 -6.31188908e-01 -6.66960294e-03 -2.38791998e+01] [-6.31163346e-01 -7.75629115e-01 5.68394656e-03 -2.63013952e+02] [-8.76078225e-03 -1.98862676e-04 -9.99961604e-01 -1.81387806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.026559995 meters 0.015265481511974618 Centerline is valid? [True, True] Translation: X:-23.88, Y:-263.02, Z:-1.81 [[ 8.22678524e-01 -5.68464235e-01 -6.96133099e-03 -2.38791981e+01] [-5.68441842e-01 -8.22707953e-01 5.04949469e-03 -2.63020746e+02] [-8.59759950e-03 -1.96999034e-04 -9.99963021e-01 -1.81365017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.0565599949999 meters 0.01581170048080789 Centerline is valid? [True, True] Translation: X:-23.88, Y:-263.03, Z:-1.81 [[ 8.64943134e-01 -5.01825058e-01 -6.70714096e-03 -2.38796269e+01] [-5.01808299e-01 -8.64969119e-01 4.10537801e-03 -2.63026985e+02] [-7.86165137e-03 -1.85219532e-04 -9.99969080e-01 -1.81363910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.0865599949999 meters 0.016048318055455823 Centerline is valid? [True, True] Translation: X:-23.88, Y:-263.03, Z:-1.81 [[ 9.01636562e-01 -4.32438194e-01 -6.97991914e-03 -2.38773837e+01] [-4.32423623e-01 -9.01663559e-01 3.55483714e-03 -2.63032598e+02] [-7.83078609e-03 -1.86889209e-04 -9.99969322e-01 -1.81347506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.116559995 meters 0.016331017364596526 Centerline is valid? [True, True] Translation: X:-23.87, Y:-263.04, Z:-1.81 [[ 9.32750711e-01 -3.60449662e-01 -7.22171670e-03 -2.38743470e+01] [-3.60437291e-01 -9.32778648e-01 2.99222775e-03 -2.63037356e+02] [-7.81481062e-03 -1.88026561e-04 -9.99969446e-01 -1.81317155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.146559995 meters 0.0160373133735076 Centerline is valid? [True, True] Translation: X:-23.87, Y:-263.04, Z:-1.81 [[ 9.58128127e-01 -2.86237750e-01 -7.64485595e-03 -2.38705762e+01] [-2.86227010e-01 -9.58158605e-01 2.48725448e-03 -2.63041000e+02] [-8.03693064e-03 -1.94944221e-04 -9.99967684e-01 -1.81320835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.1765599949999 meters 0.015156483658108306 Centerline is valid? [True, True] Translation: X:-23.87, Y:-263.05, Z:-1.81 [[ 9.77544218e-01 -2.10573535e-01 -8.12953256e-03 -2.38681643e+01] [-2.10564530e-01 -9.77578000e-01 1.95777165e-03 -2.63046806e+02] [-8.35950707e-03 -2.02017146e-04 -9.99965038e-01 -1.81311387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.2065599949999 meters 0.014820983019303355 Centerline is valid? [True, True] Translation: X:-23.87, Y:-263.05, Z:-1.81 [[ 9.90988336e-01 -1.33674483e-01 -8.55864281e-03 -2.38656306e+01] [-1.33667684e-01 -9.91025272e-01 1.36413827e-03 -2.63054607e+02] [-8.66418180e-03 -2.07831146e-04 -9.99962444e-01 -1.81289258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.236559995 meters 0.014972435178162782 Centerline is valid? [True, True] Translation: X:-23.87, Y:-263.06, Z:-1.81 [[ 9.98410468e-01 -5.56633960e-02 -8.83878296e-03 -2.38657196e+01] [-5.56593278e-02 -9.98449569e-01 7.05780237e-04 -2.63061833e+02] [-8.86436516e-03 -2.12697658e-04 -9.99960688e-01 -1.81249224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.266559995 meters 0.015055093172892255 Centerline is valid? [True, True] Translation: X:-23.87, Y:-263.07, Z:-1.81 [[ 9.99698442e-01 2.27374414e-02 -9.27540416e-03 -2.38654527e+01] [ 2.27385316e-02 -9.99741446e-01 1.20858601e-05 -2.63067888e+02] [-9.27273116e-03 -2.22991286e-04 -9.99956983e-01 -1.81236556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.2965599949999 meters 0.015089707693190867 Centerline is valid? [True, True] Translation: X:-23.86, Y:-263.07, Z:-1.81 [[ 9.94835494e-01 1.01094415e-01 -9.06963818e-03 -2.38645637e+01] [ 1.01092228e-01 -9.94876812e-01 -7.00518330e-04 -2.63074671e+02] [-9.09399121e-03 -2.19969429e-04 -9.99958625e-01 -1.81229844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.3265599949999 meters 0.015325718655493656 Centerline is valid? [True, True] Translation: X:-23.86, Y:-263.08, Z:-1.81 [[ 9.83831869e-01 1.78865230e-01 -9.06002226e-03 -2.38632504e+01] [ 1.78859738e-01 -9.83873559e-01 -1.41946678e-03 -2.63081383e+02] [-9.16780960e-03 -2.23956552e-04 -9.99957950e-01 -1.81233614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.356559995 meters 0.015905762255040555 Centerline is valid? [True, True] Translation: X:-23.86, Y:-263.09, Z:-1.81 [[ 9.66599366e-01 2.56150774e-01 -8.51158110e-03 -2.38623748e+01] [ 2.56142848e-01 -9.66636815e-01 -2.02707902e-03 -2.63087176e+02] [-8.74684550e-03 -2.20807328e-04 -9.99961721e-01 -1.81211347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.386559995 meters 0.01768241964742336 Centerline is valid? [True, True] Translation: X:-23.86, Y:-263.09, Z:-1.81 [[ 9.43506845e-01 3.31264956e-01 -7.63954996e-03 -2.38611573e+01] [ 3.31255843e-01 -9.43537751e-01 -2.46559795e-03 -2.63094744e+02] [-8.02496998e-03 -2.04337020e-04 -9.99967779e-01 -1.81141273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.416559995 meters 0.018023514848195255 Centerline is valid? [True, True] Translation: X:-23.86, Y:-263.09, Z:-1.81 [[ 9.14484816e-01 4.04551259e-01 -7.46997628e-03 -2.38609592e+01] [ 4.04539624e-01 -9.14515301e-01 -3.07536622e-03 -2.63094763e+02] [-8.07555088e-03 -2.09525686e-04 -9.99967370e-01 -1.81145345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.4465599949999 meters 0.01637821725332232 Centerline is valid? [True, True] Translation: X:-23.86, Y:-263.10, Z:-1.81 [[ 8.79680603e-01 4.75516667e-01 -6.77765175e-03 -2.38594686e+01] [ 4.75504314e-01 -8.79706689e-01 -3.43352616e-03 -2.63096653e+02] [-7.59504449e-03 -2.02396283e-04 -9.99971137e-01 -1.81212813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.476559995 meters 0.016450377435676837 Centerline is valid? [True, True] Translation: X:-23.86, Y:-263.10, Z:-1.81 [[ 8.39653534e-01 5.43082265e-01 -6.60276474e-03 -2.38565061e+01] [ 5.43067398e-01 -8.39679469e-01 -4.02364911e-03 -2.63101119e+02] [-7.72937847e-03 -2.07275075e-04 -9.99970107e-01 -1.81206680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.506559995 meters 0.015866767439584907 Centerline is valid? [True, True] Translation: X:-23.85, Y:-263.11, Z:-1.81 [[ 7.94621447e-01 6.07071188e-01 -6.42883711e-03 -2.38530540e+01] [ 6.07053458e-01 -7.94647424e-01 -4.64446437e-03 -2.63106490e+02] [-7.92817935e-03 -2.12056804e-04 -9.99968549e-01 -1.81205754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.536559995 meters 0.01647159143210304 Centerline is valid? [True, True] Translation: X:-23.85, Y:-263.11, Z:-1.81 [[ 7.45039832e-01 6.66986983e-01 -6.63418503e-03 -2.38498534e+01] [ 6.66963230e-01 -7.45069334e-01 -5.63365528e-03 -2.63112478e+02] [-8.70050256e-03 -2.27459890e-04 -9.99962124e-01 -1.81109582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.5665599949999 meters 0.016647225275545557 Centerline is valid? [True, True] Translation: X:-23.85, Y:-263.12, Z:-1.81 [[ 6.90940035e-01 7.22882528e-01 -6.53596164e-03 -2.38480109e+01] [ 7.22853370e-01 -6.90970907e-01 -6.49700219e-03 -2.63116679e+02] [-9.21272872e-03 -2.35502973e-04 -9.99957534e-01 -1.81077449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.596559995 meters 0.015219674171952165 Centerline is valid? [True, True] Translation: X:-23.85, Y:-263.12, Z:-1.81 [[ 6.33152917e-01 7.74001833e-01 -6.20850836e-03 -2.38455200e+01] [ 7.73968166e-01 -6.33183314e-01 -7.22288131e-03 -2.63120137e+02] [-9.52164727e-03 -2.31999454e-04 -9.99954641e-01 -1.81147063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.626559995 meters 0.01602408932185098 Centerline is valid? [True, True] Translation: X:-23.84, Y:-263.13, Z:-1.81 [[ 5.71271315e-01 8.20741828e-01 -5.65126087e-03 -2.38398029e+01] [ 8.20705514e-01 -5.71299223e-01 -7.72382885e-03 -2.63126780e+02] [-9.56783035e-03 -2.25619086e-04 -9.99954202e-01 -1.81085437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.656559995 meters 0.014877668507520897 Centerline is valid? [True, True] Translation: X:-23.84, Y:-263.13, Z:-1.81 [[ 5.05963514e-01 8.62540603e-01 -4.96306274e-03 -2.38359150e+01] [ 8.62503191e-01 -5.05987809e-01 -8.03631629e-03 -2.63130633e+02] [-9.44289834e-03 -2.14574623e-04 -9.99955392e-01 -1.81167852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.6865599949999 meters 0.014609245300445897 Centerline is valid? [True, True] Translation: X:-23.83, Y:-263.14, Z:-1.81 [[ 4.37413173e-01 8.99250614e-01 -4.24846062e-03 -2.38300110e+01] [ 8.99212659e-01 -4.37433756e-01 -8.26455840e-03 -2.63135184e+02] [-9.29032931e-03 -2.05242861e-04 -9.99956823e-01 -1.81229696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.716559995 meters 0.014531582027105106 Centerline is valid? [True, True] Translation: X:-23.82, Y:-263.14, Z:-1.81 [[ 3.66634461e-01 9.30359608e-01 -3.18925241e-03 -2.38249941e+01] [ 9.30328430e-01 -3.66648290e-01 -7.61861438e-03 -2.63140872e+02] [-8.25738504e-03 -1.73805613e-04 -9.99965892e-01 -1.81292414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.746559995 meters 0.013913049044764309 Centerline is valid? [True, True] Translation: X:-23.82, Y:-263.15, Z:-1.81 [[ 2.93139885e-01 9.56066376e-01 -2.46835105e-03 -2.38174097e+01] [ 9.56036985e-01 -2.93150232e-01 -7.49834801e-03 -2.63145268e+02] [-7.89251609e-03 -1.61770017e-04 -9.99968841e-01 -1.81349843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.776559995 meters 0.01512326716272191 Centerline is valid? [True, True] Translation: X:-23.81, Y:-263.15, Z:-1.81 [[ 2.17679255e-01 9.76018816e-01 -1.73569109e-03 -2.38080181e+01] [ 9.75992966e-01 -2.17686125e-01 -7.10506154e-03 -2.63150579e+02] [-7.31250962e-03 -1.47397790e-04 -9.99973252e-01 -1.81344299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.8065599949999 meters 0.014970097805126616 Centerline is valid? [True, True] Translation: X:-23.81, Y:-263.15, Z:-1.81 [[ 1.40844796e-01 9.90031007e-01 -1.16130048e-03 -2.38055184e+01] [ 9.90005257e-01 -1.40849510e-01 -7.14195644e-03 -2.63153155e+02] [-7.23432693e-03 -1.43786188e-04 -9.99973822e-01 -1.81356300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.8365599949999 meters 0.014018088683870496 Centerline is valid? [True, True] Translation: X:-23.80, Y:-263.16, Z:-1.81 [[ 6.33161426e-02 9.97993320e-01 -6.31929862e-04 -2.38002990e+01] [ 9.97964294e-01 -6.33191216e-02 -7.61299855e-03 -2.63155947e+02] [-7.63773494e-03 -1.48617737e-04 -9.99970821e-01 -1.81411900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.866559995 meters 0.013841705745300888 Centerline is valid? [True, True] Translation: X:-23.79, Y:-263.16, Z:-1.81 [[-1.45636769e-02 9.99893943e-01 -3.68190769e-05 -2.37934307e+01] [ 9.99859517e-01 1.45628699e-02 -8.29880064e-03 -2.63159026e+02] [-8.29738430e-03 -1.57674956e-04 -9.99965564e-01 -1.81396657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.896559995 meters 0.014047316671597069 Centerline is valid? [True, True] Translation: X:-23.79, Y:-263.16, Z:-1.81 [[-9.28106629e-02 9.95683577e-01 6.28408685e-04 -2.37857925e+01] [ 9.95647486e-01 9.28126502e-02 -8.47916193e-03 -2.63162220e+02] [-8.50088656e-03 -1.61283113e-04 -9.99963854e-01 -1.81344489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.9265599949999 meters 0.014138379762297228 Centerline is valid? [True, True] Translation: X:-23.78, Y:-263.16, Z:-1.81 [[-1.70880137e-01 9.85290854e-01 1.38239959e-03 -2.37779074e+01] [ 9.85249746e-01 1.70885638e-01 -9.00202034e-03 -2.63164061e+02] [-9.10584054e-03 -1.76257619e-04 -9.99958526e-01 -1.81328969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.9565599949999 meters 0.014805644122728208 Centerline is valid? [True, True] Translation: X:-23.77, Y:-263.17, Z:-1.81 [[-2.47844454e-01 9.68797499e-01 2.12886045e-03 -2.37693970e+01] [ 9.68755145e-01 2.47853529e-01 -9.06074443e-03 -2.63165712e+02] [-9.30567212e-03 -1.83310742e-04 -9.99956685e-01 -1.81277396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.986559995 meters 0.014197022388360184 Centerline is valid? [True, True] Translation: X:-23.76, Y:-263.17, Z:-1.81 [[-3.23876340e-01 9.46095330e-01 2.78261424e-03 -2.37601453e+01] [ 9.46055247e-01 3.23888239e-01 -8.71082937e-03 -2.63165522e+02] [-9.14253101e-03 -1.88724739e-04 -9.99958188e-01 -1.81347953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.016559995 meters 0.014883545309370234 Centerline is valid? [True, True] Translation: X:-23.75, Y:-263.17, Z:-1.81 [[-3.97584214e-01 9.17559072e-01 3.48451901e-03 -2.37505792e+01] [ 9.17519389e-01 3.97599434e-01 -8.53585921e-03 -2.63165143e+02] [-9.21759784e-03 -1.96609117e-04 -9.99957498e-01 -1.81333484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.0465599949999 meters 0.014952477990339509 Centerline is valid? [True, True] Translation: X:-23.74, Y:-263.16, Z:-1.81 [[-4.69394433e-01 8.82977457e-01 4.43579172e-03 -2.37409557e+01] [ 8.82933425e-01 4.69415339e-01 -8.82086850e-03 -2.63163168e+02] [-9.87085671e-03 -2.23957801e-04 -9.99951257e-01 -1.81366820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.0765599949999 meters 0.01480042660319832 Centerline is valid? [True, True] Translation: X:-23.73, Y:-263.16, Z:-1.81 [[-5.37363776e-01 8.43333414e-01 5.37828097e-03 -2.37329402e+01] [ 8.43286653e-01 5.37390637e-01 -8.88391636e-03 -2.63160604e+02] [-1.03823413e-02 -2.38462277e-04 -9.99946074e-01 -1.81393039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.106559995 meters 0.01564613268632764 Centerline is valid? [True, True] Translation: X:-23.72, Y:-263.16, Z:-1.81 [[-6.02142096e-01 7.98364442e-01 6.25408304e-03 -2.37239861e+01] [ 7.98316984e-01 6.02174522e-01 -8.70858424e-03 -2.63157533e+02] [-1.07186735e-02 -2.51064459e-04 -9.99942522e-01 -1.81348148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.136559995 meters 0.01488794082971861 Centerline is valid? [True, True] Translation: X:-23.72, Y:-263.15, Z:-1.81 [[-6.62538506e-01 7.48996548e-01 6.84824858e-03 -2.37169560e+01] [ 7.48952671e-01 6.62573853e-01 -8.11089367e-03 -2.63153718e+02] [-1.06125018e-02 -2.44765319e-04 -9.99943656e-01 -1.81446231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.166559995 meters 0.014996292171613081 Centerline is valid? [True, True] Translation: X:-23.71, Y:-263.15, Z:-1.81 [[-7.18799546e-01 6.95177538e-01 7.44341097e-03 -2.37093547e+01] [ 6.95136794e-01 7.18838045e-01 -7.53018580e-03 -2.63149692e+02] [-1.05854230e-02 -2.38505295e-04 -9.99943944e-01 -1.81453426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.1965599949999 meters 0.01405970944958599 Centerline is valid? [True, True] Translation: X:-23.70, Y:-263.14, Z:-1.82 [[-7.69878563e-01 6.38143906e-01 7.70410625e-03 -2.37032963e+01] [ 6.38109190e-01 7.69917080e-01 -6.65965186e-03 -2.63144444e+02] [-1.01813392e-02 -2.11062205e-04 -9.99948147e-01 -1.81547594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.226559995 meters 0.014171775122888359 Centerline is valid? [True, True] Translation: X:-23.68, Y:-263.12, Z:-1.82 [[-8.12493174e-01 5.82916584e-01 7.94343594e-03 -2.36841896e+01] [ 5.82886364e-01 8.12531980e-01 -5.93869202e-03 -2.63123722e+02] [-9.91605780e-03 -1.95026242e-04 -9.99950816e-01 -1.81542607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.256559995 meters 0.01383579145106619 Centerline is valid? [True, True] Translation: X:-23.67, Y:-263.10, Z:-1.82 [[-8.51143356e-01 5.24871306e-01 8.06846318e-03 -2.36657800e+01] [ 5.24845736e-01 8.51181579e-01 -5.18387120e-03 -2.63103193e+02] [-9.58859248e-03 -1.77519035e-04 -9.99954013e-01 -1.81582828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.286559995 meters 0.013332620369383232 Centerline is valid? [True, True] Translation: X:-23.66, Y:-263.08, Z:-1.82 [[-8.85470748e-01 4.64625364e-01 8.05142033e-03 -2.36563222e+01] [ 4.64604548e-01 8.85507339e-01 -4.40076932e-03 -2.63077831e+02] [-9.17430084e-03 -1.56026000e-04 -9.99957903e-01 -1.81644843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.3165599949999 meters 0.012974715294249872 Centerline is valid? [True, True] Translation: X:-23.65, Y:-263.05, Z:-1.82 [[-9.14892175e-01 4.03613628e-01 8.26721828e-03 -2.36512497e+01] [ 4.03595901e-01 9.14929518e-01 -3.78487119e-03 -2.63050352e+02] [-9.09154763e-03 -1.26133622e-04 -9.99958663e-01 -1.81650852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.346559995 meters 0.012662699393815053 Centerline is valid? [True, True] Translation: X:-23.34, Y:-262.43, Z:-2.78 [[-8.73091231e-01 -4.87485204e-01 8.35935272e-03 -2.33408281e+01] [ 4.87464559e-01 -8.73131234e-01 -4.48904859e-03 -2.62427554e+02] [ 9.48715673e-03 1.55539235e-04 9.99954984e-01 -2.77573972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.376559995 meters 0.012249225530696347 Centerline is valid? [True, True] Translation: X:-23.67, Y:-263.04, Z:-1.82 [[-9.14928193e-01 4.03519819e-01 8.84069694e-03 -2.36742155e+01] [ 4.03499920e-01 9.14970899e-01 -4.00852406e-03 -2.63042801e+02] [-9.70649933e-03 -1.00291165e-04 -9.99952886e-01 -1.81654004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.406559995 meters 0.011664571768357938 Centerline is valid? [True, True] Translation: X:-23.66, Y:-263.02, Z:-1.82 [[-9.39597631e-01 3.42153855e-01 9.32908222e-03 -2.36614495e+01] [ 3.42136409e-01 9.39643941e-01 -3.45565401e-03 -2.63020359e+02] [-9.94838093e-03 -5.51056356e-05 -9.99950512e-01 -1.81682010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.4365599949999 meters 0.011523337587210697 Centerline is valid? [True, True] Translation: X:-23.65, Y:-263.00, Z:-1.82 [[-9.60870924e-01 2.76822919e-01 9.80509330e-03 -2.36538725e+01] [ 2.76808145e-01 9.60920949e-01 -2.86014742e-03 -2.62995111e+02] [-1.02136739e-02 -3.41028090e-05 -9.99947839e-01 -1.81720638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.466559995 meters 0.01150950324949818 Centerline is valid? [True, True] Translation: X:-23.64, Y:-262.97, Z:-1.82 [[-9.77128810e-01 2.12415649e-01 9.94391639e-03 -2.36442789e+01] [ 2.12404781e-01 9.77179406e-01 -2.14880641e-03 -2.62971919e+02] [-1.01734304e-02 1.24747298e-05 -9.99948249e-01 -1.81809946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.496559995 meters 0.011632718101798906 Centerline is valid? [True, True] Translation: X:-23.64, Y:-262.95, Z:-1.82 [[-9.89442111e-01 1.44563297e-01 1.02841015e-02 -2.36381713e+01] [ 1.44555847e-01 9.89495554e-01 -1.46796715e-03 -2.62945747e+02] [-1.03882869e-02 3.41584855e-05 -9.99946040e-01 -1.81813617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.526559995 meters 0.011632718101798906 Centerline is valid? [True, True] Translation: X:-23.53, Y:-262.24, Z:-2.77 [[-9.78807759e-01 -2.04528155e-01 1.01786446e-02 -2.35332130e+01] [ 2.04516745e-01 -9.78860681e-01 -2.16060525e-03 -2.62240366e+02] [ 1.04053796e-02 -3.31139295e-05 9.99945862e-01 -2.77413926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.5565599949999 meters 0.011726975957675705 Centerline is valid? [True, True] Translation: X:-23.70, Y:-262.94, Z:-1.82 [[-9.89797442e-01 1.42096792e-01 1.04654335e-02 -2.36977894e+01] [ 1.42089419e-01 9.89852766e-01 -1.44848533e-03 -2.62938508e+02] [-1.05650634e-02 5.33202807e-05 -9.99944187e-01 -1.81866085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.5865599949999 meters 0.011946406994289619 Centerline is valid? [True, True] Translation: X:-23.69, Y:-262.91, Z:-1.82 [[-9.97286468e-01 7.28014181e-02 1.09387072e-02 -2.36918556e+01] [ 7.27978159e-02 9.97346454e-01 -7.27648514e-04 -2.62911777e+02] [-1.09626547e-02 7.06399755e-05 -9.99939906e-01 -1.81851412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.616559995 meters 0.012182320997816796 Centerline is valid? [True, True] Translation: X:-23.64, Y:-262.20, Z:-2.77 [[-9.91972688e-01 -1.25965627e-01 1.10836257e-02 -2.36395976e+01] [ 1.25957110e-01 -9.92034605e-01 -1.46592179e-03 -2.62197249e+02] [ 1.11799960e-02 -5.80929183e-05 9.99937500e-01 -2.77402385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.646559995 meters 0.01227604496194255 Centerline is valid? [True, True] Translation: X:-23.76, Y:-262.91, Z:-1.82 [[-9.97525213e-01 6.93694540e-02 1.14598619e-02 -2.37582574e+01] [ 6.93658847e-02 9.97591034e-01 -7.09120589e-04 -2.62907453e+02] [-1.14814468e-02 8.75577950e-05 -9.99934082e-01 -1.81849676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.6765599949999 meters 0.011918094112075504 Centerline is valid? [True, True] Translation: X:-23.71, Y:-262.20, Z:-2.77 [[-9.92270234e-01 -1.23573437e-01 1.13748638e-02 -2.37102996e+01] [ 1.23564302e-01 -9.92335426e-01 -1.50518474e-03 -2.62195063e+02] [ 1.14736812e-02 -8.80229098e-05 9.99934171e-01 -2.77306462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.7065599949999 meters 0.011760795509826196 Centerline is valid? [True, True] Translation: X:-23.83, Y:-262.90, Z:-1.82 [[-9.98078844e-01 6.08599133e-02 1.16056888e-02 -2.38252077e+01] [ 6.08563042e-02 9.98146317e-01 -6.64201363e-04 -2.62900434e+02] [-1.16245988e-02 4.33539983e-05 -9.99932431e-01 -1.81965402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.736559995 meters 0.011711723902779383 Centerline is valid? [True, True] Translation: X:-23.83, Y:-262.87, Z:-1.82 [[-9.99854891e-01 -1.21135411e-02 1.19774567e-02 -2.38282416e+01] [-1.21124000e-02 9.99926628e-01 1.67805933e-04 -2.62871301e+02] [-1.19786106e-02 2.27058355e-05 -9.99928254e-01 -1.82012505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.766559995 meters 0.0117985970649761 Centerline is valid? [True, True] Translation: X:-23.84, Y:-262.17, Z:-2.77 [[-9.98368384e-01 -5.56335904e-02 1.28636751e-02 -2.38371009e+01] [ 5.56294747e-02 -9.98451252e-01 -6.77816508e-04 -2.62167183e+02] [ 1.28814619e-02 3.88889171e-05 9.99917030e-01 -2.77343574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.7965599949999 meters 0.01190120441194797 Centerline is valid? [True, True] Translation: X:-23.91, Y:-262.87, Z:-1.82 [[-9.99630899e-01 -2.37961390e-02 1.31076381e-02 -2.39148037e+01] [-2.37948465e-02 9.99716830e-01 2.54580724e-04 -2.62866615e+02] [-1.31099845e-02 -5.74074788e-05 -9.99914059e-01 -1.81873400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.8265599949999 meters 0.012322442703596214 Centerline is valid? [True, True] Translation: X:-23.92, Y:-262.84, Z:-1.82 [[-9.95167465e-01 -9.72480152e-02 1.35845637e-02 -2.39229718e+01] [-9.72402246e-02 9.95260175e-01 1.23439770e-03 -2.62836962e+02] [-1.36402180e-02 -9.25335906e-05 -9.99906964e-01 -1.81814948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.856559995 meters 0.012651709892067273 Centerline is valid? [True, True] Translation: X:-23.94, Y:-262.81, Z:-1.82 [[-9.84866758e-01 -1.72772864e-01 1.36750493e-02 -2.39366312e+01] [-1.72758478e-01 9.84961680e-01 2.23530965e-03 -2.62807205e+02] [-1.38556004e-02 -1.60998544e-04 -9.99903994e-01 -1.81868973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.886559995 meters 0.01305122933120207 Centerline is valid? [True, True] Translation: X:-24.05, Y:-262.13, Z:-2.77 [[-9.96655841e-01 8.04715708e-02 1.41936997e-02 -2.40548032e+01] [-8.04606492e-02 -9.96756886e-01 1.33976741e-03 -2.62133914e+02] [ 1.42554811e-02 1.93252727e-04 9.99898367e-01 -2.77373425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.916559995 meters 0.014006995123444171 Centerline is valid? [True, True] Translation: X:-24.05, Y:-262.82, Z:-1.82 [[-9.82658526e-01 -1.84911252e-01 1.37858936e-02 -2.40540096e+01] [-1.84896600e-01 9.82755192e-01 2.34097049e-03 -2.62820374e+02] [-1.39810303e-02 -2.48590251e-04 -9.99902230e-01 -1.81837191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.9465599949999 meters 0.014245670799454003 Centerline is valid? [True, True] Translation: X:-24.18, Y:-262.16, Z:-2.77 [[-9.96616153e-01 8.10941834e-02 1.34155322e-02 -2.41769089e+01] [-8.10840670e-02 -9.96706422e-01 1.29718726e-03 -2.62155924e+02] [ 1.34765414e-02 2.05011862e-04 9.99909166e-01 -2.77316336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.976559995 meters 0.014679716543624875 Centerline is valid? [True, True] Translation: X:-24.16, Y:-262.84, Z:-1.82 [[-9.80721172e-01 -1.95008614e-01 1.25548439e-02 -2.41604713e+01] [-1.94996158e-01 9.80801492e-01 2.22059092e-03 -2.62835191e+02] [-1.27468440e-02 -2.70365793e-04 -9.99918719e-01 -1.81933702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.006559995 meters 0.015462329588457783 Centerline is valid? [True, True] Translation: X:-24.19, Y:-262.81, Z:-1.82 [[-9.63532637e-01 -2.67353189e-01 1.12752147e-02 -2.41860835e+01] [-2.67338254e-01 9.63598565e-01 2.83949774e-03 -2.62810379e+02] [-1.16239295e-02 -2.78347477e-04 -9.99932401e-01 -1.82013770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.036559995 meters 0.016035478014484756 Centerline is valid? [True, True] Translation: X:-24.22, Y:-262.79, Z:-1.82 [[-9.41171811e-01 -3.37750647e-01 1.09600475e-02 -2.42212952e+01] [-3.37731360e-01 9.41235579e-01 3.62134852e-03 -2.62790946e+02] [-1.15390995e-02 -2.93240601e-04 -9.99933379e-01 -1.82025274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.0665599949999 meters 0.01705165101090767 Centerline is valid? [True, True] Translation: X:-24.28, Y:-262.78, Z:-1.82 [[-9.13083523e-01 -4.07631402e-01 1.07294379e-02 -2.42756911e+01] [-4.07607353e-01 9.13146504e-01 4.43936836e-03 -2.62780156e+02] [-1.16071747e-02 -3.19883685e-04 -9.99932583e-01 -1.81986941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.096559995 meters 0.01768448097614754 Centerline is valid? [True, True] Translation: X:-24.34, Y:-262.78, Z:-1.82 [[-8.80179865e-01 -4.74511344e-01 1.10629824e-02 -2.43447780e+01] [-4.74478849e-01 8.80249317e-01 5.56431338e-03 -2.62780834e+02] [-1.23785125e-02 -3.51554547e-04 -9.99923322e-01 -1.81967264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.126559995 meters 0.017224378702533325 Centerline is valid? [True, True] Translation: X:-24.41, Y:-262.79, Z:-1.82 [[-8.42105821e-01 -5.39203303e-01 1.08436251e-02 -2.44127431e+01] [-5.39164184e-01 8.42175553e-01 6.50536347e-03 -2.62788164e+02] [-1.26399495e-02 -3.68289851e-04 -9.99920045e-01 -1.81988359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.156559995 meters 0.01797138002132198 Centerline is valid? [True, True] Translation: X:-24.50, Y:-262.81, Z:-1.82 [[-7.99144343e-01 -6.01042169e-01 1.07995424e-02 -2.44959357e+01] [-6.00993896e-01 7.99217214e-01 7.62770165e-03 -2.62808493e+02] [-1.32157505e-02 -3.94824435e-04 -9.99912590e-01 -1.81945200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.1865599949999 meters 0.0182778579002829 Centerline is valid? [True, True] Translation: X:-24.57, Y:-262.83, Z:-1.82 [[-7.51275642e-01 -6.59896532e-01 1.10216840e-02 -2.45744660e+01] [-6.59833938e-01 7.51356358e-01 9.09930734e-03 -2.62833445e+02] [-1.42858137e-02 -4.36393181e-04 -9.99897857e-01 -1.81856128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.216559995 meters 0.018573736855532257 Centerline is valid? [True, True] Translation: X:-24.66, Y:-262.87, Z:-1.82 [[-6.99341948e-01 -7.14709927e-01 1.05147607e-02 -2.46609146e+01] [-7.14638651e-01 6.99420846e-01 1.01034601e-02 -2.62873589e+02] [-1.45752860e-02 -4.48480891e-04 -9.99893674e-01 -1.81796953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.246559995 meters 0.0190541074091003 Centerline is valid? [True, True] Translation: X:-24.74, Y:-262.92, Z:-1.82 [[-6.43630608e-01 -7.65261113e-01 1.07270833e-02 -2.47438100e+01] [-7.65167242e-01 6.43719809e-01 1.19957873e-02 -2.62920390e+02] [-1.60851455e-02 -4.87156877e-04 -9.99870507e-01 -1.81665441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.276559995 meters 0.018814127495494132 Centerline is valid? [True, True] Translation: X:-24.83, Y:-262.98, Z:-1.82 [[-5.84257578e-01 -8.11509807e-01 9.74243415e-03 -2.48258810e+01] [-8.11410260e-01 5.84338608e-01 1.27193246e-02 -2.62978392e+02] [-1.60147370e-02 -4.73749252e-04 -9.99871644e-01 -1.81635293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.3065599949999 meters 0.01893299925662984 Centerline is valid? [True, True] Translation: X:-24.91, Y:-263.04, Z:-1.82 [[-5.21282857e-01 -8.53336242e-01 9.02450390e-03 -2.49051573e+01] [-8.53223946e-01 5.21360747e-01 1.38516793e-02 -2.63044930e+02] [-1.65251620e-02 -4.79279876e-04 -9.99863335e-01 -1.81652282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.3365599949999 meters 0.017295802208906606 Centerline is valid? [True, True] Translation: X:-24.98, Y:-263.12, Z:-1.82 [[-4.55550373e-01 -8.90175146e-01 7.87830398e-03 -2.49783406e+01] [-8.90059021e-01 4.55618261e-01 1.43853993e-02 -2.63121056e+02] [-1.63950241e-02 -4.58881487e-04 -9.99865487e-01 -1.81816016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.366559995 meters 0.01695176312726881 Centerline is valid? [True, True] Translation: X:-25.05, Y:-263.21, Z:-1.82 [[-3.87713552e-01 -9.21757658e-01 6.40480414e-03 -2.50496794e+01] [-9.21648812e-01 3.87766234e-01 1.41708967e-02 -2.63208723e+02] [-1.55456994e-02 -4.08731427e-04 -9.99879075e-01 -1.81915693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.396559995 meters 0.016467890646654368 Centerline is valid? [True, True] Translation: X:-25.11, Y:-263.30, Z:-1.82 [[-3.16809883e-01 -9.48474274e-01 5.29609764e-03 -2.51148072e+01] [-9.48361829e-01 3.16853902e-01 1.46097676e-02 -2.63300412e+02] [-1.55350779e-02 -3.94098083e-04 -9.99879246e-01 -1.81982271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.4265599949999 meters 0.015373669757938293 Centerline is valid? [True, True] Translation: X:-25.17, Y:-263.40, Z:-1.82 [[-2.44259582e-01 -9.69701604e-01 4.00703829e-03 -2.51718705e+01] [-9.69594319e-01 2.44292181e-01 1.44286761e-02 -2.63397587e+02] [-1.49703985e-02 -3.60859181e-04 -9.99887872e-01 -1.82105156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.4565599949999 meters 0.015103003472064428 Centerline is valid? [True, True] Translation: X:-25.22, Y:-263.50, Z:-1.82 [[-1.71172164e-01 -9.85237040e-01 2.84002422e-03 -2.52221953e+01] [-9.85130957e-01 1.71195419e-01 1.44612245e-02 -2.63502159e+02] [-1.47339332e-02 -3.22436688e-04 -9.99891398e-01 -1.82150032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.486559995 meters 0.014958211124266435 Centerline is valid? [True, True] Translation: X:-25.27, Y:-263.62, Z:-1.82 [[-9.59994616e-02 -9.95380049e-01 1.63128352e-03 -2.52673158e+01] [-9.95283268e-01 9.60128801e-02 1.38832265e-02 -2.63620044e+02] [-1.39757109e-02 -2.90806921e-04 -9.99902293e-01 -1.82160104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.516559995 meters 0.014613759704181141 Centerline is valid? [True, True] Translation: X:-25.30, Y:-263.73, Z:-1.82 [[-1.99700912e-02 -9.99800431e-01 5.42049554e-04 -2.53015937e+01] [-9.99708179e-01 1.99756133e-02 1.35842192e-02 -2.63726315e+02] [-1.35923360e-02 -2.70613276e-04 -9.99907583e-01 -1.82225641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.5465599949999 meters 0.014662152338163526 Centerline is valid? [True, True] Translation: X:-25.33, Y:-263.84, Z:-1.82 [[ 5.56867633e-02 -9.98448174e-01 -4.78089507e-04 -2.53276023e+01] [-9.98365883e-01 -5.56883128e-02 1.28209127e-02 -2.63844252e+02] [-1.28276409e-02 -2.36646880e-04 -9.99917695e-01 -1.82253653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.5765599949999 meters 0.014110985309378248 Centerline is valid? [True, True] Translation: X:-25.35, Y:-263.96, Z:-1.82 [[ 1.31189961e-01 -9.91356174e-01 -1.45949999e-03 -2.53453067e+01] [-9.91274900e-01 -1.31197896e-01 1.26958576e-02 -2.63957549e+02] [-1.27776001e-02 -2.18803347e-04 -9.99918339e-01 -1.82281551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.606559995 meters 0.013867211299097142 Centerline is valid? [True, True] Translation: X:-25.35, Y:-264.08, Z:-1.82 [[ 2.06092858e-01 -9.78529362e-01 -2.45382929e-03 -2.53535720e+01] [-9.78447585e-01 -2.06107362e-01 1.26522101e-02 -2.64080490e+02] [-1.28863114e-02 -2.06586798e-04 -9.99916947e-01 -1.82255065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.636559995 meters 0.013247525194748765 Centerline is valid? [True, True] Translation: X:-25.35, Y:-264.20, Z:-1.82 [[ 2.78654199e-01 -9.60384594e-01 -3.64257948e-03 -2.53522261e+01] [-9.60293482e-01 -2.78677942e-01 1.32300349e-02 -2.64196505e+02] [-1.37210282e-02 -1.88659449e-04 -9.99905845e-01 -1.82169957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.666559995 meters 0.01302457468741658 Centerline is valid? [True, True] Translation: X:-25.34, Y:-264.32, Z:-1.82 [[ 3.50687462e-01 -9.36479894e-01 -4.86939579e-03 -2.53424540e+01] [-9.36382346e-01 -3.50721221e-01 1.35176597e-02 -2.64315543e+02] [-1.43668170e-02 -1.80857528e-04 -9.99896776e-01 -1.82142117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.6965599949999 meters 0.012681546526099898 Centerline is valid? [True, True] Translation: X:-25.32, Y:-264.43, Z:-1.82 [[ 4.19288812e-01 -9.07834276e-01 -5.81549736e-03 -2.53231721e+01] [-9.07742293e-01 -4.19329117e-01 1.29236648e-02 -2.64431844e+02] [-1.41711533e-02 -1.39775160e-04 -9.99899574e-01 -1.82122635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.726559995 meters 0.012282655604998414 Centerline is valid? [True, True] Translation: X:-25.29, Y:-264.55, Z:-1.82 [[ 4.86514401e-01 -8.73646445e-01 -6.75472205e-03 -2.52933335e+01] [-8.73558883e-01 -4.86561276e-01 1.23694109e-02 -2.64550631e+02] [-1.40930780e-02 -1.17249088e-04 -9.99900681e-01 -1.82250767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.756559995 meters 0.01218054936950101 Centerline is valid? [True, True] Translation: X:-25.26, Y:-264.65, Z:-1.82 [[ 5.50783802e-01 -8.34616156e-01 -7.28531610e-03 -2.52638245e+01] [-8.34541002e-01 -5.50831975e-01 1.12005210e-02 -2.64652829e+02] [-1.33611209e-02 -8.91705609e-05 -9.99910732e-01 -1.82250089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.786559995 meters 0.011986591367527255 Centerline is valid? [True, True] Translation: X:-25.22, Y:-264.76, Z:-1.82 [[ 6.10634727e-01 -7.91877244e-01 -7.46064970e-03 -2.52219234e+01] [-7.91817281e-01 -6.10680300e-01 9.74499503e-03 -2.64758822e+02] [-1.22729116e-02 -4.31610244e-05 -9.99924684e-01 -1.82270505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.8165599949999 meters 0.011798180999387778 Centerline is valid? [True, True] Translation: X:-25.18, Y:-264.86, Z:-1.82 [[ 6.68320965e-01 -7.43832542e-01 -7.76125985e-03 -2.51753230e+01] [-7.43781981e-01 -6.68366029e-01 8.67275561e-03 -2.64857258e+02] [-1.16384403e-02 -2.34991747e-05 -9.99932271e-01 -1.82379979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.846559995 meters 0.011723051034980591 Centerline is valid? [True, True] Translation: X:-25.12, Y:-264.95, Z:-1.82 [[ 7.21280548e-01 -6.92596139e-01 -8.05971836e-03 -2.51221102e+01] [-6.92553024e-01 -7.21325577e-01 7.72795897e-03 -2.64950796e+02] [-1.11660355e-02 7.75584292e-06 -9.99937658e-01 -1.82424010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.876559995 meters 0.011767432326770742 Centerline is valid? [True, True] Translation: X:-25.13, Y:-264.96, Z:-1.82 [[ 7.72713362e-01 -6.34696440e-01 -8.63066396e-03 -2.51258364e+01] [-6.34657092e-01 -7.72761560e-01 7.06738155e-03 -2.64957219e+02] [-1.11550873e-02 1.64519332e-05 -9.99937780e-01 -1.82407366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.906559995 meters 0.011749236451295235 Centerline is valid? [True, True] Translation: X:-25.13, Y:-264.96, Z:-1.82 [[ 8.19475931e-01 -5.73038662e-01 -9.26768084e-03 -2.51298505e+01] [-5.73002379e-01 -8.19528335e-01 6.44845653e-03 -2.64964705e+02] [-1.12903419e-02 2.60482508e-05 -9.99936262e-01 -1.82416219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.9365599949999 meters 0.01184897777745196 Centerline is valid? [True, True] Translation: X:-25.13, Y:-264.97, Z:-1.82 [[ 8.61493620e-01 -5.07667700e-01 -1.01118191e-02 -2.51327198e+01] [-5.07633180e-01 -8.61552962e-01 5.92020672e-03 -2.64971543e+02] [-1.17173654e-02 3.28745561e-05 -9.99931349e-01 -1.82339856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.966559995 meters 0.011751374879062674 Centerline is valid? [True, True] Translation: X:-25.14, Y:-264.98, Z:-1.82 [[ 8.98503821e-01 -4.38823627e-01 -1.11673125e-02 -2.51359209e+01] [-4.38790225e-01 -8.98573215e-01 5.41434746e-03 -2.64981751e+02] [-1.24105915e-02 3.52956607e-05 -9.99922985e-01 -1.82404526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.996559995 meters 0.011773784652703045 Centerline is valid? [True, True] Translation: X:-25.14, Y:-264.99, Z:-1.82 [[ 9.30333981e-01 -3.66528497e-01 -1.16423192e-02 -2.51387758e+01] [-3.66500146e-01 -9.30406825e-01 4.55885587e-03 -2.64990612e+02] [-1.25030438e-02 2.56531360e-05 -9.99921834e-01 -1.82319370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.026559995 meters 0.011654034913374314 Centerline is valid? [True, True] Translation: X:-25.14, Y:-265.00, Z:-1.82 [[ 9.56924708e-01 -2.90066863e-01 -1.25026944e-02 -2.51405289e+01] [-2.90041985e-01 -9.57006382e-01 3.79896975e-03 -2.65001888e+02] [-1.30671135e-02 -9.02172516e-06 -9.99914622e-01 -1.82322564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.0565599949999 meters 0.011712871085019208 Centerline is valid? [True, True] Translation: X:-25.14, Y:-265.01, Z:-1.82 [[ 9.77038084e-01 -2.12690563e-01 -1.26216675e-02 -2.51403141e+01] [-2.12672408e-01 -9.77119606e-01 2.77913473e-03 -2.65010934e+02] [-1.29239745e-02 -3.10400625e-05 -9.99916482e-01 -1.82271867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.0865599949999 meters 0.011625106659415234 Centerline is valid? [True, True] Translation: X:-25.14, Y:-265.02, Z:-1.82 [[ 9.90916577e-01 -1.33867861e-01 -1.27958659e-02 -2.51423274e+01] [-1.33856014e-01 -9.90999189e-01 1.78172208e-03 -2.65020262e+02] [-1.29192081e-02 -5.27343460e-05 -9.99916542e-01 -1.82284097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.116559995 meters 0.01200044973026845 Centerline is valid? [True, True] Translation: X:-25.15, Y:-265.03, Z:-1.82 [[ 9.98569112e-01 -5.20966176e-02 -1.20694204e-02 -2.51456360e+01] [-5.20916641e-02 -9.98642045e-01 7.24635260e-04 -2.65031577e+02] [-1.20907817e-02 -9.48821969e-05 -9.99926899e-01 -1.82263133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.146559995 meters 0.011951467687123145 Centerline is valid? [True, True] Translation: X:-25.15, Y:-265.04, Z:-1.82 [[ 9.99539436e-01 2.79835224e-02 -1.17405004e-02 -2.51463804e+01] [ 2.79829154e-02 -9.99608378e-01 -2.16002496e-04 -2.65041653e+02] [-1.17419471e-02 -1.12630417e-04 -9.99931055e-01 -1.82358118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.1765599949999 meters 0.01253229469553709 Centerline is valid? [True, True] Translation: X:-25.15, Y:-265.05, Z:-1.82 [[ 9.93999702e-01 1.08951395e-01 -9.70494283e-03 -2.51471352e+01] [ 1.08947391e-01 -9.94047071e-01 -9.41784404e-04 -2.65052906e+02] [-9.74977872e-03 -1.21194789e-04 -9.99952463e-01 -1.82435852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.2065599949999 meters 0.012511694402153157 Centerline is valid? [True, True] Translation: X:-25.15, Y:-265.06, Z:-1.83 [[ 9.82233830e-01 1.87443195e-01 -9.04167058e-03 -2.51461262e+01] [ 1.87436412e-01 -9.82275437e-01 -1.59942147e-03 -2.65061656e+02] [-9.18121159e-03 -1.23732413e-04 -9.99957844e-01 -1.82601003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.236559995 meters 0.012746968425030775 Centerline is valid? [True, True] Translation: X:-25.15, Y:-265.07, Z:-1.83 [[ 9.64449521e-01 2.64127963e-01 -8.57556031e-03 -2.51458835e+01] [ 2.64118654e-01 -9.64487638e-01 -2.22092823e-03 -2.65070529e+02] [-8.85763116e-03 -1.22992278e-04 -9.99960763e-01 -1.82624178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.266559995 meters 0.012750849532962533 Centerline is valid? [True, True] Translation: X:-25.14, Y:-265.08, Z:-1.82 [[ 9.40664105e-01 3.39156521e-01 -1.11308313e-02 -2.51434117e+01] [ 3.39134883e-01 -9.40729943e-01 -3.83472869e-03 -2.65077728e+02] [-1.17716795e-02 -1.67661521e-04 -9.99930697e-01 -1.82426950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.2965599949999 meters 0.012543485661802889 Centerline is valid? [True, True] Translation: X:-25.14, Y:-265.09, Z:-1.82 [[ 9.11163074e-01 4.11880235e-01 -1.16843356e-02 -2.51399113e+01] [ 4.11848938e-01 -9.11237970e-01 -5.08073093e-03 -2.65085840e+02] [-1.27398629e-02 -1.82806808e-04 -9.99918828e-01 -1.82323064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.3265599949999 meters 0.012548978378933769 Centerline is valid? [True, True] Translation: X:-25.14, Y:-265.09, Z:-1.82 [[ 8.76030468e-01 4.82109214e-01 -1.18880115e-02 -2.51361111e+01] [ 4.82067846e-01 -8.76111105e-01 -6.31854891e-03 -2.65094616e+02] [-1.34614496e-02 -1.95586753e-04 -9.99909372e-01 -1.82306082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.356559995 meters 0.012397468919394517 Centerline is valid? [True, True] Translation: X:-25.13, Y:-265.10, Z:-1.82 [[ 8.36312314e-01 5.48126563e-01 -1.17891764e-02 -2.51330416e+01] [ 5.48075223e-01 -8.36395383e-01 -7.50418689e-03 -2.65102424e+02] [-1.39736568e-02 -1.85511570e-04 -9.99902347e-01 -1.82312093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.386559995 meters 0.012155875054817434 Centerline is valid? [True, True] Translation: X:-25.13, Y:-265.11, Z:-1.82 [[ 7.91382831e-01 6.11217144e-01 -1.12613340e-02 -2.51286725e+01] [ 6.11158391e-01 -7.91462932e-01 -8.47632328e-03 -2.65109254e+02] [-1.40938025e-02 -1.74442055e-04 -9.99900662e-01 -1.82310679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.416559995 meters 0.011655735793594213 Centerline is valid? [True, True] Translation: X:-25.12, Y:-265.11, Z:-1.82 [[ 7.43331478e-01 6.68835351e-01 -1.08437085e-02 -2.51237013e+01] [ 6.68766753e-01 -7.43410557e-01 -9.57993563e-03 -2.65114991e+02] [-1.44687270e-02 -1.30844034e-04 -9.99895314e-01 -1.82244405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.4465599949999 meters 0.011655735793594213 Centerline is valid? [True, True] Translation: X:-25.12, Y:-265.12, Z:-1.82 [[ 6.88676520e-01 7.24998927e-01 -1.00602114e-02 -2.51193188e+01] [ 7.24924345e-01 -6.88749983e-01 -1.03997237e-02 -2.65120724e+02] [-1.44687589e-02 -1.30846695e-04 -9.99895314e-01 -1.82244377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.476559995 meters 0.011366697671770384 Centerline is valid? [True, True] Translation: X:-25.11, Y:-265.13, Z:-1.82 [[ 6.31434843e-01 7.75370433e-01 -9.52524264e-03 -2.51142855e+01] [ 7.75284703e-01 -6.31506675e-01 -1.15303422e-02 -2.65126440e+02] [-1.49555407e-02 -1.04115072e-04 -9.99888154e-01 -1.82247304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.506559995 meters 0.011239096200744047 Centerline is valid? [True, True] Translation: X:-25.11, Y:-265.13, Z:-1.82 [[ 5.70336636e-01 8.21366329e-01 -8.57175875e-03 -2.51096752e+01] [ 8.21275571e-01 -5.70401041e-01 -1.22102333e-02 -2.65131488e+02] [-1.49184146e-02 -7.58326546e-05 -9.99888711e-01 -1.82195179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.536559995 meters 0.011090496986945891 Centerline is valid? [True, True] Translation: X:-25.11, Y:-265.13, Z:-1.82 [[ 5.08166591e-01 8.61227048e-01 -7.39513887e-03 -2.51063368e+01] [ 8.61136116e-01 -5.08220397e-01 -1.25147097e-02 -2.65134150e+02] [-1.45363669e-02 -8.66380021e-06 -9.99894341e-01 -1.82278721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.5665599949999 meters 0.011003860136999855 Centerline is valid? [True, True] Translation: X:-25.10, Y:-265.14, Z:-1.82 [[ 4.40909973e-01 8.97531578e-01 -5.95506508e-03 -2.51000296e+01] [ 8.97449154e-01 -4.40950186e-01 -1.21634021e-02 -2.65138386e+02] [-1.35429245e-02 1.85971546e-05 -9.99908290e-01 -1.82456382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.596559995 meters 0.011207162245407486 Centerline is valid? [True, True] Translation: X:-25.10, Y:-265.14, Z:-1.83 [[ 3.72762398e-01 9.27916155e-01 -4.45019294e-03 -2.50953910e+01] [ 9.27848032e-01 -3.72788956e-01 -1.12438386e-02 -2.65142817e+02] [-1.20923223e-02 6.21774814e-05 -9.99926883e-01 -1.82620142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.626559995 meters 0.01142703415560604 Centerline is valid? [True, True] Translation: X:-25.09, Y:-265.15, Z:-1.83 [[ 3.00635680e-01 9.53733116e-01 -3.36623800e-03 -2.50890566e+01] [ 9.53670374e-01 -3.00654515e-01 -1.09398895e-02 -2.65146592e+02] [-1.14458096e-02 7.86396651e-05 -9.99934492e-01 -1.82713132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.656559995 meters 0.011606614173917366 Centerline is valid? [True, True] Translation: X:-25.08, Y:-265.15, Z:-1.83 [[ 2.26266612e-01 9.74062741e-01 -2.27965631e-03 -2.50825206e+01] [ 9.74009468e-01 -2.26278080e-01 -1.01876027e-02 -2.65149642e+02] [-1.04392005e-02 8.47075264e-05 -9.99945507e-01 -1.82759192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.6865599949999 meters 0.01176658415528284 Centerline is valid? [True, True] Translation: X:-25.08, Y:-265.15, Z:-1.83 [[ 1.49995668e-01 9.88685625e-01 -1.42663621e-03 -2.50754313e+01] [ 9.88635087e-01 -1.50002426e-01 -9.99688795e-03 -2.65153214e+02] [-1.00977783e-02 8.90672726e-05 -9.99949012e-01 -1.82791613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.7165599949999 meters 0.011852494760058209 Centerline is valid? [True, True] Translation: X:-25.07, Y:-265.16, Z:-1.83 [[ 7.14340239e-02 9.97445125e-01 -6.35200265e-04 -2.50675566e+01] [ 9.97394785e-01 -7.14368006e-02 -1.00212681e-02 -2.65157063e+02] [-1.00410417e-02 8.23140749e-05 -9.99949584e-01 -1.82761223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.746559995 meters 0.011656232307952654 Centerline is valid? [True, True] Translation: X:-25.06, Y:-265.16, Z:-1.83 [[-7.75292608e-03 9.99969935e-01 1.47781117e-04 -2.50569018e+01] [ 9.99922099e-01 7.75400072e-03 -9.78120351e-03 -2.65158874e+02] [-9.78205533e-03 7.19366565e-05 -9.99952152e-01 -1.82782775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.776559995 meters 0.011562108952695379 Centerline is valid? [True, True] Translation: X:-25.05, Y:-265.16, Z:-1.83 [[-8.75347203e-02 9.96161005e-01 9.61471805e-04 -2.50459232e+01] [ 9.96108249e-01 8.75399798e-02 -1.02521989e-02 -2.65160119e+02] [-1.02970080e-02 6.03066290e-05 -9.99946983e-01 -1.82733525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.8065599949999 meters 0.011410564701240673 Centerline is valid? [True, True] Translation: X:-25.03, Y:-265.16, Z:-1.83 [[-1.69489284e-01 9.85530442e-01 1.76905377e-03 -2.50328996e+01] [ 9.85477794e-01 1.69498516e-01 -1.01868369e-02 -2.65160445e+02] [-1.03392899e-02 1.68035102e-05 -9.99946548e-01 -1.82523226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.8365599949999 meters 0.011470764656589444 Centerline is valid? [True, True] Translation: X:-25.03, Y:-265.16, Z:-1.82 [[-2.48671434e-01 9.68584529e-01 2.55486204e-03 -2.50250283e+01] [ 9.68532997e-01 2.48684558e-01 -9.99123093e-03 -2.65160800e+02] [-1.03127064e-02 -1.00655330e-05 -9.99946823e-01 -1.82435587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.866559995 meters 0.011870843817791582 Centerline is valid? [True, True] Translation: X:-25.01, Y:-265.16, Z:-1.83 [[-3.29658707e-01 9.44094064e-01 3.39625464e-03 -2.50120871e+01] [ 9.44041566e-01 3.29676193e-01 -9.95639997e-03 -2.65157476e+02] [-1.05194424e-02 -7.60083931e-05 -9.99944666e-01 -1.82528169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.896559995 meters 0.01263688247703069 Centerline is valid? [True, True] Translation: X:-25.00, Y:-265.15, Z:-1.83 [[-4.07956710e-01 9.12990638e-01 4.40652962e-03 -2.49988970e+01] [ 9.12933461e-01 4.07980482e-01 -1.02187211e-02 -2.65152516e+02] [-1.11273748e-02 -1.45927507e-04 -9.99938078e-01 -1.82564350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.9265599949999 meters 0.01396740552793525 Centerline is valid? [True, True] Translation: X:-24.99, Y:-265.15, Z:-1.83 [[-4.82962198e-01 8.75625565e-01 5.23307381e-03 -2.49860434e+01] [ 8.75569437e-01 4.82990504e-01 -9.91638999e-03 -2.65146985e+02] [-1.12105695e-02 -2.07322018e-04 -9.99937138e-01 -1.82535315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.9565599949999 meters 0.015601399418706042 Centerline is valid? [True, True] Translation: X:-24.97, Y:-265.14, Z:-1.83 [[-5.54852715e-01 8.31929075e-01 5.69903855e-03 -2.49727482e+01] [ 8.31880321e-01 5.54881922e-01 -9.01021245e-03 -2.65138661e+02] [-1.06581512e-02 -2.58422820e-04 -9.99943167e-01 -1.82503222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.986559995 meters 0.017322145860245424 Centerline is valid? [True, True] Translation: X:-24.96, Y:-265.13, Z:-1.82 [[-6.19985048e-01 7.84585308e-01 6.66599206e-03 -2.49634615e+01] [ 7.84534781e-01 6.20020813e-01 -8.90889838e-03 -2.65131569e+02] [-1.11228446e-02 -2.93681170e-04 -9.99938096e-01 -1.82343356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.016559995 meters 0.016814885993055854 Centerline is valid? [True, True] Translation: X:-24.96, Y:-265.13, Z:-1.82 [[-6.79795286e-01 7.33359486e-01 7.88882007e-03 -2.49600756e+01] [ 7.33304567e-01 6.79840983e-01 -8.98054530e-03 -2.65126177e+02] [-1.19491113e-02 -3.20024578e-04 -9.99928556e-01 -1.82307080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.0465599949999 meters 0.016814885993055854 Centerline is valid? [True, True] Translation: X:-24.96, Y:-265.12, Z:-1.82 [[-7.35159759e-01 6.77839741e-01 8.56821264e-03 -2.49562940e+01] [ 6.77788571e-01 7.35209619e-01 -8.33487416e-03 -2.65120967e+02] [-1.19491413e-02 -3.20027483e-04 -9.99928555e-01 -1.82307054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.0765599949999 meters 0.016814885993055854 Centerline is valid? [True, True] Translation: X:-24.94, Y:-265.10, Z:-1.82 [[-7.81268666e-01 6.24128030e-01 9.13637363e-03 -2.49386471e+01] [ 6.24080515e-01 7.81322021e-01 -7.70789569e-03 -2.65099930e+02] [-1.19491637e-02 -3.20104626e-04 -9.99928555e-01 -1.82307027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.106559995 meters 0.017379422460206528 Centerline is valid? [True, True] Translation: X:-24.92, Y:-265.08, Z:-1.82 [[-8.23479317e-01 5.67254196e-01 1.02221273e-02 -2.49213298e+01] [ 5.67205341e-01 8.23542690e-01 -7.45243293e-03 -2.65077288e+02] [-1.26457821e-02 -3.38879155e-04 -9.99919982e-01 -1.82209100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.136559995 meters 0.017379422460206528 Centerline is valid? [True, True] Translation: X:-24.91, Y:-265.05, Z:-1.82 [[-8.61592761e-01 5.07486848e-01 1.07244158e-02 -2.49073535e+01] [ 5.07442605e-01 8.61659437e-01 -6.70955782e-03 -2.65053576e+02] [-1.26458064e-02 -3.38880950e-04 -9.99919981e-01 -1.82209075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.166559995 meters 0.017379422460206528 Centerline is valid? [True, True] Translation: X:-24.90, Y:-265.03, Z:-1.82 [[-8.95378459e-01 4.45165794e-01 1.11728392e-02 -2.48952528e+01] [ 4.45126386e-01 8.95448101e-01 -5.93292006e-03 -2.65028833e+02] [-1.26458307e-02 -3.38883291e-04 -9.99919981e-01 -1.82209050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.1965599949999 meters 0.017379422460206528 Centerline is valid? [True, True] Translation: X:-24.61, Y:-264.49, Z:-2.77 [[-8.35061354e-01 -5.50051510e-01 1.07643304e-02 -2.46065962e+01] [ 5.50011027e-01 -8.35130661e-01 -6.68204229e-03 -2.64490783e+02] [ 1.26650898e-02 3.40585125e-04 9.99919737e-01 -2.77006915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.226559995 meters 0.01671698413304452 Centerline is valid? [True, True] Translation: X:-24.93, Y:-265.01, Z:-1.82 [[-8.96986041e-01 4.41904426e-01 1.16841873e-02 -2.49327388e+01] [ 4.41861765e-01 8.97062068e-01 -6.15042301e-03 -2.65011625e+02] [-1.31993404e-02 -3.54047958e-04 -9.99912822e-01 -1.82196974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.256559995 meters 0.01671698413304452 Centerline is valid? [True, True] Translation: X:-24.64, Y:-264.47, Z:-2.77 [[-8.37056878e-01 -5.46999990e-01 1.12602354e-02 -2.46446066e+01] [ 5.46956171e-01 -8.37132537e-01 -6.93275735e-03 -2.64470020e+02] [ 1.32185277e-02 3.55743035e-04 9.99912568e-01 -2.77018907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.286559995 meters 0.01666133561253585 Centerline is valid? [True, True] Translation: X:-24.97, Y:-265.00, Z:-1.82 [[-8.98017620e-01 4.39783372e-01 1.24475156e-02 -2.49698300e+01] [ 4.39735510e-01 8.98103811e-01 -6.49820241e-03 -2.64995303e+02] [-1.40369626e-02 -3.61885623e-04 -9.99901412e-01 -1.82086911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.3165599949999 meters 0.015663385228544668 Centerline is valid? [True, True] Translation: X:-24.96, Y:-264.97, Z:-1.82 [[-9.26346542e-01 3.76446466e-01 1.30438731e-02 -2.49607083e+01] [ 3.76403881e-01 9.26438308e-01 -5.67266080e-03 -2.64972349e+02] [-1.42197968e-02 -3.45085257e-04 -9.99898834e-01 -1.82156702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.346559995 meters 0.01488530222699754 Centerline is valid? [True, True] Translation: X:-24.71, Y:-264.40, Z:-2.77 [[-8.77462345e-01 -4.79487756e-01 1.23014602e-02 -2.47066978e+01] [ 4.79445621e-01 -8.77548514e-01 -6.36418909e-03 -2.64400786e+02] [ 1.38466789e-02 3.13544956e-04 9.99904081e-01 -2.77020169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.376559995 meters 0.014052752767909365 Centerline is valid? [True, True] Translation: X:-25.00, Y:-264.96, Z:-1.82 [[-9.25387623e-01 3.78864238e-01 1.09378417e-02 -2.50022572e+01] [ 3.78835032e-01 9.25452237e-01 -4.70902637e-03 -2.64963104e+02] [-1.19065317e-02 -2.14037121e-04 -9.99929092e-01 -1.82338945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.406559995 meters 0.01325386262092765 Centerline is valid? [True, True] Translation: X:-24.99, Y:-264.94, Z:-1.82 [[-9.48402317e-01 3.16871597e-01 1.11998021e-02 -2.49907202e+01] [ 3.16847557e-01 9.48468432e-01 -3.90628575e-03 -2.64943802e+02] [-1.18604498e-02 -1.56100515e-04 -9.99929650e-01 -1.82385725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.4365599949999 meters 0.012880787912924394 Centerline is valid? [True, True] Translation: X:-24.77, Y:-264.33, Z:-2.77 [[-9.15579417e-01 -4.01962998e-01 1.18355501e-02 -2.47708923e+01] [ 4.01932608e-01 -9.15655883e-01 -4.94790570e-03 -2.64331048e+02] [ 1.28261661e-02 2.26892907e-04 9.99917716e-01 -2.76873150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.4665599949999 meters 0.012724556626932119 Centerline is valid? [True, True] Translation: X:-25.03, Y:-264.94, Z:-1.82 [[-9.48099239e-01 3.17746122e-01 1.20513735e-02 -2.50331706e+01] [ 3.17719003e-01 9.48175823e-01 -4.15270003e-03 -2.64935467e+02] [-1.27463254e-02 -1.08221357e-04 -9.99918757e-01 -1.82306083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.496559995 meters 0.012602179725672447 Centerline is valid? [True, True] Translation: X:-24.81, Y:-264.31, Z:-2.77 [[-9.18585802e-01 -3.95056135e-01 1.14356510e-02 -2.48140043e+01] [ 3.95026675e-01 -9.18656978e-01 -4.82527505e-03 -2.64312476e+02] [ 1.24116951e-02 8.49580325e-05 9.99922968e-01 -2.76865772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.526559995 meters 0.012389930573359619 Centerline is valid? [True, True] Translation: X:-25.07, Y:-264.93, Z:-1.82 [[-9.48174684e-01 3.17554546e-01 1.11300787e-02 -2.50745887e+01] [ 3.17531954e-01 9.48240005e-01 -3.78825847e-03 -2.64926233e+02] [-1.17569646e-02 -5.77751371e-05 -9.99930883e-01 -1.82374915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.5565599949999 meters 0.012584780421623502 Centerline is valid? [True, True] Translation: X:-24.85, Y:-264.30, Z:-2.77 [[-9.22084946e-01 -3.86859535e-01 9.95249566e-03 -2.48534571e+01] [ 3.86836953e-01 -9.22138656e-01 -4.17993379e-03 -2.64295709e+02] [ 1.07946282e-02 -4.26092704e-06 9.99941736e-01 -2.76922060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.5865599949999 meters 0.012361020687088498 Centerline is valid? [True, True] Translation: X:-25.12, Y:-264.92, Z:-1.82 [[-9.48031281e-01 3.18015253e-01 1.01483920e-02 -2.51176551e+01] [ 3.17996950e-01 9.48085597e-01 -3.41191248e-03 -2.64915566e+02] [-1.07065845e-02 -7.44205392e-06 -9.99942683e-01 -1.82464017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.616559995 meters 0.012614066001680005 Centerline is valid? [True, True] Translation: X:-24.90, Y:-264.28, Z:-2.77 [[-9.24544364e-01 -3.80952349e-01 9.64500583e-03 -2.48983418e+01] [ 3.80931516e-01 -9.24594672e-01 -3.98401224e-03 -2.64280513e+02] [ 1.04354398e-02 -9.30937345e-06 9.99945549e-01 -2.76761590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.646559995 meters 0.012717368897942111 Centerline is valid? [True, True] Translation: X:-25.16, Y:-264.90, Z:-1.82 [[-9.48423516e-01 3.16858551e-01 9.66916863e-03 -2.51610558e+01] [ 3.16842289e-01 9.48472803e-01 -3.21028805e-03 -2.64902640e+02] [-1.01881507e-02 1.88888437e-05 -9.99948099e-01 -1.82324268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.6765599949999 meters 0.012840821478655859 Centerline is valid? [True, True] Translation: X:-24.95, Y:-264.26, Z:-2.77 [[-9.26628986e-01 -3.75854518e-01 9.59709057e-03 -2.49455356e+01] [ 3.75834265e-01 -9.26678683e-01 -3.90176961e-03 -2.64264271e+02] [ 1.03599170e-02 -8.57733058e-06 9.99946335e-01 -2.76877297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.7065599949999 meters 0.012850696065041124 Centerline is valid? [True, True] Translation: X:-25.20, Y:-264.89, Z:-1.82 [[-9.49295417e-01 3.14235125e-01 9.72097603e-03 -2.52047858e+01] [ 3.14218965e-01 9.49345188e-01 -3.18691603e-03 -2.64889377e+02] [-1.02300028e-02 2.91902448e-05 -9.99947672e-01 -1.82415646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.736559995 meters 0.01297004347615813 Centerline is valid? [True, True] Translation: X:-24.99, Y:-264.25, Z:-2.77 [[-9.27936161e-01 -3.72608836e-01 9.85572871e-03 -2.49904384e+01] [ 3.72587759e-01 -9.27988499e-01 -3.96319871e-03 -2.64252241e+02] [ 1.06227258e-02 -5.47152725e-06 9.99943577e-01 -2.76841481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.766559995 meters 0.013037612836518123 Centerline is valid? [True, True] Translation: X:-25.25, Y:-264.87, Z:-1.82 [[-9.50569189e-01 3.10341961e-01 1.02997118e-02 -2.52483274e+01] [ 3.10324055e-01 9.50624987e-01 -3.33385559e-03 -2.64873447e+02] [-1.08257987e-02 2.71879194e-05 -9.99941399e-01 -1.82347568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.7965599949999 meters 0.012904371188529641 Centerline is valid? [True, True] Translation: X:-25.24, Y:-264.85, Z:-1.82 [[-9.70197564e-01 2.42092216e-01 1.03945184e-02 -2.52435207e+01] [ 2.42078611e-01 9.70253245e-01 -2.56663413e-03 -2.64845011e+02] [-1.07066773e-02 2.61483953e-05 -9.99942682e-01 -1.82366008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.8265599949999 meters 0.012767291565630424 Centerline is valid? [True, True] Translation: X:-25.08, Y:-264.20, Z:-2.77 [[-9.52919992e-01 -3.03073504e-01 9.48372066e-03 -2.50793229e+01] [ 3.03057749e-01 -9.52967180e-01 -3.09111477e-03 -2.64199187e+02] [ 9.97450951e-03 -7.14700261e-05 9.99950251e-01 -2.76766509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.856559995 meters 0.012840018567804899 Centerline is valid? [True, True] Translation: X:-25.29, Y:-264.83, Z:-1.82 [[-9.71510690e-01 2.36824449e-01 9.00884198e-03 -2.52895765e+01] [ 2.36814347e-01 9.71552459e-01 -2.18735725e-03 -2.64832788e+02] [-9.27058225e-03 8.38207990e-06 -9.99957027e-01 -1.82473710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.886559995 meters 0.012921081857161827 Centerline is valid? [True, True] Translation: X:-25.29, Y:-264.80, Z:-1.83 [[-9.85978848e-01 1.66645060e-01 8.66804446e-03 -2.52865605e+01] [ 1.66638641e-01 9.86016949e-01 -1.46272819e-03 -2.64804546e+02] [-8.79059518e-03 2.21208530e-06 -9.99961362e-01 -1.82517230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.916559995 meters 0.01305690061664399 Centerline is valid? [True, True] Translation: X:-25.18, Y:-264.15, Z:-2.77 [[-9.72114160e-01 -2.34364525e-01 8.20540607e-03 -2.51761527e+01] [ 2.34355960e-01 -9.72148790e-01 -2.00379839e-03 -2.64152481e+02] [ 8.44649484e-03 -2.49349761e-05 9.99964327e-01 -2.76689973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.9465599949999 meters 0.013397482774972611 Centerline is valid? [True, True] Translation: X:-25.34, Y:-264.79, Z:-1.82 [[-9.87256113e-01 1.58927982e-01 8.20148311e-03 -2.53410279e+01] [ 1.58922249e-01 9.87290178e-01 -1.35029667e-03 -2.64792251e+02] [-8.31184365e-03 -2.96904996e-05 -9.99965456e-01 -1.82483021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.976559995 meters 0.014318077116791254 Centerline is valid? [True, True] Translation: X:-25.24, Y:-264.15, Z:-2.77 [[-9.71595236e-01 -2.36501015e-01 8.36468766e-03 -2.52365202e+01] [ 2.36492696e-01 -9.71631241e-01 -1.98431321e-03 -2.64147274e+02] [ 8.59668394e-03 5.02382665e-05 9.99963047e-01 -2.76813868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.006559995 meters 0.015107621902674671 Centerline is valid? [True, True] Translation: X:-25.39, Y:-264.78, Z:-1.82 [[-9.89015565e-01 1.47570789e-01 8.43053514e-03 -2.53938302e+01] [ 1.47564612e-01 9.89051492e-01 -1.35357430e-03 -2.64779257e+02] [-8.53798138e-03 -9.46574103e-05 -9.99963546e-01 -1.82377212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.036559995 meters 0.015939795055735752 Centerline is valid? [True, True] Translation: X:-25.29, Y:-264.14, Z:-2.77 [[-9.71064285e-01 -2.38669593e-01 8.42489533e-03 -2.52914256e+01] [ 2.38661534e-01 -9.71100826e-01 -1.96407345e-03 -2.64142129e+02] [ 8.65018743e-03 1.03456863e-04 9.99962581e-01 -2.76810106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.0665599949999 meters 0.01753331774311365 Centerline is valid? [True, True] Translation: X:-25.45, Y:-264.77, Z:-1.82 [[-9.90907319e-01 1.34290776e-01 8.28692956e-03 -2.54484554e+01] [ 1.34284619e-01 9.90941955e-01 -1.29750786e-03 -2.64766570e+02] [-8.38610951e-03 -1.72902856e-04 -9.99964821e-01 -1.82474759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.096559995 meters 0.02066510364822496 Centerline is valid? [True, True] Translation: X:-25.46, Y:-264.73, Z:-1.82 [[-9.98307139e-01 5.74376775e-02 9.15260233e-03 -2.54571560e+01] [ 5.74330024e-02 9.98349064e-01 -7.73036123e-04 -2.64730830e+02] [-9.18189336e-03 -2.46066049e-04 -9.99957815e-01 -1.82376039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.126559995 meters 0.021525940976923136 Centerline is valid? [True, True] Translation: X:-25.41, Y:-264.11, Z:-2.77 [[-9.83559050e-01 -1.80331975e-01 9.59029511e-03 -2.54052870e+01] [ 1.80326315e-01 -9.83605761e-01 -1.45872066e-03 -2.64110569e+02] [ 9.69612349e-03 2.94644674e-04 9.99952948e-01 -2.76890517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.156559995 meters 0.023383138532498304 Centerline is valid? [True, True] Translation: X:-25.51, Y:-264.72, Z:-1.82 [[-9.98946924e-01 4.44062478e-02 1.15381197e-02 -2.55128244e+01] [ 4.43985001e-02 9.99013470e-01 -9.26898614e-04 -2.64721827e+02] [-1.15678971e-02 -4.13647310e-04 -9.99933004e-01 -1.82107668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.1865599949999 meters 0.02582836742261186 Centerline is valid? [True, True] Translation: X:-25.48, Y:-264.11, Z:-2.77 [[-9.82517146e-01 -1.85677281e-01 1.35648754e-02 -2.54796479e+01] [ 1.85668444e-01 -9.82610577e-01 -1.91893148e-03 -2.64110253e+02] [ 1.36852920e-02 6.33186241e-04 9.99906152e-01 -2.77372071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.2165599949999 meters 0.02492135916966527 Centerline is valid? [True, True] Translation: X:-25.58, Y:-264.72, Z:-1.82 [[-9.99231546e-01 3.61599190e-02 1.51254350e-02 -2.55804558e+01] [ 3.61466564e-02 9.99345835e-01 -1.14939705e-03 -2.64716260e+02] [-1.51571025e-02 -6.01779891e-04 -9.99884944e-01 -1.81781277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.246559995 meters 0.02492135916966527 Centerline is valid? [True, True] Translation: X:-25.53, Y:-264.10, Z:-2.77 [[-9.83197989e-01 -1.81923194e-01 1.50221946e-02 -2.55328646e+01] [ 1.81911293e-01 -9.83312559e-01 -2.16643283e-03 -2.64103831e+02] [ 1.51656370e-02 6.02674443e-04 9.99884814e-01 -2.77432955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.276559995 meters 0.02391845042867558 Centerline is valid? [True, True] Translation: X:-25.63, Y:-264.71, Z:-1.82 [[-9.99354776e-01 3.25508805e-02 1.51812811e-02 -2.56336769e+01] [ 3.25381091e-02 9.99469904e-01 -1.08757116e-03 -2.64714996e+02] [-1.52086349e-02 -5.92899253e-04 -9.99884166e-01 -1.81800018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.3065599949999 meters 0.02391845042867558 Centerline is valid? [True, True] Translation: X:-25.64, Y:-264.69, Z:-1.82 [[-9.99142205e-01 -3.85123374e-02 1.52201968e-02 -2.56376980e+01] [-3.85169005e-02 9.99257949e-01 -6.67405566e-06 -2.64687515e+02] [-1.52086456e-02 -5.92903135e-04 -9.99884166e-01 -1.81800005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.3365599949999 meters 0.02391845042867558 Centerline is valid? [True, True] Translation: X:-25.64, Y:-264.66, Z:-1.82 [[-9.93873554e-01 -1.09475389e-01 1.51821483e-02 -2.56447137e+01] [-1.09471710e-01 9.93989330e-01 1.07570205e-03 -2.64660451e+02] [-1.52086563e-02 -5.92903917e-04 -9.99884166e-01 -1.81799992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.366559995 meters 0.02391845042867558 Centerline is valid? [True, True] Translation: X:-25.69, Y:-264.04, Z:-2.77 [[-9.99248222e-01 -3.56522078e-02 1.52286075e-02 -2.56878406e+01] [ 3.56571162e-02 -9.99364082e-01 5.08269878e-05 -2.64043306e+02] [ 1.52171113e-02 5.93797005e-04 9.99884037e-01 -2.77414142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.396559995 meters 0.02501381992539538 Centerline is valid? [True, True] Translation: X:-25.72, Y:-264.66, Z:-1.82 [[-9.93393333e-01 -1.13820220e-01 1.46507116e-02 -2.57230487e+01] [-1.13816100e-01 9.93501206e-01 1.11744221e-03 -2.64664833e+02] [-1.46826872e-02 -5.57427211e-04 -9.99892048e-01 -1.81726434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.4265599949999 meters 0.02359071413662945 Centerline is valid? [True, True] Translation: X:-25.77, Y:-264.04, Z:-2.77 [[-9.99557309e-01 -2.67148465e-02 1.30959439e-02 -2.57719299e+01] [ 2.67177278e-02 -9.99643017e-01 4.50802733e-05 -2.64044779e+02] [ 1.30900645e-02 3.94954180e-04 9.99914244e-01 -2.77290534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.4565599949999 meters 0.021652769987913698 Centerline is valid? [True, True] Translation: X:-25.81, Y:-264.68, Z:-1.82 [[-9.93289933e-01 -1.14959999e-01 1.26217515e-02 -2.58068105e+01] [-1.14956090e-01 9.93370033e-01 1.03715454e-03 -2.64680902e+02] [-1.26573010e-02 -4.20752046e-04 -9.99919805e-01 -1.81995663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.486559995 meters 0.020523354166699728 Centerline is valid? [True, True] Translation: X:-25.86, Y:-264.04, Z:-2.77 [[-9.99786551e-01 -1.63599029e-02 1.26176579e-02 -2.58587763e+01] [ 1.63638539e-02 -9.99866081e-01 2.09952700e-04 -2.64042458e+02] [ 1.26125334e-02 4.16381396e-04 9.99920372e-01 -2.77186525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.516559995 meters 0.020014403226243784 Centerline is valid? [True, True] Translation: X:-25.90, Y:-264.69, Z:-1.82 [[-9.93236111e-01 -1.15492959e-01 1.19751751e-02 -2.58960425e+01] [-1.15488642e-01 9.93308242e-01 1.05367724e-03 -2.64694219e+02] [-1.20167324e-02 -3.36446423e-04 -9.99927740e-01 -1.82000732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.5465599949999 meters 0.020085487102546578 Centerline is valid? [True, True] Translation: X:-25.91, Y:-264.67, Z:-1.82 [[-9.83052283e-01 -1.82942825e-01 1.18377384e-02 -2.59059677e+01] [-1.82933198e-01 9.83123509e-01 1.90024052e-03 -2.64669393e+02] [-1.19855943e-02 -2.97479556e-04 -9.99928126e-01 -1.81904887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.5765599949999 meters 0.017629515046626305 Centerline is valid? [True, True] Translation: X:-25.92, Y:-264.65, Z:-1.82 [[-9.69078015e-01 -2.46499156e-01 1.12235453e-02 -2.59206237e+01] [-2.46485087e-01 9.69142984e-01 2.64159613e-03 -2.64654188e+02] [-1.15283714e-02 -2.06523795e-04 -9.99933525e-01 -1.82014220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.606559995 meters 0.016392282689580078 Centerline is valid? [True, True] Translation: X:-25.96, Y:-264.64, Z:-1.82 [[-9.50832161e-01 -3.09519731e-01 1.07581262e-02 -2.59564718e+01] [-3.09501380e-01 9.50893013e-01 3.37260975e-03 -2.64643107e+02] [-1.12737163e-02 -1.22869094e-04 -9.99936442e-01 -1.82028387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.636559995 meters 0.015990055753430255 Centerline is valid? [True, True] Translation: X:-26.01, Y:-264.64, Z:-1.82 [[-9.26831901e-01 -3.75325685e-01 1.06422833e-02 -2.60145053e+01] [-3.75301984e-01 9.26892995e-01 4.21873600e-03 -2.64638230e+02] [-1.14476578e-02 -8.40109312e-05 -9.99934470e-01 -1.82040648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.666559995 meters 0.015717603779503746 Centerline is valid? [True, True] Translation: X:-26.08, Y:-264.64, Z:-1.82 [[-8.98021896e-01 -4.39827707e-01 1.04049230e-02 -2.60839752e+01] [-4.39798795e-01 8.98082171e-01 5.04326098e-03 -2.64642583e+02] [-1.15626418e-02 -4.71138255e-05 -9.99933149e-01 -1.81985987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.6965599949999 meters 0.015504708127606522 Centerline is valid? [True, True] Translation: X:-26.15, Y:-264.65, Z:-1.82 [[-8.66046621e-01 -4.99869806e-01 9.66580931e-03 -2.61502824e+01] [-4.99838313e-01 8.66100558e-01 5.61114817e-03 -2.64654924e+02] [-1.11764064e-02 2.81740897e-05 -9.99937542e-01 -1.82028460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.726559995 meters 0.015695941240784442 Centerline is valid? [True, True] Translation: X:-26.23, Y:-264.68, Z:-1.82 [[-8.27798448e-01 -5.60957470e-01 8.74340554e-03 -2.62292867e+01] [-5.60925437e-01 8.27844619e-01 5.99505080e-03 -2.64675975e+02] [-1.06011498e-02 5.82951740e-05 -9.99943805e-01 -1.82055259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.756559995 meters 0.01593087112474043 Centerline is valid? [True, True] Translation: X:-26.31, Y:-264.71, Z:-1.82 [[-7.84818102e-01 -6.19673371e-01 8.09077043e-03 -2.63134352e+01] [-6.19639330e-01 7.84859800e-01 6.49577229e-03 -2.64707605e+02] [-1.03753776e-02 8.46401126e-05 -9.99946171e-01 -1.82115794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.786559995 meters 0.01636104215181034 Centerline is valid? [True, True] Translation: X:-26.40, Y:-264.75, Z:-1.82 [[-7.38525720e-01 -6.74199079e-01 5.94674573e-03 -2.63964382e+01] [-6.74176130e-01 7.38549655e-01 5.56361030e-03 -2.64748939e+02] [-8.14294795e-03 9.97152794e-05 -9.99966841e-01 -1.82232262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.8165599949999 meters 0.016073414362733827 Centerline is valid? [True, True] Translation: X:-26.48, Y:-264.80, Z:-1.82 [[-6.86236933e-01 -7.27360027e-01 5.12481435e-03 -2.64844484e+01] [-7.27338606e-01 6.86256061e-01 5.58314969e-03 -2.64798305e+02] [-7.57789481e-03 1.03888189e-04 -9.99971282e-01 -1.82374571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.846559995 meters 0.01631511643173739 Centerline is valid? [True, True] Translation: X:-26.57, Y:-264.86, Z:-1.82 [[-6.29608694e-01 -7.76899980e-01 4.39469013e-03 -2.65729203e+01] [-7.76879881e-01 6.29624023e-01 5.58928486e-03 -2.64861096e+02] [-7.10931778e-03 1.04915992e-04 -9.99974723e-01 -1.82368922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.876559995 meters 0.015864422058105218 Centerline is valid? [True, True] Translation: X:-26.66, Y:-264.93, Z:-1.82 [[-5.68758389e-01 -8.22496517e-01 3.65719028e-03 -2.66587059e+01] [-8.22478372e-01 5.68770138e-01 5.46411581e-03 -2.64931617e+02] [-6.57431684e-03 9.98017994e-05 -9.99978384e-01 -1.82421409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.906559995 meters 0.016255579832324344 Centerline is valid? [True, True] Translation: X:-26.74, Y:-265.01, Z:-1.82 [[-5.03635043e-01 -8.63910810e-01 3.13954149e-03 -2.67405966e+01] [-8.63892848e-01 5.03644819e-01 5.57170944e-03 -2.65013252e+02] [-6.39467382e-03 9.38806795e-05 -9.99979550e-01 -1.82368385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.9365599949999 meters 0.015670863168354806 Centerline is valid? [True, True] Translation: X:-26.82, Y:-265.10, Z:-1.82 [[-4.33458568e-01 -9.01169252e-01 2.76591264e-03 -2.68172565e+01] [-9.01149731e-01 4.33467385e-01 5.93200667e-03 -2.65097161e+02] [-6.54467493e-03 7.87776790e-05 -9.99978580e-01 -1.82322524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.9665599949999 meters 0.01510973339539518 Centerline is valid? [True, True] Translation: X:-26.89, Y:-265.19, Z:-1.82 [[-3.61102708e-01 -9.32523347e-01 2.24552885e-03 -2.68899935e+01] [-9.32504198e-01 3.61109684e-01 5.97640067e-03 -2.65191656e+02] [-6.38401537e-03 6.41293861e-05 -9.99979620e-01 -1.82308101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.996559995 meters 0.014868623888869888 Centerline is valid? [True, True] Translation: X:-26.95, Y:-265.29, Z:-1.82 [[-2.86489763e-01 -9.58081580e-01 1.81717145e-03 -2.69545993e+01] [-9.58061128e-01 2.86495521e-01 6.26026818e-03 -2.65293941e+02] [-6.51845911e-03 5.25414174e-05 -9.99978753e-01 -1.82245722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.026559995 meters 0.01467380323584252 Centerline is valid? [True, True] Translation: X:-27.01, Y:-265.40, Z:-1.82 [[-2.10013147e-01 -9.77697752e-01 1.25851879e-03 -2.70121116e+01] [-9.77679101e-01 2.10016915e-01 6.03906247e-03 -2.65402266e+02] [-6.16868803e-03 3.78549934e-05 -9.99980973e-01 -1.82214947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.0565599949999 meters 0.014039983073430337 Centerline is valid? [True, True] Translation: X:-27.06, Y:-265.51, Z:-1.82 [[-1.30277988e-01 -9.91477208e-01 7.68940537e-04 -2.70632758e+01] [-9.91459310e-01 1.30280257e-01 5.95745392e-03 -2.65512220e+02] [-6.00685755e-03 1.37518583e-05 -9.99981959e-01 -1.82212123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.0865599949999 meters 0.013988601421997544 Centerline is valid? [True, True] Translation: X:-27.10, Y:-265.63, Z:-1.82 [[-5.16652822e-02 -9.98664417e-01 2.82786788e-04 -2.71030847e+01] [-9.98649175e-01 5.16660560e-02 5.51755701e-03 -2.65628400e+02] [-5.52479834e-03 2.66134729e-06 -9.99984738e-01 -1.82216461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.116559995 meters 0.013818645556404401 Centerline is valid? [True, True] Translation: X:-27.13, Y:-265.75, Z:-1.82 [[ 2.81763619e-02 -9.99602960e-01 -1.18864904e-04 -2.71347934e+01] [-9.99592449e-01 -2.81766107e-02 4.58416224e-03 -2.65747538e+02] [-4.58569136e-03 -1.03485544e-05 -9.99989486e-01 -1.82247145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.146559995 meters 0.01372002333214545 Centerline is valid? [True, True] Translation: X:-27.16, Y:-265.87, Z:-1.82 [[ 1.06259418e-01 -9.94338344e-01 -4.39348884e-04 -2.71556784e+01] [-9.94329268e-01 -1.06260325e-01 4.24847399e-03 -2.65869775e+02] [-4.27110595e-03 -1.45829186e-05 -9.99990879e-01 -1.82294204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.1765599949999 meters 0.01365850092144421 Centerline is valid? [True, True] Translation: X:-27.17, Y:-265.99, Z:-1.82 [[ 1.83225148e-01 -9.83070761e-01 -6.50855148e-04 -2.71675720e+01] [-9.83064267e-01 -1.83226304e-01 3.57345693e-03 -2.65989700e+02] [-3.63221481e-03 -1.49147387e-05 -9.99993403e-01 -1.82255389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.2065599949999 meters 0.013620280801581145 Centerline is valid? [True, True] Translation: X:-27.17, Y:-266.11, Z:-1.82 [[ 2.59586701e-01 -9.65719516e-01 -7.49660584e-04 -2.71694006e+01] [-9.65715314e-01 -2.59587783e-01 2.84884794e-03 -2.66112914e+02] [-2.94579078e-03 -1.55643325e-05 -9.99995661e-01 -1.82291728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.236559995 meters 0.013547136746137573 Centerline is valid? [True, True] Translation: X:-27.16, Y:-266.23, Z:-1.82 [[ 3.33427659e-01 -9.42775534e-01 -5.37278359e-04 -2.71622002e+01] [-9.42774267e-01 -3.33428092e-01 1.54567246e-03 -2.66234919e+02] [-1.63636588e-03 -8.83773994e-06 -9.99998661e-01 -1.82288333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.266559995 meters 0.01341926249108365 Centerline is valid? [True, True] Translation: X:-27.15, Y:-266.35, Z:-1.82 [[ 4.05083156e-01 -9.14279625e-01 -6.35205817e-04 -2.71473756e+01] [-9.14278467e-01 -4.05083654e-01 1.45514110e-03 -2.66347808e+02] [-1.58771735e-03 -8.69814848e-06 -9.99998740e-01 -1.82296395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.2965599949999 meters 0.013273058806762673 Centerline is valid? [True, True] Translation: X:-27.12, Y:-266.46, Z:-1.82 [[ 4.74107740e-01 -8.80466569e-01 -6.86497686e-04 -2.71216883e+01] [-8.80465622e-01 -4.74108237e-01 1.29169754e-03 -2.66464836e+02] [-1.46277071e-03 -7.96618895e-06 -9.99998930e-01 -1.82301755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.3265599949999 meters 0.013372431360254192 Centerline is valid? [True, True] Translation: X:-27.09, Y:-266.57, Z:-1.82 [[ 5.39653571e-01 -8.41886689e-01 -9.09677563e-04 -2.70902708e+01] [-8.41885467e-01 -5.39654337e-01 1.43390330e-03 -2.66574926e+02] [-1.69809554e-03 -7.96671610e-06 -9.99998558e-01 -1.82187345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.356559995 meters 0.01305031138150695 Centerline is valid? [True, True] Translation: X:-27.05, Y:-266.68, Z:-1.82 [[ 6.00812128e-01 -7.99388452e-01 -1.69997210e-03 -2.70471366e+01] [-7.99385218e-01 -6.00814533e-01 2.27374514e-03 -2.66682838e+02] [-2.83897356e-03 -7.16108736e-06 -9.99995970e-01 -1.82042995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.386559995 meters 0.01306802314975245 Centerline is valid? [True, True] Translation: X:-27.00, Y:-266.78, Z:-1.82 [[ 6.58940930e-01 -7.52191015e-01 -2.35116025e-03 -2.70017855e+01] [-7.52186210e-01 -6.58945125e-01 2.68858342e-03 -2.66781210e+02] [-3.57161388e-03 -3.10734125e-06 -9.99993622e-01 -1.81961093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.416559995 meters 0.013092669386634264 Centerline is valid? [True, True] Translation: X:-26.95, Y:-266.87, Z:-1.82 [[ 7.12846852e-01 -7.01314841e-01 -2.61917477e-03 -2.69494873e+01] [-7.01310134e-01 -7.12851664e-01 2.56950312e-03 -2.66874431e+02] [-3.66911376e-03 5.19159265e-06 -9.99993269e-01 -1.81876014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.4465599949999 meters 0.01318757188903908 Centerline is valid? [True, True] Translation: X:-26.95, Y:-266.88, Z:-1.82 [[ 7.63791613e-01 -6.45455005e-01 -3.19515768e-03 -2.69502678e+01] [-6.45449449e-01 -7.63798296e-01 2.67801439e-03 -2.66878265e+02] [-4.16899378e-03 1.68678372e-05 -9.99991310e-01 -1.81888384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.476559995 meters 0.013439549598230363 Centerline is valid? [True, True] Translation: X:-26.95, Y:-266.88, Z:-1.82 [[ 8.10123894e-01 -5.86249883e-01 -3.21729305e-03 -2.69513285e+01] [-5.86245397e-01 -8.10130282e-01 2.29345117e-03 -2.66882483e+02] [-3.95096200e-03 2.81436475e-05 -9.99992195e-01 -1.81901226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.506559995 meters 0.013789410526295067 Centerline is valid? [True, True] Translation: X:-26.95, Y:-266.89, Z:-1.82 [[ 8.51959436e-01 -5.23598038e-01 -3.19607468e-03 -2.69519886e+01] [-5.23594517e-01 -8.51965430e-01 1.92031654e-03 -2.66886129e+02] [-3.72841911e-03 3.74153813e-05 -9.99993049e-01 -1.81927876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.536559995 meters 0.014917061290255575 Centerline is valid? [True, True] Translation: X:-26.95, Y:-266.89, Z:-1.82 [[ 8.87998329e-01 -4.59840104e-01 -2.45904105e-03 -2.69532797e+01] [-4.59838469e-01 -8.88001733e-01 1.22674151e-03 -2.66888103e+02] [-2.74773766e-03 4.14172598e-05 -9.99996224e-01 -1.81983172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.5665599949999 meters 0.015418191774996832 Centerline is valid? [True, True] Translation: X:-26.95, Y:-266.89, Z:-1.82 [[ 9.20454640e-01 -3.90842896e-01 -2.25547194e-03 -2.69533260e+01] [-3.90841833e-01 -9.20457402e-01 9.12630128e-04 -2.66891219e+02] [-2.43276084e-03 4.14981496e-05 -9.99997040e-01 -1.82005100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.596559995 meters 0.01636264910119429 Centerline is valid? [True, True] Translation: X:-26.95, Y:-266.89, Z:-1.82 [[ 9.47249344e-01 -3.20486646e-01 -2.64379915e-03 -2.69529198e+01] [-3.20485560e-01 -9.47253032e-01 8.35981170e-04 -2.66893088e+02] [-2.77226756e-03 5.54168370e-05 -9.99996156e-01 -1.81972036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.626559995 meters 0.015864721661534117 Centerline is valid? [True, True] Translation: X:-26.95, Y:-266.90, Z:-1.82 [[ 9.69055462e-01 -2.46828013e-01 -2.72851534e-03 -2.69546024e+01] [-2.46827208e-01 -9.69059301e-01 6.33216782e-04 -2.66902674e+02] [-2.80038881e-03 5.98496418e-05 -9.99996077e-01 -1.81981244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.656559995 meters 0.01740447938041905 Centerline is valid? [True, True] Translation: X:-26.96, Y:-266.91, Z:-1.82 [[ 9.85232189e-01 -1.71197105e-01 -3.01416718e-03 -2.69593972e+01] [-1.71196515e-01 -9.85236797e-01 4.54605972e-04 -2.66906580e+02] [-3.04749564e-03 6.81224786e-05 -9.99995354e-01 -1.81941190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.6865599949999 meters 0.016314650097166754 Centerline is valid? [True, True] Translation: X:-26.96, Y:-266.92, Z:-1.82 [[ 9.95543426e-01 -9.42545828e-02 -3.05946191e-03 -2.69630050e+01] [-9.42543555e-02 -9.95548125e-01 2.18714956e-04 -2.66916439e+02] [-3.06645646e-03 7.06273737e-05 -9.99995296e-01 -1.81959404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.7165599949999 meters 0.01661622896375662 Centerline is valid? [True, True] Translation: X:-26.97, Y:-266.92, Z:-1.82 [[ 9.99857790e-01 -1.65162182e-02 -3.40793428e-03 -2.69657238e+01] [-1.65163951e-02 -9.99863595e-01 -2.37533346e-05 -2.66924303e+02] [-3.40707711e-03 8.00367457e-05 -9.99994193e-01 -1.81906201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.746559995 meters 0.016801803988980648 Centerline is valid? [True, True] Translation: X:-26.97, Y:-266.93, Z:-1.82 [[ 9.98088269e-01 6.17100399e-02 -3.41747621e-03 -2.69689818e+01] [ 6.17094004e-02 -9.98094116e-01 -2.92351103e-04 -2.66932019e+02] [-3.42900389e-03 8.09017984e-05 -9.99994118e-01 -1.81852299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.776559995 meters 0.01682993855337175 Centerline is valid? [True, True] Translation: X:-26.97, Y:-266.94, Z:-1.82 [[ 9.90201724e-01 1.39591705e-01 -3.83439901e-03 -2.69702201e+01] [ 1.39590298e-01 -9.90209143e-01 -6.33282783e-04 -2.66940200e+02] [-3.88525799e-03 9.18328010e-05 -9.99992448e-01 -1.81815772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.8065599949999 meters 0.016583319782191235 Centerline is valid? [True, True] Translation: X:-26.97, Y:-266.95, Z:-1.82 [[ 9.76092003e-01 2.17318228e-01 -4.14605112e-03 -2.69709428e+01] [ 2.17315840e-01 -9.76100803e-01 -1.02355121e-03 -2.66950223e+02] [-4.26940016e-03 9.80775703e-05 -9.99990881e-01 -1.81778755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.8365599949999 meters 0.017030560454916188 Centerline is valid? [True, True] Translation: X:-26.97, Y:-266.96, Z:-1.82 [[ 9.55936537e-01 2.93548305e-01 -3.83796792e-03 -2.69723722e+01] [ 2.93545556e-01 -9.55944237e-01 -1.27364029e-03 -2.66957090e+02] [-4.04275827e-03 9.09008602e-05 -9.99991824e-01 -1.81729723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.866559995 meters 0.01602745167939745 Centerline is valid? [True, True] Translation: X:-26.97, Y:-266.97, Z:-1.82 [[ 9.29504337e-01 3.68793647e-01 -3.59645637e-03 -2.69703171e+01] [ 3.68790543e-01 -9.29511291e-01 -1.51534712e-03 -2.66967609e+02] [-3.90179719e-03 8.21826219e-05 -9.99992385e-01 -1.81816732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.896559995 meters 0.015788286691108253 Centerline is valid? [True, True] Translation: X:-26.97, Y:-266.98, Z:-1.82 [[ 8.97607288e-01 4.40786329e-01 -2.92721080e-03 -2.69679596e+01] [ 4.40783737e-01 -8.97612059e-01 -1.51321413e-03 -2.66976439e+02] [-3.29450381e-03 6.80051150e-05 -9.99994571e-01 -1.81803448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.9265599949999 meters 0.016067272931846226 Centerline is valid? [True, True] Translation: X:-26.97, Y:-266.98, Z:-1.82 [[ 8.59906091e-01 5.10444821e-01 -2.75658592e-03 -2.69669493e+01] [ 5.10441958e-01 -8.59910507e-01 -1.71089548e-03 -2.66984070e+02] [-3.24373493e-03 6.41323270e-05 -9.99994737e-01 -1.81788938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.9565599949999 meters 0.016002893373278496 Centerline is valid? [True, True] Translation: X:-26.96, Y:-266.99, Z:-1.82 [[ 8.17007281e-01 5.76623586e-01 -2.08406091e-03 -2.69645377e+01] [ 5.76621553e-01 -8.17009938e-01 -1.53188131e-03 -2.66990648e+02] [-2.58601737e-03 4.98437444e-05 -9.99996655e-01 -1.81774516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.986559995 meters 0.01622075114757607 Centerline is valid? [True, True] Translation: X:-26.96, Y:-267.00, Z:-1.82 [[ 7.69457082e-01 6.38696863e-01 -1.45436833e-03 -2.69644236e+01] [ 6.38695630e-01 -7.69458456e-01 -1.25585913e-03 -2.66995272e+02] [-1.92118930e-03 3.74310046e-05 -9.99998154e-01 -1.81822156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.016559995 meters 0.015821001418073074 Centerline is valid? [True, True] Translation: X:-26.96, Y:-267.00, Z:-1.82 [[ 7.17401856e-01 6.96658270e-01 -1.35340924e-03 -2.69613254e+01] [ 6.96656928e-01 -7.17403132e-01 -1.36772473e-03 -2.67001910e+02] [-1.92377678e-03 3.83463381e-05 -9.99998149e-01 -1.81862184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.0465599949999 meters 0.015974810957429437 Centerline is valid? [True, True] Translation: X:-26.96, Y:-267.01, Z:-1.82 [[ 6.61338025e-01 7.50087573e-01 -8.06135776e-04 -2.69575836e+01] [ 7.50086967e-01 -6.61338516e-01 -9.53912581e-04 -2.67008204e+02] [-1.24864661e-03 2.61867232e-05 -9.99999220e-01 -1.81922173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.0765599949999 meters 0.015893662283958415 Centerline is valid? [True, True] Translation: X:-26.95, Y:-267.01, Z:-1.82 [[ 6.01178048e-01 7.99114801e-01 -6.99256382e-04 -2.69528222e+01] [ 7.99114209e-01 -6.01178454e-01 -9.72759041e-04 -2.67014850e+02] [-1.19772402e-03 2.60156710e-05 -9.99999282e-01 -1.81935326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.106559995 meters 0.01603707064564425 Centerline is valid? [True, True] Translation: X:-26.95, Y:-267.02, Z:-1.82 [[ 5.36975409e-01 8.43597628e-01 -6.72475713e-04 -2.69478535e+01] [ 8.43596899e-01 -5.36975829e-01 -1.10944945e-03 -2.67020036e+02] [-1.29703213e-03 2.84486437e-05 -9.99999159e-01 -1.81918927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.136559995 meters 0.01625488881027896 Centerline is valid? [True, True] Translation: X:-26.94, Y:-267.02, Z:-1.82 [[ 4.69530827e-01 8.82915838e-01 -6.52299944e-04 -2.69436782e+01] [ 8.82914889e-01 -4.69531279e-01 -1.29505865e-03 -2.67024750e+02] [-1.44970302e-03 3.21446254e-05 -9.99998949e-01 -1.81913665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.166559995 meters 0.016277530589984348 Centerline is valid? [True, True] Translation: X:-26.94, Y:-267.03, Z:-1.82 [[ 3.99148265e-01 9.16886026e-01 -8.23942375e-04 -2.69371377e+01] [ 9.16883815e-01 -3.99149112e-01 -2.01405156e-03 -2.67029961e+02] [-2.17553160e-03 4.84457584e-05 -9.99997632e-01 -1.81823147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.1965599949999 meters 0.01627547833043049 Centerline is valid? [True, True] Translation: X:-26.93, Y:-267.03, Z:-1.82 [[ 3.25874842e-01 9.45412533e-01 -8.54064352e-04 -2.69314880e+01] [ 9.45408776e-01 -3.25875956e-01 -2.66613204e-03 -2.67034021e+02] [-2.79891368e-03 6.13854231e-05 -9.99996081e-01 -1.81745050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.226559995 meters 0.01657459586927415 Centerline is valid? [True, True] Translation: X:-26.93, Y:-267.04, Z:-1.82 [[ 2.50337342e-01 9.68158422e-01 -6.96292537e-04 -2.69272056e+01] [ 9.68153923e-01 -2.50338302e-01 -2.95233396e-03 -2.67038263e+02] [-3.03263568e-03 6.49610836e-05 -9.99995400e-01 -1.81685246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.256559995 meters 0.01657459586927415 Centerline is valid? [True, True] Translation: X:-26.92, Y:-267.04, Z:-1.82 [[ 1.73707366e-01 9.84797206e-01 -4.62823844e-04 -2.69249918e+01] [ 9.84792645e-01 -1.73707970e-01 -2.99783319e-03 -2.67041423e+02] [-3.03265394e-03 6.49601891e-05 -9.99995399e-01 -1.81685231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.286559995 meters 0.016358124593489315 Centerline is valid? [True, True] Translation: X:-26.92, Y:-267.04, Z:-1.82 [[ 9.56439303e-02 9.95415577e-01 -2.59673697e-04 -2.69205583e+01] [ 9.95409555e-01 -9.56442551e-02 -3.46342992e-03 -2.67044540e+02] [-3.47238839e-03 7.27743708e-05 -9.99993969e-01 -1.81654380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.3165599949999 meters 0.0159473664730054 Centerline is valid? [True, True] Translation: X:-26.92, Y:-267.05, Z:-1.82 [[ 1.58941940e-02 9.99873679e-01 1.33368635e-05 -2.69150164e+01] [ 9.99866634e-01 -1.58940319e-02 -3.75408708e-03 -2.67047277e+02] [-3.75340088e-03 7.30032732e-05 -9.99992953e-01 -1.81649084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.346559995 meters 0.015823070141914 Centerline is valid? [True, True] Translation: X:-26.91, Y:-267.05, Z:-1.82 [[-6.35238427e-02 9.97980278e-01 2.92695327e-04 -2.69118264e+01] [ 9.97973920e-01 6.35244830e-02 -3.56307297e-03 -2.67050241e+02] [-3.57446987e-03 6.57622162e-05 -9.99993609e-01 -1.81662890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.376559995 meters 0.015495413978095458 Centerline is valid? [True, True] Translation: X:-26.91, Y:-267.05, Z:-1.82 [[-1.42542572e-01 9.89788520e-01 5.48486076e-04 -2.69087566e+01] [ 9.89782717e-01 1.42543615e-01 -3.38984208e-03 -2.67052147e+02] [-3.43340996e-03 5.96852301e-05 -9.99994104e-01 -1.81671878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.406559995 meters 0.014705265810570581 Centerline is valid? [True, True] Translation: X:-26.90, Y:-267.05, Z:-1.82 [[-2.22305540e-01 9.74976742e-01 7.74459396e-04 -2.69040996e+01] [ 9.74971555e-01 2.22306884e-01 -3.18051380e-03 -2.67054051e+02] [-3.27309464e-03 4.80300440e-05 -9.99994642e-01 -1.81687491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.4365599949999 meters 0.013722633401846871 Centerline is valid? [True, True] Translation: X:-26.90, Y:-267.05, Z:-1.82 [[-2.99463447e-01 9.54107196e-01 1.05039043e-03 -2.68953815e+01] [ 9.54101834e-01 2.99465285e-01 -3.19889637e-03 -2.67052310e+02] [-3.36664551e-03 4.42269070e-05 -9.99994332e-01 -1.81727792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.4665599949999 meters 0.013821945179317272 Centerline is valid? [True, True] Translation: X:-26.89, Y:-267.05, Z:-1.82 [[-3.75050492e-01 9.27003636e-01 1.17777006e-03 -2.68896524e+01] [ 9.26999350e-01 3.75052340e-01 -2.81924272e-03 -2.67052872e+02] [-3.05517367e-03 3.44337114e-05 -9.99995332e-01 -1.81710305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.496559995 meters 0.012554214475876803 Centerline is valid? [True, True] Translation: X:-26.88, Y:-267.05, Z:-1.82 [[-4.50500150e-01 8.92775683e-01 1.09285351e-03 -2.68802812e+01] [ 8.92773144e-01 4.50501475e-01 -2.12922202e-03 -2.67049395e+02] [-2.39324976e-03 1.64554252e-05 -9.99997136e-01 -1.81765811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.526559995 meters 0.012277480446289391 Centerline is valid? [True, True] Translation: X:-26.87, Y:-267.05, Z:-1.82 [[-5.21039613e-01 8.53531761e-01 1.12032936e-03 -2.68732272e+01] [ 8.53529828e-01 5.21040817e-01 -1.81646846e-03 -2.67045785e+02] [-2.13415084e-03 9.78250145e-06 -9.99997723e-01 -1.81843549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.5565599949999 meters 0.012116542711240193 Centerline is valid? [True, True] Translation: X:-26.87, Y:-267.04, Z:-1.82 [[-5.88130678e-01 8.08765222e-01 1.05884438e-03 -2.68671029e+01] [ 8.08763924e-01 5.88131632e-01 -1.44883393e-03 -2.67042884e+02] [-1.79450637e-03 4.25145916e-06 -9.99998390e-01 -1.81876590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.5865599949999 meters 0.012127567126235441 Centerline is valid? [True, True] Translation: X:-26.86, Y:-267.04, Z:-1.82 [[-6.52953655e-01 7.57396891e-01 1.21406489e-03 -2.68609001e+01] [ 7.57395571e-01 6.52954784e-01 -1.41386218e-03 -2.67037201e+02] [-1.86358430e-03 -3.65910115e-06 -9.99998264e-01 -1.81878294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.616559995 meters 0.012277877674571062 Centerline is valid? [True, True] Translation: X:-26.86, Y:-267.03, Z:-1.82 [[-7.11777511e-01 7.02404301e-01 9.86441000e-04 -2.68570606e+01] [ 7.02403615e-01 7.11778195e-01 -9.81264609e-04 -2.67032748e+02] [-1.39137168e-03 -5.56235653e-06 -9.99999032e-01 -1.81880497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.646559995 meters 0.012490599204616794 Centerline is valid? [True, True] Translation: X:-26.42, Y:-266.59, Z:-2.77 [[-6.54889368e-01 -7.55724171e-01 9.44548211e-04 -2.64150626e+01] [ 7.55723403e-01 -6.54890050e-01 -1.07733228e-03 -2.66594900e+02] [ 1.43274127e-03 8.28373254e-06 9.99998974e-01 -2.77341713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.6765599949999 meters 0.013178201279008298 Centerline is valid? [True, True] Translation: X:-26.44, Y:-266.58, Z:-2.77 [[-6.52480055e-01 -7.57805042e-01 1.13837856e-03 -2.64365363e+01] [ 7.57803934e-01 -6.52481048e-01 -1.29619209e-03 -2.66577691e+02] [ 1.72503134e-03 1.69282649e-05 9.99998512e-01 -2.77377664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.7065599949999 meters 0.013598438533323778 Centerline is valid? [True, True] Translation: X:-26.46, Y:-266.56, Z:-2.77 [[-6.51494508e-01 -7.58651494e-01 1.67840350e-03 -2.64569782e+01] [ 7.58649090e-01 -6.51496669e-01 -1.91007780e-03 -2.66557783e+02] [ 2.54255767e-03 2.89140909e-05 9.99996767e-01 -2.77441405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.736559995 meters 0.01385917330249701 Centerline is valid? [True, True] Translation: X:-26.48, Y:-266.54, Z:-2.78 [[-6.50853228e-01 -7.59200661e-01 2.10549026e-03 -2.64767204e+01] [ 7.59196885e-01 -6.50856632e-01 -2.39470764e-03 -2.66538339e+02] [ 3.18843592e-03 3.98784463e-05 9.99994916e-01 -2.77531687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.766559995 meters 0.014602719926372278 Centerline is valid? [True, True] Translation: X:-26.50, Y:-266.52, Z:-2.78 [[-6.49672513e-01 -7.60209523e-01 2.66585149e-03 -2.64963755e+01] [ 7.60203486e-01 -6.49677980e-01 -3.03017324e-03 -2.66520916e+02] [ 4.03551156e-03 5.79693287e-05 9.99991856e-01 -2.77632755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.7965599949999 meters 0.014748532217914563 Centerline is valid? [True, True] Translation: X:-26.51, Y:-266.50, Z:-2.78 [[-6.49659571e-01 -7.60219069e-01 3.06736746e-03 -2.65146133e+01] [ 7.60211087e-01 -6.49666809e-01 -3.48432212e-03 -2.66501721e+02] [ 4.64161495e-03 6.82235360e-05 9.99989225e-01 -2.77665960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.8265599949999 meters 0.01450656215846843 Centerline is valid? [True, True] Translation: X:-26.53, Y:-266.48, Z:-2.78 [[-6.49962017e-01 -7.59959738e-01 3.25173700e-03 -2.65323658e+01] [ 7.59950775e-01 -6.49970147e-01 -3.69158231e-03 -2.66481486e+02] [ 4.91898590e-03 7.17717712e-05 9.99987899e-01 -2.77679868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.856559995 meters 0.01470138164478915 Centerline is valid? [True, True] Translation: X:-26.55, Y:-266.46, Z:-2.78 [[-6.50532326e-01 -7.59469882e-01 3.63199303e-03 -2.65503482e+01] [ 7.59458706e-01 -6.50542460e-01 -4.12073339e-03 -2.66462382e+02] [ 5.49233858e-03 7.76784510e-05 9.99984914e-01 -2.77740083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.886559995 meters 0.014012694767988006 Centerline is valid? [True, True] Translation: X:-26.57, Y:-266.44, Z:-2.78 [[-6.52316252e-01 -7.57935715e-01 4.11825681e-03 -2.65667971e+01] [ 7.57921335e-01 -6.52329247e-01 -4.66944727e-03 -2.66442063e+02] [ 6.22560022e-03 7.53583576e-05 9.99980618e-01 -2.77757636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.916559995 meters 0.013676998432135913 Centerline is valid? [True, True] Translation: X:-26.58, Y:-266.42, Z:-2.78 [[-6.53348402e-01 -7.57044791e-01 4.36469051e-03 -2.65835237e+01] [ 7.57028639e-01 -6.53362977e-01 -4.94571570e-03 -2.66421977e+02] [ 6.59585550e-03 7.29202685e-05 9.99978245e-01 -2.77738073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.9465599949999 meters 0.013049882695796246 Centerline is valid? [True, True] Translation: X:-26.60, Y:-266.40, Z:-2.78 [[-6.55291965e-01 -7.55364073e-01 4.19021323e-03 -2.65996275e+01] [ 7.55349171e-01 -6.55305360e-01 -4.74499378e-03 -2.66400381e+02] [ 6.33006702e-03 5.57177979e-05 9.99979963e-01 -2.77680094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.976559995 meters 0.012819794117515512 Centerline is valid? [True, True] Translation: X:-26.62, Y:-266.38, Z:-2.78 [[-6.56637788e-01 -7.54193032e-01 4.43696571e-03 -2.66159173e+01] [ 7.54176319e-01 -6.56652776e-01 -5.02108799e-03 -2.66380442e+02] [ 6.70041542e-03 4.92183543e-05 9.99977551e-01 -2.77712484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.006559995 meters 0.012556365425873718 Centerline is valid? [True, True] Translation: X:-26.63, Y:-266.36, Z:-2.78 [[-6.58020960e-01 -7.52986624e-01 4.42280054e-03 -2.66325785e+01] [ 7.52970011e-01 -6.58035822e-01 -5.00191501e-03 -2.66359778e+02] [ 6.67673628e-03 3.88712552e-05 9.99977710e-01 -2.77718220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.036559995 meters 0.012197883495248859 Centerline is valid? [True, True] Translation: X:-26.65, Y:-266.34, Z:-2.78 [[-6.59376716e-01 -7.51798183e-01 4.67312723e-03 -2.66492153e+01] [ 7.51779629e-01 -6.59393275e-01 -5.28188745e-03 -2.66338566e+02] [ 7.05234206e-03 3.04082551e-05 9.99975132e-01 -2.77666759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.0665599949999 meters 0.012171520384164441 Centerline is valid? [True, True] Translation: X:-26.67, Y:-266.32, Z:-2.78 [[-6.60551306e-01 -7.50765162e-01 4.86251898e-03 -2.66659783e+01] [ 7.50745070e-01 -6.60569203e-01 -5.49254122e-03 -2.66318656e+02] [ 7.33563888e-03 2.24068726e-05 9.99973094e-01 -2.77759803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.096559995 meters 0.012151069824022425 Centerline is valid? [True, True] Translation: X:-26.68, Y:-266.30, Z:-2.78 [[-6.62703080e-01 -7.48865173e-01 5.05768166e-03 -2.66804153e+01] [ 7.48843402e-01 -6.62722380e-01 -5.71016793e-03 -2.66298006e+02] [ 7.62798472e-03 3.26566098e-06 9.99970907e-01 -2.77751178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.126559995 meters 0.012220462780480496 Centerline is valid? [True, True] Translation: X:-26.70, Y:-266.28, Z:-2.78 [[-6.63900158e-01 -7.47802977e-01 5.22382184e-03 -2.66968534e+01] [ 7.47779748e-01 -6.63920709e-01 -5.89414261e-03 -2.66277000e+02] [ 7.87586089e-03 -6.85402658e-06 9.99968985e-01 -2.77738890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.156559995 meters 0.012244448628558958 Centerline is valid? [True, True] Translation: X:-26.71, Y:-266.26, Z:-2.78 [[-6.65003923e-01 -7.46821289e-01 5.26720132e-03 -2.67132218e+01] [ 7.46797671e-01 -6.65024783e-01 -5.93948003e-03 -2.66256290e+02] [ 7.93854955e-03 -1.62438408e-05 9.99968489e-01 -2.77734967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.1865599949999 meters 0.012390560977854289 Centerline is valid? [True, True] Translation: X:-26.73, Y:-266.24, Z:-2.78 [[-6.66250796e-01 -7.45708410e-01 5.37063645e-03 -2.67295955e+01] [ 7.45683849e-01 -6.66272442e-01 -6.05237909e-03 -2.66235567e+02] [ 8.09161705e-03 -2.76055310e-05 9.99967262e-01 -2.77685395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.2165599949999 meters 0.013029665489541098 Centerline is valid? [True, True] Translation: X:-26.74, Y:-266.21, Z:-2.78 [[-6.68263027e-01 -7.43900726e-01 6.01964783e-03 -2.67444797e+01] [ 7.43869823e-01 -6.68290137e-01 -6.78086094e-03 -2.66214029e+02] [ 9.06715865e-03 -5.35642967e-05 9.99958891e-01 -2.77755073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.246559995 meters 0.013482595542866824 Centerline is valid? [True, True] Translation: X:-26.76, Y:-266.19, Z:-2.78 [[-6.69476048e-01 -7.42808559e-01 6.10462272e-03 -2.67609639e+01] [ 7.42776769e-01 -6.69503877e-01 -6.87248035e-03 -2.66193584e+02] [ 9.19200580e-03 -6.65890434e-05 9.99957750e-01 -2.77759721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.276559995 meters 0.013754037498919208 Centerline is valid? [True, True] Translation: X:-26.78, Y:-266.17, Z:-2.78 [[-6.71861084e-01 -7.40651831e-01 6.12777624e-03 -2.67775661e+01] [ 7.40619745e-01 -6.71889021e-01 -6.89466537e-03 -2.66172148e+02] [ 9.22373211e-03 -9.39052719e-05 9.99957456e-01 -2.77694058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.3065599949999 meters 0.014333998007820275 Centerline is valid? [True, True] Translation: X:-26.79, Y:-266.15, Z:-2.78 [[-6.73307595e-01 -7.39336612e-01 6.18521600e-03 -2.67943597e+01] [ 7.39303903e-01 -6.73335995e-01 -6.95539199e-03 -2.66150598e+02] [ 9.30710452e-03 -1.10363920e-04 9.99956682e-01 -2.77707331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.3365599949999 meters 0.015098640724522232 Centerline is valid? [True, True] Translation: X:-26.81, Y:-266.13, Z:-2.78 [[-6.74977457e-01 -7.37811901e-01 6.24750877e-03 -2.68109740e+01] [ 7.37778501e-01 -6.75006357e-01 -7.02152874e-03 -2.66128574e+02] [ 9.39767560e-03 -1.30095961e-04 9.99955832e-01 -2.77705949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.366559995 meters 0.01611685722161394 Centerline is valid? [True, True] Translation: X:-26.83, Y:-266.11, Z:-2.78 [[-6.76732067e-01 -7.36200499e-01 6.52188037e-03 -2.68272697e+01] [ 7.36164065e-01 -6.76763475e-01 -7.32584135e-03 -2.66106428e+02] [ 9.80705847e-03 -1.56457794e-04 9.99951897e-01 -2.77702436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.396559995 meters 0.01810224497854526 Centerline is valid? [True, True] Translation: X:-26.84, Y:-266.08, Z:-2.78 [[-6.80036900e-01 -7.33148894e-01 6.52033264e-03 -2.68408194e+01] [ 7.33112378e-01 -6.80068129e-01 -7.31987348e-03 -2.66084037e+02] [ 9.80082757e-03 -1.97647499e-04 9.99951951e-01 -2.77694623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.4265599949999 meters 0.019054740926285035 Centerline is valid? [True, True] Translation: X:-26.86, Y:-266.06, Z:-2.78 [[-6.81589284e-01 -7.31705678e-01 6.54581052e-03 -2.68578736e+01] [ 7.31668850e-01 -6.81620681e-01 -7.34445821e-03 -2.66062212e+02] [ 9.83574161e-03 -2.16538358e-04 9.99951605e-01 -2.77681830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.4565599949999 meters 0.019764070916063338 Centerline is valid? [True, True] Translation: X:-26.88, Y:-266.04, Z:-2.78 [[-6.82924744e-01 -7.30456938e-01 6.81578244e-03 -2.68752631e+01] [ 7.30416990e-01 -6.82958713e-01 -7.64318484e-03 -2.66040814e+02] [ 1.02379154e-02 -2.41356764e-04 9.99947562e-01 -2.77692220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.486559995 meters 0.02049275307532371 Centerline is valid? [True, True] Translation: X:-26.89, Y:-266.02, Z:-2.78 [[-6.84034861e-01 -7.29417937e-01 6.76633518e-03 -2.68926473e+01] [ 7.29378557e-01 -6.84068279e-01 -7.58359413e-03 -2.66019736e+02] [ 1.01602448e-02 -2.52222972e-04 9.99948352e-01 -2.77661898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.516559995 meters 0.0217351721718561 Centerline is valid? [True, True] Translation: X:-26.91, Y:-266.00, Z:-2.78 [[-6.85259071e-01 -7.28264059e-01 7.17390317e-03 -2.69088909e+01] [ 7.28219776e-01 -6.85296564e-01 -8.03601510e-03 -2.65999637e+02] [ 1.07685922e-02 -2.82574084e-04 9.99941977e-01 -2.77688808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.5465599949999 meters 0.02172391201920552 Centerline is valid? [True, True] Translation: X:-26.93, Y:-265.98, Z:-2.78 [[-6.85434349e-01 -7.28098393e-01 7.24458551e-03 -2.69266353e+01] [ 7.28053276e-01 -6.85472574e-01 -8.11033133e-03 -2.65980449e+02] [ 1.08710839e-02 -2.84655457e-04 9.99940868e-01 -2.77702873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.5765599949999 meters 0.01586738483108935 Centerline is valid? [True, True] Translation: X:-26.95, Y:-265.97, Z:-2.77 [[-6.84896428e-01 -7.28605343e-01 7.15102952e-03 -2.69522124e+01] [ 7.28561460e-01 -6.84933706e-01 -8.00112866e-03 -2.65966247e+02] [ 1.07276462e-02 -2.69979930e-04 9.99942421e-01 -2.77353120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.606559995 meters 0.015343109205539841 Centerline is valid? [True, True] Translation: X:-26.97, Y:-265.95, Z:-2.77 [[-6.84531015e-01 -7.28949580e-01 7.05685759e-03 -2.69717922e+01] [ 7.28906911e-01 -6.84567340e-01 -7.89131581e-03 -2.65946674e+02] [ 1.05832656e-02 -2.58058154e-04 9.99943962e-01 -2.77336376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.636559995 meters 0.015281588100203433 Centerline is valid? [True, True] Translation: X:-26.99, Y:-265.93, Z:-2.77 [[-6.83809733e-01 -7.29622621e-01 7.42159208e-03 -2.69904836e+01] [ 7.29575519e-01 -6.83849958e-01 -8.29441668e-03 -2.65927395e+02] [ 1.11270495e-02 -2.57190960e-04 9.99938059e-01 -2.77354766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.666559995 meters 0.014635655682568782 Centerline is valid? [True, True] Translation: X:-27.01, Y:-265.91, Z:-2.77 [[-6.81840747e-01 -7.31456569e-01 8.03018631e-03 -2.70117646e+01] [ 7.31401612e-01 -6.81887989e-01 -8.96957360e-03 -2.65908740e+02] [ 1.20365411e-02 -2.42529551e-04 9.99927529e-01 -2.77462550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.6965599949999 meters 0.014234990624701854 Centerline is valid? [True, True] Translation: X:-27.03, Y:-265.89, Z:-2.77 [[-6.80760654e-01 -7.32459166e-01 8.27663754e-03 -2.70310297e+01] [ 7.32400930e-01 -6.80810927e-01 -9.23905270e-03 -2.65889785e+02] [ 1.24020541e-02 -2.27766525e-04 9.99923066e-01 -2.77497542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.726559995 meters 0.01369483596280999 Centerline is valid? [True, True] Translation: X:-27.05, Y:-265.87, Z:-2.77 [[-6.79411966e-01 -7.33712799e-01 8.05658592e-03 -2.70509461e+01] [ 7.33657771e-01 -6.79459704e-01 -8.98810332e-03 -2.65870321e+02] [ 1.20688119e-02 -1.95848085e-04 9.99927150e-01 -2.77493780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.756559995 meters 0.012870161913113362 Centerline is valid? [True, True] Translation: X:-27.07, Y:-265.85, Z:-2.77 [[-6.76020714e-01 -7.36837829e-01 8.12451101e-03 -2.70722318e+01] [ 7.36782131e-01 -6.76069519e-01 -9.06075173e-03 -2.65851125e+02] [ 1.21690389e-02 -1.39261328e-04 9.99925945e-01 -2.77424236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.786559995 meters 0.012299497228694938 Centerline is valid? [True, True] Translation: X:-27.09, Y:-265.83, Z:-2.77 [[-6.74403897e-01 -7.38317781e-01 8.13865484e-03 -2.70927116e+01] [ 7.38262058e-01 -6.74452995e-01 -9.07144998e-03 -2.65831456e+02] [ 1.21867529e-02 -1.09361150e-04 9.99925733e-01 -2.77362243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.8165599949999 meters 0.011997446360069166 Centerline is valid? [True, True] Translation: X:-27.11, Y:-265.81, Z:-2.77 [[-6.72920927e-01 -7.39669096e-01 8.18869361e-03 -2.71128049e+01] [ 7.39612852e-01 -6.72970744e-01 -9.12182751e-03 -2.65812220e+02] [ 1.22578851e-02 -8.18055877e-05 9.99924866e-01 -2.77357897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.846559995 meters 0.011599418673470543 Centerline is valid? [True, True] Translation: X:-27.13, Y:-265.80, Z:-2.77 [[-6.69740627e-01 -7.42549090e-01 8.26692085e-03 -2.71333168e+01] [ 7.42492059e-01 -6.69791646e-01 -9.20293055e-03 -2.65795515e+02] [ 1.23707422e-02 -2.54533935e-05 9.99923479e-01 -2.77385239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.876559995 meters 0.011531480931032885 Centerline is valid? [True, True] Translation: X:-27.15, Y:-265.78, Z:-2.77 [[-6.68346880e-01 -7.43801988e-01 8.42916061e-03 -2.71531059e+01] [ 7.43742863e-01 -6.68400032e-01 -9.37828064e-03 -2.65775962e+02] [ 1.26096350e-02 1.18343857e-06 9.99920495e-01 -2.77330943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.906559995 meters 0.0115689389591464 Centerline is valid? [True, True] Translation: X:-27.17, Y:-265.76, Z:-2.77 [[-6.66927222e-01 -7.45079745e-01 8.01594764e-03 -2.71721115e+01] [ 7.45026437e-01 -6.66975392e-01 -8.91265134e-03 -2.65757298e+02] [ 1.19870758e-02 2.80031114e-05 9.99928152e-01 -2.77355789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.9365599949999 meters 0.011653971919465846 Centerline is valid? [True, True] Translation: X:-27.19, Y:-265.74, Z:-2.77 [[-6.65732393e-01 -7.46153026e-01 7.48621295e-03 -2.71918405e+01] [ 7.46106656e-01 -6.65774481e-01 -8.31854830e-03 -2.65737769e+02] [ 1.11910395e-02 4.75862500e-05 9.99937377e-01 -2.77319336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.9665599949999 meters 0.011734089149251597 Centerline is valid? [True, True] Translation: X:-27.21, Y:-265.72, Z:-2.77 [[-6.64525407e-01 -7.47228493e-01 7.45401045e-03 -2.72114467e+01] [ 7.47182641e-01 -6.64567208e-01 -8.27811600e-03 -2.65717940e+02] [ 1.11393351e-02 6.84888076e-05 9.99937953e-01 -2.77231718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.996559995 meters 0.012026320272398451 Centerline is valid? [True, True] Translation: X:-27.23, Y:-265.70, Z:-2.77 [[-6.62273926e-01 -7.49223033e-01 7.62186613e-03 -2.72319490e+01] [ 7.49175278e-01 -6.62317775e-01 -8.45980488e-03 -2.65698652e+02] [ 1.13863781e-02 1.07405482e-04 9.99935167e-01 -2.77239834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.026559995 meters 0.012339863710241792 Centerline is valid? [True, True] Translation: X:-27.25, Y:-265.68, Z:-2.77 [[-6.61301966e-01 -7.50082832e-01 7.44683378e-03 -2.72514119e+01] [ 7.50037356e-01 -6.61343882e-01 -8.26035382e-03 -2.65679102e+02] [ 1.11208675e-02 1.22815300e-04 9.99938154e-01 -2.77227659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.0565599949999 meters 0.013174063369582503 Centerline is valid? [True, True] Translation: X:-27.27, Y:-265.66, Z:-2.77 [[-6.60501885e-01 -7.50791370e-01 7.04120589e-03 -2.72707375e+01] [ 7.50750808e-01 -6.60539402e-01 -7.80528917e-03 -2.65661804e+02] [ 1.05111377e-02 1.30782807e-04 9.99944748e-01 -2.77332947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.0865599949999 meters 0.013010762945131047 Centerline is valid? [True, True] Translation: X:-27.29, Y:-265.64, Z:-2.77 [[-6.58699958e-01 -7.52375409e-01 6.75353380e-03 -2.72894953e+01] [ 7.52338219e-01 -6.58734561e-01 -7.48221180e-03 -2.65640593e+02] [ 1.00782183e-02 1.52408995e-04 9.99949202e-01 -2.77063922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.116559995 meters 0.013105701228102942 Centerline is valid? [True, True] Translation: X:-27.31, Y:-265.62, Z:-2.77 [[-6.58147595e-01 -7.52855873e-01 7.05540403e-03 -2.73078364e+01] [ 7.52815361e-01 -6.58185389e-01 -7.81194953e-03 -2.65620030e+02] [ 1.05250359e-02 1.70000737e-04 9.99944596e-01 -2.77064068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.146559995 meters 0.013105701228102942 Centerline is valid? [True, True] Translation: X:-27.33, Y:-265.60, Z:-2.77 [[-6.58359571e-01 -7.52670489e-01 7.05760377e-03 -2.73263724e+01] [ 7.52629988e-01 -6.58397377e-01 -7.80996226e-03 -2.65599613e+02] [ 1.05250359e-02 1.70000839e-04 9.99944596e-01 -2.77064052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.1765599949999 meters 0.014591365355550352 Centerline is valid? [True, True] Translation: X:-27.35, Y:-265.58, Z:-2.77 [[-6.58109293e-01 -7.52882790e-01 7.72421621e-03 -2.73464316e+01] [ 7.52834349e-01 -6.58154592e-01 -8.54253732e-03 -2.65581668e+02] [ 1.15152577e-02 1.93132086e-04 9.99933679e-01 -2.77314470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.2065599949999 meters 0.01329327585050428 Centerline is valid? [True, True] Translation: X:-27.36, Y:-265.56, Z:-2.77 [[-6.58011563e-01 -7.52960349e-01 8.45548607e-03 -2.73627476e+01] [ 7.52902380e-01 -6.58065852e-01 -9.34562495e-03 -2.65559261e+02] [ 1.26011517e-02 2.16626296e-04 9.99920579e-01 -2.77276144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.236559995 meters 0.014446338265535237 Centerline is valid? [True, True] Translation: X:-27.38, Y:-265.54, Z:-2.77 [[-6.58309581e-01 -7.52696493e-01 8.74561814e-03 -2.73817802e+01] [ 7.52634529e-01 -6.58367633e-01 -9.66051038e-03 -2.65540620e+02] [ 1.30292642e-02 2.22647652e-04 9.99915091e-01 -2.77481638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.266559995 meters 0.013316805231339175 Centerline is valid? [True, True] Translation: X:-27.40, Y:-265.52, Z:-2.77 [[-6.58695916e-01 -7.52354337e-01 9.09072796e-03 -2.73985004e+01] [ 7.52287432e-01 -6.58758605e-01 -1.00359914e-02 -2.65517519e+02] [ 1.35392169e-02 2.28173852e-04 9.99908315e-01 -2.77324295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.2965599949999 meters 0.01337834063190928 Centerline is valid? [True, True] Translation: X:-27.42, Y:-265.50, Z:-2.77 [[-6.59372180e-01 -7.51756228e-01 9.53419459e-03 -2.74159249e+01] [ 7.51682663e-01 -6.59441066e-01 -1.05192410e-02 -2.65497231e+02] [ 1.41951444e-02 2.30593893e-04 9.99899217e-01 -2.77380167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.3265599949999 meters 0.012940352585225969 Centerline is valid? [True, True] Translation: X:-27.43, Y:-265.47, Z:-2.77 [[-6.61566972e-01 -7.49818656e-01 1.00560929e-02 -2.74322070e+01] [ 7.49736686e-01 -6.61643365e-01 -1.10887427e-02 -2.65473783e+02] [ 1.49680933e-02 2.03475815e-04 9.99887951e-01 -2.77395543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.356559995 meters 0.012812126678357892 Centerline is valid? [True, True] Translation: X:-27.45, Y:-265.45, Z:-2.77 [[-6.63238072e-01 -7.48334061e-01 1.05543026e-02 -2.74488942e+01] [ 7.48243687e-01 -6.63322018e-01 -1.16312220e-02 -2.65451827e+02] [ 1.57049409e-02 1.82921028e-04 9.99876653e-01 -2.77419949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.386559995 meters 0.012452082034377974 Centerline is valid? [True, True] Translation: X:-27.47, Y:-265.43, Z:-2.77 [[-6.65301731e-01 -7.46501412e-01 1.04521694e-02 -2.74654581e+01] [ 7.46412653e-01 -6.65383815e-01 -1.15121830e-02 -2.65429148e+02] [ 1.55485652e-02 1.42556218e-04 9.99879104e-01 -2.77372632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.416559995 meters 0.012051379787815043 Centerline is valid? [True, True] Translation: X:-27.48, Y:-265.40, Z:-2.77 [[-6.69748597e-01 -7.42527014e-01 9.51054935e-03 -2.74794896e+01] [ 7.42453207e-01 -6.69816117e-01 -1.04691951e-02 -2.65403821e+02] [ 1.41439794e-02 4.94091634e-05 9.99899968e-01 -2.77240953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.4465599949999 meters 0.011874205725903992 Centerline is valid? [True, True] Translation: X:-27.50, Y:-265.38, Z:-2.77 [[-6.72000690e-01 -7.40492447e-01 9.27413244e-03 -2.74959766e+01] [ 7.40422150e-01 -6.72064682e-01 -1.02031313e-02 -2.65380785e+02] [ 1.37881585e-02 1.02618000e-05 9.99904939e-01 -2.77101334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.476559995 meters 0.012017854300388209 Centerline is valid? [True, True] Translation: X:-27.51, Y:-265.36, Z:-2.77 [[-6.74264750e-01 -7.38436308e-01 8.88071727e-03 -2.75122275e+01] [ 7.38371747e-01 -6.74323230e-01 -9.76444881e-03 -2.65358547e+02] [ 1.31988975e-02 -2.65529121e-05 9.99912890e-01 -2.77088964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.506559995 meters 0.012275162816254882 Centerline is valid? [True, True] Translation: X:-27.53, Y:-265.33, Z:-2.77 [[-6.77876793e-01 -7.35133027e-01 7.90480556e-03 -2.75273350e+01] [ 7.35081708e-01 -6.77922877e-01 -8.68652820e-03 -2.65334734e+02] [ 1.17446023e-02 -7.77179080e-05 9.99931027e-01 -2.76943031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.536559995 meters 0.012541055144764824 Centerline is valid? [True, True] Translation: X:-27.54, Y:-265.31, Z:-2.77 [[-6.79440159e-01 -7.33688772e-01 7.86488444e-03 -2.75438582e+01] [ 7.33637937e-01 -6.79485670e-01 -8.63722512e-03 -2.65313386e+02] [ 1.16811114e-02 -9.85000152e-05 9.99931769e-01 -2.76931601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.5665599949999 meters 0.012805109340368112 Centerline is valid? [True, True] Translation: X:-27.56, Y:-265.29, Z:-2.77 [[-6.81214638e-01 -7.32043789e-01 7.64902284e-03 -2.75604251e+01] [ 7.31995662e-01 -6.81257570e-01 -8.39491616e-03 -2.65292087e+02] [ 1.13564010e-02 -1.19688240e-04 9.99935507e-01 -2.76912465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.596559995 meters 0.013597014584892438 Centerline is valid? [True, True] Translation: X:-27.58, Y:-265.27, Z:-2.77 [[-6.84528958e-01 -7.28939345e-01 8.21810563e-03 -2.75761002e+01] [ 7.28883626e-01 -6.84578264e-01 -9.01445604e-03 -2.65268744e+02] [ 1.21969282e-02 -1.80613568e-04 9.99925598e-01 -2.76875652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.626559995 meters 0.014291343634780318 Centerline is valid? [True, True] Translation: X:-27.59, Y:-265.25, Z:-2.77 [[-6.86367342e-01 -7.27208123e-01 8.25934393e-03 -2.75926853e+01] [ 7.27151784e-01 -6.86417003e-01 -9.05435949e-03 -2.65246712e+02] [ 1.22537579e-02 -2.08819990e-04 9.99924898e-01 -2.76890439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.656559995 meters 0.015288365101859219 Centerline is valid? [True, True] Translation: X:-27.61, Y:-265.22, Z:-2.77 [[-6.89670076e-01 -7.24072183e-01 8.64058399e-03 -2.76084534e+01] [ 7.24010347e-01 -6.89724147e-01 -9.46672275e-03 -2.65223827e+02] [ 1.28142100e-02 -2.73043191e-04 9.99917857e-01 -2.76885176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.6865599949999 meters 0.015288365101859219 Centerline is valid? [True, True] Translation: X:-27.63, Y:-265.20, Z:-2.77 [[-6.89894530e-01 -7.23858292e-01 8.64351876e-03 -2.76265746e+01] [ 7.23796473e-01 -6.89948620e-01 -9.46404326e-03 -2.65204125e+02] [ 1.28142100e-02 -2.73043289e-04 9.99917857e-01 -2.76885161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.7165599949999 meters 0.016199872518645037 Centerline is valid? [True, True] Translation: X:-27.64, Y:-265.18, Z:-2.77 [[-6.91563039e-01 -7.22260247e-01 8.98329803e-03 -2.76432046e+01] [ 7.22193393e-01 -6.91621312e-01 -9.83178557e-03 -2.65183199e+02] [ 1.33141482e-02 -3.11621019e-04 9.99911314e-01 -2.76935266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.746559995 meters 0.01622932477929966 Centerline is valid? [True, True] Translation: X:-27.66, Y:-265.16, Z:-2.77 [[-6.94122272e-01 -7.19795096e-01 9.44940557e-03 -2.76615301e+01] [ 7.19720977e-01 -6.94186488e-01 -1.03360935e-02 -2.65161890e+02] [ 1.39995191e-02 -3.73577284e-04 9.99901932e-01 -2.76930230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.776559995 meters 0.01760065688855494 Centerline is valid? [True, True] Translation: X:-27.68, Y:-265.14, Z:-2.77 [[-6.95231761e-01 -7.18722623e-01 9.51788275e-03 -2.76782344e+01] [ 7.18647413e-01 -6.95296797e-01 -1.04048179e-02 -2.65140356e+02] [ 1.40959314e-02 -3.93758029e-04 9.99900570e-01 -2.77035406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.8065599949999 meters 0.01686159226835762 Centerline is valid? [True, True] Translation: X:-27.70, Y:-265.12, Z:-2.77 [[-6.95885223e-01 -7.18090592e-01 9.46883115e-03 -2.76978032e+01] [ 7.18016177e-01 -6.95949525e-01 -1.03453892e-02 -2.65120088e+02] [ 1.40187552e-02 -4.00429520e-04 9.99901652e-01 -2.76937183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.8365599949999 meters 0.017082009379729913 Centerline is valid? [True, True] Translation: X:-27.72, Y:-265.10, Z:-2.77 [[-6.96229093e-01 -7.17761479e-01 9.13840030e-03 -2.77161205e+01] [ 7.17692215e-01 -6.96288955e-01 -9.97880791e-03 -2.65098800e+02] [ 1.35253711e-02 -3.88977631e-04 9.99908452e-01 -2.76872595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.866559995 meters 0.016440204788145785 Centerline is valid? [True, True] Translation: X:-27.74, Y:-265.08, Z:-2.77 [[-6.96139446e-01 -7.17852085e-01 8.84628435e-03 -2.77360704e+01] [ 7.17787257e-01 -6.96195552e-01 -9.65436110e-03 -2.65078892e+02] [ 1.30891471e-02 -3.71031405e-04 9.99914265e-01 -2.76801572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.896559995 meters 0.016259910149811804 Centerline is valid? [True, True] Translation: X:-27.76, Y:-265.06, Z:-2.77 [[-6.95815223e-01 -7.18168288e-01 8.68826999e-03 -2.77557604e+01] [ 7.18105849e-01 -6.95869373e-01 -9.47654697e-03 -2.65058480e+02] [ 1.28516565e-02 -3.54828150e-04 9.99917351e-01 -2.76793035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.9265599949999 meters 0.015458913537160432 Centerline is valid? [True, True] Translation: X:-27.78, Y:-265.04, Z:-2.77 [[-6.94328940e-01 -7.19604537e-01 8.75405632e-03 -2.77767040e+01] [ 7.19541330e-01 -6.94384046e-01 -9.54308924e-03 -2.65039056e+02] [ 1.29459274e-02 -3.27137714e-04 9.99916145e-01 -2.76777514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.9565599949999 meters 0.01509657927694703 Centerline is valid? [True, True] Translation: X:-27.80, Y:-265.02, Z:-2.77 [[-6.93339691e-01 -7.20558605e-01 8.68157055e-03 -2.77966827e+01] [ 7.20496582e-01 -6.93393975e-01 -9.45888315e-03 -2.65018708e+02] [ 1.28354284e-02 -3.03177207e-04 9.99917577e-01 -2.76762416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.986559995 meters 0.014557221483197115 Centerline is valid? [True, True] Translation: X:-27.82, Y:-265.00, Z:-2.77 [[-6.90215713e-01 -7.23547611e-01 9.00686868e-03 -2.78161338e+01] [ 7.23481175e-01 -6.90274431e-01 -9.80812284e-03 -2.65000406e+02] [ 1.33138550e-02 -2.53420563e-04 9.99911335e-01 -2.76764278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.016559995 meters 0.014081012803124297 Centerline is valid? [True, True] Translation: X:-27.84, Y:-264.98, Z:-2.77 [[-6.88494251e-01 -7.25186528e-01 8.95352821e-03 -2.78364988e+01] [ 7.25121086e-01 -6.88552433e-01 -9.74460664e-03 -2.64981136e+02] [ 1.32316311e-02 -2.16713544e-04 9.99912435e-01 -2.76766110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.0465599949999 meters 0.012994844592922333 Centerline is valid? [True, True] Translation: X:-27.86, Y:-264.96, Z:-2.77 [[-6.83907121e-01 -7.29512178e-01 9.11219312e-03 -2.78581342e+01] [ 7.29444834e-01 -6.83967809e-01 -9.91316657e-03 -2.64964670e+02] [ 1.34642225e-02 -1.32843014e-04 9.99909345e-01 -2.76782854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.0765599949999 meters 0.012291192429507904 Centerline is valid? [True, True] Translation: X:-27.88, Y:-264.95, Z:-2.77 [[-6.78803613e-01 -7.34259033e-01 9.45132190e-03 -2.78812591e+01] [ 7.34187119e-01 -6.78869406e-01 -1.02764005e-02 -2.64948246e+02] [ 1.39617531e-02 -3.66189593e-05 9.99902529e-01 -2.76864808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.106559995 meters 0.012148718664343574 Centerline is valid? [True, True] Translation: X:-27.90, Y:-264.93, Z:-2.77 [[-6.76336532e-01 -7.36534418e-01 9.27076498e-03 -2.79015266e+01] [ 7.36465524e-01 -6.76400068e-01 -1.00737795e-02 -2.64930408e+02] [ 1.36904314e-02 1.43337022e-05 9.99906282e-01 -2.76893935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.136559995 meters 0.012422825349127524 Centerline is valid? [True, True] Translation: X:-27.92, Y:-264.91, Z:-2.77 [[-6.73615735e-01 -7.39020225e-01 9.53665796e-03 -2.79220967e+01] [ 7.38947656e-01 -6.73683236e-01 -1.03566201e-02 -2.64912387e+02] [ 1.40784383e-02 7.07087785e-05 9.99900891e-01 -2.76974679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.166559995 meters 0.012422825349127524 Centerline is valid? [True, True] Translation: X:-27.94, Y:-264.89, Z:-2.77 [[-6.73842435e-01 -7.38813484e-01 9.53983517e-03 -2.79403029e+01] [ 7.38740936e-01 -6.73909957e-01 -1.03536935e-02 -2.64892781e+02] [ 1.40784383e-02 7.07086964e-05 9.99900891e-01 -2.76974664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.1965599949999 meters 0.012586854637740202 Centerline is valid? [True, True] Translation: X:-27.96, Y:-264.87, Z:-2.77 [[-6.71508294e-01 -7.40935045e-01 9.58495120e-03 -2.79608101e+01] [ 7.40862111e-01 -6.71576686e-01 -1.03965169e-02 -2.64874129e+02] [ 1.41401735e-02 1.19779838e-04 9.99900016e-01 -2.76960000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.226559995 meters 0.013673075334476098 Centerline is valid? [True, True] Translation: X:-27.98, Y:-264.86, Z:-2.77 [[-6.66676183e-01 -7.45289968e-01 9.25914982e-03 -2.79826239e+01] [ 7.45222406e-01 -6.66740445e-01 -1.00371550e-02 -2.64856854e+02] [ 1.36540406e-02 2.08593747e-04 9.99906758e-01 -2.76987472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.256559995 meters 0.014996077874270396 Centerline is valid? [True, True] Translation: X:-28.00, Y:-264.84, Z:-2.77 [[-6.64547386e-01 -7.47190277e-01 9.13571989e-03 -2.80031304e+01] [ 7.47124763e-01 -6.64610133e-01 -9.89749663e-03 -2.64839359e+02] [ 1.34670053e-02 2.48167047e-04 9.99909285e-01 -2.77069627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.286559995 meters 0.015203101502001198 Centerline is valid? [True, True] Translation: X:-28.02, Y:-264.82, Z:-2.77 [[-6.62590719e-01 -7.48929649e-01 8.82729946e-03 -2.80228538e+01] [ 7.48868707e-01 -6.62649458e-01 -9.55801289e-03 -2.64819022e+02] [ 1.30076844e-02 2.77437701e-04 9.99915358e-01 -2.76989357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.3165599949999 meters 0.016527174919078957 Centerline is valid? [True, True] Translation: X:-28.04, Y:-264.80, Z:-2.77 [[-6.59207058e-01 -7.51914196e-01 8.43188902e-03 -2.80437302e+01] [ 7.51858898e-01 -6.59260902e-01 -9.12472178e-03 -2.64800242e+02] [ 1.24198226e-02 3.24509793e-04 9.99922818e-01 -2.76969873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.346559995 meters 0.017272876577699818 Centerline is valid? [True, True] Translation: X:-28.06, Y:-264.78, Z:-2.77 [[-6.58055086e-01 -7.52926959e-01 8.03108375e-03 -2.80633066e+01] [ 7.52876930e-01 -6.58104008e-01 -8.68581651e-03 -2.64780828e+02] [ 1.18250738e-02 3.30671949e-04 9.99930027e-01 -2.76968760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.376559995 meters 0.020415030411104988 Centerline is valid? [True, True] Translation: X:-28.09, Y:-264.76, Z:-2.77 [[-6.57084189e-01 -7.53776647e-01 7.81895515e-03 -2.80850488e+01] [ 7.53729343e-01 -6.57130620e-01 -8.45139909e-03 -2.64764359e+02] [ 1.15085421e-02 3.40095220e-04 9.99933717e-01 -2.77134495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.406559995 meters 0.01869377124269929 Centerline is valid? [True, True] Translation: X:-28.10, Y:-264.74, Z:-2.77 [[-6.55939822e-01 -7.54775551e-01 7.53773686e-03 -2.81013584e+01] [ 7.54731708e-01 -6.55983039e-01 -8.14262701e-03 -2.64741939e+02] [ 1.10904833e-02 3.47895701e-04 9.99938438e-01 -2.77047700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.4365599949999 meters 0.01865578379957259 Centerline is valid? [True, True] Translation: X:-28.12, Y:-264.72, Z:-2.77 [[-6.55821215e-01 -7.54876865e-01 7.71056137e-03 -2.81196698e+01] [ 7.54831055e-01 -6.55866441e-01 -8.32408940e-03 -2.64721509e+02] [ 1.13407610e-02 3.61056744e-04 9.99935626e-01 -2.77082642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.4665599949999 meters 0.022889863684894343 Centerline is valid? [True, True] Translation: X:-28.14, Y:-264.71, Z:-2.77 [[-6.55977802e-01 -7.54742444e-01 7.54763736e-03 -2.81415855e+01] [ 7.54698600e-01 -6.56021126e-01 -8.14283877e-03 -2.64705535e+02] [ 1.10971556e-02 3.54669875e-04 9.99938362e-01 -2.77372431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.496559995 meters 0.018441989041154565 Centerline is valid? [True, True] Translation: X:-28.15, Y:-264.68, Z:-2.77 [[-6.56455481e-01 -7.54324125e-01 7.83046939e-03 -2.81544618e+01] [ 7.54276965e-01 -6.56502081e-01 -8.44263817e-03 -2.64680398e+02] [ 1.15092051e-02 3.64126582e-04 9.99933701e-01 -2.77206442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.526559995 meters 0.018762902556936575 Centerline is valid? [True, True] Translation: X:-28.17, Y:-264.66, Z:-2.77 [[-6.57090235e-01 -7.53768904e-01 8.05369675e-03 -2.81722103e+01] [ 7.53719043e-01 -6.57139486e-01 -8.67757361e-03 -2.64660413e+02] [ 1.18332873e-02 3.68275730e-04 9.99929916e-01 -2.77299814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.5565599949999 meters 0.018596563589908063 Centerline is valid? [True, True] Translation: X:-28.19, Y:-264.64, Z:-2.77 [[-6.58089538e-01 -7.52890412e-01 8.61322550e-03 -2.81896123e+01] [ 7.52833380e-01 -6.58145792e-01 -9.27466900e-03 -2.64639280e+02] [ 1.26515675e-02 3.80761018e-04 9.99919893e-01 -2.77361672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.5865599949999 meters 0.01678494454820407 Centerline is valid? [True, True] Translation: X:-28.20, Y:-264.61, Z:-2.77 [[-6.60495991e-01 -7.50774165e-01 9.12134002e-03 -2.82038716e+01] [ 7.50710078e-01 -6.60558870e-01 -9.81619672e-03 -2.64614117e+02] [ 1.33949290e-02 3.63923293e-04 9.99910218e-01 -2.77354210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.616559995 meters 0.015859043919917687 Centerline is valid? [True, True] Translation: X:-28.22, Y:-264.59, Z:-2.77 [[-6.62161942e-01 -7.49305948e-01 9.06415036e-03 -2.82202374e+01] [ 7.49242599e-01 -6.62223893e-01 -9.74906407e-03 -2.64591302e+02] [ 1.33075286e-02 3.35788370e-04 9.99911395e-01 -2.77326453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.646559995 meters 0.015893282532860188 Centerline is valid? [True, True] Translation: X:-28.24, Y:-264.57, Z:-2.77 [[-6.64095471e-01 -7.47595111e-01 8.87444423e-03 -2.82370527e+01] [ 7.47534301e-01 -6.64154697e-01 -9.53977036e-03 -2.64570187e+02] [ 1.30258895e-02 2.98633179e-04 9.99915115e-01 -2.77369144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.6765599949999 meters 0.01397543842128553 Centerline is valid? [True, True] Translation: X:-28.25, Y:-264.54, Z:-2.77 [[-6.68891533e-01 -7.43317860e-01 7.91680860e-03 -2.82501030e+01] [ 7.43269202e-01 -6.68938354e-01 -8.50716293e-03 -2.64543956e+02] [ 1.16193831e-02 1.93950755e-04 9.99932474e-01 -2.77249967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.7065599949999 meters 0.01339442441395512 Centerline is valid? [True, True] Translation: X:-28.27, Y:-264.52, Z:-2.77 [[-6.71602913e-01 -7.40873107e-01 7.52108493e-03 -2.82657270e+01] [ 7.40829087e-01 -6.71645009e-01 -8.07751769e-03 -2.64521288e+02] [ 1.10359148e-02 1.46954063e-04 9.99939092e-01 -2.77231500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.736559995 meters 0.012723183325750231 Centerline is valid? [True, True] Translation: X:-28.28, Y:-264.50, Z:-2.77 [[-6.74467582e-01 -7.38270455e-01 7.08637460e-03 -2.82817343e+01] [ 7.38231277e-01 -6.74504800e-01 -7.60635761e-03 -2.64497372e+02] [ 1.03953428e-02 1.01141744e-04 9.99945962e-01 -2.77159265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.766559995 meters 0.01244507767005507 Centerline is valid? [True, True] Translation: X:-28.30, Y:-264.47, Z:-2.77 [[-6.77514744e-01 -7.35478187e-01 6.75335816e-03 -2.82971616e+01] [ 7.35442506e-01 -6.77548399e-01 -7.24481784e-03 -2.64474338e+02] [ 9.90413251e-03 5.82357503e-05 9.99950951e-01 -2.77151318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.7965599949999 meters 0.012186063334878214 Centerline is valid? [True, True] Translation: X:-28.31, Y:-264.45, Z:-2.77 [[-6.83485171e-01 -7.29939175e-01 6.06810849e-03 -2.83093847e+01] [ 7.29910184e-01 -6.83512107e-01 -6.50562152e-03 -2.64448073e+02] [ 8.89633363e-03 -1.73216507e-05 9.99960427e-01 -2.77103056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.8265599949999 meters 0.012477222235519891 Centerline is valid? [True, True] Translation: X:-28.32, Y:-264.43, Z:-2.77 [[-6.86553175e-01 -7.27053905e-01 6.11202386e-03 -2.83247514e+01] [ 7.27024414e-01 -6.86580379e-01 -6.54862690e-03 -2.64425045e+02] [ 8.95760042e-03 -5.23900241e-05 9.99959879e-01 -2.77094107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.856559995 meters 0.01296608709584513 Centerline is valid? [True, True] Translation: X:-28.34, Y:-264.40, Z:-2.77 [[-6.89490893e-01 -7.24267283e-01 6.26193080e-03 -2.83410508e+01] [ 7.24236246e-01 -6.89519322e-01 -6.70553800e-03 -2.64401580e+02] [ 9.17432407e-03 -8.82901213e-05 9.99957911e-01 -2.77123609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.886559995 meters 0.014342591780961466 Centerline is valid? [True, True] Translation: X:-28.35, Y:-264.38, Z:-2.77 [[-6.94727385e-01 -7.19241719e-01 6.72390115e-03 -2.83548567e+01] [ 7.19205736e-01 -6.94759903e-01 -7.19624236e-03 -2.64375791e+02] [ 9.84733464e-03 -1.63558350e-04 9.99951501e-01 -2.77194687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.916559995 meters 0.015574305546269193 Centerline is valid? [True, True] Translation: X:-28.37, Y:-264.35, Z:-2.77 [[-6.97163231e-01 -7.16878731e-01 6.95093809e-03 -2.83703223e+01] [ 7.16840203e-01 -6.97197852e-01 -7.43489356e-03 -2.64352694e+02] [ 1.01760962e-02 -2.00622543e-04 9.99948202e-01 -2.77251620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.9465599949999 meters 0.01528086343090192 Centerline is valid? [True, True] Translation: X:-28.39, Y:-264.33, Z:-2.77 [[-6.98239672e-01 -7.15832577e-01 6.71441372e-03 -2.83895294e+01] [ 7.15796607e-01 -6.98271924e-01 -7.17896003e-03 -2.64332851e+02] [ 9.82742004e-03 -2.06480134e-04 9.99951689e-01 -2.77138505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.976559995 meters 0.01517386869508873 Centerline is valid? [True, True] Translation: X:-28.41, Y:-264.31, Z:-2.77 [[-6.98540808e-01 -7.15542160e-01 6.33698861e-03 -2.84084794e+01] [ 7.15510148e-01 -6.98569524e-01 -6.77116888e-03 -2.64313646e+02] [ 9.27188391e-03 -1.95758123e-04 9.99956996e-01 -2.77112216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.006559995 meters 0.01629476174053873 Centerline is valid? [True, True] Translation: X:-28.43, Y:-264.29, Z:-2.77 [[-6.99289498e-01 -7.14806850e-01 6.73541046e-03 -2.84255288e+01] [ 7.14770694e-01 -6.99321901e-01 -7.19265665e-03 -2.64292300e+02] [ 9.85158028e-03 -2.15475245e-04 9.99951449e-01 -2.77226885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.036559995 meters 0.016935171123323794 Centerline is valid? [True, True] Translation: X:-28.44, Y:-264.27, Z:-2.77 [[-6.99802389e-01 -7.14299714e-01 7.24817738e-03 -2.84430114e+01] [ 7.14257862e-01 -6.99839884e-01 -7.73584338e-03 -2.64271818e+02] [ 1.05982743e-02 -2.36493996e-04 9.99943809e-01 -2.77299981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.0665599949999 meters 0.016935171123323794 Centerline is valid? [True, True] Translation: X:-28.46, Y:-264.25, Z:-2.77 [[-7.00014924e-01 -7.14091406e-01 7.25047922e-03 -2.84614060e+01] [ 7.14049566e-01 -7.00052432e-01 -7.73368600e-03 -2.64252363e+02] [ 1.05982743e-02 -2.36494080e-04 9.99943809e-01 -2.77299966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.096559995 meters 0.01538119441816265 Centerline is valid? [True, True] Translation: X:-28.48, Y:-264.23, Z:-2.77 [[-7.00788964e-01 -7.13326785e-01 7.72824967e-03 -2.84824419e+01] [ 7.13279255e-01 -7.00831527e-01 -8.23860700e-03 -2.64233493e+02] [ 1.12930201e-02 -2.61124694e-04 9.99936198e-01 -2.77156327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.126559995 meters 0.01602554787881895 Centerline is valid? [True, True] Translation: X:-28.50, Y:-264.21, Z:-2.77 [[-7.01185340e-01 -7.12936601e-01 7.77954945e-03 -2.84996366e+01] [ 7.12888457e-01 -7.01228445e-01 -8.28949290e-03 -2.64213162e+02] [ 1.13651243e-02 -2.66519899e-04 9.99935379e-01 -2.77219973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.156559995 meters 0.015757468962291268 Centerline is valid? [True, True] Translation: X:-28.52, Y:-264.19, Z:-2.77 [[-7.01605982e-01 -7.12523070e-01 7.74079502e-03 -2.85201223e+01] [ 7.12475432e-01 -7.01648632e-01 -8.24353993e-03 -2.64193559e+02] [ 1.13050306e-02 -2.68590654e-04 9.99936060e-01 -2.77163313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.1865599949999 meters 0.016492125857032965 Centerline is valid? [True, True] Translation: X:-28.54, Y:-264.17, Z:-2.77 [[-7.01505786e-01 -7.12622971e-01 7.62454076e-03 -2.85387060e+01] [ 7.12576812e-01 -7.01547172e-01 -8.11496742e-03 -2.64173789e+02] [ 1.11318872e-02 -2.59625644e-04 9.99938005e-01 -2.77205551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.2165599949999 meters 0.015245030324875106 Centerline is valid? [True, True] Translation: X:-28.56, Y:-264.16, Z:-2.77 [[-7.00503878e-01 -7.13612295e-01 7.19786973e-03 -2.85619086e+01] [ 7.13571255e-01 -7.00540821e-01 -7.65652014e-03 -2.64157213e+02] [ 1.05061885e-02 -2.27229111e-04 9.99944783e-01 -2.77099528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.246559995 meters 0.015472292101605636 Centerline is valid? [True, True] Translation: X:-28.58, Y:-264.14, Z:-2.77 [[-6.99749331e-01 -7.14356243e-01 6.78471744e-03 -2.85810158e+01] [ 7.14319844e-01 -6.99782193e-01 -7.21405386e-03 -2.64137772e+02] [ 9.90122886e-03 -2.01571063e-04 9.99950961e-01 -2.77129255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.276559995 meters 0.014836852852722364 Centerline is valid? [True, True] Translation: X:-28.60, Y:-264.12, Z:-2.77 [[-6.98826736e-01 -7.15261653e-01 6.47771322e-03 -2.86021321e+01] [ 7.15228549e-01 -6.98856735e-01 -6.88378462e-03 -2.64118589e+02] [ 9.45070068e-03 -1.77527310e-04 9.99955325e-01 -2.77057713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.3065599949999 meters 0.01455162311782679 Centerline is valid? [True, True] Translation: X:-28.62, Y:-264.10, Z:-2.77 [[-6.97781466e-01 -7.16283973e-01 6.18835284e-03 -2.86228082e+01] [ 7.16253834e-01 -6.97808889e-01 -6.57263564e-03 -2.64098942e+02] [ 9.02616120e-03 -1.53831880e-04 9.99959252e-01 -2.77019622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.3365599949999 meters 0.01373548654774873 Centerline is valid? [True, True] Translation: X:-28.65, Y:-264.08, Z:-2.77 [[-6.94749593e-01 -7.19226144e-01 6.06273392e-03 -2.86451070e+01] [ 7.19197358e-01 -6.94776037e-01 -6.43582455e-03 -2.64082472e+02] [ 8.84105553e-03 -1.10984271e-04 9.99960911e-01 -2.77025411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.366559995 meters 0.013337580192170365 Centerline is valid? [True, True] Translation: X:-28.67, Y:-264.06, Z:-2.77 [[-6.92855415e-01 -7.21052267e-01 5.91629680e-03 -2.86664952e+01] [ 7.21024950e-01 -6.92880669e-01 -6.27693290e-03 -2.64064359e+02] [ 8.62528438e-03 -8.32093444e-05 9.99962798e-01 -2.77056354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.396559995 meters 0.012963698833222778 Centerline is valid? [True, True] Translation: X:-28.69, Y:-264.05, Z:-2.77 [[-6.90964938e-01 -7.22862002e-01 6.16287452e-03 -2.86882883e+01] [ 7.22832465e-01 -6.90992419e-01 -6.53486610e-03 -2.64046483e+02] [ 8.98230596e-03 -6.06375716e-05 9.99959657e-01 -2.77069223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.4265599949999 meters 0.01266785827424803 Centerline is valid? [True, True] Translation: X:-28.71, Y:-264.03, Z:-2.77 [[-6.89024097e-01 -7.24707884e-01 6.65400394e-03 -2.87099218e+01] [ 7.24673577e-01 -6.89056225e-01 -7.05166483e-03 -2.64028423e+02] [ 9.69537994e-03 -3.67861552e-05 9.99952998e-01 -2.77140800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.4565599949999 meters 0.012564052019614243 Centerline is valid? [True, True] Translation: X:-28.73, Y:-264.01, Z:-2.77 [[-6.87053071e-01 -7.26573207e-01 7.03220515e-03 -2.87308014e+01] [ 7.26535032e-01 -6.87089059e-01 -7.44803710e-03 -2.64011371e+02] [ 1.02432954e-02 -8.05337381e-06 9.99947536e-01 -2.77259365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.486559995 meters 0.012842550366973772 Centerline is valid? [True, True] Translation: X:-28.75, Y:-264.00, Z:-2.77 [[-6.82612230e-01 -7.30738280e-01 7.88097912e-03 -2.87541579e+01] [ 7.30690662e-01 -6.82657719e-01 -8.34233477e-03 -2.63995216e+02] [ 1.14760746e-02 6.39781141e-05 9.99934146e-01 -2.77338534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.516559995 meters 0.013161447157051918 Centerline is valid? [True, True] Translation: X:-28.78, Y:-263.98, Z:-2.77 [[-6.80524267e-01 -7.32677481e-01 8.39228337e-03 -2.87753070e+01] [ 7.32623691e-01 -6.80576004e-01 -8.87863136e-03 -2.63976580e+02] [ 1.22167599e-02 1.06261517e-04 9.99925367e-01 -2.77367607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.5465599949999 meters 0.013935073781906764 Centerline is valid? [True, True] Translation: X:-28.80, Y:-263.96, Z:-2.77 [[-6.76518526e-01 -7.36368325e-01 9.18548715e-03 -2.87977858e+01] [ 7.36304297e-01 -6.76580854e-01 -9.71235742e-03 -2.63959509e+02] [ 1.33665971e-02 1.92723931e-04 9.99910645e-01 -2.77421422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.5765599949999 meters 0.014460632673441663 Centerline is valid? [True, True] Translation: X:-28.82, Y:-263.94, Z:-2.77 [[-6.74925973e-01 -7.37827414e-01 9.25403559e-03 -2.88188989e+01] [ 7.37762637e-01 -6.74989374e-01 -9.77937114e-03 -2.63940324e+02] [ 1.34618638e-02 2.26930114e-04 9.99909359e-01 -2.77442610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.606559995 meters 0.015111471713371407 Centerline is valid? [True, True] Translation: X:-28.84, Y:-263.92, Z:-2.77 [[-6.73350552e-01 -7.39263641e-01 9.39696306e-03 -2.88396326e+01] [ 7.39197063e-01 -6.73416067e-01 -9.92487529e-03 -2.63921420e+02] [ 1.36651654e-02 2.63287233e-04 9.99906593e-01 -2.77448002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.636559995 meters 0.015826098755140884 Centerline is valid? [True, True] Translation: X:-28.86, Y:-263.90, Z:-2.77 [[-6.71967277e-01 -7.40522514e-01 9.29435373e-03 -2.88605124e+01] [ 7.40457576e-01 -6.72031489e-01 -9.81104531e-03 -2.63902277e+02] [ 1.35113983e-02 2.89373227e-04 9.99908675e-01 -2.77452598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.666559995 meters 0.01705098747280594 Centerline is valid? [True, True] Translation: X:-28.88, Y:-263.89, Z:-2.78 [[-6.69579090e-01 -7.42679019e-01 9.57696745e-03 -2.88814332e+01] [ 7.42610373e-01 -6.69647486e-01 -1.01034239e-02 -2.63885149e+02] [ 1.39167931e-02 3.46913991e-04 9.99903097e-01 -2.77505597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.6965599949999 meters 0.016216306761424902 Centerline is valid? [True, True] Translation: X:-28.90, Y:-263.86, Z:-2.77 [[-6.68849992e-01 -7.43330429e-01 9.97801508e-03 -2.88999925e+01] [ 7.43256069e-01 -6.68924308e-01 -1.05208129e-02 -2.63863357e+02] [ 1.44949772e-02 3.79374616e-04 9.99894870e-01 -2.77399782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.726559995 meters 0.01828328851257378 Centerline is valid? [True, True] Translation: X:-28.92, Y:-263.85, Z:-2.78 [[-6.68366640e-01 -7.43765249e-01 9.96435649e-03 -2.89208975e+01] [ 7.43691233e-01 -6.68440798e-01 -1.05000300e-02 -2.63846277e+02] [ 1.44701399e-02 3.92534763e-04 9.99895225e-01 -2.77543159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.756559995 meters 0.018673283345917963 Centerline is valid? [True, True] Translation: X:-28.94, Y:-263.83, Z:-2.78 [[-6.68071772e-01 -7.44028579e-01 1.00787320e-02 -2.89401764e+01] [ 7.43952967e-01 -6.68147670e-01 -1.06148160e-02 -2.63826306e+02] [ 1.46318078e-02 4.06643599e-04 9.99892867e-01 -2.77556623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.786559995 meters 0.017493186836058928 Centerline is valid? [True, True] Translation: X:-28.96, Y:-263.80, Z:-2.77 [[-6.67890650e-01 -7.44179228e-01 1.09250442e-02 -2.89576695e+01] [ 7.44090507e-01 -6.67979847e-01 -1.14996455e-02 -2.63804109e+02] [ 1.58555066e-02 4.48715945e-04 9.99874193e-01 -2.77478381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.8165599949999 meters 0.017159137761941966 Centerline is valid? [True, True] Translation: X:-28.98, Y:-263.78, Z:-2.77 [[-6.68201729e-01 -7.43897434e-01 1.10931108e-02 -2.89762104e+01] [ 7.43806031e-01 -6.68293649e-01 -1.16699025e-02 -2.63782998e+02] [ 1.60946661e-02 4.53273691e-04 9.99870370e-01 -2.77473363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.846559995 meters 0.01747145183664537 Centerline is valid? [True, True] Translation: X:-28.99, Y:-263.76, Z:-2.78 [[-6.68950737e-01 -7.43216925e-01 1.15548059e-02 -2.89936014e+01] [ 7.43117775e-01 -6.69050365e-01 -1.21483566e-02 -2.63762548e+02] [ 1.67596114e-02 4.59929527e-04 9.99859442e-01 -2.77526269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.876559995 meters 0.018130057158341057 Centerline is valid? [True, True] Translation: X:-29.01, Y:-263.74, Z:-2.78 [[-6.69759001e-01 -7.42486772e-01 1.16736272e-02 -2.90120535e+01] [ 7.42385598e-01 -6.69860575e-01 -1.22651420e-02 -2.63743461e+02] [ 1.69264083e-02 4.51643402e-04 9.99856636e-01 -2.77606467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.906559995 meters 0.017045105243336724 Centerline is valid? [True, True] Translation: X:-29.03, Y:-263.72, Z:-2.77 [[-6.70528716e-01 -7.41787528e-01 1.19375429e-02 -2.90286769e+01] [ 7.41681739e-01 -6.70634820e-01 -1.25353810e-02 -2.63721145e+02] [ 1.73043212e-02 4.48524647e-04 9.99850169e-01 -2.77492589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.9365599949999 meters 0.017143425326428062 Centerline is valid? [True, True] Translation: X:-29.05, Y:-263.70, Z:-2.77 [[-6.71975342e-01 -7.40479366e-01 1.18088246e-02 -2.90453731e+01] [ 7.40375763e-01 -6.72078966e-01 -1.23933122e-02 -2.63699091e+02] [ 1.71134546e-02 4.14967348e-04 9.99853468e-01 -2.77477677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.9665599949999 meters 0.016731131896572698 Centerline is valid? [True, True] Translation: X:-29.06, Y:-263.68, Z:-2.77 [[-6.72837215e-01 -7.39693078e-01 1.20097038e-02 -2.90625288e+01] [ 7.39585931e-01 -6.72944266e-01 -1.25962368e-02 -2.63678262e+02] [ 1.73992105e-02 4.06991045e-04 9.99848540e-01 -2.77403117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.996559995 meters 0.016000738446464068 Centerline is valid? [True, True] Translation: X:-29.08, Y:-263.66, Z:-2.77 [[-6.73803149e-01 -7.38818100e-01 1.17103260e-02 -2.90800189e+01] [ 7.38716216e-01 -6.73904794e-01 -1.22752452e-02 -2.63656240e+02] [ 1.69608181e-02 3.79508869e-04 9.99856083e-01 -2.77296479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.026559995 meters 0.015678437789788106 Centerline is valid? [True, True] Translation: X:-29.10, Y:-263.63, Z:-2.77 [[-6.76067135e-01 -7.36753569e-01 1.12874903e-02 -2.90960657e+01] [ 7.36658726e-01 -6.76161279e-01 -1.18256213e-02 -2.63634535e+02] [ 1.63447326e-02 3.20114314e-04 9.99866365e-01 -2.77323359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.0565599949999 meters 0.01520531434535345 Centerline is valid? [True, True] Translation: X:-29.11, Y:-263.61, Z:-2.77 [[-6.77715139e-01 -7.35242299e-01 1.09978713e-02 -2.91136714e+01] [ 7.35152164e-01 -6.77804311e-01 -1.15157145e-02 -2.63612245e+02] [ 1.59212449e-02 2.80734850e-04 9.99873210e-01 -2.77295434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.0865599949999 meters 0.014588910782726283 Centerline is valid? [True, True] Translation: X:-29.13, Y:-263.59, Z:-2.77 [[-6.79414271e-01 -7.33675201e-01 1.08142639e-02 -2.91307957e+01] [ 7.33587954e-01 -6.79500287e-01 -1.13169892e-02 -2.63589930e+02] [ 1.56512897e-02 2.44289738e-04 9.99877481e-01 -2.77226657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.116559995 meters 0.014137306517315262 Centerline is valid? [True, True] Translation: X:-29.15, Y:-263.57, Z:-2.77 [[-6.82746979e-01 -7.30581716e-01 1.03401529e-02 -2.91464335e+01] [ 7.30501687e-01 -6.82825254e-01 -1.08147002e-02 -2.63566872e+02] [ 1.49615397e-02 1.69795261e-04 9.99888056e-01 -2.77217991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.146559995 meters 0.013838806432180575 Centerline is valid? [True, True] Translation: X:-29.16, Y:-263.54, Z:-2.77 [[-6.84334310e-01 -7.29097769e-01 1.01487120e-02 -2.91642264e+01] [ 7.29020595e-01 -6.84409545e-01 -1.06088407e-02 -2.63544374e+02] [ 1.46807575e-02 1.38626400e-04 9.99892222e-01 -2.77143273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.1765599949999 meters 0.013698084112055857 Centerline is valid? [True, True] Translation: X:-29.18, Y:-263.52, Z:-2.77 [[-6.86100039e-01 -7.27437898e-01 1.00419690e-02 -2.91818859e+01] [ 7.27362250e-01 -6.86173515e-01 -1.04911545e-02 -2.63523472e+02] [ 1.45221965e-02 1.06167657e-04 9.99894542e-01 -2.77199756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.2065599949999 meters 0.013559871753447611 Centerline is valid? [True, True] Translation: X:-29.20, Y:-263.50, Z:-2.77 [[-6.87684729e-01 -7.25939607e-01 1.00698085e-02 -2.91991674e+01] [ 7.25863473e-01 -6.87758447e-01 -1.05136544e-02 -2.63502730e+02] [ 1.45578740e-02 7.92265850e-05 9.99894025e-01 -2.77169049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.236559995 meters 0.013433293947604927 Centerline is valid? [True, True] Translation: X:-29.22, Y:-263.48, Z:-2.77 [[-6.90875599e-01 -7.22906730e-01 9.83706754e-03 -2.92159421e+01] [ 7.22833830e-01 -6.90945628e-01 -1.02661718e-02 -2.63480430e+02] [ 1.42183635e-02 1.79176197e-05 9.99898914e-01 -2.77188676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.266559995 meters 0.013492374695494393 Centerline is valid? [True, True] Translation: X:-29.23, Y:-263.46, Z:-2.77 [[-6.92800220e-01 -7.21061773e-01 9.88807432e-03 -2.92338065e+01] [ 7.20988020e-01 -6.92870781e-01 -1.03129401e-02 -2.63459502e+02] [ 1.42874246e-02 -1.56240466e-05 9.99897929e-01 -2.77172976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.2965599949999 meters 0.013668176836284698 Centerline is valid? [True, True] Translation: X:-29.25, Y:-263.44, Z:-2.77 [[-6.95012612e-01 -7.18931465e-01 9.74773864e-03 -2.92510877e+01] [ 7.18859674e-01 -6.95080964e-01 -1.01599074e-02 -2.63439496e+02] [ 1.40797447e-02 -5.40075875e-05 9.99900874e-01 -2.77210511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.3265599949999 meters 0.014289172318580068 Centerline is valid? [True, True] Translation: X:-29.27, Y:-263.42, Z:-2.77 [[-6.99556280e-01 -7.14519682e-01 9.09038272e-03 -2.92678063e+01] [ 7.14456941e-01 -6.99615328e-01 -9.46956862e-03 -2.63416816e+02] [ 1.31259643e-02 -1.29809166e-04 9.99913842e-01 -2.77131429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.356559995 meters 0.01474192381848841 Centerline is valid? [True, True] Translation: X:-29.29, Y:-263.40, Z:-2.77 [[-7.02101684e-01 -7.12021365e-01 8.87702004e-03 -2.92861324e+01] [ 7.11961400e-01 -7.02157780e-01 -9.24218993e-03 -2.63395016e+02] [ 1.28137054e-02 -1.68861506e-04 9.99917887e-01 -2.77057596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.386559995 meters 0.015287694866062958 Centerline is valid? [True, True] Translation: X:-29.30, Y:-263.37, Z:-2.77 [[-7.04998740e-01 -7.09155218e-01 8.69793991e-03 -2.93044238e+01] [ 7.09097492e-01 -7.05052361e-01 -9.05072526e-03 -2.63373369e+02] [ 1.25508721e-02 -2.13062533e-04 9.99921212e-01 -2.76985972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.416559995 meters 0.016744966166263833 Centerline is valid? [True, True] Translation: X:-29.32, Y:-263.35, Z:-2.77 [[-7.07998754e-01 -7.06161406e-01 8.59259799e-03 -2.93210761e+01] [ 7.06104913e-01 -7.08050847e-01 -8.93588714e-03 -2.63352034e+02] [ 1.23941749e-02 -2.59321299e-04 9.99923156e-01 -2.77005822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.4465599949999 meters 0.019527260065268684 Centerline is valid? [True, True] Translation: X:-29.34, Y:-263.33, Z:-2.77 [[-7.13754880e-01 -7.00341706e-01 8.68713703e-03 -2.93365776e+01] [ 7.00283596e-01 -7.13807652e-01 -9.02893144e-03 -2.63329512e+02] [ 1.25242821e-02 -3.60984319e-04 9.99921503e-01 -2.77019959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.476559995 meters 0.01934595381346249 Centerline is valid? [True, True] Translation: X:-29.36, Y:-263.31, Z:-2.77 [[-7.16546947e-01 -6.97485464e-01 8.63142916e-03 -2.93560214e+01] [ 6.97427954e-01 -7.16598817e-01 -8.96574704e-03 -2.63310053e+02] [ 1.24387502e-02 -4.04578688e-04 9.99922554e-01 -2.76899386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.506559995 meters 0.0197628695399898 Centerline is valid? [True, True] Translation: X:-29.38, Y:-263.29, Z:-2.77 [[-7.19182050e-01 -6.94769753e-01 8.49526650e-03 -2.93756901e+01] [ 6.94713915e-01 -7.19232088e-01 -8.81933472e-03 -2.63290018e+02] [ 1.22374753e-02 -4.40927372e-04 9.99925022e-01 -2.76857969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.536559995 meters 0.02184946413486037 Centerline is valid? [True, True] Translation: X:-29.39, Y:-263.27, Z:-2.77 [[-7.22872006e-01 -6.90927689e-01 8.65977888e-03 -2.93934077e+01] [ 6.90869458e-01 -7.22923693e-01 -8.98474130e-03 -2.63270197e+02] [ 1.24681659e-02 -5.12041224e-04 9.99922138e-01 -2.76896753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.5665599949999 meters 0.0221812644465123 Centerline is valid? [True, True] Translation: X:-29.41, Y:-263.25, Z:-2.77 [[-7.24085553e-01 -6.89654999e-01 8.72320907e-03 -2.94134616e+01] [ 6.89595882e-01 -7.24137899e-01 -9.04555702e-03 -2.63250805e+02] [ 1.25551199e-02 -5.34268102e-04 9.99921039e-01 -2.76884907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.596559995 meters 0.023415827731404843 Centerline is valid? [True, True] Translation: X:-29.43, Y:-263.23, Z:-2.77 [[-7.24876755e-01 -6.88820145e-01 8.97204145e-03 -2.94323324e+01] [ 6.88757614e-01 -7.24932061e-01 -9.29816802e-03 -2.63231538e+02] [ 1.29088859e-02 -5.60463997e-04 9.99916520e-01 -2.76920892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.626559995 meters 0.02269102875109561 Centerline is valid? [True, True] Translation: X:-29.45, Y:-263.21, Z:-2.77 [[-7.25425189e-01 -6.88245582e-01 8.73578339e-03 -2.94536625e+01] [ 6.88186326e-01 -7.25477576e-01 -9.04802944e-03 -2.63213724e+02] [ 1.25648813e-02 -5.51821791e-04 9.99920907e-01 -2.76883466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.656559995 meters 0.02246168111918325 Centerline is valid? [True, True] Translation: X:-29.48, Y:-263.20, Z:-2.77 [[-7.25287351e-01 -6.88393744e-01 8.50360127e-03 -2.94763703e+01] [ 6.88337673e-01 -7.25337006e-01 -8.80209098e-03 -2.63197274e+02] [ 1.22272810e-02 -5.30696148e-04 9.99925103e-01 -2.76856214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.6865599949999 meters 0.022654994038236495 Centerline is valid? [True, True] Translation: X:-29.50, Y:-263.18, Z:-2.77 [[-7.24656736e-01 -6.89061088e-01 8.21170655e-03 -2.94960946e+01] [ 6.89008896e-01 -7.24703090e-01 -8.49544283e-03 -2.63179222e+02] [ 1.18049282e-02 -4.98341014e-04 9.99930195e-01 -2.76841094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.7165599949999 meters 0.021549761341730603 Centerline is valid? [True, True] Translation: X:-29.52, Y:-263.16, Z:-2.77 [[-7.24019101e-01 -6.89734622e-01 7.90521640e-03 -2.95185723e+01] [ 6.89686345e-01 -7.24062107e-01 -8.17385390e-03 -2.63161472e+02] [ 1.13616577e-02 -4.65906549e-04 9.99935346e-01 -2.76753127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.746559995 meters 0.021535709466927955 Centerline is valid? [True, True] Translation: X:-29.54, Y:-263.14, Z:-2.77 [[-7.23045899e-01 -6.90755833e-01 7.81068328e-03 -2.95395530e+01] [ 6.90708813e-01 -7.23087950e-01 -8.07167898e-03 -2.63143377e+02] [ 1.12233703e-02 -4.41286604e-04 9.99936919e-01 -2.76740787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.776559995 meters 0.01918687913176834 Centerline is valid? [True, True] Translation: X:-29.57, Y:-263.13, Z:-2.77 [[-7.20061257e-01 -6.93870370e-01 7.46302820e-03 -2.95656925e+01] [ 6.93827657e-01 -7.20099834e-01 -7.70784010e-03 -2.63130110e+02] [ 1.07223672e-02 -3.72061659e-04 9.99942445e-01 -2.76672999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.8065599949999 meters 0.018301307258288217 Centerline is valid? [True, True] Translation: X:-29.59, Y:-263.11, Z:-2.77 [[-7.18557393e-01 -6.95430432e-01 7.19631454e-03 -2.95888732e+01] [ 6.95390840e-01 -7.18593350e-01 -7.42814384e-03 -2.63113202e+02] [ 1.03369811e-02 -3.33296464e-04 9.99946517e-01 -2.76649354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.8365599949999 meters 0.017758544983644636 Centerline is valid? [True, True] Translation: X:-29.61, Y:-263.10, Z:-2.77 [[-7.16673685e-01 -6.97374262e-01 6.92590276e-03 -2.96107740e+01] [ 6.97337720e-01 -7.16707091e-01 -7.14495602e-03 -2.63096396e+02] [ 9.94655205e-03 -2.90908722e-04 9.99950490e-01 -2.76669219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.866559995 meters 0.01566874873696708 Centerline is valid? [True, True] Translation: X:-29.64, Y:-263.08, Z:-2.77 [[-7.12794824e-01 -7.01337347e-01 7.03309814e-03 -2.96377678e+01] [ 7.01299901e-01 -7.12829481e-01 -7.25122243e-03 -2.63083617e+02] [ 1.00989528e-02 -2.36322787e-04 9.99948976e-01 -2.76642288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.896559995 meters 0.015618943666482865 Centerline is valid? [True, True] Translation: X:-29.66, Y:-263.07, Z:-2.77 [[-7.10697368e-01 -7.03462794e-01 7.02492824e-03 -2.96590045e+01] [ 7.03425562e-01 -7.10732056e-01 -7.24037546e-03 -2.63066484e+02] [ 1.00861764e-02 -2.04201681e-04 9.99949112e-01 -2.76714728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.9265599949999 meters 0.014878243210669644 Centerline is valid? [True, True] Translation: X:-29.68, Y:-263.05, Z:-2.77 [[-7.08834749e-01 -7.05336828e-01 7.29784277e-03 -2.96817530e+01] [ 7.05296790e-01 -7.08872292e-01 -7.51746128e-03 -2.63050006e+02] [ 1.04755808e-02 -1.81492700e-04 9.99945113e-01 -2.76742320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.9565599949999 meters 0.014878243210669644 Centerline is valid? [True, True] Translation: X:-29.70, Y:-263.03, Z:-2.77 [[-7.09031800e-01 -7.05138722e-01 7.29994306e-03 -2.97010162e+01] [ 7.05098694e-01 -7.09069355e-01 -7.51542177e-03 -2.63030260e+02] [ 1.04755808e-02 -1.81492702e-04 9.99945113e-01 -2.76742305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.986559995 meters 0.014596607402471803 Centerline is valid? [True, True] Translation: X:-29.72, Y:-263.01, Z:-2.77 [[-7.07294089e-01 -7.06879296e-01 7.53211078e-03 -2.97228879e+01] [ 7.06836826e-01 -7.07334176e-01 -7.75015210e-03 -2.63013602e+02] [ 1.08061414e-02 -1.57663492e-04 9.99941600e-01 -2.76818181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.016559995 meters 0.013709775180047946 Centerline is valid? [True, True] Translation: X:-29.75, Y:-263.00, Z:-2.77 [[-7.04095527e-01 -7.10056641e-01 8.30999376e-03 -2.97487262e+01] [ 7.10005223e-01 -7.04144554e-01 -8.54580122e-03 -2.62999973e+02] [ 1.19194398e-02 -1.16921444e-04 9.99928954e-01 -2.76879464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.0465599949999 meters 0.013369004403118877 Centerline is valid? [True, True] Translation: X:-29.77, Y:-262.98, Z:-2.77 [[-7.02745357e-01 -7.11390662e-01 8.50227503e-03 -2.97716169e+01] [ 7.11336994e-01 -7.02796782e-01 -8.73861668e-03 -2.62982465e+02] [ 1.21919418e-02 -9.30395386e-05 9.99925671e-01 -2.76864068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.0765599949999 meters 0.01316895580261418 Centerline is valid? [True, True] Translation: X:-29.79, Y:-262.96, Z:-2.77 [[-7.01753506e-01 -7.12369640e-01 8.45653517e-03 -2.97939467e+01] [ 7.12316678e-01 -7.01804454e-01 -8.68672456e-03 -2.62964665e+02] [ 1.21229929e-02 -7.22083816e-05 9.99926511e-01 -2.76874253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.106559995 meters 0.013132874360351467 Centerline is valid? [True, True] Translation: X:-29.82, Y:-262.95, Z:-2.77 [[-7.00483740e-01 -7.13618927e-01 8.39980941e-03 -2.98171161e+01] [ 7.13566824e-01 -7.00534099e-01 -8.62340161e-03 -2.62949525e+02] [ 1.20381755e-02 -4.67272863e-05 9.99927538e-01 -2.76918995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.136559995 meters 0.013024192179644177 Centerline is valid? [True, True] Translation: X:-29.84, Y:-262.93, Z:-2.77 [[-7.00359046e-01 -7.13741226e-01 8.40649804e-03 -2.98388040e+01] [ 7.13689107e-01 -7.00409495e-01 -8.62545766e-03 -2.62931288e+02] [ 1.20443358e-02 -4.12912182e-05 9.99927464e-01 -2.76862505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.166559995 meters 0.01306816582236242 Centerline is valid? [True, True] Translation: X:-29.86, Y:-262.91, Z:-2.77 [[-7.00408167e-01 -7.13689545e-01 8.69676089e-03 -2.98595681e+01] [ 7.13633829e-01 -7.00462156e-01 -8.91772696e-03 -2.62913349e+02] [ 1.24562404e-02 -3.97460166e-05 9.99922417e-01 -2.76885497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.1965599949999 meters 0.013133072672511667 Centerline is valid? [True, True] Translation: X:-29.88, Y:-262.90, Z:-2.77 [[-7.00637916e-01 -7.13461114e-01 8.93020485e-03 -2.98799022e+01] [ 7.13402421e-01 -7.00694824e-01 -9.15143112e-03 -2.62895760e+02] [ 1.27865386e-02 -4.10098719e-05 9.99918248e-01 -2.76936446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.226559995 meters 0.013270925574272638 Centerline is valid? [True, True] Translation: X:-29.90, Y:-262.88, Z:-2.77 [[-7.01263970e-01 -7.12840245e-01 9.36110629e-03 -2.99008050e+01] [ 7.12775779e-01 -7.01326445e-01 -9.58678365e-03 -2.62879369e+02] [ 1.33990366e-02 -5.04961325e-05 9.99910228e-01 -2.77015341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.256559995 meters 0.01324108444278186 Centerline is valid? [True, True] Translation: X:-29.92, Y:-262.86, Z:-2.77 [[-7.01842896e-01 -7.12266763e-01 9.62333996e-03 -2.99213423e+01] [ 7.12198662e-01 -7.01908866e-01 -9.84938888e-03 -2.62860865e+02] [ 1.37701000e-02 -5.89937682e-05 9.99905186e-01 -2.76925053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.286559995 meters 0.013513350450561798 Centerline is valid? [True, True] Translation: X:-29.94, Y:-262.84, Z:-2.77 [[-7.02556961e-01 -7.11560512e-01 9.76497738e-03 -2.99406381e+01] [ 7.11490407e-01 -7.02624817e-01 -9.98836801e-03 -2.62842211e+02] [ 1.39684437e-02 -6.97097447e-05 9.99902434e-01 -2.77066421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.3165599949999 meters 0.013258961054006818 Centerline is valid? [True, True] Translation: X:-29.96, Y:-262.82, Z:-2.77 [[-7.03110175e-01 -7.11011797e-01 9.91498357e-03 -2.99611753e+01] [ 7.10939549e-01 -7.03180076e-01 -1.01360565e-02 -2.62823652e+02] [ 1.41788746e-02 -7.78105234e-05 9.99899472e-01 -2.76898675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.346559995 meters 0.013491906659417172 Centerline is valid? [True, True] Translation: X:-29.98, Y:-262.81, Z:-2.77 [[-7.03957743e-01 -7.10176976e-01 9.59997271e-03 -2.99812182e+01] [ 7.10109248e-01 -7.04023193e-01 -9.80815740e-03 -2.62805922e+02] [ 1.37241310e-02 -8.74989415e-05 9.99905816e-01 -2.76924305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.376559995 meters 0.01346216674076757 Centerline is valid? [True, True] Translation: X:-30.00, Y:-262.79, Z:-2.77 [[-7.04478527e-01 -7.09664595e-01 9.28262488e-03 -3.00011695e+01] [ 7.09601305e-01 -7.04539676e-01 -9.47806403e-03 -2.62787332e+02] [ 1.32662240e-02 -9.01298591e-05 9.99911996e-01 -2.76856456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.406559995 meters 0.013316169918680069 Centerline is valid? [True, True] Translation: X:-30.02, Y:-262.77, Z:-2.77 [[-7.04714393e-01 -7.09434420e-01 8.96814236e-03 -3.00218434e+01] [ 7.09375394e-01 -7.04771449e-01 -9.15179360e-03 -2.62768164e+02] [ 1.28130881e-02 -8.76211538e-05 9.99917905e-01 -2.76737471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.4365599949999 meters 0.013329264559074369 Centerline is valid? [True, True] Translation: X:-30.04, Y:-262.75, Z:-2.77 [[-7.04954495e-01 -7.09199958e-01 8.63594379e-03 -3.00420763e+01] [ 7.09145270e-01 -7.05007385e-01 -8.80755169e-03 -2.62750324e+02] [ 1.23347194e-02 -8.47844633e-05 9.99923921e-01 -2.76735496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.4665599949999 meters 0.013253794359939853 Centerline is valid? [True, True] Translation: X:-30.06, Y:-262.73, Z:-2.77 [[-7.05206207e-01 -7.08947647e-01 8.79994017e-03 -3.00621919e+01] [ 7.08890907e-01 -7.05261105e-01 -8.96973874e-03 -2.62731423e+02] [ 1.25653307e-02 -8.73178677e-05 9.99921049e-01 -2.76709318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.496559995 meters 0.013264106934868994 Centerline is valid? [True, True] Translation: X:-30.08, Y:-262.71, Z:-2.77 [[-7.05425110e-01 -7.08726214e-01 9.08666830e-03 -3.00817430e+01] [ 7.08665769e-01 -7.05483625e-01 -9.25648436e-03 -2.62712759e+02] [ 1.29708088e-02 -9.03457226e-05 9.99915872e-01 -2.76746833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.526559995 meters 0.013291644253834582 Centerline is valid? [True, True] Translation: X:-30.10, Y:-262.69, Z:-2.77 [[-7.05729685e-01 -7.08418341e-01 9.43742251e-03 -3.01018957e+01] [ 7.08353185e-01 -7.05792777e-01 -9.60839514e-03 -2.62693822e+02] [ 1.34676280e-02 -9.59013889e-05 9.99909303e-01 -2.76814601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.5565599949999 meters 0.013341153738690818 Centerline is valid? [True, True] Translation: X:-30.12, Y:-262.67, Z:-2.77 [[-7.05909645e-01 -7.08239365e-01 9.41137912e-03 -3.01214110e+01] [ 7.08174628e-01 -7.05972374e-01 -9.57620498e-03 -2.62674503e+02] [ 1.34264190e-02 -9.50355518e-05 9.99909857e-01 -2.76875804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.5865599949999 meters 0.013155158602920044 Centerline is valid? [True, True] Translation: X:-30.14, Y:-262.66, Z:-2.77 [[-7.05875610e-01 -7.08278416e-01 9.01708962e-03 -3.01419169e+01] [ 7.08219060e-01 -7.05933196e-01 -9.16985459e-03 -2.62655153e+02] [ 1.28602730e-02 -8.67019690e-05 9.99917300e-01 -2.76822264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.616559995 meters 0.013153815851702031 Centerline is valid? [True, True] Translation: X:-30.16, Y:-262.64, Z:-2.77 [[-7.05196290e-01 -7.08960771e-01 8.53334659e-03 -3.01620845e+01] [ 7.08907723e-01 -7.05247915e-01 -8.67287529e-03 -2.62636636e+02] [ 1.21668532e-02 -6.67241843e-05 9.99925979e-01 -2.76903429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.646559995 meters 0.012972454173209904 Centerline is valid? [True, True] Translation: X:-30.18, Y:-262.62, Z:-2.77 [[-7.04626518e-01 -7.09529496e-01 8.32854429e-03 -3.01831551e+01] [ 7.09479057e-01 -7.04675735e-01 -8.46030082e-03 -2.62617324e+02] [ 1.18717560e-02 -5.24245589e-05 9.99929527e-01 -2.76846546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.6765599949999 meters 0.012869422433054998 Centerline is valid? [True, True] Translation: X:-30.20, Y:-262.60, Z:-2.77 [[-7.03985865e-01 -7.10165461e-01 8.30179313e-03 -3.02021627e+01] [ 7.10115455e-01 -7.04034812e-01 -8.42758463e-03 -2.62599790e+02] [ 1.18297309e-02 -3.76688491e-05 9.99930026e-01 -2.76874921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.7065599949999 meters 0.012679849375358342 Centerline is valid? [True, True] Translation: X:-30.22, Y:-262.58, Z:-2.77 [[-7.01775320e-01 -7.12356917e-01 7.68260635e-03 -3.02238709e+01] [ 7.12314271e-01 -7.01817371e-01 -7.79464403e-03 -2.62581514e+02] [ 1.09443552e-02 2.34133211e-06 9.99940109e-01 -2.76850269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.736559995 meters 0.0127098042825959 Centerline is valid? [True, True] Translation: X:-30.24, Y:-262.56, Z:-2.77 [[-7.00501751e-01 -7.13608112e-01 7.79485037e-03 -3.02442131e+01] [ 7.13564340e-01 -7.00545118e-01 -7.90384752e-03 -2.62562964e+02] [ 1.11008941e-02 2.54682316e-05 9.99938383e-01 -2.76860208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.766559995 meters 0.01276970303077401 Centerline is valid? [True, True] Translation: X:-30.27, Y:-262.54, Z:-2.77 [[-6.98842742e-01 -7.15236120e-01 7.49094813e-03 -3.02653845e+01] [ 7.15195833e-01 -6.98882887e-01 -7.59146955e-03 -2.62544038e+02] [ 1.06649887e-02 5.22514933e-05 9.99943126e-01 -2.76856221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.7965599949999 meters 0.013196555732391233 Centerline is valid? [True, True] Translation: X:-30.29, Y:-262.53, Z:-2.77 [[-6.95436594e-01 -7.18550706e-01 7.26816287e-03 -3.02881454e+01] [ 7.18513003e-01 -6.95474566e-01 -7.36158025e-03 -2.62526695e+02] [ 1.03444911e-02 1.02757232e-04 9.99946489e-01 -2.76880439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.8265599949999 meters 0.013543297470665077 Centerline is valid? [True, True] Translation: X:-30.31, Y:-262.51, Z:-2.77 [[-6.93582695e-01 -7.20341718e-01 7.13121632e-03 -3.03089311e+01] [ 7.20305558e-01 -6.93619343e-01 -7.21880432e-03 -2.62508289e+02] [ 1.01463555e-02 1.29816997e-04 9.99948516e-01 -2.76877193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.856559995 meters 0.014017847715966834 Centerline is valid? [True, True] Translation: X:-30.33, Y:-262.49, Z:-2.77 [[-6.91640497e-01 -7.22206804e-01 7.12427802e-03 -3.03302307e+01] [ 7.22170852e-01 -6.91677170e-01 -7.20793906e-03 -2.62489406e+02] [ 1.01333231e-02 1.59643370e-04 9.99948644e-01 -2.76877184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.886559995 meters 0.01641627888109608 Centerline is valid? [True, True] Translation: X:-30.35, Y:-262.47, Z:-2.77 [[-6.87604572e-01 -7.26051712e-01 6.99023660e-03 -3.03532365e+01] [ 7.26017327e-01 -6.87640070e-01 -7.06939529e-03 -2.62474406e+02] [ 9.93951334e-03 2.14084361e-04 9.99950579e-01 -2.77005430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.916559995 meters 0.016114222190692 Centerline is valid? [True, True] Translation: X:-30.37, Y:-262.45, Z:-2.77 [[-6.85998355e-01 -7.27571150e-01 6.81751287e-03 -3.03723142e+01] [ 7.27538557e-01 -6.86032191e-01 -6.89058825e-03 -2.62454424e+02] [ 9.69042651e-03 2.33071268e-04 9.99953020e-01 -2.76909317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.9465599949999 meters 0.016629255212006415 Centerline is valid? [True, True] Translation: X:-30.39, Y:-262.43, Z:-2.77 [[-6.84609821e-01 -7.28879194e-01 6.67191358e-03 -3.03928119e+01] [ 7.28848076e-01 -6.84642286e-01 -6.73961051e-03 -2.62434874e+02] [ 9.48023604e-03 2.48807837e-04 9.99955031e-01 -2.76904005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.976559995 meters 0.017708051001666166 Centerline is valid? [True, True] Translation: X:-30.41, Y:-262.42, Z:-2.77 [[-6.83283751e-01 -7.30123841e-01 6.51861480e-03 -3.04132212e+01] [ 7.30094230e-01 -6.83314794e-01 -6.58082652e-03 -2.62416647e+02] [ 9.25908426e-03 2.62631221e-04 9.99957099e-01 -2.76933003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.006559995 meters 0.019406156994323062 Centerline is valid? [True, True] Translation: X:-30.43, Y:-262.40, Z:-2.77 [[-6.80968971e-01 -7.32284959e-01 6.32445078e-03 -3.04339922e+01] [ 7.32257213e-01 -6.80998280e-01 -6.38103357e-03 -2.62398983e+02] [ 8.97967501e-03 2.85838829e-04 9.99959641e-01 -2.76949104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.036559995 meters 0.01910442694666019 Centerline is valid? [True, True] Translation: X:-30.45, Y:-262.38, Z:-2.77 [[-6.80371990e-01 -7.32842008e-01 6.04540718e-03 -3.04528235e+01] [ 7.32816709e-01 -6.80398789e-01 -6.09585424e-03 -2.62378785e+02] [ 8.58058578e-03 2.82726912e-04 9.99963146e-01 -2.76908603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.0665599949999 meters 0.01974252264323999 Centerline is valid? [True, True] Translation: X:-30.47, Y:-262.36, Z:-2.77 [[-6.79931224e-01 -7.33252031e-01 5.91527783e-03 -3.04723189e+01] [ 7.33227855e-01 -6.79956895e-01 -5.96110298e-03 -2.62359684e+02] [ 8.39312481e-03 2.84106429e-04 9.99964737e-01 -2.76936484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.096559995 meters 0.02032299091822187 Centerline is valid? [True, True] Translation: X:-30.49, Y:-262.34, Z:-2.77 [[-6.79311909e-01 -7.33828151e-01 5.61925979e-03 -3.04912579e+01] [ 7.33806378e-01 -6.79335092e-01 -5.65964876e-03 -2.62338766e+02] [ 7.97056995e-03 2.78781872e-04 9.99968196e-01 -2.76936418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.126559995 meters 0.020759640206007516 Centerline is valid? [True, True] Translation: X:-30.51, Y:-262.32, Z:-2.77 [[-6.79429152e-01 -7.33718468e-01 5.76506610e-03 -3.05095081e+01] [ 7.33695579e-01 -6.79453550e-01 -5.80270568e-03 -2.62319720e+02] [ 8.17464695e-03 2.87276103e-04 9.99966546e-01 -2.76979481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.156559995 meters 0.01995862661581284 Centerline is valid? [True, True] Translation: X:-30.53, Y:-262.30, Z:-2.77 [[-6.79678937e-01 -7.33485861e-01 5.91902531e-03 -3.05266934e+01] [ 7.33461755e-01 -6.79704646e-01 -5.95392030e-03 -2.62298889e+02] [ 8.39030536e-03 2.94624468e-04 9.99964757e-01 -2.77003390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.1865599949999 meters 0.01984879957994381 Centerline is valid? [True, True] Translation: X:-30.55, Y:-262.28, Z:-2.77 [[-6.79826070e-01 -7.33348038e-01 6.09667678e-03 -3.05451641e+01] [ 7.33322488e-01 -6.79853339e-01 -6.12917487e-03 -2.62278002e+02] [ 8.63966443e-03 3.04057316e-04 9.99962631e-01 -2.77043078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.2165599949999 meters 0.01977343701134162 Centerline is valid? [True, True] Translation: X:-30.56, Y:-262.26, Z:-2.77 [[-6.80339204e-01 -7.32871805e-01 6.12251985e-03 -3.05619484e+01] [ 7.32846052e-01 -6.80366685e-01 -6.15127794e-03 -2.62256765e+02] [ 8.67365670e-03 3.01908962e-04 9.99962338e-01 -2.77092924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.246559995 meters 0.019709284253243302 Centerline is valid? [True, True] Translation: X:-30.58, Y:-262.24, Z:-2.77 [[-6.80689480e-01 -7.32546258e-01 6.14909369e-03 -3.05801709e+01] [ 7.32520302e-01 -6.80717187e-01 -6.17408521e-03 -2.62236431e+02] [ 8.70859678e-03 3.01701111e-04 9.99962034e-01 -2.77102548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.276559995 meters 0.020314835421195204 Centerline is valid? [True, True] Translation: X:-30.60, Y:-262.22, Z:-2.77 [[-6.81094560e-01 -7.32168881e-01 6.23938076e-03 -3.05982985e+01] [ 7.32142177e-01 -6.81123071e-01 -6.26060174e-03 -2.62217404e+02] [ 8.83360395e-03 3.04052028e-04 9.99960937e-01 -2.77203934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.3065599949999 meters 0.020704806911350803 Centerline is valid? [True, True] Translation: X:-30.62, Y:-262.20, Z:-2.77 [[-6.81588303e-01 -7.31706430e-01 6.56394323e-03 -3.06161270e+01] [ 7.31676894e-01 -6.81619835e-01 -6.58198506e-03 -2.62198268e+02] [ 9.29019470e-03 3.16481572e-04 9.99956795e-01 -2.77288999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.3365599949999 meters 0.019854194681668887 Centerline is valid? [True, True] Translation: X:-30.63, Y:-262.18, Z:-2.77 [[-6.82196264e-01 -7.31137957e-01 6.74871350e-03 -3.06315977e+01] [ 7.31106747e-01 -6.82229569e-01 -6.76306006e-03 -2.62175688e+02] [ 9.54890182e-03 3.20295669e-04 9.99954357e-01 -2.77329060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.366559995 meters 0.019767074014337423 Centerline is valid? [True, True] Translation: X:-30.65, Y:-262.15, Z:-2.77 [[-6.82588176e-01 -7.30772057e-01 6.75142478e-03 -3.06497482e+01] [ 7.30740845e-01 -6.82621490e-01 -6.76158280e-03 -2.62154952e+02] [ 9.54984342e-03 3.18165374e-04 9.99954349e-01 -2.77351060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.396559995 meters 0.019505390965109205 Centerline is valid? [True, True] Translation: X:-30.67, Y:-262.13, Z:-2.77 [[-6.83395497e-01 -7.30014687e-01 7.01086274e-03 -3.06659490e+01] [ 7.29981033e-01 -6.83431381e-01 -7.01706395e-03 -2.62132772e+02] [ 9.91400335e-03 3.22366922e-04 9.99950803e-01 -2.77418393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.4265599949999 meters 0.018386595647403484 Centerline is valid? [True, True] Translation: X:-30.68, Y:-262.11, Z:-2.77 [[-6.84119425e-01 -7.29336552e-01 6.98616931e-03 -3.06832616e+01] [ 7.29303138e-01 -6.84155023e-01 -6.98841998e-03 -2.62110311e+02] [ 9.87653296e-03 3.14121345e-04 9.99951177e-01 -2.77379771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.4565599949999 meters 0.018546568621500264 Centerline is valid? [True, True] Translation: X:-30.70, Y:-262.09, Z:-2.77 [[-6.84923005e-01 -7.28585189e-01 6.64074314e-03 -3.07006744e+01] [ 7.28555003e-01 -6.84955136e-01 -6.63848287e-03 -2.62090355e+02] [ 9.38531141e-03 2.91297001e-04 9.99955915e-01 -2.77388925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.486559995 meters 0.018687298136286598 Centerline is valid? [True, True] Translation: X:-30.72, Y:-262.11, Z:-2.77 [[-6.35143631e-01 -7.72372415e-01 5.78114840e-03 -3.07212078e+01] [ 7.72344135e-01 -6.35169886e-01 -6.61460475e-03 -2.62108997e+02] [ 8.78094961e-03 2.63811982e-04 9.99961412e-01 -2.77362165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.516559995 meters 0.017180369070802896 Centerline is valid? [True, True] Translation: X:-30.74, Y:-262.08, Z:-2.77 [[-6.36317340e-01 -7.71408613e-01 5.38462728e-03 -3.07359441e+01] [ 7.71384070e-01 -6.36340079e-01 -6.15790362e-03 -2.62084505e+02] [ 8.17671404e-03 2.35234856e-04 9.99966543e-01 -2.77260714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.5465599949999 meters 0.01600766146975716 Centerline is valid? [True, True] Translation: X:-30.75, Y:-262.06, Z:-2.77 [[-6.39025076e-01 -7.69172059e-01 4.61465054e-03 -3.07483927e+01] [ 7.69153997e-01 -6.39041713e-01 -5.27427596e-03 -2.62058677e+02] [ 7.00577989e-03 1.78982313e-04 9.99975443e-01 -2.77171245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.5765599949999 meters 0.016000202437526156 Centerline is valid? [True, True] Translation: X:-30.76, Y:-262.04, Z:-2.77 [[-6.40304564e-01 -7.68107607e-01 4.55731701e-03 -3.07641553e+01] [ 7.68089979e-01 -6.40320761e-01 -5.20657243e-03 -2.62036416e+02] [ 6.91735259e-03 1.66637435e-04 9.99976061e-01 -2.77184829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.606559995 meters 0.015976366772192233 Centerline is valid? [True, True] Translation: X:-30.78, Y:-262.01, Z:-2.77 [[-6.41800727e-01 -7.66857804e-01 4.57554659e-03 -3.07798091e+01] [ 7.66840022e-01 -6.41817018e-01 -5.22449271e-03 -2.62014376e+02] [ 6.94310668e-03 1.55629032e-04 9.99975884e-01 -2.77229241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.636559995 meters 0.01409854284566166 Centerline is valid? [True, True] Translation: X:-30.79, Y:-261.99, Z:-2.77 [[-6.44769405e-01 -7.64363270e-01 4.60497205e-03 -3.07912325e+01] [ 7.64345217e-01 -6.44785836e-01 -5.25507933e-03 -2.61987424e+02] [ 6.98601037e-03 1.31473986e-04 9.99975589e-01 -2.77227276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.666559995 meters 0.013699614740208832 Centerline is valid? [True, True] Translation: X:-30.81, Y:-261.96, Z:-2.77 [[-6.46267368e-01 -7.63096431e-01 4.72507593e-03 -3.08072667e+01] [ 7.63077412e-01 -6.46284629e-01 -5.38906655e-03 -2.61963993e+02] [ 7.16612139e-03 1.22820852e-04 9.99974316e-01 -2.77249300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.6965599949999 meters 0.0135582107289427 Centerline is valid? [True, True] Translation: X:-30.82, Y:-261.94, Z:-2.77 [[-6.47435273e-01 -7.62108146e-01 4.32911472e-03 -3.08228885e+01] [ 7.62092177e-01 -6.47449738e-01 -4.93459955e-03 -2.61942016e+02] [ 6.56358270e-03 1.04350659e-04 9.99978454e-01 -2.77265911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.726559995 meters 0.01276915090711853 Centerline is valid? [True, True] Translation: X:-30.84, Y:-261.92, Z:-2.77 [[-6.49498512e-01 -7.60350405e-01 4.35241619e-03 -3.08356859e+01] [ 7.60334243e-01 -6.49513089e-01 -4.95832013e-03 -2.61915861e+02] [ 6.59701201e-03 8.88695253e-05 9.99978236e-01 -2.77231848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.756559995 meters 0.012532186688533797 Centerline is valid? [True, True] Translation: X:-30.85, Y:-261.89, Z:-2.77 [[-6.50660642e-01 -7.59356722e-01 4.25422445e-03 -3.08513608e+01] [ 7.59341277e-01 -6.50674545e-01 -4.84367653e-03 -2.61892554e+02] [ 6.44619389e-03 7.88185456e-05 9.99979220e-01 -2.77252236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.786559995 meters 0.012344590162654085 Centerline is valid? [True, True] Translation: X:-30.87, Y:-261.87, Z:-2.77 [[-6.51720818e-01 -7.58445006e-01 4.59875170e-03 -3.08673580e+01] [ 7.58426957e-01 -6.51737039e-01 -5.23293276e-03 -2.61869307e+02] [ 6.96606854e-03 7.74060361e-05 9.99975734e-01 -2.77254695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.8165599949999 meters 0.012201259514182458 Centerline is valid? [True, True] Translation: X:-30.88, Y:-261.85, Z:-2.77 [[-6.52782440e-01 -7.57531179e-01 4.64746480e-03 -3.08836329e+01] [ 7.57512744e-01 -6.52798980e-01 -5.28534001e-03 -2.61845614e+02] [ 7.03767013e-03 7.03366630e-05 9.99975233e-01 -2.77295865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.846559995 meters 0.012040340384330621 Centerline is valid? [True, True] Translation: X:-30.90, Y:-261.82, Z:-2.77 [[-6.54007213e-01 -7.56473563e-01 4.72374615e-03 -3.08989417e+01] [ 7.56454513e-01 -6.54024269e-01 -5.36888579e-03 -2.61823022e+02] [ 7.15086479e-03 6.20090613e-05 9.99974430e-01 -2.77305951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.876559995 meters 0.012040340384330621 Centerline is valid? [True, True] Translation: X:-30.92, Y:-261.80, Z:-2.77 [[-6.54219643e-01 -7.56289846e-01 4.72525392e-03 -3.09172169e+01] [ 7.56270800e-01 -6.54236705e-01 -5.36755883e-03 -2.61802359e+02] [ 7.15086479e-03 6.20091485e-05 9.99974430e-01 -2.77305935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.906559995 meters 0.01179375497166733 Centerline is valid? [True, True] Translation: X:-30.93, Y:-261.78, Z:-2.77 [[-6.56405751e-01 -7.54391233e-01 5.03558048e-03 -3.09290227e+01] [ 7.54369577e-01 -6.56425065e-01 -5.71625394e-03 -2.61778313e+02] [ 7.61777310e-03 4.65067533e-05 9.99970983e-01 -2.77332070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.9365599949999 meters 0.011707220867340789 Centerline is valid? [True, True] Translation: X:-30.94, Y:-261.76, Z:-2.77 [[-6.57509108e-01 -7.53430110e-01 4.98416528e-03 -3.09442969e+01] [ 7.53408894e-01 -6.57527998e-01 -5.65431076e-03 -2.61755876e+02] [ 7.53735620e-03 3.73536259e-05 9.99971593e-01 -2.77316725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.9665599949999 meters 0.011548732404765802 Centerline is valid? [True, True] Translation: X:-30.96, Y:-261.73, Z:-2.77 [[-6.58530743e-01 -7.52538433e-01 4.81335392e-03 -3.09601122e+01] [ 7.52518647e-01 -6.58548333e-01 -5.45709484e-03 -2.61733611e+02] [ 7.27649980e-03 2.84738581e-05 9.99973526e-01 -2.77296692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.996559995 meters 0.011495548515622879 Centerline is valid? [True, True] Translation: X:-30.98, Y:-261.71, Z:-2.77 [[-6.59390282e-01 -7.51787713e-01 4.43748786e-03 -3.09757458e+01] [ 7.51770901e-01 -6.59405213e-01 -5.02764522e-03 -2.61711788e+02] [ 6.70582453e-03 2.07938480e-05 9.99977516e-01 -2.77307055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.026559995 meters 0.011437667487255112 Centerline is valid? [True, True] Translation: X:-30.99, Y:-261.69, Z:-2.77 [[-6.60057842e-01 -7.51204424e-01 3.94433995e-03 -3.09899778e+01] [ 7.51191148e-01 -6.60069627e-01 -4.46612373e-03 -2.61688055e+02] [ 5.95851091e-03 1.50532624e-05 9.99982248e-01 -2.77252832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.0565599949999 meters 0.011468559656423485 Centerline is valid? [True, True] Translation: X:-31.01, Y:-261.67, Z:-2.77 [[-6.60101488e-01 -7.51166303e-01 3.90015226e-03 -3.10060487e+01] [ 7.51153339e-01 -6.60113009e-01 -4.41320536e-03 -2.61666924e+02] [ 5.88959240e-03 1.64489647e-05 9.99982656e-01 -2.77265394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.0865599949999 meters 0.011586366206097806 Centerline is valid? [True, True] Translation: X:-31.02, Y:-261.65, Z:-2.77 [[-6.59481826e-01 -7.51710883e-01 3.80377011e-03 -3.10211935e+01] [ 7.51698577e-01 -6.59492796e-01 -4.30138068e-03 -2.61645147e+02] [ 5.74195366e-03 2.26061893e-05 9.99983515e-01 -2.77294601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.116559995 meters 0.011571021295835263 Centerline is valid? [True, True] Translation: X:-31.04, Y:-261.62, Z:-2.77 [[-6.58991411e-01 -7.52140098e-01 3.94874253e-03 -3.10380201e+01] [ 7.52126860e-01 -6.59003241e-01 -4.46251233e-03 -2.61623836e+02] [ 5.95866859e-03 2.91980257e-05 9.99982247e-01 -2.77255629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.146559995 meters 0.01169898497145716 Centerline is valid? [True, True] Translation: X:-31.06, Y:-261.60, Z:-2.77 [[-6.58395266e-01 -7.52662361e-01 3.87867713e-03 -3.10552099e+01] [ 7.52649615e-01 -6.58406690e-01 -4.38044047e-03 -2.61603772e+02] [ 5.85073964e-03 3.52235821e-05 9.99982884e-01 -2.77287447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.1765599949999 meters 0.011767296156074664 Centerline is valid? [True, True] Translation: X:-31.07, Y:-261.58, Z:-2.77 [[-6.57679126e-01 -7.53287143e-01 4.08008337e-03 -3.10723466e+01] [ 7.53273069e-01 -6.57691781e-01 -4.60498765e-03 -2.61582972e+02] [ 6.15231528e-03 4.48126665e-05 9.99981073e-01 -2.77259476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.2065599949999 meters 0.01222394851651001 Centerline is valid? [True, True] Translation: X:-31.09, Y:-261.56, Z:-2.77 [[-6.55903391e-01 -7.54834491e-01 3.95385896e-03 -3.10902452e+01] [ 7.54821317e-01 -6.55915306e-01 -4.45988003e-03 -2.61563004e+02] [ 5.95986788e-03 5.92065897e-05 9.99982238e-01 -2.77309088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.236559995 meters 0.012332724993858526 Centerline is valid? [True, True] Translation: X:-31.11, Y:-261.54, Z:-2.77 [[-6.55324413e-01 -7.55337974e-01 3.80238750e-03 -3.11080757e+01] [ 7.55325815e-01 -6.55335442e-01 -4.28636544e-03 -2.61542607e+02] [ 5.72949388e-03 6.30815198e-05 9.99983584e-01 -2.77328388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.266559995 meters 0.012343729859198157 Centerline is valid? [True, True] Translation: X:-31.13, Y:-261.52, Z:-2.77 [[-6.54934808e-01 -7.55676159e-01 3.73364593e-03 -3.11261023e+01] [ 7.55664456e-01 -6.54945447e-01 -4.20622560e-03 -2.61521545e+02] [ 5.62387881e-03 6.65799660e-05 9.99984184e-01 -2.77292463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.2965599949999 meters 0.012376019222972729 Centerline is valid? [True, True] Translation: X:-31.14, Y:-261.50, Z:-2.77 [[-6.54425892e-01 -7.56118335e-01 3.43739303e-03 -3.11445126e+01] [ 7.56108434e-01 -6.54434916e-01 -3.87001620e-03 -2.61501302e+02] [ 5.17574022e-03 6.64030553e-05 9.99986604e-01 -2.77242955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.3265599949999 meters 0.012516869731473331 Centerline is valid? [True, True] Translation: X:-31.16, Y:-261.48, Z:-2.77 [[-6.54357814e-01 -7.56176922e-01 3.50922350e-03 -3.11635667e+01] [ 7.56166617e-01 -6.54367219e-01 -3.94838841e-03 -2.61481531e+02] [ 5.28200102e-03 6.98988531e-05 9.99986048e-01 -2.77286452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.356559995 meters 0.012278473120210642 Centerline is valid? [True, True] Translation: X:-31.18, Y:-261.46, Z:-2.77 [[-6.54761150e-01 -7.55827955e-01 3.45535482e-03 -3.11826129e+01] [ 7.55817972e-01 -6.54770264e-01 -3.88530994e-03 -2.61461832e+02] [ 5.19908945e-03 6.76692659e-05 9.99986482e-01 -2.77332964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.386559995 meters 0.012244112108872846 Centerline is valid? [True, True] Translation: X:-31.20, Y:-261.44, Z:-2.77 [[-6.55176979e-01 -7.55465183e-01 3.93500940e-03 -3.12016935e+01] [ 7.55452245e-01 -6.55188791e-01 -4.42184078e-03 -2.61442348e+02] [ 5.91872081e-03 7.56234024e-05 9.99982481e-01 -2.77373731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.416559995 meters 0.01196330112011619 Centerline is valid? [True, True] Translation: X:-31.22, Y:-261.42, Z:-2.77 [[-6.55925561e-01 -7.54810236e-01 4.81299661e-03 -3.12219874e+01] [ 7.54790887e-01 -6.55943214e-01 -5.40537229e-03 -2.61422709e+02] [ 7.23708280e-03 8.72841241e-05 9.99973808e-01 -2.77499511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.4465599949999 meters 0.012177574811863554 Centerline is valid? [True, True] Translation: X:-31.24, Y:-261.40, Z:-2.78 [[-6.56312724e-01 -7.54473053e-01 4.90113394e-03 -3.12407350e+01] [ 7.54452998e-01 -6.56331018e-01 -5.50163660e-03 -2.61403602e+02] [ 7.36760279e-03 8.68810904e-05 9.99972855e-01 -2.77568663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.476559995 meters 0.012044823990970182 Centerline is valid? [True, True] Translation: X:-31.26, Y:-261.38, Z:-2.78 [[-6.56800306e-01 -7.54048759e-01 4.88128145e-03 -3.12593172e+01] [ 7.54028880e-01 -6.56818439e-01 -5.47596408e-03 -2.61383192e+02] [ 7.33525959e-03 8.40123040e-05 9.99973093e-01 -2.77535537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.506559995 meters 0.011842127381116833 Centerline is valid? [True, True] Translation: X:-31.28, Y:-261.36, Z:-2.77 [[-6.57195309e-01 -7.53706496e-01 4.56546537e-03 -3.12766407e+01] [ 7.53689120e-01 -6.57211162e-01 -5.11844350e-03 -2.61362584e+02] [ 6.85827891e-03 7.71245176e-05 9.99976479e-01 -2.77416869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.536559995 meters 0.011857396333347422 Centerline is valid? [True, True] Translation: X:-31.29, Y:-261.34, Z:-2.77 [[-6.57719238e-01 -7.53250576e-01 4.35587348e-03 -3.12945562e+01] [ 7.53234770e-01 -6.57733658e-01 -4.88023484e-03 -2.61343027e+02] [ 6.54104431e-03 7.11710149e-05 9.99978605e-01 -2.77419282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.5665599949999 meters 0.011393515632422054 Centerline is valid? [True, True] Translation: X:-31.31, Y:-261.32, Z:-2.77 [[-6.58741925e-01 -7.52353789e-01 4.78039453e-03 -3.13132151e+01] [ 7.52334750e-01 -6.58759267e-01 -5.35281929e-03 -2.61321743e+02] [ 7.17634307e-03 7.03304422e-05 9.99974247e-01 -2.77474035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.596559995 meters 0.011483973359892829 Centerline is valid? [True, True] Translation: X:-31.33, Y:-261.30, Z:-2.78 [[-6.59615598e-01 -7.51585200e-01 5.19127108e-03 -3.13313523e+01] [ 7.51562754e-01 -6.59636022e-01 -5.80901197e-03 -2.61302349e+02] [ 7.79031683e-03 6.98510883e-05 9.99969653e-01 -2.77591265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.626559995 meters 0.0112402105153024 Centerline is valid? [True, True] Translation: X:-31.35, Y:-261.28, Z:-2.78 [[-6.60621948e-01 -7.50698317e-01 5.53885331e-03 -3.13490115e+01] [ 7.50672766e-01 -6.60645164e-01 -6.19404820e-03 -2.61281995e+02] [ 8.30907821e-03 6.59421440e-05 9.99965477e-01 -2.77650564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.656559995 meters 0.011136212671439319 Centerline is valid? [True, True] Translation: X:-31.37, Y:-261.26, Z:-2.78 [[-6.61766949e-01 -7.49686977e-01 5.82591974e-03 -3.13668774e+01] [ 7.49658705e-01 -6.61792591e-01 -6.51098194e-03 -2.61261454e+02] [ 8.73674889e-03 5.86987931e-05 9.99961832e-01 -2.77692126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.6865599949999 meters 0.01092463229970032 Centerline is valid? [True, True] Translation: X:-31.38, Y:-261.24, Z:-2.78 [[-6.64121200e-01 -7.47596680e-01 6.49889989e-03 -3.13830829e+01] [ 7.47561443e-01 -6.64152997e-01 -7.25849370e-03 -2.61239863e+02] [ 9.74268963e-03 3.78074329e-05 9.99952538e-01 -2.77693451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.7165599949999 meters 0.010879736050718191 Centerline is valid? [True, True] Translation: X:-31.40, Y:-261.22, Z:-2.78 [[-6.65382398e-01 -7.46471982e-01 6.77087236e-03 -3.13995496e+01] [ 7.46433727e-01 -6.65416846e-01 -7.55723883e-03 -2.61219751e+02] [ 1.01467196e-02 2.55537941e-05 9.99948520e-01 -2.77691502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.746559995 meters 0.010826603131215683 Centerline is valid? [True, True] Translation: X:-31.42, Y:-261.20, Z:-2.78 [[-6.66534563e-01 -7.45443488e-01 6.75891402e-03 -3.14174681e+01] [ 7.45405358e-01 -6.66568831e-01 -7.53962059e-03 -2.61197610e+02] [ 1.01256425e-02 1.27130157e-05 9.99948734e-01 -2.77622707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.776559995 meters 0.010835323071190598 Centerline is valid? [True, True] Translation: X:-31.43, Y:-261.18, Z:-2.78 [[-6.68778326e-01 -7.43435096e-01 6.30946539e-03 -3.14338111e+01] [ 7.43401821e-01 -6.68808088e-01 -7.03381239e-03 -2.61176308e+02] [ 9.44900447e-03 -1.35932141e-05 9.99955357e-01 -2.77553387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.8065599949999 meters 0.01089055705746749 Centerline is valid? [True, True] Translation: X:-31.45, Y:-261.16, Z:-2.78 [[-6.70007951e-01 -7.42330514e-01 5.89529413e-03 -3.14505931e+01] [ 7.42301460e-01 -6.70033885e-01 -6.56775937e-03 -2.61156181e+02] [ 8.82549502e-03 -2.43655627e-05 9.99961054e-01 -2.77587118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.8365599949999 meters 0.011087338559507949 Centerline is valid? [True, True] Translation: X:-31.47, Y:-261.14, Z:-2.78 [[-6.71066333e-01 -7.41374697e-01 5.79101432e-03 -3.14675381e+01] [ 7.41346652e-01 -6.71091318e-01 -6.44852115e-03 -2.61135687e+02] [ 8.66706985e-03 -3.42363604e-05 9.99962440e-01 -2.77594035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.866559995 meters 0.011206714842454255 Centerline is valid? [True, True] Translation: X:-31.48, Y:-261.11, Z:-2.78 [[-6.72294148e-01 -7.40263141e-01 5.57321048e-03 -3.14848929e+01] [ 7.40237160e-01 -6.72317247e-01 -6.20215963e-03 -2.61114852e+02] [ 8.33819569e-03 -4.41781292e-05 9.99965236e-01 -2.77549656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.896559995 meters 0.011466224011827208 Centerline is valid? [True, True] Translation: X:-31.50, Y:-261.09, Z:-2.78 [[-6.74568694e-01 -7.38194627e-01 5.07634289e-03 -3.15010362e+01] [ 7.38173042e-01 -6.74587792e-01 -5.64550117e-03 -2.61093350e+02] [ 7.59191757e-03 -6.10588772e-05 9.99971179e-01 -2.77522699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.9265599949999 meters 0.011732235501133795 Centerline is valid? [True, True] Translation: X:-31.52, Y:-261.07, Z:-2.78 [[-6.75457029e-01 -7.37384058e-01 4.74902536e-03 -3.15174159e+01] [ 7.37365171e-01 -6.75473721e-01 -5.27803857e-03 -2.61073055e+02] [ 7.09978333e-03 -6.33223496e-05 9.99974794e-01 -2.77505838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.9565599949999 meters 0.01178144164404575 Centerline is valid? [True, True] Translation: X:-31.54, Y:-261.05, Z:-2.77 [[-6.76482286e-01 -7.36448084e-01 3.99200308e-03 -3.15358608e+01] [ 7.36434739e-01 -6.76494062e-01 -4.43391146e-03 -2.61052836e+02] [ 5.96591198e-03 -5.96128178e-05 9.99982202e-01 -2.77429688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.986559995 meters 0.012102675506163922 Centerline is valid? [True, True] Translation: X:-31.55, Y:-261.03, Z:-2.77 [[-6.77106610e-01 -7.35875212e-01 3.78298268e-03 -3.15532887e+01] [ 7.35863235e-01 -6.77117175e-01 -4.19899867e-03 -2.61033138e+02] [ 5.65146158e-03 -5.94118846e-05 9.99984029e-01 -2.77467447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.016559995 meters 0.011974932768305033 Centerline is valid? [True, True] Translation: X:-31.57, Y:-261.01, Z:-2.77 [[-6.77714529e-01 -7.35314991e-01 3.85765277e-03 -3.15719913e+01] [ 7.35302542e-01 -6.77725505e-01 -4.27922104e-03 -2.61013336e+02] [ 5.76100506e-03 -6.35483840e-05 9.99983403e-01 -2.77458678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.0465599949999 meters 0.0120018758841128 Centerline is valid? [True, True] Translation: X:-31.59, Y:-260.99, Z:-2.77 [[-6.78076443e-01 -7.34981595e-01 3.79379233e-03 -3.15911392e+01] [ 7.34969563e-01 -6.78087053e-01 -4.20601096e-03 -2.60992772e+02] [ 5.66386210e-03 -6.36750587e-05 9.99983958e-01 -2.77461175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.0765599949999 meters 0.011969964415914129 Centerline is valid? [True, True] Translation: X:-31.61, Y:-260.97, Z:-2.77 [[-6.78654355e-01 -7.34446793e-01 4.02166911e-03 -3.16101766e+01] [ 7.34433278e-01 -6.78666268e-01 -4.45612213e-03 -2.60972259e+02] [ 6.00215577e-03 -7.05190654e-05 9.99981984e-01 -2.77476565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.106559995 meters 0.012061872762641264 Centerline is valid? [True, True] Translation: X:-31.63, Y:-260.95, Z:-2.78 [[-6.78834887e-01 -7.34274907e-01 4.85370775e-03 -3.16288186e+01] [ 7.34255239e-01 -6.78852233e-01 -5.37483311e-03 -2.60953055e+02] [ 7.24155543e-03 -8.47638759e-05 9.99973776e-01 -2.77639098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.136559995 meters 0.012253665253131225 Centerline is valid? [True, True] Translation: X:-31.65, Y:-260.93, Z:-2.78 [[-6.78847677e-01 -7.34261054e-01 5.15133582e-03 -3.16469280e+01] [ 7.34238922e-01 -6.78867216e-01 -5.70163433e-03 -2.60934277e+02] [ 7.68356104e-03 -8.82299541e-05 9.99970477e-01 -2.77754455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.166559995 meters 0.012105679348219274 Centerline is valid? [True, True] Translation: X:-31.67, Y:-260.92, Z:-2.78 [[-6.78761945e-01 -7.34336364e-01 5.68565559e-03 -3.16664750e+01] [ 7.34309439e-01 -6.78785751e-01 -6.28907842e-03 -2.60915578e+02] [ 8.47764098e-03 -9.37565333e-05 9.99964060e-01 -2.77823964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.1965599949999 meters 0.01205179252937238 Centerline is valid? [True, True] Translation: X:-31.69, Y:-260.90, Z:-2.78 [[-6.78119376e-01 -7.34925594e-01 6.20346837e-03 -3.16867128e+01] [ 7.34893608e-01 -6.78147744e-01 -6.85733283e-03 -2.60898136e+02] [ 9.24649748e-03 -9.12010102e-05 9.99957246e-01 -2.77977164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.226559995 meters 0.01188789802600483 Centerline is valid? [True, True] Translation: X:-31.71, Y:-260.88, Z:-2.78 [[-6.77699969e-01 -7.35313484e-01 6.06894865e-03 -3.17063442e+01] [ 7.35282923e-01 -6.77727138e-01 -6.70441128e-03 -2.60879067e+02] [ 9.04293522e-03 -8.11850141e-05 9.99959109e-01 -2.77936555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.256559995 meters 0.012110975935945165 Centerline is valid? [True, True] Translation: X:-31.72, Y:-260.86, Z:-2.78 [[-6.77616627e-01 -7.35393013e-01 5.72914706e-03 -3.17243438e+01] [ 7.35365817e-01 -6.77640842e-01 -6.32485515e-03 -2.60860425e+02] [ 8.53355832e-03 -7.28081042e-05 9.99963586e-01 -2.77961255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.286559995 meters 0.011855581796329938 Centerline is valid? [True, True] Translation: X:-31.74, Y:-260.84, Z:-2.78 [[-6.77429951e-01 -7.35571294e-01 4.85115957e-03 -3.17444650e+01] [ 7.35551823e-01 -6.77447318e-01 -5.35230274e-03 -2.60841258e+02] [ 7.22340529e-03 -5.75309197e-05 9.99973909e-01 -2.77795417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.3165599949999 meters 0.011611137923025271 Centerline is valid? [True, True] Translation: X:-31.76, Y:-260.82, Z:-2.78 [[-6.77394741e-01 -7.35606266e-01 4.44831846e-03 -3.17637793e+01] [ 7.35589915e-01 -6.77409344e-01 -4.90478494e-03 -2.60821416e+02] [ 6.62132303e-03 -5.03373231e-05 9.99978078e-01 -2.77708639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.346559995 meters 0.01164228147459539 Centerline is valid? [True, True] Translation: X:-31.78, Y:-260.80, Z:-2.78 [[-6.77460048e-01 -7.35547894e-01 4.14469570e-03 -3.17825272e+01] [ 7.35533716e-01 -6.77472725e-01 -4.56715870e-03 -2.60801950e+02] [ 6.16728226e-03 -4.55041240e-05 9.99980981e-01 -2.77661617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.376559995 meters 0.011426237044922061 Centerline is valid? [True, True] Translation: X:-31.80, Y:-260.78, Z:-2.78 [[-6.76960267e-01 -7.36010298e-01 3.69302937e-03 -3.18027391e+01] [ 7.35999063e-01 -6.76970339e-01 -4.06689482e-03 -2.60783512e+02] [ 5.49334781e-03 -3.50600540e-05 9.99984911e-01 -2.77659096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.406559995 meters 0.011282470734171466 Centerline is valid? [True, True] Translation: X:-31.82, Y:-260.76, Z:-2.78 [[-6.76543280e-01 -7.36393115e-01 3.79082982e-03 -3.18230978e+01] [ 7.36381296e-01 -6.76553900e-01 -4.17222540e-03 -2.60763718e+02] [ 5.63709876e-03 -3.11948763e-05 9.99984111e-01 -2.77650099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.4365599949999 meters 0.011210251579808607 Centerline is valid? [True, True] Translation: X:-31.84, Y:-260.74, Z:-2.78 [[-6.75852377e-01 -7.37027624e-01 3.72092080e-03 -3.18419799e+01] [ 7.37016261e-01 -6.75862619e-01 -4.09283429e-03 -2.60744747e+02] [ 5.53136322e-03 -2.37726512e-05 9.99984702e-01 -2.77740086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.4665599949999 meters 0.010988066518131149 Centerline is valid? [True, True] Translation: X:-31.86, Y:-260.73, Z:-2.78 [[-6.73976158e-01 -7.38742574e-01 3.94298798e-03 -3.18634507e+01] [ 7.38729857e-01 -6.73987692e-01 -4.33465459e-03 -2.60726880e+02] [ 5.85971926e-03 -8.65089768e-06 9.99982832e-01 -2.77654248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.496559995 meters 0.010966343525224768 Centerline is valid? [True, True] Translation: X:-31.88, Y:-260.71, Z:-2.78 [[-6.72985518e-01 -7.39644019e-01 4.14939585e-03 -3.18826800e+01] [ 7.39629972e-01 -6.72998310e-01 -4.55853720e-03 -2.60708668e+02] [ 6.16423117e-03 1.18801959e-06 9.99981001e-01 -2.77678917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.526559995 meters 0.010980346725602963 Centerline is valid? [True, True] Translation: X:-31.90, Y:-260.69, Z:-2.78 [[-6.71902197e-01 -7.40626913e-01 4.38331517e-03 -3.19022165e+01] [ 7.40611273e-01 -6.71916495e-01 -4.81318676e-03 -2.60690460e+02] [ 6.50999742e-03 1.23418661e-05 9.99978810e-01 -2.77747130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.5565599949999 meters 0.011002527720185841 Centerline is valid? [True, True] Translation: X:-31.92, Y:-260.67, Z:-2.78 [[-6.70608977e-01 -7.41798807e-01 4.25801814e-03 -3.19219225e+01] [ 7.41784090e-01 -6.70622494e-01 -4.67265573e-03 -2.60671647e+02] [ 6.32169319e-03 2.50052306e-05 9.99980018e-01 -2.77683945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.5865599949999 meters 0.011256644901538417 Centerline is valid? [True, True] Translation: X:-31.94, Y:-260.65, Z:-2.78 [[-6.67886341e-01 -7.44247638e-01 4.82580702e-03 -3.19442059e+01] [ 7.44228820e-01 -6.67903773e-01 -5.29274827e-03 -2.60653760e+02] [ 7.16229011e-03 5.65503881e-05 9.99974349e-01 -2.77735504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.616559995 meters 0.011538692262229424 Centerline is valid? [True, True] Translation: X:-31.97, Y:-260.63, Z:-2.78 [[-6.66488615e-01 -7.45498972e-01 4.92025052e-03 -3.19650230e+01] [ 7.45479467e-01 -6.66506772e-01 -5.39327452e-03 -2.60634423e+02] [ 7.30006090e-03 7.33896676e-05 9.99973352e-01 -2.77794394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.646559995 meters 0.01169833597419292 Centerline is valid? [True, True] Translation: X:-31.99, Y:-260.61, Z:-2.78 [[-6.65190648e-01 -7.46654197e-01 5.37701718e-03 -3.19852696e+01] [ 7.46630965e-01 -6.65212373e-01 -5.89071953e-03 -2.60614952e+02] [ 7.97518882e-03 9.61959848e-05 9.99968193e-01 -2.77790142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.6765599949999 meters 0.013010233708227514 Centerline is valid? [True, True] Translation: X:-32.01, Y:-260.60, Z:-2.78 [[-6.62517755e-01 -7.49023053e-01 5.88987369e-03 -3.20074382e+01] [ 7.48995303e-01 -6.62543921e-01 -6.44901562e-03 -2.60598195e+02] [ 8.73276137e-03 1.38900371e-04 9.99961859e-01 -2.77932276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.7065599949999 meters 0.013120391486597544 Centerline is valid? [True, True] Translation: X:-32.03, Y:-260.58, Z:-2.78 [[-6.61531933e-01 -7.49891240e-01 6.21533068e-03 -3.20273719e+01] [ 7.49860411e-01 -6.61561110e-01 -6.80156750e-03 -2.60578167e+02] [ 9.21225695e-03 1.61176331e-04 9.99957553e-01 -2.77922352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.736559995 meters 0.013152155667899703 Centerline is valid? [True, True] Translation: X:-32.05, Y:-260.56, Z:-2.78 [[-6.60719355e-01 -7.50608272e-01 6.09557533e-03 -3.20465518e+01] [ 7.50578683e-01 -6.60747451e-01 -6.66688145e-03 -2.60557490e+02] [ 9.03185222e-03 1.70271287e-04 9.99959198e-01 -2.77863775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.766559995 meters 0.013152155667899703 Centerline is valid? [True, True] Translation: X:-32.07, Y:-260.54, Z:-2.78 [[-6.60933928e-01 -7.50419325e-01 6.09748116e-03 -3.20652180e+01] [ 7.50389744e-01 -6.60962032e-01 -6.66513843e-03 -2.60537173e+02] [ 9.03185222e-03 1.70271204e-04 9.99959198e-01 -2.77863760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.7965599949999 meters 0.013871718407206442 Centerline is valid? [True, True] Translation: X:-32.08, Y:-260.52, Z:-2.78 [[-6.59466153e-01 -7.51707331e-01 6.36247553e-03 -3.20847201e+01] [ 7.51675212e-01 -6.59496815e-01 -6.95176758e-03 -2.60519055e+02] [ 9.42172700e-03 1.98059727e-04 9.99955595e-01 -2.77845053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.8265599949999 meters 0.014379948647192772 Centerline is valid? [True, True] Translation: X:-32.10, Y:-260.50, Z:-2.78 [[-6.59223207e-01 -7.51920952e-01 6.29648721e-03 -3.21032506e+01] [ 7.51889548e-01 -6.59253245e-01 -6.87507894e-03 -2.60500841e+02] [ 9.32049553e-03 2.02051329e-04 9.99956543e-01 -2.77842831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.856559995 meters 0.014092663535320316 Centerline is valid? [True, True] Translation: X:-32.12, Y:-260.48, Z:-2.78 [[-6.59014914e-01 -7.52105261e-01 6.08434902e-03 -3.21222949e+01] [ 7.52075979e-01 -6.59042970e-01 -6.63966862e-03 -2.60480081e+02] [ 9.00357715e-03 2.00252099e-04 9.99959447e-01 -2.77779610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.886559995 meters 0.014138643048738953 Centerline is valid? [True, True] Translation: X:-32.14, Y:-260.46, Z:-2.78 [[-6.59037025e-01 -7.52088514e-01 5.75035280e-03 -3.21415760e+01] [ 7.52062389e-01 -6.59062084e-01 -6.27160555e-03 -2.60459486e+02] [ 8.50664200e-03 1.91403806e-04 9.99963800e-01 -2.77766065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.916559995 meters 0.014304127017924613 Centerline is valid? [True, True] Translation: X:-32.16, Y:-260.44, Z:-2.78 [[-6.59474106e-01 -7.51704033e-01 5.91186067e-03 -3.21599840e+01] [ 7.51676438e-01 -6.59500576e-01 -6.44386851e-03 -2.60439915e+02] [ 8.74275746e-03 1.94241946e-04 9.99961763e-01 -2.77774249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.9465599949999 meters 0.014361020319639903 Centerline is valid? [True, True] Translation: X:-32.18, Y:-260.42, Z:-2.78 [[-6.60012504e-01 -7.51226654e-01 6.48149883e-03 -3.21776487e+01] [ 7.51193507e-01 -6.60044295e-01 -7.06006270e-03 -2.60420506e+02] [ 9.58178360e-03 2.09130178e-04 9.99954072e-01 -2.77804606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.976559995 meters 0.01393995103377306 Centerline is valid? [True, True] Translation: X:-32.20, Y:-260.40, Z:-2.78 [[-6.61017811e-01 -7.50338687e-01 6.87817894e-03 -3.21953226e+01] [ 7.50301358e-01 -6.61053561e-01 -7.48739768e-03 -2.60399404e+02] [ 1.01649288e-02 2.11403782e-04 9.99948314e-01 -2.77825698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.006559995 meters 0.013170999032248316 Centerline is valid? [True, True] Translation: X:-32.21, Y:-260.38, Z:-2.78 [[-6.63134971e-01 -7.48461656e-01 7.56034634e-03 -3.22116214e+01] [ 7.48416486e-01 -6.63178036e-01 -8.22533931e-03 -2.60376594e+02] [ 1.11702067e-02 2.03777688e-04 9.99937591e-01 -2.77868127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.036559995 meters 0.012985294004703357 Centerline is valid? [True, True] Translation: X:-32.23, Y:-260.36, Z:-2.78 [[-6.64638131e-01 -7.47126505e-01 7.62497190e-03 -3.22282737e+01] [ 7.47080533e-01 -6.64681842e-01 -8.29013678e-03 -2.60356246e+02] [ 1.12619613e-02 1.86527053e-04 9.99936565e-01 -2.77862484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.0665599949999 meters 0.01307496862276886 Centerline is valid? [True, True] Translation: X:-32.25, Y:-260.34, Z:-2.78 [[-6.66311099e-01 -7.45633293e-01 7.77893439e-03 -3.22450646e+01] [ 7.45585408e-01 -6.66356484e-01 -8.45197358e-03 -2.60336582e+02] [ 1.14856163e-02 1.68216168e-04 9.99934024e-01 -2.77910929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.096559995 meters 0.011989522758085833 Centerline is valid? [True, True] Translation: X:-32.26, Y:-260.31, Z:-2.78 [[-6.68442345e-01 -7.43720877e-01 8.00549381e-03 -3.22610249e+01] [ 7.43670090e-01 -6.68490266e-01 -8.69262866e-03 -2.60313954e+02] [ 1.18164841e-02 1.42925213e-04 9.99930173e-01 -2.77743256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.126559995 meters 0.011201379356507515 Centerline is valid? [True, True] Translation: X:-32.28, Y:-260.29, Z:-2.78 [[-6.73289336e-01 -7.39334864e-01 8.08874486e-03 -3.22756568e+01] [ 7.39282756e-01 -6.73337919e-01 -8.77803378e-03 -2.60289533e+02] [ 1.19363650e-02 6.97130526e-05 9.99928757e-01 -2.77622133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.156559995 meters 0.011104649432198297 Centerline is valid? [True, True] Translation: X:-32.29, Y:-260.27, Z:-2.78 [[-6.76445678e-01 -7.36446812e-01 8.20604464e-03 -3.22917627e+01] [ 7.36393031e-01 -6.76495450e-01 -8.90006543e-03 -2.60267144e+02] [ 1.21057767e-02 2.24632885e-05 9.99926722e-01 -2.77576278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.1865599949999 meters 0.01153769586677242 Centerline is valid? [True, True] Translation: X:-32.30, Y:-260.24, Z:-2.77 [[-6.82815151e-01 -7.30548825e-01 7.86661715e-03 -3.23038702e+01] [ 7.30499072e-01 -6.82860460e-01 -8.52628412e-03 -2.60242597e+02] [ 1.16006687e-02 -7.53194500e-05 9.99932707e-01 -2.77498060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.2165599949999 meters 0.012226343065432061 Centerline is valid? [True, True] Translation: X:-32.32, Y:-260.22, Z:-2.77 [[-6.86389209e-01 -7.27193525e-01 7.70919536e-03 -3.23199557e+01] [ 7.27145583e-01 -6.86432489e-01 -8.35101884e-03 -2.60219526e+02] [ 1.13646490e-02 -1.26341863e-04 9.99935412e-01 -2.77432370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.246559995 meters 0.013271813079436057 Centerline is valid? [True, True] Translation: X:-32.34, Y:-260.20, Z:-2.77 [[-6.90133392e-01 -7.23642883e-01 7.54183553e-03 -3.23363533e+01] [ 7.23596837e-01 -6.90174577e-01 -8.16521993e-03 -2.60195938e+02] [ 1.11138864e-02 -1.77842602e-04 9.99938223e-01 -2.77395505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.276559995 meters 0.015531026537256203 Centerline is valid? [True, True] Translation: X:-32.35, Y:-260.17, Z:-2.77 [[-6.97444581e-01 -7.16598232e-01 7.61776699e-03 -3.23502783e+01] [ 7.16550868e-01 -6.97486121e-01 -8.24405965e-03 -2.60171509e+02] [ 1.12209653e-02 -2.91257176e-04 9.99937001e-01 -2.77333880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.3065599949999 meters 0.017216430836958157 Centerline is valid? [True, True] Translation: X:-32.37, Y:-260.15, Z:-2.77 [[-7.01069226e-01 -7.13054252e-01 7.45484632e-03 -3.23656893e+01] [ 7.13008732e-01 -7.01108779e-01 -8.06404540e-03 -2.60149505e+02] [ 1.09767601e-02 -3.38083540e-04 9.99939696e-01 -2.77343145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.3365599949999 meters 0.018282900433636725 Centerline is valid? [True, True] Translation: X:-32.38, Y:-260.13, Z:-2.77 [[-7.04577065e-01 -7.09587740e-01 7.50987911e-03 -3.23827762e+01] [ 7.09541402e-01 -7.04616978e-01 -8.11867988e-03 -2.60127656e+02] [ 1.10525040e-02 -3.91665491e-04 9.99938843e-01 -2.77323824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.366559995 meters 0.021136544716849705 Centerline is valid? [True, True] Translation: X:-32.40, Y:-260.11, Z:-2.77 [[-7.09829802e-01 -7.04338280e-01 7.01700039e-03 -3.23971964e+01] [ 7.04297602e-01 -7.09864348e-01 -7.58249398e-03 -2.60105117e+02] [ 1.03217592e-02 -4.40223653e-04 9.99946632e-01 -2.77312414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.396559995 meters 0.02091227314043136 Centerline is valid? [True, True] Translation: X:-32.42, Y:-260.08, Z:-2.77 [[-7.11844828e-01 -7.02303936e-01 6.79133532e-03 -3.24164779e+01] [ 7.02265781e-01 -7.11877080e-01 -7.33451377e-03 -2.60084725e+02] [ 9.98565385e-03 -4.51713285e-04 9.99950040e-01 -2.77243563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.4265599949999 meters 0.025322805301089647 Centerline is valid? [True, True] Translation: X:-32.43, Y:-260.06, Z:-2.77 [[-7.13369616e-01 -7.00758765e-01 6.39874043e-03 -3.24309322e+01] [ 7.00724871e-01 -7.13398175e-01 -6.90644717e-03 -2.60060740e+02] [ 9.40460314e-03 -4.43093004e-04 9.99955678e-01 -2.77334064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.4565599949999 meters 0.021952031976651926 Centerline is valid? [True, True] Translation: X:-32.45, Y:-260.04, Z:-2.77 [[-7.14176319e-01 -6.99936660e-01 6.39197552e-03 -3.24536526e+01] [ 6.99902830e-01 -7.14204781e-01 -6.89632854e-03 -2.60044102e+02] [ 9.39217264e-03 -4.51432774e-04 9.99955791e-01 -2.77246048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.486559995 meters 0.023405391030722086 Centerline is valid? [True, True] Translation: X:-32.47, Y:-260.03, Z:-2.77 [[-7.14573635e-01 -6.99529406e-01 6.56734392e-03 -3.24718587e+01] [ 6.99493722e-01 -7.14603662e-01 -7.08089513e-03 -2.60025586e+02] [ 9.64634237e-03 -4.66005132e-04 9.99953364e-01 -2.77398623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.516559995 meters 0.021499139799742044 Centerline is valid? [True, True] Translation: X:-32.49, Y:-260.01, Z:-2.77 [[-7.14437077e-01 -6.99666312e-01 6.83489487e-03 -3.24941999e+01] [ 6.99627709e-01 -7.14469609e-01 -7.36524416e-03 -2.60007658e+02] [ 1.00365379e-02 -4.80121666e-04 9.99949518e-01 -2.77430047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.5465599949999 meters 0.022705207763608643 Centerline is valid? [True, True] Translation: X:-32.51, Y:-259.99, Z:-2.78 [[-7.13845745e-01 -7.00267228e-01 7.07539440e-03 -3.25123967e+01] [ 7.00225934e-01 -7.13880644e-01 -7.62024491e-03 -2.59987337e+02] [ 1.03871949e-02 -4.85304757e-04 9.99945934e-01 -2.77513644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.5765599949999 meters 0.022715066345848824 Centerline is valid? [True, True] Translation: X:-32.53, Y:-259.97, Z:-2.78 [[-7.13199071e-01 -7.00926532e-01 7.00581232e-03 -3.25327823e+01] [ 7.00886117e-01 -7.13233326e-01 -7.54146202e-03 -2.59967281e+02] [ 1.02827896e-02 -4.68287112e-04 9.99947021e-01 -2.77532248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.606559995 meters 0.01941424194793534 Centerline is valid? [True, True] Translation: X:-32.56, Y:-259.95, Z:-2.77 [[-7.11036315e-01 -7.03124767e-01 6.55139103e-03 -3.25570984e+01] [ 7.03089558e-01 -7.11066381e-01 -7.04812702e-03 -2.59951979e+02] [ 9.61418657e-03 -4.05259639e-04 9.99953701e-01 -2.77456578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.636559995 meters 0.020112844382786724 Centerline is valid? [True, True] Translation: X:-32.58, Y:-259.93, Z:-2.77 [[-7.09819087e-01 -7.04356401e-01 6.23893125e-03 -3.25763766e+01] [ 7.04324552e-01 -7.09846410e-01 -6.70815913e-03 -2.59932293e+02] [ 9.15361777e-03 -3.67346938e-04 9.99958037e-01 -2.77471351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.666559995 meters 0.017798759247829116 Centerline is valid? [True, True] Translation: X:-32.60, Y:-259.92, Z:-2.77 [[-7.07206010e-01 -7.06987447e-01 5.33004160e-03 -3.26007785e+01] [ 7.06964303e-01 -7.07226039e-01 -5.72750632e-03 -2.59916966e+02] [ 7.81881928e-03 -2.82377739e-04 9.99969393e-01 -2.77406504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.6965599949999 meters 0.018677403551150686 Centerline is valid? [True, True] Translation: X:-32.62, Y:-259.90, Z:-2.77 [[-7.05539095e-01 -7.08653442e-01 4.98849866e-03 -3.26196153e+01] [ 7.08633227e-01 -7.05556688e-01 -5.35821897e-03 -2.59897752e+02] [ 7.31678890e-03 -2.45417066e-04 9.99973202e-01 -2.77420245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.726559995 meters 0.018020419822682005 Centerline is valid? [True, True] Translation: X:-32.64, Y:-259.88, Z:-2.77 [[-7.03722804e-01 -7.10459767e-01 4.59721377e-03 -3.26402049e+01] [ 7.10442653e-01 -7.03737790e-01 -4.93551641e-03 -2.59880233e+02] [ 6.74171890e-03 -2.07178698e-04 9.99977253e-01 -2.77418106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.756559995 meters 0.017085470980635065 Centerline is valid? [True, True] Translation: X:-32.66, Y:-259.86, Z:-2.77 [[-7.01625032e-01 -7.12531335e-01 4.62716921e-03 -3.26618224e+01] [ 7.12514061e-01 -7.01640265e-01 -4.96495996e-03 -2.59862414e+02] [ 6.78429778e-03 -1.86617070e-04 9.99976969e-01 -2.77424439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.786559995 meters 0.01415099056392292 Centerline is valid? [True, True] Translation: X:-32.69, Y:-259.85, Z:-2.77 [[-6.96471117e-01 -7.17570561e-01 4.52477731e-03 -3.26880629e+01] [ 7.17554162e-01 -6.96485802e-01 -4.85310625e-03 -2.59849506e+02] [ 6.63388933e-03 -1.33275540e-04 9.99977987e-01 -2.77460741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.8165599949999 meters 0.012602923526161033 Centerline is valid? [True, True] Translation: X:-32.71, Y:-259.83, Z:-2.77 [[-6.93820159e-01 -7.20133102e-01 4.67988785e-03 -3.27118889e+01] [ 7.20115636e-01 -6.93835934e-01 -5.01672775e-03 -2.59832979e+02] [ 6.85978607e-03 -1.10646432e-04 9.99976465e-01 -2.77469356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.846559995 meters 0.011982330882837731 Centerline is valid? [True, True] Translation: X:-32.73, Y:-259.82, Z:-2.78 [[-6.91053309e-01 -7.22788460e-01 4.70807549e-03 -3.27336165e+01] [ 7.22770864e-01 -6.91069342e-01 -5.04417284e-03 -2.59816148e+02] [ 6.89947655e-03 -8.29325463e-05 9.99976195e-01 -2.77555312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.876559995 meters 0.010943341626886096 Centerline is valid? [True, True] Translation: X:-32.76, Y:-259.80, Z:-2.78 [[-6.85195120e-01 -7.28344948e-01 4.61362034e-03 -3.27588502e+01] [ 7.28328193e-01 -6.85210651e-01 -4.94034205e-03 -2.59803018e+02] [ 6.75957497e-03 -2.48685003e-05 9.99977154e-01 -2.77673247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.906559995 meters 0.010790927308525568 Centerline is valid? [True, True] Translation: X:-32.78, Y:-259.79, Z:-2.78 [[-6.82364000e-01 -7.30997430e-01 4.70412082e-03 -3.27803510e+01] [ 7.30980097e-01 -6.82380215e-01 -5.03395676e-03 -2.59786623e+02] [ 6.88980842e-03 3.62782321e-06 9.99976265e-01 -2.77729362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.9365599949999 meters 0.010944284669571678 Centerline is valid? [True, True] Translation: X:-32.80, Y:-259.77, Z:-2.78 [[-6.79709704e-01 -7.33464790e-01 4.91126960e-03 -3.28021970e+01] [ 7.33445982e-01 -6.79727446e-01 -5.25264753e-03 -2.59768561e+02] [ 7.19095676e-03 3.18754614e-05 9.99974144e-01 -2.77702553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.9665599949999 meters 0.011930390418652015 Centerline is valid? [True, True] Translation: X:-32.83, Y:-259.75, Z:-2.78 [[-6.74332081e-01 -7.38407695e-01 5.50638049e-03 -3.28259774e+01] [ 7.38384245e-01 -6.74354556e-01 -5.88559962e-03 -2.59754060e+02] [ 8.05922482e-03 9.69759541e-05 9.99967519e-01 -2.77811989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.996559995 meters 0.012729085523863712 Centerline is valid? [True, True] Translation: X:-32.85, Y:-259.74, Z:-2.78 [[-6.72190654e-01 -7.40357496e-01 5.52289448e-03 -3.28465566e+01] [ 7.40333991e-01 -6.72213332e-01 -5.90077647e-03 -2.59737034e+02] [ 8.08124739e-03 1.22339722e-04 9.99967339e-01 -2.77843145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.026559995 meters 0.013538546850894432 Centerline is valid? [True, True] Translation: X:-32.87, Y:-259.72, Z:-2.78 [[-6.70194113e-01 -7.42165104e-01 5.55064100e-03 -3.28676702e+01] [ 7.42141450e-01 -6.70217082e-01 -5.92714086e-03 -2.59718323e+02] [ 8.11905153e-03 1.47025854e-04 9.99967029e-01 -2.77849187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.0565599949999 meters 0.015181127763151607 Centerline is valid? [True, True] Translation: X:-32.89, Y:-259.70, Z:-2.78 [[-6.67167565e-01 -7.44887508e-01 5.48104832e-03 -3.28895688e+01] [ 7.44864562e-01 -6.67190054e-01 -5.84941083e-03 -2.59701658e+02] [ 8.01405399e-03 1.80101477e-04 9.99967871e-01 -2.77869828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.0865599949999 meters 0.015062836222247277 Centerline is valid? [True, True] Translation: X:-32.91, Y:-259.68, Z:-2.78 [[-6.66509958e-01 -7.45475366e-01 5.56358717e-03 -3.29085631e+01] [ 7.45451774e-01 -6.66533151e-01 -5.93397518e-03 -2.59681723e+02] [ 8.13194761e-03 1.92332372e-04 9.99966917e-01 -2.77847480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.116559995 meters 0.015108074034842848 Centerline is valid? [True, True] Translation: X:-32.93, Y:-259.66, Z:-2.78 [[-6.66120833e-01 -7.45822135e-01 5.69025384e-03 -3.29275568e+01] [ 7.45797497e-01 -6.66145105e-01 -6.06565376e-03 -2.59661375e+02] [ 8.31443358e-03 2.03318741e-04 9.99965414e-01 -2.77846427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.146559995 meters 0.015389824125823947 Centerline is valid? [True, True] Translation: X:-32.95, Y:-259.64, Z:-2.78 [[-6.66234659e-01 -7.45721161e-01 5.59728581e-03 -3.29455160e+01] [ 7.45697350e-01 -6.66258141e-01 -5.96259163e-03 -2.59642006e+02] [ 8.17566799e-03 2.01395997e-04 9.99966558e-01 -2.77857833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.1765599949999 meters 0.01521868190604767 Centerline is valid? [True, True] Translation: X:-32.96, Y:-259.62, Z:-2.78 [[-6.66586192e-01 -7.45405961e-01 5.72734142e-03 -3.29643181e+01] [ 7.45381047e-01 -6.66610765e-01 -6.09770271e-03 -2.59620606e+02] [ 8.36317139e-03 2.04407311e-04 9.99965007e-01 -2.77825086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.2065599949999 meters 0.01684254927258428 Centerline is valid? [True, True] Translation: X:-32.98, Y:-259.60, Z:-2.78 [[-6.66997812e-01 -7.45038185e-01 5.65887926e-03 -3.29835141e+01] [ 7.45013883e-01 -6.67021786e-01 -6.02082381e-03 -2.59603140e+02] [ 8.26033940e-03 2.00067306e-04 9.99965863e-01 -2.77903849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.236559995 meters 0.015044923071979866 Centerline is valid? [True, True] Translation: X:-33.00, Y:-259.58, Z:-2.78 [[-6.67771681e-01 -7.44338783e-01 6.38428196e-03 -3.29986801e+01] [ 7.44307860e-01 -6.67802163e-01 -6.78834222e-03 -2.59580261e+02] [ 9.31626368e-03 2.18808549e-04 9.99956579e-01 -2.77870644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.266559995 meters 0.0148233438102592 Centerline is valid? [True, True] Translation: X:-33.02, Y:-259.56, Z:-2.78 [[-6.68199553e-01 -7.43950625e-01 6.84284610e-03 -3.30170848e+01] [ 7.43915121e-01 -6.68234550e-01 -7.27181936e-03 -2.59558701e+02] [ 9.98250074e-03 2.31470234e-04 9.99950147e-01 -2.77911227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.2965599949999 meters 0.014939799268320415 Centerline is valid? [True, True] Translation: X:-33.03, Y:-259.54, Z:-2.78 [[-6.68885324e-01 -7.43330927e-01 7.18026273e-03 -3.30345240e+01] [ 7.43291852e-01 -6.68923820e-01 -7.62531980e-03 -2.59539012e+02] [ 1.04711848e-02 2.36566283e-04 9.99945148e-01 -2.77948660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.3265599949999 meters 0.014917974133577962 Centerline is valid? [True, True] Translation: X:-33.05, Y:-259.52, Z:-2.78 [[-6.69728684e-01 -7.42571508e-01 7.14460328e-03 -3.30520346e+01] [ 7.42532829e-01 -6.69766753e-01 -7.58245645e-03 -2.59519034e+02] [ 1.04157339e-02 2.26913909e-04 9.99945729e-01 -2.77946855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.356559995 meters 0.014748081454493285 Centerline is valid? [True, True] Translation: X:-33.07, Y:-259.50, Z:-2.78 [[-6.70521393e-01 -7.41858725e-01 6.83325022e-03 -3.30695321e+01] [ 7.41823352e-01 -6.70556178e-01 -7.24752814e-03 -2.59498110e+02] [ 9.95872014e-03 2.09441918e-04 9.99950389e-01 -2.77926031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.386559995 meters 0.014664776996607324 Centerline is valid? [True, True] Translation: X:-33.09, Y:-259.48, Z:-2.78 [[-6.72474109e-01 -7.40096718e-01 5.95151851e-03 -3.30862214e+01] [ 7.40069846e-01 -6.72500425e-01 -6.30889371e-03 -2.59475830e+02] [ 8.67159025e-03 1.61971712e-04 9.99962388e-01 -2.77891552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.416559995 meters 0.013195894659127926 Centerline is valid? [True, True] Translation: X:-33.10, Y:-259.45, Z:-2.78 [[-6.73879579e-01 -7.38818449e-01 5.79759799e-03 -3.31021376e+01] [ 7.38792931e-01 -6.73904502e-01 -6.14225642e-03 -2.59452187e+02] [ 8.44503976e-03 1.44083240e-04 9.99964330e-01 -2.77734923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.4465599949999 meters 0.012786691747297633 Centerline is valid? [True, True] Translation: X:-33.12, Y:-259.43, Z:-2.78 [[-6.75408898e-01 -7.37422455e-01 5.56265175e-03 -3.31189312e+01] [ 7.37398942e-01 -6.75431794e-01 -5.88999350e-03 -2.59429985e+02] [ 8.10060531e-03 1.23739495e-04 9.99967182e-01 -2.77706141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.476559995 meters 0.012240841243200054 Centerline is valid? [True, True] Translation: X:-33.13, Y:-259.41, Z:-2.78 [[-6.78611337e-01 -7.34478568e-01 5.28080234e-03 -3.31336952e+01] [ 7.34457312e-01 -6.78631878e-01 -5.58849400e-03 -2.59406975e+02] [ 7.68834988e-03 8.61085079e-05 9.99970441e-01 -2.77688796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.506559995 meters 0.011954607792223045 Centerline is valid? [True, True] Translation: X:-33.15, Y:-259.38, Z:-2.78 [[-6.80314644e-01 -7.32903498e-01 4.94444290e-03 -3.31505610e+01] [ 7.32884843e-01 -6.80332608e-01 -5.22959198e-03 -2.59384854e+02] [ 7.19665199e-03 6.59392518e-05 9.99974102e-01 -2.77676247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.536559995 meters 0.011696297978367017 Centerline is valid? [True, True] Translation: X:-33.17, Y:-259.36, Z:-2.78 [[-6.82323129e-01 -7.31032895e-01 5.10426365e-03 -3.31666552e+01] [ 7.31012989e-01 -6.82342219e-01 -5.39504849e-03 -2.59364237e+02] [ 7.42681250e-03 5.01166545e-05 9.99972420e-01 -2.77708093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.5665599949999 meters 0.011528159036589457 Centerline is valid? [True, True] Translation: X:-33.18, Y:-259.34, Z:-2.78 [[-6.86401176e-01 -7.27203004e-01 5.40525279e-03 -3.31809559e+01] [ 7.27180589e-01 -6.86422458e-01 -5.70961374e-03 -2.59340119e+02] [ 7.86233517e-03 1.15093223e-05 9.99969091e-01 -2.77717691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.596559995 meters 0.011606628624044244 Centerline is valid? [True, True] Translation: X:-33.20, Y:-259.32, Z:-2.78 [[-6.88729004e-01 -7.24997307e-01 5.59144029e-03 -3.31978461e+01] [ 7.24973279e-01 -6.88751700e-01 -5.90256831e-03 -2.59318152e+02] [ 8.13046014e-03 -1.16251930e-05 9.99966947e-01 -2.77721010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.626559995 meters 0.011828730865248775 Centerline is valid? [True, True] Translation: X:-33.21, Y:-259.30, Z:-2.78 [[-6.91152845e-01 -7.22685458e-01 5.78560021e-03 -3.32143239e+01] [ 7.22659683e-01 -6.91177059e-01 -6.10369884e-03 -2.59296718e+02] [ 8.40992853e-03 -3.75688055e-05 9.99964635e-01 -2.77751275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.656559995 meters 0.01223286112726909 Centerline is valid? [True, True] Translation: X:-33.23, Y:-259.27, Z:-2.78 [[-6.93581149e-01 -7.20353838e-01 5.96138705e-03 -3.32312545e+01] [ 7.20326416e-01 -6.93606765e-01 -6.28566952e-03 -2.59274524e+02] [ 8.66276455e-03 -6.54773219e-05 9.99962475e-01 -2.77804461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.6865599949999 meters 0.01223286112726909 Centerline is valid? [True, True] Translation: X:-33.25, Y:-259.26, Z:-2.78 [[-6.93805166e-01 -7.20138063e-01 5.96334171e-03 -3.32497486e+01] [ 7.20110650e-01 -6.93830790e-01 -6.28381513e-03 -2.59255177e+02] [ 8.66276455e-03 -6.54775213e-05 9.99962475e-01 -2.77804446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.7165599949999 meters 0.013519509013427088 Centerline is valid? [True, True] Translation: X:-33.26, Y:-259.23, Z:-2.78 [[-6.98738681e-01 -7.15350721e-01 6.13211140e-03 -3.32648176e+01] [ 7.15321580e-01 -6.98765576e-01 -6.45809912e-03 -2.59230371e+02] [ 8.90471422e-03 -1.26092047e-04 9.99960344e-01 -2.77808888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.746559995 meters 0.01444655261229619 Centerline is valid? [True, True] Translation: X:-33.28, Y:-259.21, Z:-2.78 [[-7.01472783e-01 -7.12670998e-01 5.99862358e-03 -3.32817869e+01] [ 7.12643044e-01 -7.01498414e-01 -6.31406444e-03 -2.59208165e+02] [ 8.70787554e-03 -1.54266990e-04 9.99962074e-01 -2.77804240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.776559995 meters 0.015397065468016311 Centerline is valid? [True, True] Translation: X:-33.30, Y:-259.19, Z:-2.78 [[-7.03967334e-01 -7.10208623e-01 5.80555887e-03 -3.32989764e+01] [ 7.10182383e-01 -7.03991250e-01 -6.10753215e-03 -2.59186029e+02] [ 8.42468465e-03 -1.76497490e-04 9.99964496e-01 -2.77803973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.8065599949999 meters 0.015634470543464604 Centerline is valid? [True, True] Translation: X:-33.32, Y:-259.16, Z:-2.78 [[-7.06342627e-01 -7.07847436e-01 5.66580891e-03 -3.33175063e+01] [ 7.07822395e-01 -7.06365322e-01 -5.95719501e-03 -2.59164950e+02] [ 8.21891615e-03 -1.97434331e-04 9.99966205e-01 -2.77735565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.8365599949999 meters 0.01653469344097591 Centerline is valid? [True, True] Translation: X:-33.33, Y:-259.14, Z:-2.78 [[-7.09602377e-01 -7.04580525e-01 5.54528590e-03 -3.33348897e+01] [ 7.04556465e-01 -7.09624007e-01 -5.82718144e-03 -2.59142573e+02] [ 8.04078656e-03 -2.28014774e-04 9.99967646e-01 -2.77656437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.866559995 meters 0.016919782376825926 Centerline is valid? [True, True] Translation: X:-33.35, Y:-259.12, Z:-2.78 [[-7.10921408e-01 -7.03250754e-01 5.39709356e-03 -3.33533908e+01] [ 7.03227949e-01 -7.10941856e-01 -5.66827480e-03 -2.59121856e+02] [ 7.82323824e-03 -2.34310864e-04 9.99969371e-01 -2.77630291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.896559995 meters 0.01733579668893158 Centerline is valid? [True, True] Translation: X:-33.37, Y:-259.10, Z:-2.78 [[-7.12291151e-01 -7.01867714e-01 4.79885793e-03 -3.33726716e+01] [ 7.01849673e-01 -7.12307282e-01 -5.03715080e-03 -2.59100995e+02] [ 6.95367497e-03 -2.19841074e-04 9.99975799e-01 -2.77524583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.9265599949999 meters 0.017703111727228632 Centerline is valid? [True, True] Translation: X:-33.39, Y:-259.08, Z:-2.78 [[-7.12532923e-01 -7.01623885e-01 4.55621001e-03 -3.33911713e+01] [ 7.01607636e-01 -7.12547459e-01 -4.77962401e-03 -2.59081729e+02] [ 6.60001423e-03 -2.08967728e-04 9.99978198e-01 -2.77516400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.9565599949999 meters 0.01882050370496287 Centerline is valid? [True, True] Translation: X:-33.41, Y:-259.06, Z:-2.78 [[-7.12200852e-01 -7.01963438e-01 4.15666734e-03 -3.34083110e+01] [ 7.01949932e-01 -7.12212958e-01 -4.35838024e-03 -2.59061782e+02] [ 6.01985592e-03 -1.86269768e-04 9.99981863e-01 -2.77521929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.986559995 meters 0.018221052569331504 Centerline is valid? [True, True] Translation: X:-33.43, Y:-259.04, Z:-2.78 [[-7.10175675e-01 -7.04010662e-01 4.41562810e-03 -3.34288155e+01] [ 7.03995475e-01 -7.10189380e-01 -4.62764000e-03 -2.59043885e+02] [ 6.39384008e-03 -1.77855157e-04 9.99979543e-01 -2.77569394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.016559995 meters 0.016112122932337835 Centerline is valid? [True, True] Translation: X:-33.45, Y:-259.03, Z:-2.78 [[-7.08792322e-01 -7.05400758e-01 4.81816925e-03 -3.34510899e+01] [ 7.05382727e-01 -7.08808676e-01 -5.04669829e-03 -2.59026876e+02] [ 6.97510496e-03 -1.78407632e-04 9.99975658e-01 -2.77535666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.0465599949999 meters 0.01494176559872156 Centerline is valid? [True, True] Translation: X:-33.47, Y:-259.01, Z:-2.78 [[-7.04969084e-01 -7.09218226e-01 5.30077986e-03 -3.34730609e+01] [ 7.09196531e-01 -7.04988996e-01 -5.54932609e-03 -2.59010873e+02] [ 7.67267468e-03 -1.52808645e-04 9.99970553e-01 -2.77639259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.0765599949999 meters 0.014252317950534903 Centerline is valid? [True, True] Translation: X:-33.49, Y:-258.99, Z:-2.78 [[-7.02849837e-01 -7.11316465e-01 5.56718889e-03 -3.34945003e+01] [ 7.11292626e-01 -7.02871873e-01 -5.82502118e-03 -2.58992887e+02] [ 8.05645395e-03 -1.34214776e-04 9.99967537e-01 -2.77704888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.106559995 meters 0.013700800967424338 Centerline is valid? [True, True] Translation: X:-33.52, Y:-258.98, Z:-2.78 [[-7.00458674e-01 -7.13668313e-01 5.93173177e-03 -3.35156228e+01] [ 7.13641363e-01 -7.00483781e-01 -6.20312323e-03 -2.58975124e+02] [ 8.58205439e-03 -1.11902328e-04 9.99963167e-01 -2.77812856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.136559995 meters 0.01301387879928051 Centerline is valid? [True, True] Translation: X:-33.54, Y:-258.96, Z:-2.78 [[-6.98056828e-01 -7.16014019e-01 6.37094814e-03 -3.35380623e+01] [ 7.15983062e-01 -6.98085895e-01 -6.65873483e-03 -2.58957207e+02] [ 9.21521652e-03 -8.66843617e-05 9.99957535e-01 -2.77830045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.166559995 meters 0.012482856871797685 Centerline is valid? [True, True] Translation: X:-33.56, Y:-258.94, Z:-2.78 [[-6.92600204e-01 -7.21291522e-01 6.59524833e-03 -3.35615700e+01] [ 7.21258610e-01 -6.92631605e-01 -6.89036366e-03 -2.58942041e+02] [ 9.53803833e-03 -1.53876406e-05 9.99954512e-01 -2.78079833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.1965599949999 meters 0.012324869597236382 Centerline is valid? [True, True] Translation: X:-33.58, Y:-258.92, Z:-2.78 [[-6.89935754e-01 -7.23840890e-01 6.55913982e-03 -3.35829971e+01] [ 7.23808493e-01 -6.89966931e-01 -6.84837133e-03 -2.58924945e+02] [ 9.48272077e-03 2.26248739e-05 9.99955038e-01 -2.77931396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.226559995 meters 0.012601459725184542 Centerline is valid? [True, True] Translation: X:-33.60, Y:-258.91, Z:-2.78 [[-6.87273593e-01 -7.26368696e-01 6.59740386e-03 -3.36042582e+01] [ 7.26336077e-01 -6.87305255e-01 -6.88405185e-03 -2.58907951e+02] [ 9.53479010e-03 6.07053881e-05 9.99954541e-01 -2.77941251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.256559995 meters 0.012854159728074441 Centerline is valid? [True, True] Translation: X:-33.63, Y:-258.89, Z:-2.78 [[-6.84645610e-01 -7.28845535e-01 6.67645674e-03 -3.36262537e+01] [ 7.28812283e-01 -6.84678155e-01 -6.96275484e-03 -2.58889026e+02] [ 9.64599686e-03 9.88641442e-05 9.99953471e-01 -2.77844383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.286559995 meters 0.013796883621382773 Centerline is valid? [True, True] Translation: X:-33.65, Y:-258.87, Z:-2.78 [[-6.81901375e-01 -7.31414388e-01 6.59610941e-03 -3.36484192e+01] [ 7.31382086e-01 -6.81933263e-01 -6.87529221e-03 -2.58872120e+02] [ 9.52679406e-03 1.36005045e-04 9.99954610e-01 -2.77914954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.3165599949999 meters 0.015170884712140708 Centerline is valid? [True, True] Translation: X:-33.67, Y:-258.86, Z:-2.78 [[-6.77211917e-01 -7.35759705e-01 6.45569039e-03 -3.36721984e+01] [ 7.35728996e-01 -6.77242658e-01 -6.72511991e-03 -2.58855881e+02] [ 9.32014116e-03 1.95307268e-04 9.99956548e-01 -2.77838045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.346559995 meters 0.015838763267472102 Centerline is valid? [True, True] Translation: X:-33.69, Y:-258.84, Z:-2.78 [[-6.75367773e-01 -7.37450579e-01 6.70932778e-03 -3.36935296e+01] [ 7.37417530e-01 -6.75401059e-01 -6.98539975e-03 -2.58837244e+02] [ 9.68287418e-03 2.29862045e-04 9.99953094e-01 -2.77848139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.376559995 meters 0.01741277568943047 Centerline is valid? [True, True] Translation: X:-33.72, Y:-258.82, Z:-2.78 [[-6.72497811e-01 -7.40068331e-01 6.74979077e-03 -3.37151877e+01] [ 7.40035049e-01 -6.72531628e-01 -7.02389854e-03 -2.58821114e+02] [ 9.73761265e-03 2.71525348e-04 9.99952552e-01 -2.77842808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.406559995 meters 0.017648264571105476 Centerline is valid? [True, True] Translation: X:-33.74, Y:-258.80, Z:-2.78 [[-6.71588617e-01 -7.40892579e-01 6.84960144e-03 -3.37355658e+01] [ 7.40858387e-01 -6.71623483e-01 -7.12373333e-03 -2.58801438e+02] [ 9.87827433e-03 2.90366468e-04 9.99951167e-01 -2.77818167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.4365599949999 meters 0.02069585363215657 Centerline is valid? [True, True] Translation: X:-33.76, Y:-258.79, Z:-2.78 [[-6.70942296e-01 -7.41476586e-01 6.99346049e-03 -3.37587116e+01] [ 7.41441019e-01 -6.70978671e-01 -7.26901286e-03 -2.58785537e+02] [ 1.00822657e-02 3.08150292e-04 9.99949125e-01 -2.77997820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.4665599949999 meters 0.01915894175441384 Centerline is valid? [True, True] Translation: X:-33.78, Y:-258.76, Z:-2.78 [[-6.70410997e-01 -7.41951853e-01 7.51959396e-03 -3.37769701e+01] [ 7.41910809e-01 -6.70453079e-01 -7.81155050e-03 -2.58763617e+02] [ 1.08373293e-02 3.41918678e-04 9.99941216e-01 -2.77961378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.496559995 meters 0.0195313104766736 Centerline is valid? [True, True] Translation: X:-33.80, Y:-258.74, Z:-2.78 [[-6.70026650e-01 -7.42280749e-01 9.14213957e-03 -3.37968351e+01] [ 7.42220185e-01 -6.70088881e-01 -9.49151541e-03 -2.58744425e+02] [ 1.31714152e-02 4.25912250e-04 9.99913163e-01 -2.78173199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.526559995 meters 0.019792482481449408 Centerline is valid? [True, True] Translation: X:-33.82, Y:-258.72, Z:-2.78 [[-6.70014214e-01 -7.42277786e-01 1.02294958e-02 -3.38169334e+01] [ 7.42202043e-01 -6.70092127e-01 -1.06145786e-02 -2.58724250e+02] [ 1.47336705e-02 4.80434151e-04 9.99891338e-01 -2.78294586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.5565599949999 meters 0.01827322502561594 Centerline is valid? [True, True] Translation: X:-33.83, Y:-258.70, Z:-2.78 [[-6.70480974e-01 -7.41847389e-01 1.08495953e-02 -3.38347580e+01] [ 7.41762229e-01 -6.70568562e-01 -1.12515900e-02 -2.58702013e+02] [ 1.56223602e-02 5.03842988e-04 9.99877837e-01 -2.78286293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.5865599949999 meters 0.020066275359296164 Centerline is valid? [True, True] Translation: X:-33.86, Y:-258.68, Z:-2.78 [[-6.70987809e-01 -7.41385272e-01 1.11013015e-02 -3.38552349e+01] [ 7.41296162e-01 -6.71079443e-01 -1.15056933e-02 -2.58683915e+02] [ 1.59800068e-02 5.09172216e-04 9.99872182e-01 -2.78469385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.616559995 meters 0.019080280654719065 Centerline is valid? [True, True] Translation: X:-33.87, Y:-258.66, Z:-2.78 [[-6.72424278e-01 -7.40076979e-01 1.14741240e-02 -3.38722445e+01] [ 7.39981701e-01 -6.72521982e-01 -1.18855499e-02 -2.58661157e+02] [ 1.65128225e-02 4.98509465e-04 9.99863530e-01 -2.78413566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.646559995 meters 0.018136814642650875 Centerline is valid? [True, True] Translation: X:-33.89, Y:-258.64, Z:-2.78 [[-6.73201023e-01 -7.39371206e-01 1.14281783e-02 -3.38893697e+01] [ 7.39276710e-01 -6.73297843e-01 -1.18304823e-02 -2.58639576e+02] [ 1.64416857e-02 4.84293311e-04 9.99864709e-01 -2.78318146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.6765599949999 meters 0.018647061287148967 Centerline is valid? [True, True] Translation: X:-33.91, Y:-258.62, Z:-2.78 [[-6.74040068e-01 -7.38606933e-01 1.13922983e-02 -3.39077686e+01] [ 7.38513049e-01 -6.74136172e-01 -1.17855458e-02 -2.58620442e+02] [ 1.63848462e-02 4.69430860e-04 9.99865649e-01 -2.78308554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.7065599949999 meters 0.017905144884995245 Centerline is valid? [True, True] Translation: X:-33.93, Y:-258.60, Z:-2.78 [[-6.75863489e-01 -7.36952745e-01 1.04496478e-02 -3.39251911e+01] [ 7.36873642e-01 -6.75944150e-01 -1.08047270e-02 -2.58597672e+02] [ 1.50259515e-02 3.97549597e-04 9.99887025e-01 -2.78148285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.736559995 meters 0.017971023829583113 Centerline is valid? [True, True] Translation: X:-33.94, Y:-258.58, Z:-2.78 [[-6.76930892e-01 -7.35983728e-01 9.61871152e-03 -3.39435573e+01] [ 7.35916681e-01 -6.76999136e-01 -9.94023537e-03 -2.58577615e+02] [ 1.38277109e-02 3.49717857e-04 9.99904332e-01 -2.78115319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.766559995 meters 0.01723866720241589 Centerline is valid? [True, True] Translation: X:-33.96, Y:-258.56, Z:-2.78 [[-6.78593821e-01 -7.34460315e-01 8.85845764e-03 -3.39608922e+01] [ 7.34403381e-01 -6.78651573e-01 -9.14963337e-03 -2.58555312e+02] [ 1.27318488e-02 2.96796578e-04 9.99918903e-01 -2.77974312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.7965599949999 meters 0.017340299659404347 Centerline is valid? [True, True] Translation: X:-33.98, Y:-258.54, Z:-2.78 [[-6.79459939e-01 -7.33663434e-01 8.49446204e-03 -3.39784214e+01] [ 7.33611072e-01 -6.79512980e-01 -8.76956180e-03 -2.58536167e+02] [ 1.22060040e-02 2.73065468e-04 9.99925467e-01 -2.77969596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.8265599949999 meters 0.01702771918107303 Centerline is valid? [True, True] Translation: X:-34.00, Y:-258.52, Z:-2.78 [[-6.80360298e-01 -7.32829920e-01 8.37694448e-03 -3.39963371e+01] [ 7.32778995e-01 -6.80411818e-01 -8.64309292e-03 -2.58516103e+02] [ 1.20336891e-02 2.58031681e-04 9.99927559e-01 -2.77960732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.856559995 meters 0.01601487664950888 Centerline is valid? [True, True] Translation: X:-34.01, Y:-258.49, Z:-2.78 [[-6.81115710e-01 -7.32121426e-01 8.92229512e-03 -3.40135363e+01] [ 7.32063667e-01 -6.81174094e-01 -9.20006048e-03 -2.58494599e+02] [ 1.28131977e-02 2.65382357e-04 9.99917872e-01 -2.77924161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.886559995 meters 0.015795501817932378 Centerline is valid? [True, True] Translation: X:-34.03, Y:-258.47, Z:-2.78 [[-6.81650943e-01 -7.31618084e-01 9.32580856e-03 -3.40321307e+01] [ 7.31555015e-01 -6.81714680e-01 -9.61017177e-03 -2.58474969e+02] [ 1.33885161e-02 2.71559371e-04 9.99910333e-01 -2.77979211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.916559995 meters 0.017175869898403993 Centerline is valid? [True, True] Translation: X:-34.05, Y:-258.46, Z:-2.78 [[-6.81888464e-01 -7.31391642e-01 9.71540152e-03 -3.40522974e+01] [ 7.31323260e-01 -6.81957613e-01 -1.00051464e-02 -2.58457581e+02] [ 1.39431725e-02 2.82705209e-04 9.99902749e-01 -2.78150652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.9465599949999 meters 0.016192943497833727 Centerline is valid? [True, True] Translation: X:-34.07, Y:-258.44, Z:-2.78 [[-6.81963435e-01 -7.31325477e-01 9.42973107e-03 -3.40700777e+01] [ 7.31261132e-01 -6.82028569e-01 -9.70501953e-03 -2.58436571e+02] [ 1.35288740e-02 2.77127366e-04 9.99908442e-01 -2.77974436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.976559995 meters 0.016474736824671002 Centerline is valid? [True, True] Translation: X:-34.09, Y:-258.42, Z:-2.78 [[-6.81872871e-01 -7.31405698e-01 9.75158005e-03 -3.40888904e+01] [ 7.31336983e-01 -6.81942534e-01 -1.00298348e-02 -2.58418125e+02] [ 1.39858955e-02 2.92618905e-04 9.99902150e-01 -2.77965149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.006559995 meters 0.016148240399203 Centerline is valid? [True, True] Translation: X:-34.11, Y:-258.40, Z:-2.78 [[-6.81800138e-01 -7.31474580e-01 9.67008324e-03 -3.41071653e+01] [ 7.31407102e-01 -6.81868646e-01 -9.93983773e-03 -2.58398334e+02] [ 1.38644652e-02 2.95784824e-04 9.99903840e-01 -2.77900544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.036559995 meters 0.016795968159020194 Centerline is valid? [True, True] Translation: X:-34.13, Y:-258.38, Z:-2.78 [[-6.81963513e-01 -7.31321594e-01 9.72072810e-03 -3.41264089e+01] [ 7.31253470e-01 -6.82032725e-01 -9.98624497e-03 -2.58381137e+02] [ 1.39330113e-02 2.98061454e-04 9.99902887e-01 -2.78008468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.0665599949999 meters 0.016777771313950154 Centerline is valid? [True, True] Translation: X:-34.15, Y:-258.36, Z:-2.78 [[-6.82501796e-01 -7.30811846e-01 1.02637228e-02 -3.41452691e+01] [ 7.30735934e-01 -6.82578897e-01 -1.05377503e-02 -2.58362010e+02] [ 1.47069133e-02 3.08037580e-04 9.99891800e-01 -2.78070565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.096559995 meters 0.015428870417500634 Centerline is valid? [True, True] Translation: X:-34.16, Y:-258.34, Z:-2.78 [[-6.83083268e-01 -7.30267132e-01 1.03520375e-02 -3.41632913e+01] [ 7.30189935e-01 -6.83161638e-01 -1.06224061e-02 -2.58339914e+02] [ 1.48293089e-02 3.02965749e-04 9.99889994e-01 -2.77937709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.126559995 meters 0.016727390680454327 Centerline is valid? [True, True] Translation: X:-34.18, Y:-258.32, Z:-2.78 [[-6.83664943e-01 -7.29722103e-01 1.03873948e-02 -3.41839518e+01] [ 7.29644409e-01 -6.83743785e-01 -1.06523604e-02 -2.58322280e+02] [ 1.48755794e-02 2.96459150e-04 9.99889309e-01 -2.78181267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.156559995 meters 0.016840583802877954 Centerline is valid? [True, True] Translation: X:-34.20, Y:-258.30, Z:-2.78 [[-6.84339580e-01 -7.29087403e-01 1.05308679e-02 -3.42020261e+01] [ 7.29007573e-01 -6.84420539e-01 -1.07928028e-02 -2.58303666e+02] [ 1.50764389e-02 2.91140304e-04 9.99886302e-01 -2.78169865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.1865599949999 meters 0.016713106831720986 Centerline is valid? [True, True] Translation: X:-34.22, Y:-258.28, Z:-2.78 [[-6.85510275e-01 -7.27996562e-01 9.83203162e-03 -3.42202636e+01] [ 7.27926950e-01 -6.85580733e-01 -1.00704080e-02 -2.58284642e+02] [ 1.40718738e-02 2.53632647e-04 9.99900954e-01 -2.78119285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.2165599949999 meters 0.014790314444989608 Centerline is valid? [True, True] Translation: X:-34.24, Y:-258.26, Z:-2.78 [[-6.86206263e-01 -7.27344103e-01 9.56662036e-03 -3.42374321e+01] [ 7.27278211e-01 -6.86272904e-01 -9.79307448e-03 -2.58262136e+02] [ 1.36882473e-02 2.37525508e-04 9.99906283e-01 -2.77796048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.246559995 meters 0.016276536242406735 Centerline is valid? [True, True] Translation: X:-34.26, Y:-258.25, Z:-2.78 [[-6.86687605e-01 -7.26894715e-01 9.17643409e-03 -3.42582686e+01] [ 7.26834130e-01 -6.86748880e-01 -9.38744680e-03 -2.58245821e+02] [ 1.31255913e-02 2.23502126e-04 9.99913831e-01 -2.78015125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.276559995 meters 0.014576092143186854 Centerline is valid? [True, True] Translation: X:-34.28, Y:-258.22, Z:-2.78 [[-6.87287860e-01 -7.26335185e-01 8.52037930e-03 -3.42758465e+01] [ 7.26282970e-01 -6.87340643e-01 -8.71141821e-03 -2.58223756e+02] [ 1.21838125e-02 2.00954407e-04 9.99925754e-01 -2.77697458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.3065599949999 meters 0.014686058954938934 Centerline is valid? [True, True] Translation: X:-34.29, Y:-258.21, Z:-2.78 [[-6.87732392e-01 -7.25917849e-01 8.21177657e-03 -3.42945716e+01] [ 7.25869384e-01 -6.87781390e-01 -8.39034577e-03 -2.58205691e+02] [ 1.17386089e-02 1.90364630e-04 9.99931082e-01 -2.77729586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.3365599949999 meters 0.014368502431365969 Centerline is valid? [True, True] Translation: X:-34.31, Y:-258.19, Z:-2.78 [[-6.87970560e-01 -7.25695558e-01 7.90360736e-03 -3.43142043e+01] [ 7.25650699e-01 -6.88015933e-01 -8.07090007e-03 -2.58185279e+02] [ 1.12948241e-02 1.82716565e-04 9.99936195e-01 -2.77660441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.366559995 meters 0.014409242217899897 Centerline is valid? [True, True] Translation: X:-34.33, Y:-258.17, Z:-2.78 [[-6.88201332e-01 -7.25479628e-01 7.63124763e-03 -3.43344475e+01] [ 7.25437842e-01 -6.88243618e-01 -7.78837377e-03 -2.58165421e+02] [ 1.09024640e-02 1.76026616e-04 9.99940551e-01 -2.77689187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.396559995 meters 0.014243848276549701 Centerline is valid? [True, True] Translation: X:-34.35, Y:-258.15, Z:-2.78 [[-6.88362831e-01 -7.25322899e-01 7.95651170e-03 -3.43544437e+01] [ 7.25277503e-01 -6.88408788e-01 -8.11693278e-03 -2.58146424e+02] [ 1.13647298e-02 1.83284110e-04 9.99935403e-01 -2.77716894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.4265599949999 meters 0.01450345749853593 Centerline is valid? [True, True] Translation: X:-34.37, Y:-258.13, Z:-2.78 [[-6.88617820e-01 -7.25079243e-01 8.09878875e-03 -3.43747071e+01] [ 7.25032249e-01 -6.88665418e-01 -8.25711290e-03 -2.58127821e+02] [ 1.15644169e-02 1.85887943e-04 9.99933113e-01 -2.77784203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.4565599949999 meters 0.014226929210346618 Centerline is valid? [True, True] Translation: X:-34.40, Y:-258.11, Z:-2.78 [[-6.89032807e-01 -7.24682053e-01 8.34936530e-03 -3.43951105e+01] [ 7.24632136e-01 -6.89083367e-01 -8.50773626e-03 -2.58108955e+02] [ 1.19188125e-02 1.88109009e-04 9.99928951e-01 -2.77832360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.486559995 meters 0.014308193316873472 Centerline is valid? [True, True] Translation: X:-34.41, Y:-258.09, Z:-2.78 [[-6.89495846e-01 -7.24238710e-01 8.58892928e-03 -3.44144277e+01] [ 7.24185917e-01 -6.89549313e-01 -8.74658650e-03 -2.58090203e+02] [ 1.22571068e-02 1.89246568e-04 9.99924861e-01 -2.77916744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.516559995 meters 0.014349620500556319 Centerline is valid? [True, True] Translation: X:-34.43, Y:-258.07, Z:-2.78 [[-6.90150769e-01 -7.23608557e-01 9.08690865e-03 -3.44329485e+01] [ 7.23549489e-01 -6.90210561e-01 -9.24756978e-03 -2.58071866e+02] [ 1.29635010e-02 1.92610718e-04 9.99915952e-01 -2.77955116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.5465599949999 meters 0.014018321202815053 Centerline is valid? [True, True] Translation: X:-34.45, Y:-258.05, Z:-2.78 [[-6.91158763e-01 -7.22638429e-01 9.65739196e-03 -3.44516065e+01] [ 7.22571702e-01 -6.91226204e-01 -9.82194782e-03 -2.58051736e+02] [ 1.37731593e-02 1.89632837e-04 9.99905128e-01 -2.77947844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.5765599949999 meters 0.014018321202815053 Centerline is valid? [True, True] Translation: X:-34.47, Y:-258.03, Z:-2.78 [[-6.91360961e-01 -7.22444948e-01 9.66014058e-03 -3.44709982e+01] [ 7.22378240e-01 -6.91428421e-01 -9.81924449e-03 -2.58032119e+02] [ 1.37731593e-02 1.89633039e-04 9.99905128e-01 -2.77947828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.606559995 meters 0.014128540783366143 Centerline is valid? [True, True] Translation: X:-34.49, Y:-258.01, Z:-2.78 [[-6.92206426e-01 -7.21635234e-01 9.63600644e-03 -3.44898465e+01] [ 7.21568869e-01 -6.92273470e-01 -9.78825544e-03 -2.58013235e+02] [ 1.37343016e-02 1.77548952e-04 9.99905664e-01 -2.77982983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.636559995 meters 0.013835696366770671 Centerline is valid? [True, True] Translation: X:-34.51, Y:-257.99, Z:-2.78 [[-6.92997234e-01 -7.20874413e-01 9.74237919e-03 -3.45081693e+01] [ 7.20806585e-01 -6.93065691e-01 -9.89014386e-03 -2.57993676e+02] [ 1.38816604e-02 1.68528733e-04 9.99903631e-01 -2.77932534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.666559995 meters 0.013846526955977682 Centerline is valid? [True, True] Translation: X:-34.53, Y:-257.97, Z:-2.78 [[-6.93597843e-01 -7.20298871e-01 9.56914256e-03 -3.45266285e+01] [ 7.20233462e-01 -6.93663831e-01 -9.70819938e-03 -2.57974260e+02] [ 1.36305731e-02 1.58430525e-04 9.99907087e-01 -2.77873019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.6965599949999 meters 0.013660340456836631 Centerline is valid? [True, True] Translation: X:-34.55, Y:-257.95, Z:-2.78 [[-6.94495946e-01 -7.19431124e-01 9.70768505e-03 -3.45461098e+01] [ 7.19363798e-01 -6.94563774e-01 -9.84322572e-03 -2.57953382e+02] [ 1.38241293e-02 1.47276838e-04 9.99904431e-01 -2.77778650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.726559995 meters 0.013667807834337374 Centerline is valid? [True, True] Translation: X:-34.56, Y:-257.93, Z:-2.78 [[-6.95065380e-01 -7.18880633e-01 9.73409165e-03 -3.45647288e+01] [ 7.18812977e-01 -6.95133523e-01 -9.86347688e-03 -2.57934453e+02] [ 1.38571559e-02 1.41230096e-04 9.99903975e-01 -2.77803749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.756559995 meters 0.013569569752733995 Centerline is valid? [True, True] Translation: X:-34.58, Y:-257.92, Z:-2.78 [[-6.96413830e-01 -7.17561895e-01 1.06162302e-02 -3.45820903e+01] [ 7.17481373e-01 -6.96494731e-01 -1.07502969e-02 -2.57915270e+02] [ 1.51081518e-02 1.30291987e-04 9.99885857e-01 -2.77833687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.786559995 meters 0.013419697623116057 Centerline is valid? [True, True] Translation: X:-34.60, Y:-257.90, Z:-2.78 [[-6.97437910e-01 -7.16561549e-01 1.09503088e-02 -3.46004603e+01] [ 7.16475863e-01 -6.97523859e-01 -1.10817195e-02 -2.57895177e+02] [ 1.55788357e-02 1.16820648e-04 9.99878636e-01 -2.77841278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.8165599949999 meters 0.013458574666494891 Centerline is valid? [True, True] Translation: X:-34.62, Y:-257.87, Z:-2.78 [[-6.99690582e-01 -7.14352977e-01 1.15288033e-02 -3.46172095e+01] [ 7.14257822e-01 -6.99785551e-01 -1.16595810e-02 -2.57874741e+02] [ 1.63967464e-02 7.64389507e-05 9.99865561e-01 -2.77915587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.846559995 meters 0.013458574666494891 Centerline is valid? [True, True] Translation: X:-34.64, Y:-257.86, Z:-2.78 [[-6.99904575e-01 -7.14143257e-01 1.15322967e-02 -3.46361100e+01] [ 7.14048130e-01 -6.99999573e-01 -1.16561258e-02 -2.57855800e+02] [ 1.63967464e-02 7.64390952e-05 9.99865561e-01 -2.77915571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.876559995 meters 0.01316254800027434 Centerline is valid? [True, True] Translation: X:-34.65, Y:-257.83, Z:-2.78 [[-7.02332060e-01 -7.11755526e-01 1.15649401e-02 -3.46530442e+01] [ 7.11659655e-01 -7.02427271e-01 -1.16818037e-02 -2.57834094e+02] [ 1.64381176e-02 2.57959686e-05 9.99864885e-01 -2.77701680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.906559995 meters 0.013510170730884416 Centerline is valid? [True, True] Translation: X:-34.67, Y:-257.81, Z:-2.78 [[-7.03498758e-01 -7.10600698e-01 1.16681659e-02 -3.46709535e+01] [ 7.10503077e-01 -7.03595515e-01 -1.17783558e-02 -2.57814353e+02] [ 1.65793770e-02 4.20906507e-06 9.99862553e-01 -2.77879843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.9365599949999 meters 0.013335532677766432 Centerline is valid? [True, True] Translation: X:-34.69, Y:-257.79, Z:-2.78 [[-7.05745173e-01 -7.08365653e-01 1.19101711e-02 -3.46880042e+01] [ 7.08263747e-01 -7.05845663e-01 -1.20152163e-02 -2.57793409e+02] [ 1.69179092e-02 -4.41384992e-05 9.99856881e-01 -2.77675358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.9665599949999 meters 0.01388162172756597 Centerline is valid? [True, True] Translation: X:-34.71, Y:-257.77, Z:-2.78 [[-7.07044052e-01 -7.07069836e-01 1.18724915e-02 -3.47056563e+01] [ 7.06968521e-01 -7.07143721e-01 -1.19694564e-02 -2.57773349e+02] [ 1.68587994e-02 -6.94551750e-05 9.99857878e-01 -2.77905387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.996559995 meters 0.014020360499254095 Centerline is valid? [True, True] Translation: X:-34.72, Y:-257.75, Z:-2.78 [[-7.08230072e-01 -7.05882656e-01 1.18254750e-02 -3.47237445e+01] [ 7.05782092e-01 -7.08328785e-01 -1.19151684e-02 -2.57753192e+02] [ 1.67870351e-02 -9.24720920e-05 9.99859084e-01 -2.77920536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.026559995 meters 0.014374146490530223 Centerline is valid? [True, True] Translation: X:-34.74, Y:-257.73, Z:-2.78 [[-7.09658906e-01 -7.04446864e-01 1.17835593e-02 -3.47412621e+01] [ 7.04346934e-01 -7.09756719e-01 -1.18657496e-02 -2.57732995e+02] [ 1.67222505e-02 -1.20921011e-04 9.99860166e-01 -2.77938552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.0565599949999 meters 0.014202217049267081 Centerline is valid? [True, True] Translation: X:-34.76, Y:-257.71, Z:-2.78 [[-7.11219124e-01 -7.02874226e-01 1.16266901e-02 -3.47599811e+01] [ 7.02776845e-01 -7.11314136e-01 -1.17007450e-02 -2.57712575e+02] [ 1.64943811e-02 -1.50824991e-04 9.99863947e-01 -2.77780197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.0865599949999 meters 0.016134917734240646 Centerline is valid? [True, True] Translation: X:-34.77, Y:-257.69, Z:-2.78 [[-7.14430725e-01 -6.99615094e-01 1.12897634e-02 -3.47747115e+01] [ 6.99522937e-01 -7.14519890e-01 -1.13572522e-02 -2.57689389e+02] [ 1.60124656e-02 -2.16521518e-04 9.99871769e-01 -2.77990468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.116559995 meters 0.01464061302527113 Centerline is valid? [True, True] Translation: X:-34.80, Y:-257.67, Z:-2.78 [[-7.16190363e-01 -6.97813614e-01 1.12926136e-02 -3.47956576e+01] [ 6.97721289e-01 -7.16279342e-01 -1.13537134e-02 -2.57670507e+02] [ 1.60114416e-02 -2.52323221e-04 9.99871777e-01 -2.77601631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.146559995 meters 0.01579679416335416 Centerline is valid? [True, True] Translation: X:-34.81, Y:-257.65, Z:-2.78 [[-7.19777251e-01 -6.94115261e-01 1.11675590e-02 -3.48113994e+01] [ 6.94024608e-01 -7.19863805e-01 -1.12225461e-02 -2.57648699e+02] [ 1.58288621e-02 -3.27172605e-04 9.99874662e-01 -2.77601933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.1765599949999 meters 0.01656096551364366 Centerline is valid? [True, True] Translation: X:-34.83, Y:-257.63, Z:-2.78 [[-7.21449720e-01 -6.92380220e-01 1.09513775e-02 -3.48286184e+01] [ 6.92292913e-01 -7.21532747e-01 -1.10008321e-02 -2.57628044e+02] [ 1.55185360e-02 -3.54986185e-04 9.99879517e-01 -2.77622612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.2065599949999 meters 0.02152838668202388 Centerline is valid? [True, True] Translation: X:-34.84, Y:-257.60, Z:-2.78 [[-7.23054016e-01 -6.90709225e-01 1.06609523e-02 -3.48417035e+01] [ 6.90626378e-01 -7.23132508e-01 -1.07043316e-02 -2.57603668e+02] [ 1.51028618e-02 -3.77075048e-04 9.99885874e-01 -2.78003365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.236559995 meters 0.01799967731164172 Centerline is valid? [True, True] Translation: X:-34.86, Y:-257.59, Z:-2.78 [[-7.25116491e-01 -6.88545735e-01 1.05283041e-02 -3.48646376e+01] [ 6.88464794e-01 -7.25192803e-01 -1.05653414e-02 -2.57587350e+02] [ 1.49097711e-02 -4.12736562e-04 9.99888758e-01 -2.77632158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.266559995 meters 0.017599730532218923 Centerline is valid? [True, True] Translation: X:-34.89, Y:-257.57, Z:-2.78 [[-7.25782490e-01 -6.87847278e-01 1.02907504e-02 -3.48852418e+01] [ 6.87769963e-01 -7.25855324e-01 -1.03212005e-02 -2.57567753e+02] [ 1.45690056e-02 -4.13277625e-04 9.99893781e-01 -2.77574713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.2965599949999 meters 0.017848945132033976 Centerline is valid? [True, True] Translation: X:-34.90, Y:-257.55, Z:-2.78 [[-7.26257752e-01 -6.87345299e-01 1.03013866e-02 -3.49047518e+01] [ 6.87267867e-01 -7.26330686e-01 -1.03254381e-02 -2.57548471e+02] [ 1.45793546e-02 -4.19117456e-04 9.99893628e-01 -2.77581527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.3265599949999 meters 0.017999827080096304 Centerline is valid? [True, True] Translation: X:-34.92, Y:-257.53, Z:-2.78 [[-7.26467176e-01 -6.87123881e-01 1.03059893e-02 -3.49244979e+01] [ 6.87046451e-01 -7.26540155e-01 -1.03236560e-02 -2.57529180e+02] [ 1.45813456e-02 -4.19103865e-04 9.99893599e-01 -2.77613338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.356559995 meters 0.017680317107020598 Centerline is valid? [True, True] Translation: X:-34.94, Y:-257.51, Z:-2.78 [[-7.26448714e-01 -6.87156458e-01 9.39513483e-03 -3.49447270e+01] [ 6.87092191e-01 -7.26509367e-01 -9.40538765e-03 -2.57510798e+02] [ 1.32886263e-02 -3.77207994e-04 9.99911631e-01 -2.77582796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.386559995 meters 0.01788109031862385 Centerline is valid? [True, True] Translation: X:-34.96, Y:-257.49, Z:-2.78 [[-7.26658198e-01 -6.86938859e-01 9.10314851e-03 -3.49640923e+01] [ 6.86878580e-01 -7.26715123e-01 -9.10745551e-03 -2.57491797e+02] [ 1.28716608e-02 -3.65249478e-04 9.99917090e-01 -2.77541780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.416559995 meters 0.017532679506721875 Centerline is valid? [True, True] Translation: X:-34.98, Y:-257.47, Z:-2.78 [[-7.26452407e-01 -6.87157464e-01 9.02883638e-03 -3.49845034e+01] [ 6.87098254e-01 -7.26508427e-01 -9.02750245e-03 -2.57473153e+02] [ 1.27628414e-02 -3.54353175e-04 9.99918489e-01 -2.77561538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.4465599949999 meters 0.01689806545150759 Centerline is valid? [True, True] Translation: X:-35.49, Y:-257.98, Z:-1.82 [[-7.37757036e-01 6.74992892e-01 9.95749195e-03 -3.54908262e+01] [ 6.74937749e-01 7.37824148e-01 -8.63492641e-03 -2.57977518e+02] [-1.31753920e-02 3.50209493e-04 -9.99913140e-01 -1.81589641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.476559995 meters 0.01643947053081938 Centerline is valid? [True, True] Translation: X:-35.47, Y:-257.95, Z:-1.82 [[-7.84371944e-01 6.20205773e-01 1.02690500e-02 -3.54731896e+01] [ 6.20158019e-01 7.84439095e-01 -7.70317630e-03 -2.57953284e+02] [-1.28329987e-02 3.26278324e-04 -9.99917601e-01 -1.81600149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.506559995 meters 0.01591172178668369 Centerline is valid? [True, True] Translation: X:-35.45, Y:-257.93, Z:-1.82 [[-8.27124043e-01 5.61920665e-01 1.05348475e-02 -3.54548714e+01] [ 5.61879688e-01 8.27191076e-01 -6.79272077e-03 -2.57929335e+02] [-1.25313020e-02 3.00894150e-04 -9.99921435e-01 -1.81620413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.536559995 meters 0.015709447652897703 Centerline is valid? [True, True] Translation: X:-35.44, Y:-257.90, Z:-1.82 [[-8.66166883e-01 4.99638638e-01 1.07779153e-02 -3.54389981e+01] [ 4.99603704e-01 8.66233896e-01 -5.91405397e-03 -2.57902735e+02] [-1.22910855e-02 2.62128731e-04 -9.99924427e-01 -1.81572628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.5665599949999 meters 0.015120666470602517 Centerline is valid? [True, True] Translation: X:-35.43, Y:-257.88, Z:-1.82 [[-9.00063519e-01 4.35620587e-01 1.09711259e-02 -3.54250880e+01] [ 4.35591440e-01 9.00130350e-01 -5.04479376e-03 -2.57875386e+02] [-1.20730594e-02 2.38293720e-04 -9.99927090e-01 -1.81605553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.596559995 meters 0.014826730976470854 Centerline is valid? [True, True] Translation: X:-35.13, Y:-257.25, Z:-2.78 [[-8.86784800e-01 -4.62066533e-01 1.03555799e-02 -3.51335799e+01] [ 4.62031722e-01 -8.86845227e-01 -5.67726882e-03 -2.57250612e+02] [ 1.18070725e-02 -2.49909278e-04 9.99930263e-01 -2.77625421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.626559995 meters 0.014962918921972957 Centerline is valid? [True, True] Translation: X:-35.47, Y:-257.85, Z:-1.81 [[-9.03075323e-01 4.29353997e-01 1.04932045e-02 -3.54683886e+01] [ 4.29327452e-01 9.03136263e-01 -4.77809028e-03 -2.57852726e+02] [-1.15282856e-02 1.90045315e-04 -9.99933529e-01 -1.81473580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.656559995 meters 0.013826920400294365 Centerline is valid? [True, True] Translation: X:-35.19, Y:-257.23, Z:-2.78 [[-8.86067911e-01 -4.63465869e-01 9.11293104e-03 -3.51877034e+01] [ 4.63438504e-01 -8.86114738e-01 -5.04226473e-03 -2.57232790e+02] [ 1.04120201e-02 -2.44505856e-04 9.99945764e-01 -2.77687170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.6865599949999 meters 0.013557924150011457 Centerline is valid? [True, True] Translation: X:-35.51, Y:-257.83, Z:-1.82 [[-9.06970906e-01 4.21107996e-01 8.47537214e-03 -3.55082959e+01] [ 4.21090678e-01 9.07010499e-01 -3.82047239e-03 -2.57828215e+02] [-9.29608299e-03 1.03842902e-04 -9.99956785e-01 -1.81547307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.7165599949999 meters 0.013452630918733166 Centerline is valid? [True, True] Translation: X:-35.50, Y:-257.80, Z:-1.82 [[-9.35096387e-01 3.54300656e-01 8.11125940e-03 -3.55018217e+01] [ 3.54288093e-01 9.35131562e-01 -2.98474092e-03 -2.57798737e+02] [-8.64259034e-03 8.27021762e-05 -9.99962649e-01 -1.81527488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.746559995 meters 0.013139847324037187 Centerline is valid? [True, True] Translation: X:-35.49, Y:-257.77, Z:-1.82 [[-9.58512786e-01 2.84936108e-01 8.04071165e-03 -3.54926527e+01] [ 2.84926616e-01 9.58546509e-01 -2.32658126e-03 -2.57769775e+02] [-8.37032309e-03 6.09548755e-05 -9.99964966e-01 -1.81551914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.776559995 meters 0.012712282835091664 Centerline is valid? [True, True] Translation: X:-35.49, Y:-257.74, Z:-1.82 [[-9.77296586e-01 2.11724703e-01 8.00203460e-03 -3.54896261e+01] [ 2.11717788e-01 9.77329346e-01 -1.71125878e-03 -2.57736296e+02] [-8.18293900e-03 2.17657017e-05 -9.99966519e-01 -1.81533951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.8065599949999 meters 0.012604897262800238 Centerline is valid? [True, True] Translation: X:-35.35, Y:-257.10, Z:-2.78 [[-9.61454485e-01 -2.74848019e-01 7.98997735e-03 -3.53547106e+01] [ 2.74838412e-01 -9.61487684e-01 -2.29793210e-03 -2.57099677e+02] [ 8.31384690e-03 -1.34044360e-05 9.99965439e-01 -2.77652745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.8365599949999 meters 0.01280134229678344 Centerline is valid? [True, True] Translation: X:-35.54, Y:-257.72, Z:-1.82 [[-9.79234052e-01 2.02587462e-01 7.68065561e-03 -3.55396597e+01] [ 2.02581054e-01 9.79264173e-01 -1.61140435e-03 -2.57720916e+02] [-7.84784117e-03 -2.19867007e-05 -9.99969205e-01 -1.81510667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.866559995 meters 0.013228422646819525 Centerline is valid? [True, True] Translation: X:-35.41, Y:-257.10, Z:-2.78 [[-9.60095425e-01 -2.79570879e-01 7.54311339e-03 -3.54105528e+01] [ 2.79562432e-01 -9.60125056e-01 -2.17335848e-03 -2.57097259e+02] [ 7.84993991e-03 2.21395933e-05 9.99969189e-01 -2.77733668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.896559995 meters 0.013604343618528735 Centerline is valid? [True, True] Translation: X:-35.59, Y:-257.70, Z:-1.81 [[-9.81827036e-01 1.89610275e-01 7.97595650e-03 -3.55927984e+01] [ 1.89603202e-01 9.81859427e-01 -1.64071208e-03 -2.57701633e+02] [-8.14236395e-03 -9.86285850e-05 -9.99966846e-01 -1.81435108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.9265599949999 meters 0.014340297063665259 Centerline is valid? [True, True] Translation: X:-35.59, Y:-257.67, Z:-1.81 [[-9.93160289e-01 1.16468517e-01 8.22947500e-03 -3.55916470e+01] [ 1.16463470e-01 9.93194376e-01 -1.09152853e-03 -2.57670132e+02] [-8.30059700e-03 -1.25629576e-04 -9.99965542e-01 -1.81329350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.9565599949999 meters 0.015732801570880355 Centerline is valid? [True, True] Translation: X:-35.51, Y:-257.06, Z:-2.78 [[-9.75799966e-01 -2.18521251e-01 7.93032277e-03 -3.55135746e+01] [ 2.18514939e-01 -9.75832184e-01 -1.66443682e-03 -2.57061324e+02] [ 8.10237901e-03 1.08736610e-04 9.99967169e-01 -2.77936448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.986559995 meters 0.015865510724990598 Centerline is valid? [True, True] Translation: X:-35.65, Y:-257.66, Z:-1.81 [[-9.94469782e-01 1.04759983e-01 7.42964638e-03 -3.56472253e+01] [ 1.04755770e-01 9.94497520e-01 -9.55042436e-04 -2.57657459e+02] [-7.48881513e-03 -1.71462513e-04 -9.99971944e-01 -1.81312592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.016559995 meters 0.01694336019606487 Centerline is valid? [True, True] Translation: X:-35.57, Y:-257.06, Z:-2.78 [[-9.75780956e-01 -2.18631151e-01 7.20735066e-03 -3.55693229e+01] [ 2.18626388e-01 -9.75807560e-01 -1.45180028e-03 -2.57056989e+02] [ 7.35039603e-03 1.59077973e-04 9.99972973e-01 -2.77869421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.0465599949999 meters 0.01708205318294764 Centerline is valid? [True, True] Translation: X:-35.70, Y:-257.65, Z:-1.82 [[-9.95366641e-01 9.60227145e-02 4.98882312e-03 -3.56979108e+01] [ 9.60208095e-02 9.95379133e-01 -6.20520124e-04 -2.57649579e+02] [-5.02535446e-03 -1.38614197e-04 -9.99987363e-01 -1.81524991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.0765599949999 meters 0.018041157530210843 Centerline is valid? [True, True] Translation: X:-35.70, Y:-257.62, Z:-1.82 [[-9.99709208e-01 2.36782163e-02 4.56521708e-03 -3.57037039e+01] [ 2.36773644e-02 9.99719623e-01 -2.40576959e-04 -2.57619519e+02] [-4.56963353e-03 -1.32414693e-04 -9.99989550e-01 -1.81561429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.106559995 meters 0.01870416488862981 Centerline is valid? [True, True] Translation: X:-35.67, Y:-257.02, Z:-2.78 [[-9.88587987e-01 -1.50585892e-01 4.20488156e-03 -3.56693837e+01] [ 1.50584961e-01 -9.88596925e-01 -5.38760458e-04 -2.57022635e+02] [ 4.23806270e-03 1.00579810e-04 9.99991014e-01 -2.77641082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.136559995 meters 0.02046989223486271 Centerline is valid? [True, True] Translation: X:-35.76, Y:-257.61, Z:-1.81 [[-9.99871907e-01 1.55519102e-02 3.78269276e-03 -3.57601836e+01] [ 1.55513273e-02 9.99879054e-01 -1.83443707e-04 -2.57611997e+02] [-3.78508816e-03 -1.24594316e-04 -9.99992829e-01 -1.81482330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.166559995 meters 0.021121367537560637 Centerline is valid? [True, True] Translation: X:-35.77, Y:-257.58, Z:-1.81 [[-9.98391403e-01 -5.65710415e-02 3.78462090e-03 -3.57682221e+01] [-5.65711222e-02 9.98398568e-01 8.58192392e-05 -2.57583113e+02] [-3.78341497e-03 -1.28419060e-04 -9.99992835e-01 -1.81453051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.1965599949999 meters 0.02113219547277037 Centerline is valid? [True, True] Translation: X:-35.78, Y:-257.56, Z:-1.81 [[-9.91683584e-01 -1.28631704e-01 4.18967005e-03 -3.57802668e+01] [-1.28631185e-01 9.91692424e-01 3.94223359e-04 -2.57556705e+02] [-4.20557367e-03 -1.47977390e-04 -9.99991146e-01 -1.81440917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.226559995 meters 0.0215769254865516 Centerline is valid? [True, True] Translation: X:-35.83, Y:-256.97, Z:-2.78 [[-9.99939655e-01 -9.97823984e-03 4.59568742e-03 -3.58298684e+01] [ 9.97899790e-03 -9.99950199e-01 1.42049046e-04 -2.56971760e+02] [ 4.59404115e-03 1.87900829e-04 9.99989430e-01 -2.77824344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.256559995 meters 0.02138096124397174 Centerline is valid? [True, True] Translation: X:-35.85, Y:-257.56, Z:-1.81 [[-9.91018419e-01 -1.33629952e-01 5.05259051e-03 -3.58513337e+01] [-1.33629127e-01 9.91031283e-01 5.01883232e-04 -2.57564189e+02] [-5.07434189e-03 -1.77797734e-04 -9.99987110e-01 -1.81336398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.286559995 meters 0.020369263164713602 Centerline is valid? [True, True] Translation: X:-35.91, Y:-256.98, Z:-2.78 [[-9.99986273e-01 -1.45292610e-03 5.03423439e-03 -3.59118226e+01] [ 1.45378256e-03 -9.99998929e-01 1.66471302e-04 -2.56975238e+02] [ 5.03398713e-03 1.73787699e-04 9.99987314e-01 -2.77828613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.3165599949999 meters 0.019068437163724705 Centerline is valid? [True, True] Translation: X:-35.93, Y:-257.58, Z:-1.81 [[-9.91315343e-01 -1.31468461e-01 3.15197515e-03 -3.59328007e+01] [-1.31468071e-01 9.91320350e-01 3.31489750e-04 -2.57580142e+02] [-3.16819756e-03 -8.57732172e-05 -9.99994978e-01 -1.81477323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.346559995 meters 0.01818720419095318 Centerline is valid? [True, True] Translation: X:-35.95, Y:-257.56, Z:-1.82 [[-9.80025611e-01 -1.98858213e-01 2.28334805e-03 -3.59462581e+01] [-1.98857805e-01 9.80028269e-01 4.06799740e-04 -2.57557548e+02] [-2.31864110e-03 -5.53874160e-05 -9.99997310e-01 -1.81578317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.376559995 meters 0.01598560807373216 Centerline is valid? [True, True] Translation: X:-35.96, Y:-257.54, Z:-1.82 [[-9.64074594e-01 -2.65626089e-01 1.71979352e-03 -3.59638863e+01] [-2.65625734e-01 9.64076127e-01 4.36178676e-04 -2.57539263e+02] [-1.77387231e-03 -3.63126354e-05 -9.99998426e-01 -1.81638887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.406559995 meters 0.01521092457766326 Centerline is valid? [True, True] Translation: X:-36.00, Y:-257.52, Z:-1.82 [[-9.43577383e-01 -3.31149439e-01 1.33121992e-03 -3.59956151e+01] [-3.31149145e-01 9.43578321e-01 4.42274147e-04 -2.57523634e+02] [-1.40256909e-03 -2.35124557e-05 -9.99999016e-01 -1.81668164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.4365599949999 meters 0.01508673342798708 Centerline is valid? [True, True] Translation: X:-36.05, Y:-257.52, Z:-1.82 [[-9.18216469e-01 -3.96076163e-01 1.47958349e-03 -3.60496705e+01] [-3.96075686e-01 9.18217661e-01 6.15196063e-04 -2.57516456e+02] [-1.60224419e-03 -2.11438886e-05 -9.99998716e-01 -1.81641681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.4665599949999 meters 0.013602242879792021 Centerline is valid? [True, True] Translation: X:-36.11, Y:-257.52, Z:-1.82 [[-8.88215218e-01 -4.59425319e-01 1.44981976e-03 -3.61106028e+01] [-4.59424736e-01 8.88216401e-01 7.32579257e-04 -2.57520406e+02] [-1.62431915e-03 -1.53950141e-05 -9.99998681e-01 -1.81631724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.496559995 meters 0.013602242879792021 Centerline is valid? [True, True] Translation: X:-36.18, Y:-257.53, Z:-1.82 [[-8.51702855e-01 -5.24023197e-01 1.39156259e-03 -3.61833337e+01] [-5.24022527e-01 8.51703992e-01 8.38107818e-04 -2.57528770e+02] [-1.62438735e-03 -1.53913223e-05 -9.99998681e-01 -1.81631492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.526559995 meters 0.013055277141843631 Centerline is valid? [True, True] Translation: X:-36.26, Y:-257.55, Z:-1.81 [[-8.14382308e-01 -5.80323949e-01 2.36000164e-03 -3.62563018e+01] [-5.80321540e-01 8.14385728e-01 1.67234656e-03 -2.57550848e+02] [-2.89245441e-03 -7.63032832e-06 -9.99995817e-01 -1.81458716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.5565599949999 meters 0.012901096748801345 Centerline is valid? [True, True] Translation: X:-36.34, Y:-257.58, Z:-1.81 [[-7.70938725e-01 -6.36903985e-01 2.60707107e-03 -3.63368902e+01] [-6.36900326e-01 7.70943133e-01 2.15870339e-03 -2.57582974e+02] [-3.38479033e-03 3.78362450e-06 -9.99994272e-01 -1.81463877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.5865599949999 meters 0.013073707466872121 Centerline is valid? [True, True] Translation: X:-36.42, Y:-257.62, Z:-1.81 [[-7.23334800e-01 -6.90493343e-01 2.38972539e-03 -3.64188962e+01] [-6.90489498e-01 7.23338748e-01 2.30412588e-03 -2.57624029e+02] [-3.31956456e-03 1.65741489e-05 -9.99994490e-01 -1.81449125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.616559995 meters 0.013610316050606513 Centerline is valid? [True, True] Translation: X:-36.50, Y:-257.68, Z:-1.82 [[-6.73929551e-01 -7.38792564e-01 2.12310439e-03 -3.65003901e+01] [-7.38788721e-01 6.73932894e-01 2.38334860e-03 -2.57678432e+02] [-3.19163011e-03 3.76834778e-05 -9.99994906e-01 -1.81542089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.646559995 meters 0.014096215506945618 Centerline is valid? [True, True] Translation: X:-36.58, Y:-257.74, Z:-1.82 [[-6.18104497e-01 -7.86092981e-01 2.15809258e-03 -3.65847313e+01] [-7.86087892e-01 6.18108262e-01 2.82898207e-03 -2.57741197e+02] [-3.55777780e-03 5.21560967e-05 -9.99993670e-01 -1.81605840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.6765599949999 meters 0.014727955447833228 Centerline is valid? [True, True] Translation: X:-36.66, Y:-257.81, Z:-1.82 [[-5.59535740e-01 -8.28803894e-01 1.96469095e-03 -3.66632894e+01] [-8.28798359e-01 5.59539186e-01 3.02972613e-03 -2.57811637e+02] [-3.61037038e-03 6.69074167e-05 -9.99993480e-01 -1.81672505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.7065599949999 meters 0.015403566799091207 Centerline is valid? [True, True] Translation: X:-36.74, Y:-257.90, Z:-1.82 [[-4.95756931e-01 -8.68459554e-01 1.75181651e-03 -3.67432035e+01] [-8.68453601e-01 4.95760021e-01 3.21634123e-03 -2.57895206e+02] [-3.66174286e-03 7.31521013e-05 -9.99993293e-01 -1.81646733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.736559995 meters 0.015619014243938337 Centerline is valid? [True, True] Translation: X:-36.82, Y:-257.98, Z:-1.82 [[-4.28451575e-01 -9.03563282e-01 1.62583055e-03 -3.68163146e+01] [-9.03556031e-01 4.28454652e-01 3.62078640e-03 -2.57981454e+02] [-3.96820431e-03 8.23026391e-05 -9.99992123e-01 -1.81604116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.766559995 meters 0.015387023004307788 Centerline is valid? [True, True] Translation: X:-36.89, Y:-258.08, Z:-1.82 [[-3.57983285e-01 -9.33726916e-01 1.41935628e-03 -3.68850115e+01] [-9.33718582e-01 3.57986088e-01 3.94596566e-03 -2.58076134e+02] [-4.19256415e-03 8.73104177e-05 -9.99991207e-01 -1.81595282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.7965599949999 meters 0.015421283727098131 Centerline is valid? [True, True] Translation: X:-36.95, Y:-258.18, Z:-1.82 [[-2.84928841e-01 -9.58547896e-01 1.21931912e-03 -3.69470429e+01] [-9.58537653e-01 2.84931435e-01 4.43229042e-03 -2.58180400e+02] [-4.59598500e-03 9.41240880e-05 -9.99989434e-01 -1.81544336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.8265599949999 meters 0.015319703824704135 Centerline is valid? [True, True] Translation: X:-37.00, Y:-258.29, Z:-1.82 [[-2.09400860e-01 -9.77829387e-01 9.84392627e-04 -3.70009368e+01] [-9.77816211e-01 2.09403150e-01 5.07722552e-03 -2.58287080e+02] [-5.17079523e-03 1.00620322e-04 -9.99986626e-01 -1.81531358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.856559995 meters 0.014680226797889835 Centerline is valid? [True, True] Translation: X:-37.05, Y:-258.40, Z:-1.81 [[-1.30182409e-01 -9.91489816e-01 6.97228580e-04 -3.70483572e+01] [-9.91471312e-01 1.30184240e-01 6.05816992e-03 -2.58403323e+02] [-6.09738195e-03 9.73850217e-05 -9.99981406e-01 -1.81486556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.886559995 meters 0.014360461644749186 Centerline is valid? [True, True] Translation: X:-37.09, Y:-258.52, Z:-1.81 [[-5.12700697e-02 -9.98684791e-01 2.62867220e-04 -3.70867132e+01] [-9.98660267e-01 5.12706530e-02 6.99931933e-03 -2.58522494e+02] [-7.00359113e-03 9.63405412e-05 -9.99975470e-01 -1.81461674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.916559995 meters 0.013938364875138911 Centerline is valid? [True, True] Translation: X:-37.12, Y:-258.64, Z:-1.81 [[ 2.84680030e-02 -9.99594660e-01 -2.98936587e-04 -3.71162576e+01] [-9.99565895e-01 -2.84694518e-02 7.58364536e-03 -2.58635476e+02] [-7.58908196e-03 8.29155782e-05 -9.99971199e-01 -1.81467008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.9465599949999 meters 0.013188308052945002 Centerline is valid? [True, True] Translation: X:-37.14, Y:-258.76, Z:-1.81 [[ 1.11281652e-01 -9.93788439e-01 -9.65755963e-04 -3.71376964e+01] [-9.93754101e-01 -1.11285835e-01 8.26134618e-03 -2.58764516e+02] [-8.31750529e-03 4.03876967e-05 -9.99965408e-01 -1.81454618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.976559995 meters 0.012923575569186538 Centerline is valid? [True, True] Translation: X:-37.15, Y:-258.88, Z:-1.82 [[ 1.90587104e-01 -9.81668957e-01 -1.61681897e-03 -3.71497645e+01] [-9.81634262e-01 -1.90593962e-01 8.25338455e-03 -2.58883919e+02] [-8.41024734e-03 1.41362340e-05 -9.99964633e-01 -1.81541439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.006559995 meters 0.013104055592806595 Centerline is valid? [True, True] Translation: X:-37.15, Y:-259.01, Z:-1.82 [[ 2.71694552e-01 -9.62381136e-01 -2.14948389e-03 -3.71528487e+01] [-9.62349901e-01 -2.71703052e-01 7.75371810e-03 -2.59010015e+02] [-8.04605336e-03 -3.80873605e-05 -9.99967629e-01 -1.81540377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.036559995 meters 0.013398538109429333 Centerline is valid? [True, True] Translation: X:-37.15, Y:-259.13, Z:-1.82 [[ 3.47598340e-01 -9.37639710e-01 -2.67719585e-03 -3.71462655e+01] [-9.37610532e-01 -3.47608645e-01 7.39737389e-03 -2.59128687e+02] [-7.86668793e-03 -6.11478577e-05 -9.99969055e-01 -1.81609357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.0665599949999 meters 0.013994733162354212 Centerline is valid? [True, True] Translation: X:-37.13, Y:-259.25, Z:-1.82 [[ 4.23357720e-01 -9.05958518e-01 -2.72125692e-03 -3.71312874e+01] [-9.05938483e-01 -4.23366457e-01 6.02555702e-03 -2.59247670e+02] [-6.61099361e-03 -8.56747170e-05 -9.99978144e-01 -1.81683279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.096559995 meters 0.013994733162354212 Centerline is valid? [True, True] Translation: X:-37.11, Y:-259.36, Z:-1.82 [[ 4.91605180e-01 -8.70812416e-01 -3.17548734e-03 -3.71056705e+01] [-8.70793110e-01 -4.91615429e-01 5.79911775e-03 -2.59361455e+02] [-6.61106230e-03 -8.56838294e-05 -9.99978143e-01 -1.81682948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.126559995 meters 0.015464796648544393 Centerline is valid? [True, True] Translation: X:-37.08, Y:-259.47, Z:-1.82 [[ 5.59031586e-01 -8.29138360e-01 -3.64219318e-03 -3.70752459e+01] [-8.29119536e-01 -5.59043441e-01 5.58806254e-03 -2.59473802e+02] [-6.66942122e-03 -1.04089950e-04 -9.99977754e-01 -1.81603494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.156559995 meters 0.015552701861672048 Centerline is valid? [True, True] Translation: X:-37.03, Y:-259.58, Z:-1.82 [[ 6.24368816e-01 -7.81118711e-01 -4.14016969e-03 -3.70344028e+01] [-7.81100059e-01 -6.24382527e-01 5.39973362e-03 -2.59580441e+02] [-6.80288258e-03 -1.37538496e-04 -9.99976851e-01 -1.81650684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.1865599949999 meters 0.016309034644533923 Centerline is valid? [True, True] Translation: X:-36.99, Y:-259.68, Z:-1.82 [[ 6.83787286e-01 -7.29665839e-01 -4.76558257e-03 -3.69877062e+01] [-7.29646462e-01 -6.83803874e-01 5.32006607e-03 -2.59682367e+02] [-7.14059429e-03 -1.60603073e-04 -9.99974493e-01 -1.81578837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.2165599949999 meters 0.01807816497027078 Centerline is valid? [True, True] Translation: X:-36.94, Y:-259.78, Z:-1.81 [[ 7.38794459e-01 -6.73906858e-01 -5.68282361e-03 -3.69371609e+01] [-6.73884880e-01 -7.38816289e-01 5.44607723e-03 -2.59778499e+02] [-7.86871145e-03 -1.93962778e-04 -9.99969022e-01 -1.81471531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.246559995 meters 0.01829101532793328 Centerline is valid? [True, True] Translation: X:-36.94, Y:-259.79, Z:-1.81 [[ 7.91531315e-01 -6.11080734e-01 -7.64942853e-03 -3.69377691e+01] [-6.11048728e-01 -7.91568227e-01 6.26059370e-03 -2.59786395e+02] [-9.88077277e-03 -2.81282395e-04 -9.99951144e-01 -1.81430337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.276559995 meters 0.019477178804248093 Centerline is valid? [True, True] Translation: X:-36.94, Y:-259.79, Z:-1.81 [[ 8.37888453e-01 -5.45774443e-01 -8.55556126e-03 -3.69394932e+01] [-5.45742104e-01 -8.37932072e-01 5.94968402e-03 -2.59794333e+02] [-1.04161647e-02 -3.16041538e-04 -9.99945700e-01 -1.81327577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.3065599949999 meters 0.020275828208411627 Centerline is valid? [True, True] Translation: X:-36.94, Y:-259.80, Z:-1.81 [[ 8.78667939e-01 -4.77336917e-01 -9.59798784e-03 -3.69381168e+01] [-4.77304009e-01 -8.78720287e-01 5.61607371e-03 -2.59801727e+02] [-1.11147059e-02 -3.53505834e-04 -9.99938167e-01 -1.81246841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.3365599949999 meters 0.01973489887880076 Centerline is valid? [True, True] Translation: X:-36.94, Y:-259.81, Z:-1.81 [[ 9.13700701e-01 -4.06253248e-01 -1.04559660e-02 -3.69371484e+01] [-4.06221840e-01 -9.13760446e-01 5.06587879e-03 -2.59808684e+02] [-1.16122778e-02 -3.81255268e-04 -9.99932503e-01 -1.81232071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.366559995 meters 0.020034485488993514 Centerline is valid? [True, True] Translation: X:-36.94, Y:-259.82, Z:-1.81 [[ 9.43027021e-01 -3.32526006e-01 -1.12468845e-02 -3.69355373e+01] [-3.32497140e-01 -9.43093997e-01 4.40056911e-03 -2.59816355e+02] [-1.20701730e-02 -4.10298643e-04 -9.99927069e-01 -1.81154379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.396559995 meters 0.021391898310785598 Centerline is valid? [True, True] Translation: X:-36.93, Y:-259.82, Z:-1.81 [[ 9.66067594e-01 -2.58025061e-01 -1.16821193e-02 -3.69343774e+01] [-2.58001017e-01 -9.66138136e-01 3.54641796e-03 -2.59824334e+02] [-1.22016057e-02 -4.12080797e-04 -9.99925473e-01 -1.81045389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.4265599949999 meters 0.021049022662329067 Centerline is valid? [True, True] Translation: X:-36.93, Y:-259.83, Z:-1.81 [[ 9.83159275e-01 -1.82342815e-01 -1.22039970e-02 -3.69301231e+01] [-1.82323528e-01 -9.83234929e-01 2.68416594e-03 -2.59827012e+02] [-1.24888345e-02 -4.13886851e-04 -9.99921926e-01 -1.81033605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.4565599949999 meters 0.01891364290707982 Centerline is valid? [True, True] Translation: X:-36.93, Y:-259.83, Z:-1.81 [[ 9.94140069e-01 -1.07328894e-01 -1.28853714e-02 -3.69259231e+01] [-1.07314667e-01 -9.94223491e-01 1.79253484e-03 -2.59828243e+02] [-1.30033297e-02 -3.99241368e-04 -9.99915374e-01 -1.81051465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.486559995 meters 0.01920720508956515 Centerline is valid? [True, True] Translation: X:-36.93, Y:-259.83, Z:-1.81 [[ 9.99438358e-01 -3.06284147e-02 -1.35966330e-02 -3.69276342e+01] [-3.06201598e-02 -9.99530761e-01 8.14938225e-04 -2.59832692e+02] [-1.36152132e-02 -3.98149446e-04 -9.99907230e-01 -1.81005236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.516559995 meters 0.019941578227855458 Centerline is valid? [True, True] Translation: X:-36.93, Y:-259.84, Z:-1.81 [[ 9.98848799e-01 4.59288410e-02 -1.38426213e-02 -3.69283274e+01] [ 4.59296945e-02 -9.98944642e-01 -2.56407970e-04 -2.59835741e+02] [-1.38397889e-02 -3.79674575e-04 -9.99904154e-01 -1.80878430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.5465599949999 meters 0.016873012698325602 Centerline is valid? [True, True] Translation: X:-36.93, Y:-259.83, Z:-1.81 [[ 9.92651742e-01 1.20196804e-01 -1.39731067e-02 -3.69287468e+01] [ 1.20189584e-01 -9.92750028e-01 -1.35832024e-03 -2.59833708e+02] [-1.40350678e-02 -3.31082935e-04 -9.99901449e-01 -1.81105866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.5765599949999 meters 0.016270944583468047 Centerline is valid? [True, True] Translation: X:-36.93, Y:-259.84, Z:-1.81 [[ 9.80507038e-01 1.96015603e-01 -1.35584546e-02 -3.69290184e+01] [ 1.96001132e-01 -9.80600730e-01 -2.40106804e-03 -2.59838842e+02] [-1.37660773e-02 -3.03208329e-04 -9.99905197e-01 -1.81152632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.606559995 meters 0.01682690075063401 Centerline is valid? [True, True] Translation: X:-36.93, Y:-259.85, Z:-1.81 [[ 9.62565924e-01 2.70726163e-01 -1.31979726e-02 -3.69299559e+01] [ 2.70704698e-01 -9.62656359e-01 -3.42054996e-03 -2.59845760e+02] [-1.36311446e-02 -2.80248359e-04 -9.99907052e-01 -1.81091715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.636559995 meters 0.015852606275758466 Centerline is valid? [True, True] Translation: X:-36.93, Y:-259.85, Z:-1.81 [[ 9.39295007e-01 3.42887853e-01 -1.23616148e-02 -3.69312803e+01] [ 3.42861454e-01 -9.39376317e-01 -4.26131791e-03 -2.59846643e+02] [-1.30733623e-02 -2.35686583e-04 -9.99914512e-01 -1.81257233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.666559995 meters 0.016853913776418178 Centerline is valid? [True, True] Translation: X:-36.93, Y:-259.85, Z:-1.81 [[ 9.09741426e-01 4.14994663e-01 -1.22461640e-02 -3.69316948e+01] [ 4.14960534e-01 -9.09823815e-01 -5.32731050e-03 -2.59853507e+02] [-1.33526571e-02 -2.35199703e-04 -9.99910822e-01 -1.81189986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.6965599949999 meters 0.01557453484672757 Centerline is valid? [True, True] Translation: X:-36.93, Y:-259.86, Z:-1.81 [[ 8.74710825e-01 4.84496321e-01 -1.20119890e-02 -3.69317713e+01] [ 4.84454284e-01 -8.74793267e-01 -6.38640509e-03 -2.59857295e+02] [-1.36021968e-02 -2.33001851e-04 -9.99907459e-01 -1.81377096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.726559995 meters 0.01572959790081646 Centerline is valid? [True, True] Translation: X:-36.93, Y:-259.87, Z:-1.81 [[ 8.34747848e-01 5.50509216e-01 -1.16461855e-02 -3.69310091e+01] [ 5.50459301e-01 -8.34829057e-01 -7.41644467e-03 -2.59865011e+02] [-1.38053952e-02 -2.19889926e-04 -9.99904677e-01 -1.81285735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.756559995 meters 0.0157698383817912 Centerline is valid? [True, True] Translation: X:-36.93, Y:-259.87, Z:-1.81 [[ 7.89136093e-01 6.14121926e-01 -1.08852074e-02 -3.69290743e+01] [ 6.14067269e-01 -7.89211134e-01 -8.19609294e-03 -2.59870079e+02] [-1.36241272e-02 -2.16416812e-04 -9.99907164e-01 -1.81276019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.786559995 meters 0.015524566651871132 Centerline is valid? [True, True] Translation: X:-36.93, Y:-259.88, Z:-1.81 [[ 7.38525927e-01 6.74149743e-01 -1.00787058e-02 -3.69262583e+01] [ 6.74090936e-01 -7.38594664e-01 -8.90688701e-03 -2.59876768e+02] [-1.34486539e-02 -2.15997220e-04 -9.99909540e-01 -1.81346257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.8165599949999 meters 0.01576678052942527 Centerline is valid? [True, True] Translation: X:-36.92, Y:-259.88, Z:-1.81 [[ 6.82810791e-01 7.30540510e-01 -8.94355661e-03 -3.69225933e+01] [ 7.30481997e-01 -6.82869325e-01 -9.24863225e-03 -2.59884279e+02] [-1.28637810e-02 -2.18041192e-04 -9.99917234e-01 -1.81382770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.846559995 meters 0.016298247972275887 Centerline is valid? [True, True] Translation: X:-36.92, Y:-259.89, Z:-1.81 [[ 6.23105395e-01 7.82095074e-01 -8.18306635e-03 -3.69193256e+01] [ 7.82032331e-01 -6.23159085e-01 -9.90900097e-03 -2.59890907e+02] [-1.28491330e-02 -2.25070484e-04 -9.99917421e-01 -1.81330544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.876559995 meters 0.016410785697992966 Centerline is valid? [True, True] Translation: X:-36.92, Y:-259.90, Z:-1.81 [[ 5.59150928e-01 8.29032988e-01 -7.38540495e-03 -3.69163702e+01] [ 8.28966219e-01 -5.59199649e-01 -1.05242277e-02 -2.59895512e+02] [-1.28548478e-02 -2.37619540e-04 -9.99917345e-01 -1.81333059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.906559995 meters 0.016213760943875742 Centerline is valid? [True, True] Translation: X:-36.91, Y:-259.90, Z:-1.81 [[ 4.91106719e-01 8.71072984e-01 -6.78577067e-03 -3.69103451e+01] [ 8.70997261e-01 -4.91153524e-01 -1.14885715e-02 -2.59902218e+02] [-1.33402394e-02 -2.68273023e-04 -9.99910979e-01 -1.81341869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.9365599949999 meters 0.017731199571592544 Centerline is valid? [True, True] Translation: X:-36.90, Y:-259.91, Z:-1.81 [[ 4.20445568e-01 9.07297128e-01 -6.11924670e-03 -3.69029817e+01] [ 9.07211031e-01 -4.20489993e-01 -1.25024795e-02 -2.59909996e+02] [-1.39165458e-02 -2.94835990e-04 -9.99903117e-01 -1.81169777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.9665599949999 meters 0.018516903356110507 Centerline is valid? [True, True] Translation: X:-36.90, Y:-259.91, Z:-1.81 [[ 3.45878745e-01 9.38264610e-01 -5.23597656e-03 -3.68984373e+01] [ 9.38171350e-01 -3.45918212e-01 -1.32329014e-02 -2.59913828e+02] [-1.42271827e-02 -3.35263887e-04 -9.99898732e-01 -1.81100182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.996559995 meters 0.019198924022587403 Centerline is valid? [True, True] Translation: X:-36.90, Y:-259.92, Z:-1.81 [[ 2.70457269e-01 9.62722736e-01 -4.21897489e-03 -3.68967468e+01] [ 9.62625078e-01 -2.70489946e-01 -1.37167299e-02 -2.59917897e+02] [-1.43465980e-02 -3.51501722e-04 -9.99897021e-01 -1.81023239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.026559995 meters 0.01765585010323879 Centerline is valid? [True, True] Translation: X:-36.89, Y:-259.92, Z:-1.81 [[ 1.93831236e-01 9.81029799e-01 -3.16003750e-03 -3.68927114e+01] [ 9.80928079e-01 -1.93856658e-01 -1.41315503e-02 -2.59920799e+02] [-1.44760663e-02 -3.60633643e-04 -9.99895151e-01 -1.81157354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.0565599949999 meters 0.01785078989604743 Centerline is valid? [True, True] Translation: X:-36.89, Y:-259.93, Z:-1.81 [[ 1.16442708e-01 9.93195393e-01 -2.00200485e-03 -3.68858820e+01] [ 9.93096120e-01 -1.16459383e-01 -1.40466716e-02 -2.59925120e+02] [-1.41842418e-02 -3.52550772e-04 -9.99899337e-01 -1.81173162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.0865599949999 meters 0.018307747141891144 Centerline is valid? [True, True] Translation: X:-36.88, Y:-259.93, Z:-1.81 [[ 3.87392852e-02 9.99248988e-01 -8.52578134e-04 -3.68802881e+01] [ 9.99158090e-01 -3.87472642e-02 -1.34818593e-02 -2.59928741e+02] [-1.35047694e-02 -3.29582747e-04 -9.99908752e-01 -1.81176967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.116559995 meters 0.016843513208660645 Centerline is valid? [True, True] Translation: X:-36.87, Y:-259.93, Z:-1.81 [[-3.89651588e-02 9.99240552e-01 1.89909484e-04 -3.68746642e+01] [ 9.99162910e-01 3.89644992e-02 -1.24598570e-02 -2.59930268e+02] [-1.24577941e-02 -2.95749794e-04 -9.99922355e-01 -1.81384758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.146559995 meters 0.01676623142993864 Centerline is valid? [True, True] Translation: X:-36.87, Y:-259.93, Z:-1.81 [[-1.16171385e-01 9.93228550e-01 1.12137931e-03 -3.68670907e+01] [ 9.93156802e-01 1.16176475e-01 -1.19412589e-02 -2.59932904e+02] [-1.19906772e-02 -2.73527099e-04 -9.99928072e-01 -1.81471642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.1765599949999 meters 0.017064983345017232 Centerline is valid? [True, True] Translation: X:-36.86, Y:-259.94, Z:-1.82 [[-1.93181272e-01 9.81161195e-01 1.92494650e-03 -3.68597967e+01] [ 9.81098724e-01 1.93190699e-01 -1.10746119e-02 -2.59935036e+02] [-1.12378612e-02 -2.50845047e-04 -9.99936822e-01 -1.81517432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.2065599949999 meters 0.016072784636189663 Centerline is valid? [True, True] Translation: X:-36.85, Y:-259.94, Z:-1.82 [[-2.67290219e-01 9.63612172e-01 2.74253494e-03 -3.68538939e+01] [ 9.63552577e-01 2.67304195e-01 -1.07190574e-02 -2.59936224e+02] [-1.10621053e-02 -2.22522587e-04 -9.99938788e-01 -1.81564966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.236559995 meters 0.015581332108602252 Centerline is valid? [True, True] Translation: X:-36.85, Y:-259.94, Z:-1.82 [[-3.40295050e-01 9.40312074e-01 3.53306009e-03 -3.68472341e+01] [ 9.40255124e-01 3.40313331e-01 -1.03507460e-02 -2.59936157e+02] [-1.09352789e-02 -2.00329780e-04 -9.99940188e-01 -1.81552160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.266559995 meters 0.015350445398282316 Centerline is valid? [True, True] Translation: X:-36.84, Y:-259.94, Z:-1.82 [[-4.11399444e-01 9.11444102e-01 4.48857128e-03 -3.68404077e+01] [ 9.11384740e-01 4.11423886e-01 -1.04039355e-02 -2.59936803e+02] [-1.13293111e-02 -1.89357896e-04 -9.99935803e-01 -1.81520504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.2965599949999 meters 0.014482050416998843 Centerline is valid? [True, True] Translation: X:-36.83, Y:-259.94, Z:-1.81 [[-4.78731777e-01 8.77941263e-01 5.91816151e-03 -3.68344434e+01] [ 8.77869702e-01 4.78768325e-01 -1.12106268e-02 -2.59937001e+02] [-1.26757002e-02 -1.71508615e-04 -9.99919645e-01 -1.81487697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.3265599949999 meters 0.014188832282960175 Centerline is valid? [True, True] Translation: X:-36.83, Y:-259.94, Z:-1.81 [[-5.44598767e-01 8.38666970e-01 7.06377752e-03 -3.68275908e+01] [ 8.38592668e-01 5.44644553e-01 -1.11645543e-02 -2.59936006e+02] [-1.32105909e-02 -1.56570463e-04 -9.99912724e-01 -1.81441137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.356559995 meters 0.01413917565976903 Centerline is valid? [True, True] Translation: X:-36.82, Y:-259.94, Z:-1.81 [[-6.06855353e-01 7.94766666e-01 8.51631254e-03 -3.68208053e+01] [ 7.94685220e-01 6.06915091e-01 -1.13786089e-02 -2.59935974e+02] [-1.42120176e-02 -1.37382002e-04 -9.99898995e-01 -1.81334259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.386559995 meters 0.01413917565976903 Centerline is valid? [True, True] Translation: X:-36.82, Y:-259.94, Z:-1.81 [[-6.67242472e-01 7.44781491e-01 9.38152783e-03 -3.68156035e+01] [ 7.44704975e-01 6.67308408e-01 -1.06765651e-02 -2.59935856e+02] [-1.42120805e-02 -1.37387278e-04 -9.99898994e-01 -1.81334205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.416559995 meters 0.013411328334144844 Centerline is valid? [True, True] Translation: X:-36.81, Y:-259.94, Z:-1.81 [[-7.19912761e-01 6.93976519e-01 1.10547269e-02 -3.68119423e+01] [ 6.93893239e-01 7.19997629e-01 -1.07511755e-02 -2.59935298e+02] [-1.54204405e-02 -6.91081689e-05 -9.99881096e-01 -1.81402770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.4465599949999 meters 0.013371598338757677 Centerline is valid? [True, True] Translation: X:-36.79, Y:-259.92, Z:-1.81 [[-7.65479540e-01 6.43347258e-01 1.20573468e-02 -3.67894512e+01] [ 6.43266881e-01 7.65574494e-01 -1.01693284e-02 -2.59920540e+02] [-1.57732067e-02 -2.83209354e-05 -9.99875595e-01 -1.81349423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.476559995 meters 0.013431609434066856 Centerline is valid? [True, True] Translation: X:-36.77, Y:-259.90, Z:-1.81 [[-8.07303182e-01 5.89997861e-01 1.28100195e-02 -3.67711814e+01] [ 5.89923966e-01 8.07404808e-01 -9.33758956e-03 -2.59901761e+02] [-1.58520292e-02 1.86717682e-05 -9.99874349e-01 -1.81333467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.506559995 meters 0.013517831591206394 Centerline is valid? [True, True] Translation: X:-36.76, Y:-259.88, Z:-1.81 [[-8.45579754e-01 5.33679632e-01 1.34510087e-02 -3.67579211e+01] [ 5.33613301e-01 8.45686731e-01 -8.41417097e-03 -2.59879542e+02] [-1.58658112e-02 6.27845142e-05 -9.99874128e-01 -1.81412446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.536559995 meters 0.013864489737298051 Centerline is valid? [True, True] Translation: X:-36.74, Y:-259.86, Z:-1.82 [[-8.78978613e-01 4.76642575e-01 1.44379316e-02 -3.67370491e+01] [ 4.76580931e-01 8.79097171e-01 -7.66685108e-03 -2.59862359e+02] [-1.63466925e-02 1.41844768e-04 -9.99866374e-01 -1.81550987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.5665599949999 meters 0.014066547459221517 Centerline is valid? [True, True] Translation: X:-36.72, Y:-259.84, Z:-1.82 [[-9.09795945e-01 4.14783402e-01 1.50355442e-02 -3.67202826e+01] [ 4.14729877e-01 9.09920162e-01 -6.66551351e-03 -2.59839769e+02] [-1.64458892e-02 1.71432221e-04 -9.99864743e-01 -1.81617712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.596559995 meters 0.014367336617692253 Centerline is valid? [True, True] Translation: X:-36.71, Y:-259.81, Z:-1.82 [[-9.35962327e-01 3.51732806e-01 1.60796483e-02 -3.67082545e+01] [ 3.51684995e-01 9.36100413e-01 -5.80354653e-03 -2.59814156e+02] [-1.70934631e-02 2.23070114e-04 -9.99853871e-01 -1.81673257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.626559995 meters 0.01451649915513441 Centerline is valid? [True, True] Translation: X:-36.70, Y:-259.79, Z:-1.82 [[-9.58244360e-01 2.85451548e-01 1.68866945e-02 -3.66953330e+01] [ 2.85411765e-01 9.58393110e-01 -4.77196563e-03 -2.59788700e+02] [-1.75462566e-02 2.46952117e-04 -9.99846022e-01 -1.81678451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.656559995 meters 0.01496037878202134 Centerline is valid? [True, True] Translation: X:-36.49, Y:-259.08, Z:-2.77 [[-9.46957875e-01 -3.20904839e-01 1.70548229e-02 -3.64907486e+01] [ 3.20848580e-01 -9.47111417e-01 -6.01274746e-03 -2.59080165e+02] [ 1.80823372e-02 -2.21802854e-04 9.99836477e-01 -2.77452360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.6865599949999 meters 0.015355004339243819 Centerline is valid? [True, True] Translation: X:-36.74, Y:-259.78, Z:-1.82 [[-9.58397922e-01 2.84886427e-01 1.76959752e-02 -3.67425918e+01] [ 2.84844001e-01 9.58561225e-01 -4.92678748e-03 -2.59776708e+02] [-1.83662506e-02 3.18769505e-04 -9.99831275e-01 -1.81710787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.7165599949999 meters 0.01532651724215782 Centerline is valid? [True, True] Translation: X:-36.74, Y:-259.75, Z:-1.82 [[-9.76075113e-01 2.16697351e-01 1.78782555e-02 -3.67380766e+01] [ 2.16667119e-01 9.76238778e-01 -3.63429900e-03 -2.59748302e+02] [-1.82409893e-02 3.26281310e-04 -9.99833566e-01 -1.81752618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.746559995 meters 0.015322784197377126 Centerline is valid? [True, True] Translation: X:-36.58, Y:-259.03, Z:-2.77 [[-9.68777442e-01 -2.47256879e-01 1.82839703e-02 -3.65844204e+01] [ 2.47207118e-01 -9.68949921e-01 -4.96907286e-03 -2.59028347e+02] [ 1.89448890e-02 -2.93998089e-04 9.99820486e-01 -2.77403014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.776559995 meters 0.01548663939124131 Centerline is valid? [True, True] Translation: X:-36.79, Y:-259.74, Z:-1.82 [[-9.76859178e-01 2.13043873e-01 1.89328965e-02 -3.67883166e+01] [ 2.13010822e-01 9.77042571e-01 -3.76893763e-03 -2.59737313e+02] [-1.93011949e-02 3.51190520e-04 -9.99813653e-01 -1.81708276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.8065599949999 meters 0.015212963132786368 Centerline is valid? [True, True] Translation: X:-36.78, Y:-259.71, Z:-1.82 [[-9.89633390e-01 1.42380760e-01 1.88008927e-02 -3.67816324e+01] [ 1.42361409e-01 9.89811906e-01 -2.37050355e-03 -2.59707051e+02] [-1.89468616e-02 3.30592112e-04 -9.99820438e-01 -1.81737421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.8365599949999 meters 0.015278529967949631 Centerline is valid? [True, True] Translation: X:-36.79, Y:-259.68, Z:-1.82 [[-9.97341789e-01 7.04079410e-02 1.87637434e-02 -3.67852196e+01] [ 7.04011847e-02 9.97518236e-01 -1.02120000e-03 -2.59677584e+02] [-1.87890768e-02 3.02504330e-04 -9.99823424e-01 -1.81685940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.866559995 meters 0.014697906794807829 Centerline is valid? [True, True] Translation: X:-36.79, Y:-259.65, Z:-1.82 [[-9.99836693e-01 -1.92517454e-03 1.79689113e-02 -3.67894109e+01] [-1.92005852e-03 9.99998111e-01 3.01962305e-04 -2.59647473e+02] [-1.79694587e-02 2.67411631e-04 -9.99838501e-01 -1.81810278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.896559995 meters 0.0140165249810213 Centerline is valid? [True, True] Translation: X:-36.80, Y:-259.62, Z:-1.82 [[-9.96931172e-01 -7.64889312e-02 1.66637858e-02 -3.67951569e+01] [-7.64750074e-02 9.97070412e-01 1.47213764e-03 -2.59616330e+02] [-1.67275700e-02 1.93256764e-04 -9.99860066e-01 -1.81915657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.9265599949999 meters 0.013814499523187357 Centerline is valid? [True, True] Translation: X:-36.85, Y:-258.90, Z:-2.77 [[-9.99414371e-01 3.01890610e-02 1.61101361e-02 -3.68547978e+01] [-3.01888235e-02 -9.99544180e-01 2.57989262e-04 -2.58904992e+02] [ 1.61105813e-02 -2.28507880e-04 9.99870190e-01 -2.77278346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.9565599949999 meters 0.013556673291241444 Centerline is valid? [True, True] Translation: X:-36.90, Y:-259.62, Z:-1.82 [[-9.96127462e-01 -8.64871923e-02 1.58128322e-02 -3.68990157e+01] [-8.64743305e-02 9.96252955e-01 1.49660435e-03 -2.59620207e+02] [-1.58830179e-02 1.23404612e-04 -9.99873849e-01 -1.81859227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.986559995 meters 0.013097913373844717 Centerline is valid? [True, True] Translation: X:-36.96, Y:-258.92, Z:-2.77 [[-9.99412677e-01 3.05943947e-02 1.54364789e-02 -3.69646832e+01] [-3.05930840e-02 -9.99531871e-01 3.21097170e-04 -2.58920669e+02] [ 1.54390764e-02 -1.51340912e-04 9.99880799e-01 -2.77367004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.016559995 meters 0.013115933586204723 Centerline is valid? [True, True] Translation: X:-37.00, Y:-259.62, Z:-1.82 [[-9.95011429e-01 -9.85977779e-02 1.51899137e-02 -3.70011665e+01] [-9.85858418e-02 9.95127367e-01 1.53442480e-03 -2.59621922e+02] [-1.52671897e-02 2.92597898e-05 -9.99883449e-01 -1.81748156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.0465599949999 meters 0.01290508711000183 Centerline is valid? [True, True] Translation: X:-37.07, Y:-258.93, Z:-2.77 [[-9.99350595e-01 3.26285405e-02 1.52894301e-02 -3.70705241e+01] [-3.26251399e-02 -9.99467547e-01 4.71849343e-04 -2.58934490e+02] [ 1.52966849e-02 -2.72768748e-05 9.99882999e-01 -2.77371041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.0765599949999 meters 0.012897003406423075 Centerline is valid? [True, True] Translation: X:-37.11, Y:-259.63, Z:-1.82 [[-9.93912446e-01 -1.09157162e-01 1.49253031e-02 -3.71051680e+01] [-1.09145409e-01 9.94024503e-01 1.60219651e-03 -2.59626340e+02] [-1.50110082e-02 -3.65852652e-05 -9.99887328e-01 -1.81814881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.106559995 meters 0.013050419570321556 Centerline is valid? [True, True] Translation: X:-37.18, Y:-258.95, Z:-2.77 [[-9.99364060e-01 3.24836465e-02 1.47067783e-02 -3.71781016e+01] [-3.24799119e-02 -9.99472267e-01 4.92781326e-04 -2.58952198e+02] [ 1.47150244e-02 1.47930825e-05 9.99891728e-01 -2.77361641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.136559995 meters 0.01375710296705869 Centerline is valid? [True, True] Translation: X:-37.21, Y:-259.63, Z:-1.82 [[-9.92454818e-01 -1.21740996e-01 1.45795636e-02 -3.72116859e+01] [-1.21729774e-01 9.92561894e-01 1.65802184e-03 -2.59627216e+02] [-1.46729685e-02 -1.29255219e-04 -9.99892338e-01 -1.81570632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.166559995 meters 0.013713459941345702 Centerline is valid? [True, True] Translation: X:-37.23, Y:-259.60, Z:-1.82 [[-9.80579590e-01 -1.95590781e-01 1.44192086e-02 -3.72286791e+01] [-1.95572308e-01 9.80685584e-01 2.69400105e-03 -2.59598360e+02] [-1.46676317e-02 -1.78315444e-04 -9.99892409e-01 -1.81691914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.1965599949999 meters 0.013824748343444253 Centerline is valid? [True, True] Translation: X:-37.36, Y:-258.96, Z:-2.77 [[-9.94555737e-01 1.03206910e-01 1.43951019e-02 -3.73626870e+01] [-1.03193714e-01 -9.94659895e-01 1.65850744e-03 -2.58955812e+02] [ 1.44894000e-02 1.63994064e-04 9.99895010e-01 -2.77489885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.226559995 meters 0.014153275393404137 Centerline is valid? [True, True] Translation: X:-37.35, Y:-259.62, Z:-1.82 [[-9.78900390e-01 -2.03857810e-01 1.40006876e-02 -3.73539122e+01] [-2.03839972e-01 9.79000486e-01 2.70462176e-03 -2.59617600e+02] [-1.42580382e-02 -2.06344478e-04 -9.99898328e-01 -1.81663083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.256559995 meters 0.014514372230246864 Centerline is valid? [True, True] Translation: X:-37.38, Y:-259.59, Z:-1.82 [[-9.61454965e-01 -2.74651385e-01 1.30754334e-02 -3.73763709e+01] [-2.74628938e-01 9.61543849e-01 3.51757168e-03 -2.59592359e+02] [-1.35387085e-02 -2.08905642e-04 -9.99908326e-01 -1.81618847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.286559995 meters 0.014576849339166774 Centerline is valid? [True, True] Translation: X:-37.42, Y:-259.58, Z:-1.82 [[-9.38920821e-01 -3.43897521e-01 1.27353021e-02 -3.74191504e+01] [-3.43868913e-01 9.39007163e-01 4.44064199e-03 -2.59575525e+02] [-1.34856657e-02 -2.09863275e-04 -9.99909042e-01 -1.81595213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.3165599949999 meters 0.01455085382949536 Centerline is valid? [True, True] Translation: X:-37.48, Y:-259.57, Z:-1.82 [[-9.11240865e-01 -4.11693868e-01 1.21755795e-02 -3.74791720e+01] [-4.11660087e-01 9.11322181e-01 5.27781228e-03 -2.59568474e+02] [-1.32687186e-02 -2.02841891e-04 -9.99911946e-01 -1.81577745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.346559995 meters 0.014154194247852414 Centerline is valid? [True, True] Translation: X:-37.54, Y:-259.56, Z:-1.82 [[-8.81482153e-01 -4.72070724e-01 1.17663262e-02 -3.75397293e+01] [-4.72031695e-01 8.81560657e-01 6.07348279e-03 -2.59562341e+02] [-1.32398437e-02 -2.00412233e-04 -9.99912329e-01 -1.81618083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.376559995 meters 0.01395066196718875 Centerline is valid? [True, True] Translation: X:-37.61, Y:-259.57, Z:-1.82 [[-8.44377854e-01 -5.35636373e-01 1.09414425e-02 -3.76143246e+01] [-5.35594190e-01 8.44448721e-01 6.72460745e-03 -2.59572747e+02] [-1.28414315e-02 -1.82063411e-04 -9.99917529e-01 -1.81639414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.406559995 meters 0.014018796130772013 Centerline is valid? [True, True] Translation: X:-37.69, Y:-259.59, Z:-1.82 [[-8.02261926e-01 -5.96885210e-01 1.01905343e-02 -3.76938057e+01] [-5.96839786e-01 8.02326627e-01 7.36578204e-03 -2.59592263e+02] [-1.25726634e-02 -1.72829811e-04 -9.99920946e-01 -1.81599646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.4365599949999 meters 0.014442221929708642 Centerline is valid? [True, True] Translation: X:-37.78, Y:-259.62, Z:-1.81 [[-7.55892610e-01 -6.54625252e-01 9.59903516e-03 -3.77774190e+01] [-6.54575129e-01 7.55953540e-01 8.10219654e-03 -2.59620750e+02] [-1.25603271e-02 -1.58899190e-04 -9.99921103e-01 -1.81427395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.4665599949999 meters 0.014347350314018422 Centerline is valid? [True, True] Translation: X:-37.86, Y:-259.66, Z:-1.81 [[-7.04888796e-01 -7.09259404e-01 9.10400591e-03 -3.78642701e+01] [-7.09203056e-01 7.04947568e-01 8.94157596e-03 -2.59662158e+02] [-1.27597437e-02 -1.53772093e-04 -9.99918579e-01 -1.81383257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.496559995 meters 0.01426349403032263 Centerline is valid? [True, True] Translation: X:-37.95, Y:-259.71, Z:-1.81 [[-6.49937992e-01 -7.59943264e-01 8.17577431e-03 -3.79496121e+01] [-7.59885809e-01 6.49989398e-01 9.34563632e-03 -2.59711865e+02] [-1.24163200e-02 -1.38570777e-04 -9.99922905e-01 -1.81302483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.526559995 meters 0.013651677691518998 Centerline is valid? [True, True] Translation: X:-38.03, Y:-259.77, Z:-1.81 [[-5.91422765e-01 -8.06327275e-01 7.44570581e-03 -3.80325458e+01] [-8.06265991e-01 5.91469619e-01 9.94191169e-03 -2.59772252e+02] [-1.24203433e-02 -1.23346469e-04 -9.99922857e-01 -1.81391487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.5565599949999 meters 0.013492937873475518 Centerline is valid? [True, True] Translation: X:-38.11, Y:-259.84, Z:-1.81 [[-5.29759506e-01 -8.48124325e-01 6.32415486e-03 -3.81107841e+01] [-8.48066081e-01 5.29797244e-01 9.93998290e-03 -2.59837872e+02] [-1.17808611e-02 -9.75007937e-05 -9.99930599e-01 -1.81387703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.5865599949999 meters 0.01325360380034663 Centerline is valid? [True, True] Translation: X:-38.19, Y:-259.91, Z:-1.81 [[-4.67280205e-01 -8.84095708e-01 4.89779085e-03 -3.81857158e+01] [-8.84048077e-01 4.67305871e-01 9.17714506e-03 -2.59914557e+02] [-1.04022410e-02 -4.15843539e-05 -9.99945894e-01 -1.81294359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.616559995 meters 0.012930385998113192 Centerline is valid? [True, True] Translation: X:-38.26, Y:-260.00, Z:-1.82 [[-4.00706042e-01 -9.16198644e-01 3.83560759e-03 -3.82560588e+01] [-9.16156993e-01 4.00724399e-01 8.73617391e-03 -2.60000762e+02] [-9.54109224e-03 -1.33810481e-05 -9.99954483e-01 -1.81500165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.646559995 meters 0.012883717191252605 Centerline is valid? [True, True] Translation: X:-38.32, Y:-260.09, Z:-1.82 [[-3.32061788e-01 -9.43252885e-01 2.99396259e-03 -3.83201102e+01] [-9.43214188e-01 3.32075284e-01 8.54404911e-03 -2.60091098e+02] [-9.05341995e-03 1.32042320e-05 -9.99959017e-01 -1.81532966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.6765599949999 meters 0.013327356591431652 Centerline is valid? [True, True] Translation: X:-38.38, Y:-260.19, Z:-1.81 [[-2.64649556e-01 -9.64342246e-01 2.15523663e-03 -3.83766949e+01] [-9.64308303e-01 2.64658324e-01 8.09124344e-03 -2.60190378e+02] [-8.37312918e-03 6.30314047e-05 -9.99964943e-01 -1.81480296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.7065599949999 meters 0.013791168858226734 Centerline is valid? [True, True] Translation: X:-38.43, Y:-260.29, Z:-1.81 [[-1.92933221e-01 -9.81210706e-01 1.52391081e-03 -3.84272966e+01] [-9.81176352e-01 1.92939219e-01 8.21127460e-03 -2.60293724e+02] [-8.35101271e-03 8.90024050e-05 -9.99965126e-01 -1.81446310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.736559995 meters 0.014230245887409048 Centerline is valid? [True, True] Translation: X:-38.47, Y:-260.40, Z:-1.81 [[-1.20347195e-01 -9.92731507e-01 8.41837572e-04 -3.84704937e+01] [-9.92700332e-01 1.20350088e-01 7.86807655e-03 -2.60404276e+02] [-7.91220271e-03 1.11208504e-04 -9.99968692e-01 -1.81438803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.766559995 meters 0.01629246593596972 Centerline is valid? [True, True] Translation: X:-38.50, Y:-260.52, Z:-1.81 [[-5.04379691e-02 -9.98727169e-01 2.31340586e-04 -3.85024058e+01] [-9.98696536e-01 5.04382343e-02 7.82395916e-03 -2.60515294e+02] [-7.82566899e-03 1.63585569e-04 -9.99969366e-01 -1.81330631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.7965599949999 meters 0.01613017769889521 Centerline is valid? [True, True] Translation: X:-38.53, Y:-260.63, Z:-1.81 [[ 2.28368351e-02 -9.99739139e-01 -3.65397263e-04 -3.85300497e+01] [-9.99709262e-01 -2.28389784e-02 7.73130579e-03 -2.60634449e+02] [-7.73763429e-03 1.88732472e-04 -9.99970046e-01 -1.81376670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.8265599949999 meters 0.01720969474806998 Centerline is valid? [True, True] Translation: X:-38.55, Y:-260.75, Z:-1.81 [[ 9.59179186e-02 -9.95388793e-01 -9.50946671e-04 -3.85467828e+01] [-9.95359662e-01 -9.59223896e-02 7.61834431e-03 -2.60749947e+02] [-7.67443162e-03 2.15798227e-04 -9.99970528e-01 -1.81348497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.856559995 meters 0.018265542459006395 Centerline is valid? [True, True] Translation: X:-38.55, Y:-260.87, Z:-1.81 [[ 1.68585501e-01 -9.85685900e-01 -1.49519508e-03 -3.85546983e+01] [-9.85658650e-01 -1.68591964e-01 7.33321485e-03 -2.60868058e+02] [-7.48032436e-03 2.37478261e-04 -9.99971994e-01 -1.81340860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.886559995 meters 0.020318660709240755 Centerline is valid? [True, True] Translation: X:-38.55, Y:-260.99, Z:-1.81 [[ 2.37176749e-01 -9.71465081e-01 -1.66914312e-03 -3.85532850e+01] [-9.71447530e-01 -2.37182505e-01 5.84430681e-03 -2.60985147e+02] [-6.07343153e-03 2.35351274e-04 -9.99981529e-01 -1.81347651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.916559995 meters 0.020298377392827846 Centerline is valid? [True, True] Translation: X:-38.55, Y:-261.10, Z:-1.81 [[ 3.08141068e-01 -9.51338735e-01 -1.92213663e-03 -3.85455052e+01] [-9.51324640e-01 -3.08146976e-01 5.18374067e-03 -2.61102902e+02] [-5.52379388e-03 2.31252555e-04 -9.99984717e-01 -1.81404841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.9465599949999 meters 0.021312384285240994 Centerline is valid? [True, True] Translation: X:-38.53, Y:-261.22, Z:-1.81 [[ 3.77723232e-01 -9.25916314e-01 -2.03441534e-03 -3.85269426e+01] [-9.25905820e-01 -3.77728649e-01 4.41369587e-03 -2.61220234e+02] [-4.85516997e-03 2.16521538e-04 -9.99988190e-01 -1.81432462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.976559995 meters 0.023574038205137912 Centerline is valid? [True, True] Translation: X:-38.50, Y:-261.33, Z:-1.81 [[ 4.45826719e-01 -8.95116805e-01 -2.10751785e-03 -3.84994364e+01] [-8.95108848e-01 -4.45831655e-01 3.77979671e-03 -2.61332281e+02] [-4.32295773e-03 2.01323513e-04 -9.99990636e-01 -1.81434346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.006559995 meters 0.02349385585511411 Centerline is valid? [True, True] Translation: X:-38.47, Y:-261.44, Z:-1.81 [[ 5.11472393e-01 -8.59297286e-01 -2.04118159e-03 -3.84686734e+01] [-8.59291785e-01 -5.11476435e-01 3.07985323e-03 -2.61443838e+02] [-3.69052580e-03 1.78710668e-04 -9.99993174e-01 -1.81488957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.036559995 meters 0.022909377852182444 Centerline is valid? [True, True] Translation: X:-38.43, Y:-261.55, Z:-1.82 [[ 5.75833140e-01 -8.17564025e-01 -2.29339724e-03 -3.84305861e+01] [-8.17558742e-01 -5.75837679e-01 2.94476526e-03 -2.61550571e+02] [-3.72815868e-03 1.79293530e-04 -9.99993034e-01 -1.81501721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.0665599949999 meters 0.023186717927853616 Centerline is valid? [True, True] Translation: X:-38.38, Y:-261.65, Z:-1.81 [[ 6.37561402e-01 -7.70395750e-01 -2.41816084e-03 -3.83849163e+01] [-7.70391178e-01 -6.37565966e-01 2.65939537e-03 -2.61652012e+02] [-3.59052394e-03 1.67401941e-04 -9.99993540e-01 -1.81476063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.096559995 meters 0.02047308202136468 Centerline is valid? [True, True] Translation: X:-38.34, Y:-261.75, Z:-1.81 [[ 6.97865115e-01 -7.16225446e-01 -2.32227466e-03 -3.83383300e+01] [-7.16222099e-01 -6.97868966e-01 2.19350464e-03 -2.61754485e+02] [-3.19168726e-03 1.32494065e-04 -9.99994898e-01 -1.81435765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.126559995 meters 0.01921889883247033 Centerline is valid? [True, True] Translation: X:-38.35, Y:-261.77, Z:-1.81 [[ 7.54191364e-01 -6.56649872e-01 -2.51641024e-03 -3.83460565e+01] [-6.56646748e-01 -7.54195552e-01 2.02935075e-03 -2.61770235e+02] [-3.23043832e-03 1.21873792e-04 -9.99994775e-01 -1.81400740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.156559995 meters 0.01825355266497871 Centerline is valid? [True, True] Translation: X:-38.35, Y:-261.79, Z:-1.81 [[ 8.05765154e-01 -5.92229373e-01 -2.62397061e-03 -3.83510099e+01] [-5.92226658e-01 -8.05769420e-01 1.79660254e-03 -2.61785848e+02] [-3.17831607e-03 1.06345617e-04 -9.99994944e-01 -1.81407661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.1865599949999 meters 0.015605882945569645 Centerline is valid? [True, True] Translation: X:-38.36, Y:-261.81, Z:-1.81 [[ 8.54945626e-01 -5.18711318e-01 -2.55834613e-03 -3.83575042e+01] [-5.18709234e-01 -8.54949451e-01 1.47201064e-03 -2.61807896e+02] [-2.95080520e-03 6.85487078e-05 -9.99995644e-01 -1.81410216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.2165599949999 meters 0.014659570540495756 Centerline is valid? [True, True] Translation: X:-38.36, Y:-261.82, Z:-1.81 [[ 8.95305689e-01 -4.45438690e-01 -3.47797371e-03 -3.83602700e+01] [-4.45435622e-01 -8.95312442e-01 1.65457760e-03 -2.61823970e+02] [-3.85088601e-03 6.78606471e-05 -9.99992583e-01 -1.81320296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.246559995 meters 0.013775168139500308 Centerline is valid? [True, True] Translation: X:-38.36, Y:-261.84, Z:-1.81 [[ 9.29460170e-01 -3.68900891e-01 -3.99069625e-03 -3.83601976e+01] [-3.68897727e-01 -9.29468735e-01 1.52869019e-03 -2.61840338e+02] [-4.27316257e-03 5.13021323e-05 -9.99990869e-01 -1.81256503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.276559995 meters 0.013142935073069364 Centerline is valid? [True, True] Translation: X:-38.36, Y:-261.86, Z:-1.81 [[ 9.57095479e-01 -2.89739482e-01 -4.39044625e-03 -3.83573541e+01] [-2.89736573e-01 -9.57105549e-01 1.29871306e-03 -2.61855964e+02] [-4.57840892e-03 2.90804496e-05 -9.99989519e-01 -1.81216520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.3065599949999 meters 0.013142935073069364 Centerline is valid? [True, True] Translation: X:-38.35, Y:-261.87, Z:-1.81 [[ 9.76820899e-01 -2.14011386e-01 -4.47864516e-03 -3.83523644e+01] [-2.14009273e-01 -9.76831165e-01 9.51451103e-04 -2.61865477e+02] [-4.57850154e-03 2.90742748e-05 -9.99989518e-01 -1.81216425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.3365599949999 meters 0.013036966289955643 Centerline is valid? [True, True] Translation: X:-38.35, Y:-261.89, Z:-1.81 [[ 9.92019834e-01 -1.26018514e-01 -3.99792399e-03 -3.83489859e+01] [-1.26017415e-01 -9.92027890e-01 5.26669935e-04 -2.61885773e+02] [-4.03242227e-03 -1.86589735e-05 -9.99991870e-01 -1.81181330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.366559995 meters 0.01336551440445473 Centerline is valid? [True, True] Translation: X:-38.35, Y:-261.90, Z:-1.81 [[ 9.99075708e-01 -4.28231149e-02 -3.72972454e-03 -3.83455545e+01] [-4.28226803e-02 -9.99082669e-01 1.96347443e-04 -2.61902867e+02] [-3.73471136e-03 -3.64491588e-05 -9.99993025e-01 -1.81225329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.396559995 meters 0.01525215210768564 Centerline is valid? [True, True] Translation: X:-38.34, Y:-261.92, Z:-1.81 [[ 9.98985774e-01 4.49028100e-02 -3.34082923e-03 -3.83414037e+01] [ 4.49027724e-02 -9.98991358e-01 -8.62936620e-05 -2.61924251e+02] [-3.34133436e-03 -6.38063539e-05 -9.99994416e-01 -1.81203570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.4265599949999 meters 0.01675720219158176 Centerline is valid? [True, True] Translation: X:-38.34, Y:-261.94, Z:-1.81 [[ 9.91899837e-01 1.26985496e-01 -3.06545269e-03 -3.83351109e+01] [ 1.26985111e-01 -9.91904571e-01 -3.20741580e-04 -2.61936695e+02] [-3.08136607e-03 -7.11233283e-05 -9.99995250e-01 -1.81187526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.4565599949999 meters 0.018453232131538044 Centerline is valid? [True, True] Translation: X:-38.33, Y:-261.95, Z:-1.81 [[ 9.78199667e-01 2.07645751e-01 -2.94166363e-03 -3.83275882e+01] [ 2.07645056e-01 -9.78204087e-01 -5.43254516e-04 -2.61946570e+02] [-2.99035188e-03 -7.94105215e-05 -9.99995526e-01 -1.81186127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.486559995 meters 0.020169847845789096 Centerline is valid? [True, True] Translation: X:-38.32, Y:-261.96, Z:-1.81 [[ 9.57294025e-01 2.89106487e-01 -2.36412181e-03 -3.83181353e+01] [ 2.89105807e-01 -9.57296941e-01 -6.31787923e-04 -2.61955851e+02] [-2.44582056e-03 -7.86745395e-05 -9.99997006e-01 -1.81173237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.516559995 meters 0.020189842503361338 Centerline is valid? [True, True] Translation: X:-38.31, Y:-261.96, Z:-1.81 [[ 9.30981079e-01 3.65061180e-01 -2.13660522e-03 -3.83090918e+01] [ 3.65060408e-01 -9.30983528e-01 -7.54737953e-04 -2.61961869e+02] [-2.26466979e-03 -7.73432197e-05 -9.99997433e-01 -1.81176286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.5465599949999 meters 0.020635635942551776 Centerline is valid? [True, True] Translation: X:-38.30, Y:-261.97, Z:-1.81 [[ 8.98782167e-01 4.38387992e-01 -2.56606586e-03 -3.82985400e+01] [ 4.38386524e-01 -8.98785825e-01 -1.13895067e-03 -2.61967590e+02] [-2.80564592e-03 -1.01260145e-04 -9.99996059e-01 -1.81154783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.5765599949999 meters 0.020509753307868483 Centerline is valid? [True, True] Translation: X:-38.29, Y:-261.97, Z:-1.81 [[ 8.61002775e-01 5.08592044e-01 -2.89051495e-03 -3.82872617e+01] [ 5.08589654e-01 -8.61007618e-01 -1.56392773e-03 -2.61972374e+02] [-3.28415659e-03 -1.23539885e-04 -9.99994600e-01 -1.81126482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.606559995 meters 0.02108860358065599 Centerline is valid? [True, True] Translation: X:-38.28, Y:-261.98, Z:-1.81 [[ 8.18129706e-01 5.75019444e-01 -4.05250584e-03 -3.82754157e+01] [ 5.75013501e-01 -8.18139722e-01 -2.62097986e-03 -2.61976468e+02] [-4.82263038e-03 -1.85944087e-04 -9.99988354e-01 -1.80955146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.636559995 meters 0.02221314359922112 Centerline is valid? [True, True] Translation: X:-38.26, Y:-261.98, Z:-1.81 [[ 7.70620381e-01 6.37277575e-01 -4.63910271e-03 -3.82645165e+01] [ 6.37267760e-01 -7.70634311e-01 -3.54406252e-03 -2.61979596e+02] [-5.83360329e-03 -2.25223788e-04 -9.99982959e-01 -1.80828572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.666559995 meters 0.02134839281859519 Centerline is valid? [True, True] Translation: X:-38.25, Y:-261.98, Z:-1.81 [[ 7.18631351e-01 6.95373991e-01 -4.89835112e-03 -3.82547680e+01] [ 6.95360180e-01 -7.18648001e-01 -4.38991509e-03 -2.61978555e+02] [-6.57282302e-03 -2.51387695e-04 -9.99978367e-01 -1.80779935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.6965599949999 meters 0.021489483806899436 Centerline is valid? [True, True] Translation: X:-38.25, Y:-261.98, Z:-1.81 [[ 6.63385198e-01 7.48257661e-01 -5.52744057e-03 -3.82468893e+01] [ 7.48235281e-01 -6.63408161e-01 -5.79449165e-03 -2.61977596e+02] [-8.00272195e-03 -2.91846063e-04 -9.99967935e-01 -1.80681300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.726559995 meters 0.02078019352376955 Centerline is valid? [True, True] Translation: X:-38.24, Y:-261.97, Z:-1.81 [[ 6.03809757e-01 7.97111322e-01 -5.22659702e-03 -3.82391428e+01] [ 7.97085535e-01 -6.03832307e-01 -6.41830417e-03 -2.61974032e+02] [-8.27209106e-03 -2.90610198e-04 -9.99965744e-01 -1.80672475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.756559995 meters 0.020479635687936225 Centerline is valid? [True, True] Translation: X:-38.23, Y:-261.97, Z:-1.81 [[ 5.40933120e-01 8.41051590e-01 -4.85623215e-03 -3.82329942e+01] [ 8.41022330e-01 -5.40954843e-01 -7.02131288e-03 -2.61970777e+02] [-8.53228865e-03 -2.86138991e-04 -9.99963559e-01 -1.80638183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.786559995 meters 0.01950172594337652 Centerline is valid? [True, True] Translation: X:-38.23, Y:-261.97, Z:-1.81 [[ 4.76526605e-01 8.79149732e-01 -4.25961821e-03 -3.82303030e+01] [ 8.79119255e-01 -4.76545574e-01 -7.32473059e-03 -2.61965600e+02] [-8.46943715e-03 -2.54283389e-04 -9.99964101e-01 -1.80664962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.8165599949999 meters 0.01911161094853847 Centerline is valid? [True, True] Translation: X:-38.23, Y:-261.96, Z:-1.81 [[ 4.08198232e-01 9.12886575e-01 -3.50781440e-03 -3.82273777e+01] [ 9.12857470e-01 -4.08213242e-01 -7.29303055e-03 -2.61961110e+02] [-8.08964597e-03 -2.25132405e-04 -9.99967253e-01 -1.80696446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.846559995 meters 0.017686854534839862 Centerline is valid? [True, True] Translation: X:-38.22, Y:-261.96, Z:-1.81 [[ 3.37312265e-01 9.41389108e-01 -2.64276124e-03 -3.82239218e+01] [ 9.41364450e-01 -3.37322565e-01 -6.81620304e-03 -2.61955785e+02] [-7.30816229e-03 -1.88612596e-04 -9.99973277e-01 -1.80820693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.876559995 meters 0.017540507929589482 Centerline is valid? [True, True] Translation: X:-38.22, Y:-261.95, Z:-1.81 [[ 2.64522179e-01 9.64377655e-01 -1.93792294e-03 -3.82201864e+01] [ 9.64356033e-01 -2.64529229e-01 -6.45980700e-03 -2.61951989e+02] [-6.74233079e-03 -1.60085455e-04 -9.99977257e-01 -1.80868881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.906559995 meters 0.016552750899381297 Centerline is valid? [True, True] Translation: X:-38.22, Y:-261.95, Z:-1.81 [[ 1.92084768e-01 9.81377668e-01 -1.14660548e-03 -3.82228117e+01] [ 9.81363353e-01 -1.92088160e-01 -5.30171570e-03 -2.61947241e+02] [-5.42323473e-03 -1.06857772e-04 -9.99985289e-01 -1.80999366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.9365599949999 meters 0.014780214670253963 Centerline is valid? [True, True] Translation: X:-38.22, Y:-261.94, Z:-1.81 [[ 1.16412015e-01 9.93200783e-01 -6.69207276e-04 -3.82187048e+01] [ 9.93188489e-01 -1.16413904e-01 -4.94260988e-03 -2.61943681e+02] [-4.98690903e-03 -8.92697896e-05 -9.99987561e-01 -1.81138346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.9665599949999 meters 0.015279275353580358 Centerline is valid? [True, True] Translation: X:-38.21, Y:-261.94, Z:-1.81 [[ 4.12494973e-02 9.99148846e-01 -2.49075878e-04 -3.82128308e+01] [ 9.99139003e-01 -4.12501966e-02 -4.43556106e-03 -2.61941360e+02] [-4.44206015e-03 -6.58967605e-05 -9.99990132e-01 -1.81113776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.996559995 meters 0.014232234923745583 Centerline is valid? [True, True] Translation: X:-38.21, Y:-261.94, Z:-1.81 [[-3.60727867e-02 9.99349160e-01 9.96004767e-05 -3.82097182e+01] [ 9.99339172e-01 3.60728715e-02 -4.46844565e-03 -2.61937960e+02] [-4.46913029e-03 -6.16546291e-05 -9.99990012e-01 -1.81192625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.026559995 meters 0.014041013714247581 Centerline is valid? [True, True] Translation: X:-38.20, Y:-261.93, Z:-1.81 [[-1.13380276e-01 9.93551550e-01 4.80207727e-04 -3.82040624e+01] [ 9.93540168e-01 1.13381276e-01 -4.75606565e-03 -2.61933978e+02] [-4.77984296e-03 -6.21383705e-05 -9.99988575e-01 -1.81176528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.0565599949999 meters 0.01404363492662815 Centerline is valid? [True, True] Translation: X:-38.20, Y:-261.93, Z:-1.81 [[-1.90307639e-01 9.81723996e-01 9.98970869e-04 -3.81983066e+01] [ 9.81708467e-01 1.90310248e-01 -5.52234829e-03 -2.61931576e+02] [-5.61153623e-03 -7.02469035e-05 -9.99984253e-01 -1.81144845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.0865599949999 meters 0.013982093712372703 Centerline is valid? [True, True] Translation: X:-38.19, Y:-261.93, Z:-1.81 [[-2.66417248e-01 9.63856334e-01 1.67861096e-03 -3.81937299e+01] [ 9.63835226e-01 2.66422524e-01 -6.37938085e-03 -2.61928141e+02] [-6.59602640e-03 -8.16727225e-05 -9.99978243e-01 -1.81039393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.116559995 meters 0.014063469948552308 Centerline is valid? [True, True] Translation: X:-38.19, Y:-261.93, Z:-1.81 [[-3.40990696e-01 9.40063796e-01 2.32497103e-03 -3.81872401e+01] [ 9.40040173e-01 3.40998611e-01 -6.66486909e-03 -2.61925082e+02] [-7.05821402e-03 -8.70921813e-05 -9.99975087e-01 -1.81008460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.146559995 meters 0.014133178158751732 Centerline is valid? [True, True] Translation: X:-38.18, Y:-261.92, Z:-1.81 [[-4.13608254e-01 9.10449233e-01 3.22595911e-03 -3.81839699e+01] [ 9.10419634e-01 4.13620823e-01 -7.34196238e-03 -2.61921885e+02] [-8.01880787e-03 -9.97197231e-05 -9.99967844e-01 -1.80920997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.1765599949999 meters 0.014127858942329888 Centerline is valid? [True, True] Translation: X:-38.18, Y:-261.92, Z:-1.81 [[-4.83384181e-01 8.75399657e-01 3.89539420e-03 -3.81805573e+01] [ 8.75369549e-01 4.83399866e-01 -7.26105056e-03 -2.61919523e+02] [-8.23935421e-03 -9.99675171e-05 -9.99966051e-01 -1.80868691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.2065599949999 meters 0.014127216465311322 Centerline is valid? [True, True] Translation: X:-38.18, Y:-261.92, Z:-1.81 [[-5.50043368e-01 8.35122714e-01 4.72723423e-03 -3.81771800e+01] [ 8.35090265e-01 5.50063672e-01 -7.36253769e-03 -2.61916274e+02] [-8.74890227e-03 -1.02047742e-04 -9.99961722e-01 -1.80862057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.236559995 meters 0.014127216465311322 Centerline is valid? [True, True] Translation: X:-38.17, Y:-261.91, Z:-1.81 [[-6.13762051e-01 7.89473348e-01 5.28942876e-03 -3.81723199e+01] [ 7.89442588e-01 6.13784835e-01 -6.96972925e-03 -2.61911655e+02] [-8.74898664e-03 -1.02054989e-04 -9.99961722e-01 -1.80861984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.266559995 meters 0.013915062341930712 Centerline is valid? [True, True] Translation: X:-38.17, Y:-261.91, Z:-1.81 [[-6.72697965e-01 7.39897248e-01 5.43237383e-03 -3.81715132e+01] [ 7.39872114e-01 6.72719894e-01 -6.09919477e-03 -2.61909771e+02] [-8.16724338e-03 -8.36539991e-05 -9.99966644e-01 -1.80972327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.2965599949999 meters 0.013671657502599356 Centerline is valid? [True, True] Translation: X:-38.17, Y:-261.90, Z:-1.81 [[-7.28195871e-01 6.85345459e-01 5.68990385e-03 -3.81681213e+01] [ 6.85323715e-01 7.28218096e-01 -5.45985281e-03 -2.61904281e+02] [-7.88537628e-03 -7.64162295e-05 -9.99968907e-01 -1.81054706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.3265599949999 meters 0.01362517682068459 Centerline is valid? [True, True] Translation: X:-38.15, Y:-261.88, Z:-1.81 [[-7.74713247e-01 6.32285952e-01 5.81901530e-03 -3.81530253e+01] [ 6.32267421e-01 7.74735097e-01 -4.84134216e-03 -2.61882693e+02] [-7.56930801e-03 -7.14781095e-05 -9.99971350e-01 -1.81115164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.356559995 meters 0.013579985497590394 Centerline is valid? [True, True] Translation: X:-38.13, Y:-261.86, Z:-1.81 [[-8.17390091e-01 5.76054738e-01 5.86322024e-03 -3.81349233e+01] [ 5.76039334e-01 8.17411117e-01 -4.21328392e-03 -2.61863427e+02] [-7.21974357e-03 -6.64510486e-05 -9.99973935e-01 -1.81169968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.386559995 meters 0.013569140090746933 Centerline is valid? [True, True] Translation: X:-38.12, Y:-261.84, Z:-1.81 [[-8.56206330e-01 5.16597452e-01 6.14755880e-03 -3.81232140e+01] [ 5.16583568e-01 8.56228397e-01 -3.78805229e-03 -2.61840350e+02] [-7.22061258e-03 -6.76264911e-05 -9.99973929e-01 -1.81190256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.416559995 meters 0.013702280300348398 Centerline is valid? [True, True] Translation: X:-38.11, Y:-261.81, Z:-1.81 [[-8.90882411e-01 4.54189933e-01 6.32727155e-03 -3.81135437e+01] [ 4.54177913e-01 8.90904877e-01 -3.30501309e-03 -2.61814312e+02] [-7.13810075e-03 -7.06710389e-05 -9.99974521e-01 -1.81161542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.4465599949999 meters 0.013978992819988122 Centerline is valid? [True, True] Translation: X:-38.10, Y:-261.79, Z:-1.81 [[-9.21093961e-01 3.89277383e-01 7.00242566e-03 -3.80998623e+01] [ 3.89265462e-01 9.21120574e-01 -3.04760333e-03 -2.61789851e+02] [-7.63644140e-03 -8.13265580e-05 -9.99970839e-01 -1.81119443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.476559995 meters 0.014056553643193897 Centerline is valid? [True, True] Translation: X:-38.09, Y:-261.76, Z:-1.81 [[-9.47273381e-01 3.20322654e-01 8.15720064e-03 -3.80939974e+01] [ 3.20309711e-01 9.47308495e-01 -2.88192711e-03 -2.61763618e+02] [-8.65053200e-03 -1.17142254e-04 -9.99962577e-01 -1.81135033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.506559995 meters 0.014358979870234044 Centerline is valid? [True, True] Translation: X:-38.09, Y:-261.74, Z:-1.81 [[-9.68031492e-01 2.50674344e-01 8.79795712e-03 -3.80872630e+01] [ 2.50662679e-01 9.68071461e-01 -2.42225099e-03 -2.61735919e+02] [-9.12424738e-03 -1.39495733e-04 -9.99958364e-01 -1.81086924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.536559995 meters 0.015290767899135218 Centerline is valid? [True, True] Translation: X:-37.92, Y:-261.12, Z:-2.78 [[-9.37306742e-01 -3.48349493e-01 1.04260367e-02 -3.79185005e+01] [ 3.48331435e-01 -9.37364680e-01 -3.55916581e-03 -2.61123006e+02] [ 1.10128322e-02 2.95686217e-04 9.99939313e-01 -2.78126091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.5665599949999 meters 0.015811870447567707 Centerline is valid? [True, True] Translation: X:-38.14, Y:-261.72, Z:-1.81 [[-9.70435151e-01 2.41113532e-01 1.09491244e-02 -3.81401332e+01] [ 2.41095349e-01 9.70496886e-01 -2.97100950e-03 -2.61719735e+02] [-1.13424417e-02 -2.43389093e-04 -9.99935643e-01 -1.80992847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.596559995 meters 0.016342171018485376 Centerline is valid? [True, True] Translation: X:-38.14, Y:-261.69, Z:-1.81 [[-9.85399055e-01 1.69897301e-01 1.11179558e-02 -3.81385275e+01] [ 1.69883465e-01 9.85461738e-01 -2.18419404e-03 -2.61691013e+02] [-1.13274087e-02 -2.63545889e-04 -9.99935808e-01 -1.80946038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.626559995 meters 0.016752578772698357 Centerline is valid? [True, True] Translation: X:-38.01, Y:-261.07, Z:-2.78 [[-9.59070992e-01 -2.82925708e-01 1.16565775e-02 -3.80116553e+01] [ 2.82908961e-01 -9.59141771e-01 -3.09579186e-03 -2.61072916e+02] [ 1.20561895e-02 3.28666063e-04 9.99927268e-01 -2.78168671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.656559995 meters 0.018513484647941548 Centerline is valid? [True, True] Translation: X:-38.19, Y:-261.68, Z:-1.81 [[-9.86596598e-01 1.62751233e-01 1.17978180e-02 -3.81864853e+01] [ 1.62735711e-01 9.86667084e-01 -2.27043863e-03 -2.61679556e+02] [-1.20100353e-02 -3.20080734e-04 -9.99927826e-01 -1.80821861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.6865599949999 meters 0.0185667236257028 Centerline is valid? [True, True] Translation: X:-38.19, Y:-261.65, Z:-1.81 [[-9.95802514e-01 9.07233388e-02 1.21090596e-02 -3.81864927e+01] [ 9.07124206e-02 9.95876075e-01 -1.44901247e-03 -2.61652881e+02] [-1.21905820e-02 -3.44488147e-04 -9.99925633e-01 -1.80856335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.7165599949999 meters 0.018565250347996165 Centerline is valid? [True, True] Translation: X:-38.11, Y:-261.03, Z:-2.78 [[-9.76806174e-01 -2.13806057e-01 1.16904909e-02 -3.81136327e+01] [ 2.13794621e-01 -9.76876077e-01 -2.23403151e-03 -2.61028195e+02] [ 1.18978103e-02 3.17148282e-04 9.99929168e-01 -2.78242202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.746559995 meters 0.018157788745199757 Centerline is valid? [True, True] Translation: X:-38.24, Y:-261.65, Z:-1.81 [[-9.96207608e-01 8.62602414e-02 1.13829563e-02 -3.82415556e+01] [ 8.62508399e-02 9.96272585e-01 -1.31519211e-03 -2.61649036e+02] [-1.14539761e-02 -3.28414844e-04 -9.99934347e-01 -1.80928824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.776559995 meters 0.01827186323807618 Centerline is valid? [True, True] Translation: X:-38.16, Y:-261.02, Z:-2.78 [[-9.77727809e-01 -2.09602208e-01 1.07352654e-02 -3.81627483e+01] [ 2.09592693e-01 -9.77786703e-01 -2.01643838e-03 -2.61020176e+02] [ 1.09194497e-02 2.78505310e-04 9.99940342e-01 -2.78176344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.8065599949999 meters 0.017689724829707956 Centerline is valid? [True, True] Translation: X:-38.29, Y:-261.65, Z:-1.81 [[-9.96508624e-01 8.27739353e-02 1.09104926e-02 -3.82912501e+01] [ 8.27655880e-02 9.96568302e-01 -1.21516173e-03 -2.61647296e+02] [-1.09736348e-02 -3.07905804e-04 -9.99939741e-01 -1.81005308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.8365599949999 meters 0.01868585213152192 Centerline is valid? [True, True] Translation: X:-38.29, Y:-261.62, Z:-1.81 [[-9.99864756e-01 1.22627066e-02 1.09588661e-02 -3.82925797e+01] [ 1.22586580e-02 9.99924765e-01 -4.36541050e-04 -2.61619141e+02] [-1.09633947e-02 -3.02141020e-04 -9.99939855e-01 -1.80923602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.866559995 meters 0.016590703184472796 Centerline is valid? [True, True] Translation: X:-38.26, Y:-260.98, Z:-2.78 [[-9.90993128e-01 -1.33379748e-01 1.19358361e-02 -3.82632753e+01] [ 1.33374882e-01 -9.91064925e-01 -1.20628950e-03 -2.60976125e+02] [ 1.19900831e-02 3.96516133e-04 9.99928038e-01 -2.78158122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.896559995 meters 0.016573184691236045 Centerline is valid? [True, True] Translation: X:-38.36, Y:-261.62, Z:-1.81 [[-9.99868778e-01 9.65531182e-03 1.30077543e-02 -3.83598701e+01] [ 9.65016120e-03 9.99953331e-01 -4.58674345e-04 -2.61624123e+02] [-1.30115759e-02 -3.33087231e-04 -9.99915290e-01 -1.80932105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.9265599949999 meters 0.016969055915764607 Centerline is valid? [True, True] Translation: X:-38.36, Y:-261.60, Z:-1.81 [[-9.98072855e-01 -6.04817453e-02 1.38756973e-02 -3.83607453e+01] [-6.04806543e-02 9.98169245e-01 4.98621090e-04 -2.61597121e+02] [-1.38804518e-02 -3.41551078e-04 -9.99903604e-01 -1.80824027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.9565599949999 meters 0.016741434835365297 Centerline is valid? [True, True] Translation: X:-38.38, Y:-260.94, Z:-2.78 [[-9.98428091e-01 -5.38557047e-02 1.55213023e-02 -3.83804056e+01] [ 5.38567694e-02 -9.98548610e-01 -3.49688932e-04 -2.60940679e+02] [ 1.55176076e-02 4.86787948e-04 9.99879476e-01 -2.78447876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.986559995 meters 0.015912629064628474 Centerline is valid? [True, True] Translation: X:-38.44, Y:-261.61, Z:-1.81 [[-9.97939655e-01 -6.20392203e-02 1.63578792e-02 -3.84418721e+01] [-6.20364705e-02 9.98073654e-01 6.75960970e-04 -2.61605858e+02] [-1.63683044e-02 -3.40216834e-04 -9.99865973e-01 -1.80706481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.016559995 meters 0.015645133666917898 Centerline is valid? [True, True] Translation: X:-38.46, Y:-260.94, Z:-2.78 [[-9.98814735e-01 -4.56109087e-02 1.69932292e-02 -3.84636149e+01] [ 4.56110137e-02 -9.98959203e-01 -3.81592538e-04 -2.60938467e+02] [ 1.69929475e-02 3.93938160e-04 9.99855532e-01 -2.78473376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.0465599949999 meters 0.014651808242452541 Centerline is valid? [True, True] Translation: X:-38.53, Y:-261.62, Z:-1.81 [[-9.97847866e-01 -6.30983946e-02 1.78389925e-02 -3.85258130e+01] [-6.30934197e-02 9.98007270e-01 8.42106584e-04 -2.61616105e+02] [-1.78565797e-02 -2.85228782e-04 -9.99840518e-01 -1.80686923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.0765599949999 meters 0.014405000992994708 Centerline is valid? [True, True] Translation: X:-38.53, Y:-261.59, Z:-1.81 [[-9.91145102e-01 -1.31579061e-01 1.78419983e-02 -3.85319712e+01] [-1.31562143e-01 9.91305650e-01 2.12382609e-03 -2.61591584e+02] [-1.79663248e-02 -2.42311704e-04 -9.99838563e-01 -1.80641748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.106559995 meters 0.013945600829317324 Centerline is valid? [True, True] Translation: X:-38.55, Y:-261.57, Z:-1.81 [[-9.80270124e-01 -1.96820115e-01 1.82298319e-02 -3.85469215e+01] [-1.96788868e-01 9.80439606e-01 3.51006623e-03 -2.61572310e+02] [-1.85641008e-02 -1.46614912e-04 -9.99827662e-01 -1.80631404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.136559995 meters 0.013945600829317324 Centerline is valid? [True, True] Translation: X:-38.57, Y:-261.55, Z:-1.81 [[-9.63559751e-01 -2.66891602e-01 1.79298517e-02 -3.85738702e+01] [-2.66848235e-01 9.63726544e-01 4.81333395e-03 -2.61549995e+02] [-1.85641124e-02 -1.46614435e-04 -9.99827661e-01 -1.80631383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.166559995 meters 0.013500099022411102 Centerline is valid? [True, True] Translation: X:-38.63, Y:-261.55, Z:-1.81 [[-9.43694986e-01 -3.30346314e-01 1.76376220e-02 -3.86281254e+01] [-3.30288929e-01 9.43859795e-01 6.15717100e-03 -2.61546253e+02] [-1.86814410e-02 -1.50198578e-05 -9.99825487e-01 -1.80819343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.1965599949999 meters 0.013500099022411102 Centerline is valid? [True, True] Translation: X:-38.69, Y:-261.54, Z:-1.81 [[-9.16810648e-01 -3.98954360e-01 1.71363381e-02 -3.86902386e+01] [-3.98884995e-01 9.16970784e-01 7.43927642e-03 -2.61540514e+02] [-1.86814531e-02 -1.50202715e-05 -9.99825486e-01 -1.80819306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.226559995 meters 0.013952175432152093 Centerline is valid? [True, True] Translation: X:-38.76, Y:-261.55, Z:-1.81 [[-8.86358774e-01 -4.62698341e-01 1.66843888e-02 -3.87623069e+01] [-4.62615242e-01 8.86515788e-01 8.76902974e-03 -2.61548787e+02] [-1.88483896e-02 5.40538902e-05 -9.99822352e-01 -1.80710301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.256559995 meters 0.014579170126970065 Centerline is valid? [True, True] Translation: X:-38.84, Y:-261.57, Z:-1.81 [[-8.52523133e-01 -5.22472145e-01 1.50720338e-02 -3.88378363e+01] [-5.22387117e-01 8.52656338e-01 9.42702282e-03 -2.61568072e+02] [-1.77766220e-02 1.63318728e-04 -9.99841970e-01 -1.80838128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.286559995 meters 0.014774571275895931 Centerline is valid? [True, True] Translation: X:-38.93, Y:-261.60, Z:-1.81 [[-8.12260446e-01 -5.83126941e-01 1.39977935e-02 -3.89254917e+01] [-5.83036042e-01 8.12381025e-01 1.02977956e-02 -2.61596303e+02] [-1.73764639e-02 2.03273890e-04 -9.99848997e-01 -1.80964819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.3165599949999 meters 0.015219100504200701 Centerline is valid? [True, True] Translation: X:-39.01, Y:-261.63, Z:-1.81 [[-7.67094778e-01 -6.41412974e-01 1.24498539e-02 -3.90101516e+01] [-6.41323742e-01 7.67195768e-01 1.07010306e-02 -2.61630779e+02] [-1.64152551e-02 2.24317836e-04 -9.99865236e-01 -1.80980103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.346559995 meters 0.015877927746338377 Centerline is valid? [True, True] Translation: X:-39.09, Y:-261.68, Z:-1.81 [[-7.18813400e-01 -6.95118513e-01 1.08420396e-02 -3.90941208e+01] [-6.95033846e-01 7.18895113e-01 1.08521526e-02 -2.61675105e+02] [-1.53378214e-02 2.65088189e-04 -9.99882334e-01 -1.81103090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.376559995 meters 0.015750165873879698 Centerline is valid? [True, True] Translation: X:-39.19, Y:-261.73, Z:-1.81 [[-6.64772058e-01 -7.46984010e-01 9.64363468e-03 -3.91867068e+01] [-7.46899358e-01 6.64841946e-01 1.12488121e-02 -2.61734607e+02] [-1.48141756e-02 2.75071397e-04 -9.99890226e-01 -1.81202920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.406559995 meters 0.016695132743854167 Centerline is valid? [True, True] Translation: X:-39.27, Y:-261.80, Z:-1.81 [[-6.06812966e-01 -7.94797580e-01 8.65051850e-03 -3.92744180e+01] [-7.94709898e-01 6.06874552e-01 1.18091388e-02 -2.61803323e+02] [-1.46356544e-02 2.91285836e-04 -9.99892851e-01 -1.81098415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.4365599949999 meters 0.01607843558638428 Centerline is valid? [True, True] Translation: X:-39.36, Y:-261.87, Z:-1.81 [[-5.45249511e-01 -8.38236429e-01 7.91583734e-03 -3.93571571e+01] [-8.38139494e-01 5.45306875e-01 1.27514957e-02 -2.61874440e+02] [-1.50053287e-02 3.18170889e-04 -9.99887363e-01 -1.81236890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.4665599949999 meters 0.01716757840108224 Centerline is valid? [True, True] Translation: X:-39.43, Y:-261.96, Z:-1.81 [[-4.81095085e-01 -8.76640323e-01 7.01885101e-03 -3.94328881e+01] [-8.76536052e-01 4.81146152e-01 1.35251936e-02 -2.61955739e+02] [-1.52338232e-02 3.54628198e-04 -9.99883896e-01 -1.81177413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.496559995 meters 0.017158066952467153 Centerline is valid? [True, True] Translation: X:-39.51, Y:-262.05, Z:-1.81 [[-4.12980291e-01 -9.10720026e-01 6.02611236e-03 -3.95077824e+01] [-9.10609655e-01 4.13024089e-01 1.41830127e-02 -2.62048408e+02] [-1.54056833e-02 3.69868637e-04 -9.99881257e-01 -1.81176621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.526559995 meters 0.0175558031470032 Centerline is valid? [True, True] Translation: X:-39.57, Y:-262.14, Z:-1.81 [[-3.42576318e-01 -9.39476392e-01 5.05726749e-03 -3.95744168e+01] [-9.39356337e-01 3.42613415e-01 1.50239976e-02 -2.62144203e+02] [-1.58473787e-02 3.96289497e-04 -9.99874344e-01 -1.81164898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.5565599949999 meters 0.017882143427802137 Centerline is valid? [True, True] Translation: X:-39.64, Y:-262.25, Z:-1.81 [[-2.69400691e-01 -9.63020411e-01 3.86728613e-03 -3.96352059e+01] [-9.62898923e-01 2.69428153e-01 1.53014825e-02 -2.62249823e+02] [-1.57775957e-02 3.98424304e-04 -9.99875447e-01 -1.81141969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.5865599949999 meters 0.017942216319759733 Centerline is valid? [True, True] Translation: X:-39.69, Y:-262.36, Z:-1.81 [[-1.94331830e-01 -9.80932033e-01 2.73621322e-03 -3.96882824e+01] [-9.80803153e-01 1.94350666e-01 1.59057979e-02 -2.62360346e+02] [-1.61342915e-02 4.07316255e-04 -9.99869751e-01 -1.81194315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.616559995 meters 0.01821196657138298 Centerline is valid? [True, True] Translation: X:-39.73, Y:-262.47, Z:-1.81 [[-1.17733616e-01 -9.93044151e-01 1.45273625e-03 -3.97337313e+01] [-9.92922436e-01 1.17741937e-01 1.55522577e-02 -2.62474782e+02] [-1.56151265e-02 3.88569114e-04 -9.99878001e-01 -1.81197026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.646559995 meters 0.018348839202878452 Centerline is valid? [True, True] Translation: X:-39.77, Y:-262.59, Z:-1.81 [[-4.02214750e-02 -9.99190759e-01 2.45756247e-04 -3.97693659e+01] [-9.99071692e-01 4.02204770e-02 1.54294245e-02 -2.62594499e+02] [-1.54268228e-02 3.75066101e-04 -9.99880929e-01 -1.81176751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.6765599949999 meters 0.017180126970122955 Centerline is valid? [True, True] Translation: X:-39.80, Y:-262.71, Z:-1.81 [[ 3.44129982e-02 -9.99407323e-01 -8.64760975e-04 -3.98000050e+01] [-9.99296575e-01 -3.44220618e-02 1.48821340e-02 -2.62705955e+02] [-1.49030805e-02 3.52013831e-04 -9.99888881e-01 -1.81333813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.7065599949999 meters 0.01693445300744944 Centerline is valid? [True, True] Translation: X:-39.82, Y:-262.83, Z:-1.81 [[ 1.12268402e-01 -9.93676029e-01 -1.93796013e-03 -3.98182042e+01] [-9.93573988e-01 -1.12284652e-01 1.42438554e-02 -2.62827206e+02] [-1.43713808e-02 3.26371900e-04 -9.99896673e-01 -1.81372387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.736559995 meters 0.016452886673188047 Centerline is valid? [True, True] Translation: X:-39.83, Y:-262.95, Z:-1.81 [[ 1.91075280e-01 -9.81571134e-01 -2.88886210e-03 -3.98288726e+01] [-9.81479739e-01 -1.91096919e-01 1.33974051e-02 -2.62952272e+02] [-1.37025588e-02 2.75446692e-04 -9.99906078e-01 -1.81383091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.766559995 meters 0.015944268303661684 Centerline is valid? [True, True] Translation: X:-39.83, Y:-263.08, Z:-1.81 [[ 2.67754789e-01 -9.63479484e-01 -3.82842218e-03 -3.98292749e+01] [-9.63393757e-01 -2.67782045e-01 1.28547950e-02 -2.63075203e+02] [-1.34105140e-02 2.46345095e-04 -9.99910045e-01 -1.81382199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.7965599949999 meters 0.015412628175205037 Centerline is valid? [True, True] Translation: X:-39.82, Y:-263.20, Z:-1.81 [[ 3.42988120e-01 -9.39327025e-01 -4.88765292e-03 -3.98211229e+01] [-9.39240689e-01 -3.43022872e-01 1.27372665e-02 -2.63195983e+02] [-1.36410354e-02 2.21951398e-04 -9.99906932e-01 -1.81373774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.8265599949999 meters 0.014370133622850957 Centerline is valid? [True, True] Translation: X:-39.81, Y:-263.32, Z:-1.81 [[ 4.18362992e-01 -9.08259708e-01 -6.05883493e-03 -3.98068139e+01] [-9.08170075e-01 -4.18406830e-01 1.27608913e-02 -2.63318852e+02] [-1.41252614e-02 1.63767897e-04 -9.99900220e-01 -1.81259032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.856559995 meters 0.013650850505849719 Centerline is valid? [True, True] Translation: X:-39.78, Y:-263.44, Z:-1.81 [[ 4.88844345e-01 -8.72341469e-01 -7.18108219e-03 -3.97799616e+01] [-8.72251330e-01 -4.88897068e-01 1.25409101e-02 -2.63439969e+02] [-1.44507660e-02 1.33155516e-04 -9.99895573e-01 -1.81287340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.886559995 meters 0.013242091473718937 Centerline is valid? [True, True] Translation: X:-39.75, Y:-263.55, Z:-1.81 [[ 5.56332657e-01 -8.30917483e-01 -8.37324669e-03 -3.97479548e+01] [-8.30826059e-01 -5.56395657e-01 1.23261128e-02 -2.63549748e+02] [-1.49008207e-02 9.92924816e-05 -9.99888972e-01 -1.81236484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.916559995 meters 0.013005691362506488 Centerline is valid? [True, True] Translation: X:-39.71, Y:-263.66, Z:-1.81 [[ 6.20053470e-01 -7.84504224e-01 -9.31758707e-03 -3.97079134e+01] [-7.84417241e-01 -6.20123471e-01 1.16821581e-02 -2.63655921e+02] [-1.49427568e-02 6.53132864e-05 -9.99888349e-01 -1.81205389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.9465599949999 meters 0.012780404777310657 Centerline is valid? [True, True] Translation: X:-39.66, Y:-263.76, Z:-1.81 [[ 6.81020576e-01 -7.32192973e-01 -1.02188830e-02 -3.96637938e+01] [-7.32110661e-01 -6.81097240e-01 1.09785995e-02 -2.63757994e+02] [-1.49985064e-02 4.70101601e-06 -9.99887516e-01 -1.81122792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.976559995 meters 0.0125663594539849 Centerline is valid? [True, True] Translation: X:-39.61, Y:-263.85, Z:-1.81 [[ 7.35874862e-01 -6.77028736e-01 -1.09671751e-02 -3.96095462e+01] [-6.76953125e-01 -7.35956582e-01 1.01181308e-02 -2.63854717e+02] [-1.49216300e-02 -2.14146099e-05 -9.99888666e-01 -1.81180991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.006559995 meters 0.01254749348351765 Centerline is valid? [True, True] Translation: X:-39.61, Y:-263.87, Z:-1.81 [[ 7.87453483e-01 -6.16267706e-01 -1.14510227e-02 -3.96130837e+01] [-6.16201785e-01 -7.87536737e-01 9.01377948e-03 -2.63865603e+02] [-1.45730022e-02 -4.17914497e-05 -9.99893807e-01 -1.81187313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.036559995 meters 0.012716134090136683 Centerline is valid? [True, True] Translation: X:-39.62, Y:-263.88, Z:-1.81 [[ 8.34553840e-01 -5.50809078e-01 -1.13686655e-02 -3.96175430e+01] [-5.50756794e-01 -8.34631268e-01 7.58946162e-03 -2.63876911e+02] [-1.36689881e-02 -7.24445618e-05 -9.99906572e-01 -1.81165747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.0665599949999 meters 0.01259042443938542 Centerline is valid? [True, True] Translation: X:-39.62, Y:-263.89, Z:-1.81 [[ 8.75668636e-01 -4.82775987e-01 -1.14798744e-02 -3.96185274e+01] [-4.82733209e-01 -8.75743878e-01 6.42727371e-03 -2.63886656e+02] [-1.31563631e-02 -8.64454176e-05 -9.99913448e-01 -1.81308438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.096559995 meters 0.012569819797883157 Centerline is valid? [True, True] Translation: X:-39.62, Y:-263.90, Z:-1.81 [[ 9.11226902e-01 -4.11747435e-01 -1.13834544e-02 -3.96194231e+01] [-4.11713970e-01 -9.11297997e-01 5.25045832e-03 -2.63897458e+02] [-1.25355820e-02 -9.76316533e-05 -9.99921422e-01 -1.81374835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.126559995 meters 0.013359554822833648 Centerline is valid? [True, True] Translation: X:-39.62, Y:-263.91, Z:-1.81 [[ 9.41393347e-01 -3.37107469e-01 -1.17098803e-02 -3.96197691e+01] [-3.37079728e-01 -9.41466164e-01 4.32651481e-03 -2.63909047e+02] [-1.24829566e-02 -1.25788982e-04 -9.99922077e-01 -1.81224366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.156559995 meters 0.01321810741841209 Centerline is valid? [True, True] Translation: X:-39.62, Y:-263.92, Z:-1.81 [[ 9.65151235e-01 -2.61385035e-01 -1.26868910e-02 -3.96174673e+01] [-2.61360441e-01 -9.65234604e-01 3.58863870e-03 -2.63916915e+02] [-1.31838426e-02 -1.47727656e-04 -9.99913079e-01 -1.81352880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.1865599949999 meters 0.013313710736739613 Centerline is valid? [True, True] Translation: X:-39.62, Y:-263.93, Z:-1.81 [[ 9.82816605e-01 -1.84101682e-01 -1.33451067e-02 -3.96152228e+01] [-1.84082407e-01 -9.82907189e-01 2.66919472e-03 -2.63926137e+02] [-1.36084045e-02 -1.66729543e-04 -9.99907388e-01 -1.81317502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.2165599949999 meters 0.013753801618921719 Centerline is valid? [True, True] Translation: X:-39.61, Y:-263.94, Z:-1.81 [[ 9.94372875e-01 -1.04966383e-01 -1.43053673e-02 -3.96134014e+01] [-1.04952637e-01 -9.94475751e-01 1.71035028e-03 -2.63935239e+02] [-1.44058701e-02 -1.99339905e-04 -9.99896210e-01 -1.81180733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.246559995 meters 0.013650624820005374 Centerline is valid? [True, True] Translation: X:-39.61, Y:-263.94, Z:-1.81 [[ 9.99545727e-01 -2.62113705e-02 -1.48762516e-02 -3.96127720e+01] [-2.62052692e-02 -9.99656400e-01 6.04950871e-04 -2.63943761e+02] [-1.48869967e-02 -2.14839879e-04 -9.99889160e-01 -1.81216116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.276559995 meters 0.013644414233423935 Centerline is valid? [True, True] Translation: X:-39.61, Y:-263.95, Z:-1.81 [[ 9.98523782e-01 5.23622659e-02 -1.44377942e-02 -3.96116794e+01] [ 5.23598603e-02 -9.98628133e-01 -5.44827665e-04 -2.63953049e+02] [-1.44465158e-02 -2.11937504e-04 -9.99895621e-01 -1.81244166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.3065599949999 meters 0.014020483746513159 Centerline is valid? [True, True] Translation: X:-39.61, Y:-263.96, Z:-1.81 [[ 9.91356151e-01 1.30445458e-01 -1.40344115e-02 -3.96106273e+01] [ 1.30435355e-01 -9.91455465e-01 -1.63677151e-03 -2.63962393e+02] [-1.41280034e-02 -2.07959943e-04 -9.99900173e-01 -1.81196260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.3365599949999 meters 0.013889941060097163 Centerline is valid? [True, True] Translation: X:-39.61, Y:-263.97, Z:-1.81 [[ 9.78126651e-01 2.07612189e-01 -1.28621079e-02 -3.96088055e+01] [ 2.07596812e-01 -9.78211195e-01 -2.53404878e-03 -2.63967532e+02] [-1.31079574e-02 -1.91511952e-04 -9.99914069e-01 -1.81272024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.366559995 meters 0.014664405330048756 Centerline is valid? [True, True] Translation: X:-39.61, Y:-263.97, Z:-1.81 [[ 9.58937192e-01 2.83350690e-01 -1.23226835e-02 -3.96066709e+01] [ 2.83329756e-01 -9.59016347e-01 -3.44915072e-03 -2.63974332e+02] [-1.27949741e-02 -1.83864002e-04 -9.99918124e-01 -1.81133272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.396559995 meters 0.013715422652260105 Centerline is valid? [True, True] Translation: X:-39.60, Y:-263.98, Z:-1.81 [[ 9.33941645e-01 3.57227560e-01 -1.18942665e-02 -3.96038302e+01] [ 3.57201006e-01 -9.34017365e-01 -4.35916024e-03 -2.63978120e+02] [-1.26666636e-02 -1.77442680e-04 -9.99919759e-01 -1.81311818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.4265599949999 meters 0.013444072432830082 Centerline is valid? [True, True] Translation: X:-39.60, Y:-263.98, Z:-1.81 [[ 9.03723297e-01 4.27978026e-01 -1.09092746e-02 -3.96009650e+01] [ 4.27948863e-01 -9.03789127e-01 -4.99840940e-03 -2.63981750e+02] [-1.19988931e-02 -1.51432636e-04 -9.99927999e-01 -1.81376403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.4565599949999 meters 0.013303900122582177 Centerline is valid? [True, True] Translation: X:-39.60, Y:-263.99, Z:-1.81 [[ 8.67843414e-01 4.96735499e-01 -1.00823205e-02 -3.95978545e+01] [ 4.96703799e-01 -8.67901968e-01 -5.61345035e-03 -2.63987056e+02] [-1.15388659e-02 -1.36331007e-04 -9.99933416e-01 -1.81420397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.486559995 meters 0.013038417727625021 Centerline is valid? [True, True] Translation: X:-39.59, Y:-263.99, Z:-1.81 [[ 8.27054548e-01 5.62043686e-01 -9.36325417e-03 -3.95937085e+01] [ 5.62009271e-01 -8.27107539e-01 -6.22073577e-03 -2.63992868e+02] [-1.12407434e-02 -1.17347845e-04 -9.99936814e-01 -1.81485568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.516559995 meters 0.012867039463204742 Centerline is valid? [True, True] Translation: X:-39.59, Y:-264.00, Z:-1.81 [[ 7.81434197e-01 6.23931413e-01 -8.37778784e-03 -3.95893433e+01] [ 6.23896866e-01 -7.81479099e-01 -6.56644179e-03 -2.63998379e+02] [-1.06440754e-02 -9.56334040e-05 -9.99943346e-01 -1.81486219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.5465599949999 meters 0.012579427858087416 Centerline is valid? [True, True] Translation: X:-39.59, Y:-264.00, Z:-1.82 [[ 7.32641066e-01 6.80576309e-01 -7.27705396e-03 -3.95866895e+01] [ 6.80543460e-01 -7.32677203e-01 -6.68695059e-03 -2.64001642e+02] [-9.88271170e-03 -5.32168654e-05 -9.99951163e-01 -1.81512384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.5765599949999 meters 0.012439983227773566 Centerline is valid? [True, True] Translation: X:-39.58, Y:-264.01, Z:-1.82 [[ 6.78791608e-01 7.34302859e-01 -6.42367421e-03 -3.95840649e+01] [ 7.34270388e-01 -6.78822002e-01 -6.90559525e-03 -2.64006937e+02] [-9.43132972e-03 -2.92536504e-05 -9.99955524e-01 -1.81529982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.606559995 meters 0.012417933863913716 Centerline is valid? [True, True] Translation: X:-39.58, Y:-264.01, Z:-1.82 [[ 6.21655230e-01 7.83271634e-01 -5.50654317e-03 -3.95807049e+01] [ 7.83240910e-01 -6.21679618e-01 -6.93755825e-03 -2.64011645e+02] [-8.85729824e-03 -1.80514037e-07 -9.99960773e-01 -1.81577477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.636559995 meters 0.012448671961422438 Centerline is valid? [True, True] Translation: X:-39.58, Y:-264.02, Z:-1.82 [[ 5.61052263e-01 8.27766079e-01 -4.86575238e-03 -3.95762585e+01] [ 8.27734523e-01 -5.61073362e-01 -7.22786953e-03 -2.64017121e+02] [-8.71302927e-03 2.76613299e-05 -9.99962041e-01 -1.81624494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.666559995 meters 0.013363731096120917 Centerline is valid? [True, True] Translation: X:-39.58, Y:-264.02, Z:-1.82 [[ 5.00565255e-01 8.65688477e-01 -4.22930254e-03 -3.95759003e+01] [ 8.65656092e-01 -5.00583114e-01 -7.48838548e-03 -2.64020845e+02] [-8.59972645e-03 8.73040735e-05 -9.99963018e-01 -1.81579557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.6965599949999 meters 0.013646657845396652 Centerline is valid? [True, True] Translation: X:-39.57, Y:-264.03, Z:-1.82 [[ 4.34346006e-01 9.00738577e-01 -3.68283765e-03 -3.95696898e+01] [ 9.00703853e-01 -4.34361603e-01 -7.90989800e-03 -2.64026494e+02] [-8.72443354e-03 1.18486539e-04 -9.99961934e-01 -1.81606376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.726559995 meters 0.015690434369011512 Centerline is valid? [True, True] Translation: X:-39.57, Y:-264.03, Z:-1.81 [[ 3.67970847e-01 9.29831906e-01 -3.17522169e-03 -3.95683250e+01] [ 9.29793028e-01 -3.67984504e-01 -8.50466868e-03 -2.64030940e+02] [-9.07634466e-03 1.77171150e-04 -9.99958794e-01 -1.81452501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.756559995 meters 0.015749578805512726 Centerline is valid? [True, True] Translation: X:-39.56, Y:-264.04, Z:-1.81 [[ 2.96615898e-01 9.54993420e-01 -2.56464811e-03 -3.95615112e+01] [ 9.54951459e-01 -2.96626913e-01 -8.95458484e-03 -2.64036858e+02] [-9.31231325e-03 2.06957771e-04 -9.99956618e-01 -1.81462469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.786559995 meters 0.016191440728236053 Centerline is valid? [True, True] Translation: X:-39.55, Y:-264.04, Z:-1.81 [[ 2.22999125e-01 9.74816841e-01 -1.87559002e-03 -3.95544050e+01] [ 9.74773207e-01 -2.23006894e-01 -9.22603217e-03 -2.64042581e+02] [-9.41196104e-03 2.29122199e-04 -9.99955680e-01 -1.81444761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.8165599949999 meters 0.01707671699533191 Centerline is valid? [True, True] Translation: X:-39.55, Y:-264.05, Z:-1.81 [[ 1.47910529e-01 9.89000105e-01 -1.12620467e-03 -3.95478913e+01] [ 9.88957572e-01 -1.47914616e-01 -9.17533023e-03 -2.64048847e+02] [-9.24098469e-03 2.43359306e-04 -9.99957272e-01 -1.81443353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.846559995 meters 0.016582767393896494 Centerline is valid? [True, True] Translation: X:-39.54, Y:-264.05, Z:-1.81 [[ 6.97360971e-02 9.97565402e-01 -3.81085950e-04 -3.95367250e+01] [ 9.97527367e-01 -6.97367671e-02 -8.71410443e-03 -2.64053542e+02] [-8.71946480e-03 2.27543969e-04 -9.99961959e-01 -1.81494194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.876559995 meters 0.016405155365701328 Centerline is valid? [True, True] Translation: X:-39.53, Y:-264.06, Z:-1.81 [[-8.96545431e-03 9.99959766e-01 2.95567975e-04 -3.95257509e+01] [ 9.99923496e-01 8.96764735e-03 -8.51962949e-03 -2.64057321e+02] [-8.52193726e-03 2.19163014e-04 -9.99963664e-01 -1.81499239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.906559995 meters 0.016123135667167658 Centerline is valid? [True, True] Translation: X:-39.51, Y:-264.06, Z:-1.81 [[-8.84069747e-02 9.96083936e-01 9.99279800e-04 -3.95145133e+01] [ 9.96045090e-01 8.84123548e-02 -8.79969502e-03 -2.64059965e+02] [-8.85358353e-03 2.17373324e-04 -9.99960783e-01 -1.81479074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.9365599949999 meters 0.01620477819817947 Centerline is valid? [True, True] Translation: X:-39.50, Y:-264.06, Z:-1.81 [[-1.66935824e-01 9.85966268e-01 1.71746476e-03 -3.95041105e+01] [ 9.85926503e-01 1.66944520e-01 -8.85760229e-03 -2.64063101e+02] [-9.02001840e-03 2.14642888e-04 -9.99959296e-01 -1.81451480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.9665599949999 meters 0.016049045629089185 Centerline is valid? [True, True] Translation: X:-39.49, Y:-264.06, Z:-1.81 [[-2.44419937e-01 9.69666768e-01 2.29197221e-03 -3.94935413e+01] [ 9.69631412e-01 2.44430603e-01 -8.28285661e-03 -2.64064404e+02] [-8.59183895e-03 1.97872952e-04 -9.99963070e-01 -1.81445762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.996559995 meters 0.015732680236605207 Centerline is valid? [True, True] Translation: X:-39.48, Y:-264.06, Z:-1.81 [[-3.20896055e-01 9.47110505e-01 2.72269257e-03 -3.94809604e+01] [ 9.47080851e-01 3.20907558e-01 -7.49675764e-03 -2.64064425e+02] [-7.97399054e-03 1.72930048e-04 -9.99968192e-01 -1.81478021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.026559995 meters 0.015576368757097335 Centerline is valid? [True, True] Translation: X:-39.47, Y:-264.06, Z:-1.81 [[-3.95144268e-01 9.18613863e-01 3.09489539e-03 -3.94696332e+01] [ 9.18588663e-01 3.95156358e-01 -6.80600223e-03 -2.64064223e+02] [-7.47505559e-03 1.53583045e-04 -9.99972050e-01 -1.81463230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.0565599949999 meters 0.01666643369821981 Centerline is valid? [True, True] Translation: X:-39.46, Y:-264.06, Z:-1.81 [[-4.66586069e-01 8.84468535e-01 3.58469604e-03 -3.94610324e+01] [ 8.84444800e-01 4.66599816e-01 -6.48127141e-03 -2.64064589e+02] [-7.40509915e-03 1.46394823e-04 -9.99972571e-01 -1.81349419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.0865599949999 meters 0.015118127363472338 Centerline is valid? [True, True] Translation: X:-39.45, Y:-264.06, Z:-1.81 [[-5.35445760e-01 8.44561215e-01 3.76722238e-03 -3.94490881e+01] [ 8.44541958e-01 5.35458998e-01 -5.70459798e-03 -2.64060943e+02] [-6.83507532e-03 1.27074567e-04 -9.99976633e-01 -1.81437865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.116559995 meters 0.015118127363472338 Centerline is valid? [True, True] Translation: X:-39.44, Y:-264.06, Z:-1.81 [[-5.99946188e-01 8.00029319e-01 4.20244513e-03 -3.94404341e+01] [ 8.00011158e-01 5.99960893e-01 -5.39203228e-03 -2.64059152e+02] [-6.83508664e-03 1.27073789e-04 -9.99976633e-01 -1.81437855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.146559995 meters 0.014890038374464017 Centerline is valid? [True, True] Translation: X:-39.43, Y:-264.06, Z:-1.81 [[-6.61549641e-01 7.49888670e-01 4.36518218e-03 -3.94310085e+01] [ 7.49873467e-01 6.61564033e-01 -4.77652379e-03 -2.64055493e+02] [-6.46970860e-03 1.13426698e-04 -9.99979065e-01 -1.81480536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.1765599949999 meters 0.014452759257816897 Centerline is valid? [True, True] Translation: X:-39.42, Y:-264.05, Z:-1.82 [[-7.19800725e-01 6.94168177e-01 4.17821880e-03 -3.94218339e+01] [ 6.94157183e-01 7.19812846e-01 -3.90782934e-03 -2.64050723e+02] [-5.72022633e-03 8.74821973e-05 -9.99983636e-01 -1.81534039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.2065599949999 meters 0.014281113802689963 Centerline is valid? [True, True] Translation: X:-39.40, Y:-264.03, Z:-1.82 [[-7.67782431e-01 6.40693978e-01 4.62217920e-03 -3.93976590e+01] [ 6.40683029e-01 7.67796340e-01 -3.74655528e-03 -2.64032139e+02] [-5.94928768e-03 8.48124522e-05 -9.99982299e-01 -1.81514990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.236559995 meters 0.01387177603845386 Centerline is valid? [True, True] Translation: X:-38.94, Y:-263.49, Z:-2.78 [[-7.41048291e-01 -6.71431260e-01 5.24342359e-03 -3.89437847e+01] [ 6.71414162e-01 -7.41066841e-01 -4.79170599e-03 -2.63485117e+02] [ 7.10302855e-03 -3.03766806e-05 9.99974773e-01 -2.77763724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.266559995 meters 0.013519905696569167 Centerline is valid? [True, True] Translation: X:-38.96, Y:-263.51, Z:-2.78 [[-6.93706558e-01 -7.20237045e-01 5.45987929e-03 -3.89630002e+01] [ 7.20213670e-01 -6.93728038e-01 -5.80337864e-03 -2.63512892e+02] [ 7.96747963e-03 -9.35621190e-05 9.99968255e-01 -2.77826188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.2965599949999 meters 0.013572670228783553 Centerline is valid? [True, True] Translation: X:-38.98, Y:-263.49, Z:-2.78 [[-6.93524204e-01 -7.20409546e-01 5.85364454e-03 -3.89830396e+01] [ 7.20382716e-01 -6.93548900e-01 -6.21819257e-03 -2.63494113e+02] [ 8.53943402e-03 -9.56027048e-05 9.99963534e-01 -2.77944948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.3265599949999 meters 0.013474390293348924 Centerline is valid? [True, True] Translation: X:-39.00, Y:-263.48, Z:-2.78 [[-6.93465825e-01 -7.20464611e-01 5.99108991e-03 -3.90029104e+01] [ 7.20436543e-01 -6.93491698e-01 -6.36021060e-03 -2.63475619e+02] [ 8.73707777e-03 -9.43885879e-05 9.99961827e-01 -2.77975282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.356559995 meters 0.013231518840491768 Centerline is valid? [True, True] Translation: X:-39.02, Y:-263.46, Z:-2.78 [[-6.93108650e-01 -7.20810610e-01 5.69764770e-03 -3.90235356e+01] [ 7.20785268e-01 -6.93132063e-01 -6.04493061e-03 -2.63457656e+02] [ 8.30647243e-03 -8.30131683e-05 9.99965497e-01 -2.77954041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.386559995 meters 0.013209751741175328 Centerline is valid? [True, True] Translation: X:-39.04, Y:-263.44, Z:-2.78 [[-6.92938155e-01 -7.20977904e-01 5.25127826e-03 -3.90422791e+01] [ 7.20956409e-01 -6.92958049e-01 -5.56772870e-03 -2.63439607e+02] [ 7.65312490e-03 -7.21489328e-05 9.99970712e-01 -2.77892937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.416559995 meters 0.013061547776923397 Centerline is valid? [True, True] Translation: X:-39.06, Y:-263.42, Z:-2.78 [[-6.92956133e-01 -7.20963377e-01 4.85869264e-03 -3.90623291e+01] [ 7.20944998e-01 -6.92973163e-01 -5.14828965e-03 -2.63420745e+02] [ 7.07867191e-03 -6.46887288e-05 9.99974944e-01 -2.77832976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.4465599949999 meters 0.012642654190088929 Centerline is valid? [True, True] Translation: X:-39.08, Y:-263.40, Z:-2.78 [[-6.92196856e-01 -7.21691648e-01 4.96759576e-03 -3.90841359e+01] [ 7.21672477e-01 -6.92214679e-01 -5.26070092e-03 -2.63403178e+02] [ 7.23524662e-03 -5.64634991e-05 9.99973824e-01 -2.77789217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.476559995 meters 0.012528837640312405 Centerline is valid? [True, True] Translation: X:-39.10, Y:-263.38, Z:-2.78 [[-6.91731471e-01 -7.22135863e-01 5.23144910e-03 -3.91045171e+01] [ 7.22114637e-01 -6.91751251e-01 -5.53700064e-03 -2.63384011e+02] [ 7.61732819e-03 -5.24116278e-05 9.99970986e-01 -2.77829429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.506559995 meters 0.012547299739484504 Centerline is valid? [True, True] Translation: X:-39.12, Y:-263.37, Z:-2.78 [[-6.91185427e-01 -7.22655279e-01 5.66146268e-03 -3.91244684e+01] [ 7.22630458e-01 -6.91208612e-01 -5.98966565e-03 -2.63365073e+02] [ 8.24171526e-03 -4.88242478e-05 9.99966035e-01 -2.77889522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.536559995 meters 0.012299668425711547 Centerline is valid? [True, True] Translation: X:-39.15, Y:-263.35, Z:-2.78 [[-6.90458201e-01 -7.23348388e-01 5.88072576e-03 -3.91453298e+01] [ 7.23321662e-01 -6.90483243e-01 -6.21813398e-03 -2.63345617e+02] [ 8.55841978e-03 -3.97052761e-05 9.99963375e-01 -2.77898280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.5665599949999 meters 0.012136958144604299 Centerline is valid? [True, True] Translation: X:-39.17, Y:-263.33, Z:-2.78 [[-6.88363544e-01 -7.25338841e-01 6.26074629e-03 -3.91669908e+01] [ 7.25308665e-01 -6.88392014e-01 -6.61625495e-03 -2.63327288e+02] [ 9.10887445e-03 -1.34151717e-05 9.99958513e-01 -2.77899974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.596559995 meters 0.012127024058129501 Centerline is valid? [True, True] Translation: X:-39.19, Y:-263.31, Z:-2.78 [[-6.87262596e-01 -7.26379797e-01 6.52037487e-03 -3.91865876e+01] [ 7.26347156e-01 -6.87293526e-01 -6.88608284e-03 -2.63309259e+02] [ 9.48332289e-03 3.50857185e-06 9.99955032e-01 -2.77912311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.626559995 meters 0.012034330131959396 Centerline is valid? [True, True] Translation: X:-39.21, Y:-263.29, Z:-2.78 [[-6.85989634e-01 -7.27581814e-01 6.55177421e-03 -3.92074732e+01] [ 7.27548951e-01 -6.86020920e-01 -6.91530155e-03 -2.63289916e+02] [ 9.52610182e-03 2.29112724e-05 9.99954625e-01 -2.77872095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.656559995 meters 0.012405504362175182 Centerline is valid? [True, True] Translation: X:-39.23, Y:-263.27, Z:-2.78 [[-6.82672038e-01 -7.30692703e-01 6.86021087e-03 -3.92295725e+01] [ 7.30656872e-01 -6.82706503e-01 -7.23650217e-03 -2.63273509e+02] [ 9.97116990e-03 7.23025270e-05 9.99950284e-01 -2.77962926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.6865599949999 meters 0.01255981940084408 Centerline is valid? [True, True] Translation: X:-39.25, Y:-263.25, Z:-2.78 [[-6.80952756e-01 -7.32295255e-01 6.85599180e-03 -3.92499824e+01] [ 7.32259590e-01 -6.80987262e-01 -7.22793303e-03 -2.63254673e+02] [ 9.96182414e-03 9.84848288e-05 9.99950375e-01 -2.77909838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.7165599949999 meters 0.012910609027977402 Centerline is valid? [True, True] Translation: X:-39.27, Y:-263.24, Z:-2.78 [[-6.79278179e-01 -7.33849455e-01 6.79211360e-03 -3.92707057e+01] [ 7.33814569e-01 -6.79312124e-01 -7.15651810e-03 -2.63235549e+02] [ 9.86577203e-03 1.22885328e-04 9.99951325e-01 -2.77889329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.746559995 meters 0.013436925674591704 Centerline is valid? [True, True] Translation: X:-39.29, Y:-263.22, Z:-2.78 [[-6.77727819e-01 -7.35283368e-01 6.58574305e-03 -3.92909830e+01] [ 7.35250677e-01 -6.77759801e-01 -6.93491653e-03 -2.63217161e+02] [ 9.56268069e-03 1.42186184e-04 9.99954266e-01 -2.77887906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.776559995 meters 0.014214817939825071 Centerline is valid? [True, True] Translation: X:-39.31, Y:-263.20, Z:-2.78 [[-6.75093556e-01 -7.37706932e-01 6.09702996e-03 -3.93124510e+01] [ 7.37679043e-01 -6.75121067e-01 -6.41668983e-03 -2.63198412e+02] [ 8.84986994e-03 1.65785272e-04 9.99960825e-01 -2.77846770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.8065599949999 meters 0.01483217651974025 Centerline is valid? [True, True] Translation: X:-39.33, Y:-263.18, Z:-2.78 [[-6.74298618e-01 -7.38433239e-01 6.14203454e-03 -3.93326555e+01] [ 7.38404991e-01 -6.74326567e-01 -6.46140980e-03 -2.63179874e+02] [ 8.91305683e-03 1.78389263e-04 9.99960262e-01 -2.77882073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.8365599949999 meters 0.01505255836215005 Centerline is valid? [True, True] Translation: X:-39.35, Y:-263.16, Z:-2.78 [[-6.73967300e-01 -7.38735331e-01 6.17975402e-03 -3.93519472e+01] [ 7.38706784e-01 -6.73995605e-01 -6.49705743e-03 -2.63160650e+02] [ 8.96473292e-03 1.86221960e-04 9.99959799e-01 -2.77901259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.866559995 meters 0.014677645584906265 Centerline is valid? [True, True] Translation: X:-39.37, Y:-263.14, Z:-2.78 [[-6.74197542e-01 -7.38527349e-01 5.91860190e-03 -3.93703026e+01] [ 7.38501186e-01 -6.74223496e-01 -6.21899384e-03 -2.63139741e+02] [ 8.58335750e-03 1.78064159e-04 9.99963147e-01 -2.77877510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.896559995 meters 0.01457559754523655 Centerline is valid? [True, True] Translation: X:-39.39, Y:-263.12, Z:-2.78 [[-6.75158968e-01 -7.37649967e-01 5.73530435e-03 -3.93890880e+01] [ 7.37625397e-01 -6.75183308e-01 -6.02281259e-03 -2.63119268e+02] [ 8.31510927e-03 1.64150216e-04 9.99965415e-01 -2.77889311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.9265599949999 meters 0.013834375539841074 Centerline is valid? [True, True] Translation: X:-39.41, Y:-263.10, Z:-2.78 [[-6.77562425e-01 -7.35444374e-01 5.54376783e-03 -3.94062780e+01] [ 7.35421370e-01 -6.77585090e-01 -5.81842789e-03 -2.63096911e+02] [ 8.03550448e-03 1.34657223e-04 9.99967706e-01 -2.77891602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.9565599949999 meters 0.01318012397757838 Centerline is valid? [True, True] Translation: X:-39.42, Y:-263.07, Z:-2.78 [[-6.79362885e-01 -7.33780788e-01 5.64145853e-03 -3.94243374e+01] [ 7.33756934e-01 -6.79386297e-01 -5.91784407e-03 -2.63074678e+02] [ 8.17512991e-03 1.19095691e-04 9.99966576e-01 -2.77881487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.986559995 meters 0.013005461416793963 Centerline is valid? [True, True] Translation: X:-39.44, Y:-263.05, Z:-2.78 [[-6.81308984e-01 -7.31972603e-01 5.84614496e-03 -3.94412772e+01] [ 7.31946945e-01 -6.81334058e-01 -6.12956839e-03 -2.63054712e+02] [ 8.46985379e-03 1.02937930e-04 9.99964125e-01 -2.77953230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.016559995 meters 0.012234976264706715 Centerline is valid? [True, True] Translation: X:-39.46, Y:-263.03, Z:-2.78 [[-6.85659194e-01 -7.27895167e-01 6.33216703e-03 -3.94570048e+01] [ 7.27864923e-01 -6.85688430e-01 -6.63555609e-03 -2.63030808e+02] [ 9.17188287e-03 5.92322303e-05 9.99957936e-01 -2.78057818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.0465599949999 meters 0.011953272837340389 Centerline is valid? [True, True] Translation: X:-39.47, Y:-263.01, Z:-2.78 [[-6.88156038e-01 -7.25533603e-01 6.50058117e-03 -3.94734059e+01] [ 7.25501665e-01 -6.88186740e-01 -6.80769134e-03 -2.63009641e+02] [ 9.41282259e-03 3.14285622e-05 9.99955698e-01 -2.78103957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.0765599949999 meters 0.01185078100360727 Centerline is valid? [True, True] Translation: X:-39.49, Y:-262.99, Z:-2.78 [[-6.90579625e-01 -7.23226687e-01 6.55291852e-03 -3.94900476e+01] [ 7.23194169e-01 -6.90610714e-01 -6.85819613e-03 -2.62987820e+02] [ 9.48554620e-03 2.90195694e-06 9.99955011e-01 -2.78037528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.106559995 meters 0.011987830054686746 Centerline is valid? [True, True] Translation: X:-39.51, Y:-262.97, Z:-2.78 [[-6.92984031e-01 -7.20923465e-01 6.51851911e-03 -3.95059288e+01] [ 7.20891227e-01 -6.93014688e-01 -6.81771118e-03 -2.62966989e+02] [ 9.43247745e-03 -2.54217358e-05 9.99955513e-01 -2.78058156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.136559995 meters 0.012523941657781212 Centerline is valid? [True, True] Translation: X:-39.52, Y:-262.94, Z:-2.78 [[-6.97349763e-01 -7.16701384e-01 6.51416415e-03 -3.95208942e+01] [ 7.16669040e-01 -6.97380183e-01 -6.80939804e-03 -2.62942602e+02] [ 9.42315399e-03 -8.00323334e-05 9.99955598e-01 -2.78045867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.166559995 meters 0.013052366464172564 Centerline is valid? [True, True] Translation: X:-39.54, Y:-262.92, Z:-2.78 [[-6.99328211e-01 -7.14769276e-01 6.70332128e-03 -3.95374428e+01] [ 7.14734964e-01 -6.99360329e-01 -7.00431706e-03 -2.62921123e+02] [ 9.69450761e-03 -1.07218419e-04 9.99953001e-01 -2.78075548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.1965599949999 meters 0.013348986616019154 Centerline is valid? [True, True] Translation: X:-39.56, Y:-262.90, Z:-2.78 [[-7.01038566e-01 -7.13092364e-01 6.64903303e-03 -3.95550601e+01] [ 7.13058569e-01 -7.01070085e-01 -6.94352906e-03 -2.62899840e+02] [ 9.61281571e-03 -1.26531673e-04 9.99953788e-01 -2.78089392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.226559995 meters 0.014409258690509649 Centerline is valid? [True, True] Translation: X:-39.57, Y:-262.88, Z:-2.78 [[-7.03665279e-01 -7.10501835e-01 6.50521248e-03 -3.95708506e+01] [ 7.10469412e-01 -7.03695331e-01 -6.78939678e-03 -2.62877550e+02] [ 9.40156651e-03 -1.55708293e-04 9.99955792e-01 -2.78144391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.256559995 meters 0.01450129557013426 Centerline is valid? [True, True] Translation: X:-39.59, Y:-262.86, Z:-2.78 [[-7.04660896e-01 -7.09513777e-01 6.57440405e-03 -3.95895459e+01] [ 7.09480653e-01 -7.04691544e-01 -6.85787193e-03 -2.62856498e+02] [ 9.49868155e-03 -1.68061695e-04 9.99954872e-01 -2.78163179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.286559995 meters 0.013940080249641999 Centerline is valid? [True, True] Translation: X:-39.61, Y:-262.84, Z:-2.78 [[-7.05231006e-01 -7.08947041e-01 6.58188076e-03 -3.96091095e+01] [ 7.08913855e-01 -7.05261698e-01 -6.86177894e-03 -2.62836713e+02] [ 9.50658628e-03 -1.73152801e-04 9.99954796e-01 -2.78104307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.3165599949999 meters 0.014332371034423919 Centerline is valid? [True, True] Translation: X:-39.63, Y:-262.82, Z:-2.78 [[-7.05579059e-01 -7.08603754e-01 6.23788723e-03 -3.96270125e+01] [ 7.08573967e-01 -7.05606613e-01 -6.49927251e-03 -2.62815993e+02] [ 9.00690338e-03 -1.65746081e-04 9.99959423e-01 -2.78129689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.346559995 meters 0.013963902687702852 Centerline is valid? [True, True] Translation: X:-39.65, Y:-262.80, Z:-2.78 [[-7.05198508e-01 -7.08986874e-01 5.71639425e-03 -3.96465179e+01] [ 7.08961899e-01 -7.05221662e-01 -5.95258383e-03 -2.62795195e+02] [ 8.25162885e-03 -1.45047507e-04 9.99965944e-01 -2.78057327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.376559995 meters 0.013709024442802125 Centerline is valid? [True, True] Translation: X:-39.67, Y:-262.78, Z:-2.78 [[-7.04593077e-01 -7.09591350e-01 5.35844207e-03 -3.96659679e+01] [ 7.09569447e-01 -7.04613440e-01 -5.57671958e-03 -2.62775015e+02] [ 7.73282227e-03 -1.27131233e-04 9.99970093e-01 -2.78014065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.406559995 meters 0.013652773266699959 Centerline is valid? [True, True] Translation: X:-39.68, Y:-262.76, Z:-2.78 [[-7.03623533e-01 -7.10555040e-01 5.04569784e-03 -3.96841477e+01] [ 7.10535669e-01 -7.03641616e-01 -5.24777111e-03 -2.62756375e+02] [ 7.27919319e-03 -1.07306957e-04 9.99973501e-01 -2.78006510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.4365599949999 meters 0.013155054548371998 Centerline is valid? [True, True] Translation: X:-39.70, Y:-262.74, Z:-2.78 [[-7.02409249e-01 -7.11757871e-01 4.68821797e-03 -3.97042187e+01] [ 7.11741194e-01 -7.02424889e-01 -4.87309949e-03 -2.62737111e+02] [ 6.76158791e-03 -8.61122989e-05 9.99977137e-01 -2.77996471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.4665599949999 meters 0.012442701187251229 Centerline is valid? [True, True] Translation: X:-39.73, Y:-262.72, Z:-2.78 [[-6.98769653e-01 -7.15333818e-01 4.30138651e-03 -3.97253470e+01] [ 7.15319862e-01 -6.98782890e-01 -4.46855369e-03 -2.62719212e+02] [ 6.20224287e-03 -4.56225049e-05 9.99980765e-01 -2.78045870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.496559995 meters 0.012161897152493068 Centerline is valid? [True, True] Translation: X:-39.75, Y:-262.70, Z:-2.78 [[-6.96858502e-01 -7.17196581e-01 4.15827802e-03 -3.97452224e+01] [ 7.17183589e-01 -6.96870908e-01 -4.31708190e-03 -2.62701504e+02] [ 5.99397936e-03 -2.61464733e-05 9.99982036e-01 -2.78068757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.526559995 meters 0.012076189972032792 Centerline is valid? [True, True] Translation: X:-39.77, Y:-262.69, Z:-2.78 [[-6.91993962e-01 -7.21893768e-01 3.70738702e-03 -3.97674552e+01] [ 7.21883520e-01 -6.92003893e-01 -3.84658309e-03 -2.62685268e+02] [ 5.34235061e-03 1.44893172e-05 9.99985730e-01 -2.78080299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.5565599949999 meters 0.012479978466954325 Centerline is valid? [True, True] Translation: X:-39.79, Y:-262.67, Z:-2.78 [[-6.89457532e-01 -7.24316299e-01 3.76975275e-03 -3.97884356e+01] [ 7.24305751e-01 -6.89467837e-01 -3.90901206e-03 -2.62667443e+02] [ 5.43048442e-03 3.53557873e-05 9.99985254e-01 -2.78120214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.5865599949999 meters 0.012943295187210189 Centerline is valid? [True, True] Translation: X:-39.81, Y:-262.65, Z:-2.78 [[-6.87138201e-01 -7.26516320e-01 3.88957631e-03 -3.98092436e+01] [ 7.26505139e-01 -6.87149207e-01 -4.03104090e-03 -2.62648656e+02] [ 5.60133628e-03 5.59149860e-05 9.99984311e-01 -2.78141842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.616559995 meters 0.01398624619826908 Centerline is valid? [True, True] Translation: X:-39.83, Y:-262.63, Z:-2.78 [[-6.82791824e-01 -7.30602160e-01 3.97604641e-03 -3.98308739e+01] [ 7.30590559e-01 -6.82803394e-01 -4.11833879e-03 -2.62630482e+02] [ 5.72372520e-03 9.28939133e-05 9.99983615e-01 -2.78169655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.646559995 meters 0.014953577513404759 Centerline is valid? [True, True] Translation: X:-39.85, Y:-262.61, Z:-2.78 [[-6.80983834e-01 -7.32286072e-01 4.25756473e-03 -3.98508435e+01] [ 7.32272818e-01 -6.80997133e-01 -4.40731322e-03 -2.62612631e+02] [ 6.12680346e-03 1.16389870e-04 9.99981224e-01 -2.78210154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.6765599949999 meters 0.016412317170377368 Centerline is valid? [True, True] Translation: X:-39.87, Y:-262.60, Z:-2.78 [[-6.79601914e-01 -7.33568869e-01 4.23720383e-03 -3.98714744e+01] [ 7.33555782e-01 -6.79615110e-01 -4.38367470e-03 -2.62595374e+02] [ 6.09539504e-03 1.29071654e-04 9.99981415e-01 -2.78261516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.7065599949999 meters 0.01586436005284961 Centerline is valid? [True, True] Translation: X:-39.89, Y:-262.57, Z:-2.78 [[-6.78411845e-01 -7.34669532e-01 4.24828514e-03 -3.98903827e+01] [ 7.34656413e-01 -6.78425132e-01 -4.39266955e-03 -2.62574080e+02] [ 6.10930388e-03 1.40990868e-04 9.99981328e-01 -2.78207081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.736559995 meters 0.01679240561508038 Centerline is valid? [True, True] Translation: X:-39.91, Y:-262.55, Z:-2.78 [[-6.76714026e-01 -7.36235167e-01 3.98823298e-03 -3.99102999e+01] [ 7.36223646e-01 -6.76725762e-01 -4.12132533e-03 -2.62554818e+02] [ 5.73320465e-03 1.47272770e-04 9.99983554e-01 -2.78196037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.766559995 meters 0.018503423780354605 Centerline is valid? [True, True] Translation: X:-39.93, Y:-262.54, Z:-2.78 [[-6.76616186e-01 -7.36325100e-01 3.98550997e-03 -3.99302256e+01] [ 7.36313612e-01 -6.76627907e-01 -4.11579495e-03 -2.62537952e+02] [ 5.72727040e-03 1.49771763e-04 9.99983588e-01 -2.78279817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.7965599949999 meters 0.016933803758272088 Centerline is valid? [True, True] Translation: X:-39.95, Y:-262.52, Z:-2.78 [[-6.76795006e-01 -7.36158571e-01 4.36782490e-03 -3.99469591e+01] [ 7.36144788e-01 -6.76809080e-01 -4.50775138e-03 -2.62515833e+02] [ 6.27460336e-03 1.64527913e-04 9.99980301e-01 -2.78223115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.8265599949999 meters 0.01644903828872366 Centerline is valid? [True, True] Translation: X:-39.96, Y:-262.49, Z:-2.78 [[-6.77549376e-01 -7.35462729e-01 4.62788053e-03 -3.99642015e+01] [ 7.35447258e-01 -6.77565160e-01 -4.77342130e-03 -2.62493971e+02] [ 6.64636407e-03 1.69333418e-04 9.99977898e-01 -2.78244940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.856559995 meters 0.017970223341427206 Centerline is valid? [True, True] Translation: X:-39.98, Y:-262.48, Z:-2.78 [[-6.78299896e-01 -7.34772020e-01 4.39654726e-03 -3.99844397e+01] [ 7.34758059e-01 -6.78314126e-01 -4.53216289e-03 -2.62475505e+02] [ 6.31234660e-03 1.56232913e-04 9.99980065e-01 -2.78321066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.886559995 meters 0.01670121071531768 Centerline is valid? [True, True] Translation: X:-40.00, Y:-262.45, Z:-2.78 [[-6.79203760e-01 -7.33936366e-01 4.43433815e-03 -4.00009938e+01] [ 7.33922164e-01 -6.79218218e-01 -4.56826037e-03 -2.62453409e+02] [ 6.36469567e-03 1.51679427e-04 9.99979734e-01 -2.78278116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.916559995 meters 0.016058050419056686 Centerline is valid? [True, True] Translation: X:-40.02, Y:-262.43, Z:-2.78 [[-6.81310002e-01 -7.31981394e-01 4.46324579e-03 -4.00182241e+01] [ 7.31966980e-01 -6.81324608e-01 -4.59550368e-03 -2.62430634e+02] [ 6.40474238e-03 1.35985921e-04 9.99979480e-01 -2.78280474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.9465599949999 meters 0.01552015423299134 Centerline is valid? [True, True] Translation: X:-40.04, Y:-262.41, Z:-2.78 [[-6.82698599e-01 -7.30684937e-01 4.70591230e-03 -4.00355324e+01] [ 7.30668903e-01 -6.82714805e-01 -4.84232405e-03 -2.62408870e+02] [ 6.75100924e-03 1.32615935e-04 9.99977203e-01 -2.78278392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.976559995 meters 0.014829612213196744 Centerline is valid? [True, True] Translation: X:-40.05, Y:-262.39, Z:-2.78 [[-6.84520689e-01 -7.28974259e-01 5.28736604e-03 -4.00531718e+01] [ 7.28953991e-01 -6.84541096e-01 -5.43755175e-03 -2.62386486e+02] [ 7.58325461e-03 1.32129906e-04 9.99971238e-01 -2.78264201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.006559995 meters 0.014829612213196744 Centerline is valid? [True, True] Translation: X:-40.07, Y:-262.37, Z:-2.78 [[-6.84727436e-01 -7.28780053e-01 5.28890824e-03 -4.00724570e+01] [ 7.28759791e-01 -6.84747849e-01 -5.43605172e-03 -2.62366754e+02] [ 7.58325461e-03 1.32129906e-04 9.99971238e-01 -2.78264202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.036559995 meters 0.014387582102252647 Centerline is valid? [True, True] Translation: X:-40.09, Y:-262.35, Z:-2.78 [[-6.86699195e-01 -7.26921324e-01 5.44103159e-03 -4.00900460e+01] [ 7.26899845e-01 -6.86720741e-01 -5.58924377e-03 -2.62345008e+02] [ 7.79940972e-03 1.16955824e-04 9.99969577e-01 -2.78306318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.0665599949999 meters 0.013599340867513089 Centerline is valid? [True, True] Translation: X:-40.11, Y:-262.32, Z:-2.78 [[-6.91271447e-01 -7.22569233e-01 6.12291230e-03 -4.01059233e+01] [ 7.22541892e-01 -6.91298559e-01 -6.28617236e-03 -2.62320827e+02] [ 8.77495519e-03 7.86091721e-05 9.99961496e-01 -2.78358726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.096559995 meters 0.013395464138300985 Centerline is valid? [True, True] Translation: X:-40.12, Y:-262.30, Z:-2.78 [[-6.93711276e-01 -7.20227580e-01 6.07451921e-03 -4.01223398e+01] [ 7.20200615e-01 -6.93737869e-01 -6.23237622e-03 -2.62300558e+02] [ 8.70285325e-03 5.14028155e-05 9.99962128e-01 -2.78391413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.126559995 meters 0.01321769376583089 Centerline is valid? [True, True] Translation: X:-40.14, Y:-262.28, Z:-2.78 [[-6.95575628e-01 -7.18429897e-01 5.74703666e-03 -4.01410999e+01] [ 7.18405728e-01 -6.95599369e-01 -5.89305097e-03 -2.62279462e+02] [ 8.23137908e-03 2.96414231e-05 9.99966121e-01 -2.78263389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.156559995 meters 0.013236712895054346 Centerline is valid? [True, True] Translation: X:-40.16, Y:-262.26, Z:-2.78 [[-6.98103699e-01 -7.15978241e-01 5.13660640e-03 -4.01598762e+01] [ 7.15958889e-01 -6.98122596e-01 -5.26401570e-03 -2.62259634e+02] [ 7.35490169e-03 2.77018248e-06 9.99972952e-01 -2.78183788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.1865599949999 meters 0.013344232325637875 Centerline is valid? [True, True] Translation: X:-40.18, Y:-262.24, Z:-2.78 [[-6.99479005e-01 -7.14631549e-01 5.55605866e-03 -4.01784146e+01] [ 7.14608894e-01 -6.99501071e-01 -5.69040787e-03 -2.62239292e+02] [ 7.95301398e-03 -9.91191040e-06 9.99968374e-01 -2.78173903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.2165599949999 meters 0.01358738109704854 Centerline is valid? [True, True] Translation: X:-40.20, Y:-262.22, Z:-2.78 [[-7.02670752e-01 -7.11488742e-01 6.13063333e-03 -4.01964336e+01] [ 7.11461069e-01 -7.02697494e-01 -6.27536805e-03 -2.62217545e+02] [ 8.77283439e-03 -4.78106435e-05 9.99961517e-01 -2.78116763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.246559995 meters 0.013961435664787025 Centerline is valid? [True, True] Translation: X:-40.21, Y:-262.20, Z:-2.78 [[-7.04350495e-01 -7.09825627e-01 6.16115050e-03 -4.02134600e+01] [ 7.09797650e-01 -7.04377438e-01 -6.30245588e-03 -2.62198107e+02] [ 8.81342010e-03 -6.59677734e-05 9.99961159e-01 -2.78184282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.276559995 meters 0.013947513378059197 Centerline is valid? [True, True] Translation: X:-40.23, Y:-262.18, Z:-2.78 [[-7.05435788e-01 -7.08745237e-01 6.36691957e-03 -4.02329664e+01] [ 7.08715353e-01 -7.05464515e-01 -6.50888968e-03 -2.62178534e+02] [ 9.10478039e-03 -7.92700714e-05 9.99958548e-01 -2.78098356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.3065599949999 meters 0.014222567643638079 Centerline is valid? [True, True] Translation: X:-40.25, Y:-262.16, Z:-2.78 [[-7.06408954e-01 -7.07776767e-01 6.19985412e-03 -4.02514304e+01] [ 7.07748430e-01 -7.06436155e-01 -6.33396686e-03 -2.62160046e+02] [ 8.86283570e-03 -8.64338811e-05 9.99960721e-01 -2.78135801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.3365599949999 meters 0.014185259885074492 Centerline is valid? [True, True] Translation: X:-40.27, Y:-262.14, Z:-2.78 [[-7.07372152e-01 -7.06811353e-01 6.50765736e-03 -4.02719306e+01] [ 7.06780126e-01 -7.07402079e-01 -6.64468815e-03 -2.62140737e+02] [ 9.30007137e-03 -1.00784469e-04 9.99956748e-01 -2.78165821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.366559995 meters 0.014572393082550431 Centerline is valid? [True, True] Translation: X:-40.29, Y:-262.12, Z:-2.78 [[-7.08764946e-01 -7.05409546e-01 7.04439030e-03 -4.02920914e+01] [ 7.05372929e-01 -7.08799941e-01 -7.18846164e-03 -2.62121995e+02] [ 1.00638729e-02 -1.26007406e-04 9.99949350e-01 -2.78278577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.396559995 meters 0.014499190359943683 Centerline is valid? [True, True] Translation: X:-40.31, Y:-262.10, Z:-2.78 [[-7.09436393e-01 -7.04730687e-01 7.39337133e-03 -4.03123608e+01] [ 7.04690364e-01 -7.09474904e-01 -7.54006935e-03 -2.62103213e+02] [ 1.05591297e-02 -1.39162073e-04 9.99944241e-01 -2.78265874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.4265599949999 meters 0.014783745769531897 Centerline is valid? [True, True] Translation: X:-40.33, Y:-262.08, Z:-2.78 [[-7.09736236e-01 -7.04426045e-01 7.64345332e-03 -4.03318495e+01] [ 7.04382980e-01 -7.09777378e-01 -7.79049030e-03 -2.62083778e+02] [ 1.09129745e-02 -1.45274837e-04 9.99940441e-01 -2.78289606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.4565599949999 meters 0.01490934713273801 Centerline is valid? [True, True] Translation: X:-40.35, Y:-262.07, Z:-2.78 [[-7.10363189e-01 -7.03791045e-01 7.89332490e-03 -4.03503532e+01] [ 7.03745138e-01 -7.10407025e-01 -8.03989486e-03 -2.62065590e+02] [ 1.12658795e-02 -1.56356329e-04 9.99936526e-01 -2.78282436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.486559995 meters 0.014787548626895701 Centerline is valid? [True, True] Translation: X:-40.37, Y:-262.05, Z:-2.78 [[-7.10288538e-01 -7.03859090e-01 8.51901027e-03 -4.03711037e+01] [ 7.03805688e-01 -7.10339605e-01 -8.67176838e-03 -2.62048202e+02] [ 1.21550934e-02 -1.63729796e-04 9.99926111e-01 -2.78230173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.516559995 meters 0.014725981147395156 Centerline is valid? [True, True] Translation: X:-40.39, Y:-262.03, Z:-2.78 [[-7.09973019e-01 -7.04176017e-01 8.62844550e-03 -4.03912405e+01] [ 7.04121324e-01 -7.10025431e-01 -8.77767100e-03 -2.62029968e+02] [ 1.23074411e-02 -1.56437100e-04 9.99924248e-01 -2.78239673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.5465599949999 meters 0.014831028591945785 Centerline is valid? [True, True] Translation: X:-40.41, Y:-262.01, Z:-2.78 [[-7.09552809e-01 -7.04597807e-01 8.76020823e-03 -4.04112716e+01] [ 7.04541533e-01 -7.09606869e-01 -8.90618126e-03 -2.62011858e+02] [ 1.24915797e-02 -1.47475397e-04 9.99921966e-01 -2.78255951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.5765599949999 meters 0.014462583509981248 Centerline is valid? [True, True] Translation: X:-40.43, Y:-262.00, Z:-2.78 [[-7.07858346e-01 -7.06300703e-01 8.71088531e-03 -4.04333978e+01] [ 7.06245258e-01 -7.07911933e-01 -8.85049170e-03 -2.61995422e+02] [ 1.24176482e-02 -1.12872971e-04 9.99922892e-01 -2.78189888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.606559995 meters 0.014308772993740134 Centerline is valid? [True, True] Translation: X:-40.46, Y:-261.98, Z:-2.78 [[-7.06999987e-01 -7.07158209e-01 8.84794286e-03 -4.04551846e+01] [ 7.07101136e-01 -7.07055344e-01 -8.98469207e-03 -2.61976997e+02] [ 1.26095840e-02 -9.57867311e-05 9.99920492e-01 -2.78169299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.636559995 meters 0.014244749139708416 Centerline is valid? [True, True] Translation: X:-40.48, Y:-261.96, Z:-2.78 [[-7.06003395e-01 -7.08145896e-01 9.41256078e-03 -4.04764943e+01] [ 7.08081466e-01 -7.06066133e-01 -9.55268017e-03 -2.61958859e+02] [ 1.34105816e-02 -7.93648077e-05 9.99910071e-01 -2.78187755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.666559995 meters 0.014270557613471674 Centerline is valid? [True, True] Translation: X:-40.50, Y:-261.94, Z:-2.78 [[-7.03763479e-01 -7.10363932e-01 1.00024943e-02 -4.04981859e+01] [ 7.10291491e-01 -7.03834556e-01 -1.01446886e-02 -2.61943400e+02] [ 1.42465220e-02 -3.47747963e-05 9.99898513e-01 -2.78209263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.6965599949999 meters 0.014288361208300385 Centerline is valid? [True, True] Translation: X:-40.52, Y:-261.93, Z:-2.78 [[-7.02851119e-01 -7.11261025e-01 1.03951342e-02 -4.05192023e+01] [ 7.11182981e-01 -7.02927986e-01 -1.05363323e-02 -2.61925392e+02] [ 1.48011133e-02 -1.26303998e-05 9.99890458e-01 -2.78200401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.726559995 meters 0.014295949387650768 Centerline is valid? [True, True] Translation: X:-40.54, Y:-261.91, Z:-2.78 [[-7.01038817e-01 -7.13056058e-01 9.77937097e-03 -4.05412349e+01] [ 7.12987250e-01 -7.01107023e-01 -9.90572678e-03 -2.61910342e+02] [ 1.39197242e-02 2.82678413e-05 9.99903116e-01 -2.78239168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.756559995 meters 0.014321856093837501 Centerline is valid? [True, True] Translation: X:-40.56, Y:-261.89, Z:-2.78 [[-7.00376113e-01 -7.13711922e-01 9.41240090e-03 -4.05618976e+01] [ 7.13648319e-01 -7.00439356e-01 -9.52815828e-03 -2.61892412e+02] [ 1.33931762e-02 4.38496121e-05 9.99910307e-01 -2.78189632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.786559995 meters 0.014237721735949409 Centerline is valid? [True, True] Translation: X:-40.58, Y:-261.87, Z:-2.78 [[-6.99908865e-01 -7.14169514e-01 9.45968690e-03 -4.05826648e+01] [ 7.14105385e-01 -6.99972787e-01 -9.57065517e-03 -2.61873451e+02] [ 1.34565935e-02 5.66269526e-05 9.99909454e-01 -2.78099774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.8165599949999 meters 0.014273793395848314 Centerline is valid? [True, True] Translation: X:-40.60, Y:-261.85, Z:-2.78 [[-6.99616400e-01 -7.14454187e-01 9.59723710e-03 -4.06036138e+01] [ 7.14388281e-01 -6.99682220e-01 -9.70438187e-03 -2.61854559e+02] [ 1.36483524e-02 6.68090050e-05 9.99906855e-01 -2.78075940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.846559995 meters 0.014364852167528563 Centerline is valid? [True, True] Translation: X:-40.62, Y:-261.84, Z:-2.78 [[-6.99281248e-01 -7.14782678e-01 9.56345036e-03 -4.06239403e+01] [ 7.14717352e-01 -6.99346636e-01 -9.66382910e-03 -2.61838342e+02] [ 1.35957045e-02 7.74294344e-05 9.99907571e-01 -2.78134660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.876559995 meters 0.01424070284139821 Centerline is valid? [True, True] Translation: X:-40.64, Y:-261.82, Z:-2.78 [[-6.99331951e-01 -7.14731089e-01 9.71042188e-03 -4.06442312e+01] [ 7.14663812e-01 -6.99399359e-01 -9.80678535e-03 -2.61819361e+02] [ 1.38006772e-02 8.14887776e-05 9.99904763e-01 -2.78091930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.906559995 meters 0.014371101775683955 Centerline is valid? [True, True] Translation: X:-40.66, Y:-261.80, Z:-2.78 [[-6.99325409e-01 -7.14735515e-01 9.85474200e-03 -4.06642723e+01] [ 7.14666307e-01 -6.99394835e-01 -9.94659777e-03 -2.61801349e+02] [ 1.40015423e-02 8.69435145e-05 9.99901970e-01 -2.78159148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.9365599949999 meters 0.014429419574866233 Centerline is valid? [True, True] Translation: X:-40.69, Y:-261.78, Z:-2.78 [[-6.99424054e-01 -7.14637664e-01 9.95003488e-03 -4.06853539e+01] [ 7.14567189e-01 -6.99494819e-01 -1.00365033e-02 -2.61783494e+02] [ 1.41324611e-02 9.01966424e-05 9.99900128e-01 -2.78196516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.9665599949999 meters 0.014393531937911333 Centerline is valid? [True, True] Translation: X:-40.70, Y:-261.77, Z:-2.78 [[-6.99780525e-01 -7.14286308e-01 1.01136986e-02 -4.07044883e+01] [ 7.14213555e-01 -6.99853601e-01 -1.01949081e-02 -2.61765704e+02] [ 1.43601917e-02 8.91424939e-05 9.99896883e-01 -2.78265971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.996559995 meters 0.014237114620586341 Centerline is valid? [True, True] Translation: X:-40.72, Y:-261.75, Z:-2.78 [[-7.00314310e-01 -7.13761222e-01 1.02364617e-02 -4.07244722e+01] [ 7.13686719e-01 -7.00389114e-01 -1.03128994e-02 -2.61745817e+02] [ 1.45304540e-02 8.33557007e-05 9.99894424e-01 -2.78243106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.026559995 meters 0.014203772267513199 Centerline is valid? [True, True] Translation: X:-40.74, Y:-261.73, Z:-2.78 [[-7.01061765e-01 -7.13021279e-01 1.06329026e-02 -4.07440436e+01] [ 7.12940909e-01 -7.01142390e-01 -1.07056086e-02 -2.61726618e+02] [ 1.50885055e-02 7.53384397e-05 9.99886159e-01 -2.78291329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.0565599949999 meters 0.01427663710628585 Centerline is valid? [True, True] Translation: X:-40.76, Y:-261.71, Z:-2.78 [[-7.01910315e-01 -7.12183973e-01 1.07656269e-02 -4.07627262e+01] [ 7.12101566e-01 -7.01992867e-01 -1.08340100e-02 -2.61707847e+02] [ 1.52732016e-02 6.17164387e-05 9.99883356e-01 -2.78351441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.0865599949999 meters 0.014095750304827381 Centerline is valid? [True, True] Translation: X:-40.78, Y:-261.69, Z:-2.78 [[-7.03900866e-01 -7.10209003e-01 1.12580281e-02 -4.07817670e+01] [ 7.10118733e-01 -7.03990889e-01 -1.13231493e-02 -2.61686906e+02] [ 1.59673518e-02 2.41620492e-05 9.99872514e-01 -2.78297763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.116559995 meters 0.014110206043692857 Centerline is valid? [True, True] Translation: X:-40.80, Y:-261.67, Z:-2.78 [[-7.05075814e-01 -7.09040075e-01 1.14135112e-02 -4.08003563e+01] [ 7.08947218e-01 -7.05168187e-01 -1.14748060e-02 -2.61667379e+02] [ 1.61845423e-02 9.68845896e-07 9.99869022e-01 -2.78322686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.146559995 meters 0.014131796225315605 Centerline is valid? [True, True] Translation: X:-40.82, Y:-261.65, Z:-2.78 [[-7.06214461e-01 -7.07904201e-01 1.15229253e-02 -4.08199215e+01] [ 7.07809509e-01 -7.06308461e-01 -1.15783005e-02 -2.61647020e+02] [ 1.63350672e-02 -2.07270997e-05 9.99866574e-01 -2.78302379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.1765599949999 meters 0.014599553920493492 Centerline is valid? [True, True] Translation: X:-40.84, Y:-261.63, Z:-2.79 [[-7.07881860e-01 -7.06239445e-01 1.13630780e-02 -4.08380262e+01] [ 7.06147256e-01 -7.07973053e-01 -1.14109270e-02 -2.61626698e+02] [ 1.61035998e-02 -5.35818658e-05 9.99870327e-01 -2.78513905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.2065599949999 meters 0.014272392268818535 Centerline is valid? [True, True] Translation: X:-40.86, Y:-261.61, Z:-2.78 [[-7.08987662e-01 -7.05136021e-01 1.09401997e-02 -4.08573406e+01] [ 7.05050541e-01 -7.09072061e-01 -1.09794139e-02 -2.61606993e+02] [ 1.54993701e-02 -7.08752759e-05 9.99879875e-01 -2.78265333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.236559995 meters 0.014453933718731316 Centerline is valid? [True, True] Translation: X:-40.88, Y:-261.59, Z:-2.78 [[-7.10835818e-01 -7.03283748e-01 1.02181125e-02 -4.08752052e+01] [ 7.03209085e-01 -7.10909249e-01 -1.02480421e-02 -2.61587034e+02] [ 1.44714321e-02 -9.92058185e-05 9.99895279e-01 -2.78243934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.266559995 meters 0.014533595139724563 Centerline is valid? [True, True] Translation: X:-40.89, Y:-261.57, Z:-2.78 [[-7.11899560e-01 -7.02210903e-01 9.94305533e-03 -4.08939451e+01] [ 7.02140188e-01 -7.11968984e-01 -9.96605044e-03 -2.61567593e+02] [ 1.40774163e-02 -1.13408184e-04 9.99900902e-01 -2.78216776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.2965599949999 meters 0.014790064803847782 Centerline is valid? [True, True] Translation: X:-40.91, Y:-261.55, Z:-2.78 [[-7.12928688e-01 -7.01167891e-01 9.81195913e-03 -4.09116496e+01] [ 7.01098994e-01 -7.12996194e-01 -9.82997930e-03 -2.61548421e+02] [ 1.38883554e-02 -1.28919573e-04 9.99903544e-01 -2.78254541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.3265599949999 meters 0.014543393895963298 Centerline is valid? [True, True] Translation: X:-40.93, Y:-261.53, Z:-2.78 [[-7.13867517e-01 -7.00219095e-01 9.29450271e-03 -4.09310251e+01] [ 7.00157270e-01 -7.13928008e-01 -9.30574787e-03 -2.61529550e+02] [ 1.31516682e-02 -1.35457483e-04 9.99913504e-01 -2.78108787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.356559995 meters 0.014522038550405458 Centerline is valid? [True, True] Translation: X:-40.95, Y:-261.51, Z:-2.78 [[-7.14557132e-01 -6.99522854e-01 8.71104890e-03 -4.09508972e+01] [ 6.99468556e-01 -7.14610215e-01 -8.71669999e-03 -2.61509736e+02] [ 1.23225354e-02 -1.35475356e-04 9.99924066e-01 -2.78062553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.386559995 meters 0.014428140134160805 Centerline is valid? [True, True] Translation: X:-40.97, Y:-261.49, Z:-2.78 [[-7.14890986e-01 -6.99187217e-01 8.25312544e-03 -4.09709278e+01] [ 6.99138509e-01 -7.14938612e-01 -8.25385930e-03 -2.61490116e+02] [ 1.16714710e-02 -1.30531802e-04 9.99931878e-01 -2.77994922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.416559995 meters 0.014325561277724974 Centerline is valid? [True, True] Translation: X:-40.99, Y:-261.47, Z:-2.78 [[-7.14129292e-01 -6.99962351e-01 8.48894940e-03 -4.09920512e+01] [ 6.99910931e-01 -7.14179735e-01 -8.48495996e-03 -2.61471576e+02] [ 1.20017882e-02 -1.17849969e-04 9.99927969e-01 -2.78071647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.4465599949999 meters 0.014231608058046788 Centerline is valid? [True, True] Translation: X:-41.45, Y:-261.93, Z:-1.81 [[-7.49664056e-01 6.61754791e-01 9.18693332e-03 -4.14499632e+01] [ 6.61706818e-01 7.49720338e-01 -7.96879532e-03 -2.61931301e+02] [-1.21610192e-02 1.05136990e-04 -9.99926047e-01 -1.80958514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.476559995 meters 0.014142367350238022 Centerline is valid? [True, True] Translation: X:-41.03, Y:-261.45, Z:-2.78 [[-7.14612306e-01 -6.99465731e-01 8.77176647e-03 -4.10254290e+01] [ 6.99411415e-01 -7.14666134e-01 -8.71718858e-03 -2.61447295e+02] [ 1.23662591e-02 -9.43366332e-05 9.99923531e-01 -2.78253016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.506559995 meters 0.013975001434321312 Centerline is valid? [True, True] Translation: X:-41.48, Y:-261.90, Z:-1.81 [[-7.53869029e-01 6.56954711e-01 9.59144402e-03 -4.14832350e+01] [ 6.56902775e-01 7.53930039e-01 -8.26080974e-03 -2.61899289e+02] [-1.26582556e-02 7.30775803e-05 -9.99919878e-01 -1.80858009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.536559995 meters 0.013725395110924524 Centerline is valid? [True, True] Translation: X:-41.06, Y:-261.42, Z:-2.78 [[-7.14966677e-01 -6.99103028e-01 8.80950779e-03 -4.10641342e+01] [ 6.99048458e-01 -7.15020943e-01 -8.73523510e-03 -2.61419017e+02] [ 1.24058119e-02 -8.71291652e-05 9.99923041e-01 -2.78285826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.5665599949999 meters 0.013590218540115615 Centerline is valid? [True, True] Translation: X:-41.09, Y:-261.44, Z:-2.78 [[-6.64273839e-01 -7.47443419e-01 8.28263143e-03 -4.10863416e+01] [ 7.47384983e-01 -6.64325473e-01 -9.34623056e-03 -2.61443531e+02] [ 1.24881416e-02 -1.81421019e-05 9.99922020e-01 -2.78297630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.596559995 meters 0.013580881454836182 Centerline is valid? [True, True] Translation: X:-41.11, Y:-261.42, Z:-2.78 [[-6.63769688e-01 -7.47895251e-01 7.90540929e-03 -4.11050348e+01] [ 7.47842113e-01 -6.63816763e-01 -8.91513622e-03 -2.61424367e+02] [ 1.19153312e-02 -5.59920289e-06 9.99929010e-01 -2.78348240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.626559995 meters 0.013534430817291023 Centerline is valid? [True, True] Translation: X:-41.12, Y:-261.40, Z:-2.78 [[-6.63610578e-01 -7.48037231e-01 7.82958160e-03 -4.11237998e+01] [ 7.47985183e-01 -6.63656765e-01 -8.82412909e-03 -2.61404890e+02] [ 1.17969319e-02 6.25623008e-07 9.99930414e-01 -2.78302425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.656559995 meters 0.0134258736914335 Centerline is valid? [True, True] Translation: X:-41.14, Y:-261.38, Z:-2.78 [[-6.63410771e-01 -7.48214394e-01 7.83380071e-03 -4.11430918e+01] [ 7.48162361e-01 -6.63457022e-01 -8.82389624e-03 -2.61384339e+02] [ 1.17995563e-02 7.08701966e-06 9.99930383e-01 -2.78239396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.6865599949999 meters 0.013387169890079327 Centerline is valid? [True, True] Translation: X:-41.16, Y:-261.37, Z:-2.78 [[-6.63046312e-01 -7.48542947e-01 7.28313681e-03 -4.11620884e+01] [ 7.48498052e-01 -6.63086311e-01 -8.19817479e-03 -2.61365501e+02] [ 1.09660342e-02 1.56441558e-05 9.99939871e-01 -2.78279528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.7165599949999 meters 0.013301139004961575 Centerline is valid? [True, True] Translation: X:-41.18, Y:-261.35, Z:-2.78 [[-6.63076659e-01 -7.48518693e-01 7.00790413e-03 -4.11807464e+01] [ 7.48477177e-01 -6.63113691e-01 -7.88342384e-03 -2.61345198e+02] [ 1.05479273e-02 1.79419577e-05 9.99944369e-01 -2.78219519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.746559995 meters 0.013257631899018723 Centerline is valid? [True, True] Translation: X:-41.20, Y:-261.33, Z:-2.78 [[-6.63178072e-01 -7.48432513e-01 6.60437435e-03 -4.11982653e+01] [ 7.48395686e-01 -6.63210957e-01 -7.42461039e-03 -2.61326277e+02] [ 9.93691324e-03 1.88464615e-05 9.99950628e-01 -2.78231426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.776559995 meters 0.013159350354962483 Centerline is valid? [True, True] Translation: X:-41.22, Y:-261.31, Z:-2.78 [[-6.62791945e-01 -7.48775085e-01 6.53533488e-03 -4.12172047e+01] [ 7.48739081e-01 -6.62824163e-01 -7.34284346e-03 -2.61305702e+02] [ 9.82991610e-03 2.64831370e-05 9.99951685e-01 -2.78179408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.8065599949999 meters 0.013211152706560205 Centerline is valid? [True, True] Translation: X:-41.24, Y:-261.29, Z:-2.78 [[-6.61470298e-01 -7.49943443e-01 6.47125629e-03 -4.12366377e+01] [ 7.49908226e-01 -6.61501951e-01 -7.26784930e-03 -2.61287077e+02] [ 9.73122459e-03 4.53818822e-05 9.99952650e-01 -2.78280560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.8365599949999 meters 0.013382386178744451 Centerline is valid? [True, True] Translation: X:-41.26, Y:-261.27, Z:-2.78 [[-6.60496257e-01 -7.50802591e-01 6.33753751e-03 -4.12552195e+01] [ 7.50768899e-01 -6.60526658e-01 -7.11300869e-03 -2.61268524e+02] [ 9.52657782e-03 5.99104360e-05 9.99954619e-01 -2.78354081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.866559995 meters 0.013361932155117752 Centerline is valid? [True, True] Translation: X:-41.27, Y:-261.25, Z:-2.78 [[-6.59376421e-01 -7.51789151e-01 5.98391595e-03 -4.12741509e+01] [ 7.51759189e-01 -6.59403569e-01 -6.71227778e-03 -2.61248036e+02] [ 8.99203315e-03 7.25461017e-05 9.99959568e-01 -2.78242184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.896559995 meters 0.013772807123700622 Centerline is valid? [True, True] Translation: X:-41.30, Y:-261.23, Z:-2.78 [[-6.56446360e-01 -7.54353649e-01 5.36176730e-03 -4.12950564e+01] [ 7.54329705e-01 -6.56468249e-01 -6.01114309e-03 -2.61228050e+02] [ 8.05435772e-03 9.85473534e-05 9.99967558e-01 -2.78214435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.9265599949999 meters 0.013772807123700622 Centerline is valid? [True, True] Translation: X:-41.31, Y:-261.21, Z:-2.78 [[-6.56662005e-01 -7.54165926e-01 5.36348571e-03 -4.13134616e+01] [ 7.54141988e-01 -6.56683901e-01 -6.00960987e-03 -2.61207513e+02] [ 8.05435772e-03 9.85473122e-05 9.99967558e-01 -2.78214429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.9565599949999 meters 0.014024553058369018 Centerline is valid? [True, True] Translation: X:-41.33, Y:-261.19, Z:-2.78 [[-6.55313085e-01 -7.55340017e-01 5.12049548e-03 -4.13334124e+01] [ 7.55318259e-01 -6.55333081e-01 -5.73423114e-03 -2.61186768e+02] [ 7.68692432e-03 1.09887028e-04 9.99970449e-01 -2.78217422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.986559995 meters 0.014562845557172348 Centerline is valid? [True, True] Translation: X:-41.35, Y:-261.17, Z:-2.78 [[-6.54098383e-01 -7.56392733e-01 5.03381839e-03 -4.13524699e+01] [ 7.56371762e-01 -6.54117740e-01 -5.63376408e-03 -2.61167134e+02] [ 7.55404812e-03 1.22402116e-04 9.99971460e-01 -2.78258119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.016559995 meters 0.01511139247346739 Centerline is valid? [True, True] Translation: X:-41.37, Y:-261.15, Z:-2.78 [[-6.52206819e-01 -7.58021706e-01 5.41844454e-03 -4.13721155e+01] [ 7.57997491e-01 -6.52229308e-01 -6.06079485e-03 -2.61147070e+02] [ 8.12828238e-03 1.54275635e-04 9.99966953e-01 -2.78293240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.0465599949999 meters 0.015474335153251086 Centerline is valid? [True, True] Translation: X:-41.39, Y:-261.13, Z:-2.78 [[-6.51489630e-01 -7.58636924e-01 5.59286684e-03 -4.13913613e+01] [ 7.58611177e-01 -6.51513614e-01 -6.25237939e-03 -2.61126332e+02] [ 8.38711475e-03 1.69450958e-04 9.99964813e-01 -2.78315588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.0765599949999 meters 0.01546622877679534 Centerline is valid? [True, True] Translation: X:-41.41, Y:-261.11, Z:-2.78 [[-6.51142401e-01 -7.58937295e-01 5.26844333e-03 -4.14099812e+01] [ 7.58914485e-01 -6.51163693e-01 -5.88636587e-03 -2.61105442e+02] [ 7.89800161e-03 1.65435552e-04 9.99968797e-01 -2.78301533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.106559995 meters 0.01584574564806217 Centerline is valid? [True, True] Translation: X:-41.43, Y:-261.09, Z:-2.78 [[-6.50869848e-01 -7.59172253e-01 5.09223105e-03 -4.14281299e+01] [ 7.59150980e-01 -6.50889747e-01 -5.68569563e-03 -2.61085927e+02] [ 7.63090334e-03 1.65124343e-04 9.99970871e-01 -2.78325870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.136559995 meters 0.016392380447971696 Centerline is valid? [True, True] Translation: X:-41.45, Y:-261.07, Z:-2.78 [[-6.50255391e-01 -7.59700981e-01 4.72709645e-03 -4.14469126e+01] [ 7.59682685e-01 -6.50272553e-01 -5.27488497e-03 -2.61066160e+02] [ 7.08123636e-03 1.61070939e-04 9.99974915e-01 -2.78398972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.166559995 meters 0.016206975205835798 Centerline is valid? [True, True] Translation: X:-41.46, Y:-261.04, Z:-2.78 [[-6.50335844e-01 -7.59629788e-01 5.08677955e-03 -4.14646342e+01] [ 7.59608627e-01 -6.50355714e-01 -5.67266676e-03 -2.61044965e+02] [ 7.61734279e-03 1.74823101e-04 9.99970972e-01 -2.78434154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.1965599949999 meters 0.01639654792157427 Centerline is valid? [True, True] Translation: X:-41.48, Y:-261.03, Z:-2.79 [[-6.50519610e-01 -7.59469037e-01 5.56944841e-03 -4.14815645e+01] [ 7.59443698e-01 -6.50543423e-01 -6.20682084e-03 -2.61025162e+02] [ 8.33705628e-03 1.92023829e-04 9.99965228e-01 -2.78503924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.226559995 meters 0.016141609436394817 Centerline is valid? [True, True] Translation: X:-41.50, Y:-261.00, Z:-2.79 [[-6.51202583e-01 -7.58878234e-01 6.24674148e-03 -4.14974666e+01] [ 7.58846372e-01 -6.51232509e-01 -6.95722962e-03 -2.61002574e+02] [ 9.34777126e-03 2.09751208e-04 9.99956287e-01 -2.78534613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.256559995 meters 0.01648146079151949 Centerline is valid? [True, True] Translation: X:-41.51, Y:-260.98, Z:-2.79 [[-6.52166241e-01 -7.58049504e-01 6.33593180e-03 -4.15147768e+01] [ 7.58016727e-01 -6.52196986e-01 -7.05214349e-03 -2.60982180e+02] [ 9.47814949e-03 2.03572372e-04 9.99955061e-01 -2.78584431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.286559995 meters 0.015684313728798797 Centerline is valid? [True, True] Translation: X:-41.53, Y:-260.96, Z:-2.79 [[-6.53189020e-01 -7.57168958e-01 6.26683366e-03 -4.15305338e+01] [ 7.57136893e-01 -6.53219054e-01 -6.97088112e-03 -2.60960107e+02] [ 9.37174995e-03 1.91547954e-04 9.99956066e-01 -2.78524494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.3165599949999 meters 0.015393710094847187 Centerline is valid? [True, True] Translation: X:-41.55, Y:-260.94, Z:-2.78 [[-6.55950897e-01 -7.54783017e-01 5.56940322e-03 -4.15460270e+01] [ 7.54757633e-01 -6.55974525e-01 -6.19184531e-03 -2.60937581e+02] [ 8.32688632e-03 1.42003108e-04 9.99965321e-01 -2.78475924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.346559995 meters 0.014373195753325733 Centerline is valid? [True, True] Translation: X:-41.56, Y:-260.91, Z:-2.78 [[-6.57656664e-01 -7.53300799e-01 5.06140286e-03 -4.15619406e+01] [ 7.53279814e-01 -6.57676131e-01 -5.62396557e-03 -2.60914141e+02] [ 7.56530161e-03 1.14014173e-04 9.99971376e-01 -2.78360123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.376559995 meters 0.01377858607313597 Centerline is valid? [True, True] Translation: X:-41.58, Y:-260.89, Z:-2.78 [[-6.59531421e-01 -7.51662323e-01 4.69646806e-03 -4.15782118e+01] [ 7.51644234e-01 -6.59548136e-01 -5.21556331e-03 -2.60891021e+02] [ 7.01788919e-03 9.02452506e-05 9.99975370e-01 -2.78260091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.406559995 meters 0.01307514307850064 Centerline is valid? [True, True] Translation: X:-41.59, Y:-260.87, Z:-2.78 [[-6.63137175e-01 -7.48485119e-01 4.37185978e-03 -4.15923667e+01] [ 7.48469392e-01 -6.63151584e-01 -4.85239662e-03 -2.60866615e+02] [ 6.53115240e-03 5.43986453e-05 9.99978670e-01 -2.78239664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.4365599949999 meters 0.012808900393022335 Centerline is valid? [True, True] Translation: X:-41.61, Y:-260.84, Z:-2.78 [[-6.65385376e-01 -7.46486788e-01 4.44710363e-03 -4.16086733e+01] [ 7.46470489e-01 -6.65400236e-01 -4.93302750e-03 -2.60843924e+02] [ 6.64154366e-03 3.72672619e-05 9.99977944e-01 -2.78238967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.4665599949999 meters 0.012701270080118031 Centerline is valid? [True, True] Translation: X:-41.62, Y:-260.82, Z:-2.78 [[-6.67535223e-01 -7.44564550e-01 4.51191186e-03 -4.16236939e+01] [ 7.44547750e-01 -6.67550471e-01 -5.00167587e-03 -2.60822512e+02] [ 6.73599943e-03 2.05390085e-05 9.99977313e-01 -2.78292791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.496559995 meters 0.012575412834601047 Centerline is valid? [True, True] Translation: X:-41.64, Y:-260.80, Z:-2.78 [[-6.69859319e-01 -7.42473185e-01 4.69706668e-03 -4.16395531e+01] [ 7.42454949e-01 -6.69875786e-01 -5.20375906e-03 -2.60800001e+02] [ 7.01010280e-03 1.57391234e-06 9.99975429e-01 -2.78308261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.526559995 meters 0.01289048629315955 Centerline is valid? [True, True] Translation: X:-41.65, Y:-260.78, Z:-2.78 [[-6.74295159e-01 -7.38442399e-01 5.37235680e-03 -4.16533813e+01] [ 7.38418441e-01 -6.74316559e-01 -5.94850219e-03 -2.60775624e+02] [ 8.01529537e-03 -4.39988935e-05 9.99967876e-01 -2.78400949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.5565599949999 meters 0.013141140106283934 Centerline is valid? [True, True] Translation: X:-41.67, Y:-260.75, Z:-2.78 [[-6.76214557e-01 -7.36685056e-01 5.38530761e-03 -4.16695066e+01] [ 7.36660955e-01 -6.76235998e-01 -5.95920578e-03 -2.60753750e+02] [ 8.03179670e-03 -6.25558470e-05 9.99967743e-01 -2.78390981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.5865599949999 meters 0.013487169503751062 Centerline is valid? [True, True] Translation: X:-41.69, Y:-260.73, Z:-2.78 [[-6.78195565e-01 -7.34860478e-01 5.55455222e-03 -4.16864334e+01] [ 7.34834806e-01 -6.78218306e-01 -6.14311915e-03 -2.60731333e+02] [ 8.28153447e-03 -8.45578668e-05 9.99965704e-01 -2.78372481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.616559995 meters 0.013818523293010108 Centerline is valid? [True, True] Translation: X:-41.70, Y:-260.71, Z:-2.78 [[-6.80869418e-01 -7.32380879e-01 5.92318066e-03 -4.17025057e+01] [ 7.32351624e-01 -6.80895171e-01 -6.54710477e-03 -2.60707825e+02] [ 8.82803946e-03 -1.19872441e-04 9.99961025e-01 -2.78289870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.646559995 meters 0.014559447567574673 Centerline is valid? [True, True] Translation: X:-41.72, Y:-260.69, Z:-2.78 [[-6.81918486e-01 -7.31402024e-01 6.18520624e-03 -4.17186359e+01] [ 7.31370121e-01 -6.81946523e-01 -6.83265587e-03 -2.60685767e+02] [ 9.21539823e-03 -1.35639306e-04 9.99957528e-01 -2.78365306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.6765599949999 meters 0.014201023204713985 Centerline is valid? [True, True] Translation: X:-41.74, Y:-260.66, Z:-2.78 [[-6.82396763e-01 -7.30953540e-01 6.44825244e-03 -4.17373844e+01] [ 7.30918884e-01 -6.82427213e-01 -7.11924620e-03 -2.60664983e+02] [ 9.60430116e-03 -1.45001086e-04 9.99953867e-01 -2.78280111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.7065599949999 meters 0.014501597205128386 Centerline is valid? [True, True] Translation: X:-41.75, Y:-260.64, Z:-2.78 [[-6.82866524e-01 -7.30513405e-01 6.59365665e-03 -4.17542360e+01] [ 7.30477195e-01 -6.82898340e-01 -7.27497902e-03 -2.60644683e+02] [ 9.81726688e-03 -1.51323824e-04 9.99951798e-01 -2.78319102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.736559995 meters 0.01428982108489657 Centerline is valid? [True, True] Translation: X:-41.77, Y:-260.62, Z:-2.78 [[-6.82141411e-01 -7.31190920e-01 6.55244572e-03 -4.17723928e+01] [ 7.31155236e-01 -6.82172867e-01 -7.22504633e-03 -2.60624308e+02] [ 9.75278895e-03 -1.37648297e-04 9.99952431e-01 -2.78395249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.766559995 meters 0.0139076623890313 Centerline is valid? [True, True] Translation: X:-41.79, Y:-260.60, Z:-2.78 [[-6.81604669e-01 -7.31691001e-01 6.58439726e-03 -4.17912143e+01] [ 7.31655036e-01 -6.81636459e-01 -7.25571590e-03 -2.60604638e+02] [ 9.79710727e-03 -1.28022419e-04 9.99951999e-01 -2.78401098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.7965599949999 meters 0.013389280008051525 Centerline is valid? [True, True] Translation: X:-41.81, Y:-260.58, Z:-2.78 [[-6.80214495e-01 -7.32985957e-01 6.31093269e-03 -4.18107080e+01] [ 7.32953010e-01 -6.80243763e-01 -6.95041263e-03 -2.60583834e+02] [ 9.38752745e-03 -1.02154299e-04 9.99955931e-01 -2.78348199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.8265599949999 meters 0.013234587533376925 Centerline is valid? [True, True] Translation: X:-41.83, Y:-260.56, Z:-2.78 [[-6.79621629e-01 -7.33536550e-01 6.21059224e-03 -4.18295096e+01] [ 7.33504701e-01 -6.79650000e-01 -6.83602046e-03 -2.60563028e+02] [ 9.23549988e-03 -9.04087540e-05 9.99957348e-01 -2.78339313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.856559995 meters 0.013271794884728188 Centerline is valid? [True, True] Translation: X:-41.85, Y:-260.54, Z:-2.78 [[-6.78837752e-01 -7.34264058e-01 5.96657808e-03 -4.18475777e+01] [ 7.34234715e-01 -6.78863969e-01 -6.56470677e-03 -2.60542844e+02] [ 8.87072310e-03 -7.55020356e-05 9.99960652e-01 -2.78352356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.886559995 meters 0.013142176571905442 Centerline is valid? [True, True] Translation: X:-41.87, Y:-260.52, Z:-2.78 [[-6.78150385e-01 -7.34900645e-01 5.75302305e-03 -4.18664019e+01] [ 7.34873422e-01 -6.78174785e-01 -6.32578660e-03 -2.60522623e+02] [ 8.55037982e-03 -6.20908907e-05 9.99963443e-01 -2.78318864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.916559995 meters 0.01284536557472489 Centerline is valid? [True, True] Translation: X:-41.89, Y:-260.50, Z:-2.78 [[-6.76419746e-01 -7.36495964e-01 5.47918812e-03 -4.18855423e+01] [ 7.36471354e-01 -6.76441936e-01 -6.02092563e-03 -2.60503501e+02] [ 8.14074005e-03 -3.74078931e-05 9.99966863e-01 -2.78293916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.9465599949999 meters 0.012825857144512377 Centerline is valid? [True, True] Translation: X:-41.90, Y:-260.48, Z:-2.78 [[-6.75428860e-01 -7.37405008e-01 5.45069330e-03 -4.19042139e+01] [ 7.37380714e-01 -6.75450853e-01 -5.98569019e-03 -2.60484510e+02] [ 8.09555336e-03 -2.36717886e-05 9.99967230e-01 -2.78312544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.976559995 meters 0.012859151446235154 Centerline is valid? [True, True] Translation: X:-41.92, Y:-260.47, Z:-2.78 [[-6.74581560e-01 -7.38181840e-01 5.22400520e-03 -4.19231322e+01] [ 7.38159576e-01 -6.74601787e-01 -5.73322029e-03 -2.60465355e+02] [ 7.75628234e-03 -1.13752196e-05 9.99969920e-01 -2.78339372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.006559995 meters 0.012763709113582766 Centerline is valid? [True, True] Translation: X:-41.94, Y:-260.45, Z:-2.78 [[-6.73823320e-01 -7.38874815e-01 5.11288707e-03 -4.19426535e+01] [ 7.38853534e-01 -6.73842718e-01 -5.60780465e-03 -2.60445682e+02] [ 7.58874734e-03 -9.94874792e-07 9.99971205e-01 -2.78343706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.036559995 meters 0.012780020672417965 Centerline is valid? [True, True] Translation: X:-41.96, Y:-260.43, Z:-2.78 [[-6.71946378e-01 -7.40588245e-01 4.13725003e-03 -4.19627455e+01] [ 7.40574360e-01 -6.71959115e-01 -4.53487228e-03 -2.60426768e+02] [ 6.13853597e-03 1.67502894e-05 9.99981159e-01 -2.78318029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.0665599949999 meters 0.012932046868629888 Centerline is valid? [True, True] Translation: X:-41.98, Y:-260.41, Z:-2.78 [[-6.71251705e-01 -7.41220531e-01 3.64316122e-03 -4.19819790e+01] [ 7.41209788e-01 -6.71261591e-01 -3.99077001e-03 -2.60407376e+02] [ 5.40355487e-03 2.15355826e-05 9.99985401e-01 -2.78287010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.096559995 meters 0.0129791973308885 Centerline is valid? [True, True] Translation: X:-42.00, Y:-260.39, Z:-2.78 [[-6.70403088e-01 -7.41988154e-01 3.64395399e-03 -4.20016213e+01] [ 7.41977430e-01 -6.70412991e-01 -3.98938585e-03 -2.60387473e+02] [ 5.40303114e-03 2.92350217e-05 9.99985403e-01 -2.78279217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.126559995 meters 0.01335469010218379 Centerline is valid? [True, True] Translation: X:-42.02, Y:-260.37, Z:-2.78 [[-6.68960409e-01 -7.43289881e-01 3.48213724e-03 -4.20208994e+01] [ 7.43280118e-01 -6.68969470e-01 -3.80969430e-03 -2.60369504e+02] [ 5.16115073e-03 3.96687235e-05 9.99986680e-01 -2.78376421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.156559995 meters 0.01336136654647476 Centerline is valid? [True, True] Translation: X:-42.04, Y:-260.35, Z:-2.78 [[-6.68601980e-01 -7.43613202e-01 3.28605287e-03 -4.20401348e+01] [ 7.43604523e-01 -6.68610054e-01 -3.59292347e-03 -2.60349635e+02] [ 4.86883331e-03 4.12880303e-05 9.99988146e-01 -2.78415428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.1865599949999 meters 0.013624789489670091 Centerline is valid? [True, True] Translation: X:-42.06, Y:-260.33, Z:-2.78 [[-6.68145371e-01 -7.44022987e-01 3.39981058e-03 -4.20584580e+01] [ 7.44013714e-01 -6.68154019e-01 -3.71487839e-03 -2.60330964e+02] [ 5.03555202e-03 4.74268974e-05 9.99987320e-01 -2.78488613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.2165599949999 meters 0.013637882189678078 Centerline is valid? [True, True] Translation: X:-42.08, Y:-260.31, Z:-2.79 [[-6.67622854e-01 -7.44491234e-01 3.53946478e-03 -4.20774810e+01] [ 7.44481202e-01 -6.67632234e-01 -3.86530182e-03 -2.60309981e+02] [ 5.24074409e-03 5.45011621e-05 9.99986266e-01 -2.78510049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.246559995 meters 0.013972206836016833 Centerline is valid? [True, True] Translation: X:-42.10, Y:-260.29, Z:-2.79 [[-6.66344543e-01 -7.45631002e-01 4.39981483e-03 -4.20969115e+01] [ 7.45615538e-01 -6.66359064e-01 -4.80288574e-03 -2.60290679e+02] [ 6.51303700e-03 8.01935903e-05 9.99978787e-01 -2.78637410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.276559995 meters 0.014248543642561996 Centerline is valid? [True, True] Translation: X:-42.12, Y:-260.27, Z:-2.79 [[-6.65820430e-01 -7.46096098e-01 4.87524092e-03 -4.21156868e+01] [ 7.46077146e-01 -6.65838272e-01 -5.31874429e-03 -2.60271477e+02] [ 7.21441635e-03 9.59772208e-05 9.99973971e-01 -2.78730608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.3065599949999 meters 0.014383971879464195 Centerline is valid? [True, True] Translation: X:-42.13, Y:-260.25, Z:-2.79 [[-6.65412955e-01 -7.46456702e-01 5.29067863e-03 -4.21343522e+01] [ 7.46434421e-01 -6.65433979e-01 -5.76838196e-03 -2.60252111e+02] [ 7.82644470e-03 1.10788555e-04 9.99969367e-01 -2.78795192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.3365599949999 meters 0.014522456733665668 Centerline is valid? [True, True] Translation: X:-42.15, Y:-260.23, Z:-2.79 [[-6.64953465e-01 -7.46863276e-01 5.66893279e-03 -4.21532976e+01] [ 7.46837743e-01 -6.64977617e-01 -6.17690453e-03 -2.60232341e+02] [ 8.38301657e-03 1.26418905e-04 9.99964854e-01 -2.78895415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.366559995 meters 0.015638565114025456 Centerline is valid? [True, True] Translation: X:-42.17, Y:-260.21, Z:-2.79 [[-6.64108933e-01 -7.47610864e-01 6.10908679e-03 -4.21742578e+01] [ 7.47581279e-01 -6.64137015e-01 -6.65257300e-03 -2.60214371e+02] [ 9.03080651e-03 1.49005762e-04 9.99959210e-01 -2.79109055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.396559995 meters 0.014996364778838731 Centerline is valid? [True, True] Translation: X:-42.19, Y:-260.19, Z:-2.79 [[-6.63978833e-01 -7.47727351e-01 5.99315003e-03 -4.21913909e+01] [ 7.47698922e-01 -6.64005863e-01 -6.52203955e-03 -2.60193757e+02] [ 8.85619411e-03 1.50575606e-04 9.99960772e-01 -2.79049532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.4265599949999 meters 0.015312051715514764 Centerline is valid? [True, True] Translation: X:-42.21, Y:-260.17, Z:-2.79 [[-6.63804123e-01 -7.47882977e-01 5.92785815e-03 -4.22098477e+01] [ 7.47855204e-01 -6.63830573e-01 -6.44699128e-03 -2.60174197e+02] [ 8.75668850e-03 1.53640178e-04 9.99961648e-01 -2.79033283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.4565599949999 meters 0.015024450221811585 Centerline is valid? [True, True] Translation: X:-42.23, Y:-260.15, Z:-2.79 [[-6.63330779e-01 -7.48304258e-01 5.74582598e-03 -4.22278455e+01] [ 7.48278211e-01 -6.63355646e-01 -6.24547797e-03 -2.60152367e+02] [ 8.48504386e-03 1.56658617e-04 9.99963989e-01 -2.78950017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.486559995 meters 0.015822449297157495 Centerline is valid? [True, True] Translation: X:-42.25, Y:-260.13, Z:-2.79 [[-6.63255372e-01 -7.48370563e-01 5.81484070e-03 -4.22464651e+01] [ 7.48343925e-01 -6.63280841e-01 -6.31629325e-03 -2.60133911e+02] [ 8.58380037e-03 1.62185290e-04 9.99963145e-01 -2.79002682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.516559995 meters 0.015955143896214805 Centerline is valid? [True, True] Translation: X:-42.26, Y:-260.11, Z:-2.79 [[-6.63364469e-01 -7.48275915e-01 5.54396221e-03 -4.22639112e+01] [ 7.48251730e-01 -6.63387617e-01 -6.01819549e-03 -2.60114688e+02] [ 8.18106661e-03 1.56022256e-04 9.99966522e-01 -2.78962097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.5465599949999 meters 0.015289101248427764 Centerline is valid? [True, True] Translation: X:-42.28, Y:-260.09, Z:-2.79 [[-6.63348364e-01 -7.48287906e-01 5.84449445e-03 -4.22808912e+01] [ 7.48261062e-01 -6.63374089e-01 -6.34042798e-03 -2.60093322e+02] [ 8.62155175e-03 1.67295100e-04 9.99962820e-01 -2.78914768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.5765599949999 meters 0.015209584735151976 Centerline is valid? [True, True] Translation: X:-42.30, Y:-260.07, Z:-2.79 [[-6.63393456e-01 -7.48245151e-01 6.19010562e-03 -4.22997204e+01] [ 7.48215071e-01 -6.63422311e-01 -6.71155157e-03 -2.60072523e+02] [ 9.12854009e-03 1.79130927e-04 9.99958318e-01 -2.78939323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.606559995 meters 0.015438898146901246 Centerline is valid? [True, True] Translation: X:-42.32, Y:-260.05, Z:-2.79 [[-6.63600459e-01 -7.48059524e-01 6.43270266e-03 -4.23189098e+01] [ 7.48027059e-01 -6.63631611e-01 -6.97169621e-03 -2.60052939e+02] [ 9.48418857e-03 1.85414845e-04 9.99955007e-01 -2.79039145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.636559995 meters 0.016154903602101728 Centerline is valid? [True, True] Translation: X:-42.34, Y:-260.04, Z:-2.79 [[-6.63713996e-01 -7.47958389e-01 6.47925361e-03 -4.23377580e+01] [ 7.47925491e-01 -6.63745594e-01 -7.01752970e-03 -2.60035055e+02] [ 9.54939625e-03 1.88366261e-04 9.99954386e-01 -2.79162385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.666559995 meters 0.016218065633781076 Centerline is valid? [True, True] Translation: X:-42.36, Y:-260.02, Z:-2.79 [[-6.63686818e-01 -7.47981336e-01 6.61278621e-03 -4.23567998e+01] [ 7.47947112e-01 -6.63719733e-01 -7.15780573e-03 -2.60015382e+02] [ 9.74294178e-03 1.95473033e-04 9.99952517e-01 -2.79170592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.6965599949999 meters 0.015517338186065542 Centerline is valid? [True, True] Translation: X:-42.37, Y:-259.99, Z:-2.79 [[-6.63534312e-01 -7.48118668e-01 6.37768214e-03 -4.23748757e+01] [ 7.48086878e-01 -6.63564934e-01 -6.89942352e-03 -2.59994473e+02] [ 9.39359376e-03 1.93056083e-04 9.99955861e-01 -2.79092605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.726559995 meters 0.015965088671421053 Centerline is valid? [True, True] Translation: X:-42.39, Y:-259.98, Z:-2.79 [[-6.63361711e-01 -7.48270527e-01 6.51610137e-03 -4.23937737e+01] [ 7.48237394e-01 -6.63393682e-01 -7.04447549e-03 -2.59975912e+02] [ 9.59391387e-03 2.02555396e-04 9.99953957e-01 -2.79080438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.756559995 meters 0.01556953358768617 Centerline is valid? [True, True] Translation: X:-42.41, Y:-259.96, Z:-2.79 [[-6.63257210e-01 -7.48368590e-01 5.85898296e-03 -4.24131396e+01] [ 7.48341838e-01 -6.63283061e-01 -6.33045189e-03 -2.59955623e+02] [ 8.62367550e-03 1.85804217e-04 9.99962798e-01 -2.78931768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.786559995 meters 0.016263153217387794 Centerline is valid? [True, True] Translation: X:-42.43, Y:-259.94, Z:-2.79 [[-6.63251969e-01 -7.48375286e-01 5.59085161e-03 -4.24328391e+01] [ 7.48350947e-01 -6.63275508e-01 -6.03822998e-03 -2.59937257e+02] [ 8.22713703e-03 1.79051173e-04 9.99966141e-01 -2.78965676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.8165599949999 meters 0.016263153217387794 Centerline is valid? [True, True] Translation: X:-42.45, Y:-259.92, Z:-2.79 [[-6.63483666e-01 -7.48169865e-01 5.59272091e-03 -4.24511045e+01] [ 7.48145534e-01 -6.63507213e-01 -6.03649864e-03 -2.59917694e+02] [ 8.22713704e-03 1.79050921e-04 9.99966141e-01 -2.78965670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.846559995 meters 0.016063170510843428 Centerline is valid? [True, True] Translation: X:-42.47, Y:-259.90, Z:-2.79 [[-6.63479167e-01 -7.48176912e-01 5.16758920e-03 -4.24696232e+01] [ 7.48156166e-01 -6.63499270e-01 -5.57411453e-03 -2.59897710e+02] [ 7.59911545e-03 1.67854853e-04 9.99971112e-01 -2.78927939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.876559995 meters 0.01639944390210633 Centerline is valid? [True, True] Translation: X:-42.49, Y:-259.88, Z:-2.79 [[-6.63573700e-01 -7.48094152e-01 5.00844465e-03 -4.24879331e+01] [ 7.48074689e-01 -6.63592580e-01 -5.39888076e-03 -2.59879234e+02] [ 7.36243784e-03 1.64135390e-04 9.99972884e-01 -2.78921590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.906559995 meters 0.017393342728269433 Centerline is valid? [True, True] Translation: X:-42.51, Y:-259.86, Z:-2.79 [[-6.63228323e-01 -7.48401461e-01 4.84198868e-03 -4.25069144e+01] [ 7.48383302e-01 -6.63245977e-01 -5.21604604e-03 -2.59860917e+02] [ 7.11512600e-03 1.64234010e-04 9.99974674e-01 -2.78974369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.9365599949999 meters 0.01667466241947656 Centerline is valid? [True, True] Translation: X:-42.52, Y:-259.84, Z:-2.79 [[-6.63165481e-01 -7.48454888e-01 5.17927098e-03 -4.25241603e+01] [ 7.48434140e-01 -6.63185682e-01 -5.57585750e-03 -2.59840121e+02] [ 7.60809616e-03 1.78626993e-04 9.99971042e-01 -2.78937494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.9665599949999 meters 0.01829248479606586 Centerline is valid? [True, True] Translation: X:-42.54, Y:-259.82, Z:-2.79 [[-6.62453591e-01 -7.49079762e-01 5.89490914e-03 -4.25446608e+01] [ 7.49052930e-01 -6.62479785e-01 -6.34368907e-03 -2.59822855e+02] [ 8.65718724e-03 2.13199361e-04 9.99962503e-01 -2.79115798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.996559995 meters 0.017298155851922084 Centerline is valid? [True, True] Translation: X:-42.56, Y:-259.80, Z:-2.79 [[-6.61885163e-01 -7.49576286e-01 6.58954330e-03 -4.25628235e+01] [ 7.49542822e-01 -6.61917918e-01 -7.08722487e-03 -2.59801383e+02] [ 9.67415248e-03 2.48215889e-04 9.99953174e-01 -2.79099339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.026559995 meters 0.018135857586546344 Centerline is valid? [True, True] Translation: X:-42.58, Y:-259.78, Z:-2.79 [[-6.61297482e-01 -7.50090670e-01 7.04466386e-03 -4.25826437e+01] [ 7.50052499e-01 -6.61334946e-01 -7.57222622e-03 -2.59783185e+02] [ 1.03387386e-02 2.76373600e-04 9.99946516e-01 -2.79189267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.0565599949999 meters 0.01888356788538961 Centerline is valid? [True, True] Translation: X:-42.60, Y:-259.76, Z:-2.79 [[-6.60429694e-01 -7.50846392e-01 7.89397248e-03 -4.26027738e+01] [ 7.50798572e-01 -6.60476790e-01 -8.48020642e-03 -2.59764293e+02] [ 1.15811180e-02 3.26203134e-04 9.99932883e-01 -2.79285817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.0865599949999 meters 0.019688258554656446 Centerline is valid? [True, True] Translation: X:-42.62, Y:-259.75, Z:-2.79 [[-6.60257176e-01 -7.50993073e-01 8.35858250e-03 -4.26224232e+01] [ 7.50939534e-01 -6.60309989e-01 -8.97414192e-03 -2.59745242e+02] [ 1.22587739e-02 3.51548451e-04 9.99924797e-01 -2.79360988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.116559995 meters 0.018144561458811565 Centerline is valid? [True, True] Translation: X:-42.64, Y:-259.72, Z:-2.79 [[-6.60275736e-01 -7.50973853e-01 8.61533113e-03 -4.26394166e+01] [ 7.50917039e-01 -6.60331839e-01 -9.24457718e-03 -2.59722893e+02] [ 1.26314132e-02 3.65428940e-04 9.99920154e-01 -2.79241104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.146559995 meters 0.017811094088413693 Centerline is valid? [True, True] Translation: X:-42.66, Y:-259.70, Z:-2.79 [[-6.60628597e-01 -7.50660584e-01 8.86246914e-03 -4.26579312e+01] [ 7.50600506e-01 -6.60687935e-01 -9.50435414e-03 -2.59701395e+02] [ 1.29898705e-02 3.73325676e-04 9.99915558e-01 -2.79212913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.1765599949999 meters 0.01786345413634088 Centerline is valid? [True, True] Translation: X:-42.68, Y:-259.68, Z:-2.79 [[-6.61421545e-01 -7.49967808e-01 8.35630546e-03 -4.26764525e+01] [ 7.49914403e-01 -6.61474240e-01 -8.95647107e-03 -2.59679957e+02] [ 1.22445458e-02 3.42510883e-04 9.99924974e-01 -2.79124724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.2065599949999 meters 0.02037515919014673 Centerline is valid? [True, True] Translation: X:-42.70, Y:-259.66, Z:-2.79 [[-6.62013943e-01 -7.49451043e-01 7.78927593e-03 -4.26971984e+01] [ 7.49404652e-01 -6.62059692e-01 -8.34461882e-03 -2.59663146e+02] [ 1.14108489e-02 3.13065605e-04 9.99934845e-01 -2.79250030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.236559995 meters 0.01775119935537097 Centerline is valid? [True, True] Translation: X:-42.71, Y:-259.64, Z:-2.79 [[-6.62953448e-01 -7.48621734e-01 7.63048939e-03 -4.27126060e+01] [ 7.48577217e-01 -6.62997294e-01 -8.16939313e-03 -2.59640007e+02] [ 1.11747791e-02 2.96083169e-04 9.99937516e-01 -2.79025647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.266559995 meters 0.01886438372435422 Centerline is valid? [True, True] Translation: X:-42.73, Y:-259.62, Z:-2.79 [[-6.63696195e-01 -7.47965386e-01 7.42571991e-03 -4.27316549e+01] [ 7.47923242e-01 -6.63737676e-01 -7.94495161e-03 -2.59622078e+02] [ 1.08712789e-02 2.80834360e-04 9.99940867e-01 -2.79022188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.2965599949999 meters 0.01676095451542393 Centerline is valid? [True, True] Translation: X:-42.75, Y:-259.60, Z:-2.79 [[-6.65852171e-01 -7.46052616e-01 6.81029924e-03 -4.27482091e+01] [ 7.46017106e-01 -6.65886958e-01 -7.28267844e-03 -2.59598439e+02] [ 9.96815074e-03 2.31412483e-04 9.99950290e-01 -2.78838748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.3265599949999 meters 0.016720202260721104 Centerline is valid? [True, True] Translation: X:-42.77, Y:-259.58, Z:-2.79 [[-6.67435958e-01 -7.44637933e-01 6.60236276e-03 -4.27661343e+01] [ 7.44604526e-01 -6.67468581e-01 -7.05645731e-03 -2.59578658e+02] [ 9.66137549e-03 2.06415851e-04 9.99953307e-01 -2.78842528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.356559995 meters 0.015178207006338098 Centerline is valid? [True, True] Translation: X:-42.78, Y:-259.56, Z:-2.79 [[-6.70613702e-01 -7.41774164e-01 6.95352990e-03 -4.27815420e+01] [ 7.41736997e-01 -6.70649728e-01 -7.42761396e-03 -2.59555159e+02] [ 1.01729951e-02 1.76630691e-04 9.99948238e-01 -2.78769565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.386559995 meters 0.014579769779759742 Centerline is valid? [True, True] Translation: X:-42.80, Y:-259.53, Z:-2.79 [[-6.72683352e-01 -7.39894179e-01 7.32890627e-03 -4.27990064e+01] [ 7.39852828e-01 -6.72723256e-01 -7.82394083e-03 -2.59533430e+02] [ 1.07192140e-02 1.59277292e-04 9.99942535e-01 -2.78764163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.416559995 meters 0.013843844171437922 Centerline is valid? [True, True] Translation: X:-42.82, Y:-259.51, Z:-2.79 [[-6.76708300e-01 -7.36201906e-01 8.52229888e-03 -4.28151113e+01] [ 7.36145761e-01 -6.76761951e-01 -9.09290157e-03 -2.59510041e+02] [ 1.24617791e-02 1.20412229e-04 9.99922342e-01 -2.78850497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.4465599949999 meters 0.013343228769934415 Centerline is valid? [True, True] Translation: X:-42.83, Y:-259.49, Z:-2.79 [[-6.81486720e-01 -7.31767221e-01 9.62209646e-03 -4.28300210e+01] [ 7.31695297e-01 -6.81554643e-01 -1.02596349e-02 -2.59487517e+02] [ 1.40656490e-02 4.86378169e-05 9.99901073e-01 -2.79003881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.476559995 meters 0.013343228769934415 Centerline is valid? [True, True] Translation: X:-42.85, Y:-259.47, Z:-2.79 [[-6.81709049e-01 -7.31560065e-01 9.62521394e-03 -4.28484135e+01] [ 7.31488161e-01 -6.81776994e-01 -1.02567102e-02 -2.59468074e+02] [ 1.40656490e-02 4.86378706e-05 9.99901073e-01 -2.79003875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.506559995 meters 0.013449726125860838 Centerline is valid? [True, True] Translation: X:-42.86, Y:-259.45, Z:-2.79 [[-6.86460928e-01 -7.27094788e-01 1.02256103e-02 -4.28636474e+01] [ 7.27013212e-01 -6.86537084e-01 -1.08913707e-02 -2.59446312e+02] [ 1.49393195e-02 -4.23466173e-05 9.99888401e-01 -2.79104196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.536559995 meters 0.013687408172652977 Centerline is valid? [True, True] Translation: X:-42.88, Y:-259.43, Z:-2.79 [[-6.88902941e-01 -7.24779666e-01 1.03525040e-02 -4.28813248e+01] [ 7.24695891e-01 -6.88980717e-01 -1.10198799e-02 -2.59425237e+02] [ 1.51196605e-02 -8.92106211e-05 9.99885688e-01 -2.79107557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.5665599949999 meters 0.013905622509943793 Centerline is valid? [True, True] Translation: X:-42.90, Y:-259.40, Z:-2.79 [[-6.90691640e-01 -7.23079032e-01 1.00882497e-02 -4.28993695e+01] [ 7.22999392e-01 -6.90765300e-01 -1.07321689e-02 -2.59404809e+02] [ 1.47288191e-02 -1.18820959e-04 9.99891518e-01 -2.79053832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.596559995 meters 0.014352963388898314 Centerline is valid? [True, True] Translation: X:-42.92, Y:-259.39, Z:-2.79 [[-6.92229397e-01 -7.21611038e-01 9.79653663e-03 -4.29166593e+01] [ 7.21535884e-01 -6.92298700e-01 -1.04153109e-02 -2.59385162e+02] [ 1.42979329e-02 -1.41231703e-04 9.99897769e-01 -2.78993340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.626559995 meters 0.013944723926633634 Centerline is valid? [True, True] Translation: X:-42.94, Y:-259.37, Z:-2.79 [[-6.93582122e-01 -7.20318891e-01 9.19428622e-03 -4.29353293e+01] [ 7.20252662e-01 -6.93643043e-01 -9.76892105e-03 -2.59365332e+02] [ 1.34142910e-02 -1.53339873e-04 9.99910013e-01 -2.78759368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.656559995 meters 0.01421650610796564 Centerline is valid? [True, True] Translation: X:-42.95, Y:-259.34, Z:-2.79 [[-6.94817448e-01 -7.19127179e-01 9.20948449e-03 -4.29532737e+01] [ 7.19060707e-01 -6.94878457e-01 -9.77899539e-03 -2.59344897e+02] [ 1.34318137e-02 -1.72438185e-04 9.99909774e-01 -2.78708814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.6865599949999 meters 0.014596384093897801 Centerline is valid? [True, True] Translation: X:-42.97, Y:-259.32, Z:-2.79 [[-6.96119221e-01 -7.17868460e-01 9.10521732e-03 -4.29717498e+01] [ 7.17803447e-01 -6.96178740e-01 -9.66297639e-03 -2.59323718e+02] [ 1.32756047e-02 -1.90827213e-04 9.99911857e-01 -2.78673498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.7165599949999 meters 0.014693162269975742 Centerline is valid? [True, True] Translation: X:-42.99, Y:-259.30, Z:-2.79 [[-6.96544891e-01 -7.17453013e-01 9.29455309e-03 -4.29905595e+01] [ 7.17385313e-01 -6.96606873e-01 -9.85786435e-03 -2.59304220e+02] [ 1.35472040e-02 -1.98669169e-04 9.99908213e-01 -2.78694667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.746559995 meters 0.014477046038357106 Centerline is valid? [True, True] Translation: X:-43.01, Y:-259.29, Z:-2.79 [[-6.96261191e-01 -7.17725326e-01 9.52421458e-03 -4.30106393e+01] [ 7.17654352e-01 -6.96326302e-01 -1.00951454e-02 -2.59285494e+02] [ 1.38775027e-02 -1.93763944e-04 9.99903684e-01 -2.78648140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.776559995 meters 0.014660177978356594 Centerline is valid? [True, True] Translation: X:-43.03, Y:-259.27, Z:-2.79 [[-6.95582239e-01 -7.18376507e-01 1.00271249e-02 -4.30294394e+01] [ 7.18297982e-01 -6.95654483e-01 -1.06230789e-02 -2.59267586e+02] [ 1.46067847e-02 -1.86761410e-04 9.99893298e-01 -2.78750525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.8065599949999 meters 0.014106205480091052 Centerline is valid? [True, True] Translation: X:-43.05, Y:-259.25, Z:-2.79 [[-6.92702506e-01 -7.21145030e-01 1.06340993e-02 -4.30531430e+01] [ 7.21057130e-01 -6.92784114e-01 -1.12599766e-02 -2.59251283e+02] [ 1.54872112e-02 -1.32020883e-04 9.99880057e-01 -2.78786610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.8365599949999 meters 0.014073590454482095 Centerline is valid? [True, True] Translation: X:-43.07, Y:-259.23, Z:-2.79 [[-6.90984409e-01 -7.22782353e-01 1.12346709e-02 -4.30731266e+01] [ 7.22684584e-01 -6.91075728e-01 -1.18882296e-02 -2.59234202e+02] [ 1.63566110e-02 -9.54578171e-05 9.99866217e-01 -2.78814673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.866559995 meters 0.013824589857526725 Centerline is valid? [True, True] Translation: X:-43.10, Y:-259.22, Z:-2.79 [[-6.86592592e-01 -7.26947995e-01 1.17143330e-02 -4.30970060e+01] [ 7.26842421e-01 -6.86692517e-01 -1.23888366e-02 -2.59217631e+02] [ 1.70501848e-02 8.39071256e-06 9.99854635e-01 -2.78632784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.896559995 meters 0.01414370134243457 Centerline is valid? [True, True] Translation: X:-43.12, Y:-259.20, Z:-2.79 [[-6.84428253e-01 -7.28983722e-01 1.18616438e-02 -4.31175370e+01] [ 7.28875924e-01 -6.84531028e-01 -1.25363207e-02 -2.59200763e+02] [ 1.72584369e-02 6.54545342e-05 9.99851060e-01 -2.78703354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.9265599949999 meters 0.014450752034672457 Centerline is valid? [True, True] Translation: X:-43.14, Y:-259.18, Z:-2.79 [[-6.82077671e-01 -7.31186964e-01 1.16479040e-02 -4.31391671e+01] [ 7.31083462e-01 -6.82177109e-01 -1.23029668e-02 -2.59183181e+02] [ 1.69417024e-02 1.24011065e-04 9.99856471e-01 -2.78672387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.9565599949999 meters 0.015243562679388261 Centerline is valid? [True, True] Translation: X:-43.16, Y:-259.17, Z:-2.79 [[-6.77664452e-01 -7.35286709e-01 1.11510610e-02 -4.31635574e+01] [ 7.35192504e-01 -6.77756156e-01 -1.17717946e-02 -2.59167815e+02] [ 1.62133443e-02 2.20849707e-04 9.99868531e-01 -2.78582826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.986559995 meters 0.015960682018282137 Centerline is valid? [True, True] Translation: X:-43.19, Y:-259.15, Z:-2.79 [[-6.75834180e-01 -7.36975572e-01 1.07316713e-02 -4.31852411e+01] [ 7.36888633e-01 -6.75919331e-01 -1.13225737e-02 -2.59150515e+02] [ 1.55982043e-02 2.55864268e-04 9.99878308e-01 -2.78588328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.016559995 meters 0.01576093498154478 Centerline is valid? [True, True] Translation: X:-43.21, Y:-259.13, Z:-2.78 [[-6.74390995e-01 -7.38299756e-01 1.05003248e-02 -4.32054392e+01] [ 7.38216780e-01 -6.74472675e-01 -1.10723056e-02 -2.59131190e+02] [ 1.52568627e-02 2.84452786e-04 9.99883567e-01 -2.78401596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.0465599949999 meters 0.015946895858067467 Centerline is valid? [True, True] Translation: X:-43.23, Y:-259.11, Z:-2.78 [[-6.73116800e-01 -7.39466459e-01 1.01553343e-02 -4.32259310e+01] [ 7.39389068e-01 -6.73193333e-01 -1.07024698e-02 -2.59112309e+02] [ 1.47506209e-02 3.04730947e-04 9.99891157e-01 -2.78305772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.0765599949999 meters 0.017319634157058676 Centerline is valid? [True, True] Translation: X:-43.25, Y:-259.10, Z:-2.78 [[-6.70823685e-01 -7.41552251e-01 9.78993669e-03 -4.32477207e+01] [ 7.41480611e-01 -6.70895031e-01 -1.03131468e-02 -2.59096000e+02] [ 1.42157571e-02 3.40745098e-04 9.99898893e-01 -2.78284195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.106559995 meters 0.017873328996915145 Centerline is valid? [True, True] Translation: X:-43.27, Y:-259.08, Z:-2.78 [[-6.70225541e-01 -7.42096876e-01 9.48424828e-03 -4.32677833e+01] [ 7.42029775e-01 -6.70292554e-01 -9.98529315e-03 -2.59077936e+02] [ 1.37672759e-02 3.45196105e-04 9.99905167e-01 -2.78285941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.136559995 meters 0.0170332303655178 Centerline is valid? [True, True] Translation: X:-43.29, Y:-259.06, Z:-2.78 [[-6.69603302e-01 -7.42662859e-01 9.12665222e-03 -4.32869508e+01] [ 7.42600847e-01 -6.69665407e-01 -9.60330819e-03 -2.59056942e+02] [ 1.32438236e-02 3.47052798e-04 9.99912237e-01 -2.78139384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.166559995 meters 0.019032407561791146 Centerline is valid? [True, True] Translation: X:-43.31, Y:-259.04, Z:-2.78 [[-6.68365578e-01 -7.43776143e-01 9.19262383e-03 -4.33096477e+01] [ 7.43713396e-01 -6.68428687e-01 -9.66825760e-03 -2.59041916e+02] [ 1.33356328e-02 3.74746912e-04 9.99911006e-01 -2.78317202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.1965599949999 meters 0.01785781646475494 Centerline is valid? [True, True] Translation: X:-43.33, Y:-259.02, Z:-2.78 [[-6.67980673e-01 -7.44114531e-01 9.76657554e-03 -4.33283489e+01] [ 7.44043823e-01 -6.68051942e-01 -1.02660616e-02 -2.59021453e+02] [ 1.41637054e-02 4.09229494e-04 9.99899606e-01 -2.78282315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.226559995 meters 0.018776462064329615 Centerline is valid? [True, True] Translation: X:-43.35, Y:-259.00, Z:-2.78 [[-6.67808539e-01 -7.44260621e-01 1.03867128e-02 -4.33489471e+01] [ 7.44180733e-01 -6.67889163e-01 -1.09133951e-02 -2.59003390e+02] [ 1.50595831e-02 4.41533099e-04 9.99886501e-01 -2.78463924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.256559995 meters 0.019446926461811103 Centerline is valid? [True, True] Translation: X:-43.37, Y:-258.99, Z:-2.79 [[-6.67715523e-01 -7.44317402e-01 1.21484942e-02 -4.33695691e+01] [ 7.44208214e-01 -6.67825826e-01 -1.27593558e-02 -2.58985257e+02] [ 1.76100888e-02 5.21389255e-04 9.99844795e-01 -2.78742896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.286559995 meters 0.01779265039855706 Centerline is valid? [True, True] Translation: X:-43.39, Y:-258.96, Z:-2.79 [[-6.68328777e-01 -7.43758100e-01 1.26702426e-02 -4.33868977e+01] [ 7.43639370e-01 -6.68448655e-01 -1.32997297e-02 -2.58963367e+02] [ 1.83611883e-02 5.33499131e-04 9.99831277e-01 -2.78668882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.3165599949999 meters 0.01803163863668048 Centerline is valid? [True, True] Translation: X:-43.41, Y:-258.94, Z:-2.79 [[-6.69064091e-01 -7.43092517e-01 1.29132971e-02 -4.34056481e+01] [ 7.42969215e-01 -6.69188486e-01 -1.35468071e-02 -2.58944333e+02] [ 1.87079608e-02 5.30500024e-04 9.99824850e-01 -2.78745949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.346559995 meters 0.016941405890150123 Centerline is valid? [True, True] Translation: X:-43.42, Y:-258.92, Z:-2.79 [[-6.70989858e-01 -7.41361399e-01 1.24854809e-02 -4.34233727e+01] [ 7.41245968e-01 -6.71105844e-01 -1.30904803e-02 -2.58922640e+02] [ 1.80838560e-02 4.71232879e-04 9.99836363e-01 -2.78677063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.376559995 meters 0.017202526896838034 Centerline is valid? [True, True] Translation: X:-43.44, Y:-258.90, Z:-2.79 [[-6.72204447e-01 -7.40266857e-01 1.20897132e-02 -4.34421683e+01] [ 7.40158577e-01 -6.72313017e-01 -1.26684064e-02 -2.58903241e+02] [ 1.75060729e-02 4.32545793e-04 9.99846663e-01 -2.78659745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.406559995 meters 0.017013245141497886 Centerline is valid? [True, True] Translation: X:-43.46, Y:-258.88, Z:-2.79 [[-6.73486877e-01 -7.39112803e-01 1.13000865e-02 -4.34607331e+01] [ 7.39018150e-01 -6.73581562e-01 -1.18344413e-02 -2.58882923e+02] [ 1.63585170e-02 3.80628113e-04 9.99866118e-01 -2.78621669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.4365599949999 meters 0.016216260834586278 Centerline is valid? [True, True] Translation: X:-43.48, Y:-258.86, Z:-2.78 [[-6.75145922e-01 -7.37607276e-01 1.06531318e-02 -4.34789342e+01] [ 7.37523060e-01 -6.75229885e-01 -1.11506974e-02 -2.58860980e+02] [ 1.54181486e-02 3.28582492e-04 9.99881079e-01 -2.78495312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.4665599949999 meters 0.01581755993351757 Centerline is valid? [True, True] Translation: X:-43.50, Y:-258.84, Z:-2.78 [[-6.76726191e-01 -7.36161774e-01 1.03684734e-02 -4.34969785e+01] [ 7.36081918e-01 -6.76805554e-01 -1.08467541e-02 -2.58839871e+02] [ 1.50024061e-02 2.91763221e-04 9.99887415e-01 -2.78452964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.496559995 meters 0.014628050679429596 Centerline is valid? [True, True] Translation: X:-43.51, Y:-258.82, Z:-2.78 [[-6.80453420e-01 -7.32725006e-01 9.85944995e-03 -4.35136874e+01] [ 7.32652519e-01 -6.80524813e-01 -1.03084536e-02 -2.58817006e+02] [ 1.42628620e-02 2.09128362e-04 9.99898258e-01 -2.78348213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.526559995 meters 0.014217110857122463 Centerline is valid? [True, True] Translation: X:-43.53, Y:-258.80, Z:-2.78 [[-6.82777743e-01 -7.30562546e-01 9.63955407e-03 -4.35311246e+01] [ 7.30493117e-01 -6.82845766e-01 -1.00730800e-02 -2.58796475e+02] [ 1.39413437e-02 1.63953062e-04 9.99902801e-01 -2.78407915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.5565599949999 meters 0.013668826791543263 Centerline is valid? [True, True] Translation: X:-43.55, Y:-258.77, Z:-2.78 [[-6.85197107e-01 -7.28294486e-01 9.59515859e-03 -4.35489091e+01] [ 7.28225548e-01 -6.85264276e-01 -1.00211391e-02 -2.58774312e+02] [ 1.38735597e-02 1.20984111e-04 9.99903750e-01 -2.78377164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.5865599949999 meters 0.013230005420162965 Centerline is valid? [True, True] Translation: X:-43.56, Y:-258.75, Z:-2.78 [[-6.90649621e-01 -7.23122664e-01 9.83430823e-03 -4.35641186e+01] [ 7.23049799e-01 -6.90719633e-01 -1.02652849e-02 -2.58751160e+02] [ 1.42158100e-02 2.09794592e-05 9.99898950e-01 -2.78452623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.616559995 meters 0.013183157775164819 Centerline is valid? [True, True] Translation: X:-43.58, Y:-258.73, Z:-2.78 [[-6.93639294e-01 -7.20251751e-01 1.00967989e-02 -4.35811407e+01] [ 7.20174734e-01 -6.93712775e-01 -1.05327533e-02 -2.58729406e+02] [ 1.45905124e-02 -3.44720936e-05 9.99893552e-01 -2.78404888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.646559995 meters 0.013505582027477262 Centerline is valid? [True, True] Translation: X:-43.60, Y:-258.71, Z:-2.78 [[-6.96837713e-01 -7.17154586e-01 1.03199370e-02 -4.35988841e+01] [ 7.17073874e-01 -6.96914120e-01 -1.07595992e-02 -2.58707266e+02] [ 1.49084058e-02 -9.75373107e-05 9.99888859e-01 -2.78426747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.6765599949999 meters 0.014882479676235337 Centerline is valid? [True, True] Translation: X:-43.61, Y:-258.68, Z:-2.78 [[-7.02424567e-01 -7.11678313e-01 1.06633021e-02 -4.36141210e+01] [ 7.11591604e-01 -7.02505468e-01 -1.11111509e-02 -2.58683975e+02] [ 1.53985932e-02 -2.16829102e-04 9.99881411e-01 -2.78486273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.7065599949999 meters 0.015721839789840913 Centerline is valid? [True, True] Translation: X:-43.63, Y:-258.66, Z:-2.78 [[-7.05264797e-01 -7.08866712e-01 1.04666339e-02 -4.36314958e+01] [ 7.08782956e-01 -7.05342408e-01 -1.08999458e-02 -2.58662463e+02] [ 1.51091695e-02 -2.68776412e-04 9.99885814e-01 -2.78458423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.736559995 meters 0.015721839789840913 Centerline is valid? [True, True] Translation: X:-43.65, Y:-258.64, Z:-2.78 [[-7.05480276e-01 -7.08652214e-01 1.04699476e-02 -4.36501138e+01] [ 7.08568482e-01 -7.05557912e-01 -1.08967629e-02 -2.58643235e+02] [ 1.51091695e-02 -2.68776453e-04 9.99885814e-01 -2.78458417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.766559995 meters 0.016197084971852852 Centerline is valid? [True, True] Translation: X:-43.67, Y:-258.62, Z:-2.78 [[-7.08146946e-01 -7.05991695e-01 1.01798449e-02 -4.36682077e+01] [ 7.05912354e-01 -7.08220043e-01 -1.05886359e-02 -2.58622455e+02] [ 1.46850593e-02 -3.12231902e-04 9.99892120e-01 -2.78400550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.7965599949999 meters 0.016863685391351507 Centerline is valid? [True, True] Translation: X:-43.69, Y:-258.60, Z:-2.78 [[-7.10368702e-01 -7.03760677e-01 9.85981088e-03 -4.36866754e+01] [ 7.03686112e-01 -7.10437043e-01 -1.02501111e-02 -2.58600798e+02] [ 1.42184000e-02 -3.43146113e-04 9.99898855e-01 -2.78335293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.8265599949999 meters 0.017759982278199866 Centerline is valid? [True, True] Translation: X:-43.71, Y:-258.58, Z:-2.78 [[-7.12200045e-01 -7.01909667e-01 9.69102152e-03 -4.37052655e+01] [ 7.01837538e-01 -7.12265879e-01 -1.00691492e-02 -2.58579332e+02] [ 1.39702171e-02 -3.69725802e-04 9.99902343e-01 -2.78340489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.856559995 meters 0.018619940657594508 Centerline is valid? [True, True] Translation: X:-43.72, Y:-258.56, Z:-2.78 [[-7.14797690e-01 -6.99258760e-01 1.00721255e-02 -4.37240251e+01] [ 6.99180666e-01 -7.14868518e-01 -1.04593668e-02 -2.58558831e+02] [ 1.45140493e-02 -4.34095830e-04 9.99894571e-01 -2.78343263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.886559995 meters 0.019153897762003876 Centerline is valid? [True, True] Translation: X:-43.74, Y:-258.54, Z:-2.78 [[-7.15861940e-01 -6.98166341e-01 1.02686119e-02 -4.37431165e+01] [ 6.98085143e-01 -7.15935436e-01 -1.06576109e-02 -2.58538698e+02] [ 1.47924483e-02 -4.61012585e-04 9.99890480e-01 -2.78404856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.916559995 meters 0.018766008507618986 Centerline is valid? [True, True] Translation: X:-43.76, Y:-258.52, Z:-2.78 [[-7.17117448e-01 -6.96876229e-01 1.02999049e-02 -4.37638035e+01] [ 6.96794491e-01 -7.17191248e-01 -1.06841538e-02 -2.58519735e+02] [ 1.48325344e-02 -4.84876098e-04 9.99889874e-01 -2.78421337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.9465599949999 meters 0.019440735418925114 Centerline is valid? [True, True] Translation: X:-43.78, Y:-258.50, Z:-2.78 [[-7.17423165e-01 -6.96561630e-01 1.02906969e-02 -4.37819879e+01] [ 6.96480082e-01 -7.17496800e-01 -1.06694478e-02 -2.58500438e+02] [ 1.48154700e-02 -4.87243609e-04 9.99890126e-01 -2.78473940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.976559995 meters 0.0198951280815176 Centerline is valid? [True, True] Translation: X:-43.80, Y:-258.48, Z:-2.79 [[-7.17659243e-01 -6.96321577e-01 1.00733831e-02 -4.38004341e+01] [ 6.96243511e-01 -7.17729778e-01 -1.04374124e-02 -2.58481641e+02] [ 1.44977625e-02 -4.76977830e-04 9.99894788e-01 -2.78513443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.006559995 meters 0.02091239188609371 Centerline is valid? [True, True] Translation: X:-43.82, Y:-258.46, Z:-2.79 [[-7.16601106e-01 -6.97421187e-01 9.30282047e-03 -4.38194440e+01] [ 6.97354766e-01 -7.16661367e-01 -9.63408528e-03 -2.58462455e+02] [ 1.33859872e-02 -4.16429975e-04 9.99910317e-01 -2.78562085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.036559995 meters 0.018091097013187413 Centerline is valid? [True, True] Translation: X:-43.84, Y:-258.45, Z:-2.78 [[-7.15825884e-01 -6.98223799e-01 8.76524759e-03 -4.38426398e+01] [ 6.98164956e-01 -7.15879449e-01 -9.07238380e-03 -2.58446339e+02] [ 1.26094149e-02 -3.74658455e-04 9.99920428e-01 -2.78388788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.0665599949999 meters 0.01687023315132464 Centerline is valid? [True, True] Translation: X:-43.87, Y:-258.43, Z:-2.78 [[-7.12909638e-01 -7.01212400e-01 7.81143656e-03 -4.38653493e+01] [ 7.01165897e-01 -7.12952376e-01 -8.08051340e-03 -2.58429401e+02] [ 1.12353385e-02 -2.83562958e-04 9.99936841e-01 -2.78302889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.096559995 meters 0.015640727705061336 Centerline is valid? [True, True] Translation: X:-43.89, Y:-258.41, Z:-2.78 [[-7.11067497e-01 -7.03086239e-01 7.26325207e-03 -4.38877578e+01] [ 7.03046176e-01 -7.11104553e-01 -7.50922927e-03 -2.58411743e+02] [ 1.04445674e-02 -2.33167265e-04 9.99945427e-01 -2.78250921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.126559995 meters 0.015953619654708276 Centerline is valid? [True, True] Translation: X:-43.91, Y:-258.39, Z:-2.78 [[-7.08843910e-01 -7.05330852e-01 6.97852814e-03 -4.39074860e+01] [ 7.05294006e-01 -7.08878236e-01 -7.21190406e-03 -2.58393734e+02] [ 1.00337051e-02 -1.90200203e-04 9.99949643e-01 -2.78326090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.156559995 meters 0.014339521426880691 Centerline is valid? [True, True] Translation: X:-43.93, Y:-258.38, Z:-2.78 [[-7.06320734e-01 -7.07861645e-01 6.55078601e-03 -4.39308479e+01] [ 7.07829321e-01 -7.06351097e-01 -6.76614596e-03 -2.58377683e+02] [ 9.41665009e-03 -1.42230768e-04 9.99955652e-01 -2.78258403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.1865599949999 meters 0.012922274377071523 Centerline is valid? [True, True] Translation: X:-43.96, Y:-258.36, Z:-2.78 [[-7.00565697e-01 -7.13562987e-01 5.96391146e-03 -4.39563803e+01] [ 7.13536430e-01 -7.00591079e-01 -6.15656033e-03 -2.58364545e+02] [ 8.57135674e-03 -5.76068937e-05 9.99963264e-01 -2.78307828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.2165599949999 meters 0.012518233018180733 Centerline is valid? [True, True] Translation: X:-43.98, Y:-258.35, Z:-2.78 [[-6.97650063e-01 -7.16415983e-01 5.70344120e-03 -4.39785306e+01] [ 7.16391819e-01 -6.97673376e-01 -5.88411556e-03 -2.58348546e+02] [ 8.19461351e-03 -1.91549787e-05 9.99966423e-01 -2.78310073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.246559995 meters 0.012443803779621787 Centerline is valid? [True, True] Translation: X:-44.00, Y:-258.33, Z:-2.78 [[-6.95045276e-01 -7.18944200e-01 5.59478330e-03 -4.40004267e+01] [ 7.18921057e-01 -6.95067793e-01 -5.76853191e-03 -2.58332421e+02] [ 8.03600624e-03 1.28166715e-05 9.99967711e-01 -2.78323853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.276559995 meters 0.012729092049457836 Centerline is valid? [True, True] Translation: X:-44.02, Y:-258.32, Z:-2.78 [[-6.92450796e-01 -7.21444131e-01 5.50098551e-03 -4.40219703e+01] [ 7.21421863e-01 -6.92472645e-01 -5.66842242e-03 -2.58315944e+02] [ 7.89873207e-03 4.34275931e-05 9.99968804e-01 -2.78371064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.3065599949999 meters 0.013567614549261475 Centerline is valid? [True, True] Translation: X:-44.05, Y:-258.30, Z:-2.78 [[-6.88201311e-01 -7.25494429e-01 6.06535996e-03 -4.40461662e+01] [ 7.25467544e-01 -6.88228031e-01 -6.24658825e-03 -2.58299911e+02] [ 8.70621572e-03 1.01311565e-04 9.99962095e-01 -2.78393890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.3365599949999 meters 0.014108112321255408 Centerline is valid? [True, True] Translation: X:-44.07, Y:-258.28, Z:-2.78 [[-6.86515062e-01 -7.27086751e-01 6.47505839e-03 -4.40672573e+01] [ 7.27056216e-01 -6.86545584e-01 -6.66486043e-03 -2.58281773e+02] [ 9.29135446e-03 1.32204374e-04 9.99956826e-01 -2.78381029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.366559995 meters 0.014204666363085603 Centerline is valid? [True, True] Translation: X:-44.09, Y:-258.26, Z:-2.78 [[-6.85039159e-01 -7.28475476e-01 6.69565324e-03 -4.40876783e+01] [ 7.28442928e-01 -6.85071862e-01 -6.88801738e-03 -2.58262788e+02] [ 9.60475537e-03 1.58839625e-04 9.99953861e-01 -2.78346905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.396559995 meters 0.01528340669678087 Centerline is valid? [True, True] Translation: X:-44.11, Y:-258.25, Z:-2.78 [[-6.82666898e-01 -7.30690338e-01 7.58534414e-03 -4.41099466e+01] [ 7.30648752e-01 -6.82709003e-01 -7.79860879e-03 -2.58246487e+02] [ 1.08769508e-02 2.18370162e-04 9.99940820e-01 -2.78484887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.4265599949999 meters 0.01638314076407208 Centerline is valid? [True, True] Translation: X:-44.13, Y:-258.23, Z:-2.79 [[-6.81761379e-01 -7.31531854e-01 7.91002272e-03 -4.41306778e+01] [ 7.31486727e-01 -6.81807221e-01 -8.12910419e-03 -2.58229348e+02] [ 1.13398093e-02 2.43967354e-04 9.99935673e-01 -2.78616725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.4565599949999 meters 0.016669121392723273 Centerline is valid? [True, True] Translation: X:-44.15, Y:-258.21, Z:-2.79 [[-6.81377802e-01 -7.31881736e-01 8.56824143e-03 -4.41512276e+01] [ 7.31828872e-01 -6.81431617e-01 -8.80078589e-03 -2.58209943e+02] [ 1.22798051e-02 2.73826307e-04 9.99924563e-01 -2.78710594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.486559995 meters 0.016752913184206984 Centerline is valid? [True, True] Translation: X:-44.17, Y:-258.19, Z:-2.79 [[-6.81159093e-01 -7.32077583e-01 9.20340840e-03 -4.41706297e+01] [ 7.32016676e-01 -6.81221198e-01 -9.44803442e-03 -2.58190253e+02] [ 1.31862511e-02 3.01433876e-04 9.99913012e-01 -2.78764495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.516559995 meters 0.01566125022807585 Centerline is valid? [True, True] Translation: X:-44.19, Y:-258.17, Z:-2.79 [[-6.81538194e-01 -7.31711160e-01 1.02209917e-02 -4.41882855e+01] [ 7.31636085e-01 -6.81614751e-01 -1.04866698e-02 -2.58168352e+02] [ 1.46399920e-02 3.30980301e-04 9.99892775e-01 -2.78747414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.5465599949999 meters 0.015741518705387546 Centerline is valid? [True, True] Translation: X:-44.21, Y:-258.15, Z:-2.79 [[-6.82190266e-01 -7.31103067e-01 1.02345836e-02 -4.42066645e+01] [ 7.31027815e-01 -6.82266958e-01 -1.04943804e-02 -2.58148738e+02] [ 1.46551919e-02 3.22601135e-04 9.99892555e-01 -2.78765124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.5765599949999 meters 0.015948179034054776 Centerline is valid? [True, True] Translation: X:-44.22, Y:-258.13, Z:-2.79 [[-6.82927695e-01 -7.30413016e-01 1.03242226e-02 -4.42247558e+01] [ 7.30336454e-01 -6.83005656e-01 -1.05800823e-02 -2.58129122e+02] [ 1.47793322e-02 3.14724902e-04 9.99890730e-01 -2.78772609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.606559995 meters 0.015481049110319337 Centerline is valid? [True, True] Translation: X:-44.24, Y:-258.11, Z:-2.79 [[-6.84858988e-01 -7.28610289e-01 9.75771491e-03 -4.42412446e+01] [ 7.28541790e-01 -6.84928446e-01 -9.99420909e-03 -2.58107048e+02] [ 1.39652201e-02 2.64279163e-04 9.99902447e-01 -2.78662380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.636559995 meters 0.014683827604855999 Centerline is valid? [True, True] Translation: X:-44.26, Y:-258.08, Z:-2.79 [[-6.86186948e-01 -7.27364145e-01 9.42722057e-03 -4.42588115e+01] [ 7.27300163e-01 -6.86251664e-01 -9.65022564e-03 -2.58084395e+02] [ 1.34886739e-02 2.34560175e-04 9.99908996e-01 -2.78509337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.666559995 meters 0.014253573082268291 Centerline is valid? [True, True] Translation: X:-44.28, Y:-258.06, Z:-2.78 [[-6.88155045e-01 -7.25506014e-01 9.14643626e-03 -4.42756392e+01] [ 7.25445688e-01 -6.88215798e-01 -9.35781866e-03 -2.58060931e+02] [ 1.30838757e-02 1.95612620e-04 9.99914383e-01 -2.78453323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.6965599949999 meters 0.013905800557485654 Centerline is valid? [True, True] Translation: X:-44.29, Y:-258.04, Z:-2.78 [[-6.89178574e-01 -7.24536485e-01 8.93170460e-03 -4.42940759e+01] [ 7.24478943e-01 -6.89236426e-01 -9.13291351e-03 -2.58039298e+02] [ 1.27731852e-02 1.76623595e-04 9.99918404e-01 -2.78415719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.726559995 meters 0.01406724979196963 Centerline is valid? [True, True] Translation: X:-44.31, Y:-258.02, Z:-2.78 [[-6.89881137e-01 -7.23868214e-01 8.87839790e-03 -4.43119196e+01] [ 7.23811371e-01 -6.89938244e-01 -9.07299180e-03 -2.58019412e+02] [ 1.26931966e-02 1.66999453e-04 9.99919424e-01 -2.78451498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.756559995 meters 0.013963438275256172 Centerline is valid? [True, True] Translation: X:-44.33, Y:-258.00, Z:-2.79 [[-6.90906858e-01 -7.22887633e-01 9.01021010e-03 -4.43286066e+01] [ 7.22829084e-01 -6.90965590e-01 -9.20162660e-03 -2.57998553e+02] [ 1.28774872e-02 1.55374984e-04 9.99917070e-01 -2.78501171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.786559995 meters 0.013736998809675192 Centerline is valid? [True, True] Translation: X:-44.35, Y:-257.98, Z:-2.78 [[-6.91630027e-01 -7.22194744e-01 9.09161358e-03 -4.43465727e+01] [ 7.22135140e-01 -6.91689764e-01 -9.27955001e-03 -2.57977535e+02] [ 1.29902183e-02 1.47358218e-04 9.99915613e-01 -2.78481036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.8165599949999 meters 0.013582425645927829 Centerline is valid? [True, True] Translation: X:-44.36, Y:-257.96, Z:-2.78 [[-6.92338911e-01 -7.21512199e-01 9.32620054e-03 -4.43649359e+01] [ 7.21449489e-01 -6.92401709e-01 -9.51363964e-03 -2.57956405e+02] [ 1.33216842e-02 1.41719696e-04 9.99911252e-01 -2.78499072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.846559995 meters 0.013919064518178557 Centerline is valid? [True, True] Translation: X:-44.38, Y:-257.94, Z:-2.79 [[-6.93233781e-01 -7.20650578e-01 9.46940888e-03 -4.43824615e+01] [ 7.20585932e-01 -6.93298440e-01 -9.65333342e-03 -2.57937308e+02] [ 1.35218067e-02 1.31506000e-04 9.99908568e-01 -2.78654474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.876559995 meters 0.013439475532310164 Centerline is valid? [True, True] Translation: X:-44.40, Y:-257.92, Z:-2.79 [[-6.94138306e-01 -7.19777519e-01 9.60909044e-03 -4.43999975e+01] [ 7.19710944e-01 -6.94204803e-01 -9.79022732e-03 -2.57915124e+02] [ 1.37174623e-02 1.19995738e-04 9.99905904e-01 -2.78531841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.906559995 meters 0.01326681793215469 Centerline is valid? [True, True] Translation: X:-44.42, Y:-257.89, Z:-2.79 [[-6.95776715e-01 -7.18193053e-01 9.66961299e-03 -4.44150880e+01] [ 7.18125550e-01 -6.95843897e-01 -9.84708530e-03 -2.57893785e+02] [ 1.38006495e-02 9.26234821e-05 9.99904762e-01 -2.78592507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.9365599949999 meters 0.013198325787757481 Centerline is valid? [True, True] Translation: X:-44.43, Y:-257.87, Z:-2.79 [[-6.96871296e-01 -7.17128578e-01 9.84879756e-03 -4.44324214e+01] [ 7.17058532e-01 -6.96940885e-01 -1.00232540e-02 -2.57872869e+02] [ 1.40519916e-02 7.72463223e-05 9.99901263e-01 -2.78561820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.9665599949999 meters 0.013068914361701546 Centerline is valid? [True, True] Translation: X:-44.45, Y:-257.85, Z:-2.79 [[-6.98724949e-01 -7.15329206e-01 9.35805931e-03 -4.44478885e+01] [ 7.15265883e-01 -6.98787611e-01 -9.51788844e-03 -2.57850565e+02] [ 1.33477195e-02 4.31144453e-05 9.99910914e-01 -2.78548189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.996559995 meters 0.013001418684472481 Centerline is valid? [True, True] Translation: X:-44.47, Y:-257.83, Z:-2.79 [[-6.99734236e-01 -7.14341932e-01 9.35967556e-03 -4.44657598e+01] [ 7.14278578e-01 -6.99796830e-01 -9.51366710e-03 -2.57829258e+02] [ 1.33458826e-02 2.83771712e-05 9.99910939e-01 -2.78535812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.026559995 meters 0.013095985375919432 Centerline is valid? [True, True] Translation: X:-44.48, Y:-257.81, Z:-2.79 [[-7.00858333e-01 -7.13243095e-01 9.04903005e-03 -4.44836919e+01] [ 7.13183858e-01 -7.00916748e-01 -9.19226585e-03 -2.57808043e+02] [ 1.28989369e-02 1.11460448e-05 9.99916805e-01 -2.78528791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.0565599949999 meters 0.013118666481464075 Centerline is valid? [True, True] Translation: X:-44.50, Y:-257.79, Z:-2.79 [[-7.02481075e-01 -7.11651565e-01 8.50819710e-03 -4.44990759e+01] [ 7.11599148e-01 -7.02532597e-01 -8.63731387e-03 -2.57786477e+02] [ 1.21240437e-02 -1.31237310e-05 9.99926501e-01 -2.78553926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.0865599949999 meters 0.013194475377837207 Centerline is valid? [True, True] Translation: X:-44.52, Y:-257.77, Z:-2.79 [[-7.03108729e-01 -7.11030690e-01 8.57158064e-03 -4.45160653e+01] [ 7.10977510e-01 -7.03160975e-01 -8.69613038e-03 -2.57766537e+02] [ 1.22104166e-02 -2.01241147e-05 9.99925450e-01 -2.78563694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.116559995 meters 0.013294700619436321 Centerline is valid? [True, True] Translation: X:-44.53, Y:-257.75, Z:-2.79 [[-7.03831239e-01 -7.10315665e-01 8.55815213e-03 -4.45330926e+01] [ 7.10262666e-01 -7.03883268e-01 -8.67703754e-03 -2.57747016e+02] [ 1.21873758e-02 -2.86341389e-05 9.99925731e-01 -2.78637591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.146559995 meters 0.013108698865664604 Centerline is valid? [True, True] Translation: X:-44.55, Y:-257.73, Z:-2.79 [[-7.04386413e-01 -7.09763286e-01 8.70977974e-03 -4.45520198e+01] [ 7.09708410e-01 -7.04440258e-01 -8.82582274e-03 -2.57725697e+02] [ 1.23997644e-02 -3.53856861e-05 9.99923119e-01 -2.78532045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.1765599949999 meters 0.013375441581922639 Centerline is valid? [True, True] Translation: X:-44.57, Y:-257.71, Z:-2.79 [[-7.05011656e-01 -7.09141163e-01 8.79636099e-03 -4.45694000e+01] [ 7.09085217e-01 -7.05066528e-01 -8.90767024e-03 -2.57705313e+02] [ 1.25188153e-02 -4.26418078e-05 9.99921636e-01 -2.78646926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.2065599949999 meters 0.013313673533689525 Centerline is valid? [True, True] Translation: X:-44.59, Y:-257.68, Z:-2.79 [[-7.05878822e-01 -7.08278955e-01 8.71835455e-03 -4.45865855e+01] [ 7.08223999e-01 -7.05932659e-01 -8.82316397e-03 -2.57683389e+02] [ 1.24038326e-02 -5.35366695e-05 9.99923068e-01 -2.78570674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.236559995 meters 0.01334973775574161 Centerline is valid? [True, True] Translation: X:-44.60, Y:-257.66, Z:-2.79 [[-7.06398546e-01 -7.07765584e-01 8.30496661e-03 -4.46049553e+01] [ 7.07715743e-01 -7.06447362e-01 -8.39957100e-03 -2.57662674e+02] [ 1.18119490e-02 -5.58891254e-05 9.99930235e-01 -2.78562001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.266559995 meters 0.013396778976195102 Centerline is valid? [True, True] Translation: X:-44.62, Y:-257.64, Z:-2.79 [[-7.06788347e-01 -7.07379201e-01 8.05599598e-03 -4.46231451e+01] [ 7.07332337e-01 -7.06834254e-01 -8.14267411e-03 -2.57642383e+02] [ 1.14542122e-02 -5.68807087e-05 9.99934397e-01 -2.78509720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.2965599949999 meters 0.01344925390351087 Centerline is valid? [True, True] Translation: X:-44.64, Y:-257.62, Z:-2.79 [[-7.07164737e-01 -7.07013051e-01 7.11200639e-03 -4.46395260e+01] [ 7.06976555e-01 -7.07200497e-01 -7.18382861e-03 -2.57622144e+02] [ 1.01086750e-02 -5.21284846e-05 9.99948905e-01 -2.78509096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.3265599949999 meters 0.013388571579592385 Centerline is valid? [True, True] Translation: X:-44.66, Y:-257.60, Z:-2.79 [[-7.07381616e-01 -7.06796708e-01 7.04716716e-03 -4.46581355e+01] [ 7.06760908e-01 -7.07416717e-01 -7.11396741e-03 -2.57602247e+02] [ 1.00134126e-02 -5.16275099e-05 9.99949863e-01 -2.78511019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.356559995 meters 0.013412574563899347 Centerline is valid? [True, True] Translation: X:-44.68, Y:-257.58, Z:-2.79 [[-7.07387493e-01 -7.06794756e-01 6.64143831e-03 -4.46767107e+01] [ 7.06762998e-01 -7.07418668e-01 -6.70028817e-03 -2.57582632e+02] [ 9.43400598e-03 -4.57772012e-05 9.99955498e-01 -2.78514482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.386559995 meters 0.01323457856113846 Centerline is valid? [True, True] Translation: X:-44.70, Y:-257.57, Z:-2.79 [[-7.06153402e-01 -7.08039822e-01 5.19449760e-03 -4.46961308e+01] [ 7.08020453e-01 -7.06172507e-01 -5.23716596e-03 -2.57565527e+02] [ 7.37633345e-03 -2.04320171e-05 9.99972794e-01 -2.78511525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.416559995 meters 0.013165319827898156 Centerline is valid? [True, True] Translation: X:-44.72, Y:-257.55, Z:-2.79 [[-7.05285928e-01 -7.08906556e-01 4.82230113e-03 -4.47157481e+01] [ 7.08889905e-01 -7.05302414e-01 -4.85883433e-03 -2.57547402e+02] [ 6.84564014e-03 -8.38689677e-06 9.99976568e-01 -2.78517631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.4465599949999 meters 0.013137956228068862 Centerline is valid? [True, True] Translation: X:-44.74, Y:-257.53, Z:-2.79 [[-7.03974411e-01 -7.10211117e-01 4.49416773e-03 -4.47355784e+01] [ 7.10196699e-01 -7.03988757e-01 -4.52550478e-03 -2.57528773e+02] [ 6.37790735e-03 5.90351806e-06 9.99979661e-01 -2.78575692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.476559995 meters 0.013137956228068862 Centerline is valid? [True, True] Translation: X:-44.75, Y:-257.51, Z:-2.79 [[-7.04187351e-01 -7.09999975e-01 4.49552462e-03 -4.47545204e+01] [ 7.09985561e-01 -7.04201701e-01 -4.52415688e-03 -2.57509872e+02] [ 6.37790735e-03 5.90351675e-06 9.99979661e-01 -2.78575686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.506559995 meters 0.013186225262487333 Centerline is valid? [True, True] Translation: X:-44.77, Y:-257.49, Z:-2.79 [[-7.03879878e-01 -7.10305118e-01 4.44497024e-03 -4.47739828e+01] [ 7.10291049e-01 -7.03893912e-01 -4.47056524e-03 -2.57490564e+02] [ 6.30425286e-03 1.04816623e-05 9.99980128e-01 -2.78597422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.536559995 meters 0.013292176695985548 Centerline is valid? [True, True] Translation: X:-44.79, Y:-257.47, Z:-2.79 [[-7.03316007e-01 -7.10864075e-01 4.34293000e-03 -4.47930322e+01] [ 7.10850672e-01 -7.03329416e-01 -4.36529702e-03 -2.57470790e+02] [ 6.15764324e-03 1.69914316e-05 9.99981041e-01 -2.78643313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.5665599949999 meters 0.013315888548517075 Centerline is valid? [True, True] Translation: X:-44.81, Y:-257.45, Z:-2.79 [[-7.03065194e-01 -7.11112710e-01 4.24820192e-03 -4.48113529e+01] [ 7.11099906e-01 -7.03078028e-01 -4.26737792e-03 -2.57451933e+02] [ 6.02140411e-03 2.06510954e-05 9.99981871e-01 -2.78677471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.596559995 meters 0.013507237944574679 Centerline is valid? [True, True] Translation: X:-44.83, Y:-257.43, Z:-2.79 [[-7.01833534e-01 -7.12329951e-01 3.96627942e-03 -4.48312750e+01] [ 7.12318824e-01 -7.01844740e-01 -3.98168612e-03 -2.57434741e+02] [ 5.61998663e-03 3.07746528e-05 9.99984207e-01 -2.78681706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.626559995 meters 0.013507237944574679 Centerline is valid? [True, True] Translation: X:-44.85, Y:-257.42, Z:-2.79 [[-7.02043794e-01 -7.12122722e-01 3.96745476e-03 -4.48502482e+01] [ 7.12111597e-01 -7.02055004e-01 -3.98051499e-03 -2.57415875e+02] [ 5.61998663e-03 3.07746976e-05 9.99984207e-01 -2.78681699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.656559995 meters 0.013673749891150637 Centerline is valid? [True, True] Translation: X:-44.87, Y:-257.40, Z:-2.79 [[-7.01525471e-01 -7.12634842e-01 3.68726002e-03 -4.48705904e+01] [ 7.12625252e-01 -7.01535161e-01 -3.69717370e-03 -2.57397220e+02] [ 5.22147735e-03 3.39730809e-05 9.99986368e-01 -2.78669688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.6865599949999 meters 0.013755826710392844 Centerline is valid? [True, True] Translation: X:-44.89, Y:-257.38, Z:-2.79 [[-7.00754591e-01 -7.13394181e-01 3.42726729e-03 -4.48902276e+01] [ 7.13385915e-01 -7.00762971e-01 -3.43433929e-03 -2.57378852e+02] [ 4.85173967e-03 3.83351877e-05 9.99988230e-01 -2.78635554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.7165599949999 meters 0.013958788461614031 Centerline is valid? [True, True] Translation: X:-44.91, Y:-257.36, Z:-2.79 [[-7.00198718e-01 -7.13938899e-01 3.60616893e-03 -4.49103887e+01] [ 7.13929764e-01 -7.00208002e-01 -3.61186608e-03 -2.57361442e+02] [ 5.10372004e-03 4.55273367e-05 9.99986975e-01 -2.78674981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.746559995 meters 0.014085260888547325 Centerline is valid? [True, True] Translation: X:-44.93, Y:-257.34, Z:-2.79 [[-6.99223359e-01 -7.14893896e-01 3.66221198e-03 -4.49320858e+01] [ 7.14884499e-01 -6.99232947e-01 -3.66591747e-03 -2.57343547e+02] [ 5.18148130e-03 5.47634537e-05 9.99986575e-01 -2.78757610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.776559995 meters 0.014114640282486598 Centerline is valid? [True, True] Translation: X:-44.95, Y:-257.32, Z:-2.79 [[-6.99114127e-01 -7.15000849e-01 3.63628244e-03 -4.49530379e+01] [ 7.14991597e-01 -6.99123581e-01 -3.63790714e-03 -2.57324364e+02] [ 5.14331750e-03 5.65991195e-05 9.99986772e-01 -2.78801747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.8065599949999 meters 0.014488438585332098 Centerline is valid? [True, True] Translation: X:-44.97, Y:-257.31, Z:-2.79 [[-6.99228030e-01 -7.14888128e-01 3.88939716e-03 -4.49729299e+01] [ 7.14877551e-01 -6.99238844e-01 -3.88922699e-03 -2.57306766e+02] [ 5.49997978e-03 6.09861930e-05 9.99984873e-01 -2.78920150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.8365599949999 meters 0.014178721398737515 Centerline is valid? [True, True] Translation: X:-45.46, Y:-257.79, Z:-1.80 [[-7.62437827e-01 6.47048753e-01 4.05851585e-03 -4.54551453e+01] [ 6.47039180e-01 7.62448626e-01 -3.52025400e-03 -2.57790815e+02] [-5.37218580e-03 -5.79560390e-05 -9.99985568e-01 -1.80201834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.866559995 meters 0.014051315864395482 Centerline is valid? [True, True] Translation: X:-45.44, Y:-257.77, Z:-1.80 [[-8.05762225e-01 5.92223477e-01 4.31168161e-03 -4.54397085e+01] [ 5.92214644e-01 8.05773759e-01 -3.23502066e-03 -2.57768580e+02] [-5.39009508e-03 -5.32164614e-05 -9.99985472e-01 -1.80207033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.896559995 meters 0.014075756030607178 Centerline is valid? [True, True] Translation: X:-45.42, Y:-257.75, Z:-1.80 [[-8.45395924e-01 5.34120780e-01 4.55237585e-03 -4.54195195e+01] [ 5.34112710e-01 8.45408180e-01 -2.93652750e-03 -2.57748535e+02] [-5.41707613e-03 -5.10465790e-05 -9.99985326e-01 -1.80164174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.9265599949999 meters 0.014029229484727837 Centerline is valid? [True, True] Translation: X:-45.05, Y:-257.18, Z:-2.79 [[-7.96426831e-01 -6.04718141e-01 4.50249720e-03 -4.50460560e+01] [ 6.04708931e-01 -7.96439555e-01 -3.33819449e-03 -2.57176725e+02] [ 5.60463363e-03 6.40726103e-05 9.99984292e-01 -2.78987304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.9565599949999 meters 0.013888146588178378 Centerline is valid? [True, True] Translation: X:-45.46, Y:-257.72, Z:-1.80 [[-8.46871127e-01 5.31774743e-01 4.99166548e-03 -4.54582357e+01] [ 5.31765149e-01 8.46885837e-01 -3.19476993e-03 -2.57724532e+02] [-5.92626876e-03 -5.11646769e-05 -9.99982438e-01 -1.80010315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.986559995 meters 0.013874116191289173 Centerline is valid? [True, True] Translation: X:-45.44, Y:-257.70, Z:-1.80 [[-8.82332941e-01 4.70597849e-01 5.12312342e-03 -4.54415986e+01] [ 4.70589590e-01 8.82347813e-01 -2.78846938e-03 -2.57702111e+02] [-5.83262443e-03 -4.94698417e-05 -9.99982989e-01 -1.79972062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.016559995 meters 0.014084545444648277 Centerline is valid? [True, True] Translation: X:-45.43, Y:-257.68, Z:-1.80 [[-9.13579177e-01 4.06629512e-01 5.05245585e-03 -4.54299856e+01] [ 4.06622997e-01 9.13593147e-01 -2.30237022e-03 -2.57676958e+02] [-5.55210071e-03 -4.89527528e-05 -9.99984586e-01 -1.79910949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.0465599949999 meters 0.013931968507954634 Centerline is valid? [True, True] Translation: X:-45.14, Y:-257.06, Z:-2.79 [[-8.75557354e-01 -4.83094650e-01 4.34493559e-03 -4.51430066e+01] [ 4.83088741e-01 -8.75568135e-01 -2.38932392e-03 -2.57056328e+02] [ 4.95855676e-03 6.99933746e-06 9.99987706e-01 -2.79160135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.0765599949999 meters 0.014148265070304216 Centerline is valid? [True, True] Translation: X:-45.47, Y:-257.66, Z:-1.80 [[-9.15427422e-01 4.02460888e-01 4.22719355e-03 -4.54717596e+01] [ 4.02456371e-01 9.15437181e-01 -1.90730136e-03 -2.57659585e+02] [-4.63734435e-03 -4.47349883e-05 -9.99989247e-01 -1.79982297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.106559995 meters 0.014272136349806466 Centerline is valid? [True, True] Translation: X:-45.18, Y:-257.04, Z:-2.79 [[-8.76179503e-01 -4.81972901e-01 3.40608533e-03 -4.51834002e+01] [ 4.81969216e-01 -8.76186123e-01 -1.88477455e-03 -2.57039201e+02] [ 3.89277496e-03 -9.77255443e-06 9.99992423e-01 -2.79097779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.136559995 meters 0.014580727699107773 Centerline is valid? [True, True] Translation: X:-45.52, Y:-257.64, Z:-1.80 [[-9.18096632e-01 3.96341870e-01 3.42002224e-03 -4.55158050e+01] [ 3.96338928e-01 9.18103001e-01 -1.52770823e-03 -2.57639645e+02] [-3.74542742e-03 -4.70958271e-05 -9.99992985e-01 -1.80023922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.166559995 meters 0.01538660048550607 Centerline is valid? [True, True] Translation: X:-45.50, Y:-257.61, Z:-1.80 [[-9.44344853e-01 3.28939296e-01 3.42610811e-03 -4.55030281e+01] [ 3.28936935e-01 9.44351067e-01 -1.24736117e-03 -2.57612640e+02] [-3.64575495e-03 -5.09656035e-05 -9.99993353e-01 -1.79977230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.1965599949999 meters 0.015152861597854868 Centerline is valid? [True, True] Translation: X:-45.26, Y:-256.98, Z:-2.79 [[-9.07980035e-01 -4.19001908e-01 3.10768514e-03 -4.52633959e+01] [ 4.18999575e-01 -9.07985353e-01 -1.39838526e-03 -2.56977534e+02] [ 3.40765868e-03 3.24128565e-05 9.99994193e-01 -2.79091773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.226559995 meters 0.015733780987929703 Centerline is valid? [True, True] Translation: X:-45.55, Y:-257.60, Z:-1.80 [[-9.47047535e-01 3.21079448e-01 2.99243802e-03 -4.55461941e+01] [ 3.21077648e-01 9.47052261e-01 -1.07690408e-03 -2.57596018e+02] [-3.17976696e-03 -5.90743971e-05 -9.99994943e-01 -1.80010942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.256559995 meters 0.016274083327337388 Centerline is valid? [True, True] Translation: X:-45.54, Y:-257.57, Z:-1.80 [[-9.67799630e-01 2.51702445e-01 3.12329749e-03 -4.55403209e+01] [ 2.51700917e-01 9.67804668e-01 -8.79619206e-04 -2.57566848e+02] [-3.24414419e-03 -6.51583017e-05 -9.99994736e-01 -1.79996368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.286559995 meters 0.016685779479696707 Centerline is valid? [True, True] Translation: X:-45.54, Y:-257.54, Z:-1.80 [[-9.83498701e-01 1.80883889e-01 3.36495165e-03 -4.55439907e+01] [ 1.80882570e-01 9.83504455e-01 -6.94757706e-04 -2.57536040e+02] [-3.43511541e-03 -7.46321984e-05 -9.99994097e-01 -1.79965952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.3165599949999 meters 0.0170944705390147 Centerline is valid? [True, True] Translation: X:-45.53, Y:-257.51, Z:-1.80 [[-9.94169183e-01 1.07759721e-01 3.93424234e-03 -4.55347682e+01] [ 1.07758486e-01 9.94176963e-01 -5.25095412e-04 -2.57507662e+02] [-3.96791724e-03 -9.80856792e-05 -9.99992123e-01 -1.79901886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.346559995 meters 0.0175885353909115 Centerline is valid? [True, True] Translation: X:-45.53, Y:-257.48, Z:-1.80 [[-9.99341938e-01 3.60217643e-02 4.25710512e-03 -4.55319926e+01] [ 3.60209714e-02 9.99351000e-01 -2.62791191e-04 -2.57478924e+02] [-4.26380846e-03 -1.09273196e-04 -9.99990904e-01 -1.79896893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.376559995 meters 0.01897309929061281 Centerline is valid? [True, True] Translation: X:-45.54, Y:-257.45, Z:-1.80 [[-9.99345407e-01 -3.58974299e-02 4.48684960e-03 -4.55357753e+01] [-3.58976003e-02 9.99355473e-01 4.25723600e-05 -2.57448440e+02] [-4.48548594e-03 -1.18522641e-04 -9.99989933e-01 -1.79828576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.406559995 meters 0.020554745160784496 Centerline is valid? [True, True] Translation: X:-45.54, Y:-257.42, Z:-1.80 [[-9.94250816e-01 -1.06970542e-01 4.75581584e-03 -4.55422081e+01] [-1.06969926e-01 9.94262182e-01 3.84302411e-04 -2.57417777e+02] [-4.76963687e-03 -1.26636284e-04 -9.99988617e-01 -1.79711186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.4365599949999 meters 0.017743541247501014 Centerline is valid? [True, True] Translation: X:-45.59, Y:-256.77, Z:-2.79 [[-9.99899548e-01 -1.33743891e-02 4.69241225e-03 -4.55911598e+01] [ 1.33748019e-02 -9.99910552e-01 5.65809990e-05 -2.56766582e+02] [ 4.69123579e-03 1.19335399e-04 9.99988989e-01 -2.79343944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.4665599949999 meters 0.017358329647824328 Centerline is valid? [True, True] Translation: X:-45.63, Y:-257.43, Z:-1.80 [[-9.93699066e-01 -1.11984310e-01 4.65627900e-03 -4.56282171e+01] [-1.11983650e-01 9.93709968e-01 4.02966563e-04 -2.57430408e+02] [-4.67211679e-03 -1.20999621e-04 -9.99989078e-01 -1.79797044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.496559995 meters 0.01746659007865129 Centerline is valid? [True, True] Translation: X:-45.64, Y:-257.40, Z:-1.80 [[-9.83272006e-01 -1.82085825e-01 4.57332518e-03 -4.56362117e+01] [-1.82084412e-01 9.83282634e-01 7.27018491e-04 -2.57404251e+02] [-4.62925099e-03 -1.17874297e-04 -9.99989278e-01 -1.79812474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.526559995 meters 0.017167341494710418 Centerline is valid? [True, True] Translation: X:-45.65, Y:-257.38, Z:-1.80 [[-9.68071923e-01 -2.50636517e-01 4.25302201e-03 -4.56541121e+01] [-2.50634575e-01 9.68081260e-01 9.92260227e-04 -2.57381433e+02] [-4.36596755e-03 -1.05375101e-04 -9.99990464e-01 -1.79829051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.5565599949999 meters 0.017283144700807197 Centerline is valid? [True, True] Translation: X:-45.68, Y:-257.36, Z:-1.80 [[-9.47766604e-01 -3.18937460e-01 4.16657028e-03 -4.56819523e+01] [-3.18934849e-01 9.47775757e-01 1.29461456e-03 -2.57360725e+02] [-4.36187539e-03 -1.01872015e-04 -9.99990482e-01 -1.79829816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.5865599949999 meters 0.016649852462674877 Centerline is valid? [True, True] Translation: X:-45.73, Y:-257.35, Z:-1.80 [[-9.22280239e-01 -3.86501080e-01 4.00951530e-03 -4.57310271e+01] [-3.86497885e-01 9.22288949e-01 1.57456860e-03 -2.57350442e+02] [-4.30650412e-03 -9.74756786e-05 -9.99990722e-01 -1.79861364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.616559995 meters 0.016532999416787954 Centerline is valid? [True, True] Translation: X:-45.79, Y:-257.35, Z:-1.80 [[-8.92310028e-01 -4.51405340e-01 4.00420649e-03 -4.57922757e+01] [-4.51401253e-01 8.92319007e-01 1.92315763e-03 -2.57347712e+02] [-4.44115318e-03 -9.14509906e-05 -9.99990134e-01 -1.79848827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.646559995 meters 0.015957517430901735 Centerline is valid? [True, True] Translation: X:-45.86, Y:-257.35, Z:-1.80 [[-8.56952370e-01 -5.15384008e-01 3.45842381e-03 -4.58592632e+01] [-5.15380173e-01 8.56959345e-01 1.98957040e-03 -2.57352929e+02] [-3.98912137e-03 -7.74359944e-05 -9.99992041e-01 -1.79855242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.6765599949999 meters 0.015641259470628742 Centerline is valid? [True, True] Translation: X:-45.94, Y:-257.37, Z:-1.80 [[-8.16845687e-01 -5.76847182e-01 3.23310638e-03 -4.59381313e+01] [-5.76843006e-01 8.16852082e-01 2.19596964e-03 -2.57371004e+02] [-3.90770857e-03 -7.12264720e-05 -9.99992362e-01 -1.79905496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.7065599949999 meters 0.015419000456056226 Centerline is valid? [True, True] Translation: X:-46.01, Y:-257.39, Z:-1.80 [[-7.72319552e-01 -6.35228695e-01 2.64860951e-03 -4.60147590e+01] [-6.35225213e-01 7.72324091e-01 2.10407046e-03 -2.57394199e+02] [-3.38215087e-03 -5.74487844e-05 -9.99994279e-01 -1.79920778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.736559995 meters 0.014781046586366463 Centerline is valid? [True, True] Translation: X:-46.09, Y:-257.43, Z:-1.80 [[-7.23403007e-01 -6.90423259e-01 1.95296657e-03 -4.60926589e+01] [-6.90420893e-01 7.23405642e-01 1.80786501e-03 -2.57427549e+02] [-2.66097909e-03 -4.05539427e-05 -9.99996459e-01 -1.79994511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.766559995 meters 0.01511665748822521 Centerline is valid? [True, True] Translation: X:-46.18, Y:-257.48, Z:-1.80 [[-6.69545342e-01 -7.42769050e-01 1.78157355e-03 -4.61829133e+01] [-7.42766573e-01 6.69547711e-01 1.91860504e-03 -2.57477587e+02] [-2.61792893e-03 -3.87002141e-05 -9.99996573e-01 -1.80025586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.7965599949999 meters 0.01535975544529605 Centerline is valid? [True, True] Translation: X:-46.27, Y:-257.53, Z:-1.80 [[-6.11568323e-01 -7.91190397e-01 1.39385981e-03 -4.62659488e+01] [-7.91188460e-01 6.11569911e-01 1.75090143e-03 -2.57530372e+02] [-2.23773911e-03 -3.20099448e-05 -9.99997496e-01 -1.79998718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.8265599949999 meters 0.014456391517094627 Centerline is valid? [True, True] Translation: X:-46.35, Y:-257.60, Z:-1.80 [[-5.49827120e-01 -8.35277340e-01 1.37944241e-03 -4.63487293e+01] [-8.35274867e-01 5.49828850e-01 2.03276899e-03 -2.57599836e+02] [-2.45638311e-03 -3.45420539e-05 -9.99996983e-01 -1.80011114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.856559995 meters 0.014381453547346375 Centerline is valid? [True, True] Translation: X:-46.43, Y:-257.67, Z:-1.80 [[-4.84914891e-01 -8.74559897e-01 1.59236193e-03 -4.64280211e+01] [-8.74555473e-01 4.84917504e-01 2.78187518e-03 -2.57672366e+02] [-3.20508064e-03 -4.36361458e-05 -9.99994863e-01 -1.79871716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.886559995 meters 0.01451286826720134 Centerline is valid? [True, True] Translation: X:-46.51, Y:-257.76, Z:-1.80 [[-4.16394919e-01 -9.09182612e-01 1.49969873e-03 -4.65054409e+01] [-9.09177131e-01 4.16397617e-01 3.15732540e-03 -2.57759631e+02] [-3.49505633e-03 -4.87975326e-05 -9.99993891e-01 -1.79815132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.916559995 meters 0.014499217506311378 Centerline is valid? [True, True] Translation: X:-46.57, Y:-257.85, Z:-1.80 [[-3.45351279e-01 -9.38472102e-01 1.61462109e-03 -4.65730402e+01] [-9.38462693e-01 3.45355048e-01 4.20289995e-03 -2.57845949e+02] [-4.50192189e-03 -6.37847808e-05 -9.99989864e-01 -1.79772182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.9465599949999 meters 0.014569521955147357 Centerline is valid? [True, True] Translation: X:-46.64, Y:-257.95, Z:-1.80 [[-2.71944586e-01 -9.62311573e-01 1.60602702e-03 -4.66375634e+01] [-9.62296534e-01 2.71949315e-01 5.38057279e-03 -2.57946789e+02] [-5.61454541e-03 -8.22566023e-05 -9.99984235e-01 -1.79631750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.976559995 meters 0.014374548035053282 Centerline is valid? [True, True] Translation: X:-46.69, Y:-258.05, Z:-1.80 [[-1.97013808e-01 -9.80399806e-01 1.33426636e-03 -4.66911134e+01] [-9.80380434e-01 1.97018304e-01 6.16383642e-03 -2.58045097e+02] [-6.30589892e-03 -9.37277458e-05 -9.99980113e-01 -1.79615329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.006559995 meters 0.014768429612540216 Centerline is valid? [True, True] Translation: X:-46.74, Y:-258.15, Z:-1.80 [[-1.21250893e-01 -9.92621447e-01 9.40677959e-04 -4.67392065e+01] [-9.92597792e-01 1.21254499e-01 6.85346023e-03 -2.58149609e+02] [-6.91695305e-03 -1.02726689e-04 -9.99976072e-01 -1.79511273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.036559995 meters 0.01494702864435659 Centerline is valid? [True, True] Translation: X:-46.78, Y:-258.26, Z:-1.79 [[-4.46978420e-02 -9.99000460e-01 4.28561317e-04 -4.67789212e+01] [-9.98974546e-01 4.46997697e-02 7.19631450e-03 -2.58261582e+02] [-7.20827809e-03 -1.06462119e-04 -9.99974014e-01 -1.79435201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.0665599949999 meters 0.014468281017669157 Centerline is valid? [True, True] Translation: X:-46.81, Y:-258.38, Z:-1.79 [[ 3.19062659e-02 -9.99490857e-01 -1.28220521e-04 -4.68082752e+01] [-9.99464061e-01 -3.19063495e-02 7.31954399e-03 -2.58376091e+02] [-7.31990835e-03 -1.05387515e-04 -9.99973204e-01 -1.79480163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.096559995 meters 0.014308469046222898 Centerline is valid? [True, True] Translation: X:-46.83, Y:-258.50, Z:-1.79 [[ 1.08049468e-01 -9.94145280e-01 -6.89047258e-04 -4.68289183e+01] [-9.94118686e-01 -1.08051618e-01 7.27232390e-03 -2.58498041e+02] [-7.30419915e-03 -1.00775976e-04 -9.99973319e-01 -1.79498337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.126559995 meters 0.014295222414486905 Centerline is valid? [True, True] Translation: X:-46.84, Y:-258.62, Z:-1.80 [[ 1.83093197e-01 -9.83094923e-01 -1.11973123e-03 -4.68404328e+01] [-9.83073593e-01 -1.83096601e-01 6.47649381e-03 -2.58618817e+02] [-6.57202717e-03 -8.50237548e-05 -9.99978400e-01 -1.79526443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.156559995 meters 0.013878275505528049 Centerline is valid? [True, True] Translation: X:-46.84, Y:-258.73, Z:-1.80 [[ 2.56407609e-01 -9.66567596e-01 -1.48993348e-03 -4.68442959e+01] [-9.66549722e-01 -2.56411929e-01 5.87864687e-03 -2.58725773e+02] [-6.06414630e-03 -6.72350020e-05 -9.99981611e-01 -1.79637803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.1865599949999 meters 0.013709237912424498 Centerline is valid? [True, True] Translation: X:-46.84, Y:-258.84, Z:-1.80 [[ 3.28924951e-01 -9.44354093e-01 -1.92942473e-03 -4.68375979e+01] [-9.44336756e-01 -3.28930605e-01 5.72266620e-03 -2.58844537e+02] [-6.03887010e-03 -6.03010173e-05 -9.99981764e-01 -1.79652206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.2165599949999 meters 0.013550891546205248 Centerline is valid? [True, True] Translation: X:-46.82, Y:-258.96, Z:-1.80 [[ 3.99520645e-01 -9.16721465e-01 -2.23836316e-03 -4.68214491e+01] [-9.16706356e-01 -3.99526912e-01 5.26346696e-03 -2.58963407e+02] [-5.71941947e-03 -5.09419757e-05 -9.99983643e-01 -1.79636598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.246559995 meters 0.013405974436378748 Centerline is valid? [True, True] Translation: X:-46.80, Y:-259.07, Z:-1.80 [[ 4.67685435e-01 -8.83891339e-01 -2.53675615e-03 -4.67998923e+01] [-8.83877835e-01 -4.67692313e-01 4.88601102e-03 -2.59072794e+02] [-5.50512417e-03 -4.29336562e-05 -9.99984846e-01 -1.79629969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.276559995 meters 0.013201754890769121 Centerline is valid? [True, True] Translation: X:-46.77, Y:-259.18, Z:-1.80 [[ 5.32642189e-01 -8.46336021e-01 -2.76380237e-03 -4.67670306e+01] [-8.46324313e-01 -5.32649359e-01 4.45179346e-03 -2.59183764e+02] [-5.23985072e-03 -3.21398729e-05 -9.99986271e-01 -1.79685156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.3065599949999 meters 0.013055976134175947 Centerline is valid? [True, True] Translation: X:-46.73, Y:-259.29, Z:-1.80 [[ 5.95355086e-01 -8.03457494e-01 -2.89446245e-03 -4.67298480e+01] [-8.03447766e-01 -5.95362121e-01 3.95374281e-03 -2.59288095e+02] [-4.89991759e-03 -2.83314990e-05 -9.99987995e-01 -1.79719766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.3365599949999 meters 0.013107060274748075 Centerline is valid? [True, True] Translation: X:-46.68, Y:-259.39, Z:-1.80 [[ 6.54998832e-01 -7.55625022e-01 -2.71219819e-03 -4.66846840e+01] [-7.55618390e-01 -6.55004447e-01 3.16576965e-03 -2.59390128e+02] [-4.16863664e-03 -2.41885928e-05 -9.99991311e-01 -1.79815232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.366559995 meters 0.013308576994433276 Centerline is valid? [True, True] Translation: X:-46.63, Y:-259.49, Z:-1.80 [[ 7.11025741e-01 -7.03158590e-01 -3.22394639e-03 -4.66346348e+01] [-7.03151179e-01 -7.11033049e-01 3.22847387e-03 -2.59487561e+02] [-4.56246157e-03 -2.86063216e-05 -9.99989592e-01 -1.79707626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.396559995 meters 0.013306451869244158 Centerline is valid? [True, True] Translation: X:-46.58, Y:-259.58, Z:-1.80 [[ 7.63443211e-01 -6.45861687e-01 -4.14066945e-03 -4.65764866e+01] [-6.45851881e-01 -7.63454438e-01 3.55927870e-03 -2.59580497e+02] [-5.46001421e-03 -4.30480007e-05 -9.99985093e-01 -1.79714800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.4265599949999 meters 0.01354972401441798 Centerline is valid? [True, True] Translation: X:-46.58, Y:-259.59, Z:-1.80 [[ 8.12644388e-01 -5.82736132e-01 -5.26299846e-03 -4.65784635e+01] [-5.82723405e-01 -8.12661428e-01 3.85187751e-03 -2.59589373e+02] [-6.52166405e-03 -6.33342604e-05 -9.99978732e-01 -1.79615354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.4565599949999 meters 0.013864131711778426 Centerline is valid? [True, True] Translation: X:-46.58, Y:-259.60, Z:-1.80 [[ 8.56563816e-01 -5.16005847e-01 -6.03287359e-03 -4.65804445e+01] [-5.15992385e-01 -8.56585057e-01 3.72822485e-03 -2.59598457e+02] [-7.09145519e-03 -8.05456690e-05 -9.99974852e-01 -1.79502621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.486559995 meters 0.014457928614841846 Centerline is valid? [True, True] Translation: X:-46.58, Y:-259.61, Z:-1.79 [[ 8.95679515e-01 -4.44636344e-01 -7.53178083e-03 -4.65815027e+01] [-4.44619465e-01 -8.95711173e-01 3.87627191e-03 -2.59609305e+02] [-8.46983161e-03 -1.23120984e-04 -9.99964123e-01 -1.79370876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.516559995 meters 0.014747580315092958 Centerline is valid? [True, True] Translation: X:-46.58, Y:-259.62, Z:-1.79 [[ 9.28403689e-01 -3.71481741e-01 -8.24052629e-03 -4.65808550e+01] [-3.71465698e-01 -9.28440248e-01 3.45561598e-03 -2.59618883e+02] [-8.93453452e-03 -1.47133776e-04 -9.99960076e-01 -1.79381065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.5465599949999 meters 0.014747580315092958 Centerline is valid? [True, True] Translation: X:-46.58, Y:-259.63, Z:-1.79 [[ 9.54594290e-01 -2.97788080e-01 -8.48540381e-03 -4.65796669e+01] [-2.97774942e-01 -9.54631991e-01 2.80106111e-03 -2.59626987e+02] [-8.93456054e-03 -1.47136314e-04 -9.99960075e-01 -1.79381038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.5765599949999 meters 0.01554278431238616 Centerline is valid? [True, True] Translation: X:-46.58, Y:-259.64, Z:-1.79 [[ 9.75591200e-01 -2.19409355e-01 -9.01915853e-03 -4.65783451e+01] [-2.19398270e-01 -9.75632873e-01 2.21281516e-03 -2.59637700e+02] [-9.28489989e-03 -1.80015216e-04 -9.99956878e-01 -1.79432391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.606559995 meters 0.01578219489028035 Centerline is valid? [True, True] Translation: X:-46.58, Y:-259.65, Z:-1.79 [[ 9.89850850e-01 -1.41792249e-01 -9.50013169e-03 -4.65753219e+01] [-1.41783843e-01 -9.89896419e-01 1.55601337e-03 -2.59645959e+02] [-9.62477698e-03 -1.93255978e-04 -9.99953662e-01 -1.79448785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.636559995 meters 0.015820987818392366 Centerline is valid? [True, True] Translation: X:-46.58, Y:-259.65, Z:-1.79 [[ 9.97941399e-01 -6.35095752e-02 -8.91614190e-03 -4.65754393e+01] [-6.35054053e-02 -9.97981213e-01 7.50304630e-04 -2.59652726e+02] [-8.94579363e-03 -1.82536847e-04 -9.99959969e-01 -1.79443566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.666559995 meters 0.016240653130568033 Centerline is valid? [True, True] Translation: X:-46.58, Y:-259.66, Z:-1.79 [[ 9.99864573e-01 1.38560890e-02 -8.87947333e-03 -4.65760903e+01] [ 1.38570748e-02 -9.99903985e-01 4.95070779e-05 -2.59659644e+02] [-8.87793480e-03 -1.72543899e-04 -9.99960576e-01 -1.79469949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.6965599949999 meters 0.014885447409973341 Centerline is valid? [True, True] Translation: X:-46.57, Y:-259.67, Z:-1.80 [[ 9.95808599e-01 9.10885806e-02 -8.25261556e-03 -4.65744049e+01] [ 9.10867209e-02 -9.95842782e-01 -6.01697698e-04 -2.59665423e+02] [-8.27311543e-03 -1.52527949e-04 -9.99965766e-01 -1.79643156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.726559995 meters 0.014886687504517526 Centerline is valid? [True, True] Translation: X:-46.57, Y:-259.67, Z:-1.80 [[ 9.85833159e-01 1.67556201e-01 -7.60936965e-03 -4.65736447e+01] [ 1.67552245e-01 -9.85862517e-01 -1.15902051e-03 -2.59673320e+02] [-7.69599339e-03 -1.32366122e-04 -9.99970377e-01 -1.79730896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.756559995 meters 0.014530714592292857 Centerline is valid? [True, True] Translation: X:-46.57, Y:-259.68, Z:-1.80 [[ 9.70076137e-01 2.42704185e-01 -6.85330667e-03 -4.65720308e+01] [ 2.42698930e-01 -9.70100338e-01 -1.60100354e-03 -2.59678973e+02] [-7.03696538e-03 -1.10194862e-04 -9.99975234e-01 -1.79822059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.786559995 meters 0.013886804802963936 Centerline is valid? [True, True] Translation: X:-46.57, Y:-259.68, Z:-1.80 [[ 9.49180478e-01 3.14673813e-01 -6.06729133e-03 -4.65698693e+01] [ 3.14667909e-01 -9.49199866e-01 -1.92910798e-03 -2.59683889e+02] [-6.36611188e-03 -7.81102424e-05 -9.99979733e-01 -1.79960759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.8165599949999 meters 0.013468280105293521 Centerline is valid? [True, True] Translation: X:-46.57, Y:-259.69, Z:-1.80 [[ 9.22392284e-01 3.86206990e-01 -6.05265618e-03 -4.65668710e+01] [ 3.86199151e-01 -9.22412140e-01 -2.46152181e-03 -2.59691089e+02] [-6.53370048e-03 -6.70419525e-05 -9.99978653e-01 -1.79977151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.846559995 meters 0.013230942110504074 Centerline is valid? [True, True] Translation: X:-46.56, Y:-259.70, Z:-1.80 [[ 8.90828657e-01 4.54305492e-01 -5.55186628e-03 -4.65647253e+01] [ 4.54296972e-01 -8.90845956e-01 -2.78270536e-03 -2.59698076e+02] [-6.21005595e-03 -4.32823627e-05 -9.99980717e-01 -1.79984747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.876559995 meters 0.013031459856636706 Centerline is valid? [True, True] Translation: X:-46.56, Y:-259.70, Z:-1.80 [[ 8.53442370e-01 5.21160832e-01 -5.24483644e-03 -4.65613242e+01] [ 5.21151220e-01 -8.53458485e-01 -3.16544071e-03 -2.59702582e+02] [-6.12595388e-03 -3.18316917e-05 -9.99981236e-01 -1.80055487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.906559995 meters 0.012943112593115452 Centerline is valid? [True, True] Translation: X:-46.56, Y:-259.71, Z:-1.80 [[ 8.10885715e-01 5.85180942e-01 -5.25572354e-03 -4.65566920e+01] [ 5.85168843e-01 -8.10902747e-01 -3.76310516e-03 -2.59708269e+02] [-6.46397808e-03 -2.40374519e-05 -9.99979108e-01 -1.80085337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.9365599949999 meters 0.01296825747500707 Centerline is valid? [True, True] Translation: X:-46.55, Y:-259.71, Z:-1.80 [[ 7.62979240e-01 6.46398743e-01 -5.59861341e-03 -4.65521083e+01] [ 6.46381562e-01 -7.62999780e-01 -4.71296316e-03 -2.59714875e+02] [-7.31819426e-03 -2.29474311e-05 -9.99973221e-01 -1.80019001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.9665599949999 meters 0.01301674657558787 Centerline is valid? [True, True] Translation: X:-46.55, Y:-259.72, Z:-1.80 [[ 7.11081887e-01 7.03076560e-01 -6.77499604e-03 -4.65450024e+01] [ 7.03044864e-01 -7.11114162e-01 -6.67597258e-03 -2.59722519e+02] [-9.51151547e-03 -1.59629873e-05 -9.99954764e-01 -1.79972510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.996559995 meters 0.012951678272176595 Centerline is valid? [True, True] Translation: X:-46.54, Y:-259.73, Z:-1.80 [[ 6.54547196e-01 7.55989375e-01 -6.93055410e-03 -4.65375507e+01] [ 7.55947125e-01 -6.54583887e-01 -7.99245209e-03 -2.59729636e+02] [-1.05788379e-02 -7.69534097e-06 -9.99944043e-01 -1.79944048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.026559995 meters 0.013136118244676226 Centerline is valid? [True, True] Translation: X:-46.53, Y:-259.74, Z:-1.80 [[ 5.93669424e-01 8.04681628e-01 -6.64023234e-03 -4.65304064e+01] [ 8.04631361e-01 -5.93706558e-01 -8.99418185e-03 -2.59735897e+02] [-1.11798024e-02 -3.36842886e-06 -9.99937504e-01 -1.79918081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.0565599949999 meters 0.013180801453403458 Centerline is valid? [True, True] Translation: X:-46.52, Y:-259.74, Z:-1.80 [[ 5.29254345e-01 8.48440751e-01 -6.17495557e-03 -4.65235796e+01] [ 8.48382953e-01 -5.29290366e-01 -9.90315937e-03 -2.59741508e+02] [-1.16705885e-02 2.56308214e-06 -9.99931896e-01 -1.79830032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.0865599949999 meters 0.013210717021978775 Centerline is valid? [True, True] Translation: X:-46.52, Y:-259.75, Z:-1.80 [[ 4.62632802e-01 8.86533208e-01 -5.45542090e-03 -4.65155353e+01] [ 8.86471023e-01 -4.62664965e-01 -1.05002909e-02 -2.59746109e+02] [-1.18328887e-02 2.17064440e-05 -9.99929989e-01 -1.79993538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.116559995 meters 0.01323150450497523 Centerline is valid? [True, True] Translation: X:-46.51, Y:-259.75, Z:-1.80 [[ 3.92658772e-01 9.19672215e-01 -4.70166651e-03 -4.65070335e+01] [ 9.19605272e-01 -3.92686919e-01 -1.10963320e-02 -2.59750103e+02] [-1.20512712e-02 3.33948085e-05 -9.99927380e-01 -1.80061324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.146559995 meters 0.013362099583212328 Centerline is valid? [True, True] Translation: X:-46.50, Y:-259.75, Z:-1.80 [[ 3.21599461e-01 9.46867928e-01 -3.86173763e-03 -4.64982275e+01] [ 9.46797376e-01 -3.21622641e-01 -1.15588282e-02 -2.59753694e+02] [-1.21867060e-02 6.10298714e-05 -9.99925738e-01 -1.80204368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.1765599949999 meters 0.013477184229738008 Centerline is valid? [True, True] Translation: X:-46.49, Y:-259.76, Z:-1.80 [[ 2.47369093e-01 9.68917061e-01 -2.87420930e-03 -4.64896599e+01] [ 9.68848286e-01 -2.47385780e-01 -1.15444937e-02 -2.59756939e+02] [-1.18966954e-02 7.10781887e-05 -9.99929229e-01 -1.80249213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.2065599949999 meters 0.013595371639751759 Centerline is valid? [True, True] Translation: X:-46.48, Y:-259.76, Z:-1.80 [[ 1.71593498e-01 9.85165892e-01 -1.95870990e-03 -4.64818490e+01] [ 9.85096218e-01 -1.71604658e-01 -1.17167626e-02 -2.59760443e+02] [-1.18790787e-02 8.10025762e-05 -9.99929438e-01 -1.80278524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.236559995 meters 0.013599461680192042 Centerline is valid? [True, True] Translation: X:-46.47, Y:-259.76, Z:-1.80 [[ 9.41571477e-02 9.95556771e-01 -1.07150925e-03 -4.64718607e+01] [ 9.95481355e-01 -9.41632041e-02 -1.22541221e-02 -2.59762364e+02] [-1.23005710e-02 8.71457077e-05 -9.99924341e-01 -1.80378849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.266559995 meters 0.013673145971735669 Centerline is valid? [True, True] Translation: X:-46.46, Y:-259.76, Z:-1.80 [[ 1.51219377e-02 9.99885650e-01 -1.16753973e-04 -4.64605873e+01] [ 9.99798443e-01 -1.51221608e-02 -1.32058152e-02 -2.59764689e+02] [-1.32060707e-02 8.29670738e-05 -9.99912793e-01 -1.80301309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.2965599949999 meters 0.013628432442775033 Centerline is valid? [True, True] Translation: X:-46.45, Y:-259.77, Z:-1.80 [[-6.52117160e-02 9.97870953e-01 9.96413652e-04 -4.64487654e+01] [ 9.97768417e-01 6.52192992e-02 -1.43048615e-02 -2.59765852e+02] [-1.43393912e-02 6.13455040e-05 -9.99897184e-01 -1.80203777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.3265599949999 meters 0.013500516537372498 Centerline is valid? [True, True] Translation: X:-46.44, Y:-259.76, Z:-1.80 [[-1.44485464e-01 9.89504582e-01 2.15226584e-03 -4.64388424e+01] [ 9.89399160e-01 1.44501487e-01 -1.44437421e-02 -2.59764829e+02] [-1.46031546e-02 4.25392310e-05 -9.99893367e-01 -1.80248769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.356559995 meters 0.013473219015699731 Centerline is valid? [True, True] Translation: X:-46.43, Y:-259.76, Z:-1.80 [[-2.23240845e-01 9.74757835e-01 3.26934859e-03 -4.64296449e+01] [ 9.74654478e-01 2.23264782e-01 -1.41945551e-02 -2.59764609e+02] [-1.45661842e-02 1.76807728e-05 -9.99893907e-01 -1.80247555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.386559995 meters 0.013473219015699731 Centerline is valid? [True, True] Translation: X:-46.42, Y:-259.76, Z:-1.80 [[-2.98922710e-01 9.54267313e-01 4.37150447e-03 -4.64235205e+01] [ 9.54166149e-01 2.98954672e-01 -1.38947718e-02 -2.59763535e+02] [-1.45662082e-02 1.76787558e-05 -9.99893907e-01 -1.80247534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.416559995 meters 0.013495481276409151 Centerline is valid? [True, True] Translation: X:-46.42, Y:-259.76, Z:-1.80 [[-3.74651194e-01 9.27150490e-01 5.33406023e-03 -4.64162429e+01] [ 9.27056088e-01 3.74689163e-01 -1.32303199e-02 -2.59760920e+02] [-1.42651121e-02 -1.17821282e-05 -9.99898248e-01 -1.80294222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.4465599949999 meters 0.013507484649729555 Centerline is valid? [True, True] Translation: X:-46.41, Y:-259.76, Z:-1.80 [[-4.48190710e-01 8.93914783e-01 6.43810901e-03 -4.64082217e+01] [ 8.93821122e-01 4.48236946e-01 -1.29399576e-02 -2.59757231e+02] [-1.44530177e-02 -4.50509702e-05 -9.99895549e-01 -1.80372152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.476559995 meters 0.013701601316022221 Centerline is valid? [True, True] Translation: X:-46.40, Y:-259.75, Z:-1.80 [[-5.20517546e-01 8.53819456e-01 7.33629096e-03 -4.63970801e+01] [ 8.53731765e-01 5.20569232e-01 -1.22371767e-02 -2.59749801e+02] [-1.42673869e-02 -1.06440541e-04 -9.99898210e-01 -1.80454955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.506559995 meters 0.013920164869619642 Centerline is valid? [True, True] Translation: X:-46.39, Y:-259.74, Z:-1.80 [[-5.87478152e-01 8.09199591e-01 8.08965319e-03 -4.63881399e+01] [ 8.09119724e-01 5.87533832e-01 -1.13696529e-02 -2.59741811e+02] [-1.39532634e-02 -1.33924718e-04 -9.99902640e-01 -1.80468166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.536559995 meters 0.014769310077241917 Centerline is valid? [True, True] Translation: X:-46.38, Y:-259.73, Z:-1.80 [[-6.50531262e-01 7.59425332e-01 9.06873897e-03 -4.63780703e+01] [ 7.59348040e-01 6.50594450e-01 -1.08358669e-02 -2.59733569e+02] [-1.41291031e-02 -1.62741021e-04 -9.99900166e-01 -1.80207488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.5665599949999 meters 0.014633623371026331 Centerline is valid? [True, True] Translation: X:-46.37, Y:-259.72, Z:-1.80 [[-7.10997941e-01 7.03122896e-01 1.00060984e-02 -4.63705015e+01] [ 7.03048778e-01 7.11068311e-01 -1.02114542e-02 -2.59723416e+02] [-1.42949267e-02 -2.25547634e-04 -9.99897797e-01 -1.80431248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.596559995 meters 0.015255176263210981 Centerline is valid? [True, True] Translation: X:-46.36, Y:-259.71, Z:-1.80 [[-7.64950410e-01 6.43998144e-01 1.08287341e-02 -4.63635727e+01] [ 6.43928961e-01 7.65027012e-01 -9.44269158e-03 -2.59714518e+02] [-1.43653499e-02 -2.50255286e-04 -9.99896782e-01 -1.80379667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.626559995 meters 0.015074318759812275 Centerline is valid? [True, True] Translation: X:-46.35, Y:-259.69, Z:-1.80 [[-8.09540737e-01 5.86943406e-01 1.18841745e-02 -4.63546540e+01] [ 5.86875008e-01 8.09627913e-01 -8.96480117e-03 -2.59685511e+02] [-1.48835903e-02 -2.82846739e-04 -9.99889193e-01 -1.80462065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.656559995 meters 0.015626675628113845 Centerline is valid? [True, True] Translation: X:-45.99, Y:-259.22, Z:-2.79 [[-7.42221777e-01 -6.70053757e-01 1.16101713e-02 -4.59893189e+01] [ 6.69978494e-01 -7.42312508e-01 -1.00477903e-02 -2.59216898e+02] [ 1.53509350e-02 3.20876357e-04 9.99882116e-01 -2.78709266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.6865599949999 meters 0.017741856021629334 Centerline is valid? [True, True] Translation: X:-46.38, Y:-259.66, Z:-1.80 [[-8.14025230e-01 5.80681564e-01 1.31090155e-02 -4.63799411e+01] [ 5.80598724e-01 8.14130688e-01 -9.81550822e-03 -2.59656823e+02] [-1.63721364e-02 -3.78993694e-04 -9.99865896e-01 -1.80125844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.7165599949999 meters 0.0163552894546386 Centerline is valid? [True, True] Translation: X:-46.37, Y:-259.63, Z:-1.80 [[-8.53390513e-01 5.21068849e-01 1.45563769e-02 -4.63693046e+01] [ 5.20984803e-01 8.53514550e-01 -9.36744823e-03 -2.59632216e+02] [-1.73051649e-02 -4.10440306e-04 -9.99850170e-01 -1.80239039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.746559995 meters 0.01681995121441448 Centerline is valid? [True, True] Translation: X:-46.36, Y:-259.60, Z:-1.80 [[-8.88504451e-01 4.58588020e-01 1.60271428e-02 -4.63569493e+01] [ 4.58504277e-01 8.88648878e-01 -8.77500626e-03 -2.59604137e+02] [-1.82666152e-02 -4.48118604e-04 -9.99833051e-01 -1.80087604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.776559995 meters 0.016955257878466648 Centerline is valid? [True, True] Translation: X:-46.35, Y:-259.58, Z:-1.80 [[-9.18566427e-01 3.94922184e-01 1.64981250e-02 -4.63453480e+01] [ 3.94849925e-01 9.18714470e-01 -7.56696142e-03 -2.59578029e+02] [-1.81454271e-02 -4.36473288e-04 -9.99835263e-01 -1.80123985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.8065599949999 meters 0.01591356485081226 Centerline is valid? [True, True] Translation: X:-46.34, Y:-259.55, Z:-1.80 [[-9.43661734e-01 3.30480361e-01 1.68897075e-02 -4.63388116e+01] [ 3.30419793e-01 9.43812783e-01 -6.33964513e-03 -2.59552356e+02] [-1.80358500e-02 -4.01786871e-04 -9.99837260e-01 -1.80293743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.8365599949999 meters 0.01606875350531907 Centerline is valid? [True, True] Translation: X:-46.33, Y:-259.52, Z:-1.80 [[-9.64344533e-01 2.64120188e-01 1.67375912e-02 -4.63337735e+01] [ 2.64073860e-01 9.64489707e-01 -4.96008651e-03 -2.59524241e+02] [-1.74532934e-02 -3.63272007e-04 -9.99847614e-01 -1.80242528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.866559995 meters 0.01606875350531907 Centerline is valid? [True, True] Translation: X:-46.33, Y:-259.50, Z:-1.80 [[-9.80647965e-01 1.95035788e-01 1.70473008e-02 -4.63317392e+01] [ 1.94999875e-01 9.80796059e-01 -3.76026385e-03 -2.59496325e+02] [-1.74533115e-02 -3.63273563e-04 -9.99847613e-01 -1.80242508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.896559995 meters 0.01562858093628347 Centerline is valid? [True, True] Translation: X:-46.33, Y:-259.47, Z:-1.80 [[-9.91907947e-01 1.25785294e-01 1.72245640e-02 -4.63297037e+01] [ 1.25760258e-01 9.92057428e-01 -2.53330666e-03 -2.59469289e+02] [-1.74064094e-02 -3.46641386e-04 -9.99848437e-01 -1.80294447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.9265599949999 meters 0.01562858093628347 Centerline is valid? [True, True] Translation: X:-46.33, Y:-259.44, Z:-1.80 [[-9.98335547e-01 5.49975505e-02 1.73610220e-02 -4.63328980e+01] [ 5.49831968e-02 9.98486429e-01 -1.30337679e-03 -2.59441172e+02] [-1.74064274e-02 -3.46642888e-04 -9.99848437e-01 -1.80294427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.9565599949999 meters 0.015329632653238768 Centerline is valid? [True, True] Translation: X:-46.34, Y:-259.41, Z:-1.80 [[-9.99745960e-01 -1.44289544e-02 1.73153261e-02 -4.63393004e+01] [-1.44322520e-02 9.99895848e-01 -6.54969135e-05 -2.59414423e+02] [-1.73125776e-02 -3.15379425e-04 -9.99850076e-01 -1.80297353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.986559995 meters 0.015042074138348712 Centerline is valid? [True, True] Translation: X:-46.35, Y:-259.39, Z:-1.80 [[-9.96262096e-01 -8.46526634e-02 1.71977569e-02 -4.63472266e+01] [-8.46452251e-02 9.96410476e-01 1.16127370e-03 -2.59388552e+02] [-1.72343301e-02 -2.98775039e-04 -9.99851433e-01 -1.80313473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.016559995 meters 0.014858085852366053 Centerline is valid? [True, True] Translation: X:-46.36, Y:-259.36, Z:-1.80 [[-9.87831940e-01 -1.54566534e-01 1.72408050e-02 -4.63579816e+01] [-1.54548033e-01 9.87982341e-01 2.40838875e-03 -2.59363490e+02] [-1.74058671e-02 -2.85449158e-04 -9.99848466e-01 -1.80345885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.0465599949999 meters 0.014342947322975511 Centerline is valid? [True, True] Translation: X:-46.38, Y:-259.34, Z:-1.80 [[-9.74608600e-01 -2.23239598e-01 1.73827006e-02 -4.63792255e+01] [-2.23208908e-01 9.74763568e-01 3.71090669e-03 -2.59342749e+02] [-1.77724445e-02 -2.63292038e-04 -9.99842023e-01 -1.80426296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.0765599949999 meters 0.01430311954024313 Centerline is valid? [True, True] Translation: X:-46.41, Y:-259.32, Z:-1.80 [[-9.56260741e-01 -2.91998905e-01 1.73791702e-02 -4.64082288e+01] [-2.91955497e-01 9.56418619e-01 5.04110008e-03 -2.59322576e+02] [-1.80937576e-02 -2.53338158e-04 -9.99836263e-01 -1.80378788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.106559995 meters 0.014268950732549617 Centerline is valid? [True, True] Translation: X:-46.46, Y:-259.31, Z:-1.80 [[-9.33299206e-01 -3.58691780e-01 1.71114073e-02 -4.64562479e+01] [-3.58635642e-01 9.33456032e-01 6.34930198e-03 -2.59311788e+02] [-1.82501888e-02 -2.10962063e-04 -9.99833429e-01 -1.80242296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.136559995 meters 0.014046758851360842 Centerline is valid? [True, True] Translation: X:-46.52, Y:-259.31, Z:-1.80 [[-9.05011691e-01 -4.25075964e-01 1.62561698e-02 -4.65200467e+01] [-4.25010958e-01 9.05157662e-01 7.43597126e-03 -2.59310256e+02] [-1.78752493e-02 -1.79409374e-04 -9.99840209e-01 -1.80264444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.166559995 meters 0.013378239546158043 Centerline is valid? [True, True] Translation: X:-46.59, Y:-259.32, Z:-1.80 [[-8.72143736e-01 -4.89015367e-01 1.51418283e-02 -4.65877272e+01] [-4.88944396e-01 8.72275159e-01 8.33220015e-03 -2.59316616e+02] [-1.72824146e-02 -1.36635926e-04 -9.99850639e-01 -1.80419977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.1965599949999 meters 0.013289421458221838 Centerline is valid? [True, True] Translation: X:-46.66, Y:-259.33, Z:-1.80 [[-8.34711222e-01 -5.50502778e-01 1.42782139e-02 -4.66643757e+01] [-5.50424185e-01 8.34833326e-01 9.30234850e-03 -2.59333109e+02] [-1.70408975e-02 -9.42995455e-05 -9.99854789e-01 -1.80400040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.226559995 meters 0.012947485911487205 Centerline is valid? [True, True] Translation: X:-46.74, Y:-259.36, Z:-1.81 [[-7.93086179e-01 -6.08953458e-01 1.37839957e-02 -4.67419986e+01] [-6.08862440e-01 7.93205953e-01 1.05282845e-02 -2.59358071e+02] [-1.73447827e-02 -4.27203408e-05 -9.99849567e-01 -1.80533305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.256559995 meters 0.013113704344686516 Centerline is valid? [True, True] Translation: X:-46.82, Y:-259.39, Z:-1.81 [[-7.49950343e-01 -6.61371951e-01 1.27131885e-02 -4.68170105e+01] [-6.61275030e-01 7.50058088e-01 1.13225451e-02 -2.59392980e+02] [-1.70240437e-02 8.44324732e-05 -9.99855077e-01 -1.80626744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.286559995 meters 0.01360662135125704 Centerline is valid? [True, True] Translation: X:-46.90, Y:-259.44, Z:-1.81 [[-7.00787295e-01 -7.13273685e-01 1.17396204e-02 -4.69003996e+01] [-7.13169945e-01 7.00885602e-01 1.21656016e-02 -2.59439506e+02] [-1.69055344e-02 1.53154645e-04 -9.99857080e-01 -1.80584371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.3165599949999 meters 0.013766961604837449 Centerline is valid? [True, True] Translation: X:-46.98, Y:-259.49, Z:-1.81 [[-6.47710594e-01 -7.61813760e-01 1.05252855e-02 -4.69834373e+01] [-7.61707778e-01 6.47796070e-01 1.27087593e-02 -2.59494031e+02] [-1.64999463e-02 2.14406218e-04 -9.99863844e-01 -1.80737436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.346559995 meters 0.015056628512907892 Centerline is valid? [True, True] Translation: X:-47.06, Y:-259.56, Z:-1.81 [[-5.93649068e-01 -8.04671784e-01 9.17082005e-03 -4.70648439e+01] [-8.04567376e-01 5.93719814e-01 1.29660959e-02 -2.59562873e+02] [-1.58783491e-02 3.18768095e-04 -9.99873880e-01 -1.80828481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.376559995 meters 0.015903497762403036 Centerline is valid? [True, True] Translation: X:-47.14, Y:-259.64, Z:-1.81 [[-5.32605955e-01 -8.46325155e-01 8.03924222e-03 -4.71427406e+01] [-8.46218606e-01 5.32666508e-01 1.34336058e-02 -2.59635053e+02] [-1.56514336e-02 3.51862094e-04 -9.99877447e-01 -1.80844526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.406559995 meters 0.01657635560888697 Centerline is valid? [True, True] Translation: X:-47.22, Y:-259.72, Z:-1.81 [[-4.68152825e-01 -8.83620155e-01 6.95373146e-03 -4.72190271e+01] [-8.83510323e-01 4.68204311e-01 1.39367114e-02 -2.59718913e+02] [-1.55705261e-02 3.80817271e-04 -9.99878700e-01 -1.80845909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.4365599949999 meters 0.01657635560888697 Centerline is valid? [True, True] Translation: X:-47.29, Y:-259.81, Z:-1.81 [[-3.99194444e-01 -9.16847518e-01 5.86723615e-03 -4.72911953e+01] [-9.16734069e-01 3.99237378e-01 1.44278366e-02 -2.59809821e+02] [-1.55705462e-02 3.80816958e-04 -9.99878699e-01 -1.80845813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.4665599949999 meters 0.017298053040849658 Centerline is valid? [True, True] Translation: X:-47.35, Y:-259.91, Z:-1.81 [[-3.29918628e-01 -9.43996966e-01 4.84011324e-03 -4.73548229e+01] [-9.43875690e-01 3.29953856e-01 1.51372405e-02 -2.59906896e+02] [-1.58865231e-02 4.25592396e-04 -9.99873711e-01 -1.80804248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.496559995 meters 0.017569312468055022 Centerline is valid? [True, True] Translation: X:-47.41, Y:-260.01, Z:-1.81 [[-2.56897889e-01 -9.66431068e-01 3.80327982e-03 -4.74123638e+01] [-9.66297925e-01 2.56925651e-01 1.60477362e-02 -2.60010406e+02] [-1.64861910e-02 4.47528155e-04 -9.99863993e-01 -1.80762535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.526559995 meters 0.017812421983360773 Centerline is valid? [True, True] Translation: X:-47.46, Y:-260.12, Z:-1.81 [[-1.82087964e-01 -9.83278687e-01 2.64529378e-03 -4.74624220e+01] [-9.83134610e-01 1.82106583e-01 1.68384043e-02 -2.60120372e+02] [-1.70385695e-02 4.65390885e-04 -9.99854725e-01 -1.80741491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.5565599949999 meters 0.01767049158103178 Centerline is valid? [True, True] Translation: X:-47.50, Y:-260.23, Z:-1.81 [[-1.04343129e-01 -9.94540345e-01 1.41895001e-03 -4.75048894e+01] [-9.94378760e-01 1.04351762e-01 1.79329514e-02 -2.60234701e+02] [-1.79831136e-02 4.60206517e-04 -9.99838185e-01 -1.80649426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.5865599949999 meters 0.017365451986757256 Centerline is valid? [True, True] Translation: X:-47.54, Y:-260.35, Z:-1.81 [[-2.61068188e-02 -9.99659158e-01 3.89305457e-05 -4.75389035e+01] [-9.99483678e-01 2.61029656e-02 1.87353137e-02 -2.60351532e+02] [-1.87299442e-02 4.50208996e-04 -9.99824478e-01 -1.80606976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.616559995 meters 0.015767167485105184 Centerline is valid? [True, True] Translation: X:-47.57, Y:-260.47, Z:-1.81 [[ 5.25081730e-02 -9.98619465e-01 -1.43410781e-03 -4.75656923e+01] [-9.98436024e-01 -5.25260212e-02 1.91447700e-02 -2.60473649e+02] [-1.91936680e-02 4.26607998e-04 -9.99815694e-01 -1.80747487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.646559995 meters 0.014900714504757351 Centerline is valid? [True, True] Translation: X:-47.58, Y:-260.59, Z:-1.81 [[ 1.32659317e-01 -9.91157797e-01 -2.77959577e-03 -4.75829475e+01] [-9.90990906e-01 -1.32687995e-01 1.81912063e-02 -2.60594162e+02] [-1.83991749e-02 3.41321132e-04 -9.99830663e-01 -1.80784720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.6765599949999 meters 0.014748755511879723 Centerline is valid? [True, True] Translation: X:-47.59, Y:-260.72, Z:-1.81 [[ 2.10378310e-01 -9.77612125e-01 -3.93708224e-03 -4.75890686e+01] [-9.77465530e-01 -2.10414952e-01 1.69317804e-02 -2.60715151e+02] [-1.73811347e-02 2.86282849e-04 -9.99848896e-01 -1.80798549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.7065599949999 meters 0.013937241369062705 Centerline is valid? [True, True] Translation: X:-47.59, Y:-260.84, Z:-1.81 [[ 2.86608405e-01 -9.58035094e-01 -4.93759300e-03 -4.75870469e+01] [-9.57906914e-01 -2.86650835e-01 1.56730215e-02 -2.60836117e+02] [-1.64306698e-02 2.37734778e-04 -9.99864979e-01 -1.80942409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.736559995 meters 0.013535425867814466 Centerline is valid? [True, True] Translation: X:-47.58, Y:-260.95, Z:-1.81 [[ 3.61296562e-01 -9.32433085e-01 -5.77381387e-03 -4.75761280e+01] [-9.32322268e-01 -3.61342644e-01 1.43764322e-02 -2.60953916e+02] [-1.54913862e-02 1.88899735e-04 -9.99879984e-01 -1.80996676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.766559995 meters 0.012686092765083251 Centerline is valid? [True, True] Translation: X:-47.56, Y:-261.07, Z:-1.81 [[ 4.35691062e-01 -9.00074534e-01 -6.25560333e-03 -4.75577132e+01] [-8.99985296e-01 -4.35735955e-01 1.26745780e-02 -2.61072388e+02] [-1.41338562e-02 1.07750670e-04 -9.99900106e-01 -1.81135087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.7965599949999 meters 0.012324394117665088 Centerline is valid? [True, True] Translation: X:-47.53, Y:-261.19, Z:-1.81 [[ 5.05493454e-01 -8.62802327e-01 -6.96513020e-03 -4.75302449e+01] [-8.62722267e-01 -5.05541433e-01 1.17536826e-02 -2.61186423e+02] [-1.36622666e-02 6.75632869e-05 -9.99906665e-01 -1.81138511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.8265599949999 meters 0.012025311995774664 Centerline is valid? [True, True] Translation: X:-47.50, Y:-261.29, Z:-1.81 [[ 5.72057037e-01 -8.20177904e-01 -7.67806127e-03 -4.74967699e+01] [-8.20104756e-01 -5.72108561e-01 1.09537095e-02 -2.61294898e+02] [-1.33766751e-02 3.06679721e-05 -9.99910528e-01 -1.81216305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.856559995 meters 0.011987203495593604 Centerline is valid? [True, True] Translation: X:-47.46, Y:-261.40, Z:-1.81 [[ 6.37099673e-01 -7.70739186e-01 -8.06932988e-03 -4.74565828e+01] [-7.70676546e-01 -6.37150771e-01 9.82625416e-03 -2.61402319e+02] [-1.27148589e-02 -4.14600280e-05 -9.99919162e-01 -1.81214191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.886559995 meters 0.012269589812037069 Centerline is valid? [True, True] Translation: X:-47.41, Y:-261.50, Z:-1.81 [[ 6.95819542e-01 -7.18164850e-01 -8.62627096e-03 -4.74112778e+01] [-7.18108328e-01 -6.95873007e-01 9.01037469e-03 -2.61499566e+02] [-1.24737235e-02 -7.49977709e-05 -9.99922197e-01 -1.81126327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.916559995 meters 0.01249906425171678 Centerline is valid? [True, True] Translation: X:-47.36, Y:-261.59, Z:-1.81 [[ 7.49997096e-01 -6.61373016e-01 -9.49150561e-03 -4.73583515e+01] [-6.61318182e-01 -7.50057145e-01 8.51709578e-03 -2.61592630e+02] [-1.27521489e-02 -1.10891868e-04 -9.99918682e-01 -1.81189273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.9465599949999 meters 0.012855171797785695 Centerline is valid? [True, True] Translation: X:-47.36, Y:-261.60, Z:-1.81 [[ 8.00967429e-01 -5.98619799e-01 -1.02719845e-02 -4.73589836e+01] [-5.98568228e-01 -8.01033279e-01 7.85890094e-03 -2.61603845e+02] [-1.29326952e-02 -1.46240099e-04 -9.99916359e-01 -1.81167540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.976559995 meters 0.014063021090801741 Centerline is valid? [True, True] Translation: X:-47.36, Y:-261.62, Z:-1.81 [[ 8.47660228e-01 -5.30414042e-01 -1.15361314e-02 -4.73604956e+01] [-5.30361428e-01 -8.47738696e-01 7.47385248e-03 -2.61615911e+02] [-1.37438613e-02 -2.16968358e-04 -9.99905525e-01 -1.80996537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.006559995 meters 0.01451039806019846 Centerline is valid? [True, True] Translation: X:-47.36, Y:-261.63, Z:-1.81 [[ 8.88143753e-01 -4.59409304e-01 -1.19902381e-02 -4.73593877e+01] [-4.59363427e-01 -8.88224646e-01 6.49768540e-03 -2.61628387e+02] [-1.36351221e-02 -2.63001833e-04 -9.99907003e-01 -1.81024850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.036559995 meters 0.014685314090359787 Centerline is valid? [True, True] Translation: X:-47.36, Y:-261.64, Z:-1.81 [[ 9.21887236e-01 -3.87261451e-01 -1.23487997e-02 -4.73572510e+01] [-3.87222627e-01 -9.21969897e-01 5.49061739e-03 -2.61639772e+02] [-1.35115261e-02 -2.79995418e-04 -9.99908676e-01 -1.81028651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.0665599949999 meters 0.015163542843765393 Centerline is valid? [True, True] Translation: X:-47.35, Y:-261.65, Z:-1.81 [[ 9.49666447e-01 -3.13000854e-01 -1.28103196e-02 -4.73534968e+01] [-3.12968161e-01 -9.49752798e-01 4.53347065e-03 -2.61650884e+02] [-1.35856170e-02 -2.96062802e-04 -9.99907668e-01 -1.80983517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.096559995 meters 0.015080922863599236 Centerline is valid? [True, True] Translation: X:-47.35, Y:-261.66, Z:-1.81 [[ 9.71459969e-01 -2.36826742e-01 -1.33650135e-02 -4.73494772e+01] [-2.36799851e-01 -9.71551849e-01 3.58277496e-03 -2.61661046e+02] [-1.38333005e-02 -3.15689246e-04 -9.99904266e-01 -1.81013116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.126559995 meters 0.015411673287761251 Centerline is valid? [True, True] Translation: X:-47.34, Y:-261.67, Z:-1.81 [[ 9.87111615e-01 -1.59403851e-01 -1.41800106e-02 -4.73440428e+01] [-1.59382444e-01 -9.87213400e-01 2.63436149e-03 -2.61671493e+02] [-1.44186239e-02 -3.40364066e-04 -9.99895988e-01 -1.80979256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.156559995 meters 0.01624122301111331 Centerline is valid? [True, True] Translation: X:-47.34, Y:-261.68, Z:-1.81 [[ 9.96625465e-01 -8.03988680e-02 -1.65440292e-02 -4.73394841e+01] [-8.03808918e-02 -9.96762685e-01 1.74974987e-03 -2.61680534e+02] [-1.66311488e-02 -4.14021458e-04 -9.99861607e-01 -1.80756119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.1865599949999 meters 0.016959780145941333 Centerline is valid? [True, True] Translation: X:-47.34, Y:-261.69, Z:-1.81 [[ 9.99844352e-01 -1.53075225e-03 -1.75763676e-02 -4.73376550e+01] [-1.52264766e-03 -9.99998728e-01 4.74480205e-04 -2.61687490e+02] [-1.75770715e-02 -4.47643738e-04 -9.99845411e-01 -1.80639599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.2165599949999 meters 0.01657176097615534 Centerline is valid? [True, True] Translation: X:-47.33, Y:-261.69, Z:-1.81 [[ 9.96851923e-01 7.71819389e-02 -1.81436616e-02 -4.73345135e+01] [ 7.71777322e-02 -9.97016914e-01 -9.32990022e-04 -2.61691959e+02] [-1.81615475e-02 -4.70233761e-04 -9.99834955e-01 -1.80723652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.246559995 meters 0.01657176097615534 Centerline is valid? [True, True] Translation: X:-47.33, Y:-261.70, Z:-1.81 [[ 9.87746065e-01 1.55026366e-01 -1.80148884e-02 -4.73308401e+01] [ 1.55009251e-01 -9.87910221e-01 -2.35104834e-03 -2.61699691e+02] [-1.81615668e-02 -4.70235605e-04 -9.99834955e-01 -1.80723634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.276559995 meters 0.01698798447131417 Centerline is valid? [True, True] Translation: X:-47.33, Y:-261.70, Z:-1.81 [[ 9.72644686e-01 2.31665423e-01 -1.71302796e-02 -4.73275979e+01] [ 2.31637600e-01 -9.72795421e-01 -3.61829709e-03 -2.61703921e+02] [-1.75024919e-02 -4.48699410e-04 -9.99846719e-01 -1.80808495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.3065599949999 meters 0.017165898821935022 Centerline is valid? [True, True] Translation: X:-47.32, Y:-261.71, Z:-1.81 [[ 9.51677146e-01 3.06664411e-01 -1.63569045e-02 -4.73245152e+01] [ 3.06626837e-01 -9.51817606e-01 -4.81950156e-03 -2.61707102e+02] [-1.70467593e-02 -4.28856376e-04 -9.99854602e-01 -1.80854706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.3365599949999 meters 0.016285631033767657 Centerline is valid? [True, True] Translation: X:-47.32, Y:-261.71, Z:-1.81 [[ 9.25104866e-01 3.79447159e-01 -1.41717958e-02 -4.73205941e+01] [ 3.79408716e-01 -9.25213336e-01 -5.41374859e-03 -2.61708452e+02] [-1.51661660e-02 -3.68617697e-04 -9.99884919e-01 -1.81080358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.366559995 meters 0.01702629603161795 Centerline is valid? [True, True] Translation: X:-47.32, Y:-261.71, Z:-1.81 [[ 8.92691102e-01 4.50476390e-01 -1.31764051e-02 -4.73161717e+01] [ 4.50433094e-01 -8.92788272e-01 -6.25532034e-03 -2.61713327e+02] [-1.45816141e-02 -3.51020118e-04 -9.99893621e-01 -1.81030899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.396559995 meters 0.017017745806739044 Centerline is valid? [True, True] Translation: X:-47.31, Y:-261.71, Z:-1.81 [[ 8.54870907e-01 5.18694950e-01 -1.22996699e-02 -4.73128061e+01] [ 5.18646894e-01 -8.54959318e-01 -7.06847895e-03 -2.61713685e+02] [-1.41821017e-02 -3.36548560e-04 -9.99899372e-01 -1.81049791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.4265599949999 meters 0.017236365950779965 Centerline is valid? [True, True] Translation: X:-47.31, Y:-261.71, Z:-1.81 [[ 8.11792637e-01 5.83833115e-01 -1.14720928e-02 -4.73106658e+01] [ 5.83780458e-01 -8.11873628e-01 -7.84787120e-03 -2.61714183e+02] [-1.38957367e-02 -3.26339521e-04 -9.99903396e-01 -1.81041646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.4565599949999 meters 0.01597425213870281 Centerline is valid? [True, True] Translation: X:-47.31, Y:-261.71, Z:-1.81 [[ 7.63620982e-01 6.45584003e-01 -1.02122438e-02 -4.73075226e+01] [ 6.45531612e-01 -7.63689204e-01 -8.23027253e-03 -2.61714113e+02] [-1.31123126e-02 -3.07517380e-04 -9.99913983e-01 -1.81244953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.486559995 meters 0.017074425335522878 Centerline is valid? [True, True] Translation: X:-47.30, Y:-261.72, Z:-1.81 [[ 7.10024879e-01 7.04112866e-01 -9.47322594e-03 -4.73035624e+01] [ 7.04056127e-01 -7.10088001e-01 -8.94430422e-03 -2.61717626e+02] [-1.30246238e-02 -3.19004242e-04 -9.99915125e-01 -1.81213615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.516559995 meters 0.016393201417026056 Centerline is valid? [True, True] Translation: X:-47.30, Y:-261.72, Z:-1.81 [[ 6.52245260e-01 7.57956884e-01 -8.80251214e-03 -4.72989961e+01] [ 7.57894579e-01 -6.52304572e-01 -9.72385336e-03 -2.61720295e+02] [-1.31121805e-02 -3.29038970e-04 -9.99913978e-01 -1.81287943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.5465599949999 meters 0.016921025348532875 Centerline is valid? [True, True] Translation: X:-47.29, Y:-261.72, Z:-1.81 [[ 5.90125673e-01 8.07268088e-01 -8.36205520e-03 -4.72930580e+01] [ 8.07195472e-01 -5.90184807e-01 -1.08334255e-02 -2.61723501e+02] [-1.36806366e-02 -3.56730591e-04 -9.99906352e-01 -1.81284752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.5765599949999 meters 0.01715467834513761 Centerline is valid? [True, True] Translation: X:-47.29, Y:-261.73, Z:-1.81 [[ 5.24419211e-01 8.51424768e-01 -7.76895229e-03 -4.72870077e+01] [ 8.51341898e-01 -5.24476615e-01 -1.18849924e-02 -2.61726285e+02] [-1.41938107e-02 -3.81316250e-04 -9.99899190e-01 -1.81270070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.606559995 meters 0.01757706183259447 Centerline is valid? [True, True] Translation: X:-47.28, Y:-261.73, Z:-1.81 [[ 4.55656304e-01 8.90127274e-01 -7.12521202e-03 -4.72809529e+01] [ 8.90032080e-01 -4.55711828e-01 -1.30240557e-02 -2.61728391e+02] [-1.48401106e-02 -4.07174206e-04 -9.99889797e-01 -1.81228724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.636559995 meters 0.017369499333922407 Centerline is valid? [True, True] Translation: X:-47.27, Y:-261.73, Z:-1.81 [[ 3.83954994e-01 9.23329660e-01 -6.39547464e-03 -4.72746597e+01] [ 9.23219989e-01 -3.84008005e-01 -1.42374063e-02 -2.61730253e+02] [-1.56017330e-02 -4.37906770e-04 -9.99878190e-01 -1.81195978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.666559995 meters 0.01889514532877497 Centerline is valid? [True, True] Translation: X:-47.27, Y:-261.73, Z:-1.81 [[ 3.09247871e-01 9.50965262e-01 -5.55205888e-03 -4.72678947e+01] [ 9.50838901e-01 -3.09297329e-01 -1.55095308e-02 -2.61733365e+02] [-1.64662620e-02 -4.82824185e-04 -9.99864305e-01 -1.81022197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.6965599949999 meters 0.019810818295094033 Centerline is valid? [True, True] Translation: X:-47.26, Y:-261.74, Z:-1.81 [[ 2.33443063e-01 9.72360465e-01 -4.41164099e-03 -4.72637850e+01] [ 9.72225108e-01 -2.33484210e-01 -1.62315556e-02 -2.61735026e+02] [-1.68129715e-02 -4.99964075e-04 -9.99858527e-01 -1.80943991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.726559995 meters 0.01831524389749631 Centerline is valid? [True, True] Translation: X:-47.26, Y:-261.73, Z:-1.81 [[ 1.56038585e-01 9.87745622e-01 -3.24757897e-03 -4.72613854e+01] [ 9.87596598e-01 -1.56071481e-01 -1.71654382e-02 -2.61734942e+02] [-1.74619409e-02 -5.28827250e-04 -9.99847389e-01 -1.81118541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.756559995 meters 0.019813111075910512 Centerline is valid? [True, True] Translation: X:-47.25, Y:-261.74, Z:-1.81 [[ 7.80653958e-02 9.96946362e-01 -1.93525959e-03 -4.72536241e+01] [ 9.96788456e-01 -7.80874902e-02 -1.77515482e-02 -2.61736903e+02] [-1.78484609e-02 -5.43262781e-04 -9.99840556e-01 -1.80970184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.786559995 meters 0.0185560576315381 Centerline is valid? [True, True] Translation: X:-47.25, Y:-261.74, Z:-1.81 [[-2.33725837e-04 9.99999822e-01 -5.48181387e-04 -4.72493902e+01] [ 9.99834847e-01 2.23725602e-04 -1.81722220e-02 -2.61737672e+02] [-1.81720961e-02 -5.52338171e-04 -9.99834721e-01 -1.81066205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.8165599949999 meters 0.018821443731600697 Centerline is valid? [True, True] Translation: X:-47.24, Y:-261.74, Z:-1.81 [[-7.82824598e-02 9.96930823e-01 8.89539678e-04 -4.72436463e+01] [ 9.96760769e-01 7.82855435e-02 -1.84212953e-02 -2.61739374e+02] [-1.84343952e-02 -5.55406059e-04 -9.99829918e-01 -1.81003944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.846559995 meters 0.018087822815926313 Centerline is valid? [True, True] Translation: X:-47.24, Y:-261.74, Z:-1.81 [[-1.55066286e-01 9.87901365e-01 2.31089762e-03 -4.72403686e+01] [ 9.87734901e-01 1.55082596e-01 -1.81426174e-02 -2.61740088e+02] [-1.82814965e-02 -5.30754085e-04 -9.99832739e-01 -1.81137597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.876559995 meters 0.02078584012907582 Centerline is valid? [True, True] Translation: X:-47.23, Y:-261.74, Z:-1.81 [[-2.32191235e-01 9.72663333e-01 3.64300357e-03 -4.72300757e+01] [ 9.72505873e-01 2.32219224e-01 -1.75088428e-02 -2.61740163e+02] [-1.78761849e-02 -5.22557455e-04 -9.99840072e-01 -1.80966116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.906559995 meters 0.018582460067702 Centerline is valid? [True, True] Translation: X:-47.23, Y:-261.74, Z:-1.81 [[-3.07626819e-01 9.51494708e-01 4.85388212e-03 -4.72274728e+01] [ 9.51349073e-01 3.07664695e-01 -1.66546319e-02 -2.61741256e+02] [-1.73401623e-02 -5.05675177e-04 -9.99849520e-01 -1.81269426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.9365599949999 meters 0.018169321297455958 Centerline is valid? [True, True] Translation: X:-47.22, Y:-261.74, Z:-1.82 [[-3.80469360e-01 9.24777696e-01 5.41108753e-03 -4.72228701e+01] [ 9.24667412e-01 3.80507590e-01 -1.42881279e-02 -2.61741460e+02] [-1.52723019e-02 -4.32738590e-04 -9.99883278e-01 -1.81503896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.9665599949999 meters 0.019379433955156945 Centerline is valid? [True, True] Translation: X:-47.21, Y:-261.74, Z:-1.81 [[-4.51419482e-01 8.92290729e-01 6.14061024e-03 -4.72142063e+01] [ 8.92195712e-01 4.51461065e-01 -1.30275589e-02 -2.61741176e+02] [-1.43966165e-02 -4.02267773e-04 -9.99896283e-01 -1.81498363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.996559995 meters 0.0181412706178674 Centerline is valid? [True, True] Translation: X:-47.21, Y:-261.74, Z:-1.82 [[-5.19553978e-01 8.54409935e-01 6.87947339e-03 -4.72097890e+01] [ 8.54325082e-01 5.19599381e-01 -1.20472675e-02 -2.61740551e+02] [-1.38678751e-02 -3.81899075e-04 -9.99903764e-01 -1.81642537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.026559995 meters 0.01723863542910863 Centerline is valid? [True, True] Translation: X:-47.20, Y:-261.74, Z:-1.82 [[-5.83272266e-01 8.12238082e-01 7.92220305e-03 -4.72040247e+01] [ 8.12154635e-01 5.83325954e-01 -1.16482284e-02 -2.61739160e+02] [-1.40823613e-02 -3.60034634e-04 -9.99900774e-01 -1.81607933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.0565599949999 meters 0.017270028716437597 Centerline is valid? [True, True] Translation: X:-47.20, Y:-261.74, Z:-1.82 [[-6.44369056e-01 7.64661678e-01 9.00216524e-03 -4.71959555e+01] [ 7.64579277e-01 6.44431838e-01 -1.12310075e-02 -2.61737144e+02] [-1.43892029e-02 -3.54044670e-04 -9.99896407e-01 -1.81538949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.0865599949999 meters 0.01701246782350532 Centerline is valid? [True, True] Translation: X:-47.19, Y:-261.73, Z:-1.82 [[-7.01629482e-01 7.12470788e-01 1.00720699e-02 -4.71899067e+01] [ 7.12390170e-01 7.01701685e-01 -1.07233900e-02 -2.61733991e+02] [-1.47076905e-02 -3.48602990e-04 -9.99891775e-01 -1.81501034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.116559995 meters 0.01784899196113158 Centerline is valid? [True, True] Translation: X:-47.18, Y:-261.73, Z:-1.81 [[-7.54114650e-01 6.56639710e-01 1.16355725e-02 -4.71825725e+01] [ 6.56554416e-01 7.54204330e-01 -1.05890334e-02 -2.61731037e+02] [-1.57287789e-02 -3.45958679e-04 -9.99876235e-01 -1.81264265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.146559995 meters 0.016341143564832666 Centerline is valid? [True, True] Translation: X:-47.17, Y:-261.71, Z:-1.81 [[-7.98024877e-01 6.02490758e-01 1.26957520e-02 -4.71657277e+01] [ 6.02407745e-01 7.98125788e-01 -1.00067543e-02 -2.61714042e+02] [-1.61617840e-02 -3.37619536e-04 -9.99869333e-01 -1.81387960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.1765599949999 meters 0.016245780540515432 Centerline is valid? [True, True] Translation: X:-47.15, Y:-261.70, Z:-1.81 [[-8.38154970e-01 5.45256840e-01 1.38284097e-02 -4.71467022e+01] [ 5.45176010e-01 8.38268970e-01 -9.39422823e-03 -2.61695254e+02] [-1.67141940e-02 -3.34901833e-04 -9.99860252e-01 -1.81357292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.2065599949999 meters 0.016228000032970563 Centerline is valid? [True, True] Translation: X:-46.74, Y:-261.11, Z:-2.78 [[-7.75212209e-01 -6.31553527e-01 1.36445296e-02 -4.67420908e+01] [ 6.31464284e-01 -7.75332185e-01 -1.06235579e-02 -2.61109441e+02] [ 1.72883885e-02 3.80521314e-04 9.99850472e-01 -2.77740664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.236559995 meters 0.017944736180991152 Centerline is valid? [True, True] Translation: X:-46.76, Y:-261.14, Z:-2.78 [[-7.32023670e-01 -6.81156246e-01 1.29427297e-02 -4.67581462e+01] [ 6.81057249e-01 -7.32138014e-01 -1.16168652e-02 -2.61136830e+02] [ 1.73887647e-02 3.10919625e-04 9.99848756e-01 -2.78045404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.266559995 meters 0.016274252696496523 Centerline is valid? [True, True] Translation: X:-47.24, Y:-261.67, Z:-1.81 [[-7.99857859e-01 6.00040316e-01 1.33800082e-02 -4.72368653e+01] [ 5.99950295e-01 7.99969709e-01 -1.03975233e-02 -2.61669488e+02] [-1.69425344e-02 -2.89200857e-04 -9.99856423e-01 -1.81386974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.2965599949999 meters 0.016136997217365452 Centerline is valid? [True, True] Translation: X:-46.79, Y:-261.11, Z:-2.78 [[-7.35170240e-01 -6.77776088e-01 1.20121509e-02 -4.67886700e+01] [ 6.77690645e-01 -7.35268334e-01 -1.07641421e-02 -2.61109891e+02] [ 1.61278323e-02 2.27045352e-04 9.99869912e-01 -2.77658029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.3265599949999 meters 0.01622674257350064 Centerline is valid? [True, True] Translation: X:-47.26, Y:-261.65, Z:-1.82 [[-8.01963662e-01 5.97246955e-01 1.22621237e-02 -4.72627984e+01] [ 5.97172122e-01 8.02057358e-01 -9.45788443e-03 -2.61650208e+02] [-1.54836192e-02 -2.62281220e-04 -9.99880087e-01 -1.81531994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.356559995 meters 0.01622674257350064 Centerline is valid? [True, True] Translation: X:-46.82, Y:-261.09, Z:-2.78 [[-7.37468510e-01 -6.75281789e-01 1.16061192e-02 -4.68201384e+01] [ 6.75203750e-01 -7.37559785e-01 -1.02693851e-02 -2.61087311e+02] [ 1.54949355e-02 2.63147057e-04 9.99879912e-01 -2.77577050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.386559995 meters 0.015800277883391386 Centerline is valid? [True, True] Translation: X:-47.30, Y:-261.62, Z:-1.82 [[-8.04486950e-01 5.93852753e-01 1.18175690e-02 -4.72986254e+01] [ 5.93783876e-01 8.04573700e-01 -9.04818289e-03 -2.61622424e+02] [-1.48813935e-02 -2.62063131e-04 -9.99889232e-01 -1.81678015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.416559995 meters 0.015863696313828047 Centerline is valid? [True, True] Translation: X:-47.28, Y:-261.60, Z:-1.82 [[-8.44602879e-01 5.35255770e-01 1.21341364e-02 -4.72825988e+01] [ 5.35196105e-01 8.44689998e-01 -7.99599622e-03 -2.61598585e+02] [-1.45294867e-02 -2.59298913e-04 -9.99894408e-01 -1.81677117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.4465599949999 meters 0.016412485024591108 Centerline is valid? [True, True] Translation: X:-47.26, Y:-261.58, Z:-1.82 [[-8.80678852e-01 4.73535099e-01 1.30103664e-02 -4.72630563e+01] [ 4.73478779e-01 8.80774905e-01 -7.30837042e-03 -2.61575210e+02] [-1.49199741e-02 -2.76194889e-04 -9.99888653e-01 -1.81588914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.476559995 meters 0.016505840514672156 Centerline is valid? [True, True] Translation: X:-46.91, Y:-260.96, Z:-2.77 [[-8.26086286e-01 -5.63407245e-01 1.23985359e-02 -4.69148693e+01] [ 5.63348646e-01 -8.26179281e-01 -8.13011548e-03 -2.60960611e+02] [ 1.48239795e-02 2.68521521e-04 9.99890083e-01 -2.77443543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.506559995 meters 0.01606036767867766 Centerline is valid? [True, True] Translation: X:-46.92, Y:-260.99, Z:-2.77 [[-7.85563657e-01 -6.18664776e-01 1.19848444e-02 -4.69232513e+01] [ 6.18598729e-01 -7.85655014e-01 -9.04501458e-03 -2.60990730e+02] [ 1.50117850e-02 3.08374802e-04 9.99887269e-01 -2.77330688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.536559995 meters 0.016875978716320295 Centerline is valid? [True, True] Translation: X:-46.94, Y:-261.02, Z:-2.77 [[-7.40760048e-01 -6.71670695e-01 1.15338290e-02 -4.69422603e+01] [ 6.71596468e-01 -7.40849754e-01 -9.99127156e-03 -2.61018412e+02] [ 1.52556787e-02 3.44944015e-04 9.99883566e-01 -2.77405963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.5665599949999 meters 0.01801340592533004 Centerline is valid? [True, True] Translation: X:-47.40, Y:-261.55, Z:-1.82 [[-8.14199436e-01 5.80448112e-01 1.26201484e-02 -4.73989607e+01] [ 5.80371244e-01 8.14297151e-01 -9.45352681e-03 -2.61546754e+02] [-1.57638327e-02 -3.72684957e-04 -9.99875674e-01 -1.81532980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.596559995 meters 0.01876117888148153 Centerline is valid? [True, True] Translation: X:-46.99, Y:-260.99, Z:-2.78 [[-7.40765806e-01 -6.71635533e-01 1.31046036e-02 -4.69919982e+01] [ 6.71542217e-01 -7.40881544e-01 -1.12066826e-02 -2.60990499e+02] [ 1.72357652e-02 4.98767292e-04 9.99851329e-01 -2.77675867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.626559995 meters 0.01876117888148153 Centerline is valid? [True, True] Translation: X:-47.44, Y:-261.51, Z:-1.81 [[-8.17710828e-01 5.75463016e-01 1.38318148e-02 -4.74405025e+01] [ 5.75371302e-01 8.17827680e-01 -1.02835188e-02 -2.61511609e+02] [-1.72298257e-02 -4.50515386e-04 -9.99851454e-01 -1.81434442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.656559995 meters 0.018042634836108226 Centerline is valid? [True, True] Translation: X:-47.42, Y:-261.49, Z:-1.82 [[-8.57086098e-01 5.14940613e-01 1.54785517e-02 -4.74215649e+01] [ 5.14845922e-01 8.57225705e-01 -9.88772474e-03 -2.61490388e+02] [-1.83602034e-02 -5.05562186e-04 -9.99831310e-01 -1.81527768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.6865599949999 meters 0.01831052486091033 Centerline is valid? [True, True] Translation: X:-47.05, Y:-260.92, Z:-2.78 [[-7.87260551e-01 -6.16436961e-01 1.50431998e-02 -4.70458999e+01] [ 6.16337281e-01 -7.87404082e-01 -1.10981248e-02 -2.60921333e+02] [ 1.86863712e-02 5.34569031e-04 9.99825252e-01 -2.77593203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.7165599949999 meters 0.018855577585764574 Centerline is valid? [True, True] Translation: X:-47.45, Y:-261.47, Z:-1.82 [[-8.59454332e-01 5.10973805e-01 1.56211815e-02 -4.74531283e+01] [ 5.10878180e-01 8.59596122e-01 -9.89914333e-03 -2.61467265e+02] [-1.84861100e-02 -5.27340827e-04 -9.99828978e-01 -1.81545931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.746559995 meters 0.01793953492651896 Centerline is valid? [True, True] Translation: X:-47.43, Y:-261.45, Z:-1.82 [[-8.93259591e-01 4.49261019e-01 1.58694685e-02 -4.74348806e+01] [ 4.49180017e-01 8.93400404e-01 -8.54581903e-03 -2.61447274e+02] [-1.80170930e-02 -5.05386672e-04 -9.99837551e-01 -1.81677289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.776559995 meters 0.017299945607726196 Centerline is valid? [True, True] Translation: X:-47.42, Y:-261.42, Z:-1.82 [[-9.22495658e-01 3.85693620e-01 1.55625588e-02 -4.74220926e+01] [ 3.85630240e-01 9.22626803e-01 -7.00717991e-03 -2.61423898e+02] [-1.70610585e-02 -4.62699754e-04 -9.99854343e-01 -1.81799761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.8065599949999 meters 0.016910607447294702 Centerline is valid? [True, True] Translation: X:-47.14, Y:-260.81, Z:-2.77 [[-8.69862957e-01 -4.93117572e-01 1.31718061e-02 -4.71394148e+01] [ 4.93065932e-01 -8.69962632e-01 -7.14186409e-03 -2.60805379e+02] [ 1.49807578e-02 2.82125826e-04 9.99887742e-01 -2.77060683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.8365599949999 meters 0.016693970663099064 Centerline is valid? [True, True] Translation: X:-47.46, Y:-261.41, Z:-1.82 [[-9.22897195e-01 3.84830310e-01 1.28996405e-02 -4.74598002e+01] [ 3.84787505e-01 9.22987278e-01 -5.74992786e-03 -2.61408322e+02] [-1.41189506e-02 -3.42971822e-04 -9.99900264e-01 -1.82151746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.866559995 meters 0.01601810533539522 Centerline is valid? [True, True] Translation: X:-47.45, Y:-261.38, Z:-1.82 [[-9.47120412e-01 3.20635094e-01 1.24924400e-02 -4.74499182e+01] [ 3.20603129e-01 9.47202751e-01 -4.53677838e-03 -2.61382488e+02] [-1.32875239e-02 -2.91760076e-04 -9.99911674e-01 -1.82275769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.896559995 meters 0.01601810533539522 Centerline is valid? [True, True] Translation: X:-47.44, Y:-261.36, Z:-1.82 [[-9.67470109e-01 2.52662206e-01 1.27827177e-02 -4.74418375e+01] [ 2.52636160e-01 9.67554507e-01 -3.63953254e-03 -2.61356174e+02] [-1.32875485e-02 -2.91762219e-04 -9.99911674e-01 -1.82275743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.9265599949999 meters 0.016003664407052906 Centerline is valid? [True, True] Translation: X:-47.25, Y:-260.70, Z:-2.77 [[-9.33793520e-01 -3.57587803e-01 1.26738107e-02 -4.72495092e+01] [ 3.57559296e-01 -9.33879473e-01 -4.52551941e-03 -2.60704521e+02] [ 1.34540822e-02 3.05738137e-04 9.99909443e-01 -2.76870459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.9565599949999 meters 0.014980037231075275 Centerline is valid? [True, True] Translation: X:-47.48, Y:-261.35, Z:-1.82 [[-9.67466193e-01 2.52633303e-01 1.36227712e-02 -4.74805962e+01] [ 2.52604507e-01 9.67562064e-01 -3.82295801e-03 -2.61345758e+02] [-1.41466831e-02 -2.57409228e-04 -9.99899898e-01 -1.82179112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.986559995 meters 0.014860913009977201 Centerline is valid? [True, True] Translation: X:-47.29, Y:-260.69, Z:-2.77 [[-9.36403943e-01 -3.50645956e-01 1.39666880e-02 -4.72942820e+01] [ 3.50611872e-01 -9.36508045e-01 -4.89875154e-03 -2.60693129e+02] [ 1.47976431e-02 3.09676380e-04 9.99890461e-01 -2.77009021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.016559995 meters 0.014567970897036544 Centerline is valid? [True, True] Translation: X:-47.52, Y:-261.33, Z:-1.82 [[-9.67910369e-01 2.50862500e-01 1.47486891e-02 -4.75247071e+01] [ 2.50829461e-01 9.68022698e-01 -4.07887446e-03 -2.61333665e+02] [-1.53003024e-02 -2.48579153e-04 -9.99882913e-01 -1.82055716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.0465599949999 meters 0.013982586698827227 Centerline is valid? [True, True] Translation: X:-47.34, Y:-260.68, Z:-2.77 [[-9.39057410e-01 -3.43425545e-01 1.51682479e-02 -4.73391787e+01] [ 3.43385981e-01 -9.39179856e-01 -5.22166603e-03 -2.60681507e+02] [ 1.60389664e-02 3.05119515e-04 9.99871321e-01 -2.77104804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.0765599949999 meters 0.01392950863464536 Centerline is valid? [True, True] Translation: X:-47.57, Y:-261.32, Z:-1.82 [[-9.67680377e-01 2.51700521e-01 1.55413916e-02 -4.75737722e+01] [ 2.51664956e-01 9.67805152e-01 -4.23522804e-03 -2.61320581e+02] [-1.61070480e-02 -1.87123416e-04 -9.99870256e-01 -1.81917804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.106559995 meters 0.013303643701481765 Centerline is valid? [True, True] Translation: X:-47.39, Y:-260.67, Z:-2.77 [[-9.42069005e-01 -3.35073078e-01 1.52322640e-02 -4.73871929e+01] [ 3.35032483e-01 -9.42192123e-01 -5.21899325e-03 -2.60667980e+02] [ 1.61004633e-02 1.86651458e-04 9.99870362e-01 -2.77047601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.136559995 meters 0.01320653720216583 Centerline is valid? [True, True] Translation: X:-47.62, Y:-261.31, Z:-1.82 [[-9.67453534e-01 2.52600277e-01 1.50585687e-02 -4.76151079e+01] [ 2.52567962e-01 9.67570715e-01 -4.04181700e-03 -2.61312013e+02] [-1.55911941e-02 -1.06958144e-04 -9.99878444e-01 -1.82077352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.166559995 meters 0.013042289211934757 Centerline is valid? [True, True] Translation: X:-47.43, Y:-260.66, Z:-2.77 [[-9.44269526e-01 -3.28869167e-01 1.41468689e-02 -4.74333240e+01] [ 3.28833270e-01 -9.44375491e-01 -4.85936206e-03 -2.60655359e+02] [ 1.49580507e-02 6.34136688e-05 9.99888120e-01 -2.76944919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.1965599949999 meters 0.01293398565985694 Centerline is valid? [True, True] Translation: X:-47.66, Y:-261.30, Z:-1.82 [[-9.67662798e-01 2.51893630e-01 1.33532145e-02 -4.76586124e+01] [ 2.51868919e-01 9.67754926e-01 -3.52860704e-03 -2.61301831e+02] [-1.38114727e-02 -5.12420605e-05 -9.99904616e-01 -1.82175187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.226559995 meters 0.012971190385609859 Centerline is valid? [True, True] Translation: X:-47.66, Y:-261.27, Z:-1.82 [[-9.83041988e-01 1.82917788e-01 1.30204996e-02 -4.76572314e+01] [ 1.82901142e-01 9.83128212e-01 -2.46811268e-03 -2.61273327e+02] [-1.32522822e-02 -4.47941375e-05 -9.99912184e-01 -1.82192784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.256559995 meters 0.012967339892401585 Centerline is valid? [True, True] Translation: X:-47.65, Y:-261.25, Z:-1.82 [[-9.93540962e-01 1.12728537e-01 1.29859042e-02 -4.76518771e+01] [ 1.12718345e-01 9.93625823e-01 -1.51639625e-03 -2.61245375e+02] [-1.30740708e-02 -4.28521630e-05 -9.99914530e-01 -1.82164958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.286559995 meters 0.012750917615280011 Centerline is valid? [True, True] Translation: X:-47.65, Y:-261.22, Z:-1.82 [[-9.99057837e-01 4.17148123e-02 1.19713689e-02 -4.76548714e+01] [ 4.17113298e-02 9.99129558e-01 -5.40545141e-04 -2.61216054e+02] [-1.19834973e-02 -4.06941412e-05 -9.99928195e-01 -1.82217144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.3165599949999 meters 0.012894998706947844 Centerline is valid? [True, True] Translation: X:-47.62, Y:-260.54, Z:-2.77 [[-9.93163686e-01 -1.16183632e-01 1.12808294e-02 -4.76236428e+01] [ 1.16176108e-01 -9.93227750e-01 -1.32226409e-03 -2.60540188e+02] [ 1.13580582e-02 -2.66182093e-06 9.99935495e-01 -2.76928104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.346559995 meters 0.01294743138268639 Centerline is valid? [True, True] Translation: X:-47.72, Y:-261.21, Z:-1.82 [[-9.99304418e-01 3.56614108e-02 1.09061116e-02 -4.77212218e+01] [ 3.56587066e-02 9.99363928e-01 -4.42363656e-04 -2.61210713e+02] [-1.09149498e-02 -5.31581224e-05 -9.99940429e-01 -1.82176828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.376559995 meters 0.01281984061566001 Centerline is valid? [True, True] Translation: X:-47.72, Y:-261.18, Z:-1.82 [[-9.99274197e-01 -3.66306129e-02 1.04536339e-02 -4.77229279e+01] [-3.66292686e-02 9.99328872e-01 3.20095033e-04 -2.61182174e+02] [-1.04583434e-02 -6.30462548e-05 -9.99945308e-01 -1.82303776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.406559995 meters 0.013095674632999016 Centerline is valid? [True, True] Translation: X:-47.74, Y:-260.51, Z:-2.77 [[-9.98966642e-01 -4.42610191e-02 1.03252320e-02 -4.77436450e+01] [ 4.42592117e-02 -9.99020000e-01 -4.03585201e-04 -2.60513330e+02] [ 1.03329764e-02 5.38184774e-05 9.99946612e-01 -2.76876353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.4365599949999 meters 0.013801330363496 Centerline is valid? [True, True] Translation: X:-47.81, Y:-261.18, Z:-1.82 [[-9.98864496e-01 -4.65456524e-02 1.01597514e-02 -4.78053901e+01] [-4.65443374e-02 9.98916158e-01 3.65970031e-04 -2.61178612e+02] [-1.01657741e-02 -1.07324426e-04 -9.99948322e-01 -1.82135333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.4665599949999 meters 0.013799042084077739 Centerline is valid? [True, True] Translation: X:-47.83, Y:-260.52, Z:-2.77 [[-9.98996701e-01 -4.36311056e-02 1.00954550e-02 -4.78280765e+01] [ 4.36299115e-02 -9.99047705e-01 -3.38590712e-04 -2.60520516e+02] [ 1.01006142e-02 1.02212802e-04 9.99948982e-01 -2.76926580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.496559995 meters 0.01373481372307293 Centerline is valid? [True, True] Translation: X:-47.89, Y:-261.18, Z:-1.82 [[-9.98442551e-01 -5.49837732e-02 9.44757011e-03 -4.78864079e+01] [-5.49825327e-02 9.98487240e-01 3.91181278e-04 -2.61179675e+02] [-9.45478682e-03 -1.28879299e-04 -9.99955294e-01 -1.82242086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.526559995 meters 0.014423380600096186 Centerline is valid? [True, True] Translation: X:-47.90, Y:-261.15, Z:-1.82 [[-9.91644839e-01 -1.28711417e-01 8.59563337e-03 -4.78987735e+01] [-1.28707826e-01 9.91682082e-01 9.71988415e-04 -2.61149354e+02] [-8.64924159e-03 -1.42457987e-04 -9.99962585e-01 -1.82198103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.5565599949999 meters 0.014749423649037528 Centerline is valid? [True, True] Translation: X:-47.91, Y:-261.12, Z:-1.82 [[-9.79648582e-01 -2.00560242e-01 8.01527287e-03 -4.79120993e+01] [-2.00554747e-01 9.79681361e-01 1.49173278e-03 -2.61121947e+02] [-8.15159571e-03 -1.46127124e-04 -9.99966765e-01 -1.82171385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.5865599949999 meters 0.014962513646218716 Centerline is valid? [True, True] Translation: X:-47.94, Y:-261.10, Z:-1.82 [[-9.62127058e-01 -2.72503053e-01 7.32194209e-03 -4.79381349e+01] [-2.72496374e-01 9.62154906e-01 1.91404748e-03 -2.61097850e+02] [-7.56642628e-03 -1.53645798e-04 -9.99971362e-01 -1.82164179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.616559995 meters 0.015561766883215755 Centerline is valid? [True, True] Translation: X:-47.97, Y:-261.08, Z:-1.82 [[-9.39578837e-01 -3.42270666e-01 6.51150059e-03 -4.79741034e+01] [-3.42263524e-01 9.39601389e-01 2.21604407e-03 -2.61077960e+02] [-6.87670188e-03 -1.46501024e-04 -9.99976345e-01 -1.82113282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.646559995 meters 0.01544917484221489 Centerline is valid? [True, True] Translation: X:-48.03, Y:-261.07, Z:-1.82 [[-9.11725405e-01 -4.10756085e-01 6.01866776e-03 -4.80295888e+01] [-4.10748174e-01 9.11745259e-01 2.55328259e-03 -2.61069257e+02] [-6.53626816e-03 -1.44264197e-04 -9.99978628e-01 -1.82101622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.6765599949999 meters 0.01584472512219519 Centerline is valid? [True, True] Translation: X:-48.10, Y:-261.07, Z:-1.82 [[-8.78541800e-01 -4.77633215e-01 5.55137245e-03 -4.80962683e+01] [-4.77624711e-01 8.78559327e-01 2.85392369e-03 -2.61068833e+02] [-6.24033879e-03 -1.44181401e-04 -9.99980519e-01 -1.82069605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.7065599949999 meters 0.01572219241929117 Centerline is valid? [True, True] Translation: X:-48.17, Y:-261.08, Z:-1.82 [[-8.40549358e-01 -5.41711096e-01 5.08585170e-03 -4.81676689e+01] [-5.41702174e-01 8.40564733e-01 3.11203824e-03 -2.61077404e+02] [-5.96081322e-03 -1.39195183e-04 -9.99982225e-01 -1.82058991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.736559995 meters 0.016808041349027854 Centerline is valid? [True, True] Translation: X:-48.25, Y:-261.10, Z:-1.82 [[-7.97714968e-01 -6.03017958e-01 4.49135146e-03 -4.82475923e+01] [-6.03009314e-01 7.97727601e-01 3.23149113e-03 -2.61095014e+02] [-5.53152221e-03 -1.30517916e-04 -9.99984693e-01 -1.82011001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.766559995 meters 0.016375701461408477 Centerline is valid? [True, True] Translation: X:-48.33, Y:-261.12, Z:-1.82 [[-7.50439972e-01 -6.60928945e-01 3.57462748e-03 -4.83267681e+01] [-6.60922131e-01 7.50448478e-01 3.00316168e-03 -2.61122269e+02] [-4.66745024e-03 -1.08857841e-04 -9.99989102e-01 -1.81977735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.7965599949999 meters 0.015729544446798978 Centerline is valid? [True, True] Translation: X:-48.41, Y:-261.16, Z:-1.82 [[-6.99161638e-01 -7.14956783e-01 3.13079933e-03 -4.84106972e+01] [-7.14950241e-01 6.99168641e-01 3.06004079e-03 -2.61162037e+02] [-4.37675363e-03 -9.89026033e-05 -9.99990417e-01 -1.81983575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.8265599949999 meters 0.016320456609212216 Centerline is valid? [True, True] Translation: X:-48.49, Y:-261.21, Z:-1.82 [[-6.43632856e-01 -7.65330606e-01 2.41045613e-03 -4.84931480e+01] [-7.65325700e-01 6.43637365e-01 2.74136932e-03 -2.61206922e+02] [-3.64951348e-03 -8.03486577e-05 -9.99993337e-01 -1.81948927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.856559995 meters 0.015999948018693404 Centerline is valid? [True, True] Translation: X:-48.58, Y:-261.27, Z:-1.82 [[-5.84685778e-01 -8.11257820e-01 1.81372088e-03 -4.85760401e+01] [-8.11254247e-01 5.84688588e-01 2.40860902e-03 -2.61265721e+02] [-3.01446481e-03 -6.31093245e-05 -9.99995455e-01 -1.81953231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.886559995 meters 0.014811598555229346 Centerline is valid? [True, True] Translation: X:-48.65, Y:-261.33, Z:-1.82 [[-5.22603623e-01 -8.52575033e-01 1.12519863e-03 -4.86529147e+01] [-8.52573222e-01 5.22604833e-01 1.75804296e-03 -2.61331435e+02] [-2.08689778e-03 -4.05546027e-05 -9.99997822e-01 -1.81984686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.916559995 meters 0.014421685848538758 Centerline is valid? [True, True] Translation: X:-48.73, Y:-261.41, Z:-1.82 [[-4.57855779e-01 -8.89026200e-01 7.08457563e-04 -4.87278099e+01] [-8.89025223e-01 4.57856326e-01 1.31815853e-03 -2.61405495e+02] [-1.49624924e-03 -2.63101446e-05 -9.99998880e-01 -1.81974748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.9465599949999 meters 0.013386209485433023 Centerline is valid? [True, True] Translation: X:-48.80, Y:-261.49, Z:-1.82 [[-3.93896661e-01 -9.19154300e-01 8.91242247e-04 -4.87971635e+01] [-9.19152095e-01 3.93897668e-01 2.01332895e-03 -2.61492173e+02] [-2.20161820e-03 -2.61436300e-05 -9.99997576e-01 -1.81896066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.976559995 meters 0.012874976053126218 Centerline is valid? [True, True] Translation: X:-48.86, Y:-261.58, Z:-1.82 [[-3.25893517e-01 -9.45406167e-01 7.71263710e-04 -4.88605904e+01] [-9.45403656e-01 3.25894429e-01 2.17923145e-03 -2.61581963e+02] [-2.31160940e-03 -1.89581280e-05 -9.99997328e-01 -1.81828917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.006559995 meters 0.012547866043961492 Centerline is valid? [True, True] Translation: X:-48.92, Y:-261.68, Z:-1.82 [[-2.55900811e-01 -9.66702764e-01 7.35843821e-04 -4.89178317e+01] [-9.66698915e-01 2.55901869e-01 2.72803021e-03 -2.61679633e+02] [-2.82549815e-03 -1.32342807e-05 -9.99996008e-01 -1.81767824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.036559995 meters 0.012481725485328136 Centerline is valid? [True, True] Translation: X:-48.97, Y:-261.78, Z:-1.82 [[-1.87925700e-01 -9.82183047e-01 6.27823870e-04 -4.89653460e+01] [-9.82177417e-01 1.87926749e-01 3.32560690e-03 -2.61781018e+02] [-3.38433962e-03 8.33257934e-06 -9.99994273e-01 -1.81649091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.0665599949999 meters 0.012800924845121438 Centerline is valid? [True, True] Translation: X:-49.01, Y:-261.89, Z:-1.82 [[-1.15895939e-01 -9.93261259e-01 4.50645752e-04 -4.90080702e+01] [-9.93252839e-01 1.15896812e-01 4.08990717e-03 -2.61892465e+02] [-4.11457475e-03 2.63984609e-05 -9.99991535e-01 -1.81623346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.096559995 meters 0.013084810715002547 Centerline is valid? [True, True] Translation: X:-49.04, Y:-262.00, Z:-1.82 [[-4.29869824e-02 -9.99075624e-01 1.33481087e-04 -4.90427224e+01] [-9.99067338e-01 4.29871696e-02 4.06903377e-03 -2.62002448e+02] [-4.07101043e-03 4.15588889e-05 -9.99991713e-01 -1.81646875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.126559995 meters 0.014304499609250286 Centerline is valid? [True, True] Translation: X:-49.07, Y:-262.12, Z:-1.82 [[ 2.79138363e-02 -9.99610323e-01 -1.44042966e-04 -4.90674584e+01] [-9.99605017e-01 -2.79141575e-02 3.25739506e-03 -2.62116562e+02] [-3.26014657e-03 5.30596785e-05 -9.99994684e-01 -1.81679560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.156559995 meters 0.014636091358565053 Centerline is valid? [True, True] Translation: X:-49.74, Y:-262.26, Z:-2.77 [[-5.06116868e-03 9.99987188e-01 9.36067156e-05 -4.97398128e+01] [-9.99983502e-01 -5.06140429e-03 2.71624859e-03 -2.62255714e+02] [ 2.71668757e-03 -7.98577789e-05 9.99996307e-01 -2.77399812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.1865599949999 meters 0.015569276179987289 Centerline is valid? [True, True] Translation: X:-49.06, Y:-262.40, Z:-1.82 [[ 3.16527482e-02 -9.99498923e-01 -8.32034385e-05 -4.90567876e+01] [-9.99497732e-01 -3.16528390e-02 1.54320022e-03 -2.62396256e+02] [-1.54506058e-03 3.43151201e-05 -9.99998806e-01 -1.81836369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.2165599949999 meters 0.015446171633369962 Centerline is valid? [True, True] Translation: X:-49.08, Y:-262.51, Z:-1.82 [[ 1.07127853e-01 -9.94245247e-01 -1.09770040e-04 -4.90754367e+01] [-9.94244898e-01 -1.07127907e-01 8.33223329e-04 -2.62514689e+02] [-8.40187770e-04 1.98768763e-05 -9.99999647e-01 -1.81839562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.246559995 meters 0.015446171633369962 Centerline is valid? [True, True] Translation: X:-49.08, Y:-262.64, Z:-1.82 [[ 1.83243265e-01 -9.83067585e-01 -1.73500702e-04 -4.90834923e+01] [-9.83067241e-01 -1.83243346e-01 8.22331139e-04 -2.62636080e+02] [-8.40199936e-04 1.98762139e-05 -9.99999647e-01 -1.81839502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.276559995 meters 0.015787140787790106 Centerline is valid? [True, True] Translation: X:-49.08, Y:-262.76, Z:-1.82 [[ 2.57289091e-01 -9.66334457e-01 -2.00667264e-04 -4.90817788e+01] [-9.66334214e-01 -2.57289169e-01 6.85265953e-04 -2.62760677e+02] [-7.13825617e-04 1.76001890e-05 -9.99999745e-01 -1.81833845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.3065599949999 meters 0.01614784021921203 Centerline is valid? [True, True] Translation: X:-49.07, Y:-262.88, Z:-1.82 [[ 3.30422746e-01 -9.43832979e-01 -3.40330259e-04 -4.90731542e+01] [-9.43832551e-01 -3.30422921e-01 8.99712633e-04 -2.62877203e+02] [-9.61631373e-04 2.39292574e-05 -9.99999537e-01 -1.81799950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.3365599949999 meters 0.015668955473526893 Centerline is valid? [True, True] Translation: X:-49.06, Y:-262.99, Z:-1.82 [[ 4.02176426e-01 -9.15562038e-01 -5.25695142e-04 -4.90570762e+01] [-9.15561352e-01 -4.02176769e-01 1.12153581e-03 -2.62993834e+02] [-1.23825799e-03 3.02508898e-05 -9.99999233e-01 -1.81722055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.366559995 meters 0.015345086563600167 Centerline is valid? [True, True] Translation: X:-49.03, Y:-263.11, Z:-1.82 [[ 4.73232984e-01 -8.80936747e-01 -9.95022841e-04 -4.90312543e+01] [-8.80934993e-01 -4.73234028e-01 1.75889507e-03 -2.63113076e+02] [-2.02035397e-03 4.41832752e-05 -9.99997958e-01 -1.81612418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.396559995 meters 0.014771903485070062 Centerline is valid? [True, True] Translation: X:-49.00, Y:-263.22, Z:-1.82 [[ 5.40786904e-01 -8.41158952e-01 -1.06882191e-03 -4.89998689e+01] [-8.41157447e-01 -5.40787958e-01 1.59166313e-03 -2.63222486e+02] [-1.91684771e-03 3.82969370e-05 -9.99998162e-01 -1.81596673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.4265599949999 meters 0.013511273016730902 Centerline is valid? [True, True] Translation: X:-48.96, Y:-263.33, Z:-1.82 [[ 6.06771605e-01 -7.94874636e-01 -1.59151370e-03 -4.89619165e+01] [-7.94872073e-01 -6.06773691e-01 2.01882319e-03 -2.63333543e+02] [-2.57039999e-03 4.00852059e-05 -9.99996696e-01 -1.81584192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.4565599949999 meters 0.013195332894431944 Centerline is valid? [True, True] Translation: X:-48.92, Y:-263.43, Z:-1.82 [[ 6.67087645e-01 -7.44977014e-01 -1.82289616e-03 -4.89162229e+01] [-7.44974380e-01 -6.67090134e-01 1.98144279e-03 -2.63434813e+02] [-2.69216538e-03 3.62149325e-05 -9.99996376e-01 -1.81561286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.486559995 meters 0.012848983443051663 Centerline is valid? [True, True] Translation: X:-48.87, Y:-263.53, Z:-1.82 [[ 7.23076212e-01 -6.90766293e-01 -1.64907984e-03 -4.88658404e+01] [-6.90764577e-01 -7.23078092e-01 1.53977745e-03 -2.63529552e+02] [-2.25603986e-03 2.57494922e-05 -9.99997455e-01 -1.81574357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.516559995 meters 0.012435753116604211 Centerline is valid? [True, True] Translation: X:-48.87, Y:-263.54, Z:-1.82 [[ 7.77192639e-01 -6.29261070e-01 -1.45176087e-03 -4.88706091e+01] [-6.29260006e-01 -7.77193995e-01 1.15682251e-03 -2.63544317e+02] [-1.85624320e-03 1.44611109e-05 -9.99998277e-01 -1.81588910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.5465599949999 meters 0.0122639490282245 Centerline is valid? [True, True] Translation: X:-48.87, Y:-263.56, Z:-1.82 [[ 8.24822803e-01 -5.65389290e-01 -1.51457564e-03 -4.88725350e+01] [-5.65388363e-01 -8.24824194e-01 1.02401644e-03 -2.63557285e+02] [-1.82822656e-03 1.16913292e-05 -9.99998329e-01 -1.81575415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.5765599949999 meters 0.01214324573736159 Centerline is valid? [True, True] Translation: X:-48.87, Y:-263.57, Z:-1.82 [[ 8.67053690e-01 -4.98212753e-01 -1.39696950e-03 -4.88731518e+01] [-4.98212122e-01 -8.67054815e-01 7.92916449e-04 -2.63568968e+02] [-1.60629022e-03 8.48600717e-06 -9.99998710e-01 -1.81534317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.606559995 meters 0.012035058064830642 Centerline is valid? [True, True] Translation: X:-48.87, Y:-263.58, Z:-1.82 [[ 9.03739068e-01 -4.28081627e-01 -1.34837883e-03 -4.88731636e+01] [-4.28081162e-01 -9.03740073e-01 6.31461671e-04 -2.63582889e+02] [-1.48890112e-03 6.53899287e-06 -9.99998892e-01 -1.81540098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.636559995 meters 0.012011263631666168 Centerline is valid? [True, True] Translation: X:-48.87, Y:-263.60, Z:-1.82 [[ 9.34753376e-01 -3.55292032e-01 -1.92311874e-03 -4.88722045e+01] [-3.55291296e-01 -9.34755354e-01 7.23446790e-04 -2.63597222e+02] [-2.05468042e-03 7.02302028e-06 -9.99997889e-01 -1.81507062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.666559995 meters 0.012039897656307726 Centerline is valid? [True, True] Translation: X:-48.87, Y:-263.61, Z:-1.81 [[ 9.59705930e-01 -2.81000771e-01 -1.75906085e-03 -4.88704364e+01] [-2.81000311e-01 -9.59707542e-01 5.08761040e-04 -2.63608666e+02] [-1.83114621e-03 6.03565823e-06 -9.99998324e-01 -1.81473903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.6965599949999 meters 0.01216293569912657 Centerline is valid? [True, True] Translation: X:-48.87, Y:-263.62, Z:-1.81 [[ 9.78715249e-01 -2.05209308e-01 -2.36694640e-03 -4.88664598e+01] [-2.05208728e-01 -9.78718111e-01 4.88014160e-04 -2.63615574e+02] [-2.41671835e-03 8.09115874e-06 -9.99997080e-01 -1.81450782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.726559995 meters 0.012183948700010643 Centerline is valid? [True, True] Translation: X:-48.86, Y:-263.62, Z:-1.81 [[ 9.91706403e-01 -1.28502684e-01 -2.33912430e-03 -4.88607832e+01] [-1.28502348e-01 -9.91709161e-01 2.94084561e-04 -2.63621019e+02] [-2.35752165e-03 8.93742185e-06 -9.99997221e-01 -1.81436652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.756559995 meters 0.012162122815023125 Centerline is valid? [True, True] Translation: X:-48.86, Y:-263.63, Z:-1.81 [[ 9.98715451e-01 -5.05891573e-02 -2.86082969e-03 -4.88581405e+01] [-5.05889817e-02 -9.98719549e-01 1.33741310e-04 -2.63632321e+02] [-2.86393240e-03 1.11569483e-05 -9.99995899e-01 -1.81446410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.786559995 meters 0.012229642133702623 Centerline is valid? [True, True] Translation: X:-48.86, Y:-263.64, Z:-1.81 [[ 9.99623654e-01 2.71833353e-02 -3.69018514e-03 -4.88556359e+01] [ 2.71830895e-02 -9.99630465e-01 -1.16763647e-04 -2.63642057e+02] [-3.69199551e-03 1.64090709e-05 -9.99993185e-01 -1.81403656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.8165599949999 meters 0.012317287836750583 Centerline is valid? [True, True] Translation: X:-48.85, Y:-263.65, Z:-1.81 [[ 9.94463765e-01 1.04995464e-01 -4.21571128e-03 -4.88517621e+01] [ 1.04994433e-01 -9.94472701e-01 -4.65579933e-04 -2.63650960e+02] [-4.24129356e-03 2.03761557e-05 -9.99991006e-01 -1.81370984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.846559995 meters 0.01239126445970803 Centerline is valid? [True, True] Translation: X:-48.85, Y:-263.66, Z:-1.81 [[ 9.83284268e-01 1.82001440e-01 -5.24643908e-03 -4.88482190e+01] [ 1.81998694e-01 -9.83298264e-01 -1.00011601e-03 -2.63658487e+02] [-5.34083699e-03 2.85532782e-05 -9.99985737e-01 -1.81313305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.876559995 meters 0.01261021659919759 Centerline is valid? [True, True] Translation: X:-48.84, Y:-263.66, Z:-1.81 [[ 9.66364019e-01 2.57107266e-01 -6.03631472e-03 -4.88444546e+01] [ 2.57101978e-01 -9.66382870e-01 -1.64949105e-03 -2.63663957e+02] [-6.25748728e-03 4.20603417e-05 -9.99980421e-01 -1.81228969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.906559995 meters 0.012639809395578686 Centerline is valid? [True, True] Translation: X:-48.84, Y:-263.67, Z:-1.81 [[ 9.43436564e-01 3.31492572e-01 -6.33445121e-03 -4.88390668e+01] [ 3.31484753e-01 -9.43457828e-01 -2.27738786e-03 -2.63670061e+02] [-6.73122474e-03 4.87969821e-05 -9.99977344e-01 -1.81283044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.9365599949999 meters 0.012782743522269291 Centerline is valid? [True, True] Translation: X:-48.84, Y:-263.68, Z:-1.81 [[ 9.14848627e-01 4.03749716e-01 -6.17713135e-03 -4.88350631e+01] [ 4.03740119e-01 -9.14869479e-01 -2.78426772e-03 -2.63675113e+02] [-6.77541625e-03 5.32277529e-05 -9.99977045e-01 -1.81256770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.9665599949999 meters 0.012771971349314739 Centerline is valid? [True, True] Translation: X:-48.83, Y:-263.68, Z:-1.81 [[ 8.80796996e-01 4.73447966e-01 -6.60877139e-03 -4.88282875e+01] [ 4.73434086e-01 -8.80821787e-01 -3.62584094e-03 -2.63682100e+02] [-7.53779684e-03 6.48121694e-05 -9.99971588e-01 -1.81321316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.996559995 meters 0.012751029350121653 Centerline is valid? [True, True] Translation: X:-48.82, Y:-263.69, Z:-1.81 [[ 8.41008740e-01 5.40982424e-01 -6.50510788e-03 -4.88204255e+01] [ 5.40965626e-01 -8.41033895e-01 -4.26362523e-03 -2.63688945e+02] [-7.77756253e-03 6.67063252e-05 -9.99969752e-01 -1.81329864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.026559995 meters 0.01271426234801651 Centerline is valid? [True, True] Translation: X:-48.81, Y:-263.69, Z:-1.81 [[ 7.95855690e-01 6.05452249e-01 -6.42607041e-03 -4.88131261e+01] [ 6.05431835e-01 -7.95881630e-01 -4.97236025e-03 -2.63694645e+02] [-8.12491809e-03 6.67335996e-05 -9.99966990e-01 -1.81332494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.0565599949999 meters 0.012699696486574222 Centerline is valid? [True, True] Translation: X:-48.81, Y:-263.70, Z:-1.81 [[ 7.45686328e-01 6.66269729e-01 -6.04557572e-03 -4.88051758e+01] [ 6.66247148e-01 -7.45710832e-01 -5.48580262e-03 -2.63699289e+02] [-8.16327553e-03 6.28404268e-05 -9.99966678e-01 -1.81364252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.0865599949999 meters 0.012682537797218452 Centerline is valid? [True, True] Translation: X:-48.80, Y:-263.70, Z:-1.81 [[ 6.90448925e-01 7.23360592e-01 -5.45317762e-03 -4.87980787e+01] [ 7.23337427e-01 -6.90470457e-01 -5.78925278e-03 -2.63703028e+02] [-7.95297536e-03 5.26958828e-05 -9.99968373e-01 -1.81356640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.116559995 meters 0.012365648334887 Centerline is valid? [True, True] Translation: X:-48.79, Y:-263.71, Z:-1.81 [[ 6.29634042e-01 7.76876262e-01 -4.92415594e-03 -4.87899401e+01] [ 7.76852119e-01 -6.29653296e-01 -6.12469861e-03 -2.63706389e+02] [-7.85864397e-03 3.09777653e-05 -9.99969120e-01 -1.81450658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.146559995 meters 0.012249565787095486 Centerline is valid? [True, True] Translation: X:-48.78, Y:-263.71, Z:-1.81 [[ 5.65455878e-01 8.24766405e-01 -4.47531760e-03 -4.87834037e+01] [ 8.24740325e-01 -5.65473587e-01 -6.55890533e-03 -2.63709207e+02] [-7.94023866e-03 1.77966774e-05 -9.99968476e-01 -1.81488955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.1765599949999 meters 0.012133662487154792 Centerline is valid? [True, True] Translation: X:-48.78, Y:-263.71, Z:-1.82 [[ 4.95394162e-01 8.68660454e-01 -3.69320959e-03 -4.87750208e+01] [ 8.68636547e-01 -4.95407928e-01 -6.44466008e-03 -2.63710778e+02] [-7.42786667e-03 -1.54098421e-05 -9.99972413e-01 -1.81595094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.2065599949999 meters 0.012381389783620913 Centerline is valid? [True, True] Translation: X:-48.77, Y:-263.71, Z:-1.82 [[ 4.23186273e-01 9.06036835e-01 -3.26066164e-03 -4.87683182e+01] [ 9.06010640e-01 -4.23198833e-01 -6.88969397e-03 -2.63712259e+02] [-7.62222472e-03 -3.85702247e-05 -9.99970950e-01 -1.81549312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.236559995 meters 0.012657788751317092 Centerline is valid? [True, True] Translation: X:-48.76, Y:-263.71, Z:-1.82 [[ 3.47973859e-01 9.37499676e-01 -2.92433535e-03 -4.87615758e+01] [ 9.37468189e-01 -3.47986140e-01 -7.68374081e-03 -2.63712658e+02] [-8.22113269e-03 -6.77304239e-05 -9.99966204e-01 -1.81591170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.266559995 meters 0.01412448821834304 Centerline is valid? [True, True] Translation: X:-48.75, Y:-263.71, Z:-1.81 [[ 2.66913684e-01 9.63716326e-01 -2.81562684e-03 -4.87532206e+01] [ 9.63668525e-01 -2.66928492e-01 -9.59965005e-03 -2.63713928e+02] [-1.00029105e-02 -1.51053005e-04 -9.99949958e-01 -1.81393016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.2965599949999 meters 0.015525142258847293 Centerline is valid? [True, True] Translation: X:-48.75, Y:-263.71, Z:-1.81 [[ 1.87136551e-01 9.82331599e-01 -2.13098915e-03 -4.87468713e+01] [ 9.82279152e-01 -1.87148584e-01 -1.01525899e-02 -2.63713166e+02] [-1.03720215e-02 -1.93305548e-04 -9.99946191e-01 -1.81308400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.3265599949999 meters 0.015410676198002796 Centerline is valid? [True, True] Translation: X:-48.74, Y:-263.71, Z:-1.81 [[ 1.06140860e-01 9.94350160e-01 -1.36990076e-03 -4.87392229e+01] [ 9.94293676e-01 -1.06149435e-01 -1.06011345e-02 -2.63711165e+02] [-1.06866539e-02 -2.36870137e-04 -9.99942868e-01 -1.81411098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.356559995 meters 0.019863484840333297 Centerline is valid? [True, True] Translation: X:-48.72, Y:-263.71, Z:-1.81 [[ 2.20304730e-02 9.99757127e-01 -5.87372349e-04 -4.87248258e+01] [ 9.99688552e-01 -2.20358441e-02 -1.17140845e-02 -2.63710482e+02] [-1.17241827e-02 -3.29122592e-04 -9.99931215e-01 -1.81186508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.386559995 meters 0.01837450350754643 Centerline is valid? [True, True] Translation: X:-48.72, Y:-263.71, Z:-1.81 [[-5.96190893e-02 9.98221134e-01 3.62080949e-04 -4.87217690e+01] [ 9.98139414e-01 5.96188438e-02 -1.27790101e-02 -2.63707055e+02] [-1.27778649e-02 -4.00465680e-04 -9.99918280e-01 -1.81320183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.416559995 meters 0.01837450350754643 Centerline is valid? [True, True] Translation: X:-48.72, Y:-263.70, Z:-1.81 [[-1.37606411e-01 9.90486053e-01 1.36177193e-03 -4.87152253e+01] [ 9.90404565e-01 1.37612566e-01 -1.27114148e-02 -2.63703897e+02] [-1.27778760e-02 -4.00467030e-04 -9.99918280e-01 -1.81320173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.4465599949999 meters 0.01889230398161542 Centerline is valid? [True, True] Translation: X:-48.71, Y:-263.70, Z:-1.81 [[-2.15271870e-01 9.76551313e-01 2.35675741e-03 -4.87116886e+01] [ 9.76470316e-01 2.15284384e-01 -1.25839902e-02 -2.63700908e+02] [-1.27962852e-02 -4.07675445e-04 -9.99918041e-01 -1.81337518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.476559995 meters 0.018651174502454293 Centerline is valid? [True, True] Translation: X:-48.71, Y:-263.70, Z:-1.81 [[-2.90611704e-01 9.56835324e-01 3.31674113e-03 -4.87083974e+01] [ 9.56756455e-01 2.90630357e-01 -1.22915164e-02 -2.63697401e+02] [-1.27249028e-02 -3.98745054e-04 -9.99918956e-01 -1.81378226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.506559995 meters 0.01840250739780154 Centerline is valid? [True, True] Translation: X:-48.71, Y:-263.69, Z:-1.81 [[-3.63629246e-01 9.31534707e-01 4.10637381e-03 -4.87061202e+01] [ 9.31463345e-01 3.63652243e-01 -1.15361631e-02 -2.63693642e+02] [-1.22396284e-02 -3.69949597e-04 -9.99925025e-01 -1.81415299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.536559995 meters 0.017791343082302402 Centerline is valid? [True, True] Translation: X:-48.70, Y:-263.69, Z:-1.81 [[-4.34224920e-01 9.00791285e-01 4.87656059e-03 -4.87040421e+01] [ 9.00725298e-01 4.34252166e-01 -1.09084363e-02 -2.63690243e+02] [-1.19438813e-02 -3.44273387e-04 -9.99928610e-01 -1.81472859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.5665599949999 meters 0.01688551088401738 Centerline is valid? [True, True] Translation: X:-48.70, Y:-263.69, Z:-1.82 [[-5.00323579e-01 8.65820594e-01 5.56920223e-03 -4.87043172e+01] [ 8.65760284e-01 5.00354488e-01 -1.02233892e-02 -2.63689480e+02] [-1.16381963e-02 -2.93408596e-04 -9.99932231e-01 -1.81527077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.596559995 meters 0.0161221560860409 Centerline is valid? [True, True] Translation: X:-48.70, Y:-263.69, Z:-1.82 [[-5.64985096e-01 8.25077991e-01 6.17658865e-03 -4.87036548e+01] [ 8.25023514e-01 5.65018796e-01 -9.48484400e-03 -2.63687559e+02] [-1.13156247e-02 -2.62964618e-04 -9.99935942e-01 -1.81581949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.626559995 meters 0.01585113799864572 Centerline is valid? [True, True] Translation: X:-48.70, Y:-263.69, Z:-1.82 [[-6.26226897e-01 7.79608655e-01 7.08657973e-03 -4.87025899e+01] [ 7.79554249e-01 6.26266944e-01 -9.21342578e-03 -2.63686561e+02] [-1.16209571e-02 -2.45321691e-04 -9.99932444e-01 -1.81587534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.656559995 meters 0.014303780550692868 Centerline is valid? [True, True] Translation: X:-48.70, Y:-263.68, Z:-1.82 [[-6.83819911e-01 7.29606772e-01 8.01796304e-03 -4.87014355e+01] [ 7.29552685e-01 6.83866878e-01 -8.88670877e-03 -2.63683259e+02] [-1.19670223e-02 -2.27381938e-04 -9.99928367e-01 -1.81692175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.6865599949999 meters 0.014534247316789064 Centerline is valid? [True, True] Translation: X:-48.70, Y:-263.68, Z:-1.82 [[-7.37619777e-01 6.75156131e-01 9.01461847e-03 -4.86977323e+01] [ 6.75102166e-01 7.37674829e-01 -8.53883742e-03 -2.63679180e+02] [-1.24149056e-02 -2.12626896e-04 -9.99922910e-01 -1.81587775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.7165599949999 meters 0.0132720634324566 Centerline is valid? [True, True] Translation: X:-48.69, Y:-263.66, Z:-1.82 [[-7.80915539e-01 6.24564502e-01 9.49227547e-03 -4.86854642e+01] [ 6.24515880e-01 7.80973212e-01 -7.79476346e-03 -2.63662209e+02] [-1.22815454e-02 -1.58975138e-04 -9.99924566e-01 -1.81617720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.746559995 meters 0.013129720046756593 Centerline is valid? [True, True] Translation: X:-48.67, Y:-263.65, Z:-1.82 [[-8.22013603e-01 5.69375654e-01 1.02470580e-02 -4.86662023e+01] [ 5.69329331e-01 8.22077458e-01 -7.26407196e-03 -2.63645185e+02] [-1.25598611e-02 -1.37215298e-04 -9.99921113e-01 -1.81529368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.776559995 meters 0.012259741290264923 Centerline is valid? [True, True] Translation: X:-48.65, Y:-263.63, Z:-1.82 [[-8.57581132e-01 5.14217522e-01 1.16164773e-02 -4.86493838e+01] [ 5.14169134e-01 8.57659801e-01 -7.05463098e-03 -2.63632374e+02] [-1.35906005e-02 -7.70843299e-05 -9.99907641e-01 -1.81526259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.8065599949999 meters 0.012123798482231484 Centerline is valid? [True, True] Translation: X:-48.64, Y:-263.61, Z:-1.81 [[-8.90396617e-01 4.55014238e-01 1.24862882e-02 -4.86387017e+01] [ 4.54968950e-01 8.90484162e-01 -6.41970056e-03 -2.63611294e+02] [-1.40398970e-02 -3.52062388e-05 -9.99901435e-01 -1.81477373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.8365599949999 meters 0.012091660738930055 Centerline is valid? [True, True] Translation: X:-48.63, Y:-263.59, Z:-1.82 [[-9.19087995e-01 3.93833903e-01 1.31192281e-02 -4.86297662e+01] [ 3.93793976e-01 9.19181624e-01 -5.60779407e-03 -2.63589638e+02] [-1.42674928e-02 1.22167739e-05 -9.99898214e-01 -1.81520098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.866559995 meters 0.013225952769108594 Centerline is valid? [True, True] Translation: X:-48.35, Y:-262.96, Z:-2.78 [[-8.94817795e-01 -4.46240929e-01 1.30440350e-02 -4.83470350e+01] [ 4.46193591e-01 -8.94912864e-01 -6.49966457e-03 -2.62963822e+02] [ 1.45736910e-02 4.14928712e-06 9.99893798e-01 -2.77716820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.896559995 meters 0.013570239923276873 Centerline is valid? [True, True] Translation: X:-48.67, Y:-263.59, Z:-1.82 [[-9.15753006e-01 4.01516250e-01 1.34585754e-02 -4.86676531e+01] [ 4.01475925e-01 9.15851880e-01 -5.69354832e-03 -2.63589975e+02] [-1.46121137e-02 1.89410008e-04 -9.99893220e-01 -1.81553376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.9265599949999 meters 0.015698405849496867 Centerline is valid? [True, True] Translation: X:-48.38, Y:-262.94, Z:-2.77 [[-9.02069350e-01 -4.31408058e-01 1.25688491e-02 -4.83801883e+01] [ 4.31362888e-01 -9.02156884e-01 -6.24633781e-03 -2.62936828e+02] [ 1.40337942e-02 -2.12894862e-04 9.99901499e-01 -2.77464540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.9565599949999 meters 0.016228371148626828 Centerline is valid? [True, True] Translation: X:-48.71, Y:-263.59, Z:-1.82 [[-9.12109003e-01 4.09747103e-01 1.28249070e-02 -4.87069657e+01] [ 4.09712064e-01 9.12199093e-01 -5.37033056e-03 -2.63586988e+02] [-1.38993459e-02 3.56192255e-04 -9.99903336e-01 -1.81726069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.986559995 meters 0.017450530761280676 Centerline is valid? [True, True] Translation: X:-48.42, Y:-262.92, Z:-2.77 [[-9.06925111e-01 -4.21101490e-01 1.26640148e-02 -4.84159138e+01] [ 4.21055042e-01 -9.07013458e-01 -6.26407285e-03 -2.62915867e+02] [ 1.41242422e-02 -3.48797699e-04 9.99900187e-01 -2.77359451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.016559995 meters 0.018442854220953517 Centerline is valid? [True, True] Translation: X:-48.75, Y:-263.58, Z:-1.82 [[-9.10853484e-01 4.12522490e-01 1.30814669e-02 -4.87505621e+01] [ 4.12487143e-01 9.10947300e-01 -5.41970676e-03 -2.63577233e+02] [-1.41522779e-02 4.59378117e-04 -9.99899746e-01 -1.81797627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.0465599949999 meters 0.02032574775972347 Centerline is valid? [True, True] Translation: X:-48.74, Y:-263.56, Z:-1.82 [[-9.36116055e-01 3.51448894e-01 1.30539589e-02 -4.87374273e+01] [ 3.51422324e-01 9.36206927e-01 -4.35194221e-03 -2.63557075e+02] [-1.37506921e-02 5.13529611e-04 -9.99905323e-01 -1.81852289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.0765599949999 meters 0.021642238089874186 Centerline is valid? [True, True] Translation: X:-48.73, Y:-263.53, Z:-1.82 [[-9.58133752e-01 2.86051576e-01 1.24181070e-02 -4.87273892e+01] [ 2.86034330e-01 9.58214090e-01 -3.18120538e-03 -2.63533025e+02] [-1.28091939e-02 5.03984666e-04 -9.99917832e-01 -1.81910678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.106559995 meters 0.02256937230296055 Centerline is valid? [True, True] Translation: X:-48.53, Y:-262.80, Z:-2.77 [[-9.61367600e-01 -2.74991849e-01 1.23215843e-02 -4.85341560e+01] [ 2.74962558e-01 -9.61446427e-01 -4.04462781e-03 -2.62800689e+02] [ 1.29587829e-02 -5.00399790e-04 9.99915906e-01 -2.77181807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.136559995 meters 0.01997595903128025 Centerline is valid? [True, True] Translation: X:-48.78, Y:-263.52, Z:-1.82 [[-9.59737948e-01 2.80591942e-01 1.30856425e-02 -4.87763241e+01] [ 2.80573027e-01 9.59827018e-01 -3.29719405e-03 -2.63518344e+02] [-1.34851193e-02 5.07036088e-04 -9.99908943e-01 -1.82021451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.166559995 meters 0.01997595903128025 Centerline is valid? [True, True] Translation: X:-48.59, Y:-262.79, Z:-2.77 [[-9.61949330e-01 -2.72927768e-01 1.28031270e-02 -4.85875625e+01] [ 2.72896533e-01 -9.62034394e-01 -4.16010350e-03 -2.62792023e+02] [ 1.34524563e-02 -5.07879792e-04 9.99909383e-01 -2.77082456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.1965599949999 meters 0.020063791030631307 Centerline is valid? [True, True] Translation: X:-48.83, Y:-263.51, Z:-1.82 [[-9.61330000e-01 2.75067938e-01 1.35004352e-02 -4.88296552e+01] [ 2.75048061e-01 9.61424662e-01 -3.34408245e-03 -2.63505034e+02] [-1.38995012e-02 4.98501745e-04 -9.99903273e-01 -1.81996553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.226559995 meters 0.019189534552182218 Centerline is valid? [True, True] Translation: X:-48.65, Y:-262.78, Z:-2.77 [[-9.61992182e-01 -2.72762193e-01 1.31082882e-02 -4.86456640e+01] [ 2.72729722e-01 -9.62081355e-01 -4.23853508e-03 -2.62780145e+02] [ 1.37673518e-02 -5.02417827e-04 9.99905099e-01 -2.77075818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.256559995 meters 0.019189534552182218 Centerline is valid? [True, True] Translation: X:-48.88, Y:-263.49, Z:-1.82 [[-9.62957670e-01 2.69318843e-01 1.34121843e-02 -4.88806911e+01] [ 2.69299440e-01 9.63050956e-01 -3.26628610e-03 -2.63491358e+02] [-1.37962893e-02 4.66598467e-04 -9.99904718e-01 -1.82027224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.286559995 meters 0.017988553689796048 Centerline is valid? [True, True] Translation: X:-48.70, Y:-262.77, Z:-2.77 [[-9.61455221e-01 -2.74657376e-01 1.29299900e-02 -4.87028621e+01] [ 2.74625878e-01 -9.61542043e-01 -4.18644230e-03 -2.62769877e+02] [ 1.35825662e-02 -4.74166960e-04 9.99907640e-01 -2.77054555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.3165599949999 meters 0.01639534623009413 Centerline is valid? [True, True] Translation: X:-48.93, Y:-263.47, Z:-1.82 [[-9.66429002e-01 2.56589348e-01 1.33000330e-02 -4.89334446e+01] [ 2.56569824e-01 9.66520457e-01 -3.18307007e-03 -2.63471847e+02] [-1.36714958e-02 3.36175886e-04 -9.99906484e-01 -1.82077909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.346559995 meters 0.015394054838980892 Centerline is valid? [True, True] Translation: X:-48.76, Y:-262.76, Z:-2.77 [[-9.60610063e-01 -2.77568820e-01 1.35594237e-02 -4.87619959e+01] [ 2.77536550e-01 -9.60705705e-01 -4.24395338e-03 -2.62763618e+02] [ 1.42046049e-02 -3.13548638e-04 9.99899060e-01 -2.77075191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.376559995 meters 0.013931743032922593 Centerline is valid? [True, True] Translation: X:-48.99, Y:-263.45, Z:-1.82 [[-9.70229888e-01 2.41751408e-01 1.44989825e-02 -4.89881547e+01] [ 2.41727427e-01 9.70338198e-01 -3.41066824e-03 -2.63449328e+02] [-1.48934504e-02 1.95669460e-04 -9.99889067e-01 -1.81887465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.406559995 meters 0.01334111638124587 Centerline is valid? [True, True] Translation: X:-48.98, Y:-263.42, Z:-1.82 [[-9.85593785e-01 1.68508396e-01 1.44848449e-02 -4.89824769e+01] [ 1.68492228e-01 9.85700209e-01 -2.33823464e-03 -2.63418786e+02] [-1.46717268e-02 1.36034257e-04 -9.99892355e-01 -1.81845135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.4365599949999 meters 0.01299133167615891 Centerline is valid? [True, True] Translation: X:-48.99, Y:-263.39, Z:-1.82 [[-9.95398064e-01 9.46926062e-02 1.46970671e-02 -4.89865480e+01] [ 9.46835580e-02 9.95506556e-01 -1.31182248e-03 -2.63387439e+02] [-1.47552465e-02 8.57850471e-05 -9.99891132e-01 -1.81809335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.4665599949999 meters 0.012901521287971921 Centerline is valid? [True, True] Translation: X:-48.99, Y:-263.35, Z:-1.82 [[-9.99738810e-01 1.78874063e-02 1.42250604e-02 -4.89926659e+01] [ 1.78855935e-02 9.99840008e-01 -2.54655874e-04 -2.63354463e+02] [-1.42273396e-02 -1.65714122e-07 -9.99898786e-01 -1.81618624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.496559995 meters 0.01270282464221335 Centerline is valid? [True, True] Translation: X:-48.98, Y:-262.66, Z:-2.77 [[-9.96033028e-01 -8.78571869e-02 1.41181096e-02 -4.89773164e+01] [ 8.78483122e-02 -9.96133081e-01 -1.24874388e-03 -2.62664684e+02] [ 1.41732272e-02 -3.53804926e-06 9.99899555e-01 -2.77307872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.526559995 meters 0.012735158221086815 Centerline is valid? [True, True] Translation: X:-49.07, Y:-263.35, Z:-1.82 [[-9.99880439e-01 7.70628269e-03 1.34059892e-02 -4.90653004e+01] [ 7.70466420e-03 9.99970304e-01 -1.72372026e-04 -2.63349080e+02] [-1.34069194e-02 -6.90627720e-05 -9.99910121e-01 -1.81849253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.5565599949999 meters 0.013324339453518777 Centerline is valid? [True, True] Translation: X:-49.08, Y:-263.32, Z:-1.82 [[-9.97564228e-01 -6.85889524e-02 1.26951442e-02 -4.90792366e+01] [-6.85850679e-02 9.97644996e-01 7.41613122e-04 -2.63317427e+02] [-1.27161135e-02 -1.30890604e-04 -9.99919138e-01 -1.81898423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.5865599949999 meters 0.01415704273871204 Centerline is valid? [True, True] Translation: X:-49.11, Y:-262.65, Z:-2.77 [[-9.99624496e-01 -2.45829271e-02 1.21056813e-02 -4.91138055e+01] [ 2.45821047e-02 -9.99697791e-01 -2.16754303e-04 -2.62646510e+02] [ 1.21073513e-02 8.09102136e-05 9.99926700e-01 -2.77159227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.616559995 meters 0.014863114194863416 Centerline is valid? [True, True] Translation: X:-49.16, Y:-263.32, Z:-1.82 [[-9.96550063e-01 -8.21174152e-02 1.20292115e-02 -4.91641482e+01] [-8.21140976e-02 9.96622638e-01 7.70277981e-04 -2.63316381e+02] [-1.20518378e-02 -2.20147279e-04 -9.99927350e-01 -1.81947110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.646559995 meters 0.01548238582662697 Centerline is valid? [True, True] Translation: X:-49.18, Y:-263.29, Z:-1.82 [[-9.87797811e-01 -1.55283348e-01 1.19400987e-02 -4.91764785e+01] [-1.55275048e-01 9.87869941e-01 1.62466685e-03 -2.63288435e+02] [-1.20475483e-02 -2.49157044e-04 -9.99927395e-01 -1.81954209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.6765599949999 meters 0.01586724191793217 Centerline is valid? [True, True] Translation: X:-49.26, Y:-262.63, Z:-2.77 [[-9.98919106e-01 4.48432166e-02 1.22354494e-02 -4.92612118e+01] [-4.48365631e-02 -9.98994001e-01 8.17698181e-04 -2.62633554e+02] [ 1.22598088e-02 2.68218835e-04 9.99924810e-01 -2.77144480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.7065599949999 meters 0.016978337567148886 Centerline is valid? [True, True] Translation: X:-49.28, Y:-263.30, Z:-1.82 [[-9.85898887e-01 -1.66825675e-01 1.31369001e-02 -4.92777345e+01] [-1.66815546e-01 9.85986346e-01 1.87074786e-03 -2.63298201e+02] [-1.32648929e-02 -3.47070938e-04 -9.99911957e-01 -1.81803258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.736559995 meters 0.017474383476934387 Centerline is valid? [True, True] Translation: X:-49.37, Y:-262.65, Z:-2.77 [[-9.98813349e-01 4.66648155e-02 1.39387738e-02 -4.93691633e+01] [-4.66544875e-02 -9.98910518e-01 1.06538210e-03 -2.62649844e+02] [ 1.39733036e-02 4.13811514e-04 9.99902283e-01 -2.77385350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.766559995 meters 0.01879557437972483 Centerline is valid? [True, True] Translation: X:-49.38, Y:-263.31, Z:-1.82 [[-9.84487373e-01 -1.74869193e-01 1.43310129e-02 -4.93766187e+01] [-1.74856669e-01 9.84591590e-01 2.13202087e-03 -2.63308995e+02] [-1.44830196e-02 -4.06925560e-04 -9.99895033e-01 -1.81560762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.7965599949999 meters 0.01813584599748985 Centerline is valid? [True, True] Translation: X:-49.48, Y:-262.66, Z:-2.78 [[-9.98550633e-01 5.16681748e-02 1.50676359e-02 -4.94830358e+01] [-5.16552329e-02 -9.98664199e-01 1.24710281e-03 -2.62664655e+02] [ 1.51119440e-02 4.66973058e-04 9.99885699e-01 -2.77504355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.8265599949999 meters 0.018530426853896616 Centerline is valid? [True, True] Translation: X:-49.48, Y:-263.33, Z:-1.82 [[-9.83232629e-01 -1.81744958e-01 1.49119947e-02 -4.94814445e+01] [-1.81730728e-01 9.83345607e-01 2.31518740e-03 -2.63325618e+02] [-1.50844181e-02 -4.33599859e-04 -9.99886130e-01 -1.81554130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.856559995 meters 0.01905500118183419 Centerline is valid? [True, True] Translation: X:-49.51, Y:-263.30, Z:-1.81 [[-9.67897863e-01 -2.50872968e-01 1.53779582e-02 -4.95081622e+01] [-2.50848560e-01 9.68019916e-01 3.52741057e-03 -2.63304395e+02] [-1.57711018e-02 -4.43365511e-04 -9.99875530e-01 -1.81479118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.886559995 meters 0.017819468194722975 Centerline is valid? [True, True] Translation: X:-49.54, Y:-263.29, Z:-1.81 [[-9.47698855e-01 -3.18807920e-01 1.51126059e-02 -4.95368627e+01] [-3.18774314e-01 9.47819255e-01 4.64730571e-03 -2.63288623e+02] [-1.58056167e-02 -4.13264265e-04 -9.99874998e-01 -1.81496185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.916559995 meters 0.017555151895435904 Centerline is valid? [True, True] Translation: X:-49.59, Y:-263.28, Z:-1.82 [[-9.22391918e-01 -3.85972915e-01 1.47668229e-02 -4.95905476e+01] [-3.85930248e-01 9.22510030e-01 5.75232682e-03 -2.63280465e+02] [-1.58427846e-02 -3.93063854e-04 -9.99874418e-01 -1.81519852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.9465599949999 meters 0.016896491343454306 Centerline is valid? [True, True] Translation: X:-49.65, Y:-263.28, Z:-1.82 [[-8.92249822e-01 -4.51334450e-01 1.36919678e-02 -4.96495322e+01] [-4.51287281e-01 8.92354802e-01 6.53430233e-03 -2.63279114e+02] [-1.51672490e-02 -3.48780836e-04 -9.99884910e-01 -1.81557751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.976559995 meters 0.01642459794600173 Centerline is valid? [True, True] Translation: X:-49.72, Y:-263.29, Z:-1.82 [[-8.57341145e-01 -5.14594174e-01 1.26094237e-02 -4.97194682e+01] [-5.14543716e-01 8.57433813e-01 7.21256451e-03 -2.63287488e+02] [-1.45232899e-02 -3.04471417e-04 -9.99894485e-01 -1.81568148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.006559995 meters 0.01489706218339574 Centerline is valid? [True, True] Translation: X:-49.79, Y:-263.31, Z:-1.82 [[-8.19082562e-01 -5.73566978e-01 1.11659916e-02 -4.97927742e+01] [-5.73517343e-01 8.19158637e-01 7.54879906e-03 -2.63308839e+02] [-1.34764604e-02 -2.20800188e-04 -9.99909164e-01 -1.81731890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.036559995 meters 0.01434532051568732 Centerline is valid? [True, True] Translation: X:-49.87, Y:-263.34, Z:-1.82 [[-7.75078932e-01 -6.31785196e-01 1.00057824e-02 -4.98748372e+01] [-6.31735560e-01 7.75143492e-01 7.92142733e-03 -2.63338252e+02] [-1.27605576e-02 -1.81277101e-04 -9.99918564e-01 -1.81779259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.0665599949999 meters 0.013347545497012541 Centerline is valid? [True, True] Translation: X:-49.96, Y:-263.38, Z:-1.82 [[-7.26566515e-01 -6.87038821e-01 8.87458150e-03 -4.99580054e+01] [-6.86990038e-01 7.26620697e-01 8.18844461e-03 -2.63377981e+02] [-1.20742339e-02 -1.47299415e-04 -9.99927093e-01 -1.81925847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.096559995 meters 0.012410157747656494 Centerline is valid? [True, True] Translation: X:-50.04, Y:-263.43, Z:-1.82 [[-6.75001571e-01 -7.37776925e-01 7.62152454e-03 -5.00391197e+01] [-7.37731504e-01 6.75044591e-01 8.18711122e-03 -2.63428303e+02] [-1.11851307e-02 -9.63258157e-05 -9.99937440e-01 -1.82120113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.126559995 meters 0.01234889027038108 Centerline is valid? [True, True] Translation: X:-50.13, Y:-263.49, Z:-1.82 [[-6.18062835e-01 -7.86100264e-01 6.68636819e-03 -5.01265833e+01] [-7.86055604e-01 6.18098996e-01 8.37966510e-03 -2.63489891e+02] [-1.07200944e-02 -7.66976172e-05 -9.99942535e-01 -1.82109965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.156559995 meters 0.012136247327955416 Centerline is valid? [True, True] Translation: X:-50.21, Y:-263.56, Z:-1.82 [[-5.57494960e-01 -8.30158693e-01 5.99291053e-03 -5.02123176e+01] [-8.30111903e-01 5.57527166e-01 8.81408025e-03 -2.63562978e+02] [-1.06582958e-02 -6.09810450e-05 -9.99943197e-01 -1.82081212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.1865599949999 meters 0.01214344257824436 Centerline is valid? [True, True] Translation: X:-50.28, Y:-263.63, Z:-1.82 [[-4.94628567e-01 -8.69085922e-01 5.67803186e-03 -5.02840758e+01] [-8.69029441e-01 4.94661155e-01 9.90819658e-03 -2.63632698e+02] [-1.14197760e-02 -3.34997700e-05 -9.99934792e-01 -1.81991105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.2165599949999 meters 0.012128833022253219 Centerline is valid? [True, True] Translation: X:-50.36, Y:-263.72, Z:-1.82 [[-4.27519001e-01 -9.03991360e-01 5.20821544e-03 -5.03601914e+01] [-9.03924912e-01 4.27550724e-01 1.09604591e-02 -2.63721498e+02] [-1.21349366e-02 -2.20311618e-05 -9.99926369e-01 -1.81910969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.246559995 meters 0.012213708280367224 Centerline is valid? [True, True] Translation: X:-50.43, Y:-263.82, Z:-1.82 [[-3.58907181e-01 -9.33359733e-01 5.02436021e-03 -5.04277036e+01] [-9.33268031e-01 3.58942347e-01 1.30833298e-02 -2.63816139e+02] [-1.40149088e-02 6.62623621e-06 -9.99901786e-01 -1.81735657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.276559995 meters 0.01229106959144977 Centerline is valid? [True, True] Translation: X:-50.49, Y:-263.92, Z:-1.82 [[-2.86812691e-01 -9.57978374e-01 3.98927991e-03 -5.04900080e+01] [-9.57884820e-01 2.86840433e-01 1.33879893e-02 -2.63915400e+02] [-1.39696910e-02 1.85745621e-05 -9.99902419e-01 -1.81709032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.3065599949999 meters 0.012141809210378487 Centerline is valid? [True, True] Translation: X:-50.54, Y:-264.02, Z:-1.82 [[-2.12774145e-01 -9.77097168e-01 2.87879665e-03 -5.05449780e+01] [-9.77005988e-01 2.12793617e-01 1.33482819e-02 -2.64018840e+02] [-1.36551580e-02 2.75677070e-05 -9.99906764e-01 -1.81807779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.3365599949999 meters 0.012349200929950736 Centerline is valid? [True, True] Translation: X:-50.59, Y:-264.13, Z:-1.82 [[-1.37920697e-01 -9.90441810e-01 1.70377270e-03 -5.05919709e+01] [-9.90362632e-01 1.37931215e-01 1.25234961e-02 -2.64131957e+02] [-1.26387975e-02 3.98964934e-05 -9.99920126e-01 -1.81733188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.366559995 meters 0.012219908263832345 Centerline is valid? [True, True] Translation: X:-50.63, Y:-264.24, Z:-1.82 [[-6.27636782e-02 -9.98028169e-01 7.03031447e-04 -5.06300897e+01] [-9.97954862e-01 6.27675890e-02 1.20963910e-02 -2.64243598e+02] [-1.21166665e-02 5.76203386e-05 -9.99926589e-01 -1.81910077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.396559995 meters 0.01259465107084824 Centerline is valid? [True, True] Translation: X:-50.66, Y:-264.36, Z:-1.82 [[ 1.09473217e-02 -9.99940057e-01 -1.95037921e-04 -5.06578359e+01] [-9.99888054e-01 -1.09487415e-02 1.01982353e-02 -2.64361185e+02] [-1.01997594e-02 8.33727257e-05 -9.99947978e-01 -1.82053019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.4265599949999 meters 0.012803262207036186 Centerline is valid? [True, True] Translation: X:-50.68, Y:-264.48, Z:-1.82 [[ 8.64929933e-02 -9.96252066e-01 -8.84991591e-04 -5.06783578e+01] [-9.96210098e-01 -8.64974733e-02 9.14477574e-03 -2.64478959e+02] [-9.18705126e-03 9.06785334e-05 -9.99957794e-01 -1.82134905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.4565599949999 meters 0.01332023160175064 Centerline is valid? [True, True] Translation: X:-50.69, Y:-264.60, Z:-1.82 [[ 1.60384658e-01 -9.87053788e-01 -1.25740677e-03 -5.06894028e+01] [-9.87027813e-01 -1.60389560e-01 7.16133470e-03 -2.64599977e+02] [-7.27029746e-03 9.25272392e-05 -9.99973567e-01 -1.82194760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.486559995 meters 0.013838768974201977 Centerline is valid? [True, True] Translation: X:-50.69, Y:-264.72, Z:-1.82 [[ 2.34522153e-01 -9.72109116e-01 -1.79650099e-03 -5.06911546e+01] [-9.72083885e-01 -2.34529011e-01 7.00449251e-03 -2.64720662e+02] [-7.23046262e-03 1.03640996e-04 -9.99973855e-01 -1.82171130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.516559995 meters 0.013694038573555741 Centerline is valid? [True, True] Translation: X:-50.68, Y:-264.84, Z:-1.82 [[ 3.07526099e-01 -9.51537064e-01 -2.21691598e-03 -5.06847255e+01] [-9.51514810e-01 -3.07534071e-01 6.50860633e-03 -2.64842860e+02] [-6.87495736e-03 1.07862077e-04 -9.99976361e-01 -1.82210464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.5465599949999 meters 0.014110865474976291 Centerline is valid? [True, True] Translation: X:-50.67, Y:-264.96, Z:-1.82 [[ 3.78668807e-01 -9.25528191e-01 -2.73907017e-03 -5.06676631e+01] [-9.25506205e-01 -3.78678695e-01 6.38057650e-03 -2.64964696e+02] [-6.94263094e-03 1.18901144e-04 -9.99975893e-01 -1.82195589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.5765599949999 meters 0.01448909287944658 Centerline is valid? [True, True] Translation: X:-50.64, Y:-265.08, Z:-1.82 [[ 4.47921709e-01 -8.94067027e-01 -3.20838057e-03 -5.06442279e+01] [-8.94046061e-01 -4.47933182e-01 6.12413466e-03 -2.65078802e+02] [-6.91252699e-03 1.25307156e-04 -9.99976100e-01 -1.82172510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.606559995 meters 0.014447669045390571 Centerline is valid? [True, True] Translation: X:-50.61, Y:-265.20, Z:-1.82 [[ 5.14619481e-01 -8.57411507e-01 -3.50688599e-03 -5.06108167e+01] [-8.57393233e-01 -5.14631414e-01 5.59932403e-03 -2.65195338e+02] [-6.60567855e-03 1.25259091e-04 -9.99978175e-01 -1.82151789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.636559995 meters 0.014578299969696909 Centerline is valid? [True, True] Translation: X:-50.57, Y:-265.30, Z:-1.82 [[ 5.78635836e-01 -8.15576139e-01 -4.01642254e-03 -5.05741503e+01] [-8.15558037e-01 -5.78649760e-01 5.43528986e-03 -2.65303648e+02] [-6.75699466e-03 1.30572190e-04 -9.99977163e-01 -1.82075686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.666559995 meters 0.014493564189720021 Centerline is valid? [True, True] Translation: X:-50.53, Y:-265.41, Z:-1.82 [[ 6.40167255e-01 -7.68222331e-01 -4.50953884e-03 -5.05316177e+01] [-7.68204644e-01 -6.40183126e-01 5.21438343e-03 -2.65407501e+02] [-6.89273646e-03 1.26171157e-04 -9.99976237e-01 -1.81992420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.6965599949999 meters 0.013959890045138541 Centerline is valid? [True, True] Translation: X:-50.48, Y:-265.51, Z:-1.82 [[ 6.97707847e-01 -7.16365067e-01 -4.98514930e-03 -5.04797693e+01] [-7.16348013e-01 -6.97725646e-01 4.94452493e-03 -2.65508125e+02] [-7.02035144e-03 1.21267958e-04 -9.99975350e-01 -1.81968878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.726559995 meters 0.013795847563520052 Centerline is valid? [True, True] Translation: X:-50.49, Y:-265.52, Z:-1.82 [[ 7.52208345e-01 -6.58902583e-01 -5.47649198e-03 -5.04853382e+01] [-6.58886244e-01 -7.52228272e-01 4.64156358e-03 -2.65517286e+02] [-7.17791033e-03 1.16962377e-04 -9.99974232e-01 -1.81910455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.756559995 meters 0.01360664092279058 Centerline is valid? [True, True] Translation: X:-50.49, Y:-265.53, Z:-1.82 [[ 8.02163077e-01 -5.97074014e-01 -6.08434697e-03 -5.04904260e+01] [-5.97057902e-01 -8.02186144e-01 4.38780416e-03 -2.65525026e+02] [-7.50062267e-03 1.12972944e-04 -9.99971864e-01 -1.81882258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.786559995 meters 0.012845492194411171 Centerline is valid? [True, True] Translation: X:-50.50, Y:-265.54, Z:-1.82 [[ 8.47894105e-01 -5.30135534e-01 -5.64826614e-03 -5.04969606e+01] [-5.30124405e-01 -8.47912914e-01 3.43607784e-03 -2.65537762e+02] [-6.61082476e-03 8.08535861e-05 -9.99978145e-01 -1.81913362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.8165599949999 meters 0.012701602303986483 Centerline is valid? [True, True] Translation: X:-50.50, Y:-265.55, Z:-1.82 [[ 8.87585775e-01 -4.60607668e-01 -5.66295613e-03 -5.05013876e+01] [-4.60598766e-01 -8.87603837e-01 2.86434292e-03 -2.65548357e+02] [-6.34579991e-03 6.60005759e-05 -9.99979863e-01 -1.81890207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.846559995 meters 0.012439695753596396 Centerline is valid? [True, True] Translation: X:-50.50, Y:-265.56, Z:-1.82 [[ 9.21678220e-01 -3.87913017e-01 -5.72274695e-03 -5.05044041e+01] [-3.87905888e-01 -9.21695985e-01 2.35236949e-03 -2.65558499e+02] [-6.18714763e-03 5.17595145e-05 -9.99980858e-01 -1.81864372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.876559995 meters 0.012140747421415127 Centerline is valid? [True, True] Translation: X:-50.51, Y:-265.57, Z:-1.82 [[ 9.49829264e-01 -3.12725088e-01 -5.23350790e-03 -5.05058764e+01] [-3.12720542e-01 -9.49843681e-01 1.68646429e-03 -2.65568385e+02] [-5.49841410e-03 3.47722982e-05 -9.99984883e-01 -1.81809319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.906559995 meters 0.011706034564711667 Centerline is valid? [True, True] Translation: X:-50.51, Y:-265.58, Z:-1.82 [[ 9.72477300e-01 -2.32951082e-01 -4.65783429e-03 -5.05071859e+01] [-2.32948448e-01 -9.72488454e-01 1.10786003e-03 -2.65583468e+02] [-4.78776726e-03 7.66654102e-06 -9.99988539e-01 -1.81828626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.9365599949999 meters 0.011645561189463942 Centerline is valid? [True, True] Translation: X:-50.51, Y:-265.59, Z:-1.82 [[ 9.88125994e-01 -1.53577368e-01 -4.58389499e-03 -5.05058906e+01] [-1.53575694e-01 -9.88136626e-01 7.17251906e-04 -2.65594412e+02] [-4.63966819e-03 -4.76040044e-06 -9.99989237e-01 -1.81848953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.9665599949999 meters 0.011953537660143256 Centerline is valid? [True, True] Translation: X:-50.51, Y:-265.61, Z:-1.82 [[ 9.97497095e-01 -7.06025497e-02 -3.85026676e-03 -5.05079000e+01] [-7.06019318e-02 -9.97504526e-01 2.96323749e-04 -2.65608466e+02] [-3.86157973e-03 -2.37458082e-05 -9.99992544e-01 -1.81877972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.996559995 meters 0.012172088202169319 Centerline is valid? [True, True] Translation: X:-50.51, Y:-265.62, Z:-1.82 [[ 9.99940238e-01 1.02227472e-02 -3.87515722e-03 -5.05077232e+01] [ 1.02228008e-02 -9.99947746e-01 -5.99001294e-06 -2.65620078e+02] [-3.87501597e-03 -3.36253053e-05 -9.99992492e-01 -1.81841337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.026559995 meters 0.012588710485050579 Centerline is valid? [True, True] Translation: X:-50.51, Y:-265.63, Z:-1.82 [[ 9.95879362e-01 9.05994041e-02 -4.00556564e-03 -5.05080128e+01] [ 9.05988473e-02 -9.95887416e-01 -3.20619181e-04 -2.65631361e+02] [-4.01814033e-03 -4.36016049e-05 -9.99991926e-01 -1.81774730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.0565599949999 meters 0.012588710485050579 Centerline is valid? [True, True] Translation: X:-50.51, Y:-265.64, Z:-1.82 [[ 9.85725842e-01 1.68311672e-01 -3.96815530e-03 -5.05072857e+01] [ 1.68310486e-01 -9.85733828e-01 -6.33320673e-04 -2.65638931e+02] [-4.01814018e-03 -4.36015949e-05 -9.99991926e-01 -1.81774730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.0865599949999 meters 0.013398688769398646 Centerline is valid? [True, True] Translation: X:-50.51, Y:-265.65, Z:-1.82 [[ 9.68571593e-01 2.48700934e-01 -4.11268657e-03 -5.05050183e+01] [ 2.48698965e-01 -9.68580323e-01 -9.91646997e-04 -2.65651283e+02] [-4.23009082e-03 -6.23397798e-05 -9.99991051e-01 -1.81639758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.116559995 meters 0.013439245606052213 Centerline is valid? [True, True] Translation: X:-50.50, Y:-265.66, Z:-1.82 [[ 9.45599959e-01 3.25307627e-01 -3.95809465e-03 -5.05016038e+01] [ 3.25305078e-01 -9.45608240e-01 -1.28952217e-03 -2.65661447e+02] [-4.16229831e-03 -6.82161825e-05 -9.99991335e-01 -1.81596774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.146559995 meters 0.013625627764099665 Centerline is valid? [True, True] Translation: X:-50.50, Y:-265.67, Z:-1.82 [[ 9.16732832e-01 3.99479265e-01 -4.15117528e-03 -5.04967567e+01] [ 3.99475560e-01 -9.16742227e-01 -1.72235635e-03 -2.65671673e+02] [-4.49360331e-03 -7.93524557e-05 -9.99989901e-01 -1.81546029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.1765599949999 meters 0.015236958723540903 Centerline is valid? [True, True] Translation: X:-50.49, Y:-265.68, Z:-1.81 [[ 8.81901491e-01 4.71413421e-01 -4.37580550e-03 -5.04906037e+01] [ 4.71408146e-01 -8.81912341e-01 -2.23197416e-03 -2.65683880e+02] [-4.91125945e-03 -9.44090195e-05 -9.99987935e-01 -1.81409377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.2065599949999 meters 0.01455720076185352 Centerline is valid? [True, True] Translation: X:-50.49, Y:-265.69, Z:-1.81 [[ 8.42158947e-01 5.39211350e-01 -4.40767958e-03 -5.04862241e+01] [ 5.39204587e-01 -8.42170475e-01 -2.70248858e-03 -2.65688136e+02] [-5.16923013e-03 -1.00716107e-04 -9.99986634e-01 -1.81414647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.236559995 meters 0.014291977373842673 Centerline is valid? [True, True] Translation: X:-50.48, Y:-265.69, Z:-1.81 [[ 7.97513527e-01 6.03288024e-01 -3.96670700e-03 -5.04800907e+01] [ 6.03281146e-01 -7.97523386e-01 -2.88227147e-03 -2.65693741e+02] [-4.90238146e-03 -9.43890634e-05 -9.99987979e-01 -1.81431266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.266559995 meters 0.014125594099223041 Centerline is valid? [True, True] Translation: X:-50.47, Y:-265.70, Z:-1.82 [[ 7.48433986e-01 6.63203941e-01 -2.66474432e-03 -5.04741392e+01] [ 6.63200041e-01 -7.48438727e-01 -2.27534303e-03 -2.65698924e+02] [-3.50341431e-03 -6.43144929e-05 -9.99993861e-01 -1.81508797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.2965599949999 meters 0.014540977437162808 Centerline is valid? [True, True] Translation: X:-50.47, Y:-265.70, Z:-1.82 [[ 6.94790872e-01 7.19208671e-01 -2.12882994e-03 -5.04684433e+01] [ 7.19205525e-01 -6.94794132e-01 -2.12780436e-03 -2.65704465e+02] [-3.00943389e-03 -5.26872049e-05 -9.99995470e-01 -1.81515448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.3265599949999 meters 0.013728221320087872 Centerline is valid? [True, True] Translation: X:-50.46, Y:-265.71, Z:-1.82 [[ 6.37262408e-01 7.70645292e-01 -1.56773753e-03 -5.04640467e+01] [ 7.70643110e-01 -6.37264335e-01 -1.83413634e-03 -2.65707627e+02] [-2.41253175e-03 -3.93399839e-05 -9.99997089e-01 -1.81534757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.356559995 meters 0.013430687850123555 Centerline is valid? [True, True] Translation: X:-50.46, Y:-265.71, Z:-1.82 [[ 5.76276863e-01 8.17253161e-01 -1.49942027e-03 -5.04592204e+01] [ 8.17250562e-01 -5.76278812e-01 -2.06144057e-03 -2.65710435e+02] [-2.54880296e-03 -3.74415541e-05 -9.99996751e-01 -1.81525584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.386559995 meters 0.012527135418401152 Centerline is valid? [True, True] Translation: X:-50.46, Y:-265.71, Z:-1.82 [[ 5.14356018e-01 8.57576033e-01 -1.11074588e-03 -5.04566558e+01] [ 8.57574124e-01 -5.14357217e-01 -1.80988690e-03 -2.65712226e+02] [-2.12343579e-03 -2.16207036e-05 -9.99997745e-01 -1.81501754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.416559995 meters 0.012179167624667243 Centerline is valid? [True, True] Translation: X:-50.45, Y:-265.72, Z:-1.82 [[ 4.48277018e-01 8.93894454e-01 -6.48586695e-04 -5.04517633e+01] [ 8.93893551e-01 -4.48277487e-01 -1.27044817e-03 -2.65715356e+02] [-1.42639339e-03 -1.02547463e-05 -9.99998983e-01 -1.81503833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.4465599949999 meters 0.011859379733564252 Centerline is valid? [True, True] Translation: X:-50.45, Y:-265.72, Z:-1.81 [[ 3.79824111e-01 9.25058601e-01 -4.78284846e-04 -5.04472576e+01] [ 9.25057885e-01 -3.79824413e-01 -1.15153803e-03 -2.65717957e+02] [-1.24690442e-03 -5.05925791e-06 -9.99999223e-01 -1.81472332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.476559995 meters 0.011794592161107387 Centerline is valid? [True, True] Translation: X:-50.44, Y:-265.72, Z:-1.81 [[ 3.13026527e-01 9.49744337e-01 -2.95677491e-04 -5.04427569e+01] [ 9.49743904e-01 -3.13026667e-01 -9.06619991e-04 -2.65720085e+02] [-9.53612143e-04 2.97821232e-06 -9.99999545e-01 -1.81421351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.506559995 meters 0.012149258364341381 Centerline is valid? [True, True] Translation: X:-50.44, Y:-265.72, Z:-1.81 [[ 2.41198348e-01 9.70475808e-01 -2.51607854e-04 -5.04374142e+01] [ 9.70475248e-01 -2.41198479e-01 -1.04220962e-03 -2.65723552e+02] [-1.07212665e-03 7.20004325e-06 -9.99999425e-01 -1.81382384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.536559995 meters 0.01342950944698917 Centerline is valid? [True, True] Translation: X:-50.44, Y:-265.73, Z:-1.81 [[ 1.71452948e-01 9.85192280e-01 -2.41223857e-04 -5.04384776e+01] [ 9.85191124e-01 -1.71453116e-01 -1.50936925e-03 -2.65725434e+02] [-1.52837752e-03 2.11342052e-05 -9.99998832e-01 -1.81344206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.5665599949999 meters 0.013745302468411717 Centerline is valid? [True, True] Translation: X:-50.43, Y:-265.73, Z:-1.81 [[ 9.71107398e-02 9.95273573e-01 -1.40588272e-04 -5.04310332e+01] [ 9.95272032e-01 -9.71108368e-02 -1.75176359e-03 -2.65728117e+02] [-1.75713666e-03 3.01914836e-05 -9.99998456e-01 -1.81308538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.596559995 meters 0.015127865190619273 Centerline is valid? [True, True] Translation: X:-50.43, Y:-265.73, Z:-1.81 [[ 2.48803543e-02 9.99690436e-01 -3.66167620e-06 -5.04257269e+01] [ 9.99688055e-01 -2.48803030e-02 -2.18259268e-03 -2.65730197e+02] [-2.18200813e-03 5.06431452e-05 -9.99997618e-01 -1.81290705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.626559995 meters 0.015782191456656006 Centerline is valid? [True, True] Translation: X:-50.42, Y:-265.73, Z:-1.81 [[-5.09069072e-02 9.98703389e-01 1.66000038e-04 -5.04171959e+01] [ 9.98701057e-01 5.09071472e-02 -2.15896897e-03 -2.65732780e+02] [-2.16462021e-03 5.58779810e-05 -9.99997656e-01 -1.81263701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.656559995 meters 0.016682217266124868 Centerline is valid? [True, True] Translation: X:-50.41, Y:-265.74, Z:-1.81 [[-1.26727123e-01 9.91937560e-01 3.38393454e-04 -5.04097684e+01] [ 9.91935203e-01 1.26727559e-01 -2.16292371e-03 -2.65735941e+02] [-2.18836904e-03 6.15632817e-05 -9.99997604e-01 -1.81245784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.6865599949999 meters 0.017802541706316177 Centerline is valid? [True, True] Translation: X:-50.40, Y:-265.74, Z:-1.81 [[-2.00273901e-01 9.79739833e-01 4.73182525e-04 -5.04032008e+01] [ 9.79737817e-01 2.00274449e-01 -1.98859654e-03 -2.65737536e+02] [-2.04307361e-03 6.53308280e-05 -9.99997911e-01 -1.81256580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.7165599949999 meters 0.017802541706316177 Centerline is valid? [True, True] Translation: X:-50.39, Y:-265.74, Z:-1.81 [[-2.76423168e-01 9.61035815e-01 6.27539424e-04 -5.03937300e+01] [ 9.61033849e-01 2.76423873e-01 -1.94540782e-03 -2.65738509e+02] [-2.04307347e-03 6.53308334e-05 -9.99997911e-01 -1.81256580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.746559995 meters 0.01791616474119567 Centerline is valid? [True, True] Translation: X:-50.38, Y:-265.74, Z:-1.81 [[-3.48621815e-01 9.37263080e-01 8.65191232e-04 -5.03839611e+01] [ 9.37260726e-01 3.48622880e-01 -2.10211673e-03 -2.65738356e+02] [-2.27186186e-03 7.80660124e-05 -9.99997416e-01 -1.81283065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.776559995 meters 0.018624389637460183 Centerline is valid? [True, True] Translation: X:-50.37, Y:-265.74, Z:-1.81 [[-4.20718852e-01 9.07190623e-01 9.06198318e-04 -5.03748018e+01] [ 9.07188862e-01 4.20719822e-01 -1.78899169e-03 -2.65738314e+02] [-2.00421208e-03 6.94304899e-05 -9.99997989e-01 -1.81298738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.8065599949999 meters 0.020040433331719797 Centerline is valid? [True, True] Translation: X:-50.37, Y:-265.74, Z:-1.81 [[-4.90651765e-01 8.71355250e-01 9.34721049e-04 -5.03672228e+01] [ 8.71353902e-01 4.90652651e-01 -1.53393059e-03 -2.65739423e+02] [-1.79522183e-03 6.18470843e-05 -9.99998387e-01 -1.81309959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.8365599949999 meters 0.017496663680728636 Centerline is valid? [True, True] Translation: X:-50.35, Y:-265.73, Z:-1.81 [[-5.58962211e-01 8.29192814e-01 7.23896034e-04 -5.03532103e+01] [ 8.29192210e-01 5.58962678e-01 -1.00190134e-03 -2.65732965e+02] [-1.23540026e-03 4.02239631e-05 -9.99999236e-01 -1.81349297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.866559995 meters 0.01723124663704986 Centerline is valid? [True, True] Translation: X:-50.34, Y:-265.73, Z:-1.81 [[-6.23562193e-01 7.81773409e-01 7.27192239e-04 -5.03432268e+01] [ 7.81772941e-01 6.23562616e-01 -8.56200728e-04 -2.65728280e+02] [-1.12280486e-03 3.46048118e-05 -9.99999369e-01 -1.81356004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.896559995 meters 0.015836199372654847 Centerline is valid? [True, True] Translation: X:-50.33, Y:-265.72, Z:-1.81 [[-6.86464681e-01 7.27162804e-01 7.05908884e-04 -5.03319733e+01] [ 7.27162458e-01 6.86465044e-01 -7.10002411e-04 -2.65720280e+02] [-1.00086912e-03 2.59188602e-05 -9.99999499e-01 -1.81325004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.9265599949999 meters 0.015494916235782726 Centerline is valid? [True, True] Translation: X:-50.32, Y:-265.72, Z:-1.81 [[-7.43008971e-01 6.69281078e-01 7.12688319e-04 -5.03227647e+01] [ 6.69280798e-01 7.43009313e-01 -6.12469542e-04 -2.65715289e+02] [-9.39448334e-04 2.19182427e-05 -9.99999559e-01 -1.81309428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.9565599949999 meters 0.014216876017716063 Centerline is valid? [True, True] Translation: X:-50.30, Y:-265.69, Z:-1.81 [[-7.90277693e-01 6.12748418e-01 7.37899243e-04 -5.03031852e+01] [ 6.12748173e-01 7.90278037e-01 -5.48388855e-04 -2.65690508e+02] [-9.19169969e-04 1.87669332e-05 -9.99999577e-01 -1.81301848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.986559995 meters 0.013107399455835276 Centerline is valid? [True, True] Translation: X:-49.89, Y:-265.13, Z:-2.78 [[-7.69677035e-01 -6.38433062e-01 6.97729397e-04 -4.98900422e+01] [ 6.38432778e-01 -7.69677351e-01 -6.02969146e-04 -2.65133107e+02] [ 9.21981954e-04 -1.86381875e-05 9.99999575e-01 -2.77802349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.016559995 meters 0.012396195434586206 Centerline is valid? [True, True] Translation: X:-50.34, Y:-265.65, Z:-1.81 [[-7.98241252e-01 6.02337402e-01 7.46257159e-04 -5.03386339e+01] [ 6.02337151e-01 7.98241601e-01 -5.50496017e-04 -2.65654018e+02] [-9.27277851e-04 1.00697805e-05 -9.99999570e-01 -1.81276827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.0465599949999 meters 0.012051821355017416 Centerline is valid? [True, True] Translation: X:-49.93, Y:-265.11, Z:-2.78 [[-7.68015863e-01 -6.40430353e-01 7.72475751e-04 -4.99343129e+01] [ 6.40430022e-01 -7.68016252e-01 -6.51616202e-04 -2.65109548e+02] [ 1.01058873e-03 -5.73491741e-06 9.99999489e-01 -2.77882896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.0765599949999 meters 0.011789284878275524 Centerline is valid? [True, True] Translation: X:-50.38, Y:-265.62, Z:-1.81 [[-8.05302432e-01 5.92863297e-01 1.05052899e-03 -5.03772830e+01] [ 5.92862798e-01 8.05303118e-01 -7.69165471e-04 -2.65616548e+02] [-1.30200424e-03 3.40872880e-06 -9.99999152e-01 -1.81198366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.106559995 meters 0.01181642782757111 Centerline is valid? [True, True] Translation: X:-49.98, Y:-265.09, Z:-2.78 [[-7.65444537e-01 -6.43500921e-01 1.10735415e-03 -4.99780942e+01] [ 6.43500257e-01 -7.65445338e-01 -9.24404847e-04 -2.65086774e+02] [ 1.44247444e-03 5.00203927e-06 9.99998960e-01 -2.77923055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.136559995 meters 0.012045406434705804 Centerline is valid? [True, True] Translation: X:-50.00, Y:-265.11, Z:-2.78 [[-7.17127828e-01 -6.96941283e-01 7.25505388e-04 -5.00002451e+01] [ 6.96940933e-01 -7.17128195e-01 -6.98870552e-04 -2.65113587e+02] [ 1.00735211e-03 4.45488138e-06 9.99999493e-01 -2.77937300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.166559995 meters 0.012142946400537216 Centerline is valid? [True, True] Translation: X:-50.46, Y:-265.58, Z:-1.81 [[-7.71875632e-01 6.35772936e-01 8.84561862e-04 -5.04552722e+01] [ 6.35772507e-01 7.71876139e-01 -7.38752725e-04 -2.65582304e+02] [-1.15245118e-03 -7.84511377e-06 -9.99999336e-01 -1.81146716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.1965599949999 meters 0.012921036710225332 Centerline is valid? [True, True] Translation: X:-50.45, Y:-265.55, Z:-1.81 [[-8.16505179e-01 5.77336241e-01 1.46866587e-03 -5.04460950e+01] [ 5.77335269e-01 8.16506500e-01 -1.05962386e-03 -2.65550287e+02] [-1.81093448e-03 -1.72757692e-05 -9.99998360e-01 -1.81131075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.226559995 meters 0.014244738905726265 Centerline is valid? [True, True] Translation: X:-50.42, Y:-265.53, Z:-1.81 [[-8.57927021e-01 5.13765107e-01 2.57698367e-03 -5.04239284e+01] [ 5.13762634e-01 8.57930890e-01 -1.59463696e-03 -2.65525162e+02] [-3.03014273e-03 -4.41242184e-05 -9.99995408e-01 -1.80984460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.256559995 meters 0.014059678258872712 Centerline is valid? [True, True] Translation: X:-50.09, Y:-264.99, Z:-2.78 [[-8.03112543e-01 -5.95820611e-01 2.83587019e-03 -5.00889243e+01] [ 5.95817239e-01 -8.03117546e-01 -2.00617335e-03 -2.64990178e+02] [ 3.47285654e-03 7.84773662e-05 9.99993967e-01 -2.78153193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.286559995 meters 0.014776115586598977 Centerline is valid? [True, True] Translation: X:-50.11, Y:-265.01, Z:-2.78 [[-7.59685712e-01 -6.50284135e-01 2.85700888e-03 -5.01087744e+01] [ 6.50279883e-01 -7.59691081e-01 -2.35253018e-03 -2.65014909e+02] [ 3.70025722e-03 7.06718388e-05 9.99993152e-01 -2.78181545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.3165599949999 meters 0.015567255145744445 Centerline is valid? [True, True] Translation: X:-50.51, Y:-265.50, Z:-1.81 [[-8.27030202e-01 5.62149096e-01 3.07237144e-03 -5.05078177e+01] [ 5.62144858e-01 8.27035905e-01 -2.18425802e-03 -2.65499709e+02] [-3.76884017e-03 -7.93295413e-05 -9.99992895e-01 -1.80904170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.346559995 meters 0.016332012164391514 Centerline is valid? [True, True] Translation: X:-50.15, Y:-264.99, Z:-2.78 [[-7.59678733e-01 -6.50291163e-01 3.10260557e-03 -5.01462008e+01] [ 6.50286263e-01 -7.59685063e-01 -2.52618055e-03 -2.64993744e+02] [ 3.99975600e-03 9.84961407e-05 9.99991996e-01 -2.78259888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.376559995 meters 0.016237383953185316 Centerline is valid? [True, True] Translation: X:-50.55, Y:-265.47, Z:-1.81 [[-8.31241752e-01 5.55893582e-01 4.41319498e-03 -5.05480937e+01] [ 5.55884877e-01 8.31253456e-01 -3.11394117e-03 -2.65470523e+02] [-5.39950349e-03 -1.35209567e-04 -9.99985414e-01 -1.80745404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.406559995 meters 0.016410078437109066 Centerline is valid? [True, True] Translation: X:-50.54, Y:-265.45, Z:-1.81 [[-8.68817232e-01 4.95104328e-01 5.32173384e-03 -5.05354091e+01] [ 4.95093906e-01 8.68833516e-01 -3.21647428e-03 -2.65446413e+02] [-6.21619106e-03 -1.59770288e-04 -9.99980667e-01 -1.80705632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.4365599949999 meters 0.01826258665809092 Centerline is valid? [True, True] Translation: X:-50.52, Y:-265.42, Z:-1.81 [[-9.01815754e-01 4.32076394e-01 6.19158912e-03 -5.05212952e+01] [ 4.32064827e-01 9.01836990e-01 -3.16669605e-03 -2.65419997e+02] [-6.95205871e-03 -1.80608505e-04 -9.99975818e-01 -1.80582270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.4665599949999 meters 0.016477888447776222 Centerline is valid? [True, True] Translation: X:-50.51, Y:-265.40, Z:-1.81 [[-9.30224460e-01 3.66934391e-01 6.45036944e-03 -5.05092063e+01] [ 3.66924197e-01 9.30246805e-01 -2.74127989e-03 -2.65400884e+02] [-7.00630543e-03 -1.83208972e-04 -9.99975439e-01 -1.80689958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.496559995 meters 0.01625024741962278 Centerline is valid? [True, True] Translation: X:-50.26, Y:-264.82, Z:-2.78 [[-8.80109041e-01 -4.74740852e-01 5.40365303e-03 -5.02590854e+01] [ 4.74732617e-01 -8.80125623e-01 -2.79821163e-03 -2.64822758e+02] [ 6.08431886e-03 1.02558991e-04 9.99981485e-01 -2.78283255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.526559995 meters 0.01625024741962278 Centerline is valid? [True, True] Translation: X:-50.55, Y:-265.39, Z:-1.81 [[-9.31371415e-01 3.64027273e-01 5.60640151e-03 -5.05503982e+01] [ 3.64019671e-01 9.31388276e-01 -2.35764140e-03 -2.65387435e+02] [-6.07998241e-03 -1.54999375e-04 -9.99981505e-01 -1.80821181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.5565599949999 meters 0.01582328024205695 Centerline is valid? [True, True] Translation: X:-50.54, Y:-265.36, Z:-1.81 [[-9.54239138e-01 2.98993437e-01 5.53105717e-03 -5.05426223e+01] [ 2.98987577e-01 9.54255158e-01 -1.87686274e-03 -2.65364511e+02] [-5.83920947e-03 -1.37258500e-04 -9.99982942e-01 -1.80869832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.5865599949999 meters 0.01534503016329954 Centerline is valid? [True, True] Translation: X:-50.34, Y:-264.76, Z:-2.78 [[-9.14637706e-01 -4.04240629e-01 5.23272701e-03 -5.03358247e+01] [ 4.04234778e-01 -9.14652666e-01 -2.17846069e-03 -2.64756787e+02] [ 5.66675003e-03 1.22747947e-04 9.99983936e-01 -2.78242103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.616559995 meters 0.014842732222531069 Centerline is valid? [True, True] Translation: X:-50.59, Y:-265.36, Z:-1.81 [[-9.54175801e-01 2.99197882e-01 5.40076064e-03 -5.05890083e+01] [ 2.99192428e-01 9.54191079e-01 -1.80997202e-03 -2.65355236e+02] [-5.69489742e-03 -1.11164806e-04 -9.99983778e-01 -1.80864968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.646559995 meters 0.013461605160160648 Centerline is valid? [True, True] Translation: X:-50.58, Y:-265.34, Z:-1.81 [[-9.71578675e-01 2.36661793e-01 5.10635789e-03 -5.05787157e+01] [ 2.36658141e-01 9.71592091e-01 -1.31661131e-03 -2.65336893e+02] [-5.27288854e-03 -7.07303036e-05 -9.99986096e-01 -1.80958510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.6765599949999 meters 0.01304574937843466 Centerline is valid? [True, True] Translation: X:-50.57, Y:-265.31, Z:-1.81 [[-9.85361330e-01 1.70397464e-01 5.26811508e-03 -5.05734580e+01] [ 1.70394736e-01 9.85375411e-01 -9.65601483e-04 -2.65313567e+02] [-5.35560711e-03 -5.38072818e-05 -9.99985657e-01 -1.80985406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.7065599949999 meters 0.01234072580896263 Centerline is valid? [True, True] Translation: X:-50.44, Y:-264.65, Z:-2.78 [[-9.68629845e-01 -2.48432610e-01 6.12054193e-03 -5.04440837e+01] [ 2.48428404e-01 -9.68649175e-01 -1.45017886e-03 -2.64646651e+02] [ 6.28892961e-03 1.15829939e-04 9.99980218e-01 -2.78153292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.736559995 meters 0.012389526441556992 Centerline is valid? [True, True] Translation: X:-50.62, Y:-265.32, Z:-1.81 [[-9.84058970e-01 1.77701767e-01 7.07288352e-03 -5.06207844e+01] [ 1.77697247e-01 9.84084388e-01 -1.26755549e-03 -2.65317099e+02] [-7.18556110e-03 9.48258000e-06 -9.99974184e-01 -1.80854140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.766559995 meters 0.012541286627048991 Centerline is valid? [True, True] Translation: X:-50.62, Y:-265.29, Z:-1.81 [[-9.93818681e-01 1.10738092e-01 7.84252121e-03 -5.06156011e+01] [ 1.10734942e-01 9.93849623e-01 -8.36139254e-04 -2.65293104e+02] [-7.88687922e-03 3.74703179e-05 -9.99968897e-01 -1.80847224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.7965599949999 meters 0.013433773122438689 Centerline is valid? [True, True] Translation: X:-50.53, Y:-264.59, Z:-2.78 [[-9.86707830e-01 -1.62279669e-01 8.54209522e-03 -5.05343579e+01] [ 1.62273627e-01 -9.86744804e-01 -1.40041642e-03 -2.64590441e+02] [ 8.65612719e-03 4.35492102e-06 9.99962535e-01 -2.78379489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.8265599949999 meters 0.013752790301611126 Centerline is valid? [True, True] Translation: X:-50.68, Y:-265.30, Z:-1.81 [[-9.93388247e-01 1.14458560e-01 8.88981983e-03 -5.06773317e+01] [ 1.14455026e-01 9.93428017e-01 -9.06951234e-04 -2.65296144e+02] [-8.93520442e-03 1.16529866e-04 -9.99960074e-01 -1.80736111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.856559995 meters 0.014203547665071443 Centerline is valid? [True, True] Translation: X:-50.60, Y:-264.58, Z:-2.78 [[-9.88396959e-01 -1.51529759e-01 1.04968584e-02 -5.05983103e+01] [ 1.51520837e-01 -9.88452695e-01 -1.64468502e-03 -2.64577760e+02] [ 1.06248667e-02 -3.51088972e-05 9.99943554e-01 -2.78402119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.886559995 meters 0.01489836214631855 Centerline is valid? [True, True] Translation: X:-50.74, Y:-265.30, Z:-1.81 [[-9.93278641e-01 1.15250536e-01 1.07170356e-02 -5.07411851e+01] [ 1.15245971e-01 9.93336436e-01 -1.04461147e-03 -2.65296197e+02] [-1.07660139e-02 1.97504913e-04 -9.99942025e-01 -1.80607864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.916559995 meters 0.014834647047109571 Centerline is valid? [True, True] Translation: X:-50.74, Y:-265.27, Z:-1.81 [[-9.98902183e-01 4.56086958e-02 1.06900215e-02 -5.07411541e+01] [ 4.56083299e-02 9.98959360e-01 -2.78134696e-04 -2.65269211e+02] [-1.06915824e-02 2.09724674e-04 -9.99942821e-01 -1.80658255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.9465599949999 meters 0.015315193661403092 Centerline is valid? [True, True] Translation: X:-50.72, Y:-264.53, Z:-2.78 [[-9.97365078e-01 -7.18422936e-02 1.00789894e-02 -5.07169216e+01] [ 7.18362419e-02 -9.97415976e-01 -9.61638017e-04 -2.64531553e+02] [ 1.01220313e-02 -2.35067456e-04 9.99948743e-01 -2.78355359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.976559995 meters 0.015315193661403092 Centerline is valid? [True, True] Translation: X:-50.83, Y:-265.27, Z:-1.81 [[-9.99079805e-01 4.16684148e-02 1.01629963e-02 -5.08263290e+01] [ 4.16684572e-02 9.99131471e-01 -2.07666166e-04 -2.65270657e+02] [-1.01628225e-02 2.16001302e-04 -9.99948334e-01 -1.80748858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.006559995 meters 0.015380572683566287 Centerline is valid? [True, True] Translation: X:-50.81, Y:-264.53, Z:-2.78 [[-9.97743361e-01 -6.64400490e-02 9.69052069e-03 -5.08079085e+01] [ 6.64346222e-02 -9.97790391e-01 -8.81199319e-04 -2.64527276e+02] [ 9.72765536e-03 -2.35424689e-04 9.99952658e-01 -2.78299578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.036559995 meters 0.014938599101821479 Centerline is valid? [True, True] Translation: X:-50.91, Y:-265.27, Z:-1.81 [[-9.99337410e-01 3.51930909e-02 9.28372839e-03 -5.09147157e+01] [ 3.51933275e-02 9.99380514e-01 -1.37925068e-04 -2.65270236e+02] [-9.28283125e-03 1.88891613e-04 -9.99956896e-01 -1.80887728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.0665599949999 meters 0.015120735642449614 Centerline is valid? [True, True] Translation: X:-50.90, Y:-264.52, Z:-2.78 [[-9.98002175e-01 -6.25238460e-02 9.07899346e-03 -5.09026686e+01] [ 6.25194629e-02 -9.98043451e-01 -7.66070452e-04 -2.64523487e+02] [ 9.10912763e-03 -1.96926183e-04 9.99958492e-01 -2.78231699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.096559995 meters 0.014408910735676857 Centerline is valid? [True, True] Translation: X:-51.00, Y:-265.27, Z:-1.81 [[-9.99639012e-01 2.54508516e-02 8.60815717e-03 -5.10043833e+01] [ 2.54511212e-02 9.99676065e-01 -7.82374553e-05 -2.65268452e+02] [-8.60735990e-03 1.40878039e-04 -9.99962946e-01 -1.80845807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.126559995 meters 0.013921636162918685 Centerline is valid? [True, True] Translation: X:-51.00, Y:-264.52, Z:-2.78 [[-9.98018929e-01 -6.22681955e-02 8.99381525e-03 -5.09958940e+01] [ 6.22645873e-02 -9.98059446e-01 -6.80908407e-04 -2.64523646e+02] [ 9.01876120e-03 -1.19563284e-04 9.99959323e-01 -2.78288895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.156559995 meters 0.013643562342306731 Centerline is valid? [True, True] Translation: X:-51.09, Y:-265.27, Z:-1.81 [[-9.99848112e-01 1.48058009e-02 9.19468255e-03 -5.10945849e+01] [ 1.48061328e-02 9.99890383e-01 -3.19677876e-05 -2.65265369e+02] [-9.19414796e-03 1.04174759e-04 -9.99957728e-01 -1.80764175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.1865599949999 meters 0.012984146250825645 Centerline is valid? [True, True] Translation: X:-51.10, Y:-265.24, Z:-1.81 [[-9.98195869e-01 -5.93789579e-02 8.89647649e-03 -5.10993946e+01] [-5.93759330e-02 9.98235510e-01 6.03987452e-04 -2.65235438e+02] [-8.91664289e-03 7.46611876e-05 -9.99960243e-01 -1.80786826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.2165599949999 meters 0.012403233332508909 Centerline is valid? [True, True] Translation: X:-51.15, Y:-264.50, Z:-2.78 [[-9.99956266e-01 2.48984039e-03 9.01481045e-03 -5.11502210e+01] [-2.49035522e-03 -9.99996898e-01 -4.58851619e-05 -2.64502322e+02] [ 9.01466824e-03 -6.83332354e-05 9.99959365e-01 -2.78369909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.246559995 meters 0.012294776392621042 Centerline is valid? [True, True] Translation: X:-51.21, Y:-265.24, Z:-1.81 [[-9.97092830e-01 -7.56428362e-02 9.16783740e-03 -5.12084624e+01] [-7.56397736e-02 9.97134976e-01 6.80831346e-04 -2.65236057e+02] [-9.19307135e-03 -1.46010925e-05 -9.99957743e-01 -1.80775969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.276559995 meters 0.012861189582540237 Centerline is valid? [True, True] Translation: X:-51.22, Y:-265.20, Z:-1.81 [[-9.88142839e-01 -1.53220788e-01 9.85497659e-03 -5.12197121e+01] [-1.53214014e-01 9.88191977e-01 1.44321265e-03 -2.65204082e+02] [-9.95973898e-03 -8.38202735e-05 -9.99950397e-01 -1.80652582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.3065599949999 meters 0.01335384448861199 Centerline is valid? [True, True] Translation: X:-51.24, Y:-265.18, Z:-1.81 [[-9.73923451e-01 -2.26648904e-01 1.01678848e-02 -5.12393896e+01] [-2.26637843e-01 9.73976519e-01 2.24232143e-03 -2.65176950e+02] [-1.04115008e-02 -1.20578068e-04 -9.99945792e-01 -1.80614613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.3365599949999 meters 0.013578656230787313 Centerline is valid? [True, True] Translation: X:-51.42, Y:-264.49, Z:-2.78 [[-9.90863953e-01 1.34459186e-01 1.04572038e-02 -5.14175266e+01] [-1.34450275e-01 -9.90919124e-01 1.55375440e-03 -2.64488629e+02] [ 1.05711598e-02 1.33585306e-04 9.99944115e-01 -2.78403058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.366559995 meters 0.014379845733139067 Centerline is valid? [True, True] Translation: X:-51.38, Y:-265.20, Z:-1.81 [[-9.70938064e-01 -2.39116587e-01 1.01259481e-02 -5.13823724e+01] [-2.39105545e-01 9.70990847e-01 2.30515057e-03 -2.65202744e+02] [-1.03834026e-02 -1.83011914e-04 -9.99946074e-01 -1.80671327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.396559995 meters 0.015726000492789338 Centerline is valid? [True, True] Translation: X:-51.42, Y:-265.18, Z:-1.81 [[-9.49534427e-01 -3.13505803e-01 9.92392739e-03 -5.14194274e+01] [-3.13491306e-01 9.49586254e-01 3.02432896e-03 -2.65180487e+02] [-1.03717697e-02 -2.39360501e-04 -9.99946183e-01 -1.80743516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.4265599949999 meters 0.016911490811679964 Centerline is valid? [True, True] Translation: X:-51.47, Y:-265.17, Z:-1.81 [[-9.22851732e-01 -3.85042636e-01 9.31933611e-03 -5.14704875e+01] [-3.85025883e-01 9.22898748e-01 3.60153417e-03 -2.65166590e+02] [-9.98754784e-03 -2.64503573e-04 -9.99950088e-01 -1.80781678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.4565599949999 meters 0.01755079244546429 Centerline is valid? [True, True] Translation: X:-51.53, Y:-265.16, Z:-1.81 [[-8.91511199e-01 -4.52915150e-01 8.69768068e-03 -5.15292430e+01] [-4.52896469e-01 8.91553586e-01 4.12203756e-03 -2.65160378e+02] [-9.62138166e-03 -2.64306226e-04 -9.99953679e-01 -1.80794092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.486559995 meters 0.018010999534420275 Centerline is valid? [True, True] Translation: X:-51.60, Y:-265.17, Z:-1.81 [[-8.55174175e-01 -5.18273253e-01 8.36457642e-03 -5.16033039e+01] [-5.18251529e-01 8.55215038e-01 4.75296653e-03 -2.65166644e+02] [-9.61684696e-03 -2.70340293e-04 -9.99953721e-01 -1.80799836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.516559995 meters 0.018601630515217807 Centerline is valid? [True, True] Translation: X:-51.68, Y:-265.18, Z:-1.81 [[-8.13461745e-01 -5.81568638e-01 7.60977730e-03 -5.16762950e+01] [-5.81546240e-01 8.13497294e-01 5.11101366e-03 -2.65177895e+02] [-9.16293850e-03 -2.67823287e-04 -9.99957984e-01 -1.80797434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.5465599949999 meters 0.017808136950379232 Centerline is valid? [True, True] Translation: X:-51.76, Y:-265.20, Z:-1.81 [[-7.67247359e-01 -6.41313021e-01 7.00703157e-03 -5.17582329e+01] [-6.41289396e-01 7.67279309e-01 5.51103546e-03 -2.65204623e+02] [-8.91064914e-03 -2.65207643e-04 -9.99960264e-01 -1.80838775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.5765599949999 meters 0.01788759307811211 Centerline is valid? [True, True] Translation: X:-51.85, Y:-265.24, Z:-1.81 [[-7.16445576e-01 -6.97608242e-01 6.96258193e-03 -5.18483013e+01] [-6.97579128e-01 7.16479350e-01 6.37971678e-03 -2.65244211e+02] [-9.43908918e-03 -2.86231966e-04 -9.99955410e-01 -1.80799904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.606559995 meters 0.018313334931855253 Centerline is valid? [True, True] Translation: X:-51.93, Y:-265.28, Z:-1.81 [[-6.60917714e-01 -7.50426350e-01 6.93314454e-03 -5.19295843e+01] [-7.50389991e-01 6.60954003e-01 7.39374779e-03 -2.65284133e+02] [-1.01309528e-02 -3.15903382e-04 -9.99948631e-01 -1.80702414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.636559995 meters 0.018534336734961306 Centerline is valid? [True, True] Translation: X:-52.01, Y:-265.34, Z:-1.81 [[-6.01401901e-01 -7.98916926e-01 6.89188537e-03 -5.20142753e+01] [-7.98871049e-01 6.01441286e-01 8.56890725e-03 -2.65338328e+02] [-1.09909094e-02 -3.52370582e-04 -9.99939536e-01 -1.80582883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.666559995 meters 0.020171387858974984 Centerline is valid? [True, True] Translation: X:-52.10, Y:-265.41, Z:-1.80 [[-5.38276069e-01 -8.42734854e-01 7.53924459e-03 -5.21047309e+01] [-8.42663316e-01 5.38328686e-01 1.09891317e-02 -2.65408730e+02] [-1.33195159e-02 -4.37858223e-04 -9.99911196e-01 -1.80295608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.6965599949999 meters 0.01925366575161109 Centerline is valid? [True, True] Translation: X:-52.18, Y:-265.47, Z:-1.80 [[-4.72735130e-01 -8.81173205e-01 7.43503449e-03 -5.21760778e+01] [-8.81079776e-01 4.72793349e-01 1.28404826e-02 -2.65473779e+02] [-1.48299241e-02 -4.80711305e-04 -9.99889915e-01 -1.80243828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.726559995 meters 0.018436615486875106 Centerline is valid? [True, True] Translation: X:-52.25, Y:-265.56, Z:-1.80 [[-4.05135662e-01 -9.14235027e-01 6.27782519e-03 -5.22496886e+01] [-9.14141977e-01 4.05184047e-01 1.30511874e-02 -2.65557521e+02] [-1.44755273e-02 -4.51322091e-04 -9.99895122e-01 -1.80280535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.756559995 meters 0.017396308837109305 Centerline is valid? [True, True] Translation: X:-52.32, Y:-265.65, Z:-1.80 [[-3.37700515e-01 -9.41241315e-01 4.81132321e-03 -5.23156307e+01] [-9.41160446e-01 3.37734596e-01 1.23432879e-02 -2.65647853e+02] [-1.32429629e-02 -3.59892409e-04 -9.99912243e-01 -1.80362518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.786559995 meters 0.019002843030778354 Centerline is valid? [True, True] Translation: X:-52.38, Y:-265.75, Z:-1.80 [[-2.67048281e-01 -9.63676712e-01 3.52276570e-03 -5.23814342e+01] [-9.63606970e-01 2.67071350e-01 1.15974724e-02 -2.65750035e+02] [-1.21170438e-02 -2.97476520e-04 -9.99926542e-01 -1.80288402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.8165599949999 meters 0.015441500609036072 Centerline is valid? [True, True] Translation: X:-52.43, Y:-265.84, Z:-1.81 [[-1.95104928e-01 -9.80779557e-01 2.35122447e-03 -5.24261815e+01] [-9.80722082e-01 1.95118955e-01 1.06203591e-02 -2.65841648e+02] [-1.08749996e-02 -2.33813361e-04 -9.99940838e-01 -1.80622730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.846559995 meters 0.014710069787530377 Centerline is valid? [True, True] Translation: X:-52.47, Y:-265.95, Z:-1.81 [[-1.22621720e-01 -9.92452416e-01 1.45475410e-03 -5.24707017e+01] [-9.92399375e-01 1.22630210e-01 1.02621923e-02 -2.65949080e+02] [-1.03631344e-02 -1.85329384e-04 -9.99946284e-01 -1.80655755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.876559995 meters 0.013742157145672089 Centerline is valid? [True, True] Translation: X:-52.51, Y:-266.06, Z:-1.81 [[-4.97088163e-02 -9.98763560e-01 6.19713924e-04 -5.25062348e+01] [-9.98716424e-01 4.97124917e-02 9.70429092e-03 -2.66062275e+02] [-9.72309967e-03 -1.36529658e-04 -9.99952720e-01 -1.80741292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.906559995 meters 0.012679535910010791 Centerline is valid? [True, True] Translation: X:-52.53, Y:-266.17, Z:-1.81 [[ 1.88855652e-02 -9.99821644e-01 -1.21839668e-04 -5.25291823e+01] [-9.99780786e-01 -1.88858949e-02 9.03898842e-03 -2.66172078e+02] [-9.03967732e-03 -4.88934455e-05 -9.99959140e-01 -1.80826459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.9365599949999 meters 0.012604539595524485 Centerline is valid? [True, True] Translation: X:-52.55, Y:-266.29, Z:-1.81 [[ 9.19312920e-02 -9.95765002e-01 -8.35393254e-04 -5.25470054e+01] [-9.95722640e-01 -9.19350867e-02 9.18500371e-03 -2.66291688e+02] [-9.22290719e-03 -1.25692806e-05 -9.99957468e-01 -1.80743022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.9665599949999 meters 0.012709209630559316 Centerline is valid? [True, True] Translation: X:-52.56, Y:-266.41, Z:-1.81 [[ 1.64494124e-01 -9.86376715e-01 -1.63097847e-03 -5.25557094e+01] [-9.86329834e-01 -1.64502207e-01 9.61676380e-03 -2.66410669e+02] [-9.75405144e-03 2.67815910e-05 -9.99952428e-01 -1.80798971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.996559995 meters 0.013498093628885726 Centerline is valid? [True, True] Translation: X:-52.55, Y:-266.53, Z:-1.81 [[ 2.33826407e-01 -9.72275092e-01 -2.52130475e-03 -5.25540547e+01] [-9.72222920e-01 -2.33839980e-01 1.00726636e-02 -2.66527164e+02] [-1.03829818e-02 9.60155211e-05 -9.99946091e-01 -1.80766809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.026559995 meters 0.0138891730825651 Centerline is valid? [True, True] Translation: X:-52.55, Y:-266.65, Z:-1.81 [[ 3.06446863e-01 -9.51881749e-01 -3.38470654e-03 -5.25470384e+01] [-9.51827877e-01 -3.06465532e-01 1.01277044e-02 -2.66647044e+02] [-1.06776729e-02 1.18054798e-04 -9.99942985e-01 -1.80731393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.0565599949999 meters 0.014057078549672215 Centerline is valid? [True, True] Translation: X:-52.53, Y:-266.77, Z:-1.81 [[ 3.78066228e-01 -9.25768887e-01 -4.23028264e-03 -5.25310349e+01] [-9.25714727e-01 -3.78089872e-01 1.00146453e-02 -2.66768030e+02] [-1.08706740e-02 1.29835773e-04 -9.99940904e-01 -1.80673572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.0865599949999 meters 0.013808712082410609 Centerline is valid? [True, True] Translation: X:-52.51, Y:-266.89, Z:-1.81 [[ 4.47906631e-01 -8.94066322e-01 -5.00624142e-03 -5.25078578e+01] [-8.94013797e-01 -4.47934587e-01 9.69213963e-03 -2.66885681e+02] [-1.09078843e-02 1.34475288e-04 -9.99940498e-01 -1.80733817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.116559995 meters 0.014263084963521917 Centerline is valid? [True, True] Translation: X:-52.47, Y:-267.00, Z:-1.81 [[ 5.15450989e-01 -8.56900138e-01 -5.69490352e-03 -5.24748074e+01] [-8.56850636e-01 -5.15482431e-01 9.21151427e-03 -2.67000207e+02] [-1.08289706e-02 1.31597562e-04 -9.99941356e-01 -1.80655939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.146559995 meters 0.013513182802420266 Centerline is valid? [True, True] Translation: X:-52.44, Y:-267.11, Z:-1.81 [[ 5.80101604e-01 -8.14520399e-01 -6.21683015e-03 -5.24390444e+01] [-8.14475855e-01 -5.80134903e-01 8.51915345e-03 -2.67107758e+02] [-1.05456244e-02 1.21483466e-04 -9.99944386e-01 -1.80792315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.1765599949999 meters 0.013591364311568717 Centerline is valid? [True, True] Translation: X:-52.39, Y:-267.21, Z:-1.81 [[ 6.42521741e-01 -7.66239338e-01 -6.56427741e-03 -5.23922302e+01] [-7.66200831e-01 -6.42555265e-01 7.68237993e-03 -2.67214920e+02] [-1.01044527e-02 9.34586838e-05 -9.99948944e-01 -1.80693807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.2065599949999 meters 0.01315691068973198 Centerline is valid? [True, True] Translation: X:-52.34, Y:-267.31, Z:-1.81 [[ 7.00101594e-01 -7.14007478e-01 -7.14705396e-03 -5.23436928e+01] [-7.13971441e-01 -7.00138069e-01 7.17398940e-03 -2.67312668e+02] [-1.01262066e-02 8.02710043e-05 -9.99948726e-01 -1.80767996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.236559995 meters 0.013030723944863338 Centerline is valid? [True, True] Translation: X:-52.29, Y:-267.41, Z:-1.81 [[ 7.53359831e-01 -6.57563586e-01 -7.68743620e-03 -5.22876117e+01] [-6.57530249e-01 -7.53399049e-01 6.62154337e-03 -2.67405668e+02] [-1.01457929e-02 6.63170491e-05 -9.99948528e-01 -1.80724530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.266559995 meters 0.012556650583584378 Centerline is valid? [True, True] Translation: X:-52.29, Y:-267.42, Z:-1.81 [[ 8.04277281e-01 -5.94201201e-01 -7.93644569e-03 -5.22945422e+01] [-5.94172695e-01 -8.04316437e-01 5.82044220e-03 -2.67417526e+02] [-9.84192747e-03 3.43698901e-05 -9.99951567e-01 -1.80780129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.2965599949999 meters 0.012440920432446339 Centerline is valid? [True, True] Translation: X:-52.30, Y:-267.43, Z:-1.81 [[ 8.49005938e-01 -5.28317939e-01 -8.31095977e-03 -5.22990678e+01] [-5.28292859e-01 -8.49046615e-01 5.14783023e-03 -2.67426385e+02] [-9.77608332e-03 2.00822610e-05 -9.99952213e-01 -1.80768882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.3265599949999 meters 0.01235718869454863 Centerline is valid? [True, True] Translation: X:-52.30, Y:-267.44, Z:-1.81 [[ 8.88282850e-01 -4.59222817e-01 -8.24518104e-03 -5.23016358e+01] [-4.59203109e-01 -8.88321116e-01 4.25436570e-03 -2.67435836e+02] [-9.27807022e-03 7.13268537e-06 -9.99956958e-01 -1.80752594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.356559995 meters 0.012141908740062431 Centerline is valid? [True, True] Translation: X:-52.30, Y:-267.45, Z:-1.81 [[ 9.22484254e-01 -3.85945258e-01 -8.31020094e-03 -5.23049430e+01] [-3.85929433e-01 -9.22521684e-01 3.49500361e-03 -2.67448661e+02] [-9.01522063e-03 -1.69346575e-05 -9.99959362e-01 -1.80792432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.386559995 meters 0.012236204588606173 Centerline is valid? [True, True] Translation: X:-52.31, Y:-267.46, Z:-1.81 [[ 9.50238285e-01 -3.11414845e-01 -8.24600635e-03 -5.23074918e+01] [-3.11402871e-01 -9.50274062e-01 2.73096323e-03 -2.67458252e+02] [-8.68642845e-03 -2.72357638e-05 -9.99962272e-01 -1.80788896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.416559995 meters 0.01216053038251837 Centerline is valid? [True, True] Translation: X:-52.31, Y:-267.47, Z:-1.81 [[ 9.72042136e-01 -2.34657755e-01 -8.35606829e-03 -5.23083836e+01] [-2.34648725e-01 -9.72078051e-01 2.05894710e-03 -2.67469954e+02] [-8.60589848e-03 -4.06425619e-05 -9.99962968e-01 -1.80826309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.4465599949999 meters 0.012292308801775 Centerline is valid? [True, True] Translation: X:-52.31, Y:-267.48, Z:-1.81 [[ 9.87480555e-01 -1.57526294e-01 -8.22321064e-03 -5.23085445e+01] [-1.57520469e-01 -9.87514792e-01 1.35531015e-03 -2.67480130e+02] [-8.33403913e-03 -4.30184160e-05 -9.99965270e-01 -1.80759615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.476559995 meters 0.012179690389822638 Centerline is valid? [True, True] Translation: X:-52.31, Y:-267.49, Z:-1.81 [[ 9.96773275e-01 -7.98168829e-02 -8.50311479e-03 -5.23107817e+01] [-7.98136103e-02 -9.96809542e-01 7.24057389e-04 -2.67489873e+02] [-8.53377796e-03 -4.30567650e-05 -9.99963586e-01 -1.80734879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.506559995 meters 0.012089271485950579 Centerline is valid? [True, True] Translation: X:-52.31, Y:-267.50, Z:-1.81 [[ 9.99957702e-01 -2.80058611e-03 -8.76080442e-03 -5.23119519e+01] [-2.80018986e-03 -9.99996078e-01 5.74953316e-05 -2.67499112e+02] [-8.76093108e-03 -3.29609839e-05 -9.99961622e-01 -1.80664780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.536559995 meters 0.012110153817534795 Centerline is valid? [True, True] Translation: X:-52.31, Y:-267.51, Z:-1.81 [[ 9.97185990e-01 7.44356359e-02 -8.91281116e-03 -5.23136689e+01] [ 7.44328800e-02 -9.97225820e-01 -6.40983683e-04 -2.67506846e+02] [-8.93579744e-03 -2.42262557e-05 -9.99960075e-01 -1.80560733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.5665599949999 meters 0.011938652892441691 Centerline is valid? [True, True] Translation: X:-52.31, Y:-267.51, Z:-1.81 [[ 9.88530329e-01 1.50772377e-01 -8.68785778e-03 -5.23138933e+01] [ 1.50766646e-01 -9.88568506e-01 -1.31455921e-03 -2.67512763e+02] [-8.78674180e-03 -1.03575362e-05 -9.99961396e-01 -1.80660293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.596559995 meters 0.011992731273663241 Centerline is valid? [True, True] Translation: X:-52.31, Y:-267.52, Z:-1.81 [[ 9.74184681e-01 2.25590251e-01 -8.55833011e-03 -5.23134442e+01] [ 2.25581466e-01 -9.74222274e-01 -1.99090049e-03 -2.67518559e+02] [-8.78684356e-03 8.90410210e-06 -9.99961395e-01 -1.80718769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.626559995 meters 0.012302819798366662 Centerline is valid? [True, True] Translation: X:-52.31, Y:-267.52, Z:-1.81 [[ 9.54899835e-01 2.96811427e-01 -8.32359651e-03 -5.23138588e+01] [ 2.96799709e-01 -9.54936110e-01 -2.63780333e-03 -2.67522211e+02] [-8.73143304e-03 4.83969458e-05 -9.99961879e-01 -1.80773055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.656559995 meters 0.01313745292418876 Centerline is valid? [True, True] Translation: X:-52.32, Y:-267.53, Z:-1.81 [[ 9.29697453e-01 3.68236949e-01 -8.01223211e-03 -5.23151086e+01] [ 3.68222623e-01 -9.29731975e-01 -3.24884461e-03 -2.67526268e+02] [-8.64557301e-03 7.01574347e-05 -9.99962624e-01 -1.80655122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.6865599949999 meters 0.013305474128855119 Centerline is valid? [True, True] Translation: X:-52.31, Y:-267.53, Z:-1.81 [[ 9.00262563e-01 4.35278233e-01 -7.75739167e-03 -5.23126549e+01] [ 4.35260971e-01 -9.00295977e-01 -3.87825242e-03 -2.67534128e+02] [-8.67206738e-03 1.14955637e-04 -9.99962390e-01 -1.80860710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.7165599949999 meters 0.014448387292501051 Centerline is valid? [True, True] Translation: X:-52.31, Y:-267.54, Z:-1.81 [[ 8.64661836e-01 5.02292146e-01 -7.90632601e-03 -5.23119626e+01] [ 5.02269606e-01 -8.64697970e-01 -4.76065950e-03 -2.67540684e+02] [-9.22782593e-03 1.45253335e-04 -9.99957412e-01 -1.80761330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.746559995 meters 0.014878817318914599 Centerline is valid? [True, True] Translation: X:-52.31, Y:-267.55, Z:-1.81 [[ 8.24822620e-01 5.65326352e-01 -8.58847832e-03 -5.23092343e+01] [ 5.65293088e-01 -8.24867307e-01 -6.13600977e-03 -2.67548020e+02] [-1.05532030e-02 2.06112219e-04 -9.99944292e-01 -1.80751178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.776559995 meters 0.015088432957460728 Centerline is valid? [True, True] Translation: X:-52.31, Y:-267.56, Z:-1.81 [[ 7.78979659e-01 6.26988489e-01 -8.72501178e-03 -5.23052518e+01] [ 6.26945693e-01 -7.79028483e-01 -7.32942127e-03 -2.67556455e+02] [-1.13924955e-02 2.39361528e-04 -9.99935075e-01 -1.80751663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.8065599949999 meters 0.016041832467375453 Centerline is valid? [True, True] Translation: X:-52.30, Y:-267.56, Z:-1.81 [[ 7.28333668e-01 6.85170437e-01 -8.45810393e-03 -5.23023017e+01] [ 6.85120002e-01 -7.28382731e-01 -8.31748963e-03 -2.67563735e+02] [-1.18596348e-02 2.63091554e-04 -9.99929638e-01 -1.80673642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.8365599949999 meters 0.016118660059311177 Centerline is valid? [True, True] Translation: X:-52.30, Y:-267.57, Z:-1.81 [[ 6.73304440e-01 7.39316661e-01 -8.48560222e-03 -5.22972027e+01] [ 7.39252226e-01 -6.73357842e-01 -9.76537121e-03 -2.67572008e+02] [-1.29335484e-02 3.02067457e-04 -9.99916313e-01 -1.80677233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.866559995 meters 0.016118660059311177 Centerline is valid? [True, True] Translation: X:-52.29, Y:-267.58, Z:-1.81 [[ 6.13317366e-01 7.89799091e-01 -7.69441983e-03 -5.22929417e+01] [ 7.89730671e-01 -6.13365555e-01 -1.04001427e-02 -2.67579181e+02] [-1.29335154e-02 3.02068797e-04 -9.99916313e-01 -1.80677263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.896559995 meters 0.015955890239900242 Centerline is valid? [True, True] Translation: X:-52.29, Y:-267.59, Z:-1.81 [[ 5.49463808e-01 8.35489694e-01 -6.81872924e-03 -5.22861229e+01] [ 8.35418509e-01 -5.49506035e-01 -1.09101739e-02 -2.67586422e+02] [-1.28622707e-02 2.98253056e-04 -9.99917233e-01 -1.80712883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.9265599949999 meters 0.016004108336757736 Centerline is valid? [True, True] Translation: X:-52.28, Y:-267.59, Z:-1.81 [[ 4.81681598e-01 8.76326603e-01 -5.87563475e-03 -5.22804010e+01] [ 8.76254040e-01 -4.81717349e-01 -1.12806985e-02 -2.67593575e+02] [-1.27159714e-02 2.85156187e-04 -9.99919108e-01 -1.80758833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.9565599949999 meters 0.015124927556202693 Centerline is valid? [True, True] Translation: X:-52.27, Y:-267.60, Z:-1.81 [[ 4.08944473e-01 9.12546940e-01 -4.74338610e-03 -5.22717614e+01] [ 9.12478681e-01 -4.08971913e-01 -1.11638618e-02 -2.67600003e+02] [-1.21274596e-02 2.37160886e-04 -9.99926432e-01 -1.80934620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.986559995 meters 0.014256313169434978 Centerline is valid? [True, True] Translation: X:-52.26, Y:-267.61, Z:-1.81 [[ 3.34174058e-01 9.42503980e-01 -3.73458016e-03 -5.22615550e+01] [ 9.42438122e-01 -3.34194863e-01 -1.11435670e-02 -2.67605910e+02] [-1.17509338e-02 2.04280302e-04 -9.99930935e-01 -1.81030926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.016559995 meters 0.013701869147533336 Centerline is valid? [True, True] Translation: X:-52.25, Y:-267.61, Z:-1.81 [[ 2.56929395e-01 9.66426128e-01 -2.79721237e-03 -5.22511616e+01] [ 9.66361365e-01 -2.56944564e-01 -1.11894032e-02 -2.67611488e+02] [-1.15324601e-02 1.71768625e-04 -9.99933484e-01 -1.81033400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.0465599949999 meters 0.012487802855587204 Centerline is valid? [True, True] Translation: X:-52.24, Y:-267.62, Z:-1.81 [[ 1.73854502e-01 9.84769404e-01 -1.95784054e-03 -5.22354391e+01] [ 9.84700550e-01 -1.73865498e-01 -1.16453662e-02 -2.67616825e+02] [-1.18084013e-02 9.67126909e-05 -9.99930274e-01 -1.81028341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.0765599949999 meters 0.01199759363541057 Centerline is valid? [True, True] Translation: X:-52.22, Y:-267.62, Z:-1.81 [[ 9.23947018e-02 9.95721946e-01 -1.01286959e-03 -5.22233876e+01] [ 9.95655988e-01 -9.24002396e-02 -1.14607432e-02 -2.67619734e+02] [-1.15053029e-02 5.04422831e-05 -9.99933811e-01 -1.81003118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.106559995 meters 0.011742249622964407 Centerline is valid? [True, True] Translation: X:-52.21, Y:-267.62, Z:-1.81 [[ 1.01159595e-02 9.99948826e-01 -1.14739769e-04 -5.22105353e+01] [ 9.99879683e-01 -1.01166093e-02 -1.17590222e-02 -2.67620966e+02] [-1.17595812e-02 4.22782834e-06 -9.99930854e-01 -1.81037481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.136559995 meters 0.011800387846692071 Centerline is valid? [True, True] Translation: X:-52.20, Y:-267.62, Z:-1.81 [[-7.24580141e-02 9.97371159e-01 7.78842976e-04 -5.21983688e+01] [ 9.97306850e-01 7.24621865e-02 -1.13260015e-02 -2.67622629e+02] [-1.13526639e-02 -4.39141409e-05 -9.99935556e-01 -1.81024427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.166559995 meters 0.012943302094919376 Centerline is valid? [True, True] Translation: X:-52.18, Y:-267.62, Z:-1.81 [[-1.58351823e-01 9.87381401e-01 1.63392452e-03 -5.21831670e+01] [ 9.87319822e-01 1.58360196e-01 -1.10280588e-02 -2.67622004e+02] [-1.11476487e-02 -1.33107135e-04 -9.99937854e-01 -1.81026854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.1965599949999 meters 0.013047336177712287 Centerline is valid? [True, True] Translation: X:-52.17, Y:-267.62, Z:-1.81 [[-2.38592536e-01 9.71116479e-01 2.52700704e-03 -5.21719149e+01] [ 9.71054018e-01 2.38605854e-01 -1.10154911e-02 -2.67619918e+02] [-1.13002836e-02 -1.74353616e-04 -9.99936135e-01 -1.81163015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.226559995 meters 0.014849002496545758 Centerline is valid? [True, True] Translation: X:-52.16, Y:-267.62, Z:-1.81 [[-3.16770954e-01 9.48496221e-01 3.32902830e-03 -5.21580457e+01] [ 9.48436844e-01 3.16788380e-01 -1.06148741e-02 -2.67616581e+02] [-1.11227654e-02 -2.05110696e-04 -9.99938119e-01 -1.81033733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.256559995 meters 0.01554020591849096 Centerline is valid? [True, True] Translation: X:-52.15, Y:-267.61, Z:-1.81 [[-3.94474967e-01 9.18898026e-01 3.98976674e-03 -5.21480788e+01] [ 9.18844471e-01 3.94495064e-01 -9.92380104e-03 -2.67611794e+02] [-1.06929045e-02 -2.48715970e-04 -9.99942798e-01 -1.81144892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.286559995 meters 0.016323252206170633 Centerline is valid? [True, True] Translation: X:-52.14, Y:-267.61, Z:-1.81 [[-4.66796941e-01 8.84352199e-01 4.66948363e-03 -5.21411814e+01] [ 8.84302184e-01 4.66820221e-01 -9.40901944e-03 -2.67608664e+02] [-1.05006964e-02 -2.62866916e-04 -9.99944832e-01 -1.81142912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.3165599949999 meters 0.016240311446093954 Centerline is valid? [True, True] Translation: X:-52.13, Y:-267.60, Z:-1.81 [[-5.36411523e-01 8.43939453e-01 5.37375061e-03 -5.21333878e+01] [ 8.43891684e-01 5.36438364e-01 -8.98373475e-03 -2.67602348e+02] [-1.04644142e-02 -2.84115390e-04 -9.99945206e-01 -1.81183412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.346559995 meters 0.015996059185655376 Centerline is valid? [True, True] Translation: X:-52.13, Y:-267.60, Z:-1.81 [[-6.01071558e-01 7.99171686e-01 6.13182274e-03 -5.21270046e+01] [ 7.99125084e-01 6.01102764e-01 -8.63521961e-03 -2.67595574e+02] [-1.05868786e-02 -2.90291545e-04 -9.99943915e-01 -1.81183040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.376559995 meters 0.01690699309502919 Centerline is valid? [True, True] Translation: X:-52.12, Y:-267.59, Z:-1.81 [[-6.61621111e-01 7.49806570e-01 6.90027208e-03 -5.21198434e+01] [ 7.49761116e-01 6.61657028e-01 -8.26113733e-03 -2.67588370e+02] [-1.07598686e-02 -2.92187160e-04 -9.99942068e-01 -1.81117369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.406559995 meters 0.015739269361913485 Centerline is valid? [True, True] Translation: X:-52.12, Y:-267.58, Z:-1.81 [[-7.17436629e-01 6.96574804e-01 8.25993127e-03 -5.21160345e+01] [ 6.96523669e-01 7.17484111e-01 -8.44567406e-03 -2.67582539e+02] [-1.18094132e-02 -3.05998287e-04 -9.99930220e-01 -1.81052624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.4365599949999 meters 0.01547908111229641 Centerline is valid? [True, True] Translation: X:-52.11, Y:-267.58, Z:-1.81 [[-7.69181288e-01 6.38965462e-01 9.12606990e-03 -5.21125622e+01] [ 6.38915777e-01 7.69235365e-01 -7.97386466e-03 -2.67575629e+02] [-1.21151198e-02 -3.02557442e-04 -9.99926564e-01 -1.81020257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.4665599949999 meters 0.01626376260985827 Centerline is valid? [True, True] Translation: X:-51.71, Y:-267.12, Z:-2.78 [[-6.89911772e-01 -7.23843966e-01 8.46520761e-03 -5.17090636e+01] [ 7.23794575e-01 -6.89963643e-01 -8.46069151e-03 -2.67120834e+02] [ 1.19649060e-02 2.89940676e-04 9.99928376e-01 -2.78196953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.496559995 meters 0.015062784455473651 Centerline is valid? [True, True] Translation: X:-51.73, Y:-267.10, Z:-2.78 [[-6.90570489e-01 -7.23214182e-01 8.58173049e-03 -5.17269261e+01] [ 7.23163373e-01 -6.90623752e-01 -8.57727192e-03 -2.67099492e+02] [ 1.21299516e-02 2.82782300e-04 9.99926390e-01 -2.78094784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.526559995 meters 0.014389040878324379 Centerline is valid? [True, True] Translation: X:-52.16, Y:-267.54, Z:-1.81 [[-7.69496806e-01 6.38576156e-01 9.75488805e-03 -5.21611346e+01] [ 6.38520190e-01 7.69558584e-01 -8.45884624e-03 -2.67536727e+02] [-1.29085754e-02 -2.80362190e-04 -9.99916642e-01 -1.81092644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.5565599949999 meters 0.014093509423951855 Centerline is valid? [True, True] Translation: X:-51.75, Y:-267.07, Z:-2.78 [[-6.94896109e-01 -7.19049767e-01 9.31833338e-03 -5.17544469e+01] [ 7.18990772e-01 -6.94958521e-01 -9.21548068e-03 -2.67072767e+02] [ 1.31022444e-02 2.95994044e-04 9.99914118e-01 -2.78025223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.5865599949999 meters 0.014162601607263023 Centerline is valid? [True, True] Translation: X:-52.20, Y:-267.51, Z:-1.81 [[-7.70437251e-01 6.37423580e-01 1.08453762e-02 -5.21960778e+01] [ 6.37355257e-01 7.70513531e-01 -9.33680433e-03 -2.67509517e+02] [-1.43080083e-02 -2.81064343e-04 -9.99897596e-01 -1.80966413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.616559995 meters 0.014130688851588682 Centerline is valid? [True, True] Translation: X:-52.18, Y:-267.49, Z:-1.81 [[-8.13384373e-01 5.81608403e-01 1.17272124e-02 -5.21783154e+01] [ 5.81542953e-01 8.13468861e-01 -8.72966211e-03 -2.67488970e+02] [-1.46169669e-02 -2.80693023e-04 -9.99893127e-01 -1.80902016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.646559995 meters 0.01395338559760834 Centerline is valid? [True, True] Translation: X:-52.16, Y:-267.47, Z:-1.81 [[-8.52362176e-01 5.22800502e-01 1.25839468e-02 -5.21629066e+01] [ 5.22738606e-01 8.52455017e-01 -8.04952847e-03 -2.67467354e+02] [-1.49355461e-02 -2.82998799e-04 -9.99888419e-01 -1.80917487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.6765599949999 meters 0.013886087214562507 Centerline is valid? [True, True] Translation: X:-51.82, Y:-266.94, Z:-2.78 [[-7.93005047e-01 -6.09099120e-01 1.18851475e-02 -5.18248474e+01] [ 6.09035798e-01 -7.93094060e-01 -8.78683174e-03 -2.66944022e+02] [ 1.47780914e-02 2.70478373e-04 9.99890762e-01 -2.78200685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.7065599949999 meters 0.013888644501821474 Centerline is valid? [True, True] Translation: X:-52.20, Y:-267.45, Z:-1.81 [[-8.53721407e-01 5.20589341e-01 1.21036114e-02 -5.22005885e+01] [ 5.20532702e-01 8.53807162e-01 -7.68347182e-03 -2.67446965e+02] [-1.43340836e-02 -2.59218819e-04 -9.99897228e-01 -1.80951912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.736559995 meters 0.01356468701563193 Centerline is valid? [True, True] Translation: X:-51.86, Y:-266.92, Z:-2.78 [[-7.95490713e-01 -6.05860785e-01 1.12797844e-02 -5.18600678e+01] [ 6.05804013e-01 -7.95570647e-01 -8.29723076e-03 -2.66917908e+02] [ 1.40008321e-02 2.32968607e-04 9.99901956e-01 -2.77951948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.766559995 meters 0.014262953694587183 Centerline is valid? [True, True] Translation: X:-51.88, Y:-266.94, Z:-2.78 [[-7.51636064e-01 -6.59489631e-01 1.08006642e-02 -5.18767363e+01] [ 6.59426867e-01 -7.51713608e-01 -9.10265705e-03 -2.66942851e+02] [ 1.41221142e-02 2.80362864e-04 9.99900239e-01 -2.77894684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.7965599949999 meters 0.014281015175019599 Centerline is valid? [True, True] Translation: X:-51.89, Y:-266.97, Z:-2.78 [[-7.04814581e-01 -7.09320864e-01 1.00158874e-02 -5.18921576e+01] [ 7.09255057e-01 -7.04885684e-01 -9.66626090e-03 -2.66969201e+02] [ 1.39165361e-02 2.90897141e-04 9.99903118e-01 -2.77852499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.8265599949999 meters 0.014969672276040328 Centerline is valid? [True, True] Translation: X:-51.91, Y:-266.99, Z:-2.78 [[-6.54344677e-01 -7.56144030e-01 8.90227338e-03 -5.19131159e+01] [ 7.56080163e-01 -6.54405163e-01 -9.83203615e-03 -2.66992076e+02] [ 1.32601291e-02 2.97291795e-04 9.99912037e-01 -2.77831303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.856559995 meters 0.01571018273465117 Centerline is valid? [True, True] Translation: X:-51.93, Y:-266.97, Z:-2.78 [[-6.53287535e-01 -7.57060234e-01 8.67173408e-03 -5.19329635e+01] [ 7.56999792e-01 -6.53345012e-01 -9.57125885e-03 -2.66971704e+02] [ 1.29116537e-02 3.11716797e-04 9.99916593e-01 -2.77792248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.886559995 meters 0.016977162851134497 Centerline is valid? [True, True] Translation: X:-51.95, Y:-266.95, Z:-2.78 [[-6.50382837e-01 -7.59561367e-01 8.28828311e-03 -5.19530454e+01] [ 7.59506422e-01 -6.50435553e-01 -9.14259241e-03 -2.66952887e+02] [ 1.23353540e-02 3.48819053e-04 9.99923856e-01 -2.77720197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.916559995 meters 0.019336164975132297 Centerline is valid? [True, True] Translation: X:-51.97, Y:-266.94, Z:-2.78 [[-6.47206461e-01 -7.62266045e-01 8.61819152e-03 -5.19737676e+01] [ 7.62206946e-01 -6.47263702e-01 -9.50109587e-03 -2.66935695e+02] [ 1.28206053e-02 4.19674804e-04 9.99917725e-01 -2.77756148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.9465599949999 meters 0.01959105111229476 Centerline is valid? [True, True] Translation: X:-51.99, Y:-266.91, Z:-2.78 [[-6.46073555e-01 -7.63226768e-01 8.59435924e-03 -5.19931240e+01] [ 7.63168147e-01 -6.46130565e-01 -9.46957920e-03 -2.66914827e+02] [ 1.27805145e-02 4.40896521e-04 9.99918229e-01 -2.77768356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.976559995 meters 0.01938497589938424 Centerline is valid? [True, True] Translation: X:-52.01, Y:-266.89, Z:-2.78 [[-6.45173474e-01 -7.63989782e-01 8.41442663e-03 -5.20114274e+01] [ 7.63933720e-01 -6.45228186e-01 -9.26609770e-03 -2.66893910e+02] [ 1.25084292e-02 4.49823797e-04 9.99921665e-01 -2.77720847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.006559995 meters 0.019188990865037947 Centerline is valid? [True, True] Translation: X:-52.03, Y:-266.87, Z:-2.78 [[-6.44756180e-01 -7.64341908e-01 8.42111498e-03 -5.20300568e+01] [ 7.64285853e-01 -6.44811007e-01 -9.26818044e-03 -2.66872988e+02] [ 1.25140864e-02 4.60422429e-04 9.99921590e-01 -2.77717636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.036559995 meters 0.02159720545638452 Centerline is valid? [True, True] Translation: X:-52.05, Y:-266.85, Z:-2.78 [[-6.43973011e-01 -7.65002197e-01 8.39048241e-03 -5.20501328e+01] [ 7.64946674e-01 -6.44027494e-01 -9.22891983e-03 -2.66854710e+02] [ 1.24638453e-02 4.75096322e-04 9.99922210e-01 -2.77766351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.0665599949999 meters 0.02086178802741649 Centerline is valid? [True, True] Translation: X:-52.07, Y:-266.83, Z:-2.78 [[-6.44088168e-01 -7.64905443e-01 8.37229273e-03 -5.20671313e+01] [ 7.64850224e-01 -6.44142404e-01 -9.20313357e-03 -2.66833246e+02] [ 1.24324757e-02 4.75920531e-04 9.99922601e-01 -2.77684468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.096559995 meters 0.02082684788645746 Centerline is valid? [True, True] Translation: X:-52.08, Y:-266.81, Z:-2.78 [[-6.45518905e-01 -7.63703875e-01 7.85714989e-03 -5.20845674e+01] [ 7.63655207e-01 -6.45566580e-01 -8.63230223e-03 -2.66812607e+02] [ 1.16648360e-02 4.27839139e-04 9.99931872e-01 -2.77661666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.126559995 meters 0.02087865336603592 Centerline is valid? [True, True] Translation: X:-52.10, Y:-266.79, Z:-2.78 [[-6.46448430e-01 -7.62921608e-01 7.41947931e-03 -5.21030553e+01] [ 7.62878211e-01 -6.46490886e-01 -8.14672600e-03 -2.66791894e+02] [ 1.10119391e-02 3.93720871e-04 9.99939289e-01 -2.77648325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.156559995 meters 0.020266376893240623 Centerline is valid? [True, True] Translation: X:-52.12, Y:-266.77, Z:-2.78 [[-6.47575666e-01 -7.61970859e-01 6.79466739e-03 -5.21211004e+01] [ 7.61934452e-01 -6.47611218e-01 -7.45659467e-03 -2.66769873e+02] [ 1.00820107e-02 3.48381921e-04 9.99949115e-01 -2.77575876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.1865599949999 meters 0.01952198530267282 Centerline is valid? [True, True] Translation: X:-52.14, Y:-266.75, Z:-2.77 [[-6.49834124e-01 -7.60055851e-01 5.54204453e-03 -5.21381237e+01] [ 7.60031590e-01 -6.49857703e-01 -6.07855322e-03 -2.66747412e+02] [ 8.22158027e-03 2.62077605e-04 9.99966168e-01 -2.77485893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.2165599949999 meters 0.01937851848881649 Centerline is valid? [True, True] Translation: X:-52.16, Y:-266.73, Z:-2.78 [[-6.51170537e-01 -7.58912374e-01 5.37964758e-03 -5.21559669e+01] [ 7.58889499e-01 -6.51192713e-01 -5.89732244e-03 -2.66727050e+02] [ 7.97873828e-03 2.42395442e-04 9.99968140e-01 -2.77516487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.246559995 meters 0.018009845037091594 Centerline is valid? [True, True] Translation: X:-52.17, Y:-266.70, Z:-2.78 [[-6.52970576e-01 -7.57364499e-01 5.33318435e-03 -5.21730703e+01] [ 7.57341991e-01 -6.52992317e-01 -5.84320329e-03 -2.66704808e+02] [ 7.90796313e-03 2.23604637e-04 9.99968707e-01 -2.77561976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.276559995 meters 0.015721884077623843 Centerline is valid? [True, True] Translation: X:-52.19, Y:-266.68, Z:-2.78 [[-6.57046197e-01 -7.53826793e-01 5.95493212e-03 -5.21872660e+01] [ 7.53798620e-01 -6.57073149e-01 -6.52053069e-03 -2.66680594e+02] [ 8.82817675e-03 2.04529727e-04 9.99961010e-01 -2.77680706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.3065599949999 meters 0.014838603874247912 Centerline is valid? [True, True] Translation: X:-52.20, Y:-266.66, Z:-2.78 [[-6.60928896e-01 -7.50423547e-01 6.12322194e-03 -5.22022868e+01] [ 7.50393638e-01 -6.60957239e-01 -6.70198721e-03 -2.66658325e+02] [ 9.07651689e-03 1.65289776e-04 9.99958794e-01 -2.77813292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.3365599949999 meters 0.013777533636661095 Centerline is valid? [True, True] Translation: X:-52.22, Y:-266.64, Z:-2.78 [[-6.62798971e-01 -7.48771233e-01 6.25814317e-03 -5.22188441e+01] [ 7.48739952e-01 -6.62828499e-01 -6.84582199e-03 -2.66635131e+02] [ 9.27403021e-03 1.48318045e-04 9.99956984e-01 -2.77775254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.366559995 meters 0.013548438384355006 Centerline is valid? [True, True] Translation: X:-52.24, Y:-266.61, Z:-2.78 [[-6.64568980e-01 -7.47201268e-01 6.19155983e-03 -5.22352326e+01] [ 7.47170622e-01 -6.64597809e-01 -6.76850954e-03 -2.66614917e+02] [ 9.17233602e-03 1.28010133e-04 9.99957925e-01 -2.77788113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.396559995 meters 0.013219802144038674 Centerline is valid? [True, True] Translation: X:-52.25, Y:-266.59, Z:-2.78 [[-6.65956380e-01 -7.45965449e-01 6.13580011e-03 -5.22523016e+01] [ 7.45935339e-01 -6.65984636e-01 -6.70335529e-03 -2.66593932e+02] [ 9.08682005e-03 1.12767905e-04 9.99958708e-01 -2.77765153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.4265599949999 meters 0.01314352105897049 Centerline is valid? [True, True] Translation: X:-52.27, Y:-266.57, Z:-2.78 [[-6.67152999e-01 -7.44895619e-01 6.11494320e-03 -5.22692476e+01] [ 7.44865708e-01 -6.67181015e-01 -6.67618954e-03 -2.66574465e+02] [ 9.05283835e-03 1.00771625e-04 9.99959017e-01 -2.77813212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.4565599949999 meters 0.012847710404902065 Centerline is valid? [True, True] Translation: X:-52.29, Y:-266.55, Z:-2.78 [[-6.69004624e-01 -7.43235554e-01 5.80723988e-03 -5.22860216e+01] [ 7.43208545e-01 -6.69029824e-01 -6.33664884e-03 -2.66552162e+02] [ 8.59483939e-03 7.67429248e-05 9.99963061e-01 -2.77788612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.486559995 meters 0.01283050047350344 Centerline is valid? [True, True] Translation: X:-52.30, Y:-266.53, Z:-2.78 [[-6.69838782e-01 -7.42482062e-01 6.03266005e-03 -5.23033934e+01] [ 7.42452920e-01 -6.69865943e-01 -6.57867901e-03 -2.66531597e+02] [ 8.92562467e-03 7.23117371e-05 9.99960163e-01 -2.77803903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.516559995 meters 0.013045025688897503 Centerline is valid? [True, True] Translation: X:-52.32, Y:-266.51, Z:-2.78 [[-6.70674830e-01 -7.41726065e-01 6.14141522e-03 -5.23207922e+01] [ 7.41695861e-01 -6.70702945e-01 -6.69401334e-03 -2.66511317e+02] [ 9.08418944e-03 6.55559854e-05 9.99958736e-01 -2.77963962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.5465599949999 meters 0.012866221618020836 Centerline is valid? [True, True] Translation: X:-52.34, Y:-266.49, Z:-2.78 [[-6.71250829e-01 -7.41204579e-01 6.17223621e-03 -5.23385095e+01] [ 7.41174088e-01 -6.71279203e-01 -6.72339729e-03 -2.66490117e+02] [ 9.12670667e-03 6.16155388e-05 9.99958349e-01 -2.77958191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.5765599949999 meters 0.01316075496557599 Centerline is valid? [True, True] Translation: X:-52.36, Y:-266.47, Z:-2.78 [[-6.71473638e-01 -7.40997198e-01 6.80491494e-03 -5.23554447e+01] [ 7.40960160e-01 -6.71508115e-01 -7.40899337e-03 -2.66470399e+02] [ 1.00595989e-02 6.72271346e-05 9.99949399e-01 -2.78091166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.606559995 meters 0.013269169575527286 Centerline is valid? [True, True] Translation: X:-52.37, Y:-266.45, Z:-2.78 [[-6.71489947e-01 -7.40979189e-01 7.14792058e-03 -5.23735240e+01] [ 7.40938373e-01 -6.71527987e-01 -7.77762422e-03 -2.66450310e+02] [ 1.05630864e-02 7.35721665e-05 9.99944206e-01 -2.78086076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.636559995 meters 0.01350406445314852 Centerline is valid? [True, True] Translation: X:-52.39, Y:-266.43, Z:-2.78 [[-6.70725635e-01 -7.41665221e-01 7.73457284e-03 -5.23916059e+01] [ 7.41617533e-01 -6.70770223e-01 -8.41091291e-03 -2.66429467e+02] [ 1.14262027e-02 9.46799226e-05 9.99934714e-01 -2.78041941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.666559995 meters 0.013770327626355537 Centerline is valid? [True, True] Translation: X:-52.41, Y:-266.41, Z:-2.78 [[-6.70212380e-01 -7.42126727e-01 7.95526889e-03 -5.24095427e+01] [ 7.42076379e-01 -6.70259583e-01 -8.64515683e-03 -2.66410537e+02] [ 1.17478972e-02 1.09325994e-04 9.99930985e-01 -2.78059976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.6965599949999 meters 0.013924847690701282 Centerline is valid? [True, True] Translation: X:-52.43, Y:-266.39, Z:-2.78 [[-6.69521071e-01 -7.42751886e-01 7.82116911e-03 -5.24280192e+01] [ 7.42703325e-01 -6.69566741e-01 -8.49412558e-03 -2.66390769e+02] [ 1.15458225e-02 1.21812249e-04 9.99933337e-01 -2.78017980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.726559995 meters 0.014396780196860744 Centerline is valid? [True, True] Translation: X:-52.45, Y:-266.37, Z:-2.78 [[-6.68610289e-01 -7.43569520e-01 8.04054347e-03 -5.24474827e+01] [ 7.43518316e-01 -6.68658619e-01 -8.72727017e-03 -2.66371545e+02] [ 1.18657108e-02 1.43148710e-04 9.99929590e-01 -2.78089815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.756559995 meters 0.014303611430044699 Centerline is valid? [True, True] Translation: X:-52.47, Y:-266.35, Z:-2.78 [[-6.67700047e-01 -7.44389680e-01 7.78795840e-03 -5.24661958e+01] [ 7.44341753e-01 -6.67745446e-01 -8.44836117e-03 -2.66350831e+02] [ 1.14892466e-02 1.55931452e-04 9.99933984e-01 -2.77984381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.786559995 meters 0.014303611430044699 Centerline is valid? [True, True] Translation: X:-52.48, Y:-266.33, Z:-2.78 [[-6.67908617e-01 -7.44202519e-01 7.79032569e-03 -5.24849477e+01] [ 7.44154605e-01 -6.67954030e-01 -8.44617832e-03 -2.66330596e+02] [ 1.14892466e-02 1.55931453e-04 9.99933984e-01 -2.77984410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.8165599949999 meters 0.014541006007352081 Centerline is valid? [True, True] Translation: X:-52.51, Y:-266.31, Z:-2.78 [[-6.65991337e-01 -7.45918441e-01 7.82423680e-03 -5.25052298e+01] [ 7.45870282e-01 -6.66037269e-01 -8.47810977e-03 -2.66310984e+02] [ 1.15352117e-02 1.89518053e-04 9.99933449e-01 -2.77962019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.846559995 meters 0.015434037425200461 Centerline is valid? [True, True] Translation: X:-52.53, Y:-266.29, Z:-2.78 [[-6.64915145e-01 -7.46871654e-01 8.40135147e-03 -5.25252219e+01] [ 7.46816272e-01 -6.64968181e-01 -9.09798324e-03 -2.66292741e+02] [ 1.23816572e-02 2.24879148e-04 9.99923319e-01 -2.78165026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.876559995 meters 0.015661154179714722 Centerline is valid? [True, True] Translation: X:-52.54, Y:-266.27, Z:-2.78 [[-6.64153368e-01 -7.47539071e-01 9.25428103e-03 -5.25447094e+01] [ 7.47472014e-01 -6.64217786e-01 -1.00160656e-02 -2.66272875e+02] [ 1.36342584e-02 2.65112412e-04 9.99907014e-01 -2.78275888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.906559995 meters 0.015648279838657655 Centerline is valid? [True, True] Translation: X:-52.56, Y:-266.25, Z:-2.78 [[-6.62853080e-01 -7.48681737e-01 1.00723582e-02 -5.25637448e+01] [ 7.48602523e-01 -6.62929526e-01 -1.08952348e-02 -2.66252499e+02] [ 1.48343270e-02 3.18252784e-04 9.99889915e-01 -2.78330934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.9365599949999 meters 0.016135647280981883 Centerline is valid? [True, True] Translation: X:-52.58, Y:-266.23, Z:-2.78 [[-6.62545965e-01 -7.48956020e-01 9.88556625e-03 -5.25829655e+01] [ 7.48879842e-01 -6.62619632e-01 -1.06867118e-02 -2.66232869e+02] [ 1.45542474e-02 3.22663538e-04 9.99894029e-01 -2.78342594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.9665599949999 meters 0.01740859947721209 Centerline is valid? [True, True] Translation: X:-52.60, Y:-266.21, Z:-2.78 [[-6.62594853e-01 -7.48913674e-01 9.81677425e-03 -5.26023757e+01] [ 7.48838650e-01 -6.62667491e-01 -1.06052803e-02 -2.66214481e+02] [ 1.44476966e-02 3.24175815e-04 9.99895574e-01 -2.78403482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.996559995 meters 0.016283033084220397 Centerline is valid? [True, True] Translation: X:-52.62, Y:-266.19, Z:-2.78 [[-6.62678903e-01 -7.48838383e-01 9.88676478e-03 -5.26190808e+01] [ 7.48762375e-01 -6.62752569e-01 -1.06741562e-02 -2.66193218e+02] [ 1.45456966e-02 3.29299342e-04 9.99894152e-01 -2.78228580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.026559995 meters 0.01637038143560412 Centerline is valid? [True, True] Translation: X:-52.64, Y:-266.17, Z:-2.78 [[-6.62986301e-01 -7.48561860e-01 1.02130571e-02 -5.26381619e+01] [ 7.48480823e-01 -6.63064874e-01 -1.10195121e-02 -2.66173248e+02] [ 1.50207059e-02 3.38491816e-04 9.99887126e-01 -2.78235670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.0565599949999 meters 0.01641471151443933 Centerline is valid? [True, True] Translation: X:-52.66, Y:-266.15, Z:-2.78 [[-6.63270353e-01 -7.48298861e-01 1.10115213e-02 -5.26569168e+01] [ 7.48204742e-01 -6.63361653e-01 -1.18735768e-02 -2.66153103e+02] [ 1.61896050e-02 3.63481002e-04 9.99868874e-01 -2.78330561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.0865599949999 meters 0.01691797654939688 Centerline is valid? [True, True] Translation: X:-52.68, Y:-266.13, Z:-2.78 [[-6.63414093e-01 -7.48163599e-01 1.15313365e-02 -5.26755556e+01] [ 7.48060501e-01 -6.63514192e-01 -1.24259207e-02 -2.66134250e+02] [ 1.69478270e-02 3.82606496e-04 9.99856302e-01 -2.78438784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.116559995 meters 0.016397099207096602 Centerline is valid? [True, True] Translation: X:-52.69, Y:-266.11, Z:-2.78 [[-6.63790440e-01 -7.47820308e-01 1.21259712e-02 -5.26933962e+01] [ 7.47706392e-01 -6.63901068e-01 -1.30584644e-02 -2.66113397e+02] [ 1.78158301e-02 3.98582369e-04 9.99841206e-01 -2.78417404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.146559995 meters 0.01617897941505286 Centerline is valid? [True, True] Translation: X:-52.71, Y:-266.09, Z:-2.78 [[-6.64558445e-01 -7.47124747e-01 1.29106857e-02 -5.27112389e+01] [ 7.46995644e-01 -6.64683717e-01 -1.38947287e-02 -2.66092174e+02] [ 1.89626182e-02 4.10366669e-04 9.99820109e-01 -2.78423222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.1765599949999 meters 0.015788713731598805 Centerline is valid? [True, True] Translation: X:-52.73, Y:-266.07, Z:-2.78 [[-6.65439911e-01 -7.46333933e-01 1.32433206e-02 -5.27297103e+01] [ 7.46198092e-01 -6.65571557e-01 -1.42446561e-02 -2.66070395e+02] [ 1.94456477e-02 4.03177918e-04 9.99810834e-01 -2.78367300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.2065599949999 meters 0.015618617876432471 Centerline is valid? [True, True] Translation: X:-52.75, Y:-266.05, Z:-2.78 [[-6.66381858e-01 -7.45487682e-01 1.35401749e-02 -5.27483007e+01] [ 7.45345670e-01 -6.66519289e-01 -1.45557347e-02 -2.66048842e+02] [ 1.98759087e-02 3.92433190e-04 9.99802378e-01 -2.78359716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.236559995 meters 0.015658922547441678 Centerline is valid? [True, True] Translation: X:-52.76, Y:-266.03, Z:-2.78 [[-6.68160823e-01 -7.43889145e-01 1.37860093e-02 -5.27647660e+01] [ 7.43741788e-01 -6.68302934e-01 -1.48101359e-02 -2.66028459e+02] [ 2.02303298e-02 3.57678656e-04 9.99795282e-01 -2.78368752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.266559995 meters 0.015225228956880058 Centerline is valid? [True, True] Translation: X:-52.78, Y:-266.01, Z:-2.78 [[-6.69363648e-01 -7.42810474e-01 1.35979914e-02 -5.27818073e+01] [ 7.42667069e-01 -6.69501675e-01 -1.45990431e-02 -2.66007452e+02] [ 1.99482001e-02 3.26711673e-04 9.99800962e-01 -2.78286825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.2965599949999 meters 0.01445452685606263 Centerline is valid? [True, True] Translation: X:-52.80, Y:-265.98, Z:-2.78 [[-6.71742515e-01 -7.40670793e-01 1.29911509e-02 -5.27976535e+01] [ 7.40539651e-01 -6.71868076e-01 -1.39396835e-02 -2.65984252e+02] [ 1.90530560e-02 2.56584273e-04 9.99818441e-01 -2.78080888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.3265599949999 meters 0.015197861386425421 Centerline is valid? [True, True] Translation: X:-52.82, Y:-265.96, Z:-2.78 [[-6.72592312e-01 -7.39902495e-01 1.28015853e-02 -5.28160728e+01] [ 7.39775175e-01 -6.72714087e-01 -1.37276514e-02 -2.65964873e+02] [ 1.87689303e-02 2.37182168e-04 9.99823820e-01 -2.78265946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.356559995 meters 0.014547142030345942 Centerline is valid? [True, True] Translation: X:-52.83, Y:-265.94, Z:-2.78 [[-6.73260909e-01 -7.39296729e-01 1.26529081e-02 -5.28333222e+01] [ 7.39172397e-01 -6.73379757e-01 -1.35598904e-02 -2.65943228e+02] [ 1.85449948e-02 2.23336239e-04 9.99828002e-01 -2.78075158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.386559995 meters 0.014355617896942834 Centerline is valid? [True, True] Translation: X:-52.85, Y:-265.92, Z:-2.78 [[-6.73867211e-01 -7.38745737e-01 1.25585752e-02 -5.28512128e+01] [ 7.38623309e-01 -6.73984192e-01 -1.34505022e-02 -2.65922251e+02] [ 1.84007824e-02 2.12203977e-04 9.99830669e-01 -2.78026434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.416559995 meters 0.014098822033991609 Centerline is valid? [True, True] Translation: X:-52.87, Y:-265.90, Z:-2.78 [[-6.74049227e-01 -7.38583034e-01 1.23588715e-02 -5.28701481e+01] [ 7.38464568e-01 -6.74162486e-01 -1.32296434e-02 -2.65900830e+02] [ 1.81030777e-02 2.09157823e-04 9.99836104e-01 -2.77957799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.4465599949999 meters 0.014130183914392075 Centerline is valid? [True, True] Translation: X:-52.89, Y:-265.88, Z:-2.78 [[-6.73927666e-01 -7.38693043e-01 1.24132320e-02 -5.28887778e+01] [ 7.38573704e-01 -6.74041942e-01 -1.32794667e-02 -2.65880582e+02] [ 1.81764886e-02 2.18686718e-04 9.99834770e-01 -2.77973230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.476559995 meters 0.014727928994318597 Centerline is valid? [True, True] Translation: X:-52.91, Y:-265.86, Z:-2.78 [[-6.73808390e-01 -7.38804270e-01 1.22680220e-02 -5.29071187e+01] [ 7.38687881e-01 -6.73920025e-01 -1.31154679e-02 -2.65861959e+02] [ 1.79574294e-02 2.24926811e-04 9.99838727e-01 -2.78114232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.506559995 meters 0.014569274043746201 Centerline is valid? [True, True] Translation: X:-52.93, Y:-265.84, Z:-2.78 [[-6.73683034e-01 -7.38923578e-01 1.19630807e-02 -5.29254221e+01] [ 7.38813058e-01 -6.73789206e-01 -1.27816600e-02 -2.65841741e+02] [ 1.75052646e-02 2.27692792e-04 9.99846745e-01 -2.78019425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.536559995 meters 0.014459728242173479 Centerline is valid? [True, True] Translation: X:-52.94, Y:-265.82, Z:-2.78 [[-6.73067104e-01 -7.39494488e-01 1.13391705e-02 -5.29434132e+01] [ 7.39395403e-01 -6.73162571e-01 -1.21074855e-02 -2.65821202e+02] [ 1.65865240e-02 2.34980311e-04 9.99862407e-01 -2.77838191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.5665599949999 meters 0.014582621951930486 Centerline is valid? [True, True] Translation: X:-52.96, Y:-265.80, Z:-2.78 [[-6.72677558e-01 -7.39848757e-01 1.13454568e-02 -5.29625778e+01] [ 7.39749738e-01 -6.72773183e-01 -1.21066100e-02 -2.65801243e+02] [ 1.65899794e-02 2.48953840e-04 9.99862346e-01 -2.77855547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.596559995 meters 0.016362917945009325 Centerline is valid? [True, True] Translation: X:-52.98, Y:-265.78, Z:-2.78 [[-6.70995875e-01 -7.41370703e-01 1.15765512e-02 -5.29842931e+01] [ 7.41267958e-01 -6.71095665e-01 -1.23459456e-02 -2.65784088e+02] [ 1.69218957e-02 2.97247854e-04 9.99856770e-01 -2.78202913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.626559995 meters 0.01505861838974829 Centerline is valid? [True, True] Translation: X:-53.00, Y:-265.76, Z:-2.78 [[-6.70471922e-01 -7.41843313e-01 1.16576841e-02 -5.30017648e+01] [ 7.41739314e-01 -6.70573187e-01 -1.24254262e-02 -2.65762051e+02] [ 1.70350497e-02 3.16063260e-04 9.99854843e-01 -2.77994734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.656559995 meters 0.01576110261676027 Centerline is valid? [True, True] Translation: X:-53.02, Y:-265.74, Z:-2.78 [[-6.68906399e-01 -7.43264664e-01 1.10393982e-02 -5.30211489e+01] [ 7.43171685e-01 -6.68997403e-01 -1.17610421e-02 -2.65743780e+02] [ 1.61268958e-02 3.37131809e-04 9.99869896e-01 -2.78056236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.6865599949999 meters 0.01613365261378366 Centerline is valid? [True, True] Translation: X:-53.04, Y:-265.73, Z:-2.78 [[-6.68720364e-01 -7.43434749e-01 1.08558266e-02 -5.30391631e+01] [ 7.43344980e-01 -6.68808387e-01 -1.15578092e-02 -2.65725249e+02] [ 1.58529449e-02 3.40681892e-04 9.99874276e-01 -2.78075649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.7165599949999 meters 0.017025459459848766 Centerline is valid? [True, True] Translation: X:-53.06, Y:-265.71, Z:-2.78 [[-6.68999338e-01 -7.43190508e-01 1.03804999e-02 -5.30580603e+01] [ 7.43108509e-01 -6.69079788e-01 -1.10444977e-02 -2.65706681e+02] [ 1.51535485e-02 3.25076123e-04 9.99885126e-01 -2.78117774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.746559995 meters 0.016520296386528004 Centerline is valid? [True, True] Translation: X:-53.08, Y:-265.69, Z:-2.78 [[-6.69297720e-01 -7.42926190e-01 1.00617350e-02 -5.30754283e+01] [ 7.42849216e-01 -6.69373273e-01 -1.06987715e-02 -2.65686141e+02] [ 1.46834541e-02 3.13688541e-04 9.99892143e-01 -2.78039715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.776559995 meters 0.016520296386528004 Centerline is valid? [True, True] Translation: X:-53.09, Y:-265.67, Z:-2.78 [[-6.69525856e-01 -7.42720556e-01 1.00650207e-02 -5.30938539e+01] [ 7.42643606e-01 -6.69601432e-01 -1.06956806e-02 -2.65666720e+02] [ 1.46834541e-02 3.13688548e-04 9.99892143e-01 -2.78039743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.8065599949999 meters 0.01588869715350743 Centerline is valid? [True, True] Translation: X:-53.11, Y:-265.65, Z:-2.78 [[-6.70025448e-01 -7.42277687e-01 9.47279105e-03 -5.31113858e+01] [ 7.42209570e-01 -6.70092345e-01 -1.00599937e-02 -2.65645875e+02] [ 1.38149536e-02 2.90344403e-04 9.99904527e-01 -2.77887455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.8365599949999 meters 0.017077237180400853 Centerline is valid? [True, True] Translation: X:-53.13, Y:-265.63, Z:-2.78 [[-6.70658564e-01 -7.41711501e-01 9.00772812e-03 -5.31310816e+01] [ 7.41649940e-01 -6.70719000e-01 -9.55980094e-03 -2.65627923e+02] [ 1.31322687e-02 2.69218649e-04 9.99913732e-01 -2.77986438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.866559995 meters 0.016283946353697912 Centerline is valid? [True, True] Translation: X:-53.15, Y:-265.61, Z:-2.78 [[-6.69630794e-01 -7.42643454e-01 8.67751871e-03 -5.31485435e+01] [ 7.42586471e-01 -6.69686958e-01 -9.20388465e-03 -2.65606492e+02] [ 1.26464258e-02 2.80603405e-04 9.99919991e-01 -2.77768435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.896559995 meters 0.016224184615782247 Centerline is valid? [True, True] Translation: X:-53.17, Y:-265.59, Z:-2.78 [[-6.69250526e-01 -7.42985875e-01 8.70191296e-03 -5.31683290e+01] [ 7.42928667e-01 -6.69307033e-01 -9.22452928e-03 -2.65585958e+02] [ 1.26779465e-02 2.91379525e-04 9.99919589e-01 -2.77800750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.9265599949999 meters 0.016529121311642164 Centerline is valid? [True, True] Translation: X:-53.19, Y:-265.57, Z:-2.78 [[-6.69230450e-01 -7.43002467e-01 8.82834923e-03 -5.31878179e+01] [ 7.42943661e-01 -6.69288611e-01 -9.35263657e-03 -2.65566738e+02] [ 1.28577456e-02 2.99896918e-04 9.99917291e-01 -2.77861306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.9565599949999 meters 0.016844691165590977 Centerline is valid? [True, True] Translation: X:-53.21, Y:-265.55, Z:-2.78 [[-6.68645257e-01 -7.43524708e-01 9.19397251e-03 -5.32077430e+01] [ 7.43461053e-01 -6.68708384e-01 -9.73448379e-03 -2.65546980e+02] [ 1.33859157e-02 3.26444064e-04 9.99910351e-01 -2.77995518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.986559995 meters 0.017279329085051576 Centerline is valid? [True, True] Translation: X:-53.23, Y:-265.53, Z:-2.78 [[-6.67664023e-01 -7.44402570e-01 9.46393786e-03 -5.32279591e+01] [ 7.44335288e-01 -6.67730998e-01 -1.00146463e-02 -2.65527193e+02] [ 1.37742931e-02 3.57923852e-04 9.99905066e-01 -2.78083939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.016559995 meters 0.017350006646242554 Centerline is valid? [True, True] Translation: X:-53.25, Y:-265.51, Z:-2.78 [[-6.67467050e-01 -7.44580288e-01 9.37720369e-03 -5.32472304e+01] [ 7.44514328e-01 -6.67532819e-01 -9.91722204e-03 -2.65506955e+02] [ 1.36437592e-02 3.62043571e-04 9.99906854e-01 -2.78127576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.0465599949999 meters 0.018009297474962365 Centerline is valid? [True, True] Translation: X:-53.27, Y:-265.49, Z:-2.78 [[-6.67522139e-01 -7.44532405e-01 9.25703212e-03 -5.32661028e+01] [ 7.44468185e-01 -6.67586226e-01 -9.78531020e-03 -2.65489048e+02] [ 1.34653477e-02 3.59654711e-04 9.99909274e-01 -2.78206329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.0765599949999 meters 0.01739769847454681 Centerline is valid? [True, True] Translation: X:-53.28, Y:-265.47, Z:-2.78 [[-6.67691841e-01 -7.44378800e-01 9.37054986e-03 -5.32844001e+01] [ 7.44313057e-01 -6.67757493e-01 -9.89968337e-03 -2.65468186e+02] [ 1.36263693e-02 3.64684799e-04 9.99907090e-01 -2.78170669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.106559995 meters 0.01746745739981705 Centerline is valid? [True, True] Translation: X:-53.30, Y:-265.45, Z:-2.78 [[-6.68542551e-01 -7.43617607e-01 9.14943075e-03 -5.33023283e+01] [ 7.43554945e-01 -6.68605067e-01 -9.65961856e-03 -2.65449434e+02] [ 1.33004182e-02 3.45238452e-04 9.99911486e-01 -2.78244871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.136559995 meters 0.017332947670075982 Centerline is valid? [True, True] Translation: X:-53.32, Y:-265.43, Z:-2.78 [[-6.68906079e-01 -7.43292724e-01 8.97684033e-03 -5.33207411e+01] [ 7.43232453e-01 -6.68966227e-01 -9.47141972e-03 -2.65429784e+02] [ 1.30452404e-02 3.36388832e-04 9.99914851e-01 -2.78203710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.166559995 meters 0.017390640567591136 Centerline is valid? [True, True] Translation: X:-53.34, Y:-265.41, Z:-2.78 [[-6.69371537e-01 -7.42879169e-01 8.50207256e-03 -5.33397975e+01] [ 7.42825141e-01 -6.69425456e-01 -8.96485719e-03 -2.65409994e+02] [ 1.23513095e-02 3.14733003e-04 9.99923670e-01 -2.78183661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.1965599949999 meters 0.017554518200893883 Centerline is valid? [True, True] Translation: X:-53.36, Y:-265.39, Z:-2.78 [[-6.69744255e-01 -7.42554263e-01 7.46985941e-03 -5.33585115e+01] [ 7.42512579e-01 -6.69785855e-01 -7.87263301e-03 -2.65391354e+02] [ 1.08490634e-02 2.73813841e-04 9.99941110e-01 -2.78060641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.226559995 meters 0.017603395633977878 Centerline is valid? [True, True] Translation: X:-53.38, Y:-265.37, Z:-2.78 [[-6.69937322e-01 -7.42383296e-01 7.14331718e-03 -5.33777735e+01] [ 7.42345215e-01 -6.69975353e-01 -7.52380660e-03 -2.65371758e+02] [ 1.03713948e-02 2.62328480e-04 9.99946181e-01 -2.77998251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.256559995 meters 0.017340270370405045 Centerline is valid? [True, True] Translation: X:-53.40, Y:-265.35, Z:-2.78 [[-6.70242063e-01 -7.42113273e-01 6.59294964e-03 -5.33967107e+01] [ 7.42080863e-01 -6.70274445e-01 -6.93977377e-03 -2.65352055e+02] [ 9.56918389e-03 2.41173470e-04 9.99954185e-01 -2.77986307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.286559995 meters 0.017340270370405045 Centerline is valid? [True, True] Translation: X:-53.42, Y:-265.33, Z:-2.78 [[-6.70474320e-01 -7.41903424e-01 6.59512164e-03 -5.34152298e+01] [ 7.41871025e-01 -6.70506712e-01 -6.93770968e-03 -2.65332721e+02] [ 9.56918389e-03 2.41173472e-04 9.99954185e-01 -2.77986335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.3165599949999 meters 0.017062915517953706 Centerline is valid? [True, True] Translation: X:-53.43, Y:-265.31, Z:-2.78 [[-6.71143005e-01 -7.41299233e-01 6.52026441e-03 -5.34338118e+01] [ 7.41267577e-01 -6.71174637e-01 -6.85465201e-03 -2.65312655e+02] [ 9.45758437e-03 2.32808848e-04 9.99955249e-01 -2.78045619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.346559995 meters 0.017170963006266936 Centerline is valid? [True, True] Translation: X:-53.45, Y:-265.29, Z:-2.78 [[-6.71574001e-01 -7.40908942e-01 6.50383649e-03 -5.34524019e+01] [ 7.40877468e-01 -6.71605454e-01 -6.83311755e-03 -2.65293126e+02] [ 9.43072996e-03 2.29601811e-04 9.99955503e-01 -2.78061007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.376559995 meters 0.01738247345861228 Centerline is valid? [True, True] Translation: X:-53.47, Y:-265.27, Z:-2.78 [[-6.71627950e-01 -7.40853898e-01 7.16931360e-03 -5.34715354e+01] [ 7.40815698e-01 -6.71666164e-01 -7.52761968e-03 -2.65273669e+02] [ 1.03922518e-02 2.55380282e-04 9.99945967e-01 -2.78109260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.406559995 meters 0.018855328324948874 Centerline is valid? [True, True] Translation: X:-53.49, Y:-265.26, Z:-2.78 [[-6.70268347e-01 -7.42070560e-01 8.46329952e-03 -5.34928857e+01] [ 7.42017465e-01 -6.70321698e-01 -8.88272075e-03 -2.65256123e+02] [ 1.22647389e-02 3.26109502e-04 9.99924732e-01 -2.78350097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.4365599949999 meters 0.01795578859253227 Centerline is valid? [True, True] Translation: X:-53.51, Y:-265.24, Z:-2.78 [[-6.70544998e-01 -7.41817649e-01 8.71671311e-03 -5.35107967e+01] [ 7.41761378e-01 -6.70601568e-01 -9.14301328e-03 -2.65235802e+02] [ 1.26278901e-02 3.34919306e-04 9.99920209e-01 -2.78350284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.4665599949999 meters 0.01798378865312007 Centerline is valid? [True, True] Translation: X:-53.53, Y:-265.22, Z:-2.78 [[-6.70979636e-01 -7.41420858e-01 9.02435314e-03 -5.35299038e+01] [ 7.41360586e-01 -6.71040232e-01 -9.45985205e-03 -2.65216852e+02] [ 1.30694357e-02 3.42931648e-04 9.99914533e-01 -2.78409764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.496559995 meters 0.019053703974548707 Centerline is valid? [True, True] Translation: X:-53.55, Y:-265.20, Z:-2.78 [[-6.71026205e-01 -7.41388321e-01 8.19693198e-03 -5.35496179e+01] [ 7.41338658e-01 -6.71076195e-01 -8.58694319e-03 -2.65198956e+02] [ 1.18670253e-02 3.14638645e-04 9.99929535e-01 -2.78345886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.526559995 meters 0.019053703974548707 Centerline is valid? [True, True] Translation: X:-53.57, Y:-265.18, Z:-2.78 [[-6.71247190e-01 -7.41188220e-01 8.19949145e-03 -5.35681939e+01] [ 7.41138572e-01 -6.71297194e-01 -8.58449924e-03 -2.65179683e+02] [ 1.18670253e-02 3.14638387e-04 9.99929535e-01 -2.78345914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.5565599949999 meters 0.01921229060652748 Centerline is valid? [True, True] Translation: X:-53.59, Y:-265.16, Z:-2.78 [[-6.71406621e-01 -7.41047499e-01 7.85836795e-03 -5.35875894e+01] [ 7.41001942e-01 -6.71452540e-01 -8.22247476e-03 -2.65160154e+02] [ 1.13697655e-02 3.02441918e-04 9.99935316e-01 -2.78277742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.5865599949999 meters 0.01876979971709801 Centerline is valid? [True, True] Translation: X:-53.61, Y:-265.14, Z:-2.78 [[-6.72356178e-01 -7.40192810e-01 7.19538814e-03 -5.36068583e+01] [ 7.40154608e-01 -6.72394626e-01 -7.52479878e-03 -2.65140046e+02] [ 1.04079423e-02 2.66354746e-04 9.99945801e-01 -2.78198073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.616559995 meters 0.018452201277809128 Centerline is valid? [True, True] Translation: X:-53.63, Y:-265.12, Z:-2.78 [[-6.73097716e-01 -7.39519984e-01 7.04681679e-03 -5.36258076e+01] [ 7.39483351e-01 -6.73134555e-01 -7.36504464e-03 -2.65120118e+02] [ 1.01900536e-02 2.53608972e-04 9.99948048e-01 -2.78198248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.646559995 meters 0.01807228667117031 Centerline is valid? [True, True] Translation: X:-53.64, Y:-265.10, Z:-2.78 [[-6.74608532e-01 -7.38145930e-01 6.62678391e-03 -5.36447206e+01] [ 7.38113503e-01 -6.74641043e-01 -6.92248867e-03 -2.65100313e+02] [ 9.58050725e-03 2.21348765e-04 9.99954081e-01 -2.78200407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.6765599949999 meters 0.01807228667117031 Centerline is valid? [True, True] Translation: X:-53.66, Y:-265.08, Z:-2.78 [[-6.74825917e-01 -7.37947180e-01 6.62882296e-03 -5.36633243e+01] [ 7.37914762e-01 -6.74858438e-01 -6.92053615e-03 -2.65081073e+02] [ 9.58050724e-03 2.21349159e-04 9.99954081e-01 -2.78200434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.7065599949999 meters 0.016028592534825484 Centerline is valid? [True, True] Translation: X:-53.68, Y:-265.06, Z:-2.78 [[-6.75672869e-01 -7.37172624e-01 6.53425081e-03 -5.36800851e+01] [ 7.37141124e-01 -6.75704431e-01 -6.81795488e-03 -2.65058190e+02] [ 9.44123191e-03 2.09957857e-04 9.99955409e-01 -2.78010624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.736559995 meters 0.01758670720299177 Centerline is valid? [True, True] Translation: X:-53.70, Y:-265.04, Z:-2.78 [[-6.77067106e-01 -7.35895226e-01 6.19277852e-03 -5.37011670e+01] [ 7.35866911e-01 -6.77095401e-01 -6.45804738e-03 -2.65040793e+02] [ 8.94554809e-03 1.84529355e-04 9.99959971e-01 -2.78084577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.766559995 meters 0.016351541085100358 Centerline is valid? [True, True] Translation: X:-53.72, Y:-265.02, Z:-2.78 [[-6.77930284e-01 -7.35101836e-01 5.98500308e-03 -5.37191025e+01] [ 7.35075382e-01 -6.77956681e-01 -6.23876967e-03 -2.65019636e+02] [ 8.64370386e-03 1.69977528e-04 9.99962628e-01 -2.77980259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.7965599949999 meters 0.016030808754159947 Centerline is valid? [True, True] Translation: X:-53.74, Y:-265.00, Z:-2.78 [[-6.79168725e-01 -7.33955168e-01 6.29715873e-03 -5.37385309e+01] [ 7.33925868e-01 -6.79197897e-01 -6.56023861e-03 -2.65000231e+02] [ 9.09193800e-03 1.66138795e-04 9.99958654e-01 -2.78036581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.8265599949999 meters 0.016657608034903546 Centerline is valid? [True, True] Translation: X:-53.76, Y:-264.98, Z:-2.78 [[-6.80180376e-01 -7.33014101e-01 6.70695676e-03 -5.37584623e+01] [ 7.32980860e-01 -6.80213422e-01 -6.98278582e-03 -2.64982414e+02] [ 9.68064248e-03 1.66517050e-04 9.99953128e-01 -2.78207285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.856559995 meters 0.015155262238735685 Centerline is valid? [True, True] Translation: X:-53.77, Y:-264.96, Z:-2.78 [[-6.81136434e-01 -7.32124776e-01 6.81700305e-03 -5.37749164e+01] [ 7.32090433e-01 -6.81170527e-01 -7.09303989e-03 -2.64961079e+02] [ 9.83653180e-03 1.59334812e-04 9.99951608e-01 -2.78080768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.886559995 meters 0.016291034651762556 Centerline is valid? [True, True] Translation: X:-53.79, Y:-264.94, Z:-2.78 [[-6.82032332e-01 -7.31289781e-01 6.86699268e-03 -5.37946956e+01] [ 7.31254935e-01 -6.82066884e-01 -7.14049903e-03 -2.64944093e+02] [ 9.90552227e-03 1.51471084e-04 9.99950928e-01 -2.78282979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.916559995 meters 0.014882181304115602 Centerline is valid? [True, True] Translation: X:-53.81, Y:-264.92, Z:-2.78 [[-6.83086638e-01 -7.30303597e-01 7.02144350e-03 -5.38115303e+01] [ 7.30267158e-01 -6.83122709e-01 -7.29673880e-03 -2.64922466e+02] [ 1.01253421e-02 1.43224814e-04 9.99948727e-01 -2.78113167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.9465599949999 meters 0.014505281749022964 Centerline is valid? [True, True] Translation: X:-53.83, Y:-264.90, Z:-2.78 [[-6.84926680e-01 -7.28579613e-01 6.86962036e-03 -5.38285542e+01] [ 7.28544678e-01 -6.84961119e-01 -7.13566845e-03 -2.64902773e+02] [ 9.90432541e-03 1.17415653e-04 9.99950944e-01 -2.78047810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.976559995 meters 0.01430669599752147 Centerline is valid? [True, True] Translation: X:-53.85, Y:-264.88, Z:-2.78 [[-6.86145032e-01 -7.27433806e-01 6.71213811e-03 -5.38466781e+01] [ 7.27400439e-01 -6.86177855e-01 -6.96798228e-03 -2.64882830e+02] [ 9.67446640e-03 1.01365788e-04 9.99953196e-01 -2.78000565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.006559995 meters 0.014113684758840063 Centerline is valid? [True, True] Translation: X:-53.86, Y:-264.86, Z:-2.78 [[-6.87240528e-01 -7.26398943e-01 6.71058236e-03 -5.38649014e+01] [ 7.26365582e-01 -6.87273284e-01 -6.96227800e-03 -2.64863061e+02] [ 9.66939536e-03 8.95764523e-05 9.99953246e-01 -2.77983325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.036559995 meters 0.013766946413565477 Centerline is valid? [True, True] Translation: X:-53.88, Y:-264.84, Z:-2.78 [[-6.89466016e-01 -7.24291943e-01 6.14763293e-03 -5.38826410e+01] [ 7.24263894e-01 -6.89493421e-01 -6.37448264e-03 -2.64842630e+02] [ 8.85573888e-03 5.75194173e-05 9.99960786e-01 -2.77862574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.0665599949999 meters 0.013697237071649139 Centerline is valid? [True, True] Translation: X:-53.90, Y:-264.82, Z:-2.78 [[-6.90691165e-01 -7.23122198e-01 6.32471563e-03 -5.39002622e+01] [ 7.23092497e-01 -6.90720120e-01 -6.55407842e-03 -2.64823588e+02] [ 9.10800794e-03 4.65103594e-05 9.99958520e-01 -2.77868503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.096559995 meters 0.013661733179408891 Centerline is valid? [True, True] Translation: X:-53.92, Y:-264.80, Z:-2.78 [[-6.92211033e-01 -7.21657060e-01 7.41440264e-03 -5.39185977e+01] [ 7.21616206e-01 -6.92250739e-01 -7.67888012e-03 -2.64803164e+02] [ 1.06741438e-02 3.49475611e-05 9.99943029e-01 -2.78031719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.126559995 meters 0.013663902268128964 Centerline is valid? [True, True] Translation: X:-53.94, Y:-264.79, Z:-2.78 [[-6.92733137e-01 -7.21154126e-01 7.58464231e-03 -5.39361731e+01] [ 7.21111388e-01 -6.92774657e-01 -7.85121322e-03 -2.64785130e+02] [ 1.09163828e-02 3.05763750e-05 9.99940414e-01 -2.78046491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.156559995 meters 0.013441916708795349 Centerline is valid? [True, True] Translation: X:-53.96, Y:-264.76, Z:-2.78 [[-6.92972187e-01 -7.20923567e-01 7.66542349e-03 -5.39556857e+01] [ 7.20879949e-01 -6.93014581e-01 -7.93036651e-03 -2.64764770e+02] [ 1.10294384e-02 3.03266704e-05 9.99939174e-01 -2.77779870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.1865599949999 meters 0.0134624955531889 Centerline is valid? [True, True] Translation: X:-53.98, Y:-264.75, Z:-2.78 [[-6.92877280e-01 -7.21011527e-01 7.96567572e-03 -5.39755223e+01] [ 7.20964493e-01 -6.92923067e-01 -8.23554133e-03 -2.64746996e+02] [ 1.14575207e-02 3.67498795e-05 9.99934360e-01 -2.77761936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.2165599949999 meters 0.013641998918004918 Centerline is valid? [True, True] Translation: X:-53.99, Y:-264.73, Z:-2.78 [[-6.92938080e-01 -7.20952374e-01 8.03062671e-03 -5.39949376e+01] [ 7.20904628e-01 -6.92984612e-01 -8.29725967e-03 -2.64729059e+02] [ 1.15470298e-02 3.98287785e-05 9.99933330e-01 -2.77935363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.246559995 meters 0.013474560003251238 Centerline is valid? [True, True] Translation: X:-54.02, Y:-264.71, Z:-2.78 [[-6.93104866e-01 -7.20783373e-01 8.77343951e-03 -5.40150457e+01] [ 7.20726441e-01 -6.93160391e-01 -9.05924807e-03 -2.64711187e+02] [ 1.26111561e-02 4.42409115e-05 9.99920475e-01 -2.77873076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.276559995 meters 0.01339299044193134 Centerline is valid? [True, True] Translation: X:-54.04, Y:-264.69, Z:-2.78 [[-6.92768974e-01 -7.21093787e-01 9.74164895e-03 -5.40357641e+01] [ 7.21023683e-01 -6.92837461e-01 -1.00549313e-02 -2.64692855e+02] [ 1.39999278e-02 5.82151807e-05 9.99901995e-01 -2.77888655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.3065599949999 meters 0.013327648670085164 Centerline is valid? [True, True] Translation: X:-54.06, Y:-264.67, Z:-2.78 [[-6.92922247e-01 -7.20938719e-01 1.03015574e-02 -5.40565547e+01] [ 7.20860396e-01 -6.92998816e-01 -1.06268725e-02 -2.64673592e+02] [ 1.48002909e-02 6.23884132e-05 9.99890468e-01 -2.77809927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.3365599949999 meters 0.013327648670085164 Centerline is valid? [True, True] Translation: X:-54.08, Y:-264.65, Z:-2.78 [[-6.93124557e-01 -7.20744175e-01 1.03045399e-02 -5.40758089e+01] [ 7.20665873e-01 -6.93201148e-01 -1.06239805e-02 -2.64653834e+02] [ 1.48002909e-02 6.23884121e-05 9.99890468e-01 -2.77809955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.366559995 meters 0.013275114819787086 Centerline is valid? [True, True] Translation: X:-54.10, Y:-264.63, Z:-2.78 [[-6.93283648e-01 -7.20589209e-01 1.04391274e-02 -5.40958810e+01] [ 7.20508898e-01 -6.93362234e-01 -1.07582795e-02 -2.64634899e+02] [ 1.49903968e-02 6.29449248e-05 9.99887636e-01 -2.77760759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.396559995 meters 0.01330241678136518 Centerline is valid? [True, True] Translation: X:-54.11, Y:-264.62, Z:-2.78 [[-6.93522393e-01 -7.20359600e-01 1.04277342e-02 -5.41148797e+01] [ 7.20279516e-01 -6.93600781e-01 -1.07412732e-02 -2.64617110e+02] [ 1.49702638e-02 6.15698105e-05 9.99887938e-01 -2.77773723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.4265599949999 meters 0.013201971921009747 Centerline is valid? [True, True] Translation: X:-54.13, Y:-264.60, Z:-2.78 [[-6.93781271e-01 -7.20103810e-01 1.08651794e-02 -5.41343906e+01] [ 7.20016944e-01 -6.93866341e-01 -1.11848706e-02 -2.64598606e+02] [ 1.55932502e-02 6.32595276e-05 9.99878416e-01 -2.77705069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.4565599949999 meters 0.013124210421528086 Centerline is valid? [True, True] Translation: X:-54.15, Y:-264.58, Z:-2.78 [[-6.94446600e-01 -7.19466897e-01 1.05501107e-02 -5.41547806e+01] [ 7.19385025e-01 -6.94526732e-01 -1.08537567e-02 -2.64581044e+02] [ 1.51362526e-02 5.22372263e-05 9.99885439e-01 -2.77615959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.486559995 meters 0.013073129979228505 Centerline is valid? [True, True] Translation: X:-54.17, Y:-264.56, Z:-2.78 [[-6.94974741e-01 -7.18955285e-01 1.06492918e-02 -5.41737459e+01] [ 7.18871916e-01 -6.95056326e-01 -1.09486353e-02 -2.64563155e+02] [ 1.52734368e-02 4.64518717e-05 9.99883353e-01 -2.77614222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.516559995 meters 0.012921586632363834 Centerline is valid? [True, True] Translation: X:-54.19, Y:-264.54, Z:-2.77 [[-6.95356475e-01 -7.18588320e-01 1.04976139e-02 -5.41935475e+01] [ 7.18507368e-01 -6.95435709e-01 -1.07859474e-02 -2.64543844e+02] [ 1.50510714e-02 4.25345457e-05 9.99886725e-01 -2.77472267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.5465599949999 meters 0.012881900629998869 Centerline is valid? [True, True] Translation: X:-54.21, Y:-264.52, Z:-2.77 [[-6.95558872e-01 -7.18392180e-01 1.05133725e-02 -5.42143250e+01] [ 7.18311055e-01 -6.95638321e-01 -1.07960503e-02 -2.64524471e+02] [ 1.50693029e-02 4.25830927e-05 9.99886451e-01 -2.77309122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.5765599949999 meters 0.012867060215405287 Centerline is valid? [True, True] Translation: X:-54.23, Y:-264.51, Z:-2.77 [[-6.95524306e-01 -7.18421588e-01 1.07870883e-02 -5.42341649e+01] [ 7.18336289e-01 -6.95607949e-01 -1.10705444e-02 -2.64506361e+02] [ 1.54569024e-02 4.89242397e-05 9.99880534e-01 -2.77293531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.606559995 meters 0.012897247616836882 Centerline is valid? [True, True] Translation: X:-54.26, Y:-264.49, Z:-2.77 [[-6.94874606e-01 -7.19043914e-01 1.11862471e-02 -5.42554756e+01] [ 7.18952380e-01 -6.94964636e-01 -1.14730124e-02 -2.64489127e+02] [ 1.60236458e-02 7.00740200e-05 9.99871611e-01 -2.77290515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.636559995 meters 0.012858445976743247 Centerline is valid? [True, True] Translation: X:-54.28, Y:-264.47, Z:-2.77 [[-6.94638432e-01 -7.19269241e-01 1.13669672e-02 -5.42757640e+01] [ 7.19174875e-01 -6.94731425e-01 -1.16510511e-02 -2.64470815e+02] [ 1.62772320e-02 8.15693583e-05 9.99867514e-01 -2.77277097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.666559995 meters 0.012935218866397228 Centerline is valid? [True, True] Translation: X:-54.30, Y:-264.45, Z:-2.77 [[-6.94604145e-01 -7.19300563e-01 1.14796364e-02 -5.42956154e+01] [ 7.19204449e-01 -6.94698994e-01 -1.17587972e-02 -2.64453410e+02] [ 1.64330013e-02 8.84962675e-05 9.99864965e-01 -2.77328819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.6965599949999 meters 0.012928611216217873 Centerline is valid? [True, True] Translation: X:-54.32, Y:-264.44, Z:-2.77 [[-6.94733971e-01 -7.19170879e-01 1.17455082e-02 -5.43160912e+01] [ 7.19070367e-01 -6.94833245e-01 -1.20237037e-02 -2.64435821e+02] [ 1.68082671e-02 9.25714796e-05 9.99858727e-01 -2.77314437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.726559995 meters 0.012813260082742469 Centerline is valid? [True, True] Translation: X:-54.34, Y:-264.42, Z:-2.77 [[-6.95179849e-01 -7.18733660e-01 1.21203859e-02 -5.43353691e+01] [ 7.18626696e-01 -6.95285494e-01 -1.23997608e-02 -2.64416871e+02] [ 1.73392540e-02 8.99690200e-05 9.99849660e-01 -2.77263540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.756559995 meters 0.012631527114531362 Centerline is valid? [True, True] Translation: X:-54.36, Y:-264.40, Z:-2.77 [[-6.95736864e-01 -7.18201097e-01 1.17217552e-02 -5.43558696e+01] [ 7.18101091e-01 -6.95835597e-01 -1.19852267e-02 -2.64397197e+02] [ 1.67642175e-02 7.88412051e-05 9.99859468e-01 -2.77160496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.786559995 meters 0.012601304145643233 Centerline is valid? [True, True] Translation: X:-54.38, Y:-264.38, Z:-2.77 [[-6.96279416e-01 -7.17677850e-01 1.15533251e-02 -5.43750450e+01] [ 7.17580720e-01 -6.96375257e-01 -1.18072566e-02 -2.64378701e+02] [ 1.65192562e-02 6.92936530e-05 9.99863545e-01 -2.77184111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.8165599949999 meters 0.012392975972952004 Centerline is valid? [True, True] Translation: X:-54.40, Y:-264.36, Z:-2.77 [[-6.96887338e-01 -7.17082935e-01 1.18364874e-02 -5.43951219e+01] [ 7.16981015e-01 -6.96987848e-01 -1.20898292e-02 -2.64359484e+02] [ 1.69192981e-02 6.12878364e-05 9.99856857e-01 -2.77138351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.846559995 meters 0.012392223125151917 Centerline is valid? [True, True] Translation: X:-54.42, Y:-264.34, Z:-2.77 [[-6.97114191e-01 -7.16866303e-01 1.15977711e-02 -5.44151293e+01] [ 7.16768534e-01 -6.97210657e-01 -1.18393156e-02 -2.64339880e+02] [ 1.65732960e-02 5.95624687e-05 9.99862652e-01 -2.77139684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.876559995 meters 0.012676571530195722 Centerline is valid? [True, True] Translation: X:-54.44, Y:-264.32, Z:-2.77 [[-6.97634234e-01 -7.16365300e-01 1.12797810e-02 -5.44350799e+01] [ 7.16272863e-01 -6.97725415e-01 -1.15078923e-02 -2.64321485e+02] [ 1.61140446e-02 5.11013716e-05 9.99870159e-01 -2.77346399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.906559995 meters 0.012309736039636632 Centerline is valid? [True, True] Translation: X:-54.45, Y:-264.30, Z:-2.77 [[-6.98122394e-01 -7.15884392e-01 1.16043081e-02 -5.44542547e+01] [ 7.15786614e-01 -6.98218831e-01 -1.18316685e-02 -2.64302451e+02] [ 1.65724533e-02 4.62556451e-05 9.99862666e-01 -2.77215429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.9365599949999 meters 0.012499803308513765 Centerline is valid? [True, True] Translation: X:-54.47, Y:-264.28, Z:-2.77 [[-6.97912742e-01 -7.16078478e-01 1.22236733e-02 -5.44740354e+01] [ 7.15970139e-01 -6.98019777e-01 -1.24559602e-02 -2.64283612e+02] [ 1.74518107e-02 5.86117335e-05 9.99847704e-01 -2.77326165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.9665599949999 meters 0.012499803308513765 Centerline is valid? [True, True] Translation: X:-54.49, Y:-264.26, Z:-2.77 [[-6.98131763e-01 -7.15864882e-01 1.22274838e-02 -5.44928565e+01] [ 7.15756576e-01 -6.98238832e-01 -1.24522196e-02 -2.64264595e+02] [ 1.74518107e-02 5.86119062e-05 9.99847704e-01 -2.77326193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.996559995 meters 0.0125128171122787 Centerline is valid? [True, True] Translation: X:-54.51, Y:-264.25, Z:-2.77 [[-6.98060176e-01 -7.15924525e-01 1.28088188e-02 -5.45123469e+01] [ 7.15805830e-01 -6.98177678e-01 -1.30362464e-02 -2.64245812e+02] [ 1.82757999e-02 6.85427624e-05 9.99832981e-01 -2.77392719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.026559995 meters 0.0125128171122787 Centerline is valid? [True, True] Translation: X:-54.53, Y:-264.23, Z:-2.77 [[-6.98279371e-01 -7.15710662e-01 1.28128108e-02 -5.45311797e+01] [ 7.15592003e-01 -6.98396910e-01 -1.30323228e-02 -2.64226805e+02] [ 1.82757999e-02 6.85427607e-05 9.99832981e-01 -2.77392746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.0565599949999 meters 0.012489449051509399 Centerline is valid? [True, True] Translation: X:-54.55, Y:-264.21, Z:-2.77 [[-6.97211829e-01 -7.16751130e-01 1.27860664e-02 -5.45514719e+01] [ 7.16633288e-01 -6.97329052e-01 -1.29970589e-02 -2.64208908e+02] [ 1.82317522e-02 1.01217603e-04 9.99833783e-01 -2.77416190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.0865599949999 meters 0.01257561367872063 Centerline is valid? [True, True] Translation: X:-54.57, Y:-264.19, Z:-2.77 [[-6.96649269e-01 -7.17300097e-01 1.26635710e-02 -5.45709956e+01] [ 7.17184739e-01 -6.96764348e-01 -1.28644739e-02 -2.64190468e+02] [ 1.80512131e-02 1.20093500e-04 9.99837056e-01 -2.77351578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.116559995 meters 0.01257821858644508 Centerline is valid? [True, True] Translation: X:-54.59, Y:-264.17, Z:-2.77 [[-6.96318070e-01 -7.17625568e-01 1.24374087e-02 -5.45908811e+01] [ 7.17514486e-01 -6.96429126e-01 -1.26267961e-02 -2.64171338e+02] [ 1.77230854e-02 1.31754589e-04 9.99842925e-01 -2.77352255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.146559995 meters 0.01260732979490773 Centerline is valid? [True, True] Translation: X:-54.61, Y:-264.15, Z:-2.77 [[-6.95921688e-01 -7.18016823e-01 1.20352269e-02 -5.46105291e+01] [ 7.17912999e-01 -6.96025734e-01 -1.22108239e-02 -2.64152085e+02] [ 1.71444047e-02 1.42468668e-04 9.99853014e-01 -2.77324711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.1765599949999 meters 0.012732340492054179 Centerline is valid? [True, True] Translation: X:-54.63, Y:-264.13, Z:-2.77 [[-6.95795345e-01 -7.18145495e-01 1.16570117e-02 -5.46297398e+01] [ 7.18048235e-01 -6.95892971e-01 -1.18197247e-02 -2.64133120e+02] [ 1.66003146e-02 1.46187227e-04 9.99862195e-01 -2.77306217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.2065599949999 meters 0.01260149163617056 Centerline is valid? [True, True] Translation: X:-54.65, Y:-264.11, Z:-2.77 [[-6.95473166e-01 -7.18476671e-01 1.04090699e-02 -5.46496473e+01] [ 7.18399214e-01 -6.95551043e-01 -1.05506799e-02 -2.64112660e+02] [ 1.48204568e-02 1.40152891e-04 9.99890161e-01 -2.77110676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.236559995 meters 0.012587211054240236 Centerline is valid? [True, True] Translation: X:-54.67, Y:-264.09, Z:-2.77 [[-6.95362440e-01 -7.18588679e-01 1.00691554e-02 -5.46692875e+01] [ 7.18516291e-01 -6.95435325e-01 -1.02004278e-02 -2.64092951e+02] [ 1.43323583e-02 1.41857873e-04 9.99897277e-01 -2.77067113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.266559995 meters 0.012806084813753804 Centerline is valid? [True, True] Translation: X:-54.69, Y:-264.08, Z:-2.77 [[-6.94910507e-01 -7.19027949e-01 9.90940148e-03 -5.46879314e+01] [ 7.18957967e-01 -6.94981140e-01 -1.00328000e-02 -2.64075174e+02] [ 1.41007107e-02 1.52545011e-04 9.99900568e-01 -2.77079614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.2965599949999 meters 0.012793209727782808 Centerline is valid? [True, True] Translation: X:-54.71, Y:-264.06, Z:-2.77 [[-6.94298659e-01 -7.19627502e-01 9.25369656e-03 -5.47080168e+01] [ 7.19566597e-01 -6.94360306e-01 -9.36369358e-03 -2.64055401e+02] [ 1.31637710e-02 1.57451040e-04 9.99913342e-01 -2.77009587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.3265599949999 meters 0.012811831671125146 Centerline is valid? [True, True] Translation: X:-54.73, Y:-264.04, Z:-2.77 [[-6.94018628e-01 -7.19904457e-01 8.70152307e-03 -5.47282803e+01] [ 7.19850687e-01 -6.94073158e-01 -8.79999445e-03 -2.64035484e+02] [ 1.23746488e-02 1.56437288e-04 9.99923419e-01 -2.76977807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.356559995 meters 0.013055753442993633 Centerline is valid? [True, True] Translation: X:-54.75, Y:-264.02, Z:-2.77 [[-6.93508027e-01 -7.20396997e-01 8.64775838e-03 -5.47484576e+01] [ 7.20343988e-01 -6.93561922e-01 -8.74072715e-03 -2.64016317e+02] [ 1.22945495e-02 1.67596315e-04 9.99924405e-01 -2.77025202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.386559995 meters 0.013806183489291902 Centerline is valid? [True, True] Translation: X:-54.77, Y:-264.00, Z:-2.77 [[-6.92880633e-01 -7.20998106e-01 8.84080319e-03 -5.47688279e+01] [ 7.20942818e-01 -6.92937008e-01 -8.93057763e-03 -2.63998361e+02] [ 1.25650493e-02 1.85889282e-04 9.99921039e-01 -2.77148850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.416559995 meters 0.013719409623940389 Centerline is valid? [True, True] Translation: X:-54.79, Y:-263.98, Z:-2.77 [[-6.91959321e-01 -7.21878182e-01 9.17541635e-03 -5.47878060e+01] [ 7.21818779e-01 -6.92020119e-01 -9.26313889e-03 -2.63978305e+02] [ 1.30364306e-02 2.13272525e-04 9.99914999e-01 -2.77142005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.4465599949999 meters 0.01399677415255355 Centerline is valid? [True, True] Translation: X:-54.81, Y:-263.96, Z:-2.77 [[-6.91572545e-01 -7.22246561e-01 9.34453085e-03 -5.48066146e+01] [ 7.22185059e-01 -6.91635636e-01 -9.42802151e-03 -2.63959199e+02] [ 1.32723667e-02 2.28319744e-04 9.99911892e-01 -2.77179098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.476559995 meters 0.014435736949452495 Centerline is valid? [True, True] Translation: X:-54.82, Y:-263.94, Z:-2.77 [[-6.91333803e-01 -7.22474438e-01 9.39463668e-03 -5.48249467e+01] [ 7.22412361e-01 -6.91397592e-01 -9.47370797e-03 -2.63941125e+02] [ 1.33399410e-02 2.37307114e-04 9.99910991e-01 -2.77201115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.506559995 meters 0.014618125548305341 Centerline is valid? [True, True] Translation: X:-54.84, Y:-263.92, Z:-2.77 [[-6.91087553e-01 -7.22720589e-01 8.54074786e-03 -5.48433825e+01] [ 7.22669366e-01 -6.91140290e-01 -8.60739517e-03 -2.63921093e+02] [ 1.21235967e-02 2.23673168e-04 9.99926482e-01 -2.77110934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.536559995 meters 0.01453808826336237 Centerline is valid? [True, True] Translation: X:-54.86, Y:-263.90, Z:-2.77 [[-6.91314469e-01 -7.22507562e-01 8.19313541e-03 -5.48621035e+01] [ 7.22460467e-01 -6.91362985e-01 -8.25204488e-03 -2.63901024e+02] [ 1.16265954e-02 2.14458411e-04 9.99932386e-01 -2.77060087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.5665599949999 meters 0.014717645735763264 Centerline is valid? [True, True] Translation: X:-54.88, Y:-263.88, Z:-2.77 [[-6.91283619e-01 -7.22545625e-01 7.40119806e-03 -5.48799760e+01] [ 7.22507244e-01 -6.91323210e-01 -7.44988696e-03 -2.63880629e+02] [ 1.04995032e-02 1.97434392e-04 9.99944859e-01 -2.76959064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.596559995 meters 0.014717645735763264 Centerline is valid? [True, True] Translation: X:-54.90, Y:-263.86, Z:-2.77 [[-6.91503156e-01 -7.22335500e-01 7.40346173e-03 -5.48989180e+01] [ 7.22297131e-01 -6.91542758e-01 -7.44763741e-03 -2.63861731e+02] [ 1.04995032e-02 1.97434394e-04 9.99944859e-01 -2.76959091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.626559995 meters 0.01491919647984691 Centerline is valid? [True, True] Translation: X:-54.92, Y:-263.84, Z:-2.77 [[-6.91471529e-01 -7.22373282e-01 6.63068788e-03 -5.49175799e+01] [ 7.22342545e-01 -6.91503297e-01 -6.66621776e-03 -2.63842183e+02] [ 9.40064013e-03 1.80128171e-04 9.99955797e-01 -2.76872289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.656559995 meters 0.014604446125083608 Centerline is valid? [True, True] Translation: X:-54.94, Y:-263.82, Z:-2.77 [[-6.91011543e-01 -7.22814003e-01 6.55466361e-03 -5.49354274e+01] [ 7.22784025e-01 -6.91042605e-01 -6.58569213e-03 -2.63821561e+02] [ 9.28978231e-03 1.86816862e-04 9.99956832e-01 -2.76847321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.6865599949999 meters 0.015103606972169985 Centerline is valid? [True, True] Translation: X:-54.95, Y:-263.80, Z:-2.77 [[-6.90637545e-01 -7.23171481e-01 6.54144208e-03 -5.49547234e+01] [ 7.23141675e-01 -6.90668496e-01 -6.56858333e-03 -2.63802697e+02] [ 9.26818010e-03 1.93879108e-04 9.99957031e-01 -2.76923847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.7165599949999 meters 0.01671943626919894 Centerline is valid? [True, True] Translation: X:-54.98, Y:-263.78, Z:-2.77 [[-6.89234952e-01 -7.24506395e-01 6.75757235e-03 -5.49753574e+01] [ 7.24474677e-01 -6.89268043e-01 -6.78291927e-03 -2.63784490e+02] [ 9.57204705e-03 2.20665005e-04 9.99954163e-01 -2.77033226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.746559995 meters 0.017686348225419007 Centerline is valid? [True, True] Translation: X:-55.00, Y:-263.77, Z:-2.77 [[-6.88497050e-01 -7.25205973e-01 6.93609518e-03 -5.49955793e+01] [ 7.25172630e-01 -6.88531945e-01 -6.95823136e-03 -2.63766044e+02] [ 9.82187405e-03 2.39144619e-04 9.99951736e-01 -2.77112342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.776559995 meters 0.017224001125914164 Centerline is valid? [True, True] Translation: X:-55.01, Y:-263.74, Z:-2.77 [[-6.86919470e-01 -7.26695929e-01 7.39384307e-03 -5.50139837e+01] [ 7.26658168e-01 -6.86959205e-01 -7.41339449e-03 -2.63744994e+02] [ 1.04665521e-02 2.80391444e-04 9.99945185e-01 -2.77072244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.8065599949999 meters 0.017735148911599934 Centerline is valid? [True, True] Translation: X:-55.03, Y:-263.73, Z:-2.77 [[-6.86415518e-01 -7.27168666e-01 7.71149856e-03 -5.50335389e+01] [ 7.27127670e-01 -6.86458767e-01 -7.72742051e-03 -2.63725579e+02] [ 1.09127639e-02 3.03022622e-04 9.99940408e-01 -2.77086437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.8365599949999 meters 0.01867672858840279 Centerline is valid? [True, True] Translation: X:-55.05, Y:-263.71, Z:-2.77 [[-6.85277012e-01 -7.28239244e-01 7.93854981e-03 -5.50526546e+01] [ 7.28195920e-01 -6.85322912e-01 -7.95038048e-03 -2.63706027e+02] [ 1.12302491e-02 3.32606600e-04 9.99936884e-01 -2.77033041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.866559995 meters 0.019446004421628447 Centerline is valid? [True, True] Translation: X:-55.07, Y:-263.69, Z:-2.77 [[-6.84594540e-01 -7.28878857e-01 8.11963098e-03 -5.50728160e+01] [ 7.28833629e-01 -6.84642598e-01 -8.12737366e-03 -2.63686803e+02] [ 1.14829161e-02 3.53904479e-04 9.99934007e-01 -2.77084565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.896559995 meters 0.02029890018219092 Centerline is valid? [True, True] Translation: X:-55.09, Y:-263.67, Z:-2.77 [[-6.84074082e-01 -7.29362189e-01 8.57018397e-03 -5.50923451e+01] [ 7.29311899e-01 -6.84127655e-01 -8.57349858e-03 -2.63667971e+02] [ 1.21162856e-02 3.85428980e-04 9.99926521e-01 -2.77184841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.9265599949999 meters 0.01814238005015524 Centerline is valid? [True, True] Translation: X:-55.11, Y:-263.65, Z:-2.77 [[-6.84203072e-01 -7.29240668e-01 8.61420670e-03 -5.51085136e+01] [ 7.29189917e-01 -6.84257186e-01 -8.61208951e-03 -2.63646224e+02] [ 1.21746187e-02 3.88974567e-04 9.99925811e-01 -2.77059366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.9565599949999 meters 0.018064097747064595 Centerline is valid? [True, True] Translation: X:-55.13, Y:-263.67, Z:-2.77 [[-6.33257289e-01 -7.73898962e-01 8.09961048e-03 -5.51251496e+01] [ 7.73843538e-01 -6.33308960e-01 -9.27031281e-03 -2.63669911e+02] [ 1.23038414e-02 3.97338081e-04 9.99924226e-01 -2.77026341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.986559995 meters 0.01853233444210342 Centerline is valid? [True, True] Translation: X:-55.14, Y:-263.65, Z:-2.77 [[-6.33321623e-01 -7.73846923e-01 8.04127487e-03 -5.51425440e+01] [ 7.73792373e-01 -6.33372546e-01 -9.19679775e-03 -2.63649216e+02] [ 1.22100364e-02 3.97746285e-04 9.99925376e-01 -2.76986034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.016559995 meters 0.019064976054895547 Centerline is valid? [True, True] Translation: X:-55.16, Y:-263.63, Z:-2.77 [[-6.33756712e-01 -7.73495830e-01 7.52539221e-03 -5.51599969e+01] [ 7.73448079e-01 -6.33801282e-01 -8.60253775e-03 -2.63629034e+02] [ 1.14236303e-02 3.68584115e-04 9.99934680e-01 -2.76941374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.0465599949999 meters 0.019350283104214338 Centerline is valid? [True, True] Translation: X:-55.18, Y:-263.61, Z:-2.77 [[-6.33689432e-01 -7.73550290e-01 7.59288562e-03 -5.51772843e+01] [ 7.73501745e-01 -6.33734808e-01 -8.67428632e-03 -2.63608214e+02] [ 1.15218726e-02 3.76306708e-04 9.99933550e-01 -2.76853435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.0765599949999 meters 0.018564534987175745 Centerline is valid? [True, True] Translation: X:-55.19, Y:-263.59, Z:-2.77 [[-6.33897617e-01 -7.73384397e-01 7.09831366e-03 -5.51935256e+01] [ 7.73342015e-01 -6.33937261e-01 -8.10411994e-03 -2.63585709e+02] [ 1.07674854e-02 3.52241876e-04 9.99941967e-01 -2.76699526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.106559995 meters 0.0193234609159301 Centerline is valid? [True, True] Translation: X:-55.21, Y:-263.57, Z:-2.77 [[-6.34271135e-01 -7.73078031e-01 7.10528496e-03 -5.52111080e+01] [ 7.73035605e-01 -6.34310834e-01 -8.10668429e-03 -2.63566482e+02] [ 1.07740588e-02 3.50802417e-04 9.99941897e-01 -2.76716766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.136559995 meters 0.01776931307180137 Centerline is valid? [True, True] Translation: X:-55.23, Y:-263.54, Z:-2.77 [[-6.34767803e-01 -7.72670309e-01 7.10141616e-03 -5.52273605e+01] [ 7.72627954e-01 -6.34807430e-01 -8.09762217e-03 -2.63543254e+02] [ 1.07648240e-02 3.46642800e-04 9.99941998e-01 -2.76587636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.166559995 meters 0.017764534720510625 Centerline is valid? [True, True] Translation: X:-55.25, Y:-263.52, Z:-2.77 [[-6.35027348e-01 -7.72459646e-01 6.80894620e-03 -5.52457807e+01] [ 7.72420742e-01 -6.35063764e-01 -7.75965529e-03 -2.63521636e+02] [ 1.03181356e-02 3.31777951e-04 9.99946712e-01 -2.76584420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.1965599949999 meters 0.018226576179985746 Centerline is valid? [True, True] Translation: X:-55.26, Y:-263.50, Z:-2.77 [[-6.34806109e-01 -7.72636985e-01 7.30026895e-03 -5.52644641e+01] [ 7.72592328e-01 -6.34847981e-01 -8.31483422e-03 -2.63500524e+02] [ 1.10589094e-02 3.61824223e-04 9.99938783e-01 -2.76565757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.226559995 meters 0.018781193739485273 Centerline is valid? [True, True] Translation: X:-55.28, Y:-263.48, Z:-2.77 [[-6.34653575e-01 -7.72758579e-01 7.68238062e-03 -5.52833217e+01] [ 7.72709191e-01 -6.34699953e-01 -8.74509976e-03 -2.63480273e+02] [ 1.16338575e-02 3.86137283e-04 9.99932250e-01 -2.76620808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.256559995 meters 0.018781193739485273 Centerline is valid? [True, True] Translation: X:-55.30, Y:-263.46, Z:-2.77 [[-6.34897954e-01 -7.72557782e-01 7.68514662e-03 -5.53010734e+01] [ 7.72508408e-01 -6.34944348e-01 -8.74266911e-03 -2.63460229e+02] [ 1.16338575e-02 3.86137652e-04 9.99932250e-01 -2.76620836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.286559995 meters 0.02230091161832833 Centerline is valid? [True, True] Translation: X:-55.32, Y:-263.44, Z:-2.77 [[-6.34797610e-01 -7.72632439e-01 8.43260988e-03 -5.53234024e+01] [ 7.72573074e-01 -6.34853472e-01 -9.58725460e-03 -2.63443656e+02] [ 1.27608956e-02 4.28841025e-04 9.99918485e-01 -2.76897022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.3165599949999 meters 0.019252539581029637 Centerline is valid? [True, True] Translation: X:-55.34, Y:-263.42, Z:-2.77 [[-6.35039097e-01 -7.72434057e-01 8.42459619e-03 -5.53379761e+01] [ 7.72374864e-01 -6.35094831e-01 -9.57206897e-03 -2.63420398e+02] [ 1.27442096e-02 4.28308309e-04 9.99918698e-01 -2.76688503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.346559995 meters 0.019961166020169188 Centerline is valid? [True, True] Translation: X:-55.36, Y:-263.40, Z:-2.77 [[-6.35163893e-01 -7.72337032e-01 7.89548667e-03 -5.53569634e+01] [ 7.72285105e-01 -6.35212836e-01 -8.96490575e-03 -2.63401748e+02] [ 1.19392432e-02 4.03382321e-04 9.99928643e-01 -2.76666590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.376559995 meters 0.019620891371075797 Centerline is valid? [True, True] Translation: X:-55.37, Y:-263.38, Z:-2.77 [[-6.34999669e-01 -7.72476615e-01 7.43635043e-03 -5.53748241e+01] [ 7.72430622e-01 -6.35043093e-01 -8.43824551e-03 -2.63381389e+02] [ 1.12407503e-02 3.85781684e-04 9.99936746e-01 -2.76606669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.406559995 meters 0.019767322549504963 Centerline is valid? [True, True] Translation: X:-55.39, Y:-263.36, Z:-2.77 [[-6.35200038e-01 -7.72313905e-01 7.22108393e-03 -5.53929845e+01] [ 7.72270582e-01 -6.35240972e-01 -8.18879469e-03 -2.63361554e+02] [ 1.09114484e-02 3.75107987e-04 9.99940398e-01 -2.76612393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.4365599949999 meters 0.019964451288904714 Centerline is valid? [True, True] Translation: X:-55.41, Y:-263.34, Z:-2.77 [[-6.35863729e-01 -7.71764516e-01 7.53985424e-03 -5.54108094e+01] [ 7.71717310e-01 -6.35908314e-01 -8.54461352e-03 -2.63342391e+02] [ 1.13890855e-02 3.85426214e-04 9.99935068e-01 -2.76676672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.4665599949999 meters 0.018716486390687518 Centerline is valid? [True, True] Translation: X:-55.43, Y:-263.32, Z:-2.77 [[-6.36793873e-01 -7.70997092e-01 7.55292003e-03 -5.54284028e+01] [ 7.70949724e-01 -6.36838553e-01 -8.55453844e-03 -2.63320268e+02] [ 1.14055149e-02 3.75443947e-04 9.99934885e-01 -2.76697187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.496559995 meters 0.01883792864199176 Centerline is valid? [True, True] Translation: X:-55.45, Y:-263.30, Z:-2.77 [[-6.37319401e-01 -7.70565801e-01 7.23374018e-03 -5.54474663e+01] [ 7.70522375e-01 -6.37360354e-01 -8.18838095e-03 -2.63299877e+02] [ 1.09201855e-02 3.55144614e-04 9.99940310e-01 -2.76756082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.526559995 meters 0.018702294309292242 Centerline is valid? [True, True] Translation: X:-55.47, Y:-263.28, Z:-2.77 [[-6.37876934e-01 -7.70105349e-01 7.12523928e-03 -5.54660205e+01] [ 7.70063242e-01 -6.37916635e-01 -8.06040692e-03 -2.63279480e+02] [ 1.07526711e-02 3.45337209e-04 9.99942129e-01 -2.76785703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.5565599949999 meters 0.020045297213396443 Centerline is valid? [True, True] Translation: X:-55.49, Y:-263.26, Z:-2.77 [[-6.38718778e-01 -7.69410919e-01 6.72007585e-03 -5.54854336e+01] [ 7.69373479e-01 -6.38754050e-01 -7.59699141e-03 -2.63261493e+02] [ 1.01376838e-02 3.17907063e-04 9.99948562e-01 -2.76945703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.5865599949999 meters 0.018278604643290057 Centerline is valid? [True, True] Translation: X:-55.50, Y:-263.24, Z:-2.77 [[-6.39597654e-01 -7.68681911e-01 6.55442467e-03 -5.55012350e+01] [ 7.68646302e-01 -6.39631166e-01 -7.40500697e-03 -2.63239415e+02] [ 9.88450920e-03 3.01809202e-04 9.99951102e-01 -2.76894694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.616559995 meters 0.017563967534617163 Centerline is valid? [True, True] Translation: X:-55.52, Y:-263.22, Z:-2.77 [[-6.40457287e-01 -7.67968132e-01 6.27798037e-03 -5.55185439e+01] [ 7.67935467e-01 -6.40487994e-01 -7.08862719e-03 -2.63217796e+02] [ 9.46481083e-03 2.81120854e-04 9.99955168e-01 -2.76882663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.646559995 meters 0.017458087900393167 Centerline is valid? [True, True] Translation: X:-55.54, Y:-263.20, Z:-2.77 [[-6.41625853e-01 -7.66992713e-01 6.20023831e-03 -5.55368258e+01] [ 7.66960845e-01 -6.41655754e-01 -6.99686552e-03 -2.63196141e+02] [ 9.34496346e-03 2.65970205e-04 9.99956300e-01 -2.76888776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.6765599949999 meters 0.016597335960506884 Centerline is valid? [True, True] Translation: X:-55.55, Y:-263.17, Z:-2.77 [[-6.44456733e-01 -7.64624890e-01 4.92918314e-03 -5.55540590e+01] [ 7.64604701e-01 -6.44475557e-01 -5.55945768e-03 -2.63173315e+02] [ 7.42763777e-03 1.86046669e-04 9.99972398e-01 -2.76823892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.7065599949999 meters 0.01615562675542854 Centerline is valid? [True, True] Translation: X:-55.57, Y:-263.15, Z:-2.77 [[-6.46171300e-01 -7.63180825e-01 4.20473310e-03 -5.55722107e+01] [ 7.63166121e-01 -6.46184964e-01 -4.73969799e-03 -2.63151451e+02] [ 6.33428193e-03 1.46253036e-04 9.99979928e-01 -2.76738091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.736559995 meters 0.015159264880164858 Centerline is valid? [True, True] Translation: X:-55.59, Y:-263.13, Z:-2.77 [[-6.48606839e-01 -7.61118269e-01 2.85468732e-03 -5.55891862e+01] [ 7.61111479e-01 -6.48613115e-01 -3.21603191e-03 -2.63129389e+02] [ 4.29936828e-03 8.67949935e-05 9.99990754e-01 -2.76645538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.766559995 meters 0.01530743244846522 Centerline is valid? [True, True] Translation: X:-55.61, Y:-263.11, Z:-2.77 [[-6.49927676e-01 -7.59992095e-01 2.45600302e-03 -5.56074464e+01] [ 7.59987066e-01 -6.49932313e-01 -2.76572262e-03 -2.63109392e+02] [ 3.69816305e-03 6.90108499e-05 9.99993159e-01 -2.76656714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.7965599949999 meters 0.015071608178015467 Centerline is valid? [True, True] Translation: X:-55.62, Y:-263.09, Z:-2.77 [[-6.51363403e-01 -7.58763262e-01 2.00730361e-03 -5.56249813e+01] [ 7.58759901e-01 -6.51366494e-01 -2.25894974e-03 -2.63089645e+02] [ 3.02149839e-03 5.16642981e-05 9.99995434e-01 -2.76664214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.8265599949999 meters 0.014364328834717152 Centerline is valid? [True, True] Translation: X:-55.64, Y:-263.07, Z:-2.77 [[-6.53562736e-01 -7.56870649e-01 1.60362593e-03 -5.56430386e+01] [ 7.56868500e-01 -6.53564702e-01 -1.80371372e-03 -2.63067462e+02] [ 2.41325128e-03 3.48938805e-05 9.99997088e-01 -2.76684252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.856559995 meters 0.014364328834717152 Centerline is valid? [True, True] Translation: X:-55.66, Y:-263.05, Z:-2.77 [[-6.53800129e-01 -7.56665592e-01 1.60419207e-03 -5.56608980e+01] [ 7.56663444e-01 -6.53802096e-01 -1.80321022e-03 -2.63047531e+02] [ 2.41325127e-03 3.48944164e-05 9.99997088e-01 -2.76684280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.886559995 meters 0.014600454828075147 Centerline is valid? [True, True] Translation: X:-55.68, Y:-263.03, Z:-2.77 [[-6.54989070e-01 -7.55637032e-01 1.41217530e-03 -5.56791439e+01] [ 7.55635367e-01 -6.54990592e-01 -1.58632085e-03 -2.63028678e+02] [ 2.12364432e-03 2.80667820e-05 9.99997745e-01 -2.76720122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.916559995 meters 0.013959103999368496 Centerline is valid? [True, True] Translation: X:-55.70, Y:-263.01, Z:-2.77 [[-6.56129193e-01 -7.54647174e-01 1.45767750e-03 -5.56965846e+01] [ 7.54645401e-01 -6.56130811e-01 -1.63639936e-03 -2.63007330e+02] [ 2.19133128e-03 2.63402244e-05 9.99997599e-01 -2.76776156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.9465599949999 meters 0.01368421647017251 Centerline is valid? [True, True] Translation: X:-55.71, Y:-262.99, Z:-2.77 [[-6.57889967e-01 -7.53111897e-01 1.80586975e-03 -5.57149311e+01] [ 7.53109173e-01 -6.57892445e-01 -2.02601189e-03 -2.62987124e+02] [ 2.71388173e-03 2.71241754e-05 9.99996317e-01 -2.76875759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.976559995 meters 0.013652768513680028 Centerline is valid? [True, True] Translation: X:-55.73, Y:-262.97, Z:-2.77 [[-6.58471611e-01 -7.52602959e-01 1.98100463e-03 -5.57330691e+01] [ 7.52599682e-01 -6.58474590e-01 -2.22109742e-03 -2.62967175e+02] [ 2.97604571e-03 2.83738574e-05 9.99995571e-01 -2.76933462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.006559995 meters 0.013550049742327798 Centerline is valid? [True, True] Translation: X:-55.75, Y:-262.95, Z:-2.77 [[-6.59827841e-01 -7.51411690e-01 2.77342956e-03 -5.57520672e+01] [ 7.51405265e-01 -6.59833669e-01 -3.10761835e-03 -2.62947585e+02] [ 4.16510296e-03 3.34764666e-05 9.99991325e-01 -2.77110710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.036559995 meters 0.013550049742327798 Centerline is valid? [True, True] Translation: X:-55.77, Y:-262.93, Z:-2.77 [[-6.60061466e-01 -7.51206472e-01 2.77439577e-03 -5.57699643e+01] [ 7.51200049e-01 -6.60067296e-01 -3.10675577e-03 -2.62927692e+02] [ 4.16510296e-03 3.34764666e-05 9.99991325e-01 -2.77110737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.0665599949999 meters 0.013281287355526306 Centerline is valid? [True, True] Translation: X:-55.79, Y:-262.91, Z:-2.77 [[-6.62246204e-01 -7.49277898e-01 3.54931283e-03 -5.57879545e+01] [ 7.49267370e-01 -6.62255714e-01 -3.97202549e-03 -2.62907315e+02] [ 5.32670361e-03 2.89254920e-05 9.99985813e-01 -2.77280140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.096559995 meters 0.013269593856492958 Centerline is valid? [True, True] Translation: X:-55.81, Y:-262.89, Z:-2.77 [[-6.63609551e-01 -7.48070490e-01 3.59244166e-03 -5.58051354e+01] [ 7.48059702e-01 -6.63619274e-01 -4.01766267e-03 -2.62888068e+02] [ 5.38950841e-03 2.12015131e-05 9.99985476e-01 -2.77371900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.126559995 meters 0.013205049753636247 Centerline is valid? [True, True] Translation: X:-55.82, Y:-262.87, Z:-2.77 [[-6.64701219e-01 -7.47100798e-01 3.56186053e-03 -5.58229491e+01] [ 7.47090190e-01 -6.64710762e-01 -3.98121211e-03 -2.62866957e+02] [ 5.34197378e-03 1.47145194e-05 9.99985732e-01 -2.77320115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.156559995 meters 0.013123552815116351 Centerline is valid? [True, True] Translation: X:-55.84, Y:-262.85, Z:-2.77 [[-6.65856426e-01 -7.46071823e-01 3.47192739e-03 -5.58406661e+01] [ 7.46061744e-01 -6.65865478e-01 -3.87810768e-03 -2.62847076e+02] [ 5.20518346e-03 8.00928365e-06 9.99986453e-01 -2.77310849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.1865599949999 meters 0.013084435461699347 Centerline is valid? [True, True] Translation: X:-55.86, Y:-262.83, Z:-2.77 [[-6.67478316e-01 -7.44623103e-01 3.02190062e-03 -5.58598580e+01] [ 7.44615461e-01 -6.67485156e-01 -3.37351768e-03 -2.62826226e+02] [ 4.52907301e-03 -1.59597506e-06 9.99989744e-01 -2.77328411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.2165599949999 meters 0.013075295064254193 Centerline is valid? [True, True] Translation: X:-55.88, Y:-262.81, Z:-2.77 [[-6.68638083e-01 -7.43582181e-01 2.94182875e-03 -5.58782972e+01] [ 7.43574937e-01 -6.68644554e-01 -3.28216422e-03 -2.62806090e+02] [ 4.40759660e-03 -7.10986783e-06 9.99990287e-01 -2.77361510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.246559995 meters 0.013080803760978973 Centerline is valid? [True, True] Translation: X:-55.90, Y:-262.79, Z:-2.77 [[-6.69601504e-01 -7.42715736e-01 2.67599826e-03 -5.58971031e+01] [ 7.42709742e-01 -6.69606851e-01 -2.98388936e-03 -2.62785219e+02] [ 4.00804835e-03 -1.05268310e-05 9.99991968e-01 -2.77357708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.276559995 meters 0.013021251893669778 Centerline is valid? [True, True] Translation: X:-55.92, Y:-262.77, Z:-2.77 [[-6.70086702e-01 -7.42278818e-01 2.44306207e-03 -5.59153211e+01] [ 7.42273825e-01 -6.70091155e-01 -2.72252645e-03 -2.62765543e+02] [ 3.65794800e-03 -1.09077374e-05 9.99993310e-01 -2.77324036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.3065599949999 meters 0.01304462221122794 Centerline is valid? [True, True] Translation: X:-55.93, Y:-262.75, Z:-2.77 [[-6.69871161e-01 -7.42473271e-01 2.46355682e-03 -5.59332439e+01] [ 7.42468203e-01 -6.69875691e-01 -2.74356485e-03 -2.62746710e+02] [ 3.68730040e-03 -8.72236891e-06 9.99993202e-01 -2.77298266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.3365599949999 meters 0.012946192173664118 Centerline is valid? [True, True] Translation: X:-55.95, Y:-262.73, Z:-2.77 [[-6.68575087e-01 -7.43641186e-01 2.26724969e-03 -5.59539181e+01] [ 7.43636904e-01 -6.68578931e-01 -2.52351582e-03 -2.62727830e+02] [ 3.39242567e-03 -1.14926393e-06 9.99994246e-01 -2.77241183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.366559995 meters 0.01294698041721089 Centerline is valid? [True, True] Translation: X:-55.97, Y:-262.71, Z:-2.77 [[-6.67328421e-01 -7.44760854e-01 2.01221277e-03 -5.59739656e+01] [ 7.44757491e-01 -6.67331454e-01 -2.23831440e-03 -2.62708973e+02] [ 3.00982182e-03 4.91971858e-06 9.99995471e-01 -2.77261671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.396559995 meters 0.012954523115474329 Centerline is valid? [True, True] Translation: X:-55.99, Y:-262.69, Z:-2.77 [[-6.66221091e-01 -7.45751323e-01 2.10311487e-03 -5.59940446e+01] [ 7.45747658e-01 -6.66224410e-01 -2.33795748e-03 -2.62690259e+02] [ 3.14468135e-03 1.07964130e-05 9.99995056e-01 -2.77309262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.4265599949999 meters 0.013027934770160185 Centerline is valid? [True, True] Translation: X:-56.01, Y:-262.67, Z:-2.77 [[-6.65055530e-01 -7.46790934e-01 2.10770753e-03 -5.60138728e+01] [ 7.46787263e-01 -6.65058870e-01 -2.34158720e-03 -2.62671669e+02] [ 3.15042568e-03 1.67236233e-05 9.99995037e-01 -2.77335842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.4565599949999 meters 0.013379451134900733 Centerline is valid? [True, True] Translation: X:-56.04, Y:-262.65, Z:-2.77 [[-6.62599951e-01 -7.48971567e-01 1.70210132e-03 -5.60356367e+01] [ 7.48969183e-01 -6.62602137e-01 -1.88990800e-03 -2.62653130e+02] [ 2.54330333e-03 2.25684906e-05 9.99996766e-01 -2.77298120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.486559995 meters 0.013379451134900733 Centerline is valid? [True, True] Translation: X:-56.05, Y:-262.63, Z:-2.77 [[-6.62809870e-01 -7.48785802e-01 1.70263102e-03 -5.60541467e+01] [ 7.48783418e-01 -6.62812057e-01 -1.88943080e-03 -2.62632685e+02] [ 2.54330333e-03 2.25684928e-05 9.99996766e-01 -2.77298149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.516559995 meters 0.013628225818352472 Centerline is valid? [True, True] Translation: X:-56.07, Y:-262.61, Z:-2.77 [[-6.61764844e-01 -7.49709831e-01 1.56856358e-03 -5.60739541e+01] [ 7.49707814e-01 -6.61766702e-01 -1.73955691e-03 -2.62613620e+02] [ 2.34218607e-03 2.47867585e-05 9.99997257e-01 -2.77302682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.5465599949999 meters 0.013973840994744934 Centerline is valid? [True, True] Translation: X:-56.09, Y:-262.59, Z:-2.77 [[-6.60747653e-01 -7.50606636e-01 1.48915217e-03 -5.60932290e+01] [ 7.50604822e-01 -6.60749331e-01 -1.65044821e-03 -2.62594771e+02] [ 2.22279367e-03 2.72350173e-05 9.99997529e-01 -2.77298131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.5765599949999 meters 0.014473098206704536 Centerline is valid? [True, True] Translation: X:-56.11, Y:-262.58, Z:-2.77 [[-6.59569887e-01 -7.51641876e-01 1.43333476e-03 -5.61128463e+01] [ 7.51640200e-01 -6.59571444e-01 -1.58764568e-03 -2.62576581e+02] [ 2.13872766e-03 3.01887441e-05 9.99997713e-01 -2.77313944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.606559995 meters 0.01488264405800152 Centerline is valid? [True, True] Translation: X:-56.13, Y:-262.56, Z:-2.77 [[-6.58603347e-01 -7.52487850e-01 1.91490429e-03 -5.61328977e+01] [ 7.52484865e-01 -6.58606129e-01 -2.11989225e-03 -2.62557351e+02] [ 2.85636087e-03 4.47683672e-05 9.99995920e-01 -2.77363607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.636559995 meters 0.015622912315011284 Centerline is valid? [True, True] Translation: X:-56.15, Y:-262.54, Z:-2.77 [[-6.56743705e-01 -7.54110509e-01 2.24641130e-03 -5.61538861e+01] [ 7.54106416e-01 -6.56747544e-01 -2.48543810e-03 -2.62539145e+02] [ 3.34962009e-03 6.17373542e-05 9.99994388e-01 -2.77478729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.666559995 meters 0.015687012254038304 Centerline is valid? [True, True] Translation: X:-56.17, Y:-262.52, Z:-2.78 [[-6.56144620e-01 -7.54631507e-01 2.35095687e-03 -5.61735598e+01] [ 7.54627032e-01 -6.56148828e-01 -2.59965944e-03 -2.62518798e+02] [ 3.50436252e-03 6.83430539e-05 9.99993857e-01 -2.77502545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.6965599949999 meters 0.016073784241634 Centerline is valid? [True, True] Translation: X:-56.19, Y:-262.50, Z:-2.77 [[-6.55564774e-01 -7.55135721e-01 2.20694936e-03 -5.61932217e+01] [ 7.55131785e-01 -6.55568485e-01 -2.43906516e-03 -2.62498829e+02] [ 3.28863168e-03 6.75724034e-05 9.99994590e-01 -2.77489145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.726559995 meters 0.016873364229154184 Centerline is valid? [True, True] Translation: X:-56.21, Y:-262.48, Z:-2.77 [[-6.55038625e-01 -7.55593013e-01 1.89715825e-03 -5.62124985e+01] [ 7.55590110e-01 -6.55041369e-01 -2.09546598e-03 -2.62480229e+02] [ 2.82603659e-03 6.08628526e-05 9.99996005e-01 -2.77433424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.756559995 meters 0.01607387400375177 Centerline is valid? [True, True] Translation: X:-56.23, Y:-262.46, Z:-2.77 [[-6.55165693e-01 -7.55483910e-01 1.40558637e-03 -5.62300573e+01] [ 7.55482318e-01 -6.55167199e-01 -1.55162859e-03 -2.62458100e+02] [ 2.09312453e-03 4.53218295e-05 9.99997808e-01 -2.77397380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.786559995 meters 0.017292762220920552 Centerline is valid? [True, True] Translation: X:-56.25, Y:-262.44, Z:-2.77 [[-6.55416337e-01 -7.55266194e-01 1.54928113e-03 -5.62502499e+01] [ 7.55264262e-01 -6.55418167e-01 -1.70923048e-03 -2.62439281e+02] [ 2.30635100e-03 4.98590882e-05 9.99997339e-01 -2.77427552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.8165599949999 meters 0.01729813283702616 Centerline is valid? [True, True] Translation: X:-56.27, Y:-262.42, Z:-2.78 [[-6.55965389e-01 -7.54788699e-01 1.85150337e-03 -5.62682574e+01] [ 7.54785941e-01 -6.55967999e-01 -2.04136399e-03 -2.62419862e+02] [ 2.75532543e-03 5.84245949e-05 9.99996202e-01 -2.77509392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.846559995 meters 0.017002672628234898 Centerline is valid? [True, True] Translation: X:-56.29, Y:-262.40, Z:-2.78 [[-6.56662497e-01 -7.54182600e-01 1.72387856e-03 -5.62859637e+01] [ 7.54180210e-01 -6.56664757e-01 -1.89951217e-03 -2.62399472e+02] [ 2.56458932e-03 5.27766887e-05 9.99996710e-01 -2.77553561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.876559995 meters 0.0158185430781501 Centerline is valid? [True, True] Translation: X:-56.30, Y:-262.38, Z:-2.78 [[-6.57149555e-01 -7.53759253e-01 1.20454295e-03 -5.63029579e+01] [ 7.53758087e-01 -6.57150658e-01 -1.32651166e-03 -2.62376647e+02] [ 1.79143663e-03 3.62174440e-05 9.99998395e-01 -2.77502813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.906559995 meters 0.01570266381648886 Centerline is valid? [True, True] Translation: X:-56.32, Y:-262.36, Z:-2.77 [[-6.57522253e-01 -7.53434310e-01 1.10749854e-03 -5.63218633e+01] [ 7.53433325e-01 -6.57523185e-01 -1.21894644e-03 -2.62355616e+02] [ 1.64660204e-03 3.29418962e-05 9.99998644e-01 -2.77470128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.9365599949999 meters 0.0158518808970336 Centerline is valid? [True, True] Translation: X:-56.34, Y:-262.34, Z:-2.77 [[-6.57533855e-01 -7.53424446e-01 9.13077693e-04 -5.63408384e+01] [ 7.53423777e-01 -6.57534489e-01 -1.00439136e-03 -2.62335440e+02] [ 1.35711308e-03 2.75131215e-05 9.99999079e-01 -2.77427980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.9665599949999 meters 0.017752794560936366 Centerline is valid? [True, True] Translation: X:-56.36, Y:-262.32, Z:-2.77 [[-6.57747479e-01 -7.53237708e-01 1.09935990e-03 -5.63618827e+01] [ 7.53236740e-01 -6.57748397e-01 -1.20849694e-03 -2.62318646e+02] [ 1.63338768e-03 3.31924464e-05 9.99998666e-01 -2.77471367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.996559995 meters 0.016553624683508326 Centerline is valid? [True, True] Translation: X:-56.38, Y:-262.30, Z:-2.78 [[-6.57247323e-01 -7.53673222e-01 1.62223234e-03 -5.63791396e+01] [ 7.53671116e-01 -6.57249323e-01 -1.78223563e-03 -2.62297072e+02] [ 2.40943438e-03 5.12600635e-05 9.99997096e-01 -2.77544535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.026559995 meters 0.016276460762958855 Centerline is valid? [True, True] Translation: X:-56.40, Y:-262.28, Z:-2.78 [[-6.56943185e-01 -7.53938262e-01 1.65800453e-03 -5.63979562e+01] [ 7.53936066e-01 -6.56945275e-01 -1.82050870e-03 -2.62275952e+02] [ 2.46176941e-03 5.40586318e-05 9.99996968e-01 -2.77568558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.0565599949999 meters 0.016798014569809307 Centerline is valid? [True, True] Translation: X:-56.42, Y:-262.26, Z:-2.78 [[-6.56294951e-01 -7.54501580e-01 2.07414459e-03 -5.64172866e+01] [ 7.54498149e-01 -6.56298225e-01 -2.27650079e-03 -2.62256926e+02] [ 3.07888086e-03 7.08822811e-05 9.99995258e-01 -2.77569237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.0865599949999 meters 0.01779866199441618 Centerline is valid? [True, True] Translation: X:-56.44, Y:-262.24, Z:-2.78 [[-6.55561595e-01 -7.55138772e-01 2.10491461e-03 -5.64369817e+01] [ 7.55135246e-01 -6.55564970e-01 -2.30891765e-03 -2.62238375e+02] [ 3.12346152e-03 7.58574736e-05 9.99995119e-01 -2.77603876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.116559995 meters 0.017481271731801404 Centerline is valid? [True, True] Translation: X:-56.46, Y:-262.22, Z:-2.78 [[-6.53665700e-01 -7.56779510e-01 2.43437580e-03 -5.64561983e+01] [ 7.56774811e-01 -6.53670226e-01 -2.66869916e-03 -2.62218362e+02] [ 3.61089582e-03 9.78371752e-05 9.99993476e-01 -2.77622532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.146559995 meters 0.018183410537589047 Centerline is valid? [True, True] Translation: X:-56.48, Y:-262.20, Z:-2.78 [[-6.52684759e-01 -7.57625392e-01 2.52408918e-03 -5.64758687e+01] [ 7.57620351e-01 -6.52689631e-01 -2.76590682e-03 -2.62199977e+02] [ 3.74296808e-03 1.07036108e-04 9.99992989e-01 -2.77626593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.1765599949999 meters 0.019438005211468917 Centerline is valid? [True, True] Translation: X:-56.50, Y:-262.18, Z:-2.78 [[-6.51543795e-01 -7.58606178e-01 2.71126711e-03 -5.64960055e+01] [ 7.58600376e-01 -6.51549425e-01 -2.96925353e-03 -2.62182143e+02] [ 4.01901860e-03 1.22169539e-04 9.99991916e-01 -2.77672377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.2065599949999 meters 0.020106977109207832 Centerline is valid? [True, True] Translation: X:-56.52, Y:-262.16, Z:-2.78 [[-6.50557324e-01 -7.59451511e-01 2.92762365e-03 -5.65160933e+01] [ 7.59444763e-01 -6.50563897e-01 -3.20443403e-03 -2.62162318e+02] [ 4.33821851e-03 1.38700419e-04 9.99990580e-01 -2.77686446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.236559995 meters 0.02070386733559951 Centerline is valid? [True, True] Translation: X:-56.54, Y:-262.14, Z:-2.78 [[-6.49522109e-01 -7.60336520e-01 3.06686602e-03 -5.65355758e+01] [ 7.60329134e-01 -6.49529332e-01 -3.35499600e-03 -2.62142481e+02] [ 4.54294542e-03 1.52683505e-04 9.99989669e-01 -2.77670073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.266559995 meters 0.022300863210199022 Centerline is valid? [True, True] Translation: X:-56.56, Y:-262.12, Z:-2.78 [[-6.47902284e-01 -7.61716353e-01 3.29048331e-03 -5.65554330e+01] [ 7.61707876e-01 -6.47910616e-01 -3.59802577e-03 -2.62124472e+02] [ 4.87261414e-03 1.75217941e-04 9.99988113e-01 -2.77673367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.2965599949999 meters 0.020955176754980046 Centerline is valid? [True, True] Translation: X:-56.57, Y:-262.10, Z:-2.78 [[-6.47132220e-01 -7.62368668e-01 3.72886287e-03 -5.65729892e+01] [ 7.62357804e-01 -6.47142930e-01 -4.07506705e-03 -2.62102376e+02] [ 5.51981068e-03 2.05620525e-04 9.99984745e-01 -2.77673508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.3265599949999 meters 0.02161353629392862 Centerline is valid? [True, True] Translation: X:-56.59, Y:-262.08, Z:-2.78 [[-6.46334360e-01 -7.63043984e-01 3.97157369e-03 -5.65927128e+01] [ 7.63031687e-01 -6.46346523e-01 -4.33787692e-03 -2.62082591e+02] [ 5.87700373e-03 2.26717665e-04 9.99982705e-01 -2.77722723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.356559995 meters 0.021695274449900142 Centerline is valid? [True, True] Translation: X:-56.61, Y:-262.06, Z:-2.78 [[-6.46428202e-01 -7.62964650e-01 3.93989769e-03 -5.66110306e+01] [ 7.62952563e-01 -6.46440169e-01 -4.30055712e-03 -2.62062312e+02] [ 5.82808119e-03 2.25953635e-04 9.99982991e-01 -2.77674016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.386559995 meters 0.024985180041186328 Centerline is valid? [True, True] Translation: X:-56.63, Y:-262.05, Z:-2.78 [[-6.46798775e-01 -7.62651717e-01 3.70180058e-03 -5.66319170e+01] [ 7.62641056e-01 -6.46809334e-01 -4.03798657e-03 -2.62046048e+02] [ 5.47393656e-03 2.11380336e-04 9.99984996e-01 -2.77698838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.416559995 meters 0.022517321944207427 Centerline is valid? [True, True] Translation: X:-56.65, Y:-262.02, Z:-2.78 [[-6.47310044e-01 -7.62219469e-01 3.34495449e-03 -5.66474450e+01] [ 7.62210770e-01 -6.47318659e-01 -3.64647237e-03 -2.62022929e+02] [ 4.94466368e-03 1.89162147e-04 9.99987757e-01 -2.77571220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.4465599949999 meters 0.02443292410207423 Centerline is valid? [True, True] Translation: X:-56.67, Y:-262.01, Z:-2.78 [[-6.47970342e-01 -7.61659718e-01 2.98513750e-03 -5.66664222e+01] [ 7.61652793e-01 -6.47977196e-01 -3.25210965e-03 -2.62005285e+02] [ 4.41130194e-03 1.66367710e-04 9.99990256e-01 -2.77524646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.476559995 meters 0.02144806607323561 Centerline is valid? [True, True] Translation: X:-56.68, Y:-261.98, Z:-2.77 [[-6.48958526e-01 -7.60819684e-01 2.49792753e-03 -5.66815342e+01] [ 7.60814835e-01 -6.48963320e-01 -2.71981601e-03 -2.61980953e+02] [ 3.69035290e-03 1.35412528e-04 9.99993182e-01 -2.77438395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.506559995 meters 0.02074764467812704 Centerline is valid? [True, True] Translation: X:-56.70, Y:-261.96, Z:-2.77 [[-6.51245945e-01 -7.58863112e-01 2.34458259e-03 -5.66978270e+01] [ 7.58858831e-01 -6.51250154e-01 -2.55157767e-03 -2.61959238e+02] [ 3.46320795e-03 1.17502600e-04 9.99993996e-01 -2.77437640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.536559995 meters 0.01887244236460668 Centerline is valid? [True, True] Translation: X:-56.71, Y:-261.94, Z:-2.77 [[-6.52367135e-01 -7.57898806e-01 2.55353089e-03 -5.67144702e+01] [ 7.57893727e-01 -6.52372121e-01 -2.77748855e-03 -2.61935742e+02] [ 3.77090762e-03 1.23362800e-04 9.99992883e-01 -2.77443954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.5665599949999 meters 0.019207783241168116 Centerline is valid? [True, True] Translation: X:-56.73, Y:-261.91, Z:-2.78 [[-6.54433902e-01 -7.56111043e-01 3.51556186e-03 -5.67312963e+01] [ 7.56101400e-01 -6.54443325e-01 -3.82182770e-03 -2.61914793e+02] [ 5.19046213e-03 1.56987633e-04 9.99986517e-01 -2.77589924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.596559995 meters 0.018435973590938116 Centerline is valid? [True, True] Translation: X:-56.75, Y:-261.89, Z:-2.78 [[-6.55500076e-01 -7.55182312e-01 4.39603579e-03 -5.67478433e+01] [ 7.55167233e-01 -6.55514790e-01 -4.77601063e-03 -2.61893344e+02] [ 6.48842523e-03 1.89066848e-04 9.99978932e-01 -2.77637156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.626559995 meters 0.01819674144103805 Centerline is valid? [True, True] Translation: X:-56.77, Y:-261.87, Z:-2.78 [[-6.56280433e-01 -7.54502260e-01 4.72580317e-03 -5.67650846e+01] [ 7.54484839e-01 -6.56297418e-01 -5.13105695e-03 -2.61872067e+02] [ 6.97292648e-03 1.98134565e-04 9.99975669e-01 -2.77670191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.656559995 meters 0.0192886617932981 Centerline is valid? [True, True] Translation: X:-56.78, Y:-261.85, Z:-2.78 [[-6.57616283e-01 -7.53332546e-01 5.55870383e-03 -5.67826412e+01] [ 7.53308434e-01 -6.57639739e-01 -6.03141126e-03 -2.61853063e+02] [ 8.19928294e-03 2.21064217e-04 9.99966361e-01 -2.77782400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.6865599949999 meters 0.018200771738108627 Centerline is valid? [True, True] Translation: X:-56.80, Y:-261.83, Z:-2.78 [[-6.58094562e-01 -7.52913045e-01 5.78739790e-03 -5.67995674e+01] [ 7.52886924e-01 -6.58119970e-01 -6.27569378e-03 -2.61831192e+02] [ 8.53385385e-03 2.27256254e-04 9.99963560e-01 -2.77727477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.7165599949999 meters 0.01921477892166312 Centerline is valid? [True, True] Translation: X:-56.82, Y:-261.81, Z:-2.78 [[-6.58655314e-01 -7.52420702e-01 6.02200565e-03 -5.68174079e+01] [ 7.52392437e-01 -6.58682802e-01 -6.52589184e-03 -2.61812539e+02] [ 8.87680767e-03 2.32598166e-04 9.99960573e-01 -2.77808748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.746559995 meters 0.018210859895841706 Centerline is valid? [True, True] Translation: X:-56.83, Y:-261.79, Z:-2.78 [[-6.58766687e-01 -7.52322060e-01 6.16200606e-03 -5.68341208e+01] [ 7.52292498e-01 -6.58795462e-01 -6.67351335e-03 -2.61790491e+02] [ 9.08013294e-03 2.39342654e-04 9.99958746e-01 -2.77774070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.776559995 meters 0.01843333162861293 Centerline is valid? [True, True] Translation: X:-56.85, Y:-261.77, Z:-2.78 [[-6.58924445e-01 -7.52183477e-01 6.21226911e-03 -5.68512850e+01] [ 7.52153455e-01 -6.58953684e-01 -6.72476437e-03 -2.61770898e+02] [ 9.15185427e-03 2.41468043e-04 9.99958092e-01 -2.77797213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.8065599949999 meters 0.018688340089166824 Centerline is valid? [True, True] Translation: X:-56.87, Y:-261.75, Z:-2.78 [[-6.59247492e-01 -7.51895683e-01 6.75474350e-03 -5.68689721e+01] [ 7.51860219e-01 -6.59282044e-01 -7.30733533e-03 -2.61750985e+02] [ 9.94763499e-03 2.61280436e-04 9.99950487e-01 -2.77831172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.8365599949999 meters 0.018679372328530997 Centerline is valid? [True, True] Translation: X:-56.89, Y:-261.73, Z:-2.78 [[-6.59573382e-01 -7.51609601e-01 6.77947408e-03 -5.68869399e+01] [ 7.51573906e-01 -6.59608172e-01 -7.32967853e-03 -2.61730455e+02] [ 9.98085326e-03 2.60814957e-04 9.99950156e-01 -2.77827237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.866559995 meters 0.019125132426504602 Centerline is valid? [True, True] Translation: X:-56.91, Y:-261.71, Z:-2.78 [[-6.59386425e-01 -7.51770669e-01 7.09951379e-03 -5.69055461e+01] [ 7.51731576e-01 -6.59424585e-01 -7.67161940e-03 -2.61708811e+02] [ 1.04488924e-02 2.78367001e-04 9.99945370e-01 -2.77914490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.896559995 meters 0.019531997652671784 Centerline is valid? [True, True] Translation: X:-56.92, Y:-261.69, Z:-2.78 [[-6.59348941e-01 -7.51800362e-01 7.42900446e-03 -5.69230667e+01] [ 7.51757601e-01 -6.59390726e-01 -8.02368836e-03 -2.61689925e+02] [ 1.09308285e-02 2.94400149e-04 9.99940213e-01 -2.77956575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.9265599949999 meters 0.019790564857096047 Centerline is valid? [True, True] Translation: X:-56.94, Y:-261.67, Z:-2.78 [[-6.59477317e-01 -7.51686203e-01 7.58418036e-03 -5.69408503e+01] [ 7.51641687e-01 -6.59520857e-01 -8.18619313e-03 -2.61670495e+02] [ 1.11553736e-02 3.01977438e-04 9.99937731e-01 -2.77969814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.9565599949999 meters 0.019954228878645047 Centerline is valid? [True, True] Translation: X:-56.96, Y:-261.65, Z:-2.78 [[-6.59558005e-01 -7.51615752e-01 7.54979315e-03 -5.69590274e+01] [ 7.51571687e-01 -6.59601145e-01 -8.14430041e-03 -2.61650385e+02] [ 1.11012367e-02 3.02572242e-04 9.99938334e-01 -2.77975700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.986559995 meters 0.019890149923166556 Centerline is valid? [True, True] Translation: X:-56.98, Y:-261.63, Z:-2.78 [[-6.59061638e-01 -7.52055068e-01 7.13670852e-03 -5.69775127e+01] [ 7.52015761e-01 -6.59100211e-01 -7.69462447e-03 -2.61628700e+02] [ 1.04905874e-02 2.95685478e-04 9.99944929e-01 -2.77835025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.016559995 meters 0.018720368247444625 Centerline is valid? [True, True] Translation: X:-56.99, Y:-261.61, Z:-2.78 [[-6.58670250e-01 -7.52401729e-01 6.71861299e-03 -5.69943642e+01] [ 7.52366956e-01 -6.58704452e-01 -7.23935055e-03 -2.61606852e+02] [ 9.87248016e-03 2.86517568e-04 9.99951225e-01 -2.77675755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.0465599949999 meters 0.021929771062656422 Centerline is valid? [True, True] Translation: X:-57.02, Y:-261.59, Z:-2.78 [[-6.58468821e-01 -7.52581427e-01 6.32515809e-03 -5.70155280e+01] [ 7.52550656e-01 -6.58499142e-01 -6.81096727e-03 -2.61591275e+02] [ 9.29091865e-03 2.75192278e-04 9.99956801e-01 -2.77788800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.0765599949999 meters 0.018910735310521606 Centerline is valid? [True, True] Translation: X:-57.03, Y:-261.57, Z:-2.78 [[-6.57612098e-01 -7.53332184e-01 6.07851926e-03 -5.70308789e+01] [ 7.53303831e-01 -6.57640132e-01 -6.54171700e-03 -2.61567165e+02] [ 8.92556417e-03 2.77059604e-04 9.99960128e-01 -2.77583047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.106559995 meters 0.018910735310521606 Centerline is valid? [True, True] Translation: X:-57.05, Y:-261.55, Z:-2.78 [[-6.57848688e-01 -7.53125574e-01 6.08057406e-03 -5.70491805e+01] [ 7.53097230e-01 -6.57876731e-01 -6.53980710e-03 -2.61547629e+02] [ 8.92556416e-03 2.77059960e-04 9.99960128e-01 -2.77583074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.136559995 meters 0.019451794303261223 Centerline is valid? [True, True] Translation: X:-57.07, Y:-261.53, Z:-2.78 [[-6.57368231e-01 -7.53546453e-01 5.89516220e-03 -5.70688990e+01] [ 7.53519858e-01 -6.57394606e-01 -6.33686348e-03 -2.61527411e+02] [ 8.65056882e-03 2.76469054e-04 9.99962545e-01 -2.77602193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.166559995 meters 0.01985629505385826 Centerline is valid? [True, True] Translation: X:-57.09, Y:-261.51, Z:-2.78 [[-6.57399165e-01 -7.53518947e-01 5.96109874e-03 -5.70877197e+01] [ 7.53491788e-01 -6.57426131e-01 -6.40375732e-03 -2.61507832e+02] [ 8.74433455e-03 2.81814232e-04 9.99961728e-01 -2.77626716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.1965599949999 meters 0.020573338107470886 Centerline is valid? [True, True] Translation: X:-57.11, Y:-261.49, Z:-2.78 [[-6.57177968e-01 -7.53711702e-01 5.98229789e-03 -5.71069880e+01] [ 7.53684391e-01 -6.57205133e-01 -6.42278050e-03 -2.61488235e+02] [ 8.77252171e-03 2.87854705e-04 9.99961479e-01 -2.77643771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.226559995 meters 0.02087342402761437 Centerline is valid? [True, True] Translation: X:-57.13, Y:-261.47, Z:-2.78 [[-6.57289619e-01 -7.53616039e-01 5.76396700e-03 -5.71256750e+01] [ 7.53590713e-01 -6.57314832e-01 -6.18459404e-03 -2.61468906e+02] [ 8.44955026e-03 2.78602542e-04 9.99964263e-01 -2.77656699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.256559995 meters 0.02027248071173417 Centerline is valid? [True, True] Translation: X:-57.14, Y:-261.45, Z:-2.78 [[-6.57538568e-01 -7.53399448e-01 5.68359378e-03 -5.71439145e+01] [ 7.53374846e-01 -6.57563074e-01 -6.09457651e-03 -2.61448163e+02] [ 8.32897198e-03 2.74457477e-04 9.99965276e-01 -2.77653155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.286559995 meters 0.020836202892287596 Centerline is valid? [True, True] Translation: X:-57.16, Y:-261.43, Z:-2.78 [[-6.57528367e-01 -7.53408572e-01 5.65424944e-03 -5.71623412e+01] [ 7.53384257e-01 -6.57552620e-01 -6.05918148e-03 -2.61429165e+02] [ 8.28300580e-03 2.75738809e-04 9.99965657e-01 -2.77651075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.3165599949999 meters 0.021607409654533817 Centerline is valid? [True, True] Translation: X:-57.18, Y:-261.41, Z:-2.78 [[-6.57641826e-01 -7.53309802e-01 5.61876285e-03 -5.71813251e+01] [ 7.53285820e-01 -6.57665771e-01 -6.01729548e-03 -2.61410525e+02] [ 8.22815567e-03 2.75309190e-04 9.99966110e-01 -2.77676365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.346559995 meters 0.019560481868755916 Centerline is valid? [True, True] Translation: X:-57.20, Y:-261.39, Z:-2.78 [[-6.58176505e-01 -7.52839373e-01 6.04707775e-03 -5.71972684e+01] [ 7.52811611e-01 -6.58204218e-01 -6.47190657e-03 -2.61388155e+02] [ 8.85251817e-03 2.92653496e-04 9.99960773e-01 -2.77634425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.376559995 meters 0.019755994625017027 Centerline is valid? [True, True] Translation: X:-57.22, Y:-261.37, Z:-2.78 [[-6.58719501e-01 -7.52363555e-01 6.14006448e-03 -5.72156141e+01] [ 7.52334949e-01 -6.58748052e-01 -6.56730606e-03 -2.61368441e+02] [ 8.98575724e-03 2.93372525e-04 9.99959584e-01 -2.77667141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.406559995 meters 0.019755994625017027 Centerline is valid? [True, True] Translation: X:-57.23, Y:-261.35, Z:-2.78 [[-6.58955282e-01 -7.52157039e-01 6.14212265e-03 -5.72339788e+01] [ 7.52128442e-01 -6.58983841e-01 -6.56538118e-03 -2.61348962e+02] [ 8.98575724e-03 2.93372531e-04 9.99959584e-01 -2.77667169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.4365599949999 meters 0.01961256487305075 Centerline is valid? [True, True] Translation: X:-57.25, Y:-261.33, Z:-2.78 [[-6.59385456e-01 -7.51775333e-01 6.68349304e-03 -5.72520605e+01] [ 7.51741497e-01 -6.59419251e-01 -7.13957612e-03 -2.61328712e+02] [ 9.77458119e-03 3.16526416e-04 9.99952178e-01 -2.77693214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.4665599949999 meters 0.020520391026261183 Centerline is valid? [True, True] Translation: X:-57.27, Y:-261.31, Z:-2.78 [[-6.59772105e-01 -7.51433430e-01 6.96920707e-03 -5.72710947e+01] [ 7.51396670e-01 -6.59808831e-01 -7.43990386e-03 -2.61310347e+02] [ 1.01889368e-02 3.27997951e-04 9.99948038e-01 -2.77776412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.496559995 meters 0.019643438664197703 Centerline is valid? [True, True] Translation: X:-57.29, Y:-261.29, Z:-2.78 [[-6.60084413e-01 -7.51156802e-01 7.21298492e-03 -5.72890125e+01] [ 7.51117459e-01 -6.60123734e-01 -7.69531611e-03 -2.61289456e+02] [ 1.05418516e-02 3.38240696e-04 9.99944376e-01 -2.77745792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.526559995 meters 0.018833996101191235 Centerline is valid? [True, True] Translation: X:-57.31, Y:-261.27, Z:-2.78 [[-6.61022784e-01 -7.50334228e-01 6.88658990e-03 -5.73072711e+01] [ 7.50298363e-01 -6.61058581e-01 -7.34294686e-03 -2.61267640e+02] [ 1.00621037e-02 3.13141959e-04 9.99949327e-01 -2.77718204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.5565599949999 meters 0.018535724287493005 Centerline is valid? [True, True] Translation: X:-57.33, Y:-261.25, Z:-2.78 [[-6.61815639e-01 -7.49635384e-01 6.84472637e-03 -5.73258602e+01] [ 7.49599958e-01 -6.61850964e-01 -7.29419033e-03 -2.61246580e+02] [ 9.99817192e-03 3.03397358e-04 9.99949971e-01 -2.77723635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.5865599949999 meters 0.01834708326810877 Centerline is valid? [True, True] Translation: X:-57.34, Y:-261.23, Z:-2.78 [[-6.62745833e-01 -7.48812336e-01 6.93156762e-03 -5.73442107e+01] [ 7.48776004e-01 -6.62782013e-01 -7.38231089e-03 -2.61225739e+02] [ 1.01220838e-02 2.97595728e-04 9.99948726e-01 -2.77715103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.616559995 meters 0.018870667675722364 Centerline is valid? [True, True] Translation: X:-57.36, Y:-261.21, Z:-2.78 [[-6.63798328e-01 -7.47877559e-01 7.13699997e-03 -5.73622283e+01] [ 7.47839041e-01 -6.63836629e-01 -7.59605551e-03 -2.61206702e+02] [ 1.04187215e-02 2.95078266e-04 9.99945680e-01 -2.77757863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.646559995 meters 0.01709977796564308 Centerline is valid? [True, True] Translation: X:-57.38, Y:-261.18, Z:-2.78 [[-6.65961722e-01 -7.45950999e-01 7.21748333e-03 -5.73776972e+01] [ 7.45911539e-01 -6.66000776e-01 -7.67736563e-03 -2.61182570e+02] [ 1.05337881e-02 2.70772460e-04 9.99944482e-01 -2.77647904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.6765599949999 meters 0.01737636359229294 Centerline is valid? [True, True] Translation: X:-57.40, Y:-261.16, Z:-2.78 [[-6.67216185e-01 -7.44828527e-01 7.28198384e-03 -5.73956829e+01] [ 7.44788347e-01 -6.67255872e-01 -7.74082240e-03 -2.61163223e+02] [ 1.06245318e-02 2.58734714e-04 9.99943525e-01 -2.77697940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.7065599949999 meters 0.01661413629586797 Centerline is valid? [True, True] Translation: X:-57.41, Y:-261.14, Z:-2.78 [[-6.68949551e-01 -7.43268123e-01 7.68086410e-03 -5.74130307e+01] [ 7.43223367e-01 -6.68993599e-01 -8.16031108e-03 -2.61140690e+02] [ 1.12037480e-02 2.49761250e-04 9.99937205e-01 -2.77704265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.736559995 meters 0.016171850377936725 Centerline is valid? [True, True] Translation: X:-57.43, Y:-261.12, Z:-2.78 [[-6.70022720e-01 -7.42300817e-01 7.68452468e-03 -5.74309731e+01] [ 7.42256013e-01 -6.70066743e-01 -8.15909021e-03 -2.61119535e+02] [ 1.12056438e-02 2.37108844e-04 9.99937187e-01 -2.77734908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.766559995 meters 0.017213018764569724 Centerline is valid? [True, True] Translation: X:-57.45, Y:-261.10, Z:-2.78 [[-6.71009603e-01 -7.41406667e-01 7.89088833e-03 -5.74497027e+01] [ 7.41359426e-01 -6.71055959e-01 -8.37271007e-03 -2.61101180e+02] [ 1.15028107e-02 2.31815579e-04 9.99933814e-01 -2.77904560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.7965599949999 meters 0.01600368098598305 Centerline is valid? [True, True] Translation: X:-57.47, Y:-261.08, Z:-2.78 [[-6.71982297e-01 -7.40526057e-01 7.80709511e-03 -5.74660809e+01] [ 7.40479812e-01 -6.72027612e-01 -8.27870732e-03 -2.61079026e+02] [ 1.13771820e-02 2.17851562e-04 9.99935254e-01 -2.77787223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.8265599949999 meters 0.015287384517035627 Centerline is valid? [True, True] Translation: X:-57.48, Y:-261.06, Z:-2.78 [[-6.72988169e-01 -7.39609989e-01 7.99925131e-03 -5.74828471e+01] [ 7.39561437e-01 -6.73035675e-01 -8.47713363e-03 -2.61057798e+02] [ 1.16535542e-02 2.10927153e-04 9.99932073e-01 -2.77720321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.856559995 meters 0.01492612544688064 Centerline is valid? [True, True] Translation: X:-57.50, Y:-261.04, Z:-2.78 [[-6.74211721e-01 -7.38497751e-01 7.72183746e-03 -5.74990753e+01] [ 7.38452493e-01 -6.74255913e-01 -8.17797681e-03 -2.61036237e+02] [ 1.12459121e-02 1.88522302e-04 9.99936745e-01 -2.77672527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.886559995 meters 0.014973529723805503 Centerline is valid? [True, True] Translation: X:-57.52, Y:-261.02, Z:-2.78 [[-6.74930225e-01 -7.37840716e-01 7.76333457e-03 -5.75164531e+01] [ 7.37794988e-01 -6.74974847e-01 -8.21648598e-03 -2.61016657e+02] [ 1.13025135e-02 1.82194603e-04 9.99936108e-01 -2.77719037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.916559995 meters 0.015026138151603063 Centerline is valid? [True, True] Translation: X:-57.53, Y:-261.00, Z:-2.78 [[-6.75527898e-01 -7.37295299e-01 7.59608723e-03 -5.75345447e+01] [ 7.37251542e-01 -6.75570583e-01 -8.03445158e-03 -2.60996700e+02] [ 1.10554565e-02 1.72730831e-04 9.99938872e-01 -2.77708120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.9465599949999 meters 0.015017093773009325 Centerline is valid? [True, True] Translation: X:-57.55, Y:-260.98, Z:-2.78 [[-6.76057085e-01 -7.36807591e-01 7.83528672e-03 -5.75516776e+01] [ 7.36761063e-01 -6.76102466e-01 -8.28199905e-03 -2.60977355e+02] [ 1.13996964e-02 1.73630041e-04 9.99935006e-01 -2.77686243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.976559995 meters 0.014638693154309 Centerline is valid? [True, True] Translation: X:-57.57, Y:-260.96, Z:-2.78 [[-6.76340854e-01 -7.36547272e-01 7.82078522e-03 -5.75699292e+01] [ 7.36500953e-01 -6.76386048e-01 -8.26198447e-03 -2.60955858e+02] [ 1.13752121e-02 1.72098132e-04 9.99935285e-01 -2.77617360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.006559995 meters 0.014642995011934902 Centerline is valid? [True, True] Translation: X:-57.59, Y:-260.94, Z:-2.78 [[-6.76553830e-01 -7.36350182e-01 7.95772302e-03 -5.75891593e+01] [ 7.36302268e-01 -6.76600605e-01 -8.40188251e-03 -2.60935239e+02] [ 1.15709279e-02 1.74963721e-04 9.99933039e-01 -2.77629875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.036559995 meters 0.015143659018940426 Centerline is valid? [True, True] Translation: X:-57.61, Y:-260.92, Z:-2.78 [[-6.76645149e-01 -7.36266317e-01 7.95308801e-03 -5.76085346e+01] [ 7.36218511e-01 -6.76691864e-01 -8.39196066e-03 -2.60915856e+02] [ 1.15605079e-02 1.76831144e-04 9.99933160e-01 -2.77712861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.0665599949999 meters 0.014964760619758875 Centerline is valid? [True, True] Translation: X:-57.63, Y:-260.90, Z:-2.78 [[-6.76989334e-01 -7.35951037e-01 7.84303240e-03 -5.76268936e+01] [ 7.35904582e-01 -6.77034742e-01 -8.27067901e-03 -2.60895110e+02] [ 1.13968202e-02 1.72562009e-04 9.99935039e-01 -2.77717022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.096559995 meters 0.015103055333077603 Centerline is valid? [True, True] Translation: X:-57.65, Y:-260.88, Z:-2.78 [[-6.76916738e-01 -7.36015123e-01 8.09125603e-03 -5.76457500e+01] [ 7.35965748e-01 -6.76965069e-01 -8.52713489e-03 -2.60875558e+02] [ 1.17535979e-02 1.82726968e-04 9.99930907e-01 -2.77703013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.126559995 meters 0.015218071809047452 Centerline is valid? [True, True] Translation: X:-57.66, Y:-260.86, Z:-2.78 [[-6.76956548e-01 -7.35979831e-01 7.97002737e-03 -5.76645040e+01] [ 7.35931982e-01 -6.77003438e-01 -8.39418742e-03 -2.60856330e+02] [ 1.15736886e-02 1.82897907e-04 9.99933006e-01 -2.77741613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.156559995 meters 0.015021391570717777 Centerline is valid? [True, True] Translation: X:-57.68, Y:-260.84, Z:-2.78 [[-6.76955195e-01 -7.35978261e-01 8.22577977e-03 -5.76839484e+01] [ 7.35927351e-01 -6.77005142e-01 -8.65868396e-03 -2.60835663e+02] [ 1.19414984e-02 1.92035228e-04 9.99928679e-01 -2.77787290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.1865599949999 meters 0.015409857020781124 Centerline is valid? [True, True] Translation: X:-57.70, Y:-260.82, Z:-2.78 [[-6.77061724e-01 -7.35875934e-01 8.60421662e-03 -5.77027067e+01] [ 7.35820278e-01 -6.77116363e-01 -9.05260339e-03 -2.60817622e+02] [ 1.24876488e-02 2.01985810e-04 9.99922006e-01 -2.77847803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.2165599949999 meters 0.015155263697479463 Centerline is valid? [True, True] Translation: X:-57.72, Y:-260.80, Z:-2.78 [[-6.77313265e-01 -7.35642910e-01 8.73214451e-03 -5.77210408e+01] [ 7.35585640e-01 -6.77369521e-01 -9.18146563e-03 -2.60797917e+02] [ 1.26691686e-02 2.04511644e-04 9.99919722e-01 -2.77805549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.246559995 meters 0.015230097207450739 Centerline is valid? [True, True] Translation: X:-57.74, Y:-260.78, Z:-2.78 [[-6.77887030e-01 -7.35112811e-01 8.85044569e-03 -5.77395916e+01] [ 7.35054011e-01 -6.77944773e-01 -9.29977291e-03 -2.60778704e+02] [ 1.28364956e-02 2.01360165e-04 9.99917589e-01 -2.77868869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.276559995 meters 0.01495870141532303 Centerline is valid? [True, True] Translation: X:-57.76, Y:-260.76, Z:-2.78 [[-6.78482571e-01 -7.34561416e-01 8.99594680e-03 -5.77582570e+01] [ 7.34500695e-01 -6.78542178e-01 -9.44679269e-03 -2.60758427e+02] [ 1.30433787e-02 1.98044989e-04 9.99914912e-01 -2.77839138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.3065599949999 meters 0.014634426397597992 Centerline is valid? [True, True] Translation: X:-57.78, Y:-260.74, Z:-2.78 [[-6.79167216e-01 -7.33926696e-01 9.13776171e-03 -5.77770924e+01] [ 7.33864059e-01 -6.79228657e-01 -9.59030798e-03 -2.60737594e+02] [ 1.32452127e-02 1.92452137e-04 9.99912260e-01 -2.77771298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.3365599949999 meters 0.01460033603140819 Centerline is valid? [True, True] Translation: X:-57.80, Y:-260.72, Z:-2.78 [[-6.79940365e-01 -7.33209206e-01 9.23908991e-03 -5.77951312e+01] [ 7.33145170e-01 -6.80003108e-01 -9.69189543e-03 -2.60718264e+02] [ 1.33887968e-02 1.83683234e-04 9.99910349e-01 -2.77792865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.366559995 meters 0.014403766302946043 Centerline is valid? [True, True] Translation: X:-57.81, Y:-260.70, Z:-2.78 [[-6.80891712e-01 -7.32324743e-01 9.32457712e-03 -5.78137761e+01] [ 7.32259513e-01 -6.80955535e-01 -9.77574322e-03 -2.60697684e+02] [ 1.35086410e-02 1.71787764e-04 9.99908739e-01 -2.77746639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.396559995 meters 0.01411569663416963 Centerline is valid? [True, True] Translation: X:-57.83, Y:-260.68, Z:-2.78 [[-6.82642485e-01 -7.30693085e-01 9.31945509e-03 -5.78322378e+01] [ 7.30627857e-01 -6.82706082e-01 -9.76424342e-03 -2.60677131e+02] [ 1.34971138e-02 1.43566103e-04 9.99908900e-01 -2.77759961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.4265599949999 meters 0.013889088795942408 Centerline is valid? [True, True] Translation: X:-57.85, Y:-260.66, Z:-2.78 [[-6.83892090e-01 -7.29523465e-01 9.33402705e-03 -5.78504285e+01] [ 7.29458006e-01 -6.83955773e-01 -9.77336581e-03 -2.60657433e+02] [ 1.35139614e-02 1.24853193e-04 9.99908675e-01 -2.77769723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.4565599949999 meters 0.014206643973720238 Centerline is valid? [True, True] Translation: X:-57.87, Y:-260.64, Z:-2.78 [[-6.85105276e-01 -7.28380942e-01 9.58982692e-03 -5.78692132e+01] [ 7.28311826e-01 -6.85172381e-01 -1.00345986e-02 -2.60638723e+02] [ 1.38796949e-02 1.09627921e-04 9.99903666e-01 -2.77995677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.486559995 meters 0.013629812185758546 Centerline is valid? [True, True] Translation: X:-57.89, Y:-260.62, Z:-2.78 [[-6.86980662e-01 -7.26609203e-01 9.83033539e-03 -5.78865554e+01] [ 7.26536483e-01 -6.87050987e-01 -1.02800475e-02 -2.60617185e+02] [ 1.42235188e-02 7.99034492e-05 9.99898838e-01 -2.77831202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.516559995 meters 0.013433725285733842 Centerline is valid? [True, True] Translation: X:-57.91, Y:-260.60, Z:-2.78 [[-6.88132287e-01 -7.25518650e-01 9.83073038e-03 -5.79050001e+01] [ 7.25445903e-01 -6.88202502e-01 -1.02741591e-02 -2.60596559e+02] [ 1.42196273e-02 6.16824830e-05 9.99898894e-01 -2.77770258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.5465599949999 meters 0.01341286817643979 Centerline is valid? [True, True] Translation: X:-57.92, Y:-260.58, Z:-2.78 [[-6.89072465e-01 -7.24625423e-01 9.85571631e-03 -5.79232382e+01] [ 7.24552303e-01 -6.89142942e-01 -1.02940026e-02 -2.60576429e+02] [ 1.42512933e-02 4.76681880e-05 9.99898444e-01 -2.77730861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.5765599949999 meters 0.01331479549464176 Centerline is valid? [True, True] Translation: X:-57.94, Y:-260.56, Z:-2.78 [[-6.90455132e-01 -7.23307746e-01 9.88006304e-03 -5.79415014e+01] [ 7.23234218e-01 -6.90525818e-01 -1.03131608e-02 -2.60556270e+02] [ 1.42820277e-02 2.48248599e-05 9.99898006e-01 -2.77702366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.606559995 meters 0.013405219870999754 Centerline is valid? [True, True] Translation: X:-57.96, Y:-260.54, Z:-2.78 [[-6.90875056e-01 -7.22903442e-01 1.01128540e-02 -5.79604257e+01] [ 7.22826459e-01 -6.90949067e-01 -1.05497646e-02 -2.60536880e+02] [ 1.46139282e-02 2.12692911e-05 9.99893211e-01 -2.77722814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.636559995 meters 0.013456278115668024 Centerline is valid? [True, True] Translation: X:-57.98, Y:-260.52, Z:-2.78 [[-6.91450989e-01 -7.22348863e-01 1.03754528e-02 -5.79797773e+01] [ 7.22267865e-01 -6.91528828e-01 -1.08171968e-02 -2.60517521e+02] [ 1.49887145e-02 1.42947581e-05 9.99887663e-01 -2.77781769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.666559995 meters 0.013507892084424489 Centerline is valid? [True, True] Translation: X:-58.00, Y:-260.50, Z:-2.78 [[-6.91698292e-01 -7.22108458e-01 1.06229869e-02 -5.79986380e+01] [ 7.22023622e-01 -6.91779860e-01 -1.10686322e-02 -2.60498393e+02] [ 1.53415213e-02 1.38934573e-05 9.99882312e-01 -2.77827182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.6965599949999 meters 0.013629362551479908 Centerline is valid? [True, True] Translation: X:-58.02, Y:-260.48, Z:-2.78 [[-6.91922280e-01 -7.21892275e-01 1.07285776e-02 -5.80170181e+01] [ 7.21805827e-01 -6.92005450e-01 -1.11716306e-02 -2.60479836e+02] [ 1.54889480e-02 1.40497195e-05 9.99880039e-01 -2.77931583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.726559995 meters 0.013413261750607605 Centerline is valid? [True, True] Translation: X:-58.04, Y:-260.46, Z:-2.78 [[-6.91714062e-01 -7.22087281e-01 1.10279547e-02 -5.80368433e+01] [ 7.21996068e-01 -6.91801965e-01 -1.14769264e-02 -2.60459638e+02] [ 1.59165033e-02 2.33885390e-05 9.99873324e-01 -2.77663935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.756559995 meters 0.013444147497768592 Centerline is valid? [True, True] Translation: X:-58.06, Y:-260.44, Z:-2.78 [[-6.91681665e-01 -7.22123368e-01 1.06918646e-02 -5.80555450e+01] [ 7.22037748e-01 -6.91764296e-01 -1.11197958e-02 -2.60441203e+02] [ 1.54261146e-02 2.85709521e-05 9.99881010e-01 -2.77697738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.786559995 meters 0.013373735985068491 Centerline is valid? [True, True] Translation: X:-58.08, Y:-260.42, Z:-2.78 [[-6.90877543e-01 -7.22898170e-01 1.03177491e-02 -5.80757009e+01] [ 7.22818623e-01 -6.90954581e-01 -1.07240248e-02 -2.60422331e+02] [ 1.48814739e-02 4.88732453e-05 9.99889264e-01 -2.77612612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.8165599949999 meters 0.01344924096393282 Centerline is valid? [True, True] Translation: X:-58.10, Y:-260.40, Z:-2.78 [[-6.90686751e-01 -7.23083125e-01 1.01295371e-02 -5.80956706e+01] [ 7.23006569e-01 -6.90761024e-01 -1.05218752e-02 -2.60403048e+02] [ 1.46052798e-02 5.64020304e-05 9.99893336e-01 -2.77608697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.846559995 meters 0.013394813236349334 Centerline is valid? [True, True] Translation: X:-58.11, Y:-260.38, Z:-2.78 [[-6.90662122e-01 -7.23112623e-01 9.69369881e-03 -5.81147239e+01] [ 7.23042608e-01 -6.90730144e-01 -1.00626033e-02 -2.60384696e+02] [ 1.39721255e-02 5.90982874e-05 9.99902383e-01 -2.77594901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.876559995 meters 0.013447671433439256 Centerline is valid? [True, True] Translation: X:-58.13, Y:-260.37, Z:-2.78 [[-6.90420813e-01 -7.23344484e-01 9.58426621e-03 -5.81342234e+01] [ 7.23276147e-01 -6.90487330e-01 -9.94291307e-03 -2.60365885e+02] [ 1.38099657e-02 6.72770095e-05 9.99904636e-01 -2.77582077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.906559995 meters 0.013567242158839341 Centerline is valid? [True, True] Translation: X:-58.15, Y:-260.35, Z:-2.78 [[-6.89672360e-01 -7.24064709e-01 9.07371510e-03 -5.81544507e+01] [ 7.24003597e-01 -6.89732042e-01 -9.40752437e-03 -2.60347763e+02] [ 1.30700884e-02 8.12928306e-05 9.99914580e-01 -2.77572110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.9365599949999 meters 0.013486700414727326 Centerline is valid? [True, True] Translation: X:-58.17, Y:-260.33, Z:-2.77 [[-6.89035692e-01 -7.24669597e-01 9.15374509e-03 -5.81739030e+01] [ 7.24607533e-01 -6.89096485e-01 -9.48455810e-03 -2.60328413e+02] [ 1.31809845e-02 9.76735943e-05 9.99913122e-01 -2.77490539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.9665599949999 meters 0.014040079456467739 Centerline is valid? [True, True] Translation: X:-58.19, Y:-260.31, Z:-2.78 [[-6.88530282e-01 -7.25151100e-01 9.05169644e-03 -5.81940208e+01] [ 7.25090535e-01 -6.88589769e-01 -9.37266396e-03 -2.60310895e+02] [ 1.30295031e-02 1.09936455e-04 9.99915106e-01 -2.77669462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.996559995 meters 0.013928987203057923 Centerline is valid? [True, True] Translation: X:-58.21, Y:-260.29, Z:-2.78 [[-6.87881490e-01 -7.25766871e-01 9.02801055e-03 -5.82134630e+01] [ 7.25706749e-01 -6.87940720e-01 -9.34244331e-03 -2.60291190e+02] [ 1.29911719e-02 1.25194356e-04 9.99915603e-01 -2.77566775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.026559995 meters 0.014080522232603178 Centerline is valid? [True, True] Translation: X:-58.23, Y:-260.27, Z:-2.77 [[-6.86415446e-01 -7.27154054e-01 8.98988519e-03 -5.82340896e+01] [ 7.27094624e-01 -6.86474295e-01 -9.29782437e-03 -2.60272322e+02] [ 1.29322758e-02 1.54326932e-04 9.99916363e-01 -2.77490414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.0565599949999 meters 0.014968628492665758 Centerline is valid? [True, True] Translation: X:-58.25, Y:-260.26, Z:-2.78 [[-6.85673048e-01 -7.27854813e-01 8.93553100e-03 -5.82543990e+01] [ 7.27796236e-01 -6.85731247e-01 -9.23555516e-03 -2.60255324e+02] [ 1.28495161e-02 1.70674577e-04 9.99917427e-01 -2.77644486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.0865599949999 meters 0.015359196052664267 Centerline is valid? [True, True] Translation: X:-58.28, Y:-260.24, Z:-2.78 [[-6.84765766e-01 -7.28707832e-01 8.98556302e-03 -5.82751645e+01] [ 7.28648735e-01 -6.84824692e-01 -9.28240720e-03 -2.60235957e+02] [ 1.29176983e-02 1.91044447e-04 9.99916545e-01 -2.77648769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.116559995 meters 0.015187552904593938 Centerline is valid? [True, True] Translation: X:-58.30, Y:-260.22, Z:-2.78 [[-6.83051927e-01 -7.30314569e-01 8.98306879e-03 -5.82956987e+01] [ 7.30255709e-01 -6.83110957e-01 -9.27470885e-03 -2.60216570e+02] [ 1.29098877e-02 2.24829516e-04 9.99916639e-01 -2.77571376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.146559995 meters 0.015261224516563846 Centerline is valid? [True, True] Translation: X:-58.32, Y:-260.20, Z:-2.78 [[-6.82244939e-01 -7.31064140e-01 9.33091609e-03 -5.83157126e+01] [ 7.31000776e-01 -6.82308698e-01 -9.62843528e-03 -2.60196998e+02] [ 1.34055690e-02 2.51955660e-04 9.99910110e-01 -2.77590687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.1765599949999 meters 0.015798926708305277 Centerline is valid? [True, True] Translation: X:-58.34, Y:-260.18, Z:-2.78 [[-6.81362125e-01 -7.31884419e-01 9.53168716e-03 -5.83354321e+01] [ 7.31818432e-01 -6.81428735e-01 -9.83163878e-03 -2.60179090e+02] [ 1.36907888e-02 2.76558066e-04 9.99906239e-01 -2.77662485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.2065599949999 meters 0.01577628398334646 Centerline is valid? [True, True] Translation: X:-58.36, Y:-260.16, Z:-2.78 [[-6.80731216e-01 -7.32467746e-01 9.79861804e-03 -5.83554247e+01] [ 7.32398152e-01 -6.80801668e-01 -1.01012428e-02 -2.60159185e+02] [ 1.40697500e-02 3.00258472e-04 9.99900971e-01 -2.77659157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.236559995 meters 0.015816546335330306 Centerline is valid? [True, True] Translation: X:-58.38, Y:-260.14, Z:-2.78 [[-6.79916835e-01 -7.33223558e-01 9.81386040e-03 -5.83752588e+01] [ 7.33153907e-01 -6.79987582e-01 -1.01111962e-02 -2.60139117e+02] [ 1.40870705e-02 3.20297552e-04 9.99900721e-01 -2.77662177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.266559995 meters 0.016045999819718108 Centerline is valid? [True, True] Translation: X:-58.39, Y:-260.12, Z:-2.78 [[-6.79933444e-01 -7.33210573e-01 9.63157617e-03 -5.83940840e+01] [ 7.33143567e-01 -6.80001584e-01 -9.91744669e-03 -2.60120313e+02] [ 1.38210638e-02 3.18124431e-04 9.99904434e-01 -2.77645628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.2965599949999 meters 0.016045999819718108 Centerline is valid? [True, True] Translation: X:-58.41, Y:-260.10, Z:-2.78 [[-6.80139930e-01 -7.33019000e-01 9.63436923e-03 -5.84133604e+01] [ 7.32952013e-01 -6.80208089e-01 -9.91473338e-03 -2.60100569e+02] [ 1.38210638e-02 3.18124249e-04 9.99904434e-01 -2.77645657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.3265599949999 meters 0.016271644602577486 Centerline is valid? [True, True] Translation: X:-58.43, Y:-260.08, Z:-2.78 [[-6.80550017e-01 -7.32641216e-01 9.40872978e-03 -5.84320172e+01] [ 7.32577381e-01 -6.80614983e-01 -9.67610041e-03 -2.60082396e+02] [ 1.34928324e-02 3.07552324e-04 9.99908920e-01 -2.77662535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.356559995 meters 0.015784334149951968 Centerline is valid? [True, True] Translation: X:-58.45, Y:-260.06, Z:-2.78 [[-6.81118948e-01 -7.32122121e-01 8.61270902e-03 -5.84508484e+01] [ 7.32068652e-01 -6.81173343e-01 -8.85244485e-03 -2.60061240e+02] [ 1.23478185e-02 2.75526358e-04 9.99923725e-01 -2.77573829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.386559995 meters 0.015488635723226132 Centerline is valid? [True, True] Translation: X:-58.47, Y:-260.04, Z:-2.78 [[-6.81836648e-01 -7.31458984e-01 8.15719229e-03 -5.84696654e+01] [ 7.31411029e-01 -6.81885394e-01 -8.37947515e-03 -2.60040644e+02] [ 1.16915127e-02 2.52827165e-04 9.99931620e-01 -2.77556443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.416559995 meters 0.015893043937698685 Centerline is valid? [True, True] Translation: X:-58.49, Y:-260.02, Z:-2.78 [[-6.82394579e-01 -7.30942369e-01 7.80335588e-03 -5.84879653e+01] [ 7.30898510e-01 -6.82439153e-01 -8.01065433e-03 -2.60022441e+02] [ 1.11806422e-02 2.37034098e-04 9.99937467e-01 -2.77612862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.4465599949999 meters 0.01573763236735635 Centerline is valid? [True, True] Translation: X:-58.51, Y:-260.00, Z:-2.78 [[-6.82932662e-01 -7.30439376e-01 7.82923791e-03 -5.85062231e+01] [ 7.30395249e-01 -6.82977499e-01 -8.03220979e-03 -2.60002599e+02] [ 1.12142356e-02 2.32979750e-04 9.99937091e-01 -2.77615735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.476559995 meters 0.015898659714376012 Centerline is valid? [True, True] Translation: X:-58.53, Y:-259.98, Z:-2.78 [[-6.82853456e-01 -7.30506773e-01 8.42684187e-03 -5.85250092e+01] [ 7.30455723e-01 -6.82905402e-01 -8.63992450e-03 -2.59982244e+02] [ 1.20662592e-02 2.55632570e-04 9.99927167e-01 -2.77667190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.506559995 meters 0.015667303412826343 Centerline is valid? [True, True] Translation: X:-58.54, Y:-259.96, Z:-2.78 [[-6.82723885e-01 -7.30623873e-01 8.76663796e-03 -5.85444403e+01] [ 7.30568695e-01 -6.82780113e-01 -8.98325510e-03 -2.59961324e+02] [ 1.25490667e-02 2.71548436e-04 9.99921221e-01 -2.77679229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.536559995 meters 0.01764147125069311 Centerline is valid? [True, True] Translation: X:-58.57, Y:-259.95, Z:-2.78 [[-6.82640998e-01 -7.30698855e-01 8.96944706e-03 -5.85653041e+01] [ 7.30641180e-01 -6.82699863e-01 -9.18498334e-03 -2.59945442e+02] [ 1.28348971e-02 2.83401189e-04 9.99917589e-01 -2.77911439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.5665599949999 meters 0.017767063154168265 Centerline is valid? [True, True] Translation: X:-58.59, Y:-259.93, Z:-2.78 [[-6.82041556e-01 -7.31261006e-01 8.75535895e-03 -5.85853503e+01] [ 7.31206157e-01 -6.82097688e-01 -8.96102694e-03 -2.59926132e+02] [ 1.25248597e-02 2.90179614e-04 9.99921519e-01 -2.77958178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.596559995 meters 0.016210288729090992 Centerline is valid? [True, True] Translation: X:-58.60, Y:-259.91, Z:-2.78 [[-6.82223271e-01 -7.31094561e-01 8.49417110e-03 -5.86025067e+01] [ 7.31042989e-01 -6.82276090e-01 -8.68822396e-03 -2.59905087e+02] [ 1.21472831e-02 2.82295654e-04 9.99926179e-01 -2.77840857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.626559995 meters 0.015972019602213193 Centerline is valid? [True, True] Translation: X:-58.62, Y:-259.88, Z:-2.78 [[-6.82512316e-01 -7.30827118e-01 8.28625896e-03 -5.86216316e+01] [ 7.30778077e-01 -6.82562560e-01 -8.47077071e-03 -2.59884409e+02] [ 1.18465591e-02 2.74011054e-04 9.99929790e-01 -2.77804528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.656559995 meters 0.015434239931321701 Centerline is valid? [True, True] Translation: X:-58.64, Y:-259.86, Z:-2.78 [[-6.83955339e-01 -7.29488398e-01 7.19522101e-03 -5.86399787e+01] [ 7.29451387e-01 -6.83993150e-01 -7.35153170e-03 -2.59862541e+02] [ 1.02843390e-02 2.20444587e-04 9.99947091e-01 -2.77712966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.6865599949999 meters 0.01525525604033277 Centerline is valid? [True, True] Translation: X:-58.66, Y:-259.84, Z:-2.78 [[-6.85081085e-01 -7.28435454e-01 6.75997670e-03 -5.86587996e+01] [ 7.28402772e-01 -6.85114408e-01 -6.90293886e-03 -2.59841451e+02] [ 9.65970284e-03 1.94912926e-04 9.99953325e-01 -2.77660730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.7165599949999 meters 0.01461014264840376 Centerline is valid? [True, True] Translation: X:-58.68, Y:-259.82, Z:-2.78 [[-6.86949664e-01 -7.26678820e-01 6.16869601e-03 -5.86762333e+01] [ 7.26651565e-01 -6.86977342e-01 -6.29560479e-03 -2.59819444e+02] [ 8.81263705e-03 1.57729019e-04 9.99961156e-01 -2.77577000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.746559995 meters 0.014355253826703274 Centerline is valid? [True, True] Translation: X:-58.70, Y:-259.80, Z:-2.78 [[-6.88077458e-01 -7.25612998e-01 5.93202623e-03 -5.86951657e+01] [ 7.25587784e-01 -6.88103014e-01 -6.05066589e-03 -2.59799165e+02] [ 8.47228694e-03 1.40878963e-04 9.99964100e-01 -2.77591323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.776559995 meters 0.014234805414228644 Centerline is valid? [True, True] Translation: X:-58.71, Y:-259.78, Z:-2.78 [[-6.89047753e-01 -7.24694204e-01 5.61282121e-03 -5.87143555e+01] [ 7.24671629e-01 -6.89070602e-01 -5.72148281e-03 -2.59779206e+02] [ 8.01395552e-03 1.25077409e-04 9.99967880e-01 -2.77600748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.8065599949999 meters 0.014025918723003447 Centerline is valid? [True, True] Translation: X:-58.73, Y:-259.76, Z:-2.78 [[-6.89934641e-01 -7.23848819e-01 5.75138563e-03 -5.87329878e+01] [ 7.23825116e-01 -6.89958602e-01 -5.85904929e-03 -2.59759517e+02] [ 8.20928390e-03 1.20636306e-04 9.99966296e-01 -2.77654865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.8365599949999 meters 0.013835138529307376 Centerline is valid? [True, True] Translation: X:-58.75, Y:-259.74, Z:-2.78 [[-6.91238462e-01 -7.22605129e-01 5.58708476e-03 -5.87519435e+01] [ 7.22582749e-01 -6.91261033e-01 -5.68811842e-03 -2.59739486e+02] [ 7.97239753e-03 1.05284833e-04 9.99968214e-01 -2.77755500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.866559995 meters 0.013631567046882726 Centerline is valid? [True, True] Translation: X:-58.77, Y:-259.72, Z:-2.78 [[-6.91879688e-01 -7.21986914e-01 6.11504200e-03 -5.87710402e+01] [ 7.21960110e-01 -6.91906702e-01 -6.22212936e-03 -2.59719212e+02] [ 8.72333451e-03 1.09851475e-04 9.99961945e-01 -2.77784835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.896559995 meters 0.01344612108750458 Centerline is valid? [True, True] Translation: X:-58.79, Y:-259.70, Z:-2.78 [[-6.92589484e-01 -7.21307361e-01 5.95797287e-03 -5.87903015e+01] [ 7.21281921e-01 -6.92615103e-01 -6.05890679e-03 -2.59698708e+02] [ 8.49691606e-03 1.01042988e-04 9.99963896e-01 -2.77801974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.9265599949999 meters 0.013408283992064902 Centerline is valid? [True, True] Translation: X:-58.81, Y:-259.68, Z:-2.78 [[-6.93209119e-01 -7.20712061e-01 5.93658130e-03 -5.88085459e+01] [ 7.20686806e-01 -6.93234532e-01 -6.03420878e-03 -2.59679493e+02] [ 8.46437021e-03 9.54472615e-05 9.99964172e-01 -2.77803168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.9565599949999 meters 0.013336076510191641 Centerline is valid? [True, True] Translation: X:-58.83, Y:-259.66, Z:-2.78 [[-6.93665240e-01 -7.20271528e-01 6.12051000e-03 -5.88273359e+01] [ 7.20244703e-01 -6.93692235e-01 -6.21708963e-03 -2.59660731e+02] [ 8.72374291e-03 9.56859371e-05 9.99961943e-01 -2.77774271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.986559995 meters 0.013210660478869098 Centerline is valid? [True, True] Translation: X:-58.85, Y:-259.64, Z:-2.78 [[-6.93833591e-01 -7.20109853e-01 6.06199135e-03 -5.88470431e+01] [ 7.20083562e-01 -6.93860065e-01 -6.15419202e-03 -2.59641184e+02] [ 8.63786802e-03 9.51551742e-05 9.99962688e-01 -2.77782998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.016559995 meters 0.013301108723451869 Centerline is valid? [True, True] Translation: X:-58.87, Y:-259.62, Z:-2.78 [[-6.94021418e-01 -7.19926370e-01 6.34769420e-03 -5.88675348e+01] [ 7.19897567e-01 -6.94050439e-01 -6.44060486e-03 -2.59621498e+02] [ 9.04238122e-03 9.97718941e-05 9.99959112e-01 -2.77859752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.0465599949999 meters 0.013940125610186071 Centerline is valid? [True, True] Translation: X:-58.89, Y:-259.60, Z:-2.78 [[-6.93986930e-01 -7.19951608e-01 7.19884125e-03 -5.88880127e+01] [ 7.19914613e-01 -6.94024257e-01 -7.29935563e-03 -2.59604856e+02] [ 1.02513533e-02 1.16893609e-04 9.99947447e-01 -2.78109431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.0765599949999 meters 0.013672873380530368 Centerline is valid? [True, True] Translation: X:-58.91, Y:-259.59, Z:-2.78 [[-6.94054805e-01 -7.19885623e-01 7.25374306e-03 -5.89070475e+01] [ 7.19848105e-01 -6.94092699e-01 -7.35053883e-03 -2.59585136e+02] [ 1.03263173e-02 1.19916403e-04 9.99946675e-01 -2.78059624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.106559995 meters 0.013568773924638712 Centerline is valid? [True, True] Translation: X:-58.93, Y:-259.57, Z:-2.78 [[-6.94089464e-01 -7.19851430e-01 7.33043713e-03 -5.89257506e+01] [ 7.19813161e-01 -6.94128161e-01 -7.42363516e-03 -2.59565866e+02] [ 1.04321772e-02 1.23878175e-04 9.99945576e-01 -2.78027336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.136559995 meters 0.013320832490189985 Centerline is valid? [True, True] Translation: X:-58.94, Y:-259.55, Z:-2.78 [[-6.94597533e-01 -7.19364621e-01 6.98639257e-03 -5.89443552e+01] [ 7.19329879e-01 -6.94632658e-01 -7.07079727e-03 -2.59546553e+02] [ 9.93945784e-03 1.14162579e-04 9.99950596e-01 -2.77904559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.166559995 meters 0.013320685597271365 Centerline is valid? [True, True] Translation: X:-58.96, Y:-259.53, Z:-2.78 [[-6.95167411e-01 -7.18818139e-01 6.53857276e-03 -5.89627896e+01] [ 7.18787725e-01 -6.95198153e-01 -6.61323492e-03 -2.59528167e+02] [ 9.29931693e-03 1.02540441e-04 9.99956755e-01 -2.77874742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.1965599949999 meters 0.012953381883503581 Centerline is valid? [True, True] Translation: X:-58.98, Y:-259.51, Z:-2.78 [[-6.96195244e-01 -7.17826273e-01 6.13381000e-03 -5.89816069e+01] [ 7.17799503e-01 -6.96222259e-01 -6.19998780e-03 -2.59508227e+02] [ 8.72100919e-03 8.64437492e-05 9.99961968e-01 -2.77793789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.226559995 meters 0.012645953006913228 Centerline is valid? [True, True] Translation: X:-59.00, Y:-259.49, Z:-2.78 [[-6.97503571e-01 -7.16559174e-01 5.63195430e-03 -5.90003212e+01] [ 7.16536593e-01 -6.97526304e-01 -5.68913416e-03 -2.59488272e+02] [ 8.00503755e-03 6.73099523e-05 9.99967957e-01 -2.77742308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.256559995 meters 0.01225702258866045 Centerline is valid? [True, True] Translation: X:-59.02, Y:-259.47, Z:-2.78 [[-6.99884128e-01 -7.14239698e-01 4.88483785e-03 -5.90182198e+01] [ 7.14222675e-01 -6.99901173e-01 -4.93135165e-03 -2.59467402e+02] [ 6.94107086e-03 3.74872114e-05 9.99975910e-01 -2.77680654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.286559995 meters 0.012006513021479476 Centerline is valid? [True, True] Translation: X:-59.04, Y:-259.45, Z:-2.78 [[-7.01351307e-01 -7.12800548e-01 4.66082281e-03 -5.90367569e+01] [ 7.12785036e-01 -7.01366793e-01 -4.70253506e-03 -2.59446891e+02] [ 6.62091592e-03 2.40356513e-05 9.99978081e-01 -2.77618969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.3165599949999 meters 0.011978996592073826 Centerline is valid? [True, True] Translation: X:-59.06, Y:-259.43, Z:-2.78 [[-7.02844202e-01 -7.11327647e-01 4.79657739e-03 -5.90551543e+01] [ 7.11311203e-01 -7.02860569e-01 -4.83661156e-03 -2.59426646e+02] [ 6.81174063e-03 1.24748455e-05 9.99976800e-01 -2.77594823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.346559995 meters 0.011935046327042832 Centerline is valid? [True, True] Translation: X:-59.07, Y:-259.41, Z:-2.78 [[-7.05061257e-01 -7.09130288e-01 4.78109088e-03 -5.90723135e+01] [ 7.09113916e-01 -7.05077467e-01 -4.81868244e-03 -2.59406943e+02] [ 6.78811311e-03 -7.12822369e-06 9.99976961e-01 -2.77572315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.376559995 meters 0.011888918907320902 Centerline is valid? [True, True] Translation: X:-59.09, Y:-259.39, Z:-2.78 [[-7.06125766e-01 -7.08067737e-01 5.14605392e-03 -5.90921846e+01] [ 7.08048763e-01 -7.06144517e-01 -5.18357372e-03 -2.59386866e+02] [ 7.30417908e-03 -1.65978528e-05 9.99973324e-01 -2.77553243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.406559995 meters 0.011909008615029918 Centerline is valid? [True, True] Translation: X:-59.11, Y:-259.37, Z:-2.78 [[-7.07218391e-01 -7.06974982e-01 5.34068258e-03 -5.91115458e+01] [ 7.06954538e-01 -7.07238556e-01 -5.37640561e-03 -2.59367459e+02] [ 7.57812089e-03 -2.66731376e-05 9.99971285e-01 -2.77626645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.4365599949999 meters 0.012005283688239504 Centerline is valid? [True, True] Translation: X:-59.13, Y:-259.35, Z:-2.78 [[-7.08094921e-01 -7.06091464e-01 6.03553354e-03 -5.91304489e+01] [ 7.06065358e-01 -7.08120641e-01 -6.07188826e-03 -2.59348820e+02] [ 8.56119436e-03 -3.79920876e-05 9.99963352e-01 -2.77708951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.4665599949999 meters 0.012147595947947556 Centerline is valid? [True, True] Translation: X:-59.15, Y:-259.33, Z:-2.78 [[-7.09451423e-01 -7.04727934e-01 6.10053788e-03 -5.91505526e+01] [ 7.04701242e-01 -7.09477650e-01 -6.13382916e-03 -2.59329133e+02] [ 8.65087604e-03 -5.25972093e-05 9.99962579e-01 -2.77702168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.496559995 meters 0.012233754402245717 Centerline is valid? [True, True] Translation: X:-59.17, Y:-259.31, Z:-2.78 [[-7.10162637e-01 -7.04010419e-01 6.19357389e-03 -5.91691488e+01] [ 7.03982911e-01 -7.10189642e-01 -6.22367204e-03 -2.59309671e+02] [ 8.78014198e-03 -5.96491666e-05 9.99961452e-01 -2.77710677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.526559995 meters 0.012266266064643379 Centerline is valid? [True, True] Translation: X:-59.19, Y:-259.29, Z:-2.78 [[-7.11039516e-01 -7.03123111e-01 6.37946080e-03 -5.91887658e+01] [ 7.03093924e-01 -7.11068131e-01 -6.40685219e-03 -2.59290068e+02] [ 9.04103711e-03 -7.01649545e-05 9.99959127e-01 -2.77623998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.5565599949999 meters 0.01259761379789672 Centerline is valid? [True, True] Translation: X:-59.21, Y:-259.27, Z:-2.78 [[-7.12299452e-01 -7.01849133e-01 6.10610558e-03 -5.92076273e+01] [ 7.01822379e-01 -7.12325619e-01 -6.12868356e-03 -2.59270779e+02] [ 8.65094669e-03 -8.00563939e-05 9.99962577e-01 -2.77614199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.5865599949999 meters 0.012599946670713305 Centerline is valid? [True, True] Translation: X:-59.23, Y:-259.25, Z:-2.78 [[-7.12957337e-01 -7.01178806e-01 6.33385203e-03 -5.92271121e+01] [ 7.01150030e-01 -7.12985466e-01 -6.35307754e-03 -2.59252400e+02] [ 8.97058777e-03 -8.84927056e-05 9.99959760e-01 -2.77588232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.616559995 meters 0.012622781924093641 Centerline is valid? [True, True] Translation: X:-59.25, Y:-259.23, Z:-2.78 [[-7.13410112e-01 -7.00716633e-01 6.49707455e-03 -5.92473918e+01] [ 7.00686373e-01 -7.13439690e-01 -6.51271515e-03 -2.59233470e+02] [ 9.19883869e-03 -9.38252446e-05 9.99957685e-01 -2.77611837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.646559995 meters 0.012586928726671873 Centerline is valid? [True, True] Translation: X:-59.27, Y:-259.22, Z:-2.78 [[-7.13687667e-01 -7.00429393e-01 6.96990498e-03 -5.92679708e+01] [ 7.00394598e-01 -7.13721693e-01 -6.98231961e-03 -2.59215704e+02] [ 9.86519427e-03 -1.01511601e-04 9.99951333e-01 -2.77698861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.6765599949999 meters 0.012621577951713914 Centerline is valid? [True, True] Translation: X:-59.29, Y:-259.20, Z:-2.78 [[-7.13591571e-01 -7.00523739e-01 7.31845592e-03 -5.92877910e+01] [ 7.00485429e-01 -7.13629092e-01 -7.32691293e-03 -2.59197409e+02] [ 1.03553395e-02 -1.01951578e-04 9.99946377e-01 -2.77726800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.7065599949999 meters 0.012545740145531045 Centerline is valid? [True, True] Translation: X:-59.31, Y:-259.18, Z:-2.78 [[-7.12703006e-01 -7.01423273e-01 7.73412837e-03 -5.93073803e+01] [ 7.01380596e-01 -7.12744964e-01 -7.73799893e-03 -2.59180381e+02] [ 1.09400736e-02 -9.03275347e-05 9.99940152e-01 -2.77788290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.736559995 meters 0.012368856916718077 Centerline is valid? [True, True] Translation: X:-59.33, Y:-259.16, Z:-2.78 [[-7.11925904e-01 -7.02210446e-01 7.87382405e-03 -5.93274600e+01] [ 7.02166315e-01 -7.11969440e-01 -7.87288889e-03 -2.59162516e+02] [ 1.11343469e-02 -7.61795207e-05 9.99938008e-01 -2.77751490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.766559995 meters 0.012190285793902477 Centerline is valid? [True, True] Translation: X:-59.82, Y:-259.67, Z:-1.81 [[-7.51856053e-01 6.59275670e-01 8.25023863e-03 -5.98244020e+01] [ 6.59236823e-01 7.51901315e-01 -7.15715219e-03 -2.59665927e+02] [-1.09219016e-02 5.77129010e-05 -9.99940353e-01 -1.81395412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.7965599949999 meters 0.012019910409718892 Centerline is valid? [True, True] Translation: X:-59.36, Y:-259.14, Z:-2.78 [[-7.12042387e-01 -7.02091129e-01 7.98034724e-03 -5.93583687e+01] [ 7.02046413e-01 -7.12087105e-01 -7.92395256e-03 -2.59141572e+02] [ 1.12460392e-02 -3.96159345e-05 9.99936761e-01 -2.77715587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.8265599949999 meters 0.011826522635381522 Centerline is valid? [True, True] Translation: X:-59.38, Y:-259.17, Z:-2.78 [[-6.60137288e-01 -7.51106786e-01 7.57345813e-03 -5.93825478e+01] [ 7.51057463e-01 -6.60180730e-01 -8.60762069e-03 -2.59166667e+02] [ 1.14650934e-02 5.89087165e-06 9.99934274e-01 -2.77701751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.856559995 meters 0.011883069577401343 Centerline is valid? [True, True] Translation: X:-59.40, Y:-259.15, Z:-2.78 [[-6.58439799e-01 -7.52593693e-01 7.73072043e-03 -5.94031962e+01] [ 7.52542471e-01 -6.58485179e-01 -8.78054253e-03 -2.59147049e+02] [ 1.16987458e-02 3.62368001e-05 9.99931567e-01 -2.77649150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.886559995 meters 0.012000256203059747 Centerline is valid? [True, True] Translation: X:-59.42, Y:-259.13, Z:-2.78 [[-6.56576932e-01 -7.54217005e-01 7.96503433e-03 -5.94240265e+01] [ 7.54162811e-01 -6.56625239e-01 -9.04153849e-03 -2.59127511e+02] [ 1.20493246e-02 7.04670833e-05 9.99927402e-01 -2.77664071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.916559995 meters 0.012908642801007945 Centerline is valid? [True, True] Translation: X:-59.45, Y:-259.11, Z:-2.78 [[-6.52650193e-01 -7.57615460e-01 8.15721975e-03 -5.94456752e+01] [ 7.57558934e-01 -6.52701153e-01 -9.25564301e-03 -2.59111082e+02] [ 1.23364450e-02 1.38877494e-04 9.99923894e-01 -2.77739979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.9465599949999 meters 0.013571495137855084 Centerline is valid? [True, True] Translation: X:-59.47, Y:-259.09, Z:-2.78 [[-6.50618610e-01 -7.59363336e-01 7.92145076e-03 -5.94657882e+01] [ 7.59310222e-01 -6.50666808e-01 -8.98287319e-03 -2.59092468e+02] [ 1.19754896e-02 1.70414073e-04 9.99928277e-01 -2.77743139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.976559995 meters 0.01378654802954897 Centerline is valid? [True, True] Translation: X:-59.49, Y:-259.07, Z:-2.78 [[-6.48896769e-01 -7.60835298e-01 7.91410465e-03 -5.94857261e+01] [ 7.60782452e-01 -6.48944997e-01 -8.96948382e-03 -2.59072475e+02] [ 1.19601185e-02 2.00642871e-04 9.99928455e-01 -2.77650797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.006559995 meters 0.01445516757187067 Centerline is valid? [True, True] Translation: X:-59.51, Y:-259.05, Z:-2.78 [[-6.47253117e-01 -7.62237887e-01 7.53696103e-03 -5.95064856e+01] [ 7.62190107e-01 -6.47296961e-01 -8.53726735e-03 -2.59053082e+02] [ 1.13860806e-02 2.18824231e-04 9.99935153e-01 -2.77656611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.036559995 meters 0.015685006832072565 Centerline is valid? [True, True] Translation: X:-59.53, Y:-259.03, Z:-2.78 [[-6.44454342e-01 -7.64612108e-01 6.85014111e-03 -5.95278265e+01] [ 7.64572818e-01 -6.44490703e-01 -7.75497180e-03 -2.59034667e+02] [ 1.03443976e-02 2.39706443e-04 9.99946467e-01 -2.77595989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.0665599949999 meters 0.016391281071541513 Centerline is valid? [True, True] Translation: X:-59.55, Y:-259.02, Z:-2.78 [[-6.43360164e-01 -7.65532314e-01 6.92647023e-03 -5.95473383e+01] [ 7.65492230e-01 -6.43397396e-01 -7.83820131e-03 -2.59015037e+02] [ 1.04568693e-02 2.59372660e-04 9.99945292e-01 -2.77603110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.096559995 meters 0.017127628041521327 Centerline is valid? [True, True] Translation: X:-59.57, Y:-259.00, Z:-2.78 [[-6.42482561e-01 -7.66269768e-01 6.84110673e-03 -5.95670228e+01] [ 7.66230752e-01 -6.42518925e-01 -7.73734530e-03 -2.58995016e+02] [ 1.03244343e-02 2.70756929e-04 9.99946665e-01 -2.77634662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.126559995 meters 0.01692599473845561 Centerline is valid? [True, True] Translation: X:-59.59, Y:-258.97, Z:-2.78 [[-6.41022625e-01 -7.67490254e-01 6.97883428e-03 -5.95857498e+01] [ 7.67449769e-01 -6.41060544e-01 -7.88864429e-03 -2.58974017e+02] [ 1.05283129e-02 2.99105289e-04 9.99944531e-01 -2.77600884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.156559995 meters 0.017340520681462714 Centerline is valid? [True, True] Translation: X:-59.60, Y:-258.95, Z:-2.78 [[-6.40639972e-01 -7.67810285e-01 6.91326378e-03 -5.96048797e+01] [ 7.67770622e-01 -6.40677200e-01 -7.81011730e-03 -2.58953773e+02] [ 1.04258589e-02 3.04327501e-04 9.99945603e-01 -2.77626742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.1865599949999 meters 0.01735674975554674 Centerline is valid? [True, True] Translation: X:-59.62, Y:-258.93, Z:-2.78 [[-6.40241938e-01 -7.68140016e-01 7.15380145e-03 -5.96235181e+01] [ 7.68097615e-01 -6.40281822e-01 -8.07726711e-03 -2.58933149e+02] [ 1.07849211e-02 3.23412693e-04 9.99941789e-01 -2.77614381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.2165599949999 meters 0.01735674975554674 Centerline is valid? [True, True] Translation: X:-59.64, Y:-258.91, Z:-2.78 [[-6.40458855e-01 -7.67959143e-01 7.15608253e-03 -5.96418672e+01] [ 7.67916754e-01 -6.40498751e-01 -8.07524625e-03 -2.58912542e+02] [ 1.07849211e-02 3.23412697e-04 9.99941789e-01 -2.77614409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.246559995 meters 0.017564980609251036 Centerline is valid? [True, True] Translation: X:-59.66, Y:-258.89, Z:-2.78 [[-6.40171052e-01 -7.68197260e-01 7.34804444e-03 -5.96608468e+01] [ 7.68152633e-01 -6.40213133e-01 -8.28714296e-03 -2.58892132e+02] [ 1.10704751e-02 3.39230656e-04 9.99938663e-01 -2.77651991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.276559995 meters 0.017777681414280554 Centerline is valid? [True, True] Translation: X:-59.68, Y:-258.87, Z:-2.78 [[-6.40386964e-01 -7.68015934e-01 7.48748003e-03 -5.96797537e+01] [ 7.67969639e-01 -6.40430641e-01 -8.43962676e-03 -2.58871535e+02] [ 1.12769795e-02 3.45530376e-04 9.99936353e-01 -2.77741619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.3065599949999 meters 0.018948140379298213 Centerline is valid? [True, True] Translation: X:-59.70, Y:-258.85, Z:-2.78 [[-6.41322367e-01 -7.67234327e-01 7.55715176e-03 -5.96980551e+01] [ 7.67187177e-01 -6.41366801e-01 -8.51248255e-03 -2.58853123e+02] [ 1.13779751e-02 3.38504468e-04 9.99935212e-01 -2.77864093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.3365599949999 meters 0.015785542394031626 Centerline is valid? [True, True] Translation: X:-59.71, Y:-258.83, Z:-2.78 [[-6.44376309e-01 -7.64669658e-01 7.71273936e-03 -5.97112407e+01] [ 7.64620422e-01 -6.44422394e-01 -8.68261541e-03 -2.58827405e+02] [ 1.16095945e-02 3.02446352e-04 9.99932561e-01 -2.77747264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.366559995 meters 0.015205803323453783 Centerline is valid? [True, True] Translation: X:-59.73, Y:-258.80, Z:-2.78 [[-6.46580310e-01 -7.62806169e-01 7.78785310e-03 -5.97284259e+01] [ 7.62755889e-01 -6.46627151e-01 -8.76246622e-03 -2.58804626e+02] [ 1.17199006e-02 2.74592693e-04 9.99931282e-01 -2.77775503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.396559995 meters 0.014988187326453913 Centerline is valid? [True, True] Translation: X:-59.75, Y:-258.78, Z:-2.78 [[-6.49289859e-01 -7.60501350e-01 7.77014037e-03 -5.97453039e+01] [ 7.60451192e-01 -6.49336308e-01 -8.73754809e-03 -2.58782877e+02] [ 1.16903514e-02 2.35611136e-04 9.99931638e-01 -2.77836539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.4265599949999 meters 0.01375327902669092 Centerline is valid? [True, True] Translation: X:-59.76, Y:-258.76, Z:-2.78 [[-6.52176308e-01 -7.58027806e-01 7.74002806e-03 -5.97607484e+01] [ 7.57977918e-01 -6.52222207e-01 -8.69874877e-03 -2.58759289e+02] [ 1.16421116e-02 1.93652495e-04 9.99932210e-01 -2.77738890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.4565599949999 meters 0.013129168382930512 Centerline is valid? [True, True] Translation: X:-59.78, Y:-258.74, Z:-2.78 [[-6.55132489e-01 -7.55476785e-01 7.49994000e-03 -5.97766137e+01] [ 7.55429829e-01 -6.55175401e-01 -8.42417857e-03 -2.58736646e+02] [ 1.12780475e-02 1.46725314e-04 9.99936390e-01 -2.77697136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.486559995 meters 0.012138612236373589 Centerline is valid? [True, True] Translation: X:-59.79, Y:-258.71, Z:-2.78 [[-6.61780929e-01 -7.49666515e-01 6.79102067e-03 -5.97893741e+01] [ 7.49627741e-01 -6.61815771e-01 -7.62470054e-03 -2.58712103e+02] [ 1.02103873e-02 4.48560705e-05 9.99947872e-01 -2.77626366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.516559995 meters 0.012039696775730167 Centerline is valid? [True, True] Translation: X:-59.81, Y:-258.69, Z:-2.78 [[-6.65469129e-01 -7.46398562e-01 6.32651763e-03 -5.98050644e+01] [ 7.46364805e-01 -6.65499201e-01 -7.09872076e-03 -2.58689099e+02] [ 9.50876740e-03 -2.08941823e-06 9.99954791e-01 -2.77576530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.5465599949999 meters 0.012212910518311748 Centerline is valid? [True, True] Translation: X:-59.82, Y:-258.67, Z:-2.78 [[-6.69133527e-01 -7.43119590e-01 5.79639457e-03 -5.98206604e+01] [ 7.43091164e-01 -6.69158631e-01 -6.49984783e-03 -2.58666503e+02] [ 8.70887171e-03 -4.20165161e-05 9.99962076e-01 -2.77529265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.5765599949999 meters 0.012842151280232823 Centerline is valid? [True, True] Translation: X:-59.84, Y:-258.64, Z:-2.77 [[-6.72662497e-01 -7.39929797e-01 5.39075002e-03 -5.98362415e+01] [ 7.39905137e-01 -6.72684093e-01 -6.04145238e-03 -2.58643506e+02] [ 8.09652242e-03 -7.52148091e-05 9.99967220e-01 -2.77499539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.606559995 meters 0.014013989610234374 Centerline is valid? [True, True] Translation: X:-59.85, Y:-258.62, Z:-2.77 [[-6.79166128e-01 -7.33968714e-01 4.82676554e-03 -5.98510354e+01] [ 7.33948816e-01 -6.79183267e-01 -5.40608713e-03 -2.58619698e+02] [ 7.24615721e-03 -1.29032404e-04 9.99973738e-01 -2.77345788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.636559995 meters 0.01615886067292806 Centerline is valid? [True, True] Translation: X:-59.87, Y:-258.60, Z:-2.77 [[-6.82087817e-01 -7.31254441e-01 4.81175188e-03 -5.98653497e+01] [ 7.31234614e-01 -6.82104771e-01 -5.38703605e-03 -2.58596535e+02] [ 7.22141295e-03 -1.55912126e-04 9.99973913e-01 -2.77453172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.666559995 meters 0.016399165280173083 Centerline is valid? [True, True] Translation: X:-59.88, Y:-258.58, Z:-2.77 [[-6.85047590e-01 -7.28480939e-01 5.03195742e-03 -5.98834214e+01] [ 7.28459206e-01 -6.85066044e-01 -5.63024752e-03 -2.58575564e+02] [ 7.54875116e-03 -1.91411785e-04 9.99971490e-01 -2.77433157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.6965599949999 meters 0.020579603841939055 Centerline is valid? [True, True] Translation: X:-59.90, Y:-258.55, Z:-2.78 [[-6.90323326e-01 -7.23480231e-01 5.48283784e-03 -5.98960591e+01] [ 7.23454294e-01 -6.90345047e-01 -6.13190146e-03 -2.58551407e+02] [ 8.22135944e-03 -2.66412030e-04 9.99966169e-01 -2.77594606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.726559995 meters 0.01928271381451836 Centerline is valid? [True, True] Translation: X:-59.92, Y:-258.53, Z:-2.78 [[-6.92733524e-01 -7.21172768e-01 5.48656268e-03 -5.99165143e+01] [ 7.21146752e-01 -6.92755190e-01 -6.13264615e-03 -2.58531990e+02] [ 8.22354217e-03 -2.91672729e-04 9.99966144e-01 -2.77535635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.756559995 meters 0.019922795721732122 Centerline is valid? [True, True] Translation: X:-59.93, Y:-258.51, Z:-2.78 [[-6.94952946e-01 -7.19033655e-01 5.56829176e-03 -5.99348556e+01] [ 7.19006818e-01 -6.94975180e-01 -6.22052140e-03 -2.58510809e+02] [ 8.34258881e-03 -3.19329933e-04 9.99965149e-01 -2.77528965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.786559995 meters 0.019934092628615032 Centerline is valid? [True, True] Translation: X:-59.95, Y:-258.49, Z:-2.77 [[-6.96972251e-01 -7.17079381e-01 5.18094318e-03 -5.99540548e+01] [ 7.17056119e-01 -6.96991435e-01 -5.78453481e-03 -2.58490055e+02] [ 7.75904367e-03 -3.16633233e-04 9.99969848e-01 -2.77466357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.8165599949999 meters 0.02234251173097231 Centerline is valid? [True, True] Translation: X:-59.97, Y:-258.47, Z:-2.77 [[-7.00421840e-01 -7.13717707e-01 4.03506354e-03 -5.99700705e+01] [ 7.13703558e-01 -7.00433409e-01 -4.50240900e-03 -2.58469214e+02] [ 6.03974234e-03 -2.73746389e-04 9.99981723e-01 -2.77380914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.846559995 meters 0.020934682696536856 Centerline is valid? [True, True] Translation: X:-59.99, Y:-258.45, Z:-2.77 [[-7.01989266e-01 -7.12177948e-01 3.69326468e-03 -5.99915932e+01] [ 7.12166085e-01 -7.01998933e-01 -4.11882810e-03 -2.58450365e+02] [ 5.52600641e-03 -2.61155267e-04 9.99984697e-01 -2.77336643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.876559995 meters 0.021269393969186614 Centerline is valid? [True, True] Translation: X:-60.01, Y:-258.43, Z:-2.77 [[-7.03075659e-01 -7.11106588e-01 3.46955084e-03 -6.00114397e+01] [ 7.11096117e-01 -7.03084175e-01 -3.86726904e-03 -2.58429723e+02] [ 5.18942678e-03 -2.51798606e-04 9.99986503e-01 -2.77365328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.906559995 meters 0.02275313847186773 Centerline is valid? [True, True] Translation: X:-60.03, Y:-258.41, Z:-2.77 [[-7.03811365e-01 -7.10378659e-01 3.42404630e-03 -6.00306825e+01] [ 7.10368460e-01 -7.03819648e-01 -3.81496612e-03 -2.58410233e+02] [ 5.11998158e-03 -2.52682015e-04 9.99986861e-01 -2.77426125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.9365599949999 meters 0.022973919850751517 Centerline is valid? [True, True] Translation: X:-60.05, Y:-258.39, Z:-2.77 [[-7.03592658e-01 -7.10595578e-01 3.36097227e-03 -6.00503287e+01] [ 7.10585765e-01 -7.03600643e-01 -3.74235192e-03 -2.58391101e+02] [ 5.02408097e-03 -2.44832287e-04 9.99987349e-01 -2.77465958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.9665599949999 meters 0.023686461601957965 Centerline is valid? [True, True] Translation: X:-60.07, Y:-258.37, Z:-2.77 [[-7.02912207e-01 -7.11269054e-01 3.28049236e-03 -6.00696098e+01] [ 7.11259721e-01 -7.02919824e-01 -3.65125859e-03 -2.58371842e+02] [ 4.90295036e-03 -2.33232154e-04 9.99987953e-01 -2.77489446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.996559995 meters 0.020377041229408532 Centerline is valid? [True, True] Translation: X:-60.10, Y:-258.36, Z:-2.77 [[-6.99924673e-01 -7.14210805e-01 2.89461445e-03 -6.00955530e+01] [ 7.14203571e-01 -6.99930634e-01 -3.21982317e-03 -2.58358160e+02] [ 4.32566183e-03 -1.86289707e-04 9.99990627e-01 -2.77439495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.026559995 meters 0.019713578852251952 Centerline is valid? [True, True] Translation: X:-60.12, Y:-258.34, Z:-2.77 [[-6.97846597e-01 -7.16241986e-01 2.74685741e-03 -6.01177150e+01] [ 7.16235494e-01 -6.97851984e-01 -3.05380184e-03 -2.58339760e+02] [ 4.10416099e-03 -1.63688445e-04 9.99991565e-01 -2.77442612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.0565599949999 meters 0.018610892224036467 Centerline is valid? [True, True] Translation: X:-60.14, Y:-258.32, Z:-2.77 [[-6.95123842e-01 -7.18885271e-01 2.60996536e-03 -6.01403545e+01] [ 7.18879433e-01 -6.95128728e-01 -2.90053204e-03 -2.58322006e+02] [ 3.89941166e-03 -1.39978556e-04 9.99992388e-01 -2.77432673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.0865599949999 meters 0.016333758706120572 Centerline is valid? [True, True] Translation: X:-60.17, Y:-258.31, Z:-2.77 [[-6.88749092e-01 -7.24994533e-01 2.75955498e-03 -6.01659184e+01] [ 7.24988063e-01 -6.88754612e-01 -3.06489256e-03 -2.58309669e+02] [ 4.12268657e-03 -1.10297551e-04 9.99991496e-01 -2.77489182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.116559995 meters 0.015043924602328932 Centerline is valid? [True, True] Translation: X:-60.19, Y:-258.29, Z:-2.78 [[-6.85473515e-01 -7.28091461e-01 2.98053907e-03 -6.01890684e+01] [ 7.28083951e-01 -6.85479988e-01 -3.30841198e-03 -2.58292921e+02] [ 4.45192640e-03 -9.77461264e-05 9.99990085e-01 -2.77544533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.146559995 meters 0.013979221496334935 Centerline is valid? [True, True] Translation: X:-60.21, Y:-258.28, Z:-2.78 [[-6.82076527e-01 -7.31273628e-01 3.23905970e-03 -6.02120984e+01] [ 7.31264804e-01 -6.82084213e-01 -3.59334602e-03 -2.58276287e+02] [ 4.83703066e-03 -8.23266173e-05 9.99988298e-01 -2.77605156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.1765599949999 meters 0.01217718849625979 Centerline is valid? [True, True] Translation: X:-60.24, Y:-258.26, Z:-2.78 [[-6.75844633e-01 -7.37035190e-01 3.62774092e-03 -6.02397961e+01] [ 7.37024216e-01 -6.75854368e-01 -4.02221022e-03 -2.58264013e+02] [ 5.41633502e-03 -4.46562848e-05 9.99985331e-01 -2.77662595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.2065599949999 meters 0.011842805320863103 Centerline is valid? [True, True] Translation: X:-60.26, Y:-258.25, Z:-2.78 [[-6.73489822e-01 -7.39188523e-01 3.43339909e-03 -6.02625354e+01] [ 7.39178732e-01 -6.73498573e-01 -3.80457791e-03 -2.58246887e+02] [ 5.12468971e-03 -2.44489100e-05 9.99986868e-01 -2.77662845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.236559995 meters 0.011724997010322655 Centerline is valid? [True, True] Translation: X:-60.28, Y:-258.23, Z:-2.78 [[-6.71458245e-01 -7.41035631e-01 3.16519230e-03 -6.02841591e+01] [ 7.41027341e-01 -6.71465705e-01 -3.50530183e-03 -2.58229794e+02] [ 4.72287163e-03 -8.16977840e-06 9.99988847e-01 -2.77662515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.266559995 meters 0.01166832334505759 Centerline is valid? [True, True] Translation: X:-60.31, Y:-258.21, Z:-2.78 [[-6.68730897e-01 -7.43500034e-01 2.58594904e-03 -6.03083131e+01] [ 7.43494525e-01 -6.68735897e-01 -2.86218781e-03 -2.58214017e+02] [ 3.85735369e-03 8.60552914e-06 9.99992560e-01 -2.77599535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.2965599949999 meters 0.011692706722295491 Centerline is valid? [True, True] Translation: X:-60.33, Y:-258.20, Z:-2.78 [[-6.68119905e-01 -7.44048478e-01 2.76657575e-03 -6.03287398e+01] [ 7.44042185e-01 -6.68125633e-01 -3.06027192e-03 -2.58195647e+02] [ 4.12541084e-03 1.38204825e-05 9.99991490e-01 -2.77607794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.3265599949999 meters 0.011732151667988178 Centerline is valid? [True, True] Translation: X:-60.35, Y:-258.18, Z:-2.78 [[-6.67815740e-01 -7.44320762e-01 2.95646243e-03 -6.03491312e+01] [ 7.44313586e-01 -6.67822284e-01 -3.26844941e-03 -2.58176426e+02] [ 4.40716625e-03 1.78131926e-05 9.99990288e-01 -2.77605807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.356559995 meters 0.011748963358417661 Centerline is valid? [True, True] Translation: X:-60.37, Y:-258.16, Z:-2.78 [[-6.67808857e-01 -7.44325794e-01 3.23147658e-03 -6.03697513e+01] [ 7.44317231e-01 -6.67816676e-01 -3.57046111e-03 -2.58157092e+02] [ 4.81562025e-03 2.08581427e-05 9.99988405e-01 -2.77671366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.386559995 meters 0.011815948596351693 Centerline is valid? [True, True] Translation: X:-60.39, Y:-258.14, Z:-2.78 [[-6.68583686e-01 -7.43625176e-01 4.17768338e-03 -6.03906030e+01] [ 7.43610867e-01 -6.68596738e-01 -4.61316810e-03 -2.58139773e+02] [ 6.22365342e-03 2.22818232e-05 9.99980633e-01 -2.77823487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.416559995 meters 0.011755646476171867 Centerline is valid? [True, True] Translation: X:-60.41, Y:-258.12, Z:-2.78 [[-6.69623852e-01 -7.42687384e-01 4.39853974e-03 -6.04098061e+01] [ 7.42671522e-01 -6.69638298e-01 -4.85401142e-03 -2.58120392e+02] [ 6.55044371e-03 1.63083733e-05 9.99978546e-01 -2.77899426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.4465599949999 meters 0.011731329172225857 Centerline is valid? [True, True] Translation: X:-60.43, Y:-258.10, Z:-2.78 [[-6.70875684e-01 -7.41554099e-01 4.83059540e-03 -6.04294763e+01] [ 7.41534960e-01 -6.70893075e-01 -5.32782151e-03 -2.58099963e+02] [ 7.19168088e-03 7.74946562e-06 9.99974140e-01 -2.77947328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.476559995 meters 0.011755272530312348 Centerline is valid? [True, True] Translation: X:-60.45, Y:-258.08, Z:-2.78 [[-6.72515818e-01 -7.40065216e-01 5.09417753e-03 -6.04474608e+01] [ 7.40043917e-01 -6.72535111e-01 -5.61482555e-03 -2.58080652e+02] [ 7.58135033e-03 -6.14390464e-06 9.99971261e-01 -2.78039731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.506559995 meters 0.012024512876230383 Centerline is valid? [True, True] Translation: X:-60.47, Y:-258.06, Z:-2.78 [[-6.76630772e-01 -7.36303843e-01 5.23925258e-03 -6.04662697e+01] [ 7.36281223e-01 -6.76651054e-01 -5.77159871e-03 -2.58059069e+02] [ 7.79479609e-03 -4.76779925e-05 9.99969619e-01 -2.77953714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.536559995 meters 0.012422003724805643 Centerline is valid? [True, True] Translation: X:-60.48, Y:-258.04, Z:-2.78 [[-6.79189124e-01 -7.33944377e-01 5.27125965e-03 -6.04835831e+01] [ 7.33921436e-01 -6.79209575e-01 -5.80338521e-03 -2.58038079e+02] [ 7.83965197e-03 -7.29056610e-05 9.99969267e-01 -2.77970862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.5665599949999 meters 0.01372402601560625 Centerline is valid? [True, True] Translation: X:-60.50, Y:-258.02, Z:-2.78 [[-6.85111786e-01 -7.28420145e-01 5.09237733e-03 -6.05005998e+01] [ 7.28398604e-01 -6.85130699e-01 -5.60347039e-03 -2.58015234e+02] [ 7.57062476e-03 -1.29723070e-04 9.99971334e-01 -2.77942182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.596559995 meters 0.014610779394453618 Centerline is valid? [True, True] Translation: X:-60.52, Y:-257.99, Z:-2.78 [[-6.87990523e-01 -7.25703227e-01 4.88545455e-03 -6.05180266e+01] [ 7.25683348e-01 -6.88007852e-01 -5.37356508e-03 -2.57993882e+02] [ 7.26084461e-03 -1.51668839e-04 9.99973628e-01 -2.77933101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.626559995 meters 0.015528849809507668 Centerline is valid? [True, True] Translation: X:-60.54, Y:-257.97, Z:-2.78 [[-6.90610917e-01 -7.23209290e-01 4.98839702e-03 -6.05356202e+01] [ 7.23188523e-01 -6.90628910e-01 -5.48352832e-03 -2.57972508e+02] [ 7.41086982e-03 -1.79433047e-04 9.99972523e-01 -2.77915109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.656559995 meters 0.016084559913961263 Centerline is valid? [True, True] Translation: X:-60.55, Y:-257.95, Z:-2.78 [[-6.93262292e-01 -7.20669745e-01 4.74482435e-03 -6.05543104e+01] [ 7.20650918e-01 -6.93278502e-01 -5.21284485e-03 -2.57951447e+02] [ 7.04622429e-03 -1.94506744e-04 9.99975156e-01 -2.77886690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.6865599949999 meters 0.016572866561569984 Centerline is valid? [True, True] Translation: X:-60.57, Y:-257.93, Z:-2.78 [[-6.95297798e-01 -7.18706204e-01 4.72907730e-03 -6.05733149e+01] [ 7.18687475e-01 -6.95313848e-01 -5.19278689e-03 -2.57930256e+02] [ 7.02028109e-03 -2.11804666e-04 9.99975335e-01 -2.77878935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.7165599949999 meters 0.018126604965187757 Centerline is valid? [True, True] Translation: X:-60.59, Y:-257.91, Z:-2.78 [[-6.97708862e-01 -7.16366758e-01 4.58379285e-03 -6.05915715e+01] [ 7.16349132e-01 -6.97723883e-01 -5.03043070e-03 -2.57909372e+02] [ 6.80185508e-03 -2.26180057e-04 9.99976842e-01 -2.77894546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.746559995 meters 0.01810291213468691 Centerline is valid? [True, True] Translation: X:-60.61, Y:-257.89, Z:-2.78 [[-6.98108879e-01 -7.15975709e-01 4.77245712e-03 -6.06115761e+01] [ 7.15956613e-01 -6.98125152e-01 -5.23455447e-03 -2.57889700e+02] [ 7.07958620e-03 -2.37416721e-04 9.99974911e-01 -2.77895085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.776559995 meters 0.01817703612519851 Centerline is valid? [True, True] Translation: X:-60.63, Y:-257.87, Z:-2.78 [[-6.98060150e-01 -7.16023637e-01 4.70934790e-03 -6.06312342e+01] [ 7.16005064e-01 -6.98075997e-01 -5.16246575e-03 -2.57870186e+02] [ 6.98393024e-03 -2.31794669e-04 9.99975585e-01 -2.77935680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.8065599949999 meters 0.017927117875319597 Centerline is valid? [True, True] Translation: X:-60.65, Y:-257.85, Z:-2.78 [[-6.95994665e-01 -7.18030238e-01 4.89936175e-03 -6.06517755e+01] [ 7.18010202e-01 -6.96011875e-01 -5.36850942e-03 -2.57852625e+02] [ 7.26476605e-03 -2.18662195e-04 9.99973587e-01 -2.77972501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.8365599949999 meters 0.0174847153710506 Centerline is valid? [True, True] Translation: X:-60.67, Y:-257.83, Z:-2.78 [[-6.94635199e-01 -7.19346444e-01 4.75749847e-03 -6.06724235e+01] [ 7.19327602e-01 -6.94651463e-01 -5.21023780e-03 -2.57833397e+02] [ 7.05276931e-03 -1.97014608e-04 9.99975110e-01 -2.77974661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.866559995 meters 0.0160238872259016 Centerline is valid? [True, True] Translation: X:-60.69, Y:-257.81, Z:-2.78 [[-6.92792843e-01 -7.21120439e-01 4.83629824e-03 -6.06945288e+01] [ 7.21101030e-01 -6.92809700e-01 -5.29377756e-03 -2.57814969e+02] [ 7.16808554e-03 -1.80031561e-04 9.99974293e-01 -2.77928061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.896559995 meters 0.013995782553519312 Centerline is valid? [True, True] Translation: X:-60.72, Y:-257.80, Z:-2.78 [[-6.88218210e-01 -7.25488344e-01 4.72844845e-03 -6.07184942e+01] [ 7.25469914e-01 -6.88234441e-01 -5.17270645e-03 -2.57799403e+02] [ 7.00701932e-03 -1.29603683e-04 9.99975442e-01 -2.77869806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.9265599949999 meters 0.013396051007127966 Centerline is valid? [True, True] Translation: X:-60.74, Y:-257.78, Z:-2.78 [[-6.85561236e-01 -7.27998548e-01 4.88933169e-03 -6.07390495e+01] [ 7.27978923e-01 -6.85578663e-01 -5.34650884e-03 -2.57781824e+02] [ 7.24427215e-03 -1.06028793e-04 9.99973754e-01 -2.77917906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.9565599949999 meters 0.012564185933375093 Centerline is valid? [True, True] Translation: X:-60.76, Y:-257.76, Z:-2.78 [[-6.82929969e-01 -7.30468827e-01 4.68513907e-03 -6.07612183e+01] [ 7.30450885e-01 -6.82946035e-01 -5.12035902e-03 -2.57763707e+02] [ 6.93995980e-03 -7.45826448e-05 9.99975915e-01 -2.77908600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.986559995 meters 0.012052722644494763 Centerline is valid? [True, True] Translation: X:-60.78, Y:-257.75, Z:-2.78 [[-6.80238024e-01 -7.32976634e-01 4.63517576e-03 -6.07832205e+01] [ 7.32959149e-01 -6.80253814e-01 -5.06310392e-03 -2.57745134e+02] [ 6.86423286e-03 -4.67213213e-05 9.99976440e-01 -2.77933120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.016559995 meters 0.01163469539187569 Centerline is valid? [True, True] Translation: X:-60.81, Y:-257.73, Z:-2.78 [[-6.75358723e-01 -7.37475399e-01 4.54208438e-03 -6.08065729e+01] [ 7.37458730e-01 -6.75373997e-01 -4.95848679e-03 -2.57728968e+02] [ 6.72436771e-03 8.42470204e-07 9.99977391e-01 -2.77917535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.0465599949999 meters 0.011750675902346156 Centerline is valid? [True, True] Translation: X:-60.83, Y:-257.71, Z:-2.78 [[-6.73286027e-01 -7.39368147e-01 4.54622213e-03 -6.08262289e+01] [ 7.39351512e-01 -6.73301375e-01 -4.95974929e-03 -2.57711910e+02] [ 6.72805826e-03 2.19263073e-05 9.99977366e-01 -2.77962053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.0765599949999 meters 0.011933351299786354 Centerline is valid? [True, True] Translation: X:-60.85, Y:-257.69, Z:-2.78 [[-6.71463702e-01 -7.41024370e-01 4.40232775e-03 -6.08464544e+01] [ 7.41008826e-01 -6.71478132e-01 -4.79980350e-03 -2.57693703e+02] [ 6.51283817e-03 3.92698880e-05 9.99978791e-01 -2.77969532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.106559995 meters 0.011933351299786354 Centerline is valid? [True, True] Translation: X:-60.86, Y:-257.67, Z:-2.78 [[-6.71691506e-01 -7.40817877e-01 4.40380332e-03 -6.08646044e+01] [ 7.40802338e-01 -6.71705941e-01 -4.79844970e-03 -2.57674079e+02] [ 6.51283817e-03 3.92698888e-05 9.99978791e-01 -2.77969560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.136559995 meters 0.012263480573161855 Centerline is valid? [True, True] Translation: X:-60.88, Y:-257.66, Z:-2.78 [[-6.70010802e-01 -7.42337495e-01 4.53523089e-03 -6.08847079e+01] [ 7.42321068e-01 -6.70026149e-01 -4.93877362e-03 -2.57655131e+02] [ 6.70496012e-03 5.75657607e-05 9.99977520e-01 -2.77986668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.166559995 meters 0.01372530415444567 Centerline is valid? [True, True] Translation: X:-60.91, Y:-257.64, Z:-2.78 [[-6.67193674e-01 -7.44869204e-01 4.74030397e-03 -6.09062997e+01] [ 7.44851343e-01 -6.67210507e-01 -5.15910584e-03 -2.57638235e+02] [ 7.00563968e-03 8.86989930e-05 9.99975456e-01 -2.78077824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.1965599949999 meters 0.013730240231381738 Centerline is valid? [True, True] Translation: X:-60.93, Y:-257.62, Z:-2.78 [[-6.65969785e-01 -7.45963428e-01 4.77601054e-03 -6.09253129e+01] [ 7.45945345e-01 -6.65986902e-01 -5.19498900e-03 -2.57618248e+02] [ 7.05603227e-03 1.02937123e-04 9.99975101e-01 -2.78044981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.226559995 meters 0.013819876422566515 Centerline is valid? [True, True] Translation: X:-60.94, Y:-257.60, Z:-2.78 [[-6.64843709e-01 -7.46966252e-01 4.92559527e-03 -6.09445397e+01] [ 7.46947062e-01 -6.64861944e-01 -5.35552330e-03 -2.57598473e+02] [ 7.27523601e-03 1.18572945e-04 9.99973528e-01 -2.78018794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.256559995 meters 0.014267640742746843 Centerline is valid? [True, True] Translation: X:-60.96, Y:-257.58, Z:-2.78 [[-6.62928383e-01 -7.48665654e-01 5.06923191e-03 -6.09640329e+01] [ 7.48645402e-01 -6.62947749e-01 -5.50858941e-03 -2.57578355e+02] [ 7.48472757e-03 1.43256889e-04 9.99971979e-01 -2.78047356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.286559995 meters 0.01478047099817179 Centerline is valid? [True, True] Translation: X:-60.98, Y:-257.56, Z:-2.78 [[-6.62145631e-01 -7.49359067e-01 4.91442819e-03 -6.09833792e+01] [ 7.49340073e-01 -6.62163852e-01 -5.33737209e-03 -2.57558121e+02] [ 7.25376487e-03 1.48460367e-04 9.99973680e-01 -2.78040244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.3165599949999 meters 0.015709894038931655 Centerline is valid? [True, True] Translation: X:-61.00, Y:-257.54, Z:-2.78 [[-6.61609164e-01 -7.49833424e-01 4.81149342e-03 -6.10026461e+01] [ 7.49815253e-01 -6.61626642e-01 -5.22248565e-03 -2.57539379e+02] [ 7.09940653e-03 1.52486793e-04 9.99974787e-01 -2.78099339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.346559995 meters 0.015624044266818519 Centerline is valid? [True, True] Translation: X:-61.02, Y:-257.52, Z:-2.78 [[-6.60067558e-01 -7.51190576e-01 4.85150561e-03 -6.10206556e+01] [ 7.51172159e-01 -6.60085365e-01 -5.26294564e-03 -2.57517414e+02] [ 7.15588302e-03 1.70416265e-04 9.99974382e-01 -2.78077288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.376559995 meters 0.015896962722576773 Centerline is valid? [True, True] Translation: X:-61.04, Y:-257.50, Z:-2.78 [[-6.59490391e-01 -7.51696166e-01 5.02968374e-03 -6.10394811e+01] [ 7.51676409e-01 -6.59509545e-01 -5.45315000e-03 -2.57496343e+02] [ 7.41623638e-03 1.84394584e-04 9.99972482e-01 -2.78090554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.406559995 meters 0.016726262933093407 Centerline is valid? [True, True] Translation: X:-61.06, Y:-257.48, Z:-2.78 [[-6.58962809e-01 -7.52157254e-01 5.24232465e-03 -6.10585757e+01] [ 7.52135823e-01 -6.58983631e-01 -5.68135352e-03 -2.57476659e+02] [ 7.72787739e-03 1.99139481e-04 9.99970120e-01 -2.78155120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.4365599949999 meters 0.016764773413238652 Centerline is valid? [True, True] Translation: X:-61.08, Y:-257.45, Z:-2.78 [[-6.57739309e-01 -7.53222210e-01 5.94179344e-03 -6.10757839e+01] [ 7.53194754e-01 -6.57766102e-01 -6.43575180e-03 -2.57454261e+02] [ 8.75586150e-03 2.42280707e-04 9.99961637e-01 -2.78195218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.4665599949999 meters 0.016747206368025867 Centerline is valid? [True, True] Translation: X:-61.09, Y:-257.43, Z:-2.78 [[-6.57628151e-01 -7.53316468e-01 6.28604113e-03 -6.10933860e+01] [ 7.53285778e-01 -6.57658142e-01 -6.80474185e-03 -2.57432676e+02] [ 9.26019022e-03 2.60195582e-04 9.99957090e-01 -2.78218317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.496559995 meters 0.017253321173018636 Centerline is valid? [True, True] Translation: X:-61.11, Y:-257.41, Z:-2.78 [[-6.57552440e-01 -7.53382299e-01 6.31660015e-03 -6.11106411e+01] [ 7.53351352e-01 -6.57582726e-01 -6.83371777e-03 -2.57412160e+02] [ 9.30208915e-03 2.65091469e-04 9.99956700e-01 -2.78211403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.526559995 meters 0.01743019755801112 Centerline is valid? [True, True] Translation: X:-61.13, Y:-257.39, Z:-2.78 [[-6.57703086e-01 -7.53251401e-01 6.24317780e-03 -6.11278973e+01] [ 7.53221202e-01 -6.57732664e-01 -6.75002147e-03 -2.57391066e+02] [ 9.19080510e-03 2.62983937e-04 9.99957729e-01 -2.78175110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.5565599949999 meters 0.017489320780307707 Centerline is valid? [True, True] Translation: X:-61.14, Y:-257.37, Z:-2.78 [[-6.58138121e-01 -7.52875331e-01 5.74013837e-03 -6.11437355e+01] [ 7.52849820e-01 -6.58163109e-01 -6.20246888e-03 -2.57367983e+02] [ 8.44763313e-03 2.39380923e-04 9.99964290e-01 -2.78065031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.5865599949999 meters 0.018224222697549204 Centerline is valid? [True, True] Translation: X:-61.16, Y:-257.35, Z:-2.78 [[-6.58761513e-01 -7.52331643e-01 5.51074262e-03 -6.11607873e+01] [ 7.52308143e-01 -6.58784523e-01 -5.95068595e-03 -2.57348185e+02] [ 8.10728129e-03 2.25693671e-04 9.99967110e-01 -2.78042094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.616559995 meters 0.017809255985911914 Centerline is valid? [True, True] Translation: X:-61.18, Y:-257.33, Z:-2.78 [[-6.59292790e-01 -7.51867525e-01 5.31432494e-03 -6.11772104e+01] [ 7.51845682e-01 -6.59314173e-01 -5.73505597e-03 -2.57325907e+02] [ 7.81581209e-03 2.14471209e-04 9.99969433e-01 -2.77970807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.646559995 meters 0.017309730281608954 Centerline is valid? [True, True] Translation: X:-61.19, Y:-257.30, Z:-2.78 [[-6.60546028e-01 -7.50769007e-01 4.98429665e-03 -6.11928231e+01] [ 7.50749784e-01 -6.60564805e-01 -5.37595283e-03 -2.57301601e+02] [ 7.32854971e-03 1.90895339e-04 9.99973128e-01 -2.77888377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.6765599949999 meters 0.016954748717132522 Centerline is valid? [True, True] Translation: X:-61.21, Y:-257.28, Z:-2.78 [[-6.61324172e-01 -7.50085061e-01 4.76886382e-03 -6.12095341e+01] [ 7.50067468e-01 -6.61341342e-01 -5.14041421e-03 -2.57279380e+02] [ 7.00959470e-03 1.77489445e-04 9.99975417e-01 -2.77902044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.7065599949999 meters 0.016380192010647887 Centerline is valid? [True, True] Translation: X:-61.23, Y:-257.26, Z:-2.78 [[-6.61925996e-01 -7.49553814e-01 4.80154322e-03 -6.12255268e+01] [ 7.49535988e-01 -6.61943388e-01 -5.17238881e-03 -2.57256743e+02] [ 7.05533355e-03 1.75190826e-04 9.99975096e-01 -2.77851146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.736559995 meters 0.01601532995481406 Centerline is valid? [True, True] Translation: X:-61.24, Y:-257.23, Z:-2.78 [[-6.63693205e-01 -7.47988773e-01 4.91170674e-03 -6.12401317e+01] [ 7.47970098e-01 -6.63711359e-01 -5.28817850e-03 -2.57233713e+02] [ 7.21545370e-03 1.64081635e-04 9.99973955e-01 -2.77882248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.766559995 meters 0.015754314627185313 Centerline is valid? [True, True] Translation: X:-61.26, Y:-257.21, Z:-2.78 [[-6.64352157e-01 -7.47404588e-01 4.75325978e-03 -6.12563868e+01] [ 7.47387105e-01 -6.64369143e-01 -5.11439841e-03 -2.57212194e+02] [ 6.98044397e-03 1.54763449e-04 9.99975625e-01 -2.77852798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.7965599949999 meters 0.015551018965883297 Centerline is valid? [True, True] Translation: X:-61.27, Y:-257.19, Z:-2.78 [[-6.65132246e-01 -7.46710346e-01 4.77019112e-03 -6.12733196e+01] [ 7.46692743e-01 -6.65149334e-01 -5.12942757e-03 -2.57190409e+02] [ 7.00308608e-03 1.50119412e-04 9.99975467e-01 -2.77839136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.8265599949999 meters 0.014607512707240556 Centerline is valid? [True, True] Translation: X:-61.29, Y:-257.17, Z:-2.78 [[-6.66241496e-01 -7.45722103e-01 4.56230304e-03 -6.12877570e+01] [ 7.45705996e-01 -6.66257103e-01 -4.90308738e-03 -2.57165488e+02] [ 6.69600744e-03 1.35496464e-04 9.99977572e-01 -2.77726813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.856559995 meters 0.014603368782528917 Centerline is valid? [True, True] Translation: X:-61.30, Y:-257.14, Z:-2.78 [[-6.66973289e-01 -7.45067950e-01 4.51451496e-03 -6.13049307e+01] [ 7.45052183e-01 -6.66988555e-01 -4.84886072e-03 -2.57144285e+02] [ 6.62386053e-03 1.29488640e-04 9.99978054e-01 -2.77721292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.886559995 meters 0.014355388913138896 Centerline is valid? [True, True] Translation: X:-61.32, Y:-257.12, Z:-2.78 [[-6.67931130e-01 -7.44209050e-01 4.57116110e-03 -6.13224520e+01] [ 7.44192883e-01 -6.67946761e-01 -4.90693121e-03 -2.57121840e+02] [ 6.70507486e-03 1.24333452e-04 9.99977513e-01 -2.77743485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.916559995 meters 0.014173188637822269 Centerline is valid? [True, True] Translation: X:-61.34, Y:-257.10, Z:-2.78 [[-6.69058356e-01 -7.43195861e-01 4.56377805e-03 -6.13394191e+01] [ 7.43179741e-01 -6.69073911e-01 -4.89624963e-03 -2.57099570e+02] [ 6.69237729e-03 1.15830668e-04 9.99977599e-01 -2.77753725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.9465599949999 meters 0.013141559337612118 Centerline is valid? [True, True] Translation: X:-61.35, Y:-257.07, Z:-2.78 [[-6.72629777e-01 -7.39964754e-01 4.62014849e-03 -6.13532509e+01] [ 7.39948175e-01 -6.72645639e-01 -4.95401319e-03 -2.57073455e+02] [ 6.77351788e-03 8.64536552e-05 9.99977056e-01 -2.77703944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.976559995 meters 0.012908286594746991 Centerline is valid? [True, True] Translation: X:-61.37, Y:-257.05, Z:-2.78 [[-6.74867303e-01 -7.37925042e-01 4.55582171e-03 -6.13688580e+01] [ 7.37908894e-01 -6.74882677e-01 -4.88222964e-03 -2.57051553e+02] [ 6.67736467e-03 6.69242123e-05 9.99977704e-01 -2.77706699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.006559995 meters 0.012283141625602956 Centerline is valid? [True, True] Translation: X:-61.38, Y:-257.02, Z:-2.78 [[-6.80181487e-01 -7.33031464e-01 4.24479884e-03 -6.13815394e+01] [ 7.33017365e-01 -6.80194732e-01 -4.54638653e-03 -2.57024805e+02] [ 6.21993418e-03 1.91433122e-05 9.99980656e-01 -2.77656782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.036559995 meters 0.012266687967360721 Centerline is valid? [True, True] Translation: X:-61.40, Y:-257.00, Z:-2.78 [[-6.82979343e-01 -7.30424579e-01 4.37631305e-03 -6.13976394e+01] [ 7.30409556e-01 -6.82993364e-01 -4.68461157e-03 -2.57000877e+02] [ 6.41074820e-03 -2.99206154e-06 9.99979451e-01 -2.77666350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.0665599949999 meters 0.012338550378858315 Centerline is valid? [True, True] Translation: X:-61.41, Y:-256.98, Z:-2.78 [[-6.85679106e-01 -7.27890300e-01 4.45811975e-03 -6.14135466e+01] [ 7.27874674e-01 -6.85693598e-01 -4.76950681e-03 -2.56977406e+02] [ 6.52858192e-03 -2.53987023e-05 9.99978688e-01 -2.77654905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.096559995 meters 0.01320611134463921 Centerline is valid? [True, True] Translation: X:-61.43, Y:-256.95, Z:-2.78 [[-6.90256937e-01 -7.23550578e-01 4.46336568e-03 -6.14256560e+01] [ 7.23534838e-01 -6.90271365e-01 -4.77296274e-03 -2.56952343e+02] [ 6.53441347e-03 -6.51700755e-05 9.99978648e-01 -2.77658785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.126559995 meters 0.0134690317445445 Centerline is valid? [True, True] Translation: X:-61.44, Y:-256.93, Z:-2.78 [[-6.92025301e-01 -7.21858887e-01 4.55306672e-03 -6.14429947e+01] [ 7.21842489e-01 -6.92040274e-01 -4.86616897e-03 -2.56929536e+02] [ 6.66359286e-03 -8.09150323e-05 9.99977795e-01 -2.77645603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.156559995 meters 0.01382406363428951 Centerline is valid? [True, True] Translation: X:-61.46, Y:-256.91, Z:-2.78 [[-6.93427507e-01 -7.20509897e-01 4.87656223e-03 -6.14600953e+01] [ 7.20491074e-01 -6.93444647e-01 -5.20901319e-03 -2.56907054e+02] [ 7.13477153e-03 -9.85534711e-05 9.99974542e-01 -2.77637963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.1865599949999 meters 0.014075133738235485 Centerline is valid? [True, True] Translation: X:-61.48, Y:-256.88, Z:-2.78 [[-6.95019753e-01 -7.18971564e-01 5.23769997e-03 -6.14761180e+01] [ 7.18949830e-01 -6.95039478e-01 -5.59164278e-03 -2.56883381e+02] [ 7.66064040e-03 -1.20658677e-04 9.99970650e-01 -2.77650070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.2165599949999 meters 0.014239403631312384 Centerline is valid? [True, True] Translation: X:-61.49, Y:-256.86, Z:-2.78 [[-6.95185803e-01 -7.18808780e-01 5.53504727e-03 -6.14933171e+01] [ 7.18784533e-01 -6.95207826e-01 -5.90539298e-03 -2.56862592e+02] [ 8.09285651e-03 -1.26838996e-04 9.99967244e-01 -2.77672056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.246559995 meters 0.014753771598922149 Centerline is valid? [True, True] Translation: X:-61.51, Y:-256.84, Z:-2.78 [[-6.94951982e-01 -7.19033519e-01 5.70457396e-03 -6.15095619e+01] [ 7.19007804e-01 -6.94975383e-01 -6.08227679e-03 -2.56842376e+02] [ 8.33789935e-03 -1.25257111e-04 9.99965231e-01 -2.77767293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.276559995 meters 0.013807299394307693 Centerline is valid? [True, True] Translation: X:-61.53, Y:-256.82, Z:-2.78 [[-6.93776817e-01 -7.20164539e-01 6.06340807e-03 -6.15284731e+01] [ 7.20135566e-01 -6.93803303e-01 -6.46083392e-03 -2.56822756e+02] [ 8.85967603e-03 -1.15900994e-04 9.99960746e-01 -2.77701350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.3065599949999 meters 0.014167417260109326 Centerline is valid? [True, True] Translation: X:-61.55, Y:-256.80, Z:-2.78 [[-6.93019693e-01 -7.20894602e-01 5.88884339e-03 -6.15453512e+01] [ 7.20867335e-01 -6.93044705e-01 -6.27072141e-03 -2.56802714e+02] [ 8.60176094e-03 -1.00658583e-04 9.99962999e-01 -2.77768172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.3365599949999 meters 0.013471790808009644 Centerline is valid? [True, True] Translation: X:-61.57, Y:-256.78, Z:-2.78 [[-6.92119320e-01 -7.21758799e-01 5.92308018e-03 -6.15650655e+01] [ 7.21731280e-01 -6.92144658e-01 -6.30325797e-03 -2.56783511e+02] [ 8.64906021e-03 -8.77343730e-05 9.99962592e-01 -2.77652094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.366559995 meters 0.013274898332890642 Centerline is valid? [True, True] Translation: X:-61.58, Y:-256.76, Z:-2.78 [[-6.91231050e-01 -7.22607635e-01 6.15157053e-03 -6.15839694e+01] [ 7.22578022e-01 -6.91258418e-01 -6.54235999e-03 -2.56763694e+02] [ 8.97988419e-03 -7.72926983e-05 9.99959677e-01 -2.77665400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.396559995 meters 0.012873819262107494 Centerline is valid? [True, True] Translation: X:-61.60, Y:-256.74, Z:-2.78 [[-6.89072861e-01 -7.24665187e-01 6.24167886e-03 -6.16031640e+01] [ 7.24634818e-01 -6.89101127e-01 -6.63448464e-03 -2.56743405e+02] [ 9.10892799e-03 -4.87054873e-05 9.99958512e-01 -2.77669486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.4265599949999 meters 0.012768335762536354 Centerline is valid? [True, True] Translation: X:-61.62, Y:-256.72, Z:-2.78 [[-6.88193401e-01 -7.25499586e-01 6.33990220e-03 -6.16223322e+01] [ 7.25468324e-01 -6.88222602e-01 -6.73511066e-03 -2.56723264e+02] [ 9.24958398e-03 -3.56604830e-05 9.99957221e-01 -2.77670070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.4565599949999 meters 0.01270474078394105 Centerline is valid? [True, True] Translation: X:-61.64, Y:-256.70, Z:-2.78 [[-6.87223884e-01 -7.26417351e-01 6.41608125e-03 -6.16410089e+01] [ 7.26385412e-01 -6.87253834e-01 -6.81176788e-03 -2.56703801e+02] [ 9.35766281e-03 -2.06617572e-05 9.99956216e-01 -2.77672307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.486559995 meters 0.012649159636177496 Centerline is valid? [True, True] Translation: X:-61.66, Y:-256.68, Z:-2.78 [[-6.86376632e-01 -7.27220559e-01 6.11374391e-03 -6.16597537e+01] [ 7.27191628e-01 -6.86403860e-01 -6.48670559e-03 -2.56684096e+02] [ 8.91376308e-03 -6.45974663e-06 9.99960272e-01 -2.77703209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.516559995 meters 0.012676650283212486 Centerline is valid? [True, True] Translation: X:-61.68, Y:-256.66, Z:-2.78 [[-6.85185309e-01 -7.28342159e-01 6.22827076e-03 -6.16780417e+01] [ 7.28312220e-01 -6.85213616e-01 -6.60386999e-03 -2.56664782e+02] [ 9.07757286e-03 1.12509978e-05 9.99958798e-01 -2.77719903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.5465599949999 meters 0.012729361329030733 Centerline is valid? [True, True] Translation: X:-61.70, Y:-256.64, Z:-2.78 [[-6.84953456e-01 -7.28559572e-01 6.30188821e-03 -6.16968426e+01] [ 7.28528968e-01 -6.84982445e-01 -6.67773049e-03 -2.56644926e+02] [ 9.18180726e-03 1.71735375e-05 9.99957846e-01 -2.77667688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.5765599949999 meters 0.012738101647844812 Centerline is valid? [True, True] Translation: X:-61.71, Y:-256.63, Z:-2.78 [[-6.84983697e-01 -7.28531336e-01 6.27912172e-03 -6.17143138e+01] [ 7.28500992e-01 -6.85012476e-01 -6.64922755e-03 -2.56625951e+02] [ 9.14544735e-03 1.97339289e-05 9.99958179e-01 -2.77717185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.606559995 meters 0.012704854230308585 Centerline is valid? [True, True] Translation: X:-61.73, Y:-256.60, Z:-2.78 [[-6.85907305e-01 -7.27661174e-01 6.35496147e-03 -6.17316007e+01] [ 7.27630094e-01 -6.85936744e-01 -6.72532483e-03 -2.56604620e+02] [ 9.25285933e-03 1.11117889e-05 9.99957191e-01 -2.77649951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.636559995 meters 0.012715198771078037 Centerline is valid? [True, True] Translation: X:-61.75, Y:-256.58, Z:-2.78 [[-6.87060793e-01 -7.26569286e-01 6.67385038e-03 -6.17492984e+01] [ 7.26535000e-01 -6.87093206e-01 -7.05835719e-03 -2.56584370e+02] [ 9.71394279e-03 -7.34596525e-07 9.99952819e-01 -2.77614030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.666559995 meters 0.012857019503306094 Centerline is valid? [True, True] Translation: X:-61.77, Y:-256.56, Z:-2.78 [[-6.88450580e-01 -7.25254360e-01 6.47397802e-03 -6.17659917e+01] [ 7.25222082e-01 -6.88481018e-01 -6.84246143e-03 -2.56564656e+02] [ 9.41973597e-03 -1.56247217e-05 9.99955633e-01 -2.77644033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.6965599949999 meters 0.01287805359590233 Centerline is valid? [True, True] Translation: X:-61.78, Y:-256.54, Z:-2.78 [[-6.90031836e-01 -7.23750250e-01 6.45299545e-03 -6.17846947e+01] [ 7.23718151e-01 -6.90062008e-01 -6.81641644e-03 -2.56543061e+02] [ 9.38635010e-03 -3.33944206e-05 9.99955947e-01 -2.77596212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.726559995 meters 0.013288232206593972 Centerline is valid? [True, True] Translation: X:-61.80, Y:-256.52, Z:-2.78 [[-6.93674041e-01 -7.20256200e-01 6.87976015e-03 -6.18010261e+01] [ 7.20219585e-01 -6.93708152e-01 -7.26287234e-03 -2.56521106e+02] [ 1.00036745e-02 -8.31280025e-05 9.99949959e-01 -2.77654784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.756559995 meters 0.01359204733970272 Centerline is valid? [True, True] Translation: X:-61.82, Y:-256.50, Z:-2.78 [[-6.95726612e-01 -7.18271192e-01 7.13976175e-03 -6.18195884e+01] [ 7.18231694e-01 -6.95763237e-01 -7.53329941e-03 -2.56499095e+02] [ 1.03785357e-02 -1.13113702e-04 9.99946135e-01 -2.77657049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.786559995 meters 0.014096890071004335 Centerline is valid? [True, True] Translation: X:-61.84, Y:-256.48, Z:-2.78 [[-6.98128219e-01 -7.15935101e-01 7.34307607e-03 -6.18364328e+01] [ 7.15893242e-01 -6.98166821e-01 -7.74317464e-03 -2.56478091e+02] [ 1.06703026e-02 -1.48870188e-04 9.99943060e-01 -2.77681797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.8165599949999 meters 0.01492317096641629 Centerline is valid? [True, True] Translation: X:-61.85, Y:-256.46, Z:-2.78 [[-7.00229921e-01 -7.13876733e-01 7.62025721e-03 -6.18528404e+01] [ 7.13831570e-01 -7.00271359e-01 -8.03203459e-03 -2.56456999e+02] [ 1.10701305e-02 -1.84690774e-04 9.99938707e-01 -2.77691265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.846559995 meters 0.01570163650912568 Centerline is valid? [True, True] Translation: X:-61.87, Y:-256.43, Z:-2.78 [[-7.04329183e-01 -7.09828955e-01 7.95338120e-03 -6.18700425e+01] [ 7.09779553e-01 -7.04374041e-01 -8.37840127e-03 -2.56434413e+02] [ 1.15493871e-02 -2.56005172e-04 9.99933271e-01 -2.77678956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.876559995 meters 0.01648877639871808 Centerline is valid? [True, True] Translation: X:-61.89, Y:-256.41, Z:-2.78 [[-7.06125936e-01 -7.08040909e-01 8.01466757e-03 -6.18882781e+01] [ 7.07990681e-01 -7.06171361e-01 -8.43824572e-03 -2.56413051e+02] [ 1.16343519e-02 -2.84154196e-04 9.99932278e-01 -2.77698469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.906559995 meters 0.017434635213022666 Centerline is valid? [True, True] Translation: X:-61.91, Y:-256.39, Z:-2.78 [[-7.08676502e-01 -7.05484360e-01 8.33263989e-03 -6.19060119e+01] [ 7.05429954e-01 -7.08725409e-01 -8.76784288e-03 -2.56391937e+02] [ 1.20911296e-02 -3.35470455e-04 9.99926843e-01 -2.77721598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.9365599949999 meters 0.017410316713519766 Centerline is valid? [True, True] Translation: X:-61.93, Y:-256.37, Z:-2.78 [[-7.09403692e-01 -7.04754415e-01 8.22298056e-03 -6.19252763e+01] [ 7.04701440e-01 -7.09451267e-01 -8.64762368e-03 -2.56371074e+02] [ 1.19282549e-02 -3.39909929e-04 9.99928798e-01 -2.77709370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.9665599949999 meters 0.017299837636486525 Centerline is valid? [True, True] Translation: X:-61.94, Y:-256.35, Z:-2.78 [[-7.09912356e-01 -7.04242173e-01 8.21030281e-03 -6.19444408e+01] [ 7.04189384e-01 -7.09959748e-01 -8.62943942e-03 -2.56351058e+02] [ 1.19061997e-02 -3.44537587e-04 9.99929059e-01 -2.77678157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.996559995 meters 0.017643906914459245 Centerline is valid? [True, True] Translation: X:-61.96, Y:-256.33, Z:-2.78 [[-7.09674017e-01 -7.04478859e-01 8.50452269e-03 -6.19623826e+01] [ 7.04422301e-01 -7.09724887e-01 -8.93345498e-03 -2.56331280e+02] [ 1.23293016e-02 -3.49065442e-04 9.99923930e-01 -2.77716715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.026559995 meters 0.017643906914459245 Centerline is valid? [True, True] Translation: X:-61.98, Y:-256.31, Z:-2.78 [[-7.09892916e-01 -7.04258244e-01 8.50729892e-03 -6.19809197e+01] [ 7.04201702e-01 -7.09943803e-01 -8.93081123e-03 -2.56311953e+02] [ 1.23293016e-02 -3.49065248e-04 9.99923930e-01 -2.77716742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.0565599949999 meters 0.018235814433888827 Centerline is valid? [True, True] Translation: X:-62.00, Y:-256.29, Z:-2.78 [[-7.09388126e-01 -7.04766275e-01 8.54312318e-03 -6.19986982e+01] [ 7.04709365e-01 -7.09439486e-01 -8.96257396e-03 -2.56292349e+02] [ 1.23773488e-02 -3.37524634e-04 9.99923341e-01 -2.77778147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.0865599949999 meters 0.016214167163667036 Centerline is valid? [True, True] Translation: X:-62.02, Y:-256.27, Z:-2.78 [[-7.06861519e-01 -7.07298703e-01 8.67973255e-03 -6.20213144e+01] [ 7.07240213e-01 -7.06914746e-01 -9.10071871e-03 -2.56274961e+02] [ 1.25727575e-02 -2.94291951e-04 9.99920917e-01 -2.77734485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.116559995 meters 0.016103104089033354 Centerline is valid? [True, True] Translation: X:-62.04, Y:-256.26, Z:-2.78 [[-7.05330196e-01 -7.08827998e-01 8.49616095e-03 -6.20414025e+01] [ 7.08772127e-01 -7.05381318e-01 -8.90333192e-03 -2.56255994e+02] [ 1.23039641e-02 -2.57946779e-04 9.99924270e-01 -2.77806592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.146559995 meters 0.015426853538526233 Centerline is valid? [True, True] Translation: X:-62.06, Y:-256.24, Z:-2.78 [[-7.03435670e-01 -7.10710817e-01 8.26998930e-03 -6.20624222e+01] [ 7.10658067e-01 -7.03484248e-01 -8.66162448e-03 -2.56237622e+02] [ 1.19737174e-02 -2.15761002e-04 9.99928289e-01 -2.77821661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.1765599949999 meters 0.01344965324662449 Centerline is valid? [True, True] Translation: X:-62.09, Y:-256.22, Z:-2.78 [[-6.98207064e-01 -7.15854881e-01 7.66061999e-03 -6.20869251e+01] [ 7.15809975e-01 -6.98249079e-01 -8.01897143e-03 -2.56222012e+02] [ 1.10894407e-02 -1.15354299e-04 9.99938504e-01 -2.77659129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.2065599949999 meters 0.013041964143509185 Centerline is valid? [True, True] Translation: X:-62.11, Y:-256.20, Z:-2.78 [[-6.95429639e-01 -7.18558551e-01 7.15723840e-03 -6.21083581e+01] [ 7.18519538e-01 -6.95466465e-01 -7.48794535e-03 -2.56203444e+02] [ 1.03581465e-02 -6.47235085e-05 9.99946351e-01 -2.77643801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.236559995 meters 0.012740393227757697 Centerline is valid? [True, True] Translation: X:-62.13, Y:-256.19, Z:-2.78 [[-6.89409201e-01 -7.24342459e-01 6.55406938e-03 -6.21313456e+01] [ 7.24310041e-01 -6.89440354e-01 -6.85293440e-03 -2.56187674e+02] [ 9.48251127e-03 2.27022351e-05 9.99955040e-01 -2.77613765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.266559995 meters 0.013071607680771282 Centerline is valid? [True, True] Translation: X:-62.15, Y:-256.17, Z:-2.78 [[-6.86543331e-01 -7.27060770e-01 6.39467538e-03 -6.21528916e+01] [ 7.27030064e-01 -6.86573108e-01 -6.68228394e-03 -2.56170668e+02] [ 9.24883866e-03 6.14437800e-05 9.99957227e-01 -2.77685943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.2965599949999 meters 0.01345306933919126 Centerline is valid? [True, True] Translation: X:-62.17, Y:-256.15, Z:-2.78 [[-6.83682761e-01 -7.29751930e-01 6.32482713e-03 -6.21740634e+01] [ 7.29722040e-01 -6.83712009e-01 -6.60556340e-03 -2.56152557e+02] [ 9.14478290e-03 9.92559295e-05 9.99958181e-01 -2.77637211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.3265599949999 meters 0.015010042900463807 Centerline is valid? [True, True] Translation: X:-62.20, Y:-256.14, Z:-2.78 [[-6.78221601e-01 -7.34832282e-01 6.08094113e-03 -6.21968644e+01] [ 7.34804884e-01 -6.78248842e-01 -6.34754439e-03 -2.56137462e+02] [ 8.78877181e-03 1.63263519e-04 9.99961365e-01 -2.77636017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.356559995 meters 0.016549557695897738 Centerline is valid? [True, True] Translation: X:-62.22, Y:-256.12, Z:-2.78 [[-6.73846822e-01 -7.38847017e-01 5.96213307e-03 -6.22191117e+01] [ 7.38820866e-01 -6.73873163e-01 -6.21997862e-03 -2.56120053e+02] [ 8.61333412e-03 2.13635488e-04 9.99962882e-01 -2.77617502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.386559995 meters 0.016549557695897738 Centerline is valid? [True, True] Translation: X:-62.24, Y:-256.10, Z:-2.78 [[-6.74054451e-01 -7.38657586e-01 5.96388102e-03 -6.22382563e+01] [ 7.38631442e-01 -6.74080801e-01 -6.21830266e-03 -2.56100187e+02] [ 8.61333412e-03 2.13635449e-04 9.99962882e-01 -2.77617531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.416559995 meters 0.019008612019343025 Centerline is valid? [True, True] Translation: X:-62.26, Y:-256.08, Z:-2.78 [[-6.71321729e-01 -7.41142770e-01 5.87624121e-03 -6.22599291e+01] [ 7.41117506e-01 -6.71347402e-01 -6.12441236e-03 -2.56083675e+02] [ 8.48406321e-03 2.43534134e-04 9.99963980e-01 -2.77702584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.4465599949999 meters 0.018265521900435348 Centerline is valid? [True, True] Translation: X:-62.28, Y:-256.06, Z:-2.78 [[-6.70697801e-01 -7.41707008e-01 5.93076052e-03 -6.22780398e+01] [ 7.41681324e-01 -6.70723973e-01 -6.17777381e-03 -2.56062559e+02] [ 8.56000139e-03 2.55315005e-04 9.99963330e-01 -2.77679127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.476559995 meters 0.01858430787507569 Centerline is valid? [True, True] Translation: X:-62.30, Y:-256.04, Z:-2.78 [[-6.70517374e-01 -7.41869817e-01 5.96872067e-03 -6.22966376e+01] [ 7.41843843e-01 -6.70543888e-01 -6.21340878e-03 -2.56043056e+02] [ 8.61182960e-03 2.61660138e-04 9.99962883e-01 -2.77713110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.506559995 meters 0.019307718800135088 Centerline is valid? [True, True] Translation: X:-62.32, Y:-256.02, Z:-2.78 [[-6.70744799e-01 -7.41662266e-01 6.20473729e-03 -6.23152481e+01] [ 7.41634216e-01 -6.70773442e-01 -6.45596641e-03 -2.56024124e+02] [ 8.95011966e-03 2.71339583e-04 9.99959910e-01 -2.77802063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.536559995 meters 0.01847628171282988 Centerline is valid? [True, True] Translation: X:-62.33, Y:-256.00, Z:-2.78 [[-6.72039252e-01 -7.40482465e-01 6.99740586e-03 -6.23310457e+01] [ 7.40446772e-01 -6.72075617e-01 -7.27620769e-03 -2.56002087e+02] [ 1.00906901e-02 2.91309408e-04 9.99949045e-01 -2.77928167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.5665599949999 meters 0.0178867265352775 Centerline is valid? [True, True] Translation: X:-62.35, Y:-255.98, Z:-2.78 [[-6.73121190e-01 -7.39497547e-01 7.15838553e-03 -6.23478563e+01] [ 7.39460185e-01 -6.73159191e-01 -7.43895048e-03 -2.55980377e+02] [ 1.03198186e-02 2.86025894e-04 9.99946708e-01 -2.77928423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.596559995 meters 0.016940896717603397 Centerline is valid? [True, True] Translation: X:-62.36, Y:-255.96, Z:-2.78 [[-6.74531538e-01 -7.38208144e-01 7.47933397e-03 -6.23645486e+01] [ 7.38167325e-01 -6.74572945e-01 -7.76810298e-03 -2.55957995e+02] [ 1.07798332e-02 2.81169495e-04 9.99941856e-01 -2.77911202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.626559995 meters 0.01683726443367869 Centerline is valid? [True, True] Translation: X:-62.38, Y:-255.94, Z:-2.78 [[-6.75817205e-01 -7.37028616e-01 7.74108370e-03 -6.23815180e+01] [ 7.36984863e-01 -6.75861483e-01 -8.03540488e-03 -2.55937000e+02] [ 1.11542236e-02 2.74596645e-04 9.99937752e-01 -2.77968310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.656559995 meters 0.015641380776595756 Centerline is valid? [True, True] Translation: X:-62.40, Y:-255.91, Z:-2.78 [[-6.78669260e-01 -7.34407182e-01 7.35710744e-03 -6.23958007e+01] [ 7.34367554e-01 -6.78709100e-01 -7.63247388e-03 -2.55911712e+02] [ 1.05986794e-02 2.22895598e-04 9.99943808e-01 -2.77873716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.6865599949999 meters 0.015044180099624884 Centerline is valid? [True, True] Translation: X:-62.41, Y:-255.89, Z:-2.78 [[-6.80452824e-01 -7.32761853e-01 6.63481952e-03 -6.24120617e+01] [ 7.32729583e-01 -6.80485146e-01 -6.87926504e-03 -2.55888754e+02] [ 9.55575914e-03 1.80513217e-04 9.99954326e-01 -2.77782915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.7165599949999 meters 0.014102710364839078 Centerline is valid? [True, True] Translation: X:-62.42, Y:-255.86, Z:-2.78 [[-6.84232025e-01 -7.29241811e-01 5.73738707e-03 -6.24248496e+01] [ 7.29217581e-01 -6.84256069e-01 -5.94568521e-03 -2.55863912e+02] [ 8.26168418e-03 1.15575286e-04 9.99965865e-01 -2.77628389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.746559995 meters 0.013540301187709247 Centerline is valid? [True, True] Translation: X:-62.44, Y:-255.84, Z:-2.78 [[-6.86380613e-01 -7.27224123e-01 5.17005822e-03 -6.24408763e+01] [ 7.27204414e-01 -6.86400079e-01 -5.35471307e-03 -2.55840694e+02] [ 7.44280489e-03 8.43179146e-05 9.99972298e-01 -2.77533470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.776559995 meters 0.013258943680387419 Centerline is valid? [True, True] Translation: X:-62.46, Y:-255.82, Z:-2.78 [[-6.88465959e-01 -7.25253786e-01 4.64421260e-03 -6.24567333e+01] [ 7.25237856e-01 -6.88481621e-01 -4.80733340e-03 -2.55818753e+02] [ 6.68399177e-03 5.84733883e-05 9.99977660e-01 -2.77510702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.8065599949999 meters 0.012835736520827444 Centerline is valid? [True, True] Translation: X:-62.47, Y:-255.79, Z:-2.77 [[-6.92269437e-01 -7.21626544e-01 4.26115284e-03 -6.24708687e+01] [ 7.21613079e-01 -6.92282551e-01 -4.40837877e-03 -2.55793185e+02] [ 6.13112490e-03 2.31177382e-05 9.99981204e-01 -2.77442305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.8365599949999 meters 0.012777956525588042 Centerline is valid? [True, True] Translation: X:-62.49, Y:-255.77, Z:-2.77 [[-6.94053551e-01 -7.19911601e-01 4.11766206e-03 -6.24877206e+01] [ 7.19899011e-01 -6.94065766e-01 -4.25751858e-03 -2.55770852e+02] [ 5.92296529e-03 9.35495556e-06 9.99982459e-01 -2.77398511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.866559995 meters 0.012813876585530985 Centerline is valid? [True, True] Translation: X:-62.50, Y:-255.75, Z:-2.77 [[-6.95448956e-01 -7.18562985e-01 4.24100372e-03 -6.25044719e+01] [ 7.18549621e-01 -6.95461887e-01 -4.38243454e-03 -2.55749302e+02] [ 6.09851169e-03 -3.87913670e-07 9.99981404e-01 -2.77427595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.896559995 meters 0.01286804318411755 Centerline is valid? [True, True] Translation: X:-62.52, Y:-255.73, Z:-2.77 [[-6.96425751e-01 -7.17617179e-01 4.09375578e-03 -6.25222866e+01] [ 7.17604726e-01 -6.96437783e-01 -4.22762113e-03 -2.55728080e+02] [ 5.88485975e-03 -6.52572867e-06 9.99982684e-01 -2.77417043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.9265599949999 meters 0.012769323338024826 Centerline is valid? [True, True] Translation: X:-62.54, Y:-255.71, Z:-2.77 [[-6.95424315e-01 -7.18589341e-01 3.79211965e-03 -6.25423227e+01] [ 7.18578681e-01 -6.95434654e-01 -3.91422412e-03 -2.55710332e+02] [ 5.44989115e-03 2.88970826e-06 9.99985149e-01 -2.77447041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.9565599949999 meters 0.012846629853287305 Centerline is valid? [True, True] Translation: X:-62.56, Y:-255.69, Z:-2.77 [[-6.94317982e-01 -7.19657544e-01 3.94450867e-03 -6.25627316e+01] [ 7.19646041e-01 -6.94329187e-01 -4.06900843e-03 -2.55691776e+02] [ 5.66708011e-03 1.34643246e-05 9.99983942e-01 -2.77476553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.986559995 meters 0.01291675716881015 Centerline is valid? [True, True] Translation: X:-62.58, Y:-255.67, Z:-2.77 [[-6.92348776e-01 -7.21547885e-01 4.67143342e-03 -6.25836767e+01] [ 7.21531813e-01 -6.92364534e-01 -4.81614381e-03 -2.55672684e+02] [ 6.70941320e-03 3.61365573e-05 9.99977491e-01 -2.77490092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.016559995 meters 0.013028666035876116 Centerline is valid? [True, True] Translation: X:-62.60, Y:-255.65, Z:-2.77 [[-6.91707079e-01 -7.22162288e-01 4.79030127e-03 -6.26029455e+01] [ 7.22145422e-01 -6.91723664e-01 -4.93573789e-03 -2.55654044e+02] [ 6.87796852e-03 4.52092990e-05 9.99976346e-01 -2.77496876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.0465599949999 meters 0.013145959141211656 Centerline is valid? [True, True] Translation: X:-62.62, Y:-255.63, Z:-2.77 [[-6.91254668e-01 -7.22594801e-01 4.87215764e-03 -6.26229483e+01] [ 7.22577384e-01 -6.91271836e-01 -5.01725743e-03 -2.55634006e+02] [ 6.99342949e-03 5.23083002e-05 9.99975544e-01 -2.77488247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.0765599949999 meters 0.013265998764494063 Centerline is valid? [True, True] Translation: X:-62.64, Y:-255.62, Z:-2.77 [[-6.91280505e-01 -7.22570342e-01 4.83361997e-03 -6.26417830e+01] [ 7.22553222e-01 -6.91297402e-01 -4.97427631e-03 -2.55615183e+02] [ 6.93573346e-03 5.39274481e-05 9.99975946e-01 -2.77498098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.106559995 meters 0.013260109716836282 Centerline is valid? [True, True] Translation: X:-62.66, Y:-255.60, Z:-2.77 [[-6.91646424e-01 -7.22222787e-01 4.41248733e-03 -6.26610797e+01] [ 7.22208531e-01 -6.91660498e-01 -4.53804489e-03 -2.55595797e+02] [ 6.32942261e-03 4.80134679e-05 9.99979968e-01 -2.77455668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.136559995 meters 0.013236883953193366 Centerline is valid? [True, True] Translation: X:-62.68, Y:-255.58, Z:-2.77 [[-6.92065751e-01 -7.21822618e-01 4.13570910e-03 -6.26804833e+01] [ 7.21810104e-01 -6.92078107e-01 -4.25072121e-03 -2.55576432e+02] [ 5.93050044e-03 4.34180518e-05 9.99982414e-01 -2.77443624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.166559995 meters 0.013199890303652411 Centerline is valid? [True, True] Translation: X:-62.70, Y:-255.56, Z:-2.77 [[-6.92573065e-01 -7.21335679e-01 4.16984087e-03 -6.26997274e+01] [ 7.21322964e-01 -6.92585617e-01 -4.28313245e-03 -2.55557313e+02] [ 5.97754806e-03 4.14198069e-05 9.99982134e-01 -2.77455439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.1965599949999 meters 0.013238846903515431 Centerline is valid? [True, True] Translation: X:-62.72, Y:-255.54, Z:-2.77 [[-6.92781447e-01 -7.21135358e-01 4.20260949e-03 -6.27188555e+01] [ 7.21122455e-01 -6.92794193e-01 -4.31408083e-03 -2.55537511e+02] [ 6.02257967e-03 4.18809178e-05 9.99981863e-01 -2.77411872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.226559995 meters 0.01326668697045092 Centerline is valid? [True, True] Translation: X:-62.74, Y:-255.52, Z:-2.77 [[-6.92885583e-01 -7.21035902e-01 4.09835482e-03 -6.27381702e+01] [ 7.21023645e-01 -6.92897702e-01 -4.20442476e-03 -2.55517842e+02] [ 5.87128184e-03 4.18254325e-05 9.99982763e-01 -2.77343583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.256559995 meters 0.013326996129200944 Centerline is valid? [True, True] Translation: X:-62.76, Y:-255.50, Z:-2.77 [[-6.92724231e-01 -7.21189155e-01 4.39810783e-03 -6.27576794e+01] [ 7.21175060e-01 -6.92738191e-01 -4.50911207e-03 -2.55498126e+02] [ 6.29865998e-03 4.82344871e-05 9.99980162e-01 -2.77291818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.286559995 meters 0.013483775091585175 Centerline is valid? [True, True] Translation: X:-62.78, Y:-255.48, Z:-2.77 [[-6.92299411e-01 -7.21599679e-01 3.92793660e-03 -6.27771753e+01] [ 7.21588457e-01 -6.92310553e-01 -4.02456718e-03 -2.55478976e+02] [ 5.62347834e-03 4.81482210e-05 9.99984187e-01 -2.77254503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.3165599949999 meters 0.013901649381815115 Centerline is valid? [True, True] Translation: X:-62.80, Y:-255.46, Z:-2.77 [[-6.91427902e-01 -7.22436713e-01 3.55708356e-03 -6.27968378e+01] [ 7.22427533e-01 -6.91437050e-01 -3.64221085e-03 -2.55461174e+02] [ 5.09076620e-03 5.14088980e-05 9.99987041e-01 -2.77178980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.346559995 meters 0.013708238782589697 Centerline is valid? [True, True] Translation: X:-62.82, Y:-255.44, Z:-2.77 [[-6.90910134e-01 -7.22933091e-01 3.30628255e-03 -6.28162096e+01] [ 7.22925176e-01 -6.90918043e-01 -3.38350550e-03 -2.55440958e+02] [ 4.73041836e-03 5.24966503e-05 9.99988810e-01 -2.77104764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.376559995 meters 0.013798396224529112 Centerline is valid? [True, True] Translation: X:-62.84, Y:-255.42, Z:-2.77 [[-6.90493392e-01 -7.23330922e-01 3.35447442e-03 -6.28355297e+01] [ 7.23322789e-01 -6.90501538e-01 -3.43065391e-03 -2.55422021e+02] [ 4.79776781e-03 5.75239371e-05 9.99988489e-01 -2.77069424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.406559995 meters 0.01435147741849117 Centerline is valid? [True, True] Translation: X:-62.85, Y:-255.40, Z:-2.77 [[-6.90077498e-01 -7.23728778e-01 3.11481943e-03 -6.28548973e+01] [ 7.23721779e-01 -6.90084526e-01 -3.18344806e-03 -2.55404203e+02] [ 4.45344167e-03 5.74367870e-05 9.99990082e-01 -2.77091879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.4365599949999 meters 0.014399750135535119 Centerline is valid? [True, True] Translation: X:-62.87, Y:-255.38, Z:-2.77 [[-6.89066583e-01 -7.24690821e-01 3.23399302e-03 -6.28746377e+01] [ 7.24683295e-01 -6.89074169e-01 -3.30338428e-03 -2.55384041e+02] [ 4.62239332e-03 6.73689956e-05 9.99989315e-01 -2.76994331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.4665599949999 meters 0.014842270835812058 Centerline is valid? [True, True] Translation: X:-62.89, Y:-255.37, Z:-2.77 [[-6.88735787e-01 -7.25003949e-01 3.50565882e-03 -6.28939681e+01] [ 7.24995119e-01 -6.88744704e-01 -3.57912638e-03 -2.55365966e+02] [ 5.00938471e-03 7.65131082e-05 9.99987450e-01 -2.77001786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.496559995 meters 0.014922309075042134 Centerline is valid? [True, True] Translation: X:-62.91, Y:-255.35, Z:-2.77 [[-6.88133500e-01 -7.25574199e-01 3.79049921e-03 -6.29137586e+01] [ 7.25563895e-01 -6.88143934e-01 -3.86778483e-03 -2.55345439e+02] [ 5.41477392e-03 8.86970553e-05 9.99985336e-01 -2.76964443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.526559995 meters 0.0153080716480727 Centerline is valid? [True, True] Translation: X:-62.93, Y:-255.33, Z:-2.77 [[-6.88446125e-01 -7.25274921e-01 4.26874388e-03 -6.29326650e+01] [ 7.25261865e-01 -6.88459352e-01 -4.35292722e-03 -2.55327792e+02] [ 6.09592559e-03 9.92012681e-05 9.99981415e-01 -2.77003163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.5565599949999 meters 0.01485702702478167 Centerline is valid? [True, True] Translation: X:-62.95, Y:-255.31, Z:-2.77 [[-6.88789331e-01 -7.24947010e-01 4.59236667e-03 -6.29505566e+01] [ 7.24931911e-01 -6.88804632e-01 -4.67997620e-03 -2.55307505e+02] [ 6.55597819e-03 1.05635474e-04 9.99978504e-01 -2.76970243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.5865599949999 meters 0.014566513405920776 Centerline is valid? [True, True] Translation: X:-62.97, Y:-255.29, Z:-2.77 [[-6.90208974e-01 -7.23591460e-01 5.19327653e-03 -6.29682668e+01] [ 7.23572138e-01 -6.90228503e-01 -5.28902605e-03 -2.55287325e+02] [ 7.41164157e-03 1.07176958e-04 9.99972528e-01 -2.77025668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.616559995 meters 0.014354992780378198 Centerline is valid? [True, True] Translation: X:-62.99, Y:-255.27, Z:-2.77 [[-6.91319703e-01 -7.22528044e-01 5.50403037e-03 -6.29862780e+01] [ 7.22506334e-01 -6.91341605e-01 -5.60198676e-03 -2.55267036e+02] [ 7.85275773e-03 1.03932980e-04 9.99969161e-01 -2.77027268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.646559995 meters 0.014200224224120372 Centerline is valid? [True, True] Translation: X:-63.00, Y:-255.25, Z:-2.77 [[-6.92504863e-01 -7.21392272e-01 5.49593376e-03 -6.30034745e+01] [ 7.21370612e-01 -6.92526665e-01 -5.59102961e-03 -2.55247384e+02] [ 7.83940623e-03 9.27899061e-05 9.99969267e-01 -2.77043721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.6765599949999 meters 0.014075603148601241 Centerline is valid? [True, True] Translation: X:-63.02, Y:-255.23, Z:-2.77 [[-6.94223818e-01 -7.19735735e-01 5.81047081e-03 -6.30209328e+01] [ 7.19711498e-01 -6.94248129e-01 -5.90718484e-03 -2.55227200e+02] [ 8.28552051e-03 8.09542389e-05 9.99965671e-01 -2.77078429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.7065599949999 meters 0.013388110504435278 Centerline is valid? [True, True] Translation: X:-63.04, Y:-255.20, Z:-2.77 [[-6.97375181e-01 -7.16681708e-01 5.93180385e-03 -6.30368626e+01] [ 7.16656366e-01 -6.97400407e-01 -6.02701425e-03 -2.55203945e+02] [ 8.45629328e-03 4.79748408e-05 9.99964244e-01 -2.76981812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.736559995 meters 0.013301045177198711 Centerline is valid? [True, True] Translation: X:-63.06, Y:-255.18, Z:-2.77 [[-6.98606021e-01 -7.15485384e-01 5.50389477e-03 -6.30558694e+01] [ 7.15463557e-01 -6.98627701e-01 -5.58875812e-03 -2.55183841e+02] [ 7.84384809e-03 3.34960628e-05 9.99969236e-01 -2.76894836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.766559995 meters 0.013188128185905446 Centerline is valid? [True, True] Translation: X:-63.07, Y:-255.16, Z:-2.77 [[-7.00542149e-01 -7.13595794e-01 4.66276115e-03 -6.30748164e+01] [ 7.13580106e-01 -7.00557666e-01 -4.73169807e-03 -2.55163807e+02] [ 6.64305290e-03 1.24996656e-05 9.99977935e-01 -2.76780244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.7965599949999 meters 0.013126056855758968 Centerline is valid? [True, True] Translation: X:-63.09, Y:-255.14, Z:-2.77 [[-7.01405989e-01 -7.12747408e-01 4.55747898e-03 -6.30940975e+01] [ 7.12732422e-01 -7.01420795e-01 -4.62197364e-03 -2.55143840e+02] [ 6.49101026e-03 6.38304276e-06 9.99978933e-01 -2.76746494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.8265599949999 meters 0.013125892308664849 Centerline is valid? [True, True] Translation: X:-63.11, Y:-255.12, Z:-2.77 [[-7.02131748e-01 -7.12033763e-01 4.35080932e-03 -6.31138642e+01] [ 7.12020107e-01 -7.02145228e-01 -4.40989546e-03 -2.55123657e+02] [ 6.19489445e-03 1.53610746e-06 9.99980812e-01 -2.76673369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.856559995 meters 0.013049490221108045 Centerline is valid? [True, True] Translation: X:-63.13, Y:-255.10, Z:-2.77 [[-7.02548000e-01 -7.11622634e-01 4.41971290e-03 -6.31335031e+01] [ 7.11608550e-01 -7.02561902e-01 -4.47721715e-03 -2.55104080e+02] [ 6.29121096e-03 -3.54474674e-07 9.99980210e-01 -2.76666306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.886559995 meters 0.01314987196304253 Centerline is valid? [True, True] Translation: X:-63.15, Y:-255.08, Z:-2.77 [[-7.02613563e-01 -7.11556283e-01 4.67295749e-03 -6.31536183e+01] [ 7.11540555e-01 -7.02629102e-01 -4.73107980e-03 -2.55083922e+02] [ 6.64978549e-03 8.77933246e-07 9.99977890e-01 -2.76691168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.916559995 meters 0.01314987196304253 Centerline is valid? [True, True] Translation: X:-63.17, Y:-255.06, Z:-2.77 [[-7.02814454e-01 -7.11357852e-01 4.67429323e-03 -6.31730587e+01] [ 7.11342128e-01 -7.02829998e-01 -4.72976010e-03 -2.55064335e+02] [ 6.64978549e-03 8.77928597e-07 9.99977890e-01 -2.76691196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.9465599949999 meters 0.013074317528563549 Centerline is valid? [True, True] Translation: X:-63.19, Y:-255.04, Z:-2.77 [[-7.02955565e-01 -7.11214539e-01 5.23007662e-03 -6.31929154e+01] [ 7.11194871e-01 -7.02975021e-01 -5.28916564e-03 -2.55044579e+02] [ 7.43834473e-03 1.55524928e-06 9.99972335e-01 -2.76741339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.976559995 meters 0.013132853166143245 Centerline is valid? [True, True] Translation: X:-63.21, Y:-255.03, Z:-2.77 [[-7.03075551e-01 -7.11092052e-01 5.73271562e-03 -6.32115254e+01] [ 7.11068450e-01 -7.03098922e-01 -5.79364569e-03 -2.55026465e+02] [ 8.15048157e-03 2.98257348e-06 9.99966784e-01 -2.76810640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.006559995 meters 0.013125099375638355 Centerline is valid? [True, True] Translation: X:-63.23, Y:-255.01, Z:-2.77 [[-7.03217418e-01 -7.10949060e-01 6.05778020e-03 -6.32311037e+01] [ 7.10922733e-01 -7.03243510e-01 -6.11835119e-03 -2.55007374e+02] [ 8.60993063e-03 4.08253218e-06 9.99962934e-01 -2.76901198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.036559995 meters 0.013101483491220015 Centerline is valid? [True, True] Translation: X:-63.25, Y:-254.99, Z:-2.77 [[-7.02828719e-01 -7.11330617e-01 6.36752646e-03 -6.32510466e+01] [ 7.11301580e-01 -7.02857563e-01 -6.42715560e-03 -2.54988795e+02] [ 9.04729668e-03 1.20420953e-05 9.99959072e-01 -2.76941077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.0665599949999 meters 0.013092304250804421 Centerline is valid? [True, True] Translation: X:-63.27, Y:-254.97, Z:-2.77 [[-7.02508219e-01 -7.11649170e-01 6.13692574e-03 -6.32699006e+01] [ 7.11622246e-01 -7.02535024e-01 -6.19031669e-03 -2.54971110e+02] [ 8.71673900e-03 1.84245207e-05 9.99962008e-01 -2.76939288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.096559995 meters 0.013072077588240916 Centerline is valid? [True, True] Translation: X:-63.29, Y:-254.95, Z:-2.77 [[-7.02082632e-01 -7.12071706e-01 5.81921130e-03 -6.32896475e+01] [ 7.12047543e-01 -7.02106747e-01 -5.86614470e-03 -2.54952683e+02] [ 8.26282318e-03 2.50367947e-05 9.99965862e-01 -2.76890319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.126559995 meters 0.01312619148390995 Centerline is valid? [True, True] Translation: X:-63.31, Y:-254.93, Z:-2.77 [[-7.01599534e-01 -7.12555018e-01 4.84149078e-03 -6.33096048e+01] [ 7.12538325e-01 -7.01616238e-01 -4.87747265e-03 -2.54934094e+02] [ 6.87233616e-03 2.77151905e-05 9.99976385e-01 -2.76805566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.156559995 meters 0.01303809467499314 Centerline is valid? [True, True] Translation: X:-63.33, Y:-254.91, Z:-2.77 [[-7.02095895e-01 -7.12070733e-01 4.07746851e-03 -6.33284495e+01] [ 7.12058899e-01 -7.02107735e-01 -4.10520804e-03 -2.54914926e+02] [ 5.78602068e-03 2.11480276e-05 9.99983261e-01 -2.76761925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.1865599949999 meters 0.01299405897116942 Centerline is valid? [True, True] Translation: X:-63.35, Y:-254.89, Z:-2.77 [[-7.02821549e-01 -7.11357028e-01 3.61233545e-03 -6.33474151e+01] [ 7.11347742e-01 -7.02830832e-01 -3.63484828e-03 -2.54894521e+02] [ 5.12453560e-03 1.49769688e-05 9.99986869e-01 -2.76663949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.2165599949999 meters 0.01285995124637771 Centerline is valid? [True, True] Translation: X:-63.37, Y:-254.87, Z:-2.77 [[-7.03795103e-01 -7.10397640e-01 2.76526234e-03 -6.33655408e+01] [ 7.10392197e-01 -7.03800535e-01 -2.78084028e-03 -2.54874838e+02] [ 3.92169549e-03 7.27902521e-06 9.99992310e-01 -2.76617332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.246559995 meters 0.012927659656584007 Centerline is valid? [True, True] Translation: X:-63.38, Y:-254.85, Z:-2.77 [[-7.06491631e-01 -7.07720313e-01 1.23833534e-03 -6.33826146e+01] [ 7.07719219e-01 -7.06492717e-01 -1.24452856e-03 -2.54853880e+02] [ 1.75565304e-03 -2.85529668e-06 9.99998459e-01 -2.76522589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.276559995 meters 0.012915587986959123 Centerline is valid? [True, True] Translation: X:-63.40, Y:-254.83, Z:-2.76 [[-7.07848746e-01 -7.06363932e-01 3.85499574e-04 -6.34007977e+01] [ 7.06363826e-01 -7.07848851e-01 -3.87181732e-04 -2.54833706e+02] [ 5.46366642e-04 -1.76314912e-06 9.99999851e-01 -2.76454830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.3065599949999 meters 0.013138599337179955 Centerline is valid? [True, True] Translation: X:-63.42, Y:-254.81, Z:-2.76 [[-7.09278359e-01 -7.04928502e-01 -1.31389390e-04 -6.34181787e+01] [ 7.04928489e-01 -7.09278371e-01 1.31903964e-04 -2.54814626e+02] [-1.86174515e-04 9.36502956e-07 9.99999983e-01 -2.76414753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.3365599949999 meters 0.013362749883921419 Centerline is valid? [True, True] Translation: X:-63.44, Y:-254.80, Z:-2.76 [[-7.10911186e-01 -7.03280858e-01 -1.14937880e-03 -6.34361888e+01] [ 7.03279913e-01 -7.10912115e-01 1.15310724e-03 -2.54795211e+02] [-1.62806556e-03 1.14218181e-05 9.99998675e-01 -2.76346846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.366559995 meters 0.013358394887219165 Centerline is valid? [True, True] Translation: X:-63.46, Y:-254.78, Z:-2.76 [[-7.11766577e-01 -7.02414749e-01 -1.36410501e-03 -6.34560994e+01] [ 7.02413418e-01 -7.11767884e-01 1.36775502e-03 -2.54776062e+02] [-1.93165743e-03 1.53566441e-05 9.99998134e-01 -2.76370529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.396559995 meters 0.013437715578368179 Centerline is valid? [True, True] Translation: X:-63.48, Y:-254.76, Z:-2.76 [[-7.12302466e-01 -7.01870710e-01 -1.64424104e-03 -6.34758246e+01] [ 7.01868777e-01 -7.12304363e-01 1.64771394e-03 -2.54755925e+02] [-2.32768222e-03 1.96292556e-05 9.99997291e-01 -2.76352634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.4265599949999 meters 0.013579043212449283 Centerline is valid? [True, True] Translation: X:-63.49, Y:-254.74, Z:-2.76 [[-7.13102003e-01 -7.01058777e-01 -1.45764658e-03 -6.34942951e+01] [ 7.01057258e-01 -7.13103492e-01 1.45976054e-03 -2.54736822e+02] [-2.06283081e-03 1.90644465e-05 9.99997872e-01 -2.76383716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.4565599949999 meters 0.013826958433833384 Centerline is valid? [True, True] Translation: X:-63.51, Y:-254.72, Z:-2.76 [[-7.13952721e-01 -7.00191947e-01 -1.65813971e-03 -6.35132600e+01] [ 7.00189981e-01 -7.13954646e-01 1.65951134e-03 -2.54717236e+02] [-2.34581302e-03 2.37998262e-05 9.99997248e-01 -2.76373462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.486559995 meters 0.013656215436386527 Centerline is valid? [True, True] Translation: X:-63.53, Y:-254.70, Z:-2.76 [[-7.13893531e-01 -7.00250984e-01 -2.14144509e-03 -6.35337281e+01] [ 7.00247709e-01 -7.13896742e-01 2.14200800e-03 -2.54698519e+02] [-3.02871388e-03 2.96236355e-05 9.99995413e-01 -2.76399288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.516559995 meters 0.01362832324829983 Centerline is valid? [True, True] Translation: X:-63.55, Y:-254.68, Z:-2.76 [[-7.13735169e-01 -7.00411880e-01 -2.30351355e-03 -6.35541848e+01] [ 7.00408095e-01 -7.13738886e-01 2.30282594e-03 -2.54679134e+02] [-3.25703384e-03 3.02083254e-05 9.99994695e-01 -2.76442730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.5465599949999 meters 0.013545532035563078 Centerline is valid? [True, True] Translation: X:-64.10, Y:-255.23, Z:-1.83 [[-7.50293795e-01 6.61099636e-01 -2.54802542e-03 -6.41047646e+01] [ 6.61095947e-01 7.50298121e-01 2.20877752e-03 -2.55225652e+02] [ 3.37200070e-03 -2.72572046e-05 -9.99994315e-01 -1.82666735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.5765599949999 meters 0.01339142014026585 Centerline is valid? [True, True] Translation: X:-64.08, Y:-255.21, Z:-1.83 [[-7.95757284e-01 6.05607617e-01 -3.12399046e-03 -6.40809762e+01] [ 6.05603087e-01 7.95763416e-01 2.34255045e-03 -2.55208153e+02] [ 3.90462372e-03 -2.77966800e-05 -9.99992377e-01 -1.82644681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.606559995 meters 0.013464343607402906 Centerline is valid? [True, True] Translation: X:-64.06, Y:-255.19, Z:-1.83 [[-8.37167333e-01 5.46932460e-01 -3.96760468e-03 -6.40602448e+01] [ 5.46926479e-01 8.37176734e-01 2.55788828e-03 -2.55188268e+02] [ 4.72057846e-03 -2.86075530e-05 -9.99988858e-01 -1.82730087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.636559995 meters 0.013357363405581668 Centerline is valid? [True, True] Translation: X:-64.04, Y:-255.16, Z:-1.83 [[-8.74585423e-01 4.84836703e-01 -5.80600859e-03 -6.40444075e+01] [ 4.84826232e-01 8.74604694e-01 3.18646270e-03 -2.55163619e+02] [ 6.62287644e-03 -2.80714457e-05 -9.99978068e-01 -1.82800870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.666559995 meters 0.013404974361637012 Centerline is valid? [True, True] Translation: X:-64.03, Y:-255.14, Z:-1.83 [[-9.06343383e-01 4.22489722e-01 -6.64124566e-03 -6.40268784e+01] [ 4.22478679e-01 9.06367714e-01 3.05482969e-03 -2.55141253e+02] [ 7.31004480e-03 -3.70600193e-05 -9.99973281e-01 -1.82795348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.6965599949999 meters 0.013485459968171035 Centerline is valid? [True, True] Translation: X:-64.01, Y:-255.12, Z:-1.83 [[-9.33545728e-01 3.58371014e-01 -7.91134977e-03 -6.40096360e+01] [ 3.58358631e-01 9.33579249e-01 2.97970083e-03 -2.55117942e+02] [ 8.45371038e-03 -5.34134899e-05 -9.99964265e-01 -1.82791277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.726559995 meters 0.013814714679802019 Centerline is valid? [True, True] Translation: X:-63.73, Y:-254.40, Z:-2.76 [[-9.12981586e-01 -4.07898132e-01 -9.15084483e-03 -6.37348187e+01] [ 4.07877981e-01 -9.13027444e-01 4.05457864e-03 -2.54400947e+02] [-1.00088275e-02 -3.06724765e-05 9.99949910e-01 -2.76272577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.756559995 meters 0.013807045948394896 Centerline is valid? [True, True] Translation: X:-64.05, Y:-255.10, Z:-1.83 [[-9.33823909e-01 3.57561468e-01 -1.10771846e-02 -6.40538549e+01] [ 3.57537674e-01 9.33889600e-01 4.12633217e-03 -2.55102040e+02] [ 1.18202849e-02 -1.07243184e-04 -9.99930132e-01 -1.82855113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.786559995 meters 0.0143064841687964 Centerline is valid? [True, True] Translation: X:-64.05, Y:-255.07, Z:-1.83 [[-9.56095942e-01 2.92690905e-01 -1.45802589e-02 -6.40482261e+01] [ 2.92659614e-01 9.56207093e-01 4.28319682e-03 -2.55074396e+02] [ 1.51953997e-02 -1.71905840e-04 -9.99884529e-01 -1.83018742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.8165599949999 meters 0.014776362806578975 Centerline is valid? [True, True] Translation: X:-63.84, Y:-254.34, Z:-2.76 [[-9.42278248e-01 -3.34440971e-01 -1.61536540e-02 -6.38400219e+01] [ 3.34390494e-01 -9.42416698e-01 5.81084095e-03 -2.54335140e+02] [-1.71668566e-02 7.38006753e-05 9.99852636e-01 -2.75945313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.846559995 meters 0.015613542724353904 Centerline is valid? [True, True] Translation: X:-64.09, Y:-255.06, Z:-1.83 [[-9.56397779e-01 2.91390182e-01 -1.98758882e-02 -6.40875891e+01] [ 2.91333462e-01 9.56604245e-01 5.75615637e-03 -2.55063816e+02] [ 2.06906464e-02 -2.85336144e-04 -9.99785885e-01 -1.83467647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.876559995 meters 0.015328158316406916 Centerline is valid? [True, True] Translation: X:-64.08, Y:-255.04, Z:-1.83 [[-9.74459656e-01 2.23500804e-01 -2.18121401e-02 -6.40762872e+01] [ 2.23452243e-01 9.74703691e-01 4.67001254e-03 -2.55036642e+02] [ 2.23041250e-02 -3.23232809e-04 -9.99751180e-01 -1.83379685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.906559995 meters 0.015115730585542126 Centerline is valid? [True, True] Translation: X:-63.91, Y:-254.29, Z:-2.76 [[-9.65336419e-01 -2.59996044e-01 -2.29707409e-02 -6.39054199e+01] [ 2.59916332e-01 -9.65609649e-01 6.44248012e-03 -2.54292297e+02] [-2.38557884e-02 2.48689989e-04 9.99715379e-01 -2.75822251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.9365599949999 meters 0.015880809363761135 Centerline is valid? [True, True] Translation: X:-64.12, Y:-255.03, Z:-1.84 [[-9.74775561e-01 2.21665314e-01 -2.60210504e-02 -6.41187664e+01] [ 2.21598414e-01 9.75122707e-01 5.46335962e-03 -2.55027757e+02] [ 2.65847545e-02 -4.40674085e-04 -9.99646466e-01 -1.83523360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.9665599949999 meters 0.01618855828004079 Centerline is valid? [True, True] Translation: X:-63.96, Y:-254.28, Z:-2.76 [[-9.66829478e-01 -2.54031073e-01 -2.66265705e-02 -6.39551262e+01] [ 2.53923593e-01 -9.67195978e-01 7.39928451e-03 -2.54282024e+02] [-2.76327600e-02 3.92731950e-04 9.99618065e-01 -2.75585086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.996559995 meters 0.01607655652926906 Centerline is valid? [True, True] Translation: X:-64.17, Y:-255.02, Z:-1.83 [[-9.75246884e-01 2.19367415e-01 -2.77750315e-02 -6.41670139e+01] [ 2.19293475e-01 9.75642185e-01 5.71832230e-03 -2.55018375e+02] [ 2.83529060e-02 -5.14107161e-04 -9.99597843e-01 -1.83494886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.026559995 meters 0.016229188258942234 Centerline is valid? [True, True] Translation: X:-64.16, Y:-254.99, Z:-1.83 [[-9.88133135e-01 1.50884681e-01 -2.87527602e-02 -6.41596044e+01] [ 1.50837423e-01 9.88551210e-01 3.81799713e-03 -2.54990750e+02] [ 2.89996532e-02 -5.64302798e-04 -9.99579262e-01 -1.83324931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.0565599949999 meters 0.01707232121956656 Centerline is valid? [True, True] Translation: X:-64.06, Y:-254.23, Z:-2.76 [[-9.83662734e-01 -1.77871870e-01 -2.77348689e-02 -6.40550074e+01] [ 1.77784133e-01 -9.84053476e-01 5.61766794e-03 -2.54233556e+02] [-2.82918192e-02 5.95070987e-04 9.99599529e-01 -2.75742802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.0865599949999 meters 0.016752469671718933 Centerline is valid? [True, True] Translation: X:-64.22, Y:-254.99, Z:-1.83 [[-9.88465667e-01 1.48928890e-01 -2.74920148e-02 -6.42160649e+01] [ 1.48888261e-01 9.88847724e-01 3.53047782e-03 -2.54985024e+02] [ 2.77112064e-02 -6.03482163e-04 -9.99615789e-01 -1.83170051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.116559995 meters 0.017442461379338303 Centerline is valid? [True, True] Translation: X:-64.21, Y:-254.96, Z:-1.83 [[-9.96322880e-01 8.11930867e-02 -2.73569460e-02 -6.42145338e+01] [ 8.11811038e-02 9.96698162e-01 1.55021385e-03 -2.54957347e+02] [ 2.73924845e-02 -6.76353550e-04 -9.99624527e-01 -1.83028531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.146559995 meters 0.017635194305820445 Centerline is valid? [True, True] Translation: X:-64.21, Y:-254.93, Z:-1.83 [[-9.99560417e-01 1.11795778e-02 -2.74588623e-02 -6.42123648e+01] [ 1.11947594e-02 9.99937257e-01 -3.99217603e-04 -2.54928252e+02] [ 2.74526763e-02 -7.06437471e-04 -9.99622855e-01 -1.82932794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.1765599949999 meters 0.01818001602023979 Centerline is valid? [True, True] Translation: X:-64.22, Y:-254.16, Z:-2.76 [[-9.99305975e-01 -2.55112383e-02 -2.71430480e-02 -6.42205161e+01] [ 2.54823433e-02 -9.99674278e-01 1.40996858e-03 -2.54163251e+02] [-2.71701769e-02 7.17321555e-04 9.99630565e-01 -2.76257444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.2065599949999 meters 0.018556720251149787 Centerline is valid? [True, True] Translation: X:-64.31, Y:-254.93, Z:-1.83 [[-9.99607935e-01 9.04875038e-03 -2.64971098e-02 -6.43075733e+01] [ 9.06604749e-03 9.99958761e-01 -5.32729286e-04 -2.54930094e+02] [ 2.64911966e-02 -7.72744477e-04 -9.99648748e-01 -1.82798924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.236559995 meters 0.019463733896868046 Centerline is valid? [True, True] Translation: X:-64.30, Y:-254.90, Z:-1.83 [[-9.97997437e-01 -5.75542845e-02 -2.62415691e-02 -6.42991688e+01] [-5.75108757e-02 9.98341979e-01 -2.40655473e-03 -2.54901905e+02] [ 2.63365676e-02 -8.92559829e-04 -9.99652734e-01 -1.82628893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.266559995 meters 0.019948523203273977 Centerline is valid? [True, True] Translation: X:-64.31, Y:-254.88, Z:-1.83 [[-9.91606098e-01 -1.26692048e-01 -2.58160974e-02 -6.43120746e+01] [-1.26624478e-01 9.91941655e-01 -4.24213576e-03 -2.54875052e+02] [ 2.61455072e-02 -9.37577846e-04 -9.99657708e-01 -1.82551143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.2965599949999 meters 0.02023765746664066 Centerline is valid? [True, True] Translation: X:-64.34, Y:-254.85, Z:-1.82 [[-9.80282277e-01 -1.95964292e-01 -2.53900248e-02 -6.43356138e+01] [-1.95872520e-01 9.80610539e-01 -6.07678025e-03 -2.54850479e+02] [ 2.60885579e-02 -9.83751826e-04 -9.99659152e-01 -1.82453433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.3265599949999 meters 0.020939287203895693 Centerline is valid? [True, True] Translation: X:-64.38, Y:-254.83, Z:-1.82 [[-9.64167556e-01 -2.64303819e-01 -2.29001215e-02 -6.43828760e+01] [-2.64205163e-01 9.64438977e-01 -7.28636492e-03 -2.54832935e+02] [ 2.40115838e-02 -9.74946337e-04 -9.99711205e-01 -1.82151966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.356559995 meters 0.02150587584842656 Centerline is valid? [True, True] Translation: X:-64.45, Y:-254.82, Z:-1.82 [[-9.42540963e-01 -3.33461450e-01 -2.04937743e-02 -6.44451113e+01] [-3.33361229e-01 9.42763285e-01 -8.22676224e-03 -2.54824240e+02] [ 2.20640860e-02 -9.22230618e-04 -9.99756133e-01 -1.81961043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.386559995 meters 0.021449084265230713 Centerline is valid? [True, True] Translation: X:-64.52, Y:-254.82, Z:-1.82 [[-9.15670113e-01 -4.01526908e-01 -1.80107088e-02 -6.45183805e+01] [-4.01430629e-01 9.15846823e-01 -8.83436821e-03 -2.54823130e+02] [ 2.00422869e-02 -8.59316794e-04 -9.99798764e-01 -1.81695886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.416559995 meters 0.022344055836366283 Centerline is valid? [True, True] Translation: X:-64.60, Y:-254.83, Z:-1.81 [[-8.84291865e-01 -4.66752515e-01 -1.30378982e-02 -6.46035013e+01] [-4.66690293e-01 8.84387712e-01 -7.65145971e-03 -2.54833156e+02] [ 1.51018950e-02 -6.81463038e-04 -9.99885728e-01 -1.81136790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.4465599949999 meters 0.02269659131139868 Centerline is valid? [True, True] Translation: X:-64.69, Y:-254.85, Z:-1.81 [[-8.47305738e-01 -5.31013535e-01 -9.87988546e-03 -6.46888145e+01] [-5.30969699e-01 8.47363156e-01 -6.84544476e-03 -2.54851980e+02] [ 1.20068747e-02 -5.54264817e-04 -9.99927761e-01 -1.80826061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.476559995 meters 0.022875641455205327 Centerline is valid? [True, True] Translation: X:-64.78, Y:-254.88, Z:-1.81 [[-8.05447184e-01 -5.92627093e-01 -6.92550802e-03 -6.47808455e+01] [-5.92600626e-01 8.05476848e-01 -5.61655443e-03 -2.54883203e+02] [ 8.90685870e-03 -4.19777561e-04 -9.99960245e-01 -1.80505109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.506559995 meters 0.023304365118887782 Centerline is valid? [True, True] Translation: X:-64.87, Y:-254.92, Z:-1.80 [[-7.59168807e-01 -6.50887489e-01 -2.86346869e-03 -6.48724474e+01] [-6.50881892e-01 7.59174184e-01 -2.70583916e-03 -2.54921115e+02] [ 3.93506836e-03 -1.90408769e-04 -9.99992240e-01 -1.80051095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.536559995 meters 0.02354771506323506 Centerline is valid? [True, True] Translation: X:-64.97, Y:-254.97, Z:-1.80 [[-7.07576280e-01 -7.06635895e-01 -1.23264706e-03 -6.49665324e+01] [-7.06634601e-01 7.07577348e-01 -1.35513830e-03 -2.54973357e+02] [ 1.82978251e-03 -8.78326544e-05 -9.99998322e-01 -1.79877089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.5665599949999 meters 0.022180248405529013 Centerline is valid? [True, True] Translation: X:-65.06, Y:-255.03, Z:-1.80 [[-6.51244656e-01 -7.58867821e-01 1.69244629e-04 -6.50591839e+01] [-7.58867789e-01 6.51244677e-01 2.20103082e-04 -2.55031132e+02] [-2.77248811e-04 1.49066589e-05 -9.99999962e-01 -1.79687262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.596559995 meters 0.026380454069122462 Centerline is valid? [True, True] Translation: X:-65.15, Y:-255.11, Z:-1.79 [[-5.90409646e-01 -8.07102977e-01 1.11149406e-03 -6.51459097e+01] [-8.07101228e-01 5.90410684e-01 1.68277184e-03 -2.55107570e+02] [-2.01440813e-03 9.64365095e-05 -9.99997967e-01 -1.79448567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.626559995 meters 0.022733584882694467 Centerline is valid? [True, True] Translation: X:-65.24, Y:-255.18, Z:-1.79 [[-5.23872863e-01 -8.51790924e-01 3.07346829e-03 -6.52393002e+01] [-8.51773053e-01 5.23881805e-01 5.52446550e-03 -2.55183087e+02] [-6.31582369e-03 2.76220081e-04 -9.99980017e-01 -1.79080001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.656559995 meters 0.021414774247738997 Centerline is valid? [True, True] Translation: X:-65.32, Y:-255.27, Z:-1.79 [[-4.55284297e-01 -8.90339887e-01 3.33093783e-03 -6.53211703e+01] [-8.90310498e-01 4.55296361e-01 7.24164183e-03 -2.55269558e+02] [-7.96408644e-03 3.31436895e-04 -9.99968231e-01 -1.78939629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.6865599949999 meters 0.020042416556540973 Centerline is valid? [True, True] Translation: X:-65.40, Y:-255.37, Z:-1.79 [[-3.81009446e-01 -9.24562662e-01 3.96057468e-03 -6.54016818e+01] [-9.24500843e-01 3.81029804e-01 1.06994868e-02 -2.55365051e+02] [-1.14014430e-02 4.15050894e-04 -9.99934915e-01 -1.78640616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.7165599949999 meters 0.019194380089530325 Centerline is valid? [True, True] Translation: X:-65.47, Y:-255.47, Z:-1.78 [[-3.05815726e-01 -9.52083269e-01 3.76711610e-03 -6.54708265e+01] [-9.51991748e-01 3.05838592e-01 1.32085881e-02 -2.55465551e+02] [-1.37278052e-02 4.53130514e-04 -9.99905667e-01 -1.78470070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.746559995 meters 0.0180265435660267 Centerline is valid? [True, True] Translation: X:-65.53, Y:-255.57, Z:-1.78 [[-2.28184881e-01 -9.73612572e-01 3.19703422e-03 -6.55328247e+01] [-9.73486458e-01 2.28206802e-01 1.56771107e-02 -2.55570520e+02] [-1.59930170e-02 4.65010113e-04 -9.99871995e-01 -1.78250348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.776559995 meters 0.01741480261371463 Centerline is valid? [True, True] Translation: X:-65.59, Y:-255.68, Z:-1.78 [[-1.48955399e-01 -9.88841264e-01 2.28999765e-03 -6.55867339e+01] [-9.88671879e-01 1.48972281e-01 1.83078148e-02 -2.55683374e+02] [-1.84446689e-02 4.62991575e-04 -9.99829776e-01 -1.78011751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.8065599949999 meters 0.01656154085349881 Centerline is valid? [True, True] Translation: X:-65.63, Y:-255.80, Z:-1.78 [[-6.86456874e-02 -9.97640620e-01 9.81648973e-04 -6.56324705e+01] [-9.97429366e-01 6.86513565e-02 2.05341345e-02 -2.55798422e+02] [-2.05530782e-02 4.30454262e-04 -9.99788671e-01 -1.77786046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.8365599949999 meters 0.01656154085349881 Centerline is valid? [True, True] Translation: X:-66.26, Y:-255.88, Z:-2.81 [[-9.45967148e-02 9.95512843e-01 2.37513295e-03 -6.62641371e+01] [-9.95302689e-01 -9.46255567e-02 2.04587605e-02 -2.55876944e+02] [ 2.05917071e-02 -4.28644676e-04 9.99787877e-01 -2.81361273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.866559995 meters 0.01543748245522851 Centerline is valid? [True, True] Translation: X:-65.66, Y:-256.08, Z:-1.77 [[-5.18646146e-02 -9.98653687e-01 9.35221417e-04 -6.56626656e+01] [-9.98359926e-01 5.18720426e-02 2.42228958e-02 -2.56075310e+02] [-2.42387960e-02 3.22623569e-04 -9.99706145e-01 -1.77491111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.896559995 meters 0.014745466946422453 Centerline is valid? [True, True] Translation: X:-65.70, Y:-256.19, Z:-1.77 [[ 2.81129574e-02 -9.99604286e-01 -9.66431054e-04 -6.56980395e+01] [-9.99280496e-01 -2.81284485e-02 2.54417206e-02 -2.56193516e+02] [-2.54588372e-02 2.50493696e-04 -9.99675840e-01 -1.77456780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.9265599949999 meters 0.014720932246939232 Centerline is valid? [True, True] Translation: X:-65.72, Y:-256.31, Z:-1.77 [[ 1.07277638e-01 -9.94224538e-01 -3.01274448e-03 -6.57241175e+01] [-9.93879085e-01 -1.07319778e-01 2.62074425e-02 -2.56306684e+02] [-2.63794094e-02 1.82831215e-04 -9.99651986e-01 -1.77305273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.9565599949999 meters 0.01478723638675841 Centerline is valid? [True, True] Translation: X:-65.75, Y:-256.43, Z:-1.77 [[ 1.87777698e-01 -9.82196645e-01 -5.41170191e-03 -6.57472018e+01] [-9.81796753e-01 -1.87855657e-01 2.80247719e-02 -2.56427105e+02] [-2.85424558e-02 5.07641912e-05 -9.99592580e-01 -1.77058373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.986559995 meters 0.014697157829721436 Centerline is valid? [True, True] Translation: X:-65.75, Y:-256.55, Z:-1.77 [[ 2.63652755e-01 -9.64586090e-01 -7.80378501e-03 -6.57544825e+01] [-9.64164237e-01 -2.63768221e-01 2.85245605e-02 -2.56545807e+02] [-2.95727847e-02 3.55146172e-06 -9.99562630e-01 -1.77066447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.016559995 meters 0.014838702894097763 Centerline is valid? [True, True] Translation: X:-65.75, Y:-256.66, Z:-1.77 [[ 3.37055822e-01 -9.41430045e-01 -1.01411929e-02 -6.57536169e+01] [-9.41002212e-01 -3.37208349e-01 2.83789902e-02 -2.56659427e+02] [-3.01365289e-02 -2.24189359e-05 -9.99545792e-01 -1.77015877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.0465599949999 meters 0.014435563955242852 Centerline is valid? [True, True] Translation: X:-65.75, Y:-256.77, Z:-1.77 [[ 4.07984804e-01 -9.12907313e-01 -1.21916914e-02 -6.57502017e+01] [-9.12497121e-01 -4.08166922e-01 2.73636104e-02 -2.56769376e+02] [-2.99566852e-02 -3.90539700e-05 -9.99551197e-01 -1.77218563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.0765599949999 meters 0.014320579883115194 Centerline is valid? [True, True] Translation: X:-65.73, Y:-256.88, Z:-1.77 [[ 4.75577484e-01 -8.79558760e-01 -1.42282776e-02 -6.57325032e+01] [-8.79163749e-01 -4.75790276e-01 2.63574769e-02 -2.56878460e+02] [-2.99526258e-02 -2.60367039e-05 -9.99551319e-01 -1.77310162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.106559995 meters 0.015053520528609076 Centerline is valid? [True, True] Translation: X:-65.71, Y:-256.98, Z:-1.77 [[ 5.40137665e-01 -8.41423487e-01 -1.60567140e-02 -6.57097695e+01] [-8.41051607e-01 -5.40376272e-01 2.50135615e-02 -2.56978732e+02] [-2.97236654e-02 -6.24155069e-06 -9.99558154e-01 -1.77045706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.136559995 meters 0.014350962748540086 Centerline is valid? [True, True] Translation: X:-65.68, Y:-257.08, Z:-1.77 [[ 6.01499136e-01 -7.98673356e-01 -1.78790277e-02 -6.56788205e+01] [-7.98321545e-01 -6.01764796e-01 2.37031879e-02 -2.57076401e+02] [-2.96900741e-02 1.57659708e-05 -9.99559153e-01 -1.77333776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.166559995 meters 0.014507086329607538 Centerline is valid? [True, True] Translation: X:-65.65, Y:-257.17, Z:-1.77 [[ 6.58215663e-01 -7.52574324e-01 -1.95966355e-02 -6.56453788e+01] [-7.52244552e-01 -6.58507313e-01 2.22767279e-02 -2.57166533e+02] [-2.96694212e-02 7.85710734e-05 -9.99559763e-01 -1.77390091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.1965599949999 meters 0.015057659542712607 Centerline is valid? [True, True] Translation: X:-65.60, Y:-257.25, Z:-1.77 [[ 7.12157165e-01 -7.01692263e-01 -2.14508770e-02 -6.56029964e+01] [-7.01378705e-01 -7.12480144e-01 2.09751412e-02 -2.57253424e+02] [-3.00014182e-02 1.07591223e-04 -9.99549850e-01 -1.77256456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.226559995 meters 0.014944595701487656 Centerline is valid? [True, True] Translation: X:-65.60, Y:-257.27, Z:-1.77 [[ 7.64445755e-01 -6.44258282e-01 -2.35362312e-02 -6.55995086e+01] [-6.43958185e-01 -7.64807983e-01 1.96622729e-02 -2.57268039e+02] [-3.06682797e-02 1.25607651e-04 -9.99529610e-01 -1.77320689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.256559995 meters 0.014958822964821386 Centerline is valid? [True, True] Translation: X:-65.60, Y:-257.28, Z:-1.77 [[ 8.12921680e-01 -5.81787825e-01 -2.61011483e-02 -6.55957782e+01] [-5.81492181e-01 -8.13340591e-01 1.85452688e-02 -2.57284010e+02] [-3.20185350e-02 1.01762644e-04 -9.99487270e-01 -1.77273525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.286559995 meters 0.015069232013263814 Centerline is valid? [True, True] Translation: X:-65.59, Y:-257.30, Z:-1.77 [[ 8.56644189e-01 -5.15157826e-01 -2.78055269e-02 -6.55901513e+01] [-5.14888705e-01 -8.57095334e-01 1.66496183e-02 -2.57296995e+02] [-3.24091685e-02 5.39529210e-05 -9.99474684e-01 -1.77264830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.3165599949999 meters 0.014918001492680123 Centerline is valid? [True, True] Translation: X:-65.58, Y:-257.31, Z:-1.77 [[ 8.95239541e-01 -4.44669979e-01 -2.85442597e-02 -6.55834644e+01] [-4.44443569e-01 -8.95694484e-01 1.41881959e-02 -2.57310799e+02] [-3.18760007e-02 -1.55213168e-05 -9.99491831e-01 -1.77397392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.346559995 meters 0.014972490690961529 Centerline is valid? [True, True] Translation: X:-65.58, Y:-257.32, Z:-1.78 [[ 9.29349976e-01 -3.68154718e-01 -2.77619505e-02 -6.55768907e+01] [-3.67984744e-01 -9.29764524e-01 1.11873687e-02 -2.57324647e+02] [-2.99307593e-02 -1.81006558e-04 -9.99551958e-01 -1.77516535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.376559995 meters 0.014926747699687892 Centerline is valid? [True, True] Translation: X:-65.57, Y:-257.34, Z:-1.78 [[ 9.56169560e-01 -2.91526263e-01 -2.74264759e-02 -6.55673515e+01] [-2.91398646e-01 -9.56562790e-01 8.62889858e-03 -2.57336719e+02] [-2.87506969e-02 -2.58652207e-04 -9.99586580e-01 -1.77668375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.406559995 meters 0.015078267913909265 Centerline is valid? [True, True] Translation: X:-65.56, Y:-257.35, Z:-1.78 [[ 9.76539061e-01 -2.13697151e-01 -2.65516320e-02 -6.55563611e+01] [-2.13609687e-01 -9.76899910e-01 6.12108196e-03 -2.57347248e+02] [-2.72463447e-02 -3.05789842e-04 -9.99628703e-01 -1.77768280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.4365599949999 meters 0.015559891235354801 Centerline is valid? [True, True] Translation: X:-65.55, Y:-257.36, Z:-1.78 [[ 9.90528672e-01 -1.34926850e-01 -2.54498420e-02 -6.55454087e+01] [-1.34873682e-01 -9.90855506e-01 3.80209090e-03 -2.57355173e+02] [-2.57301202e-02 -3.33566153e-04 -9.99668870e-01 -1.77784275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.4665599949999 meters 0.014993166768643556 Centerline is valid? [True, True] Translation: X:-65.54, Y:-257.36, Z:-1.78 [[ 9.98127304e-01 -5.59721659e-02 -2.46779540e-02 -6.55362157e+01] [-5.59465623e-02 -9.98432271e-01 1.72726033e-03 -2.57361669e+02] [-2.47359442e-02 -3.43379006e-04 -9.99693961e-01 -1.78122024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.496559995 meters 0.014809849211205614 Centerline is valid? [True, True] Translation: X:-65.53, Y:-257.37, Z:-1.78 [[ 9.99485145e-01 2.19229930e-02 -2.34270617e-02 -6.55266159e+01] [ 2.19243735e-02 -9.99759612e-01 -1.97947276e-04 -2.57365765e+02] [-2.34257697e-02 -3.15778289e-04 -9.99725529e-01 -1.78291068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.526559995 meters 0.014477852118305296 Centerline is valid? [True, True] Translation: X:-65.52, Y:-257.37, Z:-1.78 [[ 9.94813834e-01 9.91584779e-02 -2.26502047e-02 -6.55169297e+01] [ 9.91393014e-02 -9.95071613e-01 -1.97075539e-03 -2.57372003e+02] [-2.27339928e-02 -2.84990745e-04 -9.99741509e-01 -1.78399679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.5565599949999 meters 0.01397763564241508 Centerline is valid? [True, True] Translation: X:-65.51, Y:-257.37, Z:-1.79 [[ 9.84555316e-01 1.73884320e-01 -2.03733212e-02 -6.55082404e+01] [ 1.73851264e-01 -9.84766066e-01 -3.39619329e-03 -2.57373135e+02] [-2.06535001e-02 -1.98187472e-04 -9.99786674e-01 -1.78582028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.5865599949999 meters 0.013739556039905839 Centerline is valid? [True, True] Translation: X:-65.50, Y:-257.38, Z:-1.79 [[ 9.68412869e-01 2.48626590e-01 -1.90087851e-02 -6.54989590e+01] [ 2.48581751e-01 -9.68599399e-01 -4.72408971e-03 -2.57375874e+02] [-1.95864321e-02 -1.50367813e-04 -9.99808156e-01 -1.78722736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.616559995 meters 0.01346600190414452 Centerline is valid? [True, True] Translation: X:-65.49, Y:-257.38, Z:-1.79 [[ 9.46639115e-01 3.21808027e-01 -1.77194810e-02 -6.54893731e+01] [ 3.21753769e-01 -9.46804934e-01 -5.91015798e-03 -2.57379052e+02] [-1.86788283e-02 -1.06523071e-04 -9.99825530e-01 -1.78915002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.646559995 meters 0.013443424789168075 Centerline is valid? [True, True] Translation: X:-65.48, Y:-257.38, Z:-1.79 [[ 9.19395699e-01 3.93005857e-01 -1.60606627e-02 -6.54808118e+01] [ 3.92947104e-01 -9.19535966e-01 -6.79567951e-03 -2.57382035e+02] [-1.74390989e-02 -6.30723939e-05 -9.99847925e-01 -1.78939095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.6765599949999 meters 0.013279258635205836 Centerline is valid? [True, True] Translation: X:-65.47, Y:-257.38, Z:-1.79 [[ 8.86684238e-01 4.62145617e-01 -1.45770892e-02 -6.54729119e+01] [ 4.62083714e-01 -8.86804053e-01 -7.56395053e-03 -2.57383030e+02] [-1.64226683e-02 -2.89997834e-05 -9.99865139e-01 -1.79042645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.7065599949999 meters 0.013109691755267305 Centerline is valid? [True, True] Translation: X:-65.47, Y:-257.38, Z:-1.79 [[ 8.49040352e-01 5.28193266e-01 -1.19312490e-02 -6.54672168e+01] [ 5.28140991e-01 -8.49124181e-01 -7.43098886e-03 -2.57379919e+02] [-1.40561103e-02 7.82774676e-06 -9.99901208e-01 -1.79243044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.736559995 meters 0.012971704744167126 Centerline is valid? [True, True] Translation: X:-65.46, Y:-257.38, Z:-1.79 [[ 8.05489473e-01 5.92521351e-01 -1.02546309e-02 -6.54581526e+01] [ 5.92473090e-01 -8.05554746e-01 -7.56235874e-03 -2.57381229e+02] [-1.27415256e-02 1.58074825e-05 -9.99918823e-01 -1.79358855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.766559995 meters 0.013012732851934971 Centerline is valid? [True, True] Translation: X:-65.45, Y:-257.38, Z:-1.79 [[ 7.56814966e-01 6.53559477e-01 -9.54556425e-03 -6.54508047e+01] [ 6.53507177e-01 -7.56875161e-01 -8.26801635e-03 -2.57382325e+02] [-1.26284409e-02 1.92637678e-05 -9.99920258e-01 -1.79347792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.7965599949999 meters 0.012974232488845373 Centerline is valid? [True, True] Translation: X:-65.44, Y:-257.38, Z:-1.79 [[ 7.03416287e-01 7.10728314e-01 -8.41370173e-03 -6.54437289e+01] [ 7.10677140e-01 -7.03466604e-01 -8.52875603e-03 -2.57381174e+02] [-1.19803866e-02 1.98404151e-05 -9.99928232e-01 -1.79359835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.8265599949999 meters 0.012913441410915228 Centerline is valid? [True, True] Translation: X:-65.44, Y:-257.38, Z:-1.79 [[ 6.45486114e-01 7.63734770e-01 -7.54167578e-03 -6.54377920e+01] [ 7.63682326e-01 -6.45530170e-01 -8.95012043e-03 -2.57378724e+02] [-1.17038974e-02 1.77339575e-05 -9.99931507e-01 -1.79476037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.856559995 meters 0.012866673558014484 Centerline is valid? [True, True] Translation: X:-65.43, Y:-257.38, Z:-1.79 [[ 5.83525939e-01 8.12067460e-01 -6.62718039e-03 -6.54317217e+01] [ 8.12014818e-01 -5.83563570e-01 -9.24633740e-03 -2.57378795e+02] [-1.13760308e-02 1.41090339e-05 -9.99935291e-01 -1.79454232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.886559995 meters 0.012847921836118886 Centerline is valid? [True, True] Translation: X:-65.43, Y:-257.38, Z:-1.80 [[ 5.17589770e-01 8.55610076e-01 -5.67699311e-03 -6.54250186e+01] [ 8.55558471e-01 -5.17620902e-01 -9.39701857e-03 -2.57378078e+02] [-1.09787141e-02 6.80112965e-06 -9.99939732e-01 -1.79531934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.916559995 meters 0.012748112739009197 Centerline is valid? [True, True] Translation: X:-65.42, Y:-257.38, Z:-1.80 [[ 4.48547280e-01 8.93748194e-01 -4.41629652e-03 -6.54164333e+01] [ 8.93704847e-01 -4.48569020e-01 -8.80234465e-03 -2.57377518e+02] [-9.84809343e-03 1.40214822e-06 -9.99951506e-01 -1.79647904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.9465599949999 meters 0.012713747077769358 Centerline is valid? [True, True] Translation: X:-65.41, Y:-257.38, Z:-1.80 [[ 3.76107861e-01 9.26570017e-01 -3.29857039e-03 -6.54118496e+01] [ 9.26534596e-01 -3.76122325e-01 -8.10177390e-03 -2.57376097e+02] [-8.74752674e-03 -9.09873835e-06 -9.99961740e-01 -1.79763210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.976559995 meters 0.012711207124691674 Centerline is valid? [True, True] Translation: X:-65.41, Y:-257.37, Z:-1.80 [[ 3.01663293e-01 9.53411002e-01 -2.59214373e-03 -6.54066412e+01] [ 9.53376239e-01 -3.01674429e-01 -8.14163606e-03 -2.57374279e+02] [-8.54430888e-03 -1.52554959e-05 -9.99963497e-01 -1.79784794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.006559995 meters 0.012728677494547194 Centerline is valid? [True, True] Translation: X:-65.40, Y:-257.37, Z:-1.80 [[ 2.25218677e-01 9.74306166e-01 -2.01053238e-03 -6.54005168e+01] [ 9.74268281e-01 -2.25227649e-01 -8.59198468e-03 -2.57372159e+02] [-8.82405113e-03 -2.37225094e-05 -9.99961067e-01 -1.79806271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.036559995 meters 0.012818769227759142 Centerline is valid? [True, True] Translation: X:-65.40, Y:-257.37, Z:-1.80 [[ 1.47347785e-01 9.89083827e-01 -1.34696109e-03 -6.53952391e+01] [ 9.89044454e-01 -1.47353938e-01 -8.82522822e-03 -2.57370599e+02] [-8.92737052e-03 -3.18265610e-05 -9.99960150e-01 -1.79824412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.0665599949999 meters 0.012903197145413799 Centerline is valid? [True, True] Translation: X:-65.39, Y:-257.37, Z:-1.80 [[ 6.81744536e-02 9.97673244e-01 -5.85445414e-04 -6.53927489e+01] [ 9.97641167e-01 -6.81769563e-02 -8.00023349e-03 -2.57368110e+02] [-8.02153278e-03 -3.86528998e-05 -9.99967826e-01 -1.79928104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.096559995 meters 0.012988090580936 Centerline is valid? [True, True] Translation: X:-65.39, Y:-257.37, Z:-1.80 [[-1.11108975e-02 9.99938271e-01 3.88619639e-05 -6.53878262e+01] [ 9.99911983e-01 1.11108872e-02 -7.25077653e-03 -2.57365718e+02] [-7.25076074e-03 -4.17040912e-05 -9.99973712e-01 -1.79980748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.126559995 meters 0.012981754654559216 Centerline is valid? [True, True] Translation: X:-65.38, Y:-257.36, Z:-1.80 [[-9.00819837e-02 9.95934206e-01 5.41697741e-04 -6.53825586e+01] [ 9.95913310e-01 9.00836027e-02 -6.45158744e-03 -2.57363145e+02] [-6.47415470e-03 -4.16878037e-05 -9.99979042e-01 -1.80045829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.156559995 meters 0.013044782395341776 Centerline is valid? [True, True] Translation: X:-65.38, Y:-257.36, Z:-1.80 [[-1.68461244e-01 9.85707817e-01 9.53442894e-04 -6.53779775e+01] [ 9.85690595e-01 1.68463937e-01 -5.82689579e-03 -2.57360518e+02] [-5.90423747e-03 -4.18064225e-05 -9.99982569e-01 -1.80067058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.1865599949999 meters 0.01314426380816296 Centerline is valid? [True, True] Translation: X:-65.38, Y:-257.36, Z:-1.80 [[-2.45175513e-01 9.69477818e-01 1.31481548e-03 -6.53778113e+01] [ 9.69463008e-01 2.45179036e-01 -5.35884188e-03 -2.57360212e+02] [-5.51764353e-03 -3.91918420e-05 -9.99984777e-01 -1.80084480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.2165599949999 meters 0.013098620369508023 Centerline is valid? [True, True] Translation: X:-65.38, Y:-257.36, Z:-1.80 [[-3.19567658e-01 9.47561910e-01 1.71415535e-03 -6.53766070e+01] [ 9.47547698e-01 3.19572254e-01 -5.18982739e-03 -2.57358973e+02] [-5.46547925e-03 -3.42570296e-05 -9.99985064e-01 -1.80097282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.246559995 meters 0.01287405901449355 Centerline is valid? [True, True] Translation: X:-65.38, Y:-257.36, Z:-1.80 [[-3.91670836e-01 9.20103172e-01 2.02707054e-03 -6.53758432e+01] [ 9.20090500e-01 3.91676080e-01 -4.82915666e-03 -2.57358425e+02] [-5.23727741e-03 -2.63514818e-05 -9.99986285e-01 -1.80132623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.276559995 meters 0.012738406390750742 Centerline is valid? [True, True] Translation: X:-65.38, Y:-257.36, Z:-1.80 [[-4.59635605e-01 8.88105416e-01 1.96979780e-03 -6.53782491e+01] [ 8.88097194e-01 4.59639826e-01 -3.82167407e-03 -2.57360362e+02] [-4.29944696e-03 -7.20557447e-06 -9.99990757e-01 -1.80172846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.3065599949999 meters 0.012773968408331617 Centerline is valid? [True, True] Translation: X:-65.38, Y:-257.36, Z:-1.80 [[-5.26414080e-01 8.50224440e-01 2.57243758e-03 -6.53780064e+01] [ 8.50214283e-01 5.26420366e-01 -4.15587454e-03 -2.57361471e+02] [-4.88760963e-03 -5.87702522e-07 -9.99988056e-01 -1.80165493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.3365599949999 meters 0.012772521606870412 Centerline is valid? [True, True] Translation: X:-65.37, Y:-257.36, Z:-1.80 [[-5.89992889e-01 8.07403385e-01 2.85748788e-03 -6.53735072e+01] [ 8.07393980e-01 5.89999809e-01 -3.89695895e-03 -2.57358421e+02] [-4.83233515e-03 7.94044727e-06 -9.99988324e-01 -1.80226288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.366559995 meters 0.012820519017914785 Centerline is valid? [True, True] Translation: X:-65.37, Y:-257.36, Z:-1.80 [[-6.50202652e-01 7.59753952e-01 3.23170047e-03 -6.53684733e+01] [ 7.59744690e-01 6.50210683e-01 -3.75164379e-03 -2.57355177e+02] [-4.95161237e-03 1.59385347e-05 -9.99987741e-01 -1.80211755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.396559995 meters 0.013100058819096037 Centerline is valid? [True, True] Translation: X:-65.37, Y:-257.35, Z:-1.80 [[-7.05505821e-01 7.08691987e-01 4.14782568e-03 -6.53657085e+01] [ 7.08680043e-01 7.05518013e-01 -4.11468015e-03 -2.57353360e+02] [-5.84240659e-03 3.65504879e-05 -9.99982932e-01 -1.80100418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.4265599949999 meters 0.013535299740839018 Centerline is valid? [True, True] Translation: X:-65.35, Y:-257.34, Z:-1.80 [[-7.53023131e-01 6.57974385e-01 5.08651484e-03 -6.53475997e+01] [ 6.57959827e-01 7.53040309e-01 -4.37719975e-03 -2.57336169e+02] [-6.71043602e-03 5.05897652e-05 -9.99977484e-01 -1.79904272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.4565599949999 meters 0.013283549941676255 Centerline is valid? [True, True] Translation: X:-65.33, Y:-257.31, Z:-1.80 [[-7.97062257e-01 6.03867549e-01 5.97853145e-03 -6.53302138e+01] [ 6.03851163e-01 7.97084675e-01 -4.44897574e-03 -2.57314593e+02] [-7.45198787e-03 6.40325242e-05 -9.99972232e-01 -1.79915269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.486559995 meters 0.013580841327593633 Centerline is valid? [True, True] Translation: X:-65.31, Y:-257.29, Z:-1.80 [[-8.37259555e-01 5.46762240e-01 6.89142764e-03 -6.53143669e+01] [ 5.46744488e-01 8.37287912e-01 -4.40648738e-03 -2.57293311e+02] [-8.17940997e-03 7.84764138e-05 -9.99966545e-01 -1.79739982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.516559995 meters 0.0136801930844305 Centerline is valid? [True, True] Translation: X:-65.30, Y:-257.27, Z:-1.80 [[-8.73112926e-01 4.87443616e-01 8.51704709e-03 -6.52990938e+01] [ 4.87421627e-01 8.73154459e-01 -4.63128740e-03 -2.57273188e+02] [-9.69418913e-03 1.07756055e-04 -9.99953005e-01 -1.79656747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.5465599949999 meters 0.013932133502336422 Centerline is valid? [True, True] Translation: X:-65.29, Y:-257.25, Z:-1.80 [[-9.05317129e-01 4.24631106e-01 9.45095365e-03 -6.52866233e+01] [ 4.24609332e-01 9.05366450e-01 -4.30180021e-03 -2.57251471e+02] [-1.03832545e-02 1.18469702e-04 -9.99946086e-01 -1.79650404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.5765599949999 meters 0.01404518693353971 Centerline is valid? [True, True] Translation: X:-65.28, Y:-257.23, Z:-1.80 [[-9.32644920e-01 3.60665967e-01 9.67023207e-03 -6.52763247e+01] [ 3.60648042e-01 9.32695043e-01 -3.59824532e-03 -2.57229716e+02] [-1.03171421e-02 1.31665040e-04 -9.99946768e-01 -1.79767050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.606559995 meters 0.01430432645893655 Centerline is valid? [True, True] Translation: X:-65.27, Y:-257.20, Z:-1.80 [[-9.55785937e-01 2.93878962e-01 1.04115086e-02 -6.52690678e+01] [ 2.93863130e-01 9.55842631e-01 -3.05363625e-03 -2.57204797e+02] [-1.08491632e-02 1.40935922e-04 -9.99941136e-01 -1.79736904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.636559995 meters 0.014267825269976471 Centerline is valid? [True, True] Translation: X:-65.07, Y:-256.52, Z:-2.79 [[-9.42772723e-01 -3.33266860e-01 1.06203874e-02 -6.50661937e+01] [ 3.33244302e-01 -9.42832533e-01 -3.87931459e-03 -2.56522090e+02] [ 1.13060937e-02 -1.18128399e-04 9.99936077e-01 -2.79392435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.666559995 meters 0.014242865683322416 Centerline is valid? [True, True] Translation: X:-65.32, Y:-257.19, Z:-1.80 [[-9.56896588e-01 2.90188659e-01 1.18094237e-02 -6.53153050e+01] [ 2.90168622e-01 9.56969444e-01 -3.41386611e-03 -2.57194464e+02] [-1.22919229e-02 1.60007364e-04 -9.99924439e-01 -1.79712216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.6965599949999 meters 0.014618486283937783 Centerline is valid? [True, True] Translation: X:-65.31, Y:-257.17, Z:-1.79 [[-9.75308315e-01 2.20443717e-01 1.33513335e-02 -6.53110780e+01] [ 2.20425330e-01 9.75399683e-01 -2.85175722e-03 -2.57169638e+02] [-1.36515384e-02 1.61629552e-04 -9.99906800e-01 -1.79489760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.726559995 meters 0.014618486283937783 Centerline is valid? [True, True] Translation: X:-65.31, Y:-257.14, Z:-1.79 [[-9.88493979e-01 1.50654775e-01 1.35201091e-02 -6.53069099e+01] [ 1.50642919e-01 9.88586422e-01 -1.89690636e-03 -2.57141896e+02] [-1.36515743e-02 1.61628181e-04 -9.99906800e-01 -1.79489719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.756559995 meters 0.013825655345261827 Centerline is valid? [True, True] Translation: X:-65.20, Y:-256.43, Z:-2.79 [[-9.80660501e-01 -1.95278003e-01 1.30951851e-02 -6.52037424e+01] [ 1.95258197e-01 -9.80747914e-01 -2.78676858e-03 -2.56429584e+02] [ 1.33872701e-02 -1.75931648e-04 9.99910371e-01 -2.79487767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.786559995 meters 0.01374345990776225 Centerline is valid? [True, True] Translation: X:-65.37, Y:-257.13, Z:-1.80 [[-9.89560364e-01 1.43565896e-01 1.26142551e-02 -6.53670220e+01] [ 1.43555697e-01 9.89640753e-01 -1.71504851e-03 -2.57131645e+02] [-1.27298034e-02 1.13704159e-04 -9.99918966e-01 -1.79599872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.8165599949999 meters 0.01359265859145129 Centerline is valid? [True, True] Translation: X:-65.27, Y:-256.42, Z:-2.79 [[-9.80961148e-01 -1.93824429e-01 1.21374172e-02 -6.52708503e+01] [ 1.93807922e-01 -9.81036224e-01 -2.53307945e-03 -2.56421013e+02] [ 1.23982186e-02 -1.32524929e-04 9.99923130e-01 -2.79484994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.846559995 meters 0.01354694855955631 Centerline is valid? [True, True] Translation: X:-65.43, Y:-257.12, Z:-1.80 [[-9.90465987e-01 1.37263067e-01 1.16609909e-02 -6.54288135e+01] [ 1.37254521e-01 9.90534625e-01 -1.53380697e-03 -2.57124326e+02] [-1.17611503e-02 8.13400852e-05 -9.99930832e-01 -1.79710726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.876559995 meters 0.01399239658291724 Centerline is valid? [True, True] Translation: X:-65.33, Y:-256.41, Z:-2.80 [[-9.81717564e-01 -1.90018464e-01 1.11178831e-02 -6.53278901e+01] [ 1.90005065e-01 -9.81780511e-01 -2.25903773e-03 -2.56411826e+02] [ 1.13445798e-02 -1.05282924e-04 9.99935643e-01 -2.79500224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.906559995 meters 0.013692836213032092 Centerline is valid? [True, True] Translation: X:-65.49, Y:-257.12, Z:-1.80 [[-9.90920422e-01 1.33978126e-01 1.12507509e-02 -6.54863762e+01] [ 1.33970522e-01 9.90984285e-01 -1.43019797e-03 -2.57118398e+02] [-1.13409326e-02 9.00565950e-05 -9.99935686e-01 -1.79826438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.9365599949999 meters 0.013839024455063636 Centerline is valid? [True, True] Translation: X:-65.39, Y:-256.40, Z:-2.79 [[-9.83069058e-01 -1.82907321e-01 1.09608342e-02 -6.53939813e+01] [ 1.82894824e-01 -9.83130155e-01 -2.14042655e-03 -2.56401663e+02] [ 1.11674263e-02 -9.95072765e-05 9.99937637e-01 -2.79129432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.9665599949999 meters 0.014132026985855802 Centerline is valid? [True, True] Translation: X:-65.55, Y:-257.11, Z:-1.80 [[-9.91058876e-01 1.32962823e-01 1.10991767e-02 -6.55501260e+01] [ 1.32955930e-01 9.91121018e-01 -1.35986822e-03 -2.57112620e+02] [-1.11814392e-02 1.27991897e-04 -9.99937478e-01 -1.80015620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.996559995 meters 0.01418041194517134 Centerline is valid? [True, True] Translation: X:-65.46, Y:-256.39, Z:-2.79 [[-9.84390537e-01 -1.75649721e-01 1.10655532e-02 -6.54579723e+01] [ 1.75637209e-01 -9.84452721e-01 -2.10010105e-03 -2.56394258e+02] [ 1.12623961e-02 -1.23796718e-04 9.99936570e-01 -2.79097337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.026559995 meters 0.014285564276591228 Centerline is valid? [True, True] Translation: X:-65.61, Y:-257.10, Z:-1.80 [[-9.91239179e-01 1.31606775e-01 1.11600213e-02 -6.56117846e+01] [ 1.31600306e-01 9.91301987e-01 -1.31526138e-03 -2.57104703e+02] [-1.12360486e-02 1.64923611e-04 -9.99936860e-01 -1.80039059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.0565599949999 meters 0.015003525549972743 Centerline is valid? [True, True] Translation: X:-65.61, Y:-257.08, Z:-1.80 [[-9.97923607e-01 6.32669189e-02 1.20736090e-02 -6.56121718e+01] [ 6.32647919e-02 9.97996620e-01 -5.58402407e-04 -2.57077928e+02] [-1.20847494e-02 2.06591417e-04 -9.99926956e-01 -1.79969184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.0865599949999 meters 0.015125702536722229 Centerline is valid? [True, True] Translation: X:-65.61, Y:-257.05, Z:-1.80 [[-9.99905246e-01 -6.86690140e-03 1.19308158e-02 -6.56116804e+01] [-6.86382731e-03 9.99976399e-01 2.98588171e-04 -2.57049646e+02] [-1.19325846e-02 2.16668820e-04 -9.99928781e-01 -1.79981015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.116559995 meters 0.01572126215844997 Centerline is valid? [True, True] Translation: X:-65.63, Y:-256.32, Z:-2.79 [[-9.99647699e-01 -2.37606993e-02 1.18282510e-02 -6.56254265e+01] [ 2.37564172e-02 -9.99717650e-01 -5.02413115e-04 -2.56323448e+02] [ 1.18368490e-02 -2.21239248e-04 9.99929918e-01 -2.79208631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.146559995 meters 0.015932639382514536 Centerline is valid? [True, True] Translation: X:-65.71, Y:-257.05, Z:-1.80 [[-9.99866436e-01 -1.13704196e-02 1.17398805e-02 -6.57094565e+01] [-1.13669142e-02 9.99935328e-01 3.65279770e-04 -2.57051001e+02] [-1.17432746e-02 2.31784768e-04 -9.99931019e-01 -1.79913346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.1765599949999 meters 0.01583091343621772 Centerline is valid? [True, True] Translation: X:-65.72, Y:-257.02, Z:-1.80 [[-9.96547642e-01 -8.21338231e-02 1.21174077e-02 -6.57162599e+01] [-8.21247434e-02 9.96621279e-01 1.24584575e-03 -2.57021669e+02] [-1.21787924e-02 2.46405648e-04 -9.99925805e-01 -1.79957942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.2065599949999 meters 0.01619547398139315 Centerline is valid? [True, True] Translation: X:-65.73, Y:-257.00, Z:-1.80 [[-9.88082329e-01 -1.53480115e-01 1.17117615e-02 -6.57317441e+01] [-1.53466471e-01 9.88151708e-01 2.06033270e-03 -2.56995962e+02] [-1.18892172e-02 2.38415626e-04 -9.99929292e-01 -1.79943804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.236559995 meters 0.016181821776868797 Centerline is valid? [True, True] Translation: X:-65.76, Y:-256.97, Z:-1.80 [[-9.74454589e-01 -2.24257660e-01 1.21142847e-02 -6.57620243e+01] [-2.24237132e-01 9.74529856e-01 3.04454376e-03 -2.56973271e+02] [-1.24884944e-02 2.50297181e-04 -9.99921984e-01 -1.79966882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.266559995 meters 0.015543988105377058 Centerline is valid? [True, True] Translation: X:-65.81, Y:-256.96, Z:-1.80 [[-9.55070740e-01 -2.96126153e-01 1.22140888e-02 -6.58148193e+01] [-2.96098702e-01 9.55148807e-01 4.03919962e-03 -2.56957503e+02] [-1.28623850e-02 2.41145522e-04 -9.99917247e-01 -1.80050076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.2965599949999 meters 0.014979695274681362 Centerline is valid? [True, True] Translation: X:-65.88, Y:-256.95, Z:-1.80 [[-9.30233140e-01 -3.66774312e-01 1.19544430e-02 -6.58770922e+01] [-3.66740887e-01 9.30309923e-01 4.95673191e-03 -2.56948543e+02] [-1.29393389e-02 2.26733260e-04 -9.99916258e-01 -1.80073405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.3265599949999 meters 0.0147725487285453 Centerline is valid? [True, True] Translation: X:-65.95, Y:-256.95, Z:-1.80 [[-8.99792705e-01 -4.36165903e-01 1.15061909e-02 -6.59510216e+01] [-4.36127317e-01 8.99866247e-01 5.80522000e-03 -2.56950110e+02] [-1.28860719e-02 2.05330421e-04 -9.99916950e-01 -1.80025453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.356559995 meters 0.01396323280750591 Centerline is valid? [True, True] Translation: X:-66.04, Y:-256.96, Z:-1.80 [[-8.62966730e-01 -5.05135615e-01 1.12443140e-02 -6.60358997e+01] [-5.05090295e-01 8.63039967e-01 6.76822548e-03 -2.56960194e+02] [-1.31231641e-02 1.61359532e-04 -9.99913875e-01 -1.80009541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.386559995 meters 0.013603493062998136 Centerline is valid? [True, True] Translation: X:-66.12, Y:-256.98, Z:-1.80 [[-8.21427756e-01 -5.70220257e-01 1.02615899e-02 -6.61211799e+01] [-5.70173839e-01 8.21491840e-01 7.27670094e-03 -2.56980177e+02] [-1.25791346e-02 1.26394008e-04 -9.99920872e-01 -1.80003361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.416559995 meters 0.01344737162594 Centerline is valid? [True, True] Translation: X:-66.21, Y:-257.01, Z:-1.80 [[-7.74595340e-01 -6.32389451e-01 9.25429874e-03 -6.62089803e+01] [-6.32342919e-01 7.74650614e-01 7.67195423e-03 -2.57010152e+02] [-1.20205111e-02 9.07697188e-05 -9.99927747e-01 -1.80030134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.4465599949999 meters 0.013226940968135138 Centerline is valid? [True, True] Translation: X:-66.30, Y:-257.05, Z:-1.80 [[-7.22937246e-01 -6.90865169e-01 8.18879080e-03 -6.62980036e+01] [-6.90819938e-01 7.22983620e-01 7.90558353e-03 -2.57050419e+02] [-1.13820539e-02 5.82608345e-05 -9.99935221e-01 -1.80057875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.476559995 meters 0.013094126558933392 Centerline is valid? [True, True] Translation: X:-66.39, Y:-257.10, Z:-1.80 [[-6.66785725e-01 -7.45212489e-01 7.42583071e-03 -6.63899844e+01] [-7.45165756e-01 6.66827073e-01 8.34566591e-03 -2.57103423e+02] [-1.11710394e-02 3.12961378e-05 -9.99937602e-01 -1.80089043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.506559995 meters 0.013157419892322266 Centerline is valid? [True, True] Translation: X:-66.48, Y:-257.16, Z:-1.80 [[-6.04287158e-01 -7.96739396e-01 6.58522428e-03 -6.64781601e+01] [-7.96692505e-01 6.04323038e-01 8.64395313e-03 -2.57161194e+02] [-1.08665807e-02 -2.29689617e-05 -9.99940957e-01 -1.80109518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.536559995 meters 0.01321083179413666 Centerline is valid? [True, True] Translation: X:-66.56, Y:-257.23, Z:-1.80 [[-5.39735686e-01 -8.41812617e-01 6.07511965e-03 -6.65629893e+01] [-8.41760360e-01 5.39769873e-01 9.37984524e-03 -2.57230985e+02] [-1.11752386e-02 -5.11576926e-05 -9.99937554e-01 -1.80137186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.5665599949999 meters 0.013437975040126332 Centerline is valid? [True, True] Translation: X:-66.64, Y:-257.31, Z:-1.80 [[-4.72010416e-01 -8.81576912e-01 5.32116899e-03 -6.66423673e+01] [-8.81522706e-01 4.72040403e-01 9.77633993e-03 -2.57307463e+02] [-1.11304023e-02 -7.61970086e-05 -9.99938052e-01 -1.80140077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.596559995 meters 0.01418576968446939 Centerline is valid? [True, True] Translation: X:-66.72, Y:-257.39, Z:-1.80 [[-3.99284154e-01 -9.16814818e-01 4.77015937e-03 -6.67192273e+01] [-9.16753229e-01 3.99312626e-01 1.06275011e-02 -2.57393863e+02] [-1.16482353e-02 -1.29666229e-04 -9.99932149e-01 -1.80133999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.626559995 meters 0.014504052739213269 Centerline is valid? [True, True] Translation: X:-66.79, Y:-257.48, Z:-1.80 [[-3.26175531e-01 -9.45300852e-01 3.97767286e-03 -6.67863556e+01] [-9.45236164e-01 3.26199749e-01 1.10598090e-02 -2.57483266e+02] [-1.17523628e-02 -1.52401136e-04 -9.99930927e-01 -1.80114916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.656559995 meters 0.014891422972479838 Centerline is valid? [True, True] Translation: X:-66.85, Y:-257.59, Z:-1.80 [[-2.51288096e-01 -9.67907372e-01 3.10020921e-03 -6.68494111e+01] [-9.67841795e-01 2.51307163e-01 1.12680697e-02 -2.57586872e+02] [-1.16855525e-02 -1.68980266e-04 -9.99931707e-01 -1.80097465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.6865599949999 meters 0.01556277623498347 Centerline is valid? [True, True] Translation: X:-66.90, Y:-257.69, Z:-1.80 [[-1.73828082e-01 -9.84773956e-01 2.01339399e-03 -6.69028321e+01] [-9.84719317e-01 1.73839650e-01 1.03751123e-02 -2.57688806e+02] [-1.05671481e-02 -1.79142083e-04 -9.99944150e-01 -1.80227217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.7165599949999 meters 0.015791643244200505 Centerline is valid? [True, True] Translation: X:-66.95, Y:-257.80, Z:-1.80 [[-9.68131443e-02 -9.95301957e-01 1.10928772e-03 -6.69481443e+01] [-9.95255483e-01 9.68193452e-02 9.61966023e-03 -2.57799755e+02] [-9.68186716e-03 -1.72715129e-04 -9.99953115e-01 -1.80318172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.746559995 meters 0.01608350735878807 Centerline is valid? [True, True] Translation: X:-66.98, Y:-257.91, Z:-1.80 [[-1.90956347e-02 -9.99817601e-01 3.48973957e-04 -6.69843546e+01] [-9.99775115e-01 1.90980409e-02 9.21868851e-03 -2.57911657e+02] [-9.22367175e-03 -1.72858769e-04 -9.99957446e-01 -1.80377776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.776559995 meters 0.01628272719963007 Centerline is valid? [True, True] Translation: X:-67.01, Y:-258.03, Z:-1.80 [[ 5.87358325e-02 -9.98273495e-01 -3.62671937e-04 -6.70120477e+01] [-9.98230491e-01 -5.87366692e-02 9.26767846e-03 -2.58030327e+02] [-9.27297991e-03 -1.82314624e-04 -9.99956988e-01 -1.80391469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.8065599949999 meters 0.01633341259995146 Centerline is valid? [True, True] Translation: X:-67.03, Y:-258.15, Z:-1.80 [[ 1.36569037e-01 -9.90629695e-01 -1.30641980e-03 -6.70301129e+01] [-9.90566350e-01 -1.36575081e-01 1.12050567e-02 -2.58147987e+02] [-1.12784863e-02 -2.36168306e-04 -9.99936368e-01 -1.80272914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.8365599949999 meters 0.016557851303391987 Centerline is valid? [True, True] Translation: X:-67.04, Y:-258.27, Z:-1.80 [[ 2.12576333e-01 -9.77141712e-01 -2.31876782e-03 -6.70391061e+01] [-9.77069719e-01 -2.12588824e-01 1.18640974e-02 -2.58267001e+02] [-1.20858486e-02 -2.56428503e-04 -9.99926931e-01 -1.80161160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.866559995 meters 0.01706446147843256 Centerline is valid? [True, True] Translation: X:-67.04, Y:-258.39, Z:-1.80 [[ 2.86379665e-01 -9.58110330e-01 -3.35906401e-03 -6.70388904e+01] [-9.58033471e-01 -2.86399248e-01 1.21383383e-02 -2.58388533e+02] [-1.25919007e-02 -2.58077497e-04 -9.99920686e-01 -1.80041738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.896559995 meters 0.015787440751373977 Centerline is valid? [True, True] Translation: X:-67.02, Y:-258.51, Z:-1.80 [[ 3.55879180e-01 -9.34522413e-01 -4.22728892e-03 -6.70242326e+01] [-9.34449291e-01 -3.55904223e-01 1.16921735e-02 -2.58505370e+02] [-1.24311082e-02 -2.10813980e-04 -9.99922709e-01 -1.80130438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.9265599949999 meters 0.015095881046858774 Centerline is valid? [True, True] Translation: X:-67.00, Y:-258.62, Z:-1.80 [[ 4.24266796e-01 -9.05522489e-01 -5.16794200e-03 -6.70024373e+01] [-9.05450037e-01 -4.24298231e-01 1.14560547e-02 -2.58623532e+02] [-1.25664638e-02 -1.81110319e-04 -9.99921023e-01 -1.80201849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.9565599949999 meters 0.01525287013808917 Centerline is valid? [True, True] Translation: X:-66.98, Y:-258.72, Z:-1.80 [[ 4.90161607e-01 -8.71610771e-01 -6.02189594e-03 -6.69817155e+01] [-8.71541293e-01 -4.90198575e-01 1.10059833e-02 -2.58723885e+02] [-1.25448584e-02 -1.46379502e-04 -9.99921300e-01 -1.80045478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.986559995 meters 0.014394022333685834 Centerline is valid? [True, True] Translation: X:-66.94, Y:-258.83, Z:-1.80 [[ 5.53146930e-01 -8.33053019e-01 -7.15127813e-03 -6.69445043e+01] [-8.32980695e-01 -5.53193143e-01 1.09776114e-02 -2.58831913e+02] [-1.31009704e-02 -1.15355433e-04 -9.99914172e-01 -1.80138887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.016559995 meters 0.013990341639323842 Centerline is valid? [True, True] Translation: X:-66.90, Y:-258.93, Z:-1.80 [[ 6.10461182e-01 -7.92004615e-01 -8.11389074e-03 -6.69002429e+01] [-7.91933899e-01 -6.10515101e-01 1.05835195e-02 -2.58932172e+02] [-1.33358491e-02 -3.51627124e-05 -9.99911073e-01 -1.80137901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.0465599949999 meters 0.013919968502798261 Centerline is valid? [True, True] Translation: X:-66.85, Y:-259.03, Z:-1.80 [[ 6.67077602e-01 -7.44938136e-01 -8.63984399e-03 -6.68501744e+01] [-7.44875719e-01 -6.67133550e-01 9.64309520e-03 -2.59033087e+02] [-1.29474392e-02 2.91718709e-06 -9.99916178e-01 -1.80203560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.0765599949999 meters 0.013921722382318775 Centerline is valid? [True, True] Translation: X:-67.32, Y:-259.58, Z:-2.79 [[ 6.17295345e-01 7.86697177e-01 -7.34903890e-03 -6.73240981e+01] [-7.86640170e-01 6.17339086e-01 9.47082213e-03 -2.59584946e+02] [ 1.19875180e-02 -6.52452095e-05 9.99928145e-01 -2.78871574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.106559995 meters 0.014070610949513522 Centerline is valid? [True, True] Translation: X:-66.68, Y:-259.22, Z:-1.80 [[ 6.70394431e-01 -7.41963556e-01 -7.83507943e-03 -6.66802680e+01] [-7.41913825e-01 -6.70440213e-01 8.59053158e-03 -2.59224123e+02] [-1.16268137e-02 5.39092133e-05 -9.99932405e-01 -1.80264233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.136559995 meters 0.014422491896931572 Centerline is valid? [True, True] Translation: X:-66.63, Y:-259.31, Z:-1.80 [[ 7.22943719e-01 -6.90842543e-01 -9.43193012e-03 -6.66324266e+01] [-6.90785535e-01 -7.23005236e-01 8.87540901e-03 -2.59312021e+02] [-1.29508450e-02 9.90196990e-05 -9.99916129e-01 -1.80233230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.166559995 meters 0.014517194794423585 Centerline is valid? [True, True] Translation: X:-66.64, Y:-259.32, Z:-1.80 [[ 7.73852924e-01 -6.33270460e-01 -1.09624551e-02 -6.66351597e+01] [-6.33209237e-01 -7.73930558e-01 8.80647342e-03 -2.59319231e+02] [-1.40610584e-02 1.26612592e-04 -9.99901131e-01 -1.80258344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.1965599949999 meters 0.015208045727701664 Centerline is valid? [True, True] Translation: X:-66.64, Y:-259.32, Z:-1.80 [[ 8.20150748e-01 -5.72014796e-01 -1.23217299e-02 -6.66368349e+01] [-5.71953096e-01 -8.20243287e-01 8.40279430e-03 -2.59323772e+02] [-1.49133389e-02 1.55893541e-04 -9.99888778e-01 -1.80102624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.226559995 meters 0.015080505196523469 Centerline is valid? [True, True] Translation: X:-66.64, Y:-259.33, Z:-1.80 [[ 8.60893297e-01 -5.08590204e-01 -1.40973739e-02 -6.66398980e+01] [-5.08526106e-01 -8.61008686e-01 8.07722121e-03 -2.59332166e+02] [-1.62459570e-02 2.15257080e-04 -9.99868003e-01 -1.80385512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.256559995 meters 0.015477789500343153 Centerline is valid? [True, True] Translation: X:-66.64, Y:-259.34, Z:-1.80 [[ 8.97580738e-01 -4.40619272e-01 -1.42644702e-02 -6.66429247e+01] [-4.40567618e-01 -8.97694049e-01 6.75042675e-03 -2.59340344e+02] [-1.57794981e-02 2.25410625e-04 -9.99875471e-01 -1.80373792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.286559995 meters 0.015378257422394445 Centerline is valid? [True, True] Translation: X:-66.65, Y:-259.35, Z:-1.80 [[ 9.28744320e-01 -3.70428837e-01 -1.47127731e-02 -6.66454386e+01] [-3.70386577e-01 -9.28860816e-01 5.60076425e-03 -2.59350651e+02] [-1.57408030e-02 2.47735689e-04 -9.99876075e-01 -1.80413345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.3165599949999 meters 0.016203245168935364 Centerline is valid? [True, True] Translation: X:-66.65, Y:-259.36, Z:-1.80 [[ 9.53845272e-01 -2.99902766e-01 -1.54119580e-02 -6.66472484e+01] [-2.99868802e-01 -9.53969725e-01 4.52380374e-03 -2.59359763e+02] [-1.60592426e-02 3.06556574e-04 -9.99870995e-01 -1.80377768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.346559995 meters 0.01618975364517504 Centerline is valid? [True, True] Translation: X:-66.65, Y:-259.37, Z:-1.80 [[ 9.73888062e-01 -2.26470761e-01 -1.59071581e-02 -6.66482590e+01] [-2.26446328e-01 -9.74017903e-01 3.34446649e-03 -2.59370207e+02] [-1.62512807e-02 3.44981558e-04 -9.99867880e-01 -1.80452626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.376559995 meters 0.017533362941234476 Centerline is valid? [True, True] Translation: X:-66.65, Y:-259.38, Z:-1.80 [[ 9.88302967e-01 -1.51642699e-01 -1.61783185e-02 -6.66523169e+01] [-1.51628691e-01 -9.88435302e-01 2.09615102e-03 -2.59377159e+02] [-1.63090871e-02 3.81464978e-04 -9.99866925e-01 -1.80377215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.406559995 meters 0.018194694127623843 Centerline is valid? [True, True] Translation: X:-66.65, Y:-259.38, Z:-1.80 [[ 9.96991335e-01 -7.57569469e-02 -1.64061594e-02 -6.66546261e+01] [-7.57535555e-02 -9.97126227e-01 8.28965737e-04 -2.59382993e+02] [-1.64218118e-02 4.16353253e-04 -9.99865066e-01 -1.80398435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.4365599949999 meters 0.018052071929822448 Centerline is valid? [True, True] Translation: X:-66.66, Y:-259.40, Z:-1.80 [[ 9.99863561e-01 -9.39704122e-04 -1.64916963e-02 -6.66561038e+01] [-9.47411211e-04 -9.99999446e-01 -4.59524991e-04 -2.59395442e+02] [-1.64912554e-02 4.75086712e-04 -9.99863897e-01 -1.80476172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.4665599949999 meters 0.01861034886656859 Centerline is valid? [True, True] Translation: X:-66.66, Y:-259.41, Z:-1.80 [[ 9.96942454e-01 7.62718966e-02 -1.69806270e-02 -6.66574283e+01] [ 7.62521160e-02 -9.97086926e-01 -1.81025842e-03 -2.59405303e+02] [-1.70692330e-02 5.09914738e-04 -9.99854180e-01 -1.80398698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.496559995 meters 0.01903462217118006 Centerline is valid? [True, True] Translation: X:-66.66, Y:-259.42, Z:-1.80 [[ 9.88059267e-01 1.53198728e-01 -1.64022514e-02 -6.66570675e+01] [ 1.53168983e-01 -9.88195267e-01 -3.06209019e-03 -2.59415187e+02] [-1.66777355e-02 5.13210429e-04 -9.99860785e-01 -1.80319254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.526559995 meters 0.018853329299573857 Centerline is valid? [True, True] Translation: X:-66.66, Y:-259.43, Z:-1.80 [[ 9.73197984e-01 2.29430631e-01 -1.57248066e-02 -6.66552206e+01] [ 2.29392167e-01 -9.73324881e-01 -4.23197991e-03 -2.59426557e+02] [-1.62762913e-02 5.11406852e-04 -9.99867402e-01 -1.80337203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.5565599949999 meters 0.01898268274935158 Centerline is valid? [True, True] Translation: X:-66.65, Y:-259.44, Z:-1.80 [[ 9.52730611e-01 3.03461451e-01 -1.46809562e-02 -6.66522993e+01] [ 3.03417084e-01 -9.52843578e-01 -5.21427252e-03 -2.59439426e+02] [-1.55709855e-02 5.13344141e-04 -9.99878633e-01 -1.80334472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.5865599949999 meters 0.02005521088003361 Centerline is valid? [True, True] Translation: X:-66.65, Y:-259.45, Z:-1.80 [[ 9.26397131e-01 3.76293161e-01 -1.38496073e-02 -6.66502084e+01] [ 3.76242775e-01 -9.26500509e-01 -6.17907301e-03 -2.59447700e+02] [-1.51568111e-02 5.13460819e-04 -9.99884997e-01 -1.80263170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.616559995 meters 0.020307042852730058 Centerline is valid? [True, True] Translation: X:-66.65, Y:-259.46, Z:-1.80 [[ 8.94736346e-01 4.46385950e-01 -1.36548160e-02 -6.66468657e+01] [ 4.46324546e-01 -8.94840367e-01 -7.42407892e-03 -2.59456392e+02] [-1.55328851e-02 5.48113689e-04 -9.99879207e-01 -1.80248988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.646559995 meters 0.020307042852730058 Centerline is valid? [True, True] Translation: X:-66.64, Y:-259.46, Z:-1.80 [[ 8.57042313e-01 5.15081208e-01 -1.30316398e-02 -6.66436355e+01] [ 5.15011847e-01 -8.57141207e-01 -8.47048124e-03 -2.59463968e+02] [-1.55329412e-02 5.48111966e-04 -9.99879206e-01 -1.80248937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.6765599949999 meters 0.01998976176268224 Centerline is valid? [True, True] Translation: X:-66.64, Y:-259.48, Z:-1.80 [[ 8.15367443e-01 5.78812305e-01 -1.23388887e-02 -6.66365048e+01] [ 5.78735079e-01 -8.15460591e-01 -9.47273860e-03 -2.59475601e+02] [-1.55448151e-02 5.82814926e-04 -9.99879002e-01 -1.80270557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.7065599949999 meters 0.0218942987006888 Centerline is valid? [True, True] Translation: X:-66.63, Y:-259.48, Z:-1.80 [[ 7.68037428e-01 6.40311258e-01 -1.09545618e-02 -6.66324958e+01] [ 6.40235510e-01 -7.68115340e-01 -9.86491282e-03 -2.59483235e+02] [-1.47309817e-02 5.63122787e-04 -9.99891335e-01 -1.80219706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.736559995 meters 0.021274524901257096 Centerline is valid? [True, True] Translation: X:-66.63, Y:-259.49, Z:-1.80 [[ 7.16052811e-01 6.97988513e-01 -8.96708843e-03 -6.66252892e+01] [ 6.97924745e-01 -7.16108776e-01 -9.44831031e-03 -2.59491631e+02] [-1.30162228e-02 5.07136249e-04 -9.99915157e-01 -1.80317580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.766559995 meters 0.020431137972013833 Centerline is valid? [True, True] Translation: X:-66.62, Y:-259.50, Z:-1.80 [[ 6.59659221e-01 7.51531437e-01 -7.08596873e-03 -6.66155499e+01] [ 7.51480664e-01 -6.59697128e-01 -8.74705061e-03 -2.59501074e+02] [-1.12482767e-02 4.45104107e-04 -9.99936637e-01 -1.80450430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.7965599949999 meters 0.020255600226596678 Centerline is valid? [True, True] Translation: X:-66.60, Y:-259.51, Z:-1.81 [[ 5.99299750e-01 8.00510525e-01 -4.76537939e-03 -6.66033632e+01] [ 8.00480610e-01 -5.99318601e-01 -6.92880115e-03 -2.59510104e+02] [-8.40255875e-03 3.37834994e-04 -9.99964641e-01 -1.80588192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.8265599949999 meters 0.020173547686750212 Centerline is valid? [True, True] Translation: X:-66.59, Y:-259.52, Z:-1.81 [[ 5.34522812e-01 8.45145076e-01 -3.89416909e-03 -6.65924905e+01] [ 8.45118275e-01 -5.34536907e-01 -6.73764293e-03 -2.59517347e+02] [-7.77586284e-03 3.10390376e-04 -9.99969719e-01 -1.80567582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.856559995 meters 0.019753032884877342 Centerline is valid? [True, True] Translation: X:-66.58, Y:-259.52, Z:-1.81 [[ 4.65833881e-01 8.84864834e-01 -3.60854863e-03 -6.65806654e+01] [ 8.84832656e-01 -4.65847743e-01 -7.55317117e-03 -2.59524183e+02] [-8.36456979e-03 3.25561369e-04 -9.99964963e-01 -1.80511513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.886559995 meters 0.01978112307656738 Centerline is valid? [True, True] Translation: X:-66.57, Y:-259.53, Z:-1.80 [[ 3.93922117e-01 9.19137740e-01 -3.34367443e-03 -6.65701106e+01] [ 9.19096729e-01 -3.93936152e-01 -8.68972246e-03 -2.59529467e+02] [-9.30424610e-03 3.49913640e-04 -9.99956653e-01 -1.80433819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.916559995 meters 0.018447749646205845 Centerline is valid? [True, True] Translation: X:-66.55, Y:-259.53, Z:-1.80 [[ 3.16707742e-01 9.48517884e-01 -3.16705920e-03 -6.65546206e+01] [ 9.48458110e-01 -3.16723360e-01 -1.06549251e-02 -2.59534586e+02] [-1.11094687e-02 3.70674304e-04 -9.99938219e-01 -1.80300353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.9465599949999 meters 0.017503694456241985 Centerline is valid? [True, True] Translation: X:-66.54, Y:-259.54, Z:-1.80 [[ 2.38798150e-01 9.71066005e-01 -2.50162819e-03 -6.65400734e+01] [ 9.70995522e-01 -2.38810973e-01 -1.17053747e-02 -2.59538049e+02] [-1.19641077e-02 3.66152061e-04 -9.99928361e-01 -1.80248419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.976559995 meters 0.01653994445897603 Centerline is valid? [True, True] Translation: X:-66.52, Y:-259.54, Z:-1.80 [[ 1.55234200e-01 9.87876377e-01 -1.61473362e-03 -6.65223847e+01] [ 9.87801744e-01 -1.55242326e-01 -1.21464059e-02 -2.59540848e+02] [-1.22498225e-02 2.90500917e-04 -9.99924926e-01 -1.80087397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.006559995 meters 0.01506901344945467 Centerline is valid? [True, True] Translation: X:-66.51, Y:-259.54, Z:-1.80 [[ 7.33118571e-02 9.97308846e-01 -6.61123145e-04 -6.65071690e+01] [ 9.97233208e-01 -7.33144408e-02 -1.22850081e-02 -2.59540901e+02] [-1.23004171e-02 2.41342802e-04 -9.99924318e-01 -1.80130902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.036559995 meters 0.014273481076976357 Centerline is valid? [True, True] Translation: X:-66.49, Y:-259.54, Z:-1.80 [[-9.29541836e-03 9.99956754e-01 2.92353044e-04 -6.64942103e+01] [ 9.99886322e-01 9.29823388e-03 -1.18695048e-02 -2.59540837e+02] [-1.18717099e-02 1.81987797e-04 -9.99929512e-01 -1.80104165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.0665599949999 meters 0.012744176858140778 Centerline is valid? [True, True] Translation: X:-66.48, Y:-259.54, Z:-1.80 [[-9.54088482e-02 9.95437497e-01 1.15846474e-03 -6.64753599e+01] [ 9.95374441e-01 9.54158440e-02 -1.12044450e-02 -2.59537039e+02] [-1.12638606e-02 8.41030036e-05 -9.99936557e-01 -1.80127801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.096559995 meters 0.012469908484944519 Centerline is valid? [True, True] Translation: X:-66.46, Y:-259.53, Z:-1.80 [[-1.76417939e-01 9.84313315e-01 2.00207648e-03 -6.64637399e+01] [ 9.84252799e-01 1.76429293e-01 -1.09147650e-02 -2.59532498e+02] [-1.10967735e-02 4.49890286e-05 -9.99938428e-01 -1.80087033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.126559995 meters 0.012237125892419294 Centerline is valid? [True, True] Translation: X:-66.45, Y:-259.53, Z:-1.80 [[-2.55990431e-01 9.66675289e-01 2.79011057e-03 -6.64539293e+01] [ 9.66618323e-01 2.56005636e-01 -1.04943495e-02 -2.59527936e+02] [-1.08589124e-02 1.05189474e-05 -9.99941040e-01 -1.80071789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.156559995 meters 0.01231660802436238 Centerline is valid? [True, True] Translation: X:-66.44, Y:-259.52, Z:-1.80 [[-3.36267561e-01 9.41761506e-01 3.06500028e-03 -6.64426053e+01] [ 9.41721221e-01 3.36281526e-01 -8.71072128e-03 -2.59521574e+02] [-9.23412496e-03 -4.27571865e-05 -9.99957364e-01 -1.80159090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.1865599949999 meters 0.012437181212124046 Centerline is valid? [True, True] Translation: X:-66.43, Y:-259.51, Z:-1.80 [[-4.11533058e-01 9.11387064e-01 3.76314390e-03 -6.64337521e+01] [ 9.11347420e-01 4.11550257e-01 -8.50093717e-03 -2.59513965e+02] [-9.29636702e-03 -6.88851807e-05 -9.99956786e-01 -1.80241999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.2165599949999 meters 0.012927696514827784 Centerline is valid? [True, True] Translation: X:-66.43, Y:-259.51, Z:-1.80 [[-4.84137977e-01 8.74982035e-01 4.10579340e-03 -6.64257440e+01] [ 8.74949012e-01 4.84155379e-01 -7.60238553e-03 -2.59507058e+02] [-8.63979273e-03 -8.82436722e-05 -9.99962672e-01 -1.80278475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.246559995 meters 0.01362479449472651 Centerline is valid? [True, True] Translation: X:-66.42, Y:-259.50, Z:-1.80 [[-5.55672998e-01 8.31392057e-01 3.84267268e-03 -6.64164202e+01] [ 8.31370792e-01 5.55686274e-01 -5.94736643e-03 -2.59496515e+02] [-7.07991367e-03 -1.10105111e-04 -9.99974931e-01 -1.80397637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.276559995 meters 0.014198697709727514 Centerline is valid? [True, True] Translation: X:-66.41, Y:-259.49, Z:-1.80 [[-6.20736364e-01 7.84009468e-01 3.93967322e-03 -6.64101508e+01] [ 7.83992494e-01 6.20748856e-01 -5.16020338e-03 -2.59487766e+02] [-6.49119595e-03 -1.14451656e-04 -9.99978926e-01 -1.80419306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.3065599949999 meters 0.014505414298816311 Centerline is valid? [True, True] Translation: X:-66.41, Y:-259.48, Z:-1.80 [[-6.81534421e-01 7.31775544e-01 3.92257753e-03 -6.64056685e+01] [ 7.31762452e-01 6.81545699e-01 -4.37883569e-03 -2.59478377e+02] [-5.87774071e-03 -1.13932299e-04 -9.99982720e-01 -1.80440061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.3365599949999 meters 0.015140221652261844 Centerline is valid? [True, True] Translation: X:-66.40, Y:-259.47, Z:-1.80 [[-7.37559490e-01 6.75268616e-01 4.27726962e-03 -6.64018552e+01] [ 6.75256295e-01 7.37571882e-01 -4.08113779e-03 -2.59469557e+02] [-5.91065807e-03 -1.21828675e-04 -9.99982525e-01 -1.80446741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.366559995 meters 0.0158198518344391 Centerline is valid? [True, True] Translation: X:-66.39, Y:-259.45, Z:-1.80 [[-7.84320688e-01 6.20339784e-01 4.42831715e-03 -6.63884262e+01] [ 6.20328982e-01 7.84333180e-01 -3.66303438e-03 -2.59445448e+02] [-5.74560203e-03 -1.25980180e-04 -9.99983486e-01 -1.80455061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.396559995 meters 0.015495749642275158 Centerline is valid? [True, True] Translation: X:-66.05, Y:-259.03, Z:-2.79 [[-7.10498878e-01 -7.03683319e-01 4.59688285e-03 -6.60477171e+01] [ 7.03670134e-01 -7.10513728e-01 -4.31105229e-03 -2.59028198e+02] [ 6.29976395e-03 1.71691355e-04 9.99980142e-01 -2.78662360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.4265599949999 meters 0.015459105473936459 Centerline is valid? [True, True] Translation: X:-66.42, Y:-259.42, Z:-1.80 [[-7.86249754e-01 6.17885292e-01 5.39356895e-03 -6.64209717e+01] [ 6.17869431e-01 7.86268239e-01 -4.42973924e-03 -2.59421688e+02] [-6.97786269e-03 -1.50360012e-04 -9.99975643e-01 -1.80345528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.4565599949999 meters 0.014692491830478346 Centerline is valid? [True, True] Translation: X:-66.41, Y:-259.40, Z:-1.80 [[-8.27656457e-01 5.61197245e-01 6.51473498e-03 -6.64086370e+01] [ 5.61178257e-01 8.27682079e-01 -4.61943791e-03 -2.59398480e+02] [-7.98454522e-03 -1.67379986e-04 -9.99968109e-01 -1.80280154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.486559995 meters 0.014341974710291396 Centerline is valid? [True, True] Translation: X:-66.40, Y:-259.38, Z:-1.80 [[-8.64296501e-01 5.02912605e-01 8.39465790e-03 -6.63967074e+01] [ 5.02886766e-01 8.64337247e-01 -5.10137015e-03 -2.59375749e+02] [-9.82135885e-03 -1.87534007e-04 -9.99951752e-01 -1.80101349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.516559995 meters 0.013949742226801244 Centerline is valid? [True, True] Translation: X:-66.11, Y:-258.90, Z:-2.79 [[-8.06903018e-01 -5.90625712e-01 8.29386391e-03 -6.61122631e+01] [ 5.90597190e-01 -8.06945614e-01 -5.80828019e-03 -2.58904828e+02] [ 1.01232167e-02 2.11613913e-04 9.99948737e-01 -2.79030115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.5465599949999 meters 0.013716818285339607 Centerline is valid? [True, True] Translation: X:-66.44, Y:-259.36, Z:-1.80 [[-8.64957959e-01 5.01775501e-01 8.31118129e-03 -6.64352030e+01] [ 5.01750516e-01 8.64997873e-01 -5.01000391e-03 -2.59358345e+02] [-9.70305136e-03 -1.63303255e-04 -9.99952911e-01 -1.80107283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.5765599949999 meters 0.013642263845058619 Centerline is valid? [True, True] Translation: X:-66.42, Y:-259.34, Z:-1.80 [[-8.96853858e-01 4.42259972e-01 7.69905176e-03 -6.64249264e+01] [ 4.42242554e-01 8.96886896e-01 -3.92685071e-03 -2.59338036e+02] [-8.64186751e-03 -1.16962894e-04 -9.99962652e-01 -1.80190997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.606559995 meters 0.012734990229383333 Centerline is valid? [True, True] Translation: X:-66.16, Y:-258.83, Z:-2.79 [[-8.52209151e-01 -5.23159530e-01 6.60824228e-03 -6.61617761e+01] [ 5.23144253e-01 -8.52234770e-01 -3.99840312e-03 -2.58831968e+02] [ 7.72357654e-03 4.95882445e-05 9.99970172e-01 -2.78768975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.636559995 meters 0.012465757767666983 Centerline is valid? [True, True] Translation: X:-66.46, Y:-259.33, Z:-1.80 [[-8.96426381e-01 4.43149626e-01 6.17686541e-03 -6.64648740e+01] [ 4.43138632e-01 8.96447659e-01 -3.12205266e-03 -2.59326712e+02] [-6.92077301e-03 -6.14826783e-05 -9.99976049e-01 -1.80407096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.666559995 meters 0.011928089405596053 Centerline is valid? [True, True] Translation: X:-66.46, Y:-259.31, Z:-1.81 [[-9.23846947e-01 3.82724405e-01 5.37106343e-03 -6.64555425e+01] [ 3.82717780e-01 9.23862560e-01 -2.25206196e-03 -2.59306633e+02] [-5.82404348e-03 -2.49590958e-05 -9.99983040e-01 -1.80517383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.6965599949999 meters 0.011861332396532611 Centerline is valid? [True, True] Translation: X:-66.45, Y:-259.28, Z:-1.81 [[-9.47887482e-01 3.18558423e-01 5.46385866e-03 -6.64500365e+01] [ 3.18553065e-01 9.47903229e-01 -1.84754081e-03 -2.59282428e+02] [-5.76775895e-03 -1.07318824e-05 -9.99983366e-01 -1.80532462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.726559995 meters 0.011853323590224429 Centerline is valid? [True, True] Translation: X:-66.44, Y:-259.26, Z:-1.81 [[-9.67391673e-01 2.53219987e-01 5.74366632e-03 -6.64442436e+01] [ 2.53215557e-01 9.67408723e-01 -1.49794104e-03 -2.59259105e+02] [-5.93578151e-03 5.28997731e-06 -9.99982383e-01 -1.80562264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.756559995 meters 0.01200918923057276 Centerline is valid? [True, True] Translation: X:-66.29, Y:-258.67, Z:-2.78 [[-9.49427095e-01 -3.13945013e-01 5.16921042e-03 -6.62875483e+01] [ 3.13940163e-01 -9.49441166e-01 -1.74526028e-03 -2.58670491e+02] [ 5.45577693e-03 -3.41746334e-05 9.99985117e-01 -2.78479757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.786559995 meters 0.012464823348274465 Centerline is valid? [True, True] Translation: X:-66.49, Y:-259.26, Z:-1.81 [[-9.66488080e-01 2.56662678e-01 5.00610776e-03 -6.64889751e+01] [ 2.56659466e-01 9.66501044e-01 -1.28473729e-03 -2.59258527e+02] [-5.16815249e-03 4.31816679e-05 -9.99986644e-01 -1.80711836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.8165599949999 meters 0.012817833962872945 Centerline is valid? [True, True] Translation: X:-66.49, Y:-259.23, Z:-1.81 [[-9.81745617e-01 1.90125026e-01 5.29321021e-03 -6.64854078e+01] [ 1.90122591e-01 9.81759885e-01 -9.64128514e-04 -2.59232856e+02] [-5.37996641e-03 5.98298987e-05 -9.99985526e-01 -1.80725463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.846559995 meters 0.013249270112609684 Centerline is valid? [True, True] Translation: X:-66.48, Y:-259.21, Z:-1.81 [[-9.92464768e-01 1.22413554e-01 5.34845518e-03 -6.64839578e+01] [ 1.22412173e-01 9.92479177e-01 -5.85999251e-04 -2.59206862e+02] [-5.37996465e-03 7.31324116e-05 -9.99985525e-01 -1.80667865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.876559995 meters 0.014357595901923544 Centerline is valid? [True, True] Translation: X:-66.48, Y:-259.18, Z:-1.81 [[-9.98406580e-01 5.60840677e-02 6.23518210e-03 -6.64840995e+01] [ 5.60836817e-02 9.98426044e-01 -2.36875766e-04 -2.59183899e+02] [-6.23865315e-03 1.13193644e-04 -9.99980533e-01 -1.80569812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.906559995 meters 0.01535203003173589 Centerline is valid? [True, True] Translation: X:-66.46, Y:-258.54, Z:-2.79 [[-9.96335849e-01 -8.52545117e-02 6.82237543e-03 -6.64564273e+01] [ 8.52519276e-02 -9.96359203e-01 -6.69219259e-04 -2.58536779e+02] [ 6.85459051e-03 -8.51464821e-05 9.99976503e-01 -2.78620016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.9365599949999 meters 0.015255881137712257 Centerline is valid? [True, True] Translation: X:-66.55, Y:-259.19, Z:-1.81 [[-9.98429149e-01 5.55309276e-02 7.45328836e-03 -6.65519087e+01] [ 5.55306257e-02 9.98456954e-01 -2.47610244e-04 -2.59187095e+02] [-7.45553762e-03 1.66664481e-04 -9.99972193e-01 -1.80526037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.9665599949999 meters 0.016023744037900904 Centerline is valid? [True, True] Translation: X:-66.53, Y:-258.53, Z:-2.79 [[-9.97194033e-01 -7.44371046e-02 7.94851455e-03 -6.65293369e+01] [ 7.44335734e-02 -9.97225700e-01 -7.39583838e-04 -2.58528357e+02] [ 7.98151547e-03 -1.45872249e-04 9.99968137e-01 -2.78602813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.996559995 meters 0.01646032688855383 Centerline is valid? [True, True] Translation: X:-66.63, Y:-259.19, Z:-1.81 [[-9.98401920e-01 5.60119500e-02 7.50116865e-03 -6.66257263e+01] [ 5.60119468e-02 9.98430076e-01 -2.10669457e-04 -2.59190467e+02] [-7.50119240e-03 2.09822270e-04 -9.99971844e-01 -1.80529218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.026559995 meters 0.017864305453443304 Centerline is valid? [True, True] Translation: X:-66.60, Y:-258.52, Z:-2.79 [[-9.97764570e-01 -6.63995847e-02 7.54708029e-03 -6.66047723e+01] [ 6.63961146e-02 -9.97793091e-01 -7.09700173e-04 -2.58521284e+02] [ 7.57754836e-03 -2.07016880e-04 9.99971269e-01 -2.78591966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.0565599949999 meters 0.01675553025334308 Centerline is valid? [True, True] Translation: X:-66.70, Y:-259.19, Z:-1.81 [[-9.98560596e-01 5.32445269e-02 6.46192291e-03 -6.67024103e+01] [ 5.32446683e-02 9.98581485e-01 -1.50280956e-04 -2.59190218e+02] [-6.46075821e-03 1.93998301e-04 -9.99979110e-01 -1.80651166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.0865599949999 meters 0.01740853226605422 Centerline is valid? [True, True] Translation: X:-66.71, Y:-259.16, Z:-1.81 [[-9.99805746e-01 -1.86753719e-02 6.30091606e-03 -6.67054242e+01] [-1.86738354e-02 9.99825583e-01 3.02607049e-04 -2.59163436e+02] [-6.30546837e-03 1.84885997e-04 -9.99980103e-01 -1.80633241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.116559995 meters 0.01700009986339017 Centerline is valid? [True, True] Translation: X:-66.72, Y:-259.14, Z:-1.81 [[-9.95829318e-01 -9.10149224e-02 6.34462342e-03 -6.67184646e+01] [-9.10119230e-02 9.95849513e-01 7.60484169e-04 -2.59135913e+02] [-6.38750554e-03 1.79876053e-04 -9.99979584e-01 -1.80621677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.146559995 meters 0.015680767900011685 Centerline is valid? [True, True] Translation: X:-66.74, Y:-259.11, Z:-1.81 [[-9.86080729e-01 -1.66118752e-01 7.02533250e-03 -6.67371533e+01] [-1.66113289e-01 9.86105740e-01 1.35816784e-03 -2.59108781e+02] [-7.15333785e-03 1.72262045e-04 -9.99974400e-01 -1.80569604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.1765599949999 meters 0.014888264239030505 Centerline is valid? [True, True] Translation: X:-66.77, Y:-259.09, Z:-1.81 [[-9.70926834e-01 -2.39281077e-01 6.75644106e-03 -6.67667373e+01] [-2.39274209e-01 9.70950330e-01 1.81910653e-03 -2.59085341e+02] [-6.99544645e-03 1.49577250e-04 -9.99975520e-01 -1.80597313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.2065599949999 meters 0.014208444461373313 Centerline is valid? [True, True] Translation: X:-66.82, Y:-259.07, Z:-1.81 [[-9.49996564e-01 -3.12194509e-01 6.41220870e-03 -6.68184833e+01] [-3.12186511e-01 9.50018196e-01 2.23809790e-03 -2.59069958e+02] [-6.79043682e-03 1.24380248e-04 -9.99976937e-01 -1.80617309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.236559995 meters 0.01341896697576818 Centerline is valid? [True, True] Translation: X:-66.89, Y:-259.06, Z:-1.81 [[-9.23065547e-01 -3.84600892e-01 5.67005413e-03 -6.68862655e+01] [-3.84593029e-01 9.23082957e-01 2.46102920e-03 -2.59063584e+02] [-6.18044436e-03 9.10279762e-05 -9.99980897e-01 -1.80619880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.266559995 meters 0.012130284976065287 Centerline is valid? [True, True] Translation: X:-66.96, Y:-259.06, Z:-1.81 [[-8.88551268e-01 -4.58735741e-01 6.17776856e-03 -6.69597331e+01] [-4.58724284e-01 8.88572742e-01 3.24241950e-03 -2.59061386e+02] [-6.97681046e-03 4.71634988e-05 -9.99975661e-01 -1.80555507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.2965599949999 meters 0.011892221203066483 Centerline is valid? [True, True] Translation: X:-67.04, Y:-259.07, Z:-1.80 [[-8.49771649e-01 -5.27107872e-01 6.74063238e-03 -6.70403707e+01] [-5.27091112e-01 8.49798383e-01 4.20332232e-03 -2.59072253e+02] [-7.94378278e-03 1.89367198e-05 -9.99968448e-01 -1.80458656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.3265599949999 meters 0.011843140507173546 Centerline is valid? [True, True] Translation: X:-67.12, Y:-259.09, Z:-1.80 [[-8.05352134e-01 -5.92754940e-01 7.03710807e-03 -6.71224935e+01] [-5.92732520e-01 8.05382879e-01 5.15543434e-03 -2.59090397e+02] [-8.72347553e-03 -1.91827549e-05 -9.99961950e-01 -1.80308115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.356559995 meters 0.012603759666199374 Centerline is valid? [True, True] Translation: X:-67.21, Y:-259.12, Z:-1.80 [[-7.53547710e-01 -6.57354902e-01 7.09801085e-03 -6.72135588e+01] [-6.57326917e-01 7.53581133e-01 6.06630311e-03 -2.59119691e+02] [-9.33664114e-03 -9.44647698e-05 -9.99956408e-01 -1.80126430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.386559995 meters 0.013098353135029923 Centerline is valid? [True, True] Translation: X:-67.30, Y:-259.16, Z:-1.80 [[-6.99744747e-01 -7.14359960e-01 6.86558551e-03 -6.72977914e+01] [-7.14327360e-01 6.99778416e-01 6.82576741e-03 -2.59157584e+02] [-9.68044349e-03 -1.27980680e-04 -9.99953135e-01 -1.80071993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.416559995 meters 0.013441423900571098 Centerline is valid? [True, True] Translation: X:-67.39, Y:-259.21, Z:-1.80 [[-6.42019435e-01 -7.66659657e-01 6.63438547e-03 -6.73855509e+01] [-7.66621252e-01 6.42053693e-01 7.67534436e-03 -2.59210158e+02] [-1.01440086e-02 -1.58340648e-04 -9.99948536e-01 -1.80036768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.4465599949999 meters 0.014516020678704698 Centerline is valid? [True, True] Translation: X:-67.47, Y:-259.27, Z:-1.80 [[-5.79305429e-01 -8.15084020e-01 6.57720644e-03 -6.74686974e+01] [-8.15035582e-01 5.79342727e-01 8.88842590e-03 -2.59268184e+02] [-1.10552706e-02 -2.11543901e-04 -9.99938866e-01 -1.79912579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.476559995 meters 0.014701027462924225 Centerline is valid? [True, True] Translation: X:-67.55, Y:-259.34, Z:-1.80 [[-5.14680512e-01 -8.57362407e-01 5.80285929e-03 -6.75483906e+01] [-8.57312714e-01 5.14713176e-01 9.23346411e-03 -2.59336462e+02] [-1.09032331e-02 -2.22581012e-04 -9.99940533e-01 -1.79902256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.506559995 meters 0.014892994610785616 Centerline is valid? [True, True] Translation: X:-67.62, Y:-259.41, Z:-1.80 [[-4.46824990e-01 -8.94607998e-01 4.89480420e-03 -6.76227543e+01] [-8.94559790e-01 4.46851741e-01 9.28998214e-03 -2.59412370e+02] [-1.04981441e-02 -2.27698846e-04 -9.99944867e-01 -1.79954998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.536559995 meters 0.014892994610785616 Centerline is valid? [True, True] Translation: X:-67.69, Y:-259.50, Z:-1.80 [[-3.77274392e-01 -9.26092128e-01 4.17178929e-03 -6.76938880e+01] [-9.26042020e-01 3.77297388e-01 9.63636257e-03 -2.59496615e+02] [-1.04981647e-02 -2.27699353e-04 -9.99944867e-01 -1.79954904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.5665599949999 meters 0.01606259717811973 Centerline is valid? [True, True] Translation: X:-67.76, Y:-259.59, Z:-1.80 [[-3.02522483e-01 -9.53137169e-01 3.11191869e-03 -6.77607587e+01] [-9.53094506e-01 3.02538395e-01 9.02120026e-03 -2.59592647e+02] [-9.53991616e-03 -2.36836706e-04 -9.99954466e-01 -1.80042754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.596559995 meters 0.016534197502824977 Centerline is valid? [True, True] Translation: X:-67.82, Y:-259.69, Z:-1.80 [[-2.26982057e-01 -9.73896721e-01 2.07931574e-03 -6.78203233e+01] [-9.73864234e-01 2.26991475e-01 7.95767093e-03 -2.59692233e+02] [-8.22193657e-03 -2.18722716e-04 -9.99966175e-01 -1.80065595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.626559995 meters 0.017858093528973575 Centerline is valid? [True, True] Translation: X:-67.87, Y:-259.80, Z:-1.80 [[-1.50025654e-01 -9.88681235e-01 1.31094181e-03 -6.78726329e+01] [-9.88654689e-01 1.50031236e-01 7.24805962e-03 -2.59795716e+02] [-7.36270275e-03 -2.08673888e-04 -9.99972873e-01 -1.80002856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.656559995 meters 0.018023651800691935 Centerline is valid? [True, True] Translation: X:-67.91, Y:-259.90, Z:-1.80 [[-7.38156992e-02 -9.97271556e-01 8.28528053e-04 -6.79134519e+01] [-9.97239007e-01 7.38199867e-02 8.06051629e-03 -2.59896795e+02] [-8.09968556e-03 -2.31247847e-04 -9.99967170e-01 -1.79957431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.6865599949999 meters 0.017946978772496437 Centerline is valid? [True, True] Translation: X:-67.95, Y:-260.01, Z:-1.80 [[ 2.68572885e-03 -9.99996371e-01 2.11863551e-04 -6.79463631e+01] [-9.99962400e-01 -2.68389060e-03 8.24591269e-03 -2.60013233e+02] [-8.24531415e-03 -2.34001871e-04 -9.99965980e-01 -1.79950098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.7165599949999 meters 0.017208954596570326 Centerline is valid? [True, True] Translation: X:-67.97, Y:-260.12, Z:-1.80 [[ 7.90604365e-02 -9.96869712e-01 -4.74816092e-04 -6.79693789e+01] [-9.96826409e-01 -7.90614296e-02 9.29518999e-03 -2.60121263e+02] [-9.30363300e-03 -2.61572558e-04 -9.99956686e-01 -1.79943664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.746559995 meters 0.017214471455345114 Centerline is valid? [True, True] Translation: X:-67.98, Y:-260.24, Z:-1.80 [[ 1.55258257e-01 -9.87873033e-01 -1.32062580e-03 -6.79829490e+01] [-9.87819664e-01 -1.55263602e-01 1.02725350e-02 -2.60240532e+02] [-1.03530055e-02 -2.90355754e-04 -9.99946364e-01 -1.79879826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.776559995 meters 0.01743293015878083 Centerline is valid? [True, True] Translation: X:-67.99, Y:-260.36, Z:-1.80 [[ 2.30380300e-01 -9.73098166e-01 -2.20824936e-03 -6.79903706e+01] [-9.73040115e-01 -2.30390687e-01 1.06332389e-02 -2.60356784e+02] [-1.08559454e-02 -3.00973566e-04 -9.99941027e-01 -1.79805765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.8065599949999 meters 0.01700201860623615 Centerline is valid? [True, True] Translation: X:-67.99, Y:-260.47, Z:-1.80 [[ 3.03883215e-01 -9.52702680e-01 -3.54912904e-03 -6.79873626e+01] [-9.52623748e-01 -3.03903741e-01 1.22682942e-02 -2.60471915e+02] [-1.27666303e-02 -3.47144070e-04 -9.99918443e-01 -1.79602159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.8365599949999 meters 0.017754486335588678 Centerline is valid? [True, True] Translation: X:-67.97, Y:-260.60, Z:-1.79 [[ 3.75673059e-01 -9.26739060e-01 -4.94652139e-03 -6.79745003e+01] [-9.26645058e-01 -3.75705435e-01 1.32046265e-02 -2.60597591e+02] [-1.40956781e-02 -3.76952819e-04 -9.99900580e-01 -1.79374983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.866559995 meters 0.01662954263176737 Centerline is valid? [True, True] Translation: X:-67.95, Y:-260.70, Z:-1.79 [[ 4.45273758e-01 -8.95370975e-01 -6.48830741e-03 -6.79549518e+01] [-8.95262319e-01 -4.45320843e-01 1.39544616e-02 -2.60703445e+02] [-1.53837985e-02 -4.04818438e-04 -9.99881581e-01 -1.79386737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.896559995 meters 0.016381074764645075 Centerline is valid? [True, True] Translation: X:-67.92, Y:-260.81, Z:-1.79 [[ 5.11248312e-01 -8.59398691e-01 -7.68460745e-03 -6.79214202e+01] [-8.59289958e-01 -5.11305915e-01 1.36758512e-02 -2.60813197e+02] [-1.56821939e-02 -3.88449832e-04 -9.99876951e-01 -1.79447993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.9265599949999 meters 0.016561755047459322 Centerline is valid? [True, True] Translation: X:-67.89, Y:-260.92, Z:-1.79 [[ 5.74403008e-01 -8.18530685e-01 -8.28867050e-03 -6.78880008e+01] [-8.18436584e-01 -5.74462703e-01 1.24161355e-02 -2.60915491e+02] [-1.49245199e-02 -3.48114394e-04 -9.99888563e-01 -1.79471642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.9565599949999 meters 0.015679894145558603 Centerline is valid? [True, True] Translation: X:-67.85, Y:-261.01, Z:-1.80 [[ 6.33780936e-01 -7.73466255e-01 -8.46628252e-03 -6.78452441e+01] [-7.73391020e-01 -6.33837414e-01 1.07917911e-02 -2.61013788e+02] [-1.37133329e-02 -2.91884619e-04 -9.99905925e-01 -1.79626873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.986559995 meters 0.014101930809464371 Centerline is valid? [True, True] Translation: X:-67.79, Y:-261.10, Z:-1.80 [[ 6.86353882e-01 -7.27232119e-01 -7.19676665e-03 -6.77906703e+01] [-7.27189727e-01 -6.86391594e-01 7.85373868e-03 -2.61104263e+02] [-1.06512912e-02 -1.57029253e-04 -9.99943261e-01 -1.79907680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.016559995 meters 0.013638639565829143 Centerline is valid? [True, True] Translation: X:-67.73, Y:-261.20, Z:-1.80 [[ 7.37738762e-01 -6.75057449e-01 -6.24172029e-03 -6.77328554e+01] [-6.75032137e-01 -7.37765159e-01 5.84666371e-03 -2.61196216e+02] [-8.55175766e-03 -9.99486667e-05 -9.99963428e-01 -1.80067860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.0465599949999 meters 0.01350146827004734 Centerline is valid? [True, True] Translation: X:-67.73, Y:-261.20, Z:-1.80 [[ 7.87692520e-01 -6.16050627e-01 -4.70315864e-03 -6.77336941e+01] [-6.16039156e-01 -7.87706558e-01 3.76005731e-03 -2.61201523e+02] [-6.02109457e-03 -6.44391400e-05 -9.99981871e-01 -1.80301683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.0765599949999 meters 0.013380777366850942 Centerline is valid? [True, True] Translation: X:-67.73, Y:-261.21, Z:-1.80 [[ 8.33097411e-01 -5.53115124e-01 -3.51612672e-03 -6.77347133e+01] [-5.53109980e-01 -8.33104830e-01 2.38566131e-03 -2.61205530e+02] [-4.24884750e-03 -4.26834845e-05 -9.99990973e-01 -1.80444978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.106559995 meters 0.013589651425342667 Centerline is valid? [True, True] Translation: X:-67.73, Y:-261.21, Z:-1.80 [[ 8.74099220e-01 -4.85734026e-01 -3.60693314e-03 -6.77349530e+01] [-4.85729680e-01 -8.74106661e-01 2.05521672e-03 -2.61210644e+02] [-4.15113298e-03 -4.44688492e-05 -9.99991383e-01 -1.80475693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.136559995 meters 0.013527426496523429 Centerline is valid? [True, True] Translation: X:-67.73, Y:-261.22, Z:-1.80 [[ 9.09295635e-01 -4.16124688e-01 -4.65742272e-03 -6.77349010e+01] [-4.16118925e-01 -9.09307561e-01 2.19069357e-03 -2.61216671e+02] [-5.14663138e-03 -5.39463679e-05 -9.99986755e-01 -1.80382253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.166559995 meters 0.013336212003574165 Centerline is valid? [True, True] Translation: X:-67.74, Y:-261.23, Z:-1.80 [[ 9.38947409e-01 -3.44003077e-01 -6.29650613e-03 -6.77366042e+01] [-3.43994851e-01 -9.38968518e-01 2.38000343e-03 -2.61225996e+02] [-6.73094954e-03 -6.87323680e-05 -9.99977345e-01 -1.80281731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.1965599949999 meters 0.013381197312278298 Centerline is valid? [True, True] Translation: X:-67.74, Y:-261.24, Z:-1.80 [[ 9.62768246e-01 -2.70210572e-01 -7.97194911e-03 -6.77378091e+01] [-2.70200629e-01 -9.62801247e-01 2.31934769e-03 -2.61235051e+02] [-8.30211481e-03 -7.89686384e-05 -9.99965534e-01 -1.80025358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.226559995 meters 0.013368508506711996 Centerline is valid? [True, True] Translation: X:-67.74, Y:-261.24, Z:-1.80 [[ 9.80827389e-01 -1.94705374e-01 -8.21282394e-03 -6.77383318e+01] [-1.94697907e-01 -9.80861770e-01 1.70678708e-03 -2.61241922e+02] [-8.38796564e-03 -7.50438787e-05 -9.99964818e-01 -1.79991934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.256559995 meters 0.01322739938990142 Centerline is valid? [True, True] Translation: X:-67.74, Y:-261.25, Z:-1.80 [[ 9.92954355e-01 -1.18223745e-01 -8.04951752e-03 -6.77393246e+01] [-1.18219327e-01 -9.92986980e-01 1.02417754e-03 -2.61248385e+02] [-8.11414819e-03 -6.53530026e-05 -9.99967078e-01 -1.80009954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.286559995 meters 0.012853678076813863 Centerline is valid? [True, True] Translation: X:-67.74, Y:-261.25, Z:-1.80 [[ 9.99051730e-01 -4.29674481e-02 -7.03135389e-03 -6.77410407e+01] [-4.29661264e-02 -9.99076472e-01 3.38992872e-04 -2.61254515e+02] [-7.03942590e-03 -3.65613751e-05 -9.99975222e-01 -1.80145696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.3165599949999 meters 0.012779878834036059 Centerline is valid? [True, True] Translation: X:-67.74, Y:-261.26, Z:-1.80 [[ 9.99401763e-01 3.39206738e-02 -6.74565719e-03 -6.77429279e+01] [ 3.39200706e-02 -9.99424528e-01 -2.03846503e-04 -2.61261113e+02] [-6.74868987e-03 -2.50886133e-05 -9.99977227e-01 -1.80174278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.346559995 meters 0.01278101125345968 Centerline is valid? [True, True] Translation: X:-67.74, Y:-261.27, Z:-1.80 [[ 9.93837880e-01 1.10614351e-01 -7.12276774e-03 -6.77438650e+01] [ 1.10611629e-01 -9.93863404e-01 -7.76296070e-04 -2.61270521e+02] [-7.16492768e-03 -1.63484991e-05 -9.99974332e-01 -1.80130356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.376559995 meters 0.01283243132115268 Centerline is valid? [True, True] Translation: X:-67.74, Y:-261.28, Z:-1.80 [[ 9.82650769e-01 1.85217452e-01 -9.58963292e-03 -6.77431248e+01] [ 1.85208572e-01 -9.82697561e-01 -1.81363021e-03 -2.61280044e+02] [-9.75962484e-03 6.08289777e-06 -9.99952374e-01 -1.79885215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.406559995 meters 0.012882988419307203 Centerline is valid? [True, True] Translation: X:-67.74, Y:-261.29, Z:-1.80 [[ 9.65634907e-01 2.59706558e-01 -1.00861738e-02 -6.77427322e+01] [ 2.59692107e-01 -9.65687580e-01 -2.73983314e-03 -2.61287836e+02] [-1.04516454e-02 2.63787934e-05 -9.99945380e-01 -1.79871807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.4365599949999 meters 0.012987162534027043 Centerline is valid? [True, True] Translation: X:-67.74, Y:-261.29, Z:-1.80 [[ 9.43005178e-01 3.32636987e-01 -9.68858554e-03 -6.77413425e+01] [ 3.32618930e-01 -9.43054947e-01 -3.46619655e-03 -2.61294857e+02] [-1.02898537e-02 4.60343400e-05 -9.99947057e-01 -1.79907417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.4665599949999 meters 0.013350066210349622 Centerline is valid? [True, True] Translation: X:-67.74, Y:-261.30, Z:-1.80 [[ 9.15359349e-01 4.02551527e-01 -8.33852354e-03 -6.77391542e+01] [ 4.02534129e-01 -9.15397325e-01 -3.74324897e-03 -2.61302599e+02] [-9.13991273e-03 6.98776320e-05 -9.99958228e-01 -1.79956170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.496559995 meters 0.013430778681199353 Centerline is valid? [True, True] Translation: X:-67.74, Y:-261.31, Z:-1.80 [[ 8.81390897e-01 4.72322475e-01 -7.84644319e-03 -6.77364685e+01] [ 4.72303000e-01 -8.81425819e-01 -4.28983912e-03 -2.61311295e+02] [-8.94224504e-03 7.51264910e-05 -9.99960015e-01 -1.79952854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.526559995 meters 0.013397812744416952 Centerline is valid? [True, True] Translation: X:-67.73, Y:-261.32, Z:-1.80 [[ 8.41475475e-01 5.40241569e-01 -7.62051242e-03 -6.77332915e+01] [ 5.40218638e-01 -8.41509977e-01 -4.97812675e-03 -2.61319173e+02] [-9.10212824e-03 7.22287359e-05 -9.99958572e-01 -1.79946123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.5565599949999 meters 0.013283128743861361 Centerline is valid? [True, True] Translation: X:-67.73, Y:-261.33, Z:-1.80 [[ 7.94996280e-01 6.06567199e-01 -7.55967510e-03 -6.77296132e+01] [ 6.06539172e-01 -7.95032220e-01 -5.83117027e-03 -2.61327907e+02] [-9.54718189e-03 5.05195967e-05 -9.99954423e-01 -1.79928724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.5865599949999 meters 0.01311775843397457 Centerline is valid? [True, True] Translation: X:-67.72, Y:-261.34, Z:-1.80 [[ 7.43729947e-01 6.68444340e-01 -6.92315945e-03 -6.77234879e+01] [ 6.68414994e-01 -7.43762168e-01 -6.26361953e-03 -2.61336151e+02] [-9.33606510e-03 3.08978376e-05 -9.99956418e-01 -1.79916955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.616559995 meters 0.013011739355870109 Centerline is valid? [True, True] Translation: X:-67.72, Y:-261.35, Z:-1.80 [[ 6.87287677e-01 7.26361120e-01 -5.93061318e-03 -6.77161430e+01] [ 7.26333989e-01 -6.87313265e-01 -6.27801630e-03 -2.61345275e+02] [-8.63629605e-03 7.19731588e-06 -9.99962707e-01 -1.79942485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.646559995 meters 0.013029926728688697 Centerline is valid? [True, True] Translation: X:-67.71, Y:-261.35, Z:-1.80 [[ 6.26203480e-01 7.79642248e-01 -5.21218506e-03 -6.77086661e+01] [ 7.79615450e-01 -6.26225171e-01 -6.46417910e-03 -2.61352711e+02] [-8.30374861e-03 -1.56085449e-05 -9.99965523e-01 -1.79942480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.6765599949999 meters 0.013383153681431854 Centerline is valid? [True, True] Translation: X:-67.70, Y:-261.36, Z:-1.80 [[ 5.58725256e-01 8.29336985e-01 -5.12381250e-03 -6.76995967e+01] [ 8.29303201e-01 -5.58748746e-01 -7.48603921e-03 -2.61359846e+02] [-9.07137300e-03 -6.65549321e-05 -9.99958852e-01 -1.79922677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.7065599949999 meters 0.01374377146704598 Centerline is valid? [True, True] Translation: X:-67.69, Y:-261.37, Z:-1.80 [[ 4.90129840e-01 8.71637489e-01 -4.56383952e-03 -6.76926101e+01] [ 8.71601353e-01 -4.90151080e-01 -7.93730513e-03 -2.61365273e+02] [-9.15542358e-03 -8.75386094e-05 -9.99958084e-01 -1.79884925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.736559995 meters 0.014112830713499929 Centerline is valid? [True, True] Translation: X:-67.68, Y:-261.37, Z:-1.80 [[ 4.18213877e-01 9.08340492e-01 -3.83450583e-03 -6.76844865e+01] [ 9.08304627e-01 -4.18231442e-01 -8.07257762e-03 -2.61370076e+02] [-8.93636003e-03 -1.06835400e-04 -9.99960064e-01 -1.79888159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.766559995 meters 0.015013502855866676 Centerline is valid? [True, True] Translation: X:-67.67, Y:-261.37, Z:-1.80 [[ 3.41307977e-01 9.39947148e-01 -2.86781889e-03 -6.76739354e+01] [ 9.39917205e-01 -3.41319998e-01 -7.50372652e-03 -2.61374881e+02] [-8.03195028e-03 -1.34430605e-04 -9.99967734e-01 -1.79942232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.7965599949999 meters 0.015774559659636426 Centerline is valid? [True, True] Translation: X:-67.67, Y:-261.38, Z:-1.80 [[ 2.64654912e-01 9.64340581e-01 -2.24086414e-03 -6.76661005e+01] [ 9.64310626e-01 -2.64664357e-01 -7.60227489e-03 -2.61379344e+02] [-7.92425905e-03 -1.48909712e-04 -9.99968592e-01 -1.79926135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.8265599949999 meters 0.016921301161979055 Centerline is valid? [True, True] Translation: X:-67.66, Y:-261.38, Z:-1.80 [[ 1.85380645e-01 9.82665079e-01 -1.83272915e-03 -6.76577503e+01] [ 9.82626815e-01 -1.85389603e-01 -8.67397536e-03 -2.61382993e+02] [-8.86338161e-03 -1.92901663e-04 -9.99960701e-01 -1.79728726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.856559995 meters 0.01708548357126021 Centerline is valid? [True, True] Translation: X:-67.65, Y:-261.38, Z:-1.80 [[ 1.07059495e-01 9.94251853e-01 -1.23191090e-03 -6.76529563e+01] [ 9.94207085e-01 -1.07066367e-01 -9.43747370e-03 -2.61383668e+02] [-9.51512194e-03 -2.14403385e-04 -9.99954707e-01 -1.79660744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.886559995 meters 0.017469435825004008 Centerline is valid? [True, True] Translation: X:-67.65, Y:-261.39, Z:-1.80 [[ 2.85484561e-02 9.99592283e-01 -5.02605144e-04 -6.76498098e+01] [ 9.99544514e-01 -2.85520067e-02 -9.77480842e-03 -2.61385257e+02] [-9.78517345e-03 -2.23320526e-04 -9.99952099e-01 -1.79663825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.916559995 meters 0.017395196391232416 Centerline is valid? [True, True] Translation: X:-67.65, Y:-261.39, Z:-1.80 [[-4.95767811e-02 9.98770277e-01 2.75603413e-04 -6.76481228e+01] [ 9.98718260e-01 4.95770125e-02 -1.01959201e-02 -2.61385868e+02] [-1.01970455e-02 -2.30230736e-04 -9.99947982e-01 -1.79712107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.9465599949999 meters 0.01638293174624795 Centerline is valid? [True, True] Translation: X:-67.65, Y:-261.39, Z:-1.80 [[-1.26264879e-01 9.91996055e-01 1.00325565e-03 -6.76452991e+01] [ 9.91950769e-01 1.26268703e-01 -9.48086037e-03 -2.61386213e+02] [-9.53165588e-03 -2.01919479e-04 -9.99954552e-01 -1.79829095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.976559995 meters 0.015623823953272392 Centerline is valid? [True, True] Translation: X:-67.64, Y:-261.39, Z:-1.80 [[-2.02273780e-01 9.79327417e-01 1.76862436e-03 -6.76393028e+01] [ 9.79281225e-01 2.02281421e-01 -9.51363139e-03 -2.61385657e+02] [-9.67471990e-03 -1.92377556e-04 -9.99953180e-01 -1.79862026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.006559995 meters 0.015003867665039227 Centerline is valid? [True, True] Translation: X:-67.63, Y:-261.39, Z:-1.80 [[-2.75128151e-01 9.61403950e-01 2.63527235e-03 -6.76346300e+01] [ 9.61353841e-01 2.75140721e-01 -9.81716595e-03 -2.61386480e+02] [-1.01633329e-02 -1.67549518e-04 -9.99948338e-01 -1.79717973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.036559995 meters 0.014430567389670426 Centerline is valid? [True, True] Translation: X:-67.63, Y:-261.39, Z:-1.80 [[-3.47803969e-01 9.37561126e-01 3.39624731e-03 -6.76287978e+01] [ 9.37512174e-01 3.47820519e-01 -9.58172792e-03 -2.61385408e+02] [-1.01647401e-02 -1.48539806e-04 -9.99948327e-01 -1.79730996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.0665599949999 meters 0.014100108852043155 Centerline is valid? [True, True] Translation: X:-67.62, Y:-261.38, Z:-1.80 [[-4.18418416e-01 9.08245648e-01 3.98401109e-03 -6.76231989e+01] [ 9.08201624e-01 4.18437364e-01 -8.94330195e-03 -2.61384350e+02] [-9.78977417e-03 -1.23756897e-04 -9.99952071e-01 -1.79733267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.096559995 meters 0.013455098226733686 Centerline is valid? [True, True] Translation: X:-67.62, Y:-261.39, Z:-1.80 [[-4.84217410e-01 8.74935154e-01 4.68790875e-03 -6.76212044e+01] [ 8.74892566e-01 4.84240096e-01 -8.63293715e-03 -2.61386105e+02] [-9.82333358e-03 -7.88019527e-05 -9.99951747e-01 -1.79760298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.126559995 meters 0.013225242562104196 Centerline is valid? [True, True] Translation: X:-67.62, Y:-261.39, Z:-1.80 [[-5.49122984e-01 8.35722382e-01 5.66123821e-03 -6.76163010e+01] [ 8.35676897e-01 5.49152163e-01 -8.71927731e-03 -2.61385015e+02] [-1.03957764e-02 -5.69895864e-05 -9.99945961e-01 -1.79731326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.156559995 meters 0.013014478926564611 Centerline is valid? [True, True] Translation: X:-67.61, Y:-261.38, Z:-1.80 [[-6.09200713e-01 7.92982302e-01 7.31851339e-03 -6.76127869e+01] [ 7.92924883e-01 6.09244671e-01 -9.54260644e-03 -2.61384776e+02] [-1.20258833e-02 -1.03312756e-05 -9.99927686e-01 -1.79630584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.1865599949999 meters 0.013111650598449943 Centerline is valid? [True, True] Translation: X:-67.61, Y:-261.38, Z:-1.80 [[-6.68080134e-01 7.44042734e-01 8.32733114e-03 -6.76063091e+01] [ 7.43985165e-01 6.68132031e-01 -9.25546989e-03 -2.61383050e+02] [-1.24502218e-02 1.20152697e-05 -9.99922493e-01 -1.79587884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.2165599949999 meters 0.0132391737569074 Centerline is valid? [True, True] Translation: X:-67.60, Y:-261.38, Z:-1.80 [[-7.23541380e-01 6.90223223e-01 8.93163785e-03 -6.75990728e+01] [ 6.90171072e-01 7.23596505e-01 -8.48463331e-03 -2.61381308e+02] [-1.23191929e-02 2.53747734e-05 -9.99924116e-01 -1.79542710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.246559995 meters 0.013094003968729737 Centerline is valid? [True, True] Translation: X:-67.58, Y:-261.36, Z:-1.80 [[-7.70803804e-01 6.37004734e-01 9.29871117e-03 -6.75773538e+01] [ 6.36958705e-01 7.70859889e-01 -7.65760959e-03 -2.61362496e+02] [-1.20459370e-02 2.03804298e-05 -9.99927445e-01 -1.79687606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.276559995 meters 0.013031935462297061 Centerline is valid? [True, True] Translation: X:-67.56, Y:-261.34, Z:-1.80 [[-8.14796823e-01 5.79667301e-01 9.58944477e-03 -6.75570905e+01] [ 5.79627196e-01 8.14853251e-01 -6.81863304e-03 -2.61341627e+02] [-1.17665289e-02 2.50244796e-06 -9.99930772e-01 -1.79756312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.3065599949999 meters 0.01296829450232492 Centerline is valid? [True, True] Translation: X:-67.54, Y:-261.32, Z:-1.80 [[-8.54025313e-01 5.20141176e-01 9.69132737e-03 -6.75429072e+01] [ 5.20107650e-01 8.54080299e-01 -5.90557683e-03 -2.61316844e+02] [-1.13489055e-02 -2.97859952e-06 -9.99935599e-01 -1.79770911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.3365599949999 meters 0.013209049269592873 Centerline is valid? [True, True] Translation: X:-67.16, Y:-260.71, Z:-2.79 [[-8.16215190e-01 -5.77672936e-01 9.31351976e-03 -6.71637649e+01] [ 5.77635423e-01 -8.16268325e-01 -6.58326846e-03 -2.60708505e+02] [ 1.14053072e-02 6.45520509e-06 9.99934957e-01 -2.79416689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.366559995 meters 0.013029894652398693 Centerline is valid? [True, True] Translation: X:-67.58, Y:-261.29, Z:-1.80 [[-8.56452178e-01 5.16144661e-01 9.18455175e-03 -6.75761320e+01] [ 5.16114803e-01 8.56501423e-01 -5.55175245e-03 -2.61294862e+02] [-1.07320890e-02 -1.45273606e-05 -9.99942409e-01 -1.79820987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.396559995 meters 0.013091238648672121 Centerline is valid? [True, True] Translation: X:-67.56, Y:-261.27, Z:-1.80 [[-8.90655832e-01 4.54584551e-01 9.22361142e-03 -6.75641485e+01] [ 4.54560067e-01 8.90703591e-01 -4.71801043e-03 -2.61268892e+02] [-1.03602385e-02 -9.43807952e-06 -9.99946331e-01 -1.79743340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.4265599949999 meters 0.01316845296342621 Centerline is valid? [True, True] Translation: X:-67.55, Y:-261.25, Z:-1.80 [[-9.20058871e-01 3.91659988e-01 9.70197419e-03 -6.75468755e+01] [ 3.91638280e-01 9.20110023e-01 -4.12363704e-03 -2.61245679e+02] [-1.05419473e-02 5.67564700e-06 -9.99944432e-01 -1.79711369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.4565599949999 meters 0.01316845296342621 Centerline is valid? [True, True] Translation: X:-67.53, Y:-261.22, Z:-1.80 [[-9.45388095e-01 3.25794377e-01 9.96864845e-03 -6.75318740e+01] [ 3.25776329e-01 9.45440651e-01 -3.42914973e-03 -2.61221522e+02] [-1.05419632e-02 5.67237333e-06 -9.99944432e-01 -1.79711355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.486559995 meters 0.01320798333397334 Centerline is valid? [True, True] Translation: X:-67.29, Y:-260.55, Z:-2.79 [[-9.22218038e-01 -3.86532020e-01 1.03386677e-02 -6.72946525e+01] [ 3.86508145e-01 -9.22275987e-01 -4.29619632e-03 -2.60551077e+02] [ 1.11957224e-02 3.39495570e-05 9.99937325e-01 -2.79416614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.516559995 meters 0.013284593865666473 Centerline is valid? [True, True] Translation: X:-67.58, Y:-261.21, Z:-1.80 [[-9.45821194e-01 3.24501163e-01 1.10119811e-02 -6.75750572e+01] [ 3.24479596e-01 9.45885297e-01 -3.74130930e-03 -2.61208574e+02] [-1.16301302e-02 3.45535552e-05 -9.99932367e-01 -1.79710595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.5465599949999 meters 0.013396162674508218 Centerline is valid? [True, True] Translation: X:-67.34, Y:-260.54, Z:-2.79 [[-9.24869683e-01 -3.80088253e-01 1.22061331e-02 -6.73407284e+01] [ 3.80055929e-01 -9.24950224e-01 -4.95716471e-03 -2.60536260e+02] [ 1.31742256e-02 5.42819057e-05 9.99913215e-01 -2.79366869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.5765599949999 meters 0.013449689432762564 Centerline is valid? [True, True] Translation: X:-67.62, Y:-261.19, Z:-1.80 [[-9.46005958e-01 3.23897292e-01 1.27778173e-02 -6.76177339e+01] [ 3.23868915e-01 9.46092246e-01 -4.28817794e-03 -2.61193907e+02] [-1.34779231e-02 8.16959532e-05 -9.99909165e-01 -1.79698310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.606559995 meters 0.013590460811244947 Centerline is valid? [True, True] Translation: X:-67.61, Y:-261.17, Z:-1.80 [[-9.66347844e-01 2.56888517e-01 1.34213917e-02 -6.76123925e+01] [ 2.56865137e-01 9.66441038e-01 -3.46712081e-03 -2.61166673e+02] [-1.38616473e-02 9.70428988e-05 -9.99903918e-01 -1.79694002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.636559995 meters 0.013801473698598632 Centerline is valid? [True, True] Translation: X:-67.60, Y:-261.14, Z:-1.80 [[-9.81856701e-01 1.89142832e-01 1.35058379e-02 -6.76046775e+01] [ 1.89126579e-01 9.81949579e-01 -2.48226711e-03 -2.61140402e+02] [-1.37315548e-02 1.17082321e-04 -9.99905711e-01 -1.79695812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.666559995 meters 0.01424808580317174 Centerline is valid? [True, True] Translation: X:-67.60, Y:-261.11, Z:-1.80 [[-9.92351488e-01 1.22800267e-01 1.25943844e-02 -6.75976060e+01] [ 1.22792387e-01 9.92431393e-01 -1.39998510e-03 -2.61113786e+02] [-1.26709810e-02 1.57217235e-04 -9.99919708e-01 -1.79824175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.6965599949999 meters 0.014564538883201687 Centerline is valid? [True, True] Translation: X:-67.51, Y:-260.40, Z:-2.79 [[-9.86584846e-01 -1.62808005e-01 1.19956215e-02 -6.75141122e+01] [ 1.62793732e-01 -9.86657753e-01 -2.16338757e-03 -2.60404829e+02] [ 1.21877897e-02 -1.81553406e-04 9.99925710e-01 -2.79201562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.726559995 meters 0.015127368384069495 Centerline is valid? [True, True] Translation: X:-67.66, Y:-261.11, Z:-1.80 [[-9.92418031e-01 1.22339878e-01 1.18070247e-02 -6.76601984e+01] [ 1.22333573e-01 9.92488245e-01 -1.25750237e-03 -2.61108485e+02] [-1.18721759e-02 1.96427483e-04 -9.99929504e-01 -1.79937401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.756559995 meters 0.015220082630523445 Centerline is valid? [True, True] Translation: X:-67.66, Y:-261.08, Z:-1.80 [[-9.98479054e-01 5.36889715e-02 1.25328783e-02 -6.76611748e+01] [ 5.36876903e-02 9.98557680e-01 -4.38897417e-04 -2.61080963e+02] [-1.25383658e-02 2.34631410e-04 -9.99921364e-01 -1.80106371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.786559995 meters 0.015831213734992376 Centerline is valid? [True, True] Translation: X:-67.66, Y:-261.05, Z:-1.80 [[-9.99761484e-01 -1.72314103e-02 1.34184327e-02 -6.76642580e+01] [-1.72264413e-02 9.99851496e-01 4.85816079e-04 -2.61053709e+02] [-1.34248113e-02 2.54548361e-04 -9.99909851e-01 -1.80054050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.8165599949999 meters 0.015483064757461397 Centerline is valid? [True, True] Translation: X:-67.67, Y:-261.02, Z:-1.80 [[-9.95950455e-01 -8.88285782e-02 1.38627068e-02 -6.76731808e+01] [-8.88163585e-02 9.96046895e-01 1.49586849e-03 -2.61024415e+02] [-1.39407820e-02 2.58575763e-04 -9.99902789e-01 -1.80051767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.846559995 meters 0.015256790507337744 Centerline is valid? [True, True] Translation: X:-67.69, Y:-260.99, Z:-1.80 [[-9.86560881e-01 -1.62769567e-01 1.42721954e-02 -6.76909629e+01] [-1.62749215e-01 9.86664085e-01 2.58379547e-03 -2.60994237e+02] [-1.45024259e-02 2.26282927e-04 -9.99894809e-01 -1.79921393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.876559995 meters 0.01421007004850399 Centerline is valid? [True, True] Translation: X:-67.72, Y:-260.97, Z:-1.80 [[-9.71731019e-01 -2.35673461e-01 1.40302269e-02 -6.77229498e+01] [-2.35646054e-01 9.71832281e-01 3.59918771e-03 -2.60968431e+02] [-1.44832604e-02 1.91274751e-04 -9.99895094e-01 -1.80000230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.906559995 meters 0.01349702130736066 Centerline is valid? [True, True] Translation: X:-67.77, Y:-260.95, Z:-1.80 [[-9.50367046e-01 -3.10824667e-01 1.38023222e-02 -6.77722388e+01] [-3.10790131e-01 9.50467261e-01 4.63477143e-03 -2.60947347e+02] [-1.45592567e-02 1.15108502e-04 -9.99894002e-01 -1.79973244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.9365599949999 meters 0.013346148160993561 Centerline is valid? [True, True] Translation: X:-67.84, Y:-260.94, Z:-1.80 [[-9.24082249e-01 -3.81957783e-01 1.34256744e-02 -6.78392234e+01] [-3.81916175e-01 9.24179769e-01 5.63825716e-03 -2.60939524e+02] [-1.45613128e-02 8.27311660e-05 -9.99893975e-01 -1.79877128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.9665599949999 meters 0.013097591600569601 Centerline is valid? [True, True] Translation: X:-67.91, Y:-260.94, Z:-1.80 [[-8.92288998e-01 -4.51296102e-01 1.23358465e-02 -6.79097442e+01] [-4.51252233e-01 8.92374263e-01 6.29259201e-03 -2.60938987e+02] [-1.38480142e-02 4.82323448e-05 -9.99904111e-01 -1.79923073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.996559995 meters 0.012900065883298981 Centerline is valid? [True, True] Translation: X:-67.99, Y:-260.95, Z:-1.80 [[-8.54337903e-01 -5.19596158e-01 1.12507599e-02 -6.79875816e+01] [-5.19551150e-01 8.54411980e-01 6.83890729e-03 -2.60947810e+02] [-1.31662540e-02 -2.60753260e-06 -9.99913321e-01 -1.80083621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.026559995 meters 0.012966018798150809 Centerline is valid? [True, True] Translation: X:-68.07, Y:-260.97, Z:-1.80 [[-8.12099153e-01 -5.83418672e-01 1.08451869e-02 -6.80723467e+01] [-5.83367079e-01 8.12171566e-01 7.75881444e-03 -2.60968500e+02] [-1.33347896e-02 -2.57983649e-05 -9.99911088e-01 -1.80099626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.0565599949999 meters 0.013102037689366566 Centerline is valid? [True, True] Translation: X:-68.16, Y:-261.00, Z:-1.80 [[-7.64891676e-01 -6.44069370e-01 1.07410781e-02 -6.81596257e+01] [-6.44006810e-01 7.64967087e-01 8.97686342e-03 -2.60997858e+02] [-1.39982940e-02 -5.09993083e-05 -9.99902018e-01 -1.80019076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.0865599949999 meters 0.013255913638276747 Centerline is valid? [True, True] Translation: X:-68.25, Y:-261.04, Z:-1.80 [[-7.12792643e-01 -7.01298925e-01 1.03182621e-02 -6.82476080e+01] [-7.01227083e-01 7.12867317e-01 1.00382759e-02 -2.61035964e+02] [-1.43953839e-02 -8.02356496e-05 -9.99896378e-01 -1.79967191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.116559995 meters 0.01376259396853455 Centerline is valid? [True, True] Translation: X:-68.34, Y:-261.09, Z:-1.80 [[-6.54503449e-01 -7.55990753e-01 1.01595638e-02 -6.83397740e+01] [-7.55903277e-01 6.54582277e-01 1.15012117e-02 -2.61085638e+02] [-1.53450801e-02 -1.52064908e-04 -9.99882246e-01 -1.79870326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.146559995 meters 0.014330614745163403 Centerline is valid? [True, True] Translation: X:-68.43, Y:-261.15, Z:-1.80 [[-5.93524585e-01 -8.04761477e-01 9.35589681e-03 -6.84286411e+01] [-8.04666465e-01 5.93598290e-01 1.23672621e-02 -2.61147172e+02] [-1.55063405e-02 -1.88102289e-04 -9.99879752e-01 -1.79805308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.1765599949999 meters 0.015219791845625755 Centerline is valid? [True, True] Translation: X:-68.51, Y:-261.21, Z:-1.80 [[-5.27178403e-01 -8.49715330e-01 8.17241648e-03 -6.85099802e+01] [-8.49620336e-01 5.27241688e-01 1.27077632e-02 -2.61208752e+02] [-1.51068199e-02 -2.44192921e-04 -9.99885856e-01 -1.79863263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.2065599949999 meters 0.01465822613313618 Centerline is valid? [True, True] Translation: X:-68.59, Y:-261.29, Z:-1.80 [[-4.59835165e-01 -8.87978435e-01 6.77643205e-03 -6.85876102e+01] [-8.87889866e-01 4.59885026e-01 1.25438638e-02 -2.61287188e+02] [-1.42550602e-02 -2.48615657e-04 -9.99898361e-01 -1.80094979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.236559995 meters 0.014731487382015006 Centerline is valid? [True, True] Translation: X:-68.66, Y:-261.37, Z:-1.80 [[-3.90333116e-01 -9.20657863e-01 5.39980869e-03 -6.86584096e+01] [-9.20578055e-01 3.90370391e-01 1.21244582e-02 -2.61367954e+02] [-1.32704032e-02 -2.38367842e-04 -9.99911916e-01 -1.80232407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.266559995 meters 0.01489109130809612 Centerline is valid? [True, True] Translation: X:-68.73, Y:-261.46, Z:-1.80 [[-3.19021318e-01 -9.47739557e-01 3.88975504e-03 -6.87262182e+01] [-9.47676792e-01 3.19044964e-01 1.09090730e-02 -2.61462672e+02] [-1.15799667e-02 -2.06003743e-04 -9.99932929e-01 -1.80341199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.2965599949999 meters 0.014099111214652722 Centerline is valid? [True, True] Translation: X:-68.78, Y:-261.56, Z:-1.80 [[-2.47983153e-01 -9.68760306e-01 2.79720297e-03 -6.87830286e+01] [-9.68705829e-01 2.47998876e-01 1.02749835e-02 -2.61558502e+02] [-1.06476993e-02 -1.61644010e-04 -9.99943299e-01 -1.80458997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.3265599949999 meters 0.013840431968232012 Centerline is valid? [True, True] Translation: X:-68.84, Y:-261.67, Z:-1.80 [[-1.75344410e-01 -9.84504999e-01 2.06052109e-03 -6.88351704e+01] [-9.84446121e-01 1.75356460e-01 1.07678259e-02 -2.61665958e+02] [-1.09623041e-02 -1.40393914e-04 -9.99939902e-01 -1.80360832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.356559995 meters 0.013212153698994774 Centerline is valid? [True, True] Translation: X:-68.88, Y:-261.77, Z:-1.80 [[-1.02085105e-01 -9.94774827e-01 1.29420151e-03 -6.88762018e+01] [-9.94708531e-01 1.02093244e-01 1.14851528e-02 -2.61772931e+02] [-1.15572701e-02 -1.14890257e-04 -9.99933206e-01 -1.80340615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.386559995 meters 0.012744843609315958 Centerline is valid? [True, True] Translation: X:-68.91, Y:-261.88, Z:-1.80 [[-3.15657404e-02 -9.99501568e-01 4.68883175e-04 -6.89060815e+01] [-9.99412954e-01 3.15691854e-02 1.33091722e-02 -2.61880671e+02] [-1.33173407e-02 -4.84940451e-05 -9.99911319e-01 -1.80190690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.416559995 meters 0.012701298869197172 Centerline is valid? [True, True] Translation: X:-68.93, Y:-262.00, Z:-1.80 [[ 4.24512916e-02 -9.99098381e-01 -5.59597516e-04 -6.89302406e+01] [-9.99008617e-01 -4.24549787e-02 1.33924365e-02 -2.61995410e+02] [-1.34041193e-02 -9.48348677e-06 -9.99910161e-01 -1.80170204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.4465599949999 meters 0.012845218915015295 Centerline is valid? [True, True] Translation: X:-68.94, Y:-262.12, Z:-1.80 [[ 1.13224648e-01 -9.93568184e-01 -1.56277098e-03 -6.89421997e+01] [-9.93481840e-01 -1.13235411e-01 1.30986880e-02 -2.62116889e+02] [-1.31914007e-02 6.94902535e-05 -9.99912987e-01 -1.80195988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.476559995 meters 0.013202047822318033 Centerline is valid? [True, True] Translation: X:-68.95, Y:-262.23, Z:-1.80 [[ 1.86357413e-01 -9.82478894e-01 -2.47749645e-03 -6.89493963e+01] [-9.82399463e-01 -1.86373851e-01 1.24933212e-02 -2.62230181e+02] [-1.27361650e-02 1.05668163e-04 -9.99918886e-01 -1.80202807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.506559995 meters 0.013889570274267904 Centerline is valid? [True, True] Translation: X:-68.95, Y:-262.35, Z:-1.80 [[ 2.58365784e-01 -9.66041195e-01 -3.39587556e-03 -6.89457650e+01] [-9.65964898e-01 -2.58388060e-01 1.21419368e-02 -2.62351391e+02] [-1.26070648e-02 1.43235580e-04 -9.99920518e-01 -1.80140352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.536559995 meters 0.014440889177939432 Centerline is valid? [True, True] Translation: X:-68.93, Y:-262.46, Z:-1.80 [[ 3.27126272e-01 -9.44970349e-01 -4.40930812e-03 -6.89339311e+01] [-9.44893034e-01 -3.27155919e-01 1.20896018e-02 -2.62462893e+02] [-1.28668465e-02 2.11498170e-04 -9.99917196e-01 -1.80166293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.5665599949999 meters 0.015520282488236935 Centerline is valid? [True, True] Translation: X:-68.91, Y:-262.58, Z:-1.80 [[ 3.96561549e-01 -9.17991627e-01 -5.50557230e-03 -6.89119066e+01] [-9.17911769e-01 -3.96599686e-01 1.21109225e-02 -2.62579356e+02] [-1.33012337e-02 2.50903417e-04 -9.99911503e-01 -1.80116173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.596559995 meters 0.015635421513573004 Centerline is valid? [True, True] Translation: X:-68.88, Y:-262.69, Z:-1.80 [[ 4.63954302e-01 -8.85834283e-01 -6.63549340e-03 -6.88827643e+01] [-8.85752448e-01 -4.64001660e-01 1.20440957e-02 -2.62693709e+02] [-1.37479528e-02 2.89494530e-04 -9.99905451e-01 -1.80185148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.626559995 meters 0.0170306202605719 Centerline is valid? [True, True] Translation: X:-68.84, Y:-262.80, Z:-1.80 [[ 5.27204777e-01 -8.49700341e-01 -8.02835741e-03 -6.88449984e+01] [-8.49612195e-01 -5.27265775e-01 1.22442215e-02 -2.62799172e+02] [-1.46369973e-02 3.65778275e-04 -9.99892807e-01 -1.80040191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.656559995 meters 0.01769057396229083 Centerline is valid? [True, True] Translation: X:-68.80, Y:-262.90, Z:-1.80 [[ 5.89737159e-01 -8.07540061e-01 -9.44101286e-03 -6.88040395e+01] [-8.07447415e-01 -5.89812585e-01 1.22387422e-02 -2.62901991e+02] [-1.54517028e-02 4.05480387e-04 -9.99880533e-01 -1.79954111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.6865599949999 meters 0.017431553559990643 Centerline is valid? [True, True] Translation: X:-68.75, Y:-263.00, Z:-1.80 [[ 6.49138079e-01 -7.60599552e-01 -1.03960084e-02 -6.87543572e+01] [-7.60512206e-01 -6.49221185e-01 1.15342309e-02 -2.63004500e+02] [-1.55222397e-02 4.18982807e-04 -9.99879435e-01 -1.79958196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.7165599949999 meters 0.017695233590139116 Centerline is valid? [True, True] Translation: X:-68.70, Y:-263.10, Z:-1.80 [[ 7.05562854e-01 -7.08562918e-01 -1.09384712e-02 -6.86984147e+01] [-7.08486486e-01 -7.05647525e-01 1.04148909e-02 -2.63098036e+02] [-1.50983106e-02 4.01398874e-04 -9.99885934e-01 -1.80092085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.746559995 meters 0.0166824037582357 Centerline is valid? [True, True] Translation: X:-68.70, Y:-263.11, Z:-1.80 [[ 7.59766638e-01 -6.50107320e-01 -1.07297660e-02 -6.87045726e+01] [-6.50048886e-01 -7.59842320e-01 8.72323928e-03 -2.63107654e+02] [-1.38239720e-02 3.47246246e-04 -9.99904384e-01 -1.80244288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.776559995 meters 0.017376503260532552 Centerline is valid? [True, True] Translation: X:-68.71, Y:-263.11, Z:-1.80 [[ 8.09321609e-01 -5.87270494e-01 -1.05782865e-02 -6.87088383e+01] [-5.87225144e-01 -8.09390682e-01 7.30433221e-03 -2.63114328e+02] [-1.28515853e-02 3.00281918e-04 -9.99917370e-01 -1.80242514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.8065599949999 meters 0.015852147237090712 Centerline is valid? [True, True] Translation: X:-68.71, Y:-263.13, Z:-1.80 [[ 8.53787953e-01 -5.20514352e-01 -1.05328800e-02 -6.87139293e+01] [-5.20478481e-01 -8.53852881e-01 6.11625732e-03 -2.63125579e+02] [-1.21771296e-02 2.60150555e-04 -9.99925822e-01 -1.80400918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.8365599949999 meters 0.014602969610937905 Centerline is valid? [True, True] Translation: X:-68.72, Y:-263.14, Z:-1.80 [[ 8.93665652e-01 -4.48618619e-01 -1.01507747e-02 -6.87188791e+01] [-4.48592157e-01 -8.93723278e-01 4.87651799e-03 -2.63139092e+02] [-1.12596804e-02 1.95581267e-04 -9.99936589e-01 -1.80445369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.866559995 meters 0.01457980953617269 Centerline is valid? [True, True] Translation: X:-68.72, Y:-263.15, Z:-1.80 [[ 9.26558854e-01 -3.76019297e-01 -9.90852992e-03 -6.87218332e+01] [-3.75999741e-01 -9.26611817e-01 3.83861047e-03 -2.63148830e+02] [-1.06247525e-02 1.68906169e-04 -9.99943542e-01 -1.80451954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.896559995 meters 0.014030721331655005 Centerline is valid? [True, True] Translation: X:-68.72, Y:-263.16, Z:-1.81 [[ 9.53852636e-01 -3.00151012e-01 -8.63244305e-03 -6.87229533e+01] [-3.00139873e-01 -9.53891689e-01 2.58868153e-03 -2.63159165e+02] [-9.01141106e-03 1.21719666e-04 -9.99959389e-01 -1.80559590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.9265599949999 meters 0.01397430446089731 Centerline is valid? [True, True] Translation: X:-68.72, Y:-263.17, Z:-1.81 [[ 9.74635326e-01 -2.23635996e-01 -8.53947639e-03 -6.87232841e+01] [-2.23628388e-01 -9.74672730e-01 1.84778985e-03 -2.63168546e+02] [-8.73642708e-03 1.08748082e-04 -9.99961831e-01 -1.80574508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.9565599949999 meters 0.013780787934497597 Centerline is valid? [True, True] Translation: X:-68.73, Y:-263.18, Z:-1.81 [[ 9.89306841e-01 -1.45586778e-01 -8.74441709e-03 -6.87259877e+01] [-1.45581985e-01 -9.89345481e-01 1.18547680e-03 -2.63177540e+02] [-8.82383927e-03 1.00229295e-04 -9.99961064e-01 -1.80516928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.986559995 meters 0.013477109125572664 Centerline is valid? [True, True] Translation: X:-68.73, Y:-263.19, Z:-1.80 [[ 9.97863402e-01 -6.45359300e-02 -1.01855072e-02 -6.87290026e+01] [-6.45334258e-02 -9.97915381e-01 5.74679390e-04 -2.63186520e+02] [-1.02013617e-02 8.38541401e-05 -9.99947961e-01 -1.80375814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.016559995 meters 0.013271337252927114 Centerline is valid? [True, True] Translation: X:-68.73, Y:-263.19, Z:-1.80 [[ 9.99829241e-01 1.52442344e-02 -1.04451706e-02 -6.87304373e+01] [ 1.52426636e-02 -9.99883797e-01 -2.29978455e-04 -2.63193289e+02] [-1.04474626e-02 7.07269630e-05 -9.99945421e-01 -1.80350083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.0465599949999 meters 0.013007010279538682 Centerline is valid? [True, True] Translation: X:-68.73, Y:-263.20, Z:-1.80 [[ 9.95409115e-01 9.51714586e-02 -1.01531781e-02 -6.87304071e+01] [ 9.51659821e-02 -9.95460894e-01 -1.02226311e-03 -2.63203367e+02] [-1.02043820e-02 5.13328535e-05 -9.99947933e-01 -1.80422116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.0765599949999 meters 0.01290428776929472 Centerline is valid? [True, True] Translation: X:-68.73, Y:-263.21, Z:-1.80 [[ 9.84580604e-01 1.74655882e-01 -9.81611779e-03 -6.87300069e+01] [ 1.74646886e-01 -9.84629535e-01 -1.77295331e-03 -2.63214058e+02] [-9.97489622e-03 3.12610398e-05 -9.99950249e-01 -1.80388082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.106559995 meters 0.012732589657775654 Centerline is valid? [True, True] Translation: X:-68.73, Y:-263.23, Z:-1.80 [[ 9.66534791e-01 2.56323073e-01 -1.04393826e-02 -6.87271096e+01] [ 2.56308381e-01 -9.66591166e-01 -2.74444293e-03 -2.63227933e+02] [-1.07940791e-02 -2.31016853e-05 -9.99941742e-01 -1.80212804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.136559995 meters 0.013158052135380512 Centerline is valid? [True, True] Translation: X:-68.73, Y:-263.24, Z:-1.80 [[ 9.42527245e-01 3.33939931e-01 -1.12478794e-02 -6.87259206e+01] [ 3.33916913e-01 -9.42594356e-01 -3.92120558e-03 -2.63238141e+02] [-1.19116347e-02 -6.00140736e-05 -9.99929052e-01 -1.79973633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.166559995 meters 0.013339729513043904 Centerline is valid? [True, True] Translation: X:-68.72, Y:-263.25, Z:-1.80 [[ 9.11489901e-01 4.11173659e-01 -1.10626360e-02 -6.87218086e+01] [ 4.11144971e-01 -9.11557024e-01 -4.85845967e-03 -2.63247883e+02] [-1.20818942e-02 -1.19910253e-04 -9.99927004e-01 -1.80151395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.1965599949999 meters 0.013558890344464506 Centerline is valid? [True, True] Translation: X:-68.72, Y:-263.26, Z:-1.80 [[ 8.75789767e-01 4.82592475e-01 -9.83810981e-03 -6.87176711e+01] [ 4.82563656e-01 -8.75845013e-01 -5.27549707e-03 -2.63255873e+02] [-1.11625746e-02 -1.27287893e-04 -9.99937689e-01 -1.80178068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.226559995 meters 0.013617655261778919 Centerline is valid? [True, True] Translation: X:-68.71, Y:-263.26, Z:-1.80 [[ 8.34876425e-01 5.50365574e-01 -8.89320871e-03 -6.87134758e+01] [ 5.50335989e-01 -8.34923780e-01 -5.70795572e-03 -2.63263530e+02] [-1.05666138e-02 -1.28815147e-04 -9.99944164e-01 -1.80252764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.256559995 meters 0.01381716170651295 Centerline is valid? [True, True] Translation: X:-68.71, Y:-263.27, Z:-1.80 [[ 7.88713649e-01 6.14717929e-01 -7.25582199e-03 -6.87107526e+01] [ 6.14693298e-01 -7.88747015e-01 -5.50421429e-03 -2.63269915e+02] [-9.10654715e-03 -1.18856205e-04 -9.99958528e-01 -1.80360507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.286559995 meters 0.014599835093914524 Centerline is valid? [True, True] Translation: X:-68.71, Y:-263.28, Z:-1.80 [[ 7.37802330e-01 6.74983957e-01 -6.66188434e-03 -6.87069990e+01] [ 6.74957918e-01 -7.37832395e-01 -5.93007870e-03 -2.63276172e+02] [-8.91806207e-03 -1.21265699e-04 -9.99960226e-01 -1.80259264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.3165599949999 meters 0.014330455322217026 Centerline is valid? [True, True] Translation: X:-68.71, Y:-263.28, Z:-1.80 [[ 6.81628651e-01 7.31682995e-01 -4.73043921e-03 -6.87052387e+01] [ 7.31666418e-01 -6.81645057e-01 -4.92638233e-03 -2.63278032e+02] [-6.82903069e-03 -1.03140170e-04 -9.99976677e-01 -1.80486347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.346559995 meters 0.014330455322217026 Centerline is valid? [True, True] Translation: X:-68.70, Y:-263.28, Z:-1.80 [[ 6.22218685e-01 7.82831501e-01 -4.32998378e-03 -6.87013888e+01] [ 7.82813690e-01 -6.22233742e-01 -5.28179474e-03 -2.63283044e+02] [-6.82901732e-03 -1.03139200e-04 -9.99976677e-01 -1.80486359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.376559995 meters 0.01468414694420799 Centerline is valid? [True, True] Translation: X:-68.70, Y:-263.29, Z:-1.81 [[ 5.57864874e-01 8.29923649e-01 -3.67694420e-03 -6.86974964e+01] [ 8.29906860e-01 -5.57876981e-01 -5.27998079e-03 -2.63287573e+02] [-6.43326346e-03 -1.06005397e-04 -9.99979301e-01 -1.80557924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.406559995 meters 0.01494681095009179 Centerline is valid? [True, True] Translation: X:-68.69, Y:-263.29, Z:-1.81 [[ 4.89242509e-01 8.72143916e-01 -2.59968179e-03 -6.86910339e+01] [ 8.72132632e-01 -4.89249406e-01 -4.43753976e-03 -2.63292186e+02] [-5.14206608e-03 -9.62342332e-05 -9.99986775e-01 -1.80614302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.4365599949999 meters 0.016194912889409867 Centerline is valid? [True, True] Translation: X:-68.68, Y:-263.30, Z:-1.80 [[ 4.15322547e-01 9.09670538e-01 -2.58714175e-03 -6.86825375e+01] [ 9.09654905e-01 -4.15330582e-01 -5.33496879e-03 -2.63297729e+02] [-5.92758302e-03 -1.37673357e-04 -9.99982422e-01 -1.80402841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.4665599949999 meters 0.017194638043691094 Centerline is valid? [True, True] Translation: X:-68.68, Y:-263.30, Z:-1.80 [[ 3.40478498e-01 9.40248135e-01 -2.79947018e-03 -6.86759175e+01] [ 9.40220963e-01 -3.40489950e-01 -7.15082846e-03 -2.63303076e+02] [-7.67674459e-03 -1.97417218e-04 -9.99970514e-01 -1.80243360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.496559995 meters 0.018511232098973603 Centerline is valid? [True, True] Translation: X:-68.67, Y:-263.31, Z:-1.80 [[ 2.60762456e-01 9.65398987e-01 -2.78165201e-03 -6.86690381e+01] [ 9.65355545e-01 -2.60777125e-01 -9.16318740e-03 -2.63306499e+02] [-9.57152304e-03 -2.95867937e-04 -9.99954148e-01 -1.80075848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.526559995 meters 0.019034465143809805 Centerline is valid? [True, True] Translation: X:-68.66, Y:-263.31, Z:-1.80 [[ 1.82650493e-01 9.83175148e-01 -2.32950771e-03 -6.86625673e+01] [ 9.83118073e-01 -1.82665004e-01 -1.05995407e-02 -2.63309179e+02] [-1.08467245e-02 -3.54169797e-04 -9.99941110e-01 -1.80046698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.5565599949999 meters 0.020197282066418524 Centerline is valid? [True, True] Translation: X:-68.66, Y:-263.31, Z:-1.80 [[ 1.04070489e-01 9.94568577e-01 -1.63700195e-03 -6.86557479e+01] [ 9.94498712e-01 -1.04082593e-01 -1.17951789e-02 -2.63312400e+02] [-1.19014977e-02 -4.00466294e-04 -9.99929095e-01 -1.79905450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.5865599949999 meters 0.01913176296130551 Centerline is valid? [True, True] Translation: X:-68.65, Y:-263.31, Z:-1.80 [[ 2.59314773e-02 9.99663440e-01 -7.52314542e-04 -6.86506662e+01] [ 9.99583768e-01 -2.59389140e-02 -1.26279220e-02 -2.63313995e+02] [-1.26431861e-02 -4.24540733e-04 -9.99919982e-01 -1.79882006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.616559995 meters 0.018195238003747127 Centerline is valid? [True, True] Translation: X:-68.65, Y:-263.32, Z:-1.80 [[-4.89294755e-02 9.98802214e-01 2.09821344e-04 -6.86465872e+01] [ 9.98740406e-01 4.89287829e-02 -1.11164811e-02 -2.63315847e+02] [-1.11134323e-02 -3.34366538e-04 -9.99938188e-01 -1.79930005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.646559995 meters 0.01766974330764557 Centerline is valid? [True, True] Translation: X:-68.64, Y:-263.32, Z:-1.80 [[-1.23680173e-01 9.92321768e-01 8.50118204e-04 -6.86423315e+01] [ 9.92283567e-01 1.23682874e-01 -8.71031832e-03 -2.63318580e+02] [-8.74858354e-03 -2.33735353e-04 -9.99961703e-01 -1.80093619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.6765599949999 meters 0.015306845655207638 Centerline is valid? [True, True] Translation: X:-68.64, Y:-263.32, Z:-1.80 [[-1.93891998e-01 9.81022513e-01 8.50408995e-04 -6.86426812e+01] [ 9.81010821e-01 1.93893840e-01 -4.79035561e-03 -2.63321341e+02] [-4.86433577e-03 -9.45511927e-05 -9.99988165e-01 -1.80475343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.7065599949999 meters 0.015061628213573024 Centerline is valid? [True, True] Translation: X:-68.64, Y:-263.32, Z:-1.81 [[-2.66995257e-01 9.63697524e-01 7.84756759e-04 -6.86379192e+01] [ 9.63692788e-01 2.66996405e-01 -3.02175280e-03 -2.63324300e+02] [-3.12158292e-03 -5.05292357e-05 -9.99995127e-01 -1.80571689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.736559995 meters 0.01443972017545691 Centerline is valid? [True, True] Translation: X:-68.64, Y:-263.33, Z:-1.81 [[-3.38856963e-01 9.40837671e-01 6.60198142e-04 -6.86364035e+01] [ 9.40835728e-01 3.38857605e-01 -1.91233020e-03 -2.63327907e+02] [-2.02290545e-03 -2.68684031e-05 -9.99997954e-01 -1.80676146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.766559995 meters 0.013603119185677321 Centerline is valid? [True, True] Translation: X:-68.64, Y:-263.33, Z:-1.81 [[-4.08127333e-01 9.12924865e-01 5.21015146e-04 -6.86374100e+01] [ 9.12924081e-01 4.08127665e-01 -1.19627773e-03 -2.63333109e+02] [-1.30475238e-03 -1.25863647e-05 -9.99999149e-01 -1.80742811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.7965599949999 meters 0.013150503673782368 Centerline is valid? [True, True] Translation: X:-68.63, Y:-263.33, Z:-1.81 [[-4.77813590e-01 8.78460936e-01 7.46009159e-04 -6.86299155e+01] [ 8.78459819e-01 4.77814172e-01 -1.40121132e-03 -2.63333566e+02] [-1.58736316e-03 -1.41787412e-05 -9.99998740e-01 -1.80731567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.8265599949999 meters 0.01329876105842132 Centerline is valid? [True, True] Translation: X:-68.62, Y:-263.33, Z:-1.81 [[-5.44964796e-01 8.38458246e-01 1.06819415e-03 -6.86208348e+01] [ 8.38456573e-01 5.44965842e-01 -1.67496471e-03 -2.63333586e+02] [-1.98651730e-03 -1.71623986e-05 -9.99998027e-01 -1.80676350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.856559995 meters 0.013264813106956545 Centerline is valid? [True, True] Translation: X:-68.61, Y:-263.33, Z:-1.80 [[-6.08368853e-01 7.93650609e-01 2.45938981e-03 -6.86148263e+01] [ 7.93643912e-01 6.08373824e-01 -3.26068025e-03 -2.63333965e+02] [-4.08406925e-03 -3.18165572e-05 -9.99991660e-01 -1.80402637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.886559995 meters 0.013088482252553048 Centerline is valid? [True, True] Translation: X:-68.61, Y:-263.33, Z:-1.80 [[-6.68087877e-01 7.44074985e-01 3.31743382e-03 -6.86081929e+01] [ 7.44065550e-01 6.68096113e-01 -3.74727556e-03 -2.63332169e+02] [-5.00461864e-03 -3.51211509e-05 -9.99987476e-01 -1.80260856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.916559995 meters 0.012854303989294042 Centerline is valid? [True, True] Translation: X:-68.60, Y:-263.33, Z:-1.80 [[-7.22271899e-01 6.91597361e-01 4.04898548e-03 -6.86021687e+01] [ 6.91586317e-01 7.22283247e-01 -3.90860583e-03 -2.63331147e+02] [-5.62769586e-03 -2.28532004e-05 -9.99984164e-01 -1.80086667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.9465599949999 meters 0.012717816035308372 Centerline is valid? [True, True] Translation: X:-68.09, Y:-262.81, Z:-2.79 [[-6.69815093e-01 -7.42518693e-01 3.70564613e-03 -6.80871365e+01] [ 7.42507462e-01 -6.69825343e-01 -4.08390913e-03 -2.62814351e+02] [ 5.51451456e-03 1.60059340e-05 9.99984795e-01 -2.78902801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.976559995 meters 0.012670317501071957 Centerline is valid? [True, True] Translation: X:-68.10, Y:-262.79, Z:-2.79 [[-6.71877135e-01 -7.40651918e-01 3.98151567e-03 -6.81036821e+01] [ 7.40638877e-01 -6.71888932e-01 -4.39518789e-03 -2.62792617e+02] [ 5.93044065e-03 -4.16095989e-06 9.99982415e-01 -2.78855129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.006559995 meters 0.012950552022852299 Centerline is valid? [True, True] Translation: X:-68.12, Y:-262.77, Z:-2.79 [[-6.75747564e-01 -7.37121372e-01 4.16092020e-03 -6.81211917e+01] [ 7.37107079e-01 -6.75760373e-01 -4.59045022e-03 -2.62771271e+02] [ 6.19550395e-03 -3.49418216e-05 9.99980807e-01 -2.78879829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.036559995 meters 0.013569634547636133 Centerline is valid? [True, True] Translation: X:-68.14, Y:-262.75, Z:-2.79 [[-6.79088435e-01 -7.34046048e-01 3.91113092e-03 -6.81387473e+01] [ 7.34033379e-01 -6.79099696e-01 -4.31308833e-03 -2.62750218e+02] [ 5.82205326e-03 -5.80677588e-05 9.99983050e-01 -2.78996452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.0665599949999 meters 0.01375031318970053 Centerline is valid? [True, True] Translation: X:-68.16, Y:-262.73, Z:-2.79 [[-6.80780714e-01 -7.32476439e-01 3.98576957e-03 -6.81571710e+01] [ 7.32463269e-01 -6.80792378e-01 -4.39293202e-03 -2.62729190e+02] [ 5.93120075e-03 -7.11935858e-05 9.99982408e-01 -2.78933985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.096559995 meters 0.014494132140967071 Centerline is valid? [True, True] Translation: X:-68.17, Y:-262.71, Z:-2.79 [[-6.82506573e-01 -7.30870110e-01 3.69590942e-03 -6.81733452e+01] [ 7.30858772e-01 -6.82516575e-01 -4.07179853e-03 -2.62707588e+02] [ 5.49847528e-03 -7.78414412e-05 9.99984880e-01 -2.78954668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.126559995 meters 0.014992856634348666 Centerline is valid? [True, True] Translation: X:-68.19, Y:-262.69, Z:-2.79 [[-6.86526129e-01 -7.27098870e-01 3.01786883e-03 -6.81910043e+01] [ 7.27091282e-01 -6.86532757e-01 -3.32292349e-03 -2.62685624e+02] [ 4.48795972e-03 -8.70076834e-05 9.99989925e-01 -2.78862771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.156559995 meters 0.016039435405827574 Centerline is valid? [True, True] Translation: X:-68.21, Y:-262.66, Z:-2.79 [[-6.89704695e-01 -7.24086060e-01 2.60995306e-03 -6.82094625e+01] [ 7.24080370e-01 -6.89709627e-01 -2.87216473e-03 -2.62663984e+02] [ 3.87980419e-03 -9.11297228e-05 9.99992469e-01 -2.78847088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.1865599949999 meters 0.016749128135381937 Centerline is valid? [True, True] Translation: X:-68.23, Y:-262.64, Z:-2.79 [[-6.91341055e-01 -7.22523223e-01 2.78179688e-03 -6.82271949e+01] [ 7.22516751e-01 -6.91346643e-01 -3.05989060e-03 -2.62644199e+02] [ 4.13402795e-03 -1.05533149e-04 9.99991449e-01 -2.78843878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.2165599949999 meters 0.017266440508919748 Centerline is valid? [True, True] Translation: X:-68.25, Y:-262.62, Z:-2.79 [[-6.92042861e-01 -7.21848223e-01 3.43826521e-03 -6.82453644e+01] [ 7.21838336e-01 -6.92051389e-01 -3.78045583e-03 -2.62623759e+02] [ 5.10837153e-03 -1.34365832e-04 9.99986943e-01 -2.78776396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.246559995 meters 0.017310543574499387 Centerline is valid? [True, True] Translation: X:-68.27, Y:-262.61, Z:-2.79 [[-6.91636323e-01 -7.22234414e-01 4.08026572e-03 -6.82675437e+01] [ 7.22220513e-01 -6.91648341e-01 -4.48360095e-03 -2.62606478e+02] [ 6.06031992e-03 -1.54169672e-04 9.99981624e-01 -2.78973240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.276559995 meters 0.016843991229815666 Centerline is valid? [True, True] Translation: X:-68.29, Y:-262.59, Z:-2.79 [[-6.90692464e-01 -7.23133665e-01 4.65004611e-03 -6.82886569e+01] [ 7.23115650e-01 -6.90708097e-01 -5.10691783e-03 -2.62588115e+02] [ 6.90480871e-03 -1.64788548e-04 9.99976148e-01 -2.79100963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.3065599949999 meters 0.016291811656992946 Centerline is valid? [True, True] Translation: X:-68.31, Y:-262.57, Z:-2.79 [[-6.89107116e-01 -7.24640870e-01 5.19536347e-03 -6.83097750e+01] [ 7.24618448e-01 -6.89126681e-01 -5.70291502e-03 -2.62568626e+02] [ 7.71282889e-03 -1.65263110e-04 9.99970242e-01 -2.79179724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.3365599949999 meters 0.016291811656992946 Centerline is valid? [True, True] Translation: X:-68.33, Y:-262.55, Z:-2.79 [[-6.89327238e-01 -7.24431466e-01 5.19709606e-03 -6.83278863e+01] [ 7.24409050e-01 -6.89346810e-01 -5.70133615e-03 -2.62548910e+02] [ 7.71282889e-03 -1.65262880e-04 9.99970242e-01 -2.79179736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.366559995 meters 0.015190734751616279 Centerline is valid? [True, True] Translation: X:-68.35, Y:-262.53, Z:-2.79 [[-6.87362083e-01 -7.26290344e-01 5.97523398e-03 -6.83493321e+01] [ 7.26260814e-01 -6.87388034e-01 -6.55134404e-03 -2.62530786e+02] [ 8.86548225e-03 -1.63567191e-04 9.99960688e-01 -2.79193714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.396559995 meters 0.015190734751616279 Centerline is valid? [True, True] Translation: X:-68.37, Y:-262.51, Z:-2.79 [[-6.87587648e-01 -7.26076785e-01 5.97726885e-03 -6.83674491e+01] [ 7.26047264e-01 -6.87613609e-01 -6.54948753e-03 -2.62511075e+02] [ 8.86548225e-03 -1.63567032e-04 9.99960688e-01 -2.79193726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.4265599949999 meters 0.015021467701063074 Centerline is valid? [True, True] Translation: X:-68.39, Y:-262.49, Z:-2.79 [[-6.85928939e-01 -7.27644106e-01 5.96204909e-03 -6.83876941e+01] [ 7.27614825e-01 -6.85954835e-01 -6.52925125e-03 -2.62493070e+02] [ 8.84066759e-03 -1.40527074e-04 9.99960911e-01 -2.79283909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.4565599949999 meters 0.014253315717654511 Centerline is valid? [True, True] Translation: X:-68.41, Y:-262.48, Z:-2.79 [[-6.84481853e-01 -7.29008675e-01 5.56282574e-03 -6.84093396e+01] [ 7.28983257e-01 -6.84504448e-01 -6.08870331e-03 -2.62475323e+02] [ 8.24649649e-03 -1.12400098e-04 9.99965991e-01 -2.79249374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.486559995 meters 0.013633874178732004 Centerline is valid? [True, True] Translation: X:-68.43, Y:-262.46, Z:-2.79 [[-6.82500405e-01 -7.30864064e-01 5.56033302e-03 -6.84313561e+01] [ 7.30838748e-01 -6.82523049e-01 -6.08384777e-03 -2.62456860e+02] [ 8.24152115e-03 -8.85217436e-05 9.99966034e-01 -2.79106102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.516559995 meters 0.013679976898529064 Centerline is valid? [True, True] Translation: X:-68.45, Y:-262.44, Z:-2.79 [[-6.81800140e-01 -7.31510010e-01 6.45556348e-03 -6.84498048e+01] [ 7.31475958e-01 -6.81830696e-01 -7.05869223e-03 -2.62437556e+02] [ 9.56510536e-03 -9.05278644e-05 9.99954249e-01 -2.79164648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.5465599949999 meters 0.013319194039375691 Centerline is valid? [True, True] Translation: X:-68.47, Y:-262.42, Z:-2.79 [[-6.79117305e-01 -7.33979416e-01 8.59674443e-03 -6.84724401e+01] [ 7.33919293e-01 -6.79171711e-01 -9.39462881e-03 -2.62420476e+02] [ 1.27341298e-02 -7.07384000e-05 9.99918915e-01 -2.79411679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.5765599949999 meters 0.013302295817438636 Centerline is valid? [True, True] Translation: X:-68.50, Y:-262.41, Z:-2.80 [[-6.72512894e-01 -7.40019309e-01 9.89090823e-03 -6.84964309e+01] [ 7.39940461e-01 -6.72585623e-01 -1.08024797e-02 -2.62406066e+02] [ 1.46465262e-02 5.38763000e-05 9.99892733e-01 -2.79541586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.606559995 meters 0.013302295817438636 Centerline is valid? [True, True] Translation: X:-68.51, Y:-262.39, Z:-2.80 [[-6.72737791e-01 -7.39814821e-01 9.89419155e-03 -6.85145866e+01] [ 7.39735996e-01 -6.72810544e-01 -1.07994726e-02 -2.62386408e+02] [ 1.46465262e-02 5.38763350e-05 9.99892733e-01 -2.79541598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.636559995 meters 0.013360236910056129 Centerline is valid? [True, True] Translation: X:-68.54, Y:-262.37, Z:-2.80 [[-6.70851495e-01 -7.41525280e-01 9.92626822e-03 -6.85353480e+01] [ 7.41446235e-01 -6.70924921e-01 -1.08273653e-02 -2.62369122e+02] [ 1.46885458e-02 9.62399794e-05 9.99892113e-01 -2.79514709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.666559995 meters 0.013882242730309871 Centerline is valid? [True, True] Translation: X:-68.56, Y:-262.35, Z:-2.80 [[-6.69100968e-01 -7.43106195e-01 9.85276856e-03 -6.85558623e+01] [ 7.43028568e-01 -6.69173494e-01 -1.07416540e-02 -2.62353016e+02] [ 1.45754012e-02 1.33637418e-04 9.99893764e-01 -2.79651670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.6965599949999 meters 0.01389743189533761 Centerline is valid? [True, True] Translation: X:-68.58, Y:-262.33, Z:-2.80 [[-6.67900274e-01 -7.44188136e-01 9.65619653e-03 -6.85758393e+01] [ 7.44113781e-01 -6.67970054e-01 -1.05208109e-02 -2.62334190e+02] [ 1.42795128e-02 1.58456409e-04 9.99898030e-01 -2.79594345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.726559995 meters 0.014222937644337349 Centerline is valid? [True, True] Translation: X:-68.59, Y:-262.32, Z:-2.80 [[-6.66964177e-01 -7.45031452e-01 9.32319243e-03 -6.85946576e+01] [ 7.44962311e-01 -6.67029313e-01 -1.01513842e-02 -2.62315346e+02] [ 1.37819431e-02 1.74817398e-04 9.99905009e-01 -2.79572151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.756559995 meters 0.014386389274171761 Centerline is valid? [True, True] Translation: X:-68.61, Y:-262.29, Z:-2.79 [[-6.65424913e-01 -7.46415463e-01 8.58152564e-03 -6.86121739e+01] [ 7.46357074e-01 -6.65480218e-01 -9.33794792e-03 -2.62294325e+02] [ 1.26808243e-02 1.91179180e-04 9.99919577e-01 -2.79291227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.786559995 meters 0.01451899323698072 Centerline is valid? [True, True] Translation: X:-68.63, Y:-262.27, Z:-2.79 [[-6.65019577e-01 -7.46780988e-01 8.19251506e-03 -6.86307175e+01] [ 7.46727869e-01 -6.65070010e-01 -8.90903233e-03 -2.62274124e+02] [ 1.21016920e-02 1.92898404e-04 9.99926753e-01 -2.79229658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.8165599949999 meters 0.015156309386691514 Centerline is valid? [True, True] Translation: X:-68.65, Y:-262.26, Z:-2.79 [[-6.63723488e-01 -7.47928379e-01 8.61815648e-03 -6.86499059e+01] [ 7.47869763e-01 -6.63779397e-01 -9.36636676e-03 -2.62255362e+02] [ 1.27259262e-02 2.28581032e-04 9.99918996e-01 -2.79264392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.846559995 meters 0.016022415515477048 Centerline is valid? [True, True] Translation: X:-68.67, Y:-262.24, Z:-2.79 [[-6.63575636e-01 -7.48059188e-01 8.65027863e-03 -6.86689558e+01] [ 7.48000215e-01 -6.63631974e-01 -9.39588376e-03 -2.62237899e+02] [ 1.27692787e-02 2.35530726e-04 9.99918442e-01 -2.79405768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.876559995 meters 0.0159620080870561 Centerline is valid? [True, True] Translation: X:-68.69, Y:-262.22, Z:-2.79 [[-6.63515700e-01 -7.48104443e-01 9.30905904e-03 -6.86880503e+01] [ 7.48036224e-01 -6.63580949e-01 -1.01060470e-02 -2.62216889e+02] [ 1.37376929e-02 2.57992507e-04 9.99905600e-01 -2.79424227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.906559995 meters 0.015429890805341503 Centerline is valid? [True, True] Translation: X:-68.70, Y:-262.20, Z:-2.79 [[-6.63763467e-01 -7.47878895e-01 9.75801229e-03 -6.87045045e+01] [ 7.47804007e-01 -6.63835135e-01 -1.05868788e-02 -2.62195448e+02] [ 1.43954146e-02 2.69897308e-04 9.99896344e-01 -2.79397464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.9365599949999 meters 0.016315058945116197 Centerline is valid? [True, True] Translation: X:-68.72, Y:-262.18, Z:-2.80 [[-6.64136187e-01 -7.47545201e-01 9.96478285e-03 -6.87232368e+01] [ 7.47467144e-01 -6.64210884e-01 -1.08060407e-02 -2.62176606e+02] [ 1.46967211e-02 2.71665139e-04 9.99891961e-01 -2.79587307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.9665599949999 meters 0.01569419746002341 Centerline is valid? [True, True] Translation: X:-68.74, Y:-262.15, Z:-2.79 [[-6.63930500e-01 -7.47728796e-01 9.89646326e-03 -6.87390786e+01] [ 7.47651922e-01 -6.64004195e-01 -1.07253476e-02 -2.62154655e+02] [ 1.45909444e-02 2.78224358e-04 9.99893508e-01 -2.79441988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.996559995 meters 0.01588026041052012 Centerline is valid? [True, True] Translation: X:-68.76, Y:-262.14, Z:-2.79 [[-6.63982356e-01 -7.47686130e-01 9.63751329e-03 -6.87568510e+01] [ 7.47613293e-01 -6.64052239e-01 -1.04397449e-02 -2.62135103e+02] [ 1.42054648e-02 2.73326620e-04 9.99899060e-01 -2.79440591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.026559995 meters 0.017008336149376763 Centerline is valid? [True, True] Translation: X:-68.78, Y:-262.12, Z:-2.80 [[-6.64252545e-01 -7.47447061e-01 9.56283268e-03 -6.87751449e+01] [ 7.47375416e-01 -6.64321322e-01 -1.03522436e-02 -2.62116883e+02] [ 1.40905477e-02 2.70521914e-04 9.99900687e-01 -2.79550264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.0565599949999 meters 0.01570025261308353 Centerline is valid? [True, True] Translation: X:-68.79, Y:-262.09, Z:-2.79 [[-6.65660225e-01 -7.46194780e-01 9.47715896e-03 -6.87902546e+01] [ 7.46124362e-01 -6.65727640e-01 -1.02540311e-02 -2.62092400e+02] [ 1.39607111e-02 2.45438556e-04 9.99902514e-01 -2.79419958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.0865599949999 meters 0.014587253022811601 Centerline is valid? [True, True] Translation: X:-68.81, Y:-262.07, Z:-2.79 [[-6.66820786e-01 -7.45158356e-01 9.43742497e-03 -6.88053672e+01] [ 7.45088514e-01 -6.66887527e-01 -1.02045882e-02 -2.62069809e+02] [ 1.38977351e-02 2.27085439e-04 9.99903396e-01 -2.79272836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.116559995 meters 0.01475811164865633 Centerline is valid? [True, True] Translation: X:-68.82, Y:-262.05, Z:-2.79 [[-6.68835358e-01 -7.43349932e-01 9.49438282e-03 -6.88207891e+01] [ 7.43279142e-01 -6.68902714e-01 -1.02604199e-02 -2.62047096e+02] [ 1.39779009e-02 1.94445071e-04 9.99902286e-01 -2.79361569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.146559995 meters 0.014359743334472236 Centerline is valid? [True, True] Translation: X:-68.84, Y:-262.02, Z:-2.79 [[-6.69926040e-01 -7.42370111e-01 9.25848845e-03 -6.88368947e+01] [ 7.42302783e-01 -6.69989992e-01 -9.99948337e-03 -2.62024756e+02] [ 1.36264122e-02 1.73687444e-04 9.99907141e-01 -2.79332054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.1765599949999 meters 0.01381892054764646 Centerline is valid? [True, True] Translation: X:-68.85, Y:-262.00, Z:-2.79 [[-6.70898047e-01 -7.41490885e-01 9.33154673e-03 -6.88523250e+01] [ 7.41422491e-01 -6.70962921e-01 -1.00721373e-02 -2.62002371e+02] [ 1.37295199e-02 1.61241352e-04 9.99905733e-01 -2.79225884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.2065599949999 meters 0.014238876562496809 Centerline is valid? [True, True] Translation: X:-68.87, Y:-261.98, Z:-2.79 [[-6.71739230e-01 -7.40730027e-01 9.24306637e-03 -6.88695796e+01] [ 7.40662917e-01 -6.71802803e-01 -9.97185752e-03 -2.61982600e+02] [ 1.35959722e-02 1.47508606e-04 9.99907560e-01 -2.79371726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.236559995 meters 0.01327956604956535 Centerline is valid? [True, True] Translation: X:-68.88, Y:-261.96, Z:-2.79 [[-6.73096544e-01 -7.39502160e-01 8.80896763e-03 -6.88848525e+01] [ 7.39441169e-01 -6.73154174e-01 -9.49818803e-03 -2.61959018e+02] [ 1.29537239e-02 1.20515788e-04 9.99916090e-01 -2.79090207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.266559995 meters 0.01327956604956535 Centerline is valid? [True, True] Translation: X:-68.90, Y:-261.94, Z:-2.79 [[-6.73304070e-01 -7.39313184e-01 8.81163331e-03 -6.89036679e+01] [ 7.39252210e-01 -6.73361716e-01 -9.49571508e-03 -2.61938836e+02] [ 1.29537239e-02 1.20515790e-04 9.99916090e-01 -2.79090219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.2965599949999 meters 0.013075845020659702 Centerline is valid? [True, True] Translation: X:-68.92, Y:-261.92, Z:-2.79 [[-6.75595585e-01 -7.37229338e-01 7.96931908e-03 -6.89189861e+01] [ 7.37179368e-01 -6.75642582e-01 -8.58380897e-03 -2.61917613e+02] [ 1.17126471e-02 7.56341603e-05 9.99931402e-01 -2.79042286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.3265599949999 meters 0.012868802382905562 Centerline is valid? [True, True] Translation: X:-68.94, Y:-261.90, Z:-2.79 [[-6.77223201e-01 -7.35738000e-01 7.63749966e-03 -6.89363985e+01] [ 7.35692067e-01 -6.77266264e-01 -8.22133381e-03 -2.61896947e+02] [ 1.12213686e-02 5.11699192e-05 9.99937037e-01 -2.78999149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.356559995 meters 0.012789416185273184 Centerline is valid? [True, True] Translation: X:-68.95, Y:-261.88, Z:-2.79 [[-6.78429724e-01 -7.34632022e-01 6.99303992e-03 -6.89540461e+01] [ 7.34593504e-01 -6.78465763e-01 -7.52275326e-03 -2.61877935e+02] [ 1.02709936e-02 3.33822858e-05 9.99947251e-01 -2.78995325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.386559995 meters 0.012675206347146854 Centerline is valid? [True, True] Translation: X:-68.97, Y:-261.86, Z:-2.79 [[-6.80229786e-01 -7.32966194e-01 6.92792029e-03 -6.89716777e+01] [ 7.32928351e-01 -6.80265065e-01 -7.44806981e-03 -2.61857053e+02] [ 1.01720055e-02 1.12702608e-05 9.99948264e-01 -2.78874391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.416559995 meters 0.012635666909349027 Centerline is valid? [True, True] Translation: X:-68.99, Y:-261.84, Z:-2.79 [[-6.81179343e-01 -7.32081066e-01 7.21219892e-03 -6.89893902e+01] [ 7.32040055e-01 -6.81217523e-01 -7.74882945e-03 -2.61836749e+02] [ 1.05858476e-02 1.27593794e-06 9.99943968e-01 -2.78818457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.4465599949999 meters 0.012731171679316523 Centerline is valid? [True, True] Translation: X:-69.01, Y:-261.82, Z:-2.79 [[-6.82903369e-01 -7.30469373e-01 7.58188473e-03 -6.90089013e+01] [ 7.30424001e-01 -6.82945456e-01 -8.14145463e-03 -2.61815965e+02] [ 1.11250970e-02 -2.18362184e-05 9.99938114e-01 -2.78811514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.476559995 meters 0.012857120004902209 Centerline is valid? [True, True] Translation: X:-69.03, Y:-261.80, Z:-2.79 [[-6.84055901e-01 -7.29388495e-01 7.74251697e-03 -6.90267439e+01] [ 7.29341158e-01 -6.84099716e-01 -8.30989385e-03 -2.61796758e+02] [ 1.13577946e-02 -3.74956388e-05 9.99935498e-01 -2.78878466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.506559995 meters 0.012949945536041185 Centerline is valid? [True, True] Translation: X:-69.04, Y:-261.78, Z:-2.79 [[-6.85492951e-01 -7.28035477e-01 7.98491547e-03 -6.90448582e+01] [ 7.27985100e-01 -6.85539453e-01 -8.56467957e-03 -2.61776266e+02] [ 1.17093651e-02 -5.81279894e-05 9.99931441e-01 -2.78888279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.536559995 meters 0.013685281776041905 Centerline is valid? [True, True] Translation: X:-69.06, Y:-261.76, Z:-2.79 [[-6.88224315e-01 -7.25447950e-01 8.51847560e-03 -6.90622667e+01] [ 7.25390462e-01 -6.88277023e-01 -9.13329057e-03 -2.61756105e+02] [ 1.24887979e-02 -1.06531693e-04 9.99922006e-01 -2.79055039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.5665599949999 meters 0.013903824718287201 Centerline is valid? [True, True] Translation: X:-69.08, Y:-261.74, Z:-2.79 [[-6.90092333e-01 -7.23669403e-01 8.66990837e-03 -6.90821054e+01] [ 7.23609776e-01 -6.90146779e-01 -9.29058593e-03 -2.61735678e+02] [ 1.27068221e-02 -1.37731662e-04 9.99919256e-01 -2.79061543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.596559995 meters 0.014936501721955642 Centerline is valid? [True, True] Translation: X:-69.10, Y:-261.71, Z:-2.79 [[-6.94772137e-01 -7.19176299e-01 8.78227026e-03 -6.90997877e+01] [ 7.19114823e-01 -6.94827606e-01 -9.40579887e-03 -2.61713815e+02] [ 1.28665914e-02 -2.19426264e-04 9.99917198e-01 -2.79091914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.626559995 meters 0.015255676448005054 Centerline is valid? [True, True] Translation: X:-69.12, Y:-261.69, Z:-2.79 [[-6.97646690e-01 -7.16392485e-01 8.42049621e-03 -6.91180892e+01] [ 7.16335828e-01 -6.97697458e-01 -9.01323702e-03 -2.61692667e+02] [ 1.23319741e-02 -2.56151844e-04 9.99923926e-01 -2.78976274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.656559995 meters 0.01788546335894117 Centerline is valid? [True, True] Translation: X:-69.13, Y:-261.67, Z:-2.79 [[-6.99995276e-01 -7.14101287e-01 8.12192196e-03 -6.91325683e+01] [ 7.14048471e-01 -7.00042335e-01 -8.68968127e-03 -2.61669863e+02] [ 1.18910018e-02 -2.83289883e-04 9.99929260e-01 -2.79075053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.6865599949999 meters 0.01874185243110607 Centerline is valid? [True, True] Translation: X:-69.15, Y:-261.65, Z:-2.79 [[-7.03752438e-01 -7.10405935e-01 7.47746360e-03 -6.91496575e+01] [ 7.10361006e-01 -7.03792091e-01 -7.99582530e-03 -2.61647751e+02] [ 1.09428615e-02 -3.15382983e-04 9.99940075e-01 -2.78739592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.7165599949999 meters 0.019579518612707292 Centerline is valid? [True, True] Translation: X:-69.17, Y:-261.63, Z:-2.79 [[-7.04682218e-01 -7.09487550e-01 7.09839792e-03 -6.91669207e+01] [ 7.09447059e-01 -7.04717901e-01 -7.58618992e-03 -2.61627338e+02] [ 1.03846754e-02 -3.09915614e-04 9.99946030e-01 -2.78655314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.746559995 meters 0.017972539873761195 Centerline is valid? [True, True] Translation: X:-69.19, Y:-261.61, Z:-2.78 [[-7.05084664e-01 -7.09098360e-01 5.92715969e-03 -6.91892956e+01] [ 7.09070150e-01 -7.05109529e-01 -6.33053602e-03 -2.61611259e+02] [ 8.66826949e-03 -2.60791862e-04 9.99962396e-01 -2.78422342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.776559995 meters 0.019051651456199574 Centerline is valid? [True, True] Translation: X:-69.21, Y:-261.59, Z:-2.78 [[-7.04741306e-01 -7.09443733e-01 5.41123296e-03 -6.92074947e+01] [ 7.09420260e-01 -7.04762042e-01 -5.77574477e-03 -2.61592923e+02] [ 7.91119752e-03 -2.31567623e-04 9.99968679e-01 -2.78452811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.8065599949999 meters 0.016929078483251946 Centerline is valid? [True, True] Translation: X:-69.23, Y:-261.58, Z:-2.78 [[-7.04399585e-01 -7.09787080e-01 4.85026533e-03 -6.92316796e+01] [ 7.09768249e-01 -7.04416255e-01 -5.17427218e-03 -2.61576371e+02] [ 7.08923728e-03 -2.02190852e-04 9.99974851e-01 -2.78373636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.8365599949999 meters 0.017840108802805434 Centerline is valid? [True, True] Translation: X:-69.25, Y:-261.56, Z:-2.79 [[-7.03267023e-01 -7.10904299e-01 5.52920178e-03 -6.92528097e+01] [ 7.10879887e-01 -7.03288725e-01 -5.89528613e-03 -2.61558399e+02] [ 8.07960953e-03 -2.15361989e-04 9.99967336e-01 -2.78583162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.866559995 meters 0.017664618639098406 Centerline is valid? [True, True] Translation: X:-69.27, Y:-261.54, Z:-2.79 [[-7.02861725e-01 -7.11302730e-01 5.81563944e-03 -6.92727791e+01] [ 7.11275769e-01 -7.02885751e-01 -6.19695277e-03 -2.61539262e+02] [ 8.49563952e-03 -2.19077501e-04 9.99963887e-01 -2.78617455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.896559995 meters 0.0174602465900661 Centerline is valid? [True, True] Translation: X:-69.29, Y:-261.52, Z:-2.79 [[-7.02543541e-01 -7.11612005e-01 6.39741525e-03 -6.92925118e+01] [ 7.11579431e-01 -7.02572630e-01 -6.81276920e-03 -2.61520234e+02] [ 9.34269721e-03 -2.33997897e-04 9.99956329e-01 -2.78601913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.9265599949999 meters 0.016776777678543554 Centerline is valid? [True, True] Translation: X:-69.31, Y:-261.50, Z:-2.79 [[-7.02262819e-01 -7.11886711e-01 6.65165269e-03 -6.93130012e+01] [ 7.11851551e-01 -7.02294280e-01 -7.07916815e-03 -2.61502305e+02] [ 9.71098336e-03 -2.36447297e-04 9.99952819e-01 -2.78596360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.9565599949999 meters 0.015673683176274884 Centerline is valid? [True, True] Translation: X:-69.34, Y:-261.49, Z:-2.79 [[-7.00579730e-01 -7.13537298e-01 7.25030256e-03 -6.93373192e+01] [ 7.13495657e-01 -7.00617208e-01 -7.71202370e-03 -2.61486756e+02] [ 1.05825033e-02 -2.29828091e-04 9.99943977e-01 -2.78645108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.986559995 meters 0.015092014430425302 Centerline is valid? [True, True] Translation: X:-69.36, Y:-261.47, Z:-2.79 [[-6.99163866e-01 -7.14922476e-01 7.46607636e-03 -6.93596240e+01] [ 7.14878447e-01 -6.99203696e-01 -7.93713718e-03 -2.61468774e+02] [ 1.08947459e-02 -2.12022441e-04 9.99940628e-01 -2.78656491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.016559995 meters 0.014354477724782896 Centerline is valid? [True, True] Translation: X:-69.38, Y:-261.45, Z:-2.79 [[-6.96319512e-01 -7.17693885e-01 7.39084163e-03 -6.93832646e+01] [ 7.17650929e-01 -6.96358715e-01 -7.85394089e-03 -2.61453518e+02] [ 1.07834023e-02 -1.64807928e-04 9.99941844e-01 -2.78699122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.0465599949999 meters 0.013997133312137307 Centerline is valid? [True, True] Translation: X:-69.40, Y:-261.44, Z:-2.79 [[-6.95222013e-01 -7.18763292e-01 6.75892205e-03 -6.94047538e+01] [ 7.18727456e-01 -6.95254855e-01 -7.17850904e-03 -2.61435142e+02] [ 9.85882215e-03 -1.32834649e-04 9.99951392e-01 -2.78659723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.0765599949999 meters 0.01362963218527976 Centerline is valid? [True, True] Translation: X:-69.43, Y:-261.42, Z:-2.79 [[-6.94172241e-01 -7.19777629e-01 6.71303129e-03 -6.94256752e+01] [ 7.19742369e-01 -6.94204690e-01 -7.12537023e-03 -2.61417084e+02] [ 9.78889990e-03 -1.14581180e-04 9.99952081e-01 -2.78610736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.106559995 meters 0.01292086058126197 Centerline is valid? [True, True] Translation: X:-69.45, Y:-261.40, Z:-2.79 [[-6.91494289e-01 -7.22348640e-01 6.93469119e-03 -6.94479320e+01] [ 7.22311183e-01 -6.91529056e-01 -7.35654142e-03 -2.61399499e+02] [ 1.01095281e-02 -7.80013791e-05 9.99948894e-01 -2.78534880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.136559995 meters 0.012744716666767299 Centerline is valid? [True, True] Translation: X:-69.47, Y:-261.38, Z:-2.79 [[-6.89839718e-01 -7.23923394e-01 7.48883081e-03 -6.94698163e+01] [ 7.23879853e-01 -6.89880364e-01 -7.93994816e-03 -2.61380941e+02] [ 1.09143115e-02 -5.62778601e-05 9.99940436e-01 -2.78572477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.166559995 meters 0.012518623887447924 Centerline is valid? [True, True] Translation: X:-69.49, Y:-261.37, Z:-2.79 [[-6.86363402e-01 -7.27216917e-01 7.79974988e-03 -6.94931039e+01] [ 7.27169942e-01 -6.86407718e-01 -8.26557859e-03 -2.61366283e+02] [ 1.13646771e-02 -1.44696578e-06 9.99935420e-01 -2.78688411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.1965599949999 meters 0.012398216159639607 Centerline is valid? [True, True] Translation: X:-69.51, Y:-261.35, Z:-2.79 [[-6.85491664e-01 -7.28042668e-01 7.41971023e-03 -6.95135774e+01] [ 7.28000256e-01 -6.85531818e-01 -7.85840442e-03 -2.61347163e+02] [ 1.08077012e-02 1.46802201e-05 9.99941595e-01 -2.78609695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.226559995 meters 0.01251524723551466 Centerline is valid? [True, True] Translation: X:-69.53, Y:-261.33, Z:-2.79 [[-6.84795459e-01 -7.28698581e-01 7.31828174e-03 -6.95332430e+01] [ 7.28657407e-01 -6.84834562e-01 -7.74636524e-03 -2.61327976e+02] [ 1.06565776e-02 2.78444511e-05 9.99943217e-01 -2.78605812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.256559995 meters 0.012554893240625071 Centerline is valid? [True, True] Translation: X:-69.55, Y:-261.31, Z:-2.79 [[-6.83458061e-01 -7.29952706e-01 7.35707275e-03 -6.95534432e+01] [ 7.29911218e-01 -6.83497655e-01 -7.78258227e-03 -2.61309392e+02] [ 1.07094590e-02 5.09413486e-05 9.99942651e-01 -2.78592263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.286559995 meters 0.012682836999290289 Centerline is valid? [True, True] Translation: X:-69.57, Y:-261.29, Z:-2.79 [[-6.82710028e-01 -7.30648856e-01 7.69858048e-03 -6.95725580e+01] [ 7.30603528e-01 -6.82753429e-01 -8.13877066e-03 -2.61289840e+02] [ 1.12028157e-02 6.81897218e-05 9.99937244e-01 -2.78575461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.3165599949999 meters 0.012778615285524429 Centerline is valid? [True, True] Translation: X:-69.59, Y:-261.27, Z:-2.78 [[-6.81824656e-01 -7.31473783e-01 7.82586888e-03 -6.95911686e+01] [ 7.31427055e-01 -6.81869561e-01 -8.26834409e-03 -2.61269499e+02] [ 1.13842987e-02 8.64913707e-05 9.99935193e-01 -2.78475900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.346559995 meters 0.012758392392368695 Centerline is valid? [True, True] Translation: X:-69.61, Y:-261.25, Z:-2.78 [[-6.82012323e-01 -7.31300746e-01 7.64272573e-03 -6.96107188e+01] [ 7.31256220e-01 -6.82055139e-01 -8.07026178e-03 -2.61248847e+02] [ 1.11145488e-02 8.47727414e-05 9.99938228e-01 -2.78484908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.376559995 meters 0.012566938584344848 Centerline is valid? [True, True] Translation: X:-69.63, Y:-261.23, Z:-2.78 [[-6.83274911e-01 -7.30134585e-01 6.23578108e-03 -6.96289985e+01] [ 7.30104928e-01 -6.83303363e-01 -6.58091210e-03 -2.61228219e+02] [ 9.06588170e-03 5.62023713e-05 9.99958903e-01 -2.78407376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.406559995 meters 0.012557434000654321 Centerline is valid? [True, True] Translation: X:-69.65, Y:-261.21, Z:-2.78 [[-6.84240605e-01 -7.29236008e-01 5.44416702e-03 -6.96459135e+01] [ 7.29213405e-01 -6.84262262e-01 -5.74169208e-03 -2.61208583e+02] [ 7.91228665e-03 4.12606977e-05 9.99968697e-01 -2.78328940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.4365599949999 meters 0.012427231718776232 Centerline is valid? [True, True] Translation: X:-69.66, Y:-261.19, Z:-2.78 [[-6.85385666e-01 -7.28160897e-01 5.31011274e-03 -6.96636817e+01] [ 7.28139385e-01 -6.85406235e-01 -5.59717646e-03 -2.61186437e+02] [ 7.71522941e-03 3.02777114e-05 9.99970237e-01 -2.78273733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.4665599949999 meters 0.012460615152349376 Centerline is valid? [True, True] Translation: X:-69.68, Y:-261.17, Z:-2.78 [[-6.86302216e-01 -7.27297636e-01 5.23610290e-03 -6.96799651e+01] [ 7.27276715e-01 -6.86322190e-01 -5.51647779e-03 -2.61165732e+02] [ 7.60577486e-03 2.21247869e-05 9.99971076e-01 -2.78265560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.496559995 meters 0.012595286167172103 Centerline is valid? [True, True] Translation: X:-69.70, Y:-261.15, Z:-2.78 [[-6.87027547e-01 -7.26606822e-01 5.97297078e-03 -6.96961490e+01] [ 7.26579608e-01 -6.87053510e-01 -6.28868409e-03 -2.61145548e+02] [ 8.67315130e-03 1.93395672e-05 9.99962387e-01 -2.78435562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.526559995 meters 0.012478073678434332 Centerline is valid? [True, True] Translation: X:-69.71, Y:-261.13, Z:-2.78 [[-6.87142122e-01 -7.26497552e-01 6.08366542e-03 -6.97143990e+01] [ 7.26469351e-01 -6.87169053e-01 -6.40122858e-03 -2.61125391e+02] [ 8.83098349e-03 2.10426747e-05 9.99961006e-01 -2.78372549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.5565599949999 meters 0.012568755095270428 Centerline is valid? [True, True] Translation: X:-69.73, Y:-261.10, Z:-2.78 [[-6.86488150e-01 -7.27113464e-01 6.32699985e-03 -6.97324319e+01] [ 7.27083022e-01 -6.86517305e-01 -6.65352606e-03 -2.61103711e+02] [ 9.18146326e-03 3.26873738e-05 9.99957849e-01 -2.78408338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.5865599949999 meters 0.012677456817379779 Centerline is valid? [True, True] Translation: X:-69.75, Y:-261.08, Z:-2.78 [[-6.86308962e-01 -7.27281302e-01 6.47432342e-03 -6.97502311e+01] [ 7.27249476e-01 -6.86339498e-01 -6.80394656e-03 -2.61083970e+02] [ 9.39196699e-03 3.88388108e-05 9.99955894e-01 -2.78437796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.616559995 meters 0.012768312711705032 Centerline is valid? [True, True] Translation: X:-69.77, Y:-261.06, Z:-2.78 [[-6.85864861e-01 -7.27696835e-01 6.83430958e-03 -6.97686150e+01] [ 7.27661432e-01 -6.85898909e-01 -7.17823598e-03 -2.61063117e+02] [ 9.91122509e-03 4.97636684e-05 9.99950881e-01 -2.78421827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.646559995 meters 0.013101225057564236 Centerline is valid? [True, True] Translation: X:-69.79, Y:-261.04, Z:-2.79 [[-6.83952886e-01 -7.29482374e-01 7.99467244e-03 -6.97865467e+01] [ 7.29434089e-01 -6.83999603e-01 -8.39356695e-03 -2.61042314e+02] [ 1.15913119e-02 9.07822642e-05 9.99932814e-01 -2.78582486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.6765599949999 meters 0.013412414396645615 Centerline is valid? [True, True] Translation: X:-69.80, Y:-261.02, Z:-2.79 [[-6.82796282e-01 -7.30563859e-01 8.10470033e-03 -6.98048341e+01] [ 7.30514374e-01 -6.82844371e-01 -8.50379449e-03 -2.61022708e+02] [ 1.17468139e-02 1.14240831e-04 9.99930997e-01 -2.78659687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.7065599949999 meters 0.01367178813195876 Centerline is valid? [True, True] Translation: X:-69.82, Y:-261.00, Z:-2.79 [[-6.80878873e-01 -7.32358178e-01 7.44712350e-03 -6.98235528e+01] [ 7.32316552e-01 -6.80919584e-01 -7.80940033e-03 -2.61001258e+02] [ 1.07901704e-02 1.36396117e-04 9.99941775e-01 -2.78555587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.736559995 meters 0.014023256538740413 Centerline is valid? [True, True] Translation: X:-69.84, Y:-260.98, Z:-2.79 [[-6.80105507e-01 -7.33081237e-01 6.95700769e-03 -6.98426181e+01] [ 7.33044989e-01 -6.80141074e-01 -7.29132652e-03 -2.60980717e+02] [ 1.00768813e-02 1.40928308e-04 9.99949217e-01 -2.78560363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.766559995 meters 0.014349239879305841 Centerline is valid? [True, True] Translation: X:-69.86, Y:-260.96, Z:-2.79 [[-6.79157967e-01 -7.33955512e-01 7.33222582e-03 -6.98612097e+01] [ 7.33915346e-01 -6.79197525e-01 -7.68026056e-03 -2.60960064e+02] [ 1.06169992e-02 1.65122901e-04 9.99943625e-01 -2.78593207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.7965599949999 meters 0.015013193977565058 Centerline is valid? [True, True] Translation: X:-69.88, Y:-260.94, Z:-2.79 [[-6.76920554e-01 -7.36009446e-01 8.28607749e-03 -6.98779082e+01] [ 7.35958365e-01 -6.76971228e-01 -8.67414810e-03 -2.60937939e+02] [ 1.19936910e-02 2.26498905e-04 9.99928048e-01 -2.78653209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.8265599949999 meters 0.015944782972405966 Centerline is valid? [True, True] Translation: X:-69.89, Y:-260.92, Z:-2.79 [[-6.75565253e-01 -7.37260378e-01 7.66321734e-03 -6.98943332e+01] [ 7.37216805e-01 -6.75608675e-01 -8.01879346e-03 -2.60916690e+02] [ 1.10892748e-02 2.32234369e-04 9.99938485e-01 -2.78561887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.856559995 meters 0.01599117289857987 Centerline is valid? [True, True] Translation: X:-69.91, Y:-260.90, Z:-2.78 [[-6.75585696e-01 -7.37248414e-01 6.98168840e-03 -6.99115724e+01] [ 7.37212292e-01 -6.75621737e-01 -7.30105993e-03 -2.60895723e+02] [ 1.00996753e-02 2.14494857e-04 9.99948974e-01 -2.78434448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.886559995 meters 0.015986609146438353 Centerline is valid? [True, True] Translation: X:-69.93, Y:-260.88, Z:-2.78 [[-6.75939754e-01 -7.36929348e-01 6.37070922e-03 -6.99289076e+01] [ 7.36899296e-01 -6.75969747e-01 -6.65796156e-03 -2.60875093e+02] [ 9.21285397e-03 1.94190248e-04 9.99957542e-01 -2.78384547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.916559995 meters 0.01567308973781777 Centerline is valid? [True, True] Translation: X:-69.94, Y:-260.85, Z:-2.78 [[-6.77427443e-01 -7.35557810e-01 6.83865937e-03 -6.99444122e+01] [ 7.35523156e-01 -6.77461934e-01 -7.14254726e-03 -2.60852267e+02] [ 9.88668782e-03 1.91434784e-04 9.99951107e-01 -2.78409706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.9465599949999 meters 0.015313830254616584 Centerline is valid? [True, True] Translation: X:-69.96, Y:-260.83, Z:-2.78 [[-6.79078007e-01 -7.34027013e-01 7.57656083e-03 -6.99614940e+01] [ 7.33984432e-01 -6.79120246e-01 -7.90860656e-03 -2.60830138e+02] [ 1.09505267e-02 1.90516913e-04 9.99940023e-01 -2.78468109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.976559995 meters 0.014732470550710917 Centerline is valid? [True, True] Translation: X:-69.98, Y:-260.81, Z:-2.78 [[-6.81196031e-01 -7.32071393e-01 6.59114355e-03 -6.99790523e+01] [ 7.32039113e-01 -6.81227903e-01 -6.87621029e-03 -2.60808537e+02] [ 9.52394774e-03 1.40927723e-04 9.99954636e-01 -2.78335932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.006559995 meters 0.01489342076730417 Centerline is valid? [True, True] Translation: X:-70.00, Y:-260.79, Z:-2.78 [[-6.81878122e-01 -7.31438920e-01 6.27154277e-03 -6.99980948e+01] [ 7.31409706e-01 -6.81906951e-01 -6.53853917e-03 -2.60790419e+02] [ 9.05915064e-03 1.28580437e-04 9.99958957e-01 -2.78364957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.036559995 meters 0.014632878847720224 Centerline is valid? [True, True] Translation: X:-70.02, Y:-260.77, Z:-2.78 [[-6.82101473e-01 -7.31234467e-01 5.80807147e-03 -7.00170179e+01] [ 7.31209436e-01 -6.82126190e-01 -6.05157659e-03 -2.60770525e+02] [ 8.38695905e-03 1.19127359e-04 9.99964822e-01 -2.78266197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.0665599949999 meters 0.01493035446814862 Centerline is valid? [True, True] Translation: X:-70.04, Y:-260.75, Z:-2.78 [[-6.81910953e-01 -7.31417039e-01 5.15429116e-03 -7.00365952e+01] [ 7.31397357e-01 -6.81930423e-01 -5.36689458e-03 -2.60753022e+02] [ 7.44030610e-03 1.10090736e-04 9.99972315e-01 -2.78105270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.096559995 meters 0.01522773954728281 Centerline is valid? [True, True] Translation: X:-70.06, Y:-260.74, Z:-2.78 [[-6.81659473e-01 -7.31656716e-01 4.33738839e-03 -7.00563749e+01] [ 7.31642796e-01 -6.81673266e-01 -4.51416053e-03 -2.60735287e+02] [ 6.25949757e-03 9.62986813e-05 9.99980405e-01 -2.78030494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.126559995 meters 0.015234970356484578 Centerline is valid? [True, True] Translation: X:-70.08, Y:-260.72, Z:-2.78 [[-6.81391771e-01 -7.31911165e-01 3.36179229e-03 -7.00754469e+01] [ 7.31902816e-01 -6.81400059e-01 -3.49666026e-03 -2.60716482e+02] [ 4.84997015e-03 7.79097179e-05 9.99988236e-01 -2.77908333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.156559995 meters 0.015234970356484578 Centerline is valid? [True, True] Translation: X:-70.09, Y:-260.70, Z:-2.78 [[-6.81615840e-01 -7.31702493e-01 3.36286277e-03 -7.00940796e+01] [ 7.31694147e-01 -6.81624131e-01 -3.49563075e-03 -2.60697268e+02] [ 4.84997015e-03 7.79097186e-05 9.99988236e-01 -2.77908345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.1865599949999 meters 0.014691928043325964 Centerline is valid? [True, True] Translation: X:-70.11, Y:-260.68, Z:-2.78 [[-6.82398669e-01 -7.30975195e-01 2.70576811e-03 -7.01134872e+01] [ 7.30969792e-01 -6.82404031e-01 -2.81099698e-03 -2.60676415e+02] [ 3.90119613e-03 5.96141510e-05 9.99992389e-01 -2.77837457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.2165599949999 meters 0.015170816815425587 Centerline is valid? [True, True] Translation: X:-70.13, Y:-260.66, Z:-2.78 [[-6.83242608e-01 -7.30187293e-01 2.46094220e-03 -7.01329519e+01] [ 7.30182824e-01 -6.83247038e-01 -2.55514087e-03 -2.60658011e+02] [ 3.54716286e-03 5.11566159e-05 9.99993708e-01 -2.77892548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.246559995 meters 0.014187201685089725 Centerline is valid? [True, True] Translation: X:-70.15, Y:-260.63, Z:-2.78 [[-6.85493503e-01 -7.28078153e-01 9.27257092e-04 -7.01493821e+01] [ 7.28077518e-01 -6.85494130e-01 -9.62206452e-04 -2.60634743e+02] [ 1.33619079e-03 1.55287703e-05 9.99999107e-01 -2.77666762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.276559995 meters 0.01397351021927761 Centerline is valid? [True, True] Translation: X:-70.17, Y:-260.61, Z:-2.78 [[-6.87034042e-01 -7.26625229e-01 4.52185016e-05 -7.01672988e+01] [ 7.26625227e-01 -6.87034044e-01 -4.68913260e-05 -2.60613759e+02] [ 6.51390712e-05 6.40966740e-07 9.99999998e-01 -2.77533271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.3065599949999 meters 0.013817797671956641 Centerline is valid? [True, True] Translation: X:-70.19, Y:-260.59, Z:-2.77 [[-6.88382575e-01 -7.25346998e-01 -1.07806289e-03 -7.01853418e+01] [ 7.25346138e-01 -6.88383419e-01 1.11736007e-03 -2.60592266e+02] [-1.55259439e-03 -1.27975499e-05 9.99998795e-01 -2.77376131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.3365599949999 meters 0.013795523745277503 Centerline is valid? [True, True] Translation: X:-70.20, Y:-260.57, Z:-2.77 [[-6.89498107e-01 -7.24285791e-01 -1.56643286e-03 -7.02039349e+01] [ 7.24283973e-01 -6.89499886e-01 1.62261445e-03 -2.60571870e+02] [-2.25529187e-03 -1.57526173e-05 9.99997457e-01 -2.77324551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.366559995 meters 0.013761699600142415 Centerline is valid? [True, True] Translation: X:-70.22, Y:-260.55, Z:-2.77 [[-6.90450724e-01 -7.23377743e-01 -1.56151267e-03 -7.02226619e+01] [ 7.23375937e-01 -6.90452490e-01 1.61650237e-03 -2.60552476e+02] [-2.24749214e-03 -1.34454607e-05 9.99997474e-01 -2.77422798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.396559995 meters 0.013869154311925837 Centerline is valid? [True, True] Translation: X:-70.24, Y:-260.53, Z:-2.77 [[-6.90803429e-01 -7.23041286e-01 -1.38620461e-03 -7.02413148e+01] [ 7.23039864e-01 -6.90804820e-01 1.43407749e-03 -2.60533915e+02] [-1.99449406e-03 -1.16155492e-05 9.99998011e-01 -2.77445221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.4265599949999 meters 0.013666391891301977 Centerline is valid? [True, True] Translation: X:-70.26, Y:-260.51, Z:-2.77 [[-6.91272479e-01 -7.22592856e-01 -1.38751604e-03 -7.02601785e+01] [ 7.22591432e-01 -6.91273871e-01 1.43461733e-03 -2.60512772e+02] [-1.99579781e-03 -1.08957263e-05 9.99998008e-01 -2.77487172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.4565599949999 meters 0.013563020440324498 Centerline is valid? [True, True] Translation: X:-70.28, Y:-260.49, Z:-2.78 [[-6.92762809e-01 -7.21164623e-01 -1.13009425e-03 -7.02776566e+01] [ 7.21163678e-01 -6.92763731e-01 1.16776148e-03 -2.60492458e+02] [-1.62503657e-03 -6.00119861e-06 9.99998680e-01 -2.77556298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.486559995 meters 0.01344963741999805 Centerline is valid? [True, True] Translation: X:-70.30, Y:-260.47, Z:-2.78 [[-6.93786918e-01 -7.20179321e-01 -1.20761314e-03 -7.02963282e+01] [ 7.20178241e-01 -6.93787969e-01 1.24708337e-03 -2.60472286e+02] [-1.73595112e-03 -4.48658330e-06 9.99998493e-01 -2.77574696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.516559995 meters 0.01344313845715606 Centerline is valid? [True, True] Translation: X:-70.31, Y:-260.45, Z:-2.78 [[-6.94733665e-01 -7.19264236e-01 -2.02335918e-03 -7.03144347e+01] [ 7.19261205e-01 -6.94736611e-01 2.08812238e-03 -2.60453471e+02] [-2.90761345e-03 -4.63484788e-06 9.99995773e-01 -2.77541849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.5465599949999 meters 0.013390230241934798 Centerline is valid? [True, True] Translation: X:-70.33, Y:-260.43, Z:-2.77 [[-6.95022163e-01 -7.18985082e-01 -2.15508121e-03 -7.03333832e+01] [ 7.18981646e-01 -6.95025505e-01 2.22266399e-03 -2.60433517e+02] [-3.09589866e-03 -4.66310305e-06 9.99995208e-01 -2.77483317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.5765599949999 meters 0.013432992136566553 Centerline is valid? [True, True] Translation: X:-70.35, Y:-260.41, Z:-2.77 [[-6.95397854e-01 -7.18619245e-01 -2.86453999e-03 -7.03524778e+01] [ 7.18613179e-01 -6.95403754e-01 2.95271190e-03 -2.60413165e+02] [-4.11388746e-03 -5.18666523e-06 9.99991538e-01 -2.77418932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.606559995 meters 0.013418282697820349 Centerline is valid? [True, True] Translation: X:-70.37, Y:-260.39, Z:-2.77 [[-6.96657296e-01 -7.17388821e-01 -4.67890636e-03 -7.03706991e+01] [ 7.17372630e-01 -6.96673008e-01 4.81973268e-03 -2.60394764e+02] [-6.71729011e-03 1.18257276e-06 9.99977439e-01 -2.77237607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.636559995 meters 0.013344123995119748 Centerline is valid? [True, True] Translation: X:-70.39, Y:-260.38, Z:-2.77 [[-6.97309061e-01 -7.16754935e-01 -4.73665842e-03 -7.03898763e+01] [ 7.16738348e-01 -6.97325149e-01 4.87618475e-03 -2.60375539e+02] [-6.79802052e-03 5.26308266e-06 9.99976893e-01 -2.77289033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.666559995 meters 0.013336413818915191 Centerline is valid? [True, True] Translation: X:-70.41, Y:-260.36, Z:-2.77 [[-6.98137129e-01 -7.15950152e-01 -4.46423625e-03 -7.04097263e+01] [ 7.15935418e-01 -6.98151402e-01 4.59314844e-03 -2.60355245e+02] [-6.40517812e-03 1.05426150e-05 9.99979487e-01 -2.77412074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.6965599949999 meters 0.013369453597796396 Centerline is valid? [True, True] Translation: X:-70.43, Y:-260.34, Z:-2.78 [[-6.99589665e-01 -7.14537846e-01 -3.15706225e-03 -7.04273643e+01] [ 7.14530473e-01 -6.99596788e-01 3.24607376e-03 -2.60335790e+02] [-4.52811317e-03 1.51024695e-05 9.99989748e-01 -2.77627705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.726559995 meters 0.013400379417546057 Centerline is valid? [True, True] Translation: X:-70.45, Y:-260.32, Z:-2.78 [[-7.00144184e-01 -7.13996447e-01 -2.68235344e-03 -7.04455351e+01] [ 7.13991126e-01 -7.00149322e-01 2.75666479e-03 -2.60317082e+02] [-3.84629681e-03 1.48862691e-05 9.99992603e-01 -2.77730368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.756559995 meters 0.013369188118841786 Centerline is valid? [True, True] Translation: X:-70.47, Y:-260.30, Z:-2.78 [[-7.00510097e-01 -7.13636330e-01 -2.96536797e-03 -7.04662324e+01] [ 7.13629831e-01 -7.00516373e-01 3.04564749e-03 -2.60298953e+02] [-4.25077351e-03 1.73317774e-05 9.99990965e-01 -2.77835638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.786559995 meters 0.013333104722290894 Centerline is valid? [True, True] Translation: X:-70.49, Y:-260.28, Z:-2.78 [[-7.00940848e-01 -7.13211688e-01 -3.31915855e-03 -7.04858466e+01] [ 7.13203551e-01 -7.00948706e-01 3.40689169e-03 -2.60280388e+02] [-4.75639486e-03 2.07938877e-05 9.99988688e-01 -2.77862606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.8165599949999 meters 0.01332034838757844 Centerline is valid? [True, True] Translation: X:-70.51, Y:-260.26, Z:-2.78 [[-7.01399640e-01 -7.12760447e-01 -3.33018845e-03 -7.05054489e+01] [ 7.12752260e-01 -7.01407546e-01 3.41629534e-03 -2.60260802e+02] [-4.77081950e-03 2.25889815e-05 9.99988619e-01 -2.77872527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.846559995 meters 0.01328144154124504 Centerline is valid? [True, True] Translation: X:-70.53, Y:-260.24, Z:-2.78 [[-7.02256349e-01 -7.11921451e-01 -1.96674767e-03 -7.05261561e+01] [ 7.11918595e-01 -7.02259103e-01 2.01646307e-03 -2.60242007e+02] [-2.81672977e-03 1.59097511e-05 9.99996033e-01 -2.78047167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.876559995 meters 0.013383866071412573 Centerline is valid? [True, True] Translation: X:-70.55, Y:-260.22, Z:-2.78 [[-7.02816879e-01 -7.11370022e-01 -1.06112729e-03 -7.05459084e+01] [ 7.11369191e-01 -7.02817680e-01 1.08730417e-03 -2.60223577e+02] [-1.51925461e-03 9.32246159e-06 9.99998846e-01 -2.78237533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.906559995 meters 0.013317569542829737 Centerline is valid? [True, True] Translation: X:-70.57, Y:-260.20, Z:-2.78 [[-7.03279306e-01 -7.10913648e-01 5.97833702e-05 -7.05651978e+01] [ 7.10913645e-01 -7.03279308e-01 -6.12179880e-05 -2.60204950e+02] [ 8.55651111e-05 -5.52530394e-07 9.99999996e-01 -2.78435013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.9365599949999 meters 0.01337907694818463 Centerline is valid? [True, True] Translation: X:-70.58, Y:-260.19, Z:-2.79 [[-7.03727007e-01 -7.10469901e-01 9.05159079e-04 -7.05845322e+01] [ 7.10469298e-01 -7.03727589e-01 -9.26327175e-04 -2.60185694e+02] [ 1.29511299e-03 -8.79371505e-06 9.99999161e-01 -2.78602290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.9665599949999 meters 0.013361247671070558 Centerline is valid? [True, True] Translation: X:-70.61, Y:-260.17, Z:-2.79 [[-7.04335094e-01 -7.09863521e-01 2.42010129e-03 -7.06053374e+01] [ 7.09859207e-01 -7.04339251e-01 -2.47515415e-03 -2.60168259e+02] [ 3.46159397e-03 -2.54067470e-05 9.99994008e-01 -2.78926670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.996559995 meters 0.013558971925834794 Centerline is valid? [True, True] Translation: X:-70.62, Y:-260.15, Z:-2.79 [[-7.04988638e-01 -7.09211596e-01 3.15171738e-03 -7.06247050e+01] [ 7.09204281e-01 -7.04995682e-01 -3.22130385e-03 -2.60151058e+02] [ 4.50653319e-03 -3.57711548e-05 9.99989845e-01 -2.79118460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.026559995 meters 0.013673374520017155 Centerline is valid? [True, True] Translation: X:-70.65, Y:-260.13, Z:-2.80 [[-7.06298411e-01 -7.07895177e-01 5.19365107e-03 -7.06456669e+01] [ 7.07875299e-01 -7.06317502e-01 -5.30536578e-03 -2.60132805e+02] [ 7.42400950e-03 -7.07141117e-05 9.99972439e-01 -2.79507256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.0565599949999 meters 0.013990667435506516 Centerline is valid? [True, True] Translation: X:-70.66, Y:-260.11, Z:-2.80 [[-7.07191569e-01 -7.06994691e-01 6.21223491e-03 -7.06641810e+01] [ 7.06966240e-01 -7.07218848e-01 -6.34328376e-03 -2.60113488e+02] [ 8.87807755e-03 -9.40764352e-05 9.99960585e-01 -2.79670142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.0865599949999 meters 0.014082043219798605 Centerline is valid? [True, True] Translation: X:-70.68, Y:-260.09, Z:-2.80 [[-7.08580997e-01 -7.05590943e-01 7.37504378e-03 -7.06841035e+01] [ 7.05550813e-01 -7.08619365e-01 -7.52639341e-03 -2.60093564e+02] [ 1.05366539e-02 -1.29591215e-04 9.99944480e-01 -2.79757414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.116559995 meters 0.014612325175673131 Centerline is valid? [True, True] Translation: X:-70.70, Y:-260.08, Z:-2.80 [[-7.10267000e-01 -7.03869416e-01 9.41461245e-03 -7.07046505e+01] [ 7.03803944e-01 -7.10329366e-01 -9.60211995e-03 -2.60075836e+02] [ 1.34461143e-02 -1.94027548e-04 9.99909578e-01 -2.80094381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.146559995 meters 0.015003586136643573 Centerline is valid? [True, True] Translation: X:-70.72, Y:-260.06, Z:-2.80 [[-7.10736884e-01 -7.03371140e-01 1.10508630e-02 -7.07246541e+01] [ 7.03280975e-01 -7.10822752e-01 -1.12643367e-02 -2.60057275e+02] [ 1.57782142e-02 -2.34117816e-04 9.99875489e-01 -2.80336756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.1765599949999 meters 0.015270935764277955 Centerline is valid? [True, True] Translation: X:-70.75, Y:-260.04, Z:-2.81 [[-7.10988215e-01 -7.03086652e-01 1.28420355e-02 -7.07450518e+01] [ 7.02964973e-01 -7.11104130e-01 -1.30829425e-02 -2.60038138e+02] [ 1.83304667e-02 -2.74316807e-04 9.99831945e-01 -2.80576625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.2065599949999 meters 0.015379625620293864 Centerline is valid? [True, True] Translation: X:-70.77, Y:-260.02, Z:-2.81 [[-7.10793704e-01 -7.03217712e-01 1.60362220e-02 -7.07678724e+01] [ 7.03028218e-01 -7.10974500e-01 -1.63274377e-02 -2.60021778e+02] [ 2.28830883e-02 -3.31523355e-04 9.99738093e-01 -2.81002948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.236559995 meters 0.01614595784494661 Centerline is valid? [True, True] Translation: X:-70.79, Y:-260.00, Z:-2.81 [[-7.10773295e-01 -7.03218378e-01 1.68889285e-02 -7.07877474e+01] [ 7.03008435e-01 -7.10973837e-01 -1.71855943e-02 -2.60003942e+02] [ 2.40928121e-02 -3.42002304e-04 9.99709668e-01 -2.81353321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.266559995 meters 0.015940500699482565 Centerline is valid? [True, True] Translation: X:-70.81, Y:-259.99, Z:-2.81 [[-7.10825387e-01 -7.03155310e-01 1.73170322e-02 -7.08083172e+01] [ 7.02934832e-01 -7.11036210e-01 -1.76105065e-02 -2.59986113e+02] [ 2.46959581e-02 -3.45250028e-04 9.99694949e-01 -2.81405950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.2965599949999 meters 0.01636687867683713 Centerline is valid? [True, True] Translation: X:-70.83, Y:-259.97, Z:-2.81 [[-7.11070286e-01 -7.02910303e-01 1.72091285e-02 -7.08272655e+01] [ 7.02692768e-01 -7.11278418e-01 -1.74896198e-02 -2.59968205e+02] [ 2.45341157e-02 -3.43618828e-04 9.99698934e-01 -2.81499591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.3265599949999 meters 0.016303354782147398 Centerline is valid? [True, True] Translation: X:-70.85, Y:-259.95, Z:-2.81 [[-7.11525887e-01 -7.02457658e-01 1.68567810e-02 -7.08492756e+01] [ 7.02249059e-01 -7.11725453e-01 -1.71213060e-02 -2.59951961e+02] [ 2.40243926e-02 -3.44593887e-04 9.99711313e-01 -2.81408968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.356559995 meters 0.015419201590893486 Centerline is valid? [True, True] Translation: X:-70.87, Y:-259.93, Z:-2.81 [[-7.12043596e-01 -7.01940295e-01 1.65451097e-02 -7.08707989e+01] [ 7.01739446e-01 -7.12235707e-01 -1.67942642e-02 -2.59934828e+02] [ 2.35725886e-02 -3.47892142e-04 9.99722067e-01 -2.81153430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.386559995 meters 0.015550575390150796 Centerline is valid? [True, True] Translation: X:-70.89, Y:-259.92, Z:-2.81 [[-7.12740005e-01 -7.01241144e-01 1.62032266e-02 -7.08920705e+01] [ 7.01048567e-01 -7.12924072e-01 -1.64369841e-02 -2.59917058e+02] [ 2.30779598e-02 -3.56047348e-04 9.99733605e-01 -2.81001154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.416559995 meters 0.015172428348685317 Centerline is valid? [True, True] Translation: X:-70.91, Y:-259.90, Z:-2.81 [[-7.12855892e-01 -7.01122382e-01 1.62444573e-02 -7.09133088e+01] [ 7.00929009e-01 -7.13040868e-01 -1.64695007e-02 -2.59898839e+02] [ 2.31300975e-02 -3.54169209e-04 9.99732401e-01 -2.80834568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.4465599949999 meters 0.01546929327037848 Centerline is valid? [True, True] Translation: X:-70.93, Y:-259.88, Z:-2.81 [[-7.12676353e-01 -7.01308156e-01 1.61023926e-02 -7.09336979e+01] [ 7.01118418e-01 -7.12858160e-01 -1.63158842e-02 -2.59881020e+02] [ 2.29211847e-02 -3.38260839e-04 9.99737218e-01 -2.80902404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.476559995 meters 0.01484882662533359 Centerline is valid? [True, True] Translation: X:-70.96, Y:-259.87, Z:-2.81 [[-7.11147962e-01 -7.02861067e-01 1.59654860e-02 -7.09582380e+01] [ 7.02675060e-01 -7.11327099e-01 -1.61715445e-02 -2.59865195e+02] [ 2.27230319e-02 -2.81812137e-04 9.99741759e-01 -2.80762205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.506559995 meters 0.015761674656520775 Centerline is valid? [True, True] Translation: X:-70.98, Y:-259.85, Z:-2.81 [[-7.09988960e-01 -7.04031884e-01 1.59619005e-02 -7.09780109e+01] [ 7.03846498e-01 -7.10168325e-01 -1.61572947e-02 -2.59847669e+02] [ 2.27108867e-02 -2.36773136e-04 9.99742047e-01 -2.81060025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.536559995 meters 0.014286820414959841 Centerline is valid? [True, True] Translation: X:-71.00, Y:-259.83, Z:-2.81 [[-7.08779450e-01 -7.05258110e-01 1.55784899e-02 -7.10013023e+01] [ 7.05082014e-01 -7.08950607e-01 -1.57603877e-02 -2.59831584e+02] [ 2.21595211e-02 -1.86525884e-04 9.99754430e-01 -2.80666481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.5665599949999 meters 0.014154360108899507 Centerline is valid? [True, True] Translation: X:-71.02, Y:-259.82, Z:-2.81 [[-7.07908537e-01 -7.06144356e-01 1.50217160e-02 -7.10224487e+01] [ 7.05981037e-01 -7.08067884e-01 -1.51870987e-02 -2.59816012e+02] [ 2.13606787e-02 -1.46030185e-04 9.99771824e-01 -2.80652207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.596559995 meters 0.014011648891813824 Centerline is valid? [True, True] Translation: X:-71.05, Y:-259.80, Z:-2.81 [[-7.06812296e-01 -7.07268346e-01 1.37063859e-02 -7.10465011e+01] [ 7.07132738e-01 -7.06945173e-01 -1.38496717e-02 -2.59800990e+02] [ 1.94850977e-02 -9.68840188e-05 9.99810143e-01 -2.80651503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.626559995 meters 0.013718293656853934 Centerline is valid? [True, True] Translation: X:-71.07, Y:-259.78, Z:-2.80 [[-7.07063720e-01 -7.07026405e-01 1.32120634e-02 -7.10662810e+01] [ 7.06900517e-01 -7.07187142e-01 -1.33418654e-02 -2.59782165e+02] [ 1.87764525e-02 -9.39345154e-05 9.99823703e-01 -2.80464046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.656559995 meters 0.013680303148161812 Centerline is valid? [True, True] Translation: X:-71.09, Y:-259.76, Z:-2.80 [[-7.08914168e-01 -7.05165954e-01 1.34788445e-02 -7.10851781e+01] [ 7.05034736e-01 -7.09042282e-01 -1.36038262e-02 -2.59760739e+02] [ 1.91500258e-02 -1.40891550e-04 9.99816612e-01 -2.80110154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.6865599949999 meters 0.014049394603559518 Centerline is valid? [True, True] Translation: X:-71.10, Y:-259.74, Z:-2.80 [[-7.10533540e-01 -7.03527586e-01 1.38211303e-02 -7.11030005e+01] [ 7.03389448e-01 -7.10667926e-01 -1.39421537e-02 -2.59739725e+02] [ 1.96309237e-02 -1.84730623e-04 9.99807278e-01 -2.80033045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.7165599949999 meters 0.014740086017931753 Centerline is valid? [True, True] Translation: X:-71.12, Y:-259.72, Z:-2.80 [[-7.12308589e-01 -7.01735589e-01 1.35512444e-02 -7.11201784e+01] [ 7.01602625e-01 -7.12437445e-01 -1.36617677e-02 -2.59718760e+02] [ 1.92413625e-02 -2.23805833e-04 9.99814843e-01 -2.80020718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.746559995 meters 0.014573103528317838 Centerline is valid? [True, True] Translation: X:-71.14, Y:-259.70, Z:-2.80 [[-7.14236803e-01 -6.99780519e-01 1.31535003e-02 -7.11397964e+01] [ 6.99655054e-01 -7.14357862e-01 -1.32533090e-02 -2.59698726e+02] [ 1.86707138e-02 -2.63088119e-04 9.99825653e-01 -2.79814744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.776559995 meters 0.015472033834543524 Centerline is valid? [True, True] Translation: X:-71.16, Y:-259.68, Z:-2.80 [[-7.17369514e-01 -6.96571236e-01 1.30190119e-02 -7.11587728e+01] [ 6.96447928e-01 -7.17487561e-01 -1.31104532e-02 -2.59677705e+02] [ 1.84733437e-02 -3.37975610e-04 9.99829296e-01 -2.79728455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.8065599949999 meters 0.01601147577499333 Centerline is valid? [True, True] Translation: X:-71.18, Y:-259.66, Z:-2.80 [[-7.18901780e-01 -6.94996401e-01 1.26583358e-02 -7.11768737e+01] [ 6.94879681e-01 -7.19013122e-01 -1.27420434e-02 -2.59657748e+02] [ 1.79571839e-02 -3.64257287e-04 9.99838691e-01 -2.79714273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.8365599949999 meters 0.01651572400616487 Centerline is valid? [True, True] Translation: X:-71.20, Y:-259.64, Z:-2.80 [[-7.20901230e-01 -6.92924287e-01 1.25439041e-02 -7.11954749e+01] [ 6.92809478e-01 -7.21010240e-01 -1.26198498e-02 -2.59636458e+02] [ 1.77888837e-02 -4.07129604e-04 9.99841682e-01 -2.79641123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.866559995 meters 0.016913810358884965 Centerline is valid? [True, True] Translation: X:-71.21, Y:-259.61, Z:-2.80 [[-7.23017796e-01 -6.90725745e-01 1.19671481e-02 -7.12135811e+01] [ 6.90621064e-01 -7.23116696e-01 -1.20328736e-02 -2.59614736e+02] [ 1.69650601e-02 -4.35217165e-04 9.99855988e-01 -2.79535469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.896559995 meters 0.019130847784828577 Centerline is valid? [True, True] Translation: X:-71.23, Y:-259.59, Z:-2.79 [[-7.27623582e-01 -6.85892921e-01 1.07156150e-02 -7.12269974e+01] [ 6.85808560e-01 -7.27702319e-01 -1.07681993e-02 -2.59591075e+02] [ 1.51836096e-02 -4.86335229e-04 9.99884604e-01 -2.79315120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.9265599949999 meters 0.020205626941115763 Centerline is valid? [True, True] Translation: X:-71.24, Y:-259.57, Z:-2.79 [[-7.29888164e-01 -6.83482486e-01 1.07218563e-02 -7.12448081e+01] [ 6.83397857e-01 -7.29966716e-01 -1.07685599e-02 -2.59569396e+02] [ 1.51867203e-02 -5.32550828e-04 9.99884533e-01 -2.79253850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.9565599949999 meters 0.021713947580393606 Centerline is valid? [True, True] Translation: X:-71.26, Y:-259.55, Z:-2.79 [[-7.32703222e-01 -6.80449466e-01 1.15979613e-02 -7.12620215e+01] [ 6.80350166e-01 -7.32794730e-01 -1.16420071e-02 -2.59547013e+02] [ 1.64207224e-02 -6.39461260e-04 9.99864966e-01 -2.79221887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.986559995 meters 0.020685555002259732 Centerline is valid? [True, True] Translation: X:-71.28, Y:-259.53, Z:-2.79 [[-7.33359511e-01 -6.79745798e-01 1.13788695e-02 -7.12826879e+01] [ 6.79650232e-01 -7.33447505e-01 -1.14157340e-02 -2.59527968e+02] [ 1.61056007e-02 -6.38185841e-04 9.99870093e-01 -2.79067835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.016559995 meters 0.021241673825381793 Centerline is valid? [True, True] Translation: X:-71.30, Y:-259.51, Z:-2.79 [[-7.33448919e-01 -6.79659845e-01 1.07321062e-02 -7.13012997e+01] [ 6.79574927e-01 -7.33527188e-01 -1.07602004e-02 -2.59508777e+02] [ 1.51855678e-02 -5.98787047e-04 9.99884513e-01 -2.78960402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.0465599949999 meters 0.01916333267319474 Centerline is valid? [True, True] Translation: X:-71.33, Y:-259.49, Z:-2.79 [[-7.31783848e-01 -6.81477515e-01 8.98866675e-03 -7.13250894e+01] [ 6.81418146e-01 -7.31838902e-01 -9.00727294e-03 -2.59492900e+02] [ 1.27165100e-02 -4.66336220e-04 9.99919033e-01 -2.78690696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.0765599949999 meters 0.01916333267319474 Centerline is valid? [True, True] Translation: X:-71.34, Y:-259.47, Z:-2.79 [[-7.31975154e-01 -6.81271996e-01 8.99119556e-03 -7.13446281e+01] [ 6.81212643e-01 -7.32030225e-01 -9.00474865e-03 -2.59473409e+02] [ 1.27165100e-02 -4.66336186e-04 9.99919033e-01 -2.78690708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.106559995 meters 0.018957626564242682 Centerline is valid? [True, True] Translation: X:-71.36, Y:-259.46, Z:-2.79 [[-7.30659485e-01 -6.82686849e-01 8.68236867e-03 -7.13645402e+01] [ 6.82631659e-01 -7.30710946e-01 -8.69086309e-03 -2.59455136e+02] [ 1.22774398e-02 -4.23201812e-04 9.99924540e-01 -2.78642540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.136559995 meters 0.018511418738968118 Centerline is valid? [True, True] Translation: X:-71.38, Y:-259.44, Z:-2.79 [[-7.29460092e-01 -6.83977304e-01 7.93868100e-03 -7.13849540e+01] [ 6.83931290e-01 -7.29503198e-01 -7.94200278e-03 -2.59435885e+02] [ 1.12234428e-02 -3.63861743e-04 9.99936949e-01 -2.78584811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.166559995 meters 0.018064447276457753 Centerline is valid? [True, True] Translation: X:-71.40, Y:-259.42, Z:-2.78 [[-7.27073090e-01 -6.86514956e-01 7.87001020e-03 -7.14045090e+01] [ 6.86469926e-01 -7.27115612e-01 -7.86940290e-03 -2.59417551e+02] [ 1.11248701e-02 -3.19105761e-04 9.99938066e-01 -2.78470910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.1965599949999 meters 0.017529715007493556 Centerline is valid? [True, True] Translation: X:-71.86, Y:-259.86, Z:-1.81 [[-7.37504652e-01 6.75285874e-01 8.71072839e-03 -7.18601103e+01] [ 6.75243668e-01 7.37556027e-01 -7.55616353e-03 -2.59863408e+02] [-1.15272207e-02 3.09158428e-04 -9.99933512e-01 -1.80582687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.226559995 meters 0.017372657918401077 Centerline is valid? [True, True] Translation: X:-71.44, Y:-259.39, Z:-2.79 [[-7.27138687e-01 -6.86435543e-01 8.69338541e-03 -7.14445082e+01] [ 6.86381753e-01 -7.27190597e-01 -8.59795773e-03 -2.59388646e+02] [ 1.22236919e-02 -2.84926585e-04 9.99925247e-01 -2.78710499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.256559995 meters 0.015612155261468905 Centerline is valid? [True, True] Translation: X:-71.89, Y:-259.83, Z:-1.80 [[-7.42013819e-01 6.70309815e-01 1.00122434e-02 -7.18885641e+01] [ 6.70254419e-01 7.42081299e-01 -8.62323054e-03 -2.59831528e+02] [-1.32101346e-02 3.12194154e-04 -9.99912694e-01 -1.80387327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.286559995 meters 0.015216506694704313 Centerline is valid? [True, True] Translation: X:-71.48, Y:-259.36, Z:-2.79 [[-7.26694475e-01 -6.86889673e-01 9.88524598e-03 -7.14821041e+01] [ 6.86820717e-01 -7.26761650e-01 -9.73685422e-03 -2.59364903e+02] [ 1.38723623e-02 -2.86326427e-04 9.99903733e-01 -2.78786419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.3165599949999 meters 0.016079210024300943 Centerline is valid? [True, True] Translation: X:-71.50, Y:-259.39, Z:-2.79 [[-6.78505078e-01 -7.34544495e-01 8.67434528e-03 -7.15016757e+01] [ 7.34479318e-01 -6.78560470e-01 -9.78873453e-03 -2.59386150e+02] [ 1.30763289e-02 -2.70578878e-04 9.99914465e-01 -2.78820241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.346559995 meters 0.015220291645685283 Centerline is valid? [True, True] Translation: X:-71.52, Y:-259.37, Z:-2.79 [[-6.78514025e-01 -7.34544263e-01 7.96512291e-03 -7.15213001e+01] [ 7.34489375e-01 -6.78560731e-01 -8.98285659e-03 -2.59365828e+02] [ 1.20031254e-02 -2.44696025e-04 9.99927930e-01 -2.78628604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.376559995 meters 0.015134845239094799 Centerline is valid? [True, True] Translation: X:-71.54, Y:-259.34, Z:-2.78 [[-6.78117604e-01 -7.34920126e-01 6.99450732e-03 -7.15391419e+01] [ 7.34877867e-01 -6.78153645e-01 -7.88381684e-03 -2.59343976e+02] [ 1.05373263e-02 -2.06046362e-04 9.99944460e-01 -2.78481222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.406559995 meters 0.014775608751974725 Centerline is valid? [True, True] Translation: X:-71.56, Y:-259.32, Z:-2.78 [[-6.77604074e-01 -7.35396135e-01 6.72631650e-03 -7.15572123e+01] [ 7.35357122e-01 -6.77637432e-01 -7.57727603e-03 -2.59322741e+02] [ 1.01303033e-02 -1.88148365e-04 9.99948670e-01 -2.78384277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.4365599949999 meters 0.014617735295056318 Centerline is valid? [True, True] Translation: X:-71.58, Y:-259.30, Z:-2.78 [[-6.76955918e-01 -7.35993959e-01 6.60133495e-03 -7.15753849e+01] [ 7.35956451e-01 -6.76988082e-01 -7.43233743e-03 -2.59301897e+02] [ 9.93918053e-03 -1.73069770e-04 9.99950590e-01 -2.78349874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.4665599949999 meters 0.01417106140458002 Centerline is valid? [True, True] Translation: X:-71.59, Y:-259.28, Z:-2.79 [[-6.74458859e-01 -7.38281370e-01 6.77248728e-03 -7.15945874e+01] [ 7.38242048e-01 -6.74492846e-01 -7.62092540e-03 -2.59282821e+02] [ 1.01943815e-02 -1.40265776e-04 9.99948026e-01 -2.78516123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.496559995 meters 0.013732447712970901 Centerline is valid? [True, True] Translation: X:-71.61, Y:-259.26, Z:-2.79 [[-6.72923493e-01 -7.39680324e-01 6.85500792e-03 -7.16141544e+01] [ 7.39640160e-01 -6.72958398e-01 -7.70903971e-03 -2.59264100e+02] [ 1.03153601e-02 -1.17354778e-04 9.99946788e-01 -2.78565046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.526559995 meters 0.013040627974615188 Centerline is valid? [True, True] Translation: X:-71.64, Y:-259.24, Z:-2.79 [[-6.70781852e-01 -7.41624012e-01 6.74773851e-03 -7.16352711e+01] [ 7.41585220e-01 -6.70815785e-01 -7.58574327e-03 -2.59244700e+02] [ 1.01522589e-02 -8.43557674e-05 9.99948461e-01 -2.78562180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.5565599949999 meters 0.01255287375750727 Centerline is valid? [True, True] Translation: X:-71.66, Y:-259.23, Z:-2.79 [[-6.65507594e-01 -7.46361967e-01 6.59219390e-03 -7.16569897e+01] [ 7.46325215e-01 -6.65540242e-01 -7.40672186e-03 -2.59228034e+02] [ 9.91546582e-03 -9.30911178e-06 9.99950841e-01 -2.78673338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.5865599949999 meters 0.012561185411373493 Centerline is valid? [True, True] Translation: X:-71.68, Y:-259.21, Z:-2.79 [[-6.62922469e-01 -7.48660924e-01 6.37348580e-03 -7.16767769e+01] [ 7.48626715e-01 -6.62953105e-01 -7.15695056e-03 -2.59208309e+02] [ 9.58345143e-03 2.68584035e-05 9.99954077e-01 -2.78605018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.616559995 meters 0.012800545218079658 Centerline is valid? [True, True] Translation: X:-71.70, Y:-259.19, Z:-2.79 [[-6.60531163e-01 -7.50771568e-01 6.37451349e-03 -7.16967103e+01] [ 7.50737485e-01 -6.60561919e-01 -7.15407223e-03 -2.59187900e+02] [ 9.58183489e-03 6.00985710e-05 9.99954091e-01 -2.78548050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.646559995 meters 0.01350318523832761 Centerline is valid? [True, True] Translation: X:-71.72, Y:-259.17, Z:-2.79 [[-6.56787116e-01 -7.54046783e-01 6.64329578e-03 -7.17175606e+01] [ 7.54009973e-01 -6.56820703e-01 -7.45155197e-03 -2.59168983e+02] [ 9.98227300e-03 1.15027939e-04 9.99950169e-01 -2.78646648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.6765599949999 meters 0.01370196467559935 Centerline is valid? [True, True] Translation: X:-71.74, Y:-259.15, Z:-2.79 [[-6.55871055e-01 -7.54840940e-01 6.95079384e-03 -7.17368218e+01] [ 7.54800734e-01 -6.55907872e-01 -7.79207635e-03 -2.59148296e+02] [ 1.04408586e-02 1.35866951e-04 9.99945484e-01 -2.78719850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.7065599949999 meters 0.013715320253155229 Centerline is valid? [True, True] Translation: X:-71.75, Y:-259.13, Z:-2.79 [[-6.55070942e-01 -7.55531688e-01 7.34373151e-03 -7.17548144e+01] [ 7.55486899e-01 -6.55112085e-01 -8.22806471e-03 -2.59126414e+02] [ 1.10275309e-02 1.58126848e-04 9.99939183e-01 -2.78723827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.736559995 meters 0.01449600679831655 Centerline is valid? [True, True] Translation: X:-71.77, Y:-259.10, Z:-2.79 [[-6.53551542e-01 -7.56842340e-01 7.74940464e-03 -7.17710624e+01] [ 7.56792620e-01 -6.53597456e-01 -8.67731014e-03 -2.59104836e+02] [ 1.16323469e-02 1.93622819e-04 9.99932323e-01 -2.78723888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.766559995 meters 0.014769069030825957 Centerline is valid? [True, True] Translation: X:-71.79, Y:-259.08, Z:-2.79 [[-6.53033668e-01 -7.57285166e-01 8.13668602e-03 -7.17885971e+01] [ 7.57230448e-01 -6.53084322e-01 -9.10586782e-03 -2.59083119e+02] [ 1.22096807e-02 2.14908139e-04 9.99925436e-01 -2.78696784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.7965599949999 meters 0.014699457423252989 Centerline is valid? [True, True] Translation: X:-71.81, Y:-259.06, Z:-2.79 [[-6.52400165e-01 -7.57829015e-01 8.31919335e-03 -7.18061558e+01] [ 7.57771925e-01 -6.52453163e-01 -9.30480635e-03 -2.59061657e+02] [ 1.24793362e-02 2.33593965e-04 9.99922103e-01 -2.78692454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.8265599949999 meters 0.015216392862542484 Centerline is valid? [True, True] Translation: X:-71.82, Y:-259.04, Z:-2.79 [[-6.51744622e-01 -7.58389282e-01 8.63972333e-03 -7.18243462e+01] [ 7.58327810e-01 -6.51801834e-01 -9.65929768e-03 -2.59041876e+02] [ 1.29568953e-02 2.56347159e-04 9.99916023e-01 -2.78802615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.856559995 meters 0.016354808701442642 Centerline is valid? [True, True] Translation: X:-71.84, Y:-259.02, Z:-2.79 [[-6.50325926e-01 -7.59604658e-01 8.77235831e-03 -7.18429551e+01] [ 7.59541470e-01 -6.50385025e-01 -9.80174024e-03 -2.59022240e+02] [ 1.31508580e-02 2.88644132e-04 9.99913482e-01 -2.78994512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.886559995 meters 0.016170512944822916 Centerline is valid? [True, True] Translation: X:-71.86, Y:-259.00, Z:-2.79 [[-6.50130045e-01 -7.59773392e-01 8.67851310e-03 -7.18592889e+01] [ 7.59711644e-01 -6.50187901e-01 -9.69080250e-03 -2.59000872e+02] [ 1.30054781e-02 2.92885584e-04 9.99915382e-01 -2.78956951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.916559995 meters 0.01611225190431596 Centerline is valid? [True, True] Translation: X:-71.87, Y:-258.98, Z:-2.79 [[-6.50085883e-01 -7.59815282e-01 8.31152182e-03 -7.18747526e+01] [ 7.59758722e-01 -6.50138951e-01 -9.27514628e-03 -2.58978374e+02] [ 1.24510420e-02 2.85109535e-04 9.99922442e-01 -2.78837353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.9465599949999 meters 0.015572446543682726 Centerline is valid? [True, True] Translation: X:-71.89, Y:-258.95, Z:-2.79 [[-6.50675141e-01 -7.59318360e-01 7.58213836e-03 -7.18899832e+01] [ 7.59271313e-01 -6.50719266e-01 -8.45635988e-03 -2.58954151e+02] [ 1.13549128e-02 2.54556993e-04 9.99935499e-01 -2.78625276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.976559995 meters 0.01638541809062313 Centerline is valid? [True, True] Translation: X:-71.91, Y:-258.93, Z:-2.79 [[-6.51810049e-01 -7.58354250e-01 6.51849905e-03 -7.19053900e+01] [ 7.58319469e-01 -6.51842610e-01 -7.26597802e-03 -2.58931706e+02] [ 9.75922075e-03 2.07067250e-04 9.99952356e-01 -2.78504366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.006559995 meters 0.015320157274459751 Centerline is valid? [True, True] Translation: X:-71.92, Y:-258.91, Z:-2.78 [[-6.52267575e-01 -7.57960151e-01 6.58940956e-03 -7.19219861e+01] [ 7.57924630e-01 -6.52300826e-01 -7.34085223e-03 -2.58908403e+02] [ 9.86235076e-03 2.06075917e-04 9.99951345e-01 -2.78452847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.036559995 meters 0.01564045895507596 Centerline is valid? [True, True] Translation: X:-71.94, Y:-258.89, Z:-2.79 [[-6.52610953e-01 -7.57663390e-01 6.71802157e-03 -7.19392092e+01] [ 7.57626504e-01 -6.52645496e-01 -7.47913234e-03 -2.58888717e+02] [ 1.00511513e-02 2.08787517e-04 9.99949464e-01 -2.78568301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.0665599949999 meters 0.015516865337744238 Centerline is valid? [True, True] Translation: X:-71.96, Y:-258.87, Z:-2.79 [[-6.51763353e-01 -7.58390734e-01 6.93013525e-03 -7.19552177e+01] [ 7.58351568e-01 -6.51800155e-01 -7.71086824e-03 -2.58865086e+02] [ 1.03649143e-02 2.29817590e-04 9.99946257e-01 -2.78598972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.096559995 meters 0.015926728023076833 Centerline is valid? [True, True] Translation: X:-71.97, Y:-258.84, Z:-2.79 [[-6.51258451e-01 -7.58824239e-01 6.94294215e-03 -7.19727805e+01] [ 7.58784998e-01 -6.51295415e-01 -7.72073765e-03 -2.58843498e+02] [ 1.03805893e-02 2.40004704e-04 9.99946092e-01 -2.78559465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.126559995 meters 0.017259084764520836 Centerline is valid? [True, True] Translation: X:-71.99, Y:-258.82, Z:-2.79 [[-6.50657447e-01 -7.59341781e-01 6.70415804e-03 -7.19912431e+01] [ 7.59305265e-01 -6.50691940e-01 -7.45074682e-03 -2.58824110e+02] [ 1.00200050e-02 2.42618589e-04 9.99949769e-01 -2.78589994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.156559995 meters 0.017122207224175984 Centerline is valid? [True, True] Translation: X:-72.01, Y:-258.80, Z:-2.79 [[-6.49162283e-01 -7.60617363e-01 7.03973485e-03 -7.20083069e+01] [ 7.60577221e-01 -6.49200393e-01 -7.81928629e-03 -2.58801984e+02] [ 1.05176835e-02 2.78276225e-04 9.99944649e-01 -2.78649925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.1865599949999 meters 0.017753976793870203 Centerline is valid? [True, True] Translation: X:-72.03, Y:-258.78, Z:-2.79 [[-6.48331861e-01 -7.61318918e-01 7.70087317e-03 -7.20268297e+01] [ 7.61270990e-01 -6.48377516e-01 -8.54855143e-03 -2.58781618e+02] [ 1.15012469e-02 3.20153078e-04 9.99933807e-01 -2.78805808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.2165599949999 meters 0.017908784974342354 Centerline is valid? [True, True] Translation: X:-72.04, Y:-258.76, Z:-2.79 [[-6.47592527e-01 -7.61942995e-01 8.17266079e-03 -7.20439873e+01] [ 7.61889126e-01 -6.47643997e-01 -9.06714257e-03 -2.58759567e+02] [ 1.22016205e-02 3.54847625e-04 9.99925495e-01 -2.78815466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.246559995 meters 0.018944491427000054 Centerline is valid? [True, True] Translation: X:-72.06, Y:-258.74, Z:-2.79 [[-6.46493122e-01 -7.62868955e-01 8.80914932e-03 -7.20600792e+01] [ 7.62806507e-01 -6.46553010e-01 -9.76927370e-03 -2.58737673e+02] [ 1.31482576e-02 4.03908169e-04 9.99913476e-01 -2.78802260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.276559995 meters 0.018832136580364783 Centerline is valid? [True, True] Translation: X:-72.08, Y:-258.72, Z:-2.79 [[-6.46597015e-01 -7.62778163e-01 9.04294592e-03 -7.20776693e+01] [ 7.62712432e-01 -6.46660112e-01 -1.00222077e-02 -2.58716454e+02] [ 1.34924336e-02 4.16837726e-04 9.99908886e-01 -2.78869752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.3065599949999 meters 0.018491602574976878 Centerline is valid? [True, True] Translation: X:-72.09, Y:-258.69, Z:-2.79 [[-6.48244544e-01 -7.61378626e-01 9.03321697e-03 -7.20933983e+01] [ 7.61312974e-01 -6.48307362e-01 -1.00060072e-02 -2.58693974e+02] [ 1.34746611e-02 3.90765674e-04 9.99909136e-01 -2.78986228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.3365599949999 meters 0.017352807680007954 Centerline is valid? [True, True] Translation: X:-72.11, Y:-258.67, Z:-2.79 [[-6.49878830e-01 -7.59986229e-01 8.85648949e-03 -7.21087946e+01] [ 7.59923065e-01 -6.49939076e-01 -9.80471485e-03 -2.58669830e+02] [ 1.32076269e-02 3.58374027e-04 9.99912711e-01 -2.78891870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.366559995 meters 0.017640275677551723 Centerline is valid? [True, True] Translation: X:-72.12, Y:-258.65, Z:-2.79 [[-6.52204169e-01 -7.57993779e-01 8.66906416e-03 -7.21248892e+01] [ 7.57933153e-01 -6.52261705e-01 -9.59181779e-03 -2.58647365e+02] [ 1.29250368e-02 3.14747580e-04 9.99916419e-01 -2.78886673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.396559995 meters 0.014522865668068635 Centerline is valid? [True, True] Translation: X:-72.13, Y:-258.62, Z:-2.79 [[-6.58006755e-01 -7.52975165e-01 7.45058583e-03 -7.21348978e+01] [ 7.52930116e-01 -6.58048908e-01 -8.23866055e-03 -2.58619186e+02] [ 1.11063567e-02 1.88676158e-04 9.99938305e-01 -2.78584136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.4265599949999 meters 0.014450570816830991 Centerline is valid? [True, True] Translation: X:-72.15, Y:-258.60, Z:-2.79 [[-6.61207324e-01 -7.50167176e-01 7.35414079e-03 -7.21517899e+01] [ 7.50123159e-01 -6.61248205e-01 -8.12758832e-03 -2.58597670e+02] [ 1.09599624e-02 1.42490404e-04 9.99939928e-01 -2.78740494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.4565599949999 meters 0.013708006401781924 Centerline is valid? [True, True] Translation: X:-72.17, Y:-258.57, Z:-2.79 [[-6.64288909e-01 -7.47436000e-01 7.72475550e-03 -7.21678588e+01] [ 7.47387301e-01 -6.64333813e-01 -8.53266098e-03 -2.58574873e+02] [ 1.15094343e-02 1.05232112e-04 9.99933759e-01 -2.78850057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.486559995 meters 0.013241149707810887 Centerline is valid? [True, True] Translation: X:-72.19, Y:-258.55, Z:-2.79 [[-6.65113766e-01 -7.46706544e-01 7.28115684e-03 -7.21866867e+01] [ 7.46663290e-01 -6.65153613e-01 -8.03762771e-03 -2.58554857e+02] [ 1.08448370e-02 9.06356812e-05 9.99941189e-01 -2.78725035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.516559995 meters 0.012915881519674398 Centerline is valid? [True, True] Translation: X:-72.20, Y:-258.53, Z:-2.79 [[-6.68156392e-01 -7.43982713e-01 7.53381523e-03 -7.22026672e+01] [ 7.43936292e-01 -6.68198862e-01 -8.31108022e-03 -2.58533864e+02] [ 1.12173868e-02 5.15771880e-05 9.99937082e-01 -2.78778291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.5465599949999 meters 0.012837275118183177 Centerline is valid? [True, True] Translation: X:-72.22, Y:-258.51, Z:-2.79 [[-6.70122260e-01 -7.42214559e-01 7.32836543e-03 -7.22201539e+01] [ 7.42170583e-01 -6.70162330e-01 -8.07945356e-03 -2.58512527e+02] [ 1.09078825e-02 2.46755672e-05 9.99940507e-01 -2.78722521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.5765599949999 meters 0.012789623944341553 Centerline is valid? [True, True] Translation: X:-72.24, Y:-258.49, Z:-2.79 [[-6.74798541e-01 -7.37970891e-01 6.77450166e-03 -7.22363900e+01] [ 7.37933142e-01 -6.74832545e-01 -7.46422615e-03 -2.58491110e+02] [ 1.00800358e-02 -3.77196245e-05 9.99949195e-01 -2.78624856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.606559995 meters 0.01321075130249047 Centerline is valid? [True, True] Translation: X:-72.25, Y:-258.47, Z:-2.79 [[-6.77357209e-01 -7.35624544e-01 6.61373835e-03 -7.22516985e+01] [ 7.35588500e-01 -6.77389493e-01 -7.28240306e-03 -2.58469695e+02] [ 9.83719130e-03 -6.77983402e-05 9.99951611e-01 -2.78569783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.636559995 meters 0.013682938941321915 Centerline is valid? [True, True] Translation: X:-72.27, Y:-258.45, Z:-2.78 [[-6.79946004e-01 -7.33232520e-01 6.59571578e-03 -7.22683396e+01] [ 7.33196597e-01 -6.79977986e-01 -7.25865353e-03 -2.58447355e+02] [ 9.80722235e-03 -9.95360910e-05 9.99951903e-01 -2.78476678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.666559995 meters 0.014250870311266928 Centerline is valid? [True, True] Translation: X:-72.29, Y:-258.43, Z:-2.78 [[-6.82237214e-01 -7.31105478e-01 6.09620824e-03 -7.22866010e+01] [ 7.31074738e-01 -6.82264440e-01 -6.70534643e-03 -2.58425725e+02] [ 9.06154161e-03 -1.17853025e-04 9.99958937e-01 -2.78442615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.6965599949999 meters 0.016057633813571278 Centerline is valid? [True, True] Translation: X:-72.30, Y:-258.40, Z:-2.79 [[-6.88112052e-01 -7.25580563e-01 5.88641261e-03 -7.23048758e+01] [ 7.25551730e-01 -6.88137205e-01 -6.47103858e-03 -2.58404390e+02] [ 8.74591934e-03 -1.81902786e-04 9.99961737e-01 -2.78548950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.726559995 meters 0.017848475894367843 Centerline is valid? [True, True] Translation: X:-72.32, Y:-258.38, Z:-2.79 [[-6.90916838e-01 -7.22908325e-01 6.12178988e-03 -7.23219618e+01] [ 7.22877058e-01 -6.90943923e-01 -6.72715727e-03 -2.58383300e+02] [ 9.09293151e-03 -2.22604772e-04 9.99958634e-01 -2.78682517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.756559995 meters 0.017088744671390918 Centerline is valid? [True, True] Translation: X:-72.34, Y:-258.37, Z:-2.79 [[-6.93058003e-01 -7.20854538e-01 6.27216147e-03 -7.23426940e+01] [ 7.20821658e-01 -6.93086337e-01 -6.88959859e-03 -2.58365032e+02] [ 9.31354783e-03 -2.53781612e-04 9.99956596e-01 -2.78633026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.786559995 meters 0.01815409001858162 Centerline is valid? [True, True] Translation: X:-72.36, Y:-258.34, Z:-2.79 [[-6.95544406e-01 -7.18451375e-01 6.75288002e-03 -7.23608022e+01] [ 7.18413192e-01 -6.95577120e-01 -7.41327920e-03 -2.58344261e+02] [ 1.00232295e-02 -3.04906786e-04 9.99949720e-01 -2.78665493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.8165599949999 meters 0.01955820391494976 Centerline is valid? [True, True] Translation: X:-72.38, Y:-258.32, Z:-2.79 [[-7.00046986e-01 -7.14056342e-01 7.59983242e-03 -7.23792060e+01] [ 7.14007776e-01 -7.00088117e-01 -8.33810961e-03 -2.58324079e+02] [ 1.12744324e-02 -4.10729050e-04 9.99936357e-01 -2.78716717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.846559995 meters 0.02018448065790565 Centerline is valid? [True, True] Translation: X:-72.40, Y:-258.30, Z:-2.79 [[-7.02033733e-01 -7.12095801e-01 8.25883023e-03 -7.23980930e+01] [ 7.12038374e-01 -7.02082148e-01 -9.05603322e-03 -2.58303523e+02] [ 1.22471405e-02 -4.77036763e-04 9.99924887e-01 -2.78740018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.876559995 meters 0.02042207862880592 Centerline is valid? [True, True] Translation: X:-72.42, Y:-258.28, Z:-2.79 [[-7.03378320e-01 -7.10765794e-01 8.42168690e-03 -7.24175845e+01] [ 7.10706049e-01 -7.03428554e-01 -9.22942767e-03 -2.58283747e+02] [ 1.24840165e-02 -5.06435511e-04 9.99921943e-01 -2.78757306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.906559995 meters 0.02136595198865243 Centerline is valid? [True, True] Translation: X:-72.44, Y:-258.27, Z:-2.79 [[-7.03752840e-01 -7.10390892e-01 8.75901219e-03 -7.24377912e+01] [ 7.10326310e-01 -7.03807147e-01 -9.59343001e-03 -2.58265010e+02] [ 1.29797407e-02 -5.29646814e-04 9.99915619e-01 -2.78897867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.9365599949999 meters 0.021295907947765702 Centerline is valid? [True, True] Translation: X:-72.46, Y:-258.25, Z:-2.79 [[-7.03680482e-01 -7.10467433e-01 8.35501729e-03 -7.24572826e+01] [ 7.10408746e-01 -7.03729904e-01 -9.14526738e-03 -2.58246452e+02] [ 1.23770901e-02 -4.99868802e-04 9.99923276e-01 -2.78867693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.9665599949999 meters 0.021295907947765702 Centerline is valid? [True, True] Translation: X:-72.48, Y:-258.23, Z:-2.79 [[-7.03900889e-01 -7.10249030e-01 8.35785468e-03 -7.24754286e+01] [ 7.10190359e-01 -7.03950329e-01 -9.14267436e-03 -2.58226741e+02] [ 1.23770901e-02 -4.99868795e-04 9.99923276e-01 -2.78867711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.996559995 meters 0.021768169162785664 Centerline is valid? [True, True] Translation: X:-72.49, Y:-258.21, Z:-2.79 [[-7.03513790e-01 -7.10643151e-01 7.39321908e-03 -7.24946075e+01] [ 7.10597299e-01 -7.03552503e-01 -8.08418112e-03 -2.58207391e+02] [ 1.09464857e-02 -4.33731388e-04 9.99939991e-01 -2.78788361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.026559995 meters 0.020953047960744188 Centerline is valid? [True, True] Translation: X:-72.52, Y:-258.19, Z:-2.78 [[-7.01695168e-01 -7.12458560e-01 5.16630732e-03 -7.25165179e+01] [ 7.12436245e-01 -7.01714131e-01 -5.64590857e-03 -2.58190243e+02] [ 7.64774674e-03 -2.81042177e-04 9.99970716e-01 -2.78499045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.0565599949999 meters 0.02065678826095307 Centerline is valid? [True, True] Translation: X:-72.54, Y:-258.17, Z:-2.78 [[-7.00456540e-01 -7.13680629e-01 4.53815893e-03 -7.25365779e+01] [ 7.13663454e-01 -7.00471202e-01 -4.95676071e-03 -2.58171464e+02] [ 6.71639374e-03 -2.33277284e-04 9.99977418e-01 -2.78455742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.0865599949999 meters 0.01978234110904661 Centerline is valid? [True, True] Translation: X:-72.56, Y:-258.15, Z:-2.78 [[-6.98914763e-01 -7.15189234e-01 4.74476964e-03 -7.25575492e+01] [ 7.15170514e-01 -6.98930832e-01 -5.17962041e-03 -2.58152977e+02] [ 7.02067455e-03 -2.26793831e-04 9.99975329e-01 -2.78452630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.116559995 meters 0.01832704216781572 Centerline is valid? [True, True] Translation: X:-72.58, Y:-258.14, Z:-2.79 [[-6.95010751e-01 -7.18982039e-01 4.98828684e-03 -7.25793684e+01] [ 7.18961469e-01 -6.95028624e-01 -5.44216210e-03 -2.58136471e+02] [ 7.37981895e-03 -1.95975136e-04 9.99972750e-01 -2.78521043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.146559995 meters 0.015539437663879808 Centerline is valid? [True, True] Translation: X:-72.60, Y:-258.12, Z:-2.78 [[-6.92872323e-01 -7.21044255e-01 4.80897464e-03 -7.26035004e+01] [ 7.21025208e-01 -6.92888992e-01 -5.24355155e-03 -2.58120198e+02] [ 7.11291831e-03 -1.65719809e-04 9.99974689e-01 -2.78434030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.1765599949999 meters 0.014959504549369394 Centerline is valid? [True, True] Translation: X:-72.62, Y:-258.10, Z:-2.78 [[-6.90268824e-01 -7.23540278e-01 4.29146500e-03 -7.26239649e+01] [ 7.23525171e-01 -6.90282153e-01 -4.67731052e-03 -2.58102725e+02] [ 6.34654425e-03 -1.23618681e-04 9.99979853e-01 -2.78422668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.2065599949999 meters 0.013231420383955672 Centerline is valid? [True, True] Translation: X:-72.65, Y:-258.09, Z:-2.78 [[-6.84841972e-01 -7.28681977e-01 3.74840398e-03 -7.26482836e+01] [ 7.28670541e-01 -6.84852227e-01 -4.08297016e-03 -2.58087327e+02] [ 5.54228959e-03 -6.48377792e-05 9.99984639e-01 -2.78338549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.236559995 meters 0.012707434060229748 Centerline is valid? [True, True] Translation: X:-72.67, Y:-258.07, Z:-2.78 [[-6.82367784e-01 -7.30995599e-01 4.43192646e-03 -7.26694387e+01] [ 7.30979678e-01 -6.82382174e-01 -4.82479569e-03 -2.58068465e+02] [ 6.55117203e-03 -5.26369639e-05 9.99978540e-01 -2.78433748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.266559995 meters 0.012507294755517819 Centerline is valid? [True, True] Translation: X:-72.69, Y:-258.05, Z:-2.79 [[-6.80154799e-01 -7.33048811e-01 5.37499223e-03 -7.26901726e+01] [ 7.33025484e-01 -6.80176035e-01 -5.84818304e-03 -2.58049416e+02] [ 7.94294453e-03 -3.76634747e-05 9.99968454e-01 -2.78562135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.2965599949999 meters 0.012418648812983216 Centerline is valid? [True, True] Translation: X:-72.71, Y:-258.03, Z:-2.79 [[-6.77781152e-01 -7.35240553e-01 5.83434281e-03 -7.27096085e+01] [ 7.35213185e-01 -6.77806262e-01 -6.34377855e-03 -2.58031708e+02] [ 8.61875735e-03 -1.02077706e-05 9.99962858e-01 -2.78762376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.3265599949999 meters 0.01235452704212743 Centerline is valid? [True, True] Translation: X:-72.73, Y:-258.01, Z:-2.79 [[-6.75377103e-01 -7.37448418e-01 5.96654389e-03 -7.27311303e+01] [ 7.37419914e-01 -6.75403457e-01 -6.48389298e-03 -2.58013406e+02] [ 8.81136099e-03 2.07754215e-05 9.99961179e-01 -2.78738820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.356559995 meters 0.012692584282716388 Centerline is valid? [True, True] Translation: X:-72.75, Y:-258.00, Z:-2.79 [[-6.71624779e-01 -7.40867974e-01 5.89933279e-03 -7.27535643e+01] [ 7.40840271e-01 -6.71650684e-01 -6.40725349e-03 -2.57996441e+02] [ 8.70921981e-03 6.71930966e-05 9.99962072e-01 -2.78825016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.386559995 meters 0.012886331820505425 Centerline is valid? [True, True] Translation: X:-72.77, Y:-257.98, Z:-2.79 [[-6.70714812e-01 -7.41690609e-01 6.05661120e-03 -7.27718626e+01] [ 7.41661481e-01 -6.70742152e-01 -6.57371707e-03 -2.57977879e+02] [ 8.93808865e-03 8.28658241e-05 9.99960051e-01 -2.78832648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.416559995 meters 0.01314601788880925 Centerline is valid? [True, True] Translation: X:-72.79, Y:-257.96, Z:-2.79 [[-6.70358400e-01 -7.42011182e-01 6.24680569e-03 -7.27898885e+01] [ 7.41980248e-01 -6.70387498e-01 -6.77593657e-03 -2.57957588e+02] [ 9.21560113e-03 9.27004398e-05 9.99957531e-01 -2.78833208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.4465599949999 meters 0.012989809347199394 Centerline is valid? [True, True] Translation: X:-72.81, Y:-257.93, Z:-2.79 [[-6.70817502e-01 -7.41592456e-01 6.67142578e-03 -7.28063331e+01] [ 7.41557194e-01 -6.70850669e-01 -7.23243624e-03 -2.57934532e+02] [ 9.83905060e-03 9.55989709e-05 9.99951591e-01 -2.78791877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.476559995 meters 0.012865750463648087 Centerline is valid? [True, True] Translation: X:-72.82, Y:-257.91, Z:-2.79 [[-6.71410431e-01 -7.41055132e-01 6.73236841e-03 -7.28235522e+01] [ 7.41019241e-01 -6.71444178e-01 -7.29389870e-03 -2.57913354e+02] [ 9.92559063e-03 9.16148589e-05 9.99950736e-01 -2.78775020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.506559995 meters 0.012889770674597765 Centerline is valid? [True, True] Translation: X:-72.84, Y:-257.89, Z:-2.79 [[-6.71782286e-01 -7.40721475e-01 6.34477489e-03 -7.28410132e+01] [ 7.40689619e-01 -6.71812243e-01 -6.87011319e-03 -2.57891739e+02] [ 9.35133782e-03 8.42885476e-05 9.99956272e-01 -2.78764126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.536559995 meters 0.012659137399909065 Centerline is valid? [True, True] Translation: X:-72.86, Y:-257.87, Z:-2.79 [[-6.72948687e-01 -7.39663232e-01 6.19426539e-03 -7.28578155e+01] [ 7.39632859e-01 -6.72977191e-01 -6.70335878e-03 -2.57869513e+02] [ 9.12682733e-03 7.04657318e-05 9.99958347e-01 -2.78771635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.5665599949999 meters 0.012639043705051763 Centerline is valid? [True, True] Translation: X:-72.87, Y:-257.85, Z:-2.79 [[-6.74100084e-01 -7.38616082e-01 5.94651770e-03 -7.28744483e+01] [ 7.38588087e-01 -6.74126309e-01 -6.43097166e-03 -2.57849280e+02] [ 8.75872312e-03 5.69085960e-05 9.99961640e-01 -2.78809226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.596559995 meters 0.01247551709163383 Centerline is valid? [True, True] Translation: X:-72.89, Y:-257.83, Z:-2.79 [[-6.75655953e-01 -7.37194242e-01 5.80363913e-03 -7.28919412e+01] [ 7.37167554e-01 -6.75680877e-01 -6.27293057e-03 -2.57827328e+02] [ 8.54577628e-03 3.99115788e-05 9.99963483e-01 -2.78781021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.626559995 meters 0.012405934982446899 Centerline is valid? [True, True] Translation: X:-72.90, Y:-257.80, Z:-2.79 [[-6.79164622e-01 -7.33957122e-01 6.50840663e-03 -7.29044813e+01] [ 7.33923453e-01 -6.79195807e-01 -7.03003512e-03 -2.57803594e+02] [ 9.58022683e-03 2.12111899e-06 9.99954109e-01 -2.78800971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.656559995 meters 0.01252243551903066 Centerline is valid? [True, True] Translation: X:-72.92, Y:-257.78, Z:-2.79 [[-6.81392818e-01 -7.31886753e-01 6.75346114e-03 -7.29185151e+01] [ 7.31850446e-01 -6.81426284e-01 -7.28997265e-03 -2.57781417e+02] [ 9.93742034e-03 -2.48114628e-05 9.99950622e-01 -2.78810421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.6865599949999 meters 0.012827366271521406 Centerline is valid? [True, True] Translation: X:-72.93, Y:-257.76, Z:-2.79 [[-6.83737441e-01 -7.29693517e-01 7.10514764e-03 -7.29334963e+01] [ 7.29653261e-01 -6.83774355e-01 -7.66486982e-03 -2.57758153e+02] [ 1.04513236e-02 -5.64643240e-05 9.99945382e-01 -2.78756580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.7165599949999 meters 0.01363863127418845 Centerline is valid? [True, True] Translation: X:-72.95, Y:-257.73, Z:-2.79 [[-6.89009602e-01 -7.24719394e-01 6.89698345e-03 -7.29466957e+01] [ 7.24681254e-01 -6.89044109e-01 -7.43616266e-03 -2.57732377e+02] [ 1.01414571e-02 -1.25472858e-04 9.99948566e-01 -2.78745261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.746559995 meters 0.014803697162433476 Centerline is valid? [True, True] Translation: X:-72.96, Y:-257.71, Z:-2.79 [[-6.91700406e-01 -7.22148196e-01 7.24787513e-03 -7.29618636e+01] [ 7.22105968e-01 -6.91738357e-01 -7.81132509e-03 -2.57709504e+02] [ 1.06545676e-02 -1.69362852e-04 9.99943224e-01 -2.78838660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.776559995 meters 0.01578593996192896 Centerline is valid? [True, True] Translation: X:-72.98, Y:-257.69, Z:-2.79 [[-6.94225949e-01 -7.19719620e-01 7.34844501e-03 -7.29776776e+01] [ 7.19676124e-01 -6.94264809e-01 -7.91521995e-03 -2.57686979e+02] [ 1.07985059e-02 -2.06450652e-04 9.99941673e-01 -2.78889306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.8065599949999 meters 0.0157662584374788 Centerline is valid? [True, True] Translation: X:-73.00, Y:-257.67, Z:-2.79 [[-6.95534471e-01 -7.18459462e-01 6.91388928e-03 -7.29959645e+01] [ 7.18420937e-01 -6.95568802e-01 -7.44308811e-03 -2.57665963e+02] [ 1.01566428e-02 -2.09841536e-04 9.99948398e-01 -2.78682117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.8365599949999 meters 0.015766933827017306 Centerline is valid? [True, True] Translation: X:-73.01, Y:-257.65, Z:-2.79 [[-6.95362429e-01 -7.18629929e-01 6.48980758e-03 -7.30136685e+01] [ 7.18596036e-01 -6.95392686e-01 -6.98206214e-03 -2.57646591e+02] [ 9.53048355e-03 -1.91513687e-04 9.99954566e-01 -2.78592297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.866559995 meters 0.015235489936745271 Centerline is valid? [True, True] Translation: X:-73.03, Y:-257.63, Z:-2.78 [[-6.94884145e-01 -7.19092076e-01 6.52775079e-03 -7.30322939e+01] [ 7.19057846e-01 -6.94914781e-01 -7.01856826e-03 -2.57627276e+02] [ 9.58322733e-03 -1.83261382e-04 9.99954063e-01 -2.78480359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.896559995 meters 0.015275215326491105 Centerline is valid? [True, True] Translation: X:-73.05, Y:-257.61, Z:-2.78 [[-6.94553475e-01 -7.19412898e-01 6.36816611e-03 -7.30496617e+01] [ 7.19380376e-01 -6.94582647e-01 -6.84257679e-03 -2.57607968e+02] [ 9.34585567e-03 -1.71401754e-04 9.99956312e-01 -2.78434075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.9265599949999 meters 0.014212051003187159 Centerline is valid? [True, True] Translation: X:-73.07, Y:-257.59, Z:-2.78 [[-6.93075501e-01 -7.20837191e-01 6.33189054e-03 -7.30714151e+01] [ 7.20805134e-01 -6.93104409e-01 -6.79980261e-03 -2.57589893e+02] [ 9.29021187e-03 -1.48717392e-04 9.99956834e-01 -2.78373946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.9565599949999 meters 0.013949458930548093 Centerline is valid? [True, True] Translation: X:-73.09, Y:-257.57, Z:-2.78 [[-6.92456657e-01 -7.21429922e-01 6.53034315e-03 -7.30917381e+01] [ 7.21395888e-01 -6.92487435e-01 -7.00899587e-03 -2.57570250e+02] [ 9.57867992e-03 -1.42463157e-04 9.99954113e-01 -2.78423432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.986559995 meters 0.014114656142733138 Centerline is valid? [True, True] Translation: X:-73.11, Y:-257.55, Z:-2.79 [[-6.91760717e-01 -7.22096131e-01 6.65485612e-03 -7.31097267e+01] [ 7.22060864e-01 -6.91792714e-01 -7.13792450e-03 -2.57551657e+02] [ 9.75804864e-03 -1.32524618e-04 9.99952380e-01 -2.78509768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.016559995 meters 0.013796412620236844 Centerline is valid? [True, True] Translation: X:-73.13, Y:-257.53, Z:-2.79 [[-6.90049118e-01 -7.23730958e-01 6.76127980e-03 -7.31299458e+01] [ 7.23694666e-01 -6.90082233e-01 -7.24865199e-03 -2.57534390e+02] [ 9.91191291e-03 -1.08823788e-04 9.99950870e-01 -2.78589817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.0465599949999 meters 0.013122623202621371 Centerline is valid? [True, True] Translation: X:-73.15, Y:-257.52, Z:-2.79 [[-6.88832495e-01 -7.24887689e-01 6.90157342e-03 -7.31508392e+01] [ 7.24849980e-01 -6.88867062e-01 -7.39441582e-03 -2.57516970e+02] [ 1.01143876e-02 -9.09085487e-05 9.99948844e-01 -2.78514845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.0765599949999 meters 0.012670561377159816 Centerline is valid? [True, True] Translation: X:-73.17, Y:-257.50, Z:-2.79 [[-6.85338741e-01 -7.28192173e-01 6.85341881e-03 -7.31740116e+01] [ 7.28155194e-01 -6.85373006e-01 -7.33864844e-03 -2.57500150e+02] [ 1.00410946e-02 -3.91075756e-05 9.99949586e-01 -2.78510826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.106559995 meters 0.012671402039123932 Centerline is valid? [True, True] Translation: X:-73.20, Y:-257.48, Z:-2.79 [[-6.80949002e-01 -7.32294941e-01 7.25094439e-03 -7.31967664e+01] [ 7.32253828e-01 -6.80987606e-01 -7.75965995e-03 -2.57483819e+02] [ 1.06201630e-02 2.55990843e-05 9.99943604e-01 -2.78578067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.136559995 meters 0.013496966381872214 Centerline is valid? [True, True] Translation: X:-73.22, Y:-257.47, Z:-2.79 [[-6.74643738e-01 -7.38104658e-01 7.57237059e-03 -7.32188782e+01] [ 7.38060219e-01 -6.74686222e-01 -8.10031867e-03 -2.57467108e+02] [ 1.10878570e-02 1.24036229e-04 9.99938520e-01 -2.78604771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.166559995 meters 0.013496966381872214 Centerline is valid? [True, True] Translation: X:-73.24, Y:-257.45, Z:-2.79 [[-6.74875291e-01 -7.37892921e-01 7.57491243e-03 -7.32372309e+01] [ 7.37848495e-01 -6.74917789e-01 -8.09794174e-03 -2.57447628e+02] [ 1.10878570e-02 1.24036948e-04 9.99938520e-01 -2.78604789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.1965599949999 meters 0.013808389636010776 Centerline is valid? [True, True] Translation: X:-73.26, Y:-257.43, Z:-2.79 [[-6.73434917e-01 -7.39207826e-01 7.56328535e-03 -7.32575136e+01] [ 7.39163669e-01 -6.73477370e-01 -8.08097877e-03 -2.57428371e+02] [ 1.10672243e-02 1.48492485e-04 9.99938745e-01 -2.78611271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.226559995 meters 0.013808389636010776 Centerline is valid? [True, True] Translation: X:-73.28, Y:-257.41, Z:-2.79 [[-6.73667996e-01 -7.38995392e-01 7.56583367e-03 -7.32758788e+01] [ 7.38951249e-01 -6.73710464e-01 -8.07859294e-03 -2.57408902e+02] [ 1.10672243e-02 1.48492719e-04 9.99938745e-01 -2.78611289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.256559995 meters 0.014308032511096514 Centerline is valid? [True, True] Translation: X:-73.30, Y:-257.39, Z:-2.79 [[-6.72635076e-01 -7.39932787e-01 7.84382069e-03 -7.32963469e+01] [ 7.39885460e-01 -6.72680787e-01 -8.37045907e-03 -2.57390567e+02] [ 1.14699646e-02 1.73264513e-04 9.99934203e-01 -2.78744592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.286559995 meters 0.015424540317273042 Centerline is valid? [True, True] Translation: X:-73.32, Y:-257.37, Z:-2.79 [[-6.71526603e-01 -7.40934461e-01 8.25508043e-03 -7.33165368e+01] [ 7.40882179e-01 -6.71577310e-01 -8.80421510e-03 -2.57372864e+02] [ 1.20672711e-02 2.03777318e-04 9.99927167e-01 -2.78935435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.3165599949999 meters 0.016204273083593193 Centerline is valid? [True, True] Translation: X:-73.34, Y:-257.35, Z:-2.79 [[-6.70220863e-01 -7.42116125e-01 8.22505376e-03 -7.33355642e+01] [ 7.42064366e-01 -6.70271292e-01 -8.76758831e-03 -2.57352245e+02] [ 1.20195861e-02 2.27298702e-04 9.99927736e-01 -2.78940433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.346559995 meters 0.01508306995219577 Centerline is valid? [True, True] Translation: X:-73.35, Y:-257.33, Z:-2.79 [[-6.70218782e-01 -7.42124360e-01 7.63011726e-03 -7.33523932e+01] [ 7.42079876e-01 -6.70262179e-01 -8.12829833e-03 -2.57330038e+02] [ 1.11463872e-02 2.14418269e-04 9.99937854e-01 -2.78734242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.376559995 meters 0.014859920274516889 Centerline is valid? [True, True] Translation: X:-73.37, Y:-257.31, Z:-2.79 [[-6.71048238e-01 -7.41380892e-01 6.97386776e-03 -7.33693795e+01] [ 7.41343739e-01 -6.71084449e-01 -7.42455224e-03 -2.57308576e+02] [ 1.01844754e-02 1.87800500e-04 9.99948119e-01 -2.78633135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.406559995 meters 0.01604188046680009 Centerline is valid? [True, True] Translation: X:-73.39, Y:-257.29, Z:-2.79 [[-6.71852824e-01 -7.40651337e-01 7.02701899e-03 -7.33880558e+01] [ 7.40613625e-01 -6.71889547e-01 -7.47623844e-03 -2.57289650e+02] [ 1.02586666e-02 1.81374096e-04 9.99947362e-01 -2.78778424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.4365599949999 meters 0.014471132954596492 Centerline is valid? [True, True] Translation: X:-73.40, Y:-257.27, Z:-2.79 [[-6.72838867e-01 -7.39754962e-01 7.10311930e-03 -7.34032873e+01] [ 7.39716428e-01 -6.72876338e-01 -7.55249140e-03 -2.57266483e+02] [ 1.03665139e-02 1.72684274e-04 9.99946251e-01 -2.78606972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.4665599949999 meters 0.013910352615370833 Centerline is valid? [True, True] Translation: X:-73.42, Y:-257.24, Z:-2.79 [[-6.73861670e-01 -7.38821892e-01 7.25690826e-03 -7.34202337e+01] [ 7.38781663e-01 -6.73900724e-01 -7.71162245e-03 -2.57244405e+02] [ 1.05879512e-02 1.64703974e-04 9.99943933e-01 -2.78629053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.496559995 meters 0.013733654343844387 Centerline is valid? [True, True] Translation: X:-73.44, Y:-257.22, Z:-2.79 [[-6.75359000e-01 -7.37446085e-01 7.96818761e-03 -7.34357192e+01] [ 7.37397546e-01 -6.75405986e-01 -8.46246201e-03 -2.57221600e+02] [ 1.16223711e-02 1.60522111e-04 9.99932445e-01 -2.78720808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.526559995 meters 0.013644615334419952 Centerline is valid? [True, True] Translation: X:-73.45, Y:-257.20, Z:-2.79 [[-6.76315858e-01 -7.36567741e-01 8.05128919e-03 -7.34523848e+01] [ 7.36518188e-01 -6.76363763e-01 -8.54506668e-03 -2.57200661e+02] [ 1.17396207e-02 1.50756823e-04 9.99931077e-01 -2.78744581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.5565599949999 meters 0.014462845256019178 Centerline is valid? [True, True] Translation: X:-73.47, Y:-257.18, Z:-2.79 [[-6.75025206e-01 -7.37760573e-01 7.09289931e-03 -7.34720376e+01] [ 7.37722232e-01 -6.75062452e-01 -7.52296338e-03 -2.57183092e+02] [ 1.03382958e-02 1.54399607e-04 9.99946547e-01 -2.78729599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.5865599949999 meters 0.01466656406103172 Centerline is valid? [True, True] Translation: X:-73.49, Y:-257.16, Z:-2.79 [[-6.74252439e-01 -7.38467915e-01 6.98475492e-03 -7.34921525e+01] [ 7.38430814e-01 -6.74288596e-01 -7.40423543e-03 -2.57162936e+02] [ 1.01775309e-02 1.65434468e-04 9.99948194e-01 -2.78719671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.616559995 meters 0.014739441086756377 Centerline is valid? [True, True] Translation: X:-73.51, Y:-257.14, Z:-2.79 [[-6.73671456e-01 -7.38997223e-01 7.06215663e-03 -7.35119397e+01] [ 7.38959366e-01 -6.73708448e-01 -7.48216001e-03 -2.57143049e+02] [ 1.02871301e-02 1.78129154e-04 9.99947070e-01 -2.78737744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.646559995 meters 0.014445563913755741 Centerline is valid? [True, True] Translation: X:-73.53, Y:-257.12, Z:-2.79 [[-6.73645391e-01 -7.39020383e-01 7.12472900e-03 -7.35314162e+01] [ 7.38981897e-01 -6.73683042e-01 -7.54420104e-03 -2.57122640e+02] [ 1.03751274e-02 1.82929501e-04 9.99946160e-01 -2.78732784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.6765599949999 meters 0.0144652491553627 Centerline is valid? [True, True] Translation: X:-73.55, Y:-257.10, Z:-2.79 [[-6.73874021e-01 -7.38808513e-01 7.46886766e-03 -7.35500445e+01] [ 7.38766262e-01 -6.73915383e-01 -7.90359259e-03 -2.57103051e+02] [ 1.08726263e-02 1.91721717e-04 9.99940873e-01 -2.78772180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.7065599949999 meters 0.014365523815983 Centerline is valid? [True, True] Translation: X:-73.57, Y:-257.08, Z:-2.79 [[-6.74753895e-01 -7.38003702e-01 7.59719264e-03 -7.35669656e+01] [ 7.37959991e-01 -6.74796637e-01 -8.03431775e-03 -2.57081178e+02] [ 1.10559163e-02 1.85237019e-04 9.99938864e-01 -2.78748572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.736559995 meters 0.014654257349576013 Centerline is valid? [True, True] Translation: X:-73.59, Y:-257.06, Z:-2.79 [[-6.74718513e-01 -7.38042666e-01 6.92467454e-03 -7.35856599e+01] [ 7.38006390e-01 -6.74754024e-01 -7.31953759e-03 -2.57063089e+02] [ 1.00745831e-02 1.71826541e-04 9.99949235e-01 -2.78689610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.766559995 meters 0.014616682082010564 Centerline is valid? [True, True] Translation: X:-73.61, Y:-257.04, Z:-2.79 [[-6.75096108e-01 -7.37701226e-01 6.49203548e-03 -7.36051420e+01] [ 7.37669365e-01 -6.75127304e-01 -6.85797258e-03 -2.57044396e+02] [ 9.44208519e-03 1.59185093e-04 9.99955410e-01 -2.78706437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.7965599949999 meters 0.014295615831973155 Centerline is valid? [True, True] Translation: X:-73.63, Y:-257.03, Z:-2.79 [[-6.76279459e-01 -7.36616200e-01 6.53199818e-03 -7.36251011e+01] [ 7.36583936e-01 -6.76310988e-01 -6.89591964e-03 -2.57025758e+02] [ 9.49730826e-03 1.47796124e-04 9.99954889e-01 -2.78898390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.8265599949999 meters 0.01465734274826329 Centerline is valid? [True, True] Translation: X:-73.64, Y:-257.01, Z:-2.79 [[-6.77043483e-01 -7.35906066e-01 7.37459772e-03 -7.36442401e+01] [ 7.35864938e-01 -6.77083626e-01 -7.78174149e-03 -2.57007102e+02] [ 1.07198501e-02 1.58130534e-04 9.99942528e-01 -2.79083118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.856559995 meters 0.0140149543388938 Centerline is valid? [True, True] Translation: X:-73.66, Y:-256.99, Z:-2.79 [[-6.77771668e-01 -7.35228815e-01 8.00968926e-03 -7.36614312e+01] [ 7.35180312e-01 -6.77818975e-01 -8.44667023e-03 -2.56986358e+02] [ 1.16393547e-02 1.63652075e-04 9.99932247e-01 -2.79088004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.886559995 meters 0.0140149543388938 Centerline is valid? [True, True] Translation: X:-73.68, Y:-256.97, Z:-2.79 [[-6.77998748e-01 -7.35019388e-01 8.01229823e-03 -7.36799291e+01] [ 7.34970899e-01 -6.78046070e-01 -8.44419547e-03 -2.56967012e+02] [ 1.16393547e-02 1.63652076e-04 9.99932247e-01 -2.79088022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.916559995 meters 0.013435776042129602 Centerline is valid? [True, True] Translation: X:-73.70, Y:-256.95, Z:-2.79 [[-6.79645297e-01 -7.33493698e-01 8.32259110e-03 -7.36972607e+01] [ 7.33441326e-01 -6.79696237e-01 -8.76627659e-03 -2.56945350e+02] [ 1.20868425e-02 1.46173596e-04 9.99926941e-01 -2.79023331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.9465599949999 meters 0.013258588682128725 Centerline is valid? [True, True] Translation: X:-73.72, Y:-256.92, Z:-2.79 [[-6.80794062e-01 -7.32431303e-01 7.98951157e-03 -7.37159056e+01] [ 7.32383021e-01 -6.80840930e-01 -8.41070986e-03 -2.56924685e+02] [ 1.15998537e-02 1.25421286e-04 9.99932712e-01 -2.78995893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.976559995 meters 0.012957885187100199 Centerline is valid? [True, True] Translation: X:-73.73, Y:-256.90, Z:-2.79 [[-6.82538203e-01 -7.30810700e-01 7.57112440e-03 -7.37345053e+01] [ 7.30767292e-01 -6.82580187e-01 -7.96577698e-03 -2.56903394e+02] [ 1.09893746e-02 9.57829675e-05 9.99939611e-01 -2.78973684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.006559995 meters 0.012833468215040071 Centerline is valid? [True, True] Translation: X:-73.75, Y:-256.88, Z:-2.79 [[-6.84027697e-01 -7.29422366e-01 7.00871425e-03 -7.37519944e+01] [ 7.29385144e-01 -6.84063599e-01 -7.36915658e-03 -2.56883535e+02] [ 1.01696339e-02 7.13448503e-05 9.99948285e-01 -2.78958012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.036559995 meters 0.012527014261028143 Centerline is valid? [True, True] Translation: X:-73.77, Y:-256.86, Z:-2.79 [[-6.86153731e-01 -7.27431018e-01 6.09689211e-03 -7.37699883e+01] [ 7.27402804e-01 -6.86180817e-01 -6.40683465e-03 -2.56862387e+02] [ 8.84410065e-03 3.88229201e-05 9.99960890e-01 -2.78785663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.0665599949999 meters 0.012503668267731199 Centerline is valid? [True, True] Translation: X:-73.79, Y:-256.84, Z:-2.79 [[-6.87143619e-01 -7.26501278e-01 5.43512040e-03 -7.37875737e+01] [ 7.26478857e-01 -6.87165113e-01 -5.70763247e-03 -2.56843043e+02] [ 7.88142740e-03 2.65368301e-05 9.99968941e-01 -2.78737334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.096559995 meters 0.012466871714459949 Centerline is valid? [True, True] Translation: X:-73.81, Y:-256.82, Z:-2.79 [[-6.88060505e-01 -7.25635406e-01 5.09889845e-03 -7.38061434e+01] [ 7.25615672e-01 -6.88079397e-01 -5.35155167e-03 -2.56822061e+02] [ 7.39172234e-03 1.76492850e-05 9.99972681e-01 -2.78680212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.126559995 meters 0.012487107526421272 Centerline is valid? [True, True] Translation: X:-73.82, Y:-256.80, Z:-2.79 [[-6.89058810e-01 -7.24689191e-01 4.85101136e-03 -7.38237443e+01] [ 7.24671329e-01 -6.89075886e-01 -5.08801900e-03 -2.56802124e+02] [ 7.02994732e-03 9.44453291e-06 9.99975290e-01 -2.78671450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.156559995 meters 0.01245047630628695 Centerline is valid? [True, True] Translation: X:-73.84, Y:-256.78, Z:-2.79 [[-6.91279713e-01 -7.22576274e-01 3.98580972e-03 -7.38415853e+01] [ 7.22564196e-01 -6.91291203e-01 -4.17794754e-03 -2.56780836e+02] [ 5.77424096e-03 -8.12698154e-06 9.99983329e-01 -2.78611970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.1865599949999 meters 0.01255308442140076 Centerline is valid? [True, True] Translation: X:-73.86, Y:-256.76, Z:-2.79 [[-6.92526866e-01 -7.21381092e-01 3.98246488e-03 -7.38591724e+01] [ 7.21369029e-01 -6.92538317e-01 -4.17172458e-03 -2.56761543e+02] [ 5.76741275e-03 -1.62045244e-05 9.99983368e-01 -2.78707520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.2165599949999 meters 0.01270928650064807 Centerline is valid? [True, True] Translation: X:-73.88, Y:-256.74, Z:-2.79 [[-6.93684962e-01 -7.20265640e-01 4.31066701e-03 -7.38771097e+01] [ 7.20251503e-01 -6.93698355e-01 -4.51282997e-03 -2.56741517e+02] [ 6.24073898e-03 -2.57178924e-05 9.99980526e-01 -2.78833729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.246559995 meters 0.012853108116842628 Centerline is valid? [True, True] Translation: X:-73.89, Y:-256.72, Z:-2.79 [[-6.96063922e-01 -7.17964148e-01 4.74338712e-03 -7.38938061e+01] [ 7.17946995e-01 -6.96080082e-01 -4.96308484e-03 -2.56718932e+02] [ 6.86509427e-03 -4.91237699e-05 9.99976434e-01 -2.78755339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.276559995 meters 0.01300353561703871 Centerline is valid? [True, True] Translation: X:-73.91, Y:-256.70, Z:-2.79 [[-6.97375249e-01 -7.16694293e-01 4.12946616e-03 -7.39118038e+01] [ 7.16681287e-01 -6.97387473e-01 -4.31802875e-03 -2.56698203e+02] [ 5.97454453e-03 -5.17752556e-05 9.99982151e-01 -2.78615270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.3065599949999 meters 0.01311506326948744 Centerline is valid? [True, True] Translation: X:-73.93, Y:-256.68, Z:-2.79 [[-6.98429316e-01 -7.15668326e-01 3.91624796e-03 -7.39304450e+01] [ 7.15656627e-01 -6.98440294e-01 -4.09251290e-03 -2.56678502e+02] [ 5.66414723e-03 -5.56421874e-05 9.99983957e-01 -2.78553334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.3365599949999 meters 0.013759176511498435 Centerline is valid? [True, True] Translation: X:-73.95, Y:-256.66, Z:-2.79 [[-7.00461387e-01 -7.13681521e-01 3.54008873e-03 -7.39487612e+01] [ 7.13671946e-01 -7.00470330e-01 -3.69725399e-03 -2.56658528e+02] [ 5.11838897e-03 -6.33216420e-05 9.99986899e-01 -2.78576562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.366559995 meters 0.01393321857645925 Centerline is valid? [True, True] Translation: X:-73.97, Y:-256.64, Z:-2.79 [[-7.01625831e-01 -7.12538112e-01 3.26073661e-03 -7.39674084e+01] [ 7.12529987e-01 -7.01633405e-01 -3.40340613e-03 -2.56638597e+02] [ 4.71289831e-03 -6.45450373e-05 9.99988892e-01 -2.78509820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.396559995 meters 0.014336820887834558 Centerline is valid? [True, True] Translation: X:-73.99, Y:-256.62, Z:-2.78 [[-7.02621103e-01 -7.11556626e-01 3.27923434e-03 -7.39852503e+01] [ 7.11548407e-01 -7.02628752e-01 -3.42074447e-03 -2.56618257e+02] [ 4.73813773e-03 -7.01532790e-05 9.99988773e-01 -2.78485143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.4265599949999 meters 0.014282525095345486 Centerline is valid? [True, True] Translation: X:-74.01, Y:-256.60, Z:-2.78 [[-7.03897175e-01 -7.10295443e-01 3.02489444e-03 -7.40055689e+01] [ 7.10288446e-01 -7.03903671e-01 -3.15368674e-03 -2.56598202e+02] [ 4.36928362e-03 -7.13236133e-05 9.99990452e-01 -2.78440475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.4565599949999 meters 0.014770278477052541 Centerline is valid? [True, True] Translation: X:-74.02, Y:-256.58, Z:-2.78 [[-7.06381674e-01 -7.07824307e-01 3.11158183e-03 -7.40247260e+01] [ 7.07816887e-01 -7.06388521e-01 -3.24224623e-03 -2.56578031e+02] [ 4.49292638e-03 -8.78331529e-05 9.99989903e-01 -2.78494886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.486559995 meters 0.015440582599821395 Centerline is valid? [True, True] Translation: X:-74.04, Y:-256.56, Z:-2.79 [[-7.07934694e-01 -7.06270634e-01 3.20328682e-03 -7.40422818e+01] [ 7.06262760e-01 -7.07941934e-01 -3.33644154e-03 -2.56557609e+02] [ 4.62417175e-03 -9.96205337e-05 9.99989304e-01 -2.78530521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.516559995 meters 0.016050157640012788 Centerline is valid? [True, True] Translation: X:-74.06, Y:-256.54, Z:-2.79 [[-7.09421193e-01 -7.04775101e-01 3.69154037e-03 -7.40605486e+01] [ 7.04764635e-01 -7.09430787e-01 -3.84286886e-03 -2.56536313e+02] [ 5.32725068e-03 -1.24545509e-04 9.99985802e-01 -2.78528372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.5465599949999 meters 0.01662545647846946 Centerline is valid? [True, True] Translation: X:-74.08, Y:-256.52, Z:-2.79 [[-7.10964688e-01 -7.03215119e-01 4.20824405e-03 -7.40787130e+01] [ 7.03201506e-01 -7.10977126e-01 -4.37819327e-03 -2.56515597e+02] [ 6.07077696e-03 -1.53497251e-04 9.99981561e-01 -2.78540450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.5765599949999 meters 0.01721586643666965 Centerline is valid? [True, True] Translation: X:-74.10, Y:-256.49, Z:-2.79 [[-7.12782413e-01 -7.01364292e-01 5.41866591e-03 -7.40976631e+01] [ 7.01341693e-01 -7.12802977e-01 -5.63438254e-03 -2.56494646e+02] [ 7.81419591e-03 -2.15752459e-04 9.99969446e-01 -2.78678855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.606559995 meters 0.016945028107250668 Centerline is valid? [True, True] Translation: X:-74.12, Y:-256.47, Z:-2.79 [[-7.13098285e-01 -7.01038245e-01 6.01789637e-03 -7.41172051e+01] [ 7.01010390e-01 -7.13123636e-01 -6.25397458e-03 -2.56474873e+02] [ 8.67577950e-03 -2.41090660e-04 9.99962336e-01 -2.78734312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.636559995 meters 0.01708080090622517 Centerline is valid? [True, True] Translation: X:-74.14, Y:-256.46, Z:-2.79 [[-7.13010581e-01 -7.01123364e-01 6.47604234e-03 -7.41359070e+01] [ 7.01091149e-01 -7.13039945e-01 -6.72589818e-03 -2.56455361e+02] [ 9.33336123e-03 -2.55340603e-04 9.99956411e-01 -2.78826658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.666559995 meters 0.01696459908786577 Centerline is valid? [True, True] Translation: X:-74.16, Y:-256.44, Z:-2.79 [[-7.11717962e-01 -7.02435043e-01 6.52328743e-03 -7.41556512e+01] [ 7.02402446e-01 -7.11747817e-01 -6.77124322e-03 -2.56435952e+02] [ 9.39929411e-03 -2.37242376e-04 9.99955798e-01 -2.78865138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.6965599949999 meters 0.016140745950880313 Centerline is valid? [True, True] Translation: X:-74.18, Y:-256.42, Z:-2.79 [[-7.10928215e-01 -7.03233842e-01 6.57545414e-03 -7.41765641e+01] [ 7.03200791e-01 -7.10958587e-01 -6.82160036e-03 -2.56416898e+02] [ 9.47205582e-03 -2.25803616e-04 9.99955114e-01 -2.78786369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.726559995 meters 0.015578081919954556 Centerline is valid? [True, True] Translation: X:-74.20, Y:-256.40, Z:-2.79 [[-7.09881199e-01 -7.04290821e-01 6.56675667e-03 -7.41974726e+01] [ 7.04257939e-01 -7.09911541e-01 -6.80876262e-03 -2.56398236e+02] [ 9.45716536e-03 -2.08722052e-04 9.99955258e-01 -2.78764882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.756559995 meters 0.015735850447659537 Centerline is valid? [True, True] Translation: X:-74.22, Y:-256.38, Z:-2.79 [[-7.08813417e-01 -7.05366380e-01 6.46605706e-03 -7.42163061e+01] [ 7.05334578e-01 -7.08842884e-01 -6.70062261e-03 -2.56379185e+02] [ 9.30981245e-03 -1.88757583e-04 9.99956645e-01 -2.78827742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.786559995 meters 0.015049273735973062 Centerline is valid? [True, True] Translation: X:-74.24, Y:-256.36, Z:-2.79 [[-7.07002163e-01 -7.07182679e-01 6.37191335e-03 -7.42370403e+01] [ 7.07151903e-01 -7.07030858e-01 -6.59949985e-03 -2.56360289e+02] [ 9.17219135e-03 -1.59950019e-04 9.99957922e-01 -2.78745249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.8165599949999 meters 0.014745498075054325 Centerline is valid? [True, True] Translation: X:-74.26, Y:-256.34, Z:-2.79 [[-7.06169055e-01 -7.08016940e-01 6.10558817e-03 -7.42554214e+01] [ 7.07988749e-01 -7.06195436e-01 -6.31963664e-03 -2.56341866e+02] [ 8.78614830e-03 -1.40044106e-04 9.99961391e-01 -2.78679135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.846559995 meters 0.014153996277315254 Centerline is valid? [True, True] Translation: X:-74.28, Y:-256.32, Z:-2.79 [[-7.05382688e-01 -7.08801538e-01 5.97016114e-03 -7.42759084e+01] [ 7.08774645e-01 -7.05407942e-01 -6.17567271e-03 -2.56323633e+02] [ 8.58872539e-03 -1.24713780e-04 9.99963109e-01 -2.78613519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.876559995 meters 0.013871263342712542 Centerline is valid? [True, True] Translation: X:-74.30, Y:-256.31, Z:-2.79 [[-7.03724975e-01 -7.10445422e-01 6.20174849e-03 -7.42958514e+01] [ 7.10416493e-01 -7.03752293e-01 -6.41219151e-03 -2.56306942e+02] [ 8.92000683e-03 -1.06594899e-04 9.99960210e-01 -2.78704678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.906559995 meters 0.01324339212755869 Centerline is valid? [True, True] Translation: X:-74.32, Y:-256.29, Z:-2.79 [[-7.02987526e-01 -7.11173234e-01 6.41634379e-03 -7.43159823e+01] [ 7.11142336e-01 -7.03016800e-01 -6.62993135e-03 -2.56289103e+02] [ 9.22582720e-03 -9.78253245e-05 9.99957436e-01 -2.78637818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.9365599949999 meters 0.013019147725634976 Centerline is valid? [True, True] Translation: X:-74.34, Y:-256.27, Z:-2.79 [[-7.02649477e-01 -7.11507151e-01 6.42546688e-03 -7.43355455e+01] [ 7.11476218e-01 -7.02678850e-01 -6.63520836e-03 -2.56269824e+02] [ 9.23603787e-03 -9.06588112e-05 9.99957343e-01 -2.78582425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.9665599949999 meters 0.012911785808342381 Centerline is valid? [True, True] Translation: X:-74.36, Y:-256.25, Z:-2.79 [[-7.02124598e-01 -7.12026925e-01 6.22146481e-03 -7.43551170e+01] [ 7.11997981e-01 -7.02152157e-01 -6.42054552e-03 -2.56251284e+02] [ 8.94001623e-03 -7.83525566e-05 9.99960034e-01 -2.78533633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.996559995 meters 0.012756738404238943 Centerline is valid? [True, True] Translation: X:-74.38, Y:-256.23, Z:-2.79 [[-7.02079118e-01 -7.12069040e-01 6.52651447e-03 -7.43753817e+01] [ 7.12037225e-01 -7.02109448e-01 -6.73158289e-03 -2.56232023e+02] [ 9.37567923e-03 -7.89825280e-05 9.99956044e-01 -2.78602019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.026559995 meters 0.01263259879678792 Centerline is valid? [True, True] Translation: X:-74.40, Y:-256.21, Z:-2.79 [[-7.02051297e-01 -7.12096441e-01 6.52963795e-03 -7.43952307e+01] [ 7.12064632e-01 -7.02081657e-01 -6.73098816e-03 -2.56212724e+02] [ 9.37745174e-03 -7.59747211e-05 9.99956028e-01 -2.78645786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.0565599949999 meters 0.012525094014131155 Centerline is valid? [True, True] Translation: X:-74.41, Y:-256.19, Z:-2.79 [[-7.02001370e-01 -7.12146535e-01 6.43345549e-03 -7.44148214e+01] [ 7.12115694e-01 -7.02030845e-01 -6.62809382e-03 -2.56192203e+02] [ 9.23665824e-03 -7.15663229e-05 9.99957339e-01 -2.78594926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.0865599949999 meters 0.012588056207056643 Centerline is valid? [True, True] Translation: X:-74.43, Y:-256.17, Z:-2.78 [[-7.02424941e-01 -7.11735734e-01 5.60782015e-03 -7.44327870e+01] [ 7.11712315e-01 -7.02447322e-01 -5.77405236e-03 -2.56171647e+02] [ 8.04879765e-03 -6.46837245e-05 9.99967606e-01 -2.78432896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.116559995 meters 0.012479641994893721 Centerline is valid? [True, True] Translation: X:-74.45, Y:-256.15, Z:-2.78 [[-7.02804784e-01 -7.11362131e-01 5.41791177e-03 -7.44522828e+01] [ 7.11340285e-01 -7.02825664e-01 -5.57537986e-03 -2.56151968e+02] [ 7.77396154e-03 -6.44247371e-05 9.99969780e-01 -2.78440930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.146559995 meters 0.012643933837441713 Centerline is valid? [True, True] Translation: X:-74.47, Y:-256.13, Z:-2.79 [[-7.03319585e-01 -7.10850322e-01 5.77761875e-03 -7.44704684e+01] [ 7.10825485e-01 -7.03343312e-01 -5.94263749e-03 -2.56133298e+02] [ 8.28797528e-03 -7.26946873e-05 9.99965652e-01 -2.78515528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.1765599949999 meters 0.012781685044113228 Centerline is valid? [True, True] Translation: X:-74.49, Y:-256.11, Z:-2.79 [[-7.03978511e-01 -7.10191011e-01 6.55627700e-03 -7.44892639e+01] [ 7.10159039e-01 -7.04009034e-01 -6.73935646e-03 -2.56113110e+02] [ 9.40190862e-03 -8.83627472e-05 9.99955797e-01 -2.78657686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.2065599949999 meters 0.01281617288062751 Centerline is valid? [True, True] Translation: X:-74.51, Y:-256.09, Z:-2.79 [[-7.04180126e-01 -7.09986769e-01 7.00989207e-03 -7.45080022e+01] [ 7.09950254e-01 -7.04215009e-01 -7.20117585e-03 -2.56092645e+02] [ 1.00492108e-02 -9.42502604e-05 9.99949501e-01 -2.78732963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.236559995 meters 0.01282389953654475 Centerline is valid? [True, True] Translation: X:-74.53, Y:-256.07, Z:-2.79 [[-7.04408244e-01 -7.09757238e-01 7.32730313e-03 -7.45259941e+01] [ 7.09717378e-01 -7.04446345e-01 -7.52259521e-03 -2.56072727e+02] [ 1.05009083e-02 -9.86637090e-05 9.99944859e-01 -2.78767821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.266559995 meters 0.01273381039848319 Centerline is valid? [True, True] Translation: X:-74.54, Y:-256.05, Z:-2.79 [[-7.04085736e-01 -7.10067765e-01 8.18813305e-03 -7.45442976e+01] [ 7.10018072e-01 -7.04133339e-01 -8.40112122e-03 -2.56052696e+02] [ 1.17309028e-02 -1.01387178e-04 9.99931186e-01 -2.78888670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.2965599949999 meters 0.012754867847039414 Centerline is valid? [True, True] Translation: X:-74.56, Y:-256.03, Z:-2.79 [[-7.03897918e-01 -7.10245490e-01 8.89185410e-03 -7.45633642e+01] [ 7.10186974e-01 -7.03954071e-01 -9.11748568e-03 -2.56032847e+02] [ 1.27351100e-02 -1.02900235e-04 9.99918900e-01 -2.78963311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.3265599949999 meters 0.012639916369653103 Centerline is valid? [True, True] Translation: X:-74.58, Y:-256.01, Z:-2.79 [[-7.03380199e-01 -7.10756581e-01 9.02100219e-03 -7.45828729e+01] [ 7.10696469e-01 -7.03438039e-01 -9.24419146e-03 -2.56013499e+02] [ 1.29160860e-02 -9.09868278e-05 9.99916580e-01 -2.79000168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.356559995 meters 0.012536194453048434 Centerline is valid? [True, True] Translation: X:-74.60, Y:-255.99, Z:-2.79 [[-7.02426856e-01 -7.11698130e-01 9.07100471e-03 -7.46027386e+01] [ 7.11637503e-01 -7.02485421e-01 -9.28971356e-03 -2.55994169e+02] [ 1.29837203e-02 -7.00771530e-05 9.99915706e-01 -2.79056029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.386559995 meters 0.012353856026851809 Centerline is valid? [True, True] Translation: X:-74.62, Y:-255.98, Z:-2.79 [[-7.01464287e-01 -7.12640410e-01 9.56561828e-03 -7.46225543e+01] [ 7.12573160e-01 -7.01529503e-01 -9.79018296e-03 -2.55976101e+02] [ 1.36874434e-02 -5.12608681e-05 9.99906321e-01 -2.79102142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.416559995 meters 0.01213394537440042 Centerline is valid? [True, True] Translation: X:-74.64, Y:-255.96, Z:-2.79 [[-7.00102689e-01 -7.13978387e-01 9.54403021e-03 -7.46428136e+01] [ 7.13911647e-01 -7.00167739e-01 -9.76205324e-03 -2.55958316e+02] [ 1.36523171e-02 -2.08454010e-05 9.99906803e-01 -2.79141653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.4465599949999 meters 0.012019210786419857 Centerline is valid? [True, True] Translation: X:-74.66, Y:-255.94, Z:-2.79 [[-6.98976341e-01 -7.15081762e-01 9.49466518e-03 -7.46628516e+01] [ 7.15015887e-01 -6.99040824e-01 -9.70607504e-03 -2.55938684e+02] [ 1.35777958e-02 4.51963191e-06 9.99907818e-01 -2.79065669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.476559995 meters 0.011852608974210968 Centerline is valid? [True, True] Translation: X:-74.68, Y:-255.92, Z:-2.79 [[-6.98614707e-01 -7.15452988e-01 8.03199250e-03 -7.46815021e+01] [ 7.15405924e-01 -6.98660878e-01 -8.20619365e-03 -2.55917274e+02] [ 1.14827847e-02 1.31674433e-05 9.99934071e-01 -2.78843054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.506559995 meters 0.011798535403525507 Centerline is valid? [True, True] Translation: X:-74.70, Y:-255.90, Z:-2.79 [[-6.99444409e-01 -7.14653348e-01 6.93612513e-03 -7.46998438e+01] [ 7.14618253e-01 -6.99478800e-01 -7.08241646e-03 -2.55896896e+02] [ 9.91314512e-03 2.92502790e-06 9.99950864e-01 -2.78737963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.536559995 meters 0.011793799527422617 Centerline is valid? [True, True] Translation: X:-74.72, Y:-255.88, Z:-2.79 [[-7.00419167e-01 -7.13704901e-01 6.18909241e-03 -7.47177659e+01] [ 7.13676958e-01 -7.00446511e-01 -6.31546802e-03 -2.55877775e+02] [ 8.84250866e-03 -6.46220610e-06 9.99960904e-01 -2.78672407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.5665599949999 meters 0.011704420274441504 Centerline is valid? [True, True] Translation: X:-74.74, Y:-255.86, Z:-2.79 [[-7.01428034e-01 -7.12724615e-01 4.72611766e-03 -7.47372071e+01] [ 7.12708319e-01 -7.01443956e-01 -4.81962589e-03 -2.55858433e+02] [ 6.75017267e-03 -1.22773459e-05 9.99977217e-01 -2.78593749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.596559995 meters 0.011775804257226349 Centerline is valid? [True, True] Translation: X:-74.76, Y:-255.84, Z:-2.79 [[-7.02061085e-01 -7.12103413e-01 4.35463815e-03 -7.47563353e+01] [ 7.12089583e-01 -7.02074590e-01 -4.43805074e-03 -2.55839318e+02] [ 6.21763188e-03 -1.48902514e-05 9.99980670e-01 -2.78566428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.626559995 meters 0.011759040284593856 Centerline is valid? [True, True] Translation: X:-74.78, Y:-255.82, Z:-2.79 [[-7.02652240e-01 -7.11521632e-01 4.09840073e-03 -7.47753274e+01] [ 7.11509387e-01 -7.02664192e-01 -4.17429726e-03 -2.55820178e+02] [ 5.84990224e-03 -1.70287271e-05 9.99982889e-01 -2.78532361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.656559995 meters 0.011760098313162276 Centerline is valid? [True, True] Translation: X:-74.79, Y:-255.80, Z:-2.79 [[-7.03251926e-01 -7.10929659e-01 3.96853097e-03 -7.47943977e+01] [ 7.10918183e-01 -7.03263123e-01 -4.03950500e-03 -2.55801147e+02] [ 5.66272540e-03 -1.94888424e-05 9.99983967e-01 -2.78575153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.6865599949999 meters 0.011802529348970116 Centerline is valid? [True, True] Translation: X:-74.81, Y:-255.78, Z:-2.79 [[-7.03869869e-01 -7.10313371e-01 4.70345008e-03 -7.48138325e+01] [ 7.10297257e-01 -7.03885583e-01 -4.78459187e-03 -2.55782214e+02] [ 6.70925029e-03 -2.68823640e-05 9.99977492e-01 -2.78691737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.7165599949999 meters 0.011814955787323595 Centerline is valid? [True, True] Translation: X:-74.83, Y:-255.76, Z:-2.79 [[-7.04293467e-01 -7.09890416e-01 5.12931679e-03 -7.48328735e+01] [ 7.09871265e-01 -7.04312144e-01 -5.21455776e-03 -2.55762501e+02] [ 7.31440468e-03 -3.14243640e-05 9.99973249e-01 -2.78743741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.746559995 meters 0.011896054148053616 Centerline is valid? [True, True] Translation: X:-74.85, Y:-255.74, Z:-2.79 [[-7.04750213e-01 -7.09432669e-01 5.69432751e-03 -7.48519773e+01] [ 7.09409080e-01 -7.04773217e-01 -5.78536917e-03 -2.55742448e+02] [ 8.11753940e-03 -3.76325144e-05 9.99967052e-01 -2.78769117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.776559995 meters 0.011896054148053616 Centerline is valid? [True, True] Translation: X:-74.87, Y:-255.72, Z:-2.79 [[-7.04970020e-01 -7.09214230e-01 5.69612008e-03 -7.48708291e+01] [ 7.09190649e-01 -7.04993031e-01 -5.78360426e-03 -2.55723445e+02] [ 8.11753940e-03 -3.76325155e-05 9.99967052e-01 -2.78769135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.8065599949999 meters 0.012130564539645266 Centerline is valid? [True, True] Translation: X:-74.89, Y:-255.70, Z:-2.79 [[-7.05345398e-01 -7.08836845e-01 6.18043434e-03 -7.48891467e+01] [ 7.08809094e-01 -7.05372473e-01 -6.27235310e-03 -2.55704204e+02] [ 8.80558324e-03 -4.34273225e-05 9.99961229e-01 -2.78873708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.8365599949999 meters 0.012130888520231226 Centerline is valid? [True, True] Translation: X:-74.91, Y:-255.69, Z:-2.79 [[-7.06291173e-01 -7.07892326e-01 6.42136384e-03 -7.49101213e+01] [ 7.07862368e-01 -7.06320360e-01 -6.51284497e-03 -2.55686019e+02] [ 9.14593299e-03 -5.45230987e-05 9.99958174e-01 -2.79001958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.866559995 meters 0.012246796203287042 Centerline is valid? [True, True] Translation: X:-74.93, Y:-255.67, Z:-2.79 [[-7.06995167e-01 -7.07187199e-01 6.64072446e-03 -7.49293227e+01] [ 7.07155167e-01 -7.07026351e-01 -6.73118988e-03 -2.55667222e+02] [ 9.45537851e-03 -6.28961030e-05 9.99955295e-01 -2.79092884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.896559995 meters 0.012173896535361491 Centerline is valid? [True, True] Translation: X:-74.95, Y:-255.65, Z:-2.79 [[-7.07690755e-01 -7.06490837e-01 6.67025704e-03 -7.49482154e+01] [ 7.06458528e-01 -7.07722186e-01 -6.75688384e-03 -2.55648102e+02] [ 9.49436542e-03 -6.95242602e-05 9.99954925e-01 -2.79105211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.9265599949999 meters 0.012467073298137253 Centerline is valid? [True, True] Translation: X:-74.97, Y:-255.63, Z:-2.79 [[-7.08337688e-01 -7.05840088e-01 6.89129692e-03 -7.49657969e+01] [ 7.05805605e-01 -7.08371205e-01 -6.97741302e-03 -2.55628874e+02] [ 9.80653412e-03 -7.84486156e-05 9.99951912e-01 -2.79153561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.9565599949999 meters 0.012722072279599934 Centerline is valid? [True, True] Translation: X:-74.98, Y:-255.61, Z:-2.79 [[-7.09342962e-01 -7.04835855e-01 6.24338069e-03 -7.49834152e+01] [ 7.04807539e-01 -7.09370432e-01 -6.31843919e-03 -2.55609795e+02] [ 8.88233215e-03 -8.15585854e-05 9.99960548e-01 -2.79028808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.986559995 meters 0.012743240590153209 Centerline is valid? [True, True] Translation: X:-75.00, Y:-255.59, Z:-2.79 [[-7.09684903e-01 -7.04496857e-01 5.61394338e-03 -7.50026645e+01] [ 7.04473979e-01 -7.09707103e-01 -5.67803501e-03 -2.55590987e+02] [ 7.98441331e-03 -7.47386963e-05 9.99968121e-01 -2.78991328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.016559995 meters 0.012351892143387557 Centerline is valid? [True, True] Translation: X:-75.02, Y:-255.57, Z:-2.79 [[-7.10092698e-01 -7.04089360e-01 5.15117526e-03 -7.50231925e+01] [ 7.04070111e-01 -7.10111378e-01 -5.20670674e-03 -2.55572429e+02] [ 7.32389498e-03 -7.04558978e-05 9.99973178e-01 -2.78884491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.0465599949999 meters 0.012375342223489542 Centerline is valid? [True, True] Translation: X:-75.04, Y:-255.56, Z:-2.79 [[-7.10225020e-01 -7.03963504e-01 3.97573451e-03 -7.50429366e+01] [ 7.03952051e-01 -7.10236146e-01 -4.01594840e-03 -2.55555394e+02] [ 5.65079146e-03 -5.35005715e-05 9.99984033e-01 -2.78838915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.0765599949999 meters 0.012313958720989704 Centerline is valid? [True, True] Translation: X:-75.06, Y:-255.54, Z:-2.79 [[-7.10254241e-01 -7.03936288e-01 3.55191224e-03 -7.50631838e+01] [ 7.03927158e-01 -7.10263121e-01 -3.58560242e-03 -2.55536643e+02] [ 5.04682793e-03 -4.64018326e-05 9.99987264e-01 -2.78866954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.106559995 meters 0.01231933823490493 Centerline is valid? [True, True] Translation: X:-75.08, Y:-255.52, Z:-2.79 [[-7.10520379e-01 -7.03668206e-01 3.44188810e-03 -7.50826104e+01] [ 7.03659640e-01 -7.10528714e-01 -3.47238566e-03 -2.55517419e+02] [ 4.88896772e-03 -4.52830338e-05 9.99988048e-01 -2.78890140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.136559995 meters 0.012332071892056137 Centerline is valid? [True, True] Translation: X:-75.10, Y:-255.50, Z:-2.79 [[-7.10214094e-01 -7.03980599e-01 2.69381830e-03 -7.51006445e+01] [ 7.03975361e-01 -7.10219202e-01 -2.71592676e-03 -2.55498372e+02] [ 3.82516123e-03 -3.25077513e-05 9.99992684e-01 -2.78814836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.166559995 meters 0.012231720859542345 Centerline is valid? [True, True] Translation: X:-75.12, Y:-255.48, Z:-2.79 [[-7.10095610e-01 -7.04100876e-01 2.48602975e-03 -7.51201172e+01] [ 7.04096421e-01 -7.10099961e-01 -2.50489030e-03 -2.55479476e+02] [ 3.52902508e-03 -2.83069555e-05 9.99993773e-01 -2.78780838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.1965599949999 meters 0.012264961821278448 Centerline is valid? [True, True] Translation: X:-75.14, Y:-255.46, Z:-2.79 [[-7.09844728e-01 -7.04353620e-01 2.53777061e-03 -7.51393848e+01] [ 7.04348984e-01 -7.09849263e-01 -2.55580813e-03 -2.55461464e+02] [ 3.60162731e-03 -2.67507774e-05 9.99993514e-01 -2.78857474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.226559995 meters 0.011975131575157094 Centerline is valid? [True, True] Translation: X:-75.16, Y:-255.44, Z:-2.79 [[-7.08729016e-01 -7.05476168e-01 2.56114536e-03 -7.51608581e+01] [ 7.05471458e-01 -7.08733643e-01 -2.57779835e-03 -2.55444231e+02] [ 3.63374518e-03 -2.01455371e-05 9.99993398e-01 -2.78954234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.256559995 meters 0.011745202031676331 Centerline is valid? [True, True] Translation: X:-75.18, Y:-255.43, Z:-2.79 [[-7.08107786e-01 -7.06099809e-01 2.53418121e-03 -7.51813435e+01] [ 7.06095208e-01 -7.08112321e-01 -2.54907164e-03 -2.55426200e+02] [ 3.59438393e-03 -1.56442665e-05 9.99993540e-01 -2.78949741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.286559995 meters 0.011680272961274748 Centerline is valid? [True, True] Translation: X:-75.20, Y:-255.41, Z:-2.79 [[-7.07302366e-01 -7.06905953e-01 2.70855935e-03 -7.52019916e+01] [ 7.06900709e-01 -7.07307552e-01 -2.72290700e-03 -2.55407781e+02] [ 3.84062365e-03 -1.12360432e-05 9.99992625e-01 -2.78940303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.3165599949999 meters 0.011680782847122257 Centerline is valid? [True, True] Translation: X:-75.22, Y:-255.39, Z:-2.79 [[-7.06622323e-01 -7.07582928e-01 3.36026755e-03 -7.52215341e+01] [ 7.07574875e-01 -7.06630313e-01 -3.37601943e-03 -2.55389347e+02] [ 4.76328063e-03 -7.92980238e-06 9.99988656e-01 -2.79055690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.346559995 meters 0.011709197418689511 Centerline is valid? [True, True] Translation: X:-75.24, Y:-255.37, Z:-2.79 [[-7.04822533e-01 -7.09369864e-01 4.42641049e-03 -7.52417347e+01] [ 7.09355941e-01 -7.04836432e-01 -4.44444481e-03 -2.55371181e+02] [ 6.27265058e-03 7.35573224e-06 9.99980327e-01 -2.79268320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.376559995 meters 0.011706070585051341 Centerline is valid? [True, True] Translation: X:-75.26, Y:-255.35, Z:-2.79 [[-7.04078885e-01 -7.10105133e-01 4.86053012e-03 -7.52614393e+01] [ 7.10088381e-01 -7.04095661e-01 -4.87759171e-03 -2.55351740e+02] [ 6.88588108e-03 1.71966328e-05 9.99976292e-01 -2.79261818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.406559995 meters 0.011729928300782035 Centerline is valid? [True, True] Translation: X:-75.28, Y:-255.33, Z:-2.79 [[-7.03498834e-01 -7.10678667e-01 5.02222286e-03 -7.52808525e+01] [ 7.10660820e-01 -7.03516760e-01 -5.03668330e-03 -2.55332620e+02] [ 7.11268133e-03 2.57961943e-05 9.99974704e-01 -2.79294751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.4365599949999 meters 0.011908570824346267 Centerline is valid? [True, True] Translation: X:-75.30, Y:-255.31, Z:-2.79 [[-7.03095096e-01 -7.11075779e-01 5.34073033e-03 -7.52998000e+01] [ 7.11055634e-01 -7.03115379e-01 -5.35257884e-03 -2.55314043e+02] [ 7.56123879e-03 3.41844601e-05 9.99971413e-01 -2.79323098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.4665599949999 meters 0.012058131759912225 Centerline is valid? [True, True] Translation: X:-75.32, Y:-255.29, Z:-2.79 [[-7.02300108e-01 -7.11862433e-01 5.14141977e-03 -7.53187815e+01] [ 7.11843808e-01 -7.02318926e-01 -5.14963769e-03 -2.55294150e+02] [ 7.27675003e-03 4.32967175e-05 9.99973523e-01 -2.79338948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.496559995 meters 0.01200699866891448 Centerline is valid? [True, True] Translation: X:-75.34, Y:-255.27, Z:-2.79 [[-7.02082652e-01 -7.12080089e-01 4.67941449e-03 -7.53383914e+01] [ 7.12064683e-01 -7.02098245e-01 -4.68425202e-03 -2.55273910e+02] [ 6.62097130e-03 4.33137150e-05 9.99978080e-01 -2.79317838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.526559995 meters 0.012129080392873588 Centerline is valid? [True, True] Translation: X:-75.36, Y:-255.26, Z:-2.79 [[-7.01742415e-01 -7.12416495e-01 4.50782504e-03 -7.53567615e+01] [ 7.12402220e-01 -7.01756892e-01 -4.51027599e-03 -2.55255821e+02] [ 6.37659231e-03 4.63326005e-05 9.99979668e-01 -2.79304429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.5565599949999 meters 0.012696093212839953 Centerline is valid? [True, True] Translation: X:-75.38, Y:-255.24, Z:-2.79 [[-6.98875863e-01 -7.15235316e-01 3.31235862e-03 -7.53775362e+01] [ 7.15227648e-01 -6.98883710e-01 -3.31229163e-03 -2.55237051e+02] [ 4.68402143e-03 5.42097997e-05 9.99989029e-01 -2.79178058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.5865599949999 meters 0.012993239102739465 Centerline is valid? [True, True] Translation: X:-75.88, Y:-255.73, Z:-1.80 [[-7.64006482e-01 6.45200221e-01 3.28173522e-03 -7.58756852e+01] [ 6.45193940e-01 7.64013528e-01 -2.84746641e-03 -2.55727965e+02] [-4.34447606e-03 -5.81271164e-05 -9.99990561e-01 -1.80004512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.616559995 meters 0.013561793757987568 Centerline is valid? [True, True] Translation: X:-75.43, Y:-255.20, Z:-2.79 [[-6.99246539e-01 -7.14874681e-01 2.91021144e-03 -7.54274386e+01] [ 7.14868736e-01 -6.99252593e-01 -2.91571107e-03 -2.55195541e+02] [ 4.11934092e-03 4.16183045e-05 9.99991515e-01 -2.79102057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.646559995 meters 0.013899775523575693 Centerline is valid? [True, True] Translation: X:-75.90, Y:-255.70, Z:-1.80 [[-7.68157436e-01 6.40254764e-01 2.82680301e-03 -7.59021882e+01] [ 6.40250135e-01 7.68162635e-01 -2.43529910e-03 -2.55699526e+02] [-3.73065630e-03 -6.08321058e-05 -9.99993039e-01 -1.79940307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.6765599949999 meters 0.014132952033426195 Centerline is valid? [True, True] Translation: X:-75.45, Y:-255.18, Z:-2.79 [[-6.99872796e-01 -7.14261275e-01 2.98332268e-03 -7.54527781e+01] [ 7.14255353e-01 -6.99879148e-01 -2.91014768e-03 -2.55179988e+02] [ 4.16657112e-03 9.41209988e-05 9.99991315e-01 -2.79176902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.7065599949999 meters 0.014411367631780657 Centerline is valid? [True, True] Translation: X:-75.94, Y:-255.67, Z:-1.80 [[-7.71512807e-01 6.36202029e-01 3.86878302e-03 -7.59357082e+01] [ 6.36193428e-01 7.71522501e-01 -3.30931535e-03 -2.55670471e+02] [-5.09024629e-03 -9.18848398e-05 -9.99987040e-01 -1.79876023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.736559995 meters 0.014022210602249615 Centerline is valid? [True, True] Translation: X:-75.92, Y:-255.65, Z:-1.80 [[-8.14884859e-01 5.79606309e-01 4.38096283e-03 -7.59181068e+01] [ 5.79597260e-01 8.14896629e-01 -3.24026347e-03 -2.55649589e+02] [-5.44810899e-03 -1.01247581e-04 -9.99985154e-01 -1.79825994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.766559995 meters 0.014637306870869405 Centerline is valid? [True, True] Translation: X:-75.90, Y:-255.63, Z:-1.80 [[-8.54088708e-01 5.20105824e-01 4.73398418e-03 -7.58978198e+01] [ 5.20097138e-01 8.54101821e-01 -3.00770895e-03 -2.55625153e+02] [-5.60763145e-03 -1.06718627e-04 -9.99984272e-01 -1.79701841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.7965599949999 meters 0.014419700363682527 Centerline is valid? [True, True] Translation: X:-75.88, Y:-255.60, Z:-1.80 [[-8.88827124e-01 4.58216054e-01 4.93873680e-03 -7.58832415e+01] [ 4.58208306e-01 8.88840838e-01 -2.66694765e-03 -2.55601019e+02] [-5.61178919e-03 -1.07485189e-04 -9.99984248e-01 -1.79671233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.8265599949999 meters 0.014423276513996433 Centerline is valid? [True, True] Translation: X:-75.56, Y:-255.01, Z:-2.80 [[-8.35636268e-01 -5.49261963e-01 4.82940839e-03 -7.55578498e+01] [ 5.49253580e-01 -8.35650216e-01 -3.03687902e-03 -2.55008163e+02] [ 5.70373829e-03 1.14843594e-04 9.99983727e-01 -2.79543171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.856559995 meters 0.014260823058456953 Centerline is valid? [True, True] Translation: X:-75.57, Y:-255.04, Z:-2.80 [[-7.97138445e-01 -6.03777722e-01 4.77102139e-03 -7.55685393e+01] [ 6.03767717e-01 -7.97152715e-01 -3.47758649e-03 -2.55035373e+02] [ 5.90292190e-03 1.08470805e-04 9.99982572e-01 -2.79533352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.886559995 meters 0.01499958379682462 Centerline is valid? [True, True] Translation: X:-75.97, Y:-255.58, Z:-1.80 [[-8.57235557e-01 5.14904636e-01 4.51838143e-03 -7.59743626e+01] [ 5.14896888e-01 8.57247460e-01 -2.82633666e-03 -2.55582297e+02] [-5.32866485e-03 -9.63357501e-05 -9.99985798e-01 -1.79608895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.916559995 meters 0.014291323870193136 Centerline is valid? [True, True] Translation: X:-75.96, Y:-255.56, Z:-1.80 [[-8.91441375e-01 4.53112242e-01 4.64439255e-03 -7.59565206e+01] [ 4.53105540e-01 8.91453469e-01 -2.46622796e-03 -2.55563676e+02] [-5.25773793e-03 -9.40976477e-05 -9.99986174e-01 -1.79673526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.9465599949999 meters 0.014184997735842116 Centerline is valid? [True, True] Translation: X:-75.95, Y:-255.54, Z:-1.80 [[-9.21152857e-01 3.89168287e-01 5.04571281e-03 -7.59488679e+01] [ 3.89161869e-01 9.21166671e-01 -2.23705360e-03 -2.55537721e+02] [-5.51853279e-03 -9.70692919e-05 -9.99984768e-01 -1.79685408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.976559995 meters 0.013653468739834395 Centerline is valid? [True, True] Translation: X:-75.66, Y:-254.91, Z:-2.79 [[-8.77228732e-01 -4.80039162e-01 5.67052265e-03 -7.56606115e+01] [ 4.80030331e-01 -8.77247044e-01 -2.91638382e-03 -2.54913795e+02] [ 6.37442768e-03 1.63687184e-04 9.99979670e-01 -2.79494916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.006559995 meters 0.013634653747701647 Centerline is valid? [True, True] Translation: X:-75.99, Y:-255.53, Z:-1.80 [[-9.21729565e-01 3.87788414e-01 5.89536645e-03 -7.59853690e+01] [ 3.87779790e-01 9.21748413e-01 -2.58811069e-03 -2.55525630e+02] [-6.43768401e-03 -9.94341772e-05 -9.99979273e-01 -1.79584951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.036559995 meters 0.013466767180771704 Centerline is valid? [True, True] Translation: X:-75.97, Y:-255.50, Z:-1.80 [[-9.46617464e-01 3.22300307e-01 6.15543635e-03 -7.59739079e+01] [ 3.22292836e-01 9.46637472e-01 -2.19659801e-03 -2.55500574e+02] [-6.53493092e-03 -9.54850042e-05 -9.99978643e-01 -1.79500399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.0665599949999 meters 0.013297162741962026 Centerline is valid? [True, True] Translation: X:-75.97, Y:-255.47, Z:-1.79 [[-9.66829655e-01 2.55335462e-01 6.64980353e-03 -7.59678789e+01] [ 2.55328754e-01 9.66852519e-01 -1.85323963e-03 -2.55473972e+02] [-6.90257709e-03 -9.38809844e-05 -9.99976173e-01 -1.79378209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.096559995 meters 0.013144844871179196 Centerline is valid? [True, True] Translation: X:-75.96, Y:-255.45, Z:-1.79 [[-9.82204798e-01 1.87684809e-01 6.93876299e-03 -7.59625966e+01] [ 1.87679513e-01 9.82229304e-01 -1.41257990e-03 -2.55447667e+02] [-7.08057613e-03 -8.51791023e-05 -9.99974929e-01 -1.79347676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.126559995 meters 0.013015479594827857 Centerline is valid? [True, True] Translation: X:-75.82, Y:-254.77, Z:-2.80 [[-9.61090701e-01 -2.76167892e-01 5.99670943e-03 -7.58178242e+01] [ 2.76162655e-01 -9.61109408e-01 -1.70093334e-03 -2.54768819e+02] [ 6.23323703e-03 2.13159809e-05 9.99980573e-01 -2.79661599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.156559995 meters 0.013140823581353074 Centerline is valid? [True, True] Translation: X:-76.01, Y:-255.44, Z:-1.80 [[-9.82885486e-01 1.84142703e-01 5.25219858e-03 -7.60083362e+01] [ 1.84139732e-01 9.82899517e-01 -1.04797194e-03 -2.55440683e+02] [-5.35535983e-03 -6.28979697e-05 -9.99985658e-01 -1.79553439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.1865599949999 meters 0.013077400810997846 Centerline is valid? [True, True] Translation: X:-76.00, Y:-255.41, Z:-1.80 [[-9.93465240e-01 1.14041139e-01 4.62989300e-03 -7.60043107e+01] [ 1.14039646e-01 9.93476027e-01 -5.86057420e-04 -2.55413417e+02] [-4.66652236e-03 -5.42363144e-05 -9.99989110e-01 -1.79685447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.2165599949999 meters 0.013025951803894441 Centerline is valid? [True, True] Translation: X:-76.00, Y:-255.38, Z:-1.80 [[-9.99059597e-01 4.31137861e-02 4.59597516e-03 -7.60019606e+01] [ 4.31130816e-02 9.99070167e-01 -2.52298985e-04 -2.55384915e+02] [-4.60257924e-03 -5.39150699e-05 -9.99989407e-01 -1.79655423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.246559995 meters 0.013202615102035428 Centerline is valid? [True, True] Translation: X:-76.01, Y:-255.36, Z:-1.80 [[-9.99571714e-01 -2.88625644e-02 4.83126370e-03 -7.60062599e+01] [-2.88625209e-02 9.99583388e-01 7.87513932e-05 -2.55355750e+02] [-4.83152390e-03 -6.07247843e-05 -9.99988326e-01 -1.79597725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.276559995 meters 0.013507855586444635 Centerline is valid? [True, True] Translation: X:-76.01, Y:-255.33, Z:-1.79 [[-9.94854950e-01 -1.01134861e-01 5.94715061e-03 -7.60127952e+01] [-1.01133546e-01 9.94872722e-01 5.22213418e-04 -2.55326678e+02] [-5.96947189e-03 -8.19298281e-05 -9.99982179e-01 -1.79392121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.3065599949999 meters 0.013529601584207355 Centerline is valid? [True, True] Translation: X:-76.02, Y:-255.30, Z:-1.79 [[-9.84959261e-01 -1.72637060e-01 7.19020212e-03 -7.60226733e+01] [-1.72633241e-01 9.84985500e-01 1.15311068e-03 -2.55299674e+02] [-7.28131446e-03 -1.05500854e-04 -9.99973485e-01 -1.79283565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.3365599949999 meters 0.013715148620395806 Centerline is valid? [True, True] Translation: X:-76.05, Y:-255.28, Z:-1.79 [[-9.69952243e-01 -2.43155277e-01 8.25572893e-03 -7.60492015e+01] [-2.43147586e-01 9.69987368e-01 1.93823671e-03 -2.55276514e+02] [-8.47924526e-03 -1.27363511e-04 -9.99964043e-01 -1.79164602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.366559995 meters 0.013857089196135718 Centerline is valid? [True, True] Translation: X:-76.08, Y:-255.26, Z:-1.79 [[-9.49682881e-01 -3.13088540e-01 8.83123831e-03 -7.60828795e+01] [-3.13076375e-01 9.49723932e-01 2.76351043e-03 -2.55257071e+02] [-9.25246182e-03 -1.40393535e-04 -9.99957185e-01 -1.79077612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.396559995 meters 0.014131144490636929 Centerline is valid? [True, True] Translation: X:-76.14, Y:-255.25, Z:-1.79 [[-9.24045675e-01 -3.82164730e-01 9.47155864e-03 -7.61409307e+01] [-3.82146386e-01 9.24094202e-01 3.74769242e-03 -2.55249078e+02] [-1.01848483e-02 -1.56482936e-04 -9.99948121e-01 -1.79022458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.4265599949999 meters 0.014685113801765085 Centerline is valid? [True, True] Translation: X:-76.21, Y:-255.25, Z:-1.79 [[-8.93489914e-01 -4.48988428e-01 9.22848114e-03 -7.62065659e+01] [-4.48966263e-01 8.93537558e-01 4.46395444e-03 -2.55246827e+02] [-1.02502584e-02 -1.54778424e-04 -9.99947453e-01 -1.78978109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.4565599949999 meters 0.014241838789159989 Centerline is valid? [True, True] Translation: X:-76.28, Y:-255.26, Z:-1.79 [[-8.58158463e-01 -5.13319132e-01 8.21712568e-03 -7.62825879e+01] [-5.13297112e-01 8.58197792e-01 4.75649506e-03 -2.55257613e+02] [-9.49351903e-03 -1.36000391e-04 -9.99954926e-01 -1.79094346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.486559995 meters 0.01317829208252119 Centerline is valid? [True, True] Translation: X:-76.36, Y:-255.27, Z:-1.79 [[-8.18395077e-01 -5.74628910e-01 5.57793383e-03 -7.63559715e+01] [-5.74616266e-01 8.18414081e-01 3.81302416e-03 -2.55273526e+02] [-6.75613351e-03 -8.46113059e-05 -9.99977174e-01 -1.79396722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.516559995 meters 0.013101275513456166 Centerline is valid? [True, True] Translation: X:-76.44, Y:-255.30, Z:-1.79 [[-7.73273732e-01 -6.34058608e-01 4.17337046e-03 -7.64389804e+01] [-6.34049819e-01 7.73284991e-01 3.33908458e-03 -2.55300183e+02] [-5.34438006e-03 -6.40983959e-05 -9.99985717e-01 -1.79490520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.5465599949999 meters 0.012993753897950808 Centerline is valid? [True, True] Translation: X:-76.53, Y:-255.34, Z:-1.80 [[-7.23691558e-01 -6.90116840e-01 3.04557007e-03 -7.65265198e+01] [-6.90111005e-01 7.23697965e-01 2.83823207e-03 -2.55339340e+02] [-4.16278461e-03 -4.77768353e-05 -9.99991335e-01 -1.79576758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.5765599949999 meters 0.012877794058505357 Centerline is valid? [True, True] Translation: X:-76.61, Y:-255.38, Z:-1.80 [[-6.70047107e-01 -7.42315432e-01 2.16183165e-03 -7.66099170e+01] [-7.42311730e-01 6.70050594e-01 2.34475920e-03 -2.55384895e+02] [-3.18908752e-03 -3.36538750e-05 -9.99994914e-01 -1.79684127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.606559995 meters 0.0126226524014709 Centerline is valid? [True, True] Translation: X:-76.69, Y:-255.44, Z:-1.80 [[-6.12064610e-01 -7.90805291e-01 1.97605201e-03 -7.66949800e+01] [-7.90801339e-01 6.12067799e-01 2.50024805e-03 -2.55441978e+02] [-3.18668719e-03 -3.23512212e-05 -9.99994922e-01 -1.79690292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.636559995 meters 0.012512945402484599 Centerline is valid? [True, True] Translation: X:-76.78, Y:-255.51, Z:-1.80 [[-5.50685564e-01 -8.34710825e-01 1.80220467e-03 -7.67826273e+01] [-8.34706535e-01 5.50688512e-01 2.67636468e-03 -2.55513104e+02] [-3.22644398e-03 -3.04766251e-05 -9.99994795e-01 -1.79641437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.666559995 meters 0.012474496281778942 Centerline is valid? [True, True] Translation: X:-76.86, Y:-255.58, Z:-1.79 [[-4.86025713e-01 -8.73942682e-01 1.78749927e-03 -7.68599296e+01] [-8.73937006e-01 4.86028999e-01 3.14992437e-03 -2.55582590e+02] [-3.62162984e-03 -3.12175244e-05 -9.99993441e-01 -1.79444012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.6965599949999 meters 0.012474496281778942 Centerline is valid? [True, True] Translation: X:-76.93, Y:-255.67, Z:-1.79 [[-4.17698188e-01 -9.08584531e-01 1.54111256e-03 -7.69349073e+01] [-9.08578620e-01 4.17701029e-01 3.27749800e-03 -2.55666732e+02] [-3.62160828e-03 -3.12169491e-05 -9.99993442e-01 -1.79444113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.726559995 meters 0.01237683918461787 Centerline is valid? [True, True] Translation: X:-77.00, Y:-255.76, Z:-1.79 [[-3.47556480e-01 -9.37657896e-01 1.47111029e-03 -7.70036167e+01] [-9.37649888e-01 3.47559592e-01 3.87529109e-03 -2.55757230e+02] [-4.14499578e-03 -3.25038690e-05 -9.99991409e-01 -1.79345525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.756559995 meters 0.01230659567362669 Centerline is valid? [True, True] Translation: X:-77.07, Y:-255.86, Z:-1.79 [[-2.75332705e-01 -9.61348197e-01 1.24362580e-03 -7.70666345e+01] [-9.61338894e-01 2.75335512e-01 4.22930638e-03 -2.55856498e+02] [-4.40825041e-03 -3.10794912e-05 -9.99990283e-01 -1.79264965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.786559995 meters 0.011964172654037748 Centerline is valid? [True, True] Translation: X:-77.12, Y:-255.96, Z:-1.79 [[-2.02553151e-01 -9.79270780e-01 9.80431510e-04 -7.71205847e+01] [-9.79259880e-01 2.02555523e-01 4.62045187e-03 -2.55959712e+02] [-4.72326532e-03 -2.42101555e-05 -9.99988845e-01 -1.79160875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.8165599949999 meters 0.011945991932237133 Centerline is valid? [True, True] Translation: X:-77.17, Y:-256.07, Z:-1.79 [[-1.27831696e-01 -9.91795659e-01 6.54859646e-04 -7.71667159e+01] [-9.91783413e-01 1.27833372e-01 4.92865063e-03 -2.56068607e+02] [-4.97192721e-03 -1.94411640e-05 -9.99987640e-01 -1.79042475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.846559995 meters 0.011758531482629021 Centerline is valid? [True, True] Translation: X:-77.20, Y:-256.18, Z:-1.79 [[-5.24886202e-02 -9.98621480e-01 2.89660354e-04 -7.72033396e+01] [-9.98607656e-01 5.24894177e-02 5.25465891e-03 -2.56182301e+02] [-5.26261936e-03 -1.34472516e-05 -9.99986152e-01 -1.79124743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.876559995 meters 0.011735516632513095 Centerline is valid? [True, True] Translation: X:-77.23, Y:-256.30, Z:-1.79 [[ 2.41442414e-02 -9.99708480e-01 -1.06034834e-04 -7.72334106e+01] [-9.99696802e-01 -2.41444719e-02 4.83195579e-03 -2.56300866e+02] [-4.83310734e-03 -1.06612225e-05 -9.99988321e-01 -1.79162581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.906559995 meters 0.011799945619049044 Centerline is valid? [True, True] Translation: X:-77.26, Y:-256.42, Z:-1.79 [[ 9.93069654e-02 -9.95056676e-01 -5.80784483e-04 -7.72553545e+01] [-9.95039474e-01 -9.93086636e-02 5.85107407e-03 -2.56418206e+02] [-5.87982725e-03 -3.14892332e-06 -9.99982714e-01 -1.78921899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.9365599949999 meters 0.01173899344985019 Centerline is valid? [True, True] Translation: X:-77.27, Y:-256.54, Z:-1.79 [[ 1.74062473e-01 -9.84734000e-01 -1.09782044e-03 -7.72665210e+01] [-9.84714659e-01 -1.74065935e-01 6.17184029e-03 -2.56535767e+02] [-6.26871411e-03 6.75409621e-06 -9.99980351e-01 -1.78845325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.9665599949999 meters 0.011792410160870426 Centerline is valid? [True, True] Translation: X:-77.27, Y:-256.66, Z:-1.79 [[ 2.48154302e-01 -9.68719453e-01 -1.43664631e-03 -7.72678406e+01] [-9.68703520e-01 -2.48158461e-01 5.55605492e-03 -2.56657337e+02] [-5.73877442e-03 1.29254075e-05 -9.99983533e-01 -1.78870032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.996559995 meters 0.01177180912087307 Centerline is valid? [True, True] Translation: X:-77.26, Y:-256.78, Z:-1.79 [[ 3.21431140e-01 -9.46931785e-01 -1.48909344e-03 -7.72615725e+01] [-9.46921806e-01 -3.21434589e-01 4.34718330e-03 -2.56777173e+02] [-4.59513217e-03 1.27349674e-05 -9.99989442e-01 -1.78942784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.026559995 meters 0.01206601621695673 Centerline is valid? [True, True] Translation: X:-77.25, Y:-256.89, Z:-1.79 [[ 3.91513503e-01 -9.20170863e-01 -1.66106132e-03 -7.72466208e+01] [-9.20162794e-01 -3.91517027e-01 3.85352431e-03 -2.56893486e+02] [-4.19623458e-03 1.97400281e-05 -9.99991196e-01 -1.78836067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.0565599949999 meters 0.012135810058052815 Centerline is valid? [True, True] Translation: X:-77.22, Y:-257.01, Z:-1.79 [[ 4.59738666e-01 -8.88052045e-01 -1.98097275e-03 -7.72226681e+01] [-8.88044043e-01 -4.59742934e-01 3.76997367e-03 -2.57007627e+02] [-4.25867105e-03 2.59883852e-05 -9.99990932e-01 -1.78809684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.0865599949999 meters 0.012249347552591402 Centerline is valid? [True, True] Translation: X:-77.19, Y:-257.12, Z:-1.79 [[ 5.25046004e-01 -8.51070931e-01 -2.22813002e-03 -7.71886985e+01] [-8.51063530e-01 -5.25050730e-01 3.54951057e-03 -2.57120857e+02] [-4.19076656e-03 3.26238589e-05 -9.99991218e-01 -1.78847411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.116559995 meters 0.012449567880893509 Centerline is valid? [True, True] Translation: X:-77.15, Y:-257.23, Z:-1.79 [[ 5.88006116e-01 -8.08852444e-01 -2.55557503e-03 -7.71499347e+01] [-8.08845076e-01 -5.88011669e-01 3.45262068e-03 -2.57227431e+02] [-4.29536861e-03 3.69022067e-05 -9.99990774e-01 -1.78857155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.146559995 meters 0.012464627180661552 Centerline is valid? [True, True] Translation: X:-77.11, Y:-257.33, Z:-1.79 [[ 6.48264943e-01 -7.61407527e-01 -3.33773184e-03 -7.71060006e+01] [-7.61397774e-01 -6.48273534e-01 3.85412430e-03 -2.57328974e+02] [-5.09832248e-03 4.28479232e-05 -9.99987003e-01 -1.78688770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.1765599949999 meters 0.012461742527106828 Centerline is valid? [True, True] Translation: X:-77.06, Y:-257.43, Z:-1.79 [[ 7.04779711e-01 -7.09412362e-01 -4.43394161e-03 -7.70551290e+01] [-7.09398763e-01 -7.04793657e-01 4.39278417e-03 -2.57426572e+02] [-6.24130931e-03 4.94875364e-05 -9.99980522e-01 -1.78535393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.2065599949999 meters 0.012214264135428867 Centerline is valid? [True, True] Translation: X:-77.06, Y:-257.44, Z:-1.78 [[ 7.59495167e-01 -6.50488540e-01 -5.63476224e-03 -7.70601265e+01] [-6.50471050e-01 -7.59516068e-01 4.77017730e-03 -2.57437341e+02] [-7.38263813e-03 4.23231037e-05 -9.99972747e-01 -1.78423617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.236559995 meters 0.012088889547176384 Centerline is valid? [True, True] Translation: X:-77.06, Y:-257.45, Z:-1.78 [[ 8.09050306e-01 -5.87704642e-01 -6.39191948e-03 -7.70638629e+01] [-5.87686608e-01 -8.09075555e-01 4.60403343e-03 -2.57446090e+02] [-7.87735761e-03 3.15508248e-05 -9.99968973e-01 -1.78411113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.266559995 meters 0.011953941437226535 Centerline is valid? [True, True] Translation: X:-77.07, Y:-257.46, Z:-1.78 [[ 8.53491883e-01 -5.21065649e-01 -6.49573329e-03 -7.70663594e+01] [-5.21050701e-01 -8.53516602e-01 3.94685977e-03 -2.57456050e+02] [-7.60078925e-03 1.59936140e-05 -9.99971114e-01 -1.78388086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.2965599949999 meters 0.01190542463966059 Centerline is valid? [True, True] Translation: X:-77.07, Y:-257.47, Z:-1.78 [[ 8.92490180e-01 -4.51013694e-01 -6.92281985e-03 -7.70689268e+01] [-4.51000138e-01 -8.92517029e-01 3.49680385e-03 -2.57467168e+02] [-7.75584103e-03 1.32961083e-06 -9.99969923e-01 -1.78390750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.3265599949999 meters 0.011968237868666486 Centerline is valid? [True, True] Translation: X:-77.07, Y:-257.48, Z:-1.78 [[ 9.25802871e-01 -3.77940119e-01 -7.09306044e-03 -7.70701898e+01] [-3.77928904e-01 -9.25830042e-01 2.91152059e-03 -2.57477673e+02] [-7.66734888e-03 -1.48215534e-05 -9.99970605e-01 -1.78288120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.356559995 meters 0.012081967812385524 Centerline is valid? [True, True] Translation: X:-77.07, Y:-257.49, Z:-1.79 [[ 9.53470905e-01 -3.01437085e-01 -5.37742653e-03 -7.70688983e+01] [-3.01432120e-01 -9.53486069e-01 1.73023357e-03 -2.57487829e+02] [-5.64885784e-03 -2.87982846e-05 -9.99984045e-01 -1.78508360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.386559995 meters 0.012131676947674638 Centerline is valid? [True, True] Translation: X:-77.07, Y:-257.50, Z:-1.79 [[ 9.74351396e-01 -2.24986047e-01 -4.54267507e-03 -7.70674515e+01] [-2.24983464e-01 -9.74361985e-01 1.07839582e-03 -2.57497051e+02] [-4.66883391e-03 -2.87097002e-05 -9.99989101e-01 -1.78592758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.416559995 meters 0.012331077537957435 Centerline is valid? [True, True] Translation: X:-77.07, Y:-257.51, Z:-1.79 [[ 9.89217786e-01 -1.46429181e-01 -2.58211559e-03 -7.70653600e+01] [-1.46428627e-01 -9.89221156e-01 4.03278904e-04 -2.57505985e+02] [-2.61333516e-03 -2.08350251e-05 -9.99996585e-01 -1.78710131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.4465599949999 meters 0.012466736192776181 Centerline is valid? [True, True] Translation: X:-77.07, Y:-257.51, Z:-1.79 [[ 9.97702770e-01 -6.77035342e-02 -2.32668425e-03 -7.70663715e+01] [-6.77033019e-02 -9.97705483e-01 1.78541848e-04 -2.57512599e+02] [-2.33343355e-03 -2.06074901e-05 -9.99997277e-01 -1.78792305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.476559995 meters 0.012559239694908065 Centerline is valid? [True, True] Translation: X:-77.07, Y:-257.52, Z:-1.79 [[ 9.99932973e-01 1.14864608e-02 -1.45321825e-03 -7.70658004e+01] [ 1.14864695e-02 -9.99934028e-01 -2.35918924e-06 -2.57519217e+02] [-1.45314948e-03 -1.43333160e-05 -9.99998944e-01 -1.78900406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.506559995 meters 0.012727858718650419 Centerline is valid? [True, True] Translation: X:-77.06, Y:-257.53, Z:-1.79 [[ 9.95905743e-01 9.03950022e-02 -7.03645095e-04 -7.70649751e+01] [ 9.03949851e-02 -9.95905991e-01 -5.61287938e-05 -2.57526755e+02] [-7.05838129e-04 -7.70699978e-06 -9.99999751e-01 -1.78956896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.536559995 meters 0.012892116020402312 Centerline is valid? [True, True] Translation: X:-77.06, Y:-257.53, Z:-1.79 [[ 9.85634739e-01 1.68890961e-01 -7.05363044e-05 -7.70633347e+01] [ 1.68890960e-01 -9.85634741e-01 -1.07527424e-05 -2.57534911e+02] [-7.13390738e-05 -1.31466778e-06 -9.99999998e-01 -1.78904537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.5665599949999 meters 0.013431339385847306 Centerline is valid? [True, True] Translation: X:-77.06, Y:-257.54, Z:-1.79 [[ 9.69346607e-01 2.45697266e-01 9.33632385e-05 -7.70622180e+01] [ 2.45697264e-01 -9.69346612e-01 2.30998790e-05 -2.57542025e+02] [ 9.61769152e-05 5.47302980e-07 -9.99999995e-01 -1.78890872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.596559995 meters 0.012848106799931655 Centerline is valid? [True, True] Translation: X:-77.06, Y:-257.55, Z:-1.79 [[ 9.47012394e-01 3.21196950e-01 2.11199048e-04 -7.70603376e+01] [ 3.21196942e-01 -9.47012418e-01 6.94711232e-05 -2.57547509e+02] [ 2.22322033e-04 2.04647360e-06 -9.99999975e-01 -1.78900962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.626559995 meters 0.013187001252604868 Centerline is valid? [True, True] Translation: X:-77.06, Y:-257.56, Z:-1.79 [[ 9.18801218e-01 3.94720560e-01 2.93080580e-05 -7.70577429e+01] [ 3.94720560e-01 -9.18801219e-01 1.27439349e-05 -2.57555082e+02] [ 3.19585718e-05 -1.40649907e-07 -1.00000000e+00 -1.78895693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.656559995 meters 0.01345376289220328 Centerline is valid? [True, True] Translation: X:-77.06, Y:-257.56, Z:-1.79 [[ 8.85025222e-01 4.65543044e-01 1.72220312e-04 -7.70557489e+01] [ 4.65543036e-01 -8.85025239e-01 8.85287828e-05 -2.57559806e+02] [ 1.93633281e-04 1.82576111e-06 -9.99999981e-01 -1.78753503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.6865599949999 meters 0.013066190596127743 Centerline is valid? [True, True] Translation: X:-77.05, Y:-257.56, Z:-1.79 [[ 8.45817399e-01 5.33472087e-01 -6.77789983e-04 -7.70525482e+01] [ 5.33471925e-01 -8.45817671e-01 -4.15401666e-04 -2.57564014e+02] [-7.94891939e-04 -1.02279700e-05 -9.99999684e-01 -1.78663042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.7165599949999 meters 0.012742938526700723 Centerline is valid? [True, True] Translation: X:-77.05, Y:-257.57, Z:-1.79 [[ 8.01839897e-01 5.97537182e-01 -1.44733110e-03 -7.70474022e+01] [ 5.97536256e-01 -8.01841203e-01 -1.05214365e-03 -2.57569374e+02] [-1.78922467e-03 -2.11820491e-05 -9.99998399e-01 -1.78582725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.746559995 meters 0.01250969267551659 Centerline is valid? [True, True] Translation: X:-77.04, Y:-257.57, Z:-1.79 [[ 7.54178687e-01 6.56666002e-01 -2.06640297e-03 -7.70441585e+01] [ 6.56663629e-01 -7.54181518e-01 -1.76564687e-03 -2.57574835e+02] [-2.71788320e-03 -2.53184364e-05 -9.99996306e-01 -1.78556667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.776559995 meters 0.01219146966700551 Centerline is valid? [True, True] Translation: X:-77.04, Y:-257.58, Z:-1.79 [[ 7.02203607e-01 7.11973597e-01 -1.92147522e-03 -7.70397015e+01] [ 7.11971004e-01 -7.02206235e-01 -1.92158884e-03 -2.57579607e+02] [-2.71739240e-03 -1.86880309e-05 -9.99996308e-01 -1.78518860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.8065599949999 meters 0.011981543346612649 Centerline is valid? [True, True] Translation: X:-77.04, Y:-257.58, Z:-1.79 [[ 6.46729374e-01 7.62717261e-01 -1.86997789e-03 -7.70367971e+01] [ 7.62714120e-01 -6.46732077e-01 -2.18889651e-03 -2.57584212e+02] [-2.87888383e-03 -1.06348733e-05 -9.99995856e-01 -1.78510806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.8365599949999 meters 0.012127428196200796 Centerline is valid? [True, True] Translation: X:-77.04, Y:-257.59, Z:-1.79 [[ 5.90935158e-01 8.06715832e-01 -2.28173502e-03 -7.70358066e+01] [ 8.06709725e-01 -5.90939563e-01 -3.13892071e-03 -2.57586116e+02] [-3.88058452e-03 1.42007765e-05 -9.99992471e-01 -1.78509598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.866559995 meters 0.012447510376907917 Centerline is valid? [True, True] Translation: X:-77.03, Y:-257.59, Z:-1.78 [[ 5.28983469e-01 8.48628891e-01 -2.34407808e-03 -7.70307890e+01] [ 8.48620287e-01 -5.28988661e-01 -3.82164042e-03 -2.57590955e+02] [-4.48314520e-03 3.23523978e-05 -9.99989950e-01 -1.78467982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.896559995 meters 0.01303452038011638 Centerline is valid? [True, True] Translation: X:-77.03, Y:-257.60, Z:-1.78 [[ 4.63901660e-01 8.85883273e-01 -2.46510044e-03 -7.70267837e+01] [ 8.85870098e-01 -4.63908206e-01 -4.83179213e-03 -2.57596067e+02] [-5.42398415e-03 5.77176224e-05 -9.99985289e-01 -1.78424496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.9265599949999 meters 0.013550684430050223 Centerline is valid? [True, True] Translation: X:-77.02, Y:-257.60, Z:-1.78 [[ 3.96043146e-01 9.18229138e-01 -2.25311469e-03 -7.70211226e+01] [ 9.18213089e-01 -3.96049546e-01 -5.42960688e-03 -2.57599971e+02] [-5.87796830e-03 8.15191883e-05 -9.99982721e-01 -1.78439882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.9565599949999 meters 0.014562385535316323 Centerline is valid? [True, True] Translation: X:-77.01, Y:-257.60, Z:-1.79 [[ 3.27678923e-01 9.44787496e-01 -1.76381318e-03 -7.70143200e+01] [ 9.44771995e-01 -3.27683652e-01 -5.41311576e-03 -2.57604531e+02] [-5.69221683e-03 1.07362645e-04 -9.99983794e-01 -1.78506877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.986559995 meters 0.015354520984711137 Centerline is valid? [True, True] Translation: X:-77.01, Y:-257.61, Z:-1.78 [[ 2.54149369e-01 9.67164049e-01 -1.34173390e-03 -7.70076044e+01] [ 9.67148051e-01 -2.54152884e-01 -5.56407196e-03 -2.57609340e+02] [-5.72237591e-03 1.16450049e-04 -9.99983620e-01 -1.78471633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.016559995 meters 0.015446024646520088 Centerline is valid? [True, True] Translation: X:-77.00, Y:-257.61, Z:-1.78 [[ 1.79157055e-01 9.83820037e-01 -9.40230846e-04 -7.69989238e+01] [ 9.83802393e-01 -1.79159474e-01 -5.89351298e-03 -2.57613661e+02] [-5.96660743e-03 1.30863072e-04 -9.99982191e-01 -1.78485346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.0465599949999 meters 0.016935848260441987 Centerline is valid? [True, True] Translation: X:-76.99, Y:-257.62, Z:-1.79 [[ 1.02525315e-01 9.94730299e-01 -4.39367888e-04 -7.69914176e+01] [ 9.94715134e-01 -1.02526179e-01 -5.49414927e-03 -2.57617923e+02] [-5.51024346e-03 1.26243497e-04 -9.99984811e-01 -1.78573353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.0765599949999 meters 0.01500036514209757 Centerline is valid? [True, True] Translation: X:-76.98, Y:-257.62, Z:-1.79 [[ 2.41646490e-02 9.99707992e-01 -7.33231169e-06 -7.69756539e+01] [ 9.99693864e-01 -2.41643465e-02 -5.31625835e-03 -2.57620871e+02] [-5.31488314e-03 1.21135450e-04 -9.99985869e-01 -1.78703607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.106559995 meters 0.015972400996875438 Centerline is valid? [True, True] Translation: X:-76.97, Y:-257.62, Z:-1.79 [[-5.46302893e-02 9.98506566e-01 4.10617881e-04 -7.69661196e+01] [ 9.98492415e-01 5.46317018e-02 -5.31735813e-03 -2.57623475e+02] [-5.33184976e-03 1.19510027e-04 -9.99985779e-01 -1.78732838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.136559995 meters 0.01516673285623421 Centerline is valid? [True, True] Translation: X:-76.95, Y:-257.62, Z:-1.79 [[-1.33413904e-01 9.91060068e-01 8.20007016e-04 -7.69523448e+01] [ 9.91046273e-01 1.33416374e-01 -5.23025186e-03 -2.57623285e+02] [-5.29289612e-03 1.14876580e-04 -9.99985986e-01 -1.78863941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.166559995 meters 0.014576397729651792 Centerline is valid? [True, True] Translation: X:-76.94, Y:-257.62, Z:-1.79 [[-2.11142250e-01 9.77454578e-01 1.22409631e-03 -7.69373852e+01] [ 9.77441085e-01 2.11145769e-01 -5.13704314e-03 -2.57621365e+02] [-5.27968909e-03 1.11835175e-04 -9.99986056e-01 -1.78886628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.1965599949999 meters 0.01548467647816827 Centerline is valid? [True, True] Translation: X:-76.93, Y:-257.62, Z:-1.79 [[-2.87912709e-01 9.57655171e-01 1.68660590e-03 -7.69257979e+01] [ 9.57640936e-01 2.87917628e-01 -5.22287800e-03 -2.57620309e+02] [-5.48731969e-03 1.11429896e-04 -9.99984938e-01 -1.78793664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.226559995 meters 0.014588858386233748 Centerline is valid? [True, True] Translation: X:-76.91, Y:-257.62, Z:-1.79 [[-3.64309544e-01 9.31275157e-01 2.26695317e-03 -7.69135625e+01] [ 9.31258901e-01 3.64316582e-01 -5.50338396e-03 -2.57617333e+02] [-5.95105339e-03 1.06185020e-04 -9.99982287e-01 -1.78738305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.256559995 meters 0.014065286660506592 Centerline is valid? [True, True] Translation: X:-76.90, Y:-257.61, Z:-1.79 [[-4.37296130e-01 8.99312893e-01 2.90074757e-03 -7.69036136e+01] [ 8.99294691e-01 4.37305738e-01 -5.72278121e-03 -2.57613796e+02] [-6.41508449e-03 1.06076815e-04 -9.99979418e-01 -1.78737120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.286559995 meters 0.013584257628843936 Centerline is valid? [True, True] Translation: X:-76.89, Y:-257.61, Z:-1.79 [[-5.07500428e-01 8.61645015e-01 3.34434184e-03 -7.68930393e+01] [ 8.61627564e-01 5.07511438e-01 -5.48466238e-03 -2.57607979e+02] [-6.42312373e-03 9.81086073e-05 -9.99979367e-01 -1.78784627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.3165599949999 meters 0.013718033409415189 Centerline is valid? [True, True] Translation: X:-76.88, Y:-257.60, Z:-1.79 [[-5.75320799e-01 8.17919953e-01 3.59571502e-03 -7.68836567e+01] [ 8.17904833e-01 5.75332030e-01 -4.97400124e-03 -2.57603851e+02] [-6.13706488e-03 7.93063277e-05 -9.99981165e-01 -1.78837714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.346559995 meters 0.012994312610135695 Centerline is valid? [True, True] Translation: X:-76.87, Y:-257.60, Z:-1.79 [[-6.38787504e-01 7.69374749e-01 3.60838446e-03 -7.68738044e+01] [ 7.69363033e-01 6.38797692e-01 -4.24644091e-03 -2.57595708e+02] [-5.57213207e-03 6.35842255e-05 -9.99984474e-01 -1.78935915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.376559995 meters 0.012746717911070803 Centerline is valid? [True, True] Translation: X:-76.86, Y:-257.59, Z:-1.79 [[-6.98645368e-01 7.15458797e-01 3.65503534e-03 -7.68649870e+01] [ 7.15449363e-01 6.98654927e-01 -3.67450309e-03 -2.57588752e+02] [-5.18256401e-03 4.78181415e-05 -9.99986569e-01 -1.78932094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.406559995 meters 0.012247554003914156 Centerline is valid? [True, True] Translation: X:-76.86, Y:-257.58, Z:-1.79 [[-7.55769880e-01 6.54824734e-01 4.05666928e-03 -7.68550004e+01] [ 6.54815463e-01 7.55780767e-01 -3.48448733e-03 -2.57577334e+02] [-5.34768111e-03 2.28992002e-05 -9.99985701e-01 -1.78895463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.4365599949999 meters 0.012100478590087959 Centerline is valid? [True, True] Translation: X:-76.44, Y:-257.09, Z:-2.80 [[-7.14797860e-01 -6.99321995e-01 3.57307383e-03 -7.64352352e+01] [ 6.99312973e-01 -7.14806789e-01 -3.55247238e-03 -2.57091502e+02] [ 5.03837951e-03 -4.06027740e-05 9.99987307e-01 -2.80199457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.4665599949999 meters 0.012003451010804628 Centerline is valid? [True, True] Translation: X:-76.89, Y:-257.55, Z:-1.79 [[-7.60716933e-01 6.49073498e-01 3.65268712e-03 -7.68906564e+01] [ 6.49066024e-01 7.60725702e-01 -3.11489636e-03 -2.57545077e+02] [-4.80048965e-03 1.28070438e-06 -9.99988478e-01 -1.78989118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.496559995 meters 0.012007363832379233 Centerline is valid? [True, True] Translation: X:-76.87, Y:-257.52, Z:-1.79 [[-8.05813245e-01 5.92156498e-01 3.96196561e-03 -7.68748951e+01] [ 5.92149296e-01 8.05822984e-01 -2.92053588e-03 -2.57520761e+02] [-4.92205726e-03 -7.33134812e-06 -9.99987887e-01 -1.79002581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.526559995 meters 0.012215429846634256 Centerline is valid? [True, True] Translation: X:-76.49, Y:-257.01, Z:-2.80 [[-7.60080615e-01 -6.49814901e-01 4.24896831e-03 -7.64939331e+01] [ 6.49805101e-01 -7.60092489e-01 -3.56914985e-03 -2.57011931e+02] [ 5.54889566e-03 4.81596684e-05 9.99984604e-01 -2.80167497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.5565599949999 meters 0.012262507954623312 Centerline is valid? [True, True] Translation: X:-76.91, Y:-257.49, Z:-1.79 [[-8.10904150e-01 5.85161477e-01 4.52839070e-03 -7.69084882e+01] [ 5.85152099e-01 8.10916793e-01 -3.31313613e-03 -2.57493885e+02] [-5.61086769e-03 -3.68385166e-05 -9.99984258e-01 -1.78946035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.5865599949999 meters 0.012262507954623312 Centerline is valid? [True, True] Translation: X:-76.89, Y:-257.47, Z:-1.79 [[-8.50303786e-01 5.26270742e-01 4.75161851e-03 -7.68938136e+01] [ 5.26262283e-01 8.50317061e-01 -2.98415058e-03 -2.57470243e+02] [-5.61085343e-03 -3.68369328e-05 -9.99984258e-01 -1.78946050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.616559995 meters 0.012464720245262193 Centerline is valid? [True, True] Translation: X:-76.88, Y:-257.44, Z:-1.79 [[-8.86085747e-01 4.63496342e-01 4.81556712e-03 -7.68841823e+01] [ 4.63489230e-01 8.86098831e-01 -2.56800789e-03 -2.57441879e+02] [-5.45733067e-03 -4.35116935e-05 -9.99985108e-01 -1.78883093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.646559995 meters 0.012558865557901628 Centerline is valid? [True, True] Translation: X:-76.87, Y:-257.42, Z:-1.79 [[-9.17289120e-01 3.98186426e-01 5.31421752e-03 -7.68704293e+01] [ 3.98179395e-01 9.17304512e-01 -2.36684457e-03 -2.57416956e+02] [-5.81720109e-03 -5.50688515e-05 -9.99983079e-01 -1.78834196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.6765599949999 meters 0.01328026024134863 Centerline is valid? [True, True] Translation: X:-76.87, Y:-257.39, Z:-1.79 [[-9.43885642e-01 3.30212875e-01 6.27313283e-03 -7.68671686e+01] [ 3.30205037e-01 9.43906484e-01 -2.27649339e-03 -2.57386889e+02] [-6.67297818e-03 -7.73293651e-05 -9.99977733e-01 -1.78654848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.7065599949999 meters 0.013456566046987589 Centerline is valid? [True, True] Translation: X:-76.65, Y:-256.80, Z:-2.81 [[-9.09919180e-01 -4.14732919e-01 6.61006142e-03 -7.66503557e+01] [ 4.14722911e-01 -9.09943181e-01 -2.88354727e-03 -2.56800189e+02] [ 7.21068229e-03 1.17548951e-04 9.99973996e-01 -2.80521523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.736559995 meters 0.013244911685547136 Centerline is valid? [True, True] Translation: X:-76.91, Y:-257.37, Z:-1.79 [[-9.45585435e-01 3.25292866e-01 7.26203439e-03 -7.69104942e+01] [ 3.25282452e-01 9.45613315e-01 -2.60492252e-03 -2.57374225e+02] [-7.71443913e-03 -1.00964440e-04 -9.99970238e-01 -1.78627378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.766559995 meters 0.013761504954030543 Centerline is valid? [True, True] Translation: X:-76.70, Y:-256.78, Z:-2.81 [[-9.10474404e-01 -4.13476567e-01 8.57252143e-03 -7.66959115e+01] [ 4.13460547e-01 -9.10514733e-01 -3.64659648e-03 -2.56783600e+02] [ 9.31318925e-03 2.24266645e-04 9.99956606e-01 -2.80730611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.7965599949999 meters 0.014288694529150495 Centerline is valid? [True, True] Translation: X:-76.96, Y:-257.36, Z:-1.78 [[-9.47623137e-01 3.19232635e-01 1.00456759e-02 -7.69605423e+01] [ 3.19212817e-01 9.47676367e-01 -3.56099796e-03 -2.57356034e+02] [-1.06568364e-02 -1.67775561e-04 -9.99943200e-01 -1.78227549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.8265599949999 meters 0.013985312129095961 Centerline is valid? [True, True] Translation: X:-76.74, Y:-256.77, Z:-2.81 [[-9.11227399e-01 -4.11750211e-01 1.12423354e-02 -7.67411515e+01] [ 4.11722789e-01 -9.11296702e-01 -4.76086291e-03 -2.56766208e+02] [ 1.22053895e-02 2.90496956e-04 9.99925469e-01 -2.80959752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.856559995 meters 0.014245124477255773 Centerline is valid? [True, True] Translation: X:-77.00, Y:-257.35, Z:-1.78 [[-9.49037802e-01 3.14911667e-01 1.25655452e-02 -7.70000743e+01] [ 3.14880980e-01 9.49120958e-01 -4.40171846e-03 -2.57346746e+02] [-1.33123748e-02 -2.20746011e-04 -9.99911362e-01 -1.78061201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.886559995 meters 0.014043037396329313 Centerline is valid? [True, True] Translation: X:-76.99, Y:-257.32, Z:-1.78 [[-9.68567268e-01 2.48412112e-01 1.29950040e-02 -7.69910845e+01] [ 2.48386963e-01 9.68654418e-01 -3.54040417e-03 -2.57324956e+02] [-1.34671473e-02 -2.01330030e-04 -9.99909294e-01 -1.77966953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.916559995 meters 0.013593223783627085 Centerline is valid? [True, True] Translation: X:-76.82, Y:-256.70, Z:-2.81 [[-9.40413710e-01 -3.39809531e-01 1.23100585e-02 -7.68223175e+01] [ 3.39782751e-01 -9.40494261e-01 -4.26941920e-03 -2.56700827e+02] [ 1.30283287e-02 1.67725208e-04 9.99915114e-01 -2.81087903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.9465599949999 meters 0.013264094142361979 Centerline is valid? [True, True] Translation: X:-77.04, Y:-257.33, Z:-1.78 [[-9.68387655e-01 2.49089064e-01 1.34159801e-02 -7.70388787e+01] [ 2.49063098e-01 9.68480572e-01 -3.59945372e-03 -2.57325038e+02] [-1.38897006e-02 -1.44240986e-04 -9.99903523e-01 -1.78016347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.976559995 meters 0.013172333513663413 Centerline is valid? [True, True] Translation: X:-76.86, Y:-256.68, Z:-2.81 [[-9.43207201e-01 -3.31921359e-01 1.37254243e-02 -7.68610140e+01] [ 3.31889102e-01 -9.43307043e-01 -4.63113721e-03 -2.56679522e+02] [ 1.44844627e-02 1.87196761e-04 9.99895077e-01 -2.81204970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.006559995 meters 0.012919824576740867 Centerline is valid? [True, True] Translation: X:-77.09, Y:-257.32, Z:-1.78 [[-9.68601403e-01 2.48216430e-01 1.41395203e-02 -7.70856463e+01] [ 2.48188339e-01 9.68704595e-01 -3.73584780e-03 -2.57320244e+02] [-1.46243171e-02 -1.09283363e-04 -9.99893053e-01 -1.77938672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.036559995 meters 0.012875395905921365 Centerline is valid? [True, True] Translation: X:-77.08, Y:-257.30, Z:-1.78 [[-9.83531311e-01 1.80205318e-01 1.38637851e-02 -7.70807079e+01] [ 1.80186186e-01 9.83629013e-01 -2.62725640e-03 -2.57296035e+02] [-1.41102668e-02 -8.59263786e-05 -9.99900442e-01 -1.77932196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.0665599949999 meters 0.01291198214396355 Centerline is valid? [True, True] Translation: X:-76.95, Y:-256.62, Z:-2.81 [[-9.65874261e-01 -2.58817594e-01 1.00182039e-02 -7.69523510e+01] [ 2.58801777e-01 -9.65926199e-01 -2.86672451e-03 -2.56622116e+02] [ 1.04188044e-02 -1.76166441e-04 9.99945707e-01 -2.80847824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.096559995 meters 0.012951798267608798 Centerline is valid? [True, True] Translation: X:-77.13, Y:-257.29, Z:-1.78 [[-9.84673734e-01 1.74163098e-01 9.21162335e-03 -7.71301834e+01] [ 1.74154750e-01 9.84716817e-01 -1.70690978e-03 -2.57288124e+02] [-9.36812112e-03 -7.65012627e-05 -9.99956115e-01 -1.78411752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.126559995 meters 0.0134613620266391 Centerline is valid? [True, True] Translation: X:-77.13, Y:-257.26, Z:-1.78 [[-9.94637676e-01 1.02987620e-01 9.45742149e-03 -7.71312645e+01] [ 1.02982140e-01 9.94682634e-01 -1.06587480e-03 -2.57259120e+02] [-9.51690483e-03 -8.62137245e-05 -9.99954710e-01 -1.78340344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.156559995 meters 0.013382577771895504 Centerline is valid? [True, True] Translation: X:-77.05, Y:-256.58, Z:-2.81 [[-9.82019345e-01 -1.88524575e-01 9.82298295e-03 -7.70536772e+01] [ 1.88516372e-01 -9.82068465e-01 -1.76277215e-03 -2.56577469e+02] [ 9.97916766e-03 1.20716755e-04 9.99950200e-01 -2.80781623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.1865599949999 meters 0.013489220094912107 Centerline is valid? [True, True] Translation: X:-77.19, Y:-257.25, Z:-1.78 [[-9.95231710e-01 9.70401409e-02 9.85159410e-03 -7.71907670e+01] [ 9.70343314e-02 9.95280463e-01 -1.06711214e-03 -2.57253044e+02] [-9.90865184e-03 -1.06080990e-04 -9.99950903e-01 -1.78328538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.2165599949999 meters 0.013752542114299028 Centerline is valid? [True, True] Translation: X:-77.11, Y:-256.57, Z:-2.81 [[-9.82602915e-01 -1.85439346e-01 1.01863235e-02 -7.71118966e+01] [ 1.85430846e-01 -9.82655703e-01 -1.78097476e-03 -2.56571639e+02] [ 1.03399117e-02 1.38867598e-04 9.99946532e-01 -2.80849219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.246559995 meters 0.013764218420511034 Centerline is valid? [True, True] Translation: X:-77.25, Y:-257.25, Z:-1.78 [[-9.95718859e-01 9.18803491e-02 1.00973438e-02 -7.72490077e+01] [ 9.18744189e-02 9.95770048e-01 -1.05057979e-03 -2.57247694e+02] [-1.01511601e-02 -1.18394512e-04 -9.99948469e-01 -1.78295420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.276559995 meters 0.013984274484159192 Centerline is valid? [True, True] Translation: X:-77.17, Y:-256.57, Z:-2.81 [[-9.83195218e-01 -1.82272052e-01 1.02010679e-02 -7.71725389e+01] [ 1.82263651e-01 -9.83248128e-01 -1.75505176e-03 -2.56566134e+02] [ 1.03500778e-02 1.33725378e-04 9.99946428e-01 -2.80854939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.3065599949999 meters 0.014029572764959412 Centerline is valid? [True, True] Translation: X:-77.31, Y:-257.24, Z:-1.78 [[-9.96146070e-01 8.71539471e-02 9.85883816e-03 -7.73056051e+01] [ 8.71484850e-02 9.96194848e-01 -9.83106023e-04 -2.57240569e+02] [-9.90700536e-03 -1.20134391e-04 -9.99950917e-01 -1.78269163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.3365599949999 meters 0.013681268047744964 Centerline is valid? [True, True] Translation: X:-77.31, Y:-257.21, Z:-1.78 [[-9.99805812e-01 1.68996226e-02 1.01361739e-02 -7.73077823e+01] [ 1.68975840e-02 9.99857185e-01 -2.86729195e-04 -2.57213567e+02] [-1.01395719e-02 -1.15396665e-04 -9.99948587e-01 -1.78310391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.366559995 meters 0.01377726099088766 Centerline is valid? [True, True] Translation: X:-77.31, Y:-256.53, Z:-2.81 [[-9.94294136e-01 -1.06132439e-01 1.07273414e-02 -7.73063663e+01] [ 1.06128031e-01 -9.94351989e-01 -9.80929123e-04 -2.56526853e+02] [ 1.07708616e-02 1.63139545e-04 9.99941979e-01 -2.80853165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.396559995 meters 0.013993731639222916 Centerline is valid? [True, True] Translation: X:-77.39, Y:-257.21, Z:-1.78 [[-9.99864569e-01 1.21692974e-02 1.10793301e-02 -7.73914638e+01] [ 1.21672875e-02 9.99925945e-01 -2.48798205e-04 -2.57210343e+02] [-1.10815374e-02 -1.13959114e-04 -9.99938591e-01 -1.78143880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.4265599949999 meters 0.01366769512497586 Centerline is valid? [True, True] Translation: X:-77.40, Y:-257.18, Z:-1.78 [[-9.98224344e-01 -5.84949542e-02 1.12471690e-02 -7.73961526e+01] [-5.84924900e-02 9.98287698e-01 5.48202740e-04 -2.57183134e+02] [-1.12599775e-02 -1.10645599e-04 -9.99936598e-01 -1.78177716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.4565599949999 meters 0.013580411022972052 Centerline is valid? [True, True] Translation: X:-77.42, Y:-256.50, Z:-2.81 [[-9.99565441e-01 -2.74677641e-02 1.06981955e-02 -7.74247927e+01] [ 2.74669240e-02 -9.99622688e-01 -2.25469285e-04 -2.56498824e+02] [ 1.07003520e-02 6.84752161e-05 9.99942747e-01 -2.80976009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.486559995 meters 0.013457316113251273 Centerline is valid? [True, True] Translation: X:-77.48, Y:-257.19, Z:-1.78 [[-9.98006097e-01 -6.23534316e-02 9.79186355e-03 -7.74837056e+01] [-6.23511956e-02 9.98054129e-01 5.33758810e-04 -2.57187419e+02] [-9.80609154e-03 -7.78398534e-05 -9.99951916e-01 -1.78243686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.516559995 meters 0.013242730478062239 Centerline is valid? [True, True] Translation: X:-77.52, Y:-256.50, Z:-2.81 [[-9.99769201e-01 -1.96432922e-02 8.69976620e-03 -7.75170403e+01] [ 1.96425213e-02 -9.99807052e-01 -1.74053247e-04 -2.56501158e+02] [ 8.70150658e-03 -3.12773260e-06 9.99962141e-01 -2.80731875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.5465599949999 meters 0.01314439955962046 Centerline is valid? [True, True] Translation: X:-77.57, Y:-257.19, Z:-1.78 [[-9.97788022e-01 -6.60179594e-02 7.79055187e-03 -7.75737234e+01] [-6.60162862e-02 9.97818434e-01 4.72008284e-04 -2.57193049e+02] [-7.80471729e-03 -4.33390903e-05 -9.99969542e-01 -1.78461721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.5765599949999 meters 0.012958077518256235 Centerline is valid? [True, True] Translation: X:-77.58, Y:-257.17, Z:-1.79 [[-9.90958022e-01 -1.34009923e-01 6.59844931e-03 -7.75819532e+01] [-1.34007069e-01 9.90979990e-01 8.74841643e-04 -2.57167444e+02] [-6.65616869e-03 -1.73075073e-05 -9.99977847e-01 -1.78509294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.606559995 meters 0.01296397985988648 Centerline is valid? [True, True] Translation: X:-77.60, Y:-257.14, Z:-1.79 [[-9.79079296e-01 -2.03374629e-01 6.51856753e-03 -7.75984688e+01] [-2.03370181e-01 9.79100996e-01 1.34501958e-03 -2.57142646e+02] [-6.65587882e-03 -8.80143371e-06 -9.99977849e-01 -1.78519703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.636559995 meters 0.013012029319559316 Centerline is valid? [True, True] Translation: X:-77.63, Y:-257.12, Z:-1.79 [[-9.62521165e-01 -2.71158929e-01 5.08356428e-03 -7.76271153e+01] [-2.71155119e-01 9.62534589e-01 1.43733821e-03 -2.57122102e+02] [-5.28285354e-03 5.03396992e-06 -9.99986046e-01 -1.78630857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.666559995 meters 0.013013168511872035 Centerline is valid? [True, True] Translation: X:-77.68, Y:-257.11, Z:-1.79 [[-9.40493036e-01 -3.39778886e-01 4.81224277e-03 -7.76781962e+01] [-3.39774384e-01 9.40505348e-01 1.74902019e-03 -2.57110220e+02] [-5.12022019e-03 9.86448065e-06 -9.99986892e-01 -1.78727683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.6965599949999 meters 0.013113902567793637 Centerline is valid? [True, True] Translation: X:-77.74, Y:-257.11, Z:-1.79 [[-9.13323843e-01 -4.07212353e-01 4.20212973e-03 -7.77400661e+01] [-4.07207975e-01 9.13333510e-01 1.88830582e-03 -2.57105859e+02] [-4.60688735e-03 1.34939876e-05 -9.99989388e-01 -1.78764690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.726559995 meters 0.01307839216873641 Centerline is valid? [True, True] Translation: X:-77.81, Y:-257.11, Z:-1.79 [[-8.80996344e-01 -4.73107163e-01 3.87998744e-03 -7.78121421e+01] [-4.73102492e-01 8.81004888e-01 2.10247888e-03 -2.57109557e+02] [-4.41298572e-03 1.66444776e-05 -9.99990263e-01 -1.78785855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.756559995 meters 0.01317083908860213 Centerline is valid? [True, True] Translation: X:-77.89, Y:-257.12, Z:-1.79 [[-8.43603683e-01 -5.36951981e-01 3.92369270e-03 -7.78933080e+01] [-5.36946058e-01 8.43612808e-01 2.52213944e-03 -2.57121907e+02] [-4.66434518e-03 2.08747939e-05 -9.99989122e-01 -1.78587811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.786559995 meters 0.013217958052053265 Centerline is valid? [True, True] Translation: X:-77.98, Y:-257.15, Z:-1.79 [[-8.00604924e-01 -5.99177162e-01 4.29929184e-03 -7.79790644e+01] [-5.99168381e-01 8.00616468e-01 3.24392438e-03 -2.57146244e+02] [-5.38576925e-03 2.11021051e-05 -9.99985497e-01 -1.78507008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.8165599949999 meters 0.013163738163717307 Centerline is valid? [True, True] Translation: X:-78.07, Y:-257.18, Z:-1.78 [[-7.52015185e-01 -6.59119386e-01 5.89891104e-03 -7.80670087e+01] [-6.59098929e-01 7.52038320e-01 5.19290115e-03 -2.57181042e+02] [-7.85894897e-03 1.71745642e-05 -9.99969118e-01 -1.78367404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.846559995 meters 0.013400089105680147 Centerline is valid? [True, True] Translation: X:-78.16, Y:-257.23, Z:-1.78 [[-6.99250451e-01 -7.14816404e-01 9.29061107e-03 -7.81577157e+01] [-7.14753021e-01 6.99312168e-01 9.51893393e-03 -2.57226395e+02] [-1.33013275e-02 1.56265135e-05 -9.99911533e-01 -1.77956636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.876559995 meters 0.013746525981238392 Centerline is valid? [True, True] Translation: X:-78.25, Y:-257.28, Z:-1.77 [[-6.39034728e-01 -7.69093075e-01 1.14218850e-02 -7.82508350e+01] [-7.68972260e-01 6.39136791e-01 1.36318038e-02 -2.57276730e+02] [-1.77842728e-02 -7.19166796e-05 -9.99841845e-01 -1.77432908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.906559995 meters 0.013746525981238392 Centerline is valid? [True, True] Translation: X:-78.34, Y:-257.34, Z:-1.77 [[-5.78673966e-01 -8.15493278e-01 1.03515705e-02 -7.83356489e+01] [-8.15365048e-01 5.78766540e-01 1.44613236e-02 -2.57340587e+02] [-1.77842549e-02 -7.19172774e-05 -9.99841845e-01 -1.77432989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.9365599949999 meters 0.013746525981238392 Centerline is valid? [True, True] Translation: X:-78.42, Y:-257.41, Z:-1.77 [[-5.14815142e-01 -8.57251646e-01 9.21870327e-03 -7.84169536e+01] [-8.57116731e-01 5.14897669e-01 1.52085425e-02 -2.57413149e+02] [-1.77842369e-02 -7.19168676e-05 -9.99841845e-01 -1.77433071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.9665599949999 meters 0.0142991522929537 Centerline is valid? [True, True] Translation: X:-78.50, Y:-257.49, Z:-1.77 [[-4.45412934e-01 -8.95279772e-01 9.02488902e-03 -7.84961263e+01] [-8.95102153e-01 4.45504335e-01 1.78331977e-02 -2.57494310e+02] [-1.99863283e-02 -1.35060709e-04 -9.99800244e-01 -1.77244249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.996559995 meters 0.01394898939628099 Centerline is valid? [True, True] Translation: X:-78.57, Y:-257.58, Z:-1.77 [[-3.75415399e-01 -9.26826225e-01 7.51174085e-03 -7.85677822e+01] [-9.26647995e-01 3.75490518e-01 1.81759296e-02 -2.57584383e+02] [-1.96665156e-02 -1.37215745e-04 -9.99806586e-01 -1.77427449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.026559995 meters 0.013926450486494255 Centerline is valid? [True, True] Translation: X:-78.63, Y:-257.68, Z:-1.78 [[-3.03763865e-01 -9.52728394e-01 6.01015379e-03 -7.86312670e+01] [-9.52550033e-01 3.03823291e-01 1.84348277e-02 -2.57676628e+02] [-1.93894085e-02 -1.25137670e-04 -9.99812000e-01 -1.77539078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.0565599949999 meters 0.013393589690973455 Centerline is valid? [True, True] Translation: X:-78.69, Y:-257.78, Z:-1.78 [[-2.34403357e-01 -9.72130910e-01 4.06952955e-03 -7.86868246e+01] [-9.71986580e-01 2.34438678e-01 1.67509778e-02 -2.57780253e+02] [-1.72381984e-02 -2.90426742e-05 -9.99851411e-01 -1.77804892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.0865599949999 meters 0.013559685355015682 Centerline is valid? [True, True] Translation: X:-78.73, Y:-257.89, Z:-1.78 [[-1.62445560e-01 -9.86714293e-01 2.51896440e-03 -7.87343569e+01] [-9.86593001e-01 1.62465086e-01 1.54708313e-02 -2.57886043e+02] [-1.56745341e-02 2.79752040e-05 -9.99877147e-01 -1.77852731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.116559995 meters 0.013781556888271776 Centerline is valid? [True, True] Translation: X:-78.77, Y:-258.00, Z:-1.78 [[-9.00473757e-02 -9.95936753e-01 1.20603687e-03 -7.87729278e+01] [-9.95834739e-01 9.00554139e-02 1.42546803e-02 -2.57995764e+02] [-1.43053702e-02 8.25831458e-05 -9.99897670e-01 -1.77999196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.146559995 meters 0.014316689633018848 Centerline is valid? [True, True] Translation: X:-78.80, Y:-258.11, Z:-1.79 [[-2.05620297e-02 -9.99788576e-01 8.39708462e-05 -7.88011441e+01] [-9.99723484e-01 2.05616493e-02 1.14094345e-02 -2.58106111e+02] [-1.14087488e-02 1.50653504e-04 -9.99934907e-01 -1.78543138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.1765599949999 meters 0.015117717237622133 Centerline is valid? [True, True] Translation: X:-78.82, Y:-258.22, Z:-1.79 [[ 5.34496411e-02 -9.98570323e-01 -6.67833838e-04 -7.88225523e+01] [-9.98524559e-01 -5.34535860e-02 9.56135662e-03 -2.58224107e+02] [-9.58338508e-03 1.55797408e-04 -9.99954066e-01 -1.78706720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.2065599949999 meters 0.015527515385115084 Centerline is valid? [True, True] Translation: X:-78.84, Y:-258.34, Z:-1.79 [[ 1.27811396e-01 -9.91797779e-01 -1.18866867e-03 -7.88368846e+01] [-9.91765207e-01 -1.27816833e-01 8.03936348e-03 -2.58341360e+02] [-8.12535471e-03 1.51357961e-04 -9.99966977e-01 -1.78937769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.236559995 meters 0.015889512209944678 Centerline is valid? [True, True] Translation: X:-78.84, Y:-258.46, Z:-1.79 [[ 2.01769436e-01 -9.79431608e-01 -1.67951483e-03 -7.88438333e+01] [-9.79403828e-01 -2.01776365e-01 7.37834768e-03 -2.58461405e+02] [-7.56547333e-03 1.56198202e-04 -9.99971369e-01 -1.79031746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.266559995 meters 0.016084110414891693 Centerline is valid? [True, True] Translation: X:-78.84, Y:-258.58, Z:-1.79 [[ 2.76153680e-01 -9.61110723e-01 -2.30729376e-03 -7.88416043e+01] [-9.61081950e-01 -2.76163270e-01 7.43868971e-03 -2.58583504e+02] [-7.78659423e-03 1.63276851e-04 -9.99969671e-01 -1.78938123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.2965599949999 meters 0.016065986701912262 Centerline is valid? [True, True] Translation: X:-78.83, Y:-258.71, Z:-1.79 [[ 3.49785413e-01 -9.36824487e-01 -3.16961013e-03 -7.88295411e+01] [-9.36790434e-01 -3.49799730e-01 7.98953685e-03 -2.58705422e+02] [-8.59352253e-03 1.74637008e-04 -9.99963060e-01 -1.78799496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.3265599949999 meters 0.015924025407520626 Centerline is valid? [True, True] Translation: X:-78.81, Y:-258.82, Z:-1.79 [[ 4.21615984e-01 -9.06764301e-01 -4.29696092e-03 -7.88089850e+01] [-9.06721681e-01 -4.21637838e-01 8.79362104e-03 -2.58823701e+02] [-9.78550295e-03 1.88616435e-04 -9.99952103e-01 -1.78681130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.356559995 meters 0.01529925673353096 Centerline is valid? [True, True] Translation: X:-78.78, Y:-258.94, Z:-1.78 [[ 4.93141303e-01 -8.69926618e-01 -6.27174568e-03 -7.87806947e+01] [-8.69861174e-01 -4.93181146e-01 1.06722147e-02 -2.58938702e+02] [-1.23771504e-02 1.92638182e-04 -9.99923382e-01 -1.78478505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.386559995 meters 0.014943211574436519 Centerline is valid? [True, True] Translation: X:-78.74, Y:-259.05, Z:-1.78 [[ 5.60112145e-01 -8.28380406e-01 -7.76449429e-03 -7.87443028e+01] [-8.28305268e-01 -5.60165930e-01 1.11585666e-02 -2.59049731e+02] [-1.35929431e-02 1.81322865e-04 -9.99907595e-01 -1.78378247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.416559995 meters 0.014366913040149296 Centerline is valid? [True, True] Translation: X:-78.70, Y:-259.15, Z:-1.78 [[ 6.24698022e-01 -7.80822456e-01 -8.28694113e-03 -7.87025697e+01] [-7.80756404e-01 -6.24752973e-01 1.01567883e-02 -2.59154974e+02] [-1.31079395e-02 1.25156813e-04 -9.99914080e-01 -1.78397099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.4465599949999 meters 0.014212273732634938 Centerline is valid? [True, True] Translation: X:-78.65, Y:-259.25, Z:-1.78 [[ 6.83523837e-01 -7.29881970e-01 -8.21423959e-03 -7.86534699e+01] [-7.29830950e-01 -6.83573186e-01 8.63041296e-03 -2.59254302e+02] [-1.19142167e-02 9.59133025e-05 -9.99929019e-01 -1.78446221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.476559995 meters 0.013836855991443166 Centerline is valid? [True, True] Translation: X:-78.60, Y:-259.35, Z:-1.79 [[ 7.38623967e-01 -6.74086852e-01 -6.44600238e-03 -7.85982865e+01] [-6.74061767e-01 -7.38652093e-01 5.81553963e-03 -2.59347985e+02] [-8.68153194e-03 4.95067984e-05 -9.99962314e-01 -1.78678557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.506559995 meters 0.013836855991443166 Centerline is valid? [True, True] Translation: X:-78.60, Y:-259.35, Z:-1.79 [[ 7.89047197e-01 -6.14294047e-01 -6.88078848e-03 -7.85982673e+01] [-6.14271237e-01 -7.89077196e-01 5.29394819e-03 -2.59352761e+02] [-8.68151414e-03 4.94954700e-05 -9.99962314e-01 -1.78678575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.536559995 meters 0.013384091209552702 Centerline is valid? [True, True] Translation: X:-78.60, Y:-259.36, Z:-1.79 [[ 8.35971736e-01 -5.48745418e-01 -5.45180601e-03 -7.86006309e+01] [-5.48733917e-01 -8.35989513e-01 3.55282952e-03 -2.59362084e+02] [-6.50725157e-03 2.15258086e-05 -9.99978827e-01 -1.78958679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.5665599949999 meters 0.014745729383956614 Centerline is valid? [True, True] Translation: X:-78.61, Y:-259.38, Z:-1.78 [[ 8.85113455e-01 -4.65307277e-01 -7.95673566e-03 -7.86075337e+01] [-4.65287064e-01 -8.85149207e-01 4.33938235e-03 -2.59381160e+02] [-9.06204444e-03 -1.38679531e-04 -9.99958929e-01 -1.78364481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.596559995 meters 0.017255497574423264 Centerline is valid? [True, True] Translation: X:-78.61, Y:-259.40, Z:-1.78 [[ 9.22494960e-01 -3.85790932e-01 -1.29771548e-02 -7.86106119e+01] [-3.85747331e-01 -9.22586165e-01 5.81078167e-03 -2.59395882e+02] [-1.42142904e-02 -3.54513966e-04 -9.99898909e-01 -1.77819696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.626559995 meters 0.017255497574423264 Centerline is valid? [True, True] Translation: X:-78.61, Y:-259.40, Z:-1.78 [[ 9.49829655e-01 -3.12480861e-01 -1.33917133e-02 -7.86091303e+01] [-3.12444524e-01 -9.49923990e-01 4.77841429e-03 -2.59404061e+02] [-1.42142727e-02 -3.54512109e-04 -9.99898909e-01 -1.77819714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.656559995 meters 0.017255497574423264 Centerline is valid? [True, True] Translation: X:-78.61, Y:-259.41, Z:-1.78 [[ 9.71349625e-01 -2.37258405e-01 -1.37242883e-02 -7.86069099e+01] [-2.37229555e-01 -9.71446511e-01 3.71680494e-03 -2.59412133e+02] [-1.42142552e-02 -3.54510287e-04 -9.99898910e-01 -1.77819732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.6865599949999 meters 0.01815386250868705 Centerline is valid? [True, True] Translation: X:-78.60, Y:-259.42, Z:-1.78 [[ 9.87117794e-01 -1.59237341e-01 -1.55541217e-02 -7.86043742e+01] [-1.59210921e-01 -9.87240242e-01 2.93031230e-03 -2.59420846e+02] [-1.58222700e-02 -4.16177372e-04 -9.99874734e-01 -1.77601652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.7165599949999 meters 0.01815386250868705 Centerline is valid? [True, True] Translation: X:-78.60, Y:-259.43, Z:-1.78 [[ 9.96548426e-01 -8.15084205e-02 -1.57356901e-02 -7.86017702e+01] [-8.14916614e-02 -9.96672566e-01 1.70438622e-03 -2.59426645e+02] [-1.58222525e-02 -4.16175876e-04 -9.99874734e-01 -1.77601669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.746559995 meters 0.01815386250868705 Centerline is valid? [True, True] Translation: X:-78.60, Y:-259.43, Z:-1.78 [[ 9.99869477e-01 -3.27585995e-03 -1.58207884e-02 -7.86009590e+01] [-3.26886539e-03 -9.99994548e-01 4.67951175e-04 -2.59432043e+02] [-1.58222351e-02 -4.16174069e-04 -9.99874734e-01 -1.77601685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.776559995 meters 0.01815386250868705 Centerline is valid? [True, True] Translation: X:-78.60, Y:-259.44, Z:-1.78 [[ 9.97057674e-01 7.50071703e-02 -1.58088598e-02 -7.85998787e+01] [ 7.50043537e-02 -9.97182908e-01 -7.71831874e-04 -2.59437371e+02] [-1.58222177e-02 -4.16172417e-04 -9.99874734e-01 -1.77601701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.8065599949999 meters 0.018601296431662997 Centerline is valid? [True, True] Translation: X:-78.60, Y:-259.44, Z:-1.77 [[ 9.87979438e-01 1.53644686e-01 -1.70276382e-02 -7.85979418e+01] [ 1.53629964e-01 -9.88126052e-01 -2.17710912e-03 -2.59442587e+02] [-1.71599542e-02 -4.65016406e-04 -9.99852649e-01 -1.77472575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.8365599949999 meters 0.018601296431662997 Centerline is valid? [True, True] Translation: X:-78.60, Y:-259.45, Z:-1.77 [[ 9.72923656e-01 2.30514974e-01 -1.68049775e-02 -7.85962139e+01] [ 2.30488822e-01 -9.73068667e-01 -3.50319888e-03 -2.59446988e+02] [-1.71599369e-02 -4.65014407e-04 -9.99852649e-01 -1.77472591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.866559995 meters 0.018601296431662997 Centerline is valid? [True, True] Translation: X:-78.59, Y:-259.45, Z:-1.77 [[ 9.51907138e-01 3.05943183e-01 -1.64793456e-02 -7.85939280e+01] [ 3.05905765e-01 -9.52049659e-01 -4.80731179e-03 -2.59451180e+02] [-1.71599197e-02 -4.65012421e-04 -9.99852650e-01 -1.77472606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.896559995 meters 0.018856659074554395 Centerline is valid? [True, True] Translation: X:-78.59, Y:-259.45, Z:-1.77 [[ 9.24920048e-01 3.79786644e-01 -1.68822549e-02 -7.85914253e+01] [ 3.79733089e-01 -9.25073976e-01 -6.39688234e-03 -2.59454616e+02] [-1.80467851e-02 -4.94146062e-04 -9.99837022e-01 -1.77375704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.9265599949999 meters 0.01892282749845818 Centerline is valid? [True, True] Translation: X:-78.59, Y:-259.46, Z:-1.77 [[ 8.92577683e-01 4.50577012e-01 -1.68948477e-02 -7.85885751e+01] [ 4.50506884e-01 -8.92737422e-01 -7.96506858e-03 -2.59456118e+02] [-1.86715396e-02 -5.01802748e-04 -9.99825546e-01 -1.77296909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.9565599949999 meters 0.01859993858876673 Centerline is valid? [True, True] Translation: X:-78.59, Y:-259.46, Z:-1.77 [[ 8.55003887e-01 5.18379801e-01 -1.58346420e-02 -7.85863289e+01] [ 5.18301125e-01 -8.55150371e-01 -9.04364393e-03 -2.59457405e+02] [-1.82290423e-02 -4.74762060e-04 -9.99833725e-01 -1.77311937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.986559995 meters 0.01690235398983417 Centerline is valid? [True, True] Translation: X:-78.58, Y:-259.46, Z:-1.78 [[ 8.12928684e-01 5.82198203e-01 -1.38638752e-02 -7.85830706e+01] [ 5.82121978e-01 -8.13046794e-01 -9.42940848e-03 -2.59460592e+02] [-1.67617639e-02 -4.05029797e-04 -9.99859430e-01 -1.77530761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.016559995 meters 0.016572533907202515 Centerline is valid? [True, True] Translation: X:-78.58, Y:-259.47, Z:-1.78 [[ 7.65231110e-01 6.43633237e-01 -1.25540533e-02 -7.85776972e+01] [ 6.43554692e-01 -7.65333987e-01 -1.00621105e-02 -2.59465862e+02] [-1.60843524e-02 -3.79379899e-04 -9.99870567e-01 -1.77574211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.0465599949999 meters 0.017788926691014267 Centerline is valid? [True, True] Translation: X:-78.57, Y:-259.47, Z:-1.77 [[ 7.13388744e-01 7.00672535e-01 -1.15973473e-02 -7.85712445e+01] [ 7.00587978e-01 -7.13482917e-01 -1.08909575e-02 -2.59472351e+02] [-1.59055040e-02 -3.55475577e-04 -9.99873436e-01 -1.77470803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.0765599949999 meters 0.0160215591400241 Centerline is valid? [True, True] Translation: X:-78.57, Y:-259.48, Z:-1.78 [[ 6.56788423e-01 7.53999059e-01 -1.06951950e-02 -7.85665596e+01] [ 7.53907567e-01 -6.56875407e-01 -1.17507556e-02 -2.59475034e+02] [-1.58854692e-02 -3.45428189e-04 -9.99873758e-01 -1.77722882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.106559995 meters 0.01608504803007165 Centerline is valid? [True, True] Translation: X:-78.56, Y:-259.48, Z:-1.78 [[ 5.96555963e-01 8.02516756e-01 -9.37229387e-03 -7.85605347e+01] [ 8.02425973e-01 -5.96629496e-01 -1.20748496e-02 -2.59480647e+02] [-1.52820561e-02 -3.17248480e-04 -9.99883172e-01 -1.77708904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.136559995 meters 0.015804945092342215 Centerline is valid? [True, True] Translation: X:-78.56, Y:-259.48, Z:-1.78 [[ 5.32873896e-01 8.46156070e-01 -8.08184608e-03 -7.85557324e+01] [ 8.46066859e-01 -5.32935102e-01 -1.22901725e-02 -2.59483828e+02] [-1.47065035e-02 -2.88669992e-04 -9.99891812e-01 -1.77731517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.166559995 meters 0.015409375519642433 Centerline is valid? [True, True] Translation: X:-78.55, Y:-259.49, Z:-1.78 [[ 4.67070460e-01 8.84192865e-01 -6.93995891e-03 -7.85523716e+01] [ 8.84103065e-01 -4.67121949e-01 -1.26037608e-02 -2.59485259e+02] [-1.43859625e-02 -2.48794585e-04 -9.99896486e-01 -1.77814538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.1965599949999 meters 0.01567222845238313 Centerline is valid? [True, True] Translation: X:-78.55, Y:-259.49, Z:-1.78 [[ 3.96986504e-01 9.17805192e-01 -5.94524101e-03 -7.85477132e+01] [ 9.17711167e-01 -3.97030947e-01 -1.31392979e-02 -2.59488449e+02] [-1.44197605e-02 -2.39890127e-04 -9.99896001e-01 -1.77737259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.226559995 meters 0.01530127588652133 Centerline is valid? [True, True] Translation: X:-78.54, Y:-259.49, Z:-1.78 [[ 3.24079564e-01 9.46017273e-01 -4.87386678e-03 -7.85435341e+01] [ 9.45921012e-01 -3.24116125e-01 -1.34972682e-02 -2.59490000e+02] [-1.43483477e-02 -2.36104196e-04 -9.99897029e-01 -1.77806082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.256559995 meters 0.015510630442917304 Centerline is valid? [True, True] Translation: X:-78.54, Y:-259.49, Z:-1.78 [[ 2.48985950e-01 9.68499780e-01 -3.76479169e-03 -7.85389536e+01] [ 9.68402839e-01 -2.49014302e-01 -1.37046926e-02 -2.59492507e+02] [-1.42104788e-02 -2.33559044e-04 -9.99898999e-01 -1.77773755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.286559995 meters 0.01567035431668907 Centerline is valid? [True, True] Translation: X:-78.53, Y:-259.49, Z:-1.78 [[ 1.72064449e-01 9.85082455e-01 -2.52628315e-03 -7.85344059e+01] [ 9.84994574e-01 -1.72082848e-01 -1.31598792e-02 -2.59493952e+02] [-1.33982961e-02 -2.24027835e-04 -9.99910214e-01 -1.77801711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.3165599949999 meters 0.015314143076229973 Centerline is valid? [True, True] Translation: X:-78.53, Y:-259.50, Z:-1.78 [[ 9.43252459e-02 9.95540258e-01 -1.53043600e-03 -7.85275598e+01] [ 9.95446087e-01 -9.43373763e-02 -1.36948037e-02 -2.59495913e+02] [-1.37781057e-02 -2.31700800e-04 -9.99905051e-01 -1.77814383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.346559995 meters 0.015512060428132031 Centerline is valid? [True, True] Translation: X:-78.52, Y:-259.50, Z:-1.78 [[ 1.58872110e-02 9.99873685e-01 -4.59968715e-04 -7.85202561e+01] [ 9.99775845e-01 -1.58920919e-02 -1.39893082e-02 -2.59496810e+02] [-1.39948510e-02 -2.37614519e-04 -9.99902039e-01 -1.77703320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.376559995 meters 0.015205615935133367 Centerline is valid? [True, True] Translation: X:-78.51, Y:-259.50, Z:-1.78 [[-6.27423228e-02 9.98029522e-01 6.88209127e-04 -7.85116665e+01] [ 9.97915376e-01 6.27455568e-02 -1.50962625e-02 -2.59497171e+02] [-1.51096978e-02 -2.60400108e-04 -9.99885808e-01 -1.77668914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.406559995 meters 0.01559923321687576 Centerline is valid? [True, True] Translation: X:-78.50, Y:-259.50, Z:-1.78 [[-1.41206142e-01 9.89978320e-01 1.93690266e-03 -7.85019521e+01] [ 9.89856283e-01 1.41219152e-01 -1.55463569e-02 -2.59497497e+02] [-1.56640841e-02 -2.77985825e-04 -9.99877272e-01 -1.77560880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.4365599949999 meters 0.015881875815642512 Centerline is valid? [True, True] Translation: X:-78.50, Y:-259.50, Z:-1.78 [[-2.18411965e-01 9.75851719e-01 3.10431860e-03 -7.84956542e+01] [ 9.75734500e-01 2.18433851e-01 -1.51273692e-02 -2.59497347e+02] [-1.54401575e-02 -2.75007674e-04 -9.99880756e-01 -1.77581361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.4665599949999 meters 0.01587574026430654 Centerline is valid? [True, True] Translation: X:-78.49, Y:-259.50, Z:-1.78 [[-2.93625674e-01 9.55911631e-01 4.11302580e-03 -7.84921669e+01] [ 9.55805326e-01 2.93654368e-01 -1.42580209e-02 -2.59498170e+02] [-1.48372160e-02 -2.55269017e-04 -9.99889890e-01 -1.77620453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.496559995 meters 0.014564464771095251 Centerline is valid? [True, True] Translation: X:-78.49, Y:-259.50, Z:-1.78 [[-3.65083750e-01 9.30961365e-01 4.97912141e-03 -7.84887070e+01] [ 9.30866961e-01 3.65117644e-01 -1.32591899e-02 -2.59497468e+02] [-1.41617586e-02 -2.05815156e-04 -9.99899696e-01 -1.77847413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.526559995 meters 0.014231768915148456 Centerline is valid? [True, True] Translation: X:-78.48, Y:-259.50, Z:-1.78 [[-4.35347493e-01 9.00241242e-01 6.18602135e-03 -7.84822005e+01] [ 9.00144163e-01 4.35391401e-01 -1.32217519e-02 -2.59495704e+02] [-1.45961068e-02 -1.87745527e-04 -9.99893454e-01 -1.77833945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.5565599949999 meters 0.014312657620478984 Centerline is valid? [True, True] Translation: X:-78.48, Y:-259.49, Z:-1.78 [[-5.03421242e-01 8.64009961e-01 7.33761170e-03 -7.84757140e+01] [ 8.63913163e-01 5.03474684e-01 -1.29340481e-02 -2.59493644e+02] [-1.48694481e-02 -1.72215245e-04 -9.99889429e-01 -1.77726406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.5865599949999 meters 0.014387971157085589 Centerline is valid? [True, True] Translation: X:-78.47, Y:-259.49, Z:-1.78 [[-5.68348427e-01 8.22740350e-01 8.85340209e-03 -7.84706342e+01] [ 8.22636100e-01 5.68417357e-01 -1.30979000e-02 -2.59492346e+02] [-1.58085982e-02 -1.61042675e-04 -9.99875023e-01 -1.77569410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.616559995 meters 0.013679543378497512 Centerline is valid? [True, True] Translation: X:-78.47, Y:-259.49, Z:-1.78 [[-6.28681274e-01 7.77600708e-01 9.84858740e-03 -7.84673318e+01] [ 7.77502468e-01 6.28758400e-01 -1.23606918e-02 -2.59490682e+02] [-1.58040648e-02 -1.13634476e-04 -9.99875102e-01 -1.77653369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.646559995 meters 0.013545240116009816 Centerline is valid? [True, True] Translation: X:-78.46, Y:-259.49, Z:-1.78 [[-6.86452710e-01 7.27096679e-01 1.06346363e-02 -7.84622066e+01] [ 7.27007492e-01 6.86535077e-01 -1.13884016e-02 -2.59487213e+02] [-1.55815199e-02 -8.61388742e-05 -9.99878597e-01 -1.77693299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.6765599949999 meters 0.01330227296140911 Centerline is valid? [True, True] Translation: X:-78.46, Y:-259.48, Z:-1.78 [[-7.40142345e-01 6.72358974e-01 1.10779000e-02 -7.84556482e+01] [ 6.72282525e-01 7.40225241e-01 -1.01390070e-02 -2.59481914e+02] [-1.50171935e-02 -5.68298180e-05 -9.99887234e-01 -1.77745283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.7065599949999 meters 0.013221409559451 Centerline is valid? [True, True] Translation: X:-77.99, Y:-258.98, Z:-2.81 [[-6.88985302e-01 -7.24723477e-01 8.66802478e-03 -7.79931168e+01] [ 7.24664535e-01 -6.89039820e-01 -9.24326458e-03 -2.58981795e+02] [ 1.26714251e-02 -8.70632944e-05 9.99919711e-01 -2.81340094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.736559995 meters 0.013106652384776044 Centerline is valid? [True, True] Translation: X:-78.01, Y:-258.96, Z:-2.81 [[-6.89532538e-01 -7.24212189e-01 7.84755661e-03 -7.80102209e+01] [ 7.24165618e-01 -6.89577193e-01 -8.21297413e-03 -2.58962198e+02] [ 1.13594320e-02 1.98177800e-05 9.99935479e-01 -2.81222259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.766559995 meters 0.013144540106233647 Centerline is valid? [True, True] Translation: X:-78.03, Y:-258.94, Z:-2.81 [[-6.89658586e-01 -7.24099216e-01 7.16658738e-03 -7.80280235e+01] [ 7.24060419e-01 -6.89695821e-01 -7.49561946e-03 -2.58941899e+02] [ 1.03703375e-02 1.96239372e-05 9.99946227e-01 -2.81053231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.7965599949999 meters 0.013126532250503142 Centerline is valid? [True, True] Translation: X:-78.05, Y:-258.92, Z:-2.81 [[-6.88937927e-01 -7.24792483e-01 6.35537748e-03 -7.80477322e+01] [ 7.24762040e-01 -6.88967239e-01 -6.64299345e-03 -2.58922465e+02] [ 9.19343859e-03 2.95262092e-05 9.99957739e-01 -2.81009420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.8265599949999 meters 0.01334592209296939 Centerline is valid? [True, True] Translation: X:-78.07, Y:-258.91, Z:-2.81 [[-6.88385614e-01 -7.25315821e-01 6.49661345e-03 -7.80670634e+01] [ 7.25284076e-01 -6.88416268e-01 -6.78614616e-03 -2.58905215e+02] [ 9.39447356e-03 4.04048872e-05 9.99955870e-01 -2.81140124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.856559995 meters 0.013371991612719613 Centerline is valid? [True, True] Translation: X:-78.09, Y:-258.89, Z:-2.81 [[-6.87505039e-01 -7.26147633e-01 6.81435304e-03 -7.80865741e+01] [ 7.26112792e-01 -6.87538807e-01 -7.11355741e-03 -2.58886566e+02] [ 9.85062504e-03 5.73823360e-05 9.99951480e-01 -2.81126248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.886559995 meters 0.013765757815348707 Centerline is valid? [True, True] Translation: X:-78.11, Y:-258.87, Z:-2.81 [[-6.85137472e-01 -7.28375606e-01 7.45798089e-03 -7.81068695e+01] [ 7.28334052e-01 -6.85178055e-01 -7.78085531e-03 -2.58868691e+02] [ 1.07774300e-02 1.00945902e-04 9.99941917e-01 -2.81088271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.916559995 meters 0.014114588926518025 Centerline is valid? [True, True] Translation: X:-78.13, Y:-258.85, Z:-2.81 [[-6.84083645e-01 -7.29367874e-01 7.21608166e-03 -7.81268523e+01] [ 7.29329076e-01 -6.84121693e-01 -7.52384184e-03 -2.58850636e+02] [ 1.04243265e-02 1.15961022e-04 9.99945659e-01 -2.81113517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.9465599949999 meters 0.014717573154718977 Centerline is valid? [True, True] Translation: X:-78.15, Y:-258.83, Z:-2.81 [[-6.82229402e-01 -7.31100806e-01 7.39290522e-03 -7.81497466e+01] [ 7.31060230e-01 -6.82269440e-01 -7.70399395e-03 -2.58833878e+02] [ 1.06763495e-02 1.48767809e-04 9.99942995e-01 -2.81228613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.976559995 meters 0.014572332940056531 Centerline is valid? [True, True] Translation: X:-78.17, Y:-258.81, Z:-2.81 [[-6.81356332e-01 -7.31916903e-01 7.15514123e-03 -7.81699316e+01] [ 7.31878983e-01 -6.81393882e-01 -7.45196014e-03 -2.58814139e+02] [ 1.03296850e-02 1.59257263e-04 9.99946635e-01 -2.81183496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.006559995 meters 0.0149238166124908 Centerline is valid? [True, True] Translation: X:-78.19, Y:-258.80, Z:-2.81 [[-6.80790328e-01 -7.32445021e-01 6.98715109e-03 -7.81897663e+01] [ 7.32408933e-01 -6.80826163e-01 -7.27261483e-03 -2.58795988e+02] [ 1.00838258e-02 1.66326036e-04 9.99949143e-01 -2.81178127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.036559995 meters 0.015593511213103919 Centerline is valid? [True, True] Translation: X:-78.21, Y:-258.78, Z:-2.81 [[-6.80687137e-01 -7.32541679e-01 6.90726520e-03 -7.82093825e+01] [ 7.32506464e-01 -6.80722161e-01 -7.18471197e-03 -2.58778322e+02] [ 9.96502946e-03 1.69075391e-04 9.99950334e-01 -2.81213102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.0665599949999 meters 0.015367370401602404 Centerline is valid? [True, True] Translation: X:-78.23, Y:-258.76, Z:-2.81 [[-6.80527468e-01 -7.32684635e-01 7.45597271e-03 -7.82270948e+01] [ 7.32643663e-01 -6.80568285e-01 -7.75063014e-03 -2.58758136e+02] [ 1.07530662e-02 1.88054451e-04 9.99942167e-01 -2.81150248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.096559995 meters 0.015196433862370455 Centerline is valid? [True, True] Translation: X:-78.25, Y:-258.74, Z:-2.81 [[-6.80570650e-01 -7.32636891e-01 8.17170707e-03 -7.82461102e+01] [ 7.32587728e-01 -6.80619675e-01 -8.48986851e-03 -2.58737383e+02] [ 1.17818155e-02 2.08536989e-04 9.99930570e-01 -2.81166681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.126559995 meters 0.015257834010560098 Centerline is valid? [True, True] Translation: X:-78.26, Y:-258.72, Z:-2.81 [[-6.80869320e-01 -7.32354799e-01 8.56836673e-03 -7.82645643e+01] [ 7.32300794e-01 -6.80923198e-01 -8.89637730e-03 -2.58717867e+02] [ 1.23497043e-02 2.17351401e-04 9.99923716e-01 -2.81219433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.156559995 meters 0.015222181116692962 Centerline is valid? [True, True] Translation: X:-78.28, Y:-258.70, Z:-2.81 [[-6.81583988e-01 -7.31689853e-01 8.55716948e-03 -7.82827057e+01] [ 7.31636010e-01 -6.81637671e-01 -8.87890273e-03 -2.58698592e+02] [ 1.23294921e-02 2.09015394e-04 9.99923967e-01 -2.81247563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.1865599949999 meters 0.015640073715175562 Centerline is valid? [True, True] Translation: X:-78.30, Y:-258.68, Z:-2.81 [[-6.83376917e-01 -7.30025197e-01 7.69425127e-03 -7.83016430e+01] [ 7.29981607e-01 -6.83420211e-01 -7.97922740e-03 -2.58679775e+02] [ 1.10834439e-02 1.63842089e-04 9.99938563e-01 -2.81404473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.2165599949999 meters 0.015452151153092833 Centerline is valid? [True, True] Translation: X:-78.32, Y:-258.66, Z:-2.81 [[-6.84632297e-01 -7.28848177e-01 7.67807708e-03 -7.83196790e+01] [ 7.28804747e-01 -6.84675334e-01 -7.95788408e-03 -2.58659961e+02] [ 1.10570793e-02 1.47594562e-04 9.99938858e-01 -2.81486530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.246559995 meters 0.013836351257908603 Centerline is valid? [True, True] Translation: X:-78.33, Y:-258.63, Z:-2.81 [[-6.87471013e-01 -7.26170872e-01 7.71173036e-03 -7.83335107e+01] [ 7.26126944e-01 -6.87514257e-01 -7.98801998e-03 -2.58634829e+02] [ 1.11025920e-02 1.08163001e-04 9.99938359e-01 -2.81267766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.276559995 meters 0.013693162643050443 Centerline is valid? [True, True] Translation: X:-78.35, Y:-258.61, Z:-2.81 [[-6.89228737e-01 -7.24502195e-01 7.76642081e-03 -7.83497559e+01] [ 7.24457595e-01 -6.89272488e-01 -8.03937327e-03 -2.58613736e+02] [ 1.11777238e-02 8.54754464e-05 9.99937524e-01 -2.81269930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.3065599949999 meters 0.013469252020652276 Centerline is valid? [True, True] Translation: X:-78.37, Y:-258.59, Z:-2.81 [[-6.90924499e-01 -7.22882608e-01 8.00450816e-03 -7.83665634e+01] [ 7.22835182e-01 -6.90970861e-01 -8.28065864e-03 -2.58591683e+02] [ 1.15168260e-02 6.46301870e-05 9.99933677e-01 -2.81226914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.3365599949999 meters 0.013602673641739782 Centerline is valid? [True, True] Translation: X:-78.39, Y:-258.57, Z:-2.81 [[-6.90285746e-01 -7.23498628e-01 7.43806327e-03 -7.83872923e+01] [ 7.23457764e-01 -6.90325814e-01 -7.68987884e-03 -2.58574357e+02] [ 1.06983039e-02 7.29108656e-05 9.99942769e-01 -2.81158232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.366559995 meters 0.013567985504969036 Centerline is valid? [True, True] Translation: X:-78.41, Y:-258.55, Z:-2.81 [[-6.90313171e-01 -7.23468340e-01 7.82859647e-03 -7.84068603e+01] [ 7.23423122e-01 -6.90357555e-01 -8.08903542e-03 -2.58553548e+02] [ 1.12566918e-02 7.94200042e-05 9.99936638e-01 -2.81168397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.396559995 meters 0.013567985504969036 Centerline is valid? [True, True] Translation: X:-78.43, Y:-258.53, Z:-2.81 [[-6.90518855e-01 -7.23272001e-01 7.83089634e-03 -7.84260939e+01] [ 7.23226796e-01 -6.90563253e-01 -8.08680896e-03 -2.58533771e+02] [ 1.12566918e-02 7.94200032e-05 9.99936638e-01 -2.81168390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.4265599949999 meters 0.01410220615035612 Centerline is valid? [True, True] Translation: X:-78.45, Y:-258.51, Z:-2.81 [[-6.90604915e-01 -7.23179002e-01 8.77392554e-03 -7.84453751e+01] [ 7.23122314e-01 -6.90660642e-01 -9.05522282e-03 -2.58514537e+02] [ 1.26083521e-02 9.10399478e-05 9.99920508e-01 -2.81408811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.4565599949999 meters 0.01378634218319431 Centerline is valid? [True, True] Translation: X:-78.46, Y:-258.49, Z:-2.81 [[-6.90960308e-01 -7.22826368e-01 9.79258965e-03 -7.84636120e+01] [ 7.22755796e-01 -6.91029690e-01 -1.01008675e-02 -2.58493021e+02] [ 1.40681436e-02 9.83523791e-05 9.99901034e-01 -2.81295115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.486559995 meters 0.013973839445464683 Centerline is valid? [True, True] Translation: X:-78.48, Y:-258.47, Z:-2.81 [[-6.91285366e-01 -7.22515131e-01 9.81977012e-03 -7.84823579e+01] [ 7.22444230e-01 -6.91355101e-01 -1.01221967e-02 -2.58474310e+02] [ 1.41023885e-02 9.69097938e-05 9.99900552e-01 -2.81410258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.516559995 meters 0.013982237632569958 Centerline is valid? [True, True] Translation: X:-78.50, Y:-258.46, Z:-2.81 [[-6.91126630e-01 -7.22665452e-01 9.93103984e-03 -7.85019831e+01] [ 7.22593041e-01 -6.91197970e-01 -1.02305609e-02 -2.58455633e+02] [ 1.42575875e-02 1.05487219e-04 9.99898350e-01 -2.81383925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.5465599949999 meters 0.013931109768189549 Centerline is valid? [True, True] Translation: X:-78.52, Y:-258.44, Z:-2.81 [[-6.91477736e-01 -7.22335120e-01 9.51389836e-03 -7.85221791e+01] [ 7.22268716e-01 -6.91543176e-01 -9.79479658e-03 -2.58436782e+02] [ 1.36543971e-02 9.87073859e-05 9.99906770e-01 -2.81408783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.5765599949999 meters 0.013757849978767606 Centerline is valid? [True, True] Translation: X:-78.54, Y:-258.42, Z:-2.81 [[-6.92465598e-01 -7.21394340e-01 9.03340558e-03 -7.85410272e+01] [ 7.21334461e-01 -6.92524512e-01 -9.29491406e-03 -2.58416537e+02] [ 1.29611532e-02 7.96985260e-05 9.99915998e-01 -2.81222738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.606559995 meters 0.01378999876289607 Centerline is valid? [True, True] Translation: X:-78.56, Y:-258.40, Z:-2.81 [[-6.93489105e-01 -7.20408970e-01 9.15292943e-03 -7.85584548e+01] [ 7.20347492e-01 -6.93549501e-01 -9.41168711e-03 -2.58397389e+02] [ 1.31282735e-02 6.63872872e-05 9.99913818e-01 -2.81223932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.636559995 meters 0.013746878086135207 Centerline is valid? [True, True] Translation: X:-78.58, Y:-258.38, Z:-2.81 [[-6.95508529e-01 -7.18456168e-01 9.41387817e-03 -7.85755594e+01] [ 7.18391034e-01 -6.95572235e-01 -9.67414557e-03 -2.58375526e+02] [ 1.34984818e-02 3.43949151e-05 9.99908891e-01 -2.81154351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.666559995 meters 0.01363516767883306 Centerline is valid? [True, True] Translation: X:-78.59, Y:-258.36, Z:-2.81 [[-6.96579200e-01 -7.17416537e-01 9.53578366e-03 -7.85937799e+01] [ 7.17349690e-01 -6.96644466e-01 -9.79333784e-03 -2.58355185e+02] [ 1.36689534e-02 1.86560121e-05 9.99906575e-01 -2.81071749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.6965599949999 meters 0.013804327821364095 Centerline is valid? [True, True] Translation: X:-78.61, Y:-258.34, Z:-2.81 [[-6.97742964e-01 -7.16276863e-01 1.01099644e-02 -7.86120239e+01] [ 7.16201702e-01 -6.97816204e-01 -1.03762727e-02 -2.58335930e+02] [ 1.44871810e-02 8.02453809e-07 9.99895055e-01 -2.81179603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.726559995 meters 0.013843708468479198 Centerline is valid? [True, True] Translation: X:-78.63, Y:-258.32, Z:-2.81 [[-6.98287872e-01 -7.15743260e-01 1.02778400e-02 -7.86314164e+01] [ 7.15665617e-01 -6.98363505e-01 -1.05422242e-02 -2.58316956e+02] [ 1.47231943e-02 -6.01055210e-06 9.99891608e-01 -2.81203019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.756559995 meters 0.013857003975417548 Centerline is valid? [True, True] Translation: X:-78.65, Y:-258.30, Z:-2.81 [[-6.98766147e-01 -7.15276318e-01 1.02791694e-02 -7.86503811e+01] [ 7.15198698e-01 -6.98841748e-01 -1.05372817e-02 -2.58297652e+02] [ 1.47205808e-02 -1.14471654e-05 9.99891646e-01 -2.81170980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.786559995 meters 0.013892479083891752 Centerline is valid? [True, True] Translation: X:-78.67, Y:-258.28, Z:-2.81 [[-6.99125853e-01 -7.14931871e-01 9.77047006e-03 -7.86695422e+01] [ 7.14861793e-01 -6.99194122e-01 -1.00098519e-02 -2.58278283e+02] [ 1.39878174e-02 -1.36105015e-05 9.99902166e-01 -2.81104002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.8165599949999 meters 0.013968785443611628 Centerline is valid? [True, True] Translation: X:-78.69, Y:-258.26, Z:-2.81 [[-6.99788244e-01 -7.14288504e-01 9.39932765e-03 -7.86866221e+01] [ 7.14223672e-01 -6.99851365e-01 -9.62360879e-03 -2.58258779e+02] [ 1.34521654e-02 -2.12659886e-05 9.99909515e-01 -2.80928015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.846559995 meters 0.014050651556457967 Centerline is valid? [True, True] Translation: X:-78.71, Y:-258.24, Z:-2.81 [[-7.00344093e-01 -7.13742469e-01 9.47842922e-03 -7.87052318e+01] [ 7.13676568e-01 -7.00408229e-01 -9.69890787e-03 -2.58239281e+02] [ 1.35612923e-02 -2.80399964e-05 9.99908041e-01 -2.80876865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.876559995 meters 0.013888868176007884 Centerline is valid? [True, True] Translation: X:-78.72, Y:-258.22, Z:-2.81 [[-7.00616641e-01 -7.13473124e-01 9.61371167e-03 -7.87245674e+01] [ 7.13405387e-01 -7.00682596e-01 -9.83128027e-03 -2.58220076e+02] [ 1.37505147e-02 -2.94848692e-05 9.99905457e-01 -2.80710927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.906559995 meters 0.014038690205164229 Centerline is valid? [True, True] Translation: X:-78.74, Y:-258.20, Z:-2.81 [[-7.00729617e-01 -7.13361601e-01 9.65554601e-03 -7.87433797e+01] [ 7.13293350e-01 -7.00796137e-01 -9.86769566e-03 -2.58202359e+02] [ 1.38058045e-02 -2.73498388e-05 9.99904695e-01 -2.80799496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.9365599949999 meters 0.013995435953145174 Centerline is valid? [True, True] Translation: X:-78.76, Y:-258.18, Z:-2.81 [[-7.00333497e-01 -7.13749597e-01 9.72134508e-03 -7.87629413e+01] [ 7.13680531e-01 -7.00400965e-01 -9.92911849e-03 -2.58183751e+02] [ 1.38957438e-02 -1.57595547e-05 9.99903449e-01 -2.80748128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.9665599949999 meters 0.013796373547050137 Centerline is valid? [True, True] Translation: X:-78.78, Y:-258.17, Z:-2.81 [[-6.99930364e-01 -7.14141696e-01 9.95608554e-03 -7.87824699e+01] [ 7.14069384e-01 -7.00001170e-01 -1.01625105e-02 -2.58165239e+02] [ 1.42267440e-02 -3.71378158e-06 9.99898795e-01 -2.80515723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.996559995 meters 0.013674471294505145 Centerline is valid? [True, True] Translation: X:-78.80, Y:-258.15, Z:-2.80 [[-6.99197073e-01 -7.14859219e-01 9.98753116e-03 -7.88032653e+01] [ 7.14786604e-01 -6.99268401e-01 -1.01888910e-02 -2.58146342e+02] [ 1.42675876e-02 1.49107324e-05 9.99898213e-01 -2.80453156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.026559995 meters 0.013789505945533775 Centerline is valid? [True, True] Translation: X:-78.83, Y:-258.13, Z:-2.80 [[-6.96885888e-01 -7.17111630e-01 1.00483688e-02 -7.88254110e+01] [ 7.17038444e-01 -6.96958324e-01 -1.02452129e-02 -2.58128798e+02] [ 1.43502556e-02 6.53224018e-05 9.99897028e-01 -2.80408073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.0565599949999 meters 0.013801416917818304 Centerline is valid? [True, True] Translation: X:-78.85, Y:-258.11, Z:-2.80 [[-6.95995129e-01 -7.17972375e-01 1.03174347e-02 -7.88456897e+01] [ 7.17895404e-01 -6.96071592e-01 -1.05132437e-02 -2.58110032e+02] [ 1.47298918e-02 8.96725511e-05 9.99891505e-01 -2.80342024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.0865599949999 meters 0.014192986048467884 Centerline is valid? [True, True] Translation: X:-78.87, Y:-258.09, Z:-2.80 [[-6.94481794e-01 -7.19435941e-01 1.03423663e-02 -7.88663743e+01] [ 7.19358852e-01 -6.94558789e-01 -1.05323800e-02 -2.58092835e+02] [ 1.47607542e-02 1.25326604e-04 9.99891046e-01 -2.80376162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.116559995 meters 0.014057558653401164 Centerline is valid? [True, True] Translation: X:-78.89, Y:-258.07, Z:-2.80 [[-6.94051331e-01 -7.19852515e-01 1.02521491e-02 -7.88858200e+01] [ 7.19776896e-01 -6.94127033e-01 -1.04346478e-02 -2.58073043e+02] [ 1.46277013e-02 1.37078898e-04 9.99893000e-01 -2.80219116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.146559995 meters 0.014234135025265281 Centerline is valid? [True, True] Translation: X:-78.90, Y:-258.05, Z:-2.80 [[-6.93495912e-01 -7.20385120e-01 1.04258549e-02 -7.89049254e+01] [ 7.20307054e-01 -6.93574261e-01 -1.06062698e-02 -2.58054922e+02] [ 1.48717035e-02 1.54412051e-04 9.99889398e-01 -2.80215338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.1765599949999 meters 0.014985565606848727 Centerline is valid? [True, True] Translation: X:-78.93, Y:-258.04, Z:-2.80 [[-6.91547896e-01 -7.22248215e-01 1.09097802e-02 -7.89257446e+01] [ 7.22163066e-01 -6.91633915e-01 -1.10920686e-02 -2.58037217e+02] [ 1.55568007e-02 2.07943615e-04 9.99878964e-01 -2.80297330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.2065599949999 meters 0.01469105839112667 Centerline is valid? [True, True] Translation: X:-78.95, Y:-258.02, Z:-2.80 [[-6.90666661e-01 -7.23083908e-01 1.13677814e-02 -7.89453056e+01] [ 7.22991678e-01 -6.90760164e-01 -1.15511575e-02 -2.58016532e+02] [ 1.62048666e-02 2.40811954e-04 9.99868664e-01 -2.80180508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.236559995 meters 0.01519391049095122 Centerline is valid? [True, True] Translation: X:-78.97, Y:-258.00, Z:-2.80 [[-6.89781495e-01 -7.23919387e-01 1.19251930e-02 -7.89653677e+01] [ 7.23818138e-01 -6.89884515e-01 -1.21103107e-02 -2.57998528e+02] [ 1.69938947e-02 2.78202789e-04 9.99855555e-01 -2.80286443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.266559995 meters 0.015541910973606984 Centerline is valid? [True, True] Translation: X:-78.99, Y:-257.98, Z:-2.80 [[-6.89273665e-01 -7.24400227e-01 1.20882601e-02 -7.89863591e+01] [ 7.24296380e-01 -6.89379593e-01 -1.22691131e-02 -2.57979389e+02] [ 1.72211481e-02 2.98706439e-04 9.99851661e-01 -2.80371890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.2965599949999 meters 0.01595102140908837 Centerline is valid? [True, True] Translation: X:-79.01, Y:-257.96, Z:-2.81 [[-6.88649274e-01 -7.24980415e-01 1.28676177e-02 -7.90069701e+01] [ 7.24862979e-01 -6.88769398e-01 -1.30529327e-02 -2.57960205e+02] [ 1.83259419e-02 3.38367017e-04 9.99832009e-01 -2.80501836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.3265599949999 meters 0.015851444263536515 Centerline is valid? [True, True] Translation: X:-79.03, Y:-257.94, Z:-2.80 [[-6.89001061e-01 -7.24645181e-01 1.29190020e-02 -7.90258732e+01] [ 7.24526895e-01 -6.89122086e-01 -1.30969472e-02 -2.57939994e+02] [ 1.83934093e-02 3.36353850e-04 9.99830770e-01 -2.80473255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.356559995 meters 0.016255600532039404 Centerline is valid? [True, True] Translation: X:-79.04, Y:-257.92, Z:-2.80 [[-6.89603340e-01 -7.24074620e-01 1.27741379e-02 -7.90437113e+01] [ 7.23959027e-01 -6.89721567e-01 -1.29417013e-02 -2.57920986e+02] [ 1.81813559e-02 3.23312049e-04 9.99834653e-01 -2.80490716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.386559995 meters 0.01575784634944238 Centerline is valid? [True, True] Translation: X:-79.06, Y:-257.90, Z:-2.80 [[-6.90589787e-01 -7.23131231e-01 1.29216661e-02 -7.90615472e+01] [ 7.23012933e-01 -6.90710597e-01 -1.30831848e-02 -2.57899847e+02] [ 1.83859913e-02 3.07417924e-04 9.99830916e-01 -2.80384779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.416559995 meters 0.01506699228300776 Centerline is valid? [True, True] Translation: X:-79.08, Y:-257.88, Z:-2.80 [[-6.92471016e-01 -7.21334375e-01 1.26732600e-02 -7.90782851e+01] [ 7.21220412e-01 -6.92586927e-01 -1.28244343e-02 -2.57877141e+02] [ 1.80280395e-02 2.59664713e-04 9.99837448e-01 -2.80282416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.4465599949999 meters 0.01510796669794001 Centerline is valid? [True, True] Translation: X:-79.10, Y:-257.86, Z:-2.80 [[-6.93473679e-01 -7.20372858e-01 1.25380293e-02 -7.90961692e+01] [ 7.20261304e-01 -6.93586972e-01 -1.26793635e-02 -2.57857574e+02] [ 1.78300832e-02 2.37852457e-04 9.99841003e-01 -2.80342485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.476559995 meters 0.014622953144207376 Centerline is valid? [True, True] Translation: X:-79.11, Y:-257.83, Z:-2.80 [[-6.95088269e-01 -7.18819384e-01 1.22878745e-02 -7.91131806e+01] [ 7.18712111e-01 -6.95196846e-01 -1.24196634e-02 -2.57834931e+02] [ 1.74699864e-02 1.98681823e-04 9.99847369e-01 -2.80248220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.506559995 meters 0.014605948084739598 Centerline is valid? [True, True] Translation: X:-79.13, Y:-257.81, Z:-2.80 [[-6.95741096e-01 -7.18190684e-01 1.21024638e-02 -7.91313044e+01] [ 7.18086657e-01 -6.95846325e-01 -1.22247968e-02 -2.57814122e+02] [ 1.72011901e-02 1.85324255e-04 9.99852032e-01 -2.80193999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.536559995 meters 0.0144698698475037 Centerline is valid? [True, True] Translation: X:-79.15, Y:-257.79, Z:-2.80 [[-6.96624220e-01 -7.17333173e-01 1.21579200e-02 -7.91494689e+01] [ 7.17228190e-01 -6.96730285e-01 -1.22733047e-02 -2.57793995e+02] [ 1.72748397e-02 1.70121611e-04 9.99850764e-01 -2.80182482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.5665599949999 meters 0.014101411918139245 Centerline is valid? [True, True] Translation: X:-79.17, Y:-257.77, Z:-2.80 [[-6.97990364e-01 -7.16003701e-01 1.21717759e-02 -7.91664725e+01] [ 7.15898408e-01 -6.98096469e-01 -1.22796018e-02 -2.57771983e+02] [ 1.72893141e-02 1.42711265e-04 9.99850519e-01 -2.80055003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.596559995 meters 0.014032182681687752 Centerline is valid? [True, True] Translation: X:-79.18, Y:-257.75, Z:-2.80 [[-6.98728408e-01 -7.15274696e-01 1.26776273e-02 -7.91838244e+01] [ 7.15160460e-01 -6.98843396e-01 -1.27837541e-02 -2.57752201e+02] [ 1.80035719e-02 1.34165640e-04 9.99837914e-01 -2.80072534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.626559995 meters 0.014430449157372764 Centerline is valid? [True, True] Translation: X:-79.20, Y:-257.73, Z:-2.80 [[-6.97223858e-01 -7.16745760e-01 1.24260795e-02 -7.92048033e+01] [ 7.16636385e-01 -6.97334557e-01 -1.25222606e-02 -2.57734289e+02] [ 1.76404119e-02 1.74161857e-04 9.99844381e-01 -2.79954875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.656559995 meters 0.014551931966975842 Centerline is valid? [True, True] Translation: X:-79.23, Y:-257.71, Z:-2.80 [[-6.95980265e-01 -7.17945613e-01 1.28673035e-02 -7.92253846e+01] [ 7.17828671e-01 -6.96099166e-01 -1.29595388e-02 -2.57714972e+02] [ 1.82611632e-02 2.16936104e-04 9.99833228e-01 -2.79894834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.6865599949999 meters 0.015132785691401446 Centerline is valid? [True, True] Translation: X:-79.25, Y:-257.70, Z:-2.80 [[-6.94646705e-01 -7.19228686e-01 1.32684877e-02 -7.92460617e+01] [ 7.19104721e-01 -6.94773364e-01 -1.33556085e-02 -2.57697716e+02] [ 1.88243286e-02 2.64002705e-04 9.99822772e-01 -2.80019611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.7165599949999 meters 0.015490541953289643 Centerline is valid? [True, True] Translation: X:-79.27, Y:-257.68, Z:-2.80 [[-6.93558973e-01 -7.20271147e-01 1.36171234e-02 -7.92672796e+01] [ 7.20140930e-01 -6.93692570e-01 -1.36988892e-02 -2.57679638e+02] [ 1.93130120e-02 3.05260364e-04 9.99813440e-01 -2.80080739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.746559995 meters 0.016007726398752108 Centerline is valid? [True, True] Translation: X:-79.29, Y:-257.66, Z:-2.80 [[-6.91919072e-01 -7.21842697e-01 1.38245468e-02 -7.92892302e+01] [ 7.21708947e-01 -6.92057072e-01 -1.38998207e-02 -2.57662069e+02] [ 1.96008594e-02 3.59748069e-04 9.99807820e-01 -2.80124523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.776559995 meters 0.01609471458346737 Centerline is valid? [True, True] Translation: X:-79.31, Y:-257.64, Z:-2.80 [[-6.91517011e-01 -7.22232578e-01 1.35767343e-02 -7.93082083e+01] [ 7.22103821e-01 -6.91650177e-01 -1.36420563e-02 -2.57643089e+02] [ 1.92430882e-02 3.70097775e-04 9.99814766e-01 -2.80030948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.8065599949999 meters 0.01632108190576206 Centerline is valid? [True, True] Translation: X:-79.33, Y:-257.63, Z:-2.80 [[-6.91571854e-01 -7.22181381e-01 1.35064023e-02 -7.93271261e+01] [ 7.22054117e-01 -6.91703631e-01 -1.35624344e-02 -2.57625121e+02] [ 1.91369651e-02 3.72955452e-04 9.99816802e-01 -2.80031799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.8365599949999 meters 0.016442713940604464 Centerline is valid? [True, True] Translation: X:-79.35, Y:-257.61, Z:-2.80 [[-6.91985983e-01 -7.21786566e-01 1.33997415e-02 -7.93470402e+01] [ 7.21661387e-01 -6.92115612e-01 -1.34469985e-02 -2.57606244e+02] [ 1.89800331e-02 3.64941581e-04 9.99819796e-01 -2.80065125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.866559995 meters 0.015920179623571215 Centerline is valid? [True, True] Translation: X:-79.37, Y:-257.59, Z:-2.80 [[-6.94341328e-01 -7.19516703e-01 1.36321155e-02 -7.93656039e+01] [ 7.19386851e-01 -6.94475065e-01 -1.36726988e-02 -2.57585815e+02] [ 1.93048995e-02 3.13244829e-04 9.99813594e-01 -2.80137833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.896559995 meters 0.01504312824015743 Centerline is valid? [True, True] Translation: X:-79.38, Y:-257.56, Z:-2.80 [[-6.96412702e-01 -7.17519240e-01 1.32472483e-02 -7.93832956e+01] [ 7.17396393e-01 -6.96538639e-01 -1.32792905e-02 -2.57563567e+02] [ 1.87553667e-02 2.55661612e-04 9.99824070e-01 -2.80010914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.9265599949999 meters 0.014537608385706615 Centerline is valid? [True, True] Translation: X:-79.40, Y:-257.54, Z:-2.80 [[-6.98576700e-01 -7.15411945e-01 1.32794397e-02 -7.94010324e+01] [ 7.15288259e-01 -6.98702875e-01 -1.33041289e-02 -2.57541537e+02] [ 1.87963154e-02 2.04672808e-04 9.99823313e-01 -2.79912708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.9565599949999 meters 0.01393346851048433 Centerline is valid? [True, True] Translation: X:-79.42, Y:-257.52, Z:-2.80 [[-7.02722736e-01 -7.11349794e-01 1.27368298e-02 -7.94184398e+01] [ 7.11235467e-01 -7.02838147e-01 -1.27534060e-02 -2.57518927e+02] [ 1.80240626e-02 9.67767194e-05 9.99837549e-01 -2.79816633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.986559995 meters 0.013826657972546421 Centerline is valid? [True, True] Translation: X:-79.44, Y:-257.50, Z:-2.80 [[-7.04259992e-01 -7.09831311e-01 1.25448806e-02 -7.94382524e+01] [ 7.09720288e-01 -7.04371710e-01 -1.25541498e-02 -2.57499105e+02] [ 1.77475876e-02 6.19708115e-05 9.99842497e-01 -2.79801601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.016559995 meters 0.01379600294380515 Centerline is valid? [True, True] Translation: X:-79.46, Y:-257.48, Z:-2.80 [[-7.06858308e-01 -7.07245221e-01 1.24711103e-02 -7.94574392e+01] [ 7.07135235e-01 -7.06968314e-01 -1.24724747e-02 -2.57479360e+02] [ 1.76377779e-02 2.48918431e-06 9.99844442e-01 -2.79837506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.0465599949999 meters 0.013813630778884938 Centerline is valid? [True, True] Translation: X:-79.48, Y:-257.46, Z:-2.80 [[-7.08125901e-01 -7.05981127e-01 1.21801907e-02 -7.94766740e+01] [ 7.05876143e-01 -7.08230646e-01 -1.21747099e-02 -2.57458948e+02] [ 1.72214998e-02 -2.35213867e-05 9.99851699e-01 -2.79785927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.0765599949999 meters 0.013874912675346537 Centerline is valid? [True, True] Translation: X:-79.98, Y:-257.96, Z:-1.79 [[-7.53914036e-01 6.56857179e-01 1.23399257e-02 -7.99781013e+01] [ 6.56770038e-01 7.54015017e-01 -1.06991338e-02 -2.57958467e+02] [-1.63322922e-02 3.82663336e-05 -9.99866619e-01 -1.79346953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.106559995 meters 0.014414517659773413 Centerline is valid? [True, True] Translation: X:-79.96, Y:-257.94, Z:-1.79 [[-7.97368378e-01 6.03350111e-01 1.31268409e-02 -7.99610315e+01] [ 6.03269779e-01 7.97476419e-01 -9.84551522e-03 -2.57937702e+02] [-1.64086388e-02 6.85239434e-05 -9.99865367e-01 -1.79183803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.136559995 meters 0.014129428504645321 Centerline is valid? [True, True] Translation: X:-79.94, Y:-257.91, Z:-1.79 [[-8.37857636e-01 5.45708184e-01 1.40413523e-02 -7.99433048e+01] [ 5.45633099e-01 8.37975282e-01 -9.05253107e-03 -2.57914120e+02] [-1.67063464e-02 7.66942689e-05 -9.99860436e-01 -1.79286672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.166559995 meters 0.0141150659961958 Centerline is valid? [True, True] Translation: X:-79.93, Y:-257.89, Z:-1.79 [[-8.74316298e-01 4.85114709e-01 1.53209519e-02 -7.99267534e+01] [ 4.85041894e-01 8.74450521e-01 -8.40527328e-03 -2.57890142e+02] [-1.74749361e-02 8.24361259e-05 -9.99847298e-01 -1.79253637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.1965599949999 meters 0.014741380847312602 Centerline is valid? [True, True] Translation: X:-79.91, Y:-257.87, Z:-1.79 [[-9.06700410e-01 4.21440383e-01 1.68038695e-02 -7.99095444e+01] [ 4.21369604e-01 9.06856107e-01 -7.72390447e-03 -2.57865469e+02] [-1.84938570e-02 7.73725004e-05 -9.99828971e-01 -1.78926775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.226559995 meters 0.014095632007716906 Centerline is valid? [True, True] Translation: X:-79.62, Y:-257.23, Z:-2.80 [[-8.80216818e-01 -4.74299409e-01 1.60755533e-02 -7.96173646e+01] [ 4.74218499e-01 -8.80363597e-01 -8.76080941e-03 -2.57232873e+02] [ 1.83075786e-02 -8.80870213e-05 9.99832398e-01 -2.79859084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.256559995 meters 0.013962636082557389 Centerline is valid? [True, True] Translation: X:-79.95, Y:-257.84, Z:-1.79 [[-9.08431931e-01 4.17716355e-01 1.62626350e-02 -7.99518216e+01] [ 4.17650755e-01 9.08577483e-01 -7.40296558e-03 -2.57844272e+02] [-1.78682038e-02 6.70114705e-05 -9.99840349e-01 -1.79384612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.286559995 meters 0.013919856220827155 Centerline is valid? [True, True] Translation: X:-79.94, Y:-257.82, Z:-1.79 [[-9.35904234e-01 3.51876877e-01 1.63073091e-02 -7.99392667e+01] [ 3.51824552e-01 9.36046292e-01 -6.06832155e-03 -2.57817878e+02] [-1.73996983e-02 5.79438973e-05 -9.99848612e-01 -1.79424044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.3165599949999 meters 0.013919856220827155 Centerline is valid? [True, True] Translation: X:-79.69, Y:-257.17, Z:-2.80 [[-9.12825134e-01 -4.08042252e-01 1.58680474e-02 -7.96941104e+01] [ 4.07979517e-01 -9.12963043e-01 -7.15512560e-03 -2.57172180e+02] [ 1.74065344e-02 -5.75401675e-05 9.99848493e-01 -2.79713900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.346559995 meters 0.013919468903172878 Centerline is valid? [True, True] Translation: X:-79.98, Y:-257.80, Z:-1.79 [[-9.37604849e-01 3.47327297e-01 1.61522799e-02 -7.99835521e+01] [ 3.47276479e-01 9.37743967e-01 -5.94135134e-03 -2.57798584e+02] [-1.72102966e-02 3.86670767e-05 -9.99851891e-01 -1.79377704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.376559995 meters 0.013827719015680466 Centerline is valid? [True, True] Translation: X:-79.98, Y:-257.77, Z:-1.79 [[-9.59990804e-01 2.79537741e-01 1.66225029e-02 -7.99835385e+01] [ 2.79496393e-01 9.60134704e-01 -4.80794466e-03 -2.57767648e+02] [-1.73038439e-02 3.03469298e-05 -9.99850277e-01 -1.79376938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.406559995 meters 0.013816535038153199 Centerline is valid? [True, True] Translation: X:-79.78, Y:-257.12, Z:-2.80 [[-9.39965631e-01 -3.40853392e-01 1.68397788e-02 -7.97816457e+01] [ 3.40798846e-01 -9.40116464e-01 -6.09764706e-03 -2.57119301e+02] [ 1.79097570e-02 7.39853222e-06 9.99839608e-01 -2.79801838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.4365599949999 meters 0.013744899349638264 Centerline is valid? [True, True] Translation: X:-80.02, Y:-257.76, Z:-1.79 [[-9.61487367e-01 2.74299142e-01 1.73788356e-02 -8.00217157e+01] [ 2.74254398e-01 9.61644415e-01 -4.95423159e-03 -2.57755623e+02] [-1.80712017e-02 2.79101242e-06 -9.99836703e-01 -1.79392048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.4665599949999 meters 0.013627495341115618 Centerline is valid? [True, True] Translation: X:-79.83, Y:-257.11, Z:-2.80 [[-9.40813284e-01 -3.38521307e-01 1.65435904e-02 -7.98323528e+01] [ 3.38468363e-01 -9.40958726e-01 -5.98691734e-03 -2.57105815e+02] [ 1.75935348e-02 -3.30893909e-05 9.99845221e-01 -2.79641871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.496559995 meters 0.013808795856914701 Centerline is valid? [True, True] Translation: X:-80.07, Y:-257.74, Z:-1.79 [[-9.62853922e-01 2.69476836e-01 1.71627193e-02 -8.00684840e+01] [ 2.69433687e-01 9.63006871e-01 -4.82222566e-03 -2.57741842e+02] [-1.78272947e-02 -1.88841531e-05 -9.99841081e-01 -1.79336245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.526559995 meters 0.01361271796477002 Centerline is valid? [True, True] Translation: X:-79.88, Y:-257.09, Z:-2.80 [[-9.41540551e-01 -3.36471302e-01 1.69839131e-02 -7.98832416e+01] [ 3.36417180e-01 -9.41693720e-01 -6.03477961e-03 -2.57094286e+02] [ 1.80241745e-02 3.16904420e-05 9.99837551e-01 -2.79778107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.5565599949999 meters 0.013543397811657615 Centerline is valid? [True, True] Translation: X:-80.11, Y:-257.73, Z:-1.79 [[-9.64334899e-01 2.64137876e-01 1.70113105e-02 -8.01137415e+01] [ 2.64095899e-01 9.64484930e-01 -4.70914012e-03 -2.57728283e+02] [-1.76510149e-02 -4.85708116e-05 -9.99844208e-01 -1.79364239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.5865599949999 meters 0.013630274705042774 Centerline is valid? [True, True] Translation: X:-79.93, Y:-257.08, Z:-2.80 [[-9.42307447e-01 -3.34324386e-01 1.68487305e-02 -7.99320297e+01] [ 3.34272135e-01 -9.42458063e-01 -5.91087741e-03 -2.57082787e+02] [ 1.78553723e-02 6.21973119e-05 9.99840578e-01 -2.79791005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.616559995 meters 0.013377980778428729 Centerline is valid? [True, True] Translation: X:-80.16, Y:-257.72, Z:-1.80 [[-9.65722749e-01 2.59099615e-01 1.57150252e-02 -8.01613565e+01] [ 2.59064188e-01 9.65850602e-01 -4.28507681e-03 -2.57716180e+02] [-1.62886283e-02 -6.69959239e-05 -9.99867329e-01 -1.79539146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.646559995 meters 0.013410219064905844 Centerline is valid? [True, True] Translation: X:-79.98, Y:-257.07, Z:-2.80 [[-9.43285334e-01 -3.31642407e-01 1.50363566e-02 -7.99831787e+01] [ 3.31600995e-01 -9.43405169e-01 -5.24099892e-03 -2.57067937e+02] [ 1.59235140e-02 4.23133773e-05 9.99873212e-01 -2.79564477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.6765599949999 meters 0.013290835482442857 Centerline is valid? [True, True] Translation: X:-80.21, Y:-257.70, Z:-1.80 [[-9.66765247e-01 2.55241685e-01 1.47186497e-02 -8.02096444e+01] [ 2.55211081e-01 9.66877282e-01 -3.95300468e-03 -2.57704610e+02] [-1.52400996e-02 -6.52650384e-05 -9.99883861e-01 -1.79636521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.7065599949999 meters 0.013275896087017352 Centerline is valid? [True, True] Translation: X:-80.03, Y:-257.06, Z:-2.80 [[-9.44190567e-01 -3.29073014e-01 1.46671488e-02 -8.00297983e+01] [ 3.29034687e-01 -9.44304477e-01 -5.02295385e-03 -2.57055907e+02] [ 1.55031728e-02 8.33750660e-05 9.99879815e-01 -2.79562224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.736559995 meters 0.013418636603303976 Centerline is valid? [True, True] Translation: X:-80.26, Y:-257.69, Z:-1.80 [[-9.68265184e-01 2.49458797e-01 1.52591594e-02 -8.02569844e+01] [ 2.49426164e-01 9.68385408e-01 -4.03618747e-03 -2.57692224e+02] [-1.57836098e-02 -1.02066212e-04 -9.99875426e-01 -1.79543778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.766559995 meters 0.013355874210346145 Centerline is valid? [True, True] Translation: X:-80.25, Y:-257.67, Z:-1.80 [[-9.83724145e-01 1.79021975e-01 1.54253032e-02 -8.02506589e+01] [ 1.78998066e-01 9.83845068e-01 -2.92815090e-03 -2.57665408e+02] [-1.57003118e-02 -1.19393293e-04 -9.99876735e-01 -1.79593318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.7965599949999 meters 0.013531521174619558 Centerline is valid? [True, True] Translation: X:-80.25, Y:-257.64, Z:-1.80 [[-9.94055173e-01 1.07873488e-01 1.47520416e-02 -8.02498394e+01] [ 1.07859730e-01 9.94164622e-01 -1.72739225e-03 -2.57637851e+02] [-1.48522977e-02 -1.25971971e-04 -9.99889691e-01 -1.79557436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.8265599949999 meters 0.01344382076810559 Centerline is valid? [True, True] Translation: X:-80.25, Y:-257.61, Z:-1.80 [[-9.99209539e-01 3.68724321e-02 1.48566856e-02 -8.02547363e+01] [ 3.68664477e-02 9.99319972e-01 -6.76571015e-04 -2.57610327e+02] [-1.48715295e-02 -1.28322988e-04 -9.99889405e-01 -1.79593247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.856559995 meters 0.013585663057897551 Centerline is valid? [True, True] Translation: X:-80.26, Y:-257.58, Z:-1.79 [[-9.99303994e-01 -3.40329985e-02 1.52735817e-02 -8.02556617e+01] [-3.40309808e-02 9.99420702e-01 3.92063669e-04 -2.57583341e+02] [-1.52780768e-02 -1.27984175e-04 -9.99883275e-01 -1.79478246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.886559995 meters 0.013696118991827174 Centerline is valid? [True, True] Translation: X:-80.27, Y:-256.91, Z:-2.80 [[-9.98604579e-01 -5.02592436e-02 1.62143086e-02 -8.02708031e+01] [ 5.02558499e-02 -9.98736186e-01 -6.16952817e-04 -2.56906517e+02] [ 1.62248244e-02 1.98771954e-04 9.99868349e-01 -2.79769638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.916559995 meters 0.013798162949642133 Centerline is valid? [True, True] Translation: X:-80.34, Y:-257.59, Z:-1.79 [[-9.99045223e-01 -4.01987234e-02 1.71086252e-02 -8.03417706e+01] [-4.01954237e-02 9.99191693e-01 5.36835812e-04 -2.57587655e+02] [-1.71163763e-02 -1.51365186e-04 -9.99853493e-01 -1.79258315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.9465599949999 meters 0.013828349553992324 Centerline is valid? [True, True] Translation: X:-80.36, Y:-257.56, Z:-1.79 [[-9.93635290e-01 -1.11349915e-01 1.70325066e-02 -8.03613998e+01] [-1.11336212e-01 9.93781250e-01 1.75365251e-03 -2.57563364e+02] [-1.71218548e-02 -1.53843744e-04 -9.99853399e-01 -1.79312380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.976559995 meters 0.013788500911905983 Centerline is valid? [True, True] Translation: X:-80.43, Y:-256.88, Z:-2.80 [[-9.99507397e-01 2.66063702e-02 1.66452803e-02 -8.04294855e+01] [-2.66007056e-02 -9.99645981e-01 5.61663607e-04 -2.56879257e+02] [ 1.66543313e-02 1.18610731e-04 9.99861300e-01 -2.79805671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.006559995 meters 0.013697098065274367 Centerline is valid? [True, True] Translation: X:-80.45, Y:-257.58, Z:-1.79 [[-9.93070439e-01 -1.16482373e-01 1.55872024e-02 -8.04509316e+01] [-1.16469909e-01 9.93192752e-01 1.70816829e-03 -2.57576021e+02] [-1.56800679e-02 -1.19108608e-04 -9.99877053e-01 -1.79295606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.036559995 meters 0.013549317569389027 Centerline is valid? [True, True] Translation: X:-80.53, Y:-256.88, Z:-2.80 [[-9.99290204e-01 3.41332214e-02 1.59377092e-02 -8.05292032e+01] [-3.41266578e-02 -9.99417282e-01 6.83696828e-04 -2.56884925e+02] [ 1.59517587e-02 1.39310798e-04 9.99872753e-01 -2.79802554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.0665599949999 meters 0.013706498723705596 Centerline is valid? [True, True] Translation: X:-80.56, Y:-257.59, Z:-1.79 [[-9.92234611e-01 -1.23343446e-01 1.60272041e-02 -8.05566725e+01] [-1.23329518e-01 9.92364034e-01 1.85832884e-03 -2.57587577e+02] [-1.61340336e-02 -1.32729159e-04 -9.99869829e-01 -1.79248291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.096559995 meters 0.013937224255667046 Centerline is valid? [True, True] Translation: X:-80.57, Y:-257.56, Z:-1.79 [[-9.80368216e-01 -1.96586981e-01 1.52223894e-02 -8.05717944e+01] [-1.96565974e-01 9.80486374e-01 2.87885398e-03 -2.57559608e+02] [-1.54912906e-02 -1.69866852e-04 -9.99879988e-01 -1.79248257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.126559995 meters 0.014518626956422327 Centerline is valid? [True, True] Translation: X:-80.60, Y:-257.54, Z:-1.79 [[-9.62479641e-01 -2.70970175e-01 1.44258268e-02 -8.05969960e+01] [-2.70943342e-01 9.62587716e-01 3.82031383e-03 -2.57535737e+02] [-1.49213147e-02 -2.31607429e-04 -9.99888644e-01 -1.79301260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.156559995 meters 0.014986139679362995 Centerline is valid? [True, True] Translation: X:-80.63, Y:-257.52, Z:-1.79 [[-9.39706969e-01 -3.41680212e-01 1.43333696e-02 -8.06329719e+01] [-3.41644772e-01 9.39816238e-01 4.92824204e-03 -2.57516889e+02] [-1.51546163e-02 -2.65817412e-04 -9.99885127e-01 -1.79269834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.1865599949999 meters 0.015321946208488606 Centerline is valid? [True, True] Translation: X:-80.70, Y:-257.51, Z:-1.79 [[-9.11331808e-01 -4.11433586e-01 1.40264069e-02 -8.06999915e+01] [-4.11389803e-01 9.11439695e-01 6.00932073e-03 -2.57512376e+02] [-1.52566604e-02 -2.93835652e-04 -9.99883567e-01 -1.79290154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.2165599949999 meters 0.017078971182349672 Centerline is valid? [True, True] Translation: X:-80.77, Y:-257.51, Z:-1.79 [[-8.77665117e-01 -4.79091124e-01 1.32527859e-02 -8.07664817e+01] [-4.79041831e-01 8.77765116e-01 6.87939849e-03 -2.57509080e+02] [-1.49286919e-02 -3.10830720e-04 -9.99888513e-01 -1.79077307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.246559995 meters 0.01651983250195958 Centerline is valid? [True, True] Translation: X:-80.85, Y:-257.52, Z:-1.79 [[-8.38416100e-01 -5.44902467e-01 1.18213925e-02 -8.08454708e+01] [-5.44853689e-01 8.38499373e-01 7.29792954e-03 -2.57523567e+02] [-1.38888900e-02 -3.22227710e-04 -9.99903493e-01 -1.79293014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.276559995 meters 0.016532283571529596 Centerline is valid? [True, True] Translation: X:-80.92, Y:-257.54, Z:-1.79 [[-7.94874037e-01 -6.06672013e-01 1.11505187e-02 -8.09240760e+01] [-6.06618078e-01 7.94952175e-01 8.09607038e-03 -2.57542845e+02] [-1.37757884e-02 -3.28750097e-04 -9.99905055e-01 -1.79324528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.3065599949999 meters 0.016505321903623277 Centerline is valid? [True, True] Translation: X:-81.01, Y:-257.57, Z:-1.79 [[-7.46781709e-01 -6.64996012e-01 9.86835060e-03 -8.10064941e+01] [-6.64943435e-01 7.46846843e-01 8.36791137e-03 -2.57571367e+02] [-1.29347742e-02 -3.12891791e-04 -9.99916293e-01 -1.79311641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.3365599949999 meters 0.01635031433210396 Centerline is valid? [True, True] Translation: X:-81.09, Y:-257.61, Z:-1.79 [[-6.94618499e-01 -7.19322328e-01 8.97382919e-03 -8.10909929e+01] [-7.19267856e-01 6.94676398e-01 8.85744270e-03 -2.57611592e+02] [-1.26052636e-02 -3.02043335e-04 -9.99920505e-01 -1.79308229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.366559995 meters 0.01676175985356924 Centerline is valid? [True, True] Translation: X:-81.18, Y:-257.67, Z:-1.79 [[-6.38617139e-01 -7.69479735e-01 8.31182946e-03 -8.11812443e+01] [-7.69420528e-01 6.38671159e-01 9.54998417e-03 -2.57666607e+02] [-1.26570450e-02 -2.96508639e-04 -9.99919853e-01 -1.79278931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.396559995 meters 0.016974227112025488 Centerline is valid? [True, True] Translation: X:-81.27, Y:-257.73, Z:-1.79 [[-5.79016962e-01 -8.15280300e-01 7.57564491e-03 -8.12660610e+01] [-8.15216880e-01 5.79066448e-01 1.01729217e-02 -2.57729184e+02] [-1.26805844e-02 -2.85499409e-04 -9.99919557e-01 -1.79182529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.4265599949999 meters 0.015676804700912338 Centerline is valid? [True, True] Translation: X:-81.34, Y:-257.79, Z:-1.79 [[-5.15396223e-01 -8.56923148e-01 7.03216361e-03 -8.13394255e+01] [-8.56850983e-01 5.15444112e-01 1.11247405e-02 -2.57792889e+02] [-1.31577350e-02 -2.91867067e-04 -9.99913391e-01 -1.79298209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.4565599949999 meters 0.01780066674828859 Centerline is valid? [True, True] Translation: X:-81.42, Y:-257.87, Z:-1.79 [[-4.48649849e-01 -8.93685346e-01 6.30995337e-03 -8.14199631e+01] [-8.93606068e-01 4.48694122e-01 1.19071941e-02 -2.57869204e+02] [-1.34725238e-02 -2.96451787e-04 -9.99909198e-01 -1.78997955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.486559995 meters 0.015742796496383188 Centerline is valid? [True, True] Translation: X:-81.49, Y:-257.96, Z:-1.79 [[-3.79772471e-01 -9.25065414e-01 5.18164756e-03 -8.14887995e+01] [-9.24988917e-01 3.79807721e-01 1.18995400e-02 -2.57957217e+02] [-1.29758827e-02 -2.73848834e-04 -9.99915772e-01 -1.79188860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.516559995 meters 0.015340997080128798 Centerline is valid? [True, True] Translation: X:-81.55, Y:-258.05, Z:-1.79 [[-3.08252792e-01 -9.51295564e-01 4.11906638e-03 -8.15534439e+01] [-9.51221510e-01 3.08280203e-01 1.18724411e-02 -2.58049205e+02] [-1.25640272e-02 -2.58431428e-04 -9.99921036e-01 -1.79263745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.5465599949999 meters 0.016373065940428852 Centerline is valid? [True, True] Translation: X:-81.62, Y:-258.15, Z:-1.79 [[-2.35147637e-01 -9.71955002e-01 3.01060916e-03 -8.16158353e+01] [-9.71887638e-01 2.35166792e-01 1.14454855e-02 -2.58153562e+02] [-1.18324922e-02 -2.34594957e-04 -9.99929966e-01 -1.79168921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.5765599949999 meters 0.015988707304475897 Centerline is valid? [True, True] Translation: X:-81.67, Y:-258.26, Z:-1.79 [[-1.60615253e-01 -9.87015041e-01 2.01258639e-03 -8.16662032e+01] [-9.86953296e-01 1.60627721e-01 1.10420386e-02 -2.58258403e+02] [-1.12219354e-02 -2.12808950e-04 -9.99937010e-01 -1.79239097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.606559995 meters 0.015979156348296386 Centerline is valid? [True, True] Translation: X:-81.71, Y:-258.36, Z:-1.79 [[-8.52531012e-02 -9.96358751e-01 1.07197295e-03 -8.17084508e+01] [-9.96305093e-01 8.52596369e-02 1.03419216e-02 -2.58360527e+02] [-1.03956601e-02 -1.86331216e-04 -9.99945946e-01 -1.79341340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.636559995 meters 0.01490106351335065 Centerline is valid? [True, True] Translation: X:-82.41, Y:-258.40, Z:-2.80 [[-1.87196051e-01 9.82321085e-01 1.71011859e-03 -8.24054889e+01] [-9.82272854e-01 -1.87203808e-01 9.73527718e-03 -2.58396829e+02] [ 9.88330875e-03 1.42602379e-04 9.99951149e-01 -2.79726145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.666559995 meters 0.014679462301411875 Centerline is valid? [True, True] Translation: X:-81.74, Y:-258.64, Z:-1.79 [[-7.64566962e-02 -9.97072498e-01 8.98083612e-04 -8.17387734e+01] [-9.97026528e-01 7.64617963e-02 9.57580414e-03 -2.58639706e+02] [-9.61644005e-03 -1.63278837e-04 -9.99953748e-01 -1.79409442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.6965599949999 meters 0.014245152325922867 Centerline is valid? [True, True] Translation: X:-81.77, Y:-258.75, Z:-1.79 [[-1.24525957e-03 -9.99999214e-01 1.46771910e-04 -8.17716037e+01] [-9.99959449e-01 1.24651909e-03 8.91889602e-03 -2.58754132e+02] [-8.91907197e-03 -1.35659617e-04 -9.99960215e-01 -1.79404435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.726559995 meters 0.0143259761401981 Centerline is valid? [True, True] Translation: X:-81.80, Y:-258.87, Z:-1.79 [[ 7.45411566e-02 -9.97217794e-01 -5.35334981e-04 -8.17965564e+01] [-9.97178767e-01 -7.45429760e-02 8.82331537e-03 -2.58869767e+02] [-8.83867256e-03 -1.23875456e-04 -9.99960931e-01 -1.79376132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.756559995 meters 0.013954622537417031 Centerline is valid? [True, True] Translation: X:-81.81, Y:-258.99, Z:-1.79 [[ 1.49321653e-01 -9.88787816e-01 -1.30380836e-03 -8.18103838e+01] [-9.88743061e-01 -1.49327300e-01 9.40835263e-03 -2.58988625e+02] [-9.49755863e-03 -1.15739299e-04 -9.99954891e-01 -1.79410349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.786559995 meters 0.014055252214590228 Centerline is valid? [True, True] Translation: X:-81.82, Y:-259.11, Z:-1.79 [[ 2.24458229e-01 -9.74481322e-01 -2.15806339e-03 -8.18174698e+01] [-9.74431107e-01 -2.24468573e-01 9.89332242e-03 -2.59107895e+02] [-1.01252753e-02 -1.17753536e-04 -9.99948731e-01 -1.79355595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.8165599949999 meters 0.0140120959942173 Centerline is valid? [True, True] Translation: X:-81.81, Y:-259.23, Z:-1.79 [[ 2.98369651e-01 -9.54445135e-01 -3.16794920e-03 -8.18137977e+01] [-9.54386887e-01 -2.98386443e-01 1.05451895e-02 -2.59231532e+02] [-1.10100779e-02 -1.22915334e-04 -9.99939380e-01 -1.79331190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.846559995 meters 0.013807649139261496 Centerline is valid? [True, True] Translation: X:-81.80, Y:-259.35, Z:-1.79 [[ 3.70249977e-01 -9.28922028e-01 -4.33823319e-03 -8.18025670e+01] [-9.28854229e-01 -3.70275370e-01 1.12237120e-02 -2.59347619e+02] [-1.20322943e-02 -1.25992876e-04 -9.99927601e-01 -1.79334606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.876559995 meters 0.013792624059955577 Centerline is valid? [True, True] Translation: X:-81.78, Y:-259.46, Z:-1.79 [[ 4.40722296e-01 -8.97628806e-01 -5.13660494e-03 -8.17832201e+01] [-8.97564459e-01 -4.40752210e-01 1.07485772e-02 -2.59464235e+02] [-1.19122025e-02 -1.26703607e-04 -9.99929039e-01 -1.79382514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.906559995 meters 0.013915034395869845 Centerline is valid? [True, True] Translation: X:-81.76, Y:-259.58, Z:-1.79 [[ 5.08782440e-01 -8.60876272e-01 -5.69852406e-03 -8.17559626e+01] [-8.60819438e-01 -5.08814336e-01 9.89279655e-03 -2.59578665e+02] [-1.14159645e-02 -1.27880886e-04 -9.99934828e-01 -1.79382144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.9365599949999 meters 0.013969389036636972 Centerline is valid? [True, True] Translation: X:-81.72, Y:-259.69, Z:-1.79 [[ 5.73800211e-01 -8.18971658e-01 -6.22430210e-03 -8.17206838e+01] [-8.18920976e-01 -5.73833954e-01 9.11198518e-03 -2.59688212e+02] [-1.10341735e-02 -1.31247468e-04 -9.99939113e-01 -1.79469887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.9665599949999 meters 0.01431722556960719 Centerline is valid? [True, True] Translation: X:-81.68, Y:-259.79, Z:-1.80 [[ 6.36149340e-01 -7.71534980e-01 -6.91324021e-03 -8.16799410e+01] [-7.71486821e-01 -6.36186885e-01 8.62168668e-03 -2.59792920e+02] [-1.10500456e-02 -1.51206575e-04 -9.99938935e-01 -1.79530984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.996559995 meters 0.014464098200282768 Centerline is valid? [True, True] Translation: X:-81.63, Y:-259.89, Z:-1.80 [[ 6.93684617e-01 -7.20236730e-01 -7.79135121e-03 -8.16299109e+01] [-7.20188626e-01 -6.93728352e-01 8.32568375e-03 -2.59894429e+02] [-1.14015445e-02 -1.64156227e-04 -9.99934987e-01 -1.79503442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.026559995 meters 0.014565647924726349 Centerline is valid? [True, True] Translation: X:-81.58, Y:-259.98, Z:-1.79 [[ 7.46678738e-01 -6.65128290e-01 -8.67297553e-03 -8.15803687e+01] [-6.65080732e-01 -7.46729087e-01 7.95552998e-03 -2.59984280e+02] [-1.17678111e-02 -1.71996168e-04 -9.99930742e-01 -1.79416052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.0565599949999 meters 0.01459942067551135 Centerline is valid? [True, True] Translation: X:-81.58, Y:-259.99, Z:-1.79 [[ 7.96427679e-01 -6.04642682e-01 -1.04966647e-02 -8.15838825e+01] [-6.04586906e-01 -7.96496823e-01 8.21489012e-03 -2.59993729e+02] [-1.33276333e-02 -1.96419845e-04 -9.99911164e-01 -1.79157324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.0865599949999 meters 0.01467934300088689 Centerline is valid? [True, True] Translation: X:-81.59, Y:-260.00, Z:-1.79 [[ 8.41183276e-01 -5.40621728e-01 -1.17832021e-02 -8.15851405e+01] [-5.40565240e-01 -8.41265776e-01 7.81768379e-03 -2.60000366e+02] [-1.41392144e-02 -2.06515365e-04 -9.99900015e-01 -1.79075360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.116559995 meters 0.01465684013756987 Centerline is valid? [True, True] Translation: X:-81.58, Y:-260.00, Z:-1.79 [[ 8.80380292e-01 -4.74114354e-01 -1.20880221e-02 -8.15848799e+01] [-4.74066734e-01 -8.80463256e-01 6.72216992e-03 -2.60004392e+02] [-1.38301365e-02 -1.87536772e-04 -9.99904342e-01 -1.79103002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.146559995 meters 0.014003844058691243 Centerline is valid? [True, True] Translation: X:-81.58, Y:-260.01, Z:-1.79 [[ 9.13637579e-01 -4.06364770e-01 -1.15779312e-02 -8.15825890e+01] [-4.06330239e-01 -9.13710925e-01 5.29922341e-03 -2.60007189e+02] [-1.27323000e-02 -1.37106078e-04 -9.99918932e-01 -1.79378943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.1765599949999 meters 0.013758427001342846 Centerline is valid? [True, True] Translation: X:-81.58, Y:-260.01, Z:-1.79 [[ 9.41913790e-01 -3.35660089e-01 -1.14331653e-02 -8.15819902e+01] [-3.35633995e-01 -9.41983171e-01 4.18661846e-03 -2.60011776e+02] [-1.21751300e-02 -1.06074720e-04 -9.99925875e-01 -1.79368383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.2065599949999 meters 0.013758427001342846 Centerline is valid? [True, True] Translation: X:-81.58, Y:-260.02, Z:-1.79 [[ 9.65271283e-01 -2.60986329e-01 -1.17254999e-02 -8.15806469e+01] [-2.60965739e-01 -9.65342491e-01 3.27993739e-03 -2.60017432e+02] [-1.21751421e-02 -1.06075611e-04 -9.99925875e-01 -1.79368370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.236559995 meters 0.013697689277808511 Centerline is valid? [True, True] Translation: X:-81.58, Y:-260.02, Z:-1.79 [[ 9.82349846e-01 -1.86687407e-01 -1.16872852e-02 -8.15791175e+01] [-1.86673225e-01 -9.82419364e-01 2.30249627e-03 -2.60020385e+02] [-1.19116623e-02 -8.01536474e-05 -9.99929051e-01 -1.79341860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.266559995 meters 0.013413333664079563 Centerline is valid? [True, True] Translation: X:-81.58, Y:-260.02, Z:-1.79 [[ 9.93691486e-01 -1.11534419e-01 -1.17176887e-02 -8.15803783e+01] [-1.11526052e-01 -9.93760570e-01 1.36718892e-03 -2.60024353e+02] [-1.17970656e-02 -5.17364414e-05 -9.99930411e-01 -1.79462949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.2965599949999 meters 0.013380116023733605 Centerline is valid? [True, True] Translation: X:-81.58, Y:-260.03, Z:-1.80 [[ 9.99241512e-01 -3.73326931e-02 -1.10757065e-02 -8.15816941e+01] [-3.73303442e-02 -9.99302892e-01 4.18810115e-04 -2.60027132e+02] [-1.10836208e-02 -5.03251717e-06 -9.99938575e-01 -1.79600187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.3265599949999 meters 0.013489802726937746 Centerline is valid? [True, True] Translation: X:-81.58, Y:-260.03, Z:-1.80 [[ 9.99173840e-01 3.92876875e-02 -1.03978474e-02 -8.15832870e+01] [ 3.92854218e-02 -9.99227941e-01 -4.22136125e-04 -2.60031090e+02] [-1.04064044e-02 1.33035499e-05 -9.99945852e-01 -1.79645655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.356559995 meters 0.013480895961255096 Centerline is valid? [True, True] Translation: X:-81.58, Y:-260.03, Z:-1.80 [[ 9.93173217e-01 1.16217723e-01 -1.00201230e-02 -8.15846337e+01] [ 1.16211557e-01 -9.93223761e-01 -1.19742688e-03 -2.60034284e+02] [-1.00913865e-02 2.47982132e-05 -9.99949080e-01 -1.79739208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.386559995 meters 0.013467489822881911 Centerline is valid? [True, True] Translation: X:-81.58, Y:-260.04, Z:-1.80 [[ 9.81326462e-01 1.92104248e-01 -9.71250253e-03 -8.15848459e+01] [ 1.92094442e-01 -9.81374524e-01 -1.94140416e-03 -2.60041826e+02] [-9.90455453e-03 3.94335265e-05 -9.99950948e-01 -1.79913854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.416559995 meters 0.013659772197240528 Centerline is valid? [True, True] Translation: X:-81.58, Y:-260.05, Z:-1.80 [[ 9.63257673e-01 2.68378992e-01 -1.03620810e-02 -8.15849943e+01] [ 2.68362990e-01 -9.63313404e-01 -2.93094003e-03 -2.60049164e+02] [-1.07685342e-02 4.24514386e-05 -9.99942017e-01 -1.79806531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.4465599949999 meters 0.013446889276757239 Centerline is valid? [True, True] Translation: X:-81.58, Y:-260.06, Z:-1.80 [[ 9.39185752e-01 3.43242154e-01 -1.07213618e-02 -8.15822760e+01] [ 3.43219283e-01 -9.39246944e-01 -3.96254141e-03 -2.60060258e+02] [-1.14301175e-02 4.17843325e-05 -9.99934673e-01 -1.79860445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.476559995 meters 0.013394396970469192 Centerline is valid? [True, True] Translation: X:-81.58, Y:-260.07, Z:-1.80 [[ 9.08854950e-01 4.16940445e-01 -1.19726521e-02 -8.15793243e+01] [ 4.16903829e-01 -9.08933806e-01 -5.52564331e-03 -2.60070181e+02] [-1.31862124e-02 3.05637806e-05 -9.99913058e-01 -1.79777723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.506559995 meters 0.013444856751109534 Centerline is valid? [True, True] Translation: X:-81.58, Y:-260.08, Z:-1.80 [[ 8.73369052e-01 4.86908697e-01 -1.21004049e-02 -8.15763143e+01] [ 4.86861492e-01 -8.73452872e-01 -6.77995356e-03 -2.60077242e+02] [-1.38703517e-02 3.01804488e-05 -9.99903802e-01 -1.79747791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.536559995 meters 0.013482476897805242 Centerline is valid? [True, True] Translation: X:-81.57, Y:-260.08, Z:-1.80 [[ 8.32614313e-01 5.53714619e-01 -1.23905630e-02 -8.15726459e+01] [ 5.53652712e-01 -8.32706503e-01 -8.27976610e-03 -2.60084247e+02] [-1.49023299e-02 3.37829829e-05 -9.99888954e-01 -1.79734740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.5665599949999 meters 0.013686985109649758 Centerline is valid? [True, True] Translation: X:-81.57, Y:-260.09, Z:-1.80 [[ 7.87217471e-01 6.16539528e-01 -1.29485383e-02 -8.15682597e+01] [ 6.16455059e-01 -7.87323954e-01 -1.02054979e-02 -2.60091203e+02] [-1.64867872e-02 5.17543052e-05 -9.99864082e-01 -1.79684115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.596559995 meters 0.013699858587568526 Centerline is valid? [True, True] Translation: X:-81.56, Y:-260.10, Z:-1.80 [[ 7.37090039e-01 6.75672513e-01 -1.28424653e-02 -8.15629284e+01] [ 6.75568315e-01 -7.37201906e-01 -1.18659637e-02 -2.60098563e+02] [-1.74849954e-02 7.03209693e-05 -9.99847123e-01 -1.79669892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.626559995 meters 0.013847733618149059 Centerline is valid? [True, True] Translation: X:-81.56, Y:-260.11, Z:-1.80 [[ 6.82690826e-01 7.30610580e-01 -1.18918412e-02 -8.15585813e+01] [ 7.30497497e-01 -6.82794385e-01 -1.28543326e-02 -2.60105512e+02] [-1.75111938e-02 8.85747538e-05 -9.99846663e-01 -1.79581751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.656559995 meters 0.01412232868937775 Centerline is valid? [True, True] Translation: X:-81.55, Y:-260.11, Z:-1.80 [[ 6.25031346e-01 7.80517400e-01 -1.13316038e-02 -8.15537428e+01] [ 7.80385319e-01 -6.25134043e-01 -1.43590565e-02 -2.60111478e+02] [-1.82912647e-02 1.31843144e-04 -9.99832692e-01 -1.79521127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.6865599949999 meters 0.014239546210002747 Centerline is valid? [True, True] Translation: X:-81.55, Y:-260.12, Z:-1.79 [[ 5.63017887e-01 8.26379589e-01 -1.03746380e-02 -8.15492473e+01] [ 8.26234158e-01 -5.63113443e-01 -1.55037299e-02 -2.60116175e+02] [-1.86540641e-02 1.56996988e-04 -9.99825986e-01 -1.79478156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.7165599949999 meters 0.014628047141197717 Centerline is valid? [True, True] Translation: X:-81.55, Y:-260.12, Z:-1.79 [[ 4.97760670e-01 8.67262575e-01 -9.48375269e-03 -8.15465178e+01] [ 8.67097875e-01 -4.97850972e-01 -1.69022099e-02 -2.60120684e+02] [-1.93801496e-02 1.89913522e-04 -9.99812169e-01 -1.79425569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.746559995 meters 0.014534283014469462 Centerline is valid? [True, True] Translation: X:-81.54, Y:-260.13, Z:-1.80 [[ 4.29860885e-01 9.02856857e-01 -8.31352307e-03 -8.15407145e+01] [ 9.02677666e-01 -4.29941209e-01 -1.79885706e-02 -2.60126177e+02] [-1.98154305e-02 2.28151288e-04 -9.99803629e-01 -1.79545890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.776559995 meters 0.015274347756299895 Centerline is valid? [True, True] Translation: X:-81.54, Y:-260.13, Z:-1.80 [[ 3.62024539e-01 9.32142402e-01 -6.98389522e-03 -8.15361603e+01] [ 9.31951467e-01 -3.62091754e-01 -1.88686166e-02 -2.60129926e+02] [-2.01170484e-02 3.22250814e-04 -9.99797580e-01 -1.79576330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.8065599949999 meters 0.01590292246795337 Centerline is valid? [True, True] Translation: X:-81.53, Y:-260.13, Z:-1.80 [[ 2.90341217e-01 9.56908136e-01 -5.36632600e-03 -8.15307975e+01] [ 9.56720735e-01 -2.90390575e-01 -1.89406519e-02 -2.60134355e+02] [-1.96827944e-02 3.65176564e-04 -9.99806208e-01 -1.79592962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.8365599949999 meters 0.016397707137634974 Centerline is valid? [True, True] Translation: X:-81.52, Y:-260.14, Z:-1.80 [[ 2.16964665e-01 9.76172020e-01 -3.81073992e-03 -8.15249971e+01] [ 9.75986775e-01 -2.16997745e-01 -1.90208889e-02 -2.60138324e+02] [-1.93945815e-02 4.07629017e-04 -9.99811824e-01 -1.79647111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.866559995 meters 0.017389237486715253 Centerline is valid? [True, True] Translation: X:-81.52, Y:-260.14, Z:-1.80 [[ 1.44396369e-01 9.89517397e-01 -2.23833069e-03 -8.15192812e+01] [ 9.89341309e-01 -1.44412913e-01 -1.86730877e-02 -2.60142640e+02] [-1.88005890e-02 4.81853049e-04 -9.99823137e-01 -1.79837404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.896559995 meters 0.017645228183494857 Centerline is valid? [True, True] Translation: X:-81.51, Y:-260.15, Z:-1.80 [[ 6.80258302e-02 9.97683272e-01 -7.58609749e-04 -8.15110160e+01] [ 9.97511279e-01 -6.80281938e-02 -1.85314346e-02 -2.60146667e+02] [-1.85401091e-02 5.03894440e-04 -9.99827991e-01 -1.79930136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.9265599949999 meters 0.01834984179703795 Centerline is valid? [True, True] Translation: X:-81.50, Y:-260.15, Z:-1.80 [[-9.04766798e-03 9.99958830e-01 6.90892834e-04 -8.15038855e+01] [ 9.99789357e-01 9.05885915e-03 -1.84168110e-02 -2.60150953e+02] [-1.84223115e-02 5.24118111e-04 -9.99830158e-01 -1.80079430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.9565599949999 meters 0.018217031061646457 Centerline is valid? [True, True] Translation: X:-81.49, Y:-260.15, Z:-1.80 [[-8.70464764e-02 9.96201986e-01 2.12461906e-03 -8.14947223e+01] [ 9.96034989e-01 8.70708016e-02 -1.82476153e-02 -2.60153725e+02] [-1.83633029e-02 5.27804315e-04 -9.99831241e-01 -1.80145197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.986559995 meters 0.01728435059700636 Centerline is valid? [True, True] Translation: X:-81.48, Y:-260.16, Z:-1.80 [[-1.65159459e-01 9.86260321e-01 3.59615740e-03 -8.14820115e+01] [ 9.86091162e-01 1.65197762e-01 -1.82734637e-02 -2.60155157e+02] [-1.86164693e-02 5.28103649e-04 -9.99826559e-01 -1.80258855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.016559995 meters 0.01695703020856 Centerline is valid? [True, True] Translation: X:-81.47, Y:-260.16, Z:-1.80 [[-2.45005579e-01 9.69507470e-01 5.24701173e-03 -8.14697775e+01] [ 9.69326059e-01 2.45061269e-01 -1.87607519e-02 -2.60156638e+02] [-1.94745285e-02 4.89576303e-04 -9.99810234e-01 -1.80297867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.0465599949999 meters 0.016429335528650366 Centerline is valid? [True, True] Translation: X:-81.46, Y:-260.16, Z:-1.80 [[-3.22629733e-01 9.46500261e-01 6.87829960e-03 -8.14579156e+01] [ 9.46314099e-01 3.22702730e-01 -1.87769604e-02 -2.60156221e+02] [-1.99920440e-02 4.51026177e-04 -9.99800037e-01 -1.80242590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.0765599949999 meters 0.015903747375637805 Centerline is valid? [True, True] Translation: X:-81.45, Y:-260.16, Z:-1.80 [[-3.98545336e-01 9.17109022e-01 8.52390615e-03 -8.14463278e+01] [ 9.16920331e-01 3.98636278e-01 -1.86071302e-02 -2.60155766e+02] [-2.04627052e-02 3.99957886e-04 -9.99790537e-01 -1.80184861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.106559995 meters 0.015053974515272425 Centerline is valid? [True, True] Translation: X:-81.43, Y:-260.15, Z:-1.80 [[-4.71961860e-01 8.81565527e-01 9.70688602e-03 -8.14343576e+01] [ 8.81393153e-01 4.72061558e-01 -1.74354856e-02 -2.60152650e+02] [-1.99527708e-02 3.26698649e-04 -9.99800870e-01 -1.80174853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.136559995 meters 0.013507615301039062 Centerline is valid? [True, True] Translation: X:-81.42, Y:-260.15, Z:-1.80 [[-5.45108041e-01 8.38292922e-01 1.10544335e-02 -8.14203500e+01] [ 8.38127802e-01 5.45220083e-01 -1.66387890e-02 -2.60146528e+02] [-1.99752782e-02 1.95090409e-04 -9.99800455e-01 -1.80273617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.166559995 meters 0.013197221868163805 Centerline is valid? [True, True] Translation: X:-81.41, Y:-260.14, Z:-1.80 [[-6.11453933e-01 7.91186141e-01 1.21892869e-02 -8.14114171e+01] [ 7.91033306e-01 6.11575403e-01 -1.55510858e-02 -2.60142527e+02] [-1.97584716e-02 1.33359390e-04 -9.99804774e-01 -1.80264906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.1965599949999 meters 0.012536610865905358 Centerline is valid? [True, True] Translation: X:-81.40, Y:-260.13, Z:-1.80 [[-6.76120874e-01 7.36660819e-01 1.38347653e-02 -8.14009570e+01] [ 7.36506971e-01 6.76262403e-01 -1.50547309e-02 -2.60134444e+02] [-2.04461620e-02 1.05832800e-05 -9.99790955e-01 -1.80329746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.226559995 meters 0.012556831194118882 Centerline is valid? [True, True] Translation: X:-81.39, Y:-260.13, Z:-1.80 [[-7.33896351e-01 6.79089923e-01 1.52650545e-02 -8.13927934e+01] [ 6.78941501e-01 7.34055089e-01 -1.41973790e-02 -2.60127586e+02] [-2.08466880e-02 -5.53256729e-05 -9.99782683e-01 -1.80251147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.256559995 meters 0.012582860104649237 Centerline is valid? [True, True] Translation: X:-81.38, Y:-260.10, Z:-1.80 [[-7.81952529e-01 6.23130100e-01 1.60972217e-02 -8.13762100e+01] [ 6.22995036e-01 7.82118191e-01 -1.29738212e-02 -2.60100750e+02] [-2.06743084e-02 -1.16423081e-04 -9.99786257e-01 -1.80196262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.286559995 meters 0.012739918777237355 Centerline is valid? [True, True] Translation: X:-81.36, Y:-260.07, Z:-1.80 [[-8.26693991e-01 5.62420381e-01 1.61356824e-02 -8.13567392e+01] [ 5.62308524e-01 8.26851423e-01 -1.12182543e-02 -2.60074346e+02] [-1.96511868e-02 -2.00831681e-04 -9.99806877e-01 -1.80257587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.3165599949999 meters 0.012661546146637085 Centerline is valid? [True, True] Translation: X:-80.98, Y:-259.54, Z:-2.79 [[-7.73441689e-01 -6.33698468e-01 1.46357538e-02 -8.09832969e+01] [ 6.33588456e-01 -7.73580139e-01 -1.18082960e-02 -2.59542399e+02] [ 1.88048275e-02 1.40016256e-04 9.99823164e-01 -2.78796100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.346559995 meters 0.012822577659631872 Centerline is valid? [True, True] Translation: X:-81.00, Y:-259.57, Z:-2.79 [[-7.28766655e-01 -6.84636400e-01 1.31210477e-02 -8.09981482e+01] [ 6.84530654e-01 -7.28884734e-01 -1.20345030e-02 -2.59570578e+02] [ 1.78029902e-02 2.11414816e-04 9.99841492e-01 -2.78793248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.376559995 meters 0.012669231905077629 Centerline is valid? [True, True] Translation: X:-81.44, Y:-260.05, Z:-1.80 [[-7.89345764e-01 6.13806670e-01 1.32150455e-02 -8.14380076e+01] [ 6.13716839e-01 7.89456357e-01 -1.05024696e-02 -2.60047784e+02] [-1.68791876e-02 -1.79783927e-04 -9.99857520e-01 -1.80462865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.406559995 meters 0.012386952650738432 Centerline is valid? [True, True] Translation: X:-81.42, Y:-260.03, Z:-1.81 [[-8.30020050e-01 5.57561376e-01 1.38574220e-02 -8.14179764e+01] [ 5.57480560e-01 8.30135705e-01 -9.49406859e-03 -2.60029008e+02] [-1.67970667e-02 -1.55023914e-04 -9.99858907e-01 -1.80508724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.4365599949999 meters 0.01222547590369673 Centerline is valid? [True, True] Translation: X:-81.41, Y:-260.00, Z:-1.81 [[-8.66613144e-01 4.98779615e-01 1.41617475e-02 -8.14086481e+01] [ 4.98710677e-01 8.66728839e-01 -8.29340747e-03 -2.60002654e+02] [-1.64109776e-02 -1.24561229e-04 -9.99865323e-01 -1.80509218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.4665599949999 meters 0.011735961618370762 Centerline is valid? [True, True] Translation: X:-81.07, Y:-259.45, Z:-2.79 [[-8.24570858e-01 -5.65620117e-01 1.25213534e-02 -8.10713073e+01] [ 5.65555698e-01 -8.24665921e-01 -8.53644975e-03 -2.59446991e+02] [ 1.51543211e-02 4.26150735e-05 9.99885166e-01 -2.78542813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.496559995 meters 0.01168292781789823 Centerline is valid? [True, True] Translation: X:-81.44, Y:-259.99, Z:-1.81 [[-8.65776764e-01 5.00265532e-01 1.28449500e-02 -8.14403818e+01] [ 5.00209930e-01 8.65872044e-01 -7.45852945e-03 -2.59987052e+02] [-1.48533283e-02 -3.22499592e-05 -9.99889683e-01 -1.80538181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.526559995 meters 0.011523898445062535 Centerline is valid? [True, True] Translation: X:-81.12, Y:-259.42, Z:-2.79 [[-8.28619440e-01 -5.59682021e-01 1.20772019e-02 -8.11156630e+01] [ 5.59622837e-01 -8.28707449e-01 -8.13908526e-03 -2.59420385e+02] [ 1.45637669e-02 1.44737272e-05 9.99893943e-01 -2.78567697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.5565599949999 meters 0.011615733749933408 Centerline is valid? [True, True] Translation: X:-81.48, Y:-259.97, Z:-1.81 [[-8.65910044e-01 5.00041483e-01 1.25821384e-02 -8.14798605e+01] [ 4.99989001e-01 8.66001452e-01 -7.24459175e-03 -2.59967501e+02] [-1.45187465e-02 1.77660248e-05 -9.99894597e-01 -1.80569918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.5865599949999 meters 0.011730327374472466 Centerline is valid? [True, True] Translation: X:-81.47, Y:-259.94, Z:-1.81 [[-8.97867884e-01 4.40056691e-01 1.35414872e-02 -8.14655298e+01] [ 4.40007707e-01 8.97969991e-01 -6.56603159e-03 -2.59944815e+02] [-1.50492753e-02 6.29298412e-05 -9.99886751e-01 -1.80507676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.616559995 meters 0.011968279310710962 Centerline is valid? [True, True] Translation: X:-81.46, Y:-259.92, Z:-1.80 [[-9.26259448e-01 3.76599828e-01 1.46970787e-02 -8.14571017e+01] [ 3.76553939e-01 9.26376037e-01 -5.87956254e-03 -2.59918568e+02] [-1.58292638e-02 8.82425207e-05 -9.99874706e-01 -1.80418004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.646559995 meters 0.012129239057398962 Centerline is valid? [True, True] Translation: X:-81.45, Y:-259.89, Z:-1.80 [[-9.50320094e-01 3.10854619e-01 1.61593433e-02 -8.14495428e+01] [ 3.10811645e-01 9.50457466e-01 -5.16986535e-03 -2.59892295e+02] [-1.69658450e-02 1.09485149e-04 -9.99856064e-01 -1.80329398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.6765599949999 meters 0.012496168379018482 Centerline is valid? [True, True] Translation: X:-81.44, Y:-259.87, Z:-1.80 [[-9.69604316e-01 2.44135598e-01 1.62874316e-02 -8.14404143e+01] [ 2.44103471e-01 9.69741095e-01 -3.96278620e-03 -2.59866749e+02] [-1.67620489e-02 1.33483976e-04 -9.99859498e-01 -1.80236997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.7065599949999 meters 0.012494033351099089 Centerline is valid? [True, True] Translation: X:-81.28, Y:-259.22, Z:-2.79 [[-9.55899182e-01 -2.93259658e-01 1.59851941e-02 -8.12819022e+01] [ 2.93216323e-01 -9.56032821e-01 -5.04304813e-03 -2.59224074e+02] [ 1.67612928e-02 -1.33525752e-04 9.99859511e-01 -2.78893377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.736559995 meters 0.012620413666151914 Centerline is valid? [True, True] Translation: X:-81.49, Y:-259.86, Z:-1.80 [[-9.70259398e-01 2.41561769e-01 1.56400702e-02 -8.14875695e+01] [ 2.41532846e-01 9.70385434e-01 -3.74089023e-03 -2.59857261e+02] [-1.60805523e-02 1.47956760e-04 -9.99870689e-01 -1.80258676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.766559995 meters 0.012734476345370196 Centerline is valid? [True, True] Translation: X:-81.33, Y:-259.21, Z:-2.79 [[-9.57597452e-01 -2.87745243e-01 1.44843065e-02 -8.13290896e+01] [ 2.87709234e-01 -9.57706968e-01 -4.55631797e-03 -2.59210333e+02] [ 1.51827801e-02 -1.95849755e-04 9.99884716e-01 -2.78727379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.7965599949999 meters 0.012653375341805911 Centerline is valid? [True, True] Translation: X:-81.54, Y:-259.85, Z:-1.80 [[-9.70863039e-01 2.39208276e-01 1.42954804e-02 -8.15389647e+01] [ 2.39184714e-01 9.70968268e-01 -3.36092983e-03 -2.59847565e+02] [-1.46844201e-02 1.56257847e-04 -9.99892166e-01 -1.80456077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.8265599949999 meters 0.012403651199892693 Centerline is valid? [True, True] Translation: X:-81.54, Y:-259.82, Z:-1.81 [[-9.85599325e-01 1.68608423e-01 1.28518338e-02 -8.15356966e+01] [ 1.68595737e-01 9.85683105e-01 -2.07197227e-03 -2.59819704e+02] [-1.30171874e-02 1.24629928e-04 -9.99915265e-01 -1.80508211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.856559995 meters 0.012056688955820556 Centerline is valid? [True, True] Translation: X:-81.43, Y:-259.16, Z:-2.79 [[-9.76012305e-01 -2.17376218e-01 1.21474883e-02 -8.14265812e+01] [ 2.17357407e-01 -9.76087883e-01 -2.86387485e-03 -2.59161269e+02] [ 1.24795544e-02 -1.54830544e-04 9.99922115e-01 -2.78553851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.886559995 meters 0.011478754288536518 Centerline is valid? [True, True] Translation: X:-81.59, Y:-259.81, Z:-1.81 [[-9.86725223e-01 1.62009883e-01 1.12308316e-02 -8.15871842e+01] [ 1.62000305e-01 9.86789132e-01 -1.76341248e-03 -2.59810541e+02] [-1.13681528e-02 7.93945605e-05 -9.99935377e-01 -1.80711344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.916559995 meters 0.011175127370572403 Centerline is valid? [True, True] Translation: X:-81.49, Y:-259.15, Z:-2.78 [[-9.76305308e-01 -2.16143156e-01 1.04919982e-02 -8.14942127e+01] [ 2.16129416e-01 -9.76361676e-01 -2.43979119e-03 -2.59152983e+02] [ 1.07713291e-02 -1.14351643e-04 9.99941981e-01 -2.78342599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.9465599949999 meters 0.011000881892420352 Centerline is valid? [True, True] Translation: X:-81.65, Y:-259.80, Z:-1.81 [[-9.88235233e-01 1.52643718e-01 9.54039036e-03 -8.16457543e+01] [ 1.52636764e-01 9.88281283e-01 -1.45714149e-03 -2.59798053e+02] [-9.65101273e-03 1.62157524e-05 -9.99953428e-01 -1.80685769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.976559995 meters 0.010949328504217395 Centerline is valid? [True, True] Translation: X:-81.55, Y:-259.15, Z:-2.78 [[-9.75856305e-01 -2.18197018e-01 9.72288500e-03 -8.15450742e+01] [ 2.18186230e-01 -9.75904740e-01 -2.16972449e-03 -2.59149651e+02] [ 9.96203697e-03 4.06029182e-06 9.99950378e-01 -2.78432162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.006559995 meters 0.010946215079954157 Centerline is valid? [True, True] Translation: X:-81.70, Y:-259.79, Z:-1.81 [[-9.89537943e-01 1.43960204e-01 9.49306731e-03 -8.16978813e+01] [ 1.43953299e-01 9.89583477e-01 -1.41035798e-03 -2.59787828e+02] [-9.59721798e-03 -2.90443812e-05 -9.99953945e-01 -1.80681402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.036559995 meters 0.011137332706811626 Centerline is valid? [True, True] Translation: X:-81.60, Y:-259.14, Z:-2.79 [[-9.75720298e-01 -2.18829730e-01 9.13505370e-03 -8.16030551e+01] [ 2.18820259e-01 -9.75763060e-01 -2.03595496e-03 -2.59144507e+02] [ 9.35917542e-03 1.24122323e-05 9.99956202e-01 -2.78508948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.0665599949999 meters 0.011556061451244493 Centerline is valid? [True, True] Translation: X:-81.75, Y:-259.78, Z:-1.81 [[-9.91086193e-01 1.32948298e-01 8.53861844e-03 -8.17549091e+01] [ 1.32942607e-01 9.91122970e-01 -1.23324987e-03 -2.59775870e+02] [-8.62677935e-03 -8.71107257e-05 -9.99962785e-01 -1.80586959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.096559995 meters 0.011961790130493618 Centerline is valid? [True, True] Translation: X:-81.76, Y:-259.75, Z:-1.81 [[-9.98144239e-01 6.02892621e-02 8.56056575e-03 -8.17560578e+01] [ 6.02861574e-02 9.98180943e-01 -6.20487159e-04 -2.59746902e+02] [-8.58240230e-03 -1.03252068e-04 -9.99963165e-01 -1.80545557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.126559995 meters 0.011961790130493618 Centerline is valid? [True, True] Translation: X:-81.71, Y:-259.11, Z:-2.79 [[-9.88408178e-01 -1.51579396e-01 8.54173302e-03 -8.17080868e+01] [ 1.51574667e-01 -9.88445080e-01 -1.20208021e-03 -2.59106545e+02] [ 8.62524457e-03 1.06564429e-04 9.99962796e-01 -2.78588371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.156559995 meters 0.012181308724623896 Centerline is valid? [True, True] Translation: X:-81.82, Y:-259.74, Z:-1.81 [[-9.98472689e-01 5.45468966e-02 8.77070927e-03 -8.18179699e+01] [ 5.45437489e-02 9.98511203e-01 -5.97866696e-04 -2.59742818e+02] [-8.79026324e-03 -1.18566203e-04 -9.99961358e-01 -1.80538457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.1865599949999 meters 0.012522979872764593 Centerline is valid? [True, True] Translation: X:-81.83, Y:-259.71, Z:-1.80 [[-9.99793798e-01 -1.83038979e-02 8.79365797e-03 -8.18258605e+01] [-1.83043678e-02 9.99832461e-01 2.70468474e-05 -2.59714059e+02] [-8.79267975e-03 -1.33921080e-04 -9.99961335e-01 -1.80436498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.2165599949999 meters 0.012714469951133945 Centerline is valid? [True, True] Translation: X:-81.82, Y:-259.07, Z:-2.79 [[-9.96730776e-01 -8.03368307e-02 8.58798216e-03 -8.18244940e+01] [ 8.03348740e-02 -9.96767766e-01 -5.73121872e-04 -2.59073885e+02] [ 8.60626659e-03 1.18666256e-04 9.99962958e-01 -2.78790206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.246559995 meters 0.012618864624377757 Centerline is valid? [True, True] Translation: X:-81.89, Y:-259.72, Z:-1.80 [[-9.99701125e-01 -2.35062379e-02 6.71693358e-03 -8.18934617e+01] [-2.35064196e-02 9.99723685e-01 5.18994370e-05 -2.59716082e+02] [-6.71629755e-03 -1.06007134e-04 -9.99977440e-01 -1.80352627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.276559995 meters 0.012616717419999191 Centerline is valid? [True, True] Translation: X:-81.89, Y:-259.69, Z:-1.80 [[-9.95519432e-01 -9.43597842e-02 6.10674188e-03 -8.18935489e+01] [-9.43585937e-02 9.95538157e-01 4.83418555e-04 -2.59690257e+02] [-6.12510983e-03 -9.49710112e-05 -9.99981237e-01 -1.80431209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.3065599949999 meters 0.012579309457282807 Centerline is valid? [True, True] Translation: X:-81.90, Y:-259.67, Z:-1.80 [[-9.86358926e-01 -1.64518047e-01 5.46633120e-03 -8.19042896e+01] [-1.64515985e-01 9.86374070e-01 8.27838856e-04 -2.59665480e+02] [-5.52804179e-03 -8.27526154e-05 -9.99984717e-01 -1.80491873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.3365599949999 meters 0.012294548671502379 Centerline is valid? [True, True] Translation: X:-81.92, Y:-259.64, Z:-1.80 [[-9.72360161e-01 -2.33441967e-01 4.53485319e-03 -8.19214993e+01] [-2.33439731e-01 9.72370734e-01 1.02360793e-03 -2.59643548e+02] [-4.64851158e-03 -6.32993373e-05 -9.99989194e-01 -1.80496525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.366559995 meters 0.012701113217016915 Centerline is valid? [True, True] Translation: X:-81.95, Y:-259.62, Z:-1.80 [[-9.53181372e-01 -3.02353691e-01 5.24564636e-03 -8.19502320e+01] [-3.02349532e-01 9.53195804e-01 1.58759714e-03 -2.59622826e+02] [-5.48014396e-03 -7.27507049e-05 -9.99984981e-01 -1.80422966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.396559995 meters 0.012774563790604675 Centerline is valid? [True, True] Translation: X:-82.00, Y:-259.61, Z:-1.80 [[-9.28649222e-01 -3.70925521e-01 4.98798245e-03 -8.20014073e+01] [-3.70920569e-01 9.28662616e-01 1.91783840e-03 -2.59611859e+02] [-5.34352804e-03 -6.91461483e-05 -9.99985721e-01 -1.80331699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.4265599949999 meters 0.012393366522517496 Centerline is valid? [True, True] Translation: X:-82.06, Y:-259.61, Z:-1.80 [[-8.98661552e-01 -4.38615758e-01 4.86127188e-03 -8.20638670e+01] [-4.38609771e-01 8.98674697e-01 2.29295125e-03 -2.59611562e+02] [-5.37442659e-03 -7.16142139e-05 -9.99985555e-01 -1.80317090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.4565599949999 meters 0.01244465315988746 Centerline is valid? [True, True] Translation: X:-82.13, Y:-259.62, Z:-1.80 [[-8.63666401e-01 -5.04043329e-01 4.54653697e-03 -8.21313591e+01] [-5.04036773e-01 8.63678365e-01 2.57169463e-03 -2.59616549e+02] [-5.22299113e-03 -7.05355813e-05 -9.99986358e-01 -1.80333636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.486559995 meters 0.012619654947224663 Centerline is valid? [True, True] Translation: X:-82.21, Y:-259.63, Z:-1.80 [[-8.23558206e-01 -5.67215826e-01 4.25304763e-03 -8.22093015e+01] [-5.67208703e-01 8.23569185e-01 2.84351521e-03 -2.59633160e+02] [-5.11556580e-03 -7.05653443e-05 -9.99986913e-01 -1.80300385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.516559995 meters 0.012579875252364526 Centerline is valid? [True, True] Translation: X:-82.29, Y:-259.66, Z:-1.80 [[-7.78720803e-01 -6.27355726e-01 4.32480043e-03 -8.22927937e+01] [-6.27346594e-01 7.78732809e-01 3.38581428e-03 -2.59660891e+02] [-5.49197396e-03 -7.65448063e-05 -9.99984916e-01 -1.80279677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.5465599949999 meters 0.01356668812876563 Centerline is valid? [True, True] Translation: X:-82.38, Y:-259.69, Z:-1.80 [[-7.29150829e-01 -6.84341600e-01 3.95512283e-03 -8.23763260e+01] [-6.84332090e-01 7.29161552e-01 3.60851318e-03 -2.59694799e+02] [-5.35337919e-03 -7.54670933e-05 -9.99985668e-01 -1.80164223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.5765599949999 meters 0.012485843533117184 Centerline is valid? [True, True] Translation: X:-82.46, Y:-259.74, Z:-1.80 [[-6.75357361e-01 -7.37481751e-01 3.61951277e-03 -8.24592901e+01] [-7.37471744e-01 6.75367056e-01 3.84265415e-03 -2.59742332e+02] [-5.27838699e-03 -7.41236274e-05 -9.99986067e-01 -1.80216738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.606559995 meters 0.012554031549607 Centerline is valid? [True, True] Translation: X:-82.54, Y:-259.80, Z:-1.80 [[-6.17355336e-01 -7.86676629e-01 3.50288899e-03 -8.25444664e+01] [-7.86664688e-01 6.17365269e-01 4.33520188e-03 -2.59799754e+02] [-5.57296401e-03 -7.92390606e-05 -9.99984468e-01 -1.80203006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.636559995 meters 0.012740359149951959 Centerline is valid? [True, True] Translation: X:-82.63, Y:-259.87, Z:-1.80 [[-5.55263552e-01 -8.31668488e-01 3.14861597e-03 -8.26280687e+01] [-8.31655945e-01 5.55272473e-01 4.56832354e-03 -2.59867524e+02] [-5.54767051e-03 -8.19416368e-05 -9.99984608e-01 -1.80184617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.666559995 meters 0.013120246632975584 Centerline is valid? [True, True] Translation: X:-82.70, Y:-259.94, Z:-1.80 [[-4.89677975e-01 -8.71896564e-01 3.44419615e-03 -8.27040998e+01] [-8.71876487e-01 4.89690076e-01 5.91784027e-03 -2.59939975e+02] [-6.84633327e-03 -1.05077601e-04 -9.99976558e-01 -1.80094382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.6965599949999 meters 0.014029218679093725 Centerline is valid? [True, True] Translation: X:-82.78, Y:-260.02, Z:-1.80 [[-4.21181382e-01 -9.06970811e-01 3.19235668e-03 -8.27795361e+01] [-9.06946811e-01 4.21193465e-01 6.59907110e-03 -2.60021341e+02] [-7.32976464e-03 -1.15891820e-04 -9.99973130e-01 -1.79949820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.726559995 meters 0.014304508070355347 Centerline is valid? [True, True] Translation: X:-82.85, Y:-260.11, Z:-1.80 [[-3.49939908e-01 -9.36767531e-01 2.94192755e-03 -8.28502426e+01] [-9.36737546e-01 3.49952249e-01 7.49624821e-03 -2.60114194e+02] [-8.05177609e-03 -1.32577584e-04 -9.99967575e-01 -1.79836746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.756559995 meters 0.013537534783453174 Centerline is valid? [True, True] Translation: X:-82.91, Y:-260.21, Z:-1.80 [[-2.75007381e-01 -9.61438129e-01 2.76846132e-03 -8.29112263e+01] [-9.61395671e-01 2.75021259e-01 9.03723358e-03 -2.60213365e+02] [-9.45012666e-03 -1.76280786e-04 -9.99955331e-01 -1.79779837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.786559995 meters 0.01598734191362236 Centerline is valid? [True, True] Translation: X:-82.97, Y:-260.31, Z:-1.80 [[-1.99368997e-01 -9.79922275e-01 2.08278984e-03 -8.29698709e+01] [-9.79878216e-01 1.99379787e-01 9.29419637e-03 -2.60313247e+02] [-9.52285625e-03 -1.87905785e-04 -9.99954639e-01 -1.79563434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.8165599949999 meters 0.014612026760673847 Centerline is valid? [True, True] Translation: X:-83.01, Y:-260.43, Z:-1.80 [[-1.22608646e-01 -9.92454233e-01 1.30977461e-03 -8.30146906e+01] [-9.92412871e-01 1.22615496e-01 9.06280603e-03 -2.60426784e+02] [-9.15501887e-03 -1.88658810e-04 -9.99958074e-01 -1.79766354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.846559995 meters 0.014484915287412014 Centerline is valid? [True, True] Translation: X:-83.05, Y:-260.53, Z:-1.80 [[-4.54584874e-02 -9.98966044e-01 6.06934651e-04 -8.30532923e+01] [-9.98924479e-01 4.54621338e-02 9.11484032e-03 -2.60534395e+02] [-9.13300852e-03 -1.91935026e-04 -9.99958275e-01 -1.79873049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.876559995 meters 0.014494865437916697 Centerline is valid? [True, True] Translation: X:-83.08, Y:-260.65, Z:-1.80 [[ 3.09062885e-02 -9.99522282e-01 -9.36743481e-05 -8.30848116e+01] [-9.99481321e-01 -3.09058701e-02 9.05074468e-03 -2.60652818e+02] [-9.04931607e-03 -1.86099165e-04 -9.99959037e-01 -1.79853033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.906559995 meters 0.014203097311262694 Centerline is valid? [True, True] Translation: X:-83.11, Y:-260.78, Z:-1.80 [[ 1.07192135e-01 -9.94237958e-01 -8.53369876e-04 -8.31059663e+01] [-9.94190201e-01 -1.07195352e-01 9.74683470e-03 -2.60776619e+02] [-9.78215032e-03 -1.96372056e-04 -9.99952134e-01 -1.79861853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.9365599949999 meters 0.01446712180596843 Centerline is valid? [True, True] Translation: X:-83.12, Y:-260.88, Z:-1.80 [[ 1.82598717e-01 -9.83186088e-01 -1.68086380e-03 -8.31215241e+01] [-9.83133881e-01 -1.82606346e-01 1.01338755e-02 -2.60883357e+02] [-1.02704218e-02 -1.97918527e-04 -9.99947238e-01 -1.79804717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.9665599949999 meters 0.014519705971175247 Centerline is valid? [True, True] Translation: X:-83.13, Y:-261.00, Z:-1.80 [[ 2.57641475e-01 -9.66237469e-01 -2.45422537e-03 -8.31258567e+01] [-9.66186080e-01 -2.57653089e-01 9.96716616e-03 -2.61000945e+02] [-1.02629882e-02 -1.96717004e-04 -9.99947315e-01 -1.79831153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.996559995 meters 0.014572495610408652 Centerline is valid? [True, True] Translation: X:-83.12, Y:-261.12, Z:-1.80 [[ 3.31396323e-01 -9.43486052e-01 -3.24776157e-03 -8.31189615e+01] [-9.43434645e-01 -3.31412176e-01 9.85093280e-03 -2.61123774e+02] [-1.03705654e-02 -2.00512127e-04 -9.99946204e-01 -1.79883283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.026559995 meters 0.015059724508874285 Centerline is valid? [True, True] Translation: X:-83.10, Y:-261.25, Z:-1.80 [[ 4.04158263e-01 -9.14682615e-01 -3.43686833e-03 -8.31017708e+01] [-9.14645571e-01 -4.04172834e-01 8.23403468e-03 -2.61247015e+02] [-8.92061719e-03 -1.84336752e-04 -9.99960194e-01 -1.80075466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.0565599949999 meters 0.015224551002705653 Centerline is valid? [True, True] Translation: X:-83.08, Y:-261.36, Z:-1.80 [[ 4.73822560e-01 -8.80612698e-01 -3.66847555e-03 -8.30780348e+01] [-8.80583442e-01 -4.73836730e-01 7.18021168e-03 -2.61363129e+02] [-8.06124404e-03 -1.71747451e-04 -9.99967493e-01 -1.80180211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.0865599949999 meters 0.015368843470510967 Centerline is valid? [True, True] Translation: X:-83.05, Y:-261.47, Z:-1.80 [[ 5.40602675e-01 -8.41269493e-01 -3.79325618e-03 -8.30496837e+01] [-8.41246680e-01 -5.40615959e-01 6.19737982e-03 -2.61470708e+02] [-7.26436140e-03 -1.59255943e-04 -9.99973602e-01 -1.80253177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.116559995 meters 0.015334782567741378 Centerline is valid? [True, True] Translation: X:-83.02, Y:-261.57, Z:-1.80 [[ 6.04300319e-01 -7.96745304e-01 -4.24794247e-03 -8.30160725e+01] [-7.96723657e-01 -6.04315227e-01 5.87551799e-03 -2.61571054e+02] [-7.24838769e-03 -1.66141145e-04 -9.99973716e-01 -1.80168560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.146559995 meters 0.01638376057852982 Centerline is valid? [True, True] Translation: X:-82.97, Y:-261.67, Z:-1.80 [[ 6.63120292e-01 -7.48497037e-01 -4.86467339e-03 -8.29733205e+01] [-7.48475002e-01 -6.63138114e-01 5.74580718e-03 -2.61674333e+02] [-7.52666999e-03 -1.69074910e-04 -9.99971660e-01 -1.80027082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.1765599949999 meters 0.015366189780240926 Centerline is valid? [True, True] Translation: X:-82.91, Y:-261.78, Z:-1.80 [[ 7.17725272e-01 -6.96306545e-01 -5.25642494e-03 -8.29137141e+01] [-6.96286205e-01 -7.17744501e-01 5.32458560e-03 -2.61777780e+02] [-7.48031390e-03 -1.61613467e-04 -9.99972009e-01 -1.80038731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.2065599949999 meters 0.014615900398193254 Centerline is valid? [True, True] Translation: X:-82.87, Y:-261.86, Z:-1.80 [[ 7.67065694e-01 -6.41542967e-01 -5.73081606e-03 -8.28660211e+01] [-6.41523643e-01 -7.67087088e-01 4.98146757e-03 -2.61857481e+02] [-7.59186049e-03 -1.44658884e-04 -9.99971171e-01 -1.80059001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.236559995 meters 0.014637781099212124 Centerline is valid? [True, True] Translation: X:-82.87, Y:-261.86, Z:-1.80 [[ 8.14099119e-01 -5.80693632e-01 -6.12624571e-03 -8.28682149e+01] [-5.80675932e-01 -8.14122158e-01 4.53598674e-03 -2.61863152e+02] [-7.62153100e-03 -1.35379372e-04 -9.99970947e-01 -1.80009043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.266559995 meters 0.014212822746159016 Centerline is valid? [True, True] Translation: X:-82.87, Y:-261.87, Z:-1.80 [[ 8.56462854e-01 -5.16167642e-01 -6.50731816e-03 -8.28685760e+01] [-5.16151597e-01 -8.56487565e-01 4.07181295e-03 -2.61868741e+02] [-7.67517518e-03 -1.28593880e-04 -9.99970537e-01 -1.80014425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.2965599949999 meters 0.014232235470757457 Centerline is valid? [True, True] Translation: X:-82.87, Y:-261.87, Z:-1.80 [[ 8.93947792e-01 -4.48116792e-01 -6.97761658e-03 -8.28680970e+01] [-4.48102021e-01 -8.93975014e-01 3.64062147e-03 -2.61874867e+02] [-7.86923849e-03 -1.27841436e-04 -9.99969029e-01 -1.79992409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.3265599949999 meters 0.014421714810286973 Centerline is valid? [True, True] Translation: X:-82.87, Y:-261.88, Z:-1.80 [[ 9.26293107e-01 -3.76744685e-01 -6.67256444e-03 -8.28682783e+01] [-3.76733984e-01 -9.26317132e-01 2.84199861e-03 -2.61880658e+02] [-7.25161863e-03 -1.18741939e-04 -9.99973700e-01 -1.79977163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.356559995 meters 0.014607041465770383 Centerline is valid? [True, True] Translation: X:-82.87, Y:-261.89, Z:-1.80 [[ 9.53059735e-01 -3.02720352e-01 -6.12624572e-03 -8.28667819e+01] [-3.02713363e-01 -9.53079418e-01 2.05995835e-03 -2.61885578e+02] [-6.46239002e-03 -1.08766912e-04 -9.99979113e-01 -1.80005606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.386559995 meters 0.014864491658968321 Centerline is valid? [True, True] Translation: X:-82.86, Y:-261.89, Z:-1.80 [[ 9.73914475e-01 -2.26842747e-01 -5.74138949e-03 -8.28647698e+01] [-2.26838186e-01 -9.73931393e-01 1.44212222e-03 -2.61889688e+02] [-5.91885443e-03 -1.02137328e-04 -9.99982478e-01 -1.80037872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.416559995 meters 0.015023457985138213 Centerline is valid? [True, True] Translation: X:-82.86, Y:-261.89, Z:-1.80 [[ 9.88681221e-01 -1.49926793e-01 -5.60358859e-03 -8.28623068e+01] [-1.49923819e-01 -9.88697096e-01 9.49439803e-04 -2.61892643e+02] [-5.68259823e-03 -9.85818993e-05 -9.99983849e-01 -1.80041327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.4465599949999 meters 0.014345216476374347 Centerline is valid? [True, True] Translation: X:-82.86, Y:-261.90, Z:-1.80 [[ 9.97334315e-01 -7.27057471e-02 -6.17566744e-03 -8.28635897e+01] [-7.27037085e-02 -9.97353430e-01 5.54261873e-04 -2.61895903e+02] [-6.19962113e-03 -1.03790460e-04 -9.99980777e-01 -1.80041006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.476559995 meters 0.014265840709004425 Centerline is valid? [True, True] Translation: X:-82.87, Y:-261.90, Z:-1.80 [[ 9.99968882e-01 4.84175984e-03 -6.22834192e-03 -8.28654760e+01] [ 4.84228526e-03 -9.99988274e-01 6.92822827e-05 -2.61900391e+02] [-6.22793344e-03 -9.94395350e-05 -9.99980601e-01 -1.80015085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.506559995 meters 0.013976590015416757 Centerline is valid? [True, True] Translation: X:-82.87, Y:-261.91, Z:-1.80 [[ 9.96584544e-01 8.23542961e-02 -6.08406432e-03 -8.28658720e+01] [ 8.23533301e-02 -9.96603111e-01 -4.09555267e-04 -2.61905861e+02] [-6.09712606e-03 -9.28865081e-05 -9.99981408e-01 -1.80027471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.536559995 meters 0.014858586856573198 Centerline is valid? [True, True] Translation: X:-82.87, Y:-261.91, Z:-1.80 [[ 9.87121771e-01 1.59856101e-01 -6.05278935e-03 -8.28662745e+01] [ 1.59853664e-01 -9.87140324e-01 -8.87400295e-04 -2.61913533e+02] [-6.11680879e-03 -9.15884027e-05 -9.99981288e-01 -1.79962383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.5665599949999 meters 0.013703444039908383 Centerline is valid? [True, True] Translation: X:-82.87, Y:-261.92, Z:-1.80 [[ 9.71554571e-01 2.36732740e-01 -6.27104225e-03 -8.28657417e+01] [ 2.36728451e-01 -9.71574804e-01 -1.42826781e-03 -2.61919421e+02] [-6.43090440e-03 -9.68939991e-05 -9.99979317e-01 -1.80100531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.596559995 meters 0.0136685535404447 Centerline is valid? [True, True] Translation: X:-82.86, Y:-261.93, Z:-1.80 [[ 9.50255530e-01 3.11404723e-01 -6.44412273e-03 -8.28647704e+01] [ 3.11398252e-01 -9.50277375e-01 -2.00989016e-03 -2.61929884e+02] [-6.74959332e-03 -9.67793172e-05 -9.99977217e-01 -1.79946093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.626559995 meters 0.013682057642197326 Centerline is valid? [True, True] Translation: X:-82.86, Y:-261.94, Z:-1.80 [[ 9.23132771e-01 3.84429773e-01 -6.29579440e-03 -8.28623795e+01] [ 3.84421527e-01 -9.23154235e-01 -2.51970001e-03 -2.61937266e+02] [-6.78063696e-03 -9.42212445e-05 -9.99977007e-01 -1.79853300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.656559995 meters 0.013524165053213029 Centerline is valid? [True, True] Translation: X:-82.86, Y:-261.94, Z:-1.80 [[ 8.90548563e-01 4.54838972e-01 -6.69076664e-03 -8.28605859e+01] [ 4.54826961e-01 -8.90573692e-01 -3.30691103e-03 -2.61943812e+02] [-7.46273276e-03 -9.81761938e-05 -9.99972149e-01 -1.79833583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.6865599949999 meters 0.013270822712445231 Centerline is valid? [True, True] Translation: X:-82.86, Y:-261.95, Z:-1.80 [[ 8.53208452e-01 5.21523490e-01 -6.97045979e-03 -8.28583650e+01] [ 5.21506957e-01 -8.53236920e-01 -4.15361362e-03 -2.61948855e+02] [-8.11366071e-03 -9.12450327e-05 -9.99967080e-01 -1.79849682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.7165599949999 meters 0.013057356150115261 Centerline is valid? [True, True] Translation: X:-82.86, Y:-261.95, Z:-1.80 [[ 8.10616258e-01 5.85544402e-01 -6.24786288e-03 -8.28553734e+01] [ 5.85527718e-01 -8.10640332e-01 -4.42081125e-03 -2.61954313e+02] [-7.65335092e-03 -7.47154274e-05 -9.99970710e-01 -1.79841604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.746559995 meters 0.012910207815535405 Centerline is valid? [True, True] Translation: X:-82.85, Y:-261.96, Z:-1.80 [[ 7.63466120e-01 6.45819711e-01 -6.03195150e-03 -8.28537541e+01] [ 6.45800198e-01 -7.63489946e-01 -5.02061518e-03 -2.61960197e+02] [-7.84774657e-03 -6.23658833e-05 -9.99969204e-01 -1.79830339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.776559995 meters 0.012474754761827017 Centerline is valid? [True, True] Translation: X:-82.85, Y:-261.96, Z:-1.80 [[ 7.13974446e-01 7.00155898e-01 -4.71266470e-03 -8.28528468e+01] [ 7.00140831e-01 -7.13989999e-01 -4.59333123e-03 -2.61962542e+02] [-6.58084341e-03 -2.00078545e-05 -9.99978346e-01 -1.79955114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.8065599949999 meters 0.012276453424248322 Centerline is valid? [True, True] Translation: X:-82.85, Y:-261.97, Z:-1.80 [[ 6.59329559e-01 7.51844863e-01 -3.71961098e-03 -8.28517633e+01] [ 7.51832892e-01 -6.59340051e-01 -4.24266757e-03 -2.61966447e+02] [-5.64231630e-03 7.90258607e-07 -9.99984082e-01 -1.80041612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.8365599949999 meters 0.012513950553198901 Centerline is valid? [True, True] Translation: X:-82.85, Y:-261.97, Z:-1.80 [[ 6.01088672e-01 7.99178033e-01 -2.62302026e-03 -8.28521210e+01] [ 7.99170311e-01 -6.01094395e-01 -3.51318244e-03 -2.61970489e+02] [-4.38434100e-03 1.54942516e-05 -9.99990389e-01 -1.80091742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.866559995 meters 0.013309036749985535 Centerline is valid? [True, True] Translation: X:-82.85, Y:-261.97, Z:-1.80 [[ 5.41962867e-01 8.40399554e-01 -2.20016325e-03 -8.28540452e+01] [ 8.40392323e-01 -5.41967331e-01 -3.48645059e-03 -2.61972409e+02] [-4.12242813e-03 4.05264505e-05 -9.99991502e-01 -1.80150613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.896559995 meters 0.01413205398579926 Centerline is valid? [True, True] Translation: X:-82.86, Y:-261.98, Z:-1.80 [[ 4.76803250e-01 8.79007452e-01 -2.13558084e-03 -8.28555099e+01] [ 8.78998095e-01 -4.76808029e-01 -4.05619449e-03 -2.61976214e+02] [-4.58368728e-03 5.68352247e-05 -9.99989493e-01 -1.80087079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.9265599949999 meters 0.01426578223967452 Centerline is valid? [True, True] Translation: X:-82.85, Y:-261.98, Z:-1.80 [[ 4.10710510e-01 9.11763921e-01 -1.85185741e-03 -8.28490795e+01] [ 9.11753761e-01 -4.10714677e-01 -4.30509928e-03 -2.61982025e+02] [-4.68581922e-03 7.97115639e-05 -9.99989018e-01 -1.80161298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.9565599949999 meters 0.016106832601309903 Centerline is valid? [True, True] Translation: X:-82.85, Y:-261.99, Z:-1.80 [[ 3.39711398e-01 9.40528609e-01 -1.44998686e-03 -8.28457528e+01] [ 9.40518947e-01 -3.39714482e-01 -4.26387687e-03 -2.61988049e+02] [-4.50287972e-03 8.47474561e-05 -9.99989858e-01 -1.80108031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.986559995 meters 0.014936833111809026 Centerline is valid? [True, True] Translation: X:-82.83, Y:-261.99, Z:-1.80 [[ 2.66025527e-01 9.63965186e-01 -1.24082248e-03 -8.28349693e+01] [ 9.63952884e-01 -2.66028402e-01 -4.87097013e-03 -2.61994275e+02] [-5.02553965e-03 9.97079833e-05 -9.99987367e-01 -1.80101025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.016559995 meters 0.014936833111809026 Centerline is valid? [True, True] Translation: X:-82.83, Y:-262.00, Z:-1.80 [[ 1.89758921e-01 9.81830342e-01 -8.55770753e-04 -8.28266872e+01] [ 9.81817852e-01 -1.89760825e-01 -4.95320422e-03 -2.61999825e+02] [-5.02559796e-03 9.97036870e-05 -9.99987367e-01 -1.80100974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.0465599949999 meters 0.01516152879318585 Centerline is valid? [True, True] Translation: X:-82.82, Y:-262.00, Z:-1.80 [[ 1.12888334e-01 9.93607529e-01 -5.50767142e-04 -8.28177492e+01] [ 9.93589874e-01 -1.12889612e-01 -5.92431742e-03 -2.62004850e+02] [-5.94862227e-03 1.21549668e-04 -9.99982300e-01 -1.79997547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.0765599949999 meters 0.017273353787006705 Centerline is valid? [True, True] Translation: X:-82.81, Y:-262.01, Z:-1.80 [[ 3.47471028e-02 9.99396129e-01 -1.31338016e-04 -8.28123233e+01] [ 9.99354685e-01 -3.47468582e-02 -9.10322966e-03 -2.62010090e+02] [-9.10229606e-03 1.85057595e-04 -9.99958556e-01 -1.79650195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.106559995 meters 0.014996667459211353 Centerline is valid? [True, True] Translation: X:-82.80, Y:-262.01, Z:-1.80 [[-4.42915258e-02 9.99018421e-01 6.75125185e-04 -8.27972069e+01] [ 9.98962844e-01 4.42961843e-02 -1.05396243e-02 -2.62013332e+02] [-1.05591843e-02 2.07608935e-04 -9.99944229e-01 -1.79787846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.136559995 meters 0.015117994346556387 Centerline is valid? [True, True] Translation: X:-82.79, Y:-262.02, Z:-1.80 [[-1.23269479e-01 9.92371828e-01 1.67069391e-03 -8.27864650e+01] [ 9.92303404e-01 1.23280602e-01 -1.16553585e-02 -2.62016646e+02] [-1.17724136e-02 2.21085286e-04 -9.99930678e-01 -1.79735983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.166559995 meters 0.014785610300141342 Centerline is valid? [True, True] Translation: X:-82.77, Y:-262.02, Z:-1.80 [[-2.01977510e-01 9.79386469e-01 2.68887406e-03 -8.27743579e+01] [ 9.79313202e-01 2.01995295e-01 -1.19813531e-02 -2.62018041e+02] [-1.22775150e-02 2.13286001e-04 -9.99924606e-01 -1.79664367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.1965599949999 meters 0.014371472864196504 Centerline is valid? [True, True] Translation: X:-82.76, Y:-262.02, Z:-1.80 [[-2.81617007e-01 9.59519733e-01 3.70723040e-03 -8.27600873e+01] [ 9.59444451e-01 2.81641355e-01 -1.20204998e-02 -2.62017811e+02] [-1.25780161e-02 1.71704465e-04 -9.99920879e-01 -1.79554772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.226559995 meters 0.014013408622599059 Centerline is valid? [True, True] Translation: X:-82.75, Y:-262.02, Z:-1.80 [[-3.57688441e-01 9.33829721e-01 4.58597089e-03 -8.27499858e+01] [ 9.33758133e-01 3.57717808e-01 -1.15637108e-02 -2.62017091e+02] [-1.24390203e-02 1.45981942e-04 -9.99922622e-01 -1.79531711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.256559995 meters 0.013665003549852287 Centerline is valid? [True, True] Translation: X:-82.74, Y:-262.02, Z:-1.80 [[-4.31619379e-01 9.02039044e-01 5.50234542e-03 -8.27402716e+01] [ 9.01969287e-01 4.31654433e-01 -1.12185446e-02 -2.62015301e+02] [-1.24946771e-02 1.20805309e-04 -9.99921931e-01 -1.79523306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.286559995 meters 0.013166597313134097 Centerline is valid? [True, True] Translation: X:-82.73, Y:-262.01, Z:-1.80 [[-5.04205005e-01 8.63565468e-01 5.65649048e-03 -8.27297255e+01] [ 8.63512577e-01 5.04236729e-01 -9.55771258e-03 -2.62012729e+02] [-1.11059208e-02 6.54041506e-05 -9.99938325e-01 -1.79571311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.3165599949999 meters 0.01277591054120257 Centerline is valid? [True, True] Translation: X:-82.72, Y:-262.01, Z:-1.80 [[-5.72187692e-01 8.20099222e-01 6.20578303e-03 -8.27196853e+01] [ 8.20051724e-01 5.72221342e-01 -8.82635980e-03 -2.62007941e+02] [-1.07895723e-02 3.87286353e-05 -9.99941790e-01 -1.79721136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.346559995 meters 0.012670393414792962 Centerline is valid? [True, True] Translation: X:-82.71, Y:-262.00, Z:-1.80 [[-6.39246820e-01 7.68975352e-01 6.35699792e-03 -8.27070186e+01] [ 7.68936972e-01 6.39278427e-01 -7.68284199e-03 -2.62000042e+02] [-9.97180775e-03 -2.31015785e-05 -9.99950280e-01 -1.79793096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.376559995 meters 0.013038464004024279 Centerline is valid? [True, True] Translation: X:-82.70, Y:-261.99, Z:-1.80 [[-7.00044528e-01 7.14065532e-01 6.93354700e-03 -8.26970584e+01] [ 7.14029680e-01 7.00078861e-01 -7.15571795e-03 -2.61993497e+02] [-9.96368123e-03 -5.85628495e-05 -9.99950360e-01 -1.79709398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.406559995 meters 0.013210566851549603 Centerline is valid? [True, True] Translation: X:-82.69, Y:-261.99, Z:-1.80 [[-7.56095810e-01 6.54421428e-01 7.19178825e-03 -8.26893540e+01] [ 6.54390690e-01 7.56130007e-01 -6.34330125e-03 -2.61986259e+02] [-9.58911916e-03 -8.99042148e-05 -9.99954019e-01 -1.79824243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.4365599949999 meters 0.013799116171359036 Centerline is valid? [True, True] Translation: X:-82.25, Y:-261.50, Z:-2.79 [[-6.94121472e-01 -7.19827639e-01 6.59939522e-03 -8.22498826e+01] [ 7.19796172e-01 -6.94152839e-01 -6.73108524e-03 -2.61501717e+02] [ 9.42621013e-03 7.80286243e-05 9.99955569e-01 -2.79251446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.4665599949999 meters 0.014295590963500885 Centerline is valid? [True, True] Translation: X:-82.27, Y:-261.48, Z:-2.79 [[-6.91993235e-01 -7.21875551e-01 6.40719130e-03 -8.22720842e+01] [ 7.21846609e-01 -6.92022880e-01 -6.46578431e-03 -2.61484927e+02] [ 9.10141459e-03 1.50730311e-04 9.99958570e-01 -2.79237337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.496559995 meters 0.01549366220149883 Centerline is valid? [True, True] Translation: X:-82.29, Y:-261.47, Z:-2.79 [[-6.90010273e-01 -7.23771260e-01 6.40209479e-03 -8.22946675e+01] [ 7.23742481e-01 -6.90039949e-01 -6.45682431e-03 -2.61468800e+02] [ 9.09096503e-03 1.78192862e-04 9.99958661e-01 -2.79328941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.526559995 meters 0.016835510630366896 Centerline is valid? [True, True] Translation: X:-82.32, Y:-261.45, Z:-2.79 [[-6.86752824e-01 -7.26856229e-01 7.11202872e-03 -8.23182685e+01] [ 7.26820920e-01 -6.86789605e-01 -7.16858696e-03 -2.61453262e+02] [ 1.00949995e-02 2.46123916e-04 9.99949014e-01 -2.79488336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.5565599949999 meters 0.01778773926118931 Centerline is valid? [True, True] Translation: X:-82.34, Y:-261.44, Z:-2.80 [[-6.85460444e-01 -7.28074294e-01 7.19737761e-03 -8.23393678e+01] [ 7.28038242e-01 -6.85498177e-01 -7.25039884e-03 -2.61435958e+02] [ 1.02126182e-02 2.70104531e-04 9.99947813e-01 -2.79536131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.5865599949999 meters 0.01765791013168778 Centerline is valid? [True, True] Translation: X:-82.36, Y:-261.42, Z:-2.80 [[-6.83902268e-01 -7.29522076e-01 8.67346780e-03 -8.23606712e+01] [ 7.29469896e-01 -6.83957173e-01 -8.73243447e-03 -2.61417239e+02] [ 1.23027842e-02 3.54901922e-04 9.99924255e-01 -2.79678385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.616559995 meters 0.01909177485701473 Centerline is valid? [True, True] Translation: X:-82.38, Y:-261.40, Z:-2.80 [[-6.83540257e-01 -7.29855270e-01 9.16525881e-03 -8.23824791e+01] [ 7.29797084e-01 -6.83601593e-01 -9.22377659e-03 -2.61400312e+02] [ 1.29974075e-02 3.83956538e-04 9.99915457e-01 -2.79903030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.646559995 meters 0.017615057860247384 Centerline is valid? [True, True] Translation: X:-82.40, Y:-261.38, Z:-2.80 [[-6.83585421e-01 -7.29805019e-01 9.77783595e-03 -8.24009015e+01] [ 7.29738868e-01 -6.83655223e-01 -9.83465679e-03 -2.61379429e+02] [ 1.38620505e-02 4.12438931e-04 9.99903832e-01 -2.79875829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.6765599949999 meters 0.0180967380000327 Centerline is valid? [True, True] Translation: X:-82.42, Y:-261.36, Z:-2.80 [[-6.84418308e-01 -7.29023437e-01 9.81875633e-03 -8.24206631e+01] [ 7.28956728e-01 -6.84488617e-01 -9.87023223e-03 -2.61360171e+02] [ 1.39164576e-02 4.02080843e-04 9.99903081e-01 -2.79868283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.7065599949999 meters 0.017952353165149804 Centerline is valid? [True, True] Translation: X:-82.44, Y:-261.34, Z:-2.80 [[-6.85458330e-01 -7.28049348e-01 9.54071373e-03 -8.24404846e+01] [ 7.27986341e-01 -6.85524621e-01 -9.58542643e-03 -2.61339917e+02] [ 1.35190576e-02 3.75098889e-04 9.99908543e-01 -2.79825234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.736559995 meters 0.01689063398562368 Centerline is valid? [True, True] Translation: X:-82.46, Y:-261.32, Z:-2.80 [[-6.88553028e-01 -7.25135045e-01 8.59620182e-03 -8.24581606e+01] [ 7.25083730e-01 -6.88606624e-01 -8.63144286e-03 -2.61318775e+02] [ 1.21783632e-02 2.89759960e-04 9.99925799e-01 -2.79748479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.766559995 meters 0.015698569997458407 Centerline is valid? [True, True] Translation: X:-82.48, Y:-261.30, Z:-2.80 [[-6.90779011e-01 -7.23019281e-01 8.21448410e-03 -8.24756986e+01] [ 7.22972326e-01 -6.90827807e-01 -8.24354553e-03 -2.61296148e+02] [ 1.16350364e-02 2.44376449e-04 9.99932281e-01 -2.79633469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.7965599949999 meters 0.014817557381138062 Centerline is valid? [True, True] Translation: X:-82.49, Y:-261.27, Z:-2.80 [[-6.93370231e-01 -7.20541667e-01 7.57818804e-03 -8.24934804e+01] [ 7.20501599e-01 -6.93411617e-01 -7.60098506e-03 -2.61273670e+02] [ 1.07316301e-02 1.89799828e-04 9.99942396e-01 -2.79518646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.8265599949999 meters 0.014238603869645452 Centerline is valid? [True, True] Translation: X:-82.51, Y:-261.25, Z:-2.79 [[-6.95751037e-01 -7.18245352e-01 7.35595260e-03 -8.25114167e+01] [ 7.18207514e-01 -6.95789905e-01 -7.37395120e-03 -2.61251492e+02] [ 1.04145037e-02 1.52666241e-04 9.99945756e-01 -2.79463666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.856559995 meters 0.013396972762676273 Centerline is valid? [True, True] Translation: X:-82.53, Y:-261.23, Z:-2.80 [[-7.00537239e-01 -7.13576780e-01 7.46700228e-03 -8.25266837e+01] [ 7.13537567e-01 -7.00577027e-01 -7.48130486e-03 -2.61229069e+02] [ 1.05696957e-02 8.70539937e-05 9.99944136e-01 -2.79554795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.886559995 meters 0.013219551056842208 Centerline is valid? [True, True] Translation: X:-82.54, Y:-261.21, Z:-2.80 [[-7.03060875e-01 -7.11088082e-01 7.69058971e-03 -8.25432394e+01] [ 7.11046390e-01 -7.03102935e-01 -7.70031816e-03 -2.61208282e+02] [ 1.08828807e-02 5.45736261e-05 9.99940778e-01 -2.79599645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.916559995 meters 0.013010940908034521 Centerline is valid? [True, True] Translation: X:-82.56, Y:-261.19, Z:-2.79 [[-7.05483698e-01 -7.08680985e-01 8.00081893e-03 -8.25596928e+01] [ 7.08635762e-01 -7.05529065e-01 -8.00593603e-03 -2.61186628e+02] [ 1.13184649e-02 2.16090654e-05 9.99935944e-01 -2.79476548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.9465599949999 meters 0.013156412775115455 Centerline is valid? [True, True] Translation: X:-82.58, Y:-261.17, Z:-2.80 [[-7.07872778e-01 -7.06292780e-01 8.16325412e-03 -8.25762872e+01] [ 7.06245605e-01 -7.07919846e-01 -8.16313718e-03 -2.61166318e+02] [ 1.15444945e-02 -1.32002439e-05 9.99933360e-01 -2.79513597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.976559995 meters 0.013595009573482225 Centerline is valid? [True, True] Translation: X:-82.59, Y:-261.19, Z:-2.80 [[-6.62459523e-01 -7.49050664e-01 8.39545387e-03 -8.25914366e+01] [ 7.48989038e-01 -6.62512714e-01 -9.60853299e-03 -2.61188678e+02] [ 1.27593729e-02 -7.71612542e-05 9.99918593e-01 -2.79684085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.006559995 meters 0.013627876058095224 Centerline is valid? [True, True] Translation: X:-82.61, Y:-261.17, Z:-2.80 [[-6.64007141e-01 -7.47670466e-01 9.13180133e-03 -8.26085442e+01] [ 7.47597486e-01 -6.64069922e-01 -1.04468781e-02 -2.61167038e+02] [ 1.38749768e-02 -1.09889945e-04 9.99903732e-01 -2.79717245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.036559995 meters 0.014299286694441377 Centerline is valid? [True, True] Translation: X:-82.62, Y:-261.14, Z:-2.80 [[-6.66187731e-01 -7.45702377e-01 1.10395437e-02 -8.26224772e+01] [ 7.45595572e-01 -6.66279171e-01 -1.26218092e-02 -2.61143521e+02] [ 1.67675311e-02 -1.77459531e-04 9.99859399e-01 -2.79869198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.0665599949999 meters 0.014279768155664506 Centerline is valid? [True, True] Translation: X:-82.64, Y:-261.12, Z:-2.80 [[-6.67253401e-01 -7.44745875e-01 1.12464076e-02 -8.26396838e+01] [ 7.44635018e-01 -6.67348142e-01 -1.28509971e-02 -2.61120819e+02] [ 1.70759963e-02 -2.00402613e-04 9.99854175e-01 -2.79805738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.096559995 meters 0.01453286934044564 Centerline is valid? [True, True] Translation: X:-82.66, Y:-261.10, Z:-2.80 [[-6.68137422e-01 -7.43950323e-01 1.14149813e-02 -8.26568551e+01] [ 7.43836130e-01 -6.68234891e-01 -1.30362324e-02 -2.61098680e+02] [ 1.73261981e-02 -2.19119162e-04 9.99849866e-01 -2.79799515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.126559995 meters 0.014702594610049862 Centerline is valid? [True, True] Translation: X:-82.67, Y:-261.08, Z:-2.80 [[-6.68892153e-01 -7.43280103e-01 1.08616728e-02 -8.26728676e+01] [ 7.43176747e-01 -6.68980298e-01 -1.23969272e-02 -2.61076652e+02] [ 1.64806344e-02 -2.20064693e-04 9.99864161e-01 -2.79692305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.156559995 meters 0.014706181719254127 Centerline is valid? [True, True] Translation: X:-82.69, Y:-261.06, Z:-2.80 [[-6.69370066e-01 -7.42854393e-01 1.05387490e-02 -8.26903549e+01] [ 7.42757159e-01 -6.69452988e-01 -1.20208107e-02 -2.61055260e+02] [ 1.59849090e-02 -2.18639606e-04 9.99872209e-01 -2.79601582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.1865599949999 meters 0.014673499132324179 Centerline is valid? [True, True] Translation: X:-82.71, Y:-261.03, Z:-2.80 [[-6.69323881e-01 -7.42904981e-01 9.88591456e-03 -8.27073384e+01] [ 7.42819532e-01 -6.69396855e-01 -1.12691293e-02 -2.61034424e+02] [ 1.49894924e-02 -1.99246916e-04 9.99887631e-01 -2.79529674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.2165599949999 meters 0.014205422482797278 Centerline is valid? [True, True] Translation: X:-82.72, Y:-261.01, Z:-2.79 [[-6.68612015e-01 -7.43558426e-01 8.87920985e-03 -8.27247160e+01] [ 7.43489629e-01 -6.68670951e-01 -1.01158931e-02 -2.61012733e+02] [ 1.34590272e-02 -1.62007230e-04 9.99909410e-01 -2.79334924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.246559995 meters 0.014044890532391606 Centerline is valid? [True, True] Translation: X:-82.74, Y:-260.99, Z:-2.79 [[-6.68086049e-01 -7.44035270e-01 8.51755656e-03 -8.27423299e+01] [ 7.43972080e-01 -6.68140328e-01 -9.69775582e-03 -2.60992379e+02] [ 1.29063954e-02 -1.42111101e-04 9.99916699e-01 -2.79284414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.276559995 meters 0.01376971256075846 Centerline is valid? [True, True] Translation: X:-82.76, Y:-260.97, Z:-2.79 [[-6.67080589e-01 -7.44940842e-01 8.16276663e-03 -8.27607015e+01] [ 7.44882947e-01 -6.67130519e-01 -9.28797348e-03 -2.60971781e+02] [ 1.23646215e-02 -1.15521149e-04 9.99923549e-01 -2.79229763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.3065599949999 meters 0.013264643735965819 Centerline is valid? [True, True] Translation: X:-82.78, Y:-260.95, Z:-2.79 [[-6.64469656e-01 -7.47276506e-01 7.60923631e-03 -8.27795998e+01] [ 7.47226405e-01 -6.64513220e-01 -8.65334795e-03 -2.60951286e+02] [ 1.15228817e-02 -6.40648438e-05 9.99933607e-01 -2.79130359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.3365599949999 meters 0.013046116135604444 Centerline is valid? [True, True] Translation: X:-82.80, Y:-260.93, Z:-2.79 [[-6.62807973e-01 -7.48751474e-01 7.53792683e-03 -8.27984905e+01] [ 7.48702465e-01 -6.62850834e-01 -8.56685016e-03 -2.60931025e+02] [ 1.14109628e-02 -3.45121966e-05 9.99934892e-01 -2.79051716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.366559995 meters 0.012894685420230947 Centerline is valid? [True, True] Translation: X:-82.82, Y:-260.91, Z:-2.79 [[-6.58583225e-01 -7.52470069e-01 7.54523835e-03 -8.28189937e+01] [ 7.52421269e-01 -6.58626445e-01 -8.56978337e-03 -2.60913000e+02] [ 1.14179990e-02 3.32822405e-05 9.99934812e-01 -2.79011965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.396559995 meters 0.013133668160927463 Centerline is valid? [True, True] Translation: X:-82.84, Y:-260.89, Z:-2.79 [[-6.56080890e-01 -7.54652720e-01 7.55899304e-03 -8.28393176e+01] [ 7.54603943e-01 -6.56124430e-01 -8.58035515e-03 -2.60894408e+02] [ 1.14348283e-02 7.46389014e-05 9.99934618e-01 -2.79073973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.4265599949999 meters 0.014066054906854347 Centerline is valid? [True, True] Translation: X:-82.86, Y:-260.88, Z:-2.79 [[-6.50843392e-01 -7.59173375e-01 7.65937533e-03 -8.28617039e+01] [ 7.59123661e-01 -6.50888440e-01 -8.68946090e-03 -2.60876279e+02] [ 1.15822062e-02 1.58934837e-04 9.99932911e-01 -2.79062664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.4565599949999 meters 0.01532098698283927 Centerline is valid? [True, True] Translation: X:-82.88, Y:-260.86, Z:-2.79 [[-6.46728346e-01 -7.62686438e-01 7.20028045e-03 -8.28829943e+01] [ 7.62642773e-01 -6.46768392e-01 -8.16380175e-03 -2.60858081e+02] [ 1.08833347e-02 2.11479843e-04 9.99940752e-01 -2.79002027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.486559995 meters 0.015643158255132857 Centerline is valid? [True, True] Translation: X:-82.90, Y:-260.84, Z:-2.79 [[-6.45385627e-01 -7.63824983e-01 6.98490711e-03 -8.29029094e+01] [ 7.63784005e-01 -6.45423384e-01 -7.91514817e-03 -2.60838046e+02] [ 1.05540103e-02 2.26637470e-04 9.99944279e-01 -2.78994042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.516559995 meters 0.016244873273748028 Centerline is valid? [True, True] Translation: X:-82.92, Y:-260.82, Z:-2.79 [[-6.44469206e-01 -7.64598601e-01 6.95854510e-03 -8.29224155e+01] [ 7.64558027e-01 -6.44506726e-01 -7.88058247e-03 -2.60818517e+02] [ 1.05103115e-02 2.41418783e-04 9.99944736e-01 -2.79033519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.5465599949999 meters 0.016772670331261386 Centerline is valid? [True, True] Translation: X:-82.94, Y:-260.80, Z:-2.79 [[-6.43989709e-01 -7.65004036e-01 6.78820537e-03 -8.29405638e+01] [ 7.64965493e-01 -6.44025438e-01 -7.68312803e-03 -2.60798937e+02] [ 1.02494009e-02 2.44887476e-04 9.99947444e-01 -2.79051111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.5765599949999 meters 0.016273780140784528 Centerline is valid? [True, True] Translation: X:-82.96, Y:-260.78, Z:-2.79 [[-6.43895359e-01 -7.65083673e-01 6.76312536e-03 -8.29573967e+01] [ 7.65045462e-01 -6.43930829e-01 -7.65040189e-03 -2.60776525e+02] [ 1.02081825e-02 2.48040093e-04 9.99947864e-01 -2.78951420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.606559995 meters 0.017249255993110352 Centerline is valid? [True, True] Translation: X:-82.98, Y:-260.76, Z:-2.79 [[-6.44146514e-01 -7.64873129e-01 6.66078507e-03 -8.29753020e+01] [ 7.64836105e-01 -6.44180904e-01 -7.52960703e-03 -2.60756887e+02] [ 1.00499446e-02 2.44238794e-04 9.99949468e-01 -2.78943685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.636559995 meters 0.016333789139621985 Centerline is valid? [True, True] Translation: X:-82.99, Y:-260.73, Z:-2.79 [[-6.44431895e-01 -7.64633754e-01 6.53879759e-03 -8.29917061e+01] [ 7.64598103e-01 -6.44465023e-01 -7.38751974e-03 -2.60734461e+02] [ 9.86277329e-03 2.38798889e-04 9.99951333e-01 -2.78856523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.666559995 meters 0.01627027936349373 Centerline is valid? [True, True] Translation: X:-83.01, Y:-260.71, Z:-2.79 [[-6.44581738e-01 -7.64504585e-01 6.86466363e-03 -8.30100505e+01] [ 7.64465330e-01 -6.44618241e-01 -7.75127571e-03 -2.60713028e+02] [ 1.03509732e-02 2.51466585e-04 9.99946396e-01 -2.78880630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.6965599949999 meters 0.017333322138974688 Centerline is valid? [True, True] Translation: X:-83.03, Y:-260.69, Z:-2.79 [[-6.44662389e-01 -7.64433673e-01 7.18082690e-03 -8.30287246e+01] [ 7.64390773e-01 -6.44702326e-01 -8.10286132e-03 -2.60694993e+02] [ 1.08235958e-02 2.65347893e-04 9.99941388e-01 -2.79037738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.726559995 meters 0.01637695111904748 Centerline is valid? [True, True] Translation: X:-83.05, Y:-260.67, Z:-2.79 [[-6.44349374e-01 -7.64684430e-01 8.46213727e-03 -8.30452592e+01] [ 7.64624945e-01 -6.44404857e-01 -9.54324377e-03 -2.60672067e+02] [ 1.27506123e-02 3.21178101e-04 9.99918656e-01 -2.79033108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.756559995 meters 0.01861923587376126 Centerline is valid? [True, True] Translation: X:-83.07, Y:-260.65, Z:-2.79 [[-6.44263307e-01 -7.64749825e-01 9.08272002e-03 -8.30653727e+01] [ 7.64681386e-01 -6.44327232e-01 -1.02369455e-02 -2.60653661e+02] [ 1.36809462e-02 3.50098554e-04 9.99906350e-01 -2.79342678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.786559995 meters 0.01861923587376126 Centerline is valid? [True, True] Translation: X:-83.08, Y:-260.63, Z:-2.79 [[-6.44488686e-01 -7.64559862e-01 9.08573726e-03 -8.30832339e+01] [ 7.64491442e-01 -6.44552632e-01 -1.02342677e-02 -2.60633729e+02] [ 1.36809462e-02 3.50098642e-04 9.99906350e-01 -2.79342621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.8165599949999 meters 0.018800882066790005 Centerline is valid? [True, True] Translation: X:-83.10, Y:-260.61, Z:-2.79 [[-6.44446996e-01 -7.64585230e-01 9.87399507e-03 -8.31010900e+01] [ 7.64504518e-01 -6.44522519e-01 -1.11159397e-02 -2.60612633e+02] [ 1.48630955e-02 3.85079887e-04 9.99889464e-01 -2.79454059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.846559995 meters 0.01667081957338438 Centerline is valid? [True, True] Translation: X:-83.12, Y:-260.59, Z:-2.79 [[-6.44570589e-01 -7.64471567e-01 1.05820342e-02 -8.31163969e+01] [ 7.64378956e-01 -6.44657314e-01 -1.19062678e-02 -2.60588648e+02] [ 1.59237890e-02 4.14254159e-04 9.99873123e-01 -2.79318614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.876559995 meters 0.017427137944817015 Centerline is valid? [True, True] Translation: X:-83.13, Y:-260.57, Z:-2.80 [[-6.44966454e-01 -7.64122423e-01 1.16274233e-02 -8.31336201e+01] [ 7.64010690e-01 -6.45071097e-01 -1.30746423e-02 -2.60568048e+02] [ 1.74911420e-02 4.50770018e-04 9.99846917e-01 -2.79509003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.906559995 meters 0.016792799462436378 Centerline is valid? [True, True] Translation: X:-83.15, Y:-260.55, Z:-2.79 [[-6.45674747e-01 -7.63522945e-01 1.16976000e-02 -8.31503070e+01] [ 7.63409907e-01 -6.45780548e-01 -1.31452302e-02 -2.60546021e+02] [ 1.75907674e-02 4.42520575e-04 9.99845173e-01 -2.79436594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.9365599949999 meters 0.016792799462436378 Centerline is valid? [True, True] Translation: X:-83.17, Y:-260.53, Z:-2.79 [[-6.45914701e-01 -7.63319900e-01 1.17017318e-02 -8.31681864e+01] [ 7.63206895e-01 -6.46020538e-01 -1.31415523e-02 -2.60526091e+02] [ 1.75907674e-02 4.42520575e-04 9.99845173e-01 -2.79436537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.9665599949999 meters 0.015876798942687263 Centerline is valid? [True, True] Translation: X:-83.18, Y:-260.50, Z:-2.79 [[-6.48204209e-01 -7.61384238e-01 1.11958061e-02 -8.31834803e+01] [ 7.61280618e-01 -6.48300779e-01 -1.25666527e-02 -2.60501579e+02] [ 1.68263011e-02 3.77393002e-04 9.99858357e-01 -2.79302718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.996559995 meters 0.015497573170931065 Centerline is valid? [True, True] Translation: X:-83.20, Y:-260.48, Z:-2.79 [[-6.49881726e-01 -7.59958926e-01 1.07783548e-02 -8.32001871e+01] [ 7.59862803e-01 -6.49971015e-01 -1.20913097e-02 -2.60478956e+02] [ 1.61945169e-02 3.32149674e-04 9.99868805e-01 -2.79233757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.026559995 meters 0.015239900727492681 Centerline is valid? [True, True] Translation: X:-83.22, Y:-260.46, Z:-2.79 [[-6.51663677e-01 -7.58437260e-01 1.03622191e-02 -8.32163052e+01] [ 7.58348322e-01 -6.51745994e-01 -1.16181483e-02 -2.60457289e+02] [ 1.55651714e-02 2.87046217e-04 9.99878814e-01 -2.79185822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.0565599949999 meters 0.014470281334821736 Centerline is valid? [True, True] Translation: X:-83.23, Y:-260.43, Z:-2.79 [[-6.53593023e-01 -7.56793247e-01 8.95219486e-03 -8.32330121e+01] [ 7.56726784e-01 -6.53654292e-01 -1.00320061e-02 -2.60433947e+02] [ 1.34437951e-02 2.17516402e-04 9.99909605e-01 -2.78924891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.0865599949999 meters 0.014325688821683783 Centerline is valid? [True, True] Translation: X:-83.25, Y:-260.41, Z:-2.79 [[-6.54218087e-01 -7.56260474e-01 8.29399434e-03 -8.32508849e+01] [ 7.56203454e-01 -6.54270630e-01 -9.28864420e-03 -2.60413335e+02] [ 1.24511514e-02 1.95148119e-04 9.99922462e-01 -2.78838546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.116559995 meters 0.014314810089012099 Centerline is valid? [True, True] Translation: X:-83.27, Y:-260.39, Z:-2.79 [[-6.54893429e-01 -7.55678386e-01 8.04820950e-03 -8.32683050e+01] [ 7.55624723e-01 -6.54942855e-01 -9.00751525e-03 -2.60393780e+02] [ 1.20779019e-02 1.82463524e-04 9.99927043e-01 -2.78826317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.146559995 meters 0.013831939114921941 Centerline is valid? [True, True] Translation: X:-83.29, Y:-260.37, Z:-2.79 [[-6.55565212e-01 -7.55097892e-01 7.83745103e-03 -8.32853022e+01] [ 7.55047027e-01 -6.55612038e-01 -8.76605323e-03 -2.60372993e+02] [ 1.17575556e-02 1.70924553e-04 9.99930863e-01 -2.78730766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.1765599949999 meters 0.013540298796631923 Centerline is valid? [True, True] Translation: X:-83.30, Y:-260.35, Z:-2.79 [[-6.56551287e-01 -7.54241089e-01 7.79663153e-03 -8.33038965e+01] [ 7.54190727e-01 -6.56597560e-01 -8.71730446e-03 -2.60351308e+02] [ 1.16941984e-02 1.56789738e-04 9.99931608e-01 -2.78682769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.2065599949999 meters 0.013767450183993689 Centerline is valid? [True, True] Translation: X:-83.32, Y:-260.33, Z:-2.79 [[-6.57221890e-01 -7.53653482e-01 8.11267069e-03 -8.33218803e+01] [ 7.53598965e-01 -6.57271941e-01 -9.06617863e-03 -2.60332577e+02] [ 1.21649879e-02 1.55209174e-04 9.99925992e-01 -2.78788079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.236559995 meters 0.013702965381343087 Centerline is valid? [True, True] Translation: X:-83.34, Y:-260.31, Z:-2.79 [[-6.57775502e-01 -7.53165767e-01 8.52733419e-03 -8.33403851e+01] [ 7.53105568e-01 -6.57830755e-01 -9.52369836e-03 -2.60311947e+02] [ 1.27824663e-02 1.57527387e-04 9.99918289e-01 -2.78861028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.266559995 meters 0.013644630238704946 Centerline is valid? [True, True] Translation: X:-83.36, Y:-260.29, Z:-2.79 [[-6.58295662e-01 -7.52700582e-01 9.41572659e-03 -8.33587450e+01] [ 7.52627230e-01 -6.58362974e-01 -1.05093684e-02 -2.60292317e+02] [ 1.41093734e-02 1.68260627e-04 9.99900444e-01 -2.78955098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.2965599949999 meters 0.013425422355396012 Centerline is valid? [True, True] Translation: X:-83.38, Y:-260.27, Z:-2.79 [[-6.58582524e-01 -7.52449304e-01 9.43949536e-03 -8.33776081e+01] [ 7.52375640e-01 -6.58650148e-01 -1.05299304e-02 -2.60270989e+02] [ 1.41405638e-02 1.67218223e-04 9.99900003e-01 -2.78857029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.3265599949999 meters 0.013494245606869858 Centerline is valid? [True, True] Translation: X:-83.40, Y:-260.25, Z:-2.79 [[-6.58610605e-01 -7.52425543e-01 9.37413359e-03 -8.33962543e+01] [ 7.52352986e-01 -6.58677291e-01 -1.04504041e-02 -2.60251087e+02] [ 1.40376799e-02 1.69910430e-04 9.99901453e-01 -2.78847917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.356559995 meters 0.01388757360177121 Centerline is valid? [True, True] Translation: X:-83.42, Y:-260.23, Z:-2.79 [[-6.58708063e-01 -7.52342974e-01 9.15078553e-03 -8.34150845e+01] [ 7.52273894e-01 -6.58771600e-01 -1.01964264e-02 -2.60232341e+02] [ 1.36994874e-02 1.67428750e-04 9.99906144e-01 -2.78876238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.386559995 meters 0.013431228814875183 Centerline is valid? [True, True] Translation: X:-83.43, Y:-260.21, Z:-2.79 [[-6.58824160e-01 -7.52245467e-01 8.80245941e-03 -8.34341983e+01] [ 7.52181611e-01 -6.58882942e-01 -9.80275662e-03 -2.60212089e+02] [ 1.31738696e-02 1.62755202e-04 9.99913208e-01 -2.78740246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.416559995 meters 0.013357941081940562 Centerline is valid? [True, True] Translation: X:-83.45, Y:-260.19, Z:-2.79 [[-6.59106242e-01 -7.51998090e-01 8.82238347e-03 -8.34536872e+01] [ 7.51933995e-01 -6.59165265e-01 -9.81939299e-03 -2.60191779e+02] [ 1.31995735e-02 1.61826832e-04 9.99912869e-01 -2.78711859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.4465599949999 meters 0.013077284823163086 Centerline is valid? [True, True] Translation: X:-83.47, Y:-260.17, Z:-2.79 [[-6.60488572e-01 -7.50785056e-01 8.75480244e-03 -8.34728379e+01] [ 7.50721905e-01 -6.60546577e-01 -9.73862578e-03 -2.60171624e+02] [ 1.30945695e-02 1.40170929e-04 9.99914253e-01 -2.78780613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.476559995 meters 0.013228201040575201 Centerline is valid? [True, True] Translation: X:-83.49, Y:-260.15, Z:-2.79 [[-6.61273178e-01 -7.50089402e-01 9.14733838e-03 -8.34915225e+01] [ 7.50020452e-01 -6.61336428e-01 -1.01710411e-02 -2.60151721e+02] [ 1.36786582e-02 1.34854207e-04 9.99906434e-01 -2.78921713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.506559995 meters 0.01306783019687508 Centerline is valid? [True, True] Translation: X:-83.51, Y:-260.13, Z:-2.79 [[-6.62340862e-01 -7.49149510e-01 8.92152767e-03 -8.35090266e+01] [ 7.49083920e-01 -6.62400934e-01 -9.91375918e-03 -2.60130861e+02] [ 1.33365161e-02 1.16685122e-04 9.99911058e-01 -2.78914194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.536559995 meters 0.012636653490404808 Centerline is valid? [True, True] Translation: X:-83.52, Y:-260.11, Z:-2.79 [[-6.65152659e-01 -7.46662218e-01 8.21420293e-03 -8.35243893e+01] [ 7.46606472e-01 -6.65203374e-01 -9.12405978e-03 -2.60108847e+02] [ 1.22767062e-02 6.38844404e-05 9.99924636e-01 -2.78745546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.5665599949999 meters 0.012490866647186752 Centerline is valid? [True, True] Translation: X:-83.54, Y:-260.09, Z:-2.79 [[-6.66532927e-01 -7.45434119e-01 7.86330937e-03 -8.35414533e+01] [ 7.45383012e-01 -6.66579307e-01 -8.72883263e-03 -2.60087822e+02] [ 1.17482890e-02 4.31228609e-05 9.99930986e-01 -2.78659160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.596559995 meters 0.0125110449898018 Centerline is valid? [True, True] Translation: X:-83.56, Y:-260.07, Z:-2.79 [[-6.67900591e-01 -7.44210009e-01 7.76295029e-03 -8.35591965e+01] [ 7.44160179e-01 -6.67945703e-01 -8.61199740e-03 -2.60067366e+02] [ 1.15943639e-02 2.49203280e-05 9.99932783e-01 -2.78665412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.626559995 meters 0.012534943402576852 Centerline is valid? [True, True] Translation: X:-83.58, Y:-260.05, Z:-2.79 [[-6.69223865e-01 -7.43021443e-01 7.65208585e-03 -8.35768116e+01] [ 7.42973012e-01 -6.69267611e-01 -8.48340871e-03 -2.60047319e+02] [ 1.14246478e-02 7.99370857e-06 9.99934737e-01 -2.78759442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.656559995 meters 0.012481223823136415 Centerline is valid? [True, True] Translation: X:-83.60, Y:-260.03, Z:-2.79 [[-6.70502710e-01 -7.41877453e-01 6.63036743e-03 -8.35958197e+01] [ 7.41841081e-01 -6.70535492e-01 -7.34608640e-03 -2.60027178e+02] [ 9.89579255e-03 -6.89189851e-06 9.99951036e-01 -2.78674999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.6865599949999 meters 0.012578739071212142 Centerline is valid? [True, True] Translation: X:-83.61, Y:-260.01, Z:-2.79 [[-6.71049777e-01 -7.41385437e-01 6.31109378e-03 -8.36134881e+01] [ 7.41352506e-01 -6.71079454e-01 -6.98775968e-03 -2.60007867e+02] [ 9.41586863e-03 -1.03893842e-05 9.99955670e-01 -2.78686356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.7165599949999 meters 0.012526342455624333 Centerline is valid? [True, True] Translation: X:-83.63, Y:-259.99, Z:-2.79 [[-6.71767255e-01 -7.40742039e-01 5.47611534e-03 -8.36320508e+01] [ 7.40717254e-01 -6.71789574e-01 -6.05946288e-03 -2.59987493e+02] [ 8.16729608e-03 -1.42956264e-05 9.99966647e-01 -2.78579163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.746559995 meters 0.012593226166720622 Centerline is valid? [True, True] Translation: X:-83.65, Y:-259.97, Z:-2.78 [[-6.72384494e-01 -7.40183790e-01 5.20091289e-03 -8.36506872e+01] [ 7.40161442e-01 -6.72404608e-01 -5.75169205e-03 -2.59966514e+02] [ 7.75442701e-03 -1.78333599e-05 9.99969934e-01 -2.78486271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.776559995 meters 0.012661054014041318 Centerline is valid? [True, True] Translation: X:-83.67, Y:-259.95, Z:-2.78 [[-6.73161968e-01 -7.39476894e-01 5.18538605e-03 -8.36681830e+01] [ 7.39454688e-01 -6.73181939e-01 -5.73071401e-03 -2.59946474e+02] [ 7.72843883e-03 -2.33406982e-05 9.99970135e-01 -2.78449463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.8065599949999 meters 0.012800236679849825 Centerline is valid? [True, True] Translation: X:-83.69, Y:-259.93, Z:-2.79 [[-6.73532982e-01 -7.39135719e-01 5.63127620e-03 -8.36856362e+01] [ 7.39109553e-01 -6.73556522e-01 -6.21939230e-03 -2.59926951e+02] [ 8.38995781e-03 -2.68358126e-05 9.99964803e-01 -2.78550275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.8365599949999 meters 0.013113063078919074 Centerline is valid? [True, True] Translation: X:-83.70, Y:-259.91, Z:-2.79 [[-6.74693966e-01 -7.38067763e-01 6.63550231e-03 -8.37045705e+01] [ 7.38031422e-01 -6.74726593e-01 -7.32422397e-03 -2.59907330e+02] [ 9.88292347e-03 -4.44005142e-05 9.99951162e-01 -2.78863841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.866559995 meters 0.013108511019749258 Centerline is valid? [True, True] Translation: X:-83.72, Y:-259.89, Z:-2.79 [[-6.74956464e-01 -7.37831022e-01 6.25738694e-03 -8.37240153e+01] [ 7.37798734e-01 -6.74985468e-01 -6.90263577e-03 -2.59888521e+02] [ 9.31662406e-03 -4.22864713e-05 9.99956599e-01 -2.78879108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.896559995 meters 0.013129416705777802 Centerline is valid? [True, True] Translation: X:-83.74, Y:-259.87, Z:-2.79 [[-6.75470381e-01 -7.37366181e-01 5.55695462e-03 -8.37419507e+01] [ 7.37340734e-01 -6.75493237e-01 -6.12604262e-03 -2.59869736e+02] [ 8.27082192e-03 -4.05913457e-05 9.99965795e-01 -2.78842503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.9265599949999 meters 0.013198578667444482 Centerline is valid? [True, True] Translation: X:-83.76, Y:-259.85, Z:-2.79 [[-6.76991217e-01 -7.35978389e-01 4.32461605e-03 -8.37590456e+01] [ 7.35962968e-01 -6.77005029e-01 -4.76462475e-03 -2.59847806e+02] [ 6.43444766e-03 -4.28518536e-05 9.99979298e-01 -2.78666796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.9565599949999 meters 0.013379180960527565 Centerline is valid? [True, True] Translation: X:-83.78, Y:-259.83, Z:-2.79 [[-6.77965425e-01 -7.35079428e-01 4.59531218e-03 -8.37771752e+01] [ 7.35062016e-01 -6.77980996e-01 -5.05976543e-03 -2.59827808e+02] [ 6.83486381e-03 -5.25065808e-05 9.99976641e-01 -2.78655339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.986559995 meters 0.013351785466497642 Centerline is valid? [True, True] Translation: X:-83.80, Y:-259.81, Z:-2.79 [[-6.78682266e-01 -7.34415314e-01 4.95263063e-03 -8.37964343e+01] [ 7.34395096e-01 -6.78700333e-01 -5.44979636e-03 -2.59808169e+02] [ 7.36376597e-03 -6.14924937e-05 9.99972885e-01 -2.78721281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.016559995 meters 0.013473324233988587 Centerline is valid? [True, True] Translation: X:-83.82, Y:-259.79, Z:-2.79 [[-6.79740160e-01 -7.33434585e-01 5.19851004e-03 -8.38156882e+01] [ 7.33412309e-01 -6.79760034e-01 -5.71676137e-03 -2.59789173e+02] [ 7.72660987e-03 -7.32610365e-05 9.99970147e-01 -2.78860824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.0465599949999 meters 0.013658068761152518 Centerline is valid? [True, True] Translation: X:-83.83, Y:-259.77, Z:-2.79 [[-6.80059162e-01 -7.33139284e-01 5.13091871e-03 -8.38337051e+01] [ 7.33117595e-01 -6.80078514e-01 -5.63968744e-03 -2.59769853e+02] [ 7.62410398e-03 -7.37543336e-05 9.99970933e-01 -2.78870533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.0765599949999 meters 0.013695107878839619 Centerline is valid? [True, True] Translation: X:-83.85, Y:-259.75, Z:-2.79 [[-6.80581041e-01 -7.32655985e-01 4.96531892e-03 -8.38529413e+01] [ 7.32635686e-01 -6.80599149e-01 -5.45428194e-03 -2.59750091e+02] [ 7.37550414e-03 -7.43110416e-05 9.99972798e-01 -2.78850041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.106559995 meters 0.013858142842835715 Centerline is valid? [True, True] Translation: X:-83.87, Y:-259.73, Z:-2.79 [[-6.81494712e-01 -7.31806827e-01 4.87097373e-03 -8.38733290e+01] [ 7.31787292e-01 -6.81512114e-01 -5.34764025e-03 -2.59730832e+02] [ 7.23306724e-03 -7.98718716e-05 9.99973838e-01 -2.78868460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.136559995 meters 0.013975336635336472 Centerline is valid? [True, True] Translation: X:-83.89, Y:-259.71, Z:-2.79 [[-6.81711482e-01 -7.31601582e-01 5.34612213e-03 -8.38915085e+01] [ 7.31578075e-01 -6.81732439e-01 -5.86539663e-03 -2.59711528e+02] [ 7.93575833e-03 -8.74024960e-05 9.99968508e-01 -2.78957603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.166559995 meters 0.013928072606960263 Centerline is valid? [True, True] Translation: X:-83.91, Y:-259.69, Z:-2.79 [[-6.81642020e-01 -7.31661386e-01 5.98104410e-03 -8.39102623e+01] [ 7.31632002e-01 -6.81668254e-01 -6.55790424e-03 -2.59692119e+02] [ 8.87525319e-03 -9.42198227e-05 9.99960610e-01 -2.79001180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.1965599949999 meters 0.01369424246217609 Centerline is valid? [True, True] Translation: X:-83.93, Y:-259.67, Z:-2.79 [[-6.80798783e-01 -7.32441012e-01 6.57123016e-03 -8.39301548e+01] [ 7.32405623e-01 -6.80830490e-01 -7.20052150e-03 -2.59673268e+02] [ 9.74785110e-03 -8.93003503e-05 9.99952485e-01 -2.79018323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.226559995 meters 0.013639933489497312 Centerline is valid? [True, True] Translation: X:-83.95, Y:-259.65, Z:-2.79 [[-6.80360528e-01 -7.32846902e-01 6.70599553e-03 -8.39496800e+01] [ 7.32810111e-01 -6.80393572e-01 -7.34361576e-03 -2.59653593e+02] [ 9.94446231e-03 -8.20849736e-05 9.99950549e-01 -2.79002858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.256559995 meters 0.01350617470147435 Centerline is valid? [True, True] Translation: X:-83.97, Y:-259.63, Z:-2.79 [[-6.79704701e-01 -7.33455903e-01 6.62999887e-03 -8.39693832e+01] [ 7.33420015e-01 -6.79737032e-01 -7.25589637e-03 -2.59634153e+02] [ 9.82853579e-03 -6.92930045e-05 9.99951696e-01 -2.79028706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.286559995 meters 0.013453553464074775 Centerline is valid? [True, True] Translation: X:-83.99, Y:-259.62, Z:-2.79 [[-6.78810684e-01 -7.34284752e-01 6.47752199e-03 -8.39882058e+01] [ 7.34250578e-01 -6.78841587e-01 -7.08442867e-03 -2.59616073e+02] [ 9.59919926e-03 -5.28616038e-05 9.99953925e-01 -2.79051985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.3165599949999 meters 0.013114672294438395 Centerline is valid? [True, True] Translation: X:-84.01, Y:-259.60, Z:-2.79 [[-6.75785796e-01 -7.37071380e-01 6.27197826e-03 -8.40098039e+01] [ 7.37039499e-01 -6.75814901e-01 -6.85543960e-03 -2.59599376e+02] [ 9.29164470e-03 -1.01129934e-05 9.99956832e-01 -2.78997017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.346559995 meters 0.013188769167049176 Centerline is valid? [True, True] Translation: X:-84.03, Y:-259.58, Z:-2.79 [[-6.74335405e-01 -7.38402147e-01 5.83361976e-03 -8.40292650e+01] [ 7.38374651e-01 -6.74360638e-01 -6.37221856e-03 -2.59581410e+02] [ 8.63922341e-03 1.03843657e-05 9.99962681e-01 -2.78990090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.376559995 meters 0.013231819624295977 Centerline is valid? [True, True] Translation: X:-84.05, Y:-259.56, Z:-2.79 [[-6.73352018e-01 -7.39301105e-01 5.56201436e-03 -8.40492395e+01] [ 7.39276171e-01 -6.73374988e-01 -6.07186109e-03 -2.59562677e+02] [ 8.23425498e-03 2.33647635e-05 9.99966098e-01 -2.78980834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.406559995 meters 0.01316303484116964 Centerline is valid? [True, True] Translation: X:-84.07, Y:-259.54, Z:-2.79 [[-6.72052723e-01 -7.40491190e-01 4.23510163e-03 -8.40694551e+01] [ 7.40476775e-01 -6.72066066e-01 -4.62040767e-03 -2.59543848e+02] [ 6.26763927e-03 3.08368419e-05 9.99980358e-01 -2.78803852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.4365599949999 meters 0.013329786916623511 Centerline is valid? [True, True] Translation: X:-84.09, Y:-259.52, Z:-2.79 [[-6.70789636e-01 -7.41639573e-01 3.46521569e-03 -8.40891844e+01] [ 7.41629951e-01 -6.70798586e-01 -3.77811188e-03 -2.59524944e+02] [ 5.12645906e-03 3.55894478e-05 9.99986859e-01 -2.78689573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.4665599949999 meters 0.013448300347025214 Centerline is valid? [True, True] Translation: X:-84.11, Y:-259.51, Z:-2.79 [[-6.70065074e-01 -7.42293940e-01 3.53604633e-03 -8.41083166e+01] [ 7.42283941e-01 -6.70074403e-01 -3.85292583e-03 -2.59505888e+02] [ 5.22941763e-03 4.30393713e-05 9.99986326e-01 -2.78666488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.496559995 meters 0.013713097139402951 Centerline is valid? [True, True] Translation: X:-84.13, Y:-259.49, Z:-2.79 [[-6.68487190e-01 -7.43715245e-01 3.53723364e-03 -8.41295441e+01] [ 7.43705271e-01 -6.68496546e-01 -3.85202525e-03 -2.59486827e+02] [ 5.22943837e-03 5.56297744e-05 9.99986325e-01 -2.78696725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.526559995 meters 0.01413564519242535 Centerline is valid? [True, True] Translation: X:-84.15, Y:-259.47, Z:-2.79 [[-6.67895137e-01 -7.44245153e-01 3.90360488e-03 -8.41498058e+01] [ 7.44233031e-01 -6.67906541e-01 -4.24844652e-03 -2.59468872e+02] [ 5.76912897e-03 6.76749228e-05 9.99983356e-01 -2.78821213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.5565599949999 meters 0.013920380706631642 Centerline is valid? [True, True] Translation: X:-84.17, Y:-259.45, Z:-2.79 [[-6.67413571e-01 -7.44675466e-01 4.19238703e-03 -8.41689631e+01] [ 7.44661507e-01 -6.67426734e-01 -4.56012137e-03 -2.59448559e+02] [ 6.19392168e-03 7.84223539e-05 9.99980815e-01 -2.78840164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.5865599949999 meters 0.014078510782235296 Centerline is valid? [True, True] Translation: X:-84.19, Y:-259.43, Z:-2.79 [[-6.66932137e-01 -7.45104136e-01 4.62065604e-03 -8.41892388e+01] [ 7.45087211e-01 -6.66948137e-01 -5.02308030e-03 -2.59428687e+02] [ 6.82445584e-03 9.27380408e-05 9.99976709e-01 -2.78903532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.616559995 meters 0.014339246469001112 Centerline is valid? [True, True] Translation: X:-84.21, Y:-259.41, Z:-2.79 [[-6.66430538e-01 -7.45544517e-01 5.80610215e-03 -8.42087064e+01] [ 7.45517841e-01 -6.66455818e-01 -6.30795650e-03 -2.59410033e+02] [ 8.57237294e-03 1.24737892e-04 9.99963249e-01 -2.79060406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.646559995 meters 0.014599724792659984 Centerline is valid? [True, True] Translation: X:-84.23, Y:-259.39, Z:-2.79 [[-6.67312967e-01 -7.44745710e-01 6.87255629e-03 -8.42274264e+01] [ 7.44708343e-01 -6.67348341e-01 -7.46161501e-03 -2.59390970e+02] [ 1.01433948e-02 1.38817558e-04 9.99948545e-01 -2.79330751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.6765599949999 meters 0.013867797470436302 Centerline is valid? [True, True] Translation: X:-84.25, Y:-259.37, Z:-2.79 [[-6.69360122e-01 -7.42905843e-01 6.92352043e-03 -8.42450036e+01] [ 7.42867865e-01 -6.69395918e-01 -7.51269796e-03 -2.59368838e+02] [ 1.02158035e-02 1.14560416e-04 9.99947811e-01 -2.79336967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.7065599949999 meters 0.013867797470436302 Centerline is valid? [True, True] Translation: X:-84.26, Y:-259.35, Z:-2.79 [[-6.69569578e-01 -7.42717050e-01 6.92563867e-03 -8.42637488e+01] [ 7.42679081e-01 -6.69605385e-01 -7.51074529e-03 -2.59348604e+02] [ 1.02158035e-02 1.14560409e-04 9.99947811e-01 -2.79336908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.736559995 meters 0.013634183914160948 Centerline is valid? [True, True] Translation: X:-84.28, Y:-259.33, Z:-2.79 [[-6.71051443e-01 -7.41379775e-01 6.78161653e-03 -8.42821718e+01] [ 7.41343342e-01 -6.71085703e-01 -7.35040367e-03 -2.59326893e+02] [ 1.00004865e-02 9.50072711e-05 9.99949989e-01 -2.79345791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.766559995 meters 0.013634183914160948 Centerline is valid? [True, True] Translation: X:-84.30, Y:-259.31, Z:-2.79 [[-6.71260011e-01 -7.41190920e-01 6.78368447e-03 -8.43009282e+01] [ 7.41154497e-01 -6.71294281e-01 -7.34849522e-03 -2.59306669e+02] [ 1.00004865e-02 9.50072725e-05 9.99949989e-01 -2.79345732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.7965599949999 meters 0.013383313606547818 Centerline is valid? [True, True] Translation: X:-84.32, Y:-259.28, Z:-2.79 [[-6.72890966e-01 -7.39712618e-01 6.55677219e-03 -8.43187719e+01] [ 7.39678559e-01 -6.72922907e-01 -7.09868295e-03 -2.59284350e+02] [ 9.66318755e-03 7.32641787e-05 9.99953308e-01 -2.79311903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.8265599949999 meters 0.013383313606547818 Centerline is valid? [True, True] Translation: X:-84.34, Y:-259.26, Z:-2.79 [[-6.73098786e-01 -7.39523500e-01 6.55876664e-03 -8.43375387e+01] [ 7.39489451e-01 -6.73130736e-01 -7.09684024e-03 -2.59264136e+02] [ 9.66318755e-03 7.32641852e-05 9.99953308e-01 -2.79311844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.856559995 meters 0.013260926444072637 Centerline is valid? [True, True] Translation: X:-84.35, Y:-259.24, Z:-2.79 [[-6.75157446e-01 -7.37646748e-01 6.30067711e-03 -8.43536071e+01] [ 7.37615285e-01 -6.75186843e-01 -6.81305304e-03 -2.59243117e+02] [ 9.27976071e-03 4.75922464e-05 9.99956941e-01 -2.79283962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.886559995 meters 0.013095957445175324 Centerline is valid? [True, True] Translation: X:-84.37, Y:-259.22, Z:-2.79 [[-6.79076632e-01 -7.34043178e-01 5.96162647e-03 -8.43685608e+01] [ 7.34014906e-01 -6.79102800e-01 -6.44240512e-03 -2.59220149e+02] [ 8.77756075e-03 1.03592071e-06 9.99961477e-01 -2.79174771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.916559995 meters 0.013098314142343047 Centerline is valid? [True, True] Translation: X:-84.39, Y:-259.20, Z:-2.79 [[-6.80979311e-01 -7.32280078e-01 5.75024196e-03 -8.43864486e+01] [ 7.32253746e-01 -6.81003588e-01 -6.21007111e-03 -2.59199114e+02] [ 8.46344676e-03 -1.82937332e-05 9.99964184e-01 -2.79178748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.9465599949999 meters 0.01316916389426861 Centerline is valid? [True, True] Translation: X:-84.40, Y:-259.18, Z:-2.79 [[-6.82658944e-01 -7.30713680e-01 5.85534179e-03 -8.44049519e+01] [ 7.30686349e-01 -6.82684054e-01 -6.32002054e-03 -2.59177493e+02] [ 8.61547393e-03 -3.60002297e-05 9.99962886e-01 -2.79199871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.976559995 meters 0.013316893503550987 Centerline is valid? [True, True] Translation: X:-84.42, Y:-259.16, Z:-2.79 [[-6.84302008e-01 -7.29172873e-01 6.13873524e-03 -8.44214032e+01] [ 7.29142810e-01 -6.84329540e-01 -6.62152107e-03 -2.59157157e+02] [ 9.02915140e-03 -5.51055026e-05 9.99959235e-01 -2.79258786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.006559995 meters 0.013595076253121336 Centerline is valid? [True, True] Translation: X:-84.44, Y:-259.14, Z:-2.79 [[-6.86002920e-01 -7.27571627e-01 6.28658095e-03 -8.44382325e+01] [ 7.27540072e-01 -6.86031721e-01 -6.77656147e-03 -2.59136251e+02] [ 9.24322780e-03 -7.50013922e-05 9.99957278e-01 -2.79238391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.036559995 meters 0.01437392350914919 Centerline is valid? [True, True] Translation: X:-84.45, Y:-259.11, Z:-2.79 [[-6.88586912e-01 -7.25124350e-01 6.53767725e-03 -8.44538810e+01] [ 7.25090153e-01 -6.88617938e-01 -7.04313552e-03 -2.59114121e+02] [ 9.60911089e-03 -1.09405545e-04 9.99953826e-01 -2.79251489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.0665599949999 meters 0.014123148119804788 Centerline is valid? [True, True] Translation: X:-84.47, Y:-259.09, Z:-2.79 [[-6.89730453e-01 -7.24036176e-01 6.59684817e-03 -8.44725651e+01] [ 7.24001345e-01 -6.89761989e-01 -7.10288236e-03 -2.59093743e+02] [ 9.69299889e-03 -1.22947318e-04 9.99953014e-01 -2.79158846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.096559995 meters 0.014139014017147138 Centerline is valid? [True, True] Translation: X:-84.49, Y:-259.07, Z:-2.79 [[-6.90398045e-01 -7.23400405e-01 6.51101195e-03 -8.44913675e+01] [ 7.23366485e-01 -6.90428734e-01 -7.00650819e-03 -2.59072567e+02] [ 9.56390061e-03 -1.27431725e-04 9.99954257e-01 -2.79157361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.126559995 meters 0.014501372168537629 Centerline is valid? [True, True] Translation: X:-84.51, Y:-259.05, Z:-2.79 [[-6.90276625e-01 -7.23513257e-01 6.83721876e-03 -8.45088043e+01] [ 7.23475902e-01 -6.90310474e-01 -7.35316064e-03 -2.59051252e+02] [ 1.00399129e-02 -1.29151897e-04 9.99949591e-01 -2.79175541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.156559995 meters 0.014073773548233472 Centerline is valid? [True, True] Translation: X:-84.53, Y:-259.03, Z:-2.79 [[-6.89831815e-01 -7.23937688e-01 6.80371393e-03 -8.45280333e+01] [ 7.23900765e-01 -6.89865356e-01 -7.31256081e-03 -2.59032451e+02] [ 9.98748490e-03 -1.19223379e-04 9.99950117e-01 -2.79127925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.1865599949999 meters 0.01372803695778209 Centerline is valid? [True, True] Translation: X:-84.55, Y:-259.01, Z:-2.79 [[-6.89217279e-01 -7.24522967e-01 6.78327449e-03 -8.45479168e+01] [ 7.24486334e-01 -6.89250651e-01 -7.28649715e-03 -2.59013141e+02] [ 9.95461089e-03 -1.07590072e-04 9.99950446e-01 -2.79106304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.2165599949999 meters 0.013439430508923798 Centerline is valid? [True, True] Translation: X:-84.57, Y:-259.00, Z:-2.79 [[-6.86722957e-01 -7.26888140e-01 6.72402592e-03 -8.45678315e+01] [ 7.26852298e-01 -6.86755871e-01 -7.21878570e-03 -2.58995038e+02] [ 9.86501399e-03 -6.99321729e-05 9.99951337e-01 -2.79122655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.246559995 meters 0.01317211187925679 Centerline is valid? [True, True] Translation: X:-84.59, Y:-258.98, Z:-2.79 [[-6.85106411e-01 -7.28412367e-01 6.68057285e-03 -8.45882406e+01] [ 7.28377097e-01 -6.85138980e-01 -7.16811537e-03 -2.58975301e+02] [ 9.79846475e-03 -4.49455317e-05 9.99951993e-01 -2.79123468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.276559995 meters 0.013033494755584654 Centerline is valid? [True, True] Translation: X:-84.61, Y:-258.96, Z:-2.79 [[-6.81653257e-01 -7.31639755e-01 7.21843115e-03 -8.46075951e+01] [ 7.31598812e-01 -6.81691476e-01 -7.74010851e-03 -2.58957978e+02] [ 1.05837141e-02 4.92547812e-06 9.99943991e-01 -2.79143082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.3065599949999 meters 0.013036081222056196 Centerline is valid? [True, True] Translation: X:-84.63, Y:-258.94, Z:-2.79 [[-6.80171474e-01 -7.33017919e-01 7.17612209e-03 -8.46271577e+01] [ 7.32977582e-01 -6.80209328e-01 -7.68991264e-03 -2.58938851e+02] [ 1.05181089e-02 2.94773961e-05 9.99944683e-01 -2.79085247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.3365599949999 meters 0.013141704770473316 Centerline is valid? [True, True] Translation: X:-84.65, Y:-258.92, Z:-2.79 [[-6.78701608e-01 -7.34379276e-01 7.15587662e-03 -8.46475862e+01] [ 7.34339287e-01 -6.78739329e-01 -7.66388293e-03 -2.58918974e+02] [ 1.04851717e-02 5.33516741e-05 9.99945028e-01 -2.79058350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.366559995 meters 0.013609105989896857 Centerline is valid? [True, True] Translation: X:-84.67, Y:-258.90, Z:-2.79 [[-6.75720900e-01 -7.37119786e-01 7.46232227e-03 -8.46683271e+01] [ 7.37076517e-01 -6.75762096e-01 -7.98731970e-03 -2.58901612e+02] [ 1.09303659e-02 1.03103651e-04 9.99940257e-01 -2.79113362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.396559995 meters 0.013969905036953547 Centerline is valid? [True, True] Translation: X:-84.69, Y:-258.88, Z:-2.79 [[-6.74251922e-01 -7.38464902e-01 7.34398001e-03 -8.46876685e+01] [ 7.38423109e-01 -6.74291905e-01 -7.85745098e-03 -2.58883072e+02] [ 1.07544380e-02 1.25063124e-04 9.99942162e-01 -2.79101771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.4265599949999 meters 0.014278903781883451 Centerline is valid? [True, True] Translation: X:-84.71, Y:-258.86, Z:-2.79 [[-6.73048909e-01 -7.39566751e-01 6.79607485e-03 -8.47069860e+01] [ 7.39531063e-01 -6.73083206e-01 -7.26671549e-03 -2.58863623e+02] [ 9.94854501e-03 1.35053522e-04 9.99950503e-01 -2.79006971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.4565599949999 meters 0.014597222314552127 Centerline is valid? [True, True] Translation: X:-84.73, Y:-258.84, Z:-2.79 [[-6.71858311e-01 -7.40651107e-01 6.50744932e-03 -8.47267334e+01] [ 7.40618473e-01 -6.71889809e-01 -6.95426164e-03 -2.58843504e+02] [ 9.52297046e-03 1.47258692e-04 9.99954645e-01 -2.78887459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.486559995 meters 0.01495924825172502 Centerline is valid? [True, True] Translation: X:-84.75, Y:-258.82, Z:-2.79 [[-6.69853873e-01 -7.42467896e-01 6.10017527e-03 -8.47470546e+01] [ 7.42439327e-01 -6.69881628e-01 -6.51535269e-03 -2.58824326e+02] [ 8.92383555e-03 1.64675793e-04 9.99960168e-01 -2.78807193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.516559995 meters 0.015228824340602118 Centerline is valid? [True, True] Translation: X:-84.77, Y:-258.81, Z:-2.79 [[-6.69110415e-01 -7.43138564e-01 6.02728693e-03 -8.47675834e+01] [ 7.43110732e-01 -6.69137538e-01 -6.43387206e-03 -2.58805068e+02] [ 8.81434238e-03 1.73970806e-04 9.99961138e-01 -2.78874713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.5465599949999 meters 0.015343275926110645 Centerline is valid? [True, True] Translation: X:-84.79, Y:-258.79, Z:-2.79 [[-6.68631260e-01 -7.43570330e-01 5.95003495e-03 -8.47875581e+01] [ 7.43543256e-01 -6.68657709e-01 -6.34780978e-03 -2.58785070e+02] [ 8.69857975e-03 1.79764307e-04 9.99962151e-01 -2.78928817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.5765599949999 meters 0.015648453033053893 Centerline is valid? [True, True] Translation: X:-84.81, Y:-258.76, Z:-2.79 [[-6.68116595e-01 -7.44029508e-01 6.34878314e-03 -8.48066544e+01] [ 7.43998739e-01 -6.68146729e-01 -6.76938785e-03 -2.58764701e+02] [ 9.27854299e-03 2.00746295e-04 9.99956933e-01 -2.79000907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.606559995 meters 0.015835275065001174 Centerline is valid? [True, True] Translation: X:-84.83, Y:-258.75, Z:-2.79 [[-6.68460983e-01 -7.43716013e-01 6.81219001e-03 -8.48250132e+01] [ 7.43680621e-01 -6.68495659e-01 -7.25866356e-03 -2.58745684e+02] [ 9.95230377e-03 2.13960312e-04 9.99950452e-01 -2.79072463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.636559995 meters 0.015571144290864359 Centerline is valid? [True, True] Translation: X:-84.84, Y:-258.72, Z:-2.79 [[-6.69044913e-01 -7.43191050e-01 6.77999515e-03 -8.48439853e+01] [ 7.43156005e-01 -6.69079233e-01 -7.22028917e-03 -2.58724647e+02] [ 9.90240824e-03 2.07896372e-04 9.99950948e-01 -2.79094911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.666559995 meters 0.01553368614931747 Centerline is valid? [True, True] Translation: X:-84.86, Y:-258.70, Z:-2.79 [[-6.69590171e-01 -7.42700163e-01 6.74317200e-03 -8.48620253e+01] [ 7.42665517e-01 -6.69624093e-01 -7.17654984e-03 -2.58704667e+02] [ 9.84541518e-03 2.02574088e-04 9.99951512e-01 -2.79103667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.6965599949999 meters 0.01516635719239795 Centerline is valid? [True, True] Translation: X:-84.88, Y:-258.68, Z:-2.79 [[-6.70103361e-01 -7.42234059e-01 7.07724566e-03 -8.48792149e+01] [ 7.42195913e-01 -6.70140701e-01 -7.52780572e-03 -2.58682792e+02] [ 1.03301442e-02 2.08294887e-04 9.99946621e-01 -2.79063120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.726559995 meters 0.015735860856595577 Centerline is valid? [True, True] Translation: X:-84.90, Y:-258.66, Z:-2.79 [[-6.70309694e-01 -7.42044459e-01 7.41183141e-03 -8.48987476e+01] [ 7.42002661e-01 -6.70350635e-01 -7.87895948e-03 -2.58663439e+02] [ 1.08150641e-02 2.18255711e-04 9.99941492e-01 -2.79184479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.756559995 meters 0.015480645435572737 Centerline is valid? [True, True] Translation: X:-84.92, Y:-258.64, Z:-2.79 [[-6.70216478e-01 -7.42123214e-01 7.93777835e-03 -8.49171103e+01] [ 7.42075334e-01 -6.70263440e-01 -8.43329401e-03 -2.58642638e+02] [ 1.15789459e-02 2.38296910e-04 9.99932933e-01 -2.79184468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.786559995 meters 0.017053148035587502 Centerline is valid? [True, True] Translation: X:-84.94, Y:-258.62, Z:-2.80 [[-6.69723525e-01 -7.42557906e-01 8.84059963e-03 -8.49377595e+01] [ 7.42498602e-01 -6.69781815e-01 -9.38861570e-03 -2.58624549e+02] [ 1.28928637e-02 2.76356059e-04 9.99916845e-01 -2.79506080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.8165599949999 meters 0.016750257682217055 Centerline is valid? [True, True] Translation: X:-84.96, Y:-258.60, Z:-2.80 [[-6.69537452e-01 -7.42713181e-01 9.83523114e-03 -8.49559027e+01] [ 7.42639884e-01 -6.69609612e-01 -1.04389017e-02 -2.58603754e+02] [ 1.43388752e-02 3.14799261e-04 9.99897144e-01 -2.79600747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.846559995 meters 0.01681261456713442 Centerline is valid? [True, True] Translation: X:-84.97, Y:-258.58, Z:-2.80 [[-6.69501898e-01 -7.42740767e-01 1.01667092e-02 -8.49740945e+01] [ 7.42662547e-01 -6.69579005e-01 -1.07841524e-02 -2.58583849e+02] [ 1.48172446e-02 3.30423657e-04 9.99890164e-01 -2.79703688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.876559995 meters 0.01622685955199428 Centerline is valid? [True, True] Translation: X:-84.99, Y:-258.56, Z:-2.80 [[-6.70165465e-01 -7.42148877e-01 9.65886213e-03 -8.49903104e+01] [ 7.42078305e-01 -6.70234997e-01 -1.02391028e-02 -2.58562224e+02] [ 1.40726460e-02 3.05738973e-04 9.99900929e-01 -2.79610991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.906559995 meters 0.015569419347776387 Centerline is valid? [True, True] Translation: X:-85.01, Y:-258.54, Z:-2.79 [[-6.71153303e-01 -7.41258986e-01 9.40000697e-03 -8.50068519e+01] [ 7.41192144e-01 -6.71219067e-01 -9.95839728e-03 -2.58540886e+02] [ 1.36912154e-02 2.83600095e-04 9.99906231e-01 -2.79481148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.9365599949999 meters 0.014984423112644845 Centerline is valid? [True, True] Translation: X:-85.02, Y:-258.52, Z:-2.79 [[-6.73452540e-01 -7.39181229e-01 8.53150409e-03 -8.50235568e+01] [ 7.39126065e-01 -6.73506541e-01 -9.03325150e-03 -2.58518529e+02] [ 1.24232338e-02 2.22390874e-04 9.99922804e-01 -2.79415942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.9665599949999 meters 0.01469027577397769 Centerline is valid? [True, True] Translation: X:-85.04, Y:-258.50, Z:-2.79 [[-6.74554662e-01 -7.38183297e-01 7.83767305e-03 -8.50419511e+01] [ 7.38136725e-01 -6.74600166e-01 -8.29399858e-03 -2.58496880e+02] [ 1.14097868e-02 1.90518914e-04 9.99934888e-01 -2.79374892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.996559995 meters 0.014427919551005888 Centerline is valid? [True, True] Translation: X:-85.06, Y:-258.48, Z:-2.79 [[-6.75861254e-01 -7.36992727e-01 7.29972882e-03 -8.50597721e+01] [ 7.36952305e-01 -6.75900655e-01 -7.72045003e-03 -2.58475561e+02] [ 1.06238070e-02 1.61598942e-04 9.99943553e-01 -2.79292803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.026559995 meters 0.014289475783356003 Centerline is valid? [True, True] Translation: X:-85.08, Y:-258.46, Z:-2.79 [[-6.77148111e-01 -7.35816493e-01 6.67267511e-03 -8.50767678e+01] [ 7.35782705e-01 -6.77180974e-01 -7.05264148e-03 -2.58455064e+02] [ 9.70805854e-03 1.33956082e-04 9.99952867e-01 -2.79253813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.0565599949999 meters 0.013757457934287981 Centerline is valid? [True, True] Translation: X:-85.09, Y:-258.43, Z:-2.79 [[-6.79272591e-01 -7.33859714e-01 6.21826206e-03 -8.50935305e+01] [ 7.33830322e-01 -6.79301045e-01 -6.56876873e-03 -2.58431880e+02] [ 9.04462666e-03 1.01164696e-04 9.99959092e-01 -2.79217172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.0865599949999 meters 0.013666915677302141 Centerline is valid? [True, True] Translation: X:-85.11, Y:-258.41, Z:-2.79 [[-6.80203684e-01 -7.32995985e-01 6.31140773e-03 -8.51114166e+01] [ 7.32965706e-01 -6.80232958e-01 -6.66310856e-03 -2.58411487e+02] [ 9.17725938e-03 9.37744309e-05 9.99957884e-01 -2.79261827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.116559995 meters 0.013638023036970688 Centerline is valid? [True, True] Translation: X:-85.13, Y:-258.39, Z:-2.79 [[-6.80766825e-01 -7.32471678e-01 6.46305074e-03 -8.51289504e+01] [ 7.32439944e-01 -6.80797497e-01 -6.81885088e-03 -2.58391905e+02] [ 9.39464392e-03 9.17490592e-05 9.99955865e-01 -2.79316642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.146559995 meters 0.014019777131025736 Centerline is valid? [True, True] Translation: X:-85.15, Y:-258.37, Z:-2.79 [[-6.79365164e-01 -7.33775413e-01 6.05126838e-03 -8.51499591e+01] [ 7.33747675e-01 -6.79392105e-01 -6.38098406e-03 -2.58372647e+02] [ 8.79339318e-03 1.05085821e-04 9.99961332e-01 -2.79290806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.1765599949999 meters 0.01409161716885673 Centerline is valid? [True, True] Translation: X:-85.17, Y:-258.35, Z:-2.79 [[-6.78207610e-01 -7.34843521e-01 6.27995969e-03 -8.51696570e+01] [ 7.34813726e-01 -6.78236673e-01 -6.61844196e-03 -2.58352553e+02] [ 9.12281815e-03 1.25922878e-04 9.99958378e-01 -2.79229818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.2065599949999 meters 0.015131316517107921 Centerline is valid? [True, True] Translation: X:-85.19, Y:-258.34, Z:-2.79 [[-6.76852613e-01 -7.36087059e-01 6.81044137e-03 -8.51910885e+01] [ 7.36052122e-01 -6.76886857e-01 -7.17329430e-03 -2.58335052e+02] [ 9.89006736e-03 1.57576831e-04 9.99951080e-01 -2.79367437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.236559995 meters 0.01648267845017078 Centerline is valid? [True, True] Translation: X:-85.21, Y:-258.32, Z:-2.80 [[-6.74362885e-01 -7.38364348e-01 7.26559181e-03 -8.52138863e+01] [ 7.38324763e-01 -6.74401992e-01 -7.64838724e-03 -2.58319190e+02] [ 1.05472260e-02 2.06577863e-04 9.99944355e-01 -2.79593104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.266559995 meters 0.015822062843953988 Centerline is valid? [True, True] Translation: X:-85.23, Y:-258.30, Z:-2.80 [[-6.73668581e-01 -7.38996303e-01 7.42342952e-03 -8.52329875e+01] [ 7.38955064e-01 -6.73709443e-01 -7.81021030e-03 -2.58298812e+02] [ 1.07729511e-02 2.24087546e-04 9.99941945e-01 -2.79530391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.2965599949999 meters 0.016845222112326214 Centerline is valid? [True, True] Translation: X:-85.25, Y:-258.28, Z:-2.80 [[-6.72859967e-01 -7.39732589e-01 7.42709078e-03 -8.52535911e+01] [ 7.39691388e-01 -6.72900914e-01 -7.81090814e-03 -2.58280471e+02] [ 1.07756795e-02 2.38107693e-04 9.99941912e-01 -2.79569202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.3265599949999 meters 0.016622404801318245 Centerline is valid? [True, True] Translation: X:-85.27, Y:-258.26, Z:-2.79 [[-6.71621721e-01 -7.40855274e-01 7.59783197e-03 -8.52729022e+01] [ 7.40812281e-01 -6.71664643e-01 -7.98573045e-03 -2.58260648e+02] [ 1.10194656e-02 2.65177202e-04 9.99939249e-01 -2.79491765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.356559995 meters 0.017288462110619362 Centerline is valid? [True, True] Translation: X:-85.29, Y:-258.24, Z:-2.80 [[-6.71256836e-01 -7.41186641e-01 7.52486076e-03 -8.52925070e+01] [ 7.41144532e-01 -6.71298958e-01 -7.90518580e-03 -2.58242804e+02] [ 1.09106493e-02 2.70599395e-04 9.99940441e-01 -2.79549167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.386559995 meters 0.01775333838084935 Centerline is valid? [True, True] Translation: X:-85.31, Y:-258.22, Z:-2.80 [[-6.71125303e-01 -7.41306496e-01 7.45029895e-03 -8.53120729e+01] [ 7.41265280e-01 -6.71166600e-01 -7.82178622e-03 -2.58224747e+02] [ 1.07987328e-02 2.73249289e-04 9.99941655e-01 -2.79562543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.416559995 meters 0.017055623610384592 Centerline is valid? [True, True] Translation: X:-85.33, Y:-258.20, Z:-2.80 [[-6.71653081e-01 -7.40830262e-01 7.25690147e-03 -8.53302651e+01] [ 7.40791180e-01 -6.71692232e-01 -7.61397293e-03 -2.58204317e+02] [ 1.05150659e-02 2.61900229e-04 9.99944681e-01 -2.79507809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.4465599949999 meters 0.016824403264427298 Centerline is valid? [True, True] Translation: X:-85.35, Y:-258.18, Z:-2.80 [[-6.72468474e-01 -7.40091208e-01 7.15231667e-03 -8.53492038e+01] [ 7.40053251e-01 -6.72506462e-01 -7.49955653e-03 -2.58184665e+02] [ 1.03603350e-02 2.49879876e-04 9.99946299e-01 -2.79500792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.476559995 meters 0.016244204886362072 Centerline is valid? [True, True] Translation: X:-85.37, Y:-258.16, Z:-2.79 [[-6.73522289e-01 -7.39135550e-01 6.80912207e-03 -8.53671846e+01] [ 7.39101145e-01 -6.73556669e-01 -7.13521052e-03 -2.58164572e+02] [ 9.86021734e-03 2.26906586e-04 9.99951361e-01 -2.79457000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.506559995 meters 0.01632344837362751 Centerline is valid? [True, True] Translation: X:-85.39, Y:-258.14, Z:-2.79 [[-6.74975838e-01 -7.37812399e-01 6.36256576e-03 -8.53852973e+01] [ 7.37782333e-01 -6.75005797e-01 -6.66360159e-03 -2.58144974e+02] [ 9.21125664e-03 1.96418542e-04 9.99957556e-01 -2.79399218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.536559995 meters 0.014555604006979441 Centerline is valid? [True, True] Translation: X:-85.40, Y:-258.12, Z:-2.79 [[-6.78479563e-01 -7.34600601e-01 5.23831196e-03 -8.54006375e+01] [ 7.34580148e-01 -6.78499773e-01 -5.48319891e-03 -2.58120251e+02] [ 7.58215468e-03 1.27721573e-04 9.99971247e-01 -2.79161089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.5665599949999 meters 0.014266893677684946 Centerline is valid? [True, True] Translation: X:-85.42, Y:-258.10, Z:-2.79 [[-6.80402578e-01 -7.32823126e-01 4.75386128e-03 -8.54182979e+01] [ 7.32806256e-01 -6.80419177e-01 -4.97334326e-03 -2.58099203e+02] [ 6.87919934e-03 9.97837128e-05 9.99976333e-01 -2.79153796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.596559995 meters 0.013679700643606987 Centerline is valid? [True, True] Translation: X:-85.44, Y:-258.08, Z:-2.79 [[-6.82474795e-01 -7.30895234e-01 4.50689349e-03 -8.54360686e+01] [ 7.30880047e-01 -6.82489671e-01 -4.71231301e-03 -2.58077014e+02] [ 6.52011537e-03 7.79636673e-05 9.99978741e-01 -2.79136928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.626559995 meters 0.01324243451011106 Centerline is valid? [True, True] Translation: X:-85.45, Y:-258.05, Z:-2.79 [[-6.85238296e-01 -7.28304769e-01 4.54328542e-03 -8.54541182e+01] [ 7.28289295e-01 -6.85253355e-01 -4.74785740e-03 -2.58054792e+02] [ 6.57118876e-03 5.54124207e-05 9.99978408e-01 -2.79215575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.656559995 meters 0.01313818379257272 Centerline is valid? [True, True] Translation: X:-85.47, Y:-258.04, Z:-2.79 [[-6.86171085e-01 -7.27423179e-01 4.97595729e-03 -8.54721746e+01] [ 7.27404620e-01 -6.86189125e-01 -5.19656493e-03 -2.58035575e+02] [ 7.19454956e-03 5.38017230e-05 9.99974118e-01 -2.79285725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.6865599949999 meters 0.01303664624190205 Centerline is valid? [True, True] Translation: X:-85.49, Y:-258.02, Z:-2.79 [[-6.86780842e-01 -7.26845319e-01 5.28748658e-03 -8.54911203e+01] [ 7.26824371e-01 -6.86801194e-01 -5.51845550e-03 -2.58015595e+02] [ 7.64251564e-03 5.31045908e-05 9.99970794e-01 -2.79344387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.7165599949999 meters 0.013069911840873171 Centerline is valid? [True, True] Translation: X:-85.51, Y:-258.00, Z:-2.79 [[-6.87032034e-01 -7.26603248e-01 5.89101640e-03 -8.55100797e+01] [ 7.26577270e-01 -6.87057288e-01 -6.14450141e-03 -2.57996315e+02] [ 8.51208043e-03 5.88093084e-05 9.99963770e-01 -2.79404811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.746559995 meters 0.013069911840873171 Centerline is valid? [True, True] Translation: X:-85.53, Y:-257.98, Z:-2.79 [[-6.87258776e-01 -7.26388773e-01 5.89293390e-03 -8.55286781e+01] [ 7.26362802e-01 -6.87284037e-01 -6.14266243e-03 -2.57977067e+02] [ 8.51208043e-03 5.88093190e-05 9.99963770e-01 -2.79404754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.776559995 meters 0.013132383093696581 Centerline is valid? [True, True] Translation: X:-85.55, Y:-257.96, Z:-2.79 [[-6.87805159e-01 -7.25867491e-01 6.35986966e-03 -8.55479441e+01] [ 7.25837259e-01 -6.87834560e-01 -6.62504832e-03 -2.57958745e+02] [ 9.18344535e-03 5.94879491e-05 9.99957830e-01 -2.79482071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.8065599949999 meters 0.013193337560071832 Centerline is valid? [True, True] Translation: X:-85.57, Y:-257.94, Z:-2.79 [[-6.88255577e-01 -7.25440965e-01 6.29820545e-03 -8.55660919e+01] [ 7.25411337e-01 -6.88284391e-01 -6.55660255e-03 -2.57940163e+02] [ 9.09138459e-03 5.61713700e-05 9.99958671e-01 -2.79495484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.8365599949999 meters 0.013100846846511584 Centerline is valid? [True, True] Translation: X:-85.58, Y:-257.92, Z:-2.79 [[-6.88789362e-01 -7.24934413e-01 6.26988101e-03 -8.55845937e+01] [ 7.24905067e-01 -6.88817896e-01 -6.52303299e-03 -2.57919570e+02] [ 9.04757734e-03 5.20727826e-05 9.99959069e-01 -2.79391527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.866559995 meters 0.013098428521523433 Centerline is valid? [True, True] Translation: X:-85.60, Y:-257.90, Z:-2.79 [[-6.89549410e-01 -7.24211251e-01 6.29882519e-03 -8.56029605e+01] [ 7.24181640e-01 -6.89578177e-01 -6.54908645e-03 -2.57899970e+02] [ 9.08645448e-03 4.55748512e-05 9.99958716e-01 -2.79361556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.896559995 meters 0.013005476147567443 Centerline is valid? [True, True] Translation: X:-85.62, Y:-257.88, Z:-2.79 [[-6.89920139e-01 -7.23858725e-01 6.22479822e-03 -8.56221756e+01] [ 7.23829828e-01 -6.89948219e-01 -6.46810844e-03 -2.57880950e+02] [ 8.97678517e-03 4.32163501e-05 9.99959707e-01 -2.79376216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.9265599949999 meters 0.013035800339114757 Centerline is valid? [True, True] Translation: X:-85.64, Y:-257.86, Z:-2.79 [[-6.90225927e-01 -7.23569529e-01 5.94198969e-03 -8.56405795e+01] [ 7.23543221e-01 -6.90251502e-01 -6.17023510e-03 -2.57862851e+02] [ 8.56606141e-03 4.04301108e-05 9.99963310e-01 -2.79356065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.9565599949999 meters 0.013085639713395703 Centerline is valid? [True, True] Translation: X:-85.66, Y:-257.84, Z:-2.79 [[-6.90639718e-01 -7.23174987e-01 5.89218698e-03 -8.56593837e+01] [ 7.23149136e-01 -6.90664851e-01 -6.11478412e-03 -2.57843597e+02] [ 8.49158537e-03 3.78171429e-05 9.99963945e-01 -2.79300797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.986559995 meters 0.013038168074683042 Centerline is valid? [True, True] Translation: X:-85.68, Y:-257.82, Z:-2.79 [[-6.90795510e-01 -7.23025467e-01 5.97809491e-03 -8.56791209e+01] [ 7.22998881e-01 -6.90821375e-01 -6.20042906e-03 -2.57822938e+02] [ 8.61286387e-03 3.89273720e-05 9.99962908e-01 -2.79205668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.016559995 meters 0.013246089863014862 Centerline is valid? [True, True] Translation: X:-85.70, Y:-257.80, Z:-2.79 [[-6.91007348e-01 -7.22818958e-01 6.44977414e-03 -8.56991286e+01] [ 7.22788039e-01 -6.91037447e-01 -6.68566524e-03 -2.57804126e+02] [ 9.28956104e-03 4.19757977e-05 9.99956850e-01 -2.79370883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.0465599949999 meters 0.01317904592405333 Centerline is valid? [True, True] Translation: X:-85.72, Y:-257.79, Z:-2.79 [[-6.90619884e-01 -7.23187247e-01 6.66196874e-03 -8.57194660e+01] [ 7.23154318e-01 -6.90652013e-01 -6.90134143e-03 -2.57786090e+02] [ 9.59206423e-03 5.14278426e-05 9.99953994e-01 -2.79342682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.0765599949999 meters 0.013199913735491006 Centerline is valid? [True, True] Translation: X:-85.74, Y:-257.77, Z:-2.79 [[-6.90173137e-01 -7.23610348e-01 7.00758235e-03 -8.57391706e+01] [ 7.23573980e-01 -6.90208708e-01 -7.25500720e-03 -2.57766783e+02] [ 1.00864926e-02 6.32931755e-05 9.99949128e-01 -2.79335431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.106559995 meters 0.013562235987991004 Centerline is valid? [True, True] Translation: X:-85.76, Y:-257.75, Z:-2.79 [[-6.88718726e-01 -7.24987385e-01 7.73356405e-03 -8.57589375e+01] [ 7.24943215e-01 -6.88762138e-01 -8.00331517e-03 -2.57748571e+02] [ 1.11288886e-02 9.43617612e-05 9.99938068e-01 -2.79429975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.136559995 meters 0.013806754947621161 Centerline is valid? [True, True] Translation: X:-85.78, Y:-257.73, Z:-2.79 [[-6.88224506e-01 -7.25457341e-01 7.66001684e-03 -8.57782260e+01] [ 7.25414078e-01 -6.88267125e-01 -7.92339636e-03 -2.57730247e+02] [ 1.10202238e-02 1.03608507e-04 9.99939270e-01 -2.79417829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.166559995 meters 0.01371506327723086 Centerline is valid? [True, True] Translation: X:-85.80, Y:-257.71, Z:-2.79 [[-6.87851339e-01 -7.25816009e-01 7.18723622e-03 -8.57972261e+01] [ 7.25777989e-01 -6.87888879e-01 -7.42972672e-03 -2.57711190e+02] [ 1.03366345e-02 1.05790382e-04 9.99946570e-01 -2.79292254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.1965599949999 meters 0.01410301158931292 Centerline is valid? [True, True] Translation: X:-85.82, Y:-257.69, Z:-2.79 [[-6.87505265e-01 -7.26149288e-01 6.61226864e-03 -8.58171156e+01] [ 7.26117166e-01 -6.87537054e-01 -6.83089443e-03 -2.57693314e+02] [ 9.50642883e-03 1.05005885e-04 9.99954807e-01 -2.79290353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.226559995 meters 0.014210965159529675 Centerline is valid? [True, True] Translation: X:-85.84, Y:-257.67, Z:-2.79 [[-6.86708882e-01 -7.26903864e-01 6.45635101e-03 -8.58374144e+01] [ 7.26873310e-01 -6.86739223e-01 -6.66572420e-03 -2.57674510e+02] [ 9.27917014e-03 1.15537213e-04 9.99956941e-01 -2.79307270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.256559995 meters 0.0145035942869166 Centerline is valid? [True, True] Translation: X:-85.86, Y:-257.66, Z:-2.79 [[-6.86326513e-01 -7.27260632e-01 6.92032866e-03 -8.58572162e+01] [ 7.27225591e-01 -6.86361388e-01 -7.14037247e-03 -2.57655157e+02] [ 9.94275818e-03 1.32013160e-04 9.99950561e-01 -2.79400761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.286559995 meters 0.014476324262807233 Centerline is valid? [True, True] Translation: X:-85.88, Y:-257.64, Z:-2.79 [[-6.85814294e-01 -7.27739206e-01 7.37580232e-03 -8.58765663e+01] [ 7.27699472e-01 -6.85853939e-01 -7.60609383e-03 -2.57635345e+02] [ 1.05939758e-02 1.50999584e-04 9.99943871e-01 -2.79405046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.3165599949999 meters 0.015319916702082957 Centerline is valid? [True, True] Translation: X:-85.90, Y:-257.62, Z:-2.80 [[-6.84789423e-01 -7.28700350e-01 7.69706929e-03 -8.58972077e+01] [ 7.28657192e-01 -6.84832657e-01 -7.93273487e-03 -2.57617035e+02] [ 1.10517911e-02 1.76271964e-04 9.99938912e-01 -2.79522306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.346559995 meters 0.01515259986727478 Centerline is valid? [True, True] Translation: X:-85.92, Y:-257.60, Z:-2.79 [[-6.84253549e-01 -7.29200508e-01 7.98121554e-03 -8.59166087e+01] [ 7.29154190e-01 -6.84300067e-01 -8.22102501e-03 -2.57596429e+02] [ 1.14563219e-02 1.94271212e-04 9.99934355e-01 -2.79466925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.376559995 meters 0.015348692912101934 Centerline is valid? [True, True] Translation: X:-85.94, Y:-257.58, Z:-2.79 [[-6.83631114e-01 -7.29786666e-01 7.74096072e-03 -8.59357997e+01] [ 7.29743188e-01 -6.83674909e-01 -7.96854033e-03 -2.57577120e+02] [ 1.11076351e-02 2.01371252e-04 9.99938288e-01 -2.79396092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.406559995 meters 0.016122592889557433 Centerline is valid? [True, True] Translation: X:-85.96, Y:-257.56, Z:-2.79 [[-6.82965028e-01 -7.30410226e-01 7.72480851e-03 -8.59561858e+01] [ 7.30367005e-01 -6.83008680e-01 -7.94866838e-03 -2.57559331e+02] [ 1.10818999e-02 2.13282733e-04 9.99938571e-01 -2.79438944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.4365599949999 meters 0.016629898665874856 Centerline is valid? [True, True] Translation: X:-85.98, Y:-257.54, Z:-2.79 [[-6.81769769e-01 -7.31528308e-01 7.50439327e-03 -8.59773292e+01] [ 7.31487632e-01 -6.81811031e-01 -7.71765523e-03 -2.57541186e+02] [ 1.07622614e-02 2.27706836e-04 9.99942059e-01 -2.79406508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.4665599949999 meters 0.017083597571793792 Centerline is valid? [True, True] Translation: X:-86.00, Y:-257.52, Z:-2.79 [[-6.81337566e-01 -7.31928556e-01 7.72721279e-03 -8.59978257e+01] [ 7.31885501e-01 -6.81381339e-01 -7.94249519e-03 -2.57522447e+02] [ 1.10785176e-02 2.43914661e-04 9.99938602e-01 -2.79419046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.496559995 meters 0.016756143759745937 Centerline is valid? [True, True] Translation: X:-86.02, Y:-257.50, Z:-2.79 [[-6.80764973e-01 -7.32449119e-01 8.79430512e-03 -8.60173707e+01] [ 7.32393463e-01 -6.80821712e-01 -9.03394750e-03 -2.57503048e+02] [ 1.26042608e-02 2.90896557e-04 9.99920521e-01 -2.79453257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.526559995 meters 0.0169100738128524 Centerline is valid? [True, True] Translation: X:-86.04, Y:-257.48, Z:-2.80 [[-6.80900592e-01 -7.32315201e-01 9.42493893e-03 -8.60370935e+01] [ 7.32251345e-01 -6.80965746e-01 -9.67570740e-03 -2.57483607e+02] [ 1.35037282e-02 3.13229314e-04 9.99908772e-01 -2.79564003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.5565599949999 meters 0.017243077173378103 Centerline is valid? [True, True] Translation: X:-86.06, Y:-257.47, Z:-2.80 [[-6.81316526e-01 -7.31920532e-01 1.00063271e-02 -8.60558613e+01] [ 7.31848608e-01 -6.81389923e-01 -1.02658276e-02 -2.57465230e+02] [ 1.43319805e-02 3.28838560e-04 9.99897238e-01 -2.79645378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.5865599949999 meters 0.016366364618922317 Centerline is valid? [True, True] Translation: X:-86.07, Y:-257.44, Z:-2.80 [[-6.81852297e-01 -7.31420105e-01 1.01032012e-02 -8.60740006e+01] [ 7.31346812e-01 -6.81927066e-01 -1.03593672e-02 -2.57443450e+02] [ 1.44666958e-02 3.25385662e-04 9.99895299e-01 -2.79557683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.616559995 meters 0.016161185571292636 Centerline is valid? [True, True] Translation: X:-86.09, Y:-257.42, Z:-2.79 [[-6.83274887e-01 -7.30093648e-01 9.93446581e-03 -8.60918583e+01] [ 7.30022723e-01 -6.83347040e-01 -1.01806626e-02 -2.57422831e+02] [ 1.42215249e-02 2.96194716e-04 9.99898825e-01 -2.79490832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.646559995 meters 0.01596066729803668 Centerline is valid? [True, True] Translation: X:-86.11, Y:-257.40, Z:-2.79 [[-6.83961076e-01 -7.29455345e-01 9.59928997e-03 -8.61102866e+01] [ 7.29389148e-01 -6.84028379e-01 -9.83099367e-03 -2.57402743e+02] [ 1.37374576e-02 2.77600921e-04 9.99905598e-01 -2.79450521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.6765599949999 meters 0.015470754979503943 Centerline is valid? [True, True] Translation: X:-86.13, Y:-257.38, Z:-2.79 [[-6.84570883e-01 -7.28883746e-01 9.54940815e-03 -8.61285554e+01] [ 7.28818256e-01 -6.84637431e-01 -9.77431677e-03 -2.57381754e+02] [ 1.36622229e-02 2.68570340e-04 9.99906632e-01 -2.79362411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.7065599949999 meters 0.015203643978137277 Centerline is valid? [True, True] Translation: X:-86.15, Y:-257.36, Z:-2.79 [[-6.86147242e-01 -7.27412212e-01 8.56951283e-03 -8.61464773e+01] [ 7.27359419e-01 -6.86200719e-01 -8.76637319e-03 -2.57360705e+02] [ 1.22571728e-02 2.18093087e-04 9.99924854e-01 -2.79229953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.736559995 meters 0.015221191523346481 Centerline is valid? [True, True] Translation: X:-86.16, Y:-257.34, Z:-2.79 [[-6.87305130e-01 -7.26324368e-01 8.03556845e-03 -8.61643110e+01] [ 7.26277937e-01 -6.87352076e-01 -8.21469832e-03 -2.57341535e+02] [ 1.14898002e-02 1.90051780e-04 9.99933972e-01 -2.79224586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.766559995 meters 0.01468333065749777 Centerline is valid? [True, True] Translation: X:-86.18, Y:-257.32, Z:-2.79 [[-6.88910208e-01 -7.24796730e-01 8.51035900e-03 -8.61822163e+01] [ 7.24744600e-01 -6.88962748e-01 -8.69461970e-03 -2.57321251e+02] [ 1.21651522e-02 1.78024470e-04 9.99925986e-01 -2.79245942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.7965599949999 meters 0.014427508712107932 Centerline is valid? [True, True] Translation: X:-86.20, Y:-257.30, Z:-2.79 [[-6.89737869e-01 -7.24003205e-01 9.00173393e-03 -8.62015814e+01] [ 7.23944880e-01 -6.89796584e-01 -9.19144559e-03 -2.57301255e+02] [ 1.28640014e-02 1.77071098e-04 9.99917240e-01 -2.79333403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.8265599949999 meters 0.014676169990530018 Centerline is valid? [True, True] Translation: X:-86.22, Y:-257.28, Z:-2.79 [[-6.89816876e-01 -7.23917724e-01 9.78807746e-03 -8.62216586e+01] [ 7.23848838e-01 -6.89886289e-01 -9.98841609e-03 -2.57282782e+02] [ 1.39834519e-02 1.94910505e-04 9.99902208e-01 -2.79446963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.856559995 meters 0.015544070764074849 Centerline is valid? [True, True] Translation: X:-86.24, Y:-257.27, Z:-2.80 [[-6.89458841e-01 -7.24255653e-01 1.00127755e-02 -8.62418166e+01] [ 7.24183699e-01 -6.89531511e-01 -1.02110682e-02 -2.57265569e+02] [ 1.42995481e-02 2.10977514e-04 9.99897734e-01 -2.79623507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.886559995 meters 0.014666808071127203 Centerline is valid? [True, True] Translation: X:-86.26, Y:-257.24, Z:-2.79 [[-6.89335935e-01 -7.24372656e-01 1.00112327e-02 -8.62604856e+01] [ 7.24300818e-01 -6.89408593e-01 -1.02037376e-02 -2.57244032e+02] [ 1.42931383e-02 2.17341062e-04 9.99897824e-01 -2.79382299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.916559995 meters 0.014920917536031532 Centerline is valid? [True, True] Translation: X:-86.28, Y:-257.23, Z:-2.79 [[-6.88711477e-01 -7.24975894e-01 9.29813787e-03 -8.62821915e+01] [ 7.24914051e-01 -6.88774206e-01 -9.47161173e-03 -2.57225870e+02] [ 1.32710077e-02 2.17143089e-04 9.99911913e-01 -2.79248178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.9465599949999 meters 0.0153487482772109 Centerline is valid? [True, True] Translation: X:-86.30, Y:-257.21, Z:-2.79 [[-6.88421879e-01 -7.25256540e-01 8.84690379e-03 -8.63030340e+01] [ 7.25200653e-01 -6.88478688e-01 -9.00600013e-03 -2.57209391e+02] [ 1.26225652e-02 2.15852876e-04 9.99920309e-01 -2.79299289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.976559995 meters 0.015275744406102779 Centerline is valid? [True, True] Translation: X:-86.32, Y:-257.19, Z:-2.79 [[-6.88170592e-01 -7.25494905e-01 8.85316165e-03 -8.63234325e+01] [ 7.25439030e-01 -6.88227500e-01 -9.00671665e-03 -2.57191134e+02] [ 1.26273164e-02 2.24271469e-04 9.99920247e-01 -2.79292657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.006559995 meters 0.01658608258314633 Centerline is valid? [True, True] Translation: X:-86.34, Y:-257.18, Z:-2.79 [[-6.87548763e-01 -7.26077563e-01 9.38462187e-03 -8.63449605e+01] [ 7.26014883e-01 -6.87612761e-01 -9.54360940e-03 -2.57175057e+02] [ 1.33823864e-02 2.51678310e-04 9.99910420e-01 -2.79472723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.036559995 meters 0.016159451041376973 Centerline is valid? [True, True] Translation: X:-86.36, Y:-257.16, Z:-2.79 [[-6.87810932e-01 -7.25826330e-01 9.60529082e-03 -8.63640845e+01] [ 7.25760724e-01 -6.87877949e-01 -9.76208691e-03 -2.57155158e+02] [ 1.36928475e-02 2.56672731e-04 9.99906216e-01 -2.79455335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.0665599949999 meters 0.015525607888527176 Centerline is valid? [True, True] Translation: X:-86.38, Y:-257.13, Z:-2.79 [[-6.88719413e-01 -7.24962447e-01 9.74785694e-03 -8.63825589e+01] [ 7.24894878e-01 -6.88788349e-01 -9.90079572e-03 -2.57134829e+02] [ 1.38919154e-02 2.47301358e-04 9.99903472e-01 -2.79402241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.096559995 meters 0.014971273554888791 Centerline is valid? [True, True] Translation: X:-86.40, Y:-257.11, Z:-2.79 [[-6.91186941e-01 -7.22606080e-01 1.00531604e-02 -8.64005952e+01] [ 7.22534043e-01 -6.91260016e-01 -1.02052608e-02 -2.57113542e+02] [ 1.43237313e-02 2.10007592e-04 9.99897388e-01 -2.79434734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.126559995 meters 0.014683374031788548 Centerline is valid? [True, True] Translation: X:-86.42, Y:-257.09, Z:-2.79 [[-6.92920771e-01 -7.20936842e-01 1.05297215e-02 -8.64185618e+01] [ 7.20857719e-01 -6.93000747e-01 -1.06824213e-02 -2.57093096e+02] [ 1.49984559e-02 1.88359403e-04 9.99887499e-01 -2.79469733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.156559995 meters 0.01416907031224631 Centerline is valid? [True, True] Translation: X:-86.44, Y:-257.07, Z:-2.79 [[-6.95196891e-01 -7.18743797e-01 1.04229580e-02 -8.64369990e+01] [ 7.18666110e-01 -6.95275006e-01 -1.05682677e-02 -2.57071853e+02] [ 1.48426991e-02 1.43599855e-04 9.99889831e-01 -2.79428216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.1865599949999 meters 0.013509402887239693 Centerline is valid? [True, True] Translation: X:-86.45, Y:-257.05, Z:-2.79 [[-7.00641628e-01 -7.13454924e-01 9.13128013e-03 -8.64528556e+01] [ 7.13394914e-01 -7.00701128e-01 -9.25346933e-03 -2.57048348e+02] [ 1.30002315e-02 3.08429802e-05 9.99915493e-01 -2.79343449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.2165599949999 meters 0.013502446943055647 Centerline is valid? [True, True] Translation: X:-86.47, Y:-257.03, Z:-2.79 [[-7.03764870e-01 -7.10381712e-01 8.53412909e-03 -8.64698535e+01] [ 7.10329132e-01 -7.03816612e-01 -8.64299676e-03 -2.57026485e+02] [ 1.21462887e-02 -2.05969825e-05 9.99926231e-01 -2.79249151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.246559995 meters 0.013859916870338006 Centerline is valid? [True, True] Translation: X:-86.49, Y:-257.01, Z:-2.79 [[-7.06678708e-01 -7.07487313e-01 8.17961529e-03 -8.64854849e+01] [ 7.07438862e-01 -7.06726041e-01 -8.28001311e-03 -2.57005102e+02] [ 1.16387514e-02 -6.47312224e-05 9.99932265e-01 -2.79185313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.276559995 meters 0.014401457944574269 Centerline is valid? [True, True] Translation: X:-86.50, Y:-256.98, Z:-2.79 [[-7.11636293e-01 -7.02503608e-01 7.90363253e-03 -8.65001242e+01] [ 7.02458099e-01 -7.11680168e-01 -7.99734713e-03 -2.56980879e+02] [ 1.12430237e-02 -1.39231788e-04 9.99936786e-01 -2.78969076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.3065599949999 meters 0.01499622737659857 Centerline is valid? [True, True] Translation: X:-86.52, Y:-256.96, Z:-2.79 [[-7.13659449e-01 -7.00446480e-01 8.05724897e-03 -8.65171920e+01] [ 7.00399109e-01 -7.13704910e-01 -8.14797341e-03 -2.56959075e+02] [ 1.14577174e-02 -1.71588219e-04 9.99934344e-01 -2.78946533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.3365599949999 meters 0.01520827279881025 Centerline is valid? [True, True] Translation: X:-86.54, Y:-256.94, Z:-2.79 [[-7.15068615e-01 -6.99013643e-01 7.53673236e-03 -8.65361777e+01] [ 6.98972160e-01 -7.15108310e-01 -7.61735901e-03 -2.56938323e+02] [ 1.07142178e-02 -1.78968256e-04 9.99942585e-01 -2.78896536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.366559995 meters 0.015236400936186284 Centerline is valid? [True, True] Translation: X:-86.56, Y:-256.92, Z:-2.79 [[-7.15733105e-01 -6.98338503e-01 7.03261597e-03 -8.65567374e+01] [ 6.98302392e-01 -7.15767633e-01 -7.10386104e-03 -2.56919168e+02] [ 9.99461857e-03 -1.73575966e-04 9.99950038e-01 -2.78893374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.396559995 meters 0.015457959280886937 Centerline is valid? [True, True] Translation: X:-86.57, Y:-256.90, Z:-2.79 [[-7.15532975e-01 -6.98542579e-01 7.12923473e-03 -8.65746732e+01] [ 6.98505527e-01 -7.15568471e-01 -7.19670101e-03 -2.56900167e+02] [ 1.01286577e-02 -1.69667022e-04 9.99948690e-01 -2.78946101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.4265599949999 meters 0.015267400179582091 Centerline is valid? [True, True] Translation: X:-86.59, Y:-256.88, Z:-2.79 [[-7.15210847e-01 -6.98870811e-01 7.28249879e-03 -8.65944642e+01] [ 6.98832213e-01 -7.15247903e-01 -7.34683668e-03 -2.56881019e+02] [ 1.03432817e-02 -1.65292544e-04 9.99946493e-01 -2.78911375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.4565599949999 meters 0.014730417568210374 Centerline is valid? [True, True] Translation: X:-86.62, Y:-256.86, Z:-2.79 [[-7.13499570e-01 -7.00619756e-01 7.09366683e-03 -8.66153944e+01] [ 7.00583245e-01 -7.13534820e-01 -7.15386021e-03 -2.56861474e+02] [ 1.00737141e-02 -1.34572059e-04 9.99949250e-01 -2.78843253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.486559995 meters 0.014449992717613049 Centerline is valid? [True, True] Translation: X:-86.64, Y:-256.84, Z:-2.79 [[-7.12316321e-01 -7.01822353e-01 7.13050168e-03 -8.66355870e+01] [ 7.01785567e-01 -7.12352000e-01 -7.18652425e-03 -2.56843093e+02] [ 1.01230905e-02 -1.14995352e-04 9.99948754e-01 -2.78811012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.516559995 meters 0.014163992153505238 Centerline is valid? [True, True] Translation: X:-86.66, Y:-256.83, Z:-2.79 [[-7.10850936e-01 -7.03307252e-01 7.06090614e-03 -8.66551980e+01] [ 7.03271300e-01 -7.10885998e-01 -7.11172799e-03 -2.56825991e+02] [ 1.00212292e-02 -8.96458583e-05 9.99949782e-01 -2.78844464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.5465599949999 meters 0.013941046627858332 Centerline is valid? [True, True] Translation: X:-86.68, Y:-256.81, Z:-2.79 [[-7.08947513e-01 -7.05222739e-01 7.36964401e-03 -8.66761817e+01] [ 7.05183726e-01 -7.08985814e-01 -7.41813571e-03 -2.56808966e+02] [ 1.04564110e-02 -6.21158351e-05 9.99945328e-01 -2.78922800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.5765599949999 meters 0.013703789806623328 Centerline is valid? [True, True] Translation: X:-86.70, Y:-256.79, Z:-2.79 [[-7.04126171e-01 -7.10029118e-01 8.06143133e-03 -8.66999987e+01] [ 7.09982806e-01 -7.04172317e-01 -8.10952685e-03 -2.56794700e+02] [ 1.14346370e-02 1.33475437e-05 9.99934622e-01 -2.79057306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.606559995 meters 0.013824216105613577 Centerline is valid? [True, True] Translation: X:-86.72, Y:-256.78, Z:-2.79 [[-7.01838593e-01 -7.12285373e-01 8.49331066e-03 -8.67208561e+01] [ 7.12234193e-01 -7.01889980e-01 -8.53872581e-03 -2.56777527e+02] [ 1.20433791e-02 5.64189597e-05 9.99927474e-01 -2.79040433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.636559995 meters 0.013824216105613577 Centerline is valid? [True, True] Translation: X:-86.74, Y:-256.76, Z:-2.79 [[-7.02057778e-01 -7.12069305e-01 8.49593839e-03 -8.67398067e+01] [ 7.12018141e-01 -7.02109181e-01 -8.53611125e-03 -2.56758631e+02] [ 1.20433791e-02 5.64189580e-05 9.99927474e-01 -2.79040376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.666559995 meters 0.014218543305509266 Centerline is valid? [True, True] Translation: X:-86.76, Y:-256.74, Z:-2.79 [[-6.99720862e-01 -7.14363753e-01 8.66857314e-03 -8.67611003e+01] [ 7.14310726e-01 -6.99774548e-01 -8.70453632e-03 -2.56740997e+02] [ 1.22842521e-02 1.01309122e-04 9.99924541e-01 -2.79081466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.6965599949999 meters 0.015390415286989157 Centerline is valid? [True, True] Translation: X:-86.78, Y:-256.72, Z:-2.79 [[-6.94543410e-01 -7.19383991e-01 9.80430054e-03 -8.67845384e+01] [ 7.19316731e-01 -6.94612572e-01 -9.83946901e-03 -2.56724808e+02] [ 1.38885469e-02 2.18459057e-04 9.99903526e-01 -2.79113731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.726559995 meters 0.016103697538247048 Centerline is valid? [True, True] Translation: X:-86.81, Y:-256.71, Z:-2.79 [[-6.92125629e-01 -7.21702316e-01 1.03865625e-02 -8.68062756e+01] [ 7.21627175e-01 -6.92203500e-01 -1.04179966e-02 -2.56706730e+02] [ 1.47083072e-02 2.84663254e-04 9.99891787e-01 -2.79159958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.756559995 meters 0.016511870716344818 Centerline is valid? [True, True] Translation: X:-86.83, Y:-256.69, Z:-2.79 [[-6.90083683e-01 -7.23655187e-01 1.03769465e-02 -8.68272881e+01] [ 7.23580492e-01 -6.90161620e-01 -1.04024514e-02 -2.56688227e+02] [ 1.46895581e-02 3.29994057e-04 9.99892048e-01 -2.79106937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.786559995 meters 0.017729254278742553 Centerline is valid? [True, True] Translation: X:-86.85, Y:-256.67, Z:-2.79 [[-6.87132543e-01 -7.26477393e-01 8.91442027e-03 -8.68495364e+01] [ 7.26422569e-01 -6.87190282e-01 -8.93129441e-03 -2.56670741e+02] [ 1.26142865e-02 3.38653037e-04 9.99920379e-01 -2.78957864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.8165599949999 meters 0.01776851882869854 Centerline is valid? [True, True] Translation: X:-86.87, Y:-256.65, Z:-2.79 [[-6.86222676e-01 -7.27342367e-01 8.45701944e-03 -8.68701245e+01] [ 7.27293145e-01 -6.86274702e-01 -8.46845017e-03 -2.56650715e+02] [ 1.19633011e-02 3.39489726e-04 9.99928380e-01 -2.78887078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.846559995 meters 0.018291084076608247 Centerline is valid? [True, True] Translation: X:-86.89, Y:-256.63, Z:-2.79 [[-6.85368351e-01 -7.28140763e-01 9.01407942e-03 -8.68905758e+01] [ 7.28084977e-01 -6.85427520e-01 -9.02110049e-03 -2.56631515e+02] [ 1.27471291e-02 3.80239042e-04 9.99918680e-01 -2.78869805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.876559995 meters 0.018928156802307614 Centerline is valid? [True, True] Translation: X:-86.91, Y:-256.61, Z:-2.79 [[-6.85246975e-01 -7.28248617e-01 9.51496630e-03 -8.69095720e+01] [ 7.28186547e-01 -6.85312911e-01 -9.51663927e-03 -2.56612658e+02] [ 1.34512086e-02 4.07422181e-04 9.99909445e-01 -2.78885040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.906559995 meters 0.018786087217710728 Centerline is valid? [True, True] Translation: X:-86.93, Y:-256.59, Z:-2.79 [[-6.85135570e-01 -7.28352414e-01 9.59232463e-03 -8.69281440e+01] [ 7.28289415e-01 -6.85202589e-01 -9.58856326e-03 -2.56592093e+02] [ 1.35565389e-02 4.16522742e-04 9.99908019e-01 -2.78809798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.9365599949999 meters 0.019263516451455024 Centerline is valid? [True, True] Translation: X:-87.39, Y:-257.06, Z:-1.80 [[-7.75056902e-01 6.31806529e-01 1.03590110e-02 -8.73911523e+01] [ 6.31742740e-01 7.75126011e-01 -8.98766965e-03 -2.57060103e+02] [-1.37080072e-02 -4.21725424e-04 -9.99905952e-01 -1.80301317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.9665599949999 meters 0.01948368145235591 Centerline is valid? [True, True] Translation: X:-86.95, Y:-256.57, Z:-2.79 [[-6.86987672e-01 -7.26610371e-01 9.23621069e-03 -8.69545104e+01] [ 7.26551707e-01 -6.87049661e-01 -9.24012177e-03 -2.56572327e+02] [ 1.30597037e-02 3.62734900e-04 9.99914653e-01 -2.78756136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.996559995 meters 0.019120134050932724 Centerline is valid? [True, True] Translation: X:-86.98, Y:-256.59, Z:-2.79 [[-6.36270577e-01 -7.71417746e-01 8.62635033e-03 -8.69764591e+01] [ 7.71355540e-01 -6.36328915e-01 -9.80522220e-03 -2.56592082e+02] [ 1.30531186e-02 4.15208734e-04 9.99914718e-01 -2.78775978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.026559995 meters 0.019308425347069152 Centerline is valid? [True, True] Translation: X:-87.00, Y:-256.57, Z:-2.79 [[-6.35937690e-01 -7.71690593e-01 8.76826249e-03 -8.69956610e+01] [ 7.71626396e-01 -6.35997990e-01 -9.96296779e-03 -2.56571023e+02] [ 1.32649258e-02 4.29996063e-04 9.99911925e-01 -2.78811276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.0565599949999 meters 0.01968830621160402 Centerline is valid? [True, True] Translation: X:-87.01, Y:-256.55, Z:-2.79 [[-6.35363351e-01 -7.72155751e-01 9.42916323e-03 -8.70148449e+01] [ 7.72081650e-01 -6.35433135e-01 -1.07078098e-02 -2.56550135e+02] [ 1.42596997e-02 4.76733980e-04 9.99898212e-01 -2.78883186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.0865599949999 meters 0.021293889257947268 Centerline is valid? [True, True] Translation: X:-87.03, Y:-256.53, Z:-2.79 [[-6.34714253e-01 -7.72668335e-01 1.10209533e-02 -8.70340542e+01] [ 7.72567304e-01 -6.34809667e-01 -1.25079249e-02 -2.56530821e+02] [ 1.66606852e-02 5.75469966e-04 9.99861036e-01 -2.79141264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.116559995 meters 0.020448429148856875 Centerline is valid? [True, True] Translation: X:-87.05, Y:-256.51, Z:-2.79 [[-6.35104933e-01 -7.72337515e-01 1.16827298e-02 -8.70504669e+01] [ 7.72224078e-01 -6.35212087e-01 -1.32505694e-02 -2.56508665e+02] [ 1.76549231e-02 6.06183249e-04 9.99843956e-01 -2.79190149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.146559995 meters 0.019908740536152335 Centerline is valid? [True, True] Translation: X:-87.07, Y:-256.49, Z:-2.79 [[-6.37005482e-01 -7.70762105e-01 1.22390198e-02 -8.70663824e+01] [ 7.70637460e-01 -6.37122771e-01 -1.38737166e-02 -2.56485017e+02] [ 1.84910932e-02 5.94213663e-04 9.99828849e-01 -2.79269195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.1765599949999 meters 0.019046390684272482 Centerline is valid? [True, True] Translation: X:-87.08, Y:-256.46, Z:-2.79 [[-6.38523693e-01 -7.69505840e-01 1.21760420e-02 -8.70830917e+01] [ 7.69382381e-01 -6.38639530e-01 -1.37949983e-02 -2.56461542e+02] [ 1.83914335e-02 5.59598876e-04 9.99830707e-01 -2.79208222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.2065599949999 meters 0.018413824644502627 Centerline is valid? [True, True] Translation: X:-87.10, Y:-256.44, Z:-2.79 [[-6.39969575e-01 -7.68309091e-01 1.18357122e-02 -8.70994267e+01] [ 7.68192370e-01 -6.40078804e-01 -1.34017975e-02 -2.56438898e+02] [ 1.78725113e-02 5.15361214e-04 9.99840141e-01 -2.79128271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.236559995 meters 0.018101687803843778 Centerline is valid? [True, True] Translation: X:-87.12, Y:-256.42, Z:-2.79 [[-6.41333353e-01 -7.67176439e-01 1.14822020e-02 -8.71165637e+01] [ 7.67066533e-01 -6.41435957e-01 -1.29941525e-02 -2.56416326e+02] [ 1.73339048e-02 4.74029453e-04 9.99849644e-01 -2.79094203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.266559995 meters 0.017306037779395312 Centerline is valid? [True, True] Translation: X:-87.13, Y:-256.39, Z:-2.79 [[-6.43805860e-01 -7.65113784e-01 1.07197356e-02 -8.71319272e+01] [ 7.65017817e-01 -6.43894977e-01 -1.21242998e-02 -2.56392506e+02] [ 1.61788528e-02 3.95093457e-04 9.99869036e-01 -2.79005678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.2965599949999 meters 0.0170951434322126 Centerline is valid? [True, True] Translation: X:-87.15, Y:-256.37, Z:-2.79 [[-6.45361500e-01 -7.63810814e-01 1.00784259e-02 -8.71483971e+01] [ 7.63725922e-01 -6.45440099e-01 -1.13927632e-02 -2.56370750e+02] [ 1.52069360e-02 3.44704404e-04 9.99884309e-01 -2.78966744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.3265599949999 meters 0.01635127406312284 Centerline is valid? [True, True] Translation: X:-87.17, Y:-256.35, Z:-2.79 [[-6.47180390e-01 -7.62280056e-01 9.30908940e-03 -8.71652145e+01] [ 7.62207523e-01 -6.47247274e-01 -1.05194217e-02 -2.56347424e+02] [ 1.40440281e-02 2.87494546e-04 9.99901337e-01 -2.78863044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.356559995 meters 0.015941284256267774 Centerline is valid? [True, True] Translation: X:-87.18, Y:-256.33, Z:-2.79 [[-6.49072648e-01 -7.60675265e-01 8.82263469e-03 -8.71817807e+01] [ 7.60610040e-01 -6.49132561e-01 -9.96419248e-03 -2.56325318e+02] [ 1.33065742e-02 2.43099724e-04 9.99911434e-01 -2.78827883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.386559995 meters 0.015793056490267767 Centerline is valid? [True, True] Translation: X:-87.20, Y:-256.30, Z:-2.79 [[-6.51898208e-01 -7.58256546e-01 8.70265070e-03 -8.71982586e+01] [ 7.58192935e-01 -6.51956266e-01 -9.82346695e-03 -2.56303268e+02] [ 1.31224558e-02 1.94387769e-04 9.99913878e-01 -2.78995581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.416559995 meters 0.015110403719089264 Centerline is valid? [True, True] Translation: X:-87.22, Y:-256.28, Z:-2.79 [[-6.52277433e-01 -7.57927208e-01 8.97206178e-03 -8.72158457e+01] [ 7.57859652e-01 -6.52339105e-01 -1.01212377e-02 -2.56281875e+02] [ 1.35239882e-02 1.97708667e-04 9.99908527e-01 -2.78913286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.4465599949999 meters 0.015088737846846289 Centerline is valid? [True, True] Translation: X:-87.23, Y:-256.26, Z:-2.79 [[-6.52565572e-01 -7.57674684e-01 9.34062615e-03 -8.72339305e+01] [ 7.57601531e-01 -6.52632386e-01 -1.05303770e-02 -2.56261565e+02] [ 1.40745952e-02 2.04711155e-04 9.99900927e-01 -2.78947437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.476559995 meters 0.015222109135019115 Centerline is valid? [True, True] Translation: X:-87.25, Y:-256.24, Z:-2.79 [[-6.51913836e-01 -7.58231693e-01 9.64625389e-03 -8.72540514e+01] [ 7.58153824e-01 -6.51985159e-01 -1.08688321e-02 -2.56241281e+02] [ 1.45303073e-02 2.27802277e-04 9.99894404e-01 -2.78978297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.506559995 meters 0.015302659801834059 Centerline is valid? [True, True] Translation: X:-87.27, Y:-256.22, Z:-2.79 [[-6.52011894e-01 -7.58144929e-01 9.83651916e-03 -8.72726461e+01] [ 7.58064051e-01 -6.52086046e-01 -1.10762346e-02 -2.56221706e+02] [ 1.48116480e-02 2.34874831e-04 9.99890274e-01 -2.78990924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.536559995 meters 0.015077852302902841 Centerline is valid? [True, True] Translation: X:-87.29, Y:-256.20, Z:-2.79 [[-6.52259577e-01 -7.57934405e-01 9.63746857e-03 -8.72914323e+01] [ 7.57856834e-01 -6.52330732e-01 -1.08459416e-02 -2.56200180e+02] [ 1.45073292e-02 2.29452155e-04 9.99894737e-01 -2.78941360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.5665599949999 meters 0.015019618211097346 Centerline is valid? [True, True] Translation: X:-87.31, Y:-256.18, Z:-2.79 [[-6.53184809e-01 -7.57140176e-01 9.40000739e-03 -8.73088612e+01] [ 7.57066398e-01 -6.53252409e-01 -1.05716468e-02 -2.56180243e+02] [ 1.41447960e-02 2.11190655e-04 9.99899935e-01 -2.78882793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.596559995 meters 0.015219224303434921 Centerline is valid? [True, True] Translation: X:-87.33, Y:-256.16, Z:-2.79 [[-6.53832930e-01 -7.56578183e-01 9.58925298e-03 -8.73266266e+01] [ 7.56501446e-01 -6.53903212e-01 -1.07773558e-02 -2.56161477e+02] [ 1.44243556e-02 2.07693642e-04 9.99895942e-01 -2.78986348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.626559995 meters 0.01450764168019391 Centerline is valid? [True, True] Translation: X:-87.35, Y:-256.14, Z:-2.79 [[-6.55069183e-01 -7.55508088e-01 9.58618959e-03 -8.73456253e+01] [ 7.55431374e-01 -6.55139294e-01 -1.07677826e-02 -2.56141024e+02] [ 1.44154363e-02 1.88065814e-04 9.99896075e-01 -2.78967433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.656559995 meters 0.015005443793454828 Centerline is valid? [True, True] Translation: X:-87.36, Y:-256.12, Z:-2.79 [[-6.56159071e-01 -7.54564044e-01 9.40096040e-03 -8.73648625e+01] [ 7.54490231e-01 -6.56226391e-01 -1.05553266e-02 -2.56122535e+02] [ 1.41338283e-02 1.66959462e-04 9.99900099e-01 -2.79206411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.6865599949999 meters 0.014177505673174707 Centerline is valid? [True, True] Translation: X:-87.38, Y:-256.10, Z:-2.79 [[-6.57481865e-01 -7.53414386e-01 9.18474860e-03 -8.73818346e+01] [ 7.53343907e-01 -6.57546000e-01 -1.03060880e-02 -2.56101435e+02] [ 1.38041497e-02 1.43208418e-04 9.99904708e-01 -2.79031309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.7165599949999 meters 0.014043252101166633 Centerline is valid? [True, True] Translation: X:-87.40, Y:-256.08, Z:-2.79 [[-6.58807704e-01 -7.52257250e-01 9.02436160e-03 -8.73988944e+01] [ 7.52189169e-01 -6.58869498e-01 -1.01212054e-02 -2.56081987e+02] [ 1.35596267e-02 1.20098998e-04 9.99908057e-01 -2.79056762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.746559995 meters 0.01340348883859114 Centerline is valid? [True, True] Translation: X:-87.41, Y:-256.06, Z:-2.79 [[-6.62329409e-01 -7.49160770e-01 8.82585421e-03 -8.74148090e+01] [ 7.49095449e-01 -6.62388208e-01 -9.89298706e-03 -2.56058413e+02] [ 1.32575796e-02 5.89909544e-05 9.99912113e-01 -2.78878597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.776559995 meters 0.01332277024563311 Centerline is valid? [True, True] Translation: X:-87.43, Y:-256.04, Z:-2.79 [[-6.64610712e-01 -7.47138108e-01 8.78914054e-03 -8.74312523e+01] [ 7.47073238e-01 -6.64668825e-01 -9.84528738e-03 -2.56037437e+02] [ 1.31976571e-02 2.28482202e-05 9.99912907e-01 -2.78889633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.8065599949999 meters 0.013279334370843249 Centerline is valid? [True, True] Translation: X:-87.45, Y:-256.02, Z:-2.79 [[-6.67065144e-01 -7.44952704e-01 8.34039241e-03 -8.74485860e+01] [ 7.44894192e-01 -6.67117282e-01 -9.33671830e-03 -2.56015784e+02] [ 1.25194335e-02 -1.54894720e-05 9.99921629e-01 -2.78858449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.8365599949999 meters 0.013368310780714534 Centerline is valid? [True, True] Translation: X:-87.47, Y:-255.99, Z:-2.79 [[-6.69236325e-01 -7.43006134e-01 8.03901722e-03 -8.74653696e+01] [ 7.42951686e-01 -6.69284605e-01 -8.99495186e-03 -2.55994993e+02] [ 1.20636949e-02 -4.71471321e-05 9.99927230e-01 -2.78846154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.866559995 meters 0.013740268333703825 Centerline is valid? [True, True] Translation: X:-87.48, Y:-255.97, Z:-2.79 [[-6.73269291e-01 -7.39362441e-01 7.18631775e-03 -8.74822679e+01] [ 7.39318777e-01 -6.73307635e-01 -8.03579043e-03 -2.55973035e+02] [ 1.07799642e-02 -9.72712779e-05 9.99941890e-01 -2.78768027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.896559995 meters 0.01415800441606933 Centerline is valid? [True, True] Translation: X:-87.50, Y:-255.95, Z:-2.79 [[-6.75049569e-01 -7.37740088e-01 6.90232135e-03 -8.74982474e+01] [ 7.37699764e-01 -6.75084846e-01 -7.71419701e-03 -2.55952806e+02] [ 1.03507249e-02 -1.15624530e-04 9.99946423e-01 -2.78735020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.9265599949999 meters 0.014463849322424862 Centerline is valid? [True, True] Translation: X:-87.52, Y:-255.93, Z:-2.79 [[-6.76924011e-01 -7.36024207e-01 6.50003596e-03 -8.75158694e+01] [ 7.35988406e-01 -6.76955205e-01 -7.26061260e-03 -2.55931317e+02] [ 9.74421981e-03 -1.30931899e-04 9.99952515e-01 -2.78659436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.9565599949999 meters 0.015172778551396848 Centerline is valid? [True, True] Translation: X:-87.53, Y:-255.91, Z:-2.79 [[-6.80098014e-01 -7.33096217e-01 6.05207938e-03 -8.75337932e+01] [ 7.33065098e-01 -6.80124923e-01 -6.75649410e-03 -2.55909233e+02] [ 9.06933029e-03 -1.58510054e-04 9.99958860e-01 -2.78592847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.986559995 meters 0.015994751262923084 Centerline is valid? [True, True] Translation: X:-87.55, Y:-255.89, Z:-2.79 [[-6.81900306e-01 -7.31419510e-01 6.12152329e-03 -8.75513701e+01] [ 7.31387642e-01 -6.81927758e-01 -6.83003143e-03 -2.55888137e+02] [ 9.17005490e-03 -1.80194034e-04 9.99957938e-01 -2.78661620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.016559995 meters 0.016284449595032027 Centerline is valid? [True, True] Translation: X:-87.57, Y:-255.87, Z:-2.79 [[-6.83373092e-01 -7.30043731e-01 6.11294179e-03 -8.75701019e+01] [ 7.30011931e-01 -6.83400404e-01 -6.81673022e-03 -2.55867226e+02] [ 9.15409806e-03 -1.95849568e-04 9.99958081e-01 -2.78664542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.0465599949999 meters 0.017521425144819674 Centerline is valid? [True, True] Translation: X:-87.59, Y:-255.85, Z:-2.79 [[-6.86345181e-01 -7.27254355e-01 5.60309546e-03 -8.75879971e+01] [ 7.27227576e-01 -6.86368019e-01 -6.24458961e-03 -2.55846388e+02] [ 8.38719053e-03 -2.11218464e-04 9.99964805e-01 -2.78697020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.0765599949999 meters 0.017655107486194487 Centerline is valid? [True, True] Translation: X:-87.61, Y:-255.83, Z:-2.79 [[-6.87869992e-01 -7.25815462e-01 5.17584308e-03 -8.76070002e+01] [ 7.25792594e-01 -6.87889433e-01 -5.76525047e-03 -2.55825711e+02] [ 7.74491569e-03 -2.09154221e-04 9.99969986e-01 -2.78632536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.106559995 meters 0.017873608503261987 Centerline is valid? [True, True] Translation: X:-87.63, Y:-255.80, Z:-2.79 [[-6.89303064e-01 -7.24456789e-01 4.86293870e-03 -8.76256499e+01] [ 7.24436591e-01 -6.89320185e-01 -5.41371447e-03 -2.55804778e+02] [ 7.27412400e-03 -2.08799240e-04 9.99973522e-01 -2.78584646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.136559995 meters 0.0182729261177611 Centerline is valid? [True, True] Translation: X:-87.64, Y:-255.78, Z:-2.79 [[-6.90772385e-01 -7.23056206e-01 4.82029550e-03 -8.76442155e+01] [ 7.23036348e-01 -6.90789168e-01 -5.36326140e-03 -2.55783963e+02] [ 7.20774736e-03 -2.19544010e-04 9.99974000e-01 -2.78586089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.166559995 meters 0.019122612360583102 Centerline is valid? [True, True] Translation: X:-87.66, Y:-255.76, Z:-2.79 [[-6.92493836e-01 -7.21406263e-01 5.02896360e-03 -8.76631543e+01] [ 7.21384630e-01 -6.92512053e-01 -5.59215523e-03 -2.55763868e+02] [ 7.51683371e-03 -2.44715984e-04 9.99971718e-01 -2.78652141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.1965599949999 meters 0.018732017506239564 Centerline is valid? [True, True] Translation: X:-87.68, Y:-255.75, Z:-2.79 [[-6.92917792e-01 -7.20995398e-01 5.52899215e-03 -8.76840179e+01] [ 7.20969267e-01 -6.92939797e-01 -6.14432330e-03 -2.55745972e+02] [ 8.26128752e-03 -2.71277520e-04 9.99965838e-01 -2.78716071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.226559995 meters 0.020089524882651873 Centerline is valid? [True, True] Translation: X:-87.70, Y:-255.73, Z:-2.79 [[-6.92535447e-01 -7.21360990e-01 5.74264156e-03 -8.77010675e+01] [ 7.21332840e-01 -6.92559201e-01 -6.37865466e-03 -2.55725957e+02] [ 8.57843189e-03 -2.75088508e-04 9.99963167e-01 -2.78791875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.256559995 meters 0.018103791510737738 Centerline is valid? [True, True] Translation: X:-87.72, Y:-255.71, Z:-2.79 [[-6.92030335e-01 -7.21844243e-01 5.90802296e-03 -8.77238932e+01] [ 7.21814498e-01 -6.92055499e-01 -6.55867120e-03 -2.55708129e+02] [ 8.82301883e-03 -2.74302800e-04 9.99961039e-01 -2.78743715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.286559995 meters 0.01758035220399378 Centerline is valid? [True, True] Translation: X:-87.75, Y:-255.69, Z:-2.79 [[-6.89764757e-01 -7.24003573e-01 6.58834758e-03 -8.77456076e+01] [ 7.23966719e-01 -6.89796167e-01 -7.31011959e-03 -2.55691549e+02] [ 9.83716961e-03 -2.72518478e-04 9.99951577e-01 -2.78877241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.3165599949999 meters 0.01655283670355397 Centerline is valid? [True, True] Translation: X:-87.77, Y:-255.67, Z:-2.79 [[-6.88470735e-01 -7.25232236e-01 6.80079016e-03 -8.77671682e+01] [ 7.25193070e-01 -6.88504275e-01 -7.54157519e-03 -2.55673029e+02] [ 1.01517665e-02 -2.60267925e-04 9.99948436e-01 -2.78867236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.346559995 meters 0.016151804409023647 Centerline is valid? [True, True] Translation: X:-87.79, Y:-255.66, Z:-2.79 [[-6.86075420e-01 -7.27500666e-01 6.58014417e-03 -8.77883871e+01] [ 7.27464142e-01 -6.86106940e-01 -7.29305411e-03 -2.55656160e+02] [ 9.82038431e-03 -2.16766231e-04 9.99951755e-01 -2.78889261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.376559995 meters 0.01572275558990793 Centerline is valid? [True, True] Translation: X:-87.81, Y:-255.64, Z:-2.79 [[-6.85342142e-01 -7.28192327e-01 6.48712321e-03 -8.78086422e+01] [ 7.28156903e-01 -6.85372814e-01 -7.18544427e-03 -2.55638144e+02] [ 9.67848327e-03 -2.00844224e-04 9.99953142e-01 -2.78865723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.406559995 meters 0.014823527184356585 Centerline is valid? [True, True] Translation: X:-87.83, Y:-255.62, Z:-2.79 [[-6.83771950e-01 -7.29670650e-01 6.05492428e-03 -8.78317924e+01] [ 7.29639880e-01 -6.83798738e-01 -6.70304970e-03 -2.55620871e+02] [ 9.03136822e-03 -1.65443146e-04 9.99959203e-01 -2.78788188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.4365599949999 meters 0.014354334893885053 Centerline is valid? [True, True] Translation: X:-87.86, Y:-255.61, Z:-2.79 [[-6.81231372e-01 -7.32041516e-01 6.24790504e-03 -8.78550023e+01] [ 7.32008888e-01 -6.81260009e-01 -6.91287845e-03 -2.55605368e+02] [ 9.31696187e-03 -1.35747652e-04 9.99956587e-01 -2.78805840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.4665599949999 meters 0.01392292283481902 Centerline is valid? [True, True] Translation: X:-87.88, Y:-255.59, Z:-2.79 [[-6.80245113e-01 -7.32960915e-01 5.90619158e-03 -8.78761690e+01] [ 7.32931825e-01 -6.80270743e-01 -6.53112359e-03 -2.55586376e+02] [ 8.80486766e-03 -1.13929136e-04 9.99961230e-01 -2.78753878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.496559995 meters 0.013800931155413313 Centerline is valid? [True, True] Translation: X:-87.90, Y:-255.57, Z:-2.79 [[-6.79251744e-01 -7.33883526e-01 5.66027825e-03 -8.78959236e+01] [ 7.33856873e-01 -6.79275321e-01 -6.25526110e-03 -2.55568136e+02] [ 8.43552040e-03 -9.50629176e-05 9.99964416e-01 -2.78729561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.526559995 meters 0.013800931155413313 Centerline is valid? [True, True] Translation: X:-87.91, Y:-255.55, Z:-2.79 [[-6.79479729e-01 -7.33672432e-01 5.66222159e-03 -8.79139537e+01] [ 7.33645787e-01 -6.79503314e-01 -6.25350206e-03 -2.55548365e+02] [ 8.43552040e-03 -9.50628731e-05 9.99964416e-01 -2.78729495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.5565599949999 meters 0.013800931155413313 Centerline is valid? [True, True] Translation: X:-87.93, Y:-255.53, Z:-2.79 [[-6.79707647e-01 -7.33461268e-01 5.66416434e-03 -8.79319898e+01] [ 7.33434630e-01 -6.79731241e-01 -6.25174244e-03 -2.55528599e+02] [ 8.43552040e-03 -9.50628731e-05 9.99964416e-01 -2.78729430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.5865599949999 meters 0.013800931155413313 Centerline is valid? [True, True] Translation: X:-87.95, Y:-255.51, Z:-2.79 [[-6.79935501e-01 -7.33250033e-01 5.66610655e-03 -8.79500321e+01] [ 7.33223402e-01 -6.79959102e-01 -6.24998223e-03 -2.55508839e+02] [ 8.43552039e-03 -9.50628731e-05 9.99964416e-01 -2.78729365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.616559995 meters 0.01328352229986606 Centerline is valid? [True, True] Translation: X:-87.97, Y:-255.49, Z:-2.79 [[-6.77387663e-01 -7.35607249e-01 5.28488326e-03 -8.79721465e+01] [ 7.35584171e-01 -6.77408276e-01 -5.82710478e-03 -2.55492807e+02] [ 7.86648417e-03 -5.97324185e-05 9.99969057e-01 -2.78725022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.646559995 meters 0.012898403012704167 Centerline is valid? [True, True] Translation: X:-87.99, Y:-255.47, Z:-2.79 [[-6.76322587e-01 -7.36585494e-01 5.43762934e-03 -8.79935427e+01] [ 7.36561123e-01 -6.76344444e-01 -5.99209097e-03 -2.55474398e+02] [ 8.09139769e-03 -4.74400915e-05 9.99967263e-01 -2.78736504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.6765599949999 meters 0.012786181937712145 Centerline is valid? [True, True] Translation: X:-88.02, Y:-255.46, Z:-2.79 [[-6.74161705e-01 -7.38559402e-01 6.00052011e-03 -8.80150443e+01] [ 7.38529837e-01 -6.74188408e-01 -6.60838306e-03 -2.55457221e+02] [ 8.92616455e-03 -2.35556537e-05 9.99960161e-01 -2.78912243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.7065599949999 meters 0.012742259104003265 Centerline is valid? [True, True] Translation: X:-88.03, Y:-255.44, Z:-2.79 [[-6.73202580e-01 -7.39430489e-01 6.39046192e-03 -8.80348393e+01] [ 7.39397034e-01 -6.73232911e-01 -7.03384751e-03 -2.55437211e+02] [ 9.50331058e-03 -1.01157001e-05 9.99954843e-01 -2.78920150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.736559995 meters 0.012750854449974897 Centerline is valid? [True, True] Translation: X:-88.05, Y:-255.42, Z:-2.79 [[-6.72510939e-01 -7.40059692e-01 6.37883122e-03 -8.80534443e+01] [ 7.40026414e-01 -6.72541190e-01 -7.01814709e-03 -2.55418075e+02] [ 9.48387451e-03 7.22905015e-07 9.99955027e-01 -2.78958836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.766559995 meters 0.012674881240868525 Centerline is valid? [True, True] Translation: X:-88.07, Y:-255.40, Z:-2.79 [[-6.71932518e-01 -7.40582763e-01 6.62287871e-03 -8.80728494e+01] [ 7.40546956e-01 -6.71965156e-01 -7.28250836e-03 -2.55398102e+02] [ 9.84364389e-03 1.11984920e-05 9.99951550e-01 -2.78854863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.7965599949999 meters 0.012760205818173958 Centerline is valid? [True, True] Translation: X:-88.09, Y:-255.38, Z:-2.79 [[-6.70838988e-01 -7.41574114e-01 6.54877069e-03 -8.80928410e+01] [ 7.41539193e-01 -6.70870951e-01 -7.19669628e-03 -2.55379487e+02] [ 9.73026369e-03 2.83456838e-05 9.99952660e-01 -2.78986991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.8265599949999 meters 0.012803881783265412 Centerline is valid? [True, True] Translation: X:-88.11, Y:-255.36, Z:-2.79 [[-6.70252372e-01 -7.42101530e-01 6.86127027e-03 -8.81116874e+01] [ 7.42063260e-01 -6.70287489e-01 -7.53663070e-03 -2.55361821e+02] [ 1.01919688e-02 4.00519822e-05 9.99948060e-01 -2.79090183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.856559995 meters 0.012878996791455453 Centerline is valid? [True, True] Translation: X:-88.13, Y:-255.34, Z:-2.79 [[-6.70273088e-01 -7.42081420e-01 7.01095993e-03 -8.81298686e+01] [ 7.42041508e-01 -6.70309752e-01 -7.69650929e-03 -2.55342101e+02] [ 1.04109514e-02 4.36602320e-05 9.99945804e-01 -2.79113956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.886559995 meters 0.01272216428680182 Centerline is valid? [True, True] Translation: X:-88.15, Y:-255.32, Z:-2.79 [[-6.70542132e-01 -7.41836221e-01 7.22984421e-03 -8.81478507e+01] [ 7.41793817e-01 -6.70581106e-01 -7.93185801e-03 -2.55321101e+02] [ 1.07323365e-02 4.44087498e-05 9.99942406e-01 -2.79050653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.916559995 meters 0.012901346465521775 Centerline is valid? [True, True] Translation: X:-88.17, Y:-255.30, Z:-2.79 [[-6.70762543e-01 -7.41635055e-01 7.42003474e-03 -8.81651929e+01] [ 7.41590421e-01 -6.70803580e-01 -8.13659911e-03 -2.55301752e+02] [ 1.10117730e-02 4.49007766e-05 9.99939368e-01 -2.79130289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.9465599949999 meters 0.012738163360618397 Centerline is valid? [True, True] Translation: X:-88.18, Y:-255.28, Z:-2.79 [[-6.70889475e-01 -7.41522071e-01 7.23402169e-03 -8.81832835e+01] [ 7.41479693e-01 -6.70928474e-01 -7.92764636e-03 -2.55280733e+02] [ 1.07320359e-02 4.53056805e-05 9.99942409e-01 -2.79034947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.976559995 meters 0.01276662232710787 Centerline is valid? [True, True] Translation: X:-88.20, Y:-255.26, Z:-2.79 [[-6.70794014e-01 -7.41609737e-01 7.09858033e-03 -8.82010794e+01] [ 7.41568988e-01 -6.70831571e-01 -7.77434387e-03 -2.55260489e+02] [ 1.05274809e-02 4.91036970e-05 9.99944583e-01 -2.78982781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.006559995 meters 0.012830805264320688 Centerline is valid? [True, True] Translation: X:-88.22, Y:-255.24, Z:-2.79 [[-6.69995104e-01 -7.42336725e-01 6.53818680e-03 -8.82197185e+01] [ 7.42302233e-01 -6.70027002e-01 -7.15613793e-03 -2.55240252e+02] [ 9.69302570e-03 5.87332918e-05 9.99953020e-01 -2.78927495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.036559995 meters 0.01317893901334196 Centerline is valid? [True, True] Translation: X:-88.24, Y:-255.22, Z:-2.79 [[-6.69529123e-01 -7.42755008e-01 6.76393473e-03 -8.82383429e+01] [ 7.42718164e-01 -6.69563285e-01 -7.39838250e-03 -2.55222048e+02] [ 1.00240680e-02 7.02646394e-05 9.99949755e-01 -2.79059564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.0665599949999 meters 0.013303989325801966 Centerline is valid? [True, True] Translation: X:-88.26, Y:-255.20, Z:-2.79 [[-6.68865484e-01 -7.43350727e-01 6.97577614e-03 -8.82571093e+01] [ 7.43311618e-01 -6.68901854e-01 -7.62550111e-03 -2.55202549e+02] [ 1.03345314e-02 8.47409636e-05 9.99946594e-01 -2.79088162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.096559995 meters 0.013686714447103343 Centerline is valid? [True, True] Translation: X:-88.28, Y:-255.18, Z:-2.79 [[-6.66998555e-01 -7.45022257e-01 7.40026388e-03 -8.82754202e+01] [ 7.44978395e-01 -6.67039595e-01 -8.08510920e-03 -2.55180788e+02] [ 1.09598553e-02 1.20280556e-04 9.99939932e-01 -2.78986689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.126559995 meters 0.013990964881390885 Centerline is valid? [True, True] Translation: X:-88.29, Y:-255.16, Z:-2.79 [[-6.66226133e-01 -7.45714453e-01 7.25906096e-03 -8.82928559e+01] [ 7.45672345e-01 -6.66265666e-01 -7.92573703e-03 -2.55160825e+02] [ 1.07467997e-02 1.32547872e-04 9.99942243e-01 -2.78942165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.156559995 meters 0.014665632509115838 Centerline is valid? [True, True] Translation: X:-88.31, Y:-255.14, Z:-2.79 [[-6.64249393e-01 -7.47477157e-01 7.11650271e-03 -8.83113647e+01] [ 7.47436831e-01 -6.64287494e-01 -7.76587481e-03 -2.55140142e+02] [ 1.05322178e-02 1.60658608e-04 9.99944522e-01 -2.78932387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.1865599949999 meters 0.014721450409914372 Centerline is valid? [True, True] Translation: X:-88.33, Y:-255.12, Z:-2.79 [[-6.63580321e-01 -7.48073068e-01 6.91684928e-03 -8.83296498e+01] [ 7.48035053e-01 -6.63616348e-01 -7.54334355e-03 -2.55120227e+02] [ 1.02331064e-02 1.68431389e-04 9.99947626e-01 -2.78952292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.2165599949999 meters 0.014681039701030353 Centerline is valid? [True, True] Translation: X:-88.35, Y:-255.10, Z:-2.79 [[-6.63122393e-01 -7.48480779e-01 6.72422785e-03 -8.83483503e+01] [ 7.48444914e-01 -6.63156463e-01 -7.32915335e-03 -2.55098995e+02] [ 9.94494556e-03 1.72588427e-04 9.99950533e-01 -2.78933741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.246559995 meters 0.014993001047321371 Centerline is valid? [True, True] Translation: X:-88.37, Y:-255.08, Z:-2.79 [[-6.62586474e-01 -7.48959275e-01 6.25846899e-03 -8.83668890e+01] [ 7.48928268e-01 -6.62616009e-01 -6.81720965e-03 -2.55078573e+02] [ 9.25277414e-03 1.70153440e-04 9.99957178e-01 -2.78904244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.276559995 meters 0.015554336861864705 Centerline is valid? [True, True] Translation: X:-88.38, Y:-255.06, Z:-2.79 [[-6.61422441e-01 -7.49989728e-01 5.98026605e-03 -8.83848667e+01] [ 7.49961490e-01 -6.61449451e-01 -6.51054321e-03 -2.55056816e+02] [ 8.83848423e-03 1.78749859e-04 9.99960924e-01 -2.78894698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.3065599949999 meters 0.015942942856436163 Centerline is valid? [True, True] Translation: X:-88.40, Y:-255.04, Z:-2.79 [[-6.60628054e-01 -7.50688195e-01 6.14886005e-03 -8.84029041e+01] [ 7.50658398e-01 -6.60656640e-01 -6.69134270e-03 -2.55035912e+02] [ 9.08539719e-03 1.95204723e-04 9.99958708e-01 -2.78904574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.3365599949999 meters 0.017179513025009047 Centerline is valid? [True, True] Translation: X:-88.42, Y:-255.02, Z:-2.79 [[-6.59454514e-01 -7.51720629e-01 5.98665799e-03 -8.84207128e+01] [ 7.51692459e-01 -6.59481655e-01 -6.51100293e-03 -2.55015246e+02] [ 8.84254634e-03 2.06415397e-04 9.99960883e-01 -2.78946280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.366559995 meters 0.017227522787903425 Centerline is valid? [True, True] Translation: X:-88.44, Y:-254.99, Z:-2.79 [[-6.58977203e-01 -7.52138071e-01 6.11294916e-03 -8.84385506e+01] [ 7.52108751e-01 -6.59005519e-01 -6.64472469e-03 -2.54993589e+02] [ 9.02621764e-03 2.18880472e-04 9.99959239e-01 -2.78906245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.396559995 meters 0.01776964223563869 Centerline is valid? [True, True] Translation: X:-88.46, Y:-254.97, Z:-2.79 [[-6.58422004e-01 -7.52625429e-01 5.95210809e-03 -8.84566554e+01] [ 7.52597675e-01 -6.58448870e-01 -6.46731365e-03 -2.54973276e+02] [ 8.78662356e-03 2.21321093e-04 9.99961372e-01 -2.78896423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.4265599949999 meters 0.01846021808141235 Centerline is valid? [True, True] Translation: X:-88.48, Y:-254.95, Z:-2.79 [[-6.57340526e-01 -7.53569606e-01 6.02334179e-03 -8.84752757e+01] [ 7.53541254e-01 -6.57368079e-01 -6.54117051e-03 -2.54951852e+02] [ 8.88877990e-03 2.39060061e-04 9.99960466e-01 -2.78950154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.4565599949999 meters 0.018877913616904374 Centerline is valid? [True, True] Translation: X:-88.49, Y:-254.93, Z:-2.79 [[-6.56908290e-01 -7.53945320e-01 6.16062596e-03 -8.84940254e+01] [ 7.53915710e-01 -6.56937129e-01 -6.68664052e-03 -2.54931098e+02] [ 9.08850526e-03 2.52083104e-04 9.99958667e-01 -2.78991035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.486559995 meters 0.019195174912937027 Centerline is valid? [True, True] Translation: X:-88.51, Y:-254.91, Z:-2.79 [[-6.56480445e-01 -7.54315110e-01 6.49149267e-03 -8.85128983e+01] [ 7.54282289e-01 -6.56512483e-01 -7.04194803e-03 -2.54909945e+02] [ 9.57359377e-03 2.73516771e-04 9.99954135e-01 -2.79046940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.516559995 meters 0.018634328011790675 Centerline is valid? [True, True] Translation: X:-88.53, Y:-254.89, Z:-2.79 [[-6.55071204e-01 -7.55537201e-01 6.72727124e-03 -8.85292865e+01] [ 7.55502057e-01 -6.55105675e-01 -7.29361823e-03 -2.54886867e+02] [ 9.91767346e-03 3.04627979e-04 9.99950772e-01 -2.78984034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.5465599949999 meters 0.019450792900217062 Centerline is valid? [True, True] Translation: X:-88.55, Y:-254.86, Z:-2.79 [[-6.53882198e-01 -7.56567948e-01 6.55829705e-03 -8.85474085e+01] [ 7.56534638e-01 -6.53915010e-01 -7.10643342e-03 -2.54864985e+02] [ 9.66506863e-03 3.14808583e-04 9.99953243e-01 -2.78936926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.5765599949999 meters 0.02028663342407059 Centerline is valid? [True, True] Translation: X:-88.57, Y:-254.84, Z:-2.79 [[-6.53698093e-01 -7.56725989e-01 6.67686167e-03 -8.85655670e+01] [ 7.56691514e-01 -6.53732109e-01 -7.23063369e-03 -2.54844403e+02] [ 9.83648730e-03 3.25673118e-04 9.99951568e-01 -2.78979786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.606559995 meters 0.02028663342407059 Centerline is valid? [True, True] Translation: X:-88.58, Y:-254.82, Z:-2.79 [[-6.53933734e-01 -7.56522347e-01 6.67911304e-03 -8.85838142e+01] [ 7.56487882e-01 -6.53967761e-01 -7.22855410e-03 -2.54824815e+02] [ 9.83648731e-03 3.25672704e-04 9.99951568e-01 -2.78979721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.636559995 meters 0.02028663342407059 Centerline is valid? [True, True] Translation: X:-88.60, Y:-254.81, Z:-2.79 [[-6.54169311e-01 -7.56318631e-01 6.68136405e-03 -8.86020676e+01] [ 7.56284177e-01 -6.54203349e-01 -7.22647353e-03 -2.54805232e+02] [ 9.83648731e-03 3.25672704e-04 9.99951568e-01 -2.78979656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.666559995 meters 0.020433763348252202 Centerline is valid? [True, True] Translation: X:-88.62, Y:-254.78, Z:-2.79 [[-6.54445362e-01 -7.56068339e-01 7.86991024e-03 -8.86195889e+01] [ 7.56020579e-01 -6.54492568e-01 -8.50670664e-03 -2.54784604e+02] [ 1.15824493e-02 3.82639391e-04 9.99932848e-01 -2.79145832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.6965599949999 meters 0.019967331232825326 Centerline is valid? [True, True] Translation: X:-88.64, Y:-254.76, Z:-2.79 [[-6.55116381e-01 -7.55479786e-01 8.53349223e-03 -8.86366220e+01] [ 7.55423654e-01 -6.55171830e-01 -9.21824777e-03 -2.54763672e+02] [ 1.25551036e-02 4.07376763e-04 9.99921099e-01 -2.79238126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.726559995 meters 0.018993097463177146 Centerline is valid? [True, True] Translation: X:-88.65, Y:-254.74, Z:-2.79 [[-6.56997510e-01 -7.53838601e-01 9.03526687e-03 -8.86521880e+01] [ 7.53775590e-01 -6.57059512e-01 -9.75487324e-03 -2.54739925e+02] [ 1.32903080e-02 4.01636188e-04 9.99911599e-01 -2.79262746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.756559995 meters 0.01955548732166818 Centerline is valid? [True, True] Translation: X:-88.67, Y:-254.72, Z:-2.79 [[-6.58331763e-01 -7.52673444e-01 9.05414115e-03 -8.86700573e+01] [ 7.52610130e-01 -6.58393910e-01 -9.76992547e-03 -2.54719996e+02] [ 1.33147548e-02 3.82386085e-04 9.99911282e-01 -2.79319184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.786559995 meters 0.018018540508957213 Centerline is valid? [True, True] Translation: X:-88.69, Y:-254.70, Z:-2.79 [[-6.59866592e-01 -7.51333733e-01 8.58504539e-03 -8.86863429e+01] [ 7.51276761e-01 -6.59922348e-01 -9.25863863e-03 -2.54697136e+02] [ 1.26217908e-02 3.40278785e-04 9.99920284e-01 -2.79220095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.8165599949999 meters 0.017127907608538585 Centerline is valid? [True, True] Translation: X:-88.70, Y:-254.68, Z:-2.79 [[-6.63084868e-01 -7.48502397e-01 7.91327827e-03 -8.87019261e+01] [ 7.48453839e-01 -6.63132031e-01 -8.52998613e-03 -2.54675187e+02] [ 1.16322634e-02 2.66618777e-04 9.99932307e-01 -2.79188044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.846559995 meters 0.016102785411260343 Centerline is valid? [True, True] Translation: X:-88.72, Y:-254.65, Z:-2.79 [[-6.64655571e-01 -7.47107889e-01 7.92303009e-03 -8.87187836e+01] [ 7.47059167e-01 -6.64702747e-01 -8.53576478e-03 -2.54652403e+02] [ 1.16435971e-02 2.45628646e-04 9.99932181e-01 -2.79114527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.876559995 meters 0.01497703635832512 Centerline is valid? [True, True] Translation: X:-88.73, Y:-254.63, Z:-2.79 [[-6.67674977e-01 -7.44413261e-01 7.68258482e-03 -8.87348845e+01] [ 7.44367325e-01 -6.67719147e-01 -8.27205880e-03 -2.54629246e+02] [ 1.12876392e-02 1.95618436e-04 9.99936274e-01 -2.79069700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.906559995 meters 0.01497703635832512 Centerline is valid? [True, True] Translation: X:-88.75, Y:-254.61, Z:-2.79 [[-6.67908821e-01 -7.44203430e-01 7.68518289e-03 -8.87531789e+01] [ 7.44157508e-01 -6.67953005e-01 -8.26964511e-03 -2.54609705e+02] [ 1.12876393e-02 1.95617628e-04 9.99936274e-01 -2.79069635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.9365599949999 meters 0.014916977167016753 Centerline is valid? [True, True] Translation: X:-88.77, Y:-254.59, Z:-2.79 [[-6.69382621e-01 -7.42874786e-01 7.99750809e-03 -8.87710668e+01] [ 7.42825023e-01 -6.69430369e-01 -8.60034482e-03 -2.54589824e+02] [ 1.17427541e-02 1.83827773e-04 9.99931035e-01 -2.79149591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.9665599949999 meters 0.014396559909331133 Centerline is valid? [True, True] Translation: X:-88.79, Y:-254.57, Z:-2.79 [[-6.70221908e-01 -7.42118988e-01 7.87408981e-03 -8.87894734e+01] [ 7.42070753e-01 -6.70268139e-01 -8.46284406e-03 -2.54568222e+02] [ 1.15581888e-02 1.71148261e-04 9.99933187e-01 -2.79082287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.996559995 meters 0.014745090995488265 Centerline is valid? [True, True] Translation: X:-88.81, Y:-254.55, Z:-2.79 [[-6.70606857e-01 -7.41770370e-01 7.94737467e-03 -8.88085095e+01] [ 7.41721275e-01 -6.70653926e-01 -8.53591505e-03 -2.54549617e+02] [ 1.16616269e-02 1.70493704e-04 9.99931986e-01 -2.79148272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.026559995 meters 0.01435835124889965 Centerline is valid? [True, True] Translation: X:-88.83, Y:-254.53, Z:-2.79 [[-6.70785172e-01 -7.41599606e-01 8.79073225e-03 -8.88282543e+01] [ 7.41539591e-01 -6.70842745e-01 -9.43640600e-03 -2.54529523e+02] [ 1.28952339e-02 1.88874778e-04 9.99916835e-01 -2.79165141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.0565599949999 meters 0.014730089297398804 Centerline is valid? [True, True] Translation: X:-88.85, Y:-254.51, Z:-2.79 [[-6.70620217e-01 -7.41748048e-01 8.85201349e-03 -8.88474101e+01] [ 7.41687288e-01 -6.70678607e-01 -9.49589526e-03 -2.54511437e+02] [ 1.29804179e-02 1.97286540e-04 9.99915731e-01 -2.79228518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.0865599949999 meters 0.014616190658570779 Centerline is valid? [True, True] Translation: X:-88.87, Y:-254.49, Z:-2.79 [[-6.69970848e-01 -7.42337863e-01 8.57670592e-03 -8.88681300e+01] [ 7.42280939e-01 -6.70025712e-01 -9.19531973e-03 -2.54491885e+02] [ 1.25726475e-02 2.05729166e-04 9.99920940e-01 -2.79143939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.116559995 meters 0.015227862790136935 Centerline is valid? [True, True] Translation: X:-88.89, Y:-254.47, Z:-2.79 [[-6.69847008e-01 -7.42454298e-01 8.16090571e-03 -8.88883360e+01] [ 7.42402831e-01 -6.69896689e-01 -8.74428041e-03 -2.54473622e+02] [ 1.19591923e-02 2.01349428e-04 9.99928466e-01 -2.79206159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.146559995 meters 0.015067135204242526 Centerline is valid? [True, True] Translation: X:-88.91, Y:-254.45, Z:-2.79 [[-6.69882996e-01 -7.42421576e-01 8.18382944e-03 -8.89067991e+01] [ 7.42369883e-01 -6.69932953e-01 -8.76333644e-03 -2.54453984e+02] [ 1.19887071e-02 2.05018428e-04 9.99928112e-01 -2.79131132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.1765599949999 meters 0.014691246603326795 Centerline is valid? [True, True] Translation: X:-88.93, Y:-254.43, Z:-2.79 [[-6.70778812e-01 -7.41613432e-01 8.08098738e-03 -8.89257747e+01] [ 7.41563029e-01 -6.70827460e-01 -8.64831188e-03 -2.54433457e+02] [ 1.18346525e-02 1.91457102e-04 9.99929950e-01 -2.79097072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.2065599949999 meters 0.014639182930019713 Centerline is valid? [True, True] Translation: X:-88.94, Y:-254.41, Z:-2.79 [[-6.71482170e-01 -7.40965026e-01 9.08432923e-03 -8.89447943e+01] [ 7.40901344e-01 -6.71543586e-01 -9.71658170e-03 -2.54412268e+02] [ 1.33001702e-02 2.06080370e-04 9.99911528e-01 -2.79213725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.236559995 meters 0.015384072574373414 Centerline is valid? [True, True] Translation: X:-88.96, Y:-254.39, Z:-2.79 [[-6.72046340e-01 -7.40445396e-01 9.71254525e-03 -8.89647794e+01] [ 7.40372634e-01 -6.72116486e-01 -1.03823081e-02 -2.54393333e+02] [ 1.42154940e-02 2.13510543e-04 9.99898932e-01 -2.79481955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.266559995 meters 0.014801332272100006 Centerline is valid? [True, True] Translation: X:-88.98, Y:-254.37, Z:-2.79 [[-6.72442833e-01 -7.40076406e-01 1.03705739e-02 -8.89818565e+01] [ 7.39993489e-01 -6.72522760e-01 -1.10803283e-02 -2.54372672e+02] [ 1.51747365e-02 2.23269744e-04 9.99884832e-01 -2.79413938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.2965599949999 meters 0.015282106070684193 Centerline is valid? [True, True] Translation: X:-89.00, Y:-254.35, Z:-2.80 [[-6.72834444e-01 -7.39711916e-01 1.09586590e-02 -8.90001576e+01] [ 7.39619369e-01 -6.72923642e-01 -1.17030212e-02 -2.54354300e+02] [ 1.60312050e-02 2.31040716e-04 9.99871465e-01 -2.79606838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.3265599949999 meters 0.01472428292727001 Centerline is valid? [True, True] Translation: X:-89.02, Y:-254.33, Z:-2.80 [[-6.73315287e-01 -7.39265625e-01 1.15264765e-02 -8.90175518e+01] [ 7.39163303e-01 -6.73413899e-01 -1.23017136e-02 -2.54333567e+02] [ 1.68563235e-02 2.37016584e-04 9.99857894e-01 -2.79522392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.356559995 meters 0.014417797500701752 Centerline is valid? [True, True] Translation: X:-89.04, Y:-254.31, Z:-2.79 [[-6.73743671e-01 -7.38873444e-01 1.16404333e-02 -8.90357258e+01] [ 7.38769150e-01 -6.73844180e-01 -1.24162591e-02 -2.54312534e+02] [ 1.70178823e-02 2.34217060e-04 9.99855158e-01 -2.79431602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.386559995 meters 0.015177322013857256 Centerline is valid? [True, True] Translation: X:-89.06, Y:-254.29, Z:-2.80 [[-6.74052424e-01 -7.38587856e-01 1.18873707e-02 -8.90551748e+01] [ 7.38479178e-01 -6.74157195e-01 -1.26720416e-02 -2.54294230e+02] [ 1.73733725e-02 2.36955379e-04 9.99849044e-01 -2.79683027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.416559995 meters 0.014810110714406877 Centerline is valid? [True, True] Translation: X:-89.07, Y:-254.27, Z:-2.80 [[-6.73593859e-01 -7.39004606e-01 1.19793449e-02 -8.90733210e+01] [ 7.38894446e-01 -6.73700324e-01 -1.27620959e-02 -2.54274343e+02] [ 1.75017362e-02 2.55001951e-04 9.99846800e-01 -2.79555128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.4465599949999 meters 0.014810110714406877 Centerline is valid? [True, True] Translation: X:-89.09, Y:-254.25, Z:-2.80 [[-6.73824751e-01 -7.38794020e-01 1.19833328e-02 -8.90917183e+01] [ 7.38683893e-01 -6.73931251e-01 -1.27583514e-02 -2.54254899e+02] [ 1.75017362e-02 2.55001947e-04 9.99846800e-01 -2.79555062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.476559995 meters 0.014669010698423442 Centerline is valid? [True, True] Translation: X:-89.11, Y:-254.23, Z:-2.79 [[-6.73478373e-01 -7.39113531e-01 1.17502773e-02 -8.91104809e+01] [ 7.39007816e-01 -6.73580819e-01 -1.25031307e-02 -2.54234526e+02] [ 1.71559944e-02 2.62958676e-04 9.99852791e-01 -2.79467806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.506559995 meters 0.015171250039086669 Centerline is valid? [True, True] Translation: X:-89.13, Y:-254.22, Z:-2.79 [[-6.73030509e-01 -7.39515705e-01 1.21018957e-02 -8.91293534e+01] [ 7.39403769e-01 -6.73139243e-01 -1.28695742e-02 -2.54215523e+02] [ 1.76635132e-02 2.86571214e-04 9.99843947e-01 -2.79489740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.536559995 meters 0.015548469782500667 Centerline is valid? [True, True] Translation: X:-89.15, Y:-254.20, Z:-2.79 [[-6.71936699e-01 -7.40502640e-01 1.25264711e-02 -8.91485484e+01] [ 7.40383027e-01 -6.72053370e-01 -1.33132016e-02 -2.54195766e+02] [ 1.82769180e-02 3.28757881e-04 9.99832909e-01 -2.79481891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.5665599949999 meters 0.015434670093380254 Centerline is valid? [True, True] Translation: X:-89.17, Y:-254.18, Z:-2.79 [[-6.71589498e-01 -7.40822008e-01 1.22596393e-02 -8.91675923e+01] [ 7.40707621e-01 -6.71701303e-01 -1.30222430e-02 -2.54175178e+02] [ 1.78819799e-02 3.35206603e-04 9.99840049e-01 -2.79413878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.596559995 meters 0.015704714387249265 Centerline is valid? [True, True] Translation: X:-89.19, Y:-254.16, Z:-2.79 [[-6.71369374e-01 -7.41021929e-01 1.22337103e-02 -8.91860273e+01] [ 7.40908214e-01 -6.71480738e-01 -1.29860637e-02 -2.54157020e+02] [ 1.78376588e-02 3.45610990e-04 9.99840837e-01 -2.79422553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.626559995 meters 0.016171018690963015 Centerline is valid? [True, True] Translation: X:-89.20, Y:-254.14, Z:-2.79 [[-6.71103353e-01 -7.41262522e-01 1.22540631e-02 -8.92046795e+01] [ 7.41148622e-01 -6.71215125e-01 -1.29990847e-02 -2.54139073e+02] [ 1.78608468e-02 3.58352588e-04 9.99840418e-01 -2.79459630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.656559995 meters 0.015963815374901102 Centerline is valid? [True, True] Translation: X:-89.22, Y:-254.12, Z:-2.79 [[-6.70843082e-01 -7.41500077e-01 1.21323927e-02 -8.92237063e+01] [ 7.41388610e-01 -6.70952682e-01 -1.28618811e-02 -2.54119173e+02] [ 1.76773472e-02 3.66513798e-04 9.99843676e-01 -2.79402392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.6865599949999 meters 0.016588662766716295 Centerline is valid? [True, True] Translation: X:-89.24, Y:-254.10, Z:-2.79 [[-6.70531670e-01 -7.41781505e-01 1.21440692e-02 -8.92433294e+01] [ 7.41670020e-01 -6.70641524e-01 -1.28657385e-02 -2.54101061e+02] [ 1.76878840e-02 3.80006960e-04 9.99843485e-01 -2.79478232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.7165599949999 meters 0.016390098822986823 Centerline is valid? [True, True] Translation: X:-89.26, Y:-254.08, Z:-2.79 [[-6.70760975e-01 -7.41578533e-01 1.18740587e-02 -8.92619003e+01] [ 7.41472055e-01 -6.70865963e-01 -1.25718440e-02 -2.54081108e+02] [ 1.72889115e-02 3.71580427e-04 9.99850467e-01 -2.79415151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.746559995 meters 0.016291260299731474 Centerline is valid? [True, True] Translation: X:-89.28, Y:-254.06, Z:-2.79 [[-6.71055462e-01 -7.41317485e-01 1.15305218e-02 -8.92803985e+01] [ 7.41217169e-01 -6.71154421e-01 -1.22004827e-02 -2.54061684e+02] [ 1.67831919e-02 3.59420150e-04 9.99859088e-01 -2.79335213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.776559995 meters 0.0158009746709628 Centerline is valid? [True, True] Translation: X:-89.30, Y:-254.04, Z:-2.79 [[-6.71523778e-01 -7.40900702e-01 1.10437683e-02 -8.92994631e+01] [ 7.40808727e-01 -6.71614498e-01 -1.16788234e-02 -2.54041094e+02] [ 1.60700033e-02 3.38712284e-04 9.99870812e-01 -2.79241798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.8065599949999 meters 0.015930418994579497 Centerline is valid? [True, True] Translation: X:-89.32, Y:-254.02, Z:-2.79 [[-6.72063526e-01 -7.40410372e-01 1.10949810e-02 -8.93183091e+01] [ 7.40317581e-01 -6.72155020e-01 -1.17263861e-02 -2.54020943e+02] [ 1.61398850e-02 3.32933115e-04 9.99869688e-01 -2.79260015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.8365599949999 meters 0.015781324149299433 Centerline is valid? [True, True] Translation: X:-89.34, Y:-254.00, Z:-2.79 [[-6.72752230e-01 -7.39784904e-01 1.10784809e-02 -8.93359230e+01] [ 7.39692424e-01 -6.72843364e-01 -1.17015501e-02 -2.54000171e+02] [ 1.61107125e-02 3.22424467e-04 9.99870162e-01 -2.79218919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.866559995 meters 0.015756812522269577 Centerline is valid? [True, True] Translation: X:-89.35, Y:-253.98, Z:-2.79 [[-6.73851213e-01 -7.38777403e-01 1.15105499e-02 -8.93529452e+01] [ 7.38677555e-01 -6.73949442e-01 -1.21498756e-02 -2.53980319e+02] [ 1.67335822e-02 3.15376460e-04 9.99859934e-01 -2.79268073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.896559995 meters 0.015276362357758312 Centerline is valid? [True, True] Translation: X:-89.37, Y:-253.96, Z:-2.79 [[-6.74641164e-01 -7.38049430e-01 1.19305846e-02 -8.93720469e+01] [ 7.37942172e-01 -6.74746575e-01 -1.25861125e-02 -2.53959109e+02] [ 1.73392942e-02 3.12971945e-04 9.99849614e-01 -2.79290115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.9265599949999 meters 0.015904162653917434 Centerline is valid? [True, True] Translation: X:-89.39, Y:-253.94, Z:-2.80 [[-6.75395488e-01 -7.37350947e-01 1.24304915e-02 -8.93914690e+01] [ 7.37234509e-01 -6.75509796e-01 -1.31070294e-02 -2.53940773e+02] [ 1.80613994e-02 3.11758784e-04 9.99836831e-01 -2.79537559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.9565599949999 meters 0.015258073863590297 Centerline is valid? [True, True] Translation: X:-89.41, Y:-253.92, Z:-2.80 [[-6.76443462e-01 -7.36369463e-01 1.35740833e-02 -8.94084073e+01] [ 7.36230595e-01 -6.76579569e-01 -1.43038019e-02 -2.53919880e+02] [ 1.97168304e-02 3.17942122e-04 9.99805554e-01 -2.79556676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.986559995 meters 0.015257181140765746 Centerline is valid? [True, True] Translation: X:-89.43, Y:-253.90, Z:-2.80 [[-6.77267888e-01 -7.35605464e-01 1.38856017e-02 -8.94269448e+01] [ 7.35460172e-01 -6.77410146e-01 -1.46228797e-02 -2.53899549e+02] [ 2.01629176e-02 3.08700166e-04 9.99796660e-01 -2.79561008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.016559995 meters 0.014884256468132183 Centerline is valid? [True, True] Translation: X:-89.45, Y:-253.88, Z:-2.79 [[-6.78185767e-01 -7.34759805e-01 1.38597781e-02 -8.94451175e+01] [ 7.34615043e-01 -6.78327314e-01 -1.45874447e-02 -2.53878654e+02] [ 2.01197341e-02 2.88604170e-04 9.99797536e-01 -2.79445394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.0465599949999 meters 0.014489521042964724 Centerline is valid? [True, True] Translation: X:-89.46, Y:-253.86, Z:-2.79 [[-6.80368987e-01 -7.32755298e-01 1.29504823e-02 -8.94640050e+01] [ 7.32628688e-01 -6.80492194e-01 -1.36227566e-02 -2.53857560e+02] [ 1.87948491e-02 2.19393751e-04 9.99823337e-01 -2.79330200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.0765599949999 meters 0.014356947960868071 Centerline is valid? [True, True] Translation: X:-89.48, Y:-253.84, Z:-2.79 [[-6.81754116e-01 -7.31475488e-01 1.24473216e-02 -8.94820435e+01] [ 7.31358461e-01 -6.81867713e-01 -1.30852707e-02 -2.53837854e+02] [ 1.80589814e-02 1.82516808e-04 9.99836907e-01 -2.79300990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.106559995 meters 0.014459108299695891 Centerline is valid? [True, True] Translation: X:-89.50, Y:-253.82, Z:-2.79 [[-6.83180360e-01 -7.30147856e-01 1.21944303e-02 -8.94998510e+01] [ 7.30035472e-01 -6.83289167e-01 -1.28110463e-02 -2.53817968e+02] [ 1.76862801e-02 1.50111466e-04 9.99843574e-01 -2.79335049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.136559995 meters 0.013935395643244489 Centerline is valid? [True, True] Translation: X:-89.52, Y:-253.80, Z:-2.79 [[-6.86486241e-01 -7.27046578e-01 1.18285415e-02 -8.95161174e+01] [ 7.26940492e-01 -6.86588135e-01 -1.24198881e-02 -2.53795103e+02] [ 1.71511734e-02 7.25634333e-05 9.99852905e-01 -2.79126803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.166559995 meters 0.013969663092219782 Centerline is valid? [True, True] Translation: X:-89.53, Y:-253.77, Z:-2.79 [[-6.88320674e-01 -7.25310650e-01 1.17945432e-02 -8.95339213e+01] [ 7.25205007e-01 -6.88421717e-01 -1.23789220e-02 -2.53773749e+02] [ 1.70981837e-02 3.27938854e-05 9.99853815e-01 -2.79104261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.1965599949999 meters 0.013962984548033705 Centerline is valid? [True, True] Translation: X:-89.55, Y:-253.75, Z:-2.79 [[-6.90202402e-01 -7.23521857e-01 1.16947273e-02 -8.95516654e+01] [ 7.23417863e-01 -6.90301472e-01 -1.22667240e-02 -2.53753591e+02] [ 1.69481305e-02 -6.34775118e-06 9.99856370e-01 -2.79083243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.226559995 meters 0.013981833347403208 Centerline is valid? [True, True] Translation: X:-89.57, Y:-253.73, Z:-2.79 [[-6.91979698e-01 -7.21823413e-01 1.16214700e-02 -8.95700965e+01] [ 7.21720603e-01 -6.92077278e-01 -1.21824475e-02 -2.53733566e+02] [ 1.68365311e-02 -4.25520468e-05 9.99858255e-01 -2.79061923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.256559995 meters 0.01419597312101432 Centerline is valid? [True, True] Translation: X:-89.59, Y:-253.71, Z:-2.79 [[-6.95761039e-01 -7.18192889e-01 1.07494773e-02 -8.95881555e+01] [ 7.18104604e-01 -6.95844064e-01 -1.12613246e-02 -2.53712532e+02] [ 1.55677632e-02 -1.15941776e-04 9.99878808e-01 -2.78895685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.286559995 meters 0.014426084216216127 Centerline is valid? [True, True] Translation: X:-89.61, Y:-253.69, Z:-2.79 [[-6.97495319e-01 -7.16508171e-01 1.07852254e-02 -8.96063655e+01] [ 7.16419168e-01 -6.97578683e-01 -1.12941562e-02 -2.53691832e+02] [ 1.56158986e-02 -1.50878874e-04 9.99878053e-01 -2.78835023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.3165599949999 meters 0.014684117041515257 Centerline is valid? [True, True] Translation: X:-89.62, Y:-253.67, Z:-2.79 [[-6.99434465e-01 -7.14612283e-01 1.09869979e-02 -8.96246631e+01] [ 7.14519787e-01 -6.99520727e-01 -1.14989816e-02 -2.53671043e+02] [ 1.59029462e-02 -1.92356610e-04 9.99873522e-01 -2.78769520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.346559995 meters 0.015638786665118806 Centerline is valid? [True, True] Translation: X:-89.64, Y:-253.65, Z:-2.79 [[-7.02636364e-01 -7.11460958e-01 1.12002399e-02 -8.96410607e+01] [ 7.11364546e-01 -7.02725577e-01 -1.17152138e-02 -2.53648999e+02] [ 1.62056123e-02 -2.64081651e-04 9.99868646e-01 -2.78758581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.376559995 meters 0.015890559300937503 Centerline is valid? [True, True] Translation: X:-89.66, Y:-253.63, Z:-2.79 [[-7.03611324e-01 -7.10491760e-01 1.15136434e-02 -8.96597634e+01] [ 7.10389859e-01 -7.03705460e-01 -1.20363678e-02 -2.53628423e+02] [ 1.66539538e-02 -2.89749151e-04 9.99861271e-01 -2.78736778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.406559995 meters 0.0156406063406096 Centerline is valid? [True, True] Translation: X:-89.68, Y:-253.61, Z:-2.79 [[-7.04075535e-01 -7.10021856e-01 1.21081137e-02 -8.96805028e+01] [ 7.09909214e-01 -7.04179571e-01 -1.26506753e-02 -2.53609228e+02] [ 1.75085423e-02 -3.11369548e-04 9.99846665e-01 -2.78706042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.4365599949999 meters 0.0156406063406096 Centerline is valid? [True, True] Translation: X:-89.70, Y:-253.59, Z:-2.79 [[-7.04275843e-01 -7.09823107e-01 1.21116832e-02 -8.96996323e+01] [ 7.09710496e-01 -7.04379911e-01 -1.26472579e-02 -2.53589335e+02] [ 1.75085423e-02 -3.11369546e-04 9.99846665e-01 -2.78705974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.4665599949999 meters 0.01599224182535832 Centerline is valid? [True, True] Translation: X:-89.72, Y:-253.57, Z:-2.79 [[-7.03602180e-01 -7.10498235e-01 1.16717543e-02 -8.97196592e+01] [ 7.10393864e-01 -7.03698927e-01 -1.21810536e-02 -2.53570344e+02] [ 1.68680181e-02 -2.79073212e-04 9.99857686e-01 -2.78790471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.496559995 meters 0.015415843700703 Centerline is valid? [True, True] Translation: X:-89.74, Y:-253.55, Z:-2.79 [[-7.03139441e-01 -7.10966162e-01 1.10473031e-02 -8.97408997e+01] [ 7.10872814e-01 -7.03226176e-01 -1.15233300e-02 -2.53551057e+02] [ 1.59614504e-02 -2.49280398e-04 9.99872577e-01 -2.78632498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.526559995 meters 0.014979032515016718 Centerline is valid? [True, True] Translation: X:-89.76, Y:-253.53, Z:-2.79 [[-7.01582961e-01 -7.12511392e-01 1.04338978e-02 -8.97618786e+01] [ 7.12428385e-01 -7.01660515e-01 -1.08774429e-02 -2.53532705e+02] [ 1.50713560e-02 -1.98023629e-04 9.99886401e-01 -2.78509161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.5565599949999 meters 0.014870535343951054 Centerline is valid? [True, True] Translation: X:-89.78, Y:-253.51, Z:-2.79 [[-7.00719289e-01 -7.13359738e-01 1.05053418e-02 -8.97807692e+01] [ 7.13275795e-01 -7.00798012e-01 -1.09447340e-02 -2.53514299e+02] [ 1.51696552e-02 -1.75980231e-04 9.99884919e-01 -2.78542986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.5865599949999 meters 0.014572398815363983 Centerline is valid? [True, True] Translation: X:-89.80, Y:-253.50, Z:-2.78 [[-6.99780695e-01 -7.14278129e-01 1.06645620e-02 -8.98019246e+01] [ 7.14191824e-01 -6.99861937e-01 -1.11044113e-02 -2.53495083e+02] [ 1.53953591e-02 -1.54109659e-04 9.99881473e-01 -2.78449221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.616559995 meters 0.014188474900668768 Centerline is valid? [True, True] Translation: X:-89.82, Y:-253.48, Z:-2.78 [[-6.97509188e-01 -7.16505403e-01 1.00468530e-02 -8.98243276e+01] [ 7.16429123e-01 -6.97581535e-01 -1.04553533e-02 -2.53477915e+02] [ 1.44998163e-02 -9.48469331e-05 9.99894868e-01 -2.78381567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.646559995 meters 0.01413469546796973 Centerline is valid? [True, True] Translation: X:-89.85, Y:-253.46, Z:-2.78 [[-6.96377227e-01 -7.17609667e-01 9.75311536e-03 -8.98454575e+01] [ 7.17537970e-01 -6.96445519e-01 -1.01439874e-02 -2.53459254e+02] [ 1.40719369e-02 -6.58112203e-05 9.99900983e-01 -2.78369090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.6765599949999 meters 0.013999186737714709 Centerline is valid? [True, True] Translation: X:-89.87, Y:-253.44, Z:-2.78 [[-6.95406085e-01 -7.18551244e-01 9.72044304e-03 -8.98662462e+01] [ 7.18480198e-01 -6.95474016e-01 -1.01043503e-02 -2.53440623e+02] [ 1.40208090e-02 -4.26808297e-05 9.99901703e-01 -2.78335974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.7065599949999 meters 0.013891857445906063 Centerline is valid? [True, True] Translation: X:-89.89, Y:-253.42, Z:-2.78 [[-6.92964651e-01 -7.20904652e-01 9.82222824e-03 -8.98881159e+01] [ 7.20832426e-01 -6.93034258e-01 -1.02044391e-02 -2.53422152e+02] [ 1.41635683e-02 8.86500082e-06 9.99899692e-01 -2.78305034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.736559995 meters 0.013919845133731784 Centerline is valid? [True, True] Translation: X:-89.91, Y:-253.40, Z:-2.78 [[-6.92176670e-01 -7.21657496e-01 1.00952947e-02 -8.99082015e+01] [ 7.21581374e-01 -6.92250285e-01 -1.04815601e-02 -2.53403232e+02] [ 1.45525671e-02 2.94852359e-05 9.99894105e-01 -2.78339455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.766559995 meters 0.01396780615956328 Centerline is valid? [True, True] Translation: X:-89.93, Y:-253.38, Z:-2.78 [[-6.91669769e-01 -7.22144015e-01 1.00475289e-02 -8.99282753e+01] [ 7.22068748e-01 -6.91742741e-01 -1.04261240e-02 -2.53384123e+02] [ 1.44794683e-02 4.35718309e-05 9.99895166e-01 -2.78325955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.7965599949999 meters 0.014027643876093026 Centerline is valid? [True, True] Translation: X:-89.95, Y:-253.37, Z:-2.78 [[-6.91280829e-01 -7.22518057e-01 9.92338077e-03 -8.99471894e+01] [ 7.22444774e-01 -6.91352048e-01 -1.02905069e-02 -2.53366456e+02] [ 1.42956267e-02 5.54644227e-05 9.99897811e-01 -2.78374143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.8265599949999 meters 0.01402182874578533 Centerline is valid? [True, True] Translation: X:-89.97, Y:-253.35, Z:-2.78 [[-6.90384230e-01 -7.23371028e-01 1.01966170e-02 -8.99681421e+01] [ 7.23293844e-01 -6.90459520e-01 -1.05672306e-02 -2.53348342e+02] [ 1.46843798e-02 7.97009067e-05 9.99892176e-01 -2.78402360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.856559995 meters 0.014028813759980571 Centerline is valid? [True, True] Translation: X:-89.99, Y:-253.33, Z:-2.78 [[-6.89914130e-01 -7.23814155e-01 1.05623317e-02 -8.99880879e+01] [ 7.23731479e-01 -6.89994971e-01 -1.09400826e-02 -2.53329127e+02] [ 1.52065424e-02 9.65744031e-05 9.99884369e-01 -2.78406330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.886559995 meters 0.01421308403314331 Centerline is valid? [True, True] Translation: X:-90.01, Y:-253.31, Z:-2.79 [[-6.89220110e-01 -7.24457419e-01 1.17084807e-02 -9.00081410e+01] [ 7.24356033e-01 -6.89319543e-01 -1.21204129e-02 -2.53309864e+02] [ 1.68516076e-02 1.27476370e-04 9.99857994e-01 -2.78525399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.916559995 meters 0.014388466304508149 Centerline is valid? [True, True] Translation: X:-90.03, Y:-253.29, Z:-2.79 [[-6.89459435e-01 -7.24221036e-01 1.22302378e-02 -9.00262899e+01] [ 7.24110523e-01 -6.89567889e-01 -1.26521546e-02 -2.53291408e+02] [ 1.75965358e-02 1.32896540e-04 9.99845160e-01 -2.78621034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.9465599949999 meters 0.014404226000499454 Centerline is valid? [True, True] Translation: X:-90.04, Y:-253.27, Z:-2.79 [[-6.89770885e-01 -7.23915493e-01 1.27469983e-02 -9.00449101e+01] [ 7.23795540e-01 -6.89888644e-01 -1.31785874e-02 -2.53271437e+02] [ 1.83341929e-02 1.36014681e-04 9.99831905e-01 -2.78627136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.976559995 meters 0.014299857130111514 Centerline is valid? [True, True] Translation: X:-90.06, Y:-253.25, Z:-2.79 [[-6.90576616e-01 -7.23143725e-01 1.29263239e-02 -9.00632632e+01] [ 7.23020393e-01 -6.90697573e-01 -1.33556865e-02 -2.53251450e+02] [ 1.85862615e-02 1.22871010e-04 9.99827253e-01 -2.78635967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.006559995 meters 0.014265627360493239 Centerline is valid? [True, True] Translation: X:-90.08, Y:-253.23, Z:-2.79 [[-6.91299463e-01 -7.22452085e-01 1.29629064e-02 -9.00816868e+01] [ 7.22328087e-01 -6.91420981e-01 -1.33851129e-02 -2.53231608e+02] [ 1.86329281e-02 1.10350031e-04 9.99826386e-01 -2.78621688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.036559995 meters 0.014241291770599114 Centerline is valid? [True, True] Translation: X:-90.10, Y:-253.21, Z:-2.79 [[-6.92136463e-01 -7.21653921e-01 1.27567129e-02 -9.00997635e+01] [ 7.21533852e-01 -6.92254006e-01 -1.31640101e-02 -2.53211290e+02] [ 1.83307452e-02 9.31088030e-05 9.99831974e-01 -2.78591510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.0665599949999 meters 0.014336082118192933 Centerline is valid? [True, True] Translation: X:-90.12, Y:-253.19, Z:-2.79 [[-6.92621752e-01 -7.21191334e-01 1.25765248e-02 -9.01186132e+01] [ 7.21074701e-01 -6.92735919e-01 -1.29700492e-02 -2.53191404e+02] [ 1.80660975e-02 8.52756355e-05 9.99836791e-01 -2.78610663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.096559995 meters 0.014312580573369255 Centerline is valid? [True, True] Translation: X:-90.14, Y:-253.17, Z:-2.79 [[-6.92996346e-01 -7.20832657e-01 1.25037807e-02 -9.01371442e+01] [ 7.20717454e-01 -6.93109136e-01 -1.28870919e-02 -2.53171260e+02] [ 1.79559214e-02 8.09854216e-05 9.99838776e-01 -2.78570931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.126559995 meters 0.014291288377245739 Centerline is valid? [True, True] Translation: X:-90.15, Y:-253.15, Z:-2.79 [[-6.93484242e-01 -7.20364433e-01 1.24374267e-02 -9.01548816e+01] [ 7.20250516e-01 -6.93595760e-01 -1.28107579e-02 -2.53151089e+02] [ 1.78549608e-02 7.40042454e-05 9.99840585e-01 -2.78519875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.156559995 meters 0.014403569435949516 Centerline is valid? [True, True] Translation: X:-90.17, Y:-253.13, Z:-2.78 [[-6.94114349e-01 -7.19757429e-01 1.24303740e-02 -9.01722041e+01] [ 7.19643693e-01 -6.94225640e-01 -1.27951779e-02 -2.53130695e+02] [ 1.78389088e-02 6.41236784e-05 9.99840872e-01 -2.78487561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.1865599949999 meters 0.014658893813187046 Centerline is valid? [True, True] Translation: X:-90.19, Y:-253.11, Z:-2.79 [[-6.94325522e-01 -7.19548395e-01 1.27348970e-02 -9.01906325e+01] [ 7.19429136e-01 -6.94442297e-01 -1.31001939e-02 -2.53111837e+02] [ 1.82698746e-02 6.60570121e-05 9.99833090e-01 -2.78642225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.2165599949999 meters 0.014293284152971006 Centerline is valid? [True, True] Translation: X:-90.21, Y:-253.09, Z:-2.78 [[-6.94409641e-01 -7.19460924e-01 1.30854778e-02 -9.02097549e+01] [ 7.19335135e-01 -6.94532918e-01 -1.34532450e-02 -2.53091667e+02] [ 1.87673792e-02 7.07808685e-05 9.99823875e-01 -2.78482410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.246559995 meters 0.014807283291404174 Centerline is valid? [True, True] Translation: X:-90.23, Y:-253.07, Z:-2.79 [[-6.93302135e-01 -7.20503061e-01 1.44044906e-02 -9.02291527e+01] [ 7.20351038e-01 -6.93451747e-01 -1.48005362e-02 -2.53072395e+02] [ 2.06526509e-02 1.15046420e-04 9.99786705e-01 -2.78792841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.276559995 meters 0.014883796748312507 Centerline is valid? [True, True] Translation: X:-90.25, Y:-253.05, Z:-2.79 [[-6.92860351e-01 -7.20924215e-01 1.45880398e-02 -9.02474928e+01] [ 7.20768536e-01 -6.93013895e-01 -1.49819792e-02 -2.53052927e+02] [ 2.09105859e-02 1.34180766e-04 9.99781341e-01 -2.78845009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.3065599949999 meters 0.015274212869533824 Centerline is valid? [True, True] Translation: X:-90.27, Y:-253.03, Z:-2.79 [[-6.92793052e-01 -7.20995764e-01 1.42441718e-02 -9.02652554e+01] [ 7.20847545e-01 -6.92939456e-01 -1.46194255e-02 -2.53033748e+02] [ 2.04108925e-02 1.39639833e-04 9.99791666e-01 -2.78927571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.3365599949999 meters 0.015177374725981652 Centerline is valid? [True, True] Translation: X:-90.28, Y:-253.01, Z:-2.79 [[-6.93493789e-01 -7.20338846e-01 1.33533184e-02 -9.02812681e+01] [ 7.20208621e-01 -6.93622327e-01 -1.36970570e-02 -2.53012061e+02] [ 1.91286820e-02 1.18351068e-04 9.99817023e-01 -2.78759213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.366559995 meters 0.015177374725981652 Centerline is valid? [True, True] Translation: X:-90.30, Y:-252.99, Z:-2.79 [[-6.93704475e-01 -7.20135878e-01 1.33573253e-02 -9.03000438e+01] [ 7.20005691e-01 -6.93833052e-01 -1.36931495e-02 -2.52992992e+02] [ 1.91286820e-02 1.18351091e-04 9.99817023e-01 -2.78759148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.396559995 meters 0.015074716513003305 Centerline is valid? [True, True] Translation: X:-90.32, Y:-252.97, Z:-2.79 [[-6.94305291e-01 -7.19565020e-01 1.28975005e-02 -9.03182808e+01] [ 7.19443686e-01 -6.94425066e-01 -1.32140657e-02 -2.52972680e+02] [ 1.84647271e-02 1.04429517e-04 9.99829507e-01 -2.78730289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.4265599949999 meters 0.015119758583451664 Centerline is valid? [True, True] Translation: X:-90.34, Y:-252.95, Z:-2.79 [[-6.94510686e-01 -7.19370143e-01 1.27084883e-02 -9.03359576e+01] [ 7.19252451e-01 -6.94626941e-01 -1.30124809e-02 -2.52952656e+02] [ 1.81884486e-02 1.03304286e-04 9.99834571e-01 -2.78847460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.4565599949999 meters 0.01474295192883825 Centerline is valid? [True, True] Translation: X:-90.35, Y:-252.93, Z:-2.79 [[-6.94611627e-01 -7.19274902e-01 1.25818269e-02 -9.03538432e+01] [ 7.19159672e-01 -6.94725560e-01 -1.28748949e-02 -2.52932344e+02] [ 1.80015055e-02 1.05290851e-04 9.99837954e-01 -2.78647355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.486559995 meters 0.014581092708742038 Centerline is valid? [True, True] Translation: X:-90.37, Y:-252.91, Z:-2.79 [[-6.94532731e-01 -7.19357661e-01 1.22000532e-02 -9.03716754e+01] [ 7.19249467e-01 -6.94639866e-01 -1.24764117e-02 -2.52912024e+02] [ 1.74496456e-02 1.09605485e-04 9.99847737e-01 -2.78560659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.516559995 meters 0.014453994309812868 Centerline is valid? [True, True] Translation: X:-90.39, Y:-252.89, Z:-2.78 [[-6.94681029e-01 -7.19234255e-01 1.09706090e-02 -9.03889067e+01] [ 7.19146865e-01 -6.94767642e-01 -1.12120564e-02 -2.52890756e+02] [ 1.56861192e-02 1.00676212e-04 9.99876960e-01 -2.78462602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.5465599949999 meters 0.014630161850234628 Centerline is valid? [True, True] Translation: X:-90.41, Y:-252.87, Z:-2.79 [[-6.95146049e-01 -7.18794993e-01 1.02824663e-02 -9.04066965e+01] [ 7.18718277e-01 -6.95222087e-01 -1.05018424e-02 -2.52871982e+02] [ 1.46972694e-02 8.98822095e-05 9.99891985e-01 -2.78582508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.5765599949999 meters 0.014474439279501837 Centerline is valid? [True, True] Translation: X:-90.42, Y:-252.85, Z:-2.78 [[-6.95375490e-01 -7.18577920e-01 9.93484781e-03 -9.04248855e+01] [ 7.18506370e-01 -6.95446451e-01 -1.01405680e-02 -2.52851506e+02] [ 1.41959429e-02 8.67489610e-05 9.99899229e-01 -2.78444954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.606559995 meters 0.014660303408929988 Centerline is valid? [True, True] Translation: X:-90.44, Y:-252.83, Z:-2.79 [[-6.95448764e-01 -7.18510842e-01 9.65331932e-03 -9.04436974e+01] [ 7.18443348e-01 -6.95515753e-01 -9.84852628e-03 -2.52832950e+02] [ 1.37903086e-02 8.62176250e-05 9.99904906e-01 -2.78580705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.636559995 meters 0.014905719722421953 Centerline is valid? [True, True] Translation: X:-90.46, Y:-252.82, Z:-2.79 [[-6.94540144e-01 -7.19390723e-01 9.53814092e-03 -9.04636257e+01] [ 7.19324994e-01 -6.94605627e-01 -9.72504249e-03 -2.52815277e+02] [ 1.36213517e-02 1.06590744e-04 9.99907220e-01 -2.78618741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.666559995 meters 0.015369484782361838 Centerline is valid? [True, True] Translation: X:-90.49, Y:-252.80, Z:-2.79 [[-6.92229094e-01 -7.21609967e-01 9.89628037e-03 -9.04851811e+01] [ 7.21539510e-01 -6.92299812e-01 -1.00849512e-02 -2.52797631e+02] [ 1.41285943e-02 1.59460660e-04 9.99900174e-01 -2.78724167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.6965599949999 meters 0.015259335630155245 Centerline is valid? [True, True] Translation: X:-90.50, Y:-252.78, Z:-2.79 [[-6.90794714e-01 -7.22981463e-01 1.00233951e-02 -9.05044183e+01] [ 7.22909386e-01 -6.90867402e-01 -1.02103611e-02 -2.52777865e+02] [ 1.43067387e-02 1.92742941e-04 9.99897635e-01 -2.78593375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.726559995 meters 0.015630931821237093 Centerline is valid? [True, True] Translation: X:-90.52, Y:-252.76, Z:-2.79 [[-6.88662860e-01 -7.25008663e-01 1.02909462e-02 -9.05247343e+01] [ 7.24933006e-01 -6.88739703e-01 -1.04766035e-02 -2.52759179e+02] [ 1.46834115e-02 2.45398891e-04 9.99892163e-01 -2.78588190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.756559995 meters 0.01616719164848055 Centerline is valid? [True, True] Translation: X:-90.55, Y:-252.74, Z:-2.79 [[-6.88049398e-01 -7.25590252e-01 1.03349909e-02 -9.05454668e+01] [ 7.25514103e-01 -6.88126963e-01 -1.05151641e-02 -2.52741162e+02] [ 1.47414864e-02 2.63229320e-04 9.99891304e-01 -2.78691795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.786559995 meters 0.016109097944460905 Centerline is valid? [True, True] Translation: X:-90.57, Y:-252.72, Z:-2.79 [[-6.87907574e-01 -7.25717182e-01 1.08508897e-02 -9.05660395e+01] [ 7.25633352e-01 -6.87993090e-01 -1.10338881e-02 -2.52721433e+02] [ 1.54728194e-02 2.83472270e-04 9.99880249e-01 -2.78706768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.8165599949999 meters 0.016177879531537525 Centerline is valid? [True, True] Translation: X:-90.59, Y:-252.70, Z:-2.79 [[-6.88181049e-01 -7.25460305e-01 1.06859127e-02 -9.05857472e+01] [ 7.25379078e-01 -6.88263952e-01 -1.08593609e-02 -2.52702897e+02] [ 1.52327638e-02 2.78131075e-04 9.99883936e-01 -2.78768692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.8465599949999 meters 0.01569461193092522 Centerline is valid? [True, True] Translation: X:-90.61, Y:-252.68, Z:-2.79 [[-6.89412554e-01 -7.24307057e-01 9.46668594e-03 -9.06052973e+01] [ 7.24243271e-01 -6.89477509e-01 -9.61500196e-03 -2.52682824e+02] [ 1.34912808e-02 2.27480540e-04 9.99908963e-01 -2.78634362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.876559995 meters 0.015391992210950419 Centerline is valid? [True, True] Translation: X:-90.62, Y:-252.66, Z:-2.79 [[-6.90633135e-01 -7.23154517e-01 8.56839322e-03 -9.06248111e+01] [ 7.23102233e-01 -6.90686259e-01 -8.69780604e-03 -2.52662083e+02] [ 1.22079292e-02 1.88831223e-04 9.99925463e-01 -2.78525957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.906559995 meters 0.01567598285533019 Centerline is valid? [True, True] Translation: X:-90.64, Y:-252.64, Z:-2.79 [[-6.91859008e-01 -7.21992426e-01 7.61899763e-03 -9.06445051e+01] [ 7.21951063e-01 -6.91900942e-01 -7.72981229e-03 -2.52642762e+02] [ 1.08524576e-02 1.52603170e-04 9.99941099e-01 -2.78543867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.9365599949999 meters 0.014444593256035032 Centerline is valid? [True, True] Translation: X:-90.66, Y:-252.62, Z:-2.78 [[-6.94691407e-01 -7.19280265e-01 6.30468681e-03 -9.06617861e+01] [ 7.19251859e-01 -6.94720010e-01 -6.39308369e-03 -2.52619810e+02] [ 8.97841101e-03 9.34373992e-05 9.99959689e-01 -2.78247936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.9665599949999 meters 0.014247113731109486 Centerline is valid? [True, True] Translation: X:-90.68, Y:-252.60, Z:-2.78 [[-6.96301401e-01 -7.17726578e-01 5.73738315e-03 -9.06799626e+01] [ 7.17703025e-01 -6.96325035e-01 -5.81503328e-03 -2.52600477e+02] [ 8.16868746e-03 6.87214177e-05 9.99966633e-01 -2.78255382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.996559995 meters 0.01371713974127042 Centerline is valid? [True, True] Translation: X:-90.70, Y:-252.58, Z:-2.78 [[-6.99357687e-01 -7.14750010e-01 5.59004818e-03 -9.06971846e+01] [ 7.14727580e-01 -6.99380027e-01 -5.66252328e-03 -2.52578140e+02] [ 7.95685662e-03 3.52324203e-05 9.99968343e-01 -2.78227738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.026559995 meters 0.013614815576089978 Centerline is valid? [True, True] Translation: X:-90.71, Y:-252.56, Z:-2.78 [[-7.00914995e-01 -7.13223143e-01 5.56042376e-03 -9.07141519e+01] [ 7.13200924e-01 -7.00937050e-01 -5.62976285e-03 -2.52558687e+02] [ 7.91278418e-03 1.97141628e-05 9.99968693e-01 -2.78246477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.0565599949999 meters 0.013530117763391306 Centerline is valid? [True, True] Translation: X:-90.73, Y:-252.54, Z:-2.78 [[-7.02184077e-01 -7.11973188e-01 5.63040866e-03 -9.07327578e+01] [ 7.11950391e-01 -7.02206650e-01 -5.69741511e-03 -2.52537788e+02] [ 8.01011720e-03 7.93747416e-06 9.99967919e-01 -2.78243198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.0865599949999 meters 0.013548649468085105 Centerline is valid? [True, True] Translation: X:-90.75, Y:-252.52, Z:-2.78 [[-7.03735440e-01 -7.10436510e-01 6.03295534e-03 -9.07514044e+01] [ 7.10410315e-01 -7.03761299e-01 -6.10070948e-03 -2.52518642e+02] [ 8.57992724e-03 -7.41176117e-06 9.99963192e-01 -2.78433902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.116559995 meters 0.01343651847071544 Centerline is valid? [True, True] Translation: X:-90.77, Y:-252.50, Z:-2.78 [[-7.03888971e-01 -7.10281675e-01 6.34503398e-03 -9.07714953e+01] [ 7.10252730e-01 -7.03917568e-01 -6.41227375e-03 -2.52499878e+02] [ 9.02090143e-03 -6.95106044e-06 9.99959311e-01 -2.78447843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.146559995 meters 0.013430056455836337 Centerline is valid? [True, True] Translation: X:-90.79, Y:-252.48, Z:-2.79 [[-7.03431288e-01 -7.10727827e-01 7.09788794e-03 -9.07920640e+01] [ 7.10691676e-01 -7.03467097e-01 -7.16837371e-03 -2.52482567e+02] [ 1.00878933e-02 1.95152743e-06 9.99949116e-01 -2.78525553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.1765599949999 meters 0.01345503848526296 Centerline is valid? [True, True] Translation: X:-90.81, Y:-252.46, Z:-2.79 [[-7.03331499e-01 -7.10826988e-01 7.05664685e-03 -9.08116073e+01] [ 7.10791308e-01 -7.03366898e-01 -7.12206420e-03 -2.52464421e+02] [ 1.00259673e-02 6.63115550e-06 9.99949739e-01 -2.78674318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.2065599949999 meters 0.013432134424007895 Centerline is valid? [True, True] Translation: X:-90.83, Y:-252.45, Z:-2.79 [[-7.02695603e-01 -7.11453843e-01 7.23324824e-03 -9.08324308e+01] [ 7.11416431e-01 -7.02732829e-01 -7.29603264e-03 -2.52446401e+02] [ 1.02738315e-02 1.89615971e-05 9.99947223e-01 -2.78704756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.236559995 meters 0.013432134424007895 Centerline is valid? [True, True] Translation: X:-90.85, Y:-252.43, Z:-2.79 [[-7.02903716e-01 -7.11248209e-01 7.23538258e-03 -9.08513631e+01] [ 7.11210809e-01 -7.02940954e-01 -7.29391605e-03 -2.52427490e+02] [ 1.02738315e-02 1.89615936e-05 9.99947223e-01 -2.78704691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.266559995 meters 0.013308705966213755 Centerline is valid? [True, True] Translation: X:-90.87, Y:-252.41, Z:-2.79 [[-7.02489184e-01 -7.11655151e-01 7.47614227e-03 -9.08709055e+01] [ 7.11615293e-01 -7.02528964e-01 -7.53193418e-03 -2.52408601e+02] [ 1.06123462e-02 2.90348713e-05 9.99943687e-01 -2.78588440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.2965599949999 meters 0.013362131940063337 Centerline is valid? [True, True] Translation: X:-90.89, Y:-252.39, Z:-2.79 [[-7.01204904e-01 -7.12922155e-01 7.32691683e-03 -9.08910453e+01] [ 7.12883991e-01 -7.01243181e-01 -7.37678816e-03 -2.52392181e+02] [ 1.03970262e-02 5.06016677e-05 9.99945948e-01 -2.78650361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.3265599949999 meters 0.013241203820996902 Centerline is valid? [True, True] Translation: X:-90.91, Y:-252.37, Z:-2.79 [[-7.00687126e-01 -7.13431968e-01 7.23735147e-03 -9.09114392e+01] [ 7.13394800e-01 -7.00724499e-01 -7.28250232e-03 -2.52373370e+02] [ 1.02669594e-02 6.03332862e-05 9.99947292e-01 -2.78563133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.356559995 meters 0.01337850759630405 Centerline is valid? [True, True] Translation: X:-90.93, Y:-252.36, Z:-2.79 [[-6.99436483e-01 -7.14656648e-01 7.38123466e-03 -9.09324758e+01] [ 7.14618086e-01 -6.99475424e-01 -7.42445396e-03 -2.52356805e+02] [ 1.04689276e-02 8.18298184e-05 9.99945196e-01 -2.78693574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.386559995 meters 0.013639422161925185 Centerline is valid? [True, True] Translation: X:-90.95, Y:-252.34, Z:-2.79 [[-6.99050714e-01 -7.15033439e-01 7.43504434e-03 -9.09516215e+01] [ 7.14994386e-01 -6.99090247e-01 -7.47366377e-03 -2.52339385e+02] [ 1.05416865e-02 9.15449696e-05 9.99944431e-01 -2.78726723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.416559995 meters 0.013485631204623942 Centerline is valid? [True, True] Translation: X:-90.97, Y:-252.32, Z:-2.79 [[-6.98984879e-01 -7.15099737e-01 7.24606662e-03 -9.09708265e+01] [ 7.15062694e-01 -6.99022430e-01 -7.27914925e-03 -2.52319968e+02] [ 1.02704808e-02 9.33766594e-05 9.99947253e-01 -2.78691169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.4465599949999 meters 0.013678508843305431 Centerline is valid? [True, True] Translation: X:-90.99, Y:-252.30, Z:-2.79 [[-6.98690022e-01 -7.15389197e-01 7.10984473e-03 -9.09889836e+01] [ 7.15353596e-01 -6.98726189e-01 -7.13762008e-03 -2.52301575e+02] [ 1.00740110e-02 9.90690545e-05 9.99949251e-01 -2.78579416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.476559995 meters 0.013738156287341784 Centerline is valid? [True, True] Translation: X:-91.01, Y:-252.28, Z:-2.79 [[-6.98566143e-01 -7.15514607e-01 6.64764933e-03 -9.10082770e+01] [ 7.15483529e-01 -6.98597765e-01 -6.66951755e-03 -2.52282833e+02] [ 9.41617020e-03 9.71844543e-05 9.99955662e-01 -2.78536806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.506559995 meters 0.013822459617100097 Centerline is valid? [True, True] Translation: X:-91.03, Y:-252.26, Z:-2.78 [[-6.98235871e-01 -7.15839638e-01 6.34680335e-03 -9.10279641e+01] [ 7.15811358e-01 -6.98264708e-01 -6.36373394e-03 -2.52263345e+02] [ 8.98716179e-03 9.97266199e-05 9.99959610e-01 -2.78460694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.536559995 meters 0.014107368420691246 Centerline is valid? [True, True] Translation: X:-91.05, Y:-252.25, Z:-2.78 [[-6.97395413e-01 -7.16661118e-01 6.03979369e-03 -9.10479640e+01] [ 7.16635571e-01 -6.97421558e-01 -6.05215360e-03 -2.52245239e+02] [ 8.54962549e-03 1.07586838e-04 9.99963446e-01 -2.78423477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.5665599949999 meters 0.014348394080773149 Centerline is valid? [True, True] Translation: X:-91.07, Y:-252.23, Z:-2.78 [[-6.96984694e-01 -7.17062333e-01 5.82641324e-03 -9.10680221e+01] [ 7.17038603e-01 -6.97009037e-01 -5.83474018e-03 -2.52226857e+02] [ 8.24493509e-03 1.11038614e-04 9.99966004e-01 -2.78454505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.5965599949999 meters 0.014577569848777751 Centerline is valid? [True, True] Translation: X:-91.09, Y:-252.21, Z:-2.78 [[-6.96867685e-01 -7.17176203e-01 5.80713180e-03 -9.10879744e+01] [ 7.17152663e-01 -6.96891871e-01 -5.81187008e-03 -2.52208039e+02] [ 8.21507787e-03 1.14495581e-04 9.99966249e-01 -2.78461547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.626559995 meters 0.014659538020296896 Centerline is valid? [True, True] Translation: X:-91.11, Y:-252.19, Z:-2.78 [[-6.96917716e-01 -7.17125815e-01 6.02188358e-03 -9.11076972e+01] [ 7.17100531e-01 -6.96943722e-01 -6.02312049e-03 -2.52188838e+02] [ 8.51624914e-03 1.20676535e-04 9.99963729e-01 -2.78480044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.656559995 meters 0.014384505066388678 Centerline is valid? [True, True] Translation: X:-91.13, Y:-252.17, Z:-2.78 [[-6.97175747e-01 -7.16874108e-01 6.12303397e-03 -9.11266989e+01] [ 7.16847990e-01 -6.97202624e-01 -6.12043945e-03 -2.52168605e+02] [ 8.65657992e-03 1.22262653e-04 9.99962524e-01 -2.78444516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.6865599949999 meters 0.01481119438271601 Centerline is valid? [True, True] Translation: X:-91.61, Y:-252.66, Z:-1.81 [[-7.64545080e-01 6.44531231e-01 7.09311440e-03 -9.16118998e+01] [ 6.44501927e-01 7.64577972e-01 -6.14746843e-03 -2.52658047e+02] [-9.38547442e-03 -1.28490851e-04 -9.99955947e-01 -1.80502809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.7165599949999 meters 0.014418723787584489 Centerline is valid? [True, True] Translation: X:-91.16, Y:-252.14, Z:-2.78 [[-7.00067758e-01 -7.14042950e-01 6.91371262e-03 -9.11593020e+01] [ 7.14010271e-01 -7.00101880e-01 -6.83309591e-03 -2.52140683e+02] [ 9.71942716e-03 1.52831680e-04 9.99952754e-01 -2.78491501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.746559995 meters 0.014712191540856208 Centerline is valid? [True, True] Translation: X:-91.64, Y:-252.63, Z:-1.81 [[-7.66318291e-01 6.42418006e-01 7.44194565e-03 -9.16437288e+01] [ 6.42386098e-01 7.66354416e-01 -6.40399572e-03 -2.52633484e+02] [-9.81721006e-03 -1.26896630e-04 -9.99951802e-01 -1.80518792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.776559995 meters 0.014653662380613268 Centerline is valid? [True, True] Translation: X:-91.19, Y:-252.11, Z:-2.78 [[-7.03624140e-01 -7.10535041e-01 7.28175424e-03 -9.11911320e+01] [ 7.10499240e-01 -7.03661802e-01 -7.13438332e-03 -2.52112417e+02] [ 1.01931217e-02 1.53756512e-04 9.99948037e-01 -2.78497548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.8065599949999 meters 0.01461486176189954 Centerline is valid? [True, True] Translation: X:-91.21, Y:-252.14, Z:-2.79 [[-6.54453120e-01 -7.56071843e-01 6.81780829e-03 -9.12053846e+01] [ 7.56032771e-01 -6.54488620e-01 -7.68738503e-03 -2.52140817e+02] [ 1.02743933e-02 1.23453385e-04 9.99947210e-01 -2.78523241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.8365599949999 meters 0.014450938848251658 Centerline is valid? [True, True] Translation: X:-91.22, Y:-252.12, Z:-2.79 [[-6.54641231e-01 -7.55904709e-01 7.27525218e-03 -9.12235613e+01] [ 7.55860243e-01 -6.54681643e-01 -8.20001305e-03 -2.52119997e+02] [ 1.09614025e-02 1.31007240e-04 9.99939914e-01 -2.78565888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.866559995 meters 0.014685905340597804 Centerline is valid? [True, True] Translation: X:-91.24, Y:-252.10, Z:-2.79 [[-6.54324796e-01 -7.56170774e-01 8.05127152e-03 -9.12424022e+01] [ 7.56116394e-01 -6.54374310e-01 -9.06981453e-03 -2.52098715e+02] [ 1.21268739e-02 1.53093844e-04 9.99926455e-01 -2.78638235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.896559995 meters 0.014648715770757466 Centerline is valid? [True, True] Translation: X:-91.26, Y:-252.08, Z:-2.79 [[-6.54187886e-01 -7.56290517e-01 7.92865396e-03 -9.12602719e+01] [ 7.56237854e-01 -6.54235913e-01 -8.92627116e-03 -2.52078334e+02] [ 1.19380644e-02 1.56489800e-04 9.99928727e-01 -2.78605037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.9265599949999 meters 0.01463090855864178 Centerline is valid? [True, True] Translation: X:-91.28, Y:-252.06, Z:-2.79 [[-6.54004172e-01 -7.56451755e-01 7.69975009e-03 -9.12783482e+01] [ 7.56402163e-01 -6.54049477e-01 -8.66318864e-03 -2.52057769e+02] [ 1.15893018e-02 1.58346108e-04 9.99932829e-01 -2.78549965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.9565599949999 meters 0.015254380631084797 Centerline is valid? [True, True] Translation: X:-91.30, Y:-252.04, Z:-2.79 [[-6.54063194e-01 -7.56402544e-01 7.51864786e-03 -9.12969370e+01] [ 7.56355316e-01 -6.54106388e-01 -8.45391073e-03 -2.52039493e+02] [ 1.13125552e-02 1.57377431e-04 9.99935999e-01 -2.78654975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.986559995 meters 0.015122546620493265 Centerline is valid? [True, True] Translation: X:-91.31, Y:-252.02, Z:-2.79 [[-6.54016068e-01 -7.56441166e-01 7.72946775e-03 -9.13148047e+01] [ 7.56391317e-01 -6.54061721e-01 -8.68569671e-03 -2.52018931e+02] [ 1.16257675e-02 1.65917080e-04 9.99932405e-01 -2.78613458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.016559995 meters 0.015326071227989752 Centerline is valid? [True, True] Translation: X:-91.33, Y:-252.00, Z:-2.79 [[-6.54092427e-01 -7.56372590e-01 7.97505839e-03 -9.13327675e+01] [ 7.56319586e-01 -6.54141020e-01 -8.95597442e-03 -2.51999277e+02] [ 1.19908664e-02 1.73657817e-04 9.99928092e-01 -2.78660218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.0465599949999 meters 0.015668029966622813 Centerline is valid? [True, True] Translation: X:-91.35, Y:-251.98, Z:-2.79 [[-6.54180871e-01 -7.56292869e-01 8.27553895e-03 -9.13507254e+01] [ 7.56235861e-01 -6.54233187e-01 -9.28758821e-03 -2.51979663e+02] [ 1.24382690e-02 1.82496781e-04 9.99922625e-01 -2.78686099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.0765599949999 meters 0.015516818067604722 Centerline is valid? [True, True] Translation: X:-91.37, Y:-251.96, Z:-2.79 [[-6.54423922e-01 -7.56080626e-01 8.45081316e-03 -9.13680341e+01] [ 7.56021232e-01 -6.54478458e-01 -9.47864163e-03 -2.51958741e+02] [ 1.26974925e-02 1.85944344e-04 9.99919366e-01 -2.78632597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.106559995 meters 0.015614459456258917 Centerline is valid? [True, True] Translation: X:-91.39, Y:-251.94, Z:-2.79 [[-6.54797495e-01 -7.55756257e-01 8.52767503e-03 -9.13858143e+01] [ 7.55695822e-01 -6.54852996e-01 -9.55917596e-03 -2.51937905e+02] [ 1.28087806e-02 1.85003919e-04 9.99917947e-01 -2.78588993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.136559995 meters 0.015619262326453517 Centerline is valid? [True, True] Translation: X:-91.40, Y:-251.92, Z:-2.78 [[-6.55314635e-01 -7.55311025e-01 8.24523120e-03 -9.14040592e+01] [ 7.55254560e-01 -6.55366481e-01 -9.23711552e-03 -2.51917247e+02] [ 1.23805434e-02 1.74031483e-04 9.99923343e-01 -2.78432051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.166559995 meters 0.015416043956885866 Centerline is valid? [True, True] Translation: X:-91.42, Y:-251.90, Z:-2.78 [[-6.55823258e-01 -7.54873259e-01 7.88786525e-03 -9.14222673e+01] [ 7.54821614e-01 -6.55870671e-01 -8.83145036e-03 -2.51896925e+02] [ 1.18400452e-02 1.62060634e-04 9.99929891e-01 -2.78344667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.1965599949999 meters 0.01565769451334227 Centerline is valid? [True, True] Translation: X:-91.44, Y:-251.88, Z:-2.78 [[-6.56565755e-01 -7.54227639e-01 7.87893444e-03 -9.14407529e+01] [ 7.54176130e-01 -6.56613010e-01 -8.81589398e-03 -2.51878150e+02] [ 1.18226018e-02 1.53890208e-04 9.99930099e-01 -2.78433229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.226559995 meters 0.015058613754753331 Centerline is valid? [True, True] Translation: X:-91.46, Y:-251.86, Z:-2.78 [[-6.58062752e-01 -7.52922516e-01 7.81665616e-03 -9.14585908e+01] [ 7.52871787e-01 -6.58109161e-01 -8.74100628e-03 -2.51857976e+02] [ 1.17255135e-02 1.32809240e-04 9.99931245e-01 -2.78422505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.256559995 meters 0.015058613754753331 Centerline is valid? [True, True] Translation: X:-91.48, Y:-251.84, Z:-2.78 [[-6.58285151e-01 -7.52728052e-01 7.81923825e-03 -9.14765236e+01] [ 7.52677336e-01 -6.58331575e-01 -8.73869655e-03 -2.51838114e+02] [ 1.17255135e-02 1.32809244e-04 9.99931245e-01 -2.78422449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.286559995 meters 0.014979780518973043 Centerline is valid? [True, True] Translation: X:-91.49, Y:-251.82, Z:-2.78 [[-6.59267036e-01 -7.51871672e-01 7.48090121e-03 -9.14942363e+01] [ 7.51825254e-01 -6.59309468e-01 -8.35536828e-03 -2.51818836e+02] [ 1.12143937e-02 1.15911576e-04 9.99937110e-01 -2.78460422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.3165599949999 meters 0.014815976793008969 Centerline is valid? [True, True] Translation: X:-91.51, Y:-251.80, Z:-2.78 [[-6.60639274e-01 -7.50666865e-01 7.41671779e-03 -9.15110322e+01] [ 7.50621221e-01 -6.60680898e-01 -8.27857787e-03 -2.51798674e+02] [ 1.11145379e-02 9.79920812e-05 9.99938227e-01 -2.78437958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.3465599949999 meters 0.014815976793008969 Centerline is valid? [True, True] Translation: X:-91.53, Y:-251.78, Z:-2.78 [[-6.60855108e-01 -7.50476837e-01 7.41909850e-03 -9.15289887e+01] [ 7.50431205e-01 -6.60896745e-01 -8.27644439e-03 -2.51778839e+02] [ 1.11145379e-02 9.79924764e-05 9.99938227e-01 -2.78437902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.376559995 meters 0.014648095130112258 Centerline is valid? [True, True] Translation: X:-91.55, Y:-251.76, Z:-2.78 [[-6.62291928e-01 -7.49208885e-01 7.44640553e-03 -9.15454104e+01] [ 7.49162895e-01 -6.62333784e-01 -8.30160462e-03 -2.51758516e+02] [ 1.11516419e-02 8.04849861e-05 9.99937815e-01 -2.78390228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.406559995 meters 0.014680874893403978 Centerline is valid? [True, True] Translation: X:-91.56, Y:-251.74, Z:-2.78 [[-6.62931032e-01 -7.48642532e-01 7.53694832e-03 -9.15638302e+01] [ 7.48595441e-01 -6.62973871e-01 -8.39721415e-03 -2.51738926e+02] [ 1.12833115e-02 7.53513024e-05 9.99936339e-01 -2.78424505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.4365599949999 meters 0.0144311950097463 Centerline is valid? [True, True] Translation: X:-91.58, Y:-251.72, Z:-2.79 [[-6.63627925e-01 -7.48018653e-01 8.12851106e-03 -9.15831690e+01] [ 7.47963897e-01 -6.63677700e-01 -9.05089940e-03 -2.51719580e+02] [ 1.21649531e-02 7.34032246e-05 9.99926002e-01 -2.78533376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.4665599949999 meters 0.014557314324383489 Centerline is valid? [True, True] Translation: X:-91.60, Y:-251.70, Z:-2.79 [[-6.63824154e-01 -7.47844417e-01 8.13759201e-03 -9.16019952e+01] [ 7.47789592e-01 -6.63874026e-01 -9.05564108e-03 -2.51699961e+02] [ 1.21745466e-02 7.38533273e-05 9.99925885e-01 -2.78646278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.496559995 meters 0.014242121985317265 Centerline is valid? [True, True] Translation: X:-91.62, Y:-251.68, Z:-2.79 [[-6.64170968e-01 -7.47533201e-01 8.42847084e-03 -9.16196786e+01] [ 7.47474439e-01 -6.64224441e-01 -9.37310987e-03 -2.51679852e+02] [ 1.26051072e-02 7.47190557e-05 9.99920550e-01 -2.78528526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.526559995 meters 0.014264084598780202 Centerline is valid? [True, True] Translation: X:-91.64, Y:-251.66, Z:-2.79 [[-6.64739132e-01 -7.47034156e-01 7.86489740e-03 -9.16379930e+01] [ 7.46983020e-01 -6.64785654e-01 -8.74083293e-03 -2.51659518e+02] [ 1.17581717e-02 6.45711196e-05 9.99930868e-01 -2.78513974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.5565599949999 meters 0.014189924146930844 Centerline is valid? [True, True] Translation: X:-91.66, Y:-251.64, Z:-2.78 [[-6.65410522e-01 -7.46436168e-01 7.86663235e-03 -9.16561368e+01] [ 7.46385032e-01 -6.65457019e-01 -8.73724149e-03 -2.51639199e+02] [ 1.17566988e-02 5.76842153e-05 9.99930886e-01 -2.78482379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.5865599949999 meters 0.014230261701206528 Centerline is valid? [True, True] Translation: X:-91.67, Y:-251.62, Z:-2.79 [[-6.65841314e-01 -7.46051571e-01 7.89928237e-03 -9.16738874e+01] [ 7.46000051e-01 -6.65888167e-01 -8.76770991e-03 -2.51619738e+02] [ 1.18012024e-02 5.49615682e-05 9.99930362e-01 -2.78554462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.616559995 meters 0.01418043329112206 Centerline is valid? [True, True] Translation: X:-91.69, Y:-251.60, Z:-2.79 [[-6.66312917e-01 -7.45631642e-01 7.78148953e-03 -9.16923910e+01] [ 7.45581685e-01 -6.66358351e-01 -8.63131019e-03 -2.51600610e+02] [ 1.16210385e-02 5.05826059e-05 9.99932472e-01 -2.78596880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.646559995 meters 0.014056755147956944 Centerline is valid? [True, True] Translation: X:-91.71, Y:-251.58, Z:-2.79 [[-6.66761377e-01 -7.45236569e-01 7.19180576e-03 -9.17110169e+01] [ 7.45193927e-01 -6.66800160e-01 -7.97231847e-03 -2.51580793e+02] [ 1.07367605e-02 4.36559329e-05 9.99942358e-01 -2.78619464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.6765599949999 meters 0.014069836547625263 Centerline is valid? [True, True] Translation: X:-91.73, Y:-251.56, Z:-2.79 [[-6.67482378e-01 -7.44595881e-01 6.65202499e-03 -9.17296701e+01] [ 7.44559413e-01 -6.67515522e-01 -7.36940008e-03 -2.51560280e+02] [ 9.92755488e-03 3.38831333e-05 9.99950720e-01 -2.78593139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.7065599949999 meters 0.014044997504029324 Centerline is valid? [True, True] Translation: X:-91.75, Y:-251.54, Z:-2.79 [[-6.67916008e-01 -7.44208366e-01 6.48952406e-03 -9.17477167e+01] [ 7.44173682e-01 -6.67947533e-01 -7.18494477e-03 -2.51540051e+02] [ 9.68175760e-03 3.03933856e-05 9.99953130e-01 -2.78544811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.736559995 meters 0.01384274299495082 Centerline is valid? [True, True] Translation: X:-91.76, Y:-251.52, Z:-2.78 [[-6.69112051e-01 -7.43138106e-01 5.90074172e-03 -9.17649154e+01] [ 7.43109425e-01 -6.69138069e-01 -6.52893650e-03 -2.51518836e+02] [ 8.80031243e-03 1.63066942e-05 9.99961276e-01 -2.78436139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.766559995 meters 0.013907050576578928 Centerline is valid? [True, True] Translation: X:-91.78, Y:-251.50, Z:-2.78 [[-6.69905798e-01 -7.42423192e-01 5.83323984e-03 -9.17827147e+01] [ 7.42395174e-01 -6.69931194e-01 -6.44997922e-03 -2.51498989e+02] [ 8.69648349e-03 9.69062831e-06 9.99962185e-01 -2.78490495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.7965599949999 meters 0.013888411676144113 Centerline is valid? [True, True] Translation: X:-91.80, Y:-251.48, Z:-2.78 [[-6.70242216e-01 -7.42122920e-01 5.37987971e-03 -9.18011967e+01] [ 7.42099107e-01 -6.70263807e-01 -5.94510861e-03 -2.51478937e+02] [ 8.01794002e-03 7.74115756e-06 9.99967856e-01 -2.78456368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.8265599949999 meters 0.013743246337300227 Centerline is valid? [True, True] Translation: X:-91.82, Y:-251.46, Z:-2.78 [[-6.70740843e-01 -7.41673629e-01 5.19134214e-03 -9.18197739e+01] [ 7.41651470e-01 -6.70760932e-01 -5.73314271e-03 -2.51458882e+02] [ 7.73427025e-03 4.71355883e-06 9.99970090e-01 -2.78373948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.856559995 meters 0.013878600971230092 Centerline is valid? [True, True] Translation: X:-91.84, Y:-251.44, Z:-2.79 [[-6.70560754e-01 -7.41832724e-01 5.69956021e-03 -9.18384067e+01] [ 7.41806047e-01 -6.70584976e-01 -6.29111084e-03 -2.51441013e+02] [ 8.48899134e-03 9.39619977e-06 9.99963968e-01 -2.78603800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.886559995 meters 0.013902964398094797 Centerline is valid? [True, True] Translation: X:-91.86, Y:-251.42, Z:-2.79 [[-6.70663128e-01 -7.41738091e-01 5.96425704e-03 -9.18572176e+01] [ 7.41708912e-01 -6.70689648e-01 -6.57922770e-03 -2.51422257e+02] [ 8.88022925e-03 1.12971690e-05 9.99960570e-01 -2.78725817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.916559995 meters 0.013935488533969562 Centerline is valid? [True, True] Translation: X:-91.88, Y:-251.40, Z:-2.79 [[-6.71066001e-01 -7.41370628e-01 6.32576536e-03 -9.18750538e+01] [ 7.41337828e-01 -6.71095815e-01 -6.97374641e-03 -2.51403495e+02] [ 9.41532541e-03 9.68503765e-06 9.99955675e-01 -2.78805334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.9465599949999 meters 0.013867668322356577 Centerline is valid? [True, True] Translation: X:-91.89, Y:-251.38, Z:-2.79 [[-6.71490265e-01 -7.40985401e-01 6.43889253e-03 -9.18927269e+01] [ 7.40951441e-01 -6.71521136e-01 -7.09415031e-03 -2.51383266e+02] [ 9.58051424e-03 7.25382698e-06 9.99954106e-01 -2.78744531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.976559995 meters 0.013799620869363635 Centerline is valid? [True, True] Translation: X:-91.91, Y:-251.36, Z:-2.79 [[-6.72064141e-01 -7.40460413e-01 6.94027726e-03 -9.19113542e+01] [ 7.40420974e-01 -6.72099975e-01 -7.64226522e-03 -2.51362382e+02] [ 1.03233550e-02 2.63444272e-06 9.99946713e-01 -2.78723060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.006559995 meters 0.013953941935673233 Centerline is valid? [True, True] Translation: X:-91.93, Y:-251.34, Z:-2.79 [[-6.73099693e-01 -7.39514004e-01 7.47272678e-03 -9.19289060e+01] [ 7.39468283e-01 -6.73141173e-01 -8.22313039e-03 -2.51343395e+02] [ 1.11113201e-02 -9.14209757e-06 9.99938267e-01 -2.78920468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.036559995 meters 0.01406101961428118 Centerline is valid? [True, True] Translation: X:-91.95, Y:-251.32, Z:-2.79 [[-6.73819944e-01 -7.38856616e-01 7.58845812e-03 -9.19459900e+01] [ 7.38809487e-01 -6.73862672e-01 -8.34508883e-03 -2.51323949e+02] [ 1.12794028e-02 -1.66624309e-05 9.99936385e-01 -2.79044040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.0665599949999 meters 0.013952100170583737 Centerline is valid? [True, True] Translation: X:-91.96, Y:-251.30, Z:-2.79 [[-6.74448256e-01 -7.38282621e-01 7.63684324e-03 -9.19639745e+01] [ 7.38234912e-01 -6.74491491e-01 -8.39302392e-03 -2.51303568e+02] [ 1.13474095e-02 -2.28760452e-05 9.99935616e-01 -2.78951971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.0965599949999 meters 0.014065289785092002 Centerline is valid? [True, True] Translation: X:-91.98, Y:-251.28, Z:-2.79 [[-6.75303717e-01 -7.37501897e-01 7.47281329e-03 -9.19812692e+01] [ 7.37456228e-01 -6.75345061e-01 -8.20734629e-03 -2.51283232e+02] [ 1.10996610e-02 -3.15787583e-05 9.99938396e-01 -2.79003396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.126559995 meters 0.014014939453345948 Centerline is valid? [True, True] Translation: X:-92.00, Y:-251.26, Z:-2.79 [[-6.75345716e-01 -7.37463264e-01 7.48989888e-03 -9.19998534e+01] [ 7.37417441e-01 -6.75387247e-01 -8.22099160e-03 -2.51262846e+02] [ 1.11212615e-02 -2.88293913e-05 9.99938157e-01 -2.78969230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.156559995 meters 0.014028591600352643 Centerline is valid? [True, True] Translation: X:-92.02, Y:-251.24, Z:-2.79 [[-6.75185284e-01 -7.37610288e-01 7.47635924e-03 -9.20180139e+01] [ 7.37564696e-01 -6.75226675e-01 -8.20102530e-03 -2.51243094e+02] [ 1.10973978e-02 -2.29129664e-05 9.99938422e-01 -2.78976809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.1865599949999 meters 0.014012310408954357 Centerline is valid? [True, True] Translation: X:-92.04, Y:-251.22, Z:-2.79 [[-6.74898998e-01 -7.37873678e-01 7.33336041e-03 -9.20364900e+01] [ 7.37829884e-01 -6.74938838e-01 -8.03915023e-03 -2.51223640e+02] [ 1.08814471e-02 -1.48419727e-05 9.99940795e-01 -2.78945589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.2165599949999 meters 0.013979627054363052 Centerline is valid? [True, True] Translation: X:-92.06, Y:-251.21, Z:-2.79 [[-6.73044358e-01 -7.39570947e-01 6.79020352e-03 -9.20557946e+01] [ 7.39533535e-01 -6.73078609e-01 -7.43885711e-03 -2.51205319e+02] [ 1.00719033e-02 1.49024059e-05 9.99949277e-01 -2.78873091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.246559995 meters 0.014082784992007928 Centerline is valid? [True, True] Translation: X:-92.08, Y:-251.19, Z:-2.79 [[-6.72008882e-01 -7.40510115e-01 6.98804359e-03 -9.20752943e+01] [ 7.40470590e-01 -6.72045214e-01 -7.65092459e-03 -2.51185767e+02] [ 1.03618683e-02 3.29514751e-05 9.99946314e-01 -2.78880953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.276559995 meters 0.014413641246350759 Centerline is valid? [True, True] Translation: X:-92.10, Y:-251.17, Z:-2.79 [[-6.69738693e-01 -7.42560281e-01 7.36973937e-03 -9.20961833e+01] [ 7.42516492e-01 -6.69779235e-01 -8.06445044e-03 -2.51166252e+02] [ 1.09244390e-02 7.10785294e-05 9.99940324e-01 -2.78939107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.3065599949999 meters 0.014756472315577893 Centerline is valid? [True, True] Translation: X:-92.11, Y:-251.15, Z:-2.79 [[-6.68866148e-01 -7.43347047e-01 7.29691933e-03 -9.21146093e+01] [ 7.43304220e-01 -6.68905943e-01 -7.97967164e-03 -2.51148027e+02] [ 1.08126181e-02 8.64987023e-05 9.99941538e-01 -2.78999242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.3365599949999 meters 0.014874568087236561 Centerline is valid? [True, True] Translation: X:-92.13, Y:-251.13, Z:-2.79 [[-6.67941671e-01 -7.44178397e-01 7.24132654e-03 -9.21333119e+01] [ 7.44136321e-01 -6.67980915e-01 -7.91410749e-03 -2.51128712e+02] [ 1.07265758e-02 1.02371910e-04 9.99942463e-01 -2.78940539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.366559995 meters 0.015060872581920012 Centerline is valid? [True, True] Translation: X:-92.15, Y:-251.11, Z:-2.79 [[-6.67177489e-01 -7.44865470e-01 7.04486493e-03 -9.21526561e+01] [ 7.44825733e-01 -6.67214672e-01 -7.69475514e-03 -2.51109378e+02] [ 1.04319946e-02 1.13429270e-04 9.99945579e-01 -2.78929578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.396559995 meters 0.01536811088902662 Centerline is valid? [True, True] Translation: X:-92.17, Y:-251.09, Z:-2.79 [[-6.66201956e-01 -7.45737720e-01 7.08568715e-03 -9.21734230e+01] [ 7.45697614e-01 -6.66239623e-01 -7.73520031e-03 -2.51089889e+02] [ 1.04891962e-02 1.30574420e-04 9.99944978e-01 -2.78980270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.4265599949999 meters 0.01566125901303311 Centerline is valid? [True, True] Translation: X:-92.19, Y:-251.07, Z:-2.79 [[-6.66179039e-01 -7.45759892e-01 6.90448971e-03 -9.21919176e+01] [ 7.45721860e-01 -6.66214805e-01 -7.53264273e-03 -2.51070647e+02] [ 1.02174161e-02 1.30740212e-04 9.99947792e-01 -2.78993882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.4565599949999 meters 0.01550491475498782 Centerline is valid? [True, True] Translation: X:-92.21, Y:-251.05, Z:-2.79 [[-6.66900199e-01 -7.45118006e-01 6.57883535e-03 -9.22098841e+01] [ 7.45083487e-01 -6.66932637e-01 -7.17315276e-03 -2.51050378e+02] [ 9.73248529e-03 1.18004579e-04 9.99952631e-01 -2.78943991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.486559995 meters 0.014525631074024272 Centerline is valid? [True, True] Translation: X:-92.23, Y:-251.03, Z:-2.79 [[-6.69312178e-01 -7.42958268e-01 5.84980865e-03 -9.22260664e+01] [ 7.42930923e-01 -6.69337737e-01 -6.37480316e-03 -2.51026938e+02] [ 8.65171040e-03 7.92703456e-05 9.99962570e-01 -2.78802392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.516559995 meters 0.014156935717550702 Centerline is valid? [True, True] Translation: X:-92.24, Y:-251.01, Z:-2.79 [[-6.71247299e-01 -7.41209885e-01 5.91345102e-03 -9.22428818e+01] [ 7.41181909e-01 -6.71273344e-01 -6.44018734e-03 -2.51005015e+02] [ 8.74307256e-03 5.99845516e-05 9.99961777e-01 -2.78776862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.5465599949999 meters 0.01381211310325917 Centerline is valid? [True, True] Translation: X:-92.26, Y:-250.98, Z:-2.79 [[-6.75462608e-01 -7.37371421e-01 5.80104172e-03 -9.22566365e+01] [ 7.37344390e-01 -6.75487518e-01 -6.31368971e-03 -2.50982310e+02] [ 8.57406563e-03 1.27042512e-05 9.99963242e-01 -2.78831143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.5765599949999 meters 0.013791576883118023 Centerline is valid? [True, True] Translation: X:-92.27, Y:-250.96, Z:-2.79 [[-6.77683343e-01 -7.35330108e-01 5.90927367e-03 -9.22732100e+01] [ 7.35302016e-01 -6.77709106e-01 -6.42750438e-03 -2.50961067e+02] [ 8.73110606e-03 -1.07118112e-05 9.99961883e-01 -2.78812758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.606559995 meters 0.014030183337579143 Centerline is valid? [True, True] Translation: X:-92.29, Y:-250.94, Z:-2.79 [[-6.82455268e-01 -7.30901571e-01 6.14017280e-03 -9.22890276e+01] [ 7.30871094e-01 -6.82482886e-01 -6.67488021e-03 -2.50936942e+02] [ 9.06924328e-03 -6.76323452e-05 9.99958871e-01 -2.78800178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.636559995 meters 0.01449954157065179 Centerline is valid? [True, True] Translation: X:-92.31, Y:-250.92, Z:-2.79 [[-6.84531984e-01 -7.28956628e-01 6.18049359e-03 -9.23052013e+01] [ 7.28925694e-01 -6.84559878e-01 -6.71607326e-03 -2.50915766e+02] [ 9.12664405e-03 -9.22463677e-05 9.99958347e-01 -2.78829111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.666559995 meters 0.014444393718118653 Centerline is valid? [True, True] Translation: X:-92.32, Y:-250.90, Z:-2.79 [[-6.85686335e-01 -7.27874243e-01 5.77375728e-03 -9.23244200e+01] [ 7.27847242e-01 -6.85710636e-01 -6.27016182e-03 -2.50896745e+02] [ 8.52301607e-03 -9.69509621e-05 9.99963674e-01 -2.78769783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.6965599949999 meters 0.014444393718118653 Centerline is valid? [True, True] Translation: X:-92.34, Y:-250.88, Z:-2.79 [[-6.85913532e-01 -7.27660132e-01 5.77571452e-03 -9.23426264e+01] [ 7.27633139e-01 -6.85937842e-01 -6.26835897e-03 -2.50877122e+02] [ 8.52301606e-03 -9.69509568e-05 9.99963674e-01 -2.78769727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.726559995 meters 0.014764880716783219 Centerline is valid? [True, True] Translation: X:-92.36, Y:-250.86, Z:-2.79 [[-6.87739407e-01 -7.25933816e-01 5.88248785e-03 -9.23617773e+01] [ 7.25905783e-01 -6.87764554e-01 -6.38068804e-03 -2.50856630e+02] [ 8.67772384e-03 -1.18118657e-04 9.99962341e-01 -2.78824892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.756559995 meters 0.014998743192684487 Centerline is valid? [True, True] Translation: X:-92.38, Y:-250.84, Z:-2.79 [[-6.88458959e-01 -7.25248787e-01 6.20148977e-03 -9.23790194e+01] [ 7.25217644e-01 -6.88486877e-01 -6.72230103e-03 -2.50837024e+02] [ 9.14498499e-03 -1.30598572e-04 9.99958175e-01 -2.78840781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.786559995 meters 0.015243049561772252 Centerline is valid? [True, True] Translation: X:-92.40, Y:-250.82, Z:-2.79 [[-6.89150206e-01 -7.24589136e-01 6.52516910e-03 -9.23969937e+01] [ 7.24554671e-01 -6.89181082e-01 -7.06856783e-03 -2.50817815e+02] [ 9.61883055e-03 -1.43463228e-04 9.99953728e-01 -2.78933381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.8165599949999 meters 0.015310597255356858 Centerline is valid? [True, True] Translation: X:-92.42, Y:-250.80, Z:-2.79 [[-6.89211412e-01 -7.24525745e-01 7.07632007e-03 -9.24158112e+01] [ 7.24485258e-01 -6.89247721e-01 -7.66093116e-03 -2.50798177e+02] [ 1.04278793e-02 -1.53311615e-04 9.99945617e-01 -2.78966760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.8465599949999 meters 0.015357184971103595 Centerline is valid? [True, True] Translation: X:-92.43, Y:-250.78, Z:-2.79 [[-6.89381769e-01 -7.24361864e-01 7.25721452e-03 -9.24347491e+01] [ 7.24319322e-01 -6.89419949e-01 -7.85199710e-03 -2.50779171e+02] [ 1.06909557e-02 -1.56482943e-04 9.99942838e-01 -2.79018110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.876559995 meters 0.014943126121596205 Centerline is valid? [True, True] Translation: X:-92.46, Y:-250.76, Z:-2.79 [[-6.89424817e-01 -7.24317583e-01 7.58028624e-03 -9.24550178e+01] [ 7.24271224e-01 -6.89466470e-01 -8.19640623e-03 -2.50761123e+02] [ 1.11631543e-02 -1.60622672e-04 9.99937677e-01 -2.78967453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.906559995 meters 0.014645948920578016 Centerline is valid? [True, True] Translation: X:-92.48, Y:-250.74, Z:-2.79 [[-6.88793388e-01 -7.24924702e-01 6.91702957e-03 -9.24773739e+01] [ 7.24886175e-01 -6.88828105e-01 -7.47503382e-03 -2.50743176e+02] [ 1.01834810e-02 -1.34694766e-04 9.99948138e-01 -2.78899354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.9365599949999 meters 0.014634855467692066 Centerline is valid? [True, True] Translation: X:-92.50, Y:-250.72, Z:-2.79 [[-6.88664345e-01 -7.25048809e-01 6.75603425e-03 -9.24964138e+01] [ 7.25012103e-01 -6.88697472e-01 -7.29673986e-03 -2.50724109e+02] [ 9.94335626e-03 -1.26797981e-04 9.99950556e-01 -2.78869939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.9665599949999 meters 0.014330669238373825 Centerline is valid? [True, True] Translation: X:-92.52, Y:-250.70, Z:-2.79 [[-6.88224561e-01 -7.25475106e-01 5.72922723e-03 -9.25163887e+01] [ 7.25448753e-01 -6.88248401e-01 -6.18429648e-03 -2.50704481e+02] [ 8.42968463e-03 -9.99239813e-05 9.99964465e-01 -2.78658389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.996559995 meters 0.014232092605113962 Centerline is valid? [True, True] Translation: X:-92.54, Y:-250.69, Z:-2.79 [[-6.87967259e-01 -7.25723323e-01 5.16810416e-03 -9.25356470e+01] [ 7.25701913e-01 -6.87986666e-01 -5.57511617e-03 -2.50685307e+02] [ 7.60157858e-03 -8.49943183e-05 9.99971104e-01 -2.78555570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.026559995 meters 0.014105321855655668 Centerline is valid? [True, True] Translation: X:-92.55, Y:-250.67, Z:-2.79 [[-6.87722772e-01 -7.25958114e-01 4.71217853e-03 -9.25545055e+01] [ 7.25940344e-01 -6.87738912e-01 -5.07995588e-03 -2.50666999e+02] [ 6.92858373e-03 -7.28408386e-05 9.99975995e-01 -2.78535572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.0565599949999 meters 0.013996841006507575 Centerline is valid? [True, True] Translation: X:-92.57, Y:-250.65, Z:-2.79 [[-6.87267289e-01 -7.26389945e-01 4.61753449e-03 -9.25746267e+01] [ 7.26372912e-01 -6.87282798e-01 -4.97483743e-03 -2.50647971e+02] [ 6.78722390e-03 -6.49910600e-05 9.99976965e-01 -2.78514360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.0865599949999 meters 0.013703128082516763 Centerline is valid? [True, True] Translation: X:-92.60, Y:-250.63, Z:-2.78 [[-6.85523219e-01 -7.28037625e-01 4.37412568e-03 -9.25958960e+01] [ 7.28022393e-01 -6.85537172e-01 -4.70968614e-03 -2.50630873e+02] [ 6.42745447e-03 -4.41377541e-05 9.99979343e-01 -2.78481906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.116559995 meters 0.013556316435793789 Centerline is valid? [True, True] Translation: X:-92.62, Y:-250.61, Z:-2.78 [[-6.84774328e-01 -7.28745119e-01 3.83026265e-03 -9.26163062e+01] [ 7.28733465e-01 -6.84785039e-01 -4.12157549e-03 -2.50612368e+02] [ 5.62648458e-03 -3.11085136e-05 9.99984171e-01 -2.78469702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.146559995 meters 0.013405302670662839 Centerline is valid? [True, True] Translation: X:-92.64, Y:-250.60, Z:-2.78 [[-6.82882085e-01 -7.30520126e-01 3.52192232e-03 -9.26383407e+01] [ 7.30510308e-01 -6.82891167e-01 -3.78743802e-03 -2.50595129e+02] [ 5.17188934e-03 -1.35730191e-05 9.99986626e-01 -2.78399469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.1765599949999 meters 0.013405302670662839 Centerline is valid? [True, True] Translation: X:-92.66, Y:-250.58, Z:-2.78 [[-6.83107781e-01 -7.30309077e-01 3.52309247e-03 -9.26566400e+01] [ 7.30299262e-01 -6.83116865e-01 -3.78634957e-03 -2.50575608e+02] [ 5.17188934e-03 -1.35730208e-05 9.99986626e-01 -2.78399413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.2065599949999 meters 0.013364102232242027 Centerline is valid? [True, True] Translation: X:-92.68, Y:-250.56, Z:-2.78 [[-6.82296476e-01 -7.31067994e-01 3.33289606e-03 -9.26775315e+01] [ 7.31059228e-01 -6.82304616e-01 -3.57993428e-03 -2.50556377e+02] [ 4.89122574e-03 -6.03212023e-06 9.99988038e-01 -2.78387569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.236559995 meters 0.013317198510232447 Centerline is valid? [True, True] Translation: X:-92.70, Y:-250.54, Z:-2.78 [[-6.81623946e-01 -7.31695219e-01 3.30185421e-03 -9.26967541e+01] [ 7.31686635e-01 -6.81631943e-01 -3.54425234e-03 -2.50538753e+02] [ 4.84396180e-03 7.53301404e-08 9.99988268e-01 -2.78384663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.266559995 meters 0.013320330161781035 Centerline is valid? [True, True] Translation: X:-92.72, Y:-250.52, Z:-2.78 [[-6.80955588e-01 -7.32316410e-01 3.48753587e-03 -9.27164730e+01] [ 7.32306854e-01 -6.80964519e-01 -3.74113383e-03 -2.50521295e+02] [ 5.11458188e-03 6.40042958e-06 9.99986921e-01 -2.78411437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.2965599949999 meters 0.013310764435838271 Centerline is valid? [True, True] Translation: X:-92.74, Y:-250.50, Z:-2.78 [[-6.80253521e-01 -7.32968886e-01 3.42915146e-03 -9.27366428e+01] [ 7.32959667e-01 -6.80262164e-01 -3.67619478e-03 -2.50502731e+02] [ 5.02725839e-03 1.26852753e-05 9.99987363e-01 -2.78393738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.3265599949999 meters 0.013457607980096898 Centerline is valid? [True, True] Translation: X:-92.76, Y:-250.49, Z:-2.78 [[-6.78679111e-01 -7.34424656e-01 3.88441375e-03 -9.27578949e+01] [ 7.34412866e-01 -6.78690227e-01 -4.16165580e-03 -2.50485270e+02] [ 5.69273628e-03 2.83345762e-05 9.99983796e-01 -2.78387250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.356559995 meters 0.013648918518963667 Centerline is valid? [True, True] Translation: X:-92.78, Y:-250.47, Z:-2.78 [[-6.78001071e-01 -7.35048659e-01 4.24467063e-03 -9.27774614e+01] [ 7.35034609e-01 -6.78014356e-01 -4.54500338e-03 -2.50468294e+02] [ 6.21874627e-03 3.84626563e-05 9.99980663e-01 -2.78443472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.386559995 meters 0.013692417473377731 Centerline is valid? [True, True] Translation: X:-92.80, Y:-250.45, Z:-2.78 [[-6.77275112e-01 -7.35715509e-01 4.59477189e-03 -9.27975526e+01] [ 7.35699082e-01 -6.77290696e-01 -4.91669155e-03 -2.50450451e+02] [ 6.72928248e-03 5.04166454e-05 9.99977357e-01 -2.78457757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.416559995 meters 0.013886927543308175 Centerline is valid? [True, True] Translation: X:-92.82, Y:-250.43, Z:-2.78 [[-6.76035620e-01 -7.36854021e-01 4.68968429e-03 -9.28198994e+01] [ 7.36836957e-01 -6.76051883e-01 -5.01513508e-03 -2.50433605e+02] [ 6.86589234e-03 6.51227450e-05 9.99976427e-01 -2.78485139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.4465599949999 meters 0.013911487060249672 Centerline is valid? [True, True] Translation: X:-92.84, Y:-250.41, Z:-2.78 [[-6.75916254e-01 -7.36961706e-01 4.96601424e-03 -9.28400190e+01] [ 7.36942599e-01 -6.75934493e-01 -5.30734837e-03 -2.50414537e+02] [ 7.26801283e-03 7.23444128e-05 9.99973585e-01 -2.78468506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.476559995 meters 0.013809163256036861 Centerline is valid? [True, True] Translation: X:-92.86, Y:-250.40, Z:-2.78 [[-6.75913417e-01 -7.36961277e-01 5.39724684e-03 -9.28596044e+01] [ 7.36938735e-01 -6.75934960e-01 -5.76459398e-03 -2.50395652e+02] [ 7.89647037e-03 8.10738485e-05 9.99968819e-01 -2.78470361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.506559995 meters 0.01372508513623032 Centerline is valid? [True, True] Translation: X:-92.88, Y:-250.38, Z:-2.78 [[-6.76062824e-01 -7.36821661e-01 5.73567266e-03 -9.28785901e+01] [ 7.36796228e-01 -6.76087149e-01 -6.12258222e-03 -2.50375098e+02] [ 8.38906578e-03 8.67717508e-05 9.99964808e-01 -2.78457595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.536559995 meters 0.013730694122467604 Centerline is valid? [True, True] Translation: X:-92.90, Y:-250.36, Z:-2.78 [[-6.76537372e-01 -7.36383042e-01 6.09913799e-03 -9.28973389e+01] [ 7.36354300e-01 -6.76564858e-01 -6.50667818e-03 -2.50355532e+02] [ 8.91786990e-03 8.91155252e-05 9.99960231e-01 -2.78452317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.5665599949999 meters 0.013936448524569383 Centerline is valid? [True, True] Translation: X:-92.92, Y:-250.34, Z:-2.78 [[-6.76823402e-01 -7.36119662e-01 6.15849118e-03 -9.29162719e+01] [ 7.36090376e-01 -6.76851414e-01 -6.56679339e-03 -2.50337507e+02] [ 9.00232919e-03 8.86466438e-05 9.99959474e-01 -2.78477473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.5965599949999 meters 0.014012580287288643 Centerline is valid? [True, True] Translation: X:-92.94, Y:-250.32, Z:-2.79 [[-6.77040596e-01 -7.35919317e-01 6.22814059e-03 -9.29353448e+01] [ 7.35889395e-01 -6.77069236e-01 -6.63687124e-03 -2.50318939e+02] [ 9.10108415e-03 8.97913472e-05 9.99958580e-01 -2.78504947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.626559995 meters 0.013887901694178462 Centerline is valid? [True, True] Translation: X:-92.95, Y:-250.30, Z:-2.79 [[-6.77414803e-01 -7.35575390e-01 6.16687901e-03 -9.29544397e+01] [ 7.35546074e-01 -6.77442867e-01 -6.56765983e-03 -2.50299934e+02] [ 9.00871714e-03 8.69936486e-05 9.99959417e-01 -2.78535175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.656559995 meters 0.013860993523036396 Centerline is valid? [True, True] Translation: X:-92.97, Y:-250.28, Z:-2.79 [[-6.78095947e-01 -7.34948113e-01 6.09579972e-03 -9.29726214e+01] [ 7.34919470e-01 -6.78123341e-01 -6.48895867e-03 -2.50281436e+02] [ 8.90275200e-03 7.97853279e-05 9.99960367e-01 -2.78548010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.6865599949999 meters 0.013733542010313038 Centerline is valid? [True, True] Translation: X:-92.99, Y:-250.26, Z:-2.78 [[-6.78761046e-01 -7.34333983e-01 6.08631377e-03 -9.29905803e+01] [ 7.34305439e-01 -6.78788329e-01 -6.47509251e-03 -2.50261243e+02] [ 8.88619923e-03 7.41727362e-05 9.99960514e-01 -2.78480079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.7165599949999 meters 0.013025595525162342 Centerline is valid? [True, True] Translation: X:-93.01, Y:-250.24, Z:-2.78 [[-6.80164854e-01 -7.33035397e-01 5.90589702e-03 -9.30075288e+01] [ 7.33008501e-01 -6.80190491e-01 -6.27962127e-03 -2.50239003e+02] [ 8.62031967e-03 5.78950400e-05 9.99962843e-01 -2.78222446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.746559995 meters 0.013107597301044346 Centerline is valid? [True, True] Translation: X:-93.03, Y:-250.22, Z:-2.78 [[-6.81136330e-01 -7.32131451e-01 6.06952128e-03 -9.30253993e+01] [ 7.32103046e-01 -6.81163370e-01 -6.44933071e-03 -2.50219785e+02] [ 8.85609341e-03 5.06415602e-05 9.99960783e-01 -2.78299778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.776559995 meters 0.012878816167694363 Centerline is valid? [True, True] Translation: X:-93.04, Y:-250.20, Z:-2.78 [[-6.82147378e-01 -7.31187208e-01 6.34200950e-03 -9.30445141e+01] [ 7.31156190e-01 -6.82176858e-01 -6.73505069e-03 -2.50198848e+02] [ 9.25095503e-03 4.27023351e-05 9.99957208e-01 -2.78294350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.8065599949999 meters 0.012817922071414854 Centerline is valid? [True, True] Translation: X:-93.06, Y:-250.18, Z:-2.78 [[-6.83002021e-01 -7.30385761e-01 6.69921792e-03 -9.30640652e+01] [ 7.30351151e-01 -6.83034874e-01 -7.11038862e-03 -2.50178369e+02] [ 9.76912607e-03 3.63717235e-05 9.99952280e-01 -2.78373143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.8365599949999 meters 0.012760278973721183 Centerline is valid? [True, True] Translation: X:-93.08, Y:-250.16, Z:-2.78 [[-6.84461743e-01 -7.29009054e-01 7.61058278e-03 -9.30817621e+01] [ 7.28964354e-01 -6.84504053e-01 -8.07289799e-03 -2.50158476e+02] [ 1.10946905e-02 2.22537323e-05 9.99938452e-01 -2.78478491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.866559995 meters 0.012647593378379906 Centerline is valid? [True, True] Translation: X:-93.10, Y:-250.14, Z:-2.78 [[-6.85386477e-01 -7.28139278e-01 7.65306072e-03 -9.30998927e+01] [ 7.28094080e-01 -6.85429202e-01 -8.11286872e-03 -2.50137868e+02] [ 1.11529297e-02 1.16977042e-05 9.99937804e-01 -2.78405345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.896559995 meters 0.012690435237967394 Centerline is valid? [True, True] Translation: X:-93.12, Y:-250.12, Z:-2.78 [[-6.86190602e-01 -7.27382238e-01 7.58539720e-03 -9.31170913e+01] [ 7.27337848e-01 -6.86232527e-01 -8.03586272e-03 -2.50118627e+02] [ 1.10504901e-02 3.01299142e-06 9.99938942e-01 -2.78371433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.9265599949999 meters 0.012705924871837962 Centerline is valid? [True, True] Translation: X:-93.13, Y:-250.10, Z:-2.79 [[-6.87019633e-01 -7.26595320e-01 7.95390243e-03 -9.31349438e+01] [ 7.26546523e-01 -6.87065675e-01 -8.42076734e-03 -2.50099121e+02] [ 1.15833435e-02 -6.35233624e-06 9.99932911e-01 -2.78526453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.9565599949999 meters 0.012596043400735921 Centerline is valid? [True, True] Translation: X:-93.15, Y:-250.08, Z:-2.78 [[-6.87390088e-01 -7.26242162e-01 8.19694490e-03 -9.31536601e+01] [ 7.26190376e-01 -6.87438959e-01 -8.67265786e-03 -2.50079843e+02] [ 1.19333491e-02 -8.95654689e-06 9.99928795e-01 -2.78403502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.986559995 meters 0.012487359880551963 Centerline is valid? [True, True] Translation: X:-93.17, Y:-250.06, Z:-2.78 [[-6.87755398e-01 -7.25896802e-01 8.14524509e-03 -9.31728307e+01] [ 7.25845701e-01 -6.87803630e-01 -8.61307699e-03 -2.50059933e+02] [ 1.18545342e-02 -1.14990618e-05 9.99929733e-01 -2.78334413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.016559995 meters 0.012481303926761778 Centerline is valid? [True, True] Translation: X:-93.19, Y:-250.04, Z:-2.78 [[-6.88148082e-01 -7.25528518e-01 7.78379937e-03 -9.31916552e+01] [ 7.25481884e-01 -6.88192103e-01 -8.22595894e-03 -2.50040354e+02] [ 1.13249170e-02 -1.36724352e-05 9.99935871e-01 -2.78327080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.0465599949999 meters 0.012397857142028202 Centerline is valid? [True, True] Translation: X:-93.21, Y:-250.02, Z:-2.78 [[-6.88171628e-01 -7.25510329e-01 7.38730706e-03 -9.32102245e+01] [ 7.25468377e-01 -6.88211277e-01 -7.80207330e-03 -2.50019797e+02] [ 1.07445128e-02 -9.90782555e-06 9.99942276e-01 -2.78225850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.0765599949999 meters 0.012422862527994469 Centerline is valid? [True, True] Translation: X:-93.23, Y:-250.00, Z:-2.78 [[-6.88324125e-01 -7.25362726e-01 7.66903057e-03 -9.32291146e+01] [ 7.25317560e-01 -6.88366846e-01 -8.09459598e-03 -2.49999556e+02] [ 1.11506246e-02 -9.22316345e-06 9.99937830e-01 -2.78232205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.106559995 meters 0.012383773614127926 Centerline is valid? [True, True] Translation: X:-93.25, Y:-249.98, Z:-2.78 [[-6.87811438e-01 -7.25845798e-01 7.95641281e-03 -9.32476224e+01] [ 7.25797278e-01 -6.87857455e-01 -8.39247818e-03 -2.49981150e+02] [ 1.15645229e-02 2.30027223e-06 9.99933129e-01 -2.78317715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.136559995 meters 0.012386206429211677 Centerline is valid? [True, True] Translation: X:-93.27, Y:-249.96, Z:-2.78 [[-6.87571192e-01 -7.26073552e-01 7.94061042e-03 -9.32666947e+01] [ 7.26025299e-01 -6.87617042e-01 -8.37070347e-03 -2.49962243e+02] [ 1.15378455e-02 9.62948815e-06 9.99933437e-01 -2.78334159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.166559995 meters 0.012320487572952966 Centerline is valid? [True, True] Translation: X:-93.29, Y:-249.94, Z:-2.78 [[-6.87505841e-01 -7.26139589e-01 7.55084223e-03 -9.32859958e+01] [ 7.26096014e-01 -6.87547305e-01 -7.95500115e-03 -2.49942761e+02] [ 1.09680025e-02 1.35266882e-05 9.99939850e-01 -2.78325299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.1965599949999 meters 0.01211266744750078 Centerline is valid? [True, True] Translation: X:-93.31, Y:-249.92, Z:-2.78 [[-6.87306066e-01 -7.26338203e-01 6.57172137e-03 -9.33051316e+01] [ 7.26305242e-01 -6.87337483e-01 -6.91958971e-03 -2.49921689e+02] [ 9.54295277e-03 1.71996981e-05 9.99954465e-01 -2.78071655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.226559995 meters 0.012115671838814714 Centerline is valid? [True, True] Translation: X:-93.32, Y:-249.90, Z:-2.78 [[-6.87465715e-01 -7.26192071e-01 5.99728732e-03 -9.33238053e+01] [ 7.26164646e-01 -6.87491873e-01 -6.31121487e-03 -2.49901279e+02] [ 8.70624049e-03 1.62741779e-05 9.99962100e-01 -2.78041689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.256559995 meters 0.012093674491267985 Centerline is valid? [True, True] Translation: X:-93.34, Y:-249.88, Z:-2.78 [[-6.87600469e-01 -7.26065333e-01 5.89291274e-03 -9.33425717e+01] [ 7.26038883e-01 -6.87625720e-01 -6.19749184e-03 -2.49881215e+02] [ 8.55190235e-03 1.70854845e-05 9.99963432e-01 -2.78051346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.286559995 meters 0.012071541387500016 Centerline is valid? [True, True] Translation: X:-93.36, Y:-249.86, Z:-2.78 [[-6.87690262e-01 -7.25980261e-01 5.89618592e-03 -9.33617152e+01] [ 7.25953811e-01 -6.87715538e-01 -6.19704533e-03 -2.49861490e+02] [ 8.55383125e-03 1.87109154e-05 9.99963415e-01 -2.78060954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.3165599949999 meters 0.01209815071593002 Centerline is valid? [True, True] Translation: X:-93.38, Y:-249.84, Z:-2.78 [[-6.86897711e-01 -7.26731246e-01 5.76465290e-03 -9.33807751e+01] [ 7.26706023e-01 -6.86921899e-01 -6.05482446e-03 -2.49842896e+02] [ 8.36009644e-03 3.01629179e-05 9.99965053e-01 -2.78175066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.3465599949999 meters 0.012162227603257064 Centerline is valid? [True, True] Translation: X:-93.40, Y:-249.82, Z:-2.78 [[-6.86422215e-01 -7.27181040e-01 5.68132496e-03 -9.34004252e+01] [ 7.27156584e-01 -6.86445725e-01 -5.96394665e-03 -2.49822184e+02] [ 8.23679016e-03 3.74273778e-05 9.99966076e-01 -2.78138179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.376559995 meters 0.012279697910415506 Centerline is valid? [True, True] Translation: X:-93.42, Y:-249.80, Z:-2.78 [[-6.85662855e-01 -7.27902333e-01 4.96410060e-03 -9.34194480e+01] [ 7.27883706e-01 -6.85680824e-01 -5.20759761e-03 -2.49803671e+02] [ 7.19441104e-03 4.26316909e-05 9.99974119e-01 -2.78142065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.406559995 meters 0.012260114753523949 Centerline is valid? [True, True] Translation: X:-93.44, Y:-249.79, Z:-2.78 [[-6.85580926e-01 -7.27980713e-01 4.78270315e-03 -9.34380085e+01] [ 7.27963447e-01 -6.85597607e-01 -5.01400965e-03 -2.49785681e+02] [ 6.92911216e-03 4.41236936e-05 9.99975993e-01 -2.78177441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.4365599949999 meters 0.012312210968909712 Centerline is valid? [True, True] Translation: X:-93.46, Y:-249.77, Z:-2.78 [[-6.85167113e-01 -7.28369485e-01 4.89079024e-03 -9.34569373e+01] [ 7.28351463e-01 -6.85184567e-01 -5.12412372e-03 -2.49766360e+02] [ 7.08334935e-03 5.13331717e-05 9.99974912e-01 -2.78230601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.4665599949999 meters 0.01245711741925268 Centerline is valid? [True, True] Translation: X:-93.48, Y:-249.75, Z:-2.78 [[-6.84743702e-01 -7.28764426e-01 5.33617026e-03 -9.34758533e+01] [ 7.28743010e-01 -6.84764491e-01 -5.58728176e-03 -2.49746720e+02] [ 7.72583209e-03 6.28407789e-05 9.99970153e-01 -2.78316857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.496559995 meters 0.013032971127031565 Centerline is valid? [True, True] Translation: X:-93.49, Y:-249.73, Z:-2.78 [[-6.83698140e-01 -7.29740107e-01 6.01921159e-03 -9.34944964e+01] [ 7.29712927e-01 -6.83724630e-01 -6.29879156e-03 -2.49727462e+02] [ 8.71196404e-03 8.58244360e-05 9.99962047e-01 -2.78448772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.526559995 meters 0.012933196540195707 Centerline is valid? [True, True] Translation: X:-93.51, Y:-249.71, Z:-2.78 [[-6.83446802e-01 -7.29976474e-01 5.90056544e-03 -9.35132459e+01] [ 7.29950396e-01 -6.83472267e-01 -6.17086106e-03 -2.49707147e+02] [ 8.53745624e-03 8.96648272e-05 9.99963551e-01 -2.78419778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.5565599949999 meters 0.012669640326211191 Centerline is valid? [True, True] Translation: X:-93.53, Y:-249.69, Z:-2.78 [[-6.83011150e-01 -7.30385595e-01 5.71422025e-03 -9.35315542e+01] [ 7.30361183e-01 -6.83035046e-01 -5.97232675e-03 -2.49686483e+02] [ 8.26511412e-03 9.42789054e-05 9.99965839e-01 -2.78316768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.5865599949999 meters 0.013368405631621063 Centerline is valid? [True, True] Translation: X:-93.55, Y:-249.67, Z:-2.78 [[-6.81868148e-01 -7.31451784e-01 5.84093192e-03 -9.35516687e+01] [ 7.31426343e-01 -6.81893155e-01 -6.10163795e-03 -2.49667277e+02] [ 8.44594546e-03 1.11698910e-04 9.99964326e-01 -2.78433677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.616559995 meters 0.01331826978986445 Centerline is valid? [True, True] Translation: X:-93.57, Y:-249.65, Z:-2.78 [[-6.81354217e-01 -7.31929087e-01 6.02022428e-03 -9.35709299e+01] [ 7.31902109e-01 -6.81380802e-01 -6.28538729e-03 -2.49646472e+02] [ 8.70252302e-03 1.23639712e-04 9.99962125e-01 -2.78433421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.646559995 meters 0.014287088964130444 Centerline is valid? [True, True] Translation: X:-93.59, Y:-249.63, Z:-2.79 [[-6.80384122e-01 -7.32827606e-01 6.41450813e-03 -9.35899544e+01] [ 7.32797056e-01 -6.80414343e-01 -6.69305936e-03 -2.49626572e+02] [ 9.26938200e-03 1.46681358e-04 9.99957028e-01 -2.78544079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.6765599949999 meters 0.01376298038912498 Centerline is valid? [True, True] Translation: X:-93.61, Y:-249.61, Z:-2.78 [[-6.80137121e-01 -7.33053449e-01 6.79252340e-03 -9.36073049e+01] [ 7.33019244e-01 -6.80171019e-01 -7.08323430e-03 -2.49605009e+02] [ 9.81246689e-03 1.61479785e-04 9.99951844e-01 -2.78490650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.7065599949999 meters 0.015008869203405526 Centerline is valid? [True, True] Translation: X:-93.63, Y:-249.59, Z:-2.79 [[-6.79998987e-01 -7.33180376e-01 6.92203235e-03 -9.36273782e+01] [ 7.33144904e-01 -6.80034196e-01 -7.21398579e-03 -2.49586413e+02] [ 9.99637151e-03 1.69349715e-04 9.99950021e-01 -2.78650385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.736559995 meters 0.014095216543776275 Centerline is valid? [True, True] Translation: X:-93.64, Y:-249.56, Z:-2.79 [[-6.79802173e-01 -7.33360942e-01 7.12283745e-03 -9.36443430e+01] [ 7.33323438e-01 -6.79839464e-01 -7.41882027e-03 -2.49564485e+02] [ 1.02830590e-02 1.80013502e-04 9.99947112e-01 -2.78520440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.766559995 meters 0.014104771402512734 Centerline is valid? [True, True] Translation: X:-93.66, Y:-249.54, Z:-2.78 [[-6.79681925e-01 -7.33472339e-01 7.12807652e-03 -9.36629234e+01] [ 7.33434829e-01 -6.79719276e-01 -7.42008965e-03 -2.49543731e+02] [ 1.02875215e-02 1.84678761e-04 9.99947065e-01 -2.78499870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.7965599949999 meters 0.01440606574969414 Centerline is valid? [True, True] Translation: X:-93.68, Y:-249.52, Z:-2.78 [[-6.79726916e-01 -7.33431949e-01 6.99259349e-03 -9.36807713e+01] [ 7.33395898e-01 -6.79762857e-01 -7.27422106e-03 -2.49524450e+02] [ 1.00884515e-02 1.83855534e-04 9.99949093e-01 -2.78465742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.8265599949999 meters 0.014499239086038404 Centerline is valid? [True, True] Translation: X:-93.70, Y:-249.50, Z:-2.78 [[-6.79745249e-01 -7.33416399e-01 6.83969307e-03 -9.36982030e+01] [ 7.33381951e-01 -6.79779635e-01 -7.11070690e-03 -2.49503497e+02] [ 9.86459311e-03 1.82638213e-04 9.99951327e-01 -2.78362816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.856559995 meters 0.0144453248005761 Centerline is valid? [True, True] Translation: X:-93.72, Y:-249.48, Z:-2.78 [[-6.80053363e-01 -7.33133189e-01 6.56890328e-03 -9.37157175e+01] [ 7.33101442e-01 -6.80085066e-01 -6.82490944e-03 -2.49483153e+02] [ 9.47098064e-03 1.74369846e-04 9.99955134e-01 -2.78289795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.886559995 meters 0.014144897859823615 Centerline is valid? [True, True] Translation: X:-93.73, Y:-249.46, Z:-2.78 [[-6.80297121e-01 -7.32909475e-01 6.28718721e-03 -9.37337627e+01] [ 7.32880417e-01 -6.80326153e-01 -6.52848797e-03 -2.49460890e+02] [ 9.06212857e-03 1.66444814e-04 9.99958924e-01 -2.78166118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.916559995 meters 0.014005043122192092 Centerline is valid? [True, True] Translation: X:-93.75, Y:-249.44, Z:-2.78 [[-6.80846315e-01 -7.32399618e-01 6.25267421e-03 -9.37513998e+01] [ 7.32370890e-01 -6.80875006e-01 -6.48894044e-03 -2.49438365e+02] [ 9.00978709e-03 1.61305392e-04 9.99959398e-01 -2.78091929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.9465599949999 meters 0.014350609975795675 Centerline is valid? [True, True] Translation: X:-93.77, Y:-249.42, Z:-2.78 [[-6.81379579e-01 -7.31899240e-01 6.73582838e-03 -9.37698275e+01] [ 7.31865917e-01 -6.81412851e-01 -6.98613474e-03 -2.49418734e+02] [ 9.70302673e-03 1.69513670e-04 9.99952910e-01 -2.78215023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.976559995 meters 0.014053018160417034 Centerline is valid? [True, True] Translation: X:-93.79, Y:-249.40, Z:-2.78 [[-6.82407936e-01 -7.30932558e-01 7.55014233e-03 -9.37859461e+01] [ 7.30890685e-01 -6.82449679e-01 -7.82578979e-03 -2.49396362e+02] [ 1.08727168e-02 1.77947643e-04 9.99940875e-01 -2.78291204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.006559995 meters 0.014223009636617002 Centerline is valid? [True, True] Translation: X:-93.80, Y:-249.38, Z:-2.78 [[-6.83052256e-01 -7.30325999e-01 7.97188437e-03 -9.38031824e+01] [ 7.30279338e-01 -6.83098750e-01 -8.25750438e-03 -2.49375834e+02] [ 1.14762544e-02 1.81395454e-04 9.99934129e-01 -2.78346334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.036559995 meters 0.013604376999308235 Centerline is valid? [True, True] Translation: X:-93.82, Y:-249.35, Z:-2.78 [[-6.84490989e-01 -7.28965842e-01 8.99371519e-03 -9.38184212e+01] [ 7.28906402e-01 -6.84550048e-01 -9.31072122e-03 -2.49351195e+02] [ 1.29438459e-02 1.82471799e-04 9.99916208e-01 -2.78267633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.0665599949999 meters 0.013604376999308235 Centerline is valid? [True, True] Translation: X:-93.84, Y:-249.33, Z:-2.78 [[-6.84695357e-01 -7.28773857e-01 8.99632567e-03 -9.38376396e+01] [ 7.28714433e-01 -6.84754432e-01 -9.30819890e-03 -2.49331404e+02] [ 1.29438459e-02 1.82471794e-04 9.99916208e-01 -2.78267575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.0965599949999 meters 0.013604376999308235 Centerline is valid? [True, True] Translation: X:-93.86, Y:-249.31, Z:-2.78 [[-6.84899671e-01 -7.28581815e-01 8.99893545e-03 -9.38568636e+01] [ 7.28522407e-01 -6.84958763e-01 -9.30567585e-03 -2.49311618e+02] [ 1.29438459e-02 1.82471794e-04 9.99916208e-01 -2.78267517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.126559995 meters 0.013404975417675675 Centerline is valid? [True, True] Translation: X:-93.87, Y:-249.29, Z:-2.78 [[-6.86103948e-01 -7.27439494e-01 9.65171629e-03 -9.38730345e+01] [ 7.27371129e-01 -6.86171809e-01 -9.97442471e-03 -2.49288793e+02] [ 1.38785261e-02 1.76887603e-04 9.99903673e-01 -2.78206832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.156559995 meters 0.01335937388635995 Centerline is valid? [True, True] Translation: X:-93.89, Y:-249.27, Z:-2.78 [[-6.86227646e-01 -7.27317454e-01 1.00468396e-02 -9.38905111e+01] [ 7.27243449e-01 -6.86301163e-01 -1.03769006e-02 -2.49266835e+02] [ 1.44424586e-02 1.85582244e-04 9.99895685e-01 -2.78141210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.1865599949999 meters 0.013636242067054357 Centerline is valid? [True, True] Translation: X:-93.91, Y:-249.25, Z:-2.78 [[-6.86018571e-01 -7.27514741e-01 1.00410085e-02 -9.39084529e+01] [ 7.27440916e-01 -6.86092023e-01 -1.03657963e-02 -2.49247882e+02] [ 1.44303254e-02 1.93111659e-04 9.99895859e-01 -2.78209759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.2165599949999 meters 0.013583486644525211 Centerline is valid? [True, True] Translation: X:-93.93, Y:-249.23, Z:-2.78 [[-6.85978814e-01 -7.27550557e-01 1.01613398e-02 -9.39269524e+01] [ 7.27475053e-01 -6.86054040e-01 -1.04834041e-02 -2.49227257e+02] [ 1.45984347e-02 2.00728070e-04 9.99893417e-01 -2.78209237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.246559995 meters 0.013535851993206626 Centerline is valid? [True, True] Translation: X:-93.95, Y:-249.21, Z:-2.78 [[-6.85706395e-01 -7.27802446e-01 1.05042470e-02 -9.39456462e+01] [ 7.27721881e-01 -6.85786813e-01 -1.08310254e-02 -2.49206563e+02] [ 1.50865209e-02 2.17266981e-04 9.99886168e-01 -2.78169231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.276559995 meters 0.013927321773503911 Centerline is valid? [True, True] Translation: X:-93.96, Y:-249.19, Z:-2.78 [[-6.85046232e-01 -7.28414993e-01 1.11021623e-02 -9.39636210e+01] [ 7.28325184e-01 -6.85136145e-01 -1.14406973e-02 -2.49186515e+02] [ 1.59400681e-02 2.48577887e-04 9.99872918e-01 -2.78240006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.3065599949999 meters 0.014136832241699478 Centerline is valid? [True, True] Translation: X:-93.98, Y:-249.17, Z:-2.78 [[-6.84947258e-01 -7.28504120e-01 1.13578523e-02 -9.39823808e+01] [ 7.28410259e-01 -6.85041370e-01 -1.16968363e-02 -2.49166812e+02] [ 1.63017921e-02 2.61460213e-04 9.99867083e-01 -2.78295730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.3365599949999 meters 0.014715181520976667 Centerline is valid? [True, True] Translation: X:-94.00, Y:-249.15, Z:-2.78 [[-6.84674220e-01 -7.28755544e-01 1.16862619e-02 -9.40017831e+01] [ 7.28656332e-01 -6.84773888e-01 -1.20279621e-02 -2.49147473e+02] [ 1.67678911e-02 2.80033198e-04 9.99859370e-01 -2.78402522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.366559995 meters 0.014620843616469335 Centerline is valid? [True, True] Translation: X:-94.02, Y:-249.13, Z:-2.78 [[-6.84394647e-01 -7.29023070e-01 1.13723733e-02 -9.40199788e+01] [ 7.28929271e-01 -6.84489067e-01 -1.16976141e-02 -2.49126747e+02] [ 1.63120957e-02 2.83871254e-04 9.99866909e-01 -2.78283212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.396559995 meters 0.014594799767355539 Centerline is valid? [True, True] Translation: X:-94.04, Y:-249.11, Z:-2.78 [[-6.84596248e-01 -7.28841834e-01 1.08424647e-02 -9.40382933e+01] [ 7.28756659e-01 -6.84682049e-01 -1.11455852e-02 -2.49106577e+02] [ 1.55470096e-02 2.71292552e-04 9.99879101e-01 -2.78179373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.4265599949999 meters 0.01449957882499283 Centerline is valid? [True, True] Translation: X:-94.06, Y:-249.09, Z:-2.78 [[-6.84909031e-01 -7.28554542e-01 1.03874017e-02 -9.40566047e+01] [ 7.28476434e-01 -6.84987746e-01 -1.06711295e-02 -2.49086568e+02] [ 1.48897428e-02 2.58224386e-04 9.99889108e-01 -2.78116502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.4565599949999 meters 0.014373463353524902 Centerline is valid? [True, True] Translation: X:-94.07, Y:-249.07, Z:-2.78 [[-6.85361249e-01 -7.28138857e-01 9.68317169e-03 -9.40740836e+01] [ 7.28071026e-01 -6.85429610e-01 -9.94140318e-03 -2.49065603e+02] [ 1.38758545e-02 2.36584250e-04 9.99903698e-01 -2.78001896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.486559995 meters 0.014159384240556783 Centerline is valid? [True, True] Translation: X:-94.09, Y:-249.05, Z:-2.78 [[-6.85861655e-01 -7.27674749e-01 9.12419220e-03 -9.40918583e+01] [ 7.27614560e-01 -6.85922308e-01 -9.36161190e-03 -2.49045432e+02] [ 1.30706956e-02 2.18124459e-04 9.99914551e-01 -2.77942175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.516559995 meters 0.014306990808718346 Centerline is valid? [True, True] Translation: X:-94.11, Y:-249.03, Z:-2.78 [[-6.86235424e-01 -7.27324669e-01 8.93129078e-03 -9.41091845e+01] [ 7.27267047e-01 -6.86293509e-01 -9.15763756e-03 -2.49026280e+02] [ 1.27900626e-02 2.11138177e-04 9.99918182e-01 -2.77941099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.5465599949999 meters 0.014036456288390573 Centerline is valid? [True, True] Translation: X:-94.13, Y:-249.01, Z:-2.78 [[-6.87292703e-01 -7.26317202e-01 9.59491937e-03 -9.41277019e+01] [ 7.26250684e-01 -6.87359642e-01 -9.83195831e-03 -2.49006096e+02] [ 1.37362808e-02 2.10883553e-04 9.99905631e-01 -2.78007381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.5765599949999 meters 0.013994588640869712 Centerline is valid? [True, True] Translation: X:-94.15, Y:-248.99, Z:-2.78 [[-6.88190409e-01 -7.25462456e-01 9.90890757e-03 -9.41462374e+01] [ 7.25391518e-01 -6.88261711e-01 -1.01470818e-02 -2.48987276e+02] [ 1.41812486e-02 2.04713145e-04 9.99899420e-01 -2.78135011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.606559995 meters 0.013418513834913938 Centerline is valid? [True, True] Translation: X:-94.16, Y:-248.97, Z:-2.78 [[-6.89174930e-01 -7.24522709e-01 1.02352387e-02 -9.41648063e+01] [ 7.24447004e-01 -6.89250903e-01 -1.04753156e-02 -2.48966709e+02] [ 1.46442515e-02 1.95563108e-04 9.99892748e-01 -2.78114857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.636559995 meters 0.013425724251575252 Centerline is valid? [True, True] Translation: X:-94.18, Y:-248.95, Z:-2.78 [[-6.89849351e-01 -7.23873276e-01 1.07402395e-02 -9.41837062e+01] [ 7.23789938e-01 -6.89932926e-01 -1.09855911e-02 -2.48947584e+02] [ 1.53622207e-02 1.95274375e-04 9.99881975e-01 -2.78204277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.666559995 meters 0.013158638428262977 Centerline is valid? [True, True] Translation: X:-94.20, Y:-248.93, Z:-2.78 [[-6.91281886e-01 -7.22498127e-01 1.12165310e-02 -9.42028404e+01] [ 7.22407168e-01 -6.91372855e-01 -1.14655524e-02 -2.48928153e+02] [ 1.60386452e-02 1.76973725e-04 9.99871357e-01 -2.78220742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.6965599949999 meters 0.012982468021211703 Centerline is valid? [True, True] Translation: X:-94.22, Y:-248.91, Z:-2.78 [[-6.91693795e-01 -7.22106281e-01 1.10550304e-02 -9.42228506e+01] [ 7.22017974e-01 -6.91782112e-01 -1.12940565e-02 -2.48907981e+02] [ 1.58031815e-02 1.69901857e-04 9.99875108e-01 -2.78138499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.726559995 meters 0.013297080715823209 Centerline is valid? [True, True] Translation: X:-94.24, Y:-248.89, Z:-2.78 [[-6.91481769e-01 -7.22311299e-01 1.09247460e-02 -9.42432329e+01] [ 7.22225191e-01 -6.91568041e-01 -1.11542738e-02 -2.48889894e+02] [ 1.56120632e-02 1.77149763e-04 9.99878109e-01 -2.78151978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.756559995 meters 0.014114516277937379 Centerline is valid? [True, True] Translation: X:-94.26, Y:-248.87, Z:-2.78 [[-6.91100249e-01 -7.22682205e-01 1.05297755e-02 -9.42636999e+01] [ 7.22602360e-01 -6.91180437e-01 -1.07439769e-02 -2.48873218e+02] [ 1.50424557e-02 1.83675474e-04 9.99886839e-01 -2.78320450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.786559995 meters 0.01437116820188037 Centerline is valid? [True, True] Translation: X:-94.28, Y:-248.86, Z:-2.78 [[-6.90567743e-01 -7.23192606e-01 1.04233911e-02 -9.42837576e+01] [ 7.23114516e-01 -6.90646375e-01 -1.06292339e-02 -2.48855191e+02] [ 1.48858606e-02 1.97099389e-04 9.99889180e-01 -2.78348650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.8165599949999 meters 0.013566843541344825 Centerline is valid? [True, True] Translation: X:-94.30, Y:-248.83, Z:-2.78 [[-6.90062256e-01 -7.23673949e-01 1.04927766e-02 -9.43029013e+01] [ 7.23594962e-01 -6.90141993e-01 -1.06939765e-02 -2.48834416e+02] [ 1.49804580e-02 2.13010731e-04 9.99887764e-01 -2.78112713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.8465599949999 meters 0.014246438767158268 Centerline is valid? [True, True] Translation: X:-94.32, Y:-248.82, Z:-2.78 [[-6.88899825e-01 -7.24785003e-01 1.01847765e-02 -9.43229852e+01] [ 7.24710796e-01 -6.88975068e-01 -1.03739166e-02 -2.48816794e+02] [ 1.45359162e-02 2.34428148e-04 9.99894321e-01 -2.78108842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.876559995 meters 0.014825290646098515 Centerline is valid? [True, True] Translation: X:-94.34, Y:-248.80, Z:-2.78 [[-6.88489524e-01 -7.25173285e-01 1.02899321e-02 -9.43433838e+01] [ 7.25097670e-01 -6.88566369e-01 -1.04749306e-02 -2.48799143e+02] [ 1.46814411e-02 2.49325799e-04 9.99892191e-01 -2.78214179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.906559995 meters 0.01426514281539121 Centerline is valid? [True, True] Translation: X:-94.36, Y:-248.78, Z:-2.78 [[-6.88606107e-01 -7.25059485e-01 1.05058997e-02 -9.43616268e+01] [ 7.24980750e-01 -6.88686197e-01 -1.06880334e-02 -2.48778976e+02] [ 1.49847281e-02 2.56729974e-04 9.99887690e-01 -2.78089341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.9365599949999 meters 0.014300615071748592 Centerline is valid? [True, True] Translation: X:-94.38, Y:-248.76, Z:-2.78 [[-6.88770747e-01 -7.24898125e-01 1.08427611e-02 -9.43812018e+01] [ 7.24814348e-01 -6.88856035e-01 -1.10237762e-02 -2.48759421e+02] [ 1.54602161e-02 2.66134245e-04 9.99880448e-01 -2.78087846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.9665599949999 meters 0.014593803865783963 Centerline is valid? [True, True] Translation: X:-94.40, Y:-248.74, Z:-2.78 [[-6.89079498e-01 -7.24603574e-01 1.09135421e-02 -9.43999505e+01] [ 7.24518777e-01 -6.89165865e-01 -1.10884159e-02 -2.48741715e+02] [ 1.55559465e-02 2.66266144e-04 9.99878964e-01 -2.78140480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.996559995 meters 0.014660076087684527 Centerline is valid? [True, True] Translation: X:-94.42, Y:-248.72, Z:-2.78 [[-6.89495943e-01 -7.24204708e-01 1.10853541e-02 -9.44197297e+01] [ 7.24117278e-01 -6.89584998e-01 -1.12560391e-02 -2.48722267e+02] [ 1.57959704e-02 2.66103173e-04 9.99875201e-01 -2.78145643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.026559995 meters 0.01464911339706283 Centerline is valid? [True, True] Translation: X:-94.44, Y:-248.70, Z:-2.78 [[-6.90094127e-01 -7.23636030e-01 1.09996183e-02 -9.44381165e+01] [ 7.23549988e-01 -6.90181737e-01 -1.11617653e-02 -2.48703304e+02] [ 1.56687912e-02 2.56104988e-04 9.99877204e-01 -2.78063990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.0565599949999 meters 0.014610032429455053 Centerline is valid? [True, True] Translation: X:-94.46, Y:-248.68, Z:-2.78 [[-6.90493338e-01 -7.23252484e-01 1.11711435e-02 -9.44566142e+01] [ 7.23163797e-01 -6.90583651e-01 -1.13289084e-02 -2.48683866e+02] [ 1.59082702e-02 2.56030798e-04 9.99873423e-01 -2.78014605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.0865599949999 meters 0.014611268264560063 Centerline is valid? [True, True] Translation: X:-94.48, Y:-248.66, Z:-2.78 [[-6.90932196e-01 -7.22826725e-01 1.15856275e-02 -9.44759074e+01] [ 7.22731393e-01 -6.91029274e-01 -1.17420615e-02 -2.48664147e+02] [ 1.64934837e-02 2.60328369e-04 9.99863939e-01 -2.78014753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.116559995 meters 0.014543882410956914 Centerline is valid? [True, True] Translation: X:-94.50, Y:-248.64, Z:-2.78 [[-6.91394363e-01 -7.22378576e-01 1.19594577e-02 -9.44952157e+01] [ 7.22277051e-01 -6.91497740e-01 -1.21135296e-02 -2.48644862e+02] [ 1.70204922e-02 2.62815787e-04 9.99855106e-01 -2.78037324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.146559995 meters 0.01471739638398074 Centerline is valid? [True, True] Translation: X:-94.51, Y:-248.63, Z:-2.78 [[-6.91904655e-01 -7.21894525e-01 1.16723259e-02 -9.45139965e+01] [ 7.21797874e-01 -6.92003058e-01 -1.18151296e-02 -2.48627091e+02] [ 1.66065626e-02 2.50116840e-04 9.99862070e-01 -2.78133938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.1765599949999 meters 0.014158423001308106 Centerline is valid? [True, True] Translation: X:-94.53, Y:-248.61, Z:-2.78 [[-6.92239744e-01 -7.21567764e-01 1.20041225e-02 -9.45321821e+01] [ 7.21465619e-01 -6.92343771e-01 -1.21434517e-02 -2.48606755e+02] [ 1.70733027e-02 2.54381786e-04 9.99854208e-01 -2.78050140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.2065599949999 meters 0.013605978786207461 Centerline is valid? [True, True] Translation: X:-94.55, Y:-248.59, Z:-2.78 [[-6.92829736e-01 -7.20997108e-01 1.22526102e-02 -9.45508898e+01] [ 7.20890724e-01 -6.92938026e-01 -1.23877653e-02 -2.48585471e+02] [ 1.74218425e-02 2.50180807e-04 9.99848197e-01 -2.77908541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.236559995 meters 0.014097669833403582 Centerline is valid? [True, True] Translation: X:-94.57, Y:-248.57, Z:-2.78 [[-6.93675338e-01 -7.20182751e-01 1.23016753e-02 -9.45701068e+01] [ 7.20075475e-01 -6.93784369e-01 -1.24321958e-02 -2.48566589e+02] [ 1.74881630e-02 2.34227105e-04 9.99847043e-01 -2.78081777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.266559995 meters 0.013848148049944508 Centerline is valid? [True, True] Translation: X:-94.59, Y:-248.55, Z:-2.78 [[-6.94191700e-01 -7.19675294e-01 1.28590332e-02 -9.45888132e+01] [ 7.19558136e-01 -6.94310748e-01 -1.29874153e-02 -2.48546769e+02] [ 1.82748869e-02 2.37065997e-04 9.99832972e-01 -2.78028777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.2965599949999 meters 0.013702968904488806 Centerline is valid? [True, True] Translation: X:-94.61, Y:-248.53, Z:-2.78 [[-6.94636377e-01 -7.19244434e-01 1.29517701e-02 -9.46077746e+01] [ 7.19125655e-01 -6.94757073e-01 -1.30729598e-02 -2.48527080e+02] [ 1.84009875e-02 2.32996713e-04 9.99830660e-01 -2.78090132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.3265599949999 meters 0.014018231778281464 Centerline is valid? [True, True] Translation: X:-94.63, Y:-248.51, Z:-2.78 [[-6.95090655e-01 -7.18798870e-01 1.33104066e-02 -9.46263362e+01] [ 7.18673505e-01 -6.95218045e-01 -1.34262042e-02 -2.48508367e+02] [ 1.89043753e-02 2.33407492e-04 9.99821269e-01 -2.78156038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.356559995 meters 0.013822391186971351 Centerline is valid? [True, True] Translation: X:-94.65, Y:-248.49, Z:-2.78 [[-6.95389673e-01 -7.18509111e-01 1.33364119e-02 -9.46452408e+01] [ 7.18383358e-01 -6.95517508e-01 -1.34441908e-02 -2.48488455e+02] [ 1.89354816e-02 2.31704920e-04 9.99820681e-01 -2.78093865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.386559995 meters 0.013454840116504893 Centerline is valid? [True, True] Translation: X:-94.66, Y:-248.47, Z:-2.78 [[-6.95721826e-01 -7.18192138e-01 1.30841153e-02 -9.46637716e+01] [ 7.18071197e-01 -6.95844812e-01 -1.31815586e-02 -2.48468314e+02] [ 1.85714055e-02 2.24628326e-04 9.99827511e-01 -2.77978184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.416559995 meters 0.014027162151620469 Centerline is valid? [True, True] Translation: X:-94.68, Y:-248.45, Z:-2.78 [[-6.95823355e-01 -7.18081626e-01 1.37345188e-02 -9.46833579e+01] [ 7.17948499e-01 -6.95958851e-01 -1.38286413e-02 -2.48449572e+02] [ 1.94887532e-02 2.38385561e-04 9.99810048e-01 -2.78144091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.4465599949999 meters 0.013526616258682827 Centerline is valid? [True, True] Translation: X:-94.70, Y:-248.43, Z:-2.78 [[-6.95902004e-01 -7.17995589e-01 1.42385231e-02 -9.47023161e+01] [ 7.17852656e-01 -6.96047607e-01 -1.43280637e-02 -2.48429189e+02] [ 2.01981765e-02 2.50233382e-04 9.99795965e-01 -2.78042680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.476559995 meters 0.013498223496889 Centerline is valid? [True, True] Translation: X:-94.72, Y:-248.41, Z:-2.78 [[-6.96100042e-01 -7.17793594e-01 1.47339144e-02 -9.47221706e+01] [ 7.17640670e-01 -6.96255908e-01 -1.48182216e-02 -2.48409242e+02] [ 2.08949995e-02 2.58691537e-04 9.99781642e-01 -2.78099730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.506559995 meters 0.013640486488532198 Centerline is valid? [True, True] Translation: X:-94.74, Y:-248.39, Z:-2.78 [[-6.96891152e-01 -7.17011330e-01 1.54102442e-02 -9.47403215e+01] [ 7.16844017e-01 -6.97061468e-01 -1.54908414e-02 -2.48389797e+02] [ 2.18489963e-02 2.51311063e-04 9.99761251e-01 -2.78237965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.536559995 meters 0.013497623144827097 Centerline is valid? [True, True] Translation: X:-94.76, Y:-248.37, Z:-2.78 [[-6.97696757e-01 -7.16222655e-01 1.56315319e-02 -9.47588135e+01] [ 7.16050521e-01 -6.97871803e-01 -1.57034722e-02 -2.48369443e+02] [ 2.21559880e-02 2.36704936e-04 9.99754498e-01 -2.78189654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.5665599949999 meters 0.01322094339548889 Centerline is valid? [True, True] Translation: X:-94.78, Y:-248.35, Z:-2.78 [[-6.98552960e-01 -7.15391831e-01 1.54366757e-02 -9.47772427e+01] [ 7.15223949e-01 -6.98723467e-01 -1.54990269e-02 -2.48348733e+02] [ 2.18738448e-02 2.13789067e-04 9.99760716e-01 -2.78078980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.5965599949999 meters 0.013558001686487306 Centerline is valid? [True, True] Translation: X:-94.80, Y:-248.33, Z:-2.78 [[-7.00143475e-01 -7.13856085e-01 1.44431508e-02 -9.47958172e+01] [ 7.13708956e-01 -7.00292413e-01 -1.44935279e-02 -2.48329158e+02] [ 2.04607220e-02 1.60657079e-04 9.99790645e-01 -2.78171846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.626559995 meters 0.0126574912673827 Centerline is valid? [True, True] Translation: X:-94.81, Y:-248.31, Z:-2.78 [[-7.01028436e-01 -7.12999697e-01 1.38045207e-02 -9.48145727e+01] [ 7.12865279e-01 -7.01164328e-01 -1.38448652e-02 -2.48308160e+02] [ 1.95506222e-02 1.35119299e-04 9.99808859e-01 -2.77787967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.656559995 meters 0.012786039722157526 Centerline is valid? [True, True] Translation: X:-94.83, Y:-248.29, Z:-2.78 [[-7.01786584e-01 -7.12269598e-01 1.29464552e-02 -9.48333115e+01] [ 7.12151406e-01 -7.01905982e-01 -1.29756656e-02 -2.48289391e+02] [ 1.83293665e-02 1.13688195e-04 9.99831997e-01 -2.77816827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.6865599949999 meters 0.012568328416845801 Centerline is valid? [True, True] Translation: X:-94.85, Y:-248.27, Z:-2.78 [[-7.02591507e-01 -7.11491982e-01 1.20138948e-02 -9.48514454e+01] [ 7.11390189e-01 -7.02694209e-01 -1.20353013e-02 -2.48270898e+02] [ 1.70051147e-02 9.06663952e-05 9.99855399e-01 -2.77741146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.7165599949999 meters 0.011996148393164756 Centerline is valid? [True, True] Translation: X:-94.87, Y:-248.25, Z:-2.77 [[-7.04123981e-01 -7.10000926e-01 1.03973379e-02 -9.48708805e+01] [ 7.09924608e-01 -7.04200741e-01 -1.04100022e-02 -2.48250558e+02] [ 1.47129242e-02 5.13938222e-05 9.99891758e-01 -2.77472044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.746559995 meters 0.011927368378659079 Centerline is valid? [True, True] Translation: X:-94.89, Y:-248.23, Z:-2.77 [[-7.05078800e-01 -7.09060093e-01 9.88279189e-03 -9.48896747e+01] [ 7.08991142e-01 -7.05148058e-01 -9.88826841e-03 -2.48231661e+02] [ 1.39802080e-02 3.48034754e-05 9.99902272e-01 -2.77474168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.776559995 meters 0.01184806898998724 Centerline is valid? [True, True] Translation: X:-94.91, Y:-248.21, Z:-2.78 [[-7.06335960e-01 -7.07795350e-01 1.07356682e-02 -9.49091739e+01] [ 7.07713929e-01 -7.06417541e-01 -1.07355764e-02 -2.48211662e+02] [ 1.51824554e-02 1.48583040e-05 9.99884740e-01 -2.77544825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.8065599949999 meters 0.011905718036745085 Centerline is valid? [True, True] Translation: X:-95.42, Y:-248.73, Z:-1.81 [[-7.55328767e-01 6.55235583e-01 1.20326135e-02 -9.54222293e+01] [ 6.55152471e-01 7.55424603e-01 -1.04359570e-02 -2.48730629e+02] [-1.59277426e-02 6.17950589e-07 -9.99873146e-01 -1.81387567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.8365599949999 meters 0.011926462220785482 Centerline is valid? [True, True] Translation: X:-94.94, Y:-248.19, Z:-2.78 [[-7.10116187e-01 -7.03989186e-01 1.15856538e-02 -9.49391428e+01] [ 7.03895983e-01 -7.10210691e-01 -1.14551044e-02 -2.48186875e+02] [ 1.62925248e-02 2.06401221e-05 9.99867268e-01 -2.77682270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.866559995 meters 0.012044209999384471 Centerline is valid? [True, True] Translation: X:-95.45, Y:-248.70, Z:-1.81 [[-7.55769110e-01 6.54724242e-01 1.22154975e-02 -9.54541758e+01] [ 6.54639737e-01 7.55867822e-01 -1.05190503e-02 -2.48703967e+02] [-1.61203788e-02 4.67767847e-05 -9.99870057e-01 -1.81288270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.896559995 meters 0.012062748262385898 Centerline is valid? [True, True] Translation: X:-95.43, Y:-248.69, Z:-1.81 [[-7.99822852e-01 6.00096138e-01 1.29626629e-02 -9.54308457e+01] [ 6.00018500e-01 7.99927885e-01 -9.65288912e-03 -2.48686382e+02] [-1.61618570e-02 5.72362443e-05 -9.99869387e-01 -1.81259584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.9265599949999 meters 0.01243825654102232 Centerline is valid? [True, True] Translation: X:-95.41, Y:-248.67, Z:-1.81 [[-8.39426255e-01 5.43287105e-01 1.42367519e-02 -9.54115530e+01] [ 5.43210726e-01 8.39546970e-01 -9.11000814e-03 -2.48665581e+02] [-1.69017719e-02 8.63763496e-05 -9.99857151e-01 -1.81132022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.9565599949999 meters 0.012224863906579135 Centerline is valid? [True, True] Translation: X:-95.40, Y:-248.64, Z:-1.81 [[-8.75444207e-01 4.83077100e-01 1.52956494e-02 -9.53976481e+01] [ 4.83005392e-01 8.75577812e-01 -8.32379953e-03 -2.48640645e+02] [-1.74135681e-02 1.00859045e-04 -9.99848367e-01 -1.81218668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.986559995 meters 0.012224863906579135 Centerline is valid? [True, True] Translation: X:-95.38, Y:-248.62, Z:-1.81 [[-9.07458803e-01 4.19842109e-01 1.58468848e-02 -9.53837171e+01] [ 4.19780045e-01 9.07597154e-01 -7.21944560e-03 -2.48616425e+02] [-1.74136148e-02 1.00856537e-04 -9.99848367e-01 -1.81218620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.016559995 meters 0.01232252152423939 Centerline is valid? [True, True] Translation: X:-95.08, Y:-247.96, Z:-2.78 [[-8.82895778e-01 -4.69307250e-01 1.56764360e-02 -9.50783662e+01] [ 4.69231683e-01 -8.83034936e-01 -8.42194295e-03 -2.47959324e+02] [ 1.77953196e-02 -7.98174109e-05 9.99841648e-01 -2.77868473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.0465599949999 meters 0.012389343866117083 Centerline is valid? [True, True] Translation: X:-95.42, Y:-248.60, Z:-1.81 [[-9.08622731e-01 4.17326570e-01 1.55970124e-02 -9.54220365e+01] [ 4.17267272e-01 9.08756579e-01 -7.03585650e-03 -2.48598393e+02] [-1.71101375e-02 1.15183671e-04 -9.99853604e-01 -1.81077507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.0765599949999 meters 0.012160494511972238 Centerline is valid? [True, True] Translation: X:-95.41, Y:-248.57, Z:-1.81 [[-9.35924667e-01 3.51865707e-01 1.53474006e-02 -9.54102506e+01] [ 3.51820327e-01 9.36050486e-01 -5.65198776e-03 -2.48571941e+02] [-1.63546824e-02 1.09692730e-04 -9.99866247e-01 -1.81193987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.106559995 meters 0.012244113820000221 Centerline is valid? [True, True] Translation: X:-95.40, Y:-248.54, Z:-1.81 [[-9.58503084e-01 2.84695783e-01 1.48374284e-02 -9.54010095e+01] [ 2.84663373e-01 9.58617912e-01 -4.29694654e-03 -2.48544972e+02] [-1.54467472e-02 1.05035917e-04 -9.99880686e-01 -1.81165103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.136559995 meters 0.011933811098545475 Centerline is valid? [True, True] Translation: X:-95.39, Y:-248.52, Z:-1.81 [[-9.76432638e-01 2.15404791e-01 1.34193770e-02 -9.53944491e+01] [ 2.15385651e-01 9.76524843e-01 -2.87273535e-03 -2.48515784e+02] [-1.37231560e-02 8.53086893e-05 -9.99905830e-01 -1.81284522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.166559995 meters 0.011977131510857901 Centerline is valid? [True, True] Translation: X:-95.24, Y:-247.82, Z:-2.78 [[-9.62846435e-01 -2.69760718e-01 1.24859406e-02 -9.52446228e+01] [ 2.69736322e-01 -9.62927380e-01 -3.63013203e-03 -2.47817488e+02] [ 1.30023211e-02 -1.27347990e-04 9.99915458e-01 -2.77808630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.1965599949999 meters 0.011786250306039357 Centerline is valid? [True, True] Translation: X:-95.45, Y:-248.50, Z:-1.81 [[-9.77697393e-01 2.09653835e-01 1.23724758e-02 -9.54501530e+01] [ 2.09637750e-01 9.77775673e-01 -2.59756274e-03 -2.48501311e+02] [-1.26420949e-02 5.41076750e-05 -9.99920084e-01 -1.81266069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.226559995 meters 0.011394941807613369 Centerline is valid? [True, True] Translation: X:-95.30, Y:-247.81, Z:-2.78 [[-9.62729673e-01 -2.70205964e-01 1.18454116e-02 -9.52966774e+01] [ 2.70184565e-01 -9.62802540e-01 -3.40136350e-03 -2.47813514e+02] [ 1.23238611e-02 -7.41461922e-05 9.99924056e-01 -2.77782732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.256559995 meters 0.011354260145824142 Centerline is valid? [True, True] Translation: X:-95.50, Y:-248.49, Z:-1.81 [[-9.79580883e-01 2.00719313e-01 1.15348003e-02 -9.54965115e+01] [ 2.00705270e-01 9.79648793e-01 -2.37426363e-03 -2.48485871e+02] [-1.17766138e-02 -1.06880493e-05 -9.99930653e-01 -1.81243336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.286559995 meters 0.011329370980951667 Centerline is valid? [True, True] Translation: X:-95.35, Y:-247.81, Z:-2.78 [[-9.62717760e-01 -2.70283033e-01 1.10271051e-02 -9.53521282e+01] [ 2.70265176e-01 -9.62780911e-01 -3.10680110e-03 -2.47806659e+02] [ 1.14564019e-02 -1.07300960e-05 9.99934373e-01 -2.77730734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.3165599949999 meters 0.011693704454993176 Centerline is valid? [True, True] Translation: X:-95.55, Y:-248.47, Z:-1.81 [[-9.81654837e-01 1.90402854e-01 1.00266967e-02 -9.55486474e+01] [ 1.90392125e-01 9.81706039e-01 -2.02268499e-03 -2.48469092e+02] [-1.02283937e-02 -7.65743997e-05 -9.99947686e-01 -1.81365384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.3465599949999 meters 0.012197423969165655 Centerline is valid? [True, True] Translation: X:-95.41, Y:-247.80, Z:-2.78 [[-9.61913226e-01 -2.73200488e-01 9.18913472e-03 -9.54089436e+01] [ 2.73188282e-01 -9.61957116e-01 -2.58260370e-03 -2.47803462e+02] [ 9.54512212e-03 2.61232656e-05 9.99954444e-01 -2.77696687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.376559995 meters 0.01308292817774612 Centerline is valid? [True, True] Translation: X:-95.60, Y:-248.45, Z:-1.81 [[-9.83869518e-01 1.78686914e-01 8.47100054e-03 -9.55951966e+01] [ 1.78679124e-01 9.83905976e-01 -1.67378891e-03 -2.48452688e+02] [-8.63375223e-03 -1.33198932e-04 -9.99962720e-01 -1.81467798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.406559995 meters 0.01375668302826102 Centerline is valid? [True, True] Translation: X:-95.47, Y:-247.80, Z:-2.78 [[-9.60838363e-01 -2.76949921e-01 9.40115276e-03 -9.54650939e+01] [ 2.76938916e-01 -9.60884328e-01 -2.47878480e-03 -2.47799281e+02] [ 9.71991961e-03 2.21833523e-04 9.99952736e-01 -2.77663574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.4365599949999 meters 0.013749668364438646 Centerline is valid? [True, True] Translation: X:-95.65, Y:-248.44, Z:-1.81 [[-9.85277274e-01 1.70623439e-01 1.07858896e-02 -9.56492123e+01] [ 1.70610790e-01 9.85336285e-01 -2.08894344e-03 -2.48440021e+02] [-1.09841511e-02 -2.17999347e-04 -9.99939649e-01 -1.81267684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.4665599949999 meters 0.015660226865967825 Centerline is valid? [True, True] Translation: X:-95.52, Y:-247.79, Z:-2.78 [[-9.60746244e-01 -2.77177712e-01 1.17970770e-02 -9.55218517e+01] [ 2.77160906e-01 -9.60818616e-01 -3.06909837e-03 -2.47792865e+02] [ 1.21855369e-02 3.21063821e-04 9.99925702e-01 -2.78009045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.496559995 meters 0.01660134409648712 Centerline is valid? [True, True] Translation: X:-95.70, Y:-248.42, Z:-1.81 [[-9.86687082e-01 1.62171873e-01 1.22018633e-02 -9.56967363e+01] [ 1.62155647e-01 9.86762479e-01 -2.31412908e-03 -2.48424992e+02] [-1.24156276e-02 -3.04720217e-04 -9.99922877e-01 -1.80923456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.526559995 meters 0.016361634104739096 Centerline is valid? [True, True] Translation: X:-95.70, Y:-248.40, Z:-1.81 [[-9.95838931e-01 9.03243761e-02 1.20967041e-02 -9.56970905e+01] [ 9.03138581e-02 9.95912349e-01 -1.41407194e-03 -2.48397667e+02] [-1.21749822e-02 -3.15687867e-04 -9.99925832e-01 -1.81016324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.5565599949999 meters 0.015374474240382888 Centerline is valid? [True, True] Translation: X:-95.70, Y:-248.37, Z:-1.81 [[-9.99749272e-01 1.92285171e-02 1.14742338e-02 -9.56980382e+01] [ 1.92238148e-02 9.99815070e-01 -5.19974374e-04 -2.48371509e+02] [-1.14821102e-02 -2.99265455e-04 -9.99934034e-01 -1.81156404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.5865599949999 meters 0.01583627069674686 Centerline is valid? [True, True] Translation: X:-95.70, Y:-248.34, Z:-1.81 [[-9.98707956e-01 -4.97140813e-02 1.05322843e-02 -9.57008768e+01] [-4.97139661e-02 9.98763459e-01 2.72904284e-04 -2.48341144e+02] [-1.05328279e-02 -2.51049944e-04 -9.99944497e-01 -1.80993334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.616559995 meters 0.013867025780771347 Centerline is valid? [True, True] Translation: X:-95.71, Y:-248.32, Z:-1.81 [[-9.93003901e-01 -1.17770101e-01 8.57066924e-03 -9.57067509e+01] [-1.17767277e-01 9.93040871e-01 8.35197305e-04 -2.48317774e+02] [-8.60938612e-03 -1.79990195e-04 -9.99962922e-01 -1.81167738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.646559995 meters 0.01336622448524982 Centerline is valid? [True, True] Translation: X:-95.72, Y:-248.29, Z:-1.81 [[-9.82667401e-01 -1.85247344e-01 6.94262140e-03 -9.57222202e+01] [-1.85243619e-01 9.82691918e-01 1.18137402e-03 -2.48294326e+02] [-7.04130434e-03 -1.25178571e-04 -9.99975202e-01 -1.81365498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.6765599949999 meters 0.012682087548735496 Centerline is valid? [True, True] Translation: X:-95.74, Y:-248.27, Z:-1.81 [[-9.67136712e-01 -2.54152977e-01 7.26946358e-03 -9.57416411e+01] [-2.54146752e-01 9.67164024e-01 1.78307732e-03 -2.48271201e+02] [-7.48393805e-03 -1.23031026e-04 -9.99971987e-01 -1.81343825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.7065599949999 meters 0.012682087548735496 Centerline is valid? [True, True] Translation: X:-95.78, Y:-248.25, Z:-1.81 [[-9.46269459e-01 -3.23300774e-01 7.12185923e-03 -9.57764511e+01] [-3.23292593e-01 9.46296251e-01 2.30316388e-03 -2.48252306e+02] [-7.48400336e-03 -1.23030705e-04 -9.99971987e-01 -1.81343689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.736559995 meters 0.012682087548735496 Centerline is valid? [True, True] Translation: X:-95.83, Y:-248.24, Z:-1.81 [[-9.20075849e-01 -3.91678884e-01 6.93428797e-03 -9.58327277e+01] [-3.91668765e-01 9.20101971e-01 2.81817231e-03 -2.48243257e+02] [-7.48407061e-03 -1.23011728e-04 -9.99971986e-01 -1.81343499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.766559995 meters 0.012942547513747609 Centerline is valid? [True, True] Translation: X:-95.90, Y:-248.24, Z:-1.81 [[-8.89017908e-01 -4.57824398e-01 6.63171602e-03 -9.59001617e+01] [-4.57812644e-01 8.89042635e-01 3.28283623e-03 -2.48242199e+02] [-7.39884081e-03 -1.17583248e-04 -9.99972621e-01 -1.81267895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.7965599949999 meters 0.012666018833780124 Centerline is valid? [True, True] Translation: X:-95.97, Y:-248.25, Z:-1.81 [[-8.52781074e-01 -5.22230136e-01 6.33440027e-03 -9.59708116e+01] [-5.22216716e-01 8.52804592e-01 3.74552808e-03 -2.48249371e+02] [-7.35803328e-03 -1.13814252e-04 -9.99972923e-01 -1.81265178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.8265599949999 meters 0.013183021520479182 Centerline is valid? [True, True] Translation: X:-96.05, Y:-248.27, Z:-1.81 [[-8.11517902e-01 -5.84296540e-01 6.02065437e-03 -9.60506741e+01] [-5.84281486e-01 8.11540227e-01 4.19578527e-03 -2.48266685e+02] [-7.33758604e-03 -1.12802022e-04 -9.99973073e-01 -1.81242109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.856559995 meters 0.012427372370808461 Centerline is valid? [True, True] Translation: X:-96.13, Y:-248.29, Z:-1.81 [[-7.65220459e-01 -6.43749450e-01 4.92897868e-03 -9.61305959e+01] [-6.43736924e-01 7.65236327e-01 4.01702151e-03 -2.48294092e+02] [-6.35778893e-03 -9.90585282e-05 -9.99979784e-01 -1.81439519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.886559995 meters 0.012891984177827784 Centerline is valid? [True, True] Translation: X:-96.22, Y:-248.33, Z:-1.81 [[-7.14594812e-01 -6.99528270e-01 3.80180866e-03 -9.62162598e+01] [-6.99518971e-01 7.14604921e-01 3.60777405e-03 -2.48330428e+02] [-5.24053111e-03 -8.13406667e-05 -9.99986265e-01 -1.81448715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.916559995 meters 0.013136331973347501 Centerline is valid? [True, True] Translation: X:-96.30, Y:-248.37, Z:-1.81 [[-6.60484552e-01 -7.50834862e-01 2.67705525e-03 -9.63004594e+01] [-7.50829043e-01 6.60489975e-01 2.95668745e-03 -2.48374752e+02] [-3.98815216e-03 -5.71644434e-05 -9.99992046e-01 -1.81427337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.9465599949999 meters 0.012221799862428852 Centerline is valid? [True, True] Translation: X:-96.38, Y:-248.43, Z:-1.81 [[-6.02472513e-01 -7.98137401e-01 1.88694810e-03 -9.63815124e+01] [-7.98133696e-01 6.02475466e-01 2.43239189e-03 -2.48431377e+02] [-3.07822288e-03 -4.05876111e-05 -9.99995262e-01 -1.81407448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.976559995 meters 0.011835213393815866 Centerline is valid? [True, True] Translation: X:-96.46, Y:-248.50, Z:-1.82 [[-5.41942408e-01 -8.40415347e-01 6.87011977e-04 -9.64621823e+01] [-8.40414700e-01 5.41942843e-01 1.04239208e-03 -2.48501040e+02] [-1.24836352e-03 -1.24584929e-05 -9.99999221e-01 -1.81561872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.006559995 meters 0.012315834176979842 Centerline is valid? [True, True] Translation: X:-96.54, Y:-248.58, Z:-1.82 [[-4.77195094e-01 -8.78797381e-01 -7.54026452e-05 -9.65409601e+01] [-8.78797371e-01 4.77195100e-01 -1.31647838e-04 -2.48576243e+02] [ 1.51673547e-04 3.44194404e-06 -9.99999989e-01 -1.81665339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.036559995 meters 0.011868193831950905 Centerline is valid? [True, True] Translation: X:-96.61, Y:-248.66, Z:-1.82 [[-4.09150309e-01 -9.12466639e-01 -8.10503988e-04 -9.66121450e+01] [-9.12464950e-01 4.09151111e-01 -1.75602481e-03 -2.48657655e+02] [ 1.93393266e-03 2.10783898e-05 -9.99998130e-01 -1.81766598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.0665599949999 meters 0.012513689353167823 Centerline is valid? [True, True] Translation: X:-96.68, Y:-248.75, Z:-1.82 [[-3.34839867e-01 -9.42274607e-01 -9.09924337e-04 -9.66846560e+01] [-9.42271424e-01 3.34841101e-01 -2.44965602e-03 -2.48747250e+02] [ 2.61292873e-03 3.71532034e-05 -9.99996586e-01 -1.81649741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.0965599949999 meters 0.016269237607513982 Centerline is valid? [True, True] Translation: X:-96.77, Y:-248.85, Z:-1.81 [[-2.50185439e-01 -9.68197927e-01 1.40448583e-04 -9.67662868e+01] [-9.68197800e-01 2.50185478e-01 4.97851166e-04 -2.48846114e+02] [-5.17156664e-04 -1.14268971e-05 -9.99999866e-01 -1.80937533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.126559995 meters 0.015286105598083724 Centerline is valid? [True, True] Translation: X:-96.82, Y:-248.94, Z:-1.81 [[-1.75123890e-01 -9.84546388e-01 1.81044237e-04 -9.68176593e+01] [-9.84545983e-01 1.75123983e-01 8.93617374e-04 -2.48944572e+02] [-9.11512947e-04 -2.17526253e-05 -9.99999584e-01 -1.80945370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.156559995 meters 0.015286105598083724 Centerline is valid? [True, True] Translation: X:-96.86, Y:-249.05, Z:-1.81 [[-9.91635036e-02 -9.95071147e-01 1.12046288e-04 -9.68633254e+01] [-9.95070736e-01 9.91635646e-02 9.04932748e-04 -2.49051163e+02] [-9.11583377e-04 -2.17576804e-05 -9.99999584e-01 -1.80945037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.1865599949999 meters 0.015286105598083724 Centerline is valid? [True, True] Translation: X:-96.90, Y:-249.16, Z:-1.81 [[-2.25603632e-02 -9.99745482e-01 4.23252022e-05 -9.69007673e+01] [-9.99745067e-01 2.25603924e-02 9.10930665e-04 -2.49161905e+02] [-9.11653690e-04 -2.17634854e-05 -9.99999584e-01 -1.80944703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.2165599949999 meters 0.015286105598083724 Centerline is valid? [True, True] Translation: X:-96.93, Y:-249.28, Z:-1.81 [[ 5.42214040e-02 -9.98528937e-01 -2.76973682e-05 -9.69295999e+01] [-9.98528521e-01 -5.42214067e-02 9.11563046e-04 -2.49275786e+02] [-9.11723871e-04 -2.17696160e-05 -9.99999584e-01 -1.80944369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.246559995 meters 0.01638706029432173 Centerline is valid? [True, True] Translation: X:-96.95, Y:-249.39, Z:-1.81 [[ 1.30822160e-01 -9.91405849e-01 -7.16061212e-05 -9.69522944e+01] [-9.91405629e-01 -1.30822179e-01 6.61136137e-04 -2.49391475e+02] [-6.64821903e-04 -1.55005461e-05 -9.99999779e-01 -1.80926422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.276559995 meters 0.01638706029432173 Centerline is valid? [True, True] Translation: X:-96.96, Y:-249.51, Z:-1.81 [[ 2.06477841e-01 -9.78451269e-01 -1.22111830e-04 -9.69633988e+01] [-9.78451051e-01 -2.06477876e-01 6.53766013e-04 -2.49508346e+02] [-6.64891578e-04 -1.55077463e-05 -9.99999779e-01 -1.80926090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.3065599949999 meters 0.01638706029432173 Centerline is valid? [True, True] Translation: X:-96.97, Y:-249.63, Z:-1.81 [[ 2.80915731e-01 -9.59732422e-01 -1.71907858e-04 -9.69655281e+01] [-9.59732207e-01 -2.80915784e-01 6.42543066e-04 -2.49625609e+02] [-6.64961045e-04 -1.55149470e-05 -9.99999779e-01 -1.80925760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.3365599949999 meters 0.01749575727669334 Centerline is valid? [True, True] Translation: X:-96.96, Y:-249.75, Z:-1.81 [[ 3.53609746e-01 -9.35393008e-01 -2.59901680e-04 -9.69604260e+01] [-9.35392716e-01 -3.53609841e-01 7.40184101e-04 -2.49745136e+02] [-7.84266825e-04 -1.86261734e-05 -9.99999692e-01 -1.80959903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.366559995 meters 0.01749575727669334 Centerline is valid? [True, True] Translation: X:-96.95, Y:-249.86, Z:-1.81 [[ 4.24170161e-01 -9.05582451e-01 -3.15816431e-04 -9.69451921e+01] [-9.05582166e-01 -4.24170278e-01 7.18184874e-04 -2.49859649e+02] [-7.84335563e-04 -1.86348662e-05 -9.99999692e-01 -1.80959579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.396559995 meters 0.016426641343772502 Centerline is valid? [True, True] Translation: X:-96.92, Y:-249.97, Z:-1.81 [[ 4.91910342e-01 -8.70645861e-01 -2.38647034e-05 -9.69218228e+01] [-8.70645860e-01 -4.91910342e-01 4.10736596e-05 -2.49969174e+02] [-4.74999069e-05 5.73147277e-07 -9.99999999e-01 -1.81013299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.4265599949999 meters 0.016845853205885702 Centerline is valid? [True, True] Translation: X:-96.89, Y:-250.08, Z:-1.81 [[ 5.57371171e-01 -8.30263383e-01 3.03726132e-04 -9.68910699e+01] [-8.30263243e-01 -5.57371254e-01 -4.82368495e-04 -2.50079062e+02] [ 5.69781113e-04 1.66856494e-05 -9.99999838e-01 -1.81092361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.4565599949999 meters 0.01764146576790906 Centerline is valid? [True, True] Translation: X:-96.86, Y:-250.18, Z:-1.81 [[ 6.19295955e-01 -7.85157552e-01 3.73297951e-04 -9.68563430e+01] [-7.85157391e-01 -6.19296067e-01 -5.02890900e-04 -2.50183698e+02] [ 6.26030540e-04 1.83406540e-05 -9.99999804e-01 -1.81096941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.486559995 meters 0.015483833380655005 Centerline is valid? [True, True] Translation: X:-96.81, Y:-250.28, Z:-1.81 [[ 6.75883094e-01 -7.37008810e-01 2.38197243e-04 -9.68095656e+01] [-7.37008759e-01 -6.75883136e-01 -2.75612724e-04 -2.50281926e+02] [ 3.64122504e-04 1.07285259e-05 -9.99999934e-01 -1.81015771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.516559995 meters 0.01502547939253679 Centerline is valid? [True, True] Translation: X:-96.76, Y:-250.38, Z:-1.81 [[ 7.28729735e-01 -6.84801202e-01 5.35019262e-04 -9.67576130e+01] [-6.84800998e-01 -7.28729932e-01 -5.28766468e-04 -2.50376869e+02] [ 7.51984463e-04 1.89461235e-05 -9.99999717e-01 -1.81067823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.5465599949999 meters 0.014894259546062891 Centerline is valid? [True, True] Translation: X:-96.76, Y:-250.39, Z:-1.81 [[ 7.79782408e-01 -6.26050251e-01 6.92993995e-04 -9.67582142e+01] [-6.26049978e-01 -7.79782715e-01 -5.84775123e-04 -2.50386698e+02] [ 9.06483351e-04 2.21484777e-05 -9.99999589e-01 -1.81116256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.5765599949999 meters 0.014894259546062891 Centerline is valid? [True, True] Translation: X:-96.76, Y:-250.40, Z:-1.81 [[ 8.26348401e-01 -5.63158750e-01 7.36544025e-04 -9.67584177e+01] [-5.63158502e-01 -8.26348729e-01 -5.28751057e-04 -2.50396595e+02] [ 9.06413002e-04 2.21415613e-05 -9.99999589e-01 -1.81116184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.606559995 meters 0.014894259546062891 Centerline is valid? [True, True] Translation: X:-96.76, Y:-250.41, Z:-1.81 [[ 8.67855386e-01 -4.96816292e-01 7.75578060e-04 -9.67576580e+01] [-4.96816071e-01 -8.67855732e-01 -4.69495479e-04 -2.50406605e+02] [ 9.06342867e-04 2.21345356e-05 -9.99999589e-01 -1.81116111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.636559995 meters 0.014715841042695561 Centerline is valid? [True, True] Translation: X:-96.76, Y:-250.42, Z:-1.81 [[ 9.04036153e-01 -4.27454970e-01 9.39779759e-04 -9.67560810e+01] [-4.27454710e-01 -9.04036641e-01 -4.72454843e-04 -2.50417642e+02] [ 1.05154851e-03 2.54029747e-05 -9.99999447e-01 -1.81096643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.666559995 meters 0.015529172569153905 Centerline is valid? [True, True] Translation: X:-96.75, Y:-250.43, Z:-1.81 [[ 9.34803966e-01 -3.55163706e-01 5.36582310e-04 -9.67549734e+01] [-3.55163638e-01 -9.34804120e-01 -2.19899964e-04 -2.50428922e+02] [ 5.79699839e-04 1.49888334e-05 -9.99999832e-01 -1.81067175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.6965599949999 meters 0.017702576861320183 Centerline is valid? [True, True] Translation: X:-96.75, Y:-250.44, Z:-1.81 [[ 9.59761526e-01 -2.80816303e-01 -1.34806045e-04 -9.67528967e+01] [-2.80816300e-01 -9.59761535e-01 4.09675881e-05 -2.50439474e+02] [-1.40886024e-04 -1.46338003e-06 -9.99999990e-01 -1.81001636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.726559995 meters 0.015893284749283542 Centerline is valid? [True, True] Translation: X:-96.75, Y:-250.45, Z:-1.81 [[ 9.78982445e-01 -2.03943442e-01 -6.66755488e-04 -9.67469114e+01] [-2.03943385e-01 -9.78982672e-01 1.53893603e-04 -2.50445045e+02] [-6.84127662e-04 -1.46787647e-05 -9.99999766e-01 -1.80891428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.756559995 meters 0.016557801666649195 Centerline is valid? [True, True] Translation: X:-96.74, Y:-250.45, Z:-1.81 [[ 9.92015438e-01 -1.26115225e-01 -5.66455498e-04 -9.67423457e+01] [-1.26115198e-01 -9.92015600e-01 8.45143473e-05 -2.50452848e+02] [-5.72591238e-04 -1.24008901e-05 -9.99999836e-01 -1.80895526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.786559995 meters 0.016963601942106547 Centerline is valid? [True, True] Translation: X:-96.74, Y:-250.46, Z:-1.81 [[ 9.98878546e-01 -4.73453767e-02 -2.56384381e-04 -9.67367739e+01] [-4.73453740e-02 -9.98878579e-01 1.69498044e-05 -2.50458821e+02] [-2.56899362e-04 -4.79218163e-06 -9.99999967e-01 -1.80920650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.8165599949999 meters 0.017775228248367546 Centerline is valid? [True, True] Translation: X:-96.73, Y:-250.47, Z:-1.81 [[ 9.99473860e-01 3.24300330e-02 5.44118100e-04 -9.67345205e+01] [ 3.24300371e-02 -9.99474008e-01 1.23351586e-06 -2.50465432e+02] [ 5.43871901e-04 1.64129033e-05 -9.99999852e-01 -1.80993355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.8465599949999 meters 0.01764607820414111 Centerline is valid? [True, True] Translation: X:-96.73, Y:-250.47, Z:-1.81 [[ 9.93667988e-01 1.12355890e-01 2.88124860e-04 -9.67303800e+01] [ 1.12355888e-01 -9.93668030e-01 2.24513910e-05 -2.50472503e+02] [ 2.88823007e-04 1.00632960e-05 -9.99999958e-01 -1.80922693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.876559995 meters 0.01764607820414111 Centerline is valid? [True, True] Translation: X:-96.73, Y:-250.48, Z:-1.81 [[ 9.81822714e-01 1.89800095e-01 2.85414659e-04 -9.67265420e+01] [ 1.89800090e-01 -9.81822756e-01 4.49317229e-05 -2.50478210e+02] [ 2.88754652e-04 1.00567420e-05 -9.99999958e-01 -1.80922630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.906559995 meters 0.020427815804466072 Centerline is valid? [True, True] Translation: X:-96.72, Y:-250.49, Z:-1.81 [[ 9.63590885e-01 2.67380534e-01 -5.06758194e-04 -9.67215516e+01] [ 2.67380504e-01 -9.63591018e-01 -1.26103725e-04 -2.50486938e+02] [-5.22025326e-04 -1.39848611e-05 -9.99999864e-01 -1.80855348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.9365599949999 meters 0.019408126113706646 Centerline is valid? [True, True] Translation: X:-96.72, Y:-250.49, Z:-1.81 [[ 9.38582206e-01 3.45045369e-01 -2.67138180e-03 -9.67166308e+01] [ 3.45044249e-01 -9.38586003e-01 -8.83844870e-04 -2.50490197e+02] [-2.81228815e-03 -9.21838597e-05 -9.99996041e-01 -1.80697005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.9665599949999 meters 0.019408126113706646 Centerline is valid? [True, True] Translation: X:-96.71, Y:-250.49, Z:-1.81 [[ 9.08702015e-01 4.17437323e-01 -2.59408788e-03 -9.67113711e+01] [ 4.17435910e-01 -9.08705713e-01 -1.09020745e-03 -2.50494129e+02] [-2.81235576e-03 -9.21917261e-05 -9.99996041e-01 -1.80696943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.996559995 meters 0.022275178444200218 Centerline is valid? [True, True] Translation: X:-96.70, Y:-250.50, Z:-1.81 [[ 8.72902482e-01 4.87886356e-01 -2.85670858e-03 -9.67044961e+01] [ 4.87884143e-01 -8.72907150e-01 -1.47318228e-03 -2.50501514e+02] [-3.21238688e-03 -1.07798351e-04 -9.99994835e-01 -1.80573617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.026559995 meters 0.020730601592426217 Centerline is valid? [True, True] Translation: X:-96.70, Y:-250.50, Z:-1.80 [[ 8.31142747e-01 5.56045126e-01 -3.94350732e-03 -9.66991862e+01] [ 5.56039791e-01 -8.31152086e-01 -2.44140538e-03 -2.50503220e+02] [-4.63518590e-03 -1.63590610e-04 -9.99989244e-01 -1.80414235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.0565599949999 meters 0.02124394260256546 Centerline is valid? [True, True] Translation: X:-96.69, Y:-250.51, Z:-1.80 [[ 7.84726399e-01 6.19830631e-01 -3.80367906e-03 -9.66930909e+01] [ 6.19824378e-01 -7.84735599e-01 -2.78909805e-03 -2.50505139e+02] [-4.71365077e-03 -1.68934139e-04 -9.99988877e-01 -1.80361412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.0865599949999 meters 0.02124394260256546 Centerline is valid? [True, True] Translation: X:-96.69, Y:-250.51, Z:-1.80 [[ 7.33774449e-01 6.79383756e-01 -3.57362128e-03 -9.66877637e+01] [ 6.79376802e-01 -7.33783131e-01 -3.07845844e-03 -2.50506072e+02] [-4.71371767e-03 -1.68941249e-04 -9.99988876e-01 -1.80361352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.116559995 meters 0.02063949078792783 Centerline is valid? [True, True] Translation: X:-96.68, Y:-250.51, Z:-1.80 [[ 6.77977486e-01 7.35075606e-01 -3.22203137e-03 -9.66821699e+01] [ 7.35068447e-01 -6.77985122e-01 -3.24857204e-03 -2.50506500e+02] [-4.57243539e-03 -1.65954888e-04 -9.99989533e-01 -1.80397665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.146559995 meters 0.02193116926960533 Centerline is valid? [True, True] Translation: X:-96.68, Y:-250.51, Z:-1.80 [[ 6.19079713e-01 7.85323628e-01 -2.66632599e-03 -9.66765409e+01] [ 7.85317335e-01 -6.19085437e-01 -3.14724915e-03 -2.50507218e+02] [-4.12229271e-03 -1.45513916e-04 -9.99991493e-01 -1.80469924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.1765599949999 meters 0.02009441989503078 Centerline is valid? [True, True] Translation: X:-96.67, Y:-250.51, Z:-1.81 [[ 5.56724503e-01 8.30694774e-01 -2.00474919e-03 -9.66727066e+01] [ 8.30690124e-01 -5.56728101e-01 -2.78198502e-03 -2.50505126e+02] [-3.42708063e-03 -1.16526130e-04 -9.99994121e-01 -1.80538018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.2065599949999 meters 0.02024712185513726 Centerline is valid? [True, True] Translation: X:-96.67, Y:-250.51, Z:-1.81 [[ 4.91303833e-01 8.70987124e-01 -1.40441295e-03 -9.66679646e+01] [ 8.70984061e-01 -4.91305833e-01 -2.31166799e-03 -2.50505284e+02] [-2.70342933e-03 -8.74899471e-05 -9.99996342e-01 -1.80558050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.236559995 meters 0.018216810953221432 Centerline is valid? [True, True] Translation: X:-96.66, Y:-250.50, Z:-1.81 [[ 4.24053751e-01 9.05636884e-01 -5.00173607e-04 -9.66647818e+01] [ 9.05636340e-01 -4.24054045e-01 -9.92932080e-04 -2.50503670e+02] [-1.11133656e-03 -3.19188219e-05 -9.99999382e-01 -1.80703693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.266559995 meters 0.017926377593090577 Centerline is valid? [True, True] Translation: X:-96.66, Y:-250.50, Z:-1.81 [[ 3.53033730e-01 9.35610565e-01 -2.36555267e-04 -9.66596112e+01] [ 9.35610385e-01 -3.53033809e-01 -5.80260182e-04 -2.50503192e+02] [-6.26409565e-04 -1.64721480e-05 -9.99999804e-01 -1.80738921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.2965599949999 meters 0.017274883389188644 Centerline is valid? [True, True] Translation: X:-96.66, Y:-250.50, Z:-1.81 [[ 2.81087368e-01 9.59682118e-01 -3.52617370e-04 -9.66570061e+01] [ 9.59681487e-01 -2.81087588e-01 -1.10094810e-03 -2.50502042e+02] [-1.15567657e-03 -2.89377569e-05 -9.99999332e-01 -1.80695615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.3265599949999 meters 0.01711491247158135 Centerline is valid? [True, True] Translation: X:-96.65, Y:-250.50, Z:-1.81 [[ 2.05988027e-01 9.78554424e-01 -4.14170546e-04 -9.66534322e+01] [ 9.78552856e-01 -2.05988438e-01 -1.75232203e-03 -2.50501506e+02] [-1.80005682e-03 -4.43304135e-05 -9.99998379e-01 -1.80621314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.356559995 meters 0.015668867393874228 Centerline is valid? [True, True] Translation: X:-96.65, Y:-250.50, Z:-1.81 [[ 1.29704092e-01 9.91552648e-01 -4.41085360e-04 -9.66489133e+01] [ 9.91548582e-01 -1.29704824e-01 -2.84047942e-03 -2.50500560e+02] [-2.87369579e-03 -6.89357581e-05 -9.99995869e-01 -1.80539057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.386559995 meters 0.016326258805676 Centerline is valid? [True, True] Translation: X:-96.64, Y:-250.50, Z:-1.80 [[ 5.19743425e-02 9.98648387e-01 -2.57841606e-04 -9.66401692e+01] [ 9.98642614e-01 -5.19749190e-02 -3.39658112e-03 -2.50501137e+02] [-3.40539155e-03 -8.09565458e-05 -9.99994198e-01 -1.80469114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.416559995 meters 0.015923461435936037 Centerline is valid? [True, True] Translation: X:-96.63, Y:-250.50, Z:-1.80 [[-2.60472559e-02 9.99660713e-01 1.02706158e-05 -9.66340584e+01] [ 9.99652740e-01 2.60470892e-02 -3.99362098e-03 -2.50500280e+02] [-3.99253351e-03 -9.37558182e-05 -9.99992026e-01 -1.80384279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.4465599949999 meters 0.01599721259775156 Centerline is valid? [True, True] Translation: X:-96.63, Y:-250.50, Z:-1.80 [[-1.03621996e-01 9.94616680e-01 3.76605976e-04 -9.66282892e+01] [ 9.94605848e-01 1.03622626e-01 -4.64306378e-03 -2.50499939e+02] [-4.65709359e-03 -1.06549031e-04 -9.99989150e-01 -1.80322358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.476559995 meters 0.015928705171276945 Centerline is valid? [True, True] Translation: X:-96.62, Y:-250.50, Z:-1.80 [[-1.80287381e-01 9.83613652e-01 8.02315137e-04 -9.66240654e+01] [ 9.83600981e-01 1.80289132e-01 -4.99392766e-03 -2.50499641e+02] [-5.05674412e-03 -1.11184185e-04 -9.99987209e-01 -1.80324766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.506559995 meters 0.015058542148530895 Centerline is valid? [True, True] Translation: X:-96.62, Y:-250.50, Z:-1.80 [[-2.53922226e-01 9.67223879e-01 1.21264617e-03 -9.66234376e+01] [ 9.67210935e-01 2.53925103e-01 -5.00493477e-03 -2.50499145e+02] [-5.14881373e-03 -9.79795446e-05 -9.99986740e-01 -1.80289573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.536559995 meters 0.0147555480053903 Centerline is valid? [True, True] Translation: X:-96.62, Y:-250.50, Z:-1.80 [[-3.27166855e-01 9.44964946e-01 1.76085660e-03 -9.66214433e+01] [ 9.44949611e-01 3.27171579e-01 -5.38426517e-03 -2.50498061e+02] [-5.66404408e-03 -9.76323396e-05 -9.99983955e-01 -1.80257188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.5665599949999 meters 0.013478673140716435 Centerline is valid? [True, True] Translation: X:-96.62, Y:-250.50, Z:-1.80 [[-3.95729558e-01 9.18364275e-01 2.27506759e-03 -9.66219866e+01] [ 9.18348016e-01 3.95736091e-01 -5.46523731e-03 -2.50498159e+02] [-5.91940505e-03 -7.34521349e-05 -9.99982478e-01 -1.80332572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.5965599949999 meters 0.013011107211431625 Centerline is valid? [True, True] Translation: X:-96.62, Y:-250.50, Z:-1.80 [[-4.64071579e-01 8.85793291e-01 2.79548032e-03 -9.66182440e+01] [ 8.85776441e-01 4.64079995e-01 -5.46394999e-03 -2.50497197e+02] [-6.13725674e-03 -5.94932905e-05 -9.99981165e-01 -1.80370561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.626559995 meters 0.012746719002240805 Centerline is valid? [True, True] Translation: X:-96.61, Y:-250.50, Z:-1.80 [[-5.29467246e-01 8.48324298e-01 3.21269847e-03 -9.66142510e+01] [ 8.48308206e-01 5.29476991e-01 -5.22526503e-03 -2.50497028e+02] [-6.13376921e-03 -4.12482030e-05 -9.99981188e-01 -1.80349844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.656559995 meters 0.012546260022109342 Centerline is valid? [True, True] Translation: X:-96.61, Y:-250.50, Z:-1.80 [[-5.89538568e-01 8.07732099e-01 3.62406978e-03 -9.66134936e+01] [ 8.07716783e-01 5.89549707e-01 -4.97409860e-03 -2.50497217e+02] [-6.15430838e-03 -5.20098504e-06 -9.99981062e-01 -1.80355471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.6865599949999 meters 0.012612496860664393 Centerline is valid? [True, True] Translation: X:-96.61, Y:-250.49, Z:-1.80 [[-6.48850088e-01 7.60904271e-01 4.27241118e-03 -9.66088793e+01] [ 7.60887907e-01 6.48864154e-01 -4.99028912e-03 -2.50494346e+02] [-6.56934677e-03 1.28764644e-05 -9.99978422e-01 -1.80368676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.7165599949999 meters 0.013140964987378103 Centerline is valid? [True, True] Translation: X:-96.61, Y:-250.49, Z:-1.80 [[-7.02067132e-01 7.12093977e-01 4.88977903e-03 -9.66065497e+01] [ 7.12077260e-01 7.02084158e-01 -4.87964769e-03 -2.50494193e+02] [-6.90780412e-03 5.60601935e-05 -9.99976139e-01 -1.80411318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.746559995 meters 0.013590466070462484 Centerline is valid? [True, True] Translation: X:-96.59, Y:-250.48, Z:-1.80 [[-7.48660790e-01 6.62930254e-01 5.52266938e-03 -9.65870775e+01] [ 6.62913017e-01 7.48681155e-01 -4.78128991e-03 -2.50478634e+02] [-7.30438023e-03 8.14851385e-05 -9.99973319e-01 -1.80400941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.776559995 meters 0.014792645200978 Centerline is valid? [True, True] Translation: X:-96.11, Y:-249.95, Z:-2.79 [[-7.21940375e-01 -6.91928525e-01 6.08370860e-03 -9.61118356e+01] [ 6.91903580e-01 -7.21966007e-01 -5.87548720e-03 -2.49952124e+02] [ 8.45764800e-03 -3.24116733e-05 9.99964233e-01 -2.78650981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.8065599949999 meters 0.015520459420695732 Centerline is valid? [True, True] Translation: X:-96.62, Y:-250.47, Z:-1.80 [[-7.45214429e-01 6.66791687e-01 6.65597301e-03 -9.66175149e+01] [ 6.66767153e-01 7.45244132e-01 -5.72252661e-03 -2.50466123e+02] [-8.77605800e-03 1.73474773e-04 -9.99961475e-01 -1.80332196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.8365599949999 meters 0.016455979897939496 Centerline is valid? [True, True] Translation: X:-96.60, Y:-250.45, Z:-1.80 [[-7.88637492e-01 6.14809941e-01 7.72291217e-03 -9.65998561e+01] [ 6.14783167e-01 7.88675275e-01 -5.74186105e-03 -2.50448903e+02] [-9.62102313e-03 2.19669503e-04 -9.99953693e-01 -1.80310948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.866559995 meters 0.016713269687499928 Centerline is valid? [True, True] Translation: X:-96.58, Y:-250.43, Z:-1.80 [[-8.29602063e-01 5.58295235e-01 8.17606011e-03 -9.65835430e+01] [ 5.58270849e-01 8.29642319e-01 -5.22320670e-03 -2.50427005e+02] [-9.69929688e-03 2.31272974e-04 -9.99952934e-01 -1.80349662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.896559995 meters 0.016713269687499928 Centerline is valid? [True, True] Translation: X:-96.57, Y:-250.40, Z:-1.80 [[-8.67050768e-01 4.98146849e-01 8.52541941e-03 -9.65675141e+01] [ 4.98125375e-01 8.67092650e-01 -4.63116567e-03 -2.50403743e+02] [-9.69932910e-03 2.31271988e-04 -9.99952934e-01 -1.80349629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.9265599949999 meters 0.017538947641749944 Centerline is valid? [True, True] Translation: X:-96.55, Y:-250.38, Z:-1.80 [[-8.99297091e-01 4.37256327e-01 8.46444345e-03 -9.65520037e+01] [ 4.37239449e-01 8.99336893e-01 -3.84930380e-03 -2.50383098e+02] [-9.29551871e-03 2.39320884e-04 -9.99956767e-01 -1.80409245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.9565599949999 meters 0.01782239731394889 Centerline is valid? [True, True] Translation: X:-96.54, Y:-250.36, Z:-1.80 [[-9.27800731e-01 3.72987060e-01 8.15204819e-03 -9.65430603e+01] [ 3.72974820e-01 9.27836516e-01 -3.03042020e-03 -2.50357667e+02] [-8.69407551e-03 2.28882622e-04 -9.99962180e-01 -1.80440712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.986559995 meters 0.018040985271520954 Centerline is valid? [True, True] Translation: X:-96.28, Y:-249.67, Z:-2.79 [[-9.22152106e-01 -3.86750125e-01 7.73527776e-03 -9.62757952e+01] [ 3.86734357e-01 -9.22184518e-01 -3.50033583e-03 -2.49667682e+02] [ 8.48710872e-03 -2.36344387e-04 9.99963956e-01 -2.78527521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.016559995 meters 0.017269092308383107 Centerline is valid? [True, True] Translation: X:-96.59, Y:-250.34, Z:-1.81 [[-9.29701304e-01 3.68218859e-01 8.38794377e-03 -9.65872397e+01] [ 3.68206021e-01 9.29739115e-01 -3.08287290e-03 -2.50342691e+02] [-8.93377137e-03 2.22340443e-04 -9.99960068e-01 -1.80540541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.0465599949999 meters 0.01752314559262093 Centerline is valid? [True, True] Translation: X:-96.32, Y:-249.65, Z:-2.79 [[-9.22230942e-01 -3.86544569e-01 8.56650773e-03 -9.63235264e+01] [ 3.86525820e-01 -9.22270705e-01 -3.81262780e-03 -2.49650571e+02] [ 9.37438970e-03 -2.04946903e-04 9.99956039e-01 -2.78518930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.0765599949999 meters 0.015086523938534574 Centerline is valid? [True, True] Translation: X:-96.63, Y:-250.32, Z:-1.81 [[-9.33735623e-01 3.57856807e-01 8.73456489e-03 -9.66317157e+01] [ 3.57842779e-01 9.33776461e-01 -3.17282629e-03 -2.50322810e+02] [-9.29154858e-03 1.63020038e-04 -9.99956819e-01 -1.80596490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.106559995 meters 0.015021059534554322 Centerline is valid? [True, True] Translation: X:-96.38, Y:-249.64, Z:-2.79 [[-9.20215949e-01 -3.91319209e-01 8.47843568e-03 -9.63770834e+01] [ 3.91300958e-01 -9.20254992e-01 -3.78288441e-03 -2.49637621e+02] [ 9.28263809e-03 -1.63450569e-04 9.99956902e-01 -2.78506877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.136559995 meters 0.013069293225954999 Centerline is valid? [True, True] Translation: X:-96.68, Y:-250.30, Z:-1.81 [[-9.39326974e-01 3.42913184e-01 8.68243765e-03 -9.66772196e+01] [ 3.42899014e-01 9.39367099e-01 -3.11774326e-03 -2.50297131e+02] [-9.22511153e-03 4.86189672e-05 -9.99957447e-01 -1.80600061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.166559995 meters 0.012933520089948993 Centerline is valid? [True, True] Translation: X:-96.67, Y:-250.27, Z:-1.81 [[-9.62625163e-01 2.70680209e-01 9.22064007e-03 -9.66701999e+01] [ 2.70667824e-01 9.62669322e-01 -2.58939011e-03 -2.50266724e+02] [-9.57732398e-03 3.11850410e-06 -9.99954136e-01 -1.80533176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.1965599949999 meters 0.013049231706487861 Centerline is valid? [True, True] Translation: X:-96.67, Y:-250.24, Z:-1.81 [[-9.80365289e-01 1.96939870e-01 9.92910341e-03 -9.66670139e+01] [ 1.96929290e-01 9.80415568e-01 -2.04196022e-03 -2.50235707e+02] [-1.01367909e-02 -4.65356379e-05 -9.99948620e-01 -1.80576939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.226559995 meters 0.013593406805590853 Centerline is valid? [True, True] Translation: X:-96.53, Y:-249.55, Z:-2.78 [[-9.61005295e-01 -2.76333069e-01 1.04335400e-02 -9.65275632e+01] [ 2.76317880e-01 -9.61061926e-01 -2.89888766e-03 -2.49551872e+02] [ 1.08283366e-02 9.71272701e-05 9.99941367e-01 -2.78465531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.256559995 meters 0.016183088662739275 Centerline is valid? [True, True] Translation: X:-96.72, Y:-250.21, Z:-1.80 [[-9.83791241e-01 1.78923324e-01 1.18843935e-02 -9.67191338e+01] [ 1.78907434e-01 9.83862994e-01 -2.39569333e-03 -2.50213189e+02] [-1.21212604e-02 -2.30655763e-04 -9.99926508e-01 -1.80313651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.286559995 meters 0.017357018580556906 Centerline is valid? [True, True] Translation: X:-96.72, Y:-250.18, Z:-1.80 [[-9.94444788e-01 1.04506486e-01 1.25681770e-02 -9.67188323e+01] [ 1.04494403e-01 9.94524162e-01 -1.61605114e-03 -2.50182220e+02] [-1.26682436e-02 -2.93769481e-04 -9.99919712e-01 -1.80285554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.3165599949999 meters 0.01835297512686446 Centerline is valid? [True, True] Translation: X:-96.64, Y:-249.52, Z:-2.79 [[-9.74671652e-01 -2.23255749e-01 1.31164687e-02 -9.66363590e+01] [ 2.23240492e-01 -9.74759838e-01 -2.63474109e-03 -2.49518891e+02] [ 1.33736280e-02 3.60119467e-04 9.99910504e-01 -2.78682197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.3465599949999 meters 0.019033176066758046 Centerline is valid? [True, True] Translation: X:-96.78, Y:-250.17, Z:-1.80 [[-9.95690323e-01 9.17338370e-02 1.36265567e-02 -9.67806635e+01] [ 9.17191997e-02 9.95783465e-01 -1.69657507e-03 -2.50169799e+02] [-1.37247331e-02 -4.39446510e-04 -9.99905715e-01 -1.80288396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.376559995 meters 0.019955698804628892 Centerline is valid? [True, True] Translation: X:-96.78, Y:-250.14, Z:-1.80 [[-9.99732377e-01 1.80502115e-02 1.44694625e-02 -9.67801443e+01] [ 1.80410391e-02 9.99836955e-01 -7.64197541e-04 -2.50140525e+02] [-1.44808972e-02 -5.02948885e-04 -9.99895020e-01 -1.80299106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.406559995 meters 0.020114495041885783 Centerline is valid? [True, True] Translation: X:-96.79, Y:-250.11, Z:-1.80 [[-9.98477638e-01 -5.32080802e-02 1.45364183e-02 -9.67853151e+01] [-5.32098295e-02 9.98583318e-01 2.66670665e-04 -2.50113188e+02] [-1.45300139e-02 -5.07215645e-04 -9.99894305e-01 -1.80315656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.4365599949999 meters 0.020474400915753317 Centerline is valid? [True, True] Translation: X:-96.79, Y:-250.09, Z:-1.80 [[-9.92173559e-01 -1.24022289e-01 1.44948357e-02 -9.67892823e+01] [-1.24016479e-01 9.92279304e-01 1.30246174e-03 -2.50086081e+02] [-1.45444597e-02 -5.05330383e-04 -9.99894096e-01 -1.80348607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.4665599949999 meters 0.020419968397609314 Centerline is valid? [True, True] Translation: X:-96.84, Y:-249.43, Z:-2.79 [[-9.99822184e-01 -1.22191070e-02 1.43629453e-02 -9.68446539e+01] [ 1.22248329e-02 -9.99925226e-01 3.10929029e-04 -2.49429117e+02] [ 1.43580721e-02 4.86458348e-04 9.99896799e-01 -2.78607503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.496559995 meters 0.019955583913647334 Centerline is valid? [True, True] Translation: X:-96.88, Y:-250.10, Z:-1.80 [[-9.91673574e-01 -1.27886193e-01 1.51209761e-02 -9.68821174e+01] [-1.27878946e-01 9.91788725e-01 1.44916799e-03 -2.50096645e+02] [-1.51821422e-02 -4.96552884e-04 -9.99884621e-01 -1.80374075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.526559995 meters 0.02036270414514883 Centerline is valid? [True, True] Translation: X:-96.90, Y:-250.07, Z:-1.80 [[-9.80166081e-01 -1.97575153e-01 1.54438852e-02 -9.68954977e+01] [-1.97558665e-01 9.80287615e-01 2.60123618e-03 -2.50070987e+02] [-1.56533890e-02 -5.01429869e-04 -9.99877353e-01 -1.80262999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.5565599949999 meters 0.01936724567283103 Centerline is valid? [True, True] Translation: X:-96.92, Y:-250.05, Z:-1.80 [[-9.63945788e-01 -2.65607120e-01 1.61671519e-02 -9.69155832e+01] [-2.65578435e-01 9.64081225e-01 3.93536790e-03 -2.50050206e+02] [-1.66317094e-02 -5.00165594e-04 -9.99861559e-01 -1.80148827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.5865599949999 meters 0.018340151471846762 Centerline is valid? [True, True] Translation: X:-96.95, Y:-250.03, Z:-1.80 [[-9.42516395e-01 -3.33761948e-01 1.63036114e-02 -9.69488811e+01] [-3.33721090e-01 9.42657263e-01 5.24580874e-03 -2.50034090e+02] [-1.71195691e-02 -4.96598234e-04 -9.99853326e-01 -1.80199321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.616559995 meters 0.01793561386573882 Centerline is valid? [True, True] Translation: X:-97.01, Y:-250.03, Z:-1.80 [[-9.16068080e-01 -4.00684266e-01 1.64739745e-02 -9.70070695e+01] [-4.00629065e-01 9.16216065e-01 6.66893242e-03 -2.50028345e+02] [-1.77658564e-02 -4.90756891e-04 -9.99842054e-01 -1.80161680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.646559995 meters 0.017274299295900356 Centerline is valid? [True, True] Translation: X:-97.07, Y:-250.03, Z:-1.80 [[-8.84625160e-01 -4.66022032e-01 1.61799927e-02 -9.70681861e+01] [-4.65953767e-01 8.84772990e-01 7.99021526e-03 -2.50029042e+02] [-1.80392368e-02 -4.70783079e-04 -9.99837169e-01 -1.80158195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.6765599949999 meters 0.016039829865285935 Centerline is valid? [True, True] Translation: X:-97.14, Y:-250.05, Z:-1.80 [[-8.49652417e-01 -5.27094585e-01 1.61885442e-02 -9.71440754e+01] [-5.27008185e-01 8.49806523e-01 9.55229272e-03 -2.50045121e+02] [-1.87920922e-02 -4.15366698e-04 -9.99823327e-01 -1.80171407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.7065599949999 meters 0.015924763031488355 Centerline is valid? [True, True] Translation: X:-97.22, Y:-250.06, Z:-1.80 [[-8.08628056e-01 -5.88115355e-01 1.55240325e-02 -9.72172999e+01] [-5.88016172e-01 8.08776964e-01 1.08075728e-02 -2.50061391e+02] [-1.89115794e-02 -3.89075583e-04 -9.99821084e-01 -1.80112868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.736559995 meters 0.015725323197537566 Centerline is valid? [True, True] Translation: X:-97.30, Y:-250.09, Z:-1.80 [[-7.63369003e-01 -6.45798540e-01 1.45606107e-02 -9.73003225e+01] [-6.45689736e-01 7.63507776e-01 1.18591864e-02 -2.50093730e+02] [-1.87757848e-02 -3.48701624e-04 -9.99823659e-01 -1.80139933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.766559995 meters 0.015187865049093219 Centerline is valid? [True, True] Translation: X:-97.39, Y:-250.13, Z:-1.80 [[-7.12403141e-01 -7.01647071e-01 1.31587594e-02 -9.73861033e+01] [-7.01536056e-01 7.12524578e-01 1.24854706e-02 -2.50134533e+02] [-1.81363334e-02 -3.36655661e-04 -9.99835467e-01 -1.80359449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.7965599949999 meters 0.015187865049093219 Centerline is valid? [True, True] Translation: X:-97.47, Y:-250.18, Z:-1.80 [[-6.57111499e-01 -7.53695089e-01 1.21733658e-02 -9.74731176e+01] [-7.53575179e-01 6.57224162e-01 1.34480852e-02 -2.50183941e+02] [-1.81363859e-02 -3.36654856e-04 -9.99835466e-01 -1.80359221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.8265599949999 meters 0.015279885456465324 Centerline is valid? [True, True] Translation: X:-97.56, Y:-250.24, Z:-1.80 [[-5.97508916e-01 -8.01791573e-01 1.06475271e-02 -9.75593354e+01] [-8.01674018e-01 5.97603686e-01 1.37332732e-02 -2.50242556e+02] [-1.73742242e-02 -3.30092650e-04 -9.99849002e-01 -1.80439709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.856559995 meters 0.015449002836241328 Centerline is valid? [True, True] Translation: X:-97.65, Y:-250.32, Z:-1.80 [[-5.34444613e-01 -8.45155041e-01 9.05056673e-03 -9.76479937e+01] [-8.45043774e-01 5.34521147e-01 1.37172370e-02 -2.50316313e+02] [-1.64309113e-02 -3.17021660e-04 -9.99864953e-01 -1.80483924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.886559995 meters 0.0157842409987261 Centerline is valid? [True, True] Translation: X:-97.73, Y:-250.39, Z:-1.80 [[-4.67163982e-01 -8.84139026e-01 7.48313280e-03 -9.77272635e+01] [-8.84036313e-01 4.67223803e-01 1.34801917e-02 -2.50386635e+02] [-1.54146614e-02 -3.17901077e-04 -9.99881137e-01 -1.80477490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.916559995 meters 0.016101258064010526 Centerline is valid? [True, True] Translation: X:-97.80, Y:-250.47, Z:-1.80 [[-3.97843433e-01 -9.17430449e-01 6.47875578e-03 -9.78030836e+01] [-9.17321820e-01 3.97896049e-01 1.41213524e-02 -2.50471355e+02] [-1.55332300e-02 -3.25016743e-04 -9.99879299e-01 -1.80428863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.9465599949999 meters 0.016111091483623097 Centerline is valid? [True, True] Translation: X:-97.87, Y:-250.56, Z:-1.80 [[-3.26733294e-01 -9.45102449e-01 5.16872539e-03 -9.78694893e+01] [-9.44998576e-01 3.26774032e-01 1.40151153e-02 -2.50557151e+02] [-1.49347250e-02 -3.05233338e-04 -9.99888424e-01 -1.80440900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.976559995 meters 0.01606934148156829 Centerline is valid? [True, True] Translation: X:-97.93, Y:-250.66, Z:-1.80 [[-2.53680810e-01 -9.67279378e-01 4.08072740e-03 -9.79303894e+01] [-9.67172517e-01 2.53713453e-01 1.43807205e-02 -2.50656209e+02] [-1.49455098e-02 -2.98654570e-04 -9.99888265e-01 -1.80453229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.006559995 meters 0.016001423164544608 Centerline is valid? [True, True] Translation: X:-97.98, Y:-250.76, Z:-1.80 [[-1.79429998e-01 -9.83766467e-01 2.90078322e-03 -9.79831608e+01] [-9.83661969e-01 1.79453226e-01 1.43412110e-02 -2.50759570e+02] [-1.46289574e-02 -2.80146669e-04 -9.99892952e-01 -1.80429954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.036559995 meters 0.015698628565167797 Centerline is valid? [True, True] Translation: X:-98.03, Y:-250.87, Z:-1.80 [[-1.04777640e-01 -9.94494060e-01 1.79168290e-03 -9.80274230e+01] [-9.94387714e-01 1.04792641e-01 1.45456433e-02 -2.50867132e+02] [-1.46533111e-02 -2.57569282e-04 -9.99892601e-01 -1.80465773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.0665599949999 meters 0.015391208965175287 Centerline is valid? [True, True] Translation: X:-98.06, Y:-250.98, Z:-1.80 [[-2.91619330e-02 -9.99574487e-01 6.52744543e-04 -9.80643757e+01] [-9.99471582e-01 2.91682981e-02 1.43446205e-02 -2.50979310e+02] [-1.43575561e-02 -2.34082759e-04 -9.99896898e-01 -1.80464181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.0965599949999 meters 0.015104372259615334 Centerline is valid? [True, True] Translation: X:-98.09, Y:-251.09, Z:-1.80 [[ 4.65514926e-02 -9.98915793e-01 -4.44754249e-04 -9.80925758e+01] [-9.98816479e-01 -4.65531365e-02 1.40871423e-02 -2.51093528e+02] [-1.40925736e-02 -2.11549628e-04 -9.99900672e-01 -1.80459689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.126559995 meters 0.014363937662294646 Centerline is valid? [True, True] Translation: X:-98.11, Y:-251.21, Z:-1.80 [[ 1.20258201e-01 -9.92741570e-01 -1.46331478e-03 -9.81114182e+01] [-9.92650938e-01 -1.20266996e-01 1.34151191e-02 -2.51210863e+02] [-1.34937349e-02 -1.60717305e-04 -9.99908943e-01 -1.80475534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.156559995 meters 0.014085857964665252 Centerline is valid? [True, True] Translation: X:-98.12, Y:-251.33, Z:-1.80 [[ 1.94691395e-01 -9.80861405e-01 -2.48295537e-03 -9.81213650e+01] [-9.80772400e-01 -1.94707179e-01 1.32141643e-02 -2.51329957e+02] [-1.34447130e-02 -1.37469986e-04 -9.99909606e-01 -1.80477891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.1865599949999 meters 0.013326589263265595 Centerline is valid? [True, True] Translation: X:-98.12, Y:-251.45, Z:-1.80 [[ 2.64988627e-01 -9.64245518e-01 -3.40707645e-03 -9.81198589e+01] [-9.64162384e-01 -2.65010520e-01 1.26617979e-02 -2.51447952e+02] [-1.31119930e-02 -7.02574940e-05 -9.99914032e-01 -1.80493770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.2165599949999 meters 0.013100300163933066 Centerline is valid? [True, True] Translation: X:-98.11, Y:-251.57, Z:-1.81 [[ 3.35989567e-01 -9.41855826e-01 -4.31447209e-03 -9.81094220e+01] [-9.41776800e-01 -3.36017265e-01 1.22006964e-02 -2.51567413e+02] [-1.29410341e-02 -3.60369724e-05 -9.99916261e-01 -1.80559357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.246559995 meters 0.012868983996087508 Centerline is valid? [True, True] Translation: X:-98.09, Y:-251.68, Z:-1.81 [[ 4.05271120e-01 -9.14182543e-01 -5.05946520e-03 -9.80908491e+01] [-9.14111171e-01 -4.05302700e-01 1.14231457e-02 -2.51683532e+02] [-1.24934553e-02 -4.55739425e-06 -9.99921954e-01 -1.80693578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.276559995 meters 0.013400390845608751 Centerline is valid? [True, True] Translation: X:-98.07, Y:-251.79, Z:-1.81 [[ 4.70755532e-01 -8.82243067e-01 -6.03323449e-03 -9.80652476e+01] [-8.82171906e-01 -4.70794189e-01 1.12053452e-02 -2.51792630e+02] [-1.27262498e-02 4.73717356e-05 -9.99919017e-01 -1.80514274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.3065599949999 meters 0.012990749894901538 Centerline is valid? [True, True] Translation: X:-98.03, Y:-251.91, Z:-1.81 [[ 5.35593875e-01 -8.44447263e-01 -6.92964307e-03 -9.80314520e+01] [-8.44378276e-01 -5.35638698e-01 1.07940766e-02 -2.51905443e+02] [-1.28268135e-02 6.99987285e-05 -9.99917731e-01 -1.80764684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.3365599949999 meters 0.013450359846789925 Centerline is valid? [True, True] Translation: X:-97.99, Y:-252.01, Z:-1.81 [[ 5.96773650e-01 -8.02370574e-01 -7.91661980e-03 -9.79923132e+01] [-8.02302265e-01 -5.96826149e-01 1.04701748e-02 -2.52010013e+02] [-1.31258058e-02 1.03197581e-04 -9.99913848e-01 -1.80627092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.366559995 meters 0.014298771484341471 Centerline is valid? [True, True] Translation: X:-97.94, Y:-252.11, Z:-1.80 [[ 6.55940049e-01 -7.54757639e-01 -9.14097986e-03 -9.79441144e+01] [-7.54686836e-01 -6.56003729e-01 1.03386138e-02 -2.52111532e+02] [-1.37996646e-02 1.17066348e-04 -9.99904773e-01 -1.80355600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.396559995 meters 0.013696264447416428 Centerline is valid? [True, True] Translation: X:-97.89, Y:-252.21, Z:-1.81 [[ 7.11577736e-01 -7.02529458e-01 -1.04635965e-02 -9.78919880e+01] [-7.02456055e-01 -7.11654654e-01 1.01560519e-02 -2.52210038e+02] [-1.45813927e-02 1.23396279e-04 -9.99893678e-01 -1.80516007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.4265599949999 meters 0.013649277552874057 Centerline is valid? [True, True] Translation: X:-97.90, Y:-252.22, Z:-1.80 [[ 7.65195554e-01 -6.43692207e-01 -1.16664845e-02 -9.78957679e+01] [-6.43619537e-01 -7.65284477e-01 9.67270137e-03 -2.52216673e+02] [-1.51544220e-02 1.07269276e-04 -9.99885160e-01 -1.80393453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.4565599949999 meters 0.013497876879089396 Centerline is valid? [True, True] Translation: X:-97.90, Y:-252.22, Z:-1.80 [[ 8.13968380e-01 -5.80776159e-01 -1.24309786e-02 -9.78973724e+01] [-5.80710061e-01 -8.14063293e-01 8.76237640e-03 -2.52221734e+02] [-1.52085827e-02 8.64970284e-05 -9.99884339e-01 -1.80390007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.486559995 meters 0.013115567688780862 Centerline is valid? [True, True] Translation: X:-97.90, Y:-252.23, Z:-1.81 [[ 8.57716601e-01 -5.13969314e-01 -1.25609070e-02 -9.79005222e+01] [-5.13915217e-01 -8.57808569e-01 7.45713767e-03 -2.52231391e+02] [-1.46075936e-02 5.91304426e-05 -9.99893302e-01 -1.80555435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.516559995 meters 0.013116431306698815 Centerline is valid? [True, True] Translation: X:-97.90, Y:-252.24, Z:-1.80 [[ 8.96264226e-01 -4.43341483e-01 -1.26002304e-02 -9.79034059e+01] [-4.43298075e-01 -8.96352793e-01 6.20386500e-03 -2.52239702e+02] [-1.40446825e-02 2.53556342e-05 -9.99901368e-01 -1.80437957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.5465599949999 meters 0.01293788945929434 Centerline is valid? [True, True] Translation: X:-97.91, Y:-252.25, Z:-1.81 [[ 9.29831763e-01 -3.67791542e-01 -1.19278809e-02 -9.79050975e+01] [-3.67760814e-01 -9.29908265e-01 4.75422201e-03 -2.52250376e+02] [-1.28403977e-02 -3.40194511e-05 -9.99917558e-01 -1.80556317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.5765599949999 meters 0.01301305724874981 Centerline is valid? [True, True] Translation: X:-97.90, Y:-252.26, Z:-1.81 [[ 9.56447632e-01 -2.91664857e-01 -1.18126380e-02 -9.79044982e+01] [-2.91641803e-01 -9.56520573e-01 3.66768394e-03 -2.52258526e+02] [-1.23687658e-02 -6.28885684e-05 -9.99923502e-01 -1.80529508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.606559995 meters 0.013712592660222907 Centerline is valid? [True, True] Translation: X:-97.90, Y:-252.27, Z:-1.81 [[ 9.77321048e-01 -2.11442349e-01 -1.16491030e-02 -9.79044353e+01] [-2.11425912e-01 -9.77390464e-01 2.63900512e-03 -2.52267143e+02] [-1.19437197e-02 -1.16233019e-04 -9.99928665e-01 -1.80509553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.636559995 meters 0.01398473938618361 Centerline is valid? [True, True] Translation: X:-97.90, Y:-252.27, Z:-1.81 [[ 9.91150530e-01 -1.32230355e-01 -1.16515838e-02 -9.79017100e+01] [-1.32219553e-01 -9.91219004e-01 1.69594543e-03 -2.52274586e+02] [-1.17735268e-02 -1.40370005e-04 -9.99930680e-01 -1.80509089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.666559995 meters 0.01412494167463441 Centerline is valid? [True, True] Translation: X:-97.90, Y:-252.28, Z:-1.81 [[ 9.98589086e-01 -5.18602285e-02 -1.14173097e-02 -9.79027884e+01] [-5.18549693e-02 -9.98654340e-01 7.56389610e-04 -2.52283671e+02] [-1.14411725e-02 -1.63278163e-04 -9.99934534e-01 -1.80556959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.6965599949999 meters 0.014829204033284147 Centerline is valid? [True, True] Translation: X:-97.90, Y:-252.29, Z:-1.81 [[ 9.99481406e-01 3.02558250e-02 -1.10228770e-02 -9.79025820e+01] [ 3.02561799e-02 -9.99542168e-01 -1.34605990e-04 -2.52294669e+02] [-1.10219030e-02 -1.98973967e-04 -9.99939237e-01 -1.80581757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.726559995 meters 0.015264527606847824 Centerline is valid? [True, True] Translation: X:-97.90, Y:-252.30, Z:-1.81 [[ 9.93876132e-01 1.09951114e-01 -1.09994345e-02 -9.79017908e+01] [ 1.09946790e-01 -9.93936973e-01 -9.98798967e-04 -2.52302957e+02] [-1.10425637e-02 -2.16670069e-04 -9.99939006e-01 -1.80578186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.756559995 meters 0.015883043697040453 Centerline is valid? [True, True] Translation: X:-97.90, Y:-252.31, Z:-1.81 [[ 9.81922437e-01 1.88937893e-01 -1.14367941e-02 -9.78997218e+01] [ 1.88927986e-01 -9.81989008e-01 -1.95034211e-03 -2.52310168e+02] [-1.15992996e-02 -2.45645793e-04 -9.99932696e-01 -1.80543640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.786559995 meters 0.01686262334740159 Centerline is valid? [True, True] Translation: X:-97.90, Y:-252.32, Z:-1.80 [[ 9.63651541e-01 2.66885658e-01 -1.21554036e-02 -9.78975923e+01] [ 2.66868174e-01 -9.63728158e-01 -3.06834094e-03 -2.52318070e+02] [-1.25334009e-02 -2.87078884e-04 -9.99921413e-01 -1.80362536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.8165599949999 meters 0.01642839570716457 Centerline is valid? [True, True] Translation: X:-97.90, Y:-252.32, Z:-1.80 [[ 9.39585886e-01 3.42106028e-01 -1.19092252e-02 -9.78950583e+01] [ 3.42082518e-01 -9.39661311e-01 -4.02145715e-03 -2.52323565e+02] [-1.25664029e-02 -2.95433360e-04 -9.99920996e-01 -1.80372269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.8465599949999 meters 0.01726923629364288 Centerline is valid? [True, True] Translation: X:-97.89, Y:-252.33, Z:-1.80 [[ 9.09886603e-01 4.14691022e-01 -1.17357284e-02 -9.78926028e+01] [ 4.14660779e-01 -9.09962233e-01 -5.01719912e-03 -2.52330502e+02] [-1.27596571e-02 -3.01264033e-04 -9.99918547e-01 -1.80257711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.876559995 meters 0.016065908517353292 Centerline is valid? [True, True] Translation: X:-97.89, Y:-252.34, Z:-1.80 [[ 8.74673899e-01 4.84579116e-01 -1.13424100e-02 -9.78894917e+01] [ 4.84542809e-01 -8.74747386e-01 -5.93941000e-03 -2.52335235e+02] [-1.27998575e-02 -3.00836288e-04 -9.99918033e-01 -1.80363618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.906559995 meters 0.016070304254866746 Centerline is valid? [True, True] Translation: X:-97.89, Y:-252.34, Z:-1.80 [[ 8.35019735e-01 5.50124331e-01 -1.02597288e-02 -9.78875938e+01] [ 5.50086664e-01 -8.35082721e-01 -6.44290499e-03 -2.52339602e+02] [-1.21121210e-02 -2.63787173e-04 -9.99926611e-01 -1.80377870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.9365599949999 meters 0.01501598844512828 Centerline is valid? [True, True] Translation: X:-97.89, Y:-252.34, Z:-1.81 [[ 7.91490525e-01 6.11113339e-01 -9.12332106e-03 -9.78865977e+01] [ 6.11075765e-01 -7.91543077e-01 -6.77987562e-03 -2.52340077e+02] [-1.13647741e-02 -2.08833079e-04 -9.99935397e-01 -1.80515798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.9665599949999 meters 0.014455977210146211 Centerline is valid? [True, True] Translation: X:-97.88, Y:-252.34, Z:-1.81 [[ 7.42641787e-01 6.69635020e-01 -8.49212884e-03 -9.78845247e+01] [ 6.69594044e-01 -7.42690317e-01 -7.41007528e-03 -2.52342303e+02] [-1.12690678e-02 -1.83247343e-04 -9.99936485e-01 -1.80563772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.996559995 meters 0.013984565156442908 Centerline is valid? [True, True] Translation: X:-97.88, Y:-252.35, Z:-1.81 [[ 6.89556650e-01 7.24190086e-01 -7.76828696e-03 -9.78824906e+01] [ 7.24146667e-01 -6.89600388e-01 -7.93155977e-03 -2.52345051e+02] [-1.11009706e-02 -1.56119323e-04 -9.99938370e-01 -1.80557533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.026559995 meters 0.013136187982496956 Centerline is valid? [True, True] Translation: X:-97.88, Y:-252.35, Z:-1.81 [[ 6.34134414e-01 7.73186237e-01 -7.52254260e-03 -9.78823602e+01] [ 7.73133947e-01 -6.34179021e-01 -8.99270533e-03 -2.52345779e+02] [-1.17236747e-02 -1.13349135e-04 -9.99931269e-01 -1.80530314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.0565599949999 meters 0.012698953181536618 Centerline is valid? [True, True] Translation: X:-97.88, Y:-252.35, Z:-1.80 [[ 5.75284885e-01 8.17921363e-01 -7.20729364e-03 -9.78829667e+01] [ 8.17858595e-01 -5.75330027e-01 -1.01331023e-02 -2.52347652e+02] [-1.24346533e-02 -6.51264711e-05 -9.99922685e-01 -1.80439577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.0865599949999 meters 0.012577714546189755 Centerline is valid? [True, True] Translation: X:-97.88, Y:-252.35, Z:-1.80 [[ 5.11219910e-01 8.59425948e-01 -6.42219524e-03 -9.78804451e+01] [ 8.59359126e-01 -5.11260246e-01 -1.07170012e-02 -2.52352239e+02] [-1.24938820e-02 -4.02276878e-05 -9.99921948e-01 -1.80437079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.116559995 meters 0.012511790156018509 Centerline is valid? [True, True] Translation: X:-97.88, Y:-252.36, Z:-1.80 [[ 4.44115691e-01 8.95949988e-01 -5.90526120e-03 -9.78770888e+01] [ 8.95871300e-01 -4.44154950e-01 -1.18741021e-02 -2.52356567e+02] [-1.32614526e-02 -1.68789585e-05 -9.99912063e-01 -1.80443696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.146559995 meters 0.012575467315570346 Centerline is valid? [True, True] Translation: X:-97.87, Y:-252.36, Z:-1.80 [[ 3.73589858e-01 9.27580526e-01 -4.99868949e-03 -9.78734817e+01] [ 9.27497594e-01 -3.73623298e-01 -1.24034398e-02 -2.52362607e+02] [-1.33728161e-02 -2.47315137e-06 -9.99910580e-01 -1.80357295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.1765599949999 meters 0.012589951522986045 Centerline is valid? [True, True] Translation: X:-97.87, Y:-252.37, Z:-1.80 [[ 3.01179140e-01 9.53559349e-01 -3.96149104e-03 -9.78692139e+01] [ 9.53476131e-01 -3.01205192e-01 -1.25976269e-02 -2.52367238e+02] [-1.32058065e-02 1.69552760e-05 -9.99912799e-01 -1.80456996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.2065599949999 meters 0.012620875890543516 Centerline is valid? [True, True] Translation: X:-97.86, Y:-252.37, Z:-1.80 [[ 2.26443616e-01 9.74019866e-01 -2.93091854e-03 -9.78641292e+01] [ 9.73936666e-01 -2.26462582e-01 -1.27306456e-02 -2.52371771e+02] [-1.30636451e-02 2.82443941e-05 -9.99914667e-01 -1.80499586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.236559995 meters 0.012589803645613884 Centerline is valid? [True, True] Translation: X:-97.86, Y:-252.38, Z:-1.81 [[ 1.50908619e-01 9.88546013e-01 -1.83567732e-03 -9.78576124e+01] [ 9.88469189e-01 -1.50919777e-01 -1.23240760e-02 -2.52376203e+02] [-1.24599562e-02 4.52988181e-05 -9.99922371e-01 -1.80530933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.266559995 meters 0.012804628436137876 Centerline is valid? [True, True] Translation: X:-97.85, Y:-252.38, Z:-1.81 [[ 7.62000441e-02 9.97092219e-01 -8.12734749e-04 -9.78518393e+01] [ 9.97023752e-01 -7.62043361e-02 -1.16848756e-02 -2.52380569e+02] [-1.17128325e-02 8.00721884e-05 -9.99931399e-01 -1.80576584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.2965599949999 meters 0.013133170724320279 Centerline is valid? [True, True] Translation: X:-97.85, Y:-252.38, Z:-1.81 [[ 7.73205920e-04 9.99999696e-01 9.90371883e-05 -9.78456651e+01] [ 9.99939019e-01 -7.72067962e-04 -1.10164863e-02 -2.52383974e+02] [-1.10164065e-02 1.07549161e-04 -9.99939312e-01 -1.80583388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.3265599949999 meters 0.013350779664131545 Centerline is valid? [True, True] Translation: X:-97.84, Y:-252.39, Z:-1.81 [[-7.60147757e-02 9.97106233e-01 9.55830163e-04 -9.78380579e+01] [ 9.97046539e-01 7.60206844e-02 -1.09112304e-02 -2.52387047e+02] [-1.09523187e-02 1.23592423e-04 -9.99940014e-01 -1.80555419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.356559995 meters 0.013606326891949742 Centerline is valid? [True, True] Translation: X:-97.83, Y:-252.39, Z:-1.81 [[-1.52513883e-01 9.88299693e-01 1.79799517e-03 -9.78291082e+01] [ 9.88241316e-01 1.52524419e-01 -1.07425865e-02 -2.52389690e+02] [-1.08911331e-02 1.38459536e-04 -9.99940680e-01 -1.80536470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.386559995 meters 0.013608841879563469 Centerline is valid? [True, True] Translation: X:-97.82, Y:-252.39, Z:-1.81 [[-2.28377073e-01 9.73569315e-01 2.58857360e-03 -9.78178919e+01] [ 9.73513922e-01 2.28391695e-01 -1.03864361e-02 -2.52390706e+02] [-1.07031242e-02 1.47988549e-04 -9.99942709e-01 -1.80523740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.416559995 meters 0.01377431707007262 Centerline is valid? [True, True] Translation: X:-97.81, Y:-252.39, Z:-1.81 [[-3.03061407e-01 9.52965582e-01 3.22217845e-03 -9.78077794e+01] [ 9.52916871e-01 3.03078499e-01 -9.63637757e-03 -2.52391793e+02] [-1.01597092e-02 1.50054055e-04 -9.99948378e-01 -1.80519318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.4465599949999 meters 0.014156154091173432 Centerline is valid? [True, True] Translation: X:-97.80, Y:-252.39, Z:-1.81 [[-3.76009628e-01 9.26607158e-01 3.99184113e-03 -9.77976370e+01] [ 9.26559357e-01 3.76030783e-01 -9.41322154e-03 -2.52393296e+02] [-1.02234136e-02 1.59215821e-04 -9.99947727e-01 -1.80559878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.476559995 meters 0.014284190710189132 Centerline is valid? [True, True] Translation: X:-97.79, Y:-252.39, Z:-1.81 [[-4.47589561e-01 8.94227465e-01 4.56348823e-03 -9.77893683e+01] [ 8.94184407e-01 4.47612798e-01 -8.77659870e-03 -2.52394121e+02] [-9.89095135e-03 1.52286063e-04 -9.99951072e-01 -1.80562349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.506559995 meters 0.01391035096133979 Centerline is valid? [True, True] Translation: X:-97.78, Y:-252.39, Z:-1.81 [[-5.17116388e-01 8.55901414e-01 4.83858765e-03 -9.77785374e+01] [ 8.55866304e-01 5.17139007e-01 -7.75350508e-03 -2.52391948e+02] [-9.13845837e-03 1.31719587e-04 -9.99958235e-01 -1.80608335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.536559995 meters 0.013569964802736569 Centerline is valid? [True, True] Translation: X:-97.77, Y:-252.39, Z:-1.81 [[-5.83186309e-01 8.12321446e-01 5.25329508e-03 -9.77685547e+01] [ 8.12290336e-01 5.83209957e-01 -7.11028687e-03 -2.52388147e+02] [-8.83961251e-03 1.20578867e-04 -9.99960923e-01 -1.80644549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.5665599949999 meters 0.012935225063455083 Centerline is valid? [True, True] Translation: X:-97.76, Y:-252.38, Z:-1.81 [[-6.47337928e-01 7.62185858e-01 5.13084186e-03 -9.77557721e+01] [ 7.62162925e-01 6.47358256e-01 -5.91311790e-03 -2.52381263e+02] [-7.82838768e-03 8.27519427e-05 -9.99969354e-01 -1.80668541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.5965599949999 meters 0.012684721036245999 Centerline is valid? [True, True] Translation: X:-97.75, Y:-252.37, Z:-1.81 [[-7.06279381e-01 7.07913929e-01 5.22541103e-03 -9.77460622e+01] [ 7.07895229e-01 7.06298708e-01 -5.14590803e-03 -2.52374723e+02] [-7.33356103e-03 6.45947952e-05 -9.99973107e-01 -1.80642969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.626559995 meters 0.012212999742849276 Centerline is valid? [True, True] Translation: X:-97.72, Y:-252.35, Z:-1.81 [[-7.57081156e-01 6.53306254e-01 4.36600510e-03 -9.77226230e+01] [ 6.53295613e-01 7.57093744e-01 -3.72896801e-03 -2.52350822e+02] [-5.74163327e-03 2.91605706e-05 -9.99983516e-01 -1.80666743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.656559995 meters 0.01205551156592 Centerline is valid? [True, True] Translation: X:-97.71, Y:-252.33, Z:-1.81 [[-8.02719283e-01 5.96344801e-01 3.82503612e-03 -9.77052398e+01] [ 5.96338112e-01 8.02728397e-01 -2.82438298e-03 -2.52325433e+02] [-4.75477122e-03 1.38281372e-05 -9.99988696e-01 -1.80737091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.6865599949999 meters 0.01205551156592 Centerline is valid? [True, True] Translation: X:-97.29, Y:-251.77, Z:-2.78 [[-7.64256854e-01 -6.44901656e-01 3.64910151e-03 -9.72915704e+01] [ 6.44894229e-01 -7.64265565e-01 -3.09502133e-03 -2.51774660e+02] [ 4.78486701e-03 -1.21067544e-05 9.99988552e-01 -2.78249883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.7165599949999 meters 0.012013119664320535 Centerline is valid? [True, True] Translation: X:-97.74, Y:-252.30, Z:-1.81 [[-8.06171867e-01 5.91673426e-01 3.07878799e-03 -9.77412357e+01] [ 5.91669124e-01 8.06177746e-01 -2.25616891e-03 -2.52296654e+02] [-3.81696555e-03 2.76389332e-06 -9.99992715e-01 -1.80814817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.746559995 meters 0.011989067347018776 Centerline is valid? [True, True] Translation: X:-97.72, Y:-252.27, Z:-1.81 [[-8.47454904e-01 5.30860603e-01 2.68458445e-03 -9.77219692e+01] [ 5.30857917e-01 8.47459156e-01 -1.68868568e-03 -2.52272944e+02] [-3.17153237e-03 -5.95205477e-06 -9.99994971e-01 -1.80862033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.776559995 meters 0.012431628331721001 Centerline is valid? [True, True] Translation: X:-97.71, Y:-252.24, Z:-1.81 [[-8.85498332e-01 4.64636165e-01 2.43703114e-03 -9.77087090e+01] [ 4.64634342e-01 8.85501685e-01 -1.30177518e-03 -2.52241531e+02] [-2.76284701e-03 -2.03913952e-05 -9.99996183e-01 -1.80914022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.8065599949999 meters 0.013572995739793323 Centerline is valid? [True, True] Translation: X:-97.70, Y:-252.21, Z:-1.81 [[-9.18274369e-01 3.95938897e-01 2.13860112e-03 -9.76951361e+01] [ 3.95937749e-01 9.18276858e-01 -9.54203356e-04 -2.52207975e+02] [-2.34163414e-03 -2.94675715e-05 -9.99997258e-01 -1.80787366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.8365599949999 meters 0.014079942987579513 Centerline is valid? [True, True] Translation: X:-97.69, Y:-252.18, Z:-1.81 [[-9.44762712e-01 3.27746303e-01 2.40393223e-03 -9.76910475e+01] [ 3.27745139e-01 9.44765770e-01 -8.74249247e-04 -2.52176168e+02] [-2.55768484e-03 -3.80809879e-05 -9.99996728e-01 -1.80680995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.866559995 meters 0.014278053673485086 Centerline is valid? [True, True] Translation: X:-97.68, Y:-252.15, Z:-1.81 [[-9.66186258e-01 2.57828011e-01 2.97167181e-03 -9.76818480e+01] [ 2.57826623e-01 9.66190827e-01 -8.47791230e-04 -2.52148254e+02] [-3.08978637e-03 -5.29481300e-05 -9.99995225e-01 -1.80642167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.896559995 meters 0.015545868911633528 Centerline is valid? [True, True] Translation: X:-97.51, Y:-251.54, Z:-2.78 [[-9.33993549e-01 -3.57278767e-01 2.81666708e-03 -9.75059276e+01] [ 3.57277288e-01 -9.33997795e-01 -1.02885741e-03 -2.51538145e+02] [ 2.99834975e-03 4.53849943e-05 9.99995504e-01 -2.78430446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.9265599949999 meters 0.015225024942283436 Centerline is valid? [True, True] Translation: X:-97.72, Y:-252.13, Z:-1.81 [[-9.67936452e-01 2.51179610e-01 2.79778439e-03 -9.77245417e+01] [ 2.51178385e-01 9.67940494e-01 -7.86657677e-04 -2.52131555e+02] [-2.90568118e-03 -5.86916756e-05 -9.99995777e-01 -1.80517631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.9565599949999 meters 0.01587708964841106 Centerline is valid? [True, True] Translation: X:-97.55, Y:-251.53, Z:-2.78 [[-9.35185243e-01 -3.54146537e-01 2.96488393e-03 -9.75524659e+01] [ 3.54145022e-01 -9.35189940e-01 -1.03909491e-03 -2.51528166e+02] [ 3.14072149e-03 7.82526596e-05 9.99995065e-01 -2.78482580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.986559995 meters 0.01587708964841106 Centerline is valid? [True, True] Translation: X:-97.77, Y:-252.12, Z:-1.81 [[-9.68772653e-01 2.47932556e-01 2.99913624e-03 -9.77693187e+01] [ 2.47931171e-01 9.68777293e-01 -8.31144047e-04 -2.52117891e+02] [-3.11156276e-03 -6.16102627e-05 -9.99995157e-01 -1.80504069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.016559995 meters 0.014744575970153067 Centerline is valid? [True, True] Translation: X:-97.60, Y:-251.51, Z:-2.79 [[-9.36963101e-01 -3.49411823e-01 3.39489152e-03 -9.75998487e+01] [ 3.49409916e-01 -9.36969246e-01 -1.15876288e-03 -2.51513298e+02] [ 3.58579440e-03 1.00490696e-04 9.99993566e-01 -2.78514299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.0465599949999 meters 0.014744575970153067 Centerline is valid? [True, True] Translation: X:-97.82, Y:-252.11, Z:-1.80 [[-9.69394807e-01 2.45482995e-01 3.43611333e-03 -9.78158670e+01] [ 2.45481210e-01 9.69400895e-01 -9.38570366e-04 -2.52108145e+02] [-3.56137440e-03 -6.63439815e-05 -9.99993656e-01 -1.80472606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.0765599949999 meters 0.014239208553965522 Centerline is valid? [True, True] Translation: X:-97.65, Y:-251.50, Z:-2.79 [[-9.38910566e-01 -3.44146939e-01 3.13604923e-03 -9.76526142e+01] [ 3.44145187e-01 -9.38915802e-01 -1.09915387e-03 -2.51497975e+02] [ 3.32275662e-03 4.72490696e-05 9.99994479e-01 -2.78531648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.106559995 meters 0.013703639394769297 Centerline is valid? [True, True] Translation: X:-97.86, Y:-252.10, Z:-1.80 [[-9.69435108e-01 2.45324988e-01 3.34993018e-03 -9.78619415e+01] [ 2.45323338e-01 9.69440894e-01 -9.01154683e-04 -2.52100164e+02] [-3.46863507e-03 -5.17949327e-05 -9.99993983e-01 -1.80461825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.136559995 meters 0.01353803252380828 Centerline is valid? [True, True] Translation: X:-97.85, Y:-252.07, Z:-1.80 [[-9.84197956e-01 1.77034842e-01 3.61213479e-03 -9.78538698e+01] [ 1.77033460e-01 9.84204584e-01 -7.01392187e-04 -2.52074725e+02] [-3.67925047e-03 -5.08400383e-05 -9.99993230e-01 -1.80416257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.166559995 meters 0.01328790934773308 Centerline is valid? [True, True] Translation: X:-97.85, Y:-252.05, Z:-1.80 [[-9.94090875e-01 1.08482388e-01 3.86055485e-03 -9.78487428e+01] [ 1.08481382e-01 9.94098370e-01 -4.69800583e-04 -2.52048373e+02] [-3.88873638e-03 -4.82261477e-05 -9.99992438e-01 -1.80365473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.1965599949999 meters 0.01310820117149478 Centerline is valid? [True, True] Translation: X:-97.85, Y:-252.02, Z:-1.80 [[-9.99230425e-01 3.89892015e-02 4.28947059e-03 -9.78535399e+01] [ 3.89886382e-02 9.99239631e-01 -2.14885647e-04 -2.52021154e+02] [-4.29458723e-03 -4.74796593e-05 -9.99990777e-01 -1.80317801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.226559995 meters 0.012754036511768343 Centerline is valid? [True, True] Translation: X:-97.85, Y:-252.00, Z:-1.80 [[-9.99560317e-01 -2.91515757e-02 5.41835470e-03 -9.78522365e+01] [-2.91513843e-02 9.99575002e-01 1.14329089e-04 -2.51996576e+02] [-5.41938479e-03 -4.36737198e-05 -9.99985314e-01 -1.80189511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.256559995 meters 0.012541710403673008 Centerline is valid? [True, True] Translation: X:-97.86, Y:-251.35, Z:-2.79 [[-9.98579695e-01 -5.30296316e-02 5.14307576e-03 -9.78640789e+01] [ 5.30290522e-02 -9.98592939e-01 -2.49046486e-04 -2.51345071e+02] [ 5.14904599e-03 2.40396694e-05 9.99986743e-01 -2.78814053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.286559995 meters 0.012215041737961525 Centerline is valid? [True, True] Translation: X:-97.93, Y:-252.01, Z:-1.80 [[-9.99567806e-01 -2.89667680e-02 5.01269522e-03 -9.79331871e+01] [-2.89664720e-02 9.99580375e-01 1.31644754e-04 -2.52006110e+02] [-5.01440509e-03 -1.36122375e-05 -9.99987428e-01 -1.80265415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.3165599949999 meters 0.012244560854088706 Centerline is valid? [True, True] Translation: X:-97.95, Y:-251.34, Z:-2.79 [[-9.99098245e-01 -4.22224242e-02 4.46818697e-03 -9.79466666e+01] [ 4.22219003e-02 -9.99108236e-01 -2.11549640e-04 -2.51337578e+02] [ 4.47313454e-03 -2.27035286e-05 9.99989995e-01 -2.78602123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.3465599949999 meters 0.012282242988546858 Centerline is valid? [True, True] Translation: X:-98.01, Y:-252.02, Z:-1.80 [[-9.99559528e-01 -2.94019227e-02 4.03449812e-03 -9.80127986e+01] [-2.94016364e-02 9.99567670e-01 1.30261575e-04 -2.52015393e+02] [-4.03658383e-03 1.15833520e-05 -9.99991853e-01 -1.80456072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.376559995 meters 0.012609784988752405 Centerline is valid? [True, True] Translation: X:-98.02, Y:-251.99, Z:-1.80 [[-9.95248927e-01 -9.71531478e-02 6.39062900e-03 -9.80182603e+01] [-9.71508900e-02 9.95269443e-01 6.63534292e-04 -2.51993196e+02] [-6.42486222e-03 3.95264965e-05 -9.99979360e-01 -1.80235301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.406559995 meters 0.012904513998770356 Centerline is valid? [True, True] Translation: X:-98.03, Y:-251.97, Z:-1.80 [[-9.86106706e-01 -1.65978169e-01 6.69414743e-03 -9.80346674e+01] [-1.65973962e-01 9.86129426e-01 1.18292492e-03 -2.51970578e+02] [-6.79763547e-03 5.54360273e-05 -9.99976894e-01 -1.80186620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.4365599949999 meters 0.012904513998770356 Centerline is valid? [True, True] Translation: X:-98.06, Y:-251.95, Z:-1.80 [[-9.71610145e-01 -2.36495825e-01 6.59173077e-03 -9.80611576e+01] [-2.36489995e-01 9.71632504e-01 1.66148984e-03 -2.51947707e+02] [-6.79767528e-03 5.54420092e-05 -9.99976894e-01 -1.80186546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.4665599949999 meters 0.013684096413498124 Centerline is valid? [True, True] Translation: X:-98.11, Y:-251.94, Z:-1.80 [[-9.53026349e-01 -3.02815720e-01 6.58916897e-03 -9.81091092e+01] [-3.02807838e-01 9.53049123e-01 2.18663841e-03 -2.51939079e+02] [-6.94195020e-03 8.86720090e-05 -9.99975901e-01 -1.80215419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.496559995 meters 0.014427288438034038 Centerline is valid? [True, True] Translation: X:-98.17, Y:-251.94, Z:-1.80 [[-9.29032519e-01 -3.69943432e-01 6.35888092e-03 -9.81696262e+01] [-3.69933993e-01 9.29054275e-01 2.64471158e-03 -2.51935483e+02] [-6.88613918e-03 1.04656858e-04 -9.99976285e-01 -1.80194131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.526559995 meters 0.015154271054666626 Centerline is valid? [True, True] Translation: X:-98.24, Y:-251.94, Z:-1.80 [[-9.01219971e-01 -4.33326813e-01 5.51696331e-03 -9.82395448e+01] [-4.33317838e-01 9.01236849e-01 2.79173429e-03 -2.51941653e+02] [-6.18182395e-03 1.25368078e-04 -9.99980885e-01 -1.80311465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.5565599949999 meters 0.01590561377691073 Centerline is valid? [True, True] Translation: X:-98.32, Y:-251.96, Z:-1.80 [[-8.67716866e-01 -4.97031720e-01 5.18751962e-03 -9.83178272e+01] [-4.97021869e-01 8.67732361e-01 3.13244612e-03 -2.51956189e+02] [-6.05830373e-03 1.39765636e-04 -9.99981639e-01 -1.80343882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.5865599949999 meters 0.01634153872980242 Centerline is valid? [True, True] Translation: X:-98.40, Y:-251.98, Z:-1.80 [[-8.29408952e-01 -5.58620565e-01 4.88419858e-03 -9.84022679e+01] [-5.58609773e-01 8.29423318e-01 3.47573561e-03 -2.51981013e+02] [-5.99268559e-03 1.54445168e-04 -9.99982032e-01 -1.80376927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.616559995 meters 0.018110567192938996 Centerline is valid? [True, True] Translation: X:-98.49, Y:-252.02, Z:-1.81 [[-7.87319747e-01 -6.16528433e-01 4.50628076e-03 -9.84858245e+01] [-6.16517047e-01 7.87332624e-01 3.75116464e-03 -2.52018145e+02] [-5.86064151e-03 1.75167089e-04 -9.99982811e-01 -1.80544600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.646559995 meters 0.01877432344327296 Centerline is valid? [True, True] Translation: X:-98.58, Y:-252.06, Z:-1.81 [[-7.39181360e-01 -6.73493210e-01 4.22050392e-03 -9.85767246e+01] [-6.73480792e-01 7.39193386e-01 4.09396912e-03 -2.52064475e+02] [-5.87702899e-03 1.83757341e-04 -9.99982713e-01 -1.80601627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.6765599949999 meters 0.017959769986598977 Centerline is valid? [True, True] Translation: X:-98.67, Y:-252.12, Z:-1.81 [[-6.86433598e-01 -7.27183044e-01 3.70629623e-03 -9.86706464e+01] [-7.27171005e-01 6.86443580e-01 4.18821174e-03 -2.52120432e+02] [-5.58975981e-03 1.79818097e-04 -9.99984361e-01 -1.80681378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.7065599949999 meters 0.01803910251317652 Centerline is valid? [True, True] Translation: X:-98.76, Y:-252.18, Z:-1.81 [[-6.28553023e-01 -7.77758059e-01 3.67406956e-03 -9.87582242e+01] [-7.77742941e-01 6.28563731e-01 4.85319233e-03 -2.52182493e+02] [-6.08399632e-03 1.93007044e-04 -9.99981474e-01 -1.80702016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.736559995 meters 0.018472386180217983 Centerline is valid? [True, True] Translation: X:-98.85, Y:-252.26, Z:-1.81 [[-5.66431905e-01 -8.24102059e-01 3.26991577e-03 -9.88463020e+01] [-8.24086391e-01 5.66441313e-01 5.08519234e-03 -2.52259327e+02] [-6.04293286e-03 1.85722099e-04 -9.99981724e-01 -1.80650424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.766559995 meters 0.017677311987493827 Centerline is valid? [True, True] Translation: X:-98.93, Y:-252.34, Z:-1.81 [[-4.99896534e-01 -8.66079576e-01 3.10234832e-03 -9.89267934e+01] [-8.66060506e-01 4.99906125e-01 5.75036809e-03 -2.52336022e+02] [-6.53115928e-03 1.87767722e-04 -9.99978654e-01 -1.80670510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.7965599949999 meters 0.016546636192484025 Centerline is valid? [True, True] Translation: X:-99.01, Y:-252.43, Z:-1.81 [[-4.27235670e-01 -9.04136812e-01 2.51163400e-03 -9.90067574e+01] [-9.04119135e-01 4.27243027e-01 5.65552623e-03 -2.52426847e+02] [-6.18644757e-03 1.45426181e-04 -9.99980853e-01 -1.80705316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.8265599949999 meters 0.015712463866543305 Centerline is valid? [True, True] Translation: X:-99.08, Y:-252.53, Z:-1.81 [[-3.53409464e-01 -9.35466665e-01 1.96706488e-03 -9.90794649e+01] [-9.35450253e-01 3.53414919e-01 5.54245524e-03 -2.52526930e+02] [-5.87997220e-03 1.18664797e-04 -9.99982706e-01 -1.80730465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.856559995 meters 0.014261720279949493 Centerline is valid? [True, True] Translation: X:-99.15, Y:-252.63, Z:-1.81 [[-2.73917058e-01 -9.61752108e-01 1.52562776e-03 -9.91466063e+01] [-9.61735568e-01 2.73921295e-01 5.64108389e-03 -2.52630638e+02] [-5.84322625e-03 7.79386213e-05 -9.99982925e-01 -1.80745654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.886559995 meters 0.01373562983175404 Centerline is valid? [True, True] Translation: X:-99.20, Y:-252.74, Z:-1.81 [[-1.95622861e-01 -9.80678470e-01 1.19801624e-03 -9.92031528e+01] [-9.80658069e-01 1.95626519e-01 6.32587439e-03 -2.52737905e+02] [-6.43801257e-03 6.26413583e-05 -9.99979274e-01 -1.80736563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.916559995 meters 0.013191059392068754 Centerline is valid? [True, True] Translation: X:-99.25, Y:-252.85, Z:-1.81 [[-1.12270348e-01 -9.93677428e-01 7.33299326e-04 -9.92549084e+01] [-9.93655319e-01 1.12272741e-01 6.62865475e-03 -2.52852634e+02] [-6.66907413e-03 1.55545981e-05 -9.99977761e-01 -1.80678282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.9465599949999 meters 0.013253759810905803 Centerline is valid? [True, True] Translation: X:-99.29, Y:-252.97, Z:-1.81 [[-3.13010375e-02 -9.99509978e-01 2.22896463e-04 -9.92949542e+01] [-9.99487356e-01 3.13018287e-02 6.72471118e-03 -2.52972942e+02] [-6.72839299e-03 -1.22917601e-05 -9.99977364e-01 -1.80641001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.976559995 meters 0.013408882301629 Centerline is valid? [True, True] Translation: X:-99.33, Y:-253.09, Z:-1.81 [[ 4.95313832e-02 -9.98772527e-01 -2.87084925e-04 -9.93250555e+01] [-9.98751190e-01 -4.95322016e-02 6.52853047e-03 -2.53089735e+02] [-6.53473682e-03 -3.66407342e-05 -9.99978648e-01 -1.80668079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.006559995 meters 0.014752117247575112 Centerline is valid? [True, True] Translation: X:-99.35, Y:-253.22, Z:-1.81 [[ 1.34103837e-01 -9.90966941e-01 -8.26211076e-04 -9.93497572e+01] [-9.90943637e-01 -1.34106350e-01 6.79674486e-03 -2.53215294e+02] [-6.84614962e-03 -9.27409577e-05 -9.99976561e-01 -1.80578055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.036559995 meters 0.01642066334837321 Centerline is valid? [True, True] Translation: X:-99.36, Y:-253.36, Z:-1.80 [[ 2.16207201e-01 -9.76346590e-01 -1.33492411e-03 -9.93597071e+01] [-9.76323886e-01 -2.16211279e-01 6.65974619e-03 -2.53364603e+02] [-6.79084613e-03 -1.36566788e-04 -9.99976933e-01 -1.80475088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.0665599949999 meters 0.017057311452724516 Centerline is valid? [True, True] Translation: X:-99.36, Y:-253.50, Z:-1.80 [[ 2.94548994e-01 -9.55634995e-01 -1.62679235e-03 -9.93581245e+01] [-9.55617585e-01 -2.94553450e-01 5.77035419e-03 -2.53497525e+02] [-5.99352970e-03 -1.45060641e-04 -9.99982028e-01 -1.80486559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.0965599949999 meters 0.01777275084458281 Centerline is valid? [True, True] Translation: X:-99.36, Y:-253.59, Z:-1.80 [[ 3.69287067e-01 -9.29312803e-01 -2.18537487e-03 -9.93563442e+01] [-9.29293755e-01 -3.69293496e-01 5.95237169e-03 -2.53593322e+02] [-6.33865995e-03 -1.67278671e-04 -9.99979897e-01 -1.80493239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.126559995 meters 0.01782836686774528 Centerline is valid? [True, True] Translation: X:-99.35, Y:-253.69, Z:-1.80 [[ 4.39689686e-01 -8.98144463e-01 -3.08285503e-03 -9.93460219e+01] [-8.98119163e-01 -4.39700450e-01 6.74413508e-03 -2.53688607e+02] [-7.41274033e-03 -1.96555452e-04 -9.99972506e-01 -1.80426864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.156559995 meters 0.017610591545679472 Centerline is valid? [True, True] Translation: X:-99.32, Y:-253.80, Z:-1.80 [[ 5.06336131e-01 -8.62319258e-01 -5.40548802e-03 -9.93197870e+01] [-8.62264004e-01 -5.06364904e-01 9.76585364e-03 -2.53798579e+02] [-1.11584331e-02 -2.83846808e-04 -9.99937703e-01 -1.80032327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.1865599949999 meters 0.017554700803086198 Centerline is valid? [True, True] Translation: X:-99.29, Y:-253.91, Z:-1.80 [[ 5.70406996e-01 -8.21335439e-01 -6.62994227e-03 -9.92867497e+01] [-8.21273748e-01 -5.70445446e-01 1.00709126e-02 -2.53905312e+02] [-1.20536178e-02 -2.99521476e-04 -9.99927308e-01 -1.79892007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.2165599949999 meters 0.017554700803086198 Centerline is valid? [True, True] Translation: X:-99.25, Y:-254.01, Z:-1.80 [[ 6.31579066e-01 -7.75276339e-01 -7.38115942e-03 -9.92460930e+01] [-7.75217771e-01 -6.31622125e-01 9.53409196e-03 -2.54009890e+02] [-1.20536595e-02 -2.99526943e-04 -9.99927307e-01 -1.79891812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.246559995 meters 0.017554700803086198 Centerline is valid? [True, True] Translation: X:-99.20, Y:-254.11, Z:-1.80 [[ 6.88938287e-01 -7.24774879e-01 -8.08774975e-03 -9.91991009e+01] [-7.24719770e-01 -6.88985693e-01 8.94257957e-03 -2.54109231e+02] [-1.20537009e-02 -2.99533314e-04 -9.99927307e-01 -1.79891621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.276559995 meters 0.017554700803086198 Centerline is valid? [True, True] Translation: X:-99.15, Y:-254.20, Z:-1.80 [[ 7.42164438e-01 -6.70160771e-01 -8.74575457e-03 -9.91468141e+01] [-6.70109435e-01 -7.42215906e-01 8.30025281e-03 -2.54202484e+02] [-1.20537420e-02 -2.99539812e-04 -9.99927306e-01 -1.79891435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.3065599949999 meters 0.018146812110877143 Centerline is valid? [True, True] Translation: X:-99.15, Y:-254.21, Z:-1.80 [[ 7.91732234e-01 -6.10780749e-01 -1.03415059e-02 -9.91486791e+01] [-6.10723333e-01 -7.91799706e-01 8.38073993e-03 -2.54209876e+02] [-1.33071960e-02 -3.19502968e-04 -9.99911404e-01 -1.79714274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.3365599949999 meters 0.018146812110877143 Centerline is valid? [True, True] Translation: X:-99.15, Y:-254.22, Z:-1.80 [[ 8.37031464e-01 -5.47044881e-01 -1.09647642e-02 -9.91477777e+01] [-5.46992912e-01 -8.37103217e-01 7.54709481e-03 -2.54215120e+02] [-1.33072390e-02 -3.19507522e-04 -9.99911404e-01 -1.79714229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.366559995 meters 0.01768518363626613 Centerline is valid? [True, True] Translation: X:-99.15, Y:-254.22, Z:-1.80 [[ 8.76647445e-01 -4.80980488e-01 -1.21254849e-02 -9.91456413e+01] [-4.80929407e-01 -8.76731240e-01 7.01696080e-03 -2.54219088e+02] [-1.40058126e-02 -3.19898510e-04 -9.99901863e-01 -1.79673928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.396559995 meters 0.016425532950162216 Centerline is valid? [True, True] Translation: X:-99.14, Y:-254.22, Z:-1.80 [[ 9.10305174e-01 -4.13735357e-01 -1.29438916e-02 -9.91423613e+01] [-4.13689081e-01 -9.10397152e-01 6.19440722e-03 -2.54221389e+02] [-1.43469274e-02 -2.84054313e-04 -9.99897037e-01 -1.79709745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.4265599949999 meters 0.01605567907555422 Centerline is valid? [True, True] Translation: X:-99.14, Y:-254.23, Z:-1.80 [[ 9.39166056e-01 -3.43193803e-01 -1.36063650e-02 -9.91407108e+01] [-3.43153771e-01 -9.39264577e-01 5.24818699e-03 -2.54225491e+02] [-1.45811219e-02 -2.59843626e-04 -9.99893656e-01 -1.79704880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.4565599949999 meters 0.015337043433805595 Centerline is valid? [True, True] Translation: X:-99.14, Y:-254.23, Z:-1.80 [[ 9.62035809e-01 -2.72623670e-01 -1.27842509e-02 -9.91372197e+01] [-2.72597058e-01 -9.62120731e-01 3.81352221e-03 -2.54225646e+02] [-1.33396492e-02 -1.83795749e-04 -9.99911006e-01 -1.79847148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.486559995 meters 0.015379761278146645 Centerline is valid? [True, True] Translation: X:-99.14, Y:-254.23, Z:-1.80 [[ 9.80284044e-01 -1.97224693e-01 -1.20670282e-02 -9.91361729e+01] [-1.97207710e-01 -9.80358299e-01 2.59326311e-03 -2.54230056e+02] [-1.23414668e-02 -1.62423445e-04 -9.99923828e-01 -1.79956414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.516559995 meters 0.01566660097161582 Centerline is valid? [True, True] Translation: X:-99.14, Y:-254.23, Z:-1.80 [[ 9.92705071e-01 -1.20125004e-01 -1.03259937e-02 -9.91357054e+01] [-1.20117095e-01 -9.92758765e-01 1.38499934e-03 -2.54234513e+02] [-1.04175938e-02 -1.34567505e-04 -9.99945726e-01 -1.80031723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.5465599949999 meters 0.014802669034416526 Centerline is valid? [True, True] Translation: X:-99.14, Y:-254.24, Z:-1.80 [[ 9.99077260e-01 -4.17994437e-02 -9.87097040e-03 -9.91376497e+01] [-4.17961153e-02 -9.99126013e-01 5.43327737e-04 -2.54241566e+02] [-9.88505410e-03 -1.30258169e-04 -9.99951133e-01 -1.80261608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.5765599949999 meters 0.015478776737638722 Centerline is valid? [True, True] Translation: X:-99.14, Y:-254.25, Z:-1.80 [[ 9.99281882e-01 3.65289986e-02 -1.00673702e-02 -9.91400484e+01] [ 3.65284791e-02 -9.99332585e-01 -2.35529482e-04 -2.54252535e+02] [-1.00692547e-02 -1.32385377e-04 -9.99949295e-01 -1.80137495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.606559995 meters 0.015478776737638722 Centerline is valid? [True, True] Translation: X:-99.14, Y:-254.25, Z:-1.80 [[ 9.93360421e-01 1.14606771e-01 -1.00181215e-02 -9.91412098e+01] [ 1.14602286e-01 -9.93410927e-01 -1.02249855e-03 -2.54254698e+02] [-1.00692967e-02 -1.32390044e-04 -9.99949295e-01 -1.80137457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.636559995 meters 0.015472703049939638 Centerline is valid? [True, True] Translation: X:-99.14, Y:-254.26, Z:-1.80 [[ 9.81328350e-01 1.92066552e-01 -1.02522568e-02 -9.91414636e+01] [ 1.92057531e-01 -9.81381893e-01 -1.86659895e-03 -2.54256976e+02] [-1.04198904e-02 -1.37276660e-04 -9.99945702e-01 -1.80138317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.666559995 meters 0.014978430813145803 Centerline is valid? [True, True] Translation: X:-99.14, Y:-254.26, Z:-1.80 [[ 9.63252402e-01 2.68391260e-01 -1.05329105e-02 -9.91408763e+01] [ 2.68376858e-01 -9.63309976e-01 -2.78419353e-03 -2.54263011e+02] [-1.08937110e-02 -1.44908324e-04 -9.99940651e-01 -1.80239574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.6965599949999 meters 0.015156511933176811 Centerline is valid? [True, True] Translation: X:-99.14, Y:-254.27, Z:-1.80 [[ 9.39115660e-01 3.43442542e-01 -1.04401705e-02 -9.91401029e+01] [ 3.43423119e-01 -9.39173678e-01 -3.65566666e-03 -2.54270382e+02] [-1.10606448e-02 -1.52302110e-04 -9.99938818e-01 -1.80206939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.726559995 meters 0.014942191400635869 Centerline is valid? [True, True] Translation: X:-99.14, Y:-254.28, Z:-1.80 [[ 9.09062953e-01 4.16523199e-01 -1.06289006e-02 -9.91369631e+01] [ 4.16496886e-01 -9.09125072e-01 -4.68478159e-03 -2.54279624e+02] [-1.16143202e-02 -1.68142606e-04 -9.99932537e-01 -1.80219567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.756559995 meters 0.015265228070421974 Centerline is valid? [True, True] Translation: X:-99.13, Y:-254.29, Z:-1.80 [[ 8.73601037e-01 4.86538917e-01 -1.00553238e-02 -9.91341040e+01] [ 4.86508878e-01 -8.73658889e-01 -5.40903988e-03 -2.54288881e+02] [-1.14166314e-02 -1.66661448e-04 -9.99934814e-01 -1.80120619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.786559995 meters 0.015350900198171893 Centerline is valid? [True, True] Translation: X:-99.13, Y:-254.29, Z:-1.80 [[ 8.32820865e-01 5.53454795e-01 -9.85885045e-03 -9.91315755e+01] [ 5.53418446e-01 -8.32879199e-01 -6.34534657e-03 -2.54294774e+02] [-1.17230940e-02 -1.71532680e-04 -9.99931268e-01 -1.80067698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.8165599949999 meters 0.015035285231325048 Centerline is valid? [True, True] Translation: X:-99.13, Y:-254.30, Z:-1.80 [[ 7.86933486e-01 6.16964054e-01 -9.54168580e-03 -9.91280313e+01] [ 6.16921396e-01 -7.86991312e-01 -7.25712523e-03 -2.54300989e+02] [-1.19866092e-02 -1.75595270e-04 -9.99928143e-01 -1.80116869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.8465599949999 meters 0.015030266801429897 Centerline is valid? [True, True] Translation: X:-99.12, Y:-254.31, Z:-1.80 [[ 7.36601691e-01 6.76265804e-01 -9.08355834e-03 -9.91238399e+01] [ 6.76217239e-01 -7.36657677e-01 -8.10629992e-03 -2.54307424e+02] [-1.21734864e-02 -1.71344513e-04 -9.99925886e-01 -1.80051817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.876559995 meters 0.014792982076783036 Centerline is valid? [True, True] Translation: X:-99.12, Y:-254.31, Z:-1.80 [[ 6.82846877e-01 7.30511875e-01 -8.51728426e-03 -9.91200184e+01] [ 7.30457751e-01 -6.82899977e-01 -8.89349195e-03 -2.54312948e+02] [-1.23132547e-02 -1.48623109e-04 -9.99924178e-01 -1.79934822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.906559995 meters 0.014663873111915473 Centerline is valid? [True, True] Translation: X:-99.12, Y:-254.32, Z:-1.80 [[ 6.24591333e-01 7.80914543e-01 -7.62517433e-03 -9.91174692e+01] [ 7.80858860e-01 -6.24637863e-01 -9.32636793e-03 -2.54317937e+02] [-1.20460689e-02 -1.29016365e-04 -9.99927435e-01 -1.79894713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.9365599949999 meters 0.014297014881728107 Centerline is valid? [True, True] Translation: X:-99.11, Y:-254.32, Z:-1.80 [[ 5.62853118e-01 8.26529743e-01 -6.70462900e-03 -9.91140766e+01] [ 8.26473367e-01 -5.62893039e-01 -9.65407350e-03 -2.54322238e+02] [-1.17533679e-02 -1.07371924e-04 -9.99930921e-01 -1.79994505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.9665599949999 meters 0.013882821708799283 Centerline is valid? [True, True] Translation: X:-99.11, Y:-254.33, Z:-1.80 [[ 4.98941765e-01 8.66620632e-01 -5.07901021e-03 -9.91095075e+01] [ 8.66576998e-01 -4.98967611e-01 -8.69652661e-03 -2.54326567e+02] [-1.00708510e-02 -6.22930877e-05 -9.99949286e-01 -1.80132531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.996559995 meters 0.013741944471226624 Centerline is valid? [True, True] Translation: X:-99.10, Y:-254.33, Z:-1.80 [[ 4.30545495e-01 9.02559124e-01 -4.19567662e-03 -9.91029970e+01] [ 9.02517379e-01 -4.30565935e-01 -8.68074621e-03 -2.54332322e+02] [-9.64140212e-03 -4.92148992e-05 -9.99953519e-01 -1.80186122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.026559995 meters 0.013825674235205396 Centerline is valid? [True, True] Translation: X:-99.10, Y:-254.34, Z:-1.80 [[ 3.59227291e-01 9.33244569e-01 -3.21372174e-03 -9.90970035e+01] [ 9.33208179e-01 -3.59241664e-01 -8.24141022e-03 -2.54338246e+02] [-8.84575407e-03 -3.85319430e-05 -9.99960875e-01 -1.80211378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.0565599949999 meters 0.013679432221529814 Centerline is valid? [True, True] Translation: X:-99.09, Y:-254.34, Z:-1.80 [[ 2.85580837e-01 9.58351698e-01 -2.36809997e-03 -9.90907825e+01] [ 9.58319654e-01 -2.85590654e-01 -7.83708287e-03 -2.54342124e+02] [-8.18698890e-03 -3.12760491e-05 -9.99966486e-01 -1.80268647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.0865599949999 meters 0.013658840770136002 Centerline is valid? [True, True] Translation: X:-99.08, Y:-254.35, Z:-1.80 [[ 2.09918911e-01 9.77717384e-01 -1.66385817e-03 -9.90842293e+01] [ 9.77687692e-01 -2.09925503e-01 -7.61977706e-03 -2.54345775e+02] [-7.79927476e-03 -2.71983461e-05 -9.99969585e-01 -1.80262647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.116559995 meters 0.013563333197037685 Centerline is valid? [True, True] Translation: X:-99.08, Y:-254.35, Z:-1.80 [[ 1.32776793e-01 9.91145376e-01 -1.08024513e-03 -9.90774377e+01] [ 9.91114222e-01 -1.32781185e-01 -7.85844579e-03 -2.54349659e+02] [-7.93229843e-03 -2.72270815e-05 -9.99968539e-01 -1.80203928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.146559995 meters 0.013702021560978666 Centerline is valid? [True, True] Translation: X:-99.07, Y:-254.35, Z:-1.80 [[ 5.46082291e-02 9.98507755e-01 -4.51634357e-04 -9.90710935e+01] [ 9.98477661e-01 -5.46100897e-02 -7.75235837e-03 -2.54353765e+02] [-7.76545375e-03 -2.76042549e-05 -9.99969848e-01 -1.80133667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.1765599949999 meters 0.013556179058697675 Centerline is valid? [True, True] Translation: X:-99.06, Y:-254.36, Z:-1.80 [[-2.42251823e-02 9.99706515e-01 1.57092646e-04 -9.90646877e+01] [ 9.99676295e-01 2.42256715e-02 -7.77311824e-03 -2.54356649e+02] [-7.77464262e-03 -3.12634124e-05 -9.99969777e-01 -1.80258030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.2065599949999 meters 0.013630106240930053 Centerline is valid? [True, True] Translation: X:-99.06, Y:-254.36, Z:-1.80 [[-1.02578673e-01 9.94724668e-01 6.71187709e-04 -9.90574585e+01] [ 9.94701528e-01 1.02580864e-01 -6.78500359e-03 -2.54359707e+02] [-6.81806146e-03 -2.83652213e-05 -9.99976756e-01 -1.80186001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.236559995 meters 0.013573886233933758 Centerline is valid? [True, True] Translation: X:-99.05, Y:-254.36, Z:-1.80 [[-1.81070539e-01 9.83469468e-01 1.12531763e-03 -9.90480700e+01] [ 9.83449357e-01 1.81074033e-01 -6.28940215e-03 -2.54360633e+02] [-6.38920079e-03 -3.21325437e-05 -9.99979588e-01 -1.80297536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.266559995 meters 0.013655686843960875 Centerline is valid? [True, True] Translation: X:-99.04, Y:-254.36, Z:-1.80 [[-2.58405618e-01 9.66035210e-01 1.58425364e-03 -9.90388377e+01] [ 9.66016171e-01 2.58410472e-01 -6.06508215e-03 -2.54360983e+02] [-6.26847064e-03 -3.68366637e-05 -9.99980352e-01 -1.80282077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.2965599949999 meters 0.013759195856046643 Centerline is valid? [True, True] Translation: X:-99.03, Y:-254.36, Z:-1.80 [[-3.34239431e-01 9.42485885e-01 2.08788171e-03 -9.90297258e+01] [ 9.42466670e-01 3.34245949e-01 -6.01852538e-03 -2.54361323e+02] [-6.37024123e-03 -4.38695723e-05 -9.99979709e-01 -1.80204482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.3265599949999 meters 0.013908953286493768 Centerline is valid? [True, True] Translation: X:-99.02, Y:-254.36, Z:-1.80 [[-4.07822953e-01 9.13057362e-01 2.58702132e-03 -9.90224018e+01] [ 9.13038208e-01 4.07831155e-01 -5.91439300e-03 -2.54361427e+02] [-6.45524797e-03 -4.99759084e-05 -9.99979164e-01 -1.80156205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.356559995 meters 0.014189045550354945 Centerline is valid? [True, True] Translation: X:-99.01, Y:-254.36, Z:-1.80 [[-4.79940409e-01 8.77295216e-01 3.21066484e-03 -9.90149202e+01] [ 8.77274644e-01 4.79951143e-01 -6.00831780e-03 -2.54360234e+02] [-6.81203072e-03 -6.69996543e-05 -9.99976796e-01 -1.80093447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.386559995 meters 0.014375064437449622 Centerline is valid? [True, True] Translation: X:-99.01, Y:-254.36, Z:-1.80 [[-5.48093818e-01 8.36408501e-01 3.73981518e-03 -9.90079104e+01] [ 8.36388079e-01 5.48106572e-01 -5.84525676e-03 -2.54359021e+02] [-6.93883972e-03 -7.58122561e-05 -9.99975923e-01 -1.80068899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.416559995 meters 0.014869850786518308 Centerline is valid? [True, True] Translation: X:-99.00, Y:-254.36, Z:-1.80 [[-6.13804303e-01 7.89447324e-01 4.14733920e-03 -9.89996520e+01] [ 7.89428289e-01 6.13818307e-01 -5.48281664e-03 -2.54357554e+02] [-6.87410766e-03 -9.13495542e-05 -9.99976369e-01 -1.80008129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.4465599949999 meters 0.01507530648053922 Centerline is valid? [True, True] Translation: X:-98.99, Y:-254.35, Z:-1.80 [[-6.74514609e-01 7.38246907e-01 4.64178478e-03 -9.89939305e+01] [ 7.38228397e-01 6.74530573e-01 -5.22867502e-03 -2.54354681e+02] [-6.99107891e-03 -1.00120352e-04 -9.99975557e-01 -1.79970497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.476559995 meters 0.015373770909608406 Centerline is valid? [True, True] Translation: X:-98.99, Y:-254.35, Z:-1.80 [[-7.30853072e-01 6.82517030e-01 4.92862832e-03 -9.89884335e+01] [ 6.82500545e-01 7.30869683e-01 -4.74473322e-03 -2.54352989e+02] [-6.84054624e-03 -1.03911338e-04 -9.99976598e-01 -1.79930826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.506559995 meters 0.015722408161590172 Centerline is valid? [True, True] Translation: X:-98.97, Y:-254.33, Z:-1.80 [[-7.77666162e-01 6.28654513e-01 5.37060439e-03 -9.89666156e+01] [ 6.28638538e-01 7.77684699e-01 -4.48307006e-03 -2.54334324e+02] [-6.99493908e-03 -1.10162997e-04 -9.99975529e-01 -1.79883282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.536559995 meters 0.015540519044639557 Centerline is valid? [True, True] Translation: X:-98.95, Y:-254.31, Z:-1.80 [[-8.20321601e-01 5.71876025e-01 5.50298295e-03 -9.89497242e+01] [ 5.71862268e-01 8.20340052e-01 -3.96810547e-03 -2.54312885e+02] [-6.78358170e-03 -1.08174322e-04 -9.99976986e-01 -1.79930212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.5665599949999 meters 0.015331072113766494 Centerline is valid? [True, True] Translation: X:-98.93, Y:-254.29, Z:-1.80 [[-8.58541414e-01 5.12713553e-01 5.60820421e-03 -9.89323412e+01] [ 5.12701831e-01 8.58559725e-01 -3.46853084e-03 -2.54292271e+02] [-6.59334104e-03 -1.02540807e-04 -9.99978259e-01 -1.79942120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.5965599949999 meters 0.014749491409487035 Centerline is valid? [True, True] Translation: X:-98.92, Y:-254.27, Z:-1.80 [[-8.92011671e-01 4.51958286e-01 6.99192467e-03 -9.89205698e+01] [ 4.51943420e-01 8.92039066e-01 -3.66737815e-03 -2.54269220e+02] [-7.89457190e-03 -1.11389765e-04 -9.99968831e-01 -1.79808168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.626559995 meters 0.014749491409487035 Centerline is valid? [True, True] Translation: X:-98.59, Y:-253.66, Z:-2.79 [[-8.44713715e-01 -5.35175834e-01 6.75035077e-03 -9.85923773e+01] [ 5.35159813e-01 -8.44740679e-01 -4.14254990e-03 -2.53655581e+02] [ 7.91928849e-03 1.13247732e-04 9.99968636e-01 -2.79162481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.656559995 meters 0.014413432475873646 Centerline is valid? [True, True] Translation: X:-98.96, Y:-254.25, Z:-1.80 [[-8.92279891e-01 4.51418277e-01 7.62463345e-03 -9.89574265e+01] [ 4.51400887e-01 8.92312462e-01 -3.96349091e-03 -2.54252716e+02] [-8.59274768e-03 -9.47769376e-05 -9.99963077e-01 -1.79633273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.6865599949999 meters 0.013765286976302353 Centerline is valid? [True, True] Translation: X:-98.95, Y:-254.23, Z:-1.80 [[-9.20316549e-01 3.91083532e-01 8.43326208e-03 -9.89459300e+01] [ 3.91066502e-01 9.20355185e-01 -3.65019367e-03 -2.54233139e+02] [-9.18912712e-03 -6.13673344e-05 -9.99957777e-01 -1.79613791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.7165599949999 meters 0.013765286976302353 Centerline is valid? [True, True] Translation: X:-98.94, Y:-254.21, Z:-1.80 [[-9.45708430e-01 3.24900578e-01 8.67069122e-03 -9.89350050e+01] [ 3.24886327e-01 9.45748175e-01 -3.04360065e-03 -2.54207629e+02] [-9.18915801e-03 -6.13697598e-05 -9.99957777e-01 -1.79613758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.746559995 meters 0.013661004174112206 Centerline is valid? [True, True] Translation: X:-98.93, Y:-254.19, Z:-1.80 [[-9.64790269e-01 2.62878546e-01 8.63760646e-03 -9.89268506e+01] [ 2.62867960e-01 9.64828933e-01 -2.35914451e-03 -2.54186703e+02] [-8.95398111e-03 -5.52968453e-06 -9.99959912e-01 -1.79618187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.776559995 meters 0.013799049242676843 Centerline is valid? [True, True] Translation: X:-98.92, Y:-254.16, Z:-1.80 [[-9.80429074e-01 1.96692159e-01 8.42766332e-03 -9.89185966e+01] [ 1.96685069e-01 9.80465295e-01 -1.67012632e-03 -2.54161932e+02] [-8.59153215e-03 2.01551445e-05 -9.99963092e-01 -1.79646181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.8065599949999 meters 0.01421645204796226 Centerline is valid? [True, True] Translation: X:-98.77, Y:-253.45, Z:-2.79 [[-9.66912041e-01 -2.54993637e-01 7.70394594e-03 -9.87678679e+01] [ 2.54985082e-01 -9.66942730e-01 -2.08940942e-03 -2.53453233e+02] [ 7.98206062e-03 -5.58838407e-05 9.99968141e-01 -2.79403122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.8365599949999 meters 0.014589315453988982 Centerline is valid? [True, True] Translation: X:-98.97, Y:-254.16, Z:-1.80 [[-9.79667070e-01 2.00523232e-01 6.54715476e-03 -9.89654664e+01] [ 2.00519223e-01 9.79688945e-01 -1.26982770e-03 -2.54156769e+02] [-6.66880510e-03 6.88220012e-05 -9.99977761e-01 -1.79672593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.866559995 meters 0.014895857973137942 Centerline is valid? [True, True] Translation: X:-98.81, Y:-253.44, Z:-2.79 [[-9.69679346e-01 -2.44304066e-01 6.12290240e-03 -9.88145106e+01] [ 2.44298635e-01 -9.69698673e-01 -1.63132730e-03 -2.53442171e+02] [ 6.33591022e-03 -8.60476961e-05 9.99979924e-01 -2.79247153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.896559995 meters 0.015450422051234024 Centerline is valid? [True, True] Translation: X:-99.01, Y:-254.15, Z:-1.80 [[-9.79626388e-01 2.00734942e-01 6.13369818e-03 -9.90107027e+01] [ 2.00731592e-01 9.79645586e-01 -1.16338347e-03 -2.54151599e+02] [-6.24238207e-03 9.15458520e-05 -9.99980512e-01 -1.79758302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.9265599949999 meters 0.015654341959516767 Centerline is valid? [True, True] Translation: X:-98.87, Y:-253.43, Z:-2.79 [[-9.71759561e-01 -2.35893237e-01 6.14305000e-03 -9.88683319e+01] [ 2.35887958e-01 -9.71778974e-01 -1.58053842e-03 -2.53429751e+02] [ 6.34252514e-03 -8.68318066e-05 9.99979882e-01 -2.79147032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.9565599949999 meters 0.016001761226589053 Centerline is valid? [True, True] Translation: X:-99.06, Y:-254.14, Z:-1.80 [[-9.79152763e-01 2.03041697e-01 5.82553935e-03 -9.90605225e+01] [ 2.03038864e-01 9.79170084e-01 -1.08002483e-03 -2.54143433e+02] [-5.92348393e-03 1.25301596e-04 -9.99982448e-01 -1.79909880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.986559995 meters 0.0165063854845989 Centerline is valid? [True, True] Translation: X:-98.92, Y:-253.42, Z:-2.79 [[-9.73969857e-01 -2.26595421e-01 6.10182496e-03 -9.89225623e+01] [ 2.26590265e-01 -9.73988965e-01 -1.53250449e-03 -2.53420614e+02] [ 6.29036867e-03 -1.09999042e-04 9.99980209e-01 -2.79136905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.016559995 meters 0.016768063658328735 Centerline is valid? [True, True] Translation: X:-99.12, Y:-254.13, Z:-1.80 [[-9.79597290e-01 2.00851090e-01 6.92739022e-03 -9.91150326e+01] [ 2.00847234e-01 9.79621771e-01 -1.25511125e-03 -2.54132259e+02] [-7.03831274e-03 1.61843587e-04 -9.99975218e-01 -1.79704738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.0465599949999 meters 0.016323225812486426 Centerline is valid? [True, True] Translation: X:-99.11, Y:-254.10, Z:-1.80 [[-9.91441534e-01 1.30333487e-01 7.54102828e-03 -9.91099879e+01] [ 1.30331027e-01 9.91470198e-01 -8.18834978e-04 -2.54100689e+02] [-7.58342642e-03 1.71002956e-04 -9.99971231e-01 -1.79629022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.0765599949999 meters 0.016132569971441014 Centerline is valid? [True, True] Translation: X:-99.11, Y:-254.07, Z:-1.80 [[-9.98257436e-01 5.85374792e-02 7.44686762e-03 -9.91113720e+01] [ 5.85370495e-02 9.98285199e-01 -2.75830520e-04 -2.54070507e+02] [-7.45024414e-03 1.60567790e-04 -9.99972234e-01 -1.79666493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.106559995 meters 0.015876352906912805 Centerline is valid? [True, True] Translation: X:-99.12, Y:-254.04, Z:-1.80 [[-9.99872558e-01 -1.41201246e-02 7.44909344e-03 -9.91152102e+01] [-1.41186210e-02 9.99900295e-01 2.54398006e-04 -2.54040476e+02] [-7.45194286e-03 1.49194658e-04 -9.99972223e-01 -1.79660869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.136559995 meters 0.015666406712016547 Centerline is valid? [True, True] Translation: X:-99.12, Y:-254.01, Z:-1.80 [[-9.96147703e-01 -8.73175125e-02 8.08743636e-03 -9.91242017e+01] [-8.73134412e-02 9.96180521e-01 8.55810997e-04 -2.54011053e+02] [-8.13127386e-03 1.46372260e-04 -9.99966930e-01 -1.79643414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.166559995 meters 0.014598366076121473 Centerline is valid? [True, True] Translation: X:-99.14, Y:-253.98, Z:-1.80 [[-9.86583333e-01 -1.63024059e-01 8.74549339e-03 -9.91415591e+01] [-1.63016603e-01 9.86622087e-01 1.56352765e-03 -2.53978383e+02] [-8.88338956e-03 1.16889700e-04 -9.99960535e-01 -1.79553001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.1965599949999 meters 0.014036096738558042 Centerline is valid? [True, True] Translation: X:-99.17, Y:-253.95, Z:-1.80 [[-9.71538473e-01 -2.36715483e-01 8.87555958e-03 -9.91715829e+01] [-2.36704747e-01 9.71579010e-01 2.25632217e-03 -2.53952103e+02] [-9.15741377e-03 9.12167105e-05 -9.99958066e-01 -1.79522072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.226559995 meters 0.01350345782172955 Centerline is valid? [True, True] Translation: X:-99.22, Y:-253.93, Z:-1.80 [[-9.50777179e-01 -3.09754923e-01 8.63965061e-03 -9.92192377e+01] [-3.09741554e-01 9.50816430e-01 2.87846234e-03 -2.53932639e+02] [-9.10633963e-03 6.07174988e-05 -9.99958535e-01 -1.79518796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.256559995 meters 0.01309547982877059 Centerline is valid? [True, True] Translation: X:-99.28, Y:-253.92, Z:-1.80 [[-9.22965217e-01 -3.84806032e-01 7.71538347e-03 -9.92845668e+01] [-3.84792577e-01 9.22997464e-01 3.21785305e-03 -2.53919925e+02] [-8.35952864e-03 1.14414736e-06 -9.99965059e-01 -1.79544856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.286559995 meters 0.013089500568910188 Centerline is valid? [True, True] Translation: X:-99.35, Y:-253.92, Z:-1.80 [[-8.90508456e-01 -4.54917029e-01 6.72205669e-03 -9.93524135e+01] [-4.54904289e-01 8.90533827e-01 3.40469987e-03 -2.53916163e+02] [-7.53507481e-03 -2.59783854e-05 -9.99971611e-01 -1.79608487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.3165599949999 meters 0.013303487729981777 Centerline is valid? [True, True] Translation: X:-99.43, Y:-253.92, Z:-1.80 [[-8.52500553e-01 -5.22698661e-01 5.37743525e-03 -9.94312468e+01] [-5.22688590e-01 8.52517512e-01 3.24501905e-03 -2.53923162e+02] [-6.28052483e-03 -4.43435162e-05 -9.99980276e-01 -1.79665811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.3465599949999 meters 0.014188148486783602 Centerline is valid? [True, True] Translation: X:-99.51, Y:-253.94, Z:-1.80 [[-8.07505315e-01 -5.89850448e-01 3.40831799e-03 -9.95136707e+01] [-5.89845483e-01 8.07512505e-01 2.42077756e-03 -2.53935584e+02] [-4.18015613e-03 -5.55902295e-05 -9.99991262e-01 -1.79784206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.376559995 meters 0.014472143211397464 Centerline is valid? [True, True] Translation: X:-99.60, Y:-253.96, Z:-1.80 [[-7.59522955e-01 -6.50474188e-01 2.86570752e-03 -9.95970055e+01] [-6.50469846e-01 7.59528359e-01 2.37745646e-03 -2.53961616e+02] [-3.72306019e-03 -5.83235772e-05 -9.99993068e-01 -1.79845368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.406559995 meters 0.015214531324173865 Centerline is valid? [True, True] Translation: X:-99.68, Y:-253.99, Z:-1.80 [[-7.06139579e-01 -7.08069901e-01 1.97768417e-03 -9.96823230e+01] [-7.08067329e-01 7.06142346e-01 1.90911586e-03 -2.53994686e+02] [-2.74831402e-03 -5.22312828e-05 -9.99996222e-01 -1.79886332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.4365599949999 meters 0.015403371675123085 Centerline is valid? [True, True] Translation: X:-99.77, Y:-254.04, Z:-1.80 [[-6.50010220e-01 -7.59924378e-01 1.28600079e-03 -9.97681012e+01] [-7.59923007e-01 6.50011491e-01 1.44426034e-03 -2.54041949e+02] [-1.93344393e-03 -3.84776055e-05 -9.99998130e-01 -1.79931283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.4665599949999 meters 0.01610610001030776 Centerline is valid? [True, True] Translation: X:-99.85, Y:-254.10, Z:-1.80 [[-5.89518338e-01 -8.07754723e-01 6.60594324e-04 -9.98511303e+01] [-8.07754259e-01 5.89518707e-01 8.66359266e-04 -2.54095367e+02] [-1.08923850e-03 -2.28632040e-05 -9.99999407e-01 -1.79989912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.496559995 meters 0.01610610001030776 Centerline is valid? [True, True] Translation: X:-99.93, Y:-254.16, Z:-1.80 [[-5.26555296e-01 -8.50140676e-01 5.92997462e-04 -9.99313942e+01] [-8.50140185e-01 5.26555630e-01 9.13990792e-04 -2.54161070e+02] [-1.08926690e-03 -2.28642802e-05 -9.99999407e-01 -1.79989788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.526559995 meters 0.016187280390108267 Centerline is valid? [True, True] Translation: X:-100.01, Y:-254.24, Z:-1.80 [[-4.59885846e-01 -8.87977913e-01 4.85012099e-04 -1.00009380e+02] [-8.87977468e-01 4.59886101e-01 8.89100778e-04 -2.54235187e+02] [-1.01255218e-03 -2.17949520e-05 -9.99999487e-01 -1.79971829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.5565599949999 meters 0.01661367357541618 Centerline is valid? [True, True] Translation: X:-100.08, Y:-254.32, Z:-1.80 [[-3.90328455e-01 -9.20675298e-01 8.33141212e-04 -1.00084226e+02] [-9.20673444e-01 3.90329341e-01 1.84811199e-03 -2.54317457e+02] [-2.02671052e-03 -4.56802929e-05 -9.99997945e-01 -1.79763600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.5865599949999 meters 0.016728600927936512 Centerline is valid? [True, True] Translation: X:-100.15, Y:-254.40, Z:-1.80 [[-3.19257780e-01 -9.47667008e-01 1.30820144e-03 -1.00150572e+02] [-9.47660119e-01 3.19260448e-01 3.61455304e-03 -2.54404897e+02] [-3.84304964e-03 -8.57561562e-05 -9.99992612e-01 -1.79590152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.616559995 meters 0.016728600927936512 Centerline is valid? [True, True] Translation: X:-100.21, Y:-254.50, Z:-1.80 [[-2.45942551e-01 -9.69283862e-01 1.02830867e-03 -1.00210200e+02] [-9.69276788e-01 2.45944686e-01 3.70394181e-03 -2.54500521e+02] [-3.84307807e-03 -8.57588242e-05 -9.99992612e-01 -1.79590020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.646559995 meters 0.016702194349136747 Centerline is valid? [True, True] Translation: X:-100.26, Y:-254.60, Z:-1.79 [[-1.71487313e-01 -9.85185778e-01 1.04128044e-03 -1.00263059e+02] [-9.85171572e-01 1.71490434e-01 5.29200950e-03 -2.54602965e+02] [-5.39218213e-03 -1.18327397e-04 -9.99985455e-01 -1.79398609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.6765599949999 meters 0.016146671976643125 Centerline is valid? [True, True] Translation: X:-100.31, Y:-254.71, Z:-1.79 [[-9.72307041e-02 -9.95261459e-01 9.04782765e-04 -1.00305684e+02] [-9.95232049e-01 9.72347880e-02 7.65281686e-03 -2.54707603e+02] [-7.70453003e-03 -1.56380034e-04 -9.99970308e-01 -1.79157206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.7065599949999 meters 0.01534656801036908 Centerline is valid? [True, True] Translation: X:-100.34, Y:-254.82, Z:-1.79 [[-2.17587402e-02 -9.99763195e-01 3.34212365e-04 -1.00339963e+02] [-9.99729938e-01 2.17607429e-02 8.15609833e-03 -2.54824178e+02] [-8.16143963e-03 -1.56655682e-04 -9.99966683e-01 -1.79152286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.736559995 meters 0.015024084373525719 Centerline is valid? [True, True] Translation: X:-100.37, Y:-254.94, Z:-1.79 [[ 5.33967919e-02 -9.98573324e-01 -3.15291805e-04 -1.00366109e+02] [-9.98534528e-01 -5.33974970e-02 8.80365639e-03 -2.54935062e+02] [-8.80793222e-03 -1.55257254e-04 -9.99961197e-01 -1.79099048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.766559995 meters 0.014062555146040883 Centerline is valid? [True, True] Translation: X:-100.38, Y:-255.05, Z:-1.79 [[ 1.25498167e-01 -9.92093308e-01 -1.03848554e-03 -1.00381243e+02] [-9.92050757e-01 -1.25502404e-01 9.18930531e-03 -2.55049576e+02] [-9.24698074e-03 -1.23010614e-04 -9.99957238e-01 -1.79045842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.7965599949999 meters 0.013619974133122336 Centerline is valid? [True, True] Translation: X:-100.39, Y:-255.16, Z:-1.79 [[ 1.98764418e-01 -9.80045882e-01 -1.66573441e-03 -1.00389376e+02] [-9.80007377e-01 -1.98771375e-01 8.68797621e-03 -2.55162339e+02] [-8.84571563e-03 -9.44285229e-05 -9.99960872e-01 -1.79079438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.8265599949999 meters 0.01262028445445661 Centerline is valid? [True, True] Translation: X:-100.38, Y:-255.28, Z:-1.79 [[ 2.67121364e-01 -9.63660819e-01 -2.00089257e-03 -1.00384201e+02] [-9.63632877e-01 -2.67128856e-01 7.33844098e-03 -2.55275077e+02] [-7.60626419e-03 -3.21285051e-05 -9.99971072e-01 -1.79257656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.856559995 meters 0.012512588081227766 Centerline is valid? [True, True] Translation: X:-100.37, Y:-255.39, Z:-1.79 [[ 3.36592810e-01 -9.41648111e-01 -2.02869852e-03 -1.00374935e+02] [-9.41630955e-01 -3.36598924e-01 5.68412532e-03 -2.55385781e+02] [-6.03530360e-03 -2.95039086e-06 -9.99981787e-01 -1.79342954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.886559995 meters 0.012815093044275064 Centerline is valid? [True, True] Translation: X:-100.35, Y:-255.50, Z:-1.80 [[ 4.01079980e-01 -9.16041680e-01 -1.57803894e-03 -1.00353696e+02] [-9.16034854e-01 -4.01083083e-01 3.53639245e-03 -2.55497728e+02] [-3.87240761e-03 2.71624609e-05 -9.99992502e-01 -1.79500061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.916559995 meters 0.013160391835900292 Centerline is valid? [True, True] Translation: X:-100.33, Y:-255.61, Z:-1.80 [[ 4.67444234e-01 -8.84020876e-01 -1.72594351e-03 -1.00328615e+02] [-8.84015137e-01 -4.67447419e-01 3.18567999e-03 -2.55606357e+02] [-3.62299546e-03 3.66324449e-05 -9.99993436e-01 -1.79545365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.9465599949999 meters 0.014213567076539714 Centerline is valid? [True, True] Translation: X:-100.29, Y:-255.71, Z:-1.79 [[ 5.29447850e-01 -8.48339977e-01 -2.06339854e-03 -1.00293343e+02] [-8.48333957e-01 -5.29451868e-01 3.19649092e-03 -2.55712198e+02] [-3.80418125e-03 5.80758030e-05 -9.99992762e-01 -1.79484653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.976559995 meters 0.01438318503334324 Centerline is valid? [True, True] Translation: X:-100.25, Y:-255.82, Z:-1.79 [[ 5.90968910e-01 -8.06689901e-01 -2.67419713e-03 -1.00252537e+02] [-8.06682228e-01 -5.90974955e-01 3.51932195e-03 -2.55817276e+02] [-4.41938500e-03 7.74174405e-05 -9.99990232e-01 -1.79454912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.006559995 meters 0.014783106289436404 Centerline is valid? [True, True] Translation: X:-100.20, Y:-255.92, Z:-1.79 [[ 6.49602136e-01 -7.60266544e-01 -3.44203894e-03 -1.00204317e+02] [-7.60256670e-01 -6.49611247e-01 3.87594008e-03 -2.55917889e+02] [-5.18273478e-03 9.90141066e-05 -9.99986565e-01 -1.79414243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.036559995 meters 0.014783106289436404 Centerline is valid? [True, True] Translation: X:-100.15, Y:-256.01, Z:-1.79 [[ 7.05615502e-01 -7.08585120e-01 -3.72724489e-03 -1.00152608e+02] [-7.08575968e-01 -7.05625339e-01 3.60256449e-03 -2.56012703e+02] [-5.18276202e-03 9.90108070e-05 -9.99986565e-01 -1.79414118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.0665599949999 meters 0.015428340469828961 Centerline is valid? [True, True] Translation: X:-100.15, Y:-256.02, Z:-1.79 [[ 7.57847954e-01 -6.52413878e-01 -4.75504450e-03 -1.00154975e+02] [-6.52402078e-01 -7.57862861e-01 3.92593021e-03 -2.56018483e+02] [-6.16500299e-03 1.26942733e-04 -9.99980988e-01 -1.79390722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.0965599949999 meters 0.015547198108385214 Centerline is valid? [True, True] Translation: X:-100.16, Y:-256.03, Z:-1.79 [[ 8.06304175e-01 -5.91475966e-01 -5.45517933e-03 -1.00156757e+02] [-5.91463590e-01 -8.06322617e-01 3.82868318e-03 -2.56025844e+02] [-6.66320855e-03 1.39456722e-04 -9.99977791e-01 -1.79354264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.126559995 meters 0.01525012715306549 Centerline is valid? [True, True] Translation: X:-100.16, Y:-256.04, Z:-1.79 [[ 8.50095109e-01 -5.26594000e-01 -6.08806445e-03 -1.00159747e+02] [-5.26581733e-01 -8.50116897e-01 3.59736921e-03 -2.56035953e+02] [-7.06991950e-03 1.47757549e-04 -9.99974997e-01 -1.79347476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.156559995 meters 0.01517112262635949 Centerline is valid? [True, True] Translation: X:-100.16, Y:-256.04, Z:-1.79 [[ 8.89113749e-01 -4.57645297e-01 -6.12561428e-03 -1.00161826e+02] [-4.57635484e-01 -8.89134840e-01 3.00004927e-03 -2.56044283e+02] [-6.81945552e-03 1.35913399e-04 -9.99976738e-01 -1.79358244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.1865599949999 meters 0.014999843050009775 Centerline is valid? [True, True] Translation: X:-100.16, Y:-256.05, Z:-1.79 [[ 9.22305825e-01 -3.86416499e-01 -5.85276094e-03 -1.00161961e+02] [-3.86409563e-01 -9.22324387e-01 2.31840498e-03 -2.56053806e+02] [-6.29401408e-03 1.23284376e-04 -9.99980185e-01 -1.79404869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.2165599949999 meters 0.015004446548860382 Centerline is valid? [True, True] Translation: X:-100.16, Y:-256.06, Z:-1.79 [[ 9.49837454e-01 -3.12683383e-01 -6.15728127e-03 -1.00161186e+02] [-3.12677651e-01 -9.49857403e-01 1.89732547e-03 -2.56062130e+02] [-6.44180134e-03 1.23093449e-04 -9.99979244e-01 -1.79405040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.246559995 meters 0.014776722656365837 Centerline is valid? [True, True] Translation: X:-100.16, Y:-256.07, Z:-1.79 [[ 9.71759979e-01 -2.35902788e-01 -5.69363966e-03 -1.00160960e+02] [-2.35899353e-01 -9.71776653e-01 1.27714146e-03 -2.56069370e+02] [-5.83422733e-03 1.02050960e-04 -9.99982976e-01 -1.79442739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.276559995 meters 0.014632587851635112 Centerline is valid? [True, True] Translation: X:-100.16, Y:-256.08, Z:-1.79 [[ 9.87425413e-01 -1.57992427e-01 -5.42657627e-03 -1.00161775e+02] [-1.57990541e-01 -9.87440320e-01 7.77152193e-04 -2.56075158e+02] [-5.48120437e-03 8.99678979e-05 -9.99984974e-01 -1.79483793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.3065599949999 meters 0.013852839630983979 Centerline is valid? [True, True] Translation: X:-100.16, Y:-256.09, Z:-1.80 [[ 9.96877113e-01 -7.87955850e-02 -5.22281189e-03 -1.00163340e+02] [-7.87949160e-02 -9.96890791e-01 3.34051700e-04 -2.56086195e+02] [-5.23289487e-03 7.85225297e-05 -9.99986305e-01 -1.79588721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.3365599949999 meters 0.013905502123387254 Centerline is valid? [True, True] Translation: X:-100.16, Y:-256.10, Z:-1.80 [[ 9.99989823e-01 2.16901068e-03 -3.95593643e-03 -1.00164821e+02] [ 2.16879950e-03 -9.99997647e-01 -5.76711793e-05 -2.56095341e+02] [-3.95605221e-03 4.90909594e-05 -9.99992174e-01 -1.79635666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.366559995 meters 0.013309334120153903 Centerline is valid? [True, True] Translation: X:-100.16, Y:-256.11, Z:-1.80 [[ 9.96638383e-01 8.18343343e-02 -3.88278754e-03 -1.00164667e+02] [ 8.18335458e-02 -9.96645945e-01 -3.61802211e-04 -2.56105411e+02] [-3.89937230e-03 4.28436989e-05 -9.99992397e-01 -1.79698045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.396559995 meters 0.01307218290074882 Centerline is valid? [True, True] Translation: X:-100.16, Y:-256.12, Z:-1.80 [[ 9.86936280e-01 1.61070087e-01 -3.63413237e-03 -1.00163625e+02] [ 1.61068864e-01 -9.86942970e-01 -6.28623365e-04 -2.56115387e+02] [-3.68793382e-03 3.50656303e-05 -9.99993199e-01 -1.79711283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.4265599949999 meters 0.012753948474353521 Centerline is valid? [True, True] Translation: X:-100.16, Y:-256.13, Z:-1.80 [[ 9.70430581e-01 2.41357102e-01 -3.35214774e-03 -1.00161979e+02] [ 2.41355590e-01 -9.70436370e-01 -8.54665565e-04 -2.56125703e+02] [-3.45932569e-03 2.03340059e-05 -9.99994016e-01 -1.79737992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.4565599949999 meters 0.01259039226775126 Centerline is valid? [True, True] Translation: X:-100.16, Y:-256.13, Z:-1.80 [[ 9.47795847e-01 3.18863950e-01 -2.96891527e-03 -1.00158786e+02] [ 3.18862350e-01 -9.47800496e-01 -1.01035211e-03 -2.56134156e+02] [-3.13610424e-03 1.09322354e-05 -9.99995082e-01 -1.79734301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.486559995 meters 0.012478044989023872 Centerline is valid? [True, True] Translation: X:-100.16, Y:-256.14, Z:-1.80 [[ 9.18183411e-01 3.96144118e-01 -3.01030540e-03 -1.00155032e+02] [ 3.96142000e-01 -9.18188345e-01 -1.29552708e-03 -2.56143492e+02] [-3.27724277e-03 -2.97692707e-06 -9.99994630e-01 -1.79718562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.516559995 meters 0.01254472291799317 Centerline is valid? [True, True] Translation: X:-100.15, Y:-256.15, Z:-1.80 [[ 8.83439020e-01 4.68536072e-01 -3.07358308e-03 -1.00149440e+02] [ 4.68533276e-01 -8.83444367e-01 -1.61887439e-03 -2.56151627e+02] [-3.47384070e-03 -9.89914038e-06 -9.99993966e-01 -1.79698230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.5465599949999 meters 0.012730734822519763 Centerline is valid? [True, True] Translation: X:-100.14, Y:-256.16, Z:-1.80 [[ 8.43100968e-01 5.37747124e-01 -2.96466631e-03 -1.00144563e+02] [ 5.37743867e-01 -8.43106180e-01 -1.87164983e-03 -2.56159445e+02] [-3.50600280e-03 -1.62413373e-05 -9.99993854e-01 -1.79597307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.5765599949999 meters 0.012823128659018771 Centerline is valid? [True, True] Translation: X:-100.14, Y:-256.17, Z:-1.80 [[ 7.97370668e-01 6.03481709e-01 -3.13760049e-03 -1.00138063e+02] [ 6.03477161e-01 -7.97376841e-01 -2.34305431e-03 -2.56167064e+02] [-3.91584039e-03 -2.51874503e-05 -9.99992333e-01 -1.79548480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.606559995 meters 0.012935833941437595 Centerline is valid? [True, True] Translation: X:-100.13, Y:-256.17, Z:-1.80 [[ 7.46694375e-01 6.65158948e-01 -3.32914384e-03 -1.00130615e+02] [ 6.65152546e-01 -7.46701796e-01 -2.91857053e-03 -2.56173566e+02] [-4.42719099e-03 -3.51083024e-05 -9.99990199e-01 -1.79526900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.636559995 meters 0.013722899987430814 Centerline is valid? [True, True] Translation: X:-100.12, Y:-256.18, Z:-1.79 [[ 6.90191918e-01 7.23620754e-01 -2.84961079e-03 -1.00123187e+02] [ 7.23614851e-01 -6.90197799e-01 -2.92321525e-03 -2.56180675e+02] [-4.08209432e-03 -4.44411506e-05 -9.99991667e-01 -1.79498657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.666559995 meters 0.01369084493818109 Centerline is valid? [True, True] Translation: X:-100.12, Y:-256.18, Z:-1.80 [[ 6.30536563e-01 7.76154815e-01 -2.71043478e-03 -1.00118397e+02] [ 7.76147988e-01 -6.30542386e-01 -3.25570084e-03 -2.56183554e+02] [-4.23597190e-03 -5.08600876e-05 -9.99991027e-01 -1.79540152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.6965599949999 meters 0.013727676386357473 Centerline is valid? [True, True] Translation: X:-100.11, Y:-256.19, Z:-1.80 [[ 5.66957224e-01 8.23743928e-01 -2.33375301e-03 -1.00111531e+02] [ 8.23737329e-01 -5.66962025e-01 -3.29775780e-03 -2.56187626e+02] [-4.03965729e-03 -5.27118616e-05 -9.99991839e-01 -1.79549007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.726559995 meters 0.014090431942972301 Centerline is valid? [True, True] Translation: X:-100.10, Y:-256.19, Z:-1.80 [[ 4.99686012e-01 8.66204105e-01 -2.08288747e-03 -1.00104975e+02] [ 8.66197058e-01 -4.99690350e-01 -3.49454941e-03 -2.56191897e+02] [-4.06779181e-03 -5.80135384e-05 -9.99991725e-01 -1.79520987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.756559995 meters 0.014389084600506238 Centerline is valid? [True, True] Translation: X:-100.10, Y:-256.19, Z:-1.79 [[ 4.29106595e-01 9.03251777e-01 -1.93860179e-03 -1.00097722e+02] [ 9.03243266e-01 -4.29110969e-01 -3.92149953e-03 -2.56194881e+02] [-4.37397671e-03 -6.82877027e-05 -9.99990432e-01 -1.79456737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.786559995 meters 0.014962808927100791 Centerline is valid? [True, True] Translation: X:-100.09, Y:-256.20, Z:-1.79 [[ 3.54734964e-01 9.34964689e-01 -2.03349918e-03 -1.00091027e+02] [ 9.34950895e-01 -3.54740779e-01 -5.07966541e-03 -2.56197344e+02] [-5.47067287e-03 -9.92869468e-05 -9.99985031e-01 -1.79296081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.8165599949999 meters 0.015309338483020548 Centerline is valid? [True, True] Translation: X:-100.09, Y:-256.20, Z:-1.79 [[ 2.79630918e-01 9.60105882e-01 -1.80119672e-03 -1.00085276e+02] [ 9.60088527e-01 -2.79636696e-01 -5.77390594e-03 -2.56198223e+02] [-6.04724175e-03 -1.14745688e-04 -9.99981709e-01 -1.79250744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.8465599949999 meters 0.015630679800523347 Centerline is valid? [True, True] Translation: X:-100.08, Y:-256.20, Z:-1.79 [[ 2.02919355e-01 9.79194348e-01 -1.47117423e-03 -1.00080408e+02] [ 9.79173063e-01 -2.02924646e-01 -6.45757698e-03 -2.56200470e+02] [-6.62176039e-03 -1.30166824e-04 -9.99978068e-01 -1.79222739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.876559995 meters 0.01570884000981093 Centerline is valid? [True, True] Translation: X:-100.07, Y:-256.20, Z:-1.79 [[ 1.24389677e-01 9.92232938e-01 -1.00275334e-03 -1.00074837e+02] [ 9.92209378e-01 -1.24393635e-01 -6.83917108e-03 -2.56201300e+02] [-6.91078695e-03 -1.44218982e-04 -9.99976110e-01 -1.79227673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.906559995 meters 0.015928845278247068 Centerline is valid? [True, True] Translation: X:-100.07, Y:-256.20, Z:-1.79 [[ 4.59424950e-02 9.98943961e-01 -5.00982214e-04 -1.00068387e+02] [ 9.98916198e-01 -4.59449540e-02 -7.44919713e-03 -2.56201405e+02] [-7.46434808e-03 -1.58204548e-04 -9.99972129e-01 -1.79176929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.9365599949999 meters 0.016263152297345627 Centerline is valid? [True, True] Translation: X:-100.06, Y:-256.20, Z:-1.79 [[-3.23269913e-02 9.99477343e-01 8.55452012e-05 -1.00063331e+02] [ 9.99448309e-01 3.23267044e-02 -7.61989075e-03 -2.56202228e+02] [-7.61867355e-03 -1.60830135e-04 -9.99970965e-01 -1.79079535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.9665599949999 meters 0.015855644138733103 Centerline is valid? [True, True] Translation: X:-100.06, Y:-256.20, Z:-1.79 [[-1.09817992e-01 9.93951484e-01 6.74640074e-04 -1.00060103e+02] [ 9.93923123e-01 1.09819956e-01 -7.51018321e-03 -2.56201840e+02] [-7.53884670e-03 -1.54212874e-04 -9.99971571e-01 -1.79081479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.996559995 meters 0.01570979431047591 Centerline is valid? [True, True] Translation: X:-100.06, Y:-256.20, Z:-1.79 [[-1.86003610e-01 9.82548287e-01 1.23305105e-03 -1.00057206e+02] [ 9.82521393e-01 1.86007644e-01 -7.27111475e-03 -2.56202555e+02] [-7.37357826e-03 -1.40954559e-04 -9.99972805e-01 -1.79129941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.026559995 meters 0.014453458221750686 Centerline is valid? [True, True] Translation: X:-100.06, Y:-256.20, Z:-1.79 [[-2.58372970e-01 9.66043899e-01 1.61028754e-03 -1.00058332e+02] [ 9.66022693e-01 2.58377969e-01 -6.40170922e-03 -2.56203776e+02] [-6.60039496e-03 -9.84543199e-05 -9.99978212e-01 -1.79267675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.0565599949999 meters 0.013990114216246291 Centerline is valid? [True, True] Translation: X:-100.06, Y:-256.21, Z:-1.79 [[-3.30633041e-01 9.43757188e-01 2.04029860e-03 -1.00057062e+02] [ 9.43737746e-01 3.30639327e-01 -6.05831438e-03 -2.56205321e+02] [-6.39218070e-03 -7.75721018e-05 -9.99979567e-01 -1.79272645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.0865599949999 meters 0.013297651072625906 Centerline is valid? [True, True] Translation: X:-100.06, Y:-256.21, Z:-1.79 [[-4.00834947e-01 9.16146779e-01 2.53464019e-03 -1.00056669e+02] [ 9.16127518e-01 4.00842957e-01 -5.94089577e-03 -2.56206229e+02] [-6.45872519e-03 -5.92650135e-05 -9.99979141e-01 -1.79274167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.116559995 meters 0.012811155059373674 Centerline is valid? [True, True] Translation: X:-100.05, Y:-256.21, Z:-1.79 [[-4.68887313e-01 8.83252777e-01 3.03642033e-03 -1.00052610e+02] [ 8.83233680e-01 4.68897143e-01 -5.80832397e-03 -2.56205636e+02] [-6.55398709e-03 -4.15807213e-05 -9.99978522e-01 -1.79293031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.146559995 meters 0.01252319275535338 Centerline is valid? [True, True] Translation: X:-100.05, Y:-256.21, Z:-1.79 [[-5.31520590e-01 8.47035876e-01 4.01091763e-03 -1.00049897e+02] [ 8.47011727e-01 5.31535723e-01 -6.39604205e-03 -2.56207272e+02] [-7.54962308e-03 -2.33378013e-06 -9.99971501e-01 -1.79146933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.1765599949999 meters 0.012597228770777654 Centerline is valid? [True, True] Translation: X:-100.05, Y:-256.21, Z:-1.79 [[-5.94075727e-01 8.04392997e-01 5.09277297e-03 -1.00045722e+02] [ 8.04363735e-01 5.94097555e-01 -6.86121257e-03 -2.56208441e+02] [-8.54471532e-03 2.03620456e-05 -9.99963493e-01 -1.79041045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.2065599949999 meters 0.012850690219324943 Centerline is valid? [True, True] Translation: X:-100.04, Y:-256.21, Z:-1.79 [[-6.53070075e-01 7.57273706e-01 6.00100519e-03 -1.00042335e+02] [ 7.57242414e-01 6.53097644e-01 -6.88436543e-03 -2.56209953e+02] [-9.13259128e-03 4.82426119e-05 -9.99958296e-01 -1.78920935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.236559995 meters 0.014305733227663158 Centerline is valid? [True, True] Translation: X:-100.04, Y:-256.22, Z:-1.79 [[-7.06916352e-01 7.07253891e-01 7.82337416e-03 -1.00042759e+02] [ 7.07212315e-01 7.06959632e-01 -7.66942850e-03 -2.56215000e+02] [-1.09550429e-02 1.11142143e-04 -9.99939986e-01 -1.78599370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.266559995 meters 0.01514729055135434 Centerline is valid? [True, True] Translation: X:-100.02, Y:-256.20, Z:-1.79 [[-7.53683633e-01 6.57173579e-01 9.15795904e-03 -1.00023668e+02] [ 6.57127465e-01 7.53739255e-01 -7.78655282e-03 -2.56198584e+02] [-1.20198300e-02 1.49348996e-04 -9.99927748e-01 -1.78518748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.2965599949999 meters 0.016868165585598272 Centerline is valid? [True, True] Translation: X:-100.00, Y:-256.18, Z:-1.78 [[-7.95961027e-01 6.05261870e-01 1.02035224e-02 -1.00004773e+02] [ 6.05215449e-01 7.96026398e-01 -7.49894361e-03 -2.56184562e+02] [-1.26610978e-02 2.06462526e-04 -9.99919824e-01 -1.78387658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.3265599949999 meters 0.01740334780485009 Centerline is valid? [True, True] Translation: X:-99.98, Y:-256.17, Z:-1.78 [[-8.35889798e-01 5.48790620e-01 1.08213564e-02 -9.99848990e+01] [ 5.48748169e-01 8.35959810e-01 -6.82959312e-03 -2.56166294e+02] [-1.27942357e-02 2.29412288e-04 -9.99918124e-01 -1.78393328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.356559995 meters 0.015977926870335495 Centerline is valid? [True, True] Translation: X:-99.97, Y:-256.14, Z:-1.79 [[-8.72320189e-01 4.88806555e-01 1.12089359e-02 -9.99689746e+01] [ 4.88769677e-01 8.72392168e-01 -6.00896170e-03 -2.56140878e+02] [-1.27158078e-02 2.36849380e-04 -9.99919123e-01 -1.78586055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.386559995 meters 0.01612394811684205 Centerline is valid? [True, True] Translation: X:-99.62, Y:-255.50, Z:-2.80 [[-8.57434805e-01 -5.14491527e-01 1.01991838e-02 -9.96172435e+01] [ 5.14451438e-01 -8.57495422e-01 -6.42803122e-03 -2.55500704e+02] [ 1.20529210e-02 -2.64632929e-04 9.99927326e-01 -2.80346109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.416559995 meters 0.01612394811684205 Centerline is valid? [True, True] Translation: X:-100.01, Y:-256.12, Z:-1.79 [[-8.73851912e-01 4.86076014e-01 1.06274999e-02 -1.00007358e+02] [ 4.86043262e-01 8.73916504e-01 -5.64731196e-03 -2.56121810e+02] [-1.20325704e-02 2.30510344e-04 -9.99927580e-01 -1.78613023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.4465599949999 meters 0.015326750779480381 Centerline is valid? [True, True] Translation: X:-99.99, Y:-256.10, Z:-1.79 [[-9.05985719e-01 4.23182723e-01 1.03082567e-02 -9.99870249e+01] [ 4.23157998e-01 9.06044336e-01 -4.57939929e-03 -2.56098683e+02] [-1.12776603e-02 2.13150922e-04 -9.99936383e-01 -1.78758472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.476559995 meters 0.015322018410161804 Centerline is valid? [True, True] Translation: X:-99.98, Y:-256.07, Z:-1.79 [[-9.34018440e-01 3.57068906e-01 1.05522659e-02 -9.99759899e+01] [ 3.57048552e-01 9.34078024e-01 -3.81790862e-03 -2.56072396e+02] [-1.12198961e-02 2.01674198e-04 -9.99937035e-01 -1.78734103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.506559995 meters 0.01569572981033997 Centerline is valid? [True, True] Translation: X:-99.97, Y:-256.05, Z:-1.79 [[-9.57405897e-01 2.88560395e-01 1.03367124e-02 -9.99659656e+01] [ 2.88545572e-01 9.57461679e-01 -2.93013969e-03 -2.56045366e+02] [-1.07425283e-02 1.77279584e-04 -9.99942282e-01 -1.78648847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.536559995 meters 0.013590951230589116 Centerline is valid? [True, True] Translation: X:-99.96, Y:-256.01, Z:-1.79 [[-9.76485370e-01 2.15319938e-01 1.06605131e-02 -9.99619226e+01] [ 2.15308543e-01 9.76543552e-01 -2.21886201e-03 -2.56010229e+02] [-1.08882206e-02 1.28613262e-04 -9.99940713e-01 -1.78742510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.5665599949999 meters 0.013859842171613745 Centerline is valid? [True, True] Translation: X:-99.96, Y:-255.98, Z:-1.79 [[-9.89674376e-01 1.42930661e-01 1.07449882e-02 -9.99609722e+01] [ 1.42923332e-01 9.89732699e-01 -1.45087196e-03 -2.55981109e+02] [-1.08420403e-02 9.98187232e-05 -9.99941218e-01 -1.78544683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.5965599949999 meters 0.013867875810837545 Centerline is valid? [True, True] Translation: X:-99.86, Y:-255.28, Z:-2.81 [[-9.80938366e-01 -1.94059152e-01 1.00483068e-02 -9.98619702e+01] [ 1.94047580e-01 -9.80989821e-01 -2.12341429e-03 -2.55279454e+02] [ 1.02693547e-02 -1.33088919e-04 9.99947260e-01 -2.80555670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.626559995 meters 0.012894676554656334 Centerline is valid? [True, True] Translation: X:-100.02, Y:-255.97, Z:-1.79 [[-9.90973227e-01 1.33688339e-01 9.97456881e-03 -1.00018516e+02] [ 1.33681982e-01 9.91023424e-01 -1.30438023e-03 -2.55967876e+02] [-1.00594118e-02 4.08142411e-05 -9.99949402e-01 -1.78639816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.656559995 meters 0.01257748449054473 Centerline is valid? [True, True] Translation: X:-100.02, Y:-255.93, Z:-1.79 [[-9.98299358e-01 5.75728465e-02 9.15201695e-03 -1.00020962e+02] [ 5.75703143e-02 9.98341308e-01 -5.40109931e-04 -2.55931834e+02] [-9.16793224e-03 -1.23069055e-05 -9.99957974e-01 -1.78654661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.6865599949999 meters 0.01301554916854952 Centerline is valid? [True, True] Translation: X:-99.98, Y:-255.25, Z:-2.80 [[-9.91488692e-01 -1.29876225e-01 9.07413623e-03 -9.99827014e+01] [ 1.29870889e-01 -9.91530214e-01 -1.17740208e-03 -2.55254264e+02] [ 9.15019678e-03 1.10852864e-05 9.99958136e-01 -2.80489179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.7165599949999 meters 0.012570041554371652 Centerline is valid? [True, True] Translation: X:-100.09, Y:-255.92, Z:-1.79 [[-9.98793156e-01 4.82506821e-02 9.17081742e-03 -1.00094636e+02] [ 4.82481329e-02 9.98835256e-01 -4.99136909e-04 -2.55921872e+02] [-9.18421946e-03 -5.60597104e-05 -9.99957823e-01 -1.78870055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.746559995 meters 0.013129234719331678 Centerline is valid? [True, True] Translation: X:-100.05, Y:-255.26, Z:-2.80 [[-9.91365866e-01 -1.30839715e-01 8.64225962e-03 -1.00054339e+02] [ 1.30834929e-01 -9.91403535e-01 -1.11937020e-03 -2.55256916e+02] [ 8.71442481e-03 2.10040087e-05 9.99962029e-01 -2.80177253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.776559995 meters 0.013016192483933793 Centerline is valid? [True, True] Translation: X:-100.16, Y:-255.91, Z:-1.79 [[-9.99175227e-01 3.96595458e-02 8.71698306e-03 -1.00157406e+02] [ 3.96572642e-02 9.99213247e-01 -4.34503909e-04 -2.55911945e+02] [-8.72735717e-03 -8.84538422e-05 -9.99961912e-01 -1.78856492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.8065599949999 meters 0.01367305600146818 Centerline is valid? [True, True] Translation: X:-100.16, Y:-255.88, Z:-1.79 [[-9.99450186e-01 -3.19192796e-02 8.97132531e-03 -1.00160751e+02] [-3.19188421e-02 9.99490446e-01 1.91983857e-04 -2.55881121e+02] [-8.97288192e-03 -9.44760139e-05 -9.99959739e-01 -1.78706791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.8365599949999 meters 0.013088800281951566 Centerline is valid? [True, True] Translation: X:-100.17, Y:-255.85, Z:-1.79 [[-9.94668828e-01 -1.02751138e-01 8.72505936e-03 -1.00170367e+02] [-1.02747982e-01 9.94707090e-01 8.10365775e-04 -2.55854901e+02] [-8.76214441e-03 -9.04366640e-05 -9.99961608e-01 -1.78839459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.866559995 meters 0.012867828510546292 Centerline is valid? [True, True] Translation: X:-100.18, Y:-255.83, Z:-1.79 [[-9.85184091e-01 -1.71303890e-01 8.20272022e-03 -1.00181022e+02] [-1.71298526e-01 9.85218236e-01 1.35736446e-03 -2.55827921e+02] [-8.31399135e-03 -6.78600090e-05 -9.99965436e-01 -1.78879138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.896559995 meters 0.01265351144107592 Centerline is valid? [True, True] Translation: X:-100.20, Y:-255.80, Z:-1.79 [[-9.70693244e-01 -2.40202353e-01 7.58001124e-03 -1.00202821e+02] [-2.40195451e-01 9.70722837e-01 1.82165842e-03 -2.55804267e+02] [-7.79565665e-03 -5.24127024e-05 -9.99969612e-01 -1.78871146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.9265599949999 meters 0.012456647981202289 Centerline is valid? [True, True] Translation: X:-100.24, Y:-255.79, Z:-1.79 [[-9.51761969e-01 -3.06739409e-01 7.75177682e-03 -1.00239092e+02] [-3.06729484e-01 9.51793536e-01 2.46770495e-03 -2.55786658e+02] [-8.13503342e-03 -2.90307807e-05 -9.99966910e-01 -1.78837079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.9565599949999 meters 0.012420968183950878 Centerline is valid? [True, True] Translation: X:-100.29, Y:-255.78, Z:-1.79 [[-9.27259659e-01 -3.74350723e-01 7.14574120e-03 -1.00293412e+02] [-3.74339746e-01 9.27287192e-01 2.86674307e-03 -2.55777582e+02] [-7.69932163e-03 -1.67197413e-05 -9.99970360e-01 -1.78867710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.986559995 meters 0.012333460048181663 Centerline is valid? [True, True] Translation: X:-100.36, Y:-255.78, Z:-1.79 [[-8.97759576e-01 -4.40427311e-01 7.17828452e-03 -1.00360604e+02] [-4.40413290e-01 8.97788273e-01 3.51431526e-03 -2.55777696e+02] [-7.99238008e-03 -6.40172581e-06 -9.99968061e-01 -1.78881841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.016559995 meters 0.012389831531136717 Centerline is valid? [True, True] Translation: X:-100.43, Y:-255.79, Z:-1.79 [[-8.62965082e-01 -5.05217855e-01 6.79609658e-03 -1.00432905e+02] [-5.05202184e-01 8.62991842e-01 3.97922436e-03 -2.55785241e+02] [-7.87535110e-03 5.28836385e-07 -9.99968989e-01 -1.78886882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.0465599949999 meters 0.012501921489722135 Centerline is valid? [True, True] Translation: X:-100.51, Y:-255.80, Z:-1.79 [[-8.23255222e-01 -5.67635156e-01 6.41626148e-03 -1.00513542e+02] [-5.67617859e-01 8.23280225e-01 4.43140375e-03 -2.55803602e+02] [-7.79780176e-03 6.19167904e-06 -9.99969597e-01 -1.78762502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.0765599949999 meters 0.012435066896696836 Centerline is valid? [True, True] Translation: X:-100.60, Y:-255.83, Z:-1.79 [[-7.78052319e-01 -6.28166302e-01 6.45644779e-03 -1.00596903e+02] [-6.28144647e-01 7.78079108e-01 5.21586781e-03 -2.55830776e+02] [-8.30005953e-03 2.63492826e-06 -9.99965554e-01 -1.78863432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.106559995 meters 0.012494123715164372 Centerline is valid? [True, True] Translation: X:-100.68, Y:-255.87, Z:-1.79 [[-7.27830277e-01 -6.85727589e-01 6.38441345e-03 -1.00683942e+02] [-6.85701282e-01 7.27858278e-01 6.00657295e-03 -2.55869117e+02] [-8.76582098e-03 -6.03483020e-06 -9.99961580e-01 -1.78841533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.136559995 meters 0.012513700899829006 Centerline is valid? [True, True] Translation: X:-100.77, Y:-255.92, Z:-1.79 [[-6.73147094e-01 -7.39480248e-01 6.47711184e-03 -1.00771571e+02] [-7.39446257e-01 6.73178255e-01 7.09017654e-03 -2.55917466e+02] [-9.60329635e-03 -1.67443696e-05 -9.99953887e-01 -1.78830292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.166559995 meters 0.012747434338171396 Centerline is valid? [True, True] Translation: X:-100.86, Y:-255.97, Z:-1.79 [[-6.12695540e-01 -7.90293839e-01 6.31061811e-03 -1.00858638e+02] [-7.90252754e-01 6.12728036e-01 8.05847184e-03 -2.55974048e+02] [-1.02352533e-02 -4.95935843e-05 -9.99947617e-01 -1.78707455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.1965599949999 meters 0.012922663695969025 Centerline is valid? [True, True] Translation: X:-100.95, Y:-256.05, Z:-1.79 [[-5.49357825e-01 -8.35566977e-01 5.81429438e-03 -1.00945704e+02] [-8.35521534e-01 5.49388589e-01 8.71468816e-03 -2.56045133e+02] [-1.04760126e-02 -7.04860228e-05 -9.99945123e-01 -1.78723436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.226559995 meters 0.013354459200437046 Centerline is valid? [True, True] Translation: X:-101.02, Y:-256.12, Z:-1.79 [[-4.80876723e-01 -8.76772681e-01 5.21959641e-03 -1.01024433e+02] [-8.76723521e-01 4.80905037e-01 9.28509997e-03 -2.56116795e+02] [-1.06510522e-02 -1.11154498e-04 -9.99943270e-01 -1.78733600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.256559995 meters 0.01387809380553519 Centerline is valid? [True, True] Translation: X:-101.10, Y:-256.20, Z:-1.79 [[-4.10843988e-01 -9.11694423e-01 4.52733712e-03 -1.01099670e+02] [-9.11642570e-01 4.10868910e-01 9.72431973e-03 -2.56199949e+02] [-1.07257501e-02 -1.32134951e-04 -9.99942469e-01 -1.78705423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.286559995 meters 0.014551095974635811 Centerline is valid? [True, True] Translation: X:-101.17, Y:-256.29, Z:-1.79 [[-3.38718381e-01 -9.40879715e-01 3.90128538e-03 -1.01168991e+02] [-9.40822393e-01 3.38740813e-01 1.03868545e-02 -2.56288381e+02] [-1.10943053e-02 -1.52198117e-04 -9.99938445e-01 -1.78644849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.3165599949999 meters 0.014523264493888955 Centerline is valid? [True, True] Translation: X:-101.23, Y:-256.39, Z:-1.79 [[-2.64328553e-01 -9.64427854e-01 3.05462850e-03 -1.01231104e+02] [-9.64370546e-01 2.64346150e-01 1.05149115e-02 -2.56386749e+02] [-1.09483528e-02 -1.66402408e-04 -9.99940051e-01 -1.78688694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.3465599949999 meters 0.014870717413830356 Centerline is valid? [True, True] Translation: X:-101.29, Y:-256.49, Z:-1.79 [[-1.88159620e-01 -9.82135761e-01 2.30311774e-03 -1.01286843e+02] [-9.82073965e-01 1.88173621e-01 1.10189253e-02 -2.56490902e+02] [-1.12554666e-02 -1.88515181e-04 -9.99936638e-01 -1.78642537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.376559995 meters 0.015170831410428905 Centerline is valid? [True, True] Translation: X:-101.33, Y:-256.60, Z:-1.79 [[-1.10191553e-01 -9.93909214e-01 1.51541654e-03 -1.01332435e+02] [-9.93840858e-01 1.10201750e-01 1.16586004e-02 -2.56599197e+02] [-1.17545919e-02 -2.21403600e-04 -9.99930888e-01 -1.78687226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.406559995 meters 0.016114692331740867 Centerline is valid? [True, True] Translation: X:-101.37, Y:-256.71, Z:-1.79 [[-3.25195772e-02 -9.99470888e-01 6.49544377e-04 -1.01371213e+02] [-9.99394347e-01 3.25251269e-02 1.23715256e-02 -2.56711773e+02] [-1.23861062e-02 -2.46834196e-04 -9.99923259e-01 -1.78618937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.4365599949999 meters 0.016477446006662858 Centerline is valid? [True, True] Translation: X:-101.40, Y:-256.83, Z:-1.79 [[ 4.48287638e-02 -9.98994638e-01 -3.10149358e-04 -1.01400494e+02] [-9.98913505e-01 -4.48290766e-02 1.27343258e-02 -2.56828371e+02] [-1.27354269e-02 -2.61051701e-04 -9.99918867e-01 -1.78596975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.4665599949999 meters 0.015353774032787528 Centerline is valid? [True, True] Translation: X:-101.42, Y:-256.95, Z:-1.79 [[ 1.21527595e-01 -9.92587259e-01 -1.25548915e-03 -1.01417121e+02] [-9.92510101e-01 -1.21533805e-01 1.23787774e-02 -2.56945010e+02] [-1.24396011e-02 -2.58277381e-04 -9.99922592e-01 -1.78812712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.496559995 meters 0.01637817101056636 Centerline is valid? [True, True] Translation: X:-101.43, Y:-257.06, Z:-1.79 [[ 1.97021488e-01 -9.80396893e-01 -2.11319566e-03 -1.01430411e+02] [-9.80326555e-01 -1.97032672e-01 1.17461183e-02 -2.57058707e+02] [-1.19322264e-02 -2.42615884e-04 -9.99928779e-01 -1.78697714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.526559995 meters 0.01539208454785286 Centerline is valid? [True, True] Translation: X:-101.43, Y:-257.18, Z:-1.79 [[ 2.71074756e-01 -9.62553933e-01 -2.89882319e-03 -1.01429928e+02] [-9.62489648e-01 -2.71090161e-01 1.11266868e-02 -2.57175021e+02] [-1.14958786e-02 -2.26076606e-04 -9.99933895e-01 -1.78876354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.5565599949999 meters 0.015060537896506302 Centerline is valid? [True, True] Translation: X:-101.42, Y:-257.29, Z:-1.79 [[ 3.43338690e-01 -9.39204944e-01 -3.55199719e-03 -1.01420976e+02] [-9.39148372e-01 -3.43357003e-01 1.03103943e-02 -2.57292968e+02] [-1.09031764e-02 -2.04104878e-04 -9.99940538e-01 -1.78967980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.5865599949999 meters 0.015012495357081058 Centerline is valid? [True, True] Translation: X:-101.40, Y:-257.41, Z:-1.79 [[ 4.13499737e-01 -9.10494702e-01 -4.16700862e-03 -1.01404985e+02] [-9.10443851e-01 -4.13520691e-01 9.62453640e-03 -2.57406074e+02] [-1.04862337e-02 -1.85915902e-04 -9.99945001e-01 -1.79034252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.616559995 meters 0.014507113564852408 Centerline is valid? [True, True] Translation: X:-101.38, Y:-257.52, Z:-1.79 [[ 4.80168153e-01 -8.77163177e-01 -4.82759066e-03 -1.01378460e+02] [-8.77115434e-01 -4.80192394e-01 9.15317674e-03 -2.57516588e+02] [-1.03470019e-02 -1.60709691e-04 -9.99946456e-01 -1.79127434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.646559995 meters 0.015116074948089225 Centerline is valid? [True, True] Translation: X:-101.35, Y:-257.63, Z:-1.79 [[ 5.44941436e-01 -8.38455992e-01 -5.51176615e-03 -1.01348098e+02] [-8.38410327e-01 -5.44969290e-01 8.75195934e-03 -2.57625199e+02] [-1.03418760e-02 -1.48183640e-04 -9.99946510e-01 -1.78988288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.6765599949999 meters 0.014115128548992432 Centerline is valid? [True, True] Translation: X:-101.30, Y:-257.73, Z:-1.79 [[ 6.06489001e-01 -7.95066868e-01 -6.30616881e-03 -1.01303150e+02] [-7.95021495e-01 -6.06521769e-01 8.49507397e-03 -2.57733555e+02] [-1.05789805e-02 -1.38629164e-04 -9.99944032e-01 -1.79133135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.7065599949999 meters 0.013733763912986929 Centerline is valid? [True, True] Translation: X:-101.26, Y:-257.83, Z:-1.79 [[ 6.63815315e-01 -7.47862718e-01 -7.11219354e-03 -1.01256286e+02] [-7.47817880e-01 -6.63853404e-01 8.19005637e-03 -2.57831075e+02] [-1.08464917e-02 -1.18059347e-04 -9.99941168e-01 -1.79106780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.736559995 meters 0.013603716490058109 Centerline is valid? [True, True] Translation: X:-101.21, Y:-257.92, Z:-1.79 [[ 7.18335092e-01 -6.95653432e-01 -7.81008239e-03 -1.01207448e+02] [-6.95610632e-01 -7.18377540e-01 7.71744760e-03 -2.57921594e+02] [-1.09792567e-02 -1.10937090e-04 -9.99939720e-01 -1.79102237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.766559995 meters 0.013483529689937676 Centerline is valid? [True, True] Translation: X:-101.21, Y:-257.93, Z:-1.79 [[ 7.70087965e-01 -6.37878274e-01 -8.70827211e-03 -1.01209064e+02] [-6.37835908e-01 -7.70137193e-01 7.35243541e-03 -2.57929126e+02] [-1.13965230e-02 -1.07573367e-04 -9.99935052e-01 -1.79140749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.7965599949999 meters 0.013451556806020478 Centerline is valid? [True, True] Translation: X:-101.21, Y:-257.94, Z:-1.79 [[ 8.16961631e-01 -5.76609265e-01 -9.76987282e-03 -1.01209119e+02] [-5.76566564e-01 -8.17020040e-01 7.01795358e-03 -2.57935253e+02] [-1.20287989e-02 -1.00416799e-04 -9.99927646e-01 -1.79180161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.8265599949999 meters 0.013457950297283614 Centerline is valid? [True, True] Translation: X:-101.21, Y:-257.94, Z:-1.79 [[ 8.59332729e-01 -5.11306243e-01 -1.06388742e-02 -1.01210374e+02] [-5.11265629e-01 -8.59398578e-01 6.44524423e-03 -2.57943340e+02] [-1.24385270e-02 -9.93186208e-05 -9.99922634e-01 -1.79182149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.856559995 meters 0.013568676003787179 Centerline is valid? [True, True] Translation: X:-101.21, Y:-257.95, Z:-1.79 [[ 8.96615057e-01 -4.42667715e-01 -1.12575987e-02 -1.01211743e+02] [-4.42631435e-01 -8.96685722e-01 5.66822376e-03 -2.57951072e+02] [-1.26036677e-02 -9.92477098e-05 -9.99920566e-01 -1.79087514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.886559995 meters 0.01344597877125929 Centerline is valid? [True, True] Translation: X:-101.21, Y:-257.96, Z:-1.79 [[ 9.28205514e-01 -3.71854055e-01 -1.26129201e-02 -1.01211776e+02] [-3.71818288e-01 -9.28291200e-01 5.15839203e-03 -2.57959562e+02] [-1.36266317e-02 -9.83335787e-05 -9.99907148e-01 -1.79100205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.916559995 meters 0.013476300245533934 Centerline is valid? [True, True] Translation: X:-101.21, Y:-257.97, Z:-1.79 [[ 9.54361460e-01 -2.98352863e-01 -1.34079612e-02 -1.01211610e+02] [-2.98321977e-01 -9.54455635e-01 4.29399258e-03 -2.57968630e+02] [-1.40784291e-02 -9.81315385e-05 -9.99900889e-01 -1.79067127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.9465599949999 meters 0.013554037185410102 Centerline is valid? [True, True] Translation: X:-101.21, Y:-257.98, Z:-1.79 [[ 9.74723214e-01 -2.22980730e-01 -1.39373831e-02 -1.01210829e+02] [-2.22956508e-01 -9.74822848e-01 3.28800231e-03 -2.57977079e+02] [-1.43196407e-02 -9.74619070e-05 -9.99897464e-01 -1.79031917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.976559995 meters 0.013574583839158931 Centerline is valid? [True, True] Translation: X:-101.21, Y:-257.99, Z:-1.79 [[ 9.89302351e-01 -1.45186391e-01 -1.42045516e-02 -1.01210869e+02] [-1.45169838e-01 -9.89404316e-01 2.19503870e-03 -2.57985476e+02] [-1.43727344e-02 -1.09484493e-04 -9.99896701e-01 -1.79139276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.006559995 meters 0.013652624520820318 Centerline is valid? [True, True] Translation: X:-101.21, Y:-257.99, Z:-1.79 [[ 9.97651725e-01 -6.70192547e-02 -1.41228940e-02 -1.01213436e+02] [-6.70109528e-02 -9.97751676e-01 1.06076976e-03 -2.57993178e+02] [-1.41622332e-02 -1.11890196e-04 -9.99899704e-01 -1.79160216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.036559995 meters 0.01373345671270685 Centerline is valid? [True, True] Translation: X:-101.21, Y:-258.00, Z:-1.79 [[ 9.99835490e-01 1.15472450e-02 -1.39876172e-02 -1.01214648e+02] [ 1.15477083e-02 -9.99933322e-01 -4.76480198e-05 -2.58001352e+02] [-1.39872348e-02 -1.13884743e-04 -9.99902167e-01 -1.79231935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.0665599949999 meters 0.014114834588697923 Centerline is valid? [True, True] Translation: X:-101.22, Y:-258.01, Z:-1.79 [[ 9.95878485e-01 8.96792098e-02 -1.35529383e-02 -1.01216004e+02] [ 8.96724002e-02 -9.95970696e-01 -1.11052787e-03 -2.58010004e+02] [-1.35979207e-02 -1.09373699e-04 -9.99907538e-01 -1.79136820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.0965599949999 meters 0.013763754324620086 Centerline is valid? [True, True] Translation: X:-101.22, Y:-258.01, Z:-1.79 [[ 9.85871331e-01 1.67038855e-01 -1.24795794e-02 -1.01216171e+02] [ 1.67026716e-01 -9.85950309e-01 -2.01604565e-03 -2.58014430e+02] [-1.26410031e-02 -9.68615533e-05 -9.99920095e-01 -1.79327372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.126559995 meters 0.013592722908547317 Centerline is valid? [True, True] Translation: X:-101.22, Y:-258.02, Z:-1.79 [[ 9.69905899e-01 2.43198188e-01 -1.17127338e-02 -1.01215748e+02] [ 2.43181525e-01 -9.69976615e-01 -2.84812126e-03 -2.58021262e+02] [-1.20537358e-02 -8.59108675e-05 -9.99927348e-01 -1.79466390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.156559995 meters 0.013586572443304527 Centerline is valid? [True, True] Translation: X:-101.21, Y:-258.03, Z:-1.80 [[ 9.47956791e-01 3.18195039e-01 -1.13947303e-02 -1.01214533e+02] [ 3.18173109e-01 -9.48025269e-01 -3.73663378e-03 -2.58029471e+02] [-1.19914705e-02 -8.33293764e-05 -9.99928096e-01 -1.79534436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.1865599949999 meters 0.01345413446713419 Centerline is valid? [True, True] Translation: X:-101.21, Y:-258.04, Z:-1.80 [[ 9.20335704e-01 3.90969750e-01 -1.11734569e-02 -1.01211665e+02] [ 3.90941964e-01 -9.20403525e-01 -4.66180474e-03 -2.58038468e+02] [-1.21067138e-02 -7.77478452e-05 -9.99926708e-01 -1.79508843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.2165599949999 meters 0.013442441116441156 Centerline is valid? [True, True] Translation: X:-101.21, Y:-258.05, Z:-1.80 [[ 8.86982247e-01 4.61669236e-01 -1.11360159e-02 -1.01208130e+02] [ 4.61633957e-01 -8.87052146e-01 -5.70784872e-03 -2.58047153e+02] [-1.25133650e-02 -7.80026011e-05 -9.99921702e-01 -1.79501153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.246559995 meters 0.0135276237776253 Centerline is valid? [True, True] Translation: X:-101.20, Y:-258.06, Z:-1.79 [[ 8.47848244e-01 5.30109210e-01 -1.17295152e-02 -1.01204847e+02] [ 5.30059998e-01 -8.47929370e-01 -7.22365914e-03 -2.58057116e+02] [-1.37751287e-02 -9.27800939e-05 -9.99905114e-01 -1.79415180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.276559995 meters 0.013655725974391082 Centerline is valid? [True, True] Translation: X:-101.20, Y:-258.06, Z:-1.79 [[ 8.03448276e-01 5.95257295e-01 -1.18161148e-02 -1.01200912e+02] [ 5.95194864e-01 -8.03535153e-01 -8.62160114e-03 -2.58064132e+02] [-1.46267346e-02 -1.05880272e-04 -9.99893018e-01 -1.79382325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.3065599949999 meters 0.013655725974391082 Centerline is valid? [True, True] Translation: X:-101.20, Y:-258.07, Z:-1.79 [[ 7.54378334e-01 6.56345954e-01 -1.11048175e-02 -1.01197268e+02] [ 6.56276913e-01 -7.54460057e-01 -9.52035661e-03 -2.58070333e+02] [-1.46267888e-02 -1.05884571e-04 -9.99893017e-01 -1.79382276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.3365599949999 meters 0.013748803766875152 Centerline is valid? [True, True] Translation: X:-101.19, Y:-258.08, Z:-1.79 [[ 7.00309283e-01 7.13759389e-01 -1.06978203e-02 -1.01192260e+02] [ 7.13678686e-01 -7.00390977e-01 -1.07337143e-02 -2.58076384e+02] [-1.51539462e-02 -1.17886607e-04 -9.99885166e-01 -1.79349665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.366559995 meters 0.01383382184563046 Centerline is valid? [True, True] Translation: X:-101.19, Y:-258.08, Z:-1.79 [[ 6.42227112e-01 7.66447076e-01 -1.01595520e-02 -1.01187121e+02] [ 7.66354205e-01 -6.42307453e-01 -1.19318206e-02 -2.58081504e+02] [-1.56706650e-02 -1.22876698e-04 -9.99877200e-01 -1.79302935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.396559995 meters 0.014087527444674704 Centerline is valid? [True, True] Translation: X:-101.18, Y:-258.09, Z:-1.79 [[ 5.80277354e-01 8.14364971e-01 -9.37480391e-03 -1.01182580e+02] [ 8.14262158e-01 -5.80353064e-01 -1.29405867e-02 -2.58087641e+02] [-1.59790567e-02 -1.24418640e-04 -9.99872319e-01 -1.79171601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.4265599949999 meters 0.014140786113831606 Centerline is valid? [True, True] Translation: X:-101.18, Y:-258.09, Z:-1.79 [[ 5.15001785e-01 8.57149224e-01 -8.26856139e-03 -1.01182154e+02] [ 8.57042442e-01 -5.15068145e-01 -1.35298972e-02 -2.58088923e+02] [-1.58560135e-02 -1.18586838e-04 -9.99874279e-01 -1.79189596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.4565599949999 meters 0.013826582133411433 Centerline is valid? [True, True] Translation: X:-101.18, Y:-258.09, Z:-1.79 [[ 4.46283165e-01 8.94864485e-01 -6.99216930e-03 -1.01179009e+02] [ 8.94758685e-01 -4.46337922e-01 -1.37606507e-02 -2.58092190e+02] [-1.54347879e-02 -1.15157445e-04 -9.99880870e-01 -1.79345700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.486559995 meters 0.013563178918088807 Centerline is valid? [True, True] Translation: X:-101.17, Y:-258.10, Z:-1.80 [[ 3.74945319e-01 9.27028873e-01 -5.78579223e-03 -1.01172204e+02] [ 9.26923066e-01 -3.74989941e-01 -1.40062348e-02 -2.58096495e+02] [-1.51537980e-02 -1.11412090e-04 -9.99885169e-01 -1.79513545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.516559995 meters 0.013590918302964826 Centerline is valid? [True, True] Translation: X:-101.16, Y:-258.10, Z:-1.80 [[ 3.01009649e-01 9.53610782e-01 -4.43493095e-03 -1.01164614e+02] [ 9.53512537e-01 -3.01042299e-01 -1.36885430e-02 -2.58100023e+02] [-1.43886440e-02 -1.08378742e-04 -9.99896472e-01 -1.79594572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.5465599949999 meters 0.013549922302787497 Centerline is valid? [True, True] Translation: X:-101.16, Y:-258.10, Z:-1.80 [[ 2.24951137e-01 9.74364397e-01 -3.31777586e-03 -1.01155696e+02] [ 9.74265775e-01 -2.24975574e-01 -1.38633162e-02 -2.58103651e+02] [-1.42543403e-02 -1.13826715e-04 -9.99898395e-01 -1.79704658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.5765599949999 meters 0.013725620735163839 Centerline is valid? [True, True] Translation: X:-101.15, Y:-258.11, Z:-1.80 [[ 1.47567524e-01 9.89049448e-01 -2.23961900e-03 -1.01146476e+02] [ 9.88947583e-01 -1.47584469e-01 -1.41951355e-02 -2.58107195e+02] [-1.43702239e-02 -1.20124797e-04 -9.99896736e-01 -1.79613461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.606559995 meters 0.01383808975438641 Centerline is valid? [True, True] Translation: X:-101.14, Y:-258.11, Z:-1.80 [[ 6.86022054e-02 9.97643356e-01 -1.21321903e-03 -1.01137969e+02] [ 9.97522764e-01 -6.86127769e-02 -1.55120353e-02 -2.58109539e+02] [-1.55587213e-02 -1.46053774e-04 -9.99878945e-01 -1.79579846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.636559995 meters 0.013877313957083179 Centerline is valid? [True, True] Translation: X:-101.13, Y:-258.11, Z:-1.80 [[-9.87706975e-03 9.99951221e-01 5.70977994e-06 -1.01131178e+02] [ 9.99823262e-01 9.87589717e-03 -1.59972584e-02 -2.58111333e+02] [-1.59965344e-02 -1.52297266e-04 -9.99872036e-01 -1.79570130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.666559995 meters 0.013968015962607412 Centerline is valid? [True, True] Translation: X:-101.12, Y:-258.11, Z:-1.80 [[-8.80164926e-02 9.96118221e-01 1.25968978e-03 -1.01124701e+02] [ 9.95990451e-01 8.80253792e-02 -1.59547388e-02 -2.58112631e+02] [-1.60036907e-02 -1.49641154e-04 -9.99871922e-01 -1.79540661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.6965599949999 meters 0.013705469913853015 Centerline is valid? [True, True] Translation: X:-101.12, Y:-258.11, Z:-1.80 [[-1.64604626e-01 9.86356573e-01 2.45503004e-03 -1.01118522e+02] [ 9.86235033e-01 1.64622884e-01 -1.54844031e-02 -2.58114048e+02] [-1.56772969e-02 -1.27567756e-04 -9.99877096e-01 -1.79545492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.726559995 meters 0.013783631997147876 Centerline is valid? [True, True] Translation: X:-101.11, Y:-258.12, Z:-1.80 [[-2.40956307e-01 9.70529410e-01 3.56693699e-03 -1.01113357e+02] [ 9.70415749e-01 2.40982678e-01 -1.48534165e-02 -2.58115772e+02] [-1.52752476e-02 -1.17612551e-04 -9.99883320e-01 -1.79575422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.756559995 meters 0.013613428194646744 Centerline is valid? [True, True] Translation: X:-101.11, Y:-258.12, Z:-1.80 [[-3.15368603e-01 9.48957991e-01 4.62335842e-03 -1.01109375e+02] [ 9.48851244e-01 3.15402474e-01 -1.42335976e-02 -2.58116022e+02] [-1.49653049e-02 -1.01950391e-04 -9.99888008e-01 -1.79646972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.786559995 meters 0.013551495458021383 Centerline is valid? [True, True] Translation: X:-101.11, Y:-258.12, Z:-1.80 [[-3.87889279e-01 9.21688828e-01 5.62237631e-03 -1.01105784e+02] [ 9.21588776e-01 3.87930015e-01 -1.35805542e-02 -2.58116426e+02] [-1.46981336e-02 -8.62324805e-05 -9.99891973e-01 -1.79662177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.8165599949999 meters 0.013194787177707407 Centerline is valid? [True, True] Translation: X:-101.10, Y:-258.11, Z:-1.80 [[-4.57441569e-01 8.89215850e-01 6.51023878e-03 -1.01098771e+02] [ 8.89123931e-01 4.57487889e-01 -1.27854378e-02 -2.58114119e+02] [-1.43473693e-02 -6.01816240e-05 -9.99897069e-01 -1.79878132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.8465599949999 meters 0.013348739091228494 Centerline is valid? [True, True] Translation: X:-101.09, Y:-258.11, Z:-1.80 [[-5.24721831e-01 8.51241624e-01 7.39583159e-03 -1.01091649e+02] [ 8.51155918e-01 5.24773948e-01 -1.20791992e-02 -2.58112119e+02] [-1.41634569e-02 -4.32136868e-05 -9.99899692e-01 -1.79770037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.876559995 meters 0.01331725350968886 Centerline is valid? [True, True] Translation: X:-101.09, Y:-258.11, Z:-1.80 [[-5.88707744e-01 8.08302774e-01 8.35576813e-03 -1.01089736e+02] [ 8.08220773e-01 5.88767038e-01 -1.15133443e-02 -2.58113117e+02] [-1.42258690e-02 -2.46895609e-05 -9.99898807e-01 -1.79812487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.906559995 meters 0.013053416979096432 Centerline is valid? [True, True] Translation: X:-101.08, Y:-258.11, Z:-1.80 [[-6.47890433e-01 7.61676515e-01 9.32055939e-03 -1.01081235e+02] [ 7.61598124e-01 6.47957472e-01 -1.09275498e-02 -2.58107454e+02] [-1.43625841e-02 1.86655959e-05 -9.99896853e-01 -1.80067376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.9365599949999 meters 0.013202832584854243 Centerline is valid? [True, True] Translation: X:-101.07, Y:-258.10, Z:-1.80 [[-7.04625801e-01 7.09505229e-01 1.02377518e-02 -1.01073875e+02] [ 7.09431134e-01 7.04700170e-01 -1.02536033e-02 -2.58100821e+02] [-1.44895305e-02 3.80264440e-05 -9.99895021e-01 -1.80010901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.9665599949999 meters 0.01335907510858582 Centerline is valid? [True, True] Translation: X:-101.07, Y:-258.10, Z:-1.80 [[-7.57015413e-01 6.53308884e-01 1.07315445e-02 -1.01066690e+02] [ 6.53244351e-01 7.57091473e-01 -9.18257707e-03 -2.58095516e+02] [-1.41238200e-02 5.89684469e-05 -9.99900252e-01 -1.79981978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.996559995 meters 0.013507937140394105 Centerline is valid? [True, True] Translation: X:-100.62, Y:-257.59, Z:-2.79 [[-7.18942012e-01 -6.94995632e-01 1.01712859e-02 -1.00623150e+02] [ 6.94925005e-01 -7.19013956e-01 -9.90796574e-03 -2.57591228e+02] [ 1.41992894e-02 -5.49718957e-05 9.99899184e-01 -2.78834514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.026559995 meters 0.013460594730908208 Centerline is valid? [True, True] Translation: X:-101.10, Y:-258.07, Z:-1.80 [[-7.56874249e-01 6.53474445e-01 1.06076260e-02 -1.01097764e+02] [ 6.53412303e-01 7.56948570e-01 -9.01245214e-03 -2.58068862e+02] [-1.39188345e-02 1.09860404e-04 -9.99903122e-01 -1.80227659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.0565599949999 meters 0.013724908053055906 Centerline is valid? [True, True] Translation: X:-101.08, Y:-258.05, Z:-1.80 [[-8.00738999e-01 5.98900816e-01 1.16132324e-02 -1.01075404e+02] [ 5.98840106e-01 8.00823199e-01 -8.52826809e-03 -2.58049584e+02] [-1.44077326e-02 1.25552468e-04 -9.99896195e-01 -1.80198907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.0865599949999 meters 0.013881979310301898 Centerline is valid? [True, True] Translation: X:-101.06, Y:-258.02, Z:-1.80 [[-8.40778302e-01 5.41211009e-01 1.35089071e-02 -1.01057662e+02] [ 5.41144000e-01 8.40886807e-01 -8.51757721e-03 -2.58023684e+02] [-1.59692683e-02 1.48869937e-04 -9.99872472e-01 -1.80072629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.116559995 meters 0.014404300195101175 Centerline is valid? [True, True] Translation: X:-101.04, Y:-258.00, Z:-1.80 [[-8.76794215e-01 4.80635564e-01 1.48781213e-02 -1.01044428e+02] [ 4.80569552e-01 8.76920423e-01 -7.96733765e-03 -2.57997943e+02] [-1.68763142e-02 1.64256503e-04 -9.99857571e-01 -1.79857559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.146559995 meters 0.014854561848183885 Centerline is valid? [True, True] Translation: X:-101.03, Y:-257.97, Z:-1.80 [[-9.08653352e-01 4.17235151e-01 1.62454738e-02 -1.01032054e+02] [ 4.17171861e-01 9.08798547e-01 -7.26909839e-03 -2.57971935e+02] [-1.77967863e-02 1.72063895e-04 -9.99841610e-01 -1.79707611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.1765599949999 meters 0.01434763071104102 Centerline is valid? [True, True] Translation: X:-101.03, Y:-257.94, Z:-1.80 [[-9.35705251e-01 3.52353522e-01 1.73976719e-02 -1.01025855e+02] [ 3.52296417e-01 9.35866956e-01 -6.34626665e-03 -2.57940476e+02] [-1.85180357e-02 1.90902456e-04 -9.99828508e-01 -1.79879540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.2065599949999 meters 0.014320687473738464 Centerline is valid? [True, True] Translation: X:-101.02, Y:-257.91, Z:-1.80 [[-9.58292604e-01 2.85252065e-01 1.75084419e-02 -1.01015148e+02] [ 2.85208094e-01 9.58452515e-01 -5.01198025e-03 -2.57913184e+02] [-1.82106879e-02 1.90605741e-04 -9.99834154e-01 -1.79957750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.236559995 meters 0.014460768002477047 Centerline is valid? [True, True] Translation: X:-101.01, Y:-257.88, Z:-1.80 [[-9.76058359e-01 2.16799012e-01 1.75575443e-02 -1.01012157e+02] [ 2.16767486e-01 9.76216242e-01 -3.70212831e-03 -2.57883790e+02] [-1.79425777e-02 1.92411452e-04 -9.99839001e-01 -1.80007907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.266559995 meters 0.01405152187548375 Centerline is valid? [True, True] Translation: X:-101.01, Y:-257.85, Z:-1.80 [[-9.88963163e-01 1.47113581e-01 1.75913607e-02 -1.01007439e+02] [ 1.47093800e-01 9.89119587e-01 -2.42022892e-03 -2.57853994e+02] [-1.77560080e-02 1.94062842e-04 -9.99842331e-01 -1.80160407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.2965599949999 meters 0.014026389498307508 Centerline is valid? [True, True] Translation: X:-101.01, Y:-257.82, Z:-1.80 [[-9.96939407e-01 7.63653489e-02 1.67377479e-02 -1.01011808e+02] [ 7.63576405e-02 9.97079887e-01 -1.10006641e-03 -2.57821821e+02] [-1.67728788e-02 1.81355379e-04 -9.99859309e-01 -1.80157230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.3265599949999 meters 0.013845630529346141 Centerline is valid? [True, True] Translation: X:-101.02, Y:-257.79, Z:-1.80 [[-9.99851099e-01 4.87805406e-03 1.65524914e-02 -1.01016000e+02] [ 4.88025500e-03 9.99988087e-01 9.25762172e-05 -2.57791212e+02] [-1.65518426e-02 1.73342811e-04 -9.99862994e-01 -1.80215980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.356559995 meters 0.013828346850448307 Centerline is valid? [True, True] Translation: X:-101.02, Y:-257.16, Z:-2.79 [[-9.98514093e-01 -5.19754751e-02 1.63754821e-02 -1.01018646e+02] [ 5.19655060e-02 -9.98648345e-01 -1.03399247e-03 -2.57164329e+02] [ 1.64070903e-02 -1.81495838e-04 9.99865378e-01 -2.78744380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.386559995 meters 0.01368575034392459 Centerline is valid? [True, True] Translation: X:-101.09, Y:-257.79, Z:-1.80 [[-9.99862801e-01 -1.80159658e-03 1.64661125e-02 -1.01091455e+02] [-1.79896713e-03 9.99998367e-01 1.74499121e-04 -2.57787629e+02] [-1.64663999e-02 1.44853185e-04 -9.99864409e-01 -1.80190265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.416559995 meters 0.013516260754276276 Centerline is valid? [True, True] Translation: X:-101.11, Y:-257.76, Z:-1.80 [[-9.96966365e-01 -7.60798835e-02 1.64292116e-02 -1.01106614e+02] [-7.60680217e-02 9.97101721e-01 1.34660764e-03 -2.57755051e+02] [-1.64840449e-02 9.27848948e-05 -9.99864125e-01 -1.80123977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.4465599949999 meters 0.013650695147323233 Centerline is valid? [True, True] Translation: X:-101.12, Y:-257.73, Z:-1.80 [[-9.88618724e-01 -1.49530659e-01 1.65408715e-02 -1.01118894e+02] [-1.49508845e-01 9.88757088e-01 2.55460778e-03 -2.57725086e+02] [-1.67368961e-02 5.25264935e-05 -9.99859927e-01 -1.79931983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.476559995 meters 0.013400634885228847 Centerline is valid? [True, True] Translation: X:-101.14, Y:-257.70, Z:-1.80 [[-9.74772842e-01 -2.22615353e-01 1.61341743e-02 -1.01143604e+02] [-2.22584757e-01 9.74906357e-01 3.69074722e-03 -2.57696865e+02] [-1.65509261e-02 6.41890048e-06 -9.99863024e-01 -1.79927254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.506559995 meters 0.013065634790781195 Centerline is valid? [True, True] Translation: X:-101.18, Y:-257.67, Z:-1.80 [[-9.54353277e-01 -2.98226017e-01 1.64640840e-02 -1.01181993e+02] [-2.98183502e-01 9.54495276e-01 5.03654241e-03 -2.57669499e+02] [-1.72169184e-02 -1.02677479e-04 -9.99851773e-01 -1.80187181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.536559995 meters 0.013766301012857099 Centerline is valid? [True, True] Translation: X:-101.23, Y:-257.65, Z:-1.80 [[-9.28931250e-01 -3.69905519e-01 1.60199912e-02 -1.01232980e+02] [-3.69853545e-01 9.29069363e-01 6.20279238e-03 -2.57652279e+02] [-1.71781302e-02 -1.63082874e-04 -9.99852432e-01 -1.80002365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.5665599949999 meters 0.014381002779765357 Centerline is valid? [True, True] Translation: X:-101.30, Y:-257.64, Z:-1.80 [[-8.97960879e-01 -4.39803420e-01 1.54664496e-02 -1.01297057e+02] [-4.39742260e-01 8.98094041e-01 7.33745945e-03 -2.57644875e+02] [-1.71173660e-02 -2.12499974e-04 -9.99853465e-01 -1.79963633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.5965599949999 meters 0.015683098727684582 Centerline is valid? [True, True] Translation: X:-101.37, Y:-257.64, Z:-1.80 [[-8.60564662e-01 -5.09114680e-01 1.51889619e-02 -1.01370391e+02] [-5.09041640e-01 8.60698640e-01 8.62903870e-03 -2.57643886e+02] [-1.74662891e-02 -3.05968271e-04 -9.99847406e-01 -1.79947946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.626559995 meters 0.015282816383070167 Centerline is valid? [True, True] Translation: X:-101.69, Y:-257.20, Z:-2.79 [[-9.08995252e-01 4.16496740e-01 1.60654077e-02 -1.01691583e+02] [-4.16425128e-01 -9.09137147e-01 7.73051494e-03 -2.57200276e+02] [ 1.78253932e-02 3.36961932e-04 9.99841058e-01 -2.78843051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.656559995 meters 0.015558320736490014 Centerline is valid? [True, True] Translation: X:-101.54, Y:-257.73, Z:-1.80 [[-8.54667163e-01 -5.18934511e-01 1.58434336e-02 -1.01537269e+02] [-5.18853840e-01 8.54813909e-01 9.15827181e-03 -2.57731075e+02] [-1.82957307e-02 -3.93152193e-04 -9.99832542e-01 -1.80084094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.6865599949999 meters 0.01770721517567638 Centerline is valid? [True, True] Translation: X:-101.61, Y:-257.74, Z:-1.80 [[-8.13610749e-01 -5.81218207e-01 1.49313300e-02 -1.01610810e+02] [-5.81129323e-01 8.13747649e-01 1.01722412e-02 -2.57738798e+02] [-1.80626265e-02 -4.00788962e-04 -9.99836777e-01 -1.79816378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.7165599949999 meters 0.016354732018147446 Centerline is valid? [True, True] Translation: X:-101.69, Y:-257.76, Z:-1.80 [[-7.67895055e-01 -6.40416369e-01 1.42849589e-02 -1.01687080e+02] [-6.40315450e-01 7.68027803e-01 1.13762410e-02 -2.57761935e+02] [-1.82567766e-02 -4.11120684e-04 -9.99833247e-01 -1.80012559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.746559995 meters 0.016307153737106967 Centerline is valid? [True, True] Translation: X:-101.77, Y:-257.79, Z:-1.80 [[-7.17748458e-01 -6.96171003e-01 1.35309047e-02 -1.01766906e+02] [-6.96058240e-01 7.17875866e-01 1.25366520e-02 -2.57792507e+02] [-1.84411635e-02 -4.20135090e-04 -9.99829859e-01 -1.80023431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.776559995 meters 0.016169174426411637 Centerline is valid? [True, True] Translation: X:-101.85, Y:-257.83, Z:-1.80 [[-6.63308075e-01 -7.48233790e-01 1.29843714e-02 -1.01848326e+02] [-7.48103337e-01 6.63435001e-01 1.39784359e-02 -2.57833076e+02] [-1.90734245e-02 -4.41642217e-04 -9.99817988e-01 -1.80047814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.8065599949999 meters 0.015483802851505742 Centerline is valid? [True, True] Translation: X:-101.93, Y:-257.88, Z:-1.80 [[-6.05303014e-01 -7.95903818e-01 1.20570860e-02 -1.01927426e+02] [-7.95760403e-01 6.05422922e-01 1.51151163e-02 -2.57884149e+02] [-1.93298151e-02 -4.45326156e-04 -9.99813063e-01 -1.80144487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.8365599949999 meters 0.01694767023663882 Centerline is valid? [True, True] Translation: X:-102.01, Y:-257.94, Z:-1.80 [[-5.43771952e-01 -8.39158915e-01 1.11526119e-02 -1.02007383e+02] [-8.38999219e-01 5.43886121e-01 1.63767769e-02 -2.57941623e+02] [-1.98084692e-02 -4.51800756e-04 -9.99803691e-01 -1.79931317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.866559995 meters 0.015896115314662226 Centerline is valid? [True, True] Translation: X:-102.08, Y:-258.01, Z:-1.80 [[-4.78902275e-01 -8.77810522e-01 1.00646919e-02 -1.02081698e+02] [-8.77636475e-01 4.79007804e-01 1.74854718e-02 -2.58011902e+02] [-2.01699971e-02 -4.59308537e-04 -9.99796460e-01 -1.80110138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.896559995 meters 0.016251769711029228 Centerline is valid? [True, True] Translation: X:-102.15, Y:-258.09, Z:-1.80 [[-4.11697717e-01 -9.11278666e-01 8.72826939e-03 -1.02152063e+02] [-9.11096351e-01 4.11789988e-01 1.82330754e-02 -2.58086325e+02] [-2.02096265e-02 -4.45778900e-04 -9.99795665e-01 -1.80083695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.9265599949999 meters 0.01569326537676314 Centerline is valid? [True, True] Translation: X:-102.22, Y:-258.17, Z:-1.80 [[-3.41704742e-01 -9.39780232e-01 7.14032142e-03 -1.02218341e+02] [-9.39600563e-01 3.41779068e-01 1.83807158e-02 -2.58173293e+02] [-1.97142458e-02 -4.28272280e-04 -9.99805564e-01 -1.80224487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.9565599949999 meters 0.016006328380700718 Centerline is valid? [True, True] Translation: X:-102.28, Y:-258.26, Z:-1.80 [[-2.69581097e-01 -9.62961116e-01 5.64982055e-03 -1.02278074e+02] [-9.62781001e-01 2.69639971e-01 1.86287193e-02 -2.58262147e+02] [-1.94621498e-02 -4.17589289e-04 -9.99810507e-01 -1.80243413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.986559995 meters 0.015638686316338676 Centerline is valid? [True, True] Translation: X:-102.33, Y:-258.36, Z:-1.80 [[-1.95873012e-01 -9.80621034e-01 4.01880935e-03 -1.02329775e+02] [-9.80453734e-01 1.95913844e-01 1.81174090e-02 -2.58357952e+02] [-1.85536527e-02 -3.91545155e-04 -9.99827790e-01 -1.80460072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.016559995 meters 0.015476660999116152 Centerline is valid? [True, True] Translation: X:-102.38, Y:-258.46, Z:-1.80 [[-1.21097215e-01 -9.92637219e-01 2.61074243e-03 -1.02376163e+02] [-9.92469516e-01 1.21124754e-01 1.82497375e-02 -2.58462680e+02] [-1.84315942e-02 -3.81089896e-04 -9.99830051e-01 -1.80499272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.0465599949999 meters 0.015451871687285835 Centerline is valid? [True, True] Translation: X:-102.92, Y:-258.48, Z:-2.78 [[-2.28342175e-01 9.73573322e-01 3.85190684e-03 -1.02917865e+02] [-9.73404650e-01 -2.28374329e-01 1.81260221e-02 -2.58484492e+02] [ 1.85266882e-02 3.89471267e-04 9.99828290e-01 -2.78439044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.0765599949999 meters 0.01567376766499276 Centerline is valid? [True, True] Translation: X:-102.41, Y:-258.71, Z:-1.80 [[-1.13330858e-01 -9.93554166e-01 2.49721301e-03 -1.02412075e+02] [-9.93379355e-01 1.13357769e-01 1.86406429e-02 -2.58709412e+02] [-1.88035669e-02 -3.68119793e-04 -9.99823130e-01 -1.80410707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.106559995 meters 0.015547620523684242 Centerline is valid? [True, True] Translation: X:-102.45, Y:-258.82, Z:-1.80 [[-3.78643654e-02 -9.99282303e-01 1.08124319e-03 -1.02448689e+02] [-9.99102015e-01 3.78780758e-02 1.89846248e-02 -2.58818615e+02] [-1.90119550e-02 -3.61431474e-04 -9.99819191e-01 -1.80406858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.136559995 meters 0.015625631714854447 Centerline is valid? [True, True] Translation: X:-102.48, Y:-258.93, Z:-1.80 [[ 3.77387667e-02 -9.99287566e-01 -3.81194668e-04 -1.02477235e+02] [-9.99095977e-01 -3.77389966e-02 1.95702968e-02 -2.58931239e+02] [-1.95707402e-02 -3.57708806e-04 -9.99808411e-01 -1.80378807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.166559995 meters 0.015549256842873872 Centerline is valid? [True, True] Translation: X:-102.50, Y:-259.04, Z:-1.80 [[ 1.13157719e-01 -9.93575251e-01 -1.88445720e-03 -1.02496999e+02] [-9.93382212e-01 -1.13172885e-01 1.95877498e-02 -2.59037239e+02] [-1.96751729e-02 -3.44518832e-04 -9.99806366e-01 -1.80380319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.1965599949999 meters 0.01534925004875815 Centerline is valid? [True, True] Translation: X:-102.51, Y:-259.15, Z:-1.80 [[ 1.87255784e-01 -9.82304890e-01 -3.51779637e-03 -1.02506392e+02] [-9.82096993e-01 -1.87288533e-01 2.02114091e-02 -2.59150661e+02] [-2.05126090e-02 -3.29886032e-04 -9.99789540e-01 -1.80377275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.226559995 meters 0.01534925004875815 Centerline is valid? [True, True] Translation: X:-102.51, Y:-259.26, Z:-1.80 [[ 2.61639374e-01 -9.65152496e-01 -5.04958478e-03 -1.02510612e+02] [-9.64947703e-01 -2.61687889e-01 1.98841462e-02 -2.59263658e+02] [-2.05126485e-02 -3.29890332e-04 -9.99789539e-01 -1.80377094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.256559995 meters 0.01496849506383362 Centerline is valid? [True, True] Translation: X:-102.50, Y:-259.38, Z:-1.80 [[ 3.33798189e-01 -9.42621862e-01 -6.54172344e-03 -1.02502885e+02] [-9.42422045e-01 -3.33862136e-01 1.94103819e-02 -2.59379781e+02] [-2.04806841e-02 -3.14085954e-04 -9.99790200e-01 -1.80437494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.286559995 meters 0.01494280350175476 Centerline is valid? [True, True] Translation: X:-102.49, Y:-259.49, Z:-1.80 [[ 4.03961661e-01 -9.14739772e-01 -8.13179592e-03 -1.02488291e+02] [-9.14539113e-01 -4.04043385e-01 1.91612415e-02 -2.59491630e+02] [-2.08131481e-02 -3.03561521e-04 -9.99783337e-01 -1.80393107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.3165599949999 meters 0.01553595737396561 Centerline is valid? [True, True] Translation: X:-102.47, Y:-259.60, Z:-1.80 [[ 4.72495170e-01 -8.81282427e-01 -9.46569941e-03 -1.02466499e+02] [-8.81092765e-01 -4.72589881e-01 1.82850814e-02 -2.59598418e+02] [-2.05877147e-02 -2.99453380e-04 -9.99788006e-01 -1.80331867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.3465599949999 meters 0.015212723922116828 Centerline is valid? [True, True] Translation: X:-102.44, Y:-259.70, Z:-1.80 [[ 5.38628777e-01 -8.42471801e-01 -1.09683277e-02 -1.02439179e+02] [-8.42285178e-01 -5.38740351e-01 1.77345219e-02 -2.59699732e+02] [-2.08499153e-02 -3.13864008e-04 -9.99782568e-01 -1.80464520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.376559995 meters 0.015019069068790837 Centerline is valid? [True, True] Translation: X:-102.40, Y:-259.80, Z:-1.81 [[ 6.01879636e-01 -7.98497372e-01 -1.19520106e-02 -1.02401327e+02] [-7.98329134e-01 -6.01998207e-01 1.63936578e-02 -2.59803813e+02] [-2.02853816e-02 -3.25370497e-04 -9.99794178e-01 -1.80572265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.406559995 meters 0.015021935670926224 Centerline is valid? [True, True] Translation: X:-102.36, Y:-259.90, Z:-1.81 [[ 6.61454269e-01 -7.49866166e-01 -1.33784856e-02 -1.02359740e+02] [-7.49702001e-01 -6.61589458e-01 1.56939426e-02 -2.59900122e+02] [-2.06194216e-02 -3.50947882e-04 -9.99787336e-01 -1.80631618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.4365599949999 meters 0.015381458380605211 Centerline is valid? [True, True] Translation: X:-102.31, Y:-259.99, Z:-1.81 [[ 7.18339648e-01 -6.95523901e-01 -1.53183877e-02 -1.02309371e+02] [-6.95352840e-01 -7.18502829e-01 1.54308940e-02 -2.59992892e+02] [-2.17388605e-02 -4.32938527e-04 -9.99763589e-01 -1.80687947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.4665599949999 meters 0.016253661240466427 Centerline is valid? [True, True] Translation: X:-102.26, Y:-260.08, Z:-1.81 [[ 7.69469228e-01 -6.38463937e-01 -1.67603329e-02 -1.02258100e+02] [-6.38299270e-01 -7.69651600e-01 1.45071575e-02 -2.60079187e+02] [-2.21619139e-02 -4.64703008e-04 -9.99754287e-01 -1.80543790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.496559995 meters 0.016493221461017886 Centerline is valid? [True, True] Translation: X:-102.26, Y:-260.09, Z:-1.81 [[ 8.17400274e-01 -5.75796909e-01 -1.77401213e-02 -1.02255875e+02] [-5.75648612e-01 -8.17592620e-01 1.30760217e-02 -2.60089058e+02] [-2.20333251e-02 -4.76267514e-04 -9.99757123e-01 -1.80506397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.526559995 meters 0.01580430800403782 Centerline is valid? [True, True] Translation: X:-102.25, Y:-260.10, Z:-1.81 [[ 8.59574150e-01 -5.10668874e-01 -1.86971346e-02 -1.02252211e+02] [-5.10536356e-01 -8.59777348e-01 1.16422097e-02 -2.60097073e+02] [-2.20206869e-02 -4.61775502e-04 -9.99757409e-01 -1.80676487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.5565599949999 meters 0.015893477445343734 Centerline is valid? [True, True] Translation: X:-102.25, Y:-260.11, Z:-1.81 [[ 8.96413169e-01 -4.42812338e-01 -1.89911660e-02 -1.02249182e+02] [-4.42702858e-01 -8.96614215e-01 9.85541209e-03 -2.60105840e+02] [-2.13918475e-02 -4.27077721e-04 -9.99771077e-01 -1.80695885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.5865599949999 meters 0.015616586414491346 Centerline is valid? [True, True] Translation: X:-102.24, Y:-260.11, Z:-1.81 [[ 9.27784261e-01 -3.72628931e-01 -1.90799756e-02 -1.02244213e+02] [-3.72541598e-01 -9.27980351e-01 8.07630532e-03 -2.60113591e+02] [-2.07153075e-02 -3.84984365e-04 -9.99785341e-01 -1.80780493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.616559995 meters 0.014873709893506575 Centerline is valid? [True, True] Translation: X:-102.24, Y:-260.12, Z:-1.81 [[ 9.53378397e-01 -3.01162048e-01 -1.92627394e-02 -1.02239208e+02] [-3.01093585e-01 -9.53572919e-01 6.42972759e-03 -2.60119236e+02] [-2.03048166e-02 -3.30076125e-04 -9.99793782e-01 -1.80985487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.646559995 meters 0.01470221541454094 Centerline is valid? [True, True] Translation: X:-102.23, Y:-260.13, Z:-1.81 [[ 9.73757234e-01 -2.26808900e-01 -1.88300892e-02 -1.02234319e+02] [-2.26760677e-01 -9.73939237e-01 4.68594672e-03 -2.60127781e+02] [-1.94021771e-02 -2.93050737e-04 -9.99811717e-01 -1.81028763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.6765599949999 meters 0.014576158624731788 Centerline is valid? [True, True] Translation: X:-102.23, Y:-260.14, Z:-1.81 [[ 9.88363827e-01 -1.50960032e-01 -1.86551475e-02 -1.02229016e+02] [-1.50928040e-01 -9.88539831e-01 3.11919030e-03 -2.60136012e+02] [-1.89122295e-02 -2.67310003e-04 -9.99821112e-01 -1.81073903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.7065599949999 meters 0.014546433501191955 Centerline is valid? [True, True] Translation: X:-102.23, Y:-260.14, Z:-1.81 [[ 9.97051803e-01 -7.46265975e-02 -1.78486240e-02 -1.02227526e+02] [-7.46105833e-02 -9.97211522e-01 1.56238078e-03 -2.60141577e+02] [-1.79154487e-02 -2.26078330e-04 -9.99839480e-01 -1.81060272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.736559995 meters 0.01425113460929672 Centerline is valid? [True, True] Translation: X:-102.23, Y:-260.15, Z:-1.81 [[ 9.99833519e-01 2.62278292e-03 -1.80570072e-02 -1.02225830e+02] [ 2.62613423e-03 -9.99996539e-01 1.61887062e-04 -2.60147625e+02] [-1.80565201e-02 -2.09280236e-04 -9.99836946e-01 -1.81105984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.766559995 meters 0.014896792502238404 Centerline is valid? [True, True] Translation: X:-102.22, Y:-260.15, Z:-1.81 [[ 9.96657673e-01 7.96378005e-02 -1.82017596e-02 -1.02224469e+02] [ 7.96279654e-02 -9.96823849e-01 -1.26559609e-03 -2.60154377e+02] [-1.82447374e-02 -1.88003036e-04 -9.99833533e-01 -1.80848667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.7965599949999 meters 0.014675303896387654 Centerline is valid? [True, True] Translation: X:-102.22, Y:-260.15, Z:-1.81 [[ 9.87738662e-01 1.55010556e-01 -1.85489428e-02 -1.02222796e+02] [ 1.54986020e-01 -9.87912803e-01 -2.76180121e-03 -2.60148970e+02] [-1.87528465e-02 -1.46888999e-04 -9.99824139e-01 -1.80881185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.8265599949999 meters 0.01425336894848256 Centerline is valid? [True, True] Translation: X:-102.22, Y:-260.15, Z:-1.81 [[ 9.72785900e-01 2.30922121e-01 -1.90412120e-02 -1.02220402e+02] [ 2.30880594e-01 -9.72972228e-01 -4.38126464e-03 -2.60151987e+02] [-1.95383014e-02 -1.34213869e-04 -9.99809100e-01 -1.81067155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.856559995 meters 0.01428596152406485 Centerline is valid? [True, True] Translation: X:-102.22, Y:-260.16, Z:-1.81 [[ 9.51853858e-01 3.05987663e-01 -1.85952416e-02 -1.02217883e+02] [ 3.05931859e-01 -9.52035469e-01 -5.84491082e-03 -2.60155779e+02] [-1.94918002e-02 -1.25375935e-04 -9.99810009e-01 -1.81037019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.886559995 meters 0.01439885895287825 Centerline is valid? [True, True] Translation: X:-102.22, Y:-260.16, Z:-1.81 [[ 9.24731611e-01 3.80166261e-01 -1.85758394e-02 -1.02215263e+02] [ 3.80092634e-01 -9.24918155e-01 -7.48300072e-03 -2.60159897e+02] [-2.00259155e-02 -1.40772425e-04 -9.99799451e-01 -1.80992426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.916559995 meters 0.014554367955237117 Centerline is valid? [True, True] Translation: X:-102.21, Y:-260.16, Z:-1.81 [[ 8.91854063e-01 4.51971369e-01 -1.78385077e-02 -1.02212308e+02] [ 4.51884400e-01 -8.92032431e-01 -8.86737161e-03 -2.60164008e+02] [-1.99203255e-02 -1.52541952e-04 -9.99801559e-01 -1.80972096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.9465599949999 meters 0.014215673435891174 Centerline is valid? [True, True] Translation: X:-102.21, Y:-260.17, Z:-1.81 [[ 8.53194438e-01 5.21306276e-01 -1.72921177e-02 -1.02207328e+02] [ 5.21203385e-01 -8.53369636e-01 -1.03583611e-02 -2.60170582e+02] [-2.01564468e-02 -1.75014216e-04 -9.99796823e-01 -1.81190706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.976559995 meters 0.014634473757168202 Centerline is valid? [True, True] Translation: X:-102.20, Y:-260.18, Z:-1.81 [[ 8.08848873e-01 5.87793665e-01 -1.61897831e-02 -1.02202191e+02] [ 5.87680973e-01 -8.09010857e-01 -1.15111790e-02 -2.60176616e+02] [-1.98639084e-02 -2.03623391e-04 -9.99802672e-01 -1.81214907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.006559995 meters 0.014429155966808048 Centerline is valid? [True, True] Translation: X:-102.20, Y:-260.18, Z:-1.81 [[ 7.59965259e-01 6.49789285e-01 -1.50562411e-02 -1.02196492e+02] [ 6.49667338e-01 -7.60114359e-01 -1.25900912e-02 -2.60182167e+02] [-1.96253714e-02 -2.13516185e-04 -9.99807381e-01 -1.81364830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.036559995 meters 0.014734323180510924 Centerline is valid? [True, True] Translation: X:-102.19, Y:-260.19, Z:-1.81 [[ 7.06254401e-01 7.07820845e-01 -1.39417518e-02 -1.02190600e+02] [ 7.07689265e-01 -7.06391960e-01 -1.36493105e-02 -2.60188005e+02] [-1.95096079e-02 -2.26542459e-04 -9.99809644e-01 -1.81331297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.0665599949999 meters 0.015060900664745636 Centerline is valid? [True, True] Translation: X:-102.19, Y:-260.19, Z:-1.81 [[ 6.47447764e-01 7.61986651e-01 -1.37017088e-02 -1.02185199e+02] [ 7.61824997e-01 -6.47592672e-01 -1.56972850e-02 -2.60192105e+02] [-2.08342479e-02 -2.75132154e-04 -9.99782906e-01 -1.81300960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.0965599949999 meters 0.015094733279598897 Centerline is valid? [True, True] Translation: X:-102.18, Y:-260.20, Z:-1.81 [[ 5.85220266e-01 8.10769917e-01 -1.30146493e-02 -1.02180061e+02] [ 8.10580898e-01 -5.85364886e-01 -1.75087940e-02 -2.60195916e+02] [-2.18139222e-02 -3.02924982e-04 -9.99762002e-01 -1.81291720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.126559995 meters 0.015495959825523141 Centerline is valid? [True, True] Translation: X:-102.17, Y:-260.20, Z:-1.81 [[ 5.19180050e-01 8.54586933e-01 -1.15433999e-02 -1.02174958e+02] [ 8.54389383e-01 -5.19308262e-01 -1.83769272e-02 -2.60199777e+02] [-2.16992648e-02 -3.21624280e-04 -9.99764492e-01 -1.81245882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.156559995 meters 0.01535387194876747 Centerline is valid? [True, True] Translation: X:-102.17, Y:-260.20, Z:-1.81 [[ 4.49913994e-01 8.93010741e-01 -1.04505757e-02 -1.02170186e+02] [ 8.92787901e-01 -4.50035211e-01 -1.99517420e-02 -2.60202399e+02] [-2.25202469e-02 -3.53579642e-04 -9.99746325e-01 -1.81395045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.1865599949999 meters 0.015438130022020465 Centerline is valid? [True, True] Translation: X:-102.16, Y:-260.21, Z:-1.81 [[ 3.78307761e-01 9.25638193e-01 -8.78492112e-03 -1.02164370e+02] [ 9.25410304e-01 -3.78409577e-01 -2.05416762e-02 -2.60205302e+02] [-2.23384583e-02 -3.58581016e-04 -9.99750401e-01 -1.81419142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.2165599949999 meters 0.015552190361462055 Centerline is valid? [True, True] Translation: X:-102.16, Y:-260.21, Z:-1.81 [[ 3.04428219e-01 9.52507613e-01 -7.25991301e-03 -1.02158484e+02] [ 9.52265135e-01 -3.04514548e-01 -2.14942714e-02 -2.60207331e+02] [-2.26842062e-02 -3.69899293e-04 -9.99742612e-01 -1.81433633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.246559995 meters 0.01570764709775419 Centerline is valid? [True, True] Translation: X:-102.15, Y:-260.21, Z:-1.81 [[ 2.28446205e-01 9.73540377e-01 -5.60941914e-03 -1.02152616e+02] [ 9.73286993e-01 -2.28514739e-01 -2.22135990e-02 -2.60209470e+02] [-2.29076705e-02 -3.84962282e-04 -9.99737511e-01 -1.81396476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.276559995 meters 0.016233631099033294 Centerline is valid? [True, True] Translation: X:-102.15, Y:-260.21, Z:-1.81 [[ 1.51061126e-01 9.88516835e-01 -3.87348465e-03 -1.02146903e+02] [ 9.88256049e-01 -1.51110256e-01 -2.27084171e-02 -2.60211614e+02] [-2.30329758e-02 -3.97635586e-04 -9.99734627e-01 -1.81293959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.3065599949999 meters 0.015551057353987445 Centerline is valid? [True, True] Translation: X:-102.14, Y:-260.21, Z:-1.81 [[ 7.32634854e-02 9.97310443e-01 -2.08394493e-03 -1.02141924e+02] [ 9.97046372e-01 -7.32920468e-02 -2.29523212e-02 -2.60212375e+02] [-2.30433262e-02 -3.96222680e-04 -9.99734389e-01 -1.81482903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.3365599949999 meters 0.015036153582524964 Centerline is valid? [True, True] Translation: X:-102.14, Y:-260.21, Z:-1.82 [[-4.62689378e-03 9.99989259e-01 -2.72778314e-04 -1.02135260e+02] [ 9.99737198e-01 4.61960240e-03 -2.24542853e-02 -2.60212899e+02] [-2.24527840e-02 -3.76600220e-04 -9.99747834e-01 -1.81643664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.366559995 meters 0.015895924798506943 Centerline is valid? [True, True] Translation: X:-102.13, Y:-260.21, Z:-1.81 [[-8.10111173e-02 9.96712182e-01 1.42295718e-03 -1.02126892e+02] [ 9.96481457e-01 8.10229834e-02 -2.14472124e-02 -2.60214545e+02] [-2.14919901e-02 -3.19512203e-04 -9.99768970e-01 -1.81444299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.396559995 meters 0.015114847068002252 Centerline is valid? [True, True] Translation: X:-102.13, Y:-260.22, Z:-1.82 [[-1.57626738e-01 9.87493727e-01 3.15460159e-03 -1.02125600e+02] [ 9.87256341e-01 1.57658019e-01 -2.16533239e-02 -2.60215489e+02] [-2.18798697e-02 -2.98742389e-04 -9.99760562e-01 -1.81559710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.4265599949999 meters 0.014339200389802994 Centerline is valid? [True, True] Translation: X:-102.12, Y:-260.22, Z:-1.82 [[-2.33067052e-01 9.72447998e-01 4.96397197e-03 -1.02120529e+02] [ 9.72201921e-01 2.33119748e-01 -2.18771285e-02 -2.60215907e+02] [-2.24315697e-02 -2.72854745e-04 -9.99748344e-01 -1.81707302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.4565599949999 meters 0.014737064624468041 Centerline is valid? [True, True] Translation: X:-102.12, Y:-260.22, Z:-1.81 [[-3.06092134e-01 9.51977006e-01 6.88367607e-03 -1.02115277e+02] [ 9.51719734e-01 3.06169446e-01 -2.21318498e-02 -2.60216607e+02] [-2.31765834e-02 -2.23054787e-04 -9.99731362e-01 -1.81390751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.486559995 meters 0.013984828401884612 Centerline is valid? [True, True] Translation: X:-102.11, Y:-260.22, Z:-1.82 [[-3.78670556e-01 9.25488578e-01 8.91640884e-03 -1.02110706e+02] [ 9.25219282e-01 3.78775462e-01 -2.23255200e-02 -2.60216884e+02] [-2.40393306e-02 -2.04383684e-04 -9.99710993e-01 -1.81598749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.516559995 meters 0.014529027726210666 Centerline is valid? [True, True] Translation: X:-102.11, Y:-260.22, Z:-1.81 [[-4.47775459e-01 8.94077551e-01 1.10666556e-02 -1.02105714e+02] [ 8.93796168e-01 4.47912167e-01 -2.24299058e-02 -2.60217839e+02] [-2.50109650e-02 -1.52227040e-04 -9.99687165e-01 -1.81341909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.5465599949999 meters 0.014600472819547187 Centerline is valid? [True, True] Translation: X:-102.11, Y:-260.22, Z:-1.81 [[-5.15364993e-01 8.56871207e-01 1.30636196e-02 -1.02105408e+02] [ 8.56589899e-01 5.15530521e-01 -2.19551101e-02 -2.60221647e+02] [-2.55473963e-02 -1.24730529e-04 -9.99673604e-01 -1.81279098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.5765599949999 meters 0.013683519404036297 Centerline is valid? [True, True] Translation: X:-102.10, Y:-260.22, Z:-1.82 [[-5.79720782e-01 8.14674741e-01 1.51288248e-02 -1.02100452e+02] [ 8.14393409e-01 5.79918148e-01 -2.14083290e-02 -2.60220430e+02] [-2.62143049e-02 -9.00379922e-05 -9.99656342e-01 -1.81662366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.606559995 meters 0.013644501736914057 Centerline is valid? [True, True] Translation: X:-102.09, Y:-260.22, Z:-1.82 [[-6.40436574e-01 7.67823617e-01 1.69672531e-02 -1.02094836e+02] [ 7.67552378e-01 6.40661292e-01 -2.04072594e-02 -2.60217989e+02] [-2.65394380e-02 -4.62998136e-05 -9.99647766e-01 -1.81656741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.636559995 meters 0.013533914336941413 Centerline is valid? [True, True] Translation: X:-102.09, Y:-260.22, Z:-1.82 [[-6.96918421e-01 7.16926724e-01 1.79105259e-02 -1.02090281e+02] [ 7.16690649e-01 6.97148530e-01 -1.83967635e-02 -2.60216199e+02] [-2.56754282e-02 1.52631204e-05 -9.99670332e-01 -1.81766519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.666559995 meters 0.013370715811697029 Centerline is valid? [True, True] Translation: X:-102.08, Y:-260.21, Z:-1.82 [[-7.50654921e-01 6.60428352e-01 1.87504896e-02 -1.02084189e+02] [ 6.60223256e-01 7.50889067e-01 -1.64578543e-02 -2.60211265e+02] [-2.49487713e-02 2.53399364e-05 -9.99688731e-01 -1.81958364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.6965599949999 meters 0.013405524172812228 Centerline is valid? [True, True] Translation: X:-102.07, Y:-260.19, Z:-1.82 [[-7.95270835e-01 6.05958119e-01 1.89487886e-02 -1.02067436e+02] [ 6.05787174e-01 7.95496548e-01 -1.43924727e-02 -2.60188983e+02] [-2.37949316e-02 3.30192687e-05 -9.99716860e-01 -1.81959970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.726559995 meters 0.013218843123156195 Centerline is valid? [True, True] Translation: X:-102.04, Y:-260.17, Z:-1.82 [[-8.35966940e-01 5.48449960e-01 1.90240924e-02 -1.02042139e+02] [ 5.48308917e-01 8.36183377e-01 -1.24374965e-02 -2.60171890e+02] [-2.27289743e-02 3.37435888e-05 -9.99741663e-01 -1.82012831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.756559995 meters 0.013221335444778768 Centerline is valid? [True, True] Translation: X:-102.02, Y:-260.15, Z:-1.82 [[-8.72611192e-01 4.88015523e-01 1.97624850e-02 -1.02024334e+02] [ 4.87891395e-01 8.72834949e-01 -1.10063313e-02 -2.60149655e+02] [-2.26206481e-02 3.76984380e-05 -9.99744120e-01 -1.82044755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.786559995 meters 0.013209011053601085 Centerline is valid? [True, True] Translation: X:-102.01, Y:-260.12, Z:-1.82 [[-9.05175636e-01 4.24536487e-01 2.06358684e-02 -1.02012090e+02] [ 4.24426823e-01 9.05410830e-01 -9.64887230e-03 -2.60123683e+02] [-2.27802371e-02 2.44919483e-05 -9.99740497e-01 -1.82000871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.8165599949999 meters 0.01305497544768583 Centerline is valid? [True, True] Translation: X:-101.72, Y:-259.50, Z:-2.77 [[-8.74600478e-01 -4.84399488e-01 2.07639294e-02 -1.01718469e+02] [ 4.84263955e-01 -8.74846921e-01 -1.14580762e-02 -2.59499651e+02] [ 2.37155459e-02 3.39836654e-05 9.99718746e-01 -2.76905892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.8465599949999 meters 0.01306646277950649 Centerline is valid? [True, True] Translation: X:-102.05, Y:-260.10, Z:-1.82 [[-9.08098237e-01 4.18187999e-01 2.18263322e-02 -1.02051701e+02] [ 4.18065838e-01 9.08360498e-01 -1.01074588e-02 -2.60102132e+02] [-2.40529960e-02 -5.37216274e-05 -9.99710684e-01 -1.82020698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.876559995 meters 0.013093957646572181 Centerline is valid? [True, True] Translation: X:-102.04, Y:-260.07, Z:-1.82 [[-9.35916284e-01 3.51514077e-01 2.23285087e-02 -1.02042224e+02] [ 3.51411864e-01 9.36182592e-01 -8.47677132e-03 -2.60073802e+02] [-2.38832656e-02 -8.70454610e-05 -9.99714750e-01 -1.82014562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.906559995 meters 0.01306759550779465 Centerline is valid? [True, True] Translation: X:-102.03, Y:-260.04, Z:-1.82 [[-9.59376105e-01 2.81318961e-01 2.13806286e-02 -1.02034257e+02] [ 2.81245635e-01 9.59614308e-01 -6.42443044e-03 -2.60042658e+02] [-2.23244712e-02 -1.50236597e-04 -9.99750767e-01 -1.82078751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.9365599949999 meters 0.012765145428133954 Centerline is valid? [True, True] Translation: X:-101.84, Y:-259.40, Z:-2.77 [[-9.33027031e-01 -3.59217778e-01 2.05705517e-02 -1.01835172e+02] [ 3.59133494e-01 -9.33253755e-01 -7.78214496e-03 -2.59402109e+02] [ 2.19930295e-02 1.26622507e-04 9.99758116e-01 -2.76656878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.9665599949999 meters 0.012878022647545076 Centerline is valid? [True, True] Translation: X:-102.08, Y:-260.03, Z:-1.82 [[-9.61113977e-01 2.75400306e-01 2.03616275e-02 -1.02077869e+02] [ 2.75334264e-01 9.61329618e-01 -6.03394504e-03 -2.60027641e+02] [-2.12359859e-02 -1.93055174e-04 -9.99774472e-01 -1.82260841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.996559995 meters 0.012913433110313687 Centerline is valid? [True, True] Translation: X:-102.08, Y:-260.00, Z:-1.82 [[-9.78480742e-01 2.05344253e-01 2.02280963e-02 -1.02075370e+02] [ 2.05295867e-01 9.78689783e-01 -4.46262314e-03 -2.59997649e+02] [-2.07134052e-02 -2.13846247e-04 -9.99785432e-01 -1.82331515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.026559995 meters 0.012802650716318004 Centerline is valid? [True, True] Translation: X:-101.93, Y:-259.35, Z:-2.77 [[-9.56511451e-01 -2.91010990e-01 1.99611744e-02 -1.01928096e+02] [ 2.90952435e-01 -9.56719685e-01 -5.84170354e-03 -2.59352051e+02] [ 2.07972484e-02 2.20095978e-04 9.99783690e-01 -2.76569848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.0565599949999 meters 0.012935430026525838 Centerline is valid? [True, True] Translation: X:-102.12, Y:-259.99, Z:-1.82 [[-9.79349404e-01 2.01143526e-01 2.03967363e-02 -1.02120800e+02] [ 2.01095177e-01 9.79561755e-01 -4.41558979e-03 -2.59986852e+02] [-2.08680301e-02 -2.22719947e-04 -9.99782214e-01 -1.82315936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.0865599949999 meters 0.01260641161183702 Centerline is valid? [True, True] Translation: X:-101.99, Y:-259.34, Z:-2.77 [[-9.57827543e-01 -2.86621538e-01 2.03590618e-02 -1.01985932e+02] [ 2.86562249e-01 -9.58043858e-01 -5.83469852e-03 -2.59341262e+02] [ 2.11772244e-02 2.45503595e-04 9.99775707e-01 -2.76591940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.116559995 meters 0.01260641161183702 Centerline is valid? [True, True] Translation: X:-102.18, Y:-259.97, Z:-1.82 [[-9.80010364e-01 1.97867374e-01 2.06927295e-02 -1.02176811e+02] [ 1.97818700e-01 9.80228778e-01 -4.39374200e-03 -2.59974590e+02] [-2.11529871e-02 -2.12503861e-04 -9.99776228e-01 -1.82335258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.146559995 meters 0.01285002672862422 Centerline is valid? [True, True] Translation: X:-102.17, Y:-259.95, Z:-1.82 [[-9.91528126e-01 1.28177084e-01 2.10383364e-02 -1.02169136e+02] [ 1.28143858e-01 9.91751276e-01 -2.92546949e-03 -2.59947162e+02] [-2.12397751e-02 -2.04751680e-04 -9.99774390e-01 -1.82234958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.1765599949999 meters 0.01244381602935151 Centerline is valid? [True, True] Translation: X:-102.07, Y:-259.30, Z:-2.77 [[-9.76852516e-01 -2.12924425e-01 2.05511801e-02 -1.02074810e+02] [ 2.12881333e-01 -9.77068654e-01 -4.28762918e-03 -2.59296484e+02] [ 2.09928548e-02 1.86581251e-04 9.99779608e-01 -2.76589446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.2065599949999 meters 0.012498772671722391 Centerline is valid? [True, True] Translation: X:-102.22, Y:-259.94, Z:-1.82 [[-9.91891187e-01 1.25413357e-01 2.05757897e-02 -1.02223534e+02] [ 1.25382783e-01 9.92104561e-01 -2.77444355e-03 -2.59940469e+02] [-2.07612871e-02 -1.72096334e-04 -9.99784447e-01 -1.82259160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.236559995 meters 0.012178089028667875 Centerline is valid? [True, True] Translation: X:-102.22, Y:-259.91, Z:-1.82 [[-9.98168531e-01 5.66165046e-02 2.13109084e-02 -1.02222475e+02] [ 5.66007165e-02 9.98395990e-01 -1.34377724e-03 -2.59913970e+02] [-2.13528054e-02 -1.35103472e-04 -9.99771994e-01 -1.82307573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.266559995 meters 0.012169452731837912 Centerline is valid? [True, True] Translation: X:-102.18, Y:-259.25, Z:-2.77 [[-9.90561081e-01 -1.35391818e-01 2.13962658e-02 -1.02178302e+02] [ 1.35363529e-01 -9.90792124e-01 -2.77163128e-03 -2.59254670e+02] [ 2.15745078e-02 1.50803975e-04 9.99767232e-01 -2.76641477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.2965599949999 meters 0.012079041116879543 Centerline is valid? [True, True] Translation: X:-102.29, Y:-259.91, Z:-1.82 [[-9.98281614e-01 5.47012710e-02 2.10140674e-02 -1.02285349e+02] [ 5.46874990e-02 9.98502762e-01 -1.22991187e-03 -2.59911769e+02] [-2.10498821e-02 -7.85916172e-05 -9.99778424e-01 -1.82319140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.3265599949999 meters 0.012122095210494873 Centerline is valid? [True, True] Translation: X:-102.29, Y:-259.88, Z:-1.82 [[-9.99660530e-01 -1.58656858e-02 2.06665325e-02 -1.02288485e+02] [-1.58636447e-02 9.99874130e-01 2.62714858e-04 -2.59883547e+02] [-2.06680993e-02 -6.52208534e-05 -9.99786390e-01 -1.82263032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.356559995 meters 0.012156398316744617 Centerline is valid? [True, True] Translation: X:-102.29, Y:-259.22, Z:-2.77 [[-9.98134767e-01 -5.76235951e-02 2.01620386e-02 -1.02293678e+02] [ 5.76124980e-02 -9.98338380e-01 -1.13129918e-03 -2.59221467e+02] [ 2.01937265e-02 3.23963609e-05 9.99796085e-01 -2.76710523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.386559995 meters 0.011847716601022159 Centerline is valid? [True, True] Translation: X:-102.37, Y:-259.88, Z:-1.82 [[-9.99582777e-01 -2.08709405e-02 1.99668723e-02 -1.02368287e+02] [-2.08678656e-02 9.99782177e-01 3.62365690e-04 -2.59884322e+02] [-1.99700860e-02 -5.44515046e-05 -9.99800577e-01 -1.82376906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.416559995 meters 0.01195138889301177 Centerline is valid? [True, True] Translation: X:-102.38, Y:-259.22, Z:-2.76 [[-9.98405393e-01 -5.26974888e-02 2.02397008e-02 -1.02378464e+02] [ 5.26881846e-02 -9.98610519e-01 -9.93048757e-04 -2.59221984e+02] [ 2.02639093e-02 7.49278581e-05 9.99794663e-01 -2.76490057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.4465599949999 meters 0.011919537768509816 Centerline is valid? [True, True] Translation: X:-102.45, Y:-259.89, Z:-1.82 [[-9.99419631e-01 -2.74982582e-02 2.01059194e-02 -1.02451028e+02] [-2.74943393e-02 9.99621848e-01 4.71367609e-04 -2.59885371e+02] [-2.01112781e-02 -8.17049272e-05 -9.99797745e-01 -1.82466047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.476559995 meters 0.012059238900954556 Centerline is valid? [True, True] Translation: X:-102.47, Y:-259.22, Z:-2.76 [[-9.98592708e-01 -4.90918256e-02 2.00648001e-02 -1.02465678e+02] [ 4.90835242e-02 -9.98794266e-01 -9.06290298e-04 -2.59224756e+02] [ 2.00850987e-02 7.98362178e-05 9.99798271e-01 -2.76471078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.506559995 meters 0.012237548892465819 Centerline is valid? [True, True] Translation: X:-102.53, Y:-259.88, Z:-1.82 [[-9.99173740e-01 -3.52607449e-02 2.02117997e-02 -1.02534813e+02] [-3.52561488e-02 9.99378138e-01 5.83794196e-04 -2.59884279e+02] [-2.02198158e-02 -1.29278387e-04 -9.99795550e-01 -1.82398269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.536559995 meters 0.012398640197134677 Centerline is valid? [True, True] Translation: X:-102.56, Y:-259.23, Z:-2.76 [[-9.98648795e-01 -4.79649044e-02 1.99988131e-02 -1.02558118e+02] [ 4.79575726e-02 -9.98849015e-01 -8.46321992e-04 -2.59230424e+02] [ 2.00163886e-02 1.13916096e-04 9.99799646e-01 -2.76439958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.5665599949999 meters 0.012710947319553263 Centerline is valid? [True, True] Translation: X:-102.62, Y:-259.88, Z:-1.83 [[-9.98764560e-01 -4.54886119e-02 2.00034798e-02 -1.02621807e+02] [-4.54839209e-02 9.98964833e-01 6.89647977e-04 -2.59882961e+02] [-2.00141440e-02 -2.21040734e-04 -9.99799673e-01 -1.82525532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.5965599949999 meters 0.01329453264596 Centerline is valid? [True, True] Translation: X:-102.63, Y:-259.85, Z:-1.83 [[-9.92699781e-01 -1.19029322e-01 1.94721867e-02 -1.02632170e+02] [-1.19011677e-01 9.92890704e-01 2.06659876e-03 -2.59854109e+02] [-1.95797390e-02 -2.65905461e-04 -9.99808263e-01 -1.82641563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.626559995 meters 0.013976789695483221 Centerline is valid? [True, True] Translation: X:-102.65, Y:-259.83, Z:-1.83 [[-9.81438321e-01 -1.90815050e-01 1.91947475e-02 -1.02647703e+02] [-1.90784325e-01 9.81625964e-01 3.43634345e-03 -2.59826829e+02] [-1.94977686e-02 -2.89497814e-04 -9.99809859e-01 -1.82583966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.656559995 meters 0.013789245449975276 Centerline is valid? [True, True] Translation: X:-102.77, Y:-259.20, Z:-2.76 [[-9.95443435e-01 9.33676784e-02 1.93609162e-02 -1.02773530e+02] [-9.33444059e-02 -9.95631656e-01 2.10425268e-03 -2.59196214e+02] [ 1.94728103e-02 2.87431292e-04 9.99810346e-01 -2.76214884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.6865599949999 meters 0.014846490243400678 Centerline is valid? [True, True] Translation: X:-102.76, Y:-259.84, Z:-1.83 [[-9.79457278e-01 -2.00739244e-01 1.91623580e-02 -1.02763362e+02] [-2.00708093e-01 9.79644641e-01 3.55502804e-03 -2.59843109e+02] [-1.94859349e-02 -3.64042225e-04 -9.99810065e-01 -1.82614163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.7165599949999 meters 0.014837264168768953 Centerline is valid? [True, True] Translation: X:-102.89, Y:-259.22, Z:-2.76 [[-9.95241696e-01 9.54029788e-02 1.98050295e-02 -1.02892031e+02] [-9.53760303e-02 -9.95438652e-01 2.30297187e-03 -2.59219861e+02] [ 1.99344022e-02 4.03088536e-04 9.99801209e-01 -2.76232453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.746559995 meters 0.014523494554338606 Centerline is valid? [True, True] Translation: X:-102.88, Y:-259.86, Z:-1.83 [[-9.77648363e-01 -2.09347126e-01 1.94282923e-02 -1.02880060e+02] [-2.09314312e-01 9.77841298e-01 3.73017150e-03 -2.59862918e+02] [-1.97786872e-02 -4.19823569e-04 -9.99804295e-01 -1.82727160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.776559995 meters 0.01584093714051996 Centerline is valid? [True, True] Translation: X:-102.91, Y:-259.84, Z:-1.83 [[-9.59378760e-01 -2.81425513e-01 1.98009151e-02 -1.02906931e+02] [-2.81375984e-01 9.59582954e-01 5.30192570e-03 -2.59838917e+02] [-2.04927178e-02 -4.84947071e-04 -9.99789885e-01 -1.82629978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.8065599949999 meters 0.016383916860722766 Centerline is valid? [True, True] Translation: X:-102.95, Y:-259.82, Z:-1.83 [[-9.36168111e-01 -3.50993017e-01 1.98285034e-02 -1.02948228e+02] [-3.50925896e-01 9.36377935e-01 6.88321123e-03 -2.59822624e+02] [-2.09829321e-02 -5.14492462e-04 -9.99779702e-01 -1.82582415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.8365599949999 meters 0.016480009958219136 Centerline is valid? [True, True] Translation: X:-103.01, Y:-259.82, Z:-1.83 [[-9.07880468e-01 -4.18758922e-01 1.98499563e-02 -1.03011750e+02] [-4.18671717e-01 9.08097284e-01 8.56251271e-03 -2.59818270e+02] [-2.16113200e-02 -5.36877238e-04 -9.99766304e-01 -1.82609586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.866559995 meters 0.016635885166256408 Centerline is valid? [True, True] Translation: X:-103.07, Y:-259.82, Z:-1.83 [[-8.74128100e-01 -4.85306581e-01 1.94316364e-02 -1.03074609e+02] [-4.85200765e-01 8.74343876e-01 1.01491167e-02 -2.59817933e+02] [-2.19153654e-02 -5.56616709e-04 -9.99759675e-01 -1.82646008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.896559995 meters 0.01631093415907061 Centerline is valid? [True, True] Translation: X:-103.15, Y:-259.83, Z:-1.83 [[-8.34967703e-01 -5.49996889e-01 1.82306463e-02 -1.03147807e+02] [-5.49880700e-01 8.35166506e-01 1.13191491e-02 -2.59828676e+02] [-2.14511220e-02 -5.73556596e-04 -9.99769734e-01 -1.82808203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.9265599949999 meters 0.01821170419427662 Centerline is valid? [True, True] Translation: X:-103.23, Y:-259.85, Z:-1.83 [[-7.91132561e-01 -6.11411415e-01 1.68923918e-02 -1.03228747e+02] [-6.11287433e-01 7.91312676e-01 1.23256876e-02 -2.59846572e+02] [-2.09032299e-02 -5.74854062e-04 -9.99781338e-01 -1.82657050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.9565599949999 meters 0.016577151479828328 Centerline is valid? [True, True] Translation: X:-103.32, Y:-259.89, Z:-1.83 [[-7.42270721e-01 -6.69915496e-01 1.57291292e-02 -1.03317597e+02] [-6.69781974e-01 7.42437116e-01 1.33879079e-02 -2.59885218e+02] [-2.06466563e-02 -5.97635146e-04 -9.99786657e-01 -1.82851988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.986559995 meters 0.017020499878928758 Centerline is valid? [True, True] Translation: X:-103.40, Y:-259.92, Z:-1.83 [[-6.89157955e-01 -7.24460197e-01 1.47897257e-02 -1.03396029e+02] [-7.24312357e-01 6.89316358e-01 1.46481148e-02 -2.59920271e+02] [-2.08067760e-02 -6.17516200e-04 -9.99783325e-01 -1.82811926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.016559995 meters 0.017622097801683244 Centerline is valid? [True, True] Translation: X:-103.48, Y:-259.97, Z:-1.83 [[-6.31659718e-01 -7.75116520e-01 1.41555810e-02 -1.03481006e+02] [-7.74945073e-01 6.31817964e-01 1.63154842e-02 -2.59974313e+02] [-2.15901517e-02 -6.63963648e-04 -9.99766685e-01 -1.82872271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.0465599949999 meters 0.017622097801683244 Centerline is valid? [True, True] Translation: X:-103.56, Y:-260.03, Z:-1.83 [[-5.71057658e-01 -8.20808947e-01 1.28772438e-02 -1.03563518e+02] [-8.20625990e-01 5.71202443e-01 1.73422735e-02 -2.60033323e+02] [-2.15902064e-02 -6.63962852e-04 -9.99766684e-01 -1.82872036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.0765599949999 meters 0.017961617369716236 Centerline is valid? [True, True] Translation: X:-103.64, Y:-260.10, Z:-1.83 [[-5.06912168e-01 -8.61927273e-01 1.10195315e-02 -1.03638716e+02] [-8.61750256e-01 5.07031530e-01 1.74792339e-02 -2.60096780e+02] [-2.06530783e-02 -6.35647753e-04 -9.99786500e-01 -1.82890845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.106559995 meters 0.01736698044218816 Centerline is valid? [True, True] Translation: X:-103.71, Y:-260.18, Z:-1.83 [[-4.39650534e-01 -8.98120450e-01 9.33086273e-03 -1.03714537e+02] [-8.97947143e-01 4.39749106e-01 1.76536773e-02 -2.60175519e+02] [-1.99583672e-02 -6.17172862e-04 -9.99800622e-01 -1.82991786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.136559995 meters 0.01749443447145537 Centerline is valid? [True, True] Translation: X:-103.78, Y:-260.26, Z:-1.83 [[-3.70263244e-01 -9.28897031e-01 7.44555189e-03 -1.03783536e+02] [-9.28738987e-01 3.70337663e-01 1.71438012e-02 -2.60259603e+02] [-1.86821943e-02 -5.67254870e-04 -9.99825312e-01 -1.83065884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.166559995 meters 0.018243749739021983 Centerline is valid? [True, True] Translation: X:-103.85, Y:-260.35, Z:-1.83 [[-2.98852194e-01 -9.54281643e-01 5.82334527e-03 -1.03847982e+02] [-9.54133314e-01 2.98908462e-01 1.68330224e-02 -2.60350435e+02] [-1.78040915e-02 -5.25662041e-04 -9.99841357e-01 -1.83057515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.1965599949999 meters 0.016787332539811194 Centerline is valid? [True, True] Translation: X:-103.90, Y:-260.45, Z:-1.83 [[-2.25871546e-01 -9.74147284e-01 4.37194374e-03 -1.03903536e+02] [-9.74004607e-01 2.25913320e-01 1.66792605e-02 -2.60452630e+02] [-1.72357366e-02 -4.90922999e-04 -9.99851333e-01 -1.83246754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.226559995 meters 0.017834243845716715 Centerline is valid? [True, True] Translation: X:-103.95, Y:-260.55, Z:-1.83 [[-1.51957731e-01 -9.88382671e-01 2.92304060e-03 -1.03953978e+02] [-9.88251506e-01 1.51985203e-01 1.61077300e-02 -2.60552244e+02] [-1.63648601e-02 -4.41005162e-04 -9.99865990e-01 -1.83160860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.256559995 meters 0.015510089695166542 Centerline is valid? [True, True] Translation: X:-103.99, Y:-260.66, Z:-1.83 [[-7.95496245e-02 -9.96829655e-01 1.57990969e-03 -1.03990968e+02] [-9.96711969e-01 7.95645159e-02 1.53212053e-02 -2.60659799e+02] [-1.53983365e-02 -3.55918772e-04 -9.99881375e-01 -1.83255921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.286559995 meters 0.015906373928254062 Centerline is valid? [True, True] Translation: X:-104.03, Y:-260.77, Z:-1.83 [[-4.85049559e-03 -9.99988158e-01 3.95265763e-04 -1.04025456e+02] [-9.99870591e-01 4.85598755e-03 1.53369059e-02 -2.60771601e+02] [-1.53386436e-02 -3.20823018e-04 -9.99882305e-01 -1.83107507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.3165599949999 meters 0.014162894811949026 Centerline is valid? [True, True] Translation: X:-104.05, Y:-260.88, Z:-1.83 [[ 7.00164603e-02 -9.97545526e-01 -7.86193800e-04 -1.04046704e+02] [-9.97427920e-01 -7.00202799e-02 1.53200606e-02 -2.60884261e+02] [-1.53375074e-02 -2.88484765e-04 -9.99882332e-01 -1.83257355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.3465599949999 meters 0.013068225002811469 Centerline is valid? [True, True] Translation: X:-104.06, Y:-261.00, Z:-1.83 [[ 1.41086986e-01 -9.89995179e-01 -2.00199880e-03 -1.04057682e+02] [-9.89873722e-01 -1.41101039e-01 1.55084405e-02 -2.61001152e+02] [-1.56357654e-02 -2.06313127e-04 -9.99877733e-01 -1.83296804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.376559995 meters 0.0126681880878391 Centerline is valid? [True, True] Translation: X:-104.06, Y:-261.12, Z:-1.83 [[ 2.14100651e-01 -9.76806604e-01 -3.12570325e-03 -1.04062570e+02] [-9.76691474e-01 -2.14123408e-01 1.49977022e-02 -2.61119646e+02] [-1.53191408e-02 -1.58170094e-04 -9.99882643e-01 -1.83327506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.406559995 meters 0.012326418691350045 Centerline is valid? [True, True] Translation: X:-104.06, Y:-261.24, Z:-1.83 [[ 2.85802851e-01 -9.58279386e-01 -4.16518880e-03 -1.04057998e+02] [-9.58171955e-01 -2.85833179e-01 1.43492009e-02 -2.61240071e+02] [-1.49410926e-02 -1.10075423e-04 -9.99888370e-01 -1.83357879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.4365599949999 meters 0.01200237705053554 Centerline is valid? [True, True] Translation: X:-104.04, Y:-261.35, Z:-1.83 [[ 3.54287977e-01 -9.35121379e-01 -5.29495547e-03 -1.04044334e+02] [-9.35015302e-01 -3.54327540e-01 1.40847232e-02 -2.61353654e+02] [-1.50470743e-02 -3.91837205e-05 -9.99886786e-01 -1.83318623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.4665599949999 meters 0.011892771354056017 Centerline is valid? [True, True] Translation: X:-104.02, Y:-261.47, Z:-1.83 [[ 4.23483483e-01 -9.05880620e-01 -6.48397254e-03 -1.04021830e+02] [-9.05774019e-01 -4.23533118e-01 1.38969106e-02 -2.61474570e+02] [-1.53351191e-02 -1.20982370e-05 -9.99882410e-01 -1.83343658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.496559995 meters 0.011967574231966979 Centerline is valid? [True, True] Translation: X:-104.00, Y:-261.58, Z:-1.83 [[ 4.89387714e-01 -8.72035224e-01 -7.36442617e-03 -1.03995183e+02] [-8.71937472e-01 -4.89443120e-01 1.30566963e-02 -2.61580887e+02] [-1.49903668e-02 3.15324051e-05 -9.99887638e-01 -1.83329012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.526559995 meters 0.01207945741949156 Centerline is valid? [True, True] Translation: X:-103.96, Y:-261.69, Z:-1.83 [[ 5.53776260e-01 -8.32625100e-01 -8.20351598e-03 -1.03957667e+02] [-8.32535101e-01 -5.53837016e-01 1.22419173e-02 -2.61692629e+02] [-1.47363384e-02 5.04318304e-05 -9.99891413e-01 -1.83307588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.5565599949999 meters 0.012127435740459483 Centerline is valid? [True, True] Translation: X:-103.92, Y:-261.79, Z:-1.83 [[ 6.15033204e-01 -7.88451675e-01 -8.83823417e-03 -1.03918508e+02] [-7.88371816e-01 -6.15096702e-01 1.12217042e-02 -2.61791811e+02] [-1.42841401e-02 6.60940611e-05 -9.99897974e-01 -1.83317299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.5865599949999 meters 0.012454617968536918 Centerline is valid? [True, True] Translation: X:-103.87, Y:-261.89, Z:-1.83 [[ 6.71882098e-01 -7.40595246e-01 -9.65026805e-03 -1.03867587e+02] [-7.40520939e-01 -6.71951391e-01 1.04912707e-02 -2.61890098e+02] [-1.42542962e-02 9.73286107e-05 -9.99898398e-01 -1.83320623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.616559995 meters 0.012438858772405654 Centerline is valid? [True, True] Translation: X:-103.81, Y:-261.98, Z:-1.83 [[ 7.26176787e-01 -6.87428629e-01 -1.04477107e-02 -1.03814062e+02] [-6.87359515e-01 -7.26251933e-01 9.74819857e-03 -2.61982219e+02] [-1.42888608e-02 1.02417825e-04 -9.99897904e-01 -1.83407825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.646559995 meters 0.012520736968023236 Centerline is valid? [True, True] Translation: X:-103.82, Y:-261.99, Z:-1.83 [[ 7.77421155e-01 -6.28882326e-01 -1.11071299e-02 -1.03817002e+02] [-6.28820126e-01 -7.77500488e-01 8.84538968e-03 -2.61988611e+02] [-1.41985082e-02 1.07793755e-04 -9.99899190e-01 -1.83485120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.6765599949999 meters 0.012473036935420909 Centerline is valid? [True, True] Translation: X:-103.82, Y:-262.00, Z:-1.83 [[ 8.24235203e-01 -5.66130157e-01 -1.15314702e-02 -1.03820987e+02] [-5.66076537e-01 -8.24315858e-01 7.79229893e-03 -2.61997325e+02] [-1.39170291e-02 1.05007608e-04 -9.99903148e-01 -1.83495737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.7065599949999 meters 0.012699854070918913 Centerline is valid? [True, True] Translation: X:-103.82, Y:-262.00, Z:-1.83 [[ 8.66131644e-01 -4.99668235e-01 -1.21503114e-02 -1.03824930e+02] [-4.99620696e-01 -8.66216858e-01 6.89313673e-03 -2.62004950e+02] [-1.39690860e-02 1.00183168e-04 -9.99902423e-01 -1.83408687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.736559995 meters 0.012532225034663605 Centerline is valid? [True, True] Translation: X:-103.83, Y:-262.01, Z:-1.83 [[ 9.02862279e-01 -4.29741231e-01 -1.27349625e-02 -1.03827594e+02] [-4.29699891e-01 -9.02952084e-01 5.96132142e-03 -2.62012739e+02] [-1.40608866e-02 8.99597777e-05 -9.99901137e-01 -1.83405732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.766559995 meters 0.012635900412483506 Centerline is valid? [True, True] Translation: X:-103.83, Y:-262.02, Z:-1.83 [[ 9.34080840e-01 -3.56821281e-01 -1.30980512e-02 -1.03829903e+02] [-3.56787321e-01 -9.34172665e-01 4.92334939e-03 -2.62019400e+02] [-1.39925972e-02 7.44122811e-05 -9.99902096e-01 -1.83325611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.7965599949999 meters 0.012311964542142673 Centerline is valid? [True, True] Translation: X:-103.83, Y:-262.03, Z:-1.83 [[ 9.59875986e-01 -2.80128619e-01 -1.28859483e-02 -1.03831213e+02] [-2.80103871e-01 -9.59962476e-01 3.72368424e-03 -2.62028892e+02] [-1.34131373e-02 3.51289104e-05 -9.99910039e-01 -1.83467449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.8265599949999 meters 0.012185710100213817 Centerline is valid? [True, True] Translation: X:-103.83, Y:-262.04, Z:-1.83 [[ 9.79121871e-01 -2.02862566e-01 -1.29283176e-02 -1.03831797e+02] [-2.02845104e-01 -9.79207220e-01 2.66170173e-03 -2.62037392e+02] [-1.31994616e-02 1.63155555e-05 -9.99912883e-01 -1.83497402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.856559995 meters 0.012173768552460428 Centerline is valid? [True, True] Translation: X:-103.84, Y:-262.05, Z:-1.84 [[ 9.92211262e-01 -1.23885390e-01 -1.30085665e-02 -1.03835053e+02] [-1.23874661e-01 -9.92296533e-01 1.63038717e-03 -2.62045226e+02] [-1.31103366e-02 -6.25673995e-06 -9.99914056e-01 -1.83514613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.886559995 meters 0.012255809220457464 Centerline is valid? [True, True] Translation: X:-103.84, Y:-262.05, Z:-1.83 [[ 9.99038601e-01 -4.20571002e-02 -1.23722886e-02 -1.03838951e+02] [-4.20532251e-02 -9.99115207e-01 5.73315432e-04 -2.62054194e+02] [-1.23854536e-02 -5.24696118e-05 -9.99923296e-01 -1.83495647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.916559995 meters 0.012336624028866077 Centerline is valid? [True, True] Translation: X:-103.84, Y:-262.06, Z:-1.84 [[ 9.99173610e-01 3.86724934e-02 -1.25113818e-02 -1.03840797e+02] [ 3.86704962e-02 -9.99251936e-01 -4.01597374e-04 -2.62063783e+02] [-1.25175532e-02 -8.25558426e-05 -9.99921649e-01 -1.83516181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.9465599949999 meters 0.012531846745231062 Centerline is valid? [True, True] Translation: X:-103.84, Y:-262.07, Z:-1.83 [[ 9.92803699e-01 1.19128620e-01 -1.22142296e-02 -1.03842344e+02] [ 1.19120970e-01 -9.92878824e-01 -1.35457636e-03 -2.62072650e+02] [-1.22886187e-02 -1.10142451e-04 -9.99924486e-01 -1.83454786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.976559995 meters 0.013945519975317127 Centerline is valid? [True, True] Translation: X:-103.84, Y:-262.08, Z:-1.83 [[ 9.79264591e-01 2.02182383e-01 -1.27728206e-02 -1.03842479e+02] [ 2.02167745e-01 -9.79347868e-01 -2.44044741e-03 -2.62083400e+02] [-1.30024501e-02 -1.92408608e-04 -9.99915446e-01 -1.83312540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.006559995 meters 0.014907159445788987 Centerline is valid? [True, True] Translation: X:-103.84, Y:-262.09, Z:-1.83 [[ 9.59660970e-01 2.80880674e-01 -1.25247790e-02 -1.03842645e+02] [ 2.80859855e-01 -9.59742671e-01 -3.42734036e-03 -2.62089673e+02] [-1.29832385e-02 -2.28622836e-04 -9.99915688e-01 -1.83237446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.036559995 meters 0.014907159445788987 Centerline is valid? [True, True] Translation: X:-103.84, Y:-262.09, Z:-1.83 [[ 9.34719877e-01 3.55175269e-01 -1.22179730e-02 -1.03843277e+02] [ 3.55148117e-01 -9.34799698e-01 -4.39764209e-03 -2.62092495e+02] [-1.29832912e-02 -2.28626632e-04 -9.99915687e-01 -1.83237399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.0665599949999 meters 0.015021078729651579 Centerline is valid? [True, True] Translation: X:-103.84, Y:-262.10, Z:-1.83 [[ 9.02810033e-01 4.29877491e-01 -1.18062198e-02 -1.03841738e+02] [ 4.29844568e-01 -9.02887187e-01 -5.32687607e-03 -2.62099398e+02] [-1.29495887e-02 -2.65682293e-04 -9.99916115e-01 -1.83277067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.0965599949999 meters 0.016128311061225344 Centerline is valid? [True, True] Translation: X:-103.84, Y:-262.11, Z:-1.83 [[ 8.63504406e-01 5.04218499e-01 -1.11286329e-02 -1.03836413e+02] [ 5.04181577e-01 -8.63576050e-01 -6.11094907e-03 -2.62110047e+02] [-1.26916744e-02 -3.34020240e-04 -9.99919402e-01 -1.83305189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.126559995 meters 0.0169701794406503 Centerline is valid? [True, True] Translation: X:-103.83, Y:-262.12, Z:-1.83 [[ 8.20067071e-01 5.72173746e-01 -1.03538944e-02 -1.03831522e+02] [ 5.72133545e-01 -8.20132355e-01 -6.79176787e-03 -2.62118576e+02] [-1.23776350e-02 -3.54105110e-04 -9.99923332e-01 -1.83277230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.156559995 meters 0.017775571438352615 Centerline is valid? [True, True] Translation: X:-103.83, Y:-262.13, Z:-1.83 [[ 7.71479430e-01 6.36185124e-01 -9.37964396e-03 -1.03827263e+02] [ 6.36143767e-01 -7.71536361e-01 -7.26302981e-03 -2.62125534e+02] [-1.18573679e-02 -3.63523951e-04 -9.99929633e-01 -1.83244367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.1865599949999 meters 0.0187337761441987 Centerline is valid? [True, True] Translation: X:-103.82, Y:-262.13, Z:-1.83 [[ 7.17339746e-01 6.96666502e-01 -8.91477367e-03 -1.03821650e+02] [ 6.96619582e-01 -7.17395025e-01 -8.09543716e-03 -2.62132311e+02] [-1.20352342e-02 -4.03027071e-04 -9.99927493e-01 -1.83183936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.2165599949999 meters 0.019172792585177977 Centerline is valid? [True, True] Translation: X:-103.82, Y:-262.14, Z:-1.83 [[ 6.60131443e-01 7.51106314e-01 -8.11075569e-03 -1.03816870e+02] [ 7.51056995e-01 -6.60181144e-01 -8.61672254e-03 -2.62137873e+02] [-1.18266427e-02 -4.03470311e-04 -9.99929982e-01 -1.83119273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.246559995 meters 0.01923171753702471 Centerline is valid? [True, True] Translation: X:-103.81, Y:-262.14, Z:-1.83 [[ 5.99170988e-01 8.00588711e-01 -7.20023205e-03 -1.03812141e+02] [ 8.00538639e-01 -5.99214119e-01 -8.96255662e-03 -2.62142247e+02] [-1.14898024e-02 -3.93960065e-04 -9.99933913e-01 -1.83078135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.276559995 meters 0.020365790089523383 Centerline is valid? [True, True] Translation: X:-103.81, Y:-262.15, Z:-1.83 [[ 5.34768951e-01 8.44973315e-01 -6.50124440e-03 -1.03807739e+02] [ 8.44919605e-01 -5.34808323e-01 -9.53516737e-03 -2.62147054e+02] [-1.15338816e-02 -3.93917394e-04 -9.99933405e-01 -1.82998624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.3065599949999 meters 0.01940002961552094 Centerline is valid? [True, True] Translation: X:-103.81, Y:-262.15, Z:-1.83 [[ 4.67534938e-01 8.83957025e-01 -5.57319537e-03 -1.03805888e+02] [ 8.83903514e-01 -4.67568003e-01 -9.73346534e-03 -2.62148660e+02] [-1.12098129e-02 -3.75431856e-04 -9.99937098e-01 -1.83052694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.3365599949999 meters 0.018264780216294074 Centerline is valid? [True, True] Translation: X:-103.80, Y:-262.15, Z:-1.83 [[ 3.97590300e-01 9.17552161e-01 -4.47052440e-03 -1.03803241e+02] [ 9.17503497e-01 -3.97615285e-01 -9.45609253e-03 -2.62151830e+02] [-1.04540070e-02 -3.42071112e-04 -9.99945297e-01 -1.83124989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.366559995 meters 0.018925775872665272 Centerline is valid? [True, True] Translation: X:-103.80, Y:-262.16, Z:-1.83 [[ 3.25419747e-01 9.45562962e-01 -3.55988637e-03 -1.03797735e+02] [ 9.45516624e-01 -3.25439063e-01 -9.36647709e-03 -2.62157232e+02] [-1.00151199e-02 -3.17895135e-04 -9.99949797e-01 -1.83092802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.396559995 meters 0.01685409024446635 Centerline is valid? [True, True] Translation: X:-103.79, Y:-262.16, Z:-1.83 [[ 2.51593612e-01 9.67829531e-01 -2.57957164e-03 -1.03793348e+02] [ 9.67789453e-01 -2.51606681e-01 -8.81205708e-03 -2.62160337e+02] [-9.17760652e-03 -2.79424959e-04 -9.99957846e-01 -1.83214984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.4265599949999 meters 0.018752793264778526 Centerline is valid? [True, True] Translation: X:-103.79, Y:-262.17, Z:-1.83 [[ 1.77864542e-01 9.84053527e-01 -1.69169066e-03 -1.03785127e+02] [ 9.84020366e-01 -1.77872441e-01 -8.08169355e-03 -2.62165174e+02] [-8.25372418e-03 -2.27211341e-04 -9.99965912e-01 -1.83125803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.4565599949999 meters 0.017544306270332616 Centerline is valid? [True, True] Translation: X:-103.79, Y:-262.17, Z:-1.83 [[ 1.01607256e-01 9.94824095e-01 -9.92706589e-04 -1.03786851e+02] [ 9.94794186e-01 -1.01611901e-01 -7.71675633e-03 -2.62167365e+02] [-7.77768593e-03 -2.03460309e-04 -9.99969733e-01 -1.83208049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.486559995 meters 0.016884499628868763 Centerline is valid? [True, True] Translation: X:-103.79, Y:-262.17, Z:-1.83 [[ 2.58515206e-02 9.99665737e-01 -3.36540732e-04 -1.03788786e+02] [ 9.99642646e-01 -2.58532115e-02 -6.79645908e-03 -2.62170438e+02] [-6.80288793e-03 -1.60721665e-04 -9.99976847e-01 -1.83264509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.516559995 meters 0.014850706428368598 Centerline is valid? [True, True] Translation: X:-103.78, Y:-262.17, Z:-1.83 [[-5.17308203e-02 9.98661048e-01 1.82619016e-04 -1.03784980e+02] [ 9.98641134e-01 5.17309423e-02 -6.30833236e-03 -2.62172985e+02] [-6.30933286e-03 -1.43964347e-04 -9.99980086e-01 -1.83328263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.5465599949999 meters 0.016378117274915765 Centerline is valid? [True, True] Translation: X:-103.78, Y:-262.18, Z:-1.83 [[-1.29175714e-01 9.91621502e-01 6.57568095e-04 -1.03775384e+02] [ 9.91602735e-01 1.29177315e-01 -6.10222277e-03 -2.62176431e+02] [-6.13603818e-03 -1.36212658e-04 -9.99981165e-01 -1.83252238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.5765599949999 meters 0.014944517529799181 Centerline is valid? [True, True] Translation: X:-103.77, Y:-262.18, Z:-1.83 [[-2.05397483e-01 9.78677978e-01 1.13593071e-03 -1.03772799e+02] [ 9.78659324e-01 2.05400583e-01 -6.04382623e-03 -2.62178872e+02] [-6.14828047e-03 -1.29697511e-04 -9.99981091e-01 -1.83215060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.606559995 meters 0.014949021719636895 Centerline is valid? [True, True] Translation: X:-103.77, Y:-262.18, Z:-1.83 [[-2.81109207e-01 9.59674497e-01 1.57290673e-03 -1.03767021e+02] [ 9.59656895e-01 2.81113580e-01 -5.81379791e-03 -2.62180552e+02] [-6.02151903e-03 -1.24861327e-04 -9.99981863e-01 -1.83176016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.636559995 meters 0.014805319840270772 Centerline is valid? [True, True] Translation: X:-103.76, Y:-262.18, Z:-1.83 [[-3.55500522e-01 9.34673598e-01 2.15528688e-03 -1.03761134e+02] [ 9.34654080e-01 3.55507030e-01 -6.04172687e-03 -2.62181703e+02] [-6.41326222e-03 -1.33389376e-04 -9.99979426e-01 -1.83125873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.666559995 meters 0.014422400284436407 Centerline is valid? [True, True] Translation: X:-103.75, Y:-262.18, Z:-1.83 [[-4.27367120e-01 9.04074645e-01 2.52605819e-03 -1.03753338e+02] [ 9.04057060e-01 4.27374567e-01 -5.64018856e-03 -2.62182019e+02] [-6.17872449e-03 -1.26730406e-04 -9.99980904e-01 -1.83182907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.6965599949999 meters 0.014505848018152979 Centerline is valid? [True, True] Translation: X:-103.75, Y:-262.18, Z:-1.83 [[-4.96599345e-01 8.67975051e-01 2.89860466e-03 -1.03745431e+02] [ 8.67958804e-01 4.96607790e-01 -5.31212471e-03 -2.62182084e+02] [-6.05026136e-03 -1.22128221e-04 -9.99981690e-01 -1.83184015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.726559995 meters 0.014206593293514345 Centerline is valid? [True, True] Translation: X:-103.74, Y:-262.18, Z:-1.83 [[-5.62667335e-01 8.26677745e-01 3.06188695e-03 -1.03736524e+02] [ 8.26664421e-01 5.62675656e-01 -4.69492267e-03 -2.62180715e+02] [-5.60403734e-03 -1.10526630e-04 -9.99984291e-01 -1.83215980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.756559995 meters 0.014826820129975594 Centerline is valid? [True, True] Translation: X:-103.73, Y:-262.18, Z:-1.83 [[-6.25571385e-01 7.80160191e-01 3.24338652e-03 -1.03726895e+02] [ 7.80148832e-01 6.25579784e-01 -4.21119996e-03 -2.62178845e+02] [-5.31440760e-03 -1.04081985e-04 -9.99985873e-01 -1.83203829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.786559995 meters 0.014722180696979214 Centerline is valid? [True, True] Translation: X:-103.72, Y:-262.18, Z:-1.83 [[-6.84155461e-01 7.29331581e-01 2.59816069e-03 -1.03721127e+02] [ 7.29325916e-01 6.84160391e-01 -2.87546272e-03 -2.62177938e+02] [-3.87472440e-03 -7.23575940e-05 -9.99992491e-01 -1.83258507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.8165599949999 meters 0.014260382891359832 Centerline is valid? [True, True] Translation: X:-103.72, Y:-262.18, Z:-1.83 [[-7.38996400e-01 6.73705102e-01 2.39919885e-03 -1.03715569e+02] [ 6.73701284e-01 7.39000292e-01 -2.26913309e-03 -2.62175736e+02] [-3.30173519e-03 -6.05378390e-05 -9.99994548e-01 -1.83328720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.8465599949999 meters 0.014206890499203362 Centerline is valid? [True, True] Translation: X:-103.71, Y:-262.14, Z:-1.83 [[-7.84791878e-01 6.19755290e-01 2.25578094e-03 -1.03710898e+02] [ 6.19752533e-01 7.84795118e-01 -1.84952008e-03 -2.62143168e+02] [-2.91657572e-03 -5.34623851e-05 -9.99995745e-01 -1.83372512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.876559995 meters 0.013979503172309487 Centerline is valid? [True, True] Translation: X:-103.24, Y:-261.60, Z:-2.76 [[-7.16171032e-01 -6.97921278e-01 2.22340333e-03 -1.03237524e+02] [ 6.97918186e-01 -7.16174480e-01 -2.07844568e-03 -2.61595854e+02] [ 3.04293619e-03 6.32310283e-05 9.99995368e-01 -2.75551426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.906559995 meters 0.013736405533579365 Centerline is valid? [True, True] Translation: X:-103.73, Y:-262.13, Z:-1.83 [[-7.86378472e-01 6.17738667e-01 2.79977033e-03 -1.03732133e+02] [ 6.17734466e-01 7.86383453e-01 -2.27917395e-03 -2.62125485e+02] [-3.60962694e-03 -6.27787033e-05 -9.99993483e-01 -1.83325824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.9365599949999 meters 0.013889661381463565 Centerline is valid? [True, True] Translation: X:-103.27, Y:-261.58, Z:-2.76 [[-7.19372374e-01 -6.94616975e-01 3.26279614e-03 -1.03266556e+02] [ 6.94610603e-01 -7.19379763e-01 -2.97775071e-03 -2.61575036e+02] [ 4.41558570e-03 1.24261200e-04 9.99990244e-01 -2.75647725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.9665599949999 meters 0.013460756111001984 Centerline is valid? [True, True] Translation: X:-103.75, Y:-262.11, Z:-1.83 [[-7.87398624e-01 6.16423466e-01 5.05150022e-03 -1.03754073e+02] [ 6.16409944e-01 7.87414821e-01 -4.08425245e-03 -2.62107925e+02] [-6.49525520e-03 -1.02139793e-04 -9.99978900e-01 -1.83164270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.996559995 meters 0.013305332564386338 Centerline is valid? [True, True] Translation: X:-103.73, Y:-262.09, Z:-1.83 [[-8.28712633e-01 5.59642761e-01 5.94575040e-03 -1.03733746e+02] [ 5.59627401e-01 8.28733955e-01 -4.14773668e-03 -2.62088973e+02] [-7.24869605e-03 -1.09876942e-04 -9.99973722e-01 -1.83136233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.026559995 meters 0.01311652421389963 Centerline is valid? [True, True] Translation: X:-103.71, Y:-262.07, Z:-1.83 [[-8.65625880e-01 5.00648129e-01 6.57929427e-03 -1.03713987e+02] [ 5.00632723e-01 8.65650876e-01 -3.92898111e-03 -2.62068537e+02] [-7.66240889e-03 -1.07217725e-04 -9.99970638e-01 -1.83102304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.0565599949999 meters 0.013095101796542798 Centerline is valid? [True, True] Translation: X:-103.34, Y:-261.45, Z:-2.76 [[-8.14612961e-01 -5.79964499e-01 6.84860223e-03 -1.03339036e+02] [ 5.79945580e-01 -8.14641735e-01 -4.68696047e-03 -2.61454558e+02] [ 8.29742789e-03 1.53757849e-04 9.99965564e-01 -2.75878245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.0865599949999 meters 0.01241246920784931 Centerline is valid? [True, True] Translation: X:-103.35, Y:-261.48, Z:-2.76 [[-7.75756947e-01 -6.31003417e-01 5.98727083e-03 -1.03349008e+02] [ 6.30985366e-01 -7.75780048e-01 -4.77340789e-03 -2.61483930e+02] [ 7.65684194e-03 7.48759495e-05 9.99970683e-01 -2.75843271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.116559995 meters 0.012277464469981646 Centerline is valid? [True, True] Translation: X:-103.80, Y:-262.05, Z:-1.83 [[-8.28517731e-01 5.59935586e-01 5.52350564e-03 -1.03798635e+02] [ 5.59922720e-01 8.28536141e-01 -3.79615797e-03 -2.62049817e+02] [-6.70202799e-03 -5.24478910e-05 -9.99977540e-01 -1.83108990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.146559995 meters 0.012266544879302342 Centerline is valid? [True, True] Translation: X:-103.79, Y:-262.03, Z:-1.83 [[-8.63980712e-01 5.03506071e-01 4.35486807e-03 -1.03785289e+02] [ 5.03499569e-01 8.63991688e-01 -2.55889268e-03 -2.62026706e+02] [-5.05098781e-03 -1.81597275e-05 -9.99987244e-01 -1.83146024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.1765599949999 meters 0.012266544879302342 Centerline is valid? [True, True] Translation: X:-103.77, Y:-262.00, Z:-1.83 [[-8.97468645e-01 4.41055047e-01 4.52517030e-03 -1.03770255e+02] [ 4.41049338e-01 8.97480053e-01 -2.24407230e-03 -2.62003318e+02] [-5.05100950e-03 -1.81611614e-05 -9.99987244e-01 -1.83146002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.2065599949999 meters 0.01246493095746577 Centerline is valid? [True, True] Translation: X:-103.76, Y:-261.98, Z:-1.83 [[-9.24561514e-01 3.81017713e-01 3.39243752e-03 -1.03758217e+02] [ 3.81015170e-01 9.24567738e-01 -1.39223825e-03 -2.61980625e+02] [-3.66700572e-03 5.36024646e-06 -9.99993277e-01 -1.83133226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.236559995 meters 0.012661824236559436 Centerline is valid? [True, True] Translation: X:-103.74, Y:-261.96, Z:-1.83 [[-9.48537972e-01 3.16652052e-01 2.68206365e-03 -1.03742162e+02] [ 3.16650818e-01 9.48541764e-01 -8.84200244e-04 -2.61957754e+02] [-2.82403320e-03 1.05801406e-05 -9.99996012e-01 -1.83124099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.266559995 meters 0.013006044104343372 Centerline is valid? [True, True] Translation: X:-103.51, Y:-261.27, Z:-2.76 [[-9.28879398e-01 -3.70379362e-01 1.48037127e-03 -1.03506080e+02] [ 3.70378757e-01 -9.28880575e-01 -6.73744489e-04 -2.61268157e+02] [ 1.62462917e-03 -7.75293059e-05 9.99998677e-01 -2.75813146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.2965599949999 meters 0.013211305650738775 Centerline is valid? [True, True] Translation: X:-103.78, Y:-261.94, Z:-1.83 [[-9.48436325e-01 3.16964954e-01 1.32455908e-03 -1.03783319e+02] [ 3.16964662e-01 9.48437250e-01 -4.30535768e-04 -2.61944835e+02] [-1.39272592e-03 1.15026605e-05 -9.99999030e-01 -1.83013319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.3265599949999 meters 0.013244445662913717 Centerline is valid? [True, True] Translation: X:-103.77, Y:-261.92, Z:-1.83 [[-9.68371144e-01 2.49511323e-01 1.19434316e-03 -1.03770273e+02] [ 2.49511147e-01 9.68371881e-01 -2.96422705e-04 -2.61918305e+02] [-1.23052916e-03 1.09547386e-05 -9.99999243e-01 -1.82943409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.356559995 meters 0.013534776510130422 Centerline is valid? [True, True] Translation: X:-103.76, Y:-261.89, Z:-1.83 [[-9.83635989e-01 1.80158011e-01 1.82551172e-03 -1.03762940e+02] [ 1.80157731e-01 9.83637683e-01 -3.18118225e-04 -2.61889661e+02] [-1.85295367e-03 1.59675144e-05 -9.99998283e-01 -1.82822569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.386559995 meters 0.013548070084083182 Centerline is valid? [True, True] Translation: X:-103.76, Y:-261.86, Z:-1.83 [[-9.94020855e-01 1.09167589e-01 2.23084457e-03 -1.03760718e+02] [ 1.09167354e-01 9.94023359e-01 -2.27478072e-04 -2.61861257e+02] [-2.24234485e-03 1.74174508e-05 -9.99997486e-01 -1.82760729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.416559995 meters 0.01365913884474239 Centerline is valid? [True, True] Translation: X:-103.68, Y:-261.14, Z:-2.76 [[-9.86751101e-01 -1.62220766e-01 2.58610203e-03 -1.03684338e+02] [ 1.62220221e-01 -9.86754490e-01 -4.20536441e-04 -2.61144629e+02] [ 2.62006754e-03 4.55324674e-06 9.99996568e-01 -2.76229229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.4465599949999 meters 0.013546405318692237 Centerline is valid? [True, True] Translation: X:-103.82, Y:-261.85, Z:-1.83 [[-9.94675209e-01 1.03030577e-01 2.43494195e-03 -1.03823887e+02] [ 1.03030305e-01 9.94678189e-01 -2.37412471e-04 -2.61852425e+02] [-2.44644439e-03 1.47245116e-05 -9.99997007e-01 -1.82630532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.476559995 meters 0.013409124169494064 Centerline is valid? [True, True] Translation: X:-103.76, Y:-261.14, Z:-2.76 [[-9.86933224e-01 -1.61112386e-01 2.36887399e-03 -1.03756416e+02] [ 1.61111879e-01 -9.86936066e-01 -4.04325946e-04 -2.61143076e+02] [ 2.40306910e-03 -1.73889693e-05 9.99997113e-01 -2.76283036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.506559995 meters 0.013360466249478486 Centerline is valid? [True, True] Translation: X:-103.89, Y:-261.84, Z:-1.83 [[-9.95513305e-01 9.46047678e-02 1.78800222e-03 -1.03888841e+02] [ 9.46046222e-02 9.95514911e-01 -1.65998672e-04 -2.61839843e+02] [-1.79568714e-03 3.89938833e-06 -9.99998388e-01 -1.82653414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.536559995 meters 0.013388224136634621 Centerline is valid? [True, True] Translation: X:-103.82, Y:-261.14, Z:-2.76 [[-9.86985593e-01 -1.60808517e-01 -2.44816746e-04 -1.03823677e+02] [ 1.60808545e-01 -9.86985614e-01 -9.84974006e-05 -2.61143202e+02] [-2.25791385e-04 -1.36584140e-04 9.99999965e-01 -2.76152648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.5665599949999 meters 0.013334226091105407 Centerline is valid? [True, True] Translation: X:-103.95, Y:-261.83, Z:-1.83 [[-9.96255933e-01 8.64404927e-02 -1.46866617e-03 -1.03951795e+02] [ 8.64403917e-02 9.96257016e-01 1.32227434e-04 -2.61828300e+02] [ 1.47459878e-03 4.78028701e-06 -9.99998913e-01 -1.82826131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.5965599949999 meters 0.013379099032393647 Centerline is valid? [True, True] Translation: X:-103.89, Y:-261.14, Z:-2.76 [[-9.87280446e-01 -1.58974517e-01 -2.10340113e-03 -1.03887470e+02] [ 1.58974262e-01 -9.87282685e-01 2.89058899e-04 -2.61140509e+02] [-2.12260451e-03 -4.90044432e-05 9.99997746e-01 -2.76005001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.626559995 meters 0.0134494423066102 Centerline is valid? [True, True] Translation: X:-104.01, Y:-261.82, Z:-1.83 [[-9.96796204e-01 7.99368565e-02 -2.72512251e-03 -1.04011901e+02] [ 7.99365201e-02 9.96799929e-01 2.32321342e-04 -2.61820766e+02] [ 2.73497296e-03 1.37402213e-05 -9.99996260e-01 -1.82958597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.656559995 meters 0.013582206229719476 Centerline is valid? [True, True] Translation: X:-103.95, Y:-261.14, Z:-2.76 [[-9.87546980e-01 -1.57291593e-01 -3.21195796e-03 -1.03953794e+02] [ 1.57290925e-01 -9.87552202e-01 4.61122949e-04 -2.61139819e+02] [-3.24450692e-03 -4.98312618e-05 9.99994735e-01 -2.75942911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.6865599949999 meters 0.01365293328460284 Centerline is valid? [True, True] Translation: X:-104.07, Y:-261.81, Z:-1.83 [[-9.97327675e-01 7.29998991e-02 -2.91947327e-03 -1.04074997e+02] [ 7.29995198e-02 9.97331948e-01 2.36392011e-04 -2.61810053e+02] [ 2.92894056e-03 2.26401472e-05 -9.99995710e-01 -1.82914121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.7165599949999 meters 0.013751737632310192 Centerline is valid? [True, True] Translation: X:-104.07, Y:-261.78, Z:-1.83 [[-9.99995444e-01 9.50894420e-04 -2.86502231e-03 -1.04071943e+02] [ 9.50819087e-04 9.99999548e-01 2.76561420e-05 -2.61779828e+02] [ 2.86504731e-03 2.49318981e-05 -9.99995896e-01 -1.82851108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.746559995 meters 0.013963974985125175 Centerline is valid? [True, True] Translation: X:-104.08, Y:-261.75, Z:-1.83 [[-9.97399778e-01 -7.20184991e-02 -2.64948020e-03 -1.04079954e+02] [-7.20183200e-02 9.97403296e-01 -1.63069500e-04 -2.61748216e+02] [ 2.65434431e-03 2.81656299e-05 -9.99996477e-01 -1.82765964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.776559995 meters 0.013936216411399157 Centerline is valid? [True, True] Translation: X:-104.09, Y:-261.72, Z:-1.83 [[-9.89611033e-01 -1.43751831e-01 -2.32697216e-03 -1.04090598e+02] [-1.43751498e-01 9.89613768e-01 -3.10497314e-04 -2.61720858e+02] [ 2.34743825e-03 2.72341663e-05 -9.99997245e-01 -1.82735773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.8065599949999 meters 0.014052495333417184 Centerline is valid? [True, True] Translation: X:-104.11, Y:-261.69, Z:-1.83 [[-9.76660566e-01 -2.14772557e-01 -2.62463401e-03 -1.04108850e+02] [-2.14771872e-01 9.76664092e-01 -5.43350636e-04 -2.61693202e+02] [ 2.68008259e-03 3.30284198e-05 -9.99996408e-01 -1.82704162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.8365599949999 meters 0.013985377077082473 Centerline is valid? [True, True] Translation: X:-104.26, Y:-261.05, Z:-2.76 [[-9.92151641e-01 1.25013747e-01 -2.58532282e-03 -1.04255185e+02] [-1.25013251e-01 -9.92155009e-01 -3.53426539e-04 -2.61054464e+02] [-2.60922416e-03 -2.74531105e-05 9.99996596e-01 -2.76232433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.866559995 meters 0.014010454147749186 Centerline is valid? [True, True] Translation: X:-104.23, Y:-261.72, Z:-1.83 [[-9.75164970e-01 -2.21465448e-01 -2.51726708e-03 -1.04228525e+02] [-2.21464797e-01 9.75168219e-01 -5.37611441e-04 -2.61715053e+02] [ 2.57382122e-03 3.32262004e-05 -9.99996687e-01 -1.82678874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.896559995 meters 0.014179208205814165 Centerline is valid? [True, True] Translation: X:-104.25, Y:-261.69, Z:-1.83 [[-9.56556132e-01 -2.91539959e-01 -2.19519002e-03 -1.04254822e+02] [-2.91539265e-01 9.56558650e-01 -6.36787417e-04 -2.61691979e+02] [ 2.28547698e-03 3.08611775e-05 -9.99997388e-01 -1.82688438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.9265599949999 meters 0.014179208205814165 Centerline is valid? [True, True] Translation: X:-104.30, Y:-261.68, Z:-1.83 [[-9.32876229e-01 -3.60190710e-01 -2.14312950e-03 -1.04299084e+02] [-3.60189836e-01 9.32878691e-01 -7.94383585e-04 -2.61677341e+02] [ 2.28540943e-03 3.08719001e-05 -9.99997388e-01 -1.82688277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.9565599949999 meters 0.014073912344649806 Centerline is valid? [True, True] Translation: X:-104.36, Y:-261.67, Z:-1.83 [[-9.03461853e-01 -4.28664646e-01 -1.81713606e-03 -1.04362924e+02] [-4.28663844e-01 9.03463680e-01 -8.29904702e-04 -2.61671688e+02] [ 1.99746723e-03 2.91532888e-05 -9.99998005e-01 -1.82607395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.986559995 meters 0.014525338218503277 Centerline is valid? [True, True] Translation: X:-104.43, Y:-261.67, Z:-1.83 [[-8.69113572e-01 -4.94609761e-01 -1.66827215e-03 -1.04431336e+02] [-4.94608913e-01 8.69115173e-01 -9.16122346e-04 -2.61672811e+02] [ 1.90304369e-03 2.89279129e-05 -9.99998189e-01 -1.82571979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.016559995 meters 0.014250844424548825 Centerline is valid? [True, True] Translation: X:-104.50, Y:-261.68, Z:-1.83 [[-8.29724914e-01 -5.58171053e-01 -1.28178427e-03 -1.04504041e+02] [-5.58170432e-01 8.29725903e-01 -8.33145951e-04 -2.61683709e+02] [ 1.52856757e-03 2.41721290e-05 -9.99998832e-01 -1.82524617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.0465599949999 meters 0.014343412933094758 Centerline is valid? [True, True] Translation: X:-104.59, Y:-261.71, Z:-1.83 [[-7.85320363e-01 -6.19088689e-01 -1.05993483e-03 -1.04587337e+02] [-6.19088163e-01 7.85321077e-01 -8.07215867e-04 -2.61707105e+02] [ 1.33212737e-03 2.22700498e-05 -9.99999113e-01 -1.82546763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.0765599949999 meters 0.014259127844588668 Centerline is valid? [True, True] Translation: X:-104.67, Y:-261.74, Z:-1.83 [[-7.36736698e-01 -6.76178865e-01 -1.08608423e-03 -1.04667414e+02] [-6.76178178e-01 7.36737499e-01 -9.64386825e-04 -2.61736924e+02] [ 1.45225696e-03 2.38872877e-05 -9.99998945e-01 -1.82570246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.106559995 meters 0.014355831969670581 Centerline is valid? [True, True] Translation: X:-104.75, Y:-261.78, Z:-1.83 [[-6.83780147e-01 -7.29687397e-01 -1.00671702e-03 -1.04750048e+02] [-7.29686657e-01 6.83780888e-01 -1.03935128e-03 -2.61776918e+02] [ 1.44677539e-03 2.39002068e-05 -9.99998953e-01 -1.82590058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.136559995 meters 0.014178822313494214 Centerline is valid? [True, True] Translation: X:-104.83, Y:-261.83, Z:-1.83 [[-6.27035752e-01 -7.78989695e-01 -1.10479750e-03 -1.04833944e+02] [-7.78988562e-01 6.27036725e-01 -1.32881358e-03 -2.61829019e+02] [ 1.72788070e-03 2.74109932e-05 -9.99998507e-01 -1.82624633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.166559995 meters 0.014810910803975535 Centerline is valid? [True, True] Translation: X:-104.92, Y:-261.89, Z:-1.83 [[-5.66703548e-01 -8.23920653e-01 -1.35918501e-03 -1.04917883e+02] [-8.23918430e-01 5.66705176e-01 -1.91431419e-03 -2.61889170e+02] [ 2.34750018e-03 3.50089383e-05 -9.99997244e-01 -1.82690526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.1965599949999 meters 0.01409808349849048 Centerline is valid? [True, True] Translation: X:-105.00, Y:-261.96, Z:-1.83 [[-5.02692453e-01 -8.64464676e-01 -1.05914063e-03 -1.04995904e+02] [-8.64462883e-01 5.02693567e-01 -1.76122867e-03 -2.61959933e+02] [ 2.05494315e-03 3.02314037e-05 -9.99997888e-01 -1.82660487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.226559995 meters 0.01394698973310726 Centerline is valid? [True, True] Translation: X:-105.07, Y:-262.04, Z:-1.83 [[-4.35461783e-01 -9.00206930e-01 -7.21168070e-04 -1.05071351e+02] [-9.00205785e-01 4.35462379e-01 -1.43597599e-03 -2.62039944e+02] [ 1.60671710e-03 2.38870039e-05 -9.99998709e-01 -1.82607275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.256559995 meters 0.013594544525023643 Centerline is valid? [True, True] Translation: X:-105.14, Y:-262.13, Z:-1.82 [[-3.66117132e-01 -9.30568775e-01 -1.56170482e-05 -1.05141758e+02] [-9.30568775e-01 3.66117133e-01 -3.32232341e-05 -2.62127776e+02] [ 3.66341724e-05 2.36914224e-06 -9.99999999e-01 -1.82447567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.286559995 meters 0.013567724609518415 Centerline is valid? [True, True] Translation: X:-105.20, Y:-262.22, Z:-1.82 [[-2.94410307e-01 -9.55679106e-01 1.29093107e-04 -1.05204993e+02] [-9.55679020e-01 2.94410336e-01 4.07277155e-04 -2.62220426e+02] [-4.27232613e-04 -3.46498201e-06 -9.99999909e-01 -1.82412134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.3165599949999 meters 0.013457882197694815 Centerline is valid? [True, True] Translation: X:-105.26, Y:-262.32, Z:-1.82 [[-2.21410111e-01 -9.75180779e-01 1.08983160e-04 -1.05261314e+02] [-9.75180668e-01 2.21410138e-01 4.63806619e-04 -2.62319418e+02] [-4.76425277e-04 -3.58679557e-06 -9.99999887e-01 -1.82385000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.3465599949999 meters 0.012961768104029497 Centerline is valid? [True, True] Translation: X:-105.31, Y:-262.42, Z:-1.82 [[-1.48189303e-01 -9.88959008e-01 1.05783284e-04 -1.05307846e+02] [-9.88958777e-01 1.48189341e-01 6.75748998e-04 -2.62423156e+02] [-6.83964015e-04 -4.47653443e-06 -9.99999766e-01 -1.82412466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.376559995 meters 0.012815985145723227 Centerline is valid? [True, True] Translation: X:-105.35, Y:-262.53, Z:-1.82 [[-7.31941485e-02 -9.97317710e-01 3.83197456e-05 -1.05347841e+02] [-9.97317588e-01 7.31941585e-02 4.93909800e-04 -2.62532749e+02] [-4.95389774e-04 -2.06564897e-06 -9.99999877e-01 -1.82458264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.406559995 meters 0.012696102061060009 Centerline is valid? [True, True] Translation: X:-105.38, Y:-262.65, Z:-1.82 [[ 1.99061697e-03 -9.99998019e-01 -4.28088448e-07 -1.05379462e+02] [-9.99997967e-01 -1.99061700e-03 3.20618263e-04 -2.62645397e+02] [-3.20618481e-04 -2.10140583e-07 -9.99999949e-01 -1.82479853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.4365599949999 meters 0.01258149321883064 Centerline is valid? [True, True] Translation: X:-105.40, Y:-262.76, Z:-1.82 [[ 7.72948780e-02 -9.97008275e-01 -3.23796895e-05 -1.05401966e+02] [-9.97008187e-01 -7.72948848e-02 4.20551380e-04 -2.62761681e+02] [-4.21795991e-04 -2.23652074e-07 -9.99999911e-01 -1.82473752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.4665599949999 meters 0.012473169700199805 Centerline is valid? [True, True] Translation: X:-105.42, Y:-262.88, Z:-1.82 [[ 1.52062071e-01 -9.88370943e-01 -7.75740718e-05 -1.05415318e+02] [-9.88370815e-01 -1.52062091e-01 5.03216571e-04 -2.62879866e+02] [-5.09160713e-04 1.51794644e-07 -9.99999870e-01 -1.82463667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.496559995 meters 0.012312246722859733 Centerline is valid? [True, True] Translation: X:-105.42, Y:-263.00, Z:-1.82 [[ 2.24272092e-01 -9.74526555e-01 -1.49925354e-04 -1.05418212e+02] [-9.74526342e-01 -2.24272143e-01 6.43624247e-04 -2.62996944e+02] [-6.60853001e-04 1.75924999e-06 -9.99999782e-01 -1.82480945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.526559995 meters 0.012328682596133206 Centerline is valid? [True, True] Translation: X:-105.41, Y:-263.11, Z:-1.82 [[ 2.97039685e-01 -9.54865112e-01 -2.07167905e-04 -1.05414450e+02] [-9.54864887e-01 -2.97039757e-01 6.56643876e-04 -2.63111535e+02] [-6.88543433e-04 2.76806785e-06 -9.99999763e-01 -1.82486408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.5565599949999 meters 0.012377656317844604 Centerline is valid? [True, True] Translation: X:-105.40, Y:-263.23, Z:-1.82 [[ 3.68142664e-01 -9.29769273e-01 -2.78938644e-04 -1.05399172e+02] [-9.29769014e-01 -3.68142769e-01 6.93913057e-04 -2.63233022e+02] [-7.47868285e-04 3.88950696e-06 -9.99999720e-01 -1.82464256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.5865599949999 meters 0.01256050055006437 Centerline is valid? [True, True] Translation: X:-105.38, Y:-263.34, Z:-1.82 [[ 4.35638525e-01 -9.00121468e-01 -6.46805452e-04 -1.05377146e+02] [-9.00120511e-01 -4.35639005e-01 1.31273174e-03 -2.63343043e+02] [-1.46339171e-03 1.03263336e-05 -9.99998929e-01 -1.82473611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.616559995 meters 0.012812631471179088 Centerline is valid? [True, True] Translation: X:-105.35, Y:-263.46, Z:-1.82 [[ 5.01892001e-01 -8.64929904e-01 -8.25074892e-04 -1.05345897e+02] [-8.64928780e-01 -5.01892679e-01 1.39418242e-03 -2.63455694e+02] [-1.61996911e-03 1.39020183e-05 -9.99998688e-01 -1.82454612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.646559995 meters 0.013301471020019674 Centerline is valid? [True, True] Translation: X:-105.31, Y:-263.56, Z:-1.82 [[ 5.63918351e-01 -8.25829184e-01 -1.50086382e-03 -1.05309369e+02] [-8.25826398e-01 -5.63920347e-01 2.14516423e-03 -2.63559361e+02] [-2.61790687e-03 2.97554885e-05 -9.99996573e-01 -1.82400688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.6765599949999 meters 0.01350959280605487 Centerline is valid? [True, True] Translation: X:-105.27, Y:-263.66, Z:-1.82 [[ 6.24396970e-01 -7.81104997e-01 -1.84577820e-03 -1.05265882e+02] [-7.81101757e-01 -6.24399697e-01 2.25035235e-03 -2.63660682e+02] [-2.91026481e-03 3.66274067e-05 -9.99995765e-01 -1.82384940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.7065599949999 meters 0.013518889592739024 Centerline is valid? [True, True] Translation: X:-105.22, Y:-263.76, Z:-1.82 [[ 6.81073166e-01 -7.32212236e-01 -2.14117770e-03 -1.05216650e+02] [-7.32208816e-01 -6.81076530e-01 2.23838906e-03 -2.63757028e+02] [-3.09728173e-03 4.32824671e-05 -9.99995203e-01 -1.82383868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.736559995 meters 0.01415194050791642 Centerline is valid? [True, True] Translation: X:-105.16, Y:-263.85, Z:-1.82 [[ 7.33394776e-01 -6.79799537e-01 -2.16618135e-03 -1.05160480e+02] [-6.79796758e-01 -7.33397974e-01 1.94411384e-03 -2.63845926e+02] [-2.91028070e-03 4.67601285e-05 -9.99995764e-01 -1.82418921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.766559995 meters 0.014695666948287858 Centerline is valid? [True, True] Translation: X:-105.16, Y:-263.85, Z:-1.82 [[ 7.83985255e-01 -6.20774387e-01 -2.50604691e-03 -1.05161553e+02] [-6.20771427e-01 -7.83989259e-01 1.91771577e-03 -2.63850786e+02] [-3.15518269e-03 5.22214271e-05 -9.99995021e-01 -1.82393803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.7965599949999 meters 0.014431614939115128 Centerline is valid? [True, True] Translation: X:-105.16, Y:-263.86, Z:-1.82 [[ 8.30119687e-01 -5.57578281e-01 -2.78666702e-03 -1.05162632e+02] [-5.57575360e-01 -8.30124363e-01 1.80579397e-03 -2.63857789e+02] [-3.32015168e-03 5.47517405e-05 -9.99994487e-01 -1.82383394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.8265599949999 meters 0.01417937860643126 Centerline is valid? [True, True] Translation: X:-105.16, Y:-263.86, Z:-1.82 [[ 8.71745233e-01 -4.89950027e-01 -3.03636570e-03 -1.05163463e+02] [-4.89947264e-01 -8.71750520e-01 1.64609026e-03 -2.63863793e+02] [-3.45345534e-03 5.26877289e-05 -9.99994036e-01 -1.82363541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.856559995 meters 0.013462338749227632 Centerline is valid? [True, True] Translation: X:-105.17, Y:-263.88, Z:-1.82 [[ 9.08004217e-01 -4.18951162e-01 -2.87517827e-03 -1.05165185e+02] [-4.18949212e-01 -9.08008768e-01 1.27875790e-03 -2.63875693e+02] [-3.14642418e-03 4.34361038e-05 -9.99995049e-01 -1.82412000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.886559995 meters 0.013274189290762567 Centerline is valid? [True, True] Translation: X:-105.17, Y:-263.89, Z:-1.82 [[ 9.38547777e-01 -3.45137614e-01 -2.84575926e-03 -1.05166525e+02] [-3.45136146e-01 -9.38552090e-01 1.00745073e-03 -2.63885153e+02] [-3.01860245e-03 3.66337371e-05 -9.99995443e-01 -1.82433655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.916559995 meters 0.012624096661405222 Centerline is valid? [True, True] Translation: X:-105.17, Y:-263.90, Z:-1.83 [[ 9.63718106e-01 -2.66913560e-01 -2.13630052e-03 -1.05167226e+02] [-2.66912947e-01 -9.63720474e-01 5.72395612e-04 -2.63898291e+02] [-2.21157670e-03 1.85782522e-05 -9.99997554e-01 -1.82501446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.9465599949999 meters 0.012469535765180863 Centerline is valid? [True, True] Translation: X:-105.17, Y:-263.91, Z:-1.82 [[ 9.82038814e-01 -1.88669160e-01 -1.92747011e-03 -1.05167020e+02] [-1.88668821e-01 -9.82040706e-01 3.57676719e-04 -2.63908862e+02] [-1.96033668e-03 1.24010922e-05 -9.99998079e-01 -1.82495452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.976559995 meters 0.012325170131769491 Centerline is valid? [True, True] Translation: X:-105.17, Y:-263.92, Z:-1.82 [[ 9.94021681e-01 -1.09164522e-01 -2.00121831e-03 -1.05167842e+02] [-1.09164318e-01 -9.94023696e-01 2.11199106e-04 -2.63918917e+02] [-2.01231387e-03 8.52514125e-06 -9.99997975e-01 -1.82480926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.006559995 meters 0.012290352834210804 Centerline is valid? [True, True] Translation: X:-105.17, Y:-263.93, Z:-1.82 [[ 9.99569983e-01 -2.92501484e-02 -2.06850167e-03 -1.05168212e+02] [-2.92500962e-02 -9.99572123e-01 5.54782671e-05 -2.63927927e+02] [-2.06923936e-03 5.04946251e-06 -9.99997859e-01 -1.82485499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.036559995 meters 0.0121986552075056 Centerline is valid? [True, True] Translation: X:-105.17, Y:-263.94, Z:-1.82 [[ 9.98619578e-01 5.24465388e-02 -2.88083791e-03 -1.05167935e+02] [ 5.24463301e-02 -9.98623733e-01 -1.48018359e-04 -2.63938421e+02] [-2.88463616e-03 -3.27534439e-06 -9.99995840e-01 -1.82421691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.0665599949999 meters 0.012326080776105083 Centerline is valid? [True, True] Translation: X:-105.17, Y:-263.95, Z:-1.82 [[ 9.91274426e-01 1.31772209e-01 -3.33132463e-03 -1.05168054e+02] [ 1.31771494e-01 -9.91280023e-01 -4.34254688e-04 -2.63946634e+02] [-3.35949825e-03 -8.50805712e-06 -9.99994357e-01 -1.82359976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.0965599949999 meters 0.0125523942179562 Centerline is valid? [True, True] Translation: X:-105.17, Y:-263.95, Z:-1.82 [[ 9.77469814e-01 2.11042765e-01 -3.70331669e-03 -1.05167291e+02] [ 2.11041319e-01 -9.77476829e-01 -7.81351133e-04 -2.63952569e+02] [-3.78480475e-03 -1.78056914e-05 -9.99992838e-01 -1.82300419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.126559995 meters 0.012738210242912778 Centerline is valid? [True, True] Translation: X:-105.17, Y:-263.95, Z:-1.82 [[ 9.57732064e-01 2.87634889e-01 -3.93243167e-03 -1.05165909e+02] [ 2.87632562e-01 -9.57740137e-01 -1.15732567e-03 -2.63954256e+02] [-4.09913488e-03 -2.26874943e-05 -9.99991598e-01 -1.82281264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.156559995 meters 0.012503558760253273 Centerline is valid? [True, True] Translation: X:-105.16, Y:-263.96, Z:-1.82 [[ 9.32189555e-01 3.61949867e-01 -3.86367032e-03 -1.05163164e+02] [ 3.61946864e-01 -9.32197561e-01 -1.47463783e-03 -2.63960670e+02] [-4.13544902e-03 -2.38013739e-05 -9.99991449e-01 -1.82320645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.1865599949999 meters 0.01242925662934749 Centerline is valid? [True, True] Translation: X:-105.16, Y:-263.97, Z:-1.82 [[ 9.01249229e-01 4.33282723e-01 -3.98876262e-03 -1.05159228e+02] [ 4.33278591e-01 -9.01258055e-01 -1.89228480e-03 -2.63966977e+02] [-4.41479876e-03 -2.28252301e-05 -9.99990255e-01 -1.82296464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.2165599949999 meters 0.012441053255553978 Centerline is valid? [True, True] Translation: X:-105.16, Y:-263.97, Z:-1.82 [[ 8.65023841e-01 5.01718772e-01 -3.46808703e-03 -1.05156372e+02] [ 5.01714818e-01 -8.65030793e-01 -1.99202994e-03 -2.63972305e+02] [-3.99944090e-03 -1.68372611e-05 -9.99992002e-01 -1.82268616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.246559995 meters 0.01230357573340406 Centerline is valid? [True, True] Translation: X:-105.15, Y:-263.97, Z:-1.82 [[ 8.23809948e-01 5.66853999e-01 -3.70313088e-03 -1.05153278e+02] [ 5.66848345e-01 -8.23818271e-01 -2.53176663e-03 -2.63974873e+02] [-4.48584892e-03 -1.34190741e-05 -9.99989939e-01 -1.82250928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.276559995 meters 0.012253386399108031 Centerline is valid? [True, True] Translation: X:-105.15, Y:-263.98, Z:-1.82 [[ 7.77864330e-01 6.28421022e-01 -3.75532176e-03 -1.05150838e+02] [ 6.28413744e-01 -7.77873395e-01 -3.02443231e-03 -2.63977185e+02] [-4.82178173e-03 -7.29779403e-06 -9.99988375e-01 -1.82267618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.3065599949999 meters 0.012330831201936987 Centerline is valid? [True, True] Translation: X:-105.15, Y:-263.98, Z:-1.82 [[ 7.28294485e-01 6.85254093e-01 -3.73777222e-03 -1.05150438e+02] [ 6.85245018e-01 -7.28304076e-01 -3.52668306e-03 -2.63978624e+02] [-5.13890875e-03 7.17403523e-06 -9.99986796e-01 -1.82168818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.3365599949999 meters 0.012294858219455843 Centerline is valid? [True, True] Translation: X:-105.15, Y:-263.98, Z:-1.82 [[ 6.73128789e-01 7.39515794e-01 -3.74486544e-03 -1.05145781e+02] [ 7.39504242e-01 -6.73139206e-01 -4.13347751e-03 -2.63983168e+02] [-5.57758765e-03 1.30188268e-05 -9.99984445e-01 -1.82202499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.366559995 meters 0.012355263489743456 Centerline is valid? [True, True] Translation: X:-105.14, Y:-263.99, Z:-1.82 [[ 6.13743593e-01 7.89497904e-01 -3.44401141e-03 -1.05139863e+02] [ 7.89485318e-01 -6.13753256e-01 -4.45802719e-03 -2.63987660e+02] [-5.63337634e-03 1.70891790e-05 -9.99984132e-01 -1.82158947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.396559995 meters 0.012423472094832253 Centerline is valid? [True, True] Translation: X:-105.14, Y:-263.99, Z:-1.82 [[ 5.50436374e-01 8.34870392e-01 -3.35084582e-03 -1.05135393e+02] [ 8.34854684e-01 -5.50446572e-01 -5.12124919e-03 -2.63992747e+02] [-6.12004091e-03 2.14525043e-05 -9.99981272e-01 -1.82090597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.4265599949999 meters 0.01238248381321581 Centerline is valid? [True, True] Translation: X:-105.13, Y:-264.00, Z:-1.82 [[ 4.83310057e-01 8.75444072e-01 -3.01094349e-03 -1.05129814e+02] [ 8.75426808e-01 -4.83319435e-01 -5.49790609e-03 -2.63996633e+02] [-6.26835680e-03 2.13326612e-05 -9.99980354e-01 -1.82081354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.4565599949999 meters 0.012443286574634067 Centerline is valid? [True, True] Translation: X:-105.13, Y:-264.00, Z:-1.82 [[ 4.12746146e-01 9.10842218e-01 -2.65966331e-03 -1.05125615e+02] [ 9.10823021e-01 -4.12754715e-01 -5.91353632e-03 -2.64000903e+02] [-6.48408711e-03 1.83067575e-05 -9.99978978e-01 -1.82028959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.486559995 meters 0.012402568290766062 Centerline is valid? [True, True] Translation: X:-105.12, Y:-264.00, Z:-1.82 [[ 3.39499801e-01 9.40603552e-01 -2.20086809e-03 -1.05121459e+02] [ 9.40583520e-01 -3.39506934e-01 -6.13864886e-03 -2.64003169e+02] [-6.52124489e-03 1.39698047e-05 -9.99978736e-01 -1.82028093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.516559995 meters 0.012362628245181589 Centerline is valid? [True, True] Translation: X:-105.12, Y:-264.01, Z:-1.82 [[ 2.62875379e-01 9.64828253e-01 -1.72566606e-03 -1.05117120e+02] [ 9.64807443e-01 -2.62881043e-01 -6.33677165e-03 -2.64005411e+02] [-6.56754121e-03 8.45792657e-07 -9.99978434e-01 -1.82027392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.5465599949999 meters 0.01236958803110122 Centerline is valid? [True, True] Translation: X:-105.11, Y:-264.01, Z:-1.82 [[ 1.85309044e-01 9.82679548e-01 -1.20965894e-03 -1.05113763e+02] [ 9.82658861e-01 -1.85312992e-01 -6.37638706e-03 -2.64008578e+02] [-6.49011068e-03 -7.07988150e-06 -9.99978939e-01 -1.82032236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.5765599949999 meters 0.01240859174679843 Centerline is valid? [True, True] Translation: X:-105.11, Y:-264.01, Z:-1.82 [[ 1.06354562e-01 9.94328043e-01 -6.70419771e-04 -1.05110545e+02] [ 9.94309190e-01 -1.06356674e-01 -6.12304992e-03 -2.64010492e+02] [-6.15962386e-03 -1.53902457e-05 -9.99981029e-01 -1.82055787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.606559995 meters 0.012527301468822753 Centerline is valid? [True, True] Translation: X:-105.11, Y:-264.01, Z:-1.82 [[ 2.65281161e-02 9.99648051e-01 -1.81802529e-04 -1.05107505e+02] [ 9.99630428e-01 -2.65287279e-02 -5.93579632e-03 -2.64011512e+02] [-5.93853022e-03 -2.42698462e-05 -9.99982367e-01 -1.82064193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.636559995 meters 0.013078245139199283 Centerline is valid? [True, True] Translation: X:-105.10, Y:-264.01, Z:-1.82 [[-5.56787762e-02 9.98448695e-01 2.77840195e-04 -1.05103923e+02] [ 9.98431800e-01 5.56794504e-02 -5.80856029e-03 -2.64013290e+02] [-5.81501943e-03 -4.60090422e-05 -9.99983092e-01 -1.82075174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.666559995 meters 0.013480034105766854 Centerline is valid? [True, True] Translation: X:-105.10, Y:-264.01, Z:-1.82 [[-1.35846272e-01 9.90729627e-01 7.72677284e-04 -1.05101947e+02] [ 9.90710903e-01 1.35848455e-01 -6.09135471e-03 -2.64014858e+02] [-6.13985260e-03 -6.19880198e-05 -9.99981149e-01 -1.82082723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.6965599949999 meters 0.013672671048351773 Centerline is valid? [True, True] Translation: X:-105.09, Y:-264.01, Z:-1.82 [[-2.17475043e-01 9.76064968e-01 1.33551215e-03 -1.05092291e+02] [ 9.76043747e-01 2.17479122e-01 -6.43703985e-03 -2.64013739e+02] [-6.57341510e-03 -9.63772371e-05 -9.99978390e-01 -1.82159027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.726559995 meters 0.014888603671792454 Centerline is valid? [True, True] Translation: X:-105.08, Y:-264.01, Z:-1.82 [[-2.95323774e-01 9.55395615e-01 1.75714830e-03 -1.05081289e+02] [ 9.55376510e-01 2.95328982e-01 -6.04286188e-03 -2.64012827e+02] [-6.29226056e-03 -1.05862562e-04 -9.99980198e-01 -1.82110382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.756559995 meters 0.014818524979309515 Centerline is valid? [True, True] Translation: X:-105.07, Y:-264.01, Z:-1.82 [[-3.70553070e-01 9.28809016e-01 2.05751814e-03 -1.05074979e+02] [ 9.28793073e-01 3.70558768e-01 -5.44318036e-03 -2.64011773e+02] [-5.81810639e-03 -1.05978597e-04 -9.99983069e-01 -1.82169362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.786559995 meters 0.015139413376600044 Centerline is valid? [True, True] Translation: X:-105.07, Y:-264.01, Z:-1.82 [[-4.43757599e-01 8.96143531e-01 2.44227067e-03 -1.05067525e+02] [ 8.96128510e-01 4.43764305e-01 -5.18988861e-03 -2.64009658e+02] [-5.73467765e-03 -1.14464132e-04 -9.99983550e-01 -1.82192198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.8165599949999 meters 0.015566625595220136 Centerline is valid? [True, True] Translation: X:-105.06, Y:-264.01, Z:-1.82 [[-5.12637980e-01 8.58600379e-01 2.77331855e-03 -1.05060900e+02] [ 8.58586614e-01 5.12645469e-01 -4.86305010e-03 -2.64008267e+02] [-5.59714585e-03 -1.11849998e-04 -9.99984330e-01 -1.82173642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.8465599949999 meters 0.015566625595220136 Centerline is valid? [True, True] Translation: X:-105.06, Y:-264.01, Z:-1.82 [[-5.78290562e-01 8.15824816e-01 3.14560705e-03 -1.05056355e+02] [ 8.15811680e-01 5.78299107e-01 -4.63102947e-03 -2.64006701e+02] [-5.59721051e-03 -1.11857663e-04 -9.99984329e-01 -1.82173587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.876559995 meters 0.015107655364129934 Centerline is valid? [True, True] Translation: X:-105.05, Y:-264.00, Z:-1.82 [[-6.40312713e-01 7.68106457e-01 3.47857108e-03 -1.05052472e+02] [ 7.68094173e-01 6.40322152e-01 -4.34535647e-03 -2.64003758e+02] [-5.56510248e-03 -1.10516809e-04 -9.99984509e-01 -1.82218276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.906559995 meters 0.014938063435351865 Centerline is valid? [True, True] Translation: X:-105.05, Y:-264.00, Z:-1.82 [[-6.97839496e-01 7.16244855e-01 3.65321602e-03 -1.05049142e+02] [ 7.16234275e-01 6.97849051e-01 -3.89440460e-03 -2.64002083e+02] [-5.33874059e-03 -1.01110821e-04 -9.99985744e-01 -1.82208852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.9365599949999 meters 0.014858439651579333 Centerline is valid? [True, True] Translation: X:-105.05, Y:-264.00, Z:-1.82 [[-7.51464784e-01 6.59761006e-01 4.01153671e-03 -1.05045127e+02] [ 6.59750889e-01 7.51475485e-01 -3.65524751e-03 -2.63999421e+02] [-5.42616127e-03 -1.00174875e-04 -9.99985273e-01 -1.82200378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.9665599949999 meters 0.014654291968680774 Centerline is valid? [True, True] Translation: X:-105.02, Y:-263.98, Z:-1.82 [[-7.95759391e-01 6.05599552e-01 4.02184569e-03 -1.05023298e+02] [ 6.05591239e-01 7.95769549e-01 -3.17438895e-03 -2.63983198e+02] [-5.12287085e-03 -9.04553038e-05 -9.99986874e-01 -1.82173290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.996559995 meters 0.01459433682526854 Centerline is valid? [True, True] Translation: X:-104.60, Y:-263.46, Z:-2.77 [[-7.29927044e-01 -6.83512082e-01 4.21238177e-03 -1.04601483e+02] [ 6.83501723e-01 -7.29939187e-01 -3.76547693e-03 -2.63458350e+02] [ 5.64853150e-03 1.30646754e-04 9.99984038e-01 -2.76808227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.026559995 meters 0.014485231368939248 Centerline is valid? [True, True] Translation: X:-105.06, Y:-263.96, Z:-1.82 [[-7.96931532e-01 6.04050830e-01 4.76748282e-03 -1.05058520e+02] [ 6.04039285e-01 7.96945786e-01 -3.73585263e-03 -2.63960786e+02] [-6.05607023e-03 -9.74718471e-05 -9.99981657e-01 -1.82022014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.0565599949999 meters 0.014409763069653003 Centerline is valid? [True, True] Translation: X:-104.63, Y:-263.43, Z:-2.77 [[-7.32974966e-01 -6.80237675e-01 4.94017709e-03 -1.04634551e+02] [ 6.80223494e-01 -7.32991600e-01 -4.39453325e-03 -2.63429495e+02] [ 6.61043539e-03 1.39341665e-04 9.99978141e-01 -2.76928241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.0865599949999 meters 0.01448991148012413 Centerline is valid? [True, True] Translation: X:-104.65, Y:-263.45, Z:-2.77 [[-6.85588658e-01 -7.27973115e-01 4.83069531e-03 -1.04651462e+02] [ 7.27956168e-01 -6.85605667e-01 -4.96855110e-03 -2.63452412e+02] [ 6.92892371e-03 1.10152166e-04 9.99975989e-01 -2.76949511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.116559995 meters 0.014746064812758891 Centerline is valid? [True, True] Translation: X:-104.67, Y:-263.43, Z:-2.77 [[-6.85592179e-01 -7.27967338e-01 5.18841366e-03 -1.04667356e+02] [ 7.27947802e-01 -6.85611801e-01 -5.33443290e-03 -2.63431883e+02] [ 7.44053055e-03 1.19648846e-04 9.99972312e-01 -2.76984053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.146559995 meters 0.01502424922723916 Centerline is valid? [True, True] Translation: X:-104.69, Y:-263.41, Z:-2.77 [[-6.85414174e-01 -7.28134207e-01 5.29024091e-03 -1.04685024e+02] [ 7.28113928e-01 -6.85434578e-01 -5.43573381e-03 -2.63412837e+02] [ 7.58405777e-03 1.26169086e-04 9.99971233e-01 -2.77006991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.1765599949999 meters 0.01558387931119901 Centerline is valid? [True, True] Translation: X:-104.70, Y:-263.39, Z:-2.77 [[-6.84154584e-01 -7.29321153e-01 4.81267203e-03 -1.04704076e+02] [ 7.29304417e-01 -6.84171499e-01 -4.94241378e-03 -2.63392505e+02] [ 6.89729995e-03 1.28527926e-04 9.99976205e-01 -2.77009392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.2065599949999 meters 0.016669994882326032 Centerline is valid? [True, True] Translation: X:-104.72, Y:-263.37, Z:-2.77 [[-6.83432803e-01 -7.29995692e-01 5.08861813e-03 -1.04723961e+02] [ 7.29977022e-01 -6.83451731e-01 -5.22288179e-03 -2.63374157e+02] [ 7.29050608e-03 1.45085566e-04 9.99973413e-01 -2.77103542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.236559995 meters 0.017354620510082564 Centerline is valid? [True, True] Translation: X:-104.74, Y:-263.35, Z:-2.77 [[-6.82562763e-01 -7.30809034e-01 5.12159228e-03 -1.04742946e+02] [ 7.30790166e-01 -6.82581960e-01 -5.25369961e-03 -2.63354909e+02] [ 7.33535763e-03 1.56829549e-04 9.99973084e-01 -2.77129955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.266559995 meters 0.018293614229918424 Centerline is valid? [True, True] Translation: X:-104.76, Y:-263.33, Z:-2.77 [[-6.81075092e-01 -7.32196410e-01 5.01370910e-03 -1.04760660e+02] [ 7.32178388e-01 -6.81093524e-01 -5.14006918e-03 -2.63334324e+02] [ 7.17834500e-03 1.70156358e-04 9.99974221e-01 -2.77116026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.2965599949999 meters 0.01600733668052796 Centerline is valid? [True, True] Translation: X:-104.78, Y:-263.31, Z:-2.77 [[-6.80659481e-01 -7.32585124e-01 4.65904908e-03 -1.04776237e+02] [ 7.32569589e-01 -6.80675406e-01 -4.77376257e-03 -2.63310210e+02] [ 6.66848757e-03 1.63770921e-04 9.99977752e-01 -2.76947163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.3265599949999 meters 0.019378161219759455 Centerline is valid? [True, True] Translation: X:-104.80, Y:-263.29, Z:-2.77 [[-6.80477236e-01 -7.32755925e-01 4.41420071e-03 -1.04797410e+02] [ 7.32742003e-01 -6.80491535e-01 -4.51985893e-03 -2.63294794e+02] [ 6.31577963e-03 1.58809157e-04 9.99980043e-01 -2.77053995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.356559995 meters 0.016517231879236385 Centerline is valid? [True, True] Translation: X:-104.81, Y:-263.27, Z:-2.77 [[-6.80026634e-01 -7.33178961e-01 3.51976614e-03 -1.04812015e+02] [ 7.33170125e-01 -6.80035730e-01 -3.60197474e-03 -2.63269294e+02] [ 5.03445883e-03 1.31148625e-04 9.99987319e-01 -2.76862148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.386559995 meters 0.019464567301496295 Centerline is valid? [True, True] Translation: X:-104.83, Y:-263.25, Z:-2.77 [[-6.80192298e-01 -7.33026364e-01 3.28453412e-03 -1.04833488e+02] [ 7.33018678e-01 -6.80200217e-01 -3.35901181e-03 -2.63253401e+02] [ 4.69638503e-03 1.22850897e-04 9.99988964e-01 -2.76936354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.416559995 meters 0.01754773525202211 Centerline is valid? [True, True] Translation: X:-104.85, Y:-263.23, Z:-2.77 [[-6.80483076e-01 -7.32757132e-01 3.12556531e-03 -1.04849906e+02] [ 7.32750178e-01 -6.80490244e-01 -3.19448480e-03 -2.63230963e+02] [ 4.46769822e-03 1.16465692e-04 9.99990013e-01 -2.76902956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.4465599949999 meters 0.016352554764807375 Centerline is valid? [True, True] Translation: X:-104.87, Y:-263.21, Z:-2.77 [[-6.81583431e-01 -7.31733048e-01 3.28220722e-03 -1.04866180e+02] [ 7.31725378e-01 -6.81591324e-01 -3.35247220e-03 -2.63208282e+02] [ 4.69023866e-03 1.16684818e-04 9.99988994e-01 -2.76900573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.476559995 meters 0.0162669444992936 Centerline is valid? [True, True] Translation: X:-104.88, Y:-263.19, Z:-2.77 [[-6.82853421e-01 -7.30546278e-01 3.65255666e-03 -1.04883752e+02] [ 7.30536775e-01 -6.82863179e-01 -3.72829025e-03 -2.63188749e+02] [ 5.21788502e-03 1.22451212e-04 9.99986379e-01 -2.76943477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.506559995 meters 0.015768228134497627 Centerline is valid? [True, True] Translation: X:-104.90, Y:-263.17, Z:-2.77 [[-6.84135621e-01 -7.29344979e-01 3.78856727e-03 -1.04902220e+02] [ 7.29334748e-01 -6.84146101e-01 -3.86499046e-03 -2.63167220e+02] [ 5.41084492e-03 1.18956106e-04 9.99985354e-01 -2.77010799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.536559995 meters 0.0154033427646682 Centerline is valid? [True, True] Translation: X:-104.92, Y:-263.15, Z:-2.77 [[-6.85777584e-01 -7.27801121e-01 3.82535158e-03 -1.04920330e+02] [ 7.27790678e-01 -6.85788245e-01 -3.90039503e-03 -2.63146898e+02] [ 5.46209302e-03 1.09251735e-04 9.99985077e-01 -2.77060389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.5665599949999 meters 0.014370345399504915 Centerline is valid? [True, True] Translation: X:-104.94, Y:-263.13, Z:-2.77 [[-6.88754374e-01 -7.24983334e-01 4.07159662e-03 -1.04937229e+02] [ 7.24971466e-01 -6.88766402e-01 -4.14932738e-03 -2.63125608e+02] [ 5.81257215e-03 9.39239858e-05 9.99983103e-01 -2.77097300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.5965599949999 meters 0.013704304709351032 Centerline is valid? [True, True] Translation: X:-104.96, Y:-263.11, Z:-2.77 [[-6.90242963e-01 -7.23566605e-01 4.00259037e-03 -1.04955555e+02] [ 7.23555126e-01 -6.90254563e-01 -4.07649501e-03 -2.63105237e+02] [ 5.71242192e-03 8.23227856e-05 9.99983681e-01 -2.77107522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.626559995 meters 0.013572368152462265 Centerline is valid? [True, True] Translation: X:-104.98, Y:-263.09, Z:-2.77 [[-6.90923684e-01 -7.22917333e-01 3.87209897e-03 -1.04975612e+02] [ 7.22906594e-01 -6.90934530e-01 -3.94118538e-03 -2.63086532e+02] [ 5.52451810e-03 7.61075481e-05 9.99984737e-01 -2.77109115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.656559995 meters 0.013637522292541556 Centerline is valid? [True, True] Translation: X:-105.00, Y:-263.07, Z:-2.77 [[-6.91646494e-01 -7.22226070e-01 3.82508079e-03 -1.04995421e+02] [ 7.22215593e-01 -6.91657067e-01 -3.89083767e-03 -2.63069043e+02] [ 5.45570856e-03 7.14487657e-05 9.99985115e-01 -2.77143552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.6865599949999 meters 0.013029885124626828 Centerline is valid? [True, True] Translation: X:-105.01, Y:-263.05, Z:-2.77 [[-6.92993306e-01 -7.20932139e-01 4.13883306e-03 -1.05013758e+02] [ 7.20919864e-01 -6.93005662e-01 -4.20739901e-03 -2.63049164e+02] [ 5.90148391e-03 6.80676194e-05 9.99982584e-01 -2.77137322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.7165599949999 meters 0.012692581305566289 Centerline is valid? [True, True] Translation: X:-105.03, Y:-263.03, Z:-2.77 [[-6.94272883e-01 -7.19698912e-01 4.31750735e-03 -1.05032310e+02] [ 7.19685548e-01 -6.94286305e-01 -4.38632535e-03 -2.63028768e+02] [ 6.15441981e-03 6.19408941e-05 9.99981060e-01 -2.77113042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.746559995 meters 0.012153229266403252 Centerline is valid? [True, True] Translation: X:-105.05, Y:-263.01, Z:-2.77 [[-6.97420146e-01 -7.16647406e-01 4.65153392e-03 -1.05049304e+02] [ 7.16631843e-01 -6.97435656e-01 -4.72310369e-03 -2.63006360e+02] [ 6.62894562e-03 3.94496659e-05 9.99978028e-01 -2.77103199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.776559995 meters 0.012002436199105479 Centerline is valid? [True, True] Translation: X:-105.07, Y:-262.99, Z:-2.77 [[-6.99123632e-01 -7.14984860e-01 4.77474391e-03 -1.05066915e+02] [ 7.14968443e-01 -6.99139936e-01 -4.84525622e-03 -2.62985879e+02] [ 6.80249899e-03 2.63580857e-05 9.99976862e-01 -2.77071437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.8065599949999 meters 0.011826784246955772 Centerline is valid? [True, True] Translation: X:-105.09, Y:-262.96, Z:-2.77 [[-7.00889489e-01 -7.13255540e-01 4.52310821e-03 -1.05085866e+02] [ 7.13240788e-01 -7.00904084e-01 -4.58732182e-03 -2.62964454e+02] [ 6.44219772e-03 1.08596223e-05 9.99979249e-01 -2.77009346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.8365599949999 meters 0.01187382827336268 Centerline is valid? [True, True] Translation: X:-105.10, Y:-262.94, Z:-2.77 [[-7.03831499e-01 -7.10354076e-01 4.27885387e-03 -1.05104814e+02] [ 7.10340835e-01 -7.03844505e-01 -4.33715528e-03 -2.62943308e+02] [ 6.09256372e-03 -1.31818695e-05 9.99981440e-01 -2.76986270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.866559995 meters 0.011933350404766542 Centerline is valid? [True, True] Translation: X:-105.12, Y:-262.92, Z:-2.77 [[-7.05014825e-01 -7.09178839e-01 4.41260838e-03 -1.05122753e+02] [ 7.09164753e-01 -7.05028634e-01 -4.46976550e-03 -2.62924246e+02] [ 6.28087836e-03 -2.19846136e-05 9.99980275e-01 -2.77049963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.896559995 meters 0.012006049119871002 Centerline is valid? [True, True] Translation: X:-105.14, Y:-262.90, Z:-2.77 [[-7.06037691e-01 -7.08156528e-01 5.01101153e-03 -1.05141907e+02] [ 7.08138360e-01 -7.06055473e-01 -5.07276806e-03 -2.62904897e+02] [ 7.13036593e-03 -3.30759579e-05 9.99974578e-01 -2.77033520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.9265599949999 meters 0.012342145665987157 Centerline is valid? [True, True] Translation: X:-105.16, Y:-262.89, Z:-2.77 [[-7.06953547e-01 -7.07232735e-01 6.20817682e-03 -1.05160955e+02] [ 7.07204845e-01 -7.06980803e-01 -6.28103048e-03 -2.62885293e+02] [ 8.83121220e-03 -4.99440547e-05 9.99961003e-01 -2.77200200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.9565599949999 meters 0.012050023383886388 Centerline is valid? [True, True] Translation: X:-105.18, Y:-262.87, Z:-2.77 [[-7.06936487e-01 -7.07245999e-01 6.62579705e-03 -1.05181025e+02] [ 7.07214270e-01 -7.06967535e-01 -6.69934583e-03 -2.62866901e+02] [ 9.42230893e-03 -5.01537795e-05 9.99955608e-01 -2.77052272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.986559995 meters 0.012073270345160326 Centerline is valid? [True, True] Translation: X:-105.20, Y:-262.85, Z:-2.77 [[-7.06763194e-01 -7.07414104e-01 7.14651861e-03 -1.05200239e+02] [ 7.07377237e-01 -7.06799323e-01 -7.22234463e-03 -2.62848389e+02] [ 1.01603430e-02 -4.92027682e-05 9.99948381e-01 -2.77062403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.016559995 meters 0.012091952900229404 Centerline is valid? [True, True] Translation: X:-105.22, Y:-262.83, Z:-2.77 [[-7.06404748e-01 -7.07767795e-01 7.55516378e-03 -1.05220248e+02] [ 7.07726662e-01 -7.06445147e-01 -7.63061060e-03 -2.62829709e+02] [ 1.07380092e-02 -4.33087145e-05 9.99942345e-01 -2.77060203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.0465599949999 meters 0.012058172757291364 Centerline is valid? [True, True] Translation: X:-105.24, Y:-262.81, Z:-2.77 [[-7.04403782e-01 -7.09748085e-01 8.54217130e-03 -1.05241455e+02] [ 7.09695714e-01 -7.04455574e-01 -8.62190140e-03 -2.62813247e+02] [ 1.21369582e-02 -1.09575870e-05 9.99926344e-01 -2.77143906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.0765599949999 meters 0.012083935934653005 Centerline is valid? [True, True] Translation: X:-105.26, Y:-262.80, Z:-2.77 [[-7.03305625e-01 -7.10832399e-01 8.85995342e-03 -1.05261938e+02] [ 7.10776215e-01 -7.03361429e-01 -8.93711526e-03 -2.62795399e+02] [ 1.25845406e-02 1.19207278e-05 9.99920812e-01 -2.77079122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.106559995 meters 0.012031477654553683 Centerline is valid? [True, True] Translation: X:-105.28, Y:-262.78, Z:-2.77 [[-7.02043707e-01 -7.12072355e-01 9.35918862e-03 -1.05283108e+02] [ 7.12009841e-01 -7.02106089e-01 -9.43538267e-03 -2.62776526e+02] [ 1.32898185e-02 3.97833748e-05 9.99911686e-01 -2.77036609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.136559995 meters 0.01238883447205946 Centerline is valid? [True, True] Translation: X:-105.30, Y:-262.76, Z:-2.77 [[-6.98962260e-01 -7.15087518e-01 1.00796857e-02 -1.05304225e+02] [ 7.15015407e-01 -6.99034927e-01 -1.01557129e-02 -2.62759812e+02] [ 1.43082759e-02 1.08670501e-04 9.99897626e-01 -2.77038838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.166559995 meters 0.012850683342608993 Centerline is valid? [True, True] Translation: X:-105.32, Y:-262.74, Z:-2.77 [[-6.97657959e-01 -7.16357942e-01 1.02309278e-02 -1.05324528e+02] [ 7.16283874e-01 -6.97732957e-01 -1.03020316e-02 -2.62741864e+02] [ 1.45183977e-02 1.40954279e-04 9.99894593e-01 -2.77074343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.1965599949999 meters 0.013294605681516867 Centerline is valid? [True, True] Translation: X:-105.35, Y:-262.72, Z:-2.77 [[-6.95115275e-01 -7.18830725e-01 9.85616865e-03 -1.05345545e+02] [ 7.18762309e-01 -6.95185122e-01 -9.91914022e-03 -2.62723114e+02] [ 1.39820446e-02 1.89296666e-04 9.99902229e-01 -2.76842361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.226559995 meters 0.013664315438040595 Centerline is valid? [True, True] Translation: X:-105.37, Y:-262.70, Z:-2.77 [[-6.93806596e-01 -7.20092845e-01 9.93486622e-03 -1.05366512e+02] [ 7.20023541e-01 -6.93877688e-01 -9.99274222e-03 -2.62704081e+02] [ 1.40892842e-02 2.20307097e-04 9.99900717e-01 -2.76747658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.256559995 meters 0.014409689304301924 Centerline is valid? [True, True] Translation: X:-105.39, Y:-262.69, Z:-2.77 [[-6.92533678e-01 -7.21316819e-01 9.95747521e-03 -1.05387119e+02] [ 7.21247409e-01 -6.92605215e-01 -1.00095601e-02 -2.62686610e+02] [ 1.41166633e-02 2.49845739e-04 9.99900324e-01 -2.76764195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.286559995 meters 0.014989744256012497 Centerline is valid? [True, True] Translation: X:-105.41, Y:-262.67, Z:-2.77 [[-6.91236201e-01 -7.22555493e-01 1.02991898e-02 -1.05408301e+02] [ 7.22481457e-01 -6.91312864e-01 -1.03473682e-02 -2.62667644e+02] [ 1.45965102e-02 2.88498164e-04 9.99893424e-01 -2.76755051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.3165599949999 meters 0.015477267829938383 Centerline is valid? [True, True] Translation: X:-105.43, Y:-262.65, Z:-2.77 [[-6.89247404e-01 -7.24444685e-01 1.08588772e-02 -1.05429056e+02] [ 7.24362716e-01 -6.89332849e-01 -1.09031805e-02 -2.62649275e+02] [ 1.53841319e-02 3.50776960e-04 9.99881596e-01 -2.76655275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.3465599949999 meters 0.015774592866063735 Centerline is valid? [True, True] Translation: X:-105.45, Y:-262.63, Z:-2.77 [[-6.88735479e-01 -7.24927247e-01 1.11321985e-02 -1.05449767e+02] [ 7.24841262e-01 -6.88825337e-01 -1.11713546e-02 -2.62629699e+02] [ 1.57665597e-02 3.74968514e-04 9.99875630e-01 -2.76634188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.376559995 meters 0.016497324397076345 Centerline is valid? [True, True] Translation: X:-105.47, Y:-262.61, Z:-2.77 [[-6.88127173e-01 -7.25489901e-01 1.20580332e-02 -1.05469742e+02] [ 7.25389226e-01 -6.88232680e-01 -1.20933009e-02 -2.62611797e+02] [ 1.70723002e-02 4.25038468e-04 9.99854167e-01 -2.76644024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.406559995 meters 0.018029463164656274 Centerline is valid? [True, True] Translation: X:-105.49, Y:-262.59, Z:-2.77 [[-6.88407644e-01 -7.25215770e-01 1.25301110e-02 -1.05490423e+02] [ 7.25107119e-01 -6.88521528e-01 -1.25607019e-02 -2.62594717e+02] [ 1.77364702e-02 4.38789493e-04 9.99842600e-01 -2.76834975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.4365599949999 meters 0.01655328670997679 Centerline is valid? [True, True] Translation: X:-105.51, Y:-262.57, Z:-2.77 [[-6.88757257e-01 -7.24872474e-01 1.31657470e-02 -1.05507828e+02] [ 7.24752611e-01 -6.88882927e-01 -1.31896113e-02 -2.62573671e+02] [ 1.86304445e-02 4.57469013e-04 9.99826334e-01 -2.76671067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.4665599949999 meters 0.015928757248742976 Centerline is valid? [True, True] Translation: X:-105.53, Y:-262.55, Z:-2.77 [[-6.89932288e-01 -7.23737039e-01 1.40760903e-02 -1.05525988e+02] [ 7.23599967e-01 -6.90075709e-01 -1.40926792e-02 -2.62553472e+02] [ 1.99129620e-02 4.62464073e-04 9.99801610e-01 -2.76612324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.496559995 meters 0.01562956188367517 Centerline is valid? [True, True] Translation: X:-105.54, Y:-262.53, Z:-2.77 [[-6.90937566e-01 -7.22767133e-01 1.45928722e-02 -1.05544678e+02] [ 7.22619785e-01 -6.91091501e-01 -1.46008031e-02 -2.62533424e+02] [ 2.06379905e-02 4.56854850e-04 9.99786910e-01 -2.76597572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.526559995 meters 0.014871855801613897 Centerline is valid? [True, True] Translation: X:-105.56, Y:-262.51, Z:-2.77 [[-6.93708375e-01 -7.20102765e-01 1.48559642e-02 -1.05562023e+02] [ 7.19949617e-01 -6.93867319e-01 -1.48557105e-02 -2.62511885e+02] [ 2.10057062e-02 3.90014987e-04 9.99779280e-01 -2.76598464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.5565599949999 meters 0.014708850466740496 Centerline is valid? [True, True] Translation: X:-105.57, Y:-262.54, Z:-2.77 [[-6.45581305e-01 -7.63567154e-01 1.37833406e-02 -1.05574818e+02] [ 7.63404267e-01 -6.45728339e-01 -1.57746008e-02 -2.62539391e+02] [ 2.09452606e-02 3.38473643e-04 9.99780567e-01 -2.76652246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.5865599949999 meters 0.013804050888568932 Centerline is valid? [True, True] Translation: X:-105.59, Y:-262.52, Z:-2.77 [[-6.48075622e-01 -7.61450191e-01 1.38417844e-02 -1.05590694e+02] [ 7.61285593e-01 -6.48223365e-01 -1.58339682e-02 -2.62515949e+02] [ 2.10293462e-02 2.75942288e-04 9.99778821e-01 -2.76519943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.616559995 meters 0.013347085566711015 Centerline is valid? [True, True] Translation: X:-105.61, Y:-262.49, Z:-2.77 [[-6.50824906e-01 -7.59092012e-01 1.43617072e-02 -1.05606469e+02] [ 7.58914463e-01 -6.50983311e-01 -1.64185016e-02 -2.62493832e+02] [ 2.18123851e-02 2.13737529e-04 9.99762059e-01 -2.76565356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.646559995 meters 0.012952334965302835 Centerline is valid? [True, True] Translation: X:-105.62, Y:-262.47, Z:-2.77 [[-6.55945577e-01 -7.54664922e-01 1.47056585e-02 -1.05620556e+02] [ 7.54477824e-01 -6.56110395e-01 -1.68036311e-02 -2.62471092e+02] [ 2.23296464e-02 7.28256748e-05 9.99750660e-01 -2.76610604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.6765599949999 meters 0.012927550727484987 Centerline is valid? [True, True] Translation: X:-105.64, Y:-262.45, Z:-2.77 [[-6.58172995e-01 -7.52720238e-01 1.48510062e-02 -1.05637739e+02] [ 7.52529161e-01 -6.58340522e-01 -1.69593032e-02 -2.62450178e+02] [ 2.25426300e-02 1.36598308e-05 9.99745883e-01 -2.76597640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.7065599949999 meters 0.012857017938528415 Centerline is valid? [True, True] Translation: X:-105.65, Y:-262.43, Z:-2.76 [[-6.60676235e-01 -7.50524880e-01 1.48093633e-02 -1.05654926e+02] [ 7.50334558e-01 -6.60842191e-01 -1.69011645e-02 -2.62428609e+02] [ 2.24713965e-02 -5.42205995e-05 9.99747485e-01 -2.76477426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.736559995 meters 0.012857017938528415 Centerline is valid? [True, True] Translation: X:-105.67, Y:-262.41, Z:-2.76 [[-6.60908973e-01 -7.50319837e-01 1.48146057e-02 -1.05672653e+02] [ 7.50129566e-01 -6.61074988e-01 -1.68965695e-02 -2.62408540e+02] [ 2.24713965e-02 -5.42205983e-05 9.99747485e-01 -2.76477383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.766559995 meters 0.013145614737110053 Centerline is valid? [True, True] Translation: X:-105.69, Y:-262.39, Z:-2.76 [[-6.65221302e-01 -7.46490905e-01 1.52298248e-02 -1.05689435e+02] [ 7.46289051e-01 -6.65395593e-01 -1.73596515e-02 -2.62386497e+02] [ 2.30926802e-02 -1.82158468e-04 9.99733312e-01 -2.76316673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.7965599949999 meters 0.013967569845066008 Centerline is valid? [True, True] Translation: X:-105.71, Y:-262.36, Z:-2.76 [[-6.67596759e-01 -7.44363341e-01 1.54202293e-02 -1.05706353e+02] [ 7.44156008e-01 -6.67774776e-01 -1.75694187e-02 -2.62364744e+02] [ 2.33752713e-02 -2.54230700e-04 9.99726729e-01 -2.76407804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.8265599949999 meters 0.014712961874945278 Centerline is valid? [True, True] Translation: X:-105.72, Y:-262.34, Z:-2.76 [[-6.70409650e-01 -7.41825917e-01 1.56591976e-02 -1.05724276e+02] [ 7.41611645e-01 -6.70592419e-01 -1.78318928e-02 -2.62342563e+02] [ 2.37290994e-02 -3.41629715e-04 9.99718367e-01 -2.76382626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.856559995 meters 0.017843115748292015 Centerline is valid? [True, True] Translation: X:-105.74, Y:-262.32, Z:-2.77 [[-6.75684295e-01 -7.37033690e-01 1.52339390e-02 -1.05738623e+02] [ 7.36829876e-01 -6.75855827e-01 -1.73388270e-02 -2.62319923e+02] [ 2.30752461e-02 -4.90751741e-04 9.99733611e-01 -2.76562636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.886559995 meters 0.016952274169905947 Centerline is valid? [True, True] Translation: X:-105.76, Y:-262.30, Z:-2.76 [[-6.78890643e-01 -7.34081908e-01 1.52067919e-02 -1.05758192e+02] [ 7.33878312e-01 -6.79060684e-01 -1.72977171e-02 -2.62300139e+02] [ 2.30242757e-02 -5.83323527e-04 9.99734736e-01 -2.76240849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.916559995 meters 0.018117104602158412 Centerline is valid? [True, True] Translation: X:-105.78, Y:-262.28, Z:-2.76 [[-6.81479088e-01 -7.31685739e-01 1.49074327e-02 -1.05775983e+02] [ 7.31489718e-01 -6.81641814e-01 -1.69478576e-02 -2.62278252e+02] [ 2.25620352e-02 -6.44976775e-04 9.99745237e-01 -2.76233311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.9465599949999 meters 0.01866761868727789 Centerline is valid? [True, True] Translation: X:-105.80, Y:-262.26, Z:-2.76 [[-6.85394887e-01 -7.28022413e-01 1.47382272e-02 -1.05795569e+02] [ 7.27830194e-01 -6.85552918e-01 -1.67452955e-02 -2.62258520e+02] [ 2.22947851e-02 -7.50213197e-04 9.99751159e-01 -2.76056562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.976559995 meters 0.02032121163477756 Centerline is valid? [True, True] Translation: X:-105.81, Y:-262.24, Z:-2.76 [[-6.86600237e-01 -7.26883114e-01 1.48678430e-02 -1.05813222e+02] [ 7.26687458e-01 -6.86760743e-01 -1.68825576e-02 -2.62238095e+02] [ 2.24822970e-02 -7.87292973e-04 9.99746931e-01 -2.76144415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.006559995 meters 0.019761359457209905 Centerline is valid? [True, True] Translation: X:-105.83, Y:-262.22, Z:-2.76 [[-6.87460191e-01 -7.26077567e-01 1.44863006e-02 -1.05833323e+02] [ 7.25891872e-01 -6.87612354e-01 -1.64390207e-02 -2.62219603e+02] [ 2.18969634e-02 -7.85684414e-04 9.99759924e-01 -2.76059342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.036559995 meters 0.019185550483006172 Centerline is valid? [True, True] Translation: X:-105.86, Y:-262.20, Z:-2.76 [[-6.87769009e-01 -7.25802310e-01 1.35940141e-02 -1.05855811e+02] [ 7.25638913e-01 -6.87902944e-01 -1.54177851e-02 -2.62201885e+02] [ 2.05416263e-02 -7.39529214e-04 9.99788725e-01 -2.75934892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.0665599949999 meters 0.02011719724671788 Centerline is valid? [True, True] Translation: X:-105.87, Y:-262.18, Z:-2.76 [[-6.87470461e-01 -7.26098910e-01 1.28350776e-02 -1.05874420e+02] [ 7.25953456e-01 -6.87589925e-01 -1.45490412e-02 -2.62182136e+02] [ 1.93893130e-02 -6.84367056e-04 9.99811775e-01 -2.75955461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.0965599949999 meters 0.020177479645343655 Centerline is valid? [True, True] Translation: X:-105.89, Y:-262.16, Z:-2.76 [[-6.86741264e-01 -7.26804874e-01 1.18790350e-02 -1.05893945e+02] [ 7.26680486e-01 -6.86843725e-01 -1.34598988e-02 -2.62163468e+02] [ 1.79417606e-02 -6.11204993e-04 9.99838847e-01 -2.75936886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.126559995 meters 0.016815908171528633 Centerline is valid? [True, True] Translation: X:-105.92, Y:-262.15, Z:-2.76 [[-6.84379332e-01 -7.29046596e-01 1.07698485e-02 -1.05920312e+02] [ 7.28944741e-01 -6.84463888e-01 -1.21963356e-02 -2.62149001e+02] [ 1.62632693e-02 -4.96295587e-04 9.99867621e-01 -2.75725401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.156559995 meters 0.01723655647055116 Centerline is valid? [True, True] Translation: X:-105.94, Y:-262.13, Z:-2.76 [[-6.82697044e-01 -7.30623998e-01 1.06451475e-02 -1.05940640e+02] [ 7.30524789e-01 -6.82779886e-01 -1.20482437e-02 -2.62130200e+02] [ 1.60710286e-02 -4.48756167e-04 9.99870752e-01 -2.75857676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.1865599949999 meters 0.01555860224947884 Centerline is valid? [True, True] Translation: X:-105.96, Y:-262.11, Z:-2.76 [[-6.80858307e-01 -7.32340556e-01 1.04534837e-02 -1.05964032e+02] [ 7.32245196e-01 -6.80938435e-01 -1.18245596e-02 -2.62113042e+02] [ 1.57777834e-02 -3.96336412e-04 9.99875445e-01 -2.75845130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.2165599949999 meters 0.014847883327101576 Centerline is valid? [True, True] Translation: X:-105.99, Y:-262.10, Z:-2.76 [[-6.78866615e-01 -7.34193480e-01 1.00026442e-02 -1.05986366e+02] [ 7.34106467e-01 -6.78940220e-01 -1.13081059e-02 -2.62095006e+02] [ 1.50935351e-02 -3.33689761e-04 9.99886031e-01 -2.75868686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.246559995 meters 0.013898481607293968 Centerline is valid? [True, True] Translation: X:-106.01, Y:-262.08, Z:-2.76 [[-6.74629739e-01 -7.38095820e-01 9.44862765e-03 -1.06010420e+02] [ 7.38018625e-01 -6.74695863e-01 -1.06771361e-02 -2.62080741e+02] [ 1.42556995e-02 -2.29850333e-04 9.99898356e-01 -2.75942545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.276559995 meters 0.013070915339705058 Centerline is valid? [True, True] Translation: X:-106.03, Y:-262.06, Z:-2.76 [[-6.72763311e-01 -7.39803120e-01 8.99283504e-03 -1.06032391e+02] [ 7.39733423e-01 -6.72823388e-01 -1.01563986e-02 -2.62062735e+02] [ 1.35643251e-02 -1.80551692e-04 9.99907984e-01 -2.75857144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.3065599949999 meters 0.01252953557424124 Centerline is valid? [True, True] Translation: X:-106.05, Y:-262.04, Z:-2.76 [[-6.70802455e-01 -7.41586975e-01 8.53380580e-03 -1.06053871e+02] [ 7.41524425e-01 -6.70856722e-01 -9.63259558e-03 -2.62044310e+02] [ 1.28683684e-02 -1.33543325e-04 9.99917190e-01 -2.75833207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.3365599949999 meters 0.01178621839933692 Centerline is valid? [True, True] Translation: X:-106.08, Y:-262.03, Z:-2.76 [[-6.66700385e-01 -7.45283809e-01 7.91463615e-03 -1.06078003e+02] [ 7.45230322e-01 -6.66747360e-01 -8.92888519e-03 -2.62029974e+02] [ 1.19316163e-02 -5.46643435e-05 9.99928814e-01 -2.75879229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.366559995 meters 0.011630278919866215 Centerline is valid? [True, True] Translation: X:-106.10, Y:-262.01, Z:-2.76 [[-6.64826073e-01 -7.46959058e-01 7.64588141e-03 -1.06100046e+02] [ 7.46909311e-01 -6.64870037e-01 -8.62065687e-03 -2.62012448e+02] [ 1.15227952e-02 -2.04574394e-05 9.99933610e-01 -2.75935242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.396559995 meters 0.011644670875654321 Centerline is valid? [True, True] Translation: X:-106.13, Y:-262.00, Z:-2.76 [[-6.60434081e-01 -7.50849934e-01 7.15546265e-03 -1.06125020e+02] [ 7.50806645e-01 -6.60472841e-01 -8.06273704e-03 -2.61998598e+02] [ 1.07798943e-02 4.74625770e-05 9.99941894e-01 -2.76048664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.4265599949999 meters 0.011945342986790213 Centerline is valid? [True, True] Translation: X:-106.15, Y:-261.98, Z:-2.76 [[-6.58410157e-01 -7.52626139e-01 7.06834818e-03 -1.06145616e+02] [ 7.52584048e-01 -6.58448092e-01 -7.95998182e-03 -2.61982437e+02] [ 1.06450307e-02 7.85932050e-05 9.99943337e-01 -2.76091867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.4565599949999 meters 0.012516066815581357 Centerline is valid? [True, True] Translation: X:-106.17, Y:-261.97, Z:-2.76 [[-6.56259054e-01 -7.54506025e-01 6.68673642e-03 -1.06166739e+02] [ 7.54468484e-01 -6.56293111e-01 -7.52725896e-03 -2.61965269e+02] [ 1.00678213e-02 1.05100047e-04 9.99949313e-01 -2.76157631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.486559995 meters 0.01322401577769096 Centerline is valid? [True, True] Translation: X:-106.19, Y:-261.95, Z:-2.76 [[-6.54331028e-01 -7.56179960e-01 6.54015788e-03 -1.06188063e+02] [ 7.56144172e-01 -6.54363699e-01 -7.35808078e-03 -2.61947396e+02] [ 9.84367514e-03 1.30681704e-04 9.99951541e-01 -2.76182196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.516559995 meters 0.013452534347446973 Centerline is valid? [True, True] Translation: X:-106.21, Y:-261.93, Z:-2.76 [[-6.51070095e-01 -7.58992910e-01 6.12322699e-03 -1.06210105e+02] [ 7.58961699e-01 -6.51098868e-01 -6.88508377e-03 -2.61928941e+02] [ 9.21255593e-03 1.64622612e-04 9.99957550e-01 -2.76062148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.5465599949999 meters 0.015316756818361718 Centerline is valid? [True, True] Translation: X:-106.23, Y:-261.91, Z:-2.76 [[-6.50078418e-01 -7.59842249e-01 6.14874721e-03 -1.06232087e+02] [ 7.59810854e-01 -6.50107471e-01 -6.90962418e-03 -2.61912203e+02] [ 9.24757088e-03 1.80087319e-04 9.99957224e-01 -2.76214085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.5765599949999 meters 0.014619822892707187 Centerline is valid? [True, True] Translation: X:-106.25, Y:-261.89, Z:-2.76 [[-6.48752698e-01 -7.60974620e-01 6.12898933e-03 -1.06251519e+02] [ 7.60943502e-01 -6.48781619e-01 -6.88457470e-03 -2.61892567e+02] [ 9.21536224e-03 1.97428188e-04 9.99957518e-01 -2.76195646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.606559995 meters 0.0167035082814597 Centerline is valid? [True, True] Translation: X:-106.27, Y:-261.88, Z:-2.76 [[-6.48869656e-01 -7.60874986e-01 6.11759581e-03 -1.06272019e+02] [ 7.60844022e-01 -6.48898463e-01 -6.86721667e-03 -2.61876074e+02] [ 9.19479191e-03 1.98607680e-04 9.99957707e-01 -2.76404475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.636559995 meters 0.014919317954654308 Centerline is valid? [True, True] Translation: X:-106.29, Y:-261.85, Z:-2.76 [[-6.49312949e-01 -7.60498618e-01 5.87755699e-03 -1.06287808e+02] [ 7.60470057e-01 -6.49339523e-01 -6.59365148e-03 -2.61853938e+02] [ 8.83099290e-03 1.88362807e-04 9.99960988e-01 -2.76289800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.666559995 meters 0.013954012780573604 Centerline is valid? [True, True] Translation: X:-106.30, Y:-261.83, Z:-2.76 [[-6.51139260e-01 -7.58939606e-01 5.32346340e-03 -1.06304503e+02] [ 7.58916150e-01 -6.51161003e-01 -5.96868340e-03 -2.61831133e+02] [ 7.99630199e-03 1.53618256e-04 9.99968017e-01 -2.76212908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.6965599949999 meters 0.013622300136083279 Centerline is valid? [True, True] Translation: X:-106.32, Y:-261.81, Z:-2.76 [[-6.52731533e-01 -7.57572829e-01 4.99549315e-03 -1.06322526e+02] [ 7.57552158e-01 -6.52750636e-01 -5.59783151e-03 -2.61809187e+02] [ 7.50157638e-03 1.30465470e-04 9.99971854e-01 -2.76192989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.726559995 meters 0.012548826769488696 Centerline is valid? [True, True] Translation: X:-106.34, Y:-261.79, Z:-2.76 [[-6.56489170e-01 -7.54323467e-01 4.25170872e-03 -1.06338745e+02] [ 7.54308442e-01 -6.56502933e-01 -4.76165863e-03 -2.61785693e+02] [ 6.38309009e-03 8.11224594e-05 9.99979625e-01 -2.76131887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.756559995 meters 0.011970746120618592 Centerline is valid? [True, True] Translation: X:-106.36, Y:-261.76, Z:-2.76 [[-6.58789288e-01 -7.52317825e-01 3.81645283e-03 -1.06355999e+02] [ 7.52305698e-01 -6.58800340e-01 -4.27192979e-03 -2.61762823e+02] [ 5.72812935e-03 5.68376273e-05 9.99983593e-01 -2.76101238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.786559995 meters 0.011665356062185502 Centerline is valid? [True, True] Translation: X:-106.37, Y:-261.74, Z:-2.76 [[-6.60897342e-01 -7.50467285e-01 3.68223222e-03 -1.06372681e+02] [ 7.50455980e-01 -6.60907598e-01 -4.11931374e-03 -2.61740110e+02] [ 5.52502545e-03 4.09096902e-05 9.99984736e-01 -2.76059818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.8165599949999 meters 0.011487494214156494 Centerline is valid? [True, True] Translation: X:-106.39, Y:-261.72, Z:-2.76 [[-6.63101958e-01 -7.48519042e-01 3.87785158e-03 -1.06389353e+02] [ 7.48506485e-01 -6.63113296e-01 -4.33567295e-03 -2.61718012e+02] [ 5.81678871e-03 2.76038324e-05 9.99983082e-01 -2.76100523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.8465599949999 meters 0.011450879894747447 Centerline is valid? [True, True] Translation: X:-106.40, Y:-261.70, Z:-2.76 [[-6.67383174e-01 -7.44704587e-01 3.84417757e-03 -1.06402548e+02] [ 7.44692200e-01 -6.67394245e-01 -4.29518109e-03 -2.61695100e+02] [ 5.76422305e-03 -3.80253749e-06 9.99983387e-01 -2.76151199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.876559995 meters 0.011473988508442851 Centerline is valid? [True, True] Translation: X:-106.42, Y:-261.67, Z:-2.76 [[-6.69331949e-01 -7.42953477e-01 3.85656093e-03 -1.06419166e+02] [ 7.42940995e-01 -6.69343059e-01 -4.30658947e-03 -2.61672919e+02] [ 5.78095791e-03 -1.73407088e-05 9.99983290e-01 -2.76101645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.906559995 meters 0.011745935795093681 Centerline is valid? [True, True] Translation: X:-106.43, Y:-261.65, Z:-2.76 [[-6.71320768e-01 -7.41156778e-01 3.88026927e-03 -1.06434519e+02] [ 7.41144125e-01 -6.71331981e-01 -4.33094316e-03 -2.61652012e+02] [ 5.81485674e-03 -3.16133126e-05 9.99983093e-01 -2.76135316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.9365599949999 meters 0.01220778629652978 Centerline is valid? [True, True] Translation: X:-106.45, Y:-261.63, Z:-2.76 [[-6.74777044e-01 -7.38012043e-01 3.76377127e-03 -1.06450392e+02] [ 7.38000102e-01 -6.74787538e-01 -4.19857925e-03 -2.61628908e+02] [ 5.63834800e-03 -5.54413146e-05 9.99984103e-01 -2.76079770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.9665599949999 meters 0.01242144451667985 Centerline is valid? [True, True] Translation: X:-106.47, Y:-261.61, Z:-2.76 [[-6.76569589e-01 -7.36369797e-01 3.62124436e-03 -1.06467716e+02] [ 7.36358732e-01 -6.76579277e-01 -4.03732409e-03 -2.61607239e+02] [ 5.42302241e-03 -6.49957959e-05 9.99985293e-01 -2.76089140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.996559995 meters 0.013077573295930435 Centerline is valid? [True, True] Translation: X:-106.48, Y:-261.58, Z:-2.76 [[-6.79906138e-01 -7.33291178e-01 3.41935238e-03 -1.06483451e+02] [ 7.33281284e-01 -6.79914731e-01 -3.81007263e-03 -2.61583992e+02] [ 5.11876070e-03 -8.31446653e-05 9.99986896e-01 -2.76022866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.026559995 meters 0.01410195365943014 Centerline is valid? [True, True] Translation: X:-106.50, Y:-261.56, Z:-2.76 [[-6.81833630e-01 -7.31500411e-01 3.17012736e-03 -1.06499216e+02] [ 7.31491895e-01 -6.81840994e-01 -3.53075155e-03 -2.61562342e+02] [ 4.74426900e-03 -8.84626761e-05 9.99988742e-01 -2.76029499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.0565599949999 meters 0.014420045726864337 Centerline is valid? [True, True] Translation: X:-106.52, Y:-261.54, Z:-2.76 [[-6.83590094e-01 -7.29859057e-01 3.21560469e-03 -1.06516782e+02] [ 7.29850287e-01 -6.83597650e-01 -3.57940326e-03 -2.61540762e+02] [ 4.81063970e-03 -9.99346000e-05 9.99988424e-01 -2.75994706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.0865599949999 meters 0.014867460460896835 Centerline is valid? [True, True] Translation: X:-106.53, Y:-261.52, Z:-2.76 [[-6.85106388e-01 -7.28435628e-01 3.28236099e-03 -1.06534831e+02] [ 7.28426483e-01 -6.85114242e-01 -3.65167203e-03 -2.61518842e+02] [ 4.90880027e-03 -1.10825160e-04 9.99987946e-01 -2.76002198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.116559995 meters 0.01521391581578168 Centerline is valid? [True, True] Translation: X:-106.55, Y:-261.50, Z:-2.76 [[-6.87555255e-01 -7.26125530e-01 3.07990499e-03 -1.06552453e+02] [ 7.26117465e-01 -6.87562143e-01 -3.42437641e-03 -2.61497674e+02] [ 4.60415321e-03 -1.18075194e-04 9.99989394e-01 -2.76009588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.146559995 meters 0.016458520704512026 Centerline is valid? [True, True] Translation: X:-106.57, Y:-261.48, Z:-2.76 [[-6.88357485e-01 -7.25366412e-01 2.74610151e-03 -1.06568889e+02] [ 7.25360002e-01 -6.88362954e-01 -3.05141840e-03 -2.61476369e+02] [ 4.10371097e-03 -1.08554495e-04 9.99991574e-01 -2.76064218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.1765599949999 meters 0.016068414091079185 Centerline is valid? [True, True] Translation: X:-106.59, Y:-261.46, Z:-2.76 [[-6.88827405e-01 -7.24920348e-01 2.70079546e-03 -1.06587992e+02] [ 7.24914152e-01 -6.88832691e-01 -2.99920239e-03 -2.61456683e+02] [ 4.03457905e-03 -1.08087944e-04 9.99991855e-01 -2.76057372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.2065599949999 meters 0.016627996689449604 Centerline is valid? [True, True] Translation: X:-106.61, Y:-261.44, Z:-2.76 [[-6.88153366e-01 -7.25562575e-01 1.97378067e-03 -1.06606473e+02] [ 7.25559271e-01 -6.88156192e-01 -2.19064770e-03 -2.61436395e+02] [ 2.94772138e-03 -7.54067239e-05 9.99995653e-01 -2.76108353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.236559995 meters 0.015187049143961427 Centerline is valid? [True, True] Translation: X:-106.63, Y:-261.42, Z:-2.76 [[-6.87312278e-01 -7.26360133e-01 1.67002739e-03 -1.06627568e+02] [ 7.26357774e-01 -6.87314304e-01 -1.85249025e-03 -2.61417838e+02] [ 2.49340878e-03 -6.02019176e-05 9.99996890e-01 -2.76097195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.266559995 meters 0.014831580026591394 Centerline is valid? [True, True] Translation: X:-106.65, Y:-261.40, Z:-2.76 [[-6.85023096e-01 -7.28519795e-01 1.50553942e-03 -1.06648171e+02] [ 7.28517885e-01 -6.85024748e-01 -1.66915367e-03 -2.61399903e+02] [ 2.24734326e-03 -4.65964214e-05 9.99997474e-01 -2.76185087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.2965599949999 meters 0.014322382233351999 Centerline is valid? [True, True] Translation: X:-106.67, Y:-261.38, Z:-2.76 [[-6.83665504e-01 -7.29794726e-01 1.06626883e-03 -1.06668410e+02] [ 7.29793770e-01 -6.83666335e-01 -1.18150613e-03 -2.61380651e+02] [ 1.59122905e-03 -2.95986352e-05 9.99998734e-01 -2.76219105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.3265599949999 meters 0.013716085049765436 Centerline is valid? [True, True] Translation: X:-106.69, Y:-261.36, Z:-2.76 [[-6.82433190e-01 -7.30947369e-01 9.40069860e-04 -1.06689255e+02] [ 7.30946628e-01 -6.82433838e-01 -1.04110083e-03 -2.61361292e+02] [ 1.40252540e-03 -2.33408660e-05 9.99999016e-01 -2.76267604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.356559995 meters 0.012776615188206919 Centerline is valid? [True, True] Translation: X:-106.71, Y:-261.34, Z:-2.76 [[-6.79857247e-01 -7.33344228e-01 6.06631772e-04 -1.06711959e+02] [ 7.33343920e-01 -6.79857517e-01 -6.71478541e-04 -2.61343400e+02] [ 9.04848083e-04 -1.16398301e-05 9.99999591e-01 -2.76356297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.386559995 meters 0.012525521934262944 Centerline is valid? [True, True] Translation: X:-106.73, Y:-261.32, Z:-2.76 [[-6.78678507e-01 -7.34435338e-01 4.67573964e-04 -1.06731720e+02] [ 7.34435156e-01 -6.78678668e-01 -5.17234590e-04 -2.61324092e+02] [ 6.97207837e-04 -7.63324188e-06 9.99999757e-01 -2.76386364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.416559995 meters 0.012152030919969036 Centerline is valid? [True, True] Translation: X:-106.75, Y:-261.30, Z:-2.76 [[-6.77577474e-01 -7.35451391e-01 1.38409344e-04 -1.06752154e+02] [ 7.35451375e-01 -6.77577488e-01 -1.53027383e-04 -2.61304421e+02] [ 2.06327258e-04 -1.89456536e-06 9.99999979e-01 -2.76388260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.4465599949999 meters 0.012077559027067251 Centerline is valid? [True, True] Translation: X:-106.77, Y:-261.29, Z:-2.76 [[-6.76646482e-01 -7.36308037e-01 -1.15037398e-04 -1.06770988e+02] [ 7.36308026e-01 -6.76646491e-01 1.27099282e-04 -2.61285348e+02] [-1.71423873e-04 1.29832239e-06 9.99999985e-01 -2.76401972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.476559995 meters 0.011808808891589985 Centerline is valid? [True, True] Translation: X:-106.79, Y:-261.27, Z:-2.76 [[-6.74640543e-01 -7.38145936e-01 -8.45423213e-04 -1.06792124e+02] [ 7.38145346e-01 -6.74641073e-01 9.33590496e-04 -2.61266409e+02] [-1.25948325e-03 5.79278951e-06 9.99999207e-01 -2.76489081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.506559995 meters 0.011786156044243164 Centerline is valid? [True, True] Translation: X:-106.81, Y:-261.25, Z:-2.77 [[-6.73870563e-01 -7.38848247e-01 -1.31620631e-03 -1.06811935e+02] [ 7.38846819e-01 -6.73871849e-01 1.45263999e-03 -2.61246819e+02] [-1.96023489e-03 6.41648640e-06 9.99998079e-01 -2.76519728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.536559995 meters 0.01175498331893357 Centerline is valid? [True, True] Translation: X:-106.83, Y:-261.23, Z:-2.77 [[-6.72929638e-01 -7.39704979e-01 -1.49902322e-03 -1.06830870e+02] [ 7.39703130e-01 -6.72931307e-01 1.65371737e-03 -2.61227317e+02] [-2.23200263e-03 4.00326685e-06 9.99997509e-01 -2.76540805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.5665599949999 meters 0.011735563762358592 Centerline is valid? [True, True] Translation: X:-106.85, Y:-261.21, Z:-2.77 [[-6.71491993e-01 -7.41008287e-01 -2.28502498e-03 -1.06850915e+02] [ 7.41004004e-01 -6.71495881e-01 2.51938664e-03 -2.61207232e+02] [-3.40127125e-03 -1.46470413e-06 9.99994216e-01 -2.76599248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.5965599949999 meters 0.01180956443989206 Centerline is valid? [True, True] Translation: X:-106.87, Y:-261.19, Z:-2.77 [[-6.70987259e-01 -7.41464857e-01 -2.44234968e-03 -1.06869689e+02] [ 7.41459972e-01 -6.70991704e-01 2.69121953e-03 -2.61187314e+02] [-3.63424108e-03 -5.13051471e-06 9.99993396e-01 -2.76600187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.626559995 meters 0.01181634371240746 Centerline is valid? [True, True] Translation: X:-106.89, Y:-261.17, Z:-2.77 [[-6.69940446e-01 -7.42409565e-01 -2.79936554e-03 -1.06888463e+02] [ 7.42403165e-01 -6.69946295e-01 3.08277799e-03 -2.61168187e+02] [-4.16410843e-03 -1.29801730e-05 9.99991330e-01 -2.76661613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.656559995 meters 0.01181634371240746 Centerline is valid? [True, True] Translation: X:-106.91, Y:-261.15, Z:-2.77 [[-6.70172375e-01 -7.42200206e-01 -2.80032879e-03 -1.06906520e+02] [ 7.42193808e-01 -6.70178225e-01 3.08190302e-03 -2.61148455e+02] [-4.16410843e-03 -1.29804280e-05 9.99991330e-01 -2.76661570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.6865599949999 meters 0.01185509110422197 Centerline is valid? [True, True] Translation: X:-106.93, Y:-261.13, Z:-2.77 [[-6.69746882e-01 -7.42585260e-01 -2.49898101e-03 -1.06925696e+02] [ 7.42580173e-01 -6.69751544e-01 2.74870722e-03 -2.61128133e+02] [-3.71484585e-03 -1.47556551e-05 9.99993100e-01 -2.76737309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.7165599949999 meters 0.011915324366738771 Centerline is valid? [True, True] Translation: X:-106.94, Y:-261.11, Z:-2.77 [[-6.69125827e-01 -7.43145780e-01 -2.23098971e-03 -1.06943809e+02] [ 7.43141734e-01 -6.69129546e-01 2.45230659e-03 -2.61109203e+02] [-3.31524242e-03 -1.70398867e-05 9.99994505e-01 -2.76808135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.746559995 meters 0.012093966485056095 Centerline is valid? [True, True] Translation: X:-106.96, Y:-261.09, Z:-2.77 [[-6.68098423e-01 -7.44070451e-01 -1.91352177e-03 -1.06962641e+02] [ 7.44067482e-01 -6.68101163e-01 2.10203508e-03 -2.61089600e+02] [-2.84248831e-03 -1.94230003e-05 9.99995960e-01 -2.76907700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.776559995 meters 0.012455804978729773 Centerline is valid? [True, True] Translation: X:-106.98, Y:-261.07, Z:-2.77 [[-6.65663763e-01 -7.46250487e-01 -1.40225709e-03 -1.06982163e+02] [ 7.46248899e-01 -6.65665239e-01 1.53954619e-03 -2.61069886e+02] [-2.08232090e-03 -2.16126950e-05 9.99997832e-01 -2.77040593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.8065599949999 meters 0.012783073600530869 Centerline is valid? [True, True] Translation: X:-107.00, Y:-261.05, Z:-2.77 [[-6.64791118e-01 -7.47027295e-01 -1.72901669e-03 -1.07000821e+02] [ 7.47024887e-01 -6.64793366e-01 1.89710492e-03 -2.61049929e+02] [-2.56662798e-03 -3.04400030e-05 9.99996706e-01 -2.77094198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.8365599949999 meters 0.01331150295043599 Centerline is valid? [True, True] Translation: X:-107.02, Y:-261.03, Z:-2.77 [[-6.64070026e-01 -7.47667973e-01 -1.89791170e-03 -1.07020143e+02] [ 7.47665077e-01 -6.64072738e-01 2.08119341e-03 -2.61030323e+02] [-2.81639307e-03 -3.69441352e-05 9.99996033e-01 -2.77134287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.866559995 meters 0.013656324681459733 Centerline is valid? [True, True] Translation: X:-107.04, Y:-261.01, Z:-2.77 [[-6.63177257e-01 -7.48459103e-01 -2.21318198e-03 -1.07038595e+02] [ 7.48455174e-01 -6.63180948e-01 2.42559107e-03 -2.61009765e+02] [-3.28319584e-03 -4.78706692e-05 9.99994609e-01 -2.77274191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.896559995 meters 0.013025324439397431 Centerline is valid? [True, True] Translation: X:-107.06, Y:-260.99, Z:-2.77 [[-6.63329722e-01 -7.48324116e-01 -2.16759918e-03 -1.07055585e+02] [ 7.48320351e-01 -6.63333262e-01 2.37426432e-03 -2.60987453e+02] [-3.21455988e-03 -4.71384858e-05 9.99994832e-01 -2.77400134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.9265599949999 meters 0.013029568998978924 Centerline is valid? [True, True] Translation: X:-107.07, Y:-260.97, Z:-2.77 [[-6.63734420e-01 -7.47964360e-01 -2.43639263e-03 -1.07073035e+02] [ 7.47959606e-01 -6.63738890e-01 2.66714548e-03 -2.60965543e+02] [-3.61205830e-03 -5.20470163e-05 9.99993475e-01 -2.77449805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.9565599949999 meters 0.013129089928391605 Centerline is valid? [True, True] Translation: X:-107.09, Y:-260.94, Z:-2.77 [[-6.64760226e-01 -7.47051115e-01 -2.91093465e-03 -1.07088454e+02] [ 7.47044327e-01 -6.64766597e-01 3.18529342e-03 -2.60942883e+02] [-4.31466912e-03 -5.71408394e-05 9.99990690e-01 -2.77431644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.986559995 meters 0.012888915890899376 Centerline is valid? [True, True] Translation: X:-107.11, Y:-260.92, Z:-2.77 [[-6.65523330e-01 -7.46370262e-01 -3.18273051e-03 -1.07105722e+02] [ 7.46362148e-01 -6.65530938e-01 3.48072675e-03 -2.60920339e+02] [-4.71611655e-03 -5.89647248e-05 9.99988877e-01 -2.77490141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.016559995 meters 0.012922148610483365 Centerline is valid? [True, True] Translation: X:-107.12, Y:-260.90, Z:-2.78 [[-6.66448743e-01 -7.45543569e-01 -3.29543873e-03 -1.07122768e+02] [ 7.45534867e-01 -6.66456888e-01 3.60249463e-03 -2.60899908e+02] [-4.88208454e-03 -5.59864633e-05 9.99988081e-01 -2.77543569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.0465599949999 meters 0.012802899051588205 Centerline is valid? [True, True] Translation: X:-107.14, Y:-260.88, Z:-2.78 [[-6.67702955e-01 -7.44420969e-01 -3.19135040e-03 -1.07138065e+02] [ 7.44412806e-01 -6.67710580e-01 3.48641524e-03 -2.60877936e+02] [-4.72625904e-03 -4.77923478e-05 9.99988830e-01 -2.77669065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.0765599949999 meters 0.012520192627161872 Centerline is valid? [True, True] Translation: X:-107.15, Y:-260.86, Z:-2.78 [[-6.68168896e-01 -7.44002010e-01 -3.36689284e-03 -1.07154488e+02] [ 7.43992930e-01 -6.68177377e-01 3.67607665e-03 -2.60855230e+02] [-4.98469004e-03 -4.87043959e-05 9.99987575e-01 -2.77767897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.106559995 meters 0.012664614928725223 Centerline is valid? [True, True] Translation: X:-107.17, Y:-260.83, Z:-2.78 [[-6.68412436e-01 -7.43784280e-01 -3.12413452e-03 -1.07171865e+02] [ 7.43776469e-01 -6.68419736e-01 3.40896092e-03 -2.60833785e+02] [-4.62376471e-03 -4.50658736e-05 9.99989309e-01 -2.77741269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.136559995 meters 0.012761803782076465 Centerline is valid? [True, True] Translation: X:-107.19, Y:-260.81, Z:-2.78 [[-6.68714967e-01 -7.43511319e-01 -3.34819101e-03 -1.07188626e+02] [ 7.43502356e-01 -6.68723348e-01 3.65117566e-03 -2.60812819e+02] [-4.95370393e-03 -4.77920944e-05 9.99987729e-01 -2.77751656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.166559995 meters 0.012612514476568745 Centerline is valid? [True, True] Translation: X:-107.20, Y:-260.79, Z:-2.78 [[-6.68926303e-01 -7.43320232e-01 -3.55443512e-03 -1.07204473e+02] [ 7.43310139e-01 -6.68935744e-01 3.87387883e-03 -2.60789497e+02] [-5.25722121e-03 -5.07082242e-05 9.99986180e-01 -2.77822884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.1965599949999 meters 0.012823578441238945 Centerline is valid? [True, True] Translation: X:-107.22, Y:-260.77, Z:-2.78 [[-6.68969049e-01 -7.43282182e-01 -3.46543289e-03 -1.07221788e+02] [ 7.43272596e-01 -6.68978023e-01 3.77531274e-03 -2.60768791e+02] [-5.12442113e-03 -5.01939210e-05 9.99986869e-01 -2.77811163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.226559995 meters 0.012707436195028019 Centerline is valid? [True, True] Translation: X:-107.24, Y:-260.75, Z:-2.78 [[-6.69446073e-01 -7.42853064e-01 -3.35875353e-03 -1.07239328e+02] [ 7.42844063e-01 -6.69454497e-01 3.65702103e-03 -2.60746330e+02] [-4.96516193e-03 -4.68517511e-05 9.99987673e-01 -2.77876749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.256559995 meters 0.012545923380031482 Centerline is valid? [True, True] Translation: X:-107.25, Y:-260.72, Z:-2.78 [[-6.70906859e-01 -7.41535413e-01 -3.03620357e-03 -1.07253878e+02] [ 7.41528052e-01 -6.70913728e-01 3.30420126e-03 -2.60723623e+02] [-4.48721290e-03 -3.46188266e-05 9.99989932e-01 -2.77971960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.286559995 meters 0.012604673823227388 Centerline is valid? [True, True] Translation: X:-107.27, Y:-260.70, Z:-2.78 [[-6.72116859e-01 -7.40439366e-01 -2.91083994e-03 -1.07270079e+02] [ 7.40432597e-01 -6.72123162e-01 3.16622775e-03 -2.60702362e+02] [-4.30084261e-03 -2.72057217e-05 9.99990751e-01 -2.77902037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.3165599949999 meters 0.012232741475727822 Centerline is valid? [True, True] Translation: X:-107.29, Y:-260.68, Z:-2.78 [[-6.73800782e-01 -7.38906793e-01 -3.04254978e-03 -1.07285718e+02] [ 7.38899390e-01 -6.73807651e-01 3.30761282e-03 -2.60678684e+02] [-4.49411091e-03 -1.94660699e-05 9.99989901e-01 -2.77949637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.3465599949999 meters 0.012107565156275164 Centerline is valid? [True, True] Translation: X:-107.30, Y:-260.66, Z:-2.78 [[-6.75843566e-01 -7.37037740e-01 -3.29307419e-03 -1.07301428e+02] [ 7.37029056e-01 -6.75851589e-01 3.57781833e-03 -2.60656164e+02] [-4.86261656e-03 -9.04586112e-06 9.99988177e-01 -2.77906325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.376559995 meters 0.012222268665081323 Centerline is valid? [True, True] Translation: X:-107.31, Y:-260.63, Z:-2.78 [[-6.79885640e-01 -7.33309469e-01 -3.56920277e-03 -1.07314415e+02] [ 7.33299229e-01 -6.79895009e-01 3.87539583e-03 -2.60631128e+02] [-5.26854761e-03 1.75323389e-05 9.99986121e-01 -2.77874595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.406559995 meters 0.01228095300876779 Centerline is valid? [True, True] Translation: X:-107.33, Y:-260.61, Z:-2.78 [[-6.81954790e-01 -7.31385377e-01 -3.61879516e-03 -1.07331150e+02] [ 7.31374835e-01 -6.81964391e-01 3.92700131e-03 -2.60607958e+02] [-5.34004076e-03 3.13416444e-05 9.99985741e-01 -2.77865554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.4365599949999 meters 0.01258106399929227 Centerline is valid? [True, True] Translation: X:-107.35, Y:-260.59, Z:-2.78 [[-6.83808639e-01 -7.29650839e-01 -3.92396235e-03 -1.07346605e+02] [ 7.29638431e-01 -6.83819896e-01 4.25559861e-03 -2.60585441e+02] [-5.78838462e-03 4.69413639e-05 9.99983246e-01 -2.77802039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.4665599949999 meters 0.012868926485478726 Centerline is valid? [True, True] Translation: X:-107.36, Y:-260.56, Z:-2.78 [[-6.86368590e-01 -7.27243287e-01 -3.91920634e-03 -1.07361994e+02] [ 7.27230883e-01 -6.86379776e-01 4.24804962e-03 -2.60560879e+02] [-5.77942954e-03 6.55599423e-05 9.99983297e-01 -2.77837271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.496559995 meters 0.013270377992182909 Centerline is valid? [True, True] Translation: X:-107.38, Y:-260.54, Z:-2.78 [[-6.87550152e-01 -7.26127511e-01 -3.69140023e-03 -1.07377502e+02] [ 7.26116505e-01 -6.87560058e-01 3.99847668e-03 -2.60539694e+02] [-5.44146327e-03 6.87666181e-05 9.99985193e-01 -2.77839368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.526559995 meters 0.013515155815241075 Centerline is valid? [True, True] Translation: X:-107.39, Y:-260.52, Z:-2.78 [[-6.88639887e-01 -7.25095415e-01 -3.42706909e-03 -1.07394230e+02] [ 7.25085928e-01 -6.88648411e-01 3.70987211e-03 -2.60517952e+02] [-5.05005694e-03 6.98463388e-05 9.99987246e-01 -2.77860577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.5565599949999 meters 0.013632680614645076 Centerline is valid? [True, True] Translation: X:-107.41, Y:-260.50, Z:-2.78 [[-6.89791528e-01 -7.24002502e-01 -2.83292102e-03 -1.07411683e+02] [ 7.23996018e-01 -6.89797343e-01 3.06477469e-03 -2.60496541e+02] [-4.17304593e-03 6.30320760e-05 9.99991291e-01 -2.77939933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.5865599949999 meters 0.013720057896661662 Centerline is valid? [True, True] Translation: X:-107.43, Y:-260.47, Z:-2.78 [[-6.91857855e-01 -7.22031009e-01 -1.98254349e-03 -1.07428681e+02] [ 7.22027829e-01 -6.91860693e-01 2.14363847e-03 -2.60473760e+02] [-2.91941736e-03 5.16415412e-05 9.99995737e-01 -2.78098925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.616559995 meters 0.014163372196925268 Centerline is valid? [True, True] Translation: X:-107.45, Y:-260.45, Z:-2.78 [[-6.92821610e-01 -7.21107106e-01 -1.66096419e-03 -1.07445432e+02] [ 7.21104873e-01 -6.92823599e-01 1.79517755e-03 -2.60451977e+02] [-2.44527047e-03 4.60084276e-05 9.99997009e-01 -2.78133111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.646559995 meters 0.014505416834179339 Centerline is valid? [True, True] Translation: X:-107.46, Y:-260.43, Z:-2.78 [[-6.93762271e-01 -7.20203255e-01 -1.08779248e-03 -1.07462382e+02] [ 7.20202297e-01 -6.93763123e-01 1.17494781e-03 -2.60429899e+02] [-1.60087154e-03 3.17038219e-05 9.99998718e-01 -2.78102849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.6765599949999 meters 0.014135833203282981 Centerline is valid? [True, True] Translation: X:-107.48, Y:-260.41, Z:-2.78 [[-6.93327770e-01 -7.20620342e-01 -1.71059118e-03 -1.07482785e+02] [ 7.20617977e-01 -6.93329879e-01 1.84660535e-03 -2.60410059e+02] [-2.51670536e-03 4.76200116e-05 9.99996832e-01 -2.78066077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.7065599949999 meters 0.014093505882279816 Centerline is valid? [True, True] Translation: X:-107.50, Y:-260.39, Z:-2.78 [[-6.93204274e-01 -7.20738908e-01 -1.80597836e-03 -1.07501391e+02] [ 7.20736276e-01 -6.93206625e-01 1.94841845e-03 -2.60390848e+02] [-2.65621715e-03 4.90178762e-05 9.99996471e-01 -2.78039675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.736559995 meters 0.01409987052409403 Centerline is valid? [True, True] Translation: X:-107.52, Y:-260.37, Z:-2.78 [[-6.92976022e-01 -7.20958560e-01 -1.72865488e-03 -1.07520140e+02] [ 7.20956152e-01 -6.92978177e-01 1.86383039e-03 -2.60370995e+02] [-2.54166458e-03 4.53053998e-05 9.99996769e-01 -2.78017695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.766559995 meters 0.014088015300983027 Centerline is valid? [True, True] Translation: X:-107.54, Y:-260.35, Z:-2.78 [[-6.92728182e-01 -7.21196605e-01 -1.76710880e-03 -1.07538858e+02] [ 7.21194093e-01 -6.92730434e-01 1.90410889e-03 -2.60351522e+02] [-2.59736691e-03 4.46014654e-05 9.99996626e-01 -2.78003075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.7965599949999 meters 0.01396763661776012 Centerline is valid? [True, True] Translation: X:-107.56, Y:-260.33, Z:-2.78 [[-6.92642356e-01 -7.21279195e-01 -1.70000619e-03 -1.07558406e+02] [ 7.21276873e-01 -6.92644441e-01 1.83073092e-03 -2.60331801e+02] [-2.49796796e-03 4.18666315e-05 9.99996879e-01 -2.78017827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.8265599949999 meters 0.013933724616728482 Centerline is valid? [True, True] Translation: X:-107.58, Y:-260.31, Z:-2.78 [[-6.92473985e-01 -7.21441151e-01 -1.56384244e-03 -1.07577712e+02] [ 7.21439188e-01 -6.92475750e-01 1.68311799e-03 -2.60311825e+02] [-2.29719354e-03 3.72981993e-05 9.99997361e-01 -2.78049523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.856559995 meters 0.013832566822265297 Centerline is valid? [True, True] Translation: X:-107.60, Y:-260.29, Z:-2.78 [[-6.92294270e-01 -7.21614204e-01 -1.25848336e-03 -1.07596910e+02] [ 7.21612935e-01 -6.92295413e-01 1.35363967e-03 -2.60292083e+02] [-1.84804787e-03 2.89791169e-05 9.99998292e-01 -2.78050641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.886559995 meters 0.013742388803506984 Centerline is valid? [True, True] Translation: X:-107.62, Y:-260.27, Z:-2.78 [[-6.91800978e-01 -7.22087105e-01 -1.27287084e-03 -1.07616656e+02] [ 7.22085808e-01 -6.91802149e-01 1.36847051e-03 -2.60274282e+02] [-1.86872969e-03 2.75872649e-05 9.99998254e-01 -2.78099710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.916559995 meters 0.01312915009274711 Centerline is valid? [True, True] Translation: X:-107.64, Y:-260.26, Z:-2.78 [[-6.91684440e-01 -7.22198940e-01 -1.15189715e-03 -1.07637401e+02] [ 7.22197880e-01 -6.91685398e-01 1.23763593e-03 -2.60256410e+02] [-1.69056980e-03 2.41558348e-05 9.99998571e-01 -2.78131078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.9465599949999 meters 0.013031919707693075 Centerline is valid? [True, True] Translation: X:-107.66, Y:-260.24, Z:-2.78 [[-6.91256334e-01 -7.22609116e-01 -8.63515561e-04 -1.07656899e+02] [ 7.22608522e-01 -6.91256873e-01 9.27211201e-04 -2.60237908e+02] [-1.26692233e-03 1.69569130e-05 9.99999197e-01 -2.78135633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.976559995 meters 0.012519857156664234 Centerline is valid? [True, True] Translation: X:-107.68, Y:-260.22, Z:-2.78 [[-6.89953690e-01 -7.23853483e-01 -2.01321140e-04 -1.07677918e+02] [ 7.23853451e-01 -6.89953719e-01 2.16030524e-04 -2.60219857e+02] [-2.95276716e-04 3.32405535e-06 9.99999957e-01 -2.78155327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.006559995 meters 0.012285073083581687 Centerline is valid? [True, True] Translation: X:-107.70, Y:-260.20, Z:-2.78 [[-6.89092583e-01 -7.24673312e-01 5.40818441e-05 -1.07698230e+02] [ 7.24673309e-01 -6.89092585e-01 -5.80091940e-05 -2.60200816e+02] [ 7.93051133e-05 -7.82036458e-07 9.99999997e-01 -2.78190188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.036559995 meters 0.012129520441034622 Centerline is valid? [True, True] Translation: X:-107.72, Y:-260.18, Z:-2.78 [[-6.88318728e-01 -7.25408268e-01 4.16272515e-04 -1.07717285e+02] [ 7.25408131e-01 -6.88318854e-01 -4.46162290e-04 -2.60182682e+02] [ 6.10178035e-04 -5.13439277e-06 9.99999814e-01 -2.78225874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.0665599949999 meters 0.011735957268872294 Centerline is valid? [True, True] Translation: X:-107.74, Y:-260.17, Z:-2.78 [[-6.86045192e-01 -7.27558278e-01 9.73217176e-04 -1.07738032e+02] [ 7.27557531e-01 -6.86045882e-01 -1.04240770e-03 -2.60165947e+02] [ 1.42608399e-03 -7.06730470e-06 9.99998983e-01 -2.78346984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.0965599949999 meters 0.01162345120097501 Centerline is valid? [True, True] Translation: X:-107.76, Y:-260.15, Z:-2.78 [[-6.84910827e-01 -7.28625939e-01 1.18320206e-03 -1.07758458e+02] [ 7.28624838e-01 -6.84911849e-01 -1.26654303e-03 -2.60147828e+02] [ 1.73322521e-03 -5.35862647e-06 9.99998498e-01 -2.78433191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.126559995 meters 0.011562379829808126 Centerline is valid? [True, True] Translation: X:-107.78, Y:-260.13, Z:-2.79 [[-6.83468306e-01 -7.29979447e-01 1.04029480e-03 -1.07779460e+02] [ 7.29978598e-01 -6.83469098e-01 -1.11288971e-03 -2.60129636e+02] [ 1.52339596e-03 -1.23190443e-06 9.99998840e-01 -2.78522565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.156559995 meters 0.011559318275855993 Centerline is valid? [True, True] Translation: X:-107.80, Y:-260.11, Z:-2.79 [[-6.81963208e-01 -7.31385610e-01 1.12822573e-03 -1.07800699e+02] [ 7.31384615e-01 -6.81964141e-01 -1.20627845e-03 -2.60110990e+02] [ 1.65166420e-03 2.52942228e-06 9.99998636e-01 -2.78581059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.1865599949999 meters 0.011756514031480035 Centerline is valid? [True, True] Translation: X:-107.82, Y:-260.09, Z:-2.79 [[-6.79131451e-01 -7.34016133e-01 8.88507373e-04 -1.07822069e+02] [ 7.34015519e-01 -6.79132032e-01 -9.49349718e-04 -2.60094871e+02] [ 1.30025183e-03 7.44494961e-06 9.99999155e-01 -2.78660436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.2165599949999 meters 0.011976439103897753 Centerline is valid? [True, True] Translation: X:-107.84, Y:-260.08, Z:-2.79 [[-6.78013314e-01 -7.35048709e-01 1.15806848e-03 -1.07841348e+02] [ 7.35047669e-01 -6.78014303e-01 -1.23660456e-03 -2.60075883e+02] [ 1.69415158e-03 1.28011858e-05 9.99998565e-01 -2.78672410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.246559995 meters 0.012208474515447104 Centerline is valid? [True, True] Translation: X:-107.86, Y:-260.06, Z:-2.79 [[-6.76496200e-01 -7.36444373e-01 1.60557382e-03 -1.07861723e+02] [ 7.36442379e-01 -6.76498105e-01 -1.71349173e-03 -2.60056398e+02] [ 2.34805899e-03 2.32419554e-05 9.99997243e-01 -2.78750546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.276559995 meters 0.012266162034443103 Centerline is valid? [True, True] Translation: X:-107.88, Y:-260.04, Z:-2.79 [[-6.76206073e-01 -7.36710873e-01 1.56104908e-03 -1.07881008e+02] [ 7.36708992e-01 -6.76207874e-01 -1.66503069e-03 -2.60036600e+02] [ 2.28223989e-03 2.41350228e-05 9.99997396e-01 -2.78806595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.3065599949999 meters 0.012444951903369033 Centerline is valid? [True, True] Translation: X:-107.90, Y:-260.02, Z:-2.79 [[-6.76192633e-01 -7.36723304e-01 1.51542390e-03 -1.07900268e+02] [ 7.36721534e-01 -6.76194330e-01 -1.61540061e-03 -2.60017026e+02] [ 2.21482433e-03 2.41234297e-05 9.99997547e-01 -2.78865803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.3365599949999 meters 0.012459925394664326 Centerline is valid? [True, True] Translation: X:-107.92, Y:-260.00, Z:-2.79 [[-6.76148415e-01 -7.36764052e-01 1.43263961e-03 -1.07919292e+02] [ 7.36762471e-01 -6.76149933e-01 -1.52628759e-03 -2.59996497e+02] [ 2.09319301e-03 2.35181593e-05 9.99997809e-01 -2.78882178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.366559995 meters 0.012511941987822428 Centerline is valid? [True, True] Translation: X:-107.94, Y:-259.98, Z:-2.79 [[-6.76498391e-01 -7.36443105e-01 1.21683426e-03 -1.07937283e+02] [ 7.36441965e-01 -6.76499485e-01 -1.29583725e-03 -2.59976861e+02] [ 1.77749816e-03 1.94959957e-05 9.99998420e-01 -2.78929224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.396559995 meters 0.012549439751836913 Centerline is valid? [True, True] Translation: X:-107.96, Y:-259.96, Z:-2.79 [[-6.77254434e-01 -7.35747496e-01 1.43316832e-03 -1.07955364e+02] [ 7.35745916e-01 -6.77255950e-01 -1.52527211e-03 -2.59956517e+02] [ 2.09283691e-03 2.14504388e-05 9.99997810e-01 -2.78970719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.4265599949999 meters 0.012353596877273719 Centerline is valid? [True, True] Translation: X:-107.97, Y:-259.94, Z:-2.79 [[-6.78021010e-01 -7.35040241e-01 1.83136350e-03 -1.07973177e+02] [ 7.35037661e-01 -6.78023483e-01 -1.94784536e-03 -2.59935480e+02] [ 2.67345218e-03 2.54410657e-05 9.99996426e-01 -2.79030443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.4565599949999 meters 0.012234832371436887 Centerline is valid? [True, True] Translation: X:-107.99, Y:-259.91, Z:-2.79 [[-6.79090041e-01 -7.34050921e-01 2.44160068e-03 -1.07990823e+02] [ 7.34046334e-01 -6.79094430e-01 -2.59528153e-03 -2.59914277e+02] [ 3.56314622e-03 2.98181851e-05 9.99993652e-01 -2.79088821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.486559995 meters 0.011958851525685286 Centerline is valid? [True, True] Translation: X:-108.01, Y:-259.89, Z:-2.79 [[-6.81236557e-01 -7.32056974e-01 3.05624652e-03 -1.08006835e+02] [ 7.32049775e-01 -6.81243412e-01 -3.24659007e-03 -2.59891939e+02] [ 4.45873671e-03 2.56287360e-05 9.99990060e-01 -2.79231229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.516559995 meters 0.011858821871800635 Centerline is valid? [True, True] Translation: X:-108.02, Y:-259.87, Z:-2.79 [[-6.82635679e-01 -7.30750898e-01 3.41383830e-03 -1.08024035e+02] [ 7.30741911e-01 -6.82644215e-01 -3.62420203e-03 -2.59870368e+02] [ 4.97882585e-03 2.06251110e-05 9.99987605e-01 -2.79261750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.5465599949999 meters 0.011858821871800635 Centerline is valid? [True, True] Translation: X:-108.04, Y:-259.85, Z:-2.79 [[-6.82861684e-01 -7.30539704e-01 3.41495920e-03 -1.08042463e+02] [ 7.30530719e-01 -6.82870223e-01 -3.62314586e-03 -2.59850961e+02] [ 4.97882585e-03 2.06251175e-05 9.99987605e-01 -2.79261707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.5765599949999 meters 0.011807370608730272 Centerline is valid? [True, True] Translation: X:-108.06, Y:-259.83, Z:-2.79 [[-6.84759866e-01 -7.28760251e-01 3.52457987e-03 -1.08058794e+02] [ 7.28750669e-01 -6.84768937e-01 -3.73702249e-03 -2.59829795e+02] [ 5.13691626e-03 9.57691911e-06 9.99986806e-01 -2.79311907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.606559995 meters 0.011771163438333919 Centerline is valid? [True, True] Translation: X:-108.08, Y:-259.81, Z:-2.79 [[-6.87133515e-01 -7.26525896e-01 2.76669828e-03 -1.08075290e+02] [ 7.26519982e-01 -6.87139085e-01 -2.93164625e-03 -2.59808515e+02] [ 4.03102344e-03 -4.37081014e-06 9.99991875e-01 -2.79212093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.636559995 meters 0.011859891617613296 Centerline is valid? [True, True] Translation: X:-108.09, Y:-259.79, Z:-2.79 [[-6.88241901e-01 -7.25477692e-01 2.28128185e-03 -1.08093550e+02] [ 7.25473670e-01 -6.88245682e-01 -2.41572627e-03 -2.59788954e+02] [ 3.32263790e-03 -7.59412293e-06 9.99994480e-01 -2.79194217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.666559995 meters 0.0119289936447784 Centerline is valid? [True, True] Translation: X:-108.11, Y:-259.77, Z:-2.79 [[-6.89535319e-01 -7.24249574e-01 1.89723063e-03 -1.08111633e+02] [ 7.24246791e-01 -6.89537929e-01 -2.00783476e-03 -2.59768786e+02] [ 2.76238595e-03 -1.04097851e-05 9.99996185e-01 -2.79173413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.6965599949999 meters 0.012119954421095386 Centerline is valid? [True, True] Translation: X:-108.13, Y:-259.75, Z:-2.79 [[-6.91230535e-01 -7.22632736e-01 1.50888275e-03 -1.08128559e+02] [ 7.22630974e-01 -6.91232182e-01 -1.59584405e-03 -2.59748903e+02] [ 2.19619746e-03 -1.27307245e-05 9.99997588e-01 -2.79114085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.726559995 meters 0.012903114761583604 Centerline is valid? [True, True] Translation: X:-108.15, Y:-259.73, Z:-2.79 [[-6.94453601e-01 -7.19536830e-01 9.72985968e-04 -1.08146239e+02] [ 7.19536095e-01 -6.94454282e-01 -1.02852329e-03 -2.59727131e+02] [ 1.41575466e-03 -1.41631810e-05 9.99998998e-01 -2.79072402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.756559995 meters 0.01363462147136764 Centerline is valid? [True, True] Translation: X:-108.16, Y:-259.71, Z:-2.79 [[-6.96493022e-01 -7.17563040e-01 8.67798763e-04 -1.08163781e+02] [ 7.17562455e-01 -6.96493563e-01 -9.16825376e-04 -2.59706302e+02] [ 1.26229626e-03 -1.58626667e-05 9.99999203e-01 -2.79124933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.786559995 meters 0.014213681935613443 Centerline is valid? [True, True] Translation: X:-108.18, Y:-259.69, Z:-2.79 [[-6.98160005e-01 -7.15941227e-01 8.75899381e-04 -1.08182067e+02] [ 7.15940630e-01 -6.98160554e-01 -9.24846819e-04 -2.59686103e+02] [ 1.27365436e-03 -1.85991043e-05 9.99999189e-01 -2.79129308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.8165599949999 meters 0.014635070370120972 Centerline is valid? [True, True] Translation: X:-108.20, Y:-259.67, Z:-2.79 [[-7.01640220e-01 -7.12530639e-01 1.04407996e-03 -1.08202189e+02] [ 7.12529788e-01 -7.01640996e-01 -1.10182155e-03 -2.59666098e+02] [ 1.51765092e-03 -2.91442422e-05 9.99998848e-01 -2.79263039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.8465599949999 meters 0.015297453903656649 Centerline is valid? [True, True] Translation: X:-108.22, Y:-259.65, Z:-2.79 [[-7.03701936e-01 -7.10493114e-01 1.76642759e-03 -1.08220810e+02] [ 7.10490673e-01 -7.03704151e-01 -1.86309566e-03 -2.59645509e+02] [ 2.56675907e-03 -5.60336946e-05 9.99996704e-01 -2.79352143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.876559995 meters 0.015976686558568685 Centerline is valid? [True, True] Translation: X:-108.24, Y:-259.62, Z:-2.79 [[-7.05546012e-01 -7.08660764e-01 2.17886115e-03 -1.08239991e+02] [ 7.08657046e-01 -7.05549372e-01 -2.29683774e-03 -2.59624893e+02] [ 3.16497290e-03 -7.64593999e-05 9.99994989e-01 -2.79407872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.906559995 meters 0.016766518723553062 Centerline is valid? [True, True] Translation: X:-108.26, Y:-259.61, Z:-2.80 [[-7.08409029e-01 -7.05795029e-01 3.16608160e-03 -1.08259629e+02] [ 7.05787159e-01 -7.08416093e-01 -3.33564764e-03 -2.59605180e+02] [ 4.59718668e-03 -1.28423176e-04 9.99989425e-01 -2.79505865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.9365599949999 meters 0.018151071857633972 Centerline is valid? [True, True] Translation: X:-108.28, Y:-259.59, Z:-2.80 [[-7.09602436e-01 -7.04594503e-01 3.31195875e-03 -1.08277290e+02] [ 7.04585885e-01 -7.09610151e-01 -3.48777300e-03 -2.59585388e+02] [ 4.80766523e-03 -1.41372827e-04 9.99988433e-01 -2.79547138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.9665599949999 meters 0.017606337120155267 Centerline is valid? [True, True] Translation: X:-108.30, Y:-259.57, Z:-2.80 [[-7.10591010e-01 -7.03598163e-01 3.16882833e-03 -1.08298644e+02] [ 7.03590272e-01 -7.10598062e-01 -3.33520127e-03 -2.59566898e+02] [ 4.59840476e-03 -1.40407253e-04 9.99989418e-01 -2.79528007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.996559995 meters 0.01780444127426965 Centerline is valid? [True, True] Translation: X:-108.32, Y:-259.55, Z:-2.79 [[-7.11247393e-01 -7.02937529e-01 2.44489839e-03 -1.08319064e+02] [ 7.02932833e-01 -7.11251586e-01 -2.57166403e-03 -2.59548908e+02] [ 3.54665701e-03 -1.10489984e-04 9.99993705e-01 -2.79384036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.026559995 meters 0.017723494509692614 Centerline is valid? [True, True] Translation: X:-108.34, Y:-259.53, Z:-2.79 [[-7.11009912e-01 -7.03179265e-01 1.95622300e-03 -1.08338920e+02] [ 7.03176263e-01 -7.11012598e-01 -2.05637653e-03 -2.59529634e+02] [ 2.83690053e-03 -8.65345151e-05 9.99995972e-01 -2.79353739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.0565599949999 meters 0.017343441855552783 Centerline is valid? [True, True] Translation: X:-108.36, Y:-259.51, Z:-2.79 [[-7.10439874e-01 -7.03756256e-01 1.52219816e-03 -1.08359857e+02] [ 7.03754442e-01 -7.10441502e-01 -1.59924804e-03 -2.59510715e+02] [ 2.20691356e-03 -6.49158628e-05 9.99997563e-01 -2.79281298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.0865599949999 meters 0.01642906745104114 Centerline is valid? [True, True] Translation: X:-108.38, Y:-259.49, Z:-2.79 [[-7.07738745e-01 -7.06473555e-01 9.92711536e-04 -1.08382763e+02] [ 7.06472787e-01 -7.07739440e-01 -1.04239320e-03 -2.59493375e+02] [ 1.43900434e-03 -3.64183701e-05 9.99998964e-01 -2.79239729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.116559995 meters 0.015753014408323246 Centerline is valid? [True, True] Translation: X:-108.40, Y:-259.48, Z:-2.79 [[-7.06150860e-01 -7.08060891e-01 8.59237636e-04 -1.08404690e+02] [ 7.08060317e-01 -7.06151382e-01 -9.01745815e-04 -2.59475344e+02] [ 1.24524279e-03 -2.83765102e-05 9.99999224e-01 -2.79292169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.146559995 meters 0.01509728058709345 Centerline is valid? [True, True] Translation: X:-108.43, Y:-259.46, Z:-2.79 [[-7.04040600e-01 -7.10159070e-01 9.63645190e-04 -1.08425760e+02] [ 7.10158351e-01 -7.04041259e-01 -1.01079149e-03 -2.59458058e+02] [ 1.39626872e-03 -2.72975700e-05 9.99999025e-01 -2.79335346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.1765599949999 meters 0.013919339682709055 Centerline is valid? [True, True] Translation: X:-108.45, Y:-259.44, Z:-2.79 [[-7.01645552e-01 -7.12525497e-01 9.67090188e-04 -1.08448235e+02] [ 7.12524777e-01 -7.01646218e-01 -1.01384288e-03 -2.59441184e+02] [ 1.40094408e-03 -2.22826275e-05 9.99999019e-01 -2.79375808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.2065599949999 meters 0.012616300055270386 Centerline is valid? [True, True] Translation: X:-108.47, Y:-259.43, Z:-2.79 [[-6.95691397e-01 -7.18339869e-01 1.14572049e-03 -1.08471305e+02] [ 7.18338866e-01 -6.95692340e-01 -1.20051024e-03 -2.59426438e+02] [ 1.65944334e-03 -1.21690856e-05 9.99998623e-01 -2.79373062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.236559995 meters 0.012122561397564579 Centerline is valid? [True, True] Translation: X:-108.49, Y:-259.41, Z:-2.79 [[-6.92706604e-01 -7.21218355e-01 1.28219966e-03 -1.08493115e+02] [ 7.21217106e-01 -6.92707791e-01 -1.34270787e-03 -2.59409428e+02] [ 1.85657526e-03 -5.35828656e-06 9.99998277e-01 -2.79342238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.266559995 meters 0.012015386266144156 Centerline is valid? [True, True] Translation: X:-108.51, Y:-259.39, Z:-2.79 [[-6.89587149e-01 -7.24201483e-01 1.33285832e-03 -1.08514955e+02] [ 7.24200139e-01 -6.89588437e-01 -1.39489365e-03 -2.59392368e+02] [ 1.92930774e-03 3.35544800e-06 9.99998139e-01 -2.79319023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.2965599949999 meters 0.012772999806756948 Centerline is valid? [True, True] Translation: X:-108.54, Y:-259.38, Z:-2.79 [[-6.83459989e-01 -7.29986460e-01 1.48725482e-03 -1.08539642e+02] [ 7.29984803e-01 -6.83461607e-01 -1.55560192e-03 -2.59376780e+02] [ 2.15204991e-03 2.24817485e-05 9.99997684e-01 -2.79375609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.3265599949999 meters 0.01354401073601645 Centerline is valid? [True, True] Translation: X:-108.56, Y:-259.36, Z:-2.79 [[-6.80927701e-01 -7.32347821e-01 2.03351640e-03 -1.08561011e+02] [ 7.32344736e-01 -6.80930736e-01 -2.12609296e-03 -2.59359339e+02] [ 2.94172337e-03 4.15194440e-05 9.99995672e-01 -2.79432917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.356559995 meters 0.014189883814601857 Centerline is valid? [True, True] Translation: X:-108.58, Y:-259.34, Z:-2.79 [[-6.78843268e-01 -7.34280681e-01 1.92307677e-03 -1.08582258e+02] [ 7.34277933e-01 -6.78845991e-01 -2.00951370e-03 -2.59340272e+02] [ 2.78102005e-03 4.79279872e-05 9.99996132e-01 -2.79413545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.386559995 meters 0.01470742171245776 Centerline is valid? [True, True] Translation: X:-108.60, Y:-259.32, Z:-2.79 [[-6.77428816e-01 -7.35585216e-01 2.14239285e-03 -1.08603153e+02] [ 7.35581816e-01 -6.77432201e-01 -2.23744634e-03 -2.59320988e+02] [ 3.09715836e-03 6.01946020e-05 9.99995202e-01 -2.79382408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.416559995 meters 0.015500529259908302 Centerline is valid? [True, True] Translation: X:-108.62, Y:-259.30, Z:-2.79 [[-6.75515308e-01 -7.37343094e-01 2.05661436e-03 -1.08623608e+02] [ 7.37339971e-01 -6.75518436e-01 -2.14698766e-03 -2.59302288e+02] [ 2.97234744e-03 6.61009418e-05 9.99995580e-01 -2.79358612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.4465599949999 meters 0.01552552407347873 Centerline is valid? [True, True] Translation: X:-108.64, Y:-259.28, Z:-2.79 [[-6.75446522e-01 -7.37406013e-01 2.09015973e-03 -1.08642527e+02] [ 7.37402792e-01 -6.75449752e-01 -2.18064523e-03 -2.59282864e+02] [ 3.01981877e-03 6.83803822e-05 9.99995438e-01 -2.79376446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.476559995 meters 0.01639426083396094 Centerline is valid? [True, True] Translation: X:-108.66, Y:-259.26, Z:-2.79 [[-6.75686111e-01 -7.37185735e-01 2.33913169e-03 -1.08661945e+02] [ 7.37181705e-01 -6.75690155e-01 -2.43879745e-03 -2.59264997e+02] [ 3.37837495e-03 7.65035187e-05 9.99994290e-01 -2.79477998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.506559995 meters 0.01591340681664116 Centerline is valid? [True, True] Translation: X:-108.68, Y:-259.24, Z:-2.80 [[-6.76957912e-01 -7.36012282e-01 3.72905359e-03 -1.08679907e+02] [ 7.36002035e-01 -6.76968173e-01 -3.88560588e-03 -2.59244161e+02] [ 5.38430424e-03 1.14199384e-04 9.99985498e-01 -2.79646618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.536559995 meters 0.014662891469034668 Centerline is valid? [True, True] Translation: X:-108.70, Y:-259.22, Z:-2.80 [[-6.78121815e-01 -7.34939543e-01 3.83035246e-03 -1.08696240e+02] [ 7.34928728e-01 -6.78132624e-01 -3.98866622e-03 -2.59222284e+02] [ 5.52891549e-03 1.10234481e-04 9.99984709e-01 -2.79686410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.5665599949999 meters 0.013995338405736463 Centerline is valid? [True, True] Translation: X:-108.71, Y:-259.20, Z:-2.80 [[-6.79527937e-01 -7.33635919e-01 4.48568517e-03 -1.08713491e+02] [ 7.33621074e-01 -6.79542732e-01 -4.66845792e-03 -2.59200202e+02] [ 6.47316317e-03 1.18445597e-04 9.99979042e-01 -2.79715602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.5965599949999 meters 0.012842092833249339 Centerline is valid? [True, True] Translation: X:-108.73, Y:-259.18, Z:-2.80 [[-6.83075029e-01 -7.30324532e-01 5.88081154e-03 -1.08729134e+02] [ 7.30298924e-01 -6.83100333e-01 -6.11694449e-03 -2.59175955e+02] [ 8.48453895e-03 1.16418304e-04 9.99963999e-01 -2.79852315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.626559995 meters 0.012644242268668365 Centerline is valid? [True, True] Translation: X:-108.75, Y:-259.15, Z:-2.80 [[-6.85454825e-01 -7.28084377e-01 6.69502831e-03 -1.08746348e+02] [ 7.28051119e-01 -6.85487512e-01 -6.95982685e-03 -2.59154887e+02] [ 9.65669950e-03 1.03675956e-04 9.99953368e-01 -2.80000013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.656559995 meters 0.012106936806829505 Centerline is valid? [True, True] Translation: X:-108.76, Y:-259.13, Z:-2.80 [[-6.91281550e-01 -7.22538550e-01 8.23785313e-03 -1.08759368e+02] [ 7.22487866e-01 -6.91330632e-01 -8.55808466e-03 -2.59130778e+02] [ 1.18786263e-02 3.57028946e-05 9.99929446e-01 -2.80395508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.6865599949999 meters 0.011923973001018828 Centerline is valid? [True, True] Translation: X:-108.77, Y:-259.11, Z:-2.80 [[-6.94713710e-01 -7.19233636e-01 8.70853622e-03 -1.08774642e+02] [ 7.19176804e-01 -6.94768290e-01 -9.04143219e-03 -2.59107618e+02] [ 1.25533170e-02 -1.82296484e-05 9.99921204e-01 -2.80294135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.7165599949999 meters 0.012564103568839158 Centerline is valid? [True, True] Translation: X:-108.79, Y:-259.08, Z:-2.80 [[-6.98561161e-01 -7.15496224e-01 8.80100444e-03 -1.08789812e+02] [ 7.15437948e-01 -6.98616595e-01 -9.13210496e-03 -2.59084071e+02] [ 1.26825144e-02 -8.27612852e-05 9.99919570e-01 -2.80392973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.746559995 meters 0.013688734606898362 Centerline is valid? [True, True] Translation: X:-108.80, Y:-259.06, Z:-2.80 [[-7.02637879e-01 -7.11493823e-01 8.74938714e-03 -1.08803858e+02] [ 7.11435961e-01 -7.02692335e-01 -9.07499255e-03 -2.59060437e+02] [ 1.26049284e-02 -1.51804868e-04 9.99920543e-01 -2.80367116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.776559995 meters 0.01418699303158813 Centerline is valid? [True, True] Translation: X:-108.82, Y:-259.04, Z:-2.80 [[-7.06488035e-01 -7.07677662e-01 8.18430815e-03 -1.08820701e+02] [ 7.07626832e-01 -7.06535410e-01 -8.48420312e-03 -2.59037799e+02] [ 1.17865845e-02 -2.02551951e-04 9.99930515e-01 -2.80155144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.8065599949999 meters 0.016586795696161186 Centerline is valid? [True, True] Translation: X:-108.84, Y:-259.02, Z:-2.80 [[-7.11904064e-01 -7.02247063e-01 6.45489530e-03 -1.08835448e+02] [ 7.02215254e-01 -7.11933291e-01 -6.68777578e-03 -2.59015479e+02] [ 9.29192575e-03 -2.28328813e-04 9.99956803e-01 -2.79979231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.8365599949999 meters 0.017176325108333706 Centerline is valid? [True, True] Translation: X:-108.85, Y:-258.99, Z:-2.80 [[-7.14627600e-01 -6.99478317e-01 6.12188587e-03 -1.08853490e+02] [ 6.99449637e-01 -7.14653778e-01 -6.33906402e-03 -2.58994459e+02] [ 8.80906670e-03 -2.48119260e-04 9.99961169e-01 -2.79838737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.866559995 meters 0.018033145410887973 Centerline is valid? [True, True] Translation: X:-108.87, Y:-258.97, Z:-2.80 [[-7.16942587e-01 -6.97106843e-01 5.94776845e-03 -1.08871567e+02] [ 6.97079720e-01 -7.16967209e-01 -6.15518175e-03 -2.58973608e+02] [ 8.55517427e-03 -2.66843167e-04 9.99963368e-01 -2.79745199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.896559995 meters 0.018215047589977267 Centerline is valid? [True, True] Translation: X:-108.89, Y:-258.95, Z:-2.80 [[-7.19007201e-01 -6.94979504e-01 5.66864056e-03 -1.08891180e+02] [ 6.94954827e-01 -7.19029494e-01 -5.86305879e-03 -2.58953478e+02] [ 8.15062545e-03 -2.76132372e-04 9.99966745e-01 -2.79645085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.9265599949999 meters 0.01967197097546207 Centerline is valid? [True, True] Translation: X:-108.91, Y:-258.93, Z:-2.80 [[-7.22599357e-01 -6.91245886e-01 5.41254825e-03 -1.08909141e+02] [ 6.91223309e-01 -7.22619564e-01 -5.59480794e-03 -2.58932239e+02] [ 7.77860122e-03 -3.01525104e-04 9.99969701e-01 -2.79558825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.9565599949999 meters 0.020738756361882986 Centerline is valid? [True, True] Translation: X:-108.93, Y:-258.91, Z:-2.80 [[-7.24267295e-01 -6.89500544e-01 5.08765469e-03 -1.08927972e+02] [ 6.89480577e-01 -7.24285103e-01 -5.25589925e-03 -2.58912044e+02] [ 7.30885789e-03 -2.98836844e-04 9.99973245e-01 -2.79553049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.986559995 meters 0.02046934315767113 Centerline is valid? [True, True] Translation: X:-108.95, Y:-258.89, Z:-2.80 [[-7.25932437e-01 -6.87747901e-01 4.99210205e-03 -1.08949123e+02] [ 6.87728656e-01 -7.25949536e-01 -5.15429750e-03 -2.58893048e+02] [ 7.16887145e-03 -3.08460111e-04 9.99974256e-01 -2.79568551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.016559995 meters 0.02220986414840876 Centerline is valid? [True, True] Translation: X:-108.97, Y:-258.87, Z:-2.80 [[-7.27400539e-01 -6.86195218e-01 4.95769271e-03 -1.08967850e+02] [ 6.86176223e-01 -7.27417364e-01 -5.11574912e-03 -2.58873217e+02] [ 7.11671434e-03 -3.19347810e-04 9.99974625e-01 -2.79604029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.0465599949999 meters 0.02221100775979929 Centerline is valid? [True, True] Translation: X:-108.99, Y:-258.86, Z:-2.80 [[-7.29362666e-01 -6.84112543e-01 4.48672647e-03 -1.08990858e+02] [ 6.84096962e-01 -7.29376402e-01 -4.62717348e-03 -2.58856772e+02] [ 6.43801983e-03 -3.05531632e-04 9.99979229e-01 -2.79645147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.0765599949999 meters 0.022564441017959097 Centerline is valid? [True, True] Translation: X:-109.01, Y:-258.84, Z:-2.80 [[-7.29763325e-01 -6.83687795e-01 4.06049802e-03 -1.09012265e+02] [ 6.83675041e-01 -7.29774569e-01 -4.18528688e-03 -2.58838463e+02] [ 5.82467775e-03 -2.78207720e-04 9.99982998e-01 -2.79648466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.106559995 meters 0.022457407801124027 Centerline is valid? [True, True] Translation: X:-109.03, Y:-258.82, Z:-2.80 [[-7.29600823e-01 -6.83863713e-01 3.61408232e-03 -1.09033476e+02] [ 6.83853623e-01 -7.29609733e-01 -3.72283864e-03 -2.58821654e+02] [ 5.18278389e-03 -2.44682844e-04 9.99986539e-01 -2.79635559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.136559995 meters 0.02286896916758461 Centerline is valid? [True, True] Translation: X:-109.06, Y:-258.81, Z:-2.80 [[-7.28001747e-01 -6.85571146e-01 2.37901717e-03 -1.09055924e+02] [ 6.85566787e-01 -7.28005619e-01 -2.44934819e-03 -2.58806636e+02] [ 3.41114031e-03 -1.52154602e-04 9.99994171e-01 -2.79566165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.166559995 meters 0.021309841598056295 Centerline is valid? [True, True] Translation: X:-109.08, Y:-258.79, Z:-2.80 [[-7.26412366e-01 -6.87254875e-01 2.41078389e-03 -1.09078685e+02] [ 6.87250413e-01 -7.26416352e-01 -2.48065633e-03 -2.58789626e+02] [ 3.45607599e-03 -1.45167208e-04 9.99994017e-01 -2.79524175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.1965599949999 meters 0.020276786196626945 Centerline is valid? [True, True] Translation: X:-109.10, Y:-258.77, Z:-2.79 [[-7.24609635e-01 -6.89156005e-01 2.20855997e-03 -1.09101212e+02] [ 6.89152273e-01 -7.24612990e-01 -2.27131815e-03 -2.58772400e+02] [ 3.16564379e-03 -1.23784892e-04 9.99994982e-01 -2.79474960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.226559995 meters 0.01757526816378256 Centerline is valid? [True, True] Translation: X:-109.13, Y:-258.76, Z:-2.80 [[-7.19502429e-01 -6.94486015e-01 2.33039686e-03 -1.09127862e+02] [ 6.94481892e-01 -7.19506195e-01 -2.39521789e-03 -2.58759660e+02] [ 3.34018031e-03 -1.04946669e-04 9.99994416e-01 -2.79529927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.256559995 meters 0.015909057290745453 Centerline is valid? [True, True] Translation: X:-109.15, Y:-258.74, Z:-2.80 [[-7.16631686e-01 -6.97446579e-01 2.70102922e-03 -1.09152426e+02] [ 6.97441066e-01 -7.16636769e-01 -2.77513634e-03 -2.58743947e+02] [ 3.87116620e-03 -1.04941935e-04 9.99992502e-01 -2.79601897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.286559995 meters 0.015026052221143065 Centerline is valid? [True, True] Translation: X:-109.18, Y:-258.73, Z:-2.80 [[-7.13783862e-01 -7.00359329e-01 3.06730519e-03 -1.09175818e+02] [ 7.00352254e-01 -7.13790445e-01 -3.14966166e-03 -2.58728171e+02] [ 4.39530807e-03 -9.99835551e-05 9.99990336e-01 -2.79727157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.3165599949999 meters 0.013244224653470226 Centerline is valid? [True, True] Translation: X:-109.20, Y:-258.72, Z:-2.80 [[-7.07911253e-01 -7.06294240e-01 3.17876381e-03 -1.09202129e+02] [ 7.06286708e-01 -7.07918387e-01 -3.26241196e-03 -2.58717444e+02] [ 4.55452812e-03 -6.43795095e-05 9.99989626e-01 -2.79912977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.3465599949999 meters 0.012947885483208564 Centerline is valid? [True, True] Translation: X:-109.22, Y:-258.70, Z:-2.80 [[-7.05555197e-01 -7.08646280e-01 3.50895047e-03 -1.09223737e+02] [ 7.08637139e-01 -7.05563921e-01 -3.59982588e-03 -2.58700190e+02] [ 5.02679207e-03 -5.33032398e-05 9.99987364e-01 -2.79972674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.376559995 meters 0.012165541167985567 Centerline is valid? [True, True] Translation: X:-109.25, Y:-258.68, Z:-2.80 [[-7.03802621e-01 -7.10387157e-01 3.45794199e-03 -1.09245747e+02] [ 7.10378312e-01 -7.03811115e-01 -3.54528158e-03 -2.58683538e+02] [ 4.95226051e-03 -3.87314738e-05 9.99987737e-01 -2.79873642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.406559995 meters 0.011788633264861037 Centerline is valid? [True, True] Translation: X:-109.27, Y:-258.67, Z:-2.80 [[-7.01430395e-01 -7.12733721e-01 2.45832515e-03 -1.09268923e+02] [ 7.12729270e-01 -7.01434703e-01 -2.51893019e-03 -2.58667458e+02] [ 3.51968106e-03 -1.47339044e-05 9.99993806e-01 -2.79689703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.4365599949999 meters 0.011752131843679027 Centerline is valid? [True, True] Translation: X:-109.29, Y:-258.65, Z:-2.80 [[-7.00959268e-01 -7.13199007e-01 1.81118034e-03 -1.09289508e+02] [ 7.13196596e-01 -7.00961608e-01 -1.85467721e-03 -2.58649778e+02] [ 2.59232183e-03 -8.32552848e-06 9.99996640e-01 -2.79630792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.4665599949999 meters 0.011752131843679027 Centerline is valid? [True, True] Translation: X:-109.31, Y:-258.63, Z:-2.80 [[-7.01181480e-01 -7.12980539e-01 1.81175821e-03 -1.09308267e+02] [ 7.12978129e-01 -7.01183821e-01 -1.85411272e-03 -2.58630717e+02] [ 2.59232183e-03 -8.32552988e-06 9.99996640e-01 -2.79630750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.496559995 meters 0.011741687654618173 Centerline is valid? [True, True] Translation: X:-109.33, Y:-258.61, Z:-2.80 [[-7.01346216e-01 -7.12819307e-01 1.45650947e-03 -1.09328960e+02] [ 7.12817751e-01 -7.01347728e-01 -1.48963405e-03 -2.58612420e+02] [ 2.08335952e-03 -6.52339454e-06 9.99997830e-01 -2.79591343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.526559995 meters 0.011700348545298077 Centerline is valid? [True, True] Translation: X:-109.35, Y:-258.59, Z:-2.80 [[-7.01941880e-01 -7.12233680e-01 8.84122168e-04 -1.09349657e+02] [ 7.12233107e-01 -7.01942437e-01 -9.03722805e-04 -2.58593914e+02] [ 1.26426469e-03 -4.65980535e-06 9.99999201e-01 -2.79581059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.5565599949999 meters 0.012044572988474724 Centerline is valid? [True, True] Translation: X:-109.37, Y:-258.58, Z:-2.80 [[-7.03966779e-01 -7.10232545e-01 7.11034122e-04 -1.09369901e+02] [ 7.10232174e-01 -7.03967139e-01 -7.26368685e-04 -2.58575630e+02] [ 1.01643534e-03 -6.34011421e-06 9.99999484e-01 -2.79604231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.5865599949999 meters 0.012280383790411617 Centerline is valid? [True, True] Translation: X:-109.39, Y:-258.56, Z:-2.80 [[-7.05720969e-01 -7.08489685e-01 5.28782381e-04 -1.09388641e+02] [ 7.08489480e-01 -7.05721167e-01 -5.39856505e-04 -2.58556038e+02] [ 7.55655685e-04 -6.35130212e-06 9.99999715e-01 -2.79636126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.616559995 meters 0.013295630981012623 Centerline is valid? [True, True] Translation: X:-109.41, Y:-258.53, Z:-2.80 [[-7.09802640e-01 -7.04399599e-01 1.19024656e-03 -1.09406653e+02] [ 7.04398552e-01 -7.09803638e-01 -1.21445665e-03 -2.58534983e+02] [ 1.70030412e-03 -2.36165829e-05 9.99998554e-01 -2.79689302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.646559995 meters 0.01373404469801031 Centerline is valid? [True, True] Translation: X:-109.43, Y:-258.51, Z:-2.80 [[-7.12094032e-01 -7.02082145e-01 1.65874829e-03 -1.09426453e+02] [ 7.02080109e-01 -7.12095962e-01 -1.69154172e-03 -2.58514731e+02] [ 2.36878920e-03 -3.99625811e-05 9.99997194e-01 -2.79770367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.6765599949999 meters 0.014859787234860238 Centerline is valid? [True, True] Translation: X:-109.44, Y:-258.49, Z:-2.80 [[-7.14326514e-01 -6.99808091e-01 2.50344939e-03 -1.09444492e+02] [ 6.99803442e-01 -7.14330897e-01 -2.55190344e-03 -2.58494663e+02] [ 3.57413392e-03 -7.09697903e-05 9.99993610e-01 -2.79876398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.7065599949999 meters 0.016138877141754698 Centerline is valid? [True, True] Translation: X:-109.46, Y:-258.47, Z:-2.80 [[-7.16487373e-01 -6.97593479e-01 3.03044174e-03 -1.09462496e+02] [ 6.97586654e-01 -7.16493775e-01 -3.08732862e-03 -2.58474668e+02] [ 4.32499295e-03 -9.80362563e-05 9.99990642e-01 -2.79997819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.736559995 meters 0.018078494044306705 Centerline is valid? [True, True] Translation: X:-109.48, Y:-258.45, Z:-2.80 [[-7.19813620e-01 -6.94152233e-01 4.58570725e-03 -1.09480308e+02] [ 6.94136553e-01 -7.19828205e-01 -4.66912089e-03 -2.58454308e+02] [ 6.54200211e-03 -1.77789786e-04 9.99978585e-01 -2.80186453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.766559995 meters 0.017853841423181905 Centerline is valid? [True, True] Translation: X:-109.50, Y:-258.44, Z:-2.80 [[-7.21172746e-01 -6.92734867e-01 5.31735350e-03 -1.09500764e+02] [ 6.92713768e-01 -7.21192315e-01 -5.41114289e-03 -2.58435208e+02] [ 7.58332184e-03 -2.18964793e-04 9.99971222e-01 -2.80246126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.7965599949999 meters 0.018373748914073253 Centerline is valid? [True, True] Translation: X:-109.52, Y:-258.42, Z:-2.80 [[-7.22090372e-01 -6.91768617e-01 6.45566759e-03 -1.09520294e+02] [ 6.91737511e-01 -7.22119176e-01 -6.56598862e-03 -2.58415241e+02] [ 9.20390623e-03 -2.75609738e-04 9.99957605e-01 -2.80320849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.8265599949999 meters 0.01871718975237052 Centerline is valid? [True, True] Translation: X:-109.54, Y:-258.40, Z:-2.80 [[-7.22575256e-01 -6.91257361e-01 6.94697772e-03 -1.09540194e+02] [ 6.91221353e-01 -7.22608588e-01 -7.06189804e-03 -2.58395180e+02] [ 9.90153476e-03 -3.00853449e-04 9.99950933e-01 -2.80376124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.856559995 meters 0.01867660152433181 Centerline is valid? [True, True] Translation: X:-109.56, Y:-258.38, Z:-2.80 [[-7.21868396e-01 -6.91989402e-01 7.52908095e-03 -1.09559724e+02] [ 6.91947198e-01 -7.21907592e-01 -7.64878676e-03 -2.58377366e+02] [ 1.07281801e-02 -3.11690959e-04 9.99942403e-01 -2.80437661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.886559995 meters 0.01743223671632155 Centerline is valid? [True, True] Translation: X:-109.58, Y:-258.36, Z:-2.80 [[-7.21355956e-01 -6.92520352e-01 7.81970599e-03 -1.09581225e+02] [ 6.92474910e-01 -7.21398271e-01 -7.93941522e-03 -2.58359561e+02] [ 1.11393290e-02 -3.12194257e-04 9.99937907e-01 -2.80336595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.916559995 meters 0.01826524193011722 Centerline is valid? [True, True] Translation: X:-109.60, Y:-258.34, Z:-2.80 [[-7.20442041e-01 -6.93471159e-01 7.81135643e-03 -1.09599789e+02] [ 6.93425905e-01 -7.20484327e-01 -7.92775908e-03 -2.58340219e+02] [ 1.11256322e-02 -2.94894034e-04 9.99938065e-01 -2.80393219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.9465599949999 meters 0.015376573688577902 Centerline is valid? [True, True] Translation: X:-109.62, Y:-258.32, Z:-2.80 [[-7.17956348e-01 -6.96045025e-01 7.74632285e-03 -1.09624666e+02] [ 6.96000717e-01 -7.17998093e-01 -7.85755613e-03 -2.58324834e+02] [ 1.10310579e-02 -2.49936050e-04 9.99939125e-01 -2.80230970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.976559995 meters 0.016665412728831056 Centerline is valid? [True, True] Translation: X:-109.64, Y:-258.30, Z:-2.80 [[-7.16591894e-01 -6.97450060e-01 7.71177479e-03 -1.09642520e+02] [ 6.97406275e-01 -7.16633354e-01 -7.81824603e-03 -2.58304511e+02] [ 1.09793512e-02 -2.24251603e-04 9.99939700e-01 -2.80383526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.006559995 meters 0.014715458336706396 Centerline is valid? [True, True] Translation: X:-109.66, Y:-258.29, Z:-2.80 [[-7.13286280e-01 -7.00835194e-01 7.26039616e-03 -1.09664660e+02] [ 7.00796597e-01 -7.13323212e-01 -7.35692032e-03 -2.58286423e+02] [ 1.03349978e-02 -1.59529409e-04 9.99946580e-01 -2.80248433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.036559995 meters 0.013297823424877415 Centerline is valid? [True, True] Translation: X:-109.69, Y:-258.27, Z:-2.80 [[-7.11578202e-01 -7.02573875e-01 6.81265276e-03 -1.09686848e+02] [ 7.02540006e-01 -7.11610803e-01 -6.89964073e-03 -2.58268283e+02] [ 9.69546463e-03 -1.23472839e-04 9.99952990e-01 -2.80088676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.0665599949999 meters 0.013519420257510838 Centerline is valid? [True, True] Translation: X:-109.71, Y:-258.25, Z:-2.80 [[-7.09619145e-01 -7.04557655e-01 6.25942282e-03 -1.09705989e+02] [ 7.04529171e-01 -7.09646745e-01 -6.33587771e-03 -2.58248779e+02] [ 8.90597017e-03 -8.61141466e-05 9.99960337e-01 -2.80184594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.0965599949999 meters 0.012320976824180567 Centerline is valid? [True, True] Translation: X:-109.73, Y:-258.23, Z:-2.80 [[-7.07505351e-01 -7.06681885e-01 6.07391780e-03 -1.09728054e+02] [ 7.06655175e-01 -7.07531420e-01 -6.14428718e-03 -2.58231716e+02] [ 8.63954413e-03 -5.49506107e-05 9.99962677e-01 -2.79988084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.126559995 meters 0.012080377827845545 Centerline is valid? [True, True] Translation: X:-109.75, Y:-258.21, Z:-2.80 [[-7.05172272e-01 -7.09012242e-01 5.80583978e-03 -1.09747977e+02] [ 7.08987941e-01 -7.05196171e-01 -5.87028272e-03 -2.58214401e+02] [ 8.25635830e-03 -2.32902133e-05 9.99965916e-01 -2.80050308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.156559995 meters 0.012104738438663632 Centerline is valid? [True, True] Translation: X:-109.77, Y:-258.20, Z:-2.80 [[-7.00161087e-01 -7.13965251e-01 5.29827687e-03 -1.09770536e+02] [ 7.13945179e-01 -7.00181133e-01 -5.35376777e-03 -2.58198307e+02] [ 7.53215765e-03 3.41793687e-05 9.99971632e-01 -2.79959432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.1865599949999 meters 0.012581353611609466 Centerline is valid? [True, True] Translation: X:-109.79, Y:-258.18, Z:-2.80 [[-6.97696199e-01 -7.16375590e-01 5.10180630e-03 -1.09790451e+02] [ 7.16357064e-01 -6.97714849e-01 -5.15224141e-03 -2.58180466e+02] [ 7.25054599e-03 6.00157342e-05 9.99973713e-01 -2.79912801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.2165599949999 meters 0.01300627788040331 Centerline is valid? [True, True] Translation: X:-109.81, Y:-258.16, Z:-2.80 [[-6.95489438e-01 -7.18521654e-01 4.59065014e-03 -1.09810711e+02] [ 7.18506718e-01 -6.95504585e-01 -4.63346828e-03 -2.58160494e+02] [ 6.52206551e-03 7.58847093e-05 9.99978728e-01 -2.79805529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.246559995 meters 0.013586968096256398 Centerline is valid? [True, True] Translation: X:-109.83, Y:-258.14, Z:-2.80 [[-6.93595508e-01 -7.20351306e-01 4.38943395e-03 -1.09830445e+02] [ 7.20337703e-01 -6.93609391e-01 -4.42793018e-03 -2.58141062e+02] [ 6.23421790e-03 9.06822852e-05 9.99980563e-01 -2.79758717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.276559995 meters 0.014966601601404892 Centerline is valid? [True, True] Translation: X:-109.85, Y:-258.12, Z:-2.80 [[-6.90686387e-01 -7.23142458e-01 4.15943842e-03 -1.09849815e+02] [ 7.23130307e-01 -6.90698902e-01 -4.19347564e-03 -2.58122060e+02] [ 5.90539983e-03 1.11439445e-04 9.99982557e-01 -2.79719691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.3065599949999 meters 0.015378786314358956 Centerline is valid? [True, True] Translation: X:-109.87, Y:-258.10, Z:-2.80 [[-6.90077069e-01 -7.23723601e-01 4.21756735e-03 -1.09869465e+02] [ 7.23711134e-01 -6.90089947e-01 -4.24977362e-03 -2.58101864e+02] [ 5.98616230e-03 1.19629123e-04 9.99982076e-01 -2.79771604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.3365599949999 meters 0.014900913253707793 Centerline is valid? [True, True] Translation: X:-109.89, Y:-258.08, Z:-2.80 [[-6.89608450e-01 -7.24166745e-01 4.76565747e-03 -1.09887565e+02] [ 7.24150855e-01 -6.89624903e-01 -4.79933364e-03 -2.58079970e+02] [ 6.76203389e-03 1.41393894e-04 9.99977127e-01 -2.79755255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.366559995 meters 0.01641576710352853 Centerline is valid? [True, True] Translation: X:-109.91, Y:-258.06, Z:-2.80 [[-6.89049566e-01 -7.24693456e-01 5.48550669e-03 -1.09906268e+02] [ 7.24672446e-01 -6.89071379e-01 -5.52097481e-03 -2.58060338e+02] [ 7.78091998e-03 1.70970250e-04 9.99969714e-01 -2.79961144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.396559995 meters 0.016595462025329633 Centerline is valid? [True, True] Translation: X:-109.92, Y:-258.04, Z:-2.80 [[-6.89092373e-01 -7.24648053e-01 6.07468406e-03 -1.09924396e+02] [ 7.24622316e-01 -6.89119121e-01 -6.11028956e-03 -2.58039761e+02] [ 8.61399037e-03 1.91297701e-04 9.99962881e-01 -2.80011463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.4265599949999 meters 0.016712962023973068 Centerline is valid? [True, True] Translation: X:-109.94, Y:-258.02, Z:-2.80 [[-6.89051233e-01 -7.24683614e-01 6.48520283e-03 -1.09942218e+02] [ 7.24654319e-01 -6.89081720e-01 -6.51929882e-03 -2.58019226e+02] [ 9.19326375e-03 2.07399344e-04 9.99957720e-01 -2.80044340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.4565599949999 meters 0.01736623599769485 Centerline is valid? [True, True] Translation: X:-109.96, Y:-258.00, Z:-2.80 [[-6.88915875e-01 -7.24804300e-01 7.32417599e-03 -1.09958923e+02] [ 7.24766970e-01 -6.88954766e-01 -7.35997851e-03 -2.57998374e+02] [ 1.03805700e-02 2.37914808e-04 9.99946092e-01 -2.80180266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.486559995 meters 0.0174247625299425 Centerline is valid? [True, True] Translation: X:-109.98, Y:-257.98, Z:-2.80 [[-6.89118999e-01 -7.24604598e-01 7.94864180e-03 -1.09976430e+02] [ 7.24560671e-01 -6.89164791e-01 -7.98279958e-03 -2.57977800e+02] [ 1.12622973e-02 2.58174374e-04 9.99936545e-01 -2.80227531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.516559995 meters 0.016038963842119437 Centerline is valid? [True, True] Translation: X:-109.99, Y:-257.95, Z:-2.80 [[-6.89746486e-01 -7.24004972e-01 8.15998932e-03 -1.09992701e+02] [ 7.23958694e-01 -6.89794704e-01 -8.19000168e-03 -2.57954999e+02] [ 1.15583194e-02 2.58470327e-04 9.99933167e-01 -2.80161786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.5465599949999 meters 0.015112463323090889 Centerline is valid? [True, True] Translation: X:-110.01, Y:-257.93, Z:-2.80 [[-6.91897688e-01 -7.21950708e-01 8.04764696e-03 -1.10007820e+02] [ 7.21905587e-01 -6.91944453e-01 -8.07447467e-03 -2.57929882e+02] [ 1.13978974e-02 2.22930944e-04 9.99935017e-01 -2.80115125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.5765599949999 meters 0.014130793197180913 Centerline is valid? [True, True] Translation: X:-110.02, Y:-257.91, Z:-2.80 [[-6.93974201e-01 -7.19957240e-01 7.83456520e-03 -1.10024153e+02] [ 7.19914399e-01 -6.94018398e-01 -7.85628436e-03 -2.57906418e+02] [ 1.10935212e-02 1.88157635e-04 9.99938447e-01 -2.80056068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.606559995 meters 0.013295352352445059 Centerline is valid? [True, True] Translation: X:-110.04, Y:-257.88, Z:-2.80 [[-6.96611861e-01 -7.17403222e-01 8.03318715e-03 -1.10040324e+02] [ 7.17358061e-01 -6.96658161e-01 -8.05105396e-03 -2.57882540e+02] [ 1.13722374e-02 1.54211879e-04 9.99935322e-01 -2.80007770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.636559995 meters 0.012951187346582014 Centerline is valid? [True, True] Translation: X:-110.06, Y:-257.86, Z:-2.80 [[-6.99497956e-01 -7.14588709e-01 8.09850712e-03 -1.10055843e+02] [ 7.14542674e-01 -6.99544826e-01 -8.11195324e-03 -2.57860372e+02] [ 1.14619790e-02 1.12434218e-04 9.99934303e-01 -2.80010213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.666559995 meters 0.01235150058807512 Centerline is valid? [True, True] Translation: X:-110.07, Y:-257.83, Z:-2.80 [[-7.06028478e-01 -7.08141609e-01 7.69741613e-03 -1.10067651e+02] [ 7.08099680e-01 -7.06070437e-01 -7.70592312e-03 -2.57832053e+02] [ 1.08918028e-02 9.93672815e-06 9.99940683e-01 -2.79948433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.6965599949999 meters 0.012605927590519171 Centerline is valid? [True, True] Translation: X:-110.08, Y:-257.81, Z:-2.80 [[-7.09754143e-01 -7.04407554e-01 7.68466667e-03 -1.10081875e+02] [ 7.04365599e-01 -7.09795742e-01 -7.68814499e-03 -2.57808855e+02] [ 1.08701311e-02 -4.38779143e-05 9.99940918e-01 -2.79940649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.726559995 meters 0.013123914516382316 Centerline is valid? [True, True] Translation: X:-110.10, Y:-257.78, Z:-2.80 [[-7.13537012e-01 -7.00576325e-01 7.59904648e-03 -1.10097538e+02] [ 7.00535126e-01 -7.13577468e-01 -7.59829688e-03 -2.57784808e+02] [ 1.07456953e-02 -9.82670710e-05 9.99942259e-01 -2.79860001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.756559995 meters 0.015373247783739696 Centerline is valid? [True, True] Translation: X:-110.56, Y:-258.26, Z:-1.79 [[-7.42819554e-01 6.69439956e-01 8.32198100e-03 -1.10560048e+02] [ 6.69401089e-01 7.42866140e-01 -7.21665772e-03 -2.58257923e+02] [-1.10132369e-02 2.10068672e-04 -9.99939331e-01 -1.78963255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.786559995 meters 0.01581800207521609 Centerline is valid? [True, True] Translation: X:-110.55, Y:-258.24, Z:-1.79 [[-7.85636220e-01 6.18621686e-01 9.10710097e-03 -1.10545151e+02] [ 6.18584031e-01 7.85688957e-01 -6.83071759e-03 -2.58238882e+02] [-1.13809787e-02 2.67048084e-04 -9.99935199e-01 -1.79052689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.8165599949999 meters 0.017076505806340198 Centerline is valid? [True, True] Translation: X:-110.13, Y:-257.70, Z:-2.80 [[-7.75088078e-01 -6.31788498e-01 9.04247563e-03 -1.10128753e+02] [ 6.31741699e-01 -7.75140782e-01 -7.69382897e-03 -2.57695190e+02] [ 1.18700643e-02 -2.50886195e-04 9.99929517e-01 -2.79829380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.8465599949999 meters 0.01902717508649166 Centerline is valid? [True, True] Translation: X:-110.58, Y:-258.23, Z:-1.79 [[-7.82122963e-01 6.23034950e-01 1.05414597e-02 -1.10583738e+02] [ 6.22985664e-01 7.82193881e-01 -7.84827973e-03 -2.58229499e+02] [-1.31352178e-02 4.28858440e-04 -9.99913637e-01 -1.78998732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.876559995 meters 0.01952790004057682 Centerline is valid? [True, True] Translation: X:-110.57, Y:-258.21, Z:-1.79 [[-8.23475702e-01 5.67232065e-01 1.16427024e-02 -1.10566015e+02] [ 5.67183358e-01 8.23557869e-01 -7.44819724e-03 -2.58211283e+02] [-1.38132955e-02 4.70137615e-04 -9.99904481e-01 -1.78964256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.906559995 meters 0.01886269132329417 Centerline is valid? [True, True] Translation: X:-110.55, Y:-258.19, Z:-1.79 [[-8.61000644e-01 5.08445052e-01 1.27090544e-02 -1.10550415e+02] [ 5.08398284e-01 8.61094287e-01 -6.91473733e-03 -2.58188765e+02] [-1.44594581e-02 5.07668129e-04 -9.99895328e-01 -1.79011951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.9365599949999 meters 0.02005516458479803 Centerline is valid? [True, True] Translation: X:-110.54, Y:-258.17, Z:-1.79 [[-8.94759300e-01 4.46349587e-01 1.33357000e-02 -1.10539517e+02] [ 4.46308558e-01 8.94858524e-01 -6.07391276e-03 -2.58166554e+02] [-1.46446533e-02 5.17147115e-04 -9.99892628e-01 -1.78920714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.9665599949999 meters 0.018340254220126858 Centerline is valid? [True, True] Translation: X:-110.53, Y:-258.14, Z:-1.79 [[-9.25436202e-01 3.78688671e-01 1.27564646e-02 -1.10526415e+02] [ 3.78659125e-01 9.25524015e-01 -4.75026991e-03 -2.58139370e+02] [-1.36052877e-02 4.34279986e-04 -9.99907350e-01 -1.79045657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.996559995 meters 0.017814555696573975 Centerline is valid? [True, True] Translation: X:-110.52, Y:-258.11, Z:-1.79 [[-9.50891834e-01 3.09279860e-01 1.22754851e-02 -1.10518695e+02] [ 3.09259094e-01 9.50970994e-01 -3.60299872e-03 -2.58110936e+02] [-1.27879652e-02 3.70243352e-04 -9.99918162e-01 -1.79115734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.026559995 meters 0.016890428148468785 Centerline is valid? [True, True] Translation: X:-110.51, Y:-258.08, Z:-1.79 [[-9.71237298e-01 2.37800550e-01 1.22069887e-02 -1.10514621e+02] [ 2.37785895e-01 9.71313954e-01 -2.65928809e-03 -2.58081430e+02] [-1.24891986e-02 3.19849959e-04 -9.99921956e-01 -1.79191513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.0565599949999 meters 0.01608860671665495 Centerline is valid? [True, True] Translation: X:-110.36, Y:-257.38, Z:-2.80 [[-9.66297701e-01 -2.57160510e-01 1.17143619e-02 -1.10363546e+02] [ 2.57137442e-01 -9.66368647e-01 -3.46030696e-03 -2.57382639e+02] [ 1.22102464e-02 -3.31485592e-04 9.99925397e-01 -2.79619122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.0865599949999 meters 0.014249395375366573 Centerline is valid? [True, True] Translation: X:-110.57, Y:-258.06, Z:-1.79 [[-9.74774633e-01 2.22912777e-01 1.11493541e-02 -1.10570607e+02] [ 2.22900101e-01 9.74838380e-01 -2.38270532e-03 -2.58064342e+02] [-1.13999537e-02 1.62591444e-04 -9.99935005e-01 -1.79332580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.116559995 meters 0.013663084697892097 Centerline is valid? [True, True] Translation: X:-110.57, Y:-258.03, Z:-1.79 [[-9.88730098e-01 1.49271192e-01 1.14413869e-02 -1.10567519e+02] [ 1.49262580e-01 9.88796287e-01 -1.60773542e-03 -2.58034358e+02] [-1.15531895e-02 1.18154527e-04 -9.99933253e-01 -1.79308031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.146559995 meters 0.012843747530201797 Centerline is valid? [True, True] Translation: X:-110.57, Y:-258.00, Z:-1.79 [[-9.97404784e-01 7.09438722e-02 1.22744921e-02 -1.10569952e+02] [ 7.09388741e-02 9.97480309e-01 -8.42647977e-04 -2.58000323e+02] [-1.23033449e-02 3.02775245e-05 -9.99924311e-01 -1.79226668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.1765599949999 meters 0.012727646386669558 Centerline is valid? [True, True] Translation: X:-110.58, Y:-257.97, Z:-1.79 [[-9.99914358e-01 -3.96878408e-03 1.24710067e-02 -1.10575616e+02] [-3.96868519e-03 9.99992124e-01 3.26768834e-05 -2.57968643e+02] [-1.24710382e-02 -1.68194149e-05 -9.99922234e-01 -1.79159737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.2065599949999 meters 0.013120747275691291 Centerline is valid? [True, True] Translation: X:-110.58, Y:-257.29, Z:-2.80 [[-9.97479272e-01 -6.98500933e-02 1.24926541e-02 -1.10576670e+02] [ 6.98448721e-02 -9.97557499e-01 -8.54280671e-04 -2.57289729e+02] [ 1.25218124e-02 2.04205673e-05 9.99921599e-01 -2.79937158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.236559995 meters 0.013442380478292866 Centerline is valid? [True, True] Translation: X:-110.65, Y:-257.96, Z:-1.79 [[-9.99787183e-01 -1.60142955e-02 1.30050085e-02 -1.10653722e+02] [-1.60143580e-02 9.99871757e-01 9.93366223e-05 -2.57961400e+02] [-1.30049315e-02 -1.08951381e-04 -9.99915426e-01 -1.78914541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.266559995 meters 0.014755743947613401 Centerline is valid? [True, True] Translation: X:-110.66, Y:-257.30, Z:-2.80 [[-9.97160674e-01 -7.41522221e-02 1.31163375e-02 -1.10661167e+02] [ 7.41473910e-02 -9.97246927e-01 -8.54905607e-04 -2.57298041e+02] [ 1.31436204e-02 1.20063951e-04 9.99913612e-01 -2.79958791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.2965599949999 meters 0.015422783852121343 Centerline is valid? [True, True] Translation: X:-110.73, Y:-257.95, Z:-1.79 [[-9.99490962e-01 -2.90049586e-02 1.32864061e-02 -1.10732033e+02] [-2.90053026e-02 9.99579244e-01 1.66846057e-04 -2.57954484e+02] [-1.32856552e-02 -2.18615104e-04 -9.99911718e-01 -1.78862269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.3265599949999 meters 0.015099105466216112 Centerline is valid? [True, True] Translation: X:-110.74, Y:-257.30, Z:-2.80 [[-9.97219634e-01 -7.33118573e-02 1.33556745e-02 -1.10741064e+02] [ 7.33083181e-02 -9.97309040e-01 -7.55023510e-04 -2.57300566e+02] [ 1.33750871e-02 2.26157771e-04 9.99910524e-01 -2.79892455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.356559995 meters 0.015099105466216112 Centerline is valid? [True, True] Translation: X:-110.81, Y:-257.96, Z:-1.79 [[-9.99269151e-01 -3.58267834e-02 1.33268522e-02 -1.10808978e+02] [-3.58268404e-02 9.99357985e-01 2.34543430e-04 -2.57955480e+02] [-1.33266991e-02 -2.43086991e-04 -9.99911166e-01 -1.78961763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.386559995 meters 0.015614163206658078 Centerline is valid? [True, True] Translation: X:-110.82, Y:-257.93, Z:-1.79 [[-9.94038028e-01 -1.08169568e-01 1.37019668e-02 -1.10820345e+02] [-1.08163025e-01 9.94132422e-01 1.21985569e-03 -2.57927327e+02] [-1.37535207e-02 -2.69463235e-04 -9.99905380e-01 -1.78907601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.416559995 meters 0.015493818370951434 Centerline is valid? [True, True] Translation: X:-110.83, Y:-257.90, Z:-1.79 [[-9.83665401e-01 -1.79487868e-01 1.36559337e-02 -1.10831139e+02] [-1.79474542e-01 9.83760147e-01 2.20522421e-03 -2.57902059e+02] [-1.38299743e-02 -2.81689694e-04 -9.99904322e-01 -1.78951589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.4465599949999 meters 0.0153461591751021 Centerline is valid? [True, True] Translation: X:-110.85, Y:-257.88, Z:-1.79 [[-9.68422014e-01 -2.48978409e-01 1.29829004e-02 -1.10850831e+02] [-2.48959659e-01 9.68509000e-01 3.06674445e-03 -2.57878641e+02] [-1.33376090e-02 -2.62315609e-04 -9.99911016e-01 -1.78957705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.476559995 meters 0.015167641980602458 Centerline is valid? [True, True] Translation: X:-111.02, Y:-257.25, Z:-2.80 [[-9.89348782e-01 1.44970529e-01 1.31351743e-02 -1.11024586e+02] [-1.44954257e-01 -9.89435939e-01 2.18755459e-03 -2.57245278e+02] [ 1.33135444e-02 2.60255049e-04 9.99911337e-01 -2.79927827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.506559995 meters 0.014451852442054451 Centerline is valid? [True, True] Translation: X:-110.99, Y:-257.91, Z:-1.79 [[-9.67566088e-01 -2.52298528e-01 1.27011129e-02 -1.10985088e+02] [-2.52279672e-01 9.67649424e-01 3.09181837e-03 -2.57912970e+02] [-1.30702858e-02 -2.12694009e-04 -9.99914558e-01 -1.78937118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.536559995 meters 0.014400837215959372 Centerline is valid? [True, True] Translation: X:-111.02, Y:-257.90, Z:-1.79 [[-9.47200644e-01 -3.20410517e-01 1.21671795e-02 -1.11022224e+02] [-3.20386682e-01 9.47278768e-01 3.91282479e-03 -2.57895436e+02] [-1.27794210e-02 -1.91972102e-04 -9.99918322e-01 -1.78919814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.5665599949999 meters 0.014187754341342668 Centerline is valid? [True, True] Translation: X:-111.08, Y:-257.89, Z:-1.79 [[-9.21556429e-01 -3.88058512e-01 1.20141618e-02 -1.11081486e+02] [-3.88028072e-01 9.21634721e-01 4.86380324e-03 -2.57888425e+02] [-1.29601089e-02 -1.79562900e-04 -9.99915998e-01 -1.78909168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.5965599949999 meters 0.013741680818027197 Centerline is valid? [True, True] Translation: X:-111.15, Y:-257.89, Z:-1.79 [[-8.90797188e-01 -4.54256132e-01 1.14776681e-02 -1.11145479e+02] [-4.54220815e-01 8.90871113e-01 5.66672036e-03 -2.57888317e+02] [-1.27992654e-02 -1.65497214e-04 -9.99918072e-01 -1.78956977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.626559995 meters 0.01376441123245328 Centerline is valid? [True, True] Translation: X:-111.22, Y:-257.90, Z:-1.79 [[-8.54973871e-01 -5.18531827e-01 1.20176438e-02 -1.11220903e+02] [-5.18483388e-01 8.55058311e-01 7.08953038e-03 -2.57898564e+02] [-1.39519334e-02 -1.69585446e-04 -9.99902653e-01 -1.78838906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.656559995 meters 0.01356359934004563 Centerline is valid? [True, True] Translation: X:-111.30, Y:-257.92, Z:-1.79 [[-8.13850758e-01 -5.80943757e-01 1.23002331e-02 -1.11300965e+02] [-5.80880779e-01 8.13943683e-01 8.55580273e-03 -2.57917498e+02] [-1.49821372e-02 -1.81822442e-04 -9.99887745e-01 -1.78818369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.6865599949999 meters 0.014126881286111413 Centerline is valid? [True, True] Translation: X:-111.39, Y:-257.94, Z:-1.79 [[-7.67372264e-01 -6.41081153e-01 1.24404289e-02 -1.11385174e+02] [-6.41001285e-01 7.67473070e-01 1.01212522e-02 -2.57944636e+02] [-1.60362382e-02 -2.07562712e-04 -9.99871390e-01 -1.78607156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.7165599949999 meters 0.014200825871452218 Centerline is valid? [True, True] Translation: X:-111.47, Y:-257.98, Z:-1.79 [[-7.16335379e-01 -6.97642166e-01 1.26108817e-02 -1.11471062e+02] [-6.97539856e-01 7.16446336e-01 1.19497443e-02 -2.57982267e+02] [-1.73716655e-02 -2.36567975e-04 -9.99849073e-01 -1.78500580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.746559995 meters 0.015040723382386972 Centerline is valid? [True, True] Translation: X:-111.56, Y:-258.03, Z:-1.78 [[-6.60137727e-01 -7.51036252e-01 1.27565683e-02 -1.11560531e+02] [-7.50904579e-01 6.60260905e-01 1.40659504e-02 -2.58030181e+02] [-1.89867019e-02 -2.93501010e-04 -9.99819693e-01 -1.78234009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.776559995 meters 0.015361395767939686 Centerline is valid? [True, True] Translation: X:-111.65, Y:-258.09, Z:-1.78 [[-6.00797096e-01 -7.99309839e-01 1.21091148e-02 -1.11649273e+02] [-7.99158061e-01 6.00919030e-01 1.55792557e-02 -2.58091579e+02] [-1.97292499e-02 -3.17125164e-04 -9.99805309e-01 -1.78185267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.8065599949999 meters 0.014542831319178422 Centerline is valid? [True, True] Translation: X:-111.73, Y:-258.16, Z:-1.78 [[-5.37802599e-01 -8.43001073e-01 1.08422803e-02 -1.11728946e+02] [-8.42841797e-01 5.37911782e-01 1.63896482e-02 -2.58157497e+02] [-1.96486814e-02 -3.23931636e-04 -9.99806894e-01 -1.78393651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.8365599949999 meters 0.014882407934849799 Centerline is valid? [True, True] Translation: X:-111.81, Y:-258.23, Z:-1.78 [[-4.72047068e-01 -8.81530147e-01 8.72727478e-03 -1.11806316e+02] [-8.81390884e-01 4.72127645e-01 1.56715214e-02 -2.58230383e+02] [-1.79353062e-02 -2.94444715e-04 -9.99839106e-01 -1.78485183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.866559995 meters 0.01465138850182598 Centerline is valid? [True, True] Translation: X:-111.88, Y:-258.32, Z:-1.79 [[-4.04131408e-01 -9.14674309e-01 6.97947624e-03 -1.11881048e+02] [-9.14548843e-01 4.04191589e-01 1.51516504e-02 -2.58317464e+02] [-1.66798710e-02 -2.59814093e-04 -9.99860848e-01 -1.78604103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.896559995 meters 0.015206500041038294 Centerline is valid? [True, True] Translation: X:-111.95, Y:-258.40, Z:-1.79 [[-3.33687675e-01 -9.42668281e-01 5.38958837e-03 -1.11947704e+02] [-9.42556304e-01 3.33731117e-01 1.45311565e-02 -2.58402867e+02] [-1.54967337e-02 -2.31122675e-04 -9.99879892e-01 -1.78559948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.9265599949999 meters 0.014386283051426687 Centerline is valid? [True, True] Translation: X:-112.01, Y:-258.50, Z:-1.79 [[-2.63019981e-01 -9.64783423e-01 3.66554541e-03 -1.12007149e+02] [-9.64698208e-01 2.63045471e-01 1.28236951e-02 -2.58502819e+02] [-1.33362936e-02 -1.63257037e-04 -9.99911054e-01 -1.78783144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.9565599949999 meters 0.013470054635362109 Centerline is valid? [True, True] Translation: X:-112.06, Y:-258.61, Z:-1.79 [[-1.89759106e-01 -9.81827414e-01 2.53193953e-03 -1.12057872e+02] [-9.81749235e-01 1.89775949e-01 1.23906977e-02 -2.58605284e+02] [-1.26460280e-02 -1.34481965e-04 -9.99920027e-01 -1.78981073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.986559995 meters 0.013527776546601847 Centerline is valid? [True, True] Translation: X:-112.10, Y:-258.71, Z:-1.79 [[-1.15795194e-01 -9.93271916e-01 1.54047709e-03 -1.12102682e+02] [-9.93195755e-01 1.15805392e-01 1.23005817e-02 -2.58710229e+02] [-1.23962179e-02 -1.05647064e-04 -9.99923158e-01 -1.78866204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.016559995 meters 0.013262158806894006 Centerline is valid? [True, True] Translation: X:-112.14, Y:-258.82, Z:-1.79 [[-4.09827599e-02 -9.99159673e-01 6.00447159e-04 -1.12138528e+02] [-9.99080151e-01 4.09870738e-02 1.26060173e-02 -2.58823346e+02] [-1.26200347e-02 -8.32654576e-05 -9.99920361e-01 -1.78831764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.0465599949999 meters 0.012744537855660945 Centerline is valid? [True, True] Translation: X:-112.16, Y:-258.94, Z:-1.79 [[ 3.31261357e-02 -9.99451108e-01 -3.76666799e-04 -1.12163450e+02] [-9.99369187e-01 -3.31282431e-02 1.27964219e-02 -2.58940395e+02] [-1.28018764e-02 -4.74668162e-05 -9.99918052e-01 -1.79058033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.0765599949999 meters 0.012764514584161328 Centerline is valid? [True, True] Translation: X:-112.18, Y:-259.06, Z:-1.79 [[ 1.09299690e-01 -9.94007992e-01 -1.30000450e-03 -1.12184291e+02] [-9.93933500e-01 -1.09307414e-01 1.21690966e-02 -2.59057600e+02] [-1.22382794e-02 -3.79604636e-05 -9.99925109e-01 -1.78963600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.106559995 meters 0.01271302988791578 Centerline is valid? [True, True] Translation: X:-112.20, Y:-259.18, Z:-1.79 [[ 1.85433765e-01 -9.82654274e-01 -2.21307064e-03 -1.12195118e+02] [-9.82581884e-01 -1.85446967e-01 1.19274774e-02 -2.59178281e+02] [-1.21309939e-02 -3.72339278e-05 -9.99926416e-01 -1.79036055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.136559995 meters 0.012750950890877683 Centerline is valid? [True, True] Translation: X:-112.20, Y:-259.30, Z:-1.79 [[ 2.60325751e-01 -9.65515356e-01 -3.25600331e-03 -1.12197242e+02] [-9.65437978e-01 -2.60346109e-01 1.22235403e-02 -2.59297075e+02] [-1.26497036e-02 -3.86330489e-05 -9.99919989e-01 -1.78966711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.166559995 meters 0.01283374647419745 Centerline is valid? [True, True] Translation: X:-112.19, Y:-259.42, Z:-1.79 [[ 3.34103766e-01 -9.42526976e-01 -4.19209043e-03 -1.12190721e+02] [-9.42451176e-01 -3.34130061e-01 1.19533519e-02 -2.59415160e+02] [-1.26670600e-02 -4.28193124e-05 -9.99919769e-01 -1.78965818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.1965599949999 meters 0.013038426950398545 Centerline is valid? [True, True] Translation: X:-112.17, Y:-259.54, Z:-1.79 [[ 4.05727112e-01 -9.13979709e-01 -5.15780803e-03 -1.12173409e+02] [-9.13904406e-01 -4.05759892e-01 1.17323158e-02 -2.59538305e+02] [-1.28159302e-02 -4.63751375e-05 -9.99917872e-01 -1.78795128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.226559995 meters 0.013110877253402325 Centerline is valid? [True, True] Translation: X:-112.15, Y:-259.65, Z:-1.79 [[ 4.75056553e-01 -8.79932879e-01 -6.27698538e-03 -1.12152214e+02] [-8.79854573e-01 -4.75098018e-01 1.17390159e-02 -2.59647315e+02] [-1.33117293e-02 -5.38621234e-05 -9.99911394e-01 -1.78761272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.256559995 meters 0.012858635835630142 Centerline is valid? [True, True] Translation: X:-112.12, Y:-259.76, Z:-1.79 [[ 5.41035091e-01 -8.40969542e-01 -7.15957192e-03 -1.12119655e+02] [-8.40894618e-01 -5.41082458e-01 1.12256837e-02 -2.59758241e+02] [-1.33143768e-02 -5.30432876e-05 -9.99911358e-01 -1.78901904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.286559995 meters 0.012856515275662771 Centerline is valid? [True, True] Translation: X:-112.08, Y:-259.87, Z:-1.79 [[ 6.03586416e-01 -7.97258379e-01 -7.90668139e-03 -1.12077522e+02] [-7.97188896e-01 -6.03638199e-01 1.05256513e-02 -2.59868359e+02] [-1.31644386e-02 -5.00215334e-05 -9.99913344e-01 -1.78904683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.3165599949999 meters 0.012751718646086327 Centerline is valid? [True, True] Translation: X:-112.04, Y:-259.96, Z:-1.79 [[ 6.61765394e-01 -7.49666681e-01 -8.15053877e-03 -1.12036879e+02] [-7.49609235e-01 -6.61815583e-01 9.28056769e-03 -2.59962589e+02] [-1.23514860e-02 -3.18394024e-05 -9.99923717e-01 -1.78917932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.3465599949999 meters 0.01276191130812725 Centerline is valid? [True, True] Translation: X:-111.98, Y:-260.06, Z:-1.79 [[ 7.16399497e-01 -6.97637615e-01 -8.57427519e-03 -1.11984023e+02] [-6.97587287e-01 -7.16450806e-01 8.37974005e-03 -2.60057932e+02] [-1.19890682e-02 -2.19361993e-05 -9.99928128e-01 -1.78985584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.376559995 meters 0.01272247692335722 Centerline is valid? [True, True] Translation: X:-111.99, Y:-260.07, Z:-1.79 [[ 7.68292677e-01 -6.40041440e-01 -8.56256632e-03 -1.11987305e+02] [-6.40001512e-01 -7.68340390e-01 7.14908001e-03 -2.60065425e+02] [-1.11546730e-02 -1.25304244e-05 -9.99937785e-01 -1.78967626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.406559995 meters 0.012745186392507268 Centerline is valid? [True, True] Translation: X:-111.99, Y:-260.07, Z:-1.79 [[ 8.15309655e-01 -5.78963405e-01 -8.45831825e-03 -1.11987203e+02] [-5.78932258e-01 -8.15353528e-01 6.00541847e-03 -2.60072137e+02] [-1.03734372e-02 5.17616806e-07 -9.99946195e-01 -1.79079977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.4365599949999 meters 0.012733691811751376 Centerline is valid? [True, True] Translation: X:-111.99, Y:-260.08, Z:-1.79 [[ 8.57803339e-01 -5.13900638e-01 -8.92000597e-03 -1.11987989e+02] [-5.13872923e-01 -8.57849716e-01 5.33707018e-03 -2.60078595e+02] [-1.03947484e-02 5.59291478e-06 -9.99945973e-01 -1.79049106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.4665599949999 meters 0.012710954398345572 Centerline is valid? [True, True] Translation: X:-111.99, Y:-260.09, Z:-1.79 [[ 8.95030280e-01 -4.45912840e-01 -9.08502033e-03 -1.11987289e+02] [-4.45890011e-01 -8.95076387e-01 4.51208028e-03 -2.60085758e+02] [-1.01437817e-02 1.24713388e-05 -9.99948551e-01 -1.79070009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.496559995 meters 0.01280021990369125 Centerline is valid? [True, True] Translation: X:-111.99, Y:-260.09, Z:-1.79 [[ 9.26569804e-01 -3.76006956e-01 -9.33636087e-03 -1.11985911e+02] [-3.75988172e-01 -9.26616840e-01 3.75854769e-03 -2.60092391e+02] [-1.00644693e-02 2.78044647e-05 -9.99949352e-01 -1.79061121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.526559995 meters 0.012970259248970604 Centerline is valid? [True, True] Translation: X:-111.99, Y:-260.10, Z:-1.79 [[ 9.52908024e-01 -3.03106569e-01 -9.62836931e-03 -1.11985348e+02] [-3.03091471e-01 -9.52956666e-01 3.02553941e-03 -2.60097846e+02] [-1.00924796e-02 3.52158358e-05 -9.99949069e-01 -1.78925963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.5565599949999 meters 0.012874438648458697 Centerline is valid? [True, True] Translation: X:-111.98, Y:-260.10, Z:-1.79 [[ 9.73487294e-01 -2.28508911e-01 -1.03036687e-02 -1.11983400e+02] [-2.28496612e-01 -9.73541820e-01 2.37123581e-03 -2.60103730e+02] [-1.05729009e-02 4.59854689e-05 -9.99944104e-01 -1.79016496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.5865599949999 meters 0.012991981894015776 Centerline is valid? [True, True] Translation: X:-111.98, Y:-260.11, Z:-1.79 [[ 9.88281282e-01 -1.52280240e-01 -1.05278372e-02 -1.11981969e+02] [-1.52272178e-01 -9.88337354e-01 1.56785512e-03 -2.60108405e+02] [-1.06438081e-02 5.36148340e-05 -9.99943352e-01 -1.78975555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.616559995 meters 0.013011137385001738 Centerline is valid? [True, True] Translation: X:-111.98, Y:-260.12, Z:-1.79 [[ 9.97110485e-01 -7.52342045e-02 -1.05116335e-02 -1.11982549e+02] [-7.52306729e-02 -9.97165889e-01 7.31538421e-04 -2.60115186e+02] [-1.05368791e-02 6.13726326e-05 -9.99944484e-01 -1.79019938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.646559995 meters 0.012992627540898517 Centerline is valid? [True, True] Translation: X:-111.98, Y:-260.12, Z:-1.79 [[ 9.99945085e-01 2.56263503e-03 -1.01616643e-02 -1.11983514e+02] [ 2.56185124e-03 -9.99996714e-01 -9.01481305e-05 -2.60122534e+02] [-1.01618619e-02 6.41105078e-05 -9.99948365e-01 -1.79028940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.6765599949999 meters 0.01299732434953872 Centerline is valid? [True, True] Translation: X:-111.98, Y:-260.13, Z:-1.79 [[ 9.96677159e-01 8.08177142e-02 -1.01556519e-02 -1.11983830e+02] [ 8.08128598e-02 -9.96728896e-01 -8.88133176e-04 -2.60130807e+02] [-1.01942086e-02 6.44747790e-05 -9.99948036e-01 -1.79030194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.7065599949999 meters 0.012917010420012528 Centerline is valid? [True, True] Translation: X:-111.98, Y:-260.14, Z:-1.79 [[ 9.87137373e-01 1.59553726e-01 -1.01200449e-02 -1.11982578e+02] [ 1.59544774e-01 -9.87189245e-01 -1.69102141e-03 -2.60139281e+02] [-1.02602083e-02 5.46701573e-05 -9.99947361e-01 -1.78975725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.736559995 meters 0.012858874232810192 Centerline is valid? [True, True] Translation: X:-111.98, Y:-260.15, Z:-1.79 [[ 9.71422251e-01 2.37151941e-01 -9.88768511e-03 -1.11981413e+02] [ 2.37139174e-01 -9.71472570e-01 -2.46120460e-03 -2.60147139e+02] [-1.01892943e-02 4.61114365e-05 -9.99948087e-01 -1.78978920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.766559995 meters 0.013027050885909858 Centerline is valid? [True, True] Translation: X:-111.98, Y:-260.15, Z:-1.79 [[ 9.49646393e-01 3.13180263e-01 -9.47903750e-03 -1.11980715e+02] [ 3.13164266e-01 -9.49693699e-01 -3.16555570e-03 -2.60153737e+02] [-9.99357175e-03 3.76627330e-05 -9.99950062e-01 -1.78840423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.7965599949999 meters 0.012968733307078976 Centerline is valid? [True, True] Translation: X:-111.98, Y:-260.15, Z:-1.79 [[ 9.21846669e-01 3.87435180e-01 -9.62811040e-03 -1.11980789e+02] [ 3.87413713e-01 -9.21896947e-01 -4.07863140e-03 -2.60154668e+02] [-1.04563309e-02 2.98107737e-05 -9.99945331e-01 -1.78856136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.8265599949999 meters 0.012737632915242303 Centerline is valid? [True, True] Translation: X:-111.98, Y:-260.16, Z:-1.79 [[ 8.87949291e-01 4.59835011e-01 -9.89037639e-03 -1.11976687e+02] [ 4.59806321e-01 -8.88004371e-01 -5.13661934e-03 -2.60162942e+02] [-1.11446949e-02 1.33999176e-05 -9.99937896e-01 -1.78947091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.856559995 meters 0.012721422441836223 Centerline is valid? [True, True] Translation: X:-111.97, Y:-260.17, Z:-1.79 [[ 8.48859491e-01 5.28528655e-01 -9.74809323e-03 -1.11972506e+02] [ 5.28493725e-01 -8.48915462e-01 -6.07634476e-03 -2.60170097e+02] [-1.14868294e-02 6.15682001e-06 -9.99934024e-01 -1.78908304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.886559995 meters 0.01266292355374914 Centerline is valid? [True, True] Translation: X:-111.97, Y:-260.18, Z:-1.79 [[ 8.04609960e-01 5.93730339e-01 -9.33254622e-03 -1.11967143e+02] [ 5.93690390e-01 -8.04664082e-01 -6.88736612e-03 -2.60177130e+02] [-1.15988030e-02 1.00037356e-06 -9.99932732e-01 -1.78886981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.916559995 meters 0.012703904375017366 Centerline is valid? [True, True] Translation: X:-111.96, Y:-260.18, Z:-1.79 [[ 7.55027545e-01 6.55632199e-01 -8.93456865e-03 -1.11960985e+02] [ 6.55586460e-01 -7.55080406e-01 -7.74431029e-03 -2.60184729e+02] [-1.18237369e-02 -1.02146468e-05 -9.99930097e-01 -1.78804601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.9465599949999 meters 0.012721906197653413 Centerline is valid? [True, True] Translation: X:-111.96, Y:-260.19, Z:-1.79 [[ 7.01154240e-01 7.12958667e-01 -8.52466313e-03 -1.11955597e+02] [ 7.12906233e-01 -7.01206060e-01 -8.64666169e-03 -2.60190998e+02] [-1.21422578e-02 -1.46419686e-05 -9.99926280e-01 -1.78803130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.976559995 meters 0.01278097897581596 Centerline is valid? [True, True] Translation: X:-111.95, Y:-260.20, Z:-1.79 [[ 6.42828546e-01 7.65966956e-01 -8.12915663e-03 -1.11951006e+02] [ 7.65906124e-01 -6.42879943e-01 -9.65335005e-03 -2.60196743e+02] [-1.26202189e-02 -2.07218755e-05 -9.99920362e-01 -1.78794503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.006559995 meters 0.012843458506550363 Centerline is valid? [True, True] Translation: X:-111.94, Y:-260.20, Z:-1.79 [[ 5.80134089e-01 8.14487025e-01 -7.43810612e-03 -1.11943545e+02] [ 8.14420808e-01 -5.80181769e-01 -1.03856690e-02 -2.60202575e+02] [-1.27744462e-02 -3.26677972e-05 -9.99918403e-01 -1.78811915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.036559995 meters 0.01293335381718254 Centerline is valid? [True, True] Translation: X:-111.94, Y:-260.21, Z:-1.79 [[ 5.14206757e-01 8.57640973e-01 -6.58586602e-03 -1.11937403e+02] [ 8.57571589e-01 -5.14248929e-01 -1.09091407e-02 -2.60208021e+02] [-1.27429006e-02 -3.82977096e-05 -9.99918805e-01 -1.78751876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.0665599949999 meters 0.012732105335034523 Centerline is valid? [True, True] Translation: X:-111.93, Y:-260.21, Z:-1.79 [[ 4.45169896e-01 8.95428205e-01 -5.66503444e-03 -1.11928760e+02] [ 8.95356918e-01 -4.45205938e-01 -1.12987919e-02 -2.60212774e+02] [-1.26393639e-02 -4.23457618e-05 -9.99920119e-01 -1.78845301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.0965599949999 meters 0.012797230447935274 Centerline is valid? [True, True] Translation: X:-111.92, Y:-260.22, Z:-1.79 [[ 3.73725213e-01 9.27527287e-01 -4.75367406e-03 -1.11921223e+02] [ 9.27453677e-01 -3.73755442e-01 -1.16853023e-02 -2.60218237e+02] [-1.26151483e-02 -4.17203899e-05 -9.99920425e-01 -1.78808862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.126559995 meters 0.012842663751304838 Centerline is valid? [True, True] Translation: X:-111.92, Y:-260.22, Z:-1.79 [[ 3.01166265e-01 9.53564295e-01 -3.74391047e-03 -1.11915487e+02] [ 9.53491653e-01 -3.01189534e-01 -1.17699689e-02 -2.60220800e+02] [-1.23510487e-02 -2.50698192e-05 -9.99923723e-01 -1.78874465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.156559995 meters 0.012805131024518593 Centerline is valid? [True, True] Translation: X:-111.91, Y:-260.22, Z:-1.79 [[ 2.26479367e-01 9.74012206e-01 -2.70528671e-03 -1.11909609e+02] [ 9.73943409e-01 -2.26495524e-01 -1.15764787e-02 -2.60223550e+02] [-1.18883669e-02 -1.29625833e-05 -9.99929331e-01 -1.78905210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.1865599949999 meters 0.01273117755805496 Centerline is valid? [True, True] Translation: X:-111.90, Y:-260.23, Z:-1.79 [[ 1.50755384e-01 9.88569445e-01 -1.80753745e-03 -1.11902453e+02] [ 9.88498247e-01 -1.50766219e-01 -1.18643309e-02 -2.60225875e+02] [-1.20012306e-02 1.86416370e-06 -9.99927983e-01 -1.78971788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.2165599949999 meters 0.012844477655291666 Centerline is valid? [True, True] Translation: X:-111.90, Y:-260.23, Z:-1.79 [[ 7.48885065e-02 9.97191542e-01 -8.60022995e-04 -1.11897638e+02] [ 9.97121855e-01 -7.48934403e-02 -1.17889514e-02 -2.60228605e+02] [-1.18202528e-02 2.53092424e-05 -9.99930138e-01 -1.79030607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.246559995 meters 0.012895574139914554 Centerline is valid? [True, True] Translation: X:-111.89, Y:-260.23, Z:-1.79 [[-2.58032337e-03 9.99996669e-01 6.70014005e-05 -1.11891550e+02] [ 9.99924932e-01 2.58094080e-03 -1.19778261e-02 -2.60230162e+02] [-1.19779592e-02 3.60897062e-05 -9.99928261e-01 -1.79059931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.276559995 meters 0.012895574139914554 Centerline is valid? [True, True] Translation: X:-111.88, Y:-260.23, Z:-1.79 [[-8.09411505e-02 9.96718375e-01 1.00555425e-03 -1.11884165e+02] [ 9.96646907e-01 8.09473883e-02 -1.19357908e-02 -2.60231878e+02] [-1.19780190e-02 3.60858974e-05 -9.99928260e-01 -1.79059879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.3065599949999 meters 0.01292930007344752 Centerline is valid? [True, True] Translation: X:-111.88, Y:-260.23, Z:-1.79 [[-1.58267256e-01 9.87394440e-01 1.92240340e-03 -1.11877632e+02] [ 9.87324803e-01 1.58278926e-01 -1.17266559e-02 -2.60232667e+02] [-1.18831108e-02 4.20909055e-05 -9.99929393e-01 -1.79054450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.3365599949999 meters 0.012910168107489933 Centerline is valid? [True, True] Translation: X:-111.87, Y:-260.23, Z:-1.79 [[-2.35539413e-01 9.71860607e-01 2.85406288e-03 -1.11869284e+02] [ 9.71791174e-01 2.35556701e-01 -1.16169785e-02 -2.60232355e+02] [-1.19623774e-02 3.72968177e-05 -9.99928448e-01 -1.79051712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.366559995 meters 0.012798052610372534 Centerline is valid? [True, True] Translation: X:-111.86, Y:-260.23, Z:-1.79 [[-3.11672563e-01 9.50182437e-01 3.68099505e-03 -1.11859823e+02] [ 9.50117221e-01 3.11694298e-01 -1.11324659e-02 -2.60230604e+02] [-1.17252187e-02 2.76926140e-05 -9.99931257e-01 -1.79075306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.396559995 meters 0.01277781610272332 Centerline is valid? [True, True] Translation: X:-111.85, Y:-260.23, Z:-1.79 [[-3.86412334e-01 9.22314257e-01 4.68176645e-03 -1.11850247e+02] [ 9.22246939e-01 3.86440695e-01 -1.11432804e-02 -2.60228530e+02] [-1.20868314e-02 1.18437949e-05 -9.99926952e-01 -1.79128112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.4265599949999 meters 0.012843969317566697 Centerline is valid? [True, True] Translation: X:-111.84, Y:-260.23, Z:-1.79 [[-4.58750419e-01 8.88547986e-01 5.52531192e-03 -1.11840899e+02] [ 8.88483405e-01 4.58783692e-01 -1.07128000e-02 -2.60225611e+02] [-1.20537599e-02 -5.35354612e-06 -9.99927351e-01 -1.79158847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.4565599949999 meters 0.01301281551207812 Centerline is valid? [True, True] Translation: X:-111.83, Y:-260.22, Z:-1.79 [[-5.30025324e-01 8.47956501e-01 6.55197364e-03 -1.11831102e+02] [ 8.47890528e-01 5.30065817e-01 -1.05774280e-02 -2.60221496e+02] [-1.24421761e-02 -5.09483063e-05 -9.99922592e-01 -1.79135805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.486559995 meters 0.013265420309748076 Centerline is valid? [True, True] Translation: X:-111.82, Y:-260.22, Z:-1.79 [[-5.96569441e-01 8.02526358e-01 7.50642690e-03 -1.11822069e+02] [ 8.02461140e-01 5.96616659e-01 -1.02313837e-02 -2.60218247e+02] [-1.26894144e-02 -8.01149641e-05 -9.99919483e-01 -1.79059229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.516559995 meters 0.013514603622125745 Centerline is valid? [True, True] Translation: X:-111.81, Y:-260.21, Z:-1.79 [[-6.59339909e-01 7.51794614e-01 8.70301147e-03 -1.11814741e+02] [ 7.51726823e-01 6.59397334e-01 -1.00965054e-02 -2.60213573e+02] [-1.33292409e-02 -1.14741770e-04 -9.99911155e-01 -1.79019845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.5465599949999 meters 0.014164844025595159 Centerline is valid? [True, True] Translation: X:-111.81, Y:-260.21, Z:-1.79 [[-7.18872327e-01 6.95071640e-01 9.89911835e-03 -1.11807158e+02] [ 6.95002397e-01 7.18940460e-01 -9.81236456e-03 -2.60206789e+02] [-1.39371730e-02 -1.73926362e-04 -9.99902858e-01 -1.78893952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.5765599949999 meters 0.014301884854030882 Centerline is valid? [True, True] Translation: X:-111.34, Y:-259.74, Z:-2.80 [[-6.50539406e-01 -7.59415382e-01 9.31440018e-03 -1.11338373e+02] [ 7.59341610e-01 -6.50606058e-01 -1.05866248e-02 -2.59737885e+02] [ 1.40996509e-02 1.85795013e-04 9.99900578e-01 -2.79941356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.606559995 meters 0.01454449568936479 Centerline is valid? [True, True] Translation: X:-111.36, Y:-259.72, Z:-2.80 [[-6.49982067e-01 -7.59891781e-01 9.36984498e-03 -1.11356874e+02] [ 7.59817514e-01 -6.50049564e-01 -1.06258922e-02 -2.59717423e+02] [ 1.41653918e-02 2.12732949e-04 9.99899643e-01 -2.79929963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.636559995 meters 0.015502446571875187 Centerline is valid? [True, True] Translation: X:-111.37, Y:-259.70, Z:-2.80 [[-6.49106472e-01 -7.60644335e-01 8.99912275e-03 -1.11374303e+02] [ 7.60575982e-01 -6.49168812e-01 -1.01994818e-02 -2.59698484e+02] [ 1.36001279e-02 2.23966955e-04 9.99907489e-01 -2.79983609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.666559995 meters 0.015238133549598082 Centerline is valid? [True, True] Translation: X:-111.39, Y:-259.68, Z:-2.80 [[-6.49182455e-01 -7.60584178e-01 8.59349114e-03 -1.11391317e+02] [ 7.60521922e-01 -6.49239294e-01 -9.73374403e-03 -2.59677353e+02] [ 1.29825638e-02 2.16562554e-04 9.99915700e-01 -2.79841201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.6965599949999 meters 0.015118607231832922 Centerline is valid? [True, True] Translation: X:-111.41, Y:-259.66, Z:-2.80 [[-6.49507160e-01 -7.60311900e-01 8.14034142e-03 -1.11408744e+02] [ 7.60256085e-01 -6.49558137e-01 -9.21474929e-03 -2.59656491e+02] [ 1.22937085e-02 2.03698460e-04 9.99924409e-01 -2.79736664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.726559995 meters 0.01472556983366637 Centerline is valid? [True, True] Translation: X:-111.43, Y:-259.64, Z:-2.80 [[-6.49956523e-01 -7.59932370e-01 7.70140663e-03 -1.11425695e+02] [ 7.59882450e-01 -6.50002121e-01 -8.71235935e-03 -2.59635624e+02] [ 1.16267345e-02 1.89508954e-04 9.99932389e-01 -2.79653164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.756559995 meters 0.01512195539986187 Centerline is valid? [True, True] Translation: X:-111.44, Y:-259.62, Z:-2.80 [[-6.50632932e-01 -7.59360530e-01 6.95510912e-03 -1.11443577e+02] [ 7.59319838e-01 -6.50670084e-01 -7.86287989e-03 -2.59616102e+02] [ 1.04962421e-02 1.65303733e-04 9.99944899e-01 -2.79686157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.786559995 meters 0.015132531530866881 Centerline is valid? [True, True] Translation: X:-111.46, Y:-259.60, Z:-2.80 [[-6.51262472e-01 -7.58824075e-01 6.57390777e-03 -1.11460839e+02] [ 7.58787741e-01 -6.51295632e-01 -7.42718480e-03 -2.59596178e+02] [ 9.91748405e-03 1.51153896e-04 9.99950809e-01 -2.79703324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.8165599949999 meters 0.014498038685869581 Centerline is valid? [True, True] Translation: X:-111.48, Y:-259.57, Z:-2.80 [[-6.51690754e-01 -7.58457560e-01 6.42580350e-03 -1.11477193e+02] [ 7.58422872e-01 -6.51722417e-01 -7.25527609e-03 -2.59574154e+02] [ 9.69065918e-03 1.45279996e-04 9.99953034e-01 -2.79554375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.8465599949999 meters 0.015481211892128657 Centerline is valid? [True, True] Translation: X:-111.50, Y:-259.56, Z:-2.80 [[-6.52120299e-01 -7.58091143e-01 6.07735813e-03 -1.11495643e+02] [ 7.58060140e-01 -6.52148603e-01 -6.85731523e-03 -2.59555567e+02] [ 9.16181055e-03 1.35208495e-04 9.99958021e-01 -2.79663970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.876559995 meters 0.014655355206028479 Centerline is valid? [True, True] Translation: X:-111.51, Y:-259.53, Z:-2.80 [[-6.52352534e-01 -7.57891516e-01 6.05156337e-03 -1.11511651e+02] [ 7.57860806e-01 -6.52380588e-01 -6.82398137e-03 -2.59532719e+02] [ 9.11976005e-03 1.34601159e-04 9.99958405e-01 -2.79547658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.906559995 meters 0.014463055569177652 Centerline is valid? [True, True] Translation: X:-111.53, Y:-259.51, Z:-2.80 [[-6.52346289e-01 -7.57894923e-01 6.29333502e-03 -1.11529594e+02] [ 7.57861748e-01 -6.52376629e-01 -7.09260008e-03 -2.59511495e+02] [ 9.48107028e-03 1.42646538e-04 9.99955044e-01 -2.79543296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.9365599949999 meters 0.014786469424787669 Centerline is valid? [True, True] Translation: X:-111.55, Y:-259.49, Z:-2.80 [[-6.51808005e-01 -7.58351529e-01 7.02023149e-03 -1.11548409e+02] [ 7.58310324e-01 -6.51845787e-01 -7.90710093e-03 -2.59492445e+02] [ 1.05724704e-02 1.69602338e-04 9.99944096e-01 -2.79715732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.9665599949999 meters 0.014893644452965035 Centerline is valid? [True, True] Translation: X:-111.57, Y:-259.47, Z:-2.80 [[-6.51379479e-01 -7.58715710e-01 7.43281629e-03 -1.11567683e+02] [ 7.58669596e-01 -6.51421857e-01 -8.36709535e-03 -2.59471452e+02] [ 1.11901457e-02 1.88897528e-04 9.99937371e-01 -2.79824243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.996559995 meters 0.015262691671588068 Centerline is valid? [True, True] Translation: X:-111.59, Y:-259.45, Z:-2.80 [[-6.51056181e-01 -7.58988020e-01 7.93944787e-03 -1.11586503e+02] [ 7.58935489e-01 -6.51104555e-01 -8.93210166e-03 -2.59451440e+02] [ 1.19487688e-02 2.10228745e-04 9.99928589e-01 -2.79927831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.026559995 meters 0.016136172274002682 Centerline is valid? [True, True] Translation: X:-111.60, Y:-259.43, Z:-2.80 [[-6.50721249e-01 -7.59273889e-01 8.06332798e-03 -1.11604666e+02] [ 7.59219800e-01 -6.50771167e-01 -9.06553299e-03 -2.59432880e+02] [ 1.21306039e-02 2.22703306e-04 9.99926397e-01 -2.80000917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.0565599949999 meters 0.0159051729495188 Centerline is valid? [True, True] Translation: X:-111.62, Y:-259.41, Z:-2.80 [[-6.51116621e-01 -7.58940729e-01 7.49105775e-03 -1.11622258e+02] [ 7.58894081e-01 -6.51159680e-01 -8.41701497e-03 -2.59411633e+02] [ 1.12658902e-02 2.04461037e-04 9.99936517e-01 -2.79867590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.0865599949999 meters 0.01517359249992353 Centerline is valid? [True, True] Translation: X:-111.64, Y:-259.39, Z:-2.80 [[-6.52218793e-01 -7.57999575e-01 6.87677917e-03 -1.11639199e+02] [ 7.57960262e-01 -6.52255021e-01 -7.72196714e-03 -2.59389684e+02] [ 1.03386616e-02 1.75913252e-04 9.99946539e-01 -2.79738718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.116559995 meters 0.01515246383134335 Centerline is valid? [True, True] Translation: X:-111.66, Y:-259.37, Z:-2.80 [[-6.52990565e-01 -7.57337383e-01 6.58863627e-03 -1.11656651e+02] [ 7.57301310e-01 -6.53023784e-01 -7.39354373e-03 -2.59369931e+02] [ 9.90194325e-03 1.61668574e-04 9.99950962e-01 -2.79783002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.146559995 meters 0.014624015217092168 Centerline is valid? [True, True] Translation: X:-111.67, Y:-259.35, Z:-2.80 [[-6.54032739e-01 -7.56437249e-01 6.62302996e-03 -1.11673699e+02] [ 7.56400798e-01 -6.54066255e-01 -7.42745408e-03 -2.59348668e+02] [ 9.95030333e-03 1.51867012e-04 9.99950483e-01 -2.79731673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.1765599949999 meters 0.014164309934976055 Centerline is valid? [True, True] Translation: X:-111.69, Y:-259.33, Z:-2.80 [[-6.55372337e-01 -7.55281294e-01 6.10459508e-03 -1.11691121e+02] [ 7.55250312e-01 -6.55400756e-01 -6.84215830e-03 -2.59326883e+02] [ 9.16871041e-03 1.26336065e-04 9.99957959e-01 -2.79685512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.2065599949999 meters 0.013724775158303924 Centerline is valid? [True, True] Translation: X:-111.71, Y:-259.30, Z:-2.80 [[-6.57881292e-01 -7.53101761e-01 5.47212520e-03 -1.11707238e+02] [ 7.53076819e-01 -6.57904044e-01 -6.12983936e-03 -2.59304476e+02] [ 8.21652611e-03 8.82240011e-05 9.99966240e-01 -2.79611670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.236559995 meters 0.01351087292348238 Centerline is valid? [True, True] Translation: X:-111.72, Y:-259.28, Z:-2.80 [[-6.59500479e-01 -7.51685586e-01 5.28182618e-03 -1.11724333e+02] [ 7.51662333e-01 -6.59521626e-01 -5.91294619e-03 -2.59282911e+02] [ 7.92815501e-03 7.05589396e-05 9.99968569e-01 -2.79570397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.266559995 meters 0.013367364954976623 Centerline is valid? [True, True] Translation: X:-111.74, Y:-259.26, Z:-2.80 [[-6.60915424e-01 -7.50443655e-01 5.01225556e-03 -1.11740938e+02] [ 7.50422707e-01 -6.60934428e-01 -5.60746775e-03 -2.59263075e+02] [ 7.52086086e-03 5.52484514e-05 9.99971717e-01 -2.79536241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.2965599949999 meters 0.013274605688799608 Centerline is valid? [True, True] Translation: X:-111.76, Y:-259.24, Z:-2.80 [[-6.61830308e-01 -7.49638947e-01 4.70032655e-03 -1.11759402e+02] [ 7.49620527e-01 -6.61846997e-01 -5.25521398e-03 -2.59242889e+02] [ 7.05041008e-03 4.54013817e-05 9.99975145e-01 -2.79554201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.3265599949999 meters 0.013175885168805013 Centerline is valid? [True, True] Translation: X:-111.78, Y:-259.22, Z:-2.80 [[-6.62708732e-01 -7.48862182e-01 4.75064042e-03 -1.11777083e+02] [ 7.48843371e-01 -6.62725759e-01 -5.30799716e-03 -2.59223002e+02] [ 7.12333012e-03 3.98295167e-05 9.99974628e-01 -2.79595896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.356559995 meters 0.013016692911252858 Centerline is valid? [True, True] Translation: X:-111.80, Y:-259.20, Z:-2.80 [[-6.64108853e-01 -7.47619707e-01 4.91993473e-03 -1.11795002e+02] [ 7.47599522e-01 -6.64127076e-01 -5.49370779e-03 -2.59202310e+02] [ 7.37466607e-03 2.97208810e-05 9.99972806e-01 -2.79621552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.386559995 meters 0.012978042139893144 Centerline is valid? [True, True] Translation: X:-111.81, Y:-259.18, Z:-2.80 [[-6.64662615e-01 -7.47126694e-01 5.03099270e-03 -1.11814234e+02] [ 7.47105598e-01 -6.64681655e-01 -5.61453843e-03 -2.59181237e+02] [ 7.53878009e-03 2.69090142e-05 9.99971583e-01 -2.79641233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.416559995 meters 0.012965728981195598 Centerline is valid? [True, True] Translation: X:-111.83, Y:-259.16, Z:-2.80 [[-6.65168253e-01 -7.46671780e-01 5.69634168e-03 -1.11833420e+02] [ 7.46644749e-01 -6.65192643e-01 -6.35346635e-03 -2.59160898e+02] [ 8.53311860e-03 2.70194848e-05 9.99963592e-01 -2.79735250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.4465599949999 meters 0.012952573681645832 Centerline is valid? [True, True] Translation: X:-111.85, Y:-259.14, Z:-2.80 [[-6.65405429e-01 -7.46456499e-01 6.18954645e-03 -1.11852331e+02] [ 7.46424615e-01 -6.65434215e-01 -6.89920454e-03 -2.59140652e+02] [ 9.26869205e-03 2.92616629e-05 9.99957044e-01 -2.79777143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.476559995 meters 0.01309032691172723 Centerline is valid? [True, True] Translation: X:-111.87, Y:-259.12, Z:-2.80 [[-6.65743693e-01 -7.46155029e-01 6.16510900e-03 -1.11870828e+02] [ 7.46123426e-01 -6.65772237e-01 -6.86741742e-03 -2.59121451e+02] [ 9.22871646e-03 2.79924188e-05 9.99957414e-01 -2.79904460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.506559995 meters 0.013067372103481821 Centerline is valid? [True, True] Translation: X:-111.89, Y:-259.10, Z:-2.80 [[-6.65973221e-01 -7.45948664e-01 6.34504694e-03 -1.11889948e+02] [ 7.45915220e-01 -6.66003446e-01 -7.06364541e-03 -2.59101865e+02] [ 9.49493998e-03 2.86683939e-05 9.99954922e-01 -2.79976277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.536559995 meters 0.012830237495488638 Centerline is valid? [True, True] Translation: X:-111.91, Y:-259.08, Z:-2.80 [[-6.66730200e-01 -7.45272034e-01 6.35892683e-03 -1.11908699e+02] [ 7.45238455e-01 -6.66760523e-01 -7.07467819e-03 -2.59082482e+02] [ 9.51244119e-03 2.20152016e-05 9.99954756e-01 -2.79913075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.5665599949999 meters 0.013011772944305586 Centerline is valid? [True, True] Translation: X:-111.93, Y:-259.06, Z:-2.80 [[-6.67097319e-01 -7.44944395e-01 6.24620160e-03 -1.11926776e+02] [ 7.44912024e-01 -6.67126560e-01 -6.94472215e-03 -2.59063291e+02] [ 9.34043883e-03 2.00651564e-05 9.99956377e-01 -2.80014526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.5965599949999 meters 0.012902923384720174 Centerline is valid? [True, True] Translation: X:-111.95, Y:-259.04, Z:-2.80 [[-6.67248336e-01 -7.44809378e-01 6.21676674e-03 -1.11945595e+02] [ 7.44777345e-01 -6.67277296e-01 -6.90773883e-03 -2.59042931e+02] [ 9.29325597e-03 2.09297876e-05 9.99956817e-01 -2.79904287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.626559995 meters 0.012871651554147458 Centerline is valid? [True, True] Translation: X:-111.96, Y:-259.02, Z:-2.80 [[-6.67333502e-01 -7.44734807e-01 6.00538610e-03 -1.11964152e+02] [ 7.44704950e-01 -6.67360522e-01 -6.66868513e-03 -2.59023101e+02] [ 8.97415954e-03 2.20037512e-05 9.99959731e-01 -2.79866797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.656559995 meters 0.012916128599730854 Centerline is valid? [True, True] Translation: X:-111.98, Y:-259.01, Z:-2.80 [[-6.66949908e-01 -7.45079155e-01 5.90536616e-03 -1.11982737e+02] [ 7.45050335e-01 -6.66976051e-01 -6.55330853e-03 -2.59005133e+02] [ 8.82147138e-03 2.90665164e-05 9.99961090e-01 -2.79882688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.6865599949999 meters 0.012880430400107973 Centerline is valid? [True, True] Translation: X:-112.00, Y:-258.99, Z:-2.80 [[-6.66447604e-01 -7.45530035e-01 5.70598183e-03 -1.12001832e+02] [ 7.45503178e-01 -6.66472029e-01 -6.32814995e-03 -2.58985717e+02] [ 8.52070314e-03 3.64472133e-05 9.99963698e-01 -2.79805258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.7165599949999 meters 0.012916282110061092 Centerline is valid? [True, True] Translation: X:-112.02, Y:-258.97, Z:-2.80 [[-6.65973106e-01 -7.45953879e-01 5.71247777e-03 -1.12021285e+02] [ 7.45927011e-01 -6.65997603e-01 -6.33140804e-03 -2.58966368e+02] [ 8.52743489e-03 4.45439903e-05 9.99963640e-01 -2.79804296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.746559995 meters 0.013143848035625278 Centerline is valid? [True, True] Translation: X:-112.04, Y:-258.95, Z:-2.80 [[-6.64717871e-01 -7.47072618e-01 5.71452021e-03 -1.12041120e+02] [ 7.47045807e-01 -6.64742431e-01 -6.32954058e-03 -2.58948687e+02] [ 8.52731050e-03 6.16496193e-05 9.99963640e-01 -2.79895832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.776559995 meters 0.013140301081966826 Centerline is valid? [True, True] Translation: X:-112.06, Y:-258.93, Z:-2.80 [[-6.64364684e-01 -7.47386037e-01 5.80334123e-03 -1.12060333e+02] [ 7.47358432e-01 -6.64390026e-01 -6.42397487e-03 -2.58928843e+02] [ 8.65687115e-03 6.93139665e-05 9.99962526e-01 -2.79904872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.8065599949999 meters 0.013313477221151298 Centerline is valid? [True, True] Translation: X:-112.08, Y:-258.91, Z:-2.80 [[-6.63890210e-01 -7.47808374e-01 5.69433276e-03 -1.12078973e+02] [ 7.47781837e-01 -6.63914626e-01 -6.30031258e-03 -2.58910039e+02] [ 8.49197731e-03 7.54027669e-05 9.99963940e-01 -2.79936538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.8365599949999 meters 0.013377892801725041 Centerline is valid? [True, True] Translation: X:-112.10, Y:-258.89, Z:-2.80 [[-6.63181423e-01 -7.48439834e-01 5.31181410e-03 -1.12098041e+02] [ 7.48416792e-01 -6.63202691e-01 -5.87344782e-03 -2.58890606e+02] [ 7.91873171e-03 8.02893841e-05 9.99968643e-01 -2.79871119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.866559995 meters 0.013357515190680472 Centerline is valid? [True, True] Translation: X:-112.12, Y:-258.87, Z:-2.80 [[-6.62988097e-01 -7.48612533e-01 5.10474205e-03 -1.12116531e+02] [ 7.48591285e-01 -6.63007744e-01 -5.64090789e-03 -2.58870495e+02] [ 7.60733786e-03 8.15106263e-05 9.99971061e-01 -2.79816895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.896559995 meters 0.013888384285121968 Centerline is valid? [True, True] Translation: X:-112.14, Y:-258.85, Z:-2.80 [[-6.62832238e-01 -7.48753885e-01 4.58724893e-03 -1.12136247e+02] [ 7.48736753e-01 -6.62848107e-01 -5.06570497e-03 -2.58852591e+02] [ 6.83361555e-03 7.69293054e-05 9.99976648e-01 -2.79917032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.9265599949999 meters 0.01372246298502393 Centerline is valid? [True, True] Translation: X:-112.15, Y:-258.83, Z:-2.80 [[-6.63012244e-01 -7.48594678e-01 4.55770443e-03 -1.12154751e+02] [ 7.48577783e-01 -6.63027904e-01 -5.03003407e-03 -2.58832046e+02] [ 6.78734195e-03 7.68221009e-05 9.99976963e-01 -2.79894675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.9565599949999 meters 0.013346452121093845 Centerline is valid? [True, True] Translation: X:-112.17, Y:-258.81, Z:-2.80 [[-6.63374745e-01 -7.48273949e-01 4.47711615e-03 -1.12172699e+02] [ 7.48257657e-01 -6.63389849e-01 -4.93829232e-03 -2.58811000e+02] [ 6.66526890e-03 7.40980332e-05 9.99977784e-01 -2.79860515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.986559995 meters 0.01375576872902723 Centerline is valid? [True, True] Translation: X:-112.19, Y:-258.79, Z:-2.80 [[-6.63357025e-01 -7.48290366e-01 4.35735295e-03 -1.12192203e+02] [ 7.48274953e-01 -6.63371331e-01 -4.80331753e-03 -2.58791535e+02] [ 6.48481926e-03 7.41836469e-05 9.99978971e-01 -2.79933628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.016559995 meters 0.01358113033702833 Centerline is valid? [True, True] Translation: X:-112.21, Y:-258.77, Z:-2.80 [[-6.62977059e-01 -7.48626526e-01 4.44330492e-03 -1.12210149e+02] [ 7.48610527e-01 -6.62991944e-01 -4.89497534e-03 -2.58771099e+02] [ 6.61038375e-03 8.10484852e-05 9.99978148e-01 -2.79902953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.0465599949999 meters 0.013651635261239822 Centerline is valid? [True, True] Translation: X:-112.23, Y:-258.75, Z:-2.80 [[-6.62838177e-01 -7.48749081e-01 4.51274406e-03 -1.12229355e+02] [ 7.48732600e-01 -6.62853533e-01 -4.96867636e-03 -2.58750642e+02] [ 6.71158020e-03 8.54102096e-05 9.99977474e-01 -2.79935096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.0765599949999 meters 0.013651635261239822 Centerline is valid? [True, True] Translation: X:-112.25, Y:-258.73, Z:-2.80 [[-6.63047927e-01 -7.48563337e-01 4.51413597e-03 -1.12247954e+02] [ 7.48546860e-01 -6.63063288e-01 -4.96741181e-03 -2.58730273e+02] [ 6.71158020e-03 8.54102049e-05 9.99977474e-01 -2.79935042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.106559995 meters 0.014040830605799786 Centerline is valid? [True, True] Translation: X:-112.27, Y:-258.71, Z:-2.80 [[-6.62263791e-01 -7.49254606e-01 4.92005701e-03 -1.12267160e+02] [ 7.49235075e-01 -6.62282058e-01 -5.41087996e-03 -2.58710878e+02] [ 7.31259222e-03 1.02849413e-04 9.99973257e-01 -2.80048503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.136559995 meters 0.014216777029066338 Centerline is valid? [True, True] Translation: X:-112.29, Y:-258.69, Z:-2.80 [[-6.62123695e-01 -7.49375311e-01 5.37175599e-03 -1.12285582e+02] [ 7.49352064e-01 -6.62145475e-01 -5.90378052e-03 -2.58691580e+02] [ 7.98103128e-03 1.16303466e-04 9.99968144e-01 -2.80134852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.166559995 meters 0.014216777029066338 Centerline is valid? [True, True] Translation: X:-112.30, Y:-258.67, Z:-2.80 [[-6.62354188e-01 -7.49171579e-01 5.37357218e-03 -1.12303673e+02] [ 7.49148338e-01 -6.62375975e-01 -5.90212748e-03 -2.58671864e+02] [ 7.98103128e-03 1.16303813e-04 9.99968144e-01 -2.80134799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.1965599949999 meters 0.014300145046483064 Centerline is valid? [True, True] Translation: X:-112.32, Y:-258.65, Z:-2.80 [[-6.62231002e-01 -7.49277028e-01 5.83406165e-03 -1.12321992e+02] [ 7.49249672e-01 -6.62256687e-01 -6.40394406e-03 -2.58651929e+02] [ 8.66197451e-03 1.30278485e-04 9.99962476e-01 -2.80226203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.226559995 meters 0.014660330604773114 Centerline is valid? [True, True] Translation: X:-112.34, Y:-258.63, Z:-2.80 [[-6.62344601e-01 -7.49166404e-01 7.02346780e-03 -1.12340474e+02] [ 7.49126797e-01 -6.62381819e-01 -7.70505563e-03 -2.58632157e+02] [ 1.04245862e-02 1.58065940e-04 9.99945650e-01 -2.80488449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.256559995 meters 0.014243789926968169 Centerline is valid? [True, True] Translation: X:-112.36, Y:-258.61, Z:-2.80 [[-6.62652085e-01 -7.48891931e-01 7.28625667e-03 -1.12357574e+02] [ 7.48849342e-01 -6.62692122e-01 -7.98832307e-03 -2.58610616e+02] [ 1.08109356e-02 1.62829577e-04 9.99941547e-01 -2.80472129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.286559995 meters 0.014108583553525208 Centerline is valid? [True, True] Translation: X:-112.38, Y:-258.59, Z:-2.81 [[-6.63532232e-01 -7.48110049e-01 7.50550652e-03 -1.12375150e+02] [ 7.48064866e-01 -6.63574660e-01 -8.22355411e-03 -2.58589473e+02] [ 1.11325874e-02 1.58012518e-04 9.99938018e-01 -2.80509892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.3165599949999 meters 0.013957444756572492 Centerline is valid? [True, True] Translation: X:-112.39, Y:-258.57, Z:-2.80 [[-6.64295885e-01 -7.47431524e-01 7.55607173e-03 -1.12391757e+02] [ 7.47385745e-01 -6.64338840e-01 -8.27375530e-03 -2.58568292e+02] [ 1.12038575e-02 1.51078694e-04 9.99937224e-01 -2.80468421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.3465599949999 meters 0.01407385595884184 Centerline is valid? [True, True] Translation: X:-112.41, Y:-258.55, Z:-2.80 [[-6.66213091e-01 -7.45725137e-01 7.35774978e-03 -1.12407931e+02] [ 7.45681683e-01 -6.66253709e-01 -8.05130777e-03 -2.58547217e+02] [ 1.09061907e-02 1.22652598e-04 9.99940518e-01 -2.80497350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.376559995 meters 0.013463618327186276 Centerline is valid? [True, True] Translation: X:-112.42, Y:-258.53, Z:-2.80 [[-6.67237059e-01 -7.44811609e-01 7.09746323e-03 -1.12424372e+02] [ 7.44771173e-01 -6.67274798e-01 -7.76166073e-03 -2.58525106e+02] [ 1.05169334e-02 1.07118336e-04 9.99944690e-01 -2.80324808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.406559995 meters 0.013348277854347038 Centerline is valid? [True, True] Translation: X:-112.44, Y:-258.50, Z:-2.80 [[-6.68362495e-01 -7.43806179e-01 6.62893345e-03 -1.12441297e+02] [ 7.43770901e-01 -6.68395362e-01 -7.24481462e-03 -2.58504265e+02] [ 9.81948625e-03 8.82454225e-05 9.99951784e-01 -2.80261473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.4365599949999 meters 0.012936117390785406 Centerline is valid? [True, True] Translation: X:-112.46, Y:-258.48, Z:-2.80 [[-6.70552290e-01 -7.41840139e-01 5.73013951e-03 -1.12457656e+02] [ 7.41813736e-01 -6.70576771e-01 -6.25900929e-03 -2.58481373e+02] [ 8.48568277e-03 5.37031856e-05 9.99963995e-01 -2.80112746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.4665599949999 meters 0.012830633565889331 Centerline is valid? [True, True] Translation: X:-112.47, Y:-258.46, Z:-2.80 [[-6.71818679e-01 -7.40696971e-01 5.25928371e-03 -1.12474912e+02] [ 7.40674723e-01 -6.71839263e-01 -5.74109062e-03 -2.58460640e+02] [ 7.78580173e-03 3.84465917e-05 9.99969690e-01 -2.80086624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.496559995 meters 0.012753786254907308 Centerline is valid? [True, True] Translation: X:-112.49, Y:-258.44, Z:-2.80 [[-6.72885957e-01 -7.39730285e-01 4.85743015e-03 -1.12493047e+02] [ 7.39711303e-01 -6.72903488e-01 -5.29941292e-03 -2.58439025e+02] [ 7.18871792e-03 2.71954511e-05 9.99974161e-01 -2.80016077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.526559995 meters 0.012822361057607813 Centerline is valid? [True, True] Translation: X:-112.51, Y:-258.42, Z:-2.80 [[-6.73605577e-01 -7.39078095e-01 4.36996416e-03 -1.12510831e+02] [ 7.39062731e-01 -6.73619751e-01 -4.76561782e-03 -2.58418962e+02] [ 6.46585791e-03 1.95309025e-05 9.99979096e-01 -2.79955796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.5565599949999 meters 0.012847104066370837 Centerline is valid? [True, True] Translation: X:-112.53, Y:-258.40, Z:-2.80 [[-6.73960253e-01 -7.38756076e-01 4.12763984e-03 -1.12528966e+02] [ 7.38742380e-01 -6.73972892e-01 -4.49855019e-03 -2.58398816e+02] [ 6.10524865e-03 1.74184530e-05 9.99981363e-01 -2.79941565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.5865599949999 meters 0.012893792641261122 Centerline is valid? [True, True] Translation: X:-112.55, Y:-258.38, Z:-2.80 [[-6.74086804e-01 -7.38641599e-01 3.94590765e-03 -1.12548262e+02] [ 7.38629094e-01 -6.74098352e-01 -4.29804180e-03 -2.58378019e+02] [ 5.83464231e-03 1.73089346e-05 9.99982978e-01 -2.79911855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.616559995 meters 0.01290383488503905 Centerline is valid? [True, True] Translation: X:-112.57, Y:-258.36, Z:-2.80 [[-6.73803005e-01 -7.38899978e-01 4.04148960e-03 -1.12567475e+02] [ 7.38886876e-01 -6.73815125e-01 -4.40032510e-03 -2.58358577e+02] [ 5.97461694e-03 2.12513515e-05 9.99982152e-01 -2.79942178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.646559995 meters 0.01312339156019735 Centerline is valid? [True, True] Translation: X:-112.59, Y:-258.34, Z:-2.80 [[-6.73438755e-01 -7.39229625e-01 4.45032566e-03 -1.12586529e+02] [ 7.39213766e-01 -6.73453459e-01 -4.84227912e-03 -2.58340034e+02] [ 6.57664339e-03 2.87635762e-05 9.99978373e-01 -2.80089475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.6765599949999 meters 0.013098847442137124 Centerline is valid? [True, True] Translation: X:-112.61, Y:-258.32, Z:-2.80 [[-6.73408300e-01 -7.39254671e-01 4.87778280e-03 -1.12605220e+02] [ 7.39235644e-01 -6.73425965e-01 -5.30404097e-03 -2.58319608e+02] [ 7.20586265e-03 3.40456931e-05 9.99974037e-01 -2.80020966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.7065599949999 meters 0.013121101832693237 Centerline is valid? [True, True] Translation: X:-112.62, Y:-258.30, Z:-2.80 [[-6.73387469e-01 -7.39273139e-01 4.95393056e-03 -1.12624569e+02] [ 7.39253539e-01 -6.73405691e-01 -5.38345982e-03 -2.58299968e+02] [ 7.31585227e-03 3.70563104e-05 9.99973238e-01 -2.80058417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.736559995 meters 0.013149006842060272 Centerline is valid? [True, True] Translation: X:-112.64, Y:-258.28, Z:-2.80 [[-6.73494273e-01 -7.39174948e-01 5.08545513e-03 -1.12644030e+02] [ 7.39154315e-01 -6.73513471e-01 -5.52292377e-03 -2.58280315e+02] [ 7.50752942e-03 3.92785766e-05 9.99971817e-01 -2.80092575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.766559995 meters 0.013159007846203883 Centerline is valid? [True, True] Translation: X:-112.66, Y:-258.26, Z:-2.80 [[-6.73457578e-01 -7.39206969e-01 5.28655564e-03 -1.12664268e+02] [ 7.39184699e-01 -6.73478326e-01 -5.73808818e-03 -2.58261410e+02] [ 7.80201542e-03 4.33820680e-05 9.99969563e-01 -2.80182654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.7965599949999 meters 0.013223407726309925 Centerline is valid? [True, True] Translation: X:-112.68, Y:-258.24, Z:-2.80 [[-6.73716947e-01 -7.38970458e-01 5.30440589e-03 -1.12684190e+02] [ 7.38948056e-01 -6.73737828e-01 -5.75422775e-03 -2.58241056e+02] [ 7.82598322e-03 4.29596638e-05 9.99969376e-01 -2.80197219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.8265599949999 meters 0.013152270054641415 Centerline is valid? [True, True] Translation: X:-112.70, Y:-258.22, Z:-2.80 [[-6.74371338e-01 -7.38373192e-01 5.32247294e-03 -1.12703409e+02] [ 7.38350643e-01 -6.74392340e-01 -5.77055919e-03 -2.58220811e+02] [ 7.85026119e-03 3.83515922e-05 9.99969186e-01 -2.80190443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.856559995 meters 0.013172945902784639 Centerline is valid? [True, True] Translation: X:-112.72, Y:-258.20, Z:-2.80 [[-6.75201326e-01 -7.37614212e-01 5.33324803e-03 -1.12721846e+02] [ 7.37591576e-01 -6.75222388e-01 -5.77879371e-03 -2.58200893e+02] [ 7.86364884e-03 3.19096394e-05 9.99969081e-01 -2.80193398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.886559995 meters 0.013071886654566848 Centerline is valid? [True, True] Translation: X:-112.74, Y:-258.18, Z:-2.80 [[-6.77204441e-01 -7.35777485e-01 5.06327374e-03 -1.12740378e+02] [ 7.35757057e-01 -6.77223369e-01 -5.48285879e-03 -2.58180281e+02] [ 7.46313135e-03 1.23230646e-05 9.99972150e-01 -2.80145843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.916559995 meters 0.013028937016653124 Centerline is valid? [True, True] Translation: X:-112.76, Y:-258.16, Z:-2.80 [[-6.78348869e-01 -7.34724834e-01 4.71484126e-03 -1.12759217e+02] [ 7.34707117e-01 -6.78365254e-01 -5.10233484e-03 -2.58160025e+02] [ 6.94719661e-03 2.86436414e-06 9.99975868e-01 -2.80092960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.9465599949999 meters 0.013113627229821852 Centerline is valid? [True, True] Translation: X:-112.78, Y:-258.14, Z:-2.80 [[-6.79643054e-01 -7.33526694e-01 4.88971781e-03 -1.12777525e+02] [ 7.33507631e-01 -6.79660643e-01 -5.28826226e-03 -2.58140203e+02] [ 7.20243028e-03 -7.48538634e-06 9.99974062e-01 -2.80070683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.976559995 meters 0.013167763863294024 Centerline is valid? [True, True] Translation: X:-112.80, Y:-258.12, Z:-2.80 [[-6.81523953e-01 -7.31781391e-01 4.59328438e-03 -1.12796754e+02] [ 7.31764549e-01 -6.81539431e-01 -4.96481249e-03 -2.58119349e+02] [ 6.76366181e-03 -2.24359591e-05 9.99977126e-01 -2.80016415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.006559995 meters 0.013333232623789479 Centerline is valid? [True, True] Translation: X:-112.82, Y:-258.10, Z:-2.80 [[-6.82263381e-01 -7.31090111e-01 4.89160369e-03 -1.12815209e+02] [ 7.31071016e-01 -6.82280916e-01 -5.28406290e-03 -2.58098927e+02] [ 7.20057398e-03 -2.90129422e-05 9.99974075e-01 -2.80068406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.036559995 meters 0.013355975142369528 Centerline is valid? [True, True] Translation: X:-112.83, Y:-258.08, Z:-2.80 [[-6.83139458e-01 -7.30271185e-01 4.94747426e-03 -1.12833958e+02] [ 7.30251653e-01 -6.83157372e-01 -5.34116156e-03 -2.58079008e+02] [ 7.28039990e-03 -3.58569502e-05 9.99973497e-01 -2.80070711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.0665599949999 meters 0.013301443269074663 Centerline is valid? [True, True] Translation: X:-112.85, Y:-258.06, Z:-2.80 [[-6.83657933e-01 -7.29784985e-01 5.07012968e-03 -1.12853409e+02] [ 7.29764483e-01 -6.83676732e-01 -5.47047543e-03 -2.58059236e+02] [ 7.45860052e-03 -3.99333624e-05 9.99972184e-01 -2.80025508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.0965599949999 meters 0.013329852495193716 Centerline is valid? [True, True] Translation: X:-112.87, Y:-258.04, Z:-2.80 [[-6.84143009e-01 -7.29328830e-01 5.27264259e-03 -1.12872988e+02] [ 7.29306670e-01 -6.84163326e-01 -5.68558430e-03 -2.58040321e+02] [ 7.75400923e-03 -4.43793461e-05 9.99969936e-01 -2.80056998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.126559995 meters 0.013359638903354338 Centerline is valid? [True, True] Translation: X:-112.89, Y:-258.02, Z:-2.80 [[-6.84109704e-01 -7.29358818e-01 5.44309182e-03 -1.12891575e+02] [ 7.29335234e-01 -6.84131356e-01 -5.86550014e-03 -2.58021483e+02] [ 8.00184404e-03 -4.28069174e-05 9.99967984e-01 -2.80049199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.156559995 meters 0.013254304202592375 Centerline is valid? [True, True] Translation: X:-112.91, Y:-258.00, Z:-2.80 [[-6.84047972e-01 -7.29419677e-01 5.03053811e-03 -1.12911477e+02] [ 7.29399557e-01 -6.84066469e-01 -5.41789595e-03 -2.58001871e+02] [ 7.39314235e-03 -3.68284751e-05 9.99972670e-01 -2.80002611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.1865599949999 meters 0.013318815415627069 Centerline is valid? [True, True] Translation: X:-112.93, Y:-257.98, Z:-2.80 [[-6.83846416e-01 -7.29609036e-01 4.97321236e-03 -1.12929579e+02] [ 7.29589403e-01 -6.83864499e-01 -5.35262169e-03 -2.57983329e+02] [ 7.30632454e-03 -3.19681248e-05 9.99973308e-01 -2.80078267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.2165599949999 meters 0.01310701462575725 Centerline is valid? [True, True] Translation: X:-112.95, Y:-257.97, Z:-2.80 [[-6.82860769e-01 -7.30530331e-01 5.15798501e-03 -1.12951437e+02] [ 7.30509261e-01 -6.82880249e-01 -5.54837414e-03 -2.57965036e+02] [ 7.57554169e-03 -2.08112112e-05 9.99971305e-01 -2.79990002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.246559995 meters 0.013080029143680975 Centerline is valid? [True, True] Translation: X:-112.97, Y:-257.95, Z:-2.80 [[-6.82107643e-01 -7.31229982e-01 5.64592710e-03 -1.12970227e+02] [ 7.31204794e-01 -6.82131009e-01 -6.06922898e-03 -2.57946873e+02] [ 8.28926415e-03 -1.15385112e-05 9.99965644e-01 -2.80060075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.276559995 meters 0.013256743945947976 Centerline is valid? [True, True] Translation: X:-112.99, Y:-257.93, Z:-2.80 [[-6.81313588e-01 -7.31967945e-01 5.89255238e-03 -1.12989641e+02] [ 7.31940572e-01 -6.81339070e-01 -6.33025734e-03 -2.57928855e+02] [ 8.64837162e-03 1.07815319e-07 9.99962602e-01 -2.80145728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.3065599949999 meters 0.013234191295768997 Centerline is valid? [True, True] Translation: X:-113.01, Y:-257.91, Z:-2.80 [[-6.79155285e-01 -7.33965512e-01 6.53658093e-03 -1.13011269e+02] [ 7.33931962e-01 -6.79186739e-01 -7.01776742e-03 -2.57911612e+02] [ 9.59035834e-03 3.12518372e-05 9.99954011e-01 -2.80230042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.3365599949999 meters 0.013225618635778234 Centerline is valid? [True, True] Translation: X:-113.03, Y:-257.89, Z:-2.80 [[-6.78118258e-01 -7.34918993e-01 7.04992816e-03 -1.13031666e+02] [ 7.34880062e-01 -6.78154902e-01 -7.56461210e-03 -2.57891760e+02] [ 1.03403205e-02 5.11500613e-05 9.99946536e-01 -2.80195210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.366559995 meters 0.01338471550328239 Centerline is valid? [True, True] Translation: X:-113.05, Y:-257.87, Z:-2.80 [[-6.77508430e-01 -7.35482375e-01 6.92844389e-03 -1.13051375e+02] [ 7.35444849e-01 -6.77543853e-01 -7.42981657e-03 -2.57873025e+02] [ 1.01588237e-02 6.17250051e-05 9.99948396e-01 -2.80246735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.396559995 meters 0.013479457213795853 Centerline is valid? [True, True] Translation: X:-113.07, Y:-257.85, Z:-2.80 [[-6.76319572e-01 -7.36571291e-01 7.38713954e-03 -1.13072107e+02] [ 7.36528744e-01 -6.76359909e-01 -7.91726079e-03 -2.57854275e+02] [ 1.08279920e-02 8.62421743e-05 9.99941372e-01 -2.80243940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.4265599949999 meters 0.0135962643515741 Centerline is valid? [True, True] Translation: X:-113.09, Y:-257.83, Z:-2.80 [[-6.76141820e-01 -7.36732682e-01 7.56273092e-03 -1.13091213e+02] [ 7.36688155e-01 -6.76184107e-01 -8.10036086e-03 -2.57834996e+02] [ 1.10815990e-02 9.43815503e-05 9.99938593e-01 -2.80232254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.4565599949999 meters 0.013664960751130252 Centerline is valid? [True, True] Translation: X:-113.11, Y:-257.82, Z:-2.80 [[-6.76071791e-01 -7.36795980e-01 7.65616364e-03 -1.13110583e+02] [ 7.36750408e-01 -6.76115134e-01 -8.19530076e-03 -2.57815192e+02] [ 1.12147128e-02 1.00070018e-04 9.99937108e-01 -2.80218825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.486559995 meters 0.013770413629119986 Centerline is valid? [True, True] Translation: X:-113.13, Y:-257.80, Z:-2.80 [[-6.75754217e-01 -7.37086309e-01 7.74667600e-03 -1.13130392e+02] [ 7.37039731e-01 -6.75798610e-01 -8.28702491e-03 -2.57795966e+02] [ 1.13434455e-02 1.09615966e-04 9.99935655e-01 -2.80256272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.516559995 meters 0.013722917093186023 Centerline is valid? [True, True] Translation: X:-113.15, Y:-257.78, Z:-2.80 [[-6.75831257e-01 -7.37011763e-01 8.11010268e-03 -1.13149809e+02] [ 7.36960764e-01 -6.75879906e-01 -8.67091485e-03 -2.57775763e+02] [ 1.18720217e-02 1.16752187e-04 9.99929518e-01 -2.80252412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.5465599949999 meters 0.013698558207143958 Centerline is valid? [True, True] Translation: X:-113.17, Y:-257.76, Z:-2.80 [[-6.75958465e-01 -7.36893498e-01 8.25394122e-03 -1.13168888e+02] [ 7.36840725e-01 -6.76008845e-01 -8.81967128e-03 -2.57755550e+02] [ 1.20788957e-02 1.20108576e-04 9.99927040e-01 -2.80235231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.5765599949999 meters 0.013987156665601758 Centerline is valid? [True, True] Translation: X:-113.19, Y:-257.74, Z:-2.80 [[-6.76589824e-01 -7.36312849e-01 8.34255565e-03 -1.13188379e+02] [ 7.36258959e-01 -6.76641245e-01 -8.90899940e-03 -2.57736806e+02] [ 1.22047280e-02 1.14543011e-04 9.99925513e-01 -2.80387041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.606559995 meters 0.013626408674065029 Centerline is valid? [True, True] Translation: X:-113.21, Y:-257.72, Z:-2.80 [[-6.77288603e-01 -7.35672284e-01 8.15105515e-03 -1.13206426e+02] [ 7.35620857e-01 -6.77337641e-01 -8.69909347e-03 -2.57716259e+02] [ 1.19206984e-02 1.04289321e-04 9.99928941e-01 -2.80288747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.636559995 meters 0.013408734340186471 Centerline is valid? [True, True] Translation: X:-113.22, Y:-257.70, Z:-2.80 [[-6.78199468e-01 -7.34834650e-01 7.96989639e-03 -1.13224508e+02] [ 7.34785488e-01 -6.78246289e-01 -8.50042161e-03 -2.57695578e+02] [ 1.16519570e-02 9.11828023e-05 9.99932110e-01 -2.80220704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.666559995 meters 0.013389906775904107 Centerline is valid? [True, True] Translation: X:-113.24, Y:-257.68, Z:-2.80 [[-6.80058882e-01 -7.33121317e-01 7.28361615e-03 -1.13241313e+02] [ 7.33080214e-01 -6.80097883e-01 -7.76336156e-03 -2.57675571e+02] [ 1.06450578e-02 5.99318950e-05 9.99943338e-01 -2.80225611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.6965599949999 meters 0.013054088018008607 Centerline is valid? [True, True] Translation: X:-113.26, Y:-257.65, Z:-2.80 [[-6.80963483e-01 -7.32280635e-01 7.33522914e-03 -1.13259422e+02] [ 7.32238945e-01 -6.81002987e-01 -7.81398192e-03 -2.57653650e+02] [ 1.07173406e-02 5.01041026e-05 9.99942567e-01 -2.80014072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.726559995 meters 0.012931310760603026 Centerline is valid? [True, True] Translation: X:-113.28, Y:-257.63, Z:-2.80 [[-6.81942440e-01 -7.31370047e-01 7.23624468e-03 -1.13278140e+02] [ 7.31329469e-01 -6.81980831e-01 -7.70422648e-03 -2.57632474e+02] [ 1.05696206e-02 3.82399757e-05 9.99944139e-01 -2.80005003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.756559995 meters 0.012901914360227544 Centerline is valid? [True, True] Translation: X:-113.30, Y:-257.61, Z:-2.80 [[-6.83330017e-01 -7.30067658e-01 7.82964802e-03 -1.13295881e+02] [ 7.30020119e-01 -6.83374871e-01 -8.33131663e-03 -2.57610756e+02] [ 1.14330095e-02 2.27618455e-05 9.99934641e-01 -2.80032118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.786559995 meters 0.012969416578503215 Centerline is valid? [True, True] Translation: X:-113.31, Y:-257.59, Z:-2.80 [[-6.84074503e-01 -7.29363134e-01 8.45538365e-03 -1.13313594e+02] [ 7.29307694e-01 -6.84126756e-01 -8.99274723e-03 -2.57590762e+02] [ 1.23435325e-02 1.48672575e-05 9.99923816e-01 -2.80124967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.8165599949999 meters 0.013063738736247651 Centerline is valid? [True, True] Translation: X:-113.33, Y:-257.57, Z:-2.80 [[-6.84511079e-01 -7.28946371e-01 9.04271159e-03 -1.13330835e+02] [ 7.28882986e-01 -6.84570805e-01 -9.61275147e-03 -2.57571492e+02] [ 1.31975567e-02 1.10437429e-05 9.99912909e-01 -2.80249164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.8465599949999 meters 0.013109540430648546 Centerline is valid? [True, True] Translation: X:-113.35, Y:-257.55, Z:-2.80 [[-6.85146798e-01 -7.28340275e-01 9.71130922e-03 -1.13348854e+02] [ 7.28267199e-01 -6.85215619e-01 -1.03171115e-02 -2.57551517e+02] [ 1.41687086e-02 3.69203198e-06 9.99899619e-01 -2.80315816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.876559995 meters 0.013140390591620811 Centerline is valid? [True, True] Translation: X:-113.37, Y:-257.53, Z:-2.80 [[-6.85796603e-01 -7.27721459e-01 1.02224022e-02 -1.13366139e+02] [ 7.27640525e-01 -6.85872786e-01 -1.08530197e-02 -2.57531005e+02] [ 1.49092427e-02 -4.72993932e-06 9.99888851e-01 -2.80399849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.906559995 meters 0.01310929542592168 Centerline is valid? [True, True] Translation: X:-113.38, Y:-257.51, Z:-2.80 [[-6.86247448e-01 -7.27296966e-01 1.01766418e-02 -1.13384304e+02] [ 7.27216808e-01 -6.86322900e-01 -1.07977190e-02 -2.57510724e+02] [ 1.48376106e-02 -9.28215253e-06 9.99889917e-01 -2.80363374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.9365599949999 meters 0.012965004112950304 Centerline is valid? [True, True] Translation: X:-113.40, Y:-257.49, Z:-2.80 [[-6.86567204e-01 -7.26999465e-01 9.86164563e-03 -1.13403006e+02] [ 7.26924248e-01 -6.86638025e-01 -1.04575521e-02 -2.57489734e+02] [ 1.43740157e-02 -1.11429663e-05 9.99896689e-01 -2.80263580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.9665599949999 meters 0.01323040259390631 Centerline is valid? [True, True] Translation: X:-113.42, Y:-257.47, Z:-2.80 [[-6.86794139e-01 -7.26788520e-01 9.60509898e-03 -1.13420855e+02] [ 7.26717204e-01 -6.86861301e-01 -1.01812733e-02 -2.57469338e+02] [ 1.39970033e-02 -1.22481455e-05 9.99902037e-01 -2.80401928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.996559995 meters 0.01306082007178604 Centerline is valid? [True, True] Translation: X:-113.44, Y:-257.45, Z:-2.80 [[-6.86748761e-01 -7.26830764e-01 9.65299043e-03 -1.13439541e+02] [ 7.26758828e-01 -6.86816599e-01 -1.02257561e-02 -2.57449608e+02] [ 1.40622282e-02 -7.12935011e-06 9.99901122e-01 -2.80293876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.026559995 meters 0.012963851641246447 Centerline is valid? [True, True] Translation: X:-113.46, Y:-257.43, Z:-2.80 [[-6.86500939e-01 -7.27067766e-01 9.43005034e-03 -1.13458248e+02] [ 7.26999221e-01 -6.86565703e-01 -9.98340292e-03 -2.57429711e+02] [ 1.37329596e-02 2.02377423e-06 9.99905699e-01 -2.80273378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.0565599949999 meters 0.012951590171103762 Centerline is valid? [True, True] Translation: X:-113.48, Y:-257.41, Z:-2.80 [[-6.86273897e-01 -7.27286866e-01 9.05280299e-03 -1.13477195e+02] [ 7.27223794e-01 -6.86333603e-01 -9.57803835e-03 -2.57409593e+02] [ 1.31792244e-02 1.02560261e-05 9.99913150e-01 -2.80255824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.0865599949999 meters 0.012951590171103762 Centerline is valid? [True, True] Translation: X:-113.50, Y:-257.39, Z:-2.80 [[-6.86500418e-01 -7.27073015e-01 9.05578642e-03 -1.13495652e+02] [ 7.27009962e-01 -6.86560143e-01 -9.57521764e-03 -2.57390217e+02] [ 1.31792244e-02 1.02560278e-05 9.99913150e-01 -2.80255772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.116559995 meters 0.013016102673690858 Centerline is valid? [True, True] Translation: X:-113.51, Y:-257.37, Z:-2.80 [[-6.85447807e-01 -7.28066244e-01 8.99160300e-03 -1.13513433e+02] [ 7.28004226e-01 -6.85506779e-01 -9.50276812e-03 -2.57371183e+02] [ 1.30824495e-02 3.22734262e-05 9.99914421e-01 -2.80246651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.146559995 meters 0.01304077379788837 Centerline is valid? [True, True] Translation: X:-113.53, Y:-257.35, Z:-2.80 [[-6.85013885e-01 -7.28472287e-01 9.17083140e-03 -1.13532145e+02] [ 7.28407889e-01 -6.85075269e-01 -9.68623554e-03 -2.57351740e+02] [ 1.33388640e-02 4.49000950e-05 9.99911033e-01 -2.80262024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.1765599949999 meters 0.01314032497273079 Centerline is valid? [True, True] Translation: X:-113.55, Y:-257.33, Z:-2.80 [[-6.84375903e-01 -7.29074608e-01 8.93531158e-03 -1.13550632e+02] [ 7.29013605e-01 -6.84434228e-01 -9.43140403e-03 -2.57332766e+02] [ 1.29918303e-02 5.93380573e-05 9.99915601e-01 -2.80296498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.2065599949999 meters 0.01336339156330054 Centerline is valid? [True, True] Translation: X:-113.57, Y:-257.31, Z:-2.80 [[-6.83120547e-01 -7.30250187e-01 8.99902276e-03 -1.13568645e+02] [ 7.30188492e-01 -6.83179813e-01 -9.49260739e-03 -2.57313659e+02] [ 1.30799290e-02 8.63877020e-05 9.99914450e-01 -2.80291837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.236559995 meters 0.01354529076784747 Centerline is valid? [True, True] Translation: X:-113.59, Y:-257.29, Z:-2.80 [[-6.82385195e-01 -7.30939169e-01 8.85311890e-03 -1.13587356e+02] [ 7.30879588e-01 -6.82442614e-01 -9.33310621e-03 -2.57294275e+02] [ 1.28636785e-02 1.01790394e-04 9.99917254e-01 -2.80280164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.266559995 meters 0.013388890924706279 Centerline is valid? [True, True] Translation: X:-113.61, Y:-257.27, Z:-2.80 [[-6.81723856e-01 -7.31555552e-01 8.89148733e-03 -1.13606524e+02] [ 7.31495574e-01 -6.81781827e-01 -9.36831005e-03 -2.57273582e+02] [ 1.29154937e-02 1.17483182e-04 9.99916585e-01 -2.80176042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.2965599949999 meters 0.013905245187717796 Centerline is valid? [True, True] Translation: X:-113.63, Y:-257.26, Z:-2.80 [[-6.80903279e-01 -7.32318455e-01 8.96686287e-03 -1.13625365e+02] [ 7.32257586e-01 -6.80962306e-01 -9.44280436e-03 -2.57255966e+02] [ 1.30212355e-02 1.36416901e-04 9.99915211e-01 -2.80362034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.3265599949999 meters 0.01447805670256208 Centerline is valid? [True, True] Translation: X:-113.64, Y:-257.24, Z:-2.80 [[-6.79255651e-01 -7.33844132e-01 9.19513494e-03 -1.13644139e+02] [ 7.33780332e-01 -6.79317863e-01 -9.67804212e-03 -2.57235523e+02] [ 1.33485938e-02 1.73344379e-04 9.99910889e-01 -2.80352798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.356559995 meters 0.01439671034237641 Centerline is valid? [True, True] Translation: X:-113.66, Y:-257.21, Z:-2.80 [[-6.78590444e-01 -7.34459308e-01 9.19424038e-03 -1.13662341e+02] [ 7.34395657e-01 -6.78652701e-01 -9.67112483e-03 -2.57214644e+02] [ 1.33427437e-02 1.89477306e-04 9.99910964e-01 -2.80234783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.386559995 meters 0.014724785615304867 Centerline is valid? [True, True] Translation: X:-113.68, Y:-257.19, Z:-2.80 [[-6.78166591e-01 -7.34851267e-01 9.14824877e-03 -1.13681444e+02] [ 7.34788365e-01 -6.78228262e-01 -9.61684166e-03 -2.57194545e+02] [ 1.32715491e-02 2.00206029e-04 9.99911909e-01 -2.80261131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.416559995 meters 0.015374334394159658 Centerline is valid? [True, True] Translation: X:-113.70, Y:-257.17, Z:-2.80 [[-6.77254388e-01 -7.35692806e-01 9.08790134e-03 -1.13700282e+02] [ 7.35630879e-01 -6.77315324e-01 -9.54789230e-03 -2.57174636e+02] [ 1.31796905e-02 2.18988898e-04 9.99913120e-01 -2.80272003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.4465599949999 meters 0.015538794297836713 Centerline is valid? [True, True] Translation: X:-113.72, Y:-257.15, Z:-2.80 [[-6.76998758e-01 -7.35930173e-01 8.91414655e-03 -1.13718920e+02] [ 7.35870685e-01 -6.77057406e-01 -9.35971131e-03 -2.57154982e+02] [ 1.29234829e-02 2.23146195e-04 9.99916464e-01 -2.80258543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.476559995 meters 0.015651700668307494 Centerline is valid? [True, True] Translation: X:-113.74, Y:-257.14, Z:-2.80 [[-6.76956859e-01 -7.35969503e-01 8.84882912e-03 -1.13737285e+02] [ 7.35910959e-01 -6.77014652e-01 -9.28553622e-03 -2.57135376e+02] [ 1.28246584e-02 2.26042891e-04 9.99917735e-01 -2.80225588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.506559995 meters 0.014853544963074538 Centerline is valid? [True, True] Translation: X:-113.75, Y:-257.11, Z:-2.80 [[-6.76704209e-01 -7.36211767e-01 7.97788316e-03 -1.13754648e+02] [ 7.36164252e-01 -6.76751202e-01 -8.36689250e-03 -2.57112798e+02] [ 1.15588467e-02 2.11121013e-04 9.99933172e-01 -2.80030719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.536559995 meters 0.015035501466629951 Centerline is valid? [True, True] Translation: X:-113.77, Y:-257.09, Z:-2.80 [[-6.76822560e-01 -7.36103248e-01 7.95174741e-03 -1.13772942e+02] [ 7.36056096e-01 -6.76869237e-01 -8.33423304e-03 -2.57092905e+02] [ 1.15171492e-02 2.12135215e-04 9.99933653e-01 -2.80037752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.5665599949999 meters 0.015808065061481504 Centerline is valid? [True, True] Translation: X:-113.79, Y:-257.07, Z:-2.80 [[-6.76864714e-01 -7.36063107e-01 8.07850007e-03 -1.13791345e+02] [ 7.36014486e-01 -6.76912886e-01 -8.46295773e-03 -2.57074817e+02] [ 1.16977118e-02 2.17615614e-04 9.99931556e-01 -2.80139816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.5965599949999 meters 0.015179968708954914 Centerline is valid? [True, True] Translation: X:-113.81, Y:-257.05, Z:-2.80 [[-6.76975010e-01 -7.35954237e-01 8.72906088e-03 -1.13807427e+02] [ 7.35897536e-01 -6.77031244e-01 -9.13844925e-03 -2.57053153e+02] [ 1.26353274e-02 2.37192622e-04 9.99920143e-01 -2.80154446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.626559995 meters 0.01582253791201403 Centerline is valid? [True, True] Translation: X:-113.83, Y:-257.03, Z:-2.80 [[-6.77347800e-01 -7.35605790e-01 9.16949857e-03 -1.13826177e+02] [ 7.35543274e-01 -6.77409818e-01 -9.59325945e-03 -2.57034523e+02] [ 1.32683656e-02 2.46589813e-04 9.99911941e-01 -2.80288570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.656559995 meters 0.014891292306881876 Centerline is valid? [True, True] Translation: X:-113.84, Y:-257.01, Z:-2.80 [[-6.77510303e-01 -7.35450960e-01 9.57464142e-03 -1.13844159e+02] [ 7.35382861e-01 -6.77577906e-01 -1.00114704e-02 -2.57012364e+02] [ 1.38505110e-02 2.58152878e-04 9.99904044e-01 -2.80215855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.6865599949999 meters 0.015013452285671483 Centerline is valid? [True, True] Translation: X:-113.86, Y:-256.99, Z:-2.80 [[-6.77957604e-01 -7.35027026e-01 1.04287293e-02 -1.13862595e+02] [ 7.34946294e-01 -6.78037753e-01 -1.08972760e-02 -2.56993760e+02] [ 1.50808646e-02 2.76664797e-04 9.99886239e-01 -2.80363860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.7165599949999 meters 0.014998887021305713 Centerline is valid? [True, True] Translation: X:-113.88, Y:-256.97, Z:-2.80 [[-6.78344987e-01 -7.34666156e-01 1.06638635e-02 -1.13882075e+02] [ 7.34581805e-01 -6.78428744e-01 -1.11359988e-02 -2.56974035e+02] [ 1.54159129e-02 2.79431152e-04 9.99881129e-01 -2.80392141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.746559995 meters 0.01525004366996555 Centerline is valid? [True, True] Translation: X:-113.90, Y:-256.96, Z:-2.80 [[-6.78779394e-01 -7.34267314e-01 1.04903252e-02 -1.13900872e+02] [ 7.34185719e-01 -6.78860398e-01 -1.09494773e-02 -2.56955827e+02] [ 1.51613096e-02 2.69567342e-04 9.99885025e-01 -2.80428355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.776559995 meters 0.014819039407044585 Centerline is valid? [True, True] Translation: X:-113.92, Y:-256.94, Z:-2.80 [[-6.79512320e-01 -7.33594215e-01 1.01259627e-02 -1.13919797e+02] [ 7.33518211e-01 -6.79587717e-01 -1.05626369e-02 -2.56935727e+02] [ 1.46301691e-02 2.50136130e-04 9.99892942e-01 -2.80347032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.8065599949999 meters 0.014295366429982324 Centerline is valid? [True, True] Translation: X:-113.94, Y:-256.92, Z:-2.80 [[-6.81411481e-01 -7.31840527e-01 9.37212149e-03 -1.13938817e+02] [ 7.31775325e-01 -6.81475900e-01 -9.77091621e-03 -2.56915200e+02] [ 1.35376274e-02 2.00272778e-04 9.99908342e-01 -2.80175832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.8365599949999 meters 0.013731244105743595 Centerline is valid? [True, True] Translation: X:-113.96, Y:-256.89, Z:-2.80 [[-6.82892462e-01 -7.30468333e-01 8.59651081e-03 -1.13957807e+02] [ 7.30413430e-01 -6.82946548e-01 -8.95733025e-03 -2.56894285e+02] [ 1.24140035e-02 1.62113641e-04 9.99922930e-01 -2.80076017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.866559995 meters 0.013632842383549046 Centerline is valid? [True, True] Translation: X:-113.98, Y:-256.87, Z:-2.80 [[-6.84928799e-01 -7.28566290e-01 7.98136478e-03 -1.13976838e+02] [ 7.28518886e-01 -6.84975289e-01 -8.31179005e-03 -2.56874369e+02] [ 1.15227277e-02 1.21590608e-04 9.99933604e-01 -2.80109810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.896559995 meters 0.012698642977099522 Centerline is valid? [True, True] Translation: X:-113.99, Y:-256.85, Z:-2.80 [[-6.89604095e-01 -7.24142176e-01 8.01879028e-03 -1.13992646e+02] [ 7.24094079e-01 -6.89650713e-01 -8.34622063e-03 -2.56850147e+02] [ 1.15740148e-02 5.07706392e-05 9.99933018e-01 -2.80002729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.9265599949999 meters 0.012598303878603294 Centerline is valid? [True, True] Translation: X:-114.01, Y:-256.83, Z:-2.80 [[-6.92082725e-01 -7.21769195e-01 8.41018587e-03 -1.14009512e+02] [ 7.21716176e-01 -6.92133823e-01 -8.74826320e-03 -2.56829161e+02] [ 1.21352010e-02 1.52453531e-05 9.99926366e-01 -2.79984492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.9565599949999 meters 0.01260581503468683 Centerline is valid? [True, True] Translation: X:-114.03, Y:-256.81, Z:-2.80 [[-6.93943607e-01 -7.19982292e-01 8.23217076e-03 -1.14027439e+02] [ 7.19931431e-01 -6.93992434e-01 -8.55776880e-03 -2.56809120e+02] [ 1.18745062e-02 -1.20104698e-05 9.99929496e-01 -2.79913959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.986559995 meters 0.01261150543612223 Centerline is valid? [True, True] Translation: X:-114.05, Y:-256.79, Z:-2.80 [[-6.95699384e-01 -7.18285777e-01 8.24074546e-03 -1.14046088e+02] [ 7.18234755e-01 -6.95748188e-01 -8.56131444e-03 -2.56788773e+02] [ 1.18829541e-02 -3.73113835e-05 9.99929395e-01 -2.79900425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.016559995 meters 0.012795251209417257 Centerline is valid? [True, True] Translation: X:-114.06, Y:-256.77, Z:-2.80 [[-6.97970777e-01 -7.16076506e-01 8.43990585e-03 -1.14064809e+02] [ 7.16022886e-01 -6.98021799e-01 -8.76331760e-03 -2.56767707e+02] [ 1.21664441e-02 -7.33738473e-05 9.99925983e-01 -2.79835045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.0465599949999 meters 0.01298960959765119 Centerline is valid? [True, True] Translation: X:-114.08, Y:-256.75, Z:-2.80 [[-6.99437899e-01 -7.14644262e-01 8.37874998e-03 -1.14084085e+02] [ 7.14591378e-01 -6.99488077e-01 -8.69439226e-03 -2.56747924e+02] [ 1.20742333e-02 -9.38049668e-05 9.99927100e-01 -2.79840477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.0765599949999 meters 0.013381975286439137 Centerline is valid? [True, True] Translation: X:-114.10, Y:-256.73, Z:-2.80 [[-7.01806871e-01 -7.12319931e-01 8.21175175e-03 -1.14103408e+02] [ 7.12269030e-01 -7.01854900e-01 -8.51637602e-03 -2.56728156e+02] [ 1.18298426e-02 -1.27874744e-04 9.99930017e-01 -2.79839183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.106559995 meters 0.013556346840216602 Centerline is valid? [True, True] Translation: X:-114.12, Y:-256.71, Z:-2.80 [[-7.03099338e-01 -7.11041714e-01 8.42624302e-03 -1.14123411e+02] [ 7.10988088e-01 -7.03149812e-01 -8.73390564e-03 -2.56707918e+02] [ 1.21350824e-02 -1.49844863e-04 9.99926356e-01 -2.79837406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.136559995 meters 0.014368064318597787 Centerline is valid? [True, True] Translation: X:-114.14, Y:-256.69, Z:-2.80 [[-7.04072044e-01 -7.10075352e-01 8.69196071e-03 -1.14141607e+02] [ 7.10018283e-01 -7.04125675e-01 -9.00398563e-03 -2.56687465e+02] [ 1.25137410e-02 -1.68003547e-04 9.99921686e-01 -2.80008811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.166559995 meters 0.01421306900676 Centerline is valid? [True, True] Translation: X:-114.16, Y:-256.67, Z:-2.80 [[-7.04883777e-01 -7.09267254e-01 8.87829763e-03 -1.14161632e+02] [ 7.09207720e-01 -7.04939664e-01 -9.19134416e-03 -2.56669495e+02] [ 1.27777836e-02 -1.82272164e-04 9.99918344e-01 -2.79969496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.1965599949999 meters 0.013924204622942549 Centerline is valid? [True, True] Translation: X:-114.18, Y:-256.65, Z:-2.80 [[-7.04912170e-01 -7.09238081e-01 8.95413795e-03 -1.14182309e+02] [ 7.09177590e-01 -7.04969015e-01 -9.26467686e-03 -2.56650079e+02] [ 1.28832514e-02 -1.80709498e-04 9.99916991e-01 -2.79919644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.226559995 meters 0.013773274786975286 Centerline is valid? [True, True] Translation: X:-114.20, Y:-256.63, Z:-2.80 [[-7.04526870e-01 -7.09622760e-01 8.79930269e-03 -1.14202344e+02] [ 7.09564445e-01 -7.04581799e-01 -9.09876395e-03 -2.56630951e+02] [ 1.26565185e-02 -1.66651360e-04 9.99919889e-01 -2.79917786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.256559995 meters 0.013425419378462245 Centerline is valid? [True, True] Translation: X:-114.22, Y:-256.61, Z:-2.80 [[-7.02552278e-01 -7.11576334e-01 8.91163201e-03 -1.14224028e+02] [ 7.11516744e-01 -7.02608784e-01 -9.20976986e-03 -2.56614485e+02] [ 1.28148452e-02 -1.29569402e-04 9.99917878e-01 -2.79912189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.286559995 meters 0.012963594829204422 Centerline is valid? [True, True] Translation: X:-114.25, Y:-256.60, Z:-2.80 [[-7.01201734e-01 -7.12910508e-01 8.64499071e-03 -1.14245450e+02] [ 7.12854579e-01 -7.01255017e-01 -8.93031716e-03 -2.56596589e+02] [ 1.24288600e-02 -9.93326627e-05 9.99922754e-01 -2.79877757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.3165599949999 meters 0.012860551207490188 Centerline is valid? [True, True] Translation: X:-114.27, Y:-256.58, Z:-2.80 [[-6.99654518e-01 -7.14428031e-01 8.72601635e-03 -1.14265218e+02] [ 7.14371241e-01 -6.99708928e-01 -9.00810140e-03 -2.56579755e+02] [ 1.25413117e-02 -6.89437148e-05 9.99921352e-01 -2.79936280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.3465599949999 meters 0.012489835364998933 Centerline is valid? [True, True] Translation: X:-114.29, Y:-256.56, Z:-2.80 [[-6.95805417e-01 -7.18178656e-01 8.61626751e-03 -1.14288607e+02] [ 7.18123640e-01 -6.95858763e-01 -8.88928020e-03 -2.56564253e+02] [ 1.23797966e-02 2.33607786e-06 9.99923367e-01 -2.79904228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.376559995 meters 0.012571827327454455 Centerline is valid? [True, True] Translation: X:-114.31, Y:-256.55, Z:-2.80 [[-6.93632728e-01 -7.20276048e-01 8.72090588e-03 -1.14309261e+02] [ 7.20219907e-01 -6.93687547e-01 -8.99291119e-03 -2.56547392e+02] [ 1.25269623e-02 4.31924984e-05 9.99921534e-01 -2.79919135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.406559995 meters 0.01273818760407413 Centerline is valid? [True, True] Translation: X:-114.33, Y:-256.53, Z:-2.80 [[-6.91663131e-01 -7.22168256e-01 8.66743291e-03 -1.14330124e+02] [ 7.22113018e-01 -6.91717431e-01 -8.93226819e-03 -2.56530243e+02] [ 1.24460150e-02 8.07455530e-05 9.99922542e-01 -2.79929387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.4365599949999 meters 0.01312144179760253 Centerline is valid? [True, True] Translation: X:-114.35, Y:-256.51, Z:-2.80 [[-6.89896953e-01 -7.23856917e-01 8.56496850e-03 -1.14350882e+02] [ 7.23803170e-01 -6.89950108e-01 -8.82157091e-03 -2.56512865e+02] [ 1.22949561e-02 1.13376455e-04 9.99924408e-01 -2.79927502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.4665599949999 meters 0.013526475739853125 Centerline is valid? [True, True] Translation: X:-114.37, Y:-256.50, Z:-2.80 [[-6.86815078e-01 -7.26788936e-01 7.93039876e-03 -1.14372743e+02] [ 7.26743105e-01 -6.86860843e-01 -8.16338289e-03 -2.56495413e+02] [ 1.13801367e-02 1.56628168e-04 9.99935232e-01 -2.79743311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.496559995 meters 0.014270580914763884 Centerline is valid? [True, True] Translation: X:-114.39, Y:-256.48, Z:-2.80 [[-6.85662433e-01 -7.27879575e-01 7.63885508e-03 -1.14393338e+02] [ 7.27837155e-01 -6.85704962e-01 -7.86002899e-03 -2.56477922e+02] [ 1.09591554e-02 1.70515950e-04 9.99939932e-01 -2.79764509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.526559995 meters 0.014262476725064406 Centerline is valid? [True, True] Translation: X:-114.41, Y:-256.46, Z:-2.80 [[-6.84784725e-01 -7.28714104e-01 6.75538792e-03 -1.14413022e+02] [ 7.28681012e-01 -6.84818025e-01 -6.94662447e-03 -2.56459633e+02] [ 9.68831464e-03 1.65580587e-04 9.99953054e-01 -2.79584945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.5565599949999 meters 0.015153744086097345 Centerline is valid? [True, True] Translation: X:-114.43, Y:-256.44, Z:-2.80 [[-6.84921595e-01 -7.28586929e-01 6.59519756e-03 -1.14433033e+02] [ 7.28555424e-01 -6.84953327e-01 -6.77744867e-03 -2.56442215e+02] [ 9.45536302e-03 1.62946008e-04 9.99955284e-01 -2.79630239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.5865599949999 meters 0.014388408031987725 Centerline is valid? [True, True] Translation: X:-114.45, Y:-256.42, Z:-2.80 [[-6.85317860e-01 -7.28217908e-01 6.17327643e-03 -1.14450704e+02] [ 7.28190325e-01 -6.85345647e-01 -6.33992793e-03 -2.56421899e+02] [ 8.84767718e-03 1.50454331e-04 9.99960847e-01 -2.79523272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.616559995 meters 0.014640088639188153 Centerline is valid? [True, True] Translation: X:-114.47, Y:-256.40, Z:-2.80 [[-6.85824175e-01 -7.27740690e-01 6.22008550e-03 -1.14469524e+02] [ 7.27712695e-01 -6.85852365e-01 -6.38493122e-03 -2.56404122e+02] [ 8.91263460e-03 1.47494995e-04 9.99960271e-01 -2.79578009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.646559995 meters 0.013872890455946415 Centerline is valid? [True, True] Translation: X:-114.49, Y:-256.38, Z:-2.80 [[-6.86428966e-01 -7.27169441e-01 6.31496319e-03 -1.14488820e+02] [ 7.27140594e-01 -6.86457998e-01 -6.47869101e-03 -2.56383080e+02] [ 9.04606311e-03 1.44704925e-04 9.99959073e-01 -2.79555068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.6765599949999 meters 0.013733741779852109 Centerline is valid? [True, True] Translation: X:-114.51, Y:-256.36, Z:-2.80 [[-6.86627623e-01 -7.26980798e-01 6.43639019e-03 -1.14508329e+02] [ 7.26950857e-01 -6.86657773e-01 -6.59953409e-03 -2.56363546e+02] [ 9.21733192e-03 1.47516960e-04 9.99957509e-01 -2.79562883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.7065599949999 meters 0.013987257124179335 Centerline is valid? [True, True] Translation: X:-114.53, Y:-256.34, Z:-2.80 [[-6.86544172e-01 -7.27056675e-01 6.75952643e-03 -1.14527940e+02] [ 7.27023696e-01 -6.86577429e-01 -6.92672997e-03 -2.56344792e+02] [ 9.67706354e-03 1.58829791e-04 9.99953164e-01 -2.79611239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.736559995 meters 0.014037685503214305 Centerline is valid? [True, True] Translation: X:-114.55, Y:-256.33, Z:-2.80 [[-6.86515278e-01 -7.27077488e-01 7.42292264e-03 -1.14548020e+02] [ 7.27037769e-01 -6.86555384e-01 -7.60175070e-03 -2.56325793e+02] [ 1.06233093e-02 1.78027118e-04 9.99943555e-01 -2.79690095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.766559995 meters 0.014761387909233094 Centerline is valid? [True, True] Translation: X:-114.57, Y:-256.31, Z:-2.80 [[-6.86472563e-01 -7.27114049e-01 7.78326368e-03 -1.14567193e+02] [ 7.27070435e-01 -6.86516659e-01 -7.96613769e-03 -2.56308507e+02] [ 1.11356308e-02 1.90445952e-04 9.99937979e-01 -2.79849750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.7965599949999 meters 0.013958093281453336 Centerline is valid? [True, True] Translation: X:-114.59, Y:-256.29, Z:-2.80 [[-6.86794264e-01 -7.26795116e-01 9.08288052e-03 -1.14585045e+02] [ 7.26735742e-01 -6.86854287e-01 -9.29242224e-03 -2.56287459e+02] [ 1.29923025e-02 2.18871621e-04 9.99915573e-01 -2.79896841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.8265599949999 meters 0.014029791201606308 Centerline is valid? [True, True] Translation: X:-114.60, Y:-256.27, Z:-2.80 [[-6.87349574e-01 -7.26261331e-01 9.74896801e-03 -1.14603867e+02] [ 7.26192959e-01 -6.87418669e-01 -9.96792614e-03 -2.56267691e+02] [ 1.39409419e-02 2.28182144e-04 9.99902794e-01 -2.79988225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.856559995 meters 0.013911238225550722 Centerline is valid? [True, True] Translation: X:-114.62, Y:-256.25, Z:-2.80 [[-6.88053385e-01 -7.25591803e-01 9.95368207e-03 -1.14622533e+02] [ 7.25520545e-01 -6.88125342e-01 -1.01711917e-02 -2.56247151e+02] [ 1.42295142e-02 2.23277923e-04 9.99898731e-01 -2.80050733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.886559995 meters 0.013680695856110188 Centerline is valid? [True, True] Translation: X:-114.64, Y:-256.23, Z:-2.80 [[-6.88995607e-01 -7.24696554e-01 9.99793132e-03 -1.14641454e+02] [ 7.24624618e-01 -6.89068111e-01 -1.02128319e-02 -2.56225691e+02] [ 1.42904597e-02 2.08150845e-04 9.99897865e-01 -2.80056913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.916559995 meters 0.013404198339020297 Centerline is valid? [True, True] Translation: X:-114.66, Y:-256.20, Z:-2.80 [[-6.90334987e-01 -7.23421762e-01 9.92772696e-03 -1.14659480e+02] [ 7.23350791e-01 -6.90406344e-01 -1.01347658e-02 -2.56205000e+02] [ 1.41858758e-02 1.84845743e-04 9.99899358e-01 -2.80048612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.9465599949999 meters 0.012845920970440763 Centerline is valid? [True, True] Translation: X:-114.68, Y:-256.18, Z:-2.80 [[-6.93578554e-01 -7.20321919e-01 9.22623891e-03 -1.14675427e+02] [ 7.20260414e-01 -6.93639907e-01 -9.41361276e-03 -2.56182498e+02] [ 1.31805191e-02 1.16214729e-04 9.99913127e-01 -2.79968523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.976559995 meters 0.012845920970440763 Centerline is valid? [True, True] Translation: X:-114.69, Y:-256.16, Z:-2.80 [[-6.93802197e-01 -7.20106474e-01 9.22916125e-03 -1.14694235e+02] [ 7.20044989e-01 -6.93863569e-01 -9.41074770e-03 -2.56163464e+02] [ 1.31805191e-02 1.16213880e-04 9.99913127e-01 -2.79968471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.006559995 meters 0.012454844344967858 Centerline is valid? [True, True] Translation: X:-114.71, Y:-256.14, Z:-2.80 [[-6.95564434e-01 -7.18409134e-01 8.85636141e-03 -1.14711622e+02] [ 7.18352449e-01 -6.95620809e-01 -9.02495590e-03 -2.56142592e+02] [ 1.26442800e-02 8.45505583e-05 9.99920054e-01 -2.79899949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.036559995 meters 0.012167325309101749 Centerline is valid? [True, True] Translation: X:-114.73, Y:-256.12, Z:-2.80 [[-6.98715874e-01 -7.15353942e-01 8.05384067e-03 -1.14727996e+02] [ 7.15306915e-01 -6.98762289e-01 -8.20254719e-03 -2.56119718e+02] [ 1.14954446e-02 2.97179871e-05 9.99933925e-01 -2.79766297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.0665599949999 meters 0.012214988412728233 Centerline is valid? [True, True] Translation: X:-114.75, Y:-256.10, Z:-2.80 [[-7.00374564e-01 -7.13733303e-01 7.76158700e-03 -1.14745170e+02] [ 7.13689584e-01 -7.00417570e-01 -7.89967043e-03 -2.56099257e+02] [ 1.10746098e-02 6.63556448e-06 9.99938675e-01 -2.79742986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.0965599949999 meters 0.012214624644765715 Centerline is valid? [True, True] Translation: X:-114.76, Y:-256.08, Z:-2.80 [[-7.02803808e-01 -7.11344408e-01 7.47939300e-03 -1.14761363e+02] [ 7.11303725e-01 -7.02843605e-01 -7.60771724e-03 -2.56077606e+02] [ 1.06685507e-02 -2.66125348e-05 9.99943089e-01 -2.79680042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.126559995 meters 0.012214624644765715 Centerline is valid? [True, True] Translation: X:-114.78, Y:-256.06, Z:-2.80 [[-7.03025018e-01 -7.11125761e-01 7.48175895e-03 -1.14780198e+02] [ 7.11085091e-01 -7.03064828e-01 -7.60539047e-03 -2.56058597e+02] [ 1.06685507e-02 -2.66125299e-05 9.99943089e-01 -2.79679989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.156559995 meters 0.012407090311480688 Centerline is valid? [True, True] Translation: X:-114.80, Y:-256.04, Z:-2.80 [[-7.04835246e-01 -7.09335414e-01 7.10958170e-03 -1.14797304e+02] [ 7.09298644e-01 -7.04871100e-01 -7.22258279e-03 -2.56037023e+02] [ 1.01345724e-02 -4.79142605e-05 9.99948643e-01 -2.79627462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.1865599949999 meters 0.012475051531437286 Centerline is valid? [True, True] Translation: X:-114.82, Y:-256.02, Z:-2.80 [[-7.05479477e-01 -7.08693083e-01 7.26783417e-03 -1.14815484e+02] [ 7.08654671e-01 -7.05516911e-01 -7.37877513e-03 -2.56017280e+02] [ 1.03568668e-02 -5.51897858e-05 9.99946365e-01 -2.79603089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.2165599949999 meters 0.012441330150202509 Centerline is valid? [True, True] Translation: X:-114.83, Y:-256.00, Z:-2.80 [[-7.05926479e-01 -7.08248333e-01 7.21831687e-03 -1.14833290e+02] [ 7.08210456e-01 -7.05963381e-01 -7.32499111e-03 -2.55998468e+02] [ 1.02837801e-02 -5.88177024e-05 9.99947119e-01 -2.79635888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.246559995 meters 0.012325646412299638 Centerline is valid? [True, True] Translation: X:-114.85, Y:-255.98, Z:-2.80 [[-7.06060544e-01 -7.08113677e-01 7.31636848e-03 -1.14853332e+02] [ 7.08074800e-01 -7.06098447e-01 -7.42029398e-03 -2.55978561e+02] [ 1.04204881e-02 -5.86406590e-05 9.99945704e-01 -2.79581481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.276559995 meters 0.012438512043806473 Centerline is valid? [True, True] Translation: X:-114.87, Y:-255.96, Z:-2.80 [[-7.05721014e-01 -7.08447784e-01 7.71928703e-03 -1.14872074e+02] [ 7.08404578e-01 -7.05763229e-01 -7.82426816e-03 -2.55959102e+02] [ 1.09910744e-02 -5.33721919e-05 9.99939595e-01 -2.79703041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.3065599949999 meters 0.012403224947596 Centerline is valid? [True, True] Translation: X:-114.89, Y:-255.94, Z:-2.80 [[-7.05483026e-01 -7.08685569e-01 7.64620100e-03 -1.14891457e+02] [ 7.08643243e-01 -7.05524459e-01 -7.74546546e-03 -2.55940069e+02] [ 1.08836814e-02 -4.58657314e-05 9.99940770e-01 -2.79693172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.3365599949999 meters 0.012178766788290793 Centerline is valid? [True, True] Translation: X:-114.91, Y:-255.92, Z:-2.80 [[-7.04374425e-01 -7.09788368e-01 7.55921620e-03 -1.14911756e+02] [ 7.09747114e-01 -7.04414986e-01 -7.65257414e-03 -2.55921510e+02] [ 1.07565333e-02 -2.51456271e-05 9.99942147e-01 -2.79656638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.366559995 meters 0.012251641436368046 Centerline is valid? [True, True] Translation: X:-114.93, Y:-255.90, Z:-2.80 [[-7.03950234e-01 -7.10210687e-01 7.40594830e-03 -1.14930428e+02] [ 7.10171151e-01 -7.03989190e-01 -7.49379351e-03 -2.55903347e+02] [ 1.05358798e-02 -1.57668666e-05 9.99944496e-01 -2.79754668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.396559995 meters 0.012086030747157112 Centerline is valid? [True, True] Translation: X:-114.95, Y:-255.88, Z:-2.80 [[-7.03744639e-01 -7.10411943e-01 7.63897303e-03 -1.14950016e+02] [ 7.10369944e-01 -7.03786098e-01 -7.72474613e-03 -2.55884360e+02] [ 1.08639549e-02 -9.75183594e-06 9.99940986e-01 -2.79653720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.4265599949999 meters 0.012159527019046884 Centerline is valid? [True, True] Translation: X:-114.97, Y:-255.87, Z:-2.80 [[-7.03243076e-01 -7.10905384e-01 7.91904332e-03 -1.14968742e+02] [ 7.10860323e-01 -7.03287662e-01 -8.00408937e-03 -2.55866283e+02] [ 1.12595157e-02 5.13258653e-07 9.99936610e-01 -2.79734822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.4565599949999 meters 0.012186999097384117 Centerline is valid? [True, True] Translation: X:-114.99, Y:-255.85, Z:-2.80 [[-7.03585588e-01 -7.10569644e-01 7.62242767e-03 -1.14987299e+02] [ 7.10527931e-01 -7.03626876e-01 -7.69930157e-03 -2.55847860e+02] [ 1.08342349e-02 -1.16986766e-06 9.99941308e-01 -2.79860906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.486559995 meters 0.012062195152694972 Centerline is valid? [True, True] Translation: X:-115.01, Y:-255.83, Z:-2.80 [[-7.03895438e-01 -7.10261592e-01 7.72553611e-03 -1.15007148e+02] [ 7.10218772e-01 -7.03937832e-01 -7.79905452e-03 -2.55827749e+02] [ 1.09776660e-02 -2.89812823e-06 9.99939744e-01 -2.79693427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.516559995 meters 0.012067365101189012 Centerline is valid? [True, True] Translation: X:-115.03, Y:-255.81, Z:-2.80 [[-7.04392533e-01 -7.09769962e-01 7.59999575e-03 -1.15025548e+02] [ 7.09728548e-01 -7.04433532e-01 -7.66723872e-03 -2.55808628e+02] [ 1.07956676e-02 -6.81175398e-06 9.99941725e-01 -2.79739096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.5465599949999 meters 0.011969717039625495 Centerline is valid? [True, True] Translation: X:-115.04, Y:-255.79, Z:-2.80 [[-7.05371068e-01 -7.08809447e-01 6.38938641e-03 -1.15044160e+02] [ 7.08780173e-01 -7.05400005e-01 -6.44192396e-03 -2.55788569e+02] [ 9.07316976e-03 -1.52763728e-05 9.99958838e-01 -2.79605388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.5765599949999 meters 0.012004568385878234 Centerline is valid? [True, True] Translation: X:-115.06, Y:-255.77, Z:-2.80 [[-7.05942501e-01 -7.08245952e-01 5.73206765e-03 -1.15062540e+02] [ 7.08222404e-01 -7.05965772e-01 -5.77544938e-03 -2.55769614e+02] [ 8.13708220e-03 -1.75564518e-05 9.99966893e-01 -2.79591364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.606559995 meters 0.011947124085034826 Centerline is valid? [True, True] Translation: X:-115.08, Y:-255.75, Z:-2.79 [[-7.06530860e-01 -7.07661948e-01 5.35836722e-03 -1.15081655e+02] [ 7.07641379e-01 -7.06551178e-01 -5.39553296e-03 -2.55750517e+02] [ 7.60417404e-03 -2.03081732e-05 9.99971088e-01 -2.79471020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.636559995 meters 0.01200043271767978 Centerline is valid? [True, True] Translation: X:-115.10, Y:-255.73, Z:-2.79 [[-7.06926835e-01 -7.07266933e-01 5.28551279e-03 -1.15100812e+02] [ 7.07246934e-01 -7.06946593e-01 -5.31867532e-03 -2.55731974e+02] [ 7.49829844e-03 -2.17515947e-05 9.99971887e-01 -2.79489269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.666559995 meters 0.01191901958193012 Centerline is valid? [True, True] Translation: X:-115.12, Y:-255.71, Z:-2.80 [[-7.07117029e-01 -7.07078489e-01 5.05151694e-03 -1.15120596e+02] [ 7.07060241e-01 -7.07135072e-01 -5.08004413e-03 -2.55713311e+02] [ 7.16409472e-03 -2.04589303e-05 9.99974337e-01 -2.79503696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.6965599949999 meters 0.011957110520194495 Centerline is valid? [True, True] Translation: X:-115.14, Y:-255.69, Z:-2.80 [[-7.06882325e-01 -7.07310381e-01 5.42253572e-03 -1.15140549e+02] [ 7.07289386e-01 -7.06903123e-01 -5.44975275e-03 -2.55694419e+02] [ 7.68787413e-03 -1.70319437e-05 9.99970448e-01 -2.79520910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.726559995 meters 0.012027215380920619 Centerline is valid? [True, True] Translation: X:-115.16, Y:-255.68, Z:-2.80 [[-7.05968912e-01 -7.08218651e-01 5.85134958e-03 -1.15161124e+02] [ 7.08194267e-01 -7.05993161e-01 -5.87687449e-03 -2.55677494e+02] [ 8.29312490e-03 -4.99846287e-06 9.99965612e-01 -2.79642418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.756559995 meters 0.01193115746738009 Centerline is valid? [True, True] Translation: X:-115.18, Y:-255.66, Z:-2.80 [[-7.05567280e-01 -7.08616670e-01 6.10146437e-03 -1.15181425e+02] [ 7.08590205e-01 -7.05593661e-01 -6.12429935e-03 -2.55659421e+02] [ 8.64493520e-03 2.33265298e-06 9.99962632e-01 -2.79692755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.786559995 meters 0.011990988627645869 Centerline is valid? [True, True] Translation: X:-115.20, Y:-255.64, Z:-2.80 [[-7.04360702e-01 -7.09805753e-01 7.19688012e-03 -1.15202593e+02] [ 7.09769039e-01 -7.04397468e-01 -7.21930655e-03 -2.55642464e+02] [ 1.01937695e-02 2.31268574e-05 9.99948042e-01 -2.79763546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.8165599949999 meters 0.012037510178549402 Centerline is valid? [True, True] Translation: X:-115.22, Y:-255.62, Z:-2.80 [[-7.03759274e-01 -7.10397061e-01 7.67458670e-03 -1.15223570e+02] [ 7.10355394e-01 -7.03801118e-01 -7.69417605e-03 -2.55623440e+02] [ 1.08673028e-02 3.68363001e-05 9.99940949e-01 -2.79778885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.8465599949999 meters 0.012088130913597082 Centerline is valid? [True, True] Translation: X:-115.24, Y:-255.61, Z:-2.80 [[-7.03291305e-01 -7.10858048e-01 7.88522044e-03 -1.15243238e+02] [ 7.10814149e-01 -7.03335506e-01 -7.90012467e-03 -2.55605657e+02] [ 1.11618227e-02 4.88372701e-05 9.99937704e-01 -2.79827013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.876559995 meters 0.012264395568459105 Centerline is valid? [True, True] Translation: X:-115.26, Y:-255.59, Z:-2.80 [[-7.01841227e-01 -7.12282325e-01 8.53122551e-03 -1.15264862e+02] [ 7.12231101e-01 -7.01893071e-01 -8.54257556e-03 -2.55587621e+02] [ 1.20727337e-02 8.06724283e-05 9.99927119e-01 -2.79840325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.906559995 meters 0.012488599035838129 Centerline is valid? [True, True] Translation: X:-115.28, Y:-255.57, Z:-2.80 [[-7.01169779e-01 -7.12942356e-01 8.61034540e-03 -1.15284711e+02] [ 7.12890296e-01 -7.01222638e-01 -8.61613032e-03 -2.55570537e+02] [ 1.21805734e-02 9.68614869e-05 9.99925809e-01 -2.79902003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.9365599949999 meters 0.012904191461063863 Centerline is valid? [True, True] Translation: X:-115.31, Y:-255.55, Z:-2.80 [[-7.00396316e-01 -7.13696041e-01 9.10829123e-03 -1.15305113e+02] [ 7.13637894e-01 -7.00455528e-01 -9.11096472e-03 -2.55553417e+02] [ 1.28824124e-02 1.18735642e-04 9.99917011e-01 -2.80019701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.9665599949999 meters 0.013156273960875665 Centerline is valid? [True, True] Translation: X:-115.33, Y:-255.54, Z:-2.80 [[-6.99932088e-01 -7.14148633e-01 9.31676189e-03 -1.15325349e+02] [ 7.14087911e-01 -6.99994080e-01 -9.31361825e-03 -2.55535949e+02] [ 1.31729859e-02 1.34086769e-04 9.99913224e-01 -2.80119725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.996559995 meters 0.012975299993543877 Centerline is valid? [True, True] Translation: X:-115.78, Y:-256.00, Z:-1.79 [[-7.63139215e-01 6.46141570e-01 1.09365925e-02 -1.15779954e+02] [ 6.46072032e-01 7.63217559e-01 -9.48091687e-03 -2.55995111e+02] [-1.44730139e-02 -1.69432939e-04 -9.99895246e-01 -1.78726463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.026559995 meters 0.013082559789015676 Centerline is valid? [True, True] Translation: X:-115.77, Y:-255.97, Z:-1.79 [[-8.06913620e-01 5.90558199e-01 1.14640384e-02 -1.15765049e+02] [ 5.90495655e-01 8.06995035e-01 -8.59626093e-03 -2.55970905e+02] [-1.43280144e-02 -1.66975151e-04 -9.99897335e-01 -1.78688123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.0565599949999 meters 0.013273368303643559 Centerline is valid? [True, True] Translation: X:-115.37, Y:-255.46, Z:-2.80 [[-7.50638885e-01 -6.60634331e-01 1.01757512e-02 -1.15373860e+02] [ 6.60575534e-01 -7.50707846e-01 -8.81441582e-03 -2.55461271e+02] [ 1.34621220e-02 1.05409032e-04 9.99909376e-01 -2.80150636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.0865599949999 meters 0.012909986363915335 Centerline is valid? [True, True] Translation: X:-115.39, Y:-255.48, Z:-2.80 [[-7.04810496e-01 -7.09335628e-01 9.22663869e-03 -1.15390141e+02] [ 7.09277356e-01 -7.04870874e-01 -9.09305089e-03 -2.55484807e+02] [ 1.29536138e-02 1.35368189e-04 9.99916089e-01 -2.79988117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.116559995 meters 0.012855597389619961 Centerline is valid? [True, True] Translation: X:-115.41, Y:-255.51, Z:-2.80 [[-6.56109151e-01 -7.54620692e-01 8.27002336e-03 -1.15406711e+02] [ 7.54563048e-01 -6.56161258e-01 -9.32793519e-03 -2.55509918e+02] [ 1.24655218e-02 1.20110399e-04 9.99922295e-01 -2.79917903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.146559995 meters 0.01260423424312269 Centerline is valid? [True, True] Translation: X:-115.42, Y:-255.49, Z:-2.80 [[-6.57009061e-01 -7.53844988e-01 7.53848432e-03 -1.15423615e+02] [ 7.53797081e-01 -6.57052300e-01 -8.49918164e-03 -2.55488606e+02] [ 1.13602439e-02 9.84481291e-05 9.99935466e-01 -2.79784918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.1765599949999 meters 0.012531484337382994 Centerline is valid? [True, True] Translation: X:-115.44, Y:-255.47, Z:-2.80 [[-6.57423827e-01 -7.53485944e-01 7.26938993e-03 -1.15441640e+02] [ 7.53441430e-01 -6.57464010e-01 -8.19072921e-03 -2.55467940e+02] [ 1.09509616e-02 9.22790000e-05 9.99940032e-01 -2.79766898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.2065599949999 meters 0.01258149839931565 Centerline is valid? [True, True] Translation: X:-115.46, Y:-255.45, Z:-2.80 [[-6.57710439e-01 -7.53237441e-01 7.09477806e-03 -1.15459251e+02] [ 7.53195078e-01 -6.57748697e-01 -7.98906595e-03 -2.55447258e+02] [ 1.06842446e-02 8.92598507e-05 9.99942918e-01 -2.79753045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.236559995 meters 0.012518992277087344 Centerline is valid? [True, True] Translation: X:-115.48, Y:-255.43, Z:-2.80 [[-6.58071783e-01 -7.52922815e-01 6.98304820e-03 -1.15476979e+02] [ 7.52881810e-01 -6.58108826e-01 -7.85834033e-03 -2.55426233e+02] [ 1.05123294e-02 8.60579360e-05 9.99944740e-01 -2.79735685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.266559995 meters 0.01252912404695088 Centerline is valid? [True, True] Translation: X:-115.49, Y:-255.41, Z:-2.80 [[-6.58607391e-01 -7.52452092e-01 7.22173586e-03 -1.15493813e+02] [ 7.52408262e-01 -6.58646979e-01 -8.12187290e-03 -2.55405036e+02] [ 1.08678948e-02 8.45682047e-05 9.99940939e-01 -2.79794388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.2965599949999 meters 0.012321736545363051 Centerline is valid? [True, True] Translation: X:-115.51, Y:-255.38, Z:-2.80 [[-6.59144123e-01 -7.51980347e-01 7.38803815e-03 -1.15511308e+02] [ 7.51934498e-01 -6.59185522e-01 -8.30416635e-03 -2.55383584e+02] [ 1.11146577e-02 8.16783113e-05 9.99938227e-01 -2.79778184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.3265599949999 meters 0.012384185027989249 Centerline is valid? [True, True] Translation: X:-115.53, Y:-255.36, Z:-2.80 [[-6.59642932e-01 -7.51540257e-01 7.64496075e-03 -1.15529180e+02] [ 7.51491190e-01 -6.59687226e-01 -8.58807723e-03 -2.55361604e+02] [ 1.14975687e-02 8.00562075e-05 9.99933898e-01 -2.79820507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.356559995 meters 0.012487956240691683 Centerline is valid? [True, True] Translation: X:-115.55, Y:-255.34, Z:-2.80 [[-6.59978118e-01 -7.51245868e-01 7.65048681e-03 -1.15546277e+02] [ 7.51196759e-01 -6.60022454e-01 -8.59005304e-03 -2.55342022e+02] [ 1.15027349e-02 7.77738613e-05 9.99933838e-01 -2.79878945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.386559995 meters 0.01245457911306419 Centerline is valid? [True, True] Translation: X:-115.56, Y:-255.32, Z:-2.80 [[-6.60159992e-01 -7.51084595e-01 7.79214317e-03 -1.15563960e+02] [ 7.51033697e-01 -6.60205972e-01 -8.74416152e-03 -2.55320334e+02] [ 1.17120245e-02 7.96164994e-05 9.99931409e-01 -2.79825047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.416559995 meters 0.0123940302165524 Centerline is valid? [True, True] Translation: X:-115.58, Y:-255.30, Z:-2.80 [[-6.60479573e-01 -7.50804680e-01 7.68544351e-03 -1.15582398e+02] [ 7.50755204e-01 -6.60524281e-01 -8.61956656e-03 -2.55298629e+02] [ 1.15480330e-02 7.68390724e-05 9.99933316e-01 -2.79825423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.4465599949999 meters 0.012601569291521106 Centerline is valid? [True, True] Translation: X:-115.60, Y:-255.28, Z:-2.80 [[-6.60275517e-01 -7.50983952e-01 7.70360386e-03 -1.15599573e+02] [ 7.50934320e-01 -6.60320450e-01 -8.63420283e-03 -2.55278364e+02] [ 1.15709949e-02 8.39477925e-05 9.99933050e-01 -2.79884685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.476559995 meters 0.012600721858023451 Centerline is valid? [True, True] Translation: X:-115.62, Y:-255.26, Z:-2.80 [[-6.60124236e-01 -7.51115782e-01 7.81514545e-03 -1.15617608e+02] [ 7.51064777e-01 -6.60170489e-01 -8.75367109e-03 -2.55257390e+02] [ 1.17343489e-02 9.11700336e-05 9.99931146e-01 -2.79857639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.506559995 meters 0.012774387583073088 Centerline is valid? [True, True] Translation: X:-115.64, Y:-255.24, Z:-2.80 [[-6.59272947e-01 -7.51863571e-01 7.76861666e-03 -1.15635266e+02] [ 7.51813288e-01 -6.59318708e-01 -8.69607829e-03 -2.55237242e+02] [ 1.16602588e-02 1.07460074e-04 9.99932011e-01 -2.79912429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.536559995 meters 0.013279837131301151 Centerline is valid? [True, True] Translation: X:-115.65, Y:-255.22, Z:-2.80 [[-6.58733055e-01 -7.52335689e-01 7.85963421e-03 -1.15653687e+02] [ 7.52284322e-01 -6.58779931e-01 -8.79216422e-03 -2.55218182e+02] [ 1.17924282e-02 1.20990396e-04 9.99930460e-01 -2.80084836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.5665599949999 meters 0.01317317779272814 Centerline is valid? [True, True] Translation: X:-115.67, Y:-255.20, Z:-2.80 [[-6.57964482e-01 -7.53004738e-01 8.16114302e-03 -1.15671580e+02] [ 7.52949469e-01 -6.58015079e-01 -9.12433231e-03 -2.55196865e+02] [ 1.22408206e-02 1.41441713e-04 9.99925068e-01 -2.80018385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.5965599949999 meters 0.013599885479342958 Centerline is valid? [True, True] Translation: X:-115.69, Y:-255.18, Z:-2.80 [[-6.56468063e-01 -7.54306556e-01 8.44403853e-03 -1.15690094e+02] [ 7.54247562e-01 -6.56522345e-01 -9.43535273e-03 -2.55176124e+02] [ 1.26608484e-02 1.74887748e-04 9.99919833e-01 -2.80070286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.626559995 meters 0.0137923495310525 Centerline is valid? [True, True] Translation: X:-115.71, Y:-255.16, Z:-2.80 [[-6.55962541e-01 -7.54746937e-01 8.37885921e-03 -1.15708169e+02] [ 7.54688961e-01 -6.56016026e-01 -9.35662880e-03 -2.55155770e+02] [ 1.25585529e-02 1.85834544e-04 9.99921121e-01 -2.80060263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.656559995 meters 0.014357747406942593 Centerline is valid? [True, True] Translation: X:-115.73, Y:-255.14, Z:-2.80 [[-6.55330192e-01 -7.55296510e-01 8.33794004e-03 -1.15726314e+02] [ 7.55239199e-01 -6.55383203e-01 -9.30640019e-03 -2.55136662e+02] [ 1.24936374e-02 1.98374133e-04 9.99921932e-01 -2.80103722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.6865599949999 meters 0.014079044062551505 Centerline is valid? [True, True] Translation: X:-115.74, Y:-255.11, Z:-2.80 [[-6.55062138e-01 -7.55530357e-01 8.21431330e-03 -1.15744313e+02] [ 7.55474815e-01 -6.55113607e-01 -9.16324288e-03 -2.55114854e+02] [ 1.23044166e-02 2.03213346e-04 9.99924277e-01 -2.80031919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.7165599949999 meters 0.015081820122212354 Centerline is valid? [True, True] Translation: X:-115.76, Y:-255.10, Z:-2.80 [[-6.54413572e-01 -7.56095713e-01 7.88348148e-03 -1.15762391e+02] [ 7.56044665e-01 -6.54461022e-01 -8.78834913e-03 -2.55095467e+02] [ 1.18042644e-02 2.09049172e-04 9.99930306e-01 -2.80083529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.746559995 meters 0.014254409949866492 Centerline is valid? [True, True] Translation: X:-115.78, Y:-255.07, Z:-2.80 [[-6.54581264e-01 -7.55954543e-01 7.48994045e-03 -1.15778000e+02] [ 7.55908508e-01 -6.54624083e-01 -8.34490726e-03 -2.55072215e+02] [ 1.12114660e-02 1.99289772e-04 9.99937130e-01 -2.79895878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.776559995 meters 0.014738835191890766 Centerline is valid? [True, True] Translation: X:-115.80, Y:-255.05, Z:-2.80 [[-6.54949014e-01 -7.55634812e-01 7.60389050e-03 -1.15795622e+02] [ 7.55587409e-01 -6.54993122e-01 -8.46621429e-03 -2.55052951e+02] [ 1.13778622e-02 2.00465220e-04 9.99935250e-01 -2.79980967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.8065599949999 meters 0.014858597640258953 Centerline is valid? [True, True] Translation: X:-115.81, Y:-255.03, Z:-2.80 [[-6.55506870e-01 -7.55150806e-01 7.61604138e-03 -1.15812785e+02] [ 7.55103264e-01 -6.55551083e-01 -8.47571473e-03 -2.55033036e+02] [ 1.13931470e-02 1.95008479e-04 9.99935077e-01 -2.80020370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.8365599949999 meters 0.015047057302136286 Centerline is valid? [True, True] Translation: X:-115.83, Y:-255.01, Z:-2.80 [[-6.56171414e-01 -7.54572518e-01 7.70649983e-03 -1.15830059e+02] [ 7.54523863e-01 -6.56216640e-01 -8.57095522e-03 -2.55013353e+02] [ 1.15245407e-02 1.90722217e-04 9.99933572e-01 -2.80028708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.866559995 meters 0.01376278263937714 Centerline is valid? [True, True] Translation: X:-115.85, Y:-254.99, Z:-2.80 [[-6.56826426e-01 -7.54002717e-01 7.67782230e-03 -1.15846366e+02] [ 7.53954440e-01 -6.56871273e-01 -8.53418849e-03 -2.54990467e+02] [ 1.14781422e-02 1.83247687e-04 9.99934107e-01 -2.79845425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.896559995 meters 0.01376278263937714 Centerline is valid? [True, True] Translation: X:-115.86, Y:-254.97, Z:-2.80 [[-6.57040450e-01 -7.53816198e-01 7.68024488e-03 -1.15864869e+02] [ 7.53767935e-01 -6.57085311e-01 -8.53200839e-03 -2.54970001e+02] [ 1.14781422e-02 1.83247683e-04 9.99934107e-01 -2.79845363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.9265599949999 meters 0.013998729472573548 Centerline is valid? [True, True] Translation: X:-115.88, Y:-254.95, Z:-2.80 [[-6.58168018e-01 -7.52833161e-01 7.55590181e-03 -1.15883901e+02] [ 7.52786438e-01 -6.58211368e-01 -8.38896402e-03 -2.54950225e+02] [ 1.12888708e-02 1.66632585e-04 9.99936265e-01 -2.79945976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.9565599949999 meters 0.013796521485036859 Centerline is valid? [True, True] Translation: X:-115.90, Y:-254.93, Z:-2.80 [[-6.58567058e-01 -7.52484327e-01 7.53440656e-03 -1.15902160e+02] [ 7.52437906e-01 -6.58610136e-01 -8.35986774e-03 -2.54930009e+02] [ 1.12529060e-02 1.63639587e-04 9.99936671e-01 -2.79898817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.986559995 meters 0.014272928800204674 Centerline is valid? [True, True] Translation: X:-115.92, Y:-254.91, Z:-2.80 [[-6.58631053e-01 -7.52430880e-01 7.27363799e-03 -1.15921873e+02] [ 7.52387671e-01 -6.58671196e-01 -8.06524050e-03 -2.54912088e+02] [ 1.08594718e-02 1.60577703e-04 9.99941021e-01 -2.79929822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.016559995 meters 0.014297104779662383 Centerline is valid? [True, True] Translation: X:-115.94, Y:-254.89, Z:-2.80 [[-6.58550903e-01 -7.52505088e-01 6.84112382e-03 -1.15940976e+02] [ 7.52466915e-01 -6.58586417e-01 -7.58108719e-03 -2.54892906e+02] [ 1.02102779e-02 1.55187524e-04 9.99947862e-01 -2.79911685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.0465599949999 meters 0.01421886925615281 Centerline is valid? [True, True] Translation: X:-115.96, Y:-254.87, Z:-2.80 [[-6.58302538e-01 -7.52722629e-01 6.81273316e-03 -1.15959858e+02] [ 7.52684831e-01 -6.58337769e-01 -7.54496662e-03 -2.54872889e+02] [ 1.01643467e-02 1.60970235e-04 9.99948329e-01 -2.79849031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.0765599949999 meters 0.01420904386000919 Centerline is valid? [True, True] Translation: X:-115.98, Y:-254.85, Z:-2.80 [[-6.57528655e-01 -7.53394199e-01 7.29714924e-03 -1.15979759e+02] [ 7.53350926e-01 -6.57569119e-01 -8.07690051e-03 -2.54852581e+02] [ 1.08834700e-02 1.86520611e-04 9.99940756e-01 -2.79839415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.106559995 meters 0.014349371365313359 Centerline is valid? [True, True] Translation: X:-116.00, Y:-254.83, Z:-2.80 [[-6.57324315e-01 -7.53571662e-01 7.38208592e-03 -1.15999044e+02] [ 7.53527438e-01 -6.57365737e-01 -8.16630122e-03 -2.54831952e+02] [ 1.10066235e-02 1.94695930e-04 9.99939406e-01 -2.79857148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.136559995 meters 0.01449123157558298 Centerline is valid? [True, True] Translation: X:-116.02, Y:-254.81, Z:-2.80 [[-6.57204462e-01 -7.53670560e-01 7.93613630e-03 -1.16018276e+02] [ 7.53619513e-01 -6.57252342e-01 -8.77426347e-03 -2.54811143e+02] [ 1.18289482e-02 2.14342066e-04 9.99930013e-01 -2.79934620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.166559995 meters 0.01493339794203545 Centerline is valid? [True, True] Translation: X:-116.04, Y:-254.79, Z:-2.80 [[-6.57450102e-01 -7.53442887e-01 9.12028713e-03 -1.16036743e+02] [ 7.53375530e-01 -6.57513312e-01 -1.00774772e-02 -2.54791188e+02] [ 1.35895137e-02 2.45562740e-04 9.99907628e-01 -2.80097278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.1965599949999 meters 0.01457155097550734 Centerline is valid? [True, True] Translation: X:-116.05, Y:-254.77, Z:-2.80 [[-6.58115821e-01 -7.52856446e-01 9.52565229e-03 -1.16054817e+02] [ 7.52783000e-01 -6.58184709e-01 -1.05187575e-02 -2.54770268e+02] [ 1.41887531e-02 2.48188367e-04 9.99899304e-01 -2.80083702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.226559995 meters 0.014436029658333576 Centerline is valid? [True, True] Translation: X:-116.07, Y:-254.75, Z:-2.80 [[-6.59666518e-01 -7.51500473e-01 9.33406540e-03 -1.16071596e+02] [ 7.51429910e-01 -6.59732515e-01 -1.03004017e-02 -2.54750245e+02] [ 1.38987432e-02 2.19065802e-04 9.99903384e-01 -2.80026397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.256559995 meters 0.014207026616655329 Centerline is valid? [True, True] Translation: X:-116.09, Y:-254.73, Z:-2.80 [[-6.60839411e-01 -7.50472902e-01 9.03861985e-03 -1.16089259e+02] [ 7.50406723e-01 -6.60901192e-01 -9.96817210e-03 -2.54729899e+02] [ 1.34544777e-02 1.95280134e-04 9.99909465e-01 -2.79984309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.286559995 meters 0.013652176245325656 Centerline is valid? [True, True] Translation: X:-116.11, Y:-254.71, Z:-2.80 [[-6.62404564e-01 -7.49095332e-01 8.73938965e-03 -1.16106863e+02] [ 7.49033422e-01 -6.62462192e-01 -9.63206437e-03 -2.54708993e+02] [ 1.30048497e-02 1.65771535e-04 9.99915420e-01 -2.79897845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.3165599949999 meters 0.013590506146571004 Centerline is valid? [True, True] Translation: X:-116.12, Y:-254.69, Z:-2.80 [[-6.63923824e-01 -7.47751200e-01 8.56146903e-03 -1.16124190e+02] [ 7.47691732e-01 -6.63979009e-01 -9.43135090e-03 -2.54689780e+02] [ 1.27369397e-02 1.39641046e-04 9.99918872e-01 -2.79919267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.3465599949999 meters 0.012829540089113928 Centerline is valid? [True, True] Translation: X:-116.14, Y:-254.67, Z:-2.80 [[-6.67367622e-01 -7.44685838e-01 7.96616926e-03 -1.16140486e+02] [ 7.44634192e-01 -6.67415160e-01 -8.77062127e-03 -2.54667031e+02] [ 1.18480996e-02 7.86533584e-05 9.99929806e-01 -2.79760848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.376559995 meters 0.012719962494946375 Centerline is valid? [True, True] Translation: X:-116.16, Y:-254.65, Z:-2.80 [[-6.69238668e-01 -7.43003734e-01 8.06583671e-03 -1.16156862e+02] [ 7.42950735e-01 -6.69287269e-01 -8.87445200e-03 -2.54647027e+02] [ 1.19921128e-02 5.33928772e-05 9.99928091e-01 -2.79820638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.406559995 meters 0.01263779307292346 Centerline is valid? [True, True] Translation: X:-116.17, Y:-254.62, Z:-2.80 [[-6.72809576e-01 -7.39773573e-01 7.89531984e-03 -1.16173003e+02] [ 7.39722627e-01 -6.72855899e-01 -8.68180716e-03 -2.54624206e+02] [ 1.17349840e-02 -8.56252620e-07 9.99931143e-01 -2.79700894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.4365599949999 meters 0.012848243076112681 Centerline is valid? [True, True] Translation: X:-116.19, Y:-254.60, Z:-2.80 [[-6.73982736e-01 -7.38708488e-01 7.55259494e-03 -1.16190506e+02] [ 7.38661862e-01 -6.74025051e-01 -8.29961488e-03 -2.54604171e+02] [ 1.12216341e-02 -1.49832977e-05 9.99937035e-01 -2.79732389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.4665599949999 meters 0.012732444672655252 Centerline is valid? [True, True] Translation: X:-116.21, Y:-254.58, Z:-2.80 [[-6.74931764e-01 -7.37841979e-01 7.50522241e-03 -1.16209299e+02] [ 7.37795940e-01 -6.74973491e-01 -8.24241561e-03 -2.54584111e+02] [ 1.11474264e-02 -2.57454910e-05 9.99937865e-01 -2.79581533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.496559995 meters 0.01287265796002826 Centerline is valid? [True, True] Translation: X:-116.23, Y:-254.56, Z:-2.80 [[-6.75620770e-01 -7.37204379e-01 8.14121457e-03 -1.16228952e+02] [ 7.37150228e-01 -6.75669818e-01 -8.93525210e-03 -2.54564738e+02] [ 1.20878799e-02 -3.55437267e-05 9.99926938e-01 -2.79640584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.526559995 meters 0.0128380996726349 Centerline is valid? [True, True] Translation: X:-116.25, Y:-254.54, Z:-2.80 [[-6.75704338e-01 -7.37123657e-01 8.50660154e-03 -1.16248348e+02] [ 7.37064596e-01 -6.75757881e-01 -9.33100365e-03 -2.54544829e+02] [ 1.26265066e-02 -3.50848137e-05 9.99920282e-01 -2.79657969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.5565599949999 meters 0.01284485407589157 Centerline is valid? [True, True] Translation: X:-116.27, Y:-254.52, Z:-2.80 [[-6.75660626e-01 -7.37159734e-01 8.84566602e-03 -1.16268246e+02] [ 7.37095946e-01 -6.75718526e-01 -9.69744698e-03 -2.54524329e+02] [ 1.31257478e-02 -3.20785305e-05 9.99913853e-01 -2.79675654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.5865599949999 meters 0.012919007964849571 Centerline is valid? [True, True] Translation: X:-116.29, Y:-254.50, Z:-2.80 [[-6.75444360e-01 -7.37358844e-01 8.76655550e-03 -1.16288020e+02] [ 7.37296279e-01 -6.75501247e-01 -9.60531677e-03 -2.54504497e+02] [ 1.30043844e-02 -2.43082806e-05 9.99915439e-01 -2.79604965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.616559995 meters 0.012808439408832509 Centerline is valid? [True, True] Translation: X:-116.31, Y:-254.49, Z:-2.80 [[-6.75469339e-01 -7.37337958e-01 8.59701553e-03 -1.16306650e+02] [ 7.37277864e-01 -6.75524045e-01 -9.41362458e-03 -2.54485233e+02] [ 1.27485134e-02 -2.02255238e-05 9.99918734e-01 -2.79565483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.646559995 meters 0.01286216545115887 Centerline is valid? [True, True] Translation: X:-116.33, Y:-254.47, Z:-2.80 [[-6.75479578e-01 -7.37327765e-01 8.66644892e-03 -1.16326222e+02] [ 7.37266764e-01 -6.75535171e-01 -9.48433111e-03 -2.54465646e+02] [ 1.28475517e-02 -1.69872210e-05 9.99917467e-01 -2.79556745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.6765599949999 meters 0.012950164315893698 Centerline is valid? [True, True] Translation: X:-116.35, Y:-254.45, Z:-2.80 [[-6.75522036e-01 -7.37287208e-01 8.80629338e-03 -1.16345494e+02] [ 7.37224302e-01 -6.75579434e-01 -9.63100929e-03 -2.54447139e+02] [ 1.30501707e-02 -1.37455146e-05 9.99914843e-01 -2.79635740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.7065599949999 meters 0.01321200887729368 Centerline is valid? [True, True] Translation: X:-116.36, Y:-254.43, Z:-2.80 [[-6.74956554e-01 -7.37798262e-01 9.34747217e-03 -1.16364699e+02] [ 7.37727527e-01 -6.75021277e-01 -1.02162107e-02 -2.54429737e+02] [ 1.38472451e-02 3.89184984e-07 9.99904122e-01 -2.79715482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.736559995 meters 0.01321547916113129 Centerline is valid? [True, True] Translation: X:-116.38, Y:-254.41, Z:-2.80 [[-6.74709519e-01 -7.38021991e-01 9.51872878e-03 -1.16383731e+02] [ 7.37948752e-01 -6.74776660e-01 -1.03970350e-02 -2.54410246e+02] [ 1.40962565e-02 9.35555536e-06 9.99900643e-01 -2.79689833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.766559995 meters 0.013198309931037606 Centerline is valid? [True, True] Translation: X:-116.40, Y:-254.39, Z:-2.80 [[-6.74465636e-01 -7.38241944e-01 9.74364060e-03 -1.16403491e+02] [ 7.38165312e-01 -6.74536013e-01 -1.06367202e-02 -2.54390604e+02] [ 1.44249095e-02 1.83152659e-05 9.99895956e-01 -2.79529671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.7965599949999 meters 0.013204695271935588 Centerline is valid? [True, True] Translation: X:-116.42, Y:-254.37, Z:-2.80 [[-6.74742437e-01 -7.37988873e-01 9.75026355e-03 -1.16421477e+02] [ 7.37912212e-01 -6.74812880e-01 -1.06369082e-02 -2.54371752e+02] [ 1.44295233e-02 1.76652142e-05 9.99895889e-01 -2.79557094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.8265599949999 meters 0.01333002144260783 Centerline is valid? [True, True] Translation: X:-116.44, Y:-254.35, Z:-2.80 [[-6.75439611e-01 -7.37349935e-01 9.81862447e-03 -1.16440758e+02] [ 7.37272224e-01 -6.75510973e-01 -1.07048578e-02 -2.54351812e+02] [ 1.45258148e-02 8.51407410e-06 9.99894495e-01 -2.79555672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.856559995 meters 0.01328012192853491 Centerline is valid? [True, True] Translation: X:-116.46, Y:-254.33, Z:-2.80 [[-6.76043458e-01 -7.36793753e-01 1.00104771e-02 -1.16460294e+02] [ 7.36713005e-01 -6.76117568e-01 -1.09078924e-02 -2.54331304e+02] [ 1.48051264e-02 6.39362518e-07 9.99890398e-01 -2.79507278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.886559995 meters 0.01337151683623468 Centerline is valid? [True, True] Translation: X:-116.48, Y:-254.31, Z:-2.80 [[-6.76429888e-01 -7.36436557e-01 1.01884136e-02 -1.16478209e+02] [ 7.36352983e-01 -6.76506613e-01 -1.10944327e-02 -2.54311826e+02] [ 1.50628750e-02 -2.33713500e-06 9.99886549e-01 -2.79581104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.916559995 meters 0.013406228981469414 Centerline is valid? [True, True] Translation: X:-116.50, Y:-254.29, Z:-2.80 [[-6.76869139e-01 -7.36031798e-01 1.02645370e-02 -1.16496433e+02] [ 7.35947029e-01 -6.76946964e-01 -1.11704287e-02 -2.54291453e+02] [ 1.51703379e-02 -6.76295962e-06 9.99884924e-01 -2.79544061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.9465599949999 meters 0.0136099378865285 Centerline is valid? [True, True] Translation: X:-116.51, Y:-254.27, Z:-2.79 [[-6.77198807e-01 -7.35726641e-01 1.03964294e-02 -1.16514396e+02] [ 7.35639750e-01 -6.77278606e-01 -1.13070209e-02 -2.54271075e+02] [ 1.53601557e-02 -9.07435473e-06 9.99882026e-01 -2.79430121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.976559995 meters 0.013488916363222992 Centerline is valid? [True, True] Translation: X:-116.53, Y:-254.25, Z:-2.79 [[-6.77422361e-01 -7.35518920e-01 1.05292029e-02 -1.16533030e+02] [ 7.35429880e-01 -6.77504184e-01 -1.14443445e-02 -2.54251295e+02] [ 1.55511109e-02 -9.16439209e-06 9.99879074e-01 -2.79361719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.006559995 meters 0.013603650128397454 Centerline is valid? [True, True] Translation: X:-116.55, Y:-254.23, Z:-2.79 [[-6.77596063e-01 -7.35359740e-01 1.04703484e-02 -1.16551490e+02] [ 7.35271788e-01 -6.77676953e-01 -1.13730091e-02 -2.54232081e+02] [ 1.54587668e-02 -7.75439360e-06 9.99880506e-01 -2.79393622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.036559995 meters 0.013779155897591273 Centerline is valid? [True, True] Translation: X:-116.57, Y:-254.21, Z:-2.79 [[-6.77291685e-01 -7.35638352e-01 1.05918590e-02 -1.16570854e+02] [ 7.35548490e-01 -6.77374501e-01 -1.14980126e-02 -2.54213481e+02] [ 1.56330342e-02 3.31761436e-06 9.99877797e-01 -2.79358339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.0665599949999 meters 0.013569725508109936 Centerline is valid? [True, True] Translation: X:-116.59, Y:-254.19, Z:-2.79 [[-6.77190103e-01 -7.35734913e-01 1.03779282e-02 -1.16590208e+02] [ 7.35648753e-01 -6.77269619e-01 -1.12594569e-02 -2.54193600e+02] [ 1.53126311e-02 9.71717787e-06 9.99882755e-01 -2.79226035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.0965599949999 meters 0.013730405488718669 Centerline is valid? [True, True] Translation: X:-116.61, Y:-254.18, Z:-2.79 [[-6.76349941e-01 -7.36510558e-01 1.01466770e-02 -1.16609289e+02] [ 7.36428391e-01 -6.76426047e-01 -1.10012795e-02 -2.54176137e+02] [ 1.49660351e-02 3.15862680e-05 9.99888002e-01 -2.79375261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.126559995 meters 0.013688146984524368 Centerline is valid? [True, True] Translation: X:-116.63, Y:-254.16, Z:-2.79 [[-6.75692107e-01 -7.37113562e-01 1.01869794e-02 -1.16628272e+02] [ 7.37030911e-01 -6.75768892e-01 -1.10381990e-02 -2.54156899e+02] [ 1.50204500e-02 4.96947482e-05 9.99887186e-01 -2.79272884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.156559995 meters 0.013867641230599814 Centerline is valid? [True, True] Translation: X:-116.65, Y:-254.14, Z:-2.79 [[-6.75155891e-01 -7.37607689e-01 9.97094327e-03 -1.16647069e+02] [ 7.37528663e-01 -6.75229511e-01 -1.07971708e-02 -2.54138887e+02] [ 1.46967513e-02 6.40830080e-05 9.99891995e-01 -2.79345467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.1865599949999 meters 0.014003043339674393 Centerline is valid? [True, True] Translation: X:-116.67, Y:-254.12, Z:-2.79 [[-6.74334365e-01 -7.38357222e-01 1.00885109e-02 -1.16667094e+02] [ 7.38276501e-01 -6.74409820e-01 -1.09179801e-02 -2.54119650e+02] [ 1.48651603e-02 8.57413633e-05 9.99889504e-01 -2.79321858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.2165599949999 meters 0.014376530530120871 Centerline is valid? [True, True] Translation: X:-116.69, Y:-254.10, Z:-2.79 [[-6.72439122e-01 -7.40083844e-01 1.00762669e-02 -1.16688342e+02] [ 7.40003602e-01 -6.72514601e-01 -1.08986506e-02 -2.54101919e+02] [ 1.48423518e-02 1.27794760e-04 9.99889838e-01 -2.79397941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.246559995 meters 0.014086710605540348 Centerline is valid? [True, True] Translation: X:-116.71, Y:-254.08, Z:-2.79 [[-6.71623078e-01 -7.40821434e-01 1.02977879e-02 -1.16707377e+02] [ 7.40737807e-01 -6.71702003e-01 -1.11319826e-02 -2.54081573e+02] [ 1.51638561e-02 1.51464424e-04 9.99885011e-01 -2.79227514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.276559995 meters 0.014462449166107965 Centerline is valid? [True, True] Translation: X:-116.73, Y:-254.06, Z:-2.79 [[-6.70716088e-01 -7.41636343e-01 1.07454497e-02 -1.16726845e+02] [ 7.41545466e-01 -6.70802134e-01 -1.16111394e-02 -2.54062871e+02] [ 1.58193136e-02 1.80461563e-04 9.99874851e-01 -2.79332890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.3065599949999 meters 0.014806625197422612 Centerline is valid? [True, True] Translation: X:-116.75, Y:-254.04, Z:-2.79 [[-6.69496681e-01 -7.42719522e-01 1.19124573e-02 -1.16746902e+02] [ 7.42608128e-01 -6.69602612e-01 -1.28650782e-02 -2.54042876e+02] [ 1.75317573e-02 2.33160518e-04 9.99846280e-01 -2.79464916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.3365599949999 meters 0.014778450041214737 Centerline is valid? [True, True] Translation: X:-116.77, Y:-254.02, Z:-2.79 [[-6.69121135e-01 -7.43046472e-01 1.26034664e-02 -1.16765729e+02] [ 7.42921979e-01 -6.69239772e-01 -1.36036863e-02 -2.54022422e+02] [ 1.85429121e-02 2.60878168e-04 9.99828032e-01 -2.79484125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.366559995 meters 0.014964727859704714 Centerline is valid? [True, True] Translation: X:-116.78, Y:-254.00, Z:-2.80 [[-6.68830064e-01 -7.43286321e-01 1.38488606e-02 -1.16784078e+02] [ 7.43136230e-01 -6.68973360e-01 -1.49394873e-02 -2.54001475e+02] [ 2.03688353e-02 2.99611768e-04 9.99792489e-01 -2.79583689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.396559995 meters 0.01520259198101977 Centerline is valid? [True, True] Translation: X:-116.80, Y:-253.98, Z:-2.80 [[-6.69231559e-01 -7.42921870e-01 1.40077292e-02 -1.16801747e+02] [ 7.42768442e-01 -6.69378074e-01 -1.51008416e-02 -2.53982128e+02] [ 2.05952122e-02 2.98539455e-04 9.99787852e-01 -2.79656641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.4265599949999 meters 0.014920498423619977 Centerline is valid? [True, True] Translation: X:-116.82, Y:-253.96, Z:-2.80 [[-6.69875999e-01 -7.42342778e-01 1.39049042e-02 -1.16819768e+02] [ 7.42191661e-01 -6.70020238e-01 -1.49806239e-02 -2.53961376e+02] [ 2.04373252e-02 2.84943543e-04 9.99791096e-01 -2.79617212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.4565599949999 meters 0.014762594501679067 Centerline is valid? [True, True] Translation: X:-116.84, Y:-253.94, Z:-2.80 [[-6.71491853e-01 -7.40904771e-01 1.26020512e-02 -1.16836977e+02] [ 7.40780497e-01 -6.71610059e-01 -1.35714542e-02 -2.53940012e+02] [ 1.85188195e-02 2.22232809e-04 9.99828487e-01 -2.79547911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.486559995 meters 0.014380289678003751 Centerline is valid? [True, True] Translation: X:-116.85, Y:-253.92, Z:-2.79 [[-6.72585567e-01 -7.39927923e-01 1.16328954e-02 -1.16854305e+02] [ 7.39822001e-01 -6.72686134e-01 -1.25208601e-02 -2.53918176e+02] [ 1.70898214e-02 1.84922135e-04 9.99853941e-01 -2.79384091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.516559995 meters 0.01404719601727865 Centerline is valid? [True, True] Translation: X:-116.87, Y:-253.90, Z:-2.79 [[-6.73675159e-01 -7.38948507e-01 1.08113465e-02 -1.16872306e+02] [ 7.38856994e-01 -6.73761887e-01 -1.16302224e-02 -2.53896264e+02] [ 1.58784087e-02 1.53047018e-04 9.99873919e-01 -2.79265958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.5465599949999 meters 0.01370746611391878 Centerline is valid? [True, True] Translation: X:-116.89, Y:-253.87, Z:-2.79 [[-6.75092478e-01 -7.37672054e-01 9.49137563e-03 -1.16889120e+02] [ 7.37601476e-01 -6.75159187e-01 -1.02046269e-02 -2.53873272e+02] [ 1.39358575e-02 1.11785819e-04 9.99902885e-01 -2.79038300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.5765599949999 meters 0.013693176213730757 Centerline is valid? [True, True] Translation: X:-116.91, Y:-253.85, Z:-2.79 [[-6.75670745e-01 -7.37146539e-01 9.16643403e-03 -1.16907241e+02] [ 7.37080746e-01 -6.75732913e-01 -9.84909412e-03 -2.53852537e+02] [ 1.34542868e-02 1.01657266e-04 9.99909482e-01 -2.78984826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.606559995 meters 0.013801773409993558 Centerline is valid? [True, True] Translation: X:-116.92, Y:-253.83, Z:-2.79 [[-6.75758203e-01 -7.37064612e-01 9.30639207e-03 -1.16924759e+02] [ 7.36996876e-01 -6.75822275e-01 -9.99291563e-03 -2.53833463e+02] [ 1.36548915e-02 1.05987166e-04 9.99906762e-01 -2.79091277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.636559995 meters 0.014238522210940421 Centerline is valid? [True, True] Translation: X:-116.94, Y:-253.81, Z:-2.79 [[-6.74885109e-01 -7.37853923e-01 1.00835198e-02 -1.16943866e+02] [ 7.37774582e-01 -6.74960421e-01 -1.08211241e-02 -2.53814469e+02] [ 1.47903856e-02 1.36349094e-04 9.99890607e-01 -2.79357953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.666559995 meters 0.013954322670195578 Centerline is valid? [True, True] Translation: X:-116.96, Y:-253.79, Z:-2.79 [[-6.74261854e-01 -7.38423194e-01 1.01063703e-02 -1.16962413e+02] [ 7.38343658e-01 -6.74337573e-01 -1.08388133e-02 -2.53794292e+02] [ 1.48187363e-02 1.53776025e-04 9.99890185e-01 -2.79268831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.6965599949999 meters 0.014564093216382005 Centerline is valid? [True, True] Translation: X:-116.98, Y:-253.77, Z:-2.79 [[-6.71751424e-01 -7.40706894e-01 1.01647099e-02 -1.16982133e+02] [ 7.40626788e-01 -6.71828291e-01 -1.08952972e-02 -2.53774753e+02] [ 1.48991614e-02 2.09324980e-04 9.99888980e-01 -2.79277696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.726559995 meters 0.015423518602714266 Centerline is valid? [True, True] Translation: X:-117.00, Y:-253.76, Z:-2.79 [[-6.70566306e-01 -7.41777696e-01 1.03285827e-02 -1.17001744e+02] [ 7.41695211e-01 -6.70645802e-01 -1.10644292e-02 -2.53756177e+02] [ 1.51341674e-02 2.41226922e-04 9.99885443e-01 -2.79357859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.756559995 meters 0.015690827975270067 Centerline is valid? [True, True] Translation: X:-117.02, Y:-253.74, Z:-2.79 [[-6.69236314e-01 -7.42973224e-01 1.06556879e-02 -1.17021452e+02] [ 7.42885682e-01 -6.69321081e-01 -1.14085511e-02 -2.53736471e+02] [ 1.56083246e-02 2.80941249e-04 9.99878143e-01 -2.79375706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.786559995 meters 0.015690827975270067 Centerline is valid? [True, True] Translation: X:-117.04, Y:-253.72, Z:-2.79 [[-6.69465957e-01 -7.42766257e-01 1.06592140e-02 -1.17039802e+02] [ 7.42678741e-01 -6.69550751e-01 -1.14052567e-02 -2.53716989e+02] [ 1.56083246e-02 2.80940483e-04 9.99878143e-01 -2.79375646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.8165599949999 meters 0.0161240299941656 Centerline is valid? [True, True] Translation: X:-117.06, Y:-253.70, Z:-2.79 [[-6.68142629e-01 -7.43946372e-01 1.13676285e-02 -1.17059757e+02] [ 7.43847118e-01 -6.68239242e-01 -1.21565111e-02 -2.53697534e+02] [ 1.66400878e-02 3.33494447e-04 9.99861489e-01 -2.79410453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.8465599949999 meters 0.01639697733757459 Centerline is valid? [True, True] Translation: X:-117.08, Y:-253.68, Z:-2.80 [[-6.66311472e-01 -7.45573517e-01 1.22128156e-02 -1.17079494e+02] [ 7.45459359e-01 -6.66423263e-01 -1.30529495e-02 -2.53677771e+02] [ 1.78708379e-02 4.06827737e-04 9.99840221e-01 -2.79525127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.876559995 meters 0.017382836070700396 Centerline is valid? [True, True] Translation: X:-117.10, Y:-253.66, Z:-2.80 [[-6.65678452e-01 -7.46133652e-01 1.25208405e-02 -1.17098754e+02] [ 7.46013907e-01 -6.65796051e-01 -1.33741708e-02 -2.53659256e+02] [ 1.83152450e-02 4.37823830e-04 9.99832166e-01 -2.79669002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.906559995 meters 0.017379671928129538 Centerline is valid? [True, True] Translation: X:-117.12, Y:-253.64, Z:-2.80 [[-6.65729984e-01 -7.46088146e-01 1.24926716e-02 -1.17117093e+02] [ 7.45969083e-01 -6.65847042e-01 -1.33357924e-02 -2.53639539e+02] [ 1.82678850e-02 4.41109958e-04 9.99833031e-01 -2.79693873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.9365599949999 meters 0.017205612378102367 Centerline is valid? [True, True] Translation: X:-117.13, Y:-253.62, Z:-2.80 [[-6.66501457e-01 -7.45415979e-01 1.14379486e-02 -1.17134650e+02] [ 7.45316186e-01 -6.66599479e-01 -1.22031607e-02 -2.53617766e+02] [ 1.67209615e-02 3.91463846e-04 9.99860118e-01 -2.79585386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.9665599949999 meters 0.01645290206002406 Centerline is valid? [True, True] Translation: X:-117.15, Y:-253.60, Z:-2.79 [[-6.67810450e-01 -7.44256690e-01 1.05443489e-02 -1.17152266e+02] [ 7.44171833e-01 -6.67893604e-01 -1.12435142e-02 -2.53595378e+02] [ 1.54105638e-02 3.38271210e-04 9.99881193e-01 -2.79437014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.996559995 meters 0.015828008071325218 Centerline is valid? [True, True] Translation: X:-117.17, Y:-253.57, Z:-2.79 [[-6.70915121e-01 -7.41483481e-01 8.66878341e-03 -1.17168120e+02] [ 7.41425964e-01 -6.70971084e-01 -9.23826795e-03 -2.53573103e+02] [ 1.26665261e-02 2.29167431e-04 9.99919750e-01 -2.79199908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.026559995 meters 0.01485911454738743 Centerline is valid? [True, True] Translation: X:-117.18, Y:-253.55, Z:-2.79 [[-6.72614703e-01 -7.39951379e-01 7.83701942e-03 -1.17184828e+02] [ 7.39904319e-01 -6.72660333e-01 -8.34720155e-03 -2.53550749e+02] [ 1.14481754e-02 1.84194029e-04 9.99934451e-01 -2.79012060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.0565599949999 meters 0.014367429085825523 Centerline is valid? [True, True] Translation: X:-117.20, Y:-253.53, Z:-2.79 [[-6.74380268e-01 -7.38351153e-01 6.98776158e-03 -1.17202503e+02] [ 7.38313697e-01 -6.74416455e-01 -7.43849153e-03 -2.53528965e+02] [ 1.02048802e-02 1.42788170e-04 9.99947919e-01 -2.78921830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.0865599949999 meters 0.0146532245702173 Centerline is valid? [True, True] Translation: X:-117.22, Y:-253.51, Z:-2.79 [[-6.75866301e-01 -7.36995098e-01 6.55502615e-03 -1.17220394e+02] [ 7.36962106e-01 -6.75898078e-01 -6.97445138e-03 -2.53510093e+02] [ 9.57066605e-03 1.17009221e-04 9.99954193e-01 -2.79026651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.116559995 meters 0.01385330892301849 Centerline is valid? [True, True] Translation: X:-117.24, Y:-253.49, Z:-2.79 [[-6.77454657e-01 -7.35533842e-01 6.71974317e-03 -1.17236494e+02] [ 7.35499142e-01 -6.77487976e-01 -7.14527027e-03 -2.53488446e+02] [ 9.80813329e-03 1.01768720e-04 9.99951894e-01 -2.78978372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.146559995 meters 0.014083538011894867 Centerline is valid? [True, True] Translation: X:-117.26, Y:-253.47, Z:-2.79 [[-6.77436045e-01 -7.35548991e-01 6.93443096e-03 -1.17255241e+02] [ 7.35512088e-01 -6.77471527e-01 -7.36875088e-03 -2.53470191e+02] [ 1.01179568e-02 1.08500346e-04 9.99948806e-01 -2.79074307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.1765599949999 meters 0.01426539278468569 Centerline is valid? [True, True] Translation: X:-117.28, Y:-253.45, Z:-2.79 [[-6.76127630e-01 -7.36744673e-01 7.66255522e-03 -1.17276337e+02] [ 7.36699740e-01 -6.76171033e-01 -8.13796235e-03 -2.53451322e+02] [ 1.11767983e-02 1.42701239e-04 9.99937528e-01 -2.79165086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.2065599949999 meters 0.014789291541369067 Centerline is valid? [True, True] Translation: X:-117.30, Y:-253.43, Z:-2.79 [[-6.75330714e-01 -7.37469611e-01 8.18533944e-03 -1.17296133e+02] [ 7.37418431e-01 -6.75380296e-01 -8.68979206e-03 -2.53433503e+02] [ 1.19366745e-02 1.67536700e-04 9.99928741e-01 -2.79281563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.236559995 meters 0.015070916117636238 Centerline is valid? [True, True] Translation: X:-117.32, Y:-253.41, Z:-2.79 [[-6.74571333e-01 -7.38159244e-01 8.62834041e-03 -1.17316499e+02] [ 7.38102493e-01 -6.74626485e-01 -9.15514297e-03 -2.53414060e+02] [ 1.25788604e-02 1.92802572e-04 9.99920865e-01 -2.79363722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.266559995 meters 0.015177422779302011 Centerline is valid? [True, True] Translation: X:-117.34, Y:-253.39, Z:-2.79 [[-6.73423853e-01 -7.39195293e-01 9.52017675e-03 -1.17337255e+02] [ 7.39126384e-01 -6.73491101e-01 -1.00957987e-02 -2.53394488e+02] [ 1.38745212e-02 2.37862144e-04 9.99903716e-01 -2.79447577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.2965599949999 meters 0.015357531684451258 Centerline is valid? [True, True] Translation: X:-117.36, Y:-253.38, Z:-2.80 [[-6.73313220e-01 -7.39293268e-01 9.73508498e-03 -1.17356511e+02] [ 7.39221315e-01 -6.73383548e-01 -1.03172555e-02 -2.53375712e+02] [ 1.41829236e-02 2.49637817e-04 9.99899386e-01 -2.79517057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.3265599949999 meters 0.015979497102395643 Centerline is valid? [True, True] Translation: X:-117.38, Y:-253.36, Z:-2.80 [[-6.72712127e-01 -7.39835105e-01 1.01199016e-02 -1.17376506e+02] [ 7.39757505e-01 -6.72788185e-01 -1.07188037e-02 -2.53357364e+02] [ 1.47386975e-02 2.75603882e-04 9.99891342e-01 -2.79623315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.356559995 meters 0.01586997174202881 Centerline is valid? [True, True] Translation: X:-117.40, Y:-253.34, Z:-2.80 [[-6.72651411e-01 -7.39893507e-01 9.88319705e-03 -1.17395455e+02] [ 7.39819595e-01 -6.72723957e-01 -1.04615951e-02 -2.53337333e+02] [ 1.43891297e-02 2.74776136e-04 9.99896433e-01 -2.79600439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.386559995 meters 0.016233716311258126 Centerline is valid? [True, True] Translation: X:-117.41, Y:-253.32, Z:-2.80 [[-6.72831714e-01 -7.39733811e-01 9.55893225e-03 -1.17414327e+02] [ 7.39664745e-01 -6.72899560e-01 -1.01117811e-02 -2.53318589e+02] [ 1.39122277e-02 2.66878189e-04 9.99903185e-01 -2.79592024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.416559995 meters 0.015926300790491225 Centerline is valid? [True, True] Translation: X:-117.43, Y:-253.30, Z:-2.80 [[-6.73843900e-01 -7.38825612e-01 8.43282832e-03 -1.17433161e+02] [ 7.38771849e-01 -6.73896628e-01 -8.91574335e-03 -2.53297338e+02] [ 1.22700341e-02 2.22116897e-04 9.99924696e-01 -2.79512491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.4465599949999 meters 0.015216293818037607 Centerline is valid? [True, True] Translation: X:-117.45, Y:-253.28, Z:-2.79 [[-6.74669172e-01 -7.38077596e-01 7.93548180e-03 -1.17450100e+02] [ 7.38029996e-01 -6.74715809e-01 -8.38465603e-03 -2.53276368e+02] [ 1.15427218e-02 1.99754663e-04 9.99933361e-01 -2.79359428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.476559995 meters 0.015332406594315003 Centerline is valid? [True, True] Translation: X:-117.47, Y:-253.26, Z:-2.79 [[-6.76230979e-01 -7.36660113e-01 6.59864130e-03 -1.17468194e+02] [ 7.36627160e-01 -6.76263156e-01 -6.96930415e-03 -2.53255921e+02] [ 9.59642637e-03 1.47879032e-04 9.99953942e-01 -2.79309573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.506559995 meters 0.014327664754097195 Centerline is valid? [True, True] Translation: X:-117.49, Y:-253.23, Z:-2.79 [[-6.77128502e-01 -7.35842457e-01 5.73326026e-03 -1.17485024e+02] [ 7.35817580e-01 -6.77152762e-01 -6.05187737e-03 -2.53233169e+02] [ 8.33552134e-03 1.20735033e-04 9.99965252e-01 -2.79113839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.536559995 meters 0.01459367236030674 Centerline is valid? [True, True] Translation: X:-117.50, Y:-253.21, Z:-2.79 [[-6.77452266e-01 -7.35546768e-01 5.42034545e-03 -1.17504331e+02] [ 7.35524550e-01 -6.77473940e-01 -5.71814880e-03 -2.53213845e+02] [ 7.87810866e-03 1.13024288e-04 9.99968961e-01 -2.79150172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.5665599949999 meters 0.015027456908121493 Centerline is valid? [True, True] Translation: X:-117.52, Y:-253.20, Z:-2.79 [[-6.77300683e-01 -7.35687682e-01 5.23633686e-03 -1.17523154e+02] [ 7.35666978e-01 -6.77320915e-01 -5.52042882e-03 -2.53195901e+02] [ 7.60799196e-03 1.13209904e-04 9.99971053e-01 -2.79211072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.5965599949999 meters 0.015088961327264398 Centerline is valid? [True, True] Translation: X:-117.54, Y:-253.18, Z:-2.79 [[-6.77235396e-01 -7.35749014e-01 5.06031822e-03 -1.17542299e+02] [ 7.35729704e-01 -6.77254292e-01 -5.33162905e-03 -2.53176179e+02] [ 7.34986305e-03 1.12258512e-04 9.99972983e-01 -2.79196243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.626559995 meters 0.015110192830664865 Centerline is valid? [True, True] Translation: X:-117.56, Y:-253.16, Z:-2.79 [[-6.76357653e-01 -7.36557555e-01 4.82626550e-03 -1.17561822e+02] [ 7.36540031e-01 -6.76374862e-01 -5.08222938e-03 -2.53156286e+02] [ 7.00771911e-03 1.17332998e-04 9.99975439e-01 -2.79191320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.656559995 meters 0.01543827204289659 Centerline is valid? [True, True] Translation: X:-117.58, Y:-253.14, Z:-2.79 [[-6.75845965e-01 -7.37024857e-01 5.15676152e-03 -1.17582071e+02] [ 7.37004886e-01 -6.75865625e-01 -5.42727311e-03 -2.53136388e+02] [ 7.48531303e-03 1.32557799e-04 9.99971976e-01 -2.79229695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.6865599949999 meters 0.015806980065512764 Centerline is valid? [True, True] Translation: X:-117.60, Y:-253.12, Z:-2.79 [[-6.74520956e-01 -7.38235184e-01 5.50394959e-03 -1.17603022e+02] [ 7.38212499e-01 -6.74543392e-01 -5.78945700e-03 -2.53116984e+02] [ 7.98663368e-03 1.57974317e-04 9.99968094e-01 -2.79360900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.7165599949999 meters 0.016404222487167087 Centerline is valid? [True, True] Translation: X:-117.62, Y:-253.10, Z:-2.79 [[-6.74242823e-01 -7.38487348e-01 5.74905380e-03 -1.17622690e+02] [ 7.38462632e-01 -6.74267312e-01 -6.04434841e-03 -2.53099160e+02] [ 8.34007388e-03 1.70102861e-04 9.99965207e-01 -2.79437384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.746559995 meters 0.01593968399318171 Centerline is valid? [True, True] Translation: X:-117.64, Y:-253.08, Z:-2.79 [[-6.74048856e-01 -7.38662584e-01 5.97715905e-03 -1.17641313e+02] [ 7.38635908e-01 -6.74075332e-01 -6.28023525e-03 -2.53079042e+02] [ 8.66803027e-03 1.81758918e-04 9.99962416e-01 -2.79411278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.776559995 meters 0.01656871533318203 Centerline is valid? [True, True] Translation: X:-117.66, Y:-253.06, Z:-2.79 [[-6.73846363e-01 -7.38846237e-01 6.10877088e-03 -1.17660585e+02] [ 7.38818409e-01 -6.73874025e-01 -6.41541302e-03 -2.53060976e+02] [ 8.85654579e-03 1.90269653e-04 9.99960762e-01 -2.79457285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.8065599949999 meters 0.01702013879924967 Centerline is valid? [True, True] Translation: X:-117.68, Y:-253.04, Z:-2.80 [[-6.73641703e-01 -7.39034039e-01 5.96201485e-03 -1.17679481e+02] [ 7.39007574e-01 -6.73668058e-01 -6.25726518e-03 -2.53042963e+02] [ 8.64075092e-03 1.90819363e-04 9.99962650e-01 -2.79519136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.8365599949999 meters 0.017009111715376 Centerline is valid? [True, True] Translation: X:-117.70, Y:-253.02, Z:-2.80 [[-6.73814411e-01 -7.38875406e-01 6.10530580e-03 -1.17698093e+02] [ 7.38847681e-01 -6.73842041e-01 -6.40375647e-03 -2.53023253e+02] [ 8.84558988e-03 1.95947641e-04 9.99960858e-01 -2.79503042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.866559995 meters 0.016567209446208264 Centerline is valid? [True, True] Translation: X:-117.72, Y:-253.00, Z:-2.79 [[-6.74227127e-01 -7.38499196e-01 6.05964366e-03 -1.17715967e+02] [ 7.38471903e-01 -6.74254330e-01 -6.35193131e-03 -2.53003057e+02] [ 8.77663713e-03 1.92232189e-04 9.99961466e-01 -2.79444890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.896559995 meters 0.015954333176759695 Centerline is valid? [True, True] Translation: X:-117.73, Y:-252.98, Z:-2.79 [[-6.74930804e-01 -7.37856845e-01 5.97379631e-03 -1.17733282e+02] [ 7.37830330e-01 -6.74957215e-01 -6.25798962e-03 -2.52982272e+02] [ 8.64955740e-03 1.83938134e-04 9.99962575e-01 -2.79391983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.9265599949999 meters 0.01670449539336374 Centerline is valid? [True, True] Translation: X:-117.75, Y:-252.96, Z:-2.79 [[-6.75382286e-01 -7.37445506e-01 5.73538684e-03 -1.17752442e+02] [ 7.37421083e-01 -6.75406615e-01 -6.00426880e-03 -2.52963613e+02] [ 8.30153925e-03 1.74218390e-04 9.99965527e-01 -2.79405205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.9565599949999 meters 0.01571230711279938 Centerline is valid? [True, True] Translation: X:-117.77, Y:-252.94, Z:-2.79 [[-6.76126532e-01 -7.36770242e-01 4.74590934e-03 -1.17769168e+02] [ 7.36753524e-01 -6.76143174e-01 -4.96527873e-03 -2.52942142e+02] [ 6.86718382e-03 1.39408745e-04 9.99976411e-01 -2.79140221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.986559995 meters 0.01571630011147628 Centerline is valid? [True, True] Translation: X:-117.79, Y:-252.92, Z:-2.79 [[-6.76655525e-01 -7.36283308e-01 4.91853254e-03 -1.17788073e+02] [ 7.36265363e-01 -6.76673386e-01 -5.14249173e-03 -2.52923259e+02] [ 7.11457089e-03 1.41649707e-04 9.99974681e-01 -2.79156396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.016559995 meters 0.015577135200252175 Centerline is valid? [True, True] Translation: X:-117.81, Y:-252.90, Z:-2.79 [[-6.77092426e-01 -7.35878629e-01 5.33761535e-03 -1.17807228e+02] [ 7.35857509e-01 -6.77113448e-01 -5.57716224e-03 -2.52903501e+02] [ 7.71828563e-03 1.51470023e-04 9.99970202e-01 -2.79239630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.0465599949999 meters 0.015516452134034246 Centerline is valid? [True, True] Translation: X:-117.83, Y:-252.88, Z:-2.79 [[-6.77333264e-01 -7.35650810e-01 6.12667751e-03 -1.17825938e+02] [ 7.35623011e-01 -6.77360950e-01 -6.39760896e-03 -2.52884028e+02] [ 8.85637831e-03 1.73611607e-04 9.99960767e-01 -2.79354326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.0765599949999 meters 0.015620080764853057 Centerline is valid? [True, True] Translation: X:-117.84, Y:-252.87, Z:-2.79 [[-6.77559139e-01 -7.35441519e-01 6.27571501e-03 -1.17844278e+02] [ 7.35412382e-01 -6.77588179e-01 -6.54891676e-03 -2.52865181e+02] [ 9.06869560e-03 1.77960120e-04 9.99958863e-01 -2.79367597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.106559995 meters 0.015226362432388842 Centerline is valid? [True, True] Translation: X:-117.86, Y:-252.84, Z:-2.79 [[-6.77842022e-01 -7.35181225e-01 6.22562794e-03 -1.17862918e+02] [ 7.35152573e-01 -6.77870589e-01 -6.49297752e-03 -2.52844587e+02] [ 8.99368524e-03 1.75573385e-04 9.99959541e-01 -2.79263765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.136559995 meters 0.015616640699890586 Centerline is valid? [True, True] Translation: X:-117.88, Y:-252.83, Z:-2.79 [[-6.78548466e-01 -7.34530240e-01 6.10780640e-03 -1.17881763e+02] [ 7.34502674e-01 -6.78575934e-01 -6.36586367e-03 -2.52826181e+02] [ 8.82052980e-03 1.66653100e-04 9.99961085e-01 -2.79243521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.166559995 meters 0.014648625830264387 Centerline is valid? [True, True] Translation: X:-117.90, Y:-252.80, Z:-2.79 [[-6.80728377e-01 -7.32515575e-01 5.45978190e-03 -1.17900246e+02] [ 7.32493508e-01 -6.80750260e-01 -5.68728011e-03 -2.52804521e+02] [ 7.88276921e-03 1.27761836e-04 9.99968922e-01 -2.79123343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.1965599949999 meters 0.014319017845722024 Centerline is valid? [True, True] Translation: X:-117.92, Y:-252.78, Z:-2.79 [[-6.82364895e-01 -7.30992502e-01 5.30205830e-03 -1.17918539e+02] [ 7.30971672e-01 -6.82385485e-01 -5.51953189e-03 -2.52784325e+02] [ 7.65278405e-03 1.09319621e-04 9.99970711e-01 -2.79108008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.226559995 meters 0.0138832090591251 Centerline is valid? [True, True] Translation: X:-117.94, Y:-252.76, Z:-2.79 [[-6.85418656e-01 -7.28128494e-01 5.49195229e-03 -1.17935290e+02] [ 7.28106077e-01 -6.85440653e-01 -5.71409695e-03 -2.52762652e+02] [ 7.92500417e-03 8.21751842e-05 9.99968593e-01 -2.79098412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.256559995 meters 0.013553154324544835 Centerline is valid? [True, True] Translation: X:-117.95, Y:-252.74, Z:-2.79 [[-6.87381699e-01 -7.26275567e-01 5.49551956e-03 -1.17952854e+02] [ 7.26253090e-01 -6.87403664e-01 -5.71428825e-03 -2.52741727e+02] [ 7.92778821e-03 6.32408957e-05 9.99968573e-01 -2.79081632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.286559995 meters 0.013173230523785412 Centerline is valid? [True, True] Translation: X:-117.97, Y:-252.72, Z:-2.79 [[-6.89338507e-01 -7.24418414e-01 5.51220596e-03 -1.17970806e+02] [ 7.24395766e-01 -6.89360544e-01 -5.72842752e-03 -2.52719795e+02] [ 7.94967568e-03 4.41929881e-05 9.99968400e-01 -2.78996387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.3165599949999 meters 0.012996219033874755 Centerline is valid? [True, True] Translation: X:-117.99, Y:-252.70, Z:-2.79 [[-6.92461600e-01 -7.21431154e-01 5.83280929e-03 -1.17988008e+02] [ 7.21405717e-01 -6.92486166e-01 -6.05820942e-03 -2.52697997e+02] [ 8.40972076e-03 1.27445744e-05 9.99964638e-01 -2.78980960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.3465599949999 meters 0.013086190505974576 Centerline is valid? [True, True] Translation: X:-118.01, Y:-252.68, Z:-2.79 [[-6.94127852e-01 -7.19829366e-01 5.67528911e-03 -1.18005567e+02] [ 7.19805262e-01 -6.94151053e-01 -5.89071118e-03 -2.52678617e+02] [ 8.17981480e-03 -3.80374099e-06 9.99966545e-01 -2.79026403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.376559995 meters 0.013173431879162945 Centerline is valid? [True, True] Translation: X:-118.02, Y:-252.66, Z:-2.79 [[-6.96122156e-01 -7.17893778e-01 6.51673532e-03 -1.18023301e+02] [ 7.17861952e-01 -6.96152658e-01 -6.75972111e-03 -2.52659123e+02] [ 9.38940434e-03 -2.74753002e-05 9.99955918e-01 -2.79115654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.406559995 meters 0.013189653964574711 Centerline is valid? [True, True] Translation: X:-118.04, Y:-252.64, Z:-2.79 [[-6.96894931e-01 -7.17143383e-01 6.54396796e-03 -1.18041845e+02] [ 7.17111299e-01 -6.96925654e-01 -6.78361591e-03 -2.52639822e+02] [ 9.42548441e-03 -3.47141731e-05 9.99955579e-01 -2.79104384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.4365599949999 meters 0.013140768214266536 Centerline is valid? [True, True] Translation: X:-118.06, Y:-252.62, Z:-2.79 [[-6.97129400e-01 -7.16914461e-01 6.65247264e-03 -1.18060886e+02] [ 7.16881335e-01 -6.97161139e-01 -6.89179440e-03 -2.52620771e+02] [ 9.57867247e-03 -3.54390203e-05 9.99954123e-01 -2.79067284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.4665599949999 meters 0.013071187146259109 Centerline is valid? [True, True] Translation: X:-118.08, Y:-252.60, Z:-2.79 [[-6.97412492e-01 -7.16636609e-01 6.91281547e-03 -1.18080715e+02] [ 7.16600871e-01 -6.97446750e-01 -7.15703089e-03 -2.52601631e+02] [ 9.95031103e-03 -3.76731614e-05 9.99950494e-01 -2.79088879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.496559995 meters 0.013148874548361434 Centerline is valid? [True, True] Translation: X:-118.10, Y:-252.58, Z:-2.79 [[-6.97190635e-01 -7.16849357e-01 7.22620228e-03 -1.18100093e+02] [ 7.16810365e-01 -6.97228082e-01 -7.47684287e-03 -2.52582669e+02] [ 1.03980812e-02 -3.29681311e-05 9.99945938e-01 -2.79079208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.526559995 meters 0.013090886718339344 Centerline is valid? [True, True] Translation: X:-118.12, Y:-252.57, Z:-2.79 [[-6.96322354e-01 -7.17692553e-01 7.25119527e-03 -1.18119805e+02] [ 7.17653386e-01 -6.96360108e-01 -7.49782543e-03 -2.52565483e+02] [ 1.04305766e-02 -1.70586088e-05 9.99945600e-01 -2.79126086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.5565599949999 meters 0.012981494419268722 Centerline is valid? [True, True] Translation: X:-118.14, Y:-252.55, Z:-2.79 [[-6.95636140e-01 -7.18357062e-01 7.31387083e-03 -1.18140009e+02] [ 7.18317301e-01 -6.95674588e-01 -7.55802955e-03 -2.52546975e+02] [ 1.05174380e-02 -3.95855369e-06 9.99944690e-01 -2.79112958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.5865599949999 meters 0.013013390609965977 Centerline is valid? [True, True] Translation: X:-118.16, Y:-252.53, Z:-2.79 [[-6.94705877e-01 -7.19257306e-01 7.25757187e-03 -1.18160315e+02] [ 7.19218251e-01 -6.94743786e-01 -7.49531281e-03 -2.52528879e+02] [ 1.04332115e-02 1.27402870e-05 9.99945573e-01 -2.79127450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.616559995 meters 0.01324250855375474 Centerline is valid? [True, True] Translation: X:-118.18, Y:-252.51, Z:-2.79 [[-6.92791036e-01 -7.21106570e-01 6.77455771e-03 -1.18181234e+02] [ 7.21072672e-01 -6.92824157e-01 -6.99203581e-03 -2.52512724e+02] [ 9.73558020e-03 4.09286979e-05 9.99952607e-01 -2.79090414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.646559995 meters 0.01318729026554983 Centerline is valid? [True, True] Translation: X:-118.20, Y:-252.49, Z:-2.79 [[-6.92113982e-01 -7.21758012e-01 6.60368756e-03 -1.18201788e+02] [ 7.21725871e-01 -6.92145483e-01 -6.81161219e-03 -2.52494307e+02] [ 9.48704819e-03 5.16401130e-05 9.99954996e-01 -2.79028183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.6765599949999 meters 0.013360357874625561 Centerline is valid? [True, True] Translation: X:-118.22, Y:-252.48, Z:-2.79 [[-6.91097649e-01 -7.22732017e-01 6.51701056e-03 -1.18223736e+02] [ 7.22700795e-01 -6.91128372e-01 -6.71822246e-03 -2.52477306e+02] [ 9.35956537e-03 6.69009646e-05 9.99956196e-01 -2.79070184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.7065599949999 meters 0.013360357874625561 Centerline is valid? [True, True] Translation: X:-118.24, Y:-252.46, Z:-2.79 [[-6.91311779e-01 -7.22527181e-01 6.51900111e-03 -1.18242454e+02] [ 7.22495967e-01 -6.91342512e-01 -6.71629095e-03 -2.52458190e+02] [ 9.35956536e-03 6.69009628e-05 9.99956196e-01 -2.79070124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.736559995 meters 0.013686415256809295 Centerline is valid? [True, True] Translation: X:-118.26, Y:-252.44, Z:-2.79 [[-6.90619354e-01 -7.23189136e-01 6.51007248e-03 -1.18263126e+02] [ 7.23158077e-01 -6.90650032e-01 -6.70292647e-03 -2.52441205e+02] [ 9.34366537e-03 7.86407438e-05 9.99956344e-01 -2.79160775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.766559995 meters 0.014308461857520813 Centerline is valid? [True, True] Translation: X:-118.29, Y:-252.42, Z:-2.79 [[-6.88919894e-01 -7.24804784e-01 6.88511730e-03 -1.18285625e+02] [ 7.24770163e-01 -6.88954290e-01 -7.08501626e-03 -2.52424897e+02] [ 9.87878478e-03 1.09118942e-04 9.99951198e-01 -2.79254039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.7965599949999 meters 0.01506866741774225 Centerline is valid? [True, True] Translation: X:-118.31, Y:-252.41, Z:-2.79 [[-6.87375856e-01 -7.26265013e-01 7.31871173e-03 -1.18306766e+02] [ 7.26226021e-01 -6.87414803e-01 -7.52697786e-03 -2.52409504e+02] [ 1.04975714e-02 1.41176048e-04 9.99944889e-01 -2.79367014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.8265599949999 meters 0.014894475461660082 Centerline is valid? [True, True] Translation: X:-118.33, Y:-252.39, Z:-2.79 [[-6.85498270e-01 -7.28033937e-01 7.66214211e-03 -1.18327712e+02] [ 7.27991357e-01 -6.85541067e-01 -7.87589713e-03 -2.52390411e+02] [ 1.09866335e-02 1.79059386e-04 9.99939629e-01 -2.79269357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.856559995 meters 0.016833220766035755 Centerline is valid? [True, True] Translation: X:-118.35, Y:-252.37, Z:-2.79 [[-6.84854328e-01 -7.28639254e-01 7.70625231e-03 -1.18349815e+02] [ 7.28596255e-01 -6.84897657e-01 -7.91809563e-03 -2.52374489e+02] [ 1.10474294e-02 1.92004509e-04 9.99938957e-01 -2.79496541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.886559995 meters 0.016833220766035755 Centerline is valid? [True, True] Translation: X:-118.37, Y:-252.36, Z:-2.79 [[-6.85079882e-01 -7.28427163e-01 7.70870174e-03 -1.18368029e+02] [ 7.28384178e-01 -6.85123223e-01 -7.91571099e-03 -2.52356043e+02] [ 1.10474295e-02 1.92002027e-04 9.99938957e-01 -2.79496483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.916559995 meters 0.016833220766035755 Centerline is valid? [True, True] Translation: X:-118.39, Y:-252.34, Z:-2.79 [[-6.85305369e-01 -7.28215002e-01 7.71115221e-03 -1.18386248e+02] [ 7.28172030e-01 -6.85348724e-01 -7.91332387e-03 -2.52337603e+02] [ 1.10474295e-02 1.92002027e-04 9.99938957e-01 -2.79496426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.9465599949999 meters 0.015602816933768261 Centerline is valid? [True, True] Translation: X:-118.40, Y:-252.32, Z:-2.79 [[-6.84634138e-01 -7.28843880e-01 7.91800878e-03 -1.18404252e+02] [ 7.28798664e-01 -6.84679892e-01 -8.12122097e-03 -2.52316371e+02] [ 1.13404036e-02 2.10569099e-04 9.99935673e-01 -2.79331248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.976559995 meters 0.015905752985547385 Centerline is valid? [True, True] Translation: X:-118.42, Y:-252.30, Z:-2.79 [[-6.84324247e-01 -7.29131153e-01 8.25148309e-03 -1.18424532e+02] [ 7.29082122e-01 -6.84373955e-01 -8.45869593e-03 -2.52296757e+02] [ 1.18145988e-02 2.27518086e-04 9.99930179e-01 -2.79372098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.006559995 meters 0.01567660575412343 Centerline is valid? [True, True] Translation: X:-118.44, Y:-252.28, Z:-2.79 [[-6.84273052e-01 -7.29172983e-01 8.78366139e-03 -1.18443366e+02] [ 7.29117496e-01 -6.84329380e-01 -8.99868906e-03 -2.52277107e+02] [ 1.25725185e-02 2.46760777e-04 9.99920932e-01 -2.79393592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.036559995 meters 0.015526503271776227 Centerline is valid? [True, True] Translation: X:-118.46, Y:-252.26, Z:-2.79 [[-6.84852609e-01 -7.28623108e-01 9.23419215e-03 -1.18462117e+02] [ 7.28561810e-01 -6.84914814e-01 -9.45442508e-03 -2.52257097e+02] [ 1.32133476e-02 2.52792062e-04 9.99912668e-01 -2.79444136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.0665599949999 meters 0.015339799201887192 Centerline is valid? [True, True] Translation: X:-118.48, Y:-252.24, Z:-2.79 [[-6.85418411e-01 -7.28088324e-01 9.43368674e-03 -1.18480904e+02] [ 7.28024379e-01 -6.85483281e-01 -9.65270702e-03 -2.52236669e+02] [ 1.34946578e-02 2.51810828e-04 9.99908911e-01 -2.79471516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.0965599949999 meters 0.01528549733224503 Centerline is valid? [True, True] Translation: X:-118.50, Y:-252.22, Z:-2.80 [[-6.86500800e-01 -7.27066430e-01 9.54244754e-03 -1.18498595e+02] [ 7.27000989e-01 -6.86567076e-01 -9.75767546e-03 -2.52217431e+02] [ 1.36460086e-02 2.38716787e-04 9.99906861e-01 -2.79520260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.126559995 meters 0.014592862372731896 Centerline is valid? [True, True] Translation: X:-118.51, Y:-252.20, Z:-2.79 [[-6.88912170e-01 -7.24783850e-01 9.40176705e-03 -1.18514619e+02] [ 7.24720179e-01 -6.88976294e-01 -9.60878524e-03 -2.52195557e+02] [ 1.34418870e-02 1.94041213e-04 9.99909635e-01 -2.79469913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.156559995 meters 0.014197126947082268 Centerline is valid? [True, True] Translation: X:-118.53, Y:-252.17, Z:-2.79 [[-6.90463936e-01 -7.23306901e-01 9.31022091e-03 -1.18532052e+02] [ 7.23244405e-01 -6.90526683e-01 -9.50950811e-03 -2.52174519e+02] [ 1.33072488e-02 1.67592782e-04 9.99911441e-01 -2.79432971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.1865599949999 meters 0.013896844910949262 Centerline is valid? [True, True] Translation: X:-118.55, Y:-252.15, Z:-2.79 [[-6.92114861e-01 -7.21730165e-01 9.08778852e-03 -1.18549350e+02] [ 7.21670556e-01 -6.92174508e-01 -9.27678045e-03 -2.52153556e+02] [ 1.29856678e-02 1.37791789e-04 9.99915673e-01 -2.79405320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.2165599949999 meters 0.013156341922016998 Centerline is valid? [True, True] Translation: X:-118.57, Y:-252.13, Z:-2.79 [[-6.94855938e-01 -7.19101031e-01 8.30257926e-03 -1.18565545e+02] [ 7.19051141e-01 -6.94905534e-01 -8.47089684e-03 -2.52129493e+02] [ 1.18609389e-02 8.39261145e-05 9.99929653e-01 -2.79157021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.246559995 meters 0.01316410158345358 Centerline is valid? [True, True] Translation: X:-118.58, Y:-252.11, Z:-2.79 [[-6.96269269e-01 -7.17737706e-01 7.85430351e-03 -1.18583217e+02] [ 7.17693026e-01 -6.96313566e-01 -8.00864117e-03 -2.52109387e+02] [ 1.12171618e-02 6.08081184e-05 9.99937084e-01 -2.79210731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.276559995 meters 0.013042579860545881 Centerline is valid? [True, True] Translation: X:-118.60, Y:-252.09, Z:-2.79 [[-6.97555692e-01 -7.16487007e-01 7.90095155e-03 -1.18600776e+02] [ 7.16441767e-01 -6.97600435e-01 -8.05154257e-03 -2.52088669e+02] [ 1.12805329e-02 4.41723455e-05 9.99936372e-01 -2.79155424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.3065599949999 meters 0.012837606696216456 Centerline is valid? [True, True] Translation: X:-118.62, Y:-252.07, Z:-2.79 [[-6.99628720e-01 -7.14461090e-01 8.06250894e-03 -1.18617370e+02] [ 7.14413905e-01 -6.99675175e-01 -8.21112390e-03 -2.52066347e+02] [ 1.15076659e-02 1.52303954e-05 9.99933785e-01 -2.79007627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.3365599949999 meters 0.012890322723967305 Centerline is valid? [True, True] Translation: X:-118.64, Y:-252.05, Z:-2.79 [[-7.00445580e-01 -7.13659392e-01 8.14016522e-03 -1.18635209e+02] [ 7.13611300e-01 -7.00492879e-01 -8.28486915e-03 -2.52046459e+02] [ 1.16147024e-02 5.81390816e-06 9.99932547e-01 -2.79083800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.366559995 meters 0.01282497760754061 Centerline is valid? [True, True] Translation: X:-118.65, Y:-252.03, Z:-2.79 [[-7.01184574e-01 -7.12932350e-01 8.22542997e-03 -1.18653872e+02] [ 7.12883257e-01 -7.01232817e-01 -8.36649646e-03 -2.52026444e+02] [ 1.17326874e-02 -2.68694436e-06 9.99931170e-01 -2.79071802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.396559995 meters 0.01307467119232369 Centerline is valid? [True, True] Translation: X:-118.67, Y:-252.01, Z:-2.79 [[-7.01609724e-01 -7.12516018e-01 8.04479702e-03 -1.18670787e+02] [ 7.12469090e-01 -7.01655844e-01 -8.17749148e-03 -2.52006824e+02] [ 1.14712725e-02 -5.73832853e-06 9.99934203e-01 -2.79278454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.4265599949999 meters 0.012870773139457179 Centerline is valid? [True, True] Translation: X:-118.69, Y:-251.99, Z:-2.79 [[-7.01691652e-01 -7.12436133e-01 7.97382070e-03 -1.18689918e+02] [ 7.12390081e-01 -7.01736957e-01 -8.10036846e-03 -2.51986790e+02] [ 1.13665199e-02 -3.49015311e-06 9.99935399e-01 -2.79085086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.4565599949999 meters 0.01288556268337867 Centerline is valid? [True, True] Translation: X:-118.71, Y:-251.97, Z:-2.79 [[-7.01632065e-01 -7.12495221e-01 7.93759318e-03 -1.18708480e+02] [ 7.12449649e-01 -7.01676963e-01 -8.05838204e-03 -2.51967616e+02] [ 1.13111850e-02 1.11623934e-06 9.99936027e-01 -2.79128687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.486559995 meters 0.012918850870378298 Centerline is valid? [True, True] Translation: X:-118.73, Y:-251.95, Z:-2.79 [[-7.01448389e-01 -7.12676719e-01 7.87734716e-03 -1.18727917e+02] [ 7.12631902e-01 -7.01492619e-01 -7.99238017e-03 -2.51947859e+02] [ 1.12218842e-02 7.40669630e-06 9.99937033e-01 -2.79120353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.516559995 meters 0.012996581904087326 Centerline is valid? [True, True] Translation: X:-118.75, Y:-251.93, Z:-2.79 [[-7.00355432e-01 -7.13750585e-01 7.89751583e-03 -1.18746908e+02] [ 7.13705662e-01 -7.00399958e-01 -8.00794767e-03 -2.51928612e+02] [ 1.12470971e-02 2.80921082e-05 9.99936749e-01 -2.79137808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.5465599949999 meters 0.013082319143322006 Centerline is valid? [True, True] Translation: X:-118.77, Y:-251.91, Z:-2.79 [[-6.99884339e-01 -7.14208505e-01 8.25375665e-03 -1.18765930e+02] [ 7.14159532e-01 -6.99933004e-01 -8.36380986e-03 -2.51909849e+02] [ 1.17505808e-02 4.07994494e-05 9.99930959e-01 -2.79189101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.5765599949999 meters 0.013296575564318248 Centerline is valid? [True, True] Translation: X:-118.78, Y:-251.89, Z:-2.79 [[-6.98605255e-01 -7.15461728e-01 8.07550877e-03 -1.18784978e+02] [ 7.15414990e-01 -6.98651925e-01 -8.17803075e-03 -2.51891908e+02] [ 1.14930378e-02 6.41247682e-05 9.99933951e-01 -2.79265964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.606559995 meters 0.013289672239776996 Centerline is valid? [True, True] Translation: X:-118.80, Y:-251.87, Z:-2.79 [[-6.97942881e-01 -7.16107626e-01 8.09954545e-03 -1.18803947e+02] [ 7.16060711e-01 -6.97989872e-01 -8.19737247e-03 -2.51872900e+02] [ 1.15236016e-02 7.84685084e-05 9.99933598e-01 -2.79187301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.636559995 meters 0.013327509738229548 Centerline is valid? [True, True] Translation: X:-118.82, Y:-251.85, Z:-2.79 [[-6.97388861e-01 -7.16652629e-01 7.60168910e-03 -1.18822865e+02] [ 7.16611388e-01 -6.97430285e-01 -7.68872143e-03 -2.51853856e+02] [ 1.08117906e-02 8.54282981e-05 9.99941547e-01 -2.79101878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.666559995 meters 0.013600404303696835 Centerline is valid? [True, True] Translation: X:-118.84, Y:-251.84, Z:-2.79 [[-6.96276106e-01 -7.17742789e-01 6.69874332e-03 -1.18843274e+02] [ 7.17710854e-01 -6.96308322e-01 -6.77124828e-03 -2.51835022e+02] [ 9.52440535e-03 9.31024108e-05 9.99954638e-01 -2.79014267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.6965599949999 meters 0.013612099786724736 Centerline is valid? [True, True] Translation: X:-118.86, Y:-251.82, Z:-2.79 [[-6.96036344e-01 -7.17977738e-01 6.43239962e-03 -1.18862334e+02] [ 7.17948340e-01 -6.96066059e-01 -6.49780427e-03 -2.51816922e+02] [ 9.14265387e-03 9.54227028e-05 9.99958201e-01 -2.78992275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.726559995 meters 0.013908688525647096 Centerline is valid? [True, True] Translation: X:-118.88, Y:-251.80, Z:-2.79 [[-6.95239649e-01 -7.18751930e-01 6.12317585e-03 -1.18882715e+02] [ 7.18725355e-01 -6.95266605e-01 -6.18162265e-03 -2.51798142e+02] [ 8.70029290e-03 1.03172577e-04 9.99962147e-01 -2.79009053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.756559995 meters 0.014004407161846325 Centerline is valid? [True, True] Translation: X:-118.90, Y:-251.78, Z:-2.79 [[-6.94876549e-01 -7.19102785e-01 6.14553746e-03 -1.18902004e+02] [ 7.19076062e-01 -6.94903715e-01 -6.20030755e-03 -2.51778777e+02] [ 8.72921523e-03 1.10660569e-04 9.99961894e-01 -2.79000379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.786559995 meters 0.014162352709067114 Centerline is valid? [True, True] Translation: X:-118.92, Y:-251.76, Z:-2.79 [[-6.94594109e-01 -7.19375724e-01 6.13120019e-03 -1.18921062e+02] [ 7.19349163e-01 -6.94621159e-01 -6.18284342e-03 -2.51760482e+02] [ 8.70664885e-03 1.15907107e-04 9.99962090e-01 -2.79042263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.8165599949999 meters 0.014287441028072504 Centerline is valid? [True, True] Translation: X:-118.94, Y:-251.74, Z:-2.79 [[-6.94235372e-01 -7.19719694e-01 6.38831516e-03 -1.18940456e+02] [ 7.19690909e-01 -6.94264752e-01 -6.43810365e-03 -2.51741671e+02] [ 9.06881203e-03 1.28053066e-04 9.99958869e-01 -2.79034154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.8465599949999 meters 0.014635413808682971 Centerline is valid? [True, True] Translation: X:-118.96, Y:-251.72, Z:-2.79 [[-6.93189877e-01 -7.20726873e-01 6.36940086e-03 -1.18961281e+02] [ 7.20698334e-01 -6.93219124e-01 -6.41546578e-03 -2.51723215e+02] [ 9.03918908e-03 1.43280656e-04 9.99959136e-01 -2.79066687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.876559995 meters 0.014591174492433709 Centerline is valid? [True, True] Translation: X:-118.98, Y:-251.70, Z:-2.79 [[-6.92820088e-01 -7.21080627e-01 6.56172248e-03 -1.18981662e+02] [ 7.21050388e-01 -6.92851143e-01 -6.60544663e-03 -2.51703703e+02] [ 9.30935651e-03 1.54946425e-04 9.99956655e-01 -2.79061995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.906559995 meters 0.014846754610818524 Centerline is valid? [True, True] Translation: X:-119.00, Y:-251.69, Z:-2.79 [[-6.91947765e-01 -7.21915102e-01 6.84661852e-03 -1.19002919e+02] [ 7.21882260e-01 -6.91981614e-01 -6.88832399e-03 -2.51685182e+02] [ 9.71051925e-03 1.76092060e-04 9.99952836e-01 -2.79122207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.9365599949999 meters 0.014989281794357571 Centerline is valid? [True, True] Translation: X:-119.02, Y:-251.67, Z:-2.79 [[-6.91703556e-01 -7.22146138e-01 7.15168431e-03 -1.19023044e+02] [ 7.22110357e-01 -6.91740500e-01 -7.19116424e-03 -2.51665918e+02] [ 1.01401812e-02 1.90151434e-04 9.99948569e-01 -2.79112625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.9665599949999 meters 0.015095601623528136 Centerline is valid? [True, True] Translation: X:-119.04, Y:-251.65, Z:-2.79 [[-6.91827163e-01 -7.22029306e-01 6.98989204e-03 -1.19043340e+02] [ 7.21995159e-01 -6.91862448e-01 -7.02451316e-03 -2.51646176e+02] [ 9.90794818e-03 1.86919206e-04 9.99950898e-01 -2.79124878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.996559995 meters 0.015072105989486613 Centerline is valid? [True, True] Translation: X:-119.06, Y:-251.63, Z:-2.79 [[-6.92649713e-01 -7.21236220e-01 7.39521618e-03 -1.19061642e+02] [ 7.21198005e-01 -6.92689165e-01 -7.42690996e-03 -2.51627768e+02] [ 1.04791426e-02 1.89168093e-04 9.99945074e-01 -2.79173471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.026559995 meters 0.014922783570179194 Centerline is valid? [True, True] Translation: X:-119.08, Y:-251.61, Z:-2.79 [[-6.93462000e-01 -7.20455658e-01 7.35526542e-03 -1.19080658e+02] [ 7.20417859e-01 -6.93500983e-01 -7.38217418e-03 -2.51608422e+02] [ 1.04194130e-02 1.79607295e-04 9.99945700e-01 -2.79213609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.0565599949999 meters 0.014754234993383561 Centerline is valid? [True, True] Translation: X:-119.10, Y:-251.59, Z:-2.79 [[-6.94437371e-01 -7.19513041e-01 7.59750267e-03 -1.19098670e+02] [ 7.19472707e-01 -6.94478908e-01 -7.62030800e-03 -2.51589779e+02] [ 1.07592163e-02 1.74369164e-04 9.99942103e-01 -2.79260344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.0865599949999 meters 0.014295853139165964 Centerline is valid? [True, True] Translation: X:-119.12, Y:-251.57, Z:-2.79 [[-6.96494373e-01 -7.17516857e-01 8.07142930e-03 -1.19116536e+02] [ 7.17471258e-01 -6.96541123e-01 -8.09065697e-03 -2.51568822e+02] [ 1.14272652e-02 1.55921477e-04 9.99934695e-01 -2.79375601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.116559995 meters 0.01400440114273836 Centerline is valid? [True, True] Translation: X:-119.14, Y:-251.55, Z:-2.79 [[-6.97739472e-01 -7.16302053e-01 8.42600100e-03 -1.19135291e+02] [ 7.16252333e-01 -6.97790332e-01 -8.44088067e-03 -2.51548488e+02] [ 1.19258022e-02 1.45607252e-04 9.99928875e-01 -2.79427237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.146559995 meters 0.013895546121832303 Centerline is valid? [True, True] Translation: X:-119.15, Y:-251.53, Z:-2.79 [[-6.98754305e-01 -7.15308449e-01 8.73180015e-03 -1.19153064e+02] [ 7.15255046e-01 -6.98808846e-01 -8.74159079e-03 -2.51529323e+02] [ 1.23547929e-02 1.37239925e-04 9.99923667e-01 -2.79440102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.1765599949999 meters 0.013762842531135348 Centerline is valid? [True, True] Translation: X:-119.17, Y:-251.51, Z:-2.79 [[-6.99873361e-01 -7.14210081e-01 9.01329744e-03 -1.19171405e+02] [ 7.14153157e-01 -6.99931386e-01 -9.01794957e-03 -2.51509261e+02] [ 1.27494003e-02 1.25452155e-04 9.99918715e-01 -2.79453289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.2065599949999 meters 0.013453225568164362 Centerline is valid? [True, True] Translation: X:-119.19, Y:-251.49, Z:-2.79 [[-7.01822335e-01 -7.12295122e-01 9.00386838e-03 -1.19189459e+02] [ 7.12238229e-01 -7.01880082e-01 -9.00309636e-03 -2.51488202e+02] [ 1.27324975e-02 9.43251600e-05 9.99918934e-01 -2.79434037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.236559995 meters 0.013195500686076816 Centerline is valid? [True, True] Translation: X:-119.68, Y:-251.98, Z:-1.79 [[-7.59522935e-01 6.50418028e-01 9.01662208e-03 -1.19677687e+02] [ 6.50371043e-01 7.59576450e-01 -7.81812186e-03 -2.51982566e+02] [-1.19338612e-02 -7.38929489e-05 -9.99928786e-01 -1.79406431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.266559995 meters 0.013026355761459088 Centerline is valid? [True, True] Translation: X:-119.66, Y:-251.96, Z:-1.80 [[-8.02468532e-01 5.96630509e-01 8.73450691e-03 -1.19657404e+02] [ 5.96594542e-01 8.02516064e-01 -6.55121617e-03 -2.51964484e+02] [-1.09182376e-02 -4.61856653e-05 -9.99940393e-01 -1.79504802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.2965599949999 meters 0.012974897601561753 Centerline is valid? [True, True] Translation: X:-119.23, Y:-251.41, Z:-2.79 [[-7.55381717e-01 -6.55237266e-01 7.91118474e-03 -1.19234959e+02] [ 6.55201570e-01 -7.55423143e-01 -6.83943045e-03 -2.51411945e+02] [ 1.04577417e-02 1.70399456e-05 9.99945316e-01 -2.79281278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.3265599949999 meters 0.012870416871708337 Centerline is valid? [True, True] Translation: X:-119.69, Y:-251.94, Z:-1.80 [[-8.03812883e-01 5.94826324e-01 8.15428026e-03 -1.19690796e+02] [ 5.94795349e-01 8.03854242e-01 -6.07042559e-03 -2.51941446e+02] [-1.01657017e-02 -2.93583245e-05 -9.99948328e-01 -1.79518424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.356559995 meters 0.012942905120471852 Centerline is valid? [True, True] Translation: X:-119.68, Y:-251.92, Z:-1.79 [[-8.43642376e-01 5.36835880e-01 8.64747842e-03 -1.19675804e+02] [ 5.36807382e-01 8.43686694e-01 -5.53154233e-03 -2.51918501e+02] [-1.02652929e-02 -2.46132631e-05 -9.99947310e-01 -1.79489227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.386559995 meters 0.01269320487575129 Centerline is valid? [True, True] Translation: X:-119.66, Y:-251.89, Z:-1.80 [[-8.79522938e-01 4.75769354e-01 9.10621826e-03 -1.19661605e+02] [ 4.75743564e-01 8.79570078e-01 -4.95379934e-03 -2.51894050e+02] [-1.03664230e-02 -2.47554251e-05 -9.99946267e-01 -1.79640265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.416559995 meters 0.012980615915525042 Centerline is valid? [True, True] Translation: X:-119.33, Y:-251.28, Z:-2.79 [[-8.42553663e-01 -5.38529440e-01 9.45343816e-03 -1.19326816e+02] [ 5.38496557e-01 -8.42606692e-01 -5.95159633e-03 -2.51284753e+02] [ 1.11706401e-02 7.61046056e-05 9.99937604e-01 -2.79396722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.4465599949999 meters 0.013068981551138567 Centerline is valid? [True, True] Translation: X:-119.70, Y:-251.87, Z:-1.79 [[-8.81667059e-01 4.71760698e-01 1.02489874e-02 -1.19698010e+02] [ 4.71728323e-01 8.81726626e-01 -5.52692755e-03 -2.51872859e+02] [-1.16441923e-02 -3.81723060e-05 -9.99932203e-01 -1.79315970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.476559995 meters 0.013219510745949315 Centerline is valid? [True, True] Translation: X:-119.69, Y:-251.84, Z:-1.79 [[-9.13063454e-01 4.07662974e-01 1.12262570e-02 -1.19692982e+02] [ 4.07631539e-01 9.13132465e-01 -5.06265493e-03 -2.51842722e+02] [-1.23149167e-02 -4.63487610e-05 -9.99924168e-01 -1.79181712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.506559995 meters 0.012910881848317013 Centerline is valid? [True, True] Translation: X:-119.67, Y:-251.82, Z:-1.79 [[-9.39660725e-01 3.41910465e-01 1.16170432e-02 -1.19674540e+02] [ 3.41883720e-01 9.39732532e-01 -4.27668096e-03 -2.51820291e+02] [-1.23791554e-02 -4.69511915e-05 -9.99923374e-01 -1.79357298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.536559995 meters 0.012920431847724567 Centerline is valid? [True, True] Translation: X:-119.67, Y:-251.79, Z:-1.79 [[-9.61536211e-01 2.74413782e-01 1.20495378e-02 -1.19665018e+02] [ 2.74391608e-01 9.61611707e-01 -3.48876813e-03 -2.51793584e+02] [-1.25443427e-02 -4.82848346e-05 -9.99921316e-01 -1.79304899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.5665599949999 meters 0.013284285860849341 Centerline is valid? [True, True] Translation: X:-119.66, Y:-251.77, Z:-1.79 [[-9.78401262e-01 2.06347602e-01 1.23141656e-02 -1.19659289e+02] [ 2.06330779e-01 9.78478751e-01 -2.63510869e-03 -2.51765920e+02] [-1.25928977e-02 -3.74022932e-05 -9.99920706e-01 -1.79090645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.5965599949999 meters 0.013284285860849341 Centerline is valid? [True, True] Translation: X:-119.51, Y:-251.09, Z:-2.80 [[-9.60599817e-01 -2.77669631e-01 1.21477214e-02 -1.19511678e+02] [ 2.77647958e-01 -9.60676623e-01 -3.46937966e-03 -2.51094756e+02] [ 1.26333734e-02 4.01045762e-05 9.99920195e-01 -2.79693815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.626559995 meters 0.013204036691773917 Centerline is valid? [True, True] Translation: X:-119.71, Y:-251.76, Z:-1.79 [[-9.79088230e-01 2.03079025e-01 1.20477521e-02 -1.19710573e+02] [ 2.03063285e-01 9.79162351e-01 -2.52856993e-03 -2.51755910e+02] [-1.23102048e-02 -2.92369377e-05 -9.99924226e-01 -1.79116218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.656559995 meters 0.012822999975325825 Centerline is valid? [True, True] Translation: X:-119.70, Y:-251.73, Z:-1.79 [[-9.90919345e-01 1.33922768e-01 1.19810229e-02 -1.19703602e+02] [ 1.33912757e-01 9.90991772e-01 -1.63754692e-03 -2.51729450e+02] [-1.20923999e-02 -1.82651129e-05 -9.99926884e-01 -1.79427856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.6865599949999 meters 0.012745068106806534 Centerline is valid? [True, True] Translation: X:-119.61, Y:-251.05, Z:-2.79 [[-9.79125976e-01 -2.02904382e-01 1.19220114e-02 -1.19606033e+02] [ 2.02889633e-01 -9.79198556e-01 -2.44654564e-03 -2.51047819e+02] [ 1.21704312e-02 2.33761311e-05 9.99925937e-01 -2.79367286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.7165599949999 meters 0.012785502300809885 Centerline is valid? [True, True] Translation: X:-119.76, Y:-251.72, Z:-1.79 [[-9.91227357e-01 1.31692523e-01 1.11984879e-02 -1.19762320e+02] [ 1.31684164e-01 9.91290613e-01 -1.48379891e-03 -2.51721306e+02] [-1.12963612e-02 3.88144107e-06 -9.99936194e-01 -1.79436519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.746559995 meters 0.012812231631917172 Centerline is valid? [True, True] Translation: X:-119.76, Y:-251.69, Z:-1.79 [[-9.98076868e-01 6.10753188e-02 1.06005707e-02 -1.19757734e+02] [ 6.10719290e-02 9.98133160e-01 -6.43486356e-04 -2.51693386e+02] [-1.06200823e-02 5.14845657e-06 -9.99943605e-01 -1.79421768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.776559995 meters 0.012682342579102114 Centerline is valid? [True, True] Translation: X:-119.71, Y:-251.01, Z:-2.79 [[-9.91776069e-01 -1.27588387e-01 1.00713414e-02 -1.19713322e+02] [ 1.27581449e-01 -9.91827204e-01 -1.33101239e-03 -2.51009243e+02] [ 1.01588521e-02 -3.51499062e-05 9.99948397e-01 -2.79238001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.8065599949999 meters 0.012682096251138777 Centerline is valid? [True, True] Translation: X:-119.82, Y:-251.69, Z:-1.80 [[-9.98445306e-01 5.49688335e-02 9.24112527e-03 -1.19822721e+02] [ 5.49663908e-02 9.98488071e-01 -5.18301382e-04 -2.51686008e+02] [-9.25564376e-03 -9.54427987e-06 -9.99957166e-01 -1.79560837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.8365599949999 meters 0.012633042843954279 Centerline is valid? [True, True] Translation: X:-119.78, Y:-251.01, Z:-2.79 [[-9.92074114e-01 -1.25323414e-01 9.11016544e-03 -1.19782264e+02] [ 1.25318172e-01 -9.92115942e-01 -1.14616956e-03 -2.51009218e+02] [ 9.18198225e-03 4.58413025e-06 9.99957845e-01 -2.79221387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.866559995 meters 0.012700237928670565 Centerline is valid? [True, True] Translation: X:-119.89, Y:-251.68, Z:-1.80 [[-9.98784960e-01 4.85066780e-02 8.70090223e-03 -1.19888478e+02] [ 4.85046197e-02 9.98822858e-01 -4.47544214e-04 -2.51679562e+02] [-8.71236891e-03 -2.49664762e-05 -9.99962046e-01 -1.79585164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.896559995 meters 0.012948441439471112 Centerline is valid? [True, True] Translation: X:-119.89, Y:-251.65, Z:-1.80 [[-9.99646170e-01 -2.51404658e-02 8.68860645e-03 -1.19894413e+02] [-2.51399225e-02 9.99683928e-01 1.71763823e-04 -2.51647478e+02] [-8.69017844e-03 -4.67278450e-05 -9.99962239e-01 -1.79513814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.9265599949999 meters 0.013138804562503872 Centerline is valid? [True, True] Translation: X:-119.91, Y:-250.98, Z:-2.79 [[-9.98473640e-01 -5.45366695e-02 8.72592817e-03 -1.19911143e+02] [ 5.45350252e-02 -9.98511767e-01 -4.26447672e-04 -2.50984288e+02] [ 8.73619899e-03 5.00719535e-05 9.99961838e-01 -2.79323769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.9565599949999 meters 0.013341383597090698 Centerline is valid? [True, True] Translation: X:-119.98, Y:-251.64, Z:-1.80 [[-9.99397815e-01 -3.36202151e-02 8.58425100e-03 -1.19976048e+02] [-3.36196035e-02 9.99434678e-01 2.15579636e-04 -2.51644397e+02] [-8.58664597e-03 -7.31492983e-05 -9.99963132e-01 -1.79512549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.986559995 meters 0.013565788155788064 Centerline is valid? [True, True] Translation: X:-119.98, Y:-251.62, Z:-1.79 [[-9.94392501e-01 -1.05429260e-01 8.25983776e-03 -1.19984586e+02] [-1.05426264e-01 9.94426802e-01 7.98521867e-04 -2.51615741e+02] [-8.29799162e-03 -7.67596779e-05 -9.99965568e-01 -1.79489507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.016559995 meters 0.013748807076985461 Centerline is valid? [True, True] Translation: X:-120.00, Y:-251.59, Z:-1.80 [[-9.84238561e-01 -1.76668606e-01 7.91574421e-03 -1.19997893e+02] [-1.76663538e-01 9.84270388e-01 1.34049958e-03 -2.51588351e+02] [-8.02805682e-03 -7.90520038e-05 -9.99967772e-01 -1.79501749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.0465599949999 meters 0.013825003943728813 Centerline is valid? [True, True] Translation: X:-120.02, Y:-251.56, Z:-1.80 [[-9.68867231e-01 -2.47461419e-01 7.68988414e-03 -1.20021780e+02] [-2.47454310e-01 9.68897744e-01 1.87768235e-03 -2.51564695e+02] [-7.91536534e-03 -8.36700760e-05 -9.99968670e-01 -1.79539540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.0765599949999 meters 0.014390930255074944 Centerline is valid? [True, True] Translation: X:-120.06, Y:-251.54, Z:-1.79 [[-9.48129709e-01 -3.17799366e-01 7.32236515e-03 -1.20056750e+02] [-3.17790630e-01 9.48157980e-01 2.35815302e-03 -2.51542957e+02] [-7.69217848e-03 -9.11441018e-05 -9.99970411e-01 -1.79476467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.106559995 meters 0.014722997998840944 Centerline is valid? [True, True] Translation: X:-120.11, Y:-251.53, Z:-1.79 [[-9.21954629e-01 -3.87220810e-01 7.72699537e-03 -1.20112781e+02] [-3.87208162e-01 9.21987003e-01 3.13150778e-03 -2.51531793e+02] [-8.33677428e-03 -1.04847578e-04 -9.99965243e-01 -1.79384133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.136559995 meters 0.0142323500154062 Centerline is valid? [True, True] Translation: X:-120.18, Y:-251.53, Z:-1.79 [[-8.90713043e-01 -4.54500408e-01 7.72359271e-03 -1.20175873e+02] [-4.54484416e-01 8.90746522e-01 3.81431966e-03 -2.51530284e+02] [-8.61337319e-03 -1.12788259e-04 -9.99962898e-01 -1.79405086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.166559995 meters 0.014574797055860796 Centerline is valid? [True, True] Translation: X:-120.25, Y:-251.54, Z:-1.79 [[-8.54417339e-01 -5.19525705e-01 8.00331805e-03 -1.20249094e+02] [-5.19504278e-01 8.54454812e-01 4.72004775e-03 -2.51536920e+02] [-9.29065976e-03 -1.24867327e-04 -9.99956833e-01 -1.79291411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.1965599949999 meters 0.014525503337694038 Centerline is valid? [True, True] Translation: X:-120.33, Y:-251.55, Z:-1.79 [[-8.13316589e-01 -5.81760558e-01 8.41306217e-03 -1.20328500e+02] [-5.81731176e-01 8.13360089e-01 5.84850110e-03 -2.51554631e+02] [-1.02452763e-02 -1.37457577e-04 -9.99947506e-01 -1.79203483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.226559995 meters 0.014636879657329174 Centerline is valid? [True, True] Translation: X:-120.41, Y:-251.58, Z:-1.79 [[-7.67692191e-01 -6.40769776e-01 7.92425440e-03 -1.20411067e+02] [-6.40737422e-01 7.67733077e-01 6.44045608e-03 -2.51581490e+02] [-1.02105618e-02 -1.33078492e-04 -9.99947862e-01 -1.79132406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.256559995 meters 0.014151910969382439 Centerline is valid? [True, True] Translation: X:-120.49, Y:-251.62, Z:-1.79 [[-7.18691156e-01 -6.95288637e-01 7.53218987e-03 -1.20494325e+02] [-6.95252111e-01 7.18730616e-01 7.12767213e-03 -2.51619201e+02] [-1.03694049e-02 -1.14175986e-04 -9.99946230e-01 -1.79115179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.286559995 meters 0.013853977158382961 Centerline is valid? [True, True] Translation: X:-120.58, Y:-251.67, Z:-1.79 [[-6.65335891e-01 -7.46515023e-01 6.59334890e-03 -1.20581320e+02] [-7.46479742e-01 6.65368554e-01 7.25824570e-03 -2.51670145e+02] [-9.80539647e-03 -9.26300134e-05 -9.99951922e-01 -1.79114147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.3165599949999 meters 0.01337080747185619 Centerline is valid? [True, True] Translation: X:-120.66, Y:-251.72, Z:-1.79 [[-6.08455561e-01 -7.93568153e-01 5.60506240e-03 -1.20660576e+02] [-7.93535497e-01 6.08481373e-01 7.19956664e-03 -2.51724515e+02] [-9.12392287e-03 -6.71996212e-05 -9.99958374e-01 -1.79152853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.3465599949999 meters 0.012676218869263739 Centerline is valid? [True, True] Translation: X:-120.74, Y:-251.79, Z:-1.79 [[-5.48418864e-01 -8.36190364e-01 4.73560265e-03 -1.20740492e+02] [-8.36159845e-01 5.48439308e-01 7.14426428e-03 -2.51793744e+02] [-8.57115559e-03 -4.16714745e-05 -9.99963266e-01 -1.79350191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.376559995 meters 0.01252907474128721 Centerline is valid? [True, True] Translation: X:-120.81, Y:-251.87, Z:-1.79 [[-4.87448915e-01 -8.73144113e-01 3.59348810e-03 -1.20813528e+02] [-8.73120356e-01 4.87462161e-01 6.44095650e-03 -2.51869360e+02] [-7.37557273e-03 2.08965078e-06 -9.99972800e-01 -1.79369628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.406559995 meters 0.012609139065255633 Centerline is valid? [True, True] Translation: X:-120.88, Y:-251.95, Z:-1.79 [[-4.21739839e-01 -9.06711764e-01 3.04726095e-03 -1.20884472e+02] [-9.06687722e-01 4.21750848e-01 6.60280979e-03 -2.51952521e+02] [-7.27203020e-03 2.17538503e-05 -9.99973558e-01 -1.79414863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.4365599949999 meters 0.012696379593907936 Centerline is valid? [True, True] Translation: X:-120.95, Y:-252.05, Z:-1.79 [[-3.53169764e-01 -9.35556076e-01 2.43862206e-03 -1.20951705e+02] [-9.35533056e-01 3.53178181e-01 6.56307272e-03 -2.52046303e+02] [-7.00139066e-03 3.64672942e-05 -9.99975489e-01 -1.79470628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.4665599949999 meters 0.013347492430198178 Centerline is valid? [True, True] Translation: X:-121.01, Y:-252.15, Z:-1.79 [[-2.82524261e-01 -9.59258055e-01 2.00668228e-03 -1.21010385e+02] [-9.59232480e-01 2.82531382e-01 7.00477519e-03 -2.52145775e+02] [-7.28633774e-03 5.41441141e-05 -9.99973453e-01 -1.79309081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.496559995 meters 0.013509251441196678 Centerline is valid? [True, True] Translation: X:-121.06, Y:-252.25, Z:-1.79 [[-2.11240487e-01 -9.77432786e-01 1.61403254e-03 -1.21062363e+02] [-9.77401058e-01 2.11246636e-01 7.87597812e-03 -2.52250794e+02] [-8.03919818e-03 8.61683407e-05 -9.99967682e-01 -1.79336852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.526559995 meters 0.013736965499781284 Centerline is valid? [True, True] Translation: X:-121.11, Y:-252.36, Z:-1.79 [[-1.36876941e-01 -9.90587437e-01 1.11008077e-03 -1.21106770e+02] [-9.90548453e-01 1.36881404e-01 8.78879402e-03 -2.52357257e+02] [-8.85801835e-03 1.03394457e-04 -9.99960762e-01 -1.79266468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.5565599949999 meters 0.013938708523707235 Centerline is valid? [True, True] Translation: X:-121.14, Y:-252.47, Z:-1.79 [[-6.09108719e-02 -9.98143098e-01 4.71798544e-04 -1.21143755e+02] [-9.98096083e-01 6.09125824e-02 9.68843325e-03 -2.52469138e+02] [-9.69918125e-03 1.19230639e-04 -9.99952955e-01 -1.79174478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.5865599949999 meters 0.013974816640986222 Centerline is valid? [True, True] Translation: X:-121.17, Y:-252.59, Z:-1.79 [[ 1.59315290e-02 -9.99873037e-01 -3.11226309e-04 -1.21172087e+02] [-9.99812908e-01 -1.59339844e-02 1.09662061e-02 -2.52590531e+02] [-1.09697729e-02 1.36459649e-04 -9.99939821e-01 -1.79055512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.616559995 meters 0.013803565400077326 Centerline is valid? [True, True] Translation: X:-121.19, Y:-252.71, Z:-1.79 [[ 9.30685497e-02 -9.95659043e-01 -1.14691384e-03 -1.21192534e+02] [-9.95600039e-01 -9.30755213e-02 1.08401741e-02 -2.52706943e+02] [-1.08998669e-02 1.32988191e-04 -9.99940586e-01 -1.79045021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.646559995 meters 0.013682652420925973 Centerline is valid? [True, True] Translation: X:-121.20, Y:-252.82, Z:-1.79 [[ 1.69848407e-01 -9.85468103e-01 -2.03365167e-03 -1.21203642e+02] [-9.85406309e-01 -1.69860532e-01 1.10366060e-02 -2.52824355e+02] [-1.12216603e-02 1.29423233e-04 -9.99937027e-01 -1.79057376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.6765599949999 meters 0.013674399753534891 Centerline is valid? [True, True] Translation: X:-121.20, Y:-252.95, Z:-1.79 [[ 2.45647536e-01 -9.69354920e-01 -2.88578036e-03 -1.21204548e+02] [-9.69293819e-01 -2.45664455e-01 1.08843376e-02 -2.52945123e+02] [-1.12597199e-02 1.23458343e-04 -9.99936600e-01 -1.79031025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.7065599949999 meters 0.013332829700686636 Centerline is valid? [True, True] Translation: X:-121.20, Y:-253.07, Z:-1.79 [[ 3.21564168e-01 -9.46880969e-01 -3.59390703e-03 -1.21197655e+02] [-9.46825104e-01 -3.21584236e-01 1.02859934e-02 -2.53065014e+02] [-1.08953553e-02 9.51944886e-05 -9.99940639e-01 -1.79072599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.736559995 meters 0.013199383291616577 Centerline is valid? [True, True] Translation: X:-121.18, Y:-253.18, Z:-1.79 [[ 3.94843958e-01 -9.18737976e-01 -4.33353936e-03 -1.21182215e+02] [-9.18684769e-01 -3.94867731e-01 9.88790245e-03 -2.53183766e+02] [-1.07955663e-02 7.69780638e-05 -9.99941723e-01 -1.79090323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.766559995 meters 0.013015435232128164 Centerline is valid? [True, True] Translation: X:-121.16, Y:-253.30, Z:-1.79 [[ 4.65723575e-01 -8.84915521e-01 -5.10613258e-03 -1.21157652e+02] [-8.84863706e-01 -4.65751562e-01 9.57624788e-03 -2.53300991e+02] [-1.08523596e-02 5.83469910e-05 -9.99941110e-01 -1.79065657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.7965599949999 meters 0.012881478430091364 Centerline is valid? [True, True] Translation: X:-121.13, Y:-253.41, Z:-1.79 [[ 5.33639442e-01 -8.45692506e-01 -5.75601334e-03 -1.21126821e+02] [-8.45644099e-01 -5.33670483e-01 9.04840152e-03 -2.53411719e+02] [-1.07239798e-02 3.89547704e-05 -9.99942496e-01 -1.79062218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.8265599949999 meters 0.012744935185293287 Centerline is valid? [True, True] Translation: X:-121.08, Y:-253.53, Z:-1.79 [[ 6.00042872e-01 -7.99944220e-01 -6.14799548e-03 -1.21084343e+02] [-7.99902146e-01 -6.00074367e-01 8.20431812e-03 -2.53526477e+02] [-1.02522514e-02 -5.14782163e-06 -9.99947444e-01 -1.79063348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.856559995 meters 0.01286024817342562 Centerline is valid? [True, True] Translation: X:-121.04, Y:-253.62, Z:-1.79 [[ 6.60912784e-01 -7.50434533e-01 -6.50420097e-03 -1.21043656e+02] [-7.50397812e-01 -6.60944787e-01 7.42374552e-03 -2.53622765e+02] [-9.86995272e-03 -2.57101399e-05 -9.99951291e-01 -1.79060068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.886559995 meters 0.013081341021514283 Centerline is valid? [True, True] Translation: X:-120.99, Y:-253.72, Z:-1.79 [[ 7.18965238e-01 -6.95015028e-01 -6.56482831e-03 -1.20992719e+02] [-6.94985277e-01 -7.18995206e-01 6.43102079e-03 -2.53720955e+02] [-9.18973618e-03 -6.12213707e-05 -9.99957772e-01 -1.79067933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.916559995 meters 0.013337175921321139 Centerline is valid? [True, True] Translation: X:-121.00, Y:-253.73, Z:-1.79 [[ 7.72291317e-01 -6.35232001e-01 -6.81375085e-03 -1.20996468e+02] [-6.35206411e-01 -7.72321371e-01 5.70226302e-03 -2.53731002e+02] [-8.88466535e-03 -7.56699917e-05 -9.99960528e-01 -1.79039635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.9465599949999 meters 0.013643709155200136 Centerline is valid? [True, True] Translation: X:-121.00, Y:-253.74, Z:-1.79 [[ 8.20706803e-01 -5.71305157e-01 -7.12474835e-03 -1.20999409e+02] [-5.71282658e-01 -8.20737723e-01 5.07097337e-03 -2.53740718e+02] [-8.74462297e-03 -9.15371642e-05 -9.99961761e-01 -1.79013071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.976559995 meters 0.0137839564759931 Centerline is valid? [True, True] Translation: X:-121.00, Y:-253.75, Z:-1.79 [[ 8.63761749e-01 -5.03853312e-01 -6.89070637e-03 -1.21000877e+02] [-5.03836368e-01 -8.63789228e-01 4.13321539e-03 -2.53750041e+02] [-8.03465220e-03 -9.83248808e-05 -9.99967717e-01 -1.79016420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.006559995 meters 0.014377591302211477 Centerline is valid? [True, True] Translation: X:-121.00, Y:-253.76, Z:-1.79 [[ 9.01214271e-01 -4.33312187e-01 -7.30665759e-03 -1.21001710e+02] [-4.33296923e-01 -9.01243883e-01 3.63875996e-03 -2.53759719e+02] [-8.16179950e-03 -1.13350154e-04 -9.99966686e-01 -1.78966577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.036559995 meters 0.015316818053268698 Centerline is valid? [True, True] Translation: X:-121.00, Y:-253.77, Z:-1.79 [[ 9.33348862e-01 -3.58881615e-01 -7.99305067e-03 -1.21001578e+02] [-3.58867125e-01 -9.33383076e-01 3.22809972e-03 -2.53767574e+02] [-8.61908386e-03 -1.44500085e-04 -9.99962845e-01 -1.78876841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.0665599949999 meters 0.014966753480782703 Centerline is valid? [True, True] Translation: X:-121.00, Y:-253.78, Z:-1.79 [[ 9.58765101e-01 -2.84058056e-01 -8.97227636e-03 -1.20999975e+02] [-2.84044002e-01 -9.58807068e-01 2.83040267e-03 -2.53775568e+02] [-9.40668066e-03 -1.65170015e-04 -9.99955743e-01 -1.78878448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.0965599949999 meters 0.014960649711456154 Centerline is valid? [True, True] Translation: X:-121.00, Y:-253.78, Z:-1.79 [[ 9.78111531e-01 -2.07857429e-01 -9.64993373e-03 -1.20997697e+02] [-2.07845520e-01 -9.78159117e-01 2.23207671e-03 -2.53784870e+02] [-9.90312438e-03 -1.77524473e-04 -9.99950947e-01 -1.78861067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.126559995 meters 0.015820446973773106 Centerline is valid? [True, True] Translation: X:-121.00, Y:-253.79, Z:-1.79 [[ 9.91300086e-01 -1.31256767e-01 -9.78779518e-03 -1.20995334e+02] [-1.31248651e-01 -9.91348391e-01 1.46980605e-03 -2.53794172e+02] [-9.89603699e-03 -1.72383947e-04 -9.99951018e-01 -1.78694751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.156559995 meters 0.014942066927369041 Centerline is valid? [True, True] Translation: X:-120.99, Y:-253.80, Z:-1.79 [[ 9.98503090e-01 -5.38073400e-02 -9.81580639e-03 -1.20994615e+02] [-5.38031039e-02 -9.98551322e-01 6.95307529e-04 -2.53799789e+02] [-9.83899909e-03 -1.66145865e-04 -9.99951582e-01 -1.78788707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.1865599949999 meters 0.014925548276339911 Centerline is valid? [True, True] Translation: X:-121.00, Y:-253.81, Z:-1.79 [[ 9.99668550e-01 2.38615704e-02 -9.66521498e-03 -1.20995107e+02] [ 2.38619704e-02 -9.99715260e-01 -7.39377583e-05 -2.53806209e+02] [-9.66422717e-03 -1.56717823e-04 -9.99953288e-01 -1.78757203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.2165599949999 meters 0.014255245432709746 Centerline is valid? [True, True] Translation: X:-120.99, Y:-253.81, Z:-1.79 [[ 9.94877819e-01 1.00678012e-01 -9.05890368e-03 -1.20993696e+02] [ 1.00675070e-01 -9.94919052e-01 -7.81355478e-04 -2.53813139e+02] [-9.09154118e-03 -1.34652527e-04 -9.99958662e-01 -1.78849530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.246559995 meters 0.014783158877266738 Centerline is valid? [True, True] Translation: X:-120.99, Y:-253.82, Z:-1.79 [[ 9.84048589e-01 1.77678671e-01 -8.86928185e-03 -1.20992211e+02] [ 1.77672625e-01 -9.84088550e-01 -1.47134207e-03 -2.53822352e+02] [-8.98958482e-03 -1.27956501e-04 -9.99959585e-01 -1.78738754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.276559995 meters 0.014423658163782231 Centerline is valid? [True, True] Translation: X:-120.99, Y:-253.83, Z:-1.79 [[ 9.67441508e-01 2.52916205e-01 -9.50376009e-03 -1.20990413e+02] [ 2.52905284e-01 -9.67488179e-01 -2.35374629e-03 -2.53825522e+02] [-9.79007612e-03 -1.26439283e-04 -9.99952068e-01 -1.78677007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.3065599949999 meters 0.014308469639506008 Centerline is valid? [True, True] Translation: X:-120.99, Y:-253.83, Z:-1.79 [[ 9.44961739e-01 3.27038489e-01 -9.65083575e-03 -1.20988482e+02] [ 3.27022754e-01 -9.45011012e-01 -3.21031998e-03 -2.53828734e+02] [-1.01700443e-02 -1.22413343e-04 -9.99948276e-01 -1.78630797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.3365599949999 meters 0.014110102852417367 Centerline is valid? [True, True] Translation: X:-120.99, Y:-253.83, Z:-1.79 [[ 9.16629541e-01 3.99616484e-01 -9.84637405e-03 -1.20985580e+02] [ 3.99594877e-01 -9.16682415e-01 -4.15735132e-03 -2.53832837e+02] [-1.06873441e-02 -1.23809596e-04 -9.99942881e-01 -1.78638927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.366559995 meters 0.01428272013491665 Centerline is valid? [True, True] Translation: X:-120.98, Y:-253.84, Z:-1.79 [[ 8.82718263e-01 4.69799501e-01 -9.84360411e-03 -1.20984521e+02] [ 4.69771850e-01 -8.82773138e-01 -5.09856501e-03 -2.53836570e+02] [-1.10849726e-02 -1.23651666e-04 -9.99938552e-01 -1.78606089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.396559995 meters 0.01408569479483564 Centerline is valid? [True, True] Translation: X:-120.98, Y:-253.84, Z:-1.79 [[ 8.43094431e-01 5.37684190e-01 -9.35371344e-03 -1.20980876e+02] [ 5.37652747e-01 -8.43146308e-01 -5.81613623e-03 -2.53842643e+02] [-1.10137934e-02 -1.25497656e-04 -9.99939339e-01 -1.78726216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.4265599949999 meters 0.014256510680372965 Centerline is valid? [True, True] Translation: X:-120.98, Y:-253.85, Z:-1.79 [[ 7.98108278e-01 6.02454100e-01 -8.49906494e-03 -1.20976482e+02] [ 6.02421617e-01 -7.98153520e-01 -6.25728128e-03 -2.53848981e+02] [-1.05532834e-02 -1.26032454e-04 -9.99944305e-01 -1.78777307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.4565599949999 meters 0.014298606152260104 Centerline is valid? [True, True] Translation: X:-120.97, Y:-253.85, Z:-1.79 [[ 7.48138580e-01 6.63499228e-01 -7.57890207e-03 -1.20971162e+02] [ 6.63466872e-01 -7.48176957e-01 -6.55369940e-03 -2.53854723e+02] [-1.00187344e-02 -1.25275091e-04 -9.99949803e-01 -1.78874446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.486559995 meters 0.01500068253264189 Centerline is valid? [True, True] Translation: X:-120.97, Y:-253.86, Z:-1.79 [[ 6.92542810e-01 7.21351081e-01 -6.08887505e-03 -1.20965726e+02] [ 7.21324774e-01 -6.92569566e-01 -6.16182265e-03 -2.53861142e+02] [-8.66180698e-03 -1.24730444e-04 -9.99962478e-01 -1.78966040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.516559995 meters 0.01500068253264189 Centerline is valid? [True, True] Translation: X:-120.96, Y:-253.87, Z:-1.79 [[ 6.33920575e-01 7.73377969e-01 -5.58761314e-03 -1.20961818e+02] [ 7.73349647e-01 -6.33945188e-01 -6.61982560e-03 -2.53865028e+02] [-8.66186774e-03 -1.24734997e-04 -9.99962478e-01 -1.78965986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.5465599949999 meters 0.015012841068087602 Centerline is valid? [True, True] Translation: X:-120.96, Y:-253.87, Z:-1.79 [[ 5.70751219e-01 8.21109791e-01 -4.66437807e-03 -1.20955746e+02] [ 8.21084095e-01 -5.70770265e-01 -6.49720586e-03 -2.53869144e+02] [-7.99720765e-03 -1.21558482e-04 -9.99968015e-01 -1.79041710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.5765599949999 meters 0.01508230248170004 Centerline is valid? [True, True] Translation: X:-120.95, Y:-253.87, Z:-1.79 [[ 5.03960565e-01 8.63716545e-01 -4.18089083e-03 -1.20948599e+02] [ 8.63688930e-01 -5.03977890e-01 -6.90788818e-03 -2.53873987e+02] [-8.07353385e-03 -1.29685903e-04 -9.99967400e-01 -1.79089365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.606559995 meters 0.015323869150217658 Centerline is valid? [True, True] Translation: X:-120.94, Y:-253.88, Z:-1.79 [[ 4.33894881e-01 9.00956169e-01 -3.63508218e-03 -1.20941270e+02] [ 9.00927168e-01 -4.33910086e-01 -7.23013058e-03 -2.53878153e+02] [-8.09132957e-03 -1.37827645e-04 -9.99967255e-01 -1.79114869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.636559995 meters 0.01569984290310064 Centerline is valid? [True, True] Translation: X:-120.93, Y:-253.88, Z:-1.79 [[ 3.60766969e-01 9.32651009e-01 -3.04789159e-03 -1.20933228e+02] [ 9.32621118e-01 -3.60779814e-01 -7.46830487e-03 -2.53881965e+02] [-8.06493983e-03 -1.48210354e-04 -9.99967467e-01 -1.79160073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.666559995 meters 0.015897561515941613 Centerline is valid? [True, True] Translation: X:-120.93, Y:-253.88, Z:-1.79 [[ 2.86116856e-01 9.58191534e-01 -2.47558644e-03 -1.20925445e+02] [ 9.58160179e-01 -2.86127525e-01 -7.75317936e-03 -2.53884670e+02] [-8.13736425e-03 -1.53693039e-04 -9.99966879e-01 -1.79152774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.6965599949999 meters 0.016297862456439324 Centerline is valid? [True, True] Translation: X:-120.92, Y:-253.89, Z:-1.79 [[ 2.09488224e-01 9.77809300e-01 -1.91233588e-03 -1.20918156e+02] [ 9.77775408e-01 -2.09496888e-01 -8.14278509e-03 -2.53888347e+02] [-8.36271941e-03 -1.64017410e-04 -9.99965019e-01 -1.79134247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.726559995 meters 0.017187261996034323 Centerline is valid? [True, True] Translation: X:-120.91, Y:-253.89, Z:-1.79 [[ 1.31264434e-01 9.91346552e-01 -1.28936267e-03 -1.20910185e+02] [ 9.91310959e-01 -1.31270649e-01 -8.40237831e-03 -2.53891389e+02] [-8.49892425e-03 -1.75225910e-04 -9.99963868e-01 -1.79025509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.756559995 meters 0.01698136062399154 Centerline is valid? [True, True] Translation: X:-120.90, Y:-253.89, Z:-1.79 [[ 5.28078342e-02 9.98604481e-01 -6.51320513e-04 -1.20904754e+02] [ 9.98565725e-01 -5.28115242e-02 -8.79975130e-03 -2.53892274e+02] [-8.82186830e-03 -1.85690533e-04 -9.99961069e-01 -1.79050007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.786559995 meters 0.017128749940475998 Centerline is valid? [True, True] Translation: X:-120.90, Y:-253.89, Z:-1.79 [[-2.61042937e-02 9.99659224e-01 4.17909444e-05 -1.20899029e+02] [ 9.99616269e-01 2.61035595e-02 -9.26928361e-03 -2.53893079e+02] [-9.26721576e-03 -2.00193194e-04 -9.99957039e-01 -1.79040199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.8165599949999 meters 0.016911266305567038 Centerline is valid? [True, True] Translation: X:-120.89, Y:-253.89, Z:-1.79 [[-1.04388186e-01 9.94536288e-01 8.24119333e-04 -1.20892419e+02] [ 9.94486895e-01 1.04391217e-01 -9.91414725e-03 -2.53892717e+02] [-9.94601003e-03 -2.15343971e-04 -9.99950514e-01 -1.79058361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.8465599949999 meters 0.01696973692079009 Centerline is valid? [True, True] Translation: X:-120.89, Y:-253.89, Z:-1.79 [[-1.81881417e-01 9.83319078e-01 1.65558641e-03 -1.20885313e+02] [ 9.83266481e-01 1.81888816e-01 -1.01728018e-02 -2.53891903e+02] [-1.03042427e-02 -2.22360975e-04 -9.99946885e-01 -1.79080369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.876559995 meters 0.016804671571859855 Centerline is valid? [True, True] Translation: X:-120.88, Y:-253.89, Z:-1.79 [[-2.58211250e-01 9.66085408e-01 2.43597949e-03 -1.20877728e+02] [ 9.66034053e-01 2.58222647e-01 -9.96353493e-03 -2.53890707e+02] [-1.02546508e-02 -2.19457668e-04 -9.99947396e-01 -1.79162227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.906559995 meters 0.016552706659925184 Centerline is valid? [True, True] Translation: X:-120.87, Y:-253.89, Z:-1.79 [[-3.32765392e-01 9.43004636e-01 3.07420055e-03 -1.20870039e+02] [ 9.42958480e-01 3.32779528e-01 -9.33220293e-03 -2.53888458e+02] [-9.82334163e-03 -2.06590685e-04 -9.99951729e-01 -1.79239973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.9365599949999 meters 0.01701275255740313 Centerline is valid? [True, True] Translation: X:-120.86, Y:-253.89, Z:-1.79 [[-4.05360405e-01 9.14149364e-01 3.72582773e-03 -1.20861104e+02] [ 9.14106105e-01 4.05377478e-01 -8.89540077e-03 -2.53886616e+02] [-9.64209161e-03 -2.00041386e-04 -9.99953494e-01 -1.79206885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.9665599949999 meters 0.016384454319391787 Centerline is valid? [True, True] Translation: X:-120.86, Y:-253.88, Z:-1.79 [[-4.74682864e-01 8.80147321e-01 4.10764222e-03 -1.20855164e+02] [ 8.80111106e-01 4.74700604e-01 -7.98615034e-03 -2.53884438e+02] [-8.97888907e-03 -1.75707177e-04 -9.99959674e-01 -1.79337322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.996559995 meters 0.016379773944307216 Centerline is valid? [True, True] Translation: X:-120.85, Y:-253.88, Z:-1.79 [[-5.41741387e-01 8.40532581e-01 4.60975883e-03 -1.20848957e+02] [ 8.40499487e-01 5.41760973e-01 -7.46056989e-03 -2.53881804e+02] [-8.76823950e-03 -1.67199543e-04 -9.99961544e-01 -1.79374499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.026559995 meters 0.01585592345423326 Centerline is valid? [True, True] Translation: X:-120.84, Y:-253.88, Z:-1.79 [[-6.05646994e-01 7.95716673e-01 5.16671383e-03 -1.20843090e+02] [ 7.95685383e-01 6.05669010e-01 -7.05847527e-03 -2.53877877e+02] [-8.74586491e-03 -1.63865662e-04 -9.99961741e-01 -1.79470653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.0565599949999 meters 0.01648174397103703 Centerline is valid? [True, True] Translation: X:-120.84, Y:-253.87, Z:-1.79 [[-6.65687481e-01 7.46209691e-01 5.59239253e-03 -1.20835603e+02] [ 7.46181377e-01 6.65710953e-01 -6.50234093e-03 -2.53873004e+02] [-8.57502678e-03 -1.55587790e-04 -9.99963222e-01 -1.79428240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.0865599949999 meters 0.01590075552013543 Centerline is valid? [True, True] Translation: X:-120.83, Y:-253.87, Z:-1.79 [[-7.20946499e-01 6.92957505e-01 6.78539525e-03 -1.20832668e+02] [ 6.92924735e-01 7.20978412e-01 -6.74098915e-03 -2.53869871e+02] [-9.56334252e-03 -1.58124325e-04 -9.99954258e-01 -1.79435304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.116559995 meters 0.015156158227122418 Centerline is valid? [True, True] Translation: X:-120.82, Y:-253.85, Z:-1.79 [[-7.67468223e-01 6.41044391e-01 7.39018418e-03 -1.20818907e+02] [ 6.41012763e-01 7.67503789e-01 -6.36957780e-03 -2.53846091e+02] [-9.75517648e-03 -1.51246170e-04 -9.99952406e-01 -1.79484450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.146559995 meters 0.01549049635760863 Centerline is valid? [True, True] Translation: X:-120.80, Y:-253.82, Z:-1.79 [[-8.10127729e-01 5.86198822e-01 8.00025962e-03 -1.20798440e+02] [ 5.86168507e-01 8.10167218e-01 -5.96326995e-03 -2.53824995e+02] [-9.97720990e-03 -1.41510108e-04 -9.99950217e-01 -1.79384059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.1765599949999 meters 0.015001282261937594 Centerline is valid? [True, True] Translation: X:-120.78, Y:-253.81, Z:-1.79 [[-8.48933097e-01 5.28425376e-01 8.90048924e-03 -1.20777908e+02] [ 5.28394634e-01 8.48979742e-01 -5.70154762e-03 -2.53805997e+02] [-1.05691775e-02 -1.37261715e-04 -9.99944135e-01 -1.79383254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.2065599949999 meters 0.014490548811186941 Centerline is valid? [True, True] Translation: X:-120.43, Y:-253.26, Z:-2.79 [[-7.97540326e-01 -6.03195593e-01 9.19261483e-03 -1.20426833e+02] [ 6.03158325e-01 -7.97593279e-01 -6.70799749e-03 -2.53264259e+02] [ 1.13782023e-02 1.94703653e-04 9.99935247e-01 -2.79417830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.236559995 meters 0.013941899791305123 Centerline is valid? [True, True] Translation: X:-120.44, Y:-253.29, Z:-2.79 [[-7.56338273e-01 -6.54122778e-01 8.70682844e-03 -1.20443411e+02] [ 6.54080908e-01 -7.56388381e-01 -7.40160259e-03 -2.53287547e+02] [ 1.14273007e-02 9.68549310e-05 9.99934702e-01 -2.79265947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.266559995 meters 0.013728406354522823 Centerline is valid? [True, True] Translation: X:-120.46, Y:-253.32, Z:-2.79 [[-7.12034772e-01 -7.02099584e-01 7.91564645e-03 -1.20455320e+02] [ 7.02057306e-01 -7.12078766e-01 -7.70519520e-03 -2.53316943e+02] [ 1.10463781e-02 7.08705099e-05 9.99938985e-01 -2.79253398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.2965599949999 meters 0.01343073632359791 Centerline is valid? [True, True] Translation: X:-120.91, Y:-253.79, Z:-1.80 [[-7.65370715e-01 6.43541601e-01 7.86615944e-03 -1.20906970e+02] [ 6.43507320e-01 7.65411136e-01 -6.64246931e-03 -2.53786854e+02] [-1.02955514e-02 -2.20203062e-05 -9.99946999e-01 -1.79602402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.3265599949999 meters 0.013368842613175957 Centerline is valid? [True, True] Translation: X:-120.89, Y:-253.77, Z:-1.80 [[-8.07817204e-01 5.89374739e-01 8.29351175e-03 -1.20887163e+02] [ 5.89343668e-01 8.07859775e-01 -6.05182313e-03 -2.53767186e+02] [-1.02667862e-02 -1.03820654e-06 -9.99947295e-01 -1.79627252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.356559995 meters 0.01334642808294067 Centerline is valid? [True, True] Translation: X:-120.50, Y:-253.24, Z:-2.79 [[-7.67286503e-01 -6.41256370e-01 7.85432338e-03 -1.20502763e+02] [ 6.41222766e-01 -7.67326702e-01 -6.56482514e-03 -2.53242153e+02] [ 1.02365680e-02 -7.30765805e-07 9.99947605e-01 -2.79083510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.386559995 meters 0.013379683624083089 Centerline is valid? [True, True] Translation: X:-120.93, Y:-253.74, Z:-1.80 [[-8.07817135e-01 5.89375034e-01 8.27922892e-03 -1.20925538e+02] [ 5.89344532e-01 8.07859559e-01 -5.99627271e-03 -2.53740899e+02] [-1.02225077e-02 3.54264552e-05 -9.99947748e-01 -1.79719928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.416559995 meters 0.013584050188437644 Centerline is valid? [True, True] Translation: X:-120.91, Y:-253.72, Z:-1.80 [[-8.45620551e-01 5.33704444e-01 9.24393349e-03 -1.20906300e+02] [ 5.33673545e-01 8.45671071e-01 -5.74344495e-03 -2.53719785e+02] [-1.08826292e-02 7.64676700e-05 -9.99940780e-01 -1.79731637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.4465599949999 meters 0.01377815408912195 Centerline is valid? [True, True] Translation: X:-120.56, Y:-253.17, Z:-2.79 [[-8.16885813e-01 -5.76729963e-01 8.95092274e-03 -1.20557080e+02] [ 5.76694403e-01 -8.16934848e-01 -6.40475192e-03 -2.53171655e+02] [ 1.10061330e-02 -7.00039387e-05 9.99939428e-01 -2.79060113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.476559995 meters 0.014013791992488395 Centerline is valid? [True, True] Translation: X:-120.94, Y:-253.70, Z:-1.80 [[-8.45116483e-01 5.34490319e-01 9.91104672e-03 -1.20937579e+02] [ 5.34455437e-01 8.45174586e-01 -6.10781893e-03 -2.53698302e+02] [-1.16411349e-02 1.35194353e-04 -9.99932231e-01 -1.79684443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.506559995 meters 0.014555826328437499 Centerline is valid? [True, True] Translation: X:-120.92, Y:-253.67, Z:-1.80 [[-8.80233631e-01 4.74415553e-01 1.08921100e-02 -1.20923261e+02] [ 4.74381443e-01 8.80301004e-01 -5.69106178e-03 -2.53673813e+02] [-1.22882636e-02 1.57550891e-04 -9.99924484e-01 -1.79551803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.536559995 meters 0.01464131596427051 Centerline is valid? [True, True] Translation: X:-120.63, Y:-253.10, Z:-2.79 [[-8.60004029e-01 -5.10161312e-01 1.13360665e-02 -1.20625070e+02] [ 5.10115283e-01 -8.60078731e-01 -6.85377750e-03 -2.53103663e+02] [ 1.32464418e-02 -1.11575461e-04 9.99912256e-01 -2.79231022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.5665599949999 meters 0.014739213957162866 Centerline is valid? [True, True] Translation: X:-120.96, Y:-253.65, Z:-1.80 [[-8.80859477e-01 4.73214381e-01 1.24390841e-02 -1.20962433e+02] [ 4.73170584e-01 8.80947277e-01 -6.44158982e-03 -2.53650255e+02] [-1.40064302e-02 2.11673225e-04 -9.99901883e-01 -1.79532633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.5965599949999 meters 0.014735431956617338 Centerline is valid? [True, True] Translation: X:-120.96, Y:-253.62, Z:-1.80 [[-9.12096230e-01 4.09769822e-01 1.30061490e-02 -1.20955227e+02] [ 4.09731535e-01 9.12188931e-01 -5.60565050e-03 -2.53620896e+02] [-1.41610916e-02 2.16136697e-04 -9.99899703e-01 -1.79558307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.626559995 meters 0.014846996545658468 Centerline is valid? [True, True] Translation: X:-120.94, Y:-253.59, Z:-1.80 [[-9.38839986e-01 3.44083774e-01 1.36322101e-02 -1.20940724e+02] [ 3.44050915e-01 9.38938927e-01 -4.76027961e-03 -2.53594542e+02] [-1.44377477e-02 2.21033512e-04 -9.99895746e-01 -1.79518706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.656559995 meters 0.01420752633268428 Centerline is valid? [True, True] Translation: X:-120.94, Y:-253.56, Z:-1.80 [[-9.61277247e-01 2.75235506e-01 1.38373223e-02 -1.20935513e+02] [ 2.75209974e-01 9.61376813e-01 -3.75416280e-03 -2.53560682e+02] [-1.43361598e-02 1.99377836e-04 -9.99897212e-01 -1.79578372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.6865599949999 meters 0.014044424074470752 Centerline is valid? [True, True] Translation: X:-120.77, Y:-252.97, Z:-2.79 [[-9.49242058e-01 -3.14252037e-01 1.36078528e-02 -1.20773160e+02] [ 3.14216782e-01 -9.49339570e-01 -4.71112508e-03 -2.52966172e+02] [ 1.43989538e-02 -1.96182351e-04 9.99896311e-01 -2.79204797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.7165599949999 meters 0.0138071851038166 Centerline is valid? [True, True] Translation: X:-120.98, Y:-253.54, Z:-1.80 [[-9.63130211e-01 2.68682843e-01 1.37741014e-02 -1.20982406e+02] [ 2.68657687e-01 9.63228688e-01 -3.67992093e-03 -2.53543054e+02] [-1.42563412e-02 1.56275197e-04 -9.99898361e-01 -1.79544788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.746559995 meters 0.0131546073653074 Centerline is valid? [True, True] Translation: X:-120.98, Y:-253.51, Z:-1.80 [[-9.80713957e-01 1.94954550e-01 1.38873135e-02 -1.20983023e+02] [ 1.94936265e-01 9.80812274e-01 -2.67146111e-03 -2.53507778e+02] [-1.41416610e-02 8.72018269e-05 -9.99899998e-01 -1.79569179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.776559995 meters 0.012945118477920646 Centerline is valid? [True, True] Translation: X:-120.98, Y:-253.48, Z:-1.80 [[-9.92404124e-01 1.22274565e-01 1.35272504e-02 -1.20983939e+02] [ 1.22263881e-01 9.92496312e-01 -1.61710232e-03 -2.53476166e+02] [-1.36234766e-02 4.90751224e-05 -9.99907195e-01 -1.79586255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.8065599949999 meters 0.012819752596062984 Centerline is valid? [True, True] Translation: X:-120.92, Y:-252.89, Z:-2.79 [[-9.82756172e-01 -1.84493693e-01 1.23444217e-02 -1.20917429e+02] [ 1.84477661e-01 -9.82833691e-01 -2.43487624e-03 -2.52894035e+02] [ 1.25817329e-02 -1.15619604e-04 9.99920840e-01 -2.79121354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.8365599949999 meters 0.012776073577200094 Centerline is valid? [True, True] Translation: X:-121.04, Y:-253.46, Z:-1.80 [[-9.93541568e-01 1.12840768e-01 1.19211142e-02 -1.21042929e+02] [ 1.12832377e-01 9.93613084e-01 -1.37633692e-03 -2.53462197e+02] [-1.20002820e-02 -2.23602890e-05 -9.99927994e-01 -1.79664977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.866559995 meters 0.012970119556064579 Centerline is valid? [True, True] Translation: X:-121.05, Y:-253.43, Z:-1.80 [[-9.99245297e-01 3.72004550e-02 1.11786409e-02 -1.21048918e+02] [ 3.71972984e-02 9.99307821e-01 -4.90232102e-04 -2.53427660e+02] [-1.11891401e-02 -7.40468828e-05 -9.99937397e-01 -1.79712073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.896559995 meters 0.013342205603493756 Centerline is valid? [True, True] Translation: X:-121.03, Y:-252.87, Z:-2.79 [[-9.92707948e-01 -1.20054978e-01 1.08504170e-02 -1.21029514e+02] [ 1.20048404e-01 -9.92767243e-01 -1.25750605e-03 -2.52868807e+02] [ 1.09229084e-02 5.42389931e-05 9.99940342e-01 -2.79072810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.9265599949999 meters 0.013542144783286634 Centerline is valid? [True, True] Translation: X:-121.11, Y:-253.42, Z:-1.80 [[-9.99533427e-01 2.85397534e-02 1.08816844e-02 -1.21111709e+02] [ 2.85367545e-02 9.99592651e-01 -4.30794296e-04 -2.53419105e+02] [-1.08895465e-02 -1.20065343e-04 -9.99940700e-01 -1.79736821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.9565599949999 meters 0.013935958881204528 Centerline is valid? [True, True] Translation: X:-121.12, Y:-253.39, Z:-1.80 [[-9.98945698e-01 -4.45335065e-02 1.11471813e-02 -1.21120532e+02] [-4.45323448e-02 9.99007881e-01 3.52529352e-04 -2.53387899e+02] [-1.11518214e-02 -1.44252442e-04 -9.99937806e-01 -1.79657782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.986559995 meters 0.014579047591136832 Centerline is valid? [True, True] Translation: X:-121.14, Y:-253.36, Z:-1.80 [[-9.92757860e-01 -1.19520071e-01 1.21154634e-02 -1.21135516e+02] [-1.19513712e-01 9.92831763e-01 1.25018095e-03 -2.53355742e+02] [-1.21780387e-02 -2.06837040e-04 -9.99925824e-01 -1.79583535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.016559995 meters 0.015573436051815007 Centerline is valid? [True, True] Translation: X:-121.20, Y:-252.83, Z:-2.79 [[-9.99781403e-01 1.65954691e-02 1.27176106e-02 -1.21195188e+02] [-1.65909018e-02 -9.99862254e-01 4.64555714e-04 -2.52830748e+02] [ 1.27235683e-02 2.53457535e-04 9.99919020e-01 -2.79309386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.0465599949999 meters 0.015487858812006214 Centerline is valid? [True, True] Translation: X:-121.21, Y:-253.36, Z:-1.79 [[-9.91644300e-01 -1.28325187e-01 1.31995454e-02 -1.21212580e+02] [-1.28317577e-01 9.91732105e-01 1.42533314e-03 -2.53356297e+02] [-1.32733191e-02 -2.80310192e-04 -9.99911866e-01 -1.79443566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.0765599949999 meters 0.01591232164516165 Centerline is valid? [True, True] Translation: X:-121.23, Y:-253.33, Z:-1.79 [[-9.79886589e-01 -1.99126944e-01 1.30664620e-02 -1.21225666e+02] [-1.99113116e-01 9.79973662e-01 2.36389870e-03 -2.53328582e+02] [-1.32755046e-02 -2.85351343e-04 -9.99911836e-01 -1.79373912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.106559995 meters 0.01586514207129374 Centerline is valid? [True, True] Translation: X:-121.25, Y:-253.31, Z:-1.79 [[-9.63154218e-01 -2.68648199e-01 1.27317773e-02 -1.21250554e+02] [-2.68628584e-01 9.63238323e-01 3.25850934e-03 -2.53305537e+02] [-1.31391285e-02 -2.81672291e-04 -9.99913638e-01 -1.79413466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.136559995 meters 0.01505742677343579 Centerline is valid? [True, True] Translation: X:-121.40, Y:-252.81, Z:-2.79 [[-9.86685492e-01 1.62138763e-01 1.27578402e-02 -1.21400081e+02] [-1.62121704e-01 -9.86767931e-01 2.36706167e-03 -2.52812460e+02] [ 1.29728200e-02 2.67222624e-04 9.99915814e-01 -2.79263280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.166559995 meters 0.014724660802839313 Centerline is valid? [True, True] Translation: X:-121.37, Y:-253.34, Z:-1.79 [[-9.62316809e-01 -2.71642427e-01 1.25200725e-02 -1.21368065e+02] [-2.71622664e-01 9.62398221e-01 3.28538768e-03 -2.53336594e+02] [-1.29417461e-02 -2.39151638e-04 -9.99916224e-01 -1.79493067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.1965599949999 meters 0.014504604936479227 Centerline is valid? [True, True] Translation: X:-121.40, Y:-253.32, Z:-1.79 [[-9.40777241e-01 -3.38804213e-01 1.22429013e-02 -1.21399887e+02] [-3.38778552e-01 9.40856874e-01 4.17559135e-03 -2.53317999e+02] [-1.29335258e-02 -2.19331063e-04 -9.99916335e-01 -1.79485718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.226559995 meters 0.013725470494795562 Centerline is valid? [True, True] Translation: X:-121.45, Y:-253.31, Z:-1.80 [[-9.15014203e-01 -4.03246509e-01 1.18853145e-02 -1.21450435e+02] [-4.03214988e-01 9.15091374e-01 5.04493814e-03 -2.53310812e+02] [-1.29105025e-02 -1.76146888e-04 -9.99916641e-01 -1.79504788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.256559995 meters 0.013591454868316982 Centerline is valid? [True, True] Translation: X:-121.51, Y:-253.31, Z:-1.79 [[-8.83687001e-01 -4.67934834e-01 1.15877524e-02 -1.21514762e+02] [-4.67896893e-01 8.83762959e-01 5.96075091e-03 -2.53311607e+02] [-1.30300694e-02 -1.54435266e-04 -9.99915093e-01 -1.79485557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.286559995 meters 0.01321484706130631 Centerline is valid? [True, True] Translation: X:-121.58, Y:-253.32, Z:-1.80 [[-8.47827990e-01 -5.30161454e-01 1.07950645e-02 -1.21582317e+02] [-5.30120343e-01 8.47896702e-01 6.60337536e-03 -2.53319691e+02] [-1.26539546e-02 -1.24156815e-04 -9.99919928e-01 -1.79504502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.3165599949999 meters 0.012905765890844785 Centerline is valid? [True, True] Translation: X:-121.66, Y:-253.34, Z:-1.79 [[-8.08077738e-01 -5.88986504e-01 1.02599491e-02 -1.21655098e+02] [-5.88940319e-01 8.08142866e-01 7.37625655e-03 -2.53338369e+02] [-1.26360202e-02 -8.19089629e-05 -9.99920159e-01 -1.79476707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.3465599949999 meters 0.012764132951828704 Centerline is valid? [True, True] Translation: X:-121.73, Y:-253.37, Z:-1.80 [[-7.62791988e-01 -6.46575640e-01 9.39810661e-03 -1.21733187e+02] [-6.46527596e-01 7.62849879e-01 7.88228185e-03 -2.53366067e+02] [-1.22658359e-02 -6.35938233e-05 -9.99924770e-01 -1.79572676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.376559995 meters 0.012737050937552424 Centerline is valid? [True, True] Translation: X:-121.81, Y:-253.40, Z:-1.80 [[-7.13095069e-01 -7.01013009e-01 8.72833714e-03 -1.21814026e+02] [-7.00961338e-01 7.13148483e-01 8.51142815e-03 -2.53403304e+02] [-1.21912222e-02 -4.87694329e-05 -9.99925683e-01 -1.79570533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.406559995 meters 0.012737050937552424 Centerline is valid? [True, True] Translation: X:-121.90, Y:-253.45, Z:-1.80 [[-6.58443597e-01 -7.52586867e-01 8.06456171e-03 -1.21896662e+02] [-7.52531330e-01 6.58492980e-01 9.14287324e-03 -2.53449611e+02] [-1.21912636e-02 -4.87690145e-05 -9.99925683e-01 -1.79570367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.4365599949999 meters 0.012590686109786276 Centerline is valid? [True, True] Translation: X:-121.98, Y:-253.51, Z:-1.80 [[-6.00650829e-01 -7.99477542e-01 7.36493981e-03 -1.21978245e+02] [-7.99418196e-01 6.00695979e-01 9.74112371e-03 -2.53507685e+02] [-1.22118994e-02 -3.66528691e-05 -9.99925431e-01 -1.79602603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.4665599949999 meters 0.01265447895032099 Centerline is valid? [True, True] Translation: X:-122.05, Y:-253.57, Z:-1.80 [[-5.39386511e-01 -8.42028973e-01 7.02858764e-03 -1.22053996e+02] [-8.41958073e-01 5.39432302e-01 1.09268179e-02 -2.53571110e+02] [-1.29921444e-02 -2.39979529e-05 -9.99915598e-01 -1.79542679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.496559995 meters 0.012695280099001987 Centerline is valid? [True, True] Translation: X:-122.13, Y:-253.65, Z:-1.80 [[-4.74099594e-01 -8.80449196e-01 6.22801623e-03 -1.22130055e+02] [-8.80373886e-01 4.74140499e-01 1.15156012e-02 -2.53646837e+02] [-1.30918566e-02 -2.34409788e-05 -9.99914298e-01 -1.79516068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.526559995 meters 0.012562752536200945 Centerline is valid? [True, True] Translation: X:-122.20, Y:-253.73, Z:-1.80 [[-4.05889346e-01 -9.13907584e-01 5.17362346e-03 -1.22199766e+02] [-9.13834063e-01 4.05922317e-01 1.15921868e-02 -2.53727077e+02] [-1.26942767e-02 -2.26882139e-05 -9.99919424e-01 -1.79557776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.5565599949999 meters 0.012646575513268877 Centerline is valid? [True, True] Translation: X:-122.26, Y:-253.82, Z:-1.80 [[-3.33854546e-01 -9.42615323e-01 4.18265134e-03 -1.22264139e+02] [-9.42542893e-01 3.33880744e-01 1.16851819e-02 -2.53815859e+02] [-1.24111383e-02 -4.11771795e-05 -9.99922978e-01 -1.79661203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.5865599949999 meters 0.01281144329820064 Centerline is valid? [True, True] Translation: X:-122.32, Y:-253.91, Z:-1.80 [[-2.60283363e-01 -9.65526813e-01 3.24713455e-03 -1.22324624e+02] [-9.65454177e-01 2.60303612e-01 1.18432004e-02 -2.53913091e+02] [-1.22801684e-02 -5.23715777e-05 -9.99924595e-01 -1.79587303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.616559995 meters 0.012773697636512949 Centerline is valid? [True, True] Translation: X:-122.38, Y:-254.01, Z:-1.80 [[-1.84501781e-01 -9.82829437e-01 2.32184056e-03 -1.22376666e+02] [-9.82756283e-01 1.84516377e-01 1.19914748e-02 -2.54012910e+02] [-1.22139921e-02 -6.93549340e-05 -9.99925404e-01 -1.79700436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.646559995 meters 0.013145863992227561 Centerline is valid? [True, True] Translation: X:-122.42, Y:-254.12, Z:-1.80 [[-1.05556671e-01 -9.94412338e-01 1.37495810e-03 -1.22422566e+02] [-9.94341056e-01 1.05565568e-01 1.19069369e-02 -2.54120394e+02] [-1.19855532e-02 -1.10320669e-04 -9.99928165e-01 -1.79678703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.6765599949999 meters 0.01338151361797065 Centerline is valid? [True, True] Translation: X:-122.46, Y:-254.23, Z:-1.80 [[-2.71376371e-02 -9.99631591e-01 4.79998425e-04 -1.22459475e+02] [-9.99554074e-01 2.71415107e-02 1.24495830e-02 -2.54229104e+02] [-1.24580244e-02 -1.41932115e-04 -9.99922386e-01 -1.79633944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.7065599949999 meters 0.014077743330726589 Centerline is valid? [True, True] Translation: X:-122.49, Y:-254.34, Z:-1.80 [[ 5.15032293e-02 -9.98672712e-01 -4.81782323e-04 -1.22488413e+02] [-9.98591567e-01 -5.15051867e-02 1.27317744e-02 -2.54341185e+02] [-1.27396899e-02 -1.74623731e-04 -9.99918832e-01 -1.79561129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.736559995 meters 0.014549593587722632 Centerline is valid? [True, True] Translation: X:-122.51, Y:-254.46, Z:-1.80 [[ 1.31947129e-01 -9.91255719e-01 -1.43363958e-03 -1.22506518e+02] [-9.91176944e-01 -1.31954720e-01 1.24987231e-02 -2.54457513e+02] [-1.25786062e-02 -2.28180130e-04 -9.99920860e-01 -1.79636782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.766559995 meters 0.015229941864476876 Centerline is valid? [True, True] Translation: X:-122.52, Y:-254.57, Z:-1.80 [[ 2.09435116e-01 -9.77819785e-01 -2.32400802e-03 -1.22516730e+02] [-9.77745608e-01 -2.09447860e-01 1.20466283e-02 -2.54572261e+02] [-1.22661900e-02 -2.50698354e-04 -9.99924736e-01 -1.79655581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.7965599949999 meters 0.01610523811292015 Centerline is valid? [True, True] Translation: X:-122.52, Y:-254.69, Z:-1.80 [[ 2.85214464e-01 -9.58458849e-01 -3.05689752e-03 -1.22518338e+02] [-9.58393707e-01 -2.85230728e-01 1.11773573e-02 -2.54689284e+02] [-1.15849581e-02 -2.58232629e-04 -9.99932859e-01 -1.79680767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.8265599949999 meters 0.017047726236420632 Centerline is valid? [True, True] Translation: X:-122.51, Y:-254.80, Z:-1.80 [[ 3.60473551e-01 -9.32763264e-01 -3.39305520e-03 -1.22511090e+02] [-9.32715013e-01 -3.60489428e-01 9.49086089e-03 -2.54801106e+02] [-1.00758869e-02 -2.56450802e-04 -9.99949204e-01 -1.79863676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.856559995 meters 0.017938241065749306 Centerline is valid? [True, True] Translation: X:-122.49, Y:-254.92, Z:-1.80 [[ 4.31748851e-01 -9.01986010e-01 -3.76388263e-03 -1.22494703e+02] [-9.01946585e-01 -4.31765186e-01 8.43690449e-03 -2.54916175e+02] [-9.23508331e-03 -2.47802735e-04 -9.99957325e-01 -1.79924148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.886559995 meters 0.018595204050595348 Centerline is valid? [True, True] Translation: X:-122.47, Y:-255.02, Z:-1.80 [[ 5.01620418e-01 -8.65080154e-01 -3.64471637e-03 -1.22469560e+02] [-8.65053958e-01 -5.01633608e-01 6.73595083e-03 -2.55023159e+02] [-7.65544960e-03 -2.26014147e-04 -9.99970671e-01 -1.80073949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.916559995 meters 0.01958848433093687 Centerline is valid? [True, True] Translation: X:-122.44, Y:-255.13, Z:-1.80 [[ 5.66949304e-01 -8.23743327e-01 -3.92666196e-03 -1.22438658e+02] [-8.23720796e-01 -5.66962858e-01 6.09656222e-03 -2.55129038e+02] [-7.24827394e-03 -2.21968590e-04 -9.99973706e-01 -1.80075218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.9465599949999 meters 0.01890730634663314 Centerline is valid? [True, True] Translation: X:-122.40, Y:-255.23, Z:-1.80 [[ 6.28631717e-01 -7.77692080e-01 -4.14650591e-03 -1.22398938e+02] [-7.77672852e-01 -6.28645355e-01 5.47290564e-03 -2.55229417e+02] [-6.86291705e-03 -2.15816998e-04 -9.99976427e-01 -1.80109417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.976559995 meters 0.020100539882506714 Centerline is valid? [True, True] Translation: X:-122.35, Y:-255.33, Z:-1.80 [[ 6.87206166e-01 -7.26449679e-01 -4.30700530e-03 -1.22352547e+02] [-7.26433404e-01 -6.87219629e-01 4.86739929e-03 -2.55328192e+02] [-6.49577923e-03 -2.16154286e-04 -9.99978879e-01 -1.80054008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.006559995 meters 0.02126289041674782 Centerline is valid? [True, True] Translation: X:-122.30, Y:-255.42, Z:-1.80 [[ 7.40730265e-01 -6.71785565e-01 -4.77796750e-03 -1.22301699e+02] [-6.71769591e-01 -7.40745640e-01 4.63833538e-03 -2.55422037e+02] [-6.65522535e-03 -2.26062123e-04 -9.99977828e-01 -1.79989516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.036559995 meters 0.020141660744583834 Centerline is valid? [True, True] Translation: X:-122.30, Y:-255.43, Z:-1.80 [[ 7.91387851e-01 -6.11290057e-01 -5.45302048e-03 -1.22297482e+02] [-6.11273382e-01 -7.91406600e-01 4.52185655e-03 -2.55430313e+02] [-7.07972234e-03 -2.45256070e-04 -9.99974908e-01 -1.79985321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.0665599949999 meters 0.0204903165754989 Centerline is valid? [True, True] Translation: X:-122.29, Y:-255.44, Z:-1.80 [[ 8.37610286e-01 -5.46232910e-01 -6.21431138e-03 -1.22293715e+02] [-5.46215409e-01 -8.37633293e-01 4.38108681e-03 -2.55438893e+02] [-7.59840790e-03 -2.75290739e-04 -9.99971094e-01 -1.79897230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.0965599949999 meters 0.0210292032656108 Centerline is valid? [True, True] Translation: X:-122.29, Y:-255.45, Z:-1.80 [[ 8.78068366e-01 -4.78488433e-01 -6.69062568e-03 -1.22289765e+02] [-4.78472026e-01 -8.78093809e-01 3.97291225e-03 -2.55447916e+02] [-7.77598954e-03 -2.87211345e-04 -9.99969725e-01 -1.79877368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.126559995 meters 0.02120447438204962 Centerline is valid? [True, True] Translation: X:-122.28, Y:-255.45, Z:-1.80 [[ 9.13077108e-01 -4.07703122e-01 -8.26804117e-03 -1.22284904e+02] [-4.07682933e-01 -9.13114475e-01 4.07213137e-03 -2.55454463e+02] [-9.20988874e-03 -3.47430656e-04 -9.99957528e-01 -1.79769535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.156559995 meters 0.021191565801414496 Centerline is valid? [True, True] Translation: X:-122.28, Y:-255.46, Z:-1.80 [[ 9.42057104e-01 -3.35325802e-01 -9.22057676e-03 -1.22280123e+02] [-3.35305851e-01 -9.42102154e-01 3.67673095e-03 -2.55461995e+02] [-9.91962798e-03 -3.71977179e-04 -9.99950730e-01 -1.79665018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.1865599949999 meters 0.021125969673370264 Centerline is valid? [True, True] Translation: X:-122.27, Y:-255.47, Z:-1.79 [[ 9.65007178e-01 -2.61985396e-01 -1.11713761e-02 -1.22274926e+02] [-2.61962752e-01 -9.65071746e-01 3.47023561e-03 -2.55466100e+02] [-1.16903305e-02 -4.22317846e-04 -9.99931577e-01 -1.79434201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.2165599949999 meters 0.021113413469888587 Centerline is valid? [True, True] Translation: X:-122.27, Y:-255.47, Z:-1.79 [[ 9.82270961e-01 -1.87093018e-01 -1.18305789e-02 -1.22269677e+02] [-1.87074264e-01 -9.82342112e-01 2.68228455e-03 -2.55469727e+02] [-1.21235125e-02 -4.21533390e-04 -9.99926419e-01 -1.79376400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.246559995 meters 0.019602220763695555 Centerline is valid? [True, True] Translation: X:-122.26, Y:-255.47, Z:-1.79 [[ 9.93686907e-01 -1.11496554e-01 -1.24438515e-02 -1.22263606e+02] [-1.11482575e-01 -9.93764734e-01 1.81356977e-03 -2.55472051e+02] [-1.25684675e-02 -4.14847927e-04 -9.99920928e-01 -1.79403736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.276559995 meters 0.019706720243497997 Centerline is valid? [True, True] Translation: X:-122.26, Y:-255.47, Z:-1.79 [[ 9.99294530e-01 -3.53752407e-02 -1.26108738e-02 -1.22261717e+02] [-3.53674779e-02 -9.99374024e-01 8.38119490e-04 -2.55474938e+02] [-1.26326284e-02 -3.91513422e-04 -9.99920129e-01 -1.79399412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.3065599949999 meters 0.018931690566162358 Centerline is valid? [True, True] Translation: X:-122.26, Y:-255.48, Z:-1.79 [[ 9.99092156e-01 4.08376350e-02 -1.21306429e-02 -1.22259124e+02] [ 4.08388709e-02 -9.99165735e-01 -1.45917184e-04 -2.55475129e+02] [-1.21264817e-02 -3.49617045e-04 -9.99926411e-01 -1.79469767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.3365599949999 meters 0.016081830471608334 Centerline is valid? [True, True] Translation: X:-122.26, Y:-255.47, Z:-1.80 [[ 9.93355379e-01 1.14536145e-01 -1.12500023e-02 -1.22257250e+02] [ 1.14531937e-01 -9.93419043e-01 -1.01973860e-03 -2.55474232e+02] [-1.12927635e-02 -2.75521734e-04 -9.99936197e-01 -1.79720846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.366559995 meters 0.01585675190828907 Centerline is valid? [True, True] Translation: X:-122.26, Y:-255.48, Z:-1.80 [[ 9.81799199e-01 1.89638648e-01 -1.03690244e-02 -1.22255475e+02] [ 1.89630559e-01 -9.81853925e-01 -1.76677636e-03 -2.55479500e+02] [-1.05159164e-02 -2.31664275e-04 -9.99944680e-01 -1.79767408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.396559995 meters 0.01455657999906234 Centerline is valid? [True, True] Translation: X:-122.25, Y:-255.48, Z:-1.80 [[ 9.65405640e-01 2.60576429e-01 -9.58517019e-03 -1.22254279e+02] [ 2.60565253e-01 -9.65453209e-01 -2.41882106e-03 -2.55479227e+02] [-9.88432107e-03 -1.62418800e-04 -9.99951136e-01 -1.79853689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.4265599949999 meters 0.013924893166645764 Centerline is valid? [True, True] Translation: X:-122.25, Y:-255.48, Z:-1.80 [[ 9.42973842e-01 3.32748991e-01 -8.85682381e-03 -1.22252683e+02] [ 3.32735581e-01 -9.43015426e-01 -2.99000967e-03 -2.55482004e+02] [-9.34704418e-03 -1.27479512e-04 -9.99956307e-01 -1.79888351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.4565599949999 meters 0.013551179464495796 Centerline is valid? [True, True] Translation: X:-122.25, Y:-255.48, Z:-1.80 [[ 9.15105921e-01 4.03123567e-01 -8.51718020e-03 -1.22251294e+02] [ 4.03107143e-01 -9.15145551e-01 -3.64030302e-03 -2.55484595e+02] [-9.26195150e-03 -1.02073333e-04 -9.99957102e-01 -1.79911017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.486559995 meters 0.012874419084086292 Centerline is valid? [True, True] Translation: X:-122.25, Y:-255.48, Z:-1.80 [[ 8.83398148e-01 4.68542491e-01 -8.69751371e-03 -1.22251430e+02] [ 4.68520369e-01 -8.83440961e-01 -4.55328383e-03 -2.55483359e+02] [-9.81714681e-03 -5.25998329e-05 -9.99951809e-01 -1.79953830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.516559995 meters 0.012637724841182864 Centerline is valid? [True, True] Translation: X:-122.25, Y:-255.49, Z:-1.80 [[ 8.45455997e-01 5.33980430e-01 -8.31007636e-03 -1.22249704e+02] [ 5.33954937e-01 -8.45496836e-01 -5.21783494e-03 -2.55487495e+02] [-9.81236501e-03 -2.57564551e-05 -9.99951857e-01 -1.79988110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.5465599949999 meters 0.012595163474992914 Centerline is valid? [True, True] Translation: X:-122.25, Y:-255.49, Z:-1.80 [[ 8.02535307e-01 5.96550891e-01 -8.00723404e-03 -1.22247063e+02] [ 5.96521216e-01 -8.02575251e-01 -5.95014810e-03 -2.55491868e+02] [-9.97597403e-03 -1.28106109e-06 -9.99950239e-01 -1.80004613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.5765599949999 meters 0.012956175930604873 Centerline is valid? [True, True] Translation: X:-122.25, Y:-255.49, Z:-1.80 [[ 7.56195719e-01 6.54304080e-01 -7.36245321e-03 -1.22246915e+02] [ 6.54272543e-01 -7.56231558e-01 -6.42419239e-03 -2.55494665e+02] [-9.77109475e-03 4.08957971e-05 -9.99952261e-01 -1.79981048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.606559995 meters 0.01301708052510791 Centerline is valid? [True, True] Translation: X:-122.24, Y:-255.50, Z:-1.80 [[ 7.03960144e-01 7.10207613e-01 -6.72766605e-03 -1.22243722e+02] [ 7.10174393e-01 -7.03992289e-01 -6.86942995e-03 -2.55500226e+02] [-9.61494647e-03 5.79887451e-05 -9.99953774e-01 -1.80080237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.636559995 meters 0.013045493566333662 Centerline is valid? [True, True] Translation: X:-122.24, Y:-255.51, Z:-1.80 [[ 6.47260029e-01 7.62246812e-01 -5.85253420e-03 -1.22239480e+02] [ 7.62214704e-01 -6.47286484e-01 -6.99661794e-03 -2.55506835e+02] [-9.12141601e-03 6.77435104e-05 -9.99958397e-01 -1.80144246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.666559995 meters 0.013373977890380463 Centerline is valid? [True, True] Translation: X:-122.24, Y:-255.51, Z:-1.80 [[ 5.87633790e-01 8.09112922e-01 -4.77589009e-03 -1.22236097e+02] [ 8.09085058e-01 -5.87653191e-01 -6.71528257e-03 -2.55511910e+02] [-8.23998895e-03 8.20256361e-05 -9.99966047e-01 -1.80226515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.6965599949999 meters 0.013391125666828844 Centerline is valid? [True, True] Translation: X:-122.23, Y:-255.52, Z:-1.80 [[ 5.22912642e-01 8.52376285e-01 -4.12777727e-03 -1.22229367e+02] [ 8.52348449e-01 -5.22928927e-01 -6.88899702e-03 -2.55519166e+02] [-8.03055182e-03 8.40390800e-05 -9.99967751e-01 -1.80248434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.726559995 meters 0.013480069107787093 Centerline is valid? [True, True] Translation: X:-122.22, Y:-255.53, Z:-1.80 [[ 4.54340973e-01 8.90820326e-01 -3.66423503e-03 -1.22223405e+02] [ 8.90789850e-01 -4.54355741e-01 -7.36915198e-03 -2.55526192e+02] [-8.22945659e-03 8.40443062e-05 -9.99966134e-01 -1.80202550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.756559995 meters 0.013327049184344655 Centerline is valid? [True, True] Translation: X:-122.22, Y:-255.53, Z:-1.80 [[ 3.82117289e-01 9.24108238e-01 -3.21599519e-03 -1.22215724e+02] [ 9.24073780e-01 -3.82130814e-01 -7.98061847e-03 -2.55532988e+02] [-8.60388613e-03 7.77154611e-05 -9.99962983e-01 -1.80175020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.786559995 meters 0.013178815947785645 Centerline is valid? [True, True] Translation: X:-122.21, Y:-255.54, Z:-1.80 [[ 3.07192170e-01 9.51643362e-01 -2.80773054e-03 -1.22208608e+02] [ 9.51601475e-01 -3.07204992e-01 -8.92891314e-03 -2.55539199e+02] [-9.35968976e-03 7.10516745e-05 -9.99956195e-01 -1.80107359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.8165599949999 meters 0.012958768714274692 Centerline is valid? [True, True] Translation: X:-122.20, Y:-255.54, Z:-1.80 [[ 2.28413788e-01 9.73561597e-01 -2.22664667e-03 -1.22199608e+02] [ 9.73513552e-01 -2.28424637e-01 -9.67212168e-03 -2.55544987e+02] [-9.92502719e-03 4.15752431e-05 -9.99950745e-01 -1.79899865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.8465599949999 meters 0.012827225414921557 Centerline is valid? [True, True] Translation: X:-122.19, Y:-255.55, Z:-1.80 [[ 1.49554113e-01 9.88752331e-01 -1.54768830e-03 -1.22191114e+02] [ 9.88697715e-01 -1.49562119e-01 -1.03923220e-02 -2.55548781e+02] [-1.05069082e-02 2.40186218e-05 -9.99944801e-01 -1.79864084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.876559995 meters 0.012823642312616493 Centerline is valid? [True, True] Translation: X:-122.18, Y:-255.55, Z:-1.80 [[ 7.00968871e-02 9.97539886e-01 -7.75852704e-04 -1.22183761e+02] [ 9.97477594e-01 -7.01011803e-02 -1.11478098e-02 -2.55552713e+02] [-1.11747731e-02 7.53107675e-06 -9.99937560e-01 -1.79726594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.906559995 meters 0.01277736052482691 Centerline is valid? [True, True] Translation: X:-122.18, Y:-255.56, Z:-1.80 [[-9.59106540e-03 9.99954000e-01 1.01500489e-04 -1.22175977e+02] [ 9.99889638e-01 9.59159967e-03 -1.13451913e-02 -2.55555756e+02] [-1.13456429e-02 -7.32318441e-06 -9.99935636e-01 -1.79737256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.9365599949999 meters 0.012738479070687068 Centerline is valid? [True, True] Translation: X:-122.17, Y:-255.56, Z:-1.80 [[-8.93939188e-02 9.95995871e-01 9.75938460e-04 -1.22165656e+02] [ 9.95933525e-01 8.93992426e-02 -1.11440595e-02 -2.55557386e+02] [-1.11866854e-02 -2.42413203e-05 -9.99937427e-01 -1.79793548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.9665599949999 meters 0.012717069591516469 Centerline is valid? [True, True] Translation: X:-122.16, Y:-255.56, Z:-1.80 [[-1.67096546e-01 9.85938922e-01 1.78523728e-03 -1.22156838e+02] [ 9.85881170e-01 1.67106081e-01 -1.06713114e-02 -2.55558220e+02] [-1.08195852e-02 -2.31074497e-05 -9.99941466e-01 -1.79854768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.996559995 meters 0.012679551976974714 Centerline is valid? [True, True] Translation: X:-122.15, Y:-255.56, Z:-1.80 [[-2.43498996e-01 9.69898010e-01 2.46778535e-03 -1.22147964e+02] [ 9.69847421e-01 2.43511500e-01 -9.90601675e-03 -2.55558922e+02] [-1.02087600e-02 -1.87298773e-05 -9.99947889e-01 -1.79934637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.026559995 meters 0.01267501532574215 Centerline is valid? [True, True] Translation: X:-122.14, Y:-255.56, Z:-1.80 [[-3.17459936e-01 9.48267595e-01 2.78530181e-03 -1.22138953e+02] [ 9.48230978e-01 3.17472155e-01 -8.33327762e-03 -2.55558872e+02] [-8.78643289e-03 -4.37231847e-06 -9.99961399e-01 -1.80019678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.0565599949999 meters 0.012684172200703257 Centerline is valid? [True, True] Translation: X:-122.13, Y:-255.56, Z:-1.80 [[-3.89959629e-01 9.20826240e-01 3.24396884e-03 -1.22130727e+02] [ 9.20794452e-01 3.89973121e-01 -7.65128493e-03 -2.55558786e+02] [-8.31056459e-03 3.33628213e-06 -9.99965467e-01 -1.79983419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.0865599949999 meters 0.012609579947430186 Centerline is valid? [True, True] Translation: X:-122.12, Y:-255.56, Z:-1.80 [[-4.58628261e-01 8.88621547e-01 3.44455059e-03 -1.22120626e+02] [ 8.88596846e-01 4.58641195e-01 -6.62562788e-03 -2.55555853e+02] [-7.46748849e-03 2.21166042e-05 -9.99972118e-01 -1.80090060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.116559995 meters 0.012809585724512278 Centerline is valid? [True, True] Translation: X:-122.11, Y:-255.55, Z:-1.80 [[-5.25350126e-01 8.50876979e-01 3.95113720e-03 -1.22111312e+02] [ 8.50853416e-01 5.25364983e-01 -6.33237245e-03 -2.55553773e+02] [-7.46385907e-03 3.51259188e-05 -9.99972145e-01 -1.80028619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.146559995 meters 0.013015334319491945 Centerline is valid? [True, True] Translation: X:-122.10, Y:-255.55, Z:-1.80 [[-5.88585036e-01 8.08423996e-01 4.27762073e-03 -1.22104735e+02] [ 8.08403265e-01 5.88600577e-01 -5.78976894e-03 -2.55551261e+02] [-7.19839818e-03 5.02712053e-05 -9.99974090e-01 -1.80001331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.1765599949999 meters 0.013215414205521185 Centerline is valid? [True, True] Translation: X:-122.10, Y:-255.55, Z:-1.80 [[-6.47947913e-01 7.61669494e-01 4.80471090e-03 -1.22097027e+02] [ 7.61649375e-01 6.47965722e-01 -5.53650844e-03 -2.55547602e+02] [-7.33027755e-03 7.21359637e-05 -9.99973131e-01 -1.79973442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.2065599949999 meters 0.014241742577993774 Centerline is valid? [True, True] Translation: X:-122.09, Y:-255.54, Z:-1.80 [[-7.00938555e-01 7.13198073e-01 5.80091623e-03 -1.22090563e+02] [ 7.13175217e-01 7.00962546e-01 -5.71135682e-03 -2.55543910e+02] [-8.13955369e-03 1.33759493e-04 -9.99966864e-01 -1.79965631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.236559995 meters 0.015106325855932924 Centerline is valid? [True, True] Translation: X:-122.07, Y:-255.53, Z:-1.80 [[-7.47236318e-01 6.64521995e-01 6.95728075e-03 -1.22069936e+02] [ 6.64495455e-01 7.47268683e-01 -5.94184824e-03 -2.55527235e+02] [-9.14744686e-03 1.83116636e-04 -9.99958145e-01 -1.79901738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.266559995 meters 0.016811756255535673 Centerline is valid? [True, True] Translation: X:-122.05, Y:-255.51, Z:-1.80 [[-7.90110733e-01 6.12914090e-01 7.83246795e-03 -1.22051571e+02] [ 6.12886851e-01 7.90149521e-01 -5.78293113e-03 -2.55509931e+02] [-9.73326077e-03 2.31260668e-04 -9.99952604e-01 -1.79795164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.2965599949999 meters 0.019564160940740597 Centerline is valid? [True, True] Translation: X:-122.03, Y:-255.49, Z:-1.80 [[-8.27587943e-01 5.61253590e-01 9.62314765e-03 -1.22031442e+02] [ 5.61220534e-01 8.27643815e-01 -6.10151492e-03 -2.55493905e+02] [-1.13890358e-02 3.51167877e-04 -9.99935081e-01 -1.79614759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.3265599949999 meters 0.019564160940740597 Centerline is valid? [True, True] Translation: X:-121.64, Y:-254.88, Z:-2.79 [[-8.24288389e-01 -5.66095246e-01 9.21002090e-03 -1.21637620e+02] [ 5.66055112e-01 -8.24339766e-01 -6.74985473e-03 -2.54884501e+02] [ 1.14132471e-02 -3.50447480e-04 9.99934805e-01 -2.79132221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.356559995 meters 0.0200712982428314 Centerline is valid? [True, True] Translation: X:-122.07, Y:-255.47, Z:-1.80 [[-8.27934861e-01 5.60730648e-01 1.02472637e-02 -1.22066138e+02] [ 5.60693726e-01 8.27998173e-01 -6.44754984e-03 -2.55473462e+02] [-1.21000544e-02 4.07425173e-04 -9.99926709e-01 -1.79592909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.386559995 meters 0.019996413523519926 Centerline is valid? [True, True] Translation: X:-122.05, Y:-255.45, Z:-1.80 [[-8.64292364e-01 5.02867467e-01 1.10914328e-02 -1.22049267e+02] [ 5.02832752e-01 8.64363410e-01 -5.92618786e-03 -2.55449795e+02] [-1.25671157e-02 4.55176747e-04 -9.99920927e-01 -1.79619455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.416559995 meters 0.02017479310739188 Centerline is valid? [True, True] Translation: X:-122.03, Y:-255.43, Z:-1.80 [[-8.96091089e-01 4.43696429e-01 1.24193069e-02 -1.22034609e+02] [ 4.43662132e-01 8.96176983e-01 -5.54327021e-03 -2.55425159e+02] [-1.35894261e-02 5.42701120e-04 -9.99907512e-01 -1.79622721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.4465599949999 meters 0.021106610503099817 Centerline is valid? [True, True] Translation: X:-121.73, Y:-254.76, Z:-2.79 [[-9.01888343e-01 -4.31802021e-01 1.20179667e-02 -1.21733755e+02] [ 4.31755593e-01 -9.01968248e-01 -6.35515546e-03 -2.54764473e+02] [ 1.35839934e-02 -5.42816272e-04 9.99907586e-01 -2.79134760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.476559995 meters 0.019924975903935462 Centerline is valid? [True, True] Translation: X:-122.08, Y:-255.41, Z:-1.80 [[-8.97291776e-01 4.41270541e-01 1.21564001e-02 -1.22077999e+02] [ 4.41238165e-01 8.97373955e-01 -5.37274219e-03 -2.55405959e+02] [-1.32796697e-02 5.42950303e-04 -9.99911674e-01 -1.79681988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.506559995 meters 0.020687483074427422 Centerline is valid? [True, True] Translation: X:-122.06, Y:-255.38, Z:-1.80 [[-9.26980740e-01 3.74930898e-01 1.15554675e-02 -1.22064927e+02] [ 3.74908182e-01 9.27052636e-01 -4.15503334e-03 -2.55380479e+02] [-1.22703770e-02 4.80603441e-04 -9.99924601e-01 -1.79699088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.536559995 meters 0.02025994993169276 Centerline is valid? [True, True] Translation: X:-122.06, Y:-255.35, Z:-1.80 [[-9.51956490e-01 3.06036619e-01 1.09739777e-02 -1.22056505e+02] [ 3.06021338e-01 9.52019649e-01 -3.08692440e-03 -2.55351922e+02] [-1.13921543e-02 4.19653623e-04 -9.99935019e-01 -1.79748398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.5665599949999 meters 0.018442860990848676 Centerline is valid? [True, True] Translation: X:-122.05, Y:-255.32, Z:-1.80 [[-9.72932746e-01 2.30874133e-01 9.95017629e-03 -1.22054066e+02] [ 2.30865227e-01 9.72983578e-01 -2.05023135e-03 -2.55318134e+02] [-1.01547035e-02 3.02412493e-04 -9.99948394e-01 -1.79824480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.5965599949999 meters 0.01702861089413185 Centerline is valid? [True, True] Translation: X:-122.06, Y:-255.29, Z:-1.80 [[-9.87637690e-01 1.56444596e-01 9.84282454e-03 -1.22056944e+02] [ 1.56439317e-01 9.87686705e-01 -1.30877768e-03 -2.55285301e+02] [-9.92637813e-03 2.47206587e-04 -9.99950702e-01 -1.79840355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.626559995 meters 0.015203925666542936 Centerline is valid? [True, True] Translation: X:-122.06, Y:-255.25, Z:-1.80 [[-9.96681875e-01 8.08247833e-02 9.62258049e-03 -1.22056129e+02] [ 8.08228665e-02 9.96728307e-01 -5.88542035e-04 -2.55252290e+02] [-9.63866714e-03 1.91135359e-04 -9.99953529e-01 -1.79883068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.656559995 meters 0.013405447606703464 Centerline is valid? [True, True] Translation: X:-122.02, Y:-254.57, Z:-2.79 [[-9.92768739e-01 -1.19633823e-01 9.89844241e-03 -1.22022701e+02] [ 1.19626155e-01 -9.92818070e-01 -1.36532239e-03 -2.54566355e+02] [ 9.99069123e-03 -1.71336786e-04 9.99950077e-01 -2.78936438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.6865599949999 meters 0.013405447606703464 Centerline is valid? [True, True] Translation: X:-122.13, Y:-255.24, Z:-1.80 [[-9.97825379e-01 6.51587603e-02 9.94233587e-03 -1.22132958e+02] [ 6.51563997e-02 9.97874906e-01 -5.61493930e-04 -2.55239970e+02] [-9.95779372e-03 8.75339171e-05 -9.99950416e-01 -1.79807153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.7165599949999 meters 0.012764111914474829 Centerline is valid? [True, True] Translation: X:-122.10, Y:-254.57, Z:-2.79 [[-9.91992944e-01 -1.25853561e-01 1.05299875e-02 -1.22096993e+02] [ 1.25846012e-01 -9.92048829e-01 -1.37914422e-03 -2.54570555e+02] [ 1.06198320e-02 -4.29444006e-05 9.99943607e-01 -2.79077946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.746559995 meters 0.013076543327642558 Centerline is valid? [True, True] Translation: X:-122.20, Y:-255.22, Z:-1.80 [[-9.98931408e-01 4.49151815e-02 1.08934751e-02 -1.22204662e+02] [ 4.49116828e-02 9.98990801e-01 -5.65710456e-04 -2.55223906e+02] [-1.09078904e-02 -7.58616456e-05 -9.99940504e-01 -1.79668766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.776559995 meters 0.013855734906289743 Centerline is valid? [True, True] Translation: X:-122.18, Y:-254.57, Z:-2.79 [[-9.90929153e-01 -1.33968345e-01 1.05780703e-02 -1.22175683e+02] [ 1.33961322e-01 -9.90985610e-01 -1.37294036e-03 -2.54573418e+02] [ 1.06666460e-02 5.65656477e-05 9.99943108e-01 -2.79025956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.8065599949999 meters 0.014409105143094422 Centerline is valid? [True, True] Translation: X:-122.28, Y:-255.21, Z:-1.80 [[-9.99498850e-01 2.99119184e-02 1.03597910e-02 -1.22276944e+02] [ 2.99084376e-02 9.99552522e-01 -4.90793018e-04 -2.55214621e+02] [-1.03698358e-02 -1.80701895e-04 -9.99946216e-01 -1.79726440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.8365599949999 meters 0.01499280290544413 Centerline is valid? [True, True] Translation: X:-122.28, Y:-255.19, Z:-1.80 [[-9.99011052e-01 -4.33220090e-02 1.00061229e-02 -1.22283083e+02] [-4.33217934e-02 9.99061142e-01 2.38396533e-04 -2.55186036e+02] [-1.00070564e-02 -1.95322417e-04 -9.99949909e-01 -1.79737839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.866559995 meters 0.015246452863627826 Centerline is valid? [True, True] Translation: X:-122.29, Y:-254.54, Z:-2.79 [[-9.97855156e-01 -6.47190395e-02 9.82517594e-03 -1.22293514e+02] [ 6.47176799e-02 -9.97903509e-01 -4.56590536e-04 -2.54544372e+02] [ 9.83412765e-03 1.80251370e-04 9.99951628e-01 -2.78971940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.896559995 meters 0.01574958059422365 Centerline is valid? [True, True] Translation: X:-122.35, Y:-255.19, Z:-1.80 [[-9.98684157e-01 -5.04860124e-02 9.00654938e-03 -1.22354031e+02] [-5.04857328e-02 9.98724749e-01 2.58543224e-04 -2.55187900e+02] [-9.00811658e-03 -1.96499225e-04 -9.99959407e-01 -1.79778550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.9265599949999 meters 0.01568132357858006 Centerline is valid? [True, True] Translation: X:-122.36, Y:-254.54, Z:-2.79 [[-9.98107137e-01 -6.08797025e-02 8.70663909e-03 -1.22363630e+02] [ 6.08788745e-02 -9.98145096e-01 -3.60343521e-04 -2.54544813e+02] [ 8.71242672e-03 1.70388949e-04 9.99962032e-01 -2.78956988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.9565599949999 meters 0.015747783820891165 Centerline is valid? [True, True] Translation: X:-122.42, Y:-255.19, Z:-1.80 [[-9.98475491e-01 -5.45329435e-02 8.53539997e-03 -1.22422297e+02] [-5.45324731e-02 9.98511956e-01 2.88013411e-04 -2.55193656e+02] [-8.53840514e-03 -1.77882137e-04 -9.99963531e-01 -1.79780926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.986559995 meters 0.01521572909929452 Centerline is valid? [True, True] Translation: X:-122.44, Y:-254.54, Z:-2.79 [[-9.98487730e-01 -5.43034036e-02 8.56704225e-03 -1.22442613e+02] [ 5.43029559e-02 -9.98524465e-01 -2.85039374e-04 -2.54542206e+02] [ 8.56987989e-03 1.80607400e-04 9.99963262e-01 -2.78947026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 737.016559995 meters 0.015117336198086037 Centerline is valid? [True, True] Translation: X:-122.50, Y:-255.20, Z:-1.80 [[-9.98245861e-01 -5.85431120e-02 8.82638684e-03 -1.22499437e+02] [-5.85423504e-02 9.98284866e-01 3.44844756e-04 -2.55200180e+02] [-8.83143669e-03 -1.72477581e-04 -9.99960987e-01 -1.79777797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 737.0465599949999 meters 0.01590642217490712 Centerline is valid? [True, True] Translation: X:-122.51, Y:-255.17, Z:-1.80 [[-9.91705376e-01 -1.28164729e-01 9.70825070e-03 -1.22510738e+02] [-1.28160347e-01 9.91752878e-01 1.07467624e-03 -2.55174266e+02] [-9.76592116e-03 -1.78450580e-04 -9.99952296e-01 -1.79547661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 737.0765599949999 meters 0.014842478504956735 Centerline is valid? [True, True] Translation: X:-122.52, Y:-255.15, Z:-1.80 [[-9.80217359e-01 -1.97673844e-01 9.94888355e-03 -1.22522429e+02] [-1.97665474e-01 9.80267831e-01 1.82750103e-03 -2.55151919e+02] [-1.01138197e-02 -1.75202544e-04 -9.99948839e-01 -1.79588900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 737.106559995 meters 0.014426263569467076 Centerline is valid? [True, True] Translation: X:-122.54, Y:-255.13, Z:-1.80 [[-9.63733522e-01 -2.66666038e-01 1.03403316e-02 -1.22544116e+02] [-2.66652623e-01 9.63788978e-01 2.68045854e-03 -2.55131470e+02] [-1.06806849e-02 -1.74028778e-04 -9.99942945e-01 -1.79604406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 737.136559995 meters 0.014133518026145138 Centerline is valid? [True, True] Translation: X:-122.59, Y:-255.12, Z:-1.80 [[-9.42780110e-01 -3.33254204e-01 1.03585433e-02 -1.22585997e+02] [-3.33235797e-01 9.42837003e-01 3.50567482e-03 -2.55120848e+02] [-1.09346987e-02 -1.46756925e-04 -9.99940204e-01 -1.79585290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 737.166559995 meters 0.013835278216549458 Centerline is valid? [True, True] Translation: X:-122.65, Y:-255.12, Z:-1.80 [[-9.16714284e-01 -3.99414196e-01 1.01598189e-02 -1.22646294e+02] [-3.99391158e-01 9.16770574e-01 4.29161945e-03 -2.55117559e+02] [-1.10283567e-02 -1.23552967e-04 -9.99939178e-01 -1.79571746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 737.1965599949999 meters 0.01337034807458528 Centerline is valid? [True, True] Translation: X:-122.71, Y:-255.12, Z:-1.80 [[-8.85639203e-01 -4.64276615e-01 9.50930455e-03 -1.22708060e+02] [-4.64250996e-01 8.85690249e-01 4.87819591e-03 -2.55120508e+02] [-1.06871306e-02 -9.43825647e-05 -9.99942887e-01 -1.79650639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 737.226559995 meters 0.013059377006522151 Centerline is valid? [True, True] Translation: X:-122.78, Y:-255.14, Z:-1.80 [[-8.51751384e-01 -5.23874422e-01 8.67004836e-03 -1.22780949e+02] [-5.23847609e-01 8.51795509e-01 5.30035955e-03 -2.55139095e+02] [-1.01618311e-02 -2.71955155e-05 -9.99948367e-01 -1.79718397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 737.256559995 meters 0.013047412835823991 Centerline is valid? [True, True] Translation: X:-122.86, Y:-255.16, Z:-1.80 [[-8.12063743e-01 -5.83512204e-01 8.12306753e-03 -1.22861915e+02] [-5.83482915e-01 8.12104370e-01 5.84642425e-03 -2.55164527e+02] [-1.00082385e-02 7.99803663e-06 -9.99949916e-01 -1.79741656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 737.286559995 meters 0.013160001099851852 Centerline is valid? [True, True] Translation: X:-122.95, Y:-255.20, Z:-1.80 [[-7.67339699e-01 -6.41199397e-01 7.28835084e-03 -1.22947655e+02] [-6.41170080e-01 7.67374311e-01 6.13151327e-03 -2.55199519e+02] [-9.52441581e-03 3.18810519e-05 -9.99954641e-01 -1.79785356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 737.3165599949999 meters 0.013220314867225878 Centerline is valid? [True, True] Translation: X:-123.03, Y:-255.24, Z:-1.80 [[-7.17202020e-01 -6.96838339e-01 6.13122500e-03 -1.23034141e+02] [-6.96812438e-01 7.17228226e-01 6.00820528e-03 -2.55241181e+02] [-8.58423542e-03 3.67831170e-05 -9.99963154e-01 -1.79873509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 737.3465599949999 meters 0.013208944404768665 Centerline is valid? [True, True] Translation: X:-123.12, Y:-255.29, Z:-1.80 [[-6.63075621e-01 -7.48537099e-01 4.78878088e-03 -1.23121180e+02] [-7.48517142e-01 6.63092912e-01 5.46601581e-03 -2.55294140e+02] [-7.26692228e-03 3.98972507e-05 -9.99973595e-01 -1.80070470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 737.376559995 meters 0.013493437142250899 Centerline is valid? [True, True] Translation: X:-123.21, Y:-255.36, Z:-1.80 [[-6.04743549e-01 -7.96407163e-01 4.56835518e-03 -1.23209270e+02] [-7.96383838e-01 6.04760802e-01 6.09544629e-03 -2.55361644e+02] [-7.61721923e-03 4.80175960e-05 -9.99970988e-01 -1.80055104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 737.406559995 meters 0.01365771118745291 Centerline is valid? [True, True] Translation: X:-123.29, Y:-255.43, Z:-1.80 [[-5.43553551e-01 -8.39365321e-01 3.92363011e-03 -1.23289989e+02] [-8.39342661e-01 5.43567709e-01 6.16788512e-03 -2.55432643e+02] [-7.30986750e-03 5.93057210e-05 -9.99973281e-01 -1.80204041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 737.4365599949999 meters 0.013757632613476706 Centerline is valid? [True, True] Translation: X:-123.37, Y:-255.51, Z:-1.80 [[-4.78627525e-01 -8.78010326e-01 3.68240883e-03 -1.23367740e+02] [-8.77983183e-01 4.78641685e-01 6.90423618e-03 -2.55512039e+02] [-7.82454503e-03 7.14644427e-05 -9.99969385e-01 -1.80199441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 737.4665599949999 meters 0.013932715965364835 Centerline is valid? [True, True] Translation: X:-123.44, Y:-255.60, Z:-1.80 [[-4.10782156e-01 -9.11727931e-01 3.19375314e-03 -1.23440746e+02] [-9.11698821e-01 4.10794564e-01 7.28600104e-03 -2.55599235e+02] [-7.95482708e-03 8.12182417e-05 -9.99968357e-01 -1.80166739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 737.496559995 meters 0.014003959413716112 Centerline is valid? [True, True] Translation: X:-123.51, Y:-255.69, Z:-1.80 [[-3.40514174e-01 -9.40235912e-01 2.55493141e-03 -1.23509582e+02] [-9.40207489e-01 3.40523748e-01 7.31131544e-03 -2.55693981e+02] [-7.74437615e-03 8.74408873e-05 -9.99970008e-01 -1.80163269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 737.526559995 meters 0.014040429339436045 Centerline is valid? [True, True] Translation: X:-123.57, Y:-255.80, Z:-1.80 [[-2.67514192e-01 -9.63552224e-01 1.80801882e-03 -1.23571958e+02] [-9.63528091e-01 2.67520289e-01 6.82007061e-03 -2.55799061e+02] [-7.05517593e-03 8.23887576e-05 -9.99975109e-01 -1.80213466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 737.5565599949999 meters 0.014229871242686768 Centerline is valid? [True, True] Translation: X:-123.62, Y:-255.91, Z:-1.80 [[-1.92847153e-01 -9.81228100e-01 1.17954817e-03 -1.23624560e+02] [-9.81207182e-01 1.92850744e-01 6.40756046e-03 -2.55905358e+02] [-6.51475512e-03 7.82986521e-05 -9.99978776e-01 -1.80255204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 737.5865599949999 meters 0.014067735989017723 Centerline is valid? [True, True] Translation: X:-123.67, Y:-256.02, Z:-1.80 [[-1.16560635e-01 -9.93183381e-01 6.24913152e-04 -1.23670915e+02] [-9.93165629e-01 1.16562288e-01 5.93861009e-03 -2.56022831e+02] [-5.97097015e-03 7.15658988e-05 -9.99982171e-01 -1.80450950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 737.616559995 meters 0.014012301744318065 Centerline is valid? [True, True] Translation: X:-123.71, Y:-256.14, Z:-1.80 [[-3.91339867e-02 -9.99233959e-01 1.59614199e-04 -1.23707413e+02] [-9.99217242e-01 3.91342553e-02 5.78043179e-03 -2.56135617e+02] [-5.78225013e-03 6.67220811e-05 -9.99983281e-01 -1.80492074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 737.646559995 meters 0.013599371657771508 Centerline is valid? [True, True] Translation: X:-123.74, Y:-256.26, Z:-1.81 [[ 3.92537855e-02 -9.99229224e-01 -3.14761752e-04 -1.23737269e+02] [-9.99209096e-01 -3.92549928e-02 6.34264197e-03 -2.56255030e+02] [-6.35010918e-03 6.55400982e-05 -9.99979836e-01 -1.80508955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 737.6765599949999 meters 0.013627383439663179 Centerline is valid? [True, True] Translation: X:-123.76, Y:-256.38, Z:-1.80 [[ 1.17018760e-01 -9.93129363e-01 -8.23054596e-04 -1.23755845e+02] [-9.93108364e-01 -1.17021638e-01 6.45854132e-03 -2.56376315e+02] [-6.51048223e-03 6.16119079e-05 -9.99978805e-01 -1.80485353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 737.7065599949999 meters 0.013503585992815691 Centerline is valid? [True, True] Translation: X:-123.77, Y:-256.50, Z:-1.80 [[ 1.93766045e-01 -9.81046766e-01 -1.40076225e-03 -1.23765279e+02] [-9.81023327e-01 -1.93771099e-01 6.78187040e-03 -2.56497566e+02] [-6.92475927e-03 6.00842394e-05 -9.99976022e-01 -1.80412503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 737.736559995 meters 0.013399768526540503 Centerline is valid? [True, True] Translation: X:-123.77, Y:-256.62, Z:-1.80 [[ 2.69644023e-01 -9.62957932e-01 -2.03015410e-03 -1.23765839e+02] [-9.62932209e-01 -2.69651659e-01 7.03868785e-03 -2.56618991e+02] [-7.32539472e-03 5.69606675e-05 -9.99973167e-01 -1.80417362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 737.766559995 meters 0.013240694692782487 Centerline is valid? [True, True] Translation: X:-123.76, Y:-256.74, Z:-1.80 [[ 3.44323817e-01 -9.38846626e-01 -2.85008547e-03 -1.23758596e+02] [-9.38815673e-01 -3.44335608e-01 7.62374291e-03 -2.56738481e+02] [-8.13891122e-03 5.06686549e-05 -9.99966877e-01 -1.80368992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 737.7965599949999 meters 0.013131463634009332 Centerline is valid? [True, True] Translation: X:-123.74, Y:-256.86, Z:-1.80 [[ 4.16495290e-01 -9.09130595e-01 -3.63782682e-03 -1.23741029e+02] [-9.09096847e-01 -4.16511175e-01 7.83355033e-03 -2.56856650e+02] [-8.63691580e-03 4.45000744e-05 -9.99962700e-01 -1.80374186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 737.8265599949999 meters 0.013040991985250806 Centerline is valid? [True, True] Translation: X:-123.71, Y:-256.97, Z:-1.80 [[ 4.86113282e-01 -8.73884529e-01 -4.43921357e-03 -1.23713782e+02] [-8.73848759e-01 -4.86133550e-01 7.90685734e-03 -2.56973863e+02] [-9.06773096e-03 3.55729041e-05 -9.99958887e-01 -1.80431308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 737.856559995 meters 0.01297193411372697 Centerline is valid? [True, True] Translation: X:-123.68, Y:-257.09, Z:-1.80 [[ 5.54272721e-01 -8.32320969e-01 -4.85338896e-03 -1.23681340e+02] [-8.32289172e-01 -5.54293970e-01 7.27523622e-03 -2.57086181e+02] [-8.74553589e-03 6.95810014e-06 -9.99961757e-01 -1.80458004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 737.886559995 meters 0.012949546075466646 Centerline is valid? [True, True] Translation: X:-123.64, Y:-257.19, Z:-1.80 [[ 6.17727625e-01 -7.86376486e-01 -4.96020971e-03 -1.23640214e+02] [-7.86351039e-01 -6.17747539e-01 6.32625077e-03 -2.57194105e+02] [-8.03897219e-03 -7.43379882e-06 -9.99967687e-01 -1.80472714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 737.916559995 meters 0.013059853521872816 Centerline is valid? [True, True] Translation: X:-123.59, Y:-257.30, Z:-1.81 [[ 6.77427647e-01 -7.35570692e-01 -5.24794680e-03 -1.23592340e+02] [-7.35548363e-01 -6.77447974e-01 5.73144849e-03 -2.57296363e+02] [-7.77109646e-03 -2.25229857e-05 -9.99969804e-01 -1.80549872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 737.9465599949999 meters 0.013046008604122618 Centerline is valid? [True, True] Translation: X:-123.54, Y:-257.39, Z:-1.81 [[ 7.32790297e-01 -6.80433846e-01 -5.30679395e-03 -1.23540514e+02] [-6.80415658e-01 -7.32809512e-01 4.97509363e-03 -2.57390425e+02] [-7.27409118e-03 -3.48746418e-05 -9.99973543e-01 -1.80607573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 737.976559995 meters 0.013349642876635438 Centerline is valid? [True, True] Translation: X:-123.55, Y:-257.40, Z:-1.81 [[ 7.85535109e-01 -6.18793027e-01 -5.45738205e-03 -1.23545499e+02] [-6.18777617e-01 -7.85554064e-01 4.36726932e-03 -2.57400557e+02] [-6.98950445e-03 -5.37375173e-05 -9.99975572e-01 -1.80638835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 738.006559995 meters 0.013458995390429985 Centerline is valid? [True, True] Translation: X:-123.55, Y:-257.41, Z:-1.81 [[ 8.32191830e-01 -5.54459641e-01 -5.59144941e-03 -1.23549029e+02] [-5.54446637e-01 -8.32210612e-01 3.79787715e-03 -2.57410252e+02] [-6.75903314e-03 -6.04020128e-05 -9.99977156e-01 -1.80660713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 738.036559995 meters 0.013717374277397117 Centerline is valid? [True, True] Translation: X:-123.55, Y:-257.42, Z:-1.81 [[ 8.74099871e-01 -4.85710381e-01 -5.90268606e-03 -1.23551523e+02] [-4.85698716e-01 -8.74119798e-01 3.36703685e-03 -2.57421285e+02] [-6.79505949e-03 -7.61994383e-05 -9.99976911e-01 -1.80634395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 738.0665599949999 meters 0.013825490705093773 Centerline is valid? [True, True] Translation: X:-123.55, Y:-257.43, Z:-1.81 [[ 9.09805092e-01 -4.14978625e-01 -6.88731862e-03 -1.23552970e+02] [-4.14965956e-01 -9.09831156e-01 3.24401258e-03 -2.57431747e+02] [-7.61249294e-03 -9.34164143e-05 -9.99971020e-01 -1.80527275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 738.0965599949999 meters 0.014596032079236097 Centerline is valid? [True, True] Translation: X:-123.56, Y:-257.44, Z:-1.80 [[ 9.40454353e-01 -3.39814972e-01 -8.44953798e-03 -1.23555414e+02] [-3.39799938e-01 -9.40492300e-01 3.19941898e-03 -2.57443476e+02] [-9.03393588e-03 -1.37755020e-04 -9.99959184e-01 -1.80286940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 738.126559995 meters 0.014843406057948223 Centerline is valid? [True, True] Translation: X:-123.55, Y:-257.45, Z:-1.80 [[ 9.64505292e-01 -2.63898120e-01 -9.34470625e-03 -1.23554615e+02] [-2.63884103e-01 -9.64550546e-01 2.72464323e-03 -2.57452358e+02] [-9.73246975e-03 -1.62013384e-04 -9.99952625e-01 -1.80223730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 738.156559995 meters 0.015003467397878308 Centerline is valid? [True, True] Translation: X:-123.55, Y:-257.46, Z:-1.80 [[ 9.82504958e-01 -1.85906260e-01 -1.10846703e-02 -1.23552996e+02] [-1.85892019e-01 -9.82567463e-01 2.31056874e-03 -2.57461474e+02] [-1.13209856e-02 -2.09593495e-04 -9.99935894e-01 -1.80156808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 738.1865599949999 meters 0.015538039792618714 Centerline is valid? [True, True] Translation: X:-123.55, Y:-257.47, Z:-1.80 [[ 9.94058822e-01 -1.08184123e-01 -1.19688425e-02 -1.23552297e+02] [-1.08173539e-01 -9.94130849e-01 1.53013594e-03 -2.57469680e+02] [-1.20641319e-02 -2.26333087e-04 -9.99927200e-01 -1.80042699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 738.2165599949999 meters 0.015538039792618714 Centerline is valid? [True, True] Translation: X:-123.55, Y:-257.48, Z:-1.80 [[ 9.99476339e-01 -3.00299460e-02 -1.20519791e-02 -1.23553106e+02] [-3.00250319e-02 -9.99548974e-01 5.88510592e-04 -2.57475402e+02] [-1.20642163e-02 -2.26341355e-04 -9.99927199e-01 -1.80042623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 738.246559995 meters 0.015122017906816453 Centerline is valid? [True, True] Translation: X:-123.55, Y:-257.48, Z:-1.80 [[ 9.98775741e-01 4.77987509e-02 -1.27396758e-02 -1.23552818e+02] [ 4.77978343e-02 -9.98856959e-01 -3.76593349e-04 -2.57481375e+02] [-1.27431145e-02 -2.32796613e-04 -9.99918776e-01 -1.80012697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 738.276559995 meters 0.014995918482129363 Centerline is valid? [True, True] Translation: X:-123.55, Y:-257.49, Z:-1.80 [[ 9.92070719e-01 1.24956729e-01 -1.34723618e-02 -1.23551793e+02] [ 1.24948423e-01 -9.92162165e-01 -1.45981787e-03 -2.57486840e+02] [-1.35491817e-02 -2.35107799e-04 -9.99908178e-01 -1.79958092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 738.3065599949999 meters 0.014764424476617953 Centerline is valid? [True, True] Translation: X:-123.55, Y:-257.49, Z:-1.80 [[ 9.79542336e-01 2.00782710e-01 -1.35320483e-02 -1.23551264e+02] [ 2.00766623e-01 -9.79635777e-01 -2.55088507e-03 -2.57491314e+02] [-1.37686523e-02 -2.18083725e-04 -9.99905184e-01 -1.79978641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 738.3365599949999 meters 0.013709703435865223 Centerline is valid? [True, True] Translation: X:-123.55, Y:-257.49, Z:-1.80 [[ 9.62188127e-01 2.72115975e-01 -1.21203936e-02 -1.23551598e+02] [ 2.72096177e-01 -9.62264453e-01 -3.28531534e-03 -2.57493159e+02] [-1.25570107e-02 -1.36821331e-04 -9.99921148e-01 -1.80145387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 738.366559995 meters 0.013379971706957152 Centerline is valid? [True, True] Translation: X:-123.55, Y:-257.50, Z:-1.80 [[ 9.38860885e-01 3.44116790e-01 -1.11298140e-02 -1.23551026e+02] [ 3.44093835e-01 -9.38926848e-01 -3.97580907e-03 -2.57497781e+02] [-1.18182238e-02 -9.69687506e-05 -9.99930158e-01 -1.80210145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 738.396559995 meters 0.013003687516461991 Centerline is valid? [True, True] Translation: X:-123.55, Y:-257.50, Z:-1.80 [[ 9.11194183e-01 4.11878416e-01 -9.01838168e-03 -1.23552828e+02] [ 4.11858570e-01 -9.11238811e-01 -4.04334056e-03 -2.57498971e+02] [-9.88326410e-03 -3.00293847e-05 -9.99951159e-01 -1.80360349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 738.4265599949999 meters 0.0129355736039749 Centerline is valid? [True, True] Translation: X:-123.55, Y:-257.50, Z:-1.80 [[ 8.77165952e-01 4.80122213e-01 -7.90900807e-03 -1.23552920e+02] [ 4.80102786e-01 -8.77201608e-01 -4.31908062e-03 -2.57501128e+02] [-9.01148114e-03 -8.58634458e-06 -9.99959396e-01 -1.80430330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 738.4565599949999 meters 0.0129067796970374 Centerline is valid? [True, True] Translation: X:-123.55, Y:-257.50, Z:-1.80 [[ 8.37878337e-01 5.45810300e-01 -7.14208967e-03 -1.23554121e+02] [ 5.45790397e-01 -8.37908776e-01 -4.66111146e-03 -2.57503727e+02] [-8.52850226e-03 7.36036408e-06 -9.99963632e-01 -1.80415129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 738.486559995 meters 0.013005601426225153 Centerline is valid? [True, True] Translation: X:-123.55, Y:-257.51, Z:-1.80 [[ 7.93756925e-01 6.08197599e-01 -6.75452739e-03 -1.23553349e+02] [ 6.08175326e-01 -7.93785664e-01 -5.20511586e-03 -2.57507994e+02] [-8.52738597e-03 2.36598632e-05 -9.99963641e-01 -1.80444183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 738.516559995 meters 0.012998566650361261 Centerline is valid? [True, True] Translation: X:-123.55, Y:-257.51, Z:-1.80 [[ 7.43861408e-01 6.68300291e-01 -6.70270586e-03 -1.23551692e+02] [ 6.68272832e-01 -7.43891605e-01 -6.05816300e-03 -2.57513765e+02] [-9.03475872e-03 2.71974285e-05 -9.99959185e-01 -1.80383882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 738.5465599949999 meters 0.012957734740536981 Centerline is valid? [True, True] Translation: X:-123.55, Y:-257.52, Z:-1.80 [[ 6.88959315e-01 7.24768935e-01 -6.71213859e-03 -1.23548624e+02] [ 7.24734182e-01 -6.88992010e-01 -7.09764954e-03 -2.57520287e+02] [-9.76876576e-03 2.54754973e-05 -9.99952284e-01 -1.80351874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 738.5765599949999 meters 0.013099920049835801 Centerline is valid? [True, True] Translation: X:-123.55, Y:-257.53, Z:-1.80 [[ 6.28859913e-01 7.77486130e-01 -7.10823373e-03 -1.23546146e+02] [ 7.77436268e-01 -6.28900085e-01 -8.80525087e-03 -2.57527173e+02] [-1.13163292e-02 1.10705893e-05 -9.99935968e-01 -1.80209403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 738.606559995 meters 0.013064442781834435 Centerline is valid? [True, True] Translation: X:-123.54, Y:-257.53, Z:-1.80 [[ 5.64803970e-01 8.25197047e-01 -6.80507348e-03 -1.23543072e+02] [ 8.25137297e-01 -5.64844964e-01 -9.93016905e-03 -2.57532721e+02] [-1.20381577e-02 -6.52103608e-06 -9.99927539e-01 -1.80122981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 738.636559995 meters 0.013137706471026103 Centerline is valid? [True, True] Translation: X:-123.54, Y:-257.54, Z:-1.80 [[ 4.97230541e-01 8.67595586e-01 -6.29991706e-03 -1.23540480e+02] [ 8.67526585e-01 -4.97270449e-01 -1.09418882e-02 -2.57538423e+02] [-1.26258965e-02 -2.47045412e-05 -9.99920290e-01 -1.80083593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 738.666559995 meters 0.013179824538497887 Centerline is valid? [True, True] Translation: X:-123.54, Y:-257.54, Z:-1.80 [[ 4.26075718e-01 9.04671409e-01 -5.39674493e-03 -1.23538024e+02] [ 9.04600265e-01 -4.26109892e-01 -1.13455405e-02 -2.57544398e+02] [-1.25635925e-02 -4.78375680e-05 -9.99921074e-01 -1.80043047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 738.6965599949999 meters 0.013362268684396356 Centerline is valid? [True, True] Translation: X:-123.54, Y:-257.55, Z:-1.80 [[ 3.52167264e-01 9.35926976e-01 -4.34906494e-03 -1.23535675e+02] [ 9.35858021e-01 -3.52194110e-01 -1.13610346e-02 -2.57549369e+02] [-1.21648139e-02 -6.91228271e-05 -9.99926004e-01 -1.80022585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 738.726559995 meters 0.013675806366865691 Centerline is valid? [True, True] Translation: X:-123.53, Y:-257.55, Z:-1.80 [[ 2.73971224e-01 9.61732328e-01 -3.27058923e-03 -1.23528812e+02] [ 9.61668596e-01 -2.73990723e-01 -1.10722941e-02 -2.57554921e+02] [-1.15446943e-02 -1.11732976e-04 -9.99933352e-01 -1.80113353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 738.756559995 meters 0.013951165813828131 Centerline is valid? [True, True] Translation: X:-123.52, Y:-257.56, Z:-1.80 [[ 1.96209293e-01 9.80558990e-01 -2.44563104e-03 -1.23522887e+02] [ 9.80491061e-01 -1.96224489e-01 -1.15425051e-02 -2.57559113e+02] [-1.17979998e-02 -1.33172608e-04 -9.99930392e-01 -1.80085059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 738.786559995 meters 0.014357728344088551 Centerline is valid? [True, True] Translation: X:-123.52, Y:-257.56, Z:-1.80 [[ 1.16721995e-01 9.93163429e-01 -1.54273369e-03 -1.23517359e+02] [ 9.93093727e-01 -1.16732083e-01 -1.17673199e-02 -2.57563371e+02] [-1.18669583e-02 -1.58574083e-04 -9.99929573e-01 -1.80086527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 738.8165599949999 meters 0.014229625620945463 Centerline is valid? [True, True] Translation: X:-123.51, Y:-257.57, Z:-1.80 [[ 3.82827805e-02 9.99266756e-01 -6.16391805e-04 -1.23511414e+02] [ 9.99196566e-01 -3.82873978e-02 -1.18447639e-02 -2.57567347e+02] [-1.18596788e-02 -1.62446079e-04 -9.99929658e-01 -1.80155884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 738.8465599949999 meters 0.014151829014703802 Centerline is valid? [True, True] Translation: X:-123.50, Y:-257.57, Z:-1.80 [[-4.03894924e-02 9.99183961e-01 3.16488912e-04 -1.23503719e+02] [ 9.99112387e-01 4.03903877e-02 -1.19605521e-02 -2.57570330e+02] [-1.19635749e-02 -1.66872636e-04 -9.99928420e-01 -1.80210728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 738.876559995 meters 0.01425864850210437 Centerline is valid? [True, True] Translation: X:-123.50, Y:-257.57, Z:-1.80 [[-1.18199073e-01 9.92989345e-01 1.06763150e-03 -1.23496004e+02] [ 9.92937559e-01 1.18203813e-01 -1.01420780e-02 -2.57573694e+02] [-1.01971735e-02 -1.38692801e-04 -9.99947998e-01 -1.80324574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 738.906559995 meters 0.014418699161304015 Centerline is valid? [True, True] Translation: X:-123.49, Y:-257.58, Z:-1.80 [[-1.95171198e-01 9.80767767e-01 1.67035110e-03 -1.23488342e+02] [ 9.80726391e-01 1.95178309e-01 -9.00970413e-03 -2.57577306e+02] [-9.16244371e-03 -1.20277345e-04 -9.99958017e-01 -1.80338276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 738.9365599949999 meters 0.013934864216275933 Centerline is valid? [True, True] Translation: X:-123.48, Y:-257.58, Z:-1.81 [[-2.69763005e-01 9.62924832e-01 1.92089908e-03 -1.23482276e+02] [ 9.62898155e-01 2.69769831e-01 -7.16816208e-03 -2.57579075e+02] [-7.42060188e-03 -8.40747671e-05 -9.99972464e-01 -1.80505593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 738.9665599949999 meters 0.01354068304439975 Centerline is valid? [True, True] Translation: X:-123.48, Y:-257.58, Z:-1.81 [[-3.41652327e-01 9.39824123e-01 2.07489185e-03 -1.23476326e+02] [ 9.39805855e-01 3.41658624e-01 -5.85996615e-03 -2.57581270e+02] [-6.21624224e-03 -5.20755628e-05 -9.99980678e-01 -1.80594132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 738.996559995 meters 0.01330826745863904 Centerline is valid? [True, True] Translation: X:-123.47, Y:-257.58, Z:-1.81 [[-4.11595809e-01 9.11363121e-01 2.48031681e-03 -1.23470927e+02] [ 9.11346077e-01 4.11603281e-01 -5.57385685e-03 -2.57584088e+02] [-6.10071411e-03 -3.37491264e-05 -9.99981390e-01 -1.80605710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 739.026559995 meters 0.013155472306051037 Centerline is valid? [True, True] Translation: X:-123.47, Y:-257.59, Z:-1.81 [[-4.80500165e-01 8.76990167e-01 2.79956974e-03 -1.23465829e+02] [ 8.76974990e-01 4.80508320e-01 -5.15964689e-03 -2.57585571e+02] [-5.87017614e-03 -2.40585426e-05 -9.99982770e-01 -1.80574604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 739.0565599949999 meters 0.013155472306051037 Centerline is valid? [True, True] Translation: X:-123.46, Y:-257.59, Z:-1.81 [[-5.47762641e-01 8.36627682e-01 3.19542782e-03 -1.23459846e+02] [ 8.36613190e-01 5.47771961e-01 -4.92439847e-03 -2.57586957e+02] [-5.87025385e-03 -2.40644530e-05 -9.99982770e-01 -1.80574538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 739.0865599949999 meters 0.01303358652144284 Centerline is valid? [True, True] Translation: X:-123.45, Y:-257.59, Z:-1.81 [[-6.10640501e-01 7.91897793e-01 4.00791849e-03 -1.23452309e+02] [ 7.91880532e-01 6.10653653e-01 -5.22858327e-03 -2.57585386e+02] [-6.58795362e-03 -1.89920819e-05 -9.99978299e-01 -1.80571003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 739.116559995 meters 0.013046224244982406 Centerline is valid? [True, True] Translation: X:-123.44, Y:-257.58, Z:-1.81 [[-6.69786977e-01 7.42539116e-01 4.58996002e-03 -1.23443963e+02] [ 7.42521568e-01 6.69802703e-01 -5.10482423e-03 -2.57582893e+02] [-6.86489930e-03 -1.10004737e-05 -9.99976436e-01 -1.80522547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 739.146559995 meters 0.013075369434418851 Centerline is valid? [True, True] Translation: X:-123.44, Y:-257.58, Z:-1.80 [[-7.24051205e-01 6.89719278e-01 6.09672335e-03 -1.23435658e+02] [ 6.89694926e-01 7.24076873e-01 -5.79582929e-03 -2.57580724e+02] [-8.41199157e-03 8.40197360e-06 -9.99964619e-01 -1.80361488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 739.1765599949999 meters 0.013093421504039469 Centerline is valid? [True, True] Translation: X:-122.92, Y:-257.05, Z:-2.78 [[-6.78174136e-01 -7.34877303e-01 5.93210687e-03 -1.22923601e+02] [ 7.34849318e-01 -6.78200081e-01 -6.41327238e-03 -2.57050630e+02] [ 8.73612367e-03 9.88923476e-06 9.99961839e-01 -2.78439653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 739.2065599949999 meters 0.013260250520676496 Centerline is valid? [True, True] Translation: X:-122.94, Y:-257.03, Z:-2.78 [[-6.80404860e-01 -7.32807727e-01 6.48555043e-03 -1.22941400e+02] [ 7.32773775e-01 -6.80435767e-01 -7.05424477e-03 -2.57030409e+02] [ 9.58240556e-03 -4.73011551e-05 9.99954087e-01 -2.78497111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 739.236559995 meters 0.013351404468687971 Centerline is valid? [True, True] Translation: X:-122.96, Y:-257.01, Z:-2.78 [[-6.81473789e-01 -7.31814732e-01 6.37756120e-03 -1.22960030e+02] [ 7.31781894e-01 -6.81503628e-01 -6.93287546e-03 -2.57009963e+02] [ 9.41991149e-03 -5.75891020e-05 9.99955630e-01 -2.78471561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 739.266559995 meters 0.013490356750870873 Centerline is valid? [True, True] Translation: X:-122.98, Y:-256.99, Z:-2.79 [[-6.82202255e-01 -7.31135111e-01 6.44458677e-03 -1.22977350e+02] [ 7.31101594e-01 -6.82232691e-01 -7.00108839e-03 -2.56990548e+02] [ 9.51544931e-03 -6.45106201e-05 9.99954725e-01 -2.78507591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 739.2965599949999 meters 0.013548467587721847 Centerline is valid? [True, True] Translation: X:-123.00, Y:-256.97, Z:-2.79 [[-6.82815149e-01 -7.30561293e-01 6.60826385e-03 -1.22995905e+02] [ 7.30526068e-01 -6.82847122e-01 -7.17447912e-03 -2.56970104e+02] [ 9.75383069e-03 -7.13340252e-05 9.99952428e-01 -2.78538378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 739.3265599949999 meters 0.013466870747555029 Centerline is valid? [True, True] Translation: X:-123.02, Y:-256.95, Z:-2.79 [[-6.83184393e-01 -7.30212121e-01 7.02443899e-03 -1.23015704e+02] [ 7.30172345e-01 -6.83220500e-01 -7.62203097e-03 -2.56949797e+02] [ 1.03649401e-02 -7.82015126e-05 9.99946280e-01 -2.78555404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 739.356559995 meters 0.013472826721137535 Centerline is valid? [True, True] Translation: X:-123.04, Y:-256.93, Z:-2.79 [[-6.83277762e-01 -7.30124611e-01 7.03933415e-03 -1.23035122e+02] [ 7.30084706e-01 -6.83314018e-01 -7.63388878e-03 -2.56929922e+02] [ 1.03837658e-02 -7.67562462e-05 9.99946084e-01 -2.78554527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 739.386559995 meters 0.013525821316092333 Centerline is valid? [True, True] Translation: X:-123.05, Y:-256.91, Z:-2.79 [[-6.83129339e-01 -7.30265751e-01 6.79994776e-03 -1.23054478e+02] [ 7.30228569e-01 -6.83163179e-01 -7.36939136e-03 -2.56911475e+02] [ 1.00270880e-02 -6.87313248e-05 9.99949725e-01 -2.78688802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 739.416559995 meters 0.013348278099802524 Centerline is valid? [True, True] Translation: X:-123.07, Y:-256.89, Z:-2.79 [[-6.82851029e-01 -7.30527752e-01 6.60877889e-03 -1.23073870e+02] [ 7.30492688e-01 -6.82883006e-01 -7.15775656e-03 -2.56892574e+02] [ 9.74196261e-03 -6.00167756e-05 9.99952544e-01 -2.78627588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 739.4465599949999 meters 0.013262938687061483 Centerline is valid? [True, True] Translation: X:-123.09, Y:-256.87, Z:-2.79 [[-6.82706592e-01 -7.30667540e-01 6.05441393e-03 -1.23093249e+02] [ 7.30638154e-01 -6.82733435e-01 -6.55322902e-03 -2.56873009e+02] [ 8.92178255e-03 -5.03468349e-05 9.99960199e-01 -2.78592531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 739.476559995 meters 0.013067005288838297 Centerline is valid? [True, True] Translation: X:-123.11, Y:-256.85, Z:-2.78 [[-6.82195987e-01 -7.31152568e-01 4.95556343e-03 -1.23112929e+02] [ 7.31132918e-01 -6.82213985e-01 -5.36047662e-03 -2.56853794e+02] [ 7.30008092e-03 -3.37200932e-05 9.99973354e-01 -2.78451883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 739.506559995 meters 0.01295849670668944 Centerline is valid? [True, True] Translation: X:-123.13, Y:-256.83, Z:-2.78 [[-6.81819884e-01 -7.31506957e-01 4.38378144e-03 -1.23132483e+02] [ 7.31491605e-01 -6.81833976e-01 -4.73929990e-03 -2.56833913e+02] [ 6.45584198e-03 -2.46495891e-05 9.99979161e-01 -2.78352261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 739.536559995 meters 0.012897608562798335 Centerline is valid? [True, True] Translation: X:-123.15, Y:-256.81, Z:-2.78 [[-6.81559531e-01 -7.31751961e-01 3.95898559e-03 -1.23152634e+02] [ 7.31739458e-01 -6.81571029e-01 -4.27765492e-03 -2.56813885e+02] [ 5.82851226e-03 -1.85305201e-05 9.99983014e-01 -2.78341500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 739.5665599949999 meters 0.012800573443402644 Centerline is valid? [True, True] Translation: X:-123.17, Y:-256.80, Z:-2.78 [[-6.80298129e-01 -7.32927620e-01 3.40002785e-03 -1.23172666e+02] [ 7.32918422e-01 -6.80306625e-01 -3.67191552e-03 -2.56796183e+02] [ 5.00430978e-03 -6.05421243e-06 9.99987478e-01 -2.78382351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 739.5965599949999 meters 0.012685161639055455 Centerline is valid? [True, True] Translation: X:-123.19, Y:-256.78, Z:-2.78 [[-6.79789949e-01 -7.33398674e-01 3.46566660e-03 -1.23192290e+02] [ 7.33389135e-01 -6.79798783e-01 -3.74048184e-03 -2.56776931e+02] [ 5.09922036e-03 -1.05972975e-06 9.99986999e-01 -2.78405567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 739.626559995 meters 0.012760376700610233 Centerline is valid? [True, True] Translation: X:-123.21, Y:-256.76, Z:-2.78 [[-6.79307372e-01 -7.33845171e-01 3.57193837e-03 -1.23211475e+02] [ 7.33835058e-01 -6.79316763e-01 -3.85264221e-03 -2.56758213e+02] [ 5.25372049e-03 4.08534951e-06 9.99986199e-01 -2.78401665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 739.656559995 meters 0.012700876795855865 Centerline is valid? [True, True] Translation: X:-123.23, Y:-256.74, Z:-2.78 [[-6.78970548e-01 -7.34156764e-01 3.58335195e-03 -1.23231292e+02] [ 7.34146603e-01 -6.78980004e-01 -3.86255684e-03 -2.56738999e+02] [ 5.26874655e-03 8.14332775e-06 9.99986120e-01 -2.78472482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 739.6865599949999 meters 0.012725793754519502 Centerline is valid? [True, True] Translation: X:-123.25, Y:-256.72, Z:-2.79 [[-6.78519071e-01 -7.34573333e-01 3.72682345e-03 -1.23251055e+02] [ 7.34562362e-01 -6.78529305e-01 -4.01469902e-03 -2.56720664e+02] [ 5.47784977e-03 1.35343857e-05 9.99984996e-01 -2.78573358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 739.7165599949999 meters 0.012801044057437906 Centerline is valid? [True, True] Translation: X:-123.27, Y:-256.70, Z:-2.79 [[-6.78437753e-01 -7.34645771e-01 4.21979950e-03 -1.23270031e+02] [ 7.34631724e-01 -6.78450876e-01 -4.54291405e-03 -2.56701423e+02] [ 6.20035926e-03 1.79141825e-05 9.99980778e-01 -2.78632419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 739.746559995 meters 0.012826297296997713 Centerline is valid? [True, True] Translation: X:-123.29, Y:-256.68, Z:-2.79 [[-6.78450641e-01 -7.34632261e-01 4.49104645e-03 -1.23289107e+02] [ 7.34616368e-01 -6.78465505e-01 -4.83220884e-03 -2.56681346e+02] [ 6.59691660e-03 2.07810521e-05 9.99978240e-01 -2.78648044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 739.776559995 meters 0.0128717565446248 Centerline is valid? [True, True] Translation: X:-123.31, Y:-256.66, Z:-2.79 [[-6.78750033e-01 -7.34355482e-01 4.51868348e-03 -1.23307189e+02] [ 7.34339409e-01 -6.78765074e-01 -4.85872646e-03 -2.56662876e+02] [ 6.63515694e-03 2.03866086e-05 9.99977987e-01 -2.78750404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 739.8065599949999 meters 0.012920683141151433 Centerline is valid? [True, True] Translation: X:-123.33, Y:-256.64, Z:-2.79 [[-6.78761426e-01 -7.34341725e-01 5.01579291e-03 -1.23325450e+02] [ 7.34321945e-01 -6.78779958e-01 -5.38985958e-03 -2.56643234e+02] [ 7.36261848e-03 2.47780316e-05 9.99972895e-01 -2.78770308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 739.8365599949999 meters 0.012971295899841214 Centerline is valid? [True, True] Translation: X:-123.34, Y:-256.62, Z:-2.79 [[-6.78798104e-01 -7.34308270e-01 4.94957450e-03 -1.23343776e+02] [ 7.34289034e-01 -6.78816149e-01 -5.31521127e-03 -2.56624799e+02] [ 7.26285470e-03 2.64629477e-05 9.99973625e-01 -2.78886564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 739.866559995 meters 0.012952254644613118 Centerline is valid? [True, True] Translation: X:-123.36, Y:-256.61, Z:-2.79 [[-6.78471672e-01 -7.34607670e-01 5.26885795e-03 -1.23362268e+02] [ 7.34585908e-01 -6.78492129e-01 -5.65456690e-03 -2.56605013e+02] [ 7.72876686e-03 3.39653419e-05 9.99970132e-01 -2.78792538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 739.896559995 meters 0.012954311049284533 Centerline is valid? [True, True] Translation: X:-123.38, Y:-256.59, Z:-2.79 [[-6.78286882e-01 -7.34778213e-01 5.28043090e-03 -1.23381182e+02] [ 7.34756388e-01 -6.78307435e-01 -5.66346984e-03 -2.56585910e+02] [ 7.74314979e-03 3.83730344e-05 9.99970021e-01 -2.78808047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 739.9265599949999 meters 0.013145007101038428 Centerline is valid? [True, True] Translation: X:-123.40, Y:-256.57, Z:-2.79 [[-6.77202046e-01 -7.35778910e-01 5.17544372e-03 -1.23400675e+02] [ 7.35757999e-01 -6.77221820e-01 -5.54743032e-03 -2.56566602e+02] [ 7.58660564e-03 5.11429523e-05 9.99971220e-01 -2.78833906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 739.9565599949999 meters 0.013238408742498485 Centerline is valid? [True, True] Translation: X:-123.42, Y:-256.55, Z:-2.79 [[-6.76814623e-01 -7.36135015e-01 5.21592209e-03 -1.23419739e+02] [ 7.36113813e-01 -6.76834718e-01 -5.58732645e-03 -2.56546614e+02] [ 7.64334380e-03 5.79280574e-05 9.99970788e-01 -2.78821855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 739.986559995 meters 0.013362304874868869 Centerline is valid? [True, True] Translation: X:-123.44, Y:-256.53, Z:-2.79 [[-6.76423277e-01 -7.36493752e-01 5.33893723e-03 -1.23438077e+02] [ 7.36471571e-01 -6.76444343e-01 -5.71633946e-03 -2.56528041e+02] [ 7.82154218e-03 6.53104256e-05 9.99969409e-01 -2.78842504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 740.016559995 meters 0.013518825004587894 Centerline is valid? [True, True] Translation: X:-123.46, Y:-256.51, Z:-2.79 [[-6.76251669e-01 -7.36651707e-01 5.28610743e-03 -1.23457042e+02] [ 7.36629994e-01 -6.76272326e-01 -5.65631446e-03 -2.56508725e+02] [ 7.74158187e-03 6.88131876e-05 9.99970031e-01 -2.78873621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 740.0465599949999 meters 0.013451781013581986 Centerline is valid? [True, True] Translation: X:-123.48, Y:-256.49, Z:-2.79 [[-6.75881650e-01 -7.36994439e-01 4.81591155e-03 -1.23476086e+02] [ 7.36976446e-01 -6.75898803e-01 -5.15025654e-03 -2.56488118e+02] [ 7.05077929e-03 6.82494936e-05 9.99975141e-01 -2.78819293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 740.0765599949999 meters 0.013506919474298525 Centerline is valid? [True, True] Translation: X:-123.49, Y:-256.47, Z:-2.79 [[-6.75936186e-01 -7.36945480e-01 4.65093232e-03 -1.23494769e+02] [ 7.36928718e-01 -6.75952184e-01 -4.97083997e-03 -2.56468204e+02] [ 6.80704591e-03 6.74349847e-05 9.99976830e-01 -2.78787468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 740.106559995 meters 0.013523134619466613 Centerline is valid? [True, True] Translation: X:-123.51, Y:-256.45, Z:-2.79 [[-6.76376429e-01 -7.36544043e-01 4.21887963e-03 -1.23512945e+02] [ 7.36530260e-01 -6.76389584e-01 -4.50622879e-03 -2.56447779e+02] [ 6.17264221e-03 5.94255728e-05 9.99980947e-01 -2.78726592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 740.136559995 meters 0.013523134619466613 Centerline is valid? [True, True] Translation: X:-123.53, Y:-256.43, Z:-2.79 [[-6.76608923e-01 -7.36330465e-01 4.22030205e-03 -1.23531316e+02] [ 7.36316687e-01 -6.76622083e-01 -4.50489666e-03 -2.56428313e+02] [ 6.17264221e-03 5.94255457e-05 9.99980947e-01 -2.78726531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 740.166559995 meters 0.013441250436259763 Centerline is valid? [True, True] Translation: X:-123.55, Y:-256.41, Z:-2.79 [[-6.77286783e-01 -7.35708839e-01 3.88823897e-03 -1.23549853e+02] [ 7.35697147e-01 -6.77297942e-01 -4.14807695e-03 -2.56407153e+02] [ 5.68527312e-03 5.11286268e-05 9.99983838e-01 -2.78702149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 740.1965599949999 meters 0.013307619968211736 Centerline is valid? [True, True] Translation: X:-123.57, Y:-256.39, Z:-2.79 [[-6.78018168e-01 -7.35034175e-01 4.01573808e-03 -1.23568364e+02] [ 7.35021706e-01 -6.78030058e-01 -4.28164806e-03 -2.56386094e+02] [ 5.86994878e-03 4.86194846e-05 9.99982771e-01 -2.78696171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 740.226559995 meters 0.013330709945368039 Centerline is valid? [True, True] Translation: X:-123.59, Y:-256.37, Z:-2.79 [[-6.78846242e-01 -7.34269411e-01 4.02651710e-03 -1.23586315e+02] [ 7.34256876e-01 -6.78858182e-01 -4.29057516e-03 -2.56365850e+02] [ 5.88387217e-03 4.38570507e-05 9.99982689e-01 -2.78720382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 740.256559995 meters 0.013335774169826306 Centerline is valid? [True, True] Translation: X:-123.60, Y:-256.35, Z:-2.79 [[-6.80643840e-01 -7.32602252e-01 4.23135285e-03 -1.23603189e+02] [ 7.32588396e-01 -6.80656991e-01 -4.50588732e-03 -2.56346229e+02] [ 6.18112309e-03 3.29355471e-05 9.99980896e-01 -2.78862613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 740.286559995 meters 0.013071507711224305 Centerline is valid? [True, True] Translation: X:-123.62, Y:-256.32, Z:-2.79 [[-6.81773240e-01 -7.31551985e-01 4.11623246e-03 -1.23620712e+02] [ 7.31538868e-01 -6.81785665e-01 -4.38081582e-03 -2.56324401e+02] [ 6.01118280e-03 2.44610390e-05 9.99981932e-01 -2.78793044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 740.3165599949999 meters 0.013037715233685196 Centerline is valid? [True, True] Translation: X:-123.64, Y:-256.30, Z:-2.79 [[-6.84003746e-01 -7.29466721e-01 4.14461380e-03 -1.23637726e+02] [ 7.29453400e-01 -6.84016303e-01 -4.40855035e-03 -2.56301777e+02] [ 6.05087418e-03 7.83766982e-06 9.99981693e-01 -2.78823978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 740.3465599949999 meters 0.012989290144794772 Centerline is valid? [True, True] Translation: X:-123.66, Y:-256.28, Z:-2.79 [[-6.85154990e-01 -7.28385958e-01 4.06654708e-03 -1.23655142e+02] [ 7.28373130e-01 -6.85167057e-01 -4.32279838e-03 -2.56280918e+02] [ 5.93492974e-03 1.76750573e-07 9.99982388e-01 -2.78793275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 740.376559995 meters 0.013080778919754572 Centerline is valid? [True, True] Translation: X:-123.67, Y:-256.26, Z:-2.79 [[-6.86064607e-01 -7.27530301e-01 3.87500398e-03 -1.23673212e+02] [ 7.27518655e-01 -6.86075550e-01 -4.11659615e-03 -2.56259804e+02] [ 5.65349393e-03 -5.11323981e-06 9.99984019e-01 -2.78806037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 740.406559995 meters 0.013112947803145848 Centerline is valid? [True, True] Translation: X:-123.69, Y:-256.24, Z:-2.79 [[-6.87128122e-01 -7.26524214e-01 4.18452055e-03 -1.23690347e+02] [ 7.26510632e-01 -6.87140864e-01 -4.44247376e-03 -2.56239525e+02] [ 6.10291982e-03 -1.24499892e-05 9.99981377e-01 -2.78838942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 740.4365599949999 meters 0.013097816981888439 Centerline is valid? [True, True] Translation: X:-123.71, Y:-256.22, Z:-2.79 [[-6.87336425e-01 -7.26326482e-01 4.29894173e-03 -1.23709373e+02] [ 7.26312161e-01 -6.87349868e-01 -4.56110938e-03 -2.56219326e+02] [ 6.26773156e-03 -1.26429618e-05 9.99980358e-01 -2.78850474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 740.4665599949999 meters 0.013123483243892344 Centerline is valid? [True, True] Translation: X:-123.73, Y:-256.20, Z:-2.79 [[-6.87219394e-01 -7.26436130e-01 4.47818260e-03 -1.23727662e+02] [ 7.26420612e-01 -6.87233985e-01 -4.74818864e-03 -2.56200204e+02] [ 6.52681505e-03 -1.00031719e-05 9.99978700e-01 -2.78906642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 740.496559995 meters 0.01305713218417233 Centerline is valid? [True, True] Translation: X:-123.75, Y:-256.18, Z:-2.79 [[-6.86730571e-01 -7.26898158e-01 4.49346244e-03 -1.23746658e+02] [ 7.26882563e-01 -6.86745272e-01 -4.76144914e-03 -2.56180975e+02] [ 6.54695270e-03 -3.61318905e-06 9.99978569e-01 -2.78914511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 740.526559995 meters 0.013103918757276288 Centerline is valid? [True, True] Translation: X:-123.77, Y:-256.16, Z:-2.79 [[-6.86094192e-01 -7.27496999e-01 4.78302249e-03 -1.23766207e+02] [ 7.27479365e-01 -6.86110864e-01 -5.06516322e-03 -2.56161620e+02] [ 6.96657473e-03 4.37109990e-06 9.99975733e-01 -2.78923996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 740.5565599949999 meters 0.013131513734534252 Centerline is valid? [True, True] Translation: X:-123.79, Y:-256.14, Z:-2.79 [[-6.84359651e-01 -7.29125515e-01 5.27752968e-03 -1.23786802e+02] [ 7.29104122e-01 -6.84379999e-01 -5.58541142e-03 -2.56143788e+02] [ 7.68430174e-03 2.54384307e-05 9.99970475e-01 -2.79006080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 740.5865599949999 meters 0.013328660021607515 Centerline is valid? [True, True] Translation: X:-123.81, Y:-256.13, Z:-2.79 [[-6.83452043e-01 -7.29973996e-01 5.59207381e-03 -1.23806047e+02] [ 7.29950028e-01 -6.83474919e-01 -5.91549760e-03 -2.56126219e+02] [ 8.14020161e-03 3.89755152e-05 9.99966867e-01 -2.79035232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 740.616559995 meters 0.013459716896616528 Centerline is valid? [True, True] Translation: X:-123.83, Y:-256.11, Z:-2.79 [[-6.82080424e-01 -7.31257277e-01 5.39354369e-03 -1.23826741e+02] [ 7.31235048e-01 -6.82101746e-01 -5.70193341e-03 -2.56108179e+02] [ 7.84852586e-03 5.47710174e-05 9.99969198e-01 -2.79020577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 740.646559995 meters 0.01365041851634235 Centerline is valid? [True, True] Translation: X:-123.85, Y:-256.09, Z:-2.79 [[-6.81821978e-01 -7.31499147e-01 5.27144534e-03 -1.23845929e+02] [ 7.31477949e-01 -6.81842353e-01 -5.56921370e-03 -2.56089649e+02] [ 7.66816977e-03 5.87337204e-05 9.99970598e-01 -2.79027743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 740.6765599949999 meters 0.013492547996517171 Centerline is valid? [True, True] Translation: X:-123.87, Y:-256.07, Z:-2.79 [[-6.81713832e-01 -7.31602059e-01 4.96766411e-03 -1.23865040e+02] [ 7.31583258e-01 -6.81731929e-01 -5.24531309e-03 -2.56069256e+02] [ 7.22409709e-03 5.84574096e-05 9.99973904e-01 -2.78922706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 740.7065599949999 meters 0.01361593799643337 Centerline is valid? [True, True] Translation: X:-123.88, Y:-256.05, Z:-2.79 [[-6.82313567e-01 -7.31049262e-01 3.89521849e-03 -1.23883793e+02] [ 7.31037709e-01 -6.82324684e-01 -4.11020103e-03 -2.56050651e+02] [ 5.66256315e-03 4.31056730e-05 9.99983967e-01 -2.78875663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 740.736559995 meters 0.01340353398561683 Centerline is valid? [True, True] Translation: X:-123.90, Y:-256.03, Z:-2.79 [[-6.83105571e-01 -7.30309250e-01 3.89601150e-03 -1.23902235e+02] [ 7.30297693e-01 -6.83116680e-01 -4.10872562e-03 -2.56029955e+02] [ 5.66207077e-03 3.85548452e-05 9.99983970e-01 -2.78783359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 740.766559995 meters 0.013251481572557275 Centerline is valid? [True, True] Translation: X:-123.92, Y:-256.01, Z:-2.79 [[-6.84788155e-01 -7.28735049e-01 3.22655471e-03 -1.23920410e+02] [ 7.28727116e-01 -6.84795756e-01 -3.40046889e-03 -2.56010477e+02] [ 4.68757183e-03 2.26770908e-05 9.99989013e-01 -2.78711956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 740.7965599949999 meters 0.01322692801414399 Centerline is valid? [True, True] Translation: X:-123.94, Y:-255.99, Z:-2.79 [[-6.85887474e-01 -7.27701239e-01 3.04617836e-03 -1.23938948e+02] [ 7.27694167e-01 -6.85894238e-01 -3.20834532e-03 -2.55990358e+02] [ 4.42407305e-03 1.61223566e-05 9.99990214e-01 -2.78690060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 740.8265599949999 meters 0.013190685001267815 Centerline is valid? [True, True] Translation: X:-123.96, Y:-255.97, Z:-2.79 [[-6.86909961e-01 -7.26737055e-01 2.82111701e-03 -1.23958100e+02] [ 7.26730988e-01 -6.86915754e-01 -2.96963686e-03 -2.55969422e+02] [ 4.09601487e-03 1.03200129e-05 9.99991611e-01 -2.78682514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 740.856559995 meters 0.01318280257732754 Centerline is valid? [True, True] Translation: X:-123.98, Y:-255.95, Z:-2.79 [[-6.87766355e-01 -7.25925908e-01 3.00287813e-03 -1.23976359e+02] [ 7.25919035e-01 -6.87772910e-01 -3.15897972e-03 -2.55949477e+02] [ 4.35848346e-03 7.20642684e-06 9.99990502e-01 -2.78657784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 740.886559995 meters 0.013251096315957384 Centerline is valid? [True, True] Translation: X:-124.00, Y:-255.93, Z:-2.79 [[-6.88962752e-01 -7.24789093e-01 3.33122880e-03 -1.23995100e+02] [ 7.24780632e-01 -6.88970805e-01 -3.50219749e-03 -2.55929647e+02] [ 4.83347393e-03 1.52649444e-06 9.99988319e-01 -2.78693687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 740.916559995 meters 0.013266460458115543 Centerline is valid? [True, True] Translation: X:-124.01, Y:-255.91, Z:-2.79 [[-6.89567199e-01 -7.24211847e-01 3.77890735e-03 -1.24013954e+02] [ 7.24200963e-01 -6.89577553e-01 -3.97035868e-03 -2.55910161e+02] [ 5.48123047e-03 -1.14076805e-06 9.99984978e-01 -2.78734840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 740.9465599949999 meters 0.013376362371214354 Centerline is valid? [True, True] Translation: X:-124.03, Y:-255.89, Z:-2.79 [[-6.90168720e-01 -7.23637152e-01 4.05108045e-03 -1.24033267e+02] [ 7.23624648e-01 -6.90180609e-01 -4.25392283e-03 -2.55890154e+02] [ 5.87427377e-03 -4.46281023e-06 9.99982746e-01 -2.78801075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 740.976559995 meters 0.013421379155403569 Centerline is valid? [True, True] Translation: X:-124.05, Y:-255.87, Z:-2.79 [[-6.90819361e-01 -7.23008324e-01 5.25118490e-03 -1.24052891e+02] [ 7.22987323e-01 -6.90839319e-01 -5.51064915e-03 -2.55870718e+02] [ 7.61197020e-03 -1.03230094e-05 9.99971029e-01 -2.78949279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 741.006559995 meters 0.01334214368947136 Centerline is valid? [True, True] Translation: X:-124.07, Y:-255.85, Z:-2.79 [[-6.91186194e-01 -7.22654573e-01 5.65810275e-03 -1.24071555e+02] [ 7.22630203e-01 -6.91209352e-01 -5.93479003e-03 -2.55851774e+02] [ 8.19973669e-03 -1.33289956e-05 9.99966382e-01 -2.79033655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 741.036559995 meters 0.013470148891683176 Centerline is valid? [True, True] Translation: X:-124.09, Y:-255.83, Z:-2.79 [[-6.91714026e-01 -7.22144329e-01 6.26697907e-03 -1.24089590e+02] [ 7.22114439e-01 -6.91742415e-01 -6.57029766e-03 -2.55833369e+02] [ 9.07983842e-03 -1.92909682e-05 9.99958777e-01 -2.79088360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 741.0665599949999 meters 0.013450691080151931 Centerline is valid? [True, True] Translation: X:-124.11, Y:-255.81, Z:-2.79 [[-6.92111896e-01 -7.21764376e-01 6.10810801e-03 -1.24108977e+02] [ 7.21736003e-01 -6.92138848e-01 -6.39974996e-03 -2.55813593e+02] [ 8.84677038e-03 -2.09016235e-05 9.99960866e-01 -2.79053109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 741.0965599949999 meters 0.013464580013371157 Centerline is valid? [True, True] Translation: X:-124.13, Y:-255.79, Z:-2.79 [[-6.92409650e-01 -7.21478052e-01 6.18846707e-03 -1.24127537e+02] [ 7.21448954e-01 -6.92437305e-01 -6.47971768e-03 -2.55794846e+02] [ 8.96009954e-03 -2.19559590e-05 9.99959857e-01 -2.79078878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 741.126559995 meters 0.013555587581480228 Centerline is valid? [True, True] Translation: X:-124.15, Y:-255.78, Z:-2.79 [[-6.92732483e-01 -7.21167166e-01 6.29490399e-03 -1.24146098e+02] [ 7.21137084e-01 -6.92761083e-01 -6.58695980e-03 -2.55776291e+02] [ 9.11116363e-03 -2.35123086e-05 9.99958492e-01 -2.79178652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 741.156559995 meters 0.013594162639633946 Centerline is valid? [True, True] Translation: X:-124.17, Y:-255.76, Z:-2.79 [[-6.92983030e-01 -7.20919920e-01 6.99921230e-03 -1.24166085e+02] [ 7.20882762e-01 -6.93018375e-01 -7.31950910e-03 -2.55758025e+02] [ 1.01273626e-02 -2.66840966e-05 9.99948717e-01 -2.79228408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 741.1865599949999 meters 0.013447975334643144 Centerline is valid? [True, True] Translation: X:-124.19, Y:-255.74, Z:-2.79 [[-6.92889873e-01 -7.21006015e-01 7.34507415e-03 -1.24185251e+02] [ 7.20965150e-01 -6.92928802e-01 -7.67641522e-03 -2.55739231e+02] [ 1.06243550e-02 -2.33678780e-05 9.99943560e-01 -2.79234219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 741.2165599949999 meters 0.013437936398044897 Centerline is valid? [True, True] Translation: X:-124.20, Y:-255.72, Z:-2.79 [[-6.92250714e-01 -7.21614402e-01 7.84881396e-03 -1.24204907e+02] [ 7.21567836e-01 -6.92295208e-01 -8.19778955e-03 -2.55720051e+02] [ 1.13493393e-02 -1.14739705e-05 9.99935594e-01 -2.79258126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 741.246559995 meters 0.013483477849240014 Centerline is valid? [True, True] Translation: X:-124.22, Y:-255.70, Z:-2.79 [[-6.92037274e-01 -7.21820994e-01 7.67229625e-03 -1.24224381e+02] [ 7.21776566e-01 -6.92079803e-01 -8.00847349e-03 -2.55700320e+02] [ 1.10905256e-02 -4.47852859e-06 9.99938498e-01 -2.79262550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 741.276559995 meters 0.013407998506266087 Centerline is valid? [True, True] Translation: X:-124.24, Y:-255.68, Z:-2.79 [[-6.91527857e-01 -7.22312185e-01 7.37093746e-03 -1.24243858e+02] [ 7.22271258e-01 -6.91567139e-01 -7.68908459e-03 -2.55680636e+02] [ 1.06514176e-02 6.60008458e-06 9.99943272e-01 -2.79124592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 741.3065599949999 meters 0.013405143337814767 Centerline is valid? [True, True] Translation: X:-124.26, Y:-255.66, Z:-2.79 [[-6.90920207e-01 -7.22898104e-01 6.89917351e-03 -1.24263770e+02] [ 7.22862321e-01 -6.90954652e-01 -7.19269034e-03 -2.55661268e+02] [ 9.96659824e-03 1.75774843e-05 9.99950332e-01 -2.79061842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 741.3365599949999 meters 0.013462302006819854 Centerline is valid? [True, True] Translation: X:-124.29, Y:-255.64, Z:-2.79 [[-6.89047570e-01 -7.24688333e-01 6.34558166e-03 -1.24285257e+02] [ 7.24658171e-01 -6.89076787e-01 -6.61183861e-03 -2.55642933e+02] [ 9.16411533e-03 4.25062760e-05 9.99958008e-01 -2.79017887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 741.366559995 meters 0.01358631936885826 Centerline is valid? [True, True] Translation: X:-124.31, Y:-255.62, Z:-2.79 [[-6.88035052e-01 -7.25650058e-01 6.30565578e-03 -1.24305869e+02] [ 7.25620349e-01 -6.88063944e-01 -6.56650405e-03 -2.55623162e+02] [ 9.10367842e-03 5.75271905e-05 9.99958559e-01 -2.79009326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 741.396559995 meters 0.013934059119692465 Centerline is valid? [True, True] Translation: X:-124.33, Y:-255.60, Z:-2.79 [[-6.87281320e-01 -7.26363144e-01 6.40078344e-03 -1.24326366e+02] [ 7.26332589e-01 -6.87311121e-01 -6.66279986e-03 -2.55604754e+02] [ 9.23894190e-03 6.98797227e-05 9.99957318e-01 -2.79177055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 741.4265599949999 meters 0.013861779235906714 Centerline is valid? [True, True] Translation: X:-124.34, Y:-255.59, Z:-2.79 [[-6.86588242e-01 -7.27018904e-01 6.33244392e-03 -1.24344984e+02] [ 7.26989062e-01 -6.86617439e-01 -6.58755953e-03 -2.55585490e+02] [ 9.13724674e-03 8.06765517e-05 9.99958251e-01 -2.79073738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 741.4565599949999 meters 0.014012944923370366 Centerline is valid? [True, True] Translation: X:-124.36, Y:-255.57, Z:-2.79 [[-6.85636046e-01 -7.27915112e-01 6.54234742e-03 -1.24364738e+02] [ 7.27883341e-01 -6.85667251e-01 -6.80163590e-03 -2.55566778e+02] [ 9.43688694e-03 9.86189596e-05 9.99955467e-01 -2.79041918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 741.486559995 meters 0.014101451374899538 Centerline is valid? [True, True] Translation: X:-124.38, Y:-255.55, Z:-2.79 [[-6.85638161e-01 -7.27912220e-01 6.64178941e-03 -1.24383584e+02] [ 7.27879519e-01 -6.85670322e-01 -6.90046395e-03 -2.55548226e+02] [ 9.57700991e-03 1.03201068e-04 9.99954134e-01 -2.79064712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 741.516559995 meters 0.0141137617841679 Centerline is valid? [True, True] Translation: X:-124.40, Y:-255.53, Z:-2.79 [[-6.86019477e-01 -7.27551369e-01 6.80324032e-03 -1.24402145e+02] [ 7.27517086e-01 -6.86053202e-01 -7.06358360e-03 -2.55529609e+02] [ 9.80650472e-03 1.03717651e-04 9.99951910e-01 -2.79094518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 741.5465599949999 meters 0.013939195710051191 Centerline is valid? [True, True] Translation: X:-124.42, Y:-255.51, Z:-2.79 [[-6.86607563e-01 -7.26998440e-01 6.58207759e-03 -1.24421429e+02] [ 7.26966361e-01 -6.86639105e-01 -6.83012956e-03 -2.55509196e+02] [ 9.48500539e-03 9.53303795e-05 9.99955012e-01 -2.79106362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 741.5765599949999 meters 0.013913982467852422 Centerline is valid? [True, True] Translation: X:-124.44, Y:-255.49, Z:-2.79 [[-6.87008329e-01 -7.26619142e-01 6.64670260e-03 -1.24439568e+02] [ 7.26586456e-01 -6.87040475e-01 -6.89263207e-03 -2.55490213e+02] [ 9.57487211e-03 9.41084436e-05 9.99954156e-01 -2.79127627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 741.606559995 meters 0.013835829014323653 Centerline is valid? [True, True] Translation: X:-124.46, Y:-255.47, Z:-2.79 [[-6.87350984e-01 -7.26292987e-01 6.86456546e-03 -1.24458524e+02] [ 7.26258146e-01 -6.87385255e-01 -7.11452933e-03 -2.55469308e+02] [ 9.88583384e-03 9.52678438e-05 9.99951130e-01 -2.79057714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 741.636559995 meters 0.014138192508941399 Centerline is valid? [True, True] Translation: X:-124.48, Y:-255.45, Z:-2.79 [[-6.87619645e-01 -7.26039990e-01 6.71987202e-03 -1.24477579e+02] [ 7.26006631e-01 -6.87652473e-01 -6.96041434e-03 -2.55450484e+02] [ 9.67447577e-03 9.25540145e-05 9.99953197e-01 -2.79186415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 741.666559995 meters 0.01398840527504411 Centerline is valid? [True, True] Translation: X:-124.50, Y:-255.43, Z:-2.79 [[-6.88095369e-01 -7.25584384e-01 7.21562692e-03 -1.24495689e+02] [ 7.25545944e-01 -6.88133194e-01 -7.46934825e-03 -2.55430095e+02] [ 1.03849548e-02 9.56449029e-05 9.99946070e-01 -2.79173532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 741.6965599949999 meters 0.014155082113739764 Centerline is valid? [True, True] Translation: X:-124.51, Y:-255.41, Z:-2.79 [[-6.88370493e-01 -7.25320872e-01 7.46305834e-03 -1.24514076e+02] [ 7.25279788e-01 -6.88410940e-01 -7.72053762e-03 -2.55411803e+02] [ 1.07375181e-02 9.82150848e-05 9.99942346e-01 -2.79248799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 741.726559995 meters 0.013942607078901754 Centerline is valid? [True, True] Translation: X:-124.53, Y:-255.39, Z:-2.79 [[-6.88488984e-01 -7.25207099e-01 7.58835494e-03 -1.24532663e+02] [ 7.25164670e-01 -6.88530793e-01 -7.84529748e-03 -2.55391498e+02] [ 1.09142815e-02 1.01406015e-04 9.99940432e-01 -2.79200141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 741.756559995 meters 0.014051278961029713 Centerline is valid? [True, True] Translation: X:-124.55, Y:-255.37, Z:-2.79 [[-6.88432751e-01 -7.25259520e-01 7.67960656e-03 -1.24551159e+02] [ 7.25216124e-01 -6.88475575e-01 -7.93449104e-03 -2.55373065e+02] [ 1.10417867e-02 1.07011015e-04 9.99939032e-01 -2.79283106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 741.786559995 meters 0.014094521196986818 Centerline is valid? [True, True] Translation: X:-124.57, Y:-255.35, Z:-2.79 [[-6.88807381e-01 -7.24904488e-01 7.60753634e-03 -1.24569260e+02] [ 7.24861936e-01 -6.88849383e-01 -7.85498490e-03 -2.55354039e+02] [ 1.09345605e-02 1.03841944e-04 9.99940211e-01 -2.79305988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 741.8165599949999 meters 0.014103717530813756 Centerline is valid? [True, True] Translation: X:-124.59, Y:-255.33, Z:-2.79 [[-6.89057796e-01 -7.24665638e-01 7.68550393e-03 -1.24587672e+02] [ 7.24622248e-01 -6.89100647e-01 -7.93069820e-03 -2.55333956e+02] [ 1.10431902e-02 1.04377713e-04 9.99939017e-01 -2.79295908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 741.8465599949999 meters 0.013879294152696888 Centerline is valid? [True, True] Translation: X:-124.61, Y:-255.31, Z:-2.79 [[-6.89598063e-01 -7.24151150e-01 7.72164642e-03 -1.24605194e+02] [ 7.24107373e-01 -6.89641285e-01 -7.96306760e-03 -2.55313266e+02] [ 1.10916307e-02 9.99851037e-05 9.99938481e-01 -2.79200877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 741.876559995 meters 0.014019362470376375 Centerline is valid? [True, True] Translation: X:-124.62, Y:-255.29, Z:-2.79 [[-6.90785150e-01 -7.23020825e-01 7.53416563e-03 -1.24622482e+02] [ 7.22979135e-01 -6.90826230e-01 -7.76469611e-03 -2.55293673e+02] [ 1.08188362e-02 8.33077830e-05 9.99941471e-01 -2.79306072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 741.906559995 meters 0.01362112447511983 Centerline is valid? [True, True] Translation: X:-124.64, Y:-255.27, Z:-2.79 [[-6.91752857e-01 -7.22094696e-01 7.56533277e-03 -1.24639806e+02] [ 7.22052659e-01 -6.91794221e-01 -7.79191261e-03 -2.55273134e+02] [ 1.08601523e-02 7.24908297e-05 9.99941024e-01 -2.79178504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 741.9365599949999 meters 0.013503352432726429 Centerline is valid? [True, True] Translation: X:-124.66, Y:-255.25, Z:-2.79 [[-6.93901659e-01 -7.20031020e-01 7.47119156e-03 -1.24657537e+02] [ 7.19989948e-01 -6.93941877e-01 -7.69061900e-03 -2.55250838e+02] [ 1.07220569e-02 4.26495456e-05 9.99942516e-01 -2.79157071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 741.9665599949999 meters 0.01337336012674039 Centerline is valid? [True, True] Translation: X:-124.68, Y:-255.23, Z:-2.79 [[-6.95536260e-01 -7.18452275e-01 7.45917187e-03 -1.24675385e+02] [ 7.18411297e-01 -6.95576256e-01 -7.67340393e-03 -2.55230055e+02] [ 1.07013974e-02 2.16226576e-05 9.99942738e-01 -2.79119450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 741.996559995 meters 0.013439750743742667 Centerline is valid? [True, True] Translation: X:-124.69, Y:-255.21, Z:-2.79 [[-6.97309537e-01 -7.16735232e-01 7.07228012e-03 -1.24693196e+02] [ 7.16698352e-01 -6.97345400e-01 -7.27084090e-03 -2.55208978e+02] [ 1.01430899e-02 -1.33519616e-06 9.99948558e-01 -2.79099379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 742.026559995 meters 0.013439750743742667 Centerline is valid? [True, True] Translation: X:-124.71, Y:-255.19, Z:-2.79 [[-6.97533788e-01 -7.16516968e-01 7.07455514e-03 -1.24711932e+02] [ 7.16480099e-01 -6.97569663e-01 -7.26862732e-03 -2.55189863e+02] [ 1.01430899e-02 -1.33518656e-06 9.99948558e-01 -2.79099318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 742.0565599949999 meters 0.013423403646037384 Centerline is valid? [True, True] Translation: X:-124.73, Y:-255.17, Z:-2.79 [[-6.99734541e-01 -7.14367362e-01 7.13045068e-03 -1.24728559e+02] [ 7.14329846e-01 -6.99770870e-01 -7.32125336e-03 -2.55169095e+02] [ 1.02197461e-02 -2.94401264e-05 9.99947777e-01 -2.79065501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 742.0865599949999 meters 0.013973822806950234 Centerline is valid? [True, True] Translation: X:-124.74, Y:-255.14, Z:-2.79 [[-7.04123272e-01 -7.10043572e-01 6.96741186e-03 -1.24744054e+02] [ 7.10007577e-01 -7.04157737e-01 -7.14991321e-03 -2.55144778e+02] [ 9.98290688e-03 -8.75050641e-05 9.99950166e-01 -2.78970662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 742.116559995 meters 0.014461376292243115 Centerline is valid? [True, True] Translation: X:-124.76, Y:-255.12, Z:-2.79 [[-7.06476955e-01 -7.07701182e-01 7.02490122e-03 -1.24760758e+02] [ 7.07664507e-01 -7.06511870e-01 -7.20571019e-03 -2.55123884e+02] [ 1.00626657e-02 -1.19394936e-04 9.99949363e-01 -2.78935515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 742.146559995 meters 0.015372389659314083 Centerline is valid? [True, True] Translation: X:-124.78, Y:-255.10, Z:-2.79 [[-7.09716955e-01 -7.04457440e-01 6.44666754e-03 -1.24778888e+02] [ 7.04426453e-01 -7.09746218e-01 -6.60899093e-03 -2.55102762e+02] [ 9.23125073e-03 -1.49309765e-04 9.99957380e-01 -2.78939059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 742.1765599949999 meters 0.01520987186349159 Centerline is valid? [True, True] Translation: X:-124.80, Y:-255.08, Z:-2.79 [[-7.10845770e-01 -7.03318427e-01 6.44055312e-03 -1.24799054e+02] [ 7.03287487e-01 -7.10874928e-01 -6.59904164e-03 -2.55082814e+02] [ 9.21965533e-03 -1.61340421e-04 9.99957485e-01 -2.78885808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 742.2065599949999 meters 0.015299219534625317 Centerline is valid? [True, True] Translation: X:-124.82, Y:-255.06, Z:-2.79 [[-7.11665619e-01 -7.02489222e-01 6.39843611e-03 -1.24818766e+02] [ 7.02458685e-01 -7.11694362e-01 -6.55219904e-03 -2.55063253e+02] [ 9.15658011e-03 -1.68337770e-04 9.99958064e-01 -2.78833892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 742.236559995 meters 0.015508336958994983 Centerline is valid? [True, True] Translation: X:-124.84, Y:-255.04, Z:-2.79 [[-7.12486283e-01 -7.01657231e-01 6.35823718e-03 -1.24838654e+02] [ 7.01627076e-01 -7.12514631e-01 -6.50738079e-03 -2.55042912e+02] [ 9.09628781e-03 -1.75308190e-04 9.99958613e-01 -2.78850019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 742.266559995 meters 0.01573907659001534 Centerline is valid? [True, True] Translation: X:-124.86, Y:-255.02, Z:-2.79 [[-7.13730643e-01 -7.00392116e-01 6.28119717e-03 -1.24858348e+02] [ 7.00362671e-01 -7.13758257e-01 -6.42491318e-03 -2.55022575e+02] [ 8.98321487e-03 -1.86541389e-04 9.99959633e-01 -2.78785719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 742.2965599949999 meters 0.01598586159996581 Centerline is valid? [True, True] Translation: X:-124.88, Y:-255.00, Z:-2.79 [[-7.14218133e-01 -6.99894302e-01 6.35801324e-03 -1.24876957e+02] [ 6.99864148e-01 -7.14246407e-01 -6.49963183e-03 -2.55003274e+02] [ 9.09024339e-03 -1.92409395e-04 9.99958664e-01 -2.78785559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 742.3265599949999 meters 0.016091735139138863 Centerline is valid? [True, True] Translation: X:-124.90, Y:-254.98, Z:-2.79 [[-7.14594956e-01 -6.99508198e-01 6.50623240e-03 -1.24896308e+02] [ 6.99476644e-01 -7.14624546e-01 -6.64698912e-03 -2.54984651e+02] [ 9.29913675e-03 -1.98947290e-04 9.99956742e-01 -2.78789104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 742.356559995 meters 0.015967053019047845 Centerline is valid? [True, True] Translation: X:-124.92, Y:-254.97, Z:-2.79 [[-7.13781087e-01 -7.00339232e-01 6.44354841e-03 -1.24917508e+02] [ 7.00308347e-01 -7.13810147e-01 -6.57976116e-03 -2.54968478e+02] [ 9.20753512e-03 -1.84038337e-04 9.99957593e-01 -2.78877232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 742.386559995 meters 0.01564223451767082 Centerline is valid? [True, True] Translation: X:-124.94, Y:-254.95, Z:-2.79 [[-7.12962526e-01 -7.01172916e-01 6.40147505e-03 -1.24938712e+02] [ 7.01142503e-01 -7.12991243e-01 -6.53276442e-03 -2.54951058e+02] [ 9.14479314e-03 -1.69269978e-04 9.99958171e-01 -2.78890070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 742.416559995 meters 0.015325641337852084 Centerline is valid? [True, True] Translation: X:-124.96, Y:-254.93, Z:-2.79 [[-7.11701581e-01 -7.02457057e-01 5.91117811e-03 -1.24959308e+02] [ 7.02431197e-01 -7.11726115e-01 -6.02915289e-03 -2.54933644e+02] [ 8.44236083e-03 -1.38761735e-04 9.99964353e-01 -2.78886931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 742.4465599949999 meters 0.014323966170883082 Centerline is valid? [True, True] Translation: X:-124.98, Y:-254.92, Z:-2.79 [[-7.08267740e-01 -7.05919739e-01 5.84208983e-03 -1.24982292e+02] [ 7.05894622e-01 -7.08291828e-01 -5.95561898e-03 -2.54918688e+02] [ 8.34209348e-03 -9.42730040e-05 9.99965200e-01 -2.78879795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 742.476559995 meters 0.013645198696133277 Centerline is valid? [True, True] Translation: X:-125.00, Y:-254.90, Z:-2.79 [[-7.06368301e-01 -7.07820464e-01 5.83214790e-03 -1.25004778e+02] [ 7.07795525e-01 -7.06392374e-01 -5.94214819e-03 -2.54900965e+02] [ 8.32575889e-03 -6.93769333e-05 9.99965338e-01 -2.78788999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 742.506559995 meters 0.013378164527426056 Centerline is valid? [True, True] Translation: X:-125.03, Y:-254.88, Z:-2.79 [[-7.04361698e-01 -7.09814502e-01 6.16205511e-03 -1.25026249e+02] [ 7.09786769e-01 -7.04388650e-01 -6.27474679e-03 -2.54883122e+02] [ 8.79438796e-03 -4.59461147e-05 9.99961328e-01 -2.78768020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 742.536559995 meters 0.013205731903734506 Centerline is valid? [True, True] Translation: X:-125.05, Y:-254.87, Z:-2.79 [[-6.99904286e-01 -7.14207196e-01 6.48628286e-03 -1.25050197e+02] [ 7.14176689e-01 -6.99934341e-01 -6.60121990e-03 -2.54867769e+02] [ 9.25461088e-03 1.21299114e-05 9.99957175e-01 -2.78852899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 742.5665599949999 meters 0.013393790121705808 Centerline is valid? [True, True] Translation: X:-125.07, Y:-254.85, Z:-2.79 [[-6.97834497e-01 -7.16231399e-01 6.29267955e-03 -1.25071119e+02] [ 7.16202806e-01 -6.97862867e-01 -6.39996879e-03 -2.54851833e+02] [ 8.97528600e-03 4.07157463e-05 9.99959721e-01 -2.78888430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 742.5965599949999 meters 0.014283478298430416 Centerline is valid? [True, True] Translation: X:-125.10, Y:-254.84, Z:-2.79 [[-6.93687163e-01 -7.20252508e-01 5.86892944e-03 -1.25095899e+02] [ 7.20227809e-01 -6.93711984e-01 -5.96549996e-03 -2.54838047e+02] [ 8.36801300e-03 8.87754502e-05 9.99964984e-01 -2.78956397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 742.626559995 meters 0.014235998335046449 Centerline is valid? [True, True] Translation: X:-125.12, Y:-254.82, Z:-2.79 [[-6.92073023e-01 -7.21808061e-01 5.29668888e-03 -1.25116745e+02] [ 7.21788011e-01 -6.92093284e-01 -5.38083416e-03 -2.54819048e+02] [ 7.54973227e-03 9.91563754e-05 9.99971496e-01 -2.78770238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 742.656559995 meters 0.01489512480119917 Centerline is valid? [True, True] Translation: X:-125.14, Y:-254.80, Z:-2.79 [[-6.90482355e-01 -7.23332687e-01 4.89299866e-03 -1.25137855e+02] [ 7.23315636e-01 -6.90499683e-01 -4.96779734e-03 -2.54801646e+02] [ 6.97198422e-03 1.09006026e-04 9.99975690e-01 -2.78685268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 742.6865599949999 meters 0.01549598745958745 Centerline is valid? [True, True] Translation: X:-125.16, Y:-254.78, Z:-2.79 [[-6.88984285e-01 -7.24762455e-01 4.47651051e-03 -1.25159050e+02] [ 7.24748229e-01 -6.88998817e-01 -4.54244749e-03 -2.54783516e+02] [ 6.37650584e-03 1.14668131e-04 9.99979663e-01 -2.78604499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 742.7165599949999 meters 0.016420451456489762 Centerline is valid? [True, True] Translation: X:-125.18, Y:-254.77, Z:-2.79 [[-6.86650435e-01 -7.26976860e-01 3.97809806e-03 -1.25181502e+02] [ 7.26965676e-01 -6.86661948e-01 -4.03433594e-03 -2.54767023e+02] [ 5.66447743e-03 1.21762221e-04 9.99983949e-01 -2.78531829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 742.746559995 meters 0.016609123067782488 Centerline is valid? [True, True] Translation: X:-125.20, Y:-254.75, Z:-2.78 [[-6.85874813e-01 -7.27708443e-01 4.02037632e-03 -1.25202477e+02] [ 7.27697046e-01 -6.85886583e-01 -4.07494116e-03 -2.54747897e+02] [ 5.72289127e-03 1.30716471e-04 9.99983616e-01 -2.78483629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 742.776559995 meters 0.01741826644136451 Centerline is valid? [True, True] Translation: X:-125.22, Y:-254.73, Z:-2.78 [[-6.85116576e-01 -7.28423699e-01 3.76726916e-03 -1.25223142e+02] [ 7.28413711e-01 -6.85126921e-01 -3.81684692e-03 -2.54730846e+02] [ 5.36133928e-03 1.29145421e-04 9.99985620e-01 -2.78488820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 742.8065599949999 meters 0.01807395324965973 Centerline is valid? [True, True] Translation: X:-125.25, Y:-254.71, Z:-2.79 [[-6.84308664e-01 -7.29184135e-01 3.48565326e-03 -1.25245683e+02] [ 7.29175603e-01 -6.84317530e-01 -3.52961160e-03 -2.54713431e+02] [ 4.95903041e-03 1.26309520e-04 9.99987696e-01 -2.78533863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 742.8365599949999 meters 0.018475166644140822 Centerline is valid? [True, True] Translation: X:-125.27, Y:-254.70, Z:-2.79 [[-6.84204269e-01 -7.29280080e-01 3.88362118e-03 -1.25265414e+02] [ 7.29269505e-01 -6.84215276e-01 -3.93008492e-03 -2.54696092e+02] [ 5.52336559e-03 1.43225613e-04 9.99984736e-01 -2.78599355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 742.866559995 meters 0.018705513113763318 Centerline is valid? [True, True] Translation: X:-125.28, Y:-254.68, Z:-2.79 [[-6.84243380e-01 -7.29240487e-01 4.39420044e-03 -1.25284956e+02] [ 7.29226964e-01 -6.84257470e-01 -4.44395175e-03 -2.54677783e+02] [ 6.24747402e-03 1.63624876e-04 9.99980471e-01 -2.78673872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 742.896559995 meters 0.018022567786264498 Centerline is valid? [True, True] Translation: X:-125.30, Y:-254.66, Z:-2.79 [[-6.84800850e-01 -7.28707714e-01 5.73271804e-03 -1.25303419e+02] [ 7.28684709e-01 -6.84824813e-01 -5.79408120e-03 -2.54657863e+02] [ 8.14809922e-03 2.09552249e-04 9.99966782e-01 -2.78809854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 742.9265599949999 meters 0.01751531366697715 Centerline is valid? [True, True] Translation: X:-125.32, Y:-254.64, Z:-2.79 [[-6.85680212e-01 -7.27876244e-01 6.23054967e-03 -1.25321894e+02] [ 7.27849070e-01 -6.85708484e-01 -6.29336835e-03 -2.54637978e+02] [ 8.85313409e-03 2.19661630e-04 9.99960786e-01 -2.78862760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 742.9565599949999 meters 0.01726978238220733 Centerline is valid? [True, True] Translation: X:-125.34, Y:-254.62, Z:-2.79 [[-6.86690122e-01 -7.26919511e-01 6.68597858e-03 -1.25340844e+02] [ 7.26888212e-01 -6.86722633e-01 -6.74926224e-03 -2.54617821e+02] [ 9.49758322e-03 2.25307312e-04 9.99954872e-01 -2.78905685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 742.986559995 meters 0.015262132205377909 Centerline is valid? [True, True] Translation: X:-125.36, Y:-254.59, Z:-2.79 [[-6.89313040e-01 -7.24434257e-01 6.52228764e-03 -1.25357023e+02] [ 7.24404382e-01 -6.89343871e-01 -6.58165894e-03 -2.54593798e+02] [ 9.26407821e-03 1.87950419e-04 9.99957070e-01 -2.78831956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 743.016559995 meters 0.015251793155303736 Centerline is valid? [True, True] Translation: X:-125.38, Y:-254.57, Z:-2.79 [[-6.91169875e-01 -7.22662371e-01 6.58045908e-03 -1.25375086e+02] [ 7.22631915e-01 -6.91201179e-01 -6.63663153e-03 -2.54574161e+02] [ 9.34446495e-03 1.68209971e-04 9.99956326e-01 -2.78864187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 743.0465599949999 meters 0.014318091001420532 Centerline is valid? [True, True] Translation: X:-125.39, Y:-254.55, Z:-2.79 [[-6.93299062e-01 -7.20618092e-01 6.78061972e-03 -1.25392623e+02] [ 7.20585695e-01 -6.93332203e-01 -6.83464095e-03 -2.54551664e+02] [ 9.62638793e-03 1.47567419e-04 9.99953654e-01 -2.78826646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 743.0765599949999 meters 0.013361502935467017 Centerline is valid? [True, True] Translation: X:-125.41, Y:-254.53, Z:-2.79 [[-6.97981758e-01 -7.16082957e-01 6.83111505e-03 -1.25407706e+02] [ 7.16049895e-01 -6.98015180e-01 -6.88163759e-03 -2.54527211e+02] [ 9.69604540e-03 8.81617125e-05 9.99952988e-01 -2.78801040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 743.106559995 meters 0.013116001501179057 Centerline is valid? [True, True] Translation: X:-125.42, Y:-254.51, Z:-2.79 [[-7.00704125e-01 -7.13419994e-01 6.75588895e-03 -1.25424518e+02] [ 7.13387573e-01 -7.00736691e-01 -6.80158419e-03 -2.54505904e+02] [ 9.58648542e-03 5.36691253e-05 9.99954047e-01 -2.78777169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 743.136559995 meters 0.012898180804576716 Centerline is valid? [True, True] Translation: X:-125.44, Y:-254.48, Z:-2.79 [[-7.03576575e-01 -7.10588681e-01 6.61277234e-03 -1.25440630e+02] [ 7.10557535e-01 -7.03607650e-01 -6.65312293e-03 -2.54484859e+02] [ 9.38043106e-03 1.77737606e-05 9.99956003e-01 -2.78764634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 743.166559995 meters 0.013000318514522389 Centerline is valid? [True, True] Translation: X:-125.46, Y:-254.46, Z:-2.79 [[-7.06383245e-01 -7.07801547e-01 6.29940154e-03 -1.25456935e+02] [ 7.07773208e-01 -7.06411332e-01 -6.33372330e-03 -2.54463465e+02] [ 8.93298778e-03 -1.54883793e-05 9.99960100e-01 -2.78853386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 743.1965599949999 meters 0.013451759713860182 Centerline is valid? [True, True] Translation: X:-125.47, Y:-254.44, Z:-2.79 [[-7.11257588e-01 -7.02900468e-01 6.60122085e-03 -1.25472086e+02] [ 7.02869170e-01 -7.11288216e-01 -6.63355025e-03 -2.54438679e+02] [ 9.35809618e-03 -7.83683326e-05 9.99956209e-01 -2.78759948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 743.226559995 meters 0.013802292940751377 Centerline is valid? [True, True] Translation: X:-125.49, Y:-254.42, Z:-2.79 [[-7.13336705e-01 -7.00790142e-01 6.62744815e-03 -1.25489987e+02] [ 7.00758538e-01 -7.13367483e-01 -6.65623103e-03 -2.54416698e+02] [ 9.39242709e-03 -1.03893032e-04 9.99955885e-01 -2.78738407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 743.256559995 meters 0.014660553331668585 Centerline is valid? [True, True] Translation: X:-125.51, Y:-254.39, Z:-2.79 [[-7.16160320e-01 -6.97904138e-01 6.64911735e-03 -1.25505348e+02] [ 6.97872239e-01 -7.16191172e-01 -6.67411443e-03 -2.54394166e+02] [ 9.41993123e-03 -1.39501514e-04 9.99955622e-01 -2.78753555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 743.286559995 meters 0.014789442263032974 Centerline is valid? [True, True] Translation: X:-125.52, Y:-254.37, Z:-2.79 [[-7.16953803e-01 -6.97084413e-01 7.11096215e-03 -1.25523876e+02] [ 6.97047927e-01 -7.16989049e-01 -7.13380315e-03 -2.54373448e+02] [ 1.00713450e-02 -1.57925873e-04 9.99949270e-01 -2.78728473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 743.3165599949999 meters 0.014936141453386969 Centerline is valid? [True, True] Translation: X:-125.54, Y:-254.35, Z:-2.79 [[-7.17393717e-01 -6.96629446e-01 7.32602046e-03 -1.25541988e+02] [ 6.96590742e-01 -7.17431103e-01 -7.34507806e-03 -2.54353588e+02] [ 1.03727126e-02 -1.66074828e-04 9.99946188e-01 -2.78769648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 743.3465599949999 meters 0.015017601155756306 Centerline is valid? [True, True] Translation: X:-125.56, Y:-254.33, Z:-2.79 [[-7.17405450e-01 -6.96612451e-01 7.77908589e-03 -1.25560807e+02] [ 6.96568863e-01 -7.17447603e-01 -7.79460795e-03 -2.54333488e+02] [ 1.10109075e-02 -1.73225201e-04 9.99939363e-01 -2.78790551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 743.376559995 meters 0.014995640968099003 Centerline is valid? [True, True] Translation: X:-125.58, Y:-254.31, Z:-2.79 [[-7.17117485e-01 -6.96904714e-01 8.14446317e-03 -1.25579835e+02] [ 6.96857011e-01 -7.17163712e-01 -8.15580955e-03 -2.54313700e+02] [ 1.15247356e-02 -1.73147376e-04 9.99933573e-01 -2.78826765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 743.406559995 meters 0.014213849267313085 Centerline is valid? [True, True] Translation: X:-125.60, Y:-254.29, Z:-2.79 [[-7.15770434e-01 -6.98285721e-01 8.35092245e-03 -1.25599353e+02] [ 6.98235723e-01 -7.15819132e-01 -8.35736965e-03 -2.54294998e+02] [ 1.18135819e-02 -1.51045727e-04 9.99930206e-01 -2.78804635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 743.4365599949999 meters 0.014510783727504467 Centerline is valid? [True, True] Translation: X:-125.62, Y:-254.28, Z:-2.79 [[-7.15165574e-01 -6.98904447e-01 8.41286092e-03 -1.25616842e+02] [ 6.98853812e-01 -7.15215041e-01 -8.41388298e-03 -2.54275926e+02] [ 1.18975049e-02 -1.37959529e-04 9.99929213e-01 -2.78893530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 743.4665599949999 meters 0.013676994935796992 Centerline is valid? [True, True] Translation: X:-125.64, Y:-254.26, Z:-2.79 [[-7.13561136e-01 -7.00540206e-01 8.59800435e-03 -1.25637038e+02] [ 7.00487499e-01 -7.13612926e-01 -8.59398388e-03 -2.54256875e+02] [ 1.21560783e-02 -1.09538338e-04 9.99926106e-01 -2.78768043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 743.496559995 meters 0.013564042395524346 Centerline is valid? [True, True] Translation: X:-126.15, Y:-254.76, Z:-1.80 [[-7.50474619e-01 6.60834995e-01 9.21715291e-03 -1.26145712e+02] [ 6.60786716e-01 7.50531212e-01 -7.98850648e-03 -2.54762705e+02] [-1.21968456e-02 9.54008534e-05 -9.99925611e-01 -1.79956553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 743.526559995 meters 0.013388500158999825 Centerline is valid? [True, True] Translation: X:-126.13, Y:-254.74, Z:-1.80 [[-7.96286927e-01 6.04839053e-01 9.84121830e-03 -1.26127308e+02] [ 6.04794067e-01 7.96347735e-01 -7.37715407e-03 -2.54742000e+02] [-1.22990228e-02 7.75790920e-05 -9.99924361e-01 -1.79979751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 743.5565599949999 meters 0.013370499624502964 Centerline is valid? [True, True] Translation: X:-126.11, Y:-254.72, Z:-1.80 [[-8.37839890e-01 5.45822127e-01 1.01254824e-02 -1.26114217e+02] [ 5.45783139e-01 8.37901070e-01 -6.52404915e-03 -2.54717640e+02] [-1.20451229e-02 6.02089190e-05 -9.99927453e-01 -1.80002344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 743.5865599949999 meters 0.013178785061683953 Centerline is valid? [True, True] Translation: X:-125.72, Y:-254.12, Z:-2.79 [[-8.03245617e-01 -5.95578931e-01 9.06728753e-03 -1.25717000e+02] [ 5.95539577e-01 -8.03296786e-01 -6.84731191e-03 -2.54121731e+02] [ 1.13618376e-02 -1.00144696e-04 9.99935447e-01 -2.78566805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 743.616559995 meters 0.013147417397853038 Centerline is valid? [True, True] Translation: X:-126.15, Y:-254.70, Z:-1.80 [[-8.42173405e-01 5.39134424e-01 8.83341740e-03 -1.26147081e+02] [ 5.39104860e-01 8.42219730e-01 -5.64598167e-03 -2.54696590e+02] [-1.04836215e-02 7.24264004e-06 -9.99945045e-01 -1.80141689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 743.646559995 meters 0.013106025552595324 Centerline is valid? [True, True] Translation: X:-126.13, Y:-254.67, Z:-1.80 [[-8.78818532e-01 4.77079538e-01 8.55006210e-03 -1.26130818e+02] [ 4.77056905e-01 8.78860123e-01 -4.64696404e-03 -2.54673547e+02] [-9.73128008e-03 -4.97194914e-06 -9.99952650e-01 -1.80194698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 743.6765599949999 meters 0.013145828279678133 Centerline is valid? [True, True] Translation: X:-125.79, Y:-254.05, Z:-2.78 [[-8.43015828e-01 -5.37836190e-01 7.51976535e-03 -1.25786586e+02] [ 5.37814323e-01 -8.43049364e-01 -4.85013338e-03 -2.54047212e+02] [ 8.94811066e-03 -4.45016903e-05 9.99959964e-01 -2.78441109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 743.7065599949999 meters 0.013148881692075372 Centerline is valid? [True, True] Translation: X:-126.17, Y:-254.65, Z:-1.80 [[-8.81662993e-01 4.71819949e-01 7.50346451e-03 -1.26172349e+02] [ 4.71802632e-01 8.81694922e-01 -4.04242105e-03 -2.54652745e+02] [-8.52306145e-03 -2.38987389e-05 -9.99963678e-01 -1.80325902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 743.736559995 meters 0.013240756687290252 Centerline is valid? [True, True] Translation: X:-126.16, Y:-254.63, Z:-1.80 [[-9.13002899e-01 4.07890167e-01 7.16368822e-03 -1.26157540e+02] [ 4.07877400e-01 9.13031002e-01 -3.22732560e-03 -2.54629411e+02] [-7.85706381e-03 -2.46511015e-05 -9.99969133e-01 -1.80376166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 743.766559995 meters 0.013238095073563449 Centerline is valid? [True, True] Translation: X:-125.86, Y:-253.98, Z:-2.78 [[-8.80082475e-01 -4.74778190e-01 6.36456719e-03 -1.25858831e+02] [ 4.74765647e-01 -8.80105488e-01 -3.45107505e-03 -2.53977687e+02] [ 7.23998568e-03 -1.55528140e-05 9.99973791e-01 -2.78296233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 743.7965599949999 meters 0.01329016206199062 Centerline is valid? [True, True] Translation: X:-126.20, Y:-254.61, Z:-1.80 [[-9.14848619e-01 4.03740013e-01 6.78283453e-03 -1.26200493e+02] [ 4.03728681e-01 9.14873763e-01 -3.02505532e-03 -2.54611991e+02] [-7.42677322e-03 -2.90428421e-05 -9.99972421e-01 -1.80416552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 743.8265599949999 meters 0.01329100447541453 Centerline is valid? [True, True] Translation: X:-125.90, Y:-253.96, Z:-2.78 [[-8.81460567e-01 -4.72200664e-01 7.33497227e-03 -1.25903285e+02] [ 4.72185116e-01 -8.81491081e-01 -3.83270900e-03 -2.53958021e+02] [ 8.27552037e-03 8.50828828e-05 9.99965754e-01 -2.78333930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 743.856559995 meters 0.013391917207349092 Centerline is valid? [True, True] Translation: X:-126.24, Y:-254.59, Z:-1.80 [[-9.16643152e-01 3.99626679e-01 7.99057480e-03 -1.26244872e+02] [ 3.99611104e-01 9.16677978e-01 -3.52849357e-03 -2.54592677e+02] [-8.73486412e-03 -4.12470551e-05 -9.99961850e-01 -1.80281674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 743.886559995 meters 0.013430708898658023 Centerline is valid? [True, True] Translation: X:-126.23, Y:-254.57, Z:-1.80 [[-9.42912216e-01 3.32902501e-01 9.61650109e-03 -1.26230318e+02] [ 3.32884577e-01 9.42961251e-01 -3.45492059e-03 -2.54568336e+02] [-1.02181396e-02 -5.65019299e-05 -9.99947792e-01 -1.80129754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 743.916559995 meters 0.013494198963261539 Centerline is valid? [True, True] Translation: X:-125.98, Y:-253.90, Z:-2.79 [[-9.13541213e-01 -4.06622780e-01 1.00183630e-02 -1.25981786e+02] [ 4.06599583e-01 -9.13596138e-01 -4.34458374e-03 -2.53895493e+02] [ 1.09193444e-02 1.04505901e-04 9.99940377e-01 -2.78606762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 743.9465599949999 meters 0.013494198963261539 Centerline is valid? [True, True] Translation: X:-126.27, Y:-254.55, Z:-1.80 [[-9.44340226e-01 3.28811184e-01 1.02344265e-02 -1.26272955e+02] [ 3.28791116e-01 9.44395680e-01 -3.63336996e-03 -2.54553802e+02] [-1.08600408e-02 -6.61489063e-05 -9.99941026e-01 -1.80092117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 743.976559995 meters 0.013666314214141778 Centerline is valid? [True, True] Translation: X:-126.27, Y:-254.53, Z:-1.80 [[-9.65477783e-01 2.60251538e-01 1.10357213e-02 -1.26265854e+02] [ 2.60233599e-01 9.65540849e-01 -3.05664186e-03 -2.54525856e+02] [-1.14509354e-02 -7.92543435e-05 -9.99934433e-01 -1.79958774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 744.006559995 meters 0.013828420571916437 Centerline is valid? [True, True] Translation: X:-126.26, Y:-254.50, Z:-1.80 [[-9.81828993e-01 1.89443992e-01 1.10816285e-02 -1.26262356e+02] [ 1.89430805e-01 9.81891524e-01 -2.23739361e-03 -2.54496401e+02] [-1.13048179e-02 -9.75361090e-05 -9.99936094e-01 -1.79905045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 744.036559995 meters 0.013715407349029539 Centerline is valid? [True, True] Translation: X:-126.12, Y:-253.80, Z:-2.79 [[-9.62055037e-01 -2.72613327e-01 1.14926215e-02 -1.26116901e+02] [ 2.72595630e-01 -9.62123669e-01 -3.10948937e-03 -2.53799375e+02] [ 1.19050114e-02 1.41338488e-04 9.99929123e-01 -2.78744784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 744.0665599949999 meters 0.013900291730666762 Centerline is valid? [True, True] Translation: X:-126.31, Y:-254.49, Z:-1.80 [[-9.82718182e-01 1.84701323e-01 1.22636130e-02 -1.26313708e+02] [ 1.84685437e-01 9.82794692e-01 -2.42526418e-03 -2.54486195e+02] [-1.25005633e-02 -1.18440477e-04 -9.99921858e-01 -1.79868790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 744.0965599949999 meters 0.013948933959000872 Centerline is valid? [True, True] Translation: X:-126.17, Y:-253.79, Z:-2.79 [[-9.62993978e-01 -2.69224191e-01 1.26859290e-02 -1.26167897e+02] [ 2.69203080e-01 -9.63077519e-01 -3.37548235e-03 -2.53790217e+02] [ 1.31262946e-02 1.64521982e-04 9.99913833e-01 -2.78889282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 744.126559995 meters 0.013995502054601334 Centerline is valid? [True, True] Translation: X:-126.36, Y:-254.48, Z:-1.80 [[-9.83539784e-01 1.80219766e-01 1.30510372e-02 -1.26360277e+02] [ 1.80202102e-01 9.83626361e-01 -2.52670890e-03 -2.54477896e+02] [-1.32927071e-02 -1.33294387e-04 -9.99911639e-01 -1.79836414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 744.156559995 meters 0.014156358204969577 Centerline is valid? [True, True] Translation: X:-126.37, Y:-254.45, Z:-1.80 [[-9.93885750e-01 1.09620885e-01 1.32052057e-02 -1.26367112e+02] [ 1.09609371e-01 9.93973462e-01 -1.59475125e-03 -2.54448331e+02] [-1.33004421e-02 -1.37586254e-04 -9.99911536e-01 -1.79814637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 744.1865599949999 meters 0.014273545718364854 Centerline is valid? [True, True] Translation: X:-126.27, Y:-253.75, Z:-2.79 [[-9.80064149e-01 -1.98286276e-01 1.25226339e-02 -1.26268453e+02] [ 1.98271341e-01 -9.80144144e-01 -2.43553563e-03 -2.53746163e+02] [ 1.27569195e-02 9.58982528e-05 9.99918623e-01 -2.78829869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 744.2165599949999 meters 0.014159105860571964 Centerline is valid? [True, True] Translation: X:-126.42, Y:-254.44, Z:-1.80 [[-9.94571836e-01 1.03326430e-01 1.22683672e-02 -1.26415814e+02] [ 1.03316672e-01 9.94647488e-01 -1.42817615e-03 -2.54441302e+02] [-1.23502690e-02 -1.52896898e-04 -9.99923721e-01 -1.79905054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 744.246559995 meters 0.01422838775923027 Centerline is valid? [True, True] Translation: X:-126.33, Y:-253.74, Z:-2.79 [[-9.80668092e-01 -1.95330296e-01 1.16691676e-02 -1.26328726e+02] [ 1.95317875e-01 -9.80737509e-01 -2.20587483e-03 -2.53740643e+02] [ 1.18752645e-02 1.15965949e-04 9.99929480e-01 -2.78735755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 744.276559995 meters 0.014712972003538969 Centerline is valid? [True, True] Translation: X:-126.47, Y:-254.43, Z:-1.80 [[-9.95184834e-01 9.74307102e-02 1.06959329e-02 -1.26470201e+02] [ 9.74234595e-02 9.95242299e-01 -1.19808435e-03 -2.54432106e+02] [-1.07617750e-02 -1.50280591e-04 -9.99942079e-01 -1.79944798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 744.3065599949999 meters 0.01430519416301994 Centerline is valid? [True, True] Translation: X:-126.39, Y:-253.74, Z:-2.79 [[-9.81198953e-01 -1.92731568e-01 1.01566480e-02 -1.26393451e+02] [ 1.92722465e-01 -9.81251512e-01 -1.87679051e-03 -2.53735416e+02] [ 1.03279430e-02 1.15909346e-04 9.99946659e-01 -2.78599492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 744.3365599949999 meters 0.01466164770389895 Centerline is valid? [True, True] Translation: X:-126.53, Y:-254.42, Z:-1.80 [[-9.95712403e-01 9.19713644e-02 9.90349172e-03 -1.26534563e+02] [ 9.19653093e-02 9.95761641e-01 -1.06605024e-03 -2.54424581e+02] [-9.95956326e-03 -1.50701768e-04 -9.99950391e-01 -1.80074783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 744.366559995 meters 0.014572725431915283 Centerline is valid? [True, True] Translation: X:-126.45, Y:-253.73, Z:-2.79 [[-9.81775065e-01 -1.89785714e-01 9.95513272e-03 -1.26454537e+02] [ 1.89777635e-01 -9.81825522e-01 -1.75862746e-03 -2.53730468e+02] [ 1.01079658e-02 1.62684960e-04 9.99948900e-01 -2.78566299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 744.396559995 meters 0.015558828638454331 Centerline is valid? [True, True] Translation: X:-126.59, Y:-254.42, Z:-1.80 [[-9.96285565e-01 8.54616752e-02 1.05534496e-02 -1.26588457e+02] [ 8.54549256e-02 9.96341442e-01 -1.08967645e-03 -2.54416514e+02] [-1.06079648e-02 -1.83784665e-04 -9.99943717e-01 -1.80015976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 744.4265599949999 meters 0.014931584146208985 Centerline is valid? [True, True] Translation: X:-126.59, Y:-254.39, Z:-1.80 [[-9.99845108e-01 1.38245665e-02 1.08922922e-02 -1.26589520e+02] [ 1.38216079e-02 9.99904417e-01 -3.46857798e-04 -2.54389622e+02] [-1.08960462e-02 -1.96255082e-04 -9.99940617e-01 -1.80052964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 744.4565599949999 meters 0.01652212270530397 Centerline is valid? [True, True] Translation: X:-126.57, Y:-253.70, Z:-2.79 [[-9.92851209e-01 -1.18751288e-01 1.20253236e-02 -1.26565650e+02] [ 1.18746191e-01 -9.92923987e-01 -1.13954814e-03 -2.53698505e+02] [ 1.20755550e-02 2.96559620e-04 9.99927044e-01 -2.78846977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 744.486559995 meters 0.01528713079593855 Centerline is valid? [True, True] Translation: X:-126.66, Y:-254.39, Z:-1.80 [[-9.99895659e-01 7.37354698e-03 1.24218248e-02 -1.26657683e+02] [ 7.36992756e-03 9.99972785e-01 -3.37127298e-04 -2.54385912e+02] [-1.24239726e-02 -2.45544173e-04 -9.99922789e-01 -1.79987341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 744.516559995 meters 0.015529255825488936 Centerline is valid? [True, True] Translation: X:-126.66, Y:-254.36, Z:-1.80 [[-9.97852679e-01 -6.41888261e-02 1.30317444e-02 -1.26662902e+02] [-6.41868010e-02 9.97937736e-01 5.74022051e-04 -2.54357632e+02] [-1.30417153e-02 -2.63676545e-04 -9.99914919e-01 -1.79916247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 744.5465599949999 meters 0.015593786831096166 Centerline is valid? [True, True] Translation: X:-126.67, Y:-254.33, Z:-1.80 [[-9.90689457e-01 -1.35466970e-01 1.35314734e-02 -1.26670898e+02] [-1.35458192e-01 9.90781824e-01 1.56736671e-03 -2.54329864e+02] [-1.36190643e-02 -2.80175245e-04 -9.99907217e-01 -1.79860504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 744.5765599949999 meters 0.01601951666454241 Centerline is valid? [True, True] Translation: X:-126.74, Y:-253.65, Z:-2.79 [[-9.99551734e-01 2.65690492e-02 1.37991289e-02 -1.26744251e+02] [-2.65624132e-02 -9.99646936e-01 6.63987436e-04 -2.53646586e+02] [ 1.38118985e-02 2.97151628e-04 9.99904567e-01 -2.78935057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 744.606559995 meters 0.016192264459361068 Centerline is valid? [True, True] Translation: X:-126.77, Y:-254.34, Z:-1.80 [[-9.89763681e-01 -1.42055725e-01 1.37123137e-02 -1.26769247e+02] [-1.42046147e-01 9.89858620e-01 1.67486778e-03 -2.54338190e+02] [-1.38111765e-02 -2.90058037e-04 -9.99904579e-01 -1.79710830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 744.636559995 meters 0.015674028227389756 Centerline is valid? [True, True] Translation: X:-126.78, Y:-254.31, Z:-1.80 [[-9.77156689e-01 -2.12100977e-01 1.33409197e-02 -1.26783786e+02] [-2.12085132e-01 9.77247715e-01 2.60772863e-03 -2.54313858e+02] [-1.35904851e-02 -2.81251243e-04 -9.99907606e-01 -1.79749165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 744.666559995 meters 0.015438734874301146 Centerline is valid? [True, True] Translation: X:-126.81, Y:-254.29, Z:-1.80 [[-9.59957293e-01 -2.79815406e-01 1.36137724e-02 -1.26806106e+02] [-2.79791128e-01 9.60053785e-01 3.69528529e-03 -2.54292333e+02] [-1.41039515e-02 -2.61696672e-04 -9.99900500e-01 -1.79712473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 744.6965599949999 meters 0.015151701817463234 Centerline is valid? [True, True] Translation: X:-126.85, Y:-254.28, Z:-1.80 [[-9.37536523e-01 -3.47632532e-01 1.33000342e-02 -1.26852976e+02] [-3.47601198e-01 9.37630825e-01 4.67361787e-03 -2.54279211e+02] [-1.40952237e-02 -2.41420375e-04 -9.99900628e-01 -1.79684813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 744.726559995 meters 0.014531569610234404 Centerline is valid? [True, True] Translation: X:-126.91, Y:-254.28, Z:-1.80 [[-9.11029826e-01 -4.12154120e-01 1.23950861e-02 -1.26912406e+02] [-4.12118642e-01 9.11114125e-01 5.41075104e-03 -2.54277071e+02] [-1.35234013e-02 -1.78890451e-04 -9.99908539e-01 -1.79663270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 744.756559995 meters 0.013601058008326394 Centerline is valid? [True, True] Translation: X:-126.98, Y:-254.28, Z:-1.80 [[-8.79145397e-01 -4.76407900e-01 1.17848889e-02 -1.26978055e+02] [-4.76367333e-01 8.79224369e-01 6.21880598e-03 -2.54282149e+02] [-1.33242498e-02 -1.46701454e-04 -9.99911218e-01 -1.79834248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 744.786559995 meters 0.013295780399687589 Centerline is valid? [True, True] Translation: X:-127.05, Y:-254.30, Z:-1.80 [[-8.42397491e-01 -5.38750734e-01 1.06823737e-02 -1.27052300e+02] [-5.38709039e-01 8.42465213e-01 6.70350935e-03 -2.54295758e+02] [-1.26110488e-02 -1.07671795e-04 -9.99920472e-01 -1.79890263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 744.8165599949999 meters 0.012812631446822143 Centerline is valid? [True, True] Translation: X:-127.13, Y:-254.32, Z:-1.80 [[-8.01169252e-01 -5.98367165e-01 9.19588357e-03 -1.27132739e+02] [-5.98328700e-01 8.01222024e-01 6.78496957e-03 -2.54320334e+02] [-1.14278475e-02 -6.62520655e-05 -9.99934698e-01 -1.80054694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 744.8465599949999 meters 0.012567682336263233 Centerline is valid? [True, True] Translation: X:-127.63, Y:-253.79, Z:-2.79 [[-8.43701475e-01 5.36754759e-01 7.88347982e-03 -1.27627372e+02] [-5.36732210e-01 -8.43738302e-01 4.92058797e-03 -2.53786851e+02] [ 9.29274288e-03 -7.98102157e-05 9.99956818e-01 -2.78511908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 744.876559995 meters 0.012566037847751914 Centerline is valid? [True, True] Translation: X:-127.32, Y:-254.46, Z:-1.80 [[-7.99782064e-01 -6.00252106e-01 6.78670090e-03 -1.27324230e+02] [-6.00230401e-01 7.99810858e-01 5.10455344e-03 -2.54463611e+02] [-8.49209602e-03 8.94608385e-06 -9.99963942e-01 -1.80144748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 744.906559995 meters 0.012640068441374764 Centerline is valid? [True, True] Translation: X:-127.41, Y:-254.50, Z:-1.80 [[-7.53473847e-01 -6.57447386e-01 6.33212995e-03 -1.27409949e+02] [-6.57423886e-01 7.53500454e-01 5.55883872e-03 -2.54498686e+02] [-8.42590678e-03 2.55461233e-05 -9.99964501e-01 -1.80126928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 744.9365599949999 meters 0.012980610128561516 Centerline is valid? [True, True] Translation: X:-127.50, Y:-254.55, Z:-1.80 [[-7.04186160e-01 -7.09988555e-01 6.17286739e-03 -1.27498035e+02] [-7.09960521e-01 7.04213213e-01 6.30948722e-03 -2.54545310e+02] [-8.82667848e-03 6.05614269e-05 -9.99961042e-01 -1.80027373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 744.9665599949999 meters 0.0132915484324572 Centerline is valid? [True, True] Translation: X:-127.59, Y:-254.60, Z:-1.80 [[-6.49446271e-01 -7.60384391e-01 5.92622083e-03 -1.27585378e+02] [-7.60351613e-01 6.49473304e-01 7.06066898e-03 -2.54600757e+02] [-9.21774470e-03 7.95135698e-05 -9.99957513e-01 -1.79963788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 744.996559995 meters 0.01350567854994844 Centerline is valid? [True, True] Translation: X:-127.67, Y:-254.67, Z:-1.80 [[-5.91161338e-01 -8.06533775e-01 5.61620916e-03 -1.27672529e+02] [-8.06495725e-01 5.91188007e-01 7.83498513e-03 -2.54668258e+02] [-9.63941563e-03 1.02291624e-04 -9.99953535e-01 -1.79956275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 745.026559995 meters 0.013848377039531363 Centerline is valid? [True, True] Translation: X:-127.76, Y:-254.74, Z:-1.80 [[-5.30569062e-01 -8.47626852e-01 5.01897082e-03 -1.27756096e+02] [-8.47586489e-01 5.30592783e-01 8.27300809e-03 -2.54743282e+02] [-9.67545350e-03 1.35390295e-04 -9.99953183e-01 -1.79983529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 745.0565599949999 meters 0.014606888723644955 Centerline is valid? [True, True] Translation: X:-127.83, Y:-254.82, Z:-1.80 [[-4.65722026e-01 -8.84919843e-01 4.45721683e-03 -1.27831501e+02] [-8.84876030e-01 4.65743328e-01 8.80708351e-03 -2.54823739e+02] [-9.86948195e-03 1.57568438e-04 -9.99951283e-01 -1.79934594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 745.0865599949999 meters 0.014663995265026101 Centerline is valid? [True, True] Translation: X:-127.90, Y:-254.91, Z:-1.80 [[-3.98583829e-01 -9.17123767e-01 3.86369525e-03 -1.27904244e+02] [-9.17076066e-01 3.98602512e-01 9.35562250e-03 -2.54913863e+02] [-1.01203424e-02 1.85697398e-04 -9.99948771e-01 -1.79984924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 745.116559995 meters 0.016280532691771946 Centerline is valid? [True, True] Translation: X:-127.97, Y:-255.01, Z:-1.80 [[-3.31722868e-01 -9.43371864e-01 3.07653091e-03 -1.27968961e+02] [-9.43324532e-01 3.31737052e-01 9.45282510e-03 -2.55011951e+02] [-9.93812853e-03 2.33551171e-04 -9.99950588e-01 -1.79939440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 745.146559995 meters 0.01647898114506417 Centerline is valid? [True, True] Translation: X:-128.03, Y:-255.12, Z:-1.80 [[-2.60600705e-01 -9.65444174e-01 2.19523845e-03 -1.28029209e+02] [-9.65401657e-01 2.60609838e-01 9.06383751e-03 -2.55117466e+02] [-9.32272985e-03 2.42755601e-04 -9.99956513e-01 -1.79980962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 745.1765599949999 meters 0.016852374430023714 Centerline is valid? [True, True] Translation: X:-128.08, Y:-255.22, Z:-1.80 [[-1.87429643e-01 -9.82277055e-01 1.38450038e-03 -1.28080375e+02] [-9.82239844e-01 1.87434599e-01 8.55332751e-03 -2.55224766e+02] [-8.66124063e-03 2.43235682e-04 -9.99962461e-01 -1.80008799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 745.2065599949999 meters 0.018239744942191542 Centerline is valid? [True, True] Translation: X:-128.83, Y:-255.22, Z:-2.79 [[-1.96956743e-01 9.80410623e-01 1.74677604e-03 -1.28825332e+02] [-9.80384057e-01 -1.96964276e-01 7.22319938e-03 -2.55218429e+02] [ 7.42575388e-03 -2.89853556e-04 9.99972387e-01 -2.78651215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 745.236559995 meters 0.018470901247578386 Centerline is valid? [True, True] Translation: X:-128.13, Y:-255.51, Z:-1.80 [[-1.80849202e-01 -9.83510267e-01 1.05903014e-03 -1.28131638e+02] [-9.83485502e-01 1.80852167e-01 6.98291545e-03 -2.55509680e+02] [-7.05929693e-03 2.21313896e-04 -9.99975058e-01 -1.80078503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 745.266559995 meters 0.0179088044260771 Centerline is valid? [True, True] Translation: X:-128.18, Y:-255.62, Z:-1.80 [[-1.04394872e-01 -9.94535832e-01 4.36219571e-04 -1.28177725e+02] [-9.94518134e-01 1.04395618e-01 5.93600271e-03 -2.55624996e+02] [-5.94910680e-03 1.85859970e-04 -9.99982287e-01 -1.80159150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 745.2965599949999 meters 0.017891935351005486 Centerline is valid? [True, True] Translation: X:-128.21, Y:-255.74, Z:-1.80 [[-2.69063952e-02 -9.99637957e-01 -2.20102186e-05 -1.28212766e+02] [-9.99619654e-01 2.69057693e-02 6.05209510e-03 -2.55742857e+02] [-6.04931178e-03 1.84841910e-04 -9.99981686e-01 -1.80106213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 745.3265599949999 meters 0.018973798127661413 Centerline is valid? [True, True] Translation: X:-128.24, Y:-255.87, Z:-1.80 [[ 5.17921268e-02 -9.98657762e-01 -5.00041025e-04 -1.28236767e+02] [-9.98638670e-01 -5.17942299e-02 6.17775231e-03 -2.55867289e+02] [-6.19535954e-03 1.79401374e-04 -9.99980793e-01 -1.79982853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 745.356559995 meters 0.0162990698441122 Centerline is valid? [True, True] Translation: X:-128.26, Y:-255.99, Z:-1.80 [[ 1.30660246e-01 -9.91426683e-01 -1.01633490e-03 -1.28258116e+02] [-9.91406117e-01 -1.30664084e-01 6.38810610e-03 -2.55986851e+02] [-6.46613731e-03 1.72929128e-04 -9.99979079e-01 -1.80008071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 745.386559995 meters 0.015680727134580217 Centerline is valid? [True, True] Translation: X:-128.27, Y:-256.12, Z:-1.80 [[ 2.09214417e-01 -9.77868668e-01 -1.48166223e-03 -1.28265385e+02] [-9.77849062e-01 -2.09219608e-01 6.19424165e-03 -2.56115894e+02] [-6.36714762e-03 1.52917366e-04 -9.99979718e-01 -1.79958665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 745.416559995 meters 0.01412708972864965 Centerline is valid? [True, True] Translation: X:-128.27, Y:-256.24, Z:-1.80 [[ 2.89944927e-01 -9.57041342e-01 -1.95187569e-03 -1.28270268e+02] [-9.57022123e-01 -2.89951476e-01 6.06609923e-03 -2.56236403e+02] [-6.37145698e-03 1.09153522e-04 -9.99979696e-01 -1.79924798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 745.4465599949999 meters 0.01274377025440662 Centerline is valid? [True, True] Translation: X:-128.27, Y:-256.36, Z:-1.80 [[ 3.69287983e-01 -9.29312146e-01 -2.30668647e-03 -1.28266120e+02] [-9.29295019e-01 -3.69295183e-01 5.64235492e-03 -2.56358364e+02] [-6.09535717e-03 5.99383795e-05 -9.99981421e-01 -1.79944383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 745.476559995 meters 0.01240588270994606 Centerline is valid? [True, True] Translation: X:-128.25, Y:-256.48, Z:-1.80 [[ 4.42444406e-01 -8.96791813e-01 -2.71880867e-03 -1.28248201e+02] [-8.96775421e-01 -4.42452758e-01 5.42239777e-03 -2.56475206e+02] [-6.06570633e-03 3.90512266e-05 -9.99981603e-01 -1.79913689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 745.506559995 meters 0.012180694097536525 Centerline is valid? [True, True] Translation: X:-128.22, Y:-256.59, Z:-1.80 [[ 5.12294506e-01 -8.58804062e-01 -3.14998494e-03 -1.28220340e+02] [-8.58788081e-01 -5.12304190e-01 5.23915505e-03 -2.56592290e+02] [-6.11315812e-03 2.11791694e-05 -9.99981314e-01 -1.79912458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 745.536559995 meters 0.012172729217993086 Centerline is valid? [True, True] Translation: X:-128.19, Y:-256.70, Z:-1.80 [[ 5.78514434e-01 -8.15665288e-01 -3.34469146e-03 -1.28187867e+02] [-8.15651706e-01 -5.78524103e-01 4.70718350e-03 -2.56699648e+02] [-5.77447082e-03 4.92969057e-06 -9.99983328e-01 -1.79925605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 745.5665599949999 meters 0.012248881692738989 Centerline is valid? [True, True] Translation: X:-128.15, Y:-256.81, Z:-1.80 [[ 6.41850662e-01 -7.66825061e-01 -2.65571244e-03 -1.28148925e+02] [-7.66818423e-01 -6.41856156e-01 3.19079466e-03 -2.56806810e+02] [-4.15136669e-03 -1.15644349e-05 -9.99991383e-01 -1.79981167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 745.5965599949999 meters 0.012341704418157467 Centerline is valid? [True, True] Translation: X:-128.10, Y:-256.91, Z:-1.80 [[ 6.99085759e-01 -7.15032557e-01 -2.74661260e-03 -1.28101509e+02] [-7.15026951e-01 -6.99091155e-01 2.83142772e-03 -2.56905605e+02] [-3.94469557e-03 -1.55087632e-05 -9.99992220e-01 -1.79990044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 745.626559995 meters 0.012437470018406923 Centerline is valid? [True, True] Translation: X:-128.05, Y:-256.99, Z:-1.80 [[ 7.51734562e-01 -6.59459149e-01 -2.96306005e-03 -1.28051597e+02] [-6.59453929e-01 -7.51740401e-01 2.62399980e-03 -2.56994513e+02] [-3.95787263e-03 -1.85497512e-05 -9.99992168e-01 -1.79992656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 745.656559995 meters 0.012491050519489367 Centerline is valid? [True, True] Translation: X:-128.06, Y:-257.01, Z:-1.80 [[ 8.01378866e-01 -5.98148388e-01 -3.22793052e-03 -1.28055413e+02] [-5.98143427e-01 -8.01385367e-01 2.43626281e-03 -2.57007077e+02] [-4.04406295e-03 -2.16041061e-05 -9.99991823e-01 -1.79902073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 745.6865599949999 meters 0.012511073558308699 Centerline is valid? [True, True] Translation: X:-128.06, Y:-257.02, Z:-1.80 [[ 8.45835014e-01 -5.33433107e-01 -3.50007470e-03 -1.28055056e+02] [-5.33428425e-01 -8.45842255e-01 2.23506550e-03 -2.57018093e+02] [-4.15276901e-03 -2.34573213e-05 -9.99991377e-01 -1.79931582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 745.7165599949999 meters 0.012576957405909216 Centerline is valid? [True, True] Translation: X:-128.05, Y:-257.03, Z:-1.80 [[ 8.85113919e-01 -4.65359735e-01 -3.69699167e-03 -1.28054191e+02] [-4.65355555e-01 -8.85121640e-01 1.97237991e-03 -2.57030371e+02] [-4.19015352e-03 -2.53652991e-05 -9.99991221e-01 -1.79952183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 745.746559995 meters 0.012677436657654112 Centerline is valid? [True, True] Translation: X:-128.05, Y:-257.04, Z:-1.80 [[ 9.19353608e-01 -3.93417091e-01 -3.45496083e-03 -1.28053564e+02] [-3.93414198e-01 -9.19360099e-01 1.50892558e-03 -2.57044306e+02] [-3.76999025e-03 -2.80055319e-05 -9.99992893e-01 -1.79999949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 745.776559995 meters 0.012833616970122898 Centerline is valid? [True, True] Translation: X:-128.05, Y:-257.06, Z:-1.80 [[ 9.47520021e-01 -3.19670150e-01 -4.09944593e-03 -1.28051748e+02] [-3.19666995e-01 -9.47528888e-01 1.42079388e-03 -2.57056826e+02] [-4.33852883e-03 -3.57730906e-05 -9.99990588e-01 -1.79940611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 745.8065599949999 meters 0.012990983583350529 Centerline is valid? [True, True] Translation: X:-128.05, Y:-257.07, Z:-1.80 [[ 9.69757259e-01 -2.44024374e-01 -4.79194829e-03 -1.28047726e+02] [-2.44021169e-01 -9.69769098e-01 1.25159561e-03 -2.57067672e+02] [-4.95250320e-03 -4.44071091e-05 -9.99987735e-01 -1.79864969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 745.8365599949999 meters 0.012990983583350529 Centerline is valid? [True, True] Translation: X:-128.04, Y:-257.08, Z:-1.80 [[ 9.85869165e-01 -1.67446173e-01 -4.87525198e-03 -1.28042797e+02] [-1.67443902e-01 -9.85881219e-01 8.73083841e-04 -2.57076609e+02] [-4.95261391e-03 -4.44152212e-05 -9.99987735e-01 -1.79864855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 745.866559995 meters 0.013004728962787683 Centerline is valid? [True, True] Translation: X:-128.04, Y:-257.09, Z:-1.80 [[ 9.95969576e-01 -8.94685461e-02 -6.32321275e-03 -1.28037756e+02] [-8.94663608e-02 -9.95989646e-01 6.28174274e-04 -2.57085571e+02] [-6.35405627e-03 -5.99276316e-05 -9.99979811e-01 -1.79711490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 745.896559995 meters 0.012878620699885475 Centerline is valid? [True, True] Translation: X:-128.03, Y:-257.09, Z:-1.79 [[ 9.99892431e-01 -1.20344506e-02 -8.38443015e-03 -1.28034910e+02] [-1.20334165e-02 -9.99927581e-01 1.73779039e-04 -2.57093864e+02] [-8.38591429e-03 -7.28670054e-05 -9.99964835e-01 -1.79496745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 745.9265599949999 meters 0.012810478587980382 Centerline is valid? [True, True] Translation: X:-128.03, Y:-257.10, Z:-1.79 [[ 9.97836785e-01 6.51391605e-02 -8.86798757e-03 -1.28030779e+02] [ 6.51371861e-02 -9.97876187e-01 -5.11594885e-04 -2.57100916e+02] [-8.88247849e-03 -6.71475618e-05 -9.99960548e-01 -1.79395842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 745.9565599949999 meters 0.012634943261071702 Centerline is valid? [True, True] Translation: X:-128.03, Y:-257.11, Z:-1.79 [[ 9.89916210e-01 1.41352898e-01 -9.23341066e-03 -1.28026246e+02] [ 1.41347262e-01 -9.89959270e-01 -1.26336810e-03 -2.57107628e+02] [-9.31928121e-03 -5.44887585e-05 -9.99956573e-01 -1.79375430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 745.986559995 meters 0.012416978495116566 Centerline is valid? [True, True] Translation: X:-128.02, Y:-257.11, Z:-1.79 [[ 9.76875352e-01 2.13606235e-01 -9.32324258e-03 -1.28021894e+02] [ 2.13596593e-01 -9.76919841e-01 -2.02956217e-03 -2.57112020e+02] [-9.54158780e-03 -8.78358771e-06 -9.99954478e-01 -1.79400638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 746.016559995 meters 0.01239297299788106 Centerline is valid? [True, True] Translation: X:-128.02, Y:-257.12, Z:-1.79 [[ 9.57954827e-01 2.86786604e-01 -8.71748490e-03 -1.28017737e+02] [ 2.86774571e-01 -9.57994491e-01 -2.62706882e-03 -2.57117311e+02] [-9.10471065e-03 1.66602608e-05 -9.99958551e-01 -1.79412813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 746.0465599949999 meters 0.012851440796235215 Centerline is valid? [True, True] Translation: X:-128.01, Y:-257.12, Z:-1.80 [[ 9.34715796e-01 3.55324537e-01 -7.13120033e-03 -1.28014497e+02] [ 3.55313704e-01 -9.34742997e-01 -2.77514073e-03 -2.57119337e+02] [-7.65191517e-03 6.01546694e-05 -9.99970722e-01 -1.79515377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 746.0765599949999 meters 0.01305802828032273 Centerline is valid? [True, True] Translation: X:-128.01, Y:-257.12, Z:-1.80 [[ 9.05150779e-01 4.25040654e-01 -6.52000842e-03 -1.28009400e+02] [ 4.25029020e-01 -9.05174258e-01 -3.14575904e-03 -2.57124567e+02] [-7.23881926e-03 7.61934594e-05 -9.99973797e-01 -1.79599148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 746.106559995 meters 0.013358856038816607 Centerline is valid? [True, True] Translation: X:-128.00, Y:-257.13, Z:-1.80 [[ 8.70358130e-01 4.92387985e-01 -5.54953879e-03 -1.28003237e+02] [ 4.92377359e-01 -8.70375818e-01 -3.23591945e-03 -2.57130104e+02] [-6.42351222e-03 8.39415460e-05 -9.99979366e-01 -1.79699148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 746.136559995 meters 0.01425911961048726 Centerline is valid? [True, True] Translation: X:-128.00, Y:-257.13, Z:-1.80 [[ 8.31517388e-01 5.55480370e-01 -4.51563116e-03 -1.27999340e+02] [ 5.55471551e-01 -8.31529644e-01 -3.13156762e-03 -2.57133342e+02] [-5.49440551e-03 9.56482874e-05 -9.99984901e-01 -1.79785976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 746.166559995 meters 0.014293178850884934 Centerline is valid? [True, True] Translation: X:-127.99, Y:-257.14, Z:-1.80 [[ 7.86206262e-01 6.17948438e-01 -4.40933677e-03 -1.27992173e+02] [ 6.17937960e-01 -7.86218619e-01 -3.60005811e-03 -2.57139502e+02] [-5.69135295e-03 1.05691658e-04 -9.99983799e-01 -1.79782036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 746.1965599949999 meters 0.014948033501013728 Centerline is valid? [True, True] Translation: X:-127.99, Y:-257.14, Z:-1.80 [[ 7.36283513e-01 6.76652550e-01 -5.28346676e-03 -1.27987009e+02] [ 6.76633707e-01 -7.36302455e-01 -5.05190785e-03 -2.57144895e+02] [-7.30861588e-03 1.44664761e-04 -9.99973281e-01 -1.79644037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 746.226559995 meters 0.015109850407783069 Centerline is valid? [True, True] Translation: X:-127.98, Y:-257.15, Z:-1.80 [[ 6.81091025e-01 7.32180298e-01 -5.19872953e-03 -1.27980935e+02] [ 7.32157216e-01 -6.81110848e-01 -5.81584096e-03 -2.57148820e+02] [-7.79915525e-03 1.54829739e-04 -9.99969574e-01 -1.79585319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 746.256559995 meters 0.014317763960292731 Centerline is valid? [True, True] Translation: X:-127.97, Y:-257.16, Z:-1.80 [[ 6.21455905e-01 7.83433046e-01 -5.02207942e-03 -1.27970143e+02] [ 7.83405332e-01 -6.21476176e-01 -6.59156046e-03 -2.57155229e+02] [-8.28514900e-03 1.62040371e-04 -9.99965665e-01 -1.79601909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 746.286559995 meters 0.014107884321089515 Centerline is valid? [True, True] Translation: X:-127.96, Y:-257.16, Z:-1.80 [[ 5.56912789e-01 8.30557929e-01 -4.65525324e-03 -1.27961278e+02] [ 8.30526562e-01 -5.56932224e-01 -7.21992754e-03 -2.57160266e+02] [-8.58922861e-03 1.54558516e-04 -9.99963100e-01 -1.79546844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 746.3165599949999 meters 0.014107884321089515 Centerline is valid? [True, True] Translation: X:-127.95, Y:-257.16, Z:-1.80 [[ 4.90157660e-01 8.71624264e-01 -4.07556686e-03 -1.27952041e+02] [ 8.71591471e-01 -4.90174579e-01 -7.56242744e-03 -2.57164846e+02] [-8.58933452e-03 1.54552421e-04 -9.99963099e-01 -1.79546750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 746.3465599949999 meters 0.013619529079731537 Centerline is valid? [True, True] Translation: X:-127.94, Y:-257.17, Z:-1.80 [[ 4.17739065e-01 9.08561208e-01 -3.25656767e-03 -1.27942792e+02] [ 9.08531291e-01 -4.17751740e-01 -7.37409971e-03 -2.57169347e+02] [-8.06025776e-03 1.21755885e-04 -9.99967508e-01 -1.79567915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 746.376559995 meters 0.013270982897425005 Centerline is valid? [True, True] Translation: X:-127.93, Y:-257.17, Z:-1.80 [[ 3.43131319e-01 9.39284010e-01 -2.53921981e-03 -1.27933497e+02] [ 9.39256133e-01 -3.43140700e-01 -7.23724121e-03 -2.57171850e+02] [-7.66913460e-03 9.83463433e-05 -9.99970587e-01 -1.79568074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 746.406559995 meters 0.012480917966668113 Centerline is valid? [True, True] Translation: X:-127.92, Y:-257.17, Z:-1.80 [[ 2.63136483e-01 9.64756540e-01 -2.00260119e-03 -1.27923426e+02] [ 9.64726949e-01 -2.63144098e-01 -7.55636367e-03 -2.57174998e+02] [-7.81702395e-03 5.63916309e-05 -9.99969445e-01 -1.79550588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 746.4365599949999 meters 0.012185323784998354 Centerline is valid? [True, True] Translation: X:-127.91, Y:-257.18, Z:-1.80 [[ 1.83250006e-01 9.83065374e-01 -1.38044908e-03 -1.27914975e+02] [ 9.83036326e-01 -1.83255203e-01 -7.55724592e-03 -2.57176315e+02] [-7.68224127e-03 2.78337698e-05 -9.99970491e-01 -1.79533895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 746.4665599949999 meters 0.01196733984861925 Centerline is valid? [True, True] Translation: X:-127.90, Y:-257.18, Z:-1.80 [[ 1.02061689e-01 9.94777787e-01 -7.52627250e-04 -1.27903949e+02] [ 9.94750759e-01 -1.02064464e-01 -7.33305694e-03 -2.57176833e+02] [-7.37157865e-03 -2.52349494e-07 -9.99972830e-01 -1.79621128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 746.496559995 meters 0.012330797369483676 Centerline is valid? [True, True] Translation: X:-127.89, Y:-257.18, Z:-1.80 [[ 1.62045004e-02 9.99868688e-01 -1.44443150e-04 -1.27889126e+02] [ 9.99850211e-01 -1.62050791e-02 -6.07867898e-03 -2.57176482e+02] [-6.08022149e-03 -4.59195580e-05 -9.99981514e-01 -1.79700988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 746.526559995 meters 0.013073444872932553 Centerline is valid? [True, True] Translation: X:-127.88, Y:-257.18, Z:-1.80 [[-6.59566664e-02 9.97822443e-01 3.01831002e-04 -1.27876996e+02] [ 9.97807219e-01 6.59573275e-02 -5.51216589e-03 -2.57175730e+02] [-5.52007080e-03 -6.23949336e-05 -9.99984762e-01 -1.79696430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 746.5565599949999 meters 0.013795813993358651 Centerline is valid? [True, True] Translation: X:-127.87, Y:-257.17, Z:-1.80 [[-1.47478601e-01 9.89065055e-01 6.15878679e-04 -1.27868808e+02] [ 9.89054375e-01 1.47479871e-01 -4.59687415e-03 -2.57173353e+02] [-4.63743730e-03 -6.88030651e-05 -9.99989245e-01 -1.79729961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 746.5865599949999 meters 0.01599921974413243 Centerline is valid? [True, True] Translation: X:-127.86, Y:-257.17, Z:-1.80 [[-2.31599708e-01 9.72810900e-01 7.26561142e-04 -1.27858971e+02] [ 9.72805032e-01 2.31600835e-01 -3.37971228e-03 -2.57169912e+02] [-3.45609311e-03 -7.59380408e-05 -9.99994025e-01 -1.79797831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 746.616559995 meters 0.016935015837105827 Centerline is valid? [True, True] Translation: X:-127.85, Y:-257.17, Z:-1.80 [[-3.10359157e-01 9.50618987e-01 8.58100209e-04 -1.27852145e+02] [ 9.50614650e-01 3.10360334e-01 -2.87245526e-03 -2.57165891e+02] [-2.99693077e-03 -7.57701614e-05 -9.99995506e-01 -1.79816928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 746.646559995 meters 0.017963613941379214 Centerline is valid? [True, True] Translation: X:-127.85, Y:-257.16, Z:-1.80 [[-3.86936684e-01 9.22105759e-01 9.86307720e-04 -1.27845181e+02] [ 9.22102231e-01 3.86937933e-01 -2.55199729e-03 -2.57161447e+02] [-2.73485127e-03 -7.79848202e-05 -9.99996257e-01 -1.79842768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 746.6765599949999 meters 0.019641116389821155 Centerline is valid? [True, True] Translation: X:-127.84, Y:-257.16, Z:-1.80 [[-4.62539512e-01 8.86597855e-01 1.20159627e-03 -1.27837571e+02] [ 8.86594320e-01 4.62541063e-01 -2.50532128e-03 -2.57155205e+02] [-2.77700009e-03 -9.34816516e-05 -9.99996140e-01 -1.79793194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 746.7065599949999 meters 0.020580348499571608 Centerline is valid? [True, True] Translation: X:-127.83, Y:-257.15, Z:-1.80 [[-5.32061356e-01 8.46704785e-01 1.31130834e-03 -1.27832006e+02] [ 8.46701774e-01 5.32062964e-01 -2.26022350e-03 -2.57149357e+02] [-2.61144066e-03 -9.22904862e-05 -9.99996586e-01 -1.79747258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 746.736559995 meters 0.020989823399980196 Centerline is valid? [True, True] Translation: X:-127.83, Y:-257.14, Z:-1.80 [[-5.97990256e-01 8.01501998e-01 1.48377441e-03 -1.27827846e+02] [ 8.01499121e-01 5.97992089e-01 -2.14970541e-03 -2.57143860e+02] [-2.61027854e-03 -9.62590046e-05 -9.99996589e-01 -1.79683014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 746.766559995 meters 0.02164902195717164 Centerline is valid? [True, True] Translation: X:-127.82, Y:-257.14, Z:-1.80 [[-6.58975445e-01 7.52162927e-01 1.51460532e-03 -1.27823882e+02] [ 7.52160625e-01 6.58977180e-01 -1.86292476e-03 -2.57139070e+02] [-2.39931328e-03 -8.83951901e-05 -9.99997118e-01 -1.79678360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 746.7965599949999 meters 0.021628456692618557 Centerline is valid? [True, True] Translation: X:-127.82, Y:-257.13, Z:-1.80 [[-7.15378361e-01 6.98734843e-01 1.84910457e-03 -1.27822430e+02] [ 6.98732152e-01 7.15380744e-01 -1.94183422e-03 -2.57134588e+02] [-2.67964103e-03 -9.71173664e-05 -9.99996405e-01 -1.79646129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 746.8265599949999 meters 0.020319653947621252 Centerline is valid? [True, True] Translation: X:-127.82, Y:-257.13, Z:-1.80 [[-7.66811470e-01 6.41867665e-01 2.46370787e-03 -1.27822011e+02] [ 6.41863864e-01 7.66815420e-01 -2.21188354e-03 -2.57130599e+02] [-3.30894571e-03 -1.14732614e-04 -9.99994519e-01 -1.79558076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 746.856559995 meters 0.01915638309056221 Centerline is valid? [True, True] Translation: X:-127.42, Y:-256.69, Z:-2.79 [[-6.74749661e-01 -7.38040631e-01 2.98691316e-03 -1.27423049e+02] [ 7.38034657e-01 -6.74756244e-01 -2.97599736e-03 -2.56690618e+02] [ 4.21184528e-03 1.96392220e-04 9.99991111e-01 -2.79234504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 746.886559995 meters 0.01694327219458636 Centerline is valid? [True, True] Translation: X:-127.44, Y:-256.67, Z:-2.79 [[-6.77200035e-01 -7.35792553e-01 3.07111137e-03 -1.27439120e+02] [ 7.35785781e-01 -6.77206988e-01 -3.15910360e-03 -2.56666701e+02] [ 4.40422299e-03 1.20335013e-04 9.99990294e-01 -2.79243060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 746.916559995 meters 0.015273383769368515 Centerline is valid? [True, True] Translation: X:-127.45, Y:-256.64, Z:-2.79 [[-6.82311416e-01 -7.31054503e-01 3.23191505e-03 -1.27453529e+02] [ 7.31046960e-01 -6.82319064e-01 -3.32243525e-03 -2.56643069e+02] [ 4.63407850e-03 9.57461754e-05 9.99989258e-01 -2.79315891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 746.9465599949999 meters 0.014396032651736713 Centerline is valid? [True, True] Translation: X:-127.47, Y:-256.62, Z:-2.79 [[-6.84813524e-01 -7.28710965e-01 3.28130500e-03 -1.27470698e+02] [ 7.28703171e-01 -6.84821380e-01 -3.37133566e-03 -2.56620493e+02] [ 4.70383708e-03 8.23611101e-05 9.99988934e-01 -2.79310519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 746.976559995 meters 0.01377877017667299 Centerline is valid? [True, True] Translation: X:-127.49, Y:-256.60, Z:-2.79 [[-6.87300324e-01 -7.26365480e-01 3.38456962e-03 -1.27487678e+02] [ 7.26357168e-01 -6.87308654e-01 -3.47555621e-03 -2.56599148e+02] [ 4.85076804e-03 6.96554990e-05 9.99988233e-01 -2.79357055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 747.006559995 meters 0.012746185856647723 Centerline is valid? [True, True] Translation: X:-127.50, Y:-256.58, Z:-2.79 [[-6.91460650e-01 -7.22406477e-01 3.32428659e-03 -1.27502575e+02] [ 7.22398422e-01 -6.91468640e-01 -3.41179572e-03 -2.56575097e+02] [ 4.76334325e-03 4.23369056e-05 9.99988654e-01 -2.79399925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 747.036559995 meters 0.012514118401022494 Centerline is valid? [True, True] Translation: X:-127.52, Y:-256.55, Z:-2.79 [[-6.93428039e-01 -7.20516811e-01 3.61664569e-03 -1.27519758e+02] [ 7.20507262e-01 -6.93437470e-01 -3.70959974e-03 -2.56553188e+02] [ 5.18074661e-03 3.34790099e-05 9.99986579e-01 -2.79425294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 747.0665599949999 meters 0.012327803919350783 Centerline is valid? [True, True] Translation: X:-127.54, Y:-256.53, Z:-2.79 [[-6.95360131e-01 -7.18651388e-01 3.80403989e-03 -1.27535827e+02] [ 7.18640810e-01 -6.95370536e-01 -3.89933311e-03 -2.56532593e+02] [ 5.44747841e-03 2.22975280e-05 9.99985162e-01 -2.79439700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 747.0965599949999 meters 0.012180190818109397 Centerline is valid? [True, True] Translation: X:-127.55, Y:-256.51, Z:-2.79 [[-6.98858112e-01 -7.15250207e-01 3.80543795e-03 -1.27550651e+02] [ 7.15239583e-01 -6.98868473e-01 -3.89843072e-03 -2.56508540e+02] [ 5.44785399e-03 -2.65008602e-06 9.99985160e-01 -2.79429577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 747.126559995 meters 0.012210499537139855 Centerline is valid? [True, True] Translation: X:-127.57, Y:-256.49, Z:-2.79 [[-7.00806643e-01 -7.13342790e-01 3.48053900e-03 -1.27568437e+02] [ 7.13333889e-01 -7.00815285e-01 -3.56356266e-03 -2.56486814e+02] [ 4.98125666e-03 -1.45819597e-05 9.99987593e-01 -2.79312943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 747.156559995 meters 0.012571465742555972 Centerline is valid? [True, True] Translation: X:-127.58, Y:-256.46, Z:-2.79 [[-7.03890371e-01 -7.10302914e-01 2.84881534e-03 -1.27583405e+02] [ 7.10296932e-01 -7.03896135e-01 -2.91543318e-03 -2.56464306e+02] [ 4.07611079e-03 -2.86405471e-05 9.99991692e-01 -2.79250585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 747.1865599949999 meters 0.012722000890113548 Centerline is valid? [True, True] Translation: X:-127.60, Y:-256.44, Z:-2.79 [[-7.05335213e-01 -7.08868936e-01 2.65857991e-03 -1.27601663e+02] [ 7.08863722e-01 -7.05340223e-01 -2.71922493e-03 -2.56442803e+02] [ 3.80277743e-03 -3.33942499e-05 9.99992769e-01 -2.79173968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 747.2165599949999 meters 0.013371133539231481 Centerline is valid? [True, True] Translation: X:-127.62, Y:-256.42, Z:-2.79 [[-7.06507659e-01 -7.07700034e-01 2.75495157e-03 -1.27617532e+02] [ 7.07694433e-01 -7.06513029e-01 -2.81593945e-03 -2.56421612e+02] [ 3.93924962e-03 -3.98189000e-05 9.99992240e-01 -2.79167282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 747.246559995 meters 0.013186287240383846 Centerline is valid? [True, True] Translation: X:-127.64, Y:-256.40, Z:-2.79 [[-7.07612963e-01 -7.06595022e-01 2.71490416e-03 -1.27636283e+02] [ 7.06589580e-01 -7.07618169e-01 -2.77345701e-03 -2.56401053e+02] [ 3.88082642e-03 -4.42111450e-05 9.99992469e-01 -2.79069706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 747.276559995 meters 0.013465970218655551 Centerline is valid? [True, True] Translation: X:-127.65, Y:-256.38, Z:-2.79 [[-7.08397629e-01 -7.05806948e-01 3.05805207e-03 -1.27652602e+02] [ 7.05800045e-01 -7.08404228e-01 -3.12195559e-03 -2.56380917e+02] [ 4.36983497e-03 -5.32126488e-05 9.99990451e-01 -2.79026564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 747.3065599949999 meters 0.013331558983665939 Centerline is valid? [True, True] Translation: X:-127.67, Y:-256.36, Z:-2.79 [[-7.08206966e-01 -7.05998832e-01 2.92274198e-03 -1.27671871e+02] [ 7.05992536e-01 -7.08212995e-01 -2.98195454e-03 -2.56361551e+02] [ 4.17518028e-03 -4.84069531e-05 9.99991283e-01 -2.79002132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 747.3365599949999 meters 0.013048380086273337 Centerline is valid? [True, True] Translation: X:-127.69, Y:-256.34, Z:-2.79 [[-7.07805080e-01 -7.06401907e-01 2.88354305e-03 -1.27692240e+02] [ 7.06395789e-01 -7.07810952e-01 -2.94031078e-03 -2.56341745e+02] [ 4.11804449e-03 -4.42442398e-05 9.99991520e-01 -2.79036413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 747.366559995 meters 0.012885557546631551 Centerline is valid? [True, True] Translation: X:-127.71, Y:-256.32, Z:-2.79 [[-7.05593578e-01 -7.08606557e-01 3.80124924e-03 -1.27711321e+02] [ 7.08595971e-01 -7.05603816e-01 -3.87352098e-03 -2.56323205e+02] [ 5.42697833e-03 -3.95816293e-05 9.99985273e-01 -2.79148937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 747.396559995 meters 0.012559126875281837 Centerline is valid? [True, True] Translation: X:-127.73, Y:-256.30, Z:-2.79 [[-7.04430060e-01 -7.09760345e-01 4.30625541e-03 -1.27731552e+02] [ 7.09746797e-01 -7.04443221e-01 -4.38539455e-03 -2.56304263e+02] [ 6.14609159e-03 -3.28527600e-05 9.99981112e-01 -2.79167130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 747.4265599949999 meters 0.012484039437952356 Centerline is valid? [True, True] Translation: X:-127.75, Y:-256.29, Z:-2.79 [[-7.03027858e-01 -7.11144094e-01 5.08996624e-03 -1.27751276e+02] [ 7.11125227e-01 -7.03046284e-01 -5.18027586e-03 -2.56285435e+02] [ 7.26240443e-03 -2.22748509e-05 9.99973628e-01 -2.79225297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 747.4565599949999 meters 0.012409934972190822 Centerline is valid? [True, True] Translation: X:-127.77, Y:-256.27, Z:-2.79 [[-7.00664558e-01 -7.13468784e-01 5.60991092e-03 -1.27771702e+02] [ 7.13445968e-01 -7.00687016e-01 -5.70588016e-03 -2.56266658e+02] [ 8.00175912e-03 4.46032325e-06 9.99967986e-01 -2.79281445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 747.486559995 meters 0.012396244825889144 Centerline is valid? [True, True] Translation: X:-127.79, Y:-256.25, Z:-2.79 [[-6.99642080e-01 -7.14469169e-01 5.89625681e-03 -1.27790429e+02] [ 7.14444033e-01 -6.99666925e-01 -5.99320170e-03 -2.56247832e+02] [ 8.40737371e-03 1.94493883e-05 9.99964657e-01 -2.79296963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 747.516559995 meters 0.012409552491050165 Centerline is valid? [True, True] Translation: X:-127.81, Y:-256.23, Z:-2.79 [[-6.99145525e-01 -7.14954628e-01 5.95101146e-03 -1.27809655e+02] [ 7.14929072e-01 -6.99170851e-01 -6.04512409e-03 -2.56228256e+02] [ 8.48276319e-03 2.81296455e-05 9.99964020e-01 -2.79290138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 747.5465599949999 meters 0.012401056914214165 Centerline is valid? [True, True] Translation: X:-127.83, Y:-256.21, Z:-2.79 [[-6.98914730e-01 -7.15179664e-01 6.02066909e-03 -1.27828940e+02] [ 7.15153543e-01 -6.98940661e-01 -6.11245930e-03 -2.56208256e+02] [ 8.57959702e-03 3.36149904e-05 9.99963194e-01 -2.79232237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 747.5765599949999 meters 0.012353488673616722 Centerline is valid? [True, True] Translation: X:-127.85, Y:-256.19, Z:-2.79 [[-6.99491166e-01 -7.14620251e-01 5.47774261e-03 -1.27846616e+02] [ 7.14598640e-01 -6.99512614e-01 -5.55759286e-03 -2.56188360e+02] [ 7.80331845e-03 2.69003096e-05 9.99969553e-01 -2.79250619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 747.606559995 meters 0.012328774776928743 Centerline is valid? [True, True] Translation: X:-127.87, Y:-256.17, Z:-2.79 [[-7.00107415e-01 -7.14015934e-01 5.55455978e-03 -1.27865264e+02] [ 7.13993721e-01 -7.00129449e-01 -5.63223612e-03 -2.56167766e+02] [ 7.91041721e-03 2.27505353e-05 9.99968712e-01 -2.79251132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 747.636559995 meters 0.012185298272718003 Centerline is valid? [True, True] Translation: X:-127.88, Y:-256.15, Z:-2.79 [[-7.00939716e-01 -7.13202387e-01 5.08629769e-03 -1.27883782e+02] [ 7.13183762e-01 -7.00958170e-01 -5.15421139e-03 -2.56147218e+02] [ 7.24127778e-03 1.46734543e-05 9.99973782e-01 -2.79220339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 747.666559995 meters 0.012146314021411038 Centerline is valid? [True, True] Translation: X:-127.90, Y:-256.13, Z:-2.79 [[-7.02362342e-01 -7.11806691e-01 4.28667231e-03 -1.27900761e+02] [ 7.11793453e-01 -7.02375423e-01 -4.34107568e-03 -2.56127370e+02] [ 6.10086000e-03 2.21720549e-06 9.99981390e-01 -2.79125563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 747.6965599949999 meters 0.012201934654573646 Centerline is valid? [True, True] Translation: X:-127.92, Y:-256.11, Z:-2.79 [[-7.03196058e-01 -7.10987479e-01 3.47974230e-03 -1.27918864e+02] [ 7.10978755e-01 -7.03204667e-01 -3.52222734e-03 -2.56108632e+02] [ 4.95123057e-03 -2.79353301e-06 9.99987743e-01 -2.79074268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 747.726559995 meters 0.012357546623668225 Centerline is valid? [True, True] Translation: X:-127.94, Y:-256.09, Z:-2.79 [[-7.05111891e-01 -7.09088769e-01 3.21550223e-03 -1.27936408e+02] [ 7.09081309e-01 -7.05119223e-01 -3.25268543e-03 -2.56089537e+02] [ 4.57375514e-03 -1.34546499e-05 9.99989540e-01 -2.79102230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 747.756559995 meters 0.012357546623668225 Centerline is valid? [True, True] Translation: X:-127.96, Y:-256.07, Z:-2.79 [[-7.05325804e-01 -7.08875987e-01 3.21648384e-03 -1.27955305e+02] [ 7.08868529e-01 -7.05333138e-01 -3.25171475e-03 -2.56070588e+02] [ 4.57375514e-03 -1.34541492e-05 9.99989540e-01 -2.79102155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 747.786559995 meters 0.01243901052481092 Centerline is valid? [True, True] Translation: X:-127.97, Y:-256.05, Z:-2.79 [[-7.06713754e-01 -7.07492878e-01 3.08182565e-03 -1.27973431e+02] [ 7.07486027e-01 -7.06720473e-01 -3.11361327e-03 -2.56051397e+02] [ 4.38084850e-03 -2.00847366e-05 9.99990404e-01 -2.79170044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 747.8165599949999 meters 0.012593105787390365 Centerline is valid? [True, True] Translation: X:-127.99, Y:-256.03, Z:-2.79 [[-7.08358084e-01 -7.05845891e-01 3.22545253e-03 -1.27992262e+02] [ 7.05838379e-01 -7.08365426e-01 -3.25667101e-03 -2.56032028e+02] [ 4.58350690e-03 -3.02410516e-05 9.99989495e-01 -2.79182898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 747.8465599949999 meters 0.013096531971416012 Centerline is valid? [True, True] Translation: X:-128.01, Y:-256.01, Z:-2.79 [[-7.10014117e-01 -7.04177291e-01 3.78116573e-03 -1.28009854e+02] [ 7.04166955e-01 -7.10024184e-01 -3.81551391e-03 -2.56011380e+02] [ 5.37151735e-03 -4.64967810e-05 9.99985572e-01 -2.79248903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 747.876559995 meters 0.013541084355730842 Centerline is valid? [True, True] Translation: X:-128.03, Y:-255.99, Z:-2.79 [[-7.11655891e-01 -7.02516421e-01 4.07083702e-03 -1.28028909e+02] [ 7.02504426e-01 -7.11667531e-01 -4.10566229e-03 -2.55990210e+02] [ 5.78137771e-03 -6.20377269e-05 9.99983286e-01 -2.79299611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 747.906559995 meters 0.014361496971874567 Centerline is valid? [True, True] Translation: X:-128.05, Y:-255.97, Z:-2.79 [[-7.15476608e-01 -6.98616782e-01 5.27403546e-03 -1.28048445e+02] [ 6.98596564e-01 -7.15496037e-01 -5.31625038e-03 -2.55969531e+02] [ 7.48757320e-03 -1.19229741e-04 9.99971961e-01 -2.79446417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 747.9365599949999 meters 0.014888747092669657 Centerline is valid? [True, True] Translation: X:-128.07, Y:-255.95, Z:-2.80 [[-7.17627975e-01 -6.96401810e-01 5.88286352e-03 -1.28068046e+02] [ 6.96376608e-01 -7.17652070e-01 -5.92668957e-03 -2.55949665e+02] [ 8.34920653e-03 -1.56469685e-04 9.99965133e-01 -2.79504390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 747.9665599949999 meters 0.016504501584148387 Centerline is valid? [True, True] Translation: X:-128.09, Y:-255.93, Z:-2.80 [[-7.21601392e-01 -6.92282771e-01 5.99968856e-03 -1.28087624e+02] [ 6.92256443e-01 -7.21626304e-01 -6.04104749e-03 -2.55929471e+02] [ 8.51164618e-03 -2.05905216e-04 9.99963754e-01 -2.79569374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 747.996559995 meters 0.017609951554973087 Centerline is valid? [True, True] Translation: X:-128.11, Y:-255.91, Z:-2.80 [[-7.23649401e-01 -6.90137453e-01 6.46845008e-03 -1.28105875e+02] [ 6.90106798e-01 -7.23678268e-01 -6.50929183e-03 -2.55909255e+02] [ 9.17338283e-03 -2.46523762e-04 9.99957893e-01 -2.79646911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 748.026559995 meters 0.017513842280096004 Centerline is valid? [True, True] Translation: X:-128.13, Y:-255.89, Z:-2.80 [[-7.25804992e-01 -6.87863178e-01 7.16671525e-03 -1.28125896e+02] [ 6.87825467e-01 -7.25840311e-01 -7.20902861e-03 -2.55890392e+02] [ 1.01607162e-02 -3.02899682e-04 9.99948333e-01 -2.79630911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 748.0565599949999 meters 0.018873234539610144 Centerline is valid? [True, True] Translation: X:-128.15, Y:-255.87, Z:-2.80 [[-7.29426838e-01 -6.84013596e-01 7.86691126e-03 -1.28145722e+02] [ 6.83967982e-01 -7.29469156e-01 -7.90885744e-03 -2.55870471e+02] [ 1.11484351e-02 -3.88217454e-04 9.99937779e-01 -2.79652655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 748.0865599949999 meters 0.02116307441004038 Centerline is valid? [True, True] Translation: X:-128.16, Y:-255.85, Z:-2.80 [[-7.30787636e-01 -6.82556126e-01 8.15884991e-03 -1.28163444e+02] [ 6.82507011e-01 -7.30833056e-01 -8.19903565e-03 -2.55849503e+02] [ 1.15590592e-02 -4.23281610e-04 9.99933102e-01 -2.79741811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 748.116559995 meters 0.020481206383348948 Centerline is valid? [True, True] Translation: X:-128.18, Y:-255.83, Z:-2.80 [[-7.31537279e-01 -6.81747181e-01 8.60182041e-03 -1.28184786e+02] [ 6.81692589e-01 -7.31587707e-01 -8.63946062e-03 -2.55831366e+02] [ 1.21829140e-02 -4.56290286e-04 9.99925682e-01 -2.79698316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 748.146559995 meters 0.019917545341587628 Centerline is valid? [True, True] Translation: X:-128.21, Y:-255.82, Z:-2.80 [[-7.31424393e-01 -6.81856708e-01 9.47562242e-03 -1.28207843e+02] [ 6.81790550e-01 -7.31485601e-01 -9.51116958e-03 -2.55815428e+02] [ 1.34165361e-02 -4.96311614e-04 9.99909871e-01 -2.79707592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 748.1765599949999 meters 0.020414984035938652 Centerline is valid? [True, True] Translation: X:-128.23, Y:-255.80, Z:-2.80 [[-7.30665886e-01 -6.82671596e-01 9.31958859e-03 -1.28228082e+02] [ 6.82607731e-01 -7.30725168e-01 -9.34954960e-03 -2.55797035e+02] [ 1.31927299e-02 -4.69773722e-04 9.99912862e-01 -2.79774830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 748.2065599949999 meters 0.019043555647939907 Centerline is valid? [True, True] Translation: X:-128.25, Y:-255.78, Z:-2.80 [[-7.29243411e-01 -6.84191074e-01 9.30705640e-03 -1.28250342e+02] [ 6.84127573e-01 -7.29302668e-01 -9.33179108e-03 -2.55780182e+02] [ 1.31723892e-02 -4.37933258e-04 9.99913145e-01 -2.79719616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 748.236559995 meters 0.016438338492327453 Centerline is valid? [True, True] Translation: X:-128.28, Y:-255.77, Z:-2.80 [[-7.24431611e-01 -6.89284024e-01 9.29386718e-03 -1.28275086e+02] [ 6.89221166e-01 -7.24491144e-01 -9.31487760e-03 -2.55765516e+02] [ 1.31539208e-02 -3.42461810e-04 9.99913425e-01 -2.79525445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 748.266559995 meters 0.015545751440598228 Centerline is valid? [True, True] Translation: X:-128.30, Y:-255.75, Z:-2.80 [[-7.21271274e-01 -6.92592395e-01 9.13915743e-03 -1.28296633e+02] [ 6.92531937e-01 -7.21329120e-01 -9.15518755e-03 -2.55749281e+02] [ 1.29331537e-02 -2.74215390e-04 9.99916326e-01 -2.79522779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 748.2965599949999 meters 0.013028315921645467 Centerline is valid? [True, True] Translation: X:-128.32, Y:-255.74, Z:-2.79 [[-7.13847681e-01 -7.00246620e-01 8.72688466e-03 -1.28324103e+02] [ 7.00192101e-01 -7.13901012e-01 -8.73883705e-03 -2.55737080e+02] [ 1.23494729e-02 -1.27702858e-04 9.99923734e-01 -2.79472670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 748.3265599949999 meters 0.012393515477156522 Centerline is valid? [True, True] Translation: X:-128.35, Y:-255.72, Z:-2.80 [[-7.10078075e-01 -7.04074217e-01 8.28397794e-03 -1.28346896e+02] [ 7.04025404e-01 -7.10126393e-01 -8.29076444e-03 -2.55721314e+02] [ 1.17199849e-02 -5.49591373e-05 9.99931317e-01 -2.79516949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 748.356559995 meters 0.012153025543140423 Centerline is valid? [True, True] Translation: X:-128.37, Y:-255.71, Z:-2.80 [[-7.06274824e-01 -7.07891693e-01 8.07615953e-03 -1.28369788e+02] [ 7.07845604e-01 -7.06320997e-01 -8.07775622e-03 -2.55705330e+02] [ 1.14225376e-02 1.15581648e-05 9.99934761e-01 -2.79520548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 748.386559995 meters 0.012359874195032797 Centerline is valid? [True, True] Translation: X:-128.39, Y:-255.69, Z:-2.79 [[-7.02621457e-01 -7.11521583e-01 7.75401867e-03 -1.28392305e+02] [ 7.11479370e-01 -7.02664238e-01 -7.75072525e-03 -2.55689161e+02] [ 1.09632799e-02 7.09984477e-05 9.99939899e-01 -2.79484064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 748.416559995 meters 0.01283757363658763 Centerline is valid? [True, True] Translation: X:-128.42, Y:-255.71, Z:-2.79 [[-6.49246438e-01 -7.60550238e-01 6.51135352e-03 -1.28417773e+02] [ 7.60513780e-01 -6.49279078e-01 -7.44776553e-03 -2.55710791e+02] [ 9.89208546e-03 1.16538835e-04 9.99951065e-01 -2.79373098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 748.4465599949999 meters 0.014497747410193385 Centerline is valid? [True, True] Translation: X:-128.44, Y:-255.69, Z:-2.79 [[-6.43440481e-01 -7.65479427e-01 5.05911726e-03 -1.28439445e+02] [ 7.65457577e-01 -6.43460352e-01 -5.78557427e-03 -2.55694653e+02] [ 7.68407945e-03 1.49866954e-04 9.99970466e-01 -2.79190484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 748.476559995 meters 0.015113831846608998 Centerline is valid? [True, True] Translation: X:-128.46, Y:-255.67, Z:-2.79 [[-6.41439701e-01 -7.67161052e-01 4.36229542e-03 -1.28459244e+02] [ 7.67144865e-01 -6.41454517e-01 -4.98584957e-03 -2.55674660e+02] [ 6.62316370e-03 1.48390672e-04 9.99978056e-01 -2.79067125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 748.506559995 meters 0.01579760010841932 Centerline is valid? [True, True] Translation: X:-128.48, Y:-255.65, Z:-2.79 [[-6.40001306e-01 -7.68364265e-01 3.83202173e-03 -1.28479380e+02] [ 7.68351810e-01 -6.40012762e-01 -4.37728704e-03 -2.55654627e+02] [ 5.81589375e-03 1.42871405e-04 9.99983077e-01 -2.79011100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 748.536559995 meters 0.016896861679860545 Centerline is valid? [True, True] Translation: X:-128.50, Y:-255.64, Z:-2.79 [[-6.38268990e-01 -7.69806258e-01 3.31982739e-03 -1.28499143e+02] [ 7.69796938e-01 -6.38277609e-01 -3.79046985e-03 -2.55636642e+02] [ 5.03689890e-03 1.36253597e-04 9.99987306e-01 -2.78965740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 748.5665599949999 meters 0.01714588702370441 Centerline is valid? [True, True] Translation: X:-128.52, Y:-255.62, Z:-2.79 [[-6.38001391e-01 -7.70028741e-01 3.15649860e-03 -1.28517730e+02] [ 7.70020329e-01 -6.38009185e-01 -3.60170371e-03 -2.55616743e+02] [ 4.78729047e-03 1.32676114e-04 9.99988532e-01 -2.78979376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 748.5965599949999 meters 0.01807020804964921 Centerline is valid? [True, True] Translation: X:-128.54, Y:-255.60, Z:-2.79 [[-6.38126126e-01 -7.69922472e-01 3.79915796e-03 -1.28536548e+02] [ 7.69910301e-01 -6.38137416e-01 -4.33212925e-03 -2.55598470e+02] [ 5.75978850e-03 1.60565990e-04 9.99983400e-01 -2.79215204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 748.626559995 meters 0.016440771683546546 Centerline is valid? [True, True] Translation: X:-128.55, Y:-255.58, Z:-2.79 [[-6.38734890e-01 -7.69413059e-01 4.61371377e-03 -1.28552545e+02] [ 7.69395117e-01 -6.38751524e-01 -5.25792314e-03 -2.55575433e+02] [ 6.99253143e-03 1.91349890e-04 9.99975534e-01 -2.79313997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 748.656559995 meters 0.017237077501628287 Centerline is valid? [True, True] Translation: X:-128.57, Y:-255.56, Z:-2.80 [[-6.39850017e-01 -7.68479325e-01 5.61097945e-03 -1.28571135e+02] [ 7.68452775e-01 -6.39874580e-01 -6.39174437e-03 -2.55555645e+02] [ 8.50224651e-03 2.22014981e-04 9.99963831e-01 -2.79530177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 748.6865599949999 meters 0.014926146304041656 Centerline is valid? [True, True] Translation: X:-128.58, Y:-255.53, Z:-2.80 [[-6.43445618e-01 -7.65455601e-01 7.44716899e-03 -1.28584839e+02] [ 7.65408681e-01 -6.43488666e-01 -8.47865681e-03 -2.55529933e+02] [ 1.12822042e-02 2.44573221e-04 9.99936324e-01 -2.79688774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 748.7165599949999 meters 0.015271533411165193 Centerline is valid? [True, True] Translation: X:-128.60, Y:-255.51, Z:-2.80 [[-6.46068044e-01 -7.63235819e-01 8.19555617e-03 -1.28601992e+02] [ 7.63178881e-01 -6.46119982e-01 -9.32547637e-03 -2.55508732e+02] [ 1.24128502e-02 2.29783102e-04 9.99922931e-01 -2.79891315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 748.746559995 meters 0.01428382167889648 Centerline is valid? [True, True] Translation: X:-128.62, Y:-255.48, Z:-2.80 [[-6.49347595e-01 -7.60444602e-01 8.46806685e-03 -1.28617355e+02] [ 7.60383642e-01 -6.49402782e-01 -9.63038203e-03 -2.55484608e+02] [ 1.28225582e-02 1.85514107e-04 9.99917771e-01 -2.79935992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 748.776559995 meters 0.01342270437173578 Centerline is valid? [True, True] Translation: X:-128.63, Y:-255.46, Z:-2.80 [[-6.52996794e-01 -7.57311034e-01 8.67095177e-03 -1.28632566e+02] [ 7.57246905e-01 -6.53054348e-01 -9.85616666e-03 -2.55459868e+02] [ 1.31267865e-02 1.30006158e-04 9.99913832e-01 -2.79916460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 748.8065599949999 meters 0.012642375791682406 Centerline is valid? [True, True] Translation: X:-128.64, Y:-255.43, Z:-2.80 [[-6.60853562e-01 -7.50464309e-01 8.71154639e-03 -1.28642823e+02] [ 7.50399046e-01 -6.60910978e-01 -9.89700773e-03 -2.55431690e+02] [ 1.31849077e-02 -3.33670946e-06 9.99913075e-01 -2.79880494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 748.8365599949999 meters 0.012854074009028459 Centerline is valid? [True, True] Translation: X:-128.66, Y:-255.41, Z:-2.80 [[-6.65219085e-01 -7.46601350e-01 8.36621058e-03 -1.28656805e+02] [ 7.46540926e-01 -6.65271688e-01 -9.49875522e-03 -2.55407188e+02] [ 1.26575865e-02 -7.30346620e-05 9.99919887e-01 -2.79744921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 748.866559995 meters 0.013533526746435525 Centerline is valid? [True, True] Translation: X:-128.67, Y:-255.38, Z:-2.80 [[-6.69721958e-01 -7.42566973e-01 8.17251672e-03 -1.28671147e+02] [ 7.42509077e-01 -6.69771805e-01 -9.27362233e-03 -2.55382700e+02] [ 1.23600069e-02 -1.42580654e-04 9.99923602e-01 -2.79665292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 748.896559995 meters 0.016170893253648847 Centerline is valid? [True, True] Translation: X:-128.68, Y:-255.36, Z:-2.80 [[-6.78410514e-01 -7.34645044e-01 7.47220360e-03 -1.28680349e+02] [ 7.34596204e-01 -6.78451613e-01 -8.47503956e-03 -2.55355200e+02] [ 1.12956744e-02 -2.60503544e-04 9.99936168e-01 -2.79549543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 748.9265599949999 meters 0.019199765499363985 Centerline is valid? [True, True] Translation: X:-128.69, Y:-255.33, Z:-2.79 [[-6.86835440e-01 -7.26779224e-01 7.00268956e-03 -1.28691380e+02] [ 7.26735964e-01 -6.86871042e-01 -7.93791858e-03 -2.55327538e+02] [ 1.05790590e-02 -3.62937449e-04 9.99943974e-01 -2.79465289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 748.9565599949999 meters 0.020141275314836008 Centerline is valid? [True, True] Translation: X:-128.71, Y:-255.30, Z:-2.79 [[-6.90710477e-01 -7.23099272e-01 6.81757816e-03 -1.28706562e+02] [ 7.23058138e-01 -6.90744003e-01 -7.72336591e-03 -2.55304714e+02] [ 1.02939615e-02 -4.05104377e-04 9.99946934e-01 -2.79421831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 748.986559995 meters 0.022048936171246727 Centerline is valid? [True, True] Translation: X:-128.72, Y:-255.28, Z:-2.79 [[-6.94257173e-01 -7.19693260e-01 6.97061939e-03 -1.28720991e+02] [ 7.19650136e-01 -6.94292012e-01 -7.89203013e-03 -2.55281456e+02] [ 1.05194863e-02 -4.62691338e-04 9.99944562e-01 -2.79421290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 749.016559995 meters 0.0234508003599576 Centerline is valid? [True, True] Translation: X:-128.74, Y:-255.26, Z:-2.79 [[-6.97040147e-01 -7.16998306e-01 6.96152107e-03 -1.28736977e+02] [ 7.16955207e-01 -6.97074730e-01 -7.87726617e-03 -2.55258009e+02] [ 1.05006869e-02 -4.99671985e-04 9.99944742e-01 -2.79422530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 749.0465599949999 meters 0.02546216514561689 Centerline is valid? [True, True] Translation: X:-128.75, Y:-255.24, Z:-2.79 [[-7.00102425e-01 -7.14015030e-01 6.25551631e-03 -1.28751851e+02] [ 7.13980139e-01 -7.00130202e-01 -7.07540242e-03 -2.55235210e+02] [ 9.43161957e-03 -4.87191990e-04 9.99955403e-01 -2.79324353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 749.0765599949999 meters 0.02630421497462205 Centerline is valid? [True, True] Translation: X:-128.77, Y:-255.21, Z:-2.79 [[-7.00555099e-01 -7.13573839e-01 5.91007282e-03 -1.28768532e+02] [ 7.13542718e-01 -7.00579875e-01 -6.68037731e-03 -2.55214947e+02] [ 8.90742056e-03 -4.62882963e-04 9.99960221e-01 -2.79279329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 749.106559995 meters 0.02571823241467463 Centerline is valid? [True, True] Translation: X:-128.79, Y:-255.19, Z:-2.79 [[-7.00366330e-01 -7.13762149e-01 5.53168633e-03 -1.28787608e+02] [ 7.13734920e-01 -7.00388043e-01 -6.24926773e-03 -2.55194714e+02] [ 8.33481773e-03 -4.28619004e-04 9.99965173e-01 -2.79206380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 749.136559995 meters 0.02711538952530149 Centerline is valid? [True, True] Translation: X:-128.80, Y:-255.17, Z:-2.79 [[-6.99655493e-01 -7.14459673e-01 5.43760692e-03 -1.28804653e+02] [ 7.14433410e-01 -6.99676502e-01 -6.13966951e-03 -2.55173147e+02] [ 8.19111206e-03 -4.10845446e-04 9.99966368e-01 -2.79201262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 749.166559995 meters 0.023378461749049877 Centerline is valid? [True, True] Translation: X:-128.83, Y:-255.16, Z:-2.79 [[-6.98545503e-01 -7.15546115e-01 5.28563414e-03 -1.28828051e+02] [ 7.15521356e-01 -6.98565394e-01 -5.96490689e-03 -2.55155954e+02] [ 7.96052705e-03 -3.84774781e-04 9.99968241e-01 -2.79109115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 749.1965599949999 meters 0.022906092364994135 Centerline is valid? [True, True] Translation: X:-128.85, Y:-255.14, Z:-2.79 [[-6.95052043e-01 -7.18943993e-01 4.71089302e-03 -1.28848443e+02] [ 7.18924426e-01 -6.95067940e-01 -5.31301343e-03 -2.55138950e+02] [ 7.09414979e-03 -3.06044780e-04 9.99974789e-01 -2.79135540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 749.226559995 meters 0.02368264052903758 Centerline is valid? [True, True] Translation: X:-128.87, Y:-255.12, Z:-2.79 [[-6.92798574e-01 -7.21116396e-01 4.61299658e-03 -1.28866942e+02] [ 7.21097703e-01 -6.92813877e-01 -5.19944652e-03 -2.55119899e+02] [ 6.94535418e-03 -2.75747899e-04 9.99975843e-01 -2.79196669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 749.256559995 meters 0.019777733933849947 Centerline is valid? [True, True] Translation: X:-128.89, Y:-255.10, Z:-2.79 [[-6.90549353e-01 -7.23271257e-01 4.50331380e-03 -1.28891096e+02] [ 7.23253510e-01 -6.90563993e-01 -5.07274613e-03 -2.55104935e+02] [ 6.77879783e-03 -2.45944050e-04 9.99976994e-01 -2.79146102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 749.286559995 meters 0.01775457596412216 Centerline is valid? [True, True] Translation: X:-128.92, Y:-255.09, Z:-2.79 [[-6.85532298e-01 -7.28030407e-01 4.14670430e-03 -1.28915433e+02] [ 7.28015457e-01 -6.85544815e-01 -4.66911626e-03 -2.55089426e+02] [ 6.24201024e-03 -1.81965171e-04 9.99980502e-01 -2.79154513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 749.3165599949999 meters 0.016914423204850558 Centerline is valid? [True, True] Translation: X:-128.94, Y:-255.07, Z:-2.79 [[-6.83237871e-01 -7.30184888e-01 4.00506827e-03 -1.28936423e+02] [ 7.30170994e-01 -6.83249592e-01 -4.50711294e-03 -2.55071106e+02] [ 6.02748702e-03 -1.55045568e-04 9.99981823e-01 -2.79154185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 749.3465599949999 meters 0.014706148253760643 Centerline is valid? [True, True] Translation: X:-128.96, Y:-255.06, Z:-2.79 [[-6.78110444e-01 -7.34950153e-01 3.80767277e-03 -1.28960629e+02] [ 7.34937684e-01 -6.78121126e-01 -4.28244386e-03 -2.55055810e+02] [ 5.72944612e-03 -1.05567701e-04 9.99983581e-01 -2.79114824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 749.376559995 meters 0.013876572548299049 Centerline is valid? [True, True] Translation: X:-128.98, Y:-255.04, Z:-2.79 [[-6.75441523e-01 -7.37404066e-01 3.74063918e-03 -1.28982157e+02] [ 7.37392082e-01 -6.75451876e-01 -4.20471602e-03 -2.55037265e+02] [ 5.62719644e-03 -8.17220763e-05 9.99984164e-01 -2.79035505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 749.406559995 meters 0.013042904768624644 Centerline is valid? [True, True] Translation: X:-129.00, Y:-255.02, Z:-2.79 [[-6.72574993e-01 -7.40019836e-01 3.67702955e-03 -1.29004208e+02] [ 7.40008309e-01 -6.72585042e-01 -4.13088230e-03 -2.55019411e+02] [ 5.53004992e-03 -5.72957135e-05 9.99984708e-01 -2.79037038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 749.4365599949999 meters 0.012689257963283615 Centerline is valid? [True, True] Translation: X:-129.03, Y:-255.00, Z:-2.79 [[-6.69772514e-01 -7.42552854e-01 4.47645184e-03 -1.29025826e+02] [ 7.42535845e-01 -6.69787472e-01 -5.02615833e-03 -2.55001797e+02] [ 6.73045957e-03 -4.24567548e-05 9.99977349e-01 -2.79154643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 749.4665599949999 meters 0.012380106667669954 Centerline is valid? [True, True] Translation: X:-129.05, Y:-254.99, Z:-2.79 [[-6.64272396e-01 -7.47468945e-01 5.68858663e-03 -1.29050220e+02] [ 7.47441682e-01 -6.64296753e-01 -6.38402727e-03 -2.54987929e+02] [ 8.55077175e-03 1.11536675e-05 9.99963442e-01 -2.79440107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 749.496559995 meters 0.012462632498076436 Centerline is valid? [True, True] Translation: X:-129.07, Y:-254.97, Z:-2.79 [[-6.61961070e-01 -7.49514962e-01 5.90450647e-03 -1.29071083e+02] [ 7.49485710e-01 -6.61987402e-01 -6.62196834e-03 -2.54970706e+02] [ 8.87197325e-03 4.18579720e-05 9.99960643e-01 -2.79460303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 749.526559995 meters 0.013199672511864203 Centerline is valid? [True, True] Translation: X:-129.09, Y:-254.95, Z:-2.79 [[-6.57571441e-01 -7.53370460e-01 5.72276999e-03 -1.29094550e+02] [ 7.53343157e-01 -6.57596336e-01 -6.41457980e-03 -2.54953838e+02] [ 8.59582751e-03 9.31651265e-05 9.99963051e-01 -2.79498358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 749.5565599949999 meters 0.013725453013266583 Centerline is valid? [True, True] Translation: X:-129.11, Y:-254.94, Z:-2.79 [[-6.56060026e-01 -7.54687949e-01 5.59848349e-03 -1.29114674e+02] [ 7.54661897e-01 -6.56083903e-01 -6.27158815e-03 -2.54935377e+02] [ 8.40616690e-03 1.10423893e-04 9.99964662e-01 -2.79485025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 749.5865599949999 meters 0.014434984822846452 Centerline is valid? [True, True] Translation: X:-129.13, Y:-254.92, Z:-2.79 [[-6.54693437e-01 -7.55877264e-01 5.10552476e-03 -1.29134904e+02] [ 7.55855659e-01 -6.54713333e-01 -5.71606730e-03 -2.54916641e+02] [ 7.66330044e-03 1.16768041e-04 9.99970630e-01 -2.79471352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 749.616559995 meters 0.014517587818905404 Centerline is valid? [True, True] Translation: X:-129.16, Y:-254.90, Z:-2.79 [[-6.52671814e-01 -7.57625171e-01 4.85840077e-03 -1.29155159e+02] [ 7.57605678e-01 -6.52689883e-01 -5.43633788e-03 -2.54896841e+02] [ 7.28973544e-03 1.32607508e-04 9.99973421e-01 -2.79381011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 749.646559995 meters 0.014517587818905404 Centerline is valid? [True, True] Translation: X:-129.17, Y:-254.88, Z:-2.79 [[-6.52909688e-01 -7.57420174e-01 4.86010694e-03 -1.29173065e+02] [ 7.57400686e-01 -6.52927763e-01 -5.43481261e-03 -2.54876962e+02] [ 7.28973546e-03 1.32606526e-04 9.99973421e-01 -2.79380936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 749.6765599949999 meters 0.014911084087987513 Centerline is valid? [True, True] Translation: X:-129.19, Y:-254.86, Z:-2.79 [[-6.52070761e-01 -7.58142748e-01 4.82669085e-03 -1.29192763e+02] [ 7.58123569e-01 -6.52088609e-01 -5.39441893e-03 -2.54856845e+02] [ 7.23716971e-03 1.41685231e-04 9.99973801e-01 -2.79422228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 749.7065599949999 meters 0.01633266190047394 Centerline is valid? [True, True] Translation: X:-129.21, Y:-254.84, Z:-2.80 [[-6.51433013e-01 -7.58689752e-01 4.98904336e-03 -1.29212700e+02] [ 7.58669294e-01 -6.51452098e-01 -5.57369534e-03 -2.54839035e+02] [ 7.47882831e-03 1.54144857e-04 9.99972021e-01 -2.79554710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 749.736559995 meters 0.016597161818682843 Centerline is valid? [True, True] Translation: X:-129.23, Y:-254.82, Z:-2.80 [[-6.51003768e-01 -7.59057675e-01 5.05378690e-03 -1.29231854e+02] [ 7.59036716e-01 -6.51023364e-01 -5.64302801e-03 -2.54818747e+02] [ 7.57351707e-03 1.62377319e-04 9.99971307e-01 -2.79580144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 749.766559995 meters 0.01771419485810572 Centerline is valid? [True, True] Translation: X:-129.25, Y:-254.80, Z:-2.80 [[-6.49588562e-01 -7.60266205e-01 5.47695780e-03 -1.29251320e+02] [ 7.60241654e-01 -6.49611623e-01 -6.11291372e-03 -2.54800512e+02] [ 8.20533716e-03 1.92932624e-04 9.99966317e-01 -2.79638918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 749.7965599949999 meters 0.01582026745037116 Centerline is valid? [True, True] Translation: X:-129.27, Y:-254.78, Z:-2.80 [[-6.49115112e-01 -7.60666651e-01 5.98471629e-03 -1.29267683e+02] [ 7.60637388e-01 -6.49142664e-01 -6.67581631e-03 -2.54777590e+02] [ 8.96300551e-03 2.18825713e-04 9.99959808e-01 -2.79588814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 749.8265599949999 meters 0.017708305790243524 Centerline is valid? [True, True] Translation: X:-129.29, Y:-254.76, Z:-2.80 [[-6.48143109e-01 -7.61479521e-01 7.71030150e-03 -1.29288681e+02] [ 7.61431066e-01 -6.48188899e-01 -8.59548776e-03 -2.54759727e+02] [ 1.15430197e-02 2.99756931e-04 9.99933332e-01 -2.79947726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 749.856559995 meters 0.017788451810332298 Centerline is valid? [True, True] Translation: X:-129.31, Y:-254.74, Z:-2.80 [[-6.47844784e-01 -7.61724914e-01 8.50244392e-03 -1.29307613e+02] [ 7.61666078e-01 -6.47900487e-01 -9.47339277e-03 -2.54738531e+02] [ 1.27248568e-02 3.38735016e-04 9.99918978e-01 -2.80047658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 749.886559995 meters 0.018323554007957623 Centerline is valid? [True, True] Translation: X:-129.32, Y:-254.72, Z:-2.80 [[-6.48296435e-01 -7.61329384e-01 9.44994643e-03 -1.29324716e+02] [ 7.61256757e-01 -6.48365198e-01 -1.05223104e-02 -2.54718782e+02] [ 1.41379605e-02 3.72259283e-04 9.99899985e-01 -2.80213107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 749.916559995 meters 0.016961068376626365 Centerline is valid? [True, True] Translation: X:-129.34, Y:-254.70, Z:-2.80 [[-6.49087692e-01 -7.60648541e-01 9.94815251e-03 -1.29340395e+02] [ 7.60568077e-01 -6.49163810e-01 -1.10701026e-02 -2.54696361e+02] [ 1.48784379e-02 3.80779914e-04 9.99889238e-01 -2.80167403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 749.9465599949999 meters 0.01639217750819671 Centerline is valid? [True, True] Translation: X:-129.36, Y:-254.67, Z:-2.80 [[-6.50369386e-01 -7.59550037e-01 1.01687303e-02 -1.29357196e+02] [ 7.59465939e-01 -6.50448773e-01 -1.13084535e-02 -2.54674251e+02] [ 1.52035744e-02 3.68132327e-04 9.99884351e-01 -2.80154223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 749.976559995 meters 0.015108278420458822 Centerline is valid? [True, True] Translation: X:-129.37, Y:-254.65, Z:-2.80 [[-6.53833827e-01 -7.56576793e-01 9.63754643e-03 -1.29371710e+02] [ 7.56501017e-01 -6.53904789e-01 -1.07115864e-02 -2.54649510e+02] [ 1.44061755e-02 2.87216127e-04 9.99896185e-01 -2.80041656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 750.006559995 meters 0.01445275113356502 Centerline is valid? [True, True] Translation: X:-129.39, Y:-254.63, Z:-2.80 [[-6.56357803e-01 -7.54392012e-01 9.33420725e-03 -1.29387642e+02] [ 7.54320786e-01 -6.56424129e-01 -1.03689085e-02 -2.54627466e+02] [ 1.39494206e-02 2.35272519e-04 9.99902675e-01 -2.79980629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 750.036559995 meters 0.013451077755077059 Centerline is valid? [True, True] Translation: X:-129.40, Y:-254.60, Z:-2.80 [[-6.59176146e-01 -7.51939119e-01 8.62384470e-03 -1.29402991e+02] [ 7.51878181e-01 -6.59232532e-01 -9.57441203e-03 -2.54604019e+02] [ 1.28844939e-02 1.72856644e-04 9.99916977e-01 -2.79908539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 750.0665599949999 meters 0.012467916667746793 Centerline is valid? [True, True] Translation: X:-129.42, Y:-254.58, Z:-2.80 [[-6.65466881e-01 -7.46386396e-01 7.82167054e-03 -1.29415208e+02] [ 7.46335938e-01 -6.65512843e-01 -8.67888534e-03 -2.54577886e+02] [ 1.16832241e-02 6.20830559e-05 9.99931747e-01 -2.79768024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 750.0965599949999 meters 0.01229259235161595 Centerline is valid? [True, True] Translation: X:-129.43, Y:-254.55, Z:-2.80 [[-6.72101938e-01 -7.40430554e-01 6.44822187e-03 -1.29426632e+02] [ 7.40396022e-01 -6.72132869e-01 -7.15098705e-03 -2.54550840e+02] [ 9.62887117e-03 -3.19544309e-05 9.99953641e-01 -2.79530052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 750.126559995 meters 0.012798301478194517 Centerline is valid? [True, True] Translation: X:-129.44, Y:-254.53, Z:-2.80 [[-6.75430365e-01 -7.37398770e-01 6.07253058e-03 -1.29441069e+02] [ 7.37368046e-01 -6.75457659e-01 -6.73171375e-03 -2.54528117e+02] [ 9.06569473e-03 -6.91138690e-05 9.99958903e-01 -2.79508236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 750.156559995 meters 0.013161700081695229 Centerline is valid? [True, True] Translation: X:-129.46, Y:-254.51, Z:-2.79 [[-6.78749732e-01 -7.34344894e-01 6.03137549e-03 -1.29457399e+02] [ 7.34314498e-01 -6.78776521e-01 -6.68234455e-03 -2.54505122e+02] [ 9.00110168e-03 -1.06713114e-04 9.99959484e-01 -2.79433396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 750.1865599949999 meters 0.015009208599782295 Centerline is valid? [True, True] Translation: X:-129.47, Y:-254.48, Z:-2.79 [[-6.84737432e-01 -7.28763962e-01 6.14303608e-03 -1.29469718e+02] [ 7.28732229e-01 -6.84764963e-01 -6.80324466e-03 -2.54480156e+02] [ 9.16449541e-03 -1.81807897e-04 9.99957989e-01 -2.79471159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 750.2165599949999 meters 0.016065407073794592 Centerline is valid? [True, True] Translation: X:-129.49, Y:-254.46, Z:-2.80 [[-6.87489868e-01 -7.26165135e-01 6.47140031e-03 -1.29485937e+02] [ 7.26129831e-01 -6.87520288e-01 -7.16401380e-03 -2.54457548e+02] [ 9.65147605e-03 -2.26110083e-04 9.99953398e-01 -2.79539158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 750.246559995 meters 0.01823464430057171 Centerline is valid? [True, True] Translation: X:-129.50, Y:-254.43, Z:-2.80 [[-6.91959366e-01 -7.21901774e-01 7.07557276e-03 -1.29499337e+02] [ 7.21859395e-01 -6.91995472e-01 -7.82821941e-03 -2.54433179e+02] [ 1.05474698e-02 -3.09241072e-04 9.99944326e-01 -2.79668249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 750.276559995 meters 0.019788872885074527 Centerline is valid? [True, True] Translation: X:-129.51, Y:-254.41, Z:-2.80 [[-6.94820332e-01 -7.19141882e-01 7.72397638e-03 -1.29514364e+02] [ 7.19091263e-01 -6.94863158e-01 -8.54090900e-03 -2.54409118e+02] [ 1.15092320e-02 -3.80153295e-04 9.99933694e-01 -2.79708912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 750.3065599949999 meters 0.018685825189824975 Centerline is valid? [True, True] Translation: X:-129.53, Y:-254.39, Z:-2.80 [[-6.95704028e-01 -7.18287095e-01 7.71724498e-03 -1.29533295e+02] [ 7.18236569e-01 -6.95746719e-01 -8.52842010e-03 -2.54388976e+02] [ 1.14951020e-02 -3.90448656e-04 9.99933853e-01 -2.79601958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 750.3365599949999 meters 0.018685825189824975 Centerline is valid? [True, True] Translation: X:-129.55, Y:-254.37, Z:-2.80 [[-6.95927336e-01 -7.18070711e-01 7.71989625e-03 -1.29551339e+02] [ 7.18020199e-01 -6.95970044e-01 -8.52602025e-03 -2.54369182e+02] [ 1.14951020e-02 -3.90449123e-04 9.99933853e-01 -2.79601883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 750.366559995 meters 0.019177154168670347 Centerline is valid? [True, True] Translation: X:-129.57, Y:-254.35, Z:-2.80 [[-6.95960152e-01 -7.18044001e-01 7.23046075e-03 -1.29568283e+02] [ 7.17999746e-01 -6.95997615e-01 -7.98025219e-03 -2.54349680e+02] [ 1.07625557e-02 -3.62468546e-04 9.99942016e-01 -2.79574029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 750.396559995 meters 0.019177154168670347 Centerline is valid? [True, True] Translation: X:-129.59, Y:-254.33, Z:-2.80 [[-6.96180423e-01 -7.17830415e-01 7.23290938e-03 -1.29586342e+02] [ 7.17786171e-01 -6.96217900e-01 -7.97803294e-03 -2.54329903e+02] [ 1.07625557e-02 -3.62468016e-04 9.99942016e-01 -2.79573954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 750.4265599949999 meters 0.022736521064081656 Centerline is valid? [True, True] Translation: X:-129.60, Y:-254.31, Z:-2.80 [[-6.94939719e-01 -7.19028963e-01 7.49249931e-03 -1.29600857e+02] [ 7.18981603e-01 -6.94980018e-01 -8.26003419e-03 -2.54306909e+02] [ 1.11463411e-02 -3.53256671e-04 9.99937815e-01 -2.79803753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 750.4565599949999 meters 0.017834931130233666 Centerline is valid? [True, True] Translation: X:-129.63, Y:-254.29, Z:-2.80 [[-6.94005181e-01 -7.19925092e-01 8.04183776e-03 -1.29625049e+02] [ 7.19870652e-01 -6.94051678e-01 -8.86075801e-03 -2.54290567e+02] [ 1.19605330e-02 -3.60328976e-04 9.99928405e-01 -2.79636084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 750.486559995 meters 0.017449251356053994 Centerline is valid? [True, True] Translation: X:-129.64, Y:-254.27, Z:-2.80 [[-6.91417061e-01 -7.22411598e-01 7.99567666e-03 -1.29643913e+02] [ 7.22358006e-01 -6.91463220e-01 -8.80493585e-03 -2.54270563e+02] [ 1.18895041e-02 -3.12141819e-04 9.99929269e-01 -2.79726373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 750.516559995 meters 0.016337327923327837 Centerline is valid? [True, True] Translation: X:-129.66, Y:-254.25, Z:-2.80 [[-6.89887776e-01 -7.23870688e-01 8.12917756e-03 -1.29663998e+02] [ 7.23815451e-01 -6.89935608e-01 -8.94704784e-03 -2.54251292e+02] [ 1.20851147e-02 -2.88434615e-04 9.99926931e-01 -2.79668972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 750.5465599949999 meters 0.01490828633730347 Centerline is valid? [True, True] Translation: X:-129.68, Y:-254.23, Z:-2.80 [[-6.86357038e-01 -7.27227231e-01 7.38721424e-03 -1.29684992e+02] [ 7.27181863e-01 -6.86396760e-01 -8.12564245e-03 -2.54233373e+02] [ 1.09797484e-02 -2.05243673e-04 9.99939700e-01 -2.79641810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 750.5765599949999 meters 0.014398922762687722 Centerline is valid? [True, True] Translation: X:-129.71, Y:-254.21, Z:-2.80 [[-6.84741220e-01 -7.28754428e-01 6.81508901e-03 -1.29705219e+02] [ 7.28715932e-01 -6.84775114e-01 -7.49225847e-03 -2.54213700e+02] [ 1.01268199e-02 -1.63994267e-04 9.99948709e-01 -2.79565326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 750.606559995 meters 0.0130230692173017 Centerline is valid? [True, True] Translation: X:-129.73, Y:-254.20, Z:-2.79 [[-6.80915135e-01 -7.32332744e-01 6.58271087e-03 -1.29727852e+02] [ 7.32297019e-01 -6.80946945e-01 -7.23425963e-03 -2.54195695e+02] [ 9.78036206e-03 -1.05417325e-04 9.99952166e-01 -2.79465367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 750.636559995 meters 0.0130230692173017 Centerline is valid? [True, True] Translation: X:-129.75, Y:-254.18, Z:-2.79 [[-6.81142698e-01 -7.32121072e-01 6.58495610e-03 -1.29745941e+02] [ 7.32085357e-01 -6.81174519e-01 -7.23221597e-03 -2.54175969e+02] [ 9.78036201e-03 -1.05421163e-04 9.99952166e-01 -2.79465292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 750.666559995 meters 0.012400930870685629 Centerline is valid? [True, True] Translation: X:-129.77, Y:-254.16, Z:-2.80 [[-6.77148772e-01 -7.35810434e-01 7.24882621e-03 -1.29768138e+02] [ 7.35767412e-01 -6.77187568e-01 -7.95695101e-03 -2.54157939e+02] [ 1.07636226e-02 -5.45895049e-05 9.99942069e-01 -2.79623989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 750.6965599949999 meters 0.012201211456009725 Centerline is valid? [True, True] Translation: X:-129.79, Y:-254.14, Z:-2.80 [[-6.73307515e-01 -7.39325409e-01 7.41149267e-03 -1.29788665e+02] [ 7.39280704e-01 -6.73348305e-01 -8.13021896e-03 -2.54141723e+02] [ 1.10013935e-02 5.03600260e-06 9.99939483e-01 -2.79731655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 750.726559995 meters 0.012201211456009725 Centerline is valid? [True, True] Translation: X:-129.81, Y:-254.12, Z:-2.80 [[-6.73524861e-01 -7.39127388e-01 7.41388355e-03 -1.29806785e+02] [ 7.39082695e-01 -6.73565665e-01 -8.12803879e-03 -2.54122037e+02] [ 1.10013935e-02 5.03683924e-06 9.99939483e-01 -2.79731580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 750.756559995 meters 0.012442440192921886 Centerline is valid? [True, True] Translation: X:-129.83, Y:-254.11, Z:-2.80 [[-6.70733400e-01 -7.41661618e-01 7.39940053e-03 -1.29827243e+02] [ 7.41617294e-01 -6.70774211e-01 -8.10845609e-03 -2.54105522e+02] [ 1.09770577e-02 4.89110775e-05 9.99939749e-01 -2.79714967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 750.786559995 meters 0.01228496648357694 Centerline is valid? [True, True] Translation: X:-129.85, Y:-254.09, Z:-2.80 [[-6.69860311e-01 -7.42453130e-01 7.10723793e-03 -1.29848118e+02] [ 7.42412328e-01 -6.69898011e-01 -7.78391602e-03 -2.54086058e+02] [ 1.05403174e-02 6.23646501e-05 9.99944447e-01 -2.79539777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 750.8165599949999 meters 0.012303818312944793 Centerline is valid? [True, True] Translation: X:-129.87, Y:-254.07, Z:-2.80 [[-6.70033232e-01 -7.42296437e-01 7.17413212e-03 -1.29867527e+02] [ 7.42254907e-01 -6.70071635e-01 -7.85223753e-03 -2.54066457e+02] [ 1.06358704e-02 6.37746795e-05 9.99943436e-01 -2.79569720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 750.8465599949999 meters 0.012303818312944793 Centerline is valid? [True, True] Translation: X:-129.89, Y:-254.05, Z:-2.80 [[-6.70265730e-01 -7.42086482e-01 7.17659170e-03 -1.29885653e+02] [ 7.42044964e-01 -6.70304146e-01 -7.84998965e-03 -2.54046770e+02] [ 1.06358704e-02 6.37746818e-05 9.99943436e-01 -2.79569646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 750.876559995 meters 0.012263426144024168 Centerline is valid? [True, True] Translation: X:-129.90, Y:-254.03, Z:-2.80 [[-6.71389381e-01 -7.41074648e-01 6.68315110e-03 -1.29903365e+02] [ 7.41038639e-01 -6.71422641e-01 -7.30568230e-03 -2.54025460e+02] [ 9.90127490e-03 4.75156750e-05 9.99950980e-01 -2.79549622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 750.906559995 meters 0.012152326126720202 Centerline is valid? [True, True] Translation: X:-129.92, Y:-254.00, Z:-2.79 [[-6.72235541e-01 -7.40308589e-01 6.52454430e-03 -1.29920658e+02] [ 7.40274275e-01 -6.72267202e-01 -7.12785572e-03 -2.54004734e+02] [ 9.66304995e-03 3.83543502e-05 9.99953311e-01 -2.79497345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 750.9365599949999 meters 0.012152376041437945 Centerline is valid? [True, True] Translation: X:-129.94, Y:-253.98, Z:-2.79 [[-6.73839787e-01 -7.38849014e-01 6.48660263e-03 -1.29937536e+02] [ 7.38815074e-01 -6.73871007e-01 -7.08178041e-03 -2.53983963e+02] [ 9.60349992e-03 2.04143969e-05 9.99953885e-01 -2.79498605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 750.9665599949999 meters 0.01218196165650274 Centerline is valid? [True, True] Translation: X:-129.96, Y:-253.96, Z:-2.80 [[-6.74793905e-01 -7.37973503e-01 6.94941388e-03 -1.29955660e+02] [ 7.37934549e-01 -6.74829688e-01 -7.58240222e-03 -2.53963733e+02] [ 1.02852827e-02 1.16538004e-05 9.99947105e-01 -2.79572047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 750.996559995 meters 0.012189927725598822 Centerline is valid? [True, True] Translation: X:-129.97, Y:-253.94, Z:-2.80 [[-6.75456839e-01 -7.37363088e-01 7.33042069e-03 -1.29973121e+02] [ 7.37319765e-01 -6.75496614e-01 -7.99298104e-03 -2.53944420e+02] [ 1.08454035e-02 5.95035967e-06 9.99941187e-01 -2.79668877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 751.026559995 meters 0.012314525414162409 Centerline is valid? [True, True] Translation: X:-129.99, Y:-253.92, Z:-2.80 [[-6.76070063e-01 -7.36787743e-01 8.54934479e-03 -1.29992038e+02] [ 7.36728832e-01 -6.76124117e-01 -9.31699070e-03 -2.53923991e+02] [ 1.26450628e-02 -3.89683184e-07 9.99920048e-01 -2.79821475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 751.0565599949999 meters 0.012247204975346615 Centerline is valid? [True, True] Translation: X:-130.01, Y:-253.90, Z:-2.80 [[-6.76388439e-01 -7.36494851e-01 8.60318192e-03 -1.30010339e+02] [ 7.36435246e-01 -6.76443150e-01 -9.36982215e-03 -2.53903354e+02] [ 1.27203892e-02 -1.95297630e-06 9.99919093e-01 -2.79787255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 751.0865599949999 meters 0.012249414968230515 Centerline is valid? [True, True] Translation: X:-130.03, Y:-253.88, Z:-2.80 [[-6.76226678e-01 -7.36649424e-01 8.06886606e-03 -1.30026924e+02] [ 7.36597073e-01 -6.76274816e-01 -8.78215152e-03 -2.53883079e+02] [ 1.19261378e-02 4.77796677e-06 9.99928881e-01 -2.79699058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 751.116559995 meters 0.012034705739351828 Centerline is valid? [True, True] Translation: X:-130.05, Y:-253.86, Z:-2.79 [[-6.75651046e-01 -7.37189209e-01 6.90896199e-03 -1.30045031e+02] [ 7.37150904e-01 -6.75686369e-01 -7.51498061e-03 -2.53862877e+02] [ 1.02082541e-02 1.54430685e-05 9.99947894e-01 -2.79415585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 751.146559995 meters 0.01203610729431925 Centerline is valid? [True, True] Translation: X:-130.06, Y:-253.84, Z:-2.79 [[-6.74655846e-01 -7.38104120e-01 6.46510773e-03 -1.30064813e+02] [ 7.38070658e-01 -6.74686822e-01 -7.02823134e-03 -2.53842985e+02] [ 9.54948950e-03 3.00689595e-05 9.99954402e-01 -2.79346401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 751.1765599949999 meters 0.012205795749376566 Centerline is valid? [True, True] Translation: X:-130.08, Y:-253.82, Z:-2.79 [[-6.73380928e-01 -7.39269121e-01 6.26837749e-03 -1.30083780e+02] [ 7.39237757e-01 -6.73410101e-01 -6.80983857e-03 -2.53824885e+02] [ 9.25549209e-03 4.82059047e-05 9.99957166e-01 -2.79395644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 751.2065599949999 meters 0.012372347422340607 Centerline is valid? [True, True] Translation: X:-130.10, Y:-253.81, Z:-2.79 [[-6.72025700e-01 -7.40498376e-01 6.60404936e-03 -1.30102412e+02] [ 7.40463657e-01 -6.72058145e-01 -7.17100913e-03 -2.53805655e+02] [ 9.74842577e-03 7.09561093e-05 9.99952481e-01 -2.79341641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 751.236559995 meters 0.012732754866177289 Centerline is valid? [True, True] Translation: X:-130.12, Y:-253.79, Z:-2.79 [[-6.70129398e-01 -7.42209360e-01 7.20111616e-03 -1.30122507e+02] [ 7.42168223e-01 -6.70168079e-01 -7.81500133e-03 -2.53785547e+02] [ 1.06263253e-02 1.07377446e-04 9.99943533e-01 -2.79379462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 751.266559995 meters 0.012787792038495506 Centerline is valid? [True, True] Translation: X:-130.14, Y:-253.77, Z:-2.79 [[-6.69842775e-01 -7.42467759e-01 7.23066644e-03 -1.30141615e+02] [ 7.42426346e-01 -6.69881790e-01 -7.84265448e-03 -2.53765003e+02] [ 1.06666099e-02 1.14891826e-04 9.99943104e-01 -2.79338884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 751.2965599949999 meters 0.012787792038495506 Centerline is valid? [True, True] Translation: X:-130.16, Y:-253.74, Z:-2.79 [[-6.70051139e-01 -7.42279703e-01 7.23286749e-03 -1.30160367e+02] [ 7.42238300e-01 -6.70090166e-01 -7.84062461e-03 -2.53744771e+02] [ 1.06666099e-02 1.14891822e-04 9.99943104e-01 -2.79338807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 751.3265599949999 meters 0.013067989058088628 Centerline is valid? [True, True] Translation: X:-130.18, Y:-253.73, Z:-2.79 [[-6.69866447e-01 -7.42447130e-01 7.15555957e-03 -1.30178622e+02] [ 7.42406658e-01 -6.69904654e-01 -7.75302430e-03 -2.53726248e+02] [ 1.05497533e-02 1.18844222e-04 9.99944343e-01 -2.79381509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 751.356559995 meters 0.013067989058088628 Centerline is valid? [True, True] Translation: X:-130.20, Y:-253.71, Z:-2.79 [[-6.70095043e-01 -7.42240795e-01 7.15794549e-03 -1.30196853e+02] [ 7.42200334e-01 -6.70133262e-01 -7.75082157e-03 -2.53706658e+02] [ 1.05497533e-02 1.18842426e-04 9.99944343e-01 -2.79381434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 751.386559995 meters 0.01300414542422516 Centerline is valid? [True, True] Translation: X:-130.22, Y:-253.69, Z:-2.79 [[-6.70192312e-01 -7.42156378e-01 6.79530608e-03 -1.30215171e+02] [ 7.42119955e-01 -6.70226751e-01 -7.35354631e-03 -2.53685909e+02] [ 1.00118772e-02 1.14642039e-04 9.99949873e-01 -2.79306675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 751.416559995 meters 0.013095551052336698 Centerline is valid? [True, True] Translation: X:-130.23, Y:-253.67, Z:-2.79 [[-6.70794891e-01 -7.41611583e-01 6.81719590e-03 -1.30232875e+02] [ 7.41574933e-01 -6.70829522e-01 -7.37367000e-03 -2.53666262e+02] [ 1.00415754e-02 1.09241432e-04 9.99949576e-01 -2.79328816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 751.4465599949999 meters 0.013027910444051329 Centerline is valid? [True, True] Translation: X:-130.25, Y:-253.64, Z:-2.79 [[-6.71668564e-01 -7.40821659e-01 6.67905400e-03 -1.30250416e+02] [ 7.40786483e-01 -6.71701765e-01 -7.21982775e-03 -2.53644877e+02] [ 9.83493713e-03 9.84215889e-05 9.99951631e-01 -2.79279570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 751.476559995 meters 0.013121995709683934 Centerline is valid? [True, True] Translation: X:-130.27, Y:-253.62, Z:-2.79 [[-6.72583150e-01 -7.39989585e-01 6.87893606e-03 -1.30267528e+02] [ 7.39952265e-01 -6.72618321e-01 -7.43237002e-03 -2.53624828e+02] [ 1.01267748e-02 9.11974742e-05 9.99948719e-01 -2.79357693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 751.506559995 meters 0.012870794030516039 Centerline is valid? [True, True] Translation: X:-130.29, Y:-253.60, Z:-2.79 [[-6.73976563e-01 -7.38714686e-01 7.49697492e-03 -1.30285256e+02] [ 7.38670333e-01 -6.74018253e-01 -8.09525917e-03 -2.53603738e+02] [ 1.10331848e-02 8.17780056e-05 9.99939129e-01 -2.79416611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 751.536559995 meters 0.012870794030516039 Centerline is valid? [True, True] Translation: X:-130.30, Y:-253.58, Z:-2.79 [[-6.74198214e-01 -7.38512374e-01 7.49940404e-03 -1.30303527e+02] [ 7.38468034e-01 -6.74239918e-01 -8.09300890e-03 -2.53584189e+02] [ 1.10331848e-02 8.17780056e-05 9.99939129e-01 -2.79416536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 751.5665599949999 meters 0.012870794030516039 Centerline is valid? [True, True] Translation: X:-130.32, Y:-253.56, Z:-2.79 [[-6.74419805e-01 -7.38309996e-01 7.50183248e-03 -1.30321804e+02] [ 7.38265668e-01 -6.74461521e-01 -8.09075790e-03 -2.53564645e+02] [ 1.10331848e-02 8.17780056e-05 9.99939129e-01 -2.79416462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 751.5965599949999 meters 0.012825283420377793 Centerline is valid? [True, True] Translation: X:-130.34, Y:-253.54, Z:-2.79 [[-6.75285271e-01 -7.37517948e-01 7.55504075e-03 -1.30340250e+02] [ 7.37472995e-01 -6.75327528e-01 -8.14319746e-03 -2.53543970e+02] [ 1.11078813e-02 7.26572181e-05 9.99938303e-01 -2.79402920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 751.626559995 meters 0.012998655039152112 Centerline is valid? [True, True] Translation: X:-130.36, Y:-253.52, Z:-2.79 [[-6.76165376e-01 -7.36713008e-01 7.37076264e-03 -1.30358098e+02] [ 7.36670227e-01 -6.76205546e-01 -7.93952580e-03 -2.53524643e+02] [ 1.08333025e-02 6.13889415e-05 9.99941316e-01 -2.79466742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 751.656559995 meters 0.012688981289664452 Centerline is valid? [True, True] Translation: X:-130.38, Y:-253.50, Z:-2.79 [[-6.76875796e-01 -7.36061222e-01 7.28249413e-03 -1.30375411e+02] [ 7.36019474e-01 -6.76914969e-01 -7.83959000e-03 -2.53503780e+02] [ 1.07000475e-02 5.36287771e-05 9.99942752e-01 -2.79250085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 751.6865599949999 meters 0.012756536640210878 Centerline is valid? [True, True] Translation: X:-130.39, Y:-253.48, Z:-2.79 [[-6.77341468e-01 -7.35634979e-01 7.05078440e-03 -1.30393035e+02] [ 7.35595874e-01 -6.77378162e-01 -7.58523410e-03 -2.53484464e+02] [ 1.03560109e-02 4.87343160e-05 9.99946374e-01 -2.79187338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 751.7165599949999 meters 0.012756587264629322 Centerline is valid? [True, True] Translation: X:-130.41, Y:-253.47, Z:-2.79 [[-6.77495260e-01 -7.35490812e-01 7.31010956e-03 -1.30411970e+02] [ 7.35448822e-01 -6.77534695e-01 -7.85928161e-03 -2.53465053e+02] [ 1.07332823e-02 5.15854254e-05 9.99942395e-01 -2.79052979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 751.746559995 meters 0.01289127579634918 Centerline is valid? [True, True] Translation: X:-130.43, Y:-253.45, Z:-2.79 [[-6.77608136e-01 -7.35383536e-01 7.63342886e-03 -1.30430989e+02] [ 7.35337799e-01 -6.77651129e-01 -8.20174819e-03 -2.53445967e+02] [ 1.12042323e-02 5.55774740e-05 9.99937229e-01 -2.79092559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 751.776559995 meters 0.012897869936199246 Centerline is valid? [True, True] Translation: X:-130.45, Y:-253.43, Z:-2.79 [[-6.77800916e-01 -7.35203753e-01 7.83324023e-03 -1.30449843e+02] [ 7.35155640e-01 -6.77846176e-01 -8.41113775e-03 -2.53426472e+02] [ 1.14936320e-02 5.75738592e-05 9.99933944e-01 -2.79090024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 751.8065599949999 meters 0.012927632203808975 Centerline is valid? [True, True] Translation: X:-130.47, Y:-253.41, Z:-2.79 [[-6.78360269e-01 -7.34685337e-01 8.04992382e-03 -1.30468756e+02] [ 7.34634552e-01 -6.78408028e-01 -8.63839918e-03 -2.53407361e+02] [ 1.18076382e-02 5.38053863e-05 9.99930286e-01 -2.79135588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 751.8365599949999 meters 0.01301421059656636 Centerline is valid? [True, True] Translation: X:-130.49, Y:-253.39, Z:-2.79 [[-6.78810649e-01 -7.34265276e-01 8.40285970e-03 -1.30488089e+02] [ 7.34209977e-01 -6.78862654e-01 -9.01150182e-03 -2.53387517e+02] [ 1.23212205e-02 5.23600283e-05 9.99924090e-01 -2.79097291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 751.866559995 meters 0.012958847388497634 Centerline is valid? [True, True] Translation: X:-130.51, Y:-253.37, Z:-2.79 [[-6.79459237e-01 -7.33669964e-01 7.97051346e-03 -1.30505993e+02] [ 7.33620234e-01 -6.79505984e-01 -8.54224855e-03 -2.53368593e+02] [ 1.16832028e-02 4.32202746e-05 9.99931748e-01 -2.79057805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 751.896559995 meters 0.012861254583701742 Centerline is valid? [True, True] Translation: X:-130.52, Y:-253.35, Z:-2.79 [[-6.80866603e-01 -7.32375711e-01 6.81812260e-03 -1.30524606e+02] [ 7.32339298e-01 -6.80900740e-01 -7.30308016e-03 -2.53348018e+02] [ 9.99106325e-03 2.07557362e-05 9.99950088e-01 -2.78860944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 751.9265599949999 meters 0.0129495636533469 Centerline is valid? [True, True] Translation: X:-130.54, Y:-253.33, Z:-2.79 [[-6.81613135e-01 -7.31686638e-01 6.18046571e-03 -1.30544267e+02] [ 7.31656723e-01 -6.81641155e-01 -6.61636330e-03 -2.53327603e+02] [ 9.05396440e-03 1.21791586e-05 9.99959012e-01 -2.78806579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 751.9565599949999 meters 0.012913869005317715 Centerline is valid? [True, True] Translation: X:-130.56, Y:-253.31, Z:-2.79 [[-6.82313389e-01 -7.31035108e-01 6.00922925e-03 -1.30562559e+02] [ 7.31006840e-01 -6.82339850e-01 -6.42880717e-03 -2.53308539e+02] [ 8.80002033e-03 6.32647169e-06 9.99961279e-01 -2.78783088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 751.986559995 meters 0.012910745287259497 Centerline is valid? [True, True] Translation: X:-130.58, Y:-253.29, Z:-2.79 [[-6.83306595e-01 -7.30108733e-01 5.77365118e-03 -1.30582690e+02] [ 7.30082634e-01 -6.83330987e-01 -6.17331650e-03 -2.53288667e+02] [ 8.45250705e-03 -3.02541462e-06 9.99964277e-01 -2.78764234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 752.016559995 meters 0.013092478366610264 Centerline is valid? [True, True] Translation: X:-130.60, Y:-253.27, Z:-2.79 [[-6.83501687e-01 -7.29924855e-01 5.92871167e-03 -1.30601864e+02] [ 7.29897363e-01 -6.83527399e-01 -6.33513656e-03 -2.53268760e+02] [ 8.67661050e-03 -2.72551168e-06 9.99962358e-01 -2.78801935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 752.0465599949999 meters 0.013082166572196276 Centerline is valid? [True, True] Translation: X:-130.62, Y:-253.25, Z:-2.79 [[-6.83826707e-01 -7.29618063e-01 6.20623700e-03 -1.30621553e+02] [ 7.29587957e-01 -6.83854870e-01 -6.62796851e-03 -2.53248438e+02] [ 9.08005094e-03 -4.38610647e-06 9.99958776e-01 -2.78820294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 752.0765599949999 meters 0.013080356572173704 Centerline is valid? [True, True] Translation: X:-130.64, Y:-253.23, Z:-2.79 [[-6.83979045e-01 -7.29475129e-01 6.22113449e-03 -1.30640985e+02] [ 7.29444907e-01 -6.84007337e-01 -6.64011243e-03 -2.53228457e+02] [ 9.09909851e-03 -3.72288727e-06 9.99958602e-01 -2.78818973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 752.106559995 meters 0.013164663890635678 Centerline is valid? [True, True] Translation: X:-130.66, Y:-253.21, Z:-2.79 [[-6.83592366e-01 -7.29831752e-01 6.86230144e-03 -1.30661059e+02] [ 7.29795041e-01 -6.83626809e-01 -7.32008640e-03 -2.53209901e+02] [ 1.00336847e-02 4.11838567e-06 9.99949661e-01 -2.78892300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 752.136559995 meters 0.01330079847890832 Centerline is valid? [True, True] Translation: X:-130.68, Y:-253.19, Z:-2.79 [[-6.83017865e-01 -7.30369507e-01 6.85409428e-03 -1.30681102e+02] [ 7.30332960e-01 -6.83052255e-01 -7.30649684e-03 -2.53192467e+02] [ 1.00181470e-02 1.53030970e-05 9.99949817e-01 -2.78934389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 752.166559995 meters 0.01329482543991908 Centerline is valid? [True, True] Translation: X:-130.70, Y:-253.17, Z:-2.79 [[-6.82788810e-01 -7.30580732e-01 7.15793050e-03 -1.30700500e+02] [ 7.30540934e-01 -6.82826328e-01 -7.62562396e-03 -2.53173837e+02] [ 1.04587573e-02 2.24705236e-05 9.99945306e-01 -2.78948080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 752.1965599949999 meters 0.013433566688406964 Centerline is valid? [True, True] Translation: X:-130.72, Y:-253.16, Z:-2.79 [[-6.81845381e-01 -7.31461274e-01 7.16110250e-03 -1.30722012e+02] [ 7.31421534e-01 -6.81882983e-01 -7.62472904e-03 -2.53155109e+02] [ 1.04602280e-02 3.88982982e-05 9.99945290e-01 -2.78982333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 752.226559995 meters 0.013505260656610875 Centerline is valid? [True, True] Translation: X:-130.74, Y:-253.14, Z:-2.79 [[-6.81193638e-01 -7.32064982e-01 7.48930788e-03 -1.30742445e+02] [ 7.32021601e-01 -6.81234805e-01 -7.96971666e-03 -2.53135610e+02] [ 1.09363277e-02 5.34148609e-05 9.99940195e-01 -2.78982260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 752.256559995 meters 0.013686330247288221 Centerline is valid? [True, True] Translation: X:-130.76, Y:-253.12, Z:-2.79 [[-6.80591964e-01 -7.32623965e-01 7.53018424e-03 -1.30761660e+02] [ 7.32580187e-01 -6.80633618e-01 -8.00931375e-03 -2.53118039e+02] [ 1.09931117e-02 6.53891956e-05 9.99939572e-01 -2.79032023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 752.286559995 meters 0.01388663298313117 Centerline is valid? [True, True] Translation: X:-130.78, Y:-253.10, Z:-2.79 [[-6.79899186e-01 -7.33263414e-01 7.86528327e-03 -1.30781119e+02] [ 7.33215757e-01 -6.79944673e-01 -8.36035872e-03 -2.53100475e+02] [ 1.14783026e-02 8.27485429e-05 9.99934119e-01 -2.79137965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 752.3165599949999 meters 0.014077169346821105 Centerline is valid? [True, True] Translation: X:-130.80, Y:-253.08, Z:-2.79 [[-6.78516966e-01 -7.34539093e-01 8.18831359e-03 -1.30802882e+02] [ 7.34487590e-01 -6.78566363e-01 -8.69889702e-03 -2.53082673e+02] [ 1.19459941e-02 1.11865513e-04 9.99928638e-01 -2.79139752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 752.3465599949999 meters 0.01422436993098375 Centerline is valid? [True, True] Translation: X:-130.82, Y:-253.06, Z:-2.79 [[-6.78084670e-01 -7.34935914e-01 8.38939546e-03 -1.30822689e+02] [ 7.34881950e-01 -6.78136554e-01 -8.90695557e-03 -2.53064149e+02] [ 1.22351973e-02 1.25545263e-04 9.99925139e-01 -2.79187532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 752.376559995 meters 0.014289338557685306 Centerline is valid? [True, True] Translation: X:-130.84, Y:-253.05, Z:-2.79 [[-6.77768112e-01 -7.35223781e-01 8.73945686e-03 -1.30842024e+02] [ 7.35165320e-01 -6.77824441e-01 -9.27254343e-03 -2.53046009e+02] [ 1.27412119e-02 1.40311340e-04 9.99918818e-01 -2.79218093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 752.406559995 meters 0.014268218284347711 Centerline is valid? [True, True] Translation: X:-130.86, Y:-253.03, Z:-2.79 [[-6.77667699e-01 -7.35317408e-01 8.64872114e-03 -1.30860997e+02] [ 7.35260235e-01 -6.77722871e-01 -9.17049821e-03 -2.53027060e+02] [ 1.26046631e-02 1.44510315e-04 9.99920548e-01 -2.79194776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 752.4365599949999 meters 0.014270404907021118 Centerline is valid? [True, True] Translation: X:-130.88, Y:-253.01, Z:-2.79 [[-6.77672639e-01 -7.35316233e-01 8.35656673e-03 -1.30880526e+02] [ 7.35262925e-01 -6.77724145e-01 -8.85516650e-03 -2.53007780e+02] [ 1.21747947e-02 1.43369649e-04 9.99925874e-01 -2.79186056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 752.4665599949999 meters 0.014319758237336585 Centerline is valid? [True, True] Translation: X:-130.90, Y:-252.99, Z:-2.79 [[-6.77737022e-01 -7.35258494e-01 8.21437192e-03 -1.30900275e+02] [ 7.35207046e-01 -6.77786785e-01 -8.69905541e-03 -2.52988852e+02] [ 1.19636471e-02 1.43592207e-04 9.99928423e-01 -2.79185796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 752.496559995 meters 0.014301774193895504 Centerline is valid? [True, True] Translation: X:-130.92, Y:-252.97, Z:-2.79 [[-6.78056086e-01 -7.34965190e-01 8.13110634e-03 -1.30918875e+02] [ 7.34914825e-01 -6.78104823e-01 -8.60524850e-03 -2.52970338e+02] [ 1.18383005e-02 1.40829474e-04 9.99929915e-01 -2.79214837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 752.526559995 meters 0.014107111778300823 Centerline is valid? [True, True] Translation: X:-130.94, Y:-252.95, Z:-2.79 [[-6.78524419e-01 -7.34526025e-01 8.72538324e-03 -1.30938545e+02] [ 7.34468058e-01 -6.78580502e-01 -9.22899243e-03 -2.52950710e+02] [ 1.26998101e-02 1.46418563e-04 9.99919344e-01 -2.79234408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 752.5565599949999 meters 0.014196651381440042 Centerline is valid? [True, True] Translation: X:-130.96, Y:-252.93, Z:-2.79 [[-6.78794293e-01 -7.34274328e-01 8.91735082e-03 -1.30957270e+02] [ 7.34213820e-01 -6.78852848e-01 -9.42743738e-03 -2.52932154e+02] [ 1.29758942e-02 1.47951526e-04 9.99915799e-01 -2.79298584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 752.5865599949999 meters 0.013934398819147991 Centerline is valid? [True, True] Translation: X:-130.98, Y:-252.91, Z:-2.79 [[-6.79643251e-01 -7.33484781e-01 9.22644554e-03 -1.30976154e+02] [ 7.33420015e-01 -6.79705860e-01 -9.74809473e-03 -2.52912567e+02] [ 1.34213482e-02 1.41633036e-04 9.99909920e-01 -2.79313088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 752.616559995 meters 0.013881235811840855 Centerline is valid? [True, True] Translation: X:-131.00, Y:-252.89, Z:-2.79 [[-6.80515736e-01 -7.32680960e-01 8.77172940e-03 -1.30995197e+02] [ 7.32622429e-01 -6.80572256e-01 -9.26186288e-03 -2.52892558e+02] [ 1.27557863e-02 1.23522259e-04 9.99918634e-01 -2.79310924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 752.646559995 meters 0.013713117751051562 Centerline is valid? [True, True] Translation: X:-131.01, Y:-252.87, Z:-2.79 [[-6.81545198e-01 -7.31725419e-01 8.60549845e-03 -1.31013334e+02] [ 7.31669083e-01 -6.81599516e-01 -9.08037098e-03 -2.52873338e+02] [ 1.25098418e-02 1.07693917e-04 9.99921743e-01 -2.79295686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 752.6765599949999 meters 0.013583989841160668 Centerline is valid? [True, True] Translation: X:-131.03, Y:-252.85, Z:-2.79 [[-6.82825583e-01 -7.30536965e-01 8.06013107e-03 -1.31032033e+02] [ 7.30487523e-01 -6.82873147e-01 -8.49960119e-03 -2.52852982e+02] [ 1.17133199e-02 8.40800484e-05 9.99931393e-01 -2.79256548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 752.7065599949999 meters 0.013320553985063733 Centerline is valid? [True, True] Translation: X:-131.05, Y:-252.83, Z:-2.79 [[-6.84338848e-01 -7.29119639e-01 8.05566252e-03 -1.31050153e+02] [ 7.29070215e-01 -6.84386257e-01 -8.48958480e-03 -2.52833202e+02] [ 1.17031077e-02 6.33909250e-05 9.99931514e-01 -2.79255103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 752.736559995 meters 0.013366808084642108 Centerline is valid? [True, True] Translation: X:-131.07, Y:-252.81, Z:-2.79 [[-6.85663263e-01 -7.27874240e-01 8.06103657e-03 -1.31068003e+02] [ 7.27824729e-01 -6.85710645e-01 -8.48969251e-03 -2.52813590e+02] [ 1.17069671e-02 4.59514969e-05 9.99931470e-01 -2.79378169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 752.766559995 meters 0.013224330796397808 Centerline is valid? [True, True] Translation: X:-131.09, Y:-252.79, Z:-2.79 [[-6.87173110e-01 -7.26445690e-01 8.35321972e-03 -1.31086050e+02] [ 7.26392485e-01 -6.87223878e-01 -8.79201585e-03 -2.52792736e+02] [ 1.21274541e-02 2.60791529e-05 9.99926460e-01 -2.79313377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 752.7965599949999 meters 0.013348580496158764 Centerline is valid? [True, True] Translation: X:-131.10, Y:-252.77, Z:-2.79 [[-6.89728849e-01 -7.24020139e-01 8.30376949e-03 -1.31102343e+02] [ 7.23967453e-01 -6.89778832e-01 -8.73435145e-03 -2.52772276e+02] [ 1.20516108e-02 -1.26753178e-05 9.99927377e-01 -2.79406568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 752.8265599949999 meters 0.013136584292231294 Centerline is valid? [True, True] Translation: X:-131.12, Y:-252.75, Z:-2.79 [[-6.90717592e-01 -7.23079996e-01 8.03285882e-03 -1.31121176e+02] [ 7.23030683e-01 -6.90764300e-01 -8.44467257e-03 -2.52752076e+02] [ 1.16549859e-02 -2.48805054e-05 9.99932078e-01 -2.79230246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 752.856559995 meters 0.013175334079614227 Centerline is valid? [True, True] Translation: X:-131.14, Y:-252.73, Z:-2.79 [[-6.91581987e-01 -7.22254974e-01 7.88086563e-03 -1.31139814e+02] [ 7.22207515e-01 -6.91626887e-01 -8.27970972e-03 -2.52732395e+02] [ 1.14306801e-02 -3.44777112e-05 9.99934667e-01 -2.79259420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 752.886559995 meters 0.013150996874517868 Centerline is valid? [True, True] Translation: X:-131.16, Y:-252.71, Z:-2.79 [[-6.92283253e-01 -7.21578579e-01 8.26145652e-03 -1.31159913e+02] [ 7.21526435e-01 -6.92332545e-01 -8.67471377e-03 -2.52712154e+02] [ 1.19791629e-02 -4.44997986e-05 9.99928246e-01 -2.79270294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 752.916559995 meters 0.013024518893673153 Centerline is valid? [True, True] Translation: X:-131.18, Y:-252.69, Z:-2.79 [[-6.92262424e-01 -7.21593048e-01 8.72980043e-03 -1.31180100e+02] [ 7.21534891e-01 -6.92317464e-01 -9.16131864e-03 -2.52692041e+02] [ 1.26545371e-02 -4.31810513e-05 9.99919927e-01 -2.79281806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 752.9465599949999 meters 0.013156957026450393 Centerline is valid? [True, True] Translation: X:-131.20, Y:-252.67, Z:-2.79 [[-6.91931240e-01 -7.21907739e-01 8.96520389e-03 -1.31199520e+02] [ 7.21846480e-01 -6.91989317e-01 -9.40448736e-03 -2.52672861e+02] [ 1.29929975e-02 -3.57577343e-05 9.99915587e-01 -2.79385817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 752.976559995 meters 0.013104199517210414 Centerline is valid? [True, True] Translation: X:-131.22, Y:-252.65, Z:-2.79 [[-6.91489778e-01 -7.22330417e-01 8.98083550e-03 -1.31218966e+02] [ 7.22269055e-01 -6.91548095e-01 -9.41507891e-03 -2.52653997e+02] [ 1.30114776e-02 -2.38512539e-05 9.99915347e-01 -2.79437316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 753.006559995 meters 0.01298639545263758 Centerline is valid? [True, True] Translation: X:-131.24, Y:-252.64, Z:-2.79 [[-6.90942898e-01 -7.22851321e-01 9.15862587e-03 -1.31238444e+02] [ 7.22787631e-01 -6.91003595e-01 -9.59545163e-03 -2.52635238e+02] [ 1.32647283e-02 -1.01676676e-05 9.99912020e-01 -2.79405182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 753.036559995 meters 0.013051391533651244 Centerline is valid? [True, True] Translation: X:-131.26, Y:-252.62, Z:-2.79 [[-6.90091486e-01 -7.23663164e-01 9.23937364e-03 -1.31257298e+02] [ 7.23598503e-01 -6.90153335e-01 -9.67370174e-03 -2.52617442e+02] [ 1.33770861e-02 9.85772160e-06 9.99910523e-01 -2.79429795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 753.0665599949999 meters 0.013024174770235746 Centerline is valid? [True, True] Translation: X:-131.28, Y:-252.60, Z:-2.79 [[-6.89926543e-01 -7.23819467e-01 9.31366834e-03 -1.31277003e+02] [ 7.23753851e-01 -6.89989405e-01 -9.74599919e-03 -2.52597683e+02] [ 1.34806764e-02 1.67797940e-05 9.99909132e-01 -2.79393185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 753.0965599949999 meters 0.012943545968472147 Centerline is valid? [True, True] Translation: X:-131.30, Y:-252.58, Z:-2.79 [[-6.89768531e-01 -7.23971350e-01 9.21184253e-03 -1.31297278e+02] [ 7.23907247e-01 -6.89830040e-01 -9.63398035e-03 -2.52577536e+02] [ 1.33293315e-02 2.33030987e-05 9.99911160e-01 -2.79386920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 753.126559995 meters 0.01305435296650572 Centerline is valid? [True, True] Translation: X:-131.32, Y:-252.56, Z:-2.79 [[-6.89932235e-01 -7.23820418e-01 8.80419988e-03 -1.31315931e+02] [ 7.23761900e-01 -6.89988407e-01 -9.20384542e-03 -2.52558403e+02] [ 1.27367271e-02 2.21147984e-05 9.99918884e-01 -2.79460708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 753.156559995 meters 0.012890020443539279 Centerline is valid? [True, True] Translation: X:-131.34, Y:-252.54, Z:-2.79 [[-6.90300849e-01 -7.23474263e-01 8.35041200e-03 -1.31335100e+02] [ 7.23421655e-01 -6.90351353e-01 -8.72456387e-03 -2.52538008e+02] [ 1.20767156e-02 1.82950176e-05 9.99927074e-01 -2.79322072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 753.1865599949999 meters 0.012866804540951687 Centerline is valid? [True, True] Translation: X:-131.35, Y:-252.52, Z:-2.79 [[-6.90570556e-01 -7.23221483e-01 7.93690497e-03 -1.31353064e+02] [ 7.23173986e-01 -6.90616165e-01 -8.28848029e-03 -2.52518895e+02] [ 1.14757619e-02 1.59827653e-05 9.99934151e-01 -2.79326760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 753.2165599949999 meters 0.01275765854544447 Centerline is valid? [True, True] Translation: X:-131.37, Y:-252.50, Z:-2.79 [[-6.91338730e-01 -7.22497635e-01 6.92297364e-03 -1.31371804e+02] [ 7.22461503e-01 -6.91373392e-01 -7.22560078e-03 -2.52497791e+02] [ 1.00068392e-02 6.24426888e-06 9.99949930e-01 -2.79175646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 753.246559995 meters 0.012804509909000799 Centerline is valid? [True, True] Translation: X:-131.39, Y:-252.48, Z:-2.79 [[-6.91933603e-01 -7.21932691e-01 6.40926019e-03 -1.31389519e+02] [ 7.21901729e-01 -6.91963286e-01 -6.68618258e-03 -2.52479016e+02] [ 9.26194652e-03 4.61609792e-07 9.99957107e-01 -2.79170983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 753.276559995 meters 0.012798913754403294 Centerline is valid? [True, True] Translation: X:-131.41, Y:-252.46, Z:-2.79 [[-6.92480806e-01 -7.21411185e-01 6.01959808e-03 -1.31408427e+02] [ 7.21383887e-01 -6.92506969e-01 -6.27577816e-03 -2.52459270e+02] [ 8.69603018e-03 -3.41485136e-06 9.99962189e-01 -2.79133756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 753.3065599949999 meters 0.012794203584564887 Centerline is valid? [True, True] Translation: X:-131.43, Y:-252.44, Z:-2.79 [[-6.93127677e-01 -7.20790846e-01 5.88044980e-03 -1.31426439e+02] [ 7.20764807e-01 -6.93152622e-01 -6.12670955e-03 -2.52440752e+02] [ 8.49212536e-03 -8.17069885e-06 9.99963941e-01 -2.79165502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 753.3365599949999 meters 0.012787046194941054 Centerline is valid? [True, True] Translation: X:-131.44, Y:-252.42, Z:-2.79 [[-6.93743898e-01 -7.20197771e-01 5.88009646e-03 -1.31444511e+02] [ 7.20171747e-01 -6.93768817e-01 -6.12237807e-03 -2.52421844e+02] [ 8.48875060e-03 -1.26830798e-05 9.99963970e-01 -2.79220597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 753.366559995 meters 0.012818210333764096 Centerline is valid? [True, True] Translation: X:-131.46, Y:-252.40, Z:-2.79 [[-6.94064633e-01 -7.19888874e-01 5.85624507e-03 -1.31463195e+02] [ 7.19863081e-01 -6.94089338e-01 -6.09383528e-03 -2.52402195e+02] [ 8.45164148e-03 -1.38209233e-05 9.99964284e-01 -2.79214158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 753.396559995 meters 0.012902056905393833 Centerline is valid? [True, True] Translation: X:-131.48, Y:-252.38, Z:-2.79 [[-6.94455422e-01 -7.19509834e-01 6.10457945e-03 -1.31481551e+02] [ 7.19481819e-01 -6.94482253e-01 -6.34925631e-03 -2.52382775e+02] [ 8.80787444e-03 -1.71415501e-05 9.99961210e-01 -2.79307649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 753.4265599949999 meters 0.012847111193460858 Centerline is valid? [True, True] Translation: X:-131.50, Y:-252.36, Z:-2.79 [[-6.94693580e-01 -7.19278403e-01 6.27769794e-03 -1.31501330e+02] [ 7.19248800e-01 -6.94721943e-01 -6.52567713e-03 -2.52362500e+02] [ 9.05503314e-03 -1.81192937e-05 9.99959002e-01 -2.79244874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 753.4565599949999 meters 0.012847111193460858 Centerline is valid? [True, True] Translation: X:-131.52, Y:-252.34, Z:-2.79 [[-6.94893778e-01 -7.19084978e-01 6.27951432e-03 -1.31520500e+02] [ 7.19055383e-01 -6.94922150e-01 -6.52392929e-03 -2.52342677e+02] [ 9.05503314e-03 -1.81192918e-05 9.99959002e-01 -2.79244797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 753.486559995 meters 0.012896638702344738 Centerline is valid? [True, True] Translation: X:-131.54, Y:-252.32, Z:-2.79 [[-6.95173028e-01 -7.18814163e-01 6.37657077e-03 -1.31539774e+02] [ 7.18783673e-01 -6.95202272e-01 -6.62062103e-03 -2.52322955e+02] [ 9.19200265e-03 -1.91022068e-05 9.99957753e-01 -2.79282456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 753.516559995 meters 0.01287455987130151 Centerline is valid? [True, True] Translation: X:-131.56, Y:-252.30, Z:-2.79 [[-6.95456557e-01 -7.18538488e-01 6.52838009e-03 -1.31558003e+02] [ 7.18506558e-01 -6.95487197e-01 -6.77379409e-03 -2.52304648e+02] [ 9.40763653e-03 -2.01956071e-05 9.99955747e-01 -2.79318472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 753.5465599949999 meters 0.0129091101754744 Centerline is valid? [True, True] Translation: X:-131.58, Y:-252.28, Z:-2.79 [[-6.95591687e-01 -7.18404800e-01 6.83733192e-03 -1.31577477e+02] [ 7.18369810e-01 -6.95625290e-01 -7.09035585e-03 -2.52284584e+02] [ 9.84996667e-03 -2.02597564e-05 9.99951488e-01 -2.79355863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 753.5765599949999 meters 0.012946744709542421 Centerline is valid? [True, True] Translation: X:-131.60, Y:-252.26, Z:-2.79 [[-6.95834851e-01 -7.18169432e-01 6.82114745e-03 -1.31596414e+02] [ 7.18134635e-01 -6.95868283e-01 -7.06960295e-03 -2.52264067e+02] [ 9.82379290e-03 -2.07738817e-05 9.99951745e-01 -2.79369334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 753.606559995 meters 0.013010193932997379 Centerline is valid? [True, True] Translation: X:-131.61, Y:-252.24, Z:-2.79 [[-6.96066929e-01 -7.17944839e-01 6.78513144e-03 -1.31614747e+02] [ 7.17910441e-01 -6.96099998e-01 -7.02787719e-03 -2.52243753e+02] [ 9.76875814e-03 -2.07561900e-05 9.99952284e-01 -2.79379580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 753.636559995 meters 0.012994475742958025 Centerline is valid? [True, True] Translation: X:-131.63, Y:-252.22, Z:-2.79 [[-6.96316232e-01 -7.17701865e-01 6.90929001e-03 -1.31633386e+02] [ 7.17666224e-01 -6.96350510e-01 -7.15246906e-03 -2.52223341e+02] [ 9.94462800e-03 -2.18162323e-05 9.99950551e-01 -2.79347514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 753.666559995 meters 0.013014862347225216 Centerline is valid? [True, True] Translation: X:-131.65, Y:-252.20, Z:-2.79 [[-6.96098052e-01 -7.17913143e-01 6.94409685e-03 -1.31650512e+02] [ 7.17877188e-01 -6.96132687e-01 -7.18500103e-03 -2.52203601e+02] [ 9.99221948e-03 -1.64564999e-05 9.99950077e-01 -2.79333296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 753.6965599949999 meters 0.012958584909478594 Centerline is valid? [True, True] Translation: X:-131.67, Y:-252.18, Z:-2.79 [[-6.95723825e-01 -7.18275671e-01 6.95834697e-03 -1.31669458e+02] [ 7.18239632e-01 -6.95758622e-01 -7.19527414e-03 -2.52183611e+02] [ 1.00095203e-02 -8.16308327e-06 9.99949904e-01 -2.79340654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 753.726559995 meters 0.012919541113728766 Centerline is valid? [True, True] Translation: X:-131.69, Y:-252.16, Z:-2.79 [[-6.94479947e-01 -7.19482233e-01 6.55132755e-03 -1.31688801e+02] [ 7.19450375e-01 -6.94510847e-01 -6.77058224e-03 -2.52163729e+02] [ 9.42128168e-03 1.13214714e-05 9.99955619e-01 -2.79237986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 753.756559995 meters 0.01295776423249244 Centerline is valid? [True, True] Translation: X:-131.71, Y:-252.14, Z:-2.79 [[-6.93735747e-01 -7.20203822e-01 6.09663608e-03 -1.31708237e+02] [ 7.20176292e-01 -6.93762535e-01 -6.29713507e-03 -2.52143387e+02] [ 8.76483844e-03 2.21050624e-05 9.99961588e-01 -2.79215601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 753.786559995 meters 0.013043901902118446 Centerline is valid? [True, True] Translation: X:-131.73, Y:-252.12, Z:-2.79 [[-6.92968686e-01 -7.20943652e-01 5.88656190e-03 -1.31726209e+02] [ 7.20918047e-01 -6.92993687e-01 -6.07612941e-03 -2.52124597e+02] [ 8.45989716e-03 3.31612924e-05 9.99964214e-01 -2.79189178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 753.8165599949999 meters 0.013363837402331687 Centerline is valid? [True, True] Translation: X:-131.74, Y:-252.11, Z:-2.79 [[-6.91087859e-01 -7.22751252e-01 5.31019977e-03 -1.31744680e+02] [ 7.22730490e-01 -6.91108258e-01 -5.47855098e-03 -2.52106040e+02] [ 7.62955250e-03 5.16832080e-05 9.99970893e-01 -2.79131959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 753.8465599949999 meters 0.013445145580347168 Centerline is valid? [True, True] Translation: X:-131.76, Y:-252.09, Z:-2.79 [[-6.90147553e-01 -7.23650061e-01 5.19072554e-03 -1.31763390e+02] [ 7.23630273e-01 -6.90167070e-01 -5.35196177e-03 -2.52086687e+02] [ 7.45541530e-03 6.25228129e-05 9.99972206e-01 -2.79067801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 753.876559995 meters 0.013563851995256327 Centerline is valid? [True, True] Translation: X:-131.78, Y:-252.07, Z:-2.79 [[-6.89263786e-01 -7.24491326e-01 5.26797863e-03 -1.31782961e+02] [ 7.24470992e-01 -6.89283913e-01 -5.42855600e-03 -2.52066464e+02] [ 7.56407466e-03 7.47906427e-05 9.99971389e-01 -2.79055531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 753.906559995 meters 0.014169973606643096 Centerline is valid? [True, True] Translation: X:-131.80, Y:-252.05, Z:-2.79 [[-6.86980145e-01 -7.26655822e-01 5.44034282e-03 -1.31802985e+02] [ 7.26634229e-01 -6.87001678e-01 -5.60285032e-03 -2.52047736e+02] [ 7.80886845e-03 1.04092384e-04 9.99969505e-01 -2.79071969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 753.9365599949999 meters 0.014472951427695063 Centerline is valid? [True, True] Translation: X:-131.82, Y:-252.03, Z:-2.79 [[-6.85897964e-01 -7.27679131e-01 5.20240586e-03 -1.31823289e+02] [ 7.27659438e-01 -6.85917684e-01 -5.35479369e-03 -2.52027766e+02] [ 7.46499380e-03 1.12737634e-04 9.99972130e-01 -2.79097177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 753.9665599949999 meters 0.014859259033270844 Centerline is valid? [True, True] Translation: X:-131.84, Y:-252.01, Z:-2.79 [[-6.84899755e-01 -7.28617771e-01 5.33570253e-03 -1.31842452e+02] [ 7.28597108e-01 -6.84920527e-01 -5.48874078e-03 -2.52009056e+02] [ 7.65372626e-03 1.28340220e-04 9.99970702e-01 -2.79096767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 753.996559995 meters 0.016395551028731203 Centerline is valid? [True, True] Translation: X:-131.86, Y:-251.99, Z:-2.79 [[-6.83810045e-01 -7.29639082e-01 5.53470775e-03 -1.31862778e+02] [ 7.29616901e-01 -6.83832428e-01 -5.69113742e-03 -2.51991680e+02] [ 7.93728892e-03 1.46559383e-04 9.99968489e-01 -2.79198758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 754.026559995 meters 0.0160451481119383 Centerline is valid? [True, True] Translation: X:-131.88, Y:-251.97, Z:-2.79 [[-6.82123379e-01 -7.31214047e-01 5.80635235e-03 -1.31881299e+02] [ 7.31189720e-01 -6.82148069e-01 -5.96713057e-03 -2.51970136e+02] [ 8.32404173e-03 1.75225872e-04 9.99965339e-01 -2.79154692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 754.0565599949999 meters 0.01618806193175121 Centerline is valid? [True, True] Translation: X:-131.90, Y:-251.95, Z:-2.79 [[-6.81614929e-01 -7.31686251e-01 6.02644240e-03 -1.31900325e+02] [ 7.31660094e-01 -6.81641543e-01 -6.18983162e-03 -2.51949840e+02] [ 8.63688819e-03 1.90225775e-04 9.99962683e-01 -2.79167577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 754.0865599949999 meters 0.0154627090628624 Centerline is valid? [True, True] Translation: X:-131.92, Y:-251.93, Z:-2.79 [[-6.81469793e-01 -7.31816978e-01 6.54462811e-03 -1.31918157e+02] [ 7.31786172e-01 -6.81501186e-01 -6.71812051e-03 -2.51928001e+02] [ 9.37660647e-03 2.11072153e-04 9.99956017e-01 -2.79110023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 754.116559995 meters 0.01610074052411884 Centerline is valid? [True, True] Translation: X:-131.94, Y:-251.91, Z:-2.79 [[-6.81292101e-01 -7.31973866e-01 7.43864697e-03 -1.31936767e+02] [ 7.31934119e-01 -6.81332665e-01 -7.63184834e-03 -2.51907639e+02] [ 1.06545067e-02 2.45081526e-04 9.99943209e-01 -2.79228787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 754.146559995 meters 0.01631787174916952 Centerline is valid? [True, True] Translation: X:-131.96, Y:-251.89, Z:-2.79 [[-6.81382983e-01 -7.31886798e-01 7.67759769e-03 -1.31955865e+02] [ 7.31844500e-01 -6.81426189e-01 -7.87255710e-03 -2.51887048e+02] [ 1.09935367e-02 2.54581199e-04 9.99939537e-01 -2.79286112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 754.1765599949999 meters 0.016919733877704728 Centerline is valid? [True, True] Translation: X:-131.97, Y:-251.87, Z:-2.79 [[-6.81601165e-01 -7.31676006e-01 8.37102467e-03 -1.31973855e+02] [ 7.31625775e-01 -6.81652510e-01 -8.57788323e-03 -2.51868532e+02] [ 1.19823613e-02 2.77762214e-04 9.99928170e-01 -2.79398692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 754.2065599949999 meters 0.016524793765442372 Centerline is valid? [True, True] Translation: X:-131.99, Y:-251.85, Z:-2.79 [[-6.81878416e-01 -7.31412964e-01 8.76939353e-03 -1.31992278e+02] [ 7.31357880e-01 -6.81934742e-01 -8.98104219e-03 -2.51846805e+02] [ 1.25490048e-02 2.89586244e-04 9.99921216e-01 -2.79394762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 754.236559995 meters 0.01615152786443475 Centerline is valid? [True, True] Translation: X:-132.01, Y:-251.82, Z:-2.79 [[-6.82577480e-01 -7.30750774e-01 9.55457945e-03 -1.32009860e+02] [ 7.30685395e-01 -6.82644279e-01 -9.77963382e-03 -2.51824122e+02] [ 1.36688540e-02 3.06033857e-04 9.99906530e-01 -2.79477043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 754.266559995 meters 0.015890273869116837 Centerline is valid? [True, True] Translation: X:-132.03, Y:-251.80, Z:-2.79 [[-6.83283887e-01 -7.30088359e-01 9.70142115e-03 -1.32028359e+02] [ 7.30020967e-01 -6.83352689e-01 -9.92428424e-03 -2.51802370e+02] [ 1.38750966e-02 3.01137333e-04 9.99903691e-01 -2.79489239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 754.2965599949999 meters 0.01560327408687304 Centerline is valid? [True, True] Translation: X:-132.04, Y:-251.78, Z:-2.79 [[-6.84890775e-01 -7.28582437e-01 9.60521455e-03 -1.32044879e+02] [ 7.28516302e-01 -6.84958071e-01 -9.82030989e-03 -2.51778872e+02] [ 1.37340745e-02 2.71715730e-04 9.99905646e-01 -2.79433153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 754.3265599949999 meters 0.015620470017699251 Centerline is valid? [True, True] Translation: X:-132.06, Y:-251.76, Z:-2.79 [[-6.85997441e-01 -7.27543352e-01 9.39058629e-03 -1.32062426e+02] [ 7.27480116e-01 -6.86061666e-01 -9.59537507e-03 -2.51758374e+02] [ 1.34235726e-02 2.49062070e-04 9.99909869e-01 -2.79440154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 754.356559995 meters 0.015376241393597152 Centerline is valid? [True, True] Translation: X:-132.08, Y:-251.74, Z:-2.79 [[-6.87107882e-01 -7.26496554e-01 9.24743001e-03 -1.32080015e+02] [ 7.26435215e-01 -6.87170069e-01 -9.44318774e-03 -2.51736848e+02] [ 1.32150005e-02 2.29170081e-04 9.99912652e-01 -2.79390967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 754.386559995 meters 0.01507105999485641 Centerline is valid? [True, True] Translation: X:-132.10, Y:-251.72, Z:-2.79 [[-6.88455649e-01 -7.25223477e-01 8.92907022e-03 -1.32097217e+02] [ 7.25166254e-01 -6.88513521e-01 -9.11242031e-03 -2.51715991e+02] [ 1.27563267e-02 2.01563159e-04 9.99918615e-01 -2.79350832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 754.416559995 meters 0.014544671240780283 Centerline is valid? [True, True] Translation: X:-132.11, Y:-251.69, Z:-2.79 [[-6.90299964e-01 -7.23473964e-01 8.44889347e-03 -1.32113338e+02] [ 7.23422656e-01 -6.90351648e-01 -8.61762463e-03 -2.51692579e+02] [ 1.20673346e-02 1.63374983e-04 9.99927174e-01 -2.79245329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 754.4465599949999 meters 0.014420801847965419 Centerline is valid? [True, True] Translation: X:-132.13, Y:-251.67, Z:-2.79 [[-6.91056643e-01 -7.22754169e-01 8.19312476e-03 -1.32131166e+02] [ 7.22705930e-01 -6.91105194e-01 -8.35159653e-03 -2.51672199e+02] [ 1.16984623e-02 1.49793581e-04 9.99931560e-01 -2.79231087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 754.476559995 meters 0.01423513602907106 Centerline is valid? [True, True] Translation: X:-132.15, Y:-251.65, Z:-2.79 [[-6.91377213e-01 -7.22450640e-01 7.91343196e-03 -1.32149032e+02] [ 7.22405676e-01 -6.91422485e-01 -8.06144781e-03 -2.51651412e+02] [ 1.12955229e-02 1.43206841e-04 9.99936193e-01 -2.79114021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 754.506559995 meters 0.01423513602907106 Centerline is valid? [True, True] Translation: X:-132.17, Y:-251.63, Z:-2.79 [[-6.91602892e-01 -7.22234572e-01 7.91595035e-03 -1.32167858e+02] [ 7.22189622e-01 -6.91648178e-01 -8.05897488e-03 -2.51632384e+02] [ 1.12955229e-02 1.43206853e-04 9.99936193e-01 -2.79113947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 754.536559995 meters 0.014526950168982387 Centerline is valid? [True, True] Translation: X:-132.19, Y:-251.61, Z:-2.79 [[-6.90814109e-01 -7.22992046e-01 7.63988820e-03 -1.32187966e+02] [ 7.22950276e-01 -6.90856337e-01 -7.77307475e-03 -2.51613589e+02] [ 1.08979364e-02 1.53509572e-04 9.99940604e-01 -2.79064460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 754.5665599949999 meters 0.014698536737012817 Centerline is valid? [True, True] Translation: X:-132.21, Y:-251.59, Z:-2.79 [[-6.90295943e-01 -7.23483323e-01 7.96189689e-03 -1.32208180e+02] [ 7.23438042e-01 -6.90341837e-01 -8.09619050e-03 -2.51594540e+02] [ 1.13538893e-02 1.71171639e-04 9.99935528e-01 -2.79080793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 754.5965599949999 meters 0.0154451128822872 Centerline is valid? [True, True] Translation: X:-132.23, Y:-251.58, Z:-2.79 [[-6.89859354e-01 -7.23890815e-01 8.72696094e-03 -1.32229733e+02] [ 7.23836495e-01 -6.89914523e-01 -8.87017625e-03 -2.51578421e+02] [ 1.24418962e-02 1.97718758e-04 9.99922577e-01 -2.79271526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 754.626559995 meters 0.015796203942144166 Centerline is valid? [True, True] Translation: X:-132.25, Y:-251.56, Z:-2.79 [[-6.89655065e-01 -7.24080813e-01 9.10313539e-03 -1.32250330e+02] [ 7.24021793e-01 -6.89715108e-01 -9.24733602e-03 -2.51560610e+02] [ 1.29743886e-02 2.13396275e-04 9.99915806e-01 -2.79324211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 754.656559995 meters 0.016026138669036454 Centerline is valid? [True, True] Translation: X:-132.27, Y:-251.54, Z:-2.79 [[-6.89254712e-01 -7.24463114e-01 9.00771464e-03 -1.32270320e+02] [ 7.24405426e-01 -6.89313534e-01 -9.14498909e-03 -2.51542449e+02] [ 1.28343469e-02 2.22010539e-04 9.99917612e-01 -2.79315619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 754.6865599949999 meters 0.016406768786566436 Centerline is valid? [True, True] Translation: X:-132.29, Y:-251.52, Z:-2.79 [[-6.88776450e-01 -7.24920811e-01 8.76470257e-03 -1.32290974e+02] [ 7.24866296e-01 -6.88832176e-01 -8.89304325e-03 -2.51524015e+02] [ 1.24841613e-02 2.27918727e-04 9.99922044e-01 -2.79321718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 754.7165599949999 meters 0.017434380283052116 Centerline is valid? [True, True] Translation: X:-132.31, Y:-251.51, Z:-2.79 [[-6.87375560e-01 -7.26251811e-01 8.55262418e-03 -1.32311963e+02] [ 7.26200071e-01 -6.87428720e-01 -8.67250427e-03 -2.51507346e+02] [ 1.21777414e-02 2.49648806e-04 9.99925818e-01 -2.79241199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 754.746559995 meters 0.016128277330479553 Centerline is valid? [True, True] Translation: X:-132.33, Y:-251.49, Z:-2.79 [[-6.86540361e-01 -7.27041528e-01 8.54107455e-03 -1.32330395e+02] [ 7.26990047e-01 -6.86593436e-01 -8.65594712e-03 -2.51486108e+02] [ 1.21574787e-02 2.66619133e-04 9.99926060e-01 -2.79028003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 754.776559995 meters 0.016207921731712382 Centerline is valid? [True, True] Translation: X:-132.35, Y:-251.47, Z:-2.79 [[-6.86016009e-01 -7.27534740e-01 8.67400468e-03 -1.32350756e+02] [ 7.27481748e-01 -6.86070786e-01 -8.78539920e-03 -2.51467440e+02] [ 1.23426643e-02 2.83255595e-04 9.99923786e-01 -2.79032574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 754.8065599949999 meters 0.016558681357140125 Centerline is valid? [True, True] Translation: X:-132.37, Y:-251.45, Z:-2.79 [[-6.85345678e-01 -7.28163971e-01 8.86191299e-03 -1.32372072e+02] [ 7.28108779e-01 -6.85402903e-01 -8.97033173e-03 -2.51449636e+02] [ 1.26058533e-02 3.04658566e-04 9.99920497e-01 -2.79114886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 754.8365599949999 meters 0.01739966438602349 Centerline is valid? [True, True] Translation: X:-132.39, Y:-251.43, Z:-2.79 [[-6.85321097e-01 -7.28185335e-01 9.00619103e-03 -1.32392402e+02] [ 7.28128391e-01 -6.85380201e-01 -9.11190259e-03 -2.51432435e+02] [ 1.28078189e-02 3.13084302e-04 9.99917928e-01 -2.79244747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 754.866559995 meters 0.017488529194120382 Centerline is valid? [True, True] Translation: X:-132.41, Y:-251.41, Z:-2.79 [[-6.85475952e-01 -7.28040978e-01 8.89119348e-03 -1.32412370e+02] [ 7.27985537e-01 -6.85533543e-01 -8.99003320e-03 -2.51413375e+02] [ 1.26403239e-02 3.10208695e-04 9.99920060e-01 -2.79238794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 754.896559995 meters 0.01751105981522434 Centerline is valid? [True, True] Translation: X:-132.43, Y:-251.39, Z:-2.79 [[-6.85963389e-01 -7.27583548e-01 8.74127727e-03 -1.32431448e+02] [ 7.27529990e-01 -6.86019016e-01 -8.83305905e-03 -2.51394474e+02] [ 1.24234709e-02 3.00386251e-04 9.99922781e-01 -2.79198076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 754.9265599949999 meters 0.017559193788654524 Centerline is valid? [True, True] Translation: X:-132.45, Y:-251.38, Z:-2.79 [[-6.86287897e-01 -7.27278475e-01 8.65693491e-03 -1.32450999e+02] [ 7.27225987e-01 -6.86342431e-01 -8.74252246e-03 -2.51375073e+02] [ 1.22998702e-02 2.95660670e-04 9.99924310e-01 -2.79150631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 754.9565599949999 meters 0.017183026149059727 Centerline is valid? [True, True] Translation: X:-132.47, Y:-251.36, Z:-2.79 [[-6.86825806e-01 -7.26773708e-01 8.38388994e-03 -1.32470137e+02] [ 7.26724503e-01 -6.86876916e-01 -8.46159631e-03 -2.51355084e+02] [ 1.19083662e-02 2.81135554e-04 9.99929053e-01 -2.79083541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 754.986559995 meters 0.017183026149059727 Centerline is valid? [True, True] Translation: X:-132.49, Y:-251.34, Z:-2.79 [[-6.87048232e-01 -7.26563414e-01 8.38647974e-03 -1.32489057e+02] [ 7.26514224e-01 -6.87099357e-01 -8.45902951e-03 -2.51336153e+02] [ 1.19083662e-02 2.81135554e-04 9.99929053e-01 -2.79083467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 755.016559995 meters 0.01720493522372917 Centerline is valid? [True, True] Translation: X:-132.51, Y:-251.32, Z:-2.79 [[-6.87217506e-01 -7.26404547e-01 8.27854694e-03 -1.32508378e+02] [ 7.26356664e-01 -6.87267311e-01 -8.34504979e-03 -2.51317053e+02] [ 1.17514568e-02 2.78313439e-04 9.99930911e-01 -2.79071358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 755.0465599949999 meters 0.01635784073835274 Centerline is valid? [True, True] Translation: X:-132.53, Y:-251.30, Z:-2.79 [[-6.87685318e-01 -7.25961578e-01 8.28796842e-03 -1.32526942e+02] [ 7.25913610e-01 -6.87735204e-01 -8.34984686e-03 -2.51296261e+02] [ 1.17615957e-02 2.74281976e-04 9.99930793e-01 -2.79027702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 755.0765599949999 meters 0.016173782457658076 Centerline is valid? [True, True] Translation: X:-132.55, Y:-251.28, Z:-2.79 [[-6.88418577e-01 -7.25265053e-01 8.39441065e-03 -1.32545616e+02] [ 7.25215856e-01 -6.88469702e-01 -8.45174515e-03 -2.51276959e+02] [ 1.19090528e-02 2.69421340e-04 9.99929049e-01 -2.79047605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 755.106559995 meters 0.015401178816073058 Centerline is valid? [True, True] Translation: X:-132.56, Y:-251.26, Z:-2.79 [[-6.90463014e-01 -7.23314018e-01 8.81229673e-03 -1.32563292e+02] [ 7.23259704e-01 -6.90519202e-01 -8.86747843e-03 -2.51255476e+02] [ 1.24990316e-02 2.50913239e-04 9.99921853e-01 -2.79062759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 755.136559995 meters 0.015576912543132178 Centerline is valid? [True, True] Translation: X:-132.58, Y:-251.24, Z:-2.79 [[-6.91941565e-01 -7.21899454e-01 8.83451359e-03 -1.32581735e+02] [ 7.21844805e-01 -6.91997923e-01 -8.88547430e-03 -2.51236653e+02] [ 1.25278841e-02 2.28918748e-04 9.99921497e-01 -2.79110481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 755.166559995 meters 0.0140900080807683 Centerline is valid? [True, True] Translation: X:-132.60, Y:-251.21, Z:-2.79 [[-6.95163648e-01 -7.18804772e-01 8.19766086e-03 -1.32598080e+02] [ 7.18757554e-01 -6.95211962e-01 -8.24053517e-03 -2.51212559e+02] [ 1.16224479e-02 1.63610171e-04 9.99932444e-01 -2.78924445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 755.1965599949999 meters 0.01377048020875202 Centerline is valid? [True, True] Translation: X:-132.62, Y:-251.19, Z:-2.79 [[-6.96952872e-01 -7.17076783e-01 7.58826263e-03 -1.32616784e+02] [ 7.17036264e-01 -6.96994169e-01 -7.62392196e-03 -2.51190958e+02] [ 1.07559122e-02 1.27545177e-04 9.99942145e-01 -2.78858858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 755.226559995 meters 0.01353040317578674 Centerline is valid? [True, True] Translation: X:-132.63, Y:-251.17, Z:-2.79 [[-6.98798236e-01 -7.15282166e-01 7.24212454e-03 -1.32634014e+02] [ 7.15245213e-01 -6.98835756e-01 -7.27132659e-03 -2.51171246e+02] [ 1.02621058e-02 9.87047109e-05 9.99947338e-01 -2.78847669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 755.256559995 meters 0.013149781788204487 Centerline is valid? [True, True] Translation: X:-132.65, Y:-251.15, Z:-2.79 [[-7.01568623e-01 -7.12571017e-01 6.63423902e-03 -1.32651896e+02] [ 7.12539920e-01 -7.01599987e-01 -6.65731061e-03 -2.51148933e+02] [ 9.39838861e-03 5.65999076e-05 9.99955833e-01 -2.78779307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 755.286559995 meters 0.013045887590195718 Centerline is valid? [True, True] Translation: X:-132.67, Y:-251.13, Z:-2.79 [[-7.02694544e-01 -7.11463850e-01 6.29037320e-03 -1.32670485e+02] [ 7.11435883e-01 -7.02722697e-01 -6.30831918e-03 -2.51128815e+02] [ 8.90852906e-03 4.23757456e-05 9.99960317e-01 -2.78746406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 755.3165599949999 meters 0.012994887677822252 Centerline is valid? [True, True] Translation: X:-132.69, Y:-251.11, Z:-2.79 [[-7.03464470e-01 -7.10703411e-01 6.19690705e-03 -1.32688915e+02] [ 7.10676274e-01 -7.03491763e-01 -6.21072684e-03 -2.51109333e+02] [ 8.77345781e-03 3.49691453e-05 9.99961512e-01 -2.78757380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 755.3465599949999 meters 0.01304988450282509 Centerline is valid? [True, True] Translation: X:-132.71, Y:-251.09, Z:-2.79 [[-7.04019732e-01 -7.10151563e-01 6.40110295e-03 -1.32707119e+02] [ 7.10122623e-01 -7.04048831e-01 -6.41120225e-03 -2.51090638e+02] [ 9.05961434e-03 3.19551255e-05 9.99958960e-01 -2.78802302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 755.376559995 meters 0.01304988450282509 Centerline is valid? [True, True] Translation: X:-132.73, Y:-251.07, Z:-2.79 [[-7.04236738e-01 -7.09936347e-01 6.40306253e-03 -1.32726108e+02] [ 7.09907416e-01 -7.04265846e-01 -6.40924515e-03 -2.51071780e+02] [ 9.05961434e-03 3.19556845e-05 9.99958960e-01 -2.78802228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 755.406559995 meters 0.013031638256269337 Centerline is valid? [True, True] Translation: X:-132.75, Y:-251.05, Z:-2.79 [[-7.04679147e-01 -7.09489874e-01 7.17069793e-03 -1.32746264e+02] [ 7.09453608e-01 -7.04715629e-01 -7.17359110e-03 -2.51051809e+02] [ 1.01428931e-02 3.21974584e-05 9.99948559e-01 -2.78829585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 755.4365599949999 meters 0.013087659831689523 Centerline is valid? [True, True] Translation: X:-132.76, Y:-251.03, Z:-2.79 [[-7.04679250e-01 -7.09485011e-01 7.62723861e-03 -1.32764941e+02] [ 7.09444020e-01 -7.04720525e-01 -7.62659272e-03 -2.51033798e+02] [ 1.07860248e-02 3.67971865e-05 9.99941829e-01 -2.78914375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 755.4665599949999 meters 0.013122503880426144 Centerline is valid? [True, True] Translation: X:-133.26, Y:-251.53, Z:-1.80 [[-7.57795364e-01 6.52430854e-01 8.95363517e-03 -1.33260704e+02] [ 6.52384663e-01 7.57848256e-01 -7.76355556e-03 -2.51532588e+02] [-1.18506800e-02 -4.19721521e-05 -9.99929777e-01 -1.79616720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 755.496559995 meters 0.013147291215785057 Centerline is valid? [True, True] Translation: X:-132.80, Y:-251.01, Z:-2.79 [[-7.06636715e-01 -7.07516177e-01 9.24183744e-03 -1.32798605e+02] [ 7.07457750e-01 -7.06697139e-01 -9.09316931e-03 -2.51008351e+02] [ 1.29647445e-02 1.12642233e-04 9.99915948e-01 -2.79075966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 755.526559995 meters 0.013245612506351992 Centerline is valid? [True, True] Translation: X:-133.30, Y:-251.50, Z:-1.80 [[-7.60479368e-01 6.49283886e-01 1.00780121e-02 -1.33296132e+02] [ 6.49225917e-01 7.60546141e-01 -8.67618977e-03 -2.51500536e+02] [-1.32981034e-02 -5.51566622e-05 -9.99911575e-01 -1.79534729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 755.5565599949999 meters 0.013179136889210227 Centerline is valid? [True, True] Translation: X:-133.27, Y:-251.49, Z:-1.80 [[-8.04142096e-01 5.94336437e-01 1.09402476e-02 -1.33270844e+02] [ 5.94280622e-01 8.04216512e-01 -8.14521241e-03 -2.51485301e+02] [-1.36393243e-02 -4.83310104e-05 -9.99906979e-01 -1.79517774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 755.5865599949999 meters 0.013196581408669625 Centerline is valid? [True, True] Translation: X:-133.25, Y:-251.46, Z:-1.80 [[-8.43989462e-01 5.36236155e-01 1.15141258e-02 -1.33254648e+02] [ 5.36185567e-01 8.44067998e-01 -7.36570947e-03 -2.51462857e+02] [-1.36684648e-02 -4.28731117e-05 -9.99906581e-01 -1.79550717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 755.616559995 meters 0.01323997098537548 Centerline is valid? [True, True] Translation: X:-133.24, Y:-251.44, Z:-1.80 [[-8.79608339e-01 4.75560066e-01 1.14801354e-02 -1.33241021e+02] [ 4.75519054e-01 8.79683252e-01 -6.24552720e-03 -2.51438802e+02] [-1.30690062e-02 -3.45946904e-05 -9.99914596e-01 -1.79581298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 755.646559995 meters 0.01309098450834312 Centerline is valid? [True, True] Translation: X:-132.90, Y:-250.83, Z:-2.79 [[-8.43288917e-01 -5.37360288e-01 1.03790089e-02 -1.32899673e+02] [ 5.37319409e-01 -8.43352785e-01 -6.62816951e-03 -2.50830052e+02] [ 1.23148812e-02 -1.26189461e-05 9.99924169e-01 -2.78902335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 755.6765599949999 meters 0.013105607423044282 Centerline is valid? [True, True] Translation: X:-132.92, Y:-250.85, Z:-2.79 [[-8.05535781e-01 -5.92467844e-01 9.69323263e-03 -1.32918378e+02] [ 5.92425153e-01 -8.05594100e-01 -7.11225596e-03 -2.50853811e+02] [ 1.20225940e-02 1.33381620e-05 9.99927726e-01 -2.78906761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 755.7065599949999 meters 0.01308550124368388 Centerline is valid? [True, True] Translation: X:-132.93, Y:-250.88, Z:-2.79 [[-7.63813209e-01 -6.45378545e-01 8.71298490e-03 -1.32930131e+02] [ 6.45336751e-01 -7.63862903e-01 -7.34469300e-03 -2.50882755e+02] [ 1.13956332e-02 1.28358329e-05 9.99935068e-01 -2.78801027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 755.736559995 meters 0.013082052838683942 Centerline is valid? [True, True] Translation: X:-132.94, Y:-250.91, Z:-2.79 [[-7.18379270e-01 -6.95610281e-01 7.58694300e-03 -1.32941840e+02] [ 6.95571725e-01 -7.18419332e-01 -7.32381703e-03 -2.50914227e+02] [ 1.05451290e-02 1.59847035e-05 9.99944399e-01 -2.78791235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 755.766559995 meters 0.013053551050197013 Centerline is valid? [True, True] Translation: X:-133.43, Y:-251.42, Z:-1.80 [[-7.68072350e-01 6.40318084e-01 7.59058597e-03 -1.33427372e+02] [ 6.40286578e-01 7.68109856e-01 -6.35188681e-03 -2.51416700e+02] [-9.89763189e-03 -1.85583091e-05 -9.99951017e-01 -1.79880890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 755.7965599949999 meters 0.013150165218655389 Centerline is valid? [True, True] Translation: X:-132.98, Y:-250.89, Z:-2.79 [[-7.19883552e-01 -6.94057473e-01 7.20385972e-03 -1.32977420e+02] [ 6.94023057e-01 -7.19919595e-01 -6.91187710e-03 -2.50887172e+02] [ 9.98343972e-03 2.38981051e-05 9.99950164e-01 -2.78717800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 755.8265599949999 meters 0.013278069260014737 Centerline is valid? [True, True] Translation: X:-133.46, Y:-251.38, Z:-1.80 [[-7.72492370e-01 6.34976386e-01 7.77996202e-03 -1.33463608e+02] [ 6.34943497e-01 7.72531544e-01 -6.46296926e-03 -2.51382765e+02] [-1.01140989e-02 -5.27581516e-05 -9.99948850e-01 -1.79843931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 755.856559995 meters 0.013429149075806867 Centerline is valid? [True, True] Translation: X:-133.44, Y:-251.36, Z:-1.80 [[-8.16201894e-01 5.77703822e-01 8.53015612e-03 -1.33444662e+02] [ 5.77671405e-01 8.16246464e-01 -6.12029905e-03 -2.51360467e+02] [-1.04984299e-02 -6.77724033e-05 -9.99944888e-01 -1.79773649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 755.886559995 meters 0.013607879139292196 Centerline is valid? [True, True] Translation: X:-133.43, Y:-251.34, Z:-1.80 [[-8.55803429e-01 5.17214736e-01 9.45556296e-03 -1.33427000e+02] [ 5.17182026e-01 8.55855659e-01 -5.81747577e-03 -2.51337456e+02] [-1.11014813e-02 -8.83685032e-05 -9.99938373e-01 -1.79755023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 755.916559995 meters 0.013671967606568006 Centerline is valid? [True, True] Translation: X:-133.41, Y:-251.31, Z:-1.80 [[-8.91003658e-01 4.53889497e-01 9.83901069e-03 -1.33411424e+02] [ 4.53860514e-01 8.91057974e-01 -5.13031957e-03 -2.51313121e+02] [-1.10957271e-02 -1.05595052e-04 -9.99938435e-01 -1.79779338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 755.9465599949999 meters 0.014237039601895611 Centerline is valid? [True, True] Translation: X:-133.40, Y:-251.28, Z:-1.80 [[-9.22167910e-01 3.86635253e-01 1.09328582e-02 -1.33401001e+02] [ 3.86606118e-01 9.22232703e-01 -4.74881889e-03 -2.51282962e+02] [-1.19187002e-02 -1.52498508e-04 -9.99928958e-01 -1.79663274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 755.976559995 meters 0.014516282680258537 Centerline is valid? [True, True] Translation: X:-133.39, Y:-251.26, Z:-1.80 [[-9.47727065e-01 3.18882790e-01 1.12772817e-02 -1.33388380e+02] [ 3.18858068e-01 9.47794143e-01 -3.97431704e-03 -2.51256127e+02] [-1.19558829e-02 -1.70715555e-04 -9.99928511e-01 -1.79614883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 756.006559995 meters 0.014740532226688936 Centerline is valid? [True, True] Translation: X:-133.17, Y:-250.63, Z:-2.79 [[-9.12096969e-01 -4.09825579e-01 1.10504695e-02 -1.33167161e+02] [ 4.09797847e-01 -9.12163891e-01 -4.77092510e-03 -2.50625670e+02] [ 1.20350864e-02 1.76912271e-04 9.99927560e-01 -2.79007331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 756.036559995 meters 0.015125774330145107 Centerline is valid? [True, True] Translation: X:-133.44, Y:-251.24, Z:-1.80 [[-9.49811190e-01 3.12610739e-01 1.15425376e-02 -1.33437222e+02] [ 3.12584973e-01 9.49881299e-01 -4.01901575e-03 -2.51236562e+02] [-1.22204281e-02 -2.09282319e-04 -9.99925306e-01 -1.79592219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 756.0665599949999 meters 0.015518465866939538 Centerline is valid? [True, True] Translation: X:-133.43, Y:-251.21, Z:-1.80 [[-9.70009339e-01 2.42784101e-01 1.17372298e-02 -1.33430510e+02] [ 2.42763459e-01 9.70080320e-01 -3.17417166e-03 -2.51208094e+02] [-1.21566941e-02 -2.29605646e-04 -9.99926078e-01 -1.79570275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 756.0965599949999 meters 0.015623624017455592 Centerline is valid? [True, True] Translation: X:-133.42, Y:-251.18, Z:-1.80 [[-9.84859395e-01 1.72927239e-01 1.21713420e-02 -1.33424118e+02] [ 1.72911026e-01 9.84934573e-01 -2.37994497e-03 -2.51180849e+02] [-1.23995328e-02 -2.39351925e-04 -9.99923094e-01 -1.79559474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 756.126559995 meters 0.015957226206553737 Centerline is valid? [True, True] Translation: X:-133.43, Y:-251.15, Z:-1.80 [[-9.94703174e-01 1.02052818e-01 1.22808373e-02 -1.33425473e+02] [ 1.02041988e-01 9.94778951e-01 -1.50688675e-03 -2.51151974e+02] [-1.23705005e-02 -2.45743977e-04 -9.99923452e-01 -1.79511963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 756.156559995 meters 0.015916181178049372 Centerline is valid? [True, True] Translation: X:-133.34, Y:-250.50, Z:-2.79 [[-9.78052573e-01 -2.07991525e-01 1.23567578e-02 -1.33343346e+02] [ 2.07978319e-01 -9.78130593e-01 -2.35850967e-03 -2.50498710e+02] [ 1.25770729e-02 2.63191279e-04 9.99920871e-01 -2.79108646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 756.1865599949999 meters 0.01603481204530625 Centerline is valid? [True, True] Translation: X:-133.48, Y:-251.15, Z:-1.79 [[-9.95110575e-01 9.80388948e-02 1.19715568e-02 -1.33483467e+02] [ 9.80289107e-02 9.95182555e-01 -1.41936876e-03 -2.51145633e+02] [-1.20530379e-02 -2.38870189e-04 -9.99927331e-01 -1.79488780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 756.2165599949999 meters 0.016226579180931303 Centerline is valid? [True, True] Translation: X:-133.39, Y:-250.49, Z:-2.79 [[-9.78888582e-01 -2.04052504e-01 1.18203386e-02 -1.33393613e+02] [ 2.04040539e-01 -9.78959917e-01 -2.22224394e-03 -2.50493125e+02] [ 1.20250922e-02 2.36499052e-04 9.99927668e-01 -2.79133401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 756.246559995 meters 0.015619671834061015 Centerline is valid? [True, True] Translation: X:-133.53, Y:-251.14, Z:-1.80 [[-9.95495802e-01 9.41139217e-02 1.14314483e-02 -1.33530010e+02] [ 9.41051166e-02 9.95561409e-01 -1.30692403e-03 -2.51142991e+02] [-1.15037085e-02 -2.25279605e-04 -9.99933805e-01 -1.79599321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 756.276559995 meters 0.015743571517469093 Centerline is valid? [True, True] Translation: X:-133.53, Y:-251.12, Z:-1.80 [[-9.99672815e-01 2.30307364e-02 1.11287224e-02 -1.33531299e+02] [ 2.30268694e-02 9.99734733e-01 -4.75506321e-04 -2.51115430e+02] [-1.11367216e-02 -2.19091105e-04 -9.99937961e-01 -1.79625661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 756.3065599949999 meters 0.01570606778652672 Centerline is valid? [True, True] Translation: X:-133.50, Y:-250.45, Z:-2.79 [[-9.91504015e-01 -1.29627056e-01 1.07988320e-02 -1.33502177e+02] [ 1.29621519e-01 -9.91562801e-01 -1.21408179e-03 -2.50452418e+02] [ 1.08650979e-02 1.95994038e-04 9.99940954e-01 -2.78972489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 756.3365599949999 meters 0.01600869834735388 Centerline is valid? [True, True] Translation: X:-133.60, Y:-251.11, Z:-1.80 [[-9.99771847e-01 1.83810455e-02 1.08807982e-02 -1.33595714e+02] [ 1.83776189e-02 9.99831031e-01 -4.14838581e-04 -2.51113338e+02] [-1.08865849e-02 -2.14780771e-04 -9.99940716e-01 -1.79598730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 756.366559995 meters 0.015461413233990303 Centerline is valid? [True, True] Translation: X:-133.57, Y:-250.45, Z:-2.79 [[-9.92028185e-01 -1.25532224e-01 1.10336619e-02 -1.33569641e+02] [ 1.25527062e-01 -9.92089516e-01 -1.16191152e-03 -2.50448015e+02] [ 1.10922376e-02 2.32374183e-04 9.99938452e-01 -2.78918447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 756.396559995 meters 0.01598875174090787 Centerline is valid? [True, True] Translation: X:-133.66, Y:-251.11, Z:-1.80 [[-9.99845853e-01 1.34435001e-02 1.12935000e-02 -1.33658129e+02] [ 1.34400843e-02 9.99909606e-01 -3.78305438e-04 -2.51111882e+02] [-1.12975649e-02 -2.26461531e-04 -9.99936155e-01 -1.79609744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 756.4265599949999 meters 0.015604883566952048 Centerline is valid? [True, True] Translation: X:-133.64, Y:-250.44, Z:-2.79 [[-9.92592320e-01 -1.20937950e-01 1.15973585e-02 -1.33635519e+02] [ 1.20932714e-01 -9.92660036e-01 -1.15425863e-03 -2.50444572e+02] [ 1.16518280e-02 2.56791794e-04 9.99932082e-01 -2.78924558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 756.4565599949999 meters 0.015758673693145528 Centerline is valid? [True, True] Translation: X:-133.73, Y:-251.11, Z:-1.80 [[-9.99890361e-01 9.00324925e-03 1.17561805e-02 -1.33725769e+02] [ 8.99986538e-03 9.99959442e-01 -3.40710733e-04 -2.51112382e+02] [-1.17587712e-02 -2.34869336e-04 -9.99930836e-01 -1.79676902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 756.486559995 meters 0.0157259502981408 Centerline is valid? [True, True] Translation: X:-133.70, Y:-250.44, Z:-2.79 [[-9.93178662e-01 -1.16006958e-01 1.17698940e-02 -1.33703569e+02] [ 1.16001676e-01 -9.93248372e-01 -1.13280564e-03 -2.50441531e+02] [ 1.18218414e-02 2.40249032e-04 9.99930091e-01 -2.78908908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 756.516559995 meters 0.01563719765070706 Centerline is valid? [True, True] Translation: X:-133.79, Y:-251.11, Z:-1.80 [[-9.99913377e-01 5.40282876e-03 1.20019848e-02 -1.33793074e+02] [ 5.39970495e-03 9.99985379e-01 -2.92663750e-04 -2.51111741e+02] [-1.20033906e-02 -2.27831221e-04 -9.99927931e-01 -1.79715045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 756.5465599949999 meters 0.015436411760860792 Centerline is valid? [True, True] Translation: X:-133.77, Y:-250.44, Z:-2.79 [[-9.93918183e-01 -1.09523361e-01 1.14576779e-02 -1.33770264e+02] [ 1.09518244e-01 -9.93984204e-01 -1.07504610e-03 -2.50437679e+02] [ 1.15064935e-02 1.86316885e-04 9.99933781e-01 -2.78881761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 756.5765599949999 meters 0.016189274172881116 Centerline is valid? [True, True] Translation: X:-133.86, Y:-251.11, Z:-1.80 [[-9.99932833e-01 2.45303723e-03 1.13275402e-02 -1.33855527e+02] [ 2.45067779e-03 9.99996972e-01 -2.22168210e-04 -2.51110863e+02] [-1.13280508e-02 -1.94393137e-04 -9.99935817e-01 -1.79605981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 756.606559995 meters 0.01508847112180029 Centerline is valid? [True, True] Translation: X:-133.86, Y:-251.09, Z:-1.80 [[-9.97616280e-01 -6.80399263e-02 1.15033140e-02 -1.33863009e+02] [-6.80376074e-02 9.97682581e-01 5.93258811e-04 -2.51086842e+02] [-1.15170213e-02 -1.90813313e-04 -9.99933659e-01 -1.79728446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 756.636559995 meters 0.015099605666738706 Centerline is valid? [True, True] Translation: X:-133.87, Y:-251.06, Z:-1.80 [[-9.90230474e-01 -1.38979395e-01 1.13285449e-02 -1.33869825e+02] [-1.38972485e-01 9.90295255e-01 1.39872034e-03 -2.51060088e+02] [-1.14129975e-02 -1.89300526e-04 -9.99934852e-01 -1.79721311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 756.666559995 meters 0.015302642653777438 Centerline is valid? [True, True] Translation: X:-133.89, Y:-251.04, Z:-1.80 [[-9.77743804e-01 -2.09511363e-01 1.10472542e-02 -1.33889438e+02] [-2.09500183e-01 9.77806194e-01 2.17272077e-03 -2.51035546e+02] [-1.12572832e-02 -1.90037495e-04 -9.99936617e-01 -1.79725924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 756.6965599949999 meters 0.015594906727242711 Centerline is valid? [True, True] Translation: X:-134.04, Y:-250.37, Z:-2.79 [[-9.93957956e-01 1.09169868e-01 1.13807964e-02 -1.34036724e+02] [-1.09160314e-01 -9.94023087e-01 1.45920464e-03 -2.50369873e+02] [ 1.14720756e-02 2.08056749e-04 9.99934172e-01 -2.78913722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 756.726559995 meters 0.0153141599994678 Centerline is valid? [True, True] Translation: X:-134.01, Y:-251.06, Z:-1.80 [[-9.76376090e-01 -2.15813985e-01 1.06796465e-02 -1.34013746e+02] [-2.15803111e-01 9.76434478e-01 2.17414623e-03 -2.51059932e+02] [-1.08971862e-02 -1.81916547e-04 -9.99940607e-01 -1.79741320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 756.756559995 meters 0.015282314573881111 Centerline is valid? [True, True] Translation: X:-134.17, Y:-250.39, Z:-2.79 [[-9.93152237e-01 1.16364756e-01 1.03864677e-02 -1.34168543e+02] [-1.16356846e-01 -9.93206536e-01 1.36461388e-03 -2.50392740e+02] [ 1.04747005e-02 1.46732702e-04 9.99945128e-01 -2.78857180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 756.786559995 meters 0.015256692259419391 Centerline is valid? [True, True] Translation: X:-134.14, Y:-251.09, Z:-1.80 [[-9.75218793e-01 -2.21033332e-01 9.62146355e-03 -1.34139279e+02] [-2.21024081e-01 9.75266243e-01 2.02776650e-03 -2.51085564e+02] [-9.83169259e-03 -1.49059144e-04 -9.99951657e-01 -1.79756254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 756.8165599949999 meters 0.015296527686963756 Centerline is valid? [True, True] Translation: X:-134.30, Y:-250.42, Z:-2.79 [[-9.92162706e-01 1.24587842e-01 9.54116095e-03 -1.34301673e+02] [-1.24580794e-01 -9.92208573e-01 1.33186348e-03 -2.50416615e+02] [ 9.63275569e-03 1.32779869e-04 9.99953595e-01 -2.78852872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 756.8465599949999 meters 0.01458968853697323 Centerline is valid? [True, True] Translation: X:-134.27, Y:-251.11, Z:-1.80 [[-9.73860150e-01 -2.26973672e-01 8.90843688e-03 -1.34267454e+02] [-2.26965399e-01 9.73900886e-01 1.94236448e-03 -2.51114070e+02] [-9.11680016e-03 -1.30315564e-04 -9.99958433e-01 -1.79886199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 756.876559995 meters 0.015421255676232747 Centerline is valid? [True, True] Translation: X:-134.30, Y:-251.09, Z:-1.80 [[-9.55064250e-01 -2.96282477e-01 8.30499624e-03 -1.34296790e+02] [-2.96272380e-01 9.55100350e-01 2.44906232e-03 -2.51091088e+02] [-8.65771907e-03 -1.21529132e-04 -9.99962514e-01 -1.79755843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 756.906559995 meters 0.014677119502058217 Centerline is valid? [True, True] Translation: X:-134.35, Y:-251.08, Z:-1.80 [[-9.30845046e-01 -3.65319424e-01 8.31974041e-03 -1.34349011e+02] [-3.65306044e-01 9.30882217e-01 3.12924309e-03 -2.51081416e+02] [-8.88787169e-03 -1.26411023e-04 -9.99960494e-01 -1.79844438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 756.9365599949999 meters 0.01473561484930616 Centerline is valid? [True, True] Translation: X:-134.41, Y:-251.08, Z:-1.80 [[-9.01246345e-01 -4.33235573e-01 7.87168911e-03 -1.34409198e+02] [-4.33220264e-01 9.01280713e-01 3.64415327e-03 -2.51076079e+02] [-8.67337840e-03 -1.25895420e-04 -9.99962378e-01 -1.79832307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 756.9665599949999 meters 0.015113529227015936 Centerline is valid? [True, True] Translation: X:-134.48, Y:-251.08, Z:-1.80 [[-8.66202177e-01 -4.99629797e-01 7.99089595e-03 -1.34480922e+02] [-4.99610030e-01 8.66239024e-01 4.44648645e-03 -2.51080082e+02] [-9.14362303e-03 -1.40775521e-04 -9.99958186e-01 -1.79784692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 756.996559995 meters 0.015308193536442834 Centerline is valid? [True, True] Translation: X:-134.56, Y:-251.10, Z:-1.80 [[-8.26196654e-01 -5.63334726e-01 7.28527985e-03 -1.34560894e+02] [-5.63314310e-01 8.26228762e-01 4.79801473e-03 -2.51095255e+02] [-8.72219606e-03 -1.39798678e-04 -9.99961951e-01 -1.79776258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 757.026559995 meters 0.015407960654457126 Centerline is valid? [True, True] Translation: X:-134.64, Y:-251.12, Z:-1.80 [[-7.81538427e-01 -6.23821037e-01 6.70822965e-03 -1.34640077e+02] [-6.23799554e-01 7.81567204e-01 5.17900698e-03 -2.51117290e+02] [-8.47370579e-03 -1.36997690e-04 -9.99964088e-01 -1.79807063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 757.0565599949999 meters 0.015412087351581128 Centerline is valid? [True, True] Translation: X:-134.73, Y:-251.15, Z:-1.80 [[-7.32358775e-01 -6.80894697e-01 5.74772006e-03 -1.34725908e+02] [-6.80875056e-01 7.32381319e-01 5.17324752e-03 -2.51152600e+02] [-7.73195960e-03 -1.24805994e-04 -9.99970100e-01 -1.79854177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 757.0865599949999 meters 0.01536741607750111 Centerline is valid? [True, True] Translation: X:-134.81, Y:-251.20, Z:-1.80 [[-6.78888426e-01 -7.34225874e-01 4.78239038e-03 -1.34812361e+02] [-7.34208795e-01 6.78905261e-01 5.00921487e-03 -2.51197538e+02] [-6.92468516e-03 -1.10575073e-04 -9.99976018e-01 -1.79884457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 757.116559995 meters 0.01566576938217473 Centerline is valid? [True, True] Translation: X:-134.90, Y:-251.25, Z:-1.80 [[-6.21159285e-01 -7.83674746e-01 3.87752161e-03 -1.34898654e+02] [-7.83660454e-01 6.21171379e-01 4.73405900e-03 -2.51251491e+02] [-6.11856793e-03 -9.80556409e-05 -9.99981277e-01 -1.79899845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 757.146559995 meters 0.015362078630417145 Centerline is valid? [True, True] Translation: X:-134.98, Y:-251.32, Z:-1.80 [[-5.59687985e-01 -8.28694369e-01 3.87327239e-03 -1.34984074e+02] [-8.28675865e-01 5.59701376e-01 5.53901595e-03 -2.51318769e+02] [-6.75802721e-03 -1.09566669e-04 -9.99977158e-01 -1.79890731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 757.1765599949999 meters 0.015111922164099258 Centerline is valid? [True, True] Translation: X:-135.06, Y:-251.39, Z:-1.80 [[-4.94502705e-01 -8.69168884e-01 3.53929218e-03 -1.35063089e+02] [-8.69148265e-01 4.94515357e-01 5.98796322e-03 -2.51390929e+02] [-6.95478565e-03 -1.15105642e-04 -9.99975809e-01 -1.79863329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 757.2065599949999 meters 0.015345134983194656 Centerline is valid? [True, True] Translation: X:-135.14, Y:-251.47, Z:-1.80 [[-4.25998495e-01 -9.04716739e-01 3.59230639e-03 -1.35139847e+02] [-9.04687306e-01 4.26013618e-01 7.29902529e-03 -2.51472153e+02] [-8.13392180e-03 -1.40540207e-04 -9.99966909e-01 -1.79716225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 757.236559995 meters 0.01545380813075235 Centerline is valid? [True, True] Translation: X:-135.21, Y:-251.56, Z:-1.80 [[-3.55103717e-01 -9.34820850e-01 3.36579450e-03 -1.35210557e+02] [-9.34783034e-01 3.55119632e-01 8.40992419e-03 -2.51561858e+02] [-9.05703218e-03 -1.59892250e-04 -9.99958972e-01 -1.79699155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 757.266559995 meters 0.01545380813075235 Centerline is valid? [True, True] Translation: X:-135.27, Y:-251.66, Z:-1.80 [[-2.82395370e-01 -9.59294274e-01 2.71118658e-03 -1.35274338e+02] [-9.59255349e-01 2.82408339e-01 8.64327881e-03 -2.51658149e+02] [-9.05710957e-03 -1.59898313e-04 -9.99958971e-01 -1.79698785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 757.2965599949999 meters 0.01581577688250736 Centerline is valid? [True, True] Translation: X:-135.33, Y:-251.76, Z:-1.80 [[-2.07437061e-01 -9.78246030e-01 2.13804261e-03 -1.35332870e+02] [-9.78202295e-01 2.07448008e-01 9.25168400e-03 -2.51762788e+02] [-9.49395582e-03 -1.72296053e-04 -9.99954917e-01 -1.79632632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 757.3265599949999 meters 0.01573489168870186 Centerline is valid? [True, True] Translation: X:-135.38, Y:-251.87, Z:-1.80 [[-1.31649719e-01 -9.91295371e-01 1.35621220e-03 -1.35381153e+02] [-9.91254859e-01 1.31656602e-01 8.96348024e-03 -2.51865863e+02] [-9.06401076e-03 -1.64312277e-04 -9.99958908e-01 -1.79701888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 757.356559995 meters 0.01582770132938711 Centerline is valid? [True, True] Translation: X:-135.42, Y:-251.98, Z:-1.80 [[-5.52013899e-02 -9.98475068e-01 5.88228039e-04 -1.35422267e+02] [-9.98442812e-01 5.52043355e-02 8.02696544e-03 -2.51977882e+02] [-8.04719759e-03 -1.44212409e-04 -9.99967611e-01 -1.79754252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 757.386559995 meters 0.015553895946792441 Centerline is valid? [True, True] Translation: X:-135.45, Y:-252.09, Z:-1.80 [[ 2.13957267e-02 -9.99771085e-01 -2.97095631e-05 -1.35453433e+02] [-9.99741733e-01 -2.13953262e-02 7.66209514e-03 -2.52094068e+02] [-7.66097682e-03 -1.34234203e-04 -9.99970645e-01 -1.79871389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 757.416559995 meters 0.015530984762548432 Centerline is valid? [True, True] Translation: X:-135.48, Y:-252.21, Z:-1.80 [[ 9.63976377e-02 -9.95342766e-01 -5.22788838e-04 -1.35476523e+02] [-9.95321917e-01 -9.63990026e-02 6.44313020e-03 -2.52208026e+02] [-6.46351935e-03 -1.00759342e-04 -9.99979106e-01 -1.79960727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 757.4465599949999 meters 0.014916085006053294 Centerline is valid? [True, True] Translation: X:-135.49, Y:-252.33, Z:-1.80 [[ 1.71493976e-01 -9.85184713e-01 -9.47604501e-04 -1.35488544e+02] [-9.85166764e-01 -1.71496573e-01 5.94750481e-03 -2.52327257e+02] [-6.02190174e-03 -8.64127906e-05 -9.99981865e-01 -1.80030960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 757.476559995 meters 0.014708458228356496 Centerline is valid? [True, True] Translation: X:-135.49, Y:-252.45, Z:-1.80 [[ 2.45521024e-01 -9.69390302e-01 -1.36727690e-03 -1.35492685e+02] [-9.69373485e-01 -2.45524819e-01 5.71047721e-03 -2.52445685e+02] [-5.87138164e-03 -7.66402342e-05 -9.99982760e-01 -1.80029725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 757.506559995 meters 0.014464828562362609 Centerline is valid? [True, True] Translation: X:-135.49, Y:-252.57, Z:-1.80 [[ 3.17866797e-01 -9.48133279e-01 -1.99625686e-03 -1.35486424e+02] [-9.48113077e-01 -3.17873056e-01 6.18973130e-03 -2.52569189e+02] [-6.50324650e-03 -7.48328273e-05 -9.99978851e-01 -1.79966550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 757.536559995 meters 0.014035044602622393 Centerline is valid? [True, True] Translation: X:-135.47, Y:-252.69, Z:-1.80 [[ 3.86852996e-01 -9.22137305e-01 -2.74769501e-03 -1.35471400e+02] [-9.22112932e-01 -3.86862749e-01 6.70481106e-03 -2.52685194e+02] [-7.24573725e-03 -6.00911500e-05 -9.99973748e-01 -1.79875265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 757.5665599949999 meters 0.013881518356962266 Centerline is valid? [True, True] Translation: X:-135.45, Y:-252.79, Z:-1.80 [[ 4.54872701e-01 -8.90550171e-01 -3.34937966e-03 -1.35452817e+02] [-8.90525219e-01 -4.54885029e-01 6.66671462e-03 -2.52790661e+02] [-7.46062651e-03 -4.97994293e-05 -9.99972168e-01 -1.79812800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 757.5965599949999 meters 0.01369089657158368 Centerline is valid? [True, True] Translation: X:-135.42, Y:-252.90, Z:-1.80 [[ 5.19717539e-01 -8.54327270e-01 -4.31228637e-03 -1.35421465e+02] [-8.54297302e-01 -5.19735428e-01 7.15569247e-03 -2.52903091e+02] [-8.35455121e-03 -3.49642745e-05 -9.99965100e-01 -1.79782104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 757.626559995 meters 0.013660600125631556 Centerline is valid? [True, True] Translation: X:-135.39, Y:-253.01, Z:-1.80 [[ 5.83011805e-01 -8.12447427e-01 -5.13955534e-03 -1.35385431e+02] [-8.12415397e-01 -5.83034457e-01 7.21414141e-03 -2.53008297e+02] [-8.85764848e-03 -3.04757065e-05 -9.99960770e-01 -1.79753894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 757.656559995 meters 0.013659946684265664 Centerline is valid? [True, True] Translation: X:-135.34, Y:-253.11, Z:-1.80 [[ 6.42799570e-01 -7.66014269e-01 -5.55447090e-03 -1.35341448e+02] [-7.65985366e-01 -6.42823568e-01 6.65434516e-03 -2.53110644e+02] [-8.66786814e-03 -2.27667807e-05 -9.99962433e-01 -1.79745383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 757.6865599949999 meters 0.013576545075775067 Centerline is valid? [True, True] Translation: X:-135.29, Y:-253.21, Z:-1.80 [[ 6.98963345e-01 -7.15129028e-01 -6.38092998e-03 -1.35291134e+02] [-7.15098978e-01 -6.98992470e-01 6.55574874e-03 -2.53207870e+02] [-9.14842823e-03 -1.92315582e-05 -9.99958152e-01 -1.79771434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 757.7165599949999 meters 0.01365428011927803 Centerline is valid? [True, True] Translation: X:-135.24, Y:-253.30, Z:-1.80 [[ 7.51096077e-01 -6.60152898e-01 -7.26876474e-03 -1.35237555e+02] [-6.60121777e-01 -7.51131248e-01 6.41004386e-03 -2.53297601e+02] [-9.69140536e-03 -1.62888960e-05 -9.99953037e-01 -1.79759908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 757.746559995 meters 0.013678159207000658 Centerline is valid? [True, True] Translation: X:-135.24, Y:-253.30, Z:-1.80 [[ 7.99938812e-01 -6.00032814e-01 -7.64978273e-03 -1.35240216e+02] [-6.00005279e-01 -7.99975389e-01 5.74824247e-03 -2.53304051e+02] [-9.56877202e-03 -8.33223455e-06 -9.99954218e-01 -1.79736378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 757.776559995 meters 0.013627920236970091 Centerline is valid? [True, True] Translation: X:-135.24, Y:-253.31, Z:-1.80 [[ 8.44179897e-01 -5.35998744e-01 -8.10239393e-03 -1.35241297e+02] [-5.35974003e-01 -8.44218779e-01 5.14997746e-03 -2.53311717e+02] [-9.60057456e-03 -4.83492952e-06 -9.99953914e-01 -1.79772873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 757.8065599949999 meters 0.013637825241496806 Centerline is valid? [True, True] Translation: X:-135.24, Y:-253.32, Z:-1.80 [[ 8.83311617e-01 -4.68712228e-01 -8.33269103e-03 -1.35241777e+02] [-4.68691362e-01 -8.83350920e-01 4.42270804e-03 -2.53319479e+02] [-9.43366762e-03 -1.16908310e-06 -9.99955502e-01 -1.79792027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 757.8365599949999 meters 0.013606412455801306 Centerline is valid? [True, True] Translation: X:-135.24, Y:-253.33, Z:-1.80 [[ 9.17141694e-01 -3.98460413e-01 -8.96724549e-03 -1.35242240e+02] [-3.98441385e-01 -9.17185531e-01 3.89402614e-03 -2.53327107e+02] [-9.77624309e-03 1.54798846e-06 -9.99952212e-01 -1.79796426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 757.866559995 meters 0.013612965395379572 Centerline is valid? [True, True] Translation: X:-135.24, Y:-253.34, Z:-1.80 [[ 9.45325930e-01 -3.25990902e-01 -9.42436594e-03 -1.35241986e+02] [-3.25974769e-01 -9.45372906e-01 3.24313098e-03 -2.53336212e+02] [-9.96677141e-03 6.28970486e-06 -9.99950331e-01 -1.79851177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 757.896559995 meters 0.013652127729080829 Centerline is valid? [True, True] Translation: X:-135.24, Y:-253.35, Z:-1.80 [[ 9.67803131e-01 -2.51527859e-01 -9.53080819e-03 -1.35241132e+02] [-2.51515773e-01 -9.67850059e-01 2.46576357e-03 -2.53345431e+02] [-9.84460150e-03 1.07748914e-05 -9.99951541e-01 -1.79853104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 757.9265599949999 meters 0.013594238142288124 Centerline is valid? [True, True] Translation: X:-135.24, Y:-253.36, Z:-1.80 [[ 9.84433020e-01 -1.75496554e-01 -9.62226581e-03 -1.35240442e+02] [-1.75488318e-01 -9.84480045e-01 1.70023910e-03 -2.53356088e+02] [-9.77131478e-03 1.48237287e-05 -9.99952260e-01 -1.79853544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 757.9565599949999 meters 0.013582288359802722 Centerline is valid? [True, True] Translation: X:-135.24, Y:-253.36, Z:-1.80 [[ 9.95140820e-01 -9.79999839e-02 -9.52634706e-03 -1.35242482e+02] [-9.79956459e-02 -9.95186416e-01 9.22217333e-04 -2.53364671e+02] [-9.57086848e-03 1.58044202e-05 -9.99954198e-01 -1.79844259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 757.986559995 meters 0.013584879988880012 Centerline is valid? [True, True] Translation: X:-135.24, Y:-253.37, Z:-1.80 [[ 9.99756039e-01 -1.97270388e-02 -9.93516548e-03 -1.35243662e+02] [-1.97262221e-02 -9.99805403e-01 1.80200981e-04 -2.53373702e+02] [-9.93678695e-03 1.58262623e-05 -9.99950629e-01 -1.79893534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 758.016559995 meters 0.013553692054495543 Centerline is valid? [True, True] Translation: X:-135.24, Y:-253.38, Z:-1.80 [[ 9.98223801e-01 5.87079223e-02 -1.01302932e-02 -1.35244118e+02] [ 5.87047485e-02 -9.98275202e-01 -6.10627998e-04 -2.53382532e+02] [-1.01486692e-02 1.48470896e-05 -9.99948501e-01 -1.79909060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 758.0465599949999 meters 0.013462129832649106 Centerline is valid? [True, True] Translation: X:-135.24, Y:-253.39, Z:-1.80 [[ 9.90530262e-01 1.36916478e-01 -1.01822878e-02 -1.35243153e+02] [ 1.36909112e-01 -9.90582595e-01 -1.42025472e-03 -2.53393316e+02] [-1.02808534e-02 1.27573006e-05 -9.99947151e-01 -1.79957791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 758.0765599949999 meters 0.013499404046903817 Centerline is valid? [True, True] Translation: X:-135.24, Y:-253.40, Z:-1.80 [[ 9.76712068e-01 2.14323265e-01 -9.95360808e-03 -1.35242993e+02] [ 2.14312030e-01 -9.76762785e-01 -2.19456912e-03 -2.53403024e+02] [-1.01926612e-02 1.02841915e-05 -9.99948054e-01 -1.79925768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 758.106559995 meters 0.013414445514628556 Centerline is valid? [True, True] Translation: X:-135.24, Y:-253.41, Z:-1.80 [[ 9.56919875e-01 2.90192777e-01 -9.61794287e-03 -1.35240161e+02] [ 2.90178024e-01 -9.56968208e-01 -2.92620026e-03 -2.53412785e+02] [-1.00532277e-02 9.22352818e-06 -9.99949465e-01 -1.79992772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 758.136559995 meters 0.013354064278921182 Centerline is valid? [True, True] Translation: X:-135.24, Y:-253.42, Z:-1.80 [[ 9.31276837e-01 3.64203203e-01 -8.91520718e-03 -1.35236628e+02] [ 3.64186426e-01 -9.31319509e-01 -3.49574936e-03 -2.53420446e+02] [-9.57606949e-03 8.71296937e-06 -9.99954148e-01 -1.79989114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 758.166559995 meters 0.013279088063625965 Centerline is valid? [True, True] Translation: X:-135.23, Y:-253.43, Z:-1.80 [[ 8.99943071e-01 4.35926938e-01 -8.37700689e-03 -1.35232593e+02] [ 4.35907960e-01 -8.99982058e-01 -4.06768252e-03 -2.53430073e+02] [-9.31236828e-03 9.07871224e-06 -9.99956639e-01 -1.80044514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 758.1965599949999 meters 0.013326152171075547 Centerline is valid? [True, True] Translation: X:-135.23, Y:-253.44, Z:-1.80 [[ 8.63240315e-01 5.04725038e-01 -8.29426087e-03 -1.35228382e+02] [ 5.04701603e-01 -8.63280161e-01 -4.86380677e-03 -2.53438345e+02] [-9.61515592e-03 1.25073361e-05 -9.99953773e-01 -1.80042225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 758.226559995 meters 0.013304474233554494 Centerline is valid? [True, True] Translation: X:-135.22, Y:-253.45, Z:-1.80 [[ 8.21283654e-01 5.70468571e-01 -7.66610763e-03 -1.35223806e+02] [ 5.70443546e-01 -8.21319432e-01 -5.34334906e-03 -2.53445428e+02] [-9.34453587e-03 1.53236210e-05 -9.99956339e-01 -1.80033395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 758.256559995 meters 0.013205042661759446 Centerline is valid? [True, True] Translation: X:-135.22, Y:-253.45, Z:-1.80 [[ 7.74242973e-01 6.32846224e-01 -7.31267751e-03 -1.35216741e+02] [ 6.32817786e-01 -7.74277506e-01 -5.99944259e-03 -2.53453072e+02] [-9.45876630e-03 1.74338763e-05 -9.99955265e-01 -1.80099505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 758.286559995 meters 0.01314596158087931 Centerline is valid? [True, True] Translation: X:-135.21, Y:-253.46, Z:-1.80 [[ 7.22430503e-01 6.91410039e-01 -6.80632494e-03 -1.35211136e+02] [ 6.91379109e-01 -7.22462565e-01 -6.53988344e-03 -2.53460785e+02] [-9.43905603e-03 1.88604104e-05 -9.99955451e-01 -1.80113553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 758.3165599949999 meters 0.013172482475483452 Centerline is valid? [True, True] Translation: X:-135.21, Y:-253.47, Z:-1.80 [[ 6.66066190e-01 7.45865078e-01 -6.41225423e-03 -1.35205636e+02] [ 7.45830243e-01 -6.66097054e-01 -7.20854515e-03 -2.53467228e+02] [-9.64778574e-03 1.89150693e-05 -9.99953459e-01 -1.80069615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 758.3465599949999 meters 0.013184737241794022 Centerline is valid? [True, True] Translation: X:-135.20, Y:-253.47, Z:-1.80 [[ 6.05711897e-01 7.95661541e-01 -5.98407953e-03 -1.35197143e+02] [ 7.95622379e-01 -6.05741456e-01 -7.89424942e-03 -2.53473351e+02] [-9.90595571e-03 2.05731980e-05 -9.99950935e-01 -1.80114695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 758.376559995 meters 0.013353655794384914 Centerline is valid? [True, True] Translation: X:-135.19, Y:-253.48, Z:-1.80 [[ 5.41445108e-01 8.40715780e-01 -5.84570185e-03 -1.35190751e+02] [ 8.40666369e-01 -5.41476663e-01 -9.11478818e-03 -2.53479037e+02] [-1.08282574e-02 2.08725239e-05 -9.99941373e-01 -1.79966734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 758.406559995 meters 0.013284623711644414 Centerline is valid? [True, True] Translation: X:-135.18, Y:-253.48, Z:-1.80 [[ 4.73933073e-01 8.80545680e-01 -5.17173636e-03 -1.35182664e+02] [ 8.80492776e-01 -4.73961290e-01 -9.65231978e-03 -2.53483631e+02] [-1.09505113e-02 2.08770719e-05 -9.99940041e-01 -1.79995053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 758.4365599949999 meters 0.013321084892529596 Centerline is valid? [True, True] Translation: X:-135.17, Y:-253.49, Z:-1.80 [[ 4.03824165e-01 9.14823727e-01 -4.85729116e-03 -1.35173218e+02] [ 9.14756761e-01 -4.03853375e-01 -1.10688972e-02 -2.53488270e+02] [-1.20877232e-02 2.66482308e-05 -9.99926941e-01 -1.79886125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 758.4665599949999 meters 0.01332614157293113 Centerline is valid? [True, True] Translation: X:-135.16, Y:-253.49, Z:-1.80 [[ 3.31151590e-01 9.43568999e-01 -4.02098431e-03 -1.35164118e+02] [ 9.43498356e-01 -3.31176000e-01 -1.15459448e-02 -2.53491101e+02] [-1.22260491e-02 2.96658838e-05 -9.99925259e-01 -1.79888496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 758.496559995 meters 0.013318190801286205 Centerline is valid? [True, True] Translation: X:-135.16, Y:-253.49, Z:-1.80 [[ 2.56536699e-01 9.66529302e-01 -3.16706963e-03 -1.35155195e+02] [ 9.66454008e-01 -2.56556246e-01 -1.20641545e-02 -2.53493395e+02] [-1.24728903e-02 3.40712459e-05 -9.99922210e-01 -1.79869622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 758.526559995 meters 0.013307254334263312 Centerline is valid? [True, True] Translation: X:-135.15, Y:-253.49, Z:-1.80 [[ 1.80797475e-01 9.83517664e-01 -2.29744257e-03 -1.35146077e+02] [ 9.83435054e-01 -1.80812066e-01 -1.27472036e-02 -2.53494926e+02] [-1.29525052e-02 4.52766632e-05 -9.99916112e-01 -1.79874399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 758.5565599949999 meters 0.013339596187543606 Centerline is valid? [True, True] Translation: X:-135.14, Y:-253.50, Z:-1.80 [[ 1.03296843e-01 9.94649808e-01 -1.23342115e-03 -1.35137344e+02] [ 9.94573698e-01 -1.03304197e-01 -1.23045915e-02 -2.53496257e+02] [-1.23661771e-02 4.42972113e-05 -9.99923535e-01 -1.79897263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 758.5865599949999 meters 0.013288574740133492 Centerline is valid? [True, True] Translation: X:-135.13, Y:-253.50, Z:-1.80 [[ 2.51046796e-02 9.99684794e-01 -2.60127816e-04 -1.35128409e+02] [ 9.99611612e-01 -2.51059893e-02 -1.20960623e-02 -2.53496371e+02] [-1.20987803e-02 4.36409819e-05 -9.99926806e-01 -1.79956395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 758.616559995 meters 0.013034273143850273 Centerline is valid? [True, True] Translation: X:-135.12, Y:-253.50, Z:-1.80 [[-5.44227571e-02 9.98517810e-01 5.89019604e-04 -1.35116152e+02] [ 9.98464333e-01 5.44259384e-02 -1.03340680e-02 -2.53495251e+02] [-1.03508089e-02 2.57065911e-05 -9.99946429e-01 -1.80191188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 758.646559995 meters 0.012948016145615922 Centerline is valid? [True, True] Translation: X:-135.10, Y:-253.49, Z:-1.80 [[-1.33354195e-01 9.91067565e-01 1.31942894e-03 -1.35103492e+02] [ 9.91020208e-01 1.33360721e-01 -9.68841755e-03 -2.53493311e+02] [-9.77783638e-03 1.55896207e-05 -9.99952196e-01 -1.80274242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 758.6765599949999 meters 0.012953953861050426 Centerline is valid? [True, True] Translation: X:-135.09, Y:-253.49, Z:-1.80 [[-2.12833685e-01 9.77086280e-01 2.05519497e-03 -1.35089832e+02] [ 9.77040419e-01 2.12843607e-01 -9.46667576e-03 -2.53491063e+02] [-9.68719412e-03 -6.81892593e-06 -9.99953078e-01 -1.80234917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 758.7065599949999 meters 0.01300099963987067 Centerline is valid? [True, True] Translation: X:-135.08, Y:-253.49, Z:-1.80 [[-2.89800484e-01 9.57082802e-01 2.86161661e-03 -1.35079446e+02] [ 9.57035520e-01 2.89814611e-01 -9.51333990e-03 -2.53487338e+02] [-9.93439232e-03 -1.83017629e-05 -9.99950653e-01 -1.80202551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 758.736559995 meters 0.013135400973281924 Centerline is valid? [True, True] Translation: X:-135.07, Y:-253.48, Z:-1.80 [[-3.64860192e-01 9.31054208e-01 3.88606777e-03 -1.35069942e+02] [ 9.31000471e-01 3.64880885e-01 -1.00031814e-02 -2.53484297e+02] [-1.07314560e-02 -3.18317575e-05 -9.99942416e-01 -1.80105642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 758.766559995 meters 0.013088201767451698 Centerline is valid? [True, True] Translation: X:-135.06, Y:-253.48, Z:-1.80 [[-4.37412718e-01 8.99247973e-01 4.81639288e-03 -1.35061300e+02] [ 8.99192401e-01 4.37439232e-01 -9.99721148e-03 -2.53479132e+02] [-1.10968514e-02 -4.20435617e-05 -9.99938427e-01 -1.80070242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 758.7965599949999 meters 0.013241711029259211 Centerline is valid? [True, True] Translation: X:-135.05, Y:-253.47, Z:-1.80 [[-5.07170568e-01 8.61826503e-01 5.75275926e-03 -1.35053310e+02] [ 8.61769881e-01 5.07203190e-01 -9.87905107e-03 -2.53474681e+02] [-1.14318459e-02 -5.28092773e-05 -9.99934653e-01 -1.79997238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 758.8265599949999 meters 0.01324250666416591 Centerline is valid? [True, True] Translation: X:-135.05, Y:-253.47, Z:-1.80 [[-5.73748937e-01 8.19004726e-01 6.58907378e-03 -1.35046977e+02] [ 8.18949473e-01 5.73786767e-01 -9.51346988e-03 -2.53468544e+02] [-1.15723001e-02 -6.22247275e-05 -9.99933037e-01 -1.79990813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 758.856559995 meters 0.01338737684432671 Centerline is valid? [True, True] Translation: X:-135.04, Y:-253.46, Z:-1.80 [[-6.37118146e-01 7.70734520e-01 6.98334977e-03 -1.35039825e+02] [ 7.70686955e-01 6.37156412e-01 -8.56288729e-03 -2.53461849e+02] [-1.10491989e-02 -7.35943053e-05 -9.99938953e-01 -1.79974355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 758.886559995 meters 0.013439275914928545 Centerline is valid? [True, True] Translation: X:-135.04, Y:-253.46, Z:-1.80 [[-6.95780634e-01 7.18214411e-01 7.57418580e-03 -1.35035790e+02] [ 7.18170645e-01 6.95821855e-01 -7.92916835e-03 -2.53455234e+02] [-1.09651270e-02 -7.74038873e-05 -9.99939878e-01 -1.80020811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 758.916559995 meters 0.013393873599970936 Centerline is valid? [True, True] Translation: X:-135.03, Y:-253.45, Z:-1.80 [[-7.50137605e-01 6.61230999e-01 8.19388248e-03 -1.35031407e+02] [ 6.61190368e-01 7.50182351e-01 -7.33066746e-03 -2.53448104e+02] [-1.09941706e-02 -8.12931595e-05 -9.99939559e-01 -1.80013094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 758.9465599949999 meters 0.013363290912844904 Centerline is valid? [True, True] Translation: X:-135.01, Y:-253.43, Z:-1.80 [[-7.95064331e-01 6.06458739e-01 8.97259849e-03 -1.35013249e+02] [ 6.06418925e-01 7.95114955e-01 -6.94955799e-03 -2.53425244e+02] [-1.13488674e-02 -8.41921457e-05 -9.99935596e-01 -1.79999617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 758.976559995 meters 0.013387585242875085 Centerline is valid? [True, True] Translation: X:-135.00, Y:-253.40, Z:-1.80 [[-8.35945103e-01 5.48729392e-01 9.58331607e-03 -1.34996841e+02] [ 5.48692186e-01 8.36000028e-01 -6.39043446e-03 -2.53402023e+02] [-1.15182717e-02 -8.37617433e-05 -9.99933659e-01 -1.79964992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 759.006559995 meters 0.01322858644653615 Centerline is valid? [True, True] Translation: X:-134.99, Y:-253.37, Z:-1.80 [[-8.72265498e-01 4.88933474e-01 9.84680943e-03 -1.34988286e+02] [ 4.88901388e-01 8.72321072e-01 -5.60173732e-03 -2.53374022e+02] [-1.13284563e-02 -7.20833897e-05 -9.99935829e-01 -1.79990134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 759.036559995 meters 0.013271761834863812 Centerline is valid? [True, True] Translation: X:-134.98, Y:-253.35, Z:-1.80 [[-9.04482322e-01 4.26399289e-01 9.76602113e-03 -1.34980350e+02] [ 4.26373680e-01 9.04535042e-01 -4.67361314e-03 -2.53346202e+02] [-1.08265337e-02 -6.32260932e-05 -9.99941389e-01 -1.79950275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 759.0665599949999 meters 0.013161873570755508 Centerline is valid? [True, True] Translation: X:-134.97, Y:-253.32, Z:-1.80 [[-9.32272289e-01 3.61622974e-01 9.85926342e-03 -1.34970005e+02] [ 3.61602099e-01 9.32324419e-01 -3.88588229e-03 -2.53320326e+02] [-1.05972563e-02 -5.75700237e-05 -9.99943846e-01 -1.79994164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 759.0965599949999 meters 0.013126629774861318 Centerline is valid? [True, True] Translation: X:-134.96, Y:-253.29, Z:-1.80 [[-9.55553425e-01 2.94654649e-01 9.81269253e-03 -1.34961108e+02] [ 2.94638515e-01 9.55603806e-01 -3.08395576e-03 -2.53294206e+02] [-1.02857482e-02 -5.56873395e-05 -9.99947099e-01 -1.80031483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 759.126559995 meters 0.013317343217546814 Centerline is valid? [True, True] Translation: X:-134.96, Y:-253.26, Z:-1.80 [[-9.74004697e-01 2.26297918e-01 1.02030772e-02 -1.34958206e+02] [ 2.26284912e-01 9.74058134e-01 -2.42676954e-03 -2.53264759e+02] [-1.04875632e-02 -5.48825055e-05 -9.99945003e-01 -1.79853440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 759.156559995 meters 0.013093534081302524 Centerline is valid? [True, True] Translation: X:-134.82, Y:-252.69, Z:-2.79 [[-9.53294843e-01 -3.01868180e-01 1.02247195e-02 -1.34816828e+02] [ 3.01851603e-01 -9.53349672e-01 -3.16429358e-03 -2.52687696e+02] [ 1.07029325e-02 6.98432125e-05 9.99942720e-01 -2.78578577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 759.1865599949999 meters 0.013093534081302524 Centerline is valid? [True, True] Translation: X:-135.00, Y:-253.26, Z:-1.80 [[-9.74923064e-01 2.22299927e-01 1.03808307e-02 -1.35002550e+02] [ 2.22286686e-01 9.74978328e-01 -2.42693924e-03 -2.53255509e+02] [-1.06605934e-02 -5.85585689e-05 -9.99943173e-01 -1.80000490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 759.2165599949999 meters 0.013042999187628008 Centerline is valid? [True, True] Translation: X:-134.87, Y:-252.68, Z:-2.79 [[-9.54402568e-01 -2.98361446e-01 9.80749589e-03 -1.34866486e+02] [ 2.98346029e-01 -9.54452957e-01 -3.03322544e-03 -2.52676854e+02] [ 1.02657910e-02 3.11093009e-05 9.99947305e-01 -2.78578192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 759.246559995 meters 0.01348301100453742 Centerline is valid? [True, True] Translation: X:-135.05, Y:-253.24, Z:-1.80 [[-9.75927836e-01 2.17860152e-01 1.00902581e-02 -1.35050727e+02] [ 2.17847831e-01 9.75979995e-01 -2.31785476e-03 -2.53243362e+02] [-1.03528583e-02 -6.39181287e-05 -9.99946406e-01 -1.79816161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 759.276559995 meters 0.013496914162956673 Centerline is valid? [True, True] Translation: X:-135.05, Y:-253.22, Z:-1.80 [[-9.89098408e-01 1.46907135e-01 1.01307639e-02 -1.35050281e+02] [ 1.46898656e-01 9.89150286e-01 -1.58013344e-03 -2.53215131e+02] [-1.02529809e-02 -7.47118682e-05 -9.99947434e-01 -1.79838099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 759.3065599949999 meters 0.013198232511176343 Centerline is valid? [True, True] Translation: X:-135.05, Y:-253.19, Z:-1.80 [[-9.97045455e-01 7.60439708e-02 1.08478023e-02 -1.35052954e+02] [ 7.60385755e-02 9.97104462e-01 -9.09538779e-04 -2.53187906e+02] [-1.08855570e-02 -8.20000740e-05 -9.99940747e-01 -1.79961052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 759.3365599949999 meters 0.013328726436985974 Centerline is valid? [True, True] Translation: X:-135.00, Y:-252.60, Z:-2.79 [[-9.87237252e-01 -1.58854380e-01 1.13090760e-02 -1.35004226e+02] [ 1.58845376e-01 -9.87302016e-01 -1.69570524e-03 -2.52596002e+02] [ 1.14348438e-02 1.22331056e-04 9.99934613e-01 -2.78743830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 759.366559995 meters 0.013347564759583864 Centerline is valid? [True, True] Translation: X:-135.11, Y:-253.18, Z:-1.80 [[-9.97394725e-01 7.11708149e-02 1.17676655e-02 -1.35111477e+02] [ 7.11647031e-02 9.97464138e-01 -9.37825745e-04 -2.53184804e+02] [-1.18045701e-02 -9.79400320e-05 -9.99930319e-01 -1.79833125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 759.396559995 meters 0.01341718126335139 Centerline is valid? [True, True] Translation: X:-135.06, Y:-252.59, Z:-2.79 [[-9.87858090e-01 -1.54923401e-01 1.16247100e-02 -1.35063713e+02] [ 1.54913795e-01 -9.87926481e-01 -1.72773592e-03 -2.52589396e+02] [ 1.17520256e-02 9.40700381e-05 9.99930938e-01 -2.78756269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 759.4265599949999 meters 0.013678002703897324 Centerline is valid? [True, True] Translation: X:-135.17, Y:-253.18, Z:-1.80 [[-9.97710772e-01 6.66319829e-02 1.15496562e-02 -1.35170097e+02] [ 6.66263647e-02 9.97777615e-01 -8.70952584e-04 -2.53182057e+02] [-1.15820217e-02 -9.94471679e-05 -9.99932921e-01 -1.79776655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 759.4565599949999 meters 0.013536527344565837 Centerline is valid? [True, True] Translation: X:-135.13, Y:-252.58, Z:-2.79 [[-9.88344490e-01 -1.51853625e-01 1.07538278e-02 -1.35125525e+02] [ 1.51845148e-01 -9.88402992e-01 -1.60520404e-03 -2.52582784e+02] [ 1.08728716e-02 4.64220050e-05 9.99940888e-01 -2.78659678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 759.486559995 meters 0.013600714134546653 Centerline is valid? [True, True] Translation: X:-135.23, Y:-253.18, Z:-1.80 [[-9.98137144e-01 6.01337618e-02 1.03039756e-02 -1.35230396e+02] [ 6.01293986e-02 9.98190322e-01 -7.32999722e-04 -2.53181750e+02] [-1.03294068e-02 -1.12062392e-04 -9.99946644e-01 -1.79987694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 759.516559995 meters 0.013887292446506822 Centerline is valid? [True, True] Translation: X:-135.18, Y:-252.58, Z:-2.79 [[-9.88594695e-01 -1.50232866e-01 1.05173916e-02 -1.35184765e+02] [ 1.50225810e-01 -9.88650630e-01 -1.46227206e-03 -2.52576499e+02] [ 1.06177072e-02 1.34389266e-04 9.99943622e-01 -2.78610409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 759.5465599949999 meters 0.01406051299933507 Centerline is valid? [True, True] Translation: X:-135.29, Y:-253.18, Z:-1.80 [[-9.98503911e-01 5.36815741e-02 1.04032882e-02 -1.35289912e+02] [ 5.36772300e-02 9.98558095e-01 -6.96546529e-04 -2.53179029e+02] [-1.04256793e-02 -1.37084742e-04 -9.99945642e-01 -1.79975218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 759.5765599949999 meters 0.01423230992447038 Centerline is valid? [True, True] Translation: X:-135.25, Y:-252.57, Z:-2.79 [[-9.88912285e-01 -1.48132035e-01 1.04591064e-02 -1.35250256e+02] [ 1.48125324e-01 -9.88967582e-01 -1.41772549e-03 -2.52570813e+02] [ 1.05537278e-02 1.47252369e-04 9.99944297e-01 -2.78620129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 759.606559995 meters 0.014737654277576806 Centerline is valid? [True, True] Translation: X:-135.36, Y:-253.18, Z:-1.80 [[-9.98877665e-01 4.61725712e-02 1.05595606e-02 -1.35356709e+02] [ 4.61681432e-02 9.98933463e-01 -6.62848400e-04 -2.53176817e+02] [-1.05789038e-02 -1.74589157e-04 -9.99944027e-01 -1.79966523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 759.636559995 meters 0.01479583490867015 Centerline is valid? [True, True] Translation: X:-135.31, Y:-252.56, Z:-2.79 [[-9.88967611e-01 -1.47777829e-01 1.02360673e-02 -1.35308478e+02] [ 1.47771518e-01 -9.89020571e-01 -1.37423373e-03 -2.52564851e+02] [ 1.03267624e-02 1.53526567e-04 9.99946666e-01 -2.78551310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 759.666559995 meters 0.015120952426713784 Centerline is valid? [True, True] Translation: X:-135.41, Y:-253.18, Z:-1.80 [[-9.99170168e-01 3.95696768e-02 9.65484102e-03 -1.35408212e+02] [ 3.95660689e-02 9.99216797e-01 -5.64479737e-04 -2.53176195e+02] [-9.66961560e-03 -1.82007209e-04 -9.99953232e-01 -1.80027328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 759.6965599949999 meters 0.01554822658567958 Centerline is valid? [True, True] Translation: X:-135.43, Y:-253.15, Z:-1.80 [[-9.99431428e-01 -3.24511377e-02 9.15123965e-03 -1.35425868e+02] [-3.24514336e-02 9.99473307e-01 1.16188612e-04 -2.53149318e+02] [-9.15019021e-03 -1.80848296e-04 -9.99958120e-01 -1.80040874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 759.726559995 meters 0.01551951969765069 Centerline is valid? [True, True] Translation: X:-135.42, Y:-253.12, Z:-1.80 [[-9.94524068e-01 -1.04088845e-01 9.34828956e-03 -1.35424018e+02] [-1.04086047e-01 9.94567985e-01 7.86671076e-04 -2.53123825e+02] [-9.37939320e-03 -1.90663186e-04 -9.99955994e-01 -1.80079079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 759.756559995 meters 0.01541670442172713 Centerline is valid? [True, True] Translation: X:-135.43, Y:-253.10, Z:-1.80 [[-9.84407108e-01 -1.75675584e-01 8.98532064e-03 -1.35432618e+02] [-1.75670061e-01 9.84448095e-01 1.40640247e-03 -2.53101283e+02] [-9.09265236e-03 -1.93979237e-04 -9.99958642e-01 -1.80140567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 759.786559995 meters 0.01581496961139565 Centerline is valid? [True, True] Translation: X:-135.53, Y:-252.48, Z:-2.78 [[-9.97810594e-01 6.55379656e-02 8.87653694e-03 -1.35530071e+02] [-6.55337889e-02 -9.97850061e-01 7.60889867e-04 -2.52476924e+02] [ 8.90732010e-03 1.77510872e-04 9.99960313e-01 -2.78479678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 759.8165599949999 meters 0.016092407921615412 Centerline is valid? [True, True] Translation: X:-135.54, Y:-253.12, Z:-1.80 [[-9.82897741e-01 -1.83943056e-01 8.77395548e-03 -1.35535984e+02] [-1.83937620e-01 9.82936879e-01 1.42947156e-03 -2.53120758e+02] [-8.88718579e-03 -2.08836122e-04 -9.99960486e-01 -1.80144034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 759.8465599949999 meters 0.017294466350259687 Centerline is valid? [True, True] Translation: X:-135.55, Y:-253.10, Z:-1.80 [[-9.66927614e-01 -2.54915232e-01 8.31950021e-03 -1.35554028e+02] [-2.54907663e-01 9.66963381e-01 1.97559212e-03 -2.53095315e+02] [-8.54826057e-03 -2.10449784e-04 -9.99963441e-01 -1.80071993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 759.876559995 meters 0.018082596572656994 Centerline is valid? [True, True] Translation: X:-135.72, Y:-252.48, Z:-2.79 [[-9.90278975e-01 1.38836516e-01 8.48374343e-03 -1.35722866e+02] [-1.38829558e-01 -9.90315291e-01 1.40642963e-03 -2.52479660e+02] [ 8.59684463e-03 2.14963337e-04 9.99963023e-01 -2.78551810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 759.906559995 meters 0.019043004510051174 Centerline is valid? [True, True] Translation: X:-135.68, Y:-253.13, Z:-1.80 [[-9.64225630e-01 -2.64938294e-01 8.75419577e-03 -1.35680536e+02] [-2.64929770e-01 9.64265335e-01 2.14045441e-03 -2.53125732e+02] [-9.00845586e-03 -2.55366076e-04 -9.99959391e-01 -1.79965243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 759.9365599949999 meters 0.01975925738964755 Centerline is valid? [True, True] Translation: X:-135.71, Y:-253.11, Z:-1.80 [[-9.42284791e-01 -3.34691639e-01 8.99326417e-03 -1.35710225e+02] [-3.34679204e-01 9.42327666e-01 2.89849521e-03 -2.53106137e+02] [-9.44470374e-03 -2.78650543e-04 -9.99955359e-01 -1.79934067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 759.9665599949999 meters 0.019197073789126187 Centerline is valid? [True, True] Translation: X:-135.76, Y:-253.10, Z:-1.80 [[-9.14940467e-01 -4.03495098e-01 8.69761022e-03 -1.35759808e+02] [-4.03479859e-01 9.14981761e-01 3.51866613e-03 -2.53099169e+02] [-9.37791925e-03 -2.89940518e-04 -9.99955984e-01 -1.79984082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 759.996559995 meters 0.018576609182598274 Centerline is valid? [True, True] Translation: X:-135.82, Y:-253.10, Z:-1.80 [[-8.82767284e-01 -4.69733891e-01 8.48500595e-03 -1.35818498e+02] [-4.69715340e-01 8.82808013e-01 4.18475750e-03 -2.53098029e+02] [-9.45635366e-03 -2.91370441e-04 -9.99955245e-01 -1.80024878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 760.026559995 meters 0.018801351143311412 Centerline is valid? [True, True] Translation: X:-135.89, Y:-253.11, Z:-1.80 [[-8.46328208e-01 -5.32593649e-01 8.51875835e-03 -1.35892813e+02] [-5.32570101e-01 8.46371030e-01 5.01665829e-03 -2.53107363e+02] [-9.88187063e-03 -2.91096577e-04 -9.99951131e-01 -1.79927483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 760.0565599949999 meters 0.0177942421334211 Centerline is valid? [True, True] Translation: X:-135.96, Y:-253.12, Z:-1.80 [[-8.05314572e-01 -5.92791896e-01 8.13691766e-03 -1.35964347e+02] [-5.92765016e-01 8.05355632e-01 5.65170181e-03 -2.53123522e+02] [-9.90339549e-03 -2.71882300e-04 -9.99950923e-01 -1.79910851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 760.0865599949999 meters 0.01639995953560586 Centerline is valid? [True, True] Translation: X:-136.04, Y:-253.15, Z:-1.80 [[-7.61673207e-01 -6.47917376e-01 7.54982622e-03 -1.36041429e+02] [-6.47888384e-01 7.61710592e-01 6.13327805e-03 -2.53151778e+02] [-9.72464002e-03 -2.19891142e-04 -9.99952691e-01 -1.79862604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 760.116559995 meters 0.01589970011723609 Centerline is valid? [True, True] Translation: X:-136.12, Y:-253.19, Z:-1.80 [[-7.12079343e-01 -7.02062370e-01 7.17204186e-03 -1.36124578e+02] [-7.02029608e-01 7.12115431e-01 6.78549307e-03 -2.53190215e+02] [-9.87116103e-03 -2.03176289e-04 -9.99951258e-01 -1.79847442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 760.146559995 meters 0.015498343392526065 Centerline is valid? [True, True] Translation: X:-136.21, Y:-253.24, Z:-1.80 [[-6.58238901e-01 -7.52778110e-01 6.83125838e-03 -1.36208857e+02] [-7.52740558e-01 6.58274320e-01 7.52150116e-03 -2.53238988e+02] [-1.01588634e-02 -1.91220589e-04 -9.99948379e-01 -1.79852991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 760.1765599949999 meters 0.015067917242117902 Centerline is valid? [True, True] Translation: X:-136.29, Y:-253.30, Z:-1.80 [[-6.00720905e-01 -7.99433632e-01 6.34525024e-03 -1.36293739e+02] [-7.99392086e-01 6.00754390e-01 8.15202201e-03 -2.53300423e+02] [-1.03289375e-02 -1.75252787e-04 -9.99946640e-01 -1.79864269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 760.2065599949999 meters 0.014947267589951236 Centerline is valid? [True, True] Translation: X:-136.37, Y:-253.36, Z:-1.80 [[-5.38364204e-01 -8.42693406e-01 5.63979037e-03 -1.36372492e+02] [-8.42650439e-01 5.38393717e-01 8.51136855e-03 -2.53363498e+02] [-1.02089019e-02 -1.70155676e-04 -9.99947873e-01 -1.79863114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 760.236559995 meters 0.015250564163031093 Centerline is valid? [True, True] Translation: X:-136.45, Y:-253.44, Z:-1.80 [[-4.72173259e-01 -8.81491936e-01 4.93774917e-03 -1.36451136e+02] [-8.81447496e-01 4.72199045e-01 8.85291193e-03 -2.53439887e+02] [-1.01353709e-02 -1.72258371e-04 -9.99948621e-01 -1.79871540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 760.266559995 meters 0.014767505198147412 Centerline is valid? [True, True] Translation: X:-136.52, Y:-253.52, Z:-1.80 [[-4.03279218e-01 -9.15067192e-01 4.23152951e-03 -1.36523466e+02] [-9.15021224e-01 4.03301381e-01 9.17364588e-03 -2.53523959e+02] [-1.01010841e-02 -1.72398574e-04 -9.99948968e-01 -1.79939692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 760.2965599949999 meters 0.01567281827979483 Centerline is valid? [True, True] Translation: X:-136.59, Y:-253.62, Z:-1.80 [[-3.32183146e-01 -9.43208906e-01 3.36393838e-03 -1.36594312e+02] [-9.43165419e-01 3.32200139e-01 9.05873080e-03 -2.53617181e+02] [-9.66177637e-03 -1.63592648e-04 -9.99953311e-01 -1.79834642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 760.3265599949999 meters 0.014638003184955275 Centerline is valid? [True, True] Translation: X:-136.65, Y:-253.71, Z:-1.80 [[-2.59360219e-01 -9.65777416e-01 2.50199726e-03 -1.36652952e+02] [-9.65737865e-01 2.59372244e-01 8.74153452e-03 -2.53713720e+02] [-9.09132526e-03 -1.49067187e-04 -9.99958662e-01 -1.79954831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 760.356559995 meters 0.014348845010818883 Centerline is valid? [True, True] Translation: X:-136.71, Y:-253.82, Z:-1.80 [[-1.85874234e-01 -9.82572012e-01 1.73488581e-03 -1.36706659e+02] [-9.82535464e-01 1.85882286e-01 8.47567991e-03 -2.53816581e+02] [-8.65045041e-03 -1.29176325e-04 -9.99962576e-01 -1.80017921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 760.386559995 meters 0.014301182794050156 Centerline is valid? [True, True] Translation: X:-136.75, Y:-253.93, Z:-1.80 [[-1.10348645e-01 -9.93892335e-01 1.09681667e-03 -1.36753002e+02] [-9.93854007e-01 1.10354023e-01 8.72936534e-03 -2.53926942e+02] [-8.79708744e-03 -1.26802010e-04 -9.99961297e-01 -1.80006541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 760.416559995 meters 0.01401278032934879 Centerline is valid? [True, True] Translation: X:-136.79, Y:-254.04, Z:-1.80 [[-3.45508735e-02 -9.99402851e-01 4.23518559e-04 -1.36790630e+02] [-9.99363991e-01 3.45532652e-02 8.81396522e-03 -2.54039715e+02] [-8.82333592e-03 -1.18718999e-04 -9.99961067e-01 -1.80009855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 760.4465599949999 meters 0.013548773672677332 Centerline is valid? [True, True] Translation: X:-136.82, Y:-254.16, Z:-1.80 [[ 4.00412031e-02 -9.99197994e-01 -2.66562506e-04 -1.36819018e+02] [-9.99155627e-01 -4.00419602e-02 9.20184478e-03 -2.54162131e+02] [-9.20513853e-03 -1.02115508e-04 -9.99957627e-01 -1.80027669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 760.476559995 meters 0.01339163633541319 Centerline is valid? [True, True] Translation: X:-136.84, Y:-254.28, Z:-1.80 [[ 1.15460458e-01 -9.93311657e-01 -9.13305879e-04 -1.36838479e+02] [-9.93274621e-01 -1.15464040e-01 8.57807529e-03 -2.54280327e+02] [-8.62615617e-03 -8.32649505e-05 -9.99962791e-01 -1.80028437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 760.506559995 meters 0.012931474492471298 Centerline is valid? [True, True] Translation: X:-136.85, Y:-254.39, Z:-1.80 [[ 1.87904883e-01 -9.82186156e-01 -1.45272183e-03 -1.36848074e+02] [-9.82154839e-01 -1.87910493e-01 7.84336612e-03 -2.54391993e+02] [-7.97662729e-03 -4.70090213e-05 -9.99968185e-01 -1.80095271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 760.536559995 meters 0.01270296154340249 Centerline is valid? [True, True] Translation: X:-136.85, Y:-254.51, Z:-1.80 [[ 2.60669752e-01 -9.65426052e-01 -1.95395230e-03 -1.36848581e+02] [-9.65398148e-01 -2.60677074e-01 7.34020300e-03 -2.54510345e+02] [-7.59577377e-03 -2.70269665e-05 -9.99971151e-01 -1.80067642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 760.5665599949999 meters 0.012599008469146657 Centerline is valid? [True, True] Translation: X:-136.84, Y:-254.63, Z:-1.80 [[ 3.31375594e-01 -9.43495691e-01 -2.46924402e-03 -1.36839915e+02] [-9.43469395e-01 -3.31384794e-01 7.04401766e-03 -2.54627446e+02] [-7.46427023e-03 -4.55937602e-06 -9.99972142e-01 -1.80086641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 760.5965599949999 meters 0.012811545633561655 Centerline is valid? [True, True] Translation: X:-136.82, Y:-254.74, Z:-1.80 [[ 3.97823326e-01 -9.17456625e-01 -3.15325384e-03 -1.36821844e+02] [-9.17428574e-01 -3.97835820e-01 7.17432926e-03 -2.54740913e+02] [-7.83661323e-03 3.87696484e-05 -9.99969293e-01 -1.80056813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 760.626559995 meters 0.012914310391977551 Centerline is valid? [True, True] Translation: X:-136.80, Y:-254.85, Z:-1.80 [[ 4.65415870e-01 -8.85084084e-01 -3.77257339e-03 -1.36798190e+02] [-8.85055958e-01 -4.65431157e-01 7.05620108e-03 -2.54854005e+02] [-8.00120446e-03 5.48705858e-05 -9.99967988e-01 -1.80018394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 760.656559995 meters 0.013249074648847472 Centerline is valid? [True, True] Translation: X:-136.77, Y:-254.96, Z:-1.80 [[ 5.30185024e-01 -8.47869865e-01 -4.53129479e-03 -1.36766778e+02] [-8.47840102e-01 -5.30204382e-01 7.10450072e-03 -2.54962755e+02] [-8.42620442e-03 7.51135469e-05 -9.99964496e-01 -1.79949745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 760.6865599949999 meters 0.013642796600626669 Centerline is valid? [True, True] Translation: X:-136.72, Y:-255.07, Z:-1.80 [[ 5.90485734e-01 -8.07027331e-01 -5.78659946e-03 -1.36724724e+02] [-8.06990591e-01 -5.90514075e-01 7.70154164e-03 -2.55072863e+02] [-9.63242302e-03 1.22080844e-04 -9.99953600e-01 -1.79902472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 760.7165599949999 meters 0.014185035105224 Centerline is valid? [True, True] Translation: X:-136.68, Y:-255.17, Z:-1.80 [[ 6.48920537e-01 -7.60827669e-01 -6.58744777e-03 -1.36682429e+02] [-7.60790715e-01 -6.48953956e-01 7.50002639e-03 -2.55168254e+02] [-9.98117789e-03 1.44747943e-04 -9.99950176e-01 -1.79842390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 760.746559995 meters 0.014554126167641367 Centerline is valid? [True, True] Translation: X:-136.63, Y:-255.26, Z:-1.80 [[ 7.03631542e-01 -7.10526831e-01 -7.36720456e-03 -1.36630433e+02] [-7.10490376e-01 -7.03670089e-01 7.19937452e-03 -2.55262900e+02] [-1.02994303e-02 1.68620947e-04 -9.99946945e-01 -1.79830019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 760.776559995 meters 0.01488875392096577 Centerline is valid? [True, True] Translation: X:-136.63, Y:-255.27, Z:-1.80 [[ 7.55555954e-01 -6.55034262e-01 -8.08184036e-03 -1.36634310e+02] [-6.54999542e-01 -7.55599151e-01 6.74704996e-03 -2.55271361e+02] [-1.05261806e-02 1.95827965e-04 -9.99944579e-01 -1.79828236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 760.8065599949999 meters 0.016184171855351624 Centerline is valid? [True, True] Translation: X:-136.64, Y:-255.28, Z:-1.80 [[ 8.01998889e-01 -5.97262371e-01 -8.68580347e-03 -1.36637304e+02] [-5.97230586e-01 -8.02045885e-01 6.16646464e-03 -2.55278116e+02] [-1.06494102e-02 2.41929703e-04 -9.99943264e-01 -1.79804320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 760.8365599949999 meters 0.016906784086534555 Centerline is valid? [True, True] Translation: X:-136.64, Y:-255.29, Z:-1.80 [[ 8.45319276e-01 -5.34186024e-01 -8.97851997e-03 -1.36639405e+02] [-5.34159080e-01 -8.45366918e-01 5.37134014e-03 -2.55285314e+02] [-1.04594386e-02 2.55460602e-04 -9.99945266e-01 -1.79785854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 760.866559995 meters 0.017728513149034297 Centerline is valid? [True, True] Translation: X:-136.64, Y:-255.29, Z:-1.80 [[ 8.83529849e-01 -4.68299112e-01 -8.42305062e-03 -1.36641157e+02] [-4.68280505e-01 -8.83569963e-01 4.18203905e-03 -2.55292169e+02] [-9.40079970e-03 2.49394067e-04 -9.99955781e-01 -1.79805309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 760.896559995 meters 0.01770807390772418 Centerline is valid? [True, True] Translation: X:-136.64, Y:-255.30, Z:-1.80 [[ 9.17379630e-01 -3.97933309e-01 -7.98105383e-03 -1.36641814e+02] [-3.97920417e-01 -9.17414317e-01 3.21136270e-03 -2.55300009e+02] [-8.59984123e-03 2.29785547e-04 -9.99962994e-01 -1.79901419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 760.9265599949999 meters 0.017858200384213832 Centerline is valid? [True, True] Translation: X:-136.64, Y:-255.31, Z:-1.80 [[ 9.45870754e-01 -3.24453440e-01 -7.64742982e-03 -1.36642799e+02] [-3.24444619e-01 -9.45901645e-01 2.40164993e-03 -2.55306347e+02] [-8.01294003e-03 2.09517022e-04 -9.99967874e-01 -1.79974224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 760.9565599949999 meters 0.016185669480505954 Centerline is valid? [True, True] Translation: X:-136.64, Y:-255.32, Z:-1.80 [[ 9.69158195e-01 -2.46361091e-01 -6.21341510e-03 -1.36643665e+02] [-2.46356994e-01 -9.69178101e-01 1.42831479e-03 -2.55319194e+02] [-6.37378704e-03 1.46455281e-04 -9.99979677e-01 -1.80131039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 760.986559995 meters 0.015181992931621162 Centerline is valid? [True, True] Translation: X:-136.65, Y:-255.33, Z:-1.80 [[ 9.85941894e-01 -1.66980054e-01 -6.02020289e-03 -1.36645839e+02] [-1.66977702e-01 -9.85960266e-01 8.94732903e-04 -2.55332440e+02] [-6.08508339e-03 1.23084988e-04 -9.99981478e-01 -1.80200819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 761.016559995 meters 0.014610226150768008 Centerline is valid? [True, True] Translation: X:-136.65, Y:-255.34, Z:-1.80 [[ 9.96283642e-01 -8.59332071e-02 -5.86415255e-03 -1.36648230e+02] [-8.59323033e-02 -9.96300895e-01 4.06384254e-04 -2.55343864e+02] [-5.87738233e-03 9.90461502e-05 -9.99982723e-01 -1.80178793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 761.0465599949999 meters 0.013797657418678439 Centerline is valid? [True, True] Translation: X:-136.65, Y:-255.36, Z:-1.80 [[ 9.99977646e-01 -3.81723369e-03 -5.48968641e-03 -1.36648213e+02] [-3.81756764e-03 -9.99992712e-01 -5.03546962e-05 -2.55356814e+02] [-5.48945418e-03 7.13108198e-05 -9.99984930e-01 -1.80149244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 761.0765599949999 meters 0.013797657418678439 Centerline is valid? [True, True] Translation: X:-136.65, Y:-255.37, Z:-1.80 [[ 9.97207111e-01 7.44853603e-02 -5.46897327e-03 -1.36648016e+02] [ 7.44838478e-02 -9.97222105e-01 -4.79997204e-04 -2.55365566e+02] [-5.48953380e-03 7.13064518e-05 -9.99984930e-01 -1.80149171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 761.106559995 meters 0.01283041351087061 Centerline is valid? [True, True] Translation: X:-136.64, Y:-255.38, Z:-1.80 [[ 9.87046725e-01 1.60349614e-01 -5.17345943e-03 -1.36644927e+02] [ 1.60347277e-01 -9.87060282e-01 -8.66192409e-04 -2.55381988e+02] [-5.24540995e-03 2.54222490e-05 -9.99986243e-01 -1.80074931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 761.136559995 meters 0.012602385371991962 Centerline is valid? [True, True] Translation: X:-136.64, Y:-255.40, Z:-1.80 [[ 9.70490355e-01 2.41088513e-01 -4.97992307e-03 -1.36641144e+02] [ 2.41085318e-01 -9.70503132e-01 -1.24120669e-03 -2.55395123e+02] [-5.13227161e-03 3.99278687e-06 -9.99986830e-01 -1.80065814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 761.166559995 meters 0.012866087324339723 Centerline is valid? [True, True] Translation: X:-136.64, Y:-255.41, Z:-1.80 [[ 9.46318436e-01 3.23199842e-01 -4.82503555e-03 -1.36635715e+02] [ 3.23195817e-01 -9.46330736e-01 -1.61320898e-03 -2.55409965e+02] [-5.08746833e-03 -3.28219064e-05 -9.99987058e-01 -1.80049504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 761.1965599949999 meters 0.013245624864750756 Centerline is valid? [True, True] Translation: X:-136.63, Y:-255.42, Z:-1.80 [[ 9.16932392e-01 3.99013920e-01 -4.78334899e-03 -1.36631014e+02] [ 3.99008769e-01 -9.16944867e-01 -2.02811288e-03 -2.55419112e+02] [-5.19531257e-03 -4.89557966e-05 -9.99986503e-01 -1.80027512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 761.226559995 meters 0.013478198690936567 Centerline is valid? [True, True] Translation: X:-136.62, Y:-255.43, Z:-1.80 [[ 8.81908213e-01 4.71399832e-01 -4.48355168e-03 -1.36624608e+02] [ 4.71394074e-01 -8.81919608e-01 -2.33077743e-03 -2.55428057e+02] [-5.05286023e-03 -5.79879370e-05 -9.99987233e-01 -1.80028747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 761.256559995 meters 0.013823094004187287 Centerline is valid? [True, True] Translation: X:-136.62, Y:-255.44, Z:-1.80 [[ 8.41289599e-01 5.40567753e-01 -4.27963753e-03 -1.36617755e+02] [ 5.40561164e-01 -8.41300482e-01 -2.66980124e-03 -2.55436465e+02] [-5.04366957e-03 -6.73298300e-05 -9.99987278e-01 -1.79960202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 761.286559995 meters 0.014116205951865251 Centerline is valid? [True, True] Translation: X:-136.61, Y:-255.44, Z:-1.80 [[ 7.96579054e-01 6.04521668e-01 -3.91964844e-03 -1.36612698e+02] [ 6.04514741e-01 -7.96588695e-01 -2.89468947e-03 -2.55442000e+02] [-4.87225014e-03 -6.36362583e-05 -9.99988129e-01 -1.79940470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 761.3165599949999 meters 0.0133817131653235 Centerline is valid? [True, True] Translation: X:-136.61, Y:-255.44, Z:-1.80 [[ 7.48082865e-01 6.63597180e-01 -3.28799036e-03 -1.36607693e+02] [ 6.63591052e-01 -7.48090089e-01 -2.85209082e-03 -2.55444377e+02] [-4.35235242e-03 -4.82807049e-05 -9.99990527e-01 -1.79946461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 761.3465599949999 meters 0.0131671446141522 Centerline is valid? [True, True] Translation: X:-136.60, Y:-255.45, Z:-1.80 [[ 6.94886262e-01 7.19112528e-01 -3.20232502e-03 -1.36602069e+02] [ 7.19105181e-01 -6.94893640e-01 -3.25089353e-03 -2.55447865e+02] [-4.56303355e-03 -4.38072643e-05 -9.99989588e-01 -1.79927062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 761.376559995 meters 0.013140765418569593 Centerline is valid? [True, True] Translation: X:-136.60, Y:-255.45, Z:-1.80 [[ 6.37551310e-01 7.70401167e-01 -3.22021084e-03 -1.36596732e+02] [ 7.70391664e-01 -6.37559441e-01 -3.82666471e-03 -2.55451581e+02] [-5.00114278e-03 -4.11284887e-05 -9.99987493e-01 -1.79854712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 761.406559995 meters 0.012860230876422114 Centerline is valid? [True, True] Translation: X:-136.59, Y:-255.45, Z:-1.80 [[ 5.76657136e-01 8.16980825e-01 -2.97987526e-03 -1.36592205e+02] [ 8.16970216e-01 -5.76664834e-01 -4.16371411e-03 -2.55453631e+02] [-5.12006386e-03 -3.34338851e-05 -9.99986892e-01 -1.79862160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 761.4365599949999 meters 0.012505483146956611 Centerline is valid? [True, True] Translation: X:-136.59, Y:-255.45, Z:-1.80 [[ 5.13621425e-01 8.58011097e-01 -3.16061558e-03 -1.36587028e+02] [ 8.57995105e-01 -5.13631149e-01 -5.23862119e-03 -2.55454901e+02] [-6.11818573e-03 -2.11246147e-05 -9.99981284e-01 -1.79800523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 761.4665599949999 meters 0.012460874015808254 Centerline is valid? [True, True] Translation: X:-136.58, Y:-255.46, Z:-1.80 [[ 4.46288332e-01 8.94885118e-01 -2.71118987e-03 -1.36581438e+02] [ 8.94868758e-01 -4.46296567e-01 -5.41112881e-03 -2.55456380e+02] [-6.05233337e-03 -1.12354575e-05 -9.99981685e-01 -1.79730047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 761.496559995 meters 0.012401172711919236 Centerline is valid? [True, True] Translation: X:-136.57, Y:-255.46, Z:-1.80 [[ 3.76257717e-01 9.26512096e-01 -2.33820762e-03 -1.36573854e+02] [ 9.26494240e-01 -3.76264982e-01 -5.75213309e-03 -2.55458983e+02] [-6.20920653e-03 -2.05142698e-06 -9.99980723e-01 -1.79755996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 761.526559995 meters 0.012492301646245964 Centerline is valid? [True, True] Translation: X:-136.57, Y:-255.46, Z:-1.80 [[ 3.05091431e-01 9.52321522e-01 -1.71387683e-03 -1.36568733e+02] [ 9.52306247e-01 -3.05096244e-01 -5.39379033e-03 -2.55460916e+02] [-5.65952000e-03 1.34635977e-05 -9.99983985e-01 -1.79785492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 761.5565599949999 meters 0.012538399402396068 Centerline is valid? [True, True] Translation: X:-136.56, Y:-255.46, Z:-1.80 [[ 2.30870081e-01 9.72983820e-01 -1.22130941e-03 -1.36563224e+02] [ 9.72969743e-01 -2.30873310e-01 -5.23398649e-03 -2.55462972e+02] [-5.37455191e-03 2.00737756e-05 -9.99985557e-01 -1.79802329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 761.5865599949999 meters 0.012764483129474612 Centerline is valid? [True, True] Translation: X:-136.56, Y:-255.46, Z:-1.80 [[ 1.57053774e-01 9.87589829e-01 -6.64412837e-04 -1.36557838e+02] [ 9.87580144e-01 -1.57055177e-01 -4.37382219e-03 -2.55463977e+02] [-4.42389178e-03 3.07643579e-05 -9.99990214e-01 -1.79881183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 761.616559995 meters 0.012981277189287328 Centerline is valid? [True, True] Translation: X:-136.55, Y:-255.47, Z:-1.80 [[ 8.09152751e-02 9.96720924e-01 -3.44433255e-04 -1.36551785e+02] [ 9.96709620e-01 -8.09159979e-02 -4.74704400e-03 -2.55465338e+02] [-4.75934825e-03 4.08084329e-05 -9.99988674e-01 -1.79858927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 761.646559995 meters 0.01326189421839105 Centerline is valid? [True, True] Translation: X:-136.55, Y:-255.47, Z:-1.80 [[ 4.30729173e-03 9.99990723e-01 2.70402124e-05 -1.36546199e+02] [ 9.99980624e-01 -4.30712669e-03 -4.49459121e-03 -2.55466089e+02] [-4.49443305e-03 4.63992040e-05 -9.99989899e-01 -1.79814624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 761.6765599949999 meters 0.013653684901723528 Centerline is valid? [True, True] Translation: X:-136.54, Y:-255.47, Z:-1.80 [[-7.19602689e-02 9.97407420e-01 3.98446561e-04 -1.36540459e+02] [ 9.97396301e-01 7.19613482e-02 -4.70997783e-03 -2.55466392e+02] [-4.72643959e-03 5.84778552e-05 -9.99988829e-01 -1.79755527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 761.7065599949999 meters 0.0143650489143104 Centerline is valid? [True, True] Translation: X:-136.54, Y:-255.47, Z:-1.80 [[-1.46761086e-01 9.89171624e-01 8.25991735e-04 -1.36537211e+02] [ 9.89158840e-01 1.46763389e-01 -5.02952935e-03 -2.55468237e+02] [-5.09629306e-03 7.88978391e-05 -9.99987011e-01 -1.79705739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 761.736559995 meters 0.01473187310195388 Centerline is valid? [True, True] Translation: X:-136.53, Y:-255.47, Z:-1.80 [[-2.22282802e-01 9.74981610e-01 1.10239524e-03 -1.36532999e+02] [ 9.74971317e-01 2.22285522e-01 -4.48093811e-03 -2.55468463e+02] [-4.61387876e-03 7.87682560e-05 -9.99989353e-01 -1.79722402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 761.766559995 meters 0.014528511111429812 Centerline is valid? [True, True] Translation: X:-136.52, Y:-255.47, Z:-1.80 [[-2.96648075e-01 9.54985933e-01 1.33726216e-03 -1.36524601e+02] [ 9.54977390e-01 2.96651078e-01 -4.04001718e-03 -2.55467820e+02] [-4.25485984e-03 7.85918119e-05 -9.99990945e-01 -1.79787342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 761.7965599949999 meters 0.015225443192582016 Centerline is valid? [True, True] Translation: X:-136.52, Y:-255.47, Z:-1.80 [[-3.68842033e-01 9.29490729e-01 1.59363325e-03 -1.36518188e+02] [ 9.29483006e-01 3.68845466e-01 -3.78996049e-03 -2.55468058e+02] [-4.11053753e-03 8.33582935e-05 -9.99991548e-01 -1.79836070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 761.8265599949999 meters 0.015263122656064814 Centerline is valid? [True, True] Translation: X:-136.51, Y:-255.47, Z:-1.80 [[-4.40124369e-01 8.97935270e-01 1.67059604e-03 -1.36510672e+02] [ 8.97929440e-01 4.40127533e-01 -3.23654296e-03 -2.55466183e+02] [-3.64148139e-03 7.55959395e-05 -9.99993367e-01 -1.79842141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 761.856559995 meters 0.015174398465347304 Centerline is valid? [True, True] Translation: X:-136.50, Y:-255.46, Z:-1.80 [[-5.09142125e-01 8.60680945e-01 1.61495280e-03 -1.36503062e+02] [ 8.60677006e-01 5.09144682e-01 -2.60457787e-03 -2.55463358e+02] [-3.06395518e-03 6.38524291e-05 -9.99995304e-01 -1.79885515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 761.886559995 meters 0.015308307913118279 Centerline is valid? [True, True] Translation: X:-136.50, Y:-255.46, Z:-1.80 [[-5.75846713e-01 8.17556894e-01 1.13494376e-03 -1.36495883e+02] [ 8.17555437e-01 5.75847830e-01 -1.54427873e-03 -2.55461399e+02] [-1.91609063e-03 3.86116109e-05 -9.99998164e-01 -1.79965132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 761.916559995 meters 0.014719355827021496 Centerline is valid? [True, True] Translation: X:-136.49, Y:-255.46, Z:-1.80 [[-6.39090298e-01 7.69130967e-01 1.07044686e-03 -1.36488453e+02] [ 7.69129969e-01 6.39091194e-01 -1.23934526e-03 -2.55457450e+02] [-1.63733199e-03 3.12592280e-05 -9.99998659e-01 -1.79998324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 761.9465599949999 meters 0.01431057556221035 Centerline is valid? [True, True] Translation: X:-136.48, Y:-255.45, Z:-1.80 [[-6.98431236e-01 7.15676513e-01 9.68191556e-04 -1.36480851e+02] [ 7.15675873e-01 6.98431907e-01 -9.57344064e-04 -2.55452105e+02] [-1.36136454e-03 2.42723393e-05 -9.99999073e-01 -1.79982427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 761.976559995 meters 0.013470638180645663 Centerline is valid? [True, True] Translation: X:-136.46, Y:-255.43, Z:-1.80 [[-7.49917536e-01 6.61530441e-01 1.07924193e-03 -1.36460118e+02] [ 6.61529793e-01 7.49918313e-01 -9.26015934e-04 -2.55428174e+02] [-1.42193102e-03 1.95151045e-05 -9.99998989e-01 -1.79961661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 762.006559995 meters 0.013174441123513358 Centerline is valid? [True, True] Translation: X:-136.02, Y:-254.92, Z:-2.79 [[-7.19843802e-01 -6.94135165e-01 1.12839348e-03 -1.36018915e+02] [ 6.94134287e-01 -7.19844686e-01 -1.10451597e-03 -2.54917733e+02] [ 1.57895143e-03 -1.18223754e-05 9.99998754e-01 -2.78589403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 762.036559995 meters 0.012933129187602768 Centerline is valid? [True, True] Translation: X:-136.49, Y:-255.40, Z:-1.80 [[-7.55285204e-01 6.55395227e-01 1.16492268e-03 -1.36493582e+02] [ 6.55394475e-01 7.55286103e-01 -9.92575705e-04 -2.55396708e+02] [-1.53037929e-03 1.38061468e-05 -9.99998829e-01 -1.79923757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 762.0665599949999 meters 0.012457729563882244 Centerline is valid? [True, True] Translation: X:-136.48, Y:-255.37, Z:-1.80 [[-8.02551262e-01 5.96581732e-01 1.30720523e-03 -1.36477445e+02] [ 5.96580955e-01 8.02552327e-01 -9.62962283e-04 -2.55369279e+02] [-1.62358631e-03 7.02715032e-06 -9.99998682e-01 -1.79895091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 762.0965599949999 meters 0.012419933326281649 Centerline is valid? [True, True] Translation: X:-136.46, Y:-255.35, Z:-1.80 [[-8.43952773e-01 5.36416002e-01 1.26090499e-03 -1.36459905e+02] [ 5.36415409e-01 8.43953715e-01 -7.97535312e-04 -2.55345724e+02] [-1.49195616e-03 3.28673020e-06 -9.99998887e-01 -1.79878388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 762.126559995 meters 0.012450291195573612 Centerline is valid? [True, True] Translation: X:-136.45, Y:-255.32, Z:-1.80 [[-8.80856834e-01 4.73381064e-01 1.26722364e-03 -1.36446636e+02] [ 4.73380574e-01 8.80857746e-01 -6.80974043e-04 -2.55319611e+02] [-1.43860397e-03 3.84121989e-08 -9.99998965e-01 -1.79872022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 762.156559995 meters 0.012741338164990202 Centerline is valid? [True, True] Translation: X:-136.44, Y:-255.29, Z:-1.80 [[-9.14095165e-01 4.05494975e-01 1.96349286e-03 -1.36439179e+02] [ 4.05494014e-01 9.14097274e-01 -8.82888952e-04 -2.55288476e+02] [-2.15283050e-03 -1.08599221e-05 -9.99997683e-01 -1.79758148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 762.1865599949999 meters 0.01296374706158355 Centerline is valid? [True, True] Translation: X:-136.43, Y:-255.26, Z:-1.80 [[-9.41341150e-01 3.37445207e-01 2.75164167e-03 -1.36428493e+02] [ 3.37443696e-01 9.41345171e-01 -1.01005648e-03 -2.55261781e+02] [-2.93108332e-03 -2.22835882e-05 -9.99995704e-01 -1.79724467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 762.2165599949999 meters 0.013341489820575802 Centerline is valid? [True, True] Translation: X:-136.20, Y:-254.65, Z:-2.79 [[-9.08803591e-01 -4.17213828e-01 2.94192637e-03 -1.36202732e+02] [ 4.17211795e-01 -9.08808352e-01 -1.30307895e-03 -2.54654984e+02] [ 3.21730981e-03 4.31635539e-05 9.99994824e-01 -2.78879510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 762.246559995 meters 0.013791219477226405 Centerline is valid? [True, True] Translation: X:-136.47, Y:-255.24, Z:-1.80 [[-9.44266207e-01 3.29167632e-01 3.16224152e-03 -1.36474014e+02] [ 3.29165634e-01 9.44271501e-01 -1.14778784e-03 -2.55241932e+02] [-3.36382915e-03 -4.29160347e-05 -9.99994342e-01 -1.79649977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 762.276559995 meters 0.015325691019939745 Centerline is valid? [True, True] Translation: X:-136.47, Y:-255.21, Z:-1.80 [[-9.66338817e-01 2.57248086e-01 3.56558122e-03 -1.36471817e+02] [ 2.57246092e-01 9.66345393e-01 -1.01475302e-03 -2.55209558e+02] [-3.70662625e-03 -6.33633999e-05 -9.99993129e-01 -1.79570356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 762.3065599949999 meters 0.014731301566191837 Centerline is valid? [True, True] Translation: X:-136.29, Y:-254.60, Z:-2.79 [[-9.34359707e-01 -3.56316876e-01 3.19720483e-03 -1.36292101e+02] [ 3.56314931e-01 -9.34365176e-01 -1.17782525e-03 -2.54599241e+02] [ 3.40703587e-03 3.86993592e-05 9.99994195e-01 -2.78940062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 762.3365599949999 meters 0.015488965644851756 Centerline is valid? [True, True] Translation: X:-136.52, Y:-255.20, Z:-1.80 [[-9.68103957e-01 2.50526749e-01 3.32816408e-03 -1.36515831e+02] [ 2.50525021e-01 9.68109675e-01 -9.33157323e-04 -2.55198624e+02] [-3.45580872e-03 -6.96049226e-05 -9.99994026e-01 -1.79611794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 762.366559995 meters 0.015924132698508706 Centerline is valid? [True, True] Translation: X:-136.52, Y:-255.17, Z:-1.80 [[-9.83648798e-01 1.80053014e-01 3.99429715e-03 -1.36517626e+02] [ 1.80051168e-01 9.83656904e-01 -8.19939938e-04 -2.55170407e+02] [-4.07665062e-03 -8.73550670e-05 -9.99991687e-01 -1.79579818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 762.396559995 meters 0.015607845546833973 Centerline is valid? [True, True] Translation: X:-136.51, Y:-255.15, Z:-1.80 [[-9.93918876e-01 1.10048767e-01 3.81285545e-03 -1.36510608e+02] [ 1.10047643e-01 9.93926186e-01 -5.03908359e-04 -2.55145238e+02] [-3.84515137e-03 -8.12482733e-05 -9.99992604e-01 -1.79566771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 762.4265599949999 meters 0.01556156270014204 Centerline is valid? [True, True] Translation: X:-136.43, Y:-254.51, Z:-2.79 [[-9.75811093e-01 -2.18585129e-01 3.64042803e-03 -1.36425296e+02] [ 2.18583875e-01 -9.75817881e-01 -7.43612833e-04 -2.54509714e+02] [ 3.71493748e-03 7.01132148e-05 9.99993097e-01 -2.78999428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 762.4565599949999 meters 0.014835611563570718 Centerline is valid? [True, True] Translation: X:-136.56, Y:-255.14, Z:-1.80 [[-9.94166560e-01 1.07785074e-01 3.90249100e-03 -1.36561998e+02] [ 1.07783942e-01 9.94174216e-01 -4.99700378e-04 -2.55143994e+02] [-3.93361617e-03 -7.61595416e-05 -9.99992261e-01 -1.79536928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 762.486559995 meters 0.014813206384598852 Centerline is valid? [True, True] Translation: X:-136.47, Y:-254.50, Z:-2.79 [[-9.77170005e-01 -2.12424009e-01 3.84994213e-03 -1.36474871e+02] [ 2.12422663e-01 -9.77177586e-01 -7.59846978e-04 -2.54499020e+02] [ 3.92348690e-03 7.53152846e-05 9.99992300e-01 -2.79043059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 762.516559995 meters 0.014318907267013296 Centerline is valid? [True, True] Translation: X:-136.61, Y:-255.14, Z:-1.79 [[-9.94449452e-01 1.05106153e-01 4.79415726e-03 -1.36613512e+02] [ 1.05104509e-01 9.94461004e-01 -5.94324577e-04 -2.55141807e+02] [-4.83006961e-03 -8.71382038e-05 -9.99988331e-01 -1.79498835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 762.5465599949999 meters 0.014759645263094067 Centerline is valid? [True, True] Translation: X:-136.62, Y:-255.12, Z:-1.79 [[-9.99363367e-01 3.50618525e-02 6.59745938e-03 -1.36616960e+02] [ 3.50603339e-02 9.99385138e-01 -3.45726023e-04 -2.55115720e+02] [-6.60552465e-03 -1.14196794e-04 -9.99978177e-01 -1.79330077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 762.5765599949999 meters 0.014708640395373567 Centerline is valid? [True, True] Translation: X:-136.62, Y:-255.09, Z:-1.79 [[-9.99323996e-01 -3.59391518e-02 7.74131774e-03 -1.36618464e+02] [-3.59391049e-02 9.99353971e-01 1.45215364e-04 -2.55089864e+02] [-7.74153554e-03 -1.33098832e-04 -9.99970025e-01 -1.79237383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 762.606559995 meters 0.01469878009367733 Centerline is valid? [True, True] Translation: X:-136.63, Y:-255.07, Z:-1.79 [[-9.94254555e-01 -1.06545668e-01 1.02908041e-02 -1.36629646e+02] [-1.06541773e-01 9.94307795e-01 9.27515893e-04 -2.55066181e+02] [-1.03310495e-02 -1.74213616e-04 -9.99946618e-01 -1.79007176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 762.636559995 meters 0.01488702734510611 Centerline is valid? [True, True] Translation: X:-136.64, Y:-255.04, Z:-1.79 [[-9.84178016e-01 -1.76848440e-01 1.08748506e-02 -1.36637125e+02] [-1.76839685e-01 9.84238079e-01 1.76901657e-03 -2.55041067e+02] [-1.10162899e-02 -1.82077935e-04 -9.99939302e-01 -1.78924859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 762.666559995 meters 0.014317333322221166 Centerline is valid? [True, True] Translation: X:-136.66, Y:-255.02, Z:-1.79 [[-9.69040152e-01 -2.46637948e-01 1.14414784e-02 -1.36658456e+02] [-2.46623064e-01 9.69107676e-01 2.71614090e-03 -2.55020469e+02] [-1.17579280e-02 -1.89682890e-04 -9.99930855e-01 -1.78958961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 762.6965599949999 meters 0.014208921082436736 Centerline is valid? [True, True] Translation: X:-136.69, Y:-255.00, Z:-1.79 [[-9.48817860e-01 -3.15609649e-01 1.16283091e-02 -1.36694662e+02] [-3.15588412e-01 9.48889094e-01 3.66620879e-03 -2.55003888e+02] [-1.21910665e-02 -1.91195214e-04 -9.99925668e-01 -1.78963887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 762.726559995 meters 0.015274147204019024 Centerline is valid? [True, True] Translation: X:-136.75, Y:-254.99, Z:-1.79 [[-9.22996948e-01 -3.84642787e-01 1.12499224e-02 -1.36753871e+02] [-3.84616751e-01 9.23065485e-01 4.47943530e-03 -2.54993540e+02] [-1.21073976e-02 -1.92403502e-04 -9.99926684e-01 -1.78853164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 762.756559995 meters 0.014506333717096143 Centerline is valid? [True, True] Translation: X:-136.82, Y:-254.99, Z:-1.79 [[-8.91757256e-01 -4.52410953e-01 9.66055835e-03 -1.36816666e+02] [-4.52386571e-01 8.91809564e-01 4.70024075e-03 -2.54992575e+02] [-1.07418187e-02 -1.78833078e-04 -9.99942289e-01 -1.79172273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 762.786559995 meters 0.014476417759303913 Centerline is valid? [True, True] Translation: X:-136.89, Y:-255.00, Z:-1.79 [[-8.55795809e-01 -5.17240416e-01 8.71122441e-03 -1.36890622e+02] [-5.17215589e-01 8.55840128e-01 5.07052372e-03 -2.55000323e+02] [-1.00780952e-02 -1.66248120e-04 -9.99949201e-01 -1.79258648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 762.8165599949999 meters 0.014580226628035875 Centerline is valid? [True, True] Translation: X:-136.97, Y:-255.02, Z:-1.79 [[-8.15692103e-01 -5.78440032e-01 7.31585111e-03 -1.36970117e+02] [-5.78418216e-01 8.15724900e-01 5.02553000e-03 -2.55015939e+02] [-8.87468964e-03 -1.32336406e-04 -9.99960611e-01 -1.79323089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 762.8465599949999 meters 0.01349255663625795 Centerline is valid? [True, True] Translation: X:-137.05, Y:-255.05, Z:-1.79 [[-7.70977746e-01 -6.36827887e-01 6.59985857e-03 -1.37054194e+02] [-6.36805808e-01 7.71005985e-01 5.30410947e-03 -2.55046165e+02] [-8.46633529e-03 -1.13477909e-04 -9.99964154e-01 -1.79419773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 762.876559995 meters 0.013757376090816353 Centerline is valid? [True, True] Translation: X:-137.14, Y:-255.08, Z:-1.79 [[-7.21637335e-01 -6.92245094e-01 6.02388484e-03 -1.37137681e+02] [-6.92222121e-01 7.21662470e-01 5.64048778e-03 -2.55081217e+02] [-8.25181160e-03 -9.94797720e-05 -9.99965948e-01 -1.79353460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 762.906559995 meters 0.013423856595828563 Centerline is valid? [True, True] Translation: X:-137.22, Y:-255.13, Z:-1.79 [[-6.68478078e-01 -7.43710359e-01 5.65342444e-03 -1.37222143e+02] [-7.43684853e-01 6.68501978e-01 6.15996853e-03 -2.55128611e+02] [-8.36055783e-03 -8.65621960e-05 -9.99965046e-01 -1.79349149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 762.9365599949999 meters 0.012847452667761126 Centerline is valid? [True, True] Translation: X:-137.31, Y:-255.19, Z:-1.79 [[-6.12147477e-01 -7.90725744e-01 5.31642955e-03 -1.37307021e+02] [-7.90696860e-01 6.12170559e-01 6.75880274e-03 -2.55190417e+02] [-8.59892097e-03 -6.63001059e-05 -9.99963027e-01 -1.79430215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 762.9665599949999 meters 0.012767056575353758 Centerline is valid? [True, True] Translation: X:-137.39, Y:-255.26, Z:-1.79 [[-5.50969366e-01 -8.34512615e-01 4.63169480e-03 -1.37388140e+02] [-8.34483976e-01 5.50988831e-01 6.91392971e-03 -2.55255643e+02] [-8.32177367e-03 -5.57116139e-05 -9.99965372e-01 -1.79431936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 762.996559995 meters 0.012767056575353758 Centerline is valid? [True, True] Translation: X:-137.47, Y:-255.33, Z:-1.79 [[-4.85645055e-01 -8.74146527e-01 4.09030485e-03 -1.37468071e+02] [-8.74116484e-01 4.85662277e-01 7.24745250e-03 -2.55332130e+02] [-8.32184220e-03 -5.57134274e-05 -9.99965371e-01 -1.79431618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 763.026559995 meters 0.01295958027352846 Centerline is valid? [True, True] Translation: X:-137.55, Y:-255.42, Z:-1.79 [[-4.17525778e-01 -9.08658687e-01 3.40805274e-03 -1.37545173e+02] [-9.08629431e-01 4.17539683e-01 7.29175088e-03 -2.55418490e+02] [-8.04871004e-03 -5.21630629e-05 -9.99967607e-01 -1.79412637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 763.0565599949999 meters 0.012883973993646377 Centerline is valid? [True, True] Translation: X:-137.61, Y:-255.51, Z:-1.79 [[-3.46585844e-01 -9.38014230e-01 2.74900025e-03 -1.37613195e+02] [-9.37985879e-01 3.46596743e-01 7.29311205e-03 -2.55507422e+02] [-7.79383741e-03 -5.08340206e-05 -9.99969626e-01 -1.79464738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 763.0865599949999 meters 0.012931712998488725 Centerline is valid? [True, True] Translation: X:-137.68, Y:-255.61, Z:-1.79 [[-2.73299195e-01 -9.61926198e-01 2.35373376e-03 -1.37677162e+02] [-9.61892321e-01 2.73309325e-01 8.07319487e-03 -2.55606209e+02] [-8.40911503e-03 -5.76407667e-05 -9.99964641e-01 -1.79407508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 763.116559995 meters 0.0128621661209896 Centerline is valid? [True, True] Translation: X:-137.74, Y:-255.72, Z:-1.79 [[-1.98614320e-01 -9.80075833e-01 1.92698719e-03 -1.37735146e+02] [-9.80032804e-01 1.98623658e-01 9.18398499e-03 -2.55715569e+02] [-9.38374699e-03 -6.44397190e-05 -9.99955970e-01 -1.79339266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 763.146559995 meters 0.012869774430922166 Centerline is valid? [True, True] Translation: X:-137.78, Y:-255.82, Z:-1.79 [[-1.22690037e-01 -9.92444156e-01 1.32341211e-03 -1.37781615e+02] [-9.92392408e-01 1.22697154e-01 1.01349717e-02 -2.55818648e+02] [-1.02207723e-02 -6.98840818e-05 -9.99947764e-01 -1.79270368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 763.1765599949999 meters 0.01293219785798504 Centerline is valid? [True, True] Translation: X:-137.82, Y:-255.93, Z:-1.79 [[-4.62170905e-02 -9.98931258e-01 5.67945611e-04 -1.37820345e+02] [-9.98873618e-01 4.62205249e-02 1.07312057e-02 -2.55933582e+02] [-1.07459876e-02 -7.13407806e-05 -9.99942258e-01 -1.79260936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 763.2065599949999 meters 0.012961333214853345 Centerline is valid? [True, True] Translation: X:-137.85, Y:-256.05, Z:-1.79 [[ 2.99269225e-02 -9.99552055e-01 -2.63286529e-04 -1.37850514e+02] [-9.99492294e-01 -2.99280123e-02 1.09301516e-02 -2.56052126e+02] [-1.09331351e-02 -6.39529427e-05 -9.99940230e-01 -1.79218249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 763.236559995 meters 0.012837773298358666 Centerline is valid? [True, True] Translation: X:-137.87, Y:-256.17, Z:-1.79 [[ 1.06250691e-01 -9.94338791e-01 -1.07665793e-03 -1.37870622e+02] [-9.94282211e-01 -1.06256131e-01 1.06075153e-02 -2.56167394e+02] [-1.06618654e-02 -5.65540071e-05 -9.99943159e-01 -1.79286007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 763.266559995 meters 0.01283686636094372 Centerline is valid? [True, True] Translation: X:-137.88, Y:-256.29, Z:-1.79 [[ 1.81576563e-01 -9.83375088e-01 -1.84049072e-03 -1.37881343e+02] [-9.83321962e-01 -1.81585884e-01 1.02217874e-02 -2.56287374e+02] [-1.03860582e-02 -4.62420786e-05 -9.99946062e-01 -1.79287576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 763.2965599949999 meters 0.012663382356426176 Centerline is valid? [True, True] Translation: X:-137.88, Y:-256.40, Z:-1.79 [[ 2.55636185e-01 -9.66769855e-01 -2.48782700e-03 -1.37882757e+02] [-9.66722824e-01 -2.55648289e-01 9.53595762e-03 -2.56404965e+02] [-9.85508507e-03 -3.26966828e-05 -9.99951437e-01 -1.79425392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 763.3265599949999 meters 0.012598897421892862 Centerline is valid? [True, True] Translation: X:-137.87, Y:-256.53, Z:-1.79 [[ 3.27169336e-01 -9.44960358e-01 -3.18544116e-03 -1.37873523e+02] [-9.44915223e-01 -3.27184843e-01 9.23580273e-03 -2.56527664e+02] [-9.76969552e-03 -1.16996063e-05 -9.99952275e-01 -1.79397690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 763.356559995 meters 0.012658686418069168 Centerline is valid? [True, True] Translation: X:-137.86, Y:-256.64, Z:-1.79 [[ 3.97804129e-01 -9.17462721e-01 -3.74588358e-03 -1.37858091e+02] [-9.17422021e-01 -3.97821765e-01 8.64165922e-03 -2.56642649e+02] [-9.41859419e-03 -1.13163335e-06 -9.99955644e-01 -1.79306874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 763.386559995 meters 0.012610380098781621 Centerline is valid? [True, True] Translation: X:-137.83, Y:-256.76, Z:-1.79 [[ 4.66402383e-01 -8.84562021e-01 -4.34148426e-03 -1.37834041e+02] [-8.84523824e-01 -4.66422588e-01 8.22038399e-03 -2.56755416e+02] [-9.29640581e-03 6.13957485e-06 -9.99956788e-01 -1.79438046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 763.416559995 meters 0.012668004702059851 Centerline is valid? [True, True] Translation: X:-137.80, Y:-256.86, Z:-1.79 [[ 5.31659214e-01 -8.46943370e-01 -5.04079319e-03 -1.37802411e+02] [-8.46905656e-01 -5.31683109e-01 7.99256237e-03 -2.56862740e+02] [-9.44935230e-03 1.97568377e-05 -9.99955354e-01 -1.79437281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 763.4465599949999 meters 0.012788122039168268 Centerline is valid? [True, True] Translation: X:-137.76, Y:-256.97, Z:-1.79 [[ 5.94280206e-01 -8.04240084e-01 -5.37815086e-03 -1.37758634e+02] [-8.04207545e-01 -5.94304541e-01 7.23440769e-03 -2.56973870e+02] [-9.01446012e-03 2.58842026e-05 -9.99959369e-01 -1.79392161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 763.476559995 meters 0.012815447234476847 Centerline is valid? [True, True] Translation: X:-137.71, Y:-257.08, Z:-1.79 [[ 6.53170251e-01 -7.57189023e-01 -5.77983048e-03 -1.37709727e+02] [-7.57159850e-01 -6.53195822e-01 6.64681005e-03 -2.57077255e+02] [-8.80825273e-03 3.47569819e-05 -9.99961206e-01 -1.79456387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 763.506559995 meters 0.0127527071060137 Centerline is valid? [True, True] Translation: X:-137.67, Y:-257.16, Z:-1.80 [[ 7.08144928e-01 -7.06042364e-01 -5.91117276e-03 -1.37665011e+02] [-7.06018273e-01 -7.08169597e-01 5.83267298e-03 -2.57163871e+02] [-8.30422705e-03 4.30181967e-05 -9.99965519e-01 -1.79589128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 763.536559995 meters 0.0127252388129061 Centerline is valid? [True, True] Translation: X:-137.67, Y:-257.17, Z:-1.80 [[ 7.61153343e-01 -6.48540522e-01 -6.38600024e-03 -1.37669298e+02] [-6.48518175e-01 -7.61180130e-01 5.38391055e-03 -2.57172529e+02] [-8.35258065e-03 4.34557102e-05 -9.99965116e-01 -1.79584518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 763.5665599949999 meters 0.012780352191387635 Centerline is valid? [True, True] Translation: X:-137.67, Y:-257.18, Z:-1.79 [[ 8.10122374e-01 -5.86219659e-01 -6.94628475e-03 -1.37673439e+02] [-5.86198488e-01 -8.10152153e-01 4.98220657e-03 -2.57180847e+02] [-8.54821498e-03 3.57046082e-05 -9.99963463e-01 -1.79465479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 763.5965599949999 meters 0.012688611838063349 Centerline is valid? [True, True] Translation: X:-137.68, Y:-257.19, Z:-1.79 [[ 8.54019205e-01 -5.20183282e-01 -7.78147038e-03 -1.37676182e+02] [-5.20161988e-01 -8.54054654e-01 4.70676870e-03 -2.57191143e+02] [-9.09418338e-03 2.79542364e-05 -9.99958647e-01 -1.79455406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 763.626559995 meters 0.012609881327896639 Centerline is valid? [True, True] Translation: X:-137.68, Y:-257.20, Z:-1.79 [[ 8.92769935e-01 -4.50438235e-01 -8.19994044e-03 -1.37678726e+02] [-4.50419380e-01 -8.92807592e-01 4.12142260e-03 -2.57200454e+02] [-9.17741540e-03 1.39298965e-05 -9.99957887e-01 -1.79396442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 763.656559995 meters 0.01264340402469053 Centerline is valid? [True, True] Translation: X:-137.68, Y:-257.21, Z:-1.79 [[ 9.26652193e-01 -3.75821169e-01 -8.61176194e-03 -1.37680850e+02] [-3.75804735e-01 -9.26692208e-01 3.51464152e-03 -2.57212263e+02] [-9.30132937e-03 -2.05093588e-05 -9.99956742e-01 -1.79375988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 763.6865599949999 meters 0.012686625802235155 Centerline is valid? [True, True] Translation: X:-137.68, Y:-257.22, Z:-1.79 [[ 9.53821384e-01 -3.00246242e-01 -8.77272062e-03 -1.37681037e+02] [-3.00233164e-01 -9.53861726e-01 2.80268146e-03 -2.57224272e+02] [-9.20945701e-03 -3.93958468e-05 -9.99957591e-01 -1.79403215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 763.7165599949999 meters 0.01290964697891743 Centerline is valid? [True, True] Translation: X:-137.68, Y:-257.24, Z:-1.79 [[ 9.74895181e-01 -2.22483725e-01 -8.96540314e-03 -1.37681681e+02] [-2.22473738e-01 -9.74936402e-01 2.10894773e-03 -2.57235199e+02] [-9.20990443e-03 -6.14362303e-05 -9.99957586e-01 -1.79347146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 763.746559995 meters 0.013188287021413031 Centerline is valid? [True, True] Translation: X:-137.68, Y:-257.25, Z:-1.79 [[ 9.89609326e-01 -1.43471017e-01 -9.45776823e-03 -1.37681137e+02] [-1.43463650e-01 -9.89654516e-01 1.45629053e-03 -2.57245127e+02] [-9.56885852e-03 -8.43127408e-05 -9.99954214e-01 -1.79279022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 763.776559995 meters 0.013531111126471498 Centerline is valid? [True, True] Translation: X:-137.68, Y:-257.25, Z:-1.79 [[ 9.97949122e-01 -6.32940702e-02 -9.56088641e-03 -1.37681720e+02] [-6.32901449e-02 -9.97994915e-01 7.12868119e-04 -2.57253880e+02] [-9.58683634e-03 -1.06296227e-04 -9.99954040e-01 -1.79278840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 763.8065599949999 meters 0.01398327372203608 Centerline is valid? [True, True] Translation: X:-137.68, Y:-257.26, Z:-1.79 [[ 9.99773922e-01 1.86663609e-02 -1.01819082e-02 -1.37681438e+02] [ 1.86669258e-02 -9.99825757e-01 -3.95576686e-05 -2.57264863e+02] [-1.01808724e-02 -1.50516198e-04 -9.99948162e-01 -1.79198818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 763.8365599949999 meters 0.014182324855607567 Centerline is valid? [True, True] Translation: X:-137.68, Y:-257.28, Z:-1.79 [[ 9.95092806e-01 9.83708947e-02 -1.06524478e-02 -1.37680066e+02] [ 9.83671312e-02 -9.95149806e-01 -8.77941375e-04 -2.57275153e+02] [-1.06871452e-02 -1.74217581e-04 -9.99942876e-01 -1.79177886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 763.866559995 meters 0.015681429704650578 Centerline is valid? [True, True] Translation: X:-137.68, Y:-257.29, Z:-1.79 [[ 9.84086860e-01 1.77325652e-01 -1.13430915e-02 -1.37678825e+02] [ 1.77316248e-01 -9.84152210e-01 -1.83751496e-03 -2.57287570e+02] [-1.14891671e-02 -2.03040107e-04 -9.99933977e-01 -1.78943834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 763.896559995 meters 0.0150198567241477 Centerline is valid? [True, True] Translation: X:-137.68, Y:-257.29, Z:-1.79 [[ 9.67156262e-01 2.53935732e-01 -1.11986535e-02 -1.37677522e+02] [ 2.53921162e-01 -9.67221072e-01 -2.72793875e-03 -2.57291976e+02] [-1.15242948e-02 -2.05232061e-04 -9.99933572e-01 -1.79020638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 763.9265599949999 meters 0.014637485919443844 Centerline is valid? [True, True] Translation: X:-137.67, Y:-257.30, Z:-1.79 [[ 9.44540229e-01 3.28225992e-01 -1.05571368e-02 -1.37674692e+02] [ 3.28207740e-01 -9.44599207e-01 -3.46670266e-03 -2.57297487e+02] [-1.11101250e-02 -1.90493883e-04 -9.99938263e-01 -1.79070548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 763.9565599949999 meters 0.014299673709584293 Centerline is valid? [True, True] Translation: X:-137.67, Y:-257.30, Z:-1.79 [[ 9.16888723e-01 3.99041117e-01 -9.01424750e-03 -1.37673113e+02] [ 3.99023381e-01 -9.16933022e-01 -3.76504622e-03 -2.57302023e+02] [-9.76786945e-03 -1.44767094e-04 -9.99952283e-01 -1.79131052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 763.986559995 meters 0.013582751437797002 Centerline is valid? [True, True] Translation: X:-137.67, Y:-257.31, Z:-1.79 [[ 8.83569523e-01 4.68229246e-01 -8.14074654e-03 -1.37670061e+02] [ 4.68210631e-01 -8.83607016e-01 -4.17689773e-03 -2.57308267e+02] [-9.14896643e-03 -1.21004545e-04 -9.99958140e-01 -1.79239844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 764.016559995 meters 0.013315908661417993 Centerline is valid? [True, True] Translation: X:-137.67, Y:-257.31, Z:-1.79 [[ 8.45255267e-01 5.34319240e-01 -6.81788327e-03 -1.37665472e+02] [ 5.34302716e-01 -8.45282758e-01 -4.20309141e-03 -2.57314899e+02] [-8.00883179e-03 -9.01283943e-05 -9.99967925e-01 -1.79309461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 764.0465599949999 meters 0.012941988909123299 Centerline is valid? [True, True] Translation: X:-137.66, Y:-257.32, Z:-1.79 [[ 8.02942516e-01 5.96031081e-01 -5.50144608e-03 -1.37662680e+02] [ 5.96017539e-01 -8.02961361e-01 -4.01812052e-03 -2.57321107e+02] [-6.81237335e-03 -5.26385543e-05 -9.99976794e-01 -1.79419003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 764.0765599949999 meters 0.012715058631367378 Centerline is valid? [True, True] Translation: X:-137.66, Y:-257.33, Z:-1.79 [[ 7.54956433e-01 6.55758070e-01 -4.70515279e-03 -1.37658223e+02] [ 6.55745640e-01 -7.54971094e-01 -4.03781787e-03 -2.57327005e+02] [-6.20008600e-03 -3.70068534e-05 -9.99980779e-01 -1.79474518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 764.106559995 meters 0.012688214199157673 Centerline is valid? [True, True] Translation: X:-137.65, Y:-257.33, Z:-1.79 [[ 7.02417499e-01 7.11752615e-01 -4.22752577e-03 -1.37654180e+02] [ 7.11739949e-01 -7.02430220e-01 -4.24620942e-03 -2.57332700e+02] [-5.99179252e-03 -2.62871758e-05 -9.99982049e-01 -1.79450427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 764.136559995 meters 0.012429962166626276 Centerline is valid? [True, True] Translation: X:-137.65, Y:-257.34, Z:-1.79 [[ 6.46442168e-01 7.62952782e-01 -3.94652367e-03 -1.37649776e+02] [ 7.62938672e-01 -6.46454215e-01 -4.64008014e-03 -2.57338024e+02] [-6.09140891e-03 -1.14120631e-05 -9.99981447e-01 -1.79488243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 764.166559995 meters 0.012418088790659143 Centerline is valid? [True, True] Translation: X:-137.64, Y:-257.34, Z:-1.79 [[ 5.85521290e-01 8.10648894e-01 -3.63177531e-03 -1.37644639e+02] [ 8.10633357e-01 -5.85532553e-01 -5.01905794e-03 -2.57344156e+02] [-6.19521644e-03 -5.27293317e-06 -9.99980810e-01 -1.79402386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 764.1965599949999 meters 0.012411370224708404 Centerline is valid? [True, True] Translation: X:-137.64, Y:-257.35, Z:-1.79 [[ 5.20631454e-01 8.53775526e-01 -3.20021178e-03 -1.37639353e+02] [ 8.53759426e-01 -5.20641289e-01 -5.24310470e-03 -2.57349189e+02] [-6.14259686e-03 -2.48575349e-06 -9.99981134e-01 -1.79411872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 764.226559995 meters 0.012510234748195775 Centerline is valid? [True, True] Translation: X:-137.63, Y:-257.35, Z:-1.79 [[ 4.52478205e-01 8.91769045e-01 -3.38283036e-03 -1.37632776e+02] [ 8.91744137e-01 -4.52490850e-01 -6.66512249e-03 -2.57353971e+02] [-7.47444971e-03 -7.96477725e-07 -9.99972066e-01 -1.79329500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 764.256559995 meters 0.012500172362369654 Centerline is valid? [True, True] Translation: X:-137.63, Y:-257.36, Z:-1.79 [[ 3.80955623e-01 9.24587694e-01 -3.22650280e-03 -1.37626587e+02] [ 9.24554617e-01 -3.80969286e-01 -7.82073565e-03 -2.57359610e+02] [-8.46015440e-03 -3.72483737e-06 -9.99964212e-01 -1.79224542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 764.286559995 meters 0.012522873262844176 Centerline is valid? [True, True] Translation: X:-137.62, Y:-257.36, Z:-1.79 [[ 3.07032257e-01 9.51695021e-01 -2.78930708e-03 -1.37620697e+02] [ 9.51655973e-01 -3.07044927e-01 -8.62103716e-03 -2.57364585e+02] [-9.06104073e-03 -7.52424780e-06 -9.99958948e-01 -1.79116104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 764.3165599949999 meters 0.012619975985873947 Centerline is valid? [True, True] Translation: X:-137.61, Y:-257.37, Z:-1.79 [[ 2.30418690e-01 9.73088708e-01 -2.36524374e-03 -1.37614794e+02] [ 9.73038351e-01 -2.30430828e-01 -9.89950704e-03 -2.57368839e+02] [-1.01781236e-02 -2.04414297e-05 -9.99948201e-01 -1.78978425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 764.3465599949999 meters 0.012719557706625084 Centerline is valid? [True, True] Translation: X:-137.61, Y:-257.37, Z:-1.79 [[ 1.52787742e-01 9.88257700e-01 -1.61988830e-03 -1.37610552e+02] [ 9.88204116e-01 -1.52796326e-01 -1.02911811e-02 -2.57371018e+02] [-1.04178519e-02 -2.84139631e-05 -9.99945732e-01 -1.78959685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 764.376559995 meters 0.01261336453893895 Centerline is valid? [True, True] Translation: X:-137.60, Y:-257.37, Z:-1.79 [[ 7.44610428e-02 9.97223590e-01 -8.15431151e-04 -1.37602486e+02] [ 9.97168652e-01 -7.44655000e-02 -1.04674728e-02 -2.57372773e+02] [-1.04991323e-02 -3.37034402e-05 -9.99944882e-01 -1.79027355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 764.406559995 meters 0.012628298425913972 Centerline is valid? [True, True] Translation: X:-137.59, Y:-257.37, Z:-1.79 [[-4.40783301e-03 9.99990286e-01 6.46097912e-06 -1.37591855e+02] [ 9.99938536e-01 4.40767064e-03 -1.01733017e-02 -2.57374272e+02] [-1.01732313e-02 -3.83816329e-05 -9.99948251e-01 -1.79078170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 764.4365599949999 meters 0.012716696697162857 Centerline is valid? [True, True] Translation: X:-137.58, Y:-257.38, Z:-1.79 [[-8.26993445e-02 9.96574233e-01 7.85361940e-04 -1.37582310e+02] [ 9.96524920e-01 8.27030651e-02 -9.91397586e-03 -2.57375666e+02] [-9.94496473e-03 -3.72465605e-05 -9.99950547e-01 -1.78987628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 764.4665599949999 meters 0.012571795924895891 Centerline is valid? [True, True] Translation: X:-137.57, Y:-257.38, Z:-1.79 [[-1.60297682e-01 9.87067580e-01 1.49884763e-03 -1.37574248e+02] [ 9.87022448e-01 1.60304686e-01 -9.43896765e-03 -2.57375743e+02] [-9.55717125e-03 -3.36483752e-05 -9.99954329e-01 -1.79099994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 764.496559995 meters 0.012636876011514623 Centerline is valid? [True, True] Translation: X:-137.57, Y:-257.38, Z:-1.79 [[-2.36508758e-01 9.71627190e-01 2.05204853e-03 -1.37566682e+02] [ 9.71589692e-01 2.36517658e-01 -8.53628239e-03 -2.57375789e+02] [-8.77942979e-03 -2.51563467e-05 -9.99961460e-01 -1.79082782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 764.526559995 meters 0.012602466777265479 Centerline is valid? [True, True] Translation: X:-137.56, Y:-257.38, Z:-1.79 [[-3.11333260e-01 9.50297490e-01 2.50647534e-03 -1.37560453e+02] [ 9.50266226e-01 3.11343349e-01 -7.70832733e-03 -2.57375608e+02] [-8.10557854e-03 -1.80398128e-05 -9.99967149e-01 -1.79121471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 764.5565599949999 meters 0.012608748563649477 Centerline is valid? [True, True] Translation: X:-137.56, Y:-257.38, Z:-1.79 [[-3.83334501e-01 9.23605755e-01 2.65893047e-03 -1.37555041e+02] [ 9.23583461e-01 3.83343722e-01 -6.41731107e-03 -2.57376182e+02] [-6.94634974e-03 -4.23253250e-06 -9.99975874e-01 -1.79125987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 764.5865599949999 meters 0.012559854396627958 Centerline is valid? [True, True] Translation: X:-137.55, Y:-257.38, Z:-1.79 [[-4.53767392e-01 8.91115566e-01 2.86391315e-03 -1.37547788e+02] [ 8.91097838e-01 4.53776430e-01 -5.62094834e-03 -2.57375064e+02] [-6.30849084e-03 1.42374918e-06 -9.99980101e-01 -1.79273590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 764.616559995 meters 0.012598976465622911 Centerline is valid? [True, True] Translation: X:-137.54, Y:-257.37, Z:-1.79 [[-5.21623993e-01 8.53170149e-01 3.01763484e-03 -1.37540392e+02] [ 8.53155930e-01 5.21632722e-01 -4.92573833e-03 -2.57372526e+02] [-5.77658998e-03 5.12976221e-06 -9.99983315e-01 -1.79335458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 764.646559995 meters 0.012641796585378343 Centerline is valid? [True, True] Translation: X:-137.53, Y:-257.37, Z:-1.79 [[-5.86569956e-01 8.09894645e-01 2.52000802e-03 -1.37533889e+02] [ 8.09887212e-01 5.86575370e-01 -3.46980657e-03 -2.57370016e+02] [-4.28835239e-03 5.63797934e-06 -9.99990805e-01 -1.79428888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 764.6765599949999 meters 0.012591656443362293 Centerline is valid? [True, True] Translation: X:-137.53, Y:-257.37, Z:-1.79 [[-6.48184576e-01 7.61479179e-01 2.49297176e-03 -1.37526104e+02] [ 7.61473579e-01 6.48189370e-01 -2.92055533e-03 -2.57365912e+02] [-3.83985987e-03 5.27321089e-06 -9.99992628e-01 -1.79477629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 764.7065599949999 meters 0.012643995537750875 Centerline is valid? [True, True] Translation: X:-137.52, Y:-257.36, Z:-1.79 [[-7.05928484e-01 7.08279138e-01 2.37449872e-03 -1.37518693e+02] [ 7.08275152e-01 7.05932478e-01 -2.37627089e-03 -2.57361252e+02] [-3.35929886e-03 4.32113179e-06 -9.99994358e-01 -1.79489673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 764.736559995 meters 0.012653957356627906 Centerline is valid? [True, True] Translation: X:-137.51, Y:-257.36, Z:-1.79 [[-7.59450815e-01 6.50559635e-01 2.57322995e-03 -1.37511688e+02] [ 6.50555915e-01 7.59455174e-01 -2.19993177e-03 -2.57355236e+02] [-3.38543961e-03 3.28999408e-06 -9.99994269e-01 -1.79472589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 764.766559995 meters 0.012608498960245467 Centerline is valid? [True, True] Translation: X:-137.06, Y:-256.83, Z:-2.79 [[-7.14259544e-01 -6.99874898e-01 2.90340785e-03 -1.37056452e+02] [ 6.99869315e-01 -7.14265445e-01 -2.79584986e-03 -2.56832033e+02] [ 4.03054904e-03 3.50436204e-05 9.99991877e-01 -2.79142534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 764.7965599949999 meters 0.012615328419697855 Centerline is valid? [True, True] Translation: X:-137.54, Y:-257.33, Z:-1.79 [[-7.62379567e-01 6.47123172e-01 2.99915875e-03 -1.37543220e+02] [ 6.47118162e-01 7.62385467e-01 -2.54656218e-03 -2.57328005e+02] [-3.93445444e-03 -6.36873223e-07 -9.99992260e-01 -1.79323864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 764.8265599949999 meters 0.012653239805485392 Centerline is valid? [True, True] Translation: X:-137.09, Y:-256.80, Z:-2.79 [[-7.16276704e-01 -6.97809879e-01 3.00937334e-03 -1.37090212e+02] [ 6.97803813e-01 -7.16283025e-01 -2.90974425e-03 -2.56804750e+02] [ 4.18601133e-03 1.57701707e-05 9.99991239e-01 -2.79244575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 764.856559995 meters 0.012665382713806624 Centerline is valid? [True, True] Translation: X:-137.58, Y:-257.30, Z:-1.79 [[-7.64869765e-01 6.44176834e-01 3.23261767e-03 -1.37575604e+02] [ 6.44171068e-01 7.64876596e-01 -2.72534435e-03 -2.57301537e+02] [-4.22815730e-03 -2.17471521e-06 -9.99991061e-01 -1.79211740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 764.886559995 meters 0.012665382713806624 Centerline is valid? [True, True] Translation: X:-137.56, Y:-257.28, Z:-1.79 [[-8.08512169e-01 5.88469536e-01 3.41729807e-03 -1.37557272e+02] [ 5.88464268e-01 8.08519391e-01 -2.48992784e-03 -2.57280473e+02] [-4.22819844e-03 -2.17915492e-06 -9.99991061e-01 -1.79211699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 764.916559995 meters 0.012610142154000928 Centerline is valid? [True, True] Translation: X:-137.14, Y:-256.73, Z:-2.79 [[-7.66072553e-01 -6.42743653e-01 3.66613324e-03 -1.37144138e+02] [ 6.42736506e-01 -7.66081324e-01 -3.03117600e-03 -2.56725464e+02] [ 4.75682535e-03 3.42569348e-05 9.99988686e-01 -2.79359508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 764.9465599949999 meters 0.01253170475687053 Centerline is valid? [True, True] Translation: X:-137.59, Y:-257.26, Z:-1.79 [[-8.10955076e-01 5.85090944e-01 4.52229054e-03 -1.37590950e+02] [ 5.85081800e-01 8.10967686e-01 -3.27106857e-03 -2.57257132e+02] [-5.58130409e-03 -6.77977119e-06 -9.99984424e-01 -1.79062990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 764.976559995 meters 0.01260711789841491 Centerline is valid? [True, True] Translation: X:-137.18, Y:-256.70, Z:-2.80 [[-7.67600498e-01 -6.40910955e-01 4.75628449e-03 -1.37180971e+02] [ 6.40898995e-01 -7.67615233e-01 -3.91566641e-03 -2.56699923e+02] [ 6.16058993e-03 4.26304622e-05 9.99981023e-01 -2.79500548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 765.006559995 meters 0.012589804759098662 Centerline is valid? [True, True] Translation: X:-137.63, Y:-257.23, Z:-1.79 [[-8.13749158e-01 5.81192892e-01 5.20869938e-03 -1.37627646e+02] [ 5.81180860e-01 8.13765827e-01 -3.73978602e-03 -2.57231047e+02] [-6.41219861e-03 -1.60513346e-05 -9.99979442e-01 -1.78976949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 765.036559995 meters 0.012713106875874689 Centerline is valid? [True, True] Translation: X:-137.22, Y:-256.67, Z:-2.80 [[-7.67978332e-01 -6.40454753e-01 5.19535097e-03 -1.37222581e+02] [ 6.40440422e-01 -7.67995904e-01 -4.28449523e-03 -2.56673133e+02] [ 6.73403360e-03 3.69132763e-05 9.99977326e-01 -2.79648755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 765.0665599949999 meters 0.012730189798305123 Centerline is valid? [True, True] Translation: X:-137.66, Y:-257.20, Z:-1.79 [[-8.17807890e-01 5.75463867e-01 5.62079758e-03 -1.37663541e+02] [ 5.75449925e-01 8.17827205e-01 -4.00585717e-03 -2.57203429e+02] [-6.90206723e-03 -4.15340536e-05 -9.99976180e-01 -1.78865218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 765.0965599949999 meters 0.012916807959649706 Centerline is valid? [True, True] Translation: X:-137.26, Y:-256.65, Z:-2.80 [[-7.68639879e-01 -6.39658532e-01 5.44964068e-03 -1.37258728e+02] [ 6.39642928e-01 -7.68659196e-01 -4.46829011e-03 -2.56651009e+02] [ 7.04709632e-03 5.13181495e-05 9.99975168e-01 -2.79751901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 765.126559995 meters 0.013120170271988823 Centerline is valid? [True, True] Translation: X:-137.28, Y:-256.67, Z:-2.80 [[-7.22330603e-01 -6.91530257e-01 4.94004556e-03 -1.37279501e+02] [ 6.91514702e-01 -7.22347493e-01 -4.63862801e-03 -2.56673643e+02] [ 6.77618114e-03 6.54911716e-05 9.99977039e-01 -2.79690172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 765.156559995 meters 0.013147962501069132 Centerline is valid? [True, True] Translation: X:-137.29, Y:-256.70, Z:-2.80 [[-6.73509887e-01 -7.39166632e-01 4.13800528e-03 -1.37293975e+02] [ 7.39153264e-01 -6.73522596e-01 -4.44580993e-03 -2.56701651e+02] [ 6.07323441e-03 6.43231643e-05 9.99981556e-01 -2.79624195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 765.1865599949999 meters 0.013296395116643664 Centerline is valid? [True, True] Translation: X:-137.31, Y:-256.68, Z:-2.80 [[-6.73234785e-01 -7.39417677e-01 4.05253347e-03 -1.37313283e+02] [ 7.39404871e-01 -6.73246979e-01 -4.35216075e-03 -2.56681876e+02] [ 5.94642050e-03 6.64369820e-05 9.99982318e-01 -2.79597678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 765.2165599949999 meters 0.013566331837069748 Centerline is valid? [True, True] Translation: X:-137.33, Y:-256.66, Z:-2.80 [[-6.72202328e-01 -7.40355677e-01 4.18355092e-03 -1.37333743e+02] [ 7.40342063e-01 -6.72215342e-01 -4.49036715e-03 -2.56662299e+02] [ 6.13671592e-03 7.88234622e-05 9.99981167e-01 -2.79630256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 765.246559995 meters 0.013833515874567527 Centerline is valid? [True, True] Translation: X:-137.35, Y:-256.64, Z:-2.80 [[-6.71893143e-01 -7.40634381e-01 4.50753565e-03 -1.37352862e+02] [ 7.40618605e-01 -6.71908257e-01 -4.83494587e-03 -2.56643662e+02] [ 6.60957756e-03 8.97977830e-05 9.99978153e-01 -2.79666099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 765.276559995 meters 0.014200155890076081 Centerline is valid? [True, True] Translation: X:-137.37, Y:-256.62, Z:-2.80 [[-6.70640748e-01 -7.41768070e-01 4.59545801e-03 -1.37373168e+02] [ 7.41751717e-01 -6.70656484e-01 -4.92652922e-03 -2.56624294e+02] [ 6.73631578e-03 1.04757625e-04 9.99977305e-01 -2.79698001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 765.3065599949999 meters 0.014364987268313381 Centerline is valid? [True, True] Translation: X:-137.39, Y:-256.61, Z:-2.80 [[-6.70403109e-01 -7.41983643e-01 4.46596459e-03 -1.37392373e+02] [ 7.41968223e-01 -6.70417976e-01 -4.78473855e-03 -2.56605005e+02] [ 6.54426068e-03 1.05900212e-04 9.99978581e-01 -2.79721762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 765.3365599949999 meters 0.014610521586076486 Centerline is valid? [True, True] Translation: X:-137.41, Y:-256.59, Z:-2.80 [[-6.70076162e-01 -7.42278386e-01 4.55345013e-03 -1.37411415e+02] [ 7.42262383e-01 -6.70091624e-01 -4.87545067e-03 -2.56585324e+02] [ 6.67017045e-03 1.12931472e-04 9.99977748e-01 -2.79717349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 765.366559995 meters 0.014344667184117572 Centerline is valid? [True, True] Translation: X:-137.43, Y:-256.56, Z:-2.80 [[-6.69962241e-01 -7.42380694e-01 4.63702199e-03 -1.37430181e+02] [ 7.42364119e-01 -6.69978277e-01 -4.96213281e-03 -2.56564244e+02] [ 6.79049560e-03 1.17917133e-04 9.99976937e-01 -2.79671632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 765.396559995 meters 0.0147357391915761 Centerline is valid? [True, True] Translation: X:-137.45, Y:-256.55, Z:-2.80 [[-6.69767767e-01 -7.42553923e-01 4.98106288e-03 -1.37447996e+02] [ 7.42534821e-01 -6.69786276e-01 -5.32768522e-03 -2.56545614e+02] [ 7.29234111e-03 1.30300803e-04 9.99973402e-01 -2.79720356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 765.4265599949999 meters 0.01477660642385465 Centerline is valid? [True, True] Translation: X:-137.47, Y:-256.53, Z:-2.80 [[-6.69921721e-01 -7.42412011e-01 5.41242287e-03 -1.37465965e+02] [ 7.42389482e-01 -6.69943569e-01 -5.78546385e-03 -2.56525743e+02] [ 7.92121575e-03 1.42317912e-04 9.99968617e-01 -2.79751753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 765.4565599949999 meters 0.01477806913075674 Centerline is valid? [True, True] Translation: X:-137.48, Y:-256.51, Z:-2.80 [[-6.70201639e-01 -7.42158411e-01 5.53675321e-03 -1.37484505e+02] [ 7.42134856e-01 -6.70224493e-01 -5.91468919e-03 -2.56505479e+02] [ 8.10050395e-03 1.44983165e-04 9.99967180e-01 -2.79812485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 765.486559995 meters 0.014886264531879922 Centerline is valid? [True, True] Translation: X:-137.50, Y:-256.49, Z:-2.80 [[-6.70723291e-01 -7.41684427e-01 5.87175461e-03 -1.37502405e+02] [ 7.41657951e-01 -6.70748975e-01 -6.26869685e-03 -2.56485591e+02] [ 8.58786822e-03 1.50272509e-04 9.99963112e-01 -2.79860508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 765.516559995 meters 0.01471980305287325 Centerline is valid? [True, True] Translation: X:-137.52, Y:-256.47, Z:-2.80 [[-6.71265346e-01 -7.41192763e-01 6.01028173e-03 -1.37520333e+02] [ 7.41165037e-01 -6.71292236e-01 -6.41264077e-03 -2.56465272e+02] [ 8.78765839e-03 1.50027149e-04 9.99961377e-01 -2.79850496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 765.5465599949999 meters 0.014727700641812457 Centerline is valid? [True, True] Translation: X:-137.54, Y:-256.44, Z:-2.80 [[-6.71750011e-01 -7.40752264e-01 6.16497664e-03 -1.37538981e+02] [ 7.40723110e-01 -6.71778283e-01 -6.57366994e-03 -2.56444960e+02] [ 9.01095831e-03 1.50677818e-04 9.99959389e-01 -2.79807885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 765.5765599949999 meters 0.014701395493158843 Centerline is valid? [True, True] Translation: X:-137.56, Y:-256.43, Z:-2.80 [[-6.72542875e-01 -7.40035057e-01 5.84771160e-03 -1.37557575e+02] [ 7.40008833e-01 -6.72568284e-01 -6.23138212e-03 -2.56426163e+02] [ 8.54442658e-03 1.36486587e-04 9.99963487e-01 -2.79797623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 765.606559995 meters 0.01397279064198541 Centerline is valid? [True, True] Translation: X:-137.58, Y:-256.40, Z:-2.80 [[-6.72853148e-01 -7.39751805e-01 5.99235380e-03 -1.37575968e+02] [ 7.39724289e-01 -6.72879816e-01 -6.38192141e-03 -2.56404729e+02] [ 8.75317181e-03 1.38593749e-04 9.99961681e-01 -2.79701136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 765.636559995 meters 0.014075553440564713 Centerline is valid? [True, True] Translation: X:-137.60, Y:-256.39, Z:-2.80 [[-6.73059099e-01 -7.39563616e-01 6.09154609e-03 -1.37595486e+02] [ 7.39535210e-01 -6.73086649e-01 -6.48348040e-03 -2.56385787e+02] [ 8.89508456e-03 1.41147341e-04 9.99960428e-01 -2.79667192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 765.666559995 meters 0.014486041821726813 Centerline is valid? [True, True] Translation: X:-137.61, Y:-256.37, Z:-2.80 [[-6.72933040e-01 -7.39676063e-01 6.35965211e-03 -1.37614308e+02] [ 7.39645143e-01 -6.72963074e-01 -6.76489414e-03 -2.56368152e+02] [ 9.28364129e-03 1.51565018e-04 9.99956895e-01 -2.79731086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 765.6965599949999 meters 0.01524904545613 Centerline is valid? [True, True] Translation: X:-137.63, Y:-256.35, Z:-2.80 [[-6.72763363e-01 -7.39829386e-01 6.47593461e-03 -1.37634006e+02] [ 7.39797374e-01 -6.72794511e-01 -6.88414986e-03 -2.56351033e+02] [ 9.45006963e-03 1.59475608e-04 9.99955334e-01 -2.79823574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 765.726559995 meters 0.014312902676623506 Centerline is valid? [True, True] Translation: X:-137.65, Y:-256.33, Z:-2.80 [[-6.72261413e-01 -7.40281416e-01 6.92941675e-03 -1.37652483e+02] [ 7.40244830e-01 -6.72297101e-01 -7.36202275e-03 -2.56329276e+02] [ 1.01085954e-02 1.80261110e-04 9.99948891e-01 -2.79712072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 765.756559995 meters 0.015128897813977268 Centerline is valid? [True, True] Translation: X:-137.67, Y:-256.31, Z:-2.80 [[-6.71050202e-01 -7.41376777e-01 7.21810570e-03 -1.37673139e+02] [ 7.41337190e-01 -6.71088990e-01 -7.66413506e-03 -2.56311280e+02] [ 1.05260030e-02 2.08030813e-04 9.99944579e-01 -2.79807336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 765.786559995 meters 0.015534891865295001 Centerline is valid? [True, True] Translation: X:-137.69, Y:-256.29, Z:-2.80 [[-6.70487951e-01 -7.41885093e-01 7.23999615e-03 -1.37693227e+02] [ 7.41845340e-01 -6.70527003e-01 -7.68312165e-03 -2.56291644e+02] [ 1.05546063e-02 2.19516913e-04 9.99944275e-01 -2.79881629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 765.8165599949999 meters 0.016381968010461663 Centerline is valid? [True, True] Translation: X:-137.71, Y:-256.27, Z:-2.80 [[-6.70083866e-01 -7.42245961e-01 7.65148697e-03 -1.37713285e+02] [ 7.42201638e-01 -6.70127506e-01 -8.11505174e-03 -2.56273270e+02] [ 1.11508363e-02 2.41180918e-04 9.99937799e-01 -2.79998764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 765.8465599949999 meters 0.015838757603117523 Centerline is valid? [True, True] Translation: X:-137.73, Y:-256.25, Z:-2.80 [[-6.70017765e-01 -7.42297172e-01 8.43226525e-03 -1.37731606e+02] [ 7.42243406e-01 -6.70070769e-01 -8.93818572e-03 -2.56252018e+02] [ 1.22850044e-02 2.70050058e-04 9.99924500e-01 -2.80044025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 765.876559995 meters 0.015483040698292516 Centerline is valid? [True, True] Translation: X:-137.75, Y:-256.23, Z:-2.80 [[-6.70530678e-01 -7.41832630e-01 8.54156181e-03 -1.37750117e+02] [ 7.41777490e-01 -6.70585026e-01 -9.04865366e-03 -2.56231320e+02] [ 1.24404300e-02 2.68538405e-04 9.99922579e-01 -2.80038483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 765.906559995 meters 0.01511126684662361 Centerline is valid? [True, True] Translation: X:-137.77, Y:-256.21, Z:-2.80 [[-6.71928436e-01 -7.40565300e-01 8.67255750e-03 -1.37768421e+02] [ 7.40508423e-01 -6.71984354e-01 -9.18167313e-03 -2.56210722e+02] [ 1.26274515e-02 2.52674608e-04 9.99920239e-01 -2.80065420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 765.9365599949999 meters 0.01519188709162604 Centerline is valid? [True, True] Translation: X:-137.79, Y:-256.19, Z:-2.80 [[-6.72832073e-01 -7.39746554e-01 8.48753470e-03 -1.37786069e+02] [ 7.39692085e-01 -6.72885563e-01 -8.97989804e-03 -2.56191295e+02] [ 1.23539882e-02 2.36198832e-04 9.99923659e-01 -2.80064556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 765.9665599949999 meters 0.014608533240402875 Centerline is valid? [True, True] Translation: X:-137.80, Y:-256.17, Z:-2.80 [[-6.73876604e-01 -7.38798714e-01 8.17207529e-03 -1.37803631e+02] [ 7.38748214e-01 -6.73926119e-01 -8.64071618e-03 -2.56170273e+02] [ 1.18911250e-02 2.14329561e-04 9.99929275e-01 -2.80011974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 765.996559995 meters 0.013829419825533432 Centerline is valid? [True, True] Translation: X:-137.82, Y:-256.15, Z:-2.80 [[-6.75841619e-01 -7.37006730e-01 7.69324003e-03 -1.37820459e+02] [ 7.36961910e-01 -6.75885382e-01 -8.12980455e-03 -2.56147894e+02] [ 1.11914691e-02 1.75164594e-04 9.99937358e-01 -2.79936224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 766.026559995 meters 0.013735638095677028 Centerline is valid? [True, True] Translation: X:-137.84, Y:-256.13, Z:-2.80 [[-6.76670713e-01 -7.36245066e-01 7.74261783e-03 -1.37838939e+02] [ 7.36199672e-01 -6.76714988e-01 -8.17732833e-03 -2.56127171e+02] [ 1.12600632e-02 1.66754111e-04 9.99936590e-01 -2.79939534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 766.0565599949999 meters 0.013739933248660019 Centerline is valid? [True, True] Translation: X:-137.86, Y:-256.11, Z:-2.80 [[-6.77193949e-01 -7.35764879e-01 7.64185089e-03 -1.37858140e+02] [ 7.35720681e-01 -6.77237047e-01 -8.06608135e-03 -2.56107559e+02] [ 1.11100839e-02 1.59966261e-04 9.99938268e-01 -2.79987579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 766.0865599949999 meters 0.013762302977146952 Centerline is valid? [True, True] Translation: X:-137.88, Y:-256.09, Z:-2.80 [[-6.77620934e-01 -7.35372915e-01 7.51971813e-03 -1.37876593e+02] [ 7.35330152e-01 -6.77662639e-01 -7.93190824e-03 -2.56088467e+02] [ 1.09287425e-02 1.54648410e-04 9.99940268e-01 -2.80003885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 766.116559995 meters 0.013625957325704287 Centerline is valid? [True, True] Translation: X:-137.89, Y:-256.07, Z:-2.80 [[-6.78739500e-01 -7.34337545e-01 7.81418162e-03 -1.37894801e+02] [ 7.34291357e-01 -6.78784464e-01 -8.23734070e-03 -2.56067997e+02] [ 1.13531336e-02 1.46877515e-04 9.99935540e-01 -2.80060138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 766.146559995 meters 0.013472935806498786 Centerline is valid? [True, True] Translation: X:-137.91, Y:-256.05, Z:-2.80 [[-6.79645102e-01 -7.33496569e-01 8.08197640e-03 -1.37912925e+02] [ 7.33447165e-01 -6.79693139e-01 -8.51431324e-03 -2.56048072e+02] [ 1.17384835e-02 1.40991385e-04 9.99931092e-01 -2.80073058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 766.1765599949999 meters 0.013234604135992374 Centerline is valid? [True, True] Translation: X:-137.93, Y:-256.03, Z:-2.80 [[-6.80957397e-01 -7.32281461e-01 7.80296740e-03 -1.37930807e+02] [ 7.32235387e-01 -6.81002091e-01 -8.21526278e-03 -2.56028086e+02] [ 1.13297217e-02 1.19364900e-04 9.99935810e-01 -2.80071798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 766.2065599949999 meters 0.012850572948120548 Centerline is valid? [True, True] Translation: X:-137.95, Y:-256.01, Z:-2.80 [[-6.83639066e-01 -7.29778844e-01 7.77604214e-03 -1.37947725e+02] [ 7.29732982e-01 -6.83683284e-01 -8.18186347e-03 -2.56007321e+02] [ 1.12873009e-02 8.09929244e-05 9.99936293e-01 -2.80040004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 766.236559995 meters 0.01252168020654148 Centerline is valid? [True, True] Translation: X:-137.97, Y:-255.99, Z:-2.80 [[-6.85450019e-01 -7.28082407e-01 7.36755018e-03 -1.37965706e+02] [ 7.28041190e-01 -6.85489610e-01 -7.74723498e-03 -2.55986499e+02] [ 1.06910046e-02 5.35376403e-05 9.99942848e-01 -2.79963253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 766.266559995 meters 0.012481490310415731 Centerline is valid? [True, True] Translation: X:-137.98, Y:-255.97, Z:-2.80 [[-6.87116105e-01 -7.26514202e-01 6.96945651e-03 -1.37984171e+02] [ 7.26477284e-01 -6.87151449e-01 -7.32407706e-03 -2.55965899e+02] [ 1.01101181e-02 3.06605346e-05 9.99948891e-01 -2.79886090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 766.2965599949999 meters 0.012278225680071302 Centerline is valid? [True, True] Translation: X:-138.00, Y:-255.94, Z:-2.80 [[-6.89905305e-01 -7.23871211e-01 6.41404157e-03 -1.38002025e+02] [ 7.23839867e-01 -6.89935120e-01 -6.73622156e-03 -2.55944935e+02] [ 9.30142940e-03 -4.61599340e-06 9.99956741e-01 -2.79771321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 766.3265599949999 meters 0.012301704958199 Centerline is valid? [True, True] Translation: X:-138.02, Y:-255.92, Z:-2.80 [[-6.91315859e-01 -7.22523879e-01 6.45190621e-03 -1.38020483e+02] [ 7.22492145e-01 -6.91345965e-01 -6.77180674e-03 -2.55924715e+02] [ 9.35329140e-03 -2.00058423e-05 9.99956257e-01 -2.79787282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 766.356559995 meters 0.012552224672282349 Centerline is valid? [True, True] Translation: X:-138.04, Y:-255.91, Z:-2.80 [[-6.93470747e-01 -7.20451092e-01 6.96759614e-03 -1.38038777e+02] [ 7.20414023e-01 -6.93505747e-01 -7.30850021e-03 -2.55905074e+02] [ 1.00974849e-02 -4.86771320e-05 9.99949018e-01 -2.79790803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 766.386559995 meters 0.012531736099786863 Centerline is valid? [True, True] Translation: X:-138.06, Y:-255.88, Z:-2.80 [[-6.94477972e-01 -7.19478892e-01 7.10428201e-03 -1.38058618e+02] [ 7.19440346e-01 -6.94514305e-01 -7.44769489e-03 -2.55884773e+02] [ 1.02924848e-02 -6.11529328e-05 9.99947029e-01 -2.79797973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 766.416559995 meters 0.012729083539182623 Centerline is valid? [True, True] Translation: X:-138.08, Y:-255.87, Z:-2.80 [[-6.95512049e-01 -7.18478254e-01 7.21020247e-03 -1.38076976e+02] [ 7.18438535e-01 -6.95549418e-01 -7.55505912e-03 -2.55866071e+02] [ 1.04431978e-02 -7.45473509e-05 9.99945466e-01 -2.79827757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 766.4465599949999 meters 0.01289434385404473 Centerline is valid? [True, True] Translation: X:-138.10, Y:-255.85, Z:-2.80 [[-6.96475212e-01 -7.17545449e-01 7.12797697e-03 -1.38096203e+02] [ 7.17506630e-01 -6.96511681e-01 -7.46425107e-03 -2.55846523e+02] [ 1.03206586e-02 -8.42951148e-05 9.99946737e-01 -2.79838289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 766.476559995 meters 0.013137932036704332 Centerline is valid? [True, True] Translation: X:-138.12, Y:-255.83, Z:-2.80 [[-6.97998880e-01 -7.16063673e-01 7.09789037e-03 -1.38115421e+02] [ 7.16025151e-01 -6.98034960e-01 -7.42813369e-03 -2.55827031e+02] [ 1.02735923e-02 -1.02560973e-04 9.99947220e-01 -2.79847115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 766.506559995 meters 0.013192482346323026 Centerline is valid? [True, True] Translation: X:-138.13, Y:-255.81, Z:-2.80 [[-6.98703797e-01 -7.15374611e-01 7.22289993e-03 -1.38134749e+02] [ 7.15334727e-01 -6.98741121e-01 -7.55473604e-03 -2.55806855e+02] [ 1.04514035e-02 -1.11731614e-04 9.99945376e-01 -2.79806140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 766.536559995 meters 0.0133855382899114 Centerline is valid? [True, True] Translation: X:-138.15, Y:-255.79, Z:-2.80 [[-6.99297240e-01 -7.14792583e-01 7.41171818e-03 -1.38152316e+02] [ 7.14750609e-01 -6.99336506e-01 -7.74712367e-03 -2.55787761e+02] [ 1.07208716e-02 -1.20012117e-04 9.99942523e-01 -2.79806664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 766.5665599949999 meters 0.01348042135974623 Centerline is valid? [True, True] Translation: X:-138.17, Y:-255.77, Z:-2.80 [[-6.99824022e-01 -7.14278538e-01 7.24634175e-03 -1.38171149e+02] [ 7.14238437e-01 -6.99861526e-01 -7.56958282e-03 -2.55768460e+02] [ 1.04782263e-02 -1.21760087e-04 9.99945095e-01 -2.79805902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 766.5965599949999 meters 0.013699743368348349 Centerline is valid? [True, True] Translation: X:-138.19, Y:-255.75, Z:-2.80 [[-7.00087851e-01 -7.14020723e-01 7.16996350e-03 -1.38189758e+02] [ 7.13981501e-01 -7.00124555e-01 -7.48494956e-03 -2.55749579e+02] [ 1.03642766e-02 -1.20900952e-04 9.99946282e-01 -2.79807431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 766.626559995 meters 0.013320071674555215 Centerline is valid? [True, True] Translation: X:-138.21, Y:-255.73, Z:-2.80 [[-6.99870731e-01 -7.14239196e-01 6.58262115e-03 -1.38210289e+02] [ 7.14206187e-01 -6.99901678e-01 -6.86750925e-03 -2.55732043e+02] [ 9.51223188e-03 -1.05019959e-04 9.99954752e-01 -2.79761448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 766.656559995 meters 0.01320069286164963 Centerline is valid? [True, True] Translation: X:-138.23, Y:-255.71, Z:-2.80 [[-6.99930590e-01 -7.14184520e-01 6.13526872e-03 -1.38230447e+02] [ 7.14155874e-01 -6.99957472e-01 -6.39721864e-03 -2.55712641e+02] [ 8.86322170e-03 -9.60708212e-05 9.99960716e-01 -2.79706752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 766.6865599949999 meters 0.013249196915133281 Centerline is valid? [True, True] Translation: X:-138.25, Y:-255.69, Z:-2.80 [[-6.99964438e-01 -7.14157747e-01 5.33842160e-03 -1.38249183e+02] [ 7.14136087e-01 -6.99984790e-01 -5.56268420e-03 -2.55693666e+02] [ 7.70944793e-03 -8.13216067e-05 9.99970279e-01 -2.79634612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 766.7165599949999 meters 0.012999008842753563 Centerline is valid? [True, True] Translation: X:-138.27, Y:-255.67, Z:-2.79 [[-6.99355744e-01 -7.14765782e-01 3.37929680e-03 -1.38268977e+02] [ 7.14757121e-01 -6.99363907e-01 -3.51908153e-03 -2.55674811e+02] [ 4.87867728e-03 -4.57134241e-05 9.99988098e-01 -2.79387793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 766.746559995 meters 0.012820587151256 Centerline is valid? [True, True] Translation: X:-138.29, Y:-255.66, Z:-2.79 [[-6.99011837e-01 -7.15105598e-01 2.53692492e-03 -1.38288581e+02] [ 7.15100724e-01 -6.99016440e-01 -2.64021767e-03 -2.55655787e+02] [ 3.66138666e-03 -3.13865546e-05 9.99993297e-01 -2.79285487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 766.776559995 meters 0.012749596322131624 Centerline is valid? [True, True] Translation: X:-138.31, Y:-255.64, Z:-2.79 [[-6.98699752e-01 -7.15411509e-01 2.24239525e-03 -1.38307300e+02] [ 7.15407708e-01 -6.98703350e-01 -2.33216980e-03 -2.55637487e+02] [ 3.23523019e-03 -2.52596158e-05 9.99994766e-01 -2.79264619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 766.8065599949999 meters 0.012749596322131624 Centerline is valid? [True, True] Translation: X:-138.33, Y:-255.62, Z:-2.79 [[-6.98917638e-01 -7.15198647e-01 2.24310573e-03 -1.38325927e+02] [ 7.15194847e-01 -6.98921237e-01 -2.33148646e-03 -2.55618276e+02] [ 3.23523019e-03 -2.52593454e-05 9.99994766e-01 -2.79264586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 766.8365599949999 meters 0.012397328506595771 Centerline is valid? [True, True] Translation: X:-138.35, Y:-255.60, Z:-2.79 [[-6.97351589e-01 -7.16724656e-01 2.55513164e-03 -1.38347385e+02] [ 7.16719742e-01 -6.97356270e-01 -2.65417028e-03 -2.55600969e+02] [ 3.68414635e-03 -1.95765701e-05 9.99993213e-01 -2.79260428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 766.866559995 meters 0.012281846980181074 Centerline is valid? [True, True] Translation: X:-138.37, Y:-255.58, Z:-2.79 [[-6.96156636e-01 -7.17885142e-01 2.61939658e-03 -1.38368429e+02] [ 7.17879992e-01 -6.96161564e-01 -2.71926083e-03 -2.55582915e+02] [ 3.77564017e-03 -1.26190766e-05 9.99992872e-01 -2.79317177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 766.896559995 meters 0.01216982138813734 Centerline is valid? [True, True] Translation: X:-138.39, Y:-255.57, Z:-2.79 [[-6.94629011e-01 -7.19361476e-01 3.09905038e-03 -1.38389619e+02] [ 7.19354290e-01 -6.94635924e-01 -3.21524320e-03 -2.55565107e+02] [ 4.46563381e-03 -4.08601858e-06 9.99990029e-01 -2.79391345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 766.9265599949999 meters 0.012237903087379693 Centerline is valid? [True, True] Translation: X:-138.41, Y:-255.55, Z:-2.79 [[-6.91267058e-01 -7.22589373e-01 3.80173048e-03 -1.38412293e+02] [ 7.22578621e-01 -6.91277511e-01 -3.94189368e-03 -2.55548652e+02] [ 5.47642127e-03 2.21479226e-05 9.99985004e-01 -2.79438344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 766.9565599949999 meters 0.012454928760449303 Centerline is valid? [True, True] Translation: X:-138.43, Y:-255.53, Z:-2.80 [[-6.89904994e-01 -7.23886510e-01 4.40694543e-03 -1.38433056e+02] [ 7.23872106e-01 -6.89919068e-01 -4.56669083e-03 -2.55530737e+02] [ 6.34620156e-03 3.94820597e-05 9.99979862e-01 -2.79500988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 766.986559995 meters 0.01267117669490624 Centerline is valid? [True, True] Translation: X:-138.45, Y:-255.51, Z:-2.80 [[-6.88836694e-01 -7.24901325e-01 4.69871262e-03 -1.38453029e+02] [ 7.24884995e-01 -6.88852717e-01 -4.86598566e-03 -2.55512739e+02] [ 6.76408041e-03 5.41567952e-05 9.99977122e-01 -2.79532204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 767.016559995 meters 0.012851326896483509 Centerline is valid? [True, True] Translation: X:-138.47, Y:-255.49, Z:-2.80 [[-6.87446143e-01 -7.26215293e-01 5.39894789e-03 -1.38473882e+02] [ 7.26193798e-01 -6.87467339e-01 -5.58797642e-03 -2.55494362e+02] [ 7.76967427e-03 7.92496395e-05 9.99969813e-01 -2.79584905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 767.0465599949999 meters 0.013042653837432833 Centerline is valid? [True, True] Translation: X:-138.49, Y:-255.48, Z:-2.80 [[-6.87203930e-01 -7.26440136e-01 5.95724061e-03 -1.38493547e+02] [ 7.26414006e-01 -6.87229744e-01 -6.16213004e-03 -2.55475489e+02] [ 8.57041152e-03 9.27830374e-05 9.99963269e-01 -2.79655703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 767.0765599949999 meters 0.013554349580106817 Centerline is valid? [True, True] Translation: X:-138.51, Y:-255.46, Z:-2.80 [[-6.87285732e-01 -7.26360083e-01 6.27314398e-03 -1.38512706e+02] [ 7.26331134e-01 -6.87314353e-01 -6.48573930e-03 -2.55458135e+02] [ 9.02260403e-03 9.88236972e-05 9.99959291e-01 -2.79800409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 767.106559995 meters 0.013107155423477384 Centerline is valid? [True, True] Translation: X:-138.53, Y:-255.44, Z:-2.80 [[-6.87905716e-01 -7.25768421e-01 6.77676607e-03 -1.38530478e+02] [ 7.25734650e-01 -6.87939088e-01 -7.00206452e-03 -2.55436747e+02] [ 9.74387958e-03 1.01373738e-04 9.99952522e-01 -2.79758042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 767.136559995 meters 0.01309880202086675 Centerline is valid? [True, True] Translation: X:-138.55, Y:-255.42, Z:-2.80 [[-6.88553013e-01 -7.25149789e-01 7.24786283e-03 -1.38548550e+02] [ 7.25111174e-01 -6.88591151e-01 -7.48415332e-03 -2.55416201e+02] [ 1.04179464e-02 1.02269999e-04 9.99945727e-01 -2.79747265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 767.166559995 meters 0.013038068749267825 Centerline is valid? [True, True] Translation: X:-138.57, Y:-255.40, Z:-2.80 [[-6.89231104e-01 -7.24503584e-01 7.41905616e-03 -1.38565959e+02] [ 7.24463139e-01 -6.89271026e-01 -7.65592548e-03 -2.55396555e+02] [ 1.06604859e-02 9.81307376e-05 9.99943171e-01 -2.79756023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 767.1965599949999 meters 0.012922077779938857 Centerline is valid? [True, True] Translation: X:-138.58, Y:-255.38, Z:-2.80 [[-6.89942187e-01 -7.23828210e-01 7.24574147e-03 -1.38584592e+02] [ 7.23789641e-01 -6.89980228e-01 -7.47272457e-03 -2.55375961e+02] [ 1.04083872e-02 8.86446819e-05 9.99945827e-01 -2.79736627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 767.226559995 meters 0.012738103096594107 Centerline is valid? [True, True] Translation: X:-138.60, Y:-255.36, Z:-2.80 [[-6.91006582e-01 -7.22815493e-01 6.90413749e-03 -1.38601521e+02] [ 7.22780468e-01 -6.91041068e-01 -7.11595330e-03 -2.55355049e+02] [ 9.91456383e-03 7.30051614e-05 9.99950847e-01 -2.79609495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 767.256559995 meters 0.012773996821067536 Centerline is valid? [True, True] Translation: X:-138.62, Y:-255.34, Z:-2.80 [[-6.91570659e-01 -7.22276183e-01 6.86584654e-03 -1.38619058e+02] [ 7.22241565e-01 -6.91604736e-01 -7.07184171e-03 -2.55335964e+02] [ 9.85627482e-03 6.81215163e-05 9.99951424e-01 -2.79623225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 767.286559995 meters 0.012786290206649087 Centerline is valid? [True, True] Translation: X:-138.64, Y:-255.32, Z:-2.80 [[-6.91792795e-01 -7.22067134e-01 6.46390872e-03 -1.38637454e+02] [ 7.22036480e-01 -6.91822990e-01 -6.65376589e-03 -2.55315876e+02] [ 9.27634633e-03 6.41505909e-05 9.99956972e-01 -2.79623978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 767.3165599949999 meters 0.012841359242802428 Centerline is valid? [True, True] Translation: X:-138.65, Y:-255.30, Z:-2.80 [[-6.91898930e-01 -7.21962669e-01 6.76573910e-03 -1.38654874e+02] [ 7.21929121e-01 -6.91932005e-01 -6.96021256e-03 -2.55295178e+02] [ 9.70644506e-03 6.86204590e-05 9.99952889e-01 -2.79593221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 767.3465599949999 meters 0.01276841119484034 Centerline is valid? [True, True] Translation: X:-138.67, Y:-255.27, Z:-2.80 [[-6.91941566e-01 -7.21919644e-01 6.99262237e-03 -1.38673369e+02] [ 7.21883850e-01 -6.91976895e-01 -7.18918395e-03 -2.55274607e+02] [ 1.00287462e-02 7.33659613e-05 9.99949708e-01 -2.79582793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 767.376559995 meters 0.01286212113890486 Centerline is valid? [True, True] Translation: X:-138.69, Y:-255.25, Z:-2.80 [[-6.92073432e-01 -7.21790143e-01 7.30438032e-03 -1.38691574e+02] [ 7.21751128e-01 -6.92111973e-01 -7.50506263e-03 -2.55254584e+02] [ 1.04725293e-02 7.78902785e-05 9.99945159e-01 -2.79571445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 767.406559995 meters 0.012956621558683636 Centerline is valid? [True, True] Translation: X:-138.71, Y:-255.23, Z:-2.80 [[-6.91956991e-01 -7.21904406e-01 7.03932914e-03 -1.38709161e+02] [ 7.21868224e-01 -6.91992791e-01 -7.22805064e-03 -2.55234990e+02] [ 1.00891266e-02 7.99678506e-05 9.99949100e-01 -2.79565360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 767.4365599949999 meters 0.013036796016153323 Centerline is valid? [True, True] Translation: X:-138.73, Y:-255.22, Z:-2.80 [[-6.91928598e-01 -7.21933761e-01 6.81609208e-03 -1.38728211e+02] [ 7.21899881e-01 -6.91962165e-01 -6.99458429e-03 -2.55215357e+02] [ 9.76610438e-03 8.07831580e-05 9.99952307e-01 -2.79562066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 767.4665599949999 meters 0.01322393035658647 Centerline is valid? [True, True] Translation: X:-138.75, Y:-255.20, Z:-2.80 [[-6.91382059e-01 -7.22456865e-01 6.85035486e-03 -1.38747139e+02] [ 7.22422710e-01 -6.91415989e-01 -7.02549889e-03 -2.55196032e+02] [ 9.81206478e-03 9.15480415e-05 9.99951856e-01 -2.79547660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 767.496559995 meters 0.013402364339419819 Centerline is valid? [True, True] Translation: X:-138.77, Y:-255.18, Z:-2.80 [[-6.90859994e-01 -7.22953974e-01 7.07247196e-03 -1.38766120e+02] [ 7.22917642e-01 -6.90896186e-01 -7.24867364e-03 -2.55177178e+02] [ 1.01268013e-02 1.04996119e-04 9.99948717e-01 -2.79552193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 767.526559995 meters 0.014013385911743498 Centerline is valid? [True, True] Translation: X:-138.79, Y:-255.16, Z:-2.80 [[-6.89548645e-01 -7.24203456e-01 7.21250254e-03 -1.38785225e+02] [ 7.24165782e-01 -6.89586353e-01 -7.38801783e-03 -2.55158547e+02] [ 1.03240714e-02 1.28649856e-04 9.99946697e-01 -2.79588060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 767.5565599949999 meters 0.014328721530570665 Centerline is valid? [True, True] Translation: X:-138.81, Y:-255.14, Z:-2.80 [[-6.88870017e-01 -7.24847275e-01 7.38435227e-03 -1.38805309e+02] [ 7.24807863e-01 -6.88909579e-01 -7.56006530e-03 -2.55138491e+02] [ 1.05670437e-02 1.44334277e-04 9.99944157e-01 -2.79638752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 767.5865599949999 meters 0.01401523062665389 Centerline is valid? [True, True] Translation: X:-138.82, Y:-255.12, Z:-2.80 [[-6.88336467e-01 -7.25353578e-01 7.42266398e-03 -1.38823484e+02] [ 7.25313835e-01 -6.88376469e-01 -7.59456973e-03 -2.55118298e+02] [ 1.06183355e-02 1.56141586e-04 9.99943612e-01 -2.79593386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 767.616559995 meters 0.015231018829695058 Centerline is valid? [True, True] Translation: X:-138.84, Y:-255.10, Z:-2.80 [[-6.87666417e-01 -7.25987243e-01 7.57777599e-03 -1.38843388e+02] [ 7.25945909e-01 -6.87708146e-01 -7.74875920e-03 -2.55100459e+02] [ 1.08367986e-02 1.72494003e-04 9.99941265e-01 -2.79820985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 767.646559995 meters 0.014244804521405767 Centerline is valid? [True, True] Translation: X:-138.86, Y:-255.08, Z:-2.80 [[-6.87575356e-01 -7.26071689e-01 7.74802867e-03 -1.38860589e+02] [ 7.26028538e-01 -6.87618985e-01 -7.91786748e-03 -2.55078818e+02] [ 1.10766310e-02 1.81159379e-04 9.99938636e-01 -2.79685005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 767.6765599949999 meters 0.014364527968710395 Centerline is valid? [True, True] Translation: X:-138.88, Y:-255.06, Z:-2.80 [[-6.87612593e-01 -7.26033316e-01 8.03400032e-03 -1.38878814e+02] [ 7.25986981e-01 -6.87659499e-01 -8.20469705e-03 -2.55059540e+02] [ 1.14815401e-02 1.90926616e-04 9.99934067e-01 -2.79732515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 767.7065599949999 meters 0.014180979797215767 Centerline is valid? [True, True] Translation: X:-138.90, Y:-255.04, Z:-2.80 [[-6.87864760e-01 -7.25785142e-01 8.83172649e-03 -1.38896499e+02] [ 7.25729191e-01 -6.87921423e-01 -9.01427893e-03 -2.55036986e+02] [ 1.26179636e-02 2.08836905e-04 9.99920369e-01 -2.79720097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 767.736559995 meters 0.014396461569451907 Centerline is valid? [True, True] Translation: X:-138.91, Y:-255.02, Z:-2.80 [[-6.88210374e-01 -7.25458273e-01 8.76218991e-03 -1.38914021e+02] [ 7.25403228e-01 -6.88266121e-01 -8.93891878e-03 -2.55018100e+02] [ 1.25155310e-02 2.04264205e-04 9.99921657e-01 -2.79723088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 767.766559995 meters 0.014003399442636141 Centerline is valid? [True, True] Translation: X:-138.93, Y:-255.00, Z:-2.80 [[-6.88582844e-01 -7.25105689e-01 8.68371270e-03 -1.38932517e+02] [ 7.25051660e-01 -6.88637568e-01 -8.85382419e-03 -2.54996451e+02] [ 1.23998891e-02 1.99548859e-04 9.99923099e-01 -2.79646602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 767.7965599949999 meters 0.014268335531123435 Centerline is valid? [True, True] Translation: X:-138.95, Y:-254.98, Z:-2.80 [[-6.89352748e-01 -7.24380780e-01 8.07928496e-03 -1.38950527e+02] [ 7.24334000e-01 -6.89400069e-01 -8.23413690e-03 -2.54975956e+02] [ 1.15345101e-02 1.75875892e-04 9.99933460e-01 -2.79628792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 767.8265599949999 meters 0.01375860812886955 Centerline is valid? [True, True] Translation: X:-138.97, Y:-254.95, Z:-2.80 [[-6.89968927e-01 -7.23797237e-01 7.77433682e-03 -1.38968707e+02] [ 7.23753935e-01 -6.90012705e-01 -7.91885970e-03 -2.54954475e+02] [ 1.10960400e-02 1.62939740e-04 9.99938424e-01 -2.79552943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 767.856559995 meters 0.01545062445356467 Centerline is valid? [True, True] Translation: X:-138.99, Y:-254.94, Z:-2.80 [[-6.90532928e-01 -7.23263190e-01 7.39148315e-03 -1.38989600e+02] [ 7.23224064e-01 -6.90572470e-01 -7.52445051e-03 -2.54937583e+02] [ 1.05465129e-02 1.49817637e-04 9.99944373e-01 -2.79840810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 767.886559995 meters 0.013397351444524808 Centerline is valid? [True, True] Translation: X:-139.01, Y:-254.91, Z:-2.80 [[-6.91981161e-01 -7.21883519e-01 6.80133228e-03 -1.39005363e+02] [ 7.21850362e-01 -6.92014574e-01 -6.91980422e-03 -2.54913220e+02] [ 9.70191368e-03 1.21170010e-04 9.99952928e-01 -2.79536331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 767.916559995 meters 0.013382205439751466 Centerline is valid? [True, True] Translation: X:-139.02, Y:-254.89, Z:-2.79 [[-6.92791095e-01 -7.21108156e-01 6.59737315e-03 -1.39023520e+02] [ 7.21076963e-01 -6.92822499e-01 -6.70809044e-03 -2.54892984e+02] [ 9.40806728e-03 1.09908475e-04 9.99955737e-01 -2.79492918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 767.9465599949999 meters 0.013652780576702413 Centerline is valid? [True, True] Translation: X:-139.04, Y:-254.87, Z:-2.80 [[-6.93622921e-01 -7.20309769e-01 6.40941502e-03 -1.39041856e+02] [ 7.20280322e-01 -6.93652527e-01 -6.51382351e-03 -2.54874687e+02] [ 9.13787763e-03 9.84382249e-05 9.99958244e-01 -2.79566644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 767.976559995 meters 0.013415589758585608 Centerline is valid? [True, True] Translation: X:-139.06, Y:-254.85, Z:-2.80 [[-6.94668050e-01 -7.19302506e-01 6.34070702e-03 -1.39060399e+02] [ 7.19273680e-01 -6.94696982e-01 -6.44020071e-03 -2.54854767e+02] [ 9.03732254e-03 8.69020049e-05 9.99959159e-01 -2.79545328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 768.006559995 meters 0.013018458309824753 Centerline is valid? [True, True] Translation: X:-139.08, Y:-254.83, Z:-2.80 [[-6.95937997e-01 -7.18073824e-01 6.34719391e-03 -1.39078487e+02] [ 7.18044923e-01 -6.95966937e-01 -6.44286988e-03 -2.54834851e+02] [ 9.04389332e-03 7.37324044e-05 9.99959101e-01 -2.79523032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 768.036559995 meters 0.012838576067824068 Centerline is valid? [True, True] Translation: X:-139.10, Y:-254.82, Z:-2.80 [[-6.96530610e-01 -7.17494872e-01 6.79834135e-03 -1.39097667e+02] [ 7.17461730e-01 -6.96563783e-01 -6.89653796e-03 -2.54815966e+02] [ 9.68370899e-03 7.38999565e-05 9.99953109e-01 -2.79524682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 768.0665599949999 meters 0.012830906395435444 Centerline is valid? [True, True] Translation: X:-139.12, Y:-254.80, Z:-2.80 [[-6.96804829e-01 -7.17229906e-01 6.65528724e-03 -1.39117677e+02] [ 7.17198172e-01 -6.96836607e-01 -6.74718849e-03 -2.54797104e+02] [ 9.47693315e-03 7.16863222e-05 9.99955090e-01 -2.79553859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 768.0965599949999 meters 0.012884655762828975 Centerline is valid? [True, True] Translation: X:-139.14, Y:-254.78, Z:-2.80 [[-6.96770211e-01 -7.17262344e-01 6.78254796e-03 -1.39137139e+02] [ 7.17229419e-01 -6.96803217e-01 -6.87287811e-03 -2.54779382e+02] [ 9.65575790e-03 7.58262062e-05 9.99953379e-01 -2.79614528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 768.126559995 meters 0.013123147017477736 Centerline is valid? [True, True] Translation: X:-139.16, Y:-254.76, Z:-2.80 [[-6.95846169e-01 -7.18157577e-01 6.91406326e-03 -1.39157564e+02] [ 7.18123449e-01 -6.95880512e-01 -7.00183523e-03 -2.54761844e+02] [ 9.83978290e-03 9.29507347e-05 9.99951584e-01 -2.79615062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 768.156559995 meters 0.013156614360300165 Centerline is valid? [True, True] Translation: X:-139.18, Y:-254.74, Z:-2.80 [[-6.95279503e-01 -7.18707869e-01 6.73875911e-03 -1.39177170e+02] [ 7.18675519e-01 -6.95312152e-01 -6.81978906e-03 -2.54743579e+02] [ 9.58697717e-03 1.01321652e-04 9.99954039e-01 -2.79574702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 768.1865599949999 meters 0.013265913482564458 Centerline is valid? [True, True] Translation: X:-139.20, Y:-254.73, Z:-2.80 [[-6.94566880e-01 -7.19400379e-01 6.32018424e-03 -1.39197136e+02] [ 7.19371988e-01 -6.94595626e-01 -6.39215745e-03 -2.54725487e+02] [ 8.98849282e-03 1.06782642e-04 9.99959597e-01 -2.79548295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 768.2165599949999 meters 0.013837197624827853 Centerline is valid? [True, True] Translation: X:-139.22, Y:-254.71, Z:-2.80 [[-6.92944375e-01 -7.20964654e-01 6.16937117e-03 -1.39218530e+02] [ 7.20937695e-01 -6.92971827e-01 -6.23594715e-03 -2.54708982e+02] [ 8.77109788e-03 1.26567727e-04 9.99961525e-01 -2.79590440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 768.246559995 meters 0.01403128812350228 Centerline is valid? [True, True] Translation: X:-139.24, Y:-254.69, Z:-2.80 [[-6.92651699e-01 -7.21246863e-01 6.04874016e-03 -1.39238821e+02] [ 7.21220992e-01 -6.92678097e-01 -6.11022631e-03 -2.54691158e+02] [ 8.59681138e-03 1.30219746e-04 9.99963038e-01 -2.79625941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 768.276559995 meters 0.01406650639912721 Centerline is valid? [True, True] Translation: X:-139.26, Y:-254.67, Z:-2.80 [[-6.92468803e-01 -7.21424359e-01 5.81822556e-03 -1.39259076e+02] [ 7.21400459e-01 -6.92493233e-01 -5.87366760e-03 -2.54672283e+02] [ 8.26648872e-03 1.29939022e-04 9.99965824e-01 -2.79649485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 768.3065599949999 meters 0.014173912541851356 Centerline is valid? [True, True] Translation: X:-139.28, Y:-254.65, Z:-2.80 [[-6.92529083e-01 -7.21363192e-01 6.21405837e-03 -1.39278941e+02] [ 7.21335963e-01 -6.92556948e-01 -6.26913647e-03 -2.54654332e+02] [ 8.82591359e-03 1.40864447e-04 9.99961041e-01 -2.79723438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 768.3365599949999 meters 0.014256178085196778 Centerline is valid? [True, True] Translation: X:-139.30, Y:-254.64, Z:-2.80 [[-6.93157711e-01 -7.20758989e-01 6.23440574e-03 -1.39298193e+02] [ 7.20731594e-01 -6.93185734e-01 -6.28557399e-03 -2.54636491e+02] [ 8.85198507e-03 1.36439104e-04 9.99960811e-01 -2.79757555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 768.366559995 meters 0.014000976659101745 Centerline is valid? [True, True] Translation: X:-139.32, Y:-254.62, Z:-2.80 [[-6.93910143e-01 -7.20035319e-01 6.15250893e-03 -1.39316848e+02] [ 7.20008644e-01 -6.93937406e-01 -6.19919735e-03 -2.54616766e+02] [ 8.73309712e-03 1.28173693e-04 9.99961858e-01 -2.79720323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 768.396559995 meters 0.013504689134295011 Centerline is valid? [True, True] Translation: X:-139.34, Y:-254.60, Z:-2.80 [[-6.94886108e-01 -7.19096724e-01 5.76187755e-03 -1.39335782e+02] [ 7.19073323e-01 -6.94909987e-01 -5.80234329e-03 -2.54595973e+02] [ 8.17643230e-03 1.11244687e-04 9.99966566e-01 -2.79631414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 768.4265599949999 meters 0.013265157323345987 Centerline is valid? [True, True] Translation: X:-139.35, Y:-254.58, Z:-2.80 [[-6.95724691e-01 -7.18287450e-01 5.50392796e-03 -1.39354972e+02] [ 7.18266097e-01 -6.95746455e-01 -5.53945574e-03 -2.54575618e+02] [ 7.80825990e-03 9.93487130e-05 9.99969510e-01 -2.79594704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 768.4565599949999 meters 0.012957569340308117 Centerline is valid? [True, True] Translation: X:-139.37, Y:-254.56, Z:-2.80 [[-6.97786653e-01 -7.16286740e-01 5.20509828e-03 -1.39373825e+02] [ 7.16267609e-01 -6.97806062e-01 -5.23572151e-03 -2.54556169e+02] [ 7.38242703e-03 7.48267097e-05 9.99972747e-01 -2.79666776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 768.486559995 meters 0.012717381229785805 Centerline is valid? [True, True] Translation: X:-139.39, Y:-254.54, Z:-2.80 [[-6.99048169e-01 -7.15056636e-01 5.06605338e-03 -1.39392461e+02] [ 7.15038504e-01 -6.99066523e-01 -5.09264775e-03 -2.54536153e+02] [ 7.18303989e-03 6.24171432e-05 9.99974200e-01 -2.79673732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 768.516559995 meters 0.01254339673874469 Centerline is valid? [True, True] Translation: X:-139.41, Y:-254.52, Z:-2.80 [[-7.00361052e-01 -7.13769110e-01 5.29664576e-03 -1.39410798e+02] [ 7.13749278e-01 -7.00381078e-01 -5.32110109e-03 -2.54516495e+02] [ 7.50770806e-03 5.37851264e-05 9.99971815e-01 -2.79709906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 768.5465599949999 meters 0.012320262499311802 Centerline is valid? [True, True] Translation: X:-139.43, Y:-254.50, Z:-2.80 [[-7.02707379e-01 -7.11456648e-01 5.63711438e-03 -1.39428356e+02] [ 7.11434139e-01 -7.02729988e-01 -5.65941025e-03 -2.54496314e+02] [ 7.98779437e-03 3.35262746e-05 9.99968097e-01 -2.79779884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 768.5765599949999 meters 0.012230726345432763 Centerline is valid? [True, True] Translation: X:-139.45, Y:-254.48, Z:-2.80 [[-7.04089067e-01 -7.10088368e-01 5.75288959e-03 -1.39447384e+02] [ 7.10064905e-01 -7.04112569e-01 -5.77240771e-03 -2.54475997e+02] [ 8.14960144e-03 2.06358413e-05 9.99966791e-01 -2.79841777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 768.606559995 meters 0.012222977407889272 Centerline is valid? [True, True] Translation: X:-139.47, Y:-254.46, Z:-2.80 [[-7.05333967e-01 -7.08850038e-01 5.96810782e-03 -1.39466528e+02] [ 7.08824772e-01 -7.05359216e-01 -5.98498863e-03 -2.54455168e+02] [ 8.45211928e-03 8.92689029e-06 9.99964280e-01 -2.79859011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 768.636559995 meters 0.01229648966019796 Centerline is valid? [True, True] Translation: X:-139.48, Y:-254.43, Z:-2.80 [[-7.07627383e-01 -7.06559340e-01 6.11449274e-03 -1.39484941e+02] [ 7.06532762e-01 -7.07653799e-01 -6.12832177e-03 -2.54433224e+02] [ 8.65696700e-03 -1.64788443e-05 9.99962528e-01 -2.79853550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 768.666559995 meters 0.01237879602597125 Centerline is valid? [True, True] Translation: X:-139.50, Y:-254.41, Z:-2.80 [[-7.08510308e-01 -7.05675097e-01 5.98342073e-03 -1.39503544e+02] [ 7.05649646e-01 -7.08535572e-01 -5.99338339e-03 -2.54413249e+02] [ 8.46884784e-03 -2.41751873e-05 9.99964138e-01 -2.79872605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 768.6965599949999 meters 0.01237879602597125 Centerline is valid? [True, True] Translation: X:-139.52, Y:-254.39, Z:-2.80 [[-7.08730808e-01 -7.05453626e-01 5.98529341e-03 -1.39522526e+02] [ 7.05428182e-01 -7.08756081e-01 -5.99151323e-03 -2.54394381e+02] [ 8.46884783e-03 -2.41753653e-05 9.99964138e-01 -2.79872573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 768.726559995 meters 0.012297669652094069 Centerline is valid? [True, True] Translation: X:-139.54, Y:-254.37, Z:-2.80 [[-7.09513779e-01 -7.04668501e-01 5.70101020e-03 -1.39542226e+02] [ 7.04645418e-01 -7.09536682e-01 -5.70373032e-03 -2.54373859e+02] [ 8.06431496e-03 -2.96845418e-05 9.99967483e-01 -2.79848328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 768.756559995 meters 0.012428997209235609 Centerline is valid? [True, True] Translation: X:-139.56, Y:-254.35, Z:-2.80 [[-7.09910624e-01 -7.04271973e-01 5.28149242e-03 -1.39559985e+02] [ 7.04252170e-01 -7.09930270e-01 -5.28143523e-03 -2.54354939e+02] [ 7.46905815e-03 -2.98444882e-05 9.99972106e-01 -2.79899542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 768.786559995 meters 0.012409689268789452 Centerline is valid? [True, True] Translation: X:-140.06, Y:-254.86, Z:-1.79 [[-7.52910532e-01 6.58099794e-01 5.51289888e-03 -1.40055547e+02] [ 6.58082426e-01 7.52930714e-01 -4.78125604e-03 -2.54855393e+02] [-7.29737451e-03 2.80838376e-05 -9.99973374e-01 -1.78687332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 768.8165599949999 meters 0.012498254616013301 Centerline is valid? [True, True] Translation: X:-140.04, Y:-254.83, Z:-1.79 [[-7.97941018e-01 6.02708026e-01 5.75913010e-03 -1.40036777e+02] [ 6.02692542e-01 7.97961800e-01 -4.32026197e-03 -2.54834884e+02] [-7.19942238e-03 2.36705266e-05 -9.99974084e-01 -1.78555274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 768.8465599949999 meters 0.01234070216679264 Centerline is valid? [True, True] Translation: X:-140.02, Y:-254.81, Z:-1.79 [[-8.39806175e-01 5.42846322e-01 6.59238677e-03 -1.40019613e+02] [ 5.42829676e-01 8.39832049e-01 -4.25115029e-03 -2.54810112e+02] [-7.84421899e-03 8.40091220e-06 -9.99969234e-01 -1.78546483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 768.876559995 meters 0.012238334612570241 Centerline is valid? [True, True] Translation: X:-139.64, Y:-254.23, Z:-2.80 [[-8.01555914e-01 -5.97880291e-01 6.87567086e-03 -1.39638079e+02] [ 5.97858667e-01 -8.01585402e-01 -5.08505500e-03 -2.54227001e+02] [ 8.55169156e-03 3.47235063e-05 9.99963433e-01 -2.80067423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 768.906559995 meters 0.01231195966841642 Centerline is valid? [True, True] Translation: X:-140.06, Y:-254.78, Z:-1.78 [[-8.43553135e-01 5.36989621e-01 7.76249764e-03 -1.40060064e+02] [ 5.36966656e-01 8.43588850e-01 -4.96620428e-03 -2.54781473e+02] [-9.21515661e-03 -2.10547911e-05 -9.99957539e-01 -1.78382611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 768.9365599949999 meters 0.01245147719325579 Centerline is valid? [True, True] Translation: X:-140.04, Y:-254.76, Z:-1.78 [[-8.80349945e-01 4.74247663e-01 8.55149912e-03 -1.40040245e+02] [ 4.74224845e-01 8.80391477e-01 -4.65235588e-03 -2.54758787e+02] [-9.73503584e-03 -4.03679043e-05 -9.99952613e-01 -1.78316411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 768.9665599949999 meters 0.012669125720978938 Centerline is valid? [True, True] Translation: X:-140.03, Y:-254.73, Z:-1.78 [[-9.13117899e-01 4.07602561e-01 8.70943480e-03 -1.40030911e+02] [ 4.07583262e-01 9.13159431e-01 -3.96703775e-03 -2.54729704e+02] [-9.57007728e-03 -7.25533280e-05 -9.99954203e-01 -1.78333276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 768.996559995 meters 0.01277430726076368 Centerline is valid? [True, True] Translation: X:-139.74, Y:-254.11, Z:-2.80 [[-8.75641676e-01 -4.82879598e-01 8.88536726e-03 -1.39743572e+02] [ 4.82855999e-01 -8.75686749e-01 -4.77512096e-03 -2.54109830e+02] [ 1.00866069e-02 1.09057962e-04 9.99949123e-01 -2.80154552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 769.026559995 meters 0.012864709604889713 Centerline is valid? [True, True] Translation: X:-140.08, Y:-254.71, Z:-1.78 [[-9.15713082e-01 4.01738874e-01 8.68497885e-03 -1.40075708e+02] [ 4.01719786e-01 9.15754261e-01 -3.91748820e-03 -2.54708257e+02] [-9.52711369e-03 -9.83673516e-05 -9.99954611e-01 -1.78402318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 769.0565599949999 meters 0.013124623866109233 Centerline is valid? [True, True] Translation: X:-140.06, Y:-254.68, Z:-1.78 [[-9.42196920e-01 3.34946520e-01 8.70584350e-03 -1.40062564e+02] [ 3.34931198e-01 9.42237135e-01 -3.20550259e-03 -2.54682467e+02] [-9.27664097e-03 -1.04356078e-04 -9.99956966e-01 -1.78399133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 769.0865599949999 meters 0.013357428799437687 Centerline is valid? [True, True] Translation: X:-140.05, Y:-254.66, Z:-1.78 [[-9.63771843e-01 2.66602899e-01 8.16882319e-03 -1.40053245e+02] [ 2.66592424e-01 9.63806456e-01 -2.36551856e-03 -2.54655407e+02] [-8.50381863e-03 -1.02073805e-04 -9.99963837e-01 -1.78466153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 769.116559995 meters 0.01338139810609233 Centerline is valid? [True, True] Translation: X:-140.05, Y:-254.63, Z:-1.78 [[-9.80250788e-01 1.97592482e-01 8.09962833e-03 -1.40048523e+02] [ 1.97584897e-01 9.80284245e-01 -1.73422210e-03 -2.54627508e+02] [-8.28260730e-03 -9.96083526e-05 -9.99965694e-01 -1.78478994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 769.146559995 meters 0.013273127180763455 Centerline is valid? [True, True] Translation: X:-139.90, Y:-253.97, Z:-2.80 [[-9.58154405e-01 -2.86145915e-01 7.78789383e-03 -1.39903015e+02] [ 2.86137191e-01 -9.58186051e-01 -2.23598806e-03 -2.53968106e+02] [ 8.10207009e-03 8.59842603e-05 9.99967174e-01 -2.80030958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 769.1765599949999 meters 0.012950523678894444 Centerline is valid? [True, True] Translation: X:-140.09, Y:-254.62, Z:-1.78 [[-9.80694802e-01 1.95420802e-01 6.95811582e-03 -1.40094047e+02] [ 1.95415354e-01 9.80719483e-01 -1.46101013e-03 -2.54618364e+02] [-7.10947152e-03 -7.30823734e-05 -9.99974725e-01 -1.78480898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 769.2065599949999 meters 0.012904166388391805 Centerline is valid? [True, True] Translation: X:-139.95, Y:-253.96, Z:-2.80 [[-9.60005982e-01 -2.79900428e-01 6.65316083e-03 -1.39952782e+02] [ 2.79894131e-01 -9.60029034e-01 -1.87854685e-03 -2.53957524e+02] [ 6.91303363e-03 5.87644467e-05 9.99976103e-01 -2.80058186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 769.236559995 meters 0.012621533961559132 Centerline is valid? [True, True] Translation: X:-140.14, Y:-254.61, Z:-1.78 [[-9.80946114e-01 1.94180509e-01 6.21703578e-03 -1.40143791e+02] [ 1.94176296e-01 9.80965814e-01 -1.27996072e-03 -2.54610468e+02] [-6.34724298e-03 -4.83715154e-05 -9.99979855e-01 -1.78485479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 769.266559995 meters 0.012358032011784656 Centerline is valid? [True, True] Translation: X:-140.14, Y:-254.59, Z:-1.79 [[-9.92043606e-01 1.25750134e-01 6.03228480e-03 -1.40137514e+02] [ 1.25747589e-01 9.92061945e-01 -8.00931495e-04 -2.54585088e+02] [-6.08511744e-03 -3.60137007e-05 -9.99981485e-01 -1.78534915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 769.2965599949999 meters 0.012116064843139 Centerline is valid? [True, True] Translation: X:-140.14, Y:-254.56, Z:-1.79 [[-9.98250701e-01 5.87824943e-02 6.33692151e-03 -1.40135777e+02] [ 5.87812243e-02 9.98270814e-01 -3.86629261e-04 -2.54560472e+02] [-6.34869083e-03 -1.34609263e-05 -9.99979847e-01 -1.78520998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 769.3265599949999 meters 0.012177332913763316 Centerline is valid? [True, True] Translation: X:-140.09, Y:-253.87, Z:-2.80 [[-9.91723402e-01 -1.28242473e-01 6.20990354e-03 -1.40090307e+02] [ 1.28240008e-01 -9.91742844e-01 -7.95238560e-04 -2.53871758e+02] [ 6.26061076e-03 7.70138911e-06 9.99980402e-01 -2.80013758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 769.356559995 meters 0.012212868284726506 Centerline is valid? [True, True] Translation: X:-140.20, Y:-254.56, Z:-1.78 [[-9.98285635e-01 5.82107181e-02 6.10769884e-03 -1.40202272e+02] [ 5.82097005e-02 9.98304318e-01 -3.44390540e-04 -2.54559965e+02] [-6.11738935e-03 1.17271910e-05 -9.99981289e-01 -1.78475295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 769.386559995 meters 0.012351618698308087 Centerline is valid? [True, True] Translation: X:-140.16, Y:-253.87, Z:-2.80 [[-9.92889170e-01 -1.18897961e-01 5.86264461e-03 -1.40158012e+02] [ 1.18895743e-01 -9.92906478e-01 -7.26678039e-04 -2.53865811e+02] [ 5.90745835e-03 -2.44672710e-05 9.99982551e-01 -2.80015202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 769.416559995 meters 0.012521319264323792 Centerline is valid? [True, True] Translation: X:-140.27, Y:-254.56, Z:-1.78 [[-9.98340731e-01 5.72781648e-02 5.91576212e-03 -1.40265529e+02] [ 5.72773594e-02 9.98358258e-01 -3.05625412e-04 -2.54557181e+02] [-5.92355563e-03 3.37209356e-05 -9.99982455e-01 -1.78450312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 769.4465599949999 meters 0.012609047259847312 Centerline is valid? [True, True] Translation: X:-140.27, Y:-254.53, Z:-1.78 [[-9.99898030e-01 -1.28761520e-02 6.17536910e-03 -1.40271380e+02] [-1.28756526e-02 9.99917098e-01 1.20616797e-04 -2.54529040e+02] [-6.17641023e-03 4.10925906e-05 -9.99980925e-01 -1.78419101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 769.476559995 meters 0.013267742714910293 Centerline is valid? [True, True] Translation: X:-140.27, Y:-254.50, Z:-1.78 [[-9.96641425e-01 -8.15473529e-02 7.47662271e-03 -1.40274798e+02] [-8.15445405e-02 9.96669466e-01 6.80745196e-04 -2.54502471e+02] [-7.50723453e-03 6.87810990e-05 -9.99971818e-01 -1.78252844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 769.506559995 meters 0.013104080084369306 Centerline is valid? [True, True] Translation: X:-140.29, Y:-254.47, Z:-1.78 [[-9.88463415e-01 -1.51247725e-01 8.01271027e-03 -1.40285702e+02] [-1.51242055e-01 9.88495887e-01 1.31235969e-03 -2.54474770e+02] [-8.11902257e-03 8.53607730e-05 -9.99967037e-01 -1.78282910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 769.536559995 meters 0.013338536060606362 Centerline is valid? [True, True] Translation: X:-140.31, Y:-254.45, Z:-1.78 [[-9.75340613e-01 -2.20561413e-01 7.95940268e-03 -1.40312263e+02] [-2.20553249e-01 9.75373084e-01 1.90018113e-03 -2.54452033e+02] [-8.18249378e-03 9.78517044e-05 -9.99966518e-01 -1.78253882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 769.5665599949999 meters 0.013981654166676592 Centerline is valid? [True, True] Translation: X:-140.36, Y:-254.44, Z:-1.78 [[-9.57403747e-01 -2.88652135e-01 7.61651390e-03 -1.40357642e+02] [-2.88642044e-01 9.57434035e-01 2.41634255e-03 -2.54436151e+02] [-7.98979208e-03 1.14969275e-04 -9.99968075e-01 -1.78215352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 769.5965599949999 meters 0.01397440861271558 Centerline is valid? [True, True] Translation: X:-140.42, Y:-254.43, Z:-1.78 [[-9.33950373e-01 -3.57322673e-01 7.56358276e-03 -1.40421018e+02] [-3.57309862e-01 9.33980991e-01 3.02841379e-03 -2.54428273e+02] [-8.14636343e-03 1.25845478e-04 -9.99966810e-01 -1.78248709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 769.626559995 meters 0.014253177399041056 Centerline is valid? [True, True] Translation: X:-140.49, Y:-254.43, Z:-1.78 [[-9.05265224e-01 -4.24784416e-01 7.28515311e-03 -1.40490996e+02] [-4.24769493e-01 9.05294528e-01 3.56304101e-03 -2.54428317e+02] [-8.10873354e-03 1.30986332e-04 -9.99967115e-01 -1.78218347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 769.656559995 meters 0.014403097990087483 Centerline is valid? [True, True] Translation: X:-140.57, Y:-254.44, Z:-1.78 [[-8.70990317e-01 -4.91237503e-01 7.84744788e-03 -1.40569416e+02] [-4.91216060e-01 8.71025657e-01 4.59212043e-03 -2.54437006e+02] [-9.09115021e-03 1.44899998e-04 -9.99958664e-01 -1.78126709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 769.6865599949999 meters 0.014252759572465181 Centerline is valid? [True, True] Translation: X:-140.65, Y:-254.46, Z:-1.78 [[-8.31255801e-01 -5.55833354e-01 7.94206148e-03 -1.40652689e+02] [-5.55806312e-01 8.31293728e-01 5.48468534e-03 -2.54455746e+02] [-9.65075694e-03 1.44928606e-04 -9.99953420e-01 -1.78068376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 769.7165599949999 meters 0.014106194521978746 Centerline is valid? [True, True] Translation: X:-140.74, Y:-254.48, Z:-1.78 [[-7.86290583e-01 -6.17808861e-01 7.70267577e-03 -1.40740187e+02] [-6.17777518e-01 7.86328298e-01 6.22459991e-03 -2.54484865e+02] [-9.90244491e-03 1.35804374e-04 -9.99950960e-01 -1.78041479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 769.746559995 meters 0.013251367819000015 Centerline is valid? [True, True] Translation: X:-140.83, Y:-254.52, Z:-1.78 [[-7.35101815e-01 -6.77913501e-01 7.65557563e-03 -1.40834038e+02] [-6.77875207e-01 7.35141669e-01 7.20623974e-03 -2.54523699e+02] [-1.05131399e-02 1.07794993e-04 -9.99944730e-01 -1.78053350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 769.776559995 meters 0.012883334132032529 Centerline is valid? [True, True] Translation: X:-140.92, Y:-254.57, Z:-1.78 [[-6.80053876e-01 -7.33126888e-01 7.18973904e-03 -1.40924591e+02] [-7.33084580e-01 6.80091875e-01 7.87656871e-03 -2.54571869e+02] [-1.06642074e-02 8.58042569e-05 -9.99943132e-01 -1.78043984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 769.8065599949999 meters 0.012646936699183885 Centerline is valid? [True, True] Translation: X:-141.01, Y:-254.63, Z:-1.78 [[-6.20847081e-01 -7.83905445e-01 6.41524682e-03 -1.41012400e+02] [-7.83862557e-01 6.20880221e-01 8.20011875e-03 -2.54628303e+02] [-1.04112176e-02 6.23480112e-05 -9.99945800e-01 -1.78041008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 769.8365599949999 meters 0.012467448842040393 Centerline is valid? [True, True] Translation: X:-141.10, Y:-254.69, Z:-1.78 [[-5.57590983e-01 -8.30096783e-01 5.62379994e-03 -1.41097680e+02] [-8.30053875e-01 5.57619341e-01 8.44012504e-03 -2.54694390e+02] [-1.01420603e-02 3.80806810e-05 -9.99948567e-01 -1.78008399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 769.866559995 meters 0.01231697305901061 Centerline is valid? [True, True] Translation: X:-141.18, Y:-254.77, Z:-1.78 [[-4.89218331e-01 -8.72149773e-01 4.49418985e-03 -1.41180950e+02] [-8.72113024e-01 4.89238974e-01 8.00631112e-03 -2.54769555e+02] [-9.18143526e-03 -2.60733225e-06 -9.99957850e-01 -1.78097940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 769.896559995 meters 0.012367060536001305 Centerline is valid? [True, True] Translation: X:-141.26, Y:-254.85, Z:-1.78 [[-4.19516589e-01 -9.07740234e-01 3.67413350e-03 -1.41257506e+02] [-9.07705810e-01 4.19532677e-01 7.90537179e-03 -2.54854311e+02] [-8.71744311e-03 -1.85977161e-05 -9.99962002e-01 -1.78132498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 769.9265599949999 meters 0.01242002649524703 Centerline is valid? [True, True] Translation: X:-141.33, Y:-254.95, Z:-1.78 [[-3.47260470e-01 -9.37764466e-01 2.82374477e-03 -1.41327812e+02] [-9.37734184e-01 3.47271949e-01 7.53617014e-03 -2.54946748e+02] [-8.04775991e-03 -3.09080189e-05 -9.99967616e-01 -1.78179944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 769.9565599949999 meters 0.012460661805283279 Centerline is valid? [True, True] Translation: X:-141.39, Y:-255.04, Z:-1.78 [[-2.73276579e-01 -9.61933079e-01 2.15948205e-03 -1.41390015e+02] [-9.61904155e-01 2.73285109e-01 7.45961699e-03 -2.55041793e+02] [-7.76580662e-03 -3.86761402e-05 -9.99969845e-01 -1.78176479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 769.986559995 meters 0.012554334429196623 Centerline is valid? [True, True] Translation: X:-141.45, Y:-255.15, Z:-1.78 [[-1.97129318e-01 -9.80376491e-01 1.40313198e-03 -1.41446064e+02] [-9.80353273e-01 1.97134306e-01 6.74729353e-03 -2.55146596e+02] [-6.89149340e-03 -4.54756600e-05 -9.99976252e-01 -1.78224989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 770.016559995 meters 0.012583542957474396 Centerline is valid? [True, True] Translation: X:-141.49, Y:-255.26, Z:-1.78 [[-1.20920407e-01 -9.92661860e-01 8.29440386e-04 -1.41493372e+02] [-9.92641034e-01 1.20923243e-01 6.43017260e-03 -2.55255845e+02] [-6.48328571e-03 -4.57974768e-05 -9.99978982e-01 -1.78201701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 770.0465599949999 meters 0.012762133240056714 Centerline is valid? [True, True] Translation: X:-141.53, Y:-255.37, Z:-1.78 [[-4.40394642e-02 -9.99029748e-01 2.96239838e-04 -1.41532421e+02] [-9.99013191e-01 4.40404399e-02 5.75183432e-03 -2.55367855e+02] [-5.75930013e-03 -4.26398041e-05 -9.99983414e-01 -1.78206855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 770.0765599949999 meters 0.01258425709278759 Centerline is valid? [True, True] Translation: X:-141.56, Y:-255.48, Z:-1.78 [[ 3.30700024e-02 -9.99453030e-01 -1.26178433e-04 -1.41561438e+02] [-9.99440719e-01 -3.30702214e-02 4.96075220e-03 -2.55483886e+02] [-4.96221157e-03 -3.79442235e-05 -9.99987688e-01 -1.78258912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 770.106559995 meters 0.01259972357275945 Centerline is valid? [True, True] Translation: X:-141.58, Y:-255.60, Z:-1.78 [[ 1.09520382e-01 -9.93984438e-01 -4.72447241e-04 -1.41581595e+02] [-9.93973794e-01 -1.09521395e-01 4.60014704e-03 -2.55602080e+02] [-4.62421766e-03 -3.42096829e-05 -9.99989308e-01 -1.78291786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 770.136559995 meters 0.012699516598572656 Centerline is valid? [True, True] Translation: X:-141.59, Y:-255.72, Z:-1.78 [[ 1.85410435e-01 -9.82660842e-01 -8.00027616e-04 -1.41592821e+02] [-9.82650918e-01 -1.85412158e-01 4.41642076e-03 -2.55722338e+02] [-4.48817859e-03 -3.27026236e-05 -9.99989928e-01 -1.78250943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 770.166559995 meters 0.012632176607589165 Centerline is valid? [True, True] Translation: X:-141.60, Y:-255.84, Z:-1.78 [[ 2.60099865e-01 -9.65580922e-01 -1.24259523e-03 -1.41595032e+02] [-9.65569256e-01 -2.60102830e-01 4.74656994e-03 -2.55838690e+02] [-4.90639991e-03 -3.47704503e-05 -9.99987963e-01 -1.78222039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 770.1965599949999 meters 0.012626499106830053 Centerline is valid? [True, True] Translation: X:-141.59, Y:-255.96, Z:-1.78 [[ 3.33761962e-01 -9.42655093e-01 -2.08057950e-03 -1.41588018e+02] [-9.42635880e-01 -3.33768444e-01 6.01866635e-03 -2.55957060e+02] [-6.36795827e-03 -4.75730032e-05 -9.99979723e-01 -1.78090909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 770.226559995 meters 0.012746546151951399 Centerline is valid? [True, True] Translation: X:-141.57, Y:-256.07, Z:-1.78 [[ 4.05368793e-01 -9.14148559e-01 -2.92472677e-03 -1.41573284e+02] [-9.14123738e-01 -4.05379340e-01 6.73670023e-03 -2.56072775e+02] [-7.34396862e-03 -5.72858764e-05 -9.99973031e-01 -1.77917522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 770.256559995 meters 0.012866958838171922 Centerline is valid? [True, True] Translation: X:-141.55, Y:-256.19, Z:-1.78 [[ 4.74535538e-01 -8.80226412e-01 -4.18174373e-03 -1.41549340e+02] [-8.80190862e-01 -4.74553957e-01 7.91123987e-03 -2.56186909e+02] [-8.94814532e-03 -7.34318518e-05 -9.99959962e-01 -1.77804322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 770.286559995 meters 0.012847355678417514 Centerline is valid? [True, True] Translation: X:-141.52, Y:-256.30, Z:-1.78 [[ 5.41019014e-01 -8.40992906e-01 -5.41829985e-03 -1.41516661e+02] [-8.40949055e-01 -5.41046138e-01 8.58857508e-03 -2.56297809e+02] [-1.01544809e-02 -9.00682885e-05 -9.99948438e-01 -1.77765312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 770.3165599949999 meters 0.013124900983671195 Centerline is valid? [True, True] Translation: X:-141.48, Y:-256.41, Z:-1.78 [[ 6.04805389e-01 -7.96343179e-01 -6.92702492e-03 -1.41477564e+02] [-7.96288678e-01 -6.04845044e-01 9.31742000e-03 -2.56405080e+02] [-1.16096406e-02 -1.19314312e-04 -9.99932599e-01 -1.77591046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 770.3465599949999 meters 0.013503501744472152 Centerline is valid? [True, True] Translation: X:-141.43, Y:-256.51, Z:-1.77 [[ 6.63821707e-01 -7.47850326e-01 -7.78659891e-03 -1.41433629e+02] [-7.47796687e-01 -6.63867362e-01 8.95772633e-03 -2.56505638e+02] [-1.18683074e-02 -1.23540312e-04 -9.99929562e-01 -1.77452167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 770.376559995 meters 0.012951762404771775 Centerline is valid? [True, True] Translation: X:-141.37, Y:-256.61, Z:-1.78 [[ 7.18012253e-01 -6.95981627e-01 -8.24497157e-03 -1.41373066e+02] [-6.95934018e-01 -7.18059582e-01 8.14122044e-03 -2.56606347e+02] [-1.15865207e-02 -1.07539842e-04 -9.99932868e-01 -1.77621664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 770.406559995 meters 0.01282114067772426 Centerline is valid? [True, True] Translation: X:-141.37, Y:-256.61, Z:-1.78 [[ 7.69381701e-01 -6.38731888e-01 -8.56576722e-03 -1.41373899e+02] [-6.38691005e-01 -7.69429377e-01 7.22727597e-03 -2.56613880e+02] [-1.12070446e-02 -8.96554029e-05 -9.99937195e-01 -1.77646259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 770.4365599949999 meters 0.01255988657186113 Centerline is valid? [True, True] Translation: X:-141.37, Y:-256.62, Z:-1.78 [[ 8.15813203e-01 -5.78251504e-01 -8.60319937e-03 -1.41374328e+02] [-5.78218534e-01 -8.15858562e-01 6.17519180e-03 -2.56622527e+02] [-1.05898078e-02 -6.32736720e-05 -9.99943925e-01 -1.77720995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 770.4665599949999 meters 0.01248335389747328 Centerline is valid? [True, True] Translation: X:-141.37, Y:-256.63, Z:-1.78 [[ 8.57399474e-01 -5.14576417e-01 -8.78935613e-03 -1.41374539e+02] [-5.14548918e-01 -8.57444523e-01 5.31989011e-03 -2.56630971e+02] [-1.02738753e-02 -3.87172952e-05 -9.99947222e-01 -1.77745206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 770.496559995 meters 0.01244065836925115 Centerline is valid? [True, True] Translation: X:-141.37, Y:-256.63, Z:-1.78 [[ 8.92509658e-01 -4.50935845e-01 -9.13093485e-03 -1.41373215e+02] [-4.50912457e-01 -8.92556364e-01 4.59268971e-03 -2.56634873e+02] [-1.02208824e-02 1.82323416e-05 -9.99947765e-01 -1.77752900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 770.526559995 meters 0.012594266970838017 Centerline is valid? [True, True] Translation: X:-141.37, Y:-256.64, Z:-1.78 [[ 9.23901200e-01 -3.82514088e-01 -9.46286893e-03 -1.41371691e+02] [-3.82494559e-01 -9.23949658e-01 3.86547821e-03 -2.56640879e+02] [-1.02218144e-02 4.81759199e-05 -9.99947755e-01 -1.77785020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 770.5565599949999 meters 0.012867920583986248 Centerline is valid? [True, True] Translation: X:-141.37, Y:-256.65, Z:-1.78 [[ 9.50096254e-01 -3.11813232e-01 -9.46663753e-03 -1.41370362e+02] [-3.11798537e-01 -9.50143412e-01 3.02807468e-03 -2.56646484e+02] [-9.93885703e-03 7.47213210e-05 -9.99950606e-01 -1.77798109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 770.5865599949999 meters 0.013551772327058637 Centerline is valid? [True, True] Translation: X:-141.37, Y:-256.65, Z:-1.78 [[ 9.70499992e-01 -2.40928099e-01 -9.13327447e-03 -1.41368585e+02] [-2.40918523e-01 -9.70542961e-01 2.15094060e-03 -2.56651139e+02] [-9.38245727e-03 1.12887161e-04 -9.99955978e-01 -1.77884923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 770.616559995 meters 0.013551772327058637 Centerline is valid? [True, True] Translation: X:-141.37, Y:-256.66, Z:-1.78 [[ 9.86380066e-01 -1.64220479e-01 -9.27363977e-03 -1.41369146e+02] [-1.64214296e-01 -9.86423652e-01 1.42944716e-03 -2.56658924e+02] [-9.38248211e-03 1.12886047e-04 -9.99955977e-01 -1.77884899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 770.646559995 meters 0.013637973069501545 Centerline is valid? [True, True] Translation: X:-141.37, Y:-256.67, Z:-1.78 [[ 9.96128820e-01 -8.75118895e-02 -8.30917922e-03 -1.41370840e+02] [-8.75097574e-02 -9.96163469e-01 6.20522744e-04 -2.56667445e+02] [-8.33160392e-03 1.09013669e-04 -9.99965286e-01 -1.77971818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 770.6765599949999 meters 0.013793702437934414 Centerline is valid? [True, True] Translation: X:-141.37, Y:-256.67, Z:-1.78 [[ 9.99921278e-01 -9.75448256e-03 -7.89233737e-03 -1.41371219e+02] [-9.75502657e-03 -9.99952418e-01 -3.04354763e-05 -2.56674903e+02] [-7.89166496e-03 1.07423041e-04 -9.99968855e-01 -1.78005895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 770.7065599949999 meters 0.013837710306142672 Centerline is valid? [True, True] Translation: X:-141.37, Y:-256.68, Z:-1.78 [[ 9.97628066e-01 6.83509750e-02 -8.14774103e-03 -1.41371084e+02] [ 6.83477717e-02 -9.97661331e-01 -6.71271900e-04 -2.56681991e+02] [-8.17456825e-03 1.12799743e-04 -9.99966581e-01 -1.78088105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 770.736559995 meters 0.013788057153204159 Centerline is valid? [True, True] Translation: X:-141.37, Y:-256.69, Z:-1.78 [[ 9.89208385e-01 1.46277070e-01 -8.35401065e-03 -1.41370688e+02] [ 1.46270856e-01 -9.89243653e-01 -1.35324793e-03 -2.56690531e+02] [-8.46210115e-03 1.16695909e-04 -9.99964189e-01 -1.78121322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 770.766559995 meters 0.013811318603856489 Centerline is valid? [True, True] Translation: X:-141.37, Y:-256.70, Z:-1.78 [[ 9.74680414e-01 2.23440732e-01 -8.50466410e-03 -1.41369433e+02] [ 2.23431157e-01 -9.74717511e-01 -2.07192903e-03 -2.56698284e+02] [-8.75259836e-03 1.19261704e-04 -9.99961688e-01 -1.78109747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 770.7965599949999 meters 0.013587880617485497 Centerline is valid? [True, True] Translation: X:-141.37, Y:-256.71, Z:-1.78 [[ 9.53824996e-01 3.00246167e-01 -8.37352972e-03 -1.41367623e+02] [ 3.00233589e-01 -9.53861744e-01 -2.75039588e-03 -2.56706551e+02] [-8.81298549e-03 1.09381460e-04 -9.99961159e-01 -1.78145576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 770.8265599949999 meters 0.013383439585968823 Centerline is valid? [True, True] Translation: X:-141.36, Y:-256.72, Z:-1.78 [[ 9.27045384e-01 3.74859086e-01 -8.21720315e-03 -1.41364050e+02] [ 3.74843382e-01 -9.27081795e-01 -3.43275490e-03 -2.56716583e+02] [-8.90481881e-03 1.02155365e-04 -9.99960346e-01 -1.78135100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 770.856559995 meters 0.01337357067916864 Centerline is valid? [True, True] Translation: X:-141.36, Y:-256.73, Z:-1.78 [[ 8.94333101e-01 4.47331292e-01 -7.93849758e-03 -1.41361090e+02] [ 4.47312754e-01 -8.94368329e-01 -4.07344135e-03 -2.56725587e+02] [-8.92211859e-03 9.20222143e-05 -9.99960193e-01 -1.78074177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 770.886559995 meters 0.012848995309596996 Centerline is valid? [True, True] Translation: X:-141.35, Y:-256.74, Z:-1.78 [[ 8.55188082e-01 5.18260752e-01 -7.69008437e-03 -1.41354173e+02] [ 5.18239075e-01 -8.55222654e-01 -4.74064857e-03 -2.56736975e+02] [-9.03362646e-03 6.88439478e-05 -9.99959194e-01 -1.78087713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 770.916559995 meters 0.012641141210425895 Centerline is valid? [True, True] Translation: X:-141.35, Y:-256.75, Z:-1.78 [[ 8.11011648e-01 5.84980856e-01 -7.58321873e-03 -1.41347087e+02] [ 5.84954642e-01 -8.11047098e-01 -5.53816326e-03 -2.56746951e+02] [-9.39006703e-03 5.56759136e-05 -9.99955911e-01 -1.78138887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 770.9465599949999 meters 0.012555763534906087 Centerline is valid? [True, True] Translation: X:-141.34, Y:-256.76, Z:-1.78 [[ 7.61680936e-01 6.47908881e-01 -7.49885295e-03 -1.41340660e+02] [ 6.47876932e-01 -7.61717848e-01 -6.43440833e-03 -2.56755724e+02] [-9.88092043e-03 4.26323175e-05 -9.99951182e-01 -1.78117509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 770.976559995 meters 0.012467088114224114 Centerline is valid? [True, True] Translation: X:-141.33, Y:-256.76, Z:-1.78 [[ 7.07290346e-01 7.06884190e-01 -7.42352710e-03 -1.41332473e+02] [ 7.06844873e-01 -7.07329302e-01 -7.45546337e-03 -2.56764174e+02] [-1.05210274e-02 2.58952011e-05 -9.99944652e-01 -1.78120125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 771.006559995 meters 0.012426982465990534 Centerline is valid? [True, True] Translation: X:-141.32, Y:-256.77, Z:-1.78 [[ 6.46689853e-01 7.62717457e-01 -7.36991517e-03 -1.41321600e+02] [ 7.62668248e-01 -6.46731846e-01 -8.66389033e-03 -2.56773129e+02] [-1.13744592e-02 -1.79503307e-05 -9.99935309e-01 -1.78079930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 771.036559995 meters 0.012613535965384268 Centerline is valid? [True, True] Translation: X:-141.31, Y:-256.78, Z:-1.78 [[ 5.83343187e-01 8.12196602e-01 -6.88514316e-03 -1.41312665e+02] [ 8.12140897e-01 -5.83383817e-01 -9.51244174e-03 -2.56780201e+02] [-1.17426540e-02 -4.26882553e-05 -9.99931052e-01 -1.78011323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 771.0665599949999 meters 0.012852248653931959 Centerline is valid? [True, True] Translation: X:-141.30, Y:-256.78, Z:-1.78 [[ 5.15970100e-01 8.56582015e-01 -6.48907974e-03 -1.41303652e+02] [ 8.56516079e-01 -5.16010898e-01 -1.06282219e-02 -2.56784731e+02] [-1.24523796e-02 -7.41564120e-05 -9.99922463e-01 -1.77963110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 771.0965599949999 meters 0.013438176702764792 Centerline is valid? [True, True] Translation: X:-141.29, Y:-256.79, Z:-1.78 [[ 4.43118490e-01 8.96441512e-01 -6.21443844e-03 -1.41291188e+02] [ 8.96357937e-01 -4.43162040e-01 -1.22415057e-02 -2.56789951e+02] [-1.37277971e-02 -1.45923713e-04 -9.99905759e-01 -1.77889342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 771.126559995 meters 0.013857950025780254 Centerline is valid? [True, True] Translation: X:-141.28, Y:-256.79, Z:-1.78 [[ 3.69552044e-01 9.29195584e-01 -5.18200296e-03 -1.41281649e+02] [ 9.29110726e-01 -3.69588334e-01 -1.25587401e-02 -2.56792988e+02] [-1.35847337e-02 -1.73546457e-04 -9.99907708e-01 -1.77864341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 771.156559995 meters 0.014113995629808728 Centerline is valid? [True, True] Translation: X:-141.27, Y:-256.80, Z:-1.78 [[ 2.93567163e-01 9.55929462e-01 -4.14542267e-03 -1.41271273e+02] [ 9.55843635e-01 -2.93596360e-01 -1.28110149e-02 -2.56795081e+02] [-1.34635076e-02 -2.01482596e-04 -9.99909343e-01 -1.77949273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 771.1865599949999 meters 0.014747344108709265 Centerline is valid? [True, True] Translation: X:-141.26, Y:-256.80, Z:-1.78 [[ 2.16136272e-01 9.76358743e-01 -2.95258859e-03 -1.41261284e+02] [ 9.76280603e-01 -2.16156334e-01 -1.23540880e-02 -2.56797168e+02] [-1.27002425e-02 -2.12388446e-04 -9.99919326e-01 -1.77973691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 771.2165599949999 meters 0.01543202874264352 Centerline is valid? [True, True] Translation: X:-141.25, Y:-256.80, Z:-1.78 [[ 1.36432292e-01 9.90647853e-01 -1.74976639e-03 -1.41252549e+02] [ 9.90585548e-01 -1.36443339e-01 -1.11124823e-02 -2.56797339e+02] [-1.12473007e-02 -2.17191871e-04 -9.99936724e-01 -1.78146768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 771.246559995 meters 0.016316098917512897 Centerline is valid? [True, True] Translation: X:-141.25, Y:-256.80, Z:-1.78 [[ 5.79701298e-02 9.98317990e-01 -8.08733588e-04 -1.41245513e+02] [ 9.98264035e-01 -5.79754065e-02 -1.03811959e-02 -2.56797323e+02] [-1.04106213e-02 -2.05530382e-04 -9.99945787e-01 -1.78160847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 771.276559995 meters 0.015719619433598002 Centerline is valid? [True, True] Translation: X:-141.24, Y:-256.80, Z:-1.78 [[-2.05375248e-02 9.99789083e-01 6.16746041e-06 -1.41241258e+02] [ 9.99743279e-01 2.05366429e-02 -9.57197381e-03 -2.56796144e+02] [-9.57008157e-03 -1.90418772e-04 -9.99954188e-01 -1.78331743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 771.3065599949999 meters 0.015498316722853431 Centerline is valid? [True, True] Translation: X:-141.24, Y:-256.79, Z:-1.78 [[-9.82421842e-02 9.95162297e-01 6.90087087e-04 -1.41235530e+02] [ 9.95124159e-01 9.82444619e-02 -8.71398368e-03 -2.56794983e+02] [-8.73962525e-03 -1.69358458e-04 -9.99961795e-01 -1.78376388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 771.3365599949999 meters 0.015583821812103868 Centerline is valid? [True, True] Translation: X:-141.23, Y:-256.79, Z:-1.78 [[-1.75530798e-01 9.84473019e-01 1.34693328e-03 -1.41230295e+02] [ 9.84436476e-01 1.75535890e-01 -8.48389487e-03 -2.56794110e+02] [-8.58860072e-03 -1.63214588e-04 -9.99963104e-01 -1.78354461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 771.366559995 meters 0.015318547448280715 Centerline is valid? [True, True] Translation: X:-141.23, Y:-256.79, Z:-1.78 [[-2.51925818e-01 9.67744308e-01 2.08231720e-03 -1.41225379e+02] [ 9.67705531e-01 2.51934368e-01 -8.66488002e-03 -2.56792067e+02] [-8.90999559e-03 -1.67837111e-04 -9.99960291e-01 -1.78368156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 771.396559995 meters 0.014783166697156586 Centerline is valid? [True, True] Translation: X:-141.22, Y:-256.79, Z:-1.78 [[-3.26229521e-01 9.45285694e-01 3.04244641e-03 -1.41219246e+02] [ 9.45239368e-01 3.26243660e-01 -9.36011842e-03 -2.56788712e+02] [-9.84056488e-03 -1.77706830e-04 -9.99951565e-01 -1.78339376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 771.4265599949999 meters 0.01513404483876546 Centerline is valid? [True, True] Translation: X:-141.21, Y:-256.79, Z:-1.78 [[-3.98902706e-01 9.16984274e-01 4.05854521e-03 -1.41211753e+02] [ 9.16931934e-01 3.98923308e-01 -9.79913316e-03 -2.56785767e+02] [-1.06046993e-02 -1.87491027e-04 -9.99943751e-01 -1.78219739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 771.4565599949999 meters 0.014853513959691162 Centerline is valid? [True, True] Translation: X:-141.21, Y:-256.78, Z:-1.78 [[-4.69318621e-01 8.83014356e-01 5.06740742e-03 -1.41206534e+02] [ 8.82958321e-01 4.69345937e-01 -9.94961599e-03 -2.56782161e+02] [-1.11640208e-02 -1.95230511e-04 -9.99937661e-01 -1.78197707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 771.486559995 meters 0.014920452093963844 Centerline is valid? [True, True] Translation: X:-141.20, Y:-256.78, Z:-1.78 [[-5.36889953e-01 8.43627120e-01 6.51618065e-03 -1.41201519e+02] [ 8.43560033e-01 5.36929451e-01 -1.06412180e-02 -2.56777598e+02] [-1.24759494e-02 -2.16373471e-04 -9.99922149e-01 -1.78179002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 771.516559995 meters 0.0147764318882186 Centerline is valid? [True, True] Translation: X:-141.20, Y:-256.77, Z:-1.78 [[-6.00693387e-01 7.99438891e-01 8.05701484e-03 -1.41197357e+02] [ 7.99361852e-01 6.00747375e-01 -1.11004871e-02 -2.56772997e+02] [-1.37143916e-02 -2.27518889e-04 -9.99905928e-01 -1.78086491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 771.5465599949999 meters 0.014874916209591789 Centerline is valid? [True, True] Translation: X:-141.19, Y:-256.77, Z:-1.78 [[-6.60965627e-01 7.50361540e-01 9.05531669e-03 -1.41193098e+02] [ 7.50286474e-01 6.61027616e-01 -1.06159301e-02 -2.56769000e+02] [-1.39516000e-02 -2.22683252e-04 -9.99902647e-01 -1.78035403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 771.5765599949999 meters 0.014491528168216937 Centerline is valid? [True, True] Translation: X:-141.19, Y:-256.76, Z:-1.78 [[-7.16906701e-01 6.97097627e-01 9.98405553e-03 -1.41190026e+02] [ 6.97025929e-01 7.16976189e-01 -9.99998621e-03 -2.56764877e+02] [-1.41292967e-02 -2.09911543e-04 -9.99900155e-01 -1.78039277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 771.606559995 meters 0.01399796554294315 Centerline is valid? [True, True] Translation: X:-141.19, Y:-256.76, Z:-1.78 [[-7.67416652e-01 6.41062888e-01 1.04907566e-02 -1.41188594e+02] [ 6.41000048e-01 7.67488336e-01 -8.97736285e-03 -2.56761187e+02] [-1.38065875e-02 -1.64802260e-04 -9.99904671e-01 -1.78165148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 771.636559995 meters 0.013457912171816348 Centerline is valid? [True, True] Translation: X:-141.17, Y:-256.75, Z:-1.78 [[-8.09553351e-01 5.86951157e-01 1.05693645e-02 -1.41166698e+02] [ 5.86899079e-01 8.09622334e-01 -7.81971158e-03 -2.56745973e+02] [-1.31469823e-02 -1.27323425e-04 -9.99913567e-01 -1.78326251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 771.666559995 meters 0.013168317171417405 Centerline is valid? [True, True] Translation: X:-141.15, Y:-256.72, Z:-1.78 [[-8.47694166e-01 5.30379443e-01 1.05947044e-02 -1.41152572e+02] [ 5.30336722e-01 8.47760366e-01 -6.73220803e-03 -2.56724270e+02] [-1.25523952e-02 -8.80926508e-05 -9.99921212e-01 -1.78377812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 771.6965599949999 meters 0.012885683392969562 Centerline is valid? [True, True] Translation: X:-141.14, Y:-256.71, Z:-1.79 [[-8.79986707e-01 4.74897655e-01 9.77819178e-03 -1.41137905e+02] [ 4.74868291e-01 8.80041032e-01 -5.28100579e-03 -2.56705002e+02] [-1.11131472e-02 -3.86167503e-06 -9.99938247e-01 -1.78504045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 771.726559995 meters 0.012941707657950314 Centerline is valid? [True, True] Translation: X:-140.83, Y:-256.14, Z:-2.80 [[-8.47625916e-01 -5.30511795e-01 9.35642426e-03 -1.40825460e+02] [ 5.30479471e-01 -8.47677554e-01 -5.85623166e-03 -2.56143034e+02] [ 1.10380308e-02 -5.02735715e-07 9.99939079e-01 -2.79966191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 771.756559995 meters 0.013223286640874942 Centerline is valid? [True, True] Translation: X:-141.17, Y:-256.69, Z:-1.79 [[-8.78106100e-01 4.78369119e-01 9.62611876e-03 -1.41172402e+02] [ 4.78341361e-01 8.78158858e-01 -5.15395418e-03 -2.56691574e+02] [-1.09187540e-02 7.88521338e-05 -9.99940386e-01 -1.78573077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 771.786559995 meters 0.014101799566505837 Centerline is valid? [True, True] Translation: X:-141.16, Y:-256.67, Z:-1.79 [[-9.06832861e-01 4.21364355e-01 1.03073656e-02 -1.41158365e+02] [ 4.21339158e-01 9.06891424e-01 -4.61087355e-03 -2.56670372e+02] [-1.12905193e-02 1.61605097e-04 -9.99936247e-01 -1.78640067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 771.8165599949999 meters 0.015380486597840203 Centerline is valid? [True, True] Translation: X:-141.15, Y:-256.65, Z:-1.79 [[-9.33324646e-01 3.58880571e-01 1.04805218e-02 -1.41150984e+02] [ 3.58860272e-01 9.33383468e-01 -3.82191107e-03 -2.56646047e+02] [-1.11539554e-02 1.93959085e-04 -9.99937774e-01 -1.78586144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 771.8465599949999 meters 0.016115102167711216 Centerline is valid? [True, True] Translation: X:-141.14, Y:-256.62, Z:-1.79 [[-9.55619651e-01 2.94405288e-01 1.07985677e-02 -1.41140417e+02] [ 2.94389163e-01 9.55680635e-01 -3.08957056e-03 -2.56620929e+02] [-1.12295679e-02 2.26526964e-04 -9.99936921e-01 -1.78641849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 771.876559995 meters 0.017317605063731898 Centerline is valid? [True, True] Translation: X:-140.95, Y:-255.99, Z:-2.80 [[-9.48708191e-01 -3.15978610e-01 1.05016935e-02 -1.40952910e+02] [ 3.15956563e-01 -9.48766286e-01 -3.73969699e-03 -2.55986964e+02] [ 1.11453170e-02 -2.29802188e-04 9.99937863e-01 -2.79731726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 771.906559995 meters 0.017173097477096638 Centerline is valid? [True, True] Translation: X:-141.18, Y:-256.61, Z:-1.79 [[-9.54962243e-01 2.96531919e-01 1.07673682e-02 -1.41183764e+02] [ 2.96516525e-01 9.55022898e-01 -3.03568510e-03 -2.56607695e+02] [-1.11832607e-02 2.93737935e-04 -9.99937422e-01 -1.78860518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 771.9365599949999 meters 0.017241056063982265 Centerline is valid? [True, True] Translation: X:-141.18, Y:-256.58, Z:-1.79 [[-9.73313823e-01 2.29232272e-01 1.06191654e-02 -1.41179169e+02] [ 2.29221965e-01 9.73371705e-01 -2.19419236e-03 -2.56578169e+02] [-1.08393749e-02 2.98508203e-04 -9.99941208e-01 -1.78909760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 771.9665599949999 meters 0.01979788438808016 Centerline is valid? [True, True] Translation: X:-141.05, Y:-255.93, Z:-2.80 [[-9.70616121e-01 -2.40393356e-01 1.07414946e-02 -1.41047494e+02] [ 2.40375344e-01 -9.70675513e-01 -2.95676890e-03 -2.55934352e+02] [ 1.11372933e-02 -2.87897115e-04 9.99937937e-01 -2.79684022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 771.996559995 meters 0.01769935182671371 Centerline is valid? [True, True] Translation: X:-141.23, Y:-256.57, Z:-1.79 [[-9.73881525e-01 2.26814413e-01 1.04879991e-02 -1.41229937e+02] [ 2.26804686e-01 9.73937948e-01 -2.12342878e-03 -2.56565503e+02] [-1.06962845e-02 3.10759274e-04 -9.99942745e-01 -1.78954704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 772.026559995 meters 0.018132236156404868 Centerline is valid? [True, True] Translation: X:-141.23, Y:-256.53, Z:-1.79 [[-9.87508570e-01 1.57176994e-01 1.10551715e-02 -1.41226905e+02] [ 1.57170824e-01 9.87570396e-01 -1.43021014e-03 -2.56534458e+02] [-1.11425562e-02 3.25205638e-04 -9.99937867e-01 -1.78938570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 772.0565599949999 meters 0.01823905923412645 Centerline is valid? [True, True] Translation: X:-141.15, Y:-255.90, Z:-2.80 [[-9.85971335e-01 -1.66542615e-01 1.11392958e-02 -1.41146958e+02] [ 1.66528338e-01 -9.86034207e-01 -2.20362564e-03 -2.55897474e+02] [ 1.13507243e-02 -3.17703291e-04 9.99935528e-01 -2.79581322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 772.0865599949999 meters 0.017985905960304874 Centerline is valid? [True, True] Translation: X:-141.29, Y:-256.52, Z:-1.79 [[-9.88398645e-01 1.51434675e-01 1.16471994e-02 -1.41288473e+02] [ 1.51428024e-01 9.88467214e-01 -1.45593031e-03 -2.56522956e+02] [-1.17333531e-02 3.24672851e-04 -9.99931109e-01 -1.78928305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 772.116559995 meters 0.01734117932761929 Centerline is valid? [True, True] Translation: X:-141.29, Y:-256.49, Z:-1.79 [[-9.96945237e-01 7.71950204e-02 1.18795226e-02 -1.41292091e+02] [ 7.71929563e-02 9.97015971e-01 -6.32870210e-04 -2.56488031e+02] [-1.18929282e-02 2.86078528e-04 -9.99929236e-01 -1.78863746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 772.146559995 meters 0.015778066833906583 Centerline is valid? [True, True] Translation: X:-141.30, Y:-256.45, Z:-1.79 [[-9.99918980e-01 3.41495769e-03 1.22626448e-02 -1.41299617e+02] [ 3.41791129e-03 9.99994135e-01 2.19912244e-04 -2.56454024e+02] [-1.22618219e-02 2.61807059e-04 -9.99924787e-01 -1.78925965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 772.1765599949999 meters 0.015042343506627183 Centerline is valid? [True, True] Translation: X:-141.31, Y:-256.42, Z:-1.79 [[-9.97434865e-01 -7.04940213e-02 1.24210775e-02 -1.41312607e+02] [-7.04856534e-02 9.97512175e-01 1.11071312e-03 -2.56422110e+02] [-1.24684747e-02 2.32356229e-04 -9.99922239e-01 -1.78929229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 772.2065599949999 meters 0.014883058747756344 Centerline is valid? [True, True] Translation: X:-141.33, Y:-256.39, Z:-1.79 [[-9.89428240e-01 -1.44484430e-01 1.24903243e-02 -1.41332749e+02] [-1.44470397e-01 9.89507054e-01 2.02331906e-03 -2.56392949e+02] [-1.26516021e-02 1.97446898e-04 -9.99919946e-01 -1.78857877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 772.236559995 meters 0.013524511190991819 Centerline is valid? [True, True] Translation: X:-141.36, Y:-256.36, Z:-1.79 [[-9.75143492e-01 -2.21235016e-01 1.22571325e-02 -1.41360568e+02] [-2.21216054e-01 9.75220516e-01 2.89880632e-03 -2.56359715e+02] [-1.25947245e-02 1.15277635e-04 -9.99920677e-01 -1.78864132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 772.266559995 meters 0.013433679867847952 Centerline is valid? [True, True] Translation: X:-141.40, Y:-256.34, Z:-1.79 [[-9.55798482e-01 -2.93771750e-01 1.21417375e-02 -1.41395928e+02] [-2.93747009e-01 9.55875595e-01 3.81334134e-03 -2.56336051e+02] [-1.27262426e-02 7.81867692e-05 -9.99919015e-01 -1.78742362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 772.2965599949999 meters 0.01311295582470009 Centerline is valid? [True, True] Translation: X:-141.45, Y:-256.32, Z:-1.79 [[-9.30775434e-01 -3.65399467e-01 1.18457235e-02 -1.41448800e+02] [-3.65369353e-01 9.30850809e-01 4.69121211e-03 -2.56320086e+02] [-1.27407677e-02 3.84006700e-05 -9.99918833e-01 -1.78720022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 772.3265599949999 meters 0.01276129900046463 Centerline is valid? [True, True] Translation: X:-141.51, Y:-256.31, Z:-1.79 [[-9.00219891e-01 -4.35283823e-01 1.14952372e-02 -1.41514071e+02] [-4.35248331e-01 9.00293282e-01 5.55849223e-03 -2.56313129e+02] [-1.27686066e-02 5.82448214e-07 -9.99918478e-01 -1.78891358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 772.356559995 meters 0.013221573486761158 Centerline is valid? [True, True] Translation: X:-141.58, Y:-256.31, Z:-1.79 [[-8.63271500e-01 -5.04633582e-01 1.03569111e-02 -1.41581068e+02] [-5.04598170e-01 8.63333623e-01 5.97853312e-03 -2.56306780e+02] [-1.19584382e-02 -6.49811554e-05 -9.99928493e-01 -1.78720884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 772.386559995 meters 0.013106070605003003 Centerline is valid? [True, True] Translation: X:-141.66, Y:-256.32, Z:-1.79 [[-8.22331417e-01 -5.68927776e-01 9.60343512e-03 -1.41655620e+02] [-5.68890250e-01 8.22387487e-01 6.53495190e-03 -2.56317143e+02] [-1.16156605e-02 -8.94043510e-05 -9.99932532e-01 -1.78958821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 772.416559995 meters 0.013339203874618937 Centerline is valid? [True, True] Translation: X:-141.74, Y:-256.34, Z:-1.79 [[-7.76804611e-01 -6.29683411e-01 8.56732477e-03 -1.41736432e+02] [-6.29646568e-01 7.76851847e-01 6.81231474e-03 -2.56337095e+02] [-1.09451436e-02 -1.02549134e-04 -9.99940095e-01 -1.78924777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 772.4465599949999 meters 0.01376305735452749 Centerline is valid? [True, True] Translation: X:-141.82, Y:-256.36, Z:-1.79 [[-7.26126954e-01 -6.87514901e-01 7.93146213e-03 -1.41817787e+02] [-6.87475788e-01 7.26170259e-01 7.33456985e-03 -2.56362623e+02] [-1.08022180e-02 -1.26859315e-04 -9.99941646e-01 -1.78925795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 772.476559995 meters 0.013546528066656582 Centerline is valid? [True, True] Translation: X:-141.90, Y:-256.40, Z:-1.79 [[-6.72163048e-01 -7.40366233e-01 7.39445865e-03 -1.41898759e+02] [-7.40323624e-01 6.72203706e-01 7.94416822e-03 -2.56402382e+02] [-1.08521764e-02 -1.34516102e-04 -9.99941104e-01 -1.78990509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 772.506559995 meters 0.013546528066656582 Centerline is valid? [True, True] Translation: X:-141.98, Y:-256.45, Z:-1.79 [[-6.14681204e-01 -7.88746530e-01 6.77712586e-03 -1.41978715e+02] [-7.88700988e-01 6.14718548e-01 8.47693036e-03 -2.56452372e+02] [-1.08521744e-02 -1.34516105e-04 -9.99941104e-01 -1.78990517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 772.536559995 meters 0.014162097978556578 Centerline is valid? [True, True] Translation: X:-142.06, Y:-256.51, Z:-1.79 [[-5.53421965e-01 -8.32876408e-01 6.40453371e-03 -1.42059581e+02] [-8.32823618e-01 5.53459004e-01 9.37832602e-03 -2.56510429e+02] [-1.13556333e-02 -1.43675320e-04 -9.99935513e-01 -1.78886181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 772.5665599949999 meters 0.013721132728744154 Centerline is valid? [True, True] Translation: X:-142.14, Y:-256.58, Z:-1.79 [[-4.89059235e-01 -8.72230498e-01 5.91806411e-03 -1.42135226e+02] [-8.72170291e-01 4.89095018e-01 1.02492449e-02 -2.56578181e+02] [-1.18341996e-02 -1.49071838e-04 -9.99929962e-01 -1.78907496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 772.5965599949999 meters 0.013813353231759307 Centerline is valid? [True, True] Translation: X:-142.21, Y:-256.65, Z:-1.79 [[-4.22035114e-01 -9.06561845e-01 5.65549878e-03 -1.42208205e+02] [-9.06485504e-01 4.22072975e-01 1.17658758e-02 -2.56652352e+02] [-1.30535273e-02 -1.61014919e-04 -9.99914786e-01 -1.78779698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 772.626559995 meters 0.01381138641063457 Centerline is valid? [True, True] Translation: X:-142.27, Y:-256.73, Z:-1.79 [[-3.52372487e-01 -9.35846193e-01 5.05297515e-03 -1.42274384e+02] [-9.35756797e-01 3.52408674e-01 1.29361426e-02 -2.56731995e+02] [-1.38869521e-02 -1.70015086e-04 -9.99903557e-01 -1.78713124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 772.656559995 meters 0.013865594065441359 Centerline is valid? [True, True] Translation: X:-142.34, Y:-256.82, Z:-1.79 [[-2.80343575e-01 -9.59890939e-01 4.10669358e-03 -1.42335629e+02] [-9.59796849e-01 2.80373598e-01 1.34407843e-02 -2.56820436e+02] [-1.40530955e-02 -1.73554037e-04 -9.99901235e-01 -1.78647814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 772.6865599949999 meters 0.014136602290398563 Centerline is valid? [True, True] Translation: X:-142.39, Y:-256.92, Z:-1.79 [[-2.06242837e-01 -9.78494683e-01 3.47091030e-03 -1.42391130e+02] [-9.78372322e-01 2.06271941e-01 1.54753279e-02 -2.56916029e+02] [-1.58584775e-02 -2.04167036e-04 -9.99874226e-01 -1.78533196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 772.7165599949999 meters 0.01399632596228342 Centerline is valid? [True, True] Translation: X:-142.44, Y:-257.01, Z:-1.78 [[-1.31520902e-01 -9.91310486e-01 2.40275340e-03 -1.42437548e+02] [-9.91173295e-01 1.31542677e-01 1.64931109e-02 -2.57014630e+02] [-1.66658584e-02 -2.12356172e-04 -9.99861093e-01 -1.78492004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 772.746559995 meters 0.013998839422943513 Centerline is valid? [True, True] Translation: X:-142.48, Y:-257.12, Z:-1.78 [[-5.63257878e-02 -9.98411753e-01 1.17351532e-03 -1.42476802e+02] [-9.98265778e-01 5.63376206e-02 1.70736584e-02 -2.57119177e+02] [-1.71126543e-02 -2.09792922e-04 -9.99853546e-01 -1.78460780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 772.776559995 meters 0.013393011800283705 Centerline is valid? [True, True] Translation: X:-142.51, Y:-257.22, Z:-1.79 [[ 1.69029985e-02 -9.99857126e-01 -1.27525815e-04 -1.42505420e+02] [-9.99711868e-01 -1.69027167e-02 1.70434417e-02 -2.57223574e+02] [-1.70431621e-02 -1.60596199e-04 -9.99854742e-01 -1.78605619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 772.8065599949999 meters 0.013096056778981388 Centerline is valid? [True, True] Translation: X:-142.53, Y:-257.33, Z:-1.79 [[ 9.03410129e-02 -9.95909974e-01 -1.35132226e-03 -1.42526862e+02] [-9.95779101e-01 -9.03510483e-02 1.61452649e-02 -2.57327459e+02] [-1.62013237e-02 -1.12961122e-04 -9.99868744e-01 -1.78649629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 772.8365599949999 meters 0.01289401483711462 Centerline is valid? [True, True] Translation: X:-142.54, Y:-257.44, Z:-1.79 [[ 1.62726380e-01 -9.86668195e-01 -2.44931616e-03 -1.42539295e+02] [-9.86550871e-01 -1.62744801e-01 1.52154185e-02 -2.57437975e+02] [-1.54111830e-02 -5.95749922e-05 -9.99881239e-01 -1.78745466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 772.866559995 meters 0.012905679388649416 Centerline is valid? [True, True] Translation: X:-142.54, Y:-257.54, Z:-1.79 [[ 2.30318496e-01 -9.73109834e-01 -3.26197392e-03 -1.42540960e+02] [-9.73015135e-01 -2.30341590e-01 1.35756978e-02 -2.57544053e+02] [-1.39620133e-02 4.72156891e-05 -9.99902525e-01 -1.78877673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 772.896559995 meters 0.013139482373425812 Centerline is valid? [True, True] Translation: X:-142.54, Y:-257.65, Z:-1.79 [[ 2.99854656e-01 -9.53975643e-01 -4.20215403e-03 -1.42536712e+02] [-9.53886676e-01 -2.99884082e-01 1.30287170e-02 -2.57653411e+02] [-1.36892378e-02 1.01657280e-04 -9.99906293e-01 -1.78971728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 772.9265599949999 meters 0.013792537515223692 Centerline is valid? [True, True] Translation: X:-142.52, Y:-257.76, Z:-1.79 [[ 3.67814025e-01 -9.29885605e-01 -5.06017337e-03 -1.42524243e+02] [-9.29803247e-01 -3.67848799e-01 1.23767173e-02 -2.57760486e+02] [-1.33703099e-02 1.52635440e-04 -9.99910602e-01 -1.78971830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 772.9565599949999 meters 0.015132016949025965 Centerline is valid? [True, True] Translation: X:-142.50, Y:-257.86, Z:-1.79 [[ 4.30358535e-01 -9.02640456e-01 -5.63374055e-03 -1.42502760e+02] [-9.02570355e-01 -4.30395341e-01 1.12518937e-02 -2.57864196e+02] [-1.25811502e-02 2.42498703e-04 -9.99920825e-01 -1.79103964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 772.986559995 meters 0.016565255300572856 Centerline is valid? [True, True] Translation: X:-142.47, Y:-257.97, Z:-1.79 [[ 4.94684390e-01 -8.69047880e-01 -6.56783609e-03 -1.42474806e+02] [-8.68978912e-01 -4.94727903e-01 1.09523104e-02 -2.57967717e+02] [-1.27673739e-02 2.89374066e-04 -9.99918452e-01 -1.79073649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 773.016559995 meters 0.017035519033878767 Centerline is valid? [True, True] Translation: X:-142.44, Y:-258.07, Z:-1.79 [[ 5.56686479e-01 -8.30687458e-01 -7.64927012e-03 -1.42441552e+02] [-8.30617259e-01 -5.56738927e-01 1.08044384e-02 -2.58068466e+02] [-1.32337579e-02 3.38930977e-04 -9.99912373e-01 -1.79115437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 773.0465599949999 meters 0.017139363452566496 Centerline is valid? [True, True] Translation: X:-142.40, Y:-258.17, Z:-1.79 [[ 6.15808930e-01 -7.87848828e-01 -8.57824946e-03 -1.42400617e+02] [-7.87780850e-01 -6.15868558e-01 1.03562288e-02 -2.58167846e+02] [-1.34422169e-02 3.80322460e-04 -9.99909577e-01 -1.79188643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 773.0765599949999 meters 0.01805409631493129 Centerline is valid? [True, True] Translation: X:-142.36, Y:-258.26, Z:-1.79 [[ 6.71975611e-01 -7.40513764e-01 -9.38845244e-03 -1.42358271e+02] [-7.40449890e-01 -6.72041068e-01 9.73465231e-03 -2.58255448e+02] [-1.35180696e-02 4.10229644e-04 -9.99908543e-01 -1.79151428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 773.106559995 meters 0.01815222992196575 Centerline is valid? [True, True] Translation: X:-142.31, Y:-258.34, Z:-1.79 [[ 7.23880595e-01 -6.89845341e-01 -1.05018891e-02 -1.42311251e+02] [-6.89781944e-01 -7.23956621e-01 9.36381248e-03 -2.58340420e+02] [-1.40624946e-02 4.65731336e-04 -9.99901010e-01 -1.79235256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 773.136559995 meters 0.01912239576191833 Centerline is valid? [True, True] Translation: X:-142.31, Y:-258.35, Z:-1.79 [[ 7.75207235e-01 -6.31604812e-01 -1.13624448e-02 -1.42311173e+02] [-6.31545959e-01 -7.75290352e-01 8.63550055e-03 -2.58352791e+02] [-1.42634176e-02 4.81603627e-04 -9.99898156e-01 -1.79208421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 773.166559995 meters 0.019433361168854593 Centerline is valid? [True, True] Translation: X:-142.31, Y:-258.37, Z:-1.79 [[ 8.21974292e-01 -5.69398755e-01 -1.19716850e-02 -1.42308465e+02] [-5.69346875e-01 -8.22061325e-01 7.70153501e-03 -2.58365656e+02] [-1.42267036e-02 4.85577626e-04 -9.99898678e-01 -1.79213763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 773.1965599949999 meters 0.019622451061961192 Centerline is valid? [True, True] Translation: X:-142.31, Y:-258.38, Z:-1.79 [[ 8.64368903e-01 -5.02713807e-01 -1.20510562e-02 -1.42306218e+02] [-5.02672245e-01 -8.64452787e-01 6.48028262e-03 -2.58377901e+02] [-1.36752967e-02 4.56376703e-04 -9.99906385e-01 -1.79281228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 773.226559995 meters 0.018085978415083134 Centerline is valid? [True, True] Translation: X:-142.30, Y:-258.39, Z:-1.79 [[ 9.01519715e-01 -4.32564733e-01 -1.22456162e-02 -1.42304549e+02] [-4.32531274e-01 -9.01602776e-01 5.39732239e-03 -2.58394536e+02] [-1.33753729e-02 4.30819443e-04 -9.99910453e-01 -1.79375357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 773.256559995 meters 0.017331118276004236 Centerline is valid? [True, True] Translation: X:-142.30, Y:-258.41, Z:-1.79 [[ 9.34009160e-01 -3.57036880e-01 -1.23108226e-02 -1.42301634e+02] [-3.57011027e-01 -9.34090216e-01 4.31222561e-03 -2.58410687e+02] [-1.30390425e-02 3.67441181e-04 -9.99914921e-01 -1.79401124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 773.286559995 meters 0.016375056532583938 Centerline is valid? [True, True] Translation: X:-142.30, Y:-258.43, Z:-1.79 [[ 9.59912202e-01 -2.80026136e-01 -1.24067385e-02 -1.42296380e+02] [-2.80007072e-01 -9.59992323e-01 3.28340063e-03 -2.58426411e+02] [-1.28298117e-02 3.22198185e-04 -9.99917643e-01 -1.79414565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 773.3165599949999 meters 0.01618359337482154 Centerline is valid? [True, True] Translation: X:-142.29, Y:-258.44, Z:-1.79 [[ 9.79580743e-01 -2.00678115e-01 -1.22418020e-02 -1.42290183e+02] [-2.00665866e-01 -9.79657196e-01 2.23345879e-03 -2.58439351e+02] [-1.24409757e-02 2.68658584e-04 -9.99922572e-01 -1.79357349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 773.3465599949999 meters 0.014204905424365685 Centerline is valid? [True, True] Translation: X:-142.28, Y:-258.46, Z:-1.79 [[ 9.93243649e-01 -1.15406737e-01 -1.21794493e-02 -1.42282032e+02] [-1.15400101e-01 -9.93318306e-01 1.24863934e-03 -2.58455649e+02] [-1.22421713e-02 1.65306582e-04 -9.99925048e-01 -1.79394674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 773.376559995 meters 0.01398155289481526 Centerline is valid? [True, True] Translation: X:-142.28, Y:-258.47, Z:-1.79 [[ 9.99384026e-01 -3.27333076e-02 -1.26530204e-02 -1.42276429e+02] [-3.27321207e-02 -9.99464115e-01 3.00935909e-04 -2.58465716e+02] [-1.26560905e-02 1.13409651e-04 -9.99919902e-01 -1.79247869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 773.406559995 meters 0.012894892511804505 Centerline is valid? [True, True] Translation: X:-142.27, Y:-258.48, Z:-1.79 [[ 9.98662321e-01 5.00940553e-02 -1.28122616e-02 -1.42268639e+02] [ 5.00891967e-02 -9.98744503e-01 -7.00028357e-04 -2.58478616e+02] [-1.28312431e-02 5.73360521e-05 -9.99917675e-01 -1.79397921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 773.4365599949999 meters 0.012754419033365268 Centerline is valid? [True, True] Translation: X:-142.26, Y:-258.50, Z:-1.79 [[ 9.90491211e-01 1.36957501e-01 -1.30308794e-02 -1.42258329e+02] [ 1.36946423e-01 -9.90576923e-01 -1.74292404e-03 -2.58496716e+02] [-1.31467949e-02 -5.81813713e-05 -9.99913576e-01 -1.79418921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 773.4665599949999 meters 0.013041480326509227 Centerline is valid? [True, True] Translation: X:-142.25, Y:-258.51, Z:-1.79 [[ 9.75767773e-01 2.18415534e-01 -1.31113637e-02 -1.42247149e+02] [ 2.18397458e-01 -9.75855850e-01 -2.81250648e-03 -2.58508988e+02] [-1.34090961e-02 -1.19135310e-04 -9.99910087e-01 -1.79466817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 773.496559995 meters 0.013884341771227418 Centerline is valid? [True, True] Translation: X:-142.24, Y:-258.52, Z:-1.79 [[ 9.54519723e-01 2.97869422e-01 -1.28804805e-02 -1.42235705e+02] [ 2.97844722e-01 -9.54606609e-01 -3.83972761e-03 -2.58520498e+02] [-1.34395293e-02 -1.71287404e-04 -9.99909671e-01 -1.79393417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 773.526559995 meters 0.015430872082780727 Centerline is valid? [True, True] Translation: X:-142.22, Y:-258.53, Z:-1.79 [[ 9.25901477e-01 3.77586071e-01 -1.16282004e-02 -1.42223198e+02] [ 3.77559512e-01 -9.25974461e-01 -4.48465934e-03 -2.58529385e+02] [-1.24607615e-02 -2.37984957e-04 -9.99922333e-01 -1.79414901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 773.5565599949999 meters 0.015517329422645427 Centerline is valid? [True, True] Translation: X:-142.21, Y:-258.53, Z:-1.79 [[ 8.92368488e-01 4.51170602e-01 -1.11161664e-02 -1.42210324e+02] [ 4.51139296e-01 -8.92437683e-01 -5.32150844e-03 -2.58533893e+02] [-1.23213940e-02 -2.66193060e-04 -9.99924053e-01 -1.79496133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 773.5865599949999 meters 0.016930774007138435 Centerline is valid? [True, True] Translation: X:-142.20, Y:-258.54, Z:-1.79 [[ 8.52522637e-01 5.22579811e-01 -1.07469036e-02 -1.42196889e+02] [ 5.22542847e-01 -8.52590315e-01 -6.22313737e-03 -2.58539735e+02] [-1.24147919e-02 -3.10352149e-04 -9.99922885e-01 -1.79407334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 773.616559995 meters 0.016766963609202958 Centerline is valid? [True, True] Translation: X:-142.18, Y:-258.54, Z:-1.79 [[ 8.08471455e-01 5.88442883e-01 -1.04345637e-02 -1.42184229e+02] [ 5.88399065e-01 -8.08538723e-01 -7.18851958e-03 -2.58539994e+02] [-1.26667820e-02 -3.27974627e-04 -9.99919719e-01 -1.79419198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 773.646559995 meters 0.016933800886898057 Centerline is valid? [True, True] Translation: X:-142.17, Y:-258.54, Z:-1.79 [[ 7.60180080e-01 6.49636149e-01 -9.95590870e-03 -1.42173588e+02] [ 6.49586008e-01 -7.60245202e-01 -8.07781742e-03 -2.58539635e+02] [-1.28165740e-02 -3.26623091e-04 -9.99917811e-01 -1.79406514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 773.6765599949999 meters 0.016933800886898057 Centerline is valid? [True, True] Translation: X:-142.16, Y:-258.54, Z:-1.79 [[ 7.06982808e-01 7.07169678e-01 -9.29283766e-03 -1.42162068e+02] [ 7.07114591e-01 -7.07043804e-01 -8.83257436e-03 -2.58538403e+02] [-1.28165721e-02 -3.26622886e-04 -9.99917811e-01 -1.79406516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 773.7065599949999 meters 0.0162099366531714 Centerline is valid? [True, True] Translation: X:-142.15, Y:-258.54, Z:-1.79 [[ 6.50337844e-01 7.59598560e-01 -8.40931350e-03 -1.42151323e+02] [ 7.59541056e-01 -6.50392139e-01 -9.35143296e-03 -2.58535100e+02] [-1.25726864e-02 -3.05628105e-04 -9.99920914e-01 -1.79446791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 773.736559995 meters 0.01594566324134283 Centerline is valid? [True, True] Translation: X:-142.14, Y:-258.53, Z:-1.79 [[ 5.89935705e-01 8.07412544e-01 -7.80045237e-03 -1.42140914e+02] [ 8.07348476e-01 -5.89987201e-01 -1.01755523e-02 -2.58531064e+02] [-1.28180356e-02 -2.94761723e-04 -9.99917802e-01 -1.79441644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 773.766559995 meters 0.01503131781609628 Centerline is valid? [True, True] Translation: X:-142.14, Y:-258.53, Z:-1.79 [[ 5.28433354e-01 8.48945244e-01 -7.08261298e-03 -1.42135036e+02] [ 8.48875137e-01 -5.28480759e-01 -1.09128152e-02 -2.58525029e+02] [-1.30074072e-02 -2.45558548e-04 -9.99915370e-01 -1.79394343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 773.7965599949999 meters 0.01454752588673942 Centerline is valid? [True, True] Translation: X:-142.13, Y:-258.52, Z:-1.79 [[ 4.62161846e-01 8.86772487e-01 -6.40196294e-03 -1.42126798e+02] [ 8.86694072e-01 -4.62206129e-01 -1.17948249e-02 -2.58519447e+02] [-1.34183527e-02 -2.25464559e-04 -9.99909945e-01 -1.79361448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 773.8265599949999 meters 0.01403559461180288 Centerline is valid? [True, True] Translation: X:-142.12, Y:-258.51, Z:-1.79 [[ 3.93213451e-01 9.19429316e-01 -5.73713000e-03 -1.42119259e+02] [ 9.19339047e-01 -3.93255248e-01 -1.28851586e-02 -2.58514154e+02] [-1.41031490e-02 -2.07749941e-04 -9.99900524e-01 -1.79298125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 773.856559995 meters 0.01359358225128234 Centerline is valid? [True, True] Translation: X:-142.12, Y:-258.51, Z:-1.79 [[ 3.23655382e-01 9.46160338e-01 -5.27337401e-03 -1.42115894e+02] [ 9.46043261e-01 -3.23698294e-01 -1.48849810e-02 -2.58507925e+02] [-1.57905608e-02 -1.71235744e-04 -9.99875307e-01 -1.79150234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 773.886559995 meters 0.01322630901474698 Centerline is valid? [True, True] Translation: X:-142.11, Y:-258.50, Z:-1.79 [[ 2.50625600e-01 9.68074987e-01 -4.19854806e-03 -1.42111100e+02] [ 9.67948474e-01 -2.50660726e-01 -1.56509409e-02 -2.58501496e+02] [-1.62036955e-02 -1.41451725e-04 -9.99868702e-01 -1.79141230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 773.916559995 meters 0.013124297686182075 Centerline is valid? [True, True] Translation: X:-142.11, Y:-258.50, Z:-1.79 [[ 1.76074051e-01 9.84372298e-01 -3.01774152e-03 -1.42106894e+02] [ 9.84238339e-01 -1.76099875e-01 -1.62396522e-02 -2.58495916e+02] [-1.65172877e-02 -1.10795550e-04 -9.99863574e-01 -1.79121197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 773.9465599949999 meters 0.012957939746508922 Centerline is valid? [True, True] Translation: X:-142.10, Y:-258.49, Z:-1.79 [[ 1.00725529e-01 9.94912647e-01 -1.78709740e-03 -1.42103233e+02] [ 9.94769080e-01 -1.00741353e-01 -1.69014066e-02 -2.58490134e+02] [-1.69954578e-02 -7.53461152e-05 -9.99855564e-01 -1.79101856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 773.976559995 meters 0.012827983308790588 Centerline is valid? [True, True] Translation: X:-142.10, Y:-258.48, Z:-1.79 [[ 2.68200464e-02 9.99640170e-01 -4.64534476e-04 -1.42104840e+02] [ 9.99491574e-01 -2.68240690e-02 -1.72355311e-02 -2.58484788e+02] [-1.72417899e-02 -2.04055237e-06 -9.99851349e-01 -1.79101243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 774.006559995 meters 0.012978254999083817 Centerline is valid? [True, True] Translation: X:-142.10, Y:-258.48, Z:-1.79 [[-4.90351454e-02 9.98796660e-01 8.86644691e-04 -1.42104021e+02] [ 9.98648122e-01 4.90431438e-02 -1.72249589e-02 -2.58479371e+02] [-1.72477153e-02 4.08176891e-05 -9.99851246e-01 -1.79121899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 774.036559995 meters 0.013160864960156081 Centerline is valid? [True, True] Translation: X:-142.10, Y:-258.47, Z:-1.79 [[-1.24608158e-01 9.92203562e-01 2.21343616e-03 -1.42103740e+02] [ 9.92058736e-01 1.24627788e-01 -1.69522500e-02 -2.58474698e+02] [-1.70959384e-02 8.34700322e-05 -9.99853850e-01 -1.79177439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 774.0665599949999 meters 0.014146474210397107 Centerline is valid? [True, True] Translation: X:-142.11, Y:-258.47, Z:-1.79 [[-1.96698899e-01 9.80457738e-01 3.48808398e-03 -1.42108705e+02] [ 9.80318752e-01 1.96729749e-01 -1.65090930e-02 -2.58472646e+02] [-1.68726778e-02 1.72113715e-04 -9.99857632e-01 -1.79211937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 774.0965599949999 meters 0.014703703704468383 Centerline is valid? [True, True] Translation: X:-142.11, Y:-258.47, Z:-1.79 [[-2.70675299e-01 9.62659603e-01 4.62300606e-03 -1.42111129e+02] [ 9.62531873e-01 2.70714698e-01 -1.56826813e-02 -2.58469266e+02] [-1.63485994e-02 2.04876238e-04 -9.99866332e-01 -1.79226276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 774.126559995 meters 0.015824962645366376 Centerline is valid? [True, True] Translation: X:-142.12, Y:-258.47, Z:-1.79 [[-3.41035114e-01 9.40034504e-01 5.49388753e-03 -1.42116795e+02] [ 9.39924625e-01 3.41079262e-01 -1.43748430e-02 -2.58468073e+02] [-1.53866995e-02 2.61513969e-04 -9.99881584e-01 -1.79344355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 774.156559995 meters 0.015008956518081092 Centerline is valid? [True, True] Translation: X:-142.11, Y:-258.46, Z:-1.80 [[-4.11838481e-01 9.11233315e-01 6.55069282e-03 -1.42110826e+02] [ 9.11128983e-01 4.11890474e-01 -1.37918347e-02 -2.58462584e+02] [-1.52657472e-02 2.88517848e-04 -9.99883430e-01 -1.79597482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 774.1865599949999 meters 0.01734013357834725 Centerline is valid? [True, True] Translation: X:-142.11, Y:-258.46, Z:-1.79 [[-4.80367606e-01 8.77033052e-01 7.74524621e-03 -1.42109646e+02] [ 8.76929668e-01 4.80429934e-01 -1.34698329e-02 -2.58459832e+02] [-1.55345368e-02 3.21564802e-04 -9.99879280e-01 -1.79411273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 774.2165599949999 meters 0.017884079959860414 Centerline is valid? [True, True] Translation: X:-142.11, Y:-258.46, Z:-1.79 [[-5.46169971e-01 8.37632959e-01 8.32997230e-03 -1.42112118e+02] [ 8.37544618e-01 5.46233390e-01 -1.21694761e-02 -2.58458695e+02] [-1.47436633e-02 3.30121072e-04 -9.99891252e-01 -1.79474284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 774.246559995 meters 0.017265684640575384 Centerline is valid? [True, True] Translation: X:-142.11, Y:-258.45, Z:-1.80 [[-6.07610616e-01 7.94187529e-01 8.68952060e-03 -1.42110541e+02] [ 7.94114506e-01 6.07672645e-01 -1.07753356e-02 -2.58454764e+02] [-1.38380212e-02 3.53266044e-04 -9.99904188e-01 -1.79731411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 774.276559995 meters 0.017819438381128264 Centerline is valid? [True, True] Translation: X:-142.11, Y:-258.45, Z:-1.80 [[-6.67109400e-01 7.44903756e-01 9.13471156e-03 -1.42108778e+02] [ 7.44841095e-01 6.67171844e-01 -9.66816861e-03 -2.58451077e+02] [-1.32962775e-02 3.54182406e-04 -9.99911538e-01 -1.79754579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 774.3065599949999 meters 0.018555007205614548 Centerline is valid? [True, True] Translation: X:-142.11, Y:-258.45, Z:-1.80 [[-7.22320729e-01 6.91497081e-01 9.19522369e-03 -1.42107625e+02] [ 6.91447141e-01 7.22379170e-01 -8.31778805e-03 -2.58448306e+02] [-1.23941642e-02 3.49900408e-04 -9.99923128e-01 -1.79767282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 774.3365599949999 meters 0.018711060758321952 Centerline is valid? [True, True] Translation: X:-142.09, Y:-258.43, Z:-1.80 [[-7.69503223e-01 6.38573892e-01 9.39010993e-03 -1.42090906e+02] [ 6.38531622e-01 7.69560440e-01 -7.35506613e-03 -2.58426370e+02] [-1.19230103e-02 3.36135032e-04 -9.99928862e-01 -1.79765890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 774.366559995 meters 0.018752880934510215 Centerline is valid? [True, True] Translation: X:-142.08, Y:-258.40, Z:-1.80 [[-8.13130719e-01 5.81997138e-01 9.88764618e-03 -1.42076973e+02] [ 5.81958991e-01 8.13190767e-01 -6.67159657e-03 -2.58402087e+02] [-1.19233927e-02 3.29324476e-04 -9.99928860e-01 -1.79774802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 774.396559995 meters 0.017709457126212177 Centerline is valid? [True, True] Translation: X:-142.07, Y:-258.37, Z:-1.80 [[-8.53830448e-01 5.20458078e-01 9.84659570e-03 -1.42065301e+02] [ 5.20427234e-01 8.53887176e-01 -5.67309067e-03 -2.58374839e+02] [-1.13604877e-02 2.80579015e-04 -9.99935428e-01 -1.79776967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 774.4265599949999 meters 0.017709457126212177 Centerline is valid? [True, True] Translation: X:-142.05, Y:-258.35, Z:-1.80 [[-8.88556684e-01 4.58652912e-01 1.02237845e-02 -1.42054654e+02] [ 4.58626165e-01 8.88615455e-01 -4.96120966e-03 -2.58348473e+02] [-1.13604862e-02 2.80579065e-04 -9.99935428e-01 -1.79776968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 774.4565599949999 meters 0.01760882347048107 Centerline is valid? [True, True] Translation: X:-142.05, Y:-258.32, Z:-1.80 [[-9.19588925e-01 3.92749383e-01 1.02044895e-02 -1.42049053e+02] [ 3.92728204e-01 9.19645508e-01 -4.08634129e-03 -2.58319515e+02] [-1.09894209e-02 2.49836645e-04 -9.99939583e-01 -1.79739221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 774.486559995 meters 0.016295585625956063 Centerline is valid? [True, True] Translation: X:-142.05, Y:-258.29, Z:-1.80 [[-9.46639342e-01 3.22117187e-01 1.06992315e-02 -1.42049240e+02] [ 3.22099023e-01 9.46699782e-01 -3.42677623e-03 -2.58285979e+02] [-1.12327836e-02 2.02290814e-04 -9.99936890e-01 -1.79636690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 774.516559995 meters 0.014169308606816897 Centerline is valid? [True, True] Translation: X:-142.04, Y:-258.25, Z:-1.80 [[-9.66842696e-01 2.55123268e-01 1.12835681e-02 -1.42036827e+02] [ 2.55108108e-01 9.66908519e-01 -2.78724330e-03 -2.58252947e+02] [-1.16212688e-02 1.83703892e-04 -9.99932454e-01 -1.79762526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 774.5465599949999 meters 0.015062432256408933 Centerline is valid? [True, True] Translation: X:-142.04, Y:-258.23, Z:-1.80 [[-9.82914829e-01 1.83708951e-01 1.13780817e-02 -1.42036010e+02] [ 1.83698438e-01 9.82980670e-01 -1.97123855e-03 -2.58225093e+02] [-1.15465686e-02 1.52576236e-04 -9.99933325e-01 -1.79521994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 774.5765599949999 meters 0.014352984225658822 Centerline is valid? [True, True] Translation: X:-141.94, Y:-257.64, Z:-2.79 [[-9.74138697e-01 -2.25664693e-01 1.13686238e-02 -1.41938990e+02] [ 2.25647596e-01 -9.74205022e-01 -2.78152180e-03 -2.57639933e+02] [ 1.17030616e-02 -1.44285402e-04 9.99931507e-01 -2.78989293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 774.606559995 meters 0.013681504617167268 Centerline is valid? [True, True] Translation: X:-142.09, Y:-258.21, Z:-1.80 [[-9.84279701e-01 1.76227103e-01 1.17251329e-02 -1.42089812e+02] [ 1.76215975e-01 9.84349529e-01 -1.98363371e-03 -2.58211568e+02] [-1.18911991e-02 1.13705339e-04 -9.99929291e-01 -1.79582180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 774.636559995 meters 0.013079975841824213 Centerline is valid? [True, True] Translation: X:-141.99, Y:-257.64, Z:-2.79 [[-9.74036841e-01 -2.26136635e-01 1.06983200e-02 -1.41992494e+02] [ 2.26121146e-01 -9.74095578e-01 -2.65174973e-03 -2.57636865e+02] [ 1.10208440e-02 -1.63785548e-04 9.99939255e-01 -2.78865982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 774.666559995 meters 0.012806601953428429 Centerline is valid? [True, True] Translation: X:-142.14, Y:-258.20, Z:-1.80 [[-9.85590458e-01 1.68809953e-01 1.07074092e-02 -1.42141196e+02] [ 1.68800707e-01 9.85648617e-01 -1.76799410e-03 -2.58198988e+02] [-1.08521981e-02 6.49001354e-05 -9.99941111e-01 -1.79688179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 774.6965599949999 meters 0.01264178078561449 Centerline is valid? [True, True] Translation: X:-142.05, Y:-257.63, Z:-2.79 [[-9.74351639e-01 -2.24802463e-01 1.01358923e-02 -1.42050259e+02] [ 2.24789332e-01 -9.74404354e-01 -2.43147566e-03 -2.57630716e+02] [ 1.04230593e-02 -9.06718447e-05 9.99945674e-01 -2.78777627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 774.726559995 meters 0.01265614556742702 Centerline is valid? [True, True] Translation: X:-142.19, Y:-258.19, Z:-1.80 [[-9.86554377e-01 1.63131801e-01 9.92356925e-03 -1.42193643e+02] [ 1.63123976e-01 9.86604284e-01 -1.59831849e-03 -2.58189375e+02] [-1.00513725e-02 4.19439740e-05 -9.99949483e-01 -1.79721564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 774.756559995 meters 0.012774805103363266 Centerline is valid? [True, True] Translation: X:-142.10, Y:-257.62, Z:-2.79 [[-9.75177094e-01 -2.21225088e-01 9.43911227e-03 -1.42103712e+02] [ 2.21214094e-01 -9.75222773e-01 -2.20640265e-03 -2.57622816e+02] [ 9.69334886e-03 -6.35686597e-05 9.99953016e-01 -2.78861553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 774.786559995 meters 0.012972590463982643 Centerline is valid? [True, True] Translation: X:-142.24, Y:-258.18, Z:-1.80 [[-9.87090587e-01 1.59886500e-01 9.40641203e-03 -1.42244459e+02] [ 1.59879687e-01 9.87135404e-01 -1.47673170e-03 -2.58182369e+02] [-9.52151180e-03 4.62262549e-05 -9.99954668e-01 -1.79606987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 774.8165599949999 meters 0.013083222336586544 Centerline is valid? [True, True] Translation: X:-142.24, Y:-258.16, Z:-1.80 [[-9.95857179e-01 9.04078591e-02 9.74159769e-03 -1.42240567e+02] [ 9.04040631e-02 9.95904823e-01 -8.30216165e-04 -2.58155105e+02] [-9.77676219e-03 5.39032851e-05 -9.99952205e-01 -1.79583228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 774.8465599949999 meters 0.013300490009891109 Centerline is valid? [True, True] Translation: X:-142.19, Y:-257.58, Z:-2.79 [[-9.89279156e-01 -1.45694394e-01 9.99475706e-03 -1.42194246e+02] [ 1.45686608e-01 -9.89329643e-01 -1.50667739e-03 -2.57581058e+02] [ 1.01076239e-02 -3.44222857e-05 9.99948916e-01 -2.78966518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 774.876559995 meters 0.013394994932946679 Centerline is valid? [True, True] Translation: X:-142.30, Y:-258.15, Z:-1.80 [[-9.95985093e-01 8.88634177e-02 1.08160686e-02 -1.42299587e+02] [ 8.88591482e-02 9.96043817e-01 -8.75612706e-04 -2.58151940e+02] [-1.08510882e-02 8.90094440e-05 -9.99941121e-01 -1.79587494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 774.906559995 meters 0.013538299084340335 Centerline is valid? [True, True] Translation: X:-142.30, Y:-258.12, Z:-1.80 [[-9.99765188e-01 1.87739838e-02 1.08216160e-02 -1.42304060e+02] [ 1.87739571e-02 9.99823748e-01 -1.04066947e-04 -2.58124437e+02] [-1.08216624e-02 9.91220433e-05 -9.99941439e-01 -1.79583664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 774.9365599949999 meters 0.013765878793004997 Centerline is valid? [True, True] Translation: X:-142.30, Y:-257.54, Z:-2.79 [[-9.97702206e-01 -6.69301224e-02 1.05197945e-02 -1.42297136e+02] [ 6.69251946e-02 -9.97757659e-01 -8.20168624e-04 -2.57544542e+02] [ 1.05510995e-02 -1.14244755e-04 9.99944329e-01 -2.78912644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 774.9665599949999 meters 0.013640377480587034 Centerline is valid? [True, True] Translation: X:-142.37, Y:-258.12, Z:-1.80 [[-9.99811648e-01 1.66045927e-02 1.00476866e-02 -1.42368035e+02] [ 1.66049214e-02 9.99862128e-01 -5.07171678e-05 -2.58124026e+02] [-1.00471434e-02 1.16133430e-04 -9.99949520e-01 -1.79653348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 774.996559995 meters 0.014902639987104992 Centerline is valid? [True, True] Translation: X:-142.38, Y:-258.10, Z:-1.79 [[-9.98473110e-01 -5.43811456e-02 9.70259523e-03 -1.42377813e+02] [-5.43774643e-02 9.98520244e-01 6.43009999e-04 -2.58099076e+02] [-9.72320538e-03 1.14425667e-04 -9.99952722e-01 -1.79419396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 775.026559995 meters 0.01436988403156888 Centerline is valid? [True, True] Translation: X:-142.39, Y:-258.07, Z:-1.80 [[-9.92074965e-01 -1.25253913e-01 9.93584720e-03 -1.42392330e+02] [-1.25246422e-01 9.92124711e-01 1.37504742e-03 -2.58071239e+02] [-1.00298296e-02 1.19720809e-04 -9.99949693e-01 -1.79521131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 775.0565599949999 meters 0.013724855909168722 Centerline is valid? [True, True] Translation: X:-142.41, Y:-258.04, Z:-1.80 [[-9.80557907e-01 -1.95997302e-01 9.55240656e-03 -1.42413886e+02] [-1.95986847e-01 9.80604428e-01 2.02773949e-03 -2.58044980e+02] [-9.76456364e-03 1.16169948e-04 -9.99952319e-01 -1.79639717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 775.0865599949999 meters 0.01376095330782328 Centerline is valid? [True, True] Translation: X:-142.45, Y:-258.03, Z:-1.80 [[-9.63765720e-01 -2.66576239e-01 9.63048498e-03 -1.42450855e+02] [-2.66561751e-01 9.63813828e-01 2.78159057e-03 -2.58025166e+02] [-1.00235006e-02 1.13682703e-04 -9.99949757e-01 -1.79611797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 775.116559995 meters 0.013695519709655893 Centerline is valid? [True, True] Translation: X:-142.50, Y:-258.01, Z:-1.80 [[-9.41492597e-01 -3.36895437e-01 9.65162827e-03 -1.42499462e+02] [-3.36876556e-01 9.41542061e-01 3.56827324e-03 -2.58010727e+02] [-1.02895489e-02 1.08095543e-04 -9.99947055e-01 -1.79609601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 775.146559995 meters 0.013368373542293735 Centerline is valid? [True, True] Translation: X:-142.56, Y:-258.00, Z:-1.80 [[-9.13611748e-01 -4.06467968e-01 9.86735100e-03 -1.42561690e+02] [-4.06443146e-01 9.13665027e-01 4.49297643e-03 -2.58004034e+02] [-1.08417045e-02 9.43188611e-05 -9.99941223e-01 -1.79593404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 775.1765599949999 meters 0.013357832424315427 Centerline is valid? [True, True] Translation: X:-142.63, Y:-258.01, Z:-1.80 [[-8.80499755e-01 -4.73949777e-01 9.58072103e-03 -1.42631169e+02] [-4.73920725e-01 8.80551874e-01 5.24822437e-03 -2.58007046e+02] [-1.09237166e-02 8.05580136e-05 -9.99940331e-01 -1.79558573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 775.2065599949999 meters 0.013221126617526873 Centerline is valid? [True, True] Translation: X:-142.71, Y:-258.02, Z:-1.80 [[-8.42136198e-01 -5.39181515e-01 9.48255509e-03 -1.42708147e+02] [-5.39146448e-01 8.42189581e-01 6.14964897e-03 -2.58019186e+02] [-1.13018861e-02 6.63561049e-05 -9.99936130e-01 -1.79550342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 775.236559995 meters 0.012936530647857561 Centerline is valid? [True, True] Translation: X:-142.79, Y:-258.04, Z:-1.80 [[-7.97540145e-01 -6.03195031e-01 9.24508159e-03 -1.42789565e+02] [-6.03154117e-01 7.97593727e-01 7.02550974e-03 -2.58039757e+02] [-1.16115717e-02 2.69170303e-05 -9.99932583e-01 -1.79587819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 775.266559995 meters 0.012914189139730853 Centerline is valid? [True, True] Translation: X:-142.87, Y:-258.07, Z:-1.80 [[-7.48843349e-01 -6.62687546e-01 8.88000591e-03 -1.42872414e+02] [-6.62640919e-01 7.48895998e-01 7.86103271e-03 -2.58069651e+02] [-1.18596094e-02 2.42678486e-06 -9.99929672e-01 -1.79588422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 775.2965599949999 meters 0.012849940895402891 Centerline is valid? [True, True] Translation: X:-142.96, Y:-258.11, Z:-1.80 [[-6.95520166e-01 -7.18459549e-01 8.22033928e-03 -1.42958251e+02] [-7.18409753e-01 6.95568742e-01 8.45880078e-03 -2.58110312e+02] [-1.17951172e-02 -2.23053888e-05 -9.99930435e-01 -1.79579260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 775.3265599949999 meters 0.013343783768504725 Centerline is valid? [True, True] Translation: X:-143.05, Y:-258.16, Z:-1.79 [[-6.36540543e-01 -7.71205915e-01 7.58781770e-03 -1.43046199e+02] [-7.71152414e-01 6.36585762e-01 9.08411705e-03 -2.58159863e+02] [-1.18360215e-02 -6.89551457e-05 -9.99929950e-01 -1.79388187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 775.356559995 meters 0.013295705148531999 Centerline is valid? [True, True] Translation: X:-143.13, Y:-258.22, Z:-1.80 [[-5.75170606e-01 -8.18005301e-01 6.78989958e-03 -1.43127338e+02] [-8.17950108e-01 5.75210675e-01 9.50266804e-03 -2.58218845e+02] [-1.16788555e-02 -8.81437604e-05 -9.99931796e-01 -1.79568881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 775.386559995 meters 0.013491514507365897 Centerline is valid? [True, True] Translation: X:-143.21, Y:-258.29, Z:-1.80 [[-5.10489660e-01 -8.59863669e-01 5.89736738e-03 -1.43206872e+02] [-8.59808576e-01 5.10523713e-01 9.73406595e-03 -2.58286944e+02] [-1.13807155e-02 -1.01467028e-04 -9.99935233e-01 -1.79549692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 775.416559995 meters 0.013617988032964209 Centerline is valid? [True, True] Translation: X:-143.28, Y:-258.36, Z:-1.80 [[-4.43058211e-01 -8.96478678e-01 5.04008070e-03 -1.43281763e+02] [-8.96423464e-01 4.43086863e-01 9.95010077e-03 -2.58363438e+02] [-1.11532467e-02 -1.09572754e-04 -9.99937795e-01 -1.79589684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 775.4465599949999 meters 0.013658830920808813 Centerline is valid? [True, True] Translation: X:-143.35, Y:-258.44, Z:-1.80 [[-3.72552035e-01 -9.28002920e-01 3.94496574e-03 -1.43349372e+02] [-9.27954102e-01 3.72572903e-01 9.51926776e-03 -2.58443976e+02] [-1.03036956e-02 -1.14324565e-04 -9.99946909e-01 -1.79773071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 775.476559995 meters 0.013827449855167298 Centerline is valid? [True, True] Translation: X:-143.41, Y:-258.54, Z:-1.80 [[-3.00406175e-01 -9.53806198e-01 3.14122250e-03 -1.43413435e+02] [-9.53758080e-01 3.00422574e-01 9.58130172e-03 -2.58535693e+02] [-1.00823991e-02 -1.17684143e-04 -9.99949165e-01 -1.79766074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 775.506559995 meters 0.014009386094487609 Centerline is valid? [True, True] Translation: X:-143.47, Y:-258.63, Z:-1.80 [[-2.26446025e-01 -9.74020440e-01 2.52584989e-03 -1.43470190e+02] [-9.73966043e-01 2.26460075e-01 1.02947230e-02 -2.58630745e+02] [-1.05992748e-02 -1.28892916e-04 -9.99943818e-01 -1.79740375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 775.536559995 meters 0.014089138934727208 Centerline is valid? [True, True] Translation: X:-143.52, Y:-258.73, Z:-1.80 [[-1.50331384e-01 -9.88633958e-01 1.83637719e-03 -1.43519921e+02] [-9.88571991e-01 1.50342524e-01 1.10699390e-02 -2.58731997e+02] [-1.12202032e-02 -1.51231802e-04 -9.99937040e-01 -1.79716990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 775.5665599949999 meters 0.014794886760602389 Centerline is valid? [True, True] Translation: X:-143.56, Y:-258.84, Z:-1.80 [[-7.34918570e-02 -9.97295271e-01 1.04346817e-03 -1.43562618e+02] [-9.97225224e-01 7.34990636e-02 1.18211555e-02 -2.58838015e+02] [-1.18658764e-02 -1.71814108e-04 -9.99929583e-01 -1.79591443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 775.5965599949999 meters 0.014810460602787616 Centerline is valid? [True, True] Translation: X:-143.60, Y:-258.95, Z:-1.80 [[ 3.91035321e-03 -9.99992344e-01 1.47713192e-04 -1.43595544e+02] [-9.99912213e-01 -3.90816970e-03 1.26606963e-02 -2.58949954e+02] [-1.26600221e-02 -1.97208019e-04 -9.99919839e-01 -1.79590331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 775.626559995 meters 0.01628677024114106 Centerline is valid? [True, True] Translation: X:-143.62, Y:-259.06, Z:-1.79 [[ 8.31284368e-02 -9.96538445e-01 -8.89406551e-04 -1.43622535e+02] [-9.96443900e-01 -8.31328034e-02 1.37291806e-02 -2.59060868e+02] [-1.37555951e-02 -2.55041588e-04 -9.99905355e-01 -1.79408949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 775.656559995 meters 0.01680319466562004 Centerline is valid? [True, True] Translation: X:-143.64, Y:-259.18, Z:-1.79 [[ 1.60306728e-01 -9.87065232e-01 -1.99536057e-03 -1.43638609e+02] [-9.86965221e-01 -1.60318895e-01 1.40536007e-02 -2.59180135e+02] [-1.41917147e-02 -2.83535262e-04 -9.99899252e-01 -1.79392235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 775.6865599949999 meters 0.01709696611463008 Centerline is valid? [True, True] Translation: X:-143.65, Y:-259.29, Z:-1.79 [[ 2.38502361e-01 -9.71136780e-01 -3.15890342e-03 -1.43645779e+02] [-9.71031551e-01 -2.38523033e-01 1.42999610e-02 -2.59291754e+02] [-1.46406893e-02 -3.43179585e-04 -9.99892761e-01 -1.79479797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 775.7165599949999 meters 0.01724724749121689 Centerline is valid? [True, True] Translation: X:-143.64, Y:-259.41, Z:-1.80 [[ 3.13376855e-01 -9.49619765e-01 -4.15312914e-03 -1.43644306e+02] [-9.49520562e-01 -3.13404169e-01 1.37305842e-02 -2.59405169e+02] [-1.43404421e-02 -3.59365777e-04 -9.99897106e-01 -1.79536849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 775.746559995 meters 0.01750159985861996 Centerline is valid? [True, True] Translation: X:-143.63, Y:-259.52, Z:-1.80 [[ 3.86304265e-01 -9.22355725e-01 -5.37887702e-03 -1.43634180e+02] [-9.22251571e-01 -3.86341508e-01 1.38664670e-02 -2.59517721e+02] [-1.48678986e-02 -3.95997545e-04 -9.99889388e-01 -1.79547818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 775.776559995 meters 0.018006787628659184 Centerline is valid? [True, True] Translation: X:-143.62, Y:-259.63, Z:-1.80 [[ 4.56526829e-01 -8.89685675e-01 -6.53097164e-03 -1.43616218e+02] [-8.89581074e-01 -4.56573348e-01 1.36488805e-02 -2.59627608e+02] [-1.51250811e-02 -4.21251391e-04 -9.99885521e-01 -1.79539316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 775.8065599949999 meters 0.018755851111505257 Centerline is valid? [True, True] Translation: X:-143.59, Y:-259.74, Z:-1.80 [[ 5.23937514e-01 -8.51722327e-01 -7.65234860e-03 -1.43587732e+02] [-8.51618791e-01 -5.23993205e-01 1.32874404e-02 -2.59736657e+02] [-1.53269883e-02 -4.44904611e-04 -9.99882436e-01 -1.79525230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 775.8365599949999 meters 0.01887934985151768 Centerline is valid? [True, True] Translation: X:-143.55, Y:-259.84, Z:-1.80 [[ 5.87707066e-01 -8.09027787e-01 -8.62812812e-03 -1.43554167e+02] [-8.08929023e-01 -5.87770221e-01 1.26492465e-02 -2.59838691e+02] [-1.53049487e-02 -4.54508303e-04 -9.99882769e-01 -1.79595846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 775.866559995 meters 0.018137021339683958 Centerline is valid? [True, True] Translation: X:-143.51, Y:-259.94, Z:-1.80 [[ 6.48162455e-01 -7.61444501e-01 -9.36505796e-03 -1.43509706e+02] [-7.61354607e-01 -6.48229945e-01 1.17090246e-02 -2.59936914e+02] [-1.49864834e-02 -4.59220104e-04 -9.99887591e-01 -1.79779059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 775.896559995 meters 0.019188885120077794 Centerline is valid? [True, True] Translation: X:-143.47, Y:-260.03, Z:-1.80 [[ 7.04115199e-01 -7.10016706e-01 -9.90272994e-03 -1.43466573e+02] [-7.09937437e-01 -7.04184690e-01 1.06187546e-02 -2.60029198e+02] [-1.45128440e-02 -4.46507807e-04 -9.99894584e-01 -1.79754688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 775.9265599949999 meters 0.019149773960140514 Centerline is valid? [True, True] Translation: X:-143.42, Y:-260.12, Z:-1.80 [[ 7.56104824e-01 -6.54370448e-01 -1.02377992e-02 -1.43415945e+02] [-6.54302571e-01 -7.56174006e-01 9.43491601e-03 -2.60116164e+02] [-1.39154878e-02 -4.35167183e-04 -9.99903080e-01 -1.79787699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 775.9565599949999 meters 0.019327179193630157 Centerline is valid? [True, True] Translation: X:-143.41, Y:-260.12, Z:-1.80 [[ 8.05510148e-01 -5.92478350e-01 -1.10817714e-02 -1.43412323e+02] [-5.92414442e-01 -8.05586245e-01 8.71380827e-03 -2.60124054e+02] [-1.40900654e-02 -4.54059552e-04 -9.99900627e-01 -1.79795161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 775.986559995 meters 0.019762219761954157 Centerline is valid? [True, True] Translation: X:-143.41, Y:-260.13, Z:-1.80 [[ 8.49571282e-01 -5.27342639e-01 -1.17633991e-02 -1.43408704e+02] [-5.27284500e-01 -8.49652593e-01 7.84396929e-03 -2.60132722e+02] [-1.41312620e-02 -4.61353039e-04 -9.99900042e-01 -1.79768886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 776.016559995 meters 0.02045289519165486 Centerline is valid? [True, True] Translation: X:-143.40, Y:-260.14, Z:-1.80 [[ 8.88295511e-01 -4.59097518e-01 -1.26710305e-02 -1.43404955e+02] [-4.59043089e-01 -8.88385751e-01 7.08527465e-03 -2.60139735e+02] [-1.45095949e-02 -4.77268691e-04 -9.99894617e-01 -1.79708166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 776.0465599949999 meters 0.020746638431848277 Centerline is valid? [True, True] Translation: X:-143.40, Y:-260.14, Z:-1.80 [[ 9.21510830e-01 -3.88121913e-01 -1.33854888e-02 -1.43398563e+02] [-3.88073249e-01 -9.21607912e-01 6.16519547e-03 -2.60142383e+02] [-1.47290198e-02 -4.86744282e-04 -9.99891404e-01 -1.79690009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 776.0765599949999 meters 0.020428424765758933 Centerline is valid? [True, True] Translation: X:-143.39, Y:-260.15, Z:-1.80 [[ 9.48999410e-01 -3.14964439e-01 -1.40542447e-02 -1.43392744e+02] [-3.14922166e-01 -9.49103345e-01 5.18362995e-03 -2.60147267e+02] [-1.49715898e-02 -4.93268573e-04 -9.99887798e-01 -1.79695124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 776.106559995 meters 0.020798338098607812 Centerline is valid? [True, True] Translation: X:-143.39, Y:-260.15, Z:-1.80 [[ 9.70674015e-01 -2.39971432e-01 -1.43411306e-02 -1.43387936e+02] [-2.39937789e-01 -9.70779828e-01 4.04767578e-03 -2.60151497e+02] [-1.48934068e-02 -4.87994548e-04 -9.99888968e-01 -1.79677475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 776.136559995 meters 0.020321568112825983 Centerline is valid? [True, True] Translation: X:-143.38, Y:-260.15, Z:-1.80 [[ 9.86550981e-01 -1.62910064e-01 -1.33218825e-02 -1.43381268e+02] [-1.62889024e-01 -9.86640820e-01 2.65672140e-03 -2.60153654e+02] [-1.35767197e-02 -4.51002676e-04 -9.99907731e-01 -1.79835006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 776.166559995 meters 0.020231315178144166 Centerline is valid? [True, True] Translation: X:-143.38, Y:-260.16, Z:-1.80 [[ 9.96312168e-01 -8.48027554e-02 -1.30597012e-02 -1.43375492e+02] [-8.47896306e-02 -9.96397660e-01 1.55641028e-03 -2.60158668e+02] [-1.31446436e-02 -4.43343260e-04 -9.99913507e-01 -1.79906255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 776.1965599949999 meters 0.02059909070730365 Centerline is valid? [True, True] Translation: X:-143.37, Y:-260.16, Z:-1.80 [[ 9.99904725e-01 -5.92711662e-03 -1.24663573e-02 -1.43373087e+02] [-5.92131446e-03 -9.99982343e-01 5.02284371e-04 -2.60163580e+02] [-1.24691142e-02 -4.28419294e-04 -9.99922166e-01 -1.79935909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 776.226559995 meters 0.02062668320858645 Centerline is valid? [True, True] Translation: X:-143.37, Y:-260.17, Z:-1.80 [[ 9.97256086e-01 7.30302783e-02 -1.21193033e-02 -1.43370317e+02] [ 7.30300504e-02 -9.97329634e-01 -4.61945929e-04 -2.60168595e+02] [-1.21206764e-02 -4.24394946e-04 -9.99926452e-01 -1.79939807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 776.256559995 meters 0.021497615274917253 Centerline is valid? [True, True] Translation: X:-143.37, Y:-260.17, Z:-1.80 [[ 9.88313949e-01 1.51912817e-01 -1.25711960e-02 -1.43368218e+02] [ 1.51906383e-01 -9.88393792e-01 -1.47065186e-03 -2.60172098e+02] [-1.26487030e-02 -4.56179170e-04 -9.99919898e-01 -1.79833881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 776.286559995 meters 0.02145731106544208 Centerline is valid? [True, True] Translation: X:-143.37, Y:-260.18, Z:-1.80 [[ 9.73352732e-01 2.28968600e-01 -1.25633962e-02 -1.43365046e+02] [ 2.28955638e-01 -9.73433699e-01 -2.47980570e-03 -2.60175702e+02] [-1.27974309e-02 -4.62734740e-04 -9.99918003e-01 -1.79774905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 776.3165599949999 meters 0.02145731106544208 Centerline is valid? [True, True] Translation: X:-143.36, Y:-260.18, Z:-1.80 [[ 9.52451249e-01 3.04441404e-01 -1.23308398e-02 -1.43361784e+02] [ 3.04422146e-01 -9.52530954e-01 -3.45533956e-03 -2.60180715e+02] [-1.27974550e-02 -4.62738223e-04 -9.99918002e-01 -1.79774883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 776.3465599949999 meters 0.020874847622611294 Centerline is valid? [True, True] Translation: X:-143.36, Y:-260.18, Z:-1.80 [[ 9.25644736e-01 3.78186203e-01 -1.25307552e-02 -1.43357874e+02] [ 3.78158571e-01 -9.25729422e-01 -4.59701946e-03 -2.60184108e+02] [-1.33386181e-02 -4.83405641e-04 -9.99910920e-01 -1.79768714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 776.376559995 meters 0.02049052186633022 Centerline is valid? [True, True] Translation: X:-143.35, Y:-260.19, Z:-1.80 [[ 8.93292763e-01 4.49295584e-01 -1.27089572e-02 -1.43353742e+02] [ 4.49258059e-01 -8.93383023e-01 -5.82851851e-03 -2.60188069e+02] [-1.39726943e-02 -5.03028060e-04 -9.99902251e-01 -1.79752206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 776.406559995 meters 0.019941693199083232 Centerline is valid? [True, True] Translation: X:-143.35, Y:-260.19, Z:-1.80 [[ 8.56096850e-01 5.16666723e-01 -1.23968192e-02 -1.43350724e+02] [ 5.16620772e-01 -8.56186461e-01 -6.90805358e-03 -2.60190589e+02] [-1.41831502e-02 -4.90491391e-04 -9.99899294e-01 -1.79743738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 776.4365599949999 meters 0.021936857154354263 Centerline is valid? [True, True] Translation: X:-143.35, Y:-260.20, Z:-1.80 [[ 8.13579887e-01 5.81331942e-01 -1.18718724e-02 -1.43345555e+02] [ 5.81278546e-01 -8.13666359e-01 -7.89354868e-03 -2.60197043e+02] [-1.42485152e-02 -4.78832281e-04 -9.99898370e-01 -1.79626195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 776.4665599949999 meters 0.01930436214220647 Centerline is valid? [True, True] Translation: X:-143.35, Y:-260.20, Z:-1.80 [[ 7.66971225e-01 6.41595758e-01 -1.04892287e-02 -1.43345051e+02] [ 6.41543140e-01 -7.67042833e-01 -8.22749919e-03 -2.60195518e+02] [-1.33244163e-02 -4.19037609e-04 -9.99911138e-01 -1.79843470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 776.496559995 meters 0.01978728676661785 Centerline is valid? [True, True] Translation: X:-143.34, Y:-260.20, Z:-1.80 [[ 7.15226293e-01 6.98825195e-01 -9.73122602e-03 -1.43342171e+02] [ 6.98768010e-01 -7.15292379e-01 -8.94879243e-03 -2.60199270e+02] [-1.32143134e-02 -3.99457812e-04 -9.99912607e-01 -1.79806653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 776.526559995 meters 0.018396707832513754 Centerline is valid? [True, True] Translation: X:-143.34, Y:-260.20, Z:-1.80 [[ 6.58958938e-01 7.52126242e-01 -8.90137885e-03 -1.43339202e+02] [ 7.52065367e-01 -6.59018945e-01 -9.57675224e-03 -2.60201730e+02] [-1.30691040e-02 -3.83732267e-04 -9.99914522e-01 -1.79920416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 776.5565599949999 meters 0.017913995024963773 Centerline is valid? [True, True] Translation: X:-143.34, Y:-260.20, Z:-1.80 [[ 5.99008477e-01 8.00704466e-01 -7.82327218e-03 -1.43335504e+02] [ 8.00643775e-01 -5.99059457e-01 -9.86472865e-03 -2.60204124e+02] [-1.25853375e-02 -3.54598082e-04 -9.99920739e-01 -1.79918282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 776.5865599949999 meters 0.018061672452286216 Centerline is valid? [True, True] Translation: X:-143.33, Y:-260.21, Z:-1.80 [[ 5.35045899e-01 8.44795712e-01 -6.78903941e-03 -1.43331419e+02] [ 8.44735475e-01 -5.35088865e-01 -1.00937745e-02 -2.60208492e+02] [-1.21599168e-02 -3.34309795e-04 -9.99926010e-01 -1.79894943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 776.616559995 meters 0.017639018172384717 Centerline is valid? [True, True] Translation: X:-143.33, Y:-260.21, Z:-1.80 [[ 4.67903183e-01 8.83759567e-01 -5.96994797e-03 -1.43327325e+02] [ 8.83696299e-01 -4.67941153e-01 -1.05796217e-02 -2.60211590e+02] [-1.21434263e-02 -3.25382244e-04 -9.99926213e-01 -1.79910702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 776.646559995 meters 0.017427443525274304 Centerline is valid? [True, True] Translation: X:-143.32, Y:-260.21, Z:-1.80 [[ 3.98269177e-01 9.17256297e-01 -4.74839567e-03 -1.43324372e+02] [ 9.17199524e-01 -3.98297378e-01 -1.02093645e-02 -2.60214412e+02] [-1.12558774e-02 -2.89151059e-04 -9.99936609e-01 -1.79982870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 776.6765599949999 meters 0.017029076830700676 Centerline is valid? [True, True] Translation: X:-143.32, Y:-260.22, Z:-1.80 [[ 3.26245240e-01 9.45277251e-01 -3.86806660e-03 -1.43319653e+02] [ 9.45220387e-01 -3.26268056e-01 -1.03718757e-02 -2.60217576e+02] [-1.10663247e-02 -2.72400350e-04 -9.99938729e-01 -1.80046607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 776.7065599949999 meters 0.01686911977818333 Centerline is valid? [True, True] Translation: X:-143.32, Y:-260.22, Z:-1.80 [[ 2.52515652e-01 9.67588067e-01 -3.02959726e-03 -1.43315494e+02] [ 9.67530106e-01 -2.52533695e-01 -1.05937134e-02 -2.60221027e+02] [-1.10154261e-02 -2.56148102e-04 -9.99939296e-01 -1.80035873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 776.736559995 meters 0.016945418688671044 Centerline is valid? [True, True] Translation: X:-143.31, Y:-260.22, Z:-1.80 [[ 1.79452564e-01 9.83764463e-01 -2.06363290e-03 -1.43312024e+02] [ 9.83711885e-01 -1.79464313e-01 -1.01728953e-02 -2.60224358e+02] [-1.03780813e-02 -2.04468076e-04 -9.99946125e-01 -1.79922491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 776.766559995 meters 0.01543901715404702 Centerline is valid? [True, True] Translation: X:-143.31, Y:-260.23, Z:-1.80 [[ 1.03644611e-01 9.94613585e-01 -1.26946144e-03 -1.43308935e+02] [ 9.94559451e-01 -1.03652216e-01 -1.03786315e-02 -2.60227197e+02] [-1.04543104e-02 -1.86865640e-04 -9.99945335e-01 -1.80033439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 776.7965599949999 meters 0.015246569066266077 Centerline is valid? [True, True] Translation: X:-143.30, Y:-260.23, Z:-1.80 [[ 2.69743287e-02 9.99636033e-01 -4.31966436e-04 -1.43303618e+02] [ 9.99586244e-01 -2.69772971e-02 -9.97833456e-03 -2.60230703e+02] [-9.98635606e-03 -1.62628830e-04 -9.99950122e-01 -1.80002992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 776.8265599949999 meters 0.015129837484848701 Centerline is valid? [True, True] Translation: X:-143.30, Y:-260.23, Z:-1.80 [[-5.06089401e-02 9.98718490e-01 3.36528389e-04 -1.43298784e+02] [ 9.98672669e-01 5.06098421e-02 -9.56791135e-03 -2.60233159e+02] [-9.57268162e-03 -1.48140147e-04 -9.99954170e-01 -1.80041362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 776.856559995 meters 0.01481387056848862 Centerline is valid? [True, True] Translation: X:-143.29, Y:-260.24, Z:-1.80 [[-1.28431458e-01 9.91717788e-01 1.09081418e-03 -1.43291708e+02] [ 9.91671663e-01 1.28436007e-01 -9.56581216e-03 -2.60235349e+02] [-9.62668590e-03 -1.46821699e-04 -9.99953652e-01 -1.80083200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 776.886559995 meters 0.014676984599079245 Centerline is valid? [True, True] Translation: X:-143.28, Y:-260.24, Z:-1.80 [[-2.05589515e-01 9.78636465e-01 1.90260926e-03 -1.43281860e+02] [ 9.78587507e-01 2.05598263e-01 -9.79002581e-03 -2.60235978e+02] [-9.97204941e-03 -1.50857003e-04 -9.99950267e-01 -1.80073333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 776.916559995 meters 0.015408416051647054 Centerline is valid? [True, True] Translation: X:-143.27, Y:-260.24, Z:-1.80 [[-2.81212159e-01 9.59641810e-01 2.70528494e-03 -1.43269894e+02] [ 9.59592181e-01 2.81225132e-01 -9.76069488e-03 -2.60236481e+02] [-1.01275650e-02 -1.48855805e-04 -9.99948704e-01 -1.79828996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 776.9465599949999 meters 0.015061407094907935 Centerline is valid? [True, True] Translation: X:-143.26, Y:-260.24, Z:-1.80 [[-3.55181500e-01 9.34790024e-01 3.70325091e-03 -1.43264741e+02] [ 9.34734572e-01 3.55200771e-01 -1.01829159e-02 -2.60237287e+02] [-1.08342858e-02 -1.55226682e-04 -9.99941295e-01 -1.79780174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 776.976559995 meters 0.014963995158495228 Centerline is valid? [True, True] Translation: X:-143.26, Y:-260.24, Z:-1.80 [[-4.27279643e-01 9.04109148e-01 4.33073731e-03 -1.43257429e+02] [ 9.04059111e-01 4.27301564e-01 -9.51300335e-03 -2.60236737e+02] [-1.04513242e-02 -1.49470151e-04 -9.99945372e-01 -1.79696453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 777.006559995 meters 0.015128666890734312 Centerline is valid? [True, True] Translation: X:-143.25, Y:-260.24, Z:-1.80 [[-4.96746201e-01 8.67881314e-01 5.02352454e-03 -1.43251683e+02] [ 8.67833892e-01 4.96771580e-01 -9.07373488e-03 -2.60237674e+02] [-1.03704692e-02 -1.47758485e-04 -9.99946214e-01 -1.79672545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 777.036559995 meters 0.015322930620229302 Centerline is valid? [True, True] Translation: X:-143.25, Y:-260.24, Z:-1.80 [[-5.63178845e-01 8.26316177e-01 5.58256936e-03 -1.43248129e+02] [ 8.26273028e-01 5.63206494e-01 -8.44563708e-03 -2.60239397e+02] [-1.01229059e-02 -1.43677642e-04 -9.99948752e-01 -1.79686295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 777.0665599949999 meters 0.01441866682567847 Centerline is valid? [True, True] Translation: X:-143.24, Y:-260.24, Z:-1.80 [[-6.25506449e-01 7.80194813e-01 6.14302544e-03 -1.43242392e+02] [ 7.80155085e-01 6.25536599e-01 -7.87448859e-03 -2.60237732e+02] [-9.98632239e-03 -1.33030861e-04 -9.99950127e-01 -1.79874232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 777.0965599949999 meters 0.014614523652434834 Centerline is valid? [True, True] Translation: X:-143.23, Y:-260.24, Z:-1.80 [[-6.84337791e-01 7.29133531e-01 6.78833972e-03 -1.43234664e+02] [ 7.29095780e-01 6.84371447e-01 -7.42068186e-03 -2.60235069e+02] [-1.00564138e-02 -1.28903198e-04 -9.99949425e-01 -1.79790216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 777.126559995 meters 0.014133105043492128 Centerline is valid? [True, True] Translation: X:-143.23, Y:-260.23, Z:-1.80 [[-7.38090463e-01 6.74665300e-01 7.01445698e-03 -1.43228835e+02] [ 6.74633473e-01 7.38123785e-01 -6.55400118e-03 -2.60231798e+02] [-9.59929471e-03 -1.05258288e-04 -9.99953920e-01 -1.79729205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 777.156559995 meters 0.013753671238643796 Centerline is valid? [True, True] Translation: X:-143.21, Y:-260.21, Z:-1.80 [[-7.83447532e-01 6.21414736e-01 7.32740058e-03 -1.43208295e+02] [ 6.21386409e-01 7.83481791e-01 -5.93420045e-03 -2.60212893e+02] [-9.42848453e-03 -9.59875632e-05 -9.99955546e-01 -1.79781977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 777.1865599949999 meters 0.013722133984464304 Centerline is valid? [True, True] Translation: X:-143.19, Y:-260.19, Z:-1.80 [[-8.24935592e-01 5.65174061e-01 7.71684918e-03 -1.43190071e+02] [ 5.65148336e-01 8.24971680e-01 -5.39313740e-03 -2.60191253e+02] [-9.41424340e-03 -8.78265252e-05 -9.99955681e-01 -1.79787272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 777.2165599949999 meters 0.013383975646080501 Centerline is valid? [True, True] Translation: X:-143.17, Y:-260.17, Z:-1.80 [[-8.62282544e-01 5.06369413e-01 7.67025228e-03 -1.43170929e+02] [ 5.06348630e-01 8.62316655e-01 -4.58825049e-03 -2.60170512e+02] [-8.93753599e-03 -7.25465653e-05 -9.99960057e-01 -1.79862338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 777.246559995 meters 0.013436664048137512 Centerline is valid? [True, True] Translation: X:-142.81, Y:-259.57, Z:-2.79 [[-8.17229071e-01 -5.76267594e-01 7.23231264e-03 -1.42811368e+02] [ 5.76245714e-01 -8.17261070e-01 -5.02196204e-03 -2.59573366e+02] [ 8.80468155e-03 6.34957929e-05 9.99961236e-01 -2.78616805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 777.276559995 meters 0.013357687841791935 Centerline is valid? [True, True] Translation: X:-143.21, Y:-260.15, Z:-1.80 [[-8.63528805e-01 5.04243884e-01 7.49055470e-03 -1.43208786e+02] [ 5.04224298e-01 8.63561290e-01 -4.44474610e-03 -2.60148688e+02] [-8.70978912e-03 -6.12466061e-05 -9.99962067e-01 -1.79905112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 777.3065599949999 meters 0.013338198787663898 Centerline is valid? [True, True] Translation: X:-143.20, Y:-260.12, Z:-1.80 [[-8.96849385e-01 4.42271330e-01 7.56649003e-03 -1.43200339e+02] [ 4.42255065e-01 8.96881301e-01 -3.79337975e-03 -2.60121616e+02] [-8.46394653e-03 -5.57717577e-05 -9.99964179e-01 -1.79922366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 777.3365599949999 meters 0.013314018392139096 Centerline is valid? [True, True] Translation: X:-143.18, Y:-260.10, Z:-1.80 [[-9.25759851e-01 3.78025235e-01 8.10060224e-03 -1.43180867e+02] [ 3.78010255e-01 9.25795290e-01 -3.36577204e-03 -2.60099068e+02] [-8.77184616e-03 -5.37859045e-05 -9.99961525e-01 -1.79937311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 777.366559995 meters 0.013425981490263597 Centerline is valid? [True, True] Translation: X:-142.92, Y:-259.46, Z:-2.79 [[-8.92713020e-01 -4.50556018e-01 7.92076066e-03 -1.42916954e+02] [ 4.50538865e-01 -8.92748157e-01 -3.93185471e-03 -2.59456433e+02] [ 8.84276528e-03 5.85926238e-05 9.99960900e-01 -2.78562352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 777.396559995 meters 0.013489720333025987 Centerline is valid? [True, True] Translation: X:-143.22, Y:-260.08, Z:-1.80 [[-9.27450170e-01 3.73856957e-01 8.19498939e-03 -1.43222478e+02] [ 3.73841780e-01 9.27486373e-01 -3.36924044e-03 -2.60081435e+02] [-8.86035496e-03 -6.11732070e-05 -9.99960745e-01 -1.79917687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 777.4265599949999 meters 0.013511374150855232 Centerline is valid? [True, True] Translation: X:-142.96, Y:-259.44, Z:-2.79 [[-8.93831816e-01 -4.48332431e-01 7.91929619e-03 -1.42955469e+02] [ 4.48315420e-01 -8.93866896e-01 -3.90596280e-03 -2.59442893e+02] [ 8.82996650e-03 5.90687704e-05 9.99961013e-01 -2.78534252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 777.4565599949999 meters 0.013741602421652217 Centerline is valid? [True, True] Translation: X:-143.27, Y:-260.06, Z:-1.80 [[-9.29344365e-01 3.69121805e-01 8.25497076e-03 -1.43266399e+02] [ 3.69106534e-01 9.29381024e-01 -3.35845126e-03 -2.60063246e+02] [-8.91169077e-03 -7.41941073e-05 -9.99960287e-01 -1.79955022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 777.486559995 meters 0.01397380233223344 Centerline is valid? [True, True] Translation: X:-143.00, Y:-259.43, Z:-2.78 [[-8.94282127e-01 -4.47427662e-01 8.24406084e-03 -1.43000437e+02] [ 4.47409606e-01 -8.94320121e-01 -4.02059932e-03 -2.59426791e+02] [ 9.17175684e-03 9.29219042e-05 9.99957934e-01 -2.78484851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 777.516559995 meters 0.014166347149951016 Centerline is valid? [True, True] Translation: X:-143.31, Y:-260.04, Z:-1.80 [[-9.31596932e-01 3.63394868e-01 8.44549311e-03 -1.43310226e+02] [ 3.63378984e-01 9.31635208e-01 -3.39899656e-03 -2.60044499e+02] [-9.10329663e-03 -9.75800609e-05 -9.99958559e-01 -1.79984846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 777.5465599949999 meters 0.014452632280572633 Centerline is valid? [True, True] Translation: X:-143.05, Y:-259.41, Z:-2.79 [[-8.95389532e-01 -4.45214035e-01 7.87720650e-03 -1.43052131e+02] [ 4.45197518e-01 -8.95424178e-01 -3.83561875e-03 -2.59407887e+02] [ 8.76111245e-03 7.25399086e-05 9.99961618e-01 -2.78527258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 777.5765599949999 meters 0.014678262063135392 Centerline is valid? [True, True] Translation: X:-143.35, Y:-260.03, Z:-1.80 [[-9.33504788e-01 3.58484878e-01 7.57648588e-03 -1.43349300e+02] [ 3.58472205e-01 9.33535528e-01 -3.01593669e-03 -2.60028299e+02] [-8.15408644e-03 -9.94317394e-05 -9.99966750e-01 -1.80031202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 777.606559995 meters 0.014928428945011797 Centerline is valid? [True, True] Translation: X:-143.34, Y:-260.00, Z:-1.80 [[-9.56677785e-01 2.91060255e-01 7.17934776e-03 -1.43338413e+02] [ 2.91051301e-01 9.56704719e-01 -2.28512321e-03 -2.60002254e+02] [-7.53362442e-03 -9.65681087e-05 -9.99971617e-01 -1.80074954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 777.636559995 meters 0.015509268987498293 Centerline is valid? [True, True] Translation: X:-143.33, Y:-259.97, Z:-1.80 [[-9.74993248e-01 2.22112473e-01 7.36312365e-03 -1.43332511e+02] [ 2.22105363e-01 9.75021046e-01 -1.78001079e-03 -2.59973374e+02] [-7.57456312e-03 -1.00109250e-04 -9.99971308e-01 -1.80002567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 777.666559995 meters 0.014782730959326373 Centerline is valid? [True, True] Translation: X:-143.33, Y:-259.95, Z:-1.80 [[-9.88393602e-01 1.51721747e-01 7.65499426e-03 -1.43325771e+02] [ 1.51716351e-01 9.88423239e-01 -1.28410005e-03 -2.59948219e+02] [-7.76120013e-03 -1.07808473e-04 -9.99969876e-01 -1.80115782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 777.6965599949999 meters 0.01515161355005819 Centerline is valid? [True, True] Translation: X:-143.33, Y:-259.92, Z:-1.80 [[-9.96734674e-01 8.03463737e-02 8.02813830e-03 -1.43325187e+02] [ 8.03428106e-02 9.96766997e-01 -7.65871903e-04 -2.59919101e+02] [-8.06371833e-03 -1.18367887e-04 -9.99967481e-01 -1.80049353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 777.726559995 meters 0.01533543726514105 Centerline is valid? [True, True] Translation: X:-143.26, Y:-259.24, Z:-2.78 [[-9.84062500e-01 -1.77611155e-01 8.67606099e-03 -1.43259167e+02] [ 1.77605831e-01 -9.84100730e-01 -1.38648199e-03 -2.59241454e+02] [ 8.78437262e-03 1.76534082e-04 9.99961401e-01 -2.78483974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 777.756559995 meters 0.015524118947906555 Centerline is valid? [True, True] Translation: X:-143.39, Y:-259.91, Z:-1.80 [[-9.97223900e-01 7.39183281e-02 8.97635542e-03 -1.43390153e+02] [ 7.39139508e-02 9.97264287e-01 -8.18869458e-04 -2.59911507e+02] [-9.01232814e-03 -1.53118302e-04 -9.99959377e-01 -1.79960038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 777.786559995 meters 0.016049765585210537 Centerline is valid? [True, True] Translation: X:-143.32, Y:-259.24, Z:-2.79 [[-9.84259334e-01 -1.76486618e-01 9.27567359e-03 -1.43321213e+02] [ 1.76480548e-01 -9.84303022e-01 -1.47534913e-03 -2.59239191e+02] [ 9.39045293e-03 1.84849802e-04 9.99955892e-01 -2.78593566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 777.8165599949999 meters 0.015967358293628057 Centerline is valid? [True, True] Translation: X:-143.46, Y:-259.90, Z:-1.80 [[-9.97715789e-01 6.69032336e-02 9.33604936e-03 -1.43460599e+02] [ 6.68985435e-02 9.97759451e-01 -8.14100268e-04 -2.59902546e+02] [-9.36959743e-03 -1.87672587e-04 -9.99956087e-01 -1.79902272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 777.8465599949999 meters 0.016365142502826748 Centerline is valid? [True, True] Translation: X:-143.44, Y:-259.88, Z:-1.80 [[-9.99941626e-01 -5.36078305e-03 9.38117144e-03 -1.43441370e+02] [-5.36241019e-03 9.99985611e-01 -1.48302623e-04 -2.59875372e+02] [-9.38024144e-03 -1.98599656e-04 -9.99955985e-01 -1.79892733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 777.876559995 meters 0.016760847569656914 Centerline is valid? [True, True] Translation: X:-143.43, Y:-259.20, Z:-2.79 [[-9.94496048e-01 -1.04365393e-01 9.24533022e-03 -1.43427873e+02] [ 1.04362654e-01 -9.94539003e-01 -7.79605555e-04 -2.59204972e+02] [ 9.27620534e-03 1.89552553e-04 9.99956957e-01 -2.78609114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 777.906559995 meters 0.016348825500431905 Centerline is valid? [True, True] Translation: X:-143.51, Y:-259.88, Z:-1.80 [[-9.99903121e-01 -1.04144765e-02 9.23512733e-03 -1.43508203e+02] [-1.04158675e-02 9.99945748e-01 -1.02530735e-04 -2.59875600e+02] [-9.23355851e-03 -1.98712664e-04 -9.99957350e-01 -1.79968010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 777.9365599949999 meters 0.01643858138854741 Centerline is valid? [True, True] Translation: X:-143.50, Y:-259.20, Z:-2.78 [[-9.94969261e-01 -9.98407439e-02 8.24600802e-03 -1.43497396e+02] [ 9.98382748e-02 -9.95003423e-01 -7.11564306e-04 -2.59201336e+02] [ 8.27584932e-03 1.15282603e-04 9.99965748e-01 -2.78423814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 777.9665599949999 meters 0.01676035656020245 Centerline is valid? [True, True] Translation: X:-143.57, Y:-259.88, Z:-1.80 [[-9.99851284e-01 -1.53878186e-02 7.78620812e-03 -1.43574684e+02] [-1.53886624e-02 9.99881586e-01 -4.84684711e-05 -2.59876051e+02] [-7.78454030e-03 -1.68280591e-04 -9.99969686e-01 -1.80097492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 777.996559995 meters 0.01645729090092732 Centerline is valid? [True, True] Translation: X:-143.57, Y:-259.20, Z:-2.78 [[-9.95405967e-01 -9.54416115e-02 7.60652413e-03 -1.43566736e+02] [ 9.54400094e-02 -9.95435018e-01 -5.74157263e-04 -2.59200075e+02] [ 7.62659898e-03 1.54447169e-04 9.99970905e-01 -2.78348647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 778.026559995 meters 0.01640366135719751 Centerline is valid? [True, True] Translation: X:-143.64, Y:-259.88, Z:-1.80 [[-9.99765754e-01 -2.02079374e-02 7.75094737e-03 -1.43643342e+02] [-2.02086308e-02 9.99795785e-01 -1.11464842e-05 -2.59876569e+02] [-7.74913927e-03 -1.67779907e-04 -9.99969961e-01 -1.80127834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 778.0565599949999 meters 0.016415831567086193 Centerline is valid? [True, True] Translation: X:-143.65, Y:-259.85, Z:-1.80 [[-9.95831511e-01 -9.08555543e-02 8.05420224e-03 -1.43647853e+02] [-9.08539727e-02 9.95864067e-01 5.62784682e-04 -2.59849649e+02] [-8.07202271e-03 -1.71317551e-04 -9.99967406e-01 -1.80047487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 778.0865599949999 meters 0.017271676230325977 Centerline is valid? [True, True] Translation: X:-143.69, Y:-259.17, Z:-2.79 [[-9.99794558e-01 -1.84883934e-02 8.30791409e-03 -1.43691415e+02] [ 1.84893483e-02 -9.99829057e-01 3.81469089e-05 -2.59174232e+02] [ 8.30578864e-03 1.91746989e-04 9.99965488e-01 -2.78572770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 778.116559995 meters 0.015651698061984777 Centerline is valid? [True, True] Translation: X:-143.74, Y:-259.86, Z:-1.80 [[-9.95574270e-01 -9.35796184e-02 8.64448856e-03 -1.43739190e+02] [-9.35774390e-02 9.95611787e-01 6.57134324e-04 -2.59859652e+02] [-8.66804909e-03 -1.54703076e-04 -9.99962420e-01 -1.79928800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 778.146559995 meters 0.015157566127134455 Centerline is valid? [True, True] Translation: X:-143.75, Y:-259.84, Z:-1.80 [[-9.86654216e-01 -1.62603347e-01 8.57959673e-03 -1.43746887e+02] [-1.62598432e-01 9.86691508e-01 1.27205109e-03 -2.59835397e+02] [-8.67225500e-03 -1.39954398e-04 -9.99962386e-01 -1.79931584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 778.1765599949999 meters 0.014875956882062355 Centerline is valid? [True, True] Translation: X:-143.77, Y:-259.81, Z:-1.80 [[-9.72956582e-01 -2.30834951e-01 8.40925030e-03 -1.43765273e+02] [-2.30827403e-01 9.72992914e-01 1.87066631e-03 -2.59813149e+02] [-8.61395612e-03 -1.21008313e-04 -9.99962892e-01 -1.79947618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 778.2065599949999 meters 0.01448028609608785 Centerline is valid? [True, True] Translation: X:-143.80, Y:-259.80, Z:-1.80 [[-9.54541886e-01 -2.97985548e-01 7.37570632e-03 -1.43797295e+02] [-2.97977380e-01 9.54570377e-01 2.20810404e-03 -2.59795496e+02] [-7.69861386e-03 -9.00658494e-05 -9.99970361e-01 -1.79979632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 778.236559995 meters 0.01448028609608785 Centerline is valid? [True, True] Translation: X:-143.85, Y:-259.78, Z:-1.80 [[-9.30160070e-01 -3.67083760e-01 7.19424034e-03 -1.43851833e+02] [-3.67073527e-01 9.30187887e-01 2.74228148e-03 -2.59784808e+02] [-7.69864222e-03 -9.00544437e-05 -9.99970361e-01 -1.79979553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 778.266559995 meters 0.013878467419250818 Centerline is valid? [True, True] Translation: X:-143.91, Y:-259.78, Z:-1.80 [[-9.02476216e-01 -4.30694563e-01 6.23490025e-03 -1.43908322e+02] [-4.30684664e-01 9.02497751e-01 2.92044392e-03 -2.59783897e+02] [-6.88480278e-03 -4.96447414e-05 -9.99976298e-01 -1.80024735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 778.2965599949999 meters 0.01371271072639899 Centerline is valid? [True, True] Translation: X:-143.98, Y:-259.79, Z:-1.80 [[-8.68969411e-01 -4.94832437e-01 5.74650349e-03 -1.43979950e+02] [-4.94821879e-01 8.68988411e-01 3.23274388e-03 -2.59791482e+02] [-6.59331147e-03 -3.43401096e-05 -9.99978263e-01 -1.80051155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 778.3265599949999 meters 0.013526896007810912 Centerline is valid? [True, True] Translation: X:-144.06, Y:-259.81, Z:-1.80 [[-8.30714187e-01 -5.56674138e-01 5.27671250e-03 -1.44061145e+02] [-5.56663057e-01 8.30730946e-01 3.51234606e-03 -2.59811134e+02] [-6.33876059e-03 -1.95952102e-05 -9.99979910e-01 -1.80066601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 778.356559995 meters 0.013523311062777342 Centerline is valid? [True, True] Translation: X:-144.14, Y:-259.83, Z:-1.80 [[-7.87592554e-01 -6.16177106e-01 4.87274344e-03 -1.44138492e+02] [-6.16165369e-01 7.87607627e-01 3.80313516e-03 -2.59834328e+02] [-6.18121471e-03 -7.09482322e-06 -9.99980896e-01 -1.80056123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 778.386559995 meters 0.013583105854509668 Centerline is valid? [True, True] Translation: X:-144.22, Y:-259.87, Z:-1.80 [[-7.40585480e-01 -6.71944147e-01 4.92038682e-03 -1.44223659e+02] [-6.71929224e-01 7.40601825e-01 4.47819289e-03 -2.59872205e+02] [-6.65314296e-03 1.03329317e-05 -9.99977868e-01 -1.79996555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 778.416559995 meters 0.013608459631437331 Centerline is valid? [True, True] Translation: X:-144.31, Y:-259.92, Z:-1.80 [[-6.88355458e-01 -7.25358149e-01 4.72433276e-03 -1.44312341e+02] [-7.25340876e-01 6.88371670e-01 5.00573697e-03 -2.59920692e+02] [-6.88304893e-03 1.89747046e-05 -9.99976311e-01 -1.79954923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 778.4465599949999 meters 0.013725516190387891 Centerline is valid? [True, True] Translation: X:-144.40, Y:-259.98, Z:-1.80 [[-6.32607487e-01 -7.74460393e-01 4.34356986e-03 -1.44399044e+02] [-7.74441793e-01 6.32622398e-01 5.36761723e-03 -2.59977679e+02] [-6.90484653e-03 3.17528198e-05 -9.99976161e-01 -1.79945339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 778.476559995 meters 0.01368703996933543 Centerline is valid? [True, True] Translation: X:-144.48, Y:-260.04, Z:-1.80 [[-5.72343666e-01 -8.20004039e-01 4.01299902e-03 -1.44483597e+02] [-8.19983415e-01 5.72357733e-01 5.81591969e-03 -2.60042957e+02] [-7.06594866e-03 3.81121482e-05 -9.99975035e-01 -1.79949234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 778.506559995 meters 0.01376410666270114 Centerline is valid? [True, True] Translation: X:-144.57, Y:-260.12, Z:-1.80 [[-5.08511595e-01 -8.61048214e-01 3.45400933e-03 -1.44565672e+02] [-8.61027796e-01 5.08523324e-01 5.92989801e-03 -2.60118625e+02] [-6.86237240e-03 4.14238551e-05 -9.99976453e-01 -1.79960110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 778.536559995 meters 0.013860611598629691 Centerline is valid? [True, True] Translation: X:-144.64, Y:-260.20, Z:-1.80 [[-4.42113219e-01 -8.96953521e-01 3.20660872e-03 -1.44643512e+02] [-8.96929049e-01 4.42124845e-01 6.62598539e-03 -2.60202431e+02] [-7.36092230e-03 5.33352254e-05 -9.99972907e-01 -1.79886446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 778.5665599949999 meters 0.013835917136395296 Centerline is valid? [True, True] Translation: X:-144.71, Y:-260.29, Z:-1.80 [[-3.72184719e-01 -9.28155000e-01 2.61380897e-03 -1.44714595e+02] [-9.28131094e-01 3.72193893e-01 6.66167762e-03 -2.60293827e+02] [-7.15591313e-03 5.34172323e-05 -9.99974395e-01 -1.79890568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 778.5965599949999 meters 0.013921661434784998 Centerline is valid? [True, True] Translation: X:-144.78, Y:-260.39, Z:-1.80 [[-2.99699393e-01 -9.54031557e-01 2.01540660e-03 -1.44779326e+02] [-9.54008833e-01 2.99706165e-01 6.58487490e-03 -2.60393147e+02] [-6.88620824e-03 5.07673117e-05 -9.99976289e-01 -1.79913179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 778.626559995 meters 0.013795363316106665 Centerline is valid? [True, True] Translation: X:-144.84, Y:-260.50, Z:-1.80 [[-2.24333344e-01 -9.74511650e-01 1.26293677e-03 -1.44838708e+02] [-9.74495287e-01 2.24336896e-01 5.64747106e-03 -2.60498305e+02] [-5.78684966e-03 3.61901402e-05 -9.99983256e-01 -1.79995839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 778.656559995 meters 0.013659644221828587 Centerline is valid? [True, True] Translation: X:-144.89, Y:-260.60, Z:-1.80 [[-1.48031369e-01 -9.88982376e-01 7.58068534e-04 -1.44889064e+02] [-9.88968378e-01 1.48033307e-01 5.26183436e-03 -2.60604336e+02] [-5.31608084e-03 2.92107337e-05 -9.99985869e-01 -1.80073648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 778.6865599949999 meters 0.013580846458616937 Centerline is valid? [True, True] Translation: X:-144.93, Y:-260.72, Z:-1.80 [[-7.03823887e-02 -9.97520024e-01 3.48499510e-04 -1.44931821e+02] [-9.97506116e-01 7.03832477e-02 5.26751434e-03 -2.60721653e+02] [-5.27897956e-03 2.31098493e-05 -9.99986066e-01 -1.80085013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 778.7165599949999 meters 0.013416466366504507 Centerline is valid? [True, True] Translation: X:-145.64, Y:-260.79, Z:-2.78 [[-1.32087778e-01 9.91237762e-01 7.19645858e-04 -1.45639279e+02] [-9.91224011e-01 -1.32089737e-01 5.22121545e-03 -2.60785576e+02] [ 5.27052375e-03 -2.36715049e-05 9.99986111e-01 -2.78443123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 778.746559995 meters 0.0134382932056942 Centerline is valid? [True, True] Translation: X:-144.96, Y:-261.00, Z:-1.80 [[-5.63894821e-02 -9.98408808e-01 2.80484664e-04 -1.44962045e+02] [-9.98396421e-01 5.63901797e-02 4.97335805e-03 -2.61004665e+02] [-4.98126106e-03 4.10200557e-07 -9.99987594e-01 -1.80048940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 778.776559995 meters 0.013507867176470534 Centerline is valid? [True, True] Translation: X:-145.00, Y:-261.12, Z:-1.80 [[ 2.34861689e-02 -9.99724156e-01 -1.04668458e-04 -1.44996865e+02] [-9.99711332e-01 -2.34863978e-02 5.06376073e-03 -2.61122847e+02] [-5.06482221e-03 -1.42900968e-05 -9.99987174e-01 -1.80011366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 778.8065599949999 meters 0.013557089109095298 Centerline is valid? [True, True] Translation: X:-145.02, Y:-261.24, Z:-1.80 [[ 1.01420862e-01 -9.94843473e-01 -5.22720470e-04 -1.45020237e+02] [-9.94829073e-01 -1.01422206e-01 5.35268618e-03 -2.61237813e+02] [-5.37810037e-03 -2.28565244e-05 -9.99985538e-01 -1.79993520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 778.8365599949999 meters 0.013690162028398782 Centerline is valid? [True, True] Translation: X:-145.03, Y:-261.36, Z:-1.80 [[ 1.79154459e-01 -9.83820447e-01 -1.00415171e-03 -1.45034264e+02] [-9.83803912e-01 -1.79157270e-01 5.70394327e-03 -2.61358791e+02] [-5.79155710e-03 -3.39984926e-05 -9.99983228e-01 -1.79963951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 778.866559995 meters 0.01387595430406648 Centerline is valid? [True, True] Translation: X:-145.04, Y:-261.48, Z:-1.80 [[ 2.55764554e-01 -9.66738010e-01 -1.45343944e-03 -1.45038403e+02] [-9.66721417e-01 -2.55768680e-01 5.66424848e-03 -2.61483534e+02] [-5.84758859e-03 -4.36429526e-05 -9.99982902e-01 -1.79947101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 778.896559995 meters 0.014532004903945437 Centerline is valid? [True, True] Translation: X:-145.04, Y:-261.60, Z:-1.80 [[ 3.32887195e-01 -9.42964658e-01 -1.94147938e-03 -1.45039039e+02] [-9.42947400e-01 -3.32892849e-01 5.70550706e-03 -2.61600441e+02] [-6.02639612e-03 -6.85773104e-05 -9.99981839e-01 -1.79858227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 778.9265599949999 meters 0.01550631408068619 Centerline is valid? [True, True] Translation: X:-145.03, Y:-261.72, Z:-1.80 [[ 4.06553526e-01 -9.13623800e-01 -2.40477124e-03 -1.45027272e+02] [-9.13606554e-01 -4.06560629e-01 5.61413235e-03 -2.61720842e+02] [-6.10689025e-03 -8.54305353e-05 -9.99981349e-01 -1.79791496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 778.9565599949999 meters 0.016236565700240554 Centerline is valid? [True, True] Translation: X:-145.01, Y:-261.84, Z:-1.80 [[ 4.79653880e-01 -8.77453523e-01 -2.73325039e-03 -1.45008377e+02] [-8.77437921e-01 -4.79661654e-01 5.23378050e-03 -2.61837135e+02] [-5.90343454e-03 -1.12145588e-04 -9.99982568e-01 -1.79828403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 778.986559995 meters 0.016688112139282327 Centerline is valid? [True, True] Translation: X:-144.98, Y:-261.95, Z:-1.80 [[ 5.46780832e-01 -8.37269834e-01 -3.15395348e-03 -1.44978708e+02] [-8.37254578e-01 -5.46789914e-01 5.05590581e-03 -2.61949974e+02] [-5.95770737e-03 -1.23810396e-04 -9.99982245e-01 -1.79820529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 779.016559995 meters 0.018118162714837037 Centerline is valid? [True, True] Translation: X:-144.94, Y:-262.06, Z:-1.80 [[ 6.11411734e-01 -7.91305220e-01 -3.42629988e-03 -1.44940245e+02] [-7.91291520e-01 -6.11421319e-01 4.65845287e-03 -2.62063987e+02] [-5.78117087e-03 -1.37030708e-04 -9.99983280e-01 -1.79806401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 779.0465599949999 meters 0.0174864570921719 Centerline is valid? [True, True] Translation: X:-144.90, Y:-262.16, Z:-1.80 [[ 6.70798816e-01 -7.41630326e-01 -3.66182888e-03 -1.44901085e+02] [-7.41618126e-01 -6.70808796e-01 4.25610924e-03 -2.62157035e+02] [-5.61284671e-03 -1.39314364e-04 -9.99984238e-01 -1.79860388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 779.0765599949999 meters 0.01885447507023332 Centerline is valid? [True, True] Translation: X:-144.85, Y:-262.26, Z:-1.80 [[ 7.25780709e-01 -6.87916074e-01 -3.71975411e-03 -1.44851235e+02] [-6.87906077e-01 -7.25790229e-01 3.71118672e-03 -2.62256971e+02] [-5.25274619e-03 -1.34666268e-04 -9.99986195e-01 -1.79823546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 779.106559995 meters 0.01751622917401338 Centerline is valid? [True, True] Translation: X:-144.85, Y:-262.27, Z:-1.80 [[ 7.77905789e-01 -6.28369644e-01 -3.76485096e-03 -1.44851232e+02] [-6.28361460e-01 -7.77914888e-01 3.20991512e-03 -2.62266325e+02] [-4.94574683e-03 -1.31324307e-04 -9.99987761e-01 -1.79913117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 779.136559995 meters 0.020657803278694 Centerline is valid? [True, True] Translation: X:-144.86, Y:-262.28, Z:-1.80 [[ 8.25980424e-01 -5.63682770e-01 -4.25142849e-03 -1.44855623e+02] [-5.63674346e-01 -8.25991351e-01 3.08541439e-03 -2.62281590e+02] [-5.25083809e-03 -1.52070718e-04 -9.99986203e-01 -1.79789483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 779.166559995 meters 0.019076102164384386 Centerline is valid? [True, True] Translation: X:-144.85, Y:-262.29, Z:-1.80 [[ 8.68182900e-01 -4.96216720e-01 -5.23629994e-03 -1.44852914e+02] [-4.96206389e-01 -8.68198671e-01 3.20734149e-03 -2.62289614e+02] [-6.13768512e-03 -1.86273550e-04 -9.99981147e-01 -1.79802081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 779.1965599949999 meters 0.02207035507088281 Centerline is valid? [True, True] Translation: X:-144.85, Y:-262.30, Z:-1.80 [[ 9.04760116e-01 -4.25878860e-01 -6.02737267e-03 -1.44853574e+02] [-4.25867832e-01 -9.04780168e-01 3.07205450e-03 -2.62303106e+02] [-6.76177032e-03 -2.12608253e-04 -9.99977116e-01 -1.79630026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 779.226559995 meters 0.020981623312129133 Centerline is valid? [True, True] Translation: X:-144.85, Y:-262.31, Z:-1.80 [[ 9.36090698e-01 -3.51677897e-01 -7.54072959e-03 -1.44848885e+02] [-3.51664100e-01 -9.36121029e-01 3.12732307e-03 -2.62309936e+02] [-8.15884595e-03 -2.75654151e-04 -9.99966678e-01 -1.79593804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 779.256559995 meters 0.02119440228583761 Centerline is valid? [True, True] Translation: X:-144.84, Y:-262.32, Z:-1.80 [[ 9.60903365e-01 -2.76753134e-01 -8.51039946e-03 -1.44843747e+02] [-2.76739424e-01 -9.60941001e-01 2.77189007e-03 -2.62317742e+02] [-8.94512104e-03 -3.08355450e-04 -9.99959944e-01 -1.79527817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 779.286559995 meters 0.020751746171921853 Centerline is valid? [True, True] Translation: X:-144.84, Y:-262.33, Z:-1.79 [[ 9.79631561e-01 -2.00590880e-01 -9.23600510e-03 -1.44838256e+02] [-2.00578788e-01 -9.79675043e-01 2.22693431e-03 -2.62325862e+02] [-9.49498641e-03 -3.29028423e-04 -9.99954868e-01 -1.79489737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 779.3165599949999 meters 0.020649180249808732 Centerline is valid? [True, True] Translation: X:-144.83, Y:-262.33, Z:-1.79 [[ 9.92232454e-01 -1.24051573e-01 -9.27167183e-03 -1.44832343e+02] [-1.24043146e-01 -9.92275721e-01 1.48070354e-03 -2.62332632e+02] [-9.38373844e-03 -3.19114762e-04 -9.99955921e-01 -1.79481666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 779.3465599949999 meters 0.020487713120718065 Centerline is valid? [True, True] Translation: X:-144.83, Y:-262.34, Z:-1.80 [[ 9.98847689e-01 -4.71028439e-02 -9.19869226e-03 -1.44826372e+02] [-4.70980428e-02 -9.98889999e-01 7.37984830e-04 -2.62337379e+02] [-9.22324289e-03 -3.03894040e-04 -9.99957419e-01 -1.79527709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 779.376559995 meters 0.017898261559833734 Centerline is valid? [True, True] Translation: X:-144.82, Y:-262.34, Z:-1.80 [[ 9.99583829e-01 2.76907683e-02 -8.08648271e-03 -1.44822723e+02] [ 2.76917836e-02 -9.99616509e-01 1.36038708e-05 -2.62339546e+02] [-8.08300491e-03 -2.37527339e-04 -9.99967304e-01 -1.79752073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 779.406559995 meters 0.01744735001825663 Centerline is valid? [True, True] Translation: X:-144.82, Y:-262.35, Z:-1.80 [[ 9.94610926e-01 1.03415473e-01 -7.37199333e-03 -1.44820817e+02] [ 1.03414110e-01 -9.94638226e-01 -5.66839177e-04 -2.62345503e+02] [-7.39108631e-03 -1.98583689e-04 -9.99972666e-01 -1.79809813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 779.4365599949999 meters 0.016770573391757512 Centerline is valid? [True, True] Translation: X:-144.82, Y:-262.35, Z:-1.80 [[ 9.84382637e-01 1.75919996e-01 -6.55591043e-03 -1.44818634e+02] [ 1.75917069e-01 -9.84404457e-01 -1.02494487e-03 -2.62348826e+02] [-6.63397574e-03 -1.44358620e-04 -9.99977985e-01 -1.79825906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 779.4665599949999 meters 0.016770573391757512 Centerline is valid? [True, True] Translation: X:-144.82, Y:-262.35, Z:-1.80 [[ 9.67590743e-01 2.52441043e-01 -6.45558910e-03 -1.44815880e+02] [ 2.52436417e-01 -9.67612267e-01 -1.53501292e-03 -2.62352565e+02] [-6.63400746e-03 -1.44361494e-04 -9.99977984e-01 -1.79825878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 779.496559995 meters 0.014790059297943798 Centerline is valid? [True, True] Translation: X:-144.81, Y:-262.35, Z:-1.80 [[ 9.46548234e-01 3.22500873e-01 -6.29508784e-03 -1.44813429e+02] [ 3.22494507e-01 -9.46569160e-01 -2.02933306e-03 -2.62353427e+02] [-6.61319769e-03 -1.09269621e-04 -9.99978127e-01 -1.79855090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 779.526559995 meters 0.014971792519969112 Centerline is valid? [True, True] Translation: X:-144.81, Y:-262.36, Z:-1.80 [[ 9.19267366e-01 3.93583058e-01 -6.31563033e-03 -1.44810447e+02] [ 3.93574500e-01 -9.19289055e-01 -2.59735229e-03 -2.62359466e+02] [-6.82816369e-03 -9.80098451e-05 -9.99976683e-01 -1.79750987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 779.5565599949999 meters 0.01376205751144265 Centerline is valid? [True, True] Translation: X:-144.81, Y:-262.36, Z:-1.80 [[ 8.87210327e-01 4.61311401e-01 -7.04468534e-03 -1.44808801e+02] [ 4.61297630e-01 -8.87238291e-01 -3.56550877e-03 -2.62359248e+02] [-7.89512442e-03 -8.63404508e-05 -9.99968829e-01 -1.79773417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 779.5865599949999 meters 0.01358279414151816 Centerline is valid? [True, True] Translation: X:-144.80, Y:-262.36, Z:-1.80 [[ 8.49075193e-01 5.28220831e-01 -7.35332121e-03 -1.44804996e+02] [ 5.28201867e-01 -8.49107029e-01 -4.47668159e-03 -2.62362482e+02] [-8.60843320e-03 -8.29987049e-05 -9.99962943e-01 -1.79740793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 779.616559995 meters 0.013469261776212741 Centerline is valid? [True, True] Translation: X:-144.80, Y:-262.36, Z:-1.80 [[ 8.05876574e-01 5.92035047e-01 -7.57963660e-03 -1.44801495e+02] [ 5.92009768e-01 -8.05912215e-01 -5.47150512e-03 -2.62364678e+02] [-9.34784451e-03 -7.78611028e-05 -9.99956305e-01 -1.79704909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 779.646559995 meters 0.013364666181005453 Centerline is valid? [True, True] Translation: X:-144.80, Y:-262.37, Z:-1.80 [[ 7.57045624e-01 6.53323281e-01 -7.11432686e-03 -1.44795877e+02] [ 6.53295396e-01 -7.57079047e-01 -6.03674184e-03 -2.62369579e+02] [-9.33005179e-03 -7.76679897e-05 -9.99956471e-01 -1.79752410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 779.6765599949999 meters 0.013413553496248879 Centerline is valid? [True, True] Translation: X:-144.79, Y:-262.37, Z:-1.80 [[ 7.03480135e-01 7.10683666e-01 -6.66536256e-03 -1.44789875e+02] [ 7.10652835e-01 -7.03511706e-01 -6.62020951e-03 -2.62374231e+02] [-9.39403535e-03 -7.95729212e-05 -9.99955872e-01 -1.79731920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 779.7065599949999 meters 0.01340693175996834 Centerline is valid? [True, True] Translation: X:-144.78, Y:-262.38, Z:-1.80 [[ 6.45234523e-01 7.63960363e-01 -6.08063718e-03 -1.44783301e+02] [ 7.63927671e-01 -6.45263169e-01 -7.06805470e-03 -2.62379057e+02] [-9.32332485e-03 -8.46140921e-05 -9.99956533e-01 -1.79713484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 779.736559995 meters 0.01415163548382272 Centerline is valid? [True, True] Translation: X:-144.78, Y:-262.39, Z:-1.80 [[ 5.82736538e-01 8.12641729e-01 -5.61672508e-03 -1.44776285e+02] [ 8.12605533e-01 -5.82763598e-01 -7.67050087e-03 -2.62385363e+02] [-9.50659201e-03 -9.43007631e-05 -9.99954807e-01 -1.79515071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 779.766559995 meters 0.013869773017638693 Centerline is valid? [True, True] Translation: X:-144.77, Y:-262.39, Z:-1.80 [[ 5.15752397e-01 8.56719464e-01 -5.58788657e-03 -1.44771520e+02] [ 8.56671789e-01 -5.15782652e-01 -9.03892534e-03 -2.62387986e+02] [-1.06259582e-02 -1.25137371e-04 -9.99943535e-01 -1.79552809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 779.7965599949999 meters 0.014143178379881135 Centerline is valid? [True, True] Translation: X:-144.77, Y:-262.39, Z:-1.79 [[ 4.46204519e-01 8.94915910e-01 -5.20020728e-03 -1.44765717e+02] [ 8.94858878e-01 -4.46234797e-01 -1.01041771e-02 -2.62390074e+02] [-1.13629023e-02 -1.44922175e-04 -9.99935430e-01 -1.79497186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 779.8265599949999 meters 0.01425559391858539 Centerline is valid? [True, True] Translation: X:-144.76, Y:-262.39, Z:-1.80 [[ 3.72895540e-01 9.27861526e-01 -4.68030201e-03 -1.44758390e+02] [ 9.27794348e-01 -3.72924868e-01 -1.11665048e-02 -2.62393245e+02] [-1.21063712e-02 -1.78417895e-04 -9.99926699e-01 -1.79503145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 779.856559995 meters 0.014803847505282023 Centerline is valid? [True, True] Translation: X:-144.75, Y:-262.40, Z:-1.79 [[ 2.98374283e-01 9.54441283e-01 -3.82415035e-03 -1.44750520e+02] [ 9.54370835e-01 -2.98398729e-01 -1.15977775e-02 -2.62396329e+02] [-1.22105193e-02 -1.89179012e-04 -9.99925431e-01 -1.79475171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 779.886559995 meters 0.01462706285097974 Centerline is valid? [True, True] Translation: X:-144.74, Y:-262.40, Z:-1.80 [[ 2.21610330e-01 9.75131790e-01 -2.61794245e-03 -1.44742836e+02] [ 9.75073184e-01 -2.21625717e-01 -1.06924078e-02 -2.62397959e+02] [-1.10067102e-02 -1.83137452e-04 -9.99939408e-01 -1.79641687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 779.916559995 meters 0.014726533821334962 Centerline is valid? [True, True] Translation: X:-144.74, Y:-262.40, Z:-1.80 [[ 1.44305422e-01 9.89531787e-01 -1.66981602e-03 -1.44735247e+02] [ 9.89478845e-01 -1.44314976e-01 -1.02373630e-02 -2.62398797e+02] [-1.03711756e-02 -1.74940640e-04 -9.99946203e-01 -1.79681829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 779.9465599949999 meters 0.015146176855827956 Centerline is valid? [True, True] Translation: X:-144.73, Y:-262.40, Z:-1.80 [[ 6.63940641e-02 9.97793157e-01 -8.02508230e-04 -1.44727895e+02] [ 9.97746868e-01 -6.63987151e-02 -9.61242241e-03 -2.62400133e+02] [-9.64449482e-03 -1.62492283e-04 -9.99953478e-01 -1.79673943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 779.976559995 meters 0.014575564718908819 Centerline is valid? [True, True] Translation: X:-144.72, Y:-262.40, Z:-1.80 [[-1.17814046e-02 9.99930596e-01 -4.31683380e-05 -1.44721995e+02] [ 9.99891637e-01 1.17805644e-02 -8.82800278e-03 -2.62400205e+02] [-8.82688153e-03 -1.47169932e-04 -9.99961032e-01 -1.79814331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 780.006559995 meters 0.014443779432575054 Centerline is valid? [True, True] Translation: X:-144.72, Y:-262.40, Z:-1.80 [[-8.90506535e-02 9.96026936e-01 5.69482394e-04 -1.44716287e+02] [ 9.95996955e-01 8.90523921e-02 -7.72893049e-03 -2.62400868e+02] [-7.74893673e-03 -1.21063581e-04 -9.99969969e-01 -1.79945046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 780.036559995 meters 0.014305447716100077 Centerline is valid? [True, True] Translation: X:-144.71, Y:-262.40, Z:-1.80 [[-1.65771794e-01 9.86163533e-01 1.09453639e-03 -1.44711353e+02] [ 9.86137655e-01 1.65775374e-01 -7.14500564e-03 -2.62400925e+02] [-7.22759119e-03 -1.05076856e-04 -9.99973875e-01 -1.79996121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 780.0665599949999 meters 0.013820491474877138 Centerline is valid? [True, True] Translation: X:-144.71, Y:-262.40, Z:-1.80 [[-2.41188951e-01 9.70476885e-01 1.58315026e-03 -1.44705359e+02] [ 9.70453419e-01 2.41194129e-01 -6.74937669e-03 -2.62400049e+02] [-6.93196061e-03 -9.15014940e-05 -9.99975970e-01 -1.79995765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 780.0965599949999 meters 0.013370205383409264 Centerline is valid? [True, True] Translation: X:-144.70, Y:-262.40, Z:-1.80 [[-3.13983720e-01 9.49425803e-01 2.20625161e-03 -1.44699619e+02] [ 9.49400616e-01 3.13991462e-01 -6.91603672e-03 -2.62398501e+02] [-7.25900789e-03 -7.69063031e-05 -9.99973650e-01 -1.79905875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 780.126559995 meters 0.013370205383409264 Centerline is valid? [True, True] Translation: X:-144.69, Y:-262.40, Z:-1.80 [[-3.87382996e-01 9.21914801e-01 2.74119645e-03 -1.44693137e+02] [ 9.21890298e-01 3.87392687e-01 -6.72200742e-03 -2.62397160e+02] [-7.25903759e-03 -7.69089640e-05 -9.99973650e-01 -1.79905850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 780.156559995 meters 0.013109789777961591 Centerline is valid? [True, True] Translation: X:-144.69, Y:-262.40, Z:-1.80 [[-4.57240911e-01 8.89336257e-01 3.43085919e-03 -1.44686821e+02] [ 8.89310051e-01 4.57253777e-01 -6.82767876e-03 -2.62395093e+02] [-7.64087559e-03 -7.07964926e-05 -9.99970806e-01 -1.79858628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 780.1865599949999 meters 0.012855150354621786 Centerline is valid? [True, True] Translation: X:-144.68, Y:-262.39, Z:-1.80 [[-5.23805118e-01 8.51825746e-01 4.59313336e-03 -1.44681028e+02] [ 8.51791905e-01 5.23825252e-01 -7.59319414e-03 -2.62393915e+02] [-8.87407750e-03 -6.49601373e-05 -9.99960623e-01 -1.79746657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 780.2165599949999 meters 0.012787559194580578 Centerline is valid? [True, True] Translation: X:-144.68, Y:-262.39, Z:-1.80 [[-5.88248953e-01 8.08660796e-01 5.55758179e-03 -1.44675418e+02] [ 8.08623709e-01 5.88275202e-01 -7.74490536e-03 -2.62390559e+02] [-9.53238889e-03 -6.19400668e-05 -9.99954564e-01 -1.79733678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 780.246559995 meters 0.012679526925154542 Centerline is valid? [True, True] Translation: X:-144.67, Y:-262.39, Z:-1.80 [[-6.49109264e-01 7.60668166e-01 6.41128719e-03 -1.44670239e+02] [ 7.60630216e-01 6.49140924e-01 -7.59845867e-03 -2.62386521e+02] [-9.94173450e-03 -5.56111626e-05 -9.99950578e-01 -1.79708173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 780.276559995 meters 0.012738314790373134 Centerline is valid? [True, True] Translation: X:-144.66, Y:-262.38, Z:-1.80 [[-7.05902722e-01 7.08265173e-01 7.86073162e-03 -1.44664240e+02] [ 7.08220466e-01 7.05946486e-01 -7.95804904e-03 -2.62383521e+02] [-1.11856649e-02 -5.04774757e-05 -9.99937437e-01 -1.79576991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 780.3065599949999 meters 0.0126403876723303 Centerline is valid? [True, True] Translation: X:-144.66, Y:-262.38, Z:-1.80 [[-7.58963429e-01 6.51076958e-01 8.56206922e-03 -1.44661630e+02] [ 6.51034838e-01 7.59011721e-01 -7.40587696e-03 -2.62380985e+02] [-1.13205067e-02 -4.65844283e-05 -9.99935920e-01 -1.79556907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 780.3365599949999 meters 0.012579617092561802 Centerline is valid? [True, True] Translation: X:-144.22, Y:-261.88, Z:-2.79 [[-7.07759950e-01 -7.06404690e-01 8.26243747e-03 -1.44224186e+02] [ 7.06357626e-01 -7.07808173e-01 -8.15441558e-03 -2.61883104e+02] [ 1.16085382e-02 6.48669531e-05 9.99932617e-01 -2.78869052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 780.366559995 meters 0.012521800644554075 Centerline is valid? [True, True] Translation: X:-144.24, Y:-261.91, Z:-2.79 [[-6.59219010e-01 -7.51907750e-01 8.06422656e-03 -1.44240693e+02] [ 7.51852196e-01 -6.59268332e-01 -9.14011469e-03 -2.61909621e+02] [ 1.21890123e-02 3.77690910e-05 9.99925711e-01 -2.78902585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 780.396559995 meters 0.01254314358361554 Centerline is valid? [True, True] Translation: X:-144.26, Y:-261.89, Z:-2.79 [[-6.59949226e-01 -7.51268678e-01 7.89888615e-03 -1.44258698e+02] [ 7.51215391e-01 -6.59996494e-01 -8.94782088e-03 -2.61888891e+02] [ 1.19354547e-02 2.86573857e-05 9.99928770e-01 -2.78935226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 780.4265599949999 meters 0.01245779010565719 Centerline is valid? [True, True] Translation: X:-144.28, Y:-261.87, Z:-2.79 [[-6.61104811e-01 -7.50255704e-01 7.53715248e-03 -1.44275314e+02] [ 7.50207183e-01 -6.61147774e-01 -8.53251107e-03 -2.61868214e+02] [ 1.13847367e-02 1.35418126e-05 9.99935192e-01 -2.78853261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 780.4565599949999 meters 0.012374167807666224 Centerline is valid? [True, True] Translation: X:-144.29, Y:-261.85, Z:-2.79 [[-6.61741709e-01 -7.49698455e-01 7.08071518e-03 -1.44292979e+02] [ 7.49655654e-01 -6.61779590e-01 -8.01089755e-03 -2.61847217e+02] [ 1.06916303e-02 6.95313694e-06 9.99942843e-01 -2.78750592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 780.486559995 meters 0.01238714593566549 Centerline is valid? [True, True] Translation: X:-144.31, Y:-261.83, Z:-2.79 [[-6.62357991e-01 -7.49157669e-01 6.68421789e-03 -1.44310239e+02] [ 7.49119536e-01 -6.62391717e-01 -7.55873908e-03 -2.61827214e+02] [ 1.00902579e-02 6.86973876e-07 9.99949092e-01 -2.78679455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 780.516559995 meters 0.012391675073595515 Centerline is valid? [True, True] Translation: X:-144.33, Y:-261.81, Z:-2.79 [[-6.62608489e-01 -7.48939301e-01 6.31779987e-03 -1.44327585e+02] [ 7.48905256e-01 -6.62638607e-01 -7.14103992e-03 -2.61807483e+02] [ 9.53462356e-03 -2.80142194e-07 9.99954545e-01 -2.78549529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 780.5465599949999 meters 0.012361464875347845 Centerline is valid? [True, True] Translation: X:-144.35, Y:-261.79, Z:-2.78 [[-6.62757668e-01 -7.48807427e-01 6.30160958e-03 -1.44345933e+02] [ 7.48773592e-01 -6.62787626e-01 -7.11834211e-03 -2.61787340e+02] [ 9.50689630e-03 7.43020432e-07 9.99954809e-01 -2.78494788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 780.5765599949999 meters 0.012463833252198044 Centerline is valid? [True, True] Translation: X:-144.36, Y:-261.77, Z:-2.79 [[-6.62569343e-01 -7.48973590e-01 6.35822757e-03 -1.44363588e+02] [ 7.48939197e-01 -6.62599850e-01 -7.17765533e-03 -2.61768242e+02] [ 9.58883492e-03 6.23147353e-06 9.99954026e-01 -2.78572062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 780.606559995 meters 0.01247653383216711 Centerline is valid? [True, True] Translation: X:-144.38, Y:-261.75, Z:-2.79 [[-6.61737121e-01 -7.49702007e-01 7.13320256e-03 -1.44382560e+02] [ 7.49658813e-01 -6.61775566e-01 -8.04764740e-03 -2.61749164e+02] [ 1.07539166e-02 2.20411400e-05 9.99942175e-01 -2.78596521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 780.636559995 meters 0.012429974101508279 Centerline is valid? [True, True] Translation: X:-144.40, Y:-261.73, Z:-2.79 [[-6.61240430e-01 -7.50140070e-01 7.13921471e-03 -1.44401405e+02] [ 7.50096881e-01 -6.61278969e-01 -8.04952990e-03 -2.61729174e+02] [ 1.07592875e-02 3.24280672e-05 9.99942117e-01 -2.78596993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 780.666559995 meters 0.012491606591652053 Centerline is valid? [True, True] Translation: X:-144.42, Y:-261.71, Z:-2.79 [[-6.60976550e-01 -7.50370263e-01 7.38033267e-03 -1.44420119e+02] [ 7.50324177e-01 -6.61017751e-01 -8.31635584e-03 -2.61709634e+02] [ 1.11188770e-02 4.07258470e-05 9.99938183e-01 -2.78618493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 780.6965599949999 meters 0.012413402486725266 Centerline is valid? [True, True] Translation: X:-144.44, Y:-261.69, Z:-2.78 [[-6.60576803e-01 -7.50725043e-01 7.08502295e-03 -1.44439006e+02] [ 7.50682641e-01 -6.60614796e-01 -7.97903782e-03 -2.61689263e+02] [ 1.06705345e-02 4.78364379e-05 9.99943067e-01 -2.78490567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 780.726559995 meters 0.012601508747610181 Centerline is valid? [True, True] Translation: X:-144.46, Y:-261.67, Z:-2.79 [[-6.60743238e-01 -7.50579918e-01 6.93978875e-03 -1.44457459e+02] [ 7.50539278e-01 -6.60779679e-01 -7.81077946e-03 -2.61669937e+02] [ 1.04482856e-02 4.76643283e-05 9.99945414e-01 -2.78632533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 780.756559995 meters 0.012383891989676222 Centerline is valid? [True, True] Translation: X:-144.48, Y:-261.65, Z:-2.78 [[-6.61210915e-01 -7.50171498e-01 6.54588356e-03 -1.44475627e+02] [ 7.50135361e-01 -6.61243315e-01 -7.36328966e-03 -2.61647925e+02] [ 9.85215178e-03 4.16112292e-05 9.99951466e-01 -2.78358417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 780.786559995 meters 0.01231570559629213 Centerline is valid? [True, True] Translation: X:-144.49, Y:-261.63, Z:-2.78 [[-6.61656179e-01 -7.49782950e-01 6.05215359e-03 -1.44493982e+02] [ 7.49752077e-01 -6.61683857e-01 -6.80406953e-03 -2.61626898e+02] [ 9.10618765e-03 3.56600729e-05 9.99958537e-01 -2.78284914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 780.8165599949999 meters 0.012351345402162671 Centerline is valid? [True, True] Translation: X:-144.51, Y:-261.61, Z:-2.78 [[-6.61830985e-01 -7.49630443e-01 5.82630528e-03 -1.44512568e+02] [ 7.49601859e-01 -6.61856629e-01 -6.54646769e-03 -2.61605686e+02] [ 8.76361025e-03 3.47541119e-05 9.99961598e-01 -2.78242448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 780.8465599949999 meters 0.012374612120989755 Centerline is valid? [True, True] Translation: X:-144.53, Y:-261.58, Z:-2.78 [[-6.61724563e-01 -7.49728087e-01 5.32911428e-03 -1.44531117e+02] [ 7.49704203e-01 -6.61746020e-01 -5.98444900e-03 -2.61584799e+02] [ 8.01322966e-03 3.52024727e-05 9.99967893e-01 -2.78177740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 780.876559995 meters 0.012489563944402532 Centerline is valid? [True, True] Translation: X:-144.55, Y:-261.56, Z:-2.78 [[-6.61566706e-01 -7.49866333e-01 5.47505596e-03 -1.44549294e+02] [ 7.49841160e-01 -6.61589360e-01 -6.14446098e-03 -2.61564938e+02] [ 8.22976318e-03 4.04515028e-05 9.99966134e-01 -2.78154677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 780.906559995 meters 0.01255397803981138 Centerline is valid? [True, True] Translation: X:-144.57, Y:-261.55, Z:-2.78 [[-6.61220709e-01 -7.50171016e-01 5.53358894e-03 -1.44568044e+02] [ 7.50145344e-01 -6.61243862e-01 -6.20624941e-03 -2.61545212e+02] [ 8.31480014e-03 4.72953418e-05 9.99965430e-01 -2.78183839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 780.9365599949999 meters 0.012614799362316746 Centerline is valid? [True, True] Translation: X:-144.59, Y:-261.53, Z:-2.78 [[-6.60628118e-01 -7.50690925e-01 5.79869814e-03 -1.44587293e+02] [ 7.50662790e-01 -6.60653564e-01 -6.49951178e-03 -2.61525386e+02] [ 8.71005511e-03 5.91066836e-05 9.99962065e-01 -2.78216697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 780.9665599949999 meters 0.012934555838593216 Centerline is valid? [True, True] Translation: X:-144.61, Y:-261.51, Z:-2.78 [[-6.58639361e-01 -7.52430479e-01 6.52428171e-03 -1.44608046e+02] [ 7.52394988e-01 -6.58671667e-01 -7.30862537e-03 -2.61505864e+02] [ 9.79659200e-03 9.50885118e-05 9.99952008e-01 -2.78304372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 780.996559995 meters 0.013112952318921565 Centerline is valid? [True, True] Translation: X:-144.63, Y:-261.49, Z:-2.78 [[-6.57846882e-01 -7.53120521e-01 6.85280057e-03 -1.44627766e+02] [ 7.53081449e-01 -6.57882564e-01 -7.67225059e-03 -2.61485364e+02] [ 1.02864674e-02 1.13550852e-04 9.99947087e-01 -2.78360237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 781.026559995 meters 0.013471276475631047 Centerline is valid? [True, True] Translation: X:-144.65, Y:-261.47, Z:-2.78 [[-6.57123622e-01 -7.53748742e-01 7.16798122e-03 -1.44647128e+02] [ 7.53706082e-01 -6.57162702e-01 -8.02029275e-03 -2.61466059e+02] [ 1.07558155e-02 1.32227221e-04 9.99942146e-01 -2.78465469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 781.0565599949999 meters 0.014327518963782083 Centerline is valid? [True, True] Translation: X:-144.67, Y:-261.45, Z:-2.79 [[-6.55580262e-01 -7.55083836e-01 7.93230882e-03 -1.44666751e+02] [ 7.55031753e-01 -6.55628226e-01 -8.87028567e-03 -2.61447624e+02] [ 1.18984549e-02 1.73960829e-04 9.99929196e-01 -2.78622909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 781.0865599949999 meters 0.013788354288282187 Centerline is valid? [True, True] Translation: X:-144.68, Y:-261.43, Z:-2.78 [[-6.55124392e-01 -7.55477311e-01 8.12796011e-03 -1.44684665e+02] [ 7.55422720e-01 -6.55174784e-01 -9.08387230e-03 -2.61425407e+02] [ 1.21878939e-02 1.88979420e-04 9.99925707e-01 -2.78479628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 781.116559995 meters 0.014527945139762459 Centerline is valid? [True, True] Translation: X:-144.70, Y:-261.41, Z:-2.79 [[-6.54158753e-01 -7.56314297e-01 8.06292450e-03 -1.44704101e+02] [ 7.56260705e-01 -6.54208409e-01 -9.00575683e-03 -2.61406251e+02] [ 1.20860157e-02 2.06478313e-04 9.99926940e-01 -2.78521758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 781.146559995 meters 0.014238179458744265 Centerline is valid? [True, True] Translation: X:-144.72, Y:-261.38, Z:-2.78 [[-6.54050445e-01 -7.56410945e-01 7.77802883e-03 -1.44722247e+02] [ 7.56361139e-01 -6.54096660e-01 -8.68260985e-03 -2.61384904e+02] [ 1.16552038e-02 2.04133911e-04 9.99932055e-01 -2.78389933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 781.1765599949999 meters 0.014829068467732548 Centerline is valid? [True, True] Translation: X:-144.74, Y:-261.37, Z:-2.78 [[-6.53823697e-01 -7.56611629e-01 7.30869651e-03 -1.44740971e+02] [ 7.56567701e-01 -6.53864515e-01 -8.15531032e-03 -2.61365630e+02] [ 1.09492999e-02 1.97388582e-04 9.99940035e-01 -2.78394821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 781.2065599949999 meters 0.014670995934761344 Centerline is valid? [True, True] Translation: X:-144.76, Y:-261.34, Z:-2.78 [[-6.53883533e-01 -7.56573058e-01 5.79076310e-03 -1.44758452e+02] [ 7.56545514e-01 -6.53909155e-01 -6.45770530e-03 -2.61344079e+02] [ 8.67235885e-03 1.58388686e-04 9.99962382e-01 -2.78202491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 781.236559995 meters 0.01497990243026024 Centerline is valid? [True, True] Translation: X:-144.78, Y:-261.32, Z:-2.78 [[-6.54240189e-01 -7.56267367e-01 5.42623933e-03 -1.44776465e+02] [ 7.56243195e-01 -6.54262675e-01 -6.04825656e-03 -2.61324687e+02] [ 8.12428493e-03 1.46544054e-04 9.99966987e-01 -2.78171765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 781.266559995 meters 0.014579518902761122 Centerline is valid? [True, True] Translation: X:-144.79, Y:-261.30, Z:-2.78 [[-6.54536328e-01 -7.56013272e-01 5.11147297e-03 -1.44793344e+02] [ 7.55991843e-01 -6.54556272e-01 -5.69384991e-03 -2.61303559e+02] [ 7.65037280e-03 1.37400258e-04 9.99970726e-01 -2.78106443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 781.2965599949999 meters 0.014730669091428637 Centerline is valid? [True, True] Translation: X:-144.81, Y:-261.28, Z:-2.78 [[-6.55151700e-01 -7.55483834e-01 4.51950837e-03 -1.44810188e+02] [ 7.55467091e-01 -6.55167278e-01 -5.03114849e-03 -2.61283471e+02] [ 6.76198535e-03 1.18174354e-04 9.99977131e-01 -2.78156831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 781.3265599949999 meters 0.014268734212458743 Centerline is valid? [True, True] Translation: X:-144.83, Y:-261.26, Z:-2.78 [[-6.55304252e-01 -7.55351406e-01 4.53771661e-03 -1.44827593e+02] [ 7.55334543e-01 -6.55319952e-01 -5.04854709e-03 -2.61261897e+02] [ 6.78708337e-03 1.19159726e-04 9.99976961e-01 -2.78141568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 781.356559995 meters 0.015121674203585515 Centerline is valid? [True, True] Translation: X:-144.85, Y:-261.24, Z:-2.78 [[-6.55205281e-01 -7.55436194e-01 4.71133899e-03 -1.44846865e+02] [ 7.55418041e-01 -6.55222207e-01 -5.23857823e-03 -2.61242872e+02] [ 7.04438553e-03 1.26686354e-04 9.99975180e-01 -2.78239135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 781.386559995 meters 0.014977104555904891 Centerline is valid? [True, True] Translation: X:-144.86, Y:-261.22, Z:-2.78 [[-6.53757082e-01 -7.56684769e-01 5.46235863e-03 -1.44864632e+02] [ 7.56660439e-01 -6.53779881e-01 -6.07021658e-03 -2.61220990e+02] [ 8.16442061e-03 1.64703600e-04 9.99966657e-01 -2.78294933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 781.416559995 meters 0.015406985381609232 Centerline is valid? [True, True] Translation: X:-144.88, Y:-261.20, Z:-2.78 [[-6.52877242e-01 -7.57440730e-01 5.90313535e-03 -1.44883926e+02] [ 7.57412378e-01 -6.52903901e-01 -6.55634884e-03 -2.61200204e+02] [ 8.82022575e-03 1.90616833e-04 9.99961083e-01 -2.78359373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 781.4465599949999 meters 0.016651424875766378 Centerline is valid? [True, True] Translation: X:-144.90, Y:-261.18, Z:-2.78 [[-6.51702179e-01 -7.58447689e-01 6.43228925e-03 -1.44903047e+02] [ 7.58414104e-01 -6.51733882e-01 -7.14098120e-03 -2.61181752e+02] [ 9.60820153e-03 2.24545885e-04 9.99953815e-01 -2.78457926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 781.476559995 meters 0.017169107481699752 Centerline is valid? [True, True] Translation: X:-144.92, Y:-261.16, Z:-2.79 [[-6.49643167e-01 -7.60206752e-01 7.03204551e-03 -1.44922053e+02] [ 7.60166760e-01 -6.49681167e-01 -7.80247057e-03 -2.61160589e+02] [ 1.05000783e-02 2.76705555e-04 9.99944834e-01 -2.78541364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 781.506559995 meters 0.019081918539940096 Centerline is valid? [True, True] Translation: X:-144.94, Y:-261.14, Z:-2.79 [[-6.49118510e-01 -7.60652758e-01 7.24857649e-03 -1.44941882e+02] [ 7.60610327e-01 -6.49158914e-01 -8.03955230e-03 -2.61142635e+02] [ 1.08207857e-02 2.94719925e-04 9.99941410e-01 -2.78699623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 781.536559995 meters 0.019421363300693956 Centerline is valid? [True, True] Translation: X:-144.96, Y:-261.12, Z:-2.79 [[-6.49369003e-01 -7.60441325e-01 6.99212193e-03 -1.44958252e+02] [ 7.60401882e-01 -6.49406584e-01 -7.75026778e-03 -2.61122280e+02] [ 1.04343539e-02 2.84039016e-04 9.99945520e-01 -2.78747524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 781.5665599949999 meters 0.017045363983818843 Centerline is valid? [True, True] Translation: X:-144.97, Y:-261.10, Z:-2.79 [[-6.50400609e-01 -7.59560553e-01 6.84208499e-03 -1.44972694e+02] [ 7.59522786e-01 -6.50436541e-01 -7.57918735e-03 -2.61098115e+02] [ 1.02071938e-02 2.67211383e-04 9.99947870e-01 -2.78592038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 781.5965599949999 meters 0.016666092690227483 Centerline is valid? [True, True] Translation: X:-144.99, Y:-261.08, Z:-2.79 [[-6.51861845e-01 -7.58308811e-01 6.62439076e-03 -1.44989445e+02] [ 7.58273384e-01 -6.51895458e-01 -7.33395358e-03 -2.61075917e+02] [ 9.87981187e-03 2.42374689e-04 9.99951164e-01 -2.78551429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 781.626559995 meters 0.015358839289703894 Centerline is valid? [True, True] Translation: X:-145.00, Y:-261.05, Z:-2.78 [[-6.55962685e-01 -7.54772329e-01 5.62916512e-03 -1.45003019e+02] [ 7.54746646e-01 -6.55986817e-01 -6.22858304e-03 -2.61050620e+02] [ 8.39382023e-03 1.62875444e-04 9.99964758e-01 -2.78434872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 781.656559995 meters 0.014663199464536312 Centerline is valid? [True, True] Translation: X:-145.02, Y:-261.03, Z:-2.78 [[-6.58334684e-01 -7.52706112e-01 5.38080333e-03 -1.45019246e+02] [ 7.52682593e-01 -6.58356660e-01 -5.95173569e-03 -2.61026865e+02] [ 8.02239554e-03 1.31802963e-04 9.99967812e-01 -2.78345108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 781.6865599949999 meters 0.01432294763837321 Centerline is valid? [True, True] Translation: X:-145.04, Y:-261.00, Z:-2.78 [[-6.60938684e-01 -7.50424581e-01 4.79629494e-03 -1.45035375e+02] [ 7.50405853e-01 -6.60956080e-01 -5.30239869e-03 -2.61004723e+02] [ 7.14919061e-03 9.46073790e-05 9.99974440e-01 -2.78342414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 781.7165599949999 meters 0.013165976361388398 Centerline is valid? [True, True] Translation: X:-145.05, Y:-260.98, Z:-2.78 [[-6.65331506e-01 -7.46533055e-01 4.73117177e-03 -1.45048693e+02] [ 7.46514754e-01 -6.65348326e-01 -5.22757739e-03 -2.60978830e+02] [ 7.05043654e-03 5.38175927e-05 9.99975144e-01 -2.78291227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 781.746559995 meters 0.012887501030230756 Centerline is valid? [True, True] Translation: X:-145.06, Y:-260.96, Z:-2.78 [[-6.67132991e-01 -7.44922213e-01 4.94667680e-03 -1.45064422e+02] [ 7.44902187e-01 -6.67151329e-01 -5.46224820e-03 -2.60956781e+02] [ 7.36913202e-03 4.07443877e-05 9.99972847e-01 -2.78265615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 781.776559995 meters 0.01281356947564049 Centerline is valid? [True, True] Translation: X:-145.08, Y:-260.93, Z:-2.78 [[-6.69788492e-01 -7.42527641e-01 6.00658453e-03 -1.45078738e+02] [ 7.42498057e-01 -6.69815424e-01 -6.62824979e-03 -2.60934317e+02] [ 8.94496164e-03 2.03519030e-05 9.99959993e-01 -2.78389633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 781.8065599949999 meters 0.012834021446585473 Centerline is valid? [True, True] Translation: X:-145.10, Y:-260.91, Z:-2.78 [[-6.70815464e-01 -7.41597665e-01 6.28623253e-03 -1.45095527e+02] [ 7.41565260e-01 -6.70844918e-01 -6.93259829e-03 -2.60913218e+02] [ 9.35828584e-03 1.11575243e-05 9.99956210e-01 -2.78433987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 781.8365599949999 meters 0.012899683191844183 Centerline is valid? [True, True] Translation: X:-145.11, Y:-260.89, Z:-2.79 [[-6.71717197e-01 -7.40776339e-01 6.81337683e-03 -1.45112667e+02] [ 7.40738276e-01 -6.71751751e-01 -7.50937606e-03 -2.60892200e+02] [ 1.01396659e-02 2.75196888e-06 9.99948592e-01 -2.78515065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 781.866559995 meters 0.01291164021112584 Centerline is valid? [True, True] Translation: X:-145.13, Y:-260.87, Z:-2.79 [[-6.72291943e-01 -7.40253394e-01 6.96104167e-03 -1.45130111e+02] [ 7.40213683e-01 -6.72327980e-01 -7.66749634e-03 -2.60871440e+02] [ 1.03559933e-02 -2.13771529e-06 9.99946375e-01 -2.78571141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 781.896559995 meters 0.012942668998063905 Centerline is valid? [True, True] Translation: X:-145.15, Y:-260.85, Z:-2.79 [[-6.72923885e-01 -7.39678283e-01 7.03433630e-03 -1.45146764e+02] [ 7.39637752e-01 -6.72960650e-01 -7.74333414e-03 -2.60850920e+02] [ 1.04614076e-02 -7.81381055e-06 9.99945278e-01 -2.78624385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 781.9265599949999 meters 0.013013551204117174 Centerline is valid? [True, True] Translation: X:-145.16, Y:-260.83, Z:-2.79 [[-6.73282702e-01 -7.39352776e-01 6.91924239e-03 -1.45163985e+02] [ 7.39313592e-01 -6.73318255e-01 -7.61186532e-03 -2.60831143e+02] [ 1.02867060e-02 -9.44729542e-06 9.99947091e-01 -2.78614170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 781.9565599949999 meters 0.012971268871241603 Centerline is valid? [True, True] Translation: X:-145.18, Y:-260.81, Z:-2.79 [[-6.73121435e-01 -7.39502692e-01 6.58046533e-03 -1.45180992e+02] [ 7.39467302e-01 -6.73153600e-01 -7.23466372e-03 -2.60811761e+02] [ 9.77971723e-03 -3.76828479e-06 9.99952178e-01 -2.78536511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 781.986559995 meters 0.012945049630740819 Centerline is valid? [True, True] Translation: X:-145.20, Y:-260.79, Z:-2.79 [[-6.73193274e-01 -7.39438496e-01 6.44413855e-03 -1.45199552e+02] [ 7.39404594e-01 -6.73224117e-01 -7.08065563e-03 -2.60791654e+02] [ 9.57405883e-03 -1.82410161e-06 9.99954168e-01 -2.78533168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 782.016559995 meters 0.01282562186079907 Centerline is valid? [True, True] Translation: X:-145.22, Y:-260.77, Z:-2.78 [[-6.73060370e-01 -7.39559562e-01 6.43374940e-03 -1.45218166e+02] [ 7.39525817e-01 -6.73091119e-01 -7.06480852e-03 -2.60771793e+02] [ 9.55534628e-03 2.88113943e-06 9.99954347e-01 -2.78425357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 782.0465599949999 meters 0.01282562186079907 Centerline is valid? [True, True] Translation: X:-145.24, Y:-260.75, Z:-2.78 [[-6.73291029e-01 -7.39349558e-01 6.43595292e-03 -1.45236267e+02] [ 7.39315823e-01 -6.73321788e-01 -7.06280120e-03 -2.60752070e+02] [ 9.55534628e-03 2.88114147e-06 9.99954347e-01 -2.78425335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 782.0765599949999 meters 0.012807773295923823 Centerline is valid? [True, True] Translation: X:-145.26, Y:-260.73, Z:-2.79 [[-6.72671697e-01 -7.39908785e-01 6.91220369e-03 -1.45255572e+02] [ 7.39869950e-01 -6.72707210e-01 -7.58070122e-03 -2.60732265e+02] [ 1.02589167e-02 1.48086493e-05 9.99947376e-01 -2.78507449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 782.106559995 meters 0.013026524908306657 Centerline is valid? [True, True] Translation: X:-145.27, Y:-260.71, Z:-2.79 [[-6.72394079e-01 -7.40157470e-01 7.28847952e-03 -1.45274047e+02] [ 7.40114363e-01 -6.72433580e-01 -7.98813961e-03 -2.60713264e+02] [ 1.08134996e-02 2.31305947e-05 9.99941532e-01 -2.78756062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 782.136559995 meters 0.012874182720299656 Centerline is valid? [True, True] Translation: X:-145.29, Y:-260.69, Z:-2.79 [[-6.72021129e-01 -7.40494080e-01 7.49134196e-03 -1.45292753e+02] [ 7.40448619e-01 -6.72062881e-01 -8.20530326e-03 -2.60693138e+02] [ 1.11106314e-02 3.28166493e-05 9.99938275e-01 -2.78612813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 782.166559995 meters 0.013032463788290677 Centerline is valid? [True, True] Translation: X:-145.31, Y:-260.68, Z:-2.79 [[-6.71125879e-01 -7.41302340e-01 7.80354977e-03 -1.45311450e+02] [ 7.41253130e-01 -6.71171243e-01 -8.54162767e-03 -2.60675274e+02] [ 1.15694468e-02 5.18983160e-05 9.99933070e-01 -2.78746866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 782.1965599949999 meters 0.01289822600783269 Centerline is valid? [True, True] Translation: X:-145.33, Y:-260.66, Z:-2.79 [[-6.70913278e-01 -7.41494246e-01 7.85218367e-03 -1.45330020e+02] [ 7.41444497e-01 -6.70959224e-01 -8.58944594e-03 -2.60655379e+02] [ 1.16375198e-02 5.91850345e-05 9.99932280e-01 -2.78639905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 782.226559995 meters 0.012975281358790709 Centerline is valid? [True, True] Translation: X:-145.35, Y:-260.64, Z:-2.79 [[-6.70506492e-01 -7.41866776e-01 7.39805557e-03 -1.45349959e+02] [ 7.41822693e-01 -6.70547301e-01 -8.08761251e-03 -2.60636018e+02] [ 1.09606772e-02 6.52488074e-05 9.99939928e-01 -2.78600439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 782.256559995 meters 0.012868477418998624 Centerline is valid? [True, True] Translation: X:-145.37, Y:-260.62, Z:-2.79 [[-6.70565723e-01 -7.41816308e-01 7.08351061e-03 -1.45368895e+02] [ 7.41775943e-01 -6.70603132e-01 -7.73888409e-03 -2.60616284e+02] [ 1.04910548e-02 6.49473540e-05 9.99944965e-01 -2.78584062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 782.286559995 meters 0.012901724033655129 Centerline is valid? [True, True] Translation: X:-145.39, Y:-260.60, Z:-2.79 [[-6.70810968e-01 -7.41597211e-01 6.79867744e-03 -1.45387416e+02] [ 7.41560062e-01 -6.70845416e-01 -7.42307425e-03 -2.60596656e+02] [ 1.00657928e-02 6.21480454e-05 9.99949337e-01 -2.78557389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 782.3165599949999 meters 0.012682192069588209 Centerline is valid? [True, True] Translation: X:-145.41, Y:-260.58, Z:-2.78 [[-6.71503091e-01 -7.40973414e-01 6.48061855e-03 -1.45406048e+02] [ 7.40939669e-01 -6.71534360e-01 -7.07180642e-03 -2.60576160e+02] [ 9.59197858e-03 5.30074938e-05 9.99953995e-01 -2.78492484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 782.3465599949999 meters 0.012707303378157718 Centerline is valid? [True, True] Translation: X:-145.43, Y:-260.56, Z:-2.78 [[-6.71905582e-01 -7.40609954e-01 6.30744942e-03 -1.45425091e+02] [ 7.40578009e-01 -6.71935185e-01 -6.87897315e-03 -2.60555545e+02] [ 9.33283318e-03 4.91378730e-05 9.99956447e-01 -2.78487190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 782.376559995 meters 0.012747175152747833 Centerline is valid? [True, True] Translation: X:-145.44, Y:-260.54, Z:-2.79 [[-6.72306466e-01 -7.40244288e-01 6.51227681e-03 -1.45443346e+02] [ 7.40210262e-01 -6.72338004e-01 -7.09766102e-03 -2.60536064e+02] [ 9.63245422e-03 4.86507244e-05 9.99953606e-01 -2.78537445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 782.406559995 meters 0.01261134665038065 Centerline is valid? [True, True] Translation: X:-145.46, Y:-260.52, Z:-2.79 [[-6.72677496e-01 -7.39905182e-01 6.73114146e-03 -1.45462777e+02] [ 7.39868855e-01 -6.72711171e-01 -7.33206470e-03 -2.60515291e+02] [ 9.95314672e-03 4.80470029e-05 9.99950465e-01 -2.78558646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 782.4365599949999 meters 0.01281616514738878 Centerline is valid? [True, True] Translation: X:-145.48, Y:-260.50, Z:-2.79 [[-6.72866715e-01 -7.39733410e-01 6.69827749e-03 -1.45481344e+02] [ 7.39697463e-01 -6.72900052e-01 -7.29269524e-03 -2.60497030e+02] [ 9.90192159e-03 4.76869824e-05 9.99950974e-01 -2.78740164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 782.4665599949999 meters 0.01264304689064525 Centerline is valid? [True, True] Translation: X:-145.50, Y:-260.48, Z:-2.79 [[-6.73037181e-01 -7.39576522e-01 6.89355505e-03 -1.45500041e+02] [ 7.39538488e-01 -6.73072482e-01 -7.50060868e-03 -2.60476857e+02] [ 1.01871363e-02 4.98607618e-05 9.99948109e-01 -2.78639010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 782.496559995 meters 0.012585528013084215 Centerline is valid? [True, True] Translation: X:-145.52, Y:-260.46, Z:-2.79 [[-6.72968473e-01 -7.39639797e-01 6.81215794e-03 -1.45519248e+02] [ 7.39602706e-01 -6.73002948e-01 -7.40739835e-03 -2.60457687e+02] [ 1.00634090e-02 5.33448882e-05 9.99949361e-01 -2.78634342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 782.526559995 meters 0.012733713540773252 Centerline is valid? [True, True] Translation: X:-145.54, Y:-260.44, Z:-2.79 [[-6.73029867e-01 -7.39582265e-01 6.99080175e-03 -1.45537770e+02] [ 7.39543252e-01 -6.73066170e-01 -7.59666294e-03 -2.60438494e+02] [ 1.03236294e-02 5.72192125e-05 9.99946708e-01 -2.78688817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 782.5565599949999 meters 0.01273033735005262 Centerline is valid? [True, True] Translation: X:-145.56, Y:-260.42, Z:-2.79 [[-6.72965185e-01 -7.39637215e-01 7.39255842e-03 -1.45556306e+02] [ 7.39593646e-01 -6.73005785e-01 -8.02827578e-03 -2.60418946e+02] [ 1.09132461e-02 6.47391306e-05 9.99940447e-01 -2.78728826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 782.5865599949999 meters 0.012836965255439538 Centerline is valid? [True, True] Translation: X:-145.57, Y:-260.40, Z:-2.79 [[-6.72856025e-01 -7.39730935e-01 7.93182165e-03 -1.45574835e+02] [ 7.39680847e-01 -6.72902770e-01 -8.60852733e-03 -2.60399558e+02] [ 1.17053387e-02 7.47170780e-05 9.99931488e-01 -2.78760673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 782.616559995 meters 0.012943833290001185 Centerline is valid? [True, True] Translation: X:-145.59, Y:-260.38, Z:-2.79 [[-6.73006931e-01 -7.39589207e-01 8.33524439e-03 -1.45593411e+02] [ 7.39533956e-01 -6.73058540e-01 -9.04044442e-03 -2.60380476e+02] [ 1.22963225e-02 7.99145073e-05 9.99924394e-01 -2.78829562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 782.646559995 meters 0.01299084259002214 Centerline is valid? [True, True] Translation: X:-145.61, Y:-260.36, Z:-2.79 [[-6.72895250e-01 -7.39688667e-01 8.52405631e-03 -1.45612032e+02] [ 7.39630965e-01 -6.72949232e-01 -9.23942535e-03 -2.60360628e+02] [ 1.25705554e-02 8.74905722e-05 9.99920984e-01 -2.78845524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 782.6765599949999 meters 0.012864286811676272 Centerline is valid? [True, True] Translation: X:-145.63, Y:-260.34, Z:-2.79 [[-6.73184203e-01 -7.39426607e-01 8.44525740e-03 -1.45631011e+02] [ 7.39370010e-01 -6.73237170e-01 -9.14886282e-03 -2.60340300e+02] [ 1.24505738e-02 8.53001243e-05 9.99922485e-01 -2.78810520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 782.7065599949999 meters 0.012837151475353272 Centerline is valid? [True, True] Translation: X:-145.65, Y:-260.32, Z:-2.79 [[-6.73457055e-01 -7.39179573e-01 8.31591984e-03 -1.45650430e+02] [ 7.39124717e-01 -6.73508391e-01 -9.00558465e-03 -2.60319361e+02] [ 1.22575860e-02 8.16273816e-05 9.99924870e-01 -2.78775229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 782.736559995 meters 0.012858749483221021 Centerline is valid? [True, True] Translation: X:-145.67, Y:-260.30, Z:-2.79 [[-6.73768677e-01 -7.38894957e-01 8.36727582e-03 -1.45669470e+02] [ 7.38839470e-01 -6.73820626e-01 -9.05548829e-03 -2.60299301e+02] [ 1.23290977e-02 8.07692639e-05 9.99923991e-01 -2.78811199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 782.766559995 meters 0.012812821016868755 Centerline is valid? [True, True] Translation: X:-145.69, Y:-260.28, Z:-2.79 [[-6.74188840e-01 -7.38513315e-01 8.21533185e-03 -1.45688370e+02] [ 7.38459864e-01 -6.74238887e-01 -8.88547548e-03 -2.60279005e+02] [ 1.21011382e-02 7.62044444e-05 9.99926776e-01 -2.78813150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 782.7965599949999 meters 0.01278032593000596 Centerline is valid? [True, True] Translation: X:-145.71, Y:-260.26, Z:-2.79 [[-6.74648891e-01 -7.38093603e-01 8.16745431e-03 -1.45707493e+02] [ 7.38040802e-01 -6.74698324e-01 -8.82869075e-03 -2.60257795e+02] [ 1.20269679e-02 7.16481083e-05 9.99927671e-01 -2.78747352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 782.8265599949999 meters 0.01279618511368572 Centerline is valid? [True, True] Translation: X:-145.73, Y:-260.24, Z:-2.79 [[-6.75183763e-01 -7.37606634e-01 7.95864453e-03 -1.45725910e+02] [ 7.37556525e-01 -6.75230664e-01 -8.59783754e-03 -2.60237930e+02] [ 1.17157428e-02 6.48299015e-05 9.99931366e-01 -2.78724060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 782.856559995 meters 0.012725883696982 Centerline is valid? [True, True] Translation: X:-145.74, Y:-260.22, Z:-2.79 [[-6.75669930e-01 -7.37162755e-01 7.82423304e-03 -1.45744858e+02] [ 7.37114350e-01 -6.75715228e-01 -8.44786131e-03 -2.60217104e+02] [ 1.15144021e-02 5.93885980e-05 9.99933705e-01 -2.78667538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 782.886559995 meters 0.012763501026890665 Centerline is valid? [True, True] Translation: X:-145.76, Y:-260.20, Z:-2.79 [[-6.76180006e-01 -7.36695621e-01 7.75638055e-03 -1.45762591e+02] [ 7.36648085e-01 -6.76224489e-01 -8.36903786e-03 -2.60197641e+02] [ 1.14104880e-02 5.47468049e-05 9.99934897e-01 -2.78633360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 782.916559995 meters 0.012717117302843929 Centerline is valid? [True, True] Translation: X:-145.78, Y:-260.18, Z:-2.79 [[-6.76875975e-01 -7.36059190e-01 7.46878753e-03 -1.45781110e+02] [ 7.36015131e-01 -6.76917178e-01 -8.05366374e-03 -2.60178064e+02] [ 1.09837238e-02 4.58091315e-05 9.99939676e-01 -2.78595934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 782.9465599949999 meters 0.01279998574754964 Centerline is valid? [True, True] Translation: X:-145.80, Y:-260.16, Z:-2.79 [[-6.76976563e-01 -7.35968089e-01 7.32837554e-03 -1.45799550e+02] [ 7.35925706e-01 -6.77016226e-01 -7.89841633e-03 -2.60159162e+02] [ 1.07744115e-02 4.60972003e-05 9.99941953e-01 -2.78639231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 782.976559995 meters 0.012800764859269379 Centerline is valid? [True, True] Translation: X:-145.82, Y:-260.14, Z:-2.79 [[-6.77114542e-01 -7.35840326e-01 7.41019291e-03 -1.45818486e+02] [ 7.35797038e-01 -6.77155087e-01 -7.98166748e-03 -2.60139988e+02] [ 1.08910826e-02 4.78948782e-05 9.99940689e-01 -2.78699325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 783.006559995 meters 0.012808612166510006 Centerline is valid? [True, True] Translation: X:-145.84, Y:-260.12, Z:-2.79 [[-6.76834190e-01 -7.36094800e-01 7.74103947e-03 -1.45837382e+02] [ 7.36047638e-01 -6.76878454e-01 -8.33263592e-03 -2.60121835e+02] [ 1.13733528e-02 5.79609325e-05 9.99935320e-01 -2.78786487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 783.036559995 meters 0.012706514036638913 Centerline is valid? [True, True] Translation: X:-145.86, Y:-260.10, Z:-2.79 [[-6.76887977e-01 -7.36045538e-01 7.72222913e-03 -1.45856569e+02] [ 7.35998655e-01 -6.76932022e-01 -8.30770480e-03 -2.60100949e+02] [ 1.13422732e-02 6.01647630e-05 9.99935673e-01 -2.78680271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 783.0665599949999 meters 0.01262029980840564 Centerline is valid? [True, True] Translation: X:-145.88, Y:-260.08, Z:-2.79 [[-6.77264565e-01 -7.35699213e-01 7.70564322e-03 -1.45875720e+02] [ 7.35652561e-01 -6.77308397e-01 -8.28519894e-03 -2.60080696e+02] [ 1.13145112e-02 5.74045150e-05 9.99935987e-01 -2.78630441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 783.0965599949999 meters 0.012547836976623946 Centerline is valid? [True, True] Translation: X:-145.89, Y:-260.06, Z:-2.79 [[-6.78125602e-01 -7.34906716e-01 7.60173833e-03 -1.45894500e+02] [ 7.34861322e-01 -6.78168207e-01 -8.16832213e-03 -2.60060379e+02] [ 1.11582120e-02 4.70751102e-05 9.99937744e-01 -2.78658186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 783.126559995 meters 0.01254023132950501 Centerline is valid? [True, True] Translation: X:-145.91, Y:-260.04, Z:-2.79 [[-6.78737508e-01 -7.34340661e-01 7.69344979e-03 -1.45913800e+02] [ 7.34294181e-01 -6.78781108e-01 -8.26223704e-03 -2.60039424e+02] [ 1.12894650e-02 4.13652317e-05 9.99936271e-01 -2.78645679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 783.156559995 meters 0.012606381922346626 Centerline is valid? [True, True] Translation: X:-145.93, Y:-260.02, Z:-2.79 [[-6.79548113e-01 -7.33592310e-01 7.52890470e-03 -1.45931725e+02] [ 7.33547810e-01 -6.79589818e-01 -8.08018532e-03 -2.60020177e+02] [ 1.10441288e-02 3.19368647e-05 9.99939011e-01 -2.78663875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 783.1865599949999 meters 0.012510614648684495 Centerline is valid? [True, True] Translation: X:-145.95, Y:-260.00, Z:-2.79 [[-6.80729519e-01 -7.32497204e-01 7.42755186e-03 -1.45950317e+02] [ 7.32453882e-01 -6.80770039e-01 -7.96641904e-03 -2.59999698e+02] [ 1.08918344e-02 1.73625916e-05 9.99940682e-01 -2.78588774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 783.2165599949999 meters 0.012447125264593878 Centerline is valid? [True, True] Translation: X:-145.97, Y:-259.98, Z:-2.79 [[-6.81594625e-01 -7.31692671e-01 7.38926232e-03 -1.45968160e+02] [ 7.31649805e-01 -6.81634678e-01 -7.92015853e-03 -2.59980422e+02] [ 1.08318994e-02 8.01484390e-06 9.99941333e-01 -2.78624307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 783.246559995 meters 0.012424257467724454 Centerline is valid? [True, True] Translation: X:-145.99, Y:-259.96, Z:-2.79 [[-6.83162781e-01 -7.30233411e-01 6.91233255e-03 -1.45986213e+02] [ 7.30195871e-01 -6.83197750e-01 -7.40440084e-03 -2.59960099e+02] [ 1.01294309e-02 -1.10543818e-05 9.99948696e-01 -2.78509892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 783.276559995 meters 0.012394242053305039 Centerline is valid? [True, True] Translation: X:-146.00, Y:-259.94, Z:-2.78 [[-6.83928659e-01 -7.29517316e-01 6.78783559e-03 -1.46004853e+02] [ 7.29481126e-01 -6.83962342e-01 -7.26652099e-03 -2.59939564e+02] [ 9.94367682e-03 -1.81840098e-05 9.99950560e-01 -2.78448749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 783.3065599949999 meters 0.01237982156952702 Centerline is valid? [True, True] Translation: X:-146.02, Y:-259.92, Z:-2.78 [[-6.84654508e-01 -7.28837167e-01 6.67748195e-03 -1.46024070e+02] [ 7.28802150e-01 -6.84687070e-01 -7.14436672e-03 -2.59918866e+02] [ 9.77906555e-03 -2.48596777e-05 9.99952184e-01 -2.78387480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 783.3365599949999 meters 0.012713817581550308 Centerline is valid? [True, True] Translation: X:-146.04, Y:-259.90, Z:-2.79 [[-6.85708854e-01 -7.27842628e-01 6.96249783e-03 -1.46041270e+02] [ 7.27804558e-01 -6.85744200e-01 -7.44438012e-03 -2.59899553e+02] [ 1.01928297e-02 -3.73397060e-05 9.99948051e-01 -2.78594858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 783.366559995 meters 0.012432213161989324 Centerline is valid? [True, True] Translation: X:-146.06, Y:-259.88, Z:-2.78 [[-6.86239282e-01 -7.27339346e-01 7.28859023e-03 -1.46060931e+02] [ 7.27297645e-01 -6.86277986e-01 -7.78857504e-03 -2.59879633e+02] [ 1.06669361e-02 -4.38516406e-05 9.99943106e-01 -2.78378731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 783.396559995 meters 0.012458171298081685 Centerline is valid? [True, True] Translation: X:-146.08, Y:-259.86, Z:-2.78 [[-6.87042932e-01 -7.26578417e-01 7.47082067e-03 -1.46079661e+02] [ 7.26534609e-01 -6.87083547e-01 -7.97876449e-03 -2.59859254e+02] [ 1.09302760e-02 -5.39439765e-05 9.99940261e-01 -2.78411303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 783.4265599949999 meters 0.01253159272272302 Centerline is valid? [True, True] Translation: X:-146.10, Y:-259.84, Z:-2.78 [[-6.87306694e-01 -7.26327902e-01 7.56883388e-03 -1.46097896e+02] [ 7.26282959e-01 -6.87348366e-01 -8.08008828e-03 -2.59839348e+02] [ 1.10712192e-02 -5.63837025e-05 9.99938711e-01 -2.78450124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 783.4565599949999 meters 0.012700048555711673 Centerline is valid? [True, True] Translation: X:-146.12, Y:-259.82, Z:-2.79 [[-6.87591088e-01 -7.26056758e-01 7.75116898e-03 -1.46115308e+02] [ 7.26009667e-01 -6.87634773e-01 -8.26931760e-03 -2.59820049e+02] [ 1.13339672e-02 -5.84854723e-05 9.99935767e-01 -2.78550671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 783.486559995 meters 0.012559044011901702 Centerline is valid? [True, True] Translation: X:-146.13, Y:-259.80, Z:-2.78 [[-6.87659344e-01 -7.25994357e-01 7.53796807e-03 -1.46134023e+02] [ 7.25949873e-01 -6.87700655e-01 -8.03681577e-03 -2.59800719e+02] [ 1.10185485e-02 -5.44044921e-05 9.99939293e-01 -2.78443647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 783.516559995 meters 0.012564323430265624 Centerline is valid? [True, True] Translation: X:-146.15, Y:-259.78, Z:-2.78 [[-6.87731634e-01 -7.25924562e-01 7.66351943e-03 -1.46152226e+02] [ 7.25878641e-01 -6.87774329e-01 -8.16528581e-03 -2.59782249e+02] [ 1.11981535e-02 -5.27402835e-05 9.99937297e-01 -2.78439884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 783.5465599949999 meters 0.01249176470219736 Centerline is valid? [True, True] Translation: X:-146.17, Y:-259.76, Z:-2.78 [[-6.87646257e-01 -7.26004985e-01 7.70628087e-03 -1.46171671e+02] [ 7.25958613e-01 -6.87689435e-01 -8.20569096e-03 -2.59762782e+02] [ 1.12569005e-02 -4.81717032e-05 9.99936638e-01 -2.78434412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 783.5765599949999 meters 0.012325086598069537 Centerline is valid? [True, True] Translation: X:-146.19, Y:-259.74, Z:-2.78 [[-6.86814262e-01 -7.26796477e-01 7.28361274e-03 -1.46191956e+02] [ 7.26755143e-01 -6.86852881e-01 -7.75124312e-03 -2.59743824e+02] [ 1.06363466e-02 -3.02613027e-05 9.99943432e-01 -2.78399868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 783.606559995 meters 0.012270305345113853 Centerline is valid? [True, True] Translation: X:-146.21, Y:-259.72, Z:-2.78 [[-6.86377395e-01 -7.27210745e-01 7.11360850e-03 -1.46210884e+02] [ 7.27171388e-01 -6.86414257e-01 -7.56580757e-03 -2.59724977e+02] [ 1.03848189e-02 -2.01867254e-05 9.99946076e-01 -2.78421518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 783.636559995 meters 0.01234430471132084 Centerline is valid? [True, True] Translation: X:-146.23, Y:-259.71, Z:-2.78 [[-6.86047082e-01 -7.27523524e-01 6.99457633e-03 -1.46230370e+02] [ 7.27485536e-01 -6.86082737e-01 -7.43453817e-03 -2.59705584e+02] [ 1.02076595e-02 -1.19901039e-05 9.99947901e-01 -2.78409103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 783.666559995 meters 0.012278835151137842 Centerline is valid? [True, True] Translation: X:-146.25, Y:-259.69, Z:-2.78 [[-6.85650745e-01 -7.27893013e-01 7.40386958e-03 -1.46249837e+02] [ 7.27850524e-01 -6.85690719e-01 -7.86463638e-03 -2.59686158e+02] [ 1.08013785e-02 -3.48343946e-06 9.99941664e-01 -2.78393792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 783.6965599949999 meters 0.012275957227628715 Centerline is valid? [True, True] Translation: X:-146.27, Y:-259.67, Z:-2.78 [[-6.85011091e-01 -7.28493523e-01 7.54933564e-03 -1.46269091e+02] [ 7.28449443e-01 -6.85052689e-01 -8.01389008e-03 -2.59667888e+02] [ 1.10097597e-02 9.70575334e-06 9.99939391e-01 -2.78459131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 783.726559995 meters 0.012302712276475506 Centerline is valid? [True, True] Translation: X:-146.29, Y:-259.65, Z:-2.79 [[-6.85011988e-01 -7.28494774e-01 7.34443637e-03 -1.46288051e+02] [ 7.28453109e-01 -6.85051359e-01 -7.79132474e-03 -2.59649131e+02] [ 1.07072555e-02 1.29266558e-05 9.99942676e-01 -2.78540029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 783.756559995 meters 0.01223553432908888 Centerline is valid? [True, True] Translation: X:-146.31, Y:-259.63, Z:-2.78 [[-6.85036969e-01 -7.28472006e-01 7.27239606e-03 -1.46306980e+02] [ 7.28431203e-01 -6.85075570e-01 -7.71006416e-03 -2.59630007e+02] [ 1.05987068e-02 1.57612318e-05 9.99943832e-01 -2.78433164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 783.786559995 meters 0.012280016480518689 Centerline is valid? [True, True] Translation: X:-146.33, Y:-259.61, Z:-2.78 [[-6.85416469e-01 -7.28115738e-01 7.19274888e-03 -1.46325170e+02] [ 7.28075858e-01 -6.85454208e-01 -7.62061227e-03 -2.59611234e+02] [ 1.04789877e-02 1.35736542e-05 9.99945094e-01 -2.78426975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 783.8165599949999 meters 0.012400838830369664 Centerline is valid? [True, True] Translation: X:-146.34, Y:-259.59, Z:-2.79 [[-6.86008304e-01 -7.27561048e-01 6.89403523e-03 -1.46343597e+02] [ 7.27524431e-01 -6.86042944e-01 -7.29937839e-03 -2.59592471e+02] [ 1.00403476e-02 8.14486225e-06 9.99949595e-01 -2.78537064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 783.8465599949999 meters 0.012285825708854425 Centerline is valid? [True, True] Translation: X:-146.36, Y:-259.57, Z:-2.78 [[-6.86571714e-01 -7.27029496e-01 6.88436846e-03 -1.46362333e+02] [ 7.26993000e-01 -6.86606228e-01 -7.28460992e-03 -2.59572900e+02] [ 1.00229765e-02 3.48056574e-06 9.99949769e-01 -2.78379871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 783.876559995 meters 0.012247905477873721 Centerline is valid? [True, True] Translation: X:-146.38, Y:-259.55, Z:-2.78 [[-6.87181409e-01 -7.26455798e-01 6.60942724e-03 -1.46381038e+02] [ 7.26422174e-01 -6.87213194e-01 -6.98933285e-03 -2.59553156e+02] [ 9.61952697e-03 -1.70509421e-06 9.99953731e-01 -2.78393081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 783.906559995 meters 0.012233779362041869 Centerline is valid? [True, True] Translation: X:-146.40, Y:-259.53, Z:-2.78 [[-6.87834599e-01 -7.25838332e-01 6.50232920e-03 -1.46400601e+02] [ 7.25805799e-01 -6.87865332e-01 -6.87222070e-03 -2.59532608e+02] [ 9.46084804e-03 -7.52293207e-06 9.99955245e-01 -2.78343075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 783.9365599949999 meters 0.012233779362041869 Centerline is valid? [True, True] Translation: X:-146.42, Y:-259.51, Z:-2.78 [[-6.88037874e-01 -7.25645629e-01 6.50425389e-03 -1.46419612e+02] [ 7.25613103e-01 -6.88068617e-01 -6.87039909e-03 -2.59512617e+02] [ 9.46084804e-03 -7.52293152e-06 9.99955245e-01 -2.78343052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 783.9665599949999 meters 0.012387456138295427 Centerline is valid? [True, True] Translation: X:-146.44, Y:-259.49, Z:-2.78 [[-6.89092048e-01 -7.24645437e-01 6.41408627e-03 -1.46438329e+02] [ 7.24613804e-01 -6.89121898e-01 -6.77090500e-03 -2.59492251e+02] [ 9.32659272e-03 -1.80413476e-05 9.99956506e-01 -2.78357902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 783.996559995 meters 0.012366116929532352 Centerline is valid? [True, True] Translation: X:-146.46, Y:-259.47, Z:-2.78 [[-6.89762229e-01 -7.24008056e-01 6.35629504e-03 -1.46455881e+02] [ 7.23977004e-01 -6.89791515e-01 -6.70548450e-03 -2.59473111e+02] [ 9.23934318e-03 -2.33784959e-05 9.99957316e-01 -2.78334219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 784.026559995 meters 0.012307110332709021 Centerline is valid? [True, True] Translation: X:-146.47, Y:-259.45, Z:-2.78 [[-6.90824713e-01 -7.22996898e-01 6.05823766e-03 -1.46474340e+02] [ 7.22968685e-01 -6.90851276e-01 -6.38709061e-03 -2.59452646e+02] [ 8.80318791e-03 -3.24439254e-05 9.99961251e-01 -2.78252999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 784.0565599949999 meters 0.012324589616216344 Centerline is valid? [True, True] Translation: X:-146.49, Y:-259.43, Z:-2.78 [[-6.91156283e-01 -7.22679881e-01 6.06491119e-03 -1.46493453e+02] [ 7.22651626e-01 -6.91182891e-01 -6.39052954e-03 -2.59432567e+02] [ 8.81026998e-03 -3.40367108e-05 9.99961188e-01 -2.78183620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 784.0865599949999 meters 0.012319320766006907 Centerline is valid? [True, True] Translation: X:-146.51, Y:-259.41, Z:-2.78 [[-6.91333305e-01 -7.22509499e-01 6.18744375e-03 -1.46512014e+02] [ 7.22480123e-01 -6.91360993e-01 -6.51531806e-03 -2.59413331e+02] [ 8.98513644e-03 -3.39512484e-05 9.99959632e-01 -2.78183196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 784.116559995 meters 0.012296630563359393 Centerline is valid? [True, True] Translation: X:-146.53, Y:-259.39, Z:-2.78 [[-6.90566979e-01 -7.23240563e-01 6.35104949e-03 -1.46532444e+02] [ 7.23209683e-01 -6.90596182e-01 -6.68341421e-03 -2.59394894e+02] [ 9.21972679e-03 -2.22046738e-05 9.99957497e-01 -2.78260695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 784.146559995 meters 0.01222409633849386 Centerline is valid? [True, True] Translation: X:-146.55, Y:-259.38, Z:-2.78 [[-6.89868218e-01 -7.23904703e-01 6.61985423e-03 -1.46552261e+02] [ 7.23871226e-01 -6.89899979e-01 -6.96192163e-03 -2.59376054e+02] [ 9.60680510e-03 -1.08864718e-05 9.99953854e-01 -2.78269130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 784.1765599949999 meters 0.01225189006463686 Centerline is valid? [True, True] Translation: X:-146.57, Y:-259.36, Z:-2.78 [[-6.89085614e-01 -7.24647708e-01 6.83493874e-03 -1.46572431e+02] [ 7.24612095e-01 -6.89119511e-01 -7.18408987e-03 -2.59356852e+02] [ 9.91602390e-03 2.22630279e-06 9.99950835e-01 -2.78281164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 784.2065599949999 meters 0.012226892884173085 Centerline is valid? [True, True] Translation: X:-146.59, Y:-259.34, Z:-2.78 [[-6.87851486e-01 -7.25817985e-01 6.97037741e-03 -1.46593378e+02] [ 7.25781049e-01 -6.87886802e-01 -7.32232483e-03 -2.59338615e+02] [ 1.01095057e-02 2.22958073e-05 9.99948898e-01 -2.78313514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 784.236559995 meters 0.012225220692680613 Centerline is valid? [True, True] Translation: X:-146.61, Y:-259.32, Z:-2.78 [[-6.87398823e-01 -7.26245149e-01 7.13036637e-03 -1.46613642e+02] [ 7.26206564e-01 -6.87435803e-01 -7.48617385e-03 -2.59318646e+02] [ 1.03384666e-02 3.21317731e-05 9.99946556e-01 -2.78316294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 784.266559995 meters 0.01227961960754766 Centerline is valid? [True, True] Translation: X:-146.63, Y:-259.30, Z:-2.78 [[-6.86980227e-01 -7.26639253e-01 7.31879582e-03 -1.46633446e+02] [ 7.26598670e-01 -6.87019210e-01 -7.67968477e-03 -2.59299002e+02] [ 1.06085137e-02 4.20357277e-05 9.99943727e-01 -2.78297483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 784.2965599949999 meters 0.012294082420997492 Centerline is valid? [True, True] Translation: X:-146.65, Y:-259.28, Z:-2.78 [[-6.86882134e-01 -7.26727813e-01 7.72138873e-03 -1.46651367e+02] [ 7.26682696e-01 -6.86925530e-01 -8.09788445e-03 -2.59280508e+02] [ 1.11889769e-02 4.87074272e-05 9.99937400e-01 -2.78300467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 784.3265599949999 meters 0.012273375459085035 Centerline is valid? [True, True] Translation: X:-146.67, Y:-259.26, Z:-2.78 [[-6.87088889e-01 -7.26535036e-01 7.46318177e-03 -1.46670647e+02] [ 7.26492925e-01 -6.87129419e-01 -7.82245123e-03 -2.59260550e+02] [ 1.08114566e-02 4.72294316e-05 9.99941554e-01 -2.78297779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 784.356559995 meters 0.012220918321281539 Centerline is valid? [True, True] Translation: X:-146.69, Y:-259.24, Z:-2.78 [[-6.87527733e-01 -7.26119377e-01 7.50112848e-03 -1.46689533e+02] [ 7.26076859e-01 -6.87568650e-01 -7.85781528e-03 -2.59240314e+02] [ 1.08632527e-02 4.39298825e-05 9.99940992e-01 -2.78237964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 784.386559995 meters 0.012237767483984075 Centerline is valid? [True, True] Translation: X:-146.71, Y:-259.22, Z:-2.78 [[-6.87972431e-01 -7.25697509e-01 7.55374773e-03 -1.46707742e+02] [ 7.25654425e-01 -6.88013898e-01 -7.90770965e-03 -2.59221283e+02] [ 1.09356886e-02 4.11242326e-05 9.99940203e-01 -2.78235532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 784.416559995 meters 0.012174140997630725 Centerline is valid? [True, True] Translation: X:-146.73, Y:-259.20, Z:-2.78 [[-6.88450451e-01 -7.25245867e-01 7.37629855e-03 -1.46725708e+02] [ 7.25204811e-01 -6.88489965e-01 -7.71692022e-03 -2.59202510e+02] [ 1.06751720e-02 3.66099912e-05 9.99943018e-01 -2.78245702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 784.4465599949999 meters 0.012175100253217929 Centerline is valid? [True, True] Translation: X:-146.74, Y:-259.18, Z:-2.78 [[-6.89140721e-01 -7.24597625e-01 6.58388993e-03 -1.46743911e+02] [ 7.24564928e-01 -6.89172171e-01 -6.88365480e-03 -2.59182542e+02] [ 9.52531364e-03 2.66489007e-05 9.99954633e-01 -2.78111330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 784.476559995 meters 0.012142320841760566 Centerline is valid? [True, True] Translation: X:-146.76, Y:-259.16, Z:-2.78 [[-6.89475574e-01 -7.24281588e-01 6.29397517e-03 -1.46762758e+02] [ 7.24251731e-01 -6.89504300e-01 -6.57643969e-03 -2.59162845e+02] [ 9.10291713e-03 2.41278857e-05 9.99958567e-01 -2.78031013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 784.506559995 meters 0.012073925561036954 Centerline is valid? [True, True] Translation: X:-146.78, Y:-259.14, Z:-2.78 [[-6.89800834e-01 -7.23977608e-01 5.58873659e-03 -1.46782370e+02] [ 7.23954083e-01 -6.89823473e-01 -5.83627789e-03 -2.59142383e+02] [ 8.08057618e-03 2.01193167e-05 9.99967352e-01 -2.77933764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 784.536559995 meters 0.012175444142292444 Centerline is valid? [True, True] Translation: X:-146.80, Y:-259.12, Z:-2.78 [[-6.90138014e-01 -7.23659025e-01 5.20927821e-03 -1.46800368e+02] [ 7.23638605e-01 -6.90157674e-01 -5.43641870e-03 -2.59123895e+02] [ 7.52933679e-03 1.77556079e-05 9.99971654e-01 -2.77958799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 784.5665599949999 meters 0.012137622093754448 Centerline is valid? [True, True] Translation: X:-146.82, Y:-259.10, Z:-2.78 [[-6.90387117e-01 -7.23420259e-01 5.36253166e-03 -1.46819897e+02] [ 7.23398637e-01 -6.90407943e-01 -5.59321592e-03 -2.59103580e+02] [ 7.74858016e-03 1.77638804e-05 9.99969979e-01 -2.77907429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 784.5965599949999 meters 0.012156422660118535 Centerline is valid? [True, True] Translation: X:-146.84, Y:-259.08, Z:-2.78 [[-6.90465797e-01 -7.23340307e-01 5.98201771e-03 -1.46839681e+02] [ 7.23313428e-01 -6.90491709e-01 -6.23580307e-03 -2.59083224e+02] [ 8.64114134e-03 2.12649966e-05 9.99962665e-01 -2.77953134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 784.626559995 meters 0.012137859877487823 Centerline is valid? [True, True] Translation: X:-146.86, Y:-259.06, Z:-2.78 [[-6.90591915e-01 -7.23218705e-01 6.12463904e-03 -1.46858655e+02] [ 7.23190558e-01 -6.90619073e-01 -6.38065562e-03 -2.59064086e+02] [ 8.84440203e-03 2.28519456e-05 9.99960887e-01 -2.78023920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 784.656559995 meters 0.012215295986360074 Centerline is valid? [True, True] Translation: X:-146.88, Y:-259.04, Z:-2.78 [[-6.90439932e-01 -7.23357276e-01 6.85218129e-03 -1.46878477e+02] [ 7.23322091e-01 -6.90473932e-01 -7.13459527e-03 -2.59044274e+02] [ 9.89211396e-03 3.03246279e-05 9.99951072e-01 -2.78097933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 784.6865599949999 meters 0.012268143869488603 Centerline is valid? [True, True] Translation: X:-146.90, Y:-259.03, Z:-2.78 [[-6.90391001e-01 -7.23400240e-01 7.23598458e-03 -1.46897027e+02] [ 7.23361057e-01 -6.90428919e-01 -7.52923348e-03 -2.59025564e+02] [ 1.04425823e-02 3.61144195e-05 9.99945474e-01 -2.78127378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 784.7165599949999 meters 0.012313872686029913 Centerline is valid? [True, True] Translation: X:-146.92, Y:-259.01, Z:-2.78 [[-6.89971561e-01 -7.23799272e-01 7.33892638e-03 -1.46916610e+02] [ 7.23759039e-01 -6.90010589e-01 -7.63154995e-03 -2.59006414e+02] [ 1.05876472e-02 4.60618795e-05 9.99943948e-01 -2.78155096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 784.746559995 meters 0.012565872267850763 Centerline is valid? [True, True] Translation: X:-146.94, Y:-258.99, Z:-2.78 [[-6.88870911e-01 -7.24846866e-01 7.34095899e-03 -1.46936346e+02] [ 7.24806724e-01 -6.88910021e-01 -7.62864757e-03 -2.58988927e+02] [ 1.05868615e-02 6.56230415e-05 9.99943956e-01 -2.78217082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 784.776559995 meters 0.012692981191041126 Centerline is valid? [True, True] Translation: X:-146.96, Y:-258.97, Z:-2.78 [[-6.88313754e-01 -7.25373039e-01 7.62429940e-03 -1.46955997e+02] [ 7.25329824e-01 -6.88355975e-01 -7.91821598e-03 -2.58970109e+02] [ 1.09918924e-02 7.99147742e-05 9.99939584e-01 -2.78203532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 784.8065599949999 meters 0.012720044794946407 Centerline is valid? [True, True] Translation: X:-146.98, Y:-258.95, Z:-2.78 [[-6.87723704e-01 -7.25931665e-01 7.70223076e-03 -1.46976110e+02] [ 7.25887647e-01 -6.87766827e-01 -7.99466702e-03 -2.58950039e+02] [ 1.11009208e-02 9.28321507e-05 9.99938379e-01 -2.78192671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 784.8365599949999 meters 0.012917366718581302 Centerline is valid? [True, True] Translation: X:-147.00, Y:-258.93, Z:-2.78 [[-6.87124839e-01 -7.26497060e-01 7.84073035e-03 -1.46996622e+02] [ 7.26451533e-01 -6.87169564e-01 -8.13386398e-03 -2.58930269e+02] [ 1.12971395e-02 1.06930609e-04 9.99936180e-01 -2.78220320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 784.866559995 meters 0.013180417325483794 Centerline is valid? [True, True] Translation: X:-147.02, Y:-258.91, Z:-2.78 [[-6.85450103e-01 -7.28075830e-01 7.98381892e-03 -1.47017303e+02] [ 7.28028787e-01 -6.85496584e-01 -8.27758880e-03 -2.58911126e+02] [ 1.14995929e-02 1.38575912e-04 9.99933868e-01 -2.78209167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 784.896559995 meters 0.013648460795036078 Centerline is valid? [True, True] Translation: X:-147.04, Y:-258.89, Z:-2.78 [[-6.84761183e-01 -7.28723483e-01 8.01298231e-03 -1.47037477e+02] [ 7.28676198e-01 -6.84808048e-01 -8.30283745e-03 -2.58892375e+02] [ 1.15378274e-02 1.53408690e-04 9.99933425e-01 -2.78264169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 784.9265599949999 meters 0.014058609764767851 Centerline is valid? [True, True] Translation: X:-147.06, Y:-258.87, Z:-2.78 [[-6.83340903e-01 -7.30059288e-01 7.65809415e-03 -1.47057902e+02] [ 7.30016231e-01 -6.83383792e-01 -7.93068374e-03 -2.58873534e+02] [ 1.10232867e-02 1.71172440e-04 9.99939227e-01 -2.78182820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 784.9565599949999 meters 0.014022266344005172 Centerline is valid? [True, True] Translation: X:-147.08, Y:-258.85, Z:-2.78 [[-6.82849491e-01 -7.30520415e-01 7.51640967e-03 -1.47077423e+02] [ 7.30479015e-01 -6.82890834e-01 -7.77926800e-03 -2.58854017e+02] [ 1.08158014e-02 1.78510340e-04 9.99941492e-01 -2.78138976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 784.986559995 meters 0.014153578070392765 Centerline is valid? [True, True] Translation: X:-147.10, Y:-258.83, Z:-2.78 [[-6.82452420e-01 -7.30893745e-01 7.28202814e-03 -1.47097702e+02] [ 7.30854953e-01 -6.82491246e-01 -7.53240330e-03 -2.58834014e+02] [ 1.04753069e-02 1.81599472e-04 9.99945116e-01 -2.78089606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 785.016559995 meters 0.014677128740362932 Centerline is valid? [True, True] Translation: X:-147.12, Y:-258.82, Z:-2.78 [[-6.81715075e-01 -7.31588317e-01 6.56439227e-03 -1.47117301e+02] [ 7.31556865e-01 -6.81746656e-01 -6.78602072e-03 -2.58815907e+02] [ 9.43982596e-03 1.76093604e-04 9.99955428e-01 -2.78015952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 785.0465599949999 meters 0.01473226319849121 Centerline is valid? [True, True] Translation: X:-147.14, Y:-258.80, Z:-2.78 [[-6.82002583e-01 -7.31325574e-01 5.94824181e-03 -1.47136728e+02] [ 7.31299772e-01 -6.82028504e-01 -6.14522583e-03 -2.58796558e+02] [ 8.55103127e-03 1.58887990e-04 9.99963427e-01 -2.77973856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 785.0765599949999 meters 0.014560308384326938 Centerline is valid? [True, True] Translation: X:-147.16, Y:-258.78, Z:-2.78 [[-6.82400547e-01 -7.30957350e-01 5.55388735e-03 -1.47155696e+02] [ 7.30934873e-01 -6.82423132e-01 -5.73419610e-03 -2.58776656e+02] [ 7.98155398e-03 1.46511388e-04 9.99968136e-01 -2.77944131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 785.106559995 meters 0.014359830876915274 Centerline is valid? [True, True] Translation: X:-147.17, Y:-258.76, Z:-2.78 [[-6.83524133e-01 -7.29906809e-01 5.55062332e-03 -1.47174408e+02] [ 7.29884352e-01 -6.83546656e-01 -5.72723669e-03 -2.58756819e+02] [ 7.97445907e-03 1.36608619e-04 9.99968194e-01 -2.77963111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 785.136559995 meters 0.014185147357751273 Centerline is valid? [True, True] Translation: X:-147.19, Y:-258.74, Z:-2.78 [[-6.84620842e-01 -7.28878241e-01 5.55095268e-03 -1.47192905e+02] [ 7.28855776e-01 -6.84643334e-01 -5.72400060e-03 -2.58736869e+02] [ 7.97252223e-03 1.27073810e-04 9.99968211e-01 -2.77986755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 785.166559995 meters 0.013551653028683303 Centerline is valid? [True, True] Translation: X:-147.21, Y:-258.72, Z:-2.78 [[-6.87081440e-01 -7.26551837e-01 6.44385739e-03 -1.47210529e+02] [ 7.26521495e-01 -6.87111646e-01 -6.64106922e-03 -2.58715032e+02] [ 9.25273050e-03 1.18645503e-04 9.99957186e-01 -2.78060993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 785.1965599949999 meters 0.013211484062121862 Centerline is valid? [True, True] Translation: X:-147.23, Y:-258.69, Z:-2.78 [[-6.88663700e-01 -7.25048502e-01 6.85408673e-03 -1.47228035e+02] [ 7.25014142e-01 -6.88697799e-01 -7.05940836e-03 -2.58694250e+02] [ 9.83880790e-03 1.07751529e-04 9.99951592e-01 -2.78085030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 785.226559995 meters 0.012930246905348648 Centerline is valid? [True, True] Translation: X:-147.25, Y:-258.67, Z:-2.78 [[-6.90391928e-01 -7.23403324e-01 6.82760585e-03 -1.47245505e+02] [ 7.23369193e-01 -6.90425682e-01 -7.02771133e-03 -2.58673715e+02] [ 9.79782416e-03 8.70045606e-05 9.99951997e-01 -2.78073049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 785.256559995 meters 0.012635876853467306 Centerline is valid? [True, True] Translation: X:-147.26, Y:-258.65, Z:-2.78 [[-6.93408467e-01 -7.20511288e-01 6.94140717e-03 -1.47261344e+02] [ 7.20475897e-01 -6.93443208e-01 -7.14137515e-03 -2.58652717e+02] [ 9.95891305e-03 4.92265684e-05 9.99950408e-01 -2.78114149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 785.286559995 meters 0.012483550742632498 Centerline is valid? [True, True] Translation: X:-147.28, Y:-258.63, Z:-2.78 [[-6.94944136e-01 -7.19033265e-01 6.61895266e-03 -1.47278720e+02] [ 7.19001060e-01 -6.94975656e-01 -6.80535522e-03 -2.58632199e+02] [ 9.49328775e-03 2.96922738e-05 9.99954937e-01 -2.78018771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 785.3165599949999 meters 0.012461704424411451 Centerline is valid? [True, True] Translation: X:-147.30, Y:-258.61, Z:-2.78 [[-6.96459998e-01 -7.17566032e-01 6.51617850e-03 -1.47295811e+02] [ 7.17534796e-01 -6.96490481e-01 -6.69527805e-03 -2.58612662e+02] [ 9.34276040e-03 1.25914725e-05 9.99956356e-01 -2.78009268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 785.3465599949999 meters 0.012602756889937245 Centerline is valid? [True, True] Translation: X:-147.31, Y:-258.59, Z:-2.78 [[-6.98787865e-01 -7.15299489e-01 6.49315384e-03 -1.47312283e+02] [ 7.15268416e-01 -6.98818031e-01 -6.66727043e-03 -2.58591573e+02] [ 9.30662811e-03 -1.46598006e-05 9.99956692e-01 -2.78052193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 785.376559995 meters 0.012638084273273327 Centerline is valid? [True, True] Translation: X:-147.33, Y:-258.57, Z:-2.78 [[-6.99839310e-01 -7.14271368e-01 6.43062717e-03 -1.47330447e+02] [ 7.14240885e-01 -6.99868854e-01 -6.59895268e-03 -2.58570993e+02] [ 9.21403863e-03 -2.51896555e-05 9.99957550e-01 -2.78030987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 785.406559995 meters 0.012694751016253976 Centerline is valid? [True, True] Translation: X:-147.35, Y:-258.55, Z:-2.78 [[-7.01151854e-01 -7.12981383e-01 6.60500938e-03 -1.47348025e+02] [ 7.12949206e-01 -7.01182962e-01 -6.77370942e-03 -2.58549462e+02] [ 9.46084875e-03 -4.03627247e-05 9.99955244e-01 -2.78054090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 785.4365599949999 meters 0.012725721728916175 Centerline is valid? [True, True] Translation: X:-147.37, Y:-258.53, Z:-2.78 [[-7.01319453e-01 -7.12815014e-01 6.76612516e-03 -1.47366426e+02] [ 7.12781282e-01 -7.01352090e-01 -6.93466085e-03 -2.58529512e+02] [ 9.68856639e-03 -4.06451922e-05 9.99953064e-01 -2.78066421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 785.4665599949999 meters 0.012761025480242764 Centerline is valid? [True, True] Translation: X:-147.38, Y:-258.51, Z:-2.78 [[-7.01435583e-01 -7.12701011e-01 6.73733044e-03 -1.47384332e+02] [ 7.12667603e-01 -7.01467938e-01 -6.90069018e-03 -2.58510679e+02] [ 9.64415016e-03 -3.89125046e-05 9.99953493e-01 -2.78098655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 785.496559995 meters 0.012838021265718343 Centerline is valid? [True, True] Translation: X:-147.40, Y:-258.49, Z:-2.78 [[-7.00463845e-01 -7.13653513e-01 7.00465992e-03 -1.47403221e+02] [ 7.13617483e-01 -7.00498867e-01 -7.17111331e-03 -2.58492441e+02] [ 1.00244465e-02 -2.44578110e-05 9.99949754e-01 -2.78221083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 785.526559995 meters 0.012649256981542725 Centerline is valid? [True, True] Translation: X:-147.42, Y:-258.47, Z:-2.78 [[-6.99955468e-01 -7.14152770e-01 6.94002766e-03 -1.47423315e+02] [ 7.14117469e-01 -6.99989872e-01 -7.10069893e-03 -2.58473529e+02] [ 9.92893288e-03 -1.41780508e-05 9.99950707e-01 -2.78159173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 785.5565599949999 meters 0.012644245399980188 Centerline is valid? [True, True] Translation: X:-147.44, Y:-258.46, Z:-2.78 [[-6.98192877e-01 -7.15876188e-01 6.92756762e-03 -1.47443448e+02] [ 7.15841140e-01 -6.98227244e-01 -7.08372968e-03 -2.58455558e+02] [ 9.90808985e-03 1.32282988e-05 9.99950914e-01 -2.78129601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 785.5865599949999 meters 0.012675592448010404 Centerline is valid? [True, True] Translation: X:-147.46, Y:-258.44, Z:-2.78 [[-6.97490734e-01 -7.16561178e-01 6.83777648e-03 -1.47463372e+02] [ 7.16527106e-01 -6.97524249e-01 -6.98776775e-03 -2.58436654e+02] [ 9.77667799e-03 2.55489386e-05 9.99952207e-01 -2.78122406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 785.616559995 meters 0.012872696197833903 Centerline is valid? [True, True] Translation: X:-147.48, Y:-258.42, Z:-2.78 [[-6.96914253e-01 -7.17123458e-01 6.66862835e-03 -1.47483419e+02] [ 7.17091115e-01 -6.96946156e-01 -6.81088784e-03 -2.58417485e+02] [ 9.53192234e-03 3.54093310e-05 9.99954570e-01 -2.78101405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 785.646559995 meters 0.012766899021878905 Centerline is valid? [True, True] Translation: X:-147.50, Y:-258.40, Z:-2.78 [[-6.96083303e-01 -7.17931126e-01 6.55230495e-03 -1.47502771e+02] [ 7.17899977e-01 -6.96114140e-01 -6.68790623e-03 -2.58398674e+02] [ 9.36260817e-03 4.85597108e-05 9.99956169e-01 -2.78030989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 785.6765599949999 meters 0.012841653556487352 Centerline is valid? [True, True] Translation: X:-147.52, Y:-258.38, Z:-2.78 [[-6.96057678e-01 -7.17959234e-01 6.18444810e-03 -1.47521850e+02] [ 7.17931521e-01 -6.96085150e-01 -6.30830860e-03 -2.58380029e+02] [ 8.83401089e-03 4.90635944e-05 9.99960978e-01 -2.78032409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 785.7065599949999 meters 0.013078811168137581 Centerline is valid? [True, True] Translation: X:-147.54, Y:-258.36, Z:-2.78 [[-6.96054263e-01 -7.17963754e-01 6.04242460e-03 -1.47540731e+02] [ 7.17937333e-01 -6.96080488e-01 -6.15949906e-03 -2.58362233e+02] [ 8.62831093e-03 5.07366288e-05 9.99962774e-01 -2.78101269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 785.736559995 meters 0.012908038470559484 Centerline is valid? [True, True] Translation: X:-147.56, Y:-258.34, Z:-2.78 [[-6.96731038e-01 -7.17308758e-01 5.83142370e-03 -1.47559437e+02] [ 7.17284158e-01 -6.96755440e-01 -5.94082408e-03 -2.58342547e+02] [ 8.32448133e-03 4.36313111e-05 9.99965350e-01 -2.78012124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 785.766559995 meters 0.012815654132425806 Centerline is valid? [True, True] Translation: X:-147.58, Y:-258.32, Z:-2.78 [[-6.97157664e-01 -7.16895357e-01 5.67788869e-03 -1.47577859e+02] [ 7.16872051e-01 -6.97180784e-01 -5.78081763e-03 -2.58322886e+02] [ 8.10275621e-03 4.01783962e-05 9.99967171e-01 -2.77944450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 785.7965599949999 meters 0.012744910731696 Centerline is valid? [True, True] Translation: X:-147.60, Y:-258.30, Z:-2.78 [[-6.97892826e-01 -7.16183378e-01 5.19357592e-03 -1.47597247e+02] [ 7.16163880e-01 -6.97912149e-01 -5.28476439e-03 -2.58301940e+02] [ 7.40952015e-03 3.12523262e-05 9.99972549e-01 -2.77867258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 785.8265599949999 meters 0.012692247442909673 Centerline is valid? [True, True] Translation: X:-147.62, Y:-258.28, Z:-2.78 [[-6.98248671e-01 -7.15837012e-01 5.11518580e-03 -1.47615486e+02] [ 7.15818114e-01 -6.98267407e-01 -5.20156217e-03 -2.58283471e+02] [ 7.29523825e-03 2.95587786e-05 9.99973389e-01 -2.77862330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 785.856559995 meters 0.012692247442909673 Centerline is valid? [True, True] Translation: X:-147.63, Y:-258.26, Z:-2.78 [[-6.98471406e-01 -7.15619671e-01 5.11680443e-03 -1.47634327e+02] [ 7.15600779e-01 -6.98490147e-01 -5.19996992e-03 -2.58264463e+02] [ 7.29523824e-03 2.95589332e-05 9.99973389e-01 -2.77862308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 785.886559995 meters 0.012698117086020049 Centerline is valid? [True, True] Translation: X:-147.65, Y:-258.25, Z:-2.78 [[-6.98768423e-01 -7.15330608e-01 4.98128657e-03 -1.47652767e+02] [ 7.15312719e-01 -6.98786177e-01 -5.05894973e-03 -2.58245929e+02] [ 7.09967579e-03 2.81433151e-05 9.99974797e-01 -2.77859325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 785.916559995 meters 0.012798380805850752 Centerline is valid? [True, True] Translation: X:-147.67, Y:-258.23, Z:-2.78 [[-6.98554583e-01 -7.15537103e-01 5.30553937e-03 -1.47672540e+02] [ 7.15516841e-01 -6.98574729e-01 -5.38496615e-03 -2.58226672e+02] [ 7.55945881e-03 3.45099830e-05 9.99971426e-01 -2.77907677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 785.9465599949999 meters 0.012839723585723321 Centerline is valid? [True, True] Translation: X:-147.69, Y:-258.21, Z:-2.78 [[-6.98385765e-01 -7.15700272e-01 5.51768565e-03 -1.47691536e+02] [ 7.15678389e-01 -6.98407560e-01 -5.59680977e-03 -2.58207655e+02] [ 7.85923165e-03 4.01560991e-05 9.99969115e-01 -2.77949713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 785.976559995 meters 0.013021691554237401 Centerline is valid? [True, True] Translation: X:-147.71, Y:-258.19, Z:-2.78 [[-6.97934505e-01 -7.16131659e-01 6.54791174e-03 -1.47711069e+02] [ 7.16100896e-01 -6.97965217e-01 -6.63794089e-03 -2.58189425e+02] [ 9.32385426e-03 5.61174731e-05 9.99956530e-01 -2.78155903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 786.006559995 meters 0.0131754010599392 Centerline is valid? [True, True] Translation: X:-147.73, Y:-258.17, Z:-2.78 [[-6.97629300e-01 -7.16423054e-01 7.16710522e-03 -1.47730846e+02] [ 7.16386260e-01 -6.97666111e-01 -7.26117498e-03 -2.58170203e+02] [ 1.02023196e-02 6.88072912e-05 9.99947953e-01 -2.78229211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 786.036559995 meters 0.013446110073083594 Centerline is valid? [True, True] Translation: X:-147.75, Y:-258.15, Z:-2.78 [[-6.97511620e-01 -7.16533043e-01 7.61169814e-03 -1.47749907e+02] [ 7.16491602e-01 -6.97553147e-01 -7.70662856e-03 -2.58152380e+02] [ 1.08316180e-02 7.82548172e-05 9.99941333e-01 -2.78401470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 786.0665599949999 meters 0.013446248565599 Centerline is valid? [True, True] Translation: X:-147.77, Y:-258.13, Z:-2.78 [[-6.96817368e-01 -7.17203014e-01 8.08654254e-03 -1.47769171e+02] [ 7.17156345e-01 -6.96864281e-01 -8.18232002e-03 -2.58132847e+02] [ 1.15036072e-02 9.77325907e-05 9.99933827e-01 -2.78384555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 786.0965599949999 meters 0.01348436605488833 Centerline is valid? [True, True] Translation: X:-147.79, Y:-258.11, Z:-2.78 [[-6.96644980e-01 -7.17373093e-01 7.84968245e-03 -1.47787971e+02] [ 7.17329171e-01 -6.96689196e-01 -7.93884105e-03 -2.58114004e+02] [ 1.11638999e-02 1.00252441e-04 9.99937677e-01 -2.78370883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 786.126559995 meters 0.013702766140500358 Centerline is valid? [True, True] Translation: X:-147.81, Y:-258.09, Z:-2.78 [[-6.96187950e-01 -7.17826868e-01 6.85018421e-03 -1.47807071e+02] [ 7.17793483e-01 -6.96221644e-01 -6.92376632e-03 -2.58094667e+02] [ 9.73931201e-03 9.67748957e-05 9.99952567e-01 -2.78246694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 786.156559995 meters 0.013685396567926238 Centerline is valid? [True, True] Translation: X:-147.83, Y:-258.08, Z:-2.78 [[-6.96166907e-01 -7.17849879e-01 6.57184581e-03 -1.47825908e+02] [ 7.17819191e-01 -6.96197918e-01 -6.63836737e-03 -2.58075461e+02] [ 9.34065659e-03 9.59853651e-05 9.99956371e-01 -2.78148428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 786.1865599949999 meters 0.01363920708687521 Centerline is valid? [True, True] Translation: X:-147.85, Y:-258.06, Z:-2.78 [[-6.96161824e-01 -7.17858770e-01 6.12388533e-03 -1.47845088e+02] [ 7.17832156e-01 -6.96188752e-01 -6.18200946e-03 -2.58055745e+02] [ 8.70118979e-03 9.22428360e-05 9.99962140e-01 -2.78043528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 786.2165599949999 meters 0.01372690477589441 Centerline is valid? [True, True] Translation: X:-147.86, Y:-258.04, Z:-2.78 [[-6.96000651e-01 -7.18023608e-01 5.01920544e-03 -1.47864015e+02] [ 7.18005757e-01 -6.96018745e-01 -5.06365971e-03 -2.58036192e+02] [ 7.12928829e-03 7.95079449e-05 9.99974583e-01 -2.77915889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 786.246559995 meters 0.013834116039160502 Centerline is valid? [True, True] Translation: X:-147.88, Y:-258.02, Z:-2.78 [[-6.96189942e-01 -7.17839153e-01 5.14935211e-03 -1.47883019e+02] [ 7.17820383e-01 -6.96208980e-01 -5.19169456e-03 -2.58016275e+02] [ 7.31182681e-03 8.19043685e-05 9.99973265e-01 -2.77882382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 786.276559995 meters 0.013824543367795532 Centerline is valid? [True, True] Translation: X:-147.90, Y:-258.00, Z:-2.78 [[-6.96674179e-01 -7.17369789e-01 5.06700126e-03 -1.47901926e+02] [ 7.17351625e-01 -6.96692601e-01 -5.10547768e-03 -2.57996455e+02] [ 7.19265774e-03 7.79671203e-05 9.99974130e-01 -2.77881941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 786.3065599949999 meters 0.013619750566153629 Centerline is valid? [True, True] Translation: X:-147.92, Y:-257.98, Z:-2.78 [[-6.97158524e-01 -7.16898093e-01 5.20737719e-03 -1.47920788e+02] [ 7.16878920e-01 -6.97177967e-01 -5.24361806e-03 -2.57976644e+02] [ 7.38960843e-03 7.74259142e-05 9.99972694e-01 -2.77897181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 786.3365599949999 meters 0.013773903178159155 Centerline is valid? [True, True] Translation: X:-147.94, Y:-257.96, Z:-2.78 [[-6.97794581e-01 -7.16278389e-01 5.29069886e-03 -1.47939243e+02] [ 7.16258606e-01 -6.97814634e-01 -5.32401777e-03 -2.57958103e+02] [ 7.50540597e-03 7.44378390e-05 9.99971831e-01 -2.78016856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 786.366559995 meters 0.014073637806361576 Centerline is valid? [True, True] Translation: X:-147.96, Y:-257.94, Z:-2.78 [[-6.98229033e-01 -7.15853159e-01 5.52014281e-03 -1.47958375e+02] [ 7.15831638e-01 -6.98250850e-01 -5.55136457e-03 -2.57939720e+02] [ 7.82840627e-03 7.53689532e-05 9.99969355e-01 -2.78116548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 786.396559995 meters 0.013578039610074408 Centerline is valid? [True, True] Translation: X:-147.98, Y:-257.92, Z:-2.78 [[-6.98647508e-01 -7.15440254e-01 6.07474985e-03 -1.47975868e+02] [ 7.15414208e-01 -6.98673913e-01 -6.10529971e-03 -2.57919037e+02] [ 8.61224643e-03 8.05099239e-05 9.99962911e-01 -2.78039449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 786.4265599949999 meters 0.013708856708095489 Centerline is valid? [True, True] Translation: X:-147.99, Y:-257.90, Z:-2.78 [[-6.98843369e-01 -7.15244513e-01 6.57513166e-03 -1.47994437e+02] [ 7.15214030e-01 -6.98874295e-01 -6.60388261e-03 -2.57900544e+02] [ 9.31858130e-03 8.75468435e-05 9.99956577e-01 -2.78070126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 786.4565599949999 meters 0.013650799053230495 Centerline is valid? [True, True] Translation: X:-148.01, Y:-257.88, Z:-2.78 [[-6.99348912e-01 -7.14745824e-01 7.03603440e-03 -1.48012742e+02] [ 7.14710936e-01 -6.99384300e-01 -7.06247617e-03 -2.57880910e+02] [ 9.96876734e-03 8.95957079e-05 9.99950307e-01 -2.78064803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 786.486559995 meters 0.013574328709293572 Centerline is valid? [True, True] Translation: X:-148.03, Y:-257.86, Z:-2.78 [[-6.99984142e-01 -7.14123407e-01 7.06827875e-03 -1.48031320e+02] [ 7.14088211e-01 -7.00019823e-01 -7.09047671e-03 -2.57861225e+02] [ 1.00114106e-02 8.41532720e-05 9.99949881e-01 -2.78023718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 786.516559995 meters 0.01358413805318159 Centerline is valid? [True, True] Translation: X:-148.05, Y:-257.84, Z:-2.78 [[-7.00532898e-01 -7.13584039e-01 7.17482710e-03 -1.48049994e+02] [ 7.13547790e-01 -7.00569634e-01 -7.19295801e-03 -2.57841738e+02] [ 1.01592460e-02 8.06783035e-05 9.99948390e-01 -2.78041972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 786.5465599949999 meters 0.013333708022565926 Centerline is valid? [True, True] Translation: X:-148.07, Y:-257.82, Z:-2.78 [[-7.02074547e-01 -7.12068928e-01 7.01233308e-03 -1.48068224e+02] [ 7.12034270e-01 -7.02109563e-01 -7.02565488e-03 -2.57820981e+02] [ 9.92617666e-03 6.04880035e-05 9.99950733e-01 -2.77972709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 786.5765599949999 meters 0.013192995929851542 Centerline is valid? [True, True] Translation: X:-148.09, Y:-257.80, Z:-2.78 [[-7.03137442e-01 -7.11019314e-01 7.01942924e-03 -1.48086615e+02] [ 7.10984578e-01 -7.03172477e-01 -7.02835016e-03 -2.57801304e+02] [ 9.93316215e-03 4.88097823e-05 9.99950664e-01 -2.77961048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 786.606559995 meters 0.013071741189732759 Centerline is valid? [True, True] Translation: X:-148.10, Y:-257.78, Z:-2.78 [[-7.05133059e-01 -7.09039907e-01 7.05547364e-03 -1.48104875e+02] [ 7.09004754e-01 -7.05168356e-01 -7.06040959e-03 -2.57779607e+02] [ 9.98140891e-03 2.38361388e-05 9.99950184e-01 -2.77916355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 786.636559995 meters 0.01302776280913384 Centerline is valid? [True, True] Translation: X:-148.12, Y:-257.76, Z:-2.78 [[-7.06415397e-01 -7.07760619e-01 7.22441183e-03 -1.48123061e+02] [ 7.07723740e-01 -7.06452338e-01 -7.22511433e-03 -2.57759846e+02] [ 1.02173540e-02 8.95574978e-06 9.99947802e-01 -2.77944491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 786.666559995 meters 0.013043116682063023 Centerline is valid? [True, True] Translation: X:-148.14, Y:-257.74, Z:-2.78 [[-7.07731240e-01 -7.06441942e-01 7.50164456e-03 -1.48141651e+02] [ 7.06402154e-01 -7.07770996e-01 -7.49767240e-03 -2.57739711e+02] [ 1.06061167e-02 -7.15910658e-06 9.99943754e-01 -2.77993712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 786.6965599949999 meters 0.013128369789064244 Centerline is valid? [True, True] Translation: X:-148.65, Y:-258.25, Z:-1.80 [[-7.53931057e-01 6.56899064e-01 8.46057074e-03 -1.48654661e+02] [ 6.56858121e-01 7.53978527e-01 -7.33415401e-03 -2.58252812e+02] [-1.11968876e-02 2.79481088e-05 -9.99937313e-01 -1.80474975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 786.726559995 meters 0.013780740423041135 Centerline is valid? [True, True] Translation: X:-148.63, Y:-258.24, Z:-1.80 [[-7.96516741e-01 6.04541859e-01 9.49851113e-03 -1.48632551e+02] [ 6.04499910e-01 7.96573372e-01 -7.12197046e-03 -2.58238560e+02] [-1.18717903e-02 6.90804182e-05 -9.99929526e-01 -1.80243545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 786.756559995 meters 0.013545422411221836 Centerline is valid? [True, True] Translation: X:-148.18, Y:-257.66, Z:-2.78 [[-7.63544394e-01 -6.45694564e-01 8.85939251e-03 -1.48183029e+02] [ 6.45649894e-01 -7.63595786e-01 -7.59545648e-03 -2.57663121e+02] [ 1.16693397e-02 -7.94023866e-05 9.99931908e-01 -2.77961491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 786.786559995 meters 0.013734840216606425 Centerline is valid? [True, True] Translation: X:-148.66, Y:-258.22, Z:-1.81 [[-7.96175457e-01 6.04991919e-01 9.45619803e-03 -1.48661444e+02] [ 6.04950998e-01 7.96231602e-01 -7.03744537e-03 -2.58220507e+02] [-1.17869213e-02 1.17495156e-04 -9.99930525e-01 -1.80549627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 786.8165599949999 meters 0.013680086292939049 Centerline is valid? [True, True] Translation: X:-148.64, Y:-258.20, Z:-1.81 [[-8.36495728e-01 5.47880493e-01 1.00927221e-02 -1.48644233e+02] [ 5.47842491e-01 8.36556602e-01 -6.45419551e-03 -2.58198612e+02] [-1.19792611e-02 1.30315043e-04 -9.99928238e-01 -1.80594758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 786.8465599949999 meters 0.013699520772498945 Centerline is valid? [True, True] Translation: X:-148.63, Y:-258.17, Z:-1.81 [[-8.72910529e-01 4.87774399e-01 1.01657861e-02 -1.48629113e+02] [ 4.87743080e-01 8.72969712e-01 -5.52896310e-03 -2.58174887e+02] [-1.15713100e-02 1.32001704e-04 -9.99933042e-01 -1.80625213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 786.876559995 meters 0.013801892193366024 Centerline is valid? [True, True] Translation: X:-148.61, Y:-258.15, Z:-1.81 [[-9.05108780e-01 4.25059169e-01 1.01389995e-02 -1.48614166e+02] [ 4.25034122e-01 9.05165557e-01 -4.61617714e-03 -2.58149827e+02] [-1.11396216e-02 1.31278313e-04 -9.99937944e-01 -1.80623102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 786.906559995 meters 0.013736966448419645 Centerline is valid? [True, True] Translation: X:-148.30, Y:-257.49, Z:-2.78 [[-8.85568421e-01 -4.64414525e-01 9.36594730e-03 -1.48302414e+02] [ 4.64386691e-01 -8.85617934e-01 -5.08688871e-03 -2.57490129e+02] [ 1.06570759e-02 -1.55366737e-04 9.99943200e-01 -2.77823567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 786.9365599949999 meters 0.013623855034784171 Centerline is valid? [True, True] Translation: X:-148.65, Y:-258.13, Z:-1.81 [[-9.07265992e-01 4.20459133e-01 9.08503378e-03 -1.48654667e+02] [ 4.20439198e-01 9.07311472e-01 -4.09559481e-03 -2.58128068e+02] [-9.96498561e-03 1.03910428e-04 -9.99950343e-01 -1.80629904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 786.9665599949999 meters 0.013582782856284937 Centerline is valid? [True, True] Translation: X:-148.35, Y:-257.47, Z:-2.78 [[-8.86291752e-01 -4.63041434e-01 8.91971691e-03 -1.48348323e+02] [ 4.63016892e-01 -8.86336630e-01 -4.76832754e-03 -2.57474622e+02] [ 1.01138050e-02 -9.61497656e-05 9.99948850e-01 -2.77879195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 786.996559995 meters 0.01334889235909911 Centerline is valid? [True, True] Translation: X:-148.69, Y:-258.11, Z:-1.81 [[-9.09610825e-01 4.15360754e-01 9.14287053e-03 -1.48690945e+02] [ 4.15340704e-01 9.09656769e-01 -4.08194913e-03 -2.58109298e+02] [-1.00123555e-02 8.44211655e-05 -9.99949872e-01 -1.80630567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 787.026559995 meters 0.013064052338875224 Centerline is valid? [True, True] Translation: X:-148.68, Y:-258.08, Z:-1.81 [[-9.37906813e-01 3.46737631e-01 1.01895177e-02 -1.48683177e+02] [ 3.46717806e-01 9.37962159e-01 -3.70814959e-03 -2.58078352e+02] [-1.08431371e-02 5.49884816e-05 -9.99941210e-01 -1.80582995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 787.0565599949999 meters 0.012935088255127862 Centerline is valid? [True, True] Translation: X:-148.44, Y:-257.42, Z:-2.78 [[-9.15676359e-01 -4.01771219e-01 1.08024534e-02 -1.48435450e+02] [ 4.01743284e-01 -9.15740076e-01 -4.73779261e-03 -2.57415912e+02] [ 1.17957482e-02 1.52841717e-06 9.99930428e-01 -2.77983110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 787.0865599949999 meters 0.012913092887771356 Centerline is valid? [True, True] Translation: X:-148.73, Y:-258.05, Z:-1.80 [[-9.41470457e-01 3.36860472e-01 1.25857331e-02 -1.48725240e+02] [ 3.36830054e-01 9.41554577e-01 -4.52689273e-03 -2.58054599e+02] [-1.33750858e-02 -2.26826032e-05 -9.99910549e-01 -1.80368404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 787.116559995 meters 0.012987059836115434 Centerline is valid? [True, True] Translation: X:-148.72, Y:-258.02, Z:-1.80 [[-9.63588031e-01 2.67066170e-01 1.31820601e-02 -1.48719485e+02] [ 2.67040410e-01 9.63678192e-01 -3.70963956e-03 -2.58024160e+02] [-1.36939830e-02 -5.44215549e-05 -9.99906232e-01 -1.80313161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 787.146559995 meters 0.013062455397615524 Centerline is valid? [True, True] Translation: X:-148.72, Y:-257.99, Z:-1.80 [[-9.80542022e-01 1.95842024e-01 1.35368167e-02 -1.48715632e+02] [ 1.95822160e-01 9.80635454e-01 -2.79053671e-03 -2.57993508e+02] [-1.38211868e-02 -8.54298105e-05 -9.99904479e-01 -1.80275029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 787.1765599949999 meters 0.013424953010880453 Centerline is valid? [True, True] Translation: X:-148.57, Y:-257.33, Z:-2.78 [[-9.61003729e-01 -2.76231375e-01 1.29637948e-02 -1.48574887e+02] [ 2.76207085e-01 -9.61091163e-01 -3.66364600e-03 -2.57332250e+02] [ 1.34714026e-02 5.99145155e-05 9.99909255e-01 -2.78278609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 787.2065599949999 meters 0.01381257094566714 Centerline is valid? [True, True] Translation: X:-148.77, Y:-257.98, Z:-1.80 [[-9.82017566e-01 1.88388360e-01 1.23014315e-02 -1.48768845e+02] [ 1.88372003e-01 9.82094604e-01 -2.48558980e-03 -2.57976087e+02] [-1.25494257e-02 -1.23647568e-04 -9.99921245e-01 -1.80130580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 787.236559995 meters 0.013104597678216204 Centerline is valid? [True, True] Translation: X:-148.76, Y:-257.95, Z:-1.80 [[-9.92912551e-01 1.18295827e-01 1.14351893e-02 -1.48760333e+02] [ 1.18286679e-01 9.92978391e-01 -1.47545875e-03 -2.57950052e+02] [-1.15294364e-02 -1.12370954e-04 -9.99933528e-01 -1.80446266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 787.266559995 meters 0.013014404820003335 Centerline is valid? [True, True] Translation: X:-148.67, Y:-257.29, Z:-2.78 [[-9.78929660e-01 -2.03920604e-01 1.06352291e-02 -1.48673272e+02] [ 2.03909260e-01 -9.78987428e-01 -2.15186359e-03 -2.57287336e+02] [ 1.08505649e-02 6.20986098e-05 9.99941129e-01 -2.77961054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 787.2965599949999 meters 0.012984535036364589 Centerline is valid? [True, True] Translation: X:-148.82, Y:-257.94, Z:-1.81 [[-9.93318452e-01 1.14976180e-01 9.94641979e-03 -1.48824775e+02] [ 1.14969500e-01 9.93368245e-01 -1.24271415e-03 -2.57942190e+02] [-1.00233401e-02 -9.08759939e-05 -9.99949761e-01 -1.80577648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 787.3265599949999 meters 0.012873389067488245 Centerline is valid? [True, True] Translation: X:-148.82, Y:-257.92, Z:-1.81 [[-9.98975447e-01 4.43528476e-02 8.99343244e-03 -1.48815211e+02] [ 4.43503351e-02 9.99015925e-01 -4.78708412e-04 -2.57915202e+02] [-9.00581432e-03 -7.93562069e-05 -9.99959444e-01 -1.80713489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 787.356559995 meters 0.012892934461048645 Centerline is valid? [True, True] Translation: X:-148.82, Y:-257.89, Z:-1.81 [[-9.99599737e-01 -2.68924577e-02 8.78421332e-03 -1.48815710e+02] [-2.68921051e-02 9.99638329e-01 1.58270224e-04 -2.57886659e+02] [-8.78529261e-03 -7.80191141e-05 -9.99961406e-01 -1.80722899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 787.386559995 meters 0.013049938755245866 Centerline is valid? [True, True] Translation: X:-148.82, Y:-257.86, Z:-1.81 [[-9.95049860e-01 -9.89545013e-02 9.15328750e-03 -1.48823103e+02] [-9.89511578e-02 9.95091955e-01 8.18545579e-04 -2.57857259e+02] [-9.18936152e-03 -9.12347319e-05 -9.99957773e-01 -1.80651414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 787.416559995 meters 0.013088560945087492 Centerline is valid? [True, True] Translation: X:-148.88, Y:-257.20, Z:-2.78 [[-9.99892419e-01 1.11227769e-02 9.56216008e-03 -1.48880954e+02] [-1.11211185e-02 -9.99938133e-01 2.26580759e-04 -2.57197794e+02] [ 9.56408870e-03 1.20214468e-04 9.99954256e-01 -2.77890913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 787.4465599949999 meters 0.013442970863376867 Centerline is valid? [True, True] Translation: X:-148.92, Y:-257.86, Z:-1.80 [[-9.94179579e-01 -1.07128900e-01 1.14176800e-02 -1.48919085e+02] [-1.07123438e-01 9.94245131e-01 1.09061828e-03 -2.57863083e+02] [-1.14688095e-02 -1.38830713e-04 -9.99934222e-01 -1.80412664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 787.476559995 meters 0.013477475386076276 Centerline is valid? [True, True] Translation: X:-148.94, Y:-257.84, Z:-1.80 [[-9.83894332e-01 -1.78351238e-01 1.19490316e-02 -1.48938339e+02] [-1.78339993e-01 9.83966876e-01 2.00868066e-03 -2.57837435e+02] [-1.21157020e-02 -1.54660699e-04 -9.99926590e-01 -1.80349024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 787.506559995 meters 0.01377249898032727 Centerline is valid? [True, True] Translation: X:-148.96, Y:-257.81, Z:-1.80 [[-9.68399639e-01 -2.49088990e-01 1.25225901e-02 -1.48958534e+02] [-2.49070438e-01 9.68480586e-01 3.04475933e-03 -2.57812478e+02] [-1.28863015e-02 -1.70463178e-04 -9.99916954e-01 -1.80224750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 787.536559995 meters 0.013758092755707132 Centerline is valid? [True, True] Translation: X:-149.00, Y:-257.80, Z:-1.80 [[-9.47924606e-01 -3.18216723e-01 1.33063710e-02 -1.48996985e+02] [-3.18188106e-01 9.48017976e-01 4.27154803e-03 -2.57795179e+02] [-1.39739569e-02 -1.84823494e-04 -9.99902343e-01 -1.80160383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 787.5665599949999 meters 0.013455025729569926 Centerline is valid? [True, True] Translation: X:-149.06, Y:-257.79, Z:-1.80 [[-9.22271547e-01 -3.86310332e-01 1.33985788e-02 -1.49055758e+02] [-3.86272385e-01 9.22368850e-01 5.41747147e-03 -2.57788084e+02] [-1.44512569e-02 -1.79121212e-04 -9.99895559e-01 -1.80155809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 787.5965599949999 meters 0.013382804882094266 Centerline is valid? [True, True] Translation: X:-149.12, Y:-257.79, Z:-1.80 [[-8.91774965e-01 -4.52276221e-01 1.35510693e-02 -1.49120595e+02] [-4.52226893e-01 8.91877902e-01 6.68172218e-03 -2.57787985e+02] [-1.51078833e-02 -1.69565424e-04 -9.99885855e-01 -1.80140360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 787.626559995 meters 0.013242037379817696 Centerline is valid? [True, True] Translation: X:-149.19, Y:-257.80, Z:-1.80 [[-8.56636471e-01 -5.15751563e-01 1.32015681e-02 -1.49192940e+02] [-5.15692903e-01 8.56738177e-01 7.77977684e-03 -2.57797215e+02] [-1.53227195e-02 -1.43514400e-04 -9.99882590e-01 -1.80046684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 787.656559995 meters 0.012660460979163604 Centerline is valid? [True, True] Translation: X:-149.27, Y:-257.82, Z:-1.80 [[-8.18445183e-01 -5.74457028e-01 1.21080642e-02 -1.49270100e+02] [-5.74395383e-01 8.18534739e-01 8.41579591e-03 -2.57820272e+02] [-1.47453842e-02 -6.69485269e-05 -9.99891279e-01 -1.80188971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 787.6865599949999 meters 0.012468459635841943 Centerline is valid? [True, True] Translation: X:-149.35, Y:-257.85, Z:-1.80 [[-7.74850319e-01 -6.32056054e-01 1.05890404e-02 -1.49351867e+02] [-6.31997396e-01 7.74922670e-01 8.61091100e-03 -2.57850788e+02] [-1.36482659e-02 -2.00787936e-05 -9.99906858e-01 -1.80333629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 787.7165599949999 meters 0.012591940045950658 Centerline is valid? [True, True] Translation: X:-149.44, Y:-257.90, Z:-1.81 [[-7.28930899e-01 -6.84540995e-01 7.96055076e-03 -1.49436390e+02] [-6.84499459e-01 7.28974364e-01 7.54105926e-03 -2.57895228e+02] [-1.09652016e-02 4.79184236e-05 -9.99939879e-01 -1.80532022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 787.746559995 meters 0.012591940045950658 Centerline is valid? [True, True] Translation: X:-149.52, Y:-257.95, Z:-1.81 [[-6.74959963e-01 -7.37817585e-01 7.36618162e-03 -1.49524530e+02] [-7.37772873e-01 6.75000155e-01 8.12268632e-03 -2.57945278e+02] [-1.09652345e-02 4.79190798e-05 -9.99939879e-01 -1.80531878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 787.776559995 meters 0.012737054619178994 Centerline is valid? [True, True] Translation: X:-149.61, Y:-258.00, Z:-1.81 [[-6.19070530e-01 -7.85311144e-01 6.17139717e-03 -1.49607461e+02] [-7.85270961e-01 6.19101286e-01 7.94454862e-03 -2.58003879e+02] [-1.00596625e-02 7.20169452e-05 -9.99949398e-01 -1.80647095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 787.8065599949999 meters 0.012985186939787494 Centerline is valid? [True, True] Translation: X:-149.69, Y:-258.07, Z:-1.81 [[-5.59392511e-01 -8.28888158e-01 4.94384594e-03 -1.49688786e+02] [-8.28854413e-01 5.59414350e-01 7.47984243e-03 -2.58072733e+02] [-8.96561118e-03 8.64393131e-05 -9.99959804e-01 -1.80719476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 787.8365599949999 meters 0.013778910272106324 Centerline is valid? [True, True] Translation: X:-149.77, Y:-258.15, Z:-1.81 [[-4.98396305e-01 -8.66941046e-01 3.78771004e-03 -1.49765604e+02] [-8.66914287e-01 4.98410685e-01 6.81239688e-03 -2.58151687e+02] [-7.79378163e-03 1.11653484e-04 -9.99969622e-01 -1.80785247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 787.866559995 meters 0.014243628164090937 Centerline is valid? [True, True] Translation: X:-149.84, Y:-258.24, Z:-1.81 [[-4.32578595e-01 -9.01590346e-01 3.25696913e-03 -1.49838459e+02] [-9.01562494e-01 4.32590836e-01 7.08787089e-03 -2.58236211e+02] [-7.79929097e-03 1.29700022e-04 -9.99969577e-01 -1.80783822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 787.896559995 meters 0.015324774586421092 Centerline is valid? [True, True] Translation: X:-149.91, Y:-258.33, Z:-1.81 [[-3.65447717e-01 -9.30827466e-01 2.86253467e-03 -1.49905266e+02] [-9.30795240e-01 3.65458890e-01 7.74737481e-03 -2.58333013e+02] [-8.25760800e-03 1.66826795e-04 -9.99965892e-01 -1.80734288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 787.9265599949999 meters 0.015709951983699174 Centerline is valid? [True, True] Translation: X:-149.97, Y:-258.44, Z:-1.81 [[-2.94288591e-01 -9.55713582e-01 2.40288657e-03 -1.49967607e+02] [-9.55676231e-01 2.94298339e-01 8.45164275e-03 -2.58436040e+02] [-8.78451529e-03 1.90840451e-04 -9.99961397e-01 -1.80710761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 787.9565599949999 meters 0.01646680943661174 Centerline is valid? [True, True] Translation: X:-150.02, Y:-258.54, Z:-1.81 [[-2.21963007e-01 -9.75053269e-01 1.88294838e-03 -1.50021184e+02] [-9.75009038e-01 2.21970879e-01 9.29001289e-03 -2.58542399e+02] [-9.47621715e-03 2.26147509e-04 -9.99955074e-01 -1.80651131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 787.986559995 meters 0.016849629060068774 Centerline is valid? [True, True] Translation: X:-150.07, Y:-258.65, Z:-1.81 [[-1.46667734e-01 -9.89185121e-01 1.17178142e-03 -1.50067346e+02] [-9.89139670e-01 1.46672231e-01 9.48520359e-03 -2.58651954e+02] [-9.55449005e-03 2.32117833e-04 -9.99954328e-01 -1.80637362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 788.016559995 meters 0.017107251795090716 Centerline is valid? [True, True] Translation: X:-150.11, Y:-258.77, Z:-1.81 [[-7.05392324e-02 -9.97508907e-01 4.44636424e-04 -1.50105694e+02] [-9.97461953e-01 7.05402275e-02 9.68134132e-03 -2.58765877e+02] [-9.68858895e-03 2.39406470e-04 -9.99953036e-01 -1.80623395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 788.0465599949999 meters 0.016067087647752783 Centerline is valid? [True, True] Translation: X:-150.14, Y:-258.89, Z:-1.81 [[ 6.63426117e-03 -9.99977944e-01 -3.12179779e-04 -1.50138120e+02] [-9.99928051e-01 -6.63704956e-03 9.99211330e-03 -2.58887008e+02] [-9.99396487e-03 2.45867029e-04 -9.99950029e-01 -1.80652415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 788.0765599949999 meters 0.015831436666724045 Centerline is valid? [True, True] Translation: X:-150.16, Y:-259.01, Z:-1.81 [[ 8.36609819e-02 -9.96493662e-01 -1.10510256e-03 -1.50158955e+02] [-9.96441880e-01 -8.36679038e-02 1.01618098e-02 -2.59008070e+02] [-1.02186407e-02 2.51023484e-04 -9.99947757e-01 -1.80662732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 788.106559995 meters 0.01593437386253266 Centerline is valid? [True, True] Translation: X:-150.86, Y:-259.20, Z:-2.78 [[ 6.46269848e-02 9.97909391e-01 -4.46591320e-04 -1.50858050e+02] [-9.97853645e-01 6.46280962e-02 1.05504738e-02 -2.59195067e+02] [ 1.05572793e-02 -2.36212536e-04 9.99944243e-01 -2.77820518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 788.136559995 meters 0.016140031365399585 Centerline is valid? [True, True] Translation: X:-150.13, Y:-259.29, Z:-1.81 [[ 9.38211043e-02 -9.95588318e-01 -1.22525939e-03 -1.50131702e+02] [-9.95534673e-01 -9.38287720e-02 1.03380666e-02 -2.59294156e+02] [-1.04074229e-02 2.49859382e-04 -9.99945810e-01 -1.80657709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 788.166559995 meters 0.015879034420432377 Centerline is valid? [True, True] Translation: X:-150.14, Y:-259.41, Z:-1.81 [[ 1.70614634e-01 -9.85336003e-01 -1.89966065e-03 -1.50142440e+02] [-9.85289127e-01 -1.70625053e-01 9.61391139e-03 -2.59414947e+02] [-9.79706272e-03 2.31441012e-04 -9.99951981e-01 -1.80704501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 788.1965599949999 meters 0.015760377263335675 Centerline is valid? [True, True] Translation: X:-150.14, Y:-259.54, Z:-1.81 [[ 2.47148416e-01 -9.68974453e-01 -2.48414440e-03 -1.50144652e+02] [-9.68933585e-01 -2.47160813e-01 8.90170978e-03 -2.59538954e+02] [-9.23951251e-03 2.06927467e-04 -9.99957294e-01 -1.80710485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 788.226559995 meters 0.0154939463618644 Centerline is valid? [True, True] Translation: X:-150.14, Y:-259.66, Z:-1.81 [[ 3.21991767e-01 -9.46737450e-01 -3.08281518e-03 -1.50137796e+02] [-9.46699599e-01 -3.22006467e-01 8.46786318e-03 -2.59658633e+02] [-9.00952962e-03 1.91917662e-04 -9.99959395e-01 -1.80708813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 788.256559995 meters 0.014859019118452868 Centerline is valid? [True, True] Translation: X:-150.12, Y:-259.78, Z:-1.81 [[ 3.96442494e-01 -9.18051682e-01 -3.80249275e-03 -1.50122799e+02] [-9.18013450e-01 -3.96460694e-01 8.37997339e-03 -2.59779638e+02] [-9.20078758e-03 1.68561940e-04 -9.99957658e-01 -1.80683716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 788.286559995 meters 0.014186897123505323 Centerline is valid? [True, True] Translation: X:-150.10, Y:-259.90, Z:-1.81 [[ 4.67239803e-01 -8.84119702e-01 -4.39530774e-03 -1.50098769e+02] [-8.84083577e-01 -4.67260451e-01 7.99375802e-03 -2.59896840e+02] [-9.12119244e-03 1.50817464e-04 -9.99958390e-01 -1.80729686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 788.3165599949999 meters 0.013687961196408093 Centerline is valid? [True, True] Translation: X:-150.07, Y:-260.01, Z:-1.81 [[ 5.35099883e-01 -8.44774350e-01 -4.94082996e-03 -1.50067119e+02] [-8.44740598e-01 -5.35122677e-01 7.55262386e-03 -2.60009605e+02] [-9.02421307e-03 1.32311511e-04 -9.99959272e-01 -1.80737517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 788.3465599949999 meters 0.01335351497453734 Centerline is valid? [True, True] Translation: X:-150.03, Y:-260.12, Z:-1.81 [[ 5.99560907e-01 -8.00311662e-01 -5.28801690e-03 -1.50026950e+02] [-8.00282153e-01 -5.99584216e-01 6.87338237e-03 -2.60118980e+02] [-8.67145953e-03 1.10894182e-04 -9.99962396e-01 -1.80737457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 788.376559995 meters 0.012765511107544125 Centerline is valid? [True, True] Translation: X:-149.98, Y:-260.23, Z:-1.81 [[ 6.61904690e-01 -7.49568710e-01 -5.37866217e-03 -1.49981378e+02] [-7.49544815e-01 -6.61926540e-01 5.98556240e-03 -2.60226729e+02] [-8.04686953e-03 6.96765076e-05 -9.99967621e-01 -1.80748050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 788.406559995 meters 0.012315327431764438 Centerline is valid? [True, True] Translation: X:-149.94, Y:-260.32, Z:-1.81 [[ 7.19546054e-01 -6.94426177e-01 -5.07552145e-03 -1.49936922e+02] [-6.94409240e-01 -7.19563954e-01 4.85008230e-03 -2.60321329e+02] [-7.02018639e-03 3.46314141e-05 -9.99975358e-01 -1.80758110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 788.4365599949999 meters 0.012194002562340371 Centerline is valid? [True, True] Translation: X:-149.94, Y:-260.33, Z:-1.81 [[ 7.72768134e-01 -6.34663988e-01 -5.57078266e-03 -1.49941333e+02] [-6.34647709e-01 -7.72788213e-01 4.54566980e-03 -2.60333133e+02] [-7.19000810e-03 2.27356787e-05 -9.99974151e-01 -1.80756912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 788.4665599949999 meters 0.012167611032085116 Centerline is valid? [True, True] Translation: X:-149.94, Y:-260.34, Z:-1.81 [[ 8.20994450e-01 -5.70904574e-01 -6.00681298e-03 -1.49943942e+02] [-5.70889390e-01 -8.21016424e-01 4.16372424e-03 -2.60344570e+02] [-7.30878132e-03 1.08313061e-05 -9.99973291e-01 -1.80719686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 788.496559995 meters 0.012112852010795675 Centerline is valid? [True, True] Translation: X:-149.95, Y:-260.36, Z:-1.81 [[ 8.63871628e-01 -5.03670535e-01 -6.46550576e-03 -1.49946037e+02] [-5.03656430e-01 -8.63895822e-01 3.76951441e-03 -2.60356894e+02] [-7.48411675e-03 1.69991052e-08 -9.99971994e-01 -1.80716902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 788.526559995 meters 0.012174340368138388 Centerline is valid? [True, True] Translation: X:-149.95, Y:-260.37, Z:-1.81 [[ 9.02057153e-01 -4.31544423e-01 -7.89330695e-03 -1.49947881e+02] [-4.31527613e-01 -9.02091686e-01 3.80915103e-03 -2.60370629e+02] [-8.76430446e-03 -2.98920291e-05 -9.99961592e-01 -1.80582046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 788.5565599949999 meters 0.01227998264446415 Centerline is valid? [True, True] Translation: X:-149.95, Y:-260.38, Z:-1.81 [[ 9.33666520e-01 -3.58041036e-01 -8.57007575e-03 -1.49946832e+02] [-3.58025485e-01 -9.33705850e-01 3.33736476e-03 -2.60382827e+02] [-9.19684340e-03 -4.76802151e-05 -9.99957707e-01 -1.80568808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 788.5865599949999 meters 0.012636166987345085 Centerline is valid? [True, True] Translation: X:-149.95, Y:-260.40, Z:-1.80 [[ 9.59715315e-01 -2.80806548e-01 -9.70554657e-03 -1.49945948e+02] [-2.80791286e-01 -9.59764385e-01 2.92895572e-03 -2.60396123e+02] [-1.01375079e-02 -8.57307600e-05 -9.99948611e-01 -1.80450471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 788.616559995 meters 0.01280546350205174 Centerline is valid? [True, True] Translation: X:-149.94, Y:-260.41, Z:-1.80 [[ 9.79016105e-01 -2.03526748e-01 -1.02141648e-02 -1.49941900e+02] [-2.03514567e-01 -9.79069381e-01 2.22915919e-03 -2.60406633e+02] [-1.04540695e-02 -1.03651429e-04 -9.99945349e-01 -1.80410339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 788.646559995 meters 0.013196271541220645 Centerline is valid? [True, True] Translation: X:-149.94, Y:-260.42, Z:-1.80 [[ 9.92087780e-01 -1.25081145e-01 -1.07955638e-02 -1.49937987e+02] [-1.25072401e-01 -9.92146507e-01 1.48403618e-03 -2.60416018e+02] [-1.08964059e-02 -1.22067076e-04 -9.99940625e-01 -1.80348624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 788.6765599949999 meters 0.013263353325398306 Centerline is valid? [True, True] Translation: X:-149.94, Y:-260.42, Z:-1.80 [[ 9.98904613e-01 -4.55103503e-02 -1.08803720e-02 -1.49935906e+02] [-4.55061370e-02 -9.98963858e-01 6.34621567e-04 -2.60424793e+02] [-1.08979802e-02 -1.38802711e-04 -9.99940606e-01 -1.80362871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 788.7065599949999 meters 0.01347205751538434 Centerline is valid? [True, True] Translation: X:-149.93, Y:-260.43, Z:-1.80 [[ 9.99394847e-01 3.32717162e-02 -1.01455424e-02 -1.49933959e+02] [ 3.32713550e-02 -9.99446334e-01 -2.04435183e-04 -2.60431681e+02] [-1.01467271e-02 -1.33244475e-04 -9.99948512e-01 -1.80392525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 788.736559995 meters 0.013705646492936461 Centerline is valid? [True, True] Translation: X:-149.93, Y:-260.44, Z:-1.80 [[ 9.93740841e-01 1.11307096e-01 -9.48007260e-03 -1.49931594e+02] [ 1.11303226e-01 -9.93786051e-01 -9.36494598e-04 -2.60436876e+02] [-9.52540240e-03 -1.24529734e-04 -9.99954625e-01 -1.80404583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 788.766559995 meters 0.01364159588550268 Centerline is valid? [True, True] Translation: X:-149.93, Y:-260.44, Z:-1.80 [[ 9.81999487e-01 1.88662453e-01 -9.13704754e-03 -1.49928638e+02] [ 1.88655424e-01 -9.82041987e-01 -1.63297325e-03 -2.60439538e+02] [-9.28104506e-03 -1.20174689e-04 -9.99956923e-01 -1.80469353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 788.7965599949999 meters 0.013147682311222576 Centerline is valid? [True, True] Translation: X:-149.92, Y:-260.44, Z:-1.81 [[ 9.64275700e-01 2.64765630e-01 -8.45792083e-03 -1.49924208e+02] [ 2.64756457e-01 -9.64312786e-01 -2.20670543e-03 -2.60444725e+02] [-8.74034096e-03 -1.11416726e-04 -9.99961796e-01 -1.80591609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 788.8265599949999 meters 0.013142976964546301 Centerline is valid? [True, True] Translation: X:-149.92, Y:-260.45, Z:-1.81 [[ 9.40482913e-01 3.39739771e-01 -8.29333610e-03 -1.49918695e+02] [ 3.39727635e-01 -9.40519471e-01 -2.87391768e-03 -2.60451894e+02] [-8.77642821e-03 -1.14604984e-04 -9.99961480e-01 -1.80597307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 788.856559995 meters 0.013207747781470968 Centerline is valid? [True, True] Translation: X:-149.91, Y:-260.46, Z:-1.81 [[ 9.10705911e-01 4.12975047e-01 -8.14579519e-03 -1.49912713e+02] [ 4.12959729e-01 -9.10742332e-01 -3.55907534e-03 -2.60459179e+02] [-8.88852981e-03 -1.22614424e-04 -9.99960489e-01 -1.80567966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 788.886559995 meters 0.014534033326391223 Centerline is valid? [True, True] Translation: X:-149.91, Y:-260.47, Z:-1.80 [[ 8.75202940e-01 4.83685582e-01 -8.25056821e-03 -1.49905976e+02] [ 4.83665552e-01 -8.75241818e-01 -4.40395533e-03 -2.60468949e+02] [-9.35137201e-03 -1.36160971e-04 -9.99956266e-01 -1.80348990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 788.916559995 meters 0.013766815362290937 Centerline is valid? [True, True] Translation: X:-149.90, Y:-260.47, Z:-1.80 [[ 8.34100922e-01 5.51552804e-01 -8.07192942e-03 -1.49900775e+02] [ 5.51528704e-01 -8.34139966e-01 -5.15818852e-03 -2.60472548e+02] [-9.57813227e-03 -1.49450968e-04 -9.99954118e-01 -1.80478340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 788.9465599949999 meters 0.015543469189027572 Centerline is valid? [True, True] Translation: X:-149.89, Y:-260.48, Z:-1.80 [[ 7.87218250e-01 6.16629896e-01 -7.41601536e-03 -1.49893558e+02] [ 6.16604464e-01 -7.87253164e-01 -5.60268223e-03 -2.60480247e+02] [-9.29306292e-03 -1.62214473e-04 -9.99956806e-01 -1.80331865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 788.976559995 meters 0.014837601205405192 Centerline is valid? [True, True] Translation: X:-149.89, Y:-260.48, Z:-1.80 [[ 7.35827732e-01 6.77133903e-01 -6.87206380e-03 -1.49889531e+02] [ 6.77106515e-01 -7.35859802e-01 -6.09259374e-03 -2.60481447e+02] [-9.18237729e-03 -1.70019729e-04 -9.99957827e-01 -1.80450901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 789.006559995 meters 0.014541390242709524 Centerline is valid? [True, True] Translation: X:-149.88, Y:-260.48, Z:-1.81 [[ 6.80034101e-01 7.33153575e-01 -6.28144109e-03 -1.49882915e+02] [ 7.33124638e-01 -6.80063089e-01 -6.51613575e-03 -2.60484397e+02] [-9.04910446e-03 -1.73884711e-04 -9.99959041e-01 -1.80511730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 789.036559995 meters 0.014970479735558234 Centerline is valid? [True, True] Translation: X:-149.88, Y:-260.49, Z:-1.80 [[ 6.20221151e-01 7.84406097e-01 -5.72702341e-03 -1.49877549e+02] [ 7.84375256e-01 -6.20247566e-01 -6.95798153e-03 -2.60487574e+02] [-9.01005546e-03 -1.76648145e-04 -9.99959393e-01 -1.80499458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 789.0665599949999 meters 0.014693104484727085 Centerline is valid? [True, True] Translation: X:-149.87, Y:-260.49, Z:-1.81 [[ 5.56978085e-01 8.30510077e-01 -5.33155385e-03 -1.49871866e+02] [ 8.30475109e-01 -5.57003572e-01 -7.62324422e-03 -2.60489893e+02] [-9.30087568e-03 -1.81742799e-04 -9.99956730e-01 -1.80541255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 789.0965599949999 meters 0.014820389591311624 Centerline is valid? [True, True] Translation: X:-149.87, Y:-260.49, Z:-1.81 [[ 4.90519776e-01 8.71417426e-01 -4.69258871e-03 -1.49866586e+02] [ 8.71380957e-01 -4.90542189e-01 -7.97427336e-03 -2.60492206e+02] [-9.25083350e-03 -1.77493668e-04 -9.99957194e-01 -1.80528165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 789.126559995 meters 0.014367561130006545 Centerline is valid? [True, True] Translation: X:-149.86, Y:-260.49, Z:-1.81 [[ 4.21173244e-01 9.06971621e-01 -3.94689006e-03 -1.49860266e+02] [ 9.06935475e-01 -4.21191704e-01 -8.09897698e-03 -2.60493913e+02] [-9.00793962e-03 -1.68502199e-04 -9.99959414e-01 -1.80571941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 789.156559995 meters 0.014737991458077547 Centerline is valid? [True, True] Translation: X:-149.85, Y:-260.50, Z:-1.80 [[ 3.50141905e-01 9.36691201e-01 -3.20010008e-03 -1.49853623e+02] [ 9.36655942e-01 -3.50156496e-01 -8.12862663e-03 -2.60496693e+02] [-8.73454887e-03 -1.51219943e-04 -9.99961842e-01 -1.80497128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 789.1865599949999 meters 0.013883489954750871 Centerline is valid? [True, True] Translation: X:-149.85, Y:-260.50, Z:-1.81 [[ 2.76269571e-01 9.61077126e-01 -2.42529269e-03 -1.49847499e+02] [ 9.61044386e-01 -2.76280181e-01 -7.93403933e-03 -2.60497838e+02] [-8.29528402e-03 -1.38880288e-04 -9.99965584e-01 -1.80604350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 789.2165599949999 meters 0.014014949335385763 Centerline is valid? [True, True] Translation: X:-149.84, Y:-260.50, Z:-1.81 [[ 2.00690000e-01 9.79653263e-01 -1.73466189e-03 -1.49840129e+02] [ 9.79622048e-01 -2.00697454e-01 -7.82147045e-03 -2.60499589e+02] [-8.01047127e-03 -1.29622128e-04 -9.99967907e-01 -1.80586762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 789.246559995 meters 0.013843218456188435 Centerline is valid? [True, True] Translation: X:-149.84, Y:-260.50, Z:-1.81 [[ 1.24209086e-01 9.92255405e-01 -1.14612330e-03 -1.49835429e+02] [ 9.92221992e-01 -1.24214310e-01 -8.14388455e-03 -2.60500220e+02] [-8.22317838e-03 -1.25664281e-04 -9.99966181e-01 -1.80567300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 789.276559995 meters 0.01357626094853394 Centerline is valid? [True, True] Translation: X:-149.83, Y:-260.50, Z:-1.81 [[ 4.66173694e-02 9.98912687e-01 -5.15057662e-04 -1.49828333e+02] [ 9.98877596e-01 -4.66200494e-02 -8.37372268e-03 -2.60500279e+02] [-8.38862983e-03 -1.24118636e-04 -9.99964807e-01 -1.80577678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 789.3065599949999 meters 0.013737235200582273 Centerline is valid? [True, True] Translation: X:-149.82, Y:-260.50, Z:-1.81 [[-3.17728261e-02 9.99495105e-01 1.52261496e-04 -1.49821454e+02] [ 9.99454920e-01 3.17729142e-02 -8.96358287e-03 -2.60501249e+02] [-8.96389500e-03 -1.32619859e-04 -9.99959815e-01 -1.80539763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 789.3365599949999 meters 0.013537391648480765 Centerline is valid? [True, True] Translation: X:-149.81, Y:-260.50, Z:-1.81 [[-1.09688670e-01 9.93965626e-01 8.54770664e-04 -1.49813831e+02] [ 9.93925469e-01 1.09691922e-01 -8.93558774e-03 -2.60500410e+02] [-8.97542850e-03 -1.30554399e-04 -9.99959712e-01 -1.80542803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 789.366559995 meters 0.013609313300653254 Centerline is valid? [True, True] Translation: X:-149.81, Y:-260.50, Z:-1.81 [[-1.87173112e-01 9.82325597e-01 1.62706754e-03 -1.49806381e+02] [ 9.82281884e-01 1.87180134e-01 -9.26814526e-03 -2.60500135e+02] [-9.40889105e-03 -1.36508626e-04 -9.99955726e-01 -1.80512431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 789.396559995 meters 0.01353709405434372 Centerline is valid? [True, True] Translation: X:-149.80, Y:-260.50, Z:-1.81 [[-2.63417141e-01 9.64679018e-01 2.40862810e-03 -1.49798860e+02] [ 9.64633736e-01 2.63428116e-01 -9.34786499e-03 -2.60498661e+02] [-9.65218958e-03 -1.38943940e-04 -9.99953407e-01 -1.80514495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 789.4265599949999 meters 0.013579104378938717 Centerline is valid? [True, True] Translation: X:-149.79, Y:-260.50, Z:-1.80 [[-3.37649156e-01 9.41266522e-01 3.22208411e-03 -1.49792411e+02] [ 9.41219709e-01 3.37664502e-01 -9.38846593e-03 -2.60498536e+02] [-9.92503210e-03 -1.37318533e-04 -9.99950736e-01 -1.80462209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 789.4565599949999 meters 0.01359824073427412 Centerline is valid? [True, True] Translation: X:-149.79, Y:-260.50, Z:-1.80 [[-4.09958232e-01 9.12096466e-01 3.77960024e-03 -1.49787352e+02] [ 9.12054790e-01 4.09975634e-01 -8.72005650e-03 -2.60498236e+02] [-9.50307672e-03 -1.27656441e-04 -9.99954837e-01 -1.80493682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 789.486559995 meters 0.01323314459186697 Centerline is valid? [True, True] Translation: X:-149.78, Y:-260.50, Z:-1.81 [[-4.79355626e-01 8.77611364e-01 4.05936740e-03 -1.49782557e+02] [ 8.77577960e-01 4.79372802e-01 -7.65773247e-03 -2.60496391e+02] [-8.66646335e-03 -1.08365779e-04 -9.99962440e-01 -1.80616011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 789.516559995 meters 0.013157519487669059 Centerline is valid? [True, True] Translation: X:-149.78, Y:-260.49, Z:-1.81 [[-5.46064978e-01 8.37731544e-01 4.34737010e-03 -1.49776590e+02] [ 8.37703586e-01 5.46082275e-01 -6.84479893e-03 -2.60493842e+02] [-8.10812573e-03 -9.58974558e-05 -9.99967124e-01 -1.80651367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 789.5465599949999 meters 0.013077166153954845 Centerline is valid? [True, True] Translation: X:-149.77, Y:-260.49, Z:-1.81 [[-6.09570832e-01 7.92717884e-01 4.66445571e-03 -1.49771158e+02] [ 7.92693571e-01 6.09588671e-01 -6.20917103e-03 -2.60491285e+02] [-7.76552028e-03 -8.74454919e-05 -9.99969844e-01 -1.80639175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 789.5765599949999 meters 0.013159434250602032 Centerline is valid? [True, True] Translation: X:-149.77, Y:-260.49, Z:-1.81 [[-6.69529407e-01 7.42767770e-01 5.13942424e-03 -1.49765794e+02] [ 7.42744909e-01 6.69549127e-01 -5.82810268e-03 -2.60489588e+02] [-7.77002384e-03 -8.48049337e-05 -9.99969809e-01 -1.80617767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 789.606559995 meters 0.013336482613870652 Centerline is valid? [True, True] Translation: X:-149.76, Y:-260.49, Z:-1.81 [[-7.25419311e-01 6.88285648e-01 5.44897322e-03 -1.49761395e+02] [ 6.88265393e-01 7.25439771e-01 -5.28091625e-03 -2.60487731e+02] [-7.58768074e-03 -8.05389307e-05 -9.99971210e-01 -1.80560655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 789.636559995 meters 0.013316072256547747 Centerline is valid? [True, True] Translation: X:-149.29, Y:-260.01, Z:-2.78 [[-6.61118508e-01 -7.50266299e-01 4.77479535e-03 -1.49287456e+02] [ 7.50247284e-01 -6.61135749e-01 -5.34175230e-03 -2.60010385e+02] [ 7.16452463e-03 5.07459394e-05 9.99974333e-01 -2.77894999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 789.666559995 meters 0.013316072256547747 Centerline is valid? [True, True] Translation: X:-149.31, Y:-259.99, Z:-2.78 [[-6.61344854e-01 -7.50066633e-01 4.79891503e-03 -1.49305472e+02] [ 7.50047771e-01 -6.61362260e-01 -5.32000788e-03 -2.59990600e+02] [ 7.16418169e-03 8.10556848e-05 9.99974334e-01 -2.77896039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 789.6965599949999 meters 0.013156296727457988 Centerline is valid? [True, True] Translation: X:-149.32, Y:-259.97, Z:-2.78 [[-6.60942751e-01 -7.50420571e-01 4.86283628e-03 -1.49323575e+02] [ 7.50401234e-01 -6.60960634e-01 -5.38781820e-03 -2.59968572e+02] [ 7.25727296e-03 8.80389606e-05 9.99973662e-01 -2.77857220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 789.726559995 meters 0.013878106744120574 Centerline is valid? [True, True] Translation: X:-149.34, Y:-259.95, Z:-2.78 [[-6.60555420e-01 -7.50760072e-01 5.08443382e-03 -1.49342397e+02] [ 7.50738971e-01 -6.60574981e-01 -5.62957756e-03 -2.59949687e+02] [ 7.58511182e-03 9.84346430e-05 9.99971228e-01 -2.77948699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 789.756559995 meters 0.013665540584748852 Centerline is valid? [True, True] Translation: X:-149.36, Y:-259.93, Z:-2.78 [[-6.59268132e-01 -7.51888364e-01 5.42384174e-03 -1.49360105e+02] [ 7.51864418e-01 -6.59290432e-01 -6.00194602e-03 -2.59927666e+02] [ 8.08868034e-03 1.21101876e-04 9.99967279e-01 -2.77937754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 789.786559995 meters 0.014093878678136232 Centerline is valid? [True, True] Translation: X:-149.38, Y:-259.91, Z:-2.78 [[-6.58734706e-01 -7.52353260e-01 5.75836223e-03 -1.49378638e+02] [ 7.52326320e-01 -6.58759860e-01 -6.36828490e-03 -2.59908200e+02] [ 8.58457781e-03 1.37157183e-04 9.99963143e-01 -2.78014671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 789.8165599949999 meters 0.014147056749146611 Centerline is valid? [True, True] Translation: X:-149.40, Y:-259.89, Z:-2.78 [[-6.58122388e-01 -7.52887236e-01 5.97763341e-03 -1.49396978e+02] [ 7.52858261e-01 -6.58149517e-01 -6.60701942e-03 -2.59886972e+02] [ 8.90851713e-03 1.52083290e-04 9.99960307e-01 -2.78005839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 789.8465599949999 meters 0.015168640637242142 Centerline is valid? [True, True] Translation: X:-149.42, Y:-259.87, Z:-2.78 [[-6.57402450e-01 -7.53514962e-01 6.10092666e-03 -1.49415707e+02] [ 7.53484843e-01 -6.57430738e-01 -6.73925101e-03 -2.59866963e+02] [ 9.08906318e-03 1.66555638e-04 9.99958680e-01 -2.78115949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 789.876559995 meters 0.014749691445969706 Centerline is valid? [True, True] Translation: X:-149.43, Y:-259.85, Z:-2.78 [[-6.57297461e-01 -7.53607141e-01 6.02698098e-03 -1.49432679e+02] [ 7.53577789e-01 -6.57325071e-01 -6.65335935e-03 -2.59845390e+02] [ 8.97570482e-03 1.68562786e-04 9.99959703e-01 -2.78068547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 789.906559995 meters 0.014675356746396619 Centerline is valid? [True, True] Translation: X:-149.45, Y:-259.82, Z:-2.78 [[-6.57341164e-01 -7.53566547e-01 6.32883474e-03 -1.49450641e+02] [ 7.53534217e-01 -6.57371605e-01 -6.98261809e-03 -2.59823605e+02] [ 9.42226365e-03 1.79031229e-04 9.99955594e-01 -2.78075018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 789.9365599949999 meters 0.01577343624901794 Centerline is valid? [True, True] Translation: X:-149.47, Y:-259.80, Z:-2.78 [[-6.57394863e-01 -7.53519572e-01 6.34420707e-03 -1.49469278e+02] [ 7.53487126e-01 -6.57425450e-01 -6.99490052e-03 -2.59804854e+02] [ 9.44163763e-03 1.81866679e-04 9.99955410e-01 -2.78184079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 789.9665599949999 meters 0.015262189773055433 Centerline is valid? [True, True] Translation: X:-149.49, Y:-259.78, Z:-2.78 [[-6.57079379e-01 -7.53796403e-01 6.13780871e-03 -1.49485317e+02] [ 7.53766085e-01 -6.57108020e-01 -6.76309311e-03 -2.59782966e+02] [ 9.13119859e-03 1.82583018e-04 9.99958293e-01 -2.78152112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 789.996559995 meters 0.015494843560695769 Centerline is valid? [True, True] Translation: X:-149.50, Y:-259.76, Z:-2.78 [[-6.56980489e-01 -7.53880607e-01 6.37707060e-03 -1.49503093e+02] [ 7.53847925e-01 -6.57011410e-01 -7.02235070e-03 -2.59762688e+02] [ 9.48382215e-03 1.93794046e-04 9.99955009e-01 -2.78192724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 790.026559995 meters 0.016025584332496196 Centerline is valid? [True, True] Translation: X:-149.52, Y:-259.74, Z:-2.78 [[-6.57161350e-01 -7.53722507e-01 6.42987296e-03 -1.49520553e+02] [ 7.53689318e-01 -6.57192776e-01 -7.07587432e-03 -2.59743527e+02] [ 9.55891179e-03 1.96135444e-04 9.99954293e-01 -2.78272052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 790.0565599949999 meters 0.015533051753420941 Centerline is valid? [True, True] Translation: X:-149.54, Y:-259.72, Z:-2.78 [[-6.57484489e-01 -7.53436119e-01 6.93986198e-03 -1.49536211e+02] [ 7.53397489e-01 -6.57521080e-01 -7.63234096e-03 -2.59720280e+02] [ 1.03135869e-02 2.10328792e-04 9.99946792e-01 -2.78269444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 790.0865599949999 meters 0.016269745505408332 Centerline is valid? [True, True] Translation: X:-149.55, Y:-259.70, Z:-2.78 [[-6.57527309e-01 -7.53396265e-01 7.20452527e-03 -1.49553969e+02] [ 7.53354672e-01 -6.57566741e-01 -7.91959639e-03 -2.59700913e+02] [ 1.07040505e-02 2.20211865e-04 9.99942686e-01 -2.78357442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 790.116559995 meters 0.015876253451639486 Centerline is valid? [True, True] Translation: X:-149.57, Y:-259.68, Z:-2.78 [[-6.57237139e-01 -7.53651029e-01 7.03349399e-03 -1.49571884e+02] [ 7.53611451e-01 -6.57274735e-01 -7.72679421e-03 -2.59680383e+02] [ 1.04462443e-02 2.22185488e-04 9.99945412e-01 -2.78261921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 790.146559995 meters 0.017228057414262036 Centerline is valid? [True, True] Translation: X:-149.59, Y:-259.66, Z:-2.78 [[-6.56189430e-01 -7.54564077e-01 6.96309767e-03 -1.49592580e+02] [ 7.54525385e-01 -6.56226330e-01 -7.64501057e-03 -2.59662669e+02] [ 1.03380184e-02 2.37258816e-04 9.99946533e-01 -2.78354303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 790.1765599949999 meters 0.016372648553603052 Centerline is valid? [True, True] Translation: X:-149.61, Y:-259.64, Z:-2.78 [[-6.56283282e-01 -7.54482009e-01 7.01082798e-03 -1.49610737e+02] [ 7.54442830e-01 -6.56320684e-01 -7.69261667e-03 -2.59641838e+02] [ 1.04052923e-02 2.40733183e-04 9.99945835e-01 -2.78311476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 790.2065599949999 meters 0.01708886818832043 Centerline is valid? [True, True] Translation: X:-149.63, Y:-259.62, Z:-2.78 [[-6.56571640e-01 -7.54231228e-01 6.99540854e-03 -1.49630285e+02] [ 7.54192259e-01 -6.56608862e-01 -7.67067881e-03 -2.59624000e+02] [ 1.03787127e-02 2.39532800e-04 9.99946111e-01 -2.78362807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 790.236559995 meters 0.016015089855981393 Centerline is valid? [True, True] Translation: X:-149.65, Y:-259.60, Z:-2.78 [[-6.57402037e-01 -7.53510611e-01 6.65735533e-03 -1.49648213e+02] [ 7.53475326e-01 -6.57435708e-01 -7.29542942e-03 -2.59603089e+02] [ 9.87396660e-03 2.20122810e-04 9.99951227e-01 -2.78321021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 790.266559995 meters 0.015303123226489555 Centerline is valid? [True, True] Translation: X:-149.67, Y:-259.58, Z:-2.78 [[-6.59083322e-01 -7.52042682e-01 6.40146388e-03 -1.49666893e+02] [ 7.52010025e-01 -6.59114381e-01 -7.01109327e-03 -2.59581762e+02] [ 9.49193829e-03 1.93070368e-04 9.99954932e-01 -2.78305218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 790.2965599949999 meters 0.015086605162029663 Centerline is valid? [True, True] Translation: X:-149.68, Y:-259.56, Z:-2.78 [[-6.60461917e-01 -7.50833942e-01 6.20065279e-03 -1.49684483e+02] [ 7.50803289e-01 -6.60491001e-01 -6.78669002e-03 -2.59562219e+02] [ 9.19115258e-03 1.73120211e-04 9.99957746e-01 -2.78315922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 790.3265599949999 meters 0.014675179621590278 Centerline is valid? [True, True] Translation: X:-149.70, Y:-259.54, Z:-2.78 [[-6.61755664e-01 -7.49696937e-01 5.82616848e-03 -1.49702840e+02] [ 7.49669861e-01 -6.61781293e-01 -6.37327931e-03 -2.59540674e+02] [ 8.63367729e-03 1.50149237e-04 9.99962718e-01 -2.78296612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 790.356559995 meters 0.014001526513594457 Centerline is valid? [True, True] Translation: X:-149.72, Y:-259.52, Z:-2.78 [[-6.64688479e-01 -7.47097826e-01 5.83646281e-03 -1.49719664e+02] [ 7.47070585e-01 -6.64714092e-01 -6.38103386e-03 -2.59518730e+02] [ 8.64683560e-03 1.18849991e-04 9.99962608e-01 -2.78305653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 790.386559995 meters 0.013341274433982043 Centerline is valid? [True, True] Translation: X:-149.74, Y:-259.50, Z:-2.78 [[-6.66528728e-01 -7.45455031e-01 6.02089298e-03 -1.49736229e+02] [ 7.45426011e-01 -6.66555914e-01 -6.57852460e-03 -2.59497231e+02] [ 8.91725608e-03 1.03354601e-04 9.99960235e-01 -2.78296804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 790.416559995 meters 0.01283488309782302 Centerline is valid? [True, True] Translation: X:-149.75, Y:-259.48, Z:-2.78 [[-6.69948607e-01 -7.42375091e-01 6.93459289e-03 -1.49752528e+02] [ 7.42336477e-01 -6.69984491e-01 -7.57205482e-03 -2.59475571e+02] [ 1.02673746e-02 7.49136881e-05 9.99947286e-01 -2.78438625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 790.4465599949999 meters 0.012700122922880808 Centerline is valid? [True, True] Translation: X:-149.77, Y:-259.46, Z:-2.79 [[-6.71778192e-01 -7.40718112e-01 7.12313394e-03 -1.49770143e+02] [ 7.40677328e-01 -6.71815954e-01 -7.77304470e-03 -2.59455209e+02] [ 1.05430700e-02 5.41818917e-05 9.99944419e-01 -2.78516803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 790.476559995 meters 0.012627416720004742 Centerline is valid? [True, True] Translation: X:-149.79, Y:-259.44, Z:-2.79 [[-6.73244519e-01 -7.39384973e-01 7.18881360e-03 -1.49787246e+02] [ 7.39343412e-01 -6.73282898e-01 -7.83956298e-03 -2.59435702e+02] [ 1.06365603e-02 3.70591677e-05 9.99943430e-01 -2.78592921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 790.506559995 meters 0.012535081650011732 Centerline is valid? [True, True] Translation: X:-149.81, Y:-259.42, Z:-2.79 [[-6.74448436e-01 -7.38287640e-01 7.11808150e-03 -1.49805229e+02] [ 7.38246883e-01 -6.74485997e-01 -7.75761163e-03 -2.59415220e+02] [ 1.05283951e-02 2.27924451e-05 9.99944575e-01 -2.78541751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 790.536559995 meters 0.012501536015204321 Centerline is valid? [True, True] Translation: X:-149.82, Y:-259.39, Z:-2.78 [[-6.75862456e-01 -7.37000423e-01 6.34961320e-03 -1.49823901e+02] [ 7.36967975e-01 -6.75892282e-01 -6.91577739e-03 -2.59394917e+02] [ 9.38858541e-03 5.34729256e-06 9.99955926e-01 -2.78428425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 790.5665599949999 meters 0.012484203111172085 Centerline is valid? [True, True] Translation: X:-149.84, Y:-259.37, Z:-2.78 [[-6.76526949e-01 -7.36391768e-01 6.20096448e-03 -1.49842677e+02] [ 7.36360834e-01 -6.76555367e-01 -6.74963006e-03 -2.59374819e+02] [ 9.16566781e-03 -1.59250085e-07 9.99957995e-01 -2.78388594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 790.5965599949999 meters 0.012502923133272488 Centerline is valid? [True, True] Translation: X:-149.86, Y:-259.35, Z:-2.78 [[-6.77052203e-01 -7.35910341e-01 6.02361883e-03 -1.49861455e+02] [ 7.35881166e-01 -6.77078998e-01 -6.55290942e-03 -2.59354480e+02] [ 8.90081961e-03 -3.99411366e-06 9.99960387e-01 -2.78361619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 790.626559995 meters 0.012499543707102349 Centerline is valid? [True, True] Translation: X:-149.88, Y:-259.33, Z:-2.78 [[-6.77440860e-01 -7.35551993e-01 6.09481813e-03 -1.49880403e+02] [ 7.35522143e-01 -6.77468276e-01 -6.62663437e-03 -2.59333719e+02] [ 9.00328005e-03 -6.27919821e-06 9.99959470e-01 -2.78366948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 790.656559995 meters 0.012617122046683658 Centerline is valid? [True, True] Translation: X:-149.90, Y:-259.31, Z:-2.78 [[-6.77694642e-01 -7.35317756e-01 6.14581285e-03 -1.49897767e+02] [ 7.35287424e-01 -6.77722508e-01 -6.67881248e-03 -2.59314354e+02] [ 9.07620510e-03 -7.25652877e-06 9.99958811e-01 -2.78393040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 790.6865599949999 meters 0.012650058231406127 Centerline is valid? [True, True] Translation: X:-149.92, Y:-259.29, Z:-2.78 [[-6.77968877e-01 -7.35065713e-01 6.04970945e-03 -1.49916107e+02] [ 7.35036349e-01 -6.77995868e-01 -6.57025447e-03 -2.59294245e+02] [ 8.93124679e-03 -7.67169293e-06 9.99960116e-01 -2.78382139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 790.7165599949999 meters 0.01259696637850806 Centerline is valid? [True, True] Translation: X:-149.93, Y:-259.27, Z:-2.78 [[-6.78068881e-01 -7.34974407e-01 5.93403310e-03 -1.49934829e+02] [ 7.34946187e-01 -6.78094846e-01 -6.44059285e-03 -2.59274114e+02] [ 8.75750818e-03 -5.97058583e-06 9.99961652e-01 -2.78360635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 790.746559995 meters 0.012606949079370662 Centerline is valid? [True, True] Translation: X:-149.95, Y:-259.25, Z:-2.78 [[-6.77833753e-01 -7.35196642e-01 5.22506307e-03 -1.49954142e+02] [ 7.35174797e-01 -6.77853891e-01 -5.66755415e-03 -2.59254919e+02] [ 7.70859612e-03 -3.24819135e-07 9.99970288e-01 -2.78284472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 790.776559995 meters 0.012606122509553116 Centerline is valid? [True, True] Translation: X:-149.97, Y:-259.24, Z:-2.78 [[-6.77607248e-01 -7.35407013e-01 4.99421220e-03 -1.49973398e+02] [ 7.35387086e-01 -6.77625652e-01 -5.41374310e-03 -2.59235006e+02] [ 7.36551094e-03 4.28759191e-06 9.99972874e-01 -2.78217532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 790.8065599949999 meters 0.012533830475787095 Centerline is valid? [True, True] Translation: X:-149.99, Y:-259.21, Z:-2.78 [[-6.77446728e-01 -7.35557117e-01 4.65385162e-03 -1.49993320e+02] [ 7.35539836e-01 -6.77462713e-01 -5.04195191e-03 -2.59214755e+02] [ 6.86145456e-03 7.43943744e-06 9.99976460e-01 -2.78151076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 790.8365599949999 meters 0.012547070332345298 Centerline is valid? [True, True] Translation: X:-150.01, Y:-259.20, Z:-2.78 [[-6.77363112e-01 -7.35637469e-01 4.09019557e-03 -1.50011652e+02] [ 7.35624140e-01 -6.77375461e-01 -4.42835601e-03 -2.59196093e+02] [ 6.02826271e-03 9.24159432e-06 9.99981830e-01 -2.78117912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 790.866559995 meters 0.012556873277551417 Centerline is valid? [True, True] Translation: X:-150.03, Y:-259.18, Z:-2.78 [[-6.77091776e-01 -7.35889763e-01 3.60340899e-03 -1.50030604e+02] [ 7.35879434e-01 -6.77101364e-01 -3.89889236e-03 -2.59176794e+02] [ 5.30902812e-03 1.17666235e-05 9.99985907e-01 -2.78041934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 790.896559995 meters 0.012572343639371108 Centerline is valid? [True, True] Translation: X:-150.05, Y:-259.16, Z:-2.78 [[-6.77372578e-01 -7.35631504e-01 3.56101438e-03 -1.50048967e+02] [ 7.35621426e-01 -6.77381938e-01 -3.85062918e-03 -2.59157318e+02] [ 5.24481096e-03 1.12478605e-05 9.99986246e-01 -2.78061333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 790.9265599949999 meters 0.012546534071840698 Centerline is valid? [True, True] Translation: X:-150.07, Y:-259.14, Z:-2.78 [[-6.77471719e-01 -7.35539715e-01 3.66020300e-03 -1.50066762e+02] [ 7.35529077e-01 -6.77481606e-01 -3.95598293e-03 -2.59138510e+02] [ 5.38950277e-03 1.21191815e-05 9.99985477e-01 -2.78096165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 790.9565599949999 meters 0.01262241805762859 Centerline is valid? [True, True] Translation: X:-150.09, Y:-259.12, Z:-2.78 [[-6.77833739e-01 -7.35207024e-01 3.47201332e-03 -1.50085391e+02] [ 7.35197459e-01 -6.77842631e-01 -3.75024261e-03 -2.59118788e+02] [ 5.11068335e-03 1.05744023e-05 9.99986940e-01 -2.78116730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 790.986559995 meters 0.01263724076825974 Centerline is valid? [True, True] Translation: X:-150.11, Y:-259.10, Z:-2.78 [[-6.78218166e-01 -7.34851780e-01 3.60293096e-03 -1.50105435e+02] [ 7.34841487e-01 -6.78227736e-01 -3.88944596e-03 -2.59098559e+02] [ 5.30177399e-03 9.69023960e-06 9.99985946e-01 -2.78083789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 791.016559995 meters 0.012726937319274089 Centerline is valid? [True, True] Translation: X:-150.12, Y:-259.08, Z:-2.78 [[-6.78269041e-01 -7.34804869e-01 3.59344172e-03 -1.50124142e+02] [ 7.34794641e-01 -6.78278560e-01 -3.87688866e-03 -2.59079600e+02] [ 5.28611114e-03 1.08681634e-05 9.99986028e-01 -2.78124395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 791.0465599949999 meters 0.012714446306403062 Centerline is valid? [True, True] Translation: X:-150.14, Y:-259.06, Z:-2.78 [[-6.78358479e-01 -7.34721306e-01 3.79173399e-03 -1.50143297e+02] [ 7.34709931e-01 -6.78369076e-01 -4.08829594e-03 -2.59060718e+02] [ 5.57595321e-03 1.24944093e-05 9.99984454e-01 -2.78085832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 791.0765599949999 meters 0.012654741058392769 Centerline is valid? [True, True] Translation: X:-150.16, Y:-259.04, Z:-2.78 [[-6.78490999e-01 -7.34598077e-01 3.95345597e-03 -1.50162476e+02] [ 7.34585725e-01 -6.78502517e-01 -4.26000319e-03 -2.59040693e+02] [ 5.81181998e-03 1.37784993e-05 9.99983111e-01 -2.78077553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 791.106559995 meters 0.01276412395246063 Centerline is valid? [True, True] Translation: X:-150.18, Y:-259.02, Z:-2.78 [[-6.78201055e-01 -7.34863938e-01 4.28029347e-03 -1.50181507e+02] [ 7.34849483e-01 -6.78214562e-01 -4.60930142e-03 -2.59020987e+02] [ 6.29016676e-03 1.93383561e-05 9.99980217e-01 -2.78083069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 791.136559995 meters 0.013002246510975037 Centerline is valid? [True, True] Translation: X:-150.20, Y:-259.00, Z:-2.78 [[-6.77996604e-01 -7.35050162e-01 4.67600223e-03 -1.50200711e+02] [ 7.35032937e-01 -6.78012728e-01 -5.03213541e-03 -2.59002680e+02] [ 6.86926098e-03 2.52449346e-05 9.99976406e-01 -2.78283198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 791.166559995 meters 0.01291035157695066 Centerline is valid? [True, True] Translation: X:-150.22, Y:-258.98, Z:-2.78 [[-6.77671433e-01 -7.35345485e-01 5.33364582e-03 -1.50219398e+02] [ 7.35323111e-01 -6.77692421e-01 -5.73629578e-03 -2.58982737e+02] [ 7.83273054e-03 3.46292608e-05 9.99969323e-01 -2.78187300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 791.1965599949999 meters 0.013114043911140506 Centerline is valid? [True, True] Translation: X:-150.24, Y:-258.96, Z:-2.78 [[-6.76124758e-01 -7.36760538e-01 6.26273068e-03 -1.50240167e+02] [ 7.36729786e-01 -6.76153759e-01 -6.73175707e-03 -2.58963425e+02] [ 9.19426185e-03 6.24326170e-05 9.99957730e-01 -2.78231324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 791.226559995 meters 0.01326636144433122 Centerline is valid? [True, True] Translation: X:-150.26, Y:-258.95, Z:-2.78 [[-6.75276107e-01 -7.37535919e-01 6.55345804e-03 -1.50259027e+02] [ 7.37502327e-01 -6.75307902e-01 -7.03961829e-03 -2.58945375e+02] [ 9.61757335e-03 7.95045245e-05 9.99953747e-01 -2.78287661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 791.256559995 meters 0.013374091361382123 Centerline is valid? [True, True] Translation: X:-150.28, Y:-258.93, Z:-2.78 [[-6.74295161e-01 -7.38430247e-01 6.84145426e-03 -1.50278618e+02] [ 7.38393725e-01 -6.74329860e-01 -7.34483530e-03 -2.58925689e+02] [ 1.00370454e-02 9.90999930e-05 9.99949623e-01 -2.78218967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 791.286559995 meters 0.01401991112680864 Centerline is valid? [True, True] Translation: X:-150.30, Y:-258.91, Z:-2.78 [[-6.72157337e-01 -7.40377816e-01 6.72346461e-03 -1.50299477e+02] [ 7.40342669e-01 -6.72190950e-01 -7.21519143e-03 -2.58908333e+02] [ 9.86141973e-03 1.27923878e-04 9.99951367e-01 -2.78238331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 791.3165599949999 meters 0.014092308008145865 Centerline is valid? [True, True] Translation: X:-150.32, Y:-258.89, Z:-2.78 [[-6.71159501e-01 -7.41282836e-01 6.68447657e-03 -1.50319077e+02] [ 7.41248180e-01 -6.71192772e-01 -7.16931593e-03 -2.58888740e+02] [ 9.80106320e-03 1.43101596e-04 9.99951958e-01 -2.78160991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 791.3465599949999 meters 0.01510189362233777 Centerline is valid? [True, True] Translation: X:-150.34, Y:-258.87, Z:-2.78 [[-6.69050561e-01 -7.43190180e-01 6.30106116e-03 -1.50339497e+02] [ 7.43159507e-01 -6.69080212e-01 -6.75408363e-03 -2.58871205e+02] [ 9.23548396e-03 1.63870061e-04 9.99957339e-01 -2.78082114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 791.376559995 meters 0.015434565397292224 Centerline is valid? [True, True] Translation: X:-150.36, Y:-258.85, Z:-2.78 [[-6.68192293e-01 -7.43965136e-01 5.91069970e-03 -1.50359311e+02] [ 7.43938206e-01 -6.68218415e-01 -6.33218173e-03 -2.58851038e+02] [ 8.66056083e-03 1.66080299e-04 9.99962483e-01 -2.77982923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 791.406559995 meters 0.0152846742601218 Centerline is valid? [True, True] Translation: X:-150.38, Y:-258.83, Z:-2.78 [[-6.67476284e-01 -7.44612289e-01 5.28676822e-03 -1.50378261e+02] [ 7.44590790e-01 -6.67497201e-01 -5.66057321e-03 -2.58830703e+02] [ 7.74383537e-03 1.58180554e-04 9.99970004e-01 -2.77864986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 791.4365599949999 meters 0.015291186930218834 Centerline is valid? [True, True] Translation: X:-150.40, Y:-258.81, Z:-2.78 [[-6.66015990e-01 -7.45923482e-01 4.56729187e-03 -1.50398379e+02] [ 7.45907485e-01 -6.66031633e-01 -4.88756361e-03 -2.58810188e+02] [ 6.68770933e-03 1.51581676e-04 9.99977626e-01 -2.77749410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 791.4665599949999 meters 0.015679828305937466 Centerline is valid? [True, True] Translation: X:-150.42, Y:-258.79, Z:-2.78 [[-6.65596137e-01 -7.46298744e-01 4.46848289e-03 -1.50417580e+02] [ 7.46283456e-01 -6.65611118e-01 -4.77936949e-03 -2.58791186e+02] [ 6.54110934e-03 1.53624990e-04 9.99978595e-01 -2.77735942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 791.496559995 meters 0.01622722917166079 Centerline is valid? [True, True] Translation: X:-150.44, Y:-258.77, Z:-2.78 [[-6.65132615e-01 -7.46710926e-01 4.62586160e-03 -1.50437151e+02] [ 7.46694572e-01 -6.65148680e-01 -4.94470662e-03 -2.58772162e+02] [ 6.76915220e-03 1.65220103e-04 9.99977076e-01 -2.77737449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 791.526559995 meters 0.0161236129782373 Centerline is valid? [True, True] Translation: X:-150.46, Y:-258.75, Z:-2.78 [[-6.64389298e-01 -7.47369504e-01 5.06804166e-03 -1.50457777e+02] [ 7.47349916e-01 -6.64408600e-01 -5.41442916e-03 -2.58752641e+02] [ 7.41382970e-03 1.90311720e-04 9.99972499e-01 -2.77850684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 791.5565599949999 meters 0.0161236129782373 Centerline is valid? [True, True] Translation: X:-150.48, Y:-258.73, Z:-2.78 [[-6.64603718e-01 -7.47178826e-01 5.06959496e-03 -1.50476680e+02] [ 7.47159242e-01 -6.64623026e-01 -5.41297481e-03 -2.58732541e+02] [ 7.41382970e-03 1.90311547e-04 9.99972499e-01 -2.77850655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 791.5865599949999 meters 0.01685199989435903 Centerline is valid? [True, True] Translation: X:-150.50, Y:-258.71, Z:-2.78 [[-6.64458213e-01 -7.47305676e-01 5.43238934e-03 -1.50496756e+02] [ 7.47283221e-01 -6.64480386e-01 -5.79682711e-03 -2.58714021e+02] [ 7.94171797e-03 2.07784021e-04 9.99968443e-01 -2.77946753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 791.616559995 meters 0.016997920067149102 Centerline is valid? [True, True] Translation: X:-150.52, Y:-258.69, Z:-2.78 [[-6.64435731e-01 -7.47324109e-01 5.64235310e-03 -1.50516053e+02] [ 7.47299913e-01 -6.64459652e-01 -6.01749159e-03 -2.58694162e+02] [ 8.24613252e-03 2.18293560e-04 9.99965976e-01 -2.78015234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 791.646559995 meters 0.01710800603456849 Centerline is valid? [True, True] Translation: X:-150.54, Y:-258.67, Z:-2.78 [[-6.64376700e-01 -7.47374338e-01 5.93292674e-03 -1.50535589e+02] [ 7.47347620e-01 -6.64403149e-01 -6.32382581e-03 -2.58673889e+02] [ 8.66812034e-03 2.32556156e-04 9.99962404e-01 -2.78077984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 791.6765599949999 meters 0.017365200866318674 Centerline is valid? [True, True] Translation: X:-150.55, Y:-258.65, Z:-2.78 [[-6.64098446e-01 -7.47611762e-01 7.06448937e-03 -1.50554968e+02] [ 7.47573936e-01 -6.64135960e-01 -7.52571752e-03 -2.58653612e+02] [ 1.03180964e-02 2.83410813e-04 9.99946727e-01 -2.78231145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 791.7065599949999 meters 0.017752066619183594 Centerline is valid? [True, True] Translation: X:-150.57, Y:-258.63, Z:-2.78 [[-6.64394719e-01 -7.47341657e-01 7.75275475e-03 -1.50573410e+02] [ 7.47296145e-01 -6.64439878e-01 -8.25345926e-03 -2.58634337e+02] [ 1.13193933e-02 3.10049002e-04 9.99935886e-01 -2.78328561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 791.736559995 meters 0.017759068977740128 Centerline is valid? [True, True] Translation: X:-150.59, Y:-258.61, Z:-2.78 [[-6.64859077e-01 -7.46921092e-01 8.44336072e-03 -1.50591684e+02] [ 7.46867145e-01 -6.64912604e-01 -8.98309813e-03 -2.58614290e+02] [ 1.23237624e-02 3.33574390e-04 9.99924004e-01 -2.78408762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 791.766559995 meters 0.016749614808863788 Centerline is valid? [True, True] Translation: X:-150.61, Y:-258.59, Z:-2.78 [[-6.65579699e-01 -7.46275313e-01 8.76479161e-03 -1.50608874e+02] [ 7.46217192e-01 -6.65637321e-01 -9.31980419e-03 -2.58592458e+02] [ 1.27893122e-02 3.37365718e-04 9.99918157e-01 -2.78365239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 791.7965599949999 meters 0.01696212849116169 Centerline is valid? [True, True] Translation: X:-150.63, Y:-258.57, Z:-2.78 [[-6.67473455e-01 -7.44578423e-01 9.06414078e-03 -1.50626744e+02] [ 7.44516178e-01 -6.67534921e-01 -9.63280936e-03 -2.58572005e+02] [ 1.32230125e-02 3.18754897e-04 9.99912521e-01 -2.78478162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 791.8265599949999 meters 0.016827856193351087 Centerline is valid? [True, True] Translation: X:-150.64, Y:-258.55, Z:-2.79 [[-6.68985929e-01 -7.43222980e-01 8.79934022e-03 -1.50644254e+02] [ 7.43164249e-01 -6.69043736e-01 -9.34765682e-03 -2.58551877e+02] [ 1.28345368e-02 2.85904182e-04 9.99917593e-01 -2.78501403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 791.856559995 meters 0.015213141367240807 Centerline is valid? [True, True] Translation: X:-150.66, Y:-258.53, Z:-2.78 [[-6.70486749e-01 -7.41873800e-01 8.41339302e-03 -1.50660499e+02] [ 7.41820063e-01 -6.70539486e-01 -8.93264182e-03 -2.58528391e+02] [ 1.22684052e-02 2.52005772e-04 9.99924709e-01 -2.78318144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 791.886559995 meters 0.01507221300220484 Centerline is valid? [True, True] Translation: X:-150.68, Y:-258.51, Z:-2.78 [[-6.73801006e-01 -7.38871840e-01 7.78520079e-03 -1.50676678e+02] [ 7.38825676e-01 -6.73845954e-01 -8.26136092e-03 -2.58506945e+02] [ 1.13501130e-02 1.85392944e-04 9.99935568e-01 -2.78356245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 791.916559995 meters 0.013909263606888645 Centerline is valid? [True, True] Translation: X:-150.69, Y:-258.48, Z:-2.78 [[-6.75646548e-01 -7.37188922e-01 7.36449607e-03 -1.50692950e+02] [ 7.37147559e-01 -6.75686666e-01 -7.81065008e-03 -2.58483861e+02] [ 1.07340165e-02 1.51481535e-04 9.99942377e-01 -2.78194638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 791.9465599949999 meters 0.013888072096296132 Centerline is valid? [True, True] Translation: X:-150.71, Y:-258.46, Z:-2.78 [[-6.77313210e-01 -7.35665442e-01 6.57066741e-03 -1.50710585e+02] [ 7.35632470e-01 -6.77345070e-01 -6.96594058e-03 -2.58463017e+02] [ 9.57521094e-03 1.15472728e-04 9.99954150e-01 -2.78214029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 791.976559995 meters 0.01305023930737247 Centerline is valid? [True, True] Translation: X:-150.73, Y:-258.44, Z:-2.78 [[-6.79596646e-01 -7.33562005e-01 5.93155806e-03 -1.50726296e+02] [ 7.33535087e-01 -6.79622526e-01 -6.28479607e-03 -2.58439654e+02] [ 8.64150808e-03 7.98796304e-05 9.99962658e-01 -2.78084334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 792.006559995 meters 0.012769137687498988 Centerline is valid? [True, True] Translation: X:-150.74, Y:-258.42, Z:-2.78 [[-6.80351918e-01 -7.32858758e-01 6.26965590e-03 -1.50744053e+02] [ 7.32828691e-01 -6.80380802e-01 -6.63887408e-03 -2.58418313e+02] [ 9.13111051e-03 7.78130093e-05 9.99958308e-01 -2.78061264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 792.036559995 meters 0.012799870272841034 Centerline is valid? [True, True] Translation: X:-150.76, Y:-258.40, Z:-2.78 [[-6.80821973e-01 -7.32421440e-01 6.34630323e-03 -1.50762009e+02] [ 7.32390655e-01 -6.80851547e-01 -6.71562502e-03 -2.58398539e+02] [ 9.23955811e-03 7.58280997e-05 9.99957312e-01 -2.78137263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 792.0665599949999 meters 0.013041186859847906 Centerline is valid? [True, True] Translation: X:-150.78, Y:-258.38, Z:-2.78 [[-6.80323631e-01 -7.32873362e-01 7.50950446e-03 -1.50780487e+02] [ 7.32830336e-01 -6.80365067e-01 -7.94189833e-03 -2.58379068e+02] [ 1.09296102e-02 1.00131570e-04 9.99940265e-01 -2.78324647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 792.0965599949999 meters 0.012967999276504449 Centerline is valid? [True, True] Translation: X:-150.80, Y:-258.36, Z:-2.78 [[-6.79747945e-01 -7.33399919e-01 8.20310488e-03 -1.50799514e+02] [ 7.33348673e-01 -6.79797429e-01 -8.67057444e-03 -2.58358376e+02] [ 1.19354482e-02 1.21930926e-04 9.99928763e-01 -2.78301334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 792.126559995 meters 0.013364024667603447 Centerline is valid? [True, True] Translation: X:-150.82, Y:-258.34, Z:-2.78 [[-6.79106375e-01 -7.33990074e-01 8.55007872e-03 -1.50818599e+02] [ 7.33934515e-01 -6.79160181e-01 -9.03198980e-03 -2.58339685e+02] [ 1.24362639e-02 1.41516023e-04 9.99922657e-01 -2.78407860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 792.156559995 meters 0.01347638563295838 Centerline is valid? [True, True] Translation: X:-150.84, Y:-258.32, Z:-2.78 [[-6.78320432e-01 -7.34714403e-01 8.72567046e-03 -1.50837971e+02] [ 7.34656663e-01 -6.78376532e-01 -9.21239946e-03 -2.58319823e+02] [ 1.26877726e-02 1.61413160e-04 9.99919494e-01 -2.78411146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 792.1865599949999 meters 0.013917791912945064 Centerline is valid? [True, True] Translation: X:-150.86, Y:-258.30, Z:-2.78 [[-6.76602435e-01 -7.36300493e-01 8.41001925e-03 -1.50858605e+02] [ 7.36247037e-01 -6.76654675e-01 -8.87418625e-03 -2.58300128e+02] [ 1.22247465e-02 1.87555725e-04 9.99925258e-01 -2.78384808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 792.2165599949999 meters 0.014071201570545202 Centerline is valid? [True, True] Translation: X:-150.88, Y:-258.28, Z:-2.78 [[-6.76091205e-01 -7.36776551e-01 7.81005092e-03 -1.50877783e+02] [ 7.36730541e-01 -6.76136288e-01 -8.23589307e-03 -2.58280614e+02] [ 1.13486717e-02 1.85688174e-04 9.99935585e-01 -2.78341715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 792.246559995 meters 0.014094174643990154 Centerline is valid? [True, True] Translation: X:-150.90, Y:-258.26, Z:-2.78 [[-6.75462495e-01 -7.37355090e-01 7.60845852e-03 -1.50897494e+02] [ 7.37311512e-01 -6.75505317e-01 -8.01875671e-03 -2.58260341e+02] [ 1.10522253e-02 1.93434644e-04 9.99938904e-01 -2.78290952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 792.276559995 meters 0.01465895473391273 Centerline is valid? [True, True] Translation: X:-150.92, Y:-258.24, Z:-2.78 [[-6.74858045e-01 -7.37917395e-01 6.67366678e-03 -1.50917213e+02] [ 7.37883935e-01 -6.74891018e-01 -7.02934772e-03 -2.58242130e+02] [ 9.69107572e-03 1.80579644e-04 9.99953024e-01 -2.78288827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 792.3065599949999 meters 0.014827174619624415 Centerline is valid? [True, True] Translation: X:-150.94, Y:-258.22, Z:-2.78 [[-6.74994525e-01 -7.37793803e-01 6.53410056e-03 -1.50935533e+02] [ 7.37761755e-01 -6.75026127e-01 -6.87901697e-03 -2.58223886e+02] [ 9.48598469e-03 1.77310703e-04 9.99954991e-01 -2.78298328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 792.3365599949999 meters 0.01468588434299687 Centerline is valid? [True, True] Translation: X:-150.95, Y:-258.20, Z:-2.78 [[-6.75494791e-01 -7.37335332e-01 6.58752198e-03 -1.50954160e+02] [ 7.37302776e-01 -6.75526889e-01 -6.93094079e-03 -2.58204428e+02] [ 9.56047576e-03 1.75183842e-04 9.99954282e-01 -2.78316835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 792.366559995 meters 0.014520536819482127 Centerline is valid? [True, True] Translation: X:-150.97, Y:-258.19, Z:-2.78 [[-6.76630680e-01 -7.36288350e-01 7.09845195e-03 -1.50973173e+02] [ 7.36250539e-01 -6.76667891e-01 -7.46389443e-03 -2.58185224e+02] [ 1.02988730e-02 1.75939098e-04 9.99946950e-01 -2.78413542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 792.396559995 meters 0.014084058399893134 Centerline is valid? [True, True] Translation: X:-150.99, Y:-258.16, Z:-2.78 [[-6.77289313e-01 -7.35680721e-01 7.28447620e-03 -1.50991642e+02] [ 7.35640917e-01 -6.77328463e-01 -7.65466633e-03 -2.58164910e+02] [ 1.05653735e-02 1.74335053e-04 9.99944170e-01 -2.78407539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 792.4265599949999 meters 0.013965131534955037 Centerline is valid? [True, True] Translation: X:-151.01, Y:-258.14, Z:-2.78 [[-6.78030750e-01 -7.34995875e-01 7.44085024e-03 -1.51010817e+02] [ 7.34954356e-01 -6.78071556e-01 -7.81406796e-03 -2.58144907e+02] [ 1.07887366e-02 1.70506937e-04 9.99941785e-01 -2.78432022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 792.4565599949999 meters 0.013969855433906258 Centerline is valid? [True, True] Translation: X:-151.03, Y:-258.13, Z:-2.78 [[-6.78545351e-01 -7.34519698e-01 7.55115938e-03 -1.51030056e+02] [ 7.34476964e-01 -6.78587345e-01 -7.92495550e-03 -2.58125430e+02] [ 1.09451571e-02 1.68710906e-04 9.99940086e-01 -2.78446384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 792.486559995 meters 0.013859141847200634 Centerline is valid? [True, True] Translation: X:-151.05, Y:-258.11, Z:-2.78 [[-6.78906261e-01 -7.34191870e-01 6.97038698e-03 -1.51049054e+02] [ 7.34155486e-01 -6.78942026e-01 -7.31082979e-03 -2.58105596e+02] [ 1.01000405e-02 1.53979722e-04 9.99948982e-01 -2.78360489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 792.516559995 meters 0.01384308757268481 Centerline is valid? [True, True] Translation: X:-151.07, Y:-258.09, Z:-2.78 [[-6.78979202e-01 -7.34128405e-01 6.53668618e-03 -1.51067994e+02] [ 7.34096446e-01 -6.79010651e-01 -6.85162357e-03 -2.58086443e+02] [ 9.46845102e-03 1.46448191e-04 9.99955163e-01 -2.78268860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 792.5465599949999 meters 0.013983581436922332 Centerline is valid? [True, True] Translation: X:-151.09, Y:-258.07, Z:-2.78 [[-6.79150483e-01 -7.33975420e-01 5.89098633e-03 -1.51086938e+02] [ 7.33949492e-01 -6.79176019e-01 -6.17073631e-03 -2.58067683e+02] [ 8.53018542e-03 1.32827885e-04 9.99963609e-01 -2.78208791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 792.5765599949999 meters 0.013763561291018965 Centerline is valid? [True, True] Translation: X:-151.11, Y:-258.05, Z:-2.78 [[-6.79503262e-01 -7.33656052e-01 4.91063724e-03 -1.51105966e+02] [ 7.33638048e-01 -6.79520997e-01 -5.14092976e-03 -2.58047639e+02] [ 7.10855534e-03 1.09351779e-04 9.99974728e-01 -2.78102521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 792.606559995 meters 0.013572298637337183 Centerline is valid? [True, True] Translation: X:-151.12, Y:-258.03, Z:-2.78 [[-6.80116216e-01 -7.33090398e-01 4.51682711e-03 -1.51124969e+02] [ 7.33075171e-01 -6.80131207e-01 -4.72597061e-03 -2.58026948e+02] [ 6.53659875e-03 9.69645626e-05 9.99978632e-01 -2.78080110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 792.636559995 meters 0.013701913687990582 Centerline is valid? [True, True] Translation: X:-151.14, Y:-258.01, Z:-2.78 [[-6.81131355e-01 -7.32148697e-01 4.28527544e-03 -1.51143688e+02] [ 7.32134988e-01 -6.81144830e-01 -4.48108069e-03 -2.58007738e+02] [ 6.19971059e-03 8.51955236e-05 9.99980778e-01 -2.78126670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 792.666559995 meters 0.013344955807109283 Centerline is valid? [True, True] Translation: X:-151.16, Y:-257.99, Z:-2.78 [[-6.82230955e-01 -7.31125196e-01 4.10756012e-03 -1.51161657e+02] [ 7.31112599e-01 -6.82243316e-01 -4.29254902e-03 -2.57987349e+02] [ 5.94074618e-03 7.45791358e-05 9.99982351e-01 -2.78097565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 792.6965599949999 meters 0.012818918366674193 Centerline is valid? [True, True] Translation: X:-151.18, Y:-257.97, Z:-2.78 [[-6.84741927e-01 -7.28777197e-01 3.50573981e-03 -1.51178825e+02] [ 7.28768000e-01 -6.84750900e-01 -3.66157367e-03 -2.57965358e+02] [ 5.06902989e-03 4.76379818e-05 9.99987151e-01 -2.78030330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 792.726559995 meters 0.012729876125935966 Centerline is valid? [True, True] Translation: X:-151.20, Y:-257.95, Z:-2.78 [[-6.86068003e-01 -7.27530509e-01 3.17086608e-03 -1.51196391e+02] [ 7.27522982e-01 -6.86075329e-01 -3.30963030e-03 -2.57945934e+02] [ 4.58331001e-03 3.62464939e-05 9.99989496e-01 -2.78001641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 792.756559995 meters 0.012341239608594784 Centerline is valid? [True, True] Translation: X:-151.21, Y:-257.92, Z:-2.78 [[-6.88554292e-01 -7.25180044e-01 2.62520333e-03 -1.51213209e+02] [ 7.25174874e-01 -6.88559296e-01 -2.73836634e-03 -2.57924727e+02] [ 3.79341678e-03 1.82175977e-05 9.99992805e-01 -2.77915415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 792.786559995 meters 0.012233913541143938 Centerline is valid? [True, True] Translation: X:-151.23, Y:-257.90, Z:-2.78 [[-6.89702257e-01 -7.24087343e-01 2.88396402e-03 -1.51231720e+02] [ 7.24081101e-01 -6.89708286e-01 -3.00657727e-03 -2.57904136e+02] [ 4.16611843e-03 1.45807137e-05 9.99991322e-01 -2.77933269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 792.8165599949999 meters 0.012193139927043252 Centerline is valid? [True, True] Translation: X:-151.25, Y:-257.88, Z:-2.78 [[-6.90682074e-01 -7.23152079e-01 3.05679832e-03 -1.51250588e+02] [ 7.23145065e-01 -6.90688838e-01 -3.18495541e-03 -2.57883560e+02] [ 4.41450361e-03 1.07170171e-05 9.99990256e-01 -2.77976134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 792.8465599949999 meters 0.01218449962431147 Centerline is valid? [True, True] Translation: X:-151.27, Y:-257.86, Z:-2.78 [[-6.91704389e-01 -7.22172697e-01 3.41100928e-03 -1.51268722e+02] [ 7.22163962e-01 -6.91712799e-01 -3.55189426e-03 -2.57863793e+02] [ 4.92451983e-03 6.44713038e-06 9.99987875e-01 -2.78073545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 792.876559995 meters 0.012218792642103094 Centerline is valid? [True, True] Translation: X:-151.29, Y:-257.84, Z:-2.78 [[-6.93334733e-01 -7.20600908e-01 4.61294977e-03 -1.51285789e+02] [ 7.20584917e-01 -6.93350079e-01 -4.80068330e-03 -2.57844445e+02] [ 6.65776583e-03 -4.45845081e-06 9.99977837e-01 -2.78261543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 792.906559995 meters 0.012269288402998504 Centerline is valid? [True, True] Translation: X:-151.30, Y:-257.82, Z:-2.78 [[-6.94041313e-01 -7.19916412e-01 5.19759314e-03 -1.51304411e+02] [ 7.19896117e-01 -6.94060775e-01 -5.40574431e-03 -2.57824737e+02] [ 7.49912957e-03 -1.00827595e-05 9.99971881e-01 -2.78350042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 792.9365599949999 meters 0.012316573697664328 Centerline is valid? [True, True] Translation: X:-151.32, Y:-257.81, Z:-2.78 [[-6.94492474e-01 -7.19478386e-01 5.57273142e-03 -1.51324012e+02] [ 7.19455070e-01 -6.94514832e-01 -5.79229178e-03 -2.57805648e+02] [ 8.03777337e-03 -1.33731775e-05 9.99967697e-01 -2.78365718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 792.9665599949999 meters 0.012275855064941946 Centerline is valid? [True, True] Translation: X:-151.34, Y:-257.79, Z:-2.78 [[-6.94551981e-01 -7.19418086e-01 5.92989813e-03 -1.51344023e+02] [ 7.19391715e-01 -6.94577294e-01 -6.15982511e-03 -2.57786611e+02] [ 8.55026219e-03 -1.23991450e-05 9.99963446e-01 -2.78397292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 792.996559995 meters 0.01229314210759588 Centerline is valid? [True, True] Translation: X:-151.36, Y:-257.77, Z:-2.78 [[-6.94432029e-01 -7.19529372e-01 6.45283230e-03 -1.51363947e+02] [ 7.19498187e-01 -6.94462009e-01 -6.69903839e-03 -2.57768704e+02] [ 9.30140177e-03 -9.22568158e-06 9.99956741e-01 -2.78437926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 793.026559995 meters 0.012247371578683594 Centerline is valid? [True, True] Translation: X:-151.38, Y:-257.75, Z:-2.78 [[-6.94617242e-01 -7.19353942e-01 6.06571566e-03 -1.51383708e+02] [ 7.19326414e-01 -6.94643726e-01 -6.29321649e-03 -2.57749243e+02] [ 8.74056142e-03 -8.14718732e-06 9.99961801e-01 -2.78418595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 793.0565599949999 meters 0.012225802476398092 Centerline is valid? [True, True] Translation: X:-151.40, Y:-257.73, Z:-2.78 [[-6.94719128e-01 -7.19257860e-01 5.78492657e-03 -1.51403736e+02] [ 7.19232846e-01 -6.94743213e-01 -5.99847107e-03 -2.57729159e+02] [ 8.33348593e-03 -6.54339115e-06 9.99965276e-01 -2.78305523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 793.0865599949999 meters 0.012105766012559565 Centerline is valid? [True, True] Translation: X:-151.42, Y:-257.71, Z:-2.78 [[-6.94904587e-01 -7.19087321e-01 4.58689898e-03 -1.51423308e+02] [ 7.19071610e-01 -6.94919725e-01 -4.75339950e-03 -2.57709958e+02] [ 6.60563589e-03 -4.85028372e-06 9.99978183e-01 -2.78223653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 793.116559995 meters 0.012227704367141153 Centerline is valid? [True, True] Translation: X:-151.44, Y:-257.69, Z:-2.78 [[-6.94703003e-01 -7.19283814e-01 4.30498231e-03 -1.51441868e+02] [ 7.19269992e-01 -6.94716342e-01 -4.45906910e-03 -2.57691669e+02] [ 6.19807779e-03 -1.28410102e-06 9.99980792e-01 -2.78192065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 793.146559995 meters 0.012117772641159532 Centerline is valid? [True, True] Translation: X:-151.46, Y:-257.67, Z:-2.78 [[-6.94388849e-01 -7.19587816e-01 4.18343267e-03 -1.51461278e+02] [ 7.19574786e-01 -6.94401451e-01 -4.33045643e-03 -2.57672841e+02] [ 6.02112541e-03 3.27201530e-06 9.99981873e-01 -2.78146979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 793.1765599949999 meters 0.01210893125676238 Centerline is valid? [True, True] Translation: X:-151.48, Y:-257.66, Z:-2.78 [[-6.92531730e-01 -7.21375937e-01 4.06932619e-03 -1.51481958e+02] [ 7.21363655e-01 -6.92543686e-01 -4.20969080e-03 -2.57655289e+02] [ 5.85495580e-03 2.01195564e-05 9.99982860e-01 -2.78113965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 793.2065599949999 meters 0.012340203048541777 Centerline is valid? [True, True] Translation: X:-151.50, Y:-257.64, Z:-2.78 [[-6.91300768e-01 -7.22556314e-01 3.95236098e-03 -1.51503066e+02] [ 7.22544759e-01 -6.91312066e-01 -4.08640088e-03 -2.57636229e+02] [ 5.68496959e-03 3.08256402e-05 9.99983840e-01 -2.78146462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 793.236559995 meters 0.012573404358432447 Centerline is valid? [True, True] Translation: X:-151.52, Y:-257.62, Z:-2.78 [[-6.89926586e-01 -7.23866737e-01 4.27238279e-03 -1.51523584e+02] [ 7.23853277e-01 -6.89939812e-01 -4.41466678e-03 -2.57618103e+02] [ 6.14331742e-03 4.67823043e-05 9.99981129e-01 -2.78153477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 793.266559995 meters 0.013069000898217614 Centerline is valid? [True, True] Translation: X:-151.55, Y:-257.60, Z:-2.78 [[-6.86650410e-01 -7.26976369e-01 4.07100804e-03 -1.51546063e+02] [ 7.26964216e-01 -6.86662474e-01 -4.20420443e-03 -2.57601191e+02] [ 5.85176572e-03 7.26584716e-05 9.99982876e-01 -2.78154689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 793.2965599949999 meters 0.013743307983004103 Centerline is valid? [True, True] Translation: X:-151.57, Y:-257.58, Z:-2.78 [[-6.85120673e-01 -7.28418023e-01 4.10448282e-03 -1.51567199e+02] [ 7.28405710e-01 -6.85132962e-01 -4.23624029e-03 -2.57584041e+02] [ 5.89787025e-03 8.73929213e-05 9.99982604e-01 -2.78215440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 793.3265599949999 meters 0.014535721950558394 Centerline is valid? [True, True] Translation: X:-151.59, Y:-257.57, Z:-2.78 [[-6.82512586e-01 -7.30861998e-01 4.16061293e-03 -1.51589059e+02] [ 7.30849405e-01 -6.82525258e-01 -4.29177098e-03 -2.57566157e+02] [ 5.97641572e-03 1.11593781e-04 9.99982135e-01 -2.78214067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 793.356559995 meters 0.014703492849768079 Centerline is valid? [True, True] Translation: X:-151.61, Y:-257.55, Z:-2.78 [[-6.81697398e-01 -7.31621879e-01 4.25245135e-03 -1.51608965e+02] [ 7.31608754e-01 -6.81710651e-01 -4.38402337e-03 -2.57546578e+02] [ 6.10638879e-03 1.22553310e-04 9.99981348e-01 -2.78199435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 793.386559995 meters 0.016089521139883135 Centerline is valid? [True, True] Translation: X:-151.63, Y:-257.53, Z:-2.78 [[-6.81279475e-01 -7.32009371e-01 4.53410659e-03 -1.51629975e+02] [ 7.31994476e-01 -6.81294549e-01 -4.67160587e-03 -2.57529147e+02] [ 6.50872138e-03 1.36271783e-04 9.99978809e-01 -2.78278276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 793.416559995 meters 0.015393426577290542 Centerline is valid? [True, True] Translation: X:-151.65, Y:-257.51, Z:-2.78 [[-6.81121608e-01 -7.32156847e-01 4.43927073e-03 -1.51647804e+02] [ 7.32142590e-01 -6.81136061e-01 -4.57102979e-03 -2.57509037e+02] [ 6.37045814e-03 1.36752011e-04 9.99979699e-01 -2.78231398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 793.4465599949999 meters 0.01545029530507997 Centerline is valid? [True, True] Translation: X:-151.67, Y:-257.49, Z:-2.78 [[-6.81504779e-01 -7.31803838e-01 3.79195680e-03 -1.51666522e+02] [ 7.31793445e-01 -6.81515318e-01 -3.90194147e-03 -2.57490009e+02] [ 5.43973239e-03 1.15737372e-04 9.99985198e-01 -2.78174712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 793.476559995 meters 0.01545029530507997 Centerline is valid? [True, True] Translation: X:-151.69, Y:-257.47, Z:-2.78 [[-6.81731945e-01 -7.31592214e-01 3.79316818e-03 -1.51685254e+02] [ 7.31581824e-01 -6.81742488e-01 -3.90076387e-03 -2.57470893e+02] [ 5.43973238e-03 1.15737556e-04 9.99985198e-01 -2.78174685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 793.506559995 meters 0.015046551293189974 Centerline is valid? [True, True] Translation: X:-151.70, Y:-257.45, Z:-2.78 [[-6.82413663e-01 -7.30958849e-01 3.27933260e-03 -1.51703816e+02] [ 7.30951086e-01 -6.82421535e-01 -3.37023212e-03 -2.57450460e+02] [ 4.70138818e-03 9.71392746e-05 9.99988944e-01 -2.78097517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 793.536559995 meters 0.014608031135318214 Centerline is valid? [True, True] Translation: X:-151.72, Y:-257.43, Z:-2.78 [[-6.83421445e-01 -7.30019911e-01 2.46129031e-03 -1.51722891e+02] [ 7.30015537e-01 -6.83425874e-01 -2.52808596e-03 -2.57429482e+02] [ 3.52766257e-03 6.90320068e-05 9.99993776e-01 -2.78032633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 793.5665599949999 meters 0.014664198166921216 Centerline is valid? [True, True] Translation: X:-151.74, Y:-257.41, Z:-2.78 [[-6.84591007e-01 -7.28924720e-01 1.97633717e-03 -1.51740881e+02] [ 7.28921898e-01 -6.84593857e-01 -2.02897527e-03 -2.57410819e+02] [ 2.83195852e-03 5.15772203e-05 9.99995989e-01 -2.78003622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 793.5965599949999 meters 0.013699565616377894 Centerline is valid? [True, True] Translation: X:-151.76, Y:-257.39, Z:-2.78 [[-6.87685907e-01 -7.26006404e-01 1.67181853e-03 -1.51758167e+02] [ 7.26004378e-01 -6.87687938e-01 -1.71545704e-03 -2.57387881e+02] [ 2.39512223e-03 3.40519457e-05 9.99997131e-01 -2.77988731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 793.626559995 meters 0.013080234840572733 Centerline is valid? [True, True] Translation: X:-151.78, Y:-257.37, Z:-2.78 [[-6.89600585e-01 -7.24187752e-01 1.76988166e-03 -1.51775571e+02] [ 7.24185479e-01 -6.89602856e-01 -1.81501081e-03 -2.57366347e+02] [ 2.53492405e-03 3.00900846e-05 9.99996787e-01 -2.78025717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 793.656559995 meters 0.012866097830607342 Centerline is valid? [True, True] Translation: X:-151.79, Y:-257.35, Z:-2.78 [[-6.91570811e-01 -7.22306060e-01 1.94158702e-03 -1.51792994e+02] [ 7.22303320e-01 -6.91573536e-01 -1.98978044e-03 -2.57346513e+02] [ 2.77998067e-03 2.63406743e-05 9.99996136e-01 -2.78102586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 793.6865599949999 meters 0.012320511830669635 Centerline is valid? [True, True] Translation: X:-151.81, Y:-257.32, Z:-2.78 [[-6.94770449e-01 -7.19226516e-01 2.69128527e-03 -1.51809537e+02] [ 7.19221234e-01 -6.94775661e-01 -2.75640494e-03 -2.57324195e+02] [ 3.85231903e-03 2.05608180e-05 9.99992580e-01 -2.78217116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 793.7165599949999 meters 0.012188289676327587 Centerline is valid? [True, True] Translation: X:-151.83, Y:-257.30, Z:-2.78 [[-6.96029147e-01 -7.18006428e-01 3.19306554e-03 -1.51827910e+02] [ 7.17998989e-01 -6.96036471e-01 -3.26849678e-03 -2.57302885e+02] [ 4.56929177e-03 1.76487972e-05 9.99989561e-01 -2.78252927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 793.746559995 meters 0.012125928979798473 Centerline is valid? [True, True] Translation: X:-151.84, Y:-257.28, Z:-2.78 [[-6.97966512e-01 -7.16117541e-01 4.29140625e-03 -1.51844989e+02] [ 7.16104085e-01 -6.97979704e-01 -4.38989061e-03 -2.57282471e+02] [ 6.13899214e-03 9.09691534e-06 9.99981156e-01 -2.78451585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 793.776559995 meters 0.012121345038591748 Centerline is valid? [True, True] Translation: X:-151.86, Y:-257.26, Z:-2.79 [[-6.98762700e-01 -7.15336709e-01 4.90722739e-03 -1.51863761e+02] [ 7.15319116e-01 -6.98779931e-01 -5.01698748e-03 -2.57261835e+02] [ 7.01790733e-03 4.54983683e-06 9.99975374e-01 -2.78501304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 793.8065599949999 meters 0.012244579574303536 Centerline is valid? [True, True] Translation: X:-151.88, Y:-257.24, Z:-2.79 [[-6.99532924e-01 -7.14581161e-01 5.23948616e-03 -1.51882153e+02] [ 7.14561100e-01 -6.99552546e-01 -5.35445329e-03 -2.57241688e+02] [ 7.49148733e-03 -1.68337097e-06 9.99971939e-01 -2.78687018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 793.8365599949999 meters 0.012276691102837892 Centerline is valid? [True, True] Translation: X:-151.90, Y:-257.22, Z:-2.79 [[-7.00520707e-01 -7.13608833e-01 5.75954982e-03 -1.51900553e+02] [ 7.13584589e-01 -7.00544384e-01 -5.88228858e-03 -2.57221264e+02] [ 8.23247337e-03 -1.07389653e-05 9.99966113e-01 -2.78664726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 793.866559995 meters 0.012311627699592138 Centerline is valid? [True, True] Translation: X:-151.92, Y:-257.20, Z:-2.79 [[-7.00891262e-01 -7.13244737e-01 5.77786974e-03 -1.51919598e+02] [ 7.13220356e-01 -7.00915077e-01 -5.89734856e-03 -2.57202337e+02] [ 8.25604884e-03 -1.25057654e-05 9.99965918e-01 -2.78663666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 793.896559995 meters 0.012227167340171369 Centerline is valid? [True, True] Translation: X:-151.94, Y:-257.18, Z:-2.79 [[-7.00800342e-01 -7.13334875e-01 5.67773716e-03 -1.51939585e+02] [ 7.13311361e-01 -7.00823342e-01 -5.79187613e-03 -2.57183116e+02] [ 8.11063797e-03 -8.95435152e-06 9.99967108e-01 -2.78629991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 793.9265599949999 meters 0.012227167340171369 Centerline is valid? [True, True] Translation: X:-151.96, Y:-257.16, Z:-2.79 [[-7.01001611e-01 -7.13137074e-01 5.67937141e-03 -1.51958947e+02] [ 7.13113566e-01 -7.01024617e-01 -5.79027364e-03 -2.57163463e+02] [ 8.11063797e-03 -8.95435297e-06 9.99967108e-01 -2.78629962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 793.9565599949999 meters 0.012256672747715884 Centerline is valid? [True, True] Translation: X:-151.98, Y:-257.14, Z:-2.79 [[-7.00971017e-01 -7.13172280e-01 4.99329615e-03 -1.51978984e+02] [ 7.13154130e-01 -7.00988801e-01 -5.08793968e-03 -2.57143452e+02] [ 7.12882222e-03 -5.50847573e-06 9.99974590e-01 -2.78589536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 793.986559995 meters 0.01230504274203581 Centerline is valid? [True, True] Translation: X:-152.00, Y:-257.12, Z:-2.79 [[-7.01083344e-01 -7.13065554e-01 4.43396555e-03 -1.51997538e+02] [ 7.13051260e-01 -7.01097365e-01 -4.51501387e-03 -2.57124984e+02] [ 6.32814243e-03 -3.75630254e-06 9.99979977e-01 -2.78565332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 794.016559995 meters 0.012332551604668479 Centerline is valid? [True, True] Translation: X:-152.02, Y:-257.10, Z:-2.78 [[-7.01234627e-01 -7.12919376e-01 3.99515286e-03 -1.52017656e+02] [ 7.12907782e-01 -7.01246008e-01 -4.06590358e-03 -2.57104863e+02] [ 5.70024644e-03 -2.97681512e-06 9.99983754e-01 -2.78498699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 794.0465599949999 meters 0.012384889423960068 Centerline is valid? [True, True] Translation: X:-152.04, Y:-257.09, Z:-2.78 [[-7.00977388e-01 -7.13177905e-01 2.82439431e-03 -1.52037035e+02] [ 7.13172118e-01 -7.00983078e-01 -2.87301431e-03 -2.57087049e+02] [ 4.02882294e-03 3.61202438e-07 9.99991884e-01 -2.78438026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 794.0765599949999 meters 0.012413204619225625 Centerline is valid? [True, True] Translation: X:-152.06, Y:-257.07, Z:-2.78 [[-7.00822247e-01 -7.13331010e-01 2.65495304e-03 -1.52057291e+02] [ 7.13325904e-01 -7.00827276e-01 -2.69897681e-03 -2.57068518e+02] [ 3.78592735e-03 2.34378621e-06 9.99992833e-01 -2.78427725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 794.106559995 meters 0.012547305228091896 Centerline is valid? [True, True] Translation: X:-152.08, Y:-257.05, Z:-2.78 [[-7.00247050e-01 -7.13897118e-01 2.23025161e-03 -1.52078206e+02] [ 7.13893522e-01 -7.00250601e-01 -2.26581809e-03 -2.57050690e+02] [ 3.17929603e-03 5.52974424e-06 9.99994946e-01 -2.78471571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 794.136559995 meters 0.012474553821734123 Centerline is valid? [True, True] Translation: X:-152.10, Y:-257.03, Z:-2.79 [[-6.99956416e-01 -7.14181476e-01 2.41544808e-03 -1.52097581e+02] [ 7.14177266e-01 -6.99960584e-01 -2.45236303e-03 -2.57032643e+02] [ 3.44215070e-03 8.51086135e-06 9.99994076e-01 -2.78516110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 794.166559995 meters 0.012564570649804586 Centerline is valid? [True, True] Translation: X:-152.12, Y:-257.01, Z:-2.79 [[-6.99688369e-01 -7.14443475e-01 2.58966592e-03 -1.52117147e+02] [ 7.14438643e-01 -6.99693162e-01 -2.62760669e-03 -2.57013952e+02] [ 3.68924799e-03 1.16515685e-05 9.99993195e-01 -2.78526873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 794.1965599949999 meters 0.012634643711077113 Centerline is valid? [True, True] Translation: X:-152.14, Y:-257.00, Z:-2.79 [[-6.99483204e-01 -7.14643731e-01 2.75415124e-03 -1.52136683e+02] [ 7.14638274e-01 -6.99488626e-01 -2.79275477e-03 -2.56995318e+02] [ 3.92232216e-03 1.47368301e-05 9.99992308e-01 -2.78558160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 794.226559995 meters 0.012616748601309171 Centerline is valid? [True, True] Translation: X:-152.16, Y:-256.98, Z:-2.79 [[-6.99046946e-01 -7.15068527e-01 3.22016492e-03 -1.52157227e+02] [ 7.15061081e-01 -6.99054362e-01 -3.26345651e-03 -2.56975700e+02] [ 4.58466538e-03 2.13053029e-05 9.99989490e-01 -2.78569422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 794.256559995 meters 0.01270161677258387 Centerline is valid? [True, True] Translation: X:-152.18, Y:-256.96, Z:-2.79 [[-6.98924828e-01 -7.15186216e-01 3.57233021e-03 -1.52176844e+02] [ 7.15177060e-01 -6.98933957e-01 -3.61886417e-03 -2.56956395e+02] [ 5.08498466e-03 2.55345962e-05 9.99987071e-01 -2.78592394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 794.286559995 meters 0.012720194829792439 Centerline is valid? [True, True] Translation: X:-152.20, Y:-256.94, Z:-2.79 [[-6.98722918e-01 -7.15383977e-01 3.47123881e-03 -1.52195839e+02] [ 7.15375343e-01 -6.98731540e-01 -3.51474837e-03 -2.56938959e+02] [ 4.93985870e-03 2.74034149e-05 9.99987799e-01 -2.78610712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 794.3165599949999 meters 0.012771471630951407 Centerline is valid? [True, True] Translation: X:-152.22, Y:-256.92, Z:-2.79 [[-6.98579183e-01 -7.15525231e-01 3.28170064e-03 -1.52215442e+02] [ 7.15517525e-01 -6.98586890e-01 -3.32081848e-03 -2.56920101e+02] [ 4.66868246e-03 2.82596617e-05 9.99989101e-01 -2.78606790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 794.3465599949999 meters 0.01273215908479849 Centerline is valid? [True, True] Translation: X:-152.24, Y:-256.90, Z:-2.79 [[-6.98448647e-01 -7.15652033e-01 3.41413415e-03 -1.52235109e+02] [ 7.15643705e-01 -6.98456990e-01 -3.45266418e-03 -2.56900555e+02] [ 4.85553200e-03 3.17949802e-05 9.99988211e-01 -2.78605084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 794.376559995 meters 0.012908189982283368 Centerline is valid? [True, True] Translation: X:-152.25, Y:-256.88, Z:-2.79 [[-6.97959481e-01 -7.16128582e-01 3.52384548e-03 -1.52254650e+02] [ 7.16119728e-01 -6.97968376e-01 -3.56127427e-03 -2.56883061e+02] [ 5.00986299e-03 3.78701255e-05 9.99987450e-01 -2.78653308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 794.406559995 meters 0.012937063981010525 Centerline is valid? [True, True] Translation: X:-152.27, Y:-256.86, Z:-2.79 [[-6.97844585e-01 -7.16238659e-01 3.88825516e-03 -1.52274231e+02] [ 7.16227894e-01 -6.97855416e-01 -3.92710411e-03 -2.56863852e+02] [ 5.52618370e-03 4.43684640e-05 9.99984730e-01 -2.78664892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 794.4365599949999 meters 0.012898708059237228 Centerline is valid? [True, True] Translation: X:-152.29, Y:-256.84, Z:-2.79 [[-6.97751526e-01 -7.16328648e-01 4.00954926e-03 -1.52293777e+02] [ 7.16317216e-01 -6.97763044e-01 -4.04729961e-03 -2.56844273e+02] [ 5.69691196e-03 4.80996857e-05 9.99983771e-01 -2.78696599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 794.4665599949999 meters 0.0131580911299955 Centerline is valid? [True, True] Translation: X:-152.31, Y:-256.83, Z:-2.79 [[-6.97798025e-01 -7.16279795e-01 4.60127468e-03 -1.52313605e+02] [ 7.16264756e-01 -6.97813193e-01 -4.64180510e-03 -2.56826033e+02] [ 6.53566138e-03 5.66884550e-05 9.99978641e-01 -2.78803865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 794.496559995 meters 0.013269317999714945 Centerline is valid? [True, True] Translation: X:-152.33, Y:-256.81, Z:-2.79 [[-6.97051367e-01 -7.17002228e-01 5.21505329e-03 -1.52333118e+02] [ 7.16982955e-01 -6.97070871e-01 -5.25770405e-03 -2.56806894e+02] [ 7.40504726e-03 7.42145190e-05 9.99972580e-01 -2.78828388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 794.526559995 meters 0.01322034959686135 Centerline is valid? [True, True] Translation: X:-152.35, Y:-256.79, Z:-2.79 [[-6.96743474e-01 -7.17301618e-01 5.18851043e-03 -1.52353353e+02] [ 7.17282570e-01 -6.96762788e-01 -5.22799354e-03 -2.56786723e+02] [ 7.36520922e-03 7.90577196e-05 9.99972873e-01 -2.78828910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 794.5565599949999 meters 0.014072107753413972 Centerline is valid? [True, True] Translation: X:-152.37, Y:-256.77, Z:-2.79 [[-6.96113659e-01 -7.17913996e-01 5.02671896e-03 -1.52373325e+02] [ 7.17896158e-01 -6.96131803e-01 -5.06160414e-03 -2.56769621e+02] [ 7.13305539e-03 8.52104523e-05 9.99974556e-01 -2.78928205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 794.5865599949999 meters 0.013766994883668168 Centerline is valid? [True, True] Translation: X:-152.39, Y:-256.75, Z:-2.79 [[-6.96038426e-01 -7.17987365e-01 4.96517560e-03 -1.52391777e+02] [ 7.17969984e-01 -6.96056130e-01 -4.99656694e-03 -2.56749972e+02] [ 7.04351285e-03 8.70444578e-05 9.99975190e-01 -2.78891495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 794.616559995 meters 0.013516182886780592 Centerline is valid? [True, True] Translation: X:-152.41, Y:-256.73, Z:-2.79 [[-6.95903805e-01 -7.18114900e-01 5.37445856e-03 -1.52410553e+02] [ 7.18094564e-01 -6.95924552e-01 -5.40518580e-03 -2.56729734e+02] [ 7.62176212e-03 9.78801035e-05 9.99970949e-01 -2.78872488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 794.646559995 meters 0.01409356268960639 Centerline is valid? [True, True] Translation: X:-152.43, Y:-256.71, Z:-2.79 [[-6.95785031e-01 -7.18230228e-01 5.34136678e-03 -1.52430062e+02] [ 7.18210169e-01 -6.95805526e-01 -5.36870152e-03 -2.56711535e+02] [ 7.57251624e-03 1.00761786e-04 9.99971323e-01 -2.78980676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 794.6765599949999 meters 0.013999814480826768 Centerline is valid? [True, True] Translation: X:-152.45, Y:-256.69, Z:-2.79 [[-6.95667405e-01 -7.18339639e-01 5.91817003e-03 -1.52448233e+02] [ 7.18315050e-01 -6.95692568e-01 -5.94477062e-03 -2.56690704e+02] [ 8.38759129e-03 1.15527455e-04 9.99964817e-01 -2.79008592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 794.7065599949999 meters 0.013992781294469693 Centerline is valid? [True, True] Translation: X:-152.47, Y:-256.67, Z:-2.79 [[-6.95650987e-01 -7.18351324e-01 6.40945307e-03 -1.52466826e+02] [ 7.18322519e-01 -6.95680501e-01 -6.43426707e-03 -2.56671297e+02] [ 9.08099579e-03 1.28050241e-04 9.99958759e-01 -2.79048862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 794.736559995 meters 0.014011864727737102 Centerline is valid? [True, True] Translation: X:-152.49, Y:-256.65, Z:-2.79 [[-6.95670306e-01 -7.18332300e-01 6.44459841e-03 -1.52485906e+02] [ 7.18303214e-01 -6.95700144e-01 -6.46549515e-03 -2.56651645e+02] [ 9.12788204e-03 1.31322766e-04 9.99958332e-01 -2.79094250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 794.766559995 meters 0.014527587787053275 Centerline is valid? [True, True] Translation: X:-152.50, Y:-256.63, Z:-2.79 [[-6.95610326e-01 -7.18383065e-01 7.21438676e-03 -1.52504718e+02] [ 7.18346667e-01 -6.95647720e-01 -7.23303052e-03 -2.56632990e+02] [ 1.02147583e-02 1.51059966e-04 9.99947817e-01 -2.79254633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 794.7965599949999 meters 0.014290832922767446 Centerline is valid? [True, True] Translation: X:-152.52, Y:-256.61, Z:-2.79 [[-6.95819906e-01 -7.18180277e-01 7.19361814e-03 -1.52523079e+02] [ 7.18144123e-01 -6.95857074e-01 -7.20771922e-03 -2.56613132e+02] [ 1.01821719e-02 1.50780083e-04 9.99948149e-01 -2.79211895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 794.8265599949999 meters 0.014572185339218944 Centerline is valid? [True, True] Translation: X:-152.54, Y:-256.59, Z:-2.79 [[-6.96000090e-01 -7.18005733e-01 7.18617506e-03 -1.52542029e+02] [ 7.17969693e-01 -6.96037171e-01 -7.19555508e-03 -2.56594445e+02] [ 1.01682948e-02 1.51348917e-04 9.99948290e-01 -2.79266378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 794.856559995 meters 0.014175137502070324 Centerline is valid? [True, True] Translation: X:-152.56, Y:-256.57, Z:-2.79 [[-6.96749701e-01 -7.17281005e-01 6.91471907e-03 -1.52560879e+02] [ 7.17247643e-01 -6.96783998e-01 -6.91947271e-03 -2.56574487e+02] [ 9.78127195e-03 1.38425407e-04 9.99952153e-01 -2.79184966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 794.886559995 meters 0.014232317595720904 Centerline is valid? [True, True] Translation: X:-152.58, Y:-256.56, Z:-2.79 [[-6.97201010e-01 -7.16844656e-01 6.67008556e-03 -1.52579729e+02] [ 7.16813633e-01 -6.97232903e-01 -6.67036041e-03 -2.56556262e+02] [ 9.43221534e-03 1.30626245e-04 9.99955507e-01 -2.79189881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 794.916559995 meters 0.014330407147871852 Centerline is valid? [True, True] Translation: X:-152.60, Y:-256.54, Z:-2.79 [[-6.97475940e-01 -7.16582519e-01 6.06684825e-03 -1.52598783e+02] [ 7.16556877e-01 -6.97502315e-01 -6.06321832e-03 -2.56538817e+02] [ 8.57643696e-03 1.18292937e-04 9.99963215e-01 -2.79132116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 794.9465599949999 meters 0.014513175110164955 Centerline is valid? [True, True] Translation: X:-153.09, Y:-257.02, Z:-1.79 [[-7.64718792e-01 6.44329785e-01 6.65572111e-03 -1.53085395e+02] [ 6.44303974e-01 7.64747745e-01 -5.76845979e-03 -2.57022348e+02] [-8.80673816e-03 -1.22942037e-04 -9.99961212e-01 -1.79290034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 794.976559995 meters 0.014688820505919848 Centerline is valid? [True, True] Translation: X:-153.07, Y:-257.00, Z:-1.79 [[-8.08608828e-01 5.88304151e-01 7.07032183e-03 -1.53068664e+02] [ 5.88280275e-01 8.08639728e-01 -5.30175055e-03 -2.56999560e+02] [-8.83638497e-03 -1.27711429e-04 -9.99960950e-01 -1.79294123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 795.006559995 meters 0.015268798918110968 Centerline is valid? [True, True] Translation: X:-152.66, Y:-256.46, Z:-2.79 [[-7.47215442e-01 -6.64545494e-01 6.95486134e-03 -1.52655756e+02] [ 6.64518603e-01 -7.47247792e-01 -5.98021395e-03 -2.56459743e+02] [ 9.17112902e-03 1.53126537e-04 9.99957933e-01 -2.79227737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 795.036559995 meters 0.015436341552399714 Centerline is valid? [True, True] Translation: X:-152.67, Y:-256.49, Z:-2.79 [[-7.00595563e-01 -7.13528966e-01 6.50168335e-03 -1.52672394e+02] [ 7.13500211e-01 -7.00625715e-01 -6.40760955e-03 -2.56486143e+02] [ 9.12726157e-03 1.49809624e-04 9.99958335e-01 -2.79256111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 795.0665599949999 meters 0.014740133016152039 Centerline is valid? [True, True] Translation: X:-153.15, Y:-256.97, Z:-1.79 [[-7.70835101e-01 6.36997066e-01 6.92711397e-03 -1.53152507e+02] [ 6.36969564e-01 7.70866211e-01 -5.92115314e-03 -2.56968376e+02] [-9.11163528e-03 -1.51871914e-04 -9.99958477e-01 -1.79246851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 795.0965599949999 meters 0.014351188952240931 Centerline is valid? [True, True] Translation: X:-153.13, Y:-256.95, Z:-1.79 [[-8.14004606e-01 5.80804999e-01 7.87743703e-03 -1.53133121e+02] [ 5.80775846e-01 8.14042705e-01 -5.82161685e-03 -2.56949024e+02] [-9.79379432e-03 -1.63797782e-04 -9.99952026e-01 -1.79283526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 795.126559995 meters 0.01415430126568434 Centerline is valid? [True, True] Translation: X:-153.11, Y:-256.93, Z:-1.79 [[-8.52455892e-01 5.22728409e-01 8.60020671e-03 -1.53114587e+02] [ 5.22699923e-01 8.52499258e-01 -5.45935856e-03 -2.56927988e+02] [-1.01854317e-02 -1.58534983e-04 -9.99948115e-01 -1.79220679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 795.156559995 meters 0.013854851788781798 Centerline is valid? [True, True] Translation: X:-153.10, Y:-256.91, Z:-1.79 [[-8.86744600e-01 4.62172587e-01 8.97295236e-03 -1.53099855e+02] [ 4.62147257e-01 8.86789986e-01 -4.84091752e-03 -2.56905343e+02] [-1.01944637e-02 -1.45832154e-04 -9.99948025e-01 -1.79223838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 795.1865599949999 meters 0.013217952985279864 Centerline is valid? [True, True] Translation: X:-152.77, Y:-256.31, Z:-2.79 [[-8.40231850e-01 -5.42158589e-01 8.63148691e-03 -1.52768420e+02] [ 5.42131745e-01 -8.40276171e-01 -5.39695724e-03 -2.56307083e+02] [ 1.01788395e-02 1.44707703e-04 9.99948184e-01 -2.79206950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 795.2165599949999 meters 0.013159683341031786 Centerline is valid? [True, True] Translation: X:-153.14, Y:-256.89, Z:-1.79 [[-8.85768916e-01 4.64041332e-01 8.89213526e-03 -1.53136037e+02] [ 4.64016970e-01 8.85813544e-01 -4.75564896e-03 -2.56891779e+02] [-1.00835915e-02 -8.63043602e-05 -9.99949156e-01 -1.79222304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 795.246559995 meters 0.012768867600321617 Centerline is valid? [True, True] Translation: X:-153.12, Y:-256.87, Z:-1.79 [[-9.15301033e-01 4.02667245e-01 9.11638131e-03 -1.53123529e+02] [ 4.02646643e-01 9.15346430e-01 -4.07361924e-03 -2.56869502e+02] [-9.98496012e-03 -5.79075675e-05 -9.99950147e-01 -1.79339595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 795.276559995 meters 0.01260709434212878 Centerline is valid? [True, True] Translation: X:-152.83, Y:-256.24, Z:-2.79 [[-8.83203346e-01 -4.68925348e-01 7.80178437e-03 -1.52832773e+02] [ 4.68906921e-01 -8.83237804e-01 -4.15706765e-03 -2.56236992e+02] [ 8.84018528e-03 -1.32253687e-05 9.99960925e-01 -2.79097359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 795.3065599949999 meters 0.01275326892898415 Centerline is valid? [True, True] Translation: X:-153.16, Y:-256.86, Z:-1.79 [[-9.13561492e-01 4.06625109e-01 7.83714952e-03 -1.53162475e+02] [ 4.06610323e-01 9.13595108e-01 -3.46771648e-03 -2.56856449e+02] [-8.57004205e-03 1.86936508e-05 -9.99963276e-01 -1.79383436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 795.3365599949999 meters 0.013132260064988032 Centerline is valid? [True, True] Translation: X:-153.15, Y:-256.83, Z:-1.79 [[-9.39260312e-01 3.43106678e-01 8.23853009e-03 -1.53152733e+02] [ 3.43093856e-01 9.39296442e-01 -2.96654882e-03 -2.56831765e+02] [-8.75626471e-03 4.02274787e-05 -9.99961662e-01 -1.79315865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 795.366559995 meters 0.013132260064988032 Centerline is valid? [True, True] Translation: X:-152.91, Y:-256.17, Z:-2.79 [[-9.17677528e-01 -3.97244730e-01 8.03606934e-03 -1.52909919e+02] [ 3.97229125e-01 -9.17712713e-01 -3.52126599e-03 -2.56172367e+02] [ 8.77360735e-03 -3.92258805e-05 9.99961511e-01 -2.79139251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 795.396559995 meters 0.013248110738030831 Centerline is valid? [True, True] Translation: X:-153.19, Y:-256.82, Z:-1.79 [[-9.39777696e-01 3.41693410e-01 7.96846800e-03 -1.53191756e+02] [ 3.41681651e-01 9.39811476e-01 -2.83529419e-03 -2.56819014e+02] [-8.45765901e-03 5.81330697e-05 -9.99964232e-01 -1.79352658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 795.4265599949999 meters 0.014067873063835936 Centerline is valid? [True, True] Translation: X:-153.18, Y:-256.79, Z:-1.79 [[-9.60549699e-01 2.77984633e-01 8.29573833e-03 -1.53182961e+02] [ 2.77975103e-01 9.60585517e-01 -2.30370598e-03 -2.56794511e+02] [-8.60916096e-03 9.31846339e-05 -9.99962936e-01 -1.79313295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 795.4565599949999 meters 0.014463994792793238 Centerline is valid? [True, True] Translation: X:-153.17, Y:-256.77, Z:-1.79 [[-9.77531610e-01 2.10621487e-01 8.39881771e-03 -1.53173786e+02] [ 2.10614637e-01 9.77567685e-01 -1.70193254e-03 -2.56768482e+02] [-8.56887635e-03 1.05221084e-04 -9.99963281e-01 -1.79281108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 795.486559995 meters 0.015122384870659035 Centerline is valid? [True, True] Translation: X:-153.17, Y:-256.74, Z:-1.79 [[-9.89863703e-01 1.41740920e-01 8.90849127e-03 -1.53172464e+02] [ 1.41736268e-01 9.89903782e-01 -1.15453124e-03 -2.56740104e+02] [-8.98219351e-03 1.19827740e-04 -9.99959652e-01 -1.79179901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 795.516559995 meters 0.014954421790948644 Centerline is valid? [True, True] Translation: X:-153.17, Y:-256.71, Z:-1.79 [[-9.97421846e-01 7.11613087e-02 9.25897267e-03 -1.53171007e+02] [ 7.11593986e-02 9.97464813e-01 -5.35992486e-04 -2.56710357e+02] [-9.27364137e-03 1.24252312e-04 -9.99956991e-01 -1.79207510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 795.5465599949999 meters 0.015328702589596226 Centerline is valid? [True, True] Translation: X:-153.13, Y:-256.01, Z:-2.79 [[-9.93642102e-01 -1.12196356e-01 9.34619293e-03 -1.53125825e+02] [ 1.12190288e-01 -9.93686049e-01 -1.17263274e-03 -2.56008304e+02] [ 9.41874665e-03 -1.16625180e-04 9.99955636e-01 -2.79367814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 795.5765599949999 meters 0.015083925059848385 Centerline is valid? [True, True] Translation: X:-153.24, Y:-256.70, Z:-1.79 [[-9.97910554e-01 6.37529599e-02 1.04921858e-02 -1.53237851e+02] [ 6.37506066e-02 9.97965705e-01 -5.58922816e-04 -2.56701031e+02] [-1.05064745e-02 1.11128229e-04 -9.99944799e-01 -1.79007376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 795.606559995 meters 0.015237954755436031 Centerline is valid? [True, True] Translation: X:-153.21, Y:-256.01, Z:-2.80 [[-9.93699618e-01 -1.11570419e-01 1.06353311e-02 -1.53207492e+02] [ 1.11562957e-01 -9.93756525e-01 -1.29415672e-03 -2.56009393e+02] [ 1.07133193e-02 -9.94940461e-05 9.99942606e-01 -2.79581295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 795.636559995 meters 0.014843188798110819 Centerline is valid? [True, True] Translation: X:-153.31, Y:-256.69, Z:-1.79 [[-9.98479365e-01 5.39703113e-02 1.12322869e-02 -1.53310592e+02] [ 5.39676184e-02 9.98542539e-01 -5.42926634e-04 -2.56691559e+02] [-1.12452182e-02 6.40787342e-05 -9.99936769e-01 -1.78938905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 795.666559995 meters 0.014812590361809215 Centerline is valid? [True, True] Translation: X:-153.31, Y:-256.66, Z:-1.79 [[-9.99756602e-01 -1.89768987e-02 1.12523262e-02 -1.53314501e+02] [-1.89751975e-02 9.99819922e-01 2.57936219e-04 -2.56661614e+02] [-1.12551948e-02 4.43583248e-05 -9.99936657e-01 -1.78971155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 795.6965599949999 meters 0.014652586302538639 Centerline is valid? [True, True] Translation: X:-153.33, Y:-255.99, Z:-2.79 [[-9.99049371e-01 -4.22171953e-02 1.08656652e-02 -1.53332398e+02] [ 4.22139540e-02 -9.99108455e-01 -5.27578734e-04 -2.55985207e+02] [ 1.08782508e-02 -6.83945120e-05 9.99940828e-01 -2.79455797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 795.726559995 meters 0.014560934579958055 Centerline is valid? [True, True] Translation: X:-153.40, Y:-256.66, Z:-1.79 [[-9.99546785e-01 -2.82941996e-02 1.02792085e-02 -1.53401616e+02] [-2.82926974e-02 9.99599639e-01 2.91559947e-04 -2.56659457e+02] [-1.02833426e-02 6.01271944e-07 -9.99947125e-01 -1.79020248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 795.756559995 meters 0.014720085587293852 Centerline is valid? [True, True] Translation: X:-153.41, Y:-256.63, Z:-1.79 [[-9.94887825e-01 -1.00451779e-01 1.03757286e-02 -1.53414008e+02] [-1.00446428e-01 9.94941928e-01 1.03682084e-03 -2.56631286e+02] [-1.04273979e-02 -1.06844529e-05 -9.99945633e-01 -1.78972498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 795.786559995 meters 0.014680276103918246 Centerline is valid? [True, True] Translation: X:-153.43, Y:-256.60, Z:-1.79 [[-9.84787297e-01 -1.73519201e-01 9.22316500e-03 -1.53427042e+02] [-1.73511890e-01 9.84830486e-01 1.59317079e-03 -2.56602397e+02] [-9.35969979e-03 -3.13944334e-05 -9.99956197e-01 -1.79014624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 795.8165599949999 meters 0.014604738318736175 Centerline is valid? [True, True] Translation: X:-153.55, Y:-255.95, Z:-2.79 [[-9.95080356e-01 9.86170880e-02 9.47387689e-03 -1.53550622e+02] [-9.86122058e-02 -9.95125454e-01 9.82224377e-04 -2.55951504e+02] [ 9.52456014e-03 4.31522862e-05 9.99954640e-01 -2.79367158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 795.8465599949999 meters 0.014634127621554395 Centerline is valid? [True, True] Translation: X:-153.54, Y:-256.62, Z:-1.79 [[-9.83243742e-01 -1.82075873e-01 8.95104865e-03 -1.53542500e+02] [-1.82068811e-01 9.83284483e-01 1.60441146e-03 -2.56619445e+02] [-9.09355186e-03 -5.21792653e-05 -9.99958652e-01 -1.79198209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 795.876559995 meters 0.014864966105993088 Centerline is valid? [True, True] Translation: X:-153.57, Y:-256.60, Z:-1.79 [[-9.67331230e-01 -2.53376968e-01 8.39067874e-03 -1.53571045e+02] [-2.53367984e-01 9.67367618e-01 2.13457283e-03 -2.56595782e+02] [-8.65772250e-03 -6.10903934e-05 -9.99962519e-01 -1.79168655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 795.906559995 meters 0.015200436255717082 Centerline is valid? [True, True] Translation: X:-153.61, Y:-256.57, Z:-1.79 [[-9.45543027e-01 -3.25391398e-01 8.29591636e-03 -1.53609506e+02] [-3.25379671e-01 9.45579415e-01 2.76395404e-03 -2.56574854e+02] [-8.74381461e-03 -8.58850671e-05 -9.99961769e-01 -1.79238086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 795.9365599949999 meters 0.015095081003676078 Centerline is valid? [True, True] Translation: X:-153.67, Y:-256.57, Z:-1.79 [[-9.18608414e-01 -3.95089907e-01 7.90870777e-03 -1.53670003e+02] [-3.95076172e-01 9.18642453e-01 3.29588230e-03 -2.56567163e+02] [-8.56744454e-03 -9.69167763e-05 -9.99963294e-01 -1.79373519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 795.9665599949999 meters 0.015101875721010745 Centerline is valid? [True, True] Translation: X:-153.73, Y:-256.56, Z:-1.79 [[-8.86366452e-01 -4.62925159e-01 7.40338358e-03 -1.53734997e+02] [-4.62909995e-01 8.86397364e-01 3.74833425e-03 -2.56564685e+02] [-8.29753791e-03 -1.04702522e-04 -9.99965569e-01 -1.79418429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 795.996559995 meters 0.015597669705626574 Centerline is valid? [True, True] Translation: X:-153.81, Y:-256.57, Z:-1.79 [[-8.47826853e-01 -5.30235450e-01 6.32417192e-03 -1.53809313e+02] [-5.30221735e-01 8.47850431e-01 3.81552102e-03 -2.56569797e+02] [-7.38507640e-03 -1.18312225e-04 -9.99972723e-01 -1.79494762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 796.026559995 meters 0.015941561467701013 Centerline is valid? [True, True] Translation: X:-153.89, Y:-256.59, Z:-1.79 [[-8.05266057e-01 -5.92876086e-01 6.67263721e-03 -1.53889745e+02] [-5.92857169e-01 8.05293690e-01 4.73821038e-03 -2.56587208e+02] [-8.18260427e-03 -1.40400812e-04 -9.99966512e-01 -1.79453093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 796.0565599949999 meters 0.016246762252250684 Centerline is valid? [True, True] Translation: X:-153.98, Y:-256.62, Z:-1.79 [[-7.57294408e-01 -6.53035351e-01 7.07177251e-03 -1.53976648e+02] [-6.53009044e-01 7.57327405e-01 5.86421022e-03 -2.56615751e+02] [-9.18518371e-03 -1.76997805e-04 -9.99957800e-01 -1.79386758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 796.0865599949999 meters 0.01722190641848728 Centerline is valid? [True, True] Translation: X:-154.06, Y:-256.65, Z:-1.79 [[-7.05345376e-01 -7.08831918e-01 6.72406392e-03 -1.54061704e+02] [-7.08802240e-01 7.05377400e-01 6.48904899e-03 -2.56650979e+02] [-9.34264776e-03 -1.89010875e-04 -9.99956339e-01 -1.79270374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 796.116559995 meters 0.016982502683416684 Centerline is valid? [True, True] Translation: X:-154.14, Y:-256.70, Z:-1.79 [[-6.49416672e-01 -7.60404884e-01 6.51139263e-03 -1.54144385e+02] [-7.60369774e-01 6.49449283e-01 7.31002251e-03 -2.56697456e+02] [-9.78739610e-03 -2.03815650e-04 -9.99952082e-01 -1.79288002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 796.146559995 meters 0.017023112421847075 Centerline is valid? [True, True] Translation: X:-154.23, Y:-256.76, Z:-1.79 [[-5.89665761e-01 -8.07622747e-01 6.30787795e-03 -1.54228870e+02] [-8.07580495e-01 5.89699457e-01 8.26405363e-03 -2.56755954e+02] [-1.03939899e-02 -2.21089727e-04 -9.99945957e-01 -1.79270313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 796.1765599949999 meters 0.01675962776904296 Centerline is valid? [True, True] Translation: X:-154.31, Y:-256.82, Z:-1.79 [[-5.26746312e-01 -8.50001154e-01 6.03003569e-03 -1.54308023e+02] [-8.49950463e-01 5.26780774e-01 9.28585156e-03 -2.56819740e+02] [-1.10694914e-02 -2.33943565e-04 -9.99938704e-01 -1.79220497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 796.2065599949999 meters 0.017257076772578813 Centerline is valid? [True, True] Translation: X:-154.39, Y:-256.90, Z:-1.79 [[-4.61100456e-01 -8.87331026e-01 5.47902236e-03 -1.54386938e+02] [-8.87274355e-01 4.61132947e-01 1.00311872e-02 -2.56895227e+02] [-1.14275414e-02 -2.36011019e-04 -9.99934676e-01 -1.79108969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 796.236559995 meters 0.016842858223521544 Centerline is valid? [True, True] Translation: X:-154.46, Y:-256.98, Z:-1.79 [[-3.93641585e-01 -9.19251655e-01 4.76419333e-03 -1.54457230e+02] [-9.19190956e-01 3.93670353e-01 1.05660260e-02 -2.56977660e+02] [-1.15883586e-02 -2.19976193e-04 -9.99932829e-01 -1.79094193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 796.266559995 meters 0.016413658287621168 Centerline is valid? [True, True] Translation: X:-154.52, Y:-257.07, Z:-1.79 [[-3.23419561e-01 -9.46248377e-01 3.71432305e-03 -1.54522020e+02] [-9.46192706e-01 3.23440831e-01 1.02660515e-02 -2.57067059e+02] [-1.09155983e-02 -1.94223515e-04 -9.99940404e-01 -1.79163597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 796.2965599949999 meters 0.015450329507963875 Centerline is valid? [True, True] Translation: X:-154.58, Y:-257.16, Z:-1.79 [[-2.51179548e-01 -9.67936265e-01 2.86747719e-03 -1.54578148e+02] [-9.67881050e-01 2.51195852e-01 1.03401086e-02 -2.57161544e+02] [-1.07288644e-02 -1.78153040e-04 -9.99942428e-01 -1.79334356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 796.3265599949999 meters 0.015073267451729684 Centerline is valid? [True, True] Translation: X:-154.63, Y:-257.26, Z:-1.79 [[-1.79209788e-01 -9.83809095e-01 1.87533230e-03 -1.54628831e+02] [-9.83762705e-01 1.79219551e-01 9.55470073e-03 -2.57264146e+02] [-9.73609768e-03 -1.32586083e-04 -9.99952594e-01 -1.79376338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 796.356559995 meters 0.014901749208039676 Centerline is valid? [True, True] Translation: X:-154.67, Y:-257.37, Z:-1.79 [[-1.04715772e-01 -9.94501568e-01 1.11298483e-03 -1.54673166e+02] [-9.94456521e-01 1.04721623e-01 9.46619328e-03 -2.57373936e+02] [-9.53069764e-03 -1.15555278e-04 -9.99954575e-01 -1.79369193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 796.386559995 meters 0.014575746948093504 Centerline is valid? [True, True] Translation: X:-154.71, Y:-257.48, Z:-1.79 [[-3.05983261e-02 -9.99531681e-01 4.01449338e-04 -1.54707591e+02] [-9.99481778e-01 3.06008101e-02 9.98824841e-03 -2.57481863e+02] [-9.99585540e-03 -9.56176171e-05 -9.99950036e-01 -1.79315148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 796.416559995 meters 0.01435303593336266 Centerline is valid? [True, True] Translation: X:-154.73, Y:-257.60, Z:-1.79 [[ 4.51876034e-02 -9.98978452e-01 -3.66110265e-04 -1.54734547e+02] [-9.98928750e-01 -4.51890073e-02 9.96527908e-03 -2.57598442e+02] [-9.97164322e-03 -8.45890094e-05 -9.99950278e-01 -1.79340238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 796.4465599949999 meters 0.01415880042452905 Centerline is valid? [True, True] Translation: X:-154.75, Y:-257.72, Z:-1.79 [[ 1.21221821e-01 -9.92624787e-01 -1.14136565e-03 -1.54752270e+02] [-9.92574411e-01 -1.21227168e-01 1.00006784e-02 -2.57719339e+02] [-1.00652858e-02 -7.94101016e-05 -9.99949341e-01 -1.79399307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 796.476559995 meters 0.014095228937726967 Centerline is valid? [True, True] Translation: X:-154.76, Y:-257.83, Z:-1.79 [[ 1.96594564e-01 -9.80483046e-01 -1.89060971e-03 -1.54762656e+02] [-9.80434050e-01 -1.96603641e-01 9.80214479e-03 -2.57833961e+02] [-9.98253753e-03 -7.34302461e-05 -9.99950171e-01 -1.79411743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 796.506559995 meters 0.014145715703262837 Centerline is valid? [True, True] Translation: X:-154.76, Y:-257.96, Z:-1.79 [[ 2.70623350e-01 -9.62682008e-01 -2.52062150e-03 -1.54762805e+02] [-9.62637938e-01 -2.70635080e-01 9.21166442e-03 -2.57956782e+02] [-9.55007220e-03 -6.64455992e-05 -9.99954395e-01 -1.79392628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 796.536559995 meters 0.014291851143893414 Centerline is valid? [True, True] Translation: X:-154.76, Y:-258.07, Z:-1.79 [[ 3.43668625e-01 -9.39084784e-01 -3.41244675e-03 -1.54758880e+02] [-9.39036394e-01 -3.43685559e-01 9.53349119e-03 -2.58065514e+02] [-1.01255652e-02 -7.19501208e-05 -9.99948733e-01 -1.79319318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 796.5665599949999 meters 0.014157078922627027 Centerline is valid? [True, True] Translation: X:-154.74, Y:-258.18, Z:-1.79 [[ 4.15264987e-01 -9.09690098e-01 -4.34925928e-03 -1.54743343e+02] [-9.09638095e-01 -4.15287754e-01 9.72711662e-03 -2.58180874e+02] [-1.06548558e-02 -8.30790303e-05 -9.99943232e-01 -1.79407835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 796.5965599949999 meters 0.014232888099478737 Centerline is valid? [True, True] Translation: X:-154.72, Y:-258.29, Z:-1.79 [[ 4.84261741e-01 -8.74907787e-01 -5.18951184e-03 -1.54720572e+02] [-8.74855491e-01 -4.84289537e-01 9.56633067e-03 -2.58291892e+02] [-1.08828835e-02 -9.25350116e-05 -9.99940776e-01 -1.79346824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 796.626559995 meters 0.014379524972679256 Centerline is valid? [True, True] Translation: X:-154.69, Y:-258.41, Z:-1.79 [[ 5.50313686e-01 -8.34935665e-01 -6.10591300e-03 -1.54686560e+02] [-8.34882164e-01 -5.50347549e-01 9.45240953e-03 -2.58405061e+02] [-1.12525281e-02 -1.04072465e-04 -9.99936683e-01 -1.79295312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 796.656559995 meters 0.014527215295208104 Centerline is valid? [True, True] Translation: X:-154.65, Y:-258.51, Z:-1.79 [[ 6.13483428e-01 -7.89674270e-01 -7.25470301e-03 -1.54649453e+02] [-7.89616593e-01 -6.13526308e-01 9.54494522e-03 -2.58507491e+02] [-1.19883488e-02 -1.27231838e-04 -9.99928129e-01 -1.79334065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 796.6865599949999 meters 0.014491391126759446 Centerline is valid? [True, True] Translation: X:-154.60, Y:-258.61, Z:-1.79 [[ 6.72290804e-01 -7.40245041e-01 -7.89645892e-03 -1.54604315e+02] [-7.40191636e-01 -6.72337163e-01 8.89271722e-03 -2.58606483e+02] [-1.18918726e-02 -1.33599154e-04 -9.99929280e-01 -1.79407283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 796.7165599949999 meters 0.014359176551699881 Centerline is valid? [True, True] Translation: X:-154.55, Y:-258.70, Z:-1.79 [[ 7.27029490e-01 -6.86557068e-01 -8.21664373e-03 -1.54552410e+02] [-6.86511106e-01 -7.27075906e-01 7.94528727e-03 -2.58701248e+02] [-1.14290168e-02 -1.35640975e-04 -9.99934678e-01 -1.79492071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 796.746559995 meters 0.01462670017081619 Centerline is valid? [True, True] Translation: X:-154.56, Y:-258.71, Z:-1.80 [[ 7.78941089e-01 -6.27044890e-01 -8.09232983e-03 -1.54555774e+02] [-6.27009275e-01 -7.78983112e-01 6.68438566e-03 -2.58711515e+02] [-1.04951981e-02 -1.32776792e-04 -9.99944915e-01 -1.79567967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 796.776559995 meters 0.014776880631840687 Centerline is valid? [True, True] Translation: X:-154.56, Y:-258.72, Z:-1.80 [[ 8.25671538e-01 -5.64094197e-01 -8.01550705e-03 -1.54557079e+02] [-5.64066135e-01 -8.25710434e-01 5.62804676e-03 -2.58720652e+02] [-9.79323632e-03 -1.25641943e-04 -9.99952037e-01 -1.79578546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 796.8065599949999 meters 0.014501932316198675 Centerline is valid? [True, True] Translation: X:-154.56, Y:-258.73, Z:-1.80 [[ 8.67210988e-01 -4.97880907e-01 -7.72683264e-03 -1.54556762e+02] [-4.97859967e-01 -8.67245403e-01 4.56767703e-03 -2.58729848e+02] [-8.97521927e-03 -1.14259069e-04 -9.99959716e-01 -1.79682920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 796.8365599949999 meters 0.014221179408519394 Centerline is valid? [True, True] Translation: X:-154.56, Y:-258.74, Z:-1.80 [[ 9.03357578e-01 -4.28813517e-01 -8.00342274e-03 -1.54555991e+02] [-4.28795599e-01 -9.03393024e-01 3.92159390e-03 -2.58740300e+02] [-8.91186875e-03 -1.10769124e-04 -9.99960283e-01 -1.79749118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 796.866559995 meters 0.014069649786880438 Centerline is valid? [True, True] Translation: X:-154.55, Y:-258.75, Z:-1.80 [[ 9.33802522e-01 -3.57685286e-01 -8.60735617e-03 -1.54554226e+02] [-3.57669031e-01 -9.33842184e-01 3.41171379e-03 -2.58750645e+02] [-9.25823211e-03 -1.07282205e-04 -9.99957136e-01 -1.79706115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 796.896559995 meters 0.014003115534680163 Centerline is valid? [True, True] Translation: X:-154.55, Y:-258.76, Z:-1.80 [[ 9.58602490e-01 -2.84583934e-01 -9.65664166e-03 -1.54552574e+02] [-2.84568378e-01 -9.58651122e-01 2.97744038e-03 -2.58760527e+02] [-1.01046821e-02 -1.06206904e-04 -9.99948941e-01 -1.79582238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 796.9265599949999 meters 0.01395044063823188 Centerline is valid? [True, True] Translation: X:-154.55, Y:-258.77, Z:-1.80 [[ 9.77859369e-01 -2.09016525e-01 -1.01561262e-02 -1.54549177e+02] [-2.09004117e-01 -9.77912103e-01 2.27996867e-03 -2.58769921e+02] [-1.04083498e-02 -1.06816546e-04 -9.99945826e-01 -1.79560427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 796.9565599949999 meters 0.01395044063823188 Centerline is valid? [True, True] Translation: X:-154.55, Y:-258.78, Z:-1.80 [[ 9.91207544e-01 -1.31914544e-01 -1.03033330e-02 -1.54545544e+02] [-1.31906297e-01 -9.91261087e-01 1.47889681e-03 -2.58779043e+02] [-1.04083811e-02 -1.06819170e-04 -9.99945826e-01 -1.79560394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 796.986559995 meters 0.013706956908609071 Centerline is valid? [True, True] Translation: X:-154.54, Y:-258.79, Z:-1.80 [[ 9.98449033e-01 -5.46225165e-02 -1.07661555e-02 -1.54544320e+02] [-5.46182278e-02 -9.98507071e-01 6.92197867e-04 -2.58788768e+02] [-1.07878920e-02 -1.03095958e-04 -9.99941804e-01 -1.79561835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 797.016559995 meters 0.013767374791616735 Centerline is valid? [True, True] Translation: X:-154.54, Y:-258.80, Z:-1.79 [[ 9.99682157e-01 2.24811545e-02 -1.14098082e-02 -1.54543570e+02] [ 2.24807752e-02 -9.99747262e-01 -1.61509209e-04 -2.58798457e+02] [-1.14105554e-02 -9.50434582e-05 -9.99934893e-01 -1.79449223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 797.0465599949999 meters 0.013742696629254144 Centerline is valid? [True, True] Translation: X:-154.54, Y:-258.80, Z:-1.79 [[ 9.94885205e-01 1.00393386e-01 -1.11623440e-02 -1.54541109e+02] [ 1.00388088e-01 -9.94947818e-01 -1.03535953e-03 -2.58804884e+02] [-1.12098930e-02 -9.05024854e-05 -9.99937163e-01 -1.79446922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 797.0765599949999 meters 0.013716424408151092 Centerline is valid? [True, True] Translation: X:-154.54, Y:-258.81, Z:-1.79 [[ 9.84029588e-01 1.77647572e-01 -1.12742929e-02 -1.54538955e+02] [ 1.77636947e-01 -9.84094169e-01 -1.94491944e-03 -2.58810770e+02] [-1.14404761e-02 -8.88726902e-05 -9.99934552e-01 -1.79412126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 797.106559995 meters 0.013532901439379252 Centerline is valid? [True, True] Translation: X:-154.53, Y:-258.82, Z:-1.79 [[ 9.67092459e-01 2.54189315e-01 -1.09529984e-02 -1.54534831e+02] [ 2.54174045e-01 -9.67154478e-01 -2.78756824e-03 -2.58817832e+02] [-1.13018115e-02 -8.81316869e-05 -9.99936129e-01 -1.79448567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 797.136559995 meters 0.013590895195517238 Centerline is valid? [True, True] Translation: X:-154.53, Y:-258.83, Z:-1.79 [[ 9.44075386e-01 3.29535758e-01 -1.13070348e-02 -1.54530325e+02] [ 3.29513374e-01 -9.44143090e-01 -3.84213409e-03 -2.58826685e+02] [-1.19415794e-02 -9.85549665e-05 -9.99928692e-01 -1.79348490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 797.166559995 meters 0.013727682341877115 Centerline is valid? [True, True] Translation: X:-154.53, Y:-258.83, Z:-1.79 [[ 9.15215991e-01 4.02809311e-01 -1.11511946e-02 -1.54525882e+02] [ 4.02780813e-01 -9.15283917e-01 -4.79253792e-03 -2.58834159e+02] [-1.21369879e-02 -1.05279884e-04 -9.99926339e-01 -1.79252640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 797.1965599949999 meters 0.013893201876232764 Centerline is valid? [True, True] Translation: X:-154.52, Y:-258.84, Z:-1.79 [[ 8.80547524e-01 4.73812332e-01 -1.17444094e-02 -1.54521697e+02] [ 4.73772070e-01 -8.80625833e-01 -6.17796393e-03 -2.58839131e+02] [-1.32696258e-02 -1.24182315e-04 -9.99911947e-01 -1.79183915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 797.226559995 meters 0.013847090665580434 Centerline is valid? [True, True] Translation: X:-154.52, Y:-258.84, Z:-1.79 [[ 8.40614084e-01 5.41518801e-01 -1.11960066e-02 -1.54516113e+02] [ 5.41472785e-01 -8.40688630e-01 -7.06055527e-03 -2.58844308e+02] [-1.32357789e-02 -1.27130680e-04 -9.99912395e-01 -1.79192101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 797.256559995 meters 0.013778779885497262 Centerline is valid? [True, True] Translation: X:-154.51, Y:-258.85, Z:-1.79 [[ 7.95965808e-01 6.05262019e-01 -9.81436457e-03 -1.54510250e+02] [ 6.05217737e-01 -7.96026304e-01 -7.32223181e-03 -2.58848753e+02] [-1.22443612e-02 -1.11581356e-04 -9.99925029e-01 -1.79265651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 797.286559995 meters 0.013778779885497262 Centerline is valid? [True, True] Translation: X:-154.50, Y:-258.85, Z:-1.79 [[ 7.46133119e-01 6.65733076e-01 -9.21092147e-03 -1.54504759e+02] [ 6.65684193e-01 -7.46189962e-01 -8.06824019e-03 -2.58853090e+02] [-1.22443915e-02 -1.11583610e-04 -9.99925029e-01 -1.79265623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 797.3165599949999 meters 0.013800539057017914 Centerline is valid? [True, True] Translation: X:-154.50, Y:-258.86, Z:-1.79 [[ 6.92108843e-01 7.21745288e-01 -8.31197800e-03 -1.54500046e+02] [ 7.21695008e-01 -6.92158745e-01 -8.51975561e-03 -2.58856249e+02] [-1.19023017e-02 -1.02114837e-04 -9.99929160e-01 -1.79278733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 797.3465599949999 meters 0.013648570429753494 Centerline is valid? [True, True] Translation: X:-154.49, Y:-258.86, Z:-1.79 [[ 6.33714544e-01 7.73530766e-01 -7.48542514e-03 -1.54494542e+02] [ 7.73478599e-01 -6.33758744e-01 -8.98393749e-03 -2.58859270e+02] [-1.16933057e-02 -9.65642979e-05 -9.99931626e-01 -1.79351318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 797.376559995 meters 0.013495843233850068 Centerline is valid? [True, True] Translation: X:-154.49, Y:-258.86, Z:-1.79 [[ 5.71602103e-01 8.20503789e-01 -6.67591105e-03 -1.54486414e+02] [ 8.20449659e-01 -5.71641080e-01 -9.42516905e-03 -2.58863057e+02] [-1.15496119e-02 -8.98024952e-05 -9.99933297e-01 -1.79414640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 797.406559995 meters 0.013392668595110253 Centerline is valid? [True, True] Translation: X:-154.48, Y:-258.87, Z:-1.79 [[ 5.06497527e-01 8.62221994e-01 -5.78687412e-03 -1.54479163e+02] [ 8.62167437e-01 -5.06530579e-01 -9.69964253e-03 -2.58867109e+02] [-1.12944738e-02 -7.64094668e-05 -9.99936213e-01 -1.79428069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 797.4365599949999 meters 0.01337499608075033 Centerline is valid? [True, True] Translation: X:-154.47, Y:-258.87, Z:-1.79 [[ 4.37620848e-01 8.99146037e-01 -4.93938615e-03 -1.54472165e+02] [ 8.99090634e-01 -4.37648717e-01 -9.98161226e-03 -2.58870810e+02] [-1.11366431e-02 -7.27942048e-05 -9.99937983e-01 -1.79424237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 797.4665599949999 meters 0.013278048731108053 Centerline is valid? [True, True] Translation: X:-154.46, Y:-258.87, Z:-1.80 [[ 3.66128631e-01 9.30555164e-01 -4.11251002e-03 -1.54464346e+02] [ 9.30498560e-01 -3.66151720e-01 -1.02639417e-02 -2.58873796e+02] [-1.10569666e-02 -6.87617271e-05 -9.99938868e-01 -1.79504272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 797.496559995 meters 0.01334491995334922 Centerline is valid? [True, True] Translation: X:-154.46, Y:-258.88, Z:-1.80 [[ 2.93159668e-01 9.56058554e-01 -3.07414618e-03 -1.54457620e+02] [ 9.56007877e-01 -2.93175781e-01 -9.84376881e-03 -2.58876939e+02] [-1.03124846e-02 -5.31119655e-05 -9.99946824e-01 -1.79536421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 797.526559995 meters 0.013296781790724368 Centerline is valid? [True, True] Translation: X:-154.45, Y:-258.88, Z:-1.80 [[ 2.18044298e-01 9.75936415e-01 -2.19033995e-03 -1.54450079e+02] [ 9.75889182e-01 -2.18055295e-01 -9.60171447e-03 -2.58878448e+02] [-9.84827802e-03 -4.39299705e-05 -9.99951504e-01 -1.79627565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 797.5565599949999 meters 0.013156032129634244 Centerline is valid? [True, True] Translation: X:-154.44, Y:-258.88, Z:-1.80 [[ 1.41446351e-01 9.89944957e-01 -1.38283397e-03 -1.54441165e+02] [ 9.89900201e-01 -1.41453105e-01 -9.41332073e-03 -2.58880190e+02] [-9.51427555e-03 -3.73877547e-05 -9.99954738e-01 -1.79668654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 797.5865599949999 meters 0.01314707977180246 Centerline is valid? [True, True] Translation: X:-154.43, Y:-258.88, Z:-1.80 [[ 6.41263779e-02 9.97941575e-01 -6.49082008e-04 -1.54432056e+02] [ 9.97895309e-01 -6.41296551e-02 -9.60938688e-03 -2.58881089e+02] [-9.63123208e-03 -3.15007159e-05 -9.99953618e-01 -1.79611637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 797.616559995 meters 0.01321327919571378 Centerline is valid? [True, True] Translation: X:-154.42, Y:-258.88, Z:-1.80 [[-1.41827750e-02 9.99899414e-01 1.08722830e-04 -1.54422913e+02] [ 9.99850306e-01 1.41831559e-02 -9.90973778e-03 -2.58882576e+02] [-9.91028303e-03 -3.18410262e-05 -9.99950892e-01 -1.79542060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 797.646559995 meters 0.013282259428615016 Centerline is valid? [True, True] Translation: X:-154.42, Y:-258.88, Z:-1.79 [[-9.22536698e-02 9.95735108e-01 9.25205886e-04 -1.54416430e+02] [ 9.95681597e-01 9.22583039e-02 -1.03229284e-02 -2.58883769e+02] [-1.03642601e-02 -3.11175536e-05 -9.99946289e-01 -1.79486791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 797.6765599949999 meters 0.013210126598735255 Centerline is valid? [True, True] Translation: X:-154.41, Y:-258.88, Z:-1.79 [[-1.69573509e-01 9.85515774e-01 1.86674939e-03 -1.54410409e+02] [ 9.85454172e-01 1.69583782e-01 -1.10189312e-02 -2.58883334e+02] [-1.11759009e-02 -2.89228522e-05 -9.99937547e-01 -1.79478318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 797.7065599949999 meters 0.013162267345116947 Centerline is valid? [True, True] Translation: X:-154.40, Y:-258.88, Z:-1.79 [[-2.45799130e-01 9.69316615e-01 2.84395899e-03 -1.54403974e+02] [ 9.69250548e-01 2.45815580e-01 -1.13170195e-02 -2.58882852e+02] [-1.16688645e-02 -2.52047410e-05 -9.99931916e-01 -1.79435467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 797.736559995 meters 0.013264850990110743 Centerline is valid? [True, True] Translation: X:-154.40, Y:-258.88, Z:-1.79 [[-3.20761279e-01 9.47152843e-01 3.70046692e-03 -1.54397273e+02] [ 9.47089020e-01 3.20782623e-01 -1.09953174e-02 -2.58881636e+02] [-1.16012916e-02 -2.22004833e-05 -9.99932703e-01 -1.79402225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 797.766559995 meters 0.013195060036937078 Centerline is valid? [True, True] Translation: X:-154.39, Y:-258.88, Z:-1.79 [[-3.93404066e-01 9.19354068e-01 4.61936310e-03 -1.54391919e+02] [ 9.19290243e-01 3.93431186e-01 -1.08328807e-02 -2.58881186e+02] [-1.17766545e-02 -1.51638992e-05 -9.99930653e-01 -1.79324670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 797.7965599949999 meters 0.013157350269721264 Centerline is valid? [True, True] Translation: X:-154.39, Y:-258.88, Z:-1.79 [[-4.64230986e-01 8.85697554e-01 5.42545026e-03 -1.54386037e+02] [ 8.85636697e-01 4.64262688e-01 -1.03825785e-02 -2.58879800e+02] [-1.17146585e-02 -1.49367876e-05 -9.99931381e-01 -1.79379722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 797.8265599949999 meters 0.0131536686999197 Centerline is valid? [True, True] Translation: X:-154.38, Y:-258.88, Z:-1.79 [[-5.31910542e-01 8.46778694e-01 6.08434115e-03 -1.54379991e+02] [ 8.46723077e-01 5.31945339e-01 -9.70502196e-03 -2.58877468e+02] [-1.14545427e-02 -1.04514274e-05 -9.99934395e-01 -1.79407374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 797.856559995 meters 0.013163736273519407 Centerline is valid? [True, True] Translation: X:-154.37, Y:-258.88, Z:-1.79 [[-5.96319273e-01 8.02720158e-01 6.60845290e-03 -1.54374680e+02] [ 8.02670756e-01 5.96355890e-01 -8.90565498e-03 -2.58876436e+02] [-1.10897386e-02 -6.20182032e-06 -9.99938507e-01 -1.79394794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 797.886559995 meters 0.013209595681691645 Centerline is valid? [True, True] Translation: X:-154.37, Y:-258.87, Z:-1.79 [[-6.57182785e-01 7.53695145e-01 7.37672341e-03 -1.54369401e+02] [ 7.53647608e-01 6.57224185e-01 -8.46485176e-03 -2.58873375e+02] [-1.12280787e-02 -3.50490222e-06 -9.99936963e-01 -1.79428783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 797.916559995 meters 0.013203868241547687 Centerline is valid? [True, True] Translation: X:-154.36, Y:-258.87, Z:-1.79 [[-7.14023790e-01 7.00073899e-01 8.15861607e-03 -1.54364521e+02] [ 7.00028186e-01 7.14070399e-01 -8.00025316e-03 -2.58870845e+02] [-1.14265947e-02 -1.10987582e-06 -9.99934714e-01 -1.79411545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 797.9465599949999 meters 0.013175606580847628 Centerline is valid? [True, True] Translation: X:-154.35, Y:-258.85, Z:-1.79 [[-7.61712083e-01 6.47861845e-01 8.35063164e-03 -1.54346496e+02] [ 6.47822913e-01 7.61757855e-01 -7.10232542e-03 -2.58850464e+02] [-1.09624849e-02 -1.96568057e-07 -9.99939910e-01 -1.79465035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 797.976559995 meters 0.013202884506416901 Centerline is valid? [True, True] Translation: X:-153.90, Y:-258.34, Z:-2.79 [[-7.16313941e-01 -6.97735835e-01 7.68389959e-03 -1.53903279e+02] [ 6.97695498e-01 -7.16355153e-01 -7.50249856e-03 -2.58340646e+02] [ 1.07391632e-02 -1.31221648e-05 9.99942334e-01 -2.78963541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 798.006559995 meters 0.013037573801823106 Centerline is valid? [True, True] Translation: X:-154.38, Y:-258.82, Z:-1.80 [[-7.64274326e-01 6.44843851e-01 7.82067960e-03 -1.54379961e+02] [ 6.44810036e-01 7.64314339e-01 -6.60372228e-03 -2.58823966e+02] [-1.02358273e-02 -4.20269885e-06 -9.99947613e-01 -1.79606047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 798.036559995 meters 0.01306267344482789 Centerline is valid? [True, True] Translation: X:-154.36, Y:-258.80, Z:-1.80 [[-8.08127208e-01 5.88949087e-01 8.32998370e-03 -1.54361516e+02] [ 5.88917720e-01 8.08170139e-01 -6.07828751e-03 -2.58803234e+02] [-1.03118460e-02 -6.35450393e-06 -9.99946832e-01 -1.79620349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 798.0665599949999 meters 0.013060282833385615 Centerline is valid? [True, True] Translation: X:-154.34, Y:-258.78, Z:-1.80 [[-8.48108720e-01 5.29741243e-01 9.26365287e-03 -1.54343942e+02] [ 5.29709476e-01 8.48159310e-01 -5.80129479e-03 -2.58781213e+02] [-1.09302385e-02 -1.30839842e-05 -9.99940263e-01 -1.79605880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 798.0965599949999 meters 0.013127781233053477 Centerline is valid? [True, True] Translation: X:-154.33, Y:-258.75, Z:-1.80 [[-8.84402646e-01 4.66623846e-01 9.70286797e-03 -1.54332069e+02] [ 4.66595334e-01 8.84455869e-01 -5.15847843e-03 -2.58754551e+02] [-1.09888276e-02 -3.48590551e-05 -9.99939621e-01 -1.79567474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 798.126559995 meters 0.013293495836796015 Centerline is valid? [True, True] Translation: X:-154.32, Y:-258.73, Z:-1.80 [[-9.15799378e-01 4.01518414e-01 9.71920275e-03 -1.54321686e+02] [ 4.01495239e-01 9.15850949e-01 -4.31417344e-03 -2.58727249e+02] [-1.06335611e-02 -4.87037194e-05 -9.99943461e-01 -1.79521593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 798.156559995 meters 0.01350934364432714 Centerline is valid? [True, True] Translation: X:-154.05, Y:-258.12, Z:-2.79 [[-8.80952726e-01 -4.73115490e-01 9.16671260e-03 -1.54046035e+02] [ 4.73090253e-01 -8.81000416e-01 -4.88678554e-03 -2.58117235e+02] [ 1.03878915e-02 3.16553387e-05 9.99946044e-01 -2.78871835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 798.1865599949999 meters 0.013698012317352157 Centerline is valid? [True, True] Translation: X:-154.36, Y:-258.71, Z:-1.80 [[-9.19145952e-01 3.93796740e-01 9.73890400e-03 -1.54362192e+02] [ 3.93773491e-01 9.19197540e-01 -4.28024049e-03 -2.58706646e+02] [-1.06375214e-02 -9.92434936e-05 -9.99943415e-01 -1.79556564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 798.2165599949999 meters 0.013943823130018792 Centerline is valid? [True, True] Translation: X:-154.35, Y:-258.68, Z:-1.80 [[-9.45307804e-01 3.26005540e-01 1.06556510e-02 -1.54352507e+02] [ 3.25983331e-01 9.45367850e-01 -3.80733125e-03 -2.58679803e+02] [-1.13147209e-02 -1.25535346e-04 -9.99935979e-01 -1.79527215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 798.246559995 meters 0.014497932396075696 Centerline is valid? [True, True] Translation: X:-154.35, Y:-258.65, Z:-1.79 [[-9.66988966e-01 2.54519643e-01 1.23325356e-02 -1.54347014e+02] [ 2.54496432e-01 9.67067586e-01 -3.44251040e-03 -2.58651447e+02] [-1.28025820e-02 -1.90283259e-04 -9.99918026e-01 -1.79491422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 798.276559995 meters 0.015006265579340601 Centerline is valid? [True, True] Translation: X:-154.17, Y:-258.01, Z:-2.79 [[-9.37133472e-01 -3.48742226e-01 1.26378602e-02 -1.54170687e+02] [ 3.48713924e-01 -9.37218653e-01 -4.44920839e-03 -2.58014160e+02] [ 1.33960652e-02 2.37495723e-04 9.99910241e-01 -2.78996130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 798.3065599949999 meters 0.015858300411338688 Centerline is valid? [True, True] Translation: X:-154.39, Y:-258.64, Z:-1.79 [[-9.68746381e-01 2.47713226e-01 1.29848598e-02 -1.54394886e+02] [ 2.47687610e-01 9.68833370e-01 -3.57059827e-03 -2.58636049e+02] [-1.34646499e-02 -2.42815277e-04 -9.99909318e-01 -1.79343324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 798.3365599949999 meters 0.016543952913215417 Centerline is valid? [True, True] Translation: X:-154.22, Y:-258.00, Z:-2.79 [[-9.37444018e-01 -3.47890083e-01 1.30844944e-02 -1.54224608e+02] [ 3.47860278e-01 -9.37535287e-01 -4.56200617e-03 -2.58002983e+02] [ 1.38542520e-02 2.74950489e-04 9.99903988e-01 -2.79177616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 798.366559995 meters 0.017441215241769482 Centerline is valid? [True, True] Translation: X:-154.44, Y:-258.62, Z:-1.79 [[-9.70433431e-01 2.40995777e-01 1.34160709e-02 -1.54441307e+02] [ 2.40968544e-01 9.70526120e-01 -3.63485044e-03 -2.58620900e+02] [-1.38966308e-02 -2.94529323e-04 -9.99903394e-01 -1.79183162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 798.396559995 meters 0.01629834269758879 Centerline is valid? [True, True] Translation: X:-154.44, Y:-258.60, Z:-1.79 [[-9.85060879e-01 1.71683282e-01 1.34132479e-02 -1.54439243e+02] [ 1.71663382e-01 9.85152155e-01 -2.62969923e-03 -2.58595562e+02] [-1.36655654e-02 -2.87850342e-04 -9.99906580e-01 -1.79349190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 798.4265599949999 meters 0.015906577591185078 Centerline is valid? [True, True] Translation: X:-154.44, Y:-258.57, Z:-1.79 [[-9.94561862e-01 1.03347303e-01 1.28855645e-02 -1.54440727e+02] [ 1.03335411e-01 9.94645301e-01 -1.58706893e-03 -2.58570901e+02] [-1.29805854e-02 -2.46903136e-04 -9.99915718e-01 -1.79442973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 798.4565599949999 meters 0.0154466599731671 Centerline is valid? [True, True] Translation: X:-154.36, Y:-257.91, Z:-2.79 [[-9.78548451e-01 -2.05661421e-01 1.20958440e-02 -1.54363437e+02] [ 2.05648144e-01 -9.78623187e-01 -2.34476972e-03 -2.57910398e+02] [ 1.23195020e-02 1.93017083e-04 9.99924094e-01 -2.78962551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 798.486559995 meters 0.01429622701166547 Centerline is valid? [True, True] Translation: X:-154.50, Y:-258.57, Z:-1.80 [[-9.94340111e-01 1.05690250e-01 1.08311740e-02 -1.54495121e+02] [ 1.05682540e-01 9.94399092e-01 -1.28336766e-03 -2.58572490e+02] [-1.09061491e-02 -1.31437960e-04 -9.99940518e-01 -1.79615666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 798.516559995 meters 0.013853287044027756 Centerline is valid? [True, True] Translation: X:-154.50, Y:-258.55, Z:-1.80 [[-9.99249155e-01 3.72612789e-02 1.06171604e-02 -1.54501676e+02] [ 3.72580890e-02 9.99305552e-01 -4.98146739e-04 -2.58546915e+02] [-1.06283489e-02 -1.02197599e-04 -9.99943512e-01 -1.79651905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 798.5465599949999 meters 0.013362043356805813 Centerline is valid? [True, True] Translation: X:-154.50, Y:-258.52, Z:-1.80 [[-9.99462689e-01 -3.12144097e-02 9.99973075e-03 -1.54496589e+02] [-3.12135390e-02 9.99512709e-01 2.43164303e-04 -2.58522067e+02] [-1.00024482e-02 -6.90933371e-05 -9.99949972e-01 -1.79740353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 798.5765599949999 meters 0.01312351446862486 Centerline is valid? [True, True] Translation: X:-154.50, Y:-258.50, Z:-1.80 [[-9.94933509e-01 -1.00049371e-01 9.87095812e-03 -1.54504831e+02] [-1.00044911e-01 9.94982473e-01 9.45832805e-04 -2.58497141e+02] [-9.91606029e-03 -4.64983761e-05 -9.99950834e-01 -1.79734158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 798.606559995 meters 0.013012696741314111 Centerline is valid? [True, True] Translation: X:-154.51, Y:-258.47, Z:-1.80 [[-9.85548721e-01 -1.69114437e-01 9.69673274e-03 -1.54513207e+02] [-1.69106535e-01 9.85596422e-01 1.63505687e-03 -2.58472499e+02] [-9.83357681e-03 -2.83526651e-05 -9.99951649e-01 -1.79753275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 798.636559995 meters 0.013027516137029628 Centerline is valid? [True, True] Translation: X:-154.54, Y:-258.45, Z:-1.80 [[-9.71408620e-01 -2.37157920e-01 1.10188167e-02 -1.54536715e+02] [-2.37142723e-01 9.71471112e-01 2.68480519e-03 -2.58452359e+02] [-1.13411849e-02 -4.98929420e-06 -9.99935687e-01 -1.79593835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 798.666559995 meters 0.013046973022070826 Centerline is valid? [True, True] Translation: X:-154.58, Y:-258.44, Z:-1.80 [[-9.51810468e-01 -3.06478186e-01 1.13116844e-02 -1.54577972e+02] [-3.06456519e-01 9.51877682e-01 3.64431606e-03 -2.58436133e+02] [-1.18842433e-02 2.15874669e-06 -9.99929380e-01 -1.79550660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 798.6965599949999 meters 0.01317601884941675 Centerline is valid? [True, True] Translation: X:-154.64, Y:-258.43, Z:-1.79 [[-9.26530147e-01 -3.76044637e-01 1.15029347e-02 -1.54638826e+02] [-3.76015689e-01 9.26601549e-01 4.66592574e-03 -2.58429313e+02] [-1.24132335e-02 -2.16307136e-06 -9.99922953e-01 -1.79425625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 798.726559995 meters 0.013267747146627935 Centerline is valid? [True, True] Translation: X:-154.71, Y:-258.43, Z:-1.79 [[-8.95997692e-01 -4.43896069e-01 1.20173059e-02 -1.54709051e+02] [-4.43856242e-01 8.96078278e-01 5.94612763e-03 -2.58430134e+02] [-1.34079095e-02 -6.23961741e-06 -9.99910110e-01 -1.79339311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 798.756559995 meters 0.013296963252116725 Centerline is valid? [True, True] Translation: X:-154.79, Y:-258.44, Z:-1.79 [[-8.60243120e-01 -5.09740901e-01 1.20825830e-02 -1.54786939e+02] [-5.09690826e-01 8.60327969e-01 7.14478093e-03 -2.58440292e+02] [-1.40369711e-02 -1.21330637e-05 -9.99901477e-01 -1.79310775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 798.786559995 meters 0.013439558584697153 Centerline is valid? [True, True] Translation: X:-154.87, Y:-258.46, Z:-1.79 [[-8.19407825e-01 -5.73077057e-01 1.23896405e-02 -1.54872135e+02] [-5.73011900e-01 8.19501487e-01 8.64152418e-03 -2.58461594e+02] [-1.51055880e-02 -1.84788853e-05 -9.99885904e-01 -1.79117459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 798.8165599949999 meters 0.01352687885510801 Centerline is valid? [True, True] Translation: X:-154.96, Y:-258.49, Z:-1.79 [[-7.73945795e-01 -6.33142110e-01 1.17887811e-02 -1.54957734e+02] [-6.33069037e-01 7.74035573e-01 9.61907129e-03 -2.58491555e+02] [-1.52151750e-02 -1.84724945e-05 -9.99884242e-01 -1.79072586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 798.8465599949999 meters 0.013553275628029332 Centerline is valid? [True, True] Translation: X:-155.04, Y:-258.53, Z:-1.79 [[-7.24575672e-01 -6.89104547e-01 1.11812052e-02 -1.55044090e+02] [-6.89022563e-01 7.24661938e-01 1.06294273e-02 -2.58533075e+02] [-1.54273805e-02 -2.27820740e-06 -9.99880991e-01 -1.79058308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 798.876559995 meters 0.013543373442708404 Centerline is valid? [True, True] Translation: X:-155.13, Y:-258.58, Z:-1.79 [[-6.70874207e-01 -7.41504770e-01 9.92346514e-03 -1.55130459e+02] [-7.41423415e-01 6.70947596e-01 1.09837630e-02 -2.58583851e+02] [-1.48026377e-02 1.12338518e-05 -9.99890435e-01 -1.79116368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 798.906559995 meters 0.01355655009545411 Centerline is valid? [True, True] Translation: X:-155.22, Y:-258.65, Z:-1.79 [[-6.13531140e-01 -7.89623813e-01 8.58915103e-03 -1.55217884e+02] [-7.89545786e-01 6.13591259e-01 1.11004530e-02 -2.58647768e+02] [-1.40354100e-02 2.89456051e-05 -9.99901498e-01 -1.79197377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 798.9365599949999 meters 0.013840043608374812 Centerline is valid? [True, True] Translation: X:-155.30, Y:-258.72, Z:-1.79 [[-5.53711409e-01 -8.32679086e-01 7.01539530e-03 -1.55301929e+02] [-8.32610871e-01 5.53755845e-01 1.06584061e-02 -2.58723951e+02] [-1.27598480e-02 6.05866494e-05 -9.99918588e-01 -1.79323629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 798.9665599949999 meters 0.014111162601485072 Centerline is valid? [True, True] Translation: X:-155.38, Y:-258.80, Z:-1.79 [[-4.89231998e-01 -8.72133842e-01 5.88329245e-03 -1.55377100e+02] [-8.72069038e-01 4.89267367e-01 1.06318662e-02 -2.58797076e+02] [-1.21509133e-02 7.08119561e-05 -9.99926173e-01 -1.79350384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 798.996559995 meters 0.014261114499127148 Centerline is valid? [True, True] Translation: X:-155.45, Y:-258.88, Z:-1.79 [[-4.21937340e-01 -9.06611480e-01 4.95031837e-03 -1.55449946e+02] [-9.06546791e-01 4.21966371e-01 1.08304115e-02 -2.58881801e+02] [-1.19078433e-02 8.20597918e-05 -9.99929096e-01 -1.79361036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 799.026559995 meters 0.014436634597282167 Centerline is valid? [True, True] Translation: X:-155.52, Y:-258.98, Z:-1.79 [[-3.51515417e-01 -9.36173162e-01 4.08923573e-03 -1.55518121e+02] [-9.36106878e-01 3.51539191e-01 1.11405113e-02 -2.58976529e+02] [-1.18669743e-02 8.80998001e-05 -9.99929581e-01 -1.79332115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 799.0565599949999 meters 0.01463771955994226 Centerline is valid? [True, True] Translation: X:-155.58, Y:-259.08, Z:-1.79 [[-2.79020199e-01 -9.60279876e-01 3.20749285e-03 -1.55580759e+02] [-9.60212509e-01 2.79038619e-01 1.13748749e-02 -2.59080798e+02] [-1.18180778e-02 9.39451001e-05 -9.99930160e-01 -1.79302044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 799.0865599949999 meters 0.014758362391541834 Centerline is valid? [True, True] Translation: X:-155.63, Y:-259.18, Z:-1.79 [[-2.04008529e-01 -9.78966153e-01 2.40664829e-03 -1.55633875e+02] [-9.78892436e-01 2.04022701e-01 1.20139646e-02 -2.59183681e+02] [-1.22522755e-02 9.51014251e-05 -9.99924934e-01 -1.79228712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 799.116559995 meters 0.014578687342319705 Centerline is valid? [True, True] Translation: X:-155.68, Y:-259.30, Z:-1.79 [[-1.27693088e-01 -9.91812540e-01 1.53651608e-03 -1.55680853e+02] [-9.91731452e-01 1.27702296e-01 1.26827058e-02 -2.59297259e+02] [-1.27750833e-02 9.56825475e-05 -9.99918391e-01 -1.79235576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 799.146559995 meters 0.014459691042171879 Centerline is valid? [True, True] Translation: X:-155.72, Y:-259.41, Z:-1.79 [[-4.92988001e-02 -9.98783895e-01 5.99737092e-04 -1.55719903e+02] [-9.98688383e-01 4.93023798e-02 1.38126766e-02 -2.59414669e+02] [-1.38254474e-02 8.19979181e-05 -9.99904421e-01 -1.79122296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 799.1765599949999 meters 0.014459691042171879 Centerline is valid? [True, True] Translation: X:-155.75, Y:-259.53, Z:-1.79 [[ 2.78875370e-02 -9.99610958e-01 -4.67567298e-04 -1.55748522e+02] [-9.99515453e-01 -2.78913359e-02 1.38178185e-02 -2.59533301e+02] [-1.38254838e-02 8.19958150e-05 -9.99904420e-01 -1.79122114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 799.2065599949999 meters 0.014322900187127532 Centerline is valid? [True, True] Translation: X:-155.77, Y:-259.66, Z:-1.79 [[ 1.05843870e-01 -9.94381548e-01 -1.55319103e-03 -1.55768860e+02] [-9.94283908e-01 -1.05855243e-01 1.39348073e-02 -2.59655376e+02] [-1.40209287e-02 6.93989129e-05 -9.99901700e-01 -1.79060505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 799.236559995 meters 0.014236681842733278 Centerline is valid? [True, True] Translation: X:-155.78, Y:-259.78, Z:-1.79 [[ 1.83034227e-01 -9.83102909e-01 -2.67235117e-03 -1.55779154e+02] [-9.83002659e-01 -1.83053726e-01 1.40394127e-02 -2.59783603e+02] [-1.42913713e-02 5.72352519e-05 -9.99897872e-01 -1.79001460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 799.266559995 meters 0.01396238745217368 Centerline is valid? [True, True] Translation: X:-155.78, Y:-259.90, Z:-1.79 [[ 2.60255723e-01 -9.65532543e-01 -3.72390243e-03 -1.55784483e+02] [-9.65435252e-01 -2.60282362e-01 1.37064162e-02 -2.59896675e+02] [-1.42032570e-02 2.80134223e-05 -9.99899128e-01 -1.78992501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 799.2965599949999 meters 0.013819376250940497 Centerline is valid? [True, True] Translation: X:-155.78, Y:-260.02, Z:-1.79 [[ 3.34809988e-01 -9.42274142e-01 -4.65980748e-03 -1.55777209e+02] [-9.42183416e-01 -3.34842413e-01 1.30754993e-02 -2.60018400e+02] [-1.38810060e-02 1.25855852e-05 -9.99903654e-01 -1.79036830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 799.3265599949999 meters 0.013706170280210827 Centerline is valid? [True, True] Translation: X:-155.76, Y:-260.14, Z:-1.79 [[ 4.07201978e-01 -9.13322446e-01 -5.35335703e-03 -1.55761673e+02] [-9.13243487e-01 -4.07237166e-01 1.20093142e-02 -2.60136915e+02] [-1.31484622e-02 -1.29806705e-06 -9.99913555e-01 -1.79085287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 799.356559995 meters 0.012955242605097948 Centerline is valid? [True, True] Translation: X:-155.74, Y:-260.25, Z:-1.80 [[ 4.77561172e-01 -8.78578842e-01 -5.87756143e-03 -1.55738468e+02] [-8.78511771e-01 -4.77597340e-01 1.08558898e-02 -2.60253277e+02] [-1.23448628e-02 -2.08445477e-05 -9.99923799e-01 -1.79635798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 799.386559995 meters 0.013620370521077568 Centerline is valid? [True, True] Translation: X:-155.71, Y:-260.37, Z:-1.79 [[ 5.44166161e-01 -8.38952502e-01 -6.47211833e-03 -1.55706575e+02] [-8.38892526e-01 -5.44204647e-01 1.00315760e-02 -2.60366753e+02] [-1.19381727e-02 -2.94325212e-05 -9.99928737e-01 -1.79188727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 799.416559995 meters 0.013696153204295831 Centerline is valid? [True, True] Translation: X:-155.67, Y:-260.47, Z:-1.79 [[ 6.07296795e-01 -7.94442694e-01 -7.17004366e-03 -1.55667563e+02] [-7.94386606e-01 -6.07339119e-01 9.44005403e-03 -2.60474151e+02] [-1.18542299e-02 -3.71279115e-05 -9.99929736e-01 -1.79160446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 799.4465599949999 meters 0.013903754532490332 Centerline is valid? [True, True] Translation: X:-155.62, Y:-260.57, Z:-1.79 [[ 6.66673395e-01 -7.45304601e-01 -8.22412820e-03 -1.55623578e+02] [-7.45247037e-01 -6.66724118e-01 9.26304932e-03 -2.60574901e+02] [-1.23870179e-02 -4.64213643e-05 -9.99923277e-01 -1.79043968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 799.4765599949999 meters 0.013204157668383846 Centerline is valid? [True, True] Translation: X:-155.57, Y:-260.67, Z:-1.79 [[ 7.21519508e-01 -6.92331753e-01 -9.29218560e-03 -1.55570717e+02] [-6.92273481e-01 -7.21579339e-01 8.98247479e-03 -2.60669065e+02] [-1.29239017e-02 -4.82971116e-05 -9.99916482e-01 -1.79464112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 799.506559995 meters 0.013212274390400092 Centerline is valid? [True, True] Translation: X:-155.57, Y:-260.67, Z:-1.79 [[ 7.73029750e-01 -6.34279556e-01 -1.06981322e-02 -1.55571178e+02] [-6.34218050e-01 -7.73103772e-01 8.83300482e-03 -2.60672384e+02] [-1.38733608e-02 -4.32269406e-05 -9.99903759e-01 -1.79366433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 799.536559995 meters 0.013038388922133725 Centerline is valid? [True, True] Translation: X:-155.57, Y:-260.68, Z:-1.80 [[ 8.19479915e-01 -5.72992699e-01 -1.14906881e-02 -1.55572550e+02] [-5.72935954e-01 -8.19560472e-01 8.06384363e-03 -2.60679297e+02] [-1.40378373e-02 -2.47295297e-05 -9.99901465e-01 -1.79524862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 799.5665599949999 meters 0.012948088621097052 Centerline is valid? [True, True] Translation: X:-155.57, Y:-260.69, Z:-1.80 [[ 8.61211249e-01 -5.08110438e-01 -1.17884171e-02 -1.55574530e+02] [-5.08062691e-01 -8.61291927e-01 6.96560256e-03 -2.60687058e+02] [-1.36925639e-02 -9.60035724e-06 -9.99906253e-01 -1.79573512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 799.5965599949999 meters 0.012948088621097052 Centerline is valid? [True, True] Translation: X:-155.58, Y:-260.70, Z:-1.80 [[ 8.98273556e-01 -4.39264627e-01 -1.22966346e-02 -1.55576258e+02] [-4.39223328e-01 -8.98357717e-01 6.02330111e-03 -2.60695583e+02] [-1.36925997e-02 -9.60334132e-06 -9.99906252e-01 -1.79573475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 799.626559995 meters 0.013167964501346005 Centerline is valid? [True, True] Translation: X:-155.58, Y:-260.70, Z:-1.79 [[ 9.29345902e-01 -3.69025209e-01 -1.16871307e-02 -1.55577520e+02] [-3.68996158e-01 -9.29419386e-01 4.63036677e-03 -2.60702409e+02] [-1.25709679e-02 9.29395392e-06 -9.99920982e-01 -1.79426162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 799.656559995 meters 0.012980163591329207 Centerline is valid? [True, True] Translation: X:-155.58, Y:-260.71, Z:-1.80 [[ 9.54509136e-01 -2.97966747e-01 -1.13193091e-02 -1.55576452e+02] [-2.97946322e-01 -9.54576249e-01 3.48904251e-03 -2.60707964e+02] [-1.18447622e-02 4.22235547e-05 -9.99929848e-01 -1.79685444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 799.6865599949999 meters 0.013438349430561986 Centerline is valid? [True, True] Translation: X:-155.58, Y:-260.71, Z:-1.80 [[ 9.74614017e-01 -2.23614769e-01 -1.11334350e-02 -1.55575522e+02] [-2.23600818e-01 -9.74677604e-01 2.49842159e-03 -2.60712798e+02] [-1.14101937e-02 5.44484697e-05 -9.99934900e-01 -1.79508916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 799.7165599949999 meters 0.01357860911858295 Centerline is valid? [True, True] Translation: X:-155.57, Y:-260.71, Z:-1.80 [[ 9.88738054e-01 -1.49226174e-01 -1.13405993e-02 -1.55574903e+02] [-1.49217340e-01 -9.88803086e-01 1.62593828e-03 -2.60714798e+02] [-1.14562521e-02 8.45870002e-05 -9.99934372e-01 -1.79603870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 799.746559995 meters 0.01339041403807219 Centerline is valid? [True, True] Translation: X:-155.58, Y:-260.72, Z:-1.80 [[ 9.97293306e-01 -7.26161232e-02 -1.15308634e-02 -1.55576838e+02] [-7.26124260e-02 -9.97359960e-01 7.39527462e-04 -2.60723649e+02] [-1.15541231e-02 9.97581777e-05 -9.99933244e-01 -1.79726555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 799.776559995 meters 0.014579852670954041 Centerline is valid? [True, True] Translation: X:-155.58, Y:-260.73, Z:-1.79 [[ 9.99920111e-01 4.82583571e-03 -1.16825862e-02 -1.55578520e+02] [ 4.82421108e-03 -9.99988350e-01 -1.67240572e-04 -2.60728866e+02] [-1.16832571e-02 1.10867950e-04 -9.99931742e-01 -1.79405249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 799.8065599949999 meters 0.01487184137218753 Centerline is valid? [True, True] Translation: X:-155.58, Y:-260.72, Z:-1.79 [[ 9.96539955e-01 8.22355628e-02 -1.20594781e-02 -1.55579806e+02] [ 8.22280172e-02 -9.96612912e-01 -1.12103993e-03 -2.60724063e+02] [-1.21108210e-02 1.25534103e-04 -9.99926654e-01 -1.79358877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 799.8365599949999 meters 0.013875932418026624 Centerline is valid? [True, True] Translation: X:-155.58, Y:-260.73, Z:-1.80 [[ 9.87172311e-01 1.59189534e-01 -1.22279016e-02 -1.55579795e+02] [ 1.59175581e-01 -9.87248030e-01 -2.11215994e-03 -2.60734983e+02] [-1.24082055e-02 1.38682475e-04 -9.99923006e-01 -1.79616205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 799.866559995 meters 0.013867506101866586 Centerline is valid? [True, True] Translation: X:-155.58, Y:-260.74, Z:-1.80 [[ 9.71666462e-01 2.36045427e-01 -1.21179247e-02 -1.55578741e+02] [ 2.36025287e-01 -9.71742012e-01 -3.08655014e-03 -2.60743404e+02] [-1.25040626e-02 1.38960607e-04 -9.99921812e-01 -1.79615758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 799.896559995 meters 0.013849305660412382 Centerline is valid? [True, True] Translation: X:-155.58, Y:-260.75, Z:-1.80 [[ 9.49880317e-01 3.12357602e-01 -1.26535699e-02 -1.55577847e+02] [ 3.12327991e-01 -9.49964584e-01 -4.30296541e-03 -2.60751783e+02] [-1.33645073e-02 1.35238059e-04 -9.99910682e-01 -1.79593940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 799.9265599949999 meters 0.013591104896412427 Centerline is valid? [True, True] Translation: X:-155.58, Y:-260.76, Z:-1.80 [[ 9.22067971e-01 3.86835297e-01 -1.22110223e-02 -1.55575764e+02] [ 3.86799664e-01 -9.22148816e-01 -5.25174291e-03 -2.60761179e+02] [-1.32919393e-02 1.19244588e-04 -9.99911651e-01 -1.79660028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 799.9565599949999 meters 0.013427498460574852 Centerline is valid? [True, True] Translation: X:-155.57, Y:-260.77, Z:-1.80 [[ 8.88405053e-01 4.58914118e-01 -1.15885237e-02 -1.55571725e+02] [ 4.58873588e-01 -8.88480626e-01 -6.09980374e-03 -2.60770957e+02] [-1.30954649e-02 1.01429002e-04 -9.99914246e-01 -1.79730089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 799.986559995 meters 0.013095932879196888 Centerline is valid? [True, True] Translation: X:-155.57, Y:-260.78, Z:-1.80 [[ 8.47590781e-01 5.30542325e-01 -1.07102308e-02 -1.55568005e+02] [ 5.30499275e-01 -8.47658445e-01 -6.75869888e-03 -2.60782018e+02] [-1.26643934e-02 4.68411607e-05 -9.99919802e-01 -1.79757020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 800.016559995 meters 0.013024739960288833 Centerline is valid? [True, True] Translation: X:-155.56, Y:-260.79, Z:-1.80 [[ 8.02097754e-01 5.97106403e-01 -1.01555676e-02 -1.55562496e+02] [ 5.97058265e-01 -8.02162043e-01 -7.58193140e-03 -2.60791491e+02] [-1.26736306e-02 1.79846020e-05 -9.99919686e-01 -1.79821733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 800.0465599949999 meters 0.012969563067166026 Centerline is valid? [True, True] Translation: X:-155.55, Y:-260.80, Z:-1.80 [[ 7.49977551e-01 6.61394521e-01 -9.53731611e-03 -1.55553600e+02] [ 6.61341691e-01 -7.50038190e-01 -8.35953516e-03 -2.60802456e+02] [-1.26823021e-02 -3.79610546e-05 -9.99919576e-01 -1.79836328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 800.0765599949999 meters 0.013222945270185445 Centerline is valid? [True, True] Translation: X:-155.55, Y:-260.81, Z:-1.80 [[ 6.94260732e-01 7.19669600e-01 -8.81495677e-03 -1.55546256e+02] [ 7.19612812e-01 -6.94316688e-01 -9.04090574e-03 -2.60811543e+02] [-1.26268366e-02 -6.66099988e-05 -9.99920276e-01 -1.79729879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 800.106559995 meters 0.013289291862202516 Centerline is valid? [True, True] Translation: X:-155.54, Y:-260.82, Z:-1.80 [[ 6.33805970e-01 7.73449497e-01 -8.11594885e-03 -1.55538433e+02] [ 7.73388091e-01 -6.33857923e-01 -9.74652036e-03 -2.60818862e+02] [-1.26827997e-02 -9.93753978e-05 -9.99919565e-01 -1.79845543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 800.136559995 meters 0.013952345724305253 Centerline is valid? [True, True] Translation: X:-155.53, Y:-260.83, Z:-1.80 [[ 5.69214406e-01 8.22156436e-01 -7.33182319e-03 -1.55530241e+02] [ 8.22091194e-01 -5.69261608e-01 -1.03581304e-02 -2.60826458e+02] [-1.26897290e-02 -1.31430236e-04 -9.99919474e-01 -1.79774382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 800.166559995 meters 0.014897634986198605 Centerline is valid? [True, True] Translation: X:-155.52, Y:-260.83, Z:-1.80 [[ 4.99027443e-01 8.66563272e-01 -6.30135666e-03 -1.55522884e+02] [ 8.66498822e-01 -4.99067191e-01 -1.05702788e-02 -2.60831367e+02] [-1.23046157e-02 -1.85258939e-04 -9.99924278e-01 -1.79827800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 800.1965599949999 meters 0.016020892156719025 Centerline is valid? [True, True] Translation: X:-155.52, Y:-260.84, Z:-1.80 [[ 4.25904210e-01 9.04752997e-01 -5.25540159e-03 -1.55515776e+02] [ 9.04690593e-01 -4.25936572e-01 -1.06286311e-02 -2.60835075e+02] [-1.18547536e-02 -2.27733643e-04 -9.99929704e-01 -1.79895367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 800.2265599949999 meters 0.01587822107616095 Centerline is valid? [True, True] Translation: X:-155.51, Y:-260.84, Z:-1.80 [[ 3.52083013e-01 9.35958537e-01 -4.37818362e-03 -1.55508576e+02] [ 9.35894678e-01 -3.52110147e-01 -1.09360417e-02 -2.60837994e+02] [-1.17772845e-02 -2.47124225e-04 -9.99930615e-01 -1.80011673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 800.256559995 meters 0.016400771781282044 Centerline is valid? [True, True] Translation: X:-155.50, Y:-260.84, Z:-1.80 [[ 2.76030246e-01 9.61142472e-01 -3.52864876e-03 -1.55499704e+02] [ 9.61075969e-01 -2.76052667e-01 -1.13095615e-02 -2.60840730e+02] [-1.18441928e-02 -2.69518497e-04 -9.99929819e-01 -1.80005809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 800.286559995 meters 0.018288020754804936 Centerline is valid? [True, True] Translation: X:-155.49, Y:-260.84, Z:-1.80 [[ 1.98511990e-01 9.80094768e-01 -2.68990097e-03 -1.55489298e+02] [ 9.80023735e-01 -1.98529997e-01 -1.18033344e-02 -2.60844510e+02] [-1.21024123e-02 -2.93063404e-04 -9.99926720e-01 -1.79867991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 800.3165599949999 meters 0.017477584734372116 Centerline is valid? [True, True] Translation: X:-155.48, Y:-260.85, Z:-1.80 [[ 1.19939015e-01 9.92779677e-01 -1.77362005e-03 -1.55483759e+02] [ 9.92706156e-01 -1.19951725e-01 -1.20859895e-02 -2.60845361e+02] [-1.22114736e-02 -3.11101861e-04 -9.99925389e-01 -1.79965942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 800.3465599949999 meters 0.01954958430589868 Centerline is valid? [True, True] Translation: X:-155.47, Y:-260.85, Z:-1.80 [[ 4.06928845e-02 9.99171323e-01 -8.70156306e-04 -1.55473718e+02] [ 9.99088052e-01 -4.07007310e-02 -1.29040433e-02 -2.60847560e+02] [-1.29287660e-02 -3.44260026e-04 -9.99916361e-01 -1.79771159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 800.376559995 meters 0.017467866814839115 Centerline is valid? [True, True] Translation: X:-155.47, Y:-260.85, Z:-1.80 [[-3.74571630e-02 9.99298224e-01 1.46310357e-04 -1.55469947e+02] [ 9.99211199e-01 3.74558326e-02 -1.31924522e-02 -2.60847764e+02] [-1.31886742e-02 -3.47956885e-04 -9.99912965e-01 -1.79926130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 800.406559995 meters 0.01725722026507965 Centerline is valid? [True, True] Translation: X:-155.46, Y:-260.85, Z:-1.80 [[-1.14351128e-01 9.93439639e-01 1.22615862e-03 -1.55464058e+02] [ 9.93345635e-01 1.14357180e-01 -1.36705506e-02 -2.60847206e+02] [-1.37210869e-02 -3.45243564e-04 -9.99905802e-01 -1.79934750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 800.4365599949999 meters 0.019525114863447445 Centerline is valid? [True, True] Translation: X:-155.45, Y:-260.85, Z:-1.80 [[-1.90859090e-01 9.81614572e-01 2.37470448e-03 -1.55454980e+02] [ 9.81514633e-01 1.90873554e-01 -1.40111057e-02 -2.60846719e+02] [-1.42067738e-02 -3.43339693e-04 -9.99899020e-01 -1.79716458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 800.4665599949999 meters 0.01869754907212765 Centerline is valid? [True, True] Translation: X:-155.46, Y:-260.85, Z:-1.80 [[-2.66041441e-01 9.63955681e-01 3.37585634e-03 -1.55458381e+02] [ 9.63862211e-01 2.66062668e-01 -1.34273998e-02 -2.60847917e+02] [-1.38416077e-02 -3.18384443e-04 -9.99904150e-01 -1.79788955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 800.496559995 meters 0.016431572496913977 Centerline is valid? [True, True] Translation: X:-155.46, Y:-260.85, Z:-1.80 [[-3.37979307e-01 9.41143528e-01 4.34141995e-03 -1.55458157e+02] [ 9.41055225e-01 3.38007079e-01 -1.28949342e-02 -2.60848721e+02] [-1.36034145e-02 -2.72704975e-04 -9.99907432e-01 -1.80006970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 800.526559995 meters 0.01595420495227638 Centerline is valid? [True, True] Translation: X:-155.45, Y:-260.85, Z:-1.80 [[-4.09477504e-01 9.12304407e-01 5.37058504e-03 -1.55454323e+02] [ 9.12217540e-01 4.09512642e-01 -1.25919475e-02 -2.60848076e+02] [-1.36870116e-02 -2.56977342e-04 -9.99906296e-01 -1.80012233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 800.5565599949999 meters 0.015311341554994171 Centerline is valid? [True, True] Translation: X:-155.45, Y:-260.85, Z:-1.80 [[-4.78680182e-01 8.77965787e-01 6.43127969e-03 -1.55449214e+02] [ 8.77879567e-01 4.78723320e-01 -1.23064061e-02 -2.60845914e+02] [-1.38834071e-02 -2.44943662e-04 -9.99903591e-01 -1.80052534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 800.5865599949999 meters 0.014824150502822311 Centerline is valid? [True, True] Translation: X:-155.44, Y:-260.84, Z:-1.80 [[-5.44516462e-01 8.38716167e-01 7.55081019e-03 -1.55443794e+02] [ 8.38629707e-01 5.44568766e-01 -1.20446910e-02 -2.60842697e+02] [-1.42140125e-02 -2.26198811e-04 -9.99898950e-01 -1.80064933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 800.616559995 meters 0.015318731383375556 Centerline is valid? [True, True] Translation: X:-155.44, Y:-260.84, Z:-1.80 [[-6.08005322e-01 7.93883618e-01 8.85037551e-03 -1.55436655e+02] [ 7.93794042e-01 6.08069692e-01 -1.19276723e-02 -2.60839595e+02] [-1.48508288e-02 -2.26712921e-04 -9.99889695e-01 -1.79948067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 800.646559995 meters 0.014915558706384967 Centerline is valid? [True, True] Translation: X:-155.43, Y:-260.84, Z:-1.80 [[-6.67995951e-01 7.44097376e-01 1.00251598e-02 -1.55432641e+02] [ 7.44008463e-01 6.68071137e-01 -1.15049667e-02 -2.60836993e+02] [-1.52583355e-02 -2.26467439e-04 -9.99883559e-01 -1.80027371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 800.6765599949999 meters 0.014590327653627796 Centerline is valid? [True, True] Translation: X:-155.43, Y:-260.83, Z:-1.80 [[-7.23501559e-01 6.90224598e-01 1.16403615e-02 -1.55428015e+02] [ 6.90130243e-01 7.23595158e-01 -1.14146480e-02 -2.60832415e+02] [-1.63015800e-02 -2.25150059e-04 -9.99867095e-01 -1.80047142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 800.7065599949999 meters 0.014598835820220904 Centerline is valid? [True, True] Translation: X:-155.41, Y:-260.81, Z:-1.80 [[-7.70054333e-01 6.37852169e-01 1.26860317e-02 -1.55408731e+02] [ 6.37760951e-01 7.70158791e-01 -1.07891803e-02 -2.60812423e+02] [-1.66521609e-02 -2.17599421e-04 -9.99861320e-01 -1.80020006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 800.736559995 meters 0.014351958540110002 Centerline is valid? [True, True] Translation: X:-155.39, Y:-260.79, Z:-1.80 [[-8.12917922e-01 5.82224086e-01 1.34001984e-02 -1.55393519e+02] [ 5.82140768e-01 8.13028333e-01 -9.85168774e-03 -2.60789758e+02] [-1.66306308e-02 -2.07811758e-04 -9.99861680e-01 -1.80071277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 800.766559995 meters 0.014216230764049013 Centerline is valid? [True, True] Translation: X:-155.37, Y:-260.77, Z:-1.80 [[-8.51453842e-01 5.24262482e-01 1.32364977e-02 -1.55372395e+02] [ 5.24195915e-01 8.51556703e-01 -8.35606205e-03 -2.60771178e+02] [-1.56523981e-02 -1.76283130e-04 -9.99877478e-01 -1.80158663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 800.7965599949999 meters 0.014088232620545635 Centerline is valid? [True, True] Translation: X:-155.02, Y:-260.21, Z:-2.78 [[-8.01539244e-01 -5.97820745e-01 1.20497395e-02 -1.55016287e+02] [ 5.97755552e-01 -8.01629803e-01 -8.82944362e-03 -2.60211533e+02] [ 1.49378549e-02 1.25653144e-04 9.99888416e-01 -2.78182665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 800.8265599949999 meters 0.013700468070045923 Centerline is valid? [True, True] Translation: X:-155.03, Y:-260.24, Z:-2.78 [[-7.60813063e-01 -6.48893781e-01 1.00172098e-02 -1.55028232e+02] [ 6.48839421e-01 -7.60878998e-01 -8.39981762e-03 -2.60239123e+02] [ 1.30724740e-02 1.08869646e-04 9.99914546e-01 -2.77888560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 800.856559995 meters 0.013776108650763024 Centerline is valid? [True, True] Translation: X:-155.46, Y:-260.75, Z:-1.81 [[-8.14561626e-01 5.79984691e-01 1.03496940e-02 -1.55458934e+02] [ 5.79936239e-01 8.14627367e-01 -7.49746837e-03 -2.60749078e+02] [-1.27795608e-02 -1.04987423e-04 -9.99918333e-01 -1.80597392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 800.886559995 meters 0.013593127895705784 Centerline is valid? [True, True] Translation: X:-155.45, Y:-260.72, Z:-1.81 [[-8.53527919e-01 5.20930176e-01 1.10382500e-02 -1.55445631e+02] [ 5.20885017e-01 8.53599286e-01 -6.85991082e-03 -2.60723296e+02] [-1.29957768e-02 -1.05466387e-04 -9.99915546e-01 -1.80640659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 800.916559995 meters 0.013571401699389725 Centerline is valid? [True, True] Translation: X:-155.09, Y:-260.17, Z:-2.78 [[-8.07271081e-01 -5.90075641e-01 1.11417944e-02 -1.55091982e+02] [ 5.90022050e-01 -8.07347952e-01 -7.95393564e-03 -2.60166668e+02] [ 1.36887286e-02 1.52922170e-04 9.99906293e-01 -2.77864336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 800.9465599949999 meters 0.01361212270291151 Centerline is valid? [True, True] Translation: X:-155.48, Y:-260.70, Z:-1.81 [[-8.55075422e-01 5.18372048e-01 1.16808303e-02 -1.55481796e+02] [ 5.18322042e-01 8.55155196e-01 -7.20079810e-03 -2.60697447e+02] [-1.37216152e-02 -1.02793671e-04 -9.99905849e-01 -1.80556273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 800.9765599949999 meters 0.013700668493304416 Centerline is valid? [True, True] Translation: X:-155.46, Y:-260.67, Z:-1.80 [[-8.89625212e-01 4.56525997e-01 1.22880632e-02 -1.55463188e+02] [ 4.56480837e-01 8.89710067e-01 -6.42194706e-03 -2.60674782e+02] [-1.38645993e-02 -1.03860650e-04 -9.99903877e-01 -1.80498732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 801.006559995 meters 0.013698471363269975 Centerline is valid? [True, True] Translation: X:-155.45, Y:-260.65, Z:-1.80 [[-9.19590093e-01 3.92679530e-01 1.25238704e-02 -1.55451918e+02] [ 3.92641666e-01 9.19675365e-01 -5.45386856e-03 -2.60648391e+02] [-1.36595176e-02 -9.79301749e-05 -9.99906700e-01 -1.80467643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 801.036559995 meters 0.013487387368692896 Centerline is valid? [True, True] Translation: X:-155.19, Y:-260.06, Z:-2.78 [[-8.85024134e-01 -4.65361528e-01 1.30740588e-02 -1.55189290e+02] [ 4.65313545e-01 -8.85120681e-01 -6.68460910e-03 -2.60055119e+02] [ 1.46828797e-02 1.67496269e-04 9.99892187e-01 -2.77863211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 801.0665599949999 meters 0.013405851481934548 Centerline is valid? [True, True] Translation: X:-155.49, Y:-260.63, Z:-1.81 [[-9.20400818e-01 3.90747439e-01 1.33706082e-02 -1.55491066e+02] [ 3.90704937e-01 9.20497926e-01 -5.76367856e-03 -2.60629187e+02] [-1.45597597e-02 -8.09318402e-05 -9.99893998e-01 -1.80554084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 801.0965599949999 meters 0.013405851481934548 Centerline is valid? [True, True] Translation: X:-155.23, Y:-260.04, Z:-2.78 [[-8.86914403e-01 -4.61752009e-01 1.29585725e-02 -1.55232921e+02] [ 4.61704069e-01 -8.87009062e-01 -6.65409201e-03 -2.60038587e+02] [ 1.45669116e-02 8.14156234e-05 9.99893894e-01 -2.77876260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 801.126559995 meters 0.013542681689725522 Centerline is valid? [True, True] Translation: X:-155.53, Y:-260.61, Z:-1.81 [[-9.21753046e-01 3.87526581e-01 1.39453126e-02 -1.55531610e+02] [ 3.87480900e-01 9.21858526e-01 -5.95060156e-03 -2.60610887e+02] [-1.51616216e-02 -8.14428372e-05 -9.99885053e-01 -1.80511650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 801.156559995 meters 0.01365660965598933 Centerline is valid? [True, True] Translation: X:-155.52, Y:-260.58, Z:-1.80 [[-9.46885203e-01 3.21250781e-01 1.43648140e-02 -1.55518443e+02] [ 3.21212440e-01 9.46994154e-01 -4.96386205e-03 -2.60584108e+02] [-1.51980394e-02 -8.60505628e-05 -9.99884500e-01 -1.80465174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 801.1865599949999 meters 0.013723057199181581 Centerline is valid? [True, True] Translation: X:-155.51, Y:-260.55, Z:-1.81 [[-9.67611297e-01 2.51967723e-01 1.55127542e-02 -1.55511677e+02] [ 2.51933478e-01 9.67735632e-01 -4.15557694e-03 -2.60553267e+02] [-1.60593163e-02 -1.12801069e-04 -9.99871035e-01 -1.80541900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 801.2165599949999 meters 0.013789988206135603 Centerline is valid? [True, True] Translation: X:-155.35, Y:-259.95, Z:-2.78 [[-9.43463629e-01 -3.31110664e-01 1.55598694e-02 -1.55350064e+02] [ 3.31068089e-01 -9.43591918e-01 -5.31150009e-03 -2.59948313e+02] [ 1.64408614e-02 1.40169088e-04 9.99864830e-01 -2.77826797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 801.246559995 meters 0.013789988206135603 Centerline is valid? [True, True] Translation: X:-155.56, Y:-260.54, Z:-1.81 [[-9.68869566e-01 2.47061209e-01 1.58909550e-02 -1.55559290e+02] [ 2.47025667e-01 9.68999866e-01 -4.19277122e-03 -2.60537076e+02] [-1.64342044e-02 -1.36774677e-04 -9.99864940e-01 -1.80603537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 801.276559995 meters 0.014036912883091099 Centerline is valid? [True, True] Translation: X:-155.40, Y:-259.94, Z:-2.78 [[-9.44381523e-01 -3.28497098e-01 1.52707701e-02 -1.55400432e+02] [ 3.28456117e-01 -9.44504973e-01 -5.18995255e-03 -2.59940515e+02] [ 1.61282026e-02 1.14482556e-04 9.99869926e-01 -2.77882653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 801.3065599949999 meters 0.014137638760971889 Centerline is valid? [True, True] Translation: X:-155.61, Y:-260.52, Z:-1.80 [[-9.70101024e-01 2.42201644e-01 1.55681489e-02 -1.55606974e+02] [ 2.42167944e-01 9.70225923e-01 -4.04306915e-03 -2.60517901e+02] [-1.60838596e-02 -1.52078921e-04 -9.99870635e-01 -1.80496794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 801.3365599949999 meters 0.013751594296793419 Centerline is valid? [True, True] Translation: X:-155.61, Y:-260.49, Z:-1.81 [[-9.84845643e-01 1.72774626e-01 1.50992866e-02 -1.55608409e+02] [ 1.72752066e-01 9.84961374e-01 -2.79570905e-03 -2.60487084e+02] [-1.53552417e-02 -1.44908910e-04 -9.99882091e-01 -1.80718068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 801.366559995 meters 0.01374681734851388 Centerline is valid? [True, True] Translation: X:-155.49, Y:-259.90, Z:-2.78 [[-9.66436800e-01 -2.56494786e-01 1.45029452e-02 -1.55491420e+02] [ 2.56467724e-01 -9.66545607e-01 -3.72769361e-03 -2.59895855e+02] [ 1.49738920e-02 1.16957065e-04 9.99887878e-01 -2.77670790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 801.396559995 meters 0.013613609181162849 Centerline is valid? [True, True] Translation: X:-155.65, Y:-260.48, Z:-1.81 [[-9.85286371e-01 1.70319303e-01 1.42162771e-02 -1.55651269e+02] [ 1.70299873e-01 9.85388919e-01 -2.57519189e-03 -2.60478183e+02] [-1.44471668e-02 -1.16271280e-04 -9.99895628e-01 -1.80791172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 801.4265599949999 meters 0.013378620687781699 Centerline is valid? [True, True] Translation: X:-155.65, Y:-260.45, Z:-1.81 [[-9.94744313e-01 1.01406099e-01 1.41617170e-02 -1.55652955e+02] [ 1.01394488e-01 9.94845111e-01 -1.53735404e-03 -2.60447894e+02] [-1.42446120e-02 -9.33541463e-05 -9.99898536e-01 -1.80887993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 801.4565599949999 meters 0.013298512516411953 Centerline is valid? [True, True] Translation: X:-155.59, Y:-259.86, Z:-2.78 [[-9.83516635e-01 -1.80289035e-01 1.38163904e-02 -1.55589454e+02] [ 1.80272367e-01 -9.83613673e-01 -2.45279466e-03 -2.59856443e+02] [ 1.40322025e-02 7.83490386e-05 9.99901541e-01 -2.77543660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 801.486559995 meters 0.013180973903132128 Centerline is valid? [True, True] Translation: X:-155.71, Y:-260.44, Z:-1.81 [[-9.94869009e-01 1.00221721e-01 1.38297251e-02 -1.55705217e+02] [ 1.00211352e-01 9.94965127e-01 -1.44247375e-03 -2.60439694e+02] [-1.39046614e-02 -4.91769843e-05 -9.99903324e-01 -1.80875652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 801.516559995 meters 0.013159124815153328 Centerline is valid? [True, True] Translation: X:-155.64, Y:-259.85, Z:-2.78 [[-9.84840408e-01 -1.72933952e-01 1.35358329e-02 -1.55642765e+02] [ 1.72918148e-01 -9.84933423e-01 -2.33822602e-03 -2.59853412e+02] [ 1.37362529e-02 3.78116877e-05 9.99905653e-01 -2.77565382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 801.5465599949999 meters 0.013050101271280767 Centerline is valid? [True, True] Translation: X:-155.76, Y:-260.44, Z:-1.81 [[-9.94797613e-01 1.00903958e-01 1.40035816e-02 -1.55759859e+02] [ 1.00894223e-01 9.94896171e-01 -1.40174327e-03 -2.60435045e+02] [-1.40735511e-02 1.84296170e-05 -9.99900963e-01 -1.80869301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 801.5765599949999 meters 0.013135540561753194 Centerline is valid? [True, True] Translation: X:-155.70, Y:-259.85, Z:-2.78 [[-9.86459029e-01 -1.63426099e-01 1.38019712e-02 -1.55700019e+02] [ 1.63409774e-01 -9.86555579e-01 -2.31003126e-03 -2.59847084e+02] [ 1.39939311e-02 -2.33741964e-05 9.99902080e-01 -2.77592216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 801.606559995 meters 0.013179134275133094 Centerline is valid? [True, True] Translation: X:-155.82, Y:-260.43, Z:-1.81 [[-9.94842487e-01 1.00409813e-01 1.43629943e-02 -1.55816183e+02] [ 1.00400397e-01 9.94946162e-01 -1.37694974e-03 -2.60430925e+02] [-1.44286653e-02 7.22022262e-05 -9.99895899e-01 -1.80874435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 801.636559995 meters 0.01387546297186474 Centerline is valid? [True, True] Translation: X:-155.76, Y:-259.84, Z:-2.78 [[-9.87986535e-01 -1.53846141e-01 1.46277985e-02 -1.55755324e+02] [ 1.53828525e-01 -9.88094815e-01 -2.32858421e-03 -2.59840129e+02] [ 1.48118956e-02 -5.04371609e-05 9.99890297e-01 -2.77712871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 801.666559995 meters 0.013749847201789442 Centerline is valid? [True, True] Translation: X:-155.87, Y:-260.43, Z:-1.81 [[-9.94752577e-01 1.01167032e-01 1.52493202e-02 -1.55870565e+02] [ 1.01157509e-01 9.94869443e-01 -1.39651516e-03 -2.60427406e+02] [-1.53123640e-02 1.53396197e-04 -9.99882747e-01 -1.80802731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 801.6965599949999 meters 0.01416091178055844 Centerline is valid? [True, True] Translation: X:-155.82, Y:-259.83, Z:-2.78 [[-9.89088022e-01 -1.46492132e-01 1.56505788e-02 -1.55816254e+02] [ 1.46471794e-01 -9.89211828e-01 -2.44418317e-03 -2.59834777e+02] [ 1.58397913e-02 -1.25143948e-04 9.99874535e-01 -2.77673352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 801.7265599949999 meters 0.013889222184182815 Centerline is valid? [True, True] Translation: X:-155.93, Y:-260.42, Z:-1.81 [[-9.94998954e-01 9.86207543e-02 1.58438858e-02 -1.55930885e+02] [ 9.86112460e-02 9.95125074e-01 -1.38215825e-03 -2.60422230e+02] [-1.59029575e-02 1.87139306e-04 -9.99873523e-01 -1.80855796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 801.756559995 meters 0.014164864179303786 Centerline is valid? [True, True] Translation: X:-155.88, Y:-259.83, Z:-2.78 [[-9.89517427e-01 -1.43548557e-01 1.57820651e-02 -1.55879122e+02] [ 1.43527347e-01 -9.89643258e-01 -2.47434584e-03 -2.59830246e+02] [ 1.59738030e-02 -1.83250395e-04 9.99872394e-01 -2.77700470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 801.786559995 meters 0.013527781038881173 Centerline is valid? [True, True] Translation: X:-155.99, Y:-260.41, Z:-1.81 [[-9.95819566e-01 8.98949946e-02 1.61951066e-02 -1.55991639e+02] [ 8.98850243e-02 9.95951242e-01 -1.34395836e-03 -2.60414042e+02] [-1.62503516e-02 1.17357516e-04 -9.99867948e-01 -1.80800693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 801.8165599949999 meters 0.013527781038881173 Centerline is valid? [True, True] Translation: X:-156.00, Y:-260.39, Z:-1.81 [[-9.99689441e-01 1.88936805e-02 1.62496610e-02 -1.55997624e+02] [ 1.88930926e-02 9.99821492e-01 -1.89705803e-04 -2.60385777e+02] [-1.62503446e-02 1.17359463e-04 -9.99867948e-01 -1.80800701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 801.8465599949999 meters 0.013272327145517295 Centerline is valid? [True, True] Translation: X:-156.01, Y:-260.36, Z:-1.81 [[-9.98381858e-01 -5.44306102e-02 1.64613221e-02 -1.56009667e+02] [-5.44218261e-02 9.98517552e-01 9.81436449e-04 -2.60356262e+02] [-1.64903392e-02 8.39931352e-05 -9.99864022e-01 -1.80836840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 801.876559995 meters 0.013155545503051718 Centerline is valid? [True, True] Translation: X:-156.02, Y:-260.33, Z:-1.81 [[-9.91652380e-01 -1.27886339e-01 1.64511923e-02 -1.56022968e+02] [-1.27868017e-01 9.91788830e-01 2.16511768e-03 -2.60327728e+02] [-1.65929977e-02 4.34627658e-05 -9.99862326e-01 -1.80809735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 801.906559995 meters 0.012948046868707817 Centerline is valid? [True, True] Translation: X:-156.10, Y:-259.76, Z:-2.78 [[-9.97977448e-01 6.13813360e-02 1.65331345e-02 -1.56103775e+02] [-6.13736716e-02 -9.98114387e-01 9.71040838e-04 -2.59756083e+02] [ 1.65615632e-02 -4.56223095e-05 9.99862847e-01 -2.77626366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 801.9365599949999 meters 0.01313381714379643 Centerline is valid? [True, True] Translation: X:-156.12, Y:-260.33, Z:-1.81 [[-9.89886800e-01 -1.40924548e-01 1.62602588e-02 -1.56120021e+02] [-1.40906804e-01 9.90020336e-01 2.23753555e-03 -2.60334425e+02] [-1.64133106e-02 -7.62741917e-05 -9.99865290e-01 -1.80783219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 801.9665599949999 meters 0.0136432774205398 Centerline is valid? [True, True] Translation: X:-156.14, Y:-260.31, Z:-1.81 [[-9.76289290e-01 -2.15942941e-01 1.50953451e-02 -1.56141429e+02] [-2.15919437e-01 9.76405974e-01 3.18932756e-03 -2.60306403e+02] [-1.54278979e-02 -1.45672079e-04 -9.99880972e-01 -1.80850791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 801.996559995 meters 0.013995319823015339 Centerline is valid? [True, True] Translation: X:-156.17, Y:-260.28, Z:-1.81 [[-9.57628183e-01 -2.87652695e-01 1.42895201e-02 -1.56174194e+02] [-2.87623368e-01 9.57734774e-01 4.11110212e-03 -2.60284027e+02] [-1.48681399e-02 -1.73092641e-04 -9.99889448e-01 -1.80910885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 802.026559995 meters 0.014392148760708136 Centerline is valid? [True, True] Translation: X:-156.21, Y:-260.27, Z:-1.81 [[-9.32875885e-01 -3.59996854e-01 1.20353220e-02 -1.56214698e+02] [-3.59969726e-01 9.32953495e-01 4.42418002e-03 -2.60265383e+02] [-1.28210866e-02 -2.05140707e-04 -9.99917786e-01 -1.81174560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 802.0565599949999 meters 0.014534300327954013 Centerline is valid? [True, True] Translation: X:-156.27, Y:-260.26, Z:-1.81 [[-9.03229623e-01 -4.29035264e-01 1.02464440e-02 -1.56270512e+02] [-4.29010180e-01 9.03287718e-01 4.64366209e-03 -2.60257536e+02] [-1.12477819e-02 -2.01535645e-04 -9.99936722e-01 -1.81299271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 802.0865599949999 meters 0.015080587285608998 Centerline is valid? [True, True] Translation: X:-156.34, Y:-260.26, Z:-1.81 [[-8.68559711e-01 -4.95499040e-01 9.20490075e-03 -1.56338366e+02] [-4.95473699e-01 8.68608462e-01 5.01534857e-03 -2.60258674e+02] [-1.04805551e-02 -2.04656522e-04 -9.99945057e-01 -1.81302528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 802.116559995 meters 0.015632441098295407 Centerline is valid? [True, True] Translation: X:-156.41, Y:-260.27, Z:-1.81 [[-8.28891214e-01 -5.59342050e-01 8.70781147e-03 -1.56408607e+02] [-5.59313905e-01 8.28936924e-01 5.61525367e-03 -2.60267006e+02] [-1.03590740e-02 -2.15965610e-04 -9.99946320e-01 -1.81292488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 802.146559995 meters 0.015532893298402156 Centerline is valid? [True, True] Translation: X:-156.49, Y:-260.29, Z:-1.81 [[-7.84072127e-01 -6.20612492e-01 8.42826685e-03 -1.56485782e+02] [-6.20579862e-01 7.84117389e-01 6.36837811e-03 -2.60288488e+02] [-1.05610456e-02 -2.37144911e-04 -9.99944203e-01 -1.81284102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 802.1765599949999 meters 0.016695295036039944 Centerline is valid? [True, True] Translation: X:-156.56, Y:-260.32, Z:-1.81 [[-7.35335947e-01 -6.77655620e-01 7.99409499e-03 -1.56564793e+02] [-6.77619130e-01 7.35379359e-01 7.03657950e-03 -2.60315052e+02] [-1.06470701e-02 -2.42701847e-04 -9.99943289e-01 -1.81132639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 802.2065599949999 meters 0.016102572482630834 Centerline is valid? [True, True] Translation: X:-156.64, Y:-260.35, Z:-1.81 [[-6.82348537e-01 -7.30984379e-01 7.89376833e-03 -1.56643501e+02] [-7.30939818e-01 6.82394146e-01 8.07538282e-03 -2.60353748e+02] [-1.12896400e-02 -2.59643935e-04 -9.99936236e-01 -1.81122810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 802.236559995 meters 0.01619297535432542 Centerline is valid? [True, True] Translation: X:-156.72, Y:-260.40, Z:-1.81 [[-6.25591643e-01 -7.80107707e-01 8.18916348e-03 -1.56724653e+02] [-7.80046859e-01 6.25645172e-01 9.74765138e-03 -2.60404309e+02] [-1.27277286e-02 -2.89882003e-04 -9.99918957e-01 -1.80998988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 802.266559995 meters 0.01632817807131494 Centerline is valid? [True, True] Translation: X:-156.80, Y:-260.46, Z:-1.81 [[-5.65374171e-01 -8.24799810e-01 7.57106077e-03 -1.56804170e+02] [-8.24732599e-01 5.65424788e-01 1.05332941e-02 -2.60462760e+02] [-1.29687244e-02 -2.88848201e-04 -9.99915861e-01 -1.80946713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 802.2965599949999 meters 0.016239697165808132 Centerline is valid? [True, True] Translation: X:-156.88, Y:-260.53, Z:-1.81 [[-5.01903825e-01 -8.64895578e-01 6.94182684e-03 -1.56881315e+02] [-8.64820676e-01 5.01951746e-01 1.13861166e-02 -2.60531526e+02] [-1.33322640e-02 -2.88699928e-04 -9.99911080e-01 -1.80930582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 802.3265599949999 meters 0.015612340910546871 Centerline is valid? [True, True] Translation: X:-156.95, Y:-260.60, Z:-1.81 [[-4.36701814e-01 -8.99585462e-01 6.12559539e-03 -1.56949400e+02] [-8.99505307e-01 4.36744693e-01 1.20114964e-02 -2.60604831e+02] [-1.34806888e-02 -2.64563301e-04 -9.99909097e-01 -1.80943160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 802.356559995 meters 0.015051878160691598 Centerline is valid? [True, True] Translation: X:-157.02, Y:-260.69, Z:-1.81 [[-3.68050313e-01 -9.29791081e-01 5.24535808e-03 -1.57016522e+02] [-9.29706239e-01 3.68087602e-01 1.25628859e-02 -2.60689613e+02] [-1.36116105e-02 -2.52868064e-04 -9.99907326e-01 -1.80961931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 802.386559995 meters 0.01446193097741903 Centerline is valid? [True, True] Translation: X:-157.08, Y:-260.78, Z:-1.81 [[-2.98599407e-01 -9.54369546e-01 4.14287495e-03 -1.57075908e+02] [-9.54287250e-01 2.98628071e-01 1.25347750e-02 -2.60781018e+02] [-1.31999863e-02 -2.10616357e-04 -9.99912854e-01 -1.80968836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 802.416559995 meters 0.014387712656669435 Centerline is valid? [True, True] Translation: X:-157.13, Y:-260.88, Z:-1.81 [[-2.26413908e-01 -9.74026283e-01 3.08915762e-03 -1.57130526e+02] [-9.73946418e-01 2.26434906e-01 1.24743466e-02 -2.60876288e+02] [-1.28498346e-02 -1.84308434e-04 -9.99917421e-01 -1.80945803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 802.4465599949999 meters 0.01381001091293152 Centerline is valid? [True, True] Translation: X:-157.18, Y:-260.98, Z:-1.81 [[-1.52972207e-01 -9.88228171e-01 2.14144300e-03 -1.57177549e+02] [-9.88145780e-01 1.52987107e-01 1.27617932e-02 -2.60983296e+02] [-1.29391767e-02 -1.63858187e-04 -9.99916272e-01 -1.81022861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 802.4765599949999 meters 0.013043638472796264 Centerline is valid? [True, True] Translation: X:-157.21, Y:-261.09, Z:-1.81 [[-8.15594166e-02 -9.96667809e-01 1.15733490e-03 -1.57212396e+02] [-9.96584546e-01 8.15675629e-02 1.28831112e-02 -2.61087447e+02] [-1.29345832e-02 -1.02643046e-04 -9.99916340e-01 -1.81116207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 802.506559995 meters 0.012915561805090256 Centerline is valid? [True, True] Translation: X:-157.24, Y:-261.20, Z:-1.81 [[-7.63360591e-03 -9.99970851e-01 1.60933445e-04 -1.57243031e+02] [-9.99893220e-01 7.63501861e-03 1.24601801e-02 -2.61197208e+02] [-1.24610456e-02 -6.58001554e-05 -9.99922356e-01 -1.81064305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 802.536559995 meters 0.01276015408050673 Centerline is valid? [True, True] Translation: X:-157.26, Y:-261.31, Z:-1.81 [[ 6.38765665e-02 -9.97957487e-01 -7.99672761e-04 -1.57261736e+02] [-9.97878856e-01 -6.38815719e-02 1.25273081e-02 -2.61312534e+02] [-1.25528053e-02 -2.22488932e-06 -9.99921211e-01 -1.81125399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 802.5665599949999 meters 0.012655249494620898 Centerline is valid? [True, True] Translation: X:-157.28, Y:-261.43, Z:-1.81 [[ 1.38003686e-01 -9.90430229e-01 -1.71604628e-03 -1.57275285e+02] [-9.90355926e-01 -1.38014352e-01 1.21317321e-02 -2.61425856e+02] [-1.22524732e-02 2.52728644e-05 -9.99924935e-01 -1.81164469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 802.5965599949999 meters 0.01281483718952731 Centerline is valid? [True, True] Translation: X:-157.28, Y:-261.54, Z:-1.81 [[ 2.11524199e-01 -9.77369150e-01 -2.65670179e-03 -1.57280159e+02] [-9.77295044e-01 -2.11540876e-01 1.20355265e-02 -2.61542639e+02] [-1.23251534e-02 5.05763759e-05 -9.99924041e-01 -1.81177391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 802.626559995 meters 0.013054852438547385 Centerline is valid? [True, True] Translation: X:-157.27, Y:-261.66, Z:-1.81 [[ 2.83171857e-01 -9.59062851e-01 -3.48518151e-03 -1.57273423e+02] [-9.58993783e-01 -2.83193292e-01 1.15101459e-02 -2.61663685e+02] [-1.20259333e-02 8.29180119e-05 -9.99927683e-01 -1.81209248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 802.656559995 meters 0.01316693770750032 Centerline is valid? [True, True] Translation: X:-157.26, Y:-261.78, Z:-1.81 [[ 3.55320090e-01 -9.34734565e-01 -4.35038694e-03 -1.57262468e+02] [-9.34667558e-01 -3.55346710e-01 1.11924486e-02 -2.61776720e+02] [-1.20078642e-02 8.92637035e-05 -9.99927899e-01 -1.81186392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 802.6865599949999 meters 0.013181189053276978 Centerline is valid? [True, True] Translation: X:-157.24, Y:-261.89, Z:-1.81 [[ 4.25689805e-01 -9.04854139e-01 -5.21319246e-03 -1.57243145e+02] [-9.04788897e-01 -4.25721716e-01 1.08661446e-02 -2.61889641e+02] [-1.20516452e-02 9.12316684e-05 -9.99927372e-01 -1.81199729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 802.7165599949999 meters 0.013118916006107163 Centerline is valid? [True, True] Translation: X:-157.21, Y:-262.01, Z:-1.81 [[ 4.93341097e-01 -8.69815282e-01 -5.99472263e-03 -1.57211761e+02] [-8.69753397e-01 -4.93377508e-01 1.03760384e-02 -2.62006355e+02] [-1.19828981e-02 9.50042167e-05 -9.99928198e-01 -1.81217395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 802.746559995 meters 0.01332550558747459 Centerline is valid? [True, True] Translation: X:-157.18, Y:-262.11, Z:-1.81 [[ 5.58081638e-01 -8.29757850e-01 -6.84071117e-03 -1.57178899e+02] [-8.29697704e-01 -5.58123552e-01 9.99103151e-03 -2.62109134e+02] [-1.21080989e-02 9.99111239e-05 -9.99926689e-01 -1.81190580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 802.776559995 meters 0.013898266885978205 Centerline is valid? [True, True] Translation: X:-157.13, Y:-262.21, Z:-1.81 [[ 6.18401940e-01 -7.85825993e-01 -7.51992372e-03 -1.57133135e+02] [-7.85770237e-01 -6.18447649e-01 9.36168042e-03 -2.62212622e+02] [-1.20073310e-02 1.19650912e-04 -9.99927902e-01 -1.81146710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 802.8065599949999 meters 0.013675469455735653 Centerline is valid? [True, True] Translation: X:-157.09, Y:-262.31, Z:-1.81 [[ 6.75676902e-01 -7.37154867e-01 -7.96405481e-03 -1.57088416e+02] [-7.37105882e-01 -6.75723823e-01 8.49908277e-03 -2.62305865e+02] [-1.16466418e-02 1.27717731e-04 -9.99932168e-01 -1.81275619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 802.8365599949999 meters 0.013899885117282733 Centerline is valid? [True, True] Translation: X:-157.04, Y:-262.39, Z:-1.81 [[ 7.28651828e-01 -6.84832633e-01 -8.41299883e-03 -1.57036823e+02] [-6.84789232e-01 -7.28700381e-01 7.71124830e-03 -2.62394591e+02] [-1.14114699e-02 1.42315843e-04 -9.99934877e-01 -1.81285668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 802.866559995 meters 0.014568974251005479 Centerline is valid? [True, True] Translation: X:-157.04, Y:-262.40, Z:-1.81 [[ 7.78600312e-01 -6.27455968e-01 -8.97560028e-03 -1.57036888e+02] [-6.27416731e-01 -7.78652028e-01 7.01892488e-03 -2.62401169e+02] [-1.13929357e-02 1.66504682e-04 -9.99935085e-01 -1.81303914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 802.896559995 meters 0.014043148818958406 Centerline is valid? [True, True] Translation: X:-157.04, Y:-262.41, Z:-1.81 [[ 8.24922685e-01 -5.65169630e-01 -9.26570653e-03 -1.57039767e+02] [-5.65136276e-01 -8.24974703e-01 6.14239539e-03 -2.62413835e+02] [-1.11154688e-02 1.69385585e-04 -9.99938207e-01 -1.81388010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 802.9265599949999 meters 0.01444237190242752 Centerline is valid? [True, True] Translation: X:-157.04, Y:-262.42, Z:-1.81 [[ 8.66505416e-01 -4.99077583e-01 -9.48320235e-03 -1.57041325e+02] [-4.99049792e-01 -8.66557291e-01 5.26932659e-03 -2.62423654e+02] [-1.08475409e-02 1.66690139e-04 -9.99941150e-01 -1.81360613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 802.9565599949999 meters 0.014341677826258307 Centerline is valid? [True, True] Translation: X:-157.04, Y:-262.43, Z:-1.81 [[ 9.02971160e-01 -4.29596762e-01 -9.47141228e-03 -1.57040989e+02] [-4.29574954e-01 -9.03020818e-01 4.33137388e-03 -2.62432807e+02] [-1.04136267e-02 1.57575804e-04 -9.99945764e-01 -1.81397999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 802.986559995 meters 0.014341677826258307 Centerline is valid? [True, True] Translation: X:-157.04, Y:-262.44, Z:-1.81 [[ 9.33782407e-01 -3.57707632e-01 -9.78096448e-03 -1.57040317e+02] [-3.57689772e-01 -9.33833618e-01 3.57789527e-03 -2.62441854e+02] [-1.04136339e-02 1.57575304e-04 -9.99945764e-01 -1.81397992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 803.016559995 meters 0.014256667145094928 Centerline is valid? [True, True] Translation: X:-157.04, Y:-262.45, Z:-1.81 [[ 9.59039420e-01 -2.83090592e-01 -1.01541715e-02 -1.57039013e+02] [-2.83076419e-01 -9.59093162e-01 2.83686728e-03 -2.62451054e+02] [-1.05418868e-02 1.53738935e-04 -9.99944421e-01 -1.81399454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 803.0465599949999 meters 0.013781472532149472 Centerline is valid? [True, True] Translation: X:-157.04, Y:-262.46, Z:-1.81 [[ 9.78652892e-01 -2.05203221e-01 -1.14085568e-02 -1.57037170e+02] [-2.05191004e-01 -9.78719376e-01 2.24383306e-03 -2.62462671e+02] [-1.16262173e-02 1.44999510e-04 -9.99932403e-01 -1.81319371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 803.0765599949999 meters 0.013651740465905117 Centerline is valid? [True, True] Translation: X:-157.04, Y:-262.47, Z:-1.81 [[ 9.91857924e-01 -1.26788783e-01 -1.19358058e-02 -1.57037508e+02] [-1.26781249e-01 -9.91929728e-01 1.38885463e-03 -2.62472060e+02] [-1.20155718e-02 1.35689894e-04 -9.99927801e-01 -1.81276384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 803.106559995 meters 0.013411109100123764 Centerline is valid? [True, True] Translation: X:-157.04, Y:-262.48, Z:-1.81 [[ 9.98801191e-01 -4.74198670e-02 -1.21465264e-02 -1.57037538e+02] [-4.74178314e-02 -9.98875038e-01 4.55683666e-04 -2.62482330e+02] [-1.21544704e-02 1.20824551e-04 -9.99926125e-01 -1.81272420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 803.136559995 meters 0.013474305752850243 Centerline is valid? [True, True] Translation: X:-157.04, Y:-262.49, Z:-1.81 [[ 9.99329207e-01 3.44494883e-02 -1.24245035e-02 -1.57037311e+02] [ 3.44458279e-02 -9.99406437e-01 -5.08542358e-04 -2.62491680e+02] [-1.24346478e-02 8.02289211e-05 -9.99922684e-01 -1.81080281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 803.166559995 meters 0.012735860959536247 Centerline is valid? [True, True] Translation: X:-157.03, Y:-262.50, Z:-1.81 [[ 9.93157824e-01 1.16081241e-01 -1.27546980e-02 -1.57034994e+02] [ 1.16071183e-01 -9.93239721e-01 -1.52847960e-03 -2.62502939e+02] [-1.28459005e-02 3.75685758e-05 -9.99917487e-01 -1.81231039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 803.1965599949999 meters 0.012664355887108231 Centerline is valid? [True, True] Translation: X:-157.03, Y:-262.51, Z:-1.81 [[ 9.80664650e-01 1.95279203e-01 -1.27623071e-02 -1.57032005e+02] [ 1.95262481e-01 -9.80747691e-01 -2.55553209e-03 -2.62512688e+02] [-1.30156455e-02 1.41202308e-05 -9.99915293e-01 -1.81210799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 803.2265599949999 meters 0.01278928163210402 Centerline is valid? [True, True] Translation: X:-157.03, Y:-262.52, Z:-1.81 [[ 9.61966355e-01 2.72827130e-01 -1.36414530e-02 -1.57028102e+02] [ 2.72799780e-01 -9.62063073e-01 -3.86306978e-03 -2.62522054e+02] [-1.41778885e-02 -5.24222031e-06 -9.99899489e-01 -1.81136396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 803.256559995 meters 0.01291529093436986 Centerline is valid? [True, True] Translation: X:-157.02, Y:-262.53, Z:-1.81 [[ 9.36650077e-01 3.50006071e-01 -1.35049636e-02 -1.57024743e+02] [ 3.49970411e-01 -9.36747430e-01 -4.99637338e-03 -2.62531172e+02] [-1.43995010e-02 -4.64841661e-05 -9.99896321e-01 -1.80954705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 803.286559995 meters 0.013031265137537464 Centerline is valid? [True, True] Translation: X:-157.02, Y:-262.54, Z:-1.81 [[ 9.05906900e-01 4.23282527e-01 -1.28292934e-02 -1.57021667e+02] [ 4.23241045e-01 -9.05997737e-01 -5.92611550e-03 -2.62536110e+02] [-1.41317320e-02 -6.13746419e-05 -9.99900140e-01 -1.80910251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 803.3165599949999 meters 0.0129154682343517 Centerline is valid? [True, True] Translation: X:-157.02, Y:-262.54, Z:-1.81 [[ 8.69545929e-01 4.93715981e-01 -1.15934181e-02 -1.57016084e+02] [ 4.93673185e-01 -8.69623209e-01 -6.50083508e-03 -2.62541879e+02] [-1.32914716e-02 -7.05849356e-05 -9.99911662e-01 -1.81053434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 803.3465599949999 meters 0.013249985233038162 Centerline is valid? [True, True] Translation: X:-157.01, Y:-262.55, Z:-1.81 [[ 8.27926155e-01 5.60732225e-01 -1.08468447e-02 -1.57011258e+02] [ 5.60685310e-01 -8.27997202e-01 -7.25376747e-03 -2.62547984e+02] [-1.30485782e-02 -7.60826466e-05 -9.99914861e-01 -1.80903062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 803.376559995 meters 0.012992420490964005 Centerline is valid? [True, True] Translation: X:-157.01, Y:-262.55, Z:-1.81 [[ 7.81199374e-01 6.24202933e-01 -9.91140128e-03 -1.57006008e+02] [ 6.24153996e-01 -7.81262243e-01 -7.81651841e-03 -2.62550926e+02] [-1.26224973e-02 -7.99814238e-05 -9.99920330e-01 -1.81076490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 803.406559995 meters 0.012883390389585086 Centerline is valid? [True, True] Translation: X:-157.00, Y:-262.56, Z:-1.81 [[ 7.29676454e-01 6.83730943e-01 -9.17987259e-03 -1.56999431e+02] [ 6.83678273e-01 -7.29734192e-01 -8.48693055e-03 -2.62556131e+02] [-1.25016439e-02 -8.33660546e-05 -9.99921848e-01 -1.81147462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 803.4365599949999 meters 0.012996922021373616 Centerline is valid? [True, True] Translation: X:-156.99, Y:-262.56, Z:-1.81 [[ 6.73054364e-01 7.39549640e-01 -8.00962071e-03 -1.56993551e+02] [ 7.39498904e-01 -6.73102015e-01 -8.66307780e-03 -2.62561615e+02] [-1.17980679e-02 -9.23834212e-05 -9.99930396e-01 -1.81150345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 803.4665599949999 meters 0.01314605870061928 Centerline is valid? [True, True] Translation: X:-156.99, Y:-262.57, Z:-1.81 [[ 6.12196296e-01 7.90671958e-01 -7.31787714e-03 -1.56986634e+02] [ 7.90617525e-01 -6.12240022e-01 -9.27818976e-03 -2.62565207e+02] [-1.18163017e-02 -1.05568508e-04 -9.99930180e-01 -1.81135668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 803.496559995 meters 0.013391381488332021 Centerline is valid? [True, True] Translation: X:-156.98, Y:-262.57, Z:-1.81 [[ 5.47344473e-01 8.36879989e-01 -6.77583075e-03 -1.56980336e+02] [ 8.36818655e-01 -5.47386398e-01 -1.01326710e-02 -2.62568715e+02] [-1.21888272e-02 -1.24080089e-04 -9.99925706e-01 -1.81061812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 803.526559995 meters 0.013911724433364763 Centerline is valid? [True, True] Translation: X:-156.97, Y:-262.57, Z:-1.81 [[ 4.76936062e-01 8.78915023e-01 -6.35411427e-03 -1.56971252e+02] [ 8.78841978e-01 -4.76978354e-01 -1.13325761e-02 -2.62572062e+02] [-1.29911463e-02 -1.79348142e-04 -9.99915596e-01 -1.80983719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 803.5565599949999 meters 0.014374749654266359 Centerline is valid? [True, True] Translation: X:-156.96, Y:-262.57, Z:-1.81 [[ 4.05223398e-01 9.14199446e-01 -5.77675162e-03 -1.56963537e+02] [ 9.14113884e-01 -4.05264517e-01 -1.25091329e-02 -2.62574544e+02] [-1.37769549e-02 -2.11615507e-04 -9.99905071e-01 -1.80894272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 803.5865599949999 meters 0.014608677080144176 Centerline is valid? [True, True] Translation: X:-156.95, Y:-262.58, Z:-1.81 [[ 3.29725463e-01 9.44064032e-01 -4.92171470e-03 -1.56954486e+02] [ 9.43970264e-01 -3.29762092e-01 -1.33080295e-02 -2.62576710e+02] [-1.41866269e-02 -2.57956128e-04 -9.99899332e-01 -1.80891521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 803.616559995 meters 0.01573612292887082 Centerline is valid? [True, True] Translation: X:-156.94, Y:-262.58, Z:-1.81 [[ 2.53774322e-01 9.67256110e-01 -3.76989953e-03 -1.56944864e+02] [ 9.67164461e-01 -2.53802182e-01 -1.33175647e-02 -2.62579512e+02] [-1.38383046e-02 -2.66456892e-04 -9.99904211e-01 -1.80774508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 803.646559995 meters 0.015281832617109638 Centerline is valid? [True, True] Translation: X:-156.94, Y:-262.58, Z:-1.81 [[ 1.76932720e-01 9.84219299e-01 -2.68041080e-03 -1.56939142e+02] [ 9.84128157e-01 -1.76952820e-01 -1.33966609e-02 -2.62579306e+02] [-1.36595584e-02 -2.67560084e-04 -9.99906668e-01 -1.80872430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 803.6765599949999 meters 0.015439096422203343 Centerline is valid? [True, True] Translation: X:-156.93, Y:-262.58, Z:-1.81 [[ 9.91862235e-02 9.95067639e-01 -1.57726429e-03 -1.56933621e+02] [ 9.94980295e-01 -9.91984191e-02 -1.31866290e-02 -2.62579811e+02] [-1.32780499e-02 -2.61414952e-04 -9.99911809e-01 -1.80885022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 803.7065599949999 meters 0.015554928430128366 Centerline is valid? [True, True] Translation: X:-156.93, Y:-262.58, Z:-1.81 [[ 2.20118057e-02 9.99757600e-01 -4.70298896e-04 -1.56930702e+02] [ 9.99690754e-01 -2.20157733e-02 -1.15629386e-02 -2.62579847e+02] [-1.15704898e-02 -2.15632300e-04 -9.99933037e-01 -1.81013231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 803.736559995 meters 0.01497270952295857 Centerline is valid? [True, True] Translation: X:-156.93, Y:-262.58, Z:-1.81 [[-5.57432658e-02 9.98445057e-01 3.96167115e-04 -1.56927045e+02] [ 9.98390034e-01 5.57443536e-02 -1.04836453e-02 -2.62579497e+02] [-1.04894279e-02 -1.88863328e-04 -9.99944967e-01 -1.81158205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 803.766559995 meters 0.014269773408400209 Centerline is valid? [True, True] Translation: X:-156.92, Y:-262.58, Z:-1.81 [[-1.33155014e-01 9.91094566e-01 1.14131024e-03 -1.56920034e+02] [ 9.91046361e-01 1.33159796e-01 -9.77650258e-03 -2.62578686e+02] [-9.84141522e-03 -1.70698984e-04 -9.99951558e-01 -1.81318161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 803.7965599949999 meters 0.014205659405658901 Centerline is valid? [True, True] Translation: X:-156.91, Y:-262.58, Z:-1.81 [[-2.09323604e-01 9.77844995e-01 1.67201778e-03 -1.56912960e+02] [ 9.77808221e-01 2.09330234e-01 -8.48156130e-03 -2.62578287e+02] [-8.64365613e-03 -1.40478250e-04 -9.99962633e-01 -1.81385229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 803.8265599949999 meters 0.014051516125914109 Centerline is valid? [True, True] Translation: X:-156.91, Y:-262.58, Z:-1.81 [[-2.84310676e-01 9.58729532e-01 2.26370622e-03 -1.56905657e+02] [ 9.58695461e-01 2.84319659e-01 -8.08363101e-03 -2.62576989e+02] [-8.39363196e-03 -1.28057723e-04 -9.99964765e-01 -1.81373270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 803.856559995 meters 0.013557866298565133 Centerline is valid? [True, True] Translation: X:-156.90, Y:-262.58, Z:-1.81 [[-3.56540782e-01 9.34273936e-01 3.29911031e-03 -1.56900122e+02] [ 9.34230622e-01 3.56556023e-01 -8.99715102e-03 -2.62575808e+02] [-9.58212135e-03 -1.25721384e-04 -9.99954083e-01 -1.81294622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 803.886559995 meters 0.013207661692140646 Centerline is valid? [True, True] Translation: X:-156.90, Y:-262.57, Z:-1.81 [[-4.25983260e-01 9.04721722e-01 4.10711513e-03 -1.56895170e+02] [ 9.04677377e-01 4.26003047e-01 -8.95807602e-03 -2.62574803e+02] [-9.85420952e-03 -1.00376286e-04 -9.99951441e-01 -1.81236253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 803.916559995 meters 0.012855646012119705 Centerline is valid? [True, True] Translation: X:-156.89, Y:-262.57, Z:-1.81 [[-4.92263399e-01 8.70433036e-01 4.80384323e-03 -1.56890039e+02] [ 8.70390327e-01 4.92286834e-01 -8.62281352e-03 -2.62574803e+02] [-9.87045053e-03 -6.34768077e-05 -9.99951284e-01 -1.81180343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 803.9465599949999 meters 0.012725970259589783 Centerline is valid? [True, True] Translation: X:-156.88, Y:-262.57, Z:-1.81 [[-5.57080998e-01 8.30440827e-01 5.36606630e-03 -1.56884527e+02] [ 8.30401602e-01 5.57106840e-01 -8.07146638e-03 -2.62573228e+02] [-9.69234745e-03 -4.04705012e-05 -9.99953027e-01 -1.81197828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 803.9765599949999 meters 0.012725970259589783 Centerline is valid? [True, True] Translation: X:-156.88, Y:-262.57, Z:-1.81 [[-6.20428013e-01 7.84240586e-01 5.98194988e-03 -1.56877276e+02] [ 7.84203506e-01 6.20456849e-01 -7.62624677e-03 -2.62569973e+02] [-9.69235401e-03 -4.04710668e-05 -9.99953027e-01 -1.81197822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 804.006559995 meters 0.012618468718497677 Centerline is valid? [True, True] Translation: X:-156.87, Y:-262.57, Z:-1.81 [[-6.78041751e-01 7.34993883e-01 6.58605860e-03 -1.56872603e+02] [ 7.34958990e-01 6.78073737e-01 -7.16170610e-03 -2.62566862e+02] [-9.72964354e-03 -1.54527605e-05 -9.99952666e-01 -1.81191313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 804.036559995 meters 0.012779599900867921 Centerline is valid? [True, True] Translation: X:-156.87, Y:-262.57, Z:-1.81 [[-7.29880102e-01 6.83537808e-01 7.14852608e-03 -1.56869591e+02] [ 6.83505515e-01 7.29915107e-01 -6.64432649e-03 -2.62567442e+02] [-9.75946554e-03 3.64953039e-05 -9.99952375e-01 -1.81167389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 804.0665599949999 meters 0.012939826555288938 Centerline is valid? [True, True] Translation: X:-156.39, Y:-262.06, Z:-2.77 [[-6.89818629e-01 -7.23951147e-01 6.70784229e-03 -1.56389495e+02] [ 7.23916409e-01 -6.89851241e-01 -7.09213585e-03 -2.62062606e+02] [ 9.76177322e-03 -3.63703336e-05 9.99952352e-01 -2.77225042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 804.0965599949999 meters 0.013794512410525499 Centerline is valid? [True, True] Translation: X:-156.40, Y:-262.04, Z:-2.77 [[-6.95150718e-01 -7.18834258e-01 6.54139925e-03 -1.56404488e+02] [ 7.18800636e-01 -6.95181482e-01 -6.95362707e-03 -2.62037848e+02] [ 9.54596498e-03 -1.31856907e-04 9.99954428e-01 -2.77190432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 804.126559995 meters 0.015719999461538642 Centerline is valid? [True, True] Translation: X:-156.42, Y:-262.01, Z:-2.77 [[-6.99578975e-01 -7.14526599e-01 6.40285918e-03 -1.56418394e+02] [ 7.14494231e-01 -6.99608251e-01 -6.80356118e-03 -2.62014011e+02] [ 9.34081854e-03 -1.84822415e-04 9.99956357e-01 -2.77286522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 804.156559995 meters 0.015719999461538642 Centerline is valid? [True, True] Translation: X:-156.44, Y:-261.99, Z:-2.77 [[-6.99796527e-01 -7.14313515e-01 6.40493075e-03 -1.56436821e+02] [ 7.14281156e-01 -6.99825813e-01 -6.80161102e-03 -2.61994592e+02] [ 9.34081854e-03 -1.84822431e-04 9.99956357e-01 -2.77286522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 804.1865599949999 meters 0.01662523529575675 Centerline is valid? [True, True] Translation: X:-156.45, Y:-261.97, Z:-2.77 [[-7.04368756e-01 -7.09808773e-01 6.01348618e-03 -1.56452834e+02] [ 7.09780117e-01 -7.04394389e-01 -6.38208047e-03 -2.61972168e+02] [ 8.76592263e-03 -2.27085155e-04 9.99961553e-01 -2.77185191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 804.2165599949999 meters 0.016696470523534995 Centerline is valid? [True, True] Translation: X:-156.47, Y:-261.95, Z:-2.77 [[-7.06715165e-01 -7.07475317e-01 5.68777612e-03 -1.56471413e+02] [ 7.07449632e-01 -7.06738013e-01 -6.03319293e-03 -2.61950830e+02] [ 8.28810267e-03 -2.39933821e-04 9.99965624e-01 -2.77115465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 804.246559995 meters 0.018495284631157637 Centerline is valid? [True, True] Translation: X:-156.49, Y:-261.93, Z:-2.77 [[-7.09945573e-01 -7.04234042e-01 5.63013519e-03 -1.56486676e+02] [ 7.04208803e-01 -7.09967844e-01 -5.96841466e-03 -2.61927787e+02] [ 8.20037573e-03 -2.72458799e-04 9.99966339e-01 -2.77057896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 804.276559995 meters 0.0190953783289854 Centerline is valid? [True, True] Translation: X:-156.50, Y:-261.91, Z:-2.77 [[-7.11272863e-01 -7.02893860e-01 5.57993690e-03 -1.56504776e+02] [ 7.02869055e-01 -7.11294694e-01 -5.91189708e-03 -2.61906572e+02] [ 8.12441567e-03 -2.83006986e-04 9.99966956e-01 -2.77052760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 804.3065599949999 meters 0.0195586584217145 Centerline is valid? [True, True] Translation: X:-156.52, Y:-261.89, Z:-2.77 [[-7.12167073e-01 -7.01985906e-01 5.81782301e-03 -1.56523486e+02] [ 7.01958939e-01 -7.12190772e-01 -6.16051170e-03 -2.61885129e+02] [ 8.46799224e-03 -3.03440716e-04 9.99964100e-01 -2.77060904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 804.3365599949999 meters 0.019811173350618102 Centerline is valid? [True, True] Translation: X:-156.54, Y:-261.86, Z:-2.77 [[-7.12901887e-01 -7.01238005e-01 6.01333327e-03 -1.56542544e+02] [ 7.01209200e-01 -7.12927176e-01 -6.36400399e-03 -2.61864309e+02] [ 8.74975016e-03 -3.20305841e-04 9.99961669e-01 -2.77068098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 804.366559995 meters 0.020260662165273308 Centerline is valid? [True, True] Translation: X:-156.56, Y:-261.84, Z:-2.77 [[-7.13026617e-01 -7.01108285e-01 6.34161980e-03 -1.56560674e+02] [ 7.01076282e-01 -7.13054738e-01 -6.70728282e-03 -2.61844613e+02] [ 9.22445360e-03 -3.36511949e-04 9.99957397e-01 -2.77154636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 804.396559995 meters 0.020285693385340267 Centerline is valid? [True, True] Translation: X:-156.58, Y:-261.83, Z:-2.77 [[-7.12875736e-01 -7.01260850e-01 6.43466184e-03 -1.56579943e+02] [ 7.01227947e-01 -7.12904697e-01 -6.80150055e-03 -2.61825295e+02] [ 9.35692670e-03 -3.36460004e-04 9.99956167e-01 -2.77192918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 804.4265599949999 meters 0.018973812601506993 Centerline is valid? [True, True] Translation: X:-156.60, Y:-261.81, Z:-2.77 [[-7.11530508e-01 -7.02623899e-01 6.63277877e-03 -1.56601606e+02] [ 7.02589034e-01 -7.11561347e-01 -7.00699372e-03 -2.61807131e+02] [ 9.64291025e-03 -3.25572170e-04 9.99953453e-01 -2.77184351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 804.4565599949999 meters 0.01873065556525216 Centerline is valid? [True, True] Translation: X:-156.62, Y:-261.79, Z:-2.77 [[-7.10830510e-01 -7.03330783e-01 6.76724917e-03 -1.56621864e+02] [ 7.03294561e-01 -7.10862651e-01 -7.14509298e-03 -2.61787399e+02] [ 9.83594852e-03 -3.19580559e-04 9.99951575e-01 -2.77184275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 804.486559995 meters 0.019143402686865825 Centerline is valid? [True, True] Translation: X:-156.64, Y:-261.77, Z:-2.77 [[-7.09878730e-01 -7.04292103e-01 6.69498700e-03 -1.56640287e+02] [ 7.04256731e-01 -7.09910236e-01 -7.06500108e-03 -2.61768059e+02] [ 9.72866428e-03 -3.00304335e-04 9.99952630e-01 -2.77208429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 804.516559995 meters 0.01816788121116933 Centerline is valid? [True, True] Translation: X:-156.66, Y:-261.75, Z:-2.77 [[-7.08669249e-01 -7.05511289e-01 6.45883448e-03 -1.56661673e+02] [ 7.05478451e-01 -7.08698630e-01 -6.81231712e-03 -2.61749000e+02] [ 9.38353377e-03 -2.71111122e-04 9.99955937e-01 -2.77165785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 804.5465599949999 meters 0.018391412441965474 Centerline is valid? [True, True] Translation: X:-156.68, Y:-261.73, Z:-2.77 [[-7.07572195e-01 -7.06616219e-01 5.92525579e-03 -1.56680828e+02] [ 7.06588649e-01 -7.07596965e-01 -6.24626773e-03 -2.61729930e+02] [ 8.60640710e-03 -2.32966879e-04 9.99962937e-01 -2.77189945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 804.5765599949999 meters 0.016265712819275868 Centerline is valid? [True, True] Translation: X:-156.70, Y:-261.71, Z:-2.77 [[-7.04173731e-01 -7.10002607e-01 5.97113686e-03 -1.56704110e+02] [ 7.09974760e-01 -7.04199022e-01 -6.29111900e-03 -2.61713610e+02] [ 8.67157962e-03 -1.90684286e-04 9.99962383e-01 -2.77102468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 804.606559995 meters 0.01573512010530949 Centerline is valid? [True, True] Translation: X:-156.72, Y:-261.69, Z:-2.77 [[-7.02685324e-01 -7.11476133e-01 5.92012954e-03 -1.56724852e+02] [ 7.11448841e-01 -7.02710242e-01 -6.23401129e-03 -2.61694868e+02] [ 8.59548590e-03 -1.68678943e-04 9.99963044e-01 -2.77114257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 804.636559995 meters 0.014279625478328666 Centerline is valid? [True, True] Translation: X:-156.75, Y:-261.68, Z:-2.77 [[-6.98945303e-01 -7.15147044e-01 6.33788020e-03 -1.56748394e+02] [ 7.15115949e-01 -6.98974026e-01 -6.67019001e-03 -2.61679122e+02] [ 9.20018030e-03 -1.29778767e-04 9.99957669e-01 -2.77172178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 804.666559995 meters 0.013817289379785139 Centerline is valid? [True, True] Translation: X:-156.77, Y:-261.66, Z:-2.77 [[-6.97182571e-01 -7.16866801e-01 6.20100748e-03 -1.56769046e+02] [ 7.16837134e-01 -6.97210140e-01 -6.52258033e-03 -2.61661265e+02] [ 8.99922659e-03 -1.02316892e-04 9.99959501e-01 -2.77206315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 804.6965599949999 meters 0.013651366470541607 Centerline is valid? [True, True] Translation: X:-156.79, Y:-261.64, Z:-2.77 [[-6.95570209e-01 -7.18431754e-01 6.15629012e-03 -1.56788777e+02] [ 7.18402611e-01 -6.95597448e-01 -6.47140897e-03 -2.61643626e+02] [ 8.93156539e-03 -7.86243901e-05 9.99960110e-01 -2.77253937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 804.7265599949999 meters 0.01312475654936368 Centerline is valid? [True, True] Translation: X:-156.81, Y:-261.63, Z:-2.77 [[-6.94253848e-01 -7.19703957e-01 6.14890157e-03 -1.56809987e+02] [ 7.19674969e-01 -6.94281075e-01 -6.45970893e-03 -2.61625922e+02] [ 8.91814407e-03 -5.94672398e-05 9.99960231e-01 -2.77238624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 804.756559995 meters 0.012954284953561547 Centerline is valid? [True, True] Translation: X:-156.83, Y:-261.61, Z:-2.77 [[-6.92682833e-01 -7.21212662e-01 6.54134017e-03 -1.56831008e+02] [ 7.21179963e-01 -6.92713718e-01 -6.86783242e-03 -2.61608741e+02] [ 9.48444377e-03 -3.97461592e-05 9.99955021e-01 -2.77343678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 804.786559995 meters 0.01291723520869885 Centerline is valid? [True, True] Translation: X:-156.85, Y:-261.59, Z:-2.77 [[-6.92528741e-01 -7.21357449e-01 6.88285382e-03 -1.56849535e+02] [ 7.21321298e-01 -6.92562943e-01 -7.22181407e-03 -2.61590647e+02] [ 9.97631887e-03 -3.65647511e-05 9.99950235e-01 -2.77377674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 804.8165599949999 meters 0.012947889513996023 Centerline is valid? [True, True] Translation: X:-156.87, Y:-261.57, Z:-2.77 [[-6.92592677e-01 -7.21297238e-01 6.75852827e-03 -1.56868293e+02] [ 7.21262421e-01 -6.92625651e-01 -7.08713075e-03 -2.61571495e+02] [ 9.79305788e-03 -3.38223962e-05 9.99952046e-01 -2.77361383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 804.8465599949999 meters 0.012970918960439344 Centerline is valid? [True, True] Translation: X:-156.89, Y:-261.55, Z:-2.77 [[-6.93306634e-01 -7.20614266e-01 6.40249662e-03 -1.56887011e+02] [ 7.20583028e-01 -6.93336195e-01 -6.70980844e-03 -2.61551344e+02] [ 9.27426633e-03 -3.84243053e-05 9.99956992e-01 -2.77295336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 804.876559995 meters 0.01309065171801688 Centerline is valid? [True, True] Translation: X:-156.91, Y:-261.53, Z:-2.77 [[-6.93772574e-01 -7.20162925e-01 6.70650053e-03 -1.56905399e+02] [ 7.20128671e-01 -6.93804987e-01 -7.02403342e-03 -2.61532326e+02] [ 9.71145197e-03 -4.35384320e-05 9.99952842e-01 -2.77289593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 804.906559995 meters 0.01309065171801688 Centerline is valid? [True, True] Translation: X:-156.92, Y:-261.51, Z:-2.77 [[-6.93983817e-01 -7.19959344e-01 6.70856097e-03 -1.56923967e+02] [ 7.19925100e-01 -6.94016240e-01 -7.02206555e-03 -2.61513063e+02] [ 9.71145197e-03 -4.35384293e-05 9.99952842e-01 -2.77289593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 804.9365599949999 meters 0.013081113973840784 Centerline is valid? [True, True] Translation: X:-156.94, Y:-261.49, Z:-2.77 [[-6.94747798e-01 -7.19220554e-01 6.87694927e-03 -1.56943403e+02] [ 7.19184577e-01 -6.94781830e-01 -7.19386882e-03 -2.61494279e+02] [ 9.95195772e-03 -5.21286637e-05 9.99950477e-01 -2.77256376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 804.9665599949999 meters 0.013067392550621566 Centerline is valid? [True, True] Translation: X:-156.96, Y:-261.47, Z:-2.77 [[-6.95269678e-01 -7.18713132e-01 7.17700035e-03 -1.56962595e+02] [ 7.18673964e-01 -6.95306717e-01 -7.50353087e-03 -2.61474383e+02] [ 1.03831027e-02 -5.90542051e-05 9.99946093e-01 -2.77247965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 804.996559995 meters 0.013129177904181654 Centerline is valid? [True, True] Translation: X:-156.98, Y:-261.45, Z:-2.77 [[-6.96066932e-01 -7.17937271e-01 7.54332173e-03 -1.56981552e+02] [ 7.17894005e-01 -6.96107801e-01 -7.88209048e-03 -2.61454091e+02] [ 1.09098116e-02 -7.11570919e-05 9.99940484e-01 -2.77321372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 805.026559995 meters 0.013129177904181654 Centerline is valid? [True, True] Translation: X:-157.00, Y:-261.43, Z:-2.77 [[-6.96268310e-01 -7.17741950e-01 7.54553275e-03 -1.57000675e+02] [ 7.17698695e-01 -6.96309191e-01 -7.87997389e-03 -2.61434209e+02] [ 1.09098116e-02 -7.11570919e-05 9.99940484e-01 -2.77321371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 805.0565599949999 meters 0.01318866449484742 Centerline is valid? [True, True] Translation: X:-157.02, Y:-261.41, Z:-2.77 [[-6.96540092e-01 -7.17483750e-01 6.99772061e-03 -1.57018305e+02] [ 7.17446585e-01 -6.96575239e-01 -7.30304748e-03 -2.61414280e+02] [ 1.01142568e-02 -6.63746113e-05 9.99948848e-01 -2.77239750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 805.0865599949999 meters 0.013350098825389869 Centerline is valid? [True, True] Translation: X:-157.04, Y:-261.39, Z:-2.77 [[-6.95920878e-01 -7.18088372e-01 6.57436319e-03 -1.57035899e+02] [ 7.18055637e-01 -6.95951929e-01 -6.85675118e-03 -2.61394478e+02] [ 9.49919404e-03 -5.09977570e-05 9.99954880e-01 -2.77214139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 805.116559995 meters 0.013350098825389869 Centerline is valid? [True, True] Translation: X:-157.05, Y:-261.38, Z:-2.77 [[-6.96134005e-01 -7.17881744e-01 6.57639836e-03 -1.57054508e+02] [ 7.17849018e-01 -6.96165066e-01 -6.85479925e-03 -2.61375252e+02] [ 9.49919404e-03 -5.09977525e-05 9.99954880e-01 -2.77214139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 805.146559995 meters 0.012997290598062625 Centerline is valid? [True, True] Translation: X:-157.07, Y:-261.36, Z:-2.77 [[-6.94749064e-01 -7.19223303e-01 6.44812654e-03 -1.57074529e+02] [ 7.19191938e-01 -6.94778986e-01 -6.71693261e-03 -2.61357215e+02] [ 9.31099727e-03 -2.91420216e-05 9.99956651e-01 -2.77168788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 805.1765599949999 meters 0.012929271886227672 Centerline is valid? [True, True] Translation: X:-157.09, Y:-261.34, Z:-2.77 [[-6.93847606e-01 -7.20089851e-01 6.79006885e-03 -1.57093673e+02] [ 7.20055156e-01 -6.93880830e-01 -7.06874469e-03 -2.61338336e+02] [ 9.80162993e-03 -1.54075001e-05 9.99951963e-01 -2.77169091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 805.2065599949999 meters 0.012926211547585347 Centerline is valid? [True, True] Translation: X:-157.11, Y:-261.32, Z:-2.77 [[-6.92843845e-01 -7.21055151e-01 6.84651941e-03 -1.57113456e+02] [ 7.21019968e-01 -6.92877672e-01 -7.12305366e-03 -2.61319242e+02] [ 9.87991497e-03 1.31331412e-06 9.99951193e-01 -2.77179209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 805.236559995 meters 0.012956238842362452 Centerline is valid? [True, True] Translation: X:-157.13, Y:-261.30, Z:-2.77 [[-6.91455008e-01 -7.22386008e-01 6.95898214e-03 -1.57133234e+02] [ 7.22349771e-01 -6.91490025e-01 -7.23554092e-03 -2.61299940e+02] [ 1.00389203e-02 2.37681500e-05 9.99949609e-01 -2.77202288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 805.266559995 meters 0.013269442709312447 Centerline is valid? [True, True] Translation: X:-157.15, Y:-261.28, Z:-2.77 [[-6.88387726e-01 -7.25312090e-01 6.68668387e-03 -1.57153575e+02] [ 7.25278810e-01 -6.88420197e-01 -6.94835409e-03 -2.61281690e+02] [ 9.64297345e-03 6.65484541e-05 9.99953503e-01 -2.77217058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 805.2965599949999 meters 0.013627322695219823 Centerline is valid? [True, True] Translation: X:-157.17, Y:-261.26, Z:-2.77 [[-6.87109532e-01 -7.26522175e-01 6.78386147e-03 -1.57173261e+02] [ 7.26488022e-01 -6.87143014e-01 -7.04503036e-03 -2.61262798e+02] [ 9.77985380e-03 8.76865841e-05 9.99952172e-01 -2.77183039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 805.3265599949999 meters 0.013707441180871355 Centerline is valid? [True, True] Translation: X:-157.19, Y:-261.24, Z:-2.77 [[-6.85688847e-01 -7.27863190e-01 6.78098585e-03 -1.57192600e+02] [ 7.27829170e-01 -6.85722367e-01 -7.03809010e-03 -2.61242991e+02] [ 9.77264039e-03 1.09459416e-04 9.99952241e-01 -2.77118111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 805.356559995 meters 0.01443314891414011 Centerline is valid? [True, True] Translation: X:-157.21, Y:-261.22, Z:-2.77 [[-6.82943958e-01 -7.30444677e-01 6.17437093e-03 -1.57213457e+02] [ 7.30416609e-01 -6.82971855e-01 -6.40487786e-03 -2.61223932e+02] [ 8.89533051e-03 1.35690440e-04 9.99960427e-01 -2.77140456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 805.386559995 meters 0.014882403275780514 Centerline is valid? [True, True] Translation: X:-157.23, Y:-261.20, Z:-2.77 [[-6.81524258e-01 -7.31772438e-01 5.81257120e-03 -1.57232927e+02] [ 7.31747631e-01 -6.81549029e-01 -6.02709007e-03 -2.61204434e+02] [ 8.37201065e-03 1.45727121e-04 9.99964944e-01 -2.77104901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 805.416559995 meters 0.015790578893168913 Centerline is valid? [True, True] Translation: X:-157.25, Y:-261.18, Z:-2.77 [[-6.78801820e-01 -7.34301959e-01 5.35937282e-03 -1.57252297e+02] [ 7.34280966e-01 -6.78822956e-01 -5.55487553e-03 -2.61184766e+02] [ 7.71702129e-03 1.64625830e-04 9.99970210e-01 -2.77044966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 805.4465599949999 meters 0.016114084501676687 Centerline is valid? [True, True] Translation: X:-157.27, Y:-261.16, Z:-2.77 [[-6.77636542e-01 -7.35379275e-01 5.10284188e-03 -1.57271835e+02] [ 7.35360297e-01 -6.77655733e-01 -5.28597922e-03 -2.61164524e+02] [ 7.34516962e-03 1.70454642e-04 9.99973009e-01 -2.77034019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 805.4765599949999 meters 0.01711750066129582 Centerline is valid? [True, True] Translation: X:-157.29, Y:-261.15, Z:-2.77 [[-6.76515917e-01 -7.36409935e-01 5.15968114e-03 -1.57292196e+02] [ 7.36390585e-01 -6.76535567e-01 -5.34165296e-03 -2.61145969e+02] [ 7.42435411e-03 1.85827364e-04 9.99972422e-01 -2.77094049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 805.506559995 meters 0.01827878244300957 Centerline is valid? [True, True] Translation: X:-157.31, Y:-261.13, Z:-2.77 [[-6.73787152e-01 -7.38906573e-01 5.28680736e-03 -1.57312528e+02] [ 7.38886358e-01 -6.73807857e-01 -5.47017400e-03 -2.61126176e+02] [ 7.60423986e-03 2.20616873e-04 9.99971063e-01 -2.77128988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 805.536559995 meters 0.018906679730271755 Centerline is valid? [True, True] Translation: X:-157.33, Y:-261.11, Z:-2.77 [[-6.72767792e-01 -7.39832767e-01 5.56550038e-03 -1.57332219e+02] [ 7.39810422e-01 -6.72790767e-01 -5.75528966e-03 -2.61106683e+02] [ 8.00236915e-03 2.45441664e-04 9.99967951e-01 -2.77177087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 805.5665599949999 meters 0.01974633837953067 Centerline is valid? [True, True] Translation: X:-157.35, Y:-261.09, Z:-2.77 [[-6.71148005e-01 -7.41299759e-01 5.91799547e-03 -1.57351169e+02] [ 7.41274571e-01 -6.71174038e-01 -6.11727648e-03 -2.61086546e+02] [ 8.50674049e-03 2.81261649e-04 9.99963778e-01 -2.77241131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 805.5965599949999 meters 0.019477475742055363 Centerline is valid? [True, True] Translation: X:-157.37, Y:-261.07, Z:-2.77 [[-6.70871726e-01 -7.41548896e-01 6.03017817e-03 -1.57369213e+02] [ 7.41522785e-01 -6.70898763e-01 -6.22969575e-03 -2.61065536e+02] [ 8.66526308e-03 2.92187773e-04 9.99962413e-01 -2.77224388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 805.626559995 meters 0.01928285400733845 Centerline is valid? [True, True] Translation: X:-157.39, Y:-261.04, Z:-2.77 [[-6.71032718e-01 -7.41401513e-01 6.23604574e-03 -1.57388054e+02] [ 7.41373616e-01 -6.71061625e-01 -6.43870908e-03 -2.61044314e+02] [ 8.95843964e-03 3.02655323e-04 9.99959827e-01 -2.77231126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 805.656559995 meters 0.019087662509607133 Centerline is valid? [True, True] Translation: X:-157.40, Y:-261.02, Z:-2.77 [[-6.72531510e-01 -7.40043809e-01 6.04393113e-03 -1.57404422e+02] [ 7.40017580e-01 -6.72558610e-01 -6.23682521e-03 -2.61021246e+02] [ 8.68042180e-03 2.78153811e-04 9.99962286e-01 -2.77199864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 805.6865599949999 meters 0.019200547545569928 Centerline is valid? [True, True] Translation: X:-157.42, Y:-261.00, Z:-2.77 [[-6.73214923e-01 -7.39421993e-01 6.06496638e-03 -1.57422057e+02] [ 7.39395583e-01 -6.73242186e-01 -6.25544948e-03 -2.61001240e+02] [ 8.70860815e-03 2.73147413e-04 9.99962042e-01 -2.77216118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 805.7165599949999 meters 0.019200547545569928 Centerline is valid? [True, True] Translation: X:-157.44, Y:-260.98, Z:-2.77 [[-6.73449015e-01 -7.39208777e-01 6.06694683e-03 -1.57440774e+02] [ 7.39182375e-01 -6.73476287e-01 -6.25352873e-03 -2.60982093e+02] [ 8.70860815e-03 2.73147402e-04 9.99962042e-01 -2.77216117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 805.746559995 meters 0.018872264940121227 Centerline is valid? [True, True] Translation: X:-157.46, Y:-260.96, Z:-2.77 [[-6.74273183e-01 -7.38456658e-01 6.11880201e-03 -1.57458353e+02] [ 7.38429807e-01 -6.74300892e-01 -6.30298723e-03 -2.60961090e+02] [ 8.78039654e-03 2.68370529e-04 9.99961416e-01 -2.77210663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 805.776559995 meters 0.018537289637041033 Centerline is valid? [True, True] Translation: X:-157.48, Y:-260.94, Z:-2.77 [[-6.75196653e-01 -7.37611717e-01 6.19951295e-03 -1.57476125e+02] [ 7.37584154e-01 -6.75225063e-01 -6.38209919e-03 -2.60939834e+02] [ 8.89357766e-03 2.63490500e-04 9.99960417e-01 -2.77188614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 805.8065599949999 meters 0.01848069208833751 Centerline is valid? [True, True] Translation: X:-157.49, Y:-260.92, Z:-2.77 [[-6.76425059e-01 -7.36487488e-01 5.94303552e-03 -1.57493950e+02] [ 7.36462144e-01 -6.76451123e-01 -6.11469474e-03 -2.60919379e+02] [ 8.52356922e-03 2.40687926e-04 9.99963645e-01 -2.77207127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 805.8365599949999 meters 0.01768667240629712 Centerline is valid? [True, True] Translation: X:-157.51, Y:-260.90, Z:-2.77 [[-6.78273198e-01 -7.34786322e-01 5.87623115e-03 -1.57510545e+02] [ 7.34761508e-01 -6.78298617e-01 -6.04260321e-03 -2.60896313e+02] [ 8.42586165e-03 2.19092661e-04 9.99964478e-01 -2.77193138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 805.866559995 meters 0.01682174844500553 Centerline is valid? [True, True] Translation: X:-157.53, Y:-260.87, Z:-2.77 [[-6.79348912e-01 -7.33794311e-01 5.56455183e-03 -1.57527874e+02] [ 7.33772053e-01 -6.79371673e-01 -5.71886441e-03 -2.60874607e+02] [ 7.97686905e-03 1.98008304e-04 9.99968165e-01 -2.77165824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 805.896559995 meters 0.016603291443754022 Centerline is valid? [True, True] Translation: X:-157.55, Y:-260.85, Z:-2.77 [[-6.80297319e-01 -7.32915863e-01 5.46778555e-03 -1.57546464e+02] [ 7.32894368e-01 -6.80319266e-01 -5.61624867e-03 -2.60853258e+02] [ 7.83607759e-03 1.86590323e-04 9.99969280e-01 -2.77132387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 805.9265599949999 meters 0.016643470746437447 Centerline is valid? [True, True] Translation: X:-157.56, Y:-260.83, Z:-2.77 [[-6.81143219e-01 -7.32131657e-01 5.21066143e-03 -1.57563944e+02] [ 7.32112140e-01 -6.81163128e-01 -5.34858616e-03 -2.60833663e+02] [ 7.46517969e-03 1.71635291e-04 9.99972121e-01 -2.77109436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 805.9565599949999 meters 0.016037226626723192 Centerline is valid? [True, True] Translation: X:-157.58, Y:-260.81, Z:-2.77 [[-6.83171867e-01 -7.30242392e-01 4.71691163e-03 -1.57580987e+02] [ 7.30226371e-01 -6.83188137e-01 -4.83906459e-03 -2.60810855e+02] [ 6.75622817e-03 1.38500464e-04 9.99977167e-01 -2.77050858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 805.986559995 meters 0.015701203704916795 Centerline is valid? [True, True] Translation: X:-157.60, Y:-260.79, Z:-2.77 [[-6.84287823e-01 -7.29197787e-01 4.55664547e-03 -1.57599276e+02] [ 7.29182833e-01 -6.84302982e-01 -4.67170431e-03 -2.60790075e+02] [ 6.52472253e-03 1.25837284e-04 9.99978706e-01 -2.77017855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 806.016559995 meters 0.015341216879780635 Centerline is valid? [True, True] Translation: X:-157.62, Y:-260.77, Z:-2.77 [[-6.85166928e-01 -7.28373051e-01 4.35653528e-03 -1.57617414e+02] [ 7.28359383e-01 -6.85180768e-01 -4.46369581e-03 -2.60769704e+02] [ 6.23624993e-03 1.14746608e-04 9.99980548e-01 -2.76961420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 806.0465599949999 meters 0.015387185621447875 Centerline is valid? [True, True] Translation: X:-157.64, Y:-260.75, Z:-2.77 [[-6.85556679e-01 -7.28005707e-01 4.44195704e-03 -1.57636560e+02] [ 7.27991508e-01 -6.85571060e-01 -4.54819110e-03 -2.60751294e+02] [ 6.35638627e-03 1.15664221e-04 9.99979791e-01 -2.76989391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 806.0765599949999 meters 0.016045658370838097 Centerline is valid? [True, True] Translation: X:-157.66, Y:-260.73, Z:-2.77 [[-6.85520289e-01 -7.28038935e-01 4.60887898e-03 -1.57656290e+02] [ 7.28023671e-01 -6.85535771e-01 -4.71599910e-03 -2.60734067e+02] [ 6.59298237e-03 1.22459930e-04 9.99978259e-01 -2.77097141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 806.106559995 meters 0.015629703124152277 Centerline is valid? [True, True] Translation: X:-157.68, Y:-260.71, Z:-2.77 [[-6.85349132e-01 -7.28199208e-01 4.74144027e-03 -1.57675157e+02] [ 7.28183077e-01 -6.85365521e-01 -4.84859043e-03 -2.60714785e+02] [ 6.78035939e-03 1.29659322e-04 9.99977005e-01 -2.77127002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 806.136559995 meters 0.01605675083673545 Centerline is valid? [True, True] Translation: X:-157.70, Y:-260.70, Z:-2.77 [[-6.84412704e-01 -7.29074544e-01 5.43688623e-03 -1.57696350e+02] [ 7.29053386e-01 -6.84434280e-01 -5.55665868e-03 -2.60696279e+02] [ 7.77240971e-03 1.60732530e-04 9.99969782e-01 -2.77262470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 806.166559995 meters 0.016381965221178723 Centerline is valid? [True, True] Translation: X:-157.72, Y:-260.68, Z:-2.77 [[-6.84086738e-01 -7.29377546e-01 5.80779536e-03 -1.57716150e+02] [ 7.29353443e-01 -6.84111368e-01 -5.93225079e-03 -2.60677737e+02] [ 8.30002935e-03 1.77761450e-04 9.99965538e-01 -2.77334521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 806.1965599949999 meters 0.017177982754383248 Centerline is valid? [True, True] Translation: X:-157.74, Y:-260.66, Z:-2.77 [[-6.83551321e-01 -7.29876907e-01 6.10670857e-03 -1.57736823e+02] [ 7.29850311e-01 -6.83578571e-01 -6.23393856e-03 -2.60659474e+02] [ 8.72442291e-03 1.95766201e-04 9.99961922e-01 -2.77377955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 806.2265599949999 meters 0.017575196370435458 Centerline is valid? [True, True] Translation: X:-157.76, Y:-260.64, Z:-2.77 [[-6.83453773e-01 -7.29968787e-01 6.04232530e-03 -1.57755957e+02] [ 7.29942786e-01 -6.83480454e-01 -6.16429732e-03 -2.60641883e+02] [ 8.62955587e-03 1.97539501e-04 9.99962745e-01 -2.77347919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 806.256559995 meters 0.01782856324051046 Centerline is valid? [True, True] Translation: X:-157.78, Y:-260.62, Z:-2.77 [[-6.83382546e-01 -7.30040586e-01 5.38875627e-03 -1.57776001e+02] [ 7.30019933e-01 -6.83403768e-01 -5.49424254e-03 -2.60623227e+02] [ 7.69371638e-03 1.79230038e-04 9.99970387e-01 -2.77313746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 806.286559995 meters 0.016255818642709696 Centerline is valid? [True, True] Translation: X:-157.79, Y:-260.60, Z:-2.77 [[-6.83364148e-01 -7.30059903e-01 5.09709034e-03 -1.57794174e+02] [ 7.30041447e-01 -6.83383135e-01 -5.19389579e-03 -2.60601960e+02] [ 7.27512064e-03 1.71765041e-04 9.99973521e-01 -2.77179869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 806.3165599949999 meters 0.018345598707153094 Centerline is valid? [True, True] Translation: X:-157.82, Y:-260.59, Z:-2.77 [[-6.83437975e-01 -7.29994205e-01 4.58210641e-03 -1.57816729e+02] [ 7.29979307e-01 -6.83453317e-01 -4.66631393e-03 -2.60586111e+02] [ 6.53803795e-03 1.55706720e-04 9.99978615e-01 -2.77265308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 806.3465599949999 meters 0.01660839890772207 Centerline is valid? [True, True] Translation: X:-157.84, Y:-260.56, Z:-2.77 [[-6.83175720e-01 -7.30242196e-01 4.15588242e-03 -1.57835177e+02] [ 7.30229959e-01 -6.83188345e-01 -4.22986012e-03 -2.60564954e+02] [ 5.92807277e-03 1.45012117e-04 9.99982418e-01 -2.77126792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 806.376559995 meters 0.017024125127891622 Centerline is valid? [True, True] Translation: X:-157.85, Y:-260.55, Z:-2.77 [[-6.83133654e-01 -7.30282368e-01 4.00932122e-03 -1.57854984e+02] [ 7.30270995e-01 -6.83145404e-01 -4.07810898e-03 -2.60546540e+02] [ 5.71712045e-03 1.41997506e-04 9.99983647e-01 -2.77129134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 806.406559995 meters 0.016822966873335846 Centerline is valid? [True, True] Translation: X:-157.87, Y:-260.53, Z:-2.77 [[-6.83160268e-01 -7.30258687e-01 3.78134445e-03 -1.57874865e+02] [ 7.30248582e-01 -6.83170720e-01 -3.84403020e-03 -2.60526155e+02] [ 5.39044025e-03 1.35232717e-04 9.99985462e-01 -2.77116637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 806.4365599949999 meters 0.01707452651009339 Centerline is valid? [True, True] Translation: X:-157.89, Y:-260.51, Z:-2.77 [[-6.83199426e-01 -7.30221047e-01 3.97072483e-03 -1.57894659e+02] [ 7.30209919e-01 -6.83210950e-01 -4.03399698e-03 -2.60507611e+02] [ 5.65855218e-03 1.43438229e-04 9.99983980e-01 -2.77111247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 806.4665599949999 meters 0.017338567645830267 Centerline is valid? [True, True] Translation: X:-157.92, Y:-260.49, Z:-2.77 [[-6.82972506e-01 -7.30432731e-01 4.07211265e-03 -1.57915148e+02] [ 7.30421045e-01 -6.82984629e-01 -4.13439430e-03 -2.60489725e+02] [ 5.80108727e-03 1.50679150e-04 9.99983162e-01 -2.77136561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 806.496559995 meters 0.017389730725293127 Centerline is valid? [True, True] Translation: X:-157.94, Y:-260.47, Z:-2.77 [[-6.83064259e-01 -7.30347667e-01 3.93750562e-03 -1.57935843e+02] [ 7.30336754e-01 -6.83075592e-01 -3.99520341e-03 -2.60471418e+02] [ 5.60750147e-03 1.46724420e-04 9.99984267e-01 -2.77173114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 806.526559995 meters 0.017389730725293127 Centerline is valid? [True, True] Translation: X:-157.95, Y:-260.45, Z:-2.77 [[-6.83295233e-01 -7.30131571e-01 3.93876913e-03 -1.57954711e+02] [ 7.30120661e-01 -6.83306570e-01 -3.99395776e-03 -2.60452424e+02] [ 5.60750147e-03 1.46724420e-04 9.99984267e-01 -2.77173113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 806.5565599949999 meters 0.017229053591838624 Centerline is valid? [True, True] Translation: X:-157.97, Y:-260.43, Z:-2.77 [[-6.83822816e-01 -7.29637841e-01 3.87009261e-03 -1.57974812e+02] [ 7.29627314e-01 -6.83833753e-01 -3.92183899e-03 -2.60433476e+02] [ 5.50802209e-03 1.41882293e-04 9.99984821e-01 -2.77211291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 806.5865599949999 meters 0.016745779435609186 Centerline is valid? [True, True] Translation: X:-157.99, Y:-260.41, Z:-2.77 [[-6.84283180e-01 -7.29203959e-01 4.25633896e-03 -1.57994111e+02] [ 7.29191233e-01 -6.84296400e-01 -4.31079512e-03 -2.60412961e+02] [ 6.05604630e-03 1.53880466e-04 9.99981650e-01 -2.77200911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 806.616559995 meters 0.016717322890538643 Centerline is valid? [True, True] Translation: X:-158.01, Y:-260.39, Z:-2.77 [[-6.85276855e-01 -7.28268144e-01 4.59822038e-03 -1.58013856e+02] [ 7.28253287e-01 -6.85292263e-01 -4.65442049e-03 -2.60392615e+02] [ 6.54079102e-03 1.59102472e-04 9.99978596e-01 -2.77206532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 806.646559995 meters 0.016658151740938508 Centerline is valid? [True, True] Translation: X:-158.03, Y:-260.37, Z:-2.77 [[-6.86148404e-01 -7.27447074e-01 4.59594366e-03 -1.58033043e+02] [ 7.27432233e-01 -6.86163779e-01 -4.64917688e-03 -2.60373669e+02] [ 6.53560018e-03 1.53212263e-04 9.99978631e-01 -2.77239344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 806.6765599949999 meters 0.016103944566636906 Centerline is valid? [True, True] Translation: X:-158.05, Y:-260.35, Z:-2.77 [[-6.87281453e-01 -7.26376172e-01 4.67561796e-03 -1.58052759e+02] [ 7.26360805e-01 -6.87297341e-01 -4.72709925e-03 -2.60353059e+02] [ 6.64719205e-03 1.47337981e-04 9.99977896e-01 -2.77261873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 806.7065599949999 meters 0.016906139958659597 Centerline is valid? [True, True] Translation: X:-158.07, Y:-260.34, Z:-2.77 [[-6.88586913e-01 -7.25139097e-01 4.62111554e-03 -1.58072468e+02] [ 7.25124079e-01 -6.88602405e-01 -4.66888779e-03 -2.60335894e+02] [ 6.56770435e-03 1.35947121e-04 9.99978423e-01 -2.77361050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 806.736559995 meters 0.015431267262446074 Centerline is valid? [True, True] Translation: X:-158.09, Y:-260.31, Z:-2.77 [[-6.90137823e-01 -7.23664006e-01 4.49347900e-03 -1.58090430e+02] [ 7.23649791e-01 -6.90152441e-01 -4.53737412e-03 -2.60314154e+02] [ 6.38471983e-03 1.20291643e-04 9.99979610e-01 -2.77316468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 806.766559995 meters 0.014740013320839978 Centerline is valid? [True, True] Translation: X:-158.11, Y:-260.29, Z:-2.77 [[-6.93642542e-01 -7.20307692e-01 4.10518603e-03 -1.58108241e+02] [ 7.20295782e-01 -6.93654685e-01 -4.14308046e-03 -2.60294076e+02] [ 5.83187425e-03 8.31313229e-05 9.99982991e-01 -2.77329672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 806.7965599949999 meters 0.014740013320839978 Centerline is valid? [True, True] Translation: X:-158.13, Y:-260.28, Z:-2.77 [[-6.93865492e-01 -7.20092921e-01 4.10646842e-03 -1.58127158e+02] [ 7.20081015e-01 -6.93877639e-01 -4.14180941e-03 -2.60275142e+02] [ 5.83187425e-03 8.31313161e-05 9.99982991e-01 -2.77329671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 806.8265599949999 meters 0.014661943318522908 Centerline is valid? [True, True] Translation: X:-158.15, Y:-260.26, Z:-2.77 [[-6.95982205e-01 -7.18048168e-01 3.94943433e-03 -1.58145748e+02] [ 7.18037134e-01 -6.95993408e-01 -3.98123905e-03 -2.60255304e+02] [ 5.60750166e-03 6.49689710e-05 9.99984276e-01 -2.77365873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 806.856559995 meters 0.013636726689652334 Centerline is valid? [True, True] Translation: X:-158.16, Y:-260.23, Z:-2.77 [[-6.98595602e-01 -7.15506935e-01 3.74316426e-03 -1.58162511e+02] [ 7.15496998e-01 -6.98605628e-01 -3.77118970e-03 -2.60232954e+02] [ 5.31330800e-03 4.36862554e-05 9.99985883e-01 -2.77269533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 806.886559995 meters 0.013180367895084647 Centerline is valid? [True, True] Translation: X:-158.18, Y:-260.21, Z:-2.77 [[-7.03601490e-01 -7.10584675e-01 3.78994211e-03 -1.58177987e+02] [ 7.10574426e-01 -7.03611697e-01 -3.81645563e-03 -2.60211118e+02] [ 5.37856248e-03 7.77207427e-06 9.99985536e-01 -2.77254981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 806.916559995 meters 0.01320767898136401 Centerline is valid? [True, True] Translation: X:-158.20, Y:-260.19, Z:-2.77 [[-7.06019667e-01 -7.08181340e-01 3.92678526e-03 -1.58196372e+02] [ 7.08170312e-01 -7.06030587e-01 -3.95204146e-03 -2.60190226e+02] [ 5.57119252e-03 -9.38624867e-06 9.99984481e-01 -2.77238503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 806.9465599949999 meters 0.013413760027648158 Centerline is valid? [True, True] Translation: X:-158.21, Y:-260.17, Z:-2.77 [[-7.08352025e-01 -7.05846940e-01 4.18408253e-03 -1.58214081e+02] [ 7.05834396e-01 -7.08364381e-01 -4.20821827e-03 -2.60170739e+02] [ 5.93421302e-03 -2.76305705e-05 9.99982392e-01 -2.77328476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 806.9765599949999 meters 0.013901783216690979 Centerline is valid? [True, True] Translation: X:-158.23, Y:-260.15, Z:-2.77 [[-7.12183084e-01 -7.01977448e-01 4.78725577e-03 -1.58232390e+02] [ 7.01960957e-01 -7.12199170e-01 -4.81220084e-03 -2.60149302e+02] [ 6.78753605e-03 -6.67013927e-05 9.99976962e-01 -2.77429867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 807.006559995 meters 0.014270559488144907 Centerline is valid? [True, True] Translation: X:-158.25, Y:-260.13, Z:-2.77 [[-7.13897348e-01 -7.00231743e-01 5.10708500e-03 -1.58250498e+02] [ 7.00212952e-01 -7.13915610e-01 -5.13069567e-03 -2.60129366e+02] [ 7.23870368e-03 -8.67429711e-05 9.99973797e-01 -2.77437251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 807.036559995 meters 0.01516995005123582 Centerline is valid? [True, True] Translation: X:-158.27, Y:-260.11, Z:-2.77 [[-7.16709400e-01 -6.97350813e-01 5.42953377e-03 -1.58267956e+02] [ 6.97329507e-01 -7.16729956e-01 -5.45245694e-03 -2.60108583e+02] [ 7.69378478e-03 -1.21653033e-04 9.99970395e-01 -2.77440136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 807.0665599949999 meters 0.015651121662520535 Centerline is valid? [True, True] Translation: X:-158.29, Y:-260.09, Z:-2.77 [[-7.18104020e-01 -6.95914521e-01 5.44014042e-03 -1.58286562e+02] [ 6.95893115e-01 -7.18124614e-01 -5.45999265e-03 -2.60088677e+02] [ 7.70638691e-03 -1.35086417e-04 9.99970296e-01 -2.77437568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 807.0965599949999 meters 0.015423105396861174 Centerline is valid? [True, True] Translation: X:-158.31, Y:-260.07, Z:-2.77 [[-7.19191253e-01 -6.94789379e-01 5.62673735e-03 -1.58307102e+02] [ 6.94766470e-01 -7.19213248e-01 -5.64411461e-03 -2.60069208e+02] [ 7.96829493e-03 -1.49929416e-04 9.99968242e-01 -2.77347992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 807.126559995 meters 0.015622761114025894 Centerline is valid? [True, True] Translation: X:-158.33, Y:-260.05, Z:-2.77 [[-7.20447840e-01 -6.93491098e-01 5.00073151e-03 -1.58327096e+02] [ 6.93472992e-01 -7.20465181e-01 -5.01335171e-03 -2.60049419e+02] [ 7.07956771e-03 -1.43986163e-04 9.99974929e-01 -2.77307982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 807.156559995 meters 0.01639230842412896 Centerline is valid? [True, True] Translation: X:-158.35, Y:-260.03, Z:-2.77 [[-7.22241568e-01 -6.91628991e-01 4.05656126e-03 -1.58345708e+02] [ 6.91617061e-01 -7.22252949e-01 -4.06438720e-03 -2.60029765e+02] [ 5.74091134e-03 -1.29882410e-04 9.99983513e-01 -2.77194341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 807.1865599949999 meters 0.016720807204865493 Centerline is valid? [True, True] Translation: X:-158.37, Y:-260.01, Z:-2.77 [[-7.23199928e-01 -6.90628220e-01 3.81125707e-03 -1.58365772e+02] [ 6.90617687e-01 -7.23209960e-01 -3.81636341e-03 -2.60010787e+02] [ 5.39202734e-03 -1.27872201e-04 9.99985455e-01 -2.77154000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 807.2165599949999 meters 0.016780271973137934 Centerline is valid? [True, True] Translation: X:-158.39, Y:-259.99, Z:-2.77 [[-7.23252895e-01 -6.90573034e-01 3.75962220e-03 -1.58385496e+02] [ 6.90562796e-01 -7.23262656e-01 -3.76232801e-03 -2.59992354e+02] [ 5.31735661e-03 -1.24859401e-04 9.99985855e-01 -2.77169238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 807.246559995 meters 0.016314735610815156 Centerline is valid? [True, True] Translation: X:-158.41, Y:-259.97, Z:-2.77 [[-7.22932530e-01 -6.90907599e-01 3.90471847e-03 -1.58406763e+02] [ 6.90896573e-01 -7.22943064e-01 -3.90534452e-03 -2.59974377e+02] [ 5.52112134e-03 -1.25543989e-04 9.99984751e-01 -2.77161428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 807.276559995 meters 0.016462021907081875 Centerline is valid? [True, True] Translation: X:-158.43, Y:-259.96, Z:-2.77 [[-7.22265674e-01 -6.91605000e-01 3.84966911e-03 -1.58426101e+02] [ 6.91594306e-01 -7.22275924e-01 -3.84774948e-03 -2.59956532e+02] [ 5.44164610e-03 -1.16688130e-04 9.99985187e-01 -2.77211852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 807.3065599949999 meters 0.015613643994639197 Centerline is valid? [True, True] Translation: X:-158.94, Y:-260.47, Z:-1.81 [[-7.42517965e-01 6.69811421e-01 4.44219439e-03 -1.58938553e+02] [ 6.69800357e-01 7.42531243e-01 -3.85156415e-03 -2.60468702e+02] [-5.87828978e-03 1.15527814e-04 -9.99982716e-01 -1.81229842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 807.3365599949999 meters 0.01494819913408806 Centerline is valid? [True, True] Translation: X:-158.47, Y:-259.93, Z:-2.77 [[-7.20305655e-01 -6.93643004e-01 4.37566720e-03 -1.58472209e+02] [ 6.93629334e-01 -7.20318938e-01 -4.35598177e-03 -2.59929163e+02] [ 6.17337223e-03 -1.02547173e-04 9.99980939e-01 -2.77274001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 807.366559995 meters 0.014543517984267196 Centerline is valid? [True, True] Translation: X:-158.97, Y:-260.43, Z:-1.81 [[-7.49449723e-01 6.62043014e-01 4.91533800e-03 -1.58971102e+02] [ 6.62029497e-01 7.49465837e-01 -4.23125664e-03 -2.60429836e+02] [-6.48515181e-03 8.29846298e-05 -9.99978968e-01 -1.81143825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 807.396559995 meters 0.01434282574731693 Centerline is valid? [True, True] Translation: X:-158.95, Y:-260.41, Z:-1.81 [[-7.95774455e-01 6.05570137e-01 5.27511904e-03 -1.58948611e+02] [ 6.05557407e-01 7.95791936e-01 -3.92706652e-03 -2.60408705e+02] [-6.57601140e-03 6.93281920e-05 -9.99978376e-01 -1.81121039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 807.4265599949999 meters 0.013872729679970122 Centerline is valid? [True, True] Translation: X:-158.93, Y:-260.38, Z:-1.81 [[-8.38827850e-01 5.44367230e-01 5.67075307e-03 -1.58930871e+02] [ 5.44355143e-01 8.38847016e-01 -3.62782716e-03 -2.60380380e+02] [-6.73176452e-03 4.37811467e-05 -9.99977341e-01 -1.81142622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 807.4565599949999 meters 0.013698322967432277 Centerline is valid? [True, True] Translation: X:-158.92, Y:-260.35, Z:-1.81 [[-8.76076921e-01 4.82134913e-01 5.92912471e-03 -1.58916383e+02] [ 4.82124124e-01 8.76096984e-01 -3.22562279e-03 -2.60353180e+02] [-6.74967364e-03 3.26803736e-05 -9.99977220e-01 -1.81162223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 807.486559995 meters 0.01355265766609393 Centerline is valid? [True, True] Translation: X:-158.90, Y:-260.33, Z:-1.81 [[-9.08554212e-01 4.17726448e-01 5.81885083e-03 -1.58902148e+02] [ 4.17718036e-01 9.08572845e-01 -2.65109187e-03 -2.60325930e+02] [-6.39428105e-03 2.19782530e-05 -9.99979556e-01 -1.81206076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 807.516559995 meters 0.013362523028341627 Centerline is valid? [True, True] Translation: X:-158.89, Y:-260.29, Z:-1.81 [[-9.36929135e-01 3.49478786e-01 5.32680345e-03 -1.58893954e+02] [ 3.49473153e-01 9.36944277e-01 -1.98429153e-03 -2.60292799e+02] [-5.68438580e-03 2.43424676e-06 -9.99983844e-01 -1.81266656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 807.5465599949999 meters 0.013339245380422924 Centerline is valid? [True, True] Translation: X:-158.89, Y:-260.26, Z:-1.81 [[-9.59680813e-01 2.81038572e-01 5.48261883e-03 -1.58885012e+02] [ 2.81033958e-01 9.59696474e-01 -1.61028616e-03 -2.60263653e+02] [-5.71420248e-03 -4.55866124e-06 -9.99983674e-01 -1.81242647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 807.5765599949999 meters 0.013437377188359271 Centerline is valid? [True, True] Translation: X:-158.70, Y:-259.64, Z:-2.77 [[-9.37659383e-01 -3.47511422e-01 5.54007635e-03 -1.58697705e+02] [ 3.47505462e-01 -9.37675750e-01 -2.03535052e-03 -2.59636452e+02] [ 5.90210279e-03 1.67412780e-05 9.99982582e-01 -2.77233142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 807.606559995 meters 0.013470767197686041 Centerline is valid? [True, True] Translation: X:-158.93, Y:-260.24, Z:-1.81 [[-9.61544732e-01 2.74589759e-01 5.67391615e-03 -1.58929032e+02] [ 2.74584841e-01 9.61561472e-01 -1.64352966e-03 -2.60243774e+02] [-5.90711558e-03 -2.23559183e-05 -9.99982553e-01 -1.81189931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 807.636559995 meters 0.013432782255139213 Centerline is valid? [True, True] Translation: X:-158.93, Y:-260.21, Z:-1.81 [[-9.78739041e-01 2.05018838e-01 6.09638188e-03 -1.58926526e+02] [ 2.05014684e-01 9.78758027e-01 -1.30540545e-03 -2.60213601e+02] [-6.23451541e-03 -2.78034704e-05 -9.99980565e-01 -1.81171821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 807.666559995 meters 0.013573144196156493 Centerline is valid? [True, True] Translation: X:-158.92, Y:-260.18, Z:-1.81 [[-9.90948955e-01 1.34105544e-01 5.98926511e-03 -1.58919496e+02] [ 1.34102881e-01 9.90967054e-01 -8.45771815e-04 -2.60182523e+02] [-6.04858709e-03 -3.49389907e-05 -9.99981707e-01 -1.81172245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 807.6965599949999 meters 0.013570632819242597 Centerline is valid? [True, True] Translation: X:-158.83, Y:-259.56, Z:-2.77 [[-9.77148658e-01 -2.12472185e-01 6.00585838e-03 -1.58831342e+02] [ 2.12468431e-01 -9.77167114e-01 -1.26371385e-03 -2.59560394e+02] [ 6.13723135e-03 4.12190081e-05 9.99981166e-01 -2.77253708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 807.7265599949999 meters 0.013617267959154057 Centerline is valid? [True, True] Translation: X:-158.97, Y:-260.17, Z:-1.81 [[-9.91692691e-01 1.28484613e-01 6.10820573e-03 -1.58972258e+02] [ 1.28481892e-01 9.91711502e-01 -8.37390057e-04 -2.60171684e+02] [-6.16516961e-03 -4.56397706e-05 -9.99980994e-01 -1.81188378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 807.756559995 meters 0.013725543981797393 Centerline is valid? [True, True] Translation: X:-158.89, Y:-259.56, Z:-2.77 [[-9.77547647e-01 -2.10613291e-01 6.52993333e-03 -1.58888493e+02] [ 2.10609151e-01 -9.77569453e-01 -1.32304018e-03 -2.59557199e+02] [ 6.66211320e-03 8.19289029e-05 9.99977805e-01 -2.77297111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 807.786559995 meters 0.014076060186311261 Centerline is valid? [True, True] Translation: X:-159.03, Y:-260.16, Z:-1.81 [[-9.92477498e-01 1.22193906e-01 7.55421289e-03 -1.59026542e+02] [ 1.22189796e-01 9.92506244e-01 -1.00491076e-03 -2.60160129e+02] [-7.62039743e-03 -7.43035815e-05 -9.99970962e-01 -1.81025109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 807.8165599949999 meters 0.014260624818292664 Centerline is valid? [True, True] Translation: X:-159.03, Y:-260.13, Z:-1.81 [[-9.98756751e-01 4.88583073e-02 9.89034977e-03 -1.59030052e+02] [ 4.88546993e-02 9.98805712e-01 -6.06212140e-04 -2.60128343e+02] [-9.90815635e-03 -1.22268404e-04 -9.99950906e-01 -1.80875116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 807.8465599949999 meters 0.01465998433136767 Centerline is valid? [True, True] Translation: X:-159.04, Y:-260.10, Z:-1.81 [[-9.99676982e-01 -2.33976800e-02 9.92377613e-03 -1.59038364e+02] [-2.33978562e-02 9.99726228e-01 9.83634451e-05 -2.60098144e+02] [-9.92336075e-03 -1.33863414e-04 -9.99950753e-01 -1.80784943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 807.876559995 meters 0.014894226503170491 Centerline is valid? [True, True] Translation: X:-159.04, Y:-259.50, Z:-2.78 [[-9.97307631e-01 -7.26105344e-02 1.02566481e-02 -1.59041786e+02] [ 7.26083660e-02 -9.97360358e-01 -5.84114065e-04 -2.59498601e+02] [ 1.02719871e-02 1.62177047e-04 9.99947229e-01 -2.77631971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 807.906559995 meters 0.015067101052994554 Centerline is valid? [True, True] Translation: X:-159.10, Y:-260.10, Z:-1.81 [[-9.99490243e-01 -3.03358790e-02 9.94932852e-03 -1.59102963e+02] [-3.03359497e-02 9.99539749e-01 1.43842558e-04 -2.60096543e+02] [-9.94911292e-03 -1.58053097e-04 -9.99950494e-01 -1.80845006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 807.9365599949999 meters 0.015024344558557655 Centerline is valid? [True, True] Translation: X:-159.11, Y:-260.07, Z:-1.81 [[-9.94762600e-01 -1.01744706e-01 9.76647284e-03 -1.59110081e+02] [-1.01741368e-01 9.94810530e-01 8.39321527e-04 -2.60068688e+02] [-9.80118654e-03 -1.58728639e-04 -9.99951955e-01 -1.80852308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 807.9665599949999 meters 0.01498821405643242 Centerline is valid? [True, True] Translation: X:-159.13, Y:-260.04, Z:-1.81 [[-9.84976757e-01 -1.72451101e-01 9.02250375e-03 -1.59128320e+02] [-1.72445247e-01 9.85018069e-01 1.42870955e-03 -2.60043415e+02] [-9.13371176e-03 -1.48642188e-04 -9.99958276e-01 -1.80946119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 807.996559995 meters 0.015044068161237743 Centerline is valid? [True, True] Translation: X:-159.15, Y:-260.02, Z:-1.81 [[-9.70096470e-01 -2.42567543e-01 8.59224082e-03 -1.59145721e+02] [-2.42559341e-01 9.70134509e-01 1.99997658e-03 -2.60018750e+02] [-8.82075873e-03 -1.43958056e-04 -9.99961086e-01 -1.80982647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 808.026559995 meters 0.015131074229691465 Centerline is valid? [True, True] Translation: X:-159.18, Y:-260.00, Z:-1.81 [[-9.50135509e-01 -3.11733436e-01 8.04856797e-03 -1.59176298e+02] [-3.11723477e-01 9.50169588e-01 2.49553016e-03 -2.59998230e+02] [-8.42544471e-03 -1.37835775e-04 -9.99964496e-01 -1.81005562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 808.0565599949999 meters 0.014870944009261979 Centerline is valid? [True, True] Translation: X:-159.22, Y:-259.99, Z:-1.81 [[-9.24967654e-01 -3.79966946e-01 7.74326877e-03 -1.59224062e+02] [-3.79954859e-01 9.25000055e-01 3.03383426e-03 -2.59986199e+02] [-8.31528078e-03 -1.35894027e-04 -9.99965418e-01 -1.81059364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 808.0865599949999 meters 0.014984141829141116 Centerline is valid? [True, True] Translation: X:-159.29, Y:-259.98, Z:-1.81 [[-8.94304322e-01 -4.47395710e-01 7.54039256e-03 -1.59289299e+02] [-4.47381130e-01 8.94336099e-01 3.61464655e-03 -2.59983694e+02] [-8.36082263e-03 -1.40835309e-04 -9.99965038e-01 -1.81072522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 808.116559995 meters 0.015452691252986494 Centerline is valid? [True, True] Translation: X:-159.36, Y:-259.99, Z:-1.81 [[-8.58650178e-01 -5.12500683e-01 7.93233578e-03 -1.59358149e+02] [-5.12480503e-01 8.58686803e-01 4.55080910e-03 -2.59987294e+02] [-9.14368482e-03 -1.57614388e-04 -9.99958183e-01 -1.80960575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 808.146559995 meters 0.01523368723621655 Centerline is valid? [True, True] Translation: X:-159.43, Y:-260.00, Z:-1.81 [[-8.18232834e-01 -5.74831427e-01 7.99126996e-03 -1.59432435e+02] [-5.74805985e-01 8.18271839e-01 5.41075970e-03 -2.60001781e+02] [-9.64930588e-03 -1.66168556e-04 -9.99953431e-01 -1.80935400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 808.1765599949999 meters 0.01523368723621655 Centerline is valid? [True, True] Translation: X:-159.51, Y:-260.03, Z:-1.81 [[-7.73040339e-01 -6.34311757e-01 7.56505392e-03 -1.59512002e+02] [-6.34283474e-01 7.73077336e-01 5.99220976e-03 -2.60025648e+02] [-9.64930083e-03 -1.66168819e-04 -9.99953431e-01 -1.80935418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 808.2065599949999 meters 0.015233345287277447 Centerline is valid? [True, True] Translation: X:-159.59, Y:-260.06, Z:-1.81 [[-7.23280105e-01 -6.90511055e-01 7.77001246e-03 -1.59594385e+02] [-6.90473904e-01 7.23321817e-01 7.16500945e-03 -2.60060807e+02] [-1.05677378e-02 -1.82682052e-04 -9.99944143e-01 -1.80915683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 808.236559995 meters 0.015423736357698583 Centerline is valid? [True, True] Translation: X:-159.68, Y:-260.11, Z:-1.81 [[-6.69128739e-01 -7.43112557e-01 7.10332746e-03 -1.59678899e+02] [-7.43073552e-01 6.69166417e-01 7.61593405e-03 -2.60105455e+02] [-1.04128044e-02 -1.82254416e-04 -9.99945769e-01 -1.80874692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 808.266559995 meters 0.015551206832472011 Centerline is valid? [True, True] Translation: X:-159.76, Y:-260.16, Z:-1.81 [[-6.10621790e-01 -7.91893317e-01 6.78255892e-03 -1.59760829e+02] [-7.91848004e-01 6.10659427e-01 8.47367322e-03 -2.60158045e+02] [-1.08520787e-02 -1.96546230e-04 -9.99941095e-01 -1.80879754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 808.2965599949999 meters 0.015932063127286986 Centerline is valid? [True, True] Translation: X:-159.84, Y:-260.22, Z:-1.81 [[-5.47707761e-01 -8.36646066e-01 6.29031759e-03 -1.59841916e+02] [-8.36595400e-01 5.47743838e-01 9.21001273e-03 -2.60220544e+02] [-1.11510036e-02 -2.18055305e-04 -9.99937802e-01 -1.80790233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 808.3265599949999 meters 0.016600321474975536 Centerline is valid? [True, True] Translation: X:-159.92, Y:-260.29, Z:-1.81 [[-4.81861667e-01 -8.76227345e-01 5.91386709e-03 -1.59920239e+02] [-8.76167397e-01 4.81897896e-01 1.02523338e-02 -2.60291627e+02] [-1.18332553e-02 -2.41330876e-04 -9.99929956e-01 -1.80704688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 808.356559995 meters 0.016921171093149275 Centerline is valid? [True, True] Translation: X:-159.99, Y:-260.37, Z:-1.81 [[-4.13104725e-01 -9.10667946e-01 5.32706307e-03 -1.59994222e+02] [-9.10600217e-01 4.13138988e-01 1.11095142e-02 -2.60373478e+02] [-1.23178959e-02 -2.61431991e-04 -9.99924098e-01 -1.80682818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 808.386559995 meters 0.016445784164064173 Centerline is valid? [True, True] Translation: X:-160.06, Y:-260.46, Z:-1.81 [[-3.42156669e-01 -9.39631800e-01 4.57108235e-03 -1.60061041e+02] [-9.39558303e-01 3.42187093e-01 1.17553942e-02 -2.60461738e+02] [-1.26099076e-02 -2.72611865e-04 -9.99920455e-01 -1.80718105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 808.416559995 meters 0.017610873333667284 Centerline is valid? [True, True] Translation: X:-160.12, Y:-260.56, Z:-1.81 [[-2.67777423e-01 -9.63474594e-01 3.45810741e-03 -1.60122639e+02] [-9.63407190e-01 2.67799606e-01 1.13999115e-02 -2.60555178e+02] [-1.19096049e-02 -2.78926625e-04 -9.99929039e-01 -1.80699140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 808.4465599949999 meters 0.01799376068304251 Centerline is valid? [True, True] Translation: X:-160.18, Y:-260.66, Z:-1.81 [[-1.92541882e-01 -9.81285703e-01 2.44794654e-03 -1.60178039e+02] [-9.81223540e-01 1.92557246e-01 1.10485562e-02 -2.60658050e+02] [-1.13131601e-02 -2.74672971e-04 -9.99935967e-01 -1.80738062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 808.4765599949999 meters 0.018146006791313667 Centerline is valid? [True, True] Translation: X:-160.22, Y:-260.76, Z:-1.81 [[-1.14788027e-01 -9.93388808e-01 1.54423997e-03 -1.60222941e+02] [-9.93329666e-01 1.14798050e-01 1.08435615e-02 -2.60760244e+02] [-1.09491483e-02 -2.89228344e-04 -9.99940015e-01 -1.80846090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 808.506559995 meters 0.01872809912410794 Centerline is valid? [True, True] Translation: X:-160.26, Y:-260.87, Z:-1.81 [[-3.75171504e-02 -9.99295753e-01 6.79154319e-04 -1.60261907e+02] [-9.99241033e-01 3.75222060e-02 1.04615048e-02 -2.60869445e+02] [-1.04796207e-02 -2.86153014e-04 -9.99945046e-01 -1.80881415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 808.536559995 meters 0.018550757228381672 Centerline is valid? [True, True] Translation: X:-160.29, Y:-260.98, Z:-1.81 [[ 3.97634926e-02 -9.99209113e-01 -1.16770369e-04 -1.60291014e+02] [-9.99160611e-01 -3.97627134e-02 9.84884779e-03 -2.60979822e+02] [-9.84570157e-03 -2.74952232e-04 -9.99951492e-01 -1.80948077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 808.5665599949999 meters 0.01824331157224889 Centerline is valid? [True, True] Translation: X:-160.31, Y:-261.10, Z:-1.81 [[ 1.16831451e-01 -9.93151382e-01 -8.63110870e-04 -1.60311304e+02] [-9.93103888e-01 -1.16834308e-01 9.71660568e-03 -2.61095095e+02] [-9.75090132e-03 -2.78046375e-04 -9.99952420e-01 -1.81039662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 808.5965599949999 meters 0.01895813311223937 Centerline is valid? [True, True] Translation: X:-160.33, Y:-261.21, Z:-1.81 [[ 1.84909485e-01 -9.82754455e-01 -1.47062089e-03 -1.60330176e+02] [-9.82713554e-01 -1.84915210e-01 8.96859626e-03 -2.61207033e+02] [-9.08586811e-03 -2.13179441e-04 -9.99958700e-01 -1.81059617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 808.626559995 meters 0.0193126535186294 Centerline is valid? [True, True] Translation: X:-160.33, Y:-261.33, Z:-1.81 [[ 2.60130552e-01 -9.65571326e-01 -2.02751890e-03 -1.60334333e+02] [-9.65533582e-01 -2.60138319e-01 8.54152018e-03 -2.61325794e+02] [-8.77488233e-03 -2.64272769e-04 -9.99961465e-01 -1.81098166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 808.656559995 meters 0.0195933404231528 Centerline is valid? [True, True] Translation: X:-160.33, Y:-261.44, Z:-1.81 [[ 3.33895360e-01 -9.42606224e-01 -2.71922371e-03 -1.60330539e+02] [-9.42567973e-01 -3.33906320e-01 8.49619421e-03 -2.61438620e+02] [-8.91653153e-03 -2.73786650e-04 -9.99960210e-01 -1.81074049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 808.6865599949999 meters 0.018979007796405156 Centerline is valid? [True, True] Translation: X:-160.32, Y:-261.55, Z:-1.81 [[ 4.05533630e-01 -9.14073228e-01 -3.55091146e-03 -1.60316651e+02] [-9.14031617e-01 -4.05549070e-01 8.72668702e-03 -2.61553306e+02] [-9.41689982e-03 -2.93319719e-04 -9.99955617e-01 -1.81084729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 808.7165599949999 meters 0.018979007796405156 Centerline is valid? [True, True] Translation: X:-160.30, Y:-261.66, Z:-1.81 [[ 4.74261842e-01 -8.80373783e-01 -4.20802658e-03 -1.60296488e+02] [-8.80333475e-01 -4.74280420e-01 8.42948689e-03 -2.61664768e+02] [-9.41688387e-03 -2.93317318e-04 -9.99955617e-01 -1.81084803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 808.746559995 meters 0.020366688842581922 Centerline is valid? [True, True] Translation: X:-160.27, Y:-261.78, Z:-1.81 [[ 5.40619817e-01 -8.41253055e-01 -4.84877354e-03 -1.60269343e+02] [-8.41214122e-01 -5.40641478e-01 8.09895484e-03 -2.61775781e+02] [-9.43471859e-03 -2.99598712e-04 -9.99955447e-01 -1.80996079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 808.776559995 meters 0.019901776387393766 Centerline is valid? [True, True] Translation: X:-160.23, Y:-261.89, Z:-1.81 [[ 6.03874570e-01 -7.97058875e-01 -5.71439633e-03 -1.60229375e+02] [-7.97018035e-01 -6.03901521e-01 8.07496141e-03 -2.61885627e+02] [-9.88715229e-03 -3.21786914e-04 -9.99951069e-01 -1.80977663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 808.8065599949999 meters 0.0200430534356941 Centerline is valid? [True, True] Translation: X:-160.19, Y:-261.98, Z:-1.81 [[ 6.63487946e-01 -7.48157093e-01 -6.68655167e-03 -1.60193278e+02] [-7.48113696e-01 -6.63521546e-01 8.06576411e-03 -2.61977660e+02] [-1.04711297e-02 -3.49236385e-04 -9.99945115e-01 -1.80924427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 808.8365599949999 meters 0.020446605581147758 Centerline is valid? [True, True] Translation: X:-160.14, Y:-262.08, Z:-1.81 [[ 7.18936821e-01 -6.95027901e-01 -8.12799451e-03 -1.60142112e+02] [-6.94977126e-01 -7.18982655e-01 8.41051705e-03 -2.62075209e+02] [-1.16894311e-02 -3.97860128e-04 -9.99931597e-01 -1.80825065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 808.866559995 meters 0.020912586441137474 Centerline is valid? [True, True] Translation: X:-160.09, Y:-262.16, Z:-1.81 [[ 7.69738400e-01 -6.38294769e-01 -9.08754163e-03 -1.60088414e+02] [-6.38243822e-01 -7.69791929e-01 8.07523827e-03 -2.62164687e+02] [-1.21498986e-02 -4.15753681e-04 -9.99926101e-01 -1.80717900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 808.896559995 meters 0.02090088549542457 Centerline is valid? [True, True] Translation: X:-160.09, Y:-262.17, Z:-1.81 [[ 8.17394331e-01 -5.75976492e-01 -1.08437947e-02 -1.60086345e+02] [-5.75918116e-01 -8.17466122e-01 8.21355990e-03 -2.62172001e+02] [-1.35952522e-02 -4.68579464e-04 -9.99907471e-01 -1.80618349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 808.9265599949999 meters 0.021608093002995696 Centerline is valid? [True, True] Translation: X:-160.08, Y:-262.18, Z:-1.81 [[ 8.59940683e-01 -5.10259493e-01 -1.17163160e-02 -1.60084636e+02] [-5.10204453e-01 -8.60020360e-01 7.50978200e-03 -2.62179507e+02] [-1.39082078e-02 -4.80250487e-04 -9.99903161e-01 -1.80584509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 808.9565599949999 meters 0.020920240252023437 Centerline is valid? [True, True] Translation: X:-160.08, Y:-262.19, Z:-1.81 [[ 8.97088535e-01 -4.41680345e-01 -1.22733015e-02 -1.60080651e+02] [-4.41631681e-01 -8.97172361e-01 6.57364664e-03 -2.62185879e+02] [-1.39147174e-02 -4.76864270e-04 -9.99903072e-01 -1.80636997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 808.986559995 meters 0.02151580265132941 Centerline is valid? [True, True] Translation: X:-160.08, Y:-262.19, Z:-1.81 [[ 9.28746203e-01 -3.70506006e-01 -1.24815886e-02 -1.60077452e+02] [-3.70465811e-01 -9.28829955e-01 5.47701041e-03 -2.62192419e+02] [-1.36225386e-02 -4.62750786e-04 -9.99907102e-01 -1.80613181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 809.016559995 meters 0.019052154547666452 Centerline is valid? [True, True] Translation: X:-160.07, Y:-262.20, Z:-1.81 [[ 9.54380874e-01 -2.98324332e-01 -1.26388512e-02 -1.60072526e+02] [-2.98292141e-01 -9.54464460e-01 4.40367837e-03 -2.62196720e+02] [-1.33770587e-02 -4.32716426e-04 -9.99910430e-01 -1.80755129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 809.0465599949999 meters 0.020890422138235193 Centerline is valid? [True, True] Translation: X:-160.07, Y:-262.21, Z:-1.81 [[ 9.74525373e-01 -2.23887556e-01 -1.32158510e-02 -1.60070937e+02] [-2.23861014e-01 -9.74614888e-01 3.47365870e-03 -2.62206764e+02] [-1.36580741e-02 -4.26654735e-04 -9.99906633e-01 -1.80607172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 809.0765599949999 meters 0.019250658698710836 Centerline is valid? [True, True] Translation: X:-160.07, Y:-262.21, Z:-1.81 [[ 9.88819206e-01 -1.48548056e-01 -1.30404649e-02 -1.60065867e+02] [-1.48529891e-01 -9.88905112e-01 2.35604574e-03 -2.62208958e+02] [-1.32457684e-02 -3.92804445e-04 -9.99912194e-01 -1.80724756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 809.106559995 meters 0.018249266691311643 Centerline is valid? [True, True] Translation: X:-160.06, Y:-262.21, Z:-1.81 [[ 9.97168269e-01 -7.42218648e-02 -1.21061028e-02 -1.60062507e+02] [-7.42125256e-02 -9.97241703e-01 1.21947679e-03 -2.62210016e+02] [-1.21632224e-02 -3.17599101e-04 -9.99925975e-01 -1.80769546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 809.136559995 meters 0.016115866777041108 Centerline is valid? [True, True] Translation: X:-160.06, Y:-262.22, Z:-1.81 [[ 9.99931778e-01 2.11811323e-03 -1.14870969e-02 -1.60060734e+02] [ 2.12116352e-03 -9.99997718e-01 2.53364206e-04 -2.62215070e+02] [-1.14865340e-02 -2.77712932e-04 -9.99933989e-01 -1.80950778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 809.166559995 meters 0.01611807514598397 Centerline is valid? [True, True] Translation: X:-160.06, Y:-262.22, Z:-1.81 [[ 9.96843603e-01 7.86378844e-02 -1.09047903e-02 -1.60060754e+02] [ 7.86358598e-02 -9.96903217e-01 -6.14972055e-04 -2.62223322e+02] [-1.09193807e-02 -2.44476605e-04 -9.99940352e-01 -1.80938738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 809.1965599949999 meters 0.015443012396722982 Centerline is valid? [True, True] Translation: X:-160.06, Y:-262.23, Z:-1.81 [[ 9.88212824e-01 1.52733131e-01 -1.03925219e-02 -1.60060487e+02] [ 1.52726759e-01 -9.88267450e-01 -1.40864138e-03 -2.62226644e+02] [-1.04857374e-02 -1.95178725e-04 -9.99945004e-01 -1.80915894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 809.2265599949999 meters 0.014747453225712517 Centerline is valid? [True, True] Translation: X:-160.06, Y:-262.23, Z:-1.81 [[ 9.73573006e-01 2.28133669e-01 -1.05181842e-02 -1.60058848e+02] [ 2.28122387e-01 -9.73629804e-01 -2.27618157e-03 -2.62231821e+02] [-1.07600913e-02 -1.83404357e-04 -9.99942092e-01 -1.80936798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 809.256559995 meters 0.014652983687014946 Centerline is valid? [True, True] Translation: X:-160.06, Y:-262.24, Z:-1.81 [[ 9.53154933e-01 3.02298626e-01 -1.05458138e-02 -1.60057392e+02] [ 3.02282118e-01 -9.53213256e-01 -3.16382574e-03 -2.62237309e+02] [-1.10088297e-02 -1.72194821e-04 -9.99939386e-01 -1.80874074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 809.286559995 meters 0.014301034350093035 Centerline is valid? [True, True] Translation: X:-160.06, Y:-262.24, Z:-1.81 [[ 9.27061159e-01 3.74762806e-01 -1.05093445e-02 -1.60055500e+02] [ 3.74740694e-01 -9.27120711e-01 -4.07418865e-03 -2.62242143e+02] [-1.12702853e-02 -1.61256979e-04 -9.99936475e-01 -1.80868831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 809.3165599949999 meters 0.01406892911080605 Centerline is valid? [True, True] Translation: X:-160.05, Y:-262.25, Z:-1.81 [[ 8.95434620e-01 4.45067826e-01 -1.05579984e-02 -1.60053470e+02] [ 4.45038896e-01 -8.95496849e-01 -5.07686760e-03 -2.62245853e+02] [-1.17142048e-02 -1.52716952e-04 -9.99931375e-01 -1.80814800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 809.3465599949999 meters 0.013903406328755863 Centerline is valid? [True, True] Translation: X:-160.05, Y:-262.25, Z:-1.81 [[ 8.58043042e-01 5.13474025e-01 -1.03229946e-02 -1.60049834e+02] [ 5.13438976e-01 -8.58105123e-01 -6.00127540e-03 -2.62251218e+02] [-1.19397136e-02 -1.50875197e-04 -9.99928708e-01 -1.80770910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 809.376559995 meters 0.013836411313788275 Centerline is valid? [True, True] Translation: X:-160.05, Y:-262.26, Z:-1.81 [[ 8.15204909e-01 5.79075979e-01 -1.05814312e-02 -1.60046282e+02] [ 5.79029779e-01 -8.15273564e-01 -7.31643357e-03 -2.62256677e+02] [-1.28635321e-02 -1.62571233e-04 -9.99917248e-01 -1.80715607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 809.406559995 meters 0.013810371947949885 Centerline is valid? [True, True] Translation: X:-160.04, Y:-262.26, Z:-1.81 [[ 7.67527900e-01 6.40923839e-01 -1.08422999e-02 -1.60042699e+02] [ 6.40863070e-01 -7.67604457e-01 -8.82740618e-03 -2.62261865e+02] [-1.39802928e-02 -1.73149095e-04 -9.99902256e-01 -1.80611940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 809.4365599949999 meters 0.01420341107031955 Centerline is valid? [True, True] Translation: X:-160.04, Y:-262.27, Z:-1.80 [[ 7.15249154e-01 6.98789675e-01 -1.05658812e-02 -1.60039279e+02] [ 6.98717050e-01 -7.15327170e-01 -1.00759098e-02 -2.62268025e+02] [-1.45990037e-02 -1.75775392e-04 -9.99893414e-01 -1.80447484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 809.4665599949999 meters 0.013969567824048762 Centerline is valid? [True, True] Translation: X:-160.04, Y:-262.27, Z:-1.81 [[ 6.58519406e-01 7.52502611e-01 -9.59232185e-03 -1.60037011e+02] [ 7.52426530e-01 -6.58589244e-01 -1.07016275e-02 -2.62270500e+02] [-1.43704027e-02 -1.70288031e-04 -9.99896726e-01 -1.80501356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 809.496559995 meters 0.013768274455523689 Centerline is valid? [True, True] Translation: X:-160.03, Y:-262.27, Z:-1.81 [[ 5.97919726e-01 8.01507751e-01 -8.79358493e-03 -1.60034445e+02] [ 8.01425118e-01 -5.97984363e-01 -1.15101107e-02 -2.62274064e+02] [-1.44838692e-02 -1.65277622e-04 -9.99895090e-01 -1.80560972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 809.526559995 meters 0.013543616494356472 Centerline is valid? [True, True] Translation: X:-160.03, Y:-262.28, Z:-1.81 [[ 5.33369087e-01 8.45851673e-01 -7.23631413e-03 -1.60030989e+02] [ 8.45777659e-01 -5.33418152e-01 -1.11904728e-02 -2.62277303e+02] [-1.33254614e-02 -1.51660572e-04 -9.99911201e-01 -1.80734870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 809.5565599949999 meters 0.01353996577608196 Centerline is valid? [True, True] Translation: X:-160.03, Y:-262.28, Z:-1.81 [[ 4.65893677e-01 8.84820329e-01 -6.00561446e-03 -1.60027070e+02] [ 8.84750613e-01 -4.65932362e-01 -1.11079889e-02 -2.62282890e+02] [-1.26267845e-02 -1.38329309e-04 -9.99920270e-01 -1.80713677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 809.5865599949999 meters 0.013554057641385306 Centerline is valid? [True, True] Translation: X:-160.02, Y:-262.29, Z:-1.81 [[ 3.95382521e-01 9.18503669e-01 -4.86534782e-03 -1.60023988e+02] [ 9.18438101e-01 -3.95412434e-01 -1.09755195e-02 -2.62286743e+02] [-1.20048740e-02 -1.28992248e-04 -9.99927931e-01 -1.80760064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 809.616559995 meters 0.013523374357668629 Centerline is valid? [True, True] Translation: X:-160.02, Y:-262.29, Z:-1.81 [[ 3.22614317e-01 9.46522056e-01 -3.99998164e-03 -1.60021556e+02] [ 9.46454010e-01 -3.22639089e-01 -1.13501021e-02 -2.62290757e+02] [-1.20336724e-02 -1.24093238e-04 -9.99927585e-01 -1.80742159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 809.646559995 meters 0.013078737635243797 Centerline is valid? [True, True] Translation: X:-160.02, Y:-262.29, Z:-1.81 [[ 2.48580736e-01 9.68606769e-01 -2.92312673e-03 -1.60018783e+02] [ 9.68544666e-01 -2.48597900e-01 -1.09687554e-02 -2.62293842e+02] [-1.13510939e-02 -1.04557520e-04 -9.99935569e-01 -1.80866967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 809.6765599949999 meters 0.013286427856896172 Centerline is valid? [True, True] Translation: X:-160.01, Y:-262.30, Z:-1.81 [[ 1.72318924e-01 9.85039062e-01 -2.05798009e-03 -1.60013743e+02] [ 9.84975586e-01 -1.72331184e-01 -1.11829240e-02 -2.62297968e+02] [-1.13702711e-02 -1.00030701e-04 -9.99935352e-01 -1.80822196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 809.7065599949999 meters 0.01304940740463037 Centerline is valid? [True, True] Translation: X:-160.01, Y:-262.30, Z:-1.81 [[ 9.48505066e-02 9.95490895e-01 -1.12210834e-03 -1.60008236e+02] [ 9.95432345e-01 -9.48570984e-02 -1.07971019e-02 -2.62301166e+02] [-1.08548566e-02 -9.28723481e-05 -9.99941080e-01 -1.80953165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 809.736559995 meters 0.012911143414610651 Centerline is valid? [True, True] Translation: X:-160.00, Y:-262.30, Z:-1.81 [[ 1.71806341e-02 9.99852363e-01 -2.78187053e-04 -1.60001958e+02] [ 9.99791124e-01 -1.71826608e-02 -1.10663746e-02 -2.62304085e+02] [-1.10695208e-02 -8.80016127e-05 -9.99938727e-01 -1.81004742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 809.766559995 meters 0.012806842102938016 Centerline is valid? [True, True] Translation: X:-160.00, Y:-262.31, Z:-1.81 [[-6.01926848e-02 9.98186589e-01 6.11289616e-04 -1.59995213e+02] [ 9.98120792e-01 6.01957359e-02 -1.14611803e-02 -2.62307129e+02] [-1.14771935e-02 -7.97383405e-05 -9.99934132e-01 -1.80990457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 809.7965599949999 meters 0.012781600606629522 Centerline is valid? [True, True] Translation: X:-159.99, Y:-262.31, Z:-1.81 [[-1.37135483e-01 9.90551033e-01 1.58446485e-03 -1.59987826e+02] [ 9.90478827e-01 1.37144618e-01 -1.19602354e-02 -2.62311111e+02] [-1.20645244e-02 -7.07937762e-05 -9.99927219e-01 -1.80917078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 809.8265599949999 meters 0.012694610497461246 Centerline is valid? [True, True] Translation: X:-159.98, Y:-262.31, Z:-1.81 [[-2.13257561e-01 9.76992682e-01 2.55175945e-03 -1.59981432e+02] [ 9.76919406e-01 2.13272819e-01 -1.19657803e-02 -2.62313649e+02] [-1.22347007e-02 -5.89298038e-05 -9.99925152e-01 -1.80884570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 809.856559995 meters 0.012684167430556444 Centerline is valid? [True, True] Translation: X:-159.98, Y:-262.32, Z:-1.81 [[-2.86875965e-01 9.57960743e-01 3.65997130e-03 -1.59977214e+02] [ 9.57881387e-01 2.86899309e-01 -1.23302754e-02 -2.62316888e+02] [-1.28619630e-02 -3.14412625e-05 -9.99917281e-01 -1.80894218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 809.886559995 meters 0.012649589665184095 Centerline is valid? [True, True] Translation: X:-159.97, Y:-262.32, Z:-1.81 [[-3.60058011e-01 9.32919576e-01 4.39245081e-03 -1.59971477e+02] [ 9.32849584e-01 3.60084802e-01 -1.14275466e-02 -2.62320285e+02] [-1.22426367e-02 -1.70837999e-05 -9.99925056e-01 -1.80903095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 809.916559995 meters 0.012537425227917705 Centerline is valid? [True, True] Translation: X:-159.97, Y:-262.32, Z:-1.81 [[-4.31740693e-01 9.01983251e-01 5.11749238e-03 -1.59965145e+02] [ 9.01919549e-01 4.31771021e-01 -1.07197616e-02 -2.62321931e+02] [-1.18786303e-02 -1.25908667e-05 -9.99929447e-01 -1.80943220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 809.9465599949999 meters 0.012507544178035557 Centerline is valid? [True, True] Translation: X:-159.96, Y:-262.32, Z:-1.81 [[-5.00827727e-01 8.65528678e-01 5.62994742e-03 -1.59958449e+02] [ 8.65473804e-01 5.00859370e-01 -9.74608889e-03 -2.62323246e+02] [-1.12553313e-02 -8.53953730e-06 -9.99936657e-01 -1.80966471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 809.9765599949999 meters 0.012473184590283397 Centerline is valid? [True, True] Translation: X:-159.95, Y:-262.32, Z:-1.81 [[-5.66988319e-01 8.23700161e-01 6.50307182e-03 -1.59950794e+02] [ 8.23645835e-01 5.67025612e-01 -9.46017581e-03 -2.62322282e+02] [-1.14797566e-02 -7.58116865e-06 -9.99934106e-01 -1.80940690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 810.006559995 meters 0.012417287619953773 Centerline is valid? [True, True] Translation: X:-159.94, Y:-262.32, Z:-1.81 [[-6.29378014e-01 7.77064945e-01 7.30658969e-03 -1.59941311e+02] [ 7.77012547e-01 6.29420424e-01 -9.02393802e-03 -2.62319831e+02] [-1.16111027e-02 -2.15632474e-06 -9.99932589e-01 -1.80981761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 810.036559995 meters 0.012474453878913175 Centerline is valid? [True, True] Translation: X:-159.93, Y:-262.32, Z:-1.81 [[-6.88119066e-01 7.25553476e-01 8.01901293e-03 -1.59932547e+02] [ 7.25504225e-01 6.88165790e-01 -8.45377124e-03 -2.62317953e+02] [-1.16520735e-02 6.26590636e-07 -9.99932112e-01 -1.80931891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 810.0665599949999 meters 0.012491687619513966 Centerline is valid? [True, True] Translation: X:-159.93, Y:-262.32, Z:-1.81 [[-7.42703196e-01 6.69566007e-01 8.56297966e-03 -1.59925768e+02] [ 6.69521554e-01 7.42752558e-01 -7.71539491e-03 -2.62315564e+02] [-1.15261412e-02 2.85098726e-06 -9.99933572e-01 -1.80938898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 810.0965599949999 meters 0.012498879646532249 Centerline is valid? [True, True] Translation: X:-159.42, Y:-261.77, Z:-2.77 [[-6.96585816e-01 -7.17430269e-01 7.87461723e-03 -1.59422301e+02] [ 7.17384190e-01 -6.96630324e-01 -8.13111390e-03 -2.61767712e+02] [ 1.13192044e-02 -1.48927120e-05 9.99935936e-01 -2.77456880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 810.126559995 meters 0.012624513093061207 Centerline is valid? [True, True] Translation: X:-159.44, Y:-261.75, Z:-2.77 [[-6.96944113e-01 -7.17085068e-01 7.60975542e-03 -1.59440846e+02] [ 7.17042206e-01 -6.96985657e-01 -7.84025911e-03 -2.61748822e+02] [ 1.09260231e-02 -7.70662387e-06 9.99940309e-01 -2.77494885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 810.156559995 meters 0.012509624956383728 Centerline is valid? [True, True] Translation: X:-159.46, Y:-261.73, Z:-2.77 [[-6.97059476e-01 -7.16977208e-01 7.19516208e-03 -1.59460805e+02] [ 7.16938930e-01 -6.97096610e-01 -7.40861288e-03 -2.61729528e+02] [ 1.03275297e-02 -5.75200686e-06 9.99946670e-01 -2.77447218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 810.1865599949999 meters 0.012437796872425404 Centerline is valid? [True, True] Translation: X:-159.48, Y:-261.71, Z:-2.77 [[-6.96797199e-01 -7.17235671e-01 6.83055429e-03 -1.59480698e+02] [ 7.17201229e-01 -6.96830677e-01 -7.02878138e-03 -2.61710586e+02] [ 9.80103250e-03 1.24675152e-06 9.99951969e-01 -2.77375175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 810.2165599949999 meters 0.012522362791764122 Centerline is valid? [True, True] Translation: X:-159.50, Y:-261.69, Z:-2.77 [[-6.96562679e-01 -7.17465475e-01 6.61259341e-03 -1.59500636e+02] [ 7.17433248e-01 -6.96594065e-01 -6.80025618e-03 -2.61691675e+02] [ 9.48524236e-03 7.28970544e-06 9.99955014e-01 -2.77367678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 810.246559995 meters 0.012482749077907888 Centerline is valid? [True, True] Translation: X:-159.52, Y:-261.67, Z:-2.77 [[-6.96067677e-01 -7.17948937e-01 6.25398236e-03 -1.59519652e+02] [ 7.17920168e-01 -6.96095772e-01 -6.42727074e-03 -2.61673926e+02] [ 8.96782287e-03 1.60446505e-05 9.99959788e-01 -2.77382842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 810.276559995 meters 0.012524807830323035 Centerline is valid? [True, True] Translation: X:-159.54, Y:-261.66, Z:-2.77 [[-6.94369836e-01 -7.19594352e-01 5.87363500e-03 -1.59540540e+02] [ 7.19569066e-01 -6.94394677e-01 -6.03266062e-03 -2.61656223e+02] [ 8.41968939e-03 3.75884837e-05 9.99964553e-01 -2.77341626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 810.3065599949999 meters 0.012705785370091541 Centerline is valid? [True, True] Translation: X:-159.56, Y:-261.64, Z:-2.77 [[-6.93590252e-01 -7.20348416e-01 5.54283374e-03 -1.59560439e+02] [ 7.20325950e-01 -6.93612398e-01 -5.68922279e-03 -2.61638531e+02] [ 7.94280082e-03 4.66575149e-05 9.99968455e-01 -2.77344299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 810.3365599949999 meters 0.012911496507771753 Centerline is valid? [True, True] Translation: X:-159.58, Y:-261.62, Z:-2.77 [[-6.91858240e-01 -7.22013832e-01 5.31063929e-03 -1.59581027e+02] [ 7.21993284e-01 -6.91878618e-01 -5.44750139e-03 -2.61621102e+02] [ 7.60748912e-03 6.53471796e-05 9.99971061e-01 -2.77316012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 810.366559995 meters 0.01301975167155157 Centerline is valid? [True, True] Translation: X:-159.60, Y:-261.60, Z:-2.77 [[-6.91220520e-01 -7.22625232e-01 5.19302727e-03 -1.59600946e+02] [ 7.22605626e-01 -6.91240023e-01 -5.32353399e-03 -2.61602414e+02] [ 7.43654828e-03 7.27747896e-05 9.99972346e-01 -2.77311171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 810.396559995 meters 0.013222707385122922 Centerline is valid? [True, True] Translation: X:-159.62, Y:-261.58, Z:-2.77 [[-6.90452429e-01 -7.23359216e-01 5.18543207e-03 -1.59620626e+02] [ 7.23339713e-01 -6.90471895e-01 -5.31239776e-03 -2.61583922e+02] [ 7.42316699e-03 8.28710070e-05 9.99972445e-01 -2.77289125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 810.4265599949999 meters 0.013709130969260132 Centerline is valid? [True, True] Translation: X:-159.64, Y:-261.57, Z:-2.77 [[-6.88591713e-01 -7.25130967e-01 5.15112820e-03 -1.59641749e+02] [ 7.25111793e-01 -6.88610972e-01 -5.27430637e-03 -2.61565854e+02] [ 7.37168628e-03 1.03300147e-04 9.99972824e-01 -2.77265880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 810.4565599949999 meters 0.013929901884056213 Centerline is valid? [True, True] Translation: X:-159.66, Y:-261.55, Z:-2.77 [[-6.87978365e-01 -7.25713919e-01 5.00772658e-03 -1.59661793e+02] [ 7.25695835e-01 -6.87996582e-01 -5.12425948e-03 -2.61547350e+02] [ 7.16404520e-03 1.08706664e-04 9.99974332e-01 -2.77271187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 810.486559995 meters 0.014314065997494562 Centerline is valid? [True, True] Translation: X:-159.68, Y:-261.53, Z:-2.77 [[-6.87321451e-01 -7.26336043e-01 5.01755569e-03 -1.59682185e+02] [ 7.26317927e-01 -6.87339755e-01 -5.13129783e-03 -2.61528775e+02] [ 7.17581206e-03 1.17489579e-04 9.99974247e-01 -2.77281292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 810.516559995 meters 0.01447147512759669 Centerline is valid? [True, True] Translation: X:-159.70, Y:-261.51, Z:-2.77 [[-6.86589163e-01 -7.27027889e-01 5.07647980e-03 -1.59702976e+02] [ 7.27009385e-01 -6.86607918e-01 -5.18867267e-03 -2.61509476e+02] [ 7.25786096e-03 1.28162029e-04 9.99973653e-01 -2.77280506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 810.5465599949999 meters 0.015532208412497089 Centerline is valid? [True, True] Translation: X:-159.72, Y:-261.49, Z:-2.77 [[-6.84911674e-01 -7.28608888e-01 5.00869675e-03 -1.59724899e+02] [ 7.28590938e-01 -6.84929972e-01 -5.11639185e-03 -2.61492968e+02] [ 7.15845510e-03 1.45014558e-04 9.99974368e-01 -2.77378568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 810.5765599949999 meters 0.015409663817044202 Centerline is valid? [True, True] Translation: X:-159.74, Y:-261.47, Z:-2.77 [[-6.84155469e-01 -7.29316001e-01 5.42809959e-03 -1.59744727e+02] [ 7.29294966e-01 -6.84176982e-01 -5.54170251e-03 -2.61472969e+02] [ 7.75543311e-03 1.67299628e-04 9.99969912e-01 -2.77385466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 810.606559995 meters 0.015409663817044202 Centerline is valid? [True, True] Translation: X:-159.76, Y:-261.45, Z:-2.77 [[-6.84385744e-01 -7.29099904e-01 5.42984948e-03 -1.59763535e+02] [ 7.29078876e-01 -6.84407263e-01 -5.53998795e-03 -2.61453917e+02] [ 7.75543311e-03 1.67299775e-04 9.99969912e-01 -2.77385477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 810.636559995 meters 0.015632773674478333 Centerline is valid? [True, True] Translation: X:-159.78, Y:-261.43, Z:-2.77 [[-6.83792817e-01 -7.29654394e-01 5.64346129e-03 -1.59783769e+02] [ 7.29631723e-01 -6.83816081e-01 -5.75470754e-03 -2.61434965e+02] [ 8.05803722e-03 1.82620707e-04 9.99967517e-01 -2.77440346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 810.666559995 meters 0.01648223962688187 Centerline is valid? [True, True] Translation: X:-159.80, Y:-261.42, Z:-2.78 [[-6.83497928e-01 -7.29928546e-01 5.90761861e-03 -1.59804495e+02] [ 7.29903744e-01 -6.83523430e-01 -6.02051821e-03 -2.61416853e+02] [ 8.43254384e-03 1.96981214e-04 9.99964426e-01 -2.77519679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 810.6965599949999 meters 0.01644353192786849 Centerline is valid? [True, True] Translation: X:-159.82, Y:-261.40, Z:-2.78 [[-6.82895886e-01 -7.30487546e-01 6.41508994e-03 -1.59824503e+02] [ 7.30458357e-01 -6.82925981e-01 -6.53406379e-03 -2.61397196e+02] [ 9.15408381e-03 2.23870778e-04 9.99958076e-01 -2.77531567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 810.7265599949999 meters 0.016693766876477386 Centerline is valid? [True, True] Translation: X:-159.84, Y:-261.38, Z:-2.78 [[-6.82908355e-01 -7.30474551e-01 6.56574885e-03 -1.59843820e+02] [ 7.30444013e-01 -6.82939878e-01 -6.68337349e-03 -2.61378311e+02] [ 9.36604597e-03 2.31780337e-04 9.99956111e-01 -2.77518039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 810.756559995 meters 0.017481574036126234 Centerline is valid? [True, True] Translation: X:-159.86, Y:-261.36, Z:-2.77 [[-6.83531683e-01 -7.29896319e-01 5.98353127e-03 -1.59863556e+02] [ 7.29870968e-01 -6.83557840e-01 -6.08677549e-03 -2.61360752e+02] [ 8.53280474e-03 2.06701872e-04 9.99963574e-01 -2.77491232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 810.786559995 meters 0.016065946895303846 Centerline is valid? [True, True] Translation: X:-159.88, Y:-261.34, Z:-2.77 [[-6.83951811e-01 -7.29505806e-01 5.58556928e-03 -1.59880907e+02] [ 7.29483731e-01 -6.83974592e-01 -5.67838541e-03 -2.61339658e+02] [ 7.96280260e-03 1.90839936e-04 9.99968278e-01 -2.77345727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 810.8165599949999 meters 0.015807591137916438 Centerline is valid? [True, True] Translation: X:-159.90, Y:-261.32, Z:-2.77 [[-6.84621852e-01 -7.28880219e-01 5.15228944e-03 -1.59899984e+02] [ 7.28861443e-01 -6.84641217e-01 -5.23461031e-03 -2.61319608e+02] [ 7.34287363e-03 1.71576511e-04 9.99973026e-01 -2.77274990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 810.8465599949999 meters 0.015432040063966411 Centerline is valid? [True, True] Translation: X:-159.92, Y:-261.30, Z:-2.77 [[-6.85436888e-01 -7.28115471e-01 4.91268940e-03 -1.59918895e+02] [ 7.28098401e-01 -6.85454475e-01 -4.98819584e-03 -2.61299236e+02] [ 6.99940749e-03 1.57827869e-04 9.99975492e-01 -2.77247392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 810.876559995 meters 0.01513642484920861 Centerline is valid? [True, True] Translation: X:-159.94, Y:-261.28, Z:-2.77 [[-6.86483027e-01 -7.27130560e-01 4.71196660e-03 -1.59937852e+02] [ 7.27114854e-01 -6.86499183e-01 -4.78135772e-03 -2.61279165e+02] [ 6.71143254e-03 1.43819984e-04 9.99977468e-01 -2.77230902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 810.906559995 meters 0.014591899387738744 Centerline is valid? [True, True] Translation: X:-159.96, Y:-261.26, Z:-2.77 [[-6.88776046e-01 -7.24961764e-01 4.24255121e-03 -1.59955453e+02] [ 7.24949004e-01 -6.88789103e-01 -4.30271150e-03 -2.61258681e+02] [ 6.04152436e-03 1.12028661e-04 9.99981744e-01 -2.77200673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 810.9365599949999 meters 0.014216740872867744 Centerline is valid? [True, True] Translation: X:-159.97, Y:-261.24, Z:-2.77 [[-6.90001249e-01 -7.23796015e-01 4.19585074e-03 -1.59973854e+02] [ 7.23783528e-01 -6.90013999e-01 -4.25269210e-03 -2.61238949e+02] [ 5.97327734e-03 1.02524786e-04 9.99982155e-01 -2.77201799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 810.9665599949999 meters 0.0140756151185857 Centerline is valid? [True, True] Translation: X:-159.99, Y:-261.22, Z:-2.77 [[-6.91165655e-01 -7.22681743e-01 4.59746618e-03 -1.59992003e+02] [ 7.22666742e-01 -6.91180937e-01 -4.65750606e-03 -2.61220069e+02] [ 6.54357558e-03 1.03327682e-04 9.99978585e-01 -2.77247094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 810.996559995 meters 0.013704214339029266 Centerline is valid? [True, True] Translation: X:-160.01, Y:-261.20, Z:-2.77 [[-6.92507873e-01 -7.21395403e-01 4.63876812e-03 -1.60010333e+02] [ 7.21380121e-01 -6.92523403e-01 -4.69645328e-03 -2.61200133e+02] [ 6.60045529e-03 9.39842342e-05 9.99978212e-01 -2.77288491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 811.026559995 meters 0.01313608112176384 Centerline is valid? [True, True] Translation: X:-160.03, Y:-261.18, Z:-2.77 [[-6.94865305e-01 -7.19123581e-01 4.84600771e-03 -1.60028555e+02] [ 7.19106866e-01 -6.94882198e-01 -4.90360369e-03 -2.61179409e+02] [ 6.89370153e-03 7.74533423e-05 9.99976235e-01 -2.77349491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 811.0565599949999 meters 0.012978244461441382 Centerline is valid? [True, True] Translation: X:-160.05, Y:-261.16, Z:-2.77 [[-6.96070922e-01 -7.17956175e-01 4.91960541e-03 -1.60046039e+02] [ 7.17938942e-01 -6.96088303e-01 -4.97491137e-03 -2.61160360e+02] [ 6.99624812e-03 6.90851557e-05 9.99975524e-01 -2.77363690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 811.0865599949999 meters 0.01247098187033535 Centerline is valid? [True, True] Translation: X:-160.06, Y:-261.14, Z:-2.77 [[-6.98337891e-01 -7.15752311e-01 4.77704228e-03 -1.60063621e+02] [ 7.15736030e-01 -6.98354228e-01 -4.82781775e-03 -2.61139015e+02] [ 6.79158939e-03 4.76532083e-05 9.99976936e-01 -2.77355964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 811.116559995 meters 0.012230830748004237 Centerline is valid? [True, True] Translation: X:-160.08, Y:-261.12, Z:-2.77 [[-6.99424468e-01 -7.14690544e-01 4.77913134e-03 -1.60081822e+02] [ 7.14674245e-01 -6.99440794e-01 -4.82690354e-03 -2.61118446e+02] [ 6.79246174e-03 3.94676451e-05 9.99976930e-01 -2.77335848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 811.146559995 meters 0.012188772162480144 Centerline is valid? [True, True] Translation: X:-160.10, Y:-261.10, Z:-2.77 [[-7.00534665e-01 -7.13601169e-01 4.95535636e-03 -1.60100115e+02] [ 7.13583640e-01 -7.00552190e-01 -5.00174350e-03 -2.61098711e+02] [ 7.04073576e-03 3.21665229e-05 9.99975213e-01 -2.77338222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 811.1765599949999 meters 0.012118324746841254 Centerline is valid? [True, True] Translation: X:-160.12, Y:-261.08, Z:-2.77 [[-7.01539046e-01 -7.12613987e-01 4.92681619e-03 -1.60118846e+02] [ 7.12596657e-01 -7.01556345e-01 -4.96982702e-03 -2.61079009e+02] [ 6.99800740e-03 2.43050414e-05 9.99975513e-01 -2.77355291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 811.2065599949999 meters 0.012089385188573823 Centerline is valid? [True, True] Translation: X:-160.14, Y:-261.06, Z:-2.77 [[-7.02868353e-01 -7.11301826e-01 5.07836045e-03 -1.60137938e+02] [ 7.11283403e-01 -7.02886699e-01 -5.11949240e-03 -2.61059541e+02] [ 7.21101631e-03 1.38243135e-05 9.99974000e-01 -2.77401738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 811.236559995 meters 0.012108692110645797 Centerline is valid? [True, True] Translation: X:-160.16, Y:-261.04, Z:-2.77 [[-7.03705852e-01 -7.10473351e-01 5.06871296e-03 -1.60156537e+02] [ 7.10455000e-01 -7.03724106e-01 -5.10642289e-03 -2.61041055e+02] [ 7.19495288e-03 7.67279255e-06 9.99974116e-01 -2.77439423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 811.266559995 meters 0.012049217071352996 Centerline is valid? [True, True] Translation: X:-160.18, Y:-261.02, Z:-2.77 [[-7.04502735e-01 -7.09683928e-01 4.96181351e-03 -1.60175320e+02] [ 7.09666345e-01 -7.04520207e-01 -4.99562190e-03 -2.61021982e+02] [ 7.04101045e-03 1.80277091e-06 9.99975212e-01 -2.77439405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 811.2965599949999 meters 0.012102542295023742 Centerline is valid? [True, True] Translation: X:-160.19, Y:-261.00, Z:-2.77 [[-7.05830222e-01 -7.08365268e-01 4.72694304e-03 -1.60194434e+02] [ 7.08349301e-01 -7.05846050e-01 -4.75620061e-03 -2.61002063e+02] [ 6.70562140e-03 -8.74333471e-06 9.99977517e-01 -2.77417015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 811.3265599949999 meters 0.012108330674884324 Centerline is valid? [True, True] Translation: X:-160.21, Y:-260.98, Z:-2.77 [[-7.06422052e-01 -7.07776457e-01 4.51350571e-03 -1.60212755e+02] [ 7.07761906e-01 -7.06436470e-01 -4.53849191e-03 -2.60983350e+02] [ 6.40074277e-03 -1.16033635e-05 9.99979515e-01 -2.77399292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 811.356559995 meters 0.012174517429069819 Centerline is valid? [True, True] Translation: X:-160.23, Y:-260.96, Z:-2.77 [[-7.07135097e-01 -7.07063050e-01 4.66891423e-03 -1.60231234e+02] [ 7.07047484e-01 -7.07150510e-01 -4.69174188e-03 -2.60964722e+02] [ 6.61898240e-03 -1.65512850e-05 9.99978094e-01 -2.77414066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 811.386559995 meters 0.01209924941098453 Centerline is valid? [True, True] Translation: X:-160.25, Y:-260.95, Z:-2.77 [[-7.07368297e-01 -7.06829966e-01 4.63603293e-03 -1.60250775e+02] [ 7.06814632e-01 -7.07383488e-01 -4.65588515e-03 -2.60945915e+02] [ 6.57037229e-03 -1.66096414e-05 9.99978415e-01 -2.77431091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 811.416559995 meters 0.012201227992704879 Centerline is valid? [True, True] Translation: X:-160.27, Y:-260.93, Z:-2.77 [[-7.07057460e-01 -7.07141178e-01 4.59365667e-03 -1.60270424e+02] [ 7.07126148e-01 -7.07072382e-01 -4.61054652e-03 -2.60927548e+02] [ 6.50835506e-03 -1.16265599e-05 9.99978820e-01 -2.77459765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 811.4465599949999 meters 0.012182822887514549 Centerline is valid? [True, True] Translation: X:-160.29, Y:-260.91, Z:-2.77 [[-7.06666414e-01 -7.07531383e-01 4.68204701e-03 -1.60289840e+02] [ 7.07515797e-01 -7.06681924e-01 -4.69629744e-03 -2.60910293e+02] [ 6.63149581e-03 -6.09345504e-06 9.99978012e-01 -2.77486607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 811.4765599949999 meters 0.012170869331986875 Centerline is valid? [True, True] Translation: X:-160.31, Y:-260.89, Z:-2.77 [[-7.04681772e-01 -7.09507169e-01 4.81422468e-03 -1.60311495e+02] [ 7.09490757e-01 -7.04698217e-01 -4.82584804e-03 -2.60893808e+02] [ 6.81654933e-03 1.49607637e-05 9.99976767e-01 -2.77499651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 811.506559995 meters 0.012419810108200334 Centerline is valid? [True, True] Translation: X:-160.33, Y:-260.88, Z:-2.78 [[-7.03433271e-01 -7.10743221e-01 5.07022274e-03 -1.60331722e+02] [ 7.10725073e-01 -7.03451543e-01 -5.07912429e-03 -2.60877305e+02] [ 7.17660917e-03 3.07094108e-05 9.99974247e-01 -2.77639867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 811.536559995 meters 0.012597772576496148 Centerline is valid? [True, True] Translation: X:-160.35, Y:-260.86, Z:-2.78 [[-7.00598129e-01 -7.13536455e-01 5.29049683e-03 -1.60353541e+02] [ 7.13516798e-01 -7.00618101e-01 -5.29680388e-03 -2.60859821e+02] [ 7.48608050e-03 6.39274730e-05 9.99971977e-01 -2.77551310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 811.5665599949999 meters 0.01354904615900721 Centerline is valid? [True, True] Translation: X:-160.38, Y:-260.84, Z:-2.78 [[-6.99328406e-01 -7.14781437e-01 5.22274982e-03 -1.60375066e+02] [ 7.14762338e-01 -6.99347904e-01 -5.22587458e-03 -2.60843506e+02] [ 7.38787728e-03 7.84223322e-05 9.99972706e-01 -2.77704468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 811.5965599949999 meters 0.013729660923741723 Centerline is valid? [True, True] Translation: X:-160.40, Y:-260.82, Z:-2.78 [[-6.98138768e-01 -7.15942772e-01 5.31113065e-03 -1.60395769e+02] [ 7.15923075e-01 -6.98158964e-01 -5.31149466e-03 -2.60824584e+02] [ 7.51073968e-03 9.42006439e-05 9.99971790e-01 -2.77672636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 811.626559995 meters 0.013776010318712579 Centerline is valid? [True, True] Translation: X:-160.42, Y:-260.81, Z:-2.78 [[-6.97123815e-01 -7.16931252e-01 5.28825744e-03 -1.60416087e+02] [ 7.16911775e-01 -6.97143865e-01 -5.28573299e-03 -2.60805581e+02] [ 7.47618340e-03 1.06403676e-04 9.99972047e-01 -2.77616533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 811.656559995 meters 0.014266263634396807 Centerline is valid? [True, True] Translation: X:-160.90, Y:-261.29, Z:-1.81 [[-7.66518927e-01 6.42199760e-01 5.31075855e-03 -1.60904914e+02] [ 6.42183263e-01 7.66537315e-01 -4.60453736e-03 -2.61292362e+02] [-7.02792739e-03 -1.18984777e-04 -9.99975297e-01 -1.80869117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 811.6865599949999 meters 0.014569246323860627 Centerline is valid? [True, True] Translation: X:-160.89, Y:-261.27, Z:-1.81 [[-8.10534140e-01 5.85666255e-01 5.42630181e-03 -1.60886377e+02] [ 5.85652129e-01 8.10552295e-01 -4.06955923e-03 -2.61270424e+02] [-6.78170490e-03 -1.20591488e-04 -9.99976997e-01 -1.80884684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 811.7165599949999 meters 0.014938645532310254 Centerline is valid? [True, True] Translation: X:-160.48, Y:-260.72, Z:-2.78 [[-7.45134959e-01 -6.66893890e-01 5.14118300e-03 -1.60481217e+02] [ 6.66879132e-01 -7.45152685e-01 -4.43842965e-03 -2.60721785e+02] [ 6.79092794e-03 1.21318558e-04 9.99976934e-01 -2.77517497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 811.746559995 meters 0.015224883670404393 Centerline is valid? [True, True] Translation: X:-160.92, Y:-261.24, Z:-1.81 [[-8.13928148e-01 5.80938045e-01 5.65311908e-03 -1.60921969e+02] [ 5.80922821e-01 8.13947768e-01 -4.20810888e-03 -2.61241569e+02] [-7.04599420e-03 -1.41072386e-04 -9.99975167e-01 -1.80885686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 811.776559995 meters 0.014838917570129208 Centerline is valid? [True, True] Translation: X:-160.90, Y:-261.22, Z:-1.81 [[-8.53217008e-01 5.21518685e-01 6.24491088e-03 -1.60904946e+02] [ 5.21503408e-01 8.53239848e-01 -3.99466676e-03 -2.61220253e+02] [-7.41170017e-03 -1.51575312e-04 -9.99972522e-01 -1.80871239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 811.8065599949999 meters 0.016174751233431633 Centerline is valid? [True, True] Translation: X:-160.54, Y:-260.65, Z:-2.78 [[-7.91251171e-01 -6.11457298e-01 6.44644145e-03 -1.60537621e+02] [ 6.11439037e-01 -7.91277406e-01 -4.72976482e-03 -2.60652805e+02] [ 7.99297268e-03 1.99174000e-04 9.99968036e-01 -2.77694358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 811.8365599949999 meters 0.015593838022225751 Centerline is valid? [True, True] Translation: X:-160.55, Y:-260.68, Z:-2.78 [[-7.48188947e-01 -6.63457620e-01 6.10621397e-03 -1.60550731e+02] [ 6.63437403e-01 -7.48213844e-01 -5.18228603e-03 -2.60679753e+02] [ 8.00698099e-03 1.73761611e-04 9.99967929e-01 -2.77672724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 811.866559995 meters 0.015282355442498763 Centerline is valid? [True, True] Translation: X:-160.99, Y:-261.20, Z:-1.81 [[-8.19019723e-01 5.73729826e-01 6.38600552e-03 -1.60989491e+02] [ 5.73710733e-01 8.19044600e-01 -4.68371447e-03 -2.61195478e+02] [-7.91761003e-03 -1.72334616e-04 -9.99968641e-01 -1.80778966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 811.896559995 meters 0.015240539855580515 Centerline is valid? [True, True] Translation: X:-160.59, Y:-260.65, Z:-2.78 [[-7.51197211e-01 -6.60049783e-01 6.08563093e-03 -1.60588918e+02] [ 6.60029990e-01 -7.51221841e-01 -5.11448487e-03 -2.60651055e+02] [ 7.94747350e-03 1.74712155e-04 9.99968403e-01 -2.77637544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 811.9265599949999 meters 0.015572298681083315 Centerline is valid? [True, True] Translation: X:-161.03, Y:-261.17, Z:-1.81 [[-8.20321247e-01 5.71867038e-01 6.41423668e-03 -1.61025146e+02] [ 5.71847995e-01 8.20346308e-01 -4.66964907e-03 -2.61171335e+02] [-7.93231376e-03 -1.62643957e-04 -9.99968526e-01 -1.80751262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 811.9565599949999 meters 0.014892075429916654 Centerline is valid? [True, True] Translation: X:-161.02, Y:-261.15, Z:-1.81 [[-8.58291288e-01 5.13110653e-01 7.31595156e-03 -1.61017099e+02] [ 5.13090319e-01 8.58322450e-01 -4.57120092e-03 -2.61146110e+02] [-8.62497736e-03 -1.69678002e-04 -9.99962790e-01 -1.80786515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 811.986559995 meters 0.01465867810621971 Centerline is valid? [True, True] Translation: X:-161.00, Y:-261.13, Z:-1.81 [[-8.92111153e-01 4.51752974e-01 7.54595683e-03 -1.60998650e+02] [ 4.51735277e-01 8.92143051e-01 -4.00196151e-03 -2.61126383e+02] [-8.53997097e-03 -1.61419599e-04 -9.99963521e-01 -1.80780545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 812.016559995 meters 0.014536248699098702 Centerline is valid? [True, True] Translation: X:-160.98, Y:-261.11, Z:-1.81 [[-9.21281801e-01 3.88812414e-01 8.04675399e-03 -1.60982960e+02] [ 3.88796124e-01 9.21316929e-01 -3.56243107e-03 -2.61105122e+02] [-8.79872810e-03 -1.53456145e-04 -9.99961279e-01 -1.80761071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 812.0465599949999 meters 0.014429244803288579 Centerline is valid? [True, True] Translation: X:-160.97, Y:-261.08, Z:-1.81 [[-9.46280544e-01 3.23228884e-01 8.73047556e-03 -1.60970276e+02] [ 3.23213612e-01 9.46320804e-01 -3.14590462e-03 -2.61081031e+02] [-9.27867790e-03 -1.55099799e-04 -9.99956940e-01 -1.80736335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 812.0765599949999 meters 0.014006486047911921 Centerline is valid? [True, True] Translation: X:-160.96, Y:-261.06, Z:-1.81 [[-9.66459239e-01 2.56673169e-01 8.68470539e-03 -1.60960999e+02] [ 2.56661521e-01 9.66498249e-01 -2.44914960e-03 -2.61056855e+02] [-9.02238354e-03 -1.37973566e-04 -9.99959288e-01 -1.80723168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 812.106559995 meters 0.013941491604643558 Centerline is valid? [True, True] Translation: X:-160.77, Y:-260.39, Z:-2.78 [[-9.36954123e-01 -3.49346073e-01 8.61931420e-03 -1.60769524e+02] [ 3.49332735e-01 -9.36993756e-01 -3.05629012e-03 -2.60391987e+02] [ 9.14394654e-03 1.47404972e-04 9.99958183e-01 -2.77704017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 812.136559995 meters 0.013863555393066143 Centerline is valid? [True, True] Translation: X:-161.01, Y:-261.05, Z:-1.81 [[-9.67061045e-01 2.54390380e-01 8.85836652e-03 -1.61009408e+02] [ 2.54378499e-01 9.67101607e-01 -2.46191263e-03 -2.61045916e+02] [-9.19322738e-03 -1.27441821e-04 -9.99957733e-01 -1.80692224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 812.166559995 meters 0.0135268757704994 Centerline is valid? [True, True] Translation: X:-161.00, Y:-261.02, Z:-1.81 [[-9.82499790e-01 1.86032250e-01 9.28252868e-03 -1.61000775e+02] [ 1.86022767e-01 9.82543631e-01 -1.88234951e-03 -2.61021127e+02] [-9.47066715e-03 -1.22646330e-04 -9.99955145e-01 -1.80719185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 812.1965599949999 meters 0.013442014221315168 Centerline is valid? [True, True] Translation: X:-160.99, Y:-261.00, Z:-1.81 [[-9.92988611e-01 1.17808983e-01 9.72942247e-03 -1.60994266e+02] [ 1.17802268e-01 9.93036269e-01 -1.26240372e-03 -2.60996464e+02] [-9.81039189e-03 -1.07404485e-04 -9.99951871e-01 -1.80666140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 812.2265599949999 meters 0.013140712165467142 Centerline is valid? [True, True] Translation: X:-160.90, Y:-260.30, Z:-2.78 [[-9.78732939e-01 -2.04909980e-01 9.68164734e-03 -1.60901722e+02] [ 2.04901083e-01 -9.78780817e-01 -1.91275918e-03 -2.60298223e+02] [ 9.86815414e-03 1.11699608e-04 9.99951302e-01 -2.77705882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 812.256559995 meters 0.013017681161630767 Centerline is valid? [True, True] Translation: X:-161.06, Y:-260.99, Z:-1.81 [[-9.93280336e-01 1.15304236e-01 9.95525112e-03 -1.61056528e+02] [ 1.15297503e-01 9.93330219e-01 -1.24954335e-03 -2.60991950e+02] [-1.00329294e-02 -9.33312416e-05 -9.99949665e-01 -1.80731342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 812.286559995 meters 0.012941655226571494 Centerline is valid? [True, True] Translation: X:-160.96, Y:-260.29, Z:-2.78 [[-9.79939206e-01 -1.99082338e-01 9.23987986e-03 -1.60958672e+02] [ 1.99073956e-01 -9.79982765e-01 -1.82747679e-03 -2.60288559e+02] [ 9.41874137e-03 4.86032818e-05 9.99955642e-01 -2.77704705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 812.3165599949999 meters 0.012848224506766485 Centerline is valid? [True, True] Translation: X:-161.11, Y:-260.99, Z:-1.81 [[-9.93647558e-01 1.12162645e-01 9.16909810e-03 -1.61107041e+02] [ 1.12157177e-01 9.93689859e-01 -1.11008633e-03 -2.60988691e+02] [-9.23575002e-03 -7.46544189e-05 -9.99957347e-01 -1.80769681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 812.3465599949999 meters 0.012836906452060428 Centerline is valid? [True, True] Translation: X:-161.11, Y:-260.96, Z:-1.81 [[-9.99113613e-01 4.10267810e-02 9.42293868e-03 -1.61109242e+02] [ 4.10242122e-02 9.99158044e-01 -4.65815652e-04 -2.60960903e+02] [-9.43411590e-03 -7.88341227e-05 -9.99955495e-01 -1.80811062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 812.376559995 meters 0.013120093570992464 Centerline is valid? [True, True] Translation: X:-161.07, Y:-260.25, Z:-2.78 [[-9.91955090e-01 -1.26241748e-01 9.38728933e-03 -1.61069207e+02] [ 1.26236861e-01 -9.91999503e-01 -1.11374475e-03 -2.60248479e+02] [ 9.45278744e-03 8.02371653e-05 9.99955318e-01 -2.77663850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 812.406559995 meters 0.013291668454277835 Centerline is valid? [True, True] Translation: X:-161.17, Y:-260.96, Z:-1.81 [[-9.99375495e-01 3.40310553e-02 9.51352800e-03 -1.61174590e+02] [ 3.40285336e-02 9.99420771e-01 -4.26861013e-04 -2.60956912e+02] [-9.52254402e-03 -1.02863029e-04 -9.99954654e-01 -1.80735567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 812.4365599949999 meters 0.013852456929779683 Centerline is valid? [True, True] Translation: X:-161.14, Y:-260.25, Z:-2.78 [[-9.92023703e-01 -1.25643852e-01 1.01289329e-02 -1.61141581e+02] [ 1.25638903e-01 -9.92075400e-01 -1.12597510e-03 -2.60246353e+02] [ 1.01901370e-02 1.55594029e-04 9.99948067e-01 -2.77725823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 812.4665599949999 meters 0.014066356785764789 Centerline is valid? [True, True] Translation: X:-161.25, Y:-260.95, Z:-1.81 [[-9.99627116e-01 2.52225671e-02 1.04619143e-02 -1.61248166e+02] [ 2.52195353e-02 9.99681848e-01 -4.21648713e-04 -2.60952107e+02] [-1.04692209e-02 -1.57646870e-04 -9.99945184e-01 -1.80672523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 812.496559995 meters 0.014812816745720986 Centerline is valid? [True, True] Translation: X:-161.21, Y:-260.25, Z:-2.78 [[-9.92289530e-01 -1.23504238e-01 1.04015543e-02 -1.61214293e+02] [ 1.23499110e-01 -9.92344032e-01 -1.13626529e-03 -2.60245297e+02] [ 1.04622539e-02 1.57078545e-04 9.99945257e-01 -2.77858188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 812.526559995 meters 0.014812816745720986 Centerline is valid? [True, True] Translation: X:-161.31, Y:-260.95, Z:-1.81 [[-9.99756160e-01 1.94439337e-02 1.04668260e-02 -1.61312828e+02] [ 1.94410918e-02 9.99810935e-01 -3.73199700e-04 -2.60948182e+02] [-1.04721035e-02 -1.69622174e-04 -9.99945152e-01 -1.80573485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 812.5565599949999 meters 0.015415926449720665 Centerline is valid? [True, True] Translation: X:-161.32, Y:-260.92, Z:-1.81 [[-9.98513413e-01 -5.34247999e-02 1.08053163e-02 -1.61315144e+02] [-5.34237687e-02 9.98571857e-01 3.84260604e-04 -2.60920620e+02] [-1.08104138e-02 -1.93571353e-04 -9.99941547e-01 -1.80546153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 812.5865599949999 meters 0.01547599809991431 Centerline is valid? [True, True] Translation: X:-161.33, Y:-260.89, Z:-1.81 [[-9.92133766e-01 -1.24715152e-01 1.08037779e-02 -1.61327657e+02] [-1.24709936e-01 9.92192568e-01 1.15780584e-03 -2.60894440e+02] [-1.08638241e-02 -1.98640188e-04 -9.99940967e-01 -1.80583364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 812.616559995 meters 0.014960177326424205 Centerline is valid? [True, True] Translation: X:-161.34, Y:-260.87, Z:-1.81 [[-9.80731241e-01 -1.95096759e-01 1.01728476e-02 -1.61335420e+02] [-1.95088240e-01 9.80783982e-01 1.83276628e-03 -2.60869743e+02] [-1.03349327e-02 -1.87151775e-04 -9.99946576e-01 -1.80694210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 812.646559995 meters 0.014590248346797011 Centerline is valid? [True, True] Translation: X:-161.36, Y:-260.85, Z:-1.81 [[-9.64328644e-01 -2.64528982e-01 9.73054035e-03 -1.61358677e+02] [-2.64517348e-01 9.64377720e-01 2.48710588e-03 -2.60847874e+02] [-1.00418279e-02 -1.75509288e-04 -9.99949564e-01 -1.80764776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 812.6765599949999 meters 0.014067999268702407 Centerline is valid? [True, True] Translation: X:-161.40, Y:-260.83, Z:-1.81 [[-9.42921348e-01 -3.32882652e-01 9.40591443e-03 -1.61401252e+02] [-3.32867791e-01 9.42968247e-01 3.14953526e-03 -2.60832956e+02] [-9.91790429e-03 -1.61161923e-04 -9.99950804e-01 -1.80771815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 812.7065599949999 meters 0.013826702601100367 Centerline is valid? [True, True] Translation: X:-161.46, Y:-260.83, Z:-1.81 [[-9.17149030e-01 -3.98441234e-01 9.06859447e-03 -1.61458536e+02] [-3.98423133e-01 9.17193855e-01 3.80006879e-03 -2.60825995e+02] [-9.83176322e-03 -1.27908411e-04 -9.99951659e-01 -1.80754120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 812.736559995 meters 0.013424466872004963 Centerline is valid? [True, True] Translation: X:-161.53, Y:-260.83, Z:-1.81 [[-8.86042863e-01 -4.63527288e-01 8.39634263e-03 -1.61526736e+02] [-4.63507588e-01 8.86082638e-01 4.27478001e-03 -2.60828349e+02] [-9.42133062e-03 -1.04130199e-04 -9.99955613e-01 -1.80757656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 812.766559995 meters 0.013028717534769568 Centerline is valid? [True, True] Translation: X:-161.60, Y:-260.84, Z:-1.81 [[-8.50605086e-01 -5.25752000e-01 7.47137242e-03 -1.61601119e+02] [-5.25732439e-01 8.50637896e-01 4.53581473e-03 -2.60840391e+02] [-8.74014618e-03 -6.97557638e-05 -9.99961802e-01 -1.80797353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 812.7965599949999 meters 0.012930068238090122 Centerline is valid? [True, True] Translation: X:-161.68, Y:-260.86, Z:-1.81 [[-8.09329826e-01 -5.87312897e-01 6.98532555e-03 -1.61683198e+02] [-5.87291663e-01 8.09359968e-01 4.99444697e-03 -2.60862422e+02] [-8.58694599e-03 -6.02685652e-05 -9.99963130e-01 -1.80871142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 812.8265599949999 meters 0.01291345817489718 Centerline is valid? [True, True] Translation: X:-161.77, Y:-260.89, Z:-1.81 [[-7.63368510e-01 -6.45930631e-01 6.49138822e-03 -1.61770132e+02] [-6.45907850e-01 7.63396108e-01 5.42513069e-03 -2.60894632e+02] [-8.45975859e-03 -5.14646822e-05 -9.99964214e-01 -1.80880926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 812.856559995 meters 0.012867851317288173 Centerline is valid? [True, True] Translation: X:-161.86, Y:-260.94, Z:-1.81 [[-7.12683609e-01 -7.01461380e-01 5.83139252e-03 -1.61859443e+02] [-7.01438421e-01 7.12707465e-01 5.67550815e-03 -2.60938003e+02] [-8.13722676e-03 -4.55211291e-05 -9.99966891e-01 -1.80909227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 812.886559995 meters 0.012837666425360727 Centerline is valid? [True, True] Translation: X:-161.95, Y:-260.99, Z:-1.81 [[-6.57605756e-01 -7.53342488e-01 5.45585855e-03 -1.61945226e+02] [-7.53317100e-01 6.57628386e-01 6.18486742e-03 -2.60987617e+02] [-8.24725086e-03 -4.27871263e-05 -9.99965990e-01 -1.80930090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 812.916559995 meters 0.012777729548822104 Centerline is valid? [True, True] Translation: X:-162.03, Y:-261.04, Z:-1.81 [[-5.98778412e-01 -8.00898015e-01 5.17535091e-03 -1.62026792e+02] [-8.00868738e-01 5.98800775e-01 6.84808138e-03 -2.61041951e+02] [-8.58361892e-03 -4.42934633e-05 -9.99963159e-01 -1.80877549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 812.9465599949999 meters 0.012802014668781402 Centerline is valid? [True, True] Translation: X:-162.11, Y:-261.11, Z:-1.81 [[-5.35907876e-01 -8.44262870e-01 4.79105917e-03 -1.62110403e+02] [-8.44229878e-01 5.35929290e-01 7.46383387e-03 -2.61111618e+02] [-8.86910675e-03 -4.48279463e-05 -9.99960668e-01 -1.80834928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 812.9765599949999 meters 0.012851573958924209 Centerline is valid? [True, True] Translation: X:-162.19, Y:-261.19, Z:-1.81 [[-4.69803215e-01 -8.82760283e-01 4.38431266e-03 -1.62190365e+02] [-8.82722762e-01 4.69823670e-01 8.13908090e-03 -2.61190374e+02] [-9.24471122e-03 -4.63662132e-05 -9.99957266e-01 -1.80767802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 813.006559995 meters 0.01272127678307727 Centerline is valid? [True, True] Translation: X:-162.26, Y:-261.28, Z:-1.81 [[-4.01240225e-01 -9.15963612e-01 4.11635761e-03 -1.62264698e+02] [-9.15916573e-01 4.01261337e-01 9.28287418e-03 -2.61277089e+02] [-1.01545101e-02 -4.55776330e-05 -9.99948441e-01 -1.80778671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 813.036559995 meters 0.012760364108885012 Centerline is valid? [True, True] Translation: X:-162.33, Y:-261.37, Z:-1.81 [[-3.29944893e-01 -9.43993266e-01 3.61668824e-03 -1.62333166e+02] [-9.43938070e-01 3.29964712e-01 1.02083280e-02 -2.61371951e+02] [-1.08299723e-02 -4.57440349e-05 -9.99941353e-01 -1.80727708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 813.0665599949999 meters 0.012745810071453 Centerline is valid? [True, True] Translation: X:-162.39, Y:-261.47, Z:-1.81 [[-2.56408726e-01 -9.66564312e-01 2.82773934e-03 -1.62394508e+02] [-9.66507477e-01 2.56424314e-01 1.04817903e-02 -2.61472656e+02] [-1.08564255e-02 -4.54087204e-05 -9.99941066e-01 -1.80722349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 813.0965599949999 meters 0.012697450986307018 Centerline is valid? [True, True] Translation: X:-162.45, Y:-261.58, Z:-1.81 [[-1.81450141e-01 -9.83398118e-01 1.99706921e-03 -1.62448884e+02] [-9.83341148e-01 1.81461126e-01 1.05851923e-02 -2.61579323e+02] [-1.07718486e-02 -4.31156973e-05 -9.99941981e-01 -1.80745575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 813.126559995 meters 0.012848425617822077 Centerline is valid? [True, True] Translation: X:-162.49, Y:-261.69, Z:-1.81 [[-1.05096695e-01 -9.94461262e-01 1.21772741e-03 -1.62494961e+02] [-9.94399498e-01 1.05103740e-01 1.10834413e-02 -2.61692336e+02] [-1.11500407e-02 -4.60744733e-05 -9.99937835e-01 -1.80653565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 813.156559995 meters 0.012772869260710558 Centerline is valid? [True, True] Translation: X:-162.53, Y:-261.81, Z:-1.81 [[-2.74787085e-02 -9.99622313e-01 3.89860636e-04 -1.62532445e+02] [-9.99549560e-01 2.74814122e-02 1.20602401e-02 -2.61806526e+02] [-1.20663990e-02 -5.82852067e-05 -9.99927197e-01 -1.80658760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 813.1865599949999 meters 0.012847563875103992 Centerline is valid? [True, True] Translation: X:-162.56, Y:-261.93, Z:-1.81 [[ 5.00754616e-02 -9.98745296e-01 -5.30650207e-04 -1.62560343e+02] [-9.98675079e-01 -5.00782335e-02 1.18430512e-02 -2.61925182e+02] [-1.18547657e-02 -6.30991168e-05 -9.99929728e-01 -1.80628459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 813.2165599949999 meters 0.01283966545291364 Centerline is valid? [True, True] Translation: X:-163.27, Y:-262.07, Z:-2.78 [[-2.84652694e-02 9.99594747e-01 2.66706099e-04 -1.63265113e+02] [-9.99522446e-01 -2.84664183e-02 1.20225960e-02 -2.62068037e+02] [ 1.20253160e-02 7.56477013e-05 9.99927691e-01 -2.77780021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 813.246559995 meters 0.012895899260232765 Centerline is valid? [True, True] Translation: X:-162.55, Y:-262.21, Z:-1.81 [[ 6.08214172e-02 -9.98148467e-01 -6.27305819e-04 -1.62551644e+02] [-9.98082253e-01 -6.08246081e-02 1.14971139e-02 -2.62209207e+02] [-1.15139822e-02 -7.31679561e-05 -9.99933709e-01 -1.80766785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 813.276559995 meters 0.013220462025203727 Centerline is valid? [True, True] Translation: X:-162.57, Y:-262.33, Z:-1.81 [[ 1.38000686e-01 -9.90430975e-01 -1.51466024e-03 -1.62569550e+02] [-9.90364823e-01 -1.38008975e-01 1.14473021e-02 -2.62330818e+02] [-1.15467993e-02 -7.96693137e-05 -9.99933330e-01 -1.80714479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 813.3065599949999 meters 0.012979165722536322 Centerline is valid? [True, True] Translation: X:-162.58, Y:-262.45, Z:-1.81 [[ 2.14223130e-01 -9.76781947e-01 -2.34080568e-03 -1.62576964e+02] [-9.76719383e-01 -2.14235903e-01 1.10555051e-02 -2.62451693e+02] [-1.13003024e-02 -8.20346348e-05 -9.99936146e-01 -1.80859435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 813.3365599949999 meters 0.013192580241298761 Centerline is valid? [True, True] Translation: X:-162.57, Y:-262.58, Z:-1.81 [[ 2.89859012e-01 -9.57064678e-01 -2.99254497e-03 -1.62574392e+02] [-9.57010435e-01 -2.89874446e-01 1.01898311e-02 -2.62580886e+02] [-1.06197897e-02 -8.97176211e-05 -9.99943605e-01 -1.80859650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 813.366559995 meters 0.013232049258793612 Centerline is valid? [True, True] Translation: X:-162.57, Y:-262.69, Z:-1.81 [[ 3.63138154e-01 -9.31727876e-01 -3.72106166e-03 -1.62568038e+02] [-9.31676229e-01 -3.63157205e-01 9.81060613e-03 -2.62688307e+02] [-1.04921456e-02 -9.57807059e-05 -9.99944951e-01 -1.80885788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 813.396559995 meters 0.013398108261556033 Centerline is valid? [True, True] Translation: X:-162.55, Y:-262.81, Z:-1.81 [[ 4.34330221e-01 -9.00743154e-01 -4.36238637e-03 -1.62549245e+02] [-9.00695360e-01 -4.34352116e-01 9.27943724e-03 -2.62805929e+02] [-1.02532013e-02 -1.01158867e-04 -9.99947430e-01 -1.80868993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 813.4265599949999 meters 0.013704348218621824 Centerline is valid? [True, True] Translation: X:-162.52, Y:-262.92, Z:-1.81 [[ 5.03096995e-01 -8.64216820e-01 -4.76473821e-03 -1.62522633e+02] [-8.64176062e-01 -5.03119546e-01 8.39386849e-03 -2.62919329e+02] [-9.65135526e-03 -1.05357306e-04 -9.99953419e-01 -1.80870797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 813.4565599949999 meters 0.013756031646857422 Centerline is valid? [True, True] Translation: X:-162.48, Y:-263.04, Z:-1.81 [[ 5.67999692e-01 -8.23010277e-01 -5.51668181e-03 -1.62483328e+02] [-8.22969573e-01 -5.68026471e-01 8.18598171e-03 -2.63035093e+02] [-9.87076837e-03 -1.09573810e-04 -9.99951277e-01 -1.80854237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 813.486559995 meters 0.013521353817983696 Centerline is valid? [True, True] Translation: X:-162.44, Y:-263.13, Z:-1.81 [[ 6.29468243e-01 -7.77003164e-01 -5.98459565e-03 -1.62444955e+02] [-7.76966396e-01 -6.29496681e-01 7.55962679e-03 -2.63132558e+02] [-9.64113703e-03 -1.08715280e-04 -9.99953517e-01 -1.80937282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 813.516559995 meters 0.013685013645825615 Centerline is valid? [True, True] Translation: X:-162.39, Y:-263.23, Z:-1.81 [[ 6.87018297e-01 -7.26609370e-01 -6.68449044e-03 -1.62393689e+02] [-7.26573385e-01 -6.87050807e-01 7.23223185e-03 -2.63234357e+02] [-9.84759198e-03 -1.11902764e-04 -9.99951505e-01 -1.80877964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 813.5465599949999 meters 0.014069589320036642 Centerline is valid? [True, True] Translation: X:-162.34, Y:-263.33, Z:-1.81 [[ 7.40247007e-01 -6.72296292e-01 -7.21550964e-03 -1.62342113e+02] [-6.72262903e-01 -7.40282165e-01 6.70116592e-03 -2.63326376e+02] [-9.84668210e-03 -1.09798559e-04 -9.99951514e-01 -1.80765410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 813.5765599949999 meters 0.013517498224343383 Centerline is valid? [True, True] Translation: X:-162.34, Y:-263.33, Z:-1.81 [[ 7.90483637e-01 -6.12432068e-01 -7.91079882e-03 -1.62343966e+02] [-6.12399982e-01 -7.90523212e-01 6.26997864e-03 -2.63333390e+02] [-1.00936061e-02 -1.11742468e-04 -9.99949052e-01 -1.80834031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 813.606559995 meters 0.01364022119872372 Centerline is valid? [True, True] Translation: X:-162.35, Y:-263.34, Z:-1.81 [[ 8.36035452e-01 -5.48604742e-01 -8.80678313e-03 -1.62346133e+02] [-5.48572798e-01 -8.36081828e-01 5.92140609e-03 -2.63341122e+02] [-1.06117028e-02 -1.19343754e-04 -9.99943687e-01 -1.80760037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 813.636559995 meters 0.013900118874301103 Centerline is valid? [True, True] Translation: X:-162.35, Y:-263.35, Z:-1.81 [[ 8.76345552e-01 -4.81588188e-01 -9.55464962e-03 -1.62348399e+02] [-4.81558026e-01 -8.76397628e-01 5.39119592e-03 -2.63348424e+02] [-1.09700085e-02 -1.23432351e-04 -9.99939820e-01 -1.80666887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 813.666559995 meters 0.013957345818560618 Centerline is valid? [True, True] Translation: X:-162.35, Y:-263.35, Z:-1.81 [[ 9.11298470e-01 -4.11619491e-01 -1.02221723e-02 -1.62347481e+02] [-4.11592034e-01 -9.11355792e-01 4.75587460e-03 -2.63354254e+02] [-1.12736466e-02 -1.26656549e-04 -9.99936443e-01 -1.80623203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 813.6965599949999 meters 0.01359883474879021 Centerline is valid? [True, True] Translation: X:-162.35, Y:-263.36, Z:-1.81 [[ 9.40639813e-01 -3.39224401e-01 -1.11152143e-02 -1.62347691e+02] [-3.39199058e-01 -9.40705474e-01 4.14850580e-03 -2.63363072e+02] [-1.18634173e-02 -1.31979500e-04 -9.99929619e-01 -1.80683701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 813.7265599949999 meters 0.013619352690647084 Centerline is valid? [True, True] Translation: X:-162.35, Y:-263.37, Z:-1.81 [[ 9.64221950e-01 -2.64848444e-01 -1.14600244e-02 -1.62347775e+02] [-2.64828128e-01 -9.64290042e-01 3.28298589e-03 -2.63371835e+02] [-1.19202811e-02 -1.30590240e-04 -9.99928943e-01 -1.80651646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 813.756559995 meters 0.013547897085118787 Centerline is valid? [True, True] Translation: X:-162.35, Y:-263.38, Z:-1.81 [[ 9.81934665e-01 -1.88861702e-01 -1.16434909e-02 -1.62346687e+02] [-1.88846879e-01 -9.82003687e-01 2.36965595e-03 -2.63380491e+02] [-1.18814883e-02 -1.28010400e-04 -9.99929405e-01 -1.80668823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 813.786559995 meters 0.013577913778022681 Centerline is valid? [True, True] Translation: X:-162.35, Y:-263.39, Z:-1.81 [[ 9.93660532e-01 -1.11787287e-01 -1.19310754e-02 -1.62348307e+02] [-1.11777717e-01 -9.93732150e-01 1.46806448e-03 -2.63389177e+02] [-1.20204042e-02 -1.25129352e-04 -9.99927745e-01 -1.80682661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 813.8165599949999 meters 0.013551446201658452 Centerline is valid? [True, True] Translation: X:-162.35, Y:-263.40, Z:-1.81 [[ 9.99349570e-01 -3.44034060e-02 -1.08093903e-02 -1.62351218e+02] [-3.44002628e-02 -9.99408022e-01 4.76634586e-04 -2.63396998e+02] [-1.08193892e-02 -1.04478702e-04 -9.99941463e-01 -1.80728879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 813.8465599949999 meters 0.013586630245097764 Centerline is valid? [True, True] Translation: X:-162.35, Y:-263.40, Z:-1.81 [[ 9.98992302e-01 4.36219994e-02 -1.05594249e-02 -1.62353081e+02] [ 4.36206020e-02 -9.99048103e-01 -3.62717706e-04 -2.63403673e+02] [-1.05651958e-02 -9.82562728e-05 -9.99944182e-01 -1.80703391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 813.876559995 meters 0.013605722009129186 Centerline is valid? [True, True] Translation: X:-162.35, Y:-263.41, Z:-1.81 [[ 9.92558532e-01 1.21317986e-01 -1.04645500e-02 -1.62353881e+02] [ 1.21312243e-01 -9.92613690e-01 -1.18413966e-03 -2.63408641e+02] [-1.05309130e-02 -9.41501114e-05 -9.99944544e-01 -1.80712985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 813.906559995 meters 0.013445766756019082 Centerline is valid? [True, True] Translation: X:-162.35, Y:-263.41, Z:-1.81 [[ 9.80171614e-01 1.97819095e-01 -1.14548276e-02 -1.62353532e+02] [ 1.97806711e-01 -9.80238541e-01 -2.21541851e-03 -2.63414701e+02] [-1.16667156e-02 -9.43514395e-05 -9.99931937e-01 -1.80690519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 813.9365599949999 meters 0.01340625439558745 Centerline is valid? [True, True] Translation: X:-162.35, Y:-263.42, Z:-1.81 [[ 9.61826464e-01 2.73422836e-01 -1.13932526e-02 -1.62352627e+02] [ 2.73404747e-01 -9.61893937e-01 -3.14628639e-03 -2.63420779e+02] [-1.18193672e-02 -8.87878429e-05 -9.99930145e-01 -1.80624606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 813.9665599949999 meters 0.013251885871296457 Centerline is valid? [True, True] Translation: X:-162.35, Y:-263.43, Z:-1.81 [[ 9.37743994e-01 3.47129747e-01 -1.17107256e-02 -1.62351698e+02] [ 3.47103793e-01 -9.37817110e-01 -4.24556319e-03 -2.63428275e+02] [-1.24562801e-02 -8.35859095e-05 -9.99922414e-01 -1.80635475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 813.996559995 meters 0.013272340129400633 Centerline is valid? [True, True] Translation: X:-162.35, Y:-263.44, Z:-1.81 [[ 9.08024019e-01 4.18764390e-01 -1.13475561e-02 -1.62349435e+02] [ 4.18732708e-01 -9.08094918e-01 -5.15162492e-03 -2.63435983e+02] [-1.24619751e-02 -7.37937326e-05 -9.99922344e-01 -1.80640082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 814.026559995 meters 0.013197808895553659 Centerline is valid? [True, True] Translation: X:-162.35, Y:-263.44, Z:-1.81 [[ 8.73043807e-01 4.87518241e-01 -1.09761733e-02 -1.62347266e+02] [ 4.87480563e-01 -8.73112800e-01 -6.06126463e-03 -2.63442292e+02] [-1.25384145e-02 -5.89216082e-05 -9.99921389e-01 -1.80648086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 814.0565599949999 meters 0.013016434227043301 Centerline is valid? [True, True] Translation: X:-162.34, Y:-263.45, Z:-1.81 [[ 8.33541470e-01 5.52361447e-01 -1.02689125e-02 -1.62344527e+02] [ 5.52319957e-01 -8.33604721e-01 -6.77006721e-03 -2.63449018e+02] [-1.22997381e-02 -2.85935639e-05 -9.99924355e-01 -1.80712202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 814.0865599949999 meters 0.013058719726802611 Centerline is valid? [True, True] Translation: X:-162.34, Y:-263.46, Z:-1.81 [[ 7.88600887e-01 6.14835001e-01 -9.30390465e-03 -1.62342417e+02] [ 6.14792378e-01 -7.88655769e-01 -7.23951066e-03 -2.63456720e+02] [-1.17886826e-02 -1.08851353e-05 -9.99930511e-01 -1.80702768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 814.116559995 meters 0.012994522932530918 Centerline is valid? [True, True] Translation: X:-162.34, Y:-263.46, Z:-1.81 [[ 7.39924297e-01 6.72644132e-01 -7.86806594e-03 -1.62339998e+02] [ 6.72605826e-01 -7.39966129e-01 -7.17855870e-03 -2.63462878e+02] [-1.06507177e-02 1.94830128e-05 -9.99943279e-01 -1.80845577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 814.146559995 meters 0.013037466422421871 Centerline is valid? [True, True] Translation: X:-162.34, Y:-263.47, Z:-1.81 [[ 6.86078765e-01 7.27494487e-01 -6.90651045e-03 -1.62336969e+02] [ 7.27457138e-01 -6.86113526e-01 -7.37170883e-03 -2.63469407e+02] [-1.01015278e-02 3.33825670e-05 -9.99948978e-01 -1.80862929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 814.1765599949999 meters 0.012982796187613497 Centerline is valid? [True, True] Translation: X:-162.33, Y:-263.48, Z:-1.81 [[ 6.27909033e-01 7.78265180e-01 -5.79280936e-03 -1.62331993e+02] [ 7.78231452e-01 -6.27935752e-01 -7.24559001e-03 -2.63477104e+02] [-9.27650252e-03 4.14249763e-05 -9.99956972e-01 -1.80922579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 814.2065599949999 meters 0.01320114705447261 Centerline is valid? [True, True] Translation: X:-162.33, Y:-263.48, Z:-1.81 [[ 5.67008232e-01 8.23698932e-01 -4.66195165e-03 -1.62326710e+02] [ 8.23670260e-01 -5.67027394e-01 -6.87289527e-03 -2.63483526e+02] [-8.30465080e-03 5.70772718e-05 -9.99965514e-01 -1.81015567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 814.236559995 meters 0.013283252739012857 Centerline is valid? [True, True] Translation: X:-162.32, Y:-263.49, Z:-1.81 [[ 5.01595069e-01 8.65093536e-01 -3.94476711e-03 -1.62321838e+02] [ 8.65065802e-01 -5.01610577e-01 -6.92738019e-03 -2.63490871e+02] [-7.97156872e-03 6.22566261e-05 -9.99968225e-01 -1.81020915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 814.266559995 meters 0.013373270704161494 Centerline is valid? [True, True] Translation: X:-162.31, Y:-263.50, Z:-1.81 [[ 4.33185102e-01 9.01298809e-01 -3.33533790e-03 -1.62313941e+02] [ 9.01270855e-01 -4.33197936e-01 -7.09888188e-03 -2.63497720e+02] [-7.84307529e-03 6.90870289e-05 -9.99969240e-01 -1.81010992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 814.2965599949999 meters 0.013350979702423483 Centerline is valid? [True, True] Translation: X:-162.31, Y:-263.50, Z:-1.81 [[ 3.60982529e-01 9.32568162e-01 -2.87021836e-03 -1.62306671e+02] [ 9.32537139e-01 -3.60993932e-01 -7.60693697e-03 -2.63503074e+02] [-8.13011864e-03 6.93861244e-05 -9.99966948e-01 -1.80975492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 814.3265599949999 meters 0.013357307066490014 Centerline is valid? [True, True] Translation: X:-162.30, Y:-263.51, Z:-1.81 [[ 2.86781870e-01 9.57993263e-01 -2.25116421e-03 -1.62299398e+02] [ 9.57961850e-01 -2.86790697e-01 -7.75817924e-03 -2.63508208e+02] [-8.07789640e-03 6.83757152e-05 -9.99967371e-01 -1.80924031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 814.356559995 meters 0.013286446411521154 Centerline is valid? [True, True] Translation: X:-162.29, Y:-263.51, Z:-1.81 [[ 2.10035933e-01 9.77692212e-01 -1.68702497e-03 -1.62291421e+02] [ 9.77658219e-01 -2.10042698e-01 -8.15299545e-03 -2.63512619e+02] [-8.32546744e-03 6.30881751e-05 -9.99965341e-01 -1.80915465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 814.386559995 meters 0.013084993570692599 Centerline is valid? [True, True] Translation: X:-162.28, Y:-263.52, Z:-1.81 [[ 1.31224746e-01 9.91352096e-01 -1.04264279e-03 -1.62282415e+02] [ 9.91317708e-01 -1.31228878e-01 -8.25734002e-03 -2.63517204e+02] [-8.32275618e-03 4.99770847e-05 -9.99965364e-01 -1.80840587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 814.416559995 meters 0.013084993570692599 Centerline is valid? [True, True] Translation: X:-162.28, Y:-263.52, Z:-1.81 [[ 5.31496485e-02 9.98586481e-01 -3.92456848e-04 -1.62276388e+02] [ 9.98551875e-01 -5.31510739e-02 -8.31363346e-03 -2.63520700e+02] [-8.32274149e-03 4.99781746e-05 -9.99965364e-01 -1.80840599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 814.4465599949999 meters 0.012918690875752011 Centerline is valid? [True, True] Translation: X:-162.27, Y:-263.52, Z:-1.81 [[-2.61830705e-02 9.99657131e-01 2.61474725e-04 -1.62269143e+02] [ 9.99622082e-01 2.61843420e-02 -8.37099297e-03 -2.63523239e+02] [-8.37496935e-03 4.21976105e-05 -9.99964929e-01 -1.80834250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 814.4765599949999 meters 0.012788675701867334 Centerline is valid? [True, True] Translation: X:-162.26, Y:-263.52, Z:-1.81 [[-1.05753525e-01 9.94391973e-01 8.91860969e-04 -1.62257728e+02] [ 9.94358981e-01 1.05757281e-01 -8.10031672e-03 -2.63524300e+02] [-8.14921072e-03 3.01929164e-05 -9.99966794e-01 -1.80914170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 814.506559995 meters 0.01269843287380447 Centerline is valid? [True, True] Translation: X:-162.25, Y:-263.52, Z:-1.81 [[-1.84357889e-01 9.82858038e-01 1.49898215e-03 -1.62247251e+02] [ 9.82826485e-01 1.84363981e-01 -7.87552251e-03 -2.63524544e+02] [-8.01687891e-03 2.13246572e-05 -9.99967864e-01 -1.80909814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 814.536559995 meters 0.012770591736164807 Centerline is valid? [True, True] Translation: X:-162.24, Y:-263.53, Z:-1.81 [[-2.61782052e-01 9.65124780e-01 2.07745117e-03 -1.62237247e+02] [ 9.65094784e-01 2.61790295e-01 -7.60917179e-03 -2.63525761e+02] [-7.88765681e-03 1.29926807e-05 -9.99968892e-01 -1.80840375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 814.5665599949999 meters 0.012689392469061707 Centerline is valid? [True, True] Translation: X:-162.23, Y:-263.52, Z:-1.81 [[-3.39184910e-01 9.40716396e-01 2.50181908e-03 -1.62225329e+02] [ 9.40690622e-01 3.39194137e-01 -6.96364451e-03 -2.63524376e+02] [-7.39941693e-03 -8.52539810e-06 -9.99972624e-01 -1.80896819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 814.5965599949999 meters 0.012691799181299876 Centerline is valid? [True, True] Translation: X:-162.22, Y:-263.52, Z:-1.81 [[-4.13312090e-01 9.10584723e-01 2.92902595e-03 -1.62215041e+02] [ 9.10561518e-01 4.13322468e-01 -6.50069807e-03 -2.63521406e+02] [-7.13006859e-03 -1.97587943e-05 -9.99974581e-01 -1.80902052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 814.626559995 meters 0.012793096636796926 Centerline is valid? [True, True] Translation: X:-162.21, Y:-263.52, Z:-1.81 [[-4.85132187e-01 8.74434235e-01 3.39551547e-03 -1.62205277e+02] [ 8.74412327e-01 4.85144069e-01 -6.18997253e-03 -2.63518311e+02] [-7.06003809e-03 -3.38743290e-05 -9.99975077e-01 -1.80881130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 814.656559995 meters 0.012917941330567867 Centerline is valid? [True, True] Translation: X:-162.20, Y:-263.51, Z:-1.81 [[-5.53816456e-01 8.32628963e-01 4.04262439e-03 -1.62195531e+02] [ 8.32606114e-01 5.53831208e-01 -6.16866560e-03 -2.63513506e+02] [-7.37514119e-03 -5.03947360e-05 -9.99972802e-01 -1.80887670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 814.6865599949999 meters 0.013414682928663105 Centerline is valid? [True, True] Translation: X:-162.18, Y:-263.51, Z:-1.81 [[-6.20684856e-01 7.84047827e-01 4.39492435e-03 -1.62184307e+02] [ 7.84027255e-01 6.20700410e-01 -5.68013297e-03 -2.63506436e+02] [-7.18142725e-03 -7.98320362e-05 -9.99974210e-01 -1.80876281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 814.7165599949999 meters 0.01391589345479927 Centerline is valid? [True, True] Translation: X:-162.18, Y:-263.50, Z:-1.81 [[-6.81613807e-01 7.31697451e-01 4.63238596e-03 -1.62175422e+02] [ 7.31679648e-01 6.81629542e-01 -5.10485332e-03 -2.63500528e+02] [-6.89277928e-03 -9.01159734e-05 -9.99976241e-01 -1.80825846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 814.746559995 meters 0.014638807347699803 Centerline is valid? [True, True] Translation: X:-162.17, Y:-263.49, Z:-1.81 [[-7.39410860e-01 6.73233249e-01 5.34531023e-03 -1.62167616e+02] [ 6.73214438e-01 7.39430170e-01 -5.03430577e-03 -2.63492221e+02] [-7.34174569e-03 -1.23880332e-04 -9.99973041e-01 -1.80831245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 814.776559995 meters 0.015042691841343058 Centerline is valid? [True, True] Translation: X:-161.72, Y:-263.02, Z:-2.78 [[-6.66693482e-01 -7.45315939e-01 4.89417807e-03 -1.61721955e+02] [ 7.45297101e-01 -6.66711436e-01 -5.30033063e-03 -2.63023815e+02] [ 7.21342538e-03 1.13920843e-04 9.99973977e-01 -2.77630143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 814.8065599949999 meters 0.015413783993517016 Centerline is valid? [True, True] Translation: X:-161.74, Y:-263.01, Z:-2.78 [[-6.65437998e-01 -7.46437996e-01 4.75278251e-03 -1.61743740e+02] [ 7.46420458e-01 -6.65454956e-01 -5.11879982e-03 -2.63005190e+02] [ 6.98362936e-03 1.41330192e-04 9.99975604e-01 -2.77675238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 814.8365599949999 meters 0.015398165517054765 Centerline is valid? [True, True] Translation: X:-161.76, Y:-262.99, Z:-2.78 [[-6.65383329e-01 -7.46484363e-01 5.11096374e-03 -1.61763338e+02] [ 7.46464106e-01 -6.65402940e-01 -5.50146477e-03 -2.62985543e+02] [ 7.50760773e-03 1.54568038e-04 9.99971806e-01 -2.77701657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 814.866559995 meters 0.01539968508823532 Centerline is valid? [True, True] Translation: X:-161.78, Y:-262.97, Z:-2.78 [[-6.65754728e-01 -7.46151885e-01 5.29214833e-03 -1.61782364e+02] [ 7.46130184e-01 -6.65775743e-01 -5.69290352e-03 -2.62966439e+02] [ 7.77115467e-03 1.58554171e-04 9.99969792e-01 -2.77740030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 814.896559995 meters 0.015214203499546428 Centerline is valid? [True, True] Translation: X:-161.80, Y:-262.95, Z:-2.78 [[-6.66268013e-01 -7.45694493e-01 5.16313966e-03 -1.61801088e+02] [ 7.45673850e-01 -6.66288001e-01 -5.55062158e-03 -2.62946659e+02] [ 7.57920594e-03 1.51816622e-04 9.99971266e-01 -2.77726070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 814.9265599949999 meters 0.014786109692094838 Centerline is valid? [True, True] Translation: X:-161.82, Y:-262.93, Z:-2.78 [[-6.67665358e-01 -7.44443326e-01 5.20621454e-03 -1.61820120e+02] [ 7.44422323e-01 -6.67685641e-01 -5.59378087e-03 -2.62925947e+02] [ 7.64036752e-03 1.40848612e-04 9.99970802e-01 -2.77725144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 814.9565599949999 meters 0.01472174801458351 Centerline is valid? [True, True] Translation: X:-161.84, Y:-262.91, Z:-2.78 [[-6.68811627e-01 -7.43414167e-01 5.13659719e-03 -1.61838366e+02] [ 7.43393712e-01 -6.68831339e-01 -5.51628280e-03 -2.62906669e+02] [ 7.53639996e-03 1.29159970e-04 9.99971593e-01 -2.77780579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 814.986559995 meters 0.013966486712631648 Centerline is valid? [True, True] Translation: X:-161.86, Y:-262.88, Z:-2.78 [[-6.70084635e-01 -7.42265333e-01 5.36254931e-03 -1.61856392e+02] [ 7.42243028e-01 -6.70106081e-01 -5.75563908e-03 -2.62884894e+02] [ 7.86568826e-03 1.23549525e-04 9.99969057e-01 -2.77752560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 815.016559995 meters 0.013526732150102493 Centerline is valid? [True, True] Translation: X:-161.87, Y:-262.86, Z:-2.78 [[-6.72540206e-01 -7.40039150e-01 5.63276523e-03 -1.61874333e+02] [ 7.40014490e-01 -6.72563785e-01 -6.04222829e-03 -2.62864025e+02] [ 8.25987939e-03 1.04686432e-04 9.99965881e-01 -2.77823954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 815.0465599949999 meters 0.013341901403466305 Centerline is valid? [True, True] Translation: X:-161.89, Y:-262.84, Z:-2.78 [[-6.73981515e-01 -7.38725736e-01 5.76229607e-03 -1.61892902e+02] [ 7.38699911e-01 -6.74006141e-01 -6.17769862e-03 -2.62842886e+02] [ 8.44744790e-03 9.29529172e-05 9.99964315e-01 -2.77846103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 815.0765599949999 meters 0.013371943137892993 Centerline is valid? [True, True] Translation: X:-161.91, Y:-262.82, Z:-2.78 [[-6.75450885e-01 -7.37379913e-01 6.07991765e-03 -1.61910528e+02] [ 7.37351146e-01 -6.75478243e-01 -6.51389849e-03 -2.62824017e+02] [ 8.91007000e-03 8.32157406e-05 9.99960301e-01 -2.77962744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 815.106559995 meters 0.012715979024153168 Centerline is valid? [True, True] Translation: X:-161.93, Y:-262.80, Z:-2.78 [[-6.78060997e-01 -7.34981656e-01 5.93707558e-03 -1.61926974e+02] [ 7.34954164e-01 -6.78086987e-01 -6.35727942e-03 -2.62801108e+02] [ 8.69833745e-03 5.28551957e-05 9.99962167e-01 -2.77866174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 815.136559995 meters 0.012605350741095605 Centerline is valid? [True, True] Translation: X:-161.95, Y:-262.78, Z:-2.78 [[-6.79565943e-01 -7.33591462e-01 5.80480662e-03 -1.61945017e+02] [ 7.33565160e-01 -6.79590734e-01 -6.21216570e-03 -2.62779999e+02] [ 8.50208451e-03 3.66276527e-05 9.99963856e-01 -2.77865242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 815.166559995 meters 0.012454567071762415 Centerline is valid? [True, True] Translation: X:-161.96, Y:-262.76, Z:-2.78 [[-6.81389912e-01 -7.31899678e-01 5.53617942e-03 -1.61962761e+02] [ 7.31875728e-01 -6.81412401e-01 -5.92096070e-03 -2.62759090e+02] [ 8.10597054e-03 1.73124532e-05 9.99967146e-01 -2.77869529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 815.1965599949999 meters 0.012359810360881207 Centerline is valid? [True, True] Translation: X:-161.98, Y:-262.74, Z:-2.78 [[-6.83128219e-01 -7.30278424e-01 5.40915801e-03 -1.61980373e+02] [ 7.30255539e-01 -6.83149635e-01 -5.78147732e-03 -2.62737820e+02] [ 7.91735247e-03 5.77283466e-07 9.99968657e-01 -2.77844855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 815.2265599949999 meters 0.012635882226843437 Centerline is valid? [True, True] Translation: X:-162.00, Y:-262.72, Z:-2.78 [[-6.87335390e-01 -7.26324452e-01 4.78033288e-03 -1.61995928e+02] [ 7.26306504e-01 -6.87352013e-01 -5.10616952e-03 -2.62715680e+02] [ 6.99450721e-03 -3.76641608e-05 9.99975538e-01 -2.77785355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 815.256559995 meters 0.012839041831537565 Centerline is valid? [True, True] Translation: X:-162.01, Y:-262.69, Z:-2.78 [[-6.89431210e-01 -7.24338701e-01 4.24899252e-03 -1.62013710e+02] [ 7.24324499e-01 -6.89444301e-01 -4.53607818e-03 -2.62693908e+02] [ 6.21510065e-03 -4.96644892e-05 9.99980685e-01 -2.77734637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 815.286559995 meters 0.013219234991948948 Centerline is valid? [True, True] Translation: X:-162.03, Y:-262.67, Z:-2.78 [[-6.91534572e-01 -7.22333449e-01 3.78472528e-03 -1.62031402e+02] [ 7.22322164e-01 -6.91544926e-01 -4.03820161e-03 -2.62671986e+02] [ 5.53423566e-03 -5.87650680e-05 9.99984684e-01 -2.77699916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 815.3165599949999 meters 0.013632020189254546 Centerline is valid? [True, True] Translation: X:-162.05, Y:-262.65, Z:-2.78 [[-6.93627125e-01 -7.20324858e-01 3.67572267e-03 -1.62049440e+02] [ 7.20314196e-01 -6.93636861e-01 -3.91972952e-03 -2.62649827e+02] [ 5.37309534e-03 -7.11554977e-05 9.99985562e-01 -2.77665437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 815.3465599949999 meters 0.014161303277897932 Centerline is valid? [True, True] Translation: X:-162.07, Y:-262.63, Z:-2.78 [[-6.97127359e-01 -7.16940566e-01 3.10981688e-03 -1.62067181e+02] [ 7.16932909e-01 -6.97134290e-01 -3.31449589e-03 -2.62627415e+02] [ 4.54425654e-03 -8.10957091e-05 9.99989672e-01 -2.77595302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 815.376559995 meters 0.014748456549277712 Centerline is valid? [True, True] Translation: X:-162.08, Y:-262.61, Z:-2.78 [[-6.98369688e-01 -7.15730196e-01 3.17249776e-03 -1.62084424e+02] [ 7.15722224e-01 -6.98376889e-01 -3.37927958e-03 -2.62606922e+02] [ 4.63425155e-03 -8.93592794e-05 9.99989258e-01 -2.77593125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 815.406559995 meters 0.015009069252314771 Centerline is valid? [True, True] Translation: X:-162.10, Y:-262.59, Z:-2.78 [[-6.99774593e-01 -7.14356219e-01 3.27286820e-03 -1.62103870e+02] [ 7.14347729e-01 -6.99782239e-01 -3.48423594e-03 -2.62586485e+02] [ 4.77928065e-03 -1.00213820e-04 9.99988574e-01 -2.77611781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 815.4365599949999 meters 0.015517217471015806 Centerline is valid? [True, True] Translation: X:-162.12, Y:-262.57, Z:-2.78 [[-7.00044890e-01 -7.14091273e-01 3.28729690e-03 -1.62121796e+02] [ 7.14082716e-01 -7.00052601e-01 -3.49728471e-03 -2.62566634e+02] [ 4.79866124e-03 -1.00854389e-04 9.99988481e-01 -2.77639123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 815.4665599949999 meters 0.0148187613578867 Centerline is valid? [True, True] Translation: X:-162.14, Y:-262.55, Z:-2.78 [[-6.99865390e-01 -7.14267317e-01 3.26131269e-03 -1.62142708e+02] [ 7.14258906e-01 -6.99872981e-01 -3.46768571e-03 -2.62547496e+02] [ 4.75935920e-03 -9.74915799e-05 9.99988670e-01 -2.77613993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 815.496559995 meters 0.014505345331358954 Centerline is valid? [True, True] Translation: X:-162.16, Y:-262.53, Z:-2.78 [[-6.98463001e-01 -7.15638864e-01 3.23298436e-03 -1.62162646e+02] [ 7.15630622e-01 -6.98470478e-01 -3.43565332e-03 -2.62528944e+02] [ 4.71683117e-03 -8.60541192e-05 9.99988872e-01 -2.77644274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 815.526559995 meters 0.01405795957343288 Centerline is valid? [True, True] Translation: X:-162.18, Y:-262.51, Z:-2.78 [[-6.97526771e-01 -7.16550297e-01 3.47506507e-03 -1.62183592e+02] [ 7.16540796e-01 -6.97535422e-01 -3.69095326e-03 -2.62509477e+02] [ 5.06873463e-03 -8.45128174e-05 9.99987150e-01 -2.77652281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 815.5565599949999 meters 0.013842174237004646 Centerline is valid? [True, True] Translation: X:-162.20, Y:-262.49, Z:-2.78 [[-6.96478143e-01 -7.17569462e-01 3.50183913e-03 -1.62203328e+02] [ 7.17559838e-01 -6.96486942e-01 -3.71725890e-03 -2.62490771e+02] [ 5.10637670e-03 -7.62104583e-05 9.99986960e-01 -2.77689023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 815.5865599949999 meters 0.013247126393604836 Centerline is valid? [True, True] Translation: X:-162.22, Y:-262.47, Z:-2.78 [[-6.93529078e-01 -7.20420252e-01 3.47541432e-03 -1.62224706e+02] [ 7.20410818e-01 -6.93537784e-01 -3.68721225e-03 -2.62474035e+02] [ 5.06667353e-03 -5.34628405e-05 9.99987163e-01 -2.77759050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 815.616559995 meters 0.013022061081261197 Centerline is valid? [True, True] Translation: X:-162.24, Y:-262.46, Z:-2.78 [[-6.91892487e-01 -7.21990301e-01 3.84601656e-03 -1.62244646e+02] [ 7.21978787e-01 -6.91903174e-01 -4.07775268e-03 -2.62456161e+02] [ 5.60516896e-03 -4.46240652e-05 9.99984290e-01 -2.77781642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 815.646559995 meters 0.012713806385816867 Centerline is valid? [True, True] Translation: X:-162.27, Y:-262.44, Z:-2.78 [[-6.90304719e-01 -7.23508612e-01 3.83194882e-03 -1.62265464e+02] [ 7.23497220e-01 -6.90315354e-01 -4.06030509e-03 -2.62438175e+02] [ 5.58291880e-03 -3.04434447e-05 9.99984415e-01 -2.77775486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 815.6765599949999 meters 0.01258116997500648 Centerline is valid? [True, True] Translation: X:-162.29, Y:-262.42, Z:-2.78 [[-6.88859525e-01 -7.24883838e-01 3.99696730e-03 -1.62286652e+02] [ 7.24871480e-01 -6.88871121e-01 -4.23277896e-03 -2.62419385e+02] [ 5.82166840e-03 -1.85024945e-05 9.99983054e-01 -2.77792310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 815.7065599949999 meters 0.012551517996619318 Centerline is valid? [True, True] Translation: X:-162.31, Y:-262.40, Z:-2.78 [[-6.85828256e-01 -7.27751785e-01 4.11615719e-03 -1.62309402e+02] [ 7.27738745e-01 -6.85840608e-01 -4.35655616e-03 -2.62401866e+02] [ 5.99351927e-03 7.63775971e-06 9.99982039e-01 -2.77775238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 815.736559995 meters 0.012613831483611901 Centerline is valid? [True, True] Translation: X:-162.33, Y:-262.38, Z:-2.78 [[-6.84611722e-01 -7.28896643e-01 4.05880712e-03 -1.62330292e+02] [ 7.28883998e-01 -6.84623754e-01 -4.29342407e-03 -2.62382687e+02] [ 5.90821816e-03 1.90711154e-05 9.99982546e-01 -2.77731085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 815.766559995 meters 0.012732886562330598 Centerline is valid? [True, True] Translation: X:-162.35, Y:-262.36, Z:-2.78 [[-6.83747461e-01 -7.29710041e-01 3.55877475e-03 -1.62351104e+02] [ 7.29700342e-01 -6.83756722e-01 -3.76234852e-03 -2.62363412e+02] [ 5.17875965e-03 2.43429076e-05 9.99986590e-01 -2.77717502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 815.7965599949999 meters 0.01281059838167931 Centerline is valid? [True, True] Translation: X:-162.37, Y:-262.35, Z:-2.78 [[-6.82930376e-01 -7.30476243e-01 3.24957676e-03 -1.62372273e+02] [ 7.30468172e-01 -6.82938106e-01 -3.43403973e-03 -2.62345533e+02] [ 4.72774424e-03 2.85023554e-05 9.99988824e-01 -2.77724655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 815.8265599949999 meters 0.012911044446973656 Centerline is valid? [True, True] Translation: X:-162.39, Y:-262.33, Z:-2.78 [[-6.83067036e-01 -7.30349174e-01 3.08367729e-03 -1.62391041e+02] [ 7.30341911e-01 -6.83073996e-01 -3.25715408e-03 -2.62327463e+02] [ 4.48523956e-03 2.72841803e-05 9.99989941e-01 -2.77773209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 815.856559995 meters 0.012764268429935105 Centerline is valid? [True, True] Translation: X:-162.41, Y:-262.31, Z:-2.78 [[-6.83833857e-01 -7.29631586e-01 3.00068760e-03 -1.62410164e+02] [ 7.29624710e-01 -6.83840440e-01 -3.16771166e-03 -2.62307364e+02] [ 4.36325401e-03 2.31873395e-05 9.99990481e-01 -2.77759198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 815.886559995 meters 0.012538536123981604 Centerline is valid? [True, True] Translation: X:-162.43, Y:-262.29, Z:-2.78 [[-6.85225353e-01 -7.28324444e-01 3.11770172e-03 -1.62428577e+02] [ 7.28317016e-01 -6.85232446e-01 -3.28939672e-03 -2.62286385e+02] [ 4.53209841e-03 1.66971843e-05 9.99989730e-01 -2.77733450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 815.916559995 meters 0.01247561683879873 Centerline is valid? [True, True] Translation: X:-162.45, Y:-262.27, Z:-2.78 [[-6.88334598e-01 -7.25385913e-01 3.27999344e-03 -1.62445139e+02] [ 7.25377669e-01 -6.88342413e-01 -3.45834123e-03 -2.62266061e+02] [ 4.76639061e-03 -1.26192612e-06 9.99988641e-01 -2.77864732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 815.9465599949999 meters 0.01248793053517685 Centerline is valid? [True, True] Translation: X:-162.46, Y:-262.25, Z:-2.78 [[-6.90194215e-01 -7.23615730e-01 3.49598878e-03 -1.62463249e+02] [ 7.23606353e-01 -6.90203068e-01 -3.68379372e-03 -2.62245478e+02] [ 5.07859326e-03 -1.28134230e-05 9.99987104e-01 -2.77837335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 815.9765599949999 meters 0.012620020072315594 Centerline is valid? [True, True] Translation: X:-162.48, Y:-262.23, Z:-2.78 [[-6.92011340e-01 -7.21876494e-01 3.82526278e-03 -1.62481536e+02] [ 7.21865256e-01 -6.92021912e-01 -4.02823509e-03 -2.62225205e+02] [ 5.55505389e-03 -2.62600634e-05 9.99984570e-01 -2.77866130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 816.006559995 meters 0.012766644224234173 Centerline is valid? [True, True] Translation: X:-162.50, Y:-262.20, Z:-2.78 [[-6.93710754e-01 -7.20241361e-01 4.21564854e-03 -1.62499713e+02] [ 7.20227698e-01 -6.93723562e-01 -4.43656204e-03 -2.62204787e+02] [ 6.11989021e-03 -4.14639530e-05 9.99981273e-01 -2.77922409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 816.036559995 meters 0.013214477433260964 Centerline is valid? [True, True] Translation: X:-162.52, Y:-262.18, Z:-2.78 [[-6.96674039e-01 -7.17375106e-01 4.27099247e-03 -1.62517671e+02] [ 7.17361039e-01 -6.96687127e-01 -4.49296056e-03 -2.62183864e+02] [ 6.19868353e-03 -6.62853774e-05 9.99980786e-01 -2.77916894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 816.0665599949999 meters 0.01370265440595802 Centerline is valid? [True, True] Translation: X:-162.54, Y:-262.16, Z:-2.78 [[-6.98163956e-01 -7.15924248e-01 4.42279517e-03 -1.62535670e+02] [ 7.15909152e-01 -6.98177960e-01 -4.64991242e-03 -2.62163441e+02] [ 6.41688317e-03 -8.00817076e-05 9.99979409e-01 -2.77959921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 816.0965599949999 meters 0.013615464972395516 Centerline is valid? [True, True] Translation: X:-162.56, Y:-262.14, Z:-2.78 [[-6.99434548e-01 -7.14681703e-01 4.62353046e-03 -1.62555565e+02] [ 7.14665196e-01 -6.99449823e-01 -4.85832613e-03 -2.62143507e+02] [ 6.70608435e-03 -9.38048344e-05 9.99977510e-01 -2.77939779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 816.126559995 meters 0.014285850614576835 Centerline is valid? [True, True] Translation: X:-162.57, Y:-262.12, Z:-2.78 [[-7.01227337e-01 -7.12918000e-01 5.30536890e-03 -1.62572931e+02] [ 7.12896234e-01 -7.01247395e-01 -5.57223676e-03 -2.62123348e+02] [ 7.69292402e-03 -1.25227232e-04 9.99970401e-01 -2.78048129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 816.156559995 meters 0.01446926776794435 Centerline is valid? [True, True] Translation: X:-162.59, Y:-262.10, Z:-2.78 [[-7.01869770e-01 -7.12283877e-01 5.52318729e-03 -1.62591342e+02] [ 7.12260296e-01 -7.01891488e-01 -5.79740233e-03 -2.62103770e+02] [ 8.00607436e-03 -1.35074424e-04 9.99967942e-01 -2.78087485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 816.1865599949999 meters 0.014216288067235199 Centerline is valid? [True, True] Translation: X:-162.61, Y:-262.08, Z:-2.78 [[-7.02050270e-01 -7.12103335e-01 5.85304153e-03 -1.62611025e+02] [ 7.12076877e-01 -7.02074654e-01 -6.14017561e-03 -2.62084286e+02] [ 8.48171164e-03 -1.42896415e-04 9.99964020e-01 -2.78084433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 816.2165599949999 meters 0.01405469966353215 Centerline is valid? [True, True] Translation: X:-162.63, Y:-262.07, Z:-2.78 [[-7.00908125e-01 -7.13222018e-01 6.49258958e-03 -1.62630971e+02] [ 7.13189536e-01 -7.00938180e-01 -6.80829940e-03 -2.62065735e+02] [ 9.40673296e-03 -1.41545414e-04 9.99955746e-01 -2.78162721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 816.246559995 meters 0.013785038545726845 Centerline is valid? [True, True] Translation: X:-162.65, Y:-262.05, Z:-2.78 [[-6.99935451e-01 -7.14174353e-01 6.73487903e-03 -1.62650577e+02] [ 7.14139488e-01 -6.99967840e-01 -7.05796031e-03 -2.62047313e+02] [ 9.75481297e-03 -1.30473567e-04 9.99952412e-01 -2.78177482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 816.276559995 meters 0.013017624686323982 Centerline is valid? [True, True] Translation: X:-162.67, Y:-262.03, Z:-2.78 [[-6.97097397e-01 -7.16944403e-01 6.77814224e-03 -1.62672180e+02] [ 7.16909258e-01 -6.97130343e-01 -7.09935492e-03 -2.62029205e+02] [ 9.81509140e-03 -8.96289069e-05 9.99951827e-01 -2.78176353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 816.3065599949999 meters 0.012823437047164633 Centerline is valid? [True, True] Translation: X:-162.69, Y:-262.01, Z:-2.78 [[-6.95802409e-01 -7.18201045e-01 6.80194613e-03 -1.62692211e+02] [ 7.18165756e-01 -6.95835652e-01 -7.11985497e-03 -2.62010167e+02] [ 9.84652390e-03 -6.90874571e-05 9.99951520e-01 -2.78197140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 816.3365599949999 meters 0.012823437047164633 Centerline is valid? [True, True] Translation: X:-162.71, Y:-261.99, Z:-2.78 [[-6.96025638e-01 -7.17984690e-01 6.80415921e-03 -1.62710767e+02] [ 7.17949412e-01 -6.96058891e-01 -7.11774005e-03 -2.61990895e+02] [ 9.84652390e-03 -6.90874568e-05 9.99951520e-01 -2.78197150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 816.366559995 meters 0.0125678586792859 Centerline is valid? [True, True] Translation: X:-162.73, Y:-261.97, Z:-2.78 [[-6.94403234e-01 -7.19552549e-01 6.94823609e-03 -1.62731380e+02] [ 7.19515880e-01 -6.94437994e-01 -7.26439370e-03 -2.61971896e+02] [ 1.00522321e-02 -4.50522681e-05 9.99949474e-01 -2.78182872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 816.396559995 meters 0.012377554961755003 Centerline is valid? [True, True] Translation: X:-162.75, Y:-261.96, Z:-2.78 [[-6.90981977e-01 -7.22840552e-01 6.74117013e-03 -1.62751821e+02] [ 7.22806237e-01 -6.91014860e-01 -7.04325732e-03 -2.61955025e+02] [ 9.74940074e-03 5.79595249e-06 9.99952474e-01 -2.78224577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 816.4265599949999 meters 0.012445429561147392 Centerline is valid? [True, True] Translation: X:-162.77, Y:-261.94, Z:-2.78 [[-6.89334577e-01 -7.24414445e-01 6.44620424e-03 -1.62771908e+02] [ 7.24383175e-01 -6.89364716e-01 -6.73088420e-03 -2.61936557e+02] [ 9.31973549e-03 2.96906854e-05 9.99956570e-01 -2.78173145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 816.4565599949999 meters 0.012558902488341845 Centerline is valid? [True, True] Translation: X:-162.79, Y:-261.92, Z:-2.78 [[-6.87614715e-01 -7.26048761e-01 6.26101941e-03 -1.62792121e+02] [ 7.26019366e-01 -6.87643217e-01 -6.53343124e-03 -2.61917803e+02] [ 9.04893718e-03 5.31378824e-05 9.99959056e-01 -2.78142088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 816.486559995 meters 0.013110814568856112 Centerline is valid? [True, True] Translation: X:-162.81, Y:-261.90, Z:-2.78 [[-6.83909315e-01 -7.29548525e-01 5.19603280e-03 -1.62813681e+02] [ 7.29528403e-01 -6.83929048e-01 -5.41905283e-03 -2.61899762e+02] [ 7.50717977e-03 8.45127975e-05 9.99971817e-01 -2.78052942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 816.516559995 meters 0.01359029115817627 Centerline is valid? [True, True] Translation: X:-162.83, Y:-261.88, Z:-2.78 [[-6.82337945e-01 -7.31022360e-01 4.60846303e-03 -1.62834134e+02] [ 7.31006583e-01 -6.82353502e-01 -4.80356465e-03 -2.61880634e+02] [ 6.65611405e-03 9.11623777e-05 9.99977844e-01 -2.78017049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 816.5465599949999 meters 0.014363824831968323 Centerline is valid? [True, True] Translation: X:-162.85, Y:-261.86, Z:-2.78 [[-6.80812989e-01 -7.32443585e-01 4.47985319e-03 -1.62853951e+02] [ 7.32428725e-01 -6.80827720e-01 -4.66674975e-03 -2.61862664e+02] [ 6.46813915e-03 1.03989319e-04 9.99979076e-01 -2.78026920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 816.5765599949999 meters 0.014640483296990497 Centerline is valid? [True, True] Translation: X:-162.87, Y:-261.84, Z:-2.78 [[-6.79612573e-01 -7.33558515e-01 4.31924758e-03 -1.62873525e+02] [ 7.33544740e-01 -6.79626289e-01 -4.49694004e-03 -2.61842742e+02] [ 6.23424286e-03 1.12184351e-04 9.99980561e-01 -2.78004245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 816.606559995 meters 0.015109955681043346 Centerline is valid? [True, True] Translation: X:-162.89, Y:-261.82, Z:-2.78 [[-6.77636438e-01 -7.35384529e-01 4.29553445e-03 -1.62892697e+02] [ 7.35370957e-01 -6.77650040e-01 -4.46972031e-03 -2.61822300e+02] [ 6.19783226e-03 1.29965931e-04 9.99980785e-01 -2.77998449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 816.636559995 meters 0.015413479147393277 Centerline is valid? [True, True] Translation: X:-162.91, Y:-261.80, Z:-2.78 [[-6.77099577e-01 -7.35877360e-01 4.54677692e-03 -1.62911960e+02] [ 7.35862182e-01 -6.77114828e-01 -4.72848123e-03 -2.61802021e+02] [ 6.55827236e-03 1.44148539e-04 9.99978484e-01 -2.78049573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 816.666559995 meters 0.015881079457616572 Centerline is valid? [True, True] Translation: X:-162.93, Y:-261.78, Z:-2.78 [[-6.76959163e-01 -7.36006592e-01 4.53746820e-03 -1.62930367e+02] [ 7.35991499e-01 -6.76974354e-01 -4.71566387e-03 -2.61783196e+02] [ 6.54250930e-03 1.47226160e-04 9.99978587e-01 -2.78115089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 816.6965599949999 meters 0.015952548036843962 Centerline is valid? [True, True] Translation: X:-162.95, Y:-261.76, Z:-2.78 [[-6.76885485e-01 -7.36073436e-01 4.68367666e-03 -1.62948725e+02] [ 7.36057378e-01 -6.76901672e-01 -4.86455922e-03 -2.61762733e+02] [ 6.75106138e-03 1.54705234e-04 9.99977199e-01 -2.78130603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 816.7265599949999 meters 0.01595596280231833 Centerline is valid? [True, True] Translation: X:-162.97, Y:-261.74, Z:-2.78 [[-6.77220897e-01 -7.35763200e-01 4.93674487e-03 -1.62965824e+02] [ 7.35745374e-01 -6.77238871e-01 -5.12420582e-03 -2.61741938e+02] [ 7.11355759e-03 1.61967934e-04 9.99974685e-01 -2.78186949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 816.756559995 meters 0.015875299568767376 Centerline is valid? [True, True] Translation: X:-162.98, Y:-261.72, Z:-2.78 [[-6.77674530e-01 -7.35343370e-01 5.23076060e-03 -1.62984026e+02] [ 7.35323370e-01 -6.77694696e-01 -5.42601544e-03 -2.61721025e+02] [ 7.53484319e-03 1.69228048e-04 9.99971598e-01 -2.78199237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 816.786559995 meters 0.01579421449606809 Centerline is valid? [True, True] Translation: X:-163.00, Y:-261.70, Z:-2.78 [[-6.78477222e-01 -7.34601280e-01 5.44224823e-03 -1.63001526e+02] [ 7.34579634e-01 -6.78499028e-01 -5.64190382e-03 -2.61700593e+02] [ 7.83710990e-03 1.69861478e-04 9.99969275e-01 -2.78229102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 816.8165599949999 meters 0.015046248585661535 Centerline is valid? [True, True] Translation: X:-163.02, Y:-261.68, Z:-2.78 [[-6.80507854e-01 -7.32718234e-01 5.74894246e-03 -1.63017496e+02] [ 7.32694039e-01 -6.80532118e-01 -5.95657314e-03 -2.61677162e+02] [ 8.27682974e-03 1.58721067e-04 9.99965734e-01 -2.78295538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 816.8465599949999 meters 0.014757388102976306 Centerline is valid? [True, True] Translation: X:-163.03, Y:-261.66, Z:-2.78 [[-6.82147572e-01 -7.31189959e-01 5.99442140e-03 -1.63034723e+02] [ 7.31163625e-01 -6.82173894e-01 -6.20748718e-03 -2.61655963e+02] [ 8.62809009e-03 1.48480567e-04 9.99962766e-01 -2.78360417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 816.876559995 meters 0.014036148049493118 Centerline is valid? [True, True] Translation: X:-163.05, Y:-261.63, Z:-2.78 [[-6.84177346e-01 -7.29289790e-01 6.14509155e-03 -1.63051204e+02] [ 7.29262070e-01 -6.84204929e-01 -6.35985217e-03 -2.61633361e+02] [ 8.84267718e-03 1.30115405e-04 9.99960894e-01 -2.78378117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 816.906559995 meters 0.013597121591183524 Centerline is valid? [True, True] Translation: X:-163.07, Y:-261.61, Z:-2.78 [[-6.86361860e-01 -7.27232561e-01 6.34029696e-03 -1.63067271e+02] [ 7.27202997e-01 -6.86391135e-01 -6.55833235e-03 -2.61611109e+02] [ 9.12135646e-03 1.09293755e-04 9.99958394e-01 -2.78400266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 816.9365599949999 meters 0.012403603867547684 Centerline is valid? [True, True] Translation: X:-163.08, Y:-261.58, Z:-2.78 [[-6.91764347e-01 -7.22096792e-01 6.18966752e-03 -1.63079338e+02] [ 7.22068438e-01 -6.91792037e-01 -6.39913726e-03 -2.61584496e+02] [ 8.90275919e-03 4.26685474e-05 9.99960369e-01 -2.78350163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 816.9665599949999 meters 0.012108134057051183 Centerline is valid? [True, True] Translation: X:-163.09, Y:-261.56, Z:-2.78 [[-6.94970958e-01 -7.19013671e-01 5.89136079e-03 -1.63094811e+02] [ 7.18987903e-01 -6.94995929e-01 -6.08731051e-03 -2.61560853e+02] [ 8.47133124e-03 5.31311993e-06 9.99964118e-01 -2.78202475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 816.996559995 meters 0.012103816892556652 Centerline is valid? [True, True] Translation: X:-163.11, Y:-261.54, Z:-2.78 [[-6.98351290e-01 -7.15734422e-01 5.45099233e-03 -1.63110935e+02] [ 7.15712286e-01 -6.98372563e-01 -5.62914589e-03 -2.61537265e+02] [ 7.83579696e-03 -2.97791140e-05 9.99969299e-01 -2.78136537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 817.026559995 meters 0.012694916496181232 Centerline is valid? [True, True] Translation: X:-163.13, Y:-261.51, Z:-2.78 [[-7.01863193e-01 -7.12294656e-01 4.93763205e-03 -1.63126082e+02] [ 7.12276423e-01 -7.01880559e-01 -5.09693175e-03 -2.61514013e+02] [ 7.09614519e-03 -6.03899033e-05 9.99974820e-01 -2.78086979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 817.0565599949999 meters 0.014107488217245437 Centerline is valid? [True, True] Translation: X:-163.14, Y:-261.49, Z:-2.78 [[-7.08171591e-01 -7.06027703e-01 4.22853305e-03 -1.63139163e+02] [ 7.06014233e-01 -7.08184208e-01 -4.36238353e-03 -2.61488235e+02] [ 6.07454395e-03 -1.03911566e-04 9.99981545e-01 -2.77978354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 817.0865599949999 meters 0.015279815738983552 Centerline is valid? [True, True] Translation: X:-163.15, Y:-261.47, Z:-2.78 [[-7.10997877e-01 -7.03181966e-01 4.14014553e-03 -1.63154686e+02] [ 7.03169017e-01 -7.11009921e-01 -4.26930002e-03 -2.61466071e+02] [ 5.94577932e-03 -1.24241192e-04 9.99982316e-01 -2.77999684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 817.116559995 meters 0.017145794848295842 Centerline is valid? [True, True] Translation: X:-163.17, Y:-261.44, Z:-2.78 [[-7.15633486e-01 -6.98464828e-01 3.94945416e-03 -1.63168674e+02] [ 6.98452985e-01 -7.15644367e-01 -4.07039824e-03 -2.61440790e+02] [ 5.66943463e-03 -1.54405237e-04 9.99983917e-01 -2.78011999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 817.146559995 meters 0.0172453195452941 Centerline is valid? [True, True] Translation: X:-163.19, Y:-261.42, Z:-2.78 [[-7.17355999e-01 -6.96695532e-01 3.96326304e-03 -1.63186918e+02] [ 6.96683591e-01 -7.17366927e-01 -4.08237211e-03 -2.61419453e+02] [ 5.68728423e-03 -1.67373792e-04 9.99983813e-01 -2.77967855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 817.1765599949999 meters 0.018102256590696857 Centerline is valid? [True, True] Translation: X:-163.20, Y:-261.40, Z:-2.78 [[-7.18762040e-01 -6.95246202e-01 3.72143670e-03 -1.63204194e+02] [ 6.95235666e-01 -7.18771655e-01 -3.83104558e-03 -2.61398042e+02] [ 5.33838310e-03 -1.66334615e-04 9.99985737e-01 -2.78012970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 817.2065599949999 meters 0.018150067194322335 Centerline is valid? [True, True] Translation: X:-163.22, Y:-261.38, Z:-2.78 [[-7.19543705e-01 -6.94435410e-01 4.03962412e-03 -1.63222757e+02] [ 6.94422996e-01 -7.19555020e-01 -4.15631771e-03 -2.61377498e+02] [ 5.79302601e-03 -1.85444353e-04 9.99983203e-01 -2.78057313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 817.236559995 meters 0.018397508152271622 Centerline is valid? [True, True] Translation: X:-163.24, Y:-261.36, Z:-2.78 [[-7.20109517e-01 -6.93847251e-01 4.27511555e-03 -1.63241270e+02] [ 6.93833354e-01 -7.20122179e-01 -4.39589386e-03 -2.61357487e+02] [ 6.12868440e-03 -1.99307240e-04 9.99981200e-01 -2.78125488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 817.266559995 meters 0.01866400761701055 Centerline is valid? [True, True] Translation: X:-163.26, Y:-261.34, Z:-2.78 [[-7.19698253e-01 -6.94268027e-01 5.13140106e-03 -1.63259115e+02] [ 6.94248041e-01 -7.19716509e-01 -5.27295644e-03 -2.61338598e+02] [ 7.35399912e-03 -2.32472403e-04 9.99972932e-01 -2.78238067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 817.2965599949999 meters 0.01711785344122042 Centerline is valid? [True, True] Translation: X:-163.28, Y:-261.32, Z:-2.78 [[-7.17501946e-01 -6.96535932e-01 5.35274215e-03 -1.63280615e+02] [ 6.96514272e-01 -7.17521880e-01 -5.49730293e-03 -2.61320380e+02] [ 7.66977863e-03 -2.16064253e-04 9.99970564e-01 -2.78258564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 817.3265599949999 meters 0.01711785344122042 Centerline is valid? [True, True] Translation: X:-163.30, Y:-261.30, Z:-2.78 [[-7.17717590e-01 -6.96313716e-01 5.35444421e-03 -1.63299370e+02] [ 6.96292062e-01 -7.17737530e-01 -5.49564511e-03 -2.61301264e+02] [ 7.66977864e-03 -2.16064158e-04 9.99970564e-01 -2.78258573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 817.356559995 meters 0.01591321051417418 Centerline is valid? [True, True] Translation: X:-163.32, Y:-261.28, Z:-2.78 [[-7.14366493e-01 -6.99752891e-01 5.13857650e-03 -1.63320798e+02] [ 6.99733059e-01 -7.14384954e-01 -5.27108039e-03 -2.61283513e+02] [ 7.35937548e-03 -1.69851360e-04 9.99972905e-01 -2.78253498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 817.386559995 meters 0.015522302555339226 Centerline is valid? [True, True] Translation: X:-163.34, Y:-261.27, Z:-2.78 [[-7.12781811e-01 -7.01367016e-01 5.13799798e-03 -1.63341083e+02] [ 7.01347250e-01 -7.12800313e-01 -5.26770366e-03 -2.61265312e+02] [ 7.35696017e-03 -1.51202603e-04 9.99972926e-01 -2.78297513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 817.416559995 meters 0.014849213088370053 Centerline is valid? [True, True] Translation: X:-163.36, Y:-261.25, Z:-2.78 [[-7.10971921e-01 -7.03201951e-01 5.09338782e-03 -1.63362164e+02] [ 7.03182595e-01 -7.10990154e-01 -5.21915632e-03 -2.61247083e+02] [ 7.29146950e-03 -1.29091931e-04 9.99973409e-01 -2.78300525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 817.4465599949999 meters 0.013527733422125075 Centerline is valid? [True, True] Translation: X:-163.39, Y:-261.23, Z:-2.78 [[-7.06844382e-01 -7.07353826e-01 4.64591316e-03 -1.63385907e+02] [ 7.07337821e-01 -7.06859646e-01 -4.75899129e-03 -2.61230355e+02] [ 6.65029922e-03 -7.76361623e-05 9.99977884e-01 -2.78280897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 817.4765599949999 meters 0.012876938451588044 Centerline is valid? [True, True] Translation: X:-163.41, Y:-261.21, Z:-2.78 [[-7.04880506e-01 -7.09314258e-01 4.09340615e-03 -1.63407834e+02] [ 7.09301880e-01 -7.04892390e-01 -4.19072444e-03 -2.61212980e+02] [ 5.85795144e-03 -5.04992900e-05 9.99982841e-01 -2.78211698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 817.506559995 meters 0.012512711589581402 Centerline is valid? [True, True] Translation: X:-163.43, Y:-261.20, Z:-2.78 [[-7.02958124e-01 -7.11222900e-01 3.44429163e-03 -1.63428685e+02] [ 7.11214170e-01 -7.02966561e-01 -3.52397676e-03 -2.61195762e+02] [ 4.92755481e-03 -2.75790742e-05 9.99987859e-01 -2.78120879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 817.536559995 meters 0.012319134487672613 Centerline is valid? [True, True] Translation: X:-163.45, Y:-261.18, Z:-2.78 [[-7.01033410e-01 -7.13123641e-01 2.61349596e-03 -1.63448749e+02] [ 7.13118635e-01 -7.01038281e-01 -2.67220963e-03 -2.61178938e+02] [ 3.73777658e-03 -9.57556063e-06 9.99993015e-01 -2.78045507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 817.5665599949999 meters 0.012344949535430506 Centerline is valid? [True, True] Translation: X:-163.47, Y:-261.16, Z:-2.78 [[-6.97889618e-01 -7.16203505e-01 1.61865242e-03 -1.63471630e+02] [ 7.16201596e-01 -6.97891495e-01 -1.65397756e-03 -2.61162652e+02] [ 2.31422829e-03 4.98767531e-06 9.99997322e-01 -2.77927496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 817.5965599949999 meters 0.012514680965777816 Centerline is valid? [True, True] Translation: X:-163.49, Y:-261.14, Z:-2.78 [[-6.96601160e-01 -7.17457655e-01 1.15658481e-03 -1.63493114e+02] [ 7.17456683e-01 -6.96602120e-01 -1.18116000e-03 -2.61144217e+02] [ 1.65311171e-03 7.00207147e-06 9.99998634e-01 -2.77944585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 817.626559995 meters 0.012585777588440036 Centerline is valid? [True, True] Translation: X:-163.51, Y:-261.13, Z:-2.78 [[-6.95345704e-01 -7.18674122e-01 1.36320315e-03 -1.63514523e+02] [ 7.18672776e-01 -6.95347040e-01 -1.39138160e-03 -2.61125810e+02] [ 1.94784922e-03 1.22057751e-05 9.99998103e-01 -2.77997629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 817.656559995 meters 0.012701048519424383 Centerline is valid? [True, True] Translation: X:-163.54, Y:-261.11, Z:-2.78 [[-6.94210776e-01 -7.19769883e-01 1.64736269e-03 -1.63535518e+02] [ 7.19767922e-01 -6.94212731e-01 -1.68046140e-03 -2.61107670e+02] [ 2.35316566e-03 1.91244122e-05 9.99997231e-01 -2.78084657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 817.6865599949999 meters 0.01321064355172718 Centerline is valid? [True, True] Translation: X:-163.56, Y:-261.09, Z:-2.78 [[-6.91758722e-01 -7.22123853e-01 2.64803342e-03 -1.63557711e+02] [ 7.22118808e-01 -6.91763789e-01 -2.69961239e-03 -2.61090728e+02] [ 3.78126813e-03 4.47143145e-05 9.99992850e-01 -2.78262874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 817.7165599949999 meters 0.01355696810957246 Centerline is valid? [True, True] Translation: X:-163.58, Y:-261.07, Z:-2.78 [[-6.90794615e-01 -7.23044596e-01 3.05161628e-03 -1.63577873e+02] [ 7.23037913e-01 -6.90801353e-01 -3.10919458e-03 -2.61072813e+02] [ 4.35614699e-03 5.86193971e-05 9.99990510e-01 -2.78344626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 817.746559995 meters 0.013790597753602257 Centerline is valid? [True, True] Translation: X:-163.60, Y:-261.05, Z:-2.78 [[-6.90056236e-01 -7.23748434e-01 3.25498645e-03 -1.63598457e+02] [ 7.23740848e-01 -6.90063910e-01 -3.31454243e-03 -2.61054011e+02] [ 4.64504357e-03 6.85459758e-05 9.99989210e-01 -2.78409420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 817.776559995 meters 0.014171645236749082 Centerline is valid? [True, True] Translation: X:-163.62, Y:-261.04, Z:-2.79 [[-6.88391064e-01 -7.25327732e-01 4.17415589e-03 -1.63619574e+02] [ 7.25315299e-01 -6.88403712e-01 -4.24810771e-03 -2.61035489e+02] [ 5.95477474e-03 1.03219741e-04 9.99982265e-01 -2.78528539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 817.8065599949999 meters 0.014731285758849518 Centerline is valid? [True, True] Translation: X:-163.64, Y:-261.02, Z:-2.79 [[-6.88005352e-01 -7.25693213e-01 4.24214134e-03 -1.63639696e+02] [ 7.25680394e-01 -6.88018422e-01 -4.31470609e-03 -2.61017686e+02] [ 6.04982432e-03 1.09897912e-04 9.99981694e-01 -2.78649773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 817.8365599949999 meters 0.014743125026986268 Centerline is valid? [True, True] Translation: X:-163.66, Y:-261.00, Z:-2.79 [[-6.87747017e-01 -7.25937875e-01 4.27109018e-03 -1.63659163e+02] [ 7.25924903e-01 -6.87760269e-01 -4.34142145e-03 -2.60998050e+02] [ 6.08908840e-03 1.14691077e-04 9.99981455e-01 -2.78690328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 817.866559995 meters 0.01509073747112688 Centerline is valid? [True, True] Translation: X:-163.68, Y:-260.98, Z:-2.79 [[-6.87539738e-01 -7.26134817e-01 4.16371327e-03 -1.63677551e+02] [ 7.26122508e-01 -6.87552336e-01 -4.22949103e-03 -2.60979068e+02] [ 5.93395148e-03 1.15422762e-04 9.99982387e-01 -2.78717237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 817.896559995 meters 0.014902471457114404 Centerline is valid? [True, True] Translation: X:-163.70, Y:-260.96, Z:-2.79 [[-6.87685860e-01 -7.25997186e-01 4.03043599e-03 -1.63696045e+02] [ 7.25985665e-01 -6.87697661e-01 -4.09154634e-03 -2.60959062e+02] [ 5.74217253e-03 1.12340190e-04 9.99983507e-01 -2.78722344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 817.9265599949999 meters 0.016157361527981876 Centerline is valid? [True, True] Translation: X:-163.71, Y:-260.94, Z:-2.79 [[-6.87734085e-01 -7.25951382e-01 4.05200265e-03 -1.63714940e+02] [ 7.25939753e-01 -6.87746012e-01 -4.11074439e-03 -2.60940940e+02] [ 5.77094923e-03 1.14410770e-04 9.99983342e-01 -2.78837277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 817.9565599949999 meters 0.01521810613737876 Centerline is valid? [True, True] Translation: X:-163.73, Y:-260.92, Z:-2.79 [[-6.87853365e-01 -7.25837854e-01 4.14239902e-03 -1.63732023e+02] [ 7.25825712e-01 -6.87865828e-01 -4.19983622e-03 -2.60919973e+02] [ 5.89781484e-03 1.17788242e-04 9.99982601e-01 -2.78812801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 817.986559995 meters 0.015468681834801127 Centerline is valid? [True, True] Translation: X:-163.75, Y:-260.90, Z:-2.79 [[-6.87760678e-01 -7.25922465e-01 4.67180487e-03 -1.63749841e+02] [ 7.25907045e-01 -6.87776531e-01 -4.73349356e-03 -2.60900569e+02] [ 6.64930706e-03 1.35785330e-04 9.99977884e-01 -2.78915771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 818.016559995 meters 0.014960907307824374 Centerline is valid? [True, True] Translation: X:-163.77, Y:-260.88, Z:-2.79 [[-6.87506298e-01 -7.26160578e-01 5.08974294e-03 -1.63767916e+02] [ 7.26142303e-01 -6.87525121e-01 -5.15402775e-03 -2.60879428e+02] [ 7.24197790e-03 1.52451121e-04 9.99973765e-01 -2.78909450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 818.0465599949999 meters 0.016680841359240122 Centerline is valid? [True, True] Translation: X:-163.79, Y:-260.86, Z:-2.79 [[-6.87284526e-01 -7.26368845e-01 5.31807868e-03 -1.63788699e+02] [ 7.26348917e-01 -6.87305081e-01 -5.38302454e-03 -2.60861650e+02] [ 7.56520381e-03 1.63111221e-04 9.99971370e-01 -2.79048148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 818.0765599949999 meters 0.0155064546819158 Centerline is valid? [True, True] Translation: X:-163.81, Y:-260.84, Z:-2.79 [[-6.87124526e-01 -7.26519522e-01 5.41014346e-03 -1.63805348e+02] [ 7.26498929e-01 -6.87145803e-01 -5.47276176e-03 -2.60840406e+02] [ 7.69362563e-03 1.69994602e-04 9.99970389e-01 -2.78968685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 818.106559995 meters 0.015720001311744662 Centerline is valid? [True, True] Translation: X:-163.82, Y:-260.82, Z:-2.79 [[-6.87128427e-01 -7.26514040e-01 5.64578073e-03 -1.63824058e+02] [ 7.26491642e-01 -6.87151597e-01 -5.70753757e-03 -2.60820752e+02] [ 8.02611343e-03 1.79801208e-04 9.99967774e-01 -2.79018355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 818.136559995 meters 0.01603612418907244 Centerline is valid? [True, True] Translation: X:-163.84, Y:-260.80, Z:-2.79 [[-6.87456603e-01 -7.26203428e-01 5.65680861e-03 -1.63842792e+02] [ 7.26180963e-01 -6.87479853e-01 -5.71491584e-03 -2.60801771e+02] [ 8.03913343e-03 1.79110094e-04 9.99967670e-01 -2.79060392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 818.166559995 meters 0.015503497679367493 Centerline is valid? [True, True] Translation: X:-163.86, Y:-260.78, Z:-2.79 [[-6.87888700e-01 -7.25795436e-01 5.48827363e-03 -1.63860476e+02] [ 7.25774304e-01 -6.87910573e-01 -5.54114772e-03 -2.60781163e+02] [ 7.79718118e-03 1.71555070e-04 9.99969587e-01 -2.79040667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 818.1965599949999 meters 0.016099220451153605 Centerline is valid? [True, True] Translation: X:-163.88, Y:-260.76, Z:-2.79 [[-6.89586818e-01 -7.24181425e-01 5.59323006e-03 -1.63879454e+02] [ 7.24159442e-01 -6.89609483e-01 -5.64479796e-03 -2.60762390e+02] [ 7.94500232e-03 1.57812093e-04 9.99968426e-01 -2.79125609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 818.2265599949999 meters 0.016099220451153605 Centerline is valid? [True, True] Translation: X:-163.90, Y:-260.74, Z:-2.79 [[-6.89801434e-01 -7.23976987e-01 5.59490320e-03 -1.63898380e+02] [ 7.23955011e-01 -6.89824106e-01 -5.64313962e-03 -2.60743471e+02] [ 7.94500232e-03 1.57812404e-04 9.99968426e-01 -2.79125618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 818.256559995 meters 0.014841897186060245 Centerline is valid? [True, True] Translation: X:-163.92, Y:-260.72, Z:-2.79 [[-6.91203972e-01 -7.22639747e-01 5.37257084e-03 -1.63916447e+02] [ 7.22619465e-01 -6.91224838e-01 -5.41591696e-03 -2.60721442e+02] [ 7.62741127e-03 1.38820951e-04 9.99970901e-01 -2.79040486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 818.286559995 meters 0.014565404882358038 Centerline is valid? [True, True] Translation: X:-163.94, Y:-260.70, Z:-2.79 [[-6.92450354e-01 -7.21444659e-01 5.48736776e-03 -1.63935235e+02] [ 7.21423490e-01 -6.92472084e-01 -5.52824104e-03 -2.60701407e+02] [ 7.78816896e-03 1.30683534e-04 9.99969663e-01 -2.79035406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 818.3165599949999 meters 0.013798447594602754 Centerline is valid? [True, True] Translation: X:-163.95, Y:-260.68, Z:-2.79 [[-6.94278672e-01 -7.19690950e-01 4.69705211e-03 -1.63953807e+02] [ 7.19675417e-01 -6.94294554e-01 -4.72941163e-03 -2.60680368e+02] [ 6.66485245e-03 9.68233133e-05 9.99977785e-01 -2.78891143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 818.3465599949999 meters 0.013533198602683085 Centerline is valid? [True, True] Translation: X:-163.97, Y:-260.66, Z:-2.79 [[-6.94535917e-01 -7.19446442e-01 4.08364015e-03 -1.63973339e+02] [ 7.19434711e-01 -6.94547917e-01 -4.10943563e-03 -2.60659633e+02] [ 5.79280261e-03 8.37618208e-05 9.99983218e-01 -2.78778956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 818.376559995 meters 0.014129639478179698 Centerline is valid? [True, True] Translation: X:-163.99, Y:-260.64, Z:-2.79 [[-6.94532300e-01 -7.19452986e-01 3.50488373e-03 -1.63993789e+02] [ 7.19444355e-01 -6.94541140e-01 -3.52490908e-03 -2.60641649e+02] [ 4.97029231e-03 7.34056052e-05 9.99987645e-01 -2.78742132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 818.406559995 meters 0.014810355495164488 Centerline is valid? [True, True] Translation: X:-164.02, Y:-260.62, Z:-2.79 [[-6.93229108e-01 -7.20712243e-01 2.69571512e-03 -1.64015094e+02] [ 7.20707153e-01 -6.93234346e-01 -2.70957471e-03 -2.60624023e+02] [ 3.82158597e-03 6.44651114e-05 9.99992696e-01 -2.78625147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 818.4365599949999 meters 0.014189646945095528 Centerline is valid? [True, True] Translation: X:-164.03, Y:-260.60, Z:-2.79 [[-6.92528720e-01 -7.21385198e-01 2.71440937e-03 -1.64034417e+02] [ 7.21380047e-01 -6.92534036e-01 -2.72687830e-03 -2.60603738e+02] [ 3.84695052e-03 6.96792207e-05 9.99992598e-01 -2.78567469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 818.4665599949999 meters 0.01451894978435003 Centerline is valid? [True, True] Translation: X:-164.05, Y:-260.59, Z:-2.79 [[-6.91967352e-01 -7.21921837e-01 3.16946574e-03 -1.64054672e+02] [ 7.21914829e-01 -6.91974605e-01 -3.18210166e-03 -2.60585879e+02] [ 4.49041848e-03 8.61738584e-05 9.99989914e-01 -2.78612836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 818.496559995 meters 0.015037305342624178 Centerline is valid? [True, True] Translation: X:-164.08, Y:-260.57, Z:-2.79 [[-6.90961607e-01 -7.22882153e-01 3.66766183e-03 -1.64076409e+02] [ 7.22872793e-01 -6.90971332e-01 -3.68021543e-03 -2.60567903e+02] [ 5.19461124e-03 1.08365383e-04 9.99986502e-01 -2.78739970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 818.526559995 meters 0.015759741147963947 Centerline is valid? [True, True] Translation: X:-164.10, Y:-260.55, Z:-2.79 [[-6.90532812e-01 -7.23288545e-01 4.25643456e-03 -1.64096982e+02] [ 7.23275961e-01 -6.90545918e-01 -4.26847368e-03 -2.60550406e+02] [ 6.02660163e-03 1.31055662e-04 9.99981831e-01 -2.78790597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 818.5565599949999 meters 0.015433646675952355 Centerline is valid? [True, True] Translation: X:-164.12, Y:-260.53, Z:-2.79 [[-6.90311362e-01 -7.23497051e-01 4.71595568e-03 -1.64115999e+02] [ 7.23481629e-01 -6.90327455e-01 -4.72631097e-03 -2.60531401e+02] [ 6.67502573e-03 1.49281135e-04 9.99977711e-01 -2.78810834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 818.5865599949999 meters 0.01514454406707885 Centerline is valid? [True, True] Translation: X:-164.14, Y:-260.51, Z:-2.79 [[-6.90213899e-01 -7.23587280e-01 5.12070491e-03 -1.64135526e+02] [ 7.23569121e-01 -6.90232874e-01 -5.12902347e-03 -2.60511396e+02] [ 7.24577501e-03 1.65060668e-04 9.99973736e-01 -2.78783384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 818.616559995 meters 0.015547940694282282 Centerline is valid? [True, True] Translation: X:-164.16, Y:-260.49, Z:-2.79 [[-6.90544368e-01 -7.23269814e-01 5.40851023e-03 -1.64155349e+02] [ 7.23249571e-01 -6.90565526e-01 -5.41404149e-03 -2.60493114e+02] [ 7.65074350e-03 1.73066847e-04 9.99970718e-01 -2.78782333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 818.646559995 meters 0.014972034518568185 Centerline is valid? [True, True] Translation: X:-164.17, Y:-260.47, Z:-2.79 [[-6.91424928e-01 -7.22428382e-01 5.36672276e-03 -1.64174397e+02] [ 7.22408448e-01 -6.91445736e-01 -5.36917273e-03 -2.60472452e+02] [ 7.58964034e-03 1.64585989e-04 9.99971185e-01 -2.78724188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 818.6765599949999 meters 0.01479347161724338 Centerline is valid? [True, True] Translation: X:-164.19, Y:-260.45, Z:-2.79 [[-6.94155243e-01 -7.19809566e-01 4.76310477e-03 -1.64192960e+02] [ 7.19793820e-01 -6.94171574e-01 -4.76272668e-03 -2.60452867e+02] [ 6.73466816e-03 1.22381679e-04 9.99977315e-01 -2.78694173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 818.7065599949999 meters 0.013647651106114553 Centerline is valid? [True, True] Translation: X:-164.67, Y:-260.94, Z:-1.80 [[-7.65523836e-01 6.43392063e-01 4.46213316e-03 -1.64668294e+02] [ 6.43380428e-01 7.65536835e-01 -3.87039233e-03 -2.60937104e+02] [-5.90610700e-03 -9.20284368e-05 -9.99982555e-01 -1.79818185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 818.736559995 meters 0.013026369873737929 Centerline is valid? [True, True] Translation: X:-164.21, Y:-260.43, Z:-2.79 [[-7.00667213e-01 -7.13478832e-01 3.66241320e-03 -1.64212932e+02] [ 7.13469383e-01 -7.00676784e-01 -3.67207203e-03 -2.60430042e+02] [ 5.18611356e-03 4.01192139e-05 9.99986551e-01 -2.78574055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 818.766559995 meters 0.012510921403345521 Centerline is valid? [True, True] Translation: X:-164.70, Y:-260.92, Z:-1.80 [[-7.63947370e-01 6.45266805e-01 3.89432000e-03 -1.64696199e+02] [ 6.45258093e-01 7.63957294e-01 -3.35351056e-03 -2.60921204e+02] [-5.13900322e-03 -4.90640780e-05 -9.99986794e-01 -1.79909788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 818.7965599949999 meters 0.012019846274200672 Centerline is valid? [True, True] Translation: X:-164.24, Y:-260.40, Z:-2.78 [[-7.07796233e-01 -7.06408232e-01 3.44997495e-03 -1.64237871e+02] [ 7.06400045e-01 -7.07804641e-01 -3.40111564e-03 -2.60402245e+02] [ 4.84448437e-03 2.97656208e-05 9.99988265e-01 -2.78493764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 818.8265599949999 meters 0.011650000207499381 Centerline is valid? [True, True] Translation: X:-164.73, Y:-260.90, Z:-1.80 [[-7.60527336e-01 6.49295697e-01 3.64269205e-03 -1.64730204e+02] [ 6.49288227e-01 7.60536060e-01 -3.11438950e-03 -2.60904603e+02] [-4.79255836e-03 -3.42128634e-06 -9.99988516e-01 -1.80023239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 818.856559995 meters 0.011681247162507473 Centerline is valid? [True, True] Translation: X:-164.26, Y:-260.37, Z:-2.78 [[-7.15526469e-01 -6.98575644e-01 3.73392219e-03 -1.64264670e+02] [ 6.98566326e-01 -7.15536211e-01 -3.60824018e-03 -2.60371373e+02] [ 5.19238524e-03 2.66009510e-05 9.99986519e-01 -2.78431732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 818.886559995 meters 0.011707078064798251 Centerline is valid? [True, True] Translation: X:-164.76, Y:-260.88, Z:-1.80 [[-7.60768094e-01 6.49011822e-01 3.94496046e-03 -1.64760675e+02] [ 6.49003180e-01 7.60778322e-01 -3.34924937e-03 -2.60882130e+02] [-5.17494283e-03 1.22898291e-05 -9.99986610e-01 -1.79973802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 818.916559995 meters 0.011623967128600095 Centerline is valid? [True, True] Translation: X:-164.74, Y:-260.86, Z:-1.80 [[-8.04272142e-01 5.94241452e-01 4.83924585e-03 -1.64743262e+02] [ 5.94230838e-01 8.04286700e-01 -3.55168304e-03 -2.60859628e+02] [-6.00269837e-03 1.91093930e-05 -9.99981984e-01 -1.79881685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 818.9465599949999 meters 0.011626964620367407 Centerline is valid? [True, True] Translation: X:-164.72, Y:-260.84, Z:-1.80 [[-8.44802748e-01 5.35053036e-01 5.15426735e-03 -1.64723201e+02] [ 5.35043179e-01 8.44818471e-01 -3.24778193e-03 -2.60837048e+02] [-6.09215584e-03 1.40204907e-05 -9.99981443e-01 -1.79844966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 818.9765599949999 meters 0.011631687089903331 Centerline is valid? [True, True] Translation: X:-164.71, Y:-260.81, Z:-1.80 [[-8.81010794e-01 4.73061859e-01 5.69722658e-03 -1.64711667e+02] [ 4.73052032e-01 8.81029215e-01 -3.04922733e-03 -2.60809203e+02] [-6.46189621e-03 8.68241764e-06 -9.99979122e-01 -1.79784536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 819.006559995 meters 0.011605313403826152 Centerline is valid? [True, True] Translation: X:-164.37, Y:-260.20, Z:-2.79 [[-8.47830155e-01 -5.30230203e-01 6.32144862e-03 -1.64372882e+02] [ 5.30215906e-01 -8.47853719e-01 -3.89401954e-03 -2.60198834e+02] [ 7.42439050e-03 5.02654160e-05 9.99972438e-01 -2.78802455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 819.036559995 meters 0.011561954788001705 Centerline is valid? [True, True] Translation: X:-164.75, Y:-260.79, Z:-1.80 [[-8.83692994e-01 4.68016455e-01 6.87685785e-03 -1.64746800e+02] [ 4.68002233e-01 8.83719751e-01 -3.64846469e-03 -2.60787560e+02] [-7.78475662e-03 -5.73784999e-06 -9.99969698e-01 -1.79659736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 819.0665599949999 meters 0.011605026915043391 Centerline is valid? [True, True] Translation: X:-164.73, Y:-260.76, Z:-1.80 [[-9.14785063e-01 4.03871545e-01 7.48755350e-03 -1.64731388e+02] [ 4.03857938e-01 9.14815705e-01 -3.31534774e-03 -2.60762954e+02] [-8.18870615e-03 -8.92267644e-06 -9.99966472e-01 -1.79628153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 819.0965599949999 meters 0.011509972115055167 Centerline is valid? [True, True] Translation: X:-164.45, Y:-260.13, Z:-2.79 [[-8.84392521e-01 -4.66688665e-01 7.18052540e-03 -1.64450741e+02] [ 4.66673324e-01 -8.84421670e-01 -3.78404185e-03 -2.60131711e+02] [ 8.11658171e-03 4.38134182e-06 9.99967060e-01 -2.78857439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 819.126559995 meters 0.011524381556716227 Centerline is valid? [True, True] Translation: X:-164.77, Y:-260.74, Z:-1.80 [[-9.17047538e-01 3.98716895e-01 6.97496763e-03 -1.64772816e+02] [ 3.98705173e-01 9.17074063e-01 -3.05739994e-03 -2.60741879e+02] [-7.61559891e-03 -2.28254123e-05 -9.99971001e-01 -1.79574338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 819.156559995 meters 0.011606658513320359 Centerline is valid? [True, True] Translation: X:-164.49, Y:-260.12, Z:-2.79 [[-8.85115677e-01 -4.65326993e-01 6.40522405e-03 -1.64494933e+02] [ 4.65314794e-01 -8.85138853e-01 -3.36940467e-03 -2.60117391e+02] [ 7.23738762e-03 -1.86738527e-06 9.99973810e-01 -2.78874276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 819.1865599949999 meters 0.011590796990174863 Centerline is valid? [True, True] Translation: X:-164.81, Y:-260.72, Z:-1.80 [[-9.19289749e-01 3.93531412e-01 6.27579897e-03 -1.64814882e+02] [ 3.93521993e-01 9.19311170e-01 -2.72293670e-03 -2.60720123e+02] [-6.84097321e-03 -3.35028751e-05 -9.99976600e-01 -1.79534614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 819.2165599949999 meters 0.011689668428508097 Centerline is valid? [True, True] Translation: X:-164.55, Y:-260.10, Z:-2.79 [[-8.85699800e-01 -4.64225672e-01 5.51260020e-03 -1.64545990e+02] [ 4.64216625e-01 -8.85716955e-01 -2.89830472e-03 -2.60099623e+02] [ 6.22807092e-03 -7.98725583e-06 9.99980605e-01 -2.78899338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 819.246559995 meters 0.011966384449780198 Centerline is valid? [True, True] Translation: X:-164.86, Y:-260.70, Z:-1.80 [[-9.22285109e-01 3.86467843e-01 5.72575769e-03 -1.64857698e+02] [ 3.86460022e-01 9.22302881e-01 -2.45930296e-03 -2.60697045e+02] [-6.23132432e-03 -5.54020553e-05 -9.99980584e-01 -1.79518288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 819.276559995 meters 0.012109430182842332 Centerline is valid? [True, True] Translation: X:-164.59, Y:-260.09, Z:-2.79 [[-8.85537176e-01 -4.64537271e-01 5.38825694e-03 -1.64592097e+02] [ 4.64528969e-01 -8.85553568e-01 -2.77770518e-03 -2.60085178e+02] [ 6.06193774e-03 4.32402398e-05 9.99981625e-01 -2.78963376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 819.3065599949999 meters 0.012398719621977028 Centerline is valid? [True, True] Translation: X:-164.90, Y:-260.68, Z:-1.79 [[-9.24573840e-01 3.80958751e-01 5.80035624e-03 -1.64895527e+02] [ 3.80950776e-01 9.24592032e-01 -2.46598586e-03 -2.60678737e+02] [-6.30240205e-03 -7.03358048e-05 -9.99980137e-01 -1.79413279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 819.3365599949999 meters 0.012673112430697455 Centerline is valid? [True, True] Translation: X:-164.89, Y:-260.65, Z:-1.79 [[-9.49746503e-01 3.12972354e-01 5.46676117e-03 -1.64889048e+02] [ 3.12966721e-01 9.49762233e-01 -1.87930642e-03 -2.60648844e+02] [-5.78029425e-03 -7.39503819e-05 -9.99983291e-01 -1.79317807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 819.366559995 meters 0.01294925126871124 Centerline is valid? [True, True] Translation: X:-164.89, Y:-260.62, Z:-1.79 [[-9.69734464e-01 2.44099150e-01 5.53847087e-03 -1.64889628e+02] [ 2.44094710e-01 9.69750277e-01 -1.47431794e-03 -2.60618430e+02] [-5.73081342e-03 -7.77854705e-05 -9.99983576e-01 -1.79258547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 819.396559995 meters 0.012984467567284504 Centerline is valid? [True, True] Translation: X:-164.89, Y:-260.59, Z:-1.79 [[-9.84720099e-01 1.74054890e-01 5.58760431e-03 -1.64888112e+02] [ 1.74051621e-01 9.84735949e-01 -1.06970885e-03 -2.60589593e+02] [-5.68850289e-03 -8.08322095e-05 -9.99983817e-01 -1.79205301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 819.4265599949999 meters 0.01350260171305433 Centerline is valid? [True, True] Translation: X:-164.88, Y:-260.56, Z:-1.79 [[-9.94662431e-01 1.02972075e-01 6.58784304e-03 -1.64875107e+02] [ 1.02969157e-01 9.94684242e-01 -7.81482244e-04 -2.60561862e+02] [-6.63329451e-03 -9.89663876e-05 -9.99977995e-01 -1.79017793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 819.4565599949999 meters 0.01314843265075263 Centerline is valid? [True, True] Translation: X:-164.88, Y:-260.53, Z:-1.79 [[-9.99462484e-01 3.20020255e-02 7.11429003e-03 -1.64878032e+02] [ 3.20004562e-02 9.99487798e-01 -3.34334791e-04 -2.60534846e+02] [-7.12134547e-03 -1.06494554e-04 -9.99974637e-01 -1.78977772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 819.486559995 meters 0.013221978242183817 Centerline is valid? [True, True] Translation: X:-164.88, Y:-260.51, Z:-1.79 [[-9.99212104e-01 -3.88967300e-02 7.88767822e-03 -1.64882903e+02] [-3.88964357e-02 9.99243229e-01 1.90758292e-04 -2.60507204e+02] [-7.88912893e-03 -1.16194575e-04 -9.99968874e-01 -1.78888584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 819.516559995 meters 0.013220015527774825 Centerline is valid? [True, True] Translation: X:-164.89, Y:-259.86, Z:-2.80 [[-9.98303354e-01 -5.76229144e-02 8.36735421e-03 -1.64894093e+02] [ 5.76221923e-02 -9.98338407e-01 -3.27550887e-04 -2.59855738e+02] [ 8.37232551e-03 1.55150145e-04 9.99964940e-01 -2.79622970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 819.5465599949999 meters 0.013423866897526915 Centerline is valid? [True, True] Translation: X:-164.96, Y:-260.51, Z:-1.79 [[-9.99059481e-01 -4.25801870e-02 8.19029769e-03 -1.64956962e+02] [-4.25796509e-02 9.99093047e-01 2.39900115e-04 -2.60511675e+02] [-8.19308446e-03 -1.09065532e-04 -9.99966430e-01 -1.78740717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 819.5765599949999 meters 0.012999884963673295 Centerline is valid? [True, True] Translation: X:-164.97, Y:-260.49, Z:-1.79 [[-9.93639221e-01 -1.12360925e-01 7.49144730e-03 -1.64970647e+02] [-1.12358423e-01 9.93667457e-01 7.55384928e-04 -2.60487016e+02] [-7.52888313e-03 -9.11471114e-05 -9.99971654e-01 -1.78805350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 819.606559995 meters 0.012819075560168376 Centerline is valid? [True, True] Translation: X:-164.98, Y:-260.46, Z:-1.79 [[-9.83282262e-01 -1.81961187e-01 6.79109534e-03 -1.64976216e+02] [-1.81957380e-01 9.83305711e-01 1.17939997e-03 -2.60461644e+02] [-6.89232785e-03 -7.60068505e-05 -9.99976245e-01 -1.78810606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 819.636559995 meters 0.012580800792819941 Centerline is valid? [True, True] Translation: X:-165.01, Y:-260.44, Z:-1.79 [[-9.68487414e-01 -2.48994318e-01 5.82748287e-03 -1.65007883e+02] [-2.48990115e-01 9.68504944e-01 1.44756468e-03 -2.60443884e+02] [-6.00438135e-03 -4.90374587e-05 -9.99981972e-01 -1.78814953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 819.666559995 meters 0.012262943220023565 Centerline is valid? [True, True] Translation: X:-165.04, Y:-260.43, Z:-1.79 [[-9.48563254e-01 -3.16545254e-01 5.18225655e-03 -1.65036037e+02] [-3.16540724e-01 9.48577409e-01 1.69386382e-03 -2.60425717e+02] [-5.45195604e-03 -3.36582590e-05 -9.99985138e-01 -1.78819220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 819.6965599949999 meters 0.01208251425191862 Centerline is valid? [True, True] Translation: X:-165.09, Y:-260.42, Z:-1.79 [[-9.23428459e-01 -3.83742958e-01 4.60688940e-03 -1.65089858e+02] [-3.83738297e-01 9.23439950e-01 1.89147669e-03 -2.60418797e+02] [-4.98002658e-03 -2.11964840e-05 -9.99987599e-01 -1.78840009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 819.7265599949999 meters 0.011963189050372412 Centerline is valid? [True, True] Translation: X:-165.15, Y:-260.42, Z:-1.79 [[-8.94520598e-01 -4.47010256e-01 3.83821519e-03 -1.65153770e+02] [-4.47006136e-01 8.94528832e-01 1.91915367e-03 -2.60423128e+02] [-4.29127553e-03 1.01675125e-06 -9.99990793e-01 -1.78874323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 819.756559995 meters 0.012021456487094736 Centerline is valid? [True, True] Translation: X:-165.23, Y:-260.43, Z:-1.79 [[-8.59893724e-01 -5.10457758e-01 3.95744589e-03 -1.65228451e+02] [-5.10452292e-01 8.59902830e-01 2.36230017e-03 -2.60434890e+02] [-4.60887337e-03 1.12397651e-05 -9.99989379e-01 -1.78835458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 819.786559995 meters 0.012070468979182914 Centerline is valid? [True, True] Translation: X:-165.31, Y:-260.45, Z:-1.79 [[-8.20171945e-01 -5.72104867e-01 3.74195574e-03 -1.65307444e+02] [-5.72098809e-01 8.20180480e-01 2.63302061e-03 -2.60454455e+02] [-4.57544296e-03 1.87612118e-05 -9.99989533e-01 -1.78855052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 819.8165599949999 meters 0.012181605808313435 Centerline is valid? [True, True] Translation: X:-165.39, Y:-260.49, Z:-1.79 [[-7.76071036e-01 -6.30635491e-01 3.55313028e-03 -1.65394929e+02] [-6.30628717e-01 7.76079169e-01 2.92324807e-03 -2.60486122e+02] [-4.60101438e-03 2.79421644e-05 -9.99989415e-01 -1.78827403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 819.8465599949999 meters 0.012327460129103573 Centerline is valid? [True, True] Translation: X:-165.48, Y:-260.52, Z:-1.79 [[-7.26565811e-01 -6.87088518e-01 3.38984953e-03 -1.65481099e+02] [-6.87080840e-01 7.26573718e-01 3.24836944e-03 -2.60524756e+02] [-4.69489292e-03 3.10535086e-05 -9.99988979e-01 -1.78802953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 819.876559995 meters 0.012427832532766744 Centerline is valid? [True, True] Translation: X:-165.57, Y:-260.58, Z:-1.79 [[-6.72656474e-01 -7.39947248e-01 3.36729758e-03 -1.65570754e+02] [-7.39937716e-01 6.72664901e-01 3.75589695e-03 -2.60577082e+02] [-5.04422850e-03 3.48379187e-05 -9.99987277e-01 -1.78776003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 819.906559995 meters 0.012524264987874486 Centerline is valid? [True, True] Translation: X:-165.65, Y:-260.63, Z:-1.79 [[-6.15653936e-01 -7.88007882e-01 3.71608655e-03 -1.65652788e+02] [-7.87993014e-01 6.15665149e-01 4.84099095e-03 -2.60633308e+02] [-6.10260400e-03 5.21248912e-05 -9.99981378e-01 -1.78766797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 819.9365599949999 meters 0.012710771767482611 Centerline is valid? [True, True] Translation: X:-165.74, Y:-260.70, Z:-1.79 [[-5.54306986e-01 -8.32305100e-01 3.46203996e-03 -1.65736854e+02] [-8.32288208e-01 5.54317795e-01 5.30303412e-03 -2.60704873e+02] [-6.33281270e-03 5.80938320e-05 -9.99979946e-01 -1.78755557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 819.9665599949999 meters 0.012953010477263662 Centerline is valid? [True, True] Translation: X:-165.82, Y:-260.78, Z:-1.79 [[-4.90011581e-01 -8.71710157e-01 3.17053585e-03 -1.65816684e+02] [-8.71691012e-01 4.90021833e-01 5.77774908e-03 -2.60783994e+02] [-6.59015434e-03 6.74363581e-05 -9.99978283e-01 -1.78775380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 819.996559995 meters 0.013296169877906102 Centerline is valid? [True, True] Translation: X:-165.89, Y:-260.87, Z:-1.79 [[-4.22587762e-01 -9.06317970e-01 2.70569173e-03 -1.65890238e+02] [-9.06298282e-01 4.22596417e-01 5.97431709e-03 -2.60868698e+02] [-6.55804657e-03 7.25095179e-05 -9.99978493e-01 -1.78753611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 820.026559995 meters 0.013679517050748003 Centerline is valid? [True, True] Translation: X:-165.96, Y:-260.96, Z:-1.79 [[-3.53106308e-01 -9.35581142e-01 1.96541687e-03 -1.65960570e+02] [-9.35565506e-01 3.53111771e-01 5.40929758e-03 -2.60962839e+02] [-5.75484864e-03 7.12808720e-05 -9.99983438e-01 -1.78728593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 820.0565599949999 meters 0.013779639449203424 Centerline is valid? [True, True] Translation: X:-166.02, Y:-261.06, Z:-1.79 [[-2.81095442e-01 -9.59678760e-01 1.42502660e-03 -1.66023502e+02] [-9.59665126e-01 2.81099045e-01 5.11600950e-03 -2.61064217e+02] [-5.31029927e-03 7.05386213e-05 -9.99985898e-01 -1.78761347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 820.0865599949999 meters 0.013991347802163798 Centerline is valid? [True, True] Translation: X:-166.08, Y:-261.17, Z:-1.79 [[-2.07351862e-01 -9.78265943e-01 9.74909985e-04 -1.66077501e+02] [-9.78253460e-01 2.07354141e-01 4.94249829e-03 -2.61168919e+02] [-5.03722937e-03 7.11271549e-05 -9.99987311e-01 -1.78814441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 820.116559995 meters 0.014780145010254266 Centerline is valid? [True, True] Translation: X:-166.12, Y:-261.28, Z:-1.79 [[-1.32361175e-01 -9.91201425e-01 5.05347216e-04 -1.66121953e+02] [-9.91192218e-01 1.32362124e-01 4.27265762e-03 -2.61280656e+02] [-4.30195315e-03 6.46377565e-05 -9.99990745e-01 -1.78833479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 820.146559995 meters 0.014780145010254266 Centerline is valid? [True, True] Translation: X:-166.16, Y:-261.40, Z:-1.79 [[-5.56540698e-02 -9.98450096e-01 1.74884425e-04 -1.66159454e+02] [-9.98440843e-01 5.56543070e-02 4.29887507e-03 -2.61396526e+02] [-4.30194530e-03 6.46381402e-05 -9.99990745e-01 -1.78833519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 820.1765599949999 meters 0.014633420709381973 Centerline is valid? [True, True] Translation: X:-166.19, Y:-261.51, Z:-1.79 [[ 2.01255685e-02 -9.99797456e-01 -9.17432123e-05 -1.66188779e+02] [-9.99794271e-01 -2.01257360e-02 2.52393755e-03 -2.61512997e+02] [-2.52527274e-03 4.09286601e-05 -9.99996811e-01 -1.79013659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 820.2065599949999 meters 0.014682902184000752 Centerline is valid? [True, True] Translation: X:-166.21, Y:-261.64, Z:-1.79 [[ 9.65563388e-02 -9.95327508e-01 -1.59674846e-04 -1.66208532e+02] [-9.95326519e-01 -9.65564680e-02 1.40334851e-03 -2.61635329e+02] [-1.41220902e-03 2.34264147e-05 -9.99999003e-01 -1.79090021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 820.236559995 meters 0.014935938206125078 Centerline is valid? [True, True] Translation: X:-166.89, Y:-261.83, Z:-2.79 [[ 6.18934195e-02 9.98082754e-01 1.46128536e-04 -1.66889334e+02] [-9.98082667e-01 6.18934774e-02 -4.32480409e-04 -2.61825481e+02] [-4.40695640e-04 -1.19080668e-04 9.99999896e-01 -2.79250132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 820.266559995 meters 0.01494283339198807 Centerline is valid? [True, True] Translation: X:-166.18, Y:-261.92, Z:-1.79 [[ 1.06956598e-01 -9.94263674e-01 1.81373815e-04 -1.66183130e+02] [-9.94262586e-01 -1.06956749e-01 -1.47109679e-03 -2.61920869e+02] [ 1.48205725e-03 -2.29896896e-05 -9.99998902e-01 -1.79230371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 820.2965599949999 meters 0.015054261299417051 Centerline is valid? [True, True] Translation: X:-166.19, Y:-262.04, Z:-1.79 [[ 1.83952524e-01 -9.82935069e-01 3.45771569e-04 -1.66193941e+02] [-9.82933585e-01 -1.83952847e-01 -1.70825664e-03 -2.62039742e+02] [ 1.74271102e-03 -2.56323676e-05 -9.99998481e-01 -1.79213368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 820.3265599949999 meters 0.01457963512967843 Centerline is valid? [True, True] Translation: X:-166.20, Y:-262.16, Z:-1.79 [[ 2.60625248e-01 -9.65439947e-01 4.35327464e-04 -1.66198280e+02] [-9.65438730e-01 -2.60625611e-01 -1.53310571e-03 -2.62161812e+02] [ 1.59357898e-03 -2.07159378e-05 -9.99998730e-01 -1.79139316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 820.356559995 meters 0.014301762135110642 Centerline is valid? [True, True] Translation: X:-166.19, Y:-262.28, Z:-1.79 [[ 3.34744077e-01 -9.42308980e-01 4.34828996e-04 -1.66191419e+02] [-9.42308243e-01 -3.34744359e-01 -1.17853012e-03 -2.62281441e+02] [ 1.25609607e-03 -1.52369686e-05 -9.99999211e-01 -1.79089273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 820.386559995 meters 0.014091906860480454 Centerline is valid? [True, True] Translation: X:-166.18, Y:-262.40, Z:-1.79 [[ 4.07510534e-01 -9.13200400e-01 4.41642528e-04 -1.66176282e+02] [-9.13199892e-01 -4.07510773e-01 -9.62418793e-04 -2.62400504e+02] [ 1.05885531e-03 -1.11121125e-05 -9.99999439e-01 -1.79013103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 820.416559995 meters 0.014043227986344227 Centerline is valid? [True, True] Translation: X:-166.15, Y:-262.52, Z:-1.79 [[ 4.76838808e-01 -8.78990645e-01 4.43644933e-04 -1.66150953e+02] [-8.78990282e-01 -4.76839014e-01 -7.99122767e-04 -2.62516320e+02] [ 9.13968648e-04 -8.90683738e-06 -9.99999582e-01 -1.78976213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 820.4465599949999 meters 0.014242838179118431 Centerline is valid? [True, True] Translation: X:-166.12, Y:-262.63, Z:-1.79 [[ 5.43039024e-01 -8.39707403e-01 3.10531631e-04 -1.66117172e+02] [-8.39707271e-01 -5.43039113e-01 -4.70898611e-04 -2.62627757e+02] [ 5.64047870e-04 -5.03934556e-06 -9.99999841e-01 -1.78971763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 820.4765599949999 meters 0.01392858781758105 Centerline is valid? [True, True] Translation: X:-166.08, Y:-262.73, Z:-1.79 [[ 6.06005780e-01 -7.95460071e-01 5.19950303e-04 -1.66079911e+02] [-7.95459789e-01 -6.06006003e-01 -6.70377125e-04 -2.62731955e+02] [ 8.48351239e-04 -7.34714584e-06 -9.99999640e-01 -1.78910397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 820.506559995 meters 0.01379962321008975 Centerline is valid? [True, True] Translation: X:-166.03, Y:-262.83, Z:-1.79 [[ 6.65515440e-01 -7.46384078e-01 -8.48232884e-05 -1.66034486e+02] [-7.46384073e-01 -6.65515445e-01 9.29001678e-05 -2.62834155e+02] [-1.25790416e-04 1.48425544e-06 -9.99999992e-01 -1.78818233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 820.536559995 meters 0.013790809119706211 Centerline is valid? [True, True] Translation: X:-165.98, Y:-262.93, Z:-1.79 [[ 7.20696393e-01 -6.93250823e-01 -6.95978485e-05 -1.65984158e+02] [-6.93250820e-01 -7.20696397e-01 6.53068345e-05 -2.62927325e+02] [-9.54329364e-05 1.18236546e-06 -9.99999996e-01 -1.78786720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 820.5665599949999 meters 0.01352629609777995 Centerline is valid? [True, True] Translation: X:-165.99, Y:-262.94, Z:-1.79 [[ 7.73524351e-01 -6.33766429e-01 -4.39307819e-04 -1.65987625e+02] [-6.33766329e-01 -7.73524476e-01 3.54670240e-04 -2.62939684e+02] [-5.64593442e-04 4.07243692e-06 -9.99999841e-01 -1.78763089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 820.5965599949999 meters 0.013470474707191649 Centerline is valid? [True, True] Translation: X:-165.99, Y:-262.95, Z:-1.79 [[ 8.21403227e-01 -5.70347111e-01 -9.55323582e-04 -1.65989740e+02] [-5.70346734e-01 -8.21403782e-01 6.55472655e-04 -2.62950623e+02] [-1.15855334e-03 6.45833109e-06 -9.99999329e-01 -1.78756834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 820.626559995 meters 0.013355217750964158 Centerline is valid? [True, True] Translation: X:-165.99, Y:-262.96, Z:-1.79 [[ 8.64095017e-01 -5.03325862e-01 -1.69660017e-03 -1.65990398e+02] [-5.03324911e-01 -8.64096682e-01 9.78793153e-04 -2.62961921e+02] [-1.95867849e-03 8.17084329e-06 -9.99998082e-01 -1.78734175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 820.656559995 meters 0.013347989852749988 Centerline is valid? [True, True] Translation: X:-165.99, Y:-262.97, Z:-1.79 [[ 9.02503315e-01 -4.30673240e-01 -2.88562622e-03 -1.65991745e+02] [-4.30671040e-01 -9.02507928e-01 1.37662810e-03 -2.62973469e+02] [-3.19717743e-03 3.44218218e-07 -9.99994889e-01 -1.78615168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 820.6865599949999 meters 0.013290415813155999 Centerline is valid? [True, True] Translation: X:-165.99, Y:-262.99, Z:-1.79 [[ 9.34294681e-01 -3.56481431e-01 -3.79967610e-03 -1.65990903e+02] [-3.56478441e-01 -9.34302408e-01 1.46025053e-03 -2.62986090e+02] [-4.07059873e-03 -9.80169148e-06 -9.99991715e-01 -1.78562817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 820.7165599949999 meters 0.013452781450456867 Centerline is valid? [True, True] Translation: X:-165.99, Y:-263.00, Z:-1.79 [[ 9.60018995e-01 -2.79897259e-01 -4.58856920e-03 -1.65989331e+02] [-2.79893942e-01 -9.60029960e-01 1.36276713e-03 -2.62998573e+02] [-4.78659869e-03 -2.39696048e-05 -9.99988544e-01 -1.78507573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 820.746559995 meters 0.014217390138144997 Centerline is valid? [True, True] Translation: X:-165.99, Y:-263.01, Z:-1.78 [[ 9.80024731e-01 -1.98804322e-01 -5.32610011e-03 -1.65987700e+02] [-1.98801075e-01 -9.80039203e-01 1.13768551e-03 -2.63012049e+02] [-5.44596370e-03 -5.61255140e-05 -9.99985169e-01 -1.78346921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 820.776559995 meters 0.014216199029646775 Centerline is valid? [True, True] Translation: X:-165.98, Y:-263.02, Z:-1.78 [[ 9.92825867e-01 -1.19430102e-01 -5.76623358e-03 -1.65983092e+02] [-1.19427664e-01 -9.92842609e-01 7.66461056e-04 -2.63021248e+02] [-5.81650092e-03 -7.23145549e-05 -9.99983082e-01 -1.78400944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 820.8065599949999 meters 0.014844688623116848 Centerline is valid? [True, True] Translation: X:-165.98, Y:-263.03, Z:-1.78 [[ 9.99255630e-01 -3.80479058e-02 -6.36737028e-03 -1.65981804e+02] [-3.80464937e-02 -9.99275911e-01 3.42794077e-04 -2.63029454e+02] [-6.37580234e-03 -1.00282798e-04 -9.99979669e-01 -1.78434759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 820.8365599949999 meters 0.01501026112814223 Centerline is valid? [True, True] Translation: X:-165.98, Y:-263.04, Z:-1.78 [[ 9.99114047e-01 4.16229693e-02 -6.21690994e-03 -1.65979179e+02] [ 4.16228220e-02 -9.99133383e-01 -1.53133976e-04 -2.63037547e+02] [-6.21789615e-03 -1.05767030e-04 -9.99980663e-01 -1.78488417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 820.866559995 meters 0.015327680567059541 Centerline is valid? [True, True] Translation: X:-165.98, Y:-263.04, Z:-1.79 [[ 9.92682852e-01 1.20619282e-01 -5.63420248e-03 -1.65977368e+02] [ 1.20617918e-01 -9.92698836e-01 -5.82507988e-04 -2.63044919e+02] [-5.66332794e-03 -1.01340083e-04 -9.99983958e-01 -1.78533409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 820.896559995 meters 0.015477807276218846 Centerline is valid? [True, True] Translation: X:-165.97, Y:-263.05, Z:-1.79 [[ 9.80042797e-01 1.98723897e-01 -4.99295223e-03 -1.65974315e+02] [ 1.98721810e-01 -9.80055511e-01 -9.15799158e-04 -2.63052200e+02] [-5.07536153e-03 -9.46861346e-05 -9.99987116e-01 -1.78601603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 820.9265599949999 meters 0.016075121873451503 Centerline is valid? [True, True] Translation: X:-165.97, Y:-263.06, Z:-1.79 [[ 9.61107346e-01 2.76139070e-01 -4.45899630e-03 -1.65972027e+02] [ 2.76136543e-01 -9.61117686e-01 -1.18505213e-03 -2.63059010e+02] [-4.61285939e-03 -9.23295124e-05 -9.99989357e-01 -1.78660498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 820.9565599949999 meters 0.016479101318135073 Centerline is valid? [True, True] Translation: X:-165.97, Y:-263.06, Z:-1.79 [[ 9.36385544e-01 3.50935412e-01 -5.14292504e-03 -1.65969388e+02] [ 3.50930771e-01 -9.36399660e-01 -1.80843995e-03 -2.63063975e+02] [-5.45047888e-03 -1.11413625e-04 -9.99985140e-01 -1.78616851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 820.986559995 meters 0.015954479031884662 Centerline is valid? [True, True] Translation: X:-165.97, Y:-263.07, Z:-1.79 [[ 9.06113981e-01 4.22989612e-01 -6.10259661e-03 -1.65966324e+02] [ 4.22981019e-01 -9.06134521e-01 -2.69964304e-03 -2.63066537e+02] [-6.67169442e-03 -1.35098234e-04 -9.99977735e-01 -1.78573120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 821.016559995 meters 0.015382129210915587 Centerline is valid? [True, True] Translation: X:-165.96, Y:-263.07, Z:-1.79 [[ 8.70563083e-01 4.92012335e-01 -6.61665967e-03 -1.65961498e+02] [ 4.91999402e-01 -8.70588215e-01 -3.57051447e-03 -2.63071466e+02] [-7.51712309e-03 -1.47034510e-04 -9.99971735e-01 -1.78573909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 821.0465599949999 meters 0.015410355268359335 Centerline is valid? [True, True] Translation: X:-165.96, Y:-263.08, Z:-1.79 [[ 8.29859371e-01 5.57933830e-01 -6.57770466e-03 -1.65957730e+02] [ 5.57917691e-01 -8.29885426e-01 -4.24621228e-03 -2.63077459e+02] [-7.82784671e-03 -1.46058746e-04 -9.99969351e-01 -1.78509126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 821.0765599949999 meters 0.015108437723520564 Centerline is valid? [True, True] Translation: X:-165.96, Y:-263.08, Z:-1.78 [[ 7.85392589e-01 6.18958160e-01 -7.01977291e-03 -1.65955714e+02] [ 6.18935016e-01 -7.85423947e-01 -5.35429571e-03 -2.63079120e+02] [-8.82758277e-03 -1.39559091e-04 -9.99961027e-01 -1.78428542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 821.106559995 meters 0.014716783712109131 Centerline is valid? [True, True] Translation: X:-165.95, Y:-263.08, Z:-1.78 [[ 7.35899104e-01 6.77059971e-01 -6.50420274e-03 -1.65953914e+02] [ 6.77034959e-01 -7.35927838e-01 -5.82084623e-03 -2.63079160e+02] [-8.72768583e-03 -1.20017108e-04 -9.99961906e-01 -1.78438164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 821.136559995 meters 0.013683953354328857 Centerline is valid? [True, True] Translation: X:-165.95, Y:-263.08, Z:-1.79 [[ 6.83970730e-01 7.29484727e-01 -6.00608237e-03 -1.65953369e+02] [ 7.29457624e-01 -6.83997096e-01 -6.28877672e-03 -2.63079397e+02] [-8.69570947e-03 -7.98433676e-05 -9.99962189e-01 -1.78545547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 821.166559995 meters 0.013508459863636618 Centerline is valid? [True, True] Translation: X:-165.95, Y:-263.08, Z:-1.79 [[ 6.26715405e-01 7.79229177e-01 -5.44903276e-03 -1.65951355e+02] [ 7.79200526e-01 -6.26739090e-01 -6.68232849e-03 -2.63083038e+02] [-8.62218716e-03 -5.79709868e-05 -9.99962827e-01 -1.78539922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 821.1965599949999 meters 0.013201147505782475 Centerline is valid? [True, True] Translation: X:-165.95, Y:-263.09, Z:-1.79 [[ 5.66676581e-01 8.23928006e-01 -4.50495588e-03 -1.65947983e+02] [ 8.23902327e-01 -5.66694487e-01 -6.50492403e-03 -2.63085728e+02] [-7.91252274e-03 -2.54555284e-05 -9.99968695e-01 -1.78657493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 821.2265599949999 meters 0.013177761367753726 Centerline is valid? [True, True] Translation: X:-165.94, Y:-263.09, Z:-1.79 [[ 5.00522478e-01 8.65715917e-01 -3.63335068e-03 -1.65940327e+02] [ 8.65693431e-01 -5.00535664e-01 -6.23952725e-03 -2.63091116e+02] [-7.22027965e-03 -2.23441757e-05 -9.99973933e-01 -1.78701470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 821.256559995 meters 0.01329985861528751 Centerline is valid? [True, True] Translation: X:-165.93, Y:-263.10, Z:-1.79 [[ 4.31297827e-01 9.02204155e-01 -3.13795493e-03 -1.65933436e+02] [ 9.02180638e-01 -4.31309242e-01 -6.51412556e-03 -2.63096393e+02] [-7.23050011e-03 -2.14739823e-05 -9.99973859e-01 -1.78579657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 821.286559995 meters 0.013228146389847895 Centerline is valid? [True, True] Translation: X:-165.93, Y:-263.10, Z:-1.79 [[ 3.59527547e-01 9.33130617e-01 -2.68211042e-03 -1.65927321e+02] [ 9.33105076e-01 -3.59537551e-01 -6.90417622e-03 -2.63100210e+02] [-7.40681763e-03 -2.04493092e-05 -9.99972569e-01 -1.78606658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 821.3165599949999 meters 0.013230473534667105 Centerline is valid? [True, True] Translation: X:-165.92, Y:-263.10, Z:-1.79 [[ 2.86942657e-01 9.57944264e-01 -2.58827553e-03 -1.65922188e+02] [ 9.57905603e-01 -2.86954330e-01 -8.60627359e-03 -2.63103165e+02] [-8.98704729e-03 -9.81662507e-06 -9.99959616e-01 -1.78508279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 821.3465599949999 meters 0.013321802300254842 Centerline is valid? [True, True] Translation: X:-165.92, Y:-263.11, Z:-1.78 [[ 2.13455233e-01 9.76950755e-01 -2.02128895e-03 -1.65919868e+02] [ 9.76906371e-01 -2.13464802e-01 -9.31239806e-03 -2.63106083e+02] [-9.52922836e-03 1.31700425e-05 -9.99954596e-01 -1.78424472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 821.376559995 meters 0.013434615240353323 Centerline is valid? [True, True] Translation: X:-165.92, Y:-263.11, Z:-1.78 [[ 1.37661090e-01 9.90478579e-01 -1.26830709e-03 -1.65915925e+02] [ 9.90434764e-01 -1.37666930e-01 -9.31639053e-03 -2.63108280e+02] [-9.40228920e-03 2.63290423e-05 -9.99955797e-01 -1.78432019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 821.406559995 meters 0.013445066074510693 Centerline is valid? [True, True] Translation: X:-165.91, Y:-263.11, Z:-1.78 [[ 6.08149404e-02 9.98148899e-01 -5.64639700e-04 -1.65912236e+02] [ 9.98099674e-01 -6.08175489e-02 -9.91299776e-03 -2.63110607e+02] [-9.92898780e-03 3.92916671e-05 -9.99950706e-01 -1.78406020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 821.4365599949999 meters 0.013605454443151593 Centerline is valid? [True, True] Translation: X:-165.91, Y:-263.11, Z:-1.78 [[-1.65411277e-02 9.99863165e-01 2.07505586e-04 -1.65907912e+02] [ 9.99816687e-01 1.65423596e-02 -9.64067199e-03 -2.63113059e+02] [-9.64278544e-03 4.79999609e-05 -9.99953506e-01 -1.78409472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 821.4665599949999 meters 0.013583025503113537 Centerline is valid? [True, True] Translation: X:-165.90, Y:-263.11, Z:-1.78 [[-9.35450809e-02 9.95614558e-01 9.84358542e-04 -1.65897225e+02] [ 9.95566169e-01 9.35502395e-02 -9.81606780e-03 -2.63113717e+02] [-9.86510699e-03 6.17492063e-05 -9.99951337e-01 -1.78453743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 821.496559995 meters 0.013769300443031447 Centerline is valid? [True, True] Translation: X:-165.89, Y:-263.11, Z:-1.78 [[-1.71248509e-01 9.85226204e-01 1.80985054e-03 -1.65888960e+02] [ 9.85175070e-01 1.71258060e-01 -1.00378663e-02 -2.63114889e+02] [-1.01995204e-02 6.40499944e-05 -9.99947982e-01 -1.78369528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 821.526559995 meters 0.013595340909117307 Centerline is valid? [True, True] Translation: X:-165.88, Y:-263.11, Z:-1.78 [[-2.48316420e-01 9.68675668e-01 2.53103385e-03 -1.65879546e+02] [ 9.68627718e-01 2.48329312e-01 -9.63833100e-03 -2.63114336e+02] [-9.96494661e-03 5.82736928e-05 -9.99950347e-01 -1.78490892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 821.5565599949999 meters 0.013451100321562845 Centerline is valid? [True, True] Translation: X:-165.87, Y:-263.11, Z:-1.79 [[-3.23943693e-01 9.46071060e-01 3.16767556e-03 -1.65871984e+02] [ 9.46027347e-01 3.23959176e-01 -9.09454919e-03 -2.63114120e+02] [-9.63028735e-03 5.05858526e-05 -9.99953627e-01 -1.78585006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 821.5865599949999 meters 0.013425691931948727 Centerline is valid? [True, True] Translation: X:-165.86, Y:-263.11, Z:-1.79 [[-3.97152298e-01 9.17744695e-01 3.83758301e-03 -1.65863022e+02] [ 9.17703036e-01 3.97170836e-01 -8.74449531e-03 -2.63112120e+02] [-9.54939023e-03 4.88651676e-05 -9.99954402e-01 -1.78684221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 821.616559995 meters 0.013259014187391276 Centerline is valid? [True, True] Translation: X:-165.85, Y:-263.11, Z:-1.79 [[-4.68977977e-01 8.83200866e-01 3.98589186e-03 -1.65853123e+02] [ 8.83169552e-01 4.68994914e-01 -7.43723064e-03 -2.63110021e+02] [-8.43793156e-03 3.23209475e-05 -9.99964400e-01 -1.78761931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 821.646559995 meters 0.013166305719809283 Centerline is valid? [True, True] Translation: X:-165.84, Y:-263.11, Z:-1.79 [[-5.37587479e-01 8.43197247e-01 4.25497752e-03 -1.65843693e+02] [ 8.43171158e-01 5.37604318e-01 -6.63299277e-03 -2.63105017e+02] [-7.88041553e-03 2.18604622e-05 -9.99968949e-01 -1.78818206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 821.6765599949999 meters 0.013091426162061359 Centerline is valid? [True, True] Translation: X:-165.83, Y:-263.10, Z:-1.79 [[-6.03895188e-01 7.97050597e-01 4.57691156e-03 -1.65833706e+02] [ 7.97027738e-01 6.03912532e-01 -6.03640329e-03 -2.63099838e+02] [-7.57537310e-03 2.57056821e-06 -9.99971307e-01 -1.78763878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 821.7065599949999 meters 0.013147584604951145 Centerline is valid? [True, True] Translation: X:-165.83, Y:-263.09, Z:-1.79 [[-6.65450434e-01 7.46422969e-01 5.33591482e-03 -1.65827092e+02] [ 7.46398879e-01 6.65471826e-01 -5.99676377e-03 -2.63094733e+02] [-8.02702320e-03 -7.82821290e-06 -9.99967783e-01 -1.78775241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 821.736559995 meters 0.01315564530702955 Centerline is valid? [True, True] Translation: X:-165.82, Y:-263.09, Z:-1.79 [[-7.22740260e-01 6.91094797e-01 5.87351491e-03 -1.65819351e+02] [ 6.91071769e-01 7.22764126e-01 -5.64168598e-03 -2.63086666e+02] [-8.14410570e-03 -1.84532574e-05 -9.99966836e-01 -1.78782327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 821.766559995 meters 0.013275067890585402 Centerline is valid? [True, True] Translation: X:-165.36, Y:-262.62, Z:-2.80 [[-6.69259956e-01 -7.43000009e-01 6.48832432e-03 -1.65364135e+02] [ 7.42966678e-01 -6.69291398e-01 -7.03843203e-03 -2.62615167e+02] [ 9.57213471e-03 1.10068058e-04 9.99954180e-01 -2.79668188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 821.7965599949999 meters 0.013439359723696614 Centerline is valid? [True, True] Translation: X:-165.38, Y:-262.60, Z:-2.80 [[-6.68610199e-01 -7.43583748e-01 6.60387469e-03 -1.65383434e+02] [ 7.43548352e-01 -6.68642809e-01 -7.25545643e-03 -2.62595570e+02] [ 9.81067281e-03 5.92279757e-05 9.99951873e-01 -2.79684666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 821.8265599949999 meters 0.013688988646882914 Centerline is valid? [True, True] Translation: X:-165.40, Y:-262.58, Z:-2.80 [[-6.67514540e-01 -7.44568835e-01 6.44895916e-03 -1.65403407e+02] [ 7.44535171e-01 -6.67545687e-01 -7.08058074e-03 -2.62577995e+02] [ 9.57695463e-03 7.50863163e-05 9.99954137e-01 -2.79740811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 821.856559995 meters 0.013688187989512489 Centerline is valid? [True, True] Translation: X:-165.42, Y:-262.56, Z:-2.80 [[-6.67296185e-01 -7.44766406e-01 6.22911658e-03 -1.65422671e+02] [ 7.44735047e-01 -6.67325254e-01 -6.83490066e-03 -2.62558152e+02] [ 9.24725120e-03 7.81382964e-05 9.99957240e-01 -2.79701543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 821.886559995 meters 0.013703210034738648 Centerline is valid? [True, True] Translation: X:-165.44, Y:-262.54, Z:-2.80 [[-6.67297527e-01 -7.44766113e-01 6.11938361e-03 -1.65441386e+02] [ 7.44735888e-01 -6.67325580e-01 -6.71027134e-03 -2.62538787e+02] [ 9.08120392e-03 7.95771176e-05 9.99958762e-01 -2.79671199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 821.916559995 meters 0.01375358720623342 Centerline is valid? [True, True] Translation: X:-165.46, Y:-262.52, Z:-2.80 [[-6.67483175e-01 -7.44602037e-01 5.83245834e-03 -1.65460040e+02] [ 7.44574608e-01 -6.67508652e-01 -6.39162837e-03 -2.62519001e+02] [ 8.65243591e-03 7.63959818e-05 9.99962564e-01 -2.79675985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 821.9465599949999 meters 0.013755597670196839 Centerline is valid? [True, True] Translation: X:-165.48, Y:-262.50, Z:-2.80 [[-6.68008092e-01 -7.44130390e-01 5.92890628e-03 -1.65478205e+02] [ 7.44102063e-01 -6.68034398e-01 -6.49327517e-03 -2.62498505e+02] [ 8.79255672e-03 7.41510328e-05 9.99961342e-01 -2.79694475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 821.9765599949999 meters 0.01375007318266763 Centerline is valid? [True, True] Translation: X:-165.50, Y:-262.48, Z:-2.80 [[-6.68615112e-01 -7.43582434e-01 6.24461605e-03 -1.65495821e+02] [ 7.43551027e-01 -6.68644269e-01 -6.83457518e-03 -2.62478818e+02] [ 9.25749679e-03 7.34904299e-05 9.99957146e-01 -2.79749853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 822.006559995 meters 0.01367455472370778 Centerline is valid? [True, True] Translation: X:-165.51, Y:-262.46, Z:-2.80 [[-6.69014583e-01 -7.43223098e-01 6.23814524e-03 -1.65514077e+02] [ 7.43191780e-01 -6.69043662e-01 -6.82322880e-03 -2.62458085e+02] [ 9.24477278e-03 7.12986946e-05 9.99957264e-01 -2.79737163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 822.036559995 meters 0.01367455472370778 Centerline is valid? [True, True] Translation: X:-165.53, Y:-262.44, Z:-2.80 [[-6.69245774e-01 -7.43014908e-01 6.24026779e-03 -1.65532210e+02] [ 7.42983599e-01 -6.69274862e-01 -6.82128765e-03 -2.62438410e+02] [ 9.24477278e-03 7.12986946e-05 9.99957264e-01 -2.79737161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 822.0665599949999 meters 0.013772268934565277 Centerline is valid? [True, True] Translation: X:-165.55, Y:-262.42, Z:-2.80 [[-6.69432398e-01 -7.42844236e-01 6.53489150e-03 -1.65550550e+02] [ 7.42809936e-01 -6.69464289e-01 -7.13891604e-03 -2.62418308e+02] [ 9.67797912e-03 7.51606540e-05 9.99953165e-01 -2.79801465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 822.0965599949999 meters 0.01383205596579434 Centerline is valid? [True, True] Translation: X:-165.57, Y:-262.40, Z:-2.80 [[-6.69286923e-01 -7.42974339e-01 6.64427777e-03 -1.65569026e+02] [ 7.42938931e-01 -6.69319898e-01 -7.25391595e-03 -2.62398514e+02] [ 9.83662072e-03 8.13415327e-05 9.99951616e-01 -2.79828107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 822.126559995 meters 0.014071156984244628 Centerline is valid? [True, True] Translation: X:-165.59, Y:-262.38, Z:-2.80 [[-6.68192566e-01 -7.43951478e-01 7.40897676e-03 -1.65588960e+02] [ 7.43907560e-01 -6.68233631e-01 -8.08433618e-03 -2.62378084e+02] [ 1.09652813e-02 1.09700483e-04 9.99939874e-01 -2.79918321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 822.156559995 meters 0.014393981471312203 Centerline is valid? [True, True] Translation: X:-165.61, Y:-262.36, Z:-2.80 [[-6.67398015e-01 -7.44660907e-01 7.74746426e-03 -1.65607933e+02] [ 7.44612970e-01 -6.67442969e-01 -8.45029074e-03 -2.62358406e+02] [ 1.14635917e-02 1.29155102e-04 9.99934283e-01 -2.80003678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 822.1865599949999 meters 0.014705392388122593 Centerline is valid? [True, True] Translation: X:-165.63, Y:-262.34, Z:-2.80 [[-6.66583773e-01 -7.45386253e-01 8.08751546e-03 -1.65626376e+02] [ 7.45334129e-01 -6.66632816e-01 -8.81612775e-03 -2.62339052e+02] [ 1.19628236e-02 1.51213589e-04 9.99928432e-01 -2.80089263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 822.2165599949999 meters 0.014457202995563075 Centerline is valid? [True, True] Translation: X:-165.64, Y:-262.32, Z:-2.80 [[-6.66121672e-01 -7.45792570e-01 8.68106428e-03 -1.65644385e+02] [ 7.45732618e-01 -6.66178214e-01 -9.45780772e-03 -2.62317637e+02] [ 1.28366986e-02 1.73702091e-04 9.99917591e-01 -2.80044103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 822.246559995 meters 0.01501994358954565 Centerline is valid? [True, True] Translation: X:-165.66, Y:-262.30, Z:-2.80 [[-6.65270217e-01 -7.46542104e-01 9.50926317e-03 -1.65662270e+02] [ 7.46470329e-01 -6.65338142e-01 -1.03539430e-02 -2.62297175e+02] [ 1.40565299e-02 2.10212910e-04 9.99901180e-01 -2.80209441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 822.276559995 meters 0.015263760167367692 Centerline is valid? [True, True] Translation: X:-165.68, Y:-262.28, Z:-2.80 [[-6.65288219e-01 -7.46521471e-01 9.86304078e-03 -1.65679790e+02] [ 7.46444356e-01 -6.65361288e-01 -1.07321609e-02 -2.62277258e+02] [ 1.45742741e-02 2.22230899e-04 9.99893765e-01 -2.80266306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 822.3065599949999 meters 0.0152380916190711 Centerline is valid? [True, True] Translation: X:-165.70, Y:-262.26, Z:-2.80 [[-6.65277352e-01 -7.46534510e-01 9.60573832e-03 -1.65695888e+02] [ 7.46461459e-01 -6.65346659e-01 -1.04457488e-02 -2.62255526e+02] [ 1.41892578e-02 2.20993350e-04 9.99899303e-01 -2.80201462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 822.3365599949999 meters 0.015351102418559175 Centerline is valid? [True, True] Translation: X:-165.71, Y:-262.24, Z:-2.80 [[-6.65447822e-01 -7.46387416e-01 9.22072051e-03 -1.65713015e+02] [ 7.46320155e-01 -6.65511668e-01 -1.00222941e-02 -2.62235480e+02] [ 1.36170113e-02 2.12295795e-04 9.99907262e-01 -2.80172140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 822.366559995 meters 0.015205008850036308 Centerline is valid? [True, True] Translation: X:-165.73, Y:-262.21, Z:-2.80 [[-6.65860926e-01 -7.46022457e-01 8.92866473e-03 -1.65730589e+02] [ 7.45959435e-01 -6.65920755e-01 -9.69891241e-03 -2.62214503e+02] [ 1.31813896e-02 2.02294905e-04 9.99913101e-01 -2.80096402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 822.396559995 meters 0.014798560040379214 Centerline is valid? [True, True] Translation: X:-165.75, Y:-262.19, Z:-2.80 [[-6.66343674e-01 -7.45597858e-01 8.36310923e-03 -1.65746018e+02] [ 7.45542604e-01 -6.66396128e-01 -9.07885274e-03 -2.62192094e+02] [ 1.23423168e-02 1.85418141e-04 9.99923814e-01 -2.79953502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 822.4265599949999 meters 0.015268803106138235 Centerline is valid? [True, True] Translation: X:-165.76, Y:-262.17, Z:-2.80 [[-6.66641291e-01 -7.45333166e-01 8.23783303e-03 -1.65763471e+02] [ 7.45279587e-01 -6.66692163e-01 -8.93850225e-03 -2.62172997e+02] [ 1.21542609e-02 1.80714127e-04 9.99926118e-01 -2.80007678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 822.4565599949999 meters 0.01547890093221748 Centerline is valid? [True, True] Translation: X:-165.78, Y:-262.15, Z:-2.80 [[-6.66099755e-01 -7.45827131e-01 7.28054320e-03 -1.65781419e+02] [ 7.45785363e-01 -6.66139521e-01 -7.89503077e-03 -2.62152755e+02] [ 1.07381857e-02 1.70844493e-04 9.99942330e-01 -2.79895667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 822.486559995 meters 0.014947323040731073 Centerline is valid? [True, True] Translation: X:-165.80, Y:-262.13, Z:-2.80 [[-6.65560031e-01 -7.46310486e-01 7.10659546e-03 -1.65799924e+02] [ 7.46270763e-01 -6.65597947e-01 -7.70204343e-03 -2.62131988e+02] [ 1.04782511e-02 1.77272147e-04 9.99945086e-01 -2.79780333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 822.516559995 meters 0.015512745006616306 Centerline is valid? [True, True] Translation: X:-165.82, Y:-262.11, Z:-2.80 [[-6.65095343e-01 -7.46724078e-01 7.16495441e-03 -1.65819966e+02] [ 7.46683773e-01 -6.65133908e-01 -7.76066282e-03 -2.62113727e+02] [ 1.05607279e-02 1.88374495e-04 9.99944216e-01 -2.79856750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 822.5465599949999 meters 0.0162265633471647 Centerline is valid? [True, True] Translation: X:-165.84, Y:-262.10, Z:-2.80 [[-6.64194713e-01 -7.47523167e-01 7.38225813e-03 -1.65842076e+02] [ 7.47480480e-01 -6.64235704e-01 -7.99138971e-03 -2.62097442e+02] [ 1.08773084e-02 2.10255052e-04 9.99940818e-01 -2.80012270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 822.5765599949999 meters 0.015840706620807592 Centerline is valid? [True, True] Translation: X:-165.86, Y:-262.08, Z:-2.80 [[-6.63711735e-01 -7.47948953e-01 7.68742368e-03 -1.65862121e+02] [ 7.47902745e-01 -6.63756214e-01 -8.31707769e-03 -2.62077630e+02] [ 1.13233248e-02 2.29303205e-04 9.99935863e-01 -2.79973605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 822.606559995 meters 0.01623148054149598 Centerline is valid? [True, True] Translation: X:-165.88, Y:-262.06, Z:-2.80 [[-6.63373822e-01 -7.48247239e-01 7.82564258e-03 -1.65882909e+02] [ 7.48199433e-01 -6.63419935e-01 -8.46162175e-03 -2.62059404e+02] [ 1.15230724e-02 2.41922973e-04 9.99933578e-01 -2.80018444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 822.636559995 meters 0.017040028078706398 Centerline is valid? [True, True] Translation: X:-165.90, Y:-262.04, Z:-2.80 [[-6.62044096e-01 -7.49428278e-01 7.40755828e-03 -1.65904470e+02] [ 7.49385551e-01 -6.62085488e-01 -8.00634035e-03 -2.62042861e+02] [ 1.09046147e-02 2.50566783e-04 9.99940512e-01 -2.80005746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 822.666559995 meters 0.017503342046990576 Centerline is valid? [True, True] Translation: X:-165.92, Y:-262.02, Z:-2.80 [[-6.61343972e-01 -7.50048922e-01 7.12502501e-03 -1.65924682e+02] [ 7.50009472e-01 -6.61382303e-01 -7.69677306e-03 -2.62023610e+02] [ 1.04853218e-02 2.53621782e-04 9.99944995e-01 -2.79965359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 822.6965599949999 meters 0.018068030663096736 Centerline is valid? [True, True] Translation: X:-165.94, Y:-262.00, Z:-2.80 [[-6.60478232e-01 -7.50814798e-01 6.75606246e-03 -1.65944697e+02] [ 7.50779408e-01 -6.60512736e-01 -7.29424228e-03 -2.62004246e+02] [ 9.93909035e-03 2.54624324e-04 9.99950574e-01 -2.79914278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 822.7265599949999 meters 0.018820245575883566 Centerline is valid? [True, True] Translation: X:-165.97, Y:-261.98, Z:-2.80 [[-6.58825921e-01 -7.52267826e-01 6.44391022e-03 -1.65965246e+02] [ 7.52235736e-01 -6.58857380e-01 -6.95343138e-03 -2.61984682e+02] [ 9.47646051e-03 2.66238719e-04 9.99955062e-01 -2.79871808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 822.756559995 meters 0.019030960388160028 Centerline is valid? [True, True] Translation: X:-165.99, Y:-261.96, Z:-2.80 [[-6.58461006e-01 -7.52586516e-01 6.52991881e-03 -1.65985342e+02] [ 7.52553616e-01 -6.58493325e-01 -7.04239022e-03 -2.61964491e+02] [ 9.59991587e-03 2.76974666e-04 9.99953882e-01 -2.79898292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 822.786559995 meters 0.019367696149869103 Centerline is valid? [True, True] Translation: X:-166.01, Y:-261.95, Z:-2.80 [[-6.58524930e-01 -7.52527648e-01 6.85967562e-03 -1.66005067e+02] [ 7.52491384e-01 -6.58560592e-01 -7.39350934e-03 -2.61945306e+02] [ 1.00813322e-02 2.93036578e-04 9.99949139e-01 -2.79989694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 822.8165599949999 meters 0.019096372711359198 Centerline is valid? [True, True] Translation: X:-166.02, Y:-261.93, Z:-2.80 [[-6.59643726e-01 -7.51541409e-01 7.46097791e-03 -1.66024013e+02] [ 7.51498499e-01 -6.59685848e-01 -8.03672525e-03 -2.61925723e+02] [ 1.09618334e-02 3.05538310e-04 9.99939871e-01 -2.80099699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 822.8465599949999 meters 0.018956720285426852 Centerline is valid? [True, True] Translation: X:-166.04, Y:-261.91, Z:-2.80 [[-6.61025953e-01 -7.50325997e-01 7.45573268e-03 -1.66042722e+02] [ 7.50283117e-01 -6.61067935e-01 -8.02678017e-03 -2.61905525e+02] [ 1.09514476e-02 2.88000348e-04 9.99939990e-01 -2.80185254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 822.876559995 meters 0.018385726575123294 Centerline is valid? [True, True] Translation: X:-166.06, Y:-261.88, Z:-2.80 [[-6.62736587e-01 -7.48813980e-01 7.60527342e-03 -1.66060664e+02] [ 7.48769311e-01 -6.62780167e-01 -8.18345529e-03 -2.61884204e+02] [ 1.11685101e-02 2.71120115e-04 9.99937594e-01 -2.80197337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 822.906559995 meters 0.016697530777943306 Centerline is valid? [True, True] Translation: X:-166.08, Y:-261.86, Z:-2.80 [[-6.66638770e-01 -7.45343740e-01 7.44711322e-03 -1.66075822e+02] [ 7.45300744e-01 -6.66680332e-01 -8.00853932e-03 -2.61860904e+02] [ 1.09339586e-02 2.11536219e-04 9.99940200e-01 -2.80134271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 822.9365599949999 meters 0.01592155967349686 Centerline is valid? [True, True] Translation: X:-166.09, Y:-261.84, Z:-2.80 [[-6.68834522e-01 -7.43375222e-01 7.32535058e-03 -1.66092669e+02] [ 7.43333547e-01 -6.68874612e-01 -7.87349533e-03 -2.61838710e+02] [ 1.07527024e-02 1.79113336e-04 9.99942172e-01 -2.80088495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 822.9665599949999 meters 0.014250441784727699 Centerline is valid? [True, True] Translation: X:-166.11, Y:-261.81, Z:-2.80 [[-6.72275640e-01 -7.40268230e-01 6.95784145e-03 -1.66107149e+02] [ 7.40230506e-01 -6.72311633e-01 -7.47442229e-03 -2.61814235e+02] [ 1.02109151e-02 1.25534467e-04 9.99947860e-01 -2.79991374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 822.996559995 meters 0.013925730873046528 Centerline is valid? [True, True] Translation: X:-166.12, Y:-261.79, Z:-2.80 [[-6.73828268e-01 -7.38854363e-01 7.04951751e-03 -1.66124697e+02] [ 7.38815607e-01 -6.73865134e-01 -7.56831300e-03 -2.61792847e+02] [ 1.03423051e-02 1.08550318e-04 9.99946511e-01 -2.80006594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 823.026559995 meters 0.014018668819516529 Centerline is valid? [True, True] Translation: X:-166.14, Y:-261.77, Z:-2.80 [[-6.75394730e-01 -7.37424042e-01 6.90951940e-03 -1.66142139e+02] [ 7.37386771e-01 -6.75430067e-01 -7.41453784e-03 -2.61772815e+02] [ 1.01345556e-02 8.72484139e-05 9.99948640e-01 -2.80135809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 823.0565599949999 meters 0.013482871785970898 Centerline is valid? [True, True] Translation: X:-166.16, Y:-261.75, Z:-2.80 [[-6.76666661e-01 -7.36257469e-01 6.86803566e-03 -1.66159044e+02] [ 7.36220628e-01 -6.76701511e-01 -7.36561030e-03 -2.61750716e+02] [ 1.00705957e-02 7.23265997e-05 9.99949288e-01 -2.80045789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 823.0865599949999 meters 0.013324214401738255 Centerline is valid? [True, True] Translation: X:-166.17, Y:-261.73, Z:-2.80 [[-6.78634234e-01 -7.34445112e-01 6.77890202e-03 -1.66174842e+02] [ 7.34409176e-01 -6.78668089e-01 -7.26546024e-03 -2.61729577e+02] [ 9.93670624e-03 4.78978033e-05 9.99950629e-01 -2.80072023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 823.116559995 meters 0.013259205540495788 Centerline is valid? [True, True] Translation: X:-166.19, Y:-261.71, Z:-2.80 [[-6.79531868e-01 -7.33616446e-01 6.58412548e-03 -1.66192007e+02] [ 7.33582549e-01 -6.79563764e-01 -7.05234221e-03 -2.61710312e+02] [ 9.64804732e-03 3.77082736e-05 9.99953456e-01 -2.80138826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 823.146559995 meters 0.013136418222078419 Centerline is valid? [True, True] Translation: X:-166.21, Y:-261.69, Z:-2.80 [[-6.80340994e-01 -7.32868674e-01 6.29597171e-03 -1.66208456e+02] [ 7.32837684e-01 -6.80370125e-01 -6.73964213e-03 -2.61688460e+02] [ 9.22286365e-03 2.86704962e-05 9.99957468e-01 -2.79937340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 823.1765599949999 meters 0.013067822746664378 Centerline is valid? [True, True] Translation: X:-166.23, Y:-261.67, Z:-2.80 [[-6.80794968e-01 -7.32449599e-01 5.98293356e-03 -1.66225838e+02] [ 7.32421634e-01 -6.80821257e-01 -6.40050859e-03 -2.61668876e+02] [ 8.76135831e-03 2.45959296e-05 9.99961618e-01 -2.79947461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 823.2065599949999 meters 0.013187040157632567 Centerline is valid? [True, True] Translation: X:-166.24, Y:-261.65, Z:-2.80 [[-6.81059791e-01 -7.32203682e-01 5.94380991e-03 -1.66243433e+02] [ 7.32176106e-01 -6.81085727e-01 -6.35470140e-03 -2.61649424e+02] [ 8.70117986e-03 2.39839849e-05 9.99962144e-01 -2.79969297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 823.236559995 meters 0.01324643185551271 Centerline is valid? [True, True] Translation: X:-166.26, Y:-261.63, Z:-2.80 [[-6.81120864e-01 -7.32144343e-01 6.24734674e-03 -1.66262051e+02] [ 7.32113912e-01 -6.81149514e-01 -6.67530266e-03 -2.61629146e+02] [ 9.14266228e-03 2.70815450e-05 9.99958205e-01 -2.79987421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 823.266559995 meters 0.013415090805761537 Centerline is valid? [True, True] Translation: X:-166.28, Y:-261.61, Z:-2.80 [[-6.80125495e-01 -7.33070160e-01 6.11970793e-03 -1.66280701e+02] [ 7.33041033e-01 -6.80153026e-01 -6.53490475e-03 -2.61610850e+02] [ 8.95288153e-03 4.14416942e-05 9.99959921e-01 -2.80029670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 823.2965599949999 meters 0.013600971542590509 Centerline is valid? [True, True] Translation: X:-166.30, Y:-261.59, Z:-2.80 [[-6.79451192e-01 -7.33692736e-01 6.40688411e-03 -1.66300233e+02] [ 7.33660875e-01 -6.79481396e-01 -6.83762908e-03 -2.61592207e+02] [ 9.37007734e-03 5.46449774e-05 9.99956099e-01 -2.80049998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 823.3265599949999 meters 0.014332464595736623 Centerline is valid? [True, True] Translation: X:-166.32, Y:-261.58, Z:-2.80 [[-6.77206165e-01 -7.35762933e-01 6.68710000e-03 -1.66321133e+02] [ 7.35728367e-01 -6.77239174e-01 -7.13238043e-03 -2.61575717e+02] [ 9.77650723e-03 8.97971692e-05 9.99952205e-01 -2.80180557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 823.356559995 meters 0.014550247067918846 Centerline is valid? [True, True] Translation: X:-166.34, Y:-261.56, Z:-2.80 [[-6.76199031e-01 -7.36684279e-01 7.15143875e-03 -1.66341446e+02] [ 7.36644840e-01 -6.76236837e-01 -7.62366988e-03 -2.61556575e+02] [ 1.04523041e-02 1.12952260e-04 9.99945367e-01 -2.80208621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 823.386559995 meters 0.014736319483333832 Centerline is valid? [True, True] Translation: X:-166.36, Y:-261.54, Z:-2.80 [[-6.75531990e-01 -7.37293479e-01 7.40659441e-03 -1.66361472e+02] [ 7.37251258e-01 -6.75572579e-01 -7.89130216e-03 -2.61537582e+02] [ 1.08218977e-02 1.29694000e-04 9.99941433e-01 -2.80298875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 823.416559995 meters 0.01518841347884384 Centerline is valid? [True, True] Translation: X:-166.38, Y:-261.52, Z:-2.80 [[-6.75135770e-01 -7.37652338e-01 7.79235688e-03 -1.66380362e+02] [ 7.37605687e-01 -6.75180722e-01 -8.29720741e-03 -2.61519761e+02] [ 1.13817036e-02 1.45945233e-04 9.99935216e-01 -2.80406023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 823.4465599949999 meters 0.015127426139808236 Centerline is valid? [True, True] Translation: X:-166.40, Y:-261.50, Z:-2.80 [[-6.75764609e-01 -7.37079013e-01 7.53132584e-03 -1.66399083e+02] [ 7.37035451e-01 -6.75806563e-01 -8.01465035e-03 -2.61499958e+02] [ 1.09971500e-02 1.34837068e-04 9.99939521e-01 -2.80398629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 823.4765599949999 meters 0.01453807213419279 Centerline is valid? [True, True] Translation: X:-166.42, Y:-261.48, Z:-2.80 [[-6.77603764e-01 -7.35396306e-01 6.73887619e-03 -1.66416362e+02] [ 7.35361386e-01 -6.77637265e-01 -7.16725266e-03 -2.61479563e+02] [ 9.83728476e-03 9.89519570e-05 9.99951608e-01 -2.80271529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 823.506559995 meters 0.014309150153433427 Centerline is valid? [True, True] Translation: X:-166.43, Y:-261.46, Z:-2.80 [[-6.78722022e-01 -7.34369715e-01 6.12689966e-03 -1.66433089e+02] [ 7.34340846e-01 -6.78749671e-01 -6.51207985e-03 -2.61460551e+02] [ 8.94090535e-03 7.93406820e-05 9.99960026e-01 -2.80218875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 823.536559995 meters 0.014057824023489252 Centerline is valid? [True, True] Translation: X:-166.45, Y:-261.44, Z:-2.80 [[-6.80069107e-01 -7.33126680e-01 5.59297319e-03 -1.66450329e+02] [ 7.33102611e-01 -6.80092102e-01 -5.94089153e-03 -2.61440935e+02] [ 8.15916298e-03 6.00064501e-05 9.99966712e-01 -2.80172996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 823.5665599949999 meters 0.013629478492748724 Centerline is valid? [True, True] Translation: X:-166.47, Y:-261.42, Z:-2.80 [[-6.81793389e-01 -7.31531051e-01 4.48287818e-03 -1.66467172e+02] [ 7.31515573e-01 -6.81808126e-01 -4.75880253e-03 -2.61421191e+02] [ 6.53767459e-03 3.47751002e-05 9.99978629e-01 -2.80065012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 823.5965599949999 meters 0.013554521160243568 Centerline is valid? [True, True] Translation: X:-166.49, Y:-261.40, Z:-2.80 [[-6.82383519e-01 -7.30980552e-01 4.49058063e-03 -1.66485091e+02] [ 7.30965028e-01 -6.82398294e-01 -4.76407229e-03 -2.61402192e+02] [ 6.54680875e-03 3.15329755e-05 9.99978569e-01 -2.80050392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 823.626559995 meters 0.013595407105849142 Centerline is valid? [True, True] Translation: X:-166.50, Y:-261.38, Z:-2.80 [[-6.82525645e-01 -7.30848508e-01 4.38207274e-03 -1.66503749e+02] [ 7.30833737e-01 -6.82539711e-01 -4.64670140e-03 -2.61384260e+02] [ 6.38697345e-03 3.10737236e-05 9.99979603e-01 -2.80102660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 823.656559995 meters 0.013707403812181437 Centerline is valid? [True, True] Translation: X:-166.52, Y:-261.37, Z:-2.80 [[-6.82258438e-01 -7.31095180e-01 4.82310740e-03 -1.66522822e+02] [ 7.31077313e-01 -6.82275485e-01 -5.11129070e-03 -2.61366158e+02] [ 7.02752793e-03 3.88431946e-05 9.99975306e-01 -2.80182481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 823.6865599949999 meters 0.014089716705834155 Centerline is valid? [True, True] Translation: X:-166.54, Y:-261.35, Z:-2.80 [[-6.81561745e-01 -7.31740493e-01 5.42587022e-03 -1.66542193e+02] [ 7.31717929e-01 -6.81583340e-01 -5.74663029e-03 -2.61348623e+02] [ 7.90322482e-03 5.35231588e-05 9.99968768e-01 -2.80298761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 823.7165599949999 meters 0.01443482901847551 Centerline is valid? [True, True] Translation: X:-166.56, Y:-261.33, Z:-2.80 [[-6.80914425e-01 -7.32337036e-01 6.16537699e-03 -1.66561852e+02] [ 7.32307960e-01 -6.80942333e-01 -6.52615284e-03 -2.61330402e+02] [ 8.97760961e-03 7.12030360e-05 9.99959698e-01 -2.80424949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 823.746559995 meters 0.015495629709509864 Centerline is valid? [True, True] Translation: X:-166.58, Y:-261.31, Z:-2.81 [[-6.79243277e-01 -7.33872556e-01 7.72284339e-03 -1.66581856e+02] [ 7.33827091e-01 -6.79287169e-01 -8.16965974e-03 -2.61314058e+02] [ 1.12415175e-02 1.18045249e-04 9.99936805e-01 -2.80727004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 823.776559995 meters 0.01597916063348305 Centerline is valid? [True, True] Translation: X:-166.60, Y:-261.30, Z:-2.81 [[-6.78774125e-01 -7.34297915e-01 8.50055358e-03 -1.66600918e+02] [ 7.34242930e-01 -6.78827336e-01 -8.98709414e-03 -2.61295878e+02] [ 1.23696126e-02 1.41264397e-04 9.99923484e-01 -2.80904081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 823.8065599949999 meters 0.016473933833145927 Centerline is valid? [True, True] Translation: X:-166.62, Y:-261.28, Z:-2.81 [[-6.78727369e-01 -7.34324392e-01 9.84098348e-03 -1.66619040e+02] [ 7.34250792e-01 -6.78798688e-01 -1.03978844e-02 -2.61278090e+02] [ 1.43154668e-02 1.68421206e-04 9.99897514e-01 -2.81114104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 823.8365599949999 meters 0.016330411896183755 Centerline is valid? [True, True] Translation: X:-166.64, Y:-261.26, Z:-2.81 [[-6.79379591e-01 -7.33718837e-01 1.00020277e-02 -1.66636076e+02] [ 7.33642840e-01 -6.79453194e-01 -1.05613342e-02 -2.61259504e+02] [ 1.45449595e-02 1.62761080e-04 9.99894203e-01 -2.81185151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 823.866559995 meters 0.016149156276927343 Centerline is valid? [True, True] Translation: X:-166.65, Y:-261.24, Z:-2.81 [[-6.80077513e-01 -7.33075776e-01 9.72025734e-03 -1.66653241e+02] [ 7.33004027e-01 -6.80146958e-01 -1.02573082e-02 -2.61240438e+02] [ 1.41305876e-02 1.49223124e-04 9.99900147e-01 -2.81164226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 823.896559995 meters 0.015346766011209816 Centerline is valid? [True, True] Translation: X:-166.67, Y:-261.22, Z:-2.81 [[-6.82149683e-01 -7.31153663e-01 9.28063792e-03 -1.66668461e+02] [ 7.31088144e-01 -6.82212803e-01 -9.78862471e-03 -2.61220027e+02] [ 1.34883588e-02 1.07657101e-04 9.99909022e-01 -2.81037548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 823.9265599949999 meters 0.014682431761151016 Centerline is valid? [True, True] Translation: X:-166.69, Y:-261.20, Z:-2.81 [[-6.83540890e-01 -7.29861346e-01 8.61788927e-03 -1.66685089e+02] [ 7.29804815e-01 -6.83595209e-01 -9.08419870e-03 -2.61199931e+02] [ 1.25213533e-02 7.99558141e-05 9.99921602e-01 -2.80946761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 823.9565599949999 meters 0.014682431761151016 Centerline is valid? [True, True] Translation: X:-166.70, Y:-261.18, Z:-2.81 [[-6.83767565e-01 -7.29648957e-01 8.62071078e-03 -1.66702545e+02] [ 7.29592443e-01 -6.83821902e-01 -9.08152119e-03 -2.61181909e+02] [ 1.25213533e-02 7.99558026e-05 9.99921602e-01 -2.80946759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 823.986559995 meters 0.01432326139722909 Centerline is valid? [True, True] Translation: X:-166.72, Y:-261.16, Z:-2.81 [[-6.85297409e-01 -7.28216431e-01 8.26383775e-03 -1.66719123e+02] [ 7.28164460e-01 -6.85347231e-01 -8.70018224e-03 -2.61162101e+02] [ 1.19992140e-02 5.52206062e-05 9.99928005e-01 -2.80858823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 824.016559995 meters 0.013696376089058127 Centerline is valid? [True, True] Translation: X:-166.73, Y:-261.14, Z:-2.81 [[-6.87704433e-01 -7.25955073e-01 7.20037318e-03 -1.66733547e+02] [ 7.25915533e-01 -6.87742126e-01 -7.57669835e-03 -2.61142374e+02] [ 1.04523426e-02 1.63336997e-05 9.99945373e-01 -2.80691975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 824.0465599949999 meters 0.013143211368653658 Centerline is valid? [True, True] Translation: X:-166.75, Y:-261.12, Z:-2.80 [[-6.89055858e-01 -7.24673677e-01 7.07723539e-03 -1.66750944e+02] [ 7.24635458e-01 -6.89092202e-01 -7.44248274e-03 -2.61121598e+02] [ 1.02702390e-02 1.29374694e-07 9.99947260e-01 -2.80174588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 824.0765599949999 meters 0.013173543168245625 Centerline is valid? [True, True] Translation: X:-166.77, Y:-261.10, Z:-2.80 [[-6.90054348e-01 -7.23719757e-01 7.39663199e-03 -1.66769159e+02] [ 7.23678008e-01 -6.90093989e-01 -7.77350940e-03 -2.61100885e+02] [ 1.07302136e-02 -1.13640483e-05 9.99942430e-01 -2.80160986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 824.106559995 meters 0.013225928663883084 Centerline is valid? [True, True] Translation: X:-166.79, Y:-261.08, Z:-2.80 [[-6.90855512e-01 -7.22950628e-01 7.81355941e-03 -1.66787582e+02] [ 7.22904048e-01 -6.90899696e-01 -8.20656868e-03 -2.61080329e+02] [ 1.13313298e-02 -2.10994768e-05 9.99935798e-01 -2.80220688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 824.136559995 meters 0.013378749692939776 Centerline is valid? [True, True] Translation: X:-166.81, Y:-261.06, Z:-2.80 [[-6.90797196e-01 -7.23001370e-01 8.26152029e-03 -1.66805755e+02] [ 7.22949350e-01 -6.90846595e-01 -8.67289112e-03 -2.61061287e+02] [ 1.19779553e-02 -1.85481426e-05 9.99928262e-01 -2.80371628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 824.166559995 meters 0.013261690160344177 Centerline is valid? [True, True] Translation: X:-166.83, Y:-261.04, Z:-2.80 [[-6.90246463e-01 -7.23516401e-01 9.15630196e-03 -1.66825094e+02] [ 7.23452626e-01 -6.90307190e-01 -9.60628958e-03 -2.61042325e+02] [ 1.32709691e-02 -6.55670244e-06 9.99911937e-01 -2.80314836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 824.1965599949999 meters 0.013319820275690663 Centerline is valid? [True, True] Translation: X:-166.84, Y:-261.02, Z:-2.80 [[-6.89484763e-01 -7.24233203e-01 9.85034649e-03 -1.66844687e+02] [ 7.24159558e-01 -6.89555123e-01 -1.03279833e-02 -2.61023927e+02] [ 1.42722253e-02 1.22354730e-05 9.99898147e-01 -2.80354080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 824.2265599949999 meters 0.013681760571969617 Centerline is valid? [True, True] Translation: X:-166.87, Y:-261.01, Z:-2.81 [[-6.87274204e-01 -7.26307462e-01 1.14734351e-02 -1.66865943e+02] [ 7.26207951e-01 -6.87369963e-01 -1.20227195e-02 -2.61007100e+02] [ 1.66186855e-02 6.91948451e-05 9.99861898e-01 -2.80668020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 824.256559995 meters 0.013723653213079912 Centerline is valid? [True, True] Translation: X:-166.89, Y:-260.99, Z:-2.81 [[-6.86269613e-01 -7.27240860e-01 1.24398770e-02 -1.66886304e+02] [ 7.27124159e-01 -6.86382343e-01 -1.30282739e-02 -2.60988295e+02] [ 1.80132050e-02 1.04426669e-04 9.99837744e-01 -2.80693236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 824.286559995 meters 0.014121992852646014 Centerline is valid? [True, True] Translation: X:-166.91, Y:-260.97, Z:-2.81 [[-6.84244798e-01 -7.29127159e-01 1.35145663e-02 -1.66907919e+02] [ 7.28989941e-01 -6.84378227e-01 -1.41459832e-02 -2.60969927e+02] [ 1.95632954e-02 1.72667440e-04 9.99808606e-01 -2.80785919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 824.3165599949999 meters 0.01464045854021211 Centerline is valid? [True, True] Translation: X:-166.93, Y:-260.95, Z:-2.81 [[-6.83441679e-01 -7.29881396e-01 1.34394528e-02 -1.66927559e+02] [ 7.29746024e-01 -6.83573777e-01 -1.40582059e-02 -2.60951904e+02] [ 1.94476804e-02 1.99423377e-04 9.99810856e-01 -2.80889263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 824.3465599949999 meters 0.014834063819090164 Centerline is valid? [True, True] Translation: X:-166.95, Y:-260.93, Z:-2.81 [[-6.82966573e-01 -7.30332295e-01 1.30919559e-02 -1.66947310e+02] [ 7.30204071e-01 -6.83092010e-01 -1.36865182e-02 -2.60932517e+02] [ 1.89387167e-02 2.12365081e-04 9.99820624e-01 -2.80854671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 824.376559995 meters 0.014174290374592101 Centerline is valid? [True, True] Translation: X:-166.97, Y:-260.91, Z:-2.80 [[-6.82710399e-01 -7.30595037e-01 1.17219212e-02 -1.66966207e+02] [ 7.30492403e-01 -6.82810993e-01 -1.22473636e-02 -2.60911136e+02] [ 1.69517197e-02 2.01371892e-04 9.99856289e-01 -2.80414675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 824.406559995 meters 0.014150302331884189 Centerline is valid? [True, True] Translation: X:-166.98, Y:-260.89, Z:-2.80 [[-6.83264009e-01 -7.30093337e-01 1.06777317e-02 -1.66984507e+02] [ 7.30008228e-01 -6.83347414e-01 -1.11489669e-02 -2.60892131e+02] [ 1.54363868e-02 1.77144184e-04 9.99880836e-01 -2.80324766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 824.4365599949999 meters 0.01448054320898803 Centerline is valid? [True, True] Translation: X:-167.00, Y:-260.87, Z:-2.80 [[-6.84115534e-01 -7.29310110e-01 9.62804324e-03 -1.67003221e+02] [ 7.29240927e-01 -6.84183266e-01 -1.00463634e-02 -2.60873720e+02] [ 1.39142605e-02 1.48289918e-04 9.99903181e-01 -2.80347389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 824.4665599949999 meters 0.01364661845411298 Centerline is valid? [True, True] Translation: X:-167.02, Y:-260.85, Z:-2.80 [[-6.86092025e-01 -7.27471890e-01 7.89824221e-03 -1.67020786e+02] [ 7.27425263e-01 -6.86137479e-01 -8.23693709e-03 -2.60852188e+02] [ 1.14114202e-02 9.40840669e-05 9.99934883e-01 -2.80045088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 824.496559995 meters 0.013454291068122572 Centerline is valid? [True, True] Translation: X:-167.04, Y:-260.83, Z:-2.80 [[-6.87232916e-01 -7.26401557e-01 7.19005836e-03 -1.67039305e+02] [ 7.26362902e-01 -6.87270524e-01 -7.49405447e-03 -2.60831546e+02] [ 1.03852080e-02 7.24307504e-05 9.99946070e-01 -2.79972383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 824.526559995 meters 0.013258275082460469 Centerline is valid? [True, True] Translation: X:-167.06, Y:-260.81, Z:-2.80 [[-6.88216987e-01 -7.25472777e-01 6.82852949e-03 -1.67057458e+02] [ 7.25437910e-01 -6.88250860e-01 -7.11280332e-03 -2.60811209e+02] [ 9.85988648e-03 5.85220970e-05 9.99951389e-01 -2.79895193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 824.5565599949999 meters 0.013184204790112689 Centerline is valid? [True, True] Translation: X:-167.07, Y:-260.79, Z:-2.80 [[-6.89844998e-01 -7.23922379e-01 7.09006721e-03 -1.67074786e+02] [ 7.23884757e-01 -6.89881431e-01 -7.38040748e-03 -2.60791477e+02] [ 1.02341478e-02 4.10543968e-05 9.99947629e-01 -2.79990648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 824.5865599949999 meters 0.013139412150986825 Centerline is valid? [True, True] Translation: X:-167.09, Y:-260.77, Z:-2.80 [[-6.90247699e-01 -7.23535329e-01 7.39874080e-03 -1.67093775e+02] [ 7.23494385e-01 -6.90287350e-01 -7.69738018e-03 -2.60770822e+02] [ 1.06765837e-02 3.98484697e-05 9.99943003e-01 -2.79935991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 824.616559995 meters 0.013127041826947782 Centerline is valid? [True, True] Translation: X:-167.11, Y:-260.75, Z:-2.80 [[-6.90677291e-01 -7.23116824e-01 8.18156036e-03 -1.67112514e+02] [ 7.23066777e-01 -6.90725747e-01 -8.50763175e-03 -2.60752038e+02] [ 1.18032260e-02 3.97864236e-05 9.99930339e-01 -2.80080212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 824.646559995 meters 0.01325766575362552 Centerline is valid? [True, True] Translation: X:-167.13, Y:-260.73, Z:-2.80 [[-6.90922617e-01 -7.22876852e-01 8.65995754e-03 -1.67131914e+02] [ 7.22820831e-01 -6.90976885e-01 -8.99945808e-03 -2.60732847e+02] [ 1.24893304e-02 4.16685779e-05 9.99922005e-01 -2.80187599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 824.6765599949999 meters 0.013629934012188896 Centerline is valid? [True, True] Translation: X:-167.15, Y:-260.71, Z:-2.80 [[-6.90940444e-01 -7.22846104e-01 9.73716747e-03 -1.67151013e+02] [ 7.22775360e-01 -6.91009050e-01 -1.01129522e-02 -2.60714103e+02] [ 1.40385790e-02 5.03370171e-05 9.99901453e-01 -2.80435844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 824.7065599949999 meters 0.013463529411717304 Centerline is valid? [True, True] Translation: X:-167.17, Y:-260.69, Z:-2.80 [[-6.91060766e-01 -7.22723539e-01 1.02812459e-02 -1.67169848e+02] [ 7.22644752e-01 -6.91137239e-01 -1.06713847e-02 -2.60694720e+02] [ 1.48182128e-02 5.51131029e-05 9.99890203e-01 -2.80352093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 824.736559995 meters 0.013473405197674435 Centerline is valid? [True, True] Translation: X:-167.19, Y:-260.67, Z:-2.80 [[-6.91302630e-01 -7.22477969e-01 1.12364320e-02 -1.67189677e+02] [ 7.22383936e-01 -6.91393940e-01 -1.16562877e-02 -2.60674770e+02] [ 1.61902121e-02 5.89956265e-05 9.99868928e-01 -2.80425020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 824.766559995 meters 0.013807669454897743 Centerline is valid? [True, True] Translation: X:-167.21, Y:-260.66, Z:-2.81 [[-6.91632226e-01 -7.22160102e-01 1.13864540e-02 -1.67208211e+02] [ 7.22063625e-01 -6.91725946e-01 -1.18041338e-02 -2.60656233e+02] [ 1.64007801e-02 5.76249354e-05 9.99865497e-01 -2.80626507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 824.7965599949999 meters 0.013397792935696413 Centerline is valid? [True, True] Translation: X:-167.23, Y:-260.64, Z:-2.80 [[-6.92297568e-01 -7.21527146e-01 1.10749651e-02 -1.67227134e+02] [ 7.21435897e-01 -6.92386146e-01 -1.14747970e-02 -2.60635784e+02] [ 1.59475300e-02 4.59032958e-05 9.99872829e-01 -2.80387606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 824.8265599949999 meters 0.013248743446196162 Centerline is valid? [True, True] Translation: X:-167.25, Y:-260.62, Z:-2.80 [[-6.94004466e-01 -7.19894658e-01 1.04634223e-02 -1.67245427e+02] [ 7.19813125e-01 -6.94083339e-01 -1.08343780e-02 -2.60615405e+02] [ 1.50620979e-02 1.26019973e-05 9.99886560e-01 -2.80296696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 824.856559995 meters 0.013237599656190618 Centerline is valid? [True, True] Translation: X:-167.26, Y:-260.60, Z:-2.80 [[-6.95168637e-01 -7.18778277e-01 9.91739476e-03 -1.67263462e+02] [ 7.18705009e-01 -6.95239375e-01 -1.02625838e-02 -2.60595386e+02] [ 1.42714857e-02 -6.54511001e-06 9.99898157e-01 -2.80282638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 824.886559995 meters 0.013270704502403616 Centerline is valid? [True, True] Translation: X:-167.28, Y:-260.57, Z:-2.80 [[-6.96280273e-01 -7.17703667e-01 9.75850038e-03 -1.67281780e+02] [ 7.17632712e-01 -6.96348653e-01 -1.00918269e-02 -2.60574579e+02] [ 1.40382598e-02 -2.37208813e-05 9.99901459e-01 -2.80203159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 824.916559995 meters 0.013374377826941012 Centerline is valid? [True, True] Translation: X:-167.30, Y:-260.55, Z:-2.80 [[-6.97929423e-01 -7.16099734e-01 9.78221441e-03 -1.67297746e+02] [ 7.16028344e-01 -6.97997972e-01 -1.01114537e-02 -2.60553994e+02] [ 1.40687751e-02 -5.27382729e-05 9.99901029e-01 -2.80184448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 824.9465599949999 meters 0.013405799415997982 Centerline is valid? [True, True] Translation: X:-167.32, Y:-260.53, Z:-2.80 [[-6.98511160e-01 -7.15532257e-01 9.78509888e-03 -1.67315242e+02] [ 7.15460863e-01 -6.98579691e-01 -1.01078737e-02 -2.60534516e+02] [ 1.40681810e-02 -5.96072714e-05 9.99901037e-01 -2.80183070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 824.9765599949999 meters 0.013451031950763923 Centerline is valid? [True, True] Translation: X:-167.33, Y:-260.51, Z:-2.80 [[-6.98735061e-01 -7.15314007e-01 9.75633036e-03 -1.67333445e+02] [ 7.15243097e-01 -6.98803168e-01 -1.00719428e-02 -2.60514889e+02] [ 1.40223564e-02 -5.94716552e-05 9.99901680e-01 -2.80130635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 825.006559995 meters 0.013395730087988996 Centerline is valid? [True, True] Translation: X:-167.35, Y:-260.50, Z:-2.80 [[-6.98435108e-01 -7.15610354e-01 9.49852874e-03 -1.67352277e+02] [ 7.15543256e-01 -6.98499692e-01 -9.79946994e-03 -2.60495903e+02] [ 1.36473215e-02 -4.76856611e-05 9.99906870e-01 -2.80108819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 825.036559995 meters 0.013418501890852443 Centerline is valid? [True, True] Translation: X:-167.37, Y:-260.48, Z:-2.80 [[-6.98174767e-01 -7.15865978e-01 9.37526820e-03 -1.67371105e+02] [ 7.15800717e-01 -6.98237710e-01 -9.66614999e-03 -2.60477464e+02] [ 1.34658337e-02 -3.78383214e-05 9.99909331e-01 -2.80065547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 825.0665599949999 meters 0.01323586315475293 Centerline is valid? [True, True] Translation: X:-167.39, Y:-260.46, Z:-2.80 [[-6.97863471e-01 -7.16174742e-01 8.96184322e-03 -1.67391125e+02] [ 7.16115209e-01 -6.97921012e-01 -9.23411090e-03 -2.60458312e+02] [ 1.28678957e-02 -2.64364574e-05 9.99917205e-01 -2.79908510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 825.0965599949999 meters 0.013193581126616076 Centerline is valid? [True, True] Translation: X:-167.41, Y:-260.44, Z:-2.80 [[-6.96651350e-01 -7.17357336e-01 8.68040287e-03 -1.67410143e+02] [ 7.17301648e-01 -6.96705428e-01 -8.93825403e-03 -2.60440634e+02] [ 1.24596059e-02 -3.79452148e-07 9.99922376e-01 -2.79825233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 825.126559995 meters 0.013170947500423151 Centerline is valid? [True, True] Translation: X:-167.43, Y:-260.42, Z:-2.80 [[-6.96180774e-01 -7.17819342e-01 8.22935253e-03 -1.67429030e+02] [ 7.17769389e-01 -6.96229410e-01 -8.46828981e-03 -2.60422634e+02] [ 1.18082195e-02 1.13167883e-05 9.99930281e-01 -2.79828515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 825.156559995 meters 0.01324803156854863 Centerline is valid? [True, True] Translation: X:-167.45, Y:-260.40, Z:-2.80 [[-6.95492161e-01 -7.18488391e-01 8.06760836e-03 -1.67448351e+02] [ 7.18440489e-01 -6.95538951e-01 -8.29653635e-03 -2.60404291e+02] [ 1.15723009e-02 2.59204956e-05 9.99933038e-01 -2.79787873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 825.1865599949999 meters 0.013135323206234601 Centerline is valid? [True, True] Translation: X:-167.47, Y:-260.38, Z:-2.80 [[-6.94840796e-01 -7.19120285e-01 7.89199631e-03 -1.67468359e+02] [ 7.19074538e-01 -6.94885613e-01 -8.11137338e-03 -2.60384696e+02] [ 1.13170878e-02 3.88204593e-05 9.99935959e-01 -2.79640371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 825.2165599949999 meters 0.013332917014287625 Centerline is valid? [True, True] Translation: X:-167.49, Y:-260.37, Z:-2.80 [[-6.93008155e-01 -7.20882672e-01 8.23834097e-03 -1.67488733e+02] [ 7.20832987e-01 -6.93057118e-01 -8.46387143e-03 -2.60367081e+02] [ 1.18110991e-02 7.29360036e-05 9.99930244e-01 -2.79568014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 825.246559995 meters 0.013400990195923517 Centerline is valid? [True, True] Translation: X:-167.51, Y:-260.35, Z:-2.80 [[-6.92252188e-01 -7.21609727e-01 8.14311645e-03 -1.67508842e+02] [ 7.21561295e-01 -6.92300076e-01 -8.36078709e-03 -2.60348822e+02] [ 1.16707054e-02 8.79844928e-05 9.99931891e-01 -2.79558763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 825.276559995 meters 0.013759121816657624 Centerline is valid? [True, True] Translation: X:-167.53, Y:-260.33, Z:-2.80 [[-6.91434928e-01 -7.22389467e-01 8.43798364e-03 -1.67528572e+02] [ 7.22337573e-01 -6.91486404e-01 -8.65933212e-03 -2.60331917e+02] [ 1.20901613e-02 1.07707943e-04 9.99926906e-01 -2.79651380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 825.3065599949999 meters 0.013889157927272489 Centerline is valid? [True, True] Translation: X:-167.55, Y:-260.31, Z:-2.80 [[-6.89332188e-01 -7.24388291e-01 9.09608719e-03 -1.67550106e+02] [ 7.24328229e-01 -6.89392181e-01 -9.32943576e-03 -2.60313139e+02] [ 1.30289054e-02 1.57472359e-04 9.99915108e-01 -2.79632203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 825.3365599949999 meters 0.014937733985880617 Centerline is valid? [True, True] Translation: X:-167.57, Y:-260.30, Z:-2.80 [[-6.88606000e-01 -7.25073031e-01 9.53291423e-03 -1.67571351e+02] [ 7.25007206e-01 -6.88671959e-01 -9.77165252e-03 -2.60295916e+02] [ 1.36502124e-02 1.82612954e-04 9.99906815e-01 -2.79836228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 825.366559995 meters 0.014464276846470201 Centerline is valid? [True, True] Translation: X:-167.59, Y:-260.28, Z:-2.80 [[-6.87841625e-01 -7.25795067e-01 9.76826968e-03 -1.67590799e+02] [ 7.25726102e-01 -6.87910952e-01 -1.00073506e-02 -2.60275273e+02] [ 1.39829854e-02 2.05615950e-04 9.99902212e-01 -2.79671697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 825.396559995 meters 0.014775655836829058 Centerline is valid? [True, True] Translation: X:-167.61, Y:-260.26, Z:-2.80 [[-6.87187146e-01 -7.26411406e-01 1.00147502e-02 -1.67611191e+02] [ 7.26339063e-01 -6.87260080e-01 -1.02541953e-02 -2.60255710e+02] [ 1.43315024e-02 2.27553069e-04 9.99897273e-01 -2.79659331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 825.4265599949999 meters 0.014882239202962043 Centerline is valid? [True, True] Translation: X:-167.63, Y:-260.24, Z:-2.80 [[-6.86141736e-01 -7.27395589e-01 1.02554844e-02 -1.67631101e+02] [ 7.27319928e-01 -6.86218325e-01 -1.04944068e-02 -2.60236574e+02] [ 1.46710865e-02 2.58367663e-04 9.99892341e-01 -2.79644077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 825.4565599949999 meters 0.015085220484809475 Centerline is valid? [True, True] Translation: X:-167.65, Y:-260.22, Z:-2.80 [[-6.86034313e-01 -7.27495540e-01 1.03518513e-02 -1.67649782e+02] [ 7.27418565e-01 -6.86112358e-01 -1.05860022e-02 -2.60218713e+02] [ 1.48038025e-02 2.67768068e-04 9.99890382e-01 -2.79660592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 825.486559995 meters 0.015307311008879958 Centerline is valid? [True, True] Translation: X:-167.67, Y:-260.20, Z:-2.80 [[-6.86062775e-01 -7.27477398e-01 9.72134733e-03 -1.67668863e+02] [ 7.27409603e-01 -6.86131599e-01 -9.93471100e-03 -2.60200207e+02] [ 1.38974013e-02 2.55566001e-04 9.99903394e-01 -2.79611005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 825.516559995 meters 0.014883589692672476 Centerline is valid? [True, True] Translation: X:-167.69, Y:-260.18, Z:-2.80 [[-6.86419848e-01 -7.27147474e-01 9.18380531e-03 -1.67687576e+02] [ 7.27087010e-01 -6.86481241e-01 -9.38007685e-03 -2.60179869e+02] [ 1.31252093e-02 2.38754614e-04 9.99913832e-01 -2.79505982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 825.5465599949999 meters 0.014726911854234017 Centerline is valid? [True, True] Translation: X:-167.71, Y:-260.16, Z:-2.79 [[-6.86786565e-01 -7.26806897e-01 8.71488871e-03 -1.67706674e+02] [ 7.26752485e-01 -6.86841819e-01 -8.89609627e-03 -2.60159705e+02] [ 1.24514941e-02 2.23847629e-04 9.99922452e-01 -2.79432612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 825.5765599949999 meters 0.015083457306220295 Centerline is valid? [True, True] Translation: X:-167.73, Y:-260.14, Z:-2.80 [[-6.88040931e-01 -7.25620992e-01 8.59377735e-03 -1.67725946e+02] [ 7.25568051e-01 -6.88094568e-01 -8.76743645e-03 -2.60140804e+02] [ 1.22751674e-02 2.03015148e-04 9.99924637e-01 -2.79537043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 825.606559995 meters 0.014282575584742135 Centerline is valid? [True, True] Translation: X:-167.74, Y:-260.12, Z:-2.79 [[-6.88876918e-01 -7.24827548e-01 8.58004787e-03 -1.67744225e+02] [ 7.24774775e-01 -6.88930322e-01 -8.74852678e-03 -2.60119376e+02] [ 1.22522284e-02 1.91944102e-04 9.99924920e-01 -2.79436876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 825.636559995 meters 0.014279432502272635 Centerline is valid? [True, True] Translation: X:-167.76, Y:-260.10, Z:-2.80 [[-6.90066580e-01 -7.23696472e-01 8.45770769e-03 -1.67762272e+02] [ 7.23645176e-01 -6.90118386e-01 -8.61809530e-03 -2.60100258e+02] [ 1.20737047e-02 1.73319832e-04 9.99927095e-01 -2.79506456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 825.666559995 meters 0.014626355844664216 Centerline is valid? [True, True] Translation: X:-167.78, Y:-260.08, Z:-2.80 [[-6.90305958e-01 -7.23463093e-01 8.87908445e-03 -1.67781054e+02] [ 7.23406614e-01 -6.90363035e-01 -9.04159389e-03 -2.60081597e+02] [ 1.26710512e-02 1.81722295e-04 9.99919703e-01 -2.79604437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 825.6965599949999 meters 0.014782876705294207 Centerline is valid? [True, True] Translation: X:-167.80, Y:-260.06, Z:-2.80 [[-6.90568991e-01 -7.23205801e-01 9.37218759e-03 -1.67799266e+02] [ 7.23142932e-01 -6.90632560e-01 -9.53770544e-03 -2.60063061e+02] [ 1.33704618e-02 1.90987582e-04 9.99910593e-01 -2.79695428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 825.7265599949999 meters 0.014444911617643141 Centerline is valid? [True, True] Translation: X:-167.82, Y:-260.04, Z:-2.80 [[-6.90570744e-01 -7.23197969e-01 9.83587937e-03 -1.67817401e+02] [ 7.23128810e-01 -6.90640757e-01 -1.00034255e-02 -2.60043012e+02] [ 1.40275162e-02 2.04534722e-04 9.99901589e-01 -2.79645218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 825.756559995 meters 0.014480397205980508 Centerline is valid? [True, True] Translation: X:-167.84, Y:-260.02, Z:-2.80 [[-6.90780048e-01 -7.22990649e-01 1.03656744e-02 -1.67836439e+02] [ 7.22913911e-01 -6.90857782e-01 -1.05357651e-02 -2.60023366e+02] [ 1.47784665e-02 2.15593863e-04 9.99890769e-01 -2.79717586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 825.786559995 meters 0.014158130708311102 Centerline is valid? [True, True] Translation: X:-167.86, Y:-260.00, Z:-2.80 [[-6.91360798e-01 -7.22435012e-01 1.03875388e-02 -1.67855032e+02] [ 7.22357985e-01 -6.91438797e-01 -1.05514077e-02 -2.60003196e+02] [ 1.48050537e-02 2.08691967e-04 9.99890378e-01 -2.79670737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 825.8165599949999 meters 0.014127176285479891 Centerline is valid? [True, True] Translation: X:-167.87, Y:-259.98, Z:-2.80 [[-6.92094722e-01 -7.21736245e-01 1.00840601e-02 -1.67873328e+02] [ 7.21663675e-01 -6.92168155e-01 -1.02364519e-02 -2.59983722e+02] [ 1.43678837e-02 1.92705530e-04 9.99896758e-01 -2.79664717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 825.8465599949999 meters 0.014127176285479891 Centerline is valid? [True, True] Translation: X:-167.89, Y:-259.96, Z:-2.80 [[-6.92317391e-01 -7.21522611e-01 1.00872186e-02 -1.67892186e+02] [ 7.21450063e-01 -6.92390847e-01 -1.02333395e-02 -2.59964737e+02] [ 1.43678837e-02 1.92705545e-04 9.99896758e-01 -2.79664715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 825.876559995 meters 0.013623118129383627 Centerline is valid? [True, True] Translation: X:-167.91, Y:-259.94, Z:-2.80 [[-6.94310631e-01 -7.19614272e-01 9.38332018e-03 -1.67909604e+02] [ 7.19551392e-01 -6.94374019e-01 -9.51401828e-03 -2.59943071e+02] [ 1.33619571e-02 1.46097057e-04 9.99910715e-01 -2.79542492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 825.906559995 meters 0.013268363646888569 Centerline is valid? [True, True] Translation: X:-167.93, Y:-259.92, Z:-2.79 [[-6.95656717e-01 -7.18318152e-01 8.98690044e-03 -1.67927231e+02] [ 7.18260437e-01 -6.95714754e-01 -9.10638266e-03 -2.59922053e+02] [ 1.27935992e-02 1.20018770e-04 9.99918151e-01 -2.79495023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 825.9365599949999 meters 0.013072015564641238 Centerline is valid? [True, True] Translation: X:-167.95, Y:-259.90, Z:-2.79 [[-6.97408565e-01 -7.16619074e-01 8.85419544e-03 -1.67945053e+02] [ 7.16562980e-01 -6.97464762e-01 -8.96664344e-03 -2.59900607e+02] [ 1.26011570e-02 9.11747356e-05 9.99920598e-01 -2.79427007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 825.9665599949999 meters 0.012722799052767146 Centerline is valid? [True, True] Translation: X:-167.96, Y:-259.88, Z:-2.79 [[-7.00890432e-01 -7.13213314e-01 8.90904385e-03 -1.67960609e+02] [ 7.13156318e-01 -7.00947051e-01 -9.01652938e-03 -2.59877761e+02] [ 1.26754768e-02 3.39417415e-05 9.99919662e-01 -2.79308252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 825.996559995 meters 0.012793506018655846 Centerline is valid? [True, True] Translation: X:-167.98, Y:-259.86, Z:-2.79 [[-7.02840564e-01 -7.11297837e-01 8.39817377e-03 -1.67977887e+02] [ 7.11247120e-01 -7.02890737e-01 -8.49391595e-03 -2.59857585e+02] [ 1.19447026e-02 3.30822994e-06 9.99928660e-01 -2.79361109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 826.026559995 meters 0.012991932791575908 Centerline is valid? [True, True] Translation: X:-167.99, Y:-259.84, Z:-2.79 [[-7.04689943e-01 -7.09461690e-01 8.72890445e-03 -1.67994731e+02] [ 7.09406829e-01 -7.04744003e-01 -8.82282218e-03 -2.59837822e+02] [ 1.24110974e-02 -2.50096376e-05 9.99922979e-01 -2.79462811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 826.0565599949999 meters 0.013021022708453223 Centerline is valid? [True, True] Translation: X:-168.01, Y:-259.82, Z:-2.79 [[-7.08525111e-01 -7.05631814e-01 8.71268412e-03 -1.68012145e+02] [ 7.05576926e-01 -7.08578673e-01 -8.80151998e-03 -2.59815559e+02] [ 1.23842547e-02 -8.86290357e-05 9.99923308e-01 -2.79259377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 826.0865599949999 meters 0.013489863541846522 Centerline is valid? [True, True] Translation: X:-168.03, Y:-259.79, Z:-2.79 [[-7.10527110e-01 -7.03613567e-01 8.89806587e-03 -1.68030029e+02] [ 7.03556226e-01 -7.10582813e-01 -8.98350951e-03 -2.59794659e+02] [ 1.26437318e-02 -1.22737404e-04 9.99920057e-01 -2.79279357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 826.116559995 meters 0.014279226980453117 Centerline is valid? [True, True] Translation: X:-168.05, Y:-259.77, Z:-2.79 [[-7.13844764e-01 -7.00241975e-01 9.31824002e-03 -1.68047328e+02] [ 7.00178871e-01 -7.13905555e-01 -9.40251502e-03 -2.59772567e+02] [ 1.32363790e-02 -1.87501335e-04 9.99912378e-01 -2.79263225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 826.146559995 meters 0.014717894164761148 Centerline is valid? [True, True] Translation: X:-168.07, Y:-259.75, Z:-2.79 [[-7.15332684e-01 -6.98719048e-01 9.53116930e-03 -1.68066103e+02] [ 6.98652963e-01 -7.15396145e-01 -9.61207688e-03 -2.59751419e+02] [ 1.35347030e-02 -2.16853076e-04 9.99908378e-01 -2.79288162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 826.1765599949999 meters 0.014422415955903512 Centerline is valid? [True, True] Translation: X:-168.09, Y:-259.73, Z:-2.79 [[-7.16569248e-01 -6.97446223e-01 9.86306545e-03 -1.68085790e+02] [ 6.97375406e-01 -7.16637081e-01 -9.94164461e-03 -2.59731646e+02] [ 1.40020009e-02 -2.45617519e-04 9.99901937e-01 -2.79191882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 826.2065599949999 meters 0.015551723480623695 Centerline is valid? [True, True] Translation: X:-168.10, Y:-259.71, Z:-2.79 [[-7.17463988e-01 -6.96524027e-01 9.98530380e-03 -1.68102988e+02] [ 6.96451415e-01 -7.17533421e-01 -1.00606686e-02 -2.59710915e+02] [ 1.41722866e-02 -2.63888468e-04 9.99899533e-01 -2.79320443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 826.236559995 meters 0.015404109574843792 Centerline is valid? [True, True] Translation: X:-168.12, Y:-259.69, Z:-2.79 [[-7.18141311e-01 -6.95825052e-01 1.00276917e-02 -1.68122762e+02] [ 6.95751843e-01 -7.18211265e-01 -1.00971082e-02 -2.59691993e+02] [ 1.42278220e-02 -2.74365510e-04 9.99898742e-01 -2.79286851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 826.266559995 meters 0.016031662125879642 Centerline is valid? [True, True] Translation: X:-168.14, Y:-259.67, Z:-2.79 [[-7.18322331e-01 -6.95641173e-01 9.81771905e-03 -1.68141193e+02] [ 6.95571070e-01 -7.18389370e-01 -9.87926024e-03 -2.59673134e+02] [ 1.39253652e-02 -2.67571892e-04 9.99903002e-01 -2.79310734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 826.2965599949999 meters 0.015209536159484338 Centerline is valid? [True, True] Translation: X:-168.16, Y:-259.66, Z:-2.79 [[-7.17985111e-01 -6.95990562e-01 9.72200046e-03 -1.68161676e+02] [ 6.95921935e-01 -7.18050885e-01 -9.77689272e-03 -2.59655677e+02] [ 1.37855161e-02 -2.53910035e-04 9.99904943e-01 -2.79190443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 826.3265599949999 meters 0.0146061448816507 Centerline is valid? [True, True] Translation: X:-168.18, Y:-259.64, Z:-2.79 [[-7.17272473e-01 -6.96729356e-01 9.40234396e-03 -1.68182459e+02] [ 6.96665301e-01 -7.17334060e-01 -9.45016140e-03 -2.59637357e+02] [ 1.33288264e-02 -2.28053856e-04 9.99911141e-01 -2.79125106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 826.356559995 meters 0.014010354930928722 Centerline is valid? [True, True] Translation: X:-168.20, Y:-259.62, Z:-2.79 [[-7.14695431e-01 -6.99383927e-01 8.51838994e-03 -1.68203567e+02] [ 6.99331593e-01 -7.14746177e-01 -8.55719777e-03 -2.59620386e+02] [ 1.20732532e-02 -1.58610949e-04 9.99927103e-01 -2.79125147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 826.386559995 meters 0.013629839207068024 Centerline is valid? [True, True] Translation: X:-168.22, Y:-259.60, Z:-2.79 [[-7.13106743e-01 -7.01000725e-01 8.76109967e-03 -1.68223985e+02] [ 7.00945555e-01 -7.13160548e-01 -8.79561832e-03 -2.59602481e+02] [ 1.24138055e-02 -1.31160863e-04 9.99922937e-01 -2.79116024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 826.416559995 meters 0.013118801906271006 Centerline is valid? [True, True] Translation: X:-168.25, Y:-259.58, Z:-2.79 [[-7.11309056e-01 -7.02825515e-01 8.70190136e-03 -1.68245024e+02] [ 7.02771291e-01 -7.11362275e-01 -8.73071773e-03 -2.59584701e+02] [ 1.23263755e-02 -9.47921299e-05 9.99924023e-01 -2.79091228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 826.4465599949999 meters 0.012743792020989013 Centerline is valid? [True, True] Translation: X:-168.27, Y:-259.57, Z:-2.79 [[-7.07402685e-01 -7.06755699e-01 8.82175094e-03 -1.68267432e+02] [ 7.06700348e-01 -7.07457688e-01 -8.84516010e-03 -2.59569428e+02] [ 1.24923828e-02 -2.27555348e-05 9.99921967e-01 -2.79234546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 826.4765599949999 meters 0.012660678436086443 Centerline is valid? [True, True] Translation: X:-168.29, Y:-259.55, Z:-2.79 [[-7.05372107e-01 -7.08782910e-01 8.77369948e-03 -1.68288910e+02] [ 7.08728385e-01 -7.05426670e-01 -8.79146370e-03 -2.59551996e+02] [ 1.24204408e-02 1.69165899e-05 9.99922863e-01 -2.79173759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 826.506559995 meters 0.012713584972707732 Centerline is valid? [True, True] Translation: X:-168.31, Y:-259.53, Z:-2.79 [[-7.03473167e-01 -7.10668375e-01 8.71573592e-03 -1.68310401e+02] [ 7.10614773e-01 -7.03527155e-01 -8.72849809e-03 -2.59534430e+02] [ 1.23348244e-02 5.32665103e-05 9.99923922e-01 -2.79172602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 826.536559995 meters 0.013067481226937901 Centerline is valid? [True, True] Translation: X:-168.33, Y:-259.52, Z:-2.79 [[-7.00513267e-01 -7.13589916e-01 8.40208672e-03 -1.68333459e+02] [ 7.13540367e-01 -7.00563646e-01 -8.40967196e-03 -2.59517319e+02] [ 1.18872536e-02 1.04141269e-04 9.99929339e-01 -2.79146341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 826.5665599949999 meters 0.013253249243443222 Centerline is valid? [True, True] Translation: X:-168.35, Y:-259.50, Z:-2.79 [[-6.99729840e-01 -7.14362952e-01 7.98266178e-03 -1.68352816e+02] [ 7.14318322e-01 -6.99775364e-01 -7.98598223e-03 -2.59500197e+02] [ 1.12909599e-02 1.14131492e-04 9.99936249e-01 -2.79134509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 826.5965599949999 meters 0.013297486993253473 Centerline is valid? [True, True] Translation: X:-168.37, Y:-259.48, Z:-2.79 [[-6.99234663e-01 -7.14850525e-01 7.72091698e-03 -1.68372804e+02] [ 7.14808851e-01 -6.99277279e-01 -7.71977941e-03 -2.59481106e+02] [ 1.09175502e-02 1.21042434e-04 9.99940395e-01 -2.79077301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 826.626559995 meters 0.0134382232661977 Centerline is valid? [True, True] Translation: X:-168.84, Y:-259.95, Z:-1.79 [[-7.63233389e-01 6.46078351e-01 7.58674248e-03 -1.68841289e+02] [ 6.46044858e-01 7.63271086e-01 -6.57957037e-03 -2.59946908e+02] [-1.00416591e-02 -1.20371828e-04 -9.99949574e-01 -1.79399581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 826.656559995 meters 0.013479116330007859 Centerline is valid? [True, True] Translation: X:-168.41, Y:-259.45, Z:-2.79 [[-7.01256986e-01 -7.12875695e-01 6.84717958e-03 -1.68408716e+02] [ 7.12843013e-01 -7.01290407e-01 -6.82667380e-03 -2.59454652e+02] [ 9.66843119e-03 9.37114248e-05 9.99953255e-01 -2.79039415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 826.6865599949999 meters 0.013467284554877057 Centerline is valid? [True, True] Translation: X:-168.87, Y:-259.92, Z:-1.79 [[-7.65347323e-01 6.43576548e-01 7.25959910e-03 -1.68873878e+02] [ 6.43546198e-01 7.65381744e-01 -6.25120959e-03 -2.59917843e+02] [-9.57949651e-03 -1.12459124e-04 -9.99954109e-01 -1.79383145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 826.7165599949999 meters 0.013125232049754949 Centerline is valid? [True, True] Translation: X:-168.86, Y:-259.90, Z:-1.79 [[-8.07878283e-01 5.89305890e-01 7.15873377e-03 -1.68855817e+02] [ 5.89281788e-01 8.07909995e-01 -5.33052504e-03 -2.59896569e+02] [-8.92492237e-03 -8.79039826e-05 -9.99960168e-01 -1.79348395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 826.746559995 meters 0.013033408747315815 Centerline is valid? [True, True] Translation: X:-168.47, Y:-259.37, Z:-2.79 [[-7.54210399e-01 -6.56597511e-01 6.81041086e-03 -1.68467490e+02] [ 6.56571814e-01 -7.54241142e-01 -5.80978420e-03 -2.59370226e+02] [ 8.95138191e-03 8.97241462e-05 9.99959932e-01 -2.79052722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 826.776559995 meters 0.012910367752990388 Centerline is valid? [True, True] Translation: X:-168.89, Y:-259.87, Z:-1.79 [[-8.08821058e-01 5.88010020e-01 7.26028400e-03 -1.68890574e+02] [ 5.87985541e-01 8.08853640e-01 -5.36593811e-03 -2.59873133e+02] [-9.02773252e-03 -7.11417300e-05 -9.99959247e-01 -1.79363973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 826.8065599949999 meters 0.012940075926868307 Centerline is valid? [True, True] Translation: X:-168.87, Y:-259.85, Z:-1.79 [[-8.47855139e-01 5.30173412e-01 7.60370566e-03 -1.68871497e+02] [ 5.30151446e-01 8.47889232e-01 -4.82650021e-03 -2.59852417e+02] [-9.00598224e-03 -6.10574594e-05 -9.99959444e-01 -1.79315444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 826.8365599949999 meters 0.01273921172652496 Centerline is valid? [True, True] Translation: X:-168.86, Y:-259.83, Z:-1.79 [[-8.82817790e-01 4.69639450e-01 8.45793807e-03 -1.68857108e+02] [ 4.69617291e-01 8.82858303e-01 -4.56249560e-03 -2.59828496e+02] [-9.60988878e-03 -5.58583212e-05 -9.99953823e-01 -1.79269260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 826.866559995 meters 0.012757384136814062 Centerline is valid? [True, True] Translation: X:-168.54, Y:-259.26, Z:-2.79 [[-8.42997549e-01 -5.37845963e-01 8.76648689e-03 -1.68542137e+02] [ 5.37818166e-01 -8.43043124e-01 -5.46913995e-03 -2.59255577e+02] [ 1.03320813e-02 1.04304328e-04 9.99946617e-01 -2.79247711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 826.896559995 meters 0.012800847617848372 Centerline is valid? [True, True] Translation: X:-168.89, Y:-259.81, Z:-1.79 [[-8.84692061e-01 4.66065178e-01 1.01591161e-02 -1.68894697e+02] [ 4.66033517e-01 8.84750385e-01 -5.43292939e-03 -2.59807922e+02] [-1.15203811e-02 -7.19809018e-05 -9.99933636e-01 -1.79109938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 826.9265599949999 meters 0.013029943088712194 Centerline is valid? [True, True] Translation: X:-168.59, Y:-259.24, Z:-2.80 [[-8.44124601e-01 -5.36016172e-01 1.18457239e-02 -1.68586444e+02] [ 5.35967271e-01 -8.44207681e-01 -7.24401893e-03 -2.59235374e+02] [ 1.38831624e-02 2.34065736e-04 9.99903597e-01 -2.79618106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 826.9565599949999 meters 0.013132109719201686 Centerline is valid? [True, True] Translation: X:-168.93, Y:-259.79, Z:-1.79 [[-8.87129945e-01 4.61329934e-01 1.32345347e-02 -1.68933065e+02] [ 4.61276538e-01 8.87228650e-01 -7.01986877e-03 -2.59785681e+02] [-1.49805340e-02 -1.22755439e-04 -9.99887778e-01 -1.78715002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 826.986559995 meters 0.013317872890126535 Centerline is valid? [True, True] Translation: X:-168.63, Y:-259.22, Z:-2.80 [[-8.45229068e-01 -5.34226458e-01 1.37809223e-02 -1.68627734e+02] [ 5.34159424e-01 -8.45341380e-01 -8.46526236e-03 -2.59215629e+02] [ 1.61719510e-02 2.06123684e-04 9.99869204e-01 -2.79816721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 827.016559995 meters 0.013371931606910291 Centerline is valid? [True, True] Translation: X:-168.97, Y:-259.76, Z:-1.79 [[-8.89148535e-01 4.57391146e-01 1.44299130e-02 -1.68973898e+02] [ 4.57328237e-01 8.89265606e-01 -7.58722037e-03 -2.59764550e+02] [-1.63023527e-02 -1.46959209e-04 -9.99867097e-01 -1.78647881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 827.0465599949999 meters 0.013220926524810906 Centerline is valid? [True, True] Translation: X:-168.67, Y:-259.20, Z:-2.80 [[-8.47317299e-01 -5.30924812e-01 1.31239887e-02 -1.68666416e+02] [ 5.30862711e-01 -8.47418927e-01 -8.12065185e-03 -2.59195589e+02] [ 1.54329720e-02 8.62674169e-05 9.99880901e-01 -2.79725558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 827.0765599949999 meters 0.012992229376743434 Centerline is valid? [True, True] Translation: X:-168.69, Y:-259.22, Z:-2.80 [[-8.09984374e-01 -5.86339032e-01 1.14828000e-02 -1.68685286e+02] [ 5.86282023e-01 -8.10065756e-01 -8.17690339e-03 -2.59218021e+02] [ 1.40962607e-02 1.08995264e-04 9.99900637e-01 -2.79575885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 827.106559995 meters 0.013065725621052293 Centerline is valid? [True, True] Translation: X:-169.06, Y:-259.75, Z:-1.79 [[-8.57291405e-01 5.14709737e-01 1.11952181e-02 -1.69058125e+02] [ 5.14664433e-01 8.57364495e-01 -6.82962254e-03 -2.59751951e+02] [-1.31136557e-02 -9.31961429e-05 -9.99914008e-01 -1.78865528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 827.136559995 meters 0.0128444987868961 Centerline is valid? [True, True] Translation: X:-169.05, Y:-259.73, Z:-1.79 [[-8.91114669e-01 4.53650927e-01 1.07462889e-02 -1.69048178e+02] [ 4.53616953e-01 8.91179461e-01 -5.55240209e-03 -2.59726713e+02] [-1.20957243e-02 -7.31281316e-05 -9.99926842e-01 -1.78977027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 827.166559995 meters 0.012635944844685948 Centerline is valid? [True, True] Translation: X:-169.04, Y:-259.70, Z:-1.79 [[-9.19963445e-01 3.91887900e-01 9.54636330e-03 -1.69036918e+02] [ 3.91866415e-01 9.20012974e-01 -4.10371199e-03 -2.59703393e+02] [-1.03909732e-02 -3.43658604e-05 -9.99946012e-01 -1.79039744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 827.1965599949999 meters 0.012522613642686937 Centerline is valid? [True, True] Translation: X:-168.77, Y:-259.10, Z:-2.79 [[-8.89170670e-01 -4.57487252e-01 8.99631207e-03 -1.68772070e+02] [ 4.57464024e-01 -8.89216179e-01 -4.61010494e-03 -2.59103255e+02] [ 1.01087305e-02 1.63190215e-05 9.99948905e-01 -2.79274680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 827.2265599949999 meters 0.012409589017887518 Centerline is valid? [True, True] Translation: X:-169.08, Y:-259.69, Z:-1.79 [[-9.20376700e-01 3.90936255e-01 8.69335895e-03 -1.69075783e+02] [ 3.90918755e-01 9.20417755e-01 -3.69902535e-03 -2.59690386e+02] [-9.44760505e-03 -6.09969003e-06 -9.99955370e-01 -1.79192370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 827.256559995 meters 0.012481596777574938 Centerline is valid? [True, True] Translation: X:-169.07, Y:-259.67, Z:-1.79 [[-9.45121011e-01 3.26600400e-01 8.85739024e-03 -1.69066284e+02] [ 3.26586184e-01 9.45162515e-01 -3.04727560e-03 -2.59666036e+02] [-9.36691466e-03 1.26570799e-05 -9.99956130e-01 -1.79214321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 827.286559995 meters 0.012410540435705768 Centerline is valid? [True, True] Translation: X:-169.06, Y:-259.64, Z:-1.79 [[-9.65703775e-01 2.59495552e-01 8.84742688e-03 -1.69057667e+02] [ 2.59484844e-01 9.65744303e-01 -2.35748329e-03 -2.59639773e+02] [-9.15610853e-03 1.91426727e-05 -9.99958082e-01 -1.79277437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 827.3165599949999 meters 0.01241429924852055 Centerline is valid? [True, True] Translation: X:-168.88, Y:-259.00, Z:-2.79 [[-9.47426105e-01 -3.19871722e-01 8.11526822e-03 -1.68883619e+02] [ 3.19859498e-01 -9.47460859e-01 -2.79694956e-03 -2.58999930e+02] [ 8.58356407e-03 -5.41574036e-05 9.99963159e-01 -2.79124585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 827.3465599949999 meters 0.012316673477161885 Centerline is valid? [True, True] Translation: X:-169.10, Y:-259.63, Z:-1.79 [[-9.66926072e-01 2.54905096e-01 8.79563641e-03 -1.69104698e+02] [ 2.54894653e-01 9.66966076e-01 -2.30732090e-03 -2.59626535e+02] [-9.09322988e-03 1.09519602e-05 -9.99958656e-01 -1.79306236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 827.376559995 meters 0.012336759127907262 Centerline is valid? [True, True] Translation: X:-169.10, Y:-259.60, Z:-1.79 [[-9.82718501e-01 1.84878990e-01 9.17098096e-03 -1.69101507e+02] [ 1.84870972e-01 9.82761293e-01 -1.72176753e-03 -2.59597821e+02] [-9.33120375e-03 3.43536022e-06 -9.99956463e-01 -1.79225209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 827.406559995 meters 0.01242284919686998 Centerline is valid? [True, True] Translation: X:-169.10, Y:-259.57, Z:-1.79 [[-9.93473236e-01 1.13609675e-01 1.01868431e-02 -1.69101327e+02] [ 1.13603628e-01 9.93525461e-01 -1.17212018e-03 -2.59568472e+02] [-1.02540522e-02 -7.20768733e-06 -9.99947426e-01 -1.79113838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 827.4365599949999 meters 0.012510729774369655 Centerline is valid? [True, True] Translation: X:-169.02, Y:-258.92, Z:-2.79 [[-9.83115415e-01 -1.82668685e-01 1.07811054e-02 -1.69023734e+02] [ 1.82658303e-01 -9.83174526e-01 -1.94824097e-03 -2.58917226e+02] [ 1.09555908e-02 5.39126932e-05 9.99939984e-01 -2.79429087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 827.4665599949999 meters 0.012661534344362454 Centerline is valid? [True, True] Translation: X:-169.16, Y:-259.56, Z:-1.79 [[-9.94205102e-01 1.06693660e-01 1.31407371e-02 -1.69162044e+02] [ 1.06683732e-01 9.94291939e-01 -1.45619546e-03 -2.59561078e+02] [-1.32210958e-02 -4.58540709e-05 -9.99912597e-01 -1.78838601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 827.496559995 meters 0.012885513035823009 Centerline is valid? [True, True] Translation: X:-169.16, Y:-259.53, Z:-1.79 [[-9.99283054e-01 3.53596396e-02 1.35305167e-02 -1.69159454e+02] [ 3.53556767e-02 9.99374651e-01 -5.32055403e-04 -2.59533206e+02] [-1.35408687e-02 -5.32933737e-05 -9.99908317e-01 -1.78697352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 827.526559995 meters 0.012781436021250163 Centerline is valid? [True, True] Translation: X:-169.17, Y:-259.51, Z:-1.79 [[-9.99260988e-01 -3.59098975e-02 1.37097435e-02 -1.69166643e+02] [-3.59072748e-02 9.99355030e-01 4.37485409e-04 -2.59505884e+02] [-1.37166112e-02 -5.51174240e-05 -9.99905921e-01 -1.78778828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 827.5565599949999 meters 0.012743807195891797 Centerline is valid? [True, True] Translation: X:-169.19, Y:-258.85, Z:-2.80 [[-9.99142983e-01 -3.92289104e-02 1.32057547e-02 -1.69190046e+02] [ 3.92257493e-02 -9.99230250e-01 -4.98397144e-04 -2.58849962e+02] [ 1.32151411e-02 2.00356136e-05 9.99912676e-01 -2.79626443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 827.5865599949999 meters 0.012496059890784566 Centerline is valid? [True, True] Translation: X:-169.25, Y:-259.51, Z:-1.79 [[-9.99126784e-01 -4.00052624e-02 1.20519053e-02 -1.69253600e+02] [-4.00027071e-02 9.99199469e-01 4.53114711e-04 -2.59510667e+02] [-1.20603844e-02 -2.93897955e-05 -9.99927271e-01 -1.78907194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 827.616559995 meters 0.012438410255432028 Centerline is valid? [True, True] Translation: X:-169.26, Y:-259.48, Z:-1.79 [[-9.93866195e-01 -1.10007277e-01 1.13306917e-02 -1.69260607e+02] [-1.10000304e-01 9.93930782e-01 1.23870236e-03 -2.59484816e+02] [-1.13981895e-02 -1.52751280e-05 -9.99935039e-01 -1.78964272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 827.646559995 meters 0.012442558512721118 Centerline is valid? [True, True] Translation: X:-169.27, Y:-259.46, Z:-1.79 [[-9.83736673e-01 -1.79302020e-01 1.06275070e-02 -1.69273339e+02] [-1.79291535e-01 9.83794077e-01 1.93903749e-03 -2.59460557e+02] [-1.08029518e-02 2.08024010e-06 -9.99941647e-01 -1.79000172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 827.6765599949999 meters 0.012626575896513139 Centerline is valid? [True, True] Translation: X:-169.30, Y:-259.44, Z:-1.79 [[-9.69215407e-01 -2.46010765e-01 1.00099098e-02 -1.69297641e+02] [-2.45997210e-01 9.69267095e-01 2.58281520e-03 -2.59443040e+02] [-1.03376765e-02 4.08944138e-05 -9.99946564e-01 -1.79113929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 827.7065599949999 meters 0.012778336736332142 Centerline is valid? [True, True] Translation: X:-169.34, Y:-259.43, Z:-1.79 [[-9.49467543e-01 -3.13730351e-01 9.20064755e-03 -1.69344368e+02] [-3.13714995e-01 9.49512119e-01 3.10464642e-03 -2.59430410e+02] [-9.71014816e-03 6.13799076e-05 -9.99952854e-01 -1.79155144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 827.736559995 meters 0.013195208383723754 Centerline is valid? [True, True] Translation: X:-169.41, Y:-259.43, Z:-1.79 [[-9.24576247e-01 -3.80898598e-01 8.66148350e-03 -1.69405854e+02] [-3.80881089e-01 9.24616814e-01 3.65294796e-03 -2.59426254e+02] [-9.39995603e-03 7.84336476e-05 -9.99955816e-01 -1.79158868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 827.766559995 meters 0.013195208383723754 Centerline is valid? [True, True] Translation: X:-169.48, Y:-259.43, Z:-1.79 [[-8.93846809e-01 -4.48294401e-01 8.36730716e-03 -1.69476520e+02] [-4.48273937e-01 8.93885968e-01 4.28404189e-03 -2.59428214e+02] [-9.39993045e-03 7.84314475e-05 -9.99955817e-01 -1.79158954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 827.7965599949999 meters 0.013263751409999752 Centerline is valid? [True, True] Translation: X:-169.55, Y:-259.44, Z:-1.79 [[-8.59622530e-01 -5.10873024e-01 7.60660379e-03 -1.69552648e+02] [-5.10851950e-01 8.59656177e-01 4.64139275e-03 -2.59441095e+02] [-8.91022628e-03 1.03997404e-04 -9.99960298e-01 -1.79297225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 827.8265599949999 meters 0.013449491702420713 Centerline is valid? [True, True] Translation: X:-169.64, Y:-259.46, Z:-1.79 [[-8.19513013e-01 -5.73018872e-01 6.91330275e-03 -1.69636207e+02] [-5.72997365e-01 8.19542165e-01 4.96581001e-03 -2.59463950e+02] [-8.51124596e-03 1.08241670e-04 -9.99963773e-01 -1.79323794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 827.856559995 meters 0.013677366714214122 Centerline is valid? [True, True] Translation: X:-169.72, Y:-259.50, Z:-1.79 [[-7.74449558e-01 -6.32602326e-01 6.49454657e-03 -1.69722900e+02] [-6.32578847e-01 7.74476781e-01 5.45138801e-03 -2.59496746e+02] [-8.47843626e-03 1.13512255e-04 -9.99964051e-01 -1.79304806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 827.886559995 meters 0.013714121569120375 Centerline is valid? [True, True] Translation: X:-169.81, Y:-259.54, Z:-1.79 [[-7.24421692e-01 -6.89331842e-01 5.90119883e-03 -1.69810634e+02] [-6.89307718e-01 7.24445719e-01 5.76806663e-03 -2.59539379e+02] [-8.25121022e-03 1.10770684e-04 -9.99965952e-01 -1.79269339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 827.916559995 meters 0.013426656159375286 Centerline is valid? [True, True] Translation: X:-169.90, Y:-259.59, Z:-1.79 [[-6.69722993e-01 -7.42588407e-01 5.79391269e-03 -1.69899861e+02] [-7.42559140e-01 6.69748045e-01 6.59392124e-03 -2.59592040e+02] [-8.77703117e-03 1.13777846e-04 -9.99961475e-01 -1.79258506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 827.9465599949999 meters 0.013283155605540737 Centerline is valid? [True, True] Translation: X:-169.99, Y:-259.65, Z:-1.79 [[-6.10379579e-01 -7.92087823e-01 5.80094763e-03 -1.69986806e+02] [-7.92050281e-01 6.10407134e-01 7.71262148e-03 -2.59653947e+02] [-9.65001336e-03 1.12984456e-04 -9.99953431e-01 -1.79204622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 827.9765599949999 meters 0.012937203710972898 Centerline is valid? [True, True] Translation: X:-170.07, Y:-259.73, Z:-1.79 [[-5.45449313e-01 -8.38123491e-01 5.83618425e-03 -1.70072432e+02] [-8.38073724e-01 5.45480528e-01 9.13384250e-03 -2.59725193e+02] [-1.08388128e-02 9.08954493e-05 -9.99941254e-01 -1.79044433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 828.006559995 meters 0.012737451089698155 Centerline is valid? [True, True] Translation: X:-170.15, Y:-259.81, Z:-1.79 [[-4.78037929e-01 -8.78322604e-01 5.39832173e-03 -1.70154667e+02] [-8.78264880e-01 4.78068403e-01 1.00698975e-02 -2.59808139e+02] [-1.14253856e-02 7.26365373e-05 -9.99934726e-01 -1.78960135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 828.036559995 meters 0.012595777615697055 Centerline is valid? [True, True] Translation: X:-170.23, Y:-259.89, Z:-1.79 [[-4.07498132e-01 -9.13193693e-01 4.74888640e-03 -1.70227784e+02] [-9.13130243e-01 4.07525799e-01 1.07649060e-02 -2.59891759e+02] [-1.17657380e-02 5.03272881e-05 -9.99930780e-01 -1.78908158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 828.0665599949999 meters 0.0125929241902461 Centerline is valid? [True, True] Translation: X:-170.30, Y:-259.99, Z:-1.79 [[-3.34484271e-01 -9.42392580e-01 4.06176113e-03 -1.70296924e+02] [-9.42322064e-01 3.34508931e-01 1.15283709e-02 -2.59987270e+02] [-1.22229466e-02 2.85716227e-05 -9.99925297e-01 -1.78840373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 828.0965599949999 meters 0.012594515266802626 Centerline is valid? [True, True] Translation: X:-170.36, Y:-260.09, Z:-1.79 [[-2.57028265e-01 -9.66398452e-01 3.24074297e-03 -1.70360510e+02] [-9.66322861e-01 2.57048693e-01 1.20870870e-02 -2.60090191e+02] [-1.25139709e-02 -2.48810166e-05 -9.99921697e-01 -1.78786997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 828.126559995 meters 0.012731401900980883 Centerline is valid? [True, True] Translation: X:-170.41, Y:-260.20, Z:-1.79 [[-1.79702455e-01 -9.83718221e-01 2.34276362e-03 -1.70414646e+02] [-9.83638601e-01 1.79717717e-01 1.25157508e-02 -2.60196894e+02] [-1.27330083e-02 -5.53215773e-05 -9.99918931e-01 -1.78762312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 828.156559995 meters 0.012968524718872011 Centerline is valid? [True, True] Translation: X:-170.46, Y:-260.31, Z:-1.79 [[-1.00800310e-01 -9.94905725e-01 1.37709049e-03 -1.70460671e+02] [-9.94824842e-01 1.00809675e-01 1.26863744e-02 -2.60309704e+02] [-1.27605705e-02 -9.11733570e-05 -9.99918577e-01 -1.78777944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 828.1865599949999 meters 0.013843496154873467 Centerline is valid? [True, True] Translation: X:-170.50, Y:-260.43, Z:-1.79 [[-1.88112801e-02 -9.99822973e-01 3.99256865e-04 -1.70499997e+02] [-9.99741234e-01 1.88148478e-02 1.27854119e-02 -2.60430014e+02] [-1.27906605e-02 -1.58643586e-04 -9.99918184e-01 -1.78709270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 828.2165599949999 meters 0.014031962356488027 Centerline is valid? [True, True] Translation: X:-170.53, Y:-260.55, Z:-1.79 [[ 6.09433432e-02 -9.98141061e-01 -5.75634928e-04 -1.70527463e+02] [-9.98062043e-01 -6.09457625e-02 1.25607376e-02 -2.60545013e+02] [-1.25724705e-02 -1.90973969e-04 -9.99920945e-01 -1.78818138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 828.246559995 meters 0.014806963543726735 Centerline is valid? [True, True] Translation: X:-170.55, Y:-260.66, Z:-1.79 [[ 1.39838514e-01 -9.90173168e-01 -1.51280128e-03 -1.70547715e+02] [-9.90097185e-01 -1.39846527e-01 1.22684005e-02 -2.60660172e+02] [-1.23594009e-02 -2.17774592e-04 -9.99923596e-01 -1.78767313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 828.276559995 meters 0.015182214693918726 Centerline is valid? [True, True] Translation: X:-170.56, Y:-260.78, Z:-1.79 [[ 2.17666991e-01 -9.76020221e-01 -2.36837931e-03 -1.70557012e+02] [-9.75950028e-01 -2.17679747e-01 1.17077358e-02 -2.60781483e+02] [-1.19425351e-02 -2.36967772e-04 -9.99928657e-01 -1.78830331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 828.3065599949999 meters 0.01655118887550777 Centerline is valid? [True, True] Translation: X:-170.56, Y:-260.90, Z:-1.79 [[ 2.95588696e-01 -9.55310212e-01 -3.11804101e-03 -1.70558603e+02] [-9.55247053e-01 -2.95605018e-01 1.09882332e-02 -2.60902405e+02] [-1.14188800e-02 -2.69498049e-04 -9.99934766e-01 -1.78924765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 828.3365599949999 meters 0.016376620709541632 Centerline is valid? [True, True] Translation: X:-170.55, Y:-261.02, Z:-1.79 [[ 3.69471098e-01 -9.29234547e-01 -3.77683551e-03 -1.70548632e+02] [-9.29178155e-01 -3.69490299e-01 1.02409008e-02 -2.61022088e+02] [-1.09117029e-02 -2.74363824e-04 -9.99940428e-01 -1.79039803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 828.366559995 meters 0.0169554977946666 Centerline is valid? [True, True] Translation: X:-170.53, Y:-261.14, Z:-1.79 [[ 4.40762930e-01 -8.97613118e-01 -4.32788645e-03 -1.70531635e+02] [-8.97563592e-01 -4.40784093e-01 9.43300444e-03 -2.61138521e+02] [-1.03748520e-02 -2.73165367e-04 -9.99946143e-01 -1.79064207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 828.396559995 meters 0.017752488332878468 Centerline is valid? [True, True] Translation: X:-170.51, Y:-261.25, Z:-1.79 [[ 5.09045509e-01 -8.60726641e-01 -4.72437332e-03 -1.70508354e+02] [-8.60684621e-01 -5.09067362e-01 8.50905565e-03 -2.61247967e+02] [-9.72899515e-03 -2.65301108e-04 -9.99952637e-01 -1.79153013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 828.4265599949999 meters 0.017736272331660797 Centerline is valid? [True, True] Translation: X:-170.47, Y:-261.36, Z:-1.79 [[ 5.73477409e-01 -8.19204000e-01 -5.33560397e-03 -1.70473887e+02] [-8.19164175e-01 -5.73502168e-01 8.08189737e-03 -2.61357271e+02] [-9.68070309e-03 -2.64049935e-04 -9.99953106e-01 -1.79197774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 828.4565599949999 meters 0.01719891376797979 Centerline is valid? [True, True] Translation: X:-170.43, Y:-261.46, Z:-1.79 [[ 6.34161917e-01 -7.73179893e-01 -5.61396650e-03 -1.70430342e+02] [-7.73146100e-01 -6.34186717e-01 7.23297332e-03 -2.61463770e+02] [-9.15269252e-03 -2.46459920e-04 -9.99958083e-01 -1.79195399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 828.486559995 meters 0.017164865438437676 Centerline is valid? [True, True] Translation: X:-170.39, Y:-261.56, Z:-1.79 [[ 6.90835101e-01 -7.22981400e-01 -6.69018047e-03 -1.70386225e+02] [-7.22943786e-01 -6.90867445e-01 7.37939667e-03 -2.61557769e+02] [-9.95719442e-03 -2.61321843e-04 -9.99950392e-01 -1.79127017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 828.516559995 meters 0.017290621339227766 Centerline is valid? [True, True] Translation: X:-170.33, Y:-261.65, Z:-1.79 [[ 7.43712957e-01 -6.68453688e-01 -7.79132922e-03 -1.70334231e+02] [-6.68413033e-01 -7.43753715e-01 7.37756150e-03 -2.61650045e+02] [-1.07263883e-02 -2.78962076e-04 -9.99942432e-01 -1.79046143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 828.5465599949999 meters 0.0166554624176136 Centerline is valid? [True, True] Translation: X:-170.34, Y:-261.66, Z:-1.79 [[ 7.93461103e-01 -6.08552026e-01 -9.16020331e-03 -1.70335027e+02] [-6.08507040e-01 -7.93513920e-01 7.40553998e-03 -2.61658463e+02] [-1.17754052e-02 -3.01959720e-04 -9.99930622e-01 -1.78972071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 828.5765599949999 meters 0.01722169758877007 Centerline is valid? [True, True] Translation: X:-170.34, Y:-261.67, Z:-1.79 [[ 8.38450555e-01 -5.44869051e-01 -1.08804168e-02 -1.70337204e+02] [-5.44817947e-01 -8.38521082e-01 7.46997959e-03 -2.61666858e+02] [-1.31936196e-02 -3.35362183e-04 -9.99912904e-01 -1.78771979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 828.606559995 meters 0.01783983569869207 Centerline is valid? [True, True] Translation: X:-170.34, Y:-261.67, Z:-1.78 [[ 8.78300911e-01 -4.77902962e-01 -1.40095797e-02 -1.70336367e+02] [-4.77834745e-01 -8.78412542e-01 8.08476963e-03 -2.61672668e+02] [-1.61699259e-02 -4.06596576e-04 -9.99869176e-01 -1.78491158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 828.636559995 meters 0.016940311529503333 Centerline is valid? [True, True] Translation: X:-170.33, Y:-261.68, Z:-1.79 [[ 9.12940090e-01 -4.07808657e-01 -1.52476658e-02 -1.70334434e+02] [-4.07743977e-01 -9.13067314e-01 7.27529062e-03 -2.61679134e+02] [-1.68890717e-02 -4.24760595e-04 -9.99857279e-01 -1.78514719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 828.666559995 meters 0.016915849327084544 Centerline is valid? [True, True] Translation: X:-170.33, Y:-261.69, Z:-1.79 [[ 9.41952828e-01 -3.35369147e-01 -1.58872335e-02 -1.70332712e+02] [-3.35313819e-01 -9.42086702e-01 6.10643899e-03 -2.61687015e+02] [-1.70150626e-02 -4.24768552e-04 -9.99855143e-01 -1.78506969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 828.6965599949999 meters 0.017471655771046906 Centerline is valid? [True, True] Translation: X:-170.33, Y:-261.69, Z:-1.78 [[ 9.65235306e-01 -2.60892405e-01 -1.59986916e-02 -1.70331740e+02] [-2.60849447e-01 -9.65367796e-01 4.75226027e-03 -2.61694322e+02] [-1.66844502e-02 -4.13799537e-04 -9.99860719e-01 -1.78482115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 828.7265599949999 meters 0.01632577337317412 Centerline is valid? [True, True] Translation: X:-170.33, Y:-261.70, Z:-1.79 [[ 9.82573921e-01 -1.85281482e-01 -1.48075351e-02 -1.70328569e+02] [-1.85254835e-01 -9.82685422e-01 3.16333075e-03 -2.61699926e+02] [-1.51372555e-02 -3.65038825e-04 -9.99885359e-01 -1.78797385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 828.756559995 meters 0.016429508247656394 Centerline is valid? [True, True] Translation: X:-170.33, Y:-261.71, Z:-1.79 [[ 9.94044346e-01 -1.08122887e-01 -1.36117798e-02 -1.70326625e+02] [-1.08108254e-01 -9.94137483e-01 1.80843772e-03 -2.61707918e+02] [-1.37275140e-02 -3.26121545e-04 -9.99905720e-01 -1.78885206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 828.786559995 meters 0.017892016625156944 Centerline is valid? [True, True] Translation: X:-170.33, Y:-261.72, Z:-1.79 [[ 9.99460559e-01 -3.03361716e-02 -1.25820571e-02 -1.70327715e+02] [-3.03300540e-02 -9.99539709e-01 6.76791386e-04 -2.61716057e+02] [-1.25967970e-02 -2.94811826e-04 -9.99920614e-01 -1.78821444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 828.8165599949999 meters 0.01638554164085074 Centerline is valid? [True, True] Translation: X:-170.33, Y:-261.72, Z:-1.79 [[ 9.98819828e-01 4.72719722e-02 -1.11495006e-02 -1.70327021e+02] [ 4.72718508e-02 -9.98882024e-01 -2.74567401e-04 -2.61718526e+02] [-1.11500151e-02 -2.52814165e-04 -9.99937805e-01 -1.79095713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 828.8465599949999 meters 0.01678931664767035 Centerline is valid? [True, True] Translation: X:-170.33, Y:-261.72, Z:-1.79 [[ 9.92087814e-01 1.25112045e-01 -1.04281130e-02 -1.70327899e+02] [ 1.25107621e-01 -9.92142591e-01 -1.07808125e-03 -2.61724463e+02] [-1.04810560e-02 -2.35085125e-04 -9.99945045e-01 -1.79073498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 828.876559995 meters 0.017855658602926802 Centerline is valid? [True, True] Translation: X:-170.33, Y:-261.73, Z:-1.79 [[ 9.79300020e-01 2.02157834e-01 -1.01823631e-02 -1.70328018e+02] [ 2.02149334e-01 -9.79352928e-01 -1.86785832e-03 -2.61729593e+02] [-1.03497293e-02 -2.29164223e-04 -9.99946414e-01 -1.78957665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 828.906559995 meters 0.015608006165626662 Centerline is valid? [True, True] Translation: X:-170.33, Y:-261.73, Z:-1.79 [[ 9.60527895e-01 2.77994378e-01 -1.02610829e-02 -1.70326406e+02] [ 2.77981096e-01 -9.60582673e-01 -2.72733382e-03 -2.61733864e+02] [-1.06148019e-02 -2.32706864e-04 -9.99943634e-01 -1.79098981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 828.9365599949999 meters 0.015583196196667022 Centerline is valid? [True, True] Translation: X:-170.32, Y:-261.74, Z:-1.79 [[ 9.35914210e-01 3.52083664e-01 -1.00838798e-02 -1.70323694e+02] [ 3.52065885e-01 -9.35968504e-01 -3.54576995e-03 -2.61742018e+02] [-1.06866016e-02 -2.31653601e-04 -9.99942870e-01 -1.79080959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 828.9665599949999 meters 0.015855553953160267 Centerline is valid? [True, True] Translation: X:-170.32, Y:-261.75, Z:-1.79 [[ 9.05423335e-01 4.24391186e-01 -1.00352128e-02 -1.70319981e+02] [ 4.24368038e-01 -9.05478914e-01 -4.43893168e-03 -2.61749676e+02] [-1.09705170e-02 -2.39511228e-04 -9.99939794e-01 -1.79052363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 828.996559995 meters 0.01571021683950024 Centerline is valid? [True, True] Translation: X:-170.32, Y:-261.76, Z:-1.79 [[ 8.69328205e-01 4.94133508e-01 -1.00274104e-02 -1.70316022e+02] [ 4.94103945e-01 -8.69385998e-01 -5.41090296e-03 -2.61757527e+02] [-1.13913987e-02 -2.50732485e-04 -9.99935085e-01 -1.79063346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 829.026559995 meters 0.01562815456060805 Centerline is valid? [True, True] Translation: X:-170.31, Y:-261.77, Z:-1.79 [[ 8.27854646e-01 5.60849910e-01 -1.02011875e-02 -1.70310598e+02] [ 5.60811316e-01 -8.27917451e-01 -6.58496827e-03 -2.61765710e+02] [-1.21389200e-02 -2.69544831e-04 -9.99926284e-01 -1.79024989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 829.0565599949999 meters 0.01545046282203438 Centerline is valid? [True, True] Translation: X:-170.30, Y:-261.77, Z:-1.79 [[ 7.81631122e-01 6.23656502e-01 -1.02643298e-02 -1.70304912e+02] [ 6.23607419e-01 -7.81698464e-01 -7.82934316e-03 -2.61773273e+02] [-1.29064316e-02 -2.81253925e-04 -9.99916669e-01 -1.79001893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 829.0865599949999 meters 0.015672580962284473 Centerline is valid? [True, True] Translation: X:-170.30, Y:-261.78, Z:-1.79 [[ 7.30723205e-01 6.82603861e-01 -9.77582144e-03 -1.70299592e+02] [ 6.82547852e-01 -7.30788541e-01 -8.74865876e-03 -2.61781054e+02] [-1.31159265e-02 -2.79617956e-04 -9.99913944e-01 -1.78933361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 829.116559995 meters 0.01529056493509935 Centerline is valid? [True, True] Translation: X:-170.30, Y:-261.79, Z:-1.79 [[ 6.76447659e-01 7.36425897e-01 -9.77054727e-03 -1.70295028e+02] [ 7.36354881e-01 -6.76518162e-01 -1.02306535e-02 -2.61785416e+02] [-1.41440709e-02 -2.74088562e-04 -9.99899930e-01 -1.78828962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 829.146559995 meters 0.014941522164791166 Centerline is valid? [True, True] Translation: X:-170.29, Y:-261.79, Z:-1.79 [[ 6.18002029e-01 7.86122086e-01 -9.24980308e-03 -1.70290824e+02] [ 7.86040265e-01 -6.18071193e-01 -1.13447325e-02 -2.61789684e+02] [-1.46353816e-02 -2.59649980e-04 -9.99892863e-01 -1.78807389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 829.1765599949999 meters 0.014460655695492465 Centerline is valid? [True, True] Translation: X:-170.29, Y:-261.79, Z:-1.79 [[ 5.56303820e-01 8.30937358e-01 -8.31661685e-03 -1.70285926e+02] [ 8.30850572e-01 -5.56365936e-01 -1.20113654e-02 -2.61793363e+02] [-1.46077746e-02 -2.27897386e-04 -9.99893275e-01 -1.78844562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 829.2065599949999 meters 0.01349080656381545 Centerline is valid? [True, True] Translation: X:-170.28, Y:-261.80, Z:-1.79 [[ 4.94871810e-01 8.68936729e-01 -7.13107530e-03 -1.70284827e+02] [ 8.68850410e-01 -4.94923168e-01 -1.22483842e-02 -2.61796503e+02] [-1.41724053e-02 -1.34457632e-04 -9.99899558e-01 -1.78888154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 829.236559995 meters 0.012976086478669257 Centerline is valid? [True, True] Translation: X:-170.28, Y:-261.80, Z:-1.79 [[ 4.28579907e-01 9.03483702e-01 -6.03853945e-03 -1.70280637e+02] [ 9.03396696e-01 -4.28622438e-01 -1.25385582e-02 -2.61799898e+02] [-1.39166365e-02 -8.14224927e-05 -9.99903156e-01 -1.79012704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 829.266559995 meters 0.012801933454699162 Centerline is valid? [True, True] Translation: X:-170.28, Y:-261.80, Z:-1.79 [[ 3.59877378e-01 9.32987443e-01 -4.76491202e-03 -1.70276828e+02] [ 9.32906750e-01 -3.59908920e-01 -1.22704881e-02 -2.61803935e+02] [-1.31631457e-02 -2.93474867e-05 -9.99913362e-01 -1.79053550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 829.2965599949999 meters 0.013142576958303231 Centerline is valid? [True, True] Translation: X:-170.28, Y:-261.81, Z:-1.79 [[ 2.92894954e-01 9.56138219e-01 -3.50038219e-03 -1.70277315e+02] [ 9.56067288e-01 -2.92915862e-01 -1.16464314e-02 -2.61806670e+02] [-1.21609156e-02 6.45800792e-05 -9.99926051e-01 -1.79213628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 829.3265599949999 meters 0.013513139741677763 Centerline is valid? [True, True] Translation: X:-170.27, Y:-261.81, Z:-1.79 [[ 2.20565063e-01 9.75368895e-01 -2.56333975e-03 -1.70273729e+02] [ 9.75297298e-01 -2.20579932e-01 -1.18184224e-02 -2.61810481e+02] [-1.20927429e-02 1.06712754e-04 -9.99926875e-01 -1.79250825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 829.356559995 meters 0.013862946733320563 Centerline is valid? [True, True] Translation: X:-170.27, Y:-261.81, Z:-1.79 [[ 1.46420960e-01 9.89221067e-01 -1.60718482e-03 -1.70267955e+02] [ 9.89150488e-01 -1.46429713e-01 -1.18174107e-02 -2.61813877e+02] [-1.19253713e-02 1.40568972e-04 -9.99928880e-01 -1.79288682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 829.386559995 meters 0.014749175855750361 Centerline is valid? [True, True] Translation: X:-170.26, Y:-261.82, Z:-1.79 [[ 7.35447570e-02 9.97291685e-01 -6.81686800e-04 -1.70261890e+02] [ 9.97219668e-01 -7.35476395e-02 -1.19865788e-02 -2.61817609e+02] [-1.20042519e-02 2.01758544e-04 -9.99927926e-01 -1.79275367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 829.416559995 meters 0.015489656090411199 Centerline is valid? [True, True] Translation: X:-170.26, Y:-261.82, Z:-1.79 [[-2.79255462e-03 9.99996067e-01 2.59149851e-04 -1.70255391e+02] [ 9.99924310e-01 2.79545929e-03 -1.19816872e-02 -2.61821651e+02] [-1.19823646e-02 2.25670720e-04 -9.99928184e-01 -1.79256978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 829.4465599949999 meters 0.015947401948012623 Centerline is valid? [True, True] Translation: X:-170.25, Y:-261.82, Z:-1.79 [[-7.96385250e-02 9.96823106e-01 1.18333444e-03 -1.70249003e+02] [ 9.96753440e-01 7.96469521e-02 -1.17874207e-02 -2.61824794e+02] [-1.18442223e-02 2.40759877e-04 -9.99929826e-01 -1.79261123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 829.4765599949999 meters 0.01608214168741186 Centerline is valid? [True, True] Translation: X:-170.24, Y:-261.83, Z:-1.79 [[-1.55542921e-01 9.87827086e-01 2.01202359e-03 -1.70239269e+02] [ 9.87764158e-01 1.55555729e-01 -1.11527119e-02 -2.61827040e+02] [-1.13299326e-02 2.52679409e-04 -9.99935782e-01 -1.79352530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 829.506559995 meters 0.016548580772296106 Centerline is valid? [True, True] Translation: X:-170.23, Y:-261.83, Z:-1.79 [[-2.32152249e-01 9.72674705e-01 3.04158005e-03 -1.70230571e+02] [ 9.72605836e-01 2.32172015e-01 -1.15777442e-02 -2.61829362e+02] [-1.19675487e-02 2.70459154e-04 -9.99928350e-01 -1.79322046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 829.536559995 meters 0.016689108574957912 Centerline is valid? [True, True] Translation: X:-170.22, Y:-261.83, Z:-1.79 [[-3.08024365e-01 9.51369819e-01 4.05681362e-03 -1.70222529e+02] [ 9.51298619e-01 3.08050958e-01 -1.16424085e-02 -2.61830491e+02] [-1.23259414e-02 2.73095711e-04 -9.99923996e-01 -1.79272538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 829.5665599949999 meters 0.015711529026238468 Centerline is valid? [True, True] Translation: X:-170.21, Y:-261.83, Z:-1.79 [[-3.82357980e-01 9.24000348e-01 5.07275914e-03 -1.70210115e+02] [ 9.23928151e-01 3.82391534e-01 -1.15536347e-02 -2.61828828e+02] [-1.26153426e-02 2.69240571e-04 -9.99920387e-01 -1.79327029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 829.5965599949999 meters 0.015558062655360406 Centerline is valid? [True, True] Translation: X:-170.20, Y:-261.83, Z:-1.79 [[-4.54505135e-01 8.90724062e-01 5.97723285e-03 -1.70199881e+02] [ 8.90654312e-01 4.54544364e-01 -1.11497732e-02 -2.61826272e+02] [-1.26482888e-02 2.56019028e-04 -9.99919975e-01 -1.79313988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 829.626559995 meters 0.015133253350519502 Centerline is valid? [True, True] Translation: X:-170.19, Y:-261.82, Z:-1.79 [[-5.25538792e-01 8.50739255e-01 7.19012255e-03 -1.70188465e+02] [ 8.50665503e-01 5.25587926e-01 -1.12041877e-02 -2.61823146e+02] [-1.33108839e-02 2.28153938e-04 -9.99911380e-01 -1.79299163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 829.656559995 meters 0.015133253350519502 Centerline is valid? [True, True] Translation: X:-170.18, Y:-261.82, Z:-1.79 [[-5.90529747e-01 8.06975769e-01 8.04528814e-03 -1.70180814e+02] [ 8.06906091e-01 5.90584504e-01 -1.06068088e-02 -2.61821125e+02] [-1.33108602e-02 2.28155905e-04 -9.99911381e-01 -1.79299184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 829.6865599949999 meters 0.014703005595457553 Centerline is valid? [True, True] Translation: X:-170.17, Y:-261.82, Z:-1.79 [[-6.53476406e-01 7.56892976e-01 9.03378670e-03 -1.70172371e+02] [ 7.56824964e-01 6.53538813e-01 -1.01485391e-02 -2.61816998e+02] [-1.35852882e-02 2.05164426e-04 -9.99907695e-01 -1.79316135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 829.7165599949999 meters 0.014014828057415702 Centerline is valid? [True, True] Translation: X:-170.16, Y:-261.81, Z:-1.79 [[-7.13557054e-01 7.00532977e-01 9.48049729e-03 -1.70162136e+02] [ 7.00473848e-01 7.13620016e-01 -9.10280122e-03 -2.61811700e+02] [-1.31422851e-02 1.45472400e-04 -9.99913626e-01 -1.79345597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 829.746559995 meters 0.013722050782602708 Centerline is valid? [True, True] Translation: X:-170.14, Y:-261.79, Z:-1.79 [[-7.62742023e-01 6.46625617e-01 9.99588275e-03 -1.70140546e+02] [ 6.46572084e-01 7.62807511e-01 -8.32120666e-03 -2.61789741e+02] [-1.30056398e-02 1.16124731e-04 -9.99915416e-01 -1.79357644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 829.776559995 meters 0.013342838051151096 Centerline is valid? [True, True] Translation: X:-169.70, Y:-261.26, Z:-2.79 [[-7.28374514e-01 -6.85117999e-01 9.15946025e-03 -1.69701392e+02] [ 6.85061539e-01 -7.28432090e-01 -8.79645456e-03 -2.61264001e+02] [ 1.26986541e-02 -1.32319379e-04 9.99919360e-01 -2.79111682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 829.8065599949999 meters 0.013033735209105788 Centerline is valid? [True, True] Translation: X:-170.17, Y:-261.76, Z:-1.79 [[-7.67801820e-01 6.40615786e-01 9.58019149e-03 -1.70171380e+02] [ 6.40566859e-01 7.67861584e-01 -7.91751442e-03 -2.61756603e+02] [-1.24283457e-02 5.76711907e-05 -9.99922764e-01 -1.79370264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 829.8365599949999 meters 0.01273106254847493 Centerline is valid? [True, True] Translation: X:-169.74, Y:-261.24, Z:-2.79 [[-7.27021663e-01 -6.86562129e-01 8.48196906e-03 -1.69741509e+02] [ 6.86513848e-01 -7.27071134e-01 -8.14266429e-03 -2.61242767e+02] [ 1.17574398e-02 -9.69041206e-05 9.99930874e-01 -2.79010237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 829.866559995 meters 0.012596486066570692 Centerline is valid? [True, True] Translation: X:-170.20, Y:-261.72, Z:-1.80 [[-7.73109703e-01 6.34204826e-01 9.25343463e-03 -1.70200540e+02] [ 6.34159395e-01 7.73165079e-01 -7.59098340e-03 -2.61724526e+02] [-1.19686708e-02 -5.10415733e-07 -9.99928373e-01 -1.79553658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 829.896559995 meters 0.012593420636405358 Centerline is valid? [True, True] Translation: X:-169.78, Y:-261.22, Z:-2.79 [[-7.27861632e-01 -6.85668688e-01 8.71177911e-03 -1.69779380e+02] [ 6.85619587e-01 -7.27913766e-01 -8.20556163e-03 -2.61217529e+02] [ 1.19677206e-02 4.52918016e-07 9.99928384e-01 -2.78884038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 829.9265599949999 meters 0.012762461173231352 Centerline is valid? [True, True] Translation: X:-170.23, Y:-261.70, Z:-1.79 [[-7.76383600e-01 6.30193864e-01 9.17604219e-03 -1.70231747e+02] [ 6.30149561e-01 7.76437824e-01 -7.47242872e-03 -2.61695019e+02] [-1.18337050e-02 -1.91921506e-05 -9.99929979e-01 -1.79457695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 829.9565599949999 meters 0.012525313866987159 Centerline is valid? [True, True] Translation: X:-170.21, Y:-261.67, Z:-1.80 [[-8.19145260e-01 5.73517635e-01 8.86365302e-03 -1.70212674e+02] [ 5.73483811e-01 8.19193214e-01 -6.22873332e-03 -2.61670241e+02] [-1.08333328e-02 -1.90758642e-05 -9.99941318e-01 -1.79623685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 829.986559995 meters 0.012574052231282655 Centerline is valid? [True, True] Translation: X:-170.20, Y:-261.64, Z:-1.80 [[-8.57574327e-01 5.14278795e-01 9.14304174e-03 -1.70197617e+02] [ 5.14249368e-01 8.57623064e-01 -5.50151125e-03 -2.61644608e+02] [-1.06705941e-02 -1.61513667e-05 -9.99943068e-01 -1.79607644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 830.016559995 meters 0.01247572877648183 Centerline is valid? [True, True] Translation: X:-170.18, Y:-261.62, Z:-1.80 [[-8.91276180e-01 4.53368186e-01 9.16835944e-03 -1.70182797e+02] [ 4.53344174e-01 8.91323335e-01 -4.66606826e-03 -2.61618161e+02] [-1.02874196e-02 -2.33315435e-06 -9.99947083e-01 -1.79766609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 830.0465599949999 meters 0.012522303962762542 Centerline is valid? [True, True] Translation: X:-170.17, Y:-261.59, Z:-1.80 [[-9.20698910e-01 3.90147680e-01 9.91490080e-03 -1.70172282e+02] [ 3.90125176e-01 9.20752295e-01 -4.19038332e-03 -2.61591626e+02] [-1.07640360e-02 9.97106836e-06 -9.99942066e-01 -1.79750371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 830.0765599949999 meters 0.012666172216222547 Centerline is valid? [True, True] Translation: X:-169.94, Y:-261.00, Z:-2.79 [[-8.93727066e-01 -4.48502996e-01 9.84855794e-03 -1.69936353e+02] [ 4.48475830e-01 -8.93781328e-01 -4.93637405e-03 -2.60999844e+02] [ 1.10164357e-02 5.06909659e-06 9.99939317e-01 -2.78780731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 830.106559995 meters 0.012823715358993626 Centerline is valid? [True, True] Translation: X:-170.21, Y:-261.57, Z:-1.80 [[-9.20648735e-01 3.90229059e-01 1.12778221e-02 -1.70214401e+02] [ 3.90200558e-01 9.20717806e-01 -4.71657775e-03 -2.61573245e+02] [-1.22242373e-02 5.83011266e-05 -9.99925280e-01 -1.79641879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 830.136559995 meters 0.012947775576969396 Centerline is valid? [True, True] Translation: X:-170.21, Y:-261.55, Z:-1.80 [[-9.45436311e-01 3.25579037e-01 1.21849461e-02 -1.70205902e+02] [ 3.25553130e-01 9.45514825e-01 -4.10801264e-03 -2.61546333e+02] [-1.28585300e-02 8.29830137e-05 -9.99917322e-01 -1.79639105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 830.166559995 meters 0.013205946300703129 Centerline is valid? [True, True] Translation: X:-170.20, Y:-261.52, Z:-1.80 [[-9.65777038e-01 2.59092101e-01 1.20829042e-02 -1.70204944e+02] [ 2.59073105e-01 9.65852615e-01 -3.13890893e-03 -2.61517301e+02] [-1.24835712e-02 9.88693511e-05 -9.99922072e-01 -1.79642050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 830.1965599949999 meters 0.01351199359707297 Centerline is valid? [True, True] Translation: X:-170.19, Y:-261.49, Z:-1.80 [[-9.81316794e-01 1.92052478e-01 1.15409939e-02 -1.70192629e+02] [ 1.92040623e-01 9.81384650e-01 -2.13727083e-03 -2.61491162e+02] [-1.17366224e-02 1.18999893e-04 -9.99931117e-01 -1.79793948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 830.2265599949999 meters 0.013752710847622663 Centerline is valid? [True, True] Translation: X:-170.08, Y:-260.87, Z:-2.79 [[-9.71387243e-01 -2.37245017e-01 1.10283777e-02 -1.70078002e+02] [ 2.37228118e-01 -9.71449836e-01 -2.83500395e-03 -2.60869281e+02] [ 1.13861063e-02 -1.37645383e-04 9.99935167e-01 -2.78577551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 830.256559995 meters 0.013591864996952162 Centerline is valid? [True, True] Translation: X:-170.25, Y:-261.48, Z:-1.80 [[-9.81883092e-01 1.89157654e-01 1.11792107e-02 -1.70246441e+02] [ 1.89146874e-01 9.81946722e-01 -2.02349313e-03 -2.61480745e+02] [-1.13601485e-02 1.27679055e-04 -9.99935463e-01 -1.79985862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 830.286559995 meters 0.013588286785062501 Centerline is valid? [True, True] Translation: X:-170.24, Y:-261.45, Z:-1.80 [[-9.92897971e-01 1.18396698e-01 1.16551032e-02 -1.70244885e+02] [ 1.18390022e-01 9.92966367e-01 -1.26351478e-03 -2.61449639e+02] [-1.17227215e-02 1.25306668e-04 -9.99931279e-01 -1.80009664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 830.3165599949999 meters 0.013448805114715755 Centerline is valid? [True, True] Translation: X:-170.25, Y:-261.42, Z:-1.80 [[-9.98838263e-01 4.66040682e-02 1.22550157e-02 -1.70252227e+02] [ 4.66020358e-02 9.98913433e-01 -4.51510206e-04 -2.61418687e+02] [-1.22627420e-02 1.20123009e-04 -9.99924803e-01 -1.80010867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 830.3465599949999 meters 0.01356482568531484 Centerline is valid? [True, True] Translation: X:-170.26, Y:-261.39, Z:-1.80 [[-9.99606326e-01 -2.51717487e-02 1.23925480e-02 -1.70255580e+02] [-2.51683948e-02 9.99683135e-01 4.26548807e-04 -2.61388723e+02] [-1.23993583e-02 1.14480344e-04 -9.99923119e-01 -1.79939894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 830.376559995 meters 0.013809218366030204 Centerline is valid? [True, True] Translation: X:-170.28, Y:-260.78, Z:-2.79 [[-9.99613424e-01 -2.46983977e-02 1.27668436e-02 -1.70277696e+02] [ 2.46951982e-02 -9.99694944e-01 -4.08218489e-04 -2.60775143e+02] [ 1.27730313e-02 -9.27809478e-05 9.99918417e-01 -2.78674358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 830.406559995 meters 0.01322965944692154 Centerline is valid? [True, True] Translation: X:-170.33, Y:-261.38, Z:-1.80 [[-9.99382237e-01 -3.27991648e-02 1.26237650e-02 -1.70334357e+02] [-3.27954713e-02 9.99461959e-01 4.99538785e-04 -2.61384489e+02] [-1.26333574e-02 8.52278652e-05 -9.99920192e-01 -1.79949582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 830.4365599949999 meters 0.01313243173623635 Centerline is valid? [True, True] Translation: X:-170.35, Y:-261.36, Z:-1.80 [[-9.94453946e-01 -1.04459208e-01 1.22320493e-02 -1.70346071e+02] [-1.04450366e-01 9.94529169e-01 1.36119710e-03 -2.61355672e+02] [-1.23073194e-02 7.60057980e-05 -9.99924259e-01 -1.80020217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 830.4665599949999 meters 0.013085075550324708 Centerline is valid? [True, True] Translation: X:-170.36, Y:-261.33, Z:-1.80 [[-9.84394980e-01 -1.75596576e-01 1.15050390e-02 -1.70363265e+02] [-1.75583782e-01 9.84462207e-01 2.12077965e-03 -2.61328681e+02] [-1.16986778e-02 6.75865746e-05 -9.99931566e-01 -1.80059526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 830.496559995 meters 0.013253349854291607 Centerline is valid? [True, True] Translation: X:-170.39, Y:-261.31, Z:-1.80 [[-9.69135289e-01 -2.46283862e-01 1.10023269e-02 -1.70393532e+02] [-2.46267278e-01 9.69197738e-01 2.85871502e-03 -2.61305174e+02] [-1.13674857e-02 6.09685104e-05 -9.99935386e-01 -1.80025022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 830.526559995 meters 0.01304531214461861 Centerline is valid? [True, True] Translation: X:-170.44, Y:-261.28, Z:-1.80 [[-9.48460738e-01 -3.16719808e-01 1.05257442e-02 -1.70435120e+02] [-3.16699750e-01 9.48519141e-01 3.56476949e-03 -2.61283210e+02] [-1.11129029e-02 4.75433481e-05 -9.99938249e-01 -1.80170253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 830.5565599949999 meters 0.012888354559747064 Centerline is valid? [True, True] Translation: X:-170.49, Y:-261.27, Z:-1.80 [[-9.22405753e-01 -3.86086011e-01 1.02575886e-02 -1.70494236e+02] [-3.86061690e-01 9.22462785e-01 4.33369982e-03 -2.61272855e+02] [-1.11354246e-02 3.73676678e-05 -9.99937999e-01 -1.80218474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 830.5865599949999 meters 0.012842199305214318 Centerline is valid? [True, True] Translation: X:-170.56, Y:-261.27, Z:-1.80 [[-8.90978028e-01 -4.53930111e-01 1.02766233e-02 -1.70562727e+02] [-4.53899584e-01 8.91037291e-01 5.26432957e-03 -2.61271135e+02] [-1.15464923e-02 2.58469483e-05 -9.99933337e-01 -1.80241693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 830.616559995 meters 0.01276120151775774 Centerline is valid? [True, True] Translation: X:-170.64, Y:-261.28, Z:-1.80 [[-8.53627678e-01 -5.20793953e-01 9.66673487e-03 -1.70637875e+02] [-5.20760633e-01 8.53682411e-01 5.89107576e-03 -2.61275463e+02] [-1.13203582e-02 -5.26964185e-06 -9.99935923e-01 -1.80203580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 830.646559995 meters 0.01277462034778401 Centerline is valid? [True, True] Translation: X:-170.72, Y:-261.29, Z:-1.80 [[-8.11825587e-01 -5.83824947e-01 9.36204406e-03 -1.70716260e+02] [-5.83786423e-01 8.11879567e-01 6.70682179e-03 -2.61291237e+02] [-1.15164622e-02 -2.06646753e-05 -9.99933683e-01 -1.80205444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 830.6765599949999 meters 0.012852319484253794 Centerline is valid? [True, True] Translation: X:-170.80, Y:-261.32, Z:-1.80 [[-7.65173965e-01 -6.43760591e-01 9.00582307e-03 -1.70798554e+02] [-6.43716562e-01 7.65226960e-01 7.52913927e-03 -2.61317310e+02] [-1.17384618e-02 -3.60961208e-05 -9.99931101e-01 -1.80166821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 830.7065599949999 meters 0.012951566201502814 Centerline is valid? [True, True] Translation: X:-170.89, Y:-261.35, Z:-1.80 [[-7.13453776e-01 -7.00648244e-01 8.70331119e-03 -1.70885794e+02] [-7.00597175e-01 7.13506857e-01 8.45954966e-03 -2.61353744e+02] [-1.21370408e-02 -6.20175878e-05 -9.99926342e-01 -1.80113477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 830.736559995 meters 0.013119059877904071 Centerline is valid? [True, True] Translation: X:-170.97, Y:-261.40, Z:-1.80 [[-6.58118076e-01 -7.52869437e-01 8.25890372e-03 -1.70970650e+02] [-7.52811590e-01 6.58169891e-01 9.33295846e-03 -2.61400088e+02] [-1.24622609e-02 -7.52097768e-05 -9.99922340e-01 -1.80032023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 830.766559995 meters 0.0130191394194871 Centerline is valid? [True, True] Translation: X:-171.05, Y:-261.45, Z:-1.80 [[-5.99199558e-01 -8.00560681e-01 7.90484486e-03 -1.71050151e+02] [-8.00492858e-01 5.99251691e-01 1.04208572e-02 -2.61452687e+02] [-1.30795202e-02 -8.35988338e-05 -9.99914456e-01 -1.80054991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 830.7965599949999 meters 0.013158411535695923 Centerline is valid? [True, True] Translation: X:-171.13, Y:-261.52, Z:-1.80 [[-5.37057087e-01 -8.43511384e-01 7.63088306e-03 -1.71129544e+02] [-8.43428595e-01 5.37111289e-01 1.18181303e-02 -2.61516099e+02] [-1.40673609e-02 -8.90943402e-05 -9.99901046e-01 -1.79921502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 830.8265599949999 meters 0.01312152852771251 Centerline is valid? [True, True] Translation: X:-171.20, Y:-261.59, Z:-1.80 [[-4.72079827e-01 -8.81528394e-01 6.95183736e-03 -1.71204075e+02] [-8.81435468e-01 4.72131003e-01 1.27996605e-02 -2.61587862e+02] [-1.45654421e-02 -8.51344898e-05 -9.99893915e-01 -1.79938421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 830.856559995 meters 0.01307711069501409 Centerline is valid? [True, True] Translation: X:-171.27, Y:-261.67, Z:-1.80 [[-4.04789624e-01 -9.14390310e-01 5.97668881e-03 -1.71274237e+02] [-9.14293209e-01 4.04833738e-01 1.33256106e-02 -2.61668073e+02] [-1.46043745e-02 -7.03770776e-05 -9.99893348e-01 -1.79910927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 830.886559995 meters 0.012836303953088124 Centerline is valid? [True, True] Translation: X:-171.34, Y:-261.75, Z:-1.80 [[-3.36167872e-01 -9.41790750e-01 4.62015000e-03 -1.71336867e+02] [-9.41703259e-01 3.36199617e-01 1.28370376e-02 -2.61754604e+02] [-1.36430959e-02 -3.54107106e-05 -9.99906928e-01 -1.80065978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 830.916559995 meters 0.01286022864813579 Centerline is valid? [True, True] Translation: X:-171.39, Y:-261.84, Z:-1.80 [[-2.64902248e-01 -9.64268890e-01 3.50815038e-03 -1.71393271e+02] [-9.64185358e-01 2.64925476e-01 1.26920300e-02 -2.61841359e+02] [-1.31679281e-02 -2.03599466e-05 -9.99913299e-01 -1.79998059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 830.9465599949999 meters 0.01268268658206137 Centerline is valid? [True, True] Translation: X:-171.44, Y:-261.94, Z:-1.80 [[-1.91524180e-01 -9.81484943e-01 2.40733876e-03 -1.71444992e+02] [-9.81407941e-01 1.91539309e-01 1.22942043e-02 -2.61941666e+02] [-1.25276764e-02 -7.94397695e-06 -9.99921526e-01 -1.80192016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 830.9765599949999 meters 0.0126811385662317 Centerline is valid? [True, True] Translation: X:-171.49, Y:-262.05, Z:-1.80 [[-1.16770905e-01 -9.93157820e-01 1.44901167e-03 -1.71489454e+02] [-9.93081332e-01 1.16779895e-01 1.23257839e-02 -2.62046684e+02] [-1.24106641e-02 3.06503262e-07 -9.99922985e-01 -1.80174258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 831.006559995 meters 0.01263558986800985 Centerline is valid? [True, True] Translation: X:-171.53, Y:-262.16, Z:-1.80 [[-4.12177741e-02 -9.99150069e-01 4.85163139e-04 -1.71525636e+02] [-9.99078789e-01 4.12206287e-02 1.19345006e-02 -2.62156870e+02] [-1.19443558e-02 7.19734649e-06 -9.99928664e-01 -1.80195596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 831.036559995 meters 0.012617020235885863 Centerline is valid? [True, True] Translation: X:-171.55, Y:-262.27, Z:-1.80 [[ 3.55183200e-02 -9.99368937e-01 -4.20184061e-04 -1.71553950e+02] [-9.99300128e-01 -3.55208052e-02 1.17271843e-02 -2.62267886e+02] [-1.17347089e-02 3.36010155e-06 -9.99931146e-01 -1.80206251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 831.0665599949999 meters 0.012676966503455128 Centerline is valid? [True, True] Translation: X:-172.10, Y:-262.39, Z:-2.78 [[-3.29894345e-02 9.99455633e-01 3.66701783e-04 -1.72103365e+02] [-9.99378719e-01 -3.29914451e-02 1.23992317e-02 -2.62393711e+02] [ 1.24045800e-02 4.25696840e-05 9.99923059e-01 -2.78325462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 831.0965599949999 meters 0.012696152780476986 Centerline is valid? [True, True] Translation: X:-171.55, Y:-262.53, Z:-1.80 [[ 4.70842572e-02 -9.98890753e-01 -5.80802887e-04 -1.71547967e+02] [-9.98806474e-01 -4.70878291e-02 1.29755419e-02 -2.62531531e+02] [-1.29884976e-02 -3.08340694e-05 -9.99915646e-01 -1.80081173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 831.126559995 meters 0.012834575107491038 Centerline is valid? [True, True] Translation: X:-171.57, Y:-262.64, Z:-1.80 [[ 1.24918056e-01 -9.92165628e-01 -1.68730279e-03 -1.71566903e+02] [-9.92068879e-01 -1.24929438e-01 1.38555102e-02 -2.62644919e+02] [-1.39577547e-02 -5.68828080e-05 -9.99902584e-01 -1.80048183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 831.156559995 meters 0.012963601791917372 Centerline is valid? [True, True] Translation: X:-171.58, Y:-262.76, Z:-1.80 [[ 2.02102175e-01 -9.79360608e-01 -2.74066354e-03 -1.71577056e+02] [-9.79264831e-01 -2.02120739e-01 1.36966126e-02 -2.62761231e+02] [-1.39678678e-02 -8.42797744e-05 -9.99902441e-01 -1.80057685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 831.1865599949999 meters 0.013451229897425624 Centerline is valid? [True, True] Translation: X:-171.58, Y:-262.88, Z:-1.80 [[ 2.80436084e-01 -9.59865223e-01 -3.78912231e-03 -1.71580210e+02] [-9.59770425e-01 -2.80461643e-01 1.34906821e-02 -2.62877898e+02] [-1.40119401e-02 -1.46586537e-04 -9.99901817e-01 -1.80026162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 831.2165599949999 meters 0.014169981641238802 Centerline is valid? [True, True] Translation: X:-171.57, Y:-262.99, Z:-1.80 [[ 3.54938211e-01 -9.34877883e-01 -4.71279123e-03 -1.71574157e+02] [-9.34788796e-01 -3.54969454e-01 1.29071294e-02 -2.62994172e+02] [-1.37394868e-02 -1.75768985e-04 -9.99905593e-01 -1.79934211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 831.246559995 meters 0.014389490283981564 Centerline is valid? [True, True] Translation: X:-171.56, Y:-263.10, Z:-1.80 [[ 4.26859148e-01 -9.04301510e-01 -5.48140885e-03 -1.71560094e+02] [-9.04220996e-01 -4.26894296e-01 1.20685563e-02 -2.63104249e+02] [-1.32535959e-02 -1.95168708e-04 -9.99912148e-01 -1.79977068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 831.276559995 meters 0.01500679444675325 Centerline is valid? [True, True] Translation: X:-171.54, Y:-263.21, Z:-1.80 [[ 4.96008383e-01 -8.68296536e-01 -6.06705131e-03 -1.71536905e+02] [-8.68226354e-01 -4.96045443e-01 1.10416048e-02 -2.63214441e+02] [-1.25969203e-02 -2.09154699e-04 -9.99920634e-01 -1.79994863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 831.3065599949999 meters 0.015614120238680305 Centerline is valid? [True, True] Translation: X:-171.51, Y:-263.32, Z:-1.80 [[ 5.61708121e-01 -8.27308915e-01 -6.62913544e-03 -1.71507015e+02] [-8.27246660e-01 -5.61747195e-01 1.01514930e-02 -2.63319425e+02] [-1.21223189e-02 -2.18245932e-04 -9.99926498e-01 -1.79998629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 831.3365599949999 meters 0.015334742016093231 Centerline is valid? [True, True] Translation: X:-171.47, Y:-263.42, Z:-1.80 [[ 6.24262790e-01 -7.81179305e-01 -7.40694957e-03 -1.71467544e+02] [-7.81119673e-01 -6.24306684e-01 9.65504855e-03 -2.63417472e+02] [-1.21665322e-02 -2.41573522e-04 -9.99925956e-01 -1.80164770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 831.366559995 meters 0.015254601391828848 Centerline is valid? [True, True] Translation: X:-171.42, Y:-263.51, Z:-1.80 [[ 6.81811510e-01 -7.31485705e-01 -7.85673459e-03 -1.71422141e+02] [-7.31433104e-01 -6.81856736e-01 8.77535076e-03 -2.63513272e+02] [-1.17762110e-02 -2.36459390e-04 -9.99930630e-01 -1.80187652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 831.396559995 meters 0.01520874879948968 Centerline is valid? [True, True] Translation: X:-171.37, Y:-263.60, Z:-1.80 [[ 7.35344713e-01 -6.77644756e-01 -8.10789914e-03 -1.71373561e+02] [-6.77600106e-01 -7.35389375e-01 7.78231164e-03 -2.63599203e+02] [-1.12361056e-02 -2.28768402e-04 -9.99936847e-01 -1.80269068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 831.4265599949999 meters 0.01518787492238814 Centerline is valid? [True, True] Translation: X:-171.37, Y:-263.61, Z:-1.80 [[ 7.86062695e-01 -6.18089108e-01 -8.44357631e-03 -1.71372078e+02] [-6.18050398e-01 -7.86108011e-01 6.92102164e-03 -2.63610428e+02] [-1.09153711e-02 -2.21801229e-04 -9.99940401e-01 -1.80325810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 831.4565599949999 meters 0.01571323383435268 Centerline is valid? [True, True] Translation: X:-171.37, Y:-263.62, Z:-1.80 [[ 8.32063280e-01 -5.54616269e-01 -8.45534687e-03 -1.71369985e+02] [-5.54585040e-01 -8.32106213e-01 5.88928763e-03 -2.63621217e+02] [-1.03020414e-02 -2.11051104e-04 -9.99946910e-01 -1.80320683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 831.486559995 meters 0.01569093690134242 Centerline is valid? [True, True] Translation: X:-171.36, Y:-263.63, Z:-1.80 [[ 8.73004052e-01 -4.87637094e-01 -8.60178513e-03 -1.71364968e+02] [-4.87611075e-01 -8.73046403e-01 5.04160293e-03 -2.63630344e+02] [-9.96823017e-03 -2.07014088e-04 -9.99950295e-01 -1.80415861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 831.516559995 meters 0.015903520938251196 Centerline is valid? [True, True] Translation: X:-171.36, Y:-263.64, Z:-1.81 [[ 9.08613776e-01 -4.17558066e-01 -8.14053249e-03 -1.71359184e+02] [-4.17539416e-01 -9.08650221e-01 3.95109281e-03 -2.63637826e+02] [-9.04670733e-03 -1.91024168e-04 -9.99959060e-01 -1.80536013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 831.5465599949999 meters 0.015761995739165903 Centerline is valid? [True, True] Translation: X:-171.35, Y:-263.65, Z:-1.81 [[ 9.38543744e-01 -3.45066478e-01 -8.04779030e-03 -1.71353013e+02] [-3.45052102e-01 -9.38578229e-01 3.15515939e-03 -2.63646497e+02] [-8.64222050e-03 -1.84348143e-04 -9.99962638e-01 -1.80601595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 831.5765599949999 meters 0.015761995739165903 Centerline is valid? [True, True] Translation: X:-171.35, Y:-263.66, Z:-1.81 [[ 9.62635716e-01 -2.70673400e-01 -8.26971549e-03 -1.71347806e+02] [-2.70661763e-01 -9.62671219e-01 2.51667714e-03 -2.63655508e+02] [-8.64221465e-03 -1.84347531e-04 -9.99962639e-01 -1.80601601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 831.606559995 meters 0.016096949357486835 Centerline is valid? [True, True] Translation: X:-171.34, Y:-263.66, Z:-1.81 [[ 9.80930140e-01 -1.94179971e-01 -8.37854191e-03 -1.71341520e+02] [-1.94171259e-01 -9.80965904e-01 1.84885266e-03 -2.63662827e+02] [-8.57807409e-03 -1.86723273e-04 -9.99963190e-01 -1.80563769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 831.636559995 meters 0.016419214802645153 Centerline is valid? [True, True] Translation: X:-171.33, Y:-263.67, Z:-1.80 [[ 9.93152359e-01 -1.16452208e-01 -9.34215905e-03 -1.71333688e+02] [-1.16445069e-01 -9.93196274e-01 1.30641427e-03 -2.63669478e+02] [-9.43073239e-03 -2.09620060e-04 -9.99955508e-01 -1.80495087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 831.666559995 meters 0.017127076454267292 Centerline is valid? [True, True] Translation: X:-171.33, Y:-263.67, Z:-1.80 [[ 9.99249671e-01 -3.69429288e-02 -1.16324662e-02 -1.71328570e+02] [-3.69372211e-02 -9.99317339e-01 7.05201143e-04 -2.63674141e+02] [-1.16505774e-02 -2.75001035e-04 -9.99932092e-01 -1.80227795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 831.6965599949999 meters 0.017088379670906338 Centerline is valid? [True, True] Translation: X:-171.32, Y:-263.68, Z:-1.80 [[ 9.99020651e-01 4.23327197e-02 -1.28716767e-02 -1.71324070e+02] [ 4.23332760e-02 -9.99103519e-01 -2.29360937e-04 -2.63678813e+02] [-1.28698470e-02 -3.15763930e-04 -9.99917130e-01 -1.80171801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 831.7265599949999 meters 0.017776618961711062 Centerline is valid? [True, True] Translation: X:-171.32, Y:-263.68, Z:-1.80 [[ 9.92558119e-01 1.20967759e-01 -1.39707773e-02 -1.71319780e+02] [ 1.20960755e-01 -9.92656374e-01 -1.34839532e-03 -2.63683481e+02] [-1.40312935e-02 -3.51555048e-04 -9.99901495e-01 -1.80013825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 831.756559995 meters 0.01820642214002944 Centerline is valid? [True, True] Translation: X:-171.32, Y:-263.68, Z:-1.80 [[ 9.79908401e-01 1.98888453e-01 -1.49301394e-02 -1.71315516e+02] [ 1.98871396e-01 -9.80022057e-01 -2.63351210e-03 -2.63683730e+02] [-1.51556411e-02 -3.88577040e-04 -9.99885071e-01 -1.79909422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 831.786559995 meters 0.016740814220854956 Centerline is valid? [True, True] Translation: X:-171.31, Y:-263.69, Z:-1.80 [[ 9.61406938e-01 2.74734704e-01 -1.47493008e-02 -1.71310526e+02] [ 2.74708512e-01 -9.61519991e-01 -3.81315550e-03 -2.63686554e+02] [-1.52293537e-02 -3.85764307e-04 -9.99883952e-01 -1.80060167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 831.8165599949999 meters 0.01677936837358885 Centerline is valid? [True, True] Translation: X:-171.31, Y:-263.69, Z:-1.80 [[ 9.37119816e-01 3.48705884e-01 -1.45140166e-02 -1.71305739e+02] [ 3.48670332e-01 -9.37232128e-01 -4.99382534e-03 -2.63690936e+02] [-1.53443789e-02 -3.80794288e-04 -9.99882196e-01 -1.80056169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 831.8465599949999 meters 0.015996000513088936 Centerline is valid? [True, True] Translation: X:-171.30, Y:-263.69, Z:-1.80 [[ 9.07827198e-01 4.19126383e-01 -1.35223139e-02 -1.71301075e+02] [ 4.19085365e-01 -9.07927840e-01 -5.87321509e-03 -2.63692059e+02] [-1.47389047e-02 -3.35139464e-04 -9.99891320e-01 -1.80165956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 831.876559995 meters 0.016219885962076037 Centerline is valid? [True, True] Translation: X:-171.30, Y:-263.70, Z:-1.80 [[ 8.73034761e-01 4.87490964e-01 -1.27619407e-02 -1.71295935e+02] [ 4.87443959e-01 -8.73127979e-01 -6.77636406e-03 -2.63696078e+02] [-1.44462237e-02 -3.04729520e-04 -9.99895602e-01 -1.80133626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 831.906559995 meters 0.014787196803981219 Centerline is valid? [True, True] Translation: X:-171.29, Y:-263.69, Z:-1.80 [[ 8.34314998e-01 5.51177305e-01 -1.10481927e-02 -1.71292962e+02] [ 5.51132556e-01 -8.34388116e-01 -7.02701347e-03 -2.63694710e+02] [-1.30916110e-02 -2.26275925e-04 -9.99914276e-01 -1.80362158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 831.9365599949999 meters 0.014264197838979229 Centerline is valid? [True, True] Translation: X:-171.29, Y:-263.70, Z:-1.80 [[ 7.89898967e-01 6.13158861e-01 -9.78951396e-03 -1.71288410e+02] [ 6.13114678e-01 -7.89959605e-01 -7.36306819e-03 -2.63696708e+02] [-1.22480511e-02 -1.86014745e-04 -9.99924973e-01 -1.80440276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 831.9665599949999 meters 0.013762373385031706 Centerline is valid? [True, True] Translation: X:-171.28, Y:-263.70, Z:-1.81 [[ 7.41140103e-01 6.71292939e-01 -8.78286802e-03 -1.71283053e+02] [ 6.71248175e-01 -7.41192127e-01 -7.75368832e-03 -2.63698980e+02] [-1.17147888e-02 -1.48914761e-04 -9.99931369e-01 -1.80541942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 831.996559995 meters 0.013303581039401578 Centerline is valid? [True, True] Translation: X:-171.28, Y:-263.70, Z:-1.81 [[ 6.89688521e-01 7.24065518e-01 -7.67269409e-03 -1.71280696e+02] [ 7.24022145e-01 -6.89731193e-01 -7.92561986e-03 -2.63699543e+02] [-1.10307645e-02 -8.89913925e-05 -9.99939155e-01 -1.80610025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 832.026559995 meters 0.0130357758125742 Centerline is valid? [True, True] Translation: X:-171.28, Y:-263.70, Z:-1.81 [[ 6.32597078e-01 7.74450084e-01 -6.92850794e-03 -1.71276208e+02] [ 7.74404733e-01 -6.32635016e-01 -8.38131892e-03 -2.63701062e+02] [-1.08741299e-02 -6.34714785e-05 -9.99940873e-01 -1.80618233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 832.0565599949999 meters 0.012945875677484725 Centerline is valid? [True, True] Translation: X:-171.27, Y:-263.70, Z:-1.81 [[ 5.71347411e-01 8.20683974e-01 -6.32068903e-03 -1.71272182e+02] [ 8.20634658e-01 -5.71382370e-01 -8.99696792e-03 -2.63702138e+02] [-1.09951977e-02 -4.65821449e-05 -9.99939550e-01 -1.80613042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 832.0865599949999 meters 0.012887197352863708 Centerline is valid? [True, True] Translation: X:-171.27, Y:-263.71, Z:-1.81 [[ 5.06581632e-01 8.62171586e-01 -5.93347285e-03 -1.71265592e+02] [ 8.62113204e-01 -5.06616378e-01 -1.00334159e-02 -2.63705036e+02] [-1.16565206e-02 -3.25811003e-05 -9.99932060e-01 -1.80688713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 832.116559995 meters 0.013019510000417235 Centerline is valid? [True, True] Translation: X:-171.26, Y:-263.71, Z:-1.81 [[ 4.38833128e-01 8.98550801e-01 -5.65185330e-03 -1.71261262e+02] [ 8.98476792e-01 -4.38869522e-01 -1.15324535e-02 -2.63708348e+02] [-1.28429215e-02 -1.72363928e-05 -9.99917526e-01 -1.80537206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 832.146559995 meters 0.012891603612292435 Centerline is valid? [True, True] Translation: X:-171.25, Y:-263.71, Z:-1.81 [[ 3.66983160e-01 9.30214770e-01 -4.88285034e-03 -1.71253987e+02] [ 9.30133141e-01 -3.67015642e-01 -1.23231430e-02 -2.63711614e+02] [-1.32552521e-02 -1.93149788e-05 -9.99912145e-01 -1.80632810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 832.1765599949999 meters 0.012944726415794593 Centerline is valid? [True, True] Translation: X:-171.25, Y:-263.71, Z:-1.81 [[ 2.92294266e-01 9.56319726e-01 -4.07974888e-03 -1.71246121e+02] [ 9.56228008e-01 -2.92322735e-01 -1.32444581e-02 -2.63714203e+02] [-1.38585399e-02 -2.98909894e-05 -9.99903966e-01 -1.80605575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 832.2065599949999 meters 0.01293431593402066 Centerline is valid? [True, True] Translation: X:-171.24, Y:-263.72, Z:-1.81 [[ 2.15657633e-01 9.76463987e-01 -3.14119693e-03 -1.71237583e+02] [ 9.76363323e-01 -2.15680504e-01 -1.40207464e-02 -2.63716429e+02] [-1.43682488e-02 -4.32684988e-05 -9.99896771e-01 -1.80574531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 832.236559995 meters 0.013228998393595022 Centerline is valid? [True, True] Translation: X:-171.23, Y:-263.72, Z:-1.80 [[ 1.35844463e-01 9.90727787e-01 -2.17561885e-03 -1.71229321e+02] [ 9.90610907e-01 -1.35861855e-01 -1.52179744e-02 -2.63719246e+02] [-1.53724538e-02 -8.79141982e-05 -9.99881833e-01 -1.80409579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 832.266559995 meters 0.01324789343660678 Centerline is valid? [True, True] Translation: X:-171.22, Y:-263.72, Z:-1.80 [[ 5.61483603e-02 9.98421941e-01 -9.94824381e-04 -1.71220486e+02] [ 9.98299703e-01 -5.61570530e-02 -1.56233035e-02 -2.63720520e+02] [-1.56545154e-02 -1.15910010e-04 -9.99877454e-01 -1.80414364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 832.2965599949999 meters 0.013470161671921674 Centerline is valid? [True, True] Translation: X:-171.21, Y:-263.72, Z:-1.80 [[-2.38774554e-02 9.99714865e-01 2.37263622e-04 -1.71212045e+02] [ 9.99586442e-01 2.38781912e-02 -1.60242390e-02 -2.63721516e+02] [-1.60253353e-02 -1.45452552e-04 -9.99871576e-01 -1.80343118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 832.3265599949999 meters 0.013977526596012084 Centerline is valid? [True, True] Translation: X:-171.21, Y:-263.72, Z:-1.80 [[-1.05373321e-01 9.94431554e-01 1.53213234e-03 -1.71205693e+02] [ 9.94296544e-01 1.05384263e-01 -1.63871973e-02 -2.63722699e+02] [-1.64574087e-02 -2.03379510e-04 -9.99864547e-01 -1.80328866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 832.356559995 meters 0.014201659999374523 Centerline is valid? [True, True] Translation: X:-171.20, Y:-263.72, Z:-1.80 [[-1.84562317e-01 9.82816906e-01 2.77124773e-03 -1.71198531e+02] [ 9.82686876e-01 1.84582981e-01 -1.59883609e-02 -2.63722224e+02] [-1.62251565e-02 -2.27580149e-04 -9.99868338e-01 -1.80373411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 832.386559995 meters 0.015150773305906595 Centerline is valid? [True, True] Translation: X:-171.19, Y:-263.72, Z:-1.80 [[-2.62499626e-01 9.64924319e-01 3.87374318e-03 -1.71190507e+02] [ 9.64805064e-01 2.62528092e-01 -1.51720068e-02 -2.63721937e+02] [-1.56568047e-02 -2.45239064e-04 -9.99877395e-01 -1.80231588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 832.416559995 meters 0.015352774364142277 Centerline is valid? [True, True] Translation: X:-171.18, Y:-263.72, Z:-1.80 [[-3.40464866e-01 9.40244339e-01 4.92530388e-03 -1.71184714e+02] [ 9.40133251e-01 3.40500365e-01 -1.44558386e-02 -2.63720364e+02] [-1.52690882e-02 -2.91263198e-04 -9.99883378e-01 -1.80371651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 832.4465599949999 meters 0.015593438006289963 Centerline is valid? [True, True] Translation: X:-171.18, Y:-263.72, Z:-1.80 [[-4.14610371e-01 9.09980420e-01 5.82032927e-03 -1.71178185e+02] [ 9.09880192e-01 4.14651110e-01 -1.35090425e-02 -2.63718053e+02] [-1.47063701e-02 -3.05186804e-04 -9.99891809e-01 -1.80451538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 832.4765599949999 meters 0.016185131219094012 Centerline is valid? [True, True] Translation: X:-171.17, Y:-263.72, Z:-1.80 [[-4.86101110e-01 8.73877932e-01 6.56292768e-03 -1.71171864e+02] [ 8.73789332e-01 4.86145308e-01 -1.24476100e-02 -2.63715420e+02] [-1.40682281e-02 -3.16180815e-04 -9.99900988e-01 -1.80495166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 832.506559995 meters 0.017231277593771008 Centerline is valid? [True, True] Translation: X:-171.17, Y:-263.71, Z:-1.81 [[-5.56234282e-01 8.30998434e-01 6.71020069e-03 -1.71165526e+02] [ 8.30930676e-01 5.56274657e-01 -1.06168167e-02 -2.63711753e+02] [-1.25552726e-02 -3.29725797e-04 -9.99921125e-01 -1.80560649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 832.536559995 meters 0.018320209527624125 Centerline is valid? [True, True] Translation: X:-171.16, Y:-263.71, Z:-1.81 [[-6.20868635e-01 7.83877763e-01 7.60202215e-03 -1.71159092e+02] [ 7.83811917e-01 6.20915073e-01 -1.01661170e-02 -2.63709423e+02] [-1.26892032e-02 -3.53267601e-04 -9.99919427e-01 -1.80502718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 832.5665599949999 meters 0.01895042572239634 Centerline is valid? [True, True] Translation: X:-171.16, Y:-263.71, Z:-1.81 [[-6.81850802e-01 7.31449557e-01 7.81217971e-03 -1.71155262e+02] [ 7.31395519e-01 6.81895462e-01 -8.89797474e-03 -2.63706847e+02] [-1.18355096e-02 -3.53297970e-04 -9.99929896e-01 -1.80556373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 832.5965599949999 meters 0.019808188896692197 Centerline is valid? [True, True] Translation: X:-171.15, Y:-263.70, Z:-1.81 [[-7.37744959e-01 6.75029130e-01 8.24919481e-03 -1.71150781e+02] [ 6.74981464e-01 7.37790992e-01 -8.02971694e-03 -2.63704839e+02] [-1.15064745e-02 -3.55829603e-04 -9.99933735e-01 -1.80534659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 832.626559995 meters 0.019556482192026946 Centerline is valid? [True, True] Translation: X:-171.13, Y:-263.69, Z:-1.81 [[-7.84078160e-01 6.20601013e-01 8.70753081e-03 -1.71132414e+02] [ 6.20557582e-01 7.84126427e-01 -7.35083922e-03 -2.63685817e+02] [-1.13897433e-02 -3.60108232e-04 -9.99935070e-01 -1.80573120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 832.656559995 meters 0.020098618560542587 Centerline is valid? [True, True] Translation: X:-171.11, Y:-263.66, Z:-1.81 [[-8.26387017e-01 5.63028119e-01 9.15615773e-03 -1.71114809e+02] [ 5.62988604e-01 8.26437659e-01 -6.68042639e-03 -2.63664580e+02] [-1.13282615e-02 -3.65805184e-04 -9.99935766e-01 -1.80537655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 832.6865599949999 meters 0.020121921200542188 Centerline is valid? [True, True] Translation: X:-171.10, Y:-263.64, Z:-1.81 [[-8.64328387e-01 5.02838435e-01 9.48410091e-03 -1.71102485e+02] [ 5.02803492e-01 8.64380342e-01 -5.93908906e-03 -2.63640754e+02] [-1.11842726e-02 -3.64684208e-04 -9.99937388e-01 -1.80529313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 832.7165599949999 meters 0.02125240581854989 Centerline is valid? [True, True] Translation: X:-170.76, Y:-263.08, Z:-2.78 [[-7.90042572e-01 -6.12983246e-01 9.18016184e-03 -1.70755672e+02] [ 6.12947355e-01 -7.90095815e-01 -6.64399928e-03 -2.63082193e+02] [ 1.13258677e-02 3.77913638e-04 9.99935789e-01 -2.78030175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 832.746559995 meters 0.021554117638206128 Centerline is valid? [True, True] Translation: X:-171.15, Y:-263.61, Z:-1.80 [[-8.66436352e-01 4.99196224e-01 9.54874340e-03 -1.71154826e+02] [ 4.99161118e-01 8.66488887e-01 -5.93189240e-03 -2.63608978e+02] [-1.12350583e-02 -3.73245777e-04 -9.99936815e-01 -1.80417735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 832.776559995 meters 0.019874539494667002 Centerline is valid? [True, True] Translation: X:-170.81, Y:-263.04, Z:-2.78 [[-7.92145316e-01 -6.10261261e-01 9.32691300e-03 -1.70810814e+02] [ 6.10224760e-01 -7.92200124e-01 -6.68617983e-03 -2.63041624e+02] [ 1.14690982e-02 3.95087217e-04 9.99934150e-01 -2.77954689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 832.8065599949999 meters 0.022243943226926337 Centerline is valid? [True, True] Translation: X:-170.81, Y:-263.08, Z:-2.78 [[-7.49188679e-01 -6.62291207e-01 9.31019746e-03 -1.70810067e+02] [ 6.62246642e-01 -7.49246418e-01 -7.69349485e-03 -2.63082896e+02] [ 1.20709661e-02 4.01767759e-04 9.99927063e-01 -2.78131413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 832.8365599949999 meters 0.022684669295700906 Centerline is valid? [True, True] Translation: X:-170.84, Y:-263.10, Z:-2.78 [[-7.02675023e-01 -7.11452849e-01 9.09145995e-03 -1.70840593e+02] [ 7.11400930e-01 -7.02733709e-01 -8.60529388e-03 -2.63095291e+02] [ 1.25111362e-02 4.20947986e-04 9.99921644e-01 -2.78214922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 832.866559995 meters 0.021349745539210017 Centerline is valid? [True, True] Translation: X:-171.28, Y:-263.60, Z:-1.80 [[-7.94601716e-01 6.07037736e-01 1.06442632e-02 -1.71279430e+02] [ 6.06975114e-01 7.94672862e-01 -8.73229559e-03 -2.63595512e+02] [-1.37595400e-02 -4.77894208e-04 -9.99905219e-01 -1.80219163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 832.896559995 meters 0.020788589057112148 Centerline is valid? [True, True] Translation: X:-170.85, Y:-263.09, Z:-2.78 [[-7.04379259e-01 -7.09747955e-01 1.03778326e-02 -1.70849551e+02] [ 7.09681620e-01 -7.04455513e-01 -9.71740593e-03 -2.63085024e+02] [ 1.42076303e-02 5.20217835e-04 9.99898931e-01 -2.78266622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 832.9265599949999 meters 0.021650966686427624 Centerline is valid? [True, True] Translation: X:-171.31, Y:-263.57, Z:-1.80 [[-7.96398165e-01 6.04664168e-01 1.14545599e-02 -1.71308772e+02] [ 6.04592411e-01 7.96480376e-01 -9.32881503e-03 -2.63574765e+02] [-1.47641324e-02 -5.04111162e-04 -9.99890877e-01 -1.80077864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 832.9565599949999 meters 0.02185115986121336 Centerline is valid? [True, True] Translation: X:-170.88, Y:-263.06, Z:-2.78 [[-7.07884052e-01 -7.06248715e-01 1.06264485e-02 -1.70884811e+02] [ 7.06179213e-01 -7.07963644e-01 -9.91960937e-03 -2.63056026e+02] [ 1.45288506e-02 4.82243771e-04 9.99894335e-01 -2.78381582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 832.986559995 meters 0.0213616202414686 Centerline is valid? [True, True] Translation: X:-171.34, Y:-263.55, Z:-1.80 [[-7.97802396e-01 6.02817125e-01 1.10838378e-02 -1.71341805e+02] [ 6.02750711e-01 7.97879249e-01 -8.96023557e-03 -2.63552774e+02] [-1.42449476e-02 -4.67706273e-04 -9.99898426e-01 -1.80168516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 833.016559995 meters 0.018346755907625877 Centerline is valid? [True, True] Translation: X:-171.33, Y:-263.54, Z:-1.80 [[-8.37885279e-01 5.45736373e-01 1.09577280e-02 -1.71328177e+02] [ 5.45683028e-01 8.37956820e-01 -7.64207594e-03 -2.63536138e+02] [-1.33526617e-02 -4.23736728e-04 -9.99910760e-01 -1.80427832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 833.0465599949999 meters 0.021373592946330778 Centerline is valid? [True, True] Translation: X:-170.94, Y:-262.97, Z:-2.78 [[-7.60627735e-01 -6.49127714e-01 8.86900948e-03 -1.70943066e+02] [ 6.49087422e-01 -7.60679399e-01 -7.23676803e-03 -2.62970592e+02] [ 1.14440595e-02 2.52276019e-04 9.99934483e-01 -2.78044691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 833.0765599949999 meters 0.018359714097705798 Centerline is valid? [True, True] Translation: X:-171.39, Y:-263.50, Z:-1.81 [[-8.38280704e-01 5.45168241e-01 8.77787798e-03 -1.71390807e+02] [ 5.45134476e-01 8.38326604e-01 -6.07528917e-03 -2.63495377e+02] [-1.06707833e-02 -3.07673772e-04 -9.99943018e-01 -1.80614056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 833.106559995 meters 0.017649644184697385 Centerline is valid? [True, True] Translation: X:-171.34, Y:-263.50, Z:-1.81 [[-8.74161465e-01 4.85555220e-01 8.82393808e-03 -1.71341274e+02] [ 4.85527206e-01 8.74205953e-01 -5.22337146e-03 -2.63496356e+02] [-1.02501745e-02 -2.81808050e-04 -9.99947426e-01 -1.80637121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 833.136559995 meters 0.017180633851292815 Centerline is valid? [True, True] Translation: X:-171.33, Y:-263.47, Z:-1.81 [[-9.05703753e-01 4.23831041e-01 8.24379043e-03 -1.71332282e+02] [ 4.23811067e-01 9.05741239e-01 -4.12161360e-03 -2.63471362e+02] [-9.21360874e-03 -2.39151287e-04 -9.99957525e-01 -1.80677255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 833.166559995 meters 0.016976962836837643 Centerline is valid? [True, True] Translation: X:-171.31, Y:-263.45, Z:-1.81 [[-9.33331367e-01 3.58922567e-01 8.19449065e-03 -1.71312680e+02] [ 3.58906588e-01 9.33367312e-01 -3.39443165e-03 -2.63450670e+02] [-8.86680784e-03 -2.27072857e-04 -9.99960663e-01 -1.80687107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 833.1965599949999 meters 0.01684769605570964 Centerline is valid? [True, True] Translation: X:-171.04, Y:-262.81, Z:-2.78 [[-8.84309482e-01 -4.66836273e-01 7.78678687e-03 -1.71043676e+02] [ 4.66820273e-01 -8.84343739e-01 -3.87092730e-03 -2.62807746e+02] [ 8.69328549e-03 2.11932248e-04 9.99962190e-01 -2.77703342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 833.2265599949999 meters 0.017358015010937786 Centerline is valid? [True, True] Translation: X:-171.35, Y:-263.43, Z:-1.81 [[-9.34752991e-01 3.55208314e-01 7.99377415e-03 -1.71354483e+02] [ 3.55193272e-01 9.34787144e-01 -3.27650584e-03 -2.63433478e+02] [-8.63631942e-03 -2.23388836e-04 -9.99962681e-01 -1.80725444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 833.256559995 meters 0.017116567322990536 Centerline is valid? [True, True] Translation: X:-171.35, Y:-263.41, Z:-1.81 [[-9.57588916e-01 2.88019301e-01 8.26742534e-03 -1.71345004e+02] [ 2.88006528e-01 9.57624577e-01 -2.72192425e-03 -2.63407482e+02] [-8.70105642e-03 -2.25412024e-04 -9.99962120e-01 -1.80737219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 833.286559995 meters 0.01866226703840171 Centerline is valid? [True, True] Translation: X:-171.13, Y:-262.75, Z:-2.78 [[-9.16033920e-01 -4.01009842e-01 8.54187367e-03 -1.71126273e+02] [ 4.00995146e-01 -9.16073705e-01 -3.44376979e-03 -2.62752034e+02] [ 9.20597144e-03 2.70639938e-04 9.99957588e-01 -2.77834800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 833.3165599949999 meters 0.01893079980548079 Centerline is valid? [True, True] Translation: X:-171.40, Y:-263.38, Z:-1.81 [[-9.59240570e-01 2.82446600e-01 9.02482446e-03 -1.71404046e+02] [ 2.82431481e-01 9.59282986e-01 -2.93450993e-03 -2.63383048e+02] [-9.48620291e-03 -2.66006444e-04 -9.99954970e-01 -1.80594631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 833.3465599949999 meters 0.01764212872015988 Centerline is valid? [True, True] Translation: X:-171.39, Y:-263.36, Z:-1.81 [[-9.76942268e-01 2.13293576e-01 9.46862186e-03 -1.71386566e+02] [ 2.13280798e-01 9.76988113e-01 -2.35109224e-03 -2.63361326e+02] [-9.75220387e-03 -2.77406156e-04 -9.99952408e-01 -1.80684517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 833.376559995 meters 0.018168091739766502 Centerline is valid? [True, True] Translation: X:-171.38, Y:-263.33, Z:-1.81 [[-9.89733962e-01 1.42564119e-01 1.01072419e-02 -1.71383699e+02] [ 1.42553576e-01 9.89785523e-01 -1.75967202e-03 -2.63332427e+02] [-1.02548678e-02 -3.00783681e-04 -9.99947372e-01 -1.80669581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 833.406559995 meters 0.01830382211406848 Centerline is valid? [True, True] Translation: X:-171.25, Y:-262.66, Z:-2.78 [[-9.63958032e-01 -2.65853963e-01 1.03239539e-02 -1.71253836e+02] [ 2.65842418e-01 -9.64013257e-01 -2.49998794e-03 -2.62661174e+02] [ 1.06170601e-02 3.34661409e-04 9.99943582e-01 -2.77821293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 833.4365599949999 meters 0.018661624694124544 Centerline is valid? [True, True] Translation: X:-171.42, Y:-263.32, Z:-1.81 [[-9.90280356e-01 1.38665558e-01 1.08018024e-02 -1.71424723e+02] [ 1.38653759e-01 9.90339214e-01 -1.83728001e-03 -2.63323894e+02] [-1.09522160e-02 -3.21711790e-04 -9.99939971e-01 -1.80573832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 833.4665599949999 meters 0.018661624694124544 Centerline is valid? [True, True] Translation: X:-171.31, Y:-262.65, Z:-2.78 [[-9.64978538e-01 -2.62112454e-01 1.06528102e-02 -1.71306976e+02] [ 2.62100148e-01 -9.65037283e-01 -2.56012690e-03 -2.62654077e+02] [ 1.09514002e-02 3.21635621e-04 9.99939980e-01 -2.77875267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 833.496559995 meters 0.017890061001127586 Centerline is valid? [True, True] Translation: X:-171.48, Y:-263.32, Z:-1.81 [[-9.90810146e-01 1.34848646e-01 1.05402509e-02 -1.71479531e+02] [ 1.34837651e-01 9.90866159e-01 -1.75018160e-03 -2.63316014e+02] [-1.06799875e-02 -3.12875021e-04 -9.99942918e-01 -1.80635954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 833.526559995 meters 0.018125507175282572 Centerline is valid? [True, True] Translation: X:-171.47, Y:-263.29, Z:-1.81 [[-9.97874174e-01 6.43448435e-02 1.03379846e-02 -1.71472299e+02] [ 6.43382528e-02 9.97927678e-01 -9.69181395e-04 -2.63288444e+02] [-1.03789227e-02 -3.01993220e-04 -9.99946092e-01 -1.80644846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 833.5565599949999 meters 0.018699539764045363 Centerline is valid? [True, True] Translation: X:-171.47, Y:-263.26, Z:-1.81 [[-9.99939664e-01 -5.92098095e-03 9.25256502e-03 -1.71474843e+02] [-5.92314945e-03 9.99982437e-01 -2.06982349e-04 -2.63258786e+02] [-9.25117697e-03 -2.61774186e-04 -9.99957173e-01 -1.80711664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 833.5865599949999 meters 0.017455161850750734 Centerline is valid? [True, True] Translation: X:-171.47, Y:-263.23, Z:-1.81 [[-9.97049033e-01 -7.62497978e-02 8.89910901e-03 -1.71473309e+02] [-7.62489547e-02 9.97088716e-01 4.34476158e-04 -2.63232984e+02] [-8.90632990e-03 -2.45353726e-04 -9.99960308e-01 -1.80812639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 833.616559995 meters 0.01713172052765815 Centerline is valid? [True, True] Translation: X:-171.52, Y:-262.55, Z:-2.78 [[-9.98934718e-01 -4.53666055e-02 8.44397549e-03 -1.71517398e+02] [ 4.53666971e-02 -9.98970385e-01 -1.80783218e-04 -2.62554385e+02] [ 8.44348297e-03 2.02484646e-04 9.99964333e-01 -2.77623015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 833.646559995 meters 0.01642499915987756 Centerline is valid? [True, True] Translation: X:-171.57, Y:-263.24, Z:-1.81 [[-9.96760350e-01 -7.99824202e-02 8.46274085e-03 -1.71567976e+02] [-7.99813600e-02 9.96796251e-01 4.64192534e-04 -2.63237946e+02] [-8.47275559e-03 -2.14172810e-04 -9.99964083e-01 -1.80855355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 833.6765599949999 meters 0.016751569163666154 Centerline is valid? [True, True] Translation: X:-171.60, Y:-262.56, Z:-2.78 [[-9.99254228e-01 -3.75441168e-02 9.02369619e-03 -1.71600337e+02] [ 3.75449725e-02 -9.99294936e-01 -7.46186963e-05 -2.62558294e+02] [ 9.02013541e-03 2.64231377e-04 9.99959283e-01 -2.77634518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 833.7065599949999 meters 0.017938095956266942 Centerline is valid? [True, True] Translation: X:-171.65, Y:-263.24, Z:-1.81 [[-9.96334580e-01 -8.50102120e-02 9.52198456e-03 -1.71650683e+02] [-8.50085798e-02 9.96380052e-01 5.76747152e-04 -2.63238530e+02] [-9.53654487e-03 -2.34817253e-04 -9.99954499e-01 -1.80675658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 833.736559995 meters 0.0164908808173813 Centerline is valid? [True, True] Translation: X:-171.66, Y:-263.21, Z:-1.81 [[-9.87812483e-01 -1.55317969e-01 1.01403853e-02 -1.71659040e+02] [-1.55312351e-01 9.87864499e-01 1.34400573e-03 -2.63213155e+02] [-1.02260749e-02 -2.47301454e-04 -9.99947682e-01 -1.80708296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 833.766559995 meters 0.01655140555539442 Centerline is valid? [True, True] Translation: X:-171.75, Y:-262.54, Z:-2.78 [[-9.99130344e-01 4.02104930e-02 1.10305088e-02 -1.71747310e+02] [-4.02044773e-02 -9.99191179e-01 7.66665093e-04 -2.62542521e+02] [ 1.10524151e-02 3.22522517e-04 9.99938868e-01 -2.77798501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 833.7965599949999 meters 0.016911884533842264 Centerline is valid? [True, True] Translation: X:-171.76, Y:-263.22, Z:-1.81 [[-9.86832070e-01 -1.61359931e-01 1.11999168e-02 -1.71759227e+02] [-1.61352673e-01 9.86895586e-01 1.55461414e-03 -2.63223135e+02] [-1.13040009e-02 -2.72993436e-04 -9.99936071e-01 -1.80580241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 833.8265599949999 meters 0.01644444586642392 Centerline is valid? [True, True] Translation: X:-171.85, Y:-262.56, Z:-2.78 [[-9.98854451e-01 4.64317228e-02 1.15707348e-02 -1.71851529e+02] [-4.64251309e-02 -9.98921421e-01 8.37796357e-04 -2.62557054e+02] [ 1.15971552e-02 2.99663741e-04 9.99932706e-01 -2.77824112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 833.856559995 meters 0.016108597930007042 Centerline is valid? [True, True] Translation: X:-171.86, Y:-263.24, Z:-1.81 [[-9.85849168e-01 -1.67257222e-01 1.12445660e-02 -1.71860325e+02] [-1.67249473e-01 9.85913256e-01 1.63265979e-03 -2.63236312e+02] [-1.13592409e-02 -2.71091444e-04 -9.99935445e-01 -1.80677048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 833.886559995 meters 0.016112376100595804 Centerline is valid? [True, True] Translation: X:-171.88, Y:-263.21, Z:-1.81 [[-9.71503512e-01 -2.36768880e-01 1.10192680e-02 -1.71878570e+02] [-2.36756713e-01 9.71565967e-01 2.41459302e-03 -2.63211468e+02] [-1.12776462e-02 -2.63100061e-04 -9.99936371e-01 -1.80678768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 833.916559995 meters 0.016297635518068378 Centerline is valid? [True, True] Translation: X:-171.91, Y:-263.19, Z:-1.81 [[-9.52387988e-01 -3.04735222e-01 9.67294276e-03 -1.71905126e+02] [-3.04721849e-01 9.52437083e-01 2.86335375e-03 -2.63189175e+02] [-1.00854341e-02 -2.20533284e-04 -9.99949117e-01 -1.80666970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 833.9465599949999 meters 0.015454703418016578 Centerline is valid? [True, True] Translation: X:-171.95, Y:-263.18, Z:-1.81 [[-9.27839578e-01 -3.72863140e-01 9.31642845e-03 -1.71953902e+02] [-3.72846619e-01 9.27886326e-01 3.51632911e-03 -2.63177936e+02] [-9.95569608e-03 -2.11009530e-04 -9.99950419e-01 -1.80778145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 833.9765599949999 meters 0.015429092744242685 Centerline is valid? [True, True] Translation: X:-172.02, Y:-263.18, Z:-1.81 [[-8.98064666e-01 -4.39772792e-01 8.93017264e-03 -1.72018917e+02] [-4.39753308e-01 8.98109041e-01 4.14476419e-03 -2.63175448e+02] [-9.84302331e-03 -2.04806688e-04 -9.99951535e-01 -1.80824276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 834.006559995 meters 0.01521880662281285 Centerline is valid? [True, True] Translation: X:-172.09, Y:-263.18, Z:-1.81 [[-8.63247173e-01 -5.04715010e-01 8.19000671e-03 -1.72086076e+02] [-5.04694371e-01 8.63286003e-01 4.56828786e-03 -2.63179173e+02] [-9.37600161e-03 -1.89888707e-04 -9.99956026e-01 -1.80849239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 834.036559995 meters 0.014972126695587907 Centerline is valid? [True, True] Translation: X:-172.16, Y:-263.19, Z:-1.81 [[-8.23493952e-01 -5.67272453e-01 7.72495227e-03 -1.72163689e+02] [-5.67249569e-01 8.23530164e-01 5.09854572e-03 -2.63194099e+02] [-9.25399575e-03 -1.83354287e-04 -9.99957164e-01 -1.80863086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 834.0665599949999 meters 0.014848323745344174 Centerline is valid? [True, True] Translation: X:-172.25, Y:-263.22, Z:-1.81 [[-7.78648137e-01 -6.27416881e-01 7.42532834e-03 -1.72246149e+02] [-6.27390623e-01 7.78683519e-01 5.74320824e-03 -2.63219139e+02] [-9.38536660e-03 -1.86642973e-04 -9.99955939e-01 -1.80881373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 834.0965599949999 meters 0.015441171824845968 Centerline is valid? [True, True] Translation: X:-172.33, Y:-263.25, Z:-1.81 [[-7.28917991e-01 -6.84562751e-01 7.23887492e-03 -1.72333155e+02] [-6.84531675e-01 7.28953908e-01 6.52583986e-03 -2.63253043e+02] [-9.74415305e-03 -1.98437089e-04 -9.99952505e-01 -1.80811591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 834.126559995 meters 0.01543073139880158 Centerline is valid? [True, True] Translation: X:-172.42, Y:-263.30, Z:-1.81 [[-6.75017147e-01 -7.37770552e-01 6.81645876e-03 -1.72417023e+02] [-7.37735927e-01 6.75051533e-01 7.15049656e-03 -2.63295737e+02] [-9.87688673e-03 -2.02038737e-04 -9.99951202e-01 -1.80797406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 834.156559995 meters 0.015295780727385798 Centerline is valid? [True, True] Translation: X:-172.50, Y:-263.35, Z:-1.81 [[-6.17013300e-01 -7.86928722e-01 6.14605070e-03 -1.72501301e+02] [-7.86892872e-01 6.17043877e-01 7.51411561e-03 -2.63349627e+02] [-9.70545635e-03 -1.99974222e-04 -9.99952881e-01 -1.80833082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 834.1865599949999 meters 0.0151350599677385 Centerline is valid? [True, True] Translation: X:-172.58, Y:-263.41, Z:-1.81 [[-5.55403957e-01 -8.31560033e-01 5.86141747e-03 -1.72584583e+02] [-8.31517674e-01 5.55434845e-01 8.39593602e-03 -2.63413869e+02] [-1.02373603e-02 -2.10736132e-04 -9.99947575e-01 -1.80840326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 834.2165599949999 meters 0.01578243814765349 Centerline is valid? [True, True] Translation: X:-172.67, Y:-263.49, Z:-1.81 [[-4.90539698e-01 -8.71402661e-01 5.31109778e-03 -1.72665157e+02] [-8.71356248e-01 4.90568402e-01 8.99626170e-03 -2.63485256e+02] [-1.04448231e-02 -2.14834739e-04 -9.99945428e-01 -1.80769773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 834.246559995 meters 0.01564623694828806 Centerline is valid? [True, True] Translation: X:-172.74, Y:-263.57, Z:-1.81 [[-4.22919857e-01 -9.06153006e-01 5.05219134e-03 -1.72741292e+02] [-9.06094754e-01 4.22949970e-01 1.02771988e-02 -2.63566523e+02] [-1.14495388e-02 -2.31332622e-04 -9.99934425e-01 -1.80677639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 834.276559995 meters 0.015203935065404997 Centerline is valid? [True, True] Translation: X:-172.81, Y:-263.65, Z:-1.81 [[-3.52467283e-01 -9.35813994e-01 4.35692857e-03 -1.72809997e+02] [-9.35750574e-01 3.52494131e-01 1.08973057e-02 -2.63654399e+02] [-1.17336430e-02 -2.36054672e-04 -9.99931131e-01 -1.80695259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 834.3065599949999 meters 0.015947266783811684 Centerline is valid? [True, True] Translation: X:-172.87, Y:-263.74, Z:-1.81 [[-2.80426107e-01 -9.59869315e-01 3.47800951e-03 -1.72873205e+02] [-9.59805254e-01 2.80447582e-01 1.10917843e-02 -2.63743771e+02] [-1.16220628e-02 -2.27785915e-04 -9.99932436e-01 -1.80561024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 834.3365599949999 meters 0.015693725039054234 Centerline is valid? [True, True] Translation: X:-172.93, Y:-263.84, Z:-1.81 [[-2.08001648e-01 -9.78124704e-01 2.71638399e-03 -1.72927876e+02] [-9.78054191e-01 2.08019274e-01 1.17465195e-02 -2.63842306e+02] [-1.20546212e-02 -2.13475327e-04 -9.99927318e-01 -1.80519537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 834.366559995 meters 0.015089465122478827 Centerline is valid? [True, True] Translation: X:-172.97, Y:-263.95, Z:-1.81 [[-1.33449274e-01 -9.91053966e-01 1.82410863e-03 -1.72974497e+02] [-9.90980900e-01 1.33461588e-01 1.20358459e-02 -2.63948602e+02] [-1.21716213e-02 -2.01481918e-04 -9.99925903e-01 -1.80559798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 834.396559995 meters 0.014363325999487324 Centerline is valid? [True, True] Translation: X:-173.01, Y:-264.06, Z:-1.81 [[-5.87525091e-02 -9.98272175e-01 8.98073105e-04 -1.73012545e+02] [-9.98197651e-01 5.87590976e-02 1.21991273e-02 -2.64059643e+02] [-1.22308193e-02 -1.79725125e-04 -9.99925185e-01 -1.80600138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 834.4265599949999 meters 0.014063814751219305 Centerline is valid? [True, True] Translation: X:-173.70, Y:-264.12, Z:-2.78 [[-1.50513822e-01 9.88606441e-01 1.70106002e-03 -1.73696563e+02] [-9.88525761e-01 -1.50523273e-01 1.26318650e-02 -2.64116708e+02] [ 1.27439923e-02 2.19728634e-04 9.99918768e-01 -2.78045824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 834.4565599949999 meters 0.013308505631080977 Centerline is valid? [True, True] Translation: X:-173.03, Y:-264.34, Z:-1.81 [[-5.65858841e-02 -9.98397404e-01 8.13928934e-04 -1.73029629e+02] [-9.98316156e-01 5.65916630e-02 1.27372267e-02 -2.64335519e+02] [-1.27628757e-02 -9.18111692e-05 -9.99918547e-01 -1.80560108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 834.486559995 meters 0.013068638345248953 Centerline is valid? [True, True] Translation: X:-173.06, Y:-264.45, Z:-1.81 [[ 1.74586672e-02 -9.99847573e-01 -1.60312845e-04 -1.73058053e+02] [-9.99773756e-01 -1.74593263e-02 1.21494626e-02 -2.64453419e+02] [-1.21504096e-02 -5.18368490e-05 -9.99926180e-01 -1.80606091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 834.516559995 meters 0.012924443564215338 Centerline is valid? [True, True] Translation: X:-173.08, Y:-264.57, Z:-1.81 [[ 9.17205219e-02 -9.95784197e-01 -1.08561774e-03 -1.73077513e+02] [-9.95711994e-01 -9.17269445e-02 1.19913936e-02 -2.64568921e+02] [-1.20404207e-02 -1.88942758e-05 -9.99927511e-01 -1.80704494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 834.5465599949999 meters 0.013081436201291678 Centerline is valid? [True, True] Translation: X:-173.09, Y:-264.69, Z:-1.81 [[ 1.62677690e-01 -9.86677470e-01 -1.88162634e-03 -1.73085661e+02] [-9.86614632e-01 -1.62688565e-01 1.11354904e-02 -2.64686892e+02] [-1.12932566e-02 4.49442276e-05 -9.99936228e-01 -1.80791863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 834.5765599949999 meters 0.013466376293098067 Centerline is valid? [True, True] Translation: X:-173.09, Y:-264.81, Z:-1.81 [[ 2.33674391e-01 -9.72311416e-01 -2.60582870e-03 -1.73085401e+02] [-9.72255345e-01 -2.33688901e-01 1.04422716e-02 -2.64805668e+02] [-1.07620931e-02 9.34394339e-05 -9.99942083e-01 -1.80868578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 834.606559995 meters 0.013744290712024456 Centerline is valid? [True, True] Translation: X:-173.08, Y:-264.92, Z:-1.81 [[ 3.05637784e-01 -9.52142059e-01 -3.32326939e-03 -1.73081317e+02] [-9.52089654e-01 -3.05655831e-01 9.99021488e-03 -2.64915600e+02] [-1.05278804e-02 1.10663261e-04 -9.99944574e-01 -1.80876035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 834.636559995 meters 0.013966664570581627 Centerline is valid? [True, True] Translation: X:-173.07, Y:-265.03, Z:-1.81 [[ 3.76454687e-01 -9.26426315e-01 -4.01897073e-03 -1.73065882e+02] [-9.26377034e-01 -3.76476119e-01 9.55629673e-03 -2.65033844e+02] [-1.03662513e-02 1.25569482e-04 -9.99946261e-01 -1.80879424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 834.666559995 meters 0.014524343224685715 Centerline is valid? [True, True] Translation: X:-173.04, Y:-265.15, Z:-1.81 [[ 4.45458054e-01 -8.95290044e-01 -4.78113758e-03 -1.73041834e+02] [-8.95241797e-01 -4.45483690e-01 9.29555738e-03 -2.65148369e+02] [-1.04521388e-02 1.39493293e-04 -9.99945365e-01 -1.80774459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 834.6965599949999 meters 0.014367645182291021 Centerline is valid? [True, True] Translation: X:-173.01, Y:-265.26, Z:-1.81 [[ 5.10923700e-01 -8.59608114e-01 -5.55547592e-03 -1.73011082e+02] [-8.59560768e-01 -5.10953876e-01 9.02344763e-03 -2.65260134e+02] [-1.05952208e-02 1.64975903e-04 -9.99943856e-01 -1.80825308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 834.7265599949999 meters 0.014740471176126382 Centerline is valid? [True, True] Translation: X:-172.97, Y:-265.37, Z:-1.81 [[ 5.74841520e-01 -8.18240003e-01 -6.36582879e-03 -1.72970072e+02] [-8.18193160e-01 -5.74876741e-01 8.75705666e-03 -2.65369797e+02] [-1.08249410e-02 1.74557813e-04 -9.99941394e-01 -1.80794171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 834.756559995 meters 0.014752561417822002 Centerline is valid? [True, True] Translation: X:-172.93, Y:-265.47, Z:-1.81 [[ 6.35032165e-01 -7.72457114e-01 -6.64508212e-03 -1.72926905e+02] [-7.72417669e-01 -6.35066908e-01 7.80814643e-03 -2.65469924e+02] [-1.02515300e-02 1.74354712e-04 -9.99947437e-01 -1.80825151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 834.786559995 meters 0.015013989883488706 Centerline is valid? [True, True] Translation: X:-172.88, Y:-265.57, Z:-1.81 [[ 6.91849950e-01 -7.22011675e-01 -6.54121781e-03 -1.72875953e+02] [-7.21981590e-01 -6.91880853e-01 6.59301700e-03 -2.65565802e+02] [-9.28597861e-03 1.61260357e-04 -9.99956872e-01 -1.80883823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 834.8165599949999 meters 0.01485041832100535 Centerline is valid? [True, True] Translation: X:-172.82, Y:-265.66, Z:-1.81 [[ 7.44809196e-01 -6.67244468e-01 -6.63934948e-03 -1.72816870e+02] [-6.67219763e-01 -7.44838772e-01 5.74377732e-03 -2.65660198e+02] [-8.77774856e-03 1.51887023e-04 -9.99961463e-01 -1.80940301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 834.8465599949999 meters 0.014957925298759087 Centerline is valid? [True, True] Translation: X:-172.82, Y:-265.67, Z:-1.81 [[ 7.95181910e-01 -6.06338164e-01 -6.30554867e-03 -1.72820171e+02] [-6.06320380e-01 -7.95206900e-01 4.64575521e-03 -2.65666501e+02] [-7.83111450e-03 1.28962161e-04 -9.99969328e-01 -1.80974510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 834.876559995 meters 0.014668551033266416 Centerline is valid? [True, True] Translation: X:-172.82, Y:-265.67, Z:-1.81 [[ 8.40501033e-01 -5.41771426e-01 -6.46035105e-03 -1.72823070e+02] [-5.41756518e-01 -8.40525852e-01 4.02094663e-03 -2.65674015e+02] [-7.60852606e-03 1.20327491e-04 -9.99971048e-01 -1.81023473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 834.906559995 meters 0.014195407162669385 Centerline is valid? [True, True] Translation: X:-172.83, Y:-265.68, Z:-1.81 [[ 8.80860456e-01 -4.73332610e-01 -6.41069388e-03 -1.72825790e+02] [-4.73320942e-01 -8.80883778e-01 3.32506895e-03 -2.65683731e+02] [-7.22093980e-03 1.05393919e-04 -9.99973923e-01 -1.81056542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 834.9365599949999 meters 0.014049609937010333 Centerline is valid? [True, True] Translation: X:-172.83, Y:-265.69, Z:-1.81 [[ 9.16259634e-01 -4.00536684e-01 -6.21674443e-03 -1.72828806e+02] [-4.00528056e-01 -9.16280720e-01 2.63022464e-03 -2.65692651e+02] [-6.74978452e-03 8.00118958e-05 -9.99977217e-01 -1.80970732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 834.9665599949999 meters 0.013679145605086367 Centerline is valid? [True, True] Translation: X:-172.83, Y:-265.70, Z:-1.81 [[ 9.45359273e-01 -3.25973227e-01 -6.10747118e-03 -1.72828857e+02] [-3.25966866e-01 -9.45378999e-01 2.03741284e-03 -2.65699023e+02] [-6.43801702e-03 6.47461195e-05 -9.99979274e-01 -1.80982078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 834.996559995 meters 0.01309882598024667 Centerline is valid? [True, True] Translation: X:-172.83, Y:-265.71, Z:-1.81 [[ 9.68446085e-01 -2.49151344e-01 -5.98238554e-03 -1.72829392e+02] [-2.49146905e-01 -9.68464561e-01 1.48797555e-03 -2.65710826e+02] [-6.16445950e-03 4.94687454e-05 -9.99980998e-01 -1.81035217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 835.026559995 meters 0.012749272161152339 Centerline is valid? [True, True] Translation: X:-172.83, Y:-265.72, Z:-1.81 [[ 9.85750188e-01 -1.68110361e-01 -5.95592115e-03 -1.72829077e+02] [-1.68107419e-01 -9.85768181e-01 9.94836286e-04 -2.65722984e+02] [-6.03839985e-03 2.05744750e-05 -9.99981769e-01 -1.81039051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 835.0565599949999 meters 0.012731008154851092 Centerline is valid? [True, True] Translation: X:-172.83, Y:-265.73, Z:-1.81 [[ 9.96082369e-01 -8.82075073e-02 -6.27292571e-03 -1.72831451e+02] [-8.82058055e-02 -9.96102121e-01 5.47982926e-04 -2.65734393e+02] [-6.29681082e-03 7.47233384e-06 -9.99980175e-01 -1.81054697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 835.0865599949999 meters 0.012670698737671947 Centerline is valid? [True, True] Translation: X:-172.83, Y:-265.74, Z:-1.81 [[ 9.99945660e-01 -8.02687389e-03 -6.65176607e-03 -1.72833198e+02] [-8.02666401e-03 -9.99967784e-01 5.82475399e-05 -2.65744603e+02] [-6.65201933e-03 -4.85288338e-06 -9.99977875e-01 -1.81020541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 835.116559995 meters 0.012720314864379832 Centerline is valid? [True, True] Translation: X:-172.83, Y:-265.76, Z:-1.81 [[ 9.97295996e-01 7.31661231e-02 -6.88584349e-03 -1.72832782e+02] [ 7.31645520e-02 -9.97319767e-01 -4.80125322e-04 -2.65755645e+02] [-6.90251674e-03 -2.49725934e-05 -9.99976177e-01 -1.80969176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 835.146559995 meters 0.012768002836671814 Centerline is valid? [True, True] Translation: X:-172.83, Y:-265.77, Z:-1.81 [[ 9.88353105e-01 1.52031437e-01 -6.67693534e-03 -1.72831439e+02] [ 1.52028179e-01 -9.88375658e-01 -9.95674036e-04 -2.65765447e+02] [-6.75069411e-03 -3.10047980e-05 -9.99977213e-01 -1.80969206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 835.1765599949999 meters 0.012827508855620725 Centerline is valid? [True, True] Translation: X:-172.83, Y:-265.77, Z:-1.81 [[ 9.73283873e-01 2.29531471e-01 -5.81428659e-03 -1.72830201e+02] [ 2.29527565e-01 -9.73301240e-01 -1.33937608e-03 -2.65774409e+02] [-5.96648131e-03 -3.09459050e-05 -9.99982200e-01 -1.81008222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 835.2065599949999 meters 0.012731022227013443 Centerline is valid? [True, True] Translation: X:-172.83, Y:-265.78, Z:-1.81 [[ 9.52362930e-01 3.04927440e-01 -4.90987230e-03 -1.72827842e+02] [ 3.04923529e-01 -9.52375585e-01 -1.54455618e-03 -2.65781364e+02] [-5.14702006e-03 -2.61575420e-05 -9.99986754e-01 -1.81036766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 835.236559995 meters 0.012671930660017731 Centerline is valid? [True, True] Translation: X:-172.82, Y:-265.79, Z:-1.81 [[ 9.25845825e-01 3.77878357e-01 -4.17797322e-03 -1.72824862e+02] [ 3.77874606e-01 -9.25855252e-01 -1.68391521e-03 -2.65788471e+02] [-4.50451356e-03 -1.97041134e-05 -9.99989855e-01 -1.81087810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 835.266559995 meters 0.012609159941665128 Centerline is valid? [True, True] Translation: X:-172.82, Y:-265.80, Z:-1.81 [[ 8.93693221e-01 4.48664600e-01 -3.53609166e-03 -1.72821628e+02] [ 4.48661154e-01 -8.93700216e-01 -1.75852946e-03 -2.65795864e+02] [-3.94919580e-03 -1.49211142e-05 -9.99992202e-01 -1.81121410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 835.2965599949999 meters 0.012559490423271025 Centerline is valid? [True, True] Translation: X:-172.82, Y:-265.80, Z:-1.81 [[ 8.57241506e-01 5.14903078e-01 -3.43806198e-03 -1.72818530e+02] [ 5.14898957e-01 -8.57248400e-01 -2.06025811e-03 -2.65801320e+02] [-4.00810637e-03 -4.11576359e-06 -9.99991968e-01 -1.81069312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 835.3265599949999 meters 0.012618672236805822 Centerline is valid? [True, True] Translation: X:-172.82, Y:-265.81, Z:-1.81 [[ 8.15314581e-01 5.79007338e-01 -3.55468847e-03 -1.72815020e+02] [ 5.79001818e-01 -8.15322330e-01 -2.52831073e-03 -2.65806334e+02] [-4.36212735e-03 3.19750992e-06 -9.99990486e-01 -1.81023444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 835.356559995 meters 0.012696118660870169 Centerline is valid? [True, True] Translation: X:-172.81, Y:-265.81, Z:-1.81 [[ 7.68605326e-01 6.39711459e-01 -3.88625242e-03 -1.72810541e+02] [ 6.39703198e-01 -7.68615150e-01 -3.25107095e-03 -2.65813450e+02] [-5.06677983e-03 1.27423466e-05 -9.99987164e-01 -1.81022644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 835.386559995 meters 0.012696118660870169 Centerline is valid? [True, True] Translation: X:-172.80, Y:-265.82, Z:-1.81 [[ 7.16136974e-01 6.97950380e-01 -3.61963436e-03 -1.72804503e+02] [ 6.97941375e-01 -7.16146121e-01 -3.54546296e-03 -2.65821751e+02] [-5.06674433e-03 1.27445256e-05 -9.99987164e-01 -1.81022676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 835.416559995 meters 0.013095700004155317 Centerline is valid? [True, True] Translation: X:-172.80, Y:-265.83, Z:-1.81 [[ 6.62025039e-01 7.49471461e-01 -3.92133849e-03 -1.72801992e+02] [ 7.49457983e-01 -6.62036652e-01 -4.49481872e-03 -2.65827104e+02] [-5.96480816e-03 3.68041011e-05 -9.99982210e-01 -1.80907374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 835.4465599949999 meters 0.013070729732114417 Centerline is valid? [True, True] Translation: X:-172.80, Y:-265.83, Z:-1.81 [[ 6.02446423e-01 7.98150721e-01 -3.70604109e-03 -1.72796648e+02] [ 7.98135132e-01 -6.02457820e-01 -4.98852815e-03 -2.65833030e+02] [-6.21433078e-03 4.73993440e-05 -9.99980690e-01 -1.80925285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 835.4765599949999 meters 0.013252917178877279 Centerline is valid? [True, True] Translation: X:-172.79, Y:-265.84, Z:-1.81 [[ 5.38836662e-01 8.42402562e-01 -3.60218816e-03 -1.72792437e+02] [ 8.42383016e-01 -5.38848699e-01 -5.73884221e-03 -2.65839166e+02] [-6.77544979e-03 5.78764519e-05 -9.99977045e-01 -1.80864458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 835.506559995 meters 0.013393773547542513 Centerline is valid? [True, True] Translation: X:-172.79, Y:-265.84, Z:-1.81 [[ 4.71836283e-01 8.81677841e-01 -3.83491437e-03 -1.72787703e+02] [ 8.81647391e-01 -4.71851861e-01 -7.32801354e-03 -2.65843617e+02] [-8.27045864e-03 7.65804228e-05 -9.99965796e-01 -1.80753869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 835.536559995 meters 0.01343301603204435 Centerline is valid? [True, True] Translation: X:-172.78, Y:-265.85, Z:-1.81 [[ 4.01055943e-01 9.16047321e-01 -3.38179593e-03 -1.72782787e+02] [ 9.16013121e-01 -4.01070193e-01 -7.91593416e-03 -2.65848099e+02] [-8.60770782e-03 7.69629916e-05 -9.99962950e-01 -1.80710009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 835.5665599949999 meters 0.013408798525052815 Centerline is valid? [True, True] Translation: X:-172.78, Y:-265.85, Z:-1.81 [[ 3.27473519e-01 9.44856022e-01 -2.86211251e-03 -1.72778425e+02] [ 9.44817924e-01 -3.27486018e-01 -8.48519104e-03 -2.65853065e+02] [-8.95458568e-03 7.45001654e-05 -9.99959904e-01 -1.80640631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 835.5965599949999 meters 0.01301066400445858 Centerline is valid? [True, True] Translation: X:-172.77, Y:-265.86, Z:-1.81 [[ 2.50151138e-01 9.68204042e-01 -2.31099691e-03 -1.72772406e+02] [ 9.68160631e-01 -2.50161806e-01 -9.16859282e-03 -2.65856710e+02] [-9.45519179e-03 5.61176976e-05 -9.99955297e-01 -1.80636656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 835.626559995 meters 0.01284988532353605 Centerline is valid? [True, True] Translation: X:-172.77, Y:-265.86, Z:-1.81 [[ 1.72201263e-01 9.85060641e-01 -1.50287867e-03 -1.72766897e+02] [ 9.85021040e-01 -1.72207816e-01 -8.83282105e-03 -2.65860496e+02] [-8.95967182e-03 4.06558336e-05 -9.99959861e-01 -1.80646544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 835.656559995 meters 0.012800155462742805 Centerline is valid? [True, True] Translation: X:-172.76, Y:-265.86, Z:-1.81 [[ 9.31911338e-02 9.95647917e-01 -7.98631902e-04 -1.72762203e+02] [ 9.95608719e-01 -9.31945516e-02 -8.83481524e-03 -2.65864150e+02] [-8.87079354e-03 2.82015643e-05 -9.99960653e-01 -1.80674476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 835.6865599949999 meters 0.012603568596224487 Centerline is valid? [True, True] Translation: X:-172.76, Y:-265.87, Z:-1.81 [[ 1.19517171e-02 9.99928571e-01 -9.91291343e-05 -1.72757644e+02] [ 9.99892821e-01 -1.19521280e-02 -8.45537365e-03 -2.65867061e+02] [-8.45595449e-03 1.93772425e-06 -9.99964248e-01 -1.80745764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 835.7165599949999 meters 0.012568371762037825 Centerline is valid? [True, True] Translation: X:-172.75, Y:-265.87, Z:-1.81 [[-6.82691204e-02 9.97666783e-01 5.63518863e-04 -1.72753905e+02] [ 9.97631071e-01 6.82714446e-02 -8.44135890e-03 -2.65869659e+02] [-8.46013562e-03 -1.41002197e-05 -9.99964212e-01 -1.80770129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 835.746559995 meters 0.01259206738560108 Centerline is valid? [True, True] Translation: X:-172.74, Y:-265.87, Z:-1.81 [[-1.48411585e-01 9.88925023e-01 1.14021222e-03 -1.72744378e+02] [ 9.88894227e-01 1.48415962e-01 -7.80448938e-03 -2.65870655e+02] [-7.88728054e-03 -3.07273646e-05 -9.99968895e-01 -1.80918142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 835.776559995 meters 0.012763902053195624 Centerline is valid? [True, True] Translation: X:-172.73, Y:-265.87, Z:-1.81 [[-2.27887176e-01 9.73686080e-01 1.68925897e-03 -1.72734114e+02] [ 9.73657715e-01 2.27893432e-01 -7.43222790e-03 -2.65870586e+02] [-7.62162787e-03 -4.89494024e-05 -9.99970954e-01 -1.80950218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 835.8065599949999 meters 0.013611114926688378 Centerline is valid? [True, True] Translation: X:-172.72, Y:-265.87, Z:-1.81 [[-3.08985667e-01 9.51064583e-01 2.00399662e-03 -1.72722076e+02] [ 9.51042819e-01 3.08992155e-01 -6.43473613e-03 -2.65870288e+02] [-6.73906887e-03 -8.23546425e-05 -9.99977289e-01 -1.80985353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 835.8365599949999 meters 0.014239497832296142 Centerline is valid? [True, True] Translation: X:-172.71, Y:-265.87, Z:-1.81 [[-3.85236696e-01 9.22814105e-01 2.61052301e-03 -1.72713330e+02] [ 9.22791008e-01 3.85245526e-01 -6.52991237e-03 -2.65869464e+02] [-7.03158755e-03 -1.06594713e-04 -9.99975273e-01 -1.80963922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 835.866559995 meters 0.015591096147836072 Centerline is valid? [True, True] Translation: X:-172.70, Y:-265.87, Z:-1.81 [[-4.61081234e-01 8.87352399e-01 3.13302100e-03 -1.72704530e+02] [ 8.87329738e-01 4.61091856e-01 -6.34323366e-03 -2.65866696e+02] [-7.07329407e-03 -1.44723305e-04 -9.99974974e-01 -1.80939731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 835.896559995 meters 0.016090899216474563 Centerline is valid? [True, True] Translation: X:-172.70, Y:-265.86, Z:-1.81 [[-5.31139227e-01 8.47277054e-01 3.56593149e-03 -1.72697489e+02] [ 8.47255916e-01 5.31151174e-01 -5.98697804e-03 -2.65863784e+02] [-6.96667781e-03 -1.58662343e-04 -9.99975720e-01 -1.80943363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 835.9265599949999 meters 0.01706560766135795 Centerline is valid? [True, True] Translation: X:-172.69, Y:-265.86, Z:-1.81 [[-5.97194879e-01 8.02086229e-01 3.99477665e-03 -1.72689921e+02] [ 8.02066361e-01 5.97208216e-01 -5.64789298e-03 -2.65861712e+02] [-6.91581062e-03 -1.68816796e-04 -9.99976071e-01 -1.80894282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 835.9565599949999 meters 0.017464080669398058 Centerline is valid? [True, True] Translation: X:-172.68, Y:-265.86, Z:-1.81 [[-6.59175809e-01 7.51976372e-01 4.33459146e-03 -1.72684947e+02] [ 7.51958352e-01 6.59190037e-01 -5.20889213e-03 -2.65859033e+02] [-6.77428332e-03 -1.74143431e-04 -9.99977039e-01 -1.80874670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 835.986559995 meters 0.017974152353033786 Centerline is valid? [True, True] Translation: X:-172.68, Y:-265.86, Z:-1.81 [[-7.16678187e-01 6.97386876e-01 4.89099995e-03 -1.72681481e+02] [ 6.97368839e-01 7.16694852e-01 -5.01908750e-03 -2.65857006e+02] [-7.00560023e-03 -1.86239569e-04 -9.99975443e-01 -1.80827459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 836.016559995 meters 0.018087781036061124 Centerline is valid? [True, True] Translation: X:-172.68, Y:-265.86, Z:-1.81 [[-7.68980597e-01 6.39248630e-01 5.48001684e-03 -1.72678729e+02] [ 6.39230598e-01 7.69000099e-01 -4.80520661e-03 -2.65855315e+02] [-7.28585524e-03 -1.92116210e-04 -9.99973439e-01 -1.80820223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 836.0465599949999 meters 0.01765922517247781 Centerline is valid? [True, True] Translation: X:-172.67, Y:-265.83, Z:-1.81 [[-8.11696211e-01 5.84054576e-01 5.43264386e-03 -1.72669468e+02] [ 5.84040056e-01 8.11714372e-01 -4.12195911e-03 -2.65831178e+02] [-6.81720418e-03 -1.72896963e-04 -9.99976748e-01 -1.80812882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 836.0765599949999 meters 0.017504105363011224 Centerline is valid? [True, True] Translation: X:-172.64, Y:-265.82, Z:-1.81 [[-8.50626750e-01 5.25734804e-01 6.08676074e-03 -1.72642981e+02] [ 5.25719827e-01 8.50648508e-01 -3.97231492e-03 -2.65817885e+02] [-7.26607814e-03 -1.79026522e-04 -9.99973586e-01 -1.80809087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 836.106559995 meters 0.017541563329544988 Centerline is valid? [True, True] Translation: X:-172.27, Y:-265.24, Z:-2.78 [[-7.84177173e-01 -6.20512355e-01 5.52989526e-03 -1.72266773e+02] [ 6.20498273e-01 -7.84196656e-01 -4.18313281e-03 -2.65242955e+02] [ 6.93221096e-03 1.50973193e-04 9.99975961e-01 -2.77621758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 836.136559995 meters 0.017961236823792553 Centerline is valid? [True, True] Translation: X:-172.28, Y:-265.27, Z:-2.78 [[-7.40898670e-01 -6.71596286e-01 5.25267863e-03 -1.72281892e+02] [ 6.71580956e-01 -7.40917271e-01 -4.54054345e-03 -2.65268552e+02] [ 6.94121243e-03 1.63516332e-04 9.99975896e-01 -2.77649031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 836.166559995 meters 0.017731923511213527 Centerline is valid? [True, True] Translation: X:-172.73, Y:-265.80, Z:-1.81 [[-8.14653608e-01 5.79905569e-01 7.00213249e-03 -1.72732084e+02] [ 5.79881983e-01 8.14683675e-01 -5.23409726e-03 -2.65795298e+02] [-8.73980518e-03 -2.03565749e-04 -9.99961787e-01 -1.80592359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 836.1965599949999 meters 0.017585978482507175 Centerline is valid? [True, True] Translation: X:-172.31, Y:-265.24, Z:-2.78 [[-7.43686594e-01 -6.68488765e-01 7.28153517e-03 -1.72310896e+02] [ 6.68460240e-01 -7.43722192e-01 -6.18134074e-03 -2.65244958e+02] [ 9.54759613e-03 2.70436511e-04 9.99954384e-01 -2.77973650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 836.2265599949999 meters 0.017534734055762984 Centerline is valid? [True, True] Translation: X:-172.77, Y:-265.77, Z:-1.80 [[-8.16307806e-01 5.77559077e-01 8.19015758e-03 -1.72767443e+02] [ 5.77527151e-01 8.16348859e-01 -6.07702216e-03 -2.65772315e+02] [-1.01958651e-02 -2.30682253e-04 -9.99947994e-01 -1.80414588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 836.256559995 meters 0.016819283812023605 Centerline is valid? [True, True] Translation: X:-172.75, Y:-265.75, Z:-1.80 [[-8.52706264e-01 5.22305410e-01 9.43858783e-03 -1.72754193e+02] [ 5.22269264e-01 8.52758441e-01 -6.15288812e-03 -2.65749985e+02] [-1.12625222e-02 -3.17121925e-04 -9.99936526e-01 -1.80377588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 836.286559995 meters 0.016401427825131987 Centerline is valid? [True, True] Translation: X:-172.36, Y:-265.17, Z:-2.78 [[-7.90941143e-01 -6.11821110e-01 9.32937665e-03 -1.72356395e+02] [ 6.11783550e-01 -7.90996090e-01 -6.78771360e-03 -2.65167822e+02] [ 1.15323669e-02 3.38877211e-04 9.99933443e-01 -2.78091929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 836.3165599949999 meters 0.016666375361180978 Centerline is valid? [True, True] Translation: X:-172.37, Y:-265.20, Z:-2.78 [[-7.48588312e-01 -6.62980257e-01 8.52754167e-03 -1.72369467e+02] [ 6.62940484e-01 -7.48636850e-01 -7.26505264e-03 -2.65195040e+02] [ 1.12006184e-02 2.14719115e-04 9.99937248e-01 -2.78107708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 836.3465599949999 meters 0.016582990710875763 Centerline is valid? [True, True] Translation: X:-172.83, Y:-265.74, Z:-1.80 [[-8.15911040e-01 5.78114660e-01 8.52143473e-03 -1.72830433e+02] [ 5.78080630e-01 8.15955515e-01 -6.27564832e-03 -2.65735810e+02] [-1.05811560e-02 -1.94294393e-04 -9.99943999e-01 -1.80426379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 836.376559995 meters 0.015191630138552414 Centerline is valid? [True, True] Translation: X:-172.82, Y:-265.71, Z:-1.81 [[-8.54358219e-01 5.19609120e-01 8.85409667e-03 -1.72821728e+02] [ 5.19578972e-01 8.54404078e-01 -5.60029368e-03 -2.65711163e+02] [-1.04749400e-02 -1.84254485e-04 -9.99945119e-01 -1.80579480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 836.406559995 meters 0.015176018203061447 Centerline is valid? [True, True] Translation: X:-172.80, Y:-265.69, Z:-1.81 [[-8.88807655e-01 4.58193621e-01 8.91956153e-03 -1.72796622e+02] [ 4.58168584e-01 8.88852392e-01 -4.79303247e-03 -2.65693381e+02] [-1.01243105e-02 -1.73421065e-04 -9.99948733e-01 -1.80576635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 836.4365599949999 meters 0.015022230899688169 Centerline is valid? [True, True] Translation: X:-172.46, Y:-265.07, Z:-2.78 [[-8.38669705e-01 -5.44581680e-01 7.99492683e-03 -1.72457568e+02] [ 5.44558321e-01 -8.38707803e-01 -5.04546068e-03 -2.65067812e+02] [ 9.45307297e-03 1.22228908e-04 9.99955311e-01 -2.77861660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 836.4665599949999 meters 0.014817350213691339 Centerline is valid? [True, True] Translation: X:-172.83, Y:-265.68, Z:-1.81 [[-8.89513989e-01 4.56838669e-01 7.95572774e-03 -1.72831473e+02] [ 4.56819033e-01 8.89549556e-01 -4.23772956e-03 -2.65675750e+02] [-9.01297281e-03 -1.35191867e-04 -9.99959373e-01 -1.80631900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 836.496559995 meters 0.014766451211218739 Centerline is valid? [True, True] Translation: X:-172.82, Y:-265.65, Z:-1.81 [[-9.19433350e-01 3.93173083e-01 7.56580985e-03 -1.72818458e+02] [ 3.93158695e-01 9.19464470e-01 -3.36573213e-03 -2.65651582e+02] [-8.27980863e-03 -1.20002441e-04 -9.99965715e-01 -1.80686904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 836.526559995 meters 0.014727489369138732 Centerline is valid? [True, True] Translation: X:-172.81, Y:-265.63, Z:-1.81 [[-9.44914280e-01 3.27222281e-01 7.91086534e-03 -1.72807098e+02] [ 3.27209744e-01 9.44947387e-01 -2.86681185e-03 -2.65626910e+02] [-8.41343625e-03 -1.20379230e-04 -9.99964599e-01 -1.80763340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 836.5565599949999 meters 0.0146796063922073 Centerline is valid? [True, True] Translation: X:-172.80, Y:-265.60, Z:-1.81 [[-9.65743298e-01 2.59398893e-01 7.21783013e-03 -1.72800018e+02] [ 2.59390816e-01 9.65770264e-01 -2.04976798e-03 -2.65600164e+02] [-7.50247325e-03 -1.07310839e-04 -9.99971850e-01 -1.80812078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 836.5865599949999 meters 0.014439037054909024 Centerline is valid? [True, True] Translation: X:-172.80, Y:-265.57, Z:-1.81 [[-9.81725776e-01 1.90173283e-01 6.97307308e-03 -1.72803002e+02] [ 1.90167743e-01 9.81750535e-01 -1.45517197e-03 -2.65571314e+02] [-7.12255305e-03 -1.02526260e-04 -9.99974629e-01 -1.80857085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 836.616559995 meters 0.014490237794091566 Centerline is valid? [True, True] Translation: X:-172.64, Y:-264.88, Z:-2.78 [[-9.58979588e-01 -2.83397774e-01 6.62202206e-03 -1.72641197e+02] [ 2.83391619e-01 -9.59002448e-01 -1.86972535e-03 -2.64876597e+02] [ 6.88041137e-03 8.35971037e-05 9.99976326e-01 -2.77565376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 836.646559995 meters 0.01486878805741725 Centerline is valid? [True, True] Translation: X:-172.85, Y:-265.56, Z:-1.81 [[-9.82504205e-01 1.86132630e-01 6.33493008e-03 -1.72852758e+02] [ 1.86128139e-01 9.82524623e-01 -1.29635873e-03 -2.65559580e+02] [-6.46551945e-03 -9.45691552e-05 -9.99979094e-01 -1.80849133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 836.6765599949999 meters 0.014879206249469132 Centerline is valid? [True, True] Translation: X:-172.83, Y:-265.53, Z:-1.81 [[-9.93197022e-01 1.16268205e-01 6.43273796e-03 -1.72834280e+02] [ 1.16265164e-01 9.93217849e-01 -8.46024419e-04 -2.65533751e+02] [-6.48747590e-03 -9.23656005e-05 -9.99978952e-01 -1.80833888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 836.7065599949999 meters 0.014126138459686707 Centerline is valid? [True, True] Translation: X:-172.83, Y:-265.51, Z:-1.81 [[-9.98915707e-01 4.61639255e-02 6.02516889e-03 -1.72830907e+02] [ 4.61625932e-02 9.98933874e-01 -3.60075217e-04 -2.65508115e+02] [-6.03536779e-03 -8.15473694e-05 -9.99981784e-01 -1.80929422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 836.736559995 meters 0.01451927045165136 Centerline is valid? [True, True] Translation: X:-172.84, Y:-265.48, Z:-1.81 [[-9.99716423e-01 -2.31440355e-02 5.60602883e-03 -1.72836419e+02] [-2.31440404e-02 9.99732139e-01 6.39979474e-05 -2.65478751e+02] [-5.60600836e-03 -6.57663589e-05 -9.99984284e-01 -1.80876737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 836.766559995 meters 0.014200610670257019 Centerline is valid? [True, True] Translation: X:-172.84, Y:-264.77, Z:-2.78 [[-9.97785306e-01 -6.62881286e-02 5.51057437e-03 -1.72835872e+02] [ 6.62874446e-02 -9.97800521e-01 -3.06875911e-04 -2.64770333e+02] [ 5.51879621e-03 5.90856181e-05 9.99984770e-01 -2.77643143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 836.7965599949999 meters 0.0140180699713594 Centerline is valid? [True, True] Translation: X:-172.91, Y:-265.48, Z:-1.81 [[-9.99637044e-01 -2.62612475e-02 6.01066119e-03 -1.72913449e+02] [-2.62611146e-02 9.99655112e-01 1.01041794e-04 -2.65479874e+02] [-6.01124167e-03 -5.68415423e-05 -9.99981931e-01 -1.80749032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 836.8265599949999 meters 0.013292895096225138 Centerline is valid? [True, True] Translation: X:-172.92, Y:-265.46, Z:-1.81 [[-9.95506723e-01 -9.45081021e-02 5.88075651e-03 -1.72917777e+02] [-9.45066838e-02 9.95524092e-01 5.19217223e-04 -2.65455233e+02] [-5.90350502e-03 -3.88865601e-05 -9.99982574e-01 -1.80768675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 836.856559995 meters 0.013357063942843797 Centerline is valid? [True, True] Translation: X:-172.93, Y:-265.43, Z:-1.81 [[-9.86464754e-01 -1.63855464e-01 6.21903337e-03 -1.72927548e+02] [-1.63852413e-01 9.86484357e-01 1.00037042e-03 -2.65428248e+02] [-6.29889529e-03 -3.21734649e-05 -9.99980161e-01 -1.80614823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 836.886559995 meters 0.013089120550525468 Centerline is valid? [True, True] Translation: X:-172.95, Y:-265.41, Z:-1.81 [[-9.72512246e-01 -2.32755614e-01 6.68998279e-03 -1.72947658e+02] [-2.32750274e-01 9.72535256e-01 1.57680198e-03 -2.65405677e+02] [-6.87325364e-03 -2.36360962e-05 -9.99976379e-01 -1.80689285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 836.916559995 meters 0.013045201258350432 Centerline is valid? [True, True] Translation: X:-172.99, Y:-265.39, Z:-1.81 [[-9.54112596e-01 -2.99361689e-01 7.19266801e-03 -1.72989305e+02] [-2.99353179e-01 9.54139706e-01 2.25725556e-03 -2.65390295e+02] [-7.53854598e-03 5.27925506e-07 -9.99971585e-01 -1.80666799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 836.9465599949999 meters 0.013151696302988859 Centerline is valid? [True, True] Translation: X:-173.05, Y:-265.38, Z:-1.81 [[-9.30177152e-01 -3.67038175e-01 7.31053590e-03 -1.73045356e+02] [-3.67026710e-01 9.30205879e-01 2.90110047e-03 -2.65381638e+02] [-7.86511810e-03 1.53754374e-05 -9.99969069e-01 -1.80623183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 836.9765599949999 meters 0.01342137745748269 Centerline is valid? [True, True] Translation: X:-173.11, Y:-265.38, Z:-1.81 [[-9.02079005e-01 -4.31504144e-01 7.59224234e-03 -1.73113310e+02] [-4.31488406e-01 9.02110953e-01 3.68573256e-03 -2.65382632e+02] [-8.43945385e-03 4.88574165e-05 -9.99964386e-01 -1.80577515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 837.006559995 meters 0.01399641495071928 Centerline is valid? [True, True] Translation: X:-173.20, Y:-265.40, Z:-1.80 [[-8.69035291e-01 -4.94697965e-01 7.18234366e-03 -1.73201979e+02] [-4.94680373e-01 8.69064968e-01 4.17262971e-03 -2.65400469e+02] [-8.30611469e-03 7.31980359e-05 -9.99965501e-01 -1.80488913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 837.036559995 meters 0.013977801845766885 Centerline is valid? [True, True] Translation: X:-173.27, Y:-265.41, Z:-1.81 [[-8.30449139e-01 -5.57062340e-01 5.98143499e-03 -1.73273631e+02] [-5.57047211e-01 8.30470676e-01 4.10624642e-03 -2.65412812e+02] [-7.25484160e-03 7.80871286e-05 -9.99973680e-01 -1.80615880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 837.0665599949999 meters 0.014342856633760425 Centerline is valid? [True, True] Translation: X:-173.36, Y:-265.44, Z:-1.81 [[-7.86238958e-01 -6.17898326e-01 5.47363576e-03 -1.73357975e+02] [-6.17882667e-01 7.86258007e-01 4.39964023e-03 -2.65441472e+02] [-7.02222028e-03 7.71038925e-05 -9.99975341e-01 -1.80594938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 837.0965599949999 meters 0.014090639104898071 Centerline is valid? [True, True] Translation: X:-173.45, Y:-265.48, Z:-1.81 [[-7.37271086e-01 -6.75579585e-01 4.85484720e-03 -1.73449095e+02] [-6.75564285e-01 7.37287067e-01 4.54725787e-03 -2.65482057e+02] [-6.65145064e-03 7.28003740e-05 -9.99977876e-01 -1.80659384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 837.126559995 meters 0.014090639104898071 Centerline is valid? [True, True] Translation: X:-173.54, Y:-265.53, Z:-1.81 [[-6.83838406e-01 -7.29619644e-01 4.49547841e-03 -1.73538514e+02] [-7.29603175e-01 6.83853178e-01 4.90278641e-03 -2.65532442e+02] [-6.65141648e-03 7.27983223e-05 -9.99977877e-01 -1.80659536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 837.156559995 meters 0.014019629698631837 Centerline is valid? [True, True] Translation: X:-173.63, Y:-265.59, Z:-1.81 [[-6.25930291e-01 -7.79868618e-01 4.02611112e-03 -1.73625859e+02] [-7.79851779e-01 6.25943236e-01 5.12534157e-03 -2.65590983e+02] [-6.51721006e-03 6.83366213e-05 -9.99978761e-01 -1.80679718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 837.1865599949999 meters 0.013699862296126722 Centerline is valid? [True, True] Translation: X:-173.71, Y:-265.66, Z:-1.81 [[-5.62963581e-01 -8.26474929e-01 3.34619747e-03 -1.73713670e+02] [-8.26459787e-01 5.62973524e-01 5.00324520e-03 -2.65660335e+02] [-6.01887731e-03 5.11471850e-05 -9.99981885e-01 -1.80726140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 837.2165599949999 meters 0.01350771067075302 Centerline is valid? [True, True] Translation: X:-173.80, Y:-265.74, Z:-1.81 [[-4.96538927e-01 -8.68009739e-01 2.86132431e-03 -1.73795703e+02] [-8.67994872e-01 4.96547170e-01 5.08041391e-03 -2.65736883e+02] [-5.83063124e-03 3.90084452e-05 -9.99983001e-01 -1.80705930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 837.246559995 meters 0.013270845962336502 Centerline is valid? [True, True] Translation: X:-173.87, Y:-265.82, Z:-1.81 [[-4.26738951e-01 -9.04371780e-01 2.35614678e-03 -1.73874154e+02] [-9.04357659e-01 4.26745455e-01 5.05391587e-03 -2.65823023e+02] [-5.57609382e-03 2.59033729e-05 -9.99984453e-01 -1.80674509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 837.276559995 meters 0.013270845962336502 Centerline is valid? [True, True] Translation: X:-173.94, Y:-265.92, Z:-1.81 [[-3.56126112e-01 -9.34435843e-01 1.96160438e-03 -1.73943870e+02] [-9.34421265e-01 3.56131513e-01 5.21969524e-03 -2.65916471e+02] [-5.57605946e-03 2.59049244e-05 -9.99984453e-01 -1.80674675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 837.3065599949999 meters 0.0131028180833471 Centerline is valid? [True, True] Translation: X:-174.01, Y:-266.02, Z:-1.81 [[-2.80896283e-01 -9.59736858e-01 1.56257501e-03 -1.74009894e+02] [-9.59721771e-01 2.80900629e-01 5.38138343e-03 -2.66018294e+02] [-5.60364033e-03 1.19733445e-05 -9.99984300e-01 -1.80641015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 837.3365599949999 meters 0.013339599339601407 Centerline is valid? [True, True] Translation: X:-174.07, Y:-266.13, Z:-1.80 [[-2.00612087e-01 -9.79669991e-01 1.22439931e-03 -1.74072619e+02] [-9.79652423e-01 2.00615822e-01 5.86697492e-03 -2.66130068e+02] [-5.99333315e-03 -2.24996694e-05 -9.99982040e-01 -1.80453696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 837.366559995 meters 0.013576557918049246 Centerline is valid? [True, True] Translation: X:-174.12, Y:-266.24, Z:-1.80 [[-1.21851864e-01 -9.92547992e-01 7.79634590e-04 -1.74121337e+02] [-9.92529793e-01 1.21854351e-01 6.01064920e-03 -2.66235252e+02] [-6.06085966e-03 -4.14017501e-05 -9.99981632e-01 -1.80438134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 837.396559995 meters 0.01415351872007047 Centerline is valid? [True, True] Translation: X:-174.16, Y:-266.35, Z:-1.80 [[-3.95818991e-02 -9.99216274e-01 3.32787385e-04 -1.74163699e+02] [-9.99195857e-01 3.95832179e-02 6.38810828e-03 -2.66345290e+02] [-6.39627455e-03 -7.96663195e-05 -9.99979541e-01 -1.80416858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 837.4265599949999 meters 0.015119097047306039 Centerline is valid? [True, True] Translation: X:-174.20, Y:-266.46, Z:-1.80 [[ 3.96442403e-02 -9.99213845e-01 -1.63323152e-04 -1.74196647e+02] [-9.99191908e-01 -3.96444523e-02 6.62187854e-03 -2.66456027e+02] [-6.62314758e-03 -9.93281725e-05 -9.99978062e-01 -1.80340324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 837.4565599949999 meters 0.015151590034172957 Centerline is valid? [True, True] Translation: X:-174.22, Y:-266.58, Z:-1.80 [[ 1.18537816e-01 -9.92949257e-01 -7.47823058e-04 -1.74217449e+02] [-9.92922212e-01 -1.18540108e-01 7.32960410e-03 -2.66578066e+02] [-7.36657197e-03 -1.26305140e-04 -9.99972859e-01 -1.80334428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 837.486559995 meters 0.015481627273368945 Centerline is valid? [True, True] Translation: X:-174.23, Y:-266.70, Z:-1.80 [[ 1.96354000e-01 -9.80532125e-01 -1.36301044e-03 -1.74229758e+02] [-9.80503082e-01 -1.96358677e-01 7.54820778e-03 -2.66699455e+02] [-7.66889915e-03 -1.45684857e-04 -9.99970583e-01 -1.80287767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 837.516559995 meters 0.016016867020660654 Centerline is valid? [True, True] Translation: X:-174.23, Y:-266.81, Z:-1.80 [[ 2.72882021e-01 -9.62045689e-01 -1.86955452e-03 -1.74234990e+02] [-9.62019077e-01 -2.72888382e-01 7.15725757e-03 -2.66814283e+02] [-7.39578849e-03 -1.54539796e-04 -9.99972639e-01 -1.80230545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 837.5465599949999 meters 0.015716492860893154 Centerline is valid? [True, True] Translation: X:-174.23, Y:-266.94, Z:-1.80 [[ 3.46350757e-01 -9.38102448e-01 -2.22505532e-03 -1.74226505e+02] [-9.38080311e-01 -3.46357873e-01 6.44623522e-03 -2.66936002e+02] [-6.81789446e-03 -1.45377860e-04 -9.99976747e-01 -1.80272569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 837.5765599949999 meters 0.016376714851871657 Centerline is valid? [True, True] Translation: X:-174.21, Y:-267.06, Z:-1.80 [[ 4.17342329e-01 -9.08746071e-01 -2.44103905e-03 -1.74211271e+02] [-9.08728652e-01 -4.17349447e-01 5.62813158e-03 -2.67055662e+02] [-6.13330876e-03 -1.30615416e-04 -9.99981183e-01 -1.80284396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 837.606559995 meters 0.015844719089652265 Centerline is valid? [True, True] Translation: X:-174.19, Y:-267.17, Z:-1.80 [[ 4.85566282e-01 -8.74196007e-01 -2.59357348e-03 -1.74187268e+02] [-8.74182233e-01 -4.85573194e-01 4.90882521e-03 -2.67167064e+02] [-5.55064515e-03 -1.16304152e-04 -9.99984588e-01 -1.80319771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 837.636559995 meters 0.015848048308510197 Centerline is valid? [True, True] Translation: X:-174.16, Y:-267.27, Z:-1.80 [[ 5.50610519e-01 -8.34756885e-01 -2.99986140e-03 -1.74158223e+02] [-8.34743346e-01 -5.50618679e-01 4.75568830e-03 -2.67272618e+02] [-5.62162328e-03 -1.14417662e-04 -9.99984192e-01 -1.80268419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 837.666559995 meters 0.01528004918099385 Centerline is valid? [True, True] Translation: X:-174.12, Y:-267.38, Z:-1.80 [[ 6.11978807e-01 -7.90866943e-01 -3.37906729e-03 -1.74118011e+02] [-7.90853892e-01 -6.11988126e-01 4.54473856e-03 -2.67377439e+02] [-5.66223255e-03 -1.08935164e-04 -9.99983964e-01 -1.80248747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 837.6965599949999 meters 0.015372599698571104 Centerline is valid? [True, True] Translation: X:-174.07, Y:-267.48, Z:-1.80 [[ 6.70185369e-01 -7.42184017e-01 -3.80204993e-03 -1.74071631e+02] [-7.42171148e-01 -6.70196145e-01 4.37202822e-03 -2.67479388e+02] [-5.79296867e-03 -1.08297591e-04 -9.99983215e-01 -1.80226514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 837.7265599949999 meters 0.015490142681255339 Centerline is valid? [True, True] Translation: X:-174.02, Y:-267.58, Z:-1.80 [[ 7.24547815e-01 -6.89212971e-01 -3.99307455e-03 -1.74018310e+02] [-6.89201715e-01 -7.24558811e-01 3.94025037e-03 -2.67576416e+02] [-5.60888901e-03 -1.02865963e-04 -9.99984265e-01 -1.80209644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 837.756559995 meters 0.015402315815111913 Centerline is valid? [True, True] Translation: X:-174.02, Y:-267.58, Z:-1.80 [[ 7.75935507e-01 -6.30797561e-01 -4.30420462e-03 -1.74018721e+02] [-6.30787130e-01 -7.75947438e-01 3.62916726e-03 -2.67583990e+02] [-5.62910641e-03 -1.00962863e-04 -9.99984151e-01 -1.80168059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 837.786559995 meters 0.015092631275949828 Centerline is valid? [True, True] Translation: X:-174.02, Y:-267.59, Z:-1.80 [[ 8.22535144e-01 -5.68692784e-01 -4.94518504e-03 -1.74019615e+02] [-5.68681729e-01 -8.22550002e-01 3.54759840e-03 -2.67591552e+02] [-6.08515557e-03 -1.05787980e-04 -9.99981480e-01 -1.80151815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 837.8165599949999 meters 0.015130870370562596 Centerline is valid? [True, True] Translation: X:-174.02, Y:-267.60, Z:-1.80 [[ 8.64217921e-01 -5.03083448e-01 -5.86771444e-03 -1.74020848e+02] [-5.03070938e-01 -8.64237833e-01 3.54966137e-03 -2.67598820e+02] [-6.85687669e-03 -1.15804364e-04 -9.99976485e-01 -1.80081280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 837.8465599949999 meters 0.014468316077148274 Centerline is valid? [True, True] Translation: X:-174.02, Y:-267.61, Z:-1.80 [[ 9.00111908e-01 -4.35609234e-01 -6.56878148e-03 -1.74020069e+02] [-4.35596734e-01 -9.00135869e-01 3.30185448e-03 -2.67605871e+02] [-7.35111413e-03 -1.10698778e-04 -9.99972974e-01 -1.80016522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 837.876559995 meters 0.014362298747071173 Centerline is valid? [True, True] Translation: X:-174.02, Y:-267.61, Z:-1.80 [[ 9.30966814e-01 -3.65033588e-01 -7.16038868e-03 -1.74020231e+02] [-3.65021901e-01 -9.30994344e-01 2.92294221e-03 -2.67613298e+02] [-7.73325344e-03 -1.07463510e-04 -9.99970092e-01 -1.79960331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 837.906559995 meters 0.014892929177669096 Centerline is valid? [True, True] Translation: X:-174.02, Y:-267.62, Z:-1.80 [[ 9.56370959e-01 -2.92053109e-01 -7.71817414e-03 -1.74020553e+02] [-2.92042714e-01 -9.56402097e-01 2.46625699e-03 -2.67620455e+02] [-8.10195596e-03 -1.04620031e-04 -9.99967173e-01 -1.79810783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 837.9365599949999 meters 0.013999499725211539 Centerline is valid? [True, True] Translation: X:-174.02, Y:-267.62, Z:-1.80 [[ 9.75953182e-01 -2.17799227e-01 -8.88168311e-03 -1.74017705e+02] [-2.17789232e-01 -9.75993589e-01 2.08909001e-03 -2.67624078e+02] [-9.12346797e-03 -1.04519094e-04 -9.99958375e-01 -1.79844285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 837.9665599949999 meters 0.014027264431278557 Centerline is valid? [True, True] Translation: X:-174.02, Y:-267.63, Z:-1.80 [[ 9.89917796e-01 -1.41342070e-01 -9.22909748e-03 -1.74016350e+02] [-1.41334963e-01 -9.89960812e-01 1.42106685e-03 -2.67630110e+02] [-9.33730136e-03 -1.02345215e-04 -9.99956401e-01 -1.79799411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 837.996559995 meters 0.01382524703044135 Centerline is valid? [True, True] Translation: X:-174.02, Y:-267.64, Z:-1.80 [[ 9.97912887e-01 -6.38657241e-02 -9.54145532e-03 -1.74017133e+02] [-6.38618445e-02 -9.97958496e-01 7.11029404e-04 -2.67636420e+02] [-9.56738681e-03 -1.00210468e-04 -9.99954227e-01 -1.79833806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 838.026559995 meters 0.013757207147944657 Centerline is valid? [True, True] Translation: X:-174.02, Y:-267.64, Z:-1.80 [[ 9.99856482e-01 1.36507877e-02 -1.00335654e-02 -1.74017398e+02] [ 1.36510767e-02 -9.99906819e-01 -3.96887914e-05 -2.67641838e+02] [-1.00331723e-02 -9.72858757e-05 -9.99949662e-01 -1.79857911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 838.0565599949999 meters 0.013659941691987575 Centerline is valid? [True, True] Translation: X:-174.02, Y:-267.65, Z:-1.80 [[ 9.95739655e-01 9.16946394e-02 -9.72789401e-03 -1.74017734e+02] [ 9.16911729e-02 -9.95787168e-01 -8.02683956e-04 -2.67648647e+02] [-9.76051385e-03 -9.26977653e-05 -9.99952361e-01 -1.79910865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 838.0865599949999 meters 0.013643174525753202 Centerline is valid? [True, True] Translation: X:-174.02, Y:-267.66, Z:-1.80 [[ 9.85582028e-01 1.68951838e-01 -9.12925909e-03 -1.74018550e+02] [ 1.68945379e-01 -9.85624304e-01 -1.47969205e-03 -2.67655118e+02] [-9.24801633e-03 -8.39882436e-05 -9.99957233e-01 -1.79999370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 838.116559995 meters 0.013599776590011797 Centerline is valid? [True, True] Translation: X:-174.02, Y:-267.66, Z:-1.80 [[ 9.69535371e-01 2.44837726e-01 -7.46010839e-03 -1.74019206e+02] [ 2.44830984e-01 -9.69564069e-01 -1.81800980e-03 -2.67660032e+02] [-7.67817043e-03 -6.38408721e-05 -9.99970521e-01 -1.80128885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 838.146559995 meters 0.01350675878417158 Centerline is valid? [True, True] Translation: X:-174.02, Y:-267.67, Z:-1.80 [[ 9.47565402e-01 3.19496760e-01 -6.45208445e-03 -1.74019086e+02] [ 3.19489733e-01 -9.47587367e-01 -2.11960805e-03 -2.67665017e+02] [-6.79112162e-03 -5.29074882e-05 -9.99976939e-01 -1.80234094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 838.1765599949999 meters 0.013440548123993866 Centerline is valid? [True, True] Translation: X:-174.02, Y:-267.67, Z:-1.80 [[ 9.20026327e-01 3.91823857e-01 -5.06193598e-03 -1.74019592e+02] [ 3.91818151e-01 -9.20040251e-01 -2.11493747e-03 -2.67669494e+02] [-5.48586781e-03 -3.75602491e-05 -9.99984952e-01 -1.80325591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 838.2065599949999 meters 0.013264962536634574 Centerline is valid? [True, True] Translation: X:-174.02, Y:-267.67, Z:-1.80 [[ 8.86886131e-01 4.61965098e-01 -4.60854038e-03 -1.74019623e+02] [ 4.61959046e-01 -8.86898104e-01 -2.36475395e-03 -2.67673320e+02] [-5.17973951e-03 -3.16894337e-05 -9.99986585e-01 -1.80328795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 838.236559995 meters 0.013127829485695757 Centerline is valid? [True, True] Translation: X:-174.02, Y:-267.68, Z:-1.80 [[ 8.48408357e-01 5.29324036e-01 -4.39609538e-03 -1.74016943e+02] [ 5.29317099e-01 -8.48419745e-01 -2.71006850e-03 -2.67680593e+02] [-5.16423852e-03 -2.76836913e-05 -9.99986665e-01 -1.80353920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 838.266559995 meters 0.013024017934771925 Centerline is valid? [True, True] Translation: X:-174.01, Y:-267.69, Z:-1.80 [[ 8.05377890e-01 5.92746006e-01 -4.31579083e-03 -1.74013804e+02] [ 5.92737626e-01 -8.05389453e-01 -3.15201731e-03 -2.67687434e+02] [-5.34423809e-03 -1.95665589e-05 -9.99985719e-01 -1.80304067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 838.2965599949999 meters 0.013037996093501755 Centerline is valid? [True, True] Translation: X:-174.01, Y:-267.69, Z:-1.80 [[ 7.57049518e-01 6.53342787e-01 -4.38523416e-03 -1.74010726e+02] [ 6.53331951e-01 -7.57062218e-01 -3.76286220e-03 -2.67694576e+02] [-5.77833398e-03 -1.63405795e-05 -9.99983305e-01 -1.80267145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 838.3265599949999 meters 0.01303898962911818 Centerline is valid? [True, True] Translation: X:-174.01, Y:-267.70, Z:-1.80 [[ 7.03832113e-01 7.10350738e-01 -4.71015486e-03 -1.74008388e+02] [ 7.10334988e-01 -7.03847873e-01 -4.73030988e-03 -2.67701244e+02] [-6.67541159e-03 -1.64437963e-05 -9.99977719e-01 -1.80222702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 838.356559995 meters 0.012965472012942441 Centerline is valid? [True, True] Translation: X:-174.01, Y:-267.71, Z:-1.80 [[ 6.46751334e-01 7.62682961e-01 -5.23576161e-03 -1.74005055e+02] [ 7.62658121e-01 -6.46772526e-01 -6.15547153e-03 -2.67706799e+02] [-8.08102002e-03 -1.20366917e-05 -9.99967348e-01 -1.80146119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 838.386559995 meters 0.013068608729968399 Centerline is valid? [True, True] Translation: X:-174.00, Y:-267.71, Z:-1.80 [[ 5.85579464e-01 8.10597077e-01 -5.39169753e-03 -1.74001558e+02] [ 8.10562831e-01 -5.85604286e-01 -7.45106619e-03 -2.67713492e+02] [-9.19721365e-03 -7.11826192e-06 -9.99957705e-01 -1.80032183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 838.416559995 meters 0.013058200741680263 Centerline is valid? [True, True] Translation: X:-174.00, Y:-267.72, Z:-1.80 [[ 5.20710146e-01 8.53717581e-01 -5.21888934e-03 -1.73997535e+02] [ 8.53674766e-01 -5.20736298e-01 -8.54998573e-03 -2.67719187e+02] [-1.00169382e-02 -3.16982120e-06 -9.99949829e-01 -1.79955346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 838.4465599949999 meters 0.013039605659528745 Centerline is valid? [True, True] Translation: X:-173.99, Y:-267.72, Z:-1.80 [[ 4.52846568e-01 8.91575873e-01 -4.73805052e-03 -1.73991502e+02] [ 8.91526996e-01 -4.52871354e-01 -9.33554143e-03 -2.67724575e+02] [-1.04690709e-02 3.46795142e-06 -9.99945198e-01 -1.79932194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 838.4765599949999 meters 0.013020194792502772 Centerline is valid? [True, True] Translation: X:-173.99, Y:-267.73, Z:-1.80 [[ 3.82712299e-01 9.23857416e-01 -4.33268052e-03 -1.73985937e+02] [ 9.23797713e-01 -3.82736823e-01 -1.05028311e-02 -2.67730143e+02] [-1.13613947e-02 1.70422623e-05 -9.99935457e-01 -1.79936524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 838.506559995 meters 0.013014602925719711 Centerline is valid? [True, True] Translation: X:-173.98, Y:-267.74, Z:-1.80 [[ 3.10002523e-01 9.50729909e-01 -3.32797598e-03 -1.73980702e+02] [ 9.50674255e-01 -3.10020385e-01 -1.02869537e-02 -2.67736033e+02] [-1.08118549e-02 2.51605106e-05 -9.99941550e-01 -1.79962074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 838.536559995 meters 0.012987503274664912 Centerline is valid? [True, True] Translation: X:-173.98, Y:-267.74, Z:-1.80 [[ 2.35775977e-01 9.71805008e-01 -2.17142308e-03 -1.73975524e+02] [ 9.71762496e-01 -2.35785974e-01 -9.08994081e-03 -2.67739904e+02] [-9.34564111e-03 3.30821641e-05 -9.99956328e-01 -1.80154352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 838.5665599949999 meters 0.013018704187089766 Centerline is valid? [True, True] Translation: X:-173.97, Y:-267.75, Z:-1.80 [[ 1.59468518e-01 9.87202128e-01 -1.32315196e-03 -1.73970308e+02] [ 9.87166328e-01 -1.59474004e-01 -8.40729042e-03 -2.67745213e+02] [-8.51070333e-03 3.45270813e-05 -9.99963783e-01 -1.80198683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 838.5965599949999 meters 0.01298287903279801 Centerline is valid? [True, True] Translation: X:-173.96, Y:-267.75, Z:-1.80 [[ 8.18217529e-02 9.96646794e-01 -6.07884152e-04 -1.73963599e+02] [ 9.96616199e-01 -8.18240043e-02 -7.80929107e-03 -2.67749207e+02] [-7.83284442e-03 3.31426910e-05 -9.99969322e-01 -1.80232037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 838.626559995 meters 0.012949233818848268 Centerline is valid? [True, True] Translation: X:-173.96, Y:-267.75, Z:-1.80 [[ 3.26151870e-03 9.99994681e-01 5.22946503e-06 -1.73957519e+02] [ 9.99965099e-01 -3.26138199e-03 -7.69180547e-03 -2.67752570e+02] [-7.69174751e-03 3.03162499e-05 -9.99970418e-01 -1.80245468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 838.656559995 meters 0.01285140363461675 Centerline is valid? [True, True] Translation: X:-173.95, Y:-267.76, Z:-1.80 [[-7.61647527e-02 9.97095066e-01 6.00097498e-04 -1.73949918e+02] [ 9.97066294e-01 7.61671137e-02 -7.57477307e-03 -2.67755794e+02] [-7.59847655e-03 2.14062699e-05 -9.99971131e-01 -1.80262985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 838.6865599949999 meters 0.01278797742550042 Centerline is valid? [True, True] Translation: X:-173.94, Y:-267.76, Z:-1.80 [[-1.55132548e-01 9.87892925e-01 1.20899719e-03 -1.73943690e+02] [ 9.87863593e-01 1.55137258e-01 -7.61270932e-03 -2.67759591e+02] [-7.70810219e-03 1.33453094e-05 -9.99970292e-01 -1.80225240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 838.7165599949999 meters 0.012794752228728475 Centerline is valid? [True, True] Translation: X:-173.93, Y:-267.76, Z:-1.80 [[-2.35012302e-01 9.71990127e-01 2.10045543e-03 -1.73931537e+02] [ 9.71950858e-01 2.35021688e-01 -8.73701030e-03 -2.67759767e+02] [-8.98594033e-03 -1.17654485e-05 -9.99959626e-01 -1.80201074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 838.746559995 meters 0.012838938210904757 Centerline is valid? [True, True] Translation: X:-173.92, Y:-267.76, Z:-1.80 [[-3.12313415e-01 9.49974336e-01 3.01525385e-03 -1.73921158e+02] [ 9.49929071e-01 3.12327969e-01 -9.27362298e-03 -2.67760147e+02] [-9.75145194e-03 -3.19995768e-05 -9.99952453e-01 -1.80093400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 838.776559995 meters 0.012937042253931882 Centerline is valid? [True, True] Translation: X:-173.91, Y:-267.76, Z:-1.80 [[-3.87463171e-01 9.21876648e-01 3.96714448e-03 -1.73910735e+02] [ 9.21826918e-01 3.87483476e-01 -9.57545983e-03 -2.67759226e+02] [-1.03645957e-02 -5.31174578e-05 -9.99946285e-01 -1.80040047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 838.8065599949999 meters 0.013267063064399596 Centerline is valid? [True, True] Translation: X:-173.90, Y:-267.76, Z:-1.80 [[-4.62051066e-01 8.86840492e-01 4.77008543e-03 -1.73899203e+02] [ 8.86791067e-01 4.62075678e-01 -9.36326647e-03 -2.67755702e+02] [-1.05078643e-02 -9.62380976e-05 -9.99944786e-01 -1.80041394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 838.8365599949999 meters 0.014182673807174286 Centerline is valid? [True, True] Translation: X:-173.89, Y:-267.75, Z:-1.80 [[-5.31747445e-01 8.46886263e-01 5.32093843e-03 -1.73888063e+02] [ 8.46841719e-01 5.31774055e-01 -8.68661665e-03 -2.67752137e+02] [-1.01861133e-02 -1.13093566e-04 -9.99948114e-01 -1.79878863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 838.866559995 meters 0.013674929952714146 Centerline is valid? [True, True] Translation: X:-173.88, Y:-267.75, Z:-1.80 [[-5.97700856e-01 8.01697296e-01 5.92730241e-03 -1.73879858e+02] [ 8.01655736e-01 5.97730231e-01 -8.16407066e-03 -2.67748504e+02] [-1.00880412e-02 -1.28016043e-04 -9.99949106e-01 -1.80082078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 838.896559995 meters 0.014255283722245701 Centerline is valid? [True, True] Translation: X:-173.87, Y:-267.74, Z:-1.80 [[-6.59748231e-01 7.51458424e-01 6.51997077e-03 -1.73870239e+02] [ 7.51419591e-01 6.59780431e-01 -7.64071661e-03 -2.67743749e+02] [-1.00434300e-02 -1.41715494e-04 -9.99949554e-01 -1.80006657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 838.9265599949999 meters 0.014397214314852422 Centerline is valid? [True, True] Translation: X:-173.86, Y:-267.74, Z:-1.80 [[-7.17259356e-01 6.96770620e-01 7.05122800e-03 -1.73864718e+02] [ 6.96734877e-01 7.17293999e-01 -7.05909275e-03 -2.67740120e+02] [-9.97637196e-03 -1.50363845e-04 -9.99950224e-01 -1.80003872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 838.9565599949999 meters 0.01438709676390554 Centerline is valid? [True, True] Translation: X:-173.86, Y:-267.73, Z:-1.80 [[-7.70592084e-01 6.37283780e-01 7.56465896e-03 -1.73858008e+02] [ 6.37250957e-01 7.70629195e-01 -6.47008074e-03 -2.67734487e+02] [-9.95282456e-03 -1.65206839e-04 -9.99950456e-01 -1.80056303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 838.986559995 meters 0.014348442802673165 Centerline is valid? [True, True] Translation: X:-173.84, Y:-267.72, Z:-1.80 [[-8.14028463e-01 5.80773736e-01 7.71558580e-03 -1.73838406e+02] [ 5.80745737e-01 8.14065011e-01 -5.70508963e-03 -2.67715065e+02] [-9.59435465e-03 -1.63311786e-04 -9.99953960e-01 -1.80079697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 839.016559995 meters 0.014539716696091429 Centerline is valid? [True, True] Translation: X:-173.43, Y:-267.17, Z:-2.78 [[-7.50889545e-01 -6.60389885e-01 7.07743211e-03 -1.73425758e+02] [ 6.60362307e-01 -7.50922885e-01 -6.03683144e-03 -2.67167061e+02] [ 9.30126816e-03 1.40675789e-04 9.99956733e-01 -2.78353391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 839.0465599949999 meters 0.014742914479496712 Centerline is valid? [True, True] Translation: X:-173.87, Y:-267.69, Z:-1.80 [[-8.16399211e-01 5.77440960e-01 7.36654172e-03 -1.73872767e+02] [ 5.77415674e-01 8.16432429e-01 -5.40622051e-03 -2.67690237e+02] [-9.13605672e-03 -1.60077504e-04 -9.99958253e-01 -1.80113025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 839.0765599949999 meters 0.014697556123159605 Centerline is valid? [True, True] Translation: X:-173.46, Y:-267.14, Z:-2.78 [[-7.53399546e-01 -6.57528683e-01 6.71975334e-03 -1.73463607e+02] [ 6.57504110e-01 -7.53429501e-01 -5.68614224e-03 -2.67140592e+02] [ 8.80166203e-03 1.34328453e-04 9.99961256e-01 -2.78377834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 839.106559995 meters 0.014623440939435142 Centerline is valid? [True, True] Translation: X:-173.91, Y:-267.66, Z:-1.80 [[-8.18078437e-01 5.75057884e-01 7.49002827e-03 -1.73909616e+02] [ 5.75032022e-01 8.18112710e-01 -5.45598295e-03 -2.67664642e+02] [-9.26519333e-03 -1.56415909e-04 -9.99957065e-01 -1.80040168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 839.136559995 meters 0.014351720917985077 Centerline is valid? [True, True] Translation: X:-173.89, Y:-267.64, Z:-1.80 [[-8.56411459e-01 5.16217035e-01 8.90992938e-03 -1.73893992e+02] [ 5.16187015e-01 8.56457789e-01 -5.56969699e-03 -2.67643544e+02] [-1.05061509e-02 -1.70762471e-04 -9.99944794e-01 -1.79951054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 839.166559995 meters 0.01451176355856062 Centerline is valid? [True, True] Translation: X:-173.88, Y:-267.62, Z:-1.80 [[-8.90706008e-01 4.54469636e-01 1.00078196e-02 -1.73875204e+02] [ 4.54438652e-01 8.90762211e-01 -5.30983975e-03 -2.67622712e+02] [-1.13277485e-02 -1.81566103e-04 -9.99935823e-01 -1.79834092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 839.1965599949999 meters 0.01451176355856062 Centerline is valid? [True, True] Translation: X:-173.55, Y:-267.02, Z:-2.79 [[-8.41253127e-01 -5.40555935e-01 9.61553771e-03 -1.73547648e+02] [ 5.40523067e-01 -8.41308058e-01 -5.96367961e-03 -2.67016536e+02] [ 1.13133318e-02 1.80455811e-04 9.99935986e-01 -2.78637066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 839.2265599949999 meters 0.01434911247043104 Centerline is valid? [True, True] Translation: X:-173.56, Y:-267.04, Z:-2.79 [[-8.03180617e-01 -5.95649589e-01 1.01224325e-02 -1.73557949e+02] [ 5.95605315e-01 -8.03244377e-01 -7.26496619e-03 -2.67044270e+02] [ 1.24581611e-02 1.93894566e-04 9.99922375e-01 -2.78651376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 839.256559995 meters 0.014437687003228438 Centerline is valid? [True, True] Translation: X:-173.97, Y:-267.61, Z:-1.80 [[-8.59618213e-01 5.10817294e-01 1.10552847e-02 -1.73965813e+02] [ 5.10772046e-01 8.59689276e-01 -6.80186532e-03 -2.67606650e+02] [-1.29786201e-02 -2.00276944e-04 -9.99915754e-01 -1.79719035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 839.286559995 meters 0.014108144027704488 Centerline is valid? [True, True] Translation: X:-173.95, Y:-267.59, Z:-1.80 [[-8.93037566e-01 4.49808533e-01 1.24975623e-02 -1.73950719e+02] [ 4.49761366e-01 8.93124988e-01 -6.51685027e-03 -2.67586804e+02] [-1.40932200e-02 -1.98871420e-04 -9.99900666e-01 -1.79741557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 839.3165599949999 meters 0.014642208220256372 Centerline is valid? [True, True] Translation: X:-173.62, Y:-266.97, Z:-2.79 [[-8.46604705e-01 -5.32089554e-01 1.18819062e-02 -1.73622705e+02] [ 5.32040224e-01 -8.46688061e-01 -7.24762753e-03 -2.66970063e+02] [ 1.39166550e-02 1.85776471e-04 9.99903142e-01 -2.78865911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 839.3465599949999 meters 0.013809786390528966 Centerline is valid? [True, True] Translation: X:-173.99, Y:-267.57, Z:-1.80 [[-8.93675838e-01 4.48543261e-01 1.23466475e-02 -1.73994446e+02] [ 4.48497895e-01 8.93761107e-01 -6.38137071e-03 -2.67568532e+02] [-1.38972741e-02 -1.65431406e-04 -9.99903415e-01 -1.79798263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 839.376559995 meters 0.013248865716325338 Centerline is valid? [True, True] Translation: X:-173.66, Y:-266.94, Z:-2.78 [[-8.50704594e-01 -5.25535270e-01 1.06945819e-02 -1.73656109e+02] [ 5.25494769e-01 -8.50771812e-01 -6.52474178e-03 -2.66944131e+02] [ 1.25276307e-02 6.93190338e-05 9.99921524e-01 -2.78476499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 839.406559995 meters 0.013069894903630672 Centerline is valid? [True, True] Translation: X:-173.67, Y:-266.97, Z:-2.78 [[-8.14210351e-01 -5.80486246e-01 9.86020481e-03 -1.73670161e+02] [ 5.80445042e-01 -8.14270048e-01 -6.91689756e-03 -2.66968099e+02] [ 1.20440333e-02 9.14974079e-05 9.99927464e-01 -2.78339745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 839.4365599949999 meters 0.013075507782249567 Centerline is valid? [True, True] Translation: X:-174.08, Y:-267.56, Z:-1.80 [[-8.60576541e-01 5.09239019e-01 9.14546632e-03 -1.74082721e+02] [ 5.09209412e-01 8.60625132e-01 -5.49162746e-03 -2.67562900e+02] [-1.06673691e-02 -6.90082419e-05 -9.99943100e-01 -1.80159845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 839.4665599949999 meters 0.012875471273667134 Centerline is valid? [True, True] Translation: X:-173.70, Y:-266.95, Z:-2.78 [[-8.17301813e-01 -5.76158325e-01 7.70264031e-03 -1.73703767e+02] [ 5.76132592e-01 -8.17338109e-01 -5.44545966e-03 -2.66946966e+02] [ 9.43310838e-03 -1.28419261e-05 9.99955507e-01 -2.78140905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 839.496559995 meters 0.012984277114989437 Centerline is valid? [True, True] Translation: X:-174.12, Y:-267.54, Z:-1.80 [[-8.62591197e-01 5.05860447e-01 6.45248149e-03 -1.74117829e+02] [ 5.05845853e-01 8.62615329e-01 -3.84284397e-03 -2.67540817e+02] [-7.50995222e-03 -5.08423787e-05 -9.99971799e-01 -1.80333309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 839.526559995 meters 0.012908008856850391 Centerline is valid? [True, True] Translation: X:-174.10, Y:-267.52, Z:-1.80 [[-8.96318871e-01 4.43359029e-01 6.72698268e-03 -1.74099607e+02] [ 4.43346085e-01 8.96344113e-01 -3.38826784e-03 -2.67518820e+02] [-7.53191047e-03 -5.45869694e-05 -9.99971633e-01 -1.80363396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 839.5565599949999 meters 0.01296891647270432 Centerline is valid? [True, True] Translation: X:-174.09, Y:-267.49, Z:-1.80 [[-9.25902857e-01 3.77695079e-01 7.09418942e-03 -1.74085990e+02] [ 3.77683457e-01 9.25930032e-01 -2.96355222e-03 -2.67493263e+02] [-7.68804212e-03 -6.46034827e-05 -9.99970445e-01 -1.80344877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 839.5865599949999 meters 0.013086479381533855 Centerline is valid? [True, True] Translation: X:-173.81, Y:-266.83, Z:-2.78 [[-8.90658280e-01 -4.54616012e-01 7.21875689e-03 -1.73806138e+02] [ 4.54601904e-01 -8.90687529e-01 -3.58268569e-03 -2.66834339e+02] [ 8.05840302e-03 9.07119574e-05 9.99967527e-01 -2.78189513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 839.616559995 meters 0.013310670378240153 Centerline is valid? [True, True] Translation: X:-174.13, Y:-267.47, Z:-1.80 [[-9.27588521e-01 3.73521985e-01 7.80140551e-03 -1.74129572e+02] [ 3.73508067e-01 9.27621324e-01 -3.22541488e-03 -2.67474235e+02] [-8.44151348e-03 -7.79699250e-05 -9.99964367e-01 -1.80232436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 839.646559995 meters 0.013160494687883701 Centerline is valid? [True, True] Translation: X:-173.85, Y:-266.82, Z:-2.78 [[-8.91982184e-01 -4.52005779e-01 7.65240479e-03 -1.73851131e+02] [ 4.51989958e-01 -8.92015005e-01 -3.78270728e-03 -2.66818399e+02] [ 8.53586544e-03 8.47026205e-05 9.99963565e-01 -2.78240391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 839.6765599949999 meters 0.013159023564872594 Centerline is valid? [True, True] Translation: X:-174.17, Y:-267.46, Z:-1.80 [[-9.29201352e-01 3.69485473e-01 8.08283037e-03 -1.74170050e+02] [ 3.69470686e-01 9.29236503e-01 -3.30673252e-03 -2.67456076e+02] [-8.73265066e-03 -8.62514466e-05 -9.99961866e-01 -1.80188562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 839.7065599949999 meters 0.01321919926903105 Centerline is valid? [True, True] Translation: X:-174.16, Y:-267.43, Z:-1.80 [[-9.52922276e-01 3.03102125e-01 8.26067862e-03 -1.74155729e+02] [ 3.03089961e-01 9.52958076e-01 -2.71675144e-03 -2.67430128e+02] [-8.69553354e-03 -8.51242037e-05 -9.99962190e-01 -1.80138512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 839.736559995 meters 0.012943393393958006 Centerline is valid? [True, True] Translation: X:-174.15, Y:-267.40, Z:-1.80 [[-9.71802473e-01 2.35650925e-01 8.28226751e-03 -1.74146881e+02] [ 2.35641702e-01 9.71837762e-01 -2.08617973e-03 -2.67402048e+02] [-8.54063051e-03 -7.57070092e-05 -9.99963525e-01 -1.80113124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 839.766559995 meters 0.012933012755066134 Centerline is valid? [True, True] Translation: X:-173.97, Y:-266.72, Z:-2.78 [[-9.48513936e-01 -3.16637924e-01 7.85736673e-03 -1.73967196e+02] [ 3.16627549e-01 -9.48546479e-01 -2.56383516e-03 -2.66723531e+02] [ 8.26488498e-03 5.60253951e-05 9.99965844e-01 -2.78435947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 839.7965599949999 meters 0.012738786567491533 Centerline is valid? [True, True] Translation: X:-174.19, Y:-267.39, Z:-1.80 [[-9.72250945e-01 2.33789214e-01 8.40855409e-03 -1.74191254e+02] [ 2.33779939e-01 9.72287303e-01 -2.08330502e-03 -2.67391355e+02] [-8.66258462e-03 -5.97440097e-05 -9.99962477e-01 -1.79999921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 839.8265599949999 meters 0.012400696406751933 Centerline is valid? [True, True] Translation: X:-174.01, Y:-266.71, Z:-2.78 [[-9.51059494e-01 -3.08897238e-01 8.26648231e-03 -1.74014563e+02] [ 3.08886122e-01 -9.51095417e-01 -2.62131870e-03 -2.66710772e+02] [ 8.67193155e-03 6.03716181e-05 9.99962396e-01 -2.78479496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 839.856559995 meters 0.012336938022774607 Centerline is valid? [True, True] Translation: X:-174.24, Y:-267.38, Z:-1.80 [[-9.72027999e-01 2.34729931e-01 7.96418901e-03 -1.74236867e+02] [ 2.34721907e-01 9.72060625e-01 -1.94087945e-03 -2.67383501e+02] [-8.19725705e-03 -1.72195370e-05 -9.99966402e-01 -1.80007958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 839.886559995 meters 0.012351520205846718 Centerline is valid? [True, True] Translation: X:-174.23, Y:-267.36, Z:-1.80 [[-9.85947468e-01 1.66887666e-01 7.48989671e-03 -1.74232133e+02] [ 1.66882828e-01 9.85975916e-01 -1.27065294e-03 -2.67357223e+02] [-7.59691408e-03 -2.86190120e-06 -9.99971143e-01 -1.80019212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 839.916559995 meters 0.012373625867150182 Centerline is valid? [True, True] Translation: X:-174.23, Y:-267.33, Z:-1.80 [[-9.94995196e-01 9.97309466e-02 6.18852427e-03 -1.74227130e+02] [ 9.97291312e-02 9.95014441e-01 -6.02020965e-04 -2.67330789e+02] [-6.21771114e-03 1.81681806e-05 -9.99980670e-01 -1.80109920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 839.9465599949999 meters 0.01246231010336409 Centerline is valid? [True, True] Translation: X:-174.16, Y:-266.62, Z:-2.78 [[-9.87196246e-01 -1.59428955e-01 5.09701318e-03 -1.74157770e+02] [ 1.59426405e-01 -9.87209401e-01 -9.05320843e-04 -2.66623068e+02] [ 5.17615369e-03 -8.11308494e-05 9.99986600e-01 -2.78353960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 839.9765599949999 meters 0.012477175393903556 Centerline is valid? [True, True] Translation: X:-174.29, Y:-267.33, Z:-1.80 [[-9.95240566e-01 9.73243607e-02 4.91784223e-03 -1.74288755e+02] [ 9.73232998e-02 9.95252716e-01 -4.55137640e-04 -2.67325598e+02] [-4.93879181e-03 2.56491914e-05 -9.99987804e-01 -1.80116496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 840.006559995 meters 0.012587158820907432 Centerline is valid? [True, True] Translation: X:-174.30, Y:-267.30, Z:-1.80 [[-9.99619070e-01 2.72544522e-02 4.34857285e-03 -1.74298737e+02] [ 2.72543088e-02 9.99628528e-01 -9.22546754e-05 -2.67297680e+02] [-4.34947183e-03 2.62978144e-05 -9.99990541e-01 -1.80186858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 840.036559995 meters 0.012557887754874814 Centerline is valid? [True, True] Translation: X:-174.27, Y:-266.59, Z:-2.78 [[-9.96552978e-01 -8.28631693e-02 3.98216231e-03 -1.74271551e+02] [ 8.28623177e-02 -9.96560933e-01 -3.78627390e-04 -2.66585613e+02] [ 3.99984165e-03 -4.73510544e-05 9.99992000e-01 -2.78255019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 840.0665599949999 meters 0.012382870139370849 Centerline is valid? [True, True] Translation: X:-174.37, Y:-267.29, Z:-1.80 [[-9.99783465e-01 2.06050673e-02 2.90774113e-03 -1.74366014e+02] [ 2.06050169e-02 9.99787693e-01 -4.72690158e-05 -2.67294196e+02] [-2.90809778e-03 1.26552748e-05 -9.99995772e-01 -1.80265122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 840.0965599949999 meters 0.01236320068064799 Centerline is valid? [True, True] Translation: X:-174.37, Y:-267.27, Z:-1.80 [[-9.98666337e-01 -5.15682317e-02 2.50280611e-03 -1.74368703e+02] [-5.15680483e-02 9.98669474e-01 1.37780163e-04 -2.67265061e+02] [-2.50658114e-03 8.53158471e-06 -9.99996859e-01 -1.80303206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 840.126559995 meters 0.012329062734240687 Centerline is valid? [True, True] Translation: X:-174.40, Y:-266.56, Z:-2.78 [[-9.99945698e-01 -1.02053137e-02 2.11004460e-03 -1.74402007e+02] [ 1.02052193e-02 -9.99947924e-01 -5.55049071e-05 -2.66561580e+02] [ 2.11050116e-03 -3.39684252e-05 9.99997772e-01 -2.78191032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 840.156559995 meters 0.012253942946444964 Centerline is valid? [True, True] Translation: X:-174.46, Y:-267.26, Z:-1.80 [[-9.98098685e-01 -6.15734550e-02 2.77920059e-03 -1.74459582e+02] [-6.15732219e-02 9.98102555e-01 1.69445581e-04 -2.67263251e+02] [-2.78436056e-03 -2.00092246e-06 -9.99996124e-01 -1.80173861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 840.1865599949999 meters 0.012307880482708653 Centerline is valid? [True, True] Translation: X:-174.47, Y:-267.23, Z:-1.80 [[-9.90978278e-01 -1.33971999e-01 3.68199659e-03 -1.74470283e+02] [-1.33971105e-01 9.90985118e-01 4.89263602e-04 -2.67234567e+02] [-3.71435144e-03 -8.43155116e-06 -9.99993102e-01 -1.80092169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 840.2165599949999 meters 0.012353397656516569 Centerline is valid? [True, True] Translation: X:-174.49, Y:-267.21, Z:-1.80 [[-9.78547301e-01 -2.05975611e-01 4.38502799e-03 -1.74486114e+02] [-2.05973620e-01 9.78557125e-01 9.05681474e-04 -2.67207236e+02] [-4.47754868e-03 -1.69479290e-05 -9.99989976e-01 -1.80011961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 840.246559995 meters 0.012522282741853085 Centerline is valid? [True, True] Translation: X:-174.52, Y:-267.18, Z:-1.80 [[-9.60450772e-01 -2.78398262e-01 5.35925932e-03 -1.74518725e+02] [-2.78394134e-01 9.60465724e-01 1.51633596e-03 -2.67183847e+02] [-5.56953018e-03 -3.56203155e-05 -9.99984490e-01 -1.79950005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 840.276559995 meters 0.01266368833204857 Centerline is valid? [True, True] Translation: X:-174.57, Y:-267.17, Z:-1.80 [[-9.37313531e-01 -3.48437806e-01 5.86858806e-03 -1.74567536e+02] [-3.48431276e-01 9.37331901e-01 2.13366835e-03 -2.67169299e+02] [-6.24426553e-03 -4.48834114e-05 -9.99980504e-01 -1.79919975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 840.3065599949999 meters 0.012694105329361601 Centerline is valid? [True, True] Translation: X:-174.63, Y:-267.17, Z:-1.80 [[-9.08876870e-01 -4.17014508e-01 6.46034874e-03 -1.74633889e+02] [-4.17004406e-01 9.08899828e-01 2.90307396e-03 -2.67165706e+02] [-7.08243382e-03 -5.54571166e-05 -9.99974918e-01 -1.79924412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 840.3365599949999 meters 0.012798283093662996 Centerline is valid? [True, True] Translation: X:-174.70, Y:-267.17, Z:-1.80 [[-8.75323397e-01 -4.83490698e-01 6.75990404e-03 -1.74702019e+02] [-4.83476833e-01 8.75349497e-01 3.66208489e-03 -2.67166357e+02] [-7.68786257e-03 -6.27484091e-05 -9.99970446e-01 -1.79825910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 840.366559995 meters 0.012736111966774294 Centerline is valid? [True, True] Translation: X:-174.78, Y:-267.18, Z:-1.80 [[-8.36986868e-01 -5.47178770e-01 6.95531915e-03 -1.74779810e+02] [-5.47160531e-01 8.37015764e-01 4.46809601e-03 -2.67179147e+02] [-8.26655905e-03 -6.59384392e-05 -9.99965829e-01 -1.79793818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 840.396559995 meters 0.012663433911022396 Centerline is valid? [True, True] Translation: X:-174.86, Y:-267.20, Z:-1.80 [[-7.93842626e-01 -6.08084131e-01 6.89739866e-03 -1.74862964e+02] [-6.08061901e-01 7.93872587e-01 5.19993928e-03 -2.67202943e+02] [-8.63765628e-03 -6.61118889e-05 -9.99962693e-01 -1.79752927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 840.4265599949999 meters 0.01267839066659578 Centerline is valid? [True, True] Translation: X:-174.95, Y:-267.24, Z:-1.80 [[-7.46414810e-01 -6.65448228e-01 6.60206148e-03 -1.74949073e+02] [-6.65422901e-01 7.46444005e-01 5.80604220e-03 -2.67237261e+02] [-8.79168971e-03 -5.94470231e-05 -9.99961351e-01 -1.79696659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 840.4565599949999 meters 0.012463308269225915 Centerline is valid? [True, True] Translation: X:-175.03, Y:-267.28, Z:-1.80 [[-6.95501414e-01 -7.18501277e-01 5.80500801e-03 -1.75034244e+02] [-7.18476713e-01 6.95525639e-01 5.94126527e-03 -2.67283061e+02] [-8.30633859e-03 -3.86046812e-05 -9.99965501e-01 -1.79752995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 840.486559995 meters 0.012380656717604676 Centerline is valid? [True, True] Translation: X:-175.12, Y:-267.34, Z:-1.80 [[-6.40164135e-01 -7.68217990e-01 5.56777436e-03 -1.75119146e+02] [-7.68189305e-01 6.40188347e-01 6.63874652e-03 -2.67337858e+02] [-8.66442877e-03 -2.72172909e-05 -9.99962463e-01 -1.79775134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 840.516559995 meters 0.012331414060774924 Centerline is valid? [True, True] Translation: X:-175.20, Y:-267.40, Z:-1.80 [[-5.82736284e-01 -8.12646738e-01 4.86849950e-03 -1.75200150e+02] [-8.12618326e-01 5.82756621e-01 6.79539979e-03 -2.67403266e+02] [-8.35940979e-03 3.69410893e-06 -9.99965060e-01 -1.79844018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 840.5465599949999 meters 0.012414966003524383 Centerline is valid? [True, True] Translation: X:-175.28, Y:-267.48, Z:-1.80 [[-5.20829734e-01 -8.53650416e-01 4.16600760e-03 -1.75280791e+02] [-8.53622801e-01 5.20846394e-01 6.86643579e-03 -2.67477677e+02] [-8.03138581e-03 2.00448499e-05 -9.99967748e-01 -1.79864586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 840.5765599949999 meters 0.01252742585809436 Centerline is valid? [True, True] Translation: X:-175.35, Y:-267.56, Z:-1.80 [[-4.56752333e-01 -8.89588214e-01 3.18041922e-03 -1.75354137e+02] [-8.89566044e-01 4.56763404e-01 6.28058891e-03 -2.67557726e+02] [-7.03983698e-03 3.94806970e-05 -9.99975219e-01 -1.79997720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 840.606559995 meters 0.012542887895064431 Centerline is valid? [True, True] Translation: X:-175.42, Y:-267.64, Z:-1.80 [[-3.88566409e-01 -9.21417174e-01 2.55691845e-03 -1.75423830e+02] [-9.21396443e-01 3.88574819e-01 6.18100306e-03 -2.67644451e+02] [-6.68883650e-03 4.57946005e-05 -9.99977629e-01 -1.80083702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 840.636559995 meters 0.01272492397086934 Centerline is valid? [True, True] Translation: X:-175.49, Y:-267.74, Z:-1.80 [[-3.18183525e-01 -9.48027304e-01 1.86427719e-03 -1.75487911e+02] [-9.48010086e-01 3.18188983e-01 5.71383229e-03 -2.67742275e+02] [-6.01006148e-03 5.06937259e-05 -9.99981938e-01 -1.80176071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 840.666559995 meters 0.012788015551905504 Centerline is valid? [True, True] Translation: X:-175.55, Y:-267.85, Z:-1.80 [[-2.44378092e-01 -9.69678776e-01 1.55536302e-03 -1.75546147e+02] [-9.69657677e-01 2.44383035e-01 6.39698415e-03 -2.67848651e+02] [-6.58312410e-03 5.51130862e-05 -9.99978330e-01 -1.80121654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 840.6965599949999 meters 0.01277180745073571 Centerline is valid? [True, True] Translation: X:-175.60, Y:-267.95, Z:-1.80 [[-1.68617023e-01 -9.85681000e-01 1.12538418e-03 -1.75596355e+02] [-9.85656807e-01 1.68620770e-01 6.90609373e-03 -2.67953320e+02] [-6.99696852e-03 5.52423887e-05 -9.99975520e-01 -1.80097585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 840.7265599949999 meters 0.01277180745073571 Centerline is valid? [True, True] Translation: X:-175.64, Y:-268.07, Z:-1.80 [[-9.22818248e-02 -9.95732753e-01 5.90703023e-04 -1.75638737e+02] [-9.95708344e-01 9.22836988e-02 6.97222315e-03 -2.68066886e+02] [-6.99698321e-03 5.52415454e-05 -9.99975519e-01 -1.80097512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 840.756559995 meters 0.012637956112344405 Centerline is valid? [True, True] Translation: X:-175.67, Y:-268.19, Z:-1.80 [[-1.31699539e-02 -9.99913271e-01 6.14214060e-05 -1.75673536e+02] [-9.99879341e-01 1.31700130e-02 8.23736759e-03 -2.68185886e+02] [-8.23746209e-03 4.70717561e-05 -9.99966071e-01 -1.79973591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 840.786559995 meters 0.012456681463192322 Centerline is valid? [True, True] Translation: X:-175.70, Y:-268.31, Z:-1.80 [[ 6.71202806e-02 -9.97744712e-01 -5.98342837e-04 -1.75699999e+02] [-9.97707832e-01 -6.71229442e-02 8.57864436e-03 -2.68308015e+02] [-8.59945958e-03 2.11703185e-05 -9.99963024e-01 -1.79991793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 840.8165599949999 meters 0.01245870696347111 Centerline is valid? [True, True] Translation: X:-176.39, Y:-268.47, Z:-2.78 [[ 2.19893559e-03 9.99997582e-01 -9.21943184e-06 -1.76389692e+02] [-9.99959178e-01 2.19893194e-03 8.76400637e-03 -2.68468472e+02] [ 8.76400545e-03 -1.00524300e-05 9.99961595e-01 -2.78492807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 840.8465599949999 meters 0.01255519922867557 Centerline is valid? [True, True] Translation: X:-175.69, Y:-268.59, Z:-1.80 [[ 8.03230409e-02 -9.96768625e-01 -7.19827696e-04 -1.75685943e+02] [-9.96727373e-01 -8.03262655e-02 9.06841330e-03 -2.68592515e+02] [-9.09693093e-03 -1.09305641e-05 -9.99958622e-01 -1.79940636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 840.876559995 meters 0.012761633534269307 Centerline is valid? [True, True] Translation: X:-175.70, Y:-268.72, Z:-1.80 [[ 1.60464586e-01 -9.87040533e-01 -1.45017697e-03 -1.75701698e+02] [-9.86997573e-01 -1.60471132e-01 9.20907882e-03 -2.68721564e+02] [-9.32244560e-03 -4.64098672e-05 -9.99956544e-01 -1.79898274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 840.906559995 meters 0.012797196128540684 Centerline is valid? [True, True] Translation: X:-175.71, Y:-268.84, Z:-1.80 [[ 2.37919960e-01 -9.71282284e-01 -2.19473549e-03 -1.75708275e+02] [-9.71238362e-01 -2.37930073e-01 9.23717286e-03 -2.68835577e+02] [-9.49409593e-03 -6.60964990e-05 -9.99954928e-01 -1.79984125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 840.9365599949999 meters 0.01330345949310233 Centerline is valid? [True, True] Translation: X:-175.71, Y:-268.96, Z:-1.80 [[ 3.15719093e-01 -9.48848208e-01 -2.92119000e-03 -1.75705946e+02] [-9.48804438e-01 -3.15732589e-01 9.11429122e-03 -2.68957219e+02] [-9.57039377e-03 -1.05917727e-04 -9.99954197e-01 -1.80031619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 840.9665599949999 meters 0.014002596168037484 Centerline is valid? [True, True] Translation: X:-175.70, Y:-269.08, Z:-1.80 [[ 3.89500131e-01 -9.21019823e-01 -3.48319828e-03 -1.75695046e+02] [-9.20980180e-01 -3.89515687e-01 8.54620487e-03 -2.69077171e+02] [-9.22798447e-03 -1.20791337e-04 -9.99957414e-01 -1.79941701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 840.996559995 meters 0.014549978402123185 Centerline is valid? [True, True] Translation: X:-175.68, Y:-269.19, Z:-1.80 [[ 4.61733852e-01 -8.87009598e-01 -3.97783377e-03 -1.75676458e+02] [-8.86973953e-01 -4.61750964e-01 7.95325856e-03 -2.69192596e+02] [-8.89138526e-03 -1.44053775e-04 -9.99960461e-01 -1.79927696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 841.026559995 meters 0.01452414922899174 Centerline is valid? [True, True] Translation: X:-175.65, Y:-269.30, Z:-1.80 [[ 5.29308163e-01 -8.48418068e-01 -4.43293119e-03 -1.75646941e+02] [-8.48385929e-01 -5.29326705e-01 7.38614706e-03 -2.69304334e+02] [-8.61300948e-03 -1.48711490e-04 -9.99962896e-01 -1.79988462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 841.0565599949999 meters 0.014790960708515129 Centerline is valid? [True, True] Translation: X:-175.61, Y:-269.42, Z:-1.80 [[ 5.93222009e-01 -8.05023059e-01 -5.05202376e-03 -1.75607761e+02] [-8.04991588e-01 -5.93243500e-01 7.11991146e-03 -2.69416425e+02] [-8.72877316e-03 -1.56851549e-04 -9.99961891e-01 -1.79984917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 841.0865599949999 meters 0.014790960708515129 Centerline is valid? [True, True] Translation: X:-175.56, Y:-269.52, Z:-1.80 [[ 6.52961965e-01 -7.57370137e-01 -5.58098319e-03 -1.75564411e+02] [-7.57340399e-01 -6.52985797e-01 6.71334315e-03 -2.69518203e+02] [-8.72878837e-03 -1.56853698e-04 -9.99961891e-01 -1.79984847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 841.116559995 meters 0.014645740582714645 Centerline is valid? [True, True] Translation: X:-175.52, Y:-269.61, Z:-1.80 [[ 7.08861075e-01 -7.05322799e-01 -5.97714152e-03 -1.75516553e+02] [-7.05295868e-01 -7.08886257e-01 6.16553992e-03 -2.69611192e+02] [-8.58580936e-03 -1.54858039e-04 -9.99963129e-01 -1.80047832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 841.146559995 meters 0.014613792479973763 Centerline is valid? [True, True] Translation: X:-175.46, Y:-269.70, Z:-1.80 [[ 7.60433671e-01 -6.49384799e-01 -6.32581338e-03 -1.75459942e+02] [-6.49360651e-01 -7.60459966e-01 5.60218336e-03 -2.69702619e+02] [-8.44850055e-03 -1.52354563e-04 -9.99964299e-01 -1.80087998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 841.1765599949999 meters 0.014397195218573026 Centerline is valid? [True, True] Translation: X:-175.46, Y:-269.71, Z:-1.80 [[ 8.08529474e-01 -5.88413356e-01 -7.05785698e-03 -1.75461651e+02] [-5.88389263e-01 -8.08560263e-01 5.32685237e-03 -2.69711369e+02] [-8.84109378e-03 -1.54149876e-04 -9.99960905e-01 -1.80083424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 841.2065599949999 meters 0.014131191930121405 Centerline is valid? [True, True] Translation: X:-175.46, Y:-269.72, Z:-1.80 [[ 8.51913066e-01 -5.23625773e-01 -7.75746919e-03 -1.75463623e+02] [-5.23602370e-01 -8.51948370e-01 4.95315942e-03 -2.69721288e+02] [-9.20256516e-03 -1.57831982e-04 -9.99957643e-01 -1.80049341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 841.236559995 meters 0.014606305612394737 Centerline is valid? [True, True] Translation: X:-175.47, Y:-269.73, Z:-1.80 [[ 8.90128136e-01 -4.55632905e-01 -8.39988977e-03 -1.75465693e+02] [-4.55610904e-01 -8.90167754e-01 4.48046483e-03 -2.69732109e+02] [-9.51875822e-03 -1.61106433e-04 -9.99954683e-01 -1.79934054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 841.266559995 meters 0.014391719644033133 Centerline is valid? [True, True] Translation: X:-175.46, Y:-269.74, Z:-1.80 [[ 9.23004742e-01 -3.84674488e-01 -9.36937981e-03 -1.75464677e+02] [-3.84652765e-01 -9.23052278e-01 4.09175248e-03 -2.69740490e+02] [-1.02224202e-02 -1.72749093e-04 -9.99947735e-01 -1.79913858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 841.2965599949999 meters 0.014335347632525867 Centerline is valid? [True, True] Translation: X:-175.46, Y:-269.75, Z:-1.80 [[ 9.50178579e-01 -3.11546851e-01 -9.96136057e-03 -1.75463728e+02] [-3.11527784e-01 -9.50230777e-01 3.45128362e-03 -2.69748751e+02] [-1.05408279e-02 -1.76095185e-04 -9.99944429e-01 -1.79876473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 841.3265599949999 meters 0.01461721008496366 Centerline is valid? [True, True] Translation: X:-175.46, Y:-269.76, Z:-1.80 [[ 9.71571172e-01 -2.36510648e-01 -1.05910922e-02 -1.75462331e+02] [-2.36494563e-01 -9.71628880e-01 2.76424941e-03 -2.69756109e+02] [-1.09443855e-02 -1.80929329e-04 -9.99940092e-01 -1.79843253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 841.356559995 meters 0.01446562147286698 Centerline is valid? [True, True] Translation: X:-175.46, Y:-269.76, Z:-1.80 [[ 9.87121977e-01 -1.59584394e-01 -1.10915948e-02 -1.75459666e+02] [-1.59572168e-01 -9.87184271e-01 1.98433310e-03 -2.69763010e+02] [-1.12661165e-02 -1.88868995e-04 -9.99936518e-01 -1.79883477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 841.386559995 meters 0.01479276001944501 Centerline is valid? [True, True] Translation: X:-175.46, Y:-269.77, Z:-1.80 [[ 9.96606589e-01 -8.15050787e-02 -1.14990491e-02 -1.75460797e+02] [-8.14973700e-02 -9.96672907e-01 1.13816376e-03 -2.69770059e+02] [-1.15535568e-02 -1.97159245e-04 -9.99933236e-01 -1.79823748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 841.416559995 meters 0.015214848215805543 Centerline is valid? [True, True] Translation: X:-175.46, Y:-269.78, Z:-1.80 [[ 9.99927312e-01 -2.37303524e-03 -1.18211447e-02 -1.75462287e+02] [-2.37036785e-03 -9.99997162e-01 2.39651752e-04 -2.69775331e+02] [-1.18216798e-02 -2.11613871e-04 -9.99930099e-01 -1.79758360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 841.4465599949999 meters 0.01506185508066369 Centerline is valid? [True, True] Translation: X:-175.46, Y:-269.78, Z:-1.80 [[ 9.96991350e-01 7.65797791e-02 -1.19910557e-02 -1.75462048e+02] [ 7.65769290e-02 -9.97063432e-01 -6.97324189e-04 -2.69780941e+02] [-1.20092440e-02 -2.23012033e-04 -9.99927862e-01 -1.79765177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 841.4765599949999 meters 0.01500657826301084 Centerline is valid? [True, True] Translation: X:-175.46, Y:-269.79, Z:-1.80 [[ 9.87630815e-01 1.56293732e-01 -1.25555878e-02 -1.75461029e+02] [ 1.56284443e-01 -9.87710586e-01 -1.72373780e-03 -2.69788792e+02] [-1.26706964e-02 -2.59826472e-04 -9.99919690e-01 -1.79778893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 841.506559995 meters 0.015232455649187309 Centerline is valid? [True, True] Translation: X:-175.46, Y:-269.80, Z:-1.80 [[ 9.72151228e-01 2.33988666e-01 -1.30879740e-02 -1.75459412e+02] [ 2.33971422e-01 -9.72239282e-01 -2.85510556e-03 -2.69797463e+02] [-1.33927048e-02 -2.86617511e-04 -9.99910273e-01 -1.79763852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 841.536559995 meters 0.015673821771002024 Centerline is valid? [True, True] Translation: X:-175.46, Y:-269.81, Z:-1.80 [[ 9.50487625e-01 3.10481854e-01 -1.32019963e-02 -1.75457264e+02] [ 3.10456436e-01 -9.50579256e-01 -3.98493357e-03 -2.69805119e+02] [-1.37867934e-02 -3.11014667e-04 -9.99904909e-01 -1.79696585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 841.5665599949999 meters 0.01585613591011685 Centerline is valid? [True, True] Translation: X:-175.45, Y:-269.81, Z:-1.80 [[ 9.23262958e-01 3.83933577e-01 -1.34357273e-02 -1.75454960e+02] [ 3.83898039e-01 -9.23360657e-01 -5.23386285e-03 -2.69812412e+02] [-1.44154776e-02 -3.25717660e-04 -9.99896039e-01 -1.79672401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 841.5965599949999 meters 0.016116669328479095 Centerline is valid? [True, True] Translation: X:-175.45, Y:-269.82, Z:-1.80 [[ 8.90430866e-01 4.54945591e-01 -1.25452156e-02 -1.75452821e+02] [ 4.54905375e-01 -8.90519181e-01 -6.05715759e-03 -2.69818848e+02] [-1.39274323e-02 -3.13405939e-04 -9.99902960e-01 -1.79626929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 841.626559995 meters 0.015932614002245514 Centerline is valid? [True, True] Translation: X:-175.45, Y:-269.82, Z:-1.80 [[ 8.52695600e-01 5.22286709e-01 -1.12608994e-02 -1.75452000e+02] [ 5.22245450e-01 -8.52769908e-01 -6.57067071e-03 -2.69822686e+02] [-1.30347301e-02 -2.78171472e-04 -9.99915006e-01 -1.79706796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 841.656559995 meters 0.01557931929776499 Centerline is valid? [True, True] Translation: X:-175.45, Y:-269.83, Z:-1.80 [[ 8.09937834e-01 5.86425140e-01 -1.03082501e-02 -1.75450849e+02] [ 5.86381579e-01 -8.10003390e-01 -7.15212374e-03 -2.69825598e+02] [-1.25439027e-02 -2.51792368e-04 -9.99921291e-01 -1.79778022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 841.6865599949999 meters 0.015225248509385468 Centerline is valid? [True, True] Translation: X:-175.45, Y:-269.83, Z:-1.80 [[ 7.62689939e-01 6.46702585e-01 -8.93435845e-03 -1.75450079e+02] [ 6.46661444e-01 -7.62742238e-01 -7.29767083e-03 -2.69828323e+02] [-1.15340351e-02 -2.11645006e-04 -9.99933459e-01 -1.79819598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 841.7165599949999 meters 0.013832832518354243 Centerline is valid? [True, True] Translation: X:-175.45, Y:-269.83, Z:-1.80 [[ 7.12352288e-01 7.01783696e-01 -7.33910953e-03 -1.75448601e+02] [ 7.01748580e-01 -7.12390077e-01 -7.02196223e-03 -2.69830321e+02] [-1.01562074e-02 -1.48098835e-04 -9.99948414e-01 -1.80015104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 841.746559995 meters 0.013956912384620462 Centerline is valid? [True, True] Translation: X:-175.45, Y:-269.84, Z:-1.80 [[ 6.56543529e-01 7.54260176e-01 -6.49475974e-03 -1.75445672e+02] [ 7.54225151e-01 -6.56575640e-01 -7.26979293e-03 -2.69836223e+02] [-9.74761632e-03 -1.25575644e-04 -9.99952483e-01 -1.79945945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 841.776559995 meters 0.013084182159144586 Centerline is valid? [True, True] Translation: X:-175.45, Y:-269.84, Z:-1.80 [[ 5.98176483e-01 8.01345985e-01 -5.43202773e-03 -1.75446573e+02] [ 8.01314235e-01 -5.98201140e-01 -7.13385273e-03 -2.69837654e+02] [-8.96612943e-03 -8.54582091e-05 -9.99959800e-01 -1.80017960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 841.8065599949999 meters 0.012625686282644285 Centerline is valid? [True, True] Translation: X:-175.44, Y:-269.84, Z:-1.80 [[ 5.34992810e-01 8.44844246e-01 -4.57097838e-03 -1.75441449e+02] [ 8.44814461e-01 -5.35012333e-01 -7.09444312e-03 -2.69842700e+02] [-8.43922925e-03 -6.61525707e-05 -9.99964387e-01 -1.80110075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 841.8365599949999 meters 0.012551522103809682 Centerline is valid? [True, True] Translation: X:-175.44, Y:-269.85, Z:-1.80 [[ 4.68843545e-01 8.83271142e-01 -4.22135033e-03 -1.75436494e+02] [ 8.83236353e-01 -4.68862546e-01 -7.83946181e-03 -2.69849148e+02] [-8.90360345e-03 -5.29690002e-05 -9.99960361e-01 -1.79965922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 841.866559995 meters 0.012610506189606694 Centerline is valid? [True, True] Translation: X:-175.43, Y:-269.86, Z:-1.80 [[ 3.97878888e-01 9.17430435e-01 -3.71310620e-03 -1.75428611e+02] [ 9.17391847e-01 -3.97896209e-01 -8.41460216e-03 -2.69855604e+02] [-9.19724300e-03 -5.83808075e-05 -9.99957703e-01 -1.79943465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 841.896559995 meters 0.012677215945700012 Centerline is valid? [True, True] Translation: X:-175.42, Y:-269.86, Z:-1.80 [[ 3.24262628e-01 9.45962321e-01 -3.00592516e-03 -1.75421276e+02] [ 9.45923452e-01 -3.24276554e-01 -8.57551418e-03 -2.69861999e+02] [-9.08686435e-03 -6.26563410e-05 -9.99958712e-01 -1.79880588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 841.9265599949999 meters 0.013077426522860017 Centerline is valid? [True, True] Translation: X:-175.41, Y:-269.87, Z:-1.80 [[ 2.47777688e-01 9.68813347e-01 -2.62977088e-03 -1.75413176e+02] [ 9.68762399e-01 -2.47791628e-01 -9.93599401e-03 -2.69867950e+02] [-1.02777588e-02 -8.57055246e-05 -9.99947179e-01 -1.79691997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 841.9565599949999 meters 0.012933300117236198 Centerline is valid? [True, True] Translation: X:-175.41, Y:-269.87, Z:-1.80 [[ 1.70713200e-01 9.85318752e-01 -1.98986260e-03 -1.75405670e+02] [ 9.85258319e-01 -1.70724769e-01 -1.09132553e-02 -2.69871861e+02] [-1.10927539e-02 -9.74919455e-05 -9.99938469e-01 -1.79669430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 841.986559995 meters 0.013076949557392258 Centerline is valid? [True, True] Translation: X:-175.40, Y:-269.88, Z:-1.80 [[ 9.23570829e-02 9.95725250e-01 -1.18182785e-03 -1.75398656e+02] [ 9.95658244e-01 -9.23645789e-02 -1.15518597e-02 -2.69876391e+02] [-1.16116374e-02 -1.09800577e-04 -9.99932577e-01 -1.79552302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 842.016559995 meters 0.013161328000739322 Centerline is valid? [True, True] Translation: X:-175.39, Y:-269.88, Z:-1.80 [[ 1.38264594e-02 9.99904373e-01 -2.72447935e-04 -1.75391992e+02] [ 9.99837460e-01 -1.38286861e-02 -1.15681000e-02 -2.69879450e+02] [-1.15707614e-02 -1.12457787e-04 -9.99933050e-01 -1.79597545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 842.0465599949999 meters 0.013170658003643306 Centerline is valid? [True, True] Translation: X:-175.39, Y:-269.88, Z:-1.80 [[-6.46210479e-02 9.97909688e-01 6.12367507e-04 -1.75385020e+02] [ 9.97847421e-01 6.46238568e-02 -1.11481569e-02 -2.69882766e+02] [-1.11644273e-02 -1.09356241e-04 -9.99937670e-01 -1.79583854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 842.0765599949999 meters 0.013046720054051966 Centerline is valid? [True, True] Translation: X:-175.38, Y:-269.88, Z:-1.80 [[-1.42473781e-01 9.89797619e-01 1.37639150e-03 -1.75376557e+02] [ 9.89744374e-01 1.42480393e-01 -1.02670224e-02 -2.69883904e+02] [-1.03583831e-02 -1.00505752e-04 -9.99946346e-01 -1.79637448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 842.106559995 meters 0.013159358096498342 Centerline is valid? [True, True] Translation: X:-175.37, Y:-269.89, Z:-1.80 [[-2.19376253e-01 9.75638243e-01 2.01935183e-03 -1.75369187e+02] [ 9.75592992e-01 2.19385528e-01 -9.39700717e-03 -2.69885697e+02] [-9.61109613e-03 -9.14147282e-05 -9.99953808e-01 -1.79619946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 842.136559995 meters 0.012861800364693789 Centerline is valid? [True, True] Translation: X:-175.36, Y:-269.89, Z:-1.80 [[-2.94117064e-01 9.55766343e-01 2.41873841e-03 -1.75363202e+02] [ 9.55732003e-01 2.94127001e-01 -8.10223360e-03 -2.69886078e+02] [-8.45525845e-03 -7.13394540e-05 -9.99964251e-01 -1.79706461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 842.166559995 meters 0.012590760918112377 Centerline is valid? [True, True] Translation: X:-175.35, Y:-269.89, Z:-1.80 [[-3.67796620e-01 9.29901697e-01 2.91214436e-03 -1.75354090e+02] [ 9.29871125e-01 3.67808143e-01 -7.54065290e-03 -2.69885072e+02] [-8.08317634e-03 -6.55077004e-05 -9.99967329e-01 -1.79773524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 842.1965599949999 meters 0.012646900598301598 Centerline is valid? [True, True] Translation: X:-175.34, Y:-269.88, Z:-1.80 [[-4.38988392e-01 8.98485311e-01 3.65208686e-03 -1.75343855e+02] [ 8.98453007e-01 4.39003579e-01 -7.61924208e-03 -2.69883008e+02] [-8.44905629e-03 -6.35304106e-05 -9.99964304e-01 -1.79753694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 842.2265599949999 meters 0.012629586668461036 Centerline is valid? [True, True] Translation: X:-175.33, Y:-269.88, Z:-1.80 [[-5.07840496e-01 8.61441524e-01 4.06579101e-03 -1.75334926e+02] [ 8.61412981e-01 5.07856768e-01 -7.01278336e-03 -2.69881602e+02] [-8.10594227e-03 -5.90502214e-05 -9.99967145e-01 -1.79732880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 842.256559995 meters 0.012573574247835353 Centerline is valid? [True, True] Translation: X:-175.33, Y:-269.88, Z:-1.80 [[-5.73304846e-01 8.19328322e-01 4.75970822e-03 -1.75327021e+02] [ 8.19299268e-01 5.73324601e-01 -6.90008894e-03 -2.69879686e+02] [-8.38229610e-03 -5.62289637e-05 -9.99964866e-01 -1.79696071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 842.286559995 meters 0.012641343865882485 Centerline is valid? [True, True] Translation: X:-175.32, Y:-269.88, Z:-1.80 [[-6.35868949e-01 7.71777609e-01 5.47743124e-03 -1.75319717e+02] [ 7.71748161e-01 6.35892537e-01 -6.74228969e-03 -2.69875349e+02] [-8.68660586e-03 -6.00151713e-05 -9.99962269e-01 -1.79652495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 842.3165599949999 meters 0.012551486907707595 Centerline is valid? [True, True] Translation: X:-175.31, Y:-269.87, Z:-1.80 [[-6.94183320e-01 7.19772342e-01 6.10685641e-03 -1.75312144e+02] [ 7.19743747e-01 6.94210178e-01 -6.41619880e-03 -2.69870006e+02] [-8.85764432e-03 -5.86464728e-05 -9.99960769e-01 -1.79623570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 842.3465599949999 meters 0.012608059760735861 Centerline is valid? [True, True] Translation: X:-175.30, Y:-269.87, Z:-1.80 [[-7.48170320e-01 6.63471729e-01 6.81454373e-03 -1.75304907e+02] [ 6.63443513e-01 7.48201351e-01 -6.11909344e-03 -2.69865244e+02] [-9.15849633e-03 -5.70592648e-05 -9.99958059e-01 -1.79572537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 842.376559995 meters 0.01249404105869994 Centerline is valid? [True, True] Translation: X:-174.85, Y:-269.36, Z:-2.79 [[-6.93223986e-01 -7.20693814e-01 6.39786616e-03 -1.74845839e+02] [ 7.20663888e-01 -6.93253506e-01 -6.56784340e-03 -2.69356319e+02] [ 9.16874725e-03 5.77245279e-05 9.99957965e-01 -2.78906765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 842.406559995 meters 0.012490457046519106 Centerline is valid? [True, True] Translation: X:-174.87, Y:-269.34, Z:-2.79 [[-6.94031608e-01 -7.19921420e-01 5.76852735e-03 -1.74865217e+02] [ 7.19897043e-01 -6.94055580e-01 -5.92447819e-03 -2.69337197e+02] [ 8.26883734e-03 4.09706574e-05 9.99965812e-01 -2.78927603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 842.4365599949999 meters 0.012459652978343977 Centerline is valid? [True, True] Translation: X:-174.88, Y:-269.32, Z:-2.79 [[-6.94382864e-01 -7.19582342e-01 5.80447501e-03 -1.74884706e+02] [ 7.19557679e-01 -6.94407123e-01 -5.95770369e-03 -2.69317440e+02] [ 8.31772716e-03 3.97272218e-05 9.99965406e-01 -2.78903251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 842.4665599949999 meters 0.012321388839508972 Centerline is valid? [True, True] Translation: X:-174.90, Y:-269.30, Z:-2.79 [[-6.95066244e-01 -7.18924226e-01 5.55644477e-03 -1.74903697e+02] [ 7.18901630e-01 -6.95088453e-01 -5.69992284e-03 -2.69297272e+02] [ 7.96003321e-03 3.27132402e-05 9.99968318e-01 -2.78840837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 842.496559995 meters 0.012367741453146279 Centerline is valid? [True, True] Translation: X:-174.92, Y:-269.28, Z:-2.79 [[-6.95579285e-01 -7.18429509e-01 5.33849675e-03 -1.74921459e+02] [ 7.18408657e-01 -6.95599770e-01 -5.47367531e-03 -2.69278411e+02] [ 7.64590698e-03 2.78471245e-05 9.99970769e-01 -2.78828124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 842.526559995 meters 0.012358920806159386 Centerline is valid? [True, True] Translation: X:-174.94, Y:-269.26, Z:-2.79 [[-6.96296122e-01 -7.17734802e-01 5.33520614e-03 -1.74940999e+02] [ 7.17713979e-01 -6.96316561e-01 -5.46722238e-03 -2.69257625e+02] [ 7.63900816e-03 2.23462860e-05 9.99970822e-01 -2.78812716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 842.5565599949999 meters 0.01240365680176208 Centerline is valid? [True, True] Translation: X:-174.96, Y:-269.24, Z:-2.79 [[-6.96488643e-01 -7.17547721e-01 5.37016022e-03 -1.74959827e+02] [ 7.17526647e-01 -6.96509345e-01 -5.49939834e-03 -2.69238608e+02] [ 7.68644752e-03 2.29645713e-05 9.99970459e-01 -2.78894090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 842.5865599949999 meters 0.012423385776064435 Centerline is valid? [True, True] Translation: X:-174.98, Y:-269.22, Z:-2.79 [[-6.96373842e-01 -7.17658698e-01 5.42819051e-03 -1.74978972e+02] [ 7.17637196e-01 -6.96394998e-01 -5.55534046e-03 -2.69219161e+02] [ 7.76700312e-03 2.68776374e-05 9.99969836e-01 -2.78903620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 842.616559995 meters 0.012494046642729822 Centerline is valid? [True, True] Translation: X:-175.00, Y:-269.20, Z:-2.79 [[-6.96094695e-01 -7.17929639e-01 5.40450846e-03 -1.74998489e+02] [ 7.17908357e-01 -6.96115674e-01 -5.52798334e-03 -2.69199286e+02] [ 7.73086613e-03 3.19419161e-05 9.99970116e-01 -2.78880032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 842.646559995 meters 0.012698664365481118 Centerline is valid? [True, True] Translation: X:-175.02, Y:-269.18, Z:-2.79 [[-6.95471585e-01 -7.18530581e-01 5.75145518e-03 -1.75018018e+02] [ 7.18506528e-01 -6.95495365e-01 -5.87935895e-03 -2.69180400e+02] [ 8.22460962e-03 4.35309995e-05 9.99966177e-01 -2.78933661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 842.6765599949999 meters 0.012859219083532577 Centerline is valid? [True, True] Translation: X:-175.04, Y:-269.16, Z:-2.79 [[-6.93774168e-01 -7.20167607e-01 6.00176297e-03 -1.75038072e+02] [ 7.20141498e-01 -6.93800125e-01 -6.13271574e-03 -2.69161418e+02] [ 8.58060712e-03 6.73988128e-05 9.99963184e-01 -2.78937911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 842.7065599949999 meters 0.013061741583415023 Centerline is valid? [True, True] Translation: X:-175.06, Y:-269.14, Z:-2.79 [[-6.93022447e-01 -7.20891667e-01 5.92391180e-03 -1.75058310e+02] [ 7.20866286e-01 -6.93047761e-01 -6.04974266e-03 -2.69141656e+02] [ 8.46676287e-03 7.77408348e-05 9.99964153e-01 -2.78915630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 842.736559995 meters 0.014161421136078283 Centerline is valid? [True, True] Translation: X:-175.08, Y:-269.13, Z:-2.79 [[-6.90657016e-01 -7.23160042e-01 5.69553661e-03 -1.75079538e+02] [ 7.23136686e-01 -6.90680492e-01 -5.81304466e-03 -2.69125055e+02] [ 8.13755765e-03 1.03831383e-04 9.99966884e-01 -2.78984148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 842.766559995 meters 0.014186966925530904 Centerline is valid? [True, True] Translation: X:-175.10, Y:-269.10, Z:-2.79 [[-6.89387776e-01 -7.24372287e-01 5.41150491e-03 -1.75099613e+02] [ 7.24351263e-01 -6.89409006e-01 -5.52008620e-03 -2.69104955e+02] [ 7.72933769e-03 1.14350464e-04 9.99970122e-01 -2.78902154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 842.7965599949999 meters 0.014754090795174037 Centerline is valid? [True, True] Translation: X:-175.12, Y:-269.09, Z:-2.79 [[-6.87987570e-01 -7.25703639e-01 5.22796309e-03 -1.75120305e+02] [ 7.25684077e-01 -6.88007422e-01 -5.32990923e-03 -2.69086474e+02] [ 7.46481193e-03 1.26938272e-04 9.99972130e-01 -2.78876727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 842.8265599949999 meters 0.015211067800533258 Centerline is valid? [True, True] Translation: X:-175.14, Y:-269.07, Z:-2.79 [[-6.86630913e-01 -7.26986043e-01 5.41142461e-03 -1.75140946e+02] [ 7.26965141e-01 -6.86652221e-01 -5.51470188e-03 -2.69068008e+02] [ 7.72487802e-03 1.47352269e-04 9.99970152e-01 -2.78889537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 842.856559995 meters 0.01672663396044255 Centerline is valid? [True, True] Translation: X:-175.16, Y:-269.05, Z:-2.79 [[-6.84268959e-01 -7.29206855e-01 5.77541042e-03 -1.75162387e+02] [ 7.29183148e-01 -6.84293306e-01 -5.88289390e-03 -2.69051849e+02] [ 8.24192125e-03 1.85850269e-04 9.99966018e-01 -2.78988142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 842.886559995 meters 0.01672663396044255 Centerline is valid? [True, True] Translation: X:-175.18, Y:-269.03, Z:-2.79 [[-6.84491328e-01 -7.28998111e-01 5.77720422e-03 -1.75181220e+02] [ 7.28974412e-01 -6.84515682e-01 -5.88113234e-03 -2.69032834e+02] [ 8.24192126e-03 1.85849962e-04 9.99966018e-01 -2.78988130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 842.916559995 meters 0.01639129088942217 Centerline is valid? [True, True] Translation: X:-175.20, Y:-269.01, Z:-2.79 [[-6.83055192e-01 -7.30343510e-01 5.82776305e-03 -1.75201117e+02] [ 7.30319470e-01 -6.83080021e-01 -5.92924069e-03 -2.69012783e+02] [ 8.31121097e-03 2.06130188e-04 9.99965440e-01 -2.78875069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 842.9465599949999 meters 0.017316224027459224 Centerline is valid? [True, True] Translation: X:-175.22, Y:-268.99, Z:-2.79 [[-6.82593136e-01 -7.30779376e-01 5.30236715e-03 -1.75221576e+02] [ 7.30759513e-01 -6.82613702e-01 -5.39147479e-03 -2.68994984e+02] [ 7.55944705e-03 1.94571550e-04 9.99971408e-01 -2.78863601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 842.9765599949999 meters 0.01823782366805209 Centerline is valid? [True, True] Translation: X:-175.24, Y:-268.98, Z:-2.79 [[-6.81591141e-01 -7.31716516e-01 4.94549430e-03 -1.75242178e+02] [ 7.31699282e-01 -6.81609055e-01 -5.02567398e-03 -2.68977756e+02] [ 7.04826235e-03 1.93159768e-04 9.99975142e-01 -2.78828002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 843.006559995 meters 0.01823782366805209 Centerline is valid? [True, True] Translation: X:-175.26, Y:-268.96, Z:-2.79 [[-6.81815789e-01 -7.31507182e-01 4.94703723e-03 -1.75261033e+02] [ 7.31489954e-01 -6.81833708e-01 -5.02415519e-03 -2.68958760e+02] [ 7.04826235e-03 1.93159701e-04 9.99975142e-01 -2.78827991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 843.036559995 meters 0.018375779625728103 Centerline is valid? [True, True] Translation: X:-175.28, Y:-268.94, Z:-2.79 [[-6.81411991e-01 -7.31881467e-01 5.21699580e-03 -1.75280759e+02] [ 7.31862334e-01 -6.81431929e-01 -5.29618433e-03 -2.68939548e+02] [ 7.43120667e-03 2.09239212e-04 9.99972366e-01 -2.78811584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 843.0665599949999 meters 0.01877889744538857 Centerline is valid? [True, True] Translation: X:-175.30, Y:-268.92, Z:-2.79 [[-6.80981506e-01 -7.32277222e-01 5.85308580e-03 -1.75301978e+02] [ 7.32253180e-01 -6.81006617e-01 -5.93867752e-03 -2.68921036e+02] [ 8.33474843e-03 2.41811129e-04 9.99965236e-01 -2.78911586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 843.0965599949999 meters 0.01904541059868821 Centerline is valid? [True, True] Translation: X:-175.32, Y:-268.90, Z:-2.79 [[-6.80940349e-01 -7.32310281e-01 6.47261905e-03 -1.75322230e+02] [ 7.32280919e-01 -6.80971057e-01 -6.56323699e-03 -2.68902330e+02] [ 9.21399216e-03 2.70602541e-04 9.99957514e-01 -2.78989505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 843.126559995 meters 0.017975582547513913 Centerline is valid? [True, True] Translation: X:-175.34, Y:-268.88, Z:-2.79 [[-6.81208530e-01 -7.32056784e-01 6.91402364e-03 -1.75341009e+02] [ 7.32023307e-01 -6.81243555e-01 -7.00686878e-03 -2.68882063e+02] [ 9.83955988e-03 2.88087667e-04 9.99951549e-01 -2.78990512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 843.156559995 meters 0.017975582547513913 Centerline is valid? [True, True] Translation: X:-175.36, Y:-268.86, Z:-2.79 [[-6.81414877e-01 -7.31864697e-01 6.91599876e-03 -1.75360441e+02] [ 7.31831230e-01 -6.81449912e-01 -7.00491929e-03 -2.68862475e+02] [ 9.83955988e-03 2.88087667e-04 9.99951549e-01 -2.78990500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 843.1865599949999 meters 0.018149927168525353 Centerline is valid? [True, True] Translation: X:-175.38, Y:-268.84, Z:-2.79 [[-6.82137569e-01 -7.31189675e-01 7.07073784e-03 -1.75379229e+02] [ 7.31154705e-01 -6.82174154e-01 -7.15689260e-03 -2.68844013e+02] [ 1.00565206e-02 2.87817921e-04 9.99949391e-01 -2.79023518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 843.2165599949999 meters 0.018577314289374487 Centerline is valid? [True, True] Translation: X:-175.40, Y:-268.83, Z:-2.79 [[-6.83191705e-01 -7.30205796e-01 6.97059935e-03 -1.75397923e+02] [ 7.30171804e-01 -6.83227211e-01 -7.05089842e-03 -2.68826009e+02] [ 9.91111004e-03 2.72619790e-04 9.99950847e-01 -2.79036839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 843.246559995 meters 0.01692994040150821 Centerline is valid? [True, True] Translation: X:-175.42, Y:-268.80, Z:-2.79 [[-6.84542427e-01 -7.28940609e-01 6.87421840e-03 -1.75415418e+02] [ 7.28907525e-01 -6.84576895e-01 -6.94948528e-03 -2.68803894e+02] [ 9.77169312e-03 2.53451999e-04 9.99952224e-01 -2.78947019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 843.276559995 meters 0.0157389421286328 Centerline is valid? [True, True] Translation: X:-175.43, Y:-268.78, Z:-2.79 [[-6.87729077e-01 -7.25936748e-01 6.67494324e-03 -1.75433022e+02] [ 7.25905448e-01 -6.87761437e-01 -6.74437533e-03 -2.68781505e+02] [ 9.48675846e-03 2.07074646e-04 9.99954978e-01 -2.78902713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 843.3065599949999 meters 0.015291147587887704 Centerline is valid? [True, True] Translation: X:-175.45, Y:-268.76, Z:-2.79 [[-6.89729085e-01 -7.24037054e-01 6.64335362e-03 -1.75450843e+02] [ 7.24005995e-01 -6.89761054e-01 -6.70877951e-03 -2.68761623e+02] [ 9.43973155e-03 1.82587499e-04 9.99955428e-01 -2.78901650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 843.3365599949999 meters 0.014657314332543312 Centerline is valid? [True, True] Translation: X:-175.47, Y:-268.74, Z:-2.79 [[-6.91971291e-01 -7.21898805e-01 6.15198988e-03 -1.75469230e+02] [ 7.21872117e-01 -6.91998623e-01 -6.20912333e-03 -2.68740453e+02] [ 8.73952724e-03 1.44414871e-04 9.99961799e-01 -2.78872522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 843.366559995 meters 0.014223721790780117 Centerline is valid? [True, True] Translation: X:-175.49, Y:-268.72, Z:-2.79 [[-6.94026126e-01 -7.19924387e-01 6.05091657e-03 -1.75487139e+02] [ 7.19898521e-01 -6.94052493e-01 -6.10375496e-03 -2.68720045e+02] [ 8.59389577e-03 1.19880480e-04 9.99963065e-01 -2.78872735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 843.396559995 meters 0.013160243893083158 Centerline is valid? [True, True] Translation: X:-175.50, Y:-268.70, Z:-2.79 [[-6.98241626e-01 -7.15836670e-01 6.04101516e-03 -1.75504142e+02] [ 7.15810763e-01 -6.98267754e-01 -6.09058647e-03 -2.68696817e+02] [ 8.57811123e-03 7.15226707e-05 9.99963205e-01 -2.78850089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 843.4265599949999 meters 0.013034158880275483 Centerline is valid? [True, True] Translation: X:-175.52, Y:-268.68, Z:-2.79 [[-7.00280998e-01 -7.13841094e-01 6.11693291e-03 -1.75521420e+02] [ 7.13814490e-01 -7.00307711e-01 -6.16308331e-03 -2.68677134e+02] [ 8.68319742e-03 5.04652180e-05 9.99962299e-01 -2.78889995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 843.4565599949999 meters 0.012810430425434425 Centerline is valid? [True, True] Translation: X:-175.54, Y:-268.66, Z:-2.79 [[-7.02322335e-01 -7.11829265e-01 6.51424561e-03 -1.75539356e+02] [ 7.11799043e-01 -7.02352545e-01 -6.55937100e-03 -2.68656328e+02] [ 9.24444922e-03 3.00410348e-05 9.99957269e-01 -2.78924653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 843.486559995 meters 0.012791859064907821 Centerline is valid? [True, True] Translation: X:-175.55, Y:-268.63, Z:-2.79 [[-7.06020819e-01 -7.08155675e-01 7.08113411e-03 -1.75554880e+02] [ 7.08119825e-01 -7.06056329e-01 -7.12561078e-03 -2.68634951e+02] [ 1.00457213e-02 -1.65381174e-05 9.99949540e-01 -2.79035318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 843.516559995 meters 0.012982565159065405 Centerline is valid? [True, True] Translation: X:-175.57, Y:-268.61, Z:-2.79 [[-7.07732035e-01 -7.06441192e-01 7.49727890e-03 -1.75572478e+02] [ 7.06400955e-01 -7.07771744e-01 -7.53981555e-03 -2.68614673e+02] [ 1.06327984e-02 -4.00840271e-05 9.99943470e-01 -2.79047165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 843.5465599949999 meters 0.013050140512370948 Centerline is valid? [True, True] Translation: X:-175.59, Y:-268.59, Z:-2.79 [[-7.09169013e-01 -7.04997953e-01 7.56290180e-03 -1.75591078e+02] [ 7.04956977e-01 -7.09209337e-01 -7.60118092e-03 -2.68594128e+02] [ 1.07224976e-02 -5.90015859e-05 9.99942511e-01 -2.79014345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 843.5765599949999 meters 0.013468862210801867 Centerline is valid? [True, True] Translation: X:-175.61, Y:-268.57, Z:-2.79 [[-7.10935205e-01 -7.03213856e-01 7.83623358e-03 -1.75608923e+02] [ 7.03169806e-01 -7.10978386e-01 -7.87140416e-03 -2.68573998e+02] [ 1.11066732e-02 -8.58554864e-05 9.99938315e-01 -2.79018413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 843.606559995 meters 0.01352469056198293 Centerline is valid? [True, True] Translation: X:-175.63, Y:-268.55, Z:-2.79 [[-7.11661901e-01 -7.02478405e-01 7.83774699e-03 -1.75627717e+02] [ 7.02434345e-01 -7.11705053e-01 -7.86819799e-03 -2.68554585e+02] [ 1.11054033e-02 -9.39940598e-05 9.99938329e-01 -2.79022587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 843.636559995 meters 0.013522620922113798 Centerline is valid? [True, True] Translation: X:-175.65, Y:-268.54, Z:-2.79 [[-7.12837619e-01 -7.01286464e-01 7.73464356e-03 -1.75647373e+02] [ 7.01243539e-01 -7.12879572e-01 -7.75984862e-03 -2.68535223e+02] [ 1.09557462e-02 -1.07643188e-04 9.99939978e-01 -2.78971160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 843.666559995 meters 0.013562422827131146 Centerline is valid? [True, True] Translation: X:-175.67, Y:-268.52, Z:-2.79 [[-7.13267002e-01 -7.00846177e-01 8.05103934e-03 -1.75666298e+02] [ 7.00799698e-01 -7.13312430e-01 -8.07227588e-03 -2.68516182e+02] [ 1.14003301e-02 -1.15522083e-04 9.99935008e-01 -2.79008306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 843.6965599949999 meters 0.013672505751782553 Centerline is valid? [True, True] Translation: X:-175.69, Y:-268.50, Z:-2.79 [[-7.13630180e-01 -7.00474762e-01 8.18984667e-03 -1.75685114e+02] [ 7.00426703e-01 -7.13677163e-01 -8.20611674e-03 -2.68497277e+02] [ 1.15930842e-02 -1.19745266e-04 9.99932791e-01 -2.79056320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 843.7265599949999 meters 0.013553187674031032 Centerline is valid? [True, True] Translation: X:-175.70, Y:-268.48, Z:-2.79 [[-7.13622155e-01 -7.00483946e-01 8.10313455e-03 -1.75704810e+02] [ 7.00436957e-01 -7.13668150e-01 -8.11423706e-03 -2.68478383e+02] [ 1.14668418e-02 -1.14764430e-04 9.99934247e-01 -2.79061678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 843.756559995 meters 0.013350679562065966 Centerline is valid? [True, True] Translation: X:-175.72, Y:-268.46, Z:-2.79 [[-7.13149372e-01 -7.00964898e-01 8.13541665e-03 -1.75724750e+02] [ 7.00917624e-01 -7.13195766e-01 -8.14150918e-03 -2.68459778e+02] [ 1.15090569e-02 -1.03855254e-04 9.99933763e-01 -2.79071429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 843.786559995 meters 0.013583005650923406 Centerline is valid? [True, True] Translation: X:-175.74, Y:-268.44, Z:-2.79 [[-7.12741332e-01 -7.01376582e-01 8.40735014e-03 -1.75743248e+02] [ 7.01326188e-01 -7.12790910e-01 -8.40818094e-03 -2.68441689e+02] [ 1.18899840e-02 -9.65632622e-05 9.99929307e-01 -2.79233974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 843.8165599949999 meters 0.013298999501154814 Centerline is valid? [True, True] Translation: X:-175.76, Y:-268.42, Z:-2.79 [[-7.11386121e-01 -7.02748439e-01 8.62655641e-03 -1.75763810e+02] [ 7.02695545e-01 -7.11438420e-01 -8.62235795e-03 -2.68424130e+02] [ 1.21966123e-02 -7.19830247e-05 9.99925616e-01 -2.79328106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 843.8465599949999 meters 0.012886517280992434 Centerline is valid? [True, True] Translation: X:-176.26, Y:-268.91, Z:-1.79 [[-7.52426004e-01 6.58609016e-01 9.44836758e-03 -1.76258540e+02] [ 6.58558075e-01 7.52485322e-01 -8.19157280e-03 -2.68914578e+02] [-1.25048016e-02 5.87463728e-05 -9.99921810e-01 -1.79259830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 843.876559995 meters 0.012925229814001508 Centerline is valid? [True, True] Translation: X:-175.80, Y:-268.40, Z:-2.79 [[-7.11036585e-01 -7.03099377e-01 8.84538751e-03 -1.75801963e+02] [ 7.03043941e-01 -7.11091600e-01 -8.82915502e-03 -2.68396506e+02] [ 1.24976541e-02 -5.91561428e-05 9.99921900e-01 -2.79401900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 843.906559995 meters 0.012739933999302235 Centerline is valid? [True, True] Translation: X:-175.82, Y:-268.42, Z:-2.79 [[-6.61078424e-01 -7.50273763e-01 8.03722880e-03 -1.75822074e+02] [ 7.50218214e-01 -6.61127280e-01 -9.12972710e-03 -2.68420834e+02] [ 1.21634259e-02 -5.79016951e-06 9.99926023e-01 -2.79262999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 843.9365599949999 meters 0.012756529908199853 Centerline is valid? [True, True] Translation: X:-175.84, Y:-268.40, Z:-2.79 [[-6.60189353e-01 -7.51059581e-01 7.71525252e-03 -1.75840286e+02] [ 7.51008507e-01 -6.60234433e-01 -8.75881276e-03 -2.68401955e+02] [ 1.16722656e-02 1.17453502e-05 9.99931877e-01 -2.79263909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 843.9665599949999 meters 0.012747770800550475 Centerline is valid? [True, True] Translation: X:-175.86, Y:-268.38, Z:-2.79 [[-6.57943081e-01 -7.53035292e-01 6.98216334e-03 -1.75860277e+02] [ 7.52993624e-01 -6.57980126e-01 -7.92186860e-03 -2.68382576e+02] [ 1.05595713e-02 4.53858392e-05 9.99944245e-01 -2.79122084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 843.996559995 meters 0.012747770800550475 Centerline is valid? [True, True] Translation: X:-175.88, Y:-268.36, Z:-2.79 [[-6.58177697e-01 -7.52830216e-01 6.98463152e-03 -1.75878051e+02] [ 7.52788559e-01 -6.58214755e-01 -7.91969251e-03 -2.68362570e+02] [ 1.05595713e-02 4.53857222e-05 9.99944245e-01 -2.79122067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 844.026559995 meters 0.013172778652511442 Centerline is valid? [True, True] Translation: X:-175.90, Y:-268.34, Z:-2.79 [[-6.55788814e-01 -7.54918547e-01 6.24661320e-03 -1.75898427e+02] [ 7.54885366e-01 -6.55818559e-01 -7.07821418e-03 -2.68344899e+02] [ 9.44012003e-03 7.36632160e-05 9.99955438e-01 -2.79137055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 844.0565599949999 meters 0.013496479600064353 Centerline is valid? [True, True] Translation: X:-175.92, Y:-268.33, Z:-2.79 [[-6.54806083e-01 -7.55775787e-01 5.65274655e-03 -1.75917432e+02] [ 7.55748683e-01 -6.54830476e-01 -6.40123898e-03 -2.68326546e+02] [ 8.53949215e-03 8.04855352e-05 9.99963535e-01 -2.79160317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 844.0865599949999 meters 0.013711434159990054 Centerline is valid? [True, True] Translation: X:-175.94, Y:-268.31, Z:-2.79 [[-6.52870836e-01 -7.57450080e-01 5.38963832e-03 -1.75937689e+02] [ 7.57425524e-01 -6.52893074e-01 -6.09992021e-03 -2.68307108e+02] [ 8.13924258e-03 9.97896241e-05 9.99966871e-01 -2.79095038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 844.116559995 meters 0.014050222212164511 Centerline is valid? [True, True] Translation: X:-175.96, Y:-268.29, Z:-2.79 [[-6.52079448e-01 -7.58132810e-01 5.19964844e-03 -1.75956403e+02] [ 7.58110007e-01 -6.52100169e-01 -5.88106191e-03 -2.68288205e+02] [ 7.84931763e-03 1.06985914e-04 9.99969188e-01 -2.79115759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 844.146559995 meters 0.014030504236228042 Centerline is valid? [True, True] Translation: X:-175.97, Y:-268.27, Z:-2.79 [[-6.51529691e-01 -7.58606189e-01 5.07063266e-03 -1.75974590e+02] [ 7.58584544e-01 -6.51549413e-01 -5.73169999e-03 -2.68267429e+02] [ 7.65187082e-03 1.12130834e-04 9.99970718e-01 -2.79072785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 844.1765599949999 meters 0.014521709179999436 Centerline is valid? [True, True] Translation: X:-175.99, Y:-268.25, Z:-2.79 [[-6.50504846e-01 -7.59482806e-01 5.41416205e-03 -1.75993739e+02] [ 7.59458188e-01 -6.50527363e-01 -6.11637504e-03 -2.68248631e+02] [ 8.16734224e-03 1.33098094e-04 9.99966638e-01 -2.79123280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 844.2065599949999 meters 0.014800595230970524 Centerline is valid? [True, True] Translation: X:-176.01, Y:-268.23, Z:-2.79 [[-6.50365886e-01 -7.59599627e-01 5.71147226e-03 -1.76012287e+02] [ 7.59572273e-01 -6.50390948e-01 -6.44799738e-03 -2.68229416e+02] [ 8.61258626e-03 1.44718437e-04 9.99962901e-01 -2.79188692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 844.236559995 meters 0.01471995467133476 Centerline is valid? [True, True] Translation: X:-176.03, Y:-268.21, Z:-2.79 [[-6.50459933e-01 -7.59516580e-01 6.03665059e-03 -1.76030605e+02] [ 7.59486057e-01 -6.50487926e-01 -6.81082263e-03 -2.68208834e+02] [ 9.09970103e-03 1.54584721e-04 9.99958585e-01 -2.79220528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 844.266559995 meters 0.014832392723587754 Centerline is valid? [True, True] Translation: X:-176.05, Y:-268.19, Z:-2.79 [[-6.50615693e-01 -7.59378641e-01 6.58026487e-03 -1.76048960e+02] [ 7.59342413e-01 -6.50648946e-01 -7.41949107e-03 -2.68188751e+02] [ 9.91564544e-03 1.69436882e-04 9.99950825e-01 -2.79306603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 844.2965599949999 meters 0.014651773391355146 Centerline is valid? [True, True] Translation: X:-176.07, Y:-268.17, Z:-2.79 [[-6.51330624e-01 -7.58753706e-01 7.82516073e-03 -1.76066885e+02] [ 7.58702493e-01 -6.51377599e-01 -8.81758148e-03 -2.68167859e+02] [ 1.17875070e-02 1.93808116e-04 9.99930506e-01 -2.79436611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 844.3265599949999 meters 0.014839695867749816 Centerline is valid? [True, True] Translation: X:-176.08, Y:-268.15, Z:-2.80 [[-6.52200770e-01 -7.58004518e-01 7.95650104e-03 -1.76084921e+02] [ 7.57951569e-01 -6.52249274e-01 -8.96119813e-03 -2.68148190e+02] [ 1.19822507e-02 1.86142127e-04 9.99928193e-01 -2.79532471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 844.356559995 meters 0.01462131104549737 Centerline is valid? [True, True] Translation: X:-176.10, Y:-268.13, Z:-2.80 [[-6.53730343e-01 -7.56682786e-01 8.23406987e-03 -1.76100625e+02] [ 7.56626028e-01 -6.53782175e-01 -9.26940294e-03 -2.68127621e+02] [ 1.23972857e-02 1.70421609e-04 9.99923136e-01 -2.79581121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 844.386559995 meters 0.014445387113273752 Centerline is valid? [True, True] Translation: X:-176.12, Y:-268.11, Z:-2.80 [[-6.54737039e-01 -7.55810481e-01 8.36223891e-03 -1.76117963e+02] [ 7.55751942e-01 -6.54790418e-01 -9.40795948e-03 -2.68106217e+02] [ 1.25861483e-02 1.60038757e-04 9.99920779e-01 -2.79558206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 844.416559995 meters 0.01427915157906821 Centerline is valid? [True, True] Translation: X:-176.13, Y:-268.09, Z:-2.80 [[-6.55788356e-01 -7.54898138e-01 8.39243938e-03 -1.76134769e+02] [ 7.54839173e-01 -6.55842039e-01 -9.43623344e-03 -2.68085286e+02] [ 1.26275096e-02 1.46769984e-04 9.99920259e-01 -2.79575474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 844.4465599949999 meters 0.013440830640785127 Centerline is valid? [True, True] Translation: X:-176.15, Y:-268.06, Z:-2.79 [[-6.57828739e-01 -7.53122305e-01 8.25493842e-03 -1.76150100e+02] [ 7.53065183e-01 -6.57880521e-01 -9.27634384e-03 -2.68060806e+02] [ 1.24169846e-02 1.14261145e-04 9.99922900e-01 -2.79361865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 844.4765599949999 meters 0.013667974608065129 Centerline is valid? [True, True] Translation: X:-176.17, Y:-268.04, Z:-2.79 [[-6.58717245e-01 -7.52348206e-01 7.98554442e-03 -1.76167449e+02] [ 7.52294738e-01 -6.58765640e-01 -8.96988803e-03 -2.68040349e+02] [ 1.20090814e-02 9.88631203e-05 9.99927884e-01 -2.79443655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 844.506559995 meters 0.013162927303228296 Centerline is valid? [True, True] Translation: X:-176.18, Y:-268.02, Z:-2.79 [[-6.60273799e-01 -7.50989536e-01 7.29575261e-03 -1.76182713e+02] [ 7.50944874e-01 -6.60314102e-01 -8.19042695e-03 -2.68016661e+02] [ 1.09684133e-02 7.07837126e-05 9.99939843e-01 -2.79135287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 844.536559995 meters 0.013168315663397259 Centerline is valid? [True, True] Translation: X:-176.20, Y:-268.00, Z:-2.79 [[-6.60974741e-01 -7.50377213e-01 6.81390787e-03 -1.76200452e+02] [ 7.50338268e-01 -6.61009859e-01 -7.64518867e-03 -2.67995199e+02] [ 1.02408356e-02 5.94592267e-05 9.99947560e-01 -2.79057572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 844.5665599949999 meters 0.013161675411281255 Centerline is valid? [True, True] Translation: X:-176.22, Y:-267.97, Z:-2.79 [[-6.61379718e-01 -7.50022421e-01 6.57537541e-03 -1.76218191e+02] [ 7.49986179e-01 -6.61412401e-01 -7.37340034e-03 -2.67973911e+02] [ 9.87925041e-03 5.48232422e-05 9.99951198e-01 -2.79002740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 844.5965599949999 meters 0.013208774312941074 Centerline is valid? [True, True] Translation: X:-176.24, Y:-267.95, Z:-2.79 [[-6.61531030e-01 -7.49889800e-01 6.47946577e-03 -1.76235673e+02] [ 7.49854648e-01 -6.61562759e-01 -7.26102613e-03 -2.67953665e+02] [ 9.73154269e-03 5.52634266e-05 9.99952646e-01 -2.78975619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 844.626559995 meters 0.013115481255402258 Centerline is valid? [True, True] Translation: X:-176.25, Y:-267.93, Z:-2.79 [[-6.62027792e-01 -7.49449268e-01 6.70794649e-03 -1.76253513e+02] [ 7.49411614e-01 -6.62061773e-01 -7.51280018e-03 -2.67931381e+02] [ 1.00715375e-02 5.33304870e-05 9.99949279e-01 -2.78932114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 844.656559995 meters 0.013145214086185464 Centerline is valid? [True, True] Translation: X:-176.27, Y:-267.91, Z:-2.79 [[-6.62293338e-01 -7.49212314e-01 6.96016767e-03 -1.76271705e+02] [ 7.49171807e-01 -6.62329907e-01 -7.79086938e-03 -2.67909691e+02] [ 1.04469425e-02 5.45205059e-05 9.99945428e-01 -2.78912190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 844.6865599949999 meters 0.013147616003270463 Centerline is valid? [True, True] Translation: X:-176.29, Y:-267.89, Z:-2.79 [[-6.62863705e-01 -7.48707257e-01 7.01085843e-03 -1.76288519e+02] [ 7.48666184e-01 -6.62900778e-01 -7.84237956e-03 -2.67889712e+02] [ 1.05191500e-02 5.03638554e-05 9.99944671e-01 -2.78913273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 844.7165599949999 meters 0.013157763931772636 Centerline is valid? [True, True] Translation: X:-176.31, Y:-267.87, Z:-2.79 [[-6.63408438e-01 -7.48223945e-01 7.08318880e-03 -1.76305048e+02] [ 7.48182049e-01 -6.63446249e-01 -7.91806317e-03 -2.67869892e+02] [ 1.06237995e-02 4.66047970e-05 9.99943565e-01 -2.78929797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 844.746559995 meters 0.01313936144104142 Centerline is valid? [True, True] Translation: X:-176.32, Y:-267.85, Z:-2.79 [[-6.64400736e-01 -7.47340089e-01 7.37924654e-03 -1.76322084e+02] [ 7.47294619e-01 -6.64441713e-01 -8.24394530e-03 -2.67848551e+02] [ 1.10641100e-02 3.71879082e-05 9.99938790e-01 -2.78882211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 844.776559995 meters 0.013004965925880645 Centerline is valid? [True, True] Translation: X:-176.34, Y:-267.83, Z:-2.79 [[-6.65340112e-01 -7.46504684e-01 7.30012154e-03 -1.76339486e+02] [ 7.46460190e-01 -6.65380159e-01 -8.15039400e-03 -2.67827544e+02] [ 1.09416633e-02 2.64660478e-05 9.99940138e-01 -2.78787711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 844.8065599949999 meters 0.012992897614233787 Centerline is valid? [True, True] Translation: X:-176.36, Y:-267.81, Z:-2.79 [[-6.66424995e-01 -7.45536590e-01 7.27455282e-03 -1.76357554e+02] [ 7.45492400e-01 -6.66464697e-01 -8.11722864e-03 -2.67805974e+02] [ 1.08999236e-02 1.35997833e-05 9.99940594e-01 -2.78718534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 844.8365599949999 meters 0.01315269758043148 Centerline is valid? [True, True] Translation: X:-176.37, Y:-267.78, Z:-2.79 [[-6.68999421e-01 -7.43229701e-01 7.02748710e-03 -1.76373475e+02] [ 7.43188384e-01 -6.69036330e-01 -7.83683950e-03 -2.67784490e+02] [ 1.05262161e-02 -2.00943120e-05 9.99944598e-01 -2.78680065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 844.866559995 meters 0.0131021844491419 Centerline is valid? [True, True] Translation: X:-176.39, Y:-267.76, Z:-2.79 [[-6.70606669e-01 -7.41782627e-01 6.72532839e-03 -1.76391394e+02] [ 7.41744756e-01 -6.70640390e-01 -7.49565042e-03 -2.67763076e+02] [ 1.00704201e-02 -3.81560956e-05 9.99949291e-01 -2.78567033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 844.896559995 meters 0.0131021844491419 Centerline is valid? [True, True] Translation: X:-176.41, Y:-267.74, Z:-2.79 [[-6.70814563e-01 -7.41594609e-01 6.72742925e-03 -1.76409871e+02] [ 7.41556747e-01 -6.70848295e-01 -7.49376493e-03 -2.67742586e+02] [ 1.00704201e-02 -3.81560944e-05 9.99949291e-01 -2.78567015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 844.9265599949999 meters 0.013274939669931152 Centerline is valid? [True, True] Translation: X:-176.43, Y:-267.72, Z:-2.79 [[-6.72335578e-01 -7.40215828e-01 6.73789010e-03 -1.76427689e+02] [ 7.40177821e-01 -6.72369337e-01 -7.50120443e-03 -2.67721025e+02] [ 1.00828609e-02 -5.60897973e-05 9.99949165e-01 -2.78549190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 844.9565599949999 meters 0.013554544471872336 Centerline is valid? [True, True] Translation: X:-176.44, Y:-267.70, Z:-2.79 [[-6.75073267e-01 -7.37716016e-01 7.15296709e-03 -1.76444928e+02] [ 7.37673089e-01 -6.75111154e-01 -7.95882833e-03 -2.67698622e+02] [ 1.07004030e-02 -9.62409109e-05 9.99942745e-01 -2.78532263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 844.986559995 meters 0.013767001719158255 Centerline is valid? [True, True] Translation: X:-176.46, Y:-267.68, Z:-2.79 [[-6.76438444e-01 -7.36461199e-01 7.47889101e-03 -1.76463043e+02] [ 7.36414246e-01 -6.76479777e-01 -8.31681301e-03 -2.67677605e+02] [ 1.11843286e-02 -1.18250168e-04 9.99937447e-01 -2.78562611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 845.016559995 meters 0.014447332990014168 Centerline is valid? [True, True] Translation: X:-176.48, Y:-267.66, Z:-2.79 [[-6.78760609e-01 -7.34306805e-01 8.80633818e-03 -1.76481554e+02] [ 7.34241594e-01 -6.78817711e-01 -9.78754516e-03 -2.67655960e+02] [ 1.31649593e-02 -1.77420330e-04 9.99913323e-01 -2.78687586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 845.0465599949999 meters 0.01466345335993759 Centerline is valid? [True, True] Translation: X:-176.50, Y:-267.63, Z:-2.79 [[-6.79740253e-01 -7.33396442e-01 9.10201625e-03 -1.76500518e+02] [ 7.33326774e-01 -6.79801162e-01 -1.01105593e-02 -2.67634798e+02] [ 1.36026094e-02 -1.97801915e-04 9.99907461e-01 -2.78731889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 845.0765599949999 meters 0.014316572254714447 Centerline is valid? [True, True] Translation: X:-176.52, Y:-267.61, Z:-2.79 [[-6.80552941e-01 -7.32636334e-01 9.57586252e-03 -1.76520471e+02] [ 7.32559230e-01 -6.80620272e-01 -1.06311014e-02 -2.67614359e+02] [ 1.43062573e-02 -2.20140816e-04 9.99897636e-01 -2.78663533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 845.106559995 meters 0.014641513043660114 Centerline is valid? [True, True] Translation: X:-176.54, Y:-267.59, Z:-2.79 [[-6.81461032e-01 -7.31790500e-01 9.67091680e-03 -1.76538823e+02] [ 7.31711866e-01 -6.81529610e-01 -1.07301239e-02 -2.67593811e+02] [ 1.44432189e-02 -2.35836719e-04 9.99895664e-01 -2.78658222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 845.136559995 meters 0.014846856678587062 Centerline is valid? [True, True] Translation: X:-176.56, Y:-267.57, Z:-2.79 [[-6.81935500e-01 -7.31346484e-01 9.81297234e-03 -1.76556968e+02] [ 7.31265573e-01 -6.82006057e-01 -1.08812282e-02 -2.67573560e+02] [ 1.46504545e-02 -2.44406956e-04 9.99892647e-01 -2.78625458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 845.166559995 meters 0.014877925461783898 Centerline is valid? [True, True] Translation: X:-176.58, Y:-267.55, Z:-2.79 [[-6.82331564e-01 -7.30978493e-01 9.69944864e-03 -1.76576886e+02] [ 7.30899494e-01 -6.82400456e-01 -1.07493211e-02 -2.67553187e+02] [ 1.44764307e-02 -2.45278992e-04 9.99895181e-01 -2.78539059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 845.1965599949999 meters 0.015135187535277 Centerline is valid? [True, True] Translation: X:-176.59, Y:-267.53, Z:-2.79 [[-6.82264300e-01 -7.31039662e-01 9.82024206e-03 -1.76594911e+02] [ 7.30958794e-01 -6.82334928e-01 -1.08760004e-02 -2.67534670e+02] [ 1.46514818e-02 -2.42114524e-04 9.99892632e-01 -2.78570190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 845.2265599949999 meters 0.01474603577305335 Centerline is valid? [True, True] Translation: X:-176.61, Y:-267.52, Z:-2.79 [[-6.81916369e-01 -7.31361998e-01 9.98467151e-03 -1.76614828e+02] [ 7.31278537e-01 -6.81989423e-01 -1.10511855e-02 -2.67515912e+02] [ 1.48918575e-02 -2.34408330e-04 9.99889083e-01 -2.78526145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 845.256559995 meters 0.014434560159315839 Centerline is valid? [True, True] Translation: X:-176.64, Y:-267.50, Z:-2.79 [[-6.80455996e-01 -7.32722881e-01 9.83958460e-03 -1.76635618e+02] [ 7.32642058e-01 -6.80527105e-01 -1.08845680e-02 -2.67498404e+02] [ 1.46714760e-02 -1.97576042e-04 9.99892349e-01 -2.78547659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 845.286559995 meters 0.014117345294005768 Centerline is valid? [True, True] Translation: X:-176.66, Y:-267.48, Z:-2.78 [[-6.79377851e-01 -7.33725245e-01 9.64365252e-03 -1.76655767e+02] [ 7.33647805e-01 -6.79446272e-01 -1.06612418e-02 -2.67479597e+02] [ 1.43747660e-02 -1.67967026e-04 9.99896664e-01 -2.78499590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 845.3165599949999 meters 0.013365010688527933 Centerline is valid? [True, True] Translation: X:-176.68, Y:-267.46, Z:-2.78 [[-6.76313830e-01 -7.36556066e-01 9.20682380e-03 -1.76679019e+02] [ 7.36485820e-01 -6.76376487e-01 -1.01727499e-02 -2.67462542e+02] [ 1.37200798e-02 -9.92762889e-05 9.99905870e-01 -2.78492624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 845.3465599949999 meters 0.012946409475422497 Centerline is valid? [True, True] Translation: X:-176.70, Y:-267.44, Z:-2.78 [[-6.74446423e-01 -7.38262772e-01 9.49224077e-03 -1.76700209e+02] [ 7.38188354e-01 -6.74513214e-01 -1.04822382e-02 -2.67444111e+02] [ 1.41412881e-02 -6.26464789e-05 9.99900005e-01 -2.78414027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 845.376559995 meters 0.012805000782810072 Centerline is valid? [True, True] Translation: X:-176.72, Y:-267.43, Z:-2.78 [[-6.72369239e-01 -7.40155737e-01 9.43882931e-03 -1.76720668e+02] [ 7.40082433e-01 -6.72435487e-01 -1.04167392e-02 -2.67426530e+02] [ 1.40570131e-02 -1.83832502e-05 9.99901195e-01 -2.78383104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 845.406559995 meters 0.012866257571835477 Centerline is valid? [True, True] Translation: X:-176.74, Y:-267.41, Z:-2.78 [[-6.70072660e-01 -7.42235842e-01 9.41203003e-03 -1.76741739e+02] [ 7.42163248e-01 -6.70138758e-01 -1.03807151e-02 -2.67409084e+02] [ 1.40123049e-02 2.94294136e-05 9.99901823e-01 -2.78378177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 845.4365599949999 meters 0.013104005179899191 Centerline is valid? [True, True] Translation: X:-176.77, Y:-267.39, Z:-2.78 [[-6.65330395e-01 -7.46496036e-01 8.89568008e-03 -1.76766296e+02] [ 7.46431641e-01 -6.65389851e-01 -9.80569723e-03 -2.67393322e+02] [ 1.32390094e-02 1.15988670e-04 9.99912354e-01 -2.78297713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 845.4665599949999 meters 0.013661717957421868 Centerline is valid? [True, True] Translation: X:-176.79, Y:-267.38, Z:-2.78 [[-6.62880413e-01 -7.48671160e-01 9.00291162e-03 -1.76788113e+02] [ 7.48605477e-01 -6.62941526e-01 -9.91832775e-03 -2.67375166e+02] [ 1.33939699e-02 1.64963756e-04 9.99910283e-01 -2.78292599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 845.496559995 meters 0.014715844723792443 Centerline is valid? [True, True] Translation: X:-176.81, Y:-267.36, Z:-2.78 [[-6.60854494e-01 -7.50460435e-01 8.97069444e-03 -1.76809947e+02] [ 7.50395463e-01 -6.60915346e-01 -9.87698779e-03 -2.67358228e+02] [ 1.33411582e-02 2.04316641e-04 9.99910982e-01 -2.78373260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 845.526559995 meters 0.015136209283742721 Centerline is valid? [True, True] Translation: X:-176.83, Y:-267.34, Z:-2.78 [[-6.57463062e-01 -7.53431972e-01 9.08774199e-03 -1.76832134e+02] [ 7.53365652e-01 -6.57525810e-01 -1.00002155e-02 -2.67340655e+02] [ 1.35099070e-02 2.71620354e-04 9.99908700e-01 -2.78286480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 845.5565599949999 meters 0.015883044176518365 Centerline is valid? [True, True] Translation: X:-176.85, Y:-267.32, Z:-2.78 [[-6.56375562e-01 -7.54375124e-01 9.44954497e-03 -1.76852266e+02] [ 7.54303603e-01 -6.56443507e-01 -1.03921588e-02 -2.67322898e+02] [ 1.40426786e-02 3.06666722e-04 9.99901350e-01 -2.78289767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 845.5865599949999 meters 0.017470217405053234 Centerline is valid? [True, True] Translation: X:-176.87, Y:-267.31, Z:-2.78 [[-6.55493792e-01 -7.55140485e-01 9.52555760e-03 -1.76873285e+02] [ 7.55067956e-01 -6.55562918e-01 -1.04710350e-02 -2.67306124e+02] [ 1.41517048e-02 3.28744855e-04 9.99899806e-01 -2.78444557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 845.616559995 meters 0.016625102722355126 Centerline is valid? [True, True] Translation: X:-176.89, Y:-267.29, Z:-2.78 [[-6.55080753e-01 -7.55494288e-01 9.87862542e-03 -1.76892208e+02] [ 7.55416411e-01 -6.55155139e-01 -1.08530970e-02 -2.67285418e+02] [ 1.46714850e-02 3.52820800e-04 9.99892306e-01 -2.78339348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 845.646559995 meters 0.01655816929160424 Centerline is valid? [True, True] Translation: X:-176.91, Y:-267.27, Z:-2.78 [[-6.54478787e-01 -7.56011205e-01 1.02262381e-02 -1.76912781e+02] [ 7.55927910e-01 -6.54558563e-01 -1.12286543e-02 -2.67266001e+02] [ 1.51826602e-02 3.81382733e-04 9.99884664e-01 -2.78305477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 845.6765599949999 meters 0.016957594622675518 Centerline is valid? [True, True] Translation: X:-176.93, Y:-267.25, Z:-2.78 [[-6.54619374e-01 -7.55884695e-01 1.05736747e-02 -1.76931782e+02] [ 7.55795749e-01 -6.54704644e-01 -1.16024205e-02 -2.67247368e+02] [ 1.56927260e-02 3.96369195e-04 9.99876783e-01 -2.78370688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 845.7065599949999 meters 0.016996599515079036 Centerline is valid? [True, True] Translation: X:-176.95, Y:-267.23, Z:-2.78 [[-6.55006214e-01 -7.55543119e-01 1.10206947e-02 -1.76950788e+02] [ 7.55446567e-01 -6.55098793e-01 -1.20853794e-02 -2.67227732e+02] [ 1.63506690e-02 4.09547373e-04 9.99866235e-01 -2.78427080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 845.736559995 meters 0.0161930994168949 Centerline is valid? [True, True] Translation: X:-176.97, Y:-267.21, Z:-2.78 [[-6.56354026e-01 -7.54358292e-01 1.19565535e-02 -1.76969415e+02] [ 7.54244580e-01 -6.56462789e-01 -1.31042414e-02 -2.67206611e+02] [ 1.77343256e-02 4.17144106e-04 9.99842648e-01 -2.78469936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 845.766559995 meters 0.016571773159902454 Centerline is valid? [True, True] Translation: X:-176.99, Y:-267.19, Z:-2.79 [[-6.57435916e-01 -7.53406185e-01 1.25354045e-02 -1.76987506e+02] [ 7.53281148e-01 -6.57555281e-01 -1.37318997e-02 -2.67187763e+02] [ 1.85884196e-02 4.14839794e-04 9.99827134e-01 -2.78579573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 845.7965599949999 meters 0.014902059918695941 Centerline is valid? [True, True] Translation: X:-177.00, Y:-267.16, Z:-2.78 [[-6.58825299e-01 -7.52194059e-01 1.23823770e-02 -1.77004483e+02] [ 7.52071981e-01 -6.58941539e-01 -1.35566606e-02 -2.67164463e+02] [ 1.83565022e-02 3.80967871e-04 9.99831433e-01 -2.78338778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 845.8265599949999 meters 0.01549977710200944 Centerline is valid? [True, True] Translation: X:-177.02, Y:-267.15, Z:-2.78 [[-6.60083099e-01 -7.51090462e-01 1.23862569e-02 -1.77023367e+02] [ 7.50968219e-01 -6.60199206e-01 -1.35551382e-02 -2.67145397e+02] [ 1.83585320e-02 3.54167690e-04 9.99831405e-01 -2.78453197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 845.856559995 meters 0.014083011894188825 Centerline is valid? [True, True] Translation: X:-177.04, Y:-267.12, Z:-2.78 [[-6.63209852e-01 -7.48347178e-01 1.13663339e-02 -1.77039562e+02] [ 7.48243957e-01 -6.63307194e-01 -1.24317191e-02 -2.67122458e+02] [ 1.68426130e-02 2.59952061e-04 9.99858119e-01 -2.78207983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 845.886559995 meters 0.01367244764086297 Centerline is valid? [True, True] Translation: X:-177.06, Y:-267.10, Z:-2.78 [[-6.65219121e-01 -7.46567144e-01 1.10009140e-02 -1.77057855e+02] [ 7.46470310e-01 -6.65310044e-01 -1.20258703e-02 -2.67100216e+02] [ 1.62971383e-02 2.12016806e-04 9.99867170e-01 -2.78113856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 845.916559995 meters 0.013015134315052749 Centerline is valid? [True, True] Translation: X:-177.07, Y:-267.08, Z:-2.78 [[-6.69746752e-01 -7.42519501e-01 1.02018724e-02 -1.77074685e+02] [ 7.42435840e-01 -6.69824438e-01 -1.11465574e-02 -2.67076616e+02] [ 1.51099997e-02 1.08865054e-04 9.99885832e-01 -2.78045483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 845.9465599949999 meters 0.012823945273816098 Centerline is valid? [True, True] Translation: X:-177.09, Y:-267.06, Z:-2.78 [[-6.72093609e-01 -7.40392653e-01 1.04355044e-02 -1.77091717e+02] [ 7.40304932e-01 -6.72174616e-01 -1.13970619e-02 -2.67055402e+02] [ 1.54527820e-02 6.55629138e-05 9.99880597e-01 -2.78045988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 845.9765599949999 meters 0.012877840570635513 Centerline is valid? [True, True] Translation: X:-177.11, Y:-267.03, Z:-2.78 [[-6.74736140e-01 -7.37981161e-01 1.07213321e-02 -1.77108333e+02] [ 7.37888374e-01 -6.74821314e-01 -1.17022276e-02 -2.67033812e+02] [ 1.58710070e-02 1.52303995e-05 9.99874048e-01 -2.78080128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 846.006559995 meters 0.013142023160713261 Centerline is valid? [True, True] Translation: X:-177.12, Y:-267.01, Z:-2.78 [[-6.79690458e-01 -7.33418595e-01 1.08648901e-02 -1.77124263e+02] [ 7.33322828e-01 -6.79777284e-01 -1.18522004e-02 -2.67010097e+02] [ 1.60783297e-02 -8.83555660e-05 9.99870732e-01 -2.78023630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 846.036559995 meters 0.013630959255365538 Centerline is valid? [True, True] Translation: X:-177.14, Y:-266.99, Z:-2.78 [[-6.82276104e-01 -7.31008581e-01 1.12148084e-02 -1.77141266e+02] [ 7.30906339e-01 -6.82368253e-01 -1.22266330e-02 -2.66988741e+02] [ 1.65904029e-02 -1.44964924e-04 9.99862359e-01 -2.78055915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 846.0665599949999 meters 0.014024797037197967 Centerline is valid? [True, True] Translation: X:-177.16, Y:-266.97, Z:-2.78 [[-6.84844253e-01 -7.28605018e-01 1.10939751e-02 -1.77158787e+02] [ 7.28504769e-01 -6.84934076e-01 -1.20877125e-02 -2.66967422e+02] [ 1.64058096e-02 -1.96186698e-04 9.99865397e-01 -2.78018099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 846.0965599949999 meters 0.01421468677924943 Centerline is valid? [True, True] Translation: X:-177.18, Y:-266.95, Z:-2.78 [[-6.87388215e-01 -7.26203212e-01 1.12399293e-02 -1.77177591e+02] [ 7.26100095e-01 -6.87480059e-01 -1.22401695e-02 -2.66945590e+02] [ 1.66160777e-02 -2.52434589e-04 9.99861912e-01 -2.77912557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 846.126559995 meters 0.015920265453382345 Centerline is valid? [True, True] Translation: X:-177.19, Y:-266.92, Z:-2.78 [[-6.92209763e-01 -7.21620354e-01 1.04742227e-02 -1.77193316e+02] [ 7.21530354e-01 -6.92288923e-01 -1.14015835e-02 -2.66923603e+02] [ 1.54788031e-02 -3.34817826e-04 9.99880140e-01 -2.77873942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 846.156559995 meters 0.016821061626682007 Centerline is valid? [True, True] Translation: X:-177.21, Y:-266.90, Z:-2.78 [[-6.94463313e-01 -7.19452905e-01 1.04030636e-02 -1.77210569e+02] [ 7.19363982e-01 -6.94541126e-01 -1.13174764e-02 -2.66902841e+02] [ 1.53677468e-02 -3.75982938e-04 9.99881839e-01 -2.77852211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 846.1865599949999 meters 0.017073066699571933 Centerline is valid? [True, True] Translation: X:-177.23, Y:-266.88, Z:-2.78 [[-6.97949317e-01 -7.16074069e-01 1.02312933e-02 -1.77229853e+02] [ 7.15987784e-01 -6.98024166e-01 -1.11246120e-02 -2.66881630e+02] [ 1.51077361e-02 -4.38934330e-04 9.99885775e-01 -2.77695436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 846.2165599949999 meters 0.017920938287784925 Centerline is valid? [True, True] Translation: X:-177.25, Y:-266.86, Z:-2.78 [[-6.99398062e-01 -7.14659937e-01 1.01747245e-02 -1.77247658e+02] [ 7.14574554e-01 -6.99471915e-01 -1.10564878e-02 -2.66860655e+02] [ 1.50185629e-02 -4.62286957e-04 9.99887108e-01 -2.77726580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 846.246559995 meters 0.018175880640916974 Centerline is valid? [True, True] Translation: X:-177.27, Y:-266.84, Z:-2.78 [[-7.00770680e-01 -7.13311489e-01 1.03524628e-02 -1.77267069e+02] [ 7.13223046e-01 -7.00846969e-01 -1.12432986e-02 -2.66840006e+02] [ 1.52754663e-02 -4.95358971e-04 9.99883201e-01 -2.77731651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 846.276559995 meters 0.019497993196083235 Centerline is valid? [True, True] Translation: X:-177.29, Y:-266.82, Z:-2.78 [[-7.01821031e-01 -7.12275953e-01 1.04979124e-02 -1.77285707e+02] [ 7.12184997e-01 -7.01899349e-01 -1.13945096e-02 -2.66820388e+02] [ 1.54845131e-02 -5.20450768e-04 9.99879972e-01 -2.77841971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 846.3065599949999 meters 0.01910161624424647 Centerline is valid? [True, True] Translation: X:-177.31, Y:-266.80, Z:-2.78 [[-7.01568503e-01 -7.12521592e-01 1.07059284e-02 -1.77305846e+02] [ 7.12427137e-01 -7.01649991e-01 -1.16130869e-02 -2.66801917e+02] [ 1.57863897e-02 -5.20182004e-04 9.99875252e-01 -2.77841419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 846.3365599949999 meters 0.019213081883945878 Centerline is valid? [True, True] Translation: X:-177.32, Y:-266.78, Z:-2.78 [[-7.00872296e-01 -7.13204229e-01 1.08514054e-02 -1.77324987e+02] [ 7.13107361e-01 -7.00956111e-01 -1.17652508e-02 -2.66783713e+02] [ 1.59973855e-02 -5.07721252e-04 9.99871905e-01 -2.77884711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 846.366559995 meters 0.017387843595828026 Centerline is valid? [True, True] Translation: X:-177.35, Y:-266.77, Z:-2.78 [[-6.99926784e-01 -7.14131385e-01 1.09023739e-02 -1.77347829e+02] [ 7.14033814e-01 -7.00011522e-01 -1.18145203e-02 -2.66765554e+02] [ 1.60689071e-02 -4.84635548e-04 9.99870769e-01 -2.77777005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 846.396559995 meters 0.016372059182905675 Centerline is valid? [True, True] Translation: X:-177.37, Y:-266.75, Z:-2.78 [[-6.96801089e-01 -7.17184262e-01 1.07227391e-02 -1.77371274e+02] [ 7.17090339e-01 -6.96883471e-01 -1.16134907e-02 -2.66748544e+02] [ 1.58015124e-02 -4.03120374e-04 9.99875067e-01 -2.77779864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 846.4265599949999 meters 0.015814708340364834 Centerline is valid? [True, True] Translation: X:-177.39, Y:-266.73, Z:-2.78 [[-6.94901674e-01 -7.19028062e-01 1.05028960e-02 -1.77392637e+02] [ 7.18938260e-01 -6.94980953e-01 -1.13689679e-02 -2.66730133e+02] [ 1.54739196e-02 -3.49381017e-04 9.99880211e-01 -2.77802067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 846.4565599949999 meters 0.01518402001018644 Centerline is valid? [True, True] Translation: X:-177.41, Y:-266.71, Z:-2.78 [[-6.92796984e-01 -7.21056781e-01 1.04622448e-02 -1.77414482e+02] [ 7.20968001e-01 -6.92875913e-01 -1.13186439e-02 -2.66711707e+02] [ 1.54104223e-02 -2.98578601e-04 9.99881208e-01 -2.77816598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 846.486559995 meters 0.013735462572775359 Centerline is valid? [True, True] Translation: X:-177.44, Y:-266.70, Z:-2.78 [[-6.87662006e-01 -7.25959957e-01 1.01541534e-02 -1.77439554e+02] [ 7.25876954e-01 -6.87736947e-01 -1.09790262e-02 -2.66697042e+02] [ 1.49537198e-02 -1.79193247e-04 9.99888171e-01 -2.77809209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 846.516559995 meters 0.013066541829791646 Centerline is valid? [True, True] Translation: X:-177.46, Y:-266.68, Z:-2.78 [[-6.84763498e-01 -7.28696843e-01 9.99312253e-03 -1.77462433e+02] [ 7.28616831e-01 -6.84836402e-01 -1.07988854e-02 -2.66679948e+02] [ 1.47127677e-02 -1.13525242e-04 9.99891755e-01 -2.77822231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 846.5465599949999 meters 0.012648648592139707 Centerline is valid? [True, True] Translation: X:-177.49, Y:-266.66, Z:-2.78 [[-6.81645349e-01 -7.31617347e-01 9.78139680e-03 -1.77485408e+02] [ 7.31541074e-01 -6.81715524e-01 -1.05641648e-02 -2.66662853e+02] [ 1.43970563e-02 -4.55203218e-05 9.99896356e-01 -2.77854206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 846.5765599949999 meters 0.012542670042476984 Centerline is valid? [True, True] Translation: X:-177.51, Y:-266.65, Z:-2.78 [[-6.78338072e-01 -7.34686218e-01 9.67580212e-03 -1.77506647e+02] [ 7.34611992e-01 -6.78407076e-01 -1.04432129e-02 -2.66647294e+02] [ 1.42366172e-02 2.39313734e-05 9.99898654e-01 -2.77894263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 846.606559995 meters 0.013197541387213662 Centerline is valid? [True, True] Translation: X:-177.53, Y:-266.63, Z:-2.78 [[-6.71727250e-01 -7.40734187e-01 9.76553298e-03 -1.77532035e+02] [ 7.40659296e-01 -6.71798214e-01 -1.05341197e-02 -2.66632576e+02] [ 1.43634502e-02 1.56877536e-04 9.99896828e-01 -2.77840793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 846.636559995 meters 0.013838545950283429 Centerline is valid? [True, True] Translation: X:-177.55, Y:-266.62, Z:-2.78 [[-6.68812746e-01 -7.43369009e-01 9.59306724e-03 -1.77553593e+02] [ 7.43297097e-01 -6.68881507e-01 -1.03418673e-02 -2.66615067e+02] [ 1.41044489e-02 2.13726350e-04 9.99900505e-01 -2.77788979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 846.666559995 meters 0.015358942159938636 Centerline is valid? [True, True] Translation: X:-177.58, Y:-266.60, Z:-2.78 [[-6.63751433e-01 -7.47897214e-01 9.15381639e-03 -1.77577769e+02] [ 7.47832240e-01 -6.63814483e-01 -9.86267926e-03 -2.66599614e+02] [ 1.34527062e-02 2.99151521e-04 9.99909464e-01 -2.77727504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 846.6965599949999 meters 0.016682169822372077 Centerline is valid? [True, True] Translation: X:-177.60, Y:-266.58, Z:-2.78 [[-6.62221296e-01 -7.49255240e-01 8.91859241e-03 -1.77599581e+02] [ 7.49193761e-01 -6.62281271e-01 -9.60349856e-03 -2.66582539e+02] [ 1.31020883e-02 3.22112529e-04 9.99914112e-01 -2.77781193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 846.7265599949999 meters 0.016491767558506797 Centerline is valid? [True, True] Translation: X:-177.62, Y:-266.56, Z:-2.78 [[-6.60919874e-01 -7.50404524e-01 8.83004630e-03 -1.77619275e+02] [ 7.50344436e-01 -6.60978767e-01 -9.50240885e-03 -2.66563301e+02] [ 1.29671237e-02 3.45245252e-04 9.99915864e-01 -2.77697455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 846.756559995 meters 0.017876468970892453 Centerline is valid? [True, True] Translation: X:-177.64, Y:-266.55, Z:-2.78 [[-6.60093582e-01 -7.51132282e-01 8.76116613e-03 -1.77640732e+02] [ 7.51073265e-01 -6.60151623e-01 -9.42263301e-03 -2.66545712e+02] [ 1.28613419e-02 3.60458073e-04 9.99917225e-01 -2.77778403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 846.786559995 meters 0.018036052273232638 Centerline is valid? [True, True] Translation: X:-177.66, Y:-266.53, Z:-2.78 [[-6.59361410e-01 -7.51767105e-01 9.42083429e-03 -1.77661718e+02] [ 7.51699008e-01 -6.59428584e-01 -1.01264723e-02 -2.66526757e+02] [ 1.38251161e-02 4.04626758e-04 9.99904347e-01 -2.77836377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 846.8165599949999 meters 0.018036052273232638 Centerline is valid? [True, True] Translation: X:-177.68, Y:-266.51, Z:-2.78 [[-6.59595805e-01 -7.51561416e-01 9.42399174e-03 -1.77680018e+02] [ 7.51493340e-01 -6.59663000e-01 -1.01235339e-02 -2.66507249e+02] [ 1.38251161e-02 4.04626529e-04 9.99904347e-01 -2.77836359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 846.8465599949999 meters 0.018259893974852084 Centerline is valid? [True, True] Translation: X:-177.70, Y:-266.49, Z:-2.78 [[-6.59610327e-01 -7.51547200e-01 9.54061991e-03 -1.77699281e+02] [ 7.51477516e-01 -6.59679191e-01 -1.02424279e-02 -2.66488111e+02] [ 1.39914164e-02 4.13550159e-04 9.99902030e-01 -2.77866105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 846.876559995 meters 0.018300300177340616 Centerline is valid? [True, True] Translation: X:-177.72, Y:-266.47, Z:-2.78 [[-6.59908777e-01 -7.51282002e-01 9.78569539e-03 -1.77718513e+02] [ 7.51208756e-01 -6.59981193e-01 -1.04989901e-02 -2.66468173e+02] [ 1.43460772e-02 4.22724354e-04 9.99897001e-01 -2.77924655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 846.906559995 meters 0.01794186257851136 Centerline is valid? [True, True] Translation: X:-177.74, Y:-266.45, Z:-2.78 [[-6.60419561e-01 -7.50825590e-01 1.03410356e-02 -1.77736842e+02] [ 7.50743844e-01 -6.60500371e-01 -1.10878619e-02 -2.66447993e+02] [ 1.51553083e-02 4.40827954e-04 9.99885055e-01 -2.77938596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 846.9365599949999 meters 0.017526813995690445 Centerline is valid? [True, True] Translation: X:-177.76, Y:-266.43, Z:-2.78 [[-6.61919352e-01 -7.49494293e-01 1.10035010e-02 -1.77755260e+02] [ 7.49401659e-01 -6.62010658e-01 -1.17916462e-02 -2.66426945e+02] [ 1.61222064e-02 4.40923126e-04 9.99869932e-01 -2.78017138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 846.9665599949999 meters 0.016623752230514106 Centerline is valid? [True, True] Translation: X:-177.77, Y:-266.41, Z:-2.78 [[-6.63271702e-01 -7.48296166e-01 1.11129272e-02 -1.77772736e+02] [ 7.48201621e-01 -6.63364659e-01 -1.19022216e-02 -2.66405398e+02] [ 1.62783100e-02 4.20303406e-04 9.99867411e-01 -2.78009857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 846.996559995 meters 0.015619223040789 Centerline is valid? [True, True] Translation: X:-177.79, Y:-266.38, Z:-2.78 [[-6.65646095e-01 -7.46182017e-01 1.12992980e-02 -1.77789142e+02] [ 7.46084082e-01 -6.65741882e-01 -1.20949817e-02 -2.66382349e+02] [ 1.65474737e-02 3.79249038e-04 9.99863009e-01 -2.77958720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 847.026559995 meters 0.015622775720164574 Centerline is valid? [True, True] Translation: X:-177.81, Y:-266.36, Z:-2.78 [[-6.67229644e-01 -7.44768666e-01 1.11461443e-02 -1.77806606e+02] [ 7.44673279e-01 -6.67322648e-01 -1.19244022e-02 -2.66362158e+02] [ 1.63189956e-02 3.43921162e-04 9.99866777e-01 -2.78014015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 847.0565599949999 meters 0.014716054811912443 Centerline is valid? [True, True] Translation: X:-177.82, Y:-266.34, Z:-2.78 [[-6.68623155e-01 -7.43516936e-01 1.12090325e-02 -1.77823471e+02] [ 7.43420405e-01 -6.68717028e-01 -1.19848968e-02 -2.66339481e+02] [ 1.64066446e-02 3.19644002e-04 9.99865351e-01 -2.77916155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 847.0865599949999 meters 0.014707014557647025 Centerline is valid? [True, True] Translation: X:-177.84, Y:-266.32, Z:-2.78 [[-6.69994905e-01 -7.42282803e-01 1.10935484e-02 -1.77840900e+02] [ 7.42188192e-01 -6.70086677e-01 -1.18546736e-02 -2.66318344e+02] [ 1.62331593e-02 2.90929731e-04 9.99868191e-01 -2.77960433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 847.116559995 meters 0.013864847030588538 Centerline is valid? [True, True] Translation: X:-177.86, Y:-266.29, Z:-2.78 [[-6.72843219e-01 -7.39708927e-01 1.06163500e-02 -1.77856644e+02] [ 7.39622056e-01 -6.72926931e-01 -1.13384200e-02 -2.66294526e+02] [ 1.55311583e-02 2.23107660e-04 9.99879360e-01 -2.77875695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 847.146559995 meters 0.013543154597563655 Centerline is valid? [True, True] Translation: X:-177.87, Y:-266.27, Z:-2.78 [[-6.74448038e-01 -7.38247452e-01 1.05139566e-02 -1.77872957e+02] [ 7.38162155e-01 -6.74529957e-01 -1.12236390e-02 -2.66274247e+02] [ 1.53778016e-02 1.91243577e-04 9.99881736e-01 -2.77901846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 847.1765599949999 meters 0.012900562736959326 Centerline is valid? [True, True] Translation: X:-177.89, Y:-266.25, Z:-2.78 [[-6.77867776e-01 -7.35118448e-01 9.80539551e-03 -1.77888254e+02] [ 7.35044014e-01 -6.77938680e-01 -1.04615579e-02 -2.66250133e+02] [ 1.43379411e-02 1.15844308e-04 9.99897200e-01 -2.77884324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 847.2065599949999 meters 0.01249362761769189 Centerline is valid? [True, True] Translation: X:-177.90, Y:-266.23, Z:-2.78 [[-6.79770949e-01 -7.33357015e-01 9.94716020e-03 -1.77904741e+02] [ 7.33280310e-01 -6.79843719e-01 -1.06068263e-02 -2.66227050e+02] [ 1.45411049e-02 8.38443155e-05 9.99894269e-01 -2.77731447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 847.236559995 meters 0.012352935675547948 Centerline is valid? [True, True] Translation: X:-177.92, Y:-266.20, Z:-2.78 [[-6.81931687e-01 -7.31354131e-01 9.50312818e-03 -1.77921661e+02] [ 7.31284006e-01 -6.81997898e-01 -1.01276746e-02 -2.66204310e+02] [ 1.38880301e-02 4.31034453e-05 9.99903556e-01 -2.77683557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 847.266559995 meters 0.012370955118972396 Centerline is valid? [True, True] Translation: X:-177.94, Y:-266.18, Z:-2.78 [[-6.85714012e-01 -7.27809579e-01 9.46100643e-03 -1.77935843e+02] [ 7.27739813e-01 -6.85779277e-01 -1.00771188e-02 -2.66179724e+02] [ 1.38223857e-02 -2.48704886e-05 9.99904466e-01 -2.77635305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 847.2965599949999 meters 0.012797389581276073 Centerline is valid? [True, True] Translation: X:-177.95, Y:-266.16, Z:-2.78 [[-6.87474207e-01 -7.26144484e-01 9.66452980e-03 -1.77951836e+02] [ 7.26071605e-01 -6.87542133e-01 -1.02878058e-02 -2.66157550e+02] [ 1.41152049e-02 -5.54604611e-05 9.99900374e-01 -2.77820217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 847.3265599949999 meters 0.012909292639940818 Centerline is valid? [True, True] Translation: X:-177.97, Y:-266.14, Z:-2.78 [[-6.89003579e-01 -7.24689859e-01 9.93358073e-03 -1.77968875e+02] [ 7.24612807e-01 -6.89075178e-01 -1.05678396e-02 -2.66135579e+02] [ 1.45033901e-02 -8.32794825e-05 9.99894817e-01 -2.77771467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 847.356559995 meters 0.01269902329043749 Centerline is valid? [True, True] Translation: X:-177.99, Y:-266.11, Z:-2.78 [[-6.90211052e-01 -7.23542482e-01 9.74577408e-03 -1.77986767e+02] [ 7.23468284e-01 -6.90279847e-01 -1.03621988e-02 -2.66114198e+02] [ 1.42248025e-02 -1.01345677e-04 9.99898817e-01 -2.77603930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 847.386559995 meters 0.01284279587284918 Centerline is valid? [True, True] Translation: X:-178.00, Y:-266.09, Z:-2.78 [[-6.91275866e-01 -7.22530757e-01 9.32647922e-03 -1.78003544e+02] [ 7.22462790e-01 -6.91338769e-01 -9.91079084e-03 -2.66091637e+02] [ 1.36086079e-02 -1.13056320e-04 9.99907392e-01 -2.77561128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 847.416559995 meters 0.013462178164319669 Centerline is valid? [True, True] Translation: X:-178.02, Y:-266.07, Z:-2.78 [[-6.91235913e-01 -7.22571811e-01 9.10443210e-03 -1.78020099e+02] [ 7.22507099e-01 -6.91295860e-01 -9.67085192e-03 -2.66070276e+02] [ 1.32817412e-02 -1.06823326e-04 9.99911788e-01 -2.77775415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 847.4465599949999 meters 0.01285293247013616 Centerline is valid? [True, True] Translation: X:-178.04, Y:-266.05, Z:-2.78 [[-6.91034198e-01 -7.22763993e-01 9.16224726e-03 -1.78039232e+02] [ 7.22698530e-01 -6.91094928e-01 -9.72804046e-03 -2.66050208e+02] [ 1.33630600e-02 -1.00866019e-04 9.99910705e-01 -2.77583649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 847.4765599949999 meters 0.012640588946655998 Centerline is valid? [True, True] Translation: X:-178.06, Y:-266.03, Z:-2.78 [[-6.90691099e-01 -7.23091427e-01 9.19751774e-03 -1.78057810e+02] [ 7.23025562e-01 -6.90752329e-01 -9.75995755e-03 -2.66029637e+02] [ 1.34105484e-02 -9.10753722e-05 9.99910071e-01 -2.77552529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 847.506559995 meters 0.012546740022310121 Centerline is valid? [True, True] Translation: X:-178.08, Y:-266.01, Z:-2.78 [[-6.89219753e-01 -7.24488326e-01 9.63317866e-03 -1.78075872e+02] [ 7.24416290e-01 -6.89287068e-01 -1.02164951e-02 -2.66007786e+02] [ 1.40417569e-02 -6.29786781e-05 9.99901408e-01 -2.77614080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 847.536559995 meters 0.012423323076012245 Centerline is valid? [True, True] Translation: X:-178.09, Y:-265.99, Z:-2.78 [[-6.88322649e-01 -7.25340276e-01 9.66513305e-03 -1.78094604e+02] [ 7.25267927e-01 -6.88390502e-01 -1.02445623e-02 -2.65986860e+02] [ 1.40841795e-02 -4.17532780e-05 9.99900812e-01 -2.77625507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 847.5665599949999 meters 0.012492018651885956 Centerline is valid? [True, True] Translation: X:-178.11, Y:-265.97, Z:-2.78 [[-6.87611665e-01 -7.26014051e-01 9.68486327e-03 -1.78112396e+02] [ 7.25941560e-01 -6.87679865e-01 -1.02593306e-02 -2.65966897e+02] [ 1.41085037e-02 -2.37906696e-05 9.99900470e-01 -2.77733362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 847.5965599949999 meters 0.01226274281840182 Centerline is valid? [True, True] Translation: X:-178.13, Y:-265.95, Z:-2.78 [[-6.85723276e-01 -7.27807898e-01 8.90235717e-03 -1.78130999e+02] [ 7.27746869e-01 -6.85781060e-01 -9.42505949e-03 -2.65945789e+02] [ 1.29647007e-02 1.56798888e-05 9.99915955e-01 -2.77554002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 847.626559995 meters 0.01237648811476191 Centerline is valid? [True, True] Translation: X:-178.15, Y:-265.93, Z:-2.78 [[-6.84831682e-01 -7.28651756e-01 8.49625670e-03 -1.78148869e+02] [ 7.28596299e-01 -6.84884382e-01 -8.98972824e-03 -2.65925984e+02] [ 1.23693348e-02 3.38904830e-05 9.99923496e-01 -2.77549874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 847.656559995 meters 0.012305230257418143 Centerline is valid? [True, True] Translation: X:-178.17, Y:-265.91, Z:-2.77 [[-6.83938518e-01 -7.29494023e-01 8.15931321e-03 -1.78167239e+02] [ 7.29443002e-01 -6.83987184e-01 -8.62784039e-03 -2.65906019e+02] [ 1.18748237e-02 5.08415504e-05 9.99929491e-01 -2.77495694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 847.6865599949999 meters 0.012594086582922874 Centerline is valid? [True, True] Translation: X:-178.19, Y:-265.89, Z:-2.77 [[-6.81879853e-01 -7.31428061e-01 7.27031900e-03 -1.78185664e+02] [ 7.31387713e-01 -6.81918606e-01 -7.68299353e-03 -2.65886138e+02] [ 1.05773229e-02 7.85434822e-05 9.99944056e-01 -2.77418585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 847.7165599949999 meters 0.012766766475567645 Centerline is valid? [True, True] Translation: X:-178.20, Y:-265.87, Z:-2.77 [[-6.80795275e-01 -7.32438363e-01 7.19987070e-03 -1.78204526e+02] [ 7.32398899e-01 -6.80833339e-01 -7.60379260e-03 -2.65865945e+02] [ 1.04712214e-02 9.65512972e-05 9.99945171e-01 -2.77402276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 847.746559995 meters 0.013442580401177906 Centerline is valid? [True, True] Translation: X:-178.22, Y:-265.85, Z:-2.78 [[-6.80041821e-01 -7.33139729e-01 7.01851386e-03 -1.78222994e+02] [ 7.33102309e-01 -6.80078030e-01 -7.40799223e-03 -2.65847946e+02] [ 1.02042305e-02 1.07544192e-04 9.99947930e-01 -2.77547404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 847.776559995 meters 0.01329664429259771 Centerline is valid? [True, True] Translation: X:-178.24, Y:-265.83, Z:-2.77 [[-6.79348045e-01 -7.33784460e-01 6.82645197e-03 -1.78240529e+02] [ 7.33749137e-01 -6.79382332e-01 -7.20080638e-03 -2.65827138e+02] [ 9.92161067e-03 1.17049509e-04 9.99950773e-01 -2.77409130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 847.8065599949999 meters 0.013126366729977084 Centerline is valid? [True, True] Translation: X:-178.26, Y:-265.81, Z:-2.77 [[-6.79045915e-01 -7.34065346e-01 6.68683755e-03 -1.78258905e+02] [ 7.34031506e-01 -6.79078827e-01 -7.04948202e-03 -2.65805681e+02] [ 9.71567026e-03 1.21427475e-04 9.99952795e-01 -2.77357840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 847.8365599949999 meters 0.013357438560439293 Centerline is valid? [True, True] Translation: X:-178.28, Y:-265.79, Z:-2.77 [[-6.78461323e-01 -7.34606025e-01 6.64994890e-03 -1.78276606e+02] [ 7.34572611e-01 -6.78493900e-01 -7.00765587e-03 -2.65785243e+02] [ 9.65981598e-03 1.30446851e-04 9.99953335e-01 -2.77466100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 847.866559995 meters 0.01345621861944767 Centerline is valid? [True, True] Translation: X:-178.29, Y:-265.76, Z:-2.77 [[-6.78727726e-01 -7.34360173e-01 6.61892765e-03 -1.78294607e+02] [ 7.34327097e-01 -6.78759987e-01 -6.97104161e-03 -2.65763902e+02] [ 9.61191857e-03 1.29018702e-04 9.99953796e-01 -2.77492135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 847.896559995 meters 0.013309746201734942 Centerline is valid? [True, True] Translation: X:-178.31, Y:-265.74, Z:-2.78 [[-6.79078172e-01 -7.34033929e-01 6.85764665e-03 -1.78312561e+02] [ 7.33998448e-01 -6.79112785e-01 -7.21836928e-03 -2.65741960e+02] [ 9.95564347e-03 1.31664977e-04 9.99950433e-01 -2.77520793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 847.9265599949999 meters 0.013286943745618982 Centerline is valid? [True, True] Translation: X:-178.33, Y:-265.72, Z:-2.78 [[-6.80271866e-01 -7.32924682e-01 7.18323550e-03 -1.78328459e+02] [ 7.32885722e-01 -6.80309779e-01 -7.55795940e-03 -2.65719439e+02] [ 1.04262403e-02 1.23023588e-04 9.99945638e-01 -2.77611641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 847.9565599949999 meters 0.013252981017183536 Centerline is valid? [True, True] Translation: X:-178.35, Y:-265.70, Z:-2.78 [[-6.81040627e-01 -7.32207253e-01 7.49681642e-03 -1.78345768e+02] [ 7.32164827e-01 -6.81081878e-01 -7.88299183e-03 -2.65698629e+02] [ 1.08779296e-02 1.20267595e-04 9.99940826e-01 -2.77674799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 847.986559995 meters 0.013705739995468392 Centerline is valid? [True, True] Translation: X:-178.36, Y:-265.68, Z:-2.78 [[-6.81835035e-01 -7.31466040e-01 7.64317257e-03 -1.78363303e+02] [ 7.31421953e-01 -6.81877863e-01 -8.03164907e-03 -2.65679305e+02] [ 1.10865887e-02 1.14124479e-04 9.99938536e-01 -2.77893518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 848.016559995 meters 0.01284944353315312 Centerline is valid? [True, True] Translation: X:-178.38, Y:-265.66, Z:-2.78 [[-6.83603773e-01 -7.29810851e-01 7.87425773e-03 -1.78377469e+02] [ 7.29764007e-01 -6.83649116e-01 -8.26927923e-03 -2.65655368e+02] [ 1.14182390e-02 9.34393946e-05 9.99934806e-01 -2.77791044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 848.0465599949999 meters 0.012738434925816946 Centerline is valid? [True, True] Translation: X:-178.39, Y:-265.63, Z:-2.78 [[-6.84721159e-01 -7.28762911e-01 7.84559346e-03 -1.78394285e+02] [ 7.28716397e-01 -6.84766101e-01 -8.23402535e-03 -2.65633851e+02] [ 1.13730487e-02 7.92012167e-05 9.99935322e-01 -2.77826507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 848.0765599949999 meters 0.012732117582106394 Centerline is valid? [True, True] Translation: X:-178.41, Y:-265.61, Z:-2.78 [[-6.85857420e-01 -7.27695120e-01 7.70793243e-03 -1.78410095e+02] [ 7.27650200e-01 -6.85900728e-01 -8.08564527e-03 -2.65612910e+02] [ 1.11707611e-02 6.30787681e-05 9.99937603e-01 -2.77858547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 848.106559995 meters 0.012451288468881936 Centerline is valid? [True, True] Translation: X:-178.42, Y:-265.59, Z:-2.78 [[-6.88563553e-01 -7.25137081e-01 7.51307683e-03 -1.78424084e+02] [ 7.25094299e-01 -6.88604540e-01 -7.87681571e-03 -2.65587783e+02] [ 1.08853100e-02 2.40009635e-05 9.99940753e-01 -2.77738964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 848.136559995 meters 0.012503609228166087 Centerline is valid? [True, True] Translation: X:-178.44, Y:-265.57, Z:-2.78 [[-6.89931158e-01 -7.23837327e-01 7.38384895e-03 -1.78440872e+02] [ 7.23795981e-01 -6.89970669e-01 -7.73645684e-03 -2.65565567e+02] [ 1.06945754e-02 6.77756168e-06 9.99942812e-01 -2.77755022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 848.166559995 meters 0.012448235057257194 Centerline is valid? [True, True] Translation: X:-178.46, Y:-265.54, Z:-2.78 [[-6.91075610e-01 -7.22744454e-01 7.41319528e-03 -1.78457334e+02] [ 7.22702769e-01 -6.91115370e-01 -7.76232653e-03 -2.65544005e+02] [ 1.07335516e-02 -6.81778316e-06 9.99942394e-01 -2.77741290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 848.1965599949999 meters 0.012601460383954497 Centerline is valid? [True, True] Translation: X:-178.47, Y:-265.52, Z:-2.78 [[-6.92418717e-01 -7.21454277e-01 7.74903890e-03 -1.78471497e+02] [ 7.21408692e-01 -6.92462076e-01 -8.11004604e-03 -2.65521569e+02] [ 1.12169430e-02 -2.53236543e-05 9.99937088e-01 -2.77778472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 848.2265599949999 meters 0.012691783343286774 Centerline is valid? [True, True] Translation: X:-178.49, Y:-265.50, Z:-2.78 [[-6.93074744e-01 -7.20820142e-01 8.10687461e-03 -1.78488012e+02] [ 7.20770272e-01 -6.93122155e-01 -8.47901426e-03 -2.65500863e+02] [ 1.17308987e-02 -3.33964245e-05 9.99931190e-01 -2.77816700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 848.256559995 meters 0.012780625593297856 Centerline is valid? [True, True] Translation: X:-178.51, Y:-265.48, Z:-2.78 [[-6.93650509e-01 -7.20263952e-01 8.29517000e-03 -1.78505034e+02] [ 7.20211763e-01 -6.93700106e-01 -8.67058617e-03 -2.65479971e+02] [ 1.19994710e-02 -4.00774980e-05 9.99928003e-01 -2.77843162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 848.286559995 meters 0.012737174646881561 Centerline is valid? [True, True] Translation: X:-178.52, Y:-265.46, Z:-2.78 [[-6.94106562e-01 -7.19819487e-01 8.71700342e-03 -1.78523146e+02] [ 7.19761885e-01 -6.94161295e-01 -9.10636537e-03 -2.65458465e+02] [ 1.26059456e-02 -4.66211484e-05 9.99920541e-01 -2.77800927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 848.3165599949999 meters 0.012715562506007068 Centerline is valid? [True, True] Translation: X:-178.54, Y:-265.44, Z:-2.78 [[-6.92453295e-01 -7.21416578e-01 8.15812601e-03 -1.78542260e+02] [ 7.21366303e-01 -6.92501351e-01 -8.51684601e-03 -2.65439819e+02] [ 1.17937072e-02 -1.25208921e-05 9.99930452e-01 -2.77814401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 848.3465599949999 meters 0.012569884395088243 Centerline is valid? [True, True] Translation: X:-178.56, Y:-265.42, Z:-2.78 [[-6.91681657e-01 -7.22157887e-01 8.02946719e-03 -1.78561725e+02] [ 7.22109295e-01 -6.91728261e-01 -8.37728438e-03 -2.65420780e+02] [ 1.16039314e-02 3.73895349e-06 9.99932672e-01 -2.77781268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 848.376559995 meters 0.012742080744372308 Centerline is valid? [True, True] Translation: X:-178.58, Y:-265.40, Z:-2.78 [[-6.89725397e-01 -7.24022962e-01 8.34436848e-03 -1.78581339e+02] [ 7.23970680e-01 -6.89775869e-01 -8.70090527e-03 -2.65401161e+02] [ 1.20553992e-02 3.98427774e-05 9.99927330e-01 -2.77764921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 848.406559995 meters 0.012793023824242696 Centerline is valid? [True, True] Translation: X:-178.60, Y:-265.38, Z:-2.78 [[-6.89123070e-01 -7.24594893e-01 8.46384770e-03 -1.78600720e+02] [ 7.24541210e-01 -6.89175042e-01 -8.82023091e-03 -2.65381894e+02] [ 1.22241669e-02 5.41818544e-05 9.99925281e-01 -2.77805914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 848.4365599949999 meters 0.01290881206199706 Centerline is valid? [True, True] Translation: X:-178.62, Y:-265.36, Z:-2.78 [[-6.88607933e-01 -7.25087291e-01 8.21796343e-03 -1.78620123e+02] [ 7.25036781e-01 -6.88656965e-01 -8.55863064e-03 -2.65362899e+02] [ 1.18651121e-02 6.47847963e-05 9.99929605e-01 -2.77824372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 848.4665599949999 meters 0.013001720825343692 Centerline is valid? [True, True] Translation: X:-178.64, Y:-265.34, Z:-2.78 [[-6.88040026e-01 -7.25626009e-01 8.23514348e-03 -1.78639473e+02] [ 7.25575390e-01 -6.88089303e-01 -8.57113514e-03 -2.65343631e+02] [ 1.18859527e-02 7.79333925e-05 9.99929357e-01 -2.77798522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 848.496559995 meters 0.012993666741377124 Centerline is valid? [True, True] Translation: X:-178.66, Y:-265.32, Z:-2.78 [[-6.87654725e-01 -7.25995939e-01 7.80228745e-03 -1.78659197e+02] [ 7.25950582e-01 -6.87698982e-01 -8.11554335e-03 -2.65324732e+02] [ 1.12574767e-02 8.33833821e-05 9.99936629e-01 -2.77743579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 848.526559995 meters 0.01310732853203845 Centerline is valid? [True, True] Translation: X:-178.68, Y:-265.31, Z:-2.78 [[-6.87794591e-01 -7.25863711e-01 7.77649769e-03 -1.78678537e+02] [ 7.25818702e-01 -6.87838547e-01 -8.08363437e-03 -2.65305427e+02] [ 1.12165917e-02 8.44474606e-05 9.99937089e-01 -2.77784908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 848.5565599949999 meters 0.013062242420718973 Centerline is valid? [True, True] Translation: X:-178.70, Y:-265.29, Z:-2.78 [[-6.88148053e-01 -7.25521450e-01 8.41920045e-03 -1.78697745e+02] [ 7.25468736e-01 -6.88199548e-01 -8.74617910e-03 -2.65285840e+02] [ 1.21396305e-02 8.92005947e-05 9.99926308e-01 -2.77831579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 848.5865599949999 meters 0.013017263229958987 Centerline is valid? [True, True] Translation: X:-178.72, Y:-265.27, Z:-2.78 [[-6.88715819e-01 -7.24976621e-01 8.91177980e-03 -1.78716979e+02] [ 7.24917580e-01 -6.88773468e-01 -9.25266352e-03 -2.65265422e+02] [ 1.28461622e-02 8.78501118e-05 9.99917481e-01 -2.77856129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 848.616559995 meters 0.013058211610114607 Centerline is valid? [True, True] Translation: X:-178.73, Y:-265.25, Z:-2.78 [[-6.90075685e-01 -7.23670703e-01 9.81140939e-03 -1.78734445e+02] [ 7.23599102e-01 -6.90145426e-01 -1.01799329e-02 -2.65245847e+02] [ 1.41382185e-02 7.46028732e-05 9.99900048e-01 -2.77992636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 848.646559995 meters 0.012858977890056977 Centerline is valid? [True, True] Translation: X:-178.75, Y:-265.23, Z:-2.78 [[-6.91095760e-01 -7.22695442e-01 9.89688076e-03 -1.78752684e+02] [ 7.22622581e-01 -6.91166618e-01 -1.02621766e-02 -2.65225995e+02] [ 1.42568219e-02 5.95627871e-05 9.99898365e-01 -2.77933248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 848.6765599949999 meters 0.012731556343551147 Centerline is valid? [True, True] Translation: X:-178.77, Y:-265.20, Z:-2.78 [[-6.93007584e-01 -7.20866434e-01 9.59553827e-03 -1.78771498e+02] [ 7.20797843e-01 -6.93074011e-01 -9.94409368e-03 -2.65204597e+02] [ 1.38187815e-02 2.51109544e-05 9.99904516e-01 -2.77813122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 848.7065599949999 meters 0.012731556343551147 Centerline is valid? [True, True] Translation: X:-178.79, Y:-265.18, Z:-2.78 [[-6.93210966e-01 -7.20670819e-01 9.59834412e-03 -1.78790708e+02] [ 7.20602247e-01 -6.93277412e-01 -9.94138542e-03 -2.65184788e+02] [ 1.38187815e-02 2.51109544e-05 9.99904516e-01 -2.77813104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 848.736559995 meters 0.012737132561104215 Centerline is valid? [True, True] Translation: X:-178.81, Y:-265.17, Z:-2.78 [[-6.94366799e-01 -7.19560939e-01 9.31678121e-03 -1.78808690e+02] [ 7.19496295e-01 -6.94429301e-01 -9.64502529e-03 -2.65165566e+02] [ 1.34100293e-02 6.20422150e-06 9.99910082e-01 -2.77821705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 848.766559995 meters 0.012631181289230168 Centerline is valid? [True, True] Translation: X:-178.83, Y:-265.15, Z:-2.78 [[-6.95423329e-01 -7.18541847e-01 9.16554844e-03 -1.78827705e+02] [ 7.18479275e-01 -6.95483727e-01 -9.48250097e-03 -2.65145635e+02] [ 1.31880635e-02 -9.09580210e-06 9.99913034e-01 -2.77760119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 848.7965599949999 meters 0.012766959052225357 Centerline is valid? [True, True] Translation: X:-178.85, Y:-265.13, Z:-2.78 [[-6.96932451e-01 -7.17085138e-01 8.60605128e-03 -1.78845510e+02] [ 7.17029933e-01 -6.96985584e-01 -8.89780815e-03 -2.65126434e+02] [ 1.23787797e-02 -3.03748710e-05 9.99923380e-01 -2.77797221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 848.8265599949999 meters 0.01281371242804446 Centerline is valid? [True, True] Translation: X:-178.86, Y:-265.11, Z:-2.78 [[-6.97640804e-01 -7.16400119e-01 8.25695775e-03 -1.78862985e+02] [ 7.16349319e-01 -6.97689664e-01 -8.53146715e-03 -2.65107419e+02] [ 1.18727382e-02 -3.70335470e-05 9.99929516e-01 -2.77744729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 848.856559995 meters 0.012626570552925208 Centerline is valid? [True, True] Translation: X:-178.88, Y:-265.09, Z:-2.78 [[-6.98130436e-01 -7.15929520e-01 7.66916811e-03 -1.78882015e+02] [ 7.15885721e-01 -6.98172558e-01 -7.91921732e-03 -2.65087453e+02] [ 1.10240042e-02 -3.83986959e-05 9.99939233e-01 -2.77587372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 848.886559995 meters 0.012553948258478019 Centerline is valid? [True, True] Translation: X:-178.90, Y:-265.07, Z:-2.77 [[-6.98449931e-01 -7.15626640e-01 6.79759364e-03 -1.78901256e+02] [ 7.15592259e-01 -6.98483007e-01 -7.01481434e-03 -2.65068485e+02] [ 9.76799166e-03 -3.51912021e-05 9.99952292e-01 -2.77446239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 848.916559995 meters 0.012499827293519275 Centerline is valid? [True, True] Translation: X:-178.92, Y:-265.05, Z:-2.77 [[-6.98257755e-01 -7.15816268e-01 6.57103170e-03 -1.78921249e+02] [ 7.15784189e-01 -6.98288672e-01 -6.77677895e-03 -2.65049450e+02] [ 9.43940561e-03 -2.84978544e-05 9.99955448e-01 -2.77447605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 848.9465599949999 meters 0.012404367288376393 Centerline is valid? [True, True] Translation: X:-178.94, Y:-265.03, Z:-2.77 [[-6.97780187e-01 -7.16282179e-01 6.53077891e-03 -1.78941750e+02] [ 7.16250548e-01 -6.97810748e-01 -6.73148058e-03 -2.65030077e+02] [ 9.37888729e-03 -1.94198037e-05 9.99956017e-01 -2.77445948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 848.9765599949999 meters 0.012339205661431304 Centerline is valid? [True, True] Translation: X:-178.96, Y:-265.01, Z:-2.78 [[-6.96256308e-01 -7.17758927e-01 7.01974022e-03 -1.78962161e+02] [ 7.17722506e-01 -6.96291694e-01 -7.23066753e-03 -2.65012863e+02] [ 1.00776630e-02 3.82766360e-06 9.99949219e-01 -2.77545453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 849.006559995 meters 0.012419803297362203 Centerline is valid? [True, True] Translation: X:-178.98, Y:-264.99, Z:-2.78 [[-6.95539553e-01 -7.18451490e-01 7.22396822e-03 -1.78981961e+02] [ 7.18413004e-01 -6.95577067e-01 -7.43640966e-03 -2.64994315e+02] [ 1.03675262e-02 1.74756541e-05 9.99946256e-01 -2.77612822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 849.036559995 meters 0.012376176062250298 Centerline is valid? [True, True] Translation: X:-179.00, Y:-264.98, Z:-2.78 [[-6.94805582e-01 -7.19158446e-01 7.50556922e-03 -1.79001558e+02] [ 7.19116994e-01 -6.94846119e-01 -7.72143499e-03 -2.64975096e+02] [ 1.07681508e-02 3.24862397e-05 9.99942021e-01 -2.77628890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 849.0665599949999 meters 0.012524875549580655 Centerline is valid? [True, True] Translation: X:-179.02, Y:-264.96, Z:-2.78 [[-6.93173841e-01 -7.20724517e-01 8.13614787e-03 -1.79021774e+02] [ 7.20675970e-01 -6.93221585e-01 -8.36546450e-03 -2.64955894e+02] [ 1.16693487e-02 6.48050989e-05 9.99931909e-01 -2.77647978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 849.0965599949999 meters 0.012592094298627706 Centerline is valid? [True, True] Translation: X:-179.04, Y:-264.94, Z:-2.78 [[-6.92549713e-01 -7.21326129e-01 7.96939169e-03 -1.79041619e+02] [ 7.21279649e-01 -6.92595561e-01 -8.18886753e-03 -2.64936749e+02] [ 1.14264094e-02 7.69621786e-05 9.99934714e-01 -2.77654407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 849.126559995 meters 0.012759431210544268 Centerline is valid? [True, True] Translation: X:-179.06, Y:-264.92, Z:-2.78 [[-6.91829940e-01 -7.22022625e-01 7.39349408e-03 -1.79061001e+02] [ 7.21982713e-01 -6.91869440e-01 -7.59211333e-03 -2.64918535e+02] [ 1.05970102e-02 8.55236121e-05 9.99943847e-01 -2.77639057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 849.156559995 meters 0.012772389752974716 Centerline is valid? [True, True] Translation: X:-179.08, Y:-264.90, Z:-2.78 [[-6.91203466e-01 -7.22628129e-01 6.80849597e-03 -1.79080415e+02] [ 7.22594356e-01 -6.91236992e-01 -6.98698998e-03 -2.64899692e+02] [ 9.75527977e-03 9.03490687e-05 9.99952412e-01 -2.77556220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 849.1865599949999 meters 0.01318209325164066 Centerline is valid? [True, True] Translation: X:-179.10, Y:-264.88, Z:-2.77 [[-6.89713205e-01 -7.24061295e-01 5.56199951e-03 -1.79100804e+02] [ 7.24038832e-01 -6.89735625e-01 -5.70423438e-03 -2.64881451e+02] [ 7.96652454e-03 9.28178482e-05 9.99968263e-01 -2.77457438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 849.2165599949999 meters 0.013354929910426106 Centerline is valid? [True, True] Translation: X:-179.12, Y:-264.86, Z:-2.77 [[-6.88964766e-01 -7.24775511e-01 5.29236140e-03 -1.79120293e+02] [ 7.24755220e-01 -6.88985086e-01 -5.42429854e-03 -2.64862744e+02] [ 7.57775683e-03 9.85159695e-05 9.99971284e-01 -2.77428233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 849.246559995 meters 0.014011685638798019 Centerline is valid? [True, True] Translation: X:-179.14, Y:-264.84, Z:-2.77 [[-6.87353015e-01 -7.26309652e-01 4.48576076e-03 -1.79140345e+02] [ 7.26295125e-01 -6.87367645e-01 -4.59488579e-03 -2.64844324e+02] [ 6.42067671e-03 9.96775694e-05 9.99979382e-01 -2.77378437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 849.276559995 meters 0.014241991817985505 Centerline is valid? [True, True] Translation: X:-179.16, Y:-264.83, Z:-2.77 [[-6.86783632e-01 -7.26850402e-01 4.09087272e-03 -1.79159721e+02] [ 7.26838345e-01 -6.86795809e-01 -4.18777537e-03 -2.64825074e+02] [ 5.85348045e-03 9.73075740e-05 9.99982864e-01 -2.77334626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 849.3065599949999 meters 0.014612215413507415 Centerline is valid? [True, True] Translation: X:-179.18, Y:-264.81, Z:-2.77 [[-6.86437878e-01 -7.27178429e-01 3.81728751e-03 -1.79178655e+02] [ 7.27167949e-01 -6.86448486e-01 -3.90515218e-03 -2.64807348e+02] [ 5.46011365e-03 9.51647512e-05 9.99985089e-01 -2.77346735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 849.3365599949999 meters 0.014375222142671708 Centerline is valid? [True, True] Translation: X:-179.20, Y:-264.79, Z:-2.77 [[-6.86074030e-01 -7.27522490e-01 3.66764612e-03 -1.79197651e+02] [ 7.27512829e-01 -6.86083827e-01 -3.75050816e-03 -2.64787376e+02] [ 5.24489172e-03 9.51333564e-05 9.99986241e-01 -2.77295789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 849.366559995 meters 0.015052861540201252 Centerline is valid? [True, True] Translation: X:-179.22, Y:-264.77, Z:-2.77 [[-6.85238222e-01 -7.28308142e-01 3.97858486e-03 -1.79217691e+02] [ 7.28296801e-01 -6.85249763e-01 -4.06604716e-03 -2.64769672e+02] [ 5.68765959e-03 1.11379696e-04 9.99983819e-01 -2.77344481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 849.396559995 meters 0.015227318944229419 Centerline is valid? [True, True] Translation: X:-179.24, Y:-264.75, Z:-2.77 [[-6.85174192e-01 -7.28367700e-01 4.10112324e-03 -1.79237265e+02] [ 7.28355666e-01 -6.85186456e-01 -4.18865429e-03 -2.64750662e+02] [ 5.86091459e-03 1.17118529e-04 9.99982818e-01 -2.77385531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 849.4265599949999 meters 0.014987213334923123 Centerline is valid? [True, True] Translation: X:-179.26, Y:-264.73, Z:-2.77 [[-6.84784296e-01 -7.28729970e-01 4.80612561e-03 -1.79256440e+02] [ 7.28713470e-01 -6.84801147e-01 -4.90591517e-03 -2.64730157e+02] [ 6.86632774e-03 1.42794803e-04 9.99976416e-01 -2.77380865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 849.4565599949999 meters 0.016292569165743995 Centerline is valid? [True, True] Translation: X:-179.28, Y:-264.71, Z:-2.78 [[-6.84923021e-01 -7.28597746e-01 5.07750928e-03 -1.79276812e+02] [ 7.28579340e-01 -6.84941824e-01 -5.18103839e-03 -2.64712936e+02] [ 7.25269136e-03 1.50755889e-04 9.99973688e-01 -2.77507694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 849.486559995 meters 0.015605489879659193 Centerline is valid? [True, True] Translation: X:-179.30, Y:-264.69, Z:-2.78 [[-6.85257757e-01 -7.28279959e-01 5.48706380e-03 -1.79295176e+02] [ 7.28258481e-01 -6.85279706e-01 -5.59548856e-03 -2.64692448e+02] [ 7.83525565e-03 1.61648809e-04 9.99969291e-01 -2.77508958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 849.516559995 meters 0.015794895802908875 Centerline is valid? [True, True] Translation: X:-179.31, Y:-264.67, Z:-2.78 [[-6.86248568e-01 -7.27344014e-01 5.79549144e-03 -1.79314100e+02] [ 7.27320044e-01 -6.86273021e-01 -5.90719099e-03 -2.64673624e+02] [ 8.27384943e-03 1.61375726e-04 9.99965758e-01 -2.77599235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 849.5465599949999 meters 0.014859404633726337 Centerline is valid? [True, True] Translation: X:-179.33, Y:-264.65, Z:-2.78 [[-6.87116095e-01 -7.26526050e-01 5.60089269e-03 -1.79331734e+02] [ 7.26503664e-01 -6.87138906e-01 -5.70525845e-03 -2.64653162e+02] [ 7.99361017e-03 1.48894155e-04 9.99968040e-01 -2.77546069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 849.5765599949999 meters 0.014642877701866648 Centerline is valid? [True, True] Translation: X:-179.35, Y:-264.63, Z:-2.77 [[-6.87776839e-01 -7.25901912e-01 5.42533876e-03 -1.79350529e+02] [ 7.25880913e-01 -6.87798223e-01 -5.52313716e-03 -2.64632706e+02] [ 7.74079418e-03 1.39464029e-04 9.99970030e-01 -2.77498397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 849.606559995 meters 0.014560512048463922 Centerline is valid? [True, True] Translation: X:-179.37, Y:-264.61, Z:-2.77 [[-6.88986344e-01 -7.24759883e-01 4.57494510e-03 -1.79367943e+02] [ 7.24744946e-01 -6.89001524e-01 -4.65434164e-03 -2.64612882e+02] [ 6.52542425e-03 1.08890510e-04 9.99978703e-01 -2.77358719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 849.636559995 meters 0.014275862433019563 Centerline is valid? [True, True] Translation: X:-179.39, Y:-264.59, Z:-2.77 [[-6.89624112e-01 -7.24155128e-01 4.23484841e-03 -1.79386414e+02] [ 7.24142335e-01 -6.89637108e-01 -4.30564816e-03 -2.64592918e+02] [ 6.03846581e-03 9.73542254e-05 9.99981764e-01 -2.77273353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 849.666559995 meters 0.01455909433536506 Centerline is valid? [True, True] Translation: X:-179.41, Y:-264.57, Z:-2.77 [[-6.90016729e-01 -7.23782911e-01 3.90024064e-03 -1.79405222e+02] [ 7.23772068e-01 -6.90027746e-01 -3.96284938e-03 -2.64574896e+02] [ 5.55951692e-03 8.84528688e-05 9.99984542e-01 -2.77220170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 849.6965599949999 meters 0.014236455505305322 Centerline is valid? [True, True] Translation: X:-179.42, Y:-264.56, Z:-2.77 [[-6.90128781e-01 -7.23677429e-01 3.63913895e-03 -1.79424609e+02] [ 7.23668000e-01 -6.90138371e-01 -3.69523336e-03 -2.64555162e+02] [ 5.18566641e-03 8.33415058e-05 9.99986551e-01 -2.77151689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 849.7265599949999 meters 0.014182074192106917 Centerline is valid? [True, True] Translation: X:-179.44, Y:-264.54, Z:-2.77 [[-6.89944203e-01 -7.23852287e-01 3.85538090e-03 -1.79444440e+02] [ 7.23841718e-01 -6.89954969e-01 -3.91258993e-03 -2.64535221e+02] [ 5.49217638e-03 9.12167944e-05 9.99984914e-01 -2.77146691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 849.756559995 meters 0.014249588455835672 Centerline is valid? [True, True] Translation: X:-179.46, Y:-264.52, Z:-2.77 [[-6.89752983e-01 -7.24033289e-01 4.07659180e-03 -1.79464459e+02] [ 7.24021490e-01 -6.89765023e-01 -4.13473596e-03 -2.64516125e+02] [ 5.80557691e-03 9.95936019e-05 9.99983143e-01 -2.77174573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 849.786559995 meters 0.014921582758494072 Centerline is valid? [True, True] Translation: X:-179.48, Y:-264.50, Z:-2.77 [[-6.89376511e-01 -7.24388965e-01 4.54467759e-03 -1.79484897e+02] [ 7.24374326e-01 -6.89391481e-01 -4.60674158e-03 -2.64498185e+02] [ 6.47013478e-03 1.16268327e-04 9.99979062e-01 -2.77268697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 849.8165599949999 meters 0.014931226548200381 Centerline is valid? [True, True] Translation: X:-179.50, Y:-264.48, Z:-2.77 [[-6.88160371e-01 -7.25538697e-01 5.37615750e-03 -1.79504956e+02] [ 7.25518270e-01 -6.88181354e-01 -5.44646722e-03 -2.64478871e+02] [ 7.65139407e-03 1.52457582e-04 9.99970716e-01 -2.77312085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 849.8465599949999 meters 0.015335713781096647 Centerline is valid? [True, True] Translation: X:-179.53, Y:-264.46, Z:-2.77 [[-6.87683065e-01 -7.25986494e-01 5.96758843e-03 -1.79525151e+02] [ 7.25961373e-01 -6.87708935e-01 -6.04199335e-03 -2.64460470e+02] [ 8.49036945e-03 1.77262186e-04 9.99963941e-01 -2.77357573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 849.876559995 meters 0.015517950195502611 Centerline is valid? [True, True] Translation: X:-179.55, Y:-264.44, Z:-2.77 [[-6.87085923e-01 -7.26546807e-01 6.53241250e-03 -1.79545737e+02] [ 7.26516766e-01 -6.87116945e-01 -6.61012586e-03 -2.64440945e+02] [ 9.29109715e-03 2.04182779e-04 9.99956816e-01 -2.77400513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 849.906559995 meters 0.01608844359683765 Centerline is valid? [True, True] Translation: X:-179.57, Y:-264.42, Z:-2.77 [[-6.85820512e-01 -7.27734808e-01 7.23011784e-03 -1.79567419e+02] [ 7.27698115e-01 -6.85858578e-01 -7.31198921e-03 -2.64422679e+02] [ 1.02800274e-02 2.46630939e-04 9.99947129e-01 -2.77467483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 849.9365599949999 meters 0.017601525807058645 Centerline is valid? [True, True] Translation: X:-179.59, Y:-264.41, Z:-2.78 [[-6.85462026e-01 -7.28071490e-01 7.32917036e-03 -1.79588880e+02] [ 7.28033850e-01 -6.85501159e-01 -7.40772665e-03 -2.64405594e+02] [ 1.04175094e-02 2.58168797e-04 9.99945703e-01 -2.77553618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 849.9665599949999 meters 0.0163877581417035 Centerline is valid? [True, True] Translation: X:-179.61, Y:-264.38, Z:-2.77 [[-6.85249058e-01 -7.28271763e-01 7.34624117e-03 -1.79607303e+02] [ 7.28234003e-01 -6.85288384e-01 -7.42077460e-03 -2.64384558e+02] [ 1.04386343e-02 2.64703814e-04 9.99945481e-01 -2.77404407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 849.996559995 meters 0.016282193527158973 Centerline is valid? [True, True] Translation: X:-179.63, Y:-264.36, Z:-2.77 [[-6.85052310e-01 -7.28461250e-01 6.89494377e-03 -1.79627283e+02] [ 7.28428036e-01 -6.85086960e-01 -6.96091342e-03 -2.64364757e+02] [ 9.79439175e-03 2.53880528e-04 9.99952002e-01 -2.77334938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 850.026559995 meters 0.017434103690384294 Centerline is valid? [True, True] Translation: X:-179.65, Y:-264.35, Z:-2.77 [[-6.84428289e-01 -7.29050613e-01 6.56657507e-03 -1.79648471e+02] [ 7.29020552e-01 -6.84459743e-01 -6.62540711e-03 -2.64347503e+02] [ 9.32481340e-03 2.52552123e-04 9.99956491e-01 -2.77313963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 850.0565599949999 meters 0.016847895066049695 Centerline is valid? [True, True] Translation: X:-179.67, Y:-264.33, Z:-2.77 [[-6.84338792e-01 -7.29131621e-01 6.89185067e-03 -1.79667781e+02] [ 7.29098550e-01 -6.84373441e-01 -6.94963323e-03 -2.64326852e+02] [ 9.78379690e-03 2.68934727e-04 9.99952101e-01 -2.77231731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 850.0865599949999 meters 0.017327890314606242 Centerline is valid? [True, True] Translation: X:-179.69, Y:-264.31, Z:-2.77 [[-6.84401092e-01 -7.29073599e-01 6.84347836e-03 -1.79687752e+02] [ 7.29041028e-01 -6.84435253e-01 -6.89670466e-03 -2.64308707e+02] [ 9.71212313e-03 2.69064298e-04 9.99952800e-01 -2.77260468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 850.116559995 meters 0.017453879306845922 Centerline is valid? [True, True] Translation: X:-179.71, Y:-264.29, Z:-2.77 [[-6.84573124e-01 -7.28910516e-01 7.00696542e-03 -1.79707937e+02] [ 7.28876406e-01 -6.84608928e-01 -7.05701062e-03 -2.64290042e+02] [ 9.94096033e-03 2.76171964e-04 9.99950549e-01 -2.77322527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 850.146559995 meters 0.017656657052672897 Centerline is valid? [True, True] Translation: X:-179.73, Y:-264.27, Z:-2.77 [[-6.84781316e-01 -7.28710846e-01 7.41977016e-03 -1.79727052e+02] [ 7.28672625e-01 -6.84821450e-01 -7.46912816e-03 -2.64271599e+02] [ 1.05240525e-02 2.91863992e-04 9.99944578e-01 -2.77354665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 850.1765599949999 meters 0.018154393733148918 Centerline is valid? [True, True] Translation: X:-179.75, Y:-264.25, Z:-2.77 [[-6.85782189e-01 -7.27763291e-01 7.96122129e-03 -1.79746037e+02] [ 7.27719283e-01 -6.85828333e-01 -8.00894700e-03 -2.64253789e+02] [ 1.12886487e-02 3.01141039e-04 9.99936236e-01 -2.77452329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 850.2065599949999 meters 0.01692125241521339 Centerline is valid? [True, True] Translation: X:-179.76, Y:-264.23, Z:-2.77 [[-6.86495374e-01 -7.27090230e-01 7.99372110e-03 -1.79763456e+02] [ 7.27045874e-01 -6.86541849e-01 -8.03660183e-03 -2.64233246e+02] [ 1.13313587e-02 2.94711961e-04 9.99935755e-01 -2.77391093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 850.236559995 meters 0.01760095623992576 Centerline is valid? [True, True] Translation: X:-179.78, Y:-264.22, Z:-2.77 [[-6.87679081e-01 -7.25966734e-01 8.35360951e-03 -1.79782674e+02] [ 7.25918276e-01 -6.87729755e-01 -8.39290182e-03 -2.64215622e+02] [ 1.18379933e-02 2.92414816e-04 9.99929886e-01 -2.77472114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 850.266559995 meters 0.015996529240271385 Centerline is valid? [True, True] Translation: X:-179.80, Y:-264.19, Z:-2.77 [[-6.90097348e-01 -7.23674130e-01 7.83609756e-03 -1.79799667e+02] [ 7.23631390e-01 -6.90141794e-01 -7.86859448e-03 -2.64192852e+02] [ 1.11023167e-02 2.40349992e-04 9.99938339e-01 -2.77300186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 850.2965599949999 meters 0.015286533159402193 Centerline is valid? [True, True] Translation: X:-179.82, Y:-264.17, Z:-2.77 [[-6.91681004e-01 -7.22161641e-01 7.74295469e-03 -1.79818049e+02] [ 7.22119863e-01 -6.91724308e-01 -7.77078325e-03 -2.64171785e+02] [ 1.09677516e-02 2.16438219e-04 9.99939829e-01 -2.77206923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 850.3265599949999 meters 0.015160339217988648 Centerline is valid? [True, True] Translation: X:-179.84, Y:-264.15, Z:-2.77 [[-6.93346872e-01 -7.20567335e-01 7.26851783e-03 -1.79836633e+02] [ 7.20530473e-01 -6.93384945e-01 -7.29070419e-03 -2.64152230e+02] [ 1.02933241e-02 1.82201649e-04 9.99947006e-01 -2.77211234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 850.356559995 meters 0.014210025401587674 Centerline is valid? [True, True] Translation: X:-179.86, Y:-264.13, Z:-2.77 [[-6.95107295e-01 -7.18868573e-01 7.33643474e-03 -1.79855041e+02] [ 7.18830966e-01 -6.95145991e-01 -7.35477799e-03 -2.64130571e+02] [ 1.03870120e-02 1.61296634e-04 9.99946041e-01 -2.77102209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 850.386559995 meters 0.013424259728893042 Centerline is valid? [True, True] Translation: X:-179.87, Y:-264.11, Z:-2.77 [[-6.98117782e-01 -7.15946344e-01 7.23844488e-03 -1.79872581e+02] [ 7.15909617e-01 -6.98155297e-01 -7.25268650e-03 -2.64110296e+02] [ 1.02460930e-02 1.18842893e-04 9.99947500e-01 -2.77143873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 850.416559995 meters 0.012841833584064063 Centerline is valid? [True, True] Translation: X:-179.89, Y:-264.09, Z:-2.77 [[-7.00367972e-01 -7.13741986e-01 7.55527700e-03 -1.79891119e+02] [ 7.13701890e-01 -7.00408716e-01 -7.56589925e-03 -2.64088761e+02] [ 1.06918818e-02 9.33019672e-05 9.99942836e-01 -2.77106657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 850.4465599949999 meters 0.012765171107220693 Centerline is valid? [True, True] Translation: X:-179.91, Y:-264.07, Z:-2.77 [[-7.01447664e-01 -7.12676384e-01 7.97164577e-03 -1.79910412e+02] [ 7.12631734e-01 -7.01492955e-01 -7.97785214e-03 -2.64068946e+02] [ 1.12776802e-02 8.48020068e-05 9.99936401e-01 -2.77151293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 850.4765599949999 meters 0.012679689675353002 Centerline is valid? [True, True] Translation: X:-179.93, Y:-264.05, Z:-2.77 [[-7.02633413e-01 -7.11500609e-01 8.55393136e-03 -1.79929557e+02] [ 7.11449176e-01 -7.02685475e-01 -8.55524875e-03 -2.64049175e+02] [ 1.20977880e-02 7.44837937e-05 9.99926816e-01 -2.77182723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 850.506559995 meters 0.012643253993263503 Centerline is valid? [True, True] Translation: X:-179.95, Y:-264.03, Z:-2.77 [[-7.03613250e-01 -7.10526354e-01 8.98305785e-03 -1.79948146e+02] [ 7.10469626e-01 -7.03670588e-01 -8.97856677e-03 -2.64030322e+02] [ 1.27006219e-02 6.47512082e-05 9.99919342e-01 -2.77220512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 850.536559995 meters 0.012585823240880914 Centerline is valid? [True, True] Translation: X:-180.45, Y:-264.54, Z:-1.81 [[-7.58027993e-01 6.52142929e-01 1.01569394e-02 -1.80453426e+02] [ 6.52083488e-01 7.58096035e-01 -8.80488519e-03 -2.64536524e+02] [-1.34419791e-02 -5.11769657e-05 -9.99909651e-01 -1.81265159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 850.5665599949999 meters 0.012607009314932362 Centerline is valid? [True, True] Translation: X:-179.98, Y:-264.00, Z:-2.77 [[-7.07626569e-01 -7.06521126e-01 9.61963633e-03 -1.79983417e+02] [ 7.06456945e-01 -7.07691949e-01 -9.52315348e-03 -2.64001322e+02] [ 1.35360483e-02 5.70224675e-05 9.99908382e-01 -2.77245906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 850.5965599949999 meters 0.012604134757568478 Centerline is valid? [True, True] Translation: X:-180.48, Y:-264.51, Z:-1.81 [[-7.59109558e-01 6.50886059e-01 1.00008626e-02 -1.80482688e+02] [ 6.50829105e-01 7.59175433e-01 -8.61036152e-03 -2.64511704e+02] [-1.31967734e-02 -2.73552909e-05 -9.99912919e-01 -1.81213012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 850.626559995 meters 0.012604134757568478 Centerline is valid? [True, True] Translation: X:-180.01, Y:-263.98, Z:-2.77 [[-7.10651216e-01 -7.03481601e-01 9.40672518e-03 -1.80013533e+02] [ 7.03420501e-01 -7.10713470e-01 -9.27155269e-03 -2.63976831e+02] [ 1.32078530e-02 2.80431487e-05 9.99912772e-01 -2.77245058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 850.656559995 meters 0.012399292844077932 Centerline is valid? [True, True] Translation: X:-180.51, Y:-264.49, Z:-1.81 [[-7.60206917e-01 6.49605135e-01 9.93030584e-03 -1.80514189e+02] [ 6.49549672e-01 7.60271773e-01 -8.48858826e-03 -2.64485702e+02] [-1.30639617e-02 -2.85661402e-06 -9.99914663e-01 -1.81346936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 850.6865599949999 meters 0.012476965752818916 Centerline is valid? [True, True] Translation: X:-180.49, Y:-264.47, Z:-1.81 [[-8.03647736e-01 5.95017584e-01 1.02171872e-02 -1.80494997e+02] [ 5.94969646e-01 8.03712682e-01 -7.55284136e-03 -2.64465235e+02] [-1.27057564e-02 9.09241259e-06 -9.99919279e-01 -1.81352916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 850.7165599949999 meters 0.01245847898498036 Centerline is valid? [True, True] Translation: X:-180.07, Y:-263.89, Z:-2.77 [[-7.63844489e-01 -6.45330012e-01 9.52749679e-03 -1.80069630e+02] [ 6.45279468e-01 -7.63903905e-01 -8.07666448e-03 -2.63894805e+02] [ 1.24902060e-02 -2.14175919e-05 9.99921994e-01 -2.77077947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 850.746559995 meters 0.012558105501645976 Centerline is valid? [True, True] Translation: X:-180.53, Y:-264.44, Z:-1.81 [[-8.04251608e-01 5.94202419e-01 1.01407762e-02 -1.80528127e+02] [ 5.94155834e-01 8.04315537e-01 -7.44057977e-03 -2.64442415e+02] [-1.25775944e-02 4.11031063e-05 -9.99920898e-01 -1.81442730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 850.776559995 meters 0.012597492691635424 Centerline is valid? [True, True] Translation: X:-180.51, Y:-264.42, Z:-1.81 [[-8.44116031e-01 5.36053053e-01 1.07354601e-02 -1.80512210e+02] [ 5.36010400e-01 8.44184294e-01 -6.76227762e-03 -2.64419323e+02] [-1.26876463e-02 4.61713025e-05 -9.99919508e-01 -1.81463980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 850.8065599949999 meters 0.012668204223292748 Centerline is valid? [True, True] Translation: X:-180.49, Y:-264.40, Z:-1.82 [[-8.79806440e-01 4.75210596e-01 1.07479186e-02 -1.80491967e+02] [ 4.75175807e-01 8.79872086e-01 -5.75026534e-03 -2.64397192e+02] [-1.21893806e-02 4.80304283e-05 -9.99925706e-01 -1.81505262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 850.8365599949999 meters 0.01275687069287496 Centerline is valid? [True, True] Translation: X:-180.48, Y:-264.37, Z:-1.81 [[-9.11486797e-01 4.11188292e-01 1.07706966e-02 -1.80480606e+02] [ 4.11160105e-01 9.11550430e-01 -4.81471575e-03 -2.64370898e+02] [-1.17977879e-02 3.99309106e-05 -9.99930403e-01 -1.81468896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 850.866559995 meters 0.012597314641820375 Centerline is valid? [True, True] Translation: X:-180.47, Y:-264.35, Z:-1.82 [[-9.38425995e-01 3.45319256e-01 1.05481545e-02 -1.80465501e+02] [ 3.45297864e-01 9.38485274e-01 -3.84384091e-03 -2.64345519e+02] [-1.12266400e-02 3.50949996e-05 -9.99936979e-01 -1.81632946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 850.896559995 meters 0.012515818121815543 Centerline is valid? [True, True] Translation: X:-180.22, Y:-263.69, Z:-2.77 [[-9.14887796e-01 -4.03603736e-01 9.18393147e-03 -1.80223362e+02] [ 4.03582253e-01 -9.14933885e-01 -4.16553585e-03 -2.63686291e+02] [ 1.00839159e-02 -1.04526157e-04 9.99949151e-01 -2.76760212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 850.9265599949999 meters 0.012513065494896414 Centerline is valid? [True, True] Translation: X:-180.51, Y:-264.33, Z:-1.82 [[-9.40608399e-01 3.39357122e-01 9.62205012e-03 -1.80510926e+02] [ 3.39339429e-01 9.40657613e-01 -3.46522702e-03 -2.64325467e+02] [-1.02270042e-02 5.71935963e-06 -9.99947703e-01 -1.81718909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 850.9565599949999 meters 0.012575467254530544 Centerline is valid? [True, True] Translation: X:-180.50, Y:-264.30, Z:-1.82 [[-9.62618299e-01 2.70674864e-01 1.00562565e-02 -1.80502031e+02] [ 2.70660019e-01 9.62670825e-01 -2.83479538e-03 -2.64297449e+02] [-1.04481726e-02 -6.99933928e-06 -9.99945416e-01 -1.81681586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 850.986559995 meters 0.012643330137022476 Centerline is valid? [True, True] Translation: X:-180.50, Y:-264.27, Z:-1.82 [[-9.79960443e-01 1.98911754e-01 1.05661622e-02 -1.80497206e+02] [ 1.98899773e-01 9.80017404e-01 -2.18347002e-03 -2.64266339e+02] [-1.07893407e-02 -3.81069780e-05 -9.99941793e-01 -1.81646821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 851.016559995 meters 0.0126786031042518 Centerline is valid? [True, True] Translation: X:-180.50, Y:-264.24, Z:-1.82 [[-9.91749343e-01 1.27747515e-01 1.06682904e-02 -1.80500776e+02] [ 1.27739578e-01 9.91806720e-01 -1.42493925e-03 -2.64235649e+02] [-1.07629145e-02 -5.04196632e-05 -9.99942077e-01 -1.81618830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 851.0465599949999 meters 0.012968130032267043 Centerline is valid? [True, True] Translation: X:-180.41, Y:-263.56, Z:-2.77 [[-9.78457408e-01 -2.06176636e-01 1.05969253e-02 -1.80408919e+02] [ 2.06165147e-01 -9.78514789e-01 -2.17723409e-03 -2.63562469e+02] [ 1.08181429e-02 5.43858377e-05 9.99941481e-01 -2.76868685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 851.0765599949999 meters 0.013334348440600793 Centerline is valid? [True, True] Translation: X:-180.55, Y:-264.22, Z:-1.81 [[-9.92730073e-01 1.19864365e-01 1.09332951e-02 -1.80552418e+02] [ 1.19856062e-01 9.92790273e-01 -1.41388931e-03 -2.64223983e+02] [-1.10239440e-02 -9.31887502e-05 -9.99939230e-01 -1.81491316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 851.106559995 meters 0.013311921644773411 Centerline is valid? [True, True] Translation: X:-180.55, Y:-264.20, Z:-1.82 [[-9.98780925e-01 4.80393193e-02 1.13528799e-02 -1.80554397e+02] [ 4.80349900e-02 9.98845440e-01 -6.53859120e-04 -2.64195384e+02] [-1.13711833e-02 -1.07726543e-04 -9.99935340e-01 -1.81526132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 851.136559995 meters 0.013316147006778878 Centerline is valid? [True, True] Translation: X:-180.56, Y:-264.17, Z:-1.82 [[-9.99644743e-01 -2.38782855e-02 1.18412707e-02 -1.80558695e+02] [-2.38780479e-02 9.99714866e-01 1.61455718e-04 -2.64167062e+02] [-1.18417496e-02 -1.21348069e-04 -9.99929877e-01 -1.81538179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 851.166559995 meters 0.013577371620034915 Centerline is valid? [True, True] Translation: X:-180.57, Y:-263.50, Z:-2.77 [[-9.97788205e-01 -6.52660153e-02 1.26113549e-02 -1.80565638e+02] [ 6.52631088e-02 -9.97867884e-01 -6.42310438e-04 -2.63498889e+02] [ 1.26263871e-02 1.82166450e-04 9.99920268e-01 -2.76977902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 851.1965599949999 meters 0.01372762891172259 Centerline is valid? [True, True] Translation: X:-180.64, Y:-264.17, Z:-1.81 [[-9.99447189e-01 -3.06406146e-02 1.29023267e-02 -1.80637232e+02] [-3.06400432e-02 9.99530454e-01 2.42003830e-04 -2.64165307e+02] [-1.29036836e-02 -1.53457799e-04 -9.99916732e-01 -1.81465507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 851.2265599949999 meters 0.013758864938681706 Centerline is valid? [True, True] Translation: X:-180.65, Y:-263.50, Z:-2.77 [[-9.98072601e-01 -6.06853796e-02 1.29756711e-02 -1.80646659e+02] [ 6.06823374e-02 -9.98156931e-01 -6.28409409e-04 -2.63501641e+02] [ 1.29898913e-02 1.60195835e-04 9.99915615e-01 -2.77025353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 851.256559995 meters 0.013590650146454414 Centerline is valid? [True, True] Translation: X:-180.71, Y:-264.16, Z:-1.82 [[-9.99280106e-01 -3.57708828e-02 1.26377698e-02 -1.80714011e+02] [-3.57698887e-02 9.99360006e-01 3.04764061e-04 -2.64164978e+02] [-1.26405834e-02 -1.47506957e-04 -9.99920094e-01 -1.81522480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 851.286559995 meters 0.013509467702136367 Centerline is valid? [True, True] Translation: X:-180.72, Y:-264.14, Z:-1.82 [[-9.94230971e-01 -1.06509263e-01 1.26709756e-02 -1.80722021e+02] [-1.06502466e-01 9.94311700e-01 1.21191776e-03 -2.64137809e+02] [-1.27279798e-02 -1.44563987e-04 -9.99918986e-01 -1.81549424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 851.3165599949999 meters 0.01354299798324549 Centerline is valid? [True, True] Translation: X:-180.73, Y:-264.11, Z:-1.81 [[-9.84182802e-01 -1.76701045e-01 1.26867363e-02 -1.80734408e+02] [-1.76688196e-01 9.84264559e-01 2.13545253e-03 -2.64111196e+02] [-1.28644416e-02 -1.39920913e-04 -9.99917240e-01 -1.81497022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 851.3465599949999 meters 0.013366802379710482 Centerline is valid? [True, True] Translation: X:-180.76, Y:-264.09, Z:-1.81 [[-9.69238911e-01 -2.45799940e-01 1.25826864e-02 -1.80758421e+02] [-2.45780900e-01 9.69320573e-01 3.06189387e-03 -2.64087748e+02] [-1.29492701e-02 -1.24877300e-04 -9.99916147e-01 -1.81485655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 851.376559995 meters 0.013287916734061385 Centerline is valid? [True, True] Translation: X:-180.80, Y:-264.07, Z:-1.81 [[-9.49140863e-01 -3.14622598e-01 1.20101322e-02 -1.80796732e+02] [-3.14598910e-01 9.49216840e-01 3.86227364e-03 -2.64069910e+02] [-1.26153783e-02 -1.12532768e-04 -9.99920417e-01 -1.81498890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 851.406559995 meters 0.01314326159633724 Centerline is valid? [True, True] Translation: X:-180.86, Y:-264.06, Z:-1.82 [[-9.23695278e-01 -3.82946564e-01 1.17882231e-02 -1.80857209e+02] [-3.82916872e-01 9.23770490e-01 4.76981436e-03 -2.64062408e+02] [-1.27161967e-02 -1.08054529e-04 -9.99919140e-01 -1.81502326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 851.4365599949999 meters 0.013025976535870218 Centerline is valid? [True, True] Translation: X:-180.92, Y:-264.06, Z:-1.81 [[-8.93450370e-01 -4.49014775e-01 1.14964663e-02 -1.80921277e+02] [-4.48978938e-01 8.93524327e-01 5.67360025e-03 -2.64060914e+02] [-1.28199027e-02 -9.25910067e-05 -9.99917818e-01 -1.81482989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 851.4665599949999 meters 0.012935480047626933 Centerline is valid? [True, True] Translation: X:-180.99, Y:-264.07, Z:-1.82 [[-8.57884051e-01 -5.13723178e-01 1.11108859e-02 -1.80993619e+02] [-5.13681402e-01 8.57955995e-01 6.55198175e-03 -2.64069038e+02] [-1.28985561e-02 -8.66148172e-05 -9.99916807e-01 -1.81524595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 851.496559995 meters 0.012803483114677302 Centerline is valid? [True, True] Translation: X:-181.08, Y:-264.09, Z:-1.82 [[-8.17718226e-01 -5.75514001e-01 1.09789708e-02 -1.81076806e+02] [-5.75463404e-01 8.17791923e-01 7.63159246e-03 -2.64090009e+02] [-1.33706019e-02 -7.75036671e-05 -9.99910607e-01 -1.81511888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 851.526559995 meters 0.01274766499473792 Centerline is valid? [True, True] Translation: X:-181.16, Y:-264.12, Z:-1.82 [[-7.73333501e-01 -6.33915674e-01 1.03060714e-02 -1.81158618e+02] [-6.33860290e-01 7.73402169e-01 8.37957727e-03 -2.64118854e+02] [-1.32826834e-02 -5.24015806e-05 -9.99911780e-01 -1.81536676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 851.5565599949999 meters 0.012678509162952226 Centerline is valid? [True, True] Translation: X:-181.24, Y:-264.16, Z:-1.82 [[-7.24249458e-01 -6.89477319e-01 9.15142456e-03 -1.81243789e+02] [-6.89422854e-01 7.24307273e-01 8.66619986e-03 -2.64157696e+02] [-1.26035916e-02 -3.27106889e-05 -9.99920571e-01 -1.81547005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 851.5865599949999 meters 0.012602516981727133 Centerline is valid? [True, True] Translation: X:-181.33, Y:-264.21, Z:-1.82 [[-6.70895115e-01 -7.41507534e-01 8.14381867e-03 -1.81330418e+02] [-7.41453216e-01 6.70944541e-01 8.97509223e-03 -2.64208274e+02] [-1.21191492e-02 -1.69150029e-05 -9.99926560e-01 -1.81607986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 851.616559995 meters 0.01261930458525802 Centerline is valid? [True, True] Translation: X:-181.41, Y:-264.27, Z:-1.82 [[-6.15086115e-01 -7.88426231e-01 7.29033670e-03 -1.81414661e+02] [-7.88370469e-01 6.15129318e-01 9.37693254e-03 -2.64269649e+02] [-1.18775194e-02 2.01348455e-05 -9.99929460e-01 -1.81672992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 851.646559995 meters 0.012995879437456254 Centerline is valid? [True, True] Translation: X:-181.49, Y:-264.34, Z:-1.81 [[-5.54810905e-01 -8.31951734e-01 6.41656658e-03 -1.81493556e+02] [-8.31895215e-01 5.54848007e-01 9.69744715e-03 -2.64335303e+02] [-1.16280271e-02 4.23383935e-05 -9.99932391e-01 -1.81461132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 851.6765599949999 meters 0.012869615126069642 Centerline is valid? [True, True] Translation: X:-181.57, Y:-264.41, Z:-1.82 [[-4.91332037e-01 -8.70953182e-01 5.77786876e-03 -1.81571248e+02] [-8.70891364e-01 4.91366005e-01 1.03769900e-02 -2.64411759e+02] [-1.18769208e-02 6.66516416e-05 -9.99929465e-01 -1.81638602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 851.7065599949999 meters 0.01306678554085804 Centerline is valid? [True, True] Translation: X:-181.65, Y:-264.50, Z:-1.82 [[-4.25116905e-01 -9.05125198e-01 4.89830388e-03 -1.81645055e+02] [-9.05062671e-01 4.25145115e-01 1.06392577e-02 -2.64499669e+02] [-1.17123502e-02 8.96563133e-05 -9.99931404e-01 -1.81617383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 851.736559995 meters 0.013673948924971027 Centerline is valid? [True, True] Translation: X:-181.71, Y:-264.59, Z:-1.82 [[-3.57778520e-01 -9.33797995e-01 3.97934779e-03 -1.81709468e+02] [-9.33736175e-01 3.57800626e-01 1.07456008e-02 -2.64591695e+02] [-1.14580336e-02 1.28884152e-04 -9.99934346e-01 -1.81612535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 851.766559995 meters 0.013855377972259135 Centerline is valid? [True, True] Translation: X:-181.77, Y:-264.69, Z:-1.82 [[-2.86400582e-01 -9.58104764e-01 3.15714705e-03 -1.81770668e+02] [-9.58040802e-01 2.86417946e-01 1.10716505e-02 -2.64692098e+02] [-1.15120647e-02 1.46251454e-04 -9.99933723e-01 -1.81625291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 851.7965599949999 meters 0.014250125655534242 Centerline is valid? [True, True] Translation: X:-181.82, Y:-264.80, Z:-1.82 [[-2.13430393e-01 -9.76955695e-01 2.24434910e-03 -1.81824529e+02] [-9.76893484e-01 2.13442133e-01 1.10262399e-02 -2.64799536e+02] [-1.12511865e-02 1.60844713e-04 -9.99936691e-01 -1.81625363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 851.8265599949999 meters 0.014521724075764256 Centerline is valid? [True, True] Translation: X:-181.87, Y:-264.91, Z:-1.82 [[-1.38877074e-01 -9.90308646e-01 1.39399160e-03 -1.81870444e+02] [-9.90245254e-01 1.38883958e-01 1.12064275e-02 -2.64911276e+02] [-1.12914251e-02 1.75922295e-04 -9.99936234e-01 -1.81621321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 851.856559995 meters 0.01511905682105283 Centerline is valid? [True, True] Translation: X:-181.91, Y:-265.02, Z:-1.82 [[-6.48658152e-02 -9.97893861e-01 5.18796307e-04 -1.81906757e+02] [-9.97831963e-01 6.48675710e-02 1.11163084e-02 -2.65022358e+02] [-1.11265490e-02 2.03396871e-04 -9.99938077e-01 -1.81662845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 851.886559995 meters 0.015036410752107423 Centerline is valid? [True, True] Translation: X:-181.94, Y:-265.14, Z:-1.82 [[ 1.06426269e-02 -9.99943310e-01 -3.33600794e-04 -1.81935903e+02] [-9.99883461e-01 -1.06456405e-02 1.09423843e-02 -2.65141930e+02] [-1.09453154e-02 2.17106203e-04 -9.99940075e-01 -1.81721916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 851.916559995 meters 0.016263468565030116 Centerline is valid? [True, True] Translation: X:-181.95, Y:-265.26, Z:-1.82 [[ 8.39109646e-02 -9.96472603e-01 -1.14072248e-03 -1.81953530e+02] [-9.96416667e-01 -8.39183443e-02 1.05610838e-02 -2.65261735e+02] [-1.06195582e-02 2.50444158e-04 -9.99943580e-01 -1.81710640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 851.9465599949999 meters 0.01696263157226909 Centerline is valid? [True, True] Translation: X:-182.65, Y:-265.45, Z:-2.77 [[ 6.54260745e-02 9.97857340e-01 -3.98074812e-04 -1.82651151e+02] [-9.97805447e-01 6.54267332e-02 1.01800520e-02 -2.65446227e+02] [ 1.01842843e-02 -2.68839625e-04 9.99948103e-01 -2.76717817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 851.9765599949999 meters 0.017914441208151173 Centerline is valid? [True, True] Translation: X:-181.92, Y:-265.54, Z:-1.82 [[ 8.92389535e-02 -9.96009569e-01 -1.16052473e-03 -1.81923582e+02] [-9.95960907e-01 -8.92460698e-02 9.84940930e-03 -2.65542897e+02] [-9.91367819e-03 2.76886285e-04 -9.99950820e-01 -1.81719623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 852.006559995 meters 0.01868142338954895 Centerline is valid? [True, True] Translation: X:-181.93, Y:-265.66, Z:-1.82 [[ 1.63602183e-01 -9.86524572e-01 -1.89603970e-03 -1.81932679e+02] [-9.86477617e-01 -1.63612904e-01 9.62960052e-03 -2.65663018e+02] [-9.81005409e-03 2.94977059e-04 -9.99951837e-01 -1.81719065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 852.036559995 meters 0.018319865004379123 Centerline is valid? [True, True] Translation: X:-181.93, Y:-265.79, Z:-1.82 [[ 2.35891678e-01 -9.71776070e-01 -2.52704934e-03 -1.81933422e+02] [-9.71733696e-01 -2.35905005e-01 9.08037721e-03 -2.65788125e+02] [-9.42023686e-03 3.13633579e-04 -9.99955580e-01 -1.81801625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 852.0665599949999 meters 0.017999460265597282 Centerline is valid? [True, True] Translation: X:-181.93, Y:-265.91, Z:-1.82 [[ 3.09028702e-01 -9.51047732e-01 -3.07773700e-03 -1.81926559e+02] [-9.51010011e-01 -3.09043875e-01 8.47606339e-03 -2.65905691e+02] [-9.01229663e-03 3.07611831e-04 -9.99959341e-01 -1.81841026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 852.0965599949999 meters 0.0211864969969598 Centerline is valid? [True, True] Translation: X:-181.91, Y:-266.02, Z:-1.82 [[ 3.80716415e-01 -9.24684925e-01 -3.57782862e-03 -1.81905874e+02] [-9.24651223e-01 -3.80733108e-01 7.90038076e-03 -2.66020255e+02] [-8.66756080e-03 3.00438972e-04 -9.99962391e-01 -1.81754249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 852.126559995 meters 0.018476194411855197 Centerline is valid? [True, True] Translation: X:-181.88, Y:-266.14, Z:-1.82 [[ 4.50509383e-01 -8.92762021e-01 -4.15569690e-03 -1.81884112e+02] [-8.92729973e-01 -4.50528450e-01 7.57044908e-03 -2.66138254e+02] [-8.63086910e-03 2.99356835e-04 -9.99962709e-01 -1.81865484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 852.156559995 meters 0.018990346268085028 Centerline is valid? [True, True] Translation: X:-181.85, Y:-266.26, Z:-1.82 [[ 5.18611454e-01 -8.54996572e-01 -4.79802622e-03 -1.81849229e+02] [-8.54965079e-01 -5.18633566e-01 7.34424184e-03 -2.66255068e+02] [-8.76771904e-03 2.93336927e-04 -9.99961520e-01 -1.81791334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 852.1865599949999 meters 0.018282301409315548 Centerline is valid? [True, True] Translation: X:-181.81, Y:-266.36, Z:-1.82 [[ 5.83244388e-01 -8.12278632e-01 -5.42287811e-03 -1.81812513e+02] [-8.12248027e-01 -5.83269526e-01 7.05711592e-03 -2.66360981e+02] [-8.89534402e-03 2.88698788e-04 -9.99960394e-01 -1.81766150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 852.2165599949999 meters 0.018355921889795082 Centerline is valid? [True, True] Translation: X:-181.77, Y:-266.47, Z:-1.82 [[ 6.45562665e-01 -7.63685272e-01 -5.80085116e-03 -1.81766240e+02] [-7.63657974e-01 -6.45588676e-01 6.46225460e-03 -2.66466113e+02] [-8.68009248e-03 2.58075939e-04 -9.99962294e-01 -1.81727866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 852.246559995 meters 0.017989853075052922 Centerline is valid? [True, True] Translation: X:-181.72, Y:-266.56, Z:-1.82 [[ 7.02832881e-01 -7.11330550e-01 -5.89837029e-03 -1.81715810e+02] [-7.11308220e-01 -7.02857593e-01 5.64102797e-03 -2.66562073e+02] [-8.15834987e-03 2.30859328e-04 -9.99966694e-01 -1.81721912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 852.276559995 meters 0.01698815832350664 Centerline is valid? [True, True] Translation: X:-181.72, Y:-266.57, Z:-1.82 [[ 7.56878331e-01 -6.53529373e-01 -5.87802115e-03 -1.81721223e+02] [-6.53511775e-01 -7.56901127e-01 4.80045843e-03 -2.66574250e+02] [-7.58632142e-03 2.07993074e-04 -9.99971202e-01 -1.81781143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 852.3065599949999 meters 0.016042043993347136 Centerline is valid? [True, True] Translation: X:-181.73, Y:-266.59, Z:-1.82 [[ 8.06981655e-01 -5.90547634e-01 -5.83956505e-03 -1.81726847e+02] [-5.90533762e-01 -8.07002764e-01 4.05163123e-03 -2.66588661e+02] [-7.10522636e-03 1.78868241e-04 -9.99974742e-01 -1.81774471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 852.3365599949999 meters 0.01615508672503937 Centerline is valid? [True, True] Translation: X:-181.73, Y:-266.60, Z:-1.82 [[ 8.51330606e-01 -5.24596094e-01 -5.92767270e-03 -1.81730344e+02] [-5.24584712e-01 -8.51351227e-01 3.45951486e-03 -2.66599305e+02] [-6.86137941e-03 1.64375593e-04 -9.99976447e-01 -1.81753974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 852.366559995 meters 0.015938955634863805 Centerline is valid? [True, True] Translation: X:-181.73, Y:-266.61, Z:-1.82 [[ 8.90263825e-01 -4.55407913e-01 -5.82698289e-03 -1.81731432e+02] [-4.55399236e-01 -8.90282883e-01 2.81521726e-03 -2.66610665e+02] [-6.46973534e-03 1.47317462e-04 -9.99979060e-01 -1.81762386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 852.396559995 meters 0.015223024430380155 Centerline is valid? [True, True] Translation: X:-181.73, Y:-266.62, Z:-1.82 [[ 9.24454301e-01 -3.81256323e-01 -5.27842606e-03 -1.81733007e+02] [-3.81250783e-01 -9.24469364e-01 2.05816007e-03 -2.66624113e+02] [-5.66442972e-03 1.09729144e-04 -9.99983951e-01 -1.81768326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 852.4265599949999 meters 0.01432222805277675 Centerline is valid? [True, True] Translation: X:-181.73, Y:-266.64, Z:-1.82 [[ 9.52086617e-01 -3.05787498e-01 -5.00801478e-03 -1.81732699e+02] [-3.05783765e-01 -9.52099784e-01 1.51357036e-03 -2.66638429e+02] [-5.23096069e-03 9.03195317e-05 -9.99986314e-01 -1.81799431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 852.4565599949999 meters 0.013713901561447707 Centerline is valid? [True, True] Translation: X:-181.73, Y:-266.65, Z:-1.82 [[ 9.73720333e-01 -2.27683715e-01 -5.37017375e-03 -1.81730913e+02] [-2.27680701e-01 -9.73735138e-01 1.17433872e-03 -2.66652734e+02] [-5.49650468e-03 7.92074278e-05 -9.99984891e-01 -1.81806707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 852.486559995 meters 0.01340292494477777 Centerline is valid? [True, True] Translation: X:-181.73, Y:-266.67, Z:-1.82 [[ 9.88955363e-01 -1.48101710e-01 -5.75960628e-03 -1.81728905e+02] [-1.48099597e-01 -9.88972133e-01 7.93859287e-04 -2.66665582e+02] [-5.81366202e-03 6.79039715e-05 -9.99983098e-01 -1.81782577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 852.516559995 meters 0.01340292494477777 Centerline is valid? [True, True] Translation: X:-181.73, Y:-266.67, Z:-1.82 [[ 9.97514178e-01 -7.02266068e-02 -5.80410464e-03 -1.81728371e+02] [-7.02258139e-02 -9.97531062e-01 3.40542048e-04 -2.66674296e+02] [-5.81368978e-03 6.79024510e-05 -9.99983098e-01 -1.81782552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 852.5465599949999 meters 0.012616895015886592 Centerline is valid? [True, True] Translation: X:-181.73, Y:-266.69, Z:-1.82 [[ 9.99873932e-01 1.44986211e-02 -6.47388048e-03 -1.81726905e+02] [ 1.44980959e-02 -9.99894889e-01 -1.28050632e-04 -2.66692376e+02] [-6.47505656e-03 3.41755488e-05 -9.99979036e-01 -1.81737501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 852.5765599949999 meters 0.012499673722297445 Centerline is valid? [True, True] Translation: X:-181.72, Y:-266.70, Z:-1.82 [[ 9.95347365e-01 9.60885416e-02 -7.11445003e-03 -1.81723957e+02] [ 9.60859887e-02 -9.95372791e-01 -7.00561940e-04 -2.66704839e+02] [-7.14884596e-03 1.37035155e-05 -9.99974447e-01 -1.81599616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 852.606559995 meters 0.012507981507006154 Centerline is valid? [True, True] Translation: X:-181.72, Y:-266.71, Z:-1.82 [[ 9.84194647e-01 1.76920779e-01 -7.74171264e-03 -1.81720357e+02] [ 1.76915389e-01 -9.84225095e-01 -1.38104958e-03 -2.66711290e+02] [-7.86392423e-03 -1.04065013e-05 -9.99969079e-01 -1.81510042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 852.636559995 meters 0.012663902544255418 Centerline is valid? [True, True] Translation: X:-181.72, Y:-266.72, Z:-1.81 [[ 9.66541335e-01 2.56375395e-01 -8.33700734e-03 -1.81715685e+02] [ 2.56366194e-01 -9.66577289e-01 -2.17230175e-03 -2.66717869e+02] [-8.61528667e-03 -3.77074100e-05 -9.99962887e-01 -1.81485746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 852.666559995 meters 0.013666275832791881 Centerline is valid? [True, True] Translation: X:-181.71, Y:-266.73, Z:-1.81 [[ 9.41669783e-01 3.36414843e-01 -9.11443450e-03 -1.81710568e+02] [ 3.36400058e-01 -9.41713887e-01 -3.15533895e-03 -2.66726502e+02] [-9.64469240e-03 -9.48089565e-05 -9.99953485e-01 -1.81355884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 852.6965599949999 meters 0.013963267551903774 Centerline is valid? [True, True] Translation: X:-181.71, Y:-266.73, Z:-1.81 [[ 9.11451182e-01 4.11302904e-01 -9.30938566e-03 -1.81705519e+02] [ 4.11282841e-01 -9.11498714e-01 -4.06434500e-03 -2.66728942e+02] [-1.01571700e-02 -1.24338520e-04 -9.99948407e-01 -1.81393126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 852.7265599949999 meters 0.01428147238697852 Centerline is valid? [True, True] Translation: X:-181.70, Y:-266.74, Z:-1.82 [[ 8.74544705e-01 4.84862430e-01 -8.94330664e-03 -1.81697591e+02] [ 4.84838988e-01 -8.74590417e-01 -4.77057550e-03 -2.66736076e+02] [-1.01348031e-02 -1.63982200e-04 -9.99948628e-01 -1.81534294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 852.756559995 meters 0.014666002066408373 Centerline is valid? [True, True] Translation: X:-181.69, Y:-266.74, Z:-1.82 [[ 8.33070419e-01 5.53105836e-01 -8.22258345e-03 -1.81689881e+02] [ 5.53080925e-01 -8.33110980e-01 -5.25218905e-03 -2.66740921e+02] [-9.75534097e-03 -1.72310723e-04 -9.99952401e-01 -1.81561759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 852.786559995 meters 0.015010720028274598 Centerline is valid? [True, True] Translation: X:-181.68, Y:-266.74, Z:-1.82 [[ 7.86301749e-01 6.17797280e-01 -7.48867133e-03 -1.81681278e+02] [ 6.17771423e-01 -7.86337388e-01 -5.65512686e-03 -2.66744633e+02] [-9.38234425e-03 -1.79651000e-04 -9.99955969e-01 -1.81622050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 852.8165599949999 meters 0.015914608268797974 Centerline is valid? [True, True] Translation: X:-181.67, Y:-266.75, Z:-1.82 [[ 7.34145249e-01 6.78958814e-01 -6.75884952e-03 -1.81672337e+02] [ 6.78932423e-01 -7.34176336e-01 -5.98940622e-03 -2.66748932e+02] [-9.02874752e-03 -1.91707964e-04 -9.99959222e-01 -1.81668003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 852.8465599949999 meters 0.01604910713406352 Centerline is valid? [True, True] Translation: X:-181.66, Y:-266.75, Z:-1.82 [[ 6.77972915e-01 7.35063059e-01 -5.91824757e-03 -1.81664658e+02] [ 7.35037471e-01 -6.77998720e-01 -6.13614001e-03 -2.66750186e+02] [-8.52301412e-03 -1.89996995e-04 -9.99963661e-01 -1.81702790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 852.876559995 meters 0.01603811464819228 Centerline is valid? [True, True] Translation: X:-181.66, Y:-266.75, Z:-1.82 [[ 6.17464245e-01 7.86581063e-01 -5.30444909e-03 -1.81655828e+02] [ 7.86554715e-01 -6.17486998e-01 -6.44101476e-03 -2.66750914e+02] [-8.34180858e-03 -1.95143125e-04 -9.99965188e-01 -1.81775172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 852.906559995 meters 0.018112427998481326 Centerline is valid? [True, True] Translation: X:-181.65, Y:-266.75, Z:-1.82 [[ 5.52198813e-01 8.33697741e-01 -4.95446718e-03 -1.81645153e+02] [ 8.33667709e-01 -5.52220995e-01 -7.07987871e-03 -2.66754256e+02] [-8.63843969e-03 -2.20878681e-04 -9.99962664e-01 -1.81659485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 852.9365599949999 meters 0.01703779237837611 Centerline is valid? [True, True] Translation: X:-181.64, Y:-266.75, Z:-1.82 [[ 4.84098904e-01 8.75001033e-01 -4.63071034e-03 -1.81637856e+02] [ 8.74965728e-01 -4.84120990e-01 -7.86404399e-03 -2.66752776e+02] [-9.12287069e-03 -2.44737764e-04 -9.99958356e-01 -1.81703151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 852.9665599949999 meters 0.017441935180937264 Centerline is valid? [True, True] Translation: X:-181.63, Y:-266.75, Z:-1.82 [[ 4.13065171e-01 9.10691276e-01 -4.30867461e-03 -1.81628467e+02] [ 9.10648465e-01 -4.13087551e-01 -8.83455031e-03 -2.66752332e+02] [-9.82540774e-03 -2.74442884e-04 -9.99951692e-01 -1.81613491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 852.996559995 meters 0.0182759631802809 Centerline is valid? [True, True] Translation: X:-181.62, Y:-266.75, Z:-1.81 [[ 3.38216806e-01 9.41059764e-01 -3.98915237e-03 -1.81618570e+02] [ 9.41005370e-01 -3.38240170e-01 -1.01232747e-02 -2.66751503e+02] [-1.08758981e-02 -3.29952170e-04 -9.99940801e-01 -1.81478890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 853.026559995 meters 0.018452228559987606 Centerline is valid? [True, True] Translation: X:-181.61, Y:-266.75, Z:-1.81 [[ 2.62759118e-01 9.64855495e-01 -3.39395945e-03 -1.81610049e+02] [ 9.64791835e-01 -2.62780789e-01 -1.10893320e-02 -2.66749152e+02] [-1.15914702e-02 -3.60641276e-04 -9.99932752e-01 -1.81448685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 853.0565599949999 meters 0.01811665655833537 Centerline is valid? [True, True] Translation: X:-181.60, Y:-266.75, Z:-1.81 [[ 1.85837531e-01 9.82577242e-01 -2.52487105e-03 -1.81601808e+02] [ 9.82511575e-01 -1.85854317e-01 -1.13656106e-02 -2.66746792e+02] [-1.16368485e-02 -3.68558026e-04 -9.99932222e-01 -1.81440397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 853.0865599949999 meters 0.01878659815095499 Centerline is valid? [True, True] Translation: X:-181.59, Y:-266.74, Z:-1.81 [[ 1.08312883e-01 9.94115389e-01 -1.70650741e-03 -1.81593574e+02] [ 9.94041975e-01 -1.08325634e-01 -1.20875626e-02 -2.66744265e+02] [-1.22012905e-02 -3.87101239e-04 -9.99925487e-01 -1.81398847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 853.116559995 meters 0.018333681061644926 Centerline is valid? [True, True] Translation: X:-181.59, Y:-266.74, Z:-1.81 [[ 3.12823245e-02 9.99510301e-01 -7.57688473e-04 -1.81589270e+02] [ 9.99435524e-01 -3.12892565e-02 -1.22317538e-02 -2.66740829e+02] [-1.22494714e-02 -3.74623085e-04 -9.99924902e-01 -1.81350313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 853.146559995 meters 0.018183056785582827 Centerline is valid? [True, True] Translation: X:-181.58, Y:-266.74, Z:-1.81 [[-4.59243483e-02 9.98944900e-01 2.05274448e-04 -1.81584820e+02] [ 9.98867721e-01 4.59233529e-02 -1.24226376e-02 -2.66737242e+02] [-1.24189574e-02 -3.65459516e-04 -9.99922815e-01 -1.81314316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 853.1765599949999 meters 0.018998669551818496 Centerline is valid? [True, True] Translation: X:-181.58, Y:-266.73, Z:-1.81 [[-1.22502368e-01 9.92467551e-01 1.15374454e-03 -1.81580166e+02] [ 9.92393619e-01 1.22507330e-01 -1.21185444e-02 -2.66733971e+02] [-1.21686042e-02 -3.39581666e-04 -9.99925902e-01 -1.81241108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 853.2065599949999 meters 0.01717821518169736 Centerline is valid? [True, True] Translation: X:-181.58, Y:-266.73, Z:-1.81 [[-1.98322433e-01 9.80134722e-01 2.03466148e-03 -1.81579671e+02] [ 9.80065882e-01 1.98332627e-01 -1.16204972e-02 -2.66730266e+02] [-1.17931925e-02 -3.10502982e-04 -9.99930410e-01 -1.81334015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 853.236559995 meters 0.016485614142271055 Centerline is valid? [True, True] Translation: X:-181.58, Y:-266.73, Z:-1.81 [[-2.72058963e-01 9.62276406e-01 2.83540418e-03 -1.81579987e+02] [ 9.62213295e-01 2.72073603e-01 -1.10240345e-02 -2.66727308e+02] [-1.13796069e-02 -2.70923780e-04 -9.99935214e-01 -1.81336326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 853.266559995 meters 0.016261337162802616 Centerline is valid? [True, True] Translation: X:-181.58, Y:-266.72, Z:-1.81 [[-3.45677017e-01 9.38345620e-01 3.85979183e-03 -1.81578549e+02] [ 9.38278057e-01 3.45698459e-01 -1.12633506e-02 -2.66724088e+02] [-1.19032398e-02 -2.71923473e-04 -9.99929117e-01 -1.81341971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 853.2965599949999 meters 0.016112669103478135 Centerline is valid? [True, True] Translation: X:-181.58, Y:-266.72, Z:-1.81 [[-4.17595013e-01 9.08621239e-01 4.67431107e-03 -1.81577074e+02] [ 9.08557118e-01 4.17621091e-01 -1.07976010e-02 -2.66720935e+02] [-1.17630205e-02 -2.62145751e-04 -9.99930779e-01 -1.81382820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 853.3265599949999 meters 0.015459526660114006 Centerline is valid? [True, True] Translation: X:-181.58, Y:-266.72, Z:-1.81 [[-4.87358653e-01 8.73184063e-01 5.57991681e-03 -1.81575769e+02] [ 8.73120519e-01 4.87390524e-01 -1.05373633e-02 -2.66717216e+02] [-1.19206563e-02 -2.63535319e-04 -9.99928912e-01 -1.81469518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 853.356559995 meters 0.015742957636757923 Centerline is valid? [True, True] Translation: X:-181.57, Y:-266.71, Z:-1.81 [[-5.54142939e-01 8.32397943e-01 6.26638735e-03 -1.81571186e+02] [ 8.32339382e-01 5.54178309e-01 -9.87702623e-03 -2.66713489e+02] [-1.16943123e-02 -2.57523372e-04 -9.99931586e-01 -1.81447368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 853.386559995 meters 0.01638429241930856 Centerline is valid? [True, True] Translation: X:-181.57, Y:-266.71, Z:-1.81 [[-6.17609044e-01 7.86454623e-01 6.94220141e-03 -1.81567648e+02] [ 7.86400245e-01 6.17648007e-01 -9.25167014e-03 -2.66709690e+02] [-1.15638556e-02 -2.54566264e-04 -9.99933104e-01 -1.81384901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 853.416559995 meters 0.015491667366348478 Centerline is valid? [True, True] Translation: X:-181.57, Y:-266.70, Z:-1.81 [[-6.77421290e-01 7.35557654e-01 7.43861815e-03 -1.81566054e+02] [ 7.35509223e-01 6.77462084e-01 -8.44436762e-03 -2.66704869e+02] [-1.12507010e-02 -2.49222151e-04 -9.99936678e-01 -1.81467981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 853.4465599949999 meters 0.015842841448255818 Centerline is valid? [True, True] Translation: X:-181.56, Y:-266.70, Z:-1.81 [[-7.32965525e-01 6.80215535e-01 8.26827362e-03 -1.81564139e+02] [ 6.80168285e-01 7.33012115e-01 -8.02147354e-03 -2.66700674e+02] [-1.15170757e-02 -2.55646088e-04 -9.99933644e-01 -1.81455384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 853.4765599949999 meters 0.015552830918946688 Centerline is valid? [True, True] Translation: X:-181.55, Y:-266.68, Z:-1.81 [[-7.79126733e-01 6.26807431e-01 8.60100898e-03 -1.81545778e+02] [ 6.26765720e-01 7.79174168e-01 -7.23530390e-03 -2.66682823e+02] [-1.12368263e-02 -2.46401113e-04 -9.99936835e-01 -1.81472891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 853.506559995 meters 0.015742222680449423 Centerline is valid? [True, True] Translation: X:-181.53, Y:-266.66, Z:-1.81 [[-8.21176072e-01 5.70598366e-01 9.34680100e-03 -1.81529155e+02] [ 5.70557910e-01 8.21229226e-01 -6.79922952e-03 -2.66662201e+02] [-1.15554954e-02 -2.50473354e-04 -9.99933202e-01 -1.81437973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 853.536559995 meters 0.01571697057592099 Centerline is valid? [True, True] Translation: X:-181.17, Y:-266.17, Z:-2.77 [[-7.53780382e-01 -6.57064698e-01 9.00655300e-03 -1.81168913e+02] [ 6.57021938e-01 -7.53834142e-01 -7.50067900e-03 -2.66169435e+02] [ 1.17178785e-02 2.63638219e-04 9.99931309e-01 -2.77053694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 853.5665599949999 meters 0.01499575677330683 Centerline is valid? [True, True] Translation: X:-181.56, Y:-266.65, Z:-1.81 [[-8.22141858e-01 5.69197054e-01 9.87309681e-03 -1.81563432e+02] [ 5.69152468e-01 8.22201104e-01 -7.12835396e-03 -2.66645525e+02] [-1.21751092e-02 -2.41220756e-04 -9.99925852e-01 -1.81418596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 853.5965599949999 meters 0.014990225430302963 Centerline is valid? [True, True] Translation: X:-181.55, Y:-266.63, Z:-1.81 [[-8.58999441e-01 5.11869719e-01 1.04571029e-02 -1.81549835e+02] [ 5.11828792e-01 8.59063063e-01 -6.47627286e-03 -2.66625844e+02] [-1.22983188e-02 -2.10868435e-04 -9.99924351e-01 -1.81345858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 853.626559995 meters 0.014150878159832956 Centerline is valid? [True, True] Translation: X:-181.22, Y:-266.09, Z:-2.77 [[-8.03710037e-01 -5.94940365e-01 9.80504291e-03 -1.81219420e+02] [ 5.94899001e-01 -8.03769821e-01 -7.01812939e-03 -2.66088731e+02] [ 1.20563660e-02 1.92469201e-04 9.99927301e-01 -2.77003283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 853.656559995 meters 0.013992993885411085 Centerline is valid? [True, True] Translation: X:-181.59, Y:-266.61, Z:-1.81 [[-8.58700620e-01 5.12371769e-01 1.04122840e-02 -1.81591082e+02] [ 5.12331868e-01 8.58763731e-01 -6.39624326e-03 -2.66609540e+02] [-1.22189464e-02 -1.57913127e-04 -9.99925334e-01 -1.81406264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 853.6865599949999 meters 0.013166247177766375 Centerline is valid? [True, True] Translation: X:-181.25, Y:-266.06, Z:-2.77 [[-8.08869220e-01 -5.87913298e-01 9.40953484e-03 -1.81248574e+02] [ 5.87875105e-01 -8.08923941e-01 -6.70210309e-03 -2.66063825e+02] [ 1.15518535e-02 1.10506384e-04 9.99933269e-01 -2.76940822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 853.7165599949999 meters 0.012491329885390428 Centerline is valid? [True, True] Translation: X:-181.26, Y:-266.09, Z:-2.77 [[-7.71513969e-01 -6.36158318e-01 8.29392879e-03 -1.81255218e+02] [ 6.36122151e-01 -7.71558548e-01 -6.78359335e-03 -2.66087036e+02] [ 1.07146910e-02 4.23147862e-05 9.99942595e-01 -2.76919764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 853.746559995 meters 0.01230981185402469 Centerline is valid? [True, True] Translation: X:-181.68, Y:-266.61, Z:-1.81 [[-8.17045068e-01 5.76511176e-01 8.49831091e-03 -1.81677072e+02] [ 5.76479958e-01 8.17089263e-01 -5.99949971e-03 -2.66607192e+02] [-1.04026572e-02 -2.75573528e-06 -9.99945891e-01 -1.81494592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 853.776559995 meters 0.012709453668164967 Centerline is valid? [True, True] Translation: X:-181.28, Y:-266.06, Z:-2.77 [[-7.79941649e-01 -6.25808110e-01 7.43200021e-03 -1.81278040e+02] [ 6.25779175e-01 -7.79977056e-01 -6.01797727e-03 -2.66058678e+02] [ 9.56288862e-03 -4.28801531e-05 9.99954274e-01 -2.76909904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 853.8065599949999 meters 0.013431880534914009 Centerline is valid? [True, True] Translation: X:-181.71, Y:-266.60, Z:-1.81 [[-8.14006759e-01 5.80801785e-01 7.89198812e-03 -1.81714759e+02] [ 5.80775470e-01 8.14045011e-01 -5.52932452e-03 -2.66595970e+02] [-9.63587510e-03 8.25655789e-05 -9.99953571e-01 -1.81474559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 853.8365599949999 meters 0.013603613893690174 Centerline is valid? [True, True] Translation: X:-181.70, Y:-266.58, Z:-1.82 [[-8.51871666e-01 5.23685608e-01 8.24918685e-03 -1.81696780e+02] [ 5.23662241e-01 8.51911599e-01 -4.94819432e-03 -2.66577136e+02] [-9.61887611e-03 1.04561134e-04 -9.99953732e-01 -1.81549191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 853.866559995 meters 0.01347111880680928 Centerline is valid? [True, True] Translation: X:-181.68, Y:-266.56, Z:-1.82 [[-8.85260092e-01 4.65004106e-01 9.26016927e-03 -1.81684696e+02] [ 4.64980409e-01 8.85308511e-01 -4.69671516e-03 -2.66555052e+02] [-1.03820985e-02 1.47982800e-04 -9.99946094e-01 -1.81689291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 853.896559995 meters 0.014217085114644597 Centerline is valid? [True, True] Translation: X:-181.67, Y:-266.53, Z:-1.82 [[-9.15488211e-01 4.02225139e-01 9.81185440e-03 -1.81671440e+02] [ 4.02203961e-01 9.15540775e-01 -4.13081240e-03 -2.66533257e+02] [-1.06446694e-02 1.64656645e-04 -9.99943330e-01 -1.81572729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 853.9265599949999 meters 0.014305739365517515 Centerline is valid? [True, True] Translation: X:-181.66, Y:-266.51, Z:-1.82 [[-9.41085726e-01 3.38007153e-01 1.04317480e-02 -1.81659102e+02] [ 3.37988623e-01 9.41143522e-01 -3.54432514e-03 -2.66509076e+02] [-1.10157793e-02 1.90298341e-04 -9.99939306e-01 -1.81574733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 853.9565599949999 meters 0.015211515928148891 Centerline is valid? [True, True] Translation: X:-181.65, Y:-266.49, Z:-1.82 [[-9.61790820e-01 2.73584269e-01 1.04912062e-02 -1.81650919e+02] [ 2.73570522e-01 9.61848012e-01 -2.75171492e-03 -2.66485698e+02] [-1.08437717e-02 2.23510603e-04 -9.99941180e-01 -1.81543075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 853.986559995 meters 0.015492857252476079 Centerline is valid? [True, True] Translation: X:-181.64, Y:-266.46, Z:-1.82 [[-9.78345520e-01 2.06717321e-01 1.03920008e-02 -1.81642862e+02] [ 2.06708257e-01 9.78400681e-01 -1.95058698e-03 -2.66459879e+02] [-1.05707608e-02 2.39764345e-04 -9.99944099e-01 -1.81602704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 854.016559995 meters 0.016202456933687884 Centerline is valid? [True, True] Translation: X:-181.64, Y:-266.43, Z:-1.82 [[-9.90283536e-01 1.38736511e-01 9.52362507e-03 -1.81641610e+02] [ 1.38732394e-01 9.90329301e-01 -1.09481150e-03 -2.66433570e+02] [-9.58341529e-03 2.37061498e-04 -9.99954050e-01 -1.81652163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 854.0465599949999 meters 0.017263769763113314 Centerline is valid? [True, True] Translation: X:-181.55, Y:-265.71, Z:-2.77 [[-9.88258274e-01 -1.52570113e-01 8.24283885e-03 -1.81548982e+02] [ 1.52562432e-01 -9.88292609e-01 -1.55644794e-03 -2.65710937e+02] [ 8.38380415e-03 -2.80625011e-04 9.99964816e-01 -2.76659262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 854.0765599949999 meters 0.018059038976085247 Centerline is valid? [True, True] Translation: X:-181.70, Y:-266.43, Z:-1.82 [[-9.90130969e-01 1.39920220e-01 7.93705373e-03 -1.81703112e+02] [ 1.39917699e-01 9.90162751e-01 -8.74744939e-04 -2.66431862e+02] [-7.98136946e-03 2.44422240e-04 -9.99968119e-01 -1.81826834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 854.106559995 meters 0.018849651272311356 Centerline is valid? [True, True] Translation: X:-181.62, Y:-265.70, Z:-2.77 [[-9.89467022e-01 -1.44543073e-01 7.89389335e-03 -1.81616297e+02] [ 1.44536506e-01 -9.89498480e-01 -1.39906926e-03 -2.65700406e+02] [ 8.01322124e-03 -2.43377131e-04 9.99967864e-01 -2.76601555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 854.136559995 meters 0.019437435973838547 Centerline is valid? [True, True] Translation: X:-181.77, Y:-266.43, Z:-1.82 [[-9.90389870e-01 1.38080479e-01 7.85411569e-03 -1.81769676e+02] [ 1.38078241e-01 9.90420977e-01 -8.29157565e-04 -2.66427008e+02] [-7.89337141e-03 2.63293225e-04 -9.99968812e-01 -1.81835834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 854.166559995 meters 0.020500091897527915 Centerline is valid? [True, True] Translation: X:-181.77, Y:-266.40, Z:-1.82 [[-9.97657923e-01 6.79148970e-02 8.13851315e-03 -1.81769717e+02] [ 6.79148938e-02 9.97691080e-01 -2.77076191e-04 -2.66399641e+02] [-8.13853957e-03 2.76298999e-04 -9.99966844e-01 -1.81815656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 854.1965599949999 meters 0.020135086788534592 Centerline is valid? [True, True] Translation: X:-181.77, Y:-266.37, Z:-1.82 [[-9.99956958e-01 -3.70606527e-03 8.50575117e-03 -1.81772994e+02] [-3.70350754e-03 9.99993092e-01 3.16437130e-04 -2.66370018e+02] [-8.50686515e-03 2.84922396e-04 -9.99963776e-01 -1.81819978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 854.2265599949999 meters 0.01956617527515381 Centerline is valid? [True, True] Translation: X:-181.78, Y:-266.34, Z:-1.82 [[-9.96931441e-01 -7.77394005e-02 9.18082012e-03 -1.81780907e+02] [-7.77334806e-02 9.96973673e-01 1.00044533e-03 -2.66339484e+02] [-9.23080998e-03 2.83718299e-04 -9.99957355e-01 -1.81805198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 854.256559995 meters 0.01764735431682563 Centerline is valid? [True, True] Translation: X:-181.80, Y:-266.31, Z:-1.82 [[-9.88500205e-01 -1.50941863e-01 9.15959249e-03 -1.81800602e+02] [-1.50932874e-01 9.88542605e-01 1.66879659e-03 -2.66309639e+02] [-9.30653869e-03 2.67122150e-04 -9.99956658e-01 -1.81840939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 854.286559995 meters 0.017165122844770144 Centerline is valid? [True, True] Translation: X:-181.96, Y:-265.60, Z:-2.77 [[-9.90300550e-01 1.38620859e-01 9.43812963e-03 -1.81957298e+02] [-1.38617058e-01 -9.90345490e-01 1.05894891e-03 -2.65602843e+02] [ 9.49380152e-03 -2.59608072e-04 9.99954899e-01 -2.76595064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 854.3165599949999 meters 0.01664429528741998 Centerline is valid? [True, True] Translation: X:-181.95, Y:-266.33, Z:-1.82 [[-9.86759701e-01 -1.61935128e-01 9.07236073e-03 -1.81947581e+02] [-1.61926174e-01 9.86801380e-01 1.71786452e-03 -2.66329692e+02] [-9.23080070e-03 2.26066826e-04 -9.99957370e-01 -1.81851830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 854.3465599949999 meters 0.01589302251356269 Centerline is valid? [True, True] Translation: X:-181.98, Y:-266.30, Z:-1.82 [[-9.71728567e-01 -2.35944743e-01 8.58317813e-03 -1.81979641e+02] [-2.35933842e-01 9.71766455e-01 2.27564945e-03 -2.66303092e+02] [-8.87777211e-03 1.86251385e-04 -9.99960575e-01 -1.81864082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 854.376559995 meters 0.015542425491258125 Centerline is valid? [True, True] Translation: X:-182.03, Y:-266.29, Z:-1.82 [[-9.51408489e-01 -3.07826125e-01 8.05998393e-03 -1.82033918e+02] [-3.07813596e-01 9.51442615e-01 2.78225409e-03 -2.66287776e+02] [-8.52506268e-03 1.66087524e-04 -9.99963647e-01 -1.81849689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 854.406559995 meters 0.015281460753887477 Centerline is valid? [True, True] Translation: X:-182.10, Y:-266.28, Z:-1.82 [[-9.25688835e-01 -3.78208982e-01 7.62546594e-03 -1.82099379e+02] [-3.78194802e-01 9.25720230e-01 3.27842825e-03 -2.66280558e+02] [-8.29897909e-03 1.50892846e-04 -9.99965552e-01 -1.81845137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 854.4365599949999 meters 0.015281460753887477 Centerline is valid? [True, True] Translation: X:-182.17, Y:-266.28, Z:-1.82 [[-8.95082945e-01 -4.45838910e-01 7.36127165e-03 -1.82172394e+02] [-4.45822441e-01 8.95113201e-01 3.83508186e-03 -2.66283977e+02] [-8.29900015e-03 1.50896272e-04 -9.99965551e-01 -1.81845064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 854.4665599949999 meters 0.014948818733978974 Centerline is valid? [True, True] Translation: X:-182.25, Y:-266.30, Z:-1.82 [[-8.58632011e-01 -5.12543639e-01 7.07729539e-03 -1.82254205e+02] [-5.12524876e-01 8.58661166e-01 4.38783666e-03 -2.66295758e+02] [-8.32595648e-03 1.40247071e-04 -9.99965329e-01 -1.81844623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 854.496559995 meters 0.01436289904867289 Centerline is valid? [True, True] Translation: X:-182.34, Y:-266.31, Z:-1.82 [[-8.16126600e-01 -5.77835139e-01 6.62755461e-03 -1.82340168e+02] [-5.77814949e-01 8.16153502e-01 4.83165566e-03 -2.66314921e+02] [-8.20100233e-03 1.13742578e-04 -9.99966365e-01 -1.81844561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 854.526559995 meters 0.01396407876480958 Centerline is valid? [True, True] Translation: X:-182.43, Y:-266.35, Z:-1.82 [[-7.69165031e-01 -6.39020985e-01 6.11033792e-03 -1.82428492e+02] [-6.38999820e-01 7.69189295e-01 5.20178319e-03 -2.66345584e+02] [-8.02405514e-03 9.65248969e-05 -9.99967802e-01 -1.81873144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 854.5565599949999 meters 0.01345649767779587 Centerline is valid? [True, True] Translation: X:-182.52, Y:-266.39, Z:-1.82 [[-7.17340625e-01 -6.96702763e-01 5.26189973e-03 -1.82519391e+02] [-6.96683255e-01 7.17359920e-01 5.21416272e-03 -2.66387226e+02] [-7.40739754e-03 7.44533121e-05 -9.99972562e-01 -1.81909487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 854.5865599949999 meters 0.01265962826479974 Centerline is valid? [True, True] Translation: X:-182.61, Y:-266.44, Z:-1.82 [[-6.59425321e-01 -7.51756736e-01 4.47847280e-03 -1.82612190e+02] [-7.51738982e-01 6.59440527e-01 5.16662760e-03 -2.66436980e+02] [-6.83733356e-03 4.03624805e-05 -9.99976624e-01 -1.81943597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 854.616559995 meters 0.012204486787886125 Centerline is valid? [True, True] Translation: X:-182.70, Y:-266.50, Z:-1.82 [[-5.98744305e-01 -8.00929447e-01 4.15670416e-03 -1.82700293e+02] [-8.00909842e-01 5.98758733e-01 5.60403279e-03 -2.66496543e+02] [-6.97729780e-03 2.62374484e-05 -9.99975658e-01 -1.82052340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 854.646559995 meters 0.012244033410902742 Centerline is valid? [True, True] Translation: X:-182.78, Y:-266.57, Z:-1.82 [[-5.34153644e-01 -8.45378988e-01 3.77520942e-03 -1.82784675e+02] [-8.45357739e-01 5.34166985e-01 5.99387325e-03 -2.66566377e+02] [-7.08368673e-03 1.02467402e-05 -9.99974910e-01 -1.81888460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 854.6765599949999 meters 0.012237160880092848 Centerline is valid? [True, True] Translation: X:-182.87, Y:-266.65, Z:-1.82 [[-4.66201030e-01 -8.84671775e-01 3.52862303e-03 -1.82865702e+02] [-8.84646536e-01 4.66214383e-01 6.68249965e-03 -2.66645217e+02] [-7.55691363e-03 -6.19592288e-06 -9.99971446e-01 -1.81827909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 854.7065599949999 meters 0.012711644762767088 Centerline is valid? [True, True] Translation: X:-182.94, Y:-266.73, Z:-1.82 [[-3.93071779e-01 -9.19501277e-01 3.46102794e-03 -1.82942821e+02] [-9.19466689e-01 3.93087014e-01 7.97539179e-03 -2.66727685e+02] [-8.69386806e-03 -4.73984594e-05 -9.99962207e-01 -1.81678790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 854.736559995 meters 0.013056662424590266 Centerline is valid? [True, True] Translation: X:-183.01, Y:-266.82, Z:-1.82 [[-3.19822251e-01 -9.47472910e-01 2.96866217e-03 -1.83011301e+02] [-9.47434068e-01 3.19836021e-01 8.57940152e-03 -2.66818681e+02] [-9.07823562e-03 -6.87281746e-05 -9.99958790e-01 -1.81605544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 854.766559995 meters 0.01358911941718264 Centerline is valid? [True, True] Translation: X:-183.07, Y:-266.92, Z:-1.82 [[-2.44591548e-01 -9.69623195e-01 2.41551961e-03 -1.83073718e+02] [-9.69579486e-01 2.44603459e-01 9.20698629e-03 -2.66919124e+02] [-9.51815191e-03 -9.00872301e-05 -9.99954697e-01 -1.81547240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 854.7965599949999 meters 0.014183664543025002 Centerline is valid? [True, True] Translation: X:-183.13, Y:-267.02, Z:-1.82 [[-1.68154521e-01 -9.85759107e-01 1.74373313e-03 -1.83126806e+02] [-9.85712497e-01 1.68163528e-01 9.58650903e-03 -2.67021030e+02] [-9.74322090e-03 -1.06804708e-04 -9.99952528e-01 -1.81503072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 854.8265599949999 meters 0.014909208659266643 Centerline is valid? [True, True] Translation: X:-183.17, Y:-267.13, Z:-1.81 [[-9.02369013e-02 -9.95919767e-01 1.05835569e-03 -1.83172663e+02] [-9.95867377e-01 9.02430109e-02 1.02159763e-02 -2.67130446e+02] [-1.02698019e-02 -1.32123861e-04 -9.99947256e-01 -1.81496948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 854.856559995 meters 0.013444255961667134 Centerline is valid? [True, True] Translation: X:-183.20, Y:-267.24, Z:-1.82 [[-1.31599960e-02 -9.99913368e-01 2.65847480e-04 -1.83204700e+02] [-9.99863064e-01 1.31620008e-02 1.00306786e-02 -2.67244417e+02] [-1.00333087e-02 -1.33807386e-04 -9.99949656e-01 -1.81798876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 854.886559995 meters 0.01329123294446467 Centerline is valid? [True, True] Translation: X:-183.23, Y:-267.36, Z:-1.82 [[ 6.38535397e-02 -9.97959158e-01 -4.94009546e-04 -1.83230939e+02] [-9.97910905e-01 -6.38553107e-02 9.81454076e-03 -2.67357694e+02] [-9.82605596e-03 -1.33715655e-04 -9.99951714e-01 -1.81853439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 854.916559995 meters 0.013188823877230374 Centerline is valid? [True, True] Translation: X:-183.25, Y:-267.47, Z:-1.82 [[ 1.39420593e-01 -9.90232702e-01 -1.04598501e-03 -1.83248506e+02] [-9.90198623e-01 -1.39424474e-01 8.21604965e-03 -2.67468963e+02] [-8.28163695e-03 -1.09753604e-04 -9.99965701e-01 -1.81951210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 854.9465599949999 meters 0.013146246422568317 Centerline is valid? [True, True] Translation: X:-183.26, Y:-267.58, Z:-1.82 [[ 2.14348876e-01 -9.76755974e-01 -1.52533710e-03 -1.83257187e+02] [-9.76727982e-01 -2.14354282e-01 7.39528923e-03 -2.67584294e+02] [-7.55035547e-03 -9.53325011e-05 -9.99971491e-01 -1.81986620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 854.9765599949999 meters 0.013090688455087316 Centerline is valid? [True, True] Translation: X:-183.26, Y:-267.70, Z:-1.82 [[ 2.88136437e-01 -9.57587169e-01 -2.05125598e-03 -1.83255631e+02] [-9.57560630e-01 -2.88143724e-01 7.12987563e-03 -2.67703651e+02] [-7.41853395e-03 -9.01749957e-05 -9.99972478e-01 -1.82029136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 855.006559995 meters 0.012926189968329845 Centerline is valid? [True, True] Translation: X:-183.24, Y:-267.82, Z:-1.82 [[ 3.59326455e-01 -9.33208863e-01 -2.39103098e-03 -1.83244888e+02] [-9.33186827e-01 -3.59334403e-01 6.41343783e-03 -2.67818807e+02] [-6.84425671e-03 -7.32392646e-05 -9.99976575e-01 -1.82072067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 855.036559995 meters 0.012658025779943821 Centerline is valid? [True, True] Translation: X:-183.23, Y:-267.93, Z:-1.82 [[ 4.29461345e-01 -9.03080752e-01 -2.84774787e-03 -1.83225649e+02] [-9.03059796e-01 -4.29470780e-01 6.15247583e-03 -2.67933353e+02] [-6.77920700e-03 -7.05639271e-05 -9.99977019e-01 -1.82138777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 855.0665599949999 meters 0.012806327005049908 Centerline is valid? [True, True] Translation: X:-183.20, Y:-268.04, Z:-1.82 [[ 4.97291874e-01 -8.67577026e-01 -3.30083143e-03 -1.83200815e+02] [-8.67556963e-01 -4.97302824e-01 5.90057536e-03 -2.68042798e+02] [-6.76071641e-03 -7.06488890e-05 -9.99977144e-01 -1.82106568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 855.0965599949999 meters 0.012791881682512392 Centerline is valid? [True, True] Translation: X:-183.17, Y:-268.15, Z:-1.82 [[ 5.62922371e-01 -8.26500591e-01 -3.89568977e-03 -1.83166557e+02] [-8.26479809e-01 -5.62935846e-01 5.86169429e-03 -2.68151397e+02] [-7.03771721e-03 -7.99699154e-05 -9.99975232e-01 -1.82099082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 855.126559995 meters 0.013060772499618437 Centerline is valid? [True, True] Translation: X:-183.13, Y:-268.26, Z:-1.82 [[ 6.24864810e-01 -7.80717590e-01 -4.90041812e-03 -1.83125458e+02] [-7.80692366e-01 -6.24884018e-01 6.27647378e-03 -2.68256387e+02] [-7.96234645e-03 -9.62285793e-05 -9.99968296e-01 -1.82023425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 855.156559995 meters 0.013384506685575491 Centerline is valid? [True, True] Translation: X:-183.08, Y:-268.35, Z:-1.82 [[ 6.83564027e-01 -7.29862853e-01 -6.35903215e-03 -1.83081245e+02] [-7.29829517e-01 -6.83593592e-01 6.97691779e-03 -2.68351986e+02] [-9.43918675e-03 -1.28160655e-04 -9.99955442e-01 -1.81846456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 855.1865599949999 meters 0.013341496305691113 Centerline is valid? [True, True] Translation: X:-183.03, Y:-268.45, Z:-1.82 [[ 7.37401175e-01 -6.75416844e-01 -7.18288428e-03 -1.83026498e+02] [-6.75382949e-01 -7.37436144e-01 6.76790978e-03 -2.68445433e+02] [-9.86807876e-03 -1.39467052e-04 -9.99951300e-01 -1.81824653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 855.2165599949999 meters 0.013683497373960067 Centerline is valid? [True, True] Translation: X:-183.03, Y:-268.45, Z:-1.82 [[ 7.87815970e-01 -6.15859396e-01 -7.94993574e-03 -1.83028024e+02] [-6.15826204e-01 -7.87856068e-01 6.39545104e-03 -2.68454162e+02] [-1.02021037e-02 -1.42659716e-04 -9.99947947e-01 -1.81698917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 855.246559995 meters 0.013179686548143815 Centerline is valid? [True, True] Translation: X:-183.03, Y:-268.46, Z:-1.82 [[ 8.33086874e-01 -5.53071756e-01 -8.82570644e-03 -1.83027248e+02] [-5.53038925e-01 -8.33133611e-01 6.02783857e-03 -2.68462396e+02] [-1.06868199e-02 -1.40753994e-04 -9.99942885e-01 -1.81745748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 855.276559995 meters 0.012701023510888811 Centerline is valid? [True, True] Translation: X:-183.03, Y:-268.47, Z:-1.82 [[ 8.72008337e-01 -4.89389432e-01 -9.97217511e-03 -1.83025320e+02] [-4.89355986e-01 -8.72065348e-01 5.72259479e-03 -2.68468701e+02] [-1.14969658e-02 -1.10206788e-04 -9.99933902e-01 -1.81707417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 855.3065599949999 meters 0.01235840106400335 Centerline is valid? [True, True] Translation: X:-183.02, Y:-268.48, Z:-1.82 [[ 9.06406611e-01 -4.22282764e-01 -1.02138880e-02 -1.83023783e+02] [-4.22254997e-01 -9.06464153e-01 4.84313745e-03 -2.68475870e+02] [-1.13036969e-02 -7.69865333e-05 -9.99936108e-01 -1.81705909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 855.3365599949999 meters 0.012271480304401476 Centerline is valid? [True, True] Translation: X:-183.02, Y:-268.48, Z:-1.82 [[ 9.35454713e-01 -3.53302860e-01 -1.00782003e-02 -1.83022416e+02] [-3.53281931e-01 -9.35508999e-01 3.84571347e-03 -2.68481846e+02] [-1.07869486e-02 -3.70447243e-05 -9.99941819e-01 -1.81692930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 855.366559995 meters 0.012154675656863529 Centerline is valid? [True, True] Translation: X:-183.02, Y:-268.49, Z:-1.82 [[ 9.59182843e-01 -2.82623379e-01 -9.60722332e-03 -1.83019744e+02] [-2.82609230e-01 -9.59230955e-01 2.82804337e-03 -2.68486449e+02] [-1.00148172e-02 2.47930406e-06 -9.99949851e-01 -1.81788094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 855.396559995 meters 0.012699253546898402 Centerline is valid? [True, True] Translation: X:-183.02, Y:-268.49, Z:-1.82 [[ 9.76837092e-01 -2.13822609e-01 -8.31785343e-03 -1.83016751e+02] [-2.13815409e-01 -9.76872503e-01 1.75584014e-03 -2.68486355e+02] [-8.50092062e-03 6.33154561e-05 -9.99963865e-01 -1.81930383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 855.4265599949999 meters 0.012990599855539126 Centerline is valid? [True, True] Translation: X:-183.02, Y:-268.49, Z:-1.82 [[ 9.90156353e-01 -1.39731684e-01 -8.09031781e-03 -1.83018397e+02] [-1.39727729e-01 -9.90189401e-01 1.05483466e-03 -2.68492215e+02] [-8.15834077e-03 8.59904950e-05 -9.99966717e-01 -1.82005302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 855.4565599949999 meters 0.013430700354268427 Centerline is valid? [True, True] Translation: X:-183.02, Y:-268.50, Z:-1.82 [[ 9.97897256e-01 -6.43385401e-02 -7.84972076e-03 -1.83019068e+02] [-6.43373583e-02 -9.97928125e-01 4.03240615e-04 -2.68498985e+02] [-7.85940103e-03 1.02637593e-04 -9.99969109e-01 -1.82031878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 855.486559995 meters 0.014069152923694959 Centerline is valid? [True, True] Translation: X:-183.02, Y:-268.50, Z:-1.82 [[ 9.99917142e-01 1.05882675e-02 -7.32109126e-03 -1.83019812e+02] [ 1.05871007e-02 -9.99943936e-01 -1.98103967e-04 -2.68504120e+02] [-7.32277839e-03 1.20578422e-04 -9.99973181e-01 -1.82096490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 855.516559995 meters 0.014436801811493507 Centerline is valid? [True, True] Translation: X:-183.02, Y:-268.51, Z:-1.82 [[ 9.96129760e-01 8.76132737e-02 -7.02958778e-03 -1.83020588e+02] [ 8.76102042e-02 -9.96154556e-01 -7.44004439e-04 -2.68511425e+02] [-7.06774056e-03 1.25261342e-04 -9.99975016e-01 -1.82122597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 855.5465599949999 meters 0.014350271773766242 Centerline is valid? [True, True] Translation: X:-183.02, Y:-268.52, Z:-1.82 [[ 9.86277349e-01 1.64922735e-01 -7.58165821e-03 -1.83019738e+02] [ 1.64916773e-01 -9.86306480e-01 -1.40935673e-03 -2.68521172e+02] [-7.71027359e-03 1.39674022e-04 -9.99970266e-01 -1.82107466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 855.5765599949999 meters 0.014350235049061758 Centerline is valid? [True, True] Translation: X:-183.02, Y:-268.53, Z:-1.82 [[ 9.70015616e-01 2.42832007e-01 -1.01154357e-02 -1.83019464e+02] [ 2.42816901e-01 -9.70068341e-01 -2.71428375e-03 -2.68530306e+02] [-1.04717789e-02 1.76698875e-04 -9.99945154e-01 -1.81837687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 855.606559995 meters 0.014393230019017192 Centerline is valid? [True, True] Translation: X:-183.02, Y:-268.54, Z:-1.82 [[ 9.47755675e-01 3.18821465e-01 -1.05856093e-02 -1.83018715e+02] [ 3.18799455e-01 -9.47814772e-01 -3.75050579e-03 -2.68538628e+02] [-1.12289386e-02 1.79876665e-04 -9.99936937e-01 -1.81729862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 855.636559995 meters 0.014148461984561803 Centerline is valid? [True, True] Translation: X:-183.02, Y:-268.55, Z:-1.82 [[ 9.19473874e-01 3.93012405e-01 -1.04424242e-02 -1.83016144e+02] [ 3.92984949e-01 -9.19533154e-01 -4.64855064e-03 -2.68547544e+02] [-1.14290933e-02 1.70505315e-04 -9.99934671e-01 -1.81747111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 855.666559995 meters 0.014187292157784706 Centerline is valid? [True, True] Translation: X:-183.02, Y:-268.55, Z:-1.82 [[ 8.84770675e-01 4.65910336e-01 -1.04120762e-02 -1.83015302e+02] [ 4.65876103e-01 -8.84831926e-01 -5.64979276e-03 -2.68554753e+02] [-1.18452343e-02 1.48033462e-04 -9.99929832e-01 -1.81627446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 855.6965599949999 meters 0.014076117969995344 Centerline is valid? [True, True] Translation: X:-183.01, Y:-268.56, Z:-1.82 [[ 8.45085326e-01 5.34530894e-01 -1.03689376e-02 -1.83014028e+02] [ 5.34488580e-01 -8.45148923e-01 -6.72719495e-03 -2.68558807e+02] [-1.23591900e-02 1.42975005e-04 -9.99923612e-01 -1.81589894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 855.7265599949999 meters 0.013418670381046658 Centerline is valid? [True, True] Translation: X:-183.01, Y:-268.57, Z:-1.82 [[ 7.99987316e-01 5.99941799e-01 -9.49385104e-03 -1.83009677e+02] [ 5.99897691e-01 -8.00043638e-01 -7.27585526e-03 -2.68567000e+02] [-1.19605848e-02 1.25252602e-04 -9.99928462e-01 -1.81686456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 855.756559995 meters 0.01311184299385276 Centerline is valid? [True, True] Translation: X:-183.01, Y:-268.57, Z:-1.82 [[ 7.48975593e-01 6.62548183e-01 -8.09114318e-03 -1.83006264e+02] [ 6.62508254e-01 -7.49019291e-01 -7.27433936e-03 -2.68573972e+02] [-1.08800227e-02 8.78535002e-05 -9.99940807e-01 -1.81708322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 855.786559995 meters 0.012882689599632536 Centerline is valid? [True, True] Translation: X:-183.00, Y:-268.58, Z:-1.82 [[ 6.93736349e-01 7.20192908e-01 -7.21474508e-03 -1.83001782e+02] [ 7.20152923e-01 -6.93773861e-01 -7.58934655e-03 -2.68580901e+02] [-1.04711951e-02 6.92858133e-05 -9.99945173e-01 -1.81756329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 855.8165599949999 meters 0.01263605799375063 Centerline is valid? [True, True] Translation: X:-183.00, Y:-268.59, Z:-1.82 [[ 6.34104821e-01 7.73223388e-01 -6.05540147e-03 -1.82995029e+02] [ 7.73187379e-01 -6.34133731e-01 -7.46239052e-03 -2.68588661e+02] [-9.61002921e-03 4.99778065e-05 -9.99953821e-01 -1.81881449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 855.8465599949999 meters 0.012508028776377664 Centerline is valid? [True, True] Translation: X:-182.99, Y:-268.60, Z:-1.82 [[ 5.70210721e-01 8.21484135e-01 -4.85285807e-03 -1.82987303e+02] [ 8.21453938e-01 -5.70231370e-01 -7.04367202e-03 -2.68595936e+02] [-8.55351672e-03 2.99779296e-05 -9.99963418e-01 -1.81999445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 855.876559995 meters 0.01234350965057746 Centerline is valid? [True, True] Translation: X:-182.98, Y:-268.60, Z:-1.82 [[ 5.01090191e-01 8.65389582e-01 -3.08090410e-03 -1.82979268e+02] [ 8.65373225e-01 -5.01099662e-01 -5.32078866e-03 -2.68603710e+02] [-6.14839508e-03 6.30894442e-08 -9.99981099e-01 -1.82133521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 855.906559995 meters 0.012305975877966774 Centerline is valid? [True, True] Translation: X:-182.97, Y:-268.61, Z:-1.82 [[ 4.29566511e-01 9.03031499e-01 -2.59317182e-03 -1.82969816e+02] [ 9.03015250e-01 -4.29574338e-01 -5.41729972e-03 -2.68610104e+02] [-6.00595236e-03 -1.45831561e-05 -9.99981964e-01 -1.82173343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 855.9365599949999 meters 0.012960859332885955 Centerline is valid? [True, True] Translation: X:-182.96, Y:-268.62, Z:-1.82 [[ 3.51803490e-01 9.36070796e-01 -2.40215778e-03 -1.82958458e+02] [ 9.36050072e-01 -3.51811686e-01 -6.22903814e-03 -2.68617574e+02] [-6.67592787e-03 -5.71426095e-05 -9.99977714e-01 -1.82029509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 855.9665599949999 meters 0.013486860832616639 Centerline is valid? [True, True] Translation: X:-182.95, Y:-268.62, Z:-1.82 [[ 2.73929626e-01 9.61747887e-01 -1.88725805e-03 -1.82949834e+02] [ 9.61727043e-01 -2.73936115e-01 -6.33240427e-03 -2.68621565e+02] [-6.60716456e-03 -8.03939720e-05 -9.99978169e-01 -1.82009615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 855.996559995 meters 0.014030525130688783 Centerline is valid? [True, True] Translation: X:-182.94, Y:-268.63, Z:-1.82 [[ 1.94146153e-01 9.80971489e-01 -1.48609044e-03 -1.82939493e+02] [ 9.80947009e-01 -1.94151808e-01 -6.93121127e-03 -2.68625756e+02] [-7.08784779e-03 -1.12107967e-04 -9.99974875e-01 -1.81989338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 856.026559995 meters 0.015375674577743513 Centerline is valid? [True, True] Translation: X:-182.93, Y:-268.63, Z:-1.82 [[ 1.10357462e-01 9.93891412e-01 -1.04516166e-03 -1.82926014e+02] [ 9.93860627e-01 -1.10362272e-01 -7.82454060e-03 -2.68628888e+02] [-7.89209012e-03 -1.75248575e-04 -9.99968842e-01 -1.81877501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 856.0565599949999 meters 0.016495017036816533 Centerline is valid? [True, True] Translation: X:-182.92, Y:-268.63, Z:-1.82 [[ 2.94428888e-02 9.99566371e-01 -4.30749380e-04 -1.82915262e+02] [ 9.99535089e-01 -2.94453763e-02 -7.91053256e-03 -2.68631566e+02] [-7.91978591e-03 -1.97640189e-04 -9.99968619e-01 -1.81775912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 856.0865599949999 meters 0.01860529253430097 Centerline is valid? [True, True] Translation: X:-182.90, Y:-268.63, Z:-1.82 [[-5.31450818e-02 9.98586781e-01 2.01617460e-04 -1.82904754e+02] [ 9.98551517e-01 5.31449002e-02 -8.39566874e-03 -2.68633691e+02] [-8.39451876e-03 -2.44863081e-04 -9.99964736e-01 -1.81712326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 856.116559995 meters 0.01939355398543224 Centerline is valid? [True, True] Translation: X:-182.90, Y:-268.64, Z:-1.82 [[-1.32465864e-01 9.91187197e-01 8.57141346e-04 -1.82899075e+02] [ 9.91152174e-01 1.32468392e-01 -8.33623934e-03 -2.68635595e+02] [-8.37631784e-03 -2.54709638e-04 -9.99964886e-01 -1.81673040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 856.146559995 meters 0.018837684425565708 Centerline is valid? [True, True] Translation: X:-182.89, Y:-268.64, Z:-1.82 [[-2.10455019e-01 9.77602299e-01 1.55898638e-03 -1.82893958e+02] [ 9.77565181e-01 2.10460621e-01 -8.52320038e-03 -2.68635281e+02] [-8.66040553e-03 -2.69739500e-04 -9.99962462e-01 -1.81686602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 856.1765599949999 meters 0.019328719942659684 Centerline is valid? [True, True] Translation: X:-182.89, Y:-268.64, Z:-1.82 [[-2.86787492e-01 9.57991689e-01 2.20421856e-03 -1.82888033e+02] [ 9.57955692e-01 2.86795834e-01 -8.30917011e-03 -2.68635159e+02] [-8.59227661e-03 -2.71422345e-04 -9.99963049e-01 -1.81654987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 856.2065599949999 meters 0.01948907355770427 Centerline is valid? [True, True] Translation: X:-182.88, Y:-268.64, Z:-1.82 [[-3.60457982e-01 9.32771124e-01 2.84150885e-03 -1.82883870e+02] [ 9.32736072e-01 3.60469083e-01 -8.09071468e-03 -2.68636700e+02] [-8.57106111e-03 -2.65984883e-04 -9.99963233e-01 -1.81613070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 856.236559995 meters 0.018069234402842253 Centerline is valid? [True, True] Translation: X:-182.88, Y:-268.64, Z:-1.82 [[-4.30296757e-01 9.02681086e-01 3.39973193e-03 -1.82881441e+02] [ 9.02648346e-01 4.30310119e-01 -7.69192303e-03 -2.68637604e+02] [-8.40629249e-03 -2.41047134e-04 -9.99964638e-01 -1.81661726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 856.266559995 meters 0.01782009504083004 Centerline is valid? [True, True] Translation: X:-182.88, Y:-268.64, Z:-1.82 [[-4.98515225e-01 8.66872078e-01 3.92048560e-03 -1.82876573e+02] [ 8.66841624e-01 4.98530590e-01 -7.26976540e-03 -2.68638111e+02] [-8.25643864e-03 -2.25648627e-04 -9.99965890e-01 -1.81650845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 856.2965599949999 meters 0.017049602768837175 Centerline is valid? [True, True] Translation: X:-182.87, Y:-268.64, Z:-1.82 [[-5.62283690e-01 8.26931854e-01 4.55632006e-03 -1.82874275e+02] [ 8.26901724e-01 5.62302114e-01 -7.06204281e-03 -2.68639669e+02] [-8.40185655e-03 -2.03242582e-04 -9.99964683e-01 -1.81592414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 856.3265599949999 meters 0.017049602768837175 Centerline is valid? [True, True] Translation: X:-182.87, Y:-268.64, Z:-1.82 [[-6.25332021e-01 7.80342168e-01 5.09554181e-03 -1.82869047e+02] [ 7.80313573e-01 6.25352748e-01 -6.68343344e-03 -2.68638939e+02] [-8.40187601e-03 -2.03244502e-04 -9.99964683e-01 -1.81592397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 856.356559995 meters 0.016525318035924687 Centerline is valid? [True, True] Translation: X:-182.87, Y:-268.64, Z:-1.82 [[-6.82731698e-01 7.30646294e-01 5.78110706e-03 -1.82867168e+02] [ 7.30617740e-01 6.82756148e-01 -6.46225570e-03 -2.68640993e+02] [-8.66870957e-03 -1.88207431e-04 -9.99962408e-01 -1.81535690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 856.386559995 meters 0.01617397026289129 Centerline is valid? [True, True] Translation: X:-182.87, Y:-268.64, Z:-1.81 [[-7.36568372e-01 6.76331197e-01 6.56851946e-03 -1.82865413e+02] [ 6.76302111e-01 7.36597637e-01 -6.27498405e-03 -2.68643351e+02] [-9.08232339e-03 -1.79651204e-04 -9.99958739e-01 -1.81444490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 856.416559995 meters 0.01563631323609538 Centerline is valid? [True, True] Translation: X:-182.85, Y:-268.63, Z:-1.81 [[-7.81190487e-01 6.24254260e-01 6.93127983e-03 -1.82845005e+02] [ 6.24227877e-01 7.81221220e-01 -5.74143099e-03 -2.68630147e+02] [-8.99897563e-03 -1.58453177e-04 -9.99959496e-01 -1.81378096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 856.4465599949999 meters 0.01563262342200727 Centerline is valid? [True, True] Translation: X:-182.83, Y:-268.61, Z:-1.81 [[-8.23156979e-01 5.67762146e-01 7.66379102e-03 -1.82825975e+02] [ 5.67735693e-01 8.23192638e-01 -5.48303056e-03 -2.68611526e+02] [-9.42183354e-03 -1.62387160e-04 -9.99955600e-01 -1.81370980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 856.4765599949999 meters 0.01563262342200727 Centerline is valid? [True, True] Translation: X:-182.40, Y:-268.03, Z:-2.77 [[-7.61118966e-01 -6.48571369e-01 7.28690954e-03 -1.82403517e+02] [ 6.48543687e-01 -7.61153830e-01 -5.99450325e-03 -2.68032597e+02] [ 9.43432229e-03 1.63349063e-04 9.99955483e-01 -2.77068841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 856.506559995 meters 0.01563262342200727 Centerline is valid? [True, True] Translation: X:-182.86, Y:-268.59, Z:-1.81 [[-8.25182008e-01 5.64814677e-01 7.68336759e-03 -1.82860111e+02] [ 5.64788352e-01 8.25217762e-01 -5.45560191e-03 -2.68588227e+02] [-9.42185544e-03 -1.62388020e-04 -9.99955600e-01 -1.81370953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 856.536559995 meters 0.01563262342200727 Centerline is valid? [True, True] Translation: X:-182.44, Y:-268.01, Z:-2.77 [[-7.63433186e-01 -6.45845461e-01 7.30828026e-03 -1.82439733e+02] [ 6.45817904e-01 -7.63468149e-01 -5.96839572e-03 -2.68007785e+02] [ 9.43430048e-03 1.63346881e-04 9.99955483e-01 -2.77068813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 856.5665599949999 meters 0.015584954852347909 Centerline is valid? [True, True] Translation: X:-182.89, Y:-268.57, Z:-1.81 [[-8.26959544e-01 5.62205246e-01 7.94814889e-03 -1.82894495e+02] [ 5.62177368e-01 8.26997723e-01 -5.60117474e-03 -2.68566341e+02] [-9.72211086e-03 -1.63675489e-04 -9.99952726e-01 -1.81336095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 856.5965599949999 meters 0.014352898140849335 Centerline is valid? [True, True] Translation: X:-182.47, Y:-267.98, Z:-2.77 [[-7.66336500e-01 -6.42395012e-01 7.55105585e-03 -1.82469523e+02] [ 6.42365913e-01 -7.66373683e-01 -6.11652792e-03 -2.67980777e+02] [ 9.71615751e-03 1.63222286e-04 9.99952784e-01 -2.76993787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 856.626559995 meters 0.014218420431810014 Centerline is valid? [True, True] Translation: X:-182.48, Y:-268.01, Z:-2.77 [[-7.21475862e-01 -6.92402670e-01 7.15001255e-03 -1.82482869e+02] [ 6.92370826e-01 -7.21511273e-01 -6.64243851e-03 -2.68007036e+02] [ 9.75805682e-03 1.58101042e-04 9.99952377e-01 -2.76968089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 856.656559995 meters 0.014183054282604145 Centerline is valid? [True, True] Translation: X:-182.98, Y:-268.54, Z:-1.81 [[-7.88866778e-01 6.14516113e-01 7.69111326e-03 -1.82984039e+02] [ 6.14484945e-01 7.88904254e-01 -6.19123864e-03 -2.68544246e+02] [-9.87216787e-03 -1.57989168e-04 -9.99951257e-01 -1.81467362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 856.6865599949999 meters 0.014187162304741482 Centerline is valid? [True, True] Translation: X:-182.96, Y:-268.53, Z:-1.81 [[-8.30193384e-01 5.57421530e-01 7.75778205e-03 -1.82964078e+02] [ 5.57395519e-01 8.30229617e-01 -5.38697822e-03 -2.68526873e+02] [-9.44355806e-03 -1.48080729e-04 -9.99955398e-01 -1.81477521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 856.7165599949999 meters 0.014199072730053804 Centerline is valid? [True, True] Translation: X:-182.95, Y:-268.51, Z:-1.81 [[-8.67562659e-01 4.97263621e-01 7.99527927e-03 -1.82947497e+02] [ 4.97240953e-01 8.67599487e-01 -4.75018991e-03 -2.68505207e+02] [-9.29879683e-03 -1.45507105e-04 -9.99956755e-01 -1.81478536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 856.746559995 meters 0.014339199854047042 Centerline is valid? [True, True] Translation: X:-182.57, Y:-267.87, Z:-2.77 [[-8.14131304e-01 -5.80634056e-01 7.36977372e-03 -1.82572867e+02] [ 5.80611598e-01 -8.14164651e-01 -5.10819670e-03 -2.67868240e+02] [ 8.96620222e-03 1.20233253e-04 9.99959796e-01 -2.76961362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 856.776559995 meters 0.014429729442855262 Centerline is valid? [True, True] Translation: X:-182.99, Y:-268.48, Z:-1.81 [[-8.69819733e-01 4.93303637e-01 8.07187021e-03 -1.82991420e+02] [ 4.93280736e-01 8.69857171e-01 -4.75583114e-03 -2.68481266e+02] [-9.36744298e-03 -1.55017697e-04 -9.99956113e-01 -1.81465929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 856.8065599949999 meters 0.014750833463657418 Centerline is valid? [True, True] Translation: X:-182.60, Y:-267.85, Z:-2.77 [[-8.15418370e-01 -5.78817298e-01 7.96355091e-03 -1.82601958e+02] [ 5.78791794e-01 -8.15457237e-01 -5.43639449e-03 -2.67852435e+02] [ 9.64061439e-03 1.76301983e-04 9.99953513e-01 -2.76989879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 856.8365599949999 meters 0.014971382915273465 Centerline is valid? [True, True] Translation: X:-183.02, Y:-268.46, Z:-1.81 [[-8.72436115e-01 4.88653437e-01 8.54655138e-03 -1.83022906e+02] [ 4.88627951e-01 8.72477957e-01 -4.99397776e-03 -2.68463357e+02] [-9.89700208e-03 -1.80842668e-04 -9.99951007e-01 -1.81399489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 856.866559995 meters 0.015185366704171218 Centerline is valid? [True, True] Translation: X:-182.65, Y:-267.83, Z:-2.77 [[-8.17067945e-01 -5.76478771e-01 8.49706040e-03 -1.82647113e+02] [ 5.76450237e-01 -8.17112100e-01 -5.73939636e-03 -2.67827518e+02] [ 1.02516910e-02 2.08655693e-04 9.99947428e-01 -2.77125996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 856.896559995 meters 0.0148784957392497 Centerline is valid? [True, True] Translation: X:-183.06, Y:-268.44, Z:-1.81 [[-8.73954152e-01 4.85927984e-01 8.83939792e-03 -1.83061489e+02] [ 4.85901021e-01 8.73998834e-01 -5.12211947e-03 -2.68441610e+02] [-1.02146047e-02 -1.81425094e-04 -9.99947813e-01 -1.81319516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 856.9265599949999 meters 0.01472231552179143 Centerline is valid? [True, True] Translation: X:-183.04, Y:-268.42, Z:-1.81 [[-9.05644715e-01 4.23942624e-01 8.96112113e-03 -1.83040788e+02] [ 4.23920063e-01 9.05689033e-01 -4.37678817e-03 -2.68420849e+02] [-9.97149619e-03 -1.65016041e-04 -9.99950270e-01 -1.81298265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 856.9565599949999 meters 0.014760574010955776 Centerline is valid? [True, True] Translation: X:-183.03, Y:-268.40, Z:-1.81 [[-9.33218390e-01 3.59204429e-01 8.69568620e-03 -1.83026545e+02] [ 3.59187334e-01 9.33258890e-01 -3.50764389e-03 -2.68396726e+02] [-9.37528767e-03 -1.50017438e-04 -9.99956040e-01 -1.81340486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 856.986559995 meters 0.014232053191767256 Centerline is valid? [True, True] Translation: X:-182.74, Y:-267.71, Z:-2.77 [[-8.93031291e-01 -4.49944034e-01 6.74393161e-03 -1.82744878e+02] [ 4.49931276e-01 -8.93056754e-01 -3.38826082e-03 -2.67714016e+02] [ 7.54724142e-03 8.48282502e-06 9.99971519e-01 -2.76837936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 857.016559995 meters 0.014640585218409694 Centerline is valid? [True, True] Translation: X:-183.08, Y:-268.38, Z:-1.82 [[-9.34621175e-01 3.55587004e-01 6.41415309e-03 -1.83080822e+02] [ 3.55577812e-01 9.34643178e-01 -2.55916250e-03 -2.68375059e+02] [-6.90494936e-03 -1.11116941e-04 -9.99976155e-01 -1.81635624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 857.0465599949999 meters 0.014273761281540285 Centerline is valid? [True, True] Translation: X:-183.07, Y:-268.35, Z:-1.82 [[-9.57551319e-01 2.88195241e-01 6.24289646e-03 -1.83074135e+02] [ 2.88188385e-01 9.57571664e-01 -1.99087103e-03 -2.68348969e+02] [-6.55178031e-03 -1.07230935e-04 -9.99978531e-01 -1.81711645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 857.0765599949999 meters 0.014497852873822967 Centerline is valid? [True, True] Translation: X:-182.83, Y:-267.66, Z:-2.77 [[-9.23476974e-01 -3.83613607e-01 5.55683722e-03 -1.82825933e+02] [ 3.83607067e-01 -9.23493691e-01 -2.24090890e-03 -2.67655445e+02] [ 5.99134726e-03 6.22142581e-05 9.99982050e-01 -2.76749863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 857.106559995 meters 0.01571840326657132 Centerline is valid? [True, True] Translation: X:-183.10, Y:-268.34, Z:-1.82 [[-9.59073619e-01 2.83092457e-01 6.03777094e-03 -1.83103097e+02] [ 2.83086103e-01 9.59092617e-01 -1.90005411e-03 -2.68336309e+02] [-6.32867252e-03 -1.13082726e-04 -9.99979967e-01 -1.81558185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 857.136559995 meters 0.014695598427161668 Centerline is valid? [True, True] Translation: X:-183.09, Y:-268.31, Z:-1.82 [[-9.76836896e-01 2.13875942e-01 6.83815150e-03 -1.83093387e+02] [ 2.13869773e-01 9.76860822e-01 -1.62950318e-03 -2.68312382e+02] [-7.02843382e-03 -1.29284920e-04 -9.99975292e-01 -1.81605451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 857.166559995 meters 0.015146489989455583 Centerline is valid? [True, True] Translation: X:-182.92, Y:-267.60, Z:-2.77 [[-9.48941736e-01 -3.15339308e-01 8.40846434e-03 -1.82919742e+02] [ 3.15329464e-01 -9.48978950e-01 -2.50650447e-03 -2.67602304e+02] [ 8.76985504e-03 2.72909849e-04 9.99961507e-01 -2.76994605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 857.1965599949999 meters 0.015401101391947516 Centerline is valid? [True, True] Translation: X:-183.14, Y:-268.30, Z:-1.81 [[-9.77894968e-01 2.08883895e-01 9.43134733e-03 -1.83141280e+02] [ 2.08872298e-01 9.77940429e-01 -2.20932750e-03 -2.68298697e+02] [-9.68478879e-03 -1.90543053e-04 -9.99953083e-01 -1.81355964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 857.2265599949999 meters 0.01661276606523883 Centerline is valid? [True, True] Translation: X:-182.97, Y:-267.60, Z:-2.77 [[-9.49993413e-01 -3.12114553e-01 9.84989582e-03 -1.82971600e+02] [ 3.12100395e-01 -9.50044445e-01 -2.98256114e-03 -2.67595251e+02] [ 1.02887395e-02 2.40742934e-04 9.99947041e-01 -2.77260852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 857.256559995 meters 0.01562704184725441 Centerline is valid? [True, True] Translation: X:-183.19, Y:-268.29, Z:-1.81 [[-9.78742307e-01 2.04852416e-01 9.94904508e-03 -1.83185764e+02] [ 2.04839720e-01 9.78792852e-01 -2.28973447e-03 -2.68286901e+02] [-1.02071118e-02 -2.03100387e-04 -9.99947886e-01 -1.81293604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 857.286559995 meters 0.015568509561835671 Centerline is valid? [True, True] Translation: X:-183.18, Y:-268.26, Z:-1.81 [[-9.90769796e-01 1.35193918e-01 9.89021469e-03 -1.83181899e+02] [ 1.35185200e-01 9.90819139e-01 -1.54775141e-03 -2.68258890e+02] [-1.00086606e-02 -1.96454690e-04 -9.99949893e-01 -1.81335866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 857.3165599949999 meters 0.015605677278031752 Centerline is valid? [True, True] Translation: X:-183.18, Y:-268.23, Z:-1.81 [[-9.97844709e-01 6.49567386e-02 9.30374392e-03 -1.83179519e+02] [ 6.49522432e-02 9.97888065e-01 -7.84837917e-04 -2.68230767e+02] [-9.33507553e-03 -1.78847324e-04 -9.99956411e-01 -1.81348779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 857.3465599949999 meters 0.015141534073576837 Centerline is valid? [True, True] Translation: X:-183.18, Y:-268.20, Z:-1.81 [[-9.99955165e-01 -4.21446897e-03 8.47977843e-03 -1.83179226e+02] [-4.21555676e-03 9.99991108e-01 -1.10410407e-04 -2.68203172e+02] [-8.47923771e-03 -1.46152444e-04 -9.99964040e-01 -1.81395041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 857.376559995 meters 0.014219590553570744 Centerline is valid? [True, True] Translation: X:-183.18, Y:-268.18, Z:-1.81 [[-9.97215784e-01 -7.40941128e-02 8.41083807e-03 -1.83176368e+02] [-7.40926152e-02 9.97251244e-01 4.89935443e-04 -2.68177441e+02] [-8.42402007e-03 -1.34609632e-04 -9.99964508e-01 -1.81452269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 857.406559995 meters 0.013804151127227889 Centerline is valid? [True, True] Translation: X:-183.19, Y:-268.15, Z:-1.81 [[-9.89794634e-01 -1.42233106e-01 8.73645123e-03 -1.83188203e+02] [-1.42228608e-01 9.89833183e-01 1.13716093e-03 -2.68152390e+02] [-8.80937126e-03 -1.17017517e-04 -9.99961190e-01 -1.81377609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 857.4365599949999 meters 0.01346675657338968 Centerline is valid? [True, True] Translation: X:-183.20, Y:-268.13, Z:-1.81 [[-9.77355368e-01 -2.11400609e-01 9.28802466e-03 -1.83202394e+02] [-2.11392157e-01 9.77399494e-01 1.89364478e-03 -2.68127888e+02] [-9.47842826e-03 -1.12651676e-04 -9.99955072e-01 -1.81354025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 857.4665599949999 meters 0.013395037361702292 Centerline is valid? [True, True] Translation: X:-183.23, Y:-268.11, Z:-1.81 [[-9.59947844e-01 -2.80010949e-01 9.69563823e-03 -1.83228922e+02] [-2.79997778e-01 9.59996801e-01 2.71787592e-03 -2.68106233e+02] [-1.00688167e-02 -1.05738036e-04 -9.99949303e-01 -1.81272404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 857.496559995 meters 0.013032789153754545 Centerline is valid? [True, True] Translation: X:-183.28, Y:-268.10, Z:-1.81 [[-9.37285025e-01 -3.48437032e-01 9.40305441e-03 -1.83282004e+02] [-3.48420488e-01 9.37332186e-01 3.39670890e-03 -2.68095150e+02] [-9.99732471e-03 -9.25324215e-05 -9.99950021e-01 -1.81255042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 857.526559995 meters 0.012874870520861014 Centerline is valid? [True, True] Translation: X:-183.34, Y:-268.09, Z:-1.81 [[-9.10058187e-01 -4.14373980e-01 9.39683588e-03 -1.83343207e+02] [-4.14352675e-01 9.10106697e-01 4.20245877e-03 -2.68091093e+02] [-1.02935128e-02 -6.91220792e-05 -9.99947018e-01 -1.81217917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 857.5565599949999 meters 0.012721025708318989 Centerline is valid? [True, True] Translation: X:-183.41, Y:-268.10, Z:-1.81 [[-8.77280032e-01 -4.79894753e-01 8.98735439e-03 -1.83414308e+02] [-4.79870253e-01 8.77326064e-01 4.84953144e-03 -2.68096394e+02] [-1.02121049e-02 -5.83669269e-05 -9.99947854e-01 -1.81280695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 857.5865599949999 meters 0.012645323800623292 Centerline is valid? [True, True] Translation: X:-183.50, Y:-268.11, Z:-1.81 [[-8.40064914e-01 -5.42422832e-01 8.27112155e-03 -1.83495874e+02] [-5.42396965e-01 8.40105630e-01 5.29739065e-03 -2.68114178e+02] [-9.82204143e-03 -3.60792051e-05 -9.99951762e-01 -1.81345441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 857.616559995 meters 0.012599918694728174 Centerline is valid? [True, True] Translation: X:-183.58, Y:-268.14, Z:-1.81 [[-7.97335174e-01 -6.03486266e-01 7.80685534e-03 -1.83579064e+02] [-6.03457685e-01 7.97373392e-01 5.87330993e-03 -2.68139017e+02] [-9.76944060e-03 -2.81102602e-05 -9.99952278e-01 -1.81333515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 857.646559995 meters 0.01246491523147921 Centerline is valid? [True, True] Translation: X:-183.66, Y:-268.17, Z:-1.81 [[-7.50597968e-01 -6.60721240e-01 7.08050801e-03 -1.83663022e+02] [-6.60691976e-01 7.50631363e-01 6.21850151e-03 -2.68173474e+02] [-9.42354740e-03 -1.04402291e-05 -9.99955597e-01 -1.81418250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 857.6765599949999 meters 0.01247494341390302 Centerline is valid? [True, True] Translation: X:-183.76, Y:-268.22, Z:-1.81 [[-6.98825067e-01 -7.15265120e-01 6.27171462e-03 -1.83756097e+02] [-7.15236374e-01 6.98853210e-01 6.41249482e-03 -2.68223829e+02] [-8.96964177e-03 -4.54630589e-06 -9.99959772e-01 -1.81420958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 857.7065599949999 meters 0.01242411641474591 Centerline is valid? [True, True] Translation: X:-183.84, Y:-268.28, Z:-1.81 [[-6.42726703e-01 -7.66075671e-01 5.51824361e-03 -1.83840471e+02] [-7.66047438e-01 6.42750392e-01 6.57696301e-03 -2.68275466e+02] [-8.58530460e-03 -4.66261595e-08 -9.99963146e-01 -1.81423308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 857.736559995 meters 0.012367434569311634 Centerline is valid? [True, True] Translation: X:-183.93, Y:-268.34, Z:-1.81 [[-5.83159787e-01 -8.12345469e-01 4.41612321e-03 -1.83926768e+02] [-8.12322086e-01 5.83176508e-01 6.16357732e-03 -2.68340812e+02] [-7.58233342e-03 7.03602738e-06 -9.99971254e-01 -1.81401985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 857.766559995 meters 0.012278043888873201 Centerline is valid? [True, True] Translation: X:-184.01, Y:-268.42, Z:-1.81 [[-5.19431508e-01 -8.54503209e-01 3.89528792e-03 -1.84010066e+02] [-8.54479064e-01 5.19446114e-01 6.42373664e-03 -2.68415947e+02] [-7.51249575e-03 8.24923551e-06 -9.99971781e-01 -1.81457188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 857.7965599949999 meters 0.012295426509464621 Centerline is valid? [True, True] Translation: X:-184.09, Y:-268.50, Z:-1.81 [[-4.52386589e-01 -8.91815806e-01 3.30803799e-03 -1.84086753e+02] [-8.91791830e-01 4.52398683e-01 6.53933915e-03 -2.68496099e+02] [-7.32843805e-03 8.22807536e-06 -9.99973147e-01 -1.81419514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 857.8265599949999 meters 0.012254089899288795 Centerline is valid? [True, True] Translation: X:-184.16, Y:-268.59, Z:-1.81 [[-3.82398184e-01 -9.23993011e-01 2.92315798e-03 -1.84162988e+02] [-9.23965907e-01 3.82409357e-01 7.07721153e-03 -2.68594167e+02] [-7.65713695e-03 5.41452783e-06 -9.99970684e-01 -1.81433184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 857.856559995 meters 0.012269261170512307 Centerline is valid? [True, True] Translation: X:-184.23, Y:-268.68, Z:-1.81 [[-3.09532925e-01 -9.50885530e-01 2.46513267e-03 -1.84226725e+02] [-9.50855359e-01 3.09542741e-01 7.57476309e-03 -2.68683873e+02] [-7.96579654e-03 6.53969488e-07 -9.99968273e-01 -1.81382317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 857.886559995 meters 0.012441364632741434 Centerline is valid? [True, True] Translation: X:-184.29, Y:-268.79, Z:-1.81 [[-2.33164154e-01 -9.72435188e-01 2.06917290e-03 -1.84288703e+02] [-9.72397666e-01 2.33173335e-01 8.54261948e-03 -2.68789388e+02] [-8.78961972e-03 -2.02262497e-05 -9.99961370e-01 -1.81199273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 857.916559995 meters 0.012422592516112196 Centerline is valid? [True, True] Translation: X:-184.34, Y:-268.90, Z:-1.81 [[-1.56327020e-01 -9.87704350e-01 1.40709051e-03 -1.84339804e+02] [-9.87666124e-01 1.56333350e-01 8.68969691e-03 -2.68896207e+02] [-8.80282661e-03 -3.13012054e-05 -9.99961254e-01 -1.81270474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 857.9465599949999 meters 0.012451955974439613 Centerline is valid? [True, True] Translation: X:-184.38, Y:-269.01, Z:-1.81 [[-7.85199388e-02 -9.96912239e-01 7.79624452e-04 -1.84383085e+02] [-9.96868543e-01 7.85237966e-02 9.33390853e-03 -2.69009217e+02] [-9.36630672e-03 -4.42851648e-05 -9.99956134e-01 -1.81222068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 857.9765599949999 meters 0.012654080701859997 Centerline is valid? [True, True] Translation: X:-185.12, Y:-269.07, Z:-2.77 [[-1.56875228e-01 9.87617373e-01 1.44506582e-03 -1.85121936e+02] [-9.87571781e-01 -1.56881871e-01 9.48980559e-03 -2.69065806e+02] [ 9.59900149e-03 6.16091913e-05 9.99953927e-01 -2.77314393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 858.006559995 meters 0.01263327140242718 Centerline is valid? [True, True] Translation: X:-184.41, Y:-269.30, Z:-1.81 [[-6.66867941e-02 -9.97773694e-01 7.26633059e-04 -1.84413063e+02] [-9.97724699e-01 6.66907205e-02 9.88797933e-03 -2.69297583e+02] [-9.91442534e-03 -6.55821084e-05 -9.99950849e-01 -1.81103551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 858.036559995 meters 0.012659211331277181 Centerline is valid? [True, True] Translation: X:-184.44, Y:-269.42, Z:-1.81 [[ 1.01801668e-02 -9.99948180e-01 -3.74029408e-05 -1.84444990e+02] [-9.99900213e-01 -1.01800448e-02 9.79440544e-03 -2.69419603e+02] [-9.79427866e-03 -6.23094729e-05 -9.99952033e-01 -1.81116607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 858.0665599949999 meters 0.012553890669178287 Centerline is valid? [True, True] Translation: X:-184.47, Y:-269.53, Z:-1.81 [[ 8.62894399e-02 -9.96269823e-01 -7.56677806e-04 -1.84467630e+02] [-9.96225585e-01 -8.62927392e-02 9.38865805e-03 -2.69527779e+02] [-9.41893249e-03 -5.63202551e-05 -9.99955639e-01 -1.81183026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 858.0965599949999 meters 0.012557825271945187 Centerline is valid? [True, True] Translation: X:-185.19, Y:-269.70, Z:-2.77 [[ 7.12981547e-03 9.99974579e-01 -8.70699538e-05 -1.85186562e+02] [-9.99934369e-01 7.13030960e-03 8.96755147e-03 -2.69702694e+02] [ 8.96794434e-03 2.31272520e-05 9.99959787e-01 -2.77244813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 858.126559995 meters 0.01253087443757347 Centerline is valid? [True, True] Translation: X:-184.45, Y:-269.81, Z:-1.81 [[ 9.44828245e-02 -9.95526243e-01 -7.03661153e-04 -1.84445840e+02] [-9.95495913e-01 -9.44854387e-02 7.77099418e-03 -2.69812522e+02] [-7.80271437e-03 -3.37336769e-05 -9.99969558e-01 -1.81331516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 858.156559995 meters 0.012489229300635785 Centerline is valid? [True, True] Translation: X:-184.46, Y:-269.93, Z:-1.81 [[ 1.70835239e-01 -9.85298862e-01 -1.21398719e-03 -1.84458682e+02] [-9.85272724e-01 -1.70839550e-01 7.17693698e-03 -2.69930785e+02] [-7.27882486e-03 -2.99652837e-05 -9.99973509e-01 -1.81342122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 858.1865599949999 meters 0.012462484053425055 Centerline is valid? [True, True] Translation: X:-184.46, Y:-270.05, Z:-1.81 [[ 2.46322055e-01 -9.69186650e-01 -1.63797887e-03 -1.84461928e+02] [-9.69164466e-01 -2.46327500e-01 6.55749666e-03 -2.70050999e+02] [-6.75891746e-03 -2.77851423e-05 -9.99977158e-01 -1.81400125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 858.2165599949999 meters 0.012534038026831049 Centerline is valid? [True, True] Translation: X:-184.46, Y:-270.17, Z:-1.81 [[ 3.20812486e-01 -9.47139962e-01 -2.28932142e-03 -1.84455990e+02] [-9.47115081e-01 -3.20820653e-01 6.86531999e-03 -2.70174069e+02] [-7.23688051e-03 -3.42295286e-05 -9.99973813e-01 -1.81330031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 858.246559995 meters 0.012534038026831049 Centerline is valid? [True, True] Translation: X:-184.44, Y:-270.29, Z:-1.81 [[ 3.92743341e-01 -9.19643826e-01 -2.81083786e-03 -1.84441359e+02] [-9.19619647e-01 -3.92753398e-01 6.66881726e-03 -2.70292054e+02] [-7.23690275e-03 -3.42318503e-05 -9.99973813e-01 -1.81329921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 858.276559995 meters 0.01260022526697732 Centerline is valid? [True, True] Translation: X:-184.42, Y:-270.41, Z:-1.81 [[ 4.62484623e-01 -8.86620010e-01 -3.59593477e-03 -1.84419392e+02] [-8.86592557e-01 -4.62498601e-01 6.97725448e-03 -2.70406502e+02] [-7.84928824e-03 -3.87439001e-05 -9.99969193e-01 -1.81220695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 858.3065599949999 meters 0.012664806453323747 Centerline is valid? [True, True] Translation: X:-184.39, Y:-270.52, Z:-1.81 [[ 5.30032031e-01 -8.47965962e-01 -4.44677462e-03 -1.84387260e+02] [-8.47935332e-01 -5.30050682e-01 7.20739364e-03 -2.70520741e+02] [-8.46864039e-03 -4.95721752e-05 -9.99964139e-01 -1.81187800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 858.3365599949999 meters 0.012820554601461117 Centerline is valid? [True, True] Translation: X:-184.35, Y:-270.63, Z:-1.81 [[ 5.94057701e-01 -8.04406166e-01 -5.11548713e-03 -1.84347376e+02] [-8.04375518e-01 -5.94079722e-01 7.02209526e-03 -2.70631430e+02] [-8.68762390e-03 -5.67571566e-05 -9.99962260e-01 -1.81177915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 858.366559995 meters 0.012824961062157334 Centerline is valid? [True, True] Translation: X:-184.30, Y:-270.73, Z:-1.81 [[ 6.54168960e-01 -7.56327777e-01 -5.59156307e-03 -1.84303686e+02] [-7.56299367e-01 -6.54192854e-01 6.55568085e-03 -2.70732744e+02] [-8.61620412e-03 -5.96273131e-05 -9.99962878e-01 -1.81149233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 858.396559995 meters 0.013019611059242086 Centerline is valid? [True, True] Translation: X:-184.25, Y:-270.83, Z:-1.81 [[ 7.10622285e-01 -7.03545731e-01 -6.27477031e-03 -1.84252312e+02] [-7.03517439e-01 -7.10649984e-01 6.30972642e-03 -2.70830824e+02] [-8.89834650e-03 -6.94218672e-05 -9.99960407e-01 -1.81106855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 858.4265599949999 meters 0.013025268596859927 Centerline is valid? [True, True] Translation: X:-184.20, Y:-270.92, Z:-1.81 [[ 7.62350322e-01 -6.47127680e-01 -6.91034083e-03 -1.84195214e+02] [-6.47100217e-01 -7.62381637e-01 5.96232766e-03 -2.70922550e+02] [-9.12670422e-03 -7.36993587e-05 -9.99958348e-01 -1.81123013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 858.4565599949999 meters 0.013189394691030348 Centerline is valid? [True, True] Translation: X:-184.20, Y:-270.93, Z:-1.81 [[ 8.11462746e-01 -5.84359505e-01 -7.22370360e-03 -1.84197496e+02] [-5.84335407e-01 -8.11494893e-01 5.30755373e-03 -2.70929169e+02] [-8.96351805e-03 -8.58163396e-05 -9.99959823e-01 -1.81201881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 858.486559995 meters 0.013201841557688058 Centerline is valid? [True, True] Translation: X:-184.20, Y:-270.94, Z:-1.81 [[ 8.55083513e-01 -5.18438374e-01 -7.33743900e-03 -1.84200806e+02] [-5.18418383e-01 -8.55114989e-01 4.55375509e-03 -2.70937527e+02] [-8.63519546e-03 -8.99776391e-05 -9.99962712e-01 -1.81261177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 858.516559995 meters 0.013322604943249343 Centerline is valid? [True, True] Translation: X:-184.20, Y:-270.95, Z:-1.81 [[ 8.93438945e-01 -4.49118640e-01 -7.70053402e-03 -1.84203750e+02] [-4.49100997e-01 -8.93472124e-01 3.98209102e-03 -2.70946339e+02] [-8.66864380e-03 -9.94376920e-05 -9.99962422e-01 -1.81288216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 858.5465599949999 meters 0.014381897114793634 Centerline is valid? [True, True] Translation: X:-184.21, Y:-270.96, Z:-1.81 [[ 9.26461978e-01 -3.76294407e-01 -8.40966321e-03 -1.84207282e+02] [-3.76277720e-01 -9.26500138e-01 3.54574022e-03 -2.70957729e+02] [-9.12579633e-03 -1.20624595e-04 -9.99958352e-01 -1.81133535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 858.5765599949999 meters 0.013729125358802198 Centerline is valid? [True, True] Translation: X:-184.21, Y:-270.97, Z:-1.81 [[ 9.53278963e-01 -3.01953879e-01 -9.11449338e-03 -1.84207195e+02] [-3.01938726e-01 -9.53322525e-01 3.02798858e-03 -2.70965474e+02] [-9.60336474e-03 -1.34499288e-04 -9.99953878e-01 -1.81226844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 858.606559995 meters 0.013910275146788728 Centerline is valid? [True, True] Translation: X:-184.21, Y:-270.97, Z:-1.81 [[ 9.74052078e-01 -2.26108873e-01 -9.86549271e-03 -1.84206736e+02] [-2.26095748e-01 -9.74102026e-01 2.44058195e-03 -2.70974181e+02] [-1.01618337e-02 -1.46707966e-04 -9.99948357e-01 -1.81166669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 858.636559995 meters 0.014313612692897814 Centerline is valid? [True, True] Translation: X:-184.21, Y:-270.98, Z:-1.81 [[ 9.88712966e-01 -1.49421679e-01 -1.09467938e-02 -1.84207384e+02] [-1.49410745e-01 -9.88773552e-01 1.81445985e-03 -2.70981941e+02] [-1.10950199e-02 -1.58411349e-04 -9.99938436e-01 -1.81021426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 858.666559995 meters 0.013874157846833306 Centerline is valid? [True, True] Translation: X:-184.21, Y:-270.99, Z:-1.81 [[ 9.97322922e-01 -7.22806848e-02 -1.10676289e-02 -1.84209195e+02] [-7.22745612e-02 -9.97384319e-01 9.52786254e-04 -2.70986721e+02] [-1.11075476e-02 -1.50327548e-04 -9.99938298e-01 -1.81063622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 858.6965599949999 meters 0.013328214748372206 Centerline is valid? [True, True] Translation: X:-184.21, Y:-270.99, Z:-1.81 [[ 9.99941769e-01 3.99352109e-03 -1.00255096e-02 -1.84210618e+02] [ 3.99447216e-03 -9.99992019e-01 7.48426613e-05 -2.70991887e+02] [-1.00251307e-02 -1.14884922e-04 -9.99949741e-01 -1.81202498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 858.7265599949999 meters 0.013097028971055044 Centerline is valid? [True, True] Translation: X:-184.21, Y:-271.00, Z:-1.81 [[ 9.96669617e-01 8.10032182e-02 -9.38900985e-03 -1.84212503e+02] [ 8.10005270e-02 -9.96713835e-01 -6.67167841e-04 -2.70999095e+02] [-9.41219876e-03 -9.55688295e-05 -9.99955700e-01 -1.81301352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 858.756559995 meters 0.013140238132448053 Centerline is valid? [True, True] Translation: X:-184.21, Y:-271.01, Z:-1.81 [[ 9.87463936e-01 1.57593541e-01 -8.90226181e-03 -1.84214477e+02] [ 1.57587872e-01 -9.87504060e-01 -1.33911047e-03 -2.71006547e+02] [-9.00205485e-03 -8.05652023e-05 -9.99959478e-01 -1.81310288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 858.786559995 meters 0.013143240068792666 Centerline is valid? [True, True] Translation: X:-184.22, Y:-271.01, Z:-1.81 [[ 9.72437082e-01 2.33013329e-01 -8.42080920e-03 -1.84216337e+02] [ 2.33005169e-01 -9.72473539e-01 -1.95108652e-03 -2.71011097e+02] [-8.64364329e-03 -6.47831914e-05 -9.99962641e-01 -1.81264423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 858.8165599949999 meters 0.012648770508717055 Centerline is valid? [True, True] Translation: X:-184.22, Y:-271.01, Z:-1.81 [[ 9.52135951e-01 3.05573232e-01 -7.88235200e-03 -1.84218022e+02] [ 3.05563086e-01 -9.52168577e-01 -2.49045699e-03 -2.71014382e+02] [-8.26634488e-03 -3.73021630e-05 -9.99965833e-01 -1.81370671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 858.8465599949999 meters 0.012507769800759608 Centerline is valid? [True, True] Translation: X:-184.22, Y:-271.02, Z:-1.81 [[ 9.26414756e-01 3.76404188e-01 -8.69409811e-03 -1.84217766e+02] [ 3.76387758e-01 -9.26455551e-01 -3.51689165e-03 -2.71020535e+02] [-9.37846819e-03 -1.42517784e-05 -9.99956021e-01 -1.81252677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 858.876559995 meters 0.01252028078285886 Centerline is valid? [True, True] Translation: X:-184.22, Y:-271.03, Z:-1.81 [[ 8.94796178e-01 4.46385867e-01 -8.91391422e-03 -1.84216741e+02] [ 4.46363711e-01 -8.94840577e-01 -4.44744423e-03 -2.71027288e+02] [-9.96180839e-03 7.08267466e-07 -9.99950380e-01 -1.81184636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 858.906559995 meters 0.012628162713225206 Centerline is valid? [True, True] Translation: X:-184.22, Y:-271.03, Z:-1.81 [[ 8.57916726e-01 5.13712879e-01 -8.82999088e-03 -1.84216847e+02] [ 5.13685468e-01 -8.57962166e-01 -5.30681348e-03 -2.71033147e+02] [-1.03019765e-02 1.69660495e-05 -9.99946933e-01 -1.81120561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 858.9365599949999 meters 0.012821695360140625 Centerline is valid? [True, True] Translation: X:-184.22, Y:-271.04, Z:-1.81 [[ 8.16657948e-01 5.77057755e-01 -8.61066472e-03 -1.84216783e+02] [ 5.77025080e-01 -8.16703340e-01 -6.14100464e-03 -2.71037489e+02] [-1.05760730e-02 4.65307431e-05 -9.99944071e-01 -1.81157254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 858.9665599949999 meters 0.012883170406052044 Centerline is valid? [True, True] Translation: X:-184.22, Y:-271.04, Z:-1.81 [[ 7.69665763e-01 6.38398729e-01 -7.85339224e-03 -1.84215172e+02] [ 6.38364755e-01 -7.69705827e-01 -6.58631594e-03 -2.71044197e+02] [-1.02494975e-02 5.59330644e-05 -9.99947471e-01 -1.81231939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 858.996559995 meters 0.012894993698226996 Centerline is valid? [True, True] Translation: X:-184.21, Y:-271.05, Z:-1.81 [[ 7.17680333e-01 6.96336352e-01 -7.11505605e-03 -1.84212623e+02] [ 6.96301313e-01 -7.17715599e-01 -6.98569970e-03 -2.71051140e+02] [-9.97098336e-03 5.92764123e-05 -9.99950287e-01 -1.81344371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 859.026559995 meters 0.01283116378918586 Centerline is valid? [True, True] Translation: X:-184.21, Y:-271.06, Z:-1.81 [[ 6.60723154e-01 7.50601286e-01 -6.52870041e-03 -1.84208869e+02] [ 7.50563810e-01 -6.60755406e-01 -7.50071588e-03 -2.71059532e+02] [-9.94392108e-03 5.56903941e-05 -9.99950557e-01 -1.81366633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 859.0565599949999 meters 0.012826491936460425 Centerline is valid? [True, True] Translation: X:-184.21, Y:-271.07, Z:-1.81 [[ 5.99272287e-01 8.00523327e-01 -5.92690289e-03 -1.84205216e+02] [ 8.00483390e-01 -5.99301594e-01 -7.99632958e-03 -2.71067648e+02] [-9.95325071e-03 4.75913971e-05 -9.99950464e-01 -1.81331423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 859.0865599949999 meters 0.012648712045602696 Centerline is valid? [True, True] Translation: X:-184.20, Y:-271.08, Z:-1.81 [[ 5.33296096e-01 8.45911298e-01 -5.41749875e-03 -1.84197370e+02] [ 8.45867061e-01 -5.33323611e-01 -8.65103171e-03 -2.71077029e+02] [-1.02072855e-02 3.10776864e-05 -9.99947904e-01 -1.81358280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 859.116559995 meters 0.01272338963779905 Centerline is valid? [True, True] Translation: X:-184.19, Y:-271.08, Z:-1.81 [[ 4.64543843e-01 8.85536771e-01 -4.86274917e-03 -1.84191684e+02] [ 8.85487775e-01 -4.64569293e-01 -9.31518324e-03 -2.71084953e+02] [-1.05080212e-02 2.14060708e-05 -9.99944789e-01 -1.81275972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 859.146559995 meters 0.012618762163458759 Centerline is valid? [True, True] Translation: X:-184.18, Y:-271.09, Z:-1.81 [[ 3.92204370e-01 9.19866899e-01 -4.54096053e-03 -1.84184075e+02] [ 9.19805139e-01 -3.92230657e-01 -1.06591991e-02 -2.71091845e+02] [-1.15861483e-02 3.78562830e-06 -9.99932878e-01 -1.81295480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 859.1765599949999 meters 0.01261945049522829 Centerline is valid? [True, True] Translation: X:-184.18, Y:-271.10, Z:-1.81 [[ 3.18249140e-01 9.47999798e-01 -3.72410942e-03 -1.84178073e+02] [ 9.47935075e-01 -3.18270929e-01 -1.10774027e-02 -2.71097985e+02] [-1.16866513e-02 -4.84006533e-06 -9.99931709e-01 -1.81285767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 859.2065599949999 meters 0.012572819906815014 Centerline is valid? [True, True] Translation: X:-184.17, Y:-271.10, Z:-1.81 [[ 2.42643656e-01 9.70111289e-01 -2.85369663e-03 -1.84171654e+02] [ 9.70044667e-01 -2.42660436e-01 -1.13690786e-02 -2.71103576e+02] [-1.17217508e-02 -9.57839922e-06 -9.99931298e-01 -1.81277266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 859.236559995 meters 0.01257277988643634 Centerline is valid? [True, True] Translation: X:-184.16, Y:-271.11, Z:-1.81 [[ 1.64791079e-01 9.86326639e-01 -1.91332522e-03 -1.84164077e+02] [ 9.86261717e-01 -1.64802184e-01 -1.13165996e-02 -2.71109661e+02] [-1.14771838e-02 -2.21647566e-05 -9.99934135e-01 -1.81272227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 859.266559995 meters 0.012528533197672017 Centerline is valid? [True, True] Translation: X:-184.15, Y:-271.11, Z:-1.81 [[ 8.63973236e-02 9.96260273e-01 -9.85889337e-04 -1.84154420e+02] [ 9.96199149e-01 -8.64029437e-02 -1.10356898e-02 -2.71114232e+02] [-1.10796031e-02 -2.86880575e-05 -9.99938619e-01 -1.81389717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 859.2965599949999 meters 0.012543666732169135 Centerline is valid? [True, True] Translation: X:-184.14, Y:-271.12, Z:-1.81 [[ 6.41579807e-03 9.99979413e-01 -1.06939912e-04 -1.84143232e+02] [ 9.99929331e-01 -6.41654703e-03 -1.00080065e-02 -2.71118230e+02] [-1.00084867e-02 -4.27230053e-05 -9.99949913e-01 -1.81499542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 859.3265599949999 meters 0.012602005769093396 Centerline is valid? [True, True] Translation: X:-184.13, Y:-271.12, Z:-1.82 [[-7.30632377e-02 9.97327088e-01 6.64958118e-04 -1.84133796e+02] [ 9.97278928e-01 7.30662444e-02 -9.80121665e-03 -2.71121693e+02] [-9.82360486e-03 -5.29599023e-05 -9.99951746e-01 -1.81531187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 859.356559995 meters 0.012556632413673129 Centerline is valid? [True, True] Translation: X:-184.12, Y:-271.12, Z:-1.82 [[-1.51884859e-01 9.88397172e-01 1.42094045e-03 -1.84123307e+02] [ 9.88350029e-01 1.51891493e-01 -9.65374702e-03 -2.71123318e+02] [-9.75756502e-03 -6.18714719e-05 -9.99952392e-01 -1.81561418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 859.386559995 meters 0.012813549203686938 Centerline is valid? [True, True] Translation: X:-184.11, Y:-271.12, Z:-1.82 [[-2.30924556e-01 9.72969216e-01 2.18047050e-03 -1.84111214e+02] [ 9.72922379e-01 2.30934835e-01 -9.54711295e-03 -2.71123295e+02] [-9.79259360e-03 -8.32342714e-05 -9.99952048e-01 -1.81554606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 859.416559995 meters 0.012860953656440507 Centerline is valid? [True, True] Translation: X:-184.10, Y:-271.12, Z:-1.82 [[-3.07277464e-01 9.51615429e-01 2.93860357e-03 -1.84100561e+02] [ 9.51568992e-01 3.07291502e-01 -9.40138859e-03 -2.71122651e+02] [-9.84951434e-03 -9.25508099e-05 -9.99951488e-01 -1.81541225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 859.4465599949999 meters 0.013094541500318871 Centerline is valid? [True, True] Translation: X:-184.09, Y:-271.12, Z:-1.82 [[-3.82331339e-01 9.24018912e-01 3.43479360e-03 -1.84087977e+02] [ 9.23979211e-01 3.82346754e-01 -8.56600948e-03 -2.71120845e+02] [-9.22843694e-03 -1.01375994e-04 -9.99957412e-01 -1.81521793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 859.4765599949999 meters 0.013173999307165656 Centerline is valid? [True, True] Translation: X:-184.08, Y:-271.12, Z:-1.82 [[-4.54284515e-01 8.90847807e-01 3.97052765e-03 -1.84078477e+02] [ 8.90811717e-01 4.54301854e-01 -8.01939660e-03 -2.71119187e+02] [-8.94787994e-03 -1.06095139e-04 -9.99959961e-01 -1.81564444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 859.506559995 meters 0.013250537031846832 Centerline is valid? [True, True] Translation: X:-184.07, Y:-271.12, Z:-1.82 [[-5.23307722e-01 8.52132625e-01 4.36080567e-03 -1.84068284e+02] [ 8.52101314e-01 5.23325881e-01 -7.30569714e-03 -2.71115023e+02] [-8.50754535e-03 -1.07279491e-04 -9.99963805e-01 -1.81661786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 859.536559995 meters 0.013892544074852183 Centerline is valid? [True, True] Translation: X:-184.06, Y:-271.11, Z:-1.82 [[-5.88800838e-01 8.08262626e-01 5.00999151e-03 -1.84058003e+02] [ 8.08231725e-01 5.88822142e-01 -7.06850709e-03 -2.71111372e+02] [-8.66320403e-03 -1.12708823e-04 -9.99962468e-01 -1.81564908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 859.5665599949999 meters 0.01364749082107521 Centerline is valid? [True, True] Translation: X:-184.05, Y:-271.11, Z:-1.82 [[-6.50725770e-01 7.59289265e-01 5.98196105e-03 -1.84051534e+02] [ 7.59255376e-01 6.50753253e-01 -7.17482843e-03 -2.71108351e+02] [-9.34055082e-03 -1.27009673e-04 -9.99956368e-01 -1.81615672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 859.5965599949999 meters 0.01365742904708688 Centerline is valid? [True, True] Translation: X:-184.04, Y:-271.10, Z:-1.82 [[-7.09349842e-01 7.04820578e-01 7.12427194e-03 -1.84042297e+02] [ 7.04782816e-01 7.09385600e-01 -7.29748971e-03 -2.71100953e+02] [-1.01972768e-02 -1.55408722e-04 -9.99947994e-01 -1.81547360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 859.626559995 meters 0.014198407603777833 Centerline is valid? [True, True] Translation: X:-184.03, Y:-271.09, Z:-1.81 [[-7.63103885e-01 6.46222171e-01 8.32866817e-03 -1.84033745e+02] [ 6.46181072e-01 7.63149313e-01 -7.29037388e-03 -2.71094245e+02] [-1.10672186e-02 -1.81484908e-04 -9.99938740e-01 -1.81435964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 859.656559995 meters 0.01486311870011023 Centerline is valid? [True, True] Translation: X:-183.59, Y:-270.60, Z:-2.77 [[-6.92794558e-01 -7.21084549e-01 8.53068907e-03 -1.83594590e+02] [ 7.21034427e-01 -6.92847029e-01 -8.50581350e-03 -2.70599632e+02] [ 1.20438733e-02 2.58139205e-04 9.99927437e-01 -2.77079462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 859.6865599949999 meters 0.014769095548291542 Centerline is valid? [True, True] Translation: X:-183.62, Y:-270.58, Z:-2.77 [[-6.92372797e-01 -7.21487008e-01 8.74120684e-03 -1.83615570e+02] [ 7.21433937e-01 -6.92427930e-01 -8.75427322e-03 -2.70580582e+02] [ 1.23687501e-02 2.44982630e-04 9.99923474e-01 -2.77057656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 859.7165599949999 meters 0.014985728905354635 Centerline is valid? [True, True] Translation: X:-183.64, Y:-270.56, Z:-2.77 [[-6.91858997e-01 -7.21983593e-01 8.41550177e-03 -1.83637204e+02] [ 7.21934496e-01 -6.91910132e-01 -8.42335136e-03 -2.70562512e+02] [ 1.19042924e-02 2.47669607e-04 9.99929111e-01 -2.76971373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 859.746559995 meters 0.01579180274351035 Centerline is valid? [True, True] Translation: X:-183.66, Y:-270.55, Z:-2.77 [[-6.92225749e-01 -7.21639996e-01 7.69606560e-03 -1.83656987e+02] [ 7.21598955e-01 -6.92268493e-01 -7.69949238e-03 -2.70545852e+02] [ 1.08840054e-02 2.23686018e-04 9.99940743e-01 -2.77005898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 859.776559995 meters 0.014539761032741792 Centerline is valid? [True, True] Translation: X:-183.68, Y:-270.52, Z:-2.77 [[-6.93773345e-01 -7.20162124e-01 6.71273788e-03 -1.83675853e+02] [ 7.20130865e-01 -6.93805797e-01 -6.71221824e-03 -2.70524434e+02] [ 9.49122180e-03 1.77291632e-04 9.99954942e-01 -2.76775359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 859.8065599949999 meters 0.013924216173300044 Centerline is valid? [True, True] Translation: X:-184.13, Y:-270.99, Z:-1.82 [[-7.66705073e-01 6.41966484e-01 6.50877535e-03 -1.84134856e+02] [ 6.41941679e-01 7.66732686e-01 -5.64535405e-03 -2.70987905e+02] [-8.61461889e-03 -1.50067417e-04 -9.99962882e-01 -1.81797049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 859.8365599949999 meters 0.013827702041568603 Centerline is valid? [True, True] Translation: X:-184.12, Y:-270.97, Z:-1.82 [[-8.09342289e-01 5.87298790e-01 6.72235243e-03 -1.84117718e+02] [ 5.87277121e-01 8.09370195e-01 -5.04684376e-03 -2.70966219e+02] [-8.40487693e-03 -1.36740295e-04 -9.99964669e-01 -1.81840498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 859.866559995 meters 0.01346474719999884 Centerline is valid? [True, True] Translation: X:-184.10, Y:-270.94, Z:-1.82 [[-8.47641972e-01 5.30519447e-01 7.22521674e-03 -1.84101211e+02] [ 5.30498964e-01 8.47672757e-01 -4.66336306e-03 -2.70943402e+02] [-8.59862419e-03 -1.19892267e-04 -9.99963024e-01 -1.81766844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 859.896559995 meters 0.012939590009354938 Centerline is valid? [True, True] Translation: X:-183.74, Y:-270.40, Z:-2.77 [[-7.95284229e-01 -6.06190990e-01 7.44834272e-03 -1.83737424e+02] [ 6.06166344e-01 -7.95319091e-01 -5.46875198e-03 -2.70404956e+02] [ 9.23891734e-03 1.65722473e-04 9.99957307e-01 -2.76811052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 859.9265599949999 meters 0.012664774143777442 Centerline is valid? [True, True] Translation: X:-184.13, Y:-270.92, Z:-1.82 [[-8.46804349e-01 5.31840224e-01 8.26863990e-03 -1.84134055e+02] [ 5.31813872e-01 8.46844714e-01 -5.29498605e-03 -2.70924043e+02] [-9.81834056e-03 -8.64398193e-05 -9.99951795e-01 -1.81562485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 859.9565599949999 meters 0.012308299750606865 Centerline is valid? [True, True] Translation: X:-184.11, Y:-270.91, Z:-1.82 [[-8.81437138e-01 4.72206465e-01 9.46712912e-03 -1.84113770e+02] [ 4.72178325e-01 8.81487974e-01 -5.15563055e-03 -2.70905496e+02] [-1.07796825e-02 -7.41910620e-05 -9.99941895e-01 -1.81593937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 859.986559995 meters 0.012218992647879278 Centerline is valid? [True, True] Translation: X:-184.11, Y:-270.88, Z:-1.82 [[-9.11786024e-01 4.10537519e-01 1.02563410e-02 -1.84105803e+02] [ 4.10510890e-01 9.11843705e-01 -4.67614476e-03 -2.70879317e+02] [-1.12719129e-02 -5.33037599e-05 -9.99936469e-01 -1.81530367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 860.016559995 meters 0.012089335286147213 Centerline is valid? [True, True] Translation: X:-184.09, Y:-270.86, Z:-1.82 [[-9.37096833e-01 3.48902388e-01 1.08004382e-02 -1.84091771e+02] [ 3.48879153e-01 9.37159071e-01 -4.02653745e-03 -2.70857212e+02] [-1.15265971e-02 -5.20777257e-06 -9.99933567e-01 -1.81551642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 860.0465599949999 meters 0.012154055058195121 Centerline is valid? [True, True] Translation: X:-184.08, Y:-270.83, Z:-1.82 [[-9.58995073e-01 2.83194200e-01 1.13795956e-02 -1.84083609e+02] [ 2.83174452e-01 9.59062586e-01 -3.34441308e-03 -2.70831359e+02] [-1.18608627e-02 1.51350727e-05 -9.99929658e-01 -1.81536483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 860.0765599949999 meters 0.012497736360580422 Centerline is valid? [True, True] Translation: X:-184.08, Y:-270.80, Z:-1.81 [[-9.76251677e-01 2.16328539e-01 1.16028536e-02 -1.84078711e+02] [ 2.16313723e-01 9.76320625e-01 -2.53205940e-03 -2.70804888e+02] [-1.18758620e-02 3.79292339e-05 -9.99929479e-01 -1.81373005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 860.106559995 meters 0.012527944253693215 Centerline is valid? [True, True] Translation: X:-184.08, Y:-270.78, Z:-1.82 [[-9.88725492e-01 1.49274105e-01 1.17958736e-02 -1.84076152e+02] [ 1.49264345e-01 9.88795852e-01 -1.70846015e-03 -2.70777619e+02] [-1.19187398e-02 7.15052537e-05 -9.99928967e-01 -1.81535949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 860.136559995 meters 0.012527944253693215 Centerline is valid? [True, True] Translation: X:-184.08, Y:-270.75, Z:-1.82 [[-9.96829539e-01 7.86737569e-02 1.18874219e-02 -1.84076505e+02] [ 7.86690185e-02 9.96900414e-01 -8.66413487e-04 -2.70749534e+02] [-1.19187398e-02 7.15052541e-05 -9.99928967e-01 -1.81535949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 860.166559995 meters 0.0126414251345669 Centerline is valid? [True, True] Translation: X:-184.08, Y:-270.72, Z:-1.82 [[-9.99896330e-01 8.57052771e-03 1.15704862e-02 -1.84079585e+02] [ 8.57088501e-03 9.99963269e-01 -1.87065821e-05 -2.70721946e+02] [-1.15702215e-02 8.04646637e-05 -9.99933060e-01 -1.81590289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 860.1965599949999 meters 0.012662492193029236 Centerline is valid? [True, True] Translation: X:-184.08, Y:-270.69, Z:-1.82 [[-9.98048426e-01 -6.15328025e-02 1.06327170e-02 -1.84082783e+02] [-6.15283949e-02 9.98105058e-01 7.41462318e-04 -2.70694484e+02] [-1.06581929e-02 8.58012878e-05 -9.99943196e-01 -1.81721070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 860.2265599949999 meters 0.012486428910997561 Centerline is valid? [True, True] Translation: X:-184.13, Y:-270.03, Z:-2.77 [[-9.99894001e-01 1.03703413e-02 1.02197530e-02 -1.84132216e+02] [-1.03709390e-02 -9.99946220e-01 -5.48511416e-06 -2.70030983e+02] [ 1.02191465e-02 -1.11472967e-04 9.99947777e-01 -2.76645016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 860.256559995 meters 0.012433828696156689 Centerline is valid? [True, True] Translation: X:-184.18, Y:-270.70, Z:-1.82 [[-9.97670545e-01 -6.74887970e-02 9.93712047e-03 -1.84184503e+02] [-6.74846503e-02 9.97720029e-01 7.52396834e-04 -2.70699404e+02] [-9.96524248e-03 8.00410597e-05 -9.99950343e-01 -1.81783501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 860.286559995 meters 0.012196172564698085 Centerline is valid? [True, True] Translation: X:-184.22, Y:-270.04, Z:-2.77 [[-9.99840164e-01 1.48029053e-02 1.00260303e-02 -1.84223831e+02] [-1.48029271e-02 -9.99890428e-01 7.20332057e-05 -2.70039793e+02] [ 1.00259981e-02 -7.63929042e-05 9.99949736e-01 -2.76655534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 860.3165599949999 meters 0.012272581119934366 Centerline is valid? [True, True] Translation: X:-184.27, Y:-270.70, Z:-1.82 [[-9.97066125e-01 -7.58906320e-02 9.98769502e-03 -1.84272291e+02] [-7.58862582e-02 9.97116146e-01 8.16709142e-04 -2.70702424e+02] [-1.00208725e-02 5.63842164e-05 -9.99949788e-01 -1.81695266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 860.3465599949999 meters 0.011873331704627278 Centerline is valid? [True, True] Translation: X:-184.29, Y:-270.67, Z:-1.82 [[-9.88669307e-01 -1.49777862e-01 9.97963045e-03 -1.84286079e+02] [-1.49769960e-01 9.88719673e-01 1.53874471e-03 -2.70672732e+02] [-1.00975268e-02 2.66608147e-05 -9.99949018e-01 -1.81721980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 860.376559995 meters 0.01180213289797062 Centerline is valid? [True, True] Translation: X:-184.39, Y:-270.03, Z:-2.77 [[-9.96214282e-01 8.63509677e-02 1.00306750e-02 -1.84391827e+02] [-8.63468813e-02 -9.96264779e-01 8.40555277e-04 -2.70032332e+02] [ 1.00657910e-02 -2.87443327e-05 9.99949338e-01 -2.76706763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 860.406559995 meters 0.011823917807425576 Centerline is valid? [True, True] Translation: X:-184.40, Y:-270.69, Z:-1.82 [[-9.87204922e-01 -1.59146315e-01 9.94446421e-03 -1.84396537e+02] [-1.59138316e-01 9.87255008e-01 1.59558501e-03 -2.70685775e+02] [-1.00716536e-02 -7.37591002e-06 -9.99949280e-01 -1.81727020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 860.4365599949999 meters 0.011812719443331223 Centerline is valid? [True, True] Translation: X:-184.42, Y:-270.66, Z:-1.82 [[-9.72630250e-01 -2.32176326e-01 9.19511460e-03 -1.84419717e+02] [-2.32166277e-01 9.72673713e-01 2.16039789e-03 -2.70658392e+02] [-9.44543950e-03 -3.35271865e-05 -9.99955390e-01 -1.81733197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 860.4665599949999 meters 0.011969065633409616 Centerline is valid? [True, True] Translation: X:-184.45, Y:-270.64, Z:-1.82 [[-9.52542845e-01 -3.04290728e-01 8.32358882e-03 -1.84454432e+02] [-3.04279624e-01 9.52579209e-01 2.60009162e-03 -2.70635982e+02] [-8.72006143e-03 -5.59998148e-05 -9.99961978e-01 -1.81765455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 860.496559995 meters 0.012073754929988013 Centerline is valid? [True, True] Translation: X:-184.50, Y:-270.62, Z:-1.82 [[-9.27385985e-01 -3.74026464e-01 7.70970425e-03 -1.84503427e+02] [-3.74014118e-01 9.27418029e-01 3.03967428e-03 -2.70621917e+02] [-8.28703734e-03 -6.45869081e-05 -9.99965660e-01 -1.81763507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 860.526559995 meters 0.012323765056636076 Centerline is valid? [True, True] Translation: X:-184.57, Y:-270.62, Z:-1.82 [[-8.96673649e-01 -4.42634447e-01 7.14943405e-03 -1.84567274e+02] [-4.42621035e-01 8.96702147e-01 3.44657468e-03 -2.70617574e+02] [-7.93648555e-03 -7.40372014e-05 -9.99968503e-01 -1.81741157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 860.5565599949999 meters 0.01281712449392313 Centerline is valid? [True, True] Translation: X:-184.64, Y:-270.62, Z:-1.82 [[-8.60141306e-01 -5.10013211e-01 6.59226666e-03 -1.84639461e+02] [-5.09999043e-01 8.60166563e-01 3.80262113e-03 -2.70620366e+02] [-7.60983437e-03 -9.12581806e-05 -9.99971041e-01 -1.81693267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 860.5865599949999 meters 0.0127620245070531 Centerline is valid? [True, True] Translation: X:-184.72, Y:-270.64, Z:-1.82 [[-8.19094177e-01 -5.73621615e-01 6.55537440e-03 -1.84718743e+02] [-5.73604270e-01 8.19120401e-01 4.46202177e-03 -2.70636585e+02] [-7.92915304e-03 -1.05374698e-04 -9.99968558e-01 -1.81683096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 860.616559995 meters 0.013461703926495731 Centerline is valid? [True, True] Translation: X:-184.80, Y:-270.66, Z:-1.82 [[-7.72308124e-01 -6.35217141e-01 6.27262248e-03 -1.84800049e+02] [-6.35197523e-01 7.72333586e-01 4.99386659e-03 -2.70658199e+02] [-8.01674667e-03 -1.27550521e-04 -9.99967857e-01 -1.81614600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 860.646559995 meters 0.013645292846401244 Centerline is valid? [True, True] Translation: X:-184.89, Y:-270.69, Z:-1.82 [[-7.21622767e-01 -6.92260966e-01 5.94457474e-03 -1.84885473e+02] [-6.92239058e-01 7.21647238e-01 5.50919366e-03 -2.70694015e+02] [-8.10368567e-03 -1.39507243e-04 -9.99967155e-01 -1.81615798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 860.6765599949999 meters 0.014942189054220673 Centerline is valid? [True, True] Translation: X:-184.97, Y:-270.73, Z:-1.82 [[-6.65809025e-01 -7.46100378e-01 5.70691169e-03 -1.84968835e+02] [-7.46075052e-01 6.65833463e-01 6.14959930e-03 -2.70733378e+02] [-8.38807113e-03 -1.63325717e-04 -9.99964806e-01 -1.81534564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 860.7065599949999 meters 0.01548485715041348 Centerline is valid? [True, True] Translation: X:-185.05, Y:-270.79, Z:-1.82 [[-6.06716601e-01 -7.94899793e-01 5.41161318e-03 -1.85052539e+02] [-7.94870773e-01 6.06740708e-01 6.79468246e-03 -2.70786048e+02] [-8.68453770e-03 -1.79086507e-04 -9.99962273e-01 -1.81521382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 860.736559995 meters 0.015791354462437374 Centerline is valid? [True, True] Translation: X:-185.13, Y:-270.85, Z:-1.82 [[-5.42983454e-01 -8.39728999e-01 4.91695834e-03 -1.85134176e+02] [-8.39697839e-01 5.43005680e-01 7.23682561e-03 -2.70847977e+02] [-8.74690863e-03 -1.99282728e-04 -9.99961725e-01 -1.81535654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 860.766559995 meters 0.017101503602918594 Centerline is valid? [True, True] Translation: X:-185.22, Y:-270.92, Z:-1.81 [[-4.76284331e-01 -8.79280581e-01 4.34701506e-03 -1.85215584e+02] [-8.79247963e-01 4.76304120e-01 7.57663996e-03 -2.70920437e+02] [-8.73249357e-03 -2.13469237e-04 -9.99961848e-01 -1.81444568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 860.7965599949999 meters 0.017101503602918594 Centerline is valid? [True, True] Translation: X:-185.29, Y:-271.00, Z:-1.81 [[-4.08050877e-01 -9.12951454e-01 3.75833665e-03 -1.85288194e+02] [-9.12917425e-01 4.08068129e-01 7.88524581e-03 -2.70999516e+02] [-8.73250403e-03 -2.13469545e-04 -9.99961848e-01 -1.81444521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 860.8265599949999 meters 0.01779162507153139 Centerline is valid? [True, True] Translation: X:-185.36, Y:-271.08, Z:-1.81 [[-3.36860514e-01 -9.41549467e-01 3.09759267e-03 -1.85356203e+02] [-9.41515330e-01 3.36874687e-01 8.02048039e-03 -2.71084906e+02] [-8.59517960e-03 -2.14647837e-04 -9.99963038e-01 -1.81383930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 860.856559995 meters 0.015438190884062541 Centerline is valid? [True, True] Translation: X:-185.41, Y:-271.18, Z:-1.82 [[-2.63697817e-01 -9.64602329e-01 2.40997068e-03 -1.85412903e+02] [-9.64569070e-01 2.63708745e-01 8.01292373e-03 -2.71178010e+02] [-8.36481523e-03 -2.11592683e-04 -9.99964992e-01 -1.81516666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 860.886559995 meters 0.015686668073623115 Centerline is valid? [True, True] Translation: X:-185.47, Y:-271.28, Z:-1.81 [[-1.89263223e-01 -9.81924704e-01 1.81904406e-03 -1.85467390e+02] [-9.81889635e-01 1.89271842e-01 8.30142443e-03 -2.71280965e+02] [-8.49566754e-03 -2.14946168e-04 -9.99963888e-01 -1.81495239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 860.916559995 meters 0.01648811427672065 Centerline is valid? [True, True] Translation: X:-185.51, Y:-271.38, Z:-1.81 [[-1.13743661e-01 -9.93509378e-01 1.22259320e-03 -1.85514682e+02] [-9.93471060e-01 1.13750015e-01 8.72849617e-03 -2.71384743e+02] [-8.81091280e-03 -2.21799860e-04 -9.99961159e-01 -1.81446494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 860.9465599949999 meters 0.016643544437110754 Centerline is valid? [True, True] Translation: X:-185.55, Y:-271.49, Z:-1.81 [[-3.75270040e-02 -9.99295474e-01 5.28151191e-04 -1.85551421e+02] [-9.99259868e-01 3.75301267e-02 8.43833203e-03 -2.71492913e+02] [-8.45220859e-03 -2.11094969e-04 -9.99964257e-01 -1.81461928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 860.9765599949999 meters 0.016499225125941187 Centerline is valid? [True, True] Translation: X:-185.58, Y:-271.61, Z:-1.81 [[ 3.90080385e-02 -9.99238890e-01 -1.16960438e-04 -1.85580664e+02] [-9.99204646e-01 -3.90076703e-02 8.27510442e-03 -2.71606705e+02] [-8.27336851e-03 -2.05928179e-04 -9.99965754e-01 -1.81477947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 861.006559995 meters 0.016420301976917327 Centerline is valid? [True, True] Translation: X:-185.60, Y:-271.72, Z:-1.82 [[ 1.15829634e-01 -9.93268828e-01 -7.29383902e-04 -1.85601334e+02] [-9.93236595e-01 -1.15831754e-01 8.00450529e-03 -2.71718591e+02] [-8.03511141e-03 -2.02708139e-04 -9.99967698e-01 -1.81519728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 861.036559995 meters 0.017070232042879444 Centerline is valid? [True, True] Translation: X:-185.61, Y:-271.83, Z:-1.82 [[ 1.92768810e-01 -9.81243368e-01 -1.28047516e-03 -1.85614019e+02] [-9.81214184e-01 -1.92772956e-01 7.57048883e-03 -2.71834176e+02] [-7.67533293e-03 -2.02933736e-04 -9.99970524e-01 -1.81546206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 861.0665599949999 meters 0.016977877228503243 Centerline is valid? [True, True] Translation: X:-185.62, Y:-271.95, Z:-1.82 [[ 2.68210959e-01 -9.63358558e-01 -1.78079139e-03 -1.85617436e+02] [-9.63332083e-01 -2.68216796e-01 7.14476417e-03 -2.71949487e+02] [-7.36060786e-03 -2.00810573e-04 -9.99972890e-01 -1.81595429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 861.0965599949999 meters 0.018044517786229855 Centerline is valid? [True, True] Translation: X:-185.61, Y:-272.07, Z:-1.82 [[ 3.43617857e-01 -9.39106668e-01 -2.33119379e-03 -1.85611713e+02] [-9.39080505e-01 -3.43625693e-01 7.01339611e-03 -2.72070120e+02] [-7.38738513e-03 -2.20749496e-04 -9.99972689e-01 -1.81589769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 861.126559995 meters 0.01791300245952924 Centerline is valid? [True, True] Translation: X:-185.60, Y:-272.18, Z:-1.82 [[ 4.15644284e-01 -9.09522642e-01 -2.89704475e-03 -1.85599152e+02] [-9.09496482e-01 -4.15654314e-01 6.90221194e-03 -2.72180274e+02] [-7.48188718e-03 -2.34012935e-04 -9.99971983e-01 -1.81600979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 861.156559995 meters 0.01988525874809212 Centerline is valid? [True, True] Translation: X:-185.58, Y:-272.30, Z:-1.82 [[ 4.86296129e-01 -8.73786589e-01 -3.61544105e-03 -1.85577172e+02] [-8.73758199e-01 -4.86309494e-01 7.04877822e-03 -2.72298721e+02] [-7.91735119e-03 -2.68772298e-04 -9.99968621e-01 -1.81556892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 861.1865599949999 meters 0.020091655954037124 Centerline is valid? [True, True] Translation: X:-185.55, Y:-272.41, Z:-1.82 [[ 5.52473123e-01 -8.33519883e-01 -4.24882790e-03 -1.85547767e+02] [-8.33491177e-01 -5.52489388e-01 6.92352540e-03 -2.72406918e+02] [-8.11832841e-03 -2.83701131e-04 -9.99967006e-01 -1.81525176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 861.2165599949999 meters 0.020359581590963353 Centerline is valid? [True, True] Translation: X:-185.51, Y:-272.51, Z:-1.82 [[ 6.15065130e-01 -7.88460071e-01 -5.05976727e-03 -1.85510902e+02] [-7.88429170e-01 -6.15085865e-01 6.98734198e-03 -2.72511749e+02] [-8.62143148e-03 -3.08402300e-04 -9.99962787e-01 -1.81506117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 861.246559995 meters 0.020797477474302155 Centerline is valid? [True, True] Translation: X:-185.47, Y:-272.61, Z:-1.82 [[ 6.74154741e-01 -7.38567860e-01 -5.73604302e-03 -1.85470241e+02] [-7.38536910e-01 -6.74179063e-01 6.76933787e-03 -2.72607674e+02] [-8.86673549e-03 -3.27301728e-04 -9.99960636e-01 -1.81514162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 861.276559995 meters 0.02088435639715648 Centerline is valid? [True, True] Translation: X:-185.42, Y:-272.70, Z:-1.82 [[ 7.28575687e-01 -6.84935289e-01 -6.41237693e-03 -1.85420065e+02] [-6.84904585e-01 -7.28603826e-01 6.49425237e-03 -2.72702857e+02] [-9.12022498e-03 -3.39688024e-04 -9.99958352e-01 -1.81506777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 861.3065599949999 meters 0.021654721252125076 Centerline is valid? [True, True] Translation: X:-185.37, Y:-272.79, Z:-1.82 [[ 7.79077027e-01 -6.26887448e-01 -7.14935198e-03 -1.85368838e+02] [-6.26856701e-01 -7.79109745e-01 6.21948927e-03 -2.72788791e+02] [-9.46904956e-03 -3.63842017e-04 -9.99955101e-01 -1.81534671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 861.3365599949999 meters 0.022241450645386115 Centerline is valid? [True, True] Translation: X:-185.37, Y:-272.80, Z:-1.82 [[ 8.25927171e-01 -5.63721707e-01 -7.88325238e-03 -1.85366518e+02] [-5.63691571e-01 -8.25964704e-01 5.84135750e-03 -2.72797393e+02] [-9.80418824e-03 -3.80812962e-04 -9.99951865e-01 -1.81530792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 861.366559995 meters 0.021640513670290303 Centerline is valid? [True, True] Translation: X:-185.36, Y:-272.81, Z:-1.82 [[ 8.67784909e-01 -4.96873088e-01 -8.15389110e-03 -1.85362942e+02] [-4.96846995e-01 -8.67823133e-01 5.10629284e-03 -2.72805590e+02] [-9.61331481e-03 -3.79927574e-04 -9.99953719e-01 -1.81550877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 861.396559995 meters 0.021797153576014926 Centerline is valid? [True, True] Translation: X:-185.36, Y:-272.81, Z:-1.82 [[ 9.04095511e-01 -4.27241668e-01 -8.70997621e-03 -1.85359607e+02] [-4.27217637e-01 -9.04137382e-01 4.54817182e-03 -2.72814602e+02] [-9.81818360e-03 -3.90926271e-04 -9.99951724e-01 -1.81500381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 861.4265599949999 meters 0.021583596525789644 Centerline is valid? [True, True] Translation: X:-185.36, Y:-272.82, Z:-1.81 [[ 9.34771396e-01 -3.55132820e-01 -9.11688919e-03 -1.85356183e+02] [-3.55111771e-01 -9.34815770e-01 3.88679377e-03 -2.72822450e+02] [-9.90293982e-03 -3.95748971e-04 -9.99950887e-01 -1.81498694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 861.4565599949999 meters 0.02224542280210088 Centerline is valid? [True, True] Translation: X:-185.35, Y:-272.83, Z:-1.81 [[ 9.59733755e-01 -2.80762872e-01 -9.12847411e-03 -1.85352858e+02] [-2.80746319e-01 -9.59777089e-01 3.07311292e-03 -2.72830211e+02] [-9.62411632e-03 -3.86584704e-04 -9.99953613e-01 -1.81479774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 861.486559995 meters 0.02293333234936421 Centerline is valid? [True, True] Translation: X:-185.35, Y:-272.84, Z:-1.82 [[ 9.78894196e-01 -2.04167456e-01 -9.04449767e-03 -1.85347152e+02] [-2.04155130e-01 -9.78935904e-01 2.27553484e-03 -2.72836650e+02] [-9.31857366e-03 -3.81027254e-04 -9.99956509e-01 -1.81524015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 861.516559995 meters 0.022899918203676085 Centerline is valid? [True, True] Translation: X:-185.34, Y:-272.84, Z:-1.82 [[ 9.91878931e-01 -1.26878094e-01 -8.83944404e-03 -1.85341819e+02] [-1.26869746e-01 -9.91918250e-01 1.50112136e-03 -2.72842126e+02] [-8.95846528e-03 -3.67472635e-04 -9.99959805e-01 -1.81562701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 861.5465599949999 meters 0.02291260965807092 Centerline is valid? [True, True] Translation: X:-185.34, Y:-272.85, Z:-1.82 [[ 9.98766858e-01 -4.88543781e-02 -8.83253121e-03 -1.85335657e+02] [-4.88492412e-02 -9.98805846e-01 7.96524124e-04 -2.72846594e+02] [-8.86089750e-03 -3.64079449e-04 -9.99960675e-01 -1.81635504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 861.5765599949999 meters 0.022425396476644203 Centerline is valid? [True, True] Translation: X:-185.33, Y:-272.85, Z:-1.82 [[ 9.99533551e-01 2.92112694e-02 -8.90966470e-03 -1.85332445e+02] [ 2.92133465e-02 -9.99573194e-01 1.03041385e-04 -2.72851431e+02] [-8.90285203e-03 -3.63274443e-04 -9.99960303e-01 -1.81671532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 861.606559995 meters 0.022590332004110078 Centerline is valid? [True, True] Translation: X:-185.33, Y:-272.86, Z:-1.82 [[ 9.94228305e-01 1.06939152e-01 -8.60788784e-03 -1.85329175e+02] [ 1.06938169e-01 -9.94265506e-01 -5.75606006e-04 -2.72856187e+02] [-8.62008078e-03 -3.48227984e-04 -9.99962786e-01 -1.81663455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 861.636559995 meters 0.02313757466976442 Centerline is valid? [True, True] Translation: X:-185.33, Y:-272.86, Z:-1.82 [[ 9.82849579e-01 1.84233376e-01 -8.04793228e-03 -1.85326466e+02] [ 1.84229912e-01 -9.82882473e-01 -1.17611118e-03 -2.72860288e+02] [-8.12685051e-03 -3.26729481e-04 -9.99966923e-01 -1.81661702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 861.666559995 meters 0.02104567907380188 Centerline is valid? [True, True] Translation: X:-185.32, Y:-272.86, Z:-1.82 [[ 9.65475458e-01 2.60378252e-01 -7.76570981e-03 -1.85323017e+02] [ 2.60372463e-01 -9.65506637e-01 -1.76510975e-03 -2.72863686e+02] [-7.95744055e-03 -3.17806849e-04 -9.99968289e-01 -1.81774519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 861.6965599949999 meters 0.02154670398148117 Centerline is valid? [True, True] Translation: X:-185.32, Y:-272.87, Z:-1.82 [[ 9.42141034e-01 3.35124399e-01 -7.86830007e-03 -1.85319380e+02] [ 3.35115604e-01 -9.42173832e-01 -2.45000398e-03 -2.72870407e+02] [-8.23436254e-03 -3.28540848e-04 -9.99966043e-01 -1.81725317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 861.7265599949999 meters 0.021867163215791338 Centerline is valid? [True, True] Translation: X:-185.32, Y:-272.88, Z:-1.82 [[ 9.13246012e-01 4.07330429e-01 -7.97768333e-03 -1.85315654e+02] [ 4.07318091e-01 -9.13280793e-01 -3.18833331e-03 -2.72875771e+02] [-8.58457013e-03 -3.37722062e-04 -9.99963095e-01 -1.81642129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 861.756559995 meters 0.02124944301421865 Centerline is valid? [True, True] Translation: X:-185.31, Y:-272.88, Z:-1.82 [[ 8.78752358e-01 4.77210839e-01 -8.00679208e-03 -1.85311116e+02] [ 4.77194594e-01 -8.78788766e-01 -3.95284538e-03 -2.72879676e+02] [-8.92261959e-03 -3.47225701e-04 -9.99960132e-01 -1.81604610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 861.786559995 meters 0.020369560046289634 Centerline is valid? [True, True] Translation: X:-185.31, Y:-272.88, Z:-1.82 [[ 8.39463392e-01 5.43363996e-01 -7.53535897e-03 -1.85306107e+02] [ 5.43345579e-01 -8.39497147e-01 -4.48575919e-03 -2.72883615e+02] [-8.76331240e-03 -3.28673354e-04 -9.99961548e-01 -1.81583312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 861.8165599949999 meters 0.02069402134550076 Centerline is valid? [True, True] Translation: X:-185.30, Y:-272.89, Z:-1.82 [[ 7.94820139e-01 6.06804224e-01 -7.04134472e-03 -1.85301013e+02] [ 6.06783896e-01 -7.94851265e-01 -4.97690389e-03 -2.72888358e+02] [-8.61682806e-03 -3.16831142e-04 -9.99962824e-01 -1.81583118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 861.8465599949999 meters 0.020810727485182562 Centerline is valid? [True, True] Translation: X:-185.30, Y:-272.89, Z:-1.82 [[ 7.45390016e-01 6.66593938e-01 -6.80038097e-03 -1.85296420e+02] [ 6.66570032e-01 -7.45420968e-01 -5.65441600e-03 -2.72891020e+02] [-8.83834600e-03 -3.18184923e-04 -9.99960891e-01 -1.81581191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 861.876559995 meters 0.019453513093272732 Centerline is valid? [True, True] Translation: X:-185.29, Y:-272.89, Z:-1.82 [[ 6.91776183e-01 7.22084886e-01 -6.25541179e-03 -1.85290666e+02] [ 7.22059272e-01 -6.91804398e-01 -6.08960916e-03 -2.72893054e+02] [-8.72473612e-03 -3.04131507e-04 -9.99961893e-01 -1.81572422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 861.906559995 meters 0.019407052013419673 Centerline is valid? [True, True] Translation: X:-185.28, Y:-272.90, Z:-1.82 [[ 6.33325207e-01 7.73863219e-01 -5.90761337e-03 -1.85283889e+02] [ 7.73834020e-01 -6.33352684e-01 -6.72962533e-03 -2.72896397e+02] [-8.94941231e-03 -3.09470846e-04 -9.99959905e-01 -1.81551811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 861.9365599949999 meters 0.020034560225661895 Centerline is valid? [True, True] Translation: X:-185.28, Y:-272.90, Z:-1.81 [[ 5.71362490e-01 8.20678870e-01 -5.57651904e-03 -1.85276781e+02] [ 8.20645047e-01 -5.71389616e-01 -7.45744697e-03 -2.72900466e+02] [-9.30653422e-03 -3.15437257e-04 -9.99956644e-01 -1.81424420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 861.9665599949999 meters 0.020553911276783843 Centerline is valid? [True, True] Translation: X:-185.27, Y:-272.90, Z:-1.81 [[ 5.05538530e-01 8.62789257e-01 -5.04913167e-03 -1.85271210e+02] [ 8.62752340e-01 -5.05563643e-01 -7.98768791e-03 -2.72902555e+02] [-9.44434872e-03 -3.18066157e-04 -9.99955351e-01 -1.81364309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 861.996559995 meters 0.01944921200888379 Centerline is valid? [True, True] Translation: X:-185.27, Y:-272.90, Z:-1.81 [[ 4.36410976e-01 8.99735826e-01 -4.57201391e-03 -1.85266129e+02] [ 8.99694125e-01 -4.36434800e-01 -8.66872162e-03 -2.72903443e+02] [-9.79494538e-03 -3.30288793e-04 -9.99951974e-01 -1.81376933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 862.026559995 meters 0.01978619177196153 Centerline is valid? [True, True] Translation: X:-185.26, Y:-272.91, Z:-1.81 [[ 3.64873997e-01 9.31049006e-01 -3.83592723e-03 -1.85259946e+02] [ 9.31006533e-01 -3.64894016e-01 -8.89906332e-03 -2.72905352e+02] [-9.68517095e-03 -3.24236508e-04 -9.99953045e-01 -1.81319273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 862.0565599949999 meters 0.01978619177196153 Centerline is valid? [True, True] Translation: X:-185.25, Y:-272.91, Z:-1.81 [[ 2.90840783e-01 9.56766356e-01 -3.12721189e-03 -1.85254680e+02] [ 9.56722445e-01 -2.90857414e-01 -9.17215358e-03 -2.72905832e+02] [-9.68518072e-03 -3.24237475e-04 -9.99953045e-01 -1.81319264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 862.0865599949999 meters 0.01977603220786621 Centerline is valid? [True, True] Translation: X:-185.25, Y:-272.91, Z:-1.81 [[ 2.15369310e-01 9.76529637e-01 -2.43483848e-03 -1.85249250e+02] [ 9.76483218e-01 -2.15382827e-01 -9.52696390e-03 -2.72905331e+02] [-9.82778499e-03 -3.25763271e-04 -9.99951653e-01 -1.81337090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 862.116559995 meters 0.020080735316622026 Centerline is valid? [True, True] Translation: X:-185.24, Y:-272.91, Z:-1.81 [[ 1.38507900e-01 9.90359985e-01 -1.63153898e-03 -1.85244810e+02] [ 9.90315414e-01 -1.38517154e-01 -9.40098633e-03 -2.72905475e+02] [-9.53635682e-03 -3.13627329e-04 -9.99954479e-01 -1.81346813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 862.146559995 meters 0.02013992254419592 Centerline is valid? [True, True] Translation: X:-185.24, Y:-272.91, Z:-1.81 [[ 6.22838512e-02 9.98058118e-01 -8.46106781e-04 -1.85241671e+02] [ 9.98017299e-01 -6.22889598e-02 -9.03087609e-03 -2.72905769e+02] [-9.06604231e-03 -2.81951461e-04 -9.99958863e-01 -1.81386165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 862.1765599949999 meters 0.02022784657589487 Centerline is valid? [True, True] Translation: X:-185.24, Y:-272.91, Z:-1.81 [[-1.49618117e-02 9.99888057e-01 -1.35668582e-04 -1.85240374e+02] [ 9.99847512e-01 1.49599827e-02 -9.00847712e-03 -2.72905628e+02] [-9.00543908e-03 -2.70431033e-04 -9.99959414e-01 -1.81386794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 862.2065599949999 meters 0.01748059567422677 Centerline is valid? [True, True] Translation: X:-185.24, Y:-272.90, Z:-1.82 [[-9.18665490e-02 9.95771193e-01 5.18975248e-04 -1.85237965e+02] [ 9.95737572e-01 9.18677137e-02 -8.18603034e-03 -2.72904045e+02] [-8.19909027e-03 -2.35259204e-04 -9.99966359e-01 -1.81508918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 862.236559995 meters 0.01708762449659611 Centerline is valid? [True, True] Translation: X:-185.23, Y:-272.90, Z:-1.82 [[-1.66852741e-01 9.85981244e-01 1.07203658e-03 -1.85232721e+02] [ 9.85952633e-01 1.66856069e-01 -7.51381888e-03 -2.72903923e+02] [-7.58736030e-03 -1.96723988e-04 -9.99971196e-01 -1.81538194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 862.266559995 meters 0.01673945513009089 Centerline is valid? [True, True] Translation: X:-185.23, Y:-272.90, Z:-1.82 [[-2.42028400e-01 9.70267830e-01 1.61005490e-03 -1.85229392e+02] [ 9.70241175e-01 2.42033689e-01 -7.19420506e-03 -2.72902069e+02] [-7.36999326e-03 -1.79060379e-04 -9.99972825e-01 -1.81561478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 862.2965599949999 meters 0.014405041558770348 Centerline is valid? [True, True] Translation: X:-185.22, Y:-272.90, Z:-1.82 [[-3.13633934e-01 9.49541848e-01 2.00867003e-03 -1.85224445e+02] [ 9.49519434e-01 3.13640335e-01 -6.52566840e-03 -2.72900080e+02] [-6.82639517e-03 -1.39399827e-04 -9.99976690e-01 -1.81643434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 862.3265599949999 meters 0.014297069414362014 Centerline is valid? [True, True] Translation: X:-185.22, Y:-272.90, Z:-1.82 [[-3.84962819e-01 9.22928895e-01 2.42541630e-03 -1.85216128e+02] [ 9.22908579e-01 3.84970441e-01 -6.12491020e-03 -2.72897518e+02] [-6.58657018e-03 -1.19425187e-04 -9.99978301e-01 -1.81615109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 862.356559995 meters 0.013709105690433633 Centerline is valid? [True, True] Translation: X:-185.21, Y:-272.89, Z:-1.82 [[-4.53796153e-01 8.91100565e-01 2.97213941e-03 -1.85210710e+02] [ 8.91079914e-01 4.53805874e-01 -6.06760049e-03 -2.72894831e+02] [-6.75561655e-03 -1.05040026e-04 -9.99977175e-01 -1.81578700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 862.386559995 meters 0.012746990666855475 Centerline is valid? [True, True] Translation: X:-185.21, Y:-272.89, Z:-1.82 [[-5.17635248e-01 8.55593701e-01 3.62885534e-03 -1.85207232e+02] [ 8.55571687e-01 5.17647963e-01 -6.13796936e-03 -2.72892811e+02] [-7.13007749e-03 -7.24834044e-05 -9.99974578e-01 -1.81509954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 862.416559995 meters 0.012445594661690228 Centerline is valid? [True, True] Translation: X:-185.20, Y:-272.89, Z:-1.81 [[-5.80777205e-01 8.14052263e-01 4.09289935e-03 -1.85202377e+02] [ 8.14031411e-01 5.80791625e-01 -5.82675595e-03 -2.72889224e+02] [-7.12040553e-03 -5.22984001e-05 -9.99974648e-01 -1.81482302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 862.4465599949999 meters 0.012203431999542769 Centerline is valid? [True, True] Translation: X:-185.20, Y:-272.89, Z:-1.81 [[-6.38888361e-01 7.69280544e-01 5.39515357e-03 -1.85198770e+02] [ 7.69252854e-01 6.38911140e-01 -6.52696470e-03 -2.72887194e+02] [-8.46809068e-03 -1.97644949e-05 -9.99964145e-01 -1.81377340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 862.4765599949999 meters 0.01226061405141638 Centerline is valid? [True, True] Translation: X:-185.19, Y:-272.88, Z:-1.81 [[-6.95551024e-01 7.18450628e-01 6.12111973e-03 -1.85193915e+02] [ 7.18422800e-01 6.95577958e-01 -6.32338947e-03 -2.72882443e+02] [-8.80075910e-03 -6.88048361e-07 -9.99961273e-01 -1.81369625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 862.506559995 meters 0.012450684982722594 Centerline is valid? [True, True] Translation: X:-185.19, Y:-272.88, Z:-1.81 [[-7.47273450e-01 6.64480844e-01 6.89917768e-03 -1.85189440e+02] [ 6.64452928e-01 7.47305297e-01 -6.09101776e-03 -2.72879888e+02] [-9.20315665e-03 3.25229546e-05 -9.99957650e-01 -1.81299531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 862.536559995 meters 0.012571866592252514 Centerline is valid? [True, True] Translation: X:-184.75, Y:-272.38, Z:-2.77 [[-7.06792205e-01 -7.07390363e-01 6.60712451e-03 -1.84746673e+02] [ 7.07359148e-01 -7.06823086e-01 -6.64546106e-03 -2.72383261e+02] [ 9.37100324e-03 -2.33501140e-05 9.99956091e-01 -2.77122988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 862.5665599949999 meters 0.012734246686749167 Centerline is valid? [True, True] Translation: X:-184.76, Y:-272.36, Z:-2.77 [[-7.07877197e-01 -7.06306070e-01 6.45056121e-03 -1.84764349e+02] [ 7.06276034e-01 -7.07906585e-01 -6.51391121e-03 -2.72363702e+02] [ 9.16720978e-03 -5.51724171e-05 9.99957979e-01 -2.77181980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 862.5965599949999 meters 0.012771201255763233 Centerline is valid? [True, True] Translation: X:-184.78, Y:-272.34, Z:-2.77 [[-7.08714270e-01 -7.05465458e-01 6.52474973e-03 -1.84782960e+02] [ 7.05434729e-01 -7.08744301e-01 -6.58471431e-03 -2.72344197e+02] [ 9.26966769e-03 -6.38959311e-05 9.99957034e-01 -2.77101100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 862.626559995 meters 0.013040144669988277 Centerline is valid? [True, True] Translation: X:-184.80, Y:-272.32, Z:-2.77 [[-7.09953818e-01 -7.04219833e-01 6.32484151e-03 -1.84800206e+02] [ 7.04190937e-01 -7.09981987e-01 -6.37988859e-03 -2.72323739e+02] [ 8.98336762e-03 -7.55301922e-05 9.99959646e-01 -2.77073640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 862.656559995 meters 0.013117777024347518 Centerline is valid? [True, True] Translation: X:-184.82, Y:-272.30, Z:-2.77 [[-7.10515370e-01 -7.03653075e-01 6.34504634e-03 -1.84819244e+02] [ 7.03624008e-01 -7.10543696e-01 -6.39629738e-03 -2.72303607e+02] [ 9.00920700e-03 -8.01406619e-05 9.99959413e-01 -2.77041555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 862.6865599949999 meters 0.013054559532395166 Centerline is valid? [True, True] Translation: X:-184.84, Y:-272.28, Z:-2.77 [[-7.10975199e-01 -7.03189256e-01 6.25593277e-03 -1.84837722e+02] [ 7.03161016e-01 -7.11002717e-01 -6.30254097e-03 -2.72283463e+02] [ 8.87986429e-03 -8.20222862e-05 9.99960570e-01 -2.77008389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 862.7165599949999 meters 0.013107390302344776 Centerline is valid? [True, True] Translation: X:-184.86, Y:-272.26, Z:-2.77 [[-7.10920366e-01 -7.03242445e-01 6.50360290e-03 -1.84856642e+02] [ 7.03211965e-01 -7.10950108e-01 -6.54801459e-03 -2.72264209e+02] [ 9.22857898e-03 -8.17055539e-05 9.99957413e-01 -2.77001686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 862.746559995 meters 0.01309153898803301 Centerline is valid? [True, True] Translation: X:-184.88, Y:-272.25, Z:-2.77 [[-7.10801598e-01 -7.03362994e-01 6.44877356e-03 -1.84875546e+02] [ 7.03333068e-01 -7.10830847e-01 -6.48861394e-03 -2.72245537e+02] [ 9.14783810e-03 -7.64814650e-05 9.99958155e-01 -2.77028353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 862.776559995 meters 0.012827130306073138 Centerline is valid? [True, True] Translation: X:-184.90, Y:-272.23, Z:-2.77 [[-7.09318700e-01 -7.04860805e-01 6.18292358e-03 -1.84895131e+02] [ 7.04833385e-01 -7.09345645e-01 -6.21734918e-03 -2.72227324e+02] [ 8.76819565e-03 -5.21510794e-05 9.99961557e-01 -2.76999372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 862.8065599949999 meters 0.012669602749930751 Centerline is valid? [True, True] Translation: X:-184.91, Y:-272.21, Z:-2.77 [[-7.08489668e-01 -7.05695836e-01 5.98143971e-03 -1.84914958e+02] [ 7.05670235e-01 -7.08514915e-01 -6.01112796e-03 -2.72209010e+02] [ 8.47996723e-03 -3.78980815e-05 9.99964044e-01 -2.76973954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 862.8365599949999 meters 0.012360820141831501 Centerline is valid? [True, True] Translation: X:-184.93, Y:-272.19, Z:-2.77 [[-7.07350529e-01 -7.06838883e-01 5.83287293e-03 -1.84934990e+02] [ 7.06814607e-01 -7.07374578e-01 -5.85818124e-03 -2.72191085e+02] [ 8.26681631e-03 -2.10278110e-05 9.99965829e-01 -2.76909805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 862.866559995 meters 0.012296292966104905 Centerline is valid? [True, True] Translation: X:-184.96, Y:-272.17, Z:-2.77 [[-7.04780802e-01 -7.09403704e-01 5.51417141e-03 -1.84956129e+02] [ 7.09382114e-01 -7.04802373e-01 -5.53463728e-03 -2.72174032e+02] [ 7.81269328e-03 1.09484743e-05 9.99969481e-01 -2.76920896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 862.896559995 meters 0.01233079091326319 Centerline is valid? [True, True] Translation: X:-184.98, Y:-272.15, Z:-2.77 [[-7.03454432e-01 -7.10717802e-01 5.66288876e-03 -1.84977160e+02] [ 7.10695100e-01 -7.03477224e-01 -5.68072396e-03 -2.72154680e+02] [ 8.02110491e-03 2.84568492e-05 9.99967830e-01 -2.76915809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 862.9265599949999 meters 0.01264563992181119 Centerline is valid? [True, True] Translation: X:-185.00, Y:-272.14, Z:-2.77 [[-7.00623509e-01 -7.13508416e-01 5.69562258e-03 -1.84998786e+02] [ 7.13485569e-01 -7.00646656e-01 -5.71017378e-03 -2.72137342e+02] [ 8.06487596e-03 6.30625255e-05 9.99967477e-01 -2.76951869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 862.9565599949999 meters 0.012886042833041166 Centerline is valid? [True, True] Translation: X:-185.02, Y:-272.12, Z:-2.77 [[-6.99308847e-01 -7.14796267e-01 5.78212343e-03 -1.85019813e+02] [ 7.14772792e-01 -6.99332746e-01 -5.79367054e-03 -2.72118942e+02] [ 8.18492233e-03 8.13394353e-05 9.99966500e-01 -2.76964817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 862.986559995 meters 0.013157559589325551 Centerline is valid? [True, True] Translation: X:-185.04, Y:-272.10, Z:-2.77 [[-6.97895023e-01 -7.16175874e-01 5.88675270e-03 -1.85040546e+02] [ 7.16151618e-01 -6.97919843e-01 -5.89519277e-03 -2.72100422e+02] [ 8.33047635e-03 1.01581770e-04 9.99965296e-01 -2.76976016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 863.016559995 meters 0.014097837941226174 Centerline is valid? [True, True] Translation: X:-185.06, Y:-272.08, Z:-2.77 [[-6.94924881e-01 -7.19056878e-01 6.05116753e-03 -1.85061724e+02] [ 7.19031380e-01 -6.94951212e-01 -6.05706283e-03 -2.72084009e+02] [ 8.56063889e-03 1.41775673e-04 9.99963347e-01 -2.77001979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 863.0465599949999 meters 0.014429130487448568 Centerline is valid? [True, True] Translation: X:-185.08, Y:-272.06, Z:-2.77 [[-6.93382270e-01 -7.20543862e-01 6.12941354e-03 -1.85082198e+02] [ 7.20517789e-01 -6.93409342e-01 -6.13193055e-03 -2.72064939e+02] [ 8.66851753e-03 1.64579570e-04 9.99962414e-01 -2.76974835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 863.0765599949999 meters 0.015111337120859762 Centerline is valid? [True, True] Translation: X:-185.10, Y:-272.05, Z:-2.77 [[-6.91985278e-01 -7.21886113e-01 6.06756874e-03 -1.85103258e+02] [ 7.21860644e-01 -6.92011855e-01 -6.06666615e-03 -2.72046162e+02] [ 8.57827154e-03 1.81895415e-04 9.99963190e-01 -2.77010034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 863.106559995 meters 0.016203324593070948 Centerline is valid? [True, True] Translation: X:-185.56, Y:-272.50, Z:-1.81 [[-7.69220111e-01 6.38948704e-01 6.70632774e-03 -1.85555454e+02] [ 6.38921888e-01 7.69249312e-01 -5.85800317e-03 -2.72496677e+02] [-8.90180154e-03 -2.21274269e-04 -9.99960354e-01 -1.81365234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 863.136559995 meters 0.016223716525983194 Centerline is valid? [True, True] Translation: X:-185.54, Y:-272.48, Z:-1.81 [[-8.13342869e-01 5.81738609e-01 7.31904198e-03 -1.85537324e+02] [ 5.81712369e-01 8.13375764e-01 -5.53053393e-03 -2.72475795e+02] [-9.17045647e-03 -2.40643086e-04 -9.99957922e-01 -1.81351674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 863.166559995 meters 0.01696371780876516 Centerline is valid? [True, True] Translation: X:-185.52, Y:-272.45, Z:-1.81 [[-8.53134948e-01 5.21633139e-01 7.72203594e-03 -1.85521094e+02] [ 5.21609065e-01 8.53169857e-01 -5.01782052e-03 -2.72452110e+02] [-9.20566977e-03 -2.52994098e-04 -9.99957595e-01 -1.81300595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 863.1965599949999 meters 0.018045499309659718 Centerline is valid? [True, True] Translation: X:-185.51, Y:-272.43, Z:-1.81 [[-8.88691597e-01 4.58432268e-01 8.19156204e-03 -1.85507996e+02] [ 4.58409945e-01 8.88729307e-01 -4.53222759e-03 -2.72426451e+02] [-9.35780063e-03 -2.72659065e-04 -9.99956178e-01 -1.81221140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 863.2265599949999 meters 0.01785035756756981 Centerline is valid? [True, True] Translation: X:-185.50, Y:-272.40, Z:-1.81 [[-9.19124091e-01 3.93880237e-01 8.32251222e-03 -1.85500968e+02] [ 3.93861397e-01 9.19161730e-01 -3.86195582e-03 -2.72400370e+02] [-9.17088280e-03 -2.71700346e-04 -9.99957910e-01 -1.81250978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 863.256559995 meters 0.018396059148632894 Centerline is valid? [True, True] Translation: X:-185.49, Y:-272.37, Z:-1.81 [[-9.45049871e-01 3.26820625e-01 8.30782913e-03 -1.85492825e+02] [ 3.26805456e-01 9.45086348e-01 -3.16046076e-03 -2.72374918e+02] [-8.88451965e-03 -2.71749152e-04 -9.99960495e-01 -1.81303264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 863.286559995 meters 0.019286831602251996 Centerline is valid? [True, True] Translation: X:-185.26, Y:-271.78, Z:-2.77 [[-8.95137678e-01 -4.45714401e-01 8.19813218e-03 -1.85261663e+02] [ 4.45698594e-01 -8.95175174e-01 -3.76455278e-03 -2.71784156e+02] [ 9.01667979e-03 2.84102952e-04 9.99959309e-01 -2.77163493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 863.3165599949999 meters 0.0188163313404245 Centerline is valid? [True, True] Translation: X:-185.53, Y:-272.36, Z:-1.81 [[-9.46624145e-01 3.22233540e-01 8.26277580e-03 -1.85534236e+02] [ 3.22218667e-01 9.46660165e-01 -3.10854449e-03 -2.72361182e+02] [-8.82371800e-03 -2.80202661e-04 -9.99961031e-01 -1.81273761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 863.3465599949999 meters 0.018046519402472854 Centerline is valid? [True, True] Translation: X:-185.30, Y:-271.77, Z:-2.77 [[-8.96277545e-01 -4.43412934e-01 8.45771321e-03 -1.85303832e+02] [ 4.43396564e-01 -8.96317391e-01 -3.82372311e-03 -2.71765100e+02] [ 9.27628372e-03 3.23003818e-04 9.99956922e-01 -2.77121448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 863.376559995 meters 0.020030811499730395 Centerline is valid? [True, True] Translation: X:-185.58, Y:-272.35, Z:-1.81 [[-9.48202816e-01 3.17539439e-01 8.95119954e-03 -1.85581273e+02] [ 3.17522135e-01 9.48245013e-01 -3.32989573e-03 -2.72345198e+02] [-9.54530355e-03 -3.15212519e-04 -9.99954393e-01 -1.81150045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 863.406559995 meters 0.01872033682758292 Centerline is valid? [True, True] Translation: X:-185.58, Y:-272.32, Z:-1.81 [[-9.68368906e-01 2.49352772e-01 9.21178328e-03 -1.85576329e+02] [ 2.49338344e-01 9.68412667e-01 -2.70129466e-03 -2.72321500e+02] [-9.59438293e-03 -3.18998963e-04 -9.99953922e-01 -1.81182767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 863.4365599949999 meters 0.01852804462644088 Centerline is valid? [True, True] Translation: X:-185.38, Y:-271.70, Z:-2.77 [[-9.26598969e-01 -3.75937981e-01 9.21871425e-03 -1.85384600e+02] [ 3.75922999e-01 -9.26644764e-01 -3.37339541e-03 -2.71701783e+02] [ 9.81066075e-03 3.39741997e-04 9.99951817e-01 -2.77262881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 863.4665599949999 meters 0.018370355783970158 Centerline is valid? [True, True] Translation: X:-185.62, Y:-272.32, Z:-1.81 [[-9.69064955e-01 2.46627653e-01 9.37619655e-03 -1.85617417e+02] [ 2.46612950e-01 9.69110263e-01 -2.71137196e-03 -2.72315910e+02] [-9.75526761e-03 -3.15204054e-04 -9.99952367e-01 -1.81183937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 863.496559995 meters 0.01906201041742725 Centerline is valid? [True, True] Translation: X:-185.61, Y:-272.29, Z:-1.81 [[-9.83980629e-01 1.78055080e-01 8.86065593e-03 -1.85612858e+02] [ 1.78045241e-01 9.84020481e-01 -1.89354479e-03 -2.72288979e+02] [-9.05622218e-03 -2.85613773e-04 -9.99958951e-01 -1.81151650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 863.526559995 meters 0.018950284685936947 Centerline is valid? [True, True] Translation: X:-185.47, Y:-271.65, Z:-2.77 [[-9.52846254e-01 -3.03350668e-01 7.89862976e-03 -1.85469528e+02] [ 3.03342042e-01 -9.52878969e-01 -2.29692825e-03 -2.71645287e+02] [ 8.22321290e-03 2.07367010e-04 9.99966167e-01 -2.77222852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 863.5565599949999 meters 0.017627564158861048 Centerline is valid? [True, True] Translation: X:-185.66, Y:-272.29, Z:-1.81 [[-9.84344823e-01 1.76089158e-01 7.60780270e-03 -1.85657469e+02] [ 1.76082085e-01 9.84374195e-01 -1.59492319e-03 -2.72287563e+02] [-7.76977333e-03 -2.30356623e-04 -9.99969788e-01 -1.81301968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 863.5865599949999 meters 0.01721605078960779 Centerline is valid? [True, True] Translation: X:-185.52, Y:-271.63, Z:-2.77 [[-9.54350882e-01 -2.98595268e-01 7.43365095e-03 -1.85517341e+02] [ 2.98588043e-01 -9.54379806e-01 -2.08938371e-03 -2.71629683e+02] [ 7.71840645e-03 2.25594107e-04 9.99970187e-01 -2.77092256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 863.616559995 meters 0.017398307560630915 Centerline is valid? [True, True] Translation: X:-185.71, Y:-272.28, Z:-1.81 [[-9.84696787e-01 1.74111110e-01 7.58672393e-03 -1.85705025e+02] [ 1.74104256e-01 9.84725990e-01 -1.55973614e-03 -2.72282882e+02] [-7.74241163e-03 -2.14986244e-04 -9.99970004e-01 -1.81293746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 863.646559995 meters 0.017147424459525048 Centerline is valid? [True, True] Translation: X:-185.56, Y:-271.62, Z:-2.77 [[-9.56157861e-01 -2.92757688e-01 7.42163533e-03 -1.85564946e+02] [ 2.92750574e-01 -9.56186641e-01 -2.05175421e-03 -2.71616723e+02] [ 7.69713538e-03 2.10887084e-04 9.99970355e-01 -2.77174985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 863.6765599949999 meters 0.016282837160837907 Centerline is valid? [True, True] Translation: X:-185.76, Y:-272.28, Z:-1.81 [[-9.84936362e-01 1.72744510e-01 7.72639655e-03 -1.85759316e+02] [ 1.72737606e-01 9.84966646e-01 -1.55723555e-03 -2.72278058e+02] [-7.87924679e-03 -1.99138672e-04 -9.99968939e-01 -1.81269664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 863.7065599949999 meters 0.01608919691120787 Centerline is valid? [True, True] Translation: X:-185.61, Y:-271.60, Z:-2.77 [[-9.58113619e-01 -2.86297497e-01 7.21367442e-03 -1.85609797e+02] [ 2.86290667e-01 -9.58140760e-01 -1.98431084e-03 -2.71602561e+02] [ 7.47981872e-03 1.64012420e-04 9.99972012e-01 -2.77179514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 863.736559995 meters 0.015456372575895279 Centerline is valid? [True, True] Translation: X:-185.80, Y:-272.27, Z:-1.81 [[-9.85124209e-01 1.71703037e-01 6.95417735e-03 -1.85800327e+02] [ 1.71697616e-01 9.85148741e-01 -1.37362883e-03 -2.72274831e+02] [-7.08675530e-03 -1.59179338e-04 -9.99974876e-01 -1.81270195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 863.766559995 meters 0.014807748141330044 Centerline is valid? [True, True] Translation: X:-185.80, Y:-272.25, Z:-1.81 [[-9.94471994e-01 1.04818112e-01 6.21426341e-03 -1.85795766e+02] [ 1.04815316e-01 9.94491402e-01 -7.74812205e-04 -2.72251532e+02] [-6.26124589e-03 -1.19179055e-04 -9.99980391e-01 -1.81291150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 863.7965599949999 meters 0.014188140405087748 Centerline is valid? [True, True] Translation: X:-185.79, Y:-272.23, Z:-1.81 [[-9.99337813e-01 3.58617199e-02 6.15413680e-03 -1.85792838e+02] [ 3.58603914e-02 9.99356756e-01 -3.26121792e-04 -2.72226805e+02] [-6.16187348e-03 -1.05216084e-04 -9.99981010e-01 -1.81304236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 863.8265599949999 meters 0.01314157658310643 Centerline is valid? [True, True] Translation: X:-185.79, Y:-272.20, Z:-1.81 [[-9.99502841e-01 -3.10738025e-02 5.33750990e-03 -1.85790625e+02] [-3.10737262e-02 9.99517091e-01 9.72517788e-05 -2.72204177e+02] [-5.33795435e-03 -6.86528921e-05 -9.99985751e-01 -1.81351789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 863.856559995 meters 0.012982966947772952 Centerline is valid? [True, True] Translation: X:-185.80, Y:-271.48, Z:-2.77 [[-9.98194472e-01 -5.98868168e-02 4.62217262e-03 -1.85800025e+02] [ 5.98862412e-02 -9.98205174e-01 -2.62963737e-04 -2.71481313e+02] [ 4.62962469e-03 1.43155956e-05 9.99989283e-01 -2.77084064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 863.886559995 meters 0.012581478865828654 Centerline is valid? [True, True] Translation: X:-185.88, Y:-272.21, Z:-1.81 [[-9.99456667e-01 -3.26639942e-02 4.40838538e-03 -1.85875960e+02] [-3.26638461e-02 9.99466389e-01 1.05608916e-04 -2.72209911e+02] [-4.40948263e-03 -3.84432864e-05 -9.99990278e-01 -1.81373128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 863.916559995 meters 0.012294630717236759 Centerline is valid? [True, True] Translation: X:-185.88, Y:-272.19, Z:-1.81 [[-9.94967523e-01 -1.00134418e-01 3.56738855e-03 -1.85878928e+02] [-1.00133841e-01 9.94973918e-01 3.40607466e-04 -2.72186715e+02] [-3.58356510e-03 -1.83229503e-05 -9.99993579e-01 -1.81379722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 863.9465599949999 meters 0.012294630717236759 Centerline is valid? [True, True] Translation: X:-185.94, Y:-271.45, Z:-2.77 [[-9.99741470e-01 2.24520951e-02 3.59116210e-03 -1.85944763e+02] [-2.24518821e-02 -9.99747920e-01 9.96197482e-05 -2.71450644e+02] [ 3.59249351e-03 1.89656456e-05 9.99993547e-01 -2.77047625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 863.9765599949999 meters 0.012203105924727595 Centerline is valid? [True, True] Translation: X:-185.98, Y:-272.20, Z:-1.81 [[-9.94442477e-01 -1.05226962e-01 3.38339937e-03 -1.85979615e+02] [-1.05226399e-01 9.94448232e-01 3.44496216e-04 -2.72197142e+02] [-3.40086582e-03 -1.34412624e-05 -9.99994217e-01 -1.81391621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 864.006559995 meters 0.012162793532010226 Centerline is valid? [True, True] Translation: X:-185.99, Y:-272.17, Z:-1.81 [[-9.84529295e-01 -1.75192472e-01 3.10885056e-03 -1.85987960e+02] [-1.75191631e-01 9.84534203e-01 5.43080818e-04 -2.72171653e+02] [-3.15591338e-03 -9.96562416e-06 -9.99995020e-01 -1.81413891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 864.036559995 meters 0.012214237520276408 Centerline is valid? [True, True] Translation: X:-186.01, Y:-272.15, Z:-1.81 [[-9.69483758e-01 -2.45140397e-01 2.72550453e-03 -1.86013928e+02] [-2.45139451e-01 9.69487589e-01 6.81249875e-04 -2.72149767e+02] [-2.80934468e-03 -7.66799441e-06 -9.99996054e-01 -1.81401413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 864.0665599949999 meters 0.012188500161381158 Centerline is valid? [True, True] Translation: X:-186.05, Y:-272.13, Z:-1.81 [[-9.49045954e-01 -3.15127224e-01 2.57112144e-03 -1.86050644e+02] [-3.15126092e-01 9.49049436e-01 8.44726609e-04 -2.72131374e+02] [-2.70631770e-03 -8.54308001e-06 -9.99996338e-01 -1.81402248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 864.0965599949999 meters 0.012233632476693068 Centerline is valid? [True, True] Translation: X:-186.12, Y:-272.12, Z:-1.81 [[-9.22935490e-01 -3.84945063e-01 2.71657214e-03 -1.86115247e+02] [-3.84943434e-01 9.22939488e-01 1.12005168e-03 -2.72124662e+02] [-2.93839006e-03 -1.19911657e-05 -9.99995683e-01 -1.81348827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 864.126559995 meters 0.012509988472176341 Centerline is valid? [True, True] Translation: X:-186.18, Y:-272.12, Z:-1.81 [[-8.90501342e-01 -4.54970717e-01 3.00110073e-03 -1.86181901e+02] [-4.54968224e-01 8.90506399e-01 1.50660123e-03 -2.72122551e+02] [-3.35795885e-03 -2.37750504e-05 -9.99994362e-01 -1.81248677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 864.156559995 meters 0.012713041780568837 Centerline is valid? [True, True] Translation: X:-186.26, Y:-272.13, Z:-1.81 [[-8.53177362e-01 -5.21611059e-01 3.20815844e-03 -1.86260516e+02] [-5.21607518e-01 8.53183393e-01 1.92237135e-03 -2.72132499e+02] [-3.73987767e-03 -3.32758416e-05 -9.99993006e-01 -1.81174786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 864.1865599949999 meters 0.013268325504115042 Centerline is valid? [True, True] Translation: X:-186.34, Y:-272.15, Z:-1.81 [[-8.09551496e-01 -5.87040034e-01 3.22069476e-03 -1.86344060e+02] [-5.87035631e-01 8.09557901e-01 2.27420258e-03 -2.72151260e+02] [-3.94238685e-03 -4.95784830e-05 -9.99992228e-01 -1.81143409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 864.2165599949999 meters 0.013723322404654001 Centerline is valid? [True, True] Translation: X:-186.44, Y:-272.18, Z:-1.81 [[-7.62000381e-01 -6.47569657e-01 2.99306253e-03 -1.86435870e+02] [-6.47564947e-01 7.62006257e-01 2.47052647e-03 -2.72184811e+02] [-3.88057036e-03 -5.56602682e-05 -9.99992469e-01 -1.81124085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 864.246559995 meters 0.014092020818351304 Centerline is valid? [True, True] Translation: X:-186.52, Y:-272.22, Z:-1.81 [[-7.09498457e-01 -7.04701393e-01 2.80828534e-03 -1.86515913e+02] [-7.04696225e-01 7.09504012e-01 2.69958630e-03 -2.72217545e+02] [-3.89489194e-03 -6.36357624e-05 -9.99992413e-01 -1.81136682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 864.276559995 meters 0.01468961270434348 Centerline is valid? [True, True] Translation: X:-186.61, Y:-272.27, Z:-1.81 [[-6.52685593e-01 -7.57625379e-01 2.30273386e-03 -1.86605224e+02] [-7.57620998e-01 6.52689652e-01 2.57717095e-03 -2.72268122e+02] [-3.45550067e-03 -6.25171750e-05 -9.99994028e-01 -1.81158772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 864.3065599949999 meters 0.014590188983627846 Centerline is valid? [True, True] Translation: X:-186.69, Y:-272.33, Z:-1.81 [[-5.93211354e-01 -8.05043653e-01 2.23748148e-03 -1.86693243e+02] [-8.05038343e-01 5.93215570e-01 2.92462530e-03 -2.72330127e+02] [-3.68175989e-03 -6.63374488e-05 -9.99993220e-01 -1.81115231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 864.3365599949999 meters 0.014590656972178694 Centerline is valid? [True, True] Translation: X:-186.77, Y:-272.40, Z:-1.81 [[-5.30459765e-01 -8.47707827e-01 1.96943690e-03 -1.86774384e+02] [-8.47702419e-01 5.30463417e-01 3.02858964e-03 -2.72396502e+02] [-3.61207337e-03 -6.29514789e-05 -9.99993475e-01 -1.81111836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 864.366559995 meters 0.014363197967624497 Centerline is valid? [True, True] Translation: X:-186.85, Y:-272.47, Z:-1.81 [[-4.64991616e-01 -8.85314128e-01 1.30067123e-03 -1.86853129e+02] [-8.85310927e-01 4.64993433e-01 2.38103034e-03 -2.72473778e+02] [-2.71276338e-03 -4.43393057e-05 -9.99996320e-01 -1.81184171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 864.396559995 meters 0.015086580034995746 Centerline is valid? [True, True] Translation: X:-186.93, Y:-272.56, Z:-1.81 [[-3.95586180e-01 -9.18428151e-01 1.14268491e-03 -1.86928185e+02] [-9.18424649e-01 3.95587828e-01 2.53669050e-03 -2.72558008e+02] [-2.78180021e-03 -4.59902779e-05 -9.99996130e-01 -1.81159225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 864.4265599949999 meters 0.014787169884518938 Centerline is valid? [True, True] Translation: X:-186.99, Y:-272.65, Z:-1.81 [[-3.23340668e-01 -9.46282104e-01 9.96040799e-04 -1.86994893e+02] [-9.46278082e-01 3.23342199e-01 2.75930193e-03 -2.72650076e+02] [-2.93314006e-03 -5.03370466e-05 -9.99995697e-01 -1.81160397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 864.4565599949999 meters 0.015295472392337528 Centerline is valid? [True, True] Translation: X:-187.06, Y:-272.76, Z:-1.81 [[-2.48279043e-01 -9.68688005e-01 1.03250238e-03 -1.87061988e+02] [-9.68680802e-01 2.48281180e-01 3.73628271e-03 -2.72762504e+02] [-3.87564315e-03 -7.25245384e-05 -9.99992487e-01 -1.81050423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 864.486559995 meters 0.015535223750346144 Centerline is valid? [True, True] Translation: X:-187.11, Y:-272.86, Z:-1.81 [[-1.72414240e-01 -9.85024216e-01 7.90000050e-04 -1.87113405e+02] [-9.85015883e-01 1.72416032e-01 4.05256400e-03 -2.72855103e+02] [-4.12808235e-03 -7.94428537e-05 -9.99991476e-01 -1.80977382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 864.516559995 meters 0.01577059553586618 Centerline is valid? [True, True] Translation: X:-187.16, Y:-272.97, Z:-1.81 [[-9.56150083e-02 -9.95418273e-01 4.82225456e-04 -1.87159964e+02] [-9.95409596e-01 9.56161887e-02 4.15710362e-03 -2.72967966e+02] [-4.18416546e-03 -8.25303490e-05 -9.99991243e-01 -1.80928727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 864.5465599949999 meters 0.014923789411223196 Centerline is valid? [True, True] Translation: X:-187.19, Y:-273.08, Z:-1.81 [[-1.82748944e-02 -9.99832988e-01 1.59033309e-04 -1.87194796e+02] [-9.99824402e-01 1.82753967e-02 4.14427096e-03 -2.73079125e+02] [-4.14648521e-03 -8.32692688e-05 -9.99991400e-01 -1.80966825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 864.5765599949999 meters 0.016449993856504423 Centerline is valid? [True, True] Translation: X:-187.23, Y:-273.20, Z:-1.81 [[ 5.95132490e-02 -9.98227502e-01 -1.66646278e-04 -1.87225708e+02] [-9.98218262e-01 -5.95134153e-02 4.29584104e-03 -2.73197610e+02] [-4.29814436e-03 -8.93100999e-05 -9.99990759e-01 -1.80914299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 864.606559995 meters 0.01684520045281617 Centerline is valid? [True, True] Translation: X:-187.24, Y:-273.32, Z:-1.81 [[ 1.36777462e-01 -9.90601660e-01 -5.27143116e-04 -1.87244616e+02] [-9.90591307e-01 -1.36778443e-01 4.53000376e-03 -2.73320750e+02] [-4.55953106e-03 -9.74190269e-05 -9.99989601e-01 -1.80904535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 864.636559995 meters 0.017037449017180933 Centerline is valid? [True, True] Translation: X:-187.25, Y:-273.44, Z:-1.81 [[ 2.12961654e-01 -9.77060114e-01 -9.31016097e-04 -1.87254960e+02] [-9.77048508e-01 -2.12963663e-01 4.76352886e-03 -2.73437476e+02] [-4.85252665e-03 -1.04801096e-04 -9.99988221e-01 -1.80874359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 864.666559995 meters 0.017370880568731248 Centerline is valid? [True, True] Translation: X:-187.26, Y:-273.56, Z:-1.81 [[ 2.87579958e-01 -9.57755733e-01 -1.31248806e-03 -1.87255800e+02] [-9.57744010e-01 -2.87582934e-01 4.74007122e-03 -2.73557757e+02] [-4.91727955e-03 -1.06121911e-04 -9.99987905e-01 -1.80816264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 864.6965599949999 meters 0.01614327396204319 Centerline is valid? [True, True] Translation: X:-187.25, Y:-273.67, Z:-1.81 [[ 3.60370700e-01 -9.32807721e-01 -1.64761463e-03 -1.87246302e+02] [-9.32796604e-01 -3.60374451e-01 4.55526629e-03 -2.73673164e+02] [-4.84294579e-03 -1.04695163e-04 -9.99988268e-01 -1.80845309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 864.7265599949999 meters 0.015034632151244468 Centerline is valid? [True, True] Translation: X:-187.23, Y:-273.79, Z:-1.81 [[ 4.31221606e-01 -9.02244414e-01 -1.71567141e-03 -1.87225992e+02] [-9.02236418e-01 -4.31225009e-01 3.79970998e-03 -2.73794096e+02] [-4.16810753e-03 -9.05758144e-05 -9.99991309e-01 -1.80892048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 864.756559995 meters 0.01516585733946498 Centerline is valid? [True, True] Translation: X:-187.19, Y:-273.92, Z:-1.81 [[ 4.99294900e-01 -8.66430116e-01 -1.85957559e-03 -1.87193419e+02] [-8.66423466e-01 -4.99298355e-01 3.39551654e-03 -2.73921642e+02] [-3.87046082e-03 -8.41841600e-05 -9.99992506e-01 -1.80894182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 864.786559995 meters 0.01694649267987624 Centerline is valid? [True, True] Translation: X:-187.17, Y:-274.02, Z:-1.81 [[ 5.64993019e-01 -8.25093115e-01 -2.05928992e-03 -1.87171780e+02] [-8.25087078e-01 -5.64996766e-01 3.15723146e-03 -2.74018392e+02] [-3.76850208e-03 -8.47202287e-05 -9.99992896e-01 -1.80864247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 864.8165599949999 meters 0.0151936768227031 Centerline is valid? [True, True] Translation: X:-187.13, Y:-274.12, Z:-1.81 [[ 6.26867919e-01 -7.79122004e-01 -2.34847039e-03 -1.87129020e+02] [-7.79115999e-01 -6.26872312e-01 3.06018480e-03 -2.74121828e+02] [-3.85644837e-03 -8.86008239e-05 -9.99992560e-01 -1.80908075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 864.8465599949999 meters 0.015799244211247513 Centerline is valid? [True, True] Translation: X:-187.09, Y:-274.22, Z:-1.81 [[ 6.85090508e-01 -7.28453390e-01 -2.57963743e-03 -1.87085125e+02] [-7.28447717e-01 -6.85095359e-01 2.87623906e-03 -2.74220341e+02] [-3.86250372e-03 -9.13530809e-05 -9.99992536e-01 -1.80886875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 864.876559995 meters 0.016674591624313947 Centerline is valid? [True, True] Translation: X:-187.03, Y:-274.32, Z:-1.81 [[ 7.39499645e-01 -6.73150706e-01 -2.89877338e-03 -1.87031949e+02] [-6.73145000e-01 -7.39505319e-01 2.77354695e-03 -2.74318873e+02] [-4.01067342e-03 -9.97421739e-05 -9.99991952e-01 -1.80835497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 864.906559995 meters 0.016370464074320575 Centerline is valid? [True, True] Translation: X:-187.03, Y:-274.33, Z:-1.81 [[ 7.90301618e-01 -6.12711003e-01 -2.92892525e-03 -1.87033949e+02] [-6.12706337e-01 -7.90307040e-01 2.39314807e-03 -2.74326332e+02] [-3.78105840e-03 -9.67377247e-05 -9.99992847e-01 -1.80873112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 864.9365599949999 meters 0.017758941410564257 Centerline is valid? [True, True] Translation: X:-187.04, Y:-274.34, Z:-1.81 [[ 8.36648979e-01 -5.47731104e-01 -3.02058466e-03 -1.87037943e+02] [-5.47727100e-01 -8.36654426e-01 2.09672859e-03 -2.74335772e+02] [-3.67562899e-03 -9.97697601e-05 -9.99993240e-01 -1.80900191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 864.9665599949999 meters 0.01717567416856319 Centerline is valid? [True, True] Translation: X:-187.04, Y:-274.34, Z:-1.81 [[ 8.77207788e-01 -4.80101637e-01 -2.98570515e-03 -1.87038867e+02] [-4.80098481e-01 -8.77212864e-01 1.74340007e-03 -2.74342769e+02] [-3.45610820e-03 -9.58916135e-05 -9.99994023e-01 -1.80936852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 864.996559995 meters 0.018003717127838718 Centerline is valid? [True, True] Translation: X:-187.04, Y:-274.35, Z:-1.81 [[ 9.12381251e-01 -4.09328842e-01 -3.21753038e-03 -1.87040862e+02] [-4.09325900e-01 -9.12386918e-01 1.55528294e-03 -2.74350950e+02] [-3.57225479e-03 -1.01992477e-04 -9.99993614e-01 -1.80913499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 865.026559995 meters 0.01799283656208469 Centerline is valid? [True, True] Translation: X:-187.04, Y:-274.36, Z:-1.81 [[ 9.42066178e-01 -3.35407556e-01 -3.61765340e-03 -1.87040712e+02] [-3.35404606e-01 -9.42073117e-01 1.41155955e-03 -2.74358295e+02] [-3.88154176e-03 -1.16404893e-04 -9.99992460e-01 -1.80886731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 865.0565599949999 meters 0.018582522614388527 Centerline is valid? [True, True] Translation: X:-187.04, Y:-274.37, Z:-1.81 [[ 9.65638574e-01 -2.59862042e-01 -3.72336991e-03 -1.87040023e+02] [-2.59859629e-01 -9.65645745e-01 1.12643166e-03 -2.74366407e+02] [-3.88817314e-03 -1.20172340e-04 -9.99992434e-01 -1.80844574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 865.0865599949999 meters 0.019939585436166387 Centerline is valid? [True, True] Translation: X:-187.04, Y:-274.38, Z:-1.81 [[ 9.83302711e-01 -1.81937711e-01 -3.80100915e-03 -1.87039217e+02] [-1.81935852e-01 -9.83310050e-01 8.32204602e-04 -2.74375083e+02] [-3.88897989e-03 -1.26769206e-04 -9.99992430e-01 -1.80797758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 865.116559995 meters 0.019264264716219646 Centerline is valid? [True, True] Translation: X:-187.04, Y:-274.38, Z:-1.81 [[ 9.94615222e-01 -1.03563842e-01 -3.88482053e-03 -1.87036387e+02] [-1.03562534e-01 -9.94622800e-01 5.36817393e-04 -2.74381850e+02] [-3.91952595e-03 -1.31604892e-04 -9.99992310e-01 -1.80822214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 865.146559995 meters 0.02025203936768364 Centerline is valid? [True, True] Translation: X:-187.04, Y:-274.39, Z:-1.81 [[ 9.99688346e-01 -2.46260384e-02 -4.09512336e-03 -1.87037741e+02] [-2.46252549e-02 -9.99696723e-01 2.41641304e-04 -2.74389692e+02] [-4.09983207e-03 -1.40722539e-04 -9.99991586e-01 -1.80785185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 865.1765599949999 meters 0.020746978094648247 Centerline is valid? [True, True] Translation: X:-187.04, Y:-274.40, Z:-1.81 [[ 9.98519618e-01 5.42342181e-02 -4.14986708e-03 -1.87037951e+02] [ 5.42343510e-02 -9.98528231e-01 -8.05733336e-05 -2.74395392e+02] [-4.14812926e-03 -1.44611293e-04 -9.99991386e-01 -1.80740868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 865.2065599949999 meters 0.01958808615199764 Centerline is valid? [True, True] Translation: X:-187.04, Y:-274.40, Z:-1.81 [[ 9.91153614e-01 1.32648385e-01 -4.34972227e-03 -1.87037053e+02] [ 1.32647788e-01 -9.91163146e-01 -4.26671812e-04 -2.74402066e+02] [-4.36788174e-03 -1.54083730e-04 -9.99990449e-01 -1.80694091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 865.236559995 meters 0.020792605989815242 Centerline is valid? [True, True] Translation: X:-187.04, Y:-274.41, Z:-1.81 [[ 9.77754731e-01 2.09709371e-01 -4.20312286e-03 -1.87036415e+02] [ 2.09708091e-01 -9.77763753e-01 -7.48097294e-04 -2.74411066e+02] [-4.26654419e-03 -1.49973200e-04 -9.99990887e-01 -1.80693930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 865.266559995 meters 0.02151068101593131 Centerline is valid? [True, True] Translation: X:-187.04, Y:-274.42, Z:-1.81 [[ 9.58384077e-01 2.85455149e-01 -3.91387656e-03 -1.87035277e+02] [ 2.85453369e-01 -9.58392059e-01 -1.01810947e-03 -2.74416063e+02] [-4.04165280e-03 -1.41489340e-04 -9.99991823e-01 -1.80696467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 865.2965599949999 meters 0.020339314131907527 Centerline is valid? [True, True] Translation: X:-187.03, Y:-274.42, Z:-1.81 [[ 9.33492625e-01 3.58583183e-01 -3.10154065e-03 -1.87034142e+02] [ 3.58581598e-01 -9.33497771e-01 -1.07222867e-03 -2.74417094e+02] [-3.27976446e-03 -1.11237849e-04 -9.99994616e-01 -1.80749866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 865.3265599949999 meters 0.02006921393018841 Centerline is valid? [True, True] Translation: X:-187.03, Y:-274.42, Z:-1.81 [[ 9.02743478e-01 4.30170559e-01 -2.73921512e-03 -1.87032204e+02] [ 4.30168912e-01 -9.02747628e-01 -1.19455984e-03 -2.74421321e+02] [-2.98668443e-03 -9.99440801e-05 -9.99995535e-01 -1.80757788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 865.356559995 meters 0.018720247371521455 Centerline is valid? [True, True] Translation: X:-187.03, Y:-274.43, Z:-1.81 [[ 8.66630733e-01 4.98943253e-01 -2.60814574e-03 -1.87029205e+02] [ 4.98941327e-01 -8.66634653e-01 -1.38973429e-03 -2.74425448e+02] [-2.95370802e-03 -9.69252524e-05 -9.99995633e-01 -1.80768817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 865.386559995 meters 0.018704908595942565 Centerline is valid? [True, True] Translation: X:-187.03, Y:-274.43, Z:-1.81 [[ 8.25325377e-01 5.64652794e-01 -2.29028709e-03 -1.87025557e+02] [ 5.64650909e-01 -8.25328550e-01 -1.46146290e-03 -2.74431647e+02] [-2.71545843e-03 -8.70302656e-05 -9.99996309e-01 -1.80728738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 865.416559995 meters 0.018305033548968473 Centerline is valid? [True, True] Translation: X:-187.02, Y:-274.44, Z:-1.81 [[ 7.79054190e-01 6.26952585e-01 -2.24177667e-03 -1.87021207e+02] [ 6.26950310e-01 -7.79057411e-01 -1.69128726e-03 -2.74437275e+02] [-2.80682965e-03 -8.78781471e-05 -9.99996057e-01 -1.80710426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 865.4465599949999 meters 0.0177694367784682 Centerline is valid? [True, True] Translation: X:-187.02, Y:-274.44, Z:-1.81 [[ 7.29144166e-01 6.84355848e-01 -2.42036512e-03 -1.87018191e+02] [ 6.84352500e-01 -7.29148177e-01 -2.14279038e-03 -2.74441387e+02] [-3.23123595e-03 -9.39798122e-05 -9.99994775e-01 -1.80638650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 865.4765599949999 meters 0.01742261642778884 Centerline is valid? [True, True] Translation: X:-187.01, Y:-274.45, Z:-1.81 [[ 6.74355927e-01 7.38403209e-01 -2.18750760e-03 -1.87014401e+02] [ 7.38399737e-01 -6.74359469e-01 -2.26592885e-03 -2.74445331e+02] [-3.14833560e-03 -8.72124863e-05 -9.99995040e-01 -1.80639733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 865.506559995 meters 0.01686423555812104 Centerline is valid? [True, True] Translation: X:-187.01, Y:-274.45, Z:-1.81 [[ 6.15437319e-01 7.88183258e-01 -2.01457232e-03 -1.87010370e+02] [ 7.88179473e-01 -6.15440610e-01 -2.44401373e-03 -2.74448884e+02] [-3.16618032e-03 -8.37072956e-05 -9.99994984e-01 -1.80641836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 865.536559995 meters 0.016186488125403107 Centerline is valid? [True, True] Translation: X:-187.01, Y:-274.45, Z:-1.81 [[ 5.54059358e-01 8.32474859e-01 -1.95895130e-03 -1.87007125e+02] [ 8.32470164e-01 -5.54062815e-01 -2.79687758e-03 -2.74451800e+02] [-3.41371234e-03 -8.11323085e-05 -9.99994170e-01 -1.80625783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 865.5665599949999 meters 0.01577565444094754 Centerline is valid? [True, True] Translation: X:-187.00, Y:-274.46, Z:-1.81 [[ 4.88136899e-01 8.72765114e-01 -1.85033105e-03 -1.87002623e+02] [ 8.72759472e-01 -4.88140399e-01 -3.13935090e-03 -2.74455551e+02] [-3.64313729e-03 -8.24609384e-05 -9.99993360e-01 -1.80617417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 865.5965599949999 meters 0.015434330147084733 Centerline is valid? [True, True] Translation: X:-187.00, Y:-274.46, Z:-1.81 [[ 4.19350063e-01 9.07823255e-01 -1.56896753e-03 -1.86997965e+02] [ 9.07817571e-01 -4.19352991e-01 -3.21366799e-03 -2.74459756e+02] [-3.57539377e-03 -7.66844113e-05 -9.99993605e-01 -1.80625342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 865.626559995 meters 0.015250148005117484 Centerline is valid? [True, True] Translation: X:-186.99, Y:-274.46, Z:-1.81 [[ 3.49391121e-01 9.36975871e-01 -1.43606897e-03 -1.86994580e+02] [ 9.36968805e-01 -3.49394065e-01 -3.63953305e-03 -2.74464091e+02] [-3.91190862e-03 -7.39312940e-05 -9.99992346e-01 -1.80547659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 865.656559995 meters 0.014415328832018128 Centerline is valid? [True, True] Translation: X:-186.99, Y:-274.47, Z:-1.81 [[ 2.76118103e-01 9.61122951e-01 -1.21125795e-03 -1.86990398e+02] [ 9.61114831e-01 -2.76120750e-01 -3.95149688e-03 -2.74467188e+02] [-4.13232780e-03 -7.30781548e-05 -9.99991459e-01 -1.80549373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 865.6865599949999 meters 0.013999336886975015 Centerline is valid? [True, True] Translation: X:-186.98, Y:-274.47, Z:-1.81 [[ 2.01480178e-01 9.79492092e-01 -9.89897883e-04 -1.86984591e+02] [ 9.79482001e-01 -2.01482596e-01 -4.44676509e-03 -2.74470337e+02] [-4.55501844e-03 -7.36521383e-05 -9.99989623e-01 -1.80513046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 865.7165599949999 meters 0.013667598331232886 Centerline is valid? [True, True] Translation: X:-186.98, Y:-274.47, Z:-1.80 [[ 1.26005677e-01 9.92029286e-01 -6.82449870e-04 -1.86979072e+02] [ 9.92017578e-01 -1.26007506e-01 -4.82015071e-03 -2.74473101e+02] [-4.86772448e-03 -6.96359141e-05 -9.99988150e-01 -1.80421358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 865.746559995 meters 0.013553618462239896 Centerline is valid? [True, True] Translation: X:-186.97, Y:-274.48, Z:-1.80 [[ 4.83907292e-02 9.98828429e-01 -3.28221116e-04 -1.86972141e+02] [ 9.98814533e-01 -4.83917874e-02 -5.26919735e-03 -2.74476330e+02] [-5.27890732e-03 -7.28517191e-05 -9.99986064e-01 -1.80396290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 865.776559995 meters 0.014325395130838785 Centerline is valid? [True, True] Translation: X:-186.96, Y:-274.48, Z:-1.80 [[-2.97625347e-02 9.99556994e-01 8.45555011e-05 -1.86963813e+02] [ 9.99543362e-01 2.97625705e-02 -5.22087913e-03 -2.74480275e+02] [-5.22108284e-03 -7.08697065e-05 -9.99986368e-01 -1.80313846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 865.8065599949999 meters 0.013677037341610705 Centerline is valid? [True, True] Translation: X:-186.96, Y:-274.48, Z:-1.80 [[-1.07346551e-01 9.94221551e-01 4.74197224e-04 -1.86960025e+02] [ 9.94208981e-01 1.07347578e-01 -4.99994459e-03 -2.74482311e+02] [-5.02195659e-03 -6.52756668e-05 -9.99987388e-01 -1.80408153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 865.8365599949999 meters 0.013521314555204778 Centerline is valid? [True, True] Translation: X:-186.95, Y:-274.48, Z:-1.80 [[-1.84581763e-01 9.82816796e-01 8.47580933e-04 -1.86953940e+02] [ 9.82804828e-01 1.84583699e-01 -4.85059636e-03 -2.74483907e+02] [-4.92369719e-03 -6.23249944e-05 -9.99987877e-01 -1.80430144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 865.866559995 meters 0.013521314555204778 Centerline is valid? [True, True] Translation: X:-186.95, Y:-274.49, Z:-1.80 [[-2.61005912e-01 9.65336425e-01 1.22496625e-03 -1.86946752e+02] [ 9.65324646e-01 2.61008779e-01 -4.76930268e-03 -2.74485552e+02] [-4.92370855e-03 -6.23260820e-05 -9.99987877e-01 -1.80430134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 865.896559995 meters 0.013870502087798555 Centerline is valid? [True, True] Translation: X:-186.94, Y:-274.49, Z:-1.80 [[-3.35115967e-01 9.42175772e-01 1.45008607e-03 -1.86939312e+02] [ 9.42166253e-01 3.35119100e-01 -4.23556530e-03 -2.74487313e+02] [-4.47659854e-03 -5.31834005e-05 -9.99989979e-01 -1.80401301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 865.9265599949999 meters 0.013455543947531687 Centerline is valid? [True, True] Translation: X:-186.93, Y:-274.49, Z:-1.80 [[-4.07476972e-01 9.13213733e-01 1.78735899e-03 -1.86934384e+02] [ 9.13204385e-01 4.07480889e-01 -4.13236819e-03 -2.74488340e+02] [-4.50205001e-03 -5.16208135e-05 -9.99989865e-01 -1.80421437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 865.9565599949999 meters 0.013350212699250335 Centerline is valid? [True, True] Translation: X:-186.93, Y:-274.49, Z:-1.80 [[-4.77546442e-01 8.78604359e-01 1.94336802e-03 -1.86928701e+02] [ 8.78596684e-01 4.77550394e-01 -3.67260600e-03 -2.74488934e+02] [-4.15482380e-03 -4.64032312e-05 -9.99991368e-01 -1.80395797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 865.986559995 meters 0.013047331854812902 Centerline is valid? [True, True] Translation: X:-186.92, Y:-274.49, Z:-1.80 [[-5.44185183e-01 8.38962587e-01 2.06519409e-03 -1.86921897e+02] [ 8.38956267e-01 5.44189100e-01 -3.25665297e-03 -2.74487501e+02] [-3.85606611e-03 -3.96147663e-05 -9.99992565e-01 -1.80450939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 866.016559995 meters 0.012971642959691129 Centerline is valid? [True, True] Translation: X:-186.91, Y:-274.49, Z:-1.80 [[-6.07885629e-01 7.94021052e-01 2.37285730e-03 -1.86913557e+02] [ 7.94014751e-01 6.07890259e-01 -3.16353882e-03 -2.74485354e+02] [-3.95435326e-03 -3.89860924e-05 -9.99992181e-01 -1.80438262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 866.0465599949999 meters 0.01289662881178008 Centerline is valid? [True, True] Translation: X:-186.91, Y:-274.48, Z:-1.80 [[-6.67959295e-01 7.44192812e-01 2.72736584e-03 -1.86905954e+02] [ 7.44186367e-01 6.67964862e-01 -3.09763590e-03 -2.74481902e+02] [-4.12702291e-03 -3.94262161e-05 -9.99991483e-01 -1.80415589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 866.0765599949999 meters 0.01285812311264711 Centerline is valid? [True, True] Translation: X:-186.90, Y:-274.48, Z:-1.80 [[-7.23920949e-01 6.89874971e-01 3.31409421e-03 -1.86898127e+02] [ 6.89867473e-01 7.23928534e-01 -3.21686705e-03 -2.74478358e+02] [-4.61840343e-03 -4.24716494e-05 -9.99989334e-01 -1.80358903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 866.106559995 meters 0.012804502027282328 Centerline is valid? [True, True] Translation: X:-186.88, Y:-274.46, Z:-1.80 [[-7.70653962e-01 6.37244760e-01 3.40402527e-03 -1.86876359e+02] [ 6.37238317e-01 7.70661478e-01 -2.86580663e-03 -2.74460994e+02] [-4.44957141e-03 -3.93699001e-05 -9.99990100e-01 -1.80370374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 866.136559995 meters 0.01272313920456304 Centerline is valid? [True, True] Translation: X:-186.86, Y:-274.44, Z:-1.80 [[-8.13661548e-01 5.81329080e-01 3.37424287e-03 -1.86855310e+02] [ 5.81323898e-01 8.13668544e-01 -2.45473805e-03 -2.74442781e+02] [-4.17252589e-03 -3.57979422e-05 -9.99991294e-01 -1.80416126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 866.166559995 meters 0.012629682472996812 Centerline is valid? [True, True] Translation: X:-186.84, Y:-274.42, Z:-1.80 [[-8.52192554e-01 5.23220976e-01 2.76806180e-03 -1.86838256e+02] [ 5.23218122e-01 8.52197049e-01 -1.72821535e-03 -2.74420914e+02] [-3.26317262e-03 -2.44721523e-05 -9.99994676e-01 -1.80447173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 866.1965599949999 meters 0.012583230455864269 Centerline is valid? [True, True] Translation: X:-186.83, Y:-274.40, Z:-1.80 [[-8.86723728e-01 4.62291133e-01 2.81759110e-03 -1.86825096e+02] [ 4.62288723e-01 8.86728204e-01 -1.49299715e-03 -2.74396641e+02] [-3.18863684e-03 -2.13354077e-05 -9.99994916e-01 -1.80465263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 866.2265599949999 meters 0.012391894987185096 Centerline is valid? [True, True] Translation: X:-186.81, Y:-274.37, Z:-1.80 [[-9.16455719e-01 4.00126755e-01 2.73767295e-03 -1.86812245e+02] [ 4.00124923e-01 9.16459808e-01 -1.21073554e-03 -2.74373250e+02] [-2.99341491e-03 -1.41743338e-05 -9.99995520e-01 -1.80482754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 866.256559995 meters 0.01232739810526136 Centerline is valid? [True, True] Translation: X:-186.79, Y:-274.35, Z:-1.80 [[-9.42110806e-01 3.35290490e-01 2.74164300e-03 -1.86793614e+02] [ 3.35289038e-01 9.42114795e-01 -9.86590367e-04 -2.74351062e+02] [-2.91373681e-03 -1.02346002e-05 -9.99995755e-01 -1.80478420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 866.286559995 meters 0.012243965312837793 Centerline is valid? [True, True] Translation: X:-186.78, Y:-274.33, Z:-1.80 [[-9.63188741e-01 2.68807613e-01 3.14906592e-03 -1.86782619e+02] [ 2.68806151e-01 9.63193889e-01 -8.86705036e-04 -2.74325502e+02] [-3.27151412e-03 -7.57601690e-06 -9.99994649e-01 -1.80412440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 866.3165599949999 meters 0.012252031261747709 Centerline is valid? [True, True] Translation: X:-186.58, Y:-273.63, Z:-2.78 [[-9.41700971e-01 -3.36433772e-01 3.40552378e-03 -1.86583353e+02] [ 3.36431683e-01 -9.41707129e-01 -1.18587626e-03 -2.73632161e+02] [ 3.60597484e-03 2.89852744e-05 9.99993498e-01 -2.78060323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 866.3465599949999 meters 0.012261790985206676 Centerline is valid? [True, True] Translation: X:-186.83, Y:-274.31, Z:-1.80 [[-9.63284358e-01 2.68458198e-01 3.66627375e-03 -1.86829044e+02] [ 2.68456270e-01 9.63291335e-01 -1.01730740e-03 -2.74313951e+02] [-3.80479425e-03 4.27787464e-06 -9.99992762e-01 -1.80279605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 866.376559995 meters 0.012263669241502946 Centerline is valid? [True, True] Translation: X:-186.63, Y:-273.62, Z:-2.78 [[-9.44140131e-01 -3.29517696e-01 4.18354329e-03 -1.86632481e+02] [ 3.29514615e-01 -9.44149399e-01 -1.42519649e-03 -2.73618293e+02] [ 4.41951735e-03 3.29534591e-05 9.99990233e-01 -2.78202063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 866.406559995 meters 0.012396876502558973 Centerline is valid? [True, True] Translation: X:-186.87, Y:-274.30, Z:-1.80 [[-9.63621821e-01 2.67219240e-01 5.18301863e-03 -1.86873178e+02] [ 2.67215486e-01 9.63635760e-01 -1.41661381e-03 -2.74303034e+02] [-5.37308857e-03 1.99028628e-05 -9.99985565e-01 -1.80166510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 866.4365599949999 meters 0.012412231870884265 Centerline is valid? [True, True] Translation: X:-186.68, Y:-273.61, Z:-2.78 [[-9.46096476e-01 -3.23836672e-01 5.59181527e-03 -1.86677481e+02] [ 3.23831087e-01 -9.46113001e-01 -1.90197209e-03 -2.73606468e+02] [ 5.90641744e-03 1.13545201e-05 9.99982557e-01 -2.78280720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 866.4665599949999 meters 0.012426644478592307 Centerline is valid? [True, True] Translation: X:-186.92, Y:-274.29, Z:-1.80 [[-9.64292931e-01 2.64767164e-01 6.12311495e-03 -1.86922367e+02] [ 2.64762032e-01 9.64312371e-01 -1.64877415e-03 -2.74290471e+02] [-6.34113675e-03 3.12670964e-05 -9.99979894e-01 -1.80135310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 866.496559995 meters 0.012441818012387485 Centerline is valid? [True, True] Translation: X:-186.91, Y:-274.26, Z:-1.80 [[-9.80597498e-01 1.95934719e-01 6.17525526e-03 -1.86913252e+02] [ 1.95931041e-01 9.80616941e-01 -1.20095704e-03 -2.74262809e+02] [-6.29086910e-03 3.22687247e-05 -9.99980212e-01 -1.80125578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 866.526559995 meters 0.012462860918652143 Centerline is valid? [True, True] Translation: X:-186.77, Y:-273.56, Z:-2.78 [[-9.67734134e-01 -2.51903297e-01 5.94775177e-03 -1.86769313e+02] [ 2.51898284e-01 -9.67752410e-01 -1.58972677e-03 -2.73556925e+02] [ 6.15640853e-03 -4.02043935e-05 9.99981048e-01 -2.78306344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 866.5565599949999 meters 0.0123613424717178 Centerline is valid? [True, True] Translation: X:-186.96, Y:-274.25, Z:-1.80 [[-9.81554684e-01 1.91078813e-01 6.26822082e-03 -1.86963426e+02] [ 1.91075090e-01 9.81574697e-01 -1.19314909e-03 -2.74251813e+02] [-6.38071246e-03 2.65597816e-05 -9.99979643e-01 -1.80110124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 866.5865599949999 meters 0.012262323043509589 Centerline is valid? [True, True] Translation: X:-186.96, Y:-274.22, Z:-1.80 [[-9.92832966e-01 1.19358460e-01 6.02165620e-03 -1.86963458e+02] [ 1.19356360e-01 9.92851226e-01 -7.08145103e-04 -2.74220969e+02] [-6.06313185e-03 1.56531640e-05 -9.99981619e-01 -1.80150382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 866.616559995 meters 0.012282690326535157 Centerline is valid? [True, True] Translation: X:-186.96, Y:-274.19, Z:-1.80 [[-9.98840842e-01 4.77752720e-02 5.87326727e-03 -1.86961153e+02] [ 4.77745104e-02 9.98858110e-01 -2.69974861e-04 -2.74192245e+02] [-5.87945876e-03 1.09305507e-05 -9.99982716e-01 -1.80126401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 866.646559995 meters 0.0121809647730001 Centerline is valid? [True, True] Translation: X:-186.96, Y:-274.16, Z:-1.80 [[-9.99686738e-01 -2.43168697e-02 5.92583130e-03 -1.86963686e+02] [-2.43164107e-02 9.99704301e-01 1.49493045e-04 -2.74163653e+02] [-5.92771425e-03 5.35126657e-06 -9.99982431e-01 -1.80123202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 866.6765599949999 meters 0.012227372832568912 Centerline is valid? [True, True] Translation: X:-186.98, Y:-273.46, Z:-2.78 [[-9.99063493e-01 -4.28474327e-02 6.01954254e-03 -1.86980189e+02] [ 4.28466619e-02 -9.99081627e-01 -2.57009221e-04 -2.73456404e+02] [ 6.02502654e-03 1.14877409e-06 9.99981850e-01 -2.78247036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 866.7065599949999 meters 0.012159120509357312 Centerline is valid? [True, True] Translation: X:-187.05, Y:-274.16, Z:-1.80 [[-9.99443986e-01 -3.27288120e-02 6.36745716e-03 -1.87053081e+02] [-3.27282239e-02 9.99464269e-01 1.96565549e-04 -2.74162306e+02] [-6.37047927e-03 -1.19393073e-05 -9.99979708e-01 -1.80195691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 866.736559995 meters 0.012216252301612397 Centerline is valid? [True, True] Translation: X:-187.06, Y:-274.13, Z:-1.80 [[-9.94349552e-01 -1.05997589e-01 5.78618940e-03 -1.87061773e+02] [-1.05995935e-01 9.94366387e-01 5.92607729e-04 -2.74131869e+02] [-5.81640723e-03 -2.40533254e-05 -9.99983084e-01 -1.80230618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 866.766559995 meters 0.012388577660526574 Centerline is valid? [True, True] Translation: X:-187.07, Y:-274.10, Z:-1.80 [[-9.83995656e-01 -1.78112500e-01 5.33729783e-03 -1.87074563e+02] [-1.78110046e-01 9.84010130e-01 9.35432882e-04 -2.74103545e+02] [-5.41856743e-03 -3.01644720e-05 -9.99985319e-01 -1.80222762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 866.7965599949999 meters 0.012493315584605013 Centerline is valid? [True, True] Translation: X:-187.20, Y:-273.42, Z:-2.78 [[-9.95084543e-01 9.88798526e-02 5.43387443e-03 -1.87204307e+02] [-9.88781944e-02 -9.95099379e-01 5.73618338e-04 -2.73424796e+02] [ 5.46396437e-03 3.35070493e-05 9.99985072e-01 -2.78160633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 866.8265599949999 meters 0.012611783738484325 Centerline is valid? [True, True] Translation: X:-187.19, Y:-274.12, Z:-1.80 [[-9.82334591e-01 -1.87059501e-01 5.24347261e-03 -1.87194947e+02] [-1.87057076e-01 9.82348584e-01 9.53479343e-04 -2.74120360e+02] [-5.32927527e-03 -4.41929125e-05 -9.99985798e-01 -1.80274731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 866.856559995 meters 0.013059340939998942 Centerline is valid? [True, True] Translation: X:-187.22, Y:-274.09, Z:-1.80 [[-9.65823888e-01 -2.59154448e-01 4.81559895e-03 -1.87220400e+02] [-2.59151492e-01 9.65835892e-01 1.23874973e-03 -2.74093759e+02] [-4.97210581e-03 -5.15555759e-05 -9.99987638e-01 -1.80219369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 866.886559995 meters 0.01297590177731922 Centerline is valid? [True, True] Translation: X:-187.26, Y:-274.08, Z:-1.80 [[-9.44225322e-01 -3.29265471e-01 4.77403420e-03 -1.87260870e+02] [-3.29261566e-01 9.44237389e-01 1.60457245e-03 -2.74076247e+02] [-5.03615189e-03 -5.68280402e-05 -9.99987317e-01 -1.80243064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 866.916559995 meters 0.013439233654257853 Centerline is valid? [True, True] Translation: X:-187.31, Y:-274.06, Z:-1.80 [[-9.19437806e-01 -3.93205753e-01 4.83295090e-03 -1.87309297e+02] [-3.93200730e-01 9.19450505e-01 1.98871920e-03 -2.74057695e+02] [-5.22563498e-03 -7.18162028e-05 -9.99986344e-01 -1.80132716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 866.9465599949999 meters 0.013240343077235579 Centerline is valid? [True, True] Translation: X:-187.37, Y:-274.06, Z:-1.80 [[-8.87812475e-01 -4.60181024e-01 4.73650227e-03 -1.87372337e+02] [-4.60174867e-01 8.87825107e-01 2.38130381e-03 -2.74055512e+02] [-5.30101646e-03 -6.54680746e-05 -9.99985948e-01 -1.80115675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 866.9765599949999 meters 0.013745013696045081 Centerline is valid? [True, True] Translation: X:-187.45, Y:-274.06, Z:-1.80 [[-8.51205900e-01 -5.24809647e-01 4.83214269e-03 -1.87448353e+02] [-5.24801655e-01 8.51219613e-01 2.89724374e-03 -2.74063495e+02] [-5.63371609e-03 -6.97655153e-05 -9.99984128e-01 -1.80028180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 867.006559995 meters 0.01317885254095351 Centerline is valid? [True, True] Translation: X:-187.53, Y:-274.08, Z:-1.80 [[-8.10023000e-01 -5.86375964e-01 5.09592650e-03 -1.87526987e+02] [-5.86364925e-01 8.10039026e-01 3.59875132e-03 -2.74083412e+02] [-6.23812061e-03 -7.30012214e-05 -9.99980540e-01 -1.80084599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 867.036559995 meters 0.013082925042358428 Centerline is valid? [True, True] Translation: X:-187.61, Y:-274.11, Z:-1.80 [[-7.64055527e-01 -6.45130734e-01 5.04848478e-03 -1.87609159e+02] [-6.45117277e-01 7.64072203e-01 4.16758655e-03 -2.74111798e+02] [-6.54604505e-03 -7.25972114e-05 -9.99978572e-01 -1.80050110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 867.0665599949999 meters 0.012764234970241914 Centerline is valid? [True, True] Translation: X:-187.70, Y:-274.15, Z:-1.80 [[-7.14283942e-01 -6.99832625e-01 5.72246967e-03 -1.87695998e+02] [-6.99811019e-01 7.14306860e-01 5.49970459e-03 -2.74153038e+02] [-7.93647204e-03 -7.62966551e-05 -9.99968503e-01 -1.79965377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 867.0965599949999 meters 0.012748298056715752 Centerline is valid? [True, True] Translation: X:-187.78, Y:-274.20, Z:-1.80 [[-6.59907143e-01 -7.51325441e-01 5.71352764e-03 -1.87780177e+02] [-7.51298260e-01 6.59931872e-01 6.39133542e-03 -2.74199840e+02] [-8.57251190e-03 -7.48754804e-05 -9.99963253e-01 -1.79851653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 867.126559995 meters 0.012591629367561826 Centerline is valid? [True, True] Translation: X:-187.87, Y:-274.26, Z:-1.80 [[-6.01472612e-01 -7.98874716e-01 5.46672813e-03 -1.87865310e+02] [-7.98842807e-01 6.01497450e-01 7.14050799e-03 -2.74260180e+02] [-8.99259433e-03 -7.22364585e-05 -9.99959563e-01 -1.79829224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 867.156559995 meters 0.01252253081091723 Centerline is valid? [True, True] Translation: X:-187.95, Y:-274.33, Z:-1.80 [[-5.39485333e-01 -8.41980151e-01 4.99998369e-03 -1.87947994e+02] [-8.41945139e-01 5.39508499e-01 7.67867050e-03 -2.74330295e+02] [-9.16282184e-03 -6.71818458e-05 -9.99958018e-01 -1.79812980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 867.1865599949999 meters 0.012468985514734014 Centerline is valid? [True, True] Translation: X:-188.02, Y:-274.41, Z:-1.80 [[-4.74424427e-01 -8.80283318e-01 4.76895875e-03 -1.88024982e+02] [-8.80240190e-01 4.74448391e-01 8.71390980e-03 -2.74407459e+02] [-9.93333424e-03 -6.37374936e-05 -9.99950661e-01 -1.79796416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 867.2165599949999 meters 0.012450379806243429 Centerline is valid? [True, True] Translation: X:-188.10, Y:-274.49, Z:-1.80 [[-4.06058652e-01 -9.13838565e-01 3.93037435e-03 -1.88097932e+02] [-9.13797114e-01 4.06077669e-01 8.70403482e-03 -2.74492390e+02] [-9.55011995e-03 -5.72160915e-05 -9.99954395e-01 -1.79816216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 867.246559995 meters 0.012577303546914045 Centerline is valid? [True, True] Translation: X:-188.17, Y:-274.59, Z:-1.80 [[-3.34869201e-01 -9.42258855e-01 3.29665634e-03 -1.88165606e+02] [-9.42214889e-01 3.34885423e-01 9.10252349e-03 -2.74586765e+02] [-9.68093552e-03 -5.80039186e-05 -9.99953137e-01 -1.79750843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 867.276559995 meters 0.012683952359336809 Centerline is valid? [True, True] Translation: X:-188.23, Y:-274.69, Z:-1.80 [[-2.61223149e-01 -9.65274948e-01 2.59630088e-03 -1.88226052e+02] [-9.65229603e-01 2.61236043e-01 9.35645658e-03 -2.74685516e+02] [-9.70980051e-03 -6.19034185e-05 -9.99952857e-01 -1.79761607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 867.3065599949999 meters 0.012458284256073168 Centerline is valid? [True, True] Translation: X:-188.28, Y:-274.78, Z:-1.80 [[-1.86500617e-01 -9.82453085e-01 1.85900890e-03 -1.88276290e+02] [-9.82407709e-01 1.86509870e-01 9.44252984e-03 -2.74780621e+02] [-9.62356608e-03 -6.52670325e-05 -9.99953690e-01 -1.79898033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 867.3365599949999 meters 0.012481086860858859 Centerline is valid? [True, True] Translation: X:-188.32, Y:-274.89, Z:-1.80 [[-1.09861877e-01 -9.93946244e-01 1.10967361e-03 -1.88321929e+02] [-9.93901782e-01 1.09867459e-01 9.40151871e-03 -2.74891207e+02] [-9.46652124e-03 -7.00380865e-05 -9.99955189e-01 -1.79887272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 867.366559995 meters 0.012493038290668819 Centerline is valid? [True, True] Translation: X:-188.36, Y:-275.01, Z:-1.80 [[-3.17967692e-02 -9.99494291e-01 3.56445329e-04 -1.88357876e+02] [-9.99455575e-01 3.17986749e-02 8.79762287e-03 -2.75006233e+02] [-8.80450832e-03 -7.65152875e-05 -9.99961237e-01 -1.79978165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 867.396559995 meters 0.012699328113167943 Centerline is valid? [True, True] Translation: X:-188.39, Y:-275.13, Z:-1.80 [[ 4.57026755e-02 -9.98955039e-01 -3.08814269e-04 -1.88385540e+02] [-9.98919247e-01 -4.57036522e-02 8.45665505e-03 -2.75126345e+02] [-8.46193212e-03 -7.80112445e-05 -9.99964194e-01 -1.79992613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 867.4265599949999 meters 0.012712542403621874 Centerline is valid? [True, True] Translation: X:-188.40, Y:-275.25, Z:-1.80 [[ 1.22737631e-01 -9.92438715e-01 -9.33399307e-04 -1.88403786e+02] [-9.92404980e-01 -1.22741156e-01 8.18314428e-03 -2.75246818e+02] [-8.23583570e-03 -7.80696241e-05 -9.99966082e-01 -1.80003288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 867.4565599949999 meters 0.012676955520223512 Centerline is valid? [True, True] Translation: X:-188.41, Y:-275.36, Z:-1.80 [[ 1.98909444e-01 -9.80016815e-01 -1.44078329e-03 -1.88412827e+02] [-9.79988391e-01 -1.98914649e-01 7.46433205e-03 -2.75360632e+02] [-7.60176382e-03 -7.27752416e-05 -9.99971104e-01 -1.80020201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 867.486559995 meters 0.012769564540063814 Centerline is valid? [True, True] Translation: X:-188.41, Y:-275.48, Z:-1.80 [[ 2.73560997e-01 -9.61852624e-01 -1.97735097e-03 -1.88412405e+02] [-9.61825592e-01 -2.73568134e-01 7.21151382e-03 -2.75482624e+02] [-7.47735371e-03 -7.09221467e-05 -9.99972042e-01 -1.79983297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 867.516559995 meters 0.01262661210081899 Centerline is valid? [True, True] Translation: X:-188.40, Y:-275.60, Z:-1.80 [[ 3.46190827e-01 -9.38161325e-01 -2.28925135e-03 -1.88403047e+02] [-9.38139647e-01 -3.46198391e-01 6.37790806e-03 -2.75598497e+02] [-6.77604181e-03 -6.03358127e-05 -9.99977041e-01 -1.79998090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 867.5465599949999 meters 0.012443207064891722 Centerline is valid? [True, True] Translation: X:-188.38, Y:-275.72, Z:-1.80 [[ 4.16871699e-01 -9.08961081e-01 -2.78212607e-03 -1.88383431e+02] [-9.08939905e-01 -4.16880979e-01 6.20471264e-03 -2.75718116e+02] [-6.79965775e-03 -5.77836965e-05 -9.99976881e-01 -1.80018662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 867.5765599949999 meters 0.012458300365752174 Centerline is valid? [True, True] Translation: X:-188.36, Y:-275.83, Z:-1.80 [[ 4.85064160e-01 -8.74472861e-01 -3.15849660e-03 -1.88357161e+02] [-8.74453604e-01 -4.85074440e-01 5.80365297e-03 -2.75831208e+02] [-6.60724299e-03 -5.31853246e-05 -9.99978171e-01 -1.80046234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 867.606559995 meters 0.012350798834317483 Centerline is valid? [True, True] Translation: X:-188.32, Y:-275.94, Z:-1.80 [[ 5.49804067e-01 -8.35285933e-01 -3.59150095e-03 -1.88321741e+02] [-8.35267568e-01 -5.49815795e-01 5.53912303e-03 -2.75939832e+02] [-6.60141550e-03 -4.55681075e-05 -9.99978210e-01 -1.80086486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 867.636559995 meters 0.012570493712863649 Centerline is valid? [True, True] Translation: X:-188.28, Y:-276.05, Z:-1.80 [[ 6.11661474e-01 -7.91106882e-01 -4.48802797e-03 -1.88279612e+02] [-7.91085026e-01 -6.11677938e-01 5.88070791e-03 -2.76047554e+02] [-7.39749620e-03 -4.65907442e-05 -9.99972637e-01 -1.79971036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 867.666559995 meters 0.012309481884474217 Centerline is valid? [True, True] Translation: X:-188.23, Y:-276.14, Z:-1.80 [[ 6.69950993e-01 -7.42387817e-01 -5.09869453e-03 -1.88233985e+02] [-7.42365817e-01 -6.69970393e-01 5.71552338e-03 -2.76143540e+02] [-7.65910931e-03 -4.40240328e-05 -9.99970668e-01 -1.80001478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 867.6965599949999 meters 0.012270005857287533 Centerline is valid? [True, True] Translation: X:-188.18, Y:-276.24, Z:-1.80 [[ 7.24252501e-01 -6.89507511e-01 -6.14064241e-03 -1.88179411e+02] [-6.89482212e-01 -7.24278531e-01 5.90661635e-03 -2.76238316e+02] [-8.52019180e-03 -4.40179502e-05 -9.99963702e-01 -1.79902781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 867.7265599949999 meters 0.012152174846388303 Centerline is valid? [True, True] Translation: X:-188.18, Y:-276.25, Z:-1.80 [[ 7.75890005e-01 -6.30832546e-01 -6.70810982e-03 -1.88182877e+02] [-6.30808481e-01 -7.75919001e-01 5.51027771e-03 -2.76245424e+02] [-8.68101239e-03 -4.38368330e-05 -9.99962318e-01 -1.79935375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 867.756559995 meters 0.012152174846388303 Centerline is valid? [True, True] Translation: X:-188.19, Y:-276.25, Z:-1.80 [[ 8.22809001e-01 -5.68273420e-01 -7.11816837e-03 -1.88186488e+02] [-5.68251695e-01 -8.22839789e-01 4.96925476e-03 -2.76253314e+02] [-8.68100755e-03 -4.38363017e-05 -9.99962319e-01 -1.79935380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 867.786559995 meters 0.01222478446113313 Centerline is valid? [True, True] Translation: X:-188.19, Y:-276.26, Z:-1.80 [[ 8.64720320e-01 -5.02199350e-01 -7.38788726e-03 -1.88188780e+02] [-5.02180593e-01 -8.64751879e-01 4.34053853e-03 -2.76259496e+02] [-8.56850501e-03 -4.32982602e-05 -9.99963289e-01 -1.79923000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 867.8165599949999 meters 0.012284666595942831 Centerline is valid? [True, True] Translation: X:-188.19, Y:-276.27, Z:-1.80 [[ 9.01399078e-01 -4.32925782e-01 -7.41412584e-03 -1.88190199e+02] [-4.32910744e-01 -9.01429568e-01 3.60864385e-03 -2.76265390e+02] [-8.24558721e-03 -4.31735061e-05 -9.99966004e-01 -1.79897095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 867.8465599949999 meters 0.012267040042056407 Centerline is valid? [True, True] Translation: X:-188.19, Y:-276.27, Z:-1.80 [[ 9.32620667e-01 -3.60772321e-01 -7.87559838e-03 -1.88189151e+02] [-3.60759028e-01 -9.32653918e-01 3.09728760e-03 -2.76268888e+02] [-8.46262332e-03 -4.74012079e-05 -9.99964190e-01 -1.79928637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 867.876559995 meters 0.012377870217144947 Centerline is valid? [True, True] Translation: X:-188.19, Y:-276.28, Z:-1.80 [[ 9.58577507e-01 -2.84719124e-01 -8.01141904e-03 -1.88189944e+02] [-2.84708616e-01 -9.58610983e-01 2.44707629e-03 -2.76276886e+02] [-8.37656370e-03 -6.47922647e-05 -9.99964914e-01 -1.80020084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 867.906559995 meters 0.012686290493886669 Centerline is valid? [True, True] Translation: X:-188.19, Y:-276.28, Z:-1.80 [[ 9.78245074e-01 -2.07290279e-01 -8.20459099e-03 -1.88190894e+02] [-2.07282313e-01 -9.78279477e-01 1.81903864e-03 -2.76284667e+02] [-8.40345200e-03 -7.87989982e-05 -9.99964687e-01 -1.79994843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 867.9365599949999 meters 0.013757332383606297 Centerline is valid? [True, True] Translation: X:-188.19, Y:-276.29, Z:-1.80 [[ 9.91919762e-01 -1.26565351e-01 -8.74056381e-03 -1.88190595e+02] [-1.26559419e-01 -9.91958265e-01 1.23063004e-03 -2.76294112e+02] [-8.82602964e-03 -1.14485576e-04 -9.99961043e-01 -1.79880517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 867.9665599949999 meters 0.013706220134237636 Centerline is valid? [True, True] Translation: X:-188.19, Y:-276.30, Z:-1.80 [[ 9.98866831e-01 -4.67988884e-02 -8.65552911e-03 -1.88192400e+02] [-4.67960284e-02 -9.98904324e-01 5.32763711e-04 -2.76299230e+02] [-8.67097820e-03 -1.27115614e-04 -9.99962398e-01 -1.79911378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 867.996559995 meters 0.014193693684931013 Centerline is valid? [True, True] Translation: X:-188.19, Y:-276.31, Z:-1.80 [[ 9.99409132e-01 3.32794101e-02 -8.59464300e-03 -1.88193854e+02] [ 3.32793901e-02 -9.99446077e-01 -1.45378786e-04 -2.76305352e+02] [-8.59472035e-03 -1.40731592e-04 -9.99963055e-01 -1.79881857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 868.026559995 meters 0.014319499442039817 Centerline is valid? [True, True] Translation: X:-188.19, Y:-276.31, Z:-1.80 [[ 9.93441583e-01 1.14004874e-01 -8.75845689e-03 -1.88193725e+02] [ 1.14001924e-01 -9.93480176e-01 -8.36950257e-04 -2.76313864e+02] [-8.79676970e-03 -1.67019752e-04 -9.99961294e-01 -1.79947471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 868.0565599949999 meters 0.014606986163599622 Centerline is valid? [True, True] Translation: X:-188.19, Y:-276.32, Z:-1.80 [[ 9.81295420e-01 1.92325293e-01 -8.38330159e-03 -1.88193422e+02] [ 1.92319747e-01 -9.81331215e-01 -1.47044688e-03 -2.76322384e+02] [-8.50959966e-03 -1.69331646e-04 -9.99963779e-01 -1.79969649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 868.0865599949999 meters 0.014492519874426605 Centerline is valid? [True, True] Translation: X:-188.19, Y:-276.33, Z:-1.80 [[ 9.63057401e-01 2.69168825e-01 -8.28169603e-03 -1.88191708e+02] [ 2.69160438e-01 -9.63092993e-01 -2.13210933e-03 -2.76331415e+02] [-8.54994078e-03 -1.75761259e-04 -9.99963433e-01 -1.80019326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 868.116559995 meters 0.014731983956182124 Centerline is valid? [True, True] Translation: X:-188.19, Y:-276.34, Z:-1.80 [[ 9.39061291e-01 3.43670219e-01 -7.39407193e-03 -1.88190101e+02] [ 3.43660904e-01 -9.39090387e-01 -2.53549270e-03 -2.76341517e+02] [-7.81507521e-03 -1.60070395e-04 -9.99969449e-01 -1.80000658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 868.146559995 meters 0.01461068849910003 Centerline is valid? [True, True] Translation: X:-188.19, Y:-276.35, Z:-1.80 [[ 9.09539081e-01 4.15553861e-01 -7.32452043e-03 -1.88187332e+02] [ 4.15541785e-01 -9.09568559e-01 -3.17203759e-03 -2.76348511e+02] [-7.98030596e-03 -1.58552144e-04 -9.99968144e-01 -1.79988946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 868.1765599949999 meters 0.014601628103884361 Centerline is valid? [True, True] Translation: X:-188.19, Y:-276.36, Z:-1.80 [[ 8.74508107e-01 4.84961883e-01 -6.89518468e-03 -1.88186031e+02] [ 4.84948158e-01 -8.74535277e-01 -3.65161081e-03 -2.76355355e+02] [-7.80097430e-03 -1.50443856e-04 -9.99969561e-01 -1.80001820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 868.2065599949999 meters 0.014188388866263573 Centerline is valid? [True, True] Translation: X:-188.18, Y:-276.36, Z:-1.80 [[ 8.34715317e-01 5.50641223e-01 -6.67703281e-03 -1.88183725e+02] [ 5.50624943e-01 -8.34742010e-01 -4.23657599e-03 -2.76360924e+02] [-7.90643317e-03 -1.40205941e-04 -9.99968734e-01 -1.80038479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 868.236559995 meters 0.014047154656176085 Centerline is valid? [True, True] Translation: X:-188.18, Y:-276.37, Z:-1.80 [[ 7.89402773e-01 6.13844376e-01 -6.19231385e-03 -1.88180824e+02] [ 6.13826802e-01 -7.89427048e-01 -4.64670352e-03 -2.76366564e+02] [-7.74073287e-03 -1.32887569e-04 -9.99970031e-01 -1.80034586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 868.266559995 meters 0.013561426223816613 Centerline is valid? [True, True] Translation: X:-188.18, Y:-276.37, Z:-1.80 [[ 7.39120071e-01 6.73548178e-01 -5.86284973e-03 -1.88176557e+02] [ 6.73528391e-01 -7.39143311e-01 -5.16448306e-03 -2.76373551e+02] [-7.81201432e-03 -1.31622667e-04 -9.99969477e-01 -1.80080938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 868.2965599949999 meters 0.013697136815112585 Centerline is valid? [True, True] Translation: X:-188.17, Y:-276.38, Z:-1.80 [[ 6.84255248e-01 7.29223011e-01 -5.34372920e-03 -1.88172293e+02] [ 7.29202220e-01 -6.84276102e-01 -5.50800003e-03 -2.76381150e+02] [-7.67314656e-03 -1.27781269e-04 -9.99970553e-01 -1.80092073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 868.3265599949999 meters 0.013894403225908314 Centerline is valid? [True, True] Translation: X:-188.17, Y:-276.39, Z:-1.80 [[ 6.24950491e-01 7.80648601e-01 -4.96451026e-03 -1.88167900e+02] [ 7.80625611e-01 -6.24970196e-01 -5.99256467e-03 -2.76387918e+02] [-7.78075817e-03 -1.30367617e-04 -9.99969721e-01 -1.80034117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 868.356559995 meters 0.01484040700305025 Centerline is valid? [True, True] Translation: X:-188.16, Y:-276.39, Z:-1.80 [[ 5.61584992e-01 8.27404276e-01 -4.94584564e-03 -1.88162809e+02] [ 8.27374469e-01 -5.61606751e-01 -7.02465279e-03 -2.76394977e+02] [-8.58984805e-03 -1.47126830e-04 -9.99963096e-01 -1.79800677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 868.386559995 meters 0.014028598951509354 Centerline is valid? [True, True] Translation: X:-188.16, Y:-276.40, Z:-1.80 [[ 4.94858864e-01 8.68959323e-01 -4.93951762e-03 -1.88158698e+02] [ 8.68919378e-01 -4.94883487e-01 -8.33357138e-03 -2.76398632e+02] [-9.68602025e-03 -1.68100914e-04 -9.99953075e-01 -1.79811308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 868.416559995 meters 0.014425523425709744 Centerline is valid? [True, True] Translation: X:-188.15, Y:-276.40, Z:-1.80 [[ 4.25237056e-01 9.05071393e-01 -4.38410536e-03 -1.88153486e+02] [ 9.05027412e-01 -4.25259620e-01 -8.92411273e-03 -2.76404197e+02] [-9.94134212e-03 -1.72872101e-04 -9.99950569e-01 -1.79681805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 868.4465599949999 meters 0.014367076552285491 Centerline is valid? [True, True] Translation: X:-188.15, Y:-276.41, Z:-1.80 [[ 3.52800731e-01 9.35690409e-01 -3.88619120e-03 -1.88148920e+02] [ 9.35639314e-01 -3.52822086e-01 -9.78006147e-03 -2.76407501e+02] [-1.05222438e-02 -1.85660426e-04 -9.99944623e-01 -1.79689190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 868.4765599949999 meters 0.014237994385558565 Centerline is valid? [True, True] Translation: X:-188.14, Y:-276.41, Z:-1.80 [[ 2.78322025e-01 9.60482385e-01 -3.23073232e-03 -1.88144052e+02] [ 9.60425548e-01 -2.78340708e-01 -1.04506969e-02 -2.76410996e+02] [-1.09369546e-02 -1.94218743e-04 -9.99940171e-01 -1.79710850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 868.506559995 meters 0.014012523214006221 Centerline is valid? [True, True] Translation: X:-188.14, Y:-276.41, Z:-1.80 [[ 2.02327036e-01 9.79315273e-01 -2.31651202e-03 -1.88137811e+02] [ 9.79261201e-01 -2.02340211e-01 -1.02927024e-02 -2.76414541e+02] [-1.05485242e-02 -1.85978374e-04 -9.99944346e-01 -1.79785520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 868.536559995 meters 0.014068731339201309 Centerline is valid? [True, True] Translation: X:-188.13, Y:-276.42, Z:-1.80 [[ 1.25649018e-01 9.92073803e-01 -1.37641704e-03 -1.88131936e+02] [ 9.92027751e-01 -1.25656450e-01 -9.56020437e-03 -2.76418625e+02] [-9.65738399e-03 -1.64213605e-04 -9.99953353e-01 -1.79839901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 868.5665599949999 meters 0.013391608438336148 Centerline is valid? [True, True] Translation: X:-188.12, Y:-276.42, Z:-1.80 [[ 4.90161620e-02 9.98797826e-01 -5.64738589e-04 -1.88124950e+02] [ 9.98759630e-01 -4.90192270e-02 -8.73601894e-03 -2.76420874e+02] [-8.75319977e-03 -1.35831984e-04 -9.99961681e-01 -1.79935912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 868.5965599949999 meters 0.013391608438336148 Centerline is valid? [True, True] Translation: X:-188.12, Y:-276.42, Z:-1.80 [[-2.93857908e-02 9.99568137e-01 1.21451328e-04 -1.88116265e+02] [ 9.99529818e-01 2.93857278e-02 -8.75340664e-03 -2.76423622e+02] [-8.75319531e-03 -1.35831552e-04 -9.99961681e-01 -1.79935916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 868.626559995 meters 0.013041207202551494 Centerline is valid? [True, True] Translation: X:-188.11, Y:-276.43, Z:-1.80 [[-1.05274640e-01 9.94442878e-01 7.82593412e-04 -1.88110204e+02] [ 9.94406962e-01 1.05277489e-01 -8.45249991e-03 -2.76426573e+02] [-8.48791780e-03 -1.11617547e-04 -9.99963971e-01 -1.79927898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 868.656559995 meters 0.012730417899079149 Centerline is valid? [True, True] Translation: X:-188.10, Y:-276.43, Z:-1.80 [[-1.81432516e-01 9.83402425e-01 1.38297258e-03 -1.88103106e+02] [ 9.83369711e-01 1.81437762e-01 -8.02180939e-03 -2.76427871e+02] [-8.13959026e-03 -9.54437177e-05 -9.99966869e-01 -1.79947982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 868.6865599949999 meters 0.012556344052785861 Centerline is valid? [True, True] Translation: X:-188.10, Y:-276.43, Z:-1.80 [[-2.56452199e-01 9.66554686e-01 2.07557530e-03 -1.88096184e+02] [ 9.66520258e-01 2.56460584e-01 -8.15839299e-03 -2.76428794e+02] [-8.41783623e-03 -8.61522476e-05 -9.99964566e-01 -1.79950233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 868.7165599949999 meters 0.012215030630150898 Centerline is valid? [True, True] Translation: X:-188.09, Y:-276.43, Z:-1.80 [[-3.28959149e-01 9.44340188e-01 2.73628597e-03 -1.88090059e+02] [ 9.44305855e-01 3.28970523e-01 -8.05279925e-03 -2.76430320e+02] [-8.50473938e-03 -6.51511249e-05 -9.99963832e-01 -1.79982586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 868.746559995 meters 0.012183066491135824 Centerline is valid? [True, True] Translation: X:-188.08, Y:-276.43, Z:-1.80 [[-4.01055416e-01 9.16047280e-01 3.45448443e-03 -1.88081401e+02] [ 9.16012027e-01 4.01070289e-01 -8.03679508e-03 -2.76431648e+02] [-8.74757534e-03 -5.88509149e-05 -9.99961738e-01 -1.79979902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 868.776559995 meters 0.012128104652801975 Centerline is valid? [True, True] Translation: X:-188.07, Y:-276.43, Z:-1.80 [[-4.71185494e-01 8.82024540e-01 4.11600996e-03 -1.88073229e+02] [ 8.81989860e-01 4.71203468e-01 -7.82174355e-03 -2.76430610e+02] [-8.83844793e-03 -5.52130513e-05 -9.99960939e-01 -1.80012736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 868.8065599949999 meters 0.01210513857411105 Centerline is valid? [True, True] Translation: X:-188.06, Y:-276.43, Z:-1.80 [[-5.38587222e-01 8.42557439e-01 4.55695540e-03 -1.88064621e+02] [ 8.42526482e-01 5.38606498e-01 -7.22277766e-03 -2.76430644e+02] [-8.54001084e-03 -5.07401589e-05 -9.99963532e-01 -1.79956208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 868.8365599949999 meters 0.012045459074494553 Centerline is valid? [True, True] Translation: X:-188.06, Y:-276.43, Z:-1.80 [[-6.02778188e-01 7.97892255e-01 5.13866894e-03 -1.88056090e+02] [ 7.97862563e-01 6.02800089e-01 -6.88352589e-03 -2.76428169e+02] [-8.58990209e-03 -4.92876860e-05 -9.99963105e-01 -1.79971922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 868.866559995 meters 0.011943995622887909 Centerline is valid? [True, True] Translation: X:-188.05, Y:-276.42, Z:-1.80 [[-6.63180132e-01 7.48436920e-01 5.85564030e-03 -1.88048052e+02] [ 7.48407101e-01 6.63205982e-01 -6.68107995e-03 -2.76424256e+02] [-8.88386258e-03 -4.83566983e-05 -9.99960537e-01 -1.79957677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 868.896559995 meters 0.012040324624480351 Centerline is valid? [True, True] Translation: X:-188.04, Y:-276.42, Z:-1.80 [[-7.19723052e-01 6.94230766e-01 6.50930649e-03 -1.88039783e+02] [ 6.94201758e-01 7.19752486e-01 -6.34651633e-03 -2.76421486e+02] [-9.09103642e-03 -4.89620986e-05 -9.99958675e-01 -1.79936128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 868.9265599949999 meters 0.012116747197122014 Centerline is valid? [True, True] Translation: X:-188.02, Y:-276.40, Z:-1.80 [[-7.67131972e-01 6.41448663e-01 7.22153744e-03 -1.88019632e+02] [ 6.41419596e-01 7.67165960e-01 -6.10673105e-03 -2.76400216e+02] [-9.45727217e-03 -5.26330074e-05 -9.99955278e-01 -1.79802634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 868.9565599949999 meters 0.011986990895533251 Centerline is valid? [True, True] Translation: X:-188.00, Y:-276.38, Z:-1.80 [[-8.10652770e-01 5.85476725e-01 7.68713341e-03 -1.87996974e+02] [ 5.85449771e-01 8.10689214e-01 -5.61814996e-03 -2.76382601e+02] [-9.52117218e-03 -5.39383251e-05 -9.99954671e-01 -1.79912949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 868.986559995 meters 0.012136127721616223 Centerline is valid? [True, True] Translation: X:-187.57, Y:-275.81, Z:-2.79 [[-7.61972915e-01 -6.47568385e-01 7.24316581e-03 -1.87572884e+02] [ 6.47539753e-01 -7.62007339e-01 -6.08962901e-03 -2.75811861e+02] [ 9.46279673e-03 5.01054308e-05 9.99955226e-01 -2.78598779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 869.016559995 meters 0.012210012246182162 Centerline is valid? [True, True] Translation: X:-188.03, Y:-276.35, Z:-1.80 [[-8.13034750e-01 5.82169529e-01 7.28936478e-03 -1.88030589e+02] [ 5.82145513e-01 8.13067424e-01 -5.28821936e-03 -2.76354892e+02] [-9.00538522e-03 -5.60350992e-05 -9.99959449e-01 -1.79811739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 869.0465599949999 meters 0.012314390870600477 Centerline is valid? [True, True] Translation: X:-188.01, Y:-276.33, Z:-1.80 [[-8.52394118e-01 5.22841763e-01 7.79481901e-03 -1.88014077e+02] [ 5.22819255e-01 8.52429755e-01 -4.85174042e-03 -2.76330658e+02] [-9.18122817e-03 -6.03135293e-05 -9.99957850e-01 -1.79790682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 869.0765599949999 meters 0.01237286634026949 Centerline is valid? [True, True] Translation: X:-188.00, Y:-276.31, Z:-1.80 [[-8.87412945e-01 4.60911332e-01 7.68176441e-03 -1.87995748e+02] [ 4.60893463e-01 8.87446190e-01 -4.05904039e-03 -2.76307582e+02] [-8.68801027e-03 -6.15699804e-05 -9.99962257e-01 -1.79765384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 869.106559995 meters 0.012480780412921192 Centerline is valid? [True, True] Translation: X:-187.67, Y:-275.69, Z:-2.79 [[-8.46224943e-01 -5.32768315e-01 7.82736189e-03 -1.87665115e+02] [ 5.32746575e-01 -8.46261138e-01 -4.81393715e-03 -2.75692788e+02] [ 9.18870536e-03 9.63265454e-05 9.99957778e-01 -2.78618176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 869.136559995 meters 0.012515481416561851 Centerline is valid? [True, True] Translation: X:-188.04, Y:-276.28, Z:-1.80 [[-8.90080962e-01 4.55726586e-01 8.31627864e-03 -1.88036957e+02] [ 4.55705785e-01 8.90119808e-01 -4.35498453e-03 -2.76284159e+02] [-9.38716657e-03 -8.65125363e-05 -9.99955936e-01 -1.79852957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 869.166559995 meters 0.012614773075603996 Centerline is valid? [True, True] Translation: X:-188.03, Y:-276.26, Z:-1.80 [[-9.20462619e-01 3.90732622e-01 8.75127011e-03 -1.88026562e+02] [ 3.90713966e-01 9.20504215e-01 -3.81941163e-03 -2.76257726e+02] [-9.54794974e-03 -9.63821851e-05 -9.99954413e-01 -1.79875695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 869.1965599949999 meters 0.012819339683412123 Centerline is valid? [True, True] Translation: X:-188.01, Y:-276.23, Z:-1.80 [[-9.46272217e-01 3.23261426e-01 8.42272323e-03 -1.88009487e+02] [ 3.23247658e-01 9.46309696e-01 -2.98522019e-03 -2.76232912e+02] [-8.93551119e-03 -1.02205362e-04 -9.99960072e-01 -1.79910320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 869.2265599949999 meters 0.013885555079640151 Centerline is valid? [True, True] Translation: X:-188.00, Y:-276.20, Z:-1.80 [[-9.67018218e-01 2.54574701e-01 8.21511158e-03 -1.88001872e+02] [ 2.54564596e-01 9.67053107e-01 -2.27062491e-03 -2.76202674e+02] [-8.52249283e-03 -1.04459090e-04 -9.99963678e-01 -1.79762637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 869.256559995 meters 0.01334001607591459 Centerline is valid? [True, True] Translation: X:-187.82, Y:-275.54, Z:-2.78 [[-9.39138694e-01 -3.43467032e-01 6.99366819e-03 -1.87818279e+02] [ 3.43457680e-01 -9.39164734e-01 -2.53469940e-03 -2.75543711e+02] [ 7.43879220e-03 2.15947690e-05 9.99972332e-01 -2.78478412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 869.286559995 meters 0.014271969597897737 Centerline is valid? [True, True] Translation: X:-188.05, Y:-276.19, Z:-1.80 [[-9.68508855e-01 2.48880855e-01 6.99418775e-03 -1.88047561e+02] [ 2.48873594e-01 9.68534103e-01 -1.90395007e-03 -2.76187962e+02] [-7.24796608e-03 -1.03323864e-04 -9.99973728e-01 -1.79864573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 869.3165599949999 meters 0.013714580425365282 Centerline is valid? [True, True] Translation: X:-188.04, Y:-276.16, Z:-1.80 [[-9.83815940e-01 1.79048137e-01 6.92534032e-03 -1.88040093e+02] [ 1.79042939e-01 9.83840309e-01 -1.36840549e-03 -2.76162172e+02] [-7.05843941e-03 -1.06325842e-04 -9.99975083e-01 -1.79972174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 869.3465599949999 meters 0.01381046460519606 Centerline is valid? [True, True] Translation: X:-188.04, Y:-276.13, Z:-1.80 [[-9.94201042e-01 1.07293243e-01 7.24209402e-03 -1.88039101e+02] [ 1.07289512e-01 9.94227411e-01 -9.02869340e-04 -2.76133205e+02] [-7.29716017e-03 -1.20632908e-04 -9.99973368e-01 -1.80004036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 869.376559995 meters 0.01480877081481632 Centerline is valid? [True, True] Translation: X:-188.05, Y:-276.10, Z:-1.80 [[-9.99340586e-01 3.54735368e-02 7.74740944e-03 -1.88048043e+02] [ 3.54714163e-02 9.99370607e-01 -4.10975662e-04 -2.76102091e+02] [-7.75711203e-03 -1.35893073e-04 -9.99969904e-01 -1.79897360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 869.406559995 meters 0.014471053887843085 Centerline is valid? [True, True] Translation: X:-188.00, Y:-275.43, Z:-2.79 [[-9.90326835e-01 -1.38504111e-01 8.32896979e-03 -1.88001809e+02] [ 1.38500811e-01 -9.90361841e-01 -9.74470222e-04 -2.75430962e+02] [ 8.38366199e-03 1.88525062e-04 9.99964839e-01 -2.78508353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 869.4365599949999 meters 0.014853972441555787 Centerline is valid? [True, True] Translation: X:-188.11, Y:-276.10, Z:-1.80 [[-9.99556935e-01 2.84394294e-02 8.78248454e-03 -1.88105872e+02] [ 2.84367830e-02 9.99595502e-01 -4.26086877e-04 -2.76098124e+02] [-8.79104971e-03 -1.76152486e-04 -9.99961343e-01 -1.79844544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 869.4665599949999 meters 0.014913198926446086 Centerline is valid? [True, True] Translation: X:-188.11, Y:-276.07, Z:-1.80 [[-9.99010665e-01 -4.34998079e-02 9.24434370e-03 -1.88108597e+02] [-4.34997320e-02 9.99053417e-01 2.09369193e-04 -2.76069838e+02] [-9.24470068e-03 -1.92964417e-04 -9.99957248e-01 -1.79801030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 869.496559995 meters 0.01590469516084878 Centerline is valid? [True, True] Translation: X:-188.12, Y:-275.40, Z:-2.79 [[-9.97758536e-01 -6.62460270e-02 9.45347449e-03 -1.88122168e+02] [ 6.62450637e-02 -9.97803297e-01 -4.15338786e-04 -2.75403381e+02] [ 9.46022255e-03 2.11838201e-04 9.99955229e-01 -2.78714885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 869.526559995 meters 0.015921569969750058 Centerline is valid? [True, True] Translation: X:-188.19, Y:-276.07, Z:-1.80 [[-9.98738604e-01 -4.91773353e-02 1.01385958e-02 -1.88185802e+02] [-4.91770163e-02 9.98790039e-01 2.80906750e-04 -2.76069167e+02] [-1.01401427e-02 -2.18033474e-04 -9.99948564e-01 -1.79654730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 869.5565599949999 meters 0.014694043836254026 Centerline is valid? [True, True] Translation: X:-188.19, Y:-276.04, Z:-1.80 [[-9.92846863e-01 -1.18948867e-01 1.03089630e-02 -1.88191933e+02] [-1.18944649e-01 9.92900359e-01 1.02350249e-03 -2.76044830e+02] [-1.03575176e-02 -2.10014756e-04 -9.99946338e-01 -1.79704321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 869.5865599949999 meters 0.01464012437771578 Centerline is valid? [True, True] Translation: X:-188.20, Y:-276.02, Z:-1.80 [[-9.82025448e-01 -1.88471566e-01 1.02219270e-02 -1.88203826e+02] [-1.88463473e-01 9.82078627e-01 1.75799954e-03 -2.76019588e+02] [-1.03700690e-02 -2.00059585e-04 -9.99946210e-01 -1.79734598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 869.616559995 meters 0.014000008843202747 Centerline is valid? [True, True] Translation: X:-188.23, Y:-276.00, Z:-1.80 [[-9.66771538e-01 -2.55427838e-01 1.04600756e-02 -1.88228105e+02] [-2.55414825e-01 9.66828108e-01 2.58409364e-03 -2.75999195e+02] [-1.07731446e-02 -1.73430199e-04 -9.99941953e-01 -1.79764563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 869.646559995 meters 0.01373960351833163 Centerline is valid? [True, True] Translation: X:-188.27, Y:-275.98, Z:-1.80 [[-9.46371660e-01 -3.22922133e-01 1.00983431e-02 -1.88265544e+02] [-3.22905432e-01 9.46425525e-01 3.28758155e-03 -2.75982346e+02] [-1.06189625e-02 -1.49535840e-04 -9.99943606e-01 -1.79750080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 869.6765599949999 meters 0.01373960351833163 Centerline is valid? [True, True] Translation: X:-188.33, Y:-275.97, Z:-1.80 [[-9.20083781e-01 -3.91598287e-01 9.82944810e-03 -1.88325852e+02] [-3.91577673e-01 9.20136272e-01 4.02078253e-03 -2.75974968e+02] [-1.06189633e-02 -1.49535627e-04 -9.99943606e-01 -1.79750077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 869.7065599949999 meters 0.013065494665681384 Centerline is valid? [True, True] Translation: X:-188.39, Y:-275.97, Z:-1.80 [[-8.89558402e-01 -4.56726279e-01 9.32504298e-03 -1.88387608e+02] [-4.56702645e-01 8.89607268e-01 4.64794357e-03 -2.75974657e+02] [-1.04184640e-02 -1.24154547e-04 -9.99945719e-01 -1.79798865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 869.736559995 meters 0.012563270785716098 Centerline is valid? [True, True] Translation: X:-188.46, Y:-275.99, Z:-1.80 [[-8.55525215e-01 -5.17681008e-01 9.10937722e-03 -1.88463334e+02] [-5.17652622e-01 8.55573707e-01 5.42177358e-03 -2.75988149e+02] [-1.06004928e-02 -7.70289927e-05 -9.99943810e-01 -1.79771920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 869.766559995 meters 0.012480031397816326 Centerline is valid? [True, True] Translation: X:-188.54, Y:-276.01, Z:-1.80 [[-8.15789815e-01 -5.78280359e-01 8.87715966e-03 -1.88542681e+02] [-5.78246821e-01 8.15838111e-01 6.22825744e-03 -2.76008030e+02] [-1.08440041e-02 -5.22403710e-05 -9.99941201e-01 -1.79690183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 869.7965599949999 meters 0.012270266913593647 Centerline is valid? [True, True] Translation: X:-188.63, Y:-276.04, Z:-1.80 [[-7.71392430e-01 -6.36301721e-01 8.59291943e-03 -1.88625212e+02] [-6.36262647e-01 7.71440289e-01 7.05163726e-03 -2.76038261e+02] [-1.11158932e-02 -2.77740572e-05 -9.99938216e-01 -1.79770184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 869.8265599949999 meters 0.0123100978564881 Centerline is valid? [True, True] Translation: X:-188.71, Y:-276.08, Z:-1.80 [[-7.22911330e-01 -6.90895201e-01 7.93921668e-03 -1.88712825e+02] [-6.90853530e-01 7.22954924e-01 7.58808586e-03 -2.76081363e+02] [-1.09822679e-02 6.77369104e-07 -9.99939693e-01 -1.79750006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 869.856559995 meters 0.01263765946085703 Centerline is valid? [True, True] Translation: X:-188.80, Y:-276.13, Z:-1.80 [[-6.72249944e-01 -7.40286579e-01 7.46950175e-03 -1.88795487e+02] [-7.40239893e-01 6.72291437e-01 8.31409206e-03 -2.76132861e+02] [-1.11764928e-02 5.99247485e-05 -9.99937539e-01 -1.79777215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 869.886559995 meters 0.012889418961544125 Centerline is valid? [True, True] Translation: X:-188.88, Y:-276.19, Z:-1.80 [[-6.15964326e-01 -7.87746332e-01 6.60803472e-03 -1.88879857e+02] [-7.87699494e-01 6.15999764e-01 8.59058052e-03 -2.76193606e+02] [-1.08377461e-02 8.63455377e-05 -9.99941266e-01 -1.79819288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 869.916559995 meters 0.013429824057131777 Centerline is valid? [True, True] Translation: X:-188.96, Y:-276.27, Z:-1.80 [[-5.57575371e-01 -8.30109335e-01 5.31010984e-03 -1.88962803e+02] [-8.30069642e-01 5.57600644e-01 8.11856529e-03 -2.76266013e+02] [-9.70021750e-03 1.18951079e-04 -9.99952945e-01 -1.79900788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 869.9465599949999 meters 0.013602506899835099 Centerline is valid? [True, True] Translation: X:-189.04, Y:-276.34, Z:-1.80 [[-4.93803580e-01 -8.69561344e-01 4.59278825e-03 -1.89041301e+02] [-8.69521219e-01 4.93824921e-01 8.35453929e-03 -2.76343264e+02] [-9.53281771e-03 1.31974584e-04 -9.99954553e-01 -1.79962420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 869.9765599949999 meters 0.013919890530644671 Centerline is valid? [True, True] Translation: X:-189.12, Y:-276.43, Z:-1.80 [[-4.26634628e-01 -9.04415534e-01 3.92873025e-03 -1.89115937e+02] [-9.04374091e-01 4.26652694e-01 8.65928275e-03 -2.76431224e+02] [-9.50779318e-03 1.41308034e-04 -9.99954790e-01 -1.79951585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 870.006559995 meters 0.013934402215880801 Centerline is valid? [True, True] Translation: X:-189.19, Y:-276.53, Z:-1.80 [[-3.56218099e-01 -9.34397043e-01 3.29124280e-03 -1.89185451e+02] [-9.34353293e-01 3.56233273e-01 9.04315200e-03 -2.76527602e+02] [-9.62234469e-03 1.46150867e-04 -9.99953694e-01 -1.79936846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 870.036559995 meters 0.013806493843951691 Centerline is valid? [True, True] Translation: X:-189.25, Y:-276.63, Z:-1.80 [[-2.83019031e-01 -9.59110670e-01 2.63656268e-03 -1.89248078e+02] [-9.59064111e-01 2.83031274e-01 9.45137150e-03 -2.76629027e+02] [-9.81114094e-03 1.46285359e-04 -9.99951859e-01 -1.79932283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 870.0665599949999 meters 0.013818937392881979 Centerline is valid? [True, True] Translation: X:-189.30, Y:-276.73, Z:-1.80 [[-2.07278629e-01 -9.78280094e-01 1.90472848e-03 -1.89302297e+02] [-9.78232583e-01 2.07287336e-01 9.64225668e-03 -2.76734272e+02] [-9.82765386e-03 1.35366283e-04 -9.99951698e-01 -1.79894254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 870.0965599949999 meters 0.013470428893932957 Centerline is valid? [True, True] Translation: X:-189.35, Y:-276.85, Z:-1.80 [[-1.28410801e-01 -9.91720297e-01 1.23264601e-03 -1.89351022e+02] [-9.91665798e-01 1.28416668e-01 1.03973179e-02 -2.76846999e+02] [-1.04695235e-02 1.12755034e-04 -9.99945187e-01 -1.79874654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 870.126559995 meters 0.013255789487041163 Centerline is valid? [True, True] Translation: X:-189.39, Y:-276.97, Z:-1.80 [[-5.00699733e-02 -9.98745620e-01 4.29794927e-04 -1.89390503e+02] [-9.98690542e-01 5.00717259e-02 1.04892378e-02 -2.76967980e+02] [-1.04976009e-02 9.59637291e-05 -9.99944894e-01 -1.79827041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 870.156559995 meters 0.012757042375880365 Centerline is valid? [True, True] Translation: X:-189.42, Y:-277.08, Z:-1.80 [[ 2.89740427e-02 -9.99580087e-01 -3.93315743e-04 -1.89421086e+02] [-9.99520995e-01 -2.89766066e-02 1.08691228e-02 -2.77084751e+02] [-1.08759557e-02 7.82049147e-05 -9.99940852e-01 -1.79861271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 870.1865599949999 meters 0.012458352110042962 Centerline is valid? [True, True] Translation: X:-189.44, Y:-277.21, Z:-1.80 [[ 1.09154642e-01 -9.94024054e-01 -1.20195024e-03 -1.89443511e+02] [-9.93967834e-01 -1.09161251e-01 1.05719178e-02 -2.77205352e+02] [-1.06399469e-02 4.07259834e-05 -9.99943393e-01 -1.79863737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 870.2165599949999 meters 0.01234559598840854 Centerline is valid? [True, True] Translation: X:-189.45, Y:-277.33, Z:-1.80 [[ 1.87171127e-01 -9.82325362e-01 -1.96261989e-03 -1.89453878e+02] [-9.82272483e-01 -1.87181415e-01 1.01924861e-02 -2.77330154e+02] [-1.03797036e-02 2.00884035e-05 -9.99946129e-01 -1.79879958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 870.246559995 meters 0.012303710554414055 Centerline is valid? [True, True] Translation: X:-189.46, Y:-277.45, Z:-1.80 [[ 2.63718763e-01 -9.64595985e-01 -2.64558800e-03 -1.89455588e+02] [-9.64547576e-01 -2.63732033e-01 9.66378607e-03 -2.77451563e+02] [-1.00193755e-02 3.27378157e-06 -9.99949805e-01 -1.79914442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 870.276559995 meters 0.012248236701582123 Centerline is valid? [True, True] Translation: X:-189.45, Y:-277.57, Z:-1.80 [[ 3.38812253e-01 -9.40848145e-01 -3.32037787e-03 -1.89448239e+02] [-9.40802555e-01 -3.38828523e-01 9.26196726e-03 -2.77571689e+02] [-9.83914345e-03 -1.42480139e-05 -9.99951594e-01 -1.79968385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 870.3065599949999 meters 0.012480769544107822 Centerline is valid? [True, True] Translation: X:-189.43, Y:-277.69, Z:-1.80 [[ 4.13536386e-01 -9.10479707e-01 -3.78968062e-03 -1.89433904e+02] [-9.10440403e-01 -4.13553747e-01 8.45999287e-03 -2.77690582e+02] [-9.26988845e-03 -4.82365228e-05 -9.99957033e-01 -1.79997471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 870.3365599949999 meters 0.01261418578429879 Centerline is valid? [True, True] Translation: X:-189.41, Y:-277.81, Z:-1.80 [[ 4.83894935e-01 -8.75115990e-01 -4.20669237e-03 -1.89409124e+02] [-8.75081780e-01 -4.83913216e-01 7.73802747e-03 -2.77808299e+02] [-8.80734560e-03 -6.31924502e-05 -9.99961213e-01 -1.79961052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 870.366559995 meters 0.012794864975961549 Centerline is valid? [True, True] Translation: X:-189.38, Y:-277.92, Z:-1.80 [[ 5.51036040e-01 -8.34467645e-01 -4.79923272e-03 -1.89376993e+02] [-8.34434737e-01 -5.51056933e-01 7.41122745e-03 -2.77920440e+02] [-8.82907998e-03 -7.92069345e-05 -9.99961020e-01 -1.79994496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 870.396559995 meters 0.013499741766741227 Centerline is valid? [True, True] Translation: X:-189.34, Y:-278.03, Z:-1.80 [[ 6.15620638e-01 -7.88027347e-01 -4.91225765e-03 -1.89339844e+02] [-7.88000984e-01 -6.15640228e-01 6.44658455e-03 -2.78027871e+02] [-8.10426835e-03 -9.77866246e-05 -9.99967155e-01 -1.79972053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 870.4265599949999 meters 0.013688604597695931 Centerline is valid? [True, True] Translation: X:-189.30, Y:-278.13, Z:-1.80 [[ 6.74891226e-01 -7.37896638e-01 -5.51219464e-03 -1.89295369e+02] [-7.37870678e-01 -6.74913727e-01 6.19052353e-03 -2.78127297e+02] [-8.28822233e-03 -1.10643220e-04 -9.99965646e-01 -1.79968383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 870.4565599949999 meters 0.013992416173564743 Centerline is valid? [True, True] Translation: X:-189.25, Y:-278.22, Z:-1.80 [[ 7.29948109e-01 -6.83474959e-01 -6.14310851e-03 -1.89245648e+02] [-6.83449311e-01 -7.29973948e-01 5.92241871e-03 -2.78220779e+02] [-8.53213406e-03 -1.24555063e-04 -9.99963593e-01 -1.79912443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 870.486559995 meters 0.01445378799284453 Centerline is valid? [True, True] Translation: X:-189.25, Y:-278.23, Z:-1.80 [[ 7.81924722e-01 -6.23331679e-01 -7.16563185e-03 -1.89246954e+02] [-6.23303769e-01 -7.81957541e-01 5.90043247e-03 -2.78227709e+02] [-9.28114635e-03 -1.47328678e-04 -9.99956919e-01 -1.79800237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 870.516559995 meters 0.01471547098693952 Centerline is valid? [True, True] Translation: X:-189.25, Y:-278.23, Z:-1.80 [[ 8.28518998e-01 -5.59901189e-01 -8.18098018e-03 -1.89245707e+02] [-5.59871943e-01 -8.28559371e-01 5.72499680e-03 -2.78233601e+02] [-9.98386032e-03 -1.62967340e-04 -9.99950147e-01 -1.79740809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 870.5465599949999 meters 0.014871552219217904 Centerline is valid? [True, True] Translation: X:-189.24, Y:-278.24, Z:-1.80 [[ 8.69832631e-01 -4.93260924e-01 -9.21166122e-03 -1.89243494e+02] [-4.93231105e-01 -8.69881388e-01 5.42650942e-03 -2.78238392e+02] [-1.06897377e-02 -1.76677121e-04 -9.99942848e-01 -1.79657401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 870.5765599949999 meters 0.014227581937319978 Centerline is valid? [True, True] Translation: X:-189.24, Y:-278.24, Z:-1.80 [[ 9.05581089e-01 -4.24038762e-01 -1.06779662e-02 -1.89242066e+02] [-4.24006771e-01 -9.05644020e-01 5.21218025e-03 -2.78244425e+02] [-1.18806027e-02 -1.92521906e-04 -9.99929405e-01 -1.79666478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 870.606559995 meters 0.01392121556876625 Centerline is valid? [True, True] Translation: X:-189.24, Y:-278.25, Z:-1.80 [[ 9.35747136e-01 -3.52476694e-01 -1.17251349e-02 -1.89240979e+02] [-3.52446374e-01 -9.35820571e-01 4.62729787e-03 -2.78253134e+02] [-1.26036371e-02 -1.97499465e-04 -9.99920552e-01 -1.79670054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 870.636559995 meters 0.013798601325372662 Centerline is valid? [True, True] Translation: X:-189.24, Y:-278.26, Z:-1.80 [[ 9.60251106e-01 -2.78873867e-01 -1.21317729e-02 -1.89239924e+02] [-2.78849107e-01 -9.60327720e-01 3.72085971e-03 -2.78262066e+02] [-1.26881284e-02 -1.90025596e-04 -9.99919485e-01 -1.79667155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 870.666559995 meters 0.01354474847040317 Centerline is valid? [True, True] Translation: X:-189.24, Y:-278.27, Z:-1.80 [[ 9.78645944e-01 -2.05171898e-01 -1.25143768e-02 -1.89238766e+02] [-2.05152995e-01 -9.78725940e-01 2.78978897e-03 -2.78268527e+02] [-1.28205315e-02 -1.62853790e-04 -9.99917800e-01 -1.79606858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 870.6965599949999 meters 0.013397314540097571 Centerline is valid? [True, True] Translation: X:-189.24, Y:-278.27, Z:-1.80 [[ 9.91497463e-01 -1.29473119e-01 -1.30188982e-02 -1.89237129e+02] [-1.29460003e-01 -9.91582921e-01 1.84882903e-03 -2.78273681e+02] [-1.31486908e-02 -1.47682696e-04 -9.99913541e-01 -1.79558036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 870.7265599949999 meters 0.013027310223691562 Centerline is valid? [True, True] Translation: X:-189.24, Y:-278.28, Z:-1.80 [[ 9.98486909e-01 -5.33326878e-02 -1.33983798e-02 -1.89237642e+02] [-5.33261999e-02 -9.98576792e-01 8.41278827e-04 -2.78278672e+02] [-1.34241788e-02 -1.25521216e-04 -9.99909884e-01 -1.79582810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 870.756559995 meters 0.012815395301691932 Centerline is valid? [True, True] Translation: X:-189.24, Y:-278.28, Z:-1.80 [[ 9.99640813e-01 2.30374667e-02 -1.36937905e-02 -1.89237951e+02] [ 2.30366958e-02 -9.99734597e-01 -2.14048762e-04 -2.78283692e+02] [-1.36950873e-02 -1.01487808e-04 -9.99906213e-01 -1.79575862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 870.786559995 meters 0.012509119447086813 Centerline is valid? [True, True] Translation: X:-189.24, Y:-278.29, Z:-1.80 [[ 9.95261380e-01 9.62209003e-02 -1.40115809e-02 -1.89239555e+02] [ 9.62118337e-02 -9.95360004e-01 -1.32128165e-03 -2.78285140e+02] [-1.40737021e-02 -3.30592942e-05 -9.99900960e-01 -1.79546865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 870.8165599949999 meters 0.012574132480547076 Centerline is valid? [True, True] Translation: X:-189.24, Y:-278.29, Z:-1.80 [[ 9.85096138e-01 1.71453795e-01 -1.37548376e-02 -1.89240003e+02] [ 1.71437062e-01 -9.85192162e-01 -2.39533978e-03 -2.78288900e+02] [-1.39618483e-02 1.55101638e-06 -9.99902529e-01 -1.79567104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 870.8465599949999 meters 0.012590454299889519 Centerline is valid? [True, True] Translation: X:-189.24, Y:-278.29, Z:-1.80 [[ 9.69278306e-01 2.45621079e-01 -1.30327185e-02 -1.89240669e+02] [ 2.45598393e-01 -9.69365919e-01 -3.33846209e-03 -2.78292805e+02] [-1.34534698e-02 3.50841660e-05 -9.99909498e-01 -1.79580068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 870.876559995 meters 0.013032112241964615 Centerline is valid? [True, True] Translation: X:-189.24, Y:-278.30, Z:-1.80 [[ 9.48260599e-01 3.17279864e-01 -1.16329386e-02 -1.89242348e+02] [ 3.17254998e-01 -9.48331947e-01 -3.97293554e-03 -2.78295473e+02] [-1.22924197e-02 7.67703298e-05 -9.99924443e-01 -1.79683027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 870.906559995 meters 0.012851349833319632 Centerline is valid? [True, True] Translation: X:-189.24, Y:-278.30, Z:-1.80 [[ 9.20843504e-01 3.89798239e-01 -1.02261241e-02 -1.89240823e+02] [ 3.89773258e-01 -9.20900281e-01 -4.41365706e-03 -2.78303669e+02] [-1.11376763e-02 7.84177245e-05 -9.99937971e-01 -1.79864821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 870.9365599949999 meters 0.012927343096719144 Centerline is valid? [True, True] Translation: X:-189.24, Y:-278.31, Z:-1.80 [[ 8.87863656e-01 4.60004578e-01 -9.69108540e-03 -1.89237976e+02] [ 4.59976126e-01 -8.87916540e-01 -5.11687771e-03 -2.78311844e+02] [-1.09586622e-02 8.54218301e-05 -9.99939949e-01 -1.79903201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 870.9665599949999 meters 0.013285575494141125 Centerline is valid? [True, True] Translation: X:-189.24, Y:-278.32, Z:-1.80 [[ 8.50090485e-01 5.26553928e-01 -9.33424388e-03 -1.89236478e+02] [ 5.26520812e-01 -8.50141724e-01 -5.90629601e-03 -2.78318241e+02] [-1.10454135e-02 1.06212372e-04 -9.99938992e-01 -1.79863398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 870.996559995 meters 0.013619899244171124 Centerline is valid? [True, True] Translation: X:-189.23, Y:-278.32, Z:-1.80 [[ 8.07005900e-01 5.90472603e-01 -9.14235153e-03 -1.89234937e+02] [ 5.90432961e-01 -8.07057674e-01 -6.84316018e-03 -2.78324406e+02] [-1.14191036e-02 1.24524957e-04 -9.99934792e-01 -1.79834445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 871.026559995 meters 0.013905932749977153 Centerline is valid? [True, True] Translation: X:-189.23, Y:-278.33, Z:-1.80 [[ 7.59779005e-01 6.50117998e-01 -9.08033469e-03 -1.89230359e+02] [ 6.50069053e-01 -7.59833247e-01 -7.97894616e-03 -2.78332576e+02] [-1.20867967e-02 1.59391203e-04 -9.99926939e-01 -1.79841235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 871.0565599949999 meters 0.014164958579841446 Centerline is valid? [True, True] Translation: X:-189.23, Y:-278.34, Z:-1.80 [[ 7.07795668e-01 7.06364645e-01 -8.61864736e-03 -1.89225479e+02] [ 7.06309089e-01 -7.07848116e-01 -8.86091747e-03 -2.78340414e+02] [-1.23597321e-02 1.84290031e-04 -9.99923599e-01 -1.79788039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 871.0865599949999 meters 0.014590924590424015 Centerline is valid? [True, True] Translation: X:-189.22, Y:-278.35, Z:-1.80 [[ 6.51790384e-01 7.58352166e-01 -8.44323309e-03 -1.89220482e+02] [ 7.58284078e-01 -6.51845030e-01 -1.01643702e-02 -2.78347691e+02] [-1.32118517e-02 2.22669526e-04 -9.99912695e-01 -1.79745250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 871.116559995 meters 0.015320727404192259 Centerline is valid? [True, True] Translation: X:-189.22, Y:-278.36, Z:-1.80 [[ 5.92268244e-01 8.05701687e-01 -7.94468030e-03 -1.89216366e+02] [ 8.05623158e-01 -5.92321468e-01 -1.12519456e-02 -2.78355183e+02] [-1.37715163e-02 2.63751651e-04 -9.99905134e-01 -1.79695949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 871.146559995 meters 0.016441861752092835 Centerline is valid? [True, True] Translation: X:-189.21, Y:-278.36, Z:-1.80 [[ 5.32624455e-01 8.46320179e-01 -7.30375209e-03 -1.89210951e+02] [ 8.46231093e-01 -5.32674407e-01 -1.22847274e-02 -2.78361508e+02] [-1.42873345e-02 3.62484126e-04 -9.99897865e-01 -1.79757900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 871.1765599949999 meters 0.017210889521881392 Centerline is valid? [True, True] Translation: X:-189.20, Y:-278.37, Z:-1.80 [[ 4.67708860e-01 8.83858964e-01 -6.46174166e-03 -1.89203942e+02] [ 8.83761880e-01 -4.67753307e-01 -1.31066193e-02 -2.78367754e+02] [-1.46069040e-02 4.19441020e-04 -9.99893226e-01 -1.79830887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 871.2065599949999 meters 0.02042171769191442 Centerline is valid? [True, True] Translation: X:-189.20, Y:-278.37, Z:-1.80 [[ 4.00209726e-01 9.16408115e-01 -5.32377177e-03 -1.89201398e+02] [ 9.16311097e-01 -4.00244868e-01 -1.33424071e-02 -2.78373394e+02] [-1.43579024e-02 4.61529932e-04 -9.99896814e-01 -1.79740254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 871.236559995 meters 0.020086626247704003 Centerline is valid? [True, True] Translation: X:-189.19, Y:-278.38, Z:-1.80 [[ 3.33480591e-01 9.42748003e-01 -4.11070131e-03 -1.89191217e+02] [ 9.42655312e-01 -3.33505493e-01 -1.32306075e-02 -2.78380399e+02] [-1.38440703e-02 5.37176388e-04 -9.99904022e-01 -1.80014357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 871.266559995 meters 0.021490267422564838 Centerline is valid? [True, True] Translation: X:-189.18, Y:-278.39, Z:-1.80 [[ 2.61398756e-01 9.65226608e-01 -2.87839587e-03 -1.89184380e+02] [ 9.65143140e-01 -2.61414040e-01 -1.27050870e-02 -2.78386891e+02] [-1.30157411e-02 5.43029907e-04 -9.99915144e-01 -1.80032424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 871.2965599949999 meters 0.02281535837752469 Centerline is valid? [True, True] Translation: X:-189.18, Y:-278.39, Z:-1.80 [[ 1.87187278e-01 9.82322636e-01 -1.77827888e-03 -1.89177757e+02] [ 9.82246653e-01 -1.87194939e-01 -1.22297519e-02 -2.78392574e+02] [-1.23464469e-02 5.42545486e-04 -9.99923633e-01 -1.80097713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 871.3265599949999 meters 0.023120758165986483 Centerline is valid? [True, True] Translation: X:-189.17, Y:-278.40, Z:-1.80 [[ 1.11277677e-01 9.93789048e-01 -7.79091766e-04 -1.89168981e+02] [ 9.93719316e-01 -1.11279108e-01 -1.17847619e-02 -2.78397319e+02] [-1.17982640e-02 5.37182391e-04 -9.99930254e-01 -1.80157343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 871.356559995 meters 0.02332144622653223 Centerline is valid? [True, True] Translation: X:-189.16, Y:-278.40, Z:-1.80 [[ 3.36401343e-02 9.99434002e-01 1.27763462e-04 -1.89158014e+02] [ 9.99381087e-01 -3.36370371e-02 -1.02952794e-02 -2.78400916e+02] [-1.02851547e-02 4.74018970e-04 -9.99946994e-01 -1.80287690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 871.386559995 meters 0.022205141855882682 Centerline is valid? [True, True] Translation: X:-189.14, Y:-278.40, Z:-1.80 [[-4.57252318e-02 9.98953626e-01 9.25805023e-04 -1.89144559e+02] [ 9.98901991e-01 4.57322909e-02 -1.01671017e-02 -2.78403560e+02] [-1.01988023e-02 4.59895399e-04 -9.99947885e-01 -1.80333069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 871.416559995 meters 0.020635781669018645 Centerline is valid? [True, True] Translation: X:-189.13, Y:-278.40, Z:-1.80 [[-1.28133921e-01 9.91755398e-01 1.71154785e-03 -1.89127237e+02] [ 9.91704878e-01 1.28144684e-01 -1.00187816e-02 -2.78404303e+02] [-1.01555065e-02 4.13604580e-04 -9.99948346e-01 -1.80353800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 871.4465599949999 meters 0.019367661196902072 Centerline is valid? [True, True] Translation: X:-189.11, Y:-278.40, Z:-1.80 [[-2.08695877e-01 9.77977294e-01 2.53845450e-03 -1.89111698e+02] [ 9.77925823e-01 2.08710955e-01 -1.00410103e-02 -2.78403638e+02] [-1.03496833e-02 3.86902770e-04 -9.99946366e-01 -1.80345456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 871.4765599949999 meters 0.01854412284925411 Centerline is valid? [True, True] Translation: X:-189.10, Y:-278.40, Z:-1.80 [[-2.88581157e-01 9.57448990e-01 3.51380066e-03 -1.89097693e+02] [ 9.57392653e-01 2.88602318e-01 -1.03928208e-02 -2.78402217e+02] [-1.09646868e-02 3.64914686e-04 -9.99939820e-01 -1.80283092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 871.506559995 meters 0.016967541392376384 Centerline is valid? [True, True] Translation: X:-189.08, Y:-278.40, Z:-1.80 [[-3.66946743e-01 9.30231357e-01 4.43962637e-03 -1.89082028e+02] [ 9.30173594e-01 3.66973456e-01 -1.03714952e-02 -2.78397818e+02] [-1.12771151e-02 3.23836830e-04 -9.99936359e-01 -1.80216904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 871.536559995 meters 0.0165246039656747 Centerline is valid? [True, True] Translation: X:-189.07, Y:-278.39, Z:-1.80 [[-4.43014162e-01 8.96496836e-01 5.64585646e-03 -1.89069053e+02] [ 8.96432199e-01 4.43050041e-01 -1.07691150e-02 -2.78393552e+02] [-1.21558745e-02 2.90257066e-04 -9.99926073e-01 -1.80126053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 871.5665599949999 meters 0.0165246039656747 Centerline is valid? [True, True] Translation: X:-189.06, Y:-278.39, Z:-1.80 [[-5.11884049e-01 8.59030169e-01 6.47221662e-03 -1.89061782e+02] [ 8.58968541e-01 5.11924882e-01 -1.02936856e-02 -2.78390950e+02] [-1.21558752e-02 2.90257032e-04 -9.99926073e-01 -1.80126052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 871.5965599949999 meters 0.013914728202545275 Centerline is valid? [True, True] Translation: X:-189.04, Y:-278.38, Z:-1.80 [[-5.85654142e-01 8.10523182e-01 7.83569109e-03 -1.89044260e+02] [ 8.10454783e-01 5.85706529e-01 -1.05312165e-02 -2.78379648e+02] [-1.31252106e-02 1.82822739e-04 -9.99913844e-01 -1.80096418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 871.626559995 meters 0.013348073948922677 Centerline is valid? [True, True] Translation: X:-189.03, Y:-278.37, Z:-1.80 [[-6.50853399e-01 7.59155887e-01 8.49658910e-03 -1.89033349e+02] [ 7.59093609e-01 6.50908845e-01 -9.72459327e-03 -2.78371866e+02] [-1.29129872e-02 1.20421902e-04 -9.99916617e-01 -1.80010687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 871.656559995 meters 0.012670051462663567 Centerline is valid? [True, True] Translation: X:-189.02, Y:-278.36, Z:-1.80 [[-7.11440546e-01 7.02691818e-01 8.74982017e-03 -1.89024062e+02] [ 7.02639711e-01 7.11494347e-01 -8.55748985e-03 -2.78361762e+02] [-1.22387257e-02 5.98258640e-05 -9.99925102e-01 -1.80047594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 871.6865599949999 meters 0.012547804142173706 Centerline is valid? [True, True] Translation: X:-189.01, Y:-278.33, Z:-1.80 [[-7.61933211e-01 6.47590319e-01 9.19566825e-03 -1.89005191e+02] [ 6.47543353e-01 7.61988700e-01 -7.79918127e-03 -2.78334829e+02] [-1.20576696e-02 1.21386306e-05 -9.99927304e-01 -1.80030583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 871.7165599949999 meters 0.01250313631464656 Centerline is valid? [True, True] Translation: X:-188.99, Y:-278.30, Z:-1.80 [[-8.09889721e-01 5.86516720e-01 8.76231640e-03 -1.88986853e+02] [ 5.86481550e-01 8.09937117e-01 -6.42322903e-03 -2.78303541e+02] [-1.08642565e-02 -6.31702625e-05 -9.99940980e-01 -1.80144670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 871.746559995 meters 0.012833894892907656 Centerline is valid? [True, True] Translation: X:-188.63, Y:-277.82, Z:-2.78 [[-7.59282351e-01 -6.50708067e-01 8.32604617e-03 -1.88632860e+02] [ 6.50669901e-01 -7.59327998e-01 -7.04782906e-03 -2.77819558e+02] [ 1.09082792e-02 6.62154205e-05 9.99940501e-01 -2.78280861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 871.776559995 meters 0.013746770677883569 Centerline is valid? [True, True] Translation: X:-189.02, Y:-278.27, Z:-1.80 [[-8.16439433e-01 5.77360456e-01 9.03081680e-03 -1.89020575e+02] [ 5.77323092e-01 8.16489364e-01 -6.57006990e-03 -2.78268136e+02] [-1.11668644e-02 -1.50365062e-04 -9.99937637e-01 -1.80127613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 871.8065599949999 meters 0.01364367922520081 Centerline is valid? [True, True] Translation: X:-189.01, Y:-278.24, Z:-1.80 [[-8.56096109e-01 5.16736162e-01 9.12097298e-03 -1.89009619e+02] [ 5.16704820e-01 8.56144680e-01 -5.69346841e-03 -2.78240734e+02] [-1.07508935e-02 -1.61305445e-04 -9.99942195e-01 -1.80209582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 871.8365599949999 meters 0.014293897912133447 Centerline is valid? [True, True] Translation: X:-189.00, Y:-278.21, Z:-1.80 [[-8.91412850e-01 4.53091404e-01 9.55562153e-03 -1.88998970e+02] [ 4.53063171e-01 8.91464047e-01 -5.06132624e-03 -2.78211729e+02] [-1.08117365e-02 -1.82431067e-04 -9.99941535e-01 -1.80176777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 871.866559995 meters 0.014477183319689415 Centerline is valid? [True, True] Translation: X:-188.73, Y:-277.70, Z:-2.78 [[-8.40416663e-01 -5.41860449e-01 9.33206760e-03 -1.88732413e+02] [ 5.41829616e-01 -8.40468450e-01 -5.78373283e-03 -2.77702359e+02] [ 1.09772845e-02 1.95645158e-04 9.99939729e-01 -2.78218260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 871.896559995 meters 0.014588291214265223 Centerline is valid? [True, True] Translation: X:-189.04, Y:-278.19, Z:-1.80 [[-8.94267623e-01 4.47417561e-01 1.01461750e-02 -1.89036220e+02] [ 4.47385907e-01 8.94325151e-01 -5.32670566e-03 -2.78187464e+02] [-1.14572412e-02 -2.24244690e-04 -9.99934339e-01 -1.80169385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 871.9265599949999 meters 0.01495582914135069 Centerline is valid? [True, True] Translation: X:-188.77, Y:-277.69, Z:-2.78 [[-8.41536311e-01 -5.40111130e-01 9.82881360e-03 -1.88771704e+02] [ 5.40077470e-01 -8.41593676e-01 -6.03426364e-03 -2.77687706e+02] [ 1.15310403e-02 2.30268816e-04 9.99933489e-01 -2.78328126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 871.9565599949999 meters 0.0150635145286707 Centerline is valid? [True, True] Translation: X:-189.07, Y:-278.17, Z:-1.80 [[-8.95848593e-01 4.44226299e-01 1.08762664e-02 -1.89073243e+02] [ 4.44190302e-01 8.95914582e-01 -5.66016046e-03 -2.78166796e+02] [-1.22585978e-02 -2.39514716e-04 -9.99924832e-01 -1.80076147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 871.986559995 meters 0.014538788691958458 Centerline is valid? [True, True] Translation: X:-189.06, Y:-278.14, Z:-1.80 [[-9.24769937e-01 3.80348914e-01 1.16304743e-02 -1.89063561e+02] [ 3.80315598e-01 9.24843040e-01 -5.03969127e-03 -2.78141769e+02] [-1.26732043e-02 -2.37304206e-04 -9.99919664e-01 -1.80113842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 872.016559995 meters 0.01386765628814576 Centerline is valid? [True, True] Translation: X:-188.84, Y:-277.62, Z:-2.78 [[-8.81349601e-01 -4.72321237e-01 1.16417378e-02 -1.88843399e+02] [ 4.72284028e-01 -8.81426445e-01 -5.93457287e-03 -2.77619248e+02] [ 1.30643604e-02 2.67773394e-04 9.99914622e-01 -2.78328155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 872.0465599949999 meters 0.013455694826844077 Centerline is valid? [True, True] Translation: X:-189.10, Y:-278.13, Z:-1.80 [[-9.24034316e-01 3.82089065e-01 1.29818606e-02 -1.89104750e+02] [ 3.82048528e-01 9.24125485e-01 -5.56870707e-03 -2.78129158e+02] [-1.41246103e-02 -1.85975709e-04 -9.99900226e-01 -1.80092880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 872.0765599949999 meters 0.01297648529981924 Centerline is valid? [True, True] Translation: X:-188.88, Y:-277.60, Z:-2.78 [[-8.85696618e-01 -4.64086356e-01 1.28590783e-02 -1.88879131e+02] [ 4.64040824e-01 -8.85789937e-01 -6.50399724e-03 -2.77601097e+02] [ 1.44088585e-02 2.06568920e-04 9.99896166e-01 -2.78345978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 872.106559995 meters 0.012283974663773248 Centerline is valid? [True, True] Translation: X:-189.14, Y:-278.12, Z:-1.80 [[-9.21577198e-01 3.87971322e-01 1.31803576e-02 -1.89142022e+02] [ 3.87930947e-01 9.21671445e-01 -5.59721617e-03 -2.78121847e+02] [-1.43195186e-02 -4.51981999e-05 -9.99897470e-01 -1.80116257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 872.136559995 meters 0.012445938390313814 Centerline is valid? [True, True] Translation: X:-188.91, Y:-277.58, Z:-2.78 [[-8.92344952e-01 -4.51171947e-01 1.28203073e-02 -1.88908099e+02] [ 4.51126141e-01 -8.92437041e-01 -6.42912117e-03 -2.77581139e+02] [ 1.43419563e-02 4.65819433e-05 9.99897148e-01 -2.78373349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 872.166559995 meters 0.012640808106145708 Centerline is valid? [True, True] Translation: X:-189.19, Y:-278.11, Z:-1.80 [[-9.19949406e-01 3.91832656e-01 1.26594191e-02 -1.89186015e+02] [ 3.91796524e-01 9.20036502e-01 -5.32150122e-03 -2.78111658e+02] [-1.37322656e-02 6.44044980e-05 -9.99905706e-01 -1.80178178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 872.1965599949999 meters 0.013249382064672124 Centerline is valid? [True, True] Translation: X:-189.17, Y:-278.09, Z:-1.80 [[-9.43226752e-01 3.31933841e-01 1.19674404e-02 -1.89173932e+02] [ 3.31909053e-01 9.43302658e-01 -4.05904162e-03 -2.78092832e+02] [-1.26362516e-02 1.43505158e-04 -9.99920149e-01 -1.80381632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 872.2265599949999 meters 0.013660837457029708 Centerline is valid? [True, True] Translation: X:-188.98, Y:-277.51, Z:-2.78 [[-9.28484901e-01 -3.71201040e-01 1.12061242e-02 -1.88976957e+02] [ 3.71171817e-01 -9.28552508e-01 -4.66071758e-03 -2.77510978e+02] [ 1.21355379e-02 -1.68008421e-04 9.99926348e-01 -2.77942852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 872.256559995 meters 0.014046978490336749 Centerline is valid? [True, True] Translation: X:-189.22, Y:-278.08, Z:-1.81 [[-9.43084061e-01 3.32365586e-01 1.12058270e-02 -1.89220413e+02] [ 3.32344439e-01 9.43150615e-01 -3.75377107e-03 -2.78082519e+02] [-1.18164070e-02 1.84072616e-04 -9.99930167e-01 -1.80520473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 872.286559995 meters 0.014442292616764127 Centerline is valid? [True, True] Translation: X:-189.22, Y:-278.06, Z:-1.81 [[-9.63922933e-01 2.65971472e-01 1.05714424e-02 -1.89218560e+02] [ 2.65957585e-01 9.63980882e-01 -2.72421242e-03 -2.78055218e+02] [-1.09152311e-02 1.85624449e-04 -9.99940410e-01 -1.80541461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 872.3165599949999 meters 0.014438800863291015 Centerline is valid? [True, True] Translation: X:-189.06, Y:-277.45, Z:-2.78 [[-9.54388786e-01 -2.98388561e-01 1.03107249e-02 -1.89055748e+02] [ 2.98369014e-01 -9.54444462e-01 -3.42057430e-03 -2.77453870e+02] [ 1.08616746e-02 -1.88156917e-04 9.99940993e-01 -2.77914447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 872.3465599949999 meters 0.015328236532453061 Centerline is valid? [True, True] Translation: X:-189.26, Y:-278.05, Z:-1.80 [[-9.65294589e-01 2.60935407e-01 1.09119542e-02 -1.89264776e+02] [ 2.60920798e-01 9.65356246e-01 -2.76679004e-03 -2.78045482e+02] [-1.12558767e-02 1.76388345e-04 -9.99936635e-01 -1.80338251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 872.376559995 meters 0.013565785539635972 Centerline is valid? [True, True] Translation: X:-189.26, Y:-278.01, Z:-1.80 [[-9.81970461e-01 1.88671658e-01 1.17055611e-02 -1.89260417e+02] [ 1.88660056e-01 9.82040215e-01 -2.09756503e-03 -2.78014145e+02] [-1.18910828e-02 1.48624909e-04 -9.99929288e-01 -1.80479603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 872.406559995 meters 0.013407203195258269 Centerline is valid? [True, True] Translation: X:-189.26, Y:-277.98, Z:-1.80 [[-9.93100672e-01 1.16621380e-01 1.22682038e-02 -1.89261844e+02] [ 1.16614081e-01 9.93176438e-01 -1.31105777e-03 -2.77984507e+02] [-1.23373883e-02 1.28632964e-04 -9.99923883e-01 -1.80453404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 872.4365599949999 meters 0.01306630026060142 Centerline is valid? [True, True] Translation: X:-189.20, Y:-277.37, Z:-2.78 [[-9.86252198e-01 -1.64795345e-01 1.22105350e-02 -1.89195193e+02] [ 1.64781145e-01 -9.86327775e-01 -2.16689605e-03 -2.77373107e+02] [ 1.24006842e-02 -1.25040052e-04 9.99923101e-01 -2.77959123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 872.4665599949999 meters 0.012807834308019687 Centerline is valid? [True, True] Translation: X:-189.32, Y:-277.98, Z:-1.80 [[-9.94070292e-01 1.07951798e-01 1.30638289e-02 -1.89320949e+02] [ 1.07943498e-01 9.94156126e-01 -1.34083989e-03 -2.77975416e+02] [-1.31322316e-02 7.72662814e-05 -9.99913766e-01 -1.80445527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 872.496559995 meters 0.012679251743436272 Centerline is valid? [True, True] Translation: X:-189.33, Y:-277.94, Z:-1.80 [[-9.99376088e-01 3.27511192e-02 1.32211817e-02 -1.89325993e+02] [ 3.27485259e-02 9.99463538e-01 -4.12656686e-04 -2.77943863e+02] [-1.32276040e-02 2.05749857e-05 -9.99912511e-01 -1.80370301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 872.526559995 meters 0.012649247585269037 Centerline is valid? [True, True] Translation: X:-189.31, Y:-277.34, Z:-2.78 [[-9.95009180e-01 -9.88651591e-02 1.35059945e-02 -1.89311112e+02] [ 9.88560824e-02 -9.95100839e-01 -1.33965460e-03 -2.77341422e+02] [ 1.35722717e-02 2.18108312e-06 9.99907893e-01 -2.78033979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 872.5565599949999 meters 0.012808967629242933 Centerline is valid? [True, True] Translation: X:-189.40, Y:-277.94, Z:-1.80 [[-9.99663019e-01 2.26626557e-02 1.26591194e-02 -1.89396619e+02] [ 2.26602044e-02 9.99743168e-01 -3.37056921e-04 -2.77937638e+02] [-1.26635067e-02 -5.00851068e-05 -9.99919813e-01 -1.80442858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 872.5865599949999 meters 0.012715536218684187 Centerline is valid? [True, True] Translation: X:-189.41, Y:-277.91, Z:-1.81 [[-9.98677063e-01 -4.98962231e-02 1.24294720e-02 -1.89405807e+02] [-4.98931893e-02 9.98754406e-01 5.54242216e-04 -2.77909305e+02] [-1.24416445e-02 -6.66370106e-05 -9.99922598e-01 -1.80510328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 872.616559995 meters 0.012936822817644418 Centerline is valid? [True, True] Translation: X:-189.43, Y:-277.32, Z:-2.78 [[-9.99496861e-01 -2.92667344e-02 1.22263226e-02 -1.89431001e+02] [ 2.92651716e-02 -9.99571636e-01 -3.06748621e-04 -2.77315649e+02] [ 1.22300628e-02 5.12111447e-05 9.99925209e-01 -2.77870155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 872.646559995 meters 0.013172304587338516 Centerline is valid? [True, True] Translation: X:-189.48, Y:-277.91, Z:-1.80 [[-9.98316404e-01 -5.67102831e-02 1.21779247e-02 -1.89479444e+02] [-5.67071298e-02 9.98390673e-01 6.04359854e-04 -2.77911779e+02] [-1.21925998e-02 -8.72327987e-05 -9.99925664e-01 -1.80495683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 872.6765599949999 meters 0.013223395793168063 Centerline is valid? [True, True] Translation: X:-189.51, Y:-277.32, Z:-2.78 [[-9.99590720e-01 -2.58736144e-02 1.22044688e-02 -1.89508379e+02] [ 2.58727638e-02 -9.99665218e-01 -2.27604607e-04 -2.77319614e+02] [ 1.22062719e-02 8.82518843e-05 9.99925497e-01 -2.77861530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 872.7065599949999 meters 0.013252568730099556 Centerline is valid? [True, True] Translation: X:-189.56, Y:-277.92, Z:-1.81 [[-9.97932142e-01 -6.31407701e-02 1.20283952e-02 -1.89555056e+02] [-6.31374221e-02 9.98004626e-01 6.58255176e-04 -2.77915579e+02] [-1.20459568e-02 -1.02547866e-04 -9.99927440e-01 -1.80558259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 872.736559995 meters 0.013284956948952454 Centerline is valid? [True, True] Translation: X:-189.57, Y:-277.89, Z:-1.81 [[-9.90880575e-01 -1.34147196e-01 1.26576876e-02 -1.89567806e+02] [-1.34137667e-01 9.90961411e-01 1.60266321e-03 -2.77888728e+02] [-1.27582728e-02 -1.09824844e-04 -9.99918604e-01 -1.80535376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 872.766559995 meters 0.013413754992717488 Centerline is valid? [True, True] Translation: X:-189.59, Y:-277.86, Z:-1.81 [[-9.78708516e-01 -2.04881451e-01 1.23786949e-02 -1.89585240e+02] [-2.04866517e-01 9.78786789e-01 2.47618665e-03 -2.77863800e+02] [-1.26234278e-02 -1.12515154e-04 -9.99920315e-01 -1.80530220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 872.7965599949999 meters 0.013346284543176946 Centerline is valid? [True, True] Translation: X:-189.61, Y:-277.84, Z:-1.81 [[-9.61469706e-01 -2.74645694e-01 1.20725915e-02 -1.89612357e+02] [-2.74625493e-01 9.61545491e-01 3.33294757e-03 -2.77842945e+02] [-1.25237256e-02 -1.10913269e-04 -9.99921569e-01 -1.80527035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 872.8265599949999 meters 0.013574048541815575 Centerline is valid? [True, True] Translation: X:-189.66, Y:-277.83, Z:-1.80 [[-9.39169477e-01 -3.43252788e-01 1.17565725e-02 -1.89655594e+02] [-3.43227337e-01 9.39243053e-01 4.18133241e-03 -2.77827641e+02] [-1.24775331e-02 -1.08197304e-04 -9.99922147e-01 -1.80424698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 872.856559995 meters 0.013264779819682675 Centerline is valid? [True, True] Translation: X:-189.72, Y:-277.82, Z:-1.81 [[-9.11572765e-01 -4.10993827e-01 1.09164295e-02 -1.89715541e+02] [-4.10965641e-01 9.11638121e-01 4.81431360e-03 -2.77823664e+02] [-1.19304864e-02 -9.76802701e-05 -9.99928825e-01 -1.80607188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 872.886559995 meters 0.013227151936194408 Centerline is valid? [True, True] Translation: X:-189.78, Y:-277.83, Z:-1.81 [[-8.79287970e-01 -4.76188497e-01 9.85803923e-03 -1.89781268e+02] [-4.76159597e-01 8.79343226e-01 5.24683931e-03 -2.77826261e+02] [-1.11670845e-02 -8.05172920e-05 -9.99937643e-01 -1.80574448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 872.916559995 meters 0.01333612619111956 Centerline is valid? [True, True] Translation: X:-189.86, Y:-277.84, Z:-1.80 [[-8.41645239e-01 -5.39950905e-01 9.29041208e-03 -1.89855767e+02] [-5.39919016e-01 8.41696510e-01 5.86870600e-03 -2.77837444e+02] [-1.09885205e-02 -7.67016766e-05 -9.99939622e-01 -1.80489360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 872.9465599949999 meters 0.013186433884980942 Centerline is valid? [True, True] Translation: X:-189.93, Y:-277.86, Z:-1.81 [[-7.99328403e-01 -6.00827411e-01 8.97365862e-03 -1.89932070e+02] [-6.00790620e-01 7.99378769e-01 6.64940681e-03 -2.77857257e+02] [-1.11684981e-02 -7.62301951e-05 -9.99937628e-01 -1.80534602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 872.9765599949999 meters 0.013224567695059322 Centerline is valid? [True, True] Translation: X:-190.01, Y:-277.89, Z:-1.81 [[-7.52093211e-01 -6.58999968e-01 8.65128362e-03 -1.90012984e+02] [-6.58957547e-01 7.52142963e-01 7.47759731e-03 -2.77887531e+02] [-1.14347385e-02 -7.69784622e-05 -9.99934618e-01 -1.80515549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 873.006559995 meters 0.013268436507108431 Centerline is valid? [True, True] Translation: X:-190.10, Y:-277.93, Z:-1.80 [[-7.00222978e-01 -7.13875288e-01 8.35788197e-03 -1.90097004e+02] [-7.13825833e-01 7.00272852e-01 8.40319200e-03 -2.77930052e+02] [-1.18516289e-02 -8.19639256e-05 -9.99929764e-01 -1.80420345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 873.036559995 meters 0.013316099822026237 Centerline is valid? [True, True] Translation: X:-190.18, Y:-277.98, Z:-1.80 [[-6.44194899e-01 -7.64820490e-01 7.90889359e-03 -1.90180685e+02] [-7.64764488e-01 6.44243441e-01 9.25568441e-03 -2.77981042e+02] [-1.21741899e-02 -8.59762722e-05 -9.99925888e-01 -1.80382253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 873.0665599949999 meters 0.013449008497234195 Centerline is valid? [True, True] Translation: X:-190.26, Y:-278.04, Z:-1.80 [[-5.84391536e-01 -8.11437969e-01 7.41318733e-03 -1.90264227e+02] [-8.11374627e-01 5.84438547e-01 1.01389939e-02 -2.78043282e+02] [-1.25597170e-02 -8.97298868e-05 -9.99921120e-01 -1.80322322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 873.0965599949999 meters 0.013473555273106922 Centerline is valid? [True, True] Translation: X:-190.34, Y:-278.11, Z:-1.80 [[-5.20888004e-01 -8.53597220e-01 6.89016800e-03 -1.90340761e+02] [-8.53524987e-01 5.20933563e-01 1.11049071e-02 -2.78111559e+02] [-1.30684376e-02 -9.65176536e-05 -9.99914600e-01 -1.80331100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 873.126559995 meters 0.013706141192653665 Centerline is valid? [True, True] Translation: X:-190.42, Y:-278.19, Z:-1.80 [[-4.54043601e-01 -8.90957093e-01 6.31405979e-03 -1.90417510e+02] [-8.90874198e-01 4.54087489e-01 1.21538798e-02 -2.78191311e+02] [-1.36957209e-02 -1.06641607e-04 -9.99906204e-01 -1.80253742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 873.156559995 meters 0.013985242394760072 Centerline is valid? [True, True] Translation: X:-190.49, Y:-278.28, Z:-1.80 [[-3.84230328e-01 -9.23221147e-01 5.45614641e-03 -1.90488171e+02] [-9.23132318e-01 3.84269047e-01 1.28071684e-02 -2.78275449e+02] [-1.39204769e-02 -1.15842570e-04 -9.99903099e-01 -1.80098296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 873.1865599949999 meters 0.014148291461218331 Centerline is valid? [True, True] Translation: X:-190.55, Y:-278.37, Z:-1.80 [[-3.11868853e-01 -9.50114247e-01 4.55378358e-03 -1.90553254e+02] [-9.50018933e-01 3.11902071e-01 1.34582642e-02 -2.78370121e+02] [-1.42072231e-02 -1.28967182e-04 -9.99899064e-01 -1.80068597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 873.2165599949999 meters 0.014536045386444717 Centerline is valid? [True, True] Translation: X:-190.61, Y:-278.47, Z:-1.80 [[-2.36647684e-01 -9.71589309e-01 3.47679604e-03 -1.90610859e+02] [-9.71493704e-01 2.36673174e-01 1.36305222e-02 -2.78470051e+02] [-1.40661340e-02 -1.52053954e-04 -9.99901056e-01 -1.80111058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 873.246559995 meters 0.014231690409608496 Centerline is valid? [True, True] Translation: X:-190.66, Y:-278.57, Z:-1.80 [[-1.61490247e-01 -9.86871633e-01 2.29772507e-03 -1.90658709e+02] [-9.86784920e-01 1.61506518e-01 1.30830705e-02 -2.78567933e+02] [-1.32824088e-02 -1.54572158e-04 -9.99911773e-01 -1.80276386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 873.276559995 meters 0.01436746125272158 Centerline is valid? [True, True] Translation: X:-190.70, Y:-278.68, Z:-1.80 [[-8.44319611e-02 -9.96428488e-01 1.22964003e-03 -1.90700853e+02] [-9.96348597e-01 8.44407636e-02 1.26186996e-02 -2.78677046e+02] [-1.26774635e-02 -1.59728567e-04 -9.99919625e-01 -1.80302059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 873.3065599949999 meters 0.014578194784163837 Centerline is valid? [True, True] Translation: X:-190.73, Y:-278.79, Z:-1.80 [[-5.85163399e-03 -9.99982844e-01 2.63414551e-04 -1.90732793e+02] [-9.99899232e-01 5.85455138e-03 1.29325065e-02 -2.78792277e+02] [-1.29338268e-02 -1.87711712e-04 -9.99916337e-01 -1.80423965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 873.3365599949999 meters 0.014986428663962251 Centerline is valid? [True, True] Translation: X:-190.76, Y:-278.91, Z:-1.80 [[ 7.20296688e-02 -9.97402225e-01 -7.26862338e-04 -1.90758020e+02] [-9.97319496e-01 -7.20330571e-02 1.28476283e-02 -2.78905274e+02] [-1.28666112e-02 -2.00496434e-04 -9.99917202e-01 -1.80388733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 873.366559995 meters 0.015672479793696 Centerline is valid? [True, True] Translation: X:-190.77, Y:-279.03, Z:-1.80 [[ 1.50626586e-01 -9.88589152e-01 -1.76619206e-03 -1.90772026e+02] [-9.88501426e-01 -1.50636752e-01 1.31719329e-02 -2.79031287e+02] [-1.32876834e-02 -2.38159907e-04 -9.99911687e-01 -1.80365960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 873.396559995 meters 0.016120850056582606 Centerline is valid? [True, True] Translation: X:-190.78, Y:-279.14, Z:-1.80 [[ 2.27302092e-01 -9.73820537e-01 -2.70588996e-03 -1.90779722e+02] [-9.73737929e-01 -2.27318061e-01 1.26864085e-02 -2.79144865e+02] [-1.29693828e-02 -2.48819508e-04 -9.99915863e-01 -1.80352433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 873.4265599949999 meters 0.0159762837471848 Centerline is valid? [True, True] Translation: X:-190.78, Y:-279.26, Z:-1.80 [[ 3.02156472e-01 -9.53251616e-01 -3.58096715e-03 -1.90776598e+02] [-9.53174424e-01 -3.02177585e-01 1.21336094e-02 -2.79262256e+02] [-1.26484708e-02 -2.52962326e-04 -9.99919973e-01 -1.80453814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 873.4565599949999 meters 0.01650472202622865 Centerline is valid? [True, True] Translation: X:-190.76, Y:-279.38, Z:-1.80 [[ 3.75920183e-01 -9.26642716e-01 -4.15841151e-03 -1.90764584e+02] [-9.26578387e-01 -3.75943097e-01 1.09215523e-02 -2.79378284e+02] [-1.16837029e-02 -2.52537691e-04 -9.99931711e-01 -1.80494550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 873.486559995 meters 0.01650472202622865 Centerline is valid? [True, True] Translation: X:-190.75, Y:-279.49, Z:-1.80 [[ 4.45829086e-01 -8.95104236e-01 -4.98322268e-03 -1.90745880e+02] [-8.95041852e-01 -4.45856864e-01 1.05707069e-02 -2.79493052e+02] [-1.16836885e-02 -2.52535732e-04 -9.99931712e-01 -1.80494619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 873.516559995 meters 0.016571585235048206 Centerline is valid? [True, True] Translation: X:-190.71, Y:-279.61, Z:-1.81 [[ 5.13531952e-01 -8.58052499e-01 -5.55366052e-03 -1.90714998e+02] [-8.57996992e-01 -5.13561921e-01 9.76289149e-03 -2.79609166e+02] [-1.12292220e-02 -2.48532695e-04 -9.99936920e-01 -1.80521179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 873.5465599949999 meters 0.016945192532754203 Centerline is valid? [True, True] Translation: X:-190.68, Y:-279.71, Z:-1.80 [[ 5.78010955e-01 -8.16005559e-01 -6.18570724e-03 -1.90683634e+02] [-8.15954145e-01 -5.78043999e-01 9.16345014e-03 -2.79710965e+02] [-1.10530372e-02 -2.49321114e-04 -9.99938882e-01 -1.80479788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 873.5765599949999 meters 0.016778437839574157 Centerline is valid? [True, True] Translation: X:-190.64, Y:-279.81, Z:-1.81 [[ 6.38784731e-01 -7.69355924e-01 -6.74760588e-03 -1.90639770e+02] [-7.69308862e-01 -6.38820321e-01 8.51312674e-03 -2.79814598e+02] [-1.08601322e-02 -2.47062377e-04 -9.99940997e-01 -1.80502792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 873.606559995 meters 0.016897216423494055 Centerline is valid? [True, True] Translation: X:-190.59, Y:-279.91, Z:-1.81 [[ 6.95547645e-01 -7.18446721e-01 -6.91253743e-03 -1.90588463e+02] [-7.18407914e-01 -6.95581955e-01 7.47078011e-03 -2.79911228e+02] [-1.01755938e-02 -2.30261905e-04 -9.99948201e-01 -1.80505906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 873.636559995 meters 0.017117726740273127 Centerline is valid? [True, True] Translation: X:-190.53, Y:-280.00, Z:-1.80 [[ 7.47919897e-01 -6.63748741e-01 -7.31010968e-03 -1.90533938e+02] [-6.63714118e-01 -7.47955587e-01 6.78304604e-03 -2.80002478e+02] [-9.96987565e-03 -2.21352093e-04 -9.99950275e-01 -1.80474727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 873.666559995 meters 0.01669452651972433 Centerline is valid? [True, True] Translation: X:-190.53, Y:-280.01, Z:-1.80 [[ 7.97187197e-01 -6.03681375e-01 -7.83393359e-03 -1.90533264e+02] [-6.03649540e-01 -7.97225659e-01 6.20338616e-03 -2.80008168e+02] [-9.99028155e-03 -2.16309623e-04 -9.99950073e-01 -1.80493364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 873.6965599949999 meters 0.016445459752356964 Centerline is valid? [True, True] Translation: X:-190.53, Y:-280.01, Z:-1.80 [[ 8.41618206e-01 -5.40007088e-01 -8.43444135e-03 -1.90533000e+02] [-5.39977406e-01 -8.41660442e-01 5.66587342e-03 -2.80014533e+02] [-1.01585474e-02 -2.14094467e-04 -9.99948378e-01 -1.80493334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 873.7265599949999 meters 0.016536979389632674 Centerline is valid? [True, True] Translation: X:-190.53, Y:-280.02, Z:-1.80 [[ 8.80488463e-01 -4.73985671e-01 -8.81192340e-03 -1.90532001e+02] [-4.73959690e-01 -8.80532535e-01 4.96661938e-03 -2.80018479e+02] [-1.01132917e-02 -1.96554587e-04 -9.99948840e-01 -1.80428699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 873.756559995 meters 0.015924259504255824 Centerline is valid? [True, True] Translation: X:-190.53, Y:-280.02, Z:-1.80 [[ 9.14556294e-01 -4.04353980e-01 -9.20027398e-03 -1.90531026e+02] [-4.04331420e-01 -9.14602549e-01 4.27551759e-03 -2.80023854e+02] [-1.01434166e-02 -1.90241679e-04 -9.99948536e-01 -1.80461195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 873.786559995 meters 0.016079336610680586 Centerline is valid? [True, True] Translation: X:-190.53, Y:-280.03, Z:-1.80 [[ 9.43380302e-01 -3.31581764e-01 -9.33482075e-03 -1.90531286e+02] [-3.31563566e-01 -9.43426467e-01 3.47893991e-03 -2.80029301e+02] [-9.96027000e-03 -1.86876922e-04 -9.99950378e-01 -1.80479158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 873.8165599949999 meters 0.016502222621718885 Centerline is valid? [True, True] Translation: X:-190.53, Y:-280.04, Z:-1.81 [[ 9.66777339e-01 -2.55468932e-01 -8.78639305e-03 -1.90529920e+02] [-2.55456645e-01 -9.66817248e-01 2.51237759e-03 -2.80037357e+02] [-9.13667076e-03 -1.84367239e-04 -9.99958243e-01 -1.80502767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 873.8465599949999 meters 0.017236513546371564 Centerline is valid? [True, True] Translation: X:-190.53, Y:-280.04, Z:-1.80 [[ 9.83914792e-01 -1.78410870e-01 -9.01351205e-03 -1.90529201e+02] [-1.78401594e-01 -9.83956058e-01 1.82941336e-03 -2.80044414e+02] [-9.19528702e-03 -1.91961952e-04 -9.99957704e-01 -1.80431322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 873.876559995 meters 0.01655255214924798 Centerline is valid? [True, True] Translation: X:-190.53, Y:-280.05, Z:-1.80 [[ 9.94904432e-01 -1.00333638e-01 -9.91624800e-03 -1.90528616e+02] [-1.00326515e-01 -9.94953826e-01 1.21433629e-03 -2.80050147e+02] [-9.98804767e-03 -2.13285953e-04 -9.99950096e-01 -1.80466994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 873.906559995 meters 0.015966002237206407 Centerline is valid? [True, True] Translation: X:-190.53, Y:-280.06, Z:-1.80 [[ 9.99672265e-01 -2.33301604e-02 -1.05388425e-02 -1.90529675e+02] [-2.33266217e-02 -9.99727792e-01 4.58585969e-04 -2.80057476e+02] [-1.05466727e-02 -2.12600081e-04 -9.99944360e-01 -1.80386789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 873.9365599949999 meters 0.015840337355797398 Centerline is valid? [True, True] Translation: X:-190.53, Y:-280.06, Z:-1.80 [[ 9.98502917e-01 5.35945630e-02 -1.09337880e-02 -1.90531004e+02] [ 5.35935970e-02 -9.98562758e-01 -3.81546547e-04 -2.80064316e+02] [-1.09385223e-02 -2.05005686e-04 -9.99940152e-01 -1.80322936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 873.9665599949999 meters 0.015686726458007772 Centerline is valid? [True, True] Translation: X:-190.53, Y:-280.07, Z:-1.80 [[ 9.91480004e-01 1.29801371e-01 -1.09089959e-02 -1.90531889e+02] [ 1.29795578e-01 -9.91539999e-01 -1.24033810e-03 -2.80070108e+02] [-1.09777034e-02 -1.86169004e-04 -9.99939726e-01 -1.80268195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 873.996559995 meters 0.0146564924375422 Centerline is valid? [True, True] Translation: X:-190.53, Y:-280.07, Z:-1.80 [[ 9.79068658e-01 2.03314868e-01 -9.36094987e-03 -1.90532375e+02] [ 2.03306803e-01 -9.79113399e-01 -1.81530333e-03 -2.80074439e+02] [-9.53450961e-03 -1.25838201e-04 -9.99954538e-01 -1.80454963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 874.026559995 meters 0.014319429103350004 Centerline is valid? [True, True] Translation: X:-190.53, Y:-280.08, Z:-1.81 [[ 9.60590004e-01 2.77843632e-01 -8.35223521e-03 -1.90531410e+02] [ 2.77834044e-01 -9.60626309e-01 -2.31040960e-03 -2.80081585e+02] [-8.66530948e-03 -1.01178917e-04 -9.99962451e-01 -1.80536150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 874.0565599949999 meters 0.014069653626317088 Centerline is valid? [True, True] Translation: X:-190.53, Y:-280.09, Z:-1.81 [[ 9.36422737e-01 3.50795210e-01 -7.42826067e-03 -1.90529712e+02] [ 3.50784852e-01 -9.36452196e-01 -2.69687497e-03 -2.80088869e+02] [-7.90226184e-03 -8.03062818e-05 -9.99968774e-01 -1.80642581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 874.0865599949999 meters 0.013849699493198536 Centerline is valid? [True, True] Translation: X:-190.53, Y:-280.10, Z:-1.81 [[ 9.06927216e-01 4.21238704e-01 -6.40145442e-03 -1.90528207e+02] [ 4.21228656e-01 -9.06949806e-01 -2.91006600e-03 -2.80096085e+02] [-7.03163028e-03 -5.72579889e-05 -9.99975276e-01 -1.80737241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 874.116559995 meters 0.013780584339696134 Centerline is valid? [True, True] Translation: X:-190.53, Y:-280.10, Z:-1.81 [[ 8.71552289e-01 4.90261962e-01 -6.31005255e-03 -1.90526457e+02] [ 4.90249554e-01 -8.71575129e-01 -3.48853162e-03 -2.80104486e+02] [-7.20997923e-03 -5.30627307e-05 -9.99974006e-01 -1.80711647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 874.146559995 meters 0.013700089000831993 Centerline is valid? [True, True] Translation: X:-190.52, Y:-280.11, Z:-1.81 [[ 8.31028904e-01 5.56194920e-01 -6.17829541e-03 -1.90522755e+02] [ 5.56179971e-01 -8.31051869e-01 -4.07803992e-03 -2.80111979e+02] [-7.40266904e-03 -4.72751198e-05 -9.99972599e-01 -1.80667992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 874.1765599949999 meters 0.013533437642098326 Centerline is valid? [True, True] Translation: X:-190.52, Y:-280.12, Z:-1.81 [[ 7.86280351e-01 6.17832980e-01 -6.75411905e-03 -1.90518830e+02] [ 6.17810583e-01 -7.86309359e-01 -5.26082965e-03 -2.80119283e+02] [-8.56114108e-03 -3.62792372e-05 -9.99963352e-01 -1.80549624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 874.2065599949999 meters 0.013533702439990887 Centerline is valid? [True, True] Translation: X:-190.52, Y:-280.13, Z:-1.80 [[ 7.36455980e-01 6.76454290e-01 -6.49479436e-03 -1.90516706e+02] [ 6.76428283e-01 -7.36484618e-01 -5.93171468e-03 -2.80126261e+02] [-8.79584999e-03 -2.48158506e-05 -9.99961316e-01 -1.80489408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 874.236559995 meters 0.013443407043599325 Centerline is valid? [True, True] Translation: X:-190.51, Y:-280.13, Z:-1.80 [[ 6.82362140e-01 7.30986566e-01 -6.36797952e-03 -1.90512534e+02] [ 7.30954901e-01 -6.82391853e-01 -6.80379296e-03 -2.80133106e+02] [-9.31893859e-03 -1.20551230e-05 -9.99956578e-01 -1.80490902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 874.266559995 meters 0.01336055409485121 Centerline is valid? [True, True] Translation: X:-190.51, Y:-280.14, Z:-1.80 [[ 6.24176886e-01 7.81261232e-01 -5.83980343e-03 -1.90508705e+02] [ 7.81227012e-01 -6.24204204e-01 -7.31211911e-03 -2.80139553e+02] [-9.35790504e-03 1.84354718e-06 -9.99956214e-01 -1.80484934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 874.2965599949999 meters 0.013504593003970406 Centerline is valid? [True, True] Translation: X:-190.51, Y:-280.14, Z:-1.80 [[ 5.63454652e-01 8.26128455e-01 -5.53459395e-03 -1.90507193e+02] [ 8.26088073e-01 -5.63481833e-01 -8.16824277e-03 -2.80144781e+02] [-9.86666092e-03 3.03723336e-05 -9.99951323e-01 -1.80468389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 874.3265599949999 meters 0.013642092515559652 Centerline is valid? [True, True] Translation: X:-190.51, Y:-280.15, Z:-1.80 [[ 4.98260735e-01 8.67012720e-01 -5.01828680e-03 -1.90505456e+02] [ 8.66967825e-01 -4.98286004e-01 -8.82316060e-03 -2.80149903e+02] [-1.01503345e-02 4.55412979e-05 -9.99948483e-01 -1.80429989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 874.356559995 meters 0.013663894139651158 Centerline is valid? [True, True] Translation: X:-190.50, Y:-280.16, Z:-1.80 [[ 4.29722825e-01 9.02950609e-01 -4.30015815e-03 -1.90500592e+02] [ 9.02904112e-01 -4.29744336e-01 -9.16351395e-03 -2.80155410e+02] [-1.01221691e-02 5.51406228e-05 -9.99948768e-01 -1.80465776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 874.386559995 meters 0.013655574706495033 Centerline is valid? [True, True] Translation: X:-190.49, Y:-280.16, Z:-1.80 [[ 3.59233633e-01 9.33240187e-01 -3.73497923e-03 -1.90493465e+02] [ 9.33187559e-01 -3.59253042e-01 -9.91122811e-03 -2.80161710e+02] [-1.05913590e-02 7.50103369e-05 -9.99943907e-01 -1.80427425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 874.416559995 meters 0.013687447943800956 Centerline is valid? [True, True] Translation: X:-190.49, Y:-280.17, Z:-1.80 [[ 2.85300771e-01 9.58433246e-01 -3.03039219e-03 -1.90485341e+02] [ 9.58376156e-01 -2.85316853e-01 -1.04612561e-02 -2.80167536e+02] [-1.08910376e-02 8.03488117e-05 -9.99940688e-01 -1.80435207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 874.4465599949999 meters 0.013602811535333097 Centerline is valid? [True, True] Translation: X:-190.48, Y:-280.17, Z:-1.80 [[ 2.09382831e-01 9.77831225e-01 -2.21916470e-03 -1.90476719e+02] [ 9.77772143e-01 -2.09394575e-01 -1.07493367e-02 -2.80172453e+02] [-1.09757182e-02 8.08891341e-05 -9.99939762e-01 -1.80399315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 874.4765599949999 meters 0.013553867958524033 Centerline is valid? [True, True] Translation: X:-190.47, Y:-280.18, Z:-1.80 [[ 1.32056606e-01 9.91241293e-01 -1.32378443e-03 -1.90467658e+02] [ 9.91185495e-01 -1.32063219e-01 -1.05176585e-02 -2.80177097e+02] [-1.06003606e-02 7.68103607e-05 -9.99943812e-01 -1.80438595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 874.506559995 meters 0.013641944059716256 Centerline is valid? [True, True] Translation: X:-190.46, Y:-280.18, Z:-1.80 [[ 5.34654211e-02 9.98569585e-01 -4.83375891e-04 -1.90459600e+02] [ 9.98516136e-01 -5.34675606e-02 -1.03318497e-02 -2.80181957e+02] [-1.03429158e-02 6.97380665e-05 -9.99946508e-01 -1.80425584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 874.536559995 meters 0.01347242999244179 Centerline is valid? [True, True] Translation: X:-190.45, Y:-280.18, Z:-1.80 [[-2.56155920e-02 9.99671816e-01 3.18545843e-04 -1.90451304e+02] [ 9.99621286e-01 2.56175000e-02 -1.00512833e-02 -2.80184634e+02] [-1.00561450e-02 6.09556339e-05 -9.99949434e-01 -1.80487537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 874.5665599949999 meters 0.013447177684060809 Centerline is valid? [True, True] Translation: X:-190.44, Y:-280.19, Z:-1.80 [[-1.04636474e-01 9.94509990e-01 1.04363350e-03 -1.90442903e+02] [ 9.94465178e-01 1.04641666e-01 -9.44092752e-03 -2.80187026e+02] [-9.49830428e-03 4.99918150e-05 -9.99954889e-01 -1.80497414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 874.5965599949999 meters 0.013206612489659222 Centerline is valid? [True, True] Translation: X:-190.43, Y:-280.19, Z:-1.81 [[-1.84147120e-01 9.82897252e-01 1.68244549e-03 -1.90432596e+02] [ 9.82857698e-01 1.84154803e-01 -8.81780978e-03 -2.80188524e+02] [-8.97683142e-03 2.98302345e-05 -9.99959707e-01 -1.80577813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 874.626559995 meters 0.013143378859758859 Centerline is valid? [True, True] Translation: X:-190.42, Y:-280.19, Z:-1.81 [[-2.61642053e-01 9.65162222e-01 2.30699279e-03 -1.90424317e+02] [ 9.65125349e-01 2.61652223e-01 -8.43652196e-03 -2.80189827e+02] [-8.74624208e-03 1.91883019e-05 -9.99961751e-01 -1.80541270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 874.656559995 meters 0.013047519836835917 Centerline is valid? [True, True] Translation: X:-190.42, Y:-280.19, Z:-1.81 [[-3.37503640e-01 9.41319196e-01 3.07629003e-03 -1.90415738e+02] [ 9.41280352e-01 3.37517660e-01 -8.55150837e-03 -2.80189243e+02] [-9.08800120e-03 9.48616101e-06 -9.99958703e-01 -1.80589032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 874.6865599949999 meters 0.01296729517772502 Centerline is valid? [True, True] Translation: X:-190.40, Y:-280.19, Z:-1.81 [[-4.12811004e-01 9.10808675e-01 3.82532067e-03 -1.90404589e+02] [ 9.10769190e-01 4.12828727e-01 -8.48088292e-03 -2.80187157e+02] [-9.30366400e-03 -1.70175831e-05 -9.99956720e-01 -1.80610605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 874.7165599949999 meters 0.01298539706921606 Centerline is valid? [True, True] Translation: X:-190.39, Y:-280.18, Z:-1.81 [[-4.84021418e-01 8.75044263e-01 4.56131590e-03 -1.90394576e+02] [ 8.75004830e-01 4.84042909e-01 -8.30723423e-03 -2.80183675e+02] [-9.47707027e-03 -2.97058496e-05 -9.99955091e-01 -1.80615222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 874.746559995 meters 0.013033838252335431 Centerline is valid? [True, True] Translation: X:-190.38, Y:-280.18, Z:-1.81 [[-5.52262703e-01 8.33653287e-01 5.30142149e-03 -1.90384413e+02] [ 8.33614117e-01 5.52288146e-01 -8.08131860e-03 -2.80181166e+02] [-9.66493005e-03 -4.36710522e-05 -9.99953293e-01 -1.80560084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 874.776559995 meters 0.013255860753607747 Centerline is valid? [True, True] Translation: X:-190.38, Y:-280.18, Z:-1.81 [[-6.17652619e-01 7.86428664e-01 5.93294475e-03 -1.90375159e+02] [ 7.86391355e-01 6.17681109e-01 -7.66056741e-03 -2.80178177e+02] [-9.68915769e-03 -6.59530546e-05 -9.99953057e-01 -1.80508533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 874.8065599949999 meters 0.013141953030717132 Centerline is valid? [True, True] Translation: X:-190.37, Y:-280.17, Z:-1.81 [[-6.77871181e-01 7.35151283e-01 6.57670172e-03 -1.90367522e+02] [ 7.35115630e-01 6.77903080e-01 -7.24045322e-03 -2.80173253e+02] [-9.78119482e-03 -7.34583460e-05 -9.99952160e-01 -1.80564661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 874.8365599949999 meters 0.013219179760722479 Centerline is valid? [True, True] Translation: X:-190.36, Y:-280.17, Z:-1.81 [[-7.33731491e-01 6.79400109e-01 7.32055895e-03 -1.90359821e+02] [ 6.79365192e-01 7.33768005e-01 -6.88851114e-03 -2.80169210e+02] [-1.00516472e-02 -8.09846141e-05 -9.99949478e-01 -1.80555038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 874.866559995 meters 0.013297889165951253 Centerline is valid? [True, True] Translation: X:-190.34, Y:-280.15, Z:-1.81 [[-7.80128206e-01 6.25571521e-01 7.76237689e-03 -1.90339614e+02] [ 6.25539492e-01 7.80166819e-01 -6.33080317e-03 -2.80148809e+02] [-1.00163191e-02 -8.31648225e-05 -9.99949832e-01 -1.80534767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 874.896559995 meters 0.013313955886944898 Centerline is valid? [True, True] Translation: X:-189.91, Y:-279.62, Z:-2.78 [[-7.25022728e-01 -6.88683280e-01 7.57515614e-03 -1.89908704e+02] [ 6.88647207e-01 -7.25062293e-01 -7.04948793e-03 -2.79621631e+02] [ 1.03473246e-02 1.05571146e-04 9.99946460e-01 -2.77914853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 874.9265599949999 meters 0.013291240071780563 Centerline is valid? [True, True] Translation: X:-190.38, Y:-280.12, Z:-1.80 [[-7.82320736e-01 6.22821276e-01 8.24159058e-03 -1.90376139e+02] [ 6.22785535e-01 7.82364142e-01 -6.67281495e-03 -2.80119355e+02] [-1.06038961e-02 -8.75381029e-05 -9.99943773e-01 -1.80499642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 874.9565599949999 meters 0.013669630073655119 Centerline is valid? [True, True] Translation: X:-189.94, Y:-279.60, Z:-2.78 [[-7.26872587e-01 -6.86725635e-01 8.00905624e-03 -1.89942768e+02] [ 6.86685595e-01 -7.26916702e-01 -7.41638766e-03 -2.79597848e+02] [ 1.09149403e-02 1.08934659e-04 9.99940424e-01 -2.78041799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 874.986559995 meters 0.013460945712127139 Centerline is valid? [True, True] Translation: X:-190.40, Y:-280.10, Z:-1.80 [[-7.85248516e-01 6.19117755e-01 8.83030369e-03 -1.90403243e+02] [ 6.19077075e-01 7.85298156e-01 -7.09795976e-03 -2.80096689e+02] [-1.13288941e-02 -1.07023792e-04 -9.99935820e-01 -1.80456014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 875.016559995 meters 0.013590397540856954 Centerline is valid? [True, True] Translation: X:-190.39, Y:-280.07, Z:-1.80 [[-8.27338732e-01 5.61621883e-01 9.56461901e-03 -1.90386688e+02] [ 5.61582745e-01 8.27394010e-01 -6.63129586e-03 -2.80073841e+02] [-1.16379893e-02 -1.15002915e-04 -9.99932270e-01 -1.80437869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 875.0465599949999 meters 0.01333337393786805 Centerline is valid? [True, True] Translation: X:-190.00, Y:-279.52, Z:-2.78 [[-7.75129430e-01 -6.31731627e-01 9.46140106e-03 -1.89998090e+02] [ 6.31686867e-01 -7.75187158e-01 -7.52145640e-03 -2.79519832e+02] [ 1.20858985e-02 1.46540588e-04 9.99926952e-01 -2.77897183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 875.0765599949999 meters 0.013295365899852097 Centerline is valid? [True, True] Translation: X:-190.42, Y:-280.05, Z:-1.80 [[-8.29482609e-01 5.58435847e-01 1.03926076e-02 -1.90423530e+02] [ 5.58390087e-01 8.29547701e-01 -7.14995117e-03 -2.80050701e+02] [-1.26139528e-02 -1.27631101e-04 -9.99920433e-01 -1.80452481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 875.106559995 meters 0.013849949126083293 Centerline is valid? [True, True] Translation: X:-190.41, Y:-280.03, Z:-1.80 [[-8.66668236e-01 4.98762495e-01 1.10518332e-02 -1.90407370e+02] [ 4.98720136e-01 8.66738691e-01 -6.50130666e-03 -2.80027052e+02] [-1.28216594e-02 -1.22704187e-04 -9.99917792e-01 -1.80216749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 875.136559995 meters 0.013146996819540206 Centerline is valid? [True, True] Translation: X:-190.39, Y:-280.01, Z:-1.80 [[-8.99389462e-01 4.37002797e-01 1.12761050e-02 -1.90394606e+02] [ 4.36966941e-01 8.99460140e-01 -5.59899815e-03 -2.80005434e+02] [-1.25891848e-02 -1.08394822e-04 -9.99920747e-01 -1.80426492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 875.166559995 meters 0.012810409716735202 Centerline is valid? [True, True] Translation: X:-190.38, Y:-279.98, Z:-1.80 [[-9.27161859e-01 3.74480306e-01 1.16356223e-02 -1.90382495e+02] [ 3.74449778e-01 9.27234865e-01 -4.78218315e-03 -2.79983438e+02] [-1.25797881e-02 -7.69016280e-05 -9.99920869e-01 -1.80467511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 875.1965599949999 meters 0.012924219694049891 Centerline is valid? [True, True] Translation: X:-190.12, Y:-279.35, Z:-2.78 [[-8.95115198e-01 -4.45699027e-01 1.10072531e-02 -1.90120597e+02] [ 4.45666103e-01 -8.95182872e-01 -5.41760419e-03 -2.79346601e+02] [ 1.22681254e-02 5.61797614e-05 9.99924742e-01 -2.78036437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 875.2265599949999 meters 0.012585132422435846 Centerline is valid? [True, True] Translation: X:-190.42, Y:-279.97, Z:-1.81 [[-9.27458360e-01 3.73769442e-01 1.08349105e-02 -1.90423740e+02] [ 3.73743479e-01 9.27521645e-01 -4.40556977e-03 -2.79971449e+02] [-1.16962813e-02 -3.65053780e-05 -9.99931596e-01 -1.80559220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 875.256559995 meters 0.012525798112669226 Centerline is valid? [True, True] Translation: X:-190.42, Y:-279.95, Z:-1.81 [[-9.50626458e-01 3.10156338e-01 1.06010894e-02 -1.90415443e+02] [ 3.10137067e-01 9.50685566e-01 -3.45745485e-03 -2.79949033e+02] [-1.11506542e-02 1.04270963e-06 -9.99937830e-01 -1.80634806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 875.286559995 meters 0.012527096401732378 Centerline is valid? [True, True] Translation: X:-190.41, Y:-279.92, Z:-1.81 [[-9.69908839e-01 2.43234130e-01 1.06771361e-02 -1.90407250e+02] [ 2.43219568e-01 9.69967607e-01 -2.66155165e-03 -2.79924189e+02] [-1.10038564e-02 1.54259693e-05 -9.99939456e-01 -1.80643481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 875.3165599949999 meters 0.012518537531741245 Centerline is valid? [True, True] Translation: X:-190.23, Y:-279.24, Z:-2.78 [[-9.52617549e-01 -3.03993617e-01 1.03772204e-02 -1.90230908e+02] [ 3.03975333e-01 -9.52674068e-01 -3.33413760e-03 -2.79239327e+02] [ 1.08996654e-02 -2.17389600e-05 9.99940597e-01 -2.77785839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 875.3465599949999 meters 0.012791437585273022 Centerline is valid? [True, True] Translation: X:-190.45, Y:-279.92, Z:-1.81 [[-9.70128767e-01 2.42343602e-01 1.09431906e-02 -1.90454873e+02] [ 2.42328756e-01 9.70190485e-01 -2.68285315e-03 -2.79917774e+02] [-1.12671517e-02 4.91367517e-05 -9.99936523e-01 -1.80520982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 875.376559995 meters 0.012791437585273022 Centerline is valid? [True, True] Translation: X:-190.45, Y:-279.89, Z:-1.81 [[-9.84874285e-01 1.72914143e-01 1.11059098e-02 -1.90449574e+02] [ 1.72903712e-01 9.84936900e-01 -1.89984909e-03 -2.79890373e+02] [-1.12671312e-02 4.91405202e-05 -9.99936523e-01 -1.80521005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 875.406559995 meters 0.01265264015976575 Centerline is valid? [True, True] Translation: X:-190.45, Y:-279.86, Z:-1.81 [[-9.94608396e-01 1.03082986e-01 1.13153737e-02 -1.90448982e+02] [ 1.03076955e-01 9.94672758e-01 -1.11645010e-03 -2.79862923e+02] [-1.13701809e-02 5.59236223e-05 -9.99935356e-01 -1.80550910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 875.4365599949999 meters 0.012688867167432635 Centerline is valid? [True, True] Translation: X:-190.45, Y:-279.84, Z:-1.81 [[-9.99411275e-01 3.21750397e-02 1.19108973e-02 -1.90447102e+02] [ 3.21734596e-02 9.99482248e-01 -3.24299019e-04 -2.79836041e+02] [-1.19151648e-02 5.91066771e-05 -9.99929010e-01 -1.80538006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 875.4665599949999 meters 0.012703056897937978 Centerline is valid? [True, True] Translation: X:-190.42, Y:-279.12, Z:-2.78 [[-9.95877728e-01 -8.99224362e-02 1.18956916e-02 -1.90421726e+02] [ 8.99153378e-02 -9.95948770e-01 -1.13129082e-03 -2.79117369e+02] [ 1.19492278e-02 -5.70222029e-05 9.99928604e-01 -2.77915511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 875.496559995 meters 0.012731919417784135 Centerline is valid? [True, True] Translation: X:-190.53, Y:-279.84, Z:-1.80 [[-9.99589424e-01 2.60929085e-02 1.18382371e-02 -1.90525822e+02] [ 2.60915972e-02 9.99659521e-01 -2.65226219e-04 -2.79835629e+02] [-1.18411269e-02 4.37611902e-05 -9.99929891e-01 -1.80466206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 875.526559995 meters 0.012563691571497313 Centerline is valid? [True, True] Translation: X:-190.52, Y:-279.81, Z:-1.81 [[-9.98859503e-01 -4.63697891e-02 1.13814033e-02 -1.90520531e+02] [-4.63664585e-02 9.98924342e-01 5.56472935e-04 -2.79807386e+02] [-1.13949643e-02 2.81229166e-05 -9.99935075e-01 -1.80519300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 875.5565599949999 meters 0.01239668549290607 Centerline is valid? [True, True] Translation: X:-190.56, Y:-279.09, Z:-2.78 [[-9.99765878e-01 -1.89058498e-02 1.05241688e-02 -1.90562925e+02] [ 1.89038989e-02 -9.99821265e-01 -2.84831145e-04 -2.79088866e+02] [ 1.05276727e-02 -8.58166364e-05 9.99944579e-01 -2.77812514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 875.5865599949999 meters 0.012384549522762958 Centerline is valid? [True, True] Translation: X:-190.63, Y:-279.81, Z:-1.81 [[-9.98318195e-01 -5.71060447e-02 9.98408047e-03 -1.90625955e+02] [-5.71033889e-02 9.98368118e-01 5.51101127e-04 -2.79809210e+02] [-9.99925884e-03 -1.99505473e-05 -9.99950006e-01 -1.80601798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 875.616559995 meters 0.012550541430876883 Centerline is valid? [True, True] Translation: X:-190.66, Y:-279.09, Z:-2.78 [[-9.99818081e-01 -1.61795642e-02 1.01008724e-02 -1.90663841e+02] [ 1.61790131e-02 -9.99869102e-01 -1.36283588e-04 -2.79094912e+02] [ 1.01017552e-02 2.71633516e-05 9.99948976e-01 -2.77841801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 875.646559995 meters 0.01274928706738747 Centerline is valid? [True, True] Translation: X:-190.72, Y:-279.81, Z:-1.81 [[-9.97573032e-01 -6.88846335e-02 1.01465516e-02 -1.90723028e+02] [-6.88818754e-02 9.97624629e-01 6.21460860e-04 -2.79811204e+02] [-1.01652589e-02 -7.89609091e-05 -9.99948329e-01 -1.80597276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 875.6765599949999 meters 0.013173756180596213 Centerline is valid? [True, True] Translation: X:-190.77, Y:-279.10, Z:-2.78 [[-9.99820967e-01 -1.59839388e-02 1.01266308e-02 -1.90767715e+02] [ 1.59838890e-02 -9.99872246e-01 -8.58538094e-05 -2.79102758e+02] [ 1.01267093e-02 7.60245035e-05 9.99948721e-01 -2.77924875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 875.7065599949999 meters 0.013463995940776274 Centerline is valid? [True, True] Translation: X:-190.82, Y:-279.81, Z:-1.80 [[-9.96839237e-01 -7.88290241e-02 9.87529271e-03 -1.90822391e+02] [-7.88262966e-02 9.96888144e-01 6.65721546e-04 -2.79814477e+02] [-9.89704040e-03 -1.14815394e-04 -9.99951017e-01 -1.80486889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 875.736559995 meters 0.013574312486739305 Centerline is valid? [True, True] Translation: X:-190.83, Y:-279.79, Z:-1.81 [[-9.88468151e-01 -1.51119081e-01 9.68181800e-03 -1.90832594e+02] [-1.51113102e-01 9.88515557e-01 1.35038788e-03 -2.79787665e+02] [-9.77469709e-03 -1.28234145e-04 -9.99952218e-01 -1.80523989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 875.766559995 meters 0.014392329604811783 Centerline is valid? [True, True] Translation: X:-190.85, Y:-279.76, Z:-1.81 [[-9.74597420e-01 -2.23791431e-01 8.78998954e-03 -1.90851228e+02] [-2.23783626e-01 9.74637048e-01 1.87432318e-03 -2.79762029e+02] [-8.98650693e-03 -1.40345196e-04 -9.99959611e-01 -1.80536382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 875.7965599949999 meters 0.01471581150619173 Centerline is valid? [True, True] Translation: X:-190.88, Y:-279.74, Z:-1.81 [[-9.55593645e-01 -2.94565380e-01 8.48659888e-03 -1.90878681e+02] [-2.94555142e-01 9.55631317e-01 2.46038744e-03 -2.79740239e+02] [-8.83480463e-03 -1.48640743e-04 -9.99960961e-01 -1.80561977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 875.8265599949999 meters 0.014837502993334497 Centerline is valid? [True, True] Translation: X:-190.93, Y:-279.73, Z:-1.81 [[-9.31251626e-01 -3.64296868e-01 7.62897582e-03 -1.90929255e+02] [-3.64285897e-01 9.31282863e-01 2.83095520e-03 -2.79727611e+02] [-8.13604256e-03 -1.42796665e-04 -9.99966892e-01 -1.80592171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 875.856559995 meters 0.015295838515448515 Centerline is valid? [True, True] Translation: X:-190.99, Y:-279.72, Z:-1.81 [[-9.01414406e-01 -4.32904828e-01 6.74380894e-03 -1.90994042e+02] [-4.32893859e-01 9.01439621e-01 3.08486749e-03 -2.79723718e+02] [-7.41459061e-03 -1.38609475e-04 -9.99972502e-01 -1.80631168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 875.886559995 meters 0.015398166149484013 Centerline is valid? [True, True] Translation: X:-191.07, Y:-279.73, Z:-1.81 [[-8.66839995e-01 -4.98546909e-01 6.27716247e-03 -1.91065332e+02] [-4.98534960e-01 8.66862712e-01 3.45432654e-03 -2.79728279e+02] [-7.16358191e-03 -1.35036535e-04 -9.99974332e-01 -1.80616650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 875.916559995 meters 0.015626624043092764 Centerline is valid? [True, True] Translation: X:-191.14, Y:-279.74, Z:-1.81 [[-8.27203228e-01 -5.61869595e-01 6.11367726e-03 -1.91144608e+02] [-5.61855477e-01 8.27225809e-01 3.98546826e-03 -2.79742919e+02] [-7.29670506e-03 -1.38210840e-04 -9.99973369e-01 -1.80578067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 875.9465599949999 meters 0.014604584632663956 Centerline is valid? [True, True] Translation: X:-191.22, Y:-279.77, Z:-1.81 [[-7.82781630e-01 -6.22268284e-01 5.92465570e-03 -1.91221073e+02] [-6.22251803e-01 7.82804039e-01 4.53110203e-03 -2.79765466e+02] [-7.45740549e-03 -1.39764259e-04 -9.99972184e-01 -1.80632492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 875.9765599949999 meters 0.01532272186865152 Centerline is valid? [True, True] Translation: X:-191.31, Y:-279.80, Z:-1.80 [[-7.34384835e-01 -6.78707193e-01 5.95481160e-03 -1.91307065e+02] [-6.78686422e-01 7.34408964e-01 5.31165614e-03 -2.79797410e+02] [-7.97832625e-03 -1.40650056e-04 -9.99968163e-01 -1.80439034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 876.006559995 meters 0.015083328972523917 Centerline is valid? [True, True] Translation: X:-191.40, Y:-279.85, Z:-1.80 [[-6.81597420e-01 -7.31704600e-01 5.77367425e-03 -1.91396991e+02] [-7.31680068e-01 6.81621860e-01 5.99324918e-03 -2.79845336e+02] [-8.32075057e-03 -1.39499185e-04 -9.99965372e-01 -1.80387578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 876.036559995 meters 0.015002029566254276 Centerline is valid? [True, True] Translation: X:-191.48, Y:-279.90, Z:-1.80 [[-6.24583548e-01 -7.80937908e-01 5.60142666e-03 -1.91482566e+02] [-7.80908515e-01 6.24608649e-01 6.77698069e-03 -2.79899203e+02] [-8.79110067e-03 -1.41411130e-04 -9.99961348e-01 -1.80340506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 876.0665599949999 meters 0.013962575483362853 Centerline is valid? [True, True] Translation: X:-191.56, Y:-279.96, Z:-1.80 [[-5.63476480e-01 -8.26114876e-01 5.33557587e-03 -1.91563292e+02] [-8.26080280e-01 5.63501722e-01 7.56178804e-03 -2.79961720e+02] [-9.25351178e-03 -1.46724297e-04 -9.99957175e-01 -1.80446067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 876.0965599949999 meters 0.014152658331248527 Centerline is valid? [True, True] Translation: X:-191.65, Y:-280.04, Z:-1.80 [[-4.98498603e-01 -8.66876330e-01 4.95699288e-03 -1.91648052e+02] [-8.66836565e-01 4.98523223e-01 8.30453521e-03 -2.80039995e+02] [-9.67018107e-03 -1.57103484e-04 -9.99953231e-01 -1.80421864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 876.126559995 meters 0.014267214152392207 Centerline is valid? [True, True] Translation: X:-191.72, Y:-280.12, Z:-1.80 [[-4.30265647e-01 -9.02691577e-01 4.40344571e-03 -1.91721840e+02] [-9.02648170e-01 4.30288148e-01 8.85387626e-03 -2.80116026e+02] [-9.88707002e-03 -1.65243409e-04 -9.99951108e-01 -1.80408008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 876.156559995 meters 0.014679976857338545 Centerline is valid? [True, True] Translation: X:-191.79, Y:-280.21, Z:-1.80 [[-3.58892102e-01 -9.33370620e-01 3.96796276e-03 -1.91794636e+02] [-9.33319209e-01 3.58913988e-01 9.79810597e-03 -2.80207668e+02] [-1.05694216e-02 -1.86913018e-04 -9.99944125e-01 -1.80341140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 876.1865599949999 meters 0.014781201222535586 Centerline is valid? [True, True] Translation: X:-191.86, Y:-280.30, Z:-1.80 [[-2.86170323e-01 -9.58173198e-01 3.26626429e-03 -1.91859368e+02] [-9.58118184e-01 2.86188899e-01 1.02693474e-02 -2.80304671e+02] [-1.07745820e-02 -1.90684755e-04 -9.99941934e-01 -1.80299017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 876.2165599949999 meters 0.014766068754177611 Centerline is valid? [True, True] Translation: X:-191.92, Y:-280.41, Z:-1.80 [[-2.11714572e-01 -9.77328413e-01 2.47269351e-03 -1.91915656e+02] [-9.77271897e-01 2.11728925e-01 1.05120010e-02 -2.80405542e+02] [-1.07972180e-02 -1.90950093e-04 -9.99941690e-01 -1.80277806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 876.246559995 meters 0.014650584596181194 Centerline is valid? [True, True] Translation: X:-191.96, Y:-280.51, Z:-1.80 [[-1.37031008e-01 -9.90565428e-01 1.62334347e-03 -1.91963912e+02] [-9.90510273e-01 1.37040511e-01 1.04545744e-02 -2.80513220e+02] [-1.05784038e-02 -1.75337510e-04 -9.99944032e-01 -1.80267556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 876.276559995 meters 0.015056911141635109 Centerline is valid? [True, True] Translation: X:-192.01, Y:-280.63, Z:-1.80 [[-6.09534531e-02 -9.98140273e-01 8.20096507e-04 -1.92005572e+02] [-9.98083717e-01 6.09587306e-02 1.06266832e-02 -2.80628253e+02] [-1.06569125e-02 -1.70791934e-04 -9.99943199e-01 -1.80220769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 876.3065599949999 meters 0.013887450848027987 Centerline is valid? [True, True] Translation: X:-192.03, Y:-280.74, Z:-1.80 [[ 1.42746688e-02 -9.99898112e-01 -5.55209880e-07 -1.92034463e+02] [-9.99843442e-01 -1.42738941e-02 1.04569105e-02 -2.80736647e+02] [-1.04558530e-02 -1.48713810e-04 -9.99945325e-01 -1.80373083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 876.3365599949999 meters 0.013879564905500779 Centerline is valid? [True, True] Translation: X:-192.06, Y:-280.86, Z:-1.80 [[ 9.06254553e-02 -9.95884717e-01 -8.11326272e-04 -1.92057579e+02] [-9.95829484e-01 -9.06289747e-02 1.04894131e-02 -2.80855664e+02] [-1.05197758e-02 -1.42665214e-04 -9.99944656e-01 -1.80362483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 876.366559995 meters 0.013883842322229384 Centerline is valid? [True, True] Translation: X:-192.07, Y:-280.97, Z:-1.80 [[ 1.66212041e-01 -9.86088789e-01 -1.56790292e-03 -1.92071714e+02] [-9.86037293e-01 -1.66219386e-01 1.00783498e-02 -2.80974653e+02] [-1.01987636e-02 -1.29132339e-04 -9.99947983e-01 -1.80364916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 876.396559995 meters 0.01363078356154235 Centerline is valid? [True, True] Translation: X:-192.08, Y:-281.09, Z:-1.80 [[ 2.40821488e-01 -9.70566845e-01 -2.23840603e-03 -1.92076609e+02] [-9.70520307e-01 -2.40831862e-01 9.50518836e-03 -2.81091842e+02] [-9.76450017e-03 -1.16635102e-04 -9.99952319e-01 -1.80431535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 876.4265599949999 meters 0.013590965402739259 Centerline is valid? [True, True] Translation: X:-192.07, Y:-281.21, Z:-1.80 [[ 3.14175899e-01 -9.49360118e-01 -2.97856378e-03 -1.92071464e+02] [-9.49314074e-01 -3.14189998e-01 9.35057770e-03 -2.81214917e+02] [-9.81290049e-03 -1.10133634e-04 -9.99951846e-01 -1.80413536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 876.4565599949999 meters 0.013397121029512736 Centerline is valid? [True, True] Translation: X:-192.06, Y:-281.33, Z:-1.81 [[ 3.85393844e-01 -9.22744571e-01 -3.74725720e-03 -1.92059117e+02] [-9.22698340e-01 -3.85412047e-01 9.23730639e-03 -2.81327499e+02] [-9.96791239e-03 -1.02413017e-04 -9.99950314e-01 -1.80522819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 876.486559995 meters 0.01330074945946953 Centerline is valid? [True, True] Translation: X:-192.04, Y:-281.44, Z:-1.81 [[ 4.54816686e-01 -8.90573829e-01 -4.47642216e-03 -1.92037175e+02] [-8.90528532e-01 -4.54838703e-01 8.98266270e-03 -2.81442923e+02] [-1.00357744e-02 -9.90832266e-05 -9.99949636e-01 -1.80556874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 876.516559995 meters 0.013317844094425789 Centerline is valid? [True, True] Translation: X:-192.01, Y:-281.55, Z:-1.81 [[ 5.21580791e-01 -8.53185292e-01 -5.32322789e-03 -1.92008516e+02] [-8.53138860e-01 -5.21607945e-01 8.90152868e-03 -2.81553537e+02] [-1.03712913e-02 -1.01413798e-04 -9.99946212e-01 -1.80561856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 876.5465599949999 meters 0.013363679903815368 Centerline is valid? [True, True] Translation: X:-191.97, Y:-281.66, Z:-1.81 [[ 5.85485124e-01 -8.10661088e-01 -5.98080612e-03 -1.91972229e+02] [-8.10617001e-01 -5.85515661e-01 8.45511397e-03 -2.81662042e+02] [-1.03560875e-02 -1.02200333e-04 -9.99946369e-01 -1.80502055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 876.5765599949999 meters 0.013295601581768277 Centerline is valid? [True, True] Translation: X:-191.93, Y:-281.77, Z:-1.81 [[ 6.45963895e-01 -7.63337683e-01 -6.79912554e-03 -1.91926962e+02] [-7.63293643e-01 -6.45999668e-01 8.20027075e-03 -2.81767214e+02] [-1.06518085e-02 -1.07349534e-04 -9.99943262e-01 -1.80528432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 876.606559995 meters 0.013464649442816772 Centerline is valid? [True, True] Translation: X:-191.88, Y:-281.87, Z:-1.81 [[ 7.02808975e-01 -7.11341941e-01 -7.22407670e-03 -1.91876874e+02] [-7.11302726e-01 -7.02846093e-01 7.47008723e-03 -2.81867138e+02] [-1.03912004e-02 -1.11538898e-04 -9.99946004e-01 -1.80539069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 876.636559995 meters 0.013476456518301979 Centerline is valid? [True, True] Translation: X:-191.82, Y:-281.96, Z:-1.81 [[ 7.55071519e-01 -6.55597076e-01 -7.71208185e-03 -1.91820568e+02] [-6.55561347e-01 -7.55110894e-01 6.84531287e-03 -2.81960716e+02] [-1.03112441e-02 -1.12958013e-04 -9.99946831e-01 -1.80524244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 876.666559995 meters 0.013506801379912975 Centerline is valid? [True, True] Translation: X:-191.82, Y:-281.97, Z:-1.81 [[ 8.04189243e-01 -5.94313854e-01 -8.40854246e-03 -1.91823624e+02] [-5.94279820e-01 -8.04233193e-01 6.36133609e-03 -2.81968645e+02] [-1.05430591e-02 -1.18690953e-04 -9.99944414e-01 -1.80520543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 876.6965599949999 meters 0.013832063523160357 Centerline is valid? [True, True] Translation: X:-191.83, Y:-281.98, Z:-1.80 [[ 8.48570782e-01 -5.28997110e-01 -9.47029547e-03 -1.91826280e+02] [-5.28962382e-01 -8.48623615e-01 6.06289201e-03 -2.81976785e+02] [-1.12439687e-02 -1.35362952e-04 -9.99936776e-01 -1.80437677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 876.7265599949999 meters 0.013823590788791027 Centerline is valid? [True, True] Translation: X:-191.83, Y:-281.98, Z:-1.80 [[ 8.87540543e-01 -4.60606663e-01 -1.06436651e-02 -1.91827164e+02] [-4.60571495e-01 -8.87604349e-01 5.69372056e-03 -2.81984587e+02] [-1.20699290e-02 -1.51239094e-04 -9.99927144e-01 -1.80435776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 876.756559995 meters 0.014014390951062272 Centerline is valid? [True, True] Translation: X:-191.83, Y:-281.99, Z:-1.80 [[ 9.20937521e-01 -3.89547586e-01 -1.12587854e-02 -1.91827464e+02] [-3.89516384e-01 -9.21006327e-01 4.93287261e-03 -2.81991419e+02] [-1.22910012e-02 -1.57386102e-04 -9.99924451e-01 -1.80377992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 876.786559995 meters 0.013878562941676985 Centerline is valid? [True, True] Translation: X:-191.83, Y:-282.00, Z:-1.80 [[ 9.48753108e-01 -3.15770754e-01 -1.25048467e-02 -1.91827727e+02] [-3.15740853e-01 -9.48835496e-01 4.34909847e-03 -2.82000808e+02] [-1.32383606e-02 -1.77929712e-04 -9.99912353e-01 -1.80345744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 876.8165599949999 meters 0.014284012519306721 Centerline is valid? [True, True] Translation: X:-191.83, Y:-282.01, Z:-1.80 [[ 9.70617771e-01 -2.40259181e-01 -1.32916389e-02 -1.91828050e+02] [-2.40233983e-01 -9.70708757e-01 3.48473316e-03 -2.82010109e+02] [-1.37395494e-02 -1.89240579e-04 -9.99905590e-01 -1.80227023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 876.8465599949999 meters 0.014174032481350842 Centerline is valid? [True, True] Translation: X:-191.83, Y:-282.02, Z:-1.80 [[ 9.86463814e-01 -1.63449211e-01 -1.31719399e-02 -1.91825612e+02] [-1.63432105e-01 -9.86551732e-01 2.37200489e-03 -2.82017229e+02] [-1.33825025e-02 -1.87179116e-04 -9.99910433e-01 -1.80249715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 876.876559995 meters 0.014240936363915806 Centerline is valid? [True, True] Translation: X:-191.83, Y:-282.02, Z:-1.80 [[ 9.96252792e-01 -8.54611944e-02 -1.32950507e-02 -1.91826391e+02] [-8.54510356e-02 -9.96341482e-01 1.33133828e-03 -2.82024222e+02] [-1.33601883e-02 -1.90273623e-04 -9.99910731e-01 -1.80300518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 876.906559995 meters 0.01428916251876267 Centerline is valid? [True, True] Translation: X:-191.83, Y:-282.03, Z:-1.80 [[ 9.99893693e-01 -7.61077965e-03 -1.24369861e-02 -1.91827969e+02] [-7.60804863e-03 -9.99971023e-01 2.66887229e-04 -2.82030566e+02] [-1.24386569e-02 -1.72237662e-04 -9.99922622e-01 -1.80318051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 876.9365599949999 meters 0.014073385400482499 Centerline is valid? [True, True] Translation: X:-191.83, Y:-282.04, Z:-1.80 [[ 9.97462638e-01 7.02159850e-02 -1.17473703e-02 -1.91828350e+02] [ 7.02129693e-02 -9.97531799e-01 -6.69455286e-04 -2.82035711e+02] [-1.17653819e-02 -1.57061113e-04 -9.99930773e-01 -1.80355760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 876.9665599949999 meters 0.013804134445044372 Centerline is valid? [True, True] Translation: X:-191.83, Y:-282.04, Z:-1.80 [[ 9.89050565e-01 1.47160378e-01 -1.10816539e-02 -1.91827581e+02] [ 1.47152710e-01 -9.89112635e-01 -1.50864546e-03 -2.82041039e+02] [-1.11830167e-02 -1.38568760e-04 -9.99937459e-01 -1.80426750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 876.996559995 meters 0.014041827715566014 Centerline is valid? [True, True] Translation: X:-191.83, Y:-282.05, Z:-1.80 [[ 9.74786159e-01 2.22888858e-01 -1.06067036e-02 -1.91828370e+02] [ 2.22877008e-01 -9.74843856e-01 -2.30141395e-03 -2.82046145e+02] [-1.08528394e-02 -1.20603915e-04 -9.99941099e-01 -1.80376601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 877.026559995 meters 0.013796331861488438 Centerline is valid? [True, True] Translation: X:-191.83, Y:-282.05, Z:-1.80 [[ 9.54579987e-01 2.97772310e-01 -1.04259200e-02 -1.91828995e+02] [ 2.97755839e-01 -9.54636915e-01 -3.13390193e-03 -2.82046523e+02] [-1.08861573e-02 -1.12818488e-04 -9.99940738e-01 -1.80406239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 877.0565599949999 meters 0.013143847690096726 Centerline is valid? [True, True] Translation: X:-191.83, Y:-282.05, Z:-1.81 [[ 9.28599400e-01 3.70951395e-01 -9.91047978e-03 -1.91827681e+02] [ 3.70931445e-01 -9.28652277e-01 -3.84853822e-03 -2.82052515e+02] [-1.06310102e-02 -1.02358308e-04 -9.99943484e-01 -1.80561665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 877.0865599949999 meters 0.013169855642540081 Centerline is valid? [True, True] Translation: X:-191.83, Y:-282.06, Z:-1.81 [[ 8.97009638e-01 4.41911211e-01 -9.39104817e-03 -1.91826126e+02] [ 4.41888077e-01 -8.97058790e-01 -4.52261289e-03 -2.82060273e+02] [-1.04229156e-02 -9.29648685e-05 -9.99945676e-01 -1.80534393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 877.116559995 meters 0.012894355417844705 Centerline is valid? [True, True] Translation: X:-191.82, Y:-282.07, Z:-1.81 [[ 8.60415019e-01 5.09519733e-01 -8.69694926e-03 -1.91823040e+02] [ 5.09494587e-01 -8.60458969e-01 -5.06258550e-03 -2.82067390e+02] [-1.00628552e-02 -7.51239636e-05 -9.99949366e-01 -1.80550648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 877.146559995 meters 0.013122032586693528 Centerline is valid? [True, True] Translation: X:-191.82, Y:-282.08, Z:-1.80 [[ 8.18340514e-01 5.74669246e-01 -8.60586820e-03 -1.91819881e+02] [ 5.74638368e-01 -8.18385761e-01 -5.95754024e-03 -2.82075575e+02] [-1.04665351e-02 -6.99655154e-05 -9.99945222e-01 -1.80368109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 877.1765599949999 meters 0.012855305061805579 Centerline is valid? [True, True] Translation: X:-191.82, Y:-282.08, Z:-1.80 [[ 7.71362542e-01 6.36341149e-01 -8.35293902e-03 -1.91817738e+02] [ 6.36304724e-01 -7.71407764e-01 -6.80882726e-03 -2.82080271e+02] [-1.07762590e-02 -6.29402533e-05 -9.99941933e-01 -1.80401271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 877.2065599949999 meters 0.012813516862547423 Centerline is valid? [True, True] Translation: X:-191.81, Y:-282.09, Z:-1.80 [[ 7.20580087e-01 6.93315754e-01 -8.80925784e-03 -1.91814501e+02] [ 6.93264737e-01 -7.20633931e-01 -8.41078966e-03 -2.82085627e+02] [-1.21795831e-02 -4.65002797e-05 -9.99925825e-01 -1.80303611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 877.236559995 meters 0.012849369811440721 Centerline is valid? [True, True] Translation: X:-191.81, Y:-282.09, Z:-1.80 [[ 6.64615238e-01 7.47137721e-01 -8.47419577e-03 -1.91811258e+02] [ 7.47077743e-01 -6.64669260e-01 -9.46682582e-03 -2.82092209e+02] [-1.27055601e-02 -3.90863515e-05 -9.99919280e-01 -1.80238923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 877.266559995 meters 0.012784137602227881 Centerline is valid? [True, True] Translation: X:-191.81, Y:-282.10, Z:-1.80 [[ 6.04026991e-01 7.96927361e-01 -7.62724561e-03 -1.91806237e+02] [ 7.96864662e-01 -6.04075144e-01 -9.99658268e-03 -2.82098708e+02] [-1.25739797e-02 -3.96767346e-05 -9.99920944e-01 -1.80234588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 877.2965599949999 meters 0.012784137602227881 Centerline is valid? [True, True] Translation: X:-191.80, Y:-282.10, Z:-1.80 [[ 5.39769418e-01 8.41785275e-01 -6.82098906e-03 -1.91801591e+02] [ 8.41718997e-01 -5.39812513e-01 -1.05631758e-02 -2.82104594e+02] [-1.25739811e-02 -3.96768323e-05 -9.99920944e-01 -1.80234586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 877.3265599949999 meters 0.012895737576172874 Centerline is valid? [True, True] Translation: X:-191.80, Y:-282.11, Z:-1.80 [[ 4.71945527e-01 8.81606616e-01 -6.09873671e-03 -1.91795759e+02] [ 8.81534222e-01 -4.71984929e-01 -1.12979214e-02 -2.82110602e+02] [-1.28388341e-02 -4.42416595e-05 -9.99917578e-01 -1.80177616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 877.356559995 meters 0.01287850483021878 Centerline is valid? [True, True] Translation: X:-191.79, Y:-282.12, Z:-1.80 [[ 4.01776966e-01 9.15721920e-01 -5.35119219e-03 -1.91791351e+02] [ 9.15642056e-01 -4.01812598e-01 -1.20938790e-02 -2.82115353e+02] [-1.32248065e-02 -4.07346104e-05 -9.99912548e-01 -1.80143886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 877.386559995 meters 0.0126807733220904 Centerline is valid? [True, True] Translation: X:-191.78, Y:-282.12, Z:-1.80 [[ 3.30485954e-01 9.43800355e-01 -4.46370044e-03 -1.91783807e+02] [ 9.43714991e-01 -3.30516096e-01 -1.26935399e-02 -2.82119902e+02] [-1.34554923e-02 -1.74243917e-05 -9.99909471e-01 -1.80263971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 877.416559995 meters 0.012768280338282648 Centerline is valid? [True, True] Translation: X:-191.78, Y:-282.13, Z:-1.80 [[ 2.56891367e-01 9.66434455e-01 -3.35690276e-03 -1.91776516e+02] [ 9.66351932e-01 -2.56913300e-01 -1.26293051e-02 -2.82125292e+02] [-1.30678285e-02 4.09977615e-07 -9.99914612e-01 -1.80224384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 877.4465599949999 meters 0.012777945752009983 Centerline is valid? [True, True] Translation: X:-191.77, Y:-282.13, Z:-1.80 [[ 1.82109040e-01 9.83275661e-01 -2.29632508e-03 -1.91770584e+02] [ 9.83195942e-01 -1.82123516e-01 -1.25205954e-02 -2.82129582e+02] [-1.27294115e-02 2.23761059e-05 -9.99918978e-01 -1.80274833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 877.4765599949999 meters 0.012743461500287783 Centerline is valid? [True, True] Translation: X:-191.76, Y:-282.13, Z:-1.80 [[ 1.05935456e-01 9.94372225e-01 -1.24824580e-03 -1.91761509e+02] [ 9.94298875e-01 -1.05942803e-01 -1.20776475e-02 -2.82132874e+02] [-1.21419199e-02 3.83217047e-05 -9.99926284e-01 -1.80370274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 877.506559995 meters 0.012943740791102512 Centerline is valid? [True, True] Translation: X:-191.75, Y:-282.14, Z:-1.80 [[ 3.09169044e-02 9.99521923e-01 -2.65401990e-04 -1.91753582e+02] [ 9.99463675e-01 -3.09179680e-02 -1.07908320e-02 -2.82137389e+02] [-1.07938789e-02 6.83594740e-05 -9.99941742e-01 -1.80416781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 877.536559995 meters 0.013143119919344227 Centerline is valid? [True, True] Translation: X:-191.75, Y:-282.14, Z:-1.80 [[-4.54544456e-02 9.98966244e-01 5.80111499e-04 -1.91745467e+02] [ 9.98908273e-01 4.54580576e-02 -1.07623434e-02 -2.82139648e+02] [-1.07775885e-02 9.02818243e-05 -9.99941916e-01 -1.80429748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 877.5665599949999 meters 0.013485706095520307 Centerline is valid? [True, True] Translation: X:-191.74, Y:-282.14, Z:-1.80 [[-1.21779940e-01 9.92556116e-01 1.41529971e-03 -1.91738015e+02] [ 9.92499121e-01 1.21788115e-01 -1.06371741e-02 -2.82143293e+02] [-1.07303589e-02 1.09289295e-04 -9.99942422e-01 -1.80409012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 877.5965599949999 meters 0.013819124295807181 Centerline is valid? [True, True] Translation: X:-191.73, Y:-282.14, Z:-1.80 [[-1.97301713e-01 9.80339909e-01 2.38665967e-03 -1.91731327e+02] [ 9.80276378e-01 1.97316100e-01 -1.11615402e-02 -2.82144761e+02] [-1.14130297e-02 1.37395094e-04 -9.99934860e-01 -1.80409916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 877.626559995 meters 0.014540772258661063 Centerline is valid? [True, True] Translation: X:-191.72, Y:-282.15, Z:-1.80 [[-2.70717010e-01 9.62652582e-01 3.50808759e-03 -1.91724703e+02] [ 9.62580345e-01 2.70739677e-01 -1.17943416e-02 -2.82147559e+02] [-1.23036319e-02 1.83887265e-04 -9.99924291e-01 -1.80328551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 877.656559995 meters 0.014644548223486254 Centerline is valid? [True, True] Translation: X:-191.72, Y:-282.15, Z:-1.80 [[-3.44455507e-01 9.38791817e-01 4.50860662e-03 -1.91716318e+02] [ 9.38718806e-01 3.44484955e-01 -1.17097648e-02 -2.82147651e+02] [-1.25461786e-02 1.98820841e-04 -9.99921274e-01 -1.80310085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 877.6865599949999 meters 0.01503200761937648 Centerline is valid? [True, True] Translation: X:-191.71, Y:-282.15, Z:-1.80 [[-4.16313622e-01 9.09206584e-01 5.13388792e-03 -1.91708053e+02] [ 9.09143187e-01 4.16345229e-01 -1.07385396e-02 -2.82148478e+02] [-1.19010206e-02 1.96838911e-04 -9.99929161e-01 -1.80273833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 877.7165599949999 meters 0.014908578563745027 Centerline is valid? [True, True] Translation: X:-191.70, Y:-282.15, Z:-1.80 [[-4.86322810e-01 8.73759440e-01 5.87932921e-03 -1.91700519e+02] [ 8.73700332e-01 4.86358309e-01 -1.01648952e-02 -2.82148149e+02] [-1.17411337e-02 1.93351504e-04 -9.99931052e-01 -1.80291887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 877.746559995 meters 0.014362496456098935 Centerline is valid? [True, True] Translation: X:-191.69, Y:-282.14, Z:-1.80 [[-5.53460990e-01 8.32849359e-01 6.54818864e-03 -1.91689823e+02] [ 8.32795030e-01 5.53499693e-01 -9.51457159e-03 -2.82144591e+02] [-1.15486253e-02 1.87354750e-04 -9.99933295e-01 -1.80359037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 877.776559995 meters 0.01427018126269839 Centerline is valid? [True, True] Translation: X:-191.68, Y:-282.14, Z:-1.80 [[-6.18208507e-01 7.85980904e-01 7.22912685e-03 -1.91680294e+02] [ 7.85930335e-01 6.18250750e-01 -8.91732520e-03 -2.82141687e+02] [-1.14782604e-02 1.68823788e-04 -9.99934108e-01 -1.80316592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 877.8065599949999 meters 0.014543495815466772 Centerline is valid? [True, True] Translation: X:-191.67, Y:-282.14, Z:-1.80 [[-6.78767058e-01 7.34312365e-01 7.78664635e-03 -1.91673275e+02] [ 7.34266610e-01 6.78811703e-01 -8.19863372e-03 -2.82139812e+02] [-1.13060248e-02 1.52511930e-04 -9.99936073e-01 -1.80183764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 877.8365599949999 meters 0.01354269511790291 Centerline is valid? [True, True] Translation: X:-191.66, Y:-282.13, Z:-1.80 [[-7.36250619e-01 6.76649325e-01 8.98420764e-03 -1.91663784e+02] [ 6.76601030e-01 7.36305422e-01 -8.08525626e-03 -2.82133376e+02] [-1.20860040e-02 1.25949219e-04 -9.99926954e-01 -1.80160260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 877.866559995 meters 0.01333557392887598 Centerline is valid? [True, True] Translation: X:-191.19, Y:-281.61, Z:-2.78 [[-7.02686754e-01 -7.11448275e-01 8.52513444e-03 -1.91188579e+02] [ 7.11393881e-01 -7.02738456e-01 -8.79816727e-03 -2.81613689e+02] [ 1.22503807e-02 -1.17627115e-04 9.99924954e-01 -2.78348595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 877.896559995 meters 0.012910228279175005 Centerline is valid? [True, True] Translation: X:-191.21, Y:-281.60, Z:-2.78 [[-7.01400920e-01 -7.12716925e-01 8.44596926e-03 -1.91208713e+02] [ 7.12663913e-01 -7.01451765e-01 -8.69305469e-03 -2.81595892e+02] [ 1.21201273e-02 -7.81790528e-05 9.99926546e-01 -2.78297094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 877.9265599949999 meters 0.012675171801262477 Centerline is valid? [True, True] Translation: X:-191.23, Y:-281.58, Z:-2.78 [[-7.00065688e-01 -7.14030038e-01 8.31487917e-03 -1.91229295e+02] [ 7.13978808e-01 -7.00115064e-01 -8.55334911e-03 -2.81576862e+02] [ 1.19287203e-02 -5.12587117e-05 9.99928849e-01 -2.78296158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 877.9565599949999 meters 0.012582155149422512 Centerline is valid? [True, True] Translation: X:-191.25, Y:-281.56, Z:-2.78 [[-6.98667724e-01 -7.15398206e-01 8.29567498e-03 -1.91250049e+02] [ 7.15347365e-01 -6.98716972e-01 -8.52881711e-03 -2.81557756e+02] [ 1.18978294e-02 -2.45200021e-05 9.99929218e-01 -2.78290454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 877.986559995 meters 0.012576284328247431 Centerline is valid? [True, True] Translation: X:-191.27, Y:-281.54, Z:-2.78 [[-6.95657372e-01 -7.18328435e-01 8.06722634e-03 -1.91271363e+02] [ 7.18280612e-01 -6.95704146e-01 -8.28875128e-03 -2.81540512e+02] [ 1.15664485e-02 2.84013430e-05 9.99933106e-01 -2.78295061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 878.016559995 meters 0.012671014556309913 Centerline is valid? [True, True] Translation: X:-191.29, Y:-281.52, Z:-2.78 [[-6.94102118e-01 -7.19830790e-01 8.11695284e-03 -1.91291869e+02] [ 7.19782533e-01 -6.94149574e-01 -8.33515308e-03 -2.81521670e+02] [ 1.16342792e-02 5.69934696e-05 9.99932318e-01 -2.78278454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 878.0465599949999 meters 0.012788808473442307 Centerline is valid? [True, True] Translation: X:-191.31, Y:-281.50, Z:-2.78 [[-6.92697820e-01 -7.21185733e-01 7.80187564e-03 -1.91312492e+02] [ 7.21141286e-01 -6.92741750e-01 -8.00708008e-03 -2.81502628e+02] [ 1.11792769e-02 7.97677201e-05 9.99937507e-01 -2.78263555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 878.0765599949999 meters 0.013249795985889932 Centerline is valid? [True, True] Translation: X:-191.33, Y:-281.48, Z:-2.78 [[-6.89627258e-01 -7.24131940e-01 6.86872521e-03 -1.91334321e+02] [ 7.24097674e-01 -6.89661454e-01 -7.04538859e-03 -2.81484561e+02] [ 9.83888592e-03 1.14935936e-04 9.99951591e-01 -2.78243553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 878.106559995 meters 0.01433704507982518 Centerline is valid? [True, True] Translation: X:-191.36, Y:-281.47, Z:-2.78 [[-6.88257485e-01 -7.25438743e-01 6.34535312e-03 -1.91355357e+02] [ 7.25409592e-01 -6.88286724e-01 -6.50466052e-03 -2.81467425e+02] [ 9.08615506e-03 1.26098725e-04 9.99958712e-01 -2.78332066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 878.136559995 meters 0.014573196930108674 Centerline is valid? [True, True] Translation: X:-191.38, Y:-281.45, Z:-2.78 [[-6.85691710e-01 -7.27869309e-01 5.75746122e-03 -1.91375752e+02] [ 7.27845422e-01 -6.85715865e-01 -5.89871131e-03 -2.81447764e+02] [ 8.24147343e-03 1.45844353e-04 9.99966028e-01 -2.78201256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 878.166559995 meters 0.014829487239463845 Centerline is valid? [True, True] Translation: X:-191.40, Y:-281.43, Z:-2.78 [[-6.84731559e-01 -7.28773171e-01 5.68834692e-03 -1.91396042e+02] [ 7.28749911e-01 -6.84755168e-01 -5.82462095e-03 -2.81427968e+02] [ 8.13995243e-03 1.57080528e-04 9.99966858e-01 -2.78220422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 878.1965599949999 meters 0.014899357581161659 Centerline is valid? [True, True] Translation: X:-191.42, Y:-281.41, Z:-2.78 [[-6.84223784e-01 -7.29249913e-01 5.69014148e-03 -1.91415717e+02] [ 7.29226682e-01 -6.84247424e-01 -5.82313426e-03 -2.81408143e+02] [ 8.13998480e-03 1.65076041e-04 9.99966856e-01 -2.78236234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 878.2265599949999 meters 0.015560774724749009 Centerline is valid? [True, True] Translation: X:-191.43, Y:-281.39, Z:-2.78 [[-6.83409334e-01 -7.30009808e-01 6.11249628e-03 -1.91434700e+02] [ 7.29983056e-01 -6.83436643e-01 -6.25248591e-03 -2.81389540e+02] [ 8.74187998e-03 1.89011480e-04 9.99961771e-01 -2.78361467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 878.256559995 meters 0.01582345925662818 Centerline is valid? [True, True] Translation: X:-191.45, Y:-281.37, Z:-2.78 [[-6.83787224e-01 -7.29655789e-01 6.12069912e-03 -1.91453131e+02] [ 7.29628987e-01 -6.83814591e-01 -6.25673852e-03 -2.81371188e+02] [ 8.75068885e-03 1.87561630e-04 9.99961695e-01 -2.78446168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 878.286559995 meters 0.015495574693541483 Centerline is valid? [True, True] Translation: X:-191.47, Y:-281.35, Z:-2.78 [[-6.84348620e-01 -7.29127977e-01 6.27374181e-03 -1.91471430e+02] [ 7.29099832e-01 -6.84377350e-01 -6.40916806e-03 -2.81351301e+02] [ 8.96671054e-03 1.88078786e-04 9.99959781e-01 -2.78478474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 878.3165599949999 meters 0.01556397851188121 Centerline is valid? [True, True] Translation: X:-191.49, Y:-281.33, Z:-2.79 [[-6.85740817e-01 -7.27815671e-01 6.62430939e-03 -1.91488508e+02] [ 7.27784273e-01 -6.85772788e-01 -6.76286674e-03 -2.81330791e+02] [ 9.46489151e-03 1.83494428e-04 9.99955190e-01 -2.78579562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 878.3465599949999 meters 0.014594850599200095 Centerline is valid? [True, True] Translation: X:-191.51, Y:-281.31, Z:-2.79 [[-6.87005640e-01 -7.26622643e-01 6.54114208e-03 -1.91506028e+02] [ 7.26592009e-01 -6.87036758e-01 -6.67420716e-03 -2.81308111e+02] [ 9.34363510e-03 1.67523609e-04 9.99956333e-01 -2.78529393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 878.376559995 meters 0.014119441086353135 Centerline is valid? [True, True] Translation: X:-191.52, Y:-281.29, Z:-2.79 [[-6.88666149e-01 -7.25051661e-01 6.24696538e-03 -1.91523873e+02] [ 7.25023688e-01 -6.88694467e-01 -6.37047691e-03 -2.81286420e+02] [ 8.92117536e-03 1.42066085e-04 9.99960196e-01 -2.78531821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 878.406559995 meters 0.01382204468880699 Centerline is valid? [True, True] Translation: X:-191.54, Y:-281.27, Z:-2.79 [[-6.90654595e-01 -7.23158394e-01 6.17799240e-03 -1.91540367e+02] [ 7.23130987e-01 -6.90682216e-01 -6.29707535e-03 -2.81265930e+02] [ 8.82081238e-03 1.18393718e-04 9.99961089e-01 -2.78574889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 878.4365599949999 meters 0.012711038926529306 Centerline is valid? [True, True] Translation: X:-191.55, Y:-281.24, Z:-2.79 [[-6.95841080e-01 -7.18172782e-01 5.74862679e-03 -1.91554372e+02] [ 7.18148907e-01 -6.95864824e-01 -5.85612484e-03 -2.81240315e+02] [ 8.20597664e-03 5.34378103e-05 9.99966329e-01 -2.78501081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 878.4665599949999 meters 0.012460827861010755 Centerline is valid? [True, True] Translation: X:-191.57, Y:-281.22, Z:-2.79 [[-6.98989010e-01 -7.15109232e-01 5.75754331e-03 -1.91570760e+02] [ 7.15085210e-01 -6.99012722e-01 -5.86152604e-03 -2.81217591e+02] [ 8.21622740e-03 1.99917764e-05 9.99966246e-01 -2.78500807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 878.496559995 meters 0.012476210909760886 Centerline is valid? [True, True] Translation: X:-191.59, Y:-281.20, Z:-2.79 [[-7.02523868e-01 -7.11640713e-01 5.26410312e-03 -1.91585806e+02] [ 7.11620560e-01 -7.02543589e-01 -5.35565759e-03 -2.81195711e+02] [ 7.50956589e-03 -1.64332722e-05 9.99971803e-01 -2.78504883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 878.526559995 meters 0.012744289731612136 Centerline is valid? [True, True] Translation: X:-191.60, Y:-281.17, Z:-2.78 [[-7.06146093e-01 -7.08047568e-01 5.13207205e-03 -1.91602470e+02] [ 7.08028339e-01 -7.06164740e-01 -5.21841787e-03 -2.81172081e+02] [ 7.31897641e-03 -5.13129429e-05 9.99973215e-01 -2.78448273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 878.5565599949999 meters 0.013538570683381058 Centerline is valid? [True, True] Translation: X:-191.62, Y:-281.15, Z:-2.78 [[-7.10882115e-01 -7.03301577e-01 3.67574156e-03 -1.91619059e+02] [ 7.03291660e-01 -7.10891614e-01 -3.73549718e-03 -2.81148453e+02] [ 5.24023491e-03 -7.03797507e-05 9.99986268e-01 -2.78255647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 878.5865599949999 meters 0.013930054017014514 Centerline is valid? [True, True] Translation: X:-191.64, Y:-281.13, Z:-2.78 [[-7.12833160e-01 -7.01326350e-01 3.19950220e-03 -1.91637655e+02] [ 7.01318825e-01 -7.12840337e-01 -3.24958592e-03 -2.81127985e+02] [ 4.55975446e-03 -7.25414806e-05 9.99989602e-01 -2.78220211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 878.616559995 meters 0.01508559403993793 Centerline is valid? [True, True] Translation: X:-191.66, Y:-281.11, Z:-2.78 [[-7.16340625e-01 -6.97744291e-01 3.00228509e-03 -1.91655225e+02] [ 6.97737641e-01 -7.16346911e-01 -3.04748486e-03 -2.81106438e+02] [ 4.27704281e-03 -8.82298941e-05 9.99990850e-01 -2.78241091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 878.646559995 meters 0.015578676119674255 Centerline is valid? [True, True] Translation: X:-191.67, Y:-281.09, Z:-2.78 [[-7.18184762e-01 -6.95845635e-01 3.08232578e-03 -1.91674532e+02] [ 6.95838616e-01 -7.18191369e-01 -3.12698656e-03 -2.81086114e+02] [ 4.38959972e-03 -1.00952789e-04 9.99990361e-01 -2.78252529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 878.6765599949999 meters 0.016368782880884978 Centerline is valid? [True, True] Translation: X:-191.69, Y:-281.07, Z:-2.78 [[-7.20288883e-01 -6.93667072e-01 3.14933439e-03 -1.91693393e+02] [ 6.93659732e-01 -7.20295759e-01 -3.19319418e-03 -2.81065171e+02] [ 4.48346586e-03 -1.15455819e-04 9.99989943e-01 -2.78282994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 878.7065599949999 meters 0.017854993712091278 Centerline is valid? [True, True] Translation: X:-191.71, Y:-281.04, Z:-2.78 [[-7.24898777e-01 -6.88845625e-01 3.66976412e-03 -1.91712000e+02] [ 6.88835608e-01 -7.24908047e-01 -3.71875792e-03 -2.81043966e+02] [ 5.22189166e-03 -1.67858874e-04 9.99986352e-01 -2.78372799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 878.736559995 meters 0.01953354947856111 Centerline is valid? [True, True] Translation: X:-191.73, Y:-281.02, Z:-2.78 [[-7.27453586e-01 -6.86146597e-01 3.75860999e-03 -1.91729992e+02] [ 6.86136065e-01 -7.27463272e-01 -3.80653036e-03 -2.81023610e+02] [ 5.34608858e-03 -1.90156297e-04 9.99985692e-01 -2.78395024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 878.766559995 meters 0.019109728679236337 Centerline is valid? [True, True] Translation: X:-191.75, Y:-281.01, Z:-2.78 [[-7.29711644e-01 -6.83744797e-01 3.73752130e-03 -1.91750781e+02] [ 6.83734363e-01 -7.29721187e-01 -3.78288827e-03 -2.81005525e+02] [ 5.31387865e-03 -2.04945869e-04 9.99985860e-01 -2.78340934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 878.7965599949999 meters 0.020979809107921202 Centerline is valid? [True, True] Translation: X:-191.77, Y:-280.99, Z:-2.78 [[-7.34159829e-01 -6.78969730e-01 3.07428153e-03 -1.91770923e+02] [ 6.78962637e-01 -7.34166240e-01 -3.10977187e-03 -2.80986680e+02] [ 4.36847467e-03 -1.95747290e-04 9.99990439e-01 -2.78302402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 878.8265599949999 meters 0.022118949503114087 Centerline is valid? [True, True] Translation: X:-191.79, Y:-280.97, Z:-2.78 [[-7.36182841e-01 -6.76776732e-01 2.84261160e-03 -1.91790749e+02] [ 6.76770657e-01 -7.36188304e-01 -2.87380410e-03 -2.80966773e+02] [ 4.03762117e-03 -1.91849145e-04 9.99991831e-01 -2.78295071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 878.856559995 meters 0.02253005328954331 Centerline is valid? [True, True] Translation: X:-191.81, Y:-280.95, Z:-2.78 [[-7.38125783e-01 -6.74657970e-01 2.63668417e-03 -1.91810854e+02] [ 6.74652736e-01 -7.38130469e-01 -2.66400999e-03 -2.80947982e+02] [ 3.74351250e-03 -1.87528273e-04 9.99992976e-01 -2.78233382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 878.886559995 meters 0.02466241511910492 Centerline is valid? [True, True] Translation: X:-191.83, Y:-280.93, Z:-2.78 [[-7.41174354e-01 -6.71308084e-01 2.45611735e-03 -1.91829709e+02] [ 6.71303528e-01 -7.41178400e-01 -2.48045128e-03 -2.80929469e+02] [ 3.48556812e-03 -1.89646637e-04 9.99993908e-01 -2.78197690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 878.916559995 meters 0.025951154065532736 Centerline is valid? [True, True] Translation: X:-191.85, Y:-280.91, Z:-2.78 [[-7.42103398e-01 -6.70281359e-01 2.33370781e-03 -1.91849194e+02] [ 6.70277246e-01 -7.42107045e-01 -2.35545532e-03 -2.80910215e+02] [ 3.31067880e-03 -1.83760153e-04 9.99994503e-01 -2.78204850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 878.9465599949999 meters 0.026317213136726556 Centerline is valid? [True, True] Translation: X:-191.87, Y:-280.89, Z:-2.78 [[-7.42825446e-01 -6.69481444e-01 2.22562075e-03 -1.91870180e+02] [ 6.69477703e-01 -7.42828759e-01 -2.24513374e-03 -2.80891962e+02] [ 3.15633048e-03 -1.77739005e-04 9.99995003e-01 -2.78184337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 878.9765599949999 meters 0.026915084550418213 Centerline is valid? [True, True] Translation: X:-191.89, Y:-280.87, Z:-2.78 [[-7.43139979e-01 -6.69132563e-01 2.14127288e-03 -1.91890788e+02] [ 6.69129103e-01 -7.43143044e-01 -2.15873017e-03 -2.80874213e+02] [ 3.03574870e-03 -1.71450687e-04 9.99995378e-01 -2.78201404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 879.006559995 meters 0.02726204075629356 Centerline is valid? [True, True] Translation: X:-191.91, Y:-280.86, Z:-2.78 [[-7.42387617e-01 -6.69968249e-01 1.78085736e-03 -1.91914253e+02] [ 6.69965861e-01 -7.42389740e-01 -1.79439962e-03 -2.80858599e+02] [ 2.52428100e-03 -1.39026424e-04 9.99996804e-01 -2.78188289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 879.036559995 meters 0.02622564512481985 Centerline is valid? [True, True] Translation: X:-191.94, Y:-280.84, Z:-2.78 [[-7.41325310e-01 -6.71144014e-01 1.58010053e-03 -1.91937102e+02] [ 6.71142139e-01 -7.41326984e-01 -1.59123507e-03 -2.80841764e+02] [ 2.23931905e-03 -1.19150781e-04 9.99997486e-01 -2.78179298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 879.0665599949999 meters 0.02482382113014809 Centerline is valid? [True, True] Translation: X:-191.96, Y:-280.83, Z:-2.78 [[-7.40091465e-01 -6.72504179e-01 1.65934916e-03 -1.91960343e+02] [ 6.72502116e-01 -7.40093315e-01 -1.67010665e-03 -2.80825362e+02] [ 2.35122692e-03 -1.20115859e-04 9.99997229e-01 -2.78149129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 879.0965599949999 meters 0.024256043370277217 Centerline is valid? [True, True] Translation: X:-191.98, Y:-280.81, Z:-2.78 [[-7.35857086e-01 -6.77134589e-01 1.75990054e-03 -1.91984160e+02] [ 6.77132284e-01 -7.35859182e-01 -1.77025698e-03 -2.80811428e+02] [ 2.49374120e-03 -1.10970667e-04 9.99996885e-01 -2.78139121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 879.126559995 meters 0.019994267235901912 Centerline is valid? [True, True] Translation: X:-192.01, Y:-280.80, Z:-2.78 [[-7.33288075e-01 -6.79915795e-01 1.76356404e-03 -1.92011133e+02] [ 6.79913491e-01 -7.33290189e-01 -1.77327040e-03 -2.80798749e+02] [ 2.49887876e-03 -1.01247059e-04 9.99996873e-01 -2.78122633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 879.156559995 meters 0.017737872275753724 Centerline is valid? [True, True] Translation: X:-192.04, Y:-280.79, Z:-2.78 [[-7.27290110e-01 -6.86327550e-01 1.89472438e-03 -1.92038824e+02] [ 6.86324914e-01 -7.27292573e-01 -1.90405466e-03 -2.80788186e+02] [ 2.68482414e-03 -8.44035802e-05 9.99996392e-01 -2.78147808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 879.1865599949999 meters 0.017737872275753724 Centerline is valid? [True, True] Translation: X:-192.06, Y:-280.77, Z:-2.78 [[-7.27480085e-01 -6.86126179e-01 1.89525143e-03 -1.92058334e+02] [ 6.86123544e-01 -7.27482549e-01 -1.90353004e-03 -2.80768676e+02] [ 2.68482414e-03 -8.44035658e-05 9.99996392e-01 -2.78147804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 879.2165599949999 meters 0.01653529433652243 Centerline is valid? [True, True] Translation: X:-192.08, Y:-280.75, Z:-2.78 [[-7.24287337e-01 -6.89495773e-01 1.85279349e-03 -1.92082065e+02] [ 6.89493269e-01 -7.24289703e-01 -1.85974613e-03 -2.80754001e+02] [ 2.62424635e-03 -6.95019347e-05 9.99996554e-01 -2.78154275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 879.246559995 meters 0.015152469162574638 Centerline is valid? [True, True] Translation: X:-192.11, Y:-280.74, Z:-2.78 [[-7.21244821e-01 -6.92678027e-01 1.74920349e-03 -1.92106909e+02] [ 6.92675806e-01 -7.21246940e-01 -1.75481867e-03 -2.80738957e+02] [ 2.47713200e-03 -5.40229385e-05 9.99996931e-01 -2.78204088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 879.276559995 meters 0.013938890670467143 Centerline is valid? [True, True] Translation: X:-192.13, Y:-280.72, Z:-2.78 [[-7.18207312e-01 -6.95826440e-01 1.95488308e-03 -1.92131393e+02] [ 6.95823681e-01 -7.18209971e-01 -1.96004912e-03 -2.80723733e+02] [ 2.76787052e-03 -4.74676667e-05 9.99996168e-01 -2.78230069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 879.3065599949999 meters 0.012394918102192922 Centerline is valid? [True, True] Translation: X:-192.16, Y:-280.71, Z:-2.78 [[-7.12091920e-01 -7.02082034e-01 2.43203424e-03 -1.92159393e+02] [ 7.02077805e-01 -7.12096072e-01 -2.43714995e-03 -2.80711697e+02] [ 3.44292123e-03 -2.79975233e-05 9.99994073e-01 -2.78279555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 879.3365599949999 meters 0.011986147525436554 Centerline is valid? [True, True] Translation: X:-192.18, Y:-280.70, Z:-2.78 [[-7.09285237e-01 -7.04915157e-01 3.01235227e-03 -1.92183379e+02] [ 7.04908701e-01 -7.09291633e-01 -3.01700265e-03 -2.80695721e+02] [ 4.26336716e-03 -1.64821104e-05 9.99990912e-01 -2.78304541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 879.366559995 meters 0.012127448436695009 Centerline is valid? [True, True] Translation: X:-192.21, Y:-280.69, Z:-2.78 [[-7.03297070e-01 -7.10884878e-01 3.99014917e-03 -1.92209398e+02] [ 7.10873660e-01 -7.03308389e-01 -3.99367658e-03 -2.80685262e+02] [ 5.64534967e-03 2.77509033e-05 9.99984065e-01 -2.78397702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 879.396559995 meters 0.012626537983176764 Centerline is valid? [True, True] Translation: X:-192.23, Y:-280.67, Z:-2.78 [[-7.00691659e-01 -7.13450490e-01 4.42692749e-03 -1.92232420e+02] [ 7.13436749e-01 -7.00705641e-01 -4.42826294e-03 -2.80670352e+02] [ 6.26131943e-03 5.54858516e-05 9.99980396e-01 -2.78493753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 879.4265599949999 meters 0.013207895181329204 Centerline is valid? [True, True] Translation: X:-192.26, Y:-280.65, Z:-2.79 [[-6.98023533e-01 -7.16058871e-01 4.77912409e-03 -1.92255614e+02] [ 7.16042936e-01 -6.98039888e-01 -4.77794253e-03 -2.80653566e+02] [ 6.75730738e-03 8.69417183e-05 9.99977166e-01 -2.78508703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 879.4565599949999 meters 0.014273918478234586 Centerline is valid? [True, True] Translation: X:-192.64, Y:-281.03, Z:-1.80 [[-7.66028902e-01 6.42783109e-01 5.44023556e-03 -1.92640852e+02] [ 6.42765809e-01 7.66048211e-01 -4.71732788e-03 -2.81027866e+02] [-7.19970140e-03 -1.16812090e-04 -9.99974075e-01 -1.79878184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 879.486559995 meters 0.015494444979830968 Centerline is valid? [True, True] Translation: X:-192.63, Y:-280.99, Z:-1.80 [[-8.12422170e-01 5.83028587e-01 6.91988549e-03 -1.92628529e+02] [ 5.83005517e-01 8.12451619e-01 -5.18982001e-03 -2.80994906e+02] [-8.64788560e-03 -1.81993424e-04 -9.99962590e-01 -1.79798637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 879.516559995 meters 0.016282373103255338 Centerline is valid? [True, True] Translation: X:-192.62, Y:-280.97, Z:-1.80 [[-8.52207556e-01 5.23145976e-01 7.78262491e-03 -1.92615552e+02] [ 5.23121963e-01 8.52243067e-01 -5.01658730e-03 -2.80967446e+02] [-9.25709559e-03 -2.03911581e-04 -9.99957132e-01 -1.79752333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 879.5465599949999 meters 0.016419816956232063 Centerline is valid? [True, True] Translation: X:-192.60, Y:-280.94, Z:-1.80 [[-8.87158927e-01 4.61386638e-01 8.45040079e-03 -1.92604145e+02] [ 4.61363407e-01 8.87199146e-01 -4.63482123e-03 -2.80940965e+02] [-9.63563295e-03 -2.13117332e-04 -9.99953554e-01 -1.79705837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 879.5765599949999 meters 0.015975872949838713 Centerline is valid? [True, True] Translation: X:-192.36, Y:-280.49, Z:-2.79 [[-8.31380610e-01 -5.55641023e-01 8.32672028e-03 -1.92359055e+02] [ 5.55615925e-01 -8.31422275e-01 -5.28624688e-03 -2.80491646e+02] [ 9.86027634e-03 2.31575235e-04 9.99951360e-01 -2.78741779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 879.606559995 meters 0.014475189306790166 Centerline is valid? [True, True] Translation: X:-192.65, Y:-280.92, Z:-1.80 [[-8.86963359e-01 4.61757059e-01 8.74176740e-03 -1.92645605e+02] [ 4.61732602e-01 8.87006418e-01 -4.75590158e-03 -2.80923119e+02] [-9.95007492e-03 -1.81951436e-04 -9.99950480e-01 -1.79814244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 879.636559995 meters 0.013855474008915571 Centerline is valid? [True, True] Translation: X:-192.63, Y:-280.90, Z:-1.80 [[-9.15808335e-01 4.01511618e-01 9.13864598e-03 -1.92633260e+02] [ 4.01490076e-01 9.15853919e-01 -4.16146616e-03 -2.80901560e+02] [-1.00405417e-02 -1.42029724e-04 -9.99949583e-01 -1.79798097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 879.666559995 meters 0.012858702881157182 Centerline is valid? [True, True] Translation: X:-192.63, Y:-280.88, Z:-1.80 [[-9.41359211e-01 3.37278718e-01 9.26833762e-03 -1.92628933e+02] [ 3.37261092e-01 9.41404829e-01 -3.45020172e-03 -2.80876761e+02] [-9.88893740e-03 -1.22029506e-04 -9.99951096e-01 -1.79934354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 879.6965599949999 meters 0.013448732473483807 Centerline is valid? [True, True] Translation: X:-192.62, Y:-280.85, Z:-1.80 [[-9.62516391e-01 2.71050639e-01 9.68239516e-03 -1.92621434e+02] [ 2.71035777e-01 9.62565083e-01 -2.84057314e-03 -2.80849063e+02] [-1.00898747e-02 -1.09822717e-04 -9.99949090e-01 -1.79758347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 879.7265599949999 meters 0.013031686465825493 Centerline is valid? [True, True] Translation: X:-192.62, Y:-280.82, Z:-1.80 [[-9.79068692e-01 2.03273242e-01 1.02218015e-02 -1.92623072e+02] [ 2.03261086e-01 9.79122045e-01 -2.22530589e-03 -2.80821782e+02] [-1.04607363e-02 -1.01032858e-04 -9.99945280e-01 -1.79781482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 879.756559995 meters 0.012791602458351177 Centerline is valid? [True, True] Translation: X:-192.51, Y:-280.30, Z:-2.79 [[-9.58275414e-01 -2.85638893e-01 1.08928459e-02 -1.92511866e+02] [ 2.85622367e-01 -9.58337308e-01 -3.07684533e-03 -2.80300542e+02] [ 1.13178873e-02 1.62775189e-04 9.99935938e-01 -2.78722808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 879.786559995 meters 0.012520653367940114 Centerline is valid? [True, True] Translation: X:-192.67, Y:-280.81, Z:-1.80 [[-9.79336134e-01 2.01928502e-01 1.12078647e-02 -1.92673202e+02] [ 2.01914307e-01 9.79400262e-01 -2.39567330e-03 -2.80814978e+02] [-1.14607404e-02 -8.31411897e-05 -9.99934320e-01 -1.79785319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 879.8165599949999 meters 0.012287213354705501 Centerline is valid? [True, True] Translation: X:-192.56, Y:-280.29, Z:-2.79 [[-9.59680249e-01 -2.80876928e-01 1.10441083e-02 -1.92557741e+02] [ 2.80859345e-01 -9.59743791e-01 -3.14391155e-03 -2.80287861e+02] [ 1.14825666e-02 8.46911998e-05 9.99934070e-01 -2.78541633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 879.8465599949999 meters 0.012268183538569058 Centerline is valid? [True, True] Translation: X:-192.72, Y:-280.81, Z:-1.80 [[-9.79796442e-01 1.99671757e-01 1.14070853e-02 -1.92718161e+02] [ 1.99657436e-01 9.79862840e-01 -2.39227779e-03 -2.80811164e+02] [-1.16550493e-02 -6.64358570e-05 -9.99932076e-01 -1.79935897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 879.876559995 meters 0.01215912011585705 Centerline is valid? [True, True] Translation: X:-192.61, Y:-280.27, Z:-2.78 [[-9.61170415e-01 -2.75737986e-01 1.09542641e-02 -1.92605779e+02] [ 2.75720643e-01 -9.61232834e-01 -3.09290682e-03 -2.80273781e+02] [ 1.13824302e-02 4.75062080e-05 9.99935217e-01 -2.78433810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 879.906559995 meters 0.012214076510976578 Centerline is valid? [True, True] Translation: X:-192.77, Y:-280.81, Z:-1.80 [[-9.80418630e-01 1.96599953e-01 1.13034514e-02 -1.92765059e+02] [ 1.96586210e-01 9.80483786e-01 -2.32523772e-03 -2.80805208e+02] [-1.15399924e-02 -5.76037119e-05 -9.99933411e-01 -1.79975256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 879.9365599949999 meters 0.012146931016099543 Centerline is valid? [True, True] Translation: X:-192.65, Y:-280.26, Z:-2.78 [[-9.62524377e-01 -2.70950984e-01 1.15059608e-02 -1.92652657e+02] [ 2.70932672e-01 -9.62593142e-01 -3.15121366e-03 -2.80260480e+02] [ 1.19293834e-02 8.42207457e-05 9.99928839e-01 -2.78466212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 879.9665599949999 meters 0.012199632299309733 Centerline is valid? [True, True] Translation: X:-192.82, Y:-280.80, Z:-1.80 [[-9.80921764e-01 1.94052723e-01 1.16633829e-02 -1.92815022e+02] [ 1.94038470e-01 9.80991100e-01 -2.35234380e-03 -2.80800228e+02] [-1.18981536e-02 -4.43202471e-05 -9.99929214e-01 -1.79898036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 879.996559995 meters 0.012169824665008348 Centerline is valid? [True, True] Translation: X:-192.82, Y:-280.77, Z:-1.80 [[-9.92136075e-01 1.24604191e-01 1.18239309e-02 -1.92816795e+02] [ 1.24594913e-01 9.92206528e-01 -1.52097378e-03 -2.80773642e+02] [-1.19213011e-02 -3.58113118e-05 -9.99928938e-01 -1.79911653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 880.026559995 meters 0.01204801979848583 Centerline is valid? [True, True] Translation: X:-192.82, Y:-280.75, Z:-1.80 [[-9.98353003e-01 5.61054855e-02 1.19773255e-02 -1.92821215e+02] [ 5.61013513e-02 9.98424847e-01 -6.81141740e-04 -2.80750503e+02] [-1.19966751e-02 -8.07575825e-06 -9.99928037e-01 -1.80039891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 880.0565599949999 meters 0.01209142193527112 Centerline is valid? [True, True] Translation: X:-192.83, Y:-280.73, Z:-1.80 [[-9.99843846e-01 -1.32395231e-02 1.17046386e-02 -1.92826445e+02] [-1.32384646e-02 9.99912354e-01 1.67910728e-04 -2.80725386e+02] [-1.17058358e-02 1.29330634e-05 -9.99931484e-01 -1.80059686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 880.0865599949999 meters 0.012298526056481008 Centerline is valid? [True, True] Translation: X:-192.84, Y:-280.70, Z:-1.80 [[-9.96686210e-01 -8.04782569e-02 1.18257494e-02 -1.92835844e+02] [-8.04718777e-02 9.96756363e-01 1.01505800e-03 -2.80703466e+02] [-1.18690810e-02 6.00540568e-05 -9.99929558e-01 -1.80175911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 880.116559995 meters 0.012473331395233088 Centerline is valid? [True, True] Translation: X:-192.85, Y:-280.68, Z:-1.80 [[-9.88646546e-01 -1.49800632e-01 1.17378833e-02 -1.92848130e+02] [-1.49789113e-01 9.88716220e-01 1.85940714e-03 -2.80679614e+02] [-1.18839760e-02 8.00893129e-05 -9.99929380e-01 -1.80222262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 880.146559995 meters 0.012744523620384213 Centerline is valid? [True, True] Translation: X:-192.87, Y:-280.66, Z:-1.80 [[-9.75720546e-01 -2.18742667e-01 1.10027713e-02 -1.92872746e+02] [-2.18727646e-01 9.75782576e-01 2.56527334e-03 -2.80658355e+02] [-1.12974473e-02 9.63796373e-05 -9.99936177e-01 -1.80279481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 880.1765599949999 meters 0.012886837307718266 Centerline is valid? [True, True] Translation: X:-192.91, Y:-280.64, Z:-1.80 [[-9.57839695e-01 -2.87107154e-01 1.06113742e-02 -1.92906988e+02] [-2.87088235e-01 9.57898465e-01 3.29786377e-03 -2.80640289e+02] [-1.11114593e-02 1.12424142e-04 -9.99938260e-01 -1.80321349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 880.2065599949999 meters 0.013586382035871154 Centerline is valid? [True, True] Translation: X:-192.97, Y:-280.64, Z:-1.80 [[-9.35131833e-01 -3.54146949e-01 1.04112052e-02 -1.92965099e+02] [-3.54123315e-01 9.35189777e-01 4.09384881e-03 -2.80635581e+02] [-1.11862767e-02 1.41437842e-04 -9.99937422e-01 -1.80303916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 880.236559995 meters 0.013859429443232877 Centerline is valid? [True, True] Translation: X:-193.03, Y:-280.64, Z:-1.80 [[-9.06850596e-01 -4.21330342e-01 1.01360167e-02 -1.93031993e+02] [-4.21302160e-01 9.06907228e-01 4.87545484e-03 -2.80636232e+02] [-1.12466039e-02 1.50983407e-04 -9.99936744e-01 -1.80295921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 880.266559995 meters 0.013645675888381335 Centerline is valid? [True, True] Translation: X:-193.10, Y:-280.64, Z:-1.80 [[-8.73313429e-01 -4.87066474e-01 9.48184269e-03 -1.93104681e+02] [-4.87035874e-01 8.73364888e-01 5.46169663e-03 -2.80643748e+02] [-1.09413178e-02 1.51775469e-04 -9.99940131e-01 -1.80373186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 880.2965599949999 meters 0.013507417511000862 Centerline is valid? [True, True] Translation: X:-193.19, Y:-280.66, Z:-1.80 [[-8.34656190e-01 -5.50694553e-01 9.19533809e-03 -1.93185318e+02] [-5.50659077e-01 8.34706826e-01 6.25261786e-03 -2.80661795e+02] [-1.11186941e-02 1.55289812e-04 -9.99938173e-01 -1.80439991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 880.3265599949999 meters 0.01342479408757261 Centerline is valid? [True, True] Translation: X:-193.27, Y:-280.69, Z:-1.80 [[-7.90285562e-01 -6.12670254e-01 9.15915772e-03 -1.93269630e+02] [-6.12626923e-01 7.90338622e-01 7.28802500e-03 -2.80690252e+02] [-1.17039922e-02 1.48474323e-04 -9.99931495e-01 -1.80442801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 880.356559995 meters 0.01327537704438747 Centerline is valid? [True, True] Translation: X:-193.36, Y:-280.73, Z:-1.80 [[-7.41194408e-01 -6.71234606e-01 8.65757251e-03 -1.93355260e+02] [-6.71186659e-01 7.41244957e-01 8.02393725e-03 -2.80726276e+02] [-1.18033263e-02 1.36450257e-04 -9.99930329e-01 -1.80433210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 880.386559995 meters 0.013085380561398399 Centerline is valid? [True, True] Translation: X:-193.44, Y:-280.77, Z:-1.80 [[-6.87212019e-01 -7.26411468e-01 8.12523586e-03 -1.93443327e+02] [-7.26358673e-01 6.87260042e-01 8.75862571e-03 -2.80774002e+02] [-1.19465161e-02 1.17197330e-04 -9.99928631e-01 -1.80418217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 880.416559995 meters 0.012529501068620054 Centerline is valid? [True, True] Translation: X:-193.53, Y:-280.83, Z:-1.80 [[-6.27035646e-01 -7.78956469e-01 7.28824659e-03 -1.93530303e+02] [-7.78902641e-01 6.27077998e-01 9.15749828e-03 -2.80830075e+02] [-1.17035916e-02 6.52433316e-05 -9.99931509e-01 -1.80450422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 880.4465599949999 meters 0.01231491736172591 Centerline is valid? [True, True] Translation: X:-193.62, Y:-280.90, Z:-1.80 [[-5.64212392e-01 -8.25603759e-01 6.54295761e-03 -1.93615700e+02] [-8.25547482e-01 5.64250327e-01 9.63970385e-03 -2.80898219e+02] [-1.16504417e-02 3.73181870e-05 -9.99932131e-01 -1.80460006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 880.4765599949999 meters 0.012248320847940938 Centerline is valid? [True, True] Translation: X:-193.69, Y:-280.97, Z:-1.80 [[-4.97835729e-01 -8.67250458e-01 6.01916144e-03 -1.93694676e+02] [-8.67186802e-01 4.97872116e-01 1.05074762e-02 -2.80970896e+02] [-1.21093861e-02 1.12596981e-05 -9.99926679e-01 -1.80436390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 880.506559995 meters 0.012317688195357007 Centerline is valid? [True, True] Translation: X:-193.77, Y:-281.05, Z:-1.80 [[-4.26224326e-01 -9.04602539e-01 5.20303643e-03 -1.93770238e+02] [-9.04536399e-01 4.26256080e-01 1.09388278e-02 -2.81051457e+02] [-1.21131173e-02 -4.39413499e-05 -9.99926633e-01 -1.80322595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 880.536559995 meters 0.012433462738721075 Centerline is valid? [True, True] Translation: X:-193.84, Y:-281.14, Z:-1.80 [[-3.53716152e-01 -9.35342636e-01 4.36326512e-03 -1.93840265e+02] [-9.35274026e-01 3.53743055e-01 1.13290493e-02 -2.81142384e+02] [-1.21400176e-02 -7.35807967e-05 -9.99926305e-01 -1.80338199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 880.5665599949999 meters 0.012941143197212847 Centerline is valid? [True, True] Translation: X:-193.90, Y:-281.24, Z:-1.80 [[-2.76634861e-01 -9.60968435e-01 3.58061918e-03 -1.93904214e+02] [-9.60894192e-01 2.76658000e-01 1.19458233e-02 -2.81239142e+02] [-1.24701661e-02 -1.35965008e-04 -9.99922235e-01 -1.80318267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 880.5965599949999 meters 0.013343012231578449 Centerline is valid? [True, True] Translation: X:-193.96, Y:-281.34, Z:-1.80 [[-1.99653623e-01 -9.79863022e-01 2.62456398e-03 -1.93960425e+02] [-9.79789111e-01 1.99670802e-01 1.20361122e-02 -2.81343204e+02] [-1.23177900e-02 -1.68465801e-04 -9.99924119e-01 -1.80319207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 880.626559995 meters 0.013860031470528666 Centerline is valid? [True, True] Translation: X:-194.01, Y:-281.45, Z:-1.80 [[-1.21698080e-01 -9.92565770e-01 1.66428282e-03 -1.94008711e+02] [-9.92493521e-01 1.21709305e-01 1.19773470e-02 -2.81451559e+02] [-1.20908634e-02 -1.94169780e-04 -9.99926884e-01 -1.80333077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 880.656559995 meters 0.014881826130516683 Centerline is valid? [True, True] Translation: X:-194.05, Y:-281.56, Z:-1.80 [[-4.27468942e-02 -9.99085654e-01 7.47736963e-04 -1.94048660e+02] [-9.99011602e-01 4.27528312e-02 1.21661672e-02 -2.81560966e+02] [-1.21870109e-02 -2.26932041e-04 -9.99925710e-01 -1.80274314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 880.6865599949999 meters 0.015474082965438021 Centerline is valid? [True, True] Translation: X:-194.08, Y:-281.68, Z:-1.80 [[ 3.77486071e-02 -9.99287250e-01 -1.87138592e-04 -1.94078328e+02] [-9.99212269e-01 -3.77480677e-02 1.22443859e-02 -2.81676992e+02] [-1.22427228e-02 -2.75217334e-04 -9.99925017e-01 -1.80363344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 880.7165599949999 meters 0.01658528282305183 Centerline is valid? [True, True] Translation: X:-194.10, Y:-281.79, Z:-1.80 [[ 1.15691648e-01 -9.93284566e-01 -1.10151947e-03 -1.94100817e+02] [-9.93212885e-01 -1.15696536e-01 1.19363742e-02 -2.81790938e+02] [-1.19836583e-02 -2.86895474e-04 -9.99928152e-01 -1.80329162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 880.746559995 meters 0.016544119551590977 Centerline is valid? [True, True] Translation: X:-194.11, Y:-281.91, Z:-1.80 [[ 1.92481425e-01 -9.81298651e-01 -1.96428565e-03 -1.94112172e+02] [-9.81230913e-01 -1.92491225e-01 1.15335640e-02 -2.81908507e+02] [-1.16959786e-02 -2.92579043e-04 -9.99931557e-01 -1.80374833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 880.776559995 meters 0.0174461074883786 Centerline is valid? [True, True] Translation: X:-194.12, Y:-282.03, Z:-1.80 [[ 2.68761230e-01 -9.63202874e-01 -2.76141822e-03 -1.94115602e+02] [-9.63139800e-01 -2.68775244e-01 1.10269632e-02 -2.82025182e+02] [-1.13634035e-02 -3.03988389e-04 -9.99935388e-01 -1.80331936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 880.8065599949999 meters 0.017450726880971386 Centerline is valid? [True, True] Translation: X:-194.11, Y:-282.14, Z:-1.80 [[ 3.42423048e-01 -9.39538399e-01 -3.74864055e-03 -1.94109747e+02] [-9.39471306e-01 -3.42443413e-01 1.12327498e-02 -2.82140311e+02] [-1.18372970e-02 -3.24612184e-04 -9.99929884e-01 -1.80312888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 880.8365599949999 meters 0.017947285163308898 Centerline is valid? [True, True] Translation: X:-194.09, Y:-282.26, Z:-1.80 [[ 4.13844752e-01 -9.10334466e-01 -4.86637978e-03 -1.94094783e+02] [-9.10261231e-01 -4.13873214e-01 1.15522107e-02 -2.82257272e+02] [-1.25304398e-02 -3.51144939e-04 -9.99921429e-01 -1.80272251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 880.866559995 meters 0.01859101941552765 Centerline is valid? [True, True] Translation: X:-194.07, Y:-282.37, Z:-1.80 [[ 4.83753364e-01 -8.75183175e-01 -6.09049125e-03 -1.94073203e+02] [-8.75103226e-01 -4.83791540e-01 1.18359376e-02 -2.82365464e+02] [-1.33051416e-02 -3.95866079e-04 -9.99911404e-01 -1.80178103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 880.896559995 meters 0.01903359352474658 Centerline is valid? [True, True] Translation: X:-194.04, Y:-282.48, Z:-1.80 [[ 5.49772179e-01 -8.35280831e-01 -7.51562810e-03 -1.94042178e+02] [-8.35191682e-01 -5.49823374e-01 1.22111377e-02 -2.82475469e+02] [-1.43319972e-02 -4.36353691e-04 -9.99897197e-01 -1.80115564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 880.9265599949999 meters 0.019599180415227443 Centerline is valid? [True, True] Translation: X:-194.01, Y:-282.58, Z:-1.80 [[ 6.12214837e-01 -7.90639756e-01 -9.04262017e-03 -1.94005116e+02] [-7.90541826e-01 -6.12281430e-01 1.24527865e-02 -2.82578960e+02] [-1.53822965e-02 -4.75211186e-04 -9.99881573e-01 -1.80010787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 880.9565599949999 meters 0.018364659306113564 Centerline is valid? [True, True] Translation: X:-193.95, Y:-282.68, Z:-1.80 [[ 6.70680927e-01 -7.41665921e-01 -1.08975058e-02 -1.93954926e+02] [-7.41555245e-01 -6.70769254e-01 1.28228725e-02 -2.82677598e+02] [-1.68199994e-02 -5.18953405e-04 -9.99858399e-01 -1.80048616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 880.986559995 meters 0.01958053843768333 Centerline is valid? [True, True] Translation: X:-193.91, Y:-282.77, Z:-1.80 [[ 7.24959062e-01 -6.88685928e-01 -1.20851272e-02 -1.93908987e+02] [-6.88578010e-01 -7.25059595e-01 1.22027884e-02 -2.82767575e+02] [-1.71663261e-02 -5.24969217e-04 -9.99852510e-01 -1.79949246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 881.016559995 meters 0.01766244586806709 Centerline is valid? [True, True] Translation: X:-193.84, Y:-282.85, Z:-1.80 [[ 7.73858178e-01 -6.33233620e-01 -1.25976938e-02 -1.93844131e+02] [-6.33139623e-01 -7.73960565e-01 1.09207136e-02 -2.82854878e+02] [-1.66654813e-02 -4.74984406e-04 -9.99861009e-01 -1.80116243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 881.0465599949999 meters 0.016863297978547038 Centerline is valid? [True, True] Translation: X:-193.84, Y:-282.86, Z:-1.80 [[ 8.20041609e-01 -5.72155111e-01 -1.30494494e-02 -1.93842686e+02] [-5.72074151e-01 -8.20145316e-01 9.63468590e-03 -2.82860923e+02] [-1.62149796e-02 -4.35590626e-04 -9.99868434e-01 -1.80204606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 881.0765599949999 meters 0.01700743626495324 Centerline is valid? [True, True] Translation: X:-193.84, Y:-282.87, Z:-1.80 [[ 8.61334761e-01 -5.07868858e-01 -1.31015886e-02 -1.93841606e+02] [-5.07803229e-01 -8.61434311e-01 8.17358605e-03 -2.82867163e+02] [-1.54372678e-02 -3.87164774e-04 -9.99880763e-01 -1.80194626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 881.106559995 meters 0.01700743626495324 Centerline is valid? [True, True] Translation: X:-193.84, Y:-282.87, Z:-1.80 [[ 8.98410770e-01 -4.38942342e-01 -1.37006794e-02 -1.93840726e+02] [-4.38884700e-01 -8.98515148e-01 7.12389241e-03 -2.82874138e+02] [-1.54372460e-02 -3.87163102e-04 -9.99880764e-01 -1.80194648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 881.136559995 meters 0.015915662845220623 Centerline is valid? [True, True] Translation: X:-193.84, Y:-282.88, Z:-1.80 [[ 9.29181861e-01 -3.69389632e-01 -1.31289653e-02 -1.93837929e+02] [-3.69347768e-01 -9.29274552e-01 5.57079873e-03 -2.82878411e+02] [-1.42582086e-02 -3.27131113e-04 -9.99898293e-01 -1.80319236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 881.166559995 meters 0.014935030680852321 Centerline is valid? [True, True] Translation: X:-193.83, Y:-282.88, Z:-1.80 [[ 9.54121942e-01 -2.99178830e-01 -1.19728225e-02 -1.93834302e+02] [-2.99152081e-01 -9.54197029e-01 4.00787915e-03 -2.82879016e+02] [-1.26235042e-02 -2.42310672e-04 -9.99920291e-01 -1.80479442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 881.1965599949999 meters 0.01438240789153114 Centerline is valid? [True, True] Translation: X:-193.83, Y:-282.88, Z:-1.81 [[ 9.74216006e-01 -2.25317386e-01 -1.16296982e-02 -1.93832446e+02] [-2.25298752e-01 -9.74285395e-01 2.90532501e-03 -2.82884340e+02] [-1.19852653e-02 -2.10257635e-04 -9.99928152e-01 -1.80551082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 881.2265599949999 meters 0.015065568554983696 Centerline is valid? [True, True] Translation: X:-193.83, Y:-282.89, Z:-1.80 [[ 9.88564459e-01 -1.50352772e-01 -1.15911485e-02 -1.93831534e+02] [-1.50340256e-01 -9.88632394e-01 1.94867819e-03 -2.82889388e+02] [-1.17523740e-02 -1.83777774e-04 -9.99930922e-01 -1.80398326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 881.256559995 meters 0.014109282825119859 Centerline is valid? [True, True] Translation: X:-193.83, Y:-282.89, Z:-1.81 [[ 9.97271238e-01 -7.28713728e-02 -1.18254033e-02 -1.93832277e+02] [-7.28640983e-02 -9.97341331e-01 1.04541215e-03 -2.82892209e+02] [-1.18701441e-02 -1.80912122e-04 -9.99929531e-01 -1.80536636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 881.286559995 meters 0.014218163668673069 Centerline is valid? [True, True] Translation: X:-193.83, Y:-282.90, Z:-1.80 [[ 9.99912944e-01 5.22403381e-03 -1.21167148e-02 -1.93833980e+02] [ 5.22585546e-03 -9.99986338e-01 1.18685551e-04 -2.82897226e+02] [-1.21159292e-02 -1.81995419e-04 -9.99926583e-01 -1.80483015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 881.3165599949999 meters 0.014379466568059676 Centerline is valid? [True, True] Translation: X:-193.83, Y:-282.90, Z:-1.80 [[ 9.96395019e-01 8.38962684e-02 -1.25849889e-02 -1.93834622e+02] [ 8.38920396e-02 -9.96474475e-01 -8.64488442e-04 -2.82904157e+02] [-1.26131476e-02 -1.94408413e-04 -9.99920432e-01 -1.80369116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 881.3465599949999 meters 0.014954459682796283 Centerline is valid? [True, True] Translation: X:-193.84, Y:-282.91, Z:-1.80 [[ 9.86715264e-01 1.61930819e-01 -1.30919228e-02 -1.93835242e+02] [ 1.61919362e-01 -9.86802091e-01 -1.93746342e-03 -2.82911382e+02] [-1.32328718e-02 -2.08111061e-04 -9.99912420e-01 -1.80221827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 881.376559995 meters 0.014874258525015121 Centerline is valid? [True, True] Translation: X:-193.84, Y:-282.92, Z:-1.80 [[ 9.70918474e-01 2.39068342e-01 -1.27923970e-02 -1.93835678e+02] [ 2.39050454e-01 -9.71002721e-01 -2.93203900e-03 -2.82915863e+02] [-1.31224100e-02 -2.11257482e-04 -9.99913875e-01 -1.80221469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 881.406559995 meters 0.014091562808043741 Centerline is valid? [True, True] Translation: X:-193.83, Y:-282.92, Z:-1.80 [[ 9.49042908e-01 3.14889365e-01 -1.27375653e-02 -1.93833485e+02] [ 3.14864153e-01 -9.49128357e-01 -3.99092137e-03 -2.82924830e+02] [-1.33462831e-02 -2.23047089e-04 -9.99910910e-01 -1.80375510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 881.4365599949999 meters 0.014723078195038921 Centerline is valid? [True, True] Translation: X:-193.83, Y:-282.94, Z:-1.80 [[ 9.20789790e-01 3.89882283e-01 -1.17459559e-02 -1.93830689e+02] [ 3.89853796e-01 -9.20864676e-01 -4.71883478e-03 -2.82937410e+02] [-1.26562259e-02 -2.34150595e-04 -9.99919879e-01 -1.80353182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 881.4665599949999 meters 0.015112932837894982 Centerline is valid? [True, True] Translation: X:-193.83, Y:-282.95, Z:-1.80 [[ 8.86942572e-01 4.61742563e-01 -1.12552230e-02 -1.93828675e+02] [ 4.61708891e-01 -8.87013948e-01 -5.58165912e-03 -2.82946166e+02] [-1.25608294e-02 -2.46025425e-04 -9.99921080e-01 -1.80370678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 881.496559995 meters 0.01591055886277853 Centerline is valid? [True, True] Translation: X:-193.83, Y:-282.96, Z:-1.80 [[ 8.47254719e-01 5.31072056e-01 -1.10414099e-02 -1.93825404e+02] [ 5.31031122e-01 -8.47326618e-01 -6.59930695e-03 -2.82955303e+02] [-1.28603880e-02 -2.72038316e-04 -9.99917265e-01 -1.80284133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 881.526559995 meters 0.015510135951158268 Centerline is valid? [True, True] Translation: X:-193.82, Y:-282.96, Z:-1.80 [[ 8.02803060e-01 5.96147383e-01 -1.07491450e-02 -1.93821187e+02] [ 5.96098661e-01 -8.02874970e-01 -7.62688931e-03 -2.82961919e+02] [-1.31769695e-02 -2.84660843e-04 -9.99913140e-01 -1.80309254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 881.5565599949999 meters 0.015555786272212206 Centerline is valid? [True, True] Translation: X:-193.82, Y:-282.97, Z:-1.80 [[ 7.53700356e-01 6.57140994e-01 -1.00740900e-02 -1.93815910e+02] [ 6.57087272e-01 -7.53767626e-01 -8.40729994e-03 -2.82968301e+02] [-1.31183043e-02 -2.82971355e-04 -9.99913911e-01 -1.80267923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 881.5865599949999 meters 0.01660531085564859 Centerline is valid? [True, True] Translation: X:-193.81, Y:-282.98, Z:-1.80 [[ 7.00114025e-01 7.13967973e-01 -9.49136154e-03 -1.93810421e+02] [ 7.13907791e-01 -7.00178302e-01 -9.27427331e-03 -2.82975438e+02] [-1.32671795e-02 -2.82908138e-04 -9.99911947e-01 -1.80151969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 881.616559995 meters 0.016122904152547527 Centerline is valid? [True, True] Translation: X:-193.81, Y:-282.98, Z:-1.80 [[ 6.43360396e-01 7.65518101e-01 -8.33301666e-03 -1.93809328e+02] [ 7.65458850e-01 -6.43414311e-01 -9.52751469e-03 -2.82976203e+02] [-1.26550671e-02 -2.48955728e-04 -9.99919891e-01 -1.80143248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 881.646559995 meters 0.01574584948063159 Centerline is valid? [True, True] Translation: X:-193.81, Y:-282.98, Z:-1.80 [[ 5.82556192e-01 8.12759145e-01 -7.13123983e-03 -1.93808932e+02] [ 8.12702793e-01 -5.82599798e-01 -9.57322348e-03 -2.82977498e+02] [-1.19353838e-02 -2.18637902e-04 -9.99928747e-01 -1.80207033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 881.6765599949999 meters 0.014677068470368659 Centerline is valid? [True, True] Translation: X:-193.81, Y:-282.98, Z:-1.80 [[ 5.18099440e-01 8.55299917e-01 -5.91807609e-03 -1.93805525e+02] [ 8.55248276e-01 -5.18133203e-01 -9.40050819e-03 -2.82980296e+02] [-1.11066056e-02 -1.91026352e-04 -9.99938302e-01 -1.80421842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 881.7065599949999 meters 0.014430331947916594 Centerline is valid? [True, True] Translation: X:-193.80, Y:-282.98, Z:-1.80 [[ 4.50518850e-01 8.92754553e-01 -4.69833855e-03 -1.93800560e+02] [ 8.92709716e-01 -4.50543319e-01 -8.94873927e-03 -2.82984204e+02] [-1.01058328e-02 -1.62676743e-04 -9.99948922e-01 -1.80498345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 881.736559995 meters 0.013733252039307342 Centerline is valid? [True, True] Translation: X:-193.80, Y:-282.99, Z:-1.81 [[ 3.81471845e-01 9.24373685e-01 -3.53872941e-03 -1.93795662e+02] [ 9.24336848e-01 -3.81488238e-01 -8.25325542e-03 -2.82987933e+02] [-8.97907577e-03 -1.22593416e-04 -9.99959680e-01 -1.80620373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 881.766559995 meters 0.013542306499847157 Centerline is valid? [True, True] Translation: X:-193.79, Y:-282.99, Z:-1.81 [[ 3.08955628e-01 9.51072792e-01 -2.63894557e-03 -1.93789202e+02] [ 9.51040896e-01 -3.08966881e-01 -7.78978676e-03 -2.82991848e+02] [-8.22400103e-03 -1.03046697e-04 -9.99966177e-01 -1.80648531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 881.7965599949999 meters 0.013245953152968977 Centerline is valid? [True, True] Translation: X:-193.78, Y:-283.00, Z:-1.81 [[ 2.35242712e-01 9.71934716e-01 -1.94304840e-03 -1.93782872e+02] [ 9.71904482e-01 -2.35250721e-01 -7.66654739e-03 -2.82995174e+02] [-7.90848709e-03 -8.49580487e-05 -9.99968724e-01 -1.80628966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 881.8265599949999 meters 0.013147473552261998 Centerline is valid? [True, True] Translation: X:-193.78, Y:-283.00, Z:-1.81 [[ 1.59022604e-01 9.87273888e-01 -1.44241053e-03 -1.93775566e+02] [ 9.87238056e-01 -1.59029122e-01 -8.41180629e-03 -2.82998502e+02] [-8.53414199e-03 -8.63352221e-05 -9.99963580e-01 -1.80567359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 881.856559995 meters 0.013110341839914367 Centerline is valid? [True, True] Translation: X:-193.77, Y:-283.00, Z:-1.80 [[ 8.17055419e-02 9.96656171e-01 -8.25814275e-04 -1.93767742e+02] [ 9.96615437e-01 -8.17096690e-02 -9.01116049e-03 -2.83000891e+02] [-9.04850572e-03 -8.67575042e-05 -9.99959058e-01 -1.80491640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 881.886559995 meters 0.013020726680925632 Centerline is valid? [True, True] Translation: X:-193.76, Y:-283.00, Z:-1.80 [[ 4.84692168e-03 9.99988244e-01 -1.38423256e-04 -1.93761215e+02] [ 9.99931466e-01 -4.84812159e-03 -1.06564210e-02 -2.83003517e+02] [-1.06569669e-02 -8.67629313e-05 -9.99943209e-01 -1.80299307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 881.916559995 meters 0.01335596112465904 Centerline is valid? [True, True] Translation: X:-193.75, Y:-283.01, Z:-1.80 [[-7.28556758e-02 9.97342214e-01 7.47183107e-04 -1.93753651e+02] [ 9.97277041e-01 7.28594569e-02 -1.14019164e-02 -2.83006010e+02] [-1.14260519e-02 -8.55457657e-05 -9.99934717e-01 -1.80071298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 881.9465599949999 meters 0.012927848961941373 Centerline is valid? [True, True] Translation: X:-193.75, Y:-283.01, Z:-1.80 [[-1.49828999e-01 9.88710333e-01 1.77423643e-03 -1.93746652e+02] [ 9.88634504e-01 1.49839482e-01 -1.22452669e-02 -2.83006788e+02] [-1.23728726e-02 -8.06247255e-05 -9.99923450e-01 -1.80198599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 881.9765599949999 meters 0.012814188634228483 Centerline is valid? [True, True] Translation: X:-193.74, Y:-283.01, Z:-1.80 [[-2.24312582e-01 9.74512885e-01 2.91600644e-03 -1.93740747e+02] [ 9.74427477e-01 2.24331529e-01 -1.29018676e-02 -2.83009415e+02] [-1.32271884e-02 -5.26144250e-05 -9.99912516e-01 -1.80135264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 882.006559995 meters 0.01276287062680497 Centerline is valid? [True, True] Translation: X:-193.73, Y:-283.01, Z:-1.80 [[-2.98783595e-01 9.54313169e-01 3.83912362e-03 -1.93733803e+02] [ 9.54232850e-01 2.98808256e-01 -1.23811845e-02 -2.83009780e+02] [-1.29626892e-02 -3.58769199e-05 -9.99915980e-01 -1.80179127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 882.036559995 meters 0.012710103637136226 Centerline is valid? [True, True] Translation: X:-193.73, Y:-283.01, Z:-1.80 [[-3.71952762e-01 9.28240202e-01 4.61203430e-03 -1.93727082e+02] [ 9.28167991e-01 3.71981354e-01 -1.15781720e-02 -2.83010753e+02] [-1.24629155e-02 -2.57904601e-05 -9.99922335e-01 -1.80231248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 882.0665599949999 meters 0.012707238151140785 Centerline is valid? [True, True] Translation: X:-193.72, Y:-283.01, Z:-1.80 [[-4.42932598e-01 8.96539050e-01 5.33343463e-03 -1.93720659e+02] [ 8.96473591e-01 4.42964707e-01 -1.08337358e-02 -2.83012138e+02] [-1.20753905e-02 -1.73314377e-05 -9.99927090e-01 -1.80244793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 882.0965599949999 meters 0.01267529446437428 Centerline is valid? [True, True] Translation: X:-193.71, Y:-283.01, Z:-1.80 [[-5.11897978e-01 8.59026197e-01 5.86977675e-03 -1.93714353e+02] [ 8.58969323e-01 5.11931630e-01 -9.88477062e-03 -2.83011528e+02] [-1.14962013e-02 -1.80359315e-05 -9.99933916e-01 -1.80357939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 882.126559995 meters 0.012695149114376563 Centerline is valid? [True, True] Translation: X:-193.71, Y:-283.01, Z:-1.80 [[-5.77954748e-01 8.16042579e-01 6.54367253e-03 -1.93707294e+02] [ 8.15989830e-01 5.77991790e-01 -9.27831061e-03 -2.83009966e+02] [-1.13536855e-02 -2.28734331e-05 -9.99935545e-01 -1.80385023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 882.156559995 meters 0.012624539566927946 Centerline is valid? [True, True] Translation: X:-193.70, Y:-283.01, Z:-1.80 [[-6.40917053e-01 7.67574232e-01 7.42498798e-03 -1.93698486e+02] [ 7.67522081e-01 6.40960060e-01 -8.94745971e-03 -2.83005657e+02] [-1.16269602e-02 -3.57372763e-05 -9.99932404e-01 -1.80382892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 882.1865599949999 meters 0.012683910431483054 Centerline is valid? [True, True] Translation: X:-193.69, Y:-283.00, Z:-1.80 [[-6.99450108e-01 7.14633236e-01 8.29963805e-03 -1.93690181e+02] [ 7.14582201e-01 6.99499347e-01 -8.54066155e-03 -2.83001169e+02] [-1.19090320e-02 -4.29930198e-05 -9.99929084e-01 -1.80379844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 882.2165599949999 meters 0.01270632954221421 Centerline is valid? [True, True] Translation: X:-193.68, Y:-283.00, Z:-1.80 [[-7.53570757e-01 6.57298945e-01 9.44517514e-03 -1.93682951e+02] [ 6.57246471e-01 7.53629945e-01 -8.30553472e-03 -2.82996841e+02] [-1.25773860e-02 -5.10000538e-05 -9.99920900e-01 -1.80339964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 882.246559995 meters 0.012707371705311415 Centerline is valid? [True, True] Translation: X:-193.21, Y:-282.47, Z:-2.78 [[-7.02102318e-01 -7.12022909e-01 8.70124798e-03 -1.93207467e+02] [ 7.11968887e-01 -7.02156233e-01 -8.77085138e-03 -2.82467554e+02] [ 1.23546826e-02 3.69827544e-05 9.99923677e-01 -2.78117064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 882.276559995 meters 0.012712585904893329 Centerline is valid? [True, True] Translation: X:-193.23, Y:-282.45, Z:-2.78 [[-7.02410311e-01 -7.11715305e-01 9.00446285e-03 -1.93226956e+02] [ 7.11657680e-01 -7.02468023e-01 -9.05671861e-03 -2.82447603e+02] [ 1.27711525e-02 4.65626068e-05 9.99918445e-01 -2.78074007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 882.3065599949999 meters 0.012826636057687968 Centerline is valid? [True, True] Translation: X:-193.25, Y:-282.43, Z:-2.78 [[-7.02730875e-01 -7.11401194e-01 8.81240940e-03 -1.93245730e+02] [ 7.11346050e-01 -7.02786126e-01 -8.85769138e-03 -2.82428784e+02] [ 1.24946113e-02 4.40994025e-05 9.99921938e-01 -2.78177204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 882.3365599949999 meters 0.012689114108783865 Centerline is valid? [True, True] Translation: X:-193.26, Y:-282.41, Z:-2.78 [[-7.03402405e-01 -7.10741954e-01 8.42214370e-03 -1.93264932e+02] [ 7.10691600e-01 -7.03452823e-01 -8.46023380e-03 -2.82409281e+02] [ 1.19376239e-02 3.45979779e-05 9.99928744e-01 -2.78112672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 882.366559995 meters 0.012805605560148432 Centerline is valid? [True, True] Translation: X:-193.28, Y:-282.39, Z:-2.78 [[-7.03669943e-01 -7.10480757e-01 8.10587433e-03 -1.93283939e+02] [ 7.10434157e-01 -7.03716628e-01 -8.13730734e-03 -2.82391298e+02] [ 1.14856388e-02 3.27114149e-05 9.99934037e-01 -2.78265050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 882.396559995 meters 0.01265016110488431 Centerline is valid? [True, True] Translation: X:-193.30, Y:-282.37, Z:-2.78 [[-7.03840730e-01 -7.10309435e-01 8.29058524e-03 -1.93303366e+02] [ 7.10260734e-01 -7.03889555e-01 -8.31769327e-03 -2.82371886e+02] [ 1.17437924e-02 3.41458632e-05 9.99931039e-01 -2.78160702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 882.4265599949999 meters 0.012645361530459292 Centerline is valid? [True, True] Translation: X:-193.32, Y:-282.35, Z:-2.78 [[-7.03979888e-01 -7.10168639e-01 8.53358556e-03 -1.93322118e+02] [ 7.10117079e-01 -7.04031607e-01 -8.55747380e-03 -2.82353096e+02] [ 1.20851635e-02 3.55554073e-05 9.99926971e-01 -2.78221232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 882.4565599949999 meters 0.012599406778443555 Centerline is valid? [True, True] Translation: X:-193.34, Y:-282.33, Z:-2.78 [[-7.04296388e-01 -7.09855000e-01 8.51334325e-03 -1.93341089e+02] [ 7.09803725e-01 -7.04347839e-01 -8.53198697e-03 -2.82334024e+02] [ 1.20528285e-02 3.37551433e-05 9.99927362e-01 -2.78172282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 882.486559995 meters 0.012591681056645593 Centerline is valid? [True, True] Translation: X:-193.36, Y:-282.31, Z:-2.78 [[-7.04425786e-01 -7.09720033e-01 9.04363237e-03 -1.93360109e+02] [ 7.09662232e-01 -7.04483835e-01 -9.05774386e-03 -2.82314626e+02] [ 1.27995551e-02 3.74159911e-05 9.99918082e-01 -2.78100577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 882.516559995 meters 0.012534559688161412 Centerline is valid? [True, True] Translation: X:-193.38, Y:-282.29, Z:-2.78 [[-7.04489206e-01 -7.09654629e-01 9.23398671e-03 -1.93379766e+02] [ 7.09594432e-01 -7.04549718e-01 -9.24317978e-03 -2.82294821e+02] [ 1.30652681e-02 4.06651800e-05 9.99914645e-01 -2.78086492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 882.5465599949999 meters 0.012651819106020545 Centerline is valid? [True, True] Translation: X:-193.40, Y:-282.28, Z:-2.78 [[-7.04667585e-01 -7.09477454e-01 9.23781704e-03 -1.93398979e+02] [ 7.09417264e-01 -7.04728132e-01 -9.24151594e-03 -2.82275971e+02] [ 1.30667968e-02 4.12701671e-05 9.99914625e-01 -2.78153203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 882.5765599949999 meters 0.01262948548678828 Centerline is valid? [True, True] Translation: X:-193.42, Y:-282.26, Z:-2.78 [[-7.04601025e-01 -7.09540880e-01 9.44115778e-03 -1.93418744e+02] [ 7.09478087e-01 -7.04664273e-01 -9.43964282e-03 -2.82256414e+02] [ 1.33506591e-02 4.71125585e-05 9.99910875e-01 -2.78126000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 882.606559995 meters 0.012671491001319429 Centerline is valid? [True, True] Translation: X:-193.92, Y:-282.76, Z:-1.80 [[-7.58348128e-01 6.51764552e-01 1.05396697e-02 -1.93923516e+02] [ 6.51700447e-01 7.58421363e-01 -9.14128751e-03 -2.82762069e+02] [-1.39514778e-02 -6.35708084e-05 -9.99902672e-01 -1.80282786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 882.636559995 meters 0.01273030387607013 Centerline is valid? [True, True] Translation: X:-193.45, Y:-282.23, Z:-2.78 [[-7.05944749e-01 -7.08197071e-01 9.94585733e-03 -1.93453496e+02] [ 7.08128148e-01 -7.06014804e-01 -9.88039394e-03 -2.82229237e+02] [ 1.40191886e-02 6.79293139e-05 9.99901724e-01 -2.78172076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 882.666559995 meters 0.012909160555853985 Centerline is valid? [True, True] Translation: X:-193.95, Y:-282.73, Z:-1.80 [[-7.61893489e-01 6.47613964e-01 1.06988814e-02 -1.93954997e+02] [ 6.47548422e-01 7.61968599e-01 -9.21389278e-03 -2.82732705e+02] [-1.41192573e-02 -9.19611492e-05 -9.99900314e-01 -1.80232552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 882.6965599949999 meters 0.012902620588954332 Centerline is valid? [True, True] Translation: X:-193.94, Y:-282.71, Z:-1.80 [[-8.06069679e-01 5.91706875e-01 1.16037207e-02 -1.93936015e+02] [ 5.91643775e-01 8.06153189e-01 -8.64176264e-03 -2.82711880e+02] [-1.44677668e-02 -1.00593723e-04 -9.99895331e-01 -1.80308634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 882.7265599949999 meters 0.012800683565979576 Centerline is valid? [True, True] Translation: X:-193.92, Y:-282.69, Z:-1.80 [[-8.45958790e-01 5.33114346e-01 1.19507104e-02 -1.93919545e+02] [ 5.33059497e-01 8.46043193e-01 -7.64775650e-03 -2.82689015e+02] [-1.41879459e-02 -9.92471395e-05 -9.99899341e-01 -1.80305952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 882.756559995 meters 0.012763492217098129 Centerline is valid? [True, True] Translation: X:-193.91, Y:-282.67, Z:-1.80 [[-8.81399733e-01 4.72206882e-01 1.24567722e-02 -1.93905519e+02] [ 4.72158226e-01 8.81487749e-01 -6.77922121e-03 -2.82665457e+02] [-1.41816870e-02 -9.36362752e-05 -9.99899431e-01 -1.80346459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 882.786559995 meters 0.012829558199777047 Centerline is valid? [True, True] Translation: X:-193.89, Y:-282.64, Z:-1.80 [[-9.12450601e-01 4.08989379e-01 1.27117671e-02 -1.93891316e+02] [ 4.08948380e-01 9.12539139e-01 -5.79159042e-03 -2.82642069e+02] [-1.39686840e-02 -8.60836040e-05 -9.99902430e-01 -1.80326172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 882.8165599949999 meters 0.012743265111783105 Centerline is valid? [True, True] Translation: X:-193.89, Y:-282.61, Z:-1.80 [[-9.38925059e-01 3.43875898e-01 1.30038489e-02 -1.93886592e+02] [ 3.43841786e-01 9.39015101e-01 -4.84416279e-03 -2.82614698e+02] [-1.38766013e-02 -7.70392055e-05 -9.99903713e-01 -1.80348153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 882.8465599949999 meters 0.012623643593735247 Centerline is valid? [True, True] Translation: X:-193.87, Y:-282.59, Z:-1.80 [[-9.60599331e-01 2.77639240e-01 1.28599701e-02 -1.93869959e+02] [ 2.77613559e-01 9.60685406e-01 -3.77655138e-03 -2.82592781e+02] [-1.34029045e-02 -5.76506435e-05 -9.99910176e-01 -1.80461219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 882.876559995 meters 0.012513080666230265 Centerline is valid? [True, True] Translation: X:-193.66, Y:-281.91, Z:-2.78 [[-9.37071646e-01 -3.48916165e-01 1.24193618e-02 -1.93663228e+02] [ 3.48886183e-01 -9.37153940e-01 -4.57428930e-03 -2.81911932e+02] [ 1.32348973e-02 4.65069289e-05 9.99912414e-01 -2.77951712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 882.906559995 meters 0.012562733259118782 Centerline is valid? [True, True] Translation: X:-193.91, Y:-282.58, Z:-1.80 [[-9.61268027e-01 2.75337734e-01 1.23657928e-02 -1.93912761e+02] [ 2.75314466e-01 9.61347560e-01 -3.57967340e-03 -2.82582468e+02] [-1.28734439e-02 -3.65439361e-05 -9.99917133e-01 -1.80462387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 882.9365599949999 meters 0.012602278008075112 Centerline is valid? [True, True] Translation: X:-193.71, Y:-281.90, Z:-2.78 [[-9.38909965e-01 -3.43937474e-01 1.24535734e-02 -1.93709411e+02] [ 3.43908076e-01 -9.38992551e-01 -4.49725745e-03 -2.81898252e+02] [ 1.32405880e-02 6.03646262e-05 9.99912338e-01 -2.78054226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 882.9665599949999 meters 0.012730388143088297 Centerline is valid? [True, True] Translation: X:-193.96, Y:-282.57, Z:-1.80 [[-9.61664275e-01 2.73914566e-01 1.31389432e-02 -1.93962032e+02] [ 2.73888901e-01 9.61754028e-01 -3.74963160e-03 -2.82570426e+02] [-1.36635102e-02 -7.27605608e-06 -9.99906650e-01 -1.80342591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 882.996559995 meters 0.012730388143088297 Centerline is valid? [True, True] Translation: X:-193.76, Y:-281.88, Z:-2.78 [[-9.40706277e-01 -3.38979020e-01 1.28422952e-02 -1.93760401e+02] [ 3.38947528e-01 -9.40793933e-01 -4.62052676e-03 -2.81882967e+02] [ 1.36482150e-02 6.30568604e-06 9.99906859e-01 -2.78094590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 883.026559995 meters 0.012635268111392818 Centerline is valid? [True, True] Translation: X:-194.01, Y:-282.56, Z:-1.80 [[-9.62444680e-01 2.71174336e-01 1.28342201e-02 -1.94005261e+02] [ 2.71150308e-01 9.62530249e-01 -3.60984780e-03 -2.82559472e+02] [-1.33322231e-02 5.72391245e-06 -9.99911122e-01 -1.80407246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 883.0565599949999 meters 0.01271594138050463 Centerline is valid? [True, True] Translation: X:-193.81, Y:-281.87, Z:-2.78 [[-9.42550549e-01 -3.33813401e-01 1.29258196e-02 -1.93805338e+02] [ 3.33782269e-01 -9.42639174e-01 -4.55891742e-03 -2.81870411e+02] [ 1.37062116e-02 1.73992742e-05 9.99906065e-01 -2.78029612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 883.0865599949999 meters 0.012771594751821562 Centerline is valid? [True, True] Translation: X:-194.05, Y:-282.55, Z:-1.80 [[-9.62851929e-01 2.69728315e-01 1.27592843e-02 -1.94050362e+02] [ 2.69705149e-01 9.62936464e-01 -3.53526055e-03 -2.82547920e+02] [-1.32399400e-02 3.73122216e-05 -9.99912348e-01 -1.80377139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 883.116559995 meters 0.01285863387892712 Centerline is valid? [True, True] Translation: X:-194.04, Y:-282.52, Z:-1.80 [[-9.79361489e-01 2.01723928e-01 1.25909179e-02 -1.94040591e+02] [ 2.01707897e-01 9.79442420e-01 -2.54359540e-03 -2.82522221e+02] [-1.28451832e-02 4.85881951e-05 -9.99917496e-01 -1.80386403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 883.146559995 meters 0.012801674369289353 Centerline is valid? [True, True] Translation: X:-194.04, Y:-282.49, Z:-1.81 [[-9.91010919e-01 1.33168679e-01 1.27852321e-02 -1.94038290e+02] [ 1.33158481e-01 9.91093385e-01 -1.64946159e-03 -2.82494976e+02] [-1.28910156e-02 6.78276322e-05 -9.99916905e-01 -1.80513799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 883.1765599949999 meters 0.013076477656817938 Centerline is valid? [True, True] Translation: X:-193.94, Y:-281.78, Z:-2.78 [[-9.82380550e-01 -1.86528614e-01 1.16417733e-02 -1.93938727e+02] [ 1.86514003e-01 -9.82449521e-01 -2.33802360e-03 -2.81779829e+02] [ 1.18735629e-02 -1.25475170e-04 9.99929499e-01 -2.77820545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 883.2065599949999 meters 0.013327136887565632 Centerline is valid? [True, True] Translation: X:-194.10, Y:-282.49, Z:-1.81 [[-9.91125391e-01 1.32479611e-01 1.09367445e-02 -1.94096065e+02] [ 1.32472651e-01 9.91185726e-01 -1.36153258e-03 -2.82490289e+02] [-1.10207203e-02 9.93700253e-05 -9.99939265e-01 -1.80602292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 883.236559995 meters 0.013361541534761504 Centerline is valid? [True, True] Translation: X:-194.10, Y:-282.46, Z:-1.81 [[-9.97975444e-01 6.27181595e-02 1.05568348e-02 -1.94095730e+02] [ 6.27157682e-02 9.98031273e-01 -5.57739542e-04 -2.82461877e+02] [-1.05710317e-02 1.05469636e-04 -9.99944120e-01 -1.80650393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 883.266559995 meters 0.013329895421299818 Centerline is valid? [True, True] Translation: X:-194.10, Y:-282.43, Z:-1.81 [[-9.99914993e-01 -7.82476564e-03 1.04298101e-02 -1.94101095e+02] [-7.82319603e-03 9.99969380e-01 1.91283489e-04 -2.82433079e+02] [-1.04309874e-02 1.09672780e-04 -9.99945590e-01 -1.80697824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 883.2965599949999 meters 0.013409275402680648 Centerline is valid? [True, True] Translation: X:-194.10, Y:-282.40, Z:-1.81 [[-9.96837966e-01 -7.89223182e-02 9.23777871e-03 -1.94103176e+02] [-7.89180105e-02 9.96880764e-01 8.30485285e-04 -2.82403167e+02] [-9.27450772e-03 9.88321463e-05 -9.99956986e-01 -1.80723081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 883.3265599949999 meters 0.013321035715482531 Centerline is valid? [True, True] Translation: X:-194.17, Y:-281.69, Z:-2.78 [[-9.99425514e-01 3.25735938e-02 9.35960664e-03 -1.94165593e+02] [-3.25730453e-02 -9.99469335e-01 2.11068976e-04 -2.81688305e+02] [ 9.36151511e-03 -9.39231713e-05 9.99956176e-01 -2.77692106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 883.356559995 meters 0.013163689401189954 Centerline is valid? [True, True] Translation: X:-194.21, Y:-282.41, Z:-1.81 [[-9.96160333e-01 -8.70721887e-02 9.11176449e-03 -1.94205873e+02] [-8.70678120e-02 9.96202001e-01 8.76672318e-04 -2.82407316e+02] [-9.15349180e-03 7.99647912e-05 -9.99958103e-01 -1.80744552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 883.386559995 meters 0.01306895909013398 Centerline is valid? [True, True] Translation: X:-194.27, Y:-281.70, Z:-2.78 [[-9.99314919e-01 3.59311970e-02 8.86800198e-03 -1.94271733e+02] [-3.59306413e-02 -9.99354261e-01 2.22022452e-04 -2.81701106e+02] [ 8.87025310e-03 -9.67626493e-05 9.99960654e-01 -2.77726237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 883.416559995 meters 0.012874658634076098 Centerline is valid? [True, True] Translation: X:-194.31, Y:-282.41, Z:-1.81 [[-9.95317851e-01 -9.62502379e-02 8.84685123e-03 -1.94308810e+02] [-9.62459810e-02 9.95357167e-01 9.06663902e-04 -2.82412776e+02] [-8.89304339e-03 5.09448908e-05 -9.99960455e-01 -1.80758527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 883.4465599949999 meters 0.012629582908466885 Centerline is valid? [True, True] Translation: X:-194.32, Y:-282.38, Z:-1.81 [[-9.85297821e-01 -1.70598843e-01 9.17818400e-03 -1.94324802e+02] [-1.70591257e-01 9.85340568e-01 1.60889981e-03 -2.82382976e+02] [-9.31811348e-03 1.95275291e-05 -9.99956585e-01 -1.80717442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 883.4765599949999 meters 0.012525494747879515 Centerline is valid? [True, True] Translation: X:-194.35, Y:-282.36, Z:-1.81 [[-9.70030495e-01 -2.42812264e-01 9.11283826e-03 -1.94350744e+02] [-2.42801521e-01 9.70073299e-01 2.28401027e-03 -2.82357547e+02] [-9.39470678e-03 2.94861459e-06 -9.99955869e-01 -1.80731422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 883.506559995 meters 0.012592456559301713 Centerline is valid? [True, True] Translation: X:-194.39, Y:-282.34, Z:-1.81 [[-9.49266484e-01 -3.14354091e-01 8.63994014e-03 -1.94394298e+02] [-3.14341224e-01 9.49305802e-01 2.84423045e-03 -2.82338808e+02] [-9.09604078e-03 -1.59567140e-05 -9.99958630e-01 -1.80761577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 883.536559995 meters 0.01253134205145394 Centerline is valid? [True, True] Translation: X:-194.45, Y:-282.33, Z:-1.81 [[-9.22966674e-01 -3.84795494e-01 8.05892068e-03 -1.94453575e+02] [-3.84781095e-01 9.23001857e-01 3.32894670e-03 -2.82328908e+02] [-8.71936244e-03 -2.84134592e-05 -9.99961985e-01 -1.80762541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 883.5665599949999 meters 0.01267895884083644 Centerline is valid? [True, True] Translation: X:-194.52, Y:-282.33, Z:-1.81 [[-8.90544600e-01 -4.54846877e-01 6.68087943e-03 -1.94523068e+02] [-4.54834495e-01 8.90569658e-01 3.35651581e-03 -2.82326347e+02] [-7.47648925e-03 -4.95673853e-05 -9.99972050e-01 -1.80860684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 883.5965599949999 meters 0.01290489130185075 Centerline is valid? [True, True] Translation: X:-194.60, Y:-282.34, Z:-1.81 [[-8.53638190e-01 -5.20834964e-01 5.72551088e-03 -1.94601160e+02] [-5.20823667e-01 8.53657389e-01 3.43077298e-03 -2.82335038e+02] [-6.67449119e-03 -5.33427372e-05 -9.99977724e-01 -1.80879293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 883.626559995 meters 0.012911525975897844 Centerline is valid? [True, True] Translation: X:-194.68, Y:-282.35, Z:-1.81 [[-8.11671031e-01 -5.84095561e-01 4.74486474e-03 -1.94679228e+02] [-5.84085960e-01 8.11684898e-01 3.34931228e-03 -2.82351600e+02] [-5.80765349e-03 -5.28691306e-05 -9.99983134e-01 -1.80969079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 883.656559995 meters 0.013221219293102599 Centerline is valid? [True, True] Translation: X:-194.77, Y:-282.38, Z:-1.81 [[-7.64430152e-01 -6.44695222e-01 3.82266894e-03 -1.94766262e+02] [-6.44687513e-01 7.64439708e-01 3.15326265e-03 -2.82379606e+02] [-4.95509329e-03 -5.39778806e-05 -9.99987722e-01 -1.80997493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 883.6865599949999 meters 0.013354200664740334 Centerline is valid? [True, True] Translation: X:-194.85, Y:-282.42, Z:-1.81 [[-7.13331660e-01 -7.00817685e-01 3.53763095e-03 -1.94851552e+02] [-7.00809452e-01 7.13340430e-01 3.39747322e-03 -2.82416397e+02] [-4.90454450e-03 -5.56799893e-05 -9.99987971e-01 -1.81004241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 883.7165599949999 meters 0.01317187183314956 Centerline is valid? [True, True] Translation: X:-194.94, Y:-282.46, Z:-1.81 [[-6.58032832e-01 -7.52982057e-01 3.28858788e-03 -1.94937561e+02] [-7.52973089e-01 6.58041046e-01 3.67542855e-03 -2.82464712e+02] [-4.93155757e-03 -5.76655192e-05 -9.99987838e-01 -1.81003575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 883.746559995 meters 0.013338168748963188 Centerline is valid? [True, True] Translation: X:-195.02, Y:-282.52, Z:-1.81 [[-5.98688980e-01 -8.00975463e-01 3.13242765e-03 -1.95023999e+02] [-8.00965042e-01 5.98697172e-01 4.08646642e-03 -2.82521900e+02] [-5.14853491e-03 -6.24426280e-05 -9.99986744e-01 -1.80965049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 883.776559995 meters 0.013438589643459176 Centerline is valid? [True, True] Translation: X:-195.11, Y:-282.59, Z:-1.81 [[-5.35628761e-01 -8.44448825e-01 2.83065202e-03 -1.95107513e+02] [-8.44437674e-01 5.35636237e-01 4.34019841e-03 -2.82589564e+02] [-5.18127524e-03 -6.55741110e-05 -9.99986575e-01 -1.80955588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 883.8065599949999 meters 0.013871260977685393 Centerline is valid? [True, True] Translation: X:-195.19, Y:-282.66, Z:-1.81 [[-4.68725919e-01 -8.83339314e-01 2.76925247e-03 -1.95187072e+02] [-8.83324888e-01 4.68734093e-01 5.04908602e-03 -2.82662679e+02] [-5.75809923e-03 -7.95121345e-05 -9.99983419e-01 -1.80880743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 883.8365599949999 meters 0.01402267496901708 Centerline is valid? [True, True] Translation: X:-195.26, Y:-282.74, Z:-1.81 [[-3.99492536e-01 -9.16732891e-01 2.55365712e-03 -1.95260471e+02] [-9.16715566e-01 3.99500688e-01 5.63665856e-03 -2.82744679e+02] [-6.18749807e-03 -8.91742096e-05 -9.99980853e-01 -1.80838124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 883.866559995 meters 0.013951374089877993 Centerline is valid? [True, True] Translation: X:-195.33, Y:-282.84, Z:-1.81 [[-3.27984253e-01 -9.44680057e-01 2.43315089e-03 -1.95329964e+02] [-9.44656390e-01 3.27993261e-01 6.68768551e-03 -2.82839939e+02] [-7.11578022e-03 -1.05036003e-04 -9.99974677e-01 -1.80799492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 883.896559995 meters 0.01421954390270235 Centerline is valid? [True, True] Translation: X:-195.39, Y:-282.93, Z:-1.81 [[-2.54346411e-01 -9.67110989e-01 2.05853245e-03 -1.95389965e+02] [-9.67082893e-01 2.54354715e-01 7.37274726e-03 -2.82931315e+02] [-7.65386233e-03 -1.15539705e-04 -9.99970702e-01 -1.80710508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 883.9265599949999 meters 0.014325421941483738 Centerline is valid? [True, True] Translation: X:-195.44, Y:-283.04, Z:-1.81 [[-1.79594649e-01 -9.83739065e-01 1.79275606e-03 -1.95444669e+02] [-9.83697457e-01 1.79603543e-01 9.04879447e-03 -2.83035471e+02] [-9.22363795e-03 -1.38414514e-04 -9.99957452e-01 -1.80538749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 883.9565599949999 meters 0.013600424129104085 Centerline is valid? [True, True] Translation: X:-195.49, Y:-283.14, Z:-1.81 [[-1.04168911e-01 -9.94558879e-01 1.21433227e-03 -1.95488251e+02] [-9.94506836e-01 1.04175884e-01 1.01754220e-02 -2.83144543e+02] [-1.02465604e-02 -1.47699116e-04 -9.99947492e-01 -1.80575716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 883.986559995 meters 0.013262979866972207 Centerline is valid? [True, True] Translation: X:-195.52, Y:-283.26, Z:-1.81 [[-2.97592987e-02 -9.99557002e-01 4.29695188e-04 -1.95523282e+02] [-9.99504496e-01 2.97621400e-02 1.02458369e-02 -2.83257787e+02] [-1.02540867e-02 -1.24573352e-04 -9.99947418e-01 -1.80595834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 884.016559995 meters 0.012960244359691698 Centerline is valid? [True, True] Translation: X:-195.55, Y:-283.38, Z:-1.81 [[ 4.54040886e-02 -9.98968644e-01 -3.42737581e-04 -1.95549830e+02] [-9.98920493e-01 -4.54052653e-02 9.80868866e-03 -2.83379201e+02] [-9.81413450e-03 -1.02986975e-04 -9.99951835e-01 -1.80644247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 884.0465599949999 meters 0.012837835724686974 Centerline is valid? [True, True] Translation: X:-195.57, Y:-283.49, Z:-1.81 [[ 1.20394498e-01 -9.92725583e-01 -1.03977621e-03 -1.95568302e+02] [-9.92682444e-01 -1.20398960e-01 9.25505475e-03 -2.83488665e+02] [-9.31291760e-03 -8.20900833e-05 -9.99956631e-01 -1.80676469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 884.0765599949999 meters 0.012472806614563771 Centerline is valid? [True, True] Translation: X:-195.58, Y:-283.60, Z:-1.81 [[ 1.94281740e-01 -9.80944345e-01 -1.67262365e-03 -1.95577490e+02] [-9.80905301e-01 -1.94288931e-01 8.75227982e-03 -2.83602643e+02] [-8.91047166e-03 -5.97227483e-05 -9.99960299e-01 -1.80755972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 884.106559995 meters 0.01219461678007413 Centerline is valid? [True, True] Translation: X:-195.58, Y:-283.72, Z:-1.81 [[ 2.67036229e-01 -9.63684006e-01 -2.18827980e-03 -1.95576910e+02] [-9.63650468e-01 -2.67045192e-01 8.03999840e-03 -2.83720840e+02] [-8.33238746e-03 -3.82340025e-05 -9.99965284e-01 -1.80850058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 884.136559995 meters 0.012030397464805428 Centerline is valid? [True, True] Translation: X:-195.57, Y:-283.84, Z:-1.81 [[ 3.36374132e-01 -9.41725158e-01 -2.48412263e-03 -1.95566949e+02] [-9.41699409e-01 -3.36383305e-01 6.96388629e-03 -2.83836207e+02] [-7.39368429e-03 -3.17439851e-06 -9.99972666e-01 -1.80930930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 884.166559995 meters 0.012061088154325345 Centerline is valid? [True, True] Translation: X:-195.55, Y:-283.95, Z:-1.81 [[ 4.05602716e-01 -9.14044670e-01 -2.96277683e-03 -1.95549353e+02] [-9.14020512e-01 -4.05613537e-01 6.64548730e-03 -2.83951258e+02] [-7.27601464e-03 1.26110931e-05 -9.99973530e-01 -1.80926552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 884.1965599949999 meters 0.012176706943168476 Centerline is valid? [True, True] Translation: X:-195.52, Y:-284.06, Z:-1.81 [[ 4.71317532e-01 -8.81955923e-01 -3.67888336e-03 -1.95522844e+02] [-8.81929741e-01 -4.71331888e-01 6.79576850e-03 -2.84062418e+02] [-7.72754332e-03 4.15518125e-05 -9.99970141e-01 -1.80921980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 884.2265599949999 meters 0.012399328740635344 Centerline is valid? [True, True] Translation: X:-195.49, Y:-284.17, Z:-1.81 [[ 5.36157824e-01 -8.44106530e-01 -4.35359128e-03 -1.95489576e+02] [-8.44079538e-01 -5.36175496e-01 6.75068599e-03 -2.84171571e+02] [-8.03258710e-03 5.53442020e-05 -9.99967737e-01 -1.80882616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 884.256559995 meters 0.012567214047765368 Centerline is valid? [True, True] Translation: X:-195.45, Y:-284.28, Z:-1.81 [[ 5.98202675e-01 -8.01328726e-01 -5.08258935e-03 -1.95449787e+02] [-8.01300753e-01 -5.98224262e-01 6.69592329e-03 -2.84276190e+02] [-8.40616395e-03 6.71634493e-05 -9.99964665e-01 -1.80854395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 884.286559995 meters 0.012829441963897346 Centerline is valid? [True, True] Translation: X:-195.40, Y:-284.37, Z:-1.81 [[ 6.56513064e-01 -7.54290478e-01 -6.03916252e-03 -1.95404092e+02] [-7.54259757e-01 -6.56540835e-01 6.80814592e-03 -2.84374939e+02] [-9.10027645e-03 8.54605154e-05 -9.99958588e-01 -1.80815083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 884.3165599949999 meters 0.012750080568195486 Centerline is valid? [True, True] Translation: X:-195.35, Y:-284.47, Z:-1.81 [[ 7.11656552e-01 -7.02495495e-01 -6.71065952e-03 -1.95353272e+02] [-7.02465475e-01 -7.11688184e-01 6.49496755e-03 -2.84469540e+02] [-9.33858253e-03 9.18204152e-05 -9.99956390e-01 -1.80886237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 884.3465599949999 meters 0.012681814514755821 Centerline is valid? [True, True] Translation: X:-195.36, Y:-284.48, Z:-1.81 [[ 7.64236137e-01 -6.44899166e-01 -6.94208009e-03 -1.95356571e+02] [-6.44873636e-01 -7.64267661e-01 5.73897449e-03 -2.84479570e+02] [-9.00666718e-03 9.08327289e-05 -9.99959435e-01 -1.80877336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 884.376559995 meters 0.012973136747376898 Centerline is valid? [True, True] Translation: X:-195.36, Y:-284.49, Z:-1.81 [[ 8.12131923e-01 -5.83430946e-01 -7.07615754e-03 -1.95358799e+02] [-5.83409759e-01 -8.12162745e-01 4.97289493e-03 -2.84487887e+02] [-8.64833232e-03 8.96526403e-05 -9.99962599e-01 -1.80887434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 884.406559995 meters 0.012735996843712427 Centerline is valid? [True, True] Translation: X:-195.36, Y:-284.50, Z:-1.81 [[ 8.55374665e-01 -5.17954646e-01 -7.56092742e-03 -1.95360166e+02] [-5.17935327e-01 -8.55408076e-01 4.47443850e-03 -2.84497544e+02] [-8.78523459e-03 8.87500832e-05 -9.99961405e-01 -1.80938149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 884.4365599949999 meters 0.012725674336116672 Centerline is valid? [True, True] Translation: X:-195.36, Y:-284.51, Z:-1.81 [[ 8.93364099e-01 -4.49268034e-01 -7.66943820e-03 -1.95360846e+02] [-4.49252285e-01 -8.93397015e-01 3.76270616e-03 -2.84507591e+02] [-8.54231680e-03 8.40460436e-05 -9.99963510e-01 -1.80946719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 884.4665599949999 meters 0.012551930503110193 Centerline is valid? [True, True] Translation: X:-195.36, Y:-284.52, Z:-1.81 [[ 9.26417583e-01 -3.76410644e-01 -8.09253858e-03 -1.95361025e+02] [-3.76396948e-01 -9.26452925e-01 3.21179316e-03 -2.84517711e+02] [-8.70630917e-03 7.05451715e-05 -9.99962097e-01 -1.80855398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 884.496559995 meters 0.01242700671252052 Centerline is valid? [True, True] Translation: X:-195.36, Y:-284.53, Z:-1.81 [[ 9.53330380e-01 -3.01814447e-01 -8.32029700e-03 -1.95359475e+02] [-3.01803512e-01 -9.53366685e-01 2.56986668e-03 -2.84526806e+02] [-8.70791686e-03 6.11628814e-05 -9.99962084e-01 -1.80795095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 884.526559995 meters 0.012161593429795533 Centerline is valid? [True, True] Translation: X:-195.36, Y:-284.54, Z:-1.81 [[ 9.74323279e-01 -2.24965224e-01 -9.20848706e-03 -1.95358570e+02] [-2.24955687e-01 -9.74366792e-01 2.07212526e-03 -2.84538004e+02] [-9.43860012e-03 5.25816509e-05 -9.99955454e-01 -1.80790447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 884.5565599949999 meters 0.012184406009800275 Centerline is valid? [True, True] Translation: X:-195.36, Y:-284.55, Z:-1.81 [[ 9.89166630e-01 -1.46482923e-01 -9.59848291e-03 -1.95358959e+02] [-1.46476414e-01 -9.89213198e-01 1.38143936e-03 -2.84547438e+02] [-9.69730325e-03 3.94776396e-05 -9.99952979e-01 -1.80734743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 884.5865599949999 meters 0.011952953153027582 Centerline is valid? [True, True] Translation: X:-195.36, Y:-284.56, Z:-1.81 [[ 9.97833911e-01 -6.50652091e-02 -9.69560953e-03 -1.95359138e+02] [-6.50621871e-02 -9.97881014e-01 6.27110127e-04 -2.84558154e+02] [-9.71586772e-03 5.06581142e-06 -9.99952800e-01 -1.80771207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 884.616559995 meters 0.011978298413086818 Centerline is valid? [True, True] Translation: X:-195.36, Y:-284.57, Z:-1.81 [[ 9.99842985e-01 1.49443471e-02 -9.52214917e-03 -1.95360113e+02] [ 1.49437738e-02 -9.99888327e-01 -1.31362639e-04 -2.84567094e+02] [-9.52304893e-03 -1.09548293e-05 -9.99954655e-01 -1.80776293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 884.646559995 meters 0.012018635453034504 Centerline is valid? [True, True] Translation: X:-195.36, Y:-284.58, Z:-1.81 [[ 9.95447633e-01 9.48856512e-02 -8.98457048e-03 -1.95359385e+02] [ 9.48820206e-02 -9.95488178e-01 -8.30436040e-04 -2.84575230e+02] [-9.02283016e-03 -2.58186106e-05 -9.99959293e-01 -1.80791542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 884.6765599949999 meters 0.012102647189780352 Centerline is valid? [True, True] Translation: X:-195.36, Y:-284.59, Z:-1.81 [[ 9.84474988e-01 1.75358249e-01 -7.64743096e-03 -1.95357781e+02] [ 1.75353309e-01 -9.84504689e-01 -1.31708089e-03 -2.84585043e+02] [-7.75989264e-03 -4.43691282e-05 -9.99969891e-01 -1.80915228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 884.7065599949999 meters 0.012166067469396854 Centerline is valid? [True, True] Translation: X:-195.36, Y:-284.59, Z:-1.81 [[ 9.67425344e-01 2.53071635e-01 -6.55365038e-03 -1.95355019e+02] [ 2.53066157e-01 -9.67447541e-01 -1.66579939e-03 -2.84594889e+02] [-6.76187952e-03 -4.69705683e-05 -9.99977137e-01 -1.80959819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 884.736559995 meters 0.012297801987577097 Centerline is valid? [True, True] Translation: X:-195.35, Y:-284.60, Z:-1.81 [[ 9.44361012e-01 3.28853928e-01 -6.11330319e-03 -1.95352773e+02] [ 3.28847384e-01 -9.44380798e-01 -2.07525391e-03 -2.84604342e+02] [-6.45574155e-03 -5.05548811e-05 -9.99979160e-01 -1.80951569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 884.766559995 meters 0.01232860012581006 Centerline is valid? [True, True] Translation: X:-195.35, Y:-284.61, Z:-1.81 [[ 9.15662037e-01 4.01912757e-01 -5.40090997e-03 -1.95348644e+02] [ 4.01906069e-01 -9.15677964e-01 -2.31902992e-03 -2.84612437e+02] [-5.87754195e-03 -4.72108376e-05 -9.99982726e-01 -1.80990536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 884.7965599949999 meters 0.012481265424005215 Centerline is valid? [True, True] Translation: X:-195.35, Y:-284.62, Z:-1.81 [[ 8.81355871e-01 4.72428293e-01 -4.83078751e-03 -1.95345320e+02] [ 4.72421472e-01 -8.81369109e-01 -2.53905880e-03 -2.84619802e+02] [-5.45723010e-03 -4.43533712e-05 -9.99985108e-01 -1.80936065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 884.8265599949999 meters 0.012462478842395373 Centerline is valid? [True, True] Translation: X:-195.34, Y:-284.62, Z:-1.81 [[ 8.41748704e-01 5.39849529e-01 -4.64822905e-03 -1.95342449e+02] [ 5.39841585e-01 -8.41761536e-01 -2.92895445e-03 -2.84624200e+02] [-5.49389511e-03 -4.38637251e-05 -9.99984908e-01 -1.80924670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 884.856559995 meters 0.01228567093423467 Centerline is valid? [True, True] Translation: X:-195.34, Y:-284.63, Z:-1.81 [[ 7.97181390e-01 6.03719662e-01 -4.93965457e-03 -1.95336697e+02] [ 6.03708433e-01 -7.97196693e-01 -3.68242711e-03 -2.84630905e+02] [-6.16102993e-03 -4.65487589e-05 -9.99981020e-01 -1.80905317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 884.886559995 meters 0.012443138431924116 Centerline is valid? [True, True] Translation: X:-195.33, Y:-284.64, Z:-1.81 [[ 7.47506496e-01 6.64236066e-01 -4.94840002e-03 -1.95330607e+02] [ 6.64221948e-01 -7.47522873e-01 -4.33107313e-03 -2.84638372e+02] [-6.57589717e-03 -4.93305985e-05 -9.99978377e-01 -1.80794449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 884.916559995 meters 0.012443138431924116 Centerline is valid? [True, True] Translation: X:-195.33, Y:-284.64, Z:-1.81 [[ 6.93214103e-01 7.20717075e-01 -4.59414590e-03 -1.95326421e+02] [ 7.20701718e-01 -6.93229324e-01 -4.70515463e-03 -2.84643074e+02] [-6.57588194e-03 -4.93293014e-05 -9.99978378e-01 -1.80794463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 884.9465599949999 meters 0.012507036208176945 Centerline is valid? [True, True] Translation: X:-195.32, Y:-284.65, Z:-1.81 [[ 6.34637028e-01 7.72796030e-01 -4.70520355e-03 -1.95322103e+02] [ 7.72775433e-01 -6.34654467e-01 -5.64255006e-03 -2.84646324e+02] [-7.34671874e-03 -5.50945052e-05 -9.99973011e-01 -1.80740731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 884.9765599949999 meters 0.012441851278304559 Centerline is valid? [True, True] Translation: X:-195.32, Y:-284.65, Z:-1.81 [[ 5.71954679e-01 8.20272725e-01 -4.52800465e-03 -1.95315430e+02] [ 8.20247860e-01 -5.71972599e-01 -6.38705357e-03 -2.84651440e+02] [-7.82902042e-03 -6.09809507e-05 -9.99969351e-01 -1.80681140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 885.006559995 meters 0.012565855848905419 Centerline is valid? [True, True] Translation: X:-195.31, Y:-284.66, Z:-1.81 [[ 5.05181538e-01 8.63000440e-01 -4.67480301e-03 -1.95308308e+02] [ 8.62964930e-01 -5.05203161e-01 -7.82914509e-03 -2.84656507e+02] [-9.11828092e-03 -7.90514981e-05 -9.99958425e-01 -1.80545649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 885.036559995 meters 0.012698710279633013 Centerline is valid? [True, True] Translation: X:-195.30, Y:-284.66, Z:-1.80 [[ 4.35576573e-01 9.00141549e-01 -4.27090536e-03 -1.95301290e+02] [ 9.00100256e-01 -4.35597502e-01 -8.62238387e-03 -2.84660626e+02] [-9.62176168e-03 -8.85345871e-05 -9.99953706e-01 -1.80499230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 885.0665599949999 meters 0.012815250232693443 Centerline is valid? [True, True] Translation: X:-195.29, Y:-284.66, Z:-1.80 [[ 3.62991711e-01 9.31784942e-01 -3.72022701e-03 -1.95294389e+02] [ 9.31738791e-01 -3.63010761e-01 -9.27437274e-03 -2.84663755e+02] [-9.99220330e-03 -9.97593865e-05 -9.99950072e-01 -1.80445938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 885.0965599949999 meters 0.01315189128442692 Centerline is valid? [True, True] Translation: X:-195.29, Y:-284.67, Z:-1.80 [[ 2.87962925e-01 9.57636550e-01 -3.09725544e-03 -1.95288537e+02] [ 9.57585341e-01 -2.87979558e-01 -9.90402505e-03 -2.84667325e+02] [-1.03764026e-02 -1.13894384e-04 -9.99946157e-01 -1.80337091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 885.126559995 meters 0.013427740120912818 Centerline is valid? [True, True] Translation: X:-195.28, Y:-284.67, Z:-1.80 [[ 2.12068023e-01 9.77251980e-01 -2.39197663e-03 -1.95283812e+02] [ 9.77195936e-01 -2.12081480e-01 -1.04665365e-02 -2.84670665e+02] [-1.07357374e-02 -1.17812142e-04 -9.99942364e-01 -1.80235672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 885.156559995 meters 0.013226563076396225 Centerline is valid? [True, True] Translation: X:-195.28, Y:-284.67, Z:-1.80 [[ 1.34869436e-01 9.90862082e-01 -1.60290687e-03 -1.95280371e+02] [ 9.90802384e-01 -1.34878906e-01 -1.08773382e-02 -2.84672613e+02] [-1.09941403e-02 -1.21143487e-04 -9.99939555e-01 -1.80289435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 885.1865599949999 meters 0.013220300272678212 Centerline is valid? [True, True] Translation: X:-195.28, Y:-284.67, Z:-1.80 [[ 5.67936689e-02 9.98385673e-01 -7.26094011e-04 -1.95276924e+02] [ 9.98328641e-01 -5.67981860e-02 -1.06719751e-02 -2.84674112e+02] [-1.06959878e-02 -1.18779827e-04 -9.99942789e-01 -1.80308275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 885.2165599949999 meters 0.013157049592831753 Centerline is valid? [True, True] Translation: X:-195.27, Y:-284.68, Z:-1.80 [[-2.13527188e-02 9.99771999e-01 1.04826237e-04 -1.95272349e+02] [ 9.99721860e-01 2.13526978e-02 -1.00132047e-02 -2.84675442e+02] [-1.00131601e-02 -1.09012064e-04 -9.99949861e-01 -1.80350903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 885.246559995 meters 0.013181666283844137 Centerline is valid? [True, True] Translation: X:-195.27, Y:-284.68, Z:-1.80 [[-9.91652120e-02 9.95070614e-01 8.56536851e-04 -1.95268573e+02] [ 9.95024218e-01 9.91688600e-02 -9.60953873e-03 -2.84677950e+02] [-9.64711139e-03 -1.00657034e-04 -9.99953461e-01 -1.80408631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 885.276559995 meters 0.013215597528924183 Centerline is valid? [True, True] Translation: X:-195.27, Y:-284.68, Z:-1.80 [[-1.76663118e-01 9.84270179e-01 1.53519313e-03 -1.95265402e+02] [ 9.84228194e-01 1.76669762e-01 -9.09163455e-03 -2.84680912e+02] [-9.21984697e-03 -9.51761388e-05 -9.99957492e-01 -1.80470079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 885.3065599949999 meters 0.012812818484006306 Centerline is valid? [True, True] Translation: X:-195.26, Y:-284.68, Z:-1.81 [[-2.52884354e-01 9.67494665e-01 1.89098396e-03 -1.95259680e+02] [ 9.67465287e-01 2.52891412e-01 -7.53997790e-03 -2.84681977e+02] [-7.77310200e-03 -7.72811012e-05 -9.99969786e-01 -1.80660815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 885.3365599949999 meters 0.01309641944420501 Centerline is valid? [True, True] Translation: X:-195.25, Y:-284.68, Z:-1.81 [[-3.28156927e-01 9.44620378e-01 2.31809553e-03 -1.95251041e+02] [ 9.44595184e-01 3.28165106e-01 -6.89938610e-03 -2.84682223e+02] [-7.27801876e-03 -7.44194666e-05 -9.99973512e-01 -1.80659530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 885.366559995 meters 0.013188803326794497 Centerline is valid? [True, True] Translation: X:-195.24, Y:-284.68, Z:-1.81 [[-4.02189597e-01 9.15552934e-01 2.52043479e-03 -1.95244669e+02] [ 9.15533800e-01 4.02197488e-01 -5.91966660e-03 -2.84682248e+02] [-6.43348066e-03 -7.32850854e-05 -9.99979302e-01 -1.80697294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 885.396559995 meters 0.013493118834741255 Centerline is valid? [True, True] Translation: X:-195.24, Y:-284.68, Z:-1.81 [[-4.73698411e-01 8.80682475e-01 2.86260350e-03 -1.95237238e+02] [ 8.80665395e-01 4.73707054e-01 -5.48543691e-03 -2.84682426e+02] [-6.18696362e-03 -7.74469027e-05 -9.99980858e-01 -1.80665896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 885.4265599949999 meters 0.013591738329713478 Centerline is valid? [True, True] Translation: X:-195.23, Y:-284.68, Z:-1.81 [[-5.42427680e-01 8.40095623e-01 3.39953990e-03 -1.95229442e+02] [ 8.40078081e-01 5.42438325e-01 -5.42961963e-03 -2.84680254e+02] [-6.40544041e-03 -8.92970271e-05 -9.99979481e-01 -1.80674800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 885.4565599949999 meters 0.014416265339232213 Centerline is valid? [True, True] Translation: X:-195.22, Y:-284.68, Z:-1.81 [[-6.08702542e-01 7.93386756e-01 4.32095426e-03 -1.95220662e+02] [ 7.93365348e-01 6.08717866e-01 -5.82966593e-03 -2.84678502e+02] [-7.25542180e-03 -1.20437092e-04 -9.99973672e-01 -1.80537916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 885.486559995 meters 0.01437196677719842 Centerline is valid? [True, True] Translation: X:-195.21, Y:-284.68, Z:-1.81 [[-6.69795882e-01 7.42528419e-01 5.00229881e-03 -1.95214037e+02] [ 7.42506193e-01 6.69814548e-01 -5.74676509e-03 -2.84675542e+02] [-7.61774891e-03 -1.34921746e-04 -9.99970976e-01 -1.80544445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 885.516559995 meters 0.014734883155916615 Centerline is valid? [True, True] Translation: X:-195.21, Y:-284.67, Z:-1.81 [[-7.26838444e-01 6.86785957e-01 5.56112041e-03 -1.95207957e+02] [ 6.86764279e-01 7.26859703e-01 -5.45870978e-03 -2.84673322e+02] [-7.79111955e-03 -1.48421266e-04 -9.99969638e-01 -1.80509412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 885.5465599949999 meters 0.014780742757609006 Centerline is valid? [True, True] Translation: X:-195.20, Y:-284.65, Z:-1.80 [[-7.73446824e-01 6.33834231e-01 5.84618640e-03 -1.95197685e+02] [ 6.33814703e-01 7.73468905e-01 -4.97759756e-03 -2.84647254e+02] [-7.67681512e-03 -1.44508130e-04 -9.99970523e-01 -1.80488241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 885.5765599949999 meters 0.014578262589287608 Centerline is valid? [True, True] Translation: X:-195.18, Y:-284.63, Z:-1.81 [[-8.16132029e-01 5.77830534e-01 6.35496483e-03 -1.95177960e+02] [ 5.77811619e-01 8.16156758e-01 -4.67765425e-03 -2.84630356e+02] [-7.88953894e-03 -1.45610937e-04 -9.99968867e-01 -1.80510725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 885.606559995 meters 0.014345503469980467 Centerline is valid? [True, True] Translation: X:-195.15, Y:-284.62, Z:-1.80 [[-8.54282476e-01 5.19762154e-01 6.98240054e-03 -1.95151540e+02] [ 5.19743435e-01 8.54310999e-01 -4.41341674e-03 -2.84616968e+02] [-8.25906857e-03 -1.41247736e-04 -9.99965883e-01 -1.80485314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 885.636559995 meters 0.01409184080924253 Centerline is valid? [True, True] Translation: X:-195.13, Y:-284.60, Z:-1.80 [[-8.88278887e-01 4.59244923e-01 7.39731934e-03 -1.95134795e+02] [ 4.59227761e-01 8.88309678e-01 -3.97236067e-03 -2.84596348e+02] [-8.39539683e-03 -1.31509717e-04 -9.99964750e-01 -1.80467019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 885.666559995 meters 0.013443403100143372 Centerline is valid? [True, True] Translation: X:-194.79, Y:-283.96, Z:-2.78 [[-8.40449532e-01 -5.41833012e-01 7.84667715e-03 -1.94785969e+02] [ 5.41811511e-01 -8.40486139e-01 -4.83081159e-03 -2.83960983e+02] [ 9.21251658e-03 1.91366656e-04 9.99957546e-01 -2.78034581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 885.6965599949999 meters 0.013213978523667043 Centerline is valid? [True, True] Translation: X:-194.79, Y:-283.99, Z:-2.78 [[-8.02529484e-01 -5.96565554e-01 7.48112587e-03 -1.94794998e+02] [ 5.96540882e-01 -8.02564345e-01 -5.42657869e-03 -2.83991774e+02] [ 9.24139481e-03 1.07808035e-04 9.99957292e-01 -2.78063436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 885.7265599949999 meters 0.013464033124973863 Centerline is valid? [True, True] Translation: X:-195.22, Y:-284.58, Z:-1.80 [[-8.55099641e-01 5.18405272e-01 7.78321352e-03 -1.95220817e+02] [ 5.18382663e-01 8.55135055e-01 -4.84271213e-03 -2.84580376e+02] [-9.16618622e-03 -1.06318447e-04 -9.99957984e-01 -1.80289528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 885.756559995 meters 0.013253983791951527 Centerline is valid? [True, True] Translation: X:-194.84, Y:-283.97, Z:-2.78 [[-8.04799082e-01 -5.93505038e-01 7.08576747e-03 -1.94837539e+02] [ 5.93482868e-01 -8.04830271e-01 -5.13041703e-03 -2.83970250e+02] [ 8.74776850e-03 7.63266883e-05 9.99961735e-01 -2.78077675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 885.786559995 meters 0.013547905771634611 Centerline is valid? [True, True] Translation: X:-195.25, Y:-284.56, Z:-1.80 [[-8.57123443e-01 5.15059299e-01 7.30221425e-03 -1.95254308e+02] [ 5.15039589e-01 8.57154542e-01 -4.50701346e-03 -2.84556782e+02] [-8.58050530e-03 -1.02137465e-04 -9.99963182e-01 -1.80360585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 885.8165599949999 meters 0.01349920174962345 Centerline is valid? [True, True] Translation: X:-195.24, Y:-284.53, Z:-1.80 [[-8.91534375e-01 4.52900498e-01 6.89906284e-03 -1.95239325e+02] [ 4.52886117e-01 8.91561064e-01 -3.61038494e-03 -2.84533244e+02] [-7.78608094e-03 -9.42924976e-05 -9.99969684e-01 -1.80436418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 885.8465599949999 meters 0.013325407059032936 Centerline is valid? [True, True] Translation: X:-194.90, Y:-283.90, Z:-2.78 [[-8.46650477e-01 -5.32116570e-01 5.90986404e-03 -1.94904653e+02] [ 5.32103890e-01 -8.46671102e-01 -3.67369250e-03 -2.83900317e+02] [ 6.95854375e-03 3.43281340e-05 9.99975789e-01 -2.77862332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 885.876559995 meters 0.013068889863108965 Centerline is valid? [True, True] Translation: X:-195.28, Y:-284.51, Z:-1.81 [[-8.92846839e-01 4.50319516e-01 6.07096249e-03 -1.95282167e+02] [ 4.50308516e-01 8.92867475e-01 -3.14837924e-03 -2.84513174e+02] [-6.83834156e-03 -7.72143353e-05 -9.99976615e-01 -1.80591950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 885.906559995 meters 0.012828957198061958 Centerline is valid? [True, True] Translation: X:-195.27, Y:-284.49, Z:-1.81 [[-9.21773559e-01 3.87682824e-01 5.96111940e-03 -1.95265464e+02] [ 3.87674288e-01 9.21792832e-01 -2.57335884e-03 -2.84490835e+02] [-6.49256415e-03 -6.10814131e-05 -9.99978921e-01 -1.80548574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 885.9365599949999 meters 0.012648332575329477 Centerline is valid? [True, True] Translation: X:-194.98, Y:-283.83, Z:-2.78 [[-8.85790983e-01 -4.64048315e-01 5.78759033e-03 -1.94978741e+02] [ 4.64038864e-01 -8.85809888e-01 -2.96229911e-03 -2.83831615e+02] [ 6.50135466e-03 6.16890022e-05 9.99978864e-01 -2.77952589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 885.9665599949999 meters 0.012471479450654304 Centerline is valid? [True, True] Translation: X:-195.31, Y:-284.48, Z:-1.80 [[-9.21946865e-01 3.87268887e-01 6.06522334e-03 -1.95305208e+02] [ 3.87260216e-01 9.21966815e-01 -2.59185033e-03 -2.84475947e+02] [-6.59567764e-03 -4.07285927e-05 -9.99978248e-01 -1.80454504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 885.996559995 meters 0.012217722119003245 Centerline is valid? [True, True] Translation: X:-195.29, Y:-284.45, Z:-1.80 [[-9.45710425e-01 3.24936414e-01 6.93677557e-03 -1.95290157e+02] [ 3.24927563e-01 9.45735865e-01 -2.39835059e-03 -2.84454352e+02] [-7.33966888e-03 -1.41955746e-05 -9.99973064e-01 -1.80419338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 886.026559995 meters 0.01223410817252732 Centerline is valid? [True, True] Translation: X:-195.29, Y:-284.43, Z:-1.80 [[-9.65727121e-01 2.59460936e-01 7.15192030e-03 -1.95286007e+02] [ 2.59453852e-01 9.65753604e-01 -1.91732630e-03 -2.84428284e+02] [-7.40446408e-03 3.97926444e-06 -9.99972587e-01 -1.80394419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 886.0565599949999 meters 0.01239078048570683 Centerline is valid? [True, True] Translation: X:-195.27, Y:-284.40, Z:-1.80 [[-9.81202244e-01 1.92842978e-01 7.33092855e-03 -1.95272934e+02] [ 1.92837772e-01 9.81229629e-01 -1.41709826e-03 -2.84404798e+02] [-7.46660175e-03 2.32199394e-05 -9.99972124e-01 -1.80445393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 886.0865599949999 meters 0.012562838968436435 Centerline is valid? [True, True] Translation: X:-195.13, Y:-283.68, Z:-2.78 [[-9.68268606e-01 -2.49801264e-01 7.43199593e-03 -1.95128552e+02] [ 2.49793820e-01 -9.68297128e-01 -1.92861782e-03 -2.83684624e+02] [ 7.67815148e-03 -1.09534390e-05 9.99970523e-01 -2.77976200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 886.116559995 meters 0.013168611667369127 Centerline is valid? [True, True] Translation: X:-195.32, Y:-284.40, Z:-1.81 [[-9.80483311e-01 1.96471666e-01 7.16672249e-03 -1.95321971e+02] [ 1.96467010e-01 9.80509499e-01 -1.35484560e-03 -2.84401821e+02] [-7.29322825e-03 7.96210471e-05 -9.99973401e-01 -1.80530785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 886.146559995 meters 0.013333621480774618 Centerline is valid? [True, True] Translation: X:-195.18, Y:-283.67, Z:-2.78 [[-9.71088274e-01 -2.38615044e-01 7.10098939e-03 -1.95178045e+02] [ 2.38608079e-01 -9.71114234e-01 -1.82480428e-03 -2.83671413e+02] [ 7.33129762e-03 -7.76926013e-05 9.99973123e-01 -2.77903965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 886.1765599949999 meters 0.013813249142076236 Centerline is valid? [True, True] Translation: X:-195.37, Y:-284.39, Z:-1.81 [[-9.80501029e-01 1.96382045e-01 7.19890834e-03 -1.95374513e+02] [ 1.96377567e-01 9.80527450e-01 -1.33061891e-03 -2.84394567e+02] [-7.32003690e-03 1.09030894e-04 -9.99973202e-01 -1.80520727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 886.2065599949999 meters 0.014842063656313352 Centerline is valid? [True, True] Translation: X:-195.37, Y:-284.37, Z:-1.80 [[-9.91755339e-01 1.27933591e-01 7.37182346e-03 -1.95370494e+02] [ 1.27930976e-01 9.91782729e-01 -8.27187159e-04 -2.84368920e+02] [-7.41707221e-03 1.22717285e-04 -9.99972486e-01 -1.80408496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 886.236559995 meters 0.014502734053967663 Centerline is valid? [True, True] Translation: X:-195.37, Y:-284.34, Z:-1.80 [[-9.98233947e-01 5.88607778e-02 8.02473568e-03 -1.95369438e+02] [ 5.88600557e-02 9.98266191e-01 -3.26331040e-04 -2.84339694e+02] [-8.03003042e-03 1.46581668e-04 -9.99967748e-01 -1.80442504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 886.266559995 meters 0.014653200348685344 Centerline is valid? [True, True] Translation: X:-195.33, Y:-283.59, Z:-2.78 [[-9.95929718e-01 -8.98066588e-02 7.66560213e-03 -1.95334044e+02] [ 8.98027476e-02 -9.95959205e-01 -8.53605677e-04 -2.83591910e+02] [ 7.71128648e-03 -1.61739127e-04 9.99970255e-01 -2.77999955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 886.2965599949999 meters 0.014585703813536376 Centerline is valid? [True, True] Translation: X:-195.45, Y:-284.33, Z:-1.80 [[-9.98556809e-01 5.31776812e-02 7.51220565e-03 -1.95450968e+02] [ 5.31771705e-02 9.98585057e-01 -2.67841377e-04 -2.84334119e+02] [-7.51581949e-03 1.32023010e-04 -9.99971747e-01 -1.80441061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 886.3265599949999 meters 0.014393603880996801 Centerline is valid? [True, True] Translation: X:-195.41, Y:-283.59, Z:-2.78 [[-9.96207714e-01 -8.66857014e-02 7.46860585e-03 -1.95412909e+02] [ 8.66822683e-02 -9.96235701e-01 -7.82758089e-04 -2.83591573e+02] [ 7.50834572e-03 -1.32393950e-04 9.99971803e-01 -2.77983060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 886.356559995 meters 0.014330890371013651 Centerline is valid? [True, True] Translation: X:-195.52, Y:-284.33, Z:-1.80 [[-9.98942666e-01 4.53102417e-02 7.78021289e-03 -1.95522385e+02] [ 4.53097799e-02 9.98972957e-01 -2.35689045e-04 -2.84328759e+02] [-7.78290141e-03 1.17079891e-04 -9.99969706e-01 -1.80470852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 886.386559995 meters 0.014139577183691283 Centerline is valid? [True, True] Translation: X:-195.50, Y:-283.59, Z:-2.78 [[-9.96476816e-01 -8.35267773e-02 7.56518583e-03 -1.95497903e+02] [ 8.35234066e-02 -9.96505525e-01 -7.60949614e-04 -2.83590781e+02] [ 7.60230915e-03 -1.26398556e-04 9.99971094e-01 -2.77980367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 886.416559995 meters 0.013495142929270091 Centerline is valid? [True, True] Translation: X:-195.60, Y:-284.32, Z:-1.80 [[-9.99347396e-01 3.54610033e-02 6.87752744e-03 -1.95601857e+02] [ 3.54606564e-02 9.99371058e-01 -1.72412335e-04 -2.84320428e+02] [-6.87931579e-03 7.15818198e-05 -9.99976335e-01 -1.80458983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 886.4465599949999 meters 0.013079439529205285 Centerline is valid? [True, True] Translation: X:-195.61, Y:-284.29, Z:-1.80 [[-9.99259021e-01 -3.78281956e-02 7.10182638e-03 -1.95606616e+02] [-3.78268224e-02 9.99284256e-01 3.27633468e-04 -2.84289563e+02] [-7.10913707e-03 5.87511742e-05 -9.99974728e-01 -1.80422489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 886.4765599949999 meters 0.012505443303880027 Centerline is valid? [True, True] Translation: X:-195.64, Y:-283.57, Z:-2.78 [[-9.99847358e-01 -1.57092234e-02 7.64724112e-03 -1.95643480e+02] [ 1.57085649e-02 -9.99876602e-01 -1.46165924e-04 -2.83571736e+02] [ 7.64859362e-03 -2.60164291e-05 9.99970749e-01 -2.77955069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 886.506559995 meters 0.012337742904327131 Centerline is valid? [True, True] Translation: X:-195.71, Y:-284.29, Z:-1.80 [[-9.98736644e-01 -4.96169806e-02 7.95434637e-03 -1.95707735e+02] [-4.96152484e-02 9.98768319e-01 4.15075488e-04 -2.84286210e+02] [-7.96514395e-03 1.98942289e-05 -9.99968278e-01 -1.80480015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 886.536559995 meters 0.012302926273147153 Centerline is valid? [True, True] Translation: X:-195.72, Y:-284.25, Z:-1.80 [[-9.91994061e-01 -1.26017540e-01 8.20751140e-03 -1.95721187e+02] [-1.26013430e-01 9.92028013e-01 1.01805544e-03 -2.84253707e+02] [-8.27037407e-03 -2.43517096e-05 -9.99965800e-01 -1.80442454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 886.5665599949999 meters 0.01244348657907741 Centerline is valid? [True, True] Translation: X:-195.74, Y:-284.23, Z:-1.80 [[-9.79992702e-01 -1.98866039e-01 8.16100424e-03 -1.95737071e+02] [-1.98859514e-01 9.80026682e-01 1.61144755e-03 -2.84225360e+02] [-8.31846410e-03 -4.36865045e-05 -9.99965400e-01 -1.80424074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 886.5965599949999 meters 0.012885108972883561 Centerline is valid? [True, True] Translation: X:-195.76, Y:-284.20, Z:-1.80 [[-9.62542327e-01 -2.71014623e-01 7.95883256e-03 -1.95764240e+02] [-2.71005889e-01 9.62575228e-01 2.17671378e-03 -2.84199554e+02] [-8.25089633e-03 -6.17113472e-05 -9.99965959e-01 -1.80290589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 886.626559995 meters 0.012951398674150183 Centerline is valid? [True, True] Translation: X:-195.81, Y:-284.18, Z:-1.80 [[-9.39378186e-01 -3.42805013e-01 7.30394141e-03 -1.95810875e+02] [-3.42795311e-01 9.39406577e-01 2.58029778e-03 -2.84181863e+02] [-7.74590962e-03 -7.98814238e-05 -9.99969997e-01 -1.80348363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 886.656559995 meters 0.01306846092965844 Centerline is valid? [True, True] Translation: X:-195.87, Y:-284.18, Z:-1.80 [[-9.11197350e-01 -4.11911397e-01 6.95636363e-03 -1.95873213e+02] [-4.11900110e-01 9.11223899e-01 3.05055921e-03 -2.84175503e+02] [-7.59536489e-03 -8.56654765e-05 -9.99971151e-01 -1.80330770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 886.6865599949999 meters 0.013286625872765325 Centerline is valid? [True, True] Translation: X:-195.94, Y:-284.18, Z:-1.80 [[-8.77977901e-01 -4.78654666e-01 6.67198083e-03 -1.95942586e+02] [-4.78641617e-01 8.78003248e-01 3.53550469e-03 -2.84177388e+02] [-7.55030665e-03 -8.93927059e-05 -9.99971492e-01 -1.80338494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 886.7165599949999 meters 0.013337286675325492 Centerline is valid? [True, True] Translation: X:-196.02, Y:-284.19, Z:-1.80 [[-8.39922418e-01 -5.42676014e-01 5.75117279e-03 -1.96023404e+02] [-5.42663953e-01 8.39942104e-01 3.61885315e-03 -2.84191552e+02] [-6.79451697e-03 -8.13982739e-05 -9.99976914e-01 -1.80432784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 886.746559995 meters 0.013285623114575944 Centerline is valid? [True, True] Translation: X:-196.10, Y:-284.21, Z:-1.80 [[-7.96788891e-01 -6.04233888e-01 5.37332171e-03 -1.96098785e+02] [-6.04220831e-01 7.96807004e-01 3.97306960e-03 -2.84209029e+02] [-6.68216367e-03 -8.09751914e-05 -9.99977671e-01 -1.80474441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 886.776559995 meters 0.013359196369324299 Centerline is valid? [True, True] Translation: X:-196.18, Y:-284.24, Z:-1.80 [[-7.48964583e-01 -6.62591714e-01 4.92693371e-03 -1.96184553e+02] [-6.62578080e-01 7.48980784e-01 4.25138827e-03 -2.84241022e+02] [-6.50711331e-03 -8.03390402e-05 -9.99978825e-01 -1.80498496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 886.8065599949999 meters 0.013359196369324299 Centerline is valid? [True, True] Translation: X:-196.27, Y:-284.28, Z:-1.80 [[-6.96781624e-01 -7.17268628e-01 4.59174665e-03 -1.96270719e+02] [-7.17253809e-01 6.96796749e-01 4.61135589e-03 -2.84283184e+02] [-6.50709505e-03 -8.03397289e-05 -9.99978826e-01 -1.80498572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 886.8365599949999 meters 0.014024750431054587 Centerline is valid? [True, True] Translation: X:-196.36, Y:-284.33, Z:-1.80 [[-6.40103642e-01 -7.68277496e-01 4.12509102e-03 -1.96361060e+02] [-7.68262358e-01 6.40116928e-01 4.82355366e-03 -2.84334762e+02] [-6.34636833e-03 -8.15778920e-05 -9.99979858e-01 -1.80392381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 886.866559995 meters 0.013669145035487995 Centerline is valid? [True, True] Translation: X:-196.44, Y:-284.40, Z:-1.80 [[-5.79773370e-01 -8.14768279e-01 3.93586068e-03 -1.96443941e+02] [-8.14750513e-01 5.79786723e-01 5.38118386e-03 -2.84395346e+02] [-6.66637768e-03 -8.68774060e-05 -9.99977776e-01 -1.80385217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 886.896559995 meters 0.013631615860071375 Centerline is valid? [True, True] Translation: X:-196.52, Y:-284.46, Z:-1.80 [[-5.15805164e-01 -8.56694620e-01 4.40011735e-03 -1.96524442e+02] [-8.56665258e-01 5.15823920e-01 7.09361005e-03 -2.84464585e+02] [-8.34674334e-03 -1.10506968e-04 -9.99965159e-01 -1.80219793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 886.9265599949999 meters 0.013551966334585934 Centerline is valid? [True, True] Translation: X:-196.60, Y:-284.55, Z:-1.80 [[-4.49211445e-01 -8.93416160e-01 4.07946658e-03 -1.96602377e+02] [-8.93381620e-01 4.49229954e-01 7.85682218e-03 -2.84545980e+02] [-8.85203049e-03 -1.15146016e-04 -9.99960814e-01 -1.80171510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 886.9565599949999 meters 0.013278085329002851 Centerline is valid? [True, True] Translation: X:-196.67, Y:-284.63, Z:-1.80 [[-3.80207514e-01 -9.24893315e-01 3.82131824e-03 -1.96673392e+02] [-9.24849761e-01 3.80226697e-01 8.97652999e-03 -2.84633486e+02] [-9.75529979e-03 -1.21201108e-04 -9.99952409e-01 -1.80120977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 886.986559995 meters 0.013355970064211877 Centerline is valid? [True, True] Translation: X:-196.74, Y:-284.73, Z:-1.80 [[-3.08975139e-01 -9.51064447e-01 3.28342508e-03 -1.96738059e+02] [-9.51014788e-01 3.08992562e-01 9.71956398e-03 -2.84726379e+02] [-1.02584857e-02 -1.19482176e-04 -9.99947373e-01 -1.80038616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 887.016559995 meters 0.01288361158292878 Centerline is valid? [True, True] Translation: X:-196.79, Y:-284.82, Z:-1.80 [[-2.37444016e-01 -9.71397925e-01 2.53177857e-03 -1.96792042e+02] [-9.71346913e-01 2.37457495e-01 9.95554034e-03 -2.84819143e+02] [-1.02719810e-02 -9.53518151e-05 -9.99947237e-01 -1.80023441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 887.0465599949999 meters 0.012680590340514086 Centerline is valid? [True, True] Translation: X:-196.84, Y:-284.92, Z:-1.80 [[-1.63511060e-01 -9.86540052e-01 1.69086291e-03 -1.96841474e+02] [-9.86492109e-01 1.63519784e-01 9.72625929e-03 -2.84924374e+02] [-9.87183388e-03 -7.76719447e-05 -9.99951269e-01 -1.80062957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 887.0765599949999 meters 0.012587451992334157 Centerline is valid? [True, True] Translation: X:-196.88, Y:-285.04, Z:-1.80 [[-8.90478462e-02 -9.96026949e-01 8.93099501e-04 -1.96883086e+02] [-9.95983072e-01 8.90523065e-02 9.34919439e-03 -2.85035938e+02] [-9.39158213e-03 -5.69863601e-05 -9.99955897e-01 -1.80094503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 887.106559995 meters 0.01228793345783793 Centerline is valid? [True, True] Translation: X:-196.91, Y:-285.16, Z:-1.80 [[-1.59115099e-02 -9.99873393e-01 1.47517628e-04 -1.96913737e+02] [-9.99840537e-01 1.59121829e-02 8.10569629e-03 -2.85155359e+02] [-8.10701738e-03 -1.85202380e-05 -9.99967138e-01 -1.80164340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 887.136559995 meters 0.012271128619757982 Centerline is valid? [True, True] Translation: X:-196.94, Y:-285.27, Z:-1.80 [[ 5.92492255e-02 -9.98243110e-01 -4.72836428e-04 -1.96937234e+02] [-9.98210884e-01 -5.92511121e-02 8.02105309e-03 -2.85268145e+02] [-8.03497706e-03 -3.25071467e-06 -9.99967719e-01 -1.80246711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 887.166559995 meters 0.012314000080049523 Centerline is valid? [True, True] Translation: X:-196.95, Y:-285.39, Z:-1.80 [[ 1.34165261e-01 -9.90958336e-01 -1.12250767e-03 -1.96952159e+02] [-9.90924384e-01 -1.34169956e-01 8.20293508e-03 -2.85385233e+02] [-8.27937370e-03 1.17712929e-05 -9.99965725e-01 -1.80204743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 887.1965599949999 meters 0.01245642202964445 Centerline is valid? [True, True] Translation: X:-196.96, Y:-285.51, Z:-1.80 [[ 2.07090219e-01 -9.78320398e-01 -1.68513352e-03 -1.96956357e+02] [-9.78289384e-01 -2.07097072e-01 7.79006887e-03 -2.85507175e+02] [-7.97016949e-03 3.53011635e-05 -9.99968237e-01 -1.80192646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 887.2265599949999 meters 0.012501656678707592 Centerline is valid? [True, True] Translation: X:-196.95, Y:-285.63, Z:-1.80 [[ 2.80652205e-01 -9.59806510e-01 -2.40892068e-03 -1.96953933e+02] [-9.59772588e-01 -2.80662539e-01 8.06962060e-03 -2.85625065e+02] [-8.42136818e-03 4.72592137e-05 -9.99964539e-01 -1.80201908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 887.256559995 meters 0.012663923342905843 Centerline is valid? [True, True] Translation: X:-196.94, Y:-285.74, Z:-1.80 [[ 3.52660090e-01 -9.35746522e-01 -3.05078701e-03 -1.96942608e+02] [-9.35712881e-01 -3.52673281e-01 7.93477993e-03 -2.85740711e+02] [-8.50087379e-03 5.63804944e-05 -9.99963865e-01 -1.80157015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 887.286559995 meters 0.012818215814273627 Centerline is valid? [True, True] Translation: X:-196.92, Y:-285.86, Z:-1.80 [[ 4.22455446e-01 -9.06376056e-01 -3.72034256e-03 -1.96921916e+02] [-9.06342311e-01 -4.22471822e-01 7.82147892e-03 -2.85855470e+02] [-8.66094112e-03 6.76775055e-05 -9.99962491e-01 -1.80151891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 887.3165599949999 meters 0.012800856234190226 Centerline is valid? [True, True] Translation: X:-196.89, Y:-285.97, Z:-1.80 [[ 4.90693017e-01 -8.71321309e-01 -4.42032590e-03 -1.96892270e+02] [-8.71287241e-01 -4.90712921e-01 7.70538070e-03 -2.85971713e+02] [-8.88297344e-03 7.03970576e-05 -9.99960543e-01 -1.80170968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 887.3465599949999 meters 0.012758280942797098 Centerline is valid? [True, True] Translation: X:-196.86, Y:-286.08, Z:-1.80 [[ 5.56430556e-01 -8.30877926e-01 -5.18735800e-03 -1.96856853e+02] [-8.30842966e-01 -5.56454731e-01 7.62226076e-03 -2.86081329e+02] [-9.21969811e-03 6.86211122e-05 -9.99957495e-01 -1.80152137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 887.376559995 meters 0.012657360441345453 Centerline is valid? [True, True] Translation: X:-196.81, Y:-286.19, Z:-1.80 [[ 6.20090930e-01 -7.84507419e-01 -5.94542748e-03 -1.96810423e+02] [-7.84472135e-01 -6.20119429e-01 7.44068411e-03 -2.86193227e+02] [-9.52414699e-03 5.01214612e-05 -9.99954643e-01 -1.80075932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 887.406559995 meters 0.01260264467172628 Centerline is valid? [True, True] Translation: X:-196.77, Y:-286.29, Z:-1.80 [[ 6.79191067e-01 -7.33932731e-01 -6.49929929e-03 -1.96767075e+02] [-7.33899653e-01 -6.79222162e-01 6.96811387e-03 -2.86287547e+02] [-9.52859496e-03 3.71527977e-05 -9.99954601e-01 -1.80091810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 887.4365599949999 meters 0.012445657982661283 Centerline is valid? [True, True] Translation: X:-196.71, Y:-286.38, Z:-1.80 [[ 7.34326627e-01 -6.78758627e-01 -7.15058747e-03 -1.96713832e+02] [-6.78726723e-01 -7.34361441e-01 6.58094671e-03 -2.86381274e+02] [-9.71799007e-03 2.07304023e-05 -9.99952779e-01 -1.80115863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 887.4665599949999 meters 0.012407590914719458 Centerline is valid? [True, True] Translation: X:-196.72, Y:-286.39, Z:-1.80 [[ 7.86334649e-01 -6.17753911e-01 -7.61092027e-03 -1.96717228e+02] [-6.17724997e-01 -7.86371481e-01 5.97683154e-03 -2.86390248e+02] [-9.67722170e-03 1.66596866e-06 -9.99953175e-01 -1.80129123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 887.496559995 meters 0.012444754871618816 Centerline is valid? [True, True] Translation: X:-196.72, Y:-286.40, Z:-1.80 [[ 8.34026490e-01 -5.51672370e-01 -7.57696015e-03 -1.96720740e+02] [-5.51649297e-01 -8.34060906e-01 5.04559746e-03 -2.86398942e+02] [-9.10316296e-03 -2.83372001e-05 -9.99958565e-01 -1.80137920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 887.526559995 meters 0.01248318856711252 Centerline is valid? [True, True] Translation: X:-196.72, Y:-286.41, Z:-1.80 [[ 8.75166402e-01 -4.83755530e-01 -8.02223874e-03 -1.96722316e+02] [-4.83734796e-01 -8.75203169e-01 4.47893835e-03 -2.86406997e+02] [-9.18779996e-03 -3.91803344e-05 -9.99957791e-01 -1.80151681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 887.5565599949999 meters 0.01261857682626699 Centerline is valid? [True, True] Translation: X:-196.72, Y:-286.41, Z:-1.80 [[ 9.10768053e-01 -4.12840016e-01 -8.04211140e-03 -1.96722798e+02] [-4.12823462e-01 -9.10803557e-01 3.69729341e-03 -2.86414248e+02] [-8.85117433e-03 -4.74044478e-05 -9.99960827e-01 -1.80172524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 887.5865599949999 meters 0.01266744454555049 Centerline is valid? [True, True] Translation: X:-196.72, Y:-286.42, Z:-1.80 [[ 9.40784325e-01 -3.38923283e-01 -7.47414359e-03 -1.96722133e+02] [-3.38912123e-01 -9.40814012e-01 2.75089026e-03 -2.86422319e+02] [-7.96411977e-03 -5.49165576e-05 -9.99968285e-01 -1.80265087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 887.616559995 meters 0.012507604367178396 Centerline is valid? [True, True] Translation: X:-196.72, Y:-286.43, Z:-1.80 [[ 9.64532031e-01 -2.63860786e-01 -7.44625704e-03 -1.96721896e+02] [-2.63852467e-01 -9.64560772e-01 2.09597271e-03 -2.86432388e+02] [-7.73541245e-03 -5.69195236e-05 -9.99970080e-01 -1.80341637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 887.646559995 meters 0.012650605291518803 Centerline is valid? [True, True] Translation: X:-196.72, Y:-286.44, Z:-1.80 [[ 9.82322245e-01 -1.87062866e-01 -7.10578024e-03 -1.96720772e+02] [-1.87057545e-01 -9.82347943e-01 1.41197863e-03 -2.86442780e+02] [-7.24447737e-03 -5.78282029e-05 -9.99973757e-01 -1.80377380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 887.6765599949999 meters 0.012816642133098301 Centerline is valid? [True, True] Translation: X:-196.72, Y:-286.45, Z:-1.80 [[ 9.94031309e-01 -1.08871110e-01 -6.98840522e-03 -1.96723049e+02] [-1.08867987e-01 -9.94055873e-01 8.26992722e-04 -2.86452001e+02] [-7.03690086e-03 -6.12430520e-05 -9.99975239e-01 -1.80402587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 887.7065599949999 meters 0.012754789268048442 Centerline is valid? [True, True] Translation: X:-196.72, Y:-286.46, Z:-1.80 [[ 9.99519282e-01 -3.02175021e-02 -6.93593082e-03 -1.96724360e+02] [-3.02163325e-02 -9.99543345e-01 2.73379899e-04 -2.86461089e+02] [-6.94102435e-03 -6.36700884e-05 -9.99975909e-01 -1.80427120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 887.736559995 meters 0.012781990715527464 Centerline is valid? [True, True] Translation: X:-196.72, Y:-286.47, Z:-1.80 [[ 9.98792641e-01 4.86142022e-02 -7.06546124e-03 -1.96724737e+02] [ 4.86134696e-02 -9.98817628e-01 -2.75495679e-04 -2.86470917e+02] [-7.07050025e-03 -6.83135291e-05 -9.99975002e-01 -1.80384542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 887.766559995 meters 0.012952970532813945 Centerline is valid? [True, True] Translation: X:-196.73, Y:-286.48, Z:-1.80 [[ 9.91816034e-01 1.27433965e-01 -7.84467391e-03 -1.96725417e+02] [ 1.27430636e-01 -9.91847054e-01 -9.24775263e-04 -2.86480521e+02] [-7.89856449e-03 -8.24448559e-05 -9.99968803e-01 -1.80271192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 887.7965599949999 meters 0.012935510061061655 Centerline is valid? [True, True] Translation: X:-196.72, Y:-286.49, Z:-1.80 [[ 9.78779016e-01 2.04771529e-01 -7.76264207e-03 -1.96723674e+02] [ 2.04765764e-01 -9.78809795e-01 -1.53879302e-03 -2.86489193e+02] [-7.91325109e-03 -8.33850177e-05 -9.99968686e-01 -1.80221468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 887.8265599949999 meters 0.013544951967143812 Centerline is valid? [True, True] Translation: X:-196.72, Y:-286.50, Z:-1.80 [[ 9.59834926e-01 2.80452153e-01 -7.96894821e-03 -1.96722259e+02] [ 2.80443213e-01 -9.59868003e-01 -2.24080050e-03 -2.86499681e+02] [-8.27757573e-03 -8.40388597e-05 -9.99965737e-01 -1.80008844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 887.856559995 meters 0.012798295154956636 Centerline is valid? [True, True] Translation: X:-196.72, Y:-286.50, Z:-1.80 [[ 9.35332220e-01 3.53660789e-01 -8.81390573e-03 -1.96721033e+02] [ 3.53645940e-01 -9.35373743e-01 -3.24191820e-03 -2.86504518e+02] [-9.39083534e-03 -8.47314334e-05 -9.99955902e-01 -1.80114426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 887.886559995 meters 0.012863013825769074 Centerline is valid? [True, True] Translation: X:-196.72, Y:-286.51, Z:-1.80 [[ 9.05082906e-01 4.25142072e-01 -8.89672541e-03 -1.96719355e+02] [ 4.25122412e-01 -9.05126628e-01 -4.08934829e-03 -2.86511503e+02] [-9.79121707e-03 -8.09981365e-05 -9.99952062e-01 -1.80085010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 887.916559995 meters 0.012799753877730096 Centerline is valid? [True, True] Translation: X:-196.72, Y:-286.52, Z:-1.80 [[ 8.69397481e-01 4.94040115e-01 -8.50795903e-03 -1.96718160e+02] [ 4.94017283e-01 -8.69439106e-01 -4.75016952e-03 -2.86517332e+02] [-9.74392659e-03 -7.32933912e-05 -9.99952524e-01 -1.80049682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 887.9465599949999 meters 0.012587086033069305 Centerline is valid? [True, True] Translation: X:-196.72, Y:-286.52, Z:-1.80 [[ 8.28966481e-01 5.59233642e-01 -8.50332184e-03 -1.96715191e+02] [ 5.59204965e-01 -8.29010090e-01 -5.66371240e-03 -2.86521880e+02] [-1.02166781e-02 -6.00720517e-05 -9.99947807e-01 -1.80121856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 887.9765599949999 meters 0.012527330240110207 Centerline is valid? [True, True] Translation: X:-196.71, Y:-286.53, Z:-1.80 [[ 7.83052737e-01 6.21906320e-01 -7.80642918e-03 -1.96711703e+02] [ 6.21876076e-01 -7.83091646e-01 -6.13346741e-03 -2.86527772e+02] [-9.92759162e-03 -5.18031012e-05 -9.99950719e-01 -1.80112437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 888.006559995 meters 0.012535140358907978 Centerline is valid? [True, True] Translation: X:-196.71, Y:-286.53, Z:-1.80 [[ 7.32110589e-01 6.81144530e-01 -7.49774061e-03 -1.96707801e+02] [ 6.81109524e-01 -7.32148979e-01 -6.90574450e-03 -2.86533534e+02] [-1.01932732e-02 -5.10138670e-05 -9.99948046e-01 -1.80107725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 888.036559995 meters 0.012541335432590736 Centerline is valid? [True, True] Translation: X:-196.70, Y:-286.54, Z:-1.80 [[ 6.76823820e-01 7.36110984e-01 -7.08061945e-03 -1.96704577e+02] [ 7.36071454e-01 -6.76860855e-01 -7.62881886e-03 -2.86539131e+02] [-1.04082515e-02 -4.84755204e-05 -9.99945832e-01 -1.80088521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 888.0665599949999 meters 0.012560873228425463 Centerline is valid? [True, True] Translation: X:-196.70, Y:-286.54, Z:-1.80 [[ 6.16829917e-01 7.87071071e-01 -6.32323801e-03 -1.96700219e+02] [ 7.87030566e-01 -6.16862324e-01 -7.98500521e-03 -2.86544195e+02] [-1.01853339e-02 -5.11914931e-05 -9.99948127e-01 -1.80143504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 888.0965599949999 meters 0.012806917146211284 Centerline is valid? [True, True] Translation: X:-196.70, Y:-286.55, Z:-1.80 [[ 5.53182044e-01 8.33041945e-01 -5.54477805e-03 -1.96695981e+02] [ 8.33001031e-01 -5.53209829e-01 -8.25636448e-03 -2.86550687e+02] [-9.94532364e-03 -5.15332555e-05 -9.99950543e-01 -1.80020507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 888.126559995 meters 0.01251585473902052 Centerline is valid? [True, True] Translation: X:-196.69, Y:-286.56, Z:-1.80 [[ 4.85937730e-01 8.73979878e-01 -4.86784809e-03 -1.96690512e+02] [ 8.73937153e-01 -4.85962108e-01 -8.64189959e-03 -2.86556057e+02] [-9.91843606e-03 -5.47682330e-05 -9.99950810e-01 -1.80173203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 888.156559995 meters 0.01266137217669158 Centerline is valid? [True, True] Translation: X:-196.68, Y:-286.56, Z:-1.80 [[ 4.15082922e-01 9.09773782e-01 -4.22295086e-03 -1.96683807e+02] [ 9.09728288e-01 -4.15104398e-01 -9.09836322e-03 -2.86561385e+02] [-1.00304178e-02 -6.51626659e-05 -9.99949692e-01 -1.80168228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 888.1865599949999 meters 0.013091242606959397 Centerline is valid? [True, True] Translation: X:-196.68, Y:-286.57, Z:-1.80 [[ 3.41802861e-01 9.39764361e-01 -3.70803668e-03 -1.96677023e+02] [ 9.39711496e-01 -3.41822965e-01 -9.96816283e-03 -2.86566992e+02] [-1.06352163e-02 -7.73381212e-05 -9.99943442e-01 -1.80038146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 888.2165599949999 meters 0.012887012195199152 Centerline is valid? [True, True] Translation: X:-196.67, Y:-286.57, Z:-1.80 [[ 2.66283778e-01 9.63890559e-01 -2.81786910e-03 -1.96671351e+02] [ 9.63839878e-01 -2.66298674e-01 -9.88458651e-03 -2.86570467e+02] [-1.02780544e-02 -8.38695619e-05 -9.99947176e-01 -1.80171709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 888.246559995 meters 0.013364671200682767 Centerline is valid? [True, True] Translation: X:-196.67, Y:-286.58, Z:-1.80 [[ 1.87840379e-01 9.82197262e-01 -2.12866381e-03 -1.96665108e+02] [ 9.82140728e-01 -1.87852407e-01 -1.05387132e-02 -2.86575193e+02] [-1.07509699e-02 -1.11051540e-04 -9.99942201e-01 -1.80136682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 888.276559995 meters 0.013466451139269066 Centerline is valid? [True, True] Translation: X:-196.66, Y:-286.58, Z:-1.80 [[ 1.09253599e-01 9.94013023e-01 -1.32696370e-03 -1.96659936e+02] [ 9.93952991e-01 -1.09261586e-01 -1.09251008e-02 -2.86577985e+02] [-1.10046786e-02 -1.25332957e-04 -9.99939439e-01 -1.80176705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 888.3065599949999 meters 0.013482004242544587 Centerline is valid? [True, True] Translation: X:-196.65, Y:-286.58, Z:-1.80 [[ 2.99134179e-02 9.99552392e-01 -4.50611203e-04 -1.96652648e+02] [ 9.99496177e-01 -2.99165149e-02 -1.06016234e-02 -2.86580874e+02] [-1.06103588e-02 -1.33253383e-04 -9.99943700e-01 -1.80252503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 888.3365599949999 meters 0.013918786168231868 Centerline is valid? [True, True] Translation: X:-196.64, Y:-286.58, Z:-1.80 [[-5.06742807e-02 9.98715173e-01 3.47512988e-04 -1.96644655e+02] [ 9.98668368e-01 5.06752706e-02 -9.66989815e-03 -2.86584012e+02] [-9.67508432e-03 -1.42964904e-04 -9.99953185e-01 -1.80282663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 888.366559995 meters 0.014192157724014375 Centerline is valid? [True, True] Translation: X:-196.64, Y:-286.59, Z:-1.80 [[-1.29593811e-01 9.91566632e-01 1.02852264e-03 -1.96637572e+02] [ 9.91526200e-01 1.29597816e-01 -8.95545698e-03 -2.86586431e+02] [-9.01322661e-03 -1.40764652e-04 -9.99959370e-01 -1.80325596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 888.396559995 meters 0.01477672934163059 Centerline is valid? [True, True] Translation: X:-196.63, Y:-286.59, Z:-1.80 [[-2.08169908e-01 9.78091469e-01 1.53869743e-03 -1.96630821e+02] [ 9.78059704e-01 2.08175550e-01 -7.88385588e-03 -2.86588905e+02] [-8.03145136e-03 -1.36243602e-04 -9.99967738e-01 -1.80404673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 888.4265599949999 meters 0.015032031500767784 Centerline is valid? [True, True] Translation: X:-196.63, Y:-286.59, Z:-1.80 [[-2.84436557e-01 9.58692679e-01 2.04779541e-03 -1.96626200e+02] [ 9.58664388e-01 2.84443897e-01 -7.36618042e-03 -2.86592048e+02] [-7.64438615e-03 -1.32062458e-04 -9.99970773e-01 -1.80416765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 888.4565599949999 meters 0.015010953125818308 Centerline is valid? [True, True] Translation: X:-196.62, Y:-286.59, Z:-1.80 [[-3.59029451e-01 9.33322474e-01 2.64808049e-03 -1.96622553e+02] [ 9.33294217e-01 3.59039191e-01 -7.26388871e-03 -2.86593139e+02] [-7.73031526e-03 -1.36511770e-04 -9.99970111e-01 -1.80458449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 888.486559995 meters 0.014368170422165242 Centerline is valid? [True, True] Translation: X:-196.62, Y:-286.59, Z:-1.81 [[-4.31213894e-01 9.02244039e-01 3.20506610e-03 -1.96615452e+02] [ 9.02216695e-01 4.31225783e-01 -7.02563641e-03 -2.86593082e+02] [-7.72094571e-03 -1.37887892e-04 -9.99970184e-01 -1.80527200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 888.516559995 meters 0.01447761492584965 Centerline is valid? [True, True] Translation: X:-196.61, Y:-286.59, Z:-1.80 [[-5.00780917e-01 8.65564478e-01 4.07521613e-03 -1.96607521e+02] [ 8.65533308e-01 5.00797475e-01 -7.34719754e-03 -2.86591964e+02] [-8.40033115e-03 -1.52101025e-04 -9.99964705e-01 -1.80454666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 888.5465599949999 meters 0.014885782087983208 Centerline is valid? [True, True] Translation: X:-196.60, Y:-286.59, Z:-1.80 [[-5.67308903e-01 8.23489945e-01 4.99196090e-03 -1.96599592e+02] [ 8.23455444e-01 5.67330841e-01 -7.53986855e-03 -2.86590653e+02] [-9.04109931e-03 -1.66777176e-04 -9.99959115e-01 -1.80385677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 888.5765599949999 meters 0.01480828112681854 Centerline is valid? [True, True] Translation: X:-196.59, Y:-286.59, Z:-1.80 [[-6.30414963e-01 7.76235773e-01 5.91598777e-03 -1.96592560e+02] [ 7.76198868e-01 6.30442695e-01 -7.57135791e-03 -2.86588127e+02] [-9.60685014e-03 -1.81114313e-04 -9.99953837e-01 -1.80346697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 888.606559995 meters 0.014847593467914335 Centerline is valid? [True, True] Translation: X:-196.59, Y:-286.59, Z:-1.80 [[-6.89705943e-01 7.24057325e-01 6.83389525e-03 -1.96585421e+02] [ 7.24018930e-01 6.89739771e-01 -7.45908676e-03 -2.86585066e+02] [-1.01144158e-02 -1.96706937e-04 -9.99948829e-01 -1.80295655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 888.636559995 meters 0.01544420136074584 Centerline is valid? [True, True] Translation: X:-196.58, Y:-286.58, Z:-1.80 [[-7.45076428e-01 6.66930679e-01 8.03654543e-03 -1.96577616e+02] [ 6.66888579e-01 7.45119734e-01 -7.49699574e-03 -2.86581207e+02] [-1.09881651e-02 -2.26354437e-04 -9.99939603e-01 -1.80228518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 888.666559995 meters 0.015648721168523408 Centerline is valid? [True, True] Translation: X:-196.56, Y:-286.56, Z:-1.80 [[-7.90789451e-01 6.12023859e-01 8.87914529e-03 -1.96560511e+02] [ 6.11981813e-01 7.90839261e-01 -7.17796686e-03 -2.86558280e+02] [-1.14150637e-02 -2.42385039e-04 -9.99934817e-01 -1.80229390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 888.6965599949999 meters 0.016103390763776555 Centerline is valid? [True, True] Translation: X:-196.54, Y:-286.54, Z:-1.80 [[-8.32696670e-01 5.53652556e-01 9.22516355e-03 -1.96540418e+02] [ 5.53615223e-01 8.32747732e-01 -6.43425196e-03 -2.86535975e+02] [-1.12445741e-02 -2.50589206e-04 -9.99936747e-01 -1.80230953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 888.7265599949999 meters 0.016103390763776555 Centerline is valid? [True, True] Translation: X:-196.14, Y:-285.97, Z:-2.78 [[-7.65709580e-01 -6.43126772e-01 8.76318393e-03 -1.96135879e+02] [ 6.43088357e-01 -7.65759683e-01 -7.03370673e-03 -2.85966536e+02] [ 1.12340581e-02 2.49724925e-04 9.99936865e-01 -2.78219334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 888.756559995 meters 0.015760034275410784 Centerline is valid? [True, True] Translation: X:-196.57, Y:-286.51, Z:-1.80 [[-8.34901632e-01 5.50321833e-01 9.22743103e-03 -1.96574671e+02] [ 5.50284829e-01 8.34952583e-01 -6.38677836e-03 -2.86513062e+02] [-1.12192510e-02 -2.54616368e-04 -9.99937030e-01 -1.80325225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 888.786559995 meters 0.016017410398397037 Centerline is valid? [True, True] Translation: X:-196.56, Y:-286.49, Z:-1.80 [[-8.72018167e-01 4.89390334e-01 9.02312139e-03 -1.96556897e+02] [ 4.89361229e-01 8.72064815e-01 -5.34286333e-03 -2.86490695e+02] [-1.04834924e-02 -2.43508117e-04 -9.99945017e-01 -1.80355451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 888.8165599949999 meters 0.016218523849218413 Centerline is valid? [True, True] Translation: X:-196.20, Y:-285.89, Z:-2.78 [[-8.10514883e-01 -5.85669857e-01 7.51291125e-03 -1.96204695e+02] [ 5.85646214e-01 -8.10549691e-01 -5.26406689e-03 -2.85890819e+02] [ 9.17259320e-03 1.33303470e-04 9.99957922e-01 -2.77961554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 888.8465599949999 meters 0.015532450828529592 Centerline is valid? [True, True] Translation: X:-196.60, Y:-286.46, Z:-1.81 [[-8.74203443e-01 4.85501444e-01 7.52924042e-03 -1.96604669e+02] [ 4.85481352e-01 8.74235840e-01 -4.42181182e-03 -2.86462536e+02] [-8.72912785e-03 -2.10257300e-04 -9.99961878e-01 -1.80612670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 888.876559995 meters 0.016203234743005474 Centerline is valid? [True, True] Translation: X:-196.58, Y:-286.44, Z:-1.81 [[-9.06462661e-01 4.22224764e-01 7.18978049e-03 -1.96578870e+02] [ 4.22209763e-01 9.06491153e-01 -3.56441827e-03 -2.86443643e+02] [-8.02245807e-03 -1.95416551e-04 -9.99967801e-01 -1.80618394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 888.906559995 meters 0.016402348896223634 Centerline is valid? [True, True] Translation: X:-196.27, Y:-285.83, Z:-2.78 [[-8.51152308e-01 -5.24871425e-01 7.05239248e-03 -1.96268471e+02] [ 5.24855409e-01 -8.51181499e-01 -4.10552584e-03 -2.85826125e+02] [ 8.15773921e-03 2.07058549e-04 9.99966704e-01 -2.77814242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 888.9365599949999 meters 0.016351075288996514 Centerline is valid? [True, True] Translation: X:-196.62, Y:-286.42, Z:-1.81 [[-9.08406533e-01 4.18022019e-01 7.42714299e-03 -1.96616294e+02] [ 4.18006151e-01 9.08436870e-01 -3.64837583e-03 -2.86423506e+02] [-8.27219196e-03 -2.09616991e-04 -9.99965763e-01 -1.80639832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 888.9665599949999 meters 0.01627702307363224 Centerline is valid? [True, True] Translation: X:-196.61, Y:-286.40, Z:-1.81 [[-9.35806137e-01 3.52426611e-01 7.89671805e-03 -1.96606301e+02] [ 3.52412090e-01 9.35839429e-01 -3.20655387e-03 -2.86396747e+02] [-8.52013503e-03 -2.17813872e-04 -9.99963679e-01 -1.80620560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 888.996559995 meters 0.01663184674393168 Centerline is valid? [True, True] Translation: X:-196.60, Y:-286.37, Z:-1.81 [[-9.58478748e-01 2.85032718e-01 8.65098066e-03 -1.96596121e+02] [ 2.85018893e-01 9.58517759e-01 -2.81713611e-03 -2.86369417e+02] [-9.09509456e-03 -2.34472164e-04 -9.99958611e-01 -1.80570965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 889.026559995 meters 0.017120252416224106 Centerline is valid? [True, True] Translation: X:-196.38, Y:-285.72, Z:-2.78 [[-9.17624519e-01 -3.97352357e-01 8.73766941e-03 -1.96383684e+02] [ 3.97337050e-01 -9.17666081e-01 -3.49761928e-03 -2.85723551e+02] [ 9.40805010e-03 2.62298575e-04 9.99955709e-01 -2.77935970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 889.0565599949999 meters 0.016975212889433447 Centerline is valid? [True, True] Translation: X:-196.64, Y:-286.35, Z:-1.81 [[-9.59790359e-01 2.80566637e-01 9.21030226e-03 -1.96639229e+02] [ 2.80551132e-01 9.59834515e-01 -2.96093522e-03 -2.86352568e+02] [-9.67110564e-03 -2.57916353e-04 -9.99953201e-01 -1.80528675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 889.0865599949999 meters 0.017023162570514512 Centerline is valid? [True, True] Translation: X:-196.63, Y:-286.33, Z:-1.81 [[-9.77311744e-01 2.11586664e-01 9.63534198e-03 -1.96629775e+02] [ 2.11573684e-01 9.77359204e-01 -2.35874963e-03 -2.86326052e+02] [-9.91627012e-03 -2.66648913e-04 -9.99950797e-01 -1.80537758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 889.116559995 meters 0.016744698041289533 Centerline is valid? [True, True] Translation: X:-196.63, Y:-286.30, Z:-1.81 [[-9.89831939e-01 1.41907114e-01 9.75216063e-03 -1.96629398e+02] [ 1.41897591e-01 9.89879943e-01 -1.66510429e-03 -2.86297887e+02] [-9.88975835e-03 -2.64365306e-04 -9.99951060e-01 -1.80547747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 889.146559995 meters 0.01657640394466782 Centerline is valid? [True, True] Translation: X:-196.62, Y:-286.27, Z:-1.81 [[-9.97370953e-01 7.18086476e-02 9.73138382e-03 -1.96623731e+02] [ 7.18027206e-02 9.97418394e-01 -9.57530193e-04 -2.86269810e+02] [-9.77502017e-03 -2.56272967e-04 -9.99952191e-01 -1.80536606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 889.1765599949999 meters 0.016785114598902716 Centerline is valid? [True, True] Translation: X:-196.63, Y:-286.24, Z:-1.81 [[-9.99948404e-01 1.34856618e-03 1.00683088e-02 -1.96626304e+02] [ 1.34590114e-03 9.99999058e-01 -2.71466952e-04 -2.86241072e+02] [-1.00686654e-02 -2.57901997e-04 -9.99949277e-01 -1.80514280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 889.2065599949999 meters 0.01645028175421904 Centerline is valid? [True, True] Translation: X:-196.63, Y:-286.21, Z:-1.81 [[-9.97566797e-01 -6.89693626e-02 1.01839163e-02 -1.96633042e+02] [-6.89683541e-02 9.97618746e-01 4.50604508e-04 -2.86213527e+02] [-1.01907437e-02 -2.52859847e-04 -9.99948041e-01 -1.80515415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 889.236559995 meters 0.015909094411566058 Centerline is valid? [True, True] Translation: X:-196.65, Y:-285.55, Z:-2.78 [[-9.98884393e-01 -4.62088884e-02 9.73183174e-03 -1.96652288e+02] [ 4.62087599e-02 -9.98931776e-01 -2.38172105e-04 -2.85545274e+02] [ 9.73244164e-03 2.11789479e-04 9.99952616e-01 -2.77921744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 889.266559995 meters 0.014857388364979431 Centerline is valid? [True, True] Translation: X:-196.71, Y:-286.22, Z:-1.81 [[-9.97379952e-01 -7.16375040e-02 1.00647471e-02 -1.96707940e+02] [-7.16360889e-02 9.97430709e-01 5.01505133e-04 -2.86217429e+02] [-1.00748144e-02 -2.20807953e-04 -9.99949224e-01 -1.80591274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 889.2965599949999 meters 0.014676121555700203 Centerline is valid? [True, True] Translation: X:-196.71, Y:-286.19, Z:-1.81 [[-9.90025565e-01 -1.40505664e-01 1.03701237e-02 -1.96713652e+02] [-1.40500147e-01 9.90079853e-01 1.26221613e-03 -2.86189870e+02] [-1.04445990e-02 -2.07377668e-04 -9.99945432e-01 -1.80547587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 889.3265599949999 meters 0.014343509126152582 Centerline is valid? [True, True] Translation: X:-196.73, Y:-286.16, Z:-1.81 [[-9.77708774e-01 -2.09703707e-01 1.04836804e-02 -1.96729206e+02] [-2.09693837e-01 9.77764959e-01 2.04437973e-03 -2.86164341e+02] [-1.06792893e-02 -1.99555157e-04 -9.99942955e-01 -1.80528959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 889.356559995 meters 0.014005704830926245 Centerline is valid? [True, True] Translation: X:-196.76, Y:-286.14, Z:-1.81 [[-9.60447659e-01 -2.78257564e-01 1.06311802e-02 -1.96756414e+02] [-2.78242723e-01 9.60506477e-01 2.88018621e-03 -2.86142526e+02] [-1.10127510e-02 -1.91780410e-04 -9.99939340e-01 -1.80513738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 889.386559995 meters 0.01338156124024488 Centerline is valid? [True, True] Translation: X:-196.80, Y:-286.13, Z:-1.81 [[-9.38566187e-01 -3.44935140e-01 1.06424799e-02 -1.96801322e+02] [-3.44914960e-01 9.38626508e-01 3.73474058e-03 -2.86128653e+02] [-1.12775570e-02 -1.65449312e-04 -9.99936393e-01 -1.80532026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 889.416559995 meters 0.013033081878486343 Centerline is valid? [True, True] Translation: X:-196.86, Y:-286.12, Z:-1.81 [[-9.11329786e-01 -4.11545120e-01 1.04228777e-02 -1.96863490e+02] [-4.11520049e-01 9.11389375e-01 4.54500045e-03 -2.86124008e+02] [-1.13697728e-02 -1.47228863e-04 -9.99935351e-01 -1.80525958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 889.4465599949999 meters 0.012674681651042574 Centerline is valid? [True, True] Translation: X:-196.93, Y:-286.13, Z:-1.81 [[-8.79403914e-01 -4.75968437e-01 1.01392006e-02 -1.96929463e+02] [-4.75938416e-01 8.79462354e-01 5.34716753e-03 -2.86125676e+02] [-1.14621282e-02 -1.23315005e-04 -9.99934300e-01 -1.80526121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 889.4765599949999 meters 0.012166749104678512 Centerline is valid? [True, True] Translation: X:-197.01, Y:-286.14, Z:-1.81 [[-8.44098310e-01 -5.36103331e-01 9.55312974e-03 -1.97005404e+02] [-5.36069880e-01 8.44152364e-01 5.98907512e-03 -2.86139884e+02] [-1.12750602e-02 -6.57769302e-05 -9.99936432e-01 -1.80528135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 889.506559995 meters 0.011976119877417283 Centerline is valid? [True, True] Translation: X:-197.09, Y:-286.16, Z:-1.81 [[-8.03249427e-01 -5.95574532e-01 9.01863042e-03 -1.97087449e+02] [-5.95537469e-01 8.03300053e-01 6.64431299e-03 -2.86163598e+02] [-1.12018499e-02 -3.38917378e-05 -9.99937257e-01 -1.80537025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 889.536559995 meters 0.01196449437106107 Centerline is valid? [True, True] Translation: X:-197.17, Y:-286.20, Z:-1.81 [[-7.57785873e-01 -6.52455358e-01 7.91052183e-03 -1.97173868e+02] [-6.52419888e-01 7.57827161e-01 6.80322490e-03 -2.86198466e+02] [-1.04336088e-02 -5.59405086e-06 -9.99945569e-01 -1.80534628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 889.5665599949999 meters 0.011949941879016858 Centerline is valid? [True, True] Translation: X:-197.26, Y:-286.24, Z:-1.81 [[-7.08343583e-01 -7.05834505e-01 6.85709498e-03 -1.97256327e+02] [-7.05801113e-01 7.08376772e-01 6.86576224e-03 -2.86238664e+02] [-9.70349870e-03 2.35733612e-05 -9.99952920e-01 -1.80610255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 889.5965599949999 meters 0.01246613211266836 Centerline is valid? [True, True] Translation: X:-197.34, Y:-286.29, Z:-1.81 [[-6.56962061e-01 -7.53901846e-01 5.73221933e-03 -1.97342485e+02] [-7.53872207e-01 6.56987064e-01 6.68528294e-03 -2.86294571e+02] [-8.80604109e-03 7.06164160e-05 -9.99961224e-01 -1.80663591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 889.626559995 meters 0.012850931547549087 Centerline is valid? [True, True] Translation: X:-197.43, Y:-286.36, Z:-1.81 [[-5.99894981e-01 -8.00062019e-01 5.17470731e-03 -1.97425122e+02] [-8.00030887e-01 5.99917292e-01 7.05854228e-03 -2.86355493e+02] [-8.75166799e-03 9.44584072e-05 -9.99961699e-01 -1.80671334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 889.656559995 meters 0.013130505251500845 Centerline is valid? [True, True] Translation: X:-197.51, Y:-286.43, Z:-1.81 [[-5.38850386e-01 -8.42389106e-01 4.56676101e-03 -1.97508736e+02] [-8.42357088e-01 5.38869726e-01 7.34536098e-03 -2.86429723e+02] [-8.64854132e-03 1.11207093e-04 -9.99962595e-01 -1.80650079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 889.6865599949999 meters 0.013578046620961145 Centerline is valid? [True, True] Translation: X:-197.58, Y:-286.51, Z:-1.81 [[-4.74295012e-01 -8.80357134e-01 3.94434302e-03 -1.97584710e+02] [-8.80324481e-01 4.74311396e-01 7.58340415e-03 -2.86507430e+02] [-8.54695080e-03 1.24469037e-04 -9.99963467e-01 -1.80628746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 889.7165599949999 meters 0.014270403365567232 Centerline is valid? [True, True] Translation: X:-197.66, Y:-286.60, Z:-1.81 [[-4.07457448e-01 -9.13216725e-01 3.69343744e-03 -1.97657736e+02] [-9.13175633e-01 4.07474157e-01 8.66458632e-03 -2.86596399e+02] [-9.41762545e-03 1.57693153e-04 -9.99955641e-01 -1.80537820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 889.746559995 meters 0.014323793065332147 Centerline is valid? [True, True] Translation: X:-197.73, Y:-286.69, Z:-1.81 [[-3.36847450e-01 -9.41553771e-01 3.20801136e-03 -1.97725645e+02] [-9.41506024e-01 3.36862681e-01 9.48372604e-03 -2.86692871e+02] [-1.00100973e-02 1.74206909e-04 -9.99949883e-01 -1.80518464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 889.776559995 meters 0.014873405166296072 Centerline is valid? [True, True] Translation: X:-197.79, Y:-286.80, Z:-1.80 [[-2.63800242e-01 -9.64574008e-01 2.53269836e-03 -1.97786049e+02] [-9.64522724e-01 2.63812338e-01 9.94816489e-03 -2.86797528e+02] [-1.02638984e-02 1.81483192e-04 -9.99947308e-01 -1.80431085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 889.8065599949999 meters 0.013918472268819196 Centerline is valid? [True, True] Translation: X:-197.84, Y:-286.91, Z:-1.80 [[-1.88263350e-01 -9.82116773e-01 1.88533489e-03 -1.97842372e+02] [-9.82057071e-01 1.88272697e-01 1.08305746e-02 -2.86905076e+02] [-1.09918461e-02 1.87493793e-04 -9.99939570e-01 -1.80467230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 889.8365599949999 meters 0.014399705728953462 Centerline is valid? [True, True] Translation: X:-197.89, Y:-287.02, Z:-1.80 [[-1.11438790e-01 -9.93770752e-01 1.04326924e-03 -1.97886497e+02] [-9.93710966e-01 1.11443531e-01 1.09021041e-02 -2.87019180e+02] [-1.09504578e-02 1.78209204e-04 -9.99940026e-01 -1.80377026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 889.866559995 meters 0.013735932852710332 Centerline is valid? [True, True] Translation: X:-197.92, Y:-287.13, Z:-1.80 [[-3.37312802e-02 -9.99430918e-01 2.03089981e-04 -1.97924002e+02] [-9.99370789e-01 3.37314788e-02 1.09642006e-02 -2.87132033e+02] [-1.09648116e-02 1.66874328e-04 -9.99939871e-01 -1.80436780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 889.896559995 meters 0.013349252519842736 Centerline is valid? [True, True] Translation: X:-197.95, Y:-287.25, Z:-1.80 [[ 4.59906481e-02 -9.98941672e-01 -6.29845024e-04 -1.97953883e+02] [-9.98883568e-01 -4.59947668e-02 1.07749751e-02 -2.87252867e+02] [-1.07925412e-02 1.33593756e-04 -9.99941750e-01 -1.80415744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 889.9265599949999 meters 0.012996011579052762 Centerline is valid? [True, True] Translation: X:-197.97, Y:-287.38, Z:-1.80 [[ 1.24029100e-01 -9.92277487e-01 -1.47342771e-03 -1.97972309e+02] [-9.92218511e-01 -1.24037794e-01 1.08190487e-02 -2.87377038e+02] [-1.09182592e-02 1.20085371e-04 -9.99940387e-01 -1.80426223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 889.9565599949999 meters 0.012512852079595795 Centerline is valid? [True, True] Translation: X:-197.98, Y:-287.50, Z:-1.80 [[ 2.03035782e-01 -9.79168705e-01 -2.26258390e-03 -1.97983930e+02] [-9.79112421e-01 -2.03048371e-01 1.04988937e-02 -2.87495160e+02] [-1.07396021e-02 8.36729206e-05 -9.99942325e-01 -1.80482331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 889.986559995 meters 0.012734402868863749 Centerline is valid? [True, True] Translation: X:-197.98, Y:-287.61, Z:-1.80 [[ 2.79283783e-01 -9.60204343e-01 -2.86154780e-03 -1.97983736e+02] [-9.60156137e-01 -2.79298436e-01 9.62166217e-03 -2.87613467e+02] [-1.00379876e-02 6.03584699e-05 -9.99949616e-01 -1.80395124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 890.016559995 meters 0.012240704581059138 Centerline is valid? [True, True] Translation: X:-197.98, Y:-287.73, Z:-1.81 [[ 3.53818678e-01 -9.35307907e-01 -3.38555094e-03 -1.97976143e+02] [-9.35266142e-01 -3.53834873e-01 8.83886104e-03 -2.87732935e+02] [-9.46498261e-03 3.90370376e-05 -9.99955205e-01 -1.80588257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 890.0465599949999 meters 0.011935607570910726 Centerline is valid? [True, True] Translation: X:-197.96, Y:-287.86, Z:-1.81 [[ 4.28039755e-01 -9.03753006e-01 -3.53155982e-03 -1.97958971e+02] [-9.03722254e-01 -4.28054323e-01 7.45542359e-03 -2.87857461e+02] [-8.24956093e-03 3.31521897e-07 -9.99965972e-01 -1.80715673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 890.0765599949999 meters 0.012000630968117109 Centerline is valid? [True, True] Translation: X:-197.94, Y:-287.97, Z:-1.81 [[ 4.97841810e-01 -8.67258419e-01 -4.04569403e-03 -1.97937105e+02] [-8.67229496e-01 -4.97858248e-01 7.08289164e-03 -2.87965675e+02] [-8.15687954e-03 -1.76144008e-05 -9.99966732e-01 -1.80699953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 890.106559995 meters 0.01217983329740296 Centerline is valid? [True, True] Translation: X:-197.90, Y:-288.08, Z:-1.81 [[ 5.64666043e-01 -8.25305693e-01 -4.77204225e-03 -1.97902832e+02] [-8.25275629e-01 -5.64686206e-01 7.04454544e-03 -2.88078722e+02] [-8.50860989e-03 -3.95654319e-05 -9.99963800e-01 -1.80665482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 890.136559995 meters 0.012295016833128563 Centerline is valid? [True, True] Translation: X:-197.86, Y:-288.18, Z:-1.81 [[ 6.27656010e-01 -7.78470904e-01 -5.56640089e-03 -1.97864497e+02] [-7.78439420e-01 -6.27680690e-01 7.00151206e-03 -2.88182453e+02] [-8.94439577e-03 -6.14352427e-05 -9.99959996e-01 -1.80633964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 890.166559995 meters 0.012526243718177284 Centerline is valid? [True, True] Translation: X:-197.82, Y:-288.28, Z:-1.81 [[ 6.86648801e-01 -7.26961904e-01 -6.30989429e-03 -1.97819407e+02] [-7.26930080e-01 -6.86677787e-01 6.80261313e-03 -2.88281490e+02] [-9.27810485e-03 -8.41541845e-05 -9.99956954e-01 -1.80582708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 890.1965599949999 meters 0.013379122081579294 Centerline is valid? [True, True] Translation: X:-197.77, Y:-288.38, Z:-1.80 [[ 7.42603540e-01 -6.69694458e-01 -7.02248565e-03 -1.97770882e+02] [-6.69662883e-01 -7.42636733e-01 6.50436497e-03 -2.88375986e+02] [-9.57109297e-03 -1.27466464e-04 -9.99954188e-01 -1.80496476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 890.2265599949999 meters 0.013566435839130496 Centerline is valid? [True, True] Translation: X:-197.77, Y:-288.39, Z:-1.81 [[ 7.93643815e-01 -6.08336797e-01 -7.47245123e-03 -1.97772053e+02] [-6.08308143e-01 -7.93678979e-01 5.90601659e-03 -2.88387498e+02] [-9.52357468e-03 -1.41720598e-04 -9.99954640e-01 -1.80532064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 890.256559995 meters 0.014043506272317891 Centerline is valid? [True, True] Translation: X:-197.77, Y:-288.40, Z:-1.81 [[ 8.40129320e-01 -5.42342022e-01 -6.91785524e-03 -1.97772717e+02] [-5.42322211e-01 -8.40157789e-01 4.63782500e-03 -2.88400442e+02] [-8.32737736e-03 -1.44666213e-04 -9.99965316e-01 -1.80579563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 890.286559995 meters 0.014566313061305276 Centerline is valid? [True, True] Translation: X:-197.77, Y:-288.41, Z:-1.81 [[ 8.80270195e-01 -4.74425590e-01 -6.68901919e-03 -1.97772587e+02] [-4.74410695e-01 -8.80295598e-01 3.76196500e-03 -2.88410450e+02] [-7.67308661e-03 -1.38203425e-04 -9.99970552e-01 -1.80578213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 890.3165599949999 meters 0.014785520456047783 Centerline is valid? [True, True] Translation: X:-197.77, Y:-288.42, Z:-1.81 [[ 9.14793000e-01 -4.03872134e-01 -6.40830836e-03 -1.97768759e+02] [-4.03861228e-01 -9.14815436e-01 2.97093738e-03 -2.88418895e+02] [-7.06229823e-03 -1.29725430e-04 -9.99975053e-01 -1.80609207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 890.3465599949999 meters 0.01520673273929769 Centerline is valid? [True, True] Translation: X:-197.77, Y:-288.43, Z:-1.81 [[ 9.43641055e-01 -3.30899933e-01 -6.84066148e-03 -1.97765202e+02] [-3.30890192e-01 -9.43665839e-01 2.54262277e-03 -2.88425804e+02] [-7.29665226e-03 -1.35815439e-04 -9.99973370e-01 -1.80562463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 890.376559995 meters 0.01517938811935358 Centerline is valid? [True, True] Translation: X:-197.76, Y:-288.43, Z:-1.80 [[ 9.66626186e-01 -2.56076023e-01 -7.67383264e-03 -1.97759393e+02] [-2.56066729e-01 -9.66656634e-01 2.18682043e-03 -2.88430074e+02] [-7.97795351e-03 -1.48824668e-04 -9.99968165e-01 -1.80483741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 890.406559995 meters 0.01532168572966876 Centerline is valid? [True, True] Translation: X:-197.75, Y:-288.43, Z:-1.80 [[ 9.83649300e-01 -1.79889072e-01 -8.60097980e-03 -1.97753265e+02] [-1.79880749e-01 -9.83686889e-01 1.73798985e-03 -2.88433761e+02] [-8.77331644e-03 -1.62421807e-04 -9.99961501e-01 -1.80398608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 890.4365599949999 meters 0.015356593642685257 Centerline is valid? [True, True] Translation: X:-197.75, Y:-288.44, Z:-1.80 [[ 9.94681941e-01 -1.02548065e-01 -9.57762838e-03 -1.97746025e+02] [-1.02541591e-01 -9.94728035e-01 1.16592037e-03 -2.88435808e+02] [-9.64669834e-03 -1.77614679e-04 -9.99953454e-01 -1.80321504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 890.4665599949999 meters 0.01575243217368241 Centerline is valid? [True, True] Translation: X:-197.74, Y:-288.44, Z:-1.80 [[ 9.99642982e-01 -2.45917495e-02 -1.04477036e-02 -1.97744167e+02] [-2.45884197e-02 -9.99697559e-01 4.47060191e-04 -2.88437279e+02] [-1.04555378e-02 -1.90008062e-04 -9.99945321e-01 -1.80193658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 890.496559995 meters 0.014948131611443184 Centerline is valid? [True, True] Translation: X:-197.74, Y:-288.44, Z:-1.80 [[ 9.98510910e-01 5.33057933e-02 -1.15954446e-02 -1.97740738e+02] [ 5.33045946e-02 -9.98578214e-01 -4.12635390e-04 -2.88438402e+02] [-1.16009542e-02 -2.06069533e-04 -9.99932686e-01 -1.80152784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 890.526559995 meters 0.01361139384973769 Centerline is valid? [True, True] Translation: X:-197.74, Y:-288.45, Z:-1.80 [[ 9.91312415e-01 1.31027948e-01 -1.14617715e-02 -1.97736618e+02] [ 1.31021541e-01 -9.91378654e-01 -1.31137899e-03 -2.88445695e+02] [-1.15347829e-02 -2.01752697e-04 -9.99933452e-01 -1.80308062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 890.5565599949999 meters 0.013799335891741194 Centerline is valid? [True, True] Translation: X:-197.73, Y:-288.45, Z:-1.80 [[ 9.78135663e-01 2.07649137e-01 -1.15091422e-02 -1.97733155e+02] [ 2.07637145e-01 -9.78203351e-01 -2.24036559e-03 -2.88454215e+02] [-1.17234914e-02 -1.98343942e-04 -9.99931258e-01 -1.80285521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 890.5865599949999 meters 0.013748822147246091 Centerline is valid? [True, True] Translation: X:-197.73, Y:-288.46, Z:-1.80 [[ 9.58913320e-01 2.83474805e-01 -1.12818059e-02 -1.97728485e+02] [ 2.83457595e-01 -9.58979664e-01 -3.12980110e-03 -2.88460929e+02] [-1.17062422e-02 -1.96705601e-04 -9.99931460e-01 -1.80296398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 890.616559995 meters 0.013748822147246091 Centerline is valid? [True, True] Translation: X:-197.72, Y:-288.47, Z:-1.80 [[ 9.33762410e-01 3.57724360e-01 -1.10019699e-02 -1.97723740e+02] [ 3.57702006e-01 -9.33827202e-01 -4.00393185e-03 -2.88468709e+02] [-1.17062427e-02 -1.96705643e-04 -9.99931460e-01 -1.80296397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 890.646559995 meters 0.013625204584309146 Centerline is valid? [True, True] Translation: X:-197.72, Y:-288.48, Z:-1.80 [[ 9.02954675e-01 4.29602021e-01 -1.07218761e-02 -1.97717541e+02] [ 4.29574308e-01 -9.03018309e-01 -4.88351897e-03 -2.88475172e+02] [-1.17800201e-02 -1.96246234e-04 -9.99930594e-01 -1.80315048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 890.6765599949999 meters 0.014662892104302144 Centerline is valid? [True, True] Translation: X:-197.71, Y:-288.48, Z:-1.80 [[ 8.66565421e-01 4.98956635e-01 -1.03270353e-02 -1.97711801e+02] [ 4.98923904e-01 -8.66626931e-01 -5.71845256e-03 -2.88483225e+02] [-1.18029468e-02 -1.96991511e-04 -9.99930324e-01 -1.80158765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 890.7065599949999 meters 0.014239204281225002 Centerline is valid? [True, True] Translation: X:-197.71, Y:-288.48, Z:-1.80 [[ 8.24768679e-01 5.65378212e-01 -1.02031525e-02 -1.97708214e+02] [ 5.65338016e-01 -8.24831762e-01 -6.74482644e-03 -2.88483823e+02] [-1.22292622e-02 -2.05308410e-04 -9.99925199e-01 -1.80171055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 890.736559995 meters 0.013845215423537161 Centerline is valid? [True, True] Translation: X:-197.70, Y:-288.49, Z:-1.80 [[ 7.77898216e-01 6.28320868e-01 -9.34086152e-03 -1.97702116e+02] [ 6.28278648e-01 -7.77954270e-01 -7.28662929e-03 -2.88487099e+02] [-1.18451043e-02 -2.00407918e-04 -9.99929824e-01 -1.80265431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 890.766559995 meters 0.014057834677563198 Centerline is valid? [True, True] Translation: X:-197.70, Y:-288.49, Z:-1.80 [[ 7.25818327e-01 6.87832451e-01 -8.61839547e-03 -1.97697353e+02] [ 6.87787316e-01 -7.25869463e-01 -7.88230495e-03 -2.88490356e+02] [-1.16775352e-02 -2.06501699e-04 -9.99931794e-01 -1.80327725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 890.7965599949999 meters 0.014222773470172543 Centerline is valid? [True, True] Translation: X:-197.69, Y:-288.49, Z:-1.80 [[ 6.69473299e-01 7.42797486e-01 -7.57605860e-03 -1.97692337e+02] [ 7.42753277e-01 -6.69516135e-01 -8.10646787e-03 -2.88493243e+02] [-1.10937574e-02 -2.00078557e-04 -9.99938443e-01 -1.80367251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 890.8265599949999 meters 0.013938595149974167 Centerline is valid? [True, True] Translation: X:-197.69, Y:-288.50, Z:-1.80 [[ 6.09001212e-01 7.93142353e-01 -6.53699125e-03 -1.97686410e+02] [ 7.93100018e-01 -6.09036264e-01 -8.19693603e-03 -2.88496687e+02] [-1.04826019e-02 -1.92543908e-04 -9.99945038e-01 -1.80429617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 890.856559995 meters 0.014095412669590081 Centerline is valid? [True, True] Translation: X:-197.68, Y:-288.50, Z:-1.80 [[ 5.44761251e-01 8.38572439e-01 -5.60754183e-03 -1.97679599e+02] [ 8.38531497e-01 -5.44790079e-01 -8.28843946e-03 -2.88499432e+02] [-1.00053901e-02 -1.86879800e-04 -9.99949928e-01 -1.80463402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 890.886559995 meters 0.014188212558307578 Centerline is valid? [True, True] Translation: X:-197.67, Y:-288.50, Z:-1.80 [[ 4.77199625e-01 8.78783230e-01 -4.53345634e-03 -1.97674605e+02] [ 8.78746978e-01 -4.77221127e-01 -7.98404511e-03 -2.88501558e+02] [-9.17970609e-03 -1.73777732e-04 -9.99957851e-01 -1.80497864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 890.916559995 meters 0.014253747508703632 Centerline is valid? [True, True] Translation: X:-197.67, Y:-288.50, Z:-1.81 [[ 4.06712047e-01 9.13548722e-01 -3.74750337e-03 -1.97668617e+02] [ 9.13513697e-01 -4.06729276e-01 -8.00137230e-03 -2.88503523e+02] [-8.83386277e-03 -1.69141149e-04 -9.99960967e-01 -1.80527097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 890.9465599949999 meters 0.014514886457776047 Centerline is valid? [True, True] Translation: X:-197.66, Y:-288.51, Z:-1.81 [[ 3.33688493e-01 9.42678313e-01 -3.09639012e-03 -1.97663254e+02] [ 9.42642346e-01 -3.33702815e-01 -8.23649210e-03 -2.88505965e+02] [-8.79763658e-03 -1.70365817e-04 -9.99961286e-01 -1.80501595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 890.9765599949999 meters 0.014560225325118541 Centerline is valid? [True, True] Translation: X:-197.66, Y:-288.51, Z:-1.80 [[ 2.58886086e-01 9.65904693e-01 -2.47363813e-03 -1.97658095e+02] [ 9.65866744e-01 -2.58897846e-01 -8.56376963e-03 -2.88507039e+02] [-8.91220486e-03 -1.72164003e-04 -9.99960271e-01 -1.80485122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 891.006559995 meters 0.014155025824986652 Centerline is valid? [True, True] Translation: X:-197.65, Y:-288.51, Z:-1.80 [[ 1.83299843e-01 9.83055145e-01 -1.93617131e-03 -1.97654432e+02] [ 9.83010085e-01 -1.83309982e-01 -9.41398051e-03 -2.88507620e+02] [-9.60938151e-03 -1.77694773e-04 -9.99953813e-01 -1.80407680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 891.036559995 meters 0.014136363245658201 Centerline is valid? [True, True] Translation: X:-197.65, Y:-288.51, Z:-1.80 [[ 1.06185350e-01 9.94345579e-01 -1.24156497e-03 -1.97649256e+02] [ 9.94296079e-01 -1.06192454e-01 -9.92319205e-03 -2.88508801e+02] [-9.99892697e-03 -1.80785558e-04 -9.99949993e-01 -1.80356678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 891.0665599949999 meters 0.013554591191658407 Centerline is valid? [True, True] Translation: X:-197.64, Y:-288.51, Z:-1.80 [[ 2.90368436e-02 9.99578223e-01 -4.88829246e-04 -1.97644245e+02] [ 9.99521909e-01 -2.90403972e-02 -1.06117043e-02 -2.88509264e+02] [-1.06214243e-02 -1.80465145e-04 -9.99943575e-01 -1.80391198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 891.0965599949999 meters 0.013922933257138085 Centerline is valid? [True, True] Translation: X:-197.64, Y:-288.51, Z:-1.80 [[-4.85293989e-02 9.98821697e-01 3.38387229e-04 -1.97636240e+02] [ 9.98767127e-01 4.85302851e-02 -1.04421039e-02 -2.88510944e+02] [-1.04462220e-02 -1.68778985e-04 -9.99945423e-01 -1.80323571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 891.126559995 meters 0.013826961945619652 Centerline is valid? [True, True] Translation: X:-197.63, Y:-288.51, Z:-1.80 [[-1.25851152e-01 9.92048520e-01 1.10524390e-03 -1.97633248e+02] [ 9.91998812e-01 1.25855912e-01 -9.93213147e-03 -2.88511868e+02] [-9.99225780e-03 -1.53569557e-04 -9.99950064e-01 -1.80349652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 891.156559995 meters 0.013588525365403826 Centerline is valid? [True, True] Translation: X:-197.63, Y:-288.51, Z:-1.80 [[-2.02679663e-01 9.79243331e-01 1.85811280e-03 -1.97630069e+02] [ 9.79195257e-01 2.02688127e-01 -9.70427286e-03 -2.88512832e+02] [-9.87946188e-03 -1.47403521e-04 -9.99951186e-01 -1.80374142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 891.1865599949999 meters 0.013045113307334572 Centerline is valid? [True, True] Translation: X:-197.63, Y:-288.51, Z:-1.80 [[-2.77607966e-01 9.60691198e-01 2.49775157e-03 -1.97625663e+02] [ 9.60648006e-01 2.77619172e-01 -9.11063797e-03 -2.88513168e+02] [-9.44593344e-03 -1.29725606e-04 -9.99955378e-01 -1.80451003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 891.2165599949999 meters 0.012982476397770608 Centerline is valid? [True, True] Translation: X:-197.62, Y:-288.51, Z:-1.80 [[-3.51717505e-01 9.36100571e-01 3.24300390e-03 -1.97618876e+02] [ 9.36057359e-01 3.51732432e-01 -8.99534929e-03 -2.88512912e+02] [-9.56122125e-03 -1.28184145e-04 -9.99954282e-01 -1.80443388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 891.246559995 meters 0.012926589556617808 Centerline is valid? [True, True] Translation: X:-197.61, Y:-288.51, Z:-1.80 [[-4.23597640e-01 9.05841997e-01 3.91352717e-03 -1.97613398e+02] [ 9.05800607e-01 4.23615700e-01 -8.66024623e-03 -2.88512706e+02] [-9.50264629e-03 -1.23584584e-04 -9.99954841e-01 -1.80384962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 891.276559995 meters 0.013940297796751946 Centerline is valid? [True, True] Translation: X:-197.60, Y:-288.51, Z:-1.80 [[-4.93526777e-01 8.69718087e-01 4.66582581e-03 -1.97604866e+02] [ 8.69676724e-01 4.93548815e-01 -8.48312872e-03 -2.88511472e+02] [-9.68074328e-03 -1.28891070e-04 -9.99953132e-01 -1.80241293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 891.3065599949999 meters 0.014134729757159452 Centerline is valid? [True, True] Translation: X:-197.60, Y:-288.51, Z:-1.80 [[-5.60666510e-01 8.28024351e-01 5.36097555e-03 -1.97604424e+02] [ 8.27984158e-01 5.60692123e-01 -8.15949645e-03 -2.88514281e+02] [-9.76211851e-03 -1.35953570e-04 -9.99952340e-01 -1.80238745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 891.3365599949999 meters 0.013346137550511296 Centerline is valid? [True, True] Translation: X:-197.60, Y:-288.51, Z:-1.80 [[-6.24842187e-01 7.80730441e-01 5.67616103e-03 -1.97599285e+02] [ 7.80696155e-01 6.24867952e-01 -7.31823457e-03 -2.88512179e+02] [-9.26041963e-03 -1.41384609e-04 -9.99957112e-01 -1.80367238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 891.366559995 meters 0.014035350403534578 Centerline is valid? [True, True] Translation: X:-197.59, Y:-288.51, Z:-1.80 [[-6.84174588e-01 7.29293349e-01 6.02858598e-03 -1.97591668e+02] [ 7.29263248e-01 6.84201134e-01 -6.62754209e-03 -2.88508503e+02] [-8.95818774e-03 -1.37969689e-04 -9.99959865e-01 -1.80272024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 891.396559995 meters 0.01347513736320827 Centerline is valid? [True, True] Translation: X:-197.59, Y:-288.51, Z:-1.80 [[-7.39267333e-01 6.73380025e-01 6.56897464e-03 -1.97586282e+02] [ 6.73351744e-01 7.39296505e-01 -6.17304008e-03 -2.88505903e+02] [-9.01322188e-03 -1.40296346e-04 -9.99959370e-01 -1.80379324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 891.4265599949999 meters 0.013821732890332807 Centerline is valid? [True, True] Translation: X:-197.57, Y:-288.49, Z:-1.80 [[-7.85182543e-01 6.19229642e-01 6.55932153e-03 -1.97570440e+02] [ 6.19206606e-01 7.85209929e-01 -5.34278796e-03 -2.88485535e+02] [-8.45885707e-03 -1.33488611e-04 -9.99964214e-01 -1.80415952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 891.4565599949999 meters 0.013628965191935643 Centerline is valid? [True, True] Translation: X:-197.12, Y:-287.95, Z:-2.78 [[-7.20363067e-01 -6.93572340e-01 5.87042639e-03 -1.97115963e+02] [ 6.93550467e-01 -7.20386979e-01 -5.50920257e-03 -2.87947554e+02] [ 8.05000924e-03 1.02810906e-04 9.99967593e-01 -2.77980994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 891.486559995 meters 0.013821643107996823 Centerline is valid? [True, True] Translation: X:-197.13, Y:-287.97, Z:-2.78 [[-6.71997412e-01 -7.40534920e-01 5.24496655e-03 -1.97134385e+02] [ 7.40513752e-01 -6.72017870e-01 -5.60058280e-03 -2.87970823e+02] [ 7.67213839e-03 1.20392713e-04 9.99970562e-01 -2.77979699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 891.516559995 meters 0.013714740181772734 Centerline is valid? [True, True] Translation: X:-197.15, Y:-287.95, Z:-2.78 [[-6.72296646e-01 -7.40264626e-01 5.05009461e-03 -1.97152740e+02] [ 7.40245018e-01 -6.72315603e-01 -5.38927134e-03 -2.87950316e+02] [ 7.38474433e-03 1.15118328e-04 9.99972726e-01 -2.77979181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 891.5465599949999 meters 0.013820698204090827 Centerline is valid? [True, True] Translation: X:-197.17, Y:-287.93, Z:-2.78 [[-6.72878491e-01 -7.39739651e-01 4.44811170e-03 -1.97170530e+02] [ 7.39724447e-01 -6.72893186e-01 -4.74376959e-03 -2.87930348e+02] [ 6.50225852e-03 9.83964450e-05 9.99978855e-01 -2.77970250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 891.5765599949999 meters 0.013482826079185505 Centerline is valid? [True, True] Translation: X:-197.19, Y:-287.91, Z:-2.78 [[-6.73415649e-01 -7.39252254e-01 4.17951930e-03 -1.97188661e+02] [ 7.39238839e-01 -6.73428613e-01 -4.45453496e-03 -2.87909377e+02] [ 6.10763290e-03 8.99094434e-05 9.99981344e-01 -2.77943127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 891.606559995 meters 0.01313318977538255 Centerline is valid? [True, True] Translation: X:-197.21, Y:-287.89, Z:-2.78 [[-6.73918362e-01 -7.38793605e-01 4.24862809e-03 -1.97206917e+02] [ 7.38779749e-01 -6.73931749e-01 -4.52560305e-03 -2.87887661e+02] [ 6.20677195e-03 8.89133969e-05 9.99980734e-01 -2.77906693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 891.636559995 meters 0.012945237655094107 Centerline is valid? [True, True] Translation: X:-197.23, Y:-287.87, Z:-2.78 [[-6.74835240e-01 -7.37956893e-01 4.12584118e-03 -1.97225213e+02] [ 7.37943826e-01 -6.74847848e-01 -4.39231003e-03 -2.87866083e+02] [ 6.02565050e-03 8.05534300e-05 9.99981843e-01 -2.77901880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 891.666559995 meters 0.01304303341529944 Centerline is valid? [True, True] Translation: X:-197.24, Y:-287.85, Z:-2.78 [[-6.75354426e-01 -7.37481644e-01 4.15013237e-03 -1.97243742e+02] [ 7.37468425e-01 -6.75367173e-01 -4.41633309e-03 -2.87846464e+02] [ 6.05982775e-03 7.80014833e-05 9.99981636e-01 -2.77944826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 891.6965599949999 meters 0.013343247493798305 Centerline is valid? [True, True] Translation: X:-197.26, Y:-287.83, Z:-2.78 [[-6.75774212e-01 -7.37095962e-01 4.33102252e-03 -1.97262163e+02] [ 7.37081576e-01 -6.75788086e-01 -4.60577816e-03 -2.87828030e+02] [ 6.32175390e-03 7.98507999e-05 9.99980014e-01 -2.78092671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 891.7265599949999 meters 0.012978390717170194 Centerline is valid? [True, True] Translation: X:-197.28, Y:-287.81, Z:-2.78 [[-6.75991591e-01 -7.36893428e-01 4.84202437e-03 -1.97279581e+02] [ 7.36875465e-01 -6.76008926e-01 -5.14593131e-03 -2.87807590e+02] [ 7.06525466e-03 8.93626734e-05 9.99975037e-01 -2.78047525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 891.756559995 meters 0.013207000097963802 Centerline is valid? [True, True] Translation: X:-197.30, Y:-287.79, Z:-2.78 [[-6.76276751e-01 -7.36628378e-01 5.32805108e-03 -1.97298398e+02] [ 7.36606642e-01 -6.76297732e-01 -5.65969275e-03 -2.87788767e+02] [ 7.77243915e-03 9.71591872e-05 9.99969790e-01 -2.78151381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 891.786559995 meters 0.013144623470629955 Centerline is valid? [True, True] Translation: X:-197.32, Y:-287.77, Z:-2.78 [[-6.76509411e-01 -7.36410722e-01 5.85365100e-03 -1.97317046e+02] [ 7.36384511e-01 -6.76534727e-01 -6.21415186e-03 -2.87768222e+02] [ 8.53636625e-03 1.06605716e-04 9.99963559e-01 -2.78202053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 891.8165599949999 meters 0.013059562474545053 Centerline is valid? [True, True] Translation: X:-197.34, Y:-287.75, Z:-2.78 [[-6.76801860e-01 -7.36139355e-01 6.17185754e-03 -1.97335899e+02] [ 7.36110242e-01 -6.76829991e-01 -6.54788858e-03 -2.87748017e+02] [ 8.99745676e-03 1.11544376e-04 9.99959516e-01 -2.78211897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 891.8465599949999 meters 0.012896036216429381 Centerline is valid? [True, True] Translation: X:-197.35, Y:-287.73, Z:-2.78 [[-6.77271030e-01 -7.35705444e-01 6.43830946e-03 -1.97354336e+02] [ 7.35673783e-01 -6.77301622e-01 -6.82626582e-03 -2.87728127e+02] [ 9.38279836e-03 1.13263397e-04 9.99955974e-01 -2.78201088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 891.876559995 meters 0.012934032295901156 Centerline is valid? [True, True] Translation: X:-197.37, Y:-287.71, Z:-2.78 [[-6.77556050e-01 -7.35437850e-01 6.99772225e-03 -1.97372810e+02] [ 7.35400471e-01 -6.77592174e-01 -7.41577242e-03 -2.87709874e+02] [ 1.01954416e-02 1.21526774e-04 9.99948018e-01 -2.78316295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 891.906559995 meters 0.012936614478098234 Centerline is valid? [True, True] Translation: X:-197.39, Y:-287.69, Z:-2.78 [[-6.77673724e-01 -7.35327235e-01 7.22368132e-03 -1.97391645e+02] [ 7.35287447e-01 -6.77712212e-01 -7.65040080e-03 -2.87690316e+02] [ 1.05211251e-02 1.27006599e-04 9.99944644e-01 -2.78320068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 891.9365599949999 meters 0.012834186196742708 Centerline is valid? [True, True] Translation: X:-197.41, Y:-287.67, Z:-2.78 [[-6.77906827e-01 -7.35111836e-01 7.27478747e-03 -1.97411250e+02] [ 7.35071517e-01 -6.77945847e-01 -7.70018641e-03 -2.87670095e+02] [ 1.05924101e-02 1.27480127e-04 9.99943891e-01 -2.78349325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 891.9665599949999 meters 0.012838023287669907 Centerline is valid? [True, True] Translation: X:-197.43, Y:-287.65, Z:-2.78 [[-6.78548818e-01 -7.34517324e-01 7.47010544e-03 -1.97429962e+02] [ 7.34474829e-01 -6.78589924e-01 -7.90194689e-03 -2.87650224e+02] [ 1.08732552e-02 1.24747699e-04 9.99940877e-01 -2.78340272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 891.996559995 meters 0.012837249243585702 Centerline is valid? [True, True] Translation: X:-197.45, Y:-287.63, Z:-2.78 [[-6.79207728e-01 -7.33906959e-01 7.57875504e-03 -1.97447760e+02] [ 7.33863239e-01 -6.79249999e-01 -8.01158849e-03 -2.87631017e+02] [ 1.10276299e-02 1.20236902e-04 9.99939187e-01 -2.78343430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 892.026559995 meters 0.012650258155243451 Centerline is valid? [True, True] Translation: X:-197.47, Y:-287.61, Z:-2.78 [[-6.79971030e-01 -7.33201886e-01 7.37511032e-03 -1.97465786e+02] [ 7.33160495e-01 -6.80011017e-01 -7.79137274e-03 -2.87610705e+02] [ 1.07278054e-02 1.09231787e-04 9.99942450e-01 -2.78279952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 892.0565599949999 meters 0.012456278558891769 Centerline is valid? [True, True] Translation: X:-197.48, Y:-287.59, Z:-2.78 [[-6.81208324e-01 -7.32059436e-01 6.64839935e-03 -1.97483162e+02] [ 7.32025780e-01 -6.81240761e-01 -7.02020548e-03 -2.87591064e+02] [ 9.66836830e-03 8.45773049e-05 9.99953257e-01 -2.78160225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 892.0865599949999 meters 0.012400131706516862 Centerline is valid? [True, True] Translation: X:-197.50, Y:-287.57, Z:-2.78 [[-6.81736448e-01 -7.31571474e-01 6.21241351e-03 -1.97501747e+02] [ 7.31542104e-01 -6.81764749e-01 -6.55573273e-03 -2.87571530e+02] [ 9.03139160e-03 7.53601037e-05 9.99959213e-01 -2.78106946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 892.116559995 meters 0.012453605494646632 Centerline is valid? [True, True] Translation: X:-197.52, Y:-287.55, Z:-2.78 [[-6.82002644e-01 -7.31326137e-01 5.87159423e-03 -1.97520678e+02] [ 7.31299926e-01 -6.82027915e-01 -6.19202902e-03 -2.87553038e+02] [ 8.53298384e-03 7.09162658e-05 9.99963591e-01 -2.78088335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 892.146559995 meters 0.01236114478878402 Centerline is valid? [True, True] Translation: X:-197.54, Y:-287.53, Z:-2.78 [[-6.81896172e-01 -7.31429798e-01 5.29719451e-03 -1.97541398e+02] [ 7.31408493e-01 -6.81916744e-01 -5.58314073e-03 -2.87534192e+02] [ 7.69592113e-03 6.72907567e-05 9.99970384e-01 -2.78043061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 892.1765599949999 meters 0.012580798882255936 Centerline is valid? [True, True] Translation: X:-197.56, Y:-287.52, Z:-2.78 [[-6.81702575e-01 -7.31610899e-01 5.20491384e-03 -1.97561002e+02] [ 7.31590355e-01 -6.81722442e-01 -5.48319962e-03 -2.87516428e+02] [ 7.55987518e-03 6.99534562e-05 9.99971421e-01 -2.78086338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 892.2065599949999 meters 0.01253755087328917 Centerline is valid? [True, True] Translation: X:-197.58, Y:-287.50, Z:-2.78 [[-6.80909734e-01 -7.32349885e-01 5.05757429e-03 -1.97581562e+02] [ 7.32330530e-01 -6.80928513e-01 -5.32497849e-03 -2.87497478e+02] [ 7.34359393e-03 7.79863657e-05 9.99973033e-01 -2.78027567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 892.236559995 meters 0.012700793742964876 Centerline is valid? [True, True] Translation: X:-197.60, Y:-287.48, Z:-2.78 [[-6.80570255e-01 -7.32663132e-01 5.37241263e-03 -1.97601588e+02] [ 7.32641330e-01 -6.80591454e-01 -5.65289745e-03 -2.87478718e+02] [ 7.79808768e-03 8.88576728e-05 9.99969591e-01 -2.78074093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 892.266559995 meters 0.012976743821952307 Centerline is valid? [True, True] Translation: X:-197.62, Y:-287.46, Z:-2.78 [[-6.79760311e-01 -7.33411849e-01 5.74275947e-03 -1.97621329e+02] [ 7.33386983e-01 -6.79784560e-01 -6.04025400e-03 -2.87460830e+02] [ 8.33383308e-03 1.05740102e-04 9.99965268e-01 -2.78150739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 892.2965599949999 meters 0.013243781797087672 Centerline is valid? [True, True] Translation: X:-197.64, Y:-287.44, Z:-2.78 [[-6.79255927e-01 -7.33878772e-01 5.77354786e-03 -1.97640702e+02] [ 7.33853689e-01 -6.79280453e-01 -6.06866308e-03 -2.87443140e+02] [ 8.37552122e-03 1.14764033e-04 9.99964918e-01 -2.78193023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 892.3265599949999 meters 0.01328550880664828 Centerline is valid? [True, True] Translation: X:-197.66, Y:-287.42, Z:-2.78 [[-6.78102730e-01 -7.34941048e-01 6.19217292e-03 -1.97661626e+02] [ 7.34912273e-01 -6.78130988e-01 -6.50500183e-03 -2.87424778e+02] [ 8.97989721e-03 1.39644370e-04 9.99959670e-01 -2.78205715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 892.356559995 meters 0.01395369096985457 Centerline is valid? [True, True] Translation: X:-197.68, Y:-287.41, Z:-2.78 [[-6.77619798e-01 -7.35384537e-01 6.40250950e-03 -1.97681872e+02] [ 7.35353831e-01 -6.77650027e-01 -6.72194914e-03 -2.87407076e+02] [ 9.28187819e-03 1.53184072e-04 9.99956911e-01 -2.78289116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 892.386559995 meters 0.013991121522933749 Centerline is valid? [True, True] Translation: X:-197.70, Y:-287.39, Z:-2.78 [[-6.77042920e-01 -7.35913276e-01 6.67338168e-03 -1.97702945e+02] [ 7.35879980e-01 -6.77075787e-01 -7.00244467e-03 -2.87387740e+02] [ 9.67157715e-03 1.69852386e-04 9.99953215e-01 -2.78313652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 892.416559995 meters 0.014658264951320991 Centerline is valid? [True, True] Translation: X:-197.72, Y:-287.37, Z:-2.78 [[-6.77013969e-01 -7.35937462e-01 6.93811871e-03 -1.97722403e+02] [ 7.35901520e-01 -6.77049496e-01 -7.27547903e-03 -2.87369753e+02] [ 1.00517473e-02 1.80171172e-04 9.99949464e-01 -2.78374971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 892.4465599949999 meters 0.0143344305681041 Centerline is valid? [True, True] Translation: X:-197.74, Y:-287.35, Z:-2.78 [[-6.76971262e-01 -7.35976792e-01 6.93335973e-03 -1.97740814e+02] [ 7.35940947e-01 -6.77006741e-01 -7.26598593e-03 -2.87349966e+02] [ 1.00415283e-02 1.83679665e-04 9.99949566e-01 -2.78302217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 892.4765599949999 meters 0.014575912145264514 Centerline is valid? [True, True] Translation: X:-197.76, Y:-287.33, Z:-2.78 [[-6.76985532e-01 -7.35963343e-01 6.96760856e-03 -1.97759640e+02] [ 7.35927177e-01 -6.77021361e-01 -7.29837805e-03 -2.87331433e+02] [ 1.00885585e-02 1.86756150e-04 9.99949092e-01 -2.78286818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 892.506559995 meters 0.014595494304944261 Centerline is valid? [True, True] Translation: X:-197.78, Y:-287.31, Z:-2.78 [[-6.77003960e-01 -7.35949538e-01 6.62694724e-03 -1.97779243e+02] [ 7.35916863e-01 -6.77036370e-01 -6.93727748e-03 -2.87312584e+02] [ 9.59217045e-03 1.80317898e-04 9.99953978e-01 -2.78270300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 892.536559995 meters 0.014595494304944261 Centerline is valid? [True, True] Translation: X:-197.80, Y:-287.29, Z:-2.78 [[-6.77229903e-01 -7.35741608e-01 6.62907713e-03 -1.97797813e+02] [ 7.35708943e-01 -6.77262323e-01 -6.93524224e-03 -2.87293310e+02] [ 9.59217045e-03 1.80317898e-04 9.99953978e-01 -2.78270296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 892.5665599949999 meters 0.014187755385462979 Centerline is valid? [True, True] Translation: X:-197.82, Y:-287.27, Z:-2.78 [[-6.77617437e-01 -7.35385188e-01 6.57530226e-03 -1.97816698e+02] [ 7.35353075e-01 -6.77649315e-01 -6.87466962e-03 -2.87273484e+02] [ 9.51127929e-03 1.76772730e-04 9.99954751e-01 -2.78231954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 892.5965599949999 meters 0.014241052610806085 Centerline is valid? [True, True] Translation: X:-197.84, Y:-287.25, Z:-2.78 [[-6.77837719e-01 -7.35182074e-01 6.58368317e-03 -1.97836260e+02] [ 7.35149911e-01 -6.77869668e-01 -6.87912559e-03 -2.87253976e+02] [ 9.52028895e-03 1.77063301e-04 9.99954665e-01 -2.78210681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 892.626559995 meters 0.014339498889078038 Centerline is valid? [True, True] Translation: X:-197.85, Y:-287.24, Z:-2.78 [[-6.78754471e-01 -7.34337452e-01 6.39333559e-03 -1.97854652e+02] [ 7.34307125e-01 -6.78784561e-01 -6.67585381e-03 -2.87235867e+02] [ 9.24202697e-03 1.63406260e-04 9.99957278e-01 -2.78206360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 892.656559995 meters 0.013665416645224509 Centerline is valid? [True, True] Translation: X:-197.87, Y:-287.21, Z:-2.78 [[-6.79377920e-01 -7.33761863e-01 6.25854317e-03 -1.97873124e+02] [ 7.33732810e-01 -6.79406730e-01 -6.53141912e-03 -2.87214664e+02] [ 9.04460261e-03 1.54796532e-04 9.99959085e-01 -2.78126775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 892.6865599949999 meters 0.013561084000914788 Centerline is valid? [True, True] Translation: X:-197.89, Y:-287.19, Z:-2.78 [[-6.80081931e-01 -7.33110852e-01 6.08653443e-03 -1.97891941e+02] [ 7.33083381e-01 -6.80109151e-01 -6.34812466e-03 -2.87194287e+02] [ 8.79338685e-03 1.44692365e-04 9.99961327e-01 -2.78084624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 892.7165599949999 meters 0.013311069780673115 Centerline is valid? [True, True] Translation: X:-197.91, Y:-287.17, Z:-2.78 [[-6.81398252e-01 -7.31891397e-01 5.60405888e-03 -1.97910264e+02] [ 7.31868097e-01 -6.81421286e-01 -5.84123819e-03 -2.87174134e+02] [ 8.09387699e-03 1.21222414e-04 9.99967237e-01 -2.78014529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 892.746559995 meters 0.013181026863033228 Centerline is valid? [True, True] Translation: X:-197.93, Y:-287.15, Z:-2.78 [[-6.81983865e-01 -7.31345812e-01 5.59558475e-03 -1.97928772e+02] [ 7.31322594e-01 -6.82006810e-01 -5.82871879e-03 -2.87154530e+02] [ 8.07903599e-03 1.17085392e-04 9.99967357e-01 -2.78003384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 892.776559995 meters 0.013108857881049362 Centerline is valid? [True, True] Translation: X:-197.95, Y:-287.14, Z:-2.78 [[-6.82578850e-01 -7.30790593e-01 5.58774154e-03 -1.97947474e+02] [ 7.30767451e-01 -6.82601711e-01 -5.81687863e-03 -2.87135232e+02] [ 8.06512212e-03 1.12861323e-04 9.99967470e-01 -2.78017191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 892.8065599949999 meters 0.012893144390828018 Centerline is valid? [True, True] Translation: X:-197.97, Y:-287.12, Z:-2.78 [[-6.83625954e-01 -7.29811146e-01 5.58987382e-03 -1.97966493e+02] [ 7.29787983e-01 -6.83648799e-01 -5.81544773e-03 -2.87115417e+02] [ 8.06568910e-03 1.03831739e-04 9.99967467e-01 -2.78043851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 892.8365599949999 meters 0.012892477831232093 Centerline is valid? [True, True] Translation: X:-197.99, Y:-287.10, Z:-2.78 [[-6.84172731e-01 -7.29299147e-01 5.51619178e-03 -1.97985600e+02] [ 7.29276602e-01 -6.84194961e-01 -5.73519792e-03 -2.87095430e+02] [ 7.95682556e-03 9.89635747e-05 9.99968339e-01 -2.78068089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 892.866559995 meters 0.012946585429915128 Centerline is valid? [True, True] Translation: X:-198.00, Y:-287.08, Z:-2.78 [[-6.84753715e-01 -7.28752814e-01 5.62899880e-03 -1.98004104e+02] [ 7.28729351e-01 -6.84776844e-01 -5.84865011e-03 -2.87076173e+02] [ 8.11682826e-03 9.71317530e-05 9.99967053e-01 -2.78093392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 892.896559995 meters 0.012687577866347626 Centerline is valid? [True, True] Translation: X:-198.02, Y:-287.06, Z:-2.78 [[-6.86032540e-01 -7.27548067e-01 5.75889023e-03 -1.98021992e+02] [ 7.27523498e-01 -6.86056706e-01 -5.97973050e-03 -2.87056754e+02] [ 8.30146662e-03 8.74382578e-05 9.99965539e-01 -2.78149014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 892.9265599949999 meters 0.012424266501407497 Centerline is valid? [True, True] Translation: X:-198.04, Y:-287.04, Z:-2.78 [[-6.86565880e-01 -7.27043653e-01 5.90089096e-03 -1.98040286e+02] [ 7.27017871e-01 -6.86591232e-01 -6.12331042e-03 -2.87036316e+02] [ 8.50341397e-03 8.59971811e-05 9.99963842e-01 -2.78073128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 892.9565599949999 meters 0.012469631826922607 Centerline is valid? [True, True] Translation: X:-198.06, Y:-287.02, Z:-2.78 [[-6.87127460e-01 -7.26513487e-01 5.83155481e-03 -1.98059293e+02] [ 7.26488320e-01 -6.87152201e-01 -6.04757701e-03 -2.87016161e+02] [ 8.40081198e-03 8.11002227e-05 9.99964709e-01 -2.78114181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 892.986559995 meters 0.01229829788011919 Centerline is valid? [True, True] Translation: X:-198.08, Y:-287.00, Z:-2.78 [[-6.88120113e-01 -7.25571771e-01 6.02625092e-03 -1.98077726e+02] [ 7.25544894e-01 -6.88146496e-01 -6.24555487e-03 -2.86996559e+02] [ 8.67854176e-03 7.46236663e-05 9.99962338e-01 -2.78122775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 893.016559995 meters 0.012207634452259185 Centerline is valid? [True, True] Translation: X:-198.10, Y:-286.98, Z:-2.78 [[-6.89180354e-01 -7.24565738e-01 5.91029742e-03 -1.98096889e+02] [ 7.24539877e-01 -6.89205694e-01 -6.12195389e-03 -2.86976038e+02] [ 8.50916867e-03 6.31158199e-05 9.99963795e-01 -2.78113413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 893.0465599949999 meters 0.012139358094212472 Centerline is valid? [True, True] Translation: X:-198.12, Y:-286.96, Z:-2.78 [[-6.89711072e-01 -7.24059760e-01 6.00839646e-03 -1.98115935e+02] [ 7.24033049e-01 -6.89737240e-01 -6.21964887e-03 -2.86956268e+02] [ 8.64761226e-03 6.05169103e-05 9.99962607e-01 -2.78111359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 893.0765599949999 meters 0.012178520019508187 Centerline is valid? [True, True] Translation: X:-198.14, Y:-286.94, Z:-2.78 [[-6.90098944e-01 -7.23692363e-01 5.72815592e-03 -1.98135134e+02] [ 7.23668104e-01 -6.90122714e-01 -5.92583612e-03 -2.86936737e+02] [ 8.24161286e-03 5.58704870e-05 9.99966036e-01 -2.78088216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 893.106559995 meters 0.012168912423695907 Centerline is valid? [True, True] Translation: X:-198.15, Y:-286.92, Z:-2.78 [[-6.90369474e-01 -7.23435982e-01 5.51090530e-03 -1.98154471e+02] [ 7.23413547e-01 -6.90391467e-01 -5.69752468e-03 -2.86917383e+02] [ 7.92647635e-03 5.32664356e-05 9.99968584e-01 -2.78116168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 893.136559995 meters 0.01223931202973385 Centerline is valid? [True, True] Translation: X:-198.17, Y:-286.90, Z:-2.78 [[-6.90272264e-01 -7.23526983e-01 5.73631316e-03 -1.98174270e+02] [ 7.23502710e-01 -6.90296097e-01 -5.92688035e-03 -2.86898067e+02] [ 8.24801244e-03 5.90769927e-05 9.99965983e-01 -2.78165528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 893.166559995 meters 0.012508641533064137 Centerline is valid? [True, True] Translation: X:-198.19, Y:-286.88, Z:-2.78 [[-6.89981995e-01 -7.23802272e-01 5.92600618e-03 -1.98194603e+02] [ 7.23776411e-01 -6.90007440e-01 -6.11890097e-03 -2.86880802e+02] [ 8.51786277e-03 6.71719823e-05 9.99963720e-01 -2.78272831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 893.1965599949999 meters 0.01244091682311704 Centerline is valid? [True, True] Translation: X:-198.21, Y:-286.86, Z:-2.78 [[-6.89755188e-01 -7.24017524e-01 6.03374577e-03 -1.98213759e+02] [ 7.23990754e-01 -6.89781574e-01 -6.22635807e-03 -2.86861530e+02] [ 8.66995901e-03 7.37133661e-05 9.99962413e-01 -2.78230379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 893.2265599949999 meters 0.012358108960706183 Centerline is valid? [True, True] Translation: X:-198.23, Y:-286.84, Z:-2.78 [[-6.89031190e-01 -7.24705579e-01 6.15166746e-03 -1.98233984e+02] [ 7.24677813e-01 -6.89058645e-01 -6.34443308e-03 -2.86842026e+02] [ 8.83670569e-03 8.64646439e-05 9.99960952e-01 -2.78178348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 893.256559995 meters 0.012586883332627592 Centerline is valid? [True, True] Translation: X:-198.25, Y:-286.82, Z:-2.78 [[-6.88693514e-01 -7.25024534e-01 6.37714674e-03 -1.98253976e+02] [ 7.24994745e-01 -6.88723032e-01 -6.57303307e-03 -2.86823132e+02] [ 9.15769808e-03 9.65926316e-05 9.99958063e-01 -2.78208087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 893.286559995 meters 0.01266045689636587 Centerline is valid? [True, True] Translation: X:-198.27, Y:-286.80, Z:-2.78 [[-6.88452690e-01 -7.25251506e-01 6.56868915e-03 -1.98274310e+02] [ 7.25219946e-01 -6.88484018e-01 -6.76665852e-03 -2.86803196e+02] [ 9.42996678e-03 1.05220128e-04 9.99955531e-01 -2.78179164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 893.3165599949999 meters 0.01278064808785651 Centerline is valid? [True, True] Translation: X:-198.29, Y:-286.78, Z:-2.78 [[-6.88176418e-01 -7.25514388e-01 6.48769093e-03 -1.98294084e+02] [ 7.25483649e-01 -6.88206990e-01 -6.67945165e-03 -2.86783781e+02] [ 9.31091253e-03 1.10072575e-04 9.99956647e-01 -2.78190311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 893.3465599949999 meters 0.01320951560794189 Centerline is valid? [True, True] Translation: X:-198.31, Y:-286.77, Z:-2.78 [[-6.87524726e-01 -7.26131165e-01 6.57898692e-03 -1.98313743e+02] [ 7.26099625e-01 -6.87556192e-01 -6.76894574e-03 -2.86766028e+02] [ 9.43856564e-03 1.23182368e-04 9.99955448e-01 -2.78176962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 893.376559995 meters 0.013315380540607248 Centerline is valid? [True, True] Translation: X:-198.33, Y:-286.75, Z:-2.78 [[-6.87380516e-01 -7.26269350e-01 6.39202213e-03 -1.98333112e+02] [ 7.26239620e-01 -6.87410224e-01 -6.57251361e-03 -2.86747146e+02] [ 9.16735655e-03 1.24321931e-04 9.99957971e-01 -2.78117769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 893.406559995 meters 0.013659654773498654 Centerline is valid? [True, True] Translation: X:-198.35, Y:-286.73, Z:-2.78 [[-6.86814857e-01 -7.26809973e-01 5.71094873e-03 -1.98353479e+02] [ 7.26786290e-01 -6.86838590e-01 -5.86859846e-03 -2.86728484e+02] [ 8.18785586e-03 1.19998618e-04 9.99966472e-01 -2.78027213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 893.4365599949999 meters 0.01331590979475948 Centerline is valid? [True, True] Translation: X:-198.37, Y:-286.71, Z:-2.78 [[-6.86744952e-01 -7.26876998e-01 5.58578867e-03 -1.98373164e+02] [ 7.26854370e-01 -6.86767657e-01 -5.73673708e-03 -2.86707931e+02] [ 8.00604123e-03 1.20379672e-04 9.99967944e-01 -2.77941471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 893.4665599949999 meters 0.013561837221544942 Centerline is valid? [True, True] Translation: X:-198.39, Y:-286.69, Z:-2.78 [[-6.86691014e-01 -7.26930207e-01 5.28453616e-03 -1.98392731e+02] [ 7.26909980e-01 -6.86711337e-01 -5.42411060e-03 -2.86689486e+02] [ 7.57190073e-03 1.16694073e-04 9.99971326e-01 -2.77949355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 893.496559995 meters 0.013382721418864128 Centerline is valid? [True, True] Translation: X:-198.41, Y:-286.67, Z:-2.78 [[-6.86586101e-01 -7.27030994e-01 5.04567410e-03 -1.98411890e+02] [ 7.27012578e-01 -6.86604632e-01 -5.17597742e-03 -2.86669505e+02] [ 7.22747921e-03 1.14514378e-04 9.99973875e-01 -2.77874764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 893.526559995 meters 0.0138757724916652 Centerline is valid? [True, True] Translation: X:-198.43, Y:-286.65, Z:-2.78 [[-6.86250609e-01 -7.27349541e-01 4.76935211e-03 -1.98431529e+02] [ 7.27333115e-01 -6.86267172e-01 -4.88956236e-03 -2.86651474e+02] [ 6.82947073e-03 1.13442580e-04 9.99976673e-01 -2.77854395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 893.5565599949999 meters 0.01367767160280439 Centerline is valid? [True, True] Translation: X:-198.45, Y:-286.63, Z:-2.78 [[-6.86185316e-01 -7.27411762e-01 4.67345125e-03 -1.98450794e+02] [ 7.27396009e-01 -6.86201221e-01 -4.78851940e-03 -2.86631273e+02] [ 6.69015329e-03 1.13638095e-04 9.99977614e-01 -2.77831686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 893.5865599949999 meters 0.014186101195145719 Centerline is valid? [True, True] Translation: X:-198.47, Y:-286.61, Z:-2.78 [[-6.85633181e-01 -7.27928711e-01 5.18966624e-03 -1.98470581e+02] [ 7.27909317e-01 -6.85652809e-01 -5.31523971e-03 -2.86613237e+02] [ 7.42742483e-03 1.33301705e-04 9.99972408e-01 -2.77862588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 893.616559995 meters 0.014652368564538942 Centerline is valid? [True, True] Translation: X:-198.49, Y:-286.60, Z:-2.78 [[-6.85394443e-01 -7.28152564e-01 5.31992678e-03 -1.98490147e+02] [ 7.28132218e-01 -6.85415074e-01 -5.44506045e-03 -2.86595122e+02] [ 7.61119273e-03 1.41595912e-04 9.99971025e-01 -2.77928746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 893.646559995 meters 0.014321928089637776 Centerline is valid? [True, True] Translation: X:-198.51, Y:-286.57, Z:-2.78 [[-6.85205592e-01 -7.28327743e-01 5.65640299e-03 -1.98509628e+02] [ 7.28304775e-01 -6.85228921e-01 -5.78618589e-03 -2.86574826e+02] [ 8.09017063e-03 1.54858384e-04 9.99967262e-01 -2.77936409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 893.6765599949999 meters 0.014809564413386775 Centerline is valid? [True, True] Translation: X:-198.53, Y:-286.56, Z:-2.78 [[-6.84537673e-01 -7.28951202e-01 6.19028139e-03 -1.98530630e+02] [ 7.28923750e-01 -6.84565639e-01 -6.32877201e-03 -2.86555563e+02] [ 8.85101990e-03 1.79960255e-04 9.99960813e-01 -2.78023928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 893.7065599949999 meters 0.014948388066308087 Centerline is valid? [True, True] Translation: X:-198.55, Y:-286.54, Z:-2.78 [[-6.84383602e-01 -7.29095673e-01 6.21165570e-03 -1.98550025e+02] [ 7.29068073e-01 -6.84411766e-01 -6.34661927e-03 -2.86536473e+02] [ 8.87862290e-03 1.85197696e-04 9.99960567e-01 -2.78061288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 893.736559995 meters 0.014960066630328044 Centerline is valid? [True, True] Translation: X:-198.57, Y:-286.52, Z:-2.78 [[-6.84264953e-01 -7.29204621e-01 6.48806786e-03 -1.98569447e+02] [ 7.29174552e-01 -6.84295683e-01 -6.62506405e-03 -2.86516865e+02] [ 9.27078415e-03 1.97634834e-04 9.99957006e-01 -2.78078921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 893.766559995 meters 0.015761430989167532 Centerline is valid? [True, True] Translation: X:-198.59, Y:-286.50, Z:-2.78 [[-6.83936588e-01 -7.29510596e-01 6.71079182e-03 -1.98589313e+02] [ 7.29478480e-01 -6.83969478e-01 -6.84842018e-03 -2.86498355e+02] [ 9.58597186e-03 2.11493085e-04 9.99954031e-01 -2.78170678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 893.7965599949999 meters 0.015767014917387072 Centerline is valid? [True, True] Translation: X:-198.61, Y:-286.48, Z:-2.78 [[-6.84186309e-01 -7.29273202e-01 7.04922933e-03 -1.98608236e+02] [ 7.29237797e-01 -6.84222587e-01 -7.18934626e-03 -2.86479124e+02] [ 1.00662395e-02 2.21712186e-04 9.99949310e-01 -2.78188228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 893.8265599949999 meters 0.015222638872542776 Centerline is valid? [True, True] Translation: X:-198.63, Y:-286.46, Z:-2.78 [[-6.84598677e-01 -7.28885926e-01 7.06814222e-03 -1.98626653e+02] [ 7.28850352e-01 -6.84635128e-01 -7.20458420e-03 -2.86457916e+02] [ 1.00904185e-02 2.19369136e-04 9.99949067e-01 -2.78166720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 893.856559995 meters 0.0149426368163913 Centerline is valid? [True, True] Translation: X:-198.65, Y:-286.44, Z:-2.78 [[-6.85031595e-01 -7.28479603e-01 7.01290065e-03 -1.98645578e+02] [ 7.28444602e-01 -6.85067458e-01 -7.14422140e-03 -2.86437362e+02] [ 1.00087296e-02 2.14492240e-04 9.99949889e-01 -2.78131955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 893.886559995 meters 0.014550530116850697 Centerline is valid? [True, True] Translation: X:-198.66, Y:-286.42, Z:-2.78 [[-6.86254804e-01 -7.27328371e-01 6.91269879e-03 -1.98663912e+02] [ 7.27294344e-01 -6.86289591e-01 -7.03813231e-03 -2.86415834e+02] [ 9.86314653e-03 1.97614625e-04 9.99951339e-01 -2.78085762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 893.916559995 meters 0.014533318687770799 Centerline is valid? [True, True] Translation: X:-198.68, Y:-286.40, Z:-2.78 [[-6.86973762e-01 -7.26652224e-01 6.60267577e-03 -1.98682199e+02] [ 7.26621187e-01 -6.87005467e-01 -6.71853762e-03 -2.86396276e+02] [ 9.41811466e-03 1.82185036e-04 9.99955632e-01 -2.78077247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 893.9465599949999 meters 0.014595529678031212 Centerline is valid? [True, True] Translation: X:-198.70, Y:-286.38, Z:-2.78 [[-6.87807593e-01 -7.25864624e-01 6.42358003e-03 -1.98700545e+02] [ 7.25835253e-01 -6.87837567e-01 -6.53196329e-03 -2.86376948e+02] [ 9.15970074e-03 1.69726886e-04 9.99958035e-01 -2.78052274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 893.9765599949999 meters 0.015239722995094284 Centerline is valid? [True, True] Translation: X:-198.72, Y:-286.36, Z:-2.78 [[-6.88745770e-01 -7.24976200e-01 6.22684944e-03 -1.98719751e+02] [ 7.24948601e-01 -6.88773900e-01 -6.32778024e-03 -2.86358409e+02] [ 8.87638144e-03 1.55913910e-04 9.99960592e-01 -2.78110913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 894.006559995 meters 0.013971029534072045 Centerline is valid? [True, True] Translation: X:-198.74, Y:-286.34, Z:-2.78 [[-6.90366347e-01 -7.23436800e-01 5.78826554e-03 -1.98736183e+02] [ 7.23412924e-01 -6.90390600e-01 -5.87883023e-03 -2.86335723e+02] [ 8.24912624e-03 1.28759553e-04 9.99965967e-01 -2.77994688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 894.036559995 meters 0.013762676770364243 Centerline is valid? [True, True] Translation: X:-198.75, Y:-286.32, Z:-2.78 [[-6.91330553e-01 -7.22517769e-01 5.48999860e-03 -1.98754792e+02] [ 7.22496288e-01 -6.91352341e-01 -5.57262731e-03 -2.86315096e+02] [ 7.82184564e-03 1.13976087e-04 9.99969403e-01 -2.78004289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 894.0665599949999 meters 0.013269082772293165 Centerline is valid? [True, True] Translation: X:-198.77, Y:-286.29, Z:-2.78 [[-6.93188136e-01 -7.20737795e-01 5.21910425e-03 -1.98772248e+02] [ 7.20718354e-01 -6.93207777e-01 -5.29453582e-03 -2.86293387e+02] [ 7.43389573e-03 9.13948072e-05 9.99972364e-01 -2.77996742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 894.0965599949999 meters 0.01298831348171296 Centerline is valid? [True, True] Translation: X:-198.79, Y:-286.27, Z:-2.78 [[-6.94183890e-01 -7.19778100e-01 5.31156384e-03 -1.98790566e+02] [ 7.19757959e-01 -6.94204206e-01 -5.38530814e-03 -2.86272521e+02] [ 7.56353682e-03 8.46461935e-05 9.99971393e-01 -2.77988481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 894.126559995 meters 0.012978516684273241 Centerline is valid? [True, True] Translation: X:-198.81, Y:-286.25, Z:-2.78 [[-6.95349872e-01 -7.18652292e-01 5.23823719e-03 -1.98808714e+02] [ 7.18632697e-01 -6.95369598e-01 -5.30745372e-03 -2.86252963e+02] [ 7.45672467e-03 7.38312498e-05 9.99972196e-01 -2.78060293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 894.156559995 meters 0.012613742370010634 Centerline is valid? [True, True] Translation: X:-198.83, Y:-286.23, Z:-2.78 [[-6.97280613e-01 -7.16775946e-01 5.65604797e-03 -1.98826081e+02] [ 7.16753059e-01 -6.97303549e-01 -5.72828946e-03 -2.86231146e+02] [ 8.04988242e-03 5.97644990e-05 9.99967598e-01 -2.78066864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 894.1865599949999 meters 0.01272368282203513 Centerline is valid? [True, True] Translation: X:-198.84, Y:-286.21, Z:-2.78 [[-6.97973611e-01 -7.16097160e-01 6.13968979e-03 -1.98843752e+02] [ 7.16070201e-01 -6.98000612e-01 -6.21403845e-03 -2.86211985e+02] [ 8.73536252e-03 5.92140509e-05 9.99961844e-01 -2.78105420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 894.2165599949999 meters 0.012608787072252882 Centerline is valid? [True, True] Translation: X:-198.86, Y:-286.19, Z:-2.78 [[-6.99465452e-01 -7.14637807e-01 6.39431512e-03 -1.98861631e+02] [ 7.14608539e-01 -6.99494677e-01 -6.46777454e-03 -2.86190692e+02] [ 9.09490560e-03 4.54473513e-05 9.99958640e-01 -2.78157603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 894.246559995 meters 0.012563840198115253 Centerline is valid? [True, True] Translation: X:-198.88, Y:-286.17, Z:-2.78 [[-7.00054058e-01 -7.14057527e-01 6.79433374e-03 -1.98880864e+02] [ 7.14024494e-01 -7.00087027e-01 -6.86853657e-03 -2.86169529e+02] [ 9.66115515e-03 4.29738081e-05 9.99953329e-01 -2.78128137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 894.276559995 meters 0.012641540321534365 Centerline is valid? [True, True] Translation: X:-198.90, Y:-286.15, Z:-2.78 [[-7.00551111e-01 -7.13569250e-01 6.86051209e-03 -1.98898571e+02] [ 7.13535591e-01 -7.00584701e-01 -6.93086545e-03 -2.86150797e+02] [ 9.75202227e-03 3.97940585e-05 9.99952447e-01 -2.78223339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 894.3065599949999 meters 0.012576239722334456 Centerline is valid? [True, True] Translation: X:-198.92, Y:-286.13, Z:-2.78 [[-7.01474261e-01 -7.12659051e-01 7.13713337e-03 -1.98916978e+02] [ 7.12622621e-01 -7.01510567e-01 -7.20587197e-03 -2.86130078e+02] [ 1.01421044e-02 3.13489716e-05 9.99948567e-01 -2.78227019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 894.3365599949999 meters 0.012535696252040537 Centerline is valid? [True, True] Translation: X:-198.93, Y:-286.11, Z:-2.78 [[-7.02524312e-01 -7.11624993e-01 7.03279305e-03 -1.98934233e+02] [ 7.11589614e-01 -7.02559512e-01 -7.09593814e-03 -2.86110609e+02] [ 9.99060259e-03 1.93934394e-05 9.99950093e-01 -2.78260460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 894.366559995 meters 0.012535696252040537 Centerline is valid? [True, True] Translation: X:-198.95, Y:-286.09, Z:-2.78 [[-7.02740365e-01 -7.11411617e-01 7.03494755e-03 -1.98953155e+02] [ 7.11376249e-01 -7.02775576e-01 -7.09380217e-03 -2.86091681e+02] [ 9.99060259e-03 1.93934724e-05 9.99950093e-01 -2.78260456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 894.396559995 meters 0.012506991740100747 Centerline is valid? [True, True] Translation: X:-198.97, Y:-286.07, Z:-2.78 [[-7.03582761e-01 -7.10580544e-01 6.82555246e-03 -1.98971003e+02] [ 7.10547252e-01 -7.03615868e-01 -6.87840300e-03 -2.86071472e+02] [ 9.69022637e-03 1.03517715e-05 9.99953049e-01 -2.78182208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 894.4265599949999 meters 0.012506991740100747 Centerline is valid? [True, True] Translation: X:-198.99, Y:-286.05, Z:-2.78 [[-7.03802287e-01 -7.10363093e-01 6.82767756e-03 -1.98989933e+02] [ 7.10329811e-01 -7.03835404e-01 -6.87629357e-03 -2.86052550e+02] [ 9.69022637e-03 1.03517715e-05 9.99953049e-01 -2.78182203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 894.4565599949999 meters 0.012514332534521277 Centerline is valid? [True, True] Translation: X:-199.01, Y:-286.03, Z:-2.78 [[-7.04059936e-01 -7.10110128e-01 6.57367044e-03 -1.99008747e+02] [ 7.10079304e-01 -7.04090624e-01 -6.61633321e-03 -2.86032842e+02] [ 9.32678494e-03 9.53219380e-06 9.99956505e-01 -2.78126542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 894.486559995 meters 0.012427665334448895 Centerline is valid? [True, True] Translation: X:-199.03, Y:-286.01, Z:-2.78 [[-7.04395702e-01 -7.09780980e-01 6.13647389e-03 -1.99027995e+02] [ 7.09754130e-01 -7.04422431e-01 -6.17361982e-03 -2.86012869e+02] [ 8.70458778e-03 6.71642917e-06 9.99962114e-01 -2.78132019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 894.516559995 meters 0.012476936557840454 Centerline is valid? [True, True] Translation: X:-199.05, Y:-285.99, Z:-2.78 [[-7.04552407e-01 -7.09627217e-01 5.92612469e-03 -1.99046705e+02] [ 7.09602203e-01 -7.04577329e-01 -5.95828193e-03 -2.85993381e+02] [ 8.40357213e-03 7.26926053e-06 9.99964689e-01 -2.78091600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 894.5465599949999 meters 0.012562835270878701 Centerline is valid? [True, True] Translation: X:-199.07, Y:-285.97, Z:-2.78 [[-7.04336552e-01 -7.09843315e-01 5.69989797e-03 -1.99065075e+02] [ 7.09820212e-01 -7.04359615e-01 -5.72708640e-03 -2.85974794e+02] [ 8.08011193e-03 1.21064942e-05 9.99967355e-01 -2.78139426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 894.5765599949999 meters 0.012534740604958313 Centerline is valid? [True, True] Translation: X:-199.08, Y:-285.96, Z:-2.78 [[-7.04025044e-01 -7.10149603e-01 6.02322198e-03 -1.99084759e+02] [ 7.10123844e-01 -7.04050809e-01 -6.04854940e-03 -2.85955098e+02] [ 8.53602926e-03 1.89032950e-05 9.99963567e-01 -2.78098736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 894.606559995 meters 0.012722036032146354 Centerline is valid? [True, True] Translation: X:-199.10, Y:-285.94, Z:-2.78 [[-7.02950255e-01 -7.11213476e-01 6.02751219e-03 -1.99104001e+02] [ 7.11187754e-01 -7.02976095e-01 -6.04884621e-03 -2.85936769e+02] [ 8.53921792e-03 3.46548646e-05 9.99963540e-01 -2.78170982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 894.636559995 meters 0.012899619032747361 Centerline is valid? [True, True] Translation: X:-199.12, Y:-285.92, Z:-2.78 [[-7.02338950e-01 -7.11815110e-01 6.26490828e-03 -1.99123079e+02] [ 7.11787372e-01 -7.02366890e-01 -6.28402845e-03 -2.85918771e+02] [ 8.87333054e-03 4.57646631e-05 9.99960630e-01 -2.78223818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 894.666559995 meters 0.012959718229118544 Centerline is valid? [True, True] Translation: X:-199.14, Y:-285.90, Z:-2.78 [[-7.01865937e-01 -7.12282364e-01 6.16775673e-03 -1.99142630e+02] [ 7.12255532e-01 -7.01893034e-01 -6.18271993e-03 -2.85899728e+02] [ 8.73294785e-03 5.35783361e-05 9.99961866e-01 -2.78226804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 894.6965599949999 meters 0.013275582448400677 Centerline is valid? [True, True] Translation: X:-199.16, Y:-285.88, Z:-2.78 [[-7.00296280e-01 -7.13826188e-01 6.10685073e-03 -1.99162815e+02] [ 7.13799973e-01 -7.00322903e-01 -6.11808389e-03 -2.85881504e+02] [ 8.64401593e-03 7.45984995e-05 9.99962637e-01 -2.78282298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 894.7265599949999 meters 0.013626783705417858 Centerline is valid? [True, True] Translation: X:-199.18, Y:-285.86, Z:-2.78 [[-6.99735087e-01 -7.14377071e-01 6.01730479e-03 -1.99181969e+02] [ 7.14351664e-01 -6.99760955e-01 -6.02548700e-03 -2.85864056e+02] [ 8.51514470e-03 8.22270191e-05 9.99963742e-01 -2.78327811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 894.756559995 meters 0.013560342841662586 Centerline is valid? [True, True] Translation: X:-199.20, Y:-285.84, Z:-2.78 [[-6.99301585e-01 -7.14804368e-01 5.65759014e-03 -1.99201262e+02] [ 7.14781950e-01 -6.99324465e-01 -5.66175835e-03 -2.85844831e+02] [ 8.00354081e-03 8.46667267e-05 9.99967968e-01 -2.78285016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 894.786559995 meters 0.013756283074526547 Centerline is valid? [True, True] Translation: X:-199.22, Y:-285.82, Z:-2.78 [[-6.98172345e-01 -7.15911510e-01 5.10759461e-03 -1.99221704e+02] [ 7.15893289e-01 -6.98191022e-01 -5.10845297e-03 -2.85824912e+02] [ 7.22327697e-03 8.99121184e-05 9.99973908e-01 -2.78209852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 894.8165599949999 meters 0.013877973125475578 Centerline is valid? [True, True] Translation: X:-199.24, Y:-285.81, Z:-2.78 [[-6.97711794e-01 -7.16361482e-01 4.94771438e-03 -1.99241879e+02] [ 7.16344416e-01 -6.97729330e-01 -4.94572853e-03 -2.85805045e+02] [ 6.99509486e-03 9.35744392e-05 9.99975530e-01 -2.78159110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 894.8465599949999 meters 0.014230565893570572 Centerline is valid? [True, True] Translation: X:-199.74, Y:-286.31, Z:-1.80 [[-7.65355912e-01 6.43586848e-01 5.12815248e-03 -1.99744959e+02] [ 6.43571496e-01 7.65373085e-01 -4.44638743e-03 -2.86310070e+02] [-6.78658635e-03 -1.02736146e-04 -9.99976966e-01 -1.80262765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 894.876559995 meters 0.014582566016867025 Centerline is valid? [True, True] Translation: X:-199.73, Y:-286.29, Z:-1.80 [[-8.09507792e-01 5.87084441e-01 5.38471212e-03 -1.99730787e+02] [ 5.87070560e-01 8.09525693e-01 -4.03854384e-03 -2.86285083e+02] [-6.73002907e-03 -1.08026746e-04 -9.99977347e-01 -1.80267104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 894.906559995 meters 0.014943728005485575 Centerline is valid? [True, True] Translation: X:-199.71, Y:-286.27, Z:-1.80 [[-8.49560717e-01 5.27457703e-01 5.91268388e-03 -1.99710883e+02] [ 5.27443941e-01 8.49581284e-01 -3.81204073e-03 -2.86265091e+02] [-7.03399581e-03 -1.19950769e-04 -9.99975254e-01 -1.80238214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 894.9365599949999 meters 0.015527084934234955 Centerline is valid? [True, True] Translation: X:-199.33, Y:-285.67, Z:-2.78 [[-7.90557957e-01 -6.12357889e-01 5.99438113e-03 -1.99332652e+02] [ 6.12341750e-01 -7.90580668e-01 -4.44855419e-03 -2.85666698e+02] [ 7.46314909e-03 1.53769920e-04 9.99972139e-01 -2.78228600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 894.9665599949999 meters 0.016189425081725974 Centerline is valid? [True, True] Translation: X:-199.35, Y:-285.70, Z:-2.78 [[-7.47022127e-01 -6.64775408e-01 5.62120335e-03 -1.99346739e+02] [ 6.64758055e-01 -7.47043262e-01 -4.80557072e-03 -2.85695113e+02] [ 7.39390732e-03 1.46872539e-04 9.99972654e-01 -2.78295845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 894.996559995 meters 0.016112762093885895 Centerline is valid? [True, True] Translation: X:-199.81, Y:-286.23, Z:-1.80 [[-8.16404481e-01 5.77446966e-01 6.22298291e-03 -1.99807450e+02] [ 5.77428675e-01 8.16428182e-01 -4.59886363e-03 -2.86231253e+02] [-7.73621847e-03 -1.61204098e-04 -9.99970062e-01 -1.80146541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 895.026559995 meters 0.01652235581670563 Centerline is valid? [True, True] Translation: X:-199.79, Y:-286.21, Z:-1.80 [[-8.56208165e-01 5.16585076e-01 6.88744376e-03 -1.99785271e+02] [ 5.16566611e-01 8.56235847e-01 -4.37171346e-03 -2.86211923e+02] [-8.15563817e-03 -1.85273278e-04 -9.99966725e-01 -1.80099919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 895.0565599949999 meters 0.01665990028199324 Centerline is valid? [True, True] Translation: X:-199.76, Y:-286.19, Z:-1.80 [[-8.90750571e-01 4.54426853e-01 7.72363643e-03 -1.99763278e+02] [ 4.54407796e-01 8.90784034e-01 -4.16660897e-03 -2.86192391e+02] [-8.77351102e-03 -2.01728714e-04 -9.99961492e-01 -1.80023385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 895.0865599949999 meters 0.017344964104813437 Centerline is valid? [True, True] Translation: X:-199.43, Y:-285.58, Z:-2.79 [[-8.33536588e-01 -5.52399639e-01 8.44963726e-03 -1.99429194e+02] [ 5.52374865e-01 -8.33579360e-01 -5.24018012e-03 -2.85577680e+02] [ 9.93811683e-03 2.99485385e-04 9.99950571e-01 -2.78606124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 895.116559995 meters 0.01627705092877138 Centerline is valid? [True, True] Translation: X:-199.80, Y:-286.17, Z:-1.80 [[-8.92278688e-01 4.51391052e-01 9.21203438e-03 -1.99800109e+02] [ 4.51364224e-01 8.92326208e-01 -4.92706291e-03 -2.86174887e+02] [-1.04441718e-02 -2.38330477e-04 -9.99945430e-01 -1.79907986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 895.146559995 meters 0.01673296942503524 Centerline is valid? [True, True] Translation: X:-199.80, Y:-286.15, Z:-1.80 [[-9.21712833e-01 3.87747778e-01 9.85466999e-03 -1.99797134e+02] [ 3.87722838e-01 9.21765482e-01 -4.40415017e-03 -2.86145339e+02] [-1.07913941e-02 -2.38481112e-04 -9.99941743e-01 -1.79853281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 895.1765599949999 meters 0.0159075462905742 Centerline is valid? [True, True] Translation: X:-199.50, Y:-285.51, Z:-2.79 [[-8.73731812e-01 -4.86322013e-01 9.14440456e-03 -1.99495978e+02] [ 4.86297793e-01 -8.73779640e-01 -4.85774973e-03 -2.85507986e+02] [ 1.03526251e-02 2.02533285e-04 9.99946390e-01 -2.78511507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 895.2065599949999 meters 0.01583838808377095 Centerline is valid? [True, True] Translation: X:-199.85, Y:-286.13, Z:-1.80 [[-9.22024245e-01 3.87018475e-01 9.38042829e-03 -1.99847045e+02] [ 3.86996258e-01 9.22071939e-01 -4.15151936e-03 -2.86127217e+02] [-1.02561444e-02 -1.97610856e-04 -9.99947385e-01 -1.79947921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 895.236559995 meters 0.014850489663173039 Centerline is valid? [True, True] Translation: X:-199.53, Y:-285.49, Z:-2.78 [[-8.77141409e-01 -4.80159785e-01 8.33846073e-03 -1.99531477e+02] [ 4.80139523e-01 -8.77181032e-01 -4.41314129e-03 -2.85489445e+02] [ 9.43335256e-03 1.32675588e-04 9.99955496e-01 -2.78417600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 895.266559995 meters 0.01444132637284387 Centerline is valid? [True, True] Translation: X:-199.87, Y:-286.13, Z:-1.80 [[-9.21808398e-01 3.87557457e-01 8.27612460e-03 -1.99865039e+02] [ 3.87540512e-01 9.21845540e-01 -3.62667698e-03 -2.86125585e+02] [-9.03485426e-03 -1.35767737e-04 -9.99959176e-01 -1.80067798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 895.2965599949999 meters 0.014342890907259697 Centerline is valid? [True, True] Translation: X:-199.86, Y:-286.10, Z:-1.80 [[-9.46374471e-01 3.22967074e-01 8.22371324e-03 -1.99856628e+02] [ 3.22953818e-01 9.46410194e-01 -2.92838113e-03 -2.86100196e+02] [-8.72877673e-03 -1.15465548e-04 -9.99961897e-01 -1.80053601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 895.3265599949999 meters 0.013499476384304104 Centerline is valid? [True, True] Translation: X:-199.84, Y:-286.08, Z:-1.80 [[-9.65799627e-01 2.59164328e-01 8.05807604e-03 -1.99844869e+02] [ 2.59154658e-01 9.65833239e-01 -2.24000866e-03 -2.86079629e+02] [-8.36328802e-03 -7.51115886e-05 -9.99965024e-01 -1.80165632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 895.356559995 meters 0.013432925748478656 Centerline is valid? [True, True] Translation: X:-199.64, Y:-285.38, Z:-2.78 [[-9.41002083e-01 -3.38312061e-01 7.74783652e-03 -1.99641116e+02] [ 3.38301158e-01 -9.41033977e-01 -2.71693626e-03 -2.85379168e+02] [ 8.21014972e-03 6.44593878e-05 9.99966294e-01 -2.78320742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 895.386559995 meters 0.01334249069403408 Centerline is valid? [True, True] Translation: X:-199.89, Y:-286.07, Z:-1.80 [[-9.65732840e-01 2.59413008e-01 8.06059742e-03 -1.99887294e+02] [ 2.59403620e-01 9.65766478e-01 -2.20735028e-03 -2.86071807e+02] [-8.35727016e-03 -4.07625131e-05 -9.99965077e-01 -1.80154326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 895.416559995 meters 0.01316407382327722 Centerline is valid? [True, True] Translation: X:-199.88, Y:-286.05, Z:-1.80 [[-9.81329284e-01 1.92160200e-01 8.20333535e-03 -1.99878835e+02] [ 1.92153277e-01 9.81363570e-01 -1.63136446e-03 -2.86046821e+02] [-8.36393779e-03 -2.46079517e-05 -9.99965022e-01 -1.80174569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 895.4465599949999 meters 0.01308558577117615 Centerline is valid? [True, True] Translation: X:-199.73, Y:-285.32, Z:-2.78 [[-9.65245074e-01 -2.61229892e-01 7.80326296e-03 -1.99729126e+02] [ 2.61221410e-01 -9.65276615e-01 -2.10505623e-03 -2.85323890e+02] [ 8.08221087e-03 6.48419538e-06 9.99967339e-01 -2.78226503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 895.4765599949999 meters 0.013135280676997218 Centerline is valid? [True, True] Translation: X:-199.93, Y:-286.04, Z:-1.80 [[-9.81577076e-01 1.90892184e-01 8.16200190e-03 -1.99931661e+02] [ 1.90885570e-01 9.81611010e-01 -1.58898982e-03 -2.86037695e+02] [-8.31523667e-03 -1.70759287e-06 -9.99965428e-01 -1.80207400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 895.506559995 meters 0.01314691957472756 Centerline is valid? [True, True] Translation: X:-199.93, Y:-286.01, Z:-1.80 [[-9.92564035e-01 1.21377193e-01 9.17675557e-03 -1.99925161e+02] [ 1.21372047e-01 9.92606456e-01 -1.11767713e-03 -2.86010037e+02] [-9.24456734e-03 4.43548545e-06 -9.99957268e-01 -1.80224708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 895.536559995 meters 0.013022201885692487 Centerline is valid? [True, True] Translation: X:-199.92, Y:-285.98, Z:-1.80 [[-9.98669835e-01 5.06646841e-02 9.57345017e-03 -1.99923477e+02] [ 5.06624093e-02 9.98715720e-01 -4.80137241e-04 -2.85981857e+02] [-9.58548118e-03 5.51547122e-06 -9.99954058e-01 -1.80163778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 895.5665599949999 meters 0.013040296552600859 Centerline is valid? [True, True] Translation: X:-199.93, Y:-285.95, Z:-1.80 [[-9.99734379e-01 -2.05454991e-02 1.04428949e-02 -1.99932685e+02] [-2.05443234e-02 9.99788919e-01 2.19857643e-04 -2.85952754e+02] [-1.04452077e-02 5.25703307e-06 -9.99945447e-01 -1.80159110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 895.5965599949999 meters 0.01306910276298187 Centerline is valid? [True, True] Translation: X:-199.94, Y:-285.22, Z:-2.78 [[-9.98870078e-01 -4.63419730e-02 1.05350879e-02 -1.99935127e+02] [ 4.63394112e-02 -9.98925634e-01 -4.87270158e-04 -2.85219267e+02] [ 1.05463505e-02 1.47019191e-06 9.99944386e-01 -2.78335223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 895.626559995 meters 0.013101899578165335 Centerline is valid? [True, True] Translation: X:-200.02, Y:-285.95, Z:-1.80 [[-9.99561697e-01 -2.74733964e-02 1.10284133e-02 -2.00017014e+02] [-2.74718213e-02 9.99622535e-01 2.94313304e-04 -2.85951842e+02] [-1.10323363e-02 -8.78629577e-06 -9.99939142e-01 -1.80080379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 895.656559995 meters 0.013035509525860035 Centerline is valid? [True, True] Translation: X:-200.03, Y:-285.22, Z:-2.78 [[-9.99034296e-01 -4.24341784e-02 1.13936882e-02 -2.00025623e+02] [ 4.24318076e-02 -9.99099264e-01 -4.49841584e-04 -2.85223945e+02] [ 1.14025142e-02 3.40476167e-05 9.99934989e-01 -2.78357062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 895.6865599949999 meters 0.013167071674108 Centerline is valid? [True, True] Translation: X:-200.10, Y:-285.95, Z:-1.80 [[-9.99286934e-01 -3.60312000e-02 1.12861048e-02 -2.00101243e+02] [-3.60293763e-02 9.99350665e-01 3.64932936e-04 -2.85947917e+02] [-1.12919253e-02 -4.19586014e-05 -9.99936243e-01 -1.80038810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 895.7165599949999 meters 0.013166922353001584 Centerline is valid? [True, True] Translation: X:-200.11, Y:-285.92, Z:-1.80 [[-9.94052151e-01 -1.08335831e-01 1.11206213e-02 -2.00105988e+02] [-1.08329677e-01 9.94114352e-01 1.15609826e-03 -2.85918441e+02] [-1.11804161e-02 -5.54713497e-05 -9.99937496e-01 -1.80058448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 895.746559995 meters 0.013259826601894646 Centerline is valid? [True, True] Translation: X:-200.12, Y:-285.89, Z:-1.80 [[-9.83592176e-01 -1.80098610e-01 1.05319318e-02 -2.00121010e+02] [-1.80088992e-01 9.83648558e-01 1.86246607e-03 -2.85890483e+02] [-1.06951471e-02 -6.47779225e-05 -9.99942803e-01 -1.80103919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 895.776559995 meters 0.013489364364199983 Centerline is valid? [True, True] Translation: X:-200.15, Y:-285.86, Z:-1.80 [[-9.67666667e-01 -2.52064686e-01 9.19873783e-03 -2.00149959e+02] [-2.52054039e-01 9.67710385e-01 2.31790103e-03 -2.85864527e+02] [-9.48597512e-03 -7.56234691e-05 -9.99955004e-01 -1.80159166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 895.8065599949999 meters 0.013546775960774216 Centerline is valid? [True, True] Translation: X:-200.19, Y:-285.85, Z:-1.80 [[-9.46481301e-01 -3.22643631e-01 8.61596010e-03 -2.00191331e+02] [-3.22631040e-01 9.46520513e-01 2.85160166e-03 -2.85846234e+02] [-9.07523408e-03 -8.07885136e-05 -9.99958816e-01 -1.80180619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 895.8365599949999 meters 0.013613100103100465 Centerline is valid? [True, True] Translation: X:-200.25, Y:-285.84, Z:-1.80 [[-9.19502642e-01 -3.93006646e-01 7.78888618e-03 -2.00251807e+02] [-3.92993371e-01 9.19535626e-01 3.23143228e-03 -2.85836911e+02] [-8.43213270e-03 -8.96701234e-05 -9.99964445e-01 -1.80293172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 895.866559995 meters 0.013721933993309635 Centerline is valid? [True, True] Translation: X:-200.32, Y:-285.84, Z:-1.80 [[-8.87532112e-01 -4.60687273e-01 7.34762234e-03 -2.00318270e+02] [-4.60672364e-01 8.87562521e-01 3.70737634e-03 -2.85835267e+02] [-8.22941530e-03 -9.44310024e-05 -9.99966133e-01 -1.80311362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 895.896559995 meters 0.014143839329031446 Centerline is valid? [True, True] Translation: X:-200.40, Y:-285.84, Z:-1.80 [[-8.50546847e-01 -5.25855560e-01 6.78175786e-03 -2.00395120e+02] [-5.25839736e-01 8.50573878e-01 4.08048532e-03 -2.85842736e+02] [-7.91413198e-03 -9.54738447e-05 -9.99968678e-01 -1.80212107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 895.9265599949999 meters 0.014633407843504271 Centerline is valid? [True, True] Translation: X:-200.48, Y:-285.86, Z:-1.80 [[-8.08442593e-01 -5.88539308e-01 6.48506932e-03 -2.00479120e+02] [-5.88521383e-01 8.08468597e-01 4.59450872e-03 -2.85861548e+02] [-7.94702388e-03 -1.02205425e-04 -9.99968417e-01 -1.80144619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 895.9565599949999 meters 0.014147243069371167 Centerline is valid? [True, True] Translation: X:-200.56, Y:-285.89, Z:-1.80 [[-7.61241309e-01 -6.48438701e-01 6.23859711e-03 -2.00563312e+02] [-6.48418135e-01 7.61266864e-01 5.16562213e-03 -2.85889754e+02] [-8.09882656e-03 -1.12934552e-04 -9.99967198e-01 -1.80214578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 895.986559995 meters 0.014186631141979687 Centerline is valid? [True, True] Translation: X:-200.65, Y:-285.93, Z:-1.80 [[-7.09993594e-01 -7.04180308e-01 6.26018489e-03 -2.00649059e+02] [-7.04154456e-01 7.10021182e-01 6.03519519e-03 -2.85927666e+02] [-8.69472949e-03 -1.23187156e-04 -9.99962193e-01 -1.80165803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 896.016559995 meters 0.014455109724336746 Centerline is valid? [True, True] Translation: X:-200.74, Y:-285.98, Z:-1.80 [[-6.54993899e-01 -7.55607400e-01 6.36000229e-03 -2.00736768e+02] [-7.55573703e-01 6.55024763e-01 7.13719206e-03 -2.85975552e+02] [-9.55887413e-03 -1.30633226e-04 -9.99954305e-01 -1.79994860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 896.0465599949999 meters 0.014106905306782318 Centerline is valid? [True, True] Translation: X:-200.82, Y:-286.03, Z:-1.80 [[-5.95907316e-01 -8.03029160e-01 6.21602424e-03 -2.00821524e+02] [-8.02987861e-01 5.95939719e-01 8.14531566e-03 -2.86034829e+02] [-1.02453017e-02 -1.37538814e-04 -9.99947506e-01 -1.80015441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 896.0765599949999 meters 0.014181005554183 Centerline is valid? [True, True] Translation: X:-200.90, Y:-286.10, Z:-1.80 [[-5.33474639e-01 -8.45796634e-01 5.73273365e-03 -2.00903105e+02] [-8.45750518e-01 5.33505423e-01 8.83320239e-03 -2.86101142e+02] [-1.05295373e-02 -1.36172997e-04 -9.99944554e-01 -1.79971252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 896.106559995 meters 0.014033202348497795 Centerline is valid? [True, True] Translation: X:-200.98, Y:-286.18, Z:-1.80 [[-4.68411112e-01 -8.83495123e-01 5.23431057e-03 -2.00982260e+02] [-8.83442988e-01 4.68440339e-01 9.59874536e-03 -2.86177510e+02] [-1.09324069e-02 -1.28055976e-04 -9.99940231e-01 -1.79897452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 896.136559995 meters 0.013956992102462418 Centerline is valid? [True, True] Translation: X:-201.06, Y:-286.26, Z:-1.80 [[-4.00024029e-01 -9.16493791e-01 4.46187910e-03 -2.01055378e+02] [-9.16440107e-01 4.00048894e-01 9.92034204e-03 -2.86261268e+02] [-1.08769017e-02 -1.20669770e-04 -9.99940838e-01 -1.79874103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 896.166559995 meters 0.013362575524475147 Centerline is valid? [True, True] Translation: X:-201.12, Y:-286.35, Z:-1.80 [[-3.30418918e-01 -9.43826931e-01 3.75009473e-03 -2.01121139e+02] [-9.43769617e-01 3.30440182e-01 1.04017364e-02 -2.86352643e+02] [-1.10566210e-02 -1.02294968e-04 -9.99938869e-01 -1.79921460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 896.1965599949999 meters 0.01341364394554795 Centerline is valid? [True, True] Translation: X:-201.18, Y:-286.45, Z:-1.80 [[-2.58230502e-01 -9.66078925e-01 2.91852091e-03 -2.01182595e+02] [-9.66021070e-01 2.58246979e-01 1.05731367e-02 -2.86454375e+02] [-1.09681837e-02 -8.90462999e-05 -9.99939844e-01 -1.79846576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 896.2265599949999 meters 0.013174987404364336 Centerline is valid? [True, True] Translation: X:-201.23, Y:-286.56, Z:-1.80 [[-1.84238853e-01 -9.82879126e-01 2.16094829e-03 -2.01234797e+02] [-9.82816566e-01 1.84251508e-01 1.10896266e-02 -2.86557462e+02] [-1.12979205e-02 -8.06756878e-05 -9.99936173e-01 -1.79865505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 896.256559995 meters 0.013195032690446216 Centerline is valid? [True, True] Translation: X:-201.28, Y:-286.67, Z:-1.80 [[-1.09156165e-01 -9.94023721e-01 1.33190225e-03 -2.01280423e+02] [-9.93957478e-01 1.09164267e-01 1.14758315e-02 -2.86668579e+02] [-1.15526449e-02 -7.11964478e-05 -9.99933264e-01 -1.79771261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 896.286559995 meters 0.013139094502484752 Centerline is valid? [True, True] Translation: X:-201.96, Y:-286.70, Z:-2.79 [[-1.87341319e-01 9.82292416e-01 2.20008978e-03 -2.01962373e+02] [-9.82215768e-01 -1.87354187e-01 1.22716365e-02 -2.86697861e+02] [ 1.24665315e-02 1.38021700e-04 9.99922280e-01 -2.78762478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 896.3165599949999 meters 0.013006200904173449 Centerline is valid? [True, True] Translation: X:-201.31, Y:-286.95, Z:-1.80 [[-1.00876926e-01 -9.94897971e-01 1.36831221e-03 -2.01314561e+02] [-9.94814700e-01 1.00886186e-01 1.28720659e-02 -2.86948922e+02] [-1.29444361e-02 -6.27226605e-05 -9.99916215e-01 -1.79739282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 896.3465599949999 meters 0.013006200904173449 Centerline is valid? [True, True] Translation: X:-201.35, Y:-287.06, Z:-1.80 [[-2.41715851e-02 -9.99707754e-01 3.75616167e-04 -2.01350045e+02] [-9.99624018e-01 2.41744220e-02 1.29391132e-02 -2.87061736e+02] [-1.29444121e-02 -6.27160676e-05 -9.99916216e-01 -1.79739398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 896.376559995 meters 0.013036734075893671 Centerline is valid? [True, True] Translation: X:-201.38, Y:-287.17, Z:-1.80 [[ 5.29399295e-02 -9.98597485e-01 -6.52833351e-04 -2.01376664e+02] [-9.98504852e-01 -5.29439107e-02 1.36015784e-02 -2.87174160e+02] [-1.36170656e-02 -6.82093344e-05 -9.99907281e-01 -1.79702147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 896.406559995 meters 0.012981550573084125 Centerline is valid? [True, True] Translation: X:-201.39, Y:-287.29, Z:-1.80 [[ 1.29702542e-01 -9.91551483e-01 -1.70524783e-03 -2.01394094e+02] [-9.91458523e-01 -1.29713732e-01 1.35773342e-02 -2.87293779e+02] [-1.36838199e-02 -7.03322690e-05 -9.99906370e-01 -1.79724676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 896.4365599949999 meters 0.012959095111433516 Centerline is valid? [True, True] Translation: X:-201.40, Y:-287.42, Z:-1.80 [[ 2.05475910e-01 -9.78658535e-01 -2.66879918e-03 -2.01402327e+02] [-9.78571634e-01 -2.05493230e-01 1.30418833e-02 -2.87415812e+02] [-1.33119706e-02 -6.81816659e-05 -9.99911390e-01 -1.79727262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 896.4665599949999 meters 0.013090126727831792 Centerline is valid? [True, True] Translation: X:-201.40, Y:-287.53, Z:-1.80 [[ 2.80351879e-01 -9.59890260e-01 -3.67587132e-03 -2.01402251e+02] [-9.59804371e-01 -2.80375967e-01 1.28408096e-02 -2.87533530e+02] [-1.33563941e-02 -7.18277449e-05 -9.99910797e-01 -1.79697656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 896.496559995 meters 0.012994735705914627 Centerline is valid? [True, True] Translation: X:-201.39, Y:-287.66, Z:-1.80 [[ 3.53114645e-01 -9.35568838e-01 -4.58237196e-03 -2.01391146e+02] [-9.35487518e-01 -3.53144369e-01 1.23352759e-02 -2.87655512e+02] [-1.31587386e-02 -6.90147886e-05 -9.99913418e-01 -1.79773354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 896.526559995 meters 0.01292742915663525 Centerline is valid? [True, True] Translation: X:-201.37, Y:-287.77, Z:-1.80 [[ 4.23876114e-01 -9.05704266e-01 -5.36868850e-03 -2.01374172e+02] [-9.05629618e-01 -4.23910106e-01 1.16282619e-02 -2.87768137e+02] [-1.28076077e-02 -6.68991257e-05 -9.99917977e-01 -1.79831689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 896.5565599949999 meters 0.012999301672864307 Centerline is valid? [True, True] Translation: X:-201.35, Y:-287.88, Z:-1.80 [[ 4.91971308e-01 -8.70590248e-01 -6.07063884e-03 -2.01349926e+02] [-8.70522382e-01 -4.92008757e-01 1.08703951e-02 -2.87877217e+02] [-1.24504675e-02 -6.32955212e-05 -9.99922488e-01 -1.79791713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 896.5865599949999 meters 0.0126575208317725 Centerline is valid? [True, True] Translation: X:-201.31, Y:-287.99, Z:-1.80 [[ 5.56842212e-01 -8.30594912e-01 -6.23246968e-03 -2.01313252e+02] [-8.30541830e-01 -5.56877087e-01 9.39037409e-03 -2.87989466e+02] [-1.12703165e-02 -5.26299016e-05 -9.99936487e-01 -1.79978143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 896.616559995 meters 0.012715145193430614 Centerline is valid? [True, True] Translation: X:-201.27, Y:-288.10, Z:-1.80 [[ 6.18476835e-01 -7.85776703e-01 -6.43258994e-03 -2.01270541e+02] [-7.85733428e-01 -6.18510284e-01 8.24676651e-03 -2.88096869e+02] [-1.04587400e-02 -4.61331123e-05 -9.99945305e-01 -1.79932112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 896.646559995 meters 0.012614786925194493 Centerline is valid? [True, True] Translation: X:-201.23, Y:-288.19, Z:-1.80 [[ 6.76302944e-01 -7.36592709e-01 -6.74609035e-03 -2.01227525e+02] [-7.36555476e-01 -6.76336588e-01 7.40613576e-03 -2.88190960e+02] [-1.00179333e-02 -3.99216306e-05 -9.99949819e-01 -1.80000798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 896.6765599949999 meters 0.012481406663902041 Centerline is valid? [True, True] Translation: X:-201.18, Y:-288.28, Z:-1.80 [[ 7.30224040e-01 -6.83175275e-01 -6.66295999e-03 -2.01176725e+02] [-6.83146412e-01 -7.30254437e-01 6.27997529e-03 -2.88282346e+02] [-9.15597994e-03 -3.40117115e-05 -9.99958083e-01 -1.80119708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 896.7065599949999 meters 0.01245081877037597 Centerline is valid? [True, True] Translation: X:-201.18, Y:-288.29, Z:-1.80 [[ 7.81362546e-01 -6.24036023e-01 -7.18432931e-03 -2.01179902e+02] [-6.24009251e-01 -7.81395573e-01 5.78043088e-03 -2.88291474e+02] [-9.22100022e-03 -3.35242396e-05 -9.99957485e-01 -1.80133383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 896.736559995 meters 0.012460522054096439 Centerline is valid? [True, True] Translation: X:-201.18, Y:-288.30, Z:-1.80 [[ 8.28332122e-01 -5.60185424e-01 -7.62798983e-03 -2.01182662e+02] [-5.60161195e-01 -8.28367243e-01 5.21029344e-03 -2.88300817e+02] [-9.23750734e-03 -4.29495202e-05 -9.99957333e-01 -1.80089935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 896.766559995 meters 0.012520625020886685 Centerline is valid? [True, True] Translation: X:-201.18, Y:-288.31, Z:-1.80 [[ 8.69945883e-01 -4.93083517e-01 -7.92499454e-03 -2.01184320e+02] [-4.93062541e-01 -8.69981979e-01 4.54834103e-03 -2.88310983e+02] [-9.13731443e-03 -4.92926049e-05 -9.99958253e-01 -1.80099711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 896.7965599949999 meters 0.012678447866985493 Centerline is valid? [True, True] Translation: X:-201.19, Y:-288.32, Z:-1.80 [[ 9.06411332e-01 -4.22301314e-01 -8.94972962e-03 -2.01186447e+02] [-4.22279998e-01 -9.06455512e-01 4.24359498e-03 -2.88320873e+02] [-9.90460748e-03 -6.71507704e-05 -9.99950946e-01 -1.80045305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 896.8265599949999 meters 0.012983747159497197 Centerline is valid? [True, True] Translation: X:-201.19, Y:-288.33, Z:-1.80 [[ 9.37648053e-01 -3.47442898e-01 -9.97803212e-03 -2.01186155e+02] [-3.47422055e-01 -9.37701137e-01 3.80704660e-03 -2.88332238e+02] [-1.06791434e-02 -1.03081401e-04 -9.99942971e-01 -1.79909690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 896.856559995 meters 0.013275913302144405 Centerline is valid? [True, True] Translation: X:-201.18, Y:-288.34, Z:-1.80 [[ 9.62276903e-01 -2.71847064e-01 -1.10605932e-02 -2.01184927e+02] [-2.71827599e-01 -9.62340458e-01 3.25553856e-03 -2.88340935e+02] [-1.15290650e-02 -1.26155056e-04 -9.99933530e-01 -1.79828146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 896.886559995 meters 0.013412862874153227 Centerline is valid? [True, True] Translation: X:-201.18, Y:-288.35, Z:-1.80 [[ 9.80756861e-01 -1.94890745e-01 -1.15575905e-02 -2.01182283e+02] [-1.94875531e-01 -9.80824948e-01 2.43912270e-03 -2.88348650e+02] [-1.18113355e-02 -1.39894741e-04 -9.99930234e-01 -1.79742402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 896.916559995 meters 0.013623932057731974 Centerline is valid? [True, True] Translation: X:-201.18, Y:-288.36, Z:-1.80 [[ 9.93051848e-01 -1.17026015e-01 -1.23668517e-02 -2.01178801e+02] [-1.17015000e-01 -9.93128838e-01 1.61298026e-03 -2.88355093e+02] [-1.24706377e-02 -1.54665874e-04 -9.99922227e-01 -1.79693956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 896.9465599949999 meters 0.013298839665201453 Centerline is valid? [True, True] Translation: X:-201.18, Y:-288.36, Z:-1.80 [[ 9.99139918e-01 -3.97633596e-02 -1.17601287e-02 -2.01178158e+02] [-3.97589980e-02 -9.99209116e-01 6.04537873e-04 -2.88359886e+02] [-1.17748662e-02 -1.36446989e-04 -9.99930665e-01 -1.79704658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 896.9765599949999 meters 0.013204477806957942 Centerline is valid? [True, True] Translation: X:-201.18, Y:-288.36, Z:-1.80 [[ 9.99217527e-01 3.77790076e-02 -1.17081211e-02 -2.01177440e+02] [ 3.77778923e-02 -9.99286111e-01 -3.16478639e-04 -2.88364475e+02] [-1.17117190e-02 -1.26077135e-04 -9.99931408e-01 -1.79758391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 897.006559995 meters 0.012713346795055164 Centerline is valid? [True, True] Translation: X:-201.18, Y:-288.37, Z:-1.80 [[ 9.93575448e-01 1.12737400e-01 -9.90496890e-03 -2.01176980e+02] [ 1.12732555e-01 -9.93624815e-01 -1.04790565e-03 -2.88367020e+02] [-9.95996105e-03 -7.54391290e-05 -9.99950396e-01 -1.79874551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 897.036559995 meters 0.012299417815917854 Centerline is valid? [True, True] Translation: X:-201.18, Y:-288.37, Z:-1.80 [[ 9.82060371e-01 1.88344462e-01 -9.15374284e-03 -2.01175238e+02] [ 1.88336781e-01 -9.82103030e-01 -1.70173974e-03 -2.88373185e+02] [-9.31043184e-03 -5.27753036e-05 -9.99956656e-01 -1.80046536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 897.0665599949999 meters 0.012061145596911974 Centerline is valid? [True, True] Translation: X:-201.17, Y:-288.38, Z:-1.80 [[ 9.65406487e-01 2.60631938e-01 -7.82992869e-03 -2.01173566e+02] [ 2.60623468e-01 -9.65438239e-01 -2.10124623e-03 -2.88378511e+02] [-8.10696444e-03 -1.21064276e-05 -9.99967138e-01 -1.80172333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 897.0965599949999 meters 0.012091835321010557 Centerline is valid? [True, True] Translation: X:-201.17, Y:-288.38, Z:-1.80 [[ 9.42783344e-01 3.33317969e-01 -7.66143270e-03 -2.01172998e+02] [ 3.33306912e-01 -9.42814474e-01 -2.71484470e-03 -2.88384941e+02] [-8.12821616e-03 5.90188839e-06 -9.99966966e-01 -1.80183610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 897.126559995 meters 0.012226451864523282 Centerline is valid? [True, True] Translation: X:-201.17, Y:-288.39, Z:-1.80 [[ 9.14672830e-01 4.04130667e-01 -7.21241557e-03 -2.01170427e+02] [ 4.04117908e-01 -9.14701265e-01 -3.21135903e-03 -2.88391400e+02] [-7.89501431e-03 2.26765581e-05 -9.99968834e-01 -1.80229108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 897.156559995 meters 0.012286305763834786 Centerline is valid? [True, True] Translation: X:-201.17, Y:-288.40, Z:-1.80 [[ 8.81300363e-01 4.72504245e-01 -7.02911313e-03 -2.01167077e+02] [ 4.72488842e-01 -8.81328394e-01 -3.81530394e-03 -2.88398587e+02] [-7.99770429e-03 4.12512219e-05 -9.99968017e-01 -1.80216069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 897.1865599949999 meters 0.013324400816070085 Centerline is valid? [True, True] Translation: X:-201.17, Y:-288.40, Z:-1.80 [[ 8.43414170e-01 5.37221184e-01 -6.77772050e-03 -2.01166453e+02] [ 5.37203181e-01 -8.43441400e-01 -4.39870449e-03 -2.88403394e+02] [-8.07968730e-03 6.89166912e-05 -9.99967357e-01 -1.80075609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 897.2165599949999 meters 0.012874102518137013 Centerline is valid? [True, True] Translation: X:-201.16, Y:-288.41, Z:-1.80 [[ 7.99604282e-01 6.00491098e-01 -6.59045806e-03 -2.01161424e+02] [ 6.00469850e-01 -7.99631437e-01 -5.05224443e-03 -2.88411934e+02] [-8.30376525e-03 8.24249135e-05 -9.99965520e-01 -1.80210948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 897.246559995 meters 0.01312216692811556 Centerline is valid? [True, True] Translation: X:-201.16, Y:-288.42, Z:-1.80 [[ 7.50665363e-01 6.60651354e-01 -6.42661140e-03 -2.01157513e+02] [ 6.60626082e-01 -7.50692867e-01 -5.77921389e-03 -2.88419122e+02] [-8.64245681e-03 9.26685839e-05 -9.99962649e-01 -1.80173551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 897.276559995 meters 0.014227949121348652 Centerline is valid? [True, True] Translation: X:-201.16, Y:-288.42, Z:-1.80 [[ 6.96745919e-01 7.17289882e-01 -6.35220756e-03 -2.01155310e+02] [ 7.17258756e-01 -6.96774867e-01 -6.68290847e-03 -2.88423667e+02] [-9.21964121e-03 1.00112707e-04 -9.99957493e-01 -1.79956352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 897.3065599949999 meters 0.014308792344281307 Centerline is valid? [True, True] Translation: X:-201.16, Y:-288.42, Z:-1.80 [[ 6.38176949e-01 7.69864959e-01 -6.17469775e-03 -2.01159300e+02] [ 7.69827356e-01 -6.38206812e-01 -7.60966286e-03 -2.88423861e+02] [-9.79914695e-03 1.02860184e-04 -9.99951982e-01 -1.79848834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 897.3365599949999 meters 0.013128641121018178 Centerline is valid? [True, True] Translation: X:-201.15, Y:-288.43, Z:-1.80 [[ 5.75420894e-01 8.17836861e-01 -5.80210576e-03 -2.01151087e+02] [ 8.17793510e-01 -5.75450136e-01 -8.42117776e-03 -2.88431150e+02] [-1.02259721e-02 1.00797201e-04 -9.99947708e-01 -1.80029995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 897.366559995 meters 0.01298721556794207 Centerline is valid? [True, True] Translation: X:-201.14, Y:-288.44, Z:-1.80 [[ 5.08718458e-01 8.60915763e-01 -5.43877138e-03 -2.01143681e+02] [ 8.60864544e-01 -5.08747522e-01 -9.39124827e-03 -2.88437314e+02] [-1.08520351e-02 9.54558899e-05 -9.99941111e-01 -1.80003233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 897.396559995 meters 0.012594621682644445 Centerline is valid? [True, True] Translation: X:-201.13, Y:-288.44, Z:-1.80 [[ 4.36993260e-01 8.99451761e-01 -4.83934166e-03 -2.01134539e+02] [ 8.99394967e-01 -4.37020051e-01 -1.01078537e-02 -2.88443394e+02] [-1.12064162e-02 6.45844154e-05 -9.99937204e-01 -1.79938051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 897.4265599949999 meters 0.012560508528869937 Centerline is valid? [True, True] Translation: X:-201.13, Y:-288.45, Z:-1.80 [[ 3.63392372e-01 9.31627045e-01 -4.12716063e-03 -2.01127762e+02] [ 9.31565605e-01 -3.63415806e-01 -1.06993482e-02 -2.88448216e+02] [-1.14676776e-02 4.33406536e-05 -9.99934243e-01 -1.79856576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 897.4565599949999 meters 0.012283619558749237 Centerline is valid? [True, True] Translation: X:-201.12, Y:-288.45, Z:-1.80 [[ 2.84225122e-01 9.58751794e-01 -3.32823828e-03 -2.01116923e+02] [ 9.58686799e-01 -2.84244608e-01 -1.11635466e-02 -2.88452291e+02] [-1.16491041e-02 -1.77777213e-05 -9.99932147e-01 -1.79958523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 897.486559995 meters 0.012346119899471075 Centerline is valid? [True, True] Translation: X:-201.11, Y:-288.45, Z:-1.80 [[ 2.05541304e-01 9.78645621e-01 -2.34988725e-03 -2.01106521e+02] [ 9.78584323e-01 -2.05554730e-01 -1.09533441e-02 -2.88454923e+02] [-1.12024726e-02 -4.81981998e-05 -9.99937249e-01 -1.80002902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 897.516559995 meters 0.012970075193506667 Centerline is valid? [True, True] Translation: X:-201.09, Y:-288.46, Z:-1.80 [[ 1.22291124e-01 9.92493257e-01 -1.42004483e-03 -2.01094293e+02] [ 9.92436447e-01 -1.22299318e-01 -1.06195713e-02 -2.88457891e+02] [-1.07135234e-02 -1.10624927e-04 -9.99942603e-01 -1.80081496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 897.5465599949999 meters 0.013394673638301085 Centerline is valid? [True, True] Translation: X:-201.08, Y:-288.46, Z:-1.80 [[ 4.11932385e-02 9.99151040e-01 -5.62908897e-04 -2.01084871e+02] [ 9.99097857e-01 -4.11968542e-02 -1.03097340e-02 -2.88459166e+02] [-1.03241715e-02 -1.37709741e-04 -9.99946695e-01 -1.80151819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 897.5765599949999 meters 0.013840276814777201 Centerline is valid? [True, True] Translation: X:-201.07, Y:-288.46, Z:-1.80 [[-4.00157580e-02 9.99199025e-01 2.17090223e-04 -2.01074964e+02] [ 9.99157724e-01 4.00160780e-02 -9.08602548e-03 -2.88458890e+02] [-9.08743490e-03 -1.46676823e-04 -9.99958698e-01 -1.80228649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 897.606559995 meters 0.014156311562778488 Centerline is valid? [True, True] Translation: X:-201.06, Y:-288.46, Z:-1.80 [[-1.20588238e-01 9.92702240e-01 8.59555386e-04 -2.01064168e+02] [ 9.92666921e-01 1.20591200e-01 -8.37541493e-03 -2.88457724e+02] [-8.41794798e-03 -1.56724332e-04 -9.99964556e-01 -1.80320252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 897.636559995 meters 0.015847406859641498 Centerline is valid? [True, True] Translation: X:-201.05, Y:-288.46, Z:-1.80 [[-2.03007470e-01 9.79176336e-01 1.29252265e-03 -2.01050930e+02] [ 9.79150784e-01 2.03011512e-01 -7.07591998e-03 -2.88456938e+02] [-7.19097038e-03 -1.70890043e-04 -9.99974130e-01 -1.80446965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 897.666559995 meters 0.016429264071412618 Centerline is valid? [True, True] Translation: X:-201.04, Y:-288.45, Z:-1.80 [[-2.81431723e-01 9.59579824e-01 1.65753704e-03 -2.01041272e+02] [ 9.59559456e-01 2.81436553e-01 -6.25433215e-03 -2.88454251e+02] [-6.46802245e-03 -1.69662138e-04 -9.99979068e-01 -1.80487629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 897.6965599949999 meters 0.01857141873875903 Centerline is valid? [True, True] Translation: X:-201.03, Y:-288.45, Z:-1.80 [[-3.60107216e-01 9.32908603e-01 2.08129360e-03 -2.01028915e+02] [ 9.32889768e-01 3.60113178e-01 -5.93120517e-03 -2.88450243e+02] [-6.28277358e-03 -1.94252278e-04 -9.99980244e-01 -1.80454235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 897.7265599949999 meters 0.019218841116507394 Centerline is valid? [True, True] Translation: X:-201.02, Y:-288.45, Z:-1.80 [[-4.34049936e-01 9.00884993e-01 2.62349338e-03 -2.01021155e+02] [ 9.00865434e-01 4.34057812e-01 -5.94016504e-03 -2.88446356e+02] [-6.49015333e-03 -2.14913759e-04 -9.99978916e-01 -1.80430775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 897.756559995 meters 0.021638148990462184 Centerline is valid? [True, True] Translation: X:-201.01, Y:-288.44, Z:-1.80 [[-5.04966978e-01 8.63132578e-01 3.24084048e-03 -2.01012253e+02] [ 8.63111663e-01 5.04977321e-01 -6.01346794e-03 -2.88441283e+02] [-6.82697103e-03 -2.39395516e-04 -9.99976667e-01 -1.80327769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 897.786559995 meters 0.021468696951588703 Centerline is valid? [True, True] Translation: X:-201.01, Y:-288.44, Z:-1.80 [[-5.73406536e-01 8.19261238e-01 3.99618350e-03 -2.01007420e+02] [ 8.19237845e-01 5.73420392e-01 -6.19740656e-03 -2.88436909e+02] [-7.36878807e-03 -2.79808670e-04 -9.99972811e-01 -1.80306878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 897.8165599949999 meters 0.022240785536080426 Centerline is valid? [True, True] Translation: X:-201.00, Y:-288.43, Z:-1.80 [[-6.36303998e-01 7.71422417e-01 4.96755732e-03 -2.01003043e+02] [ 7.71394941e-01 6.36323310e-01 -6.51851521e-03 -2.88432515e+02] [-8.18950128e-03 -3.15808702e-04 -9.99966416e-01 -1.80258022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 897.8465599949999 meters 0.022834568421349365 Centerline is valid? [True, True] Translation: X:-201.00, Y:-288.43, Z:-1.80 [[-6.95090547e-01 7.18900346e-01 5.60572394e-03 -2.01000662e+02] [ 7.18873085e-01 6.95113074e-01 -6.26912831e-03 -2.88427941e+02] [-8.40349050e-03 -3.27807766e-04 -9.99964636e-01 -1.80203887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 897.876559995 meters 0.023023295861759465 Centerline is valid? [True, True] Translation: X:-201.00, Y:-288.42, Z:-1.80 [[-7.49308755e-01 6.62187769e-01 6.61422007e-03 -2.00999315e+02] [ 6.62157684e-01 7.49337862e-01 -6.32223753e-03 -2.88424121e+02] [-9.14279388e-03 -3.57651292e-04 -9.99958140e-01 -1.80158131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 897.906559995 meters 0.021981722753925893 Centerline is valid? [True, True] Translation: X:-200.98, Y:-288.41, Z:-1.80 [[-7.93794598e-01 6.08137757e-01 7.65537942e-03 -2.00979912e+02] [ 6.08104742e-01 7.93831418e-01 -6.34842874e-03 -2.88406934e+02] [-9.93779992e-03 -3.84075908e-04 -9.99950545e-01 -1.80094981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 897.9365599949999 meters 0.020867362085973958 Centerline is valid? [True, True] Translation: X:-200.59, Y:-287.95, Z:-2.78 [[-6.99114662e-01 -7.14964246e-01 8.05084931e-03 -2.00588149e+02] [ 7.14924720e-01 -6.99160845e-01 -7.53374290e-03 -2.87947890e+02] [ 1.10151954e-02 4.88801066e-04 9.99939212e-01 -2.78447516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 897.9665599949999 meters 0.019417843858277405 Centerline is valid? [True, True] Translation: X:-200.60, Y:-287.97, Z:-2.78 [[-6.50320426e-01 -7.59623667e-01 7.43160858e-03 -2.00602865e+02] [ 7.59580814e-01 -6.50362769e-01 -8.07805716e-03 -2.87971054e+02] [ 1.09695249e-02 3.91581726e-04 9.99939756e-01 -2.78393250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 897.996559995 meters 0.019694381599065055 Centerline is valid? [True, True] Translation: X:-200.62, Y:-287.95, Z:-2.78 [[-6.51533572e-01 -7.58584671e-01 7.30081602e-03 -2.00620780e+02] [ 7.58543307e-01 -6.51574370e-01 -7.93046266e-03 -2.87951157e+02] [ 1.07729520e-02 3.71022464e-04 9.99941901e-01 -2.78430976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 898.026559995 meters 0.019715778164249933 Centerline is valid? [True, True] Translation: X:-200.64, Y:-287.93, Z:-2.78 [[-6.52909440e-01 -7.57401582e-01 7.21845901e-03 -2.00638718e+02] [ 7.57361119e-01 -6.52949248e-01 -7.83675586e-03 -2.87930924e+02] [ 1.06488587e-02 3.50288318e-04 9.99943238e-01 -2.78417763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 898.0565599949999 meters 0.017368784603393944 Centerline is valid? [True, True] Translation: X:-200.65, Y:-287.91, Z:-2.78 [[-6.55153776e-01 -7.55468806e-01 6.35710886e-03 -2.00654058e+02] [ 7.55437368e-01 -6.55184556e-01 -6.89783650e-03 -2.87906592e+02] [ 9.37617985e-03 2.83253962e-04 9.99956003e-01 -2.78243377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 898.0865599949999 meters 0.017753087117239018 Centerline is valid? [True, True] Translation: X:-200.67, Y:-287.89, Z:-2.78 [[-6.56115018e-01 -7.54637553e-01 5.93690968e-03 -2.00672426e+02] [ 7.54610132e-01 -6.56141828e-01 -6.43822957e-03 -2.87886058e+02] [ 8.75398457e-03 2.55833087e-04 9.99961651e-01 -2.78196965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 898.116559995 meters 0.0176141875513882 Centerline is valid? [True, True] Translation: X:-200.69, Y:-287.87, Z:-2.78 [[-6.57167460e-01 -7.53723010e-01 5.70564008e-03 -2.00689668e+02] [ 7.53697684e-01 -6.57192185e-01 -6.18333585e-03 -2.87865898e+02] [ 8.41022458e-03 2.36840603e-04 9.99964606e-01 -2.78151745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 898.146559995 meters 0.01763347559702357 Centerline is valid? [True, True] Translation: X:-200.71, Y:-287.84, Z:-2.78 [[-6.58075876e-01 -7.52936909e-01 4.70653470e-03 -2.00707435e+02] [ 7.52919671e-01 -6.58092680e-01 -5.09850739e-03 -2.87844957e+02] [ 6.93619042e-03 1.88437837e-04 9.99975927e-01 -2.78031931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 898.1765599949999 meters 0.017184521673233276 Centerline is valid? [True, True] Translation: X:-200.73, Y:-287.82, Z:-2.78 [[-6.58249115e-01 -7.52787063e-01 4.44308062e-03 -2.00725624e+02] [ 7.52771717e-01 -6.58264085e-01 -4.81008647e-03 -2.87824024e+02] [ 6.54569126e-03 1.78390266e-04 9.99978561e-01 -2.77979184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 898.2065599949999 meters 0.017658630102451313 Centerline is valid? [True, True] Translation: X:-200.75, Y:-287.80, Z:-2.78 [[-6.57468815e-01 -7.53469399e-01 4.31528681e-03 -2.00745157e+02] [ 7.53454954e-01 -6.57482952e-01 -4.66912713e-03 -2.87804364e+02] [ 6.35527193e-03 1.81568742e-04 9.99979789e-01 -2.77985402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 898.236559995 meters 0.017658630102451313 Centerline is valid? [True, True] Translation: X:-200.76, Y:-287.78, Z:-2.78 [[-6.57705071e-01 -7.53263171e-01 4.31675119e-03 -2.00763402e+02] [ 7.53248731e-01 -6.57719212e-01 -4.66777331e-03 -2.87784782e+02] [ 6.35527191e-03 1.81569178e-04 9.99979789e-01 -2.77985436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 898.266559995 meters 0.017694100301559445 Centerline is valid? [True, True] Translation: X:-200.78, Y:-287.76, Z:-2.78 [[-6.57140261e-01 -7.53756646e-01 4.19470699e-03 -2.00783081e+02] [ 7.53743036e-01 -6.57153624e-01 -4.53323481e-03 -2.87764168e+02] [ 6.17352276e-03 1.82760073e-04 9.99980927e-01 -2.77990008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 898.2965599949999 meters 0.018562751058259892 Centerline is valid? [True, True] Translation: X:-200.80, Y:-287.75, Z:-2.78 [[-6.56486398e-01 -7.54324543e-01 4.48261372e-03 -2.00802939e+02] [ 7.54309033e-01 -6.56501670e-01 -4.84148012e-03 -2.87745715e+02] [ 6.59489067e-03 2.02910177e-04 9.99978233e-01 -2.78086509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 898.3265599949999 meters 0.019754517226784146 Centerline is valid? [True, True] Translation: X:-200.82, Y:-287.73, Z:-2.78 [[-6.55316509e-01 -7.55332482e-01 5.75447431e-03 -2.00823049e+02] [ 7.55306992e-01 -6.55341716e-01 -6.21150785e-03 -2.87727652e+02] [ 8.46290072e-03 2.75891041e-04 9.99964151e-01 -2.78296590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 898.356559995 meters 0.018581828851343705 Centerline is valid? [True, True] Translation: X:-200.84, Y:-287.71, Z:-2.78 [[-6.55065915e-01 -7.55545347e-01 6.31468706e-03 -2.00840933e+02] [ 7.55514698e-01 -6.55096278e-01 -6.81231406e-03 -2.87705568e+02] [ 9.28374018e-03 3.08324144e-04 9.99956858e-01 -2.78323501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 898.386559995 meters 0.01906663803818628 Centerline is valid? [True, True] Translation: X:-200.86, Y:-287.69, Z:-2.78 [[-6.55261664e-01 -7.55370343e-01 6.91357366e-03 -2.00859831e+02] [ 7.55333640e-01 -6.55298048e-01 -7.45388369e-03 -2.87686290e+02] [ 1.01608940e-02 3.37810529e-04 9.99948320e-01 -2.78399284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 898.416559995 meters 0.019793132552653803 Centerline is valid? [True, True] Translation: X:-200.88, Y:-287.67, Z:-2.78 [[-6.56003804e-01 -7.54726815e-01 6.81502899e-03 -2.00877833e+02] [ 7.54691153e-01 -6.56039122e-01 -7.34403078e-03 -2.87667135e+02] [ 1.00136626e-02 3.25529959e-04 9.99949809e-01 -2.78454159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 898.4465599949999 meters 0.019937856785575477 Centerline is valid? [True, True] Translation: X:-200.90, Y:-287.65, Z:-2.78 [[-6.56965086e-01 -7.53891496e-01 6.67001016e-03 -2.00896400e+02] [ 7.53857331e-01 -6.56998872e-01 -7.18381800e-03 -2.87646861e+02] [ 9.79800845e-03 3.08718445e-04 9.99951951e-01 -2.78422488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 898.4765599949999 meters 0.017528357348430737 Centerline is valid? [True, True] Translation: X:-200.91, Y:-287.62, Z:-2.78 [[-6.58139006e-01 -7.52871075e-01 6.18007416e-03 -2.00912128e+02] [ 7.52841735e-01 -6.58167964e-01 -6.65234384e-03 -2.87623408e+02] [ 9.07588409e-03 2.74450792e-04 9.99958776e-01 -2.78297324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 898.506559995 meters 0.017643267314189758 Centerline is valid? [True, True] Translation: X:-200.93, Y:-287.60, Z:-2.78 [[-6.59615651e-01 -7.51580853e-01 5.78061819e-03 -2.00930363e+02] [ 7.51555162e-01 -6.59640935e-01 -6.21892139e-03 -2.87603143e+02] [ 8.48715463e-03 2.42355560e-04 9.99963954e-01 -2.78314251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 898.536559995 meters 0.0164246628173578 Centerline is valid? [True, True] Translation: X:-200.95, Y:-287.58, Z:-2.78 [[-6.62288737e-01 -7.49231700e-01 5.04865597e-03 -2.00946568e+02] [ 7.49212058e-01 -6.62307954e-01 -5.42833331e-03 -2.87580312e+02] [ 7.41084439e-03 1.87389915e-04 9.99972522e-01 -2.78229739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 898.5665599949999 meters 0.016021251655150188 Centerline is valid? [True, True] Translation: X:-200.96, Y:-287.56, Z:-2.78 [[-6.63603225e-01 -7.48070371e-01 4.63473434e-03 -2.00964648e+02] [ 7.48053808e-01 -6.63619390e-01 -4.98048581e-03 -2.87558596e+02] [ 6.80145344e-03 1.61964231e-04 9.99976857e-01 -2.78184973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 898.5965599949999 meters 0.01570231534934445 Centerline is valid? [True, True] Translation: X:-200.98, Y:-287.54, Z:-2.78 [[-6.65118309e-01 -7.46726428e-01 4.15650879e-03 -2.00982821e+02] [ 7.46713096e-01 -6.65131283e-01 -4.46409885e-03 -2.87537085e+02] [ 6.09808461e-03 1.34565671e-04 9.99981398e-01 -2.78154089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 898.626559995 meters 0.015492943237779992 Centerline is valid? [True, True] Translation: X:-201.00, Y:-287.52, Z:-2.78 [[-6.65372904e-01 -7.46497862e-01 4.45424730e-03 -2.01001118e+02] [ 7.46482567e-01 -6.65387798e-01 -4.78085513e-03 -2.87516951e+02] [ 6.53269994e-03 1.43966489e-04 9.99978651e-01 -2.78170364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 898.656559995 meters 0.01556889509403859 Centerline is valid? [True, True] Translation: X:-201.02, Y:-287.50, Z:-2.78 [[-6.65553653e-01 -7.46336079e-01 4.55982764e-03 -2.01020301e+02] [ 7.46320067e-01 -6.65569257e-01 -4.89109517e-03 -2.87497314e+02] [ 6.68528188e-03 1.47804603e-04 9.99977642e-01 -2.78242370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 898.6865599949999 meters 0.016208611231841495 Centerline is valid? [True, True] Translation: X:-201.04, Y:-287.48, Z:-2.78 [[-6.64746006e-01 -7.47051658e-01 5.15446581e-03 -2.01040313e+02] [ 7.47031243e-01 -6.64765966e-01 -5.52567050e-03 -2.87479112e+02] [ 7.55447475e-03 1.77379611e-04 9.99971449e-01 -2.78366696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 898.7165599949999 meters 0.016089404134523522 Centerline is valid? [True, True] Translation: X:-201.06, Y:-287.46, Z:-2.78 [[-6.64381563e-01 -7.47373696e-01 5.44950066e-03 -2.01059839e+02] [ 7.47350914e-01 -6.64403884e-01 -5.83866750e-03 -2.87458665e+02] [ 7.98433591e-03 1.93586259e-04 9.99968106e-01 -2.78416498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 898.746559995 meters 0.01621901769936625 Centerline is valid? [True, True] Translation: X:-201.08, Y:-287.44, Z:-2.78 [[-6.64041447e-01 -7.47672400e-01 5.91087019e-03 -2.01079633e+02] [ 7.47645640e-01 -6.64067719e-01 -6.32941803e-03 -2.87438623e+02] [ 8.65754925e-03 2.16240424e-04 9.99962499e-01 -2.78486659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 898.776559995 meters 0.017201176582357668 Centerline is valid? [True, True] Translation: X:-201.10, Y:-287.42, Z:-2.79 [[-6.63068875e-01 -7.48528500e-01 6.68965104e-03 -2.01099462e+02] [ 7.48494296e-01 -6.63102569e-01 -7.16040871e-03 -2.87420455e+02] [ 9.79569478e-03 2.59321499e-04 9.99951988e-01 -2.78575549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 898.8065599949999 meters 0.01696083240009636 Centerline is valid? [True, True] Translation: X:-201.12, Y:-287.40, Z:-2.79 [[-6.62925777e-01 -7.48655486e-01 6.66169474e-03 -2.01117581e+02] [ 7.48621620e-01 -6.62959195e-01 -7.12572212e-03 -2.87400780e+02] [ 9.75114274e-03 2.63263836e-04 9.99952422e-01 -2.78584200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 898.8365599949999 meters 0.01685452381125948 Centerline is valid? [True, True] Translation: X:-201.14, Y:-287.38, Z:-2.79 [[-6.62794617e-01 -7.48770401e-01 6.79571124e-03 -2.01136655e+02] [ 7.48735206e-01 -6.62829399e-01 -7.26496250e-03 -2.87380546e+02] [ 9.94418608e-03 2.73010212e-04 9.99950518e-01 -2.78596320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 898.866559995 meters 0.017053354326460667 Centerline is valid? [True, True] Translation: X:-201.16, Y:-287.36, Z:-2.79 [[-6.63002330e-01 -7.48587558e-01 6.67673653e-03 -2.01155935e+02] [ 7.48553619e-01 -6.63035894e-01 -7.13325506e-03 -2.87360833e+02] [ 9.76678196e-03 2.68530565e-04 9.99952268e-01 -2.78594061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 898.896559995 meters 0.01710282384520451 Centerline is valid? [True, True] Translation: X:-201.18, Y:-287.34, Z:-2.79 [[-6.63433194e-01 -7.48207408e-01 6.48626783e-03 -2.01175192e+02] [ 7.48175401e-01 -6.63464851e-01 -6.92540275e-03 -2.87341050e+02] [ 9.48504836e-03 2.58323972e-04 9.99954983e-01 -2.78607067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 898.9265599949999 meters 0.017350357390702707 Centerline is valid? [True, True] Translation: X:-201.19, Y:-287.32, Z:-2.79 [[-6.63917342e-01 -7.47779405e-01 6.30276482e-03 -2.01193356e+02] [ 7.47749205e-01 -6.63947212e-01 -6.72504176e-03 -2.87322115e+02] [ 9.21355086e-03 2.48015536e-04 9.99957524e-01 -2.78619259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 898.9565599949999 meters 0.017267973354959415 Centerline is valid? [True, True] Translation: X:-201.21, Y:-287.30, Z:-2.79 [[-6.65073158e-01 -7.46752890e-01 6.14952109e-03 -2.01211857e+02] [ 7.46724129e-01 -6.65101548e-01 -6.55793502e-03 -2.87301608e+02] [ 8.98721293e-03 2.30489229e-04 9.99959588e-01 -2.78618571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 898.986559995 meters 0.01627536587565892 Centerline is valid? [True, True] Translation: X:-201.23, Y:-287.28, Z:-2.79 [[-6.65865110e-01 -7.46047374e-01 6.08036731e-03 -2.01229140e+02] [ 7.46019264e-01 -6.65892834e-01 -6.48009292e-03 -2.87280291e+02] [ 8.88332933e-03 2.21203357e-04 9.99960518e-01 -2.78579213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 899.016559995 meters 0.016028015870464072 Centerline is valid? [True, True] Translation: X:-201.25, Y:-287.26, Z:-2.79 [[-6.66483093e-01 -7.45495523e-01 6.05900837e-03 -2.01247472e+02] [ 7.45467620e-01 -6.66510599e-01 -6.45369835e-03 -2.87259570e+02] [ 8.84959653e-03 2.15513710e-04 9.99960818e-01 -2.78552125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 899.0465599949999 meters 0.01580667742988708 Centerline is valid? [True, True] Translation: X:-201.27, Y:-287.24, Z:-2.79 [[-6.67108539e-01 -7.44935396e-01 6.11985010e-03 -2.01266263e+02] [ 7.44906938e-01 -6.67136576e-01 -6.51482132e-03 -2.87238699e+02] [ 8.93589684e-03 2.12625865e-04 9.99960052e-01 -2.78536986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 899.0765599949999 meters 0.015833152768753522 Centerline is valid? [True, True] Translation: X:-201.29, Y:-287.22, Z:-2.79 [[-6.67209195e-01 -7.44842180e-01 6.48206548e-03 -2.01285871e+02] [ 7.44810286e-01 -6.67240643e-01 -6.89651072e-03 -2.87218111e+02] [ 9.46190962e-03 2.26493672e-04 9.99955210e-01 -2.78538742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 899.106559995 meters 0.015372711918455509 Centerline is valid? [True, True] Translation: X:-201.30, Y:-287.20, Z:-2.79 [[-6.67118931e-01 -7.44923924e-01 6.37799141e-03 -2.01304571e+02] [ 7.44893087e-01 -6.67149381e-01 -6.78183543e-03 -2.87196956e+02] [ 9.30702448e-03 2.26630903e-04 9.99956663e-01 -2.78531669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 899.136559995 meters 0.01613800260607751 Centerline is valid? [True, True] Translation: X:-201.32, Y:-287.18, Z:-2.79 [[-6.66487866e-01 -7.45480427e-01 7.27032918e-03 -2.01324792e+02] [ 7.45440433e-01 -6.66527464e-01 -7.72658143e-03 -2.87177880e+02] [ 1.06058893e-02 2.69924565e-04 9.99943720e-01 -2.78649709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 899.166559995 meters 0.01676086585247841 Centerline is valid? [True, True] Translation: X:-201.34, Y:-287.16, Z:-2.79 [[-6.65922518e-01 -7.45982096e-01 7.61001008e-03 -2.01343835e+02] [ 7.45938365e-01 -6.65965934e-01 -8.08272900e-03 -2.87159001e+02] [ 1.10975786e-02 2.94127227e-04 9.99938377e-01 -2.78744544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 899.1965599949999 meters 0.01651837555295737 Centerline is valid? [True, True] Translation: X:-201.36, Y:-287.14, Z:-2.79 [[-6.65937175e-01 -7.45968523e-01 7.65779167e-03 -2.01362597e+02] [ 7.45924291e-01 -6.65981136e-01 -8.12885261e-03 -2.87138238e+02] [ 1.11638130e-02 2.98827676e-04 9.99937638e-01 -2.78722403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 899.2265599949999 meters 0.016618162336752 Centerline is valid? [True, True] Translation: X:-201.38, Y:-287.12, Z:-2.79 [[-6.65905320e-01 -7.45998583e-01 7.49797690e-03 -2.01381489e+02] [ 7.45956229e-01 -6.65947466e-01 -7.95468705e-03 -2.87118092e+02] [ 1.09274440e-02 2.96094151e-04 9.99940250e-01 -2.78718032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 899.256559995 meters 0.017053427646126357 Centerline is valid? [True, True] Translation: X:-201.40, Y:-287.10, Z:-2.79 [[-6.66310721e-01 -7.45638256e-01 7.32217479e-03 -2.01400148e+02] [ 7.45597893e-01 -6.66350890e-01 -7.76355885e-03 -2.87098957e+02] [ 1.06679442e-02 2.86455601e-04 9.99943055e-01 -2.78746954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 899.286559995 meters 0.01585872297090413 Centerline is valid? [True, True] Translation: X:-201.42, Y:-287.08, Z:-2.79 [[-6.67774778e-01 -7.44330320e-01 7.01578795e-03 -2.01417025e+02] [ 7.44293235e-01 -6.67811582e-01 -7.43444909e-03 -2.87076776e+02] [ 1.02189103e-02 2.57265923e-04 9.99947753e-01 -2.78671804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 899.3165599949999 meters 0.015737373018088707 Centerline is valid? [True, True] Translation: X:-201.44, Y:-287.06, Z:-2.79 [[-6.68863663e-01 -7.43354144e-01 6.78353347e-03 -2.01435617e+02] [ 7.43319465e-01 -6.68898019e-01 -7.18425925e-03 -2.87055602e+02] [ 9.87794099e-03 2.37042512e-04 9.99951184e-01 -2.78641383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 899.3465599949999 meters 0.015457745812785582 Centerline is valid? [True, True] Translation: X:-201.45, Y:-287.03, Z:-2.79 [[-6.70133930e-01 -7.42214715e-01 6.15074901e-03 -2.01453924e+02] [ 7.42186189e-01 -6.70162126e-01 -6.51042792e-03 -2.87033969e+02] [ 8.95413444e-03 2.02142315e-04 9.99959891e-01 -2.78614853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 899.376559995 meters 0.014931686495488488 Centerline is valid? [True, True] Translation: X:-201.47, Y:-287.01, Z:-2.79 [[-6.72158837e-01 -7.40380543e-01 6.25699082e-03 -2.01471386e+02] [ 7.40350974e-01 -6.72187934e-01 -6.61940774e-03 -2.87011145e+02] [ 9.10675443e-03 1.83075843e-04 9.99958516e-01 -2.78581967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 899.406559995 meters 0.014647613671134173 Centerline is valid? [True, True] Translation: X:-201.49, Y:-286.99, Z:-2.79 [[-6.73608189e-01 -7.39063134e-01 6.13930851e-03 -2.01489687e+02] [ 7.39034647e-01 -6.73636145e-01 -6.49107257e-03 -2.86990258e+02] [ 8.93297256e-03 1.64722063e-04 9.99960087e-01 -2.78627680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 899.4365599949999 meters 0.01399941155671452 Centerline is valid? [True, True] Translation: X:-201.51, Y:-286.97, Z:-2.79 [[-6.75889298e-01 -7.36975886e-01 6.34030677e-03 -2.01507274e+02] [ 7.36945444e-01 -6.75919020e-01 -6.70008960e-03 -2.86967693e+02] [ 9.22333841e-03 1.43941322e-04 9.99957454e-01 -2.78635128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 899.4665599949999 meters 0.013578713306428342 Centerline is valid? [True, True] Translation: X:-201.53, Y:-286.95, Z:-2.79 [[-6.77083116e-01 -7.35877419e-01 6.54817921e-03 -2.01525385e+02] [ 7.35844933e-01 -6.77114766e-01 -6.91585455e-03 -2.86945808e+02] [ 9.52309003e-03 1.35836147e-04 9.99954645e-01 -2.78617869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 899.496559995 meters 0.013810011803203908 Centerline is valid? [True, True] Translation: X:-201.54, Y:-286.93, Z:-2.79 [[-6.78411752e-01 -7.34652445e-01 6.57873477e-03 -2.01542864e+02] [ 7.34619641e-01 -6.78443638e-01 -6.94351085e-03 -2.86926804e+02] [ 9.56436797e-03 1.22308418e-04 9.99954253e-01 -2.78717583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 899.526559995 meters 0.013519765190585514 Centerline is valid? [True, True] Translation: X:-201.56, Y:-286.91, Z:-2.79 [[-6.79709706e-01 -7.33449955e-01 6.77341712e-03 -2.01560188e+02] [ 7.33415163e-01 -6.79743445e-01 -7.14470918e-03 -2.86905920e+02] [ 9.84447252e-03 1.11398649e-04 9.99951536e-01 -2.78728997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 899.5565599949999 meters 0.012717257430230751 Centerline is valid? [True, True] Translation: X:-201.58, Y:-286.88, Z:-2.79 [[-6.82186792e-01 -7.31144899e-01 6.95110604e-03 -2.01576285e+02] [ 7.31108179e-01 -6.82222200e-01 -7.32801359e-03 -2.86882762e+02] [ 1.01000386e-02 8.29364015e-05 9.99948990e-01 -2.78595923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 899.5865599949999 meters 0.01290306324317812 Centerline is valid? [True, True] Translation: X:-201.59, Y:-286.86, Z:-2.79 [[-6.83202586e-01 -7.30195516e-01 6.98106214e-03 -2.01594150e+02] [ 7.30158479e-01 -6.83238248e-01 -7.35471014e-03 -2.86863582e+02] [ 1.01401050e-02 7.25247225e-05 9.99948585e-01 -2.78684315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 899.616559995 meters 0.012592539487839973 Centerline is valid? [True, True] Translation: X:-201.61, Y:-286.84, Z:-2.79 [[-6.84221398e-01 -7.29242065e-01 6.86211598e-03 -2.01611850e+02] [ 7.29206277e-01 -6.84255805e-01 -7.22487806e-03 -2.86842982e+02] [ 9.96412769e-03 6.04818748e-05 9.99950355e-01 -2.78607080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 899.646559995 meters 0.012505124251217716 Centerline is valid? [True, True] Translation: X:-201.63, Y:-286.82, Z:-2.79 [[-6.85431247e-01 -7.28106522e-01 6.70063954e-03 -2.01629007e+02] [ 7.28072388e-01 -6.85463997e-01 -7.05024469e-03 -2.86823601e+02] [ 9.72637630e-03 4.60926180e-05 9.99952697e-01 -2.78647093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 899.6765599949999 meters 0.012456362158086669 Centerline is valid? [True, True] Translation: X:-201.65, Y:-286.80, Z:-2.79 [[-6.85992410e-01 -7.27576373e-01 6.85820552e-03 -2.01647041e+02] [ 7.27540634e-01 -6.86026690e-01 -7.21156830e-03 -2.86803505e+02] [ 9.95187874e-03 4.25420730e-05 9.99950478e-01 -2.78601072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 899.7065599949999 meters 0.012426417693805031 Centerline is valid? [True, True] Translation: X:-201.66, Y:-286.78, Z:-2.79 [[-6.86549493e-01 -7.27047893e-01 7.15228760e-03 -2.01664897e+02] [ 7.27009043e-01 -6.86586746e-01 -7.51611744e-03 -2.86782969e+02] [ 1.03752432e-02 3.95911497e-05 9.99946175e-01 -2.78588111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 899.736559995 meters 0.012424680647615788 Centerline is valid? [True, True] Translation: X:-201.68, Y:-286.76, Z:-2.79 [[-6.86718016e-01 -7.26885090e-01 7.51214404e-03 -2.01683613e+02] [ 7.26842277e-01 -6.86759102e-01 -7.88931319e-03 -2.86762749e+02] [ 1.08936574e-02 4.24103780e-05 9.99940662e-01 -2.78568459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 899.766559995 meters 0.01258341278549589 Centerline is valid? [True, True] Translation: X:-201.70, Y:-286.74, Z:-2.79 [[-6.86054161e-01 -7.27512817e-01 7.40197273e-03 -2.01701783e+02] [ 7.27471342e-01 -6.86094088e-01 -7.76849293e-03 -2.86744359e+02] [ 1.07301279e-02 5.51161373e-05 9.99942429e-01 -2.78649579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 899.7965599949999 meters 0.012695986187488134 Centerline is valid? [True, True] Translation: X:-201.72, Y:-286.73, Z:-2.79 [[-6.85452192e-01 -7.28079964e-01 7.40664637e-03 -2.01720865e+02] [ 7.28038521e-01 -6.85492204e-01 -7.76858401e-03 -2.86725101e+02] [ 1.07333487e-02 6.73309263e-05 9.99942394e-01 -2.78576337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 899.8265599949999 meters 0.01272717635822792 Centerline is valid? [True, True] Translation: X:-201.74, Y:-286.71, Z:-2.79 [[-6.84940751e-01 -7.28563969e-01 7.12113327e-03 -2.01740273e+02] [ 7.28525733e-01 -6.84977764e-01 -7.46447820e-03 -2.86706293e+02] [ 1.03161678e-02 7.52035351e-05 9.99946784e-01 -2.78589369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 899.856559995 meters 0.012984055802736401 Centerline is valid? [True, True] Translation: X:-201.76, Y:-286.69, Z:-2.78 [[-6.82988825e-01 -7.30397086e-01 6.80893764e-03 -2.01760653e+02] [ 7.30362260e-01 -6.83022757e-01 -7.13320522e-03 -2.86686631e+02] [ 9.86073167e-03 1.01091630e-04 9.99951377e-01 -2.78465615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 899.886559995 meters 0.013276619425416861 Centerline is valid? [True, True] Translation: X:-201.78, Y:-286.67, Z:-2.78 [[-6.82078550e-01 -7.31246999e-01 6.83213758e-03 -2.01780004e+02] [ 7.31212023e-01 -6.82112756e-01 -7.15300718e-03 -2.86667703e+02] [ 9.89090323e-03 1.16828372e-04 9.99951077e-01 -2.78450384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 899.916559995 meters 0.014088468309231003 Centerline is valid? [True, True] Translation: X:-201.80, Y:-286.65, Z:-2.78 [[-6.79579812e-01 -7.33572052e-01 6.58213461e-03 -2.01800192e+02] [ 7.33539735e-01 -6.79611671e-01 -6.88719955e-03 -2.86649922e+02] [ 9.52555261e-03 1.47855505e-04 9.99954620e-01 -2.78440969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 899.9465599949999 meters 0.01465217835051164 Centerline is valid? [True, True] Translation: X:-201.82, Y:-286.63, Z:-2.78 [[-6.78318796e-01 -7.34739889e-01 6.39585927e-03 -2.01820347e+02] [ 7.34709462e-01 -6.78348929e-01 -6.68861512e-03 -2.86630711e+02] [ 9.25301662e-03 1.62084961e-04 9.99957177e-01 -2.78446667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 899.9765599949999 meters 0.015220352617609949 Centerline is valid? [True, True] Translation: X:-201.84, Y:-286.61, Z:-2.78 [[-6.77033064e-01 -7.35925471e-01 6.31915442e-03 -2.01840819e+02] [ 7.35895853e-01 -6.77062530e-01 -6.60477511e-03 -2.86611187e+02] [ 9.13908491e-03 1.78588402e-04 9.99958222e-01 -2.78469417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 900.006559995 meters 0.015588464613177222 Centerline is valid? [True, True] Translation: X:-201.86, Y:-286.59, Z:-2.78 [[-6.75653738e-01 -7.37190051e-01 6.54638638e-03 -2.01861199e+02] [ 7.37158361e-01 -6.75685420e-01 -6.83846987e-03 -2.86591390e+02] [ 9.46454978e-03 2.05285719e-04 9.99955189e-01 -2.78461654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 900.036559995 meters 0.016875644980394445 Centerline is valid? [True, True] Translation: X:-201.88, Y:-286.57, Z:-2.79 [[-6.72781183e-01 -7.39811545e-01 6.66021609e-03 -2.01883053e+02] [ 7.39778908e-01 -6.72814102e-01 -6.95349015e-03 -2.86573254e+02] [ 9.62535960e-03 2.48910061e-04 9.99953644e-01 -2.78516366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 900.0665599949999 meters 0.017222368926271485 Centerline is valid? [True, True] Translation: X:-201.90, Y:-286.55, Z:-2.78 [[-6.71503862e-01 -7.40970206e-01 6.76144770e-03 -2.01903042e+02] [ 7.40936667e-01 -6.71537847e-01 -7.05520969e-03 -2.86553253e+02] [ 9.76826821e-03 2.72203970e-04 9.99952252e-01 -2.78479742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 900.0965599949999 meters 0.017603085193228434 Centerline is valid? [True, True] Translation: X:-201.92, Y:-286.53, Z:-2.78 [[-6.69989696e-01 -7.42336963e-01 7.04556034e-03 -2.01922873e+02] [ 7.42300664e-01 -6.70026670e-01 -7.34749191e-03 -2.86533541e+02] [ 1.01750282e-02 3.07180247e-04 9.99948186e-01 -2.78457796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 900.126559995 meters 0.019071022574533764 Centerline is valid? [True, True] Translation: X:-201.94, Y:-286.52, Z:-2.79 [[-6.69811685e-01 -7.42497738e-01 7.02961274e-03 -2.01943116e+02] [ 7.42461656e-01 -6.69848499e-01 -7.32647114e-03 -2.86515611e+02] [ 1.01486638e-02 3.11861942e-04 9.99948453e-01 -2.78506144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 900.156559995 meters 0.019071022574533764 Centerline is valid? [True, True] Translation: X:-201.96, Y:-286.50, Z:-2.79 [[-6.70039936e-01 -7.42291747e-01 7.03186513e-03 -2.01961734e+02] [ 7.42255676e-01 -6.70076761e-01 -7.32430934e-03 -2.86496375e+02] [ 1.01486638e-02 3.11862045e-04 9.99948453e-01 -2.78506177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 900.1865599949999 meters 0.018075541671372278 Centerline is valid? [True, True] Translation: X:-201.98, Y:-286.48, Z:-2.78 [[-6.69957155e-01 -7.42367293e-01 6.94358052e-03 -2.01979401e+02] [ 7.42332170e-01 -6.69993064e-01 -7.22801124e-03 -2.86475084e+02] [ 1.00179899e-02 3.11985344e-04 9.99949770e-01 -2.78426367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 900.2165599949999 meters 0.01905065495091322 Centerline is valid? [True, True] Translation: X:-202.00, Y:-286.46, Z:-2.78 [[-6.69796174e-01 -7.42510450e-01 7.16368369e-03 -2.01999123e+02] [ 7.42473119e-01 -6.69834402e-01 -7.45268762e-03 -2.86456289e+02] [ 1.03321802e-02 3.27060924e-04 9.99946568e-01 -2.78467342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 900.246559995 meters 0.018675984906408954 Centerline is valid? [True, True] Translation: X:-202.02, Y:-286.44, Z:-2.78 [[-6.69785335e-01 -7.42520715e-01 7.11287860e-03 -2.02017863e+02] [ 7.42483960e-01 -6.69823022e-01 -7.39515425e-03 -2.86435869e+02] [ 1.02554251e-02 3.28032399e-04 9.99947358e-01 -2.78494107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 900.276559995 meters 0.018409775532291853 Centerline is valid? [True, True] Translation: X:-202.04, Y:-286.41, Z:-2.79 [[-6.69953430e-01 -7.42360878e-01 7.92021457e-03 -2.02036309e+02] [ 7.42315348e-01 -6.70000145e-01 -8.22985809e-03 -2.86414659e+02] [ 1.14160696e-02 3.65675180e-04 9.99934768e-01 -2.78572539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 900.3065599949999 meters 0.018545538163426967 Centerline is valid? [True, True] Translation: X:-202.05, Y:-286.40, Z:-2.79 [[-6.70459952e-01 -7.41897745e-01 8.43736197e-03 -2.02054387e+02] [ 7.41846110e-01 -6.70512929e-01 -8.76137092e-03 -2.86395474e+02] [ 1.21574016e-02 3.85075826e-04 9.99926022e-01 -2.78617747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 900.3365599949999 meters 0.018379803519445737 Centerline is valid? [True, True] Translation: X:-202.07, Y:-286.38, Z:-2.79 [[-6.71213346e-01 -7.41216449e-01 8.41544653e-03 -2.02072795e+02] [ 7.41165095e-01 -6.71265994e-01 -8.73308250e-03 -2.86375301e+02] [ 1.21221075e-02 3.75473711e-04 9.99926454e-01 -2.78634855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 900.366559995 meters 0.018156496668251115 Centerline is valid? [True, True] Translation: X:-202.09, Y:-286.35, Z:-2.79 [[-6.71984592e-01 -7.40514109e-01 8.69261952e-03 -2.02090995e+02] [ 7.40459330e-01 -6.72040706e-01 -9.01500261e-03 -2.86354688e+02] [ 1.25175308e-02 3.78588374e-04 9.99921581e-01 -2.78662091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 900.396559995 meters 0.01810695159770664 Centerline is valid? [True, True] Translation: X:-202.11, Y:-286.33, Z:-2.79 [[-6.72914410e-01 -7.39668337e-01 8.77201784e-03 -2.02109446e+02] [ 7.39612549e-01 -6.72971481e-01 -9.09192338e-03 -2.86333918e+02] [ 1.26283257e-02 3.69808217e-04 9.99920191e-01 -2.78655861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 900.4265599949999 meters 0.017820604666064783 Centerline is valid? [True, True] Translation: X:-202.13, Y:-286.31, Z:-2.79 [[-6.75002418e-01 -7.37764105e-01 8.70981544e-03 -2.02126982e+02] [ 7.37709010e-01 -6.75058526e-01 -9.02237484e-03 -2.86312611e+02] [ 1.25360195e-02 3.35184488e-04 9.99921365e-01 -2.78657284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 900.4565599949999 meters 0.016850884676709116 Centerline is valid? [True, True] Translation: X:-202.14, Y:-286.29, Z:-2.79 [[-6.75929653e-01 -7.36918597e-01 8.37170595e-03 -2.02144761e+02] [ 7.36867690e-01 -6.75981424e-01 -8.66729847e-03 -2.86290897e+02] [ 1.20462111e-02 3.10355581e-04 9.99927394e-01 -2.78564326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 900.486559995 meters 0.016875432107592563 Centerline is valid? [True, True] Translation: X:-202.16, Y:-286.27, Z:-2.79 [[-6.77019375e-01 -7.35919398e-01 8.21010556e-03 -2.02163149e+02] [ 7.35870419e-01 -6.77069093e-01 -8.49529570e-03 -2.86270330e+02] [ 1.18106616e-02 2.90094025e-04 9.99930210e-01 -2.78534217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 900.516559995 meters 0.01680056004948478 Centerline is valid? [True, True] Translation: X:-202.18, Y:-286.25, Z:-2.78 [[-6.77344177e-01 -7.35623944e-01 7.89165040e-03 -2.02181684e+02] [ 7.35578729e-01 -6.77390091e-01 -8.16072334e-03 -2.86250795e+02] [ 1.13489493e-02 2.77311740e-04 9.99935560e-01 -2.78482244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 900.5465599949999 meters 0.016631993832110847 Centerline is valid? [True, True] Translation: X:-202.20, Y:-286.23, Z:-2.78 [[-6.77477456e-01 -7.35503500e-01 7.67458495e-03 -2.02200432e+02] [ 7.35460785e-01 -6.77520870e-01 -7.93131581e-03 -2.86231332e+02] [ 1.10332020e-02 2.71068612e-04 9.99939096e-01 -2.78423722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 900.5765599949999 meters 0.01670257536810447 Centerline is valid? [True, True] Translation: X:-202.22, Y:-286.21, Z:-2.78 [[-6.77731387e-01 -7.35270110e-01 7.61791357e-03 -2.02219605e+02] [ 7.35228062e-01 -6.77774147e-01 -7.86785388e-03 -2.86212082e+02] [ 1.09482227e-02 2.68612305e-04 9.99940030e-01 -2.78448366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 900.606559995 meters 0.016842996769053386 Centerline is valid? [True, True] Translation: X:-202.24, Y:-286.19, Z:-2.78 [[-6.78115770e-01 -7.34912769e-01 7.88833801e-03 -2.02238290e+02] [ 7.34867719e-01 -6.78161593e-01 -8.14184884e-03 -2.86193942e+02] [ 1.13331165e-02 2.75768867e-04 9.99935740e-01 -2.78466833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 900.636559995 meters 0.016965185928494723 Centerline is valid? [True, True] Translation: X:-202.26, Y:-286.18, Z:-2.79 [[-6.78490427e-01 -7.34569868e-01 7.60589579e-03 -2.02257607e+02] [ 7.34528017e-01 -6.78533006e-01 -7.84553400e-03 -2.86175326e+02] [ 1.09239442e-02 2.63623840e-04 9.99940297e-01 -2.78519855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 900.666559995 meters 0.017333942742806873 Centerline is valid? [True, True] Translation: X:-202.28, Y:-286.16, Z:-2.79 [[-6.78651252e-01 -7.34420251e-01 7.70540607e-03 -2.02277020e+02] [ 7.34377345e-01 -6.78694941e-01 -7.94309490e-03 -2.86157164e+02] [ 1.10631899e-02 2.68084357e-04 9.99938765e-01 -2.78511517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 900.6965599949999 meters 0.01695037119910707 Centerline is valid? [True, True] Translation: X:-202.30, Y:-286.14, Z:-2.78 [[-6.78738229e-01 -7.34342543e-01 7.44626267e-03 -2.02295895e+02] [ 7.34302520e-01 -6.78779023e-01 -7.67124299e-03 -2.86137203e+02] [ 1.06876870e-02 2.61043560e-04 9.99942851e-01 -2.78446038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 900.7265599949999 meters 0.017108631957396234 Centerline is valid? [True, True] Translation: X:-202.32, Y:-286.12, Z:-2.78 [[-6.78809117e-01 -7.34279993e-01 7.14672816e-03 -2.02315322e+02] [ 7.34243167e-01 -6.78846690e-01 -7.35816402e-03 -2.86118190e+02] [ 1.02544854e-02 2.52647503e-04 9.99947390e-01 -2.78387631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 900.756559995 meters 0.01780761192188175 Centerline is valid? [True, True] Translation: X:-202.34, Y:-286.10, Z:-2.78 [[-6.78344019e-01 -7.34714213e-01 6.66461568e-03 -2.02335359e+02] [ 7.34682247e-01 -6.78376713e-01 -6.85786314e-03 -2.86100294e+02] [ 9.55968960e-03 2.44384389e-04 9.99954275e-01 -2.78272990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 900.786559995 meters 0.018618050793760617 Centerline is valid? [True, True] Translation: X:-202.35, Y:-286.08, Z:-2.78 [[-6.78220533e-01 -7.34830928e-01 6.35742674e-03 -2.02354895e+02] [ 7.34801884e-01 -6.78250287e-01 -6.53763061e-03 -2.86082916e+02] [ 9.11597967e-03 2.37493828e-04 9.99958421e-01 -2.78297383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 900.8165599949999 meters 0.019328489391190074 Centerline is valid? [True, True] Translation: X:-202.38, Y:-286.07, Z:-2.78 [[-6.77715483e-01 -7.35292719e-01 6.80748020e-03 -2.02375283e+02] [ 7.35259478e-01 -6.77749620e-01 -6.99656040e-03 -2.86065127e+02] [ 9.75828704e-03 2.63587035e-04 9.99952352e-01 -2.78361035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 900.8465599949999 meters 0.016801485103478578 Centerline is valid? [True, True] Translation: X:-202.39, Y:-286.04, Z:-2.78 [[-6.77649984e-01 -7.35349914e-01 7.14168678e-03 -2.02392527e+02] [ 7.35313375e-01 -6.77687558e-01 -7.33590115e-03 -2.86042570e+02] [ 1.02342866e-02 2.80204511e-04 9.99947589e-01 -2.78262087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 900.876559995 meters 0.017182315701405618 Centerline is valid? [True, True] Translation: X:-202.41, Y:-286.02, Z:-2.78 [[-6.77612120e-01 -7.35378742e-01 7.74087317e-03 -2.02412606e+02] [ 7.35335872e-01 -6.77656263e-01 -7.94636511e-03 -2.86023741e+02] [ 1.10892392e-02 3.07588414e-04 9.99938465e-01 -2.78347763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 900.906559995 meters 0.017414005010827724 Centerline is valid? [True, True] Translation: X:-202.43, Y:-286.00, Z:-2.78 [[-6.77745372e-01 -7.35251388e-01 8.16132466e-03 -2.02432079e+02] [ 7.35203786e-01 -6.77794431e-01 -8.37272203e-03 -2.86004954e+02] [ 1.16877559e-02 3.25663185e-04 9.99931643e-01 -2.78390228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 900.9365599949999 meters 0.017616577743227998 Centerline is valid? [True, True] Translation: X:-202.45, Y:-285.99, Z:-2.78 [[-6.78050503e-01 -7.34969091e-01 8.24325454e-03 -2.02451099e+02] [ 7.34920573e-01 -6.78100530e-01 -8.45121919e-03 -2.85986797e+02] [ 1.18011401e-02 3.27783929e-04 9.99930311e-01 -2.78396246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 900.9665599949999 meters 0.01746056340882378 Centerline is valid? [True, True] Translation: X:-202.47, Y:-285.97, Z:-2.78 [[-6.78520870e-01 -7.34536348e-01 8.11066806e-03 -2.02470047e+02] [ 7.34489408e-01 -6.78569269e-01 -8.31010154e-03 -2.85967743e+02] [ 1.16077217e-02 3.18622455e-04 9.99932578e-01 -2.78368991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 900.996559995 meters 0.016645503601499304 Centerline is valid? [True, True] Translation: X:-202.49, Y:-285.95, Z:-2.78 [[-6.80337842e-01 -7.32863803e-01 7.14603964e-03 -2.02488723e+02] [ 7.32827314e-01 -6.80375322e-01 -7.31766632e-03 -2.85946504e+02] [ 1.02248418e-02 2.58327722e-04 9.99947692e-01 -2.78181987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 901.026559995 meters 0.01655387043289115 Centerline is valid? [True, True] Translation: X:-202.51, Y:-285.93, Z:-2.78 [[-6.81754926e-01 -7.31552804e-01 6.38085981e-03 -2.02507446e+02] [ 7.31523686e-01 -6.81784752e-01 -6.53059145e-03 -2.85926989e+02] [ 9.12784541e-03 2.15487193e-04 9.99958317e-01 -2.78136169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 901.0565599949999 meters 0.014855862371015703 Centerline is valid? [True, True] Translation: X:-202.52, Y:-285.90, Z:-2.78 [[-6.83547313e-01 -7.29882791e-01 5.84651532e-03 -2.02524729e+02] [ 7.29858313e-01 -6.83572293e-01 -5.98029189e-03 -2.85904341e+02] [ 8.36142802e-03 1.79315358e-04 9.99965027e-01 -2.77976269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 901.0865599949999 meters 0.01404257379727471 Centerline is valid? [True, True] Translation: X:-202.54, Y:-285.88, Z:-2.78 [[-6.87779864e-01 -7.25898547e-01 5.49155753e-03 -2.02541705e+02] [ 7.25876846e-01 -6.87801776e-01 -5.61439740e-03 -2.85882991e+02] [ 7.85258594e-03 1.24724975e-04 9.99969160e-01 -2.77961928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 901.116559995 meters 0.013594855371212883 Centerline is valid? [True, True] Translation: X:-202.56, Y:-285.86, Z:-2.78 [[-6.90492760e-01 -7.23316270e-01 5.77259020e-03 -2.02559451e+02] [ 7.23292226e-01 -6.90516882e-01 -5.89853122e-03 -2.85862561e+02] [ 8.25257458e-03 1.02376511e-04 9.99965942e-01 -2.78036851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 901.146559995 meters 0.012602650493827515 Centerline is valid? [True, True] Translation: X:-202.58, Y:-285.84, Z:-2.78 [[-6.93394175e-01 -7.20534914e-01 5.82717747e-03 -2.02576758e+02] [ 7.20510342e-01 -6.93418656e-01 -5.95096772e-03 -2.85839634e+02] [ 8.32855358e-03 7.21752810e-05 9.99965315e-01 -2.77994498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 901.1765599949999 meters 0.012333358189184655 Centerline is valid? [True, True] Translation: X:-202.59, Y:-285.82, Z:-2.78 [[-6.96354499e-01 -7.17672281e-01 6.07522460e-03 -2.02593642e+02] [ 7.17645499e-01 -6.96380999e-01 -6.20017741e-03 -2.85819205e+02] [ 8.68036644e-03 4.23361567e-05 9.99962324e-01 -2.78034129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 901.2065599949999 meters 0.012189331923921375 Centerline is valid? [True, True] Translation: X:-202.61, Y:-285.80, Z:-2.78 [[-7.01461420e-01 -7.12676855e-01 6.60126377e-03 -2.02610055e+02] [ 7.12645047e-01 -7.01492481e-01 -6.73321979e-03 -2.85795994e+02] [ 9.42934680e-03 -1.87359793e-05 9.99955543e-01 -2.77958058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 901.236559995 meters 0.01250862899386812 Centerline is valid? [True, True] Translation: X:-202.63, Y:-285.78, Z:-2.78 [[-7.03802647e-01 -7.10366384e-01 6.43699932e-03 -2.02627609e+02] [ 7.10336079e-01 -7.03832081e-01 -6.56175853e-03 -2.85775529e+02] [ 9.19181931e-03 -4.57501670e-05 9.99957753e-01 -2.77952820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 901.266559995 meters 0.01314540537383347 Centerline is valid? [True, True] Translation: X:-202.65, Y:-285.75, Z:-2.78 [[-7.07240282e-01 -7.06942950e-01 6.54584618e-03 -2.02645145e+02] [ 7.06911501e-01 -7.07270568e-01 -6.66881396e-03 -2.85754366e+02] [ 9.34415537e-03 -8.91199252e-05 9.99956339e-01 -2.77921100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 901.2965599949999 meters 0.013316106605343459 Centerline is valid? [True, True] Translation: X:-202.66, Y:-285.73, Z:-2.78 [[-7.08667823e-01 -7.05511366e-01 6.60516353e-03 -2.02664159e+02] [ 7.05479319e-01 -7.08698596e-01 -6.72528314e-03 -2.85734358e+02] [ 9.42583383e-03 -1.06185493e-04 9.99955570e-01 -2.77905547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 901.3265599949999 meters 0.013739309955699558 Centerline is valid? [True, True] Translation: X:-202.68, Y:-285.71, Z:-2.78 [[-7.09770916e-01 -7.04397968e-01 6.98215615e-03 -2.02682469e+02] [ 7.04362145e-01 -7.09805246e-01 -7.10497672e-03 -2.85714718e+02] [ 9.96070222e-03 -1.24939347e-04 9.99950383e-01 -2.77928309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 901.356559995 meters 0.01392922418681892 Centerline is valid? [True, True] Translation: X:-202.70, Y:-285.69, Z:-2.78 [[-7.11082458e-01 -7.03072161e-01 7.16061994e-03 -2.02702277e+02] [ 7.03034458e-01 -7.11118497e-01 -7.28254289e-03 -2.85694834e+02] [ 1.02122024e-02 -1.44325943e-04 9.99947844e-01 -2.77900456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 901.386559995 meters 0.01396343184731397 Centerline is valid? [True, True] Translation: X:-202.72, Y:-285.68, Z:-2.78 [[-7.11169908e-01 -7.02981306e-01 7.39225730e-03 -2.02721017e+02] [ 7.02941157e-01 -7.11208311e-01 -7.51450160e-03 -2.85676129e+02] [ 1.05399890e-02 -1.47765512e-04 9.99944442e-01 -2.77894266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 901.416559995 meters 0.013614039644459829 Centerline is valid? [True, True] Translation: X:-202.74, Y:-285.66, Z:-2.78 [[-7.10296591e-01 -7.03860222e-01 7.71625911e-03 -2.02742704e+02] [ 7.03816582e-01 -7.10338489e-01 -7.83898422e-03 -2.85658740e+02] [ 1.09987050e-02 -1.37172658e-04 9.99939503e-01 -2.77852643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 901.4465599949999 meters 0.013361782660161385 Centerline is valid? [True, True] Translation: X:-202.76, Y:-285.64, Z:-2.78 [[-7.09864348e-01 -7.04293940e-01 7.91541526e-03 -2.02763920e+02] [ 7.04248096e-01 -7.09908465e-01 -8.03682524e-03 -2.85640871e+02] [ 1.12795076e-02 -1.30639582e-04 9.99936376e-01 -2.77871307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 901.4765599949999 meters 0.013206778989024495 Centerline is valid? [True, True] Translation: X:-202.79, Y:-285.62, Z:-2.78 [[-7.09306956e-01 -7.04854210e-01 8.01154559e-03 -2.02785335e+02] [ 7.04807333e-01 -7.09352189e-01 -8.12988497e-03 -2.85622586e+02] [ 1.14133911e-02 -1.19987882e-04 9.99934858e-01 -2.77883450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 901.506559995 meters 0.013005854227924897 Centerline is valid? [True, True] Translation: X:-202.81, Y:-285.60, Z:-2.78 [[-7.08576935e-01 -7.05583091e-01 8.43972609e-03 -2.02805849e+02] [ 7.05531185e-01 -7.08627187e-01 -8.55903915e-03 -2.85604895e+02] [ 1.20197327e-02 -1.10247773e-04 9.99927754e-01 -2.77940298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 901.536559995 meters 0.012860409561258165 Centerline is valid? [True, True] Translation: X:-202.83, Y:-285.59, Z:-2.78 [[-7.06923148e-01 -7.07235854e-01 8.78119804e-03 -2.02827696e+02] [ 7.07179860e-01 -7.06977680e-01 -8.89977361e-03 -2.85588302e+02] [ 1.25023500e-02 -8.15695778e-05 9.99921839e-01 -2.77974545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 901.5665599949999 meters 0.012608272929860888 Centerline is valid? [True, True] Translation: X:-202.85, Y:-285.57, Z:-2.78 [[-7.06177353e-01 -7.07977516e-01 9.02124249e-03 -2.02848856e+02] [ 7.07918545e-01 -7.06234970e-01 -9.13794722e-03 -2.85569335e+02] [ 1.28405781e-02 -6.67065273e-05 9.99917554e-01 -2.77945301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 901.5965599949999 meters 0.012630894939814287 Centerline is valid? [True, True] Translation: X:-202.87, Y:-285.55, Z:-2.78 [[-7.04680176e-01 -7.09458708e-01 9.70521709e-03 -2.02869568e+02] [ 7.09390685e-01 -7.04747004e-01 -9.82428151e-03 -2.85553196e+02] [ 1.38096447e-02 -3.81858195e-05 9.99904642e-01 -2.78019123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 901.626559995 meters 0.012451582603467286 Centerline is valid? [True, True] Translation: X:-202.89, Y:-285.54, Z:-2.78 [[-7.03913839e-01 -7.10217020e-01 9.85352446e-03 -2.02890927e+02] [ 7.10147054e-01 -7.03982801e-01 -9.96883351e-03 -2.85535148e+02] [ 1.40167470e-02 -1.97484998e-05 9.99901761e-01 -2.77926878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 901.656559995 meters 0.01237856804610784 Centerline is valid? [True, True] Translation: X:-202.91, Y:-285.52, Z:-2.78 [[-7.03256439e-01 -7.10866155e-01 9.98449640e-03 -2.02911529e+02] [ 7.10794472e-01 -7.03327313e-01 -1.00950320e-02 -2.85517855e+02] [ 1.41985856e-02 -2.47140379e-06 9.99899195e-01 -2.77940554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 901.6865599949999 meters 0.012411980965614442 Centerline is valid? [True, True] Translation: X:-202.93, Y:-285.50, Z:-2.78 [[-7.02701659e-01 -7.11419753e-01 9.60801512e-03 -2.02932533e+02] [ 7.11353508e-01 -7.02767341e-01 -9.70833774e-03 -2.85500285e+02] [ 1.36589025e-02 1.26302229e-05 9.99906713e-01 -2.77923092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 901.7165599949999 meters 0.012258258369320502 Centerline is valid? [True, True] Translation: X:-202.96, Y:-285.48, Z:-2.78 [[-7.01254999e-01 -7.12856025e-01 8.81560788e-03 -2.02955811e+02] [ 7.12800428e-01 -7.01310407e-01 -8.90296919e-03 -2.85483137e+02] [ 1.25290128e-02 4.05174293e-05 9.99921508e-01 -2.77784673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 901.746559995 meters 0.012308230835982167 Centerline is valid? [True, True] Translation: X:-202.98, Y:-285.46, Z:-2.78 [[-7.00586917e-01 -7.13517262e-01 8.43144112e-03 -2.02977149e+02] [ 7.13466511e-01 -7.00637649e-01 -8.51017712e-03 -2.85464401e+02] [ 1.19795434e-02 5.34321246e-05 9.99928241e-01 -2.77716912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 901.776559995 meters 0.012514016351361493 Centerline is valid? [True, True] Translation: X:-203.00, Y:-285.45, Z:-2.78 [[-6.98837112e-01 -7.15240928e-01 7.55686736e-03 -2.02998872e+02] [ 7.15200309e-01 -6.98877965e-01 -7.62289546e-03 -2.85448359e+02] [ 1.07335349e-02 7.75116215e-05 9.99942391e-01 -2.77658122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 901.8065599949999 meters 0.012650959159602137 Centerline is valid? [True, True] Translation: X:-203.02, Y:-285.43, Z:-2.78 [[-6.98104799e-01 -7.15954770e-01 7.64567281e-03 -2.03019864e+02] [ 7.15913286e-01 -6.98146660e-01 -7.70768530e-03 -2.85430266e+02] [ 1.08561550e-02 9.28666464e-05 9.99941066e-01 -2.77648861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 901.8365599949999 meters 0.012857006739802668 Centerline is valid? [True, True] Translation: X:-203.04, Y:-285.41, Z:-2.78 [[-6.97318561e-01 -7.16721047e-01 7.60038995e-03 -2.03041018e+02] [ 7.16680149e-01 -6.97359972e-01 -7.65730011e-03 -2.85412338e+02] [ 1.07883559e-02 1.07471109e-04 9.99941798e-01 -2.77678258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 901.866559995 meters 0.013574388420524953 Centerline is valid? [True, True] Translation: X:-203.06, Y:-285.40, Z:-2.78 [[-6.95214178e-01 -7.18750968e-01 8.61928859e-03 -2.03063187e+02] [ 7.18698571e-01 -6.95267589e-01 -8.68007844e-03 -2.85396977e+02] [ 1.22315268e-02 1.60156800e-04 9.99925179e-01 -2.77807074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 901.896559995 meters 0.013943073227329609 Centerline is valid? [True, True] Translation: X:-203.08, Y:-285.38, Z:-2.78 [[-6.94268562e-01 -7.19656458e-01 9.25995775e-03 -2.03084679e+02] [ 7.19596128e-01 -6.94330286e-01 -9.32021450e-03 -2.85378766e+02] [ 1.31368217e-02 1.92697828e-04 9.99913690e-01 -2.77924146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 901.9265599949999 meters 0.014434720363246079 Centerline is valid? [True, True] Translation: X:-203.11, Y:-285.36, Z:-2.78 [[-6.93407313e-01 -7.20478123e-01 9.87786666e-03 -2.03106097e+02] [ 7.20409632e-01 -6.93477630e-01 -9.93678734e-03 -2.85360529e+02] [ 1.40093175e-02 2.25869274e-04 9.99901839e-01 -2.78037541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 901.9565599949999 meters 0.014964026918313257 Centerline is valid? [True, True] Translation: X:-203.13, Y:-285.34, Z:-2.78 [[-6.92637392e-01 -7.21211438e-01 1.03684711e-02 -2.03127146e+02] [ 7.21136143e-01 -6.92714945e-01 -1.04243815e-02 -2.85342621e+02] [ 1.47005781e-02 2.56762898e-04 9.99891908e-01 -2.78138004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 901.986559995 meters 0.014704684625563735 Centerline is valid? [True, True] Translation: X:-203.15, Y:-285.32, Z:-2.78 [[-6.91517483e-01 -7.22275176e-01 1.10517888e-02 -2.03147888e+02] [ 7.22189862e-01 -6.91605726e-01 -1.11051460e-02 -2.85323509e+02] [ 1.56644516e-02 3.02087226e-04 9.99877259e-01 -2.78093828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 902.016559995 meters 0.014790883966184012 Centerline is valid? [True, True] Translation: X:-203.17, Y:-285.30, Z:-2.78 [[-6.91361123e-01 -7.22423957e-01 1.11096251e-02 -2.03168297e+02] [ 7.22337867e-01 -6.91450308e-01 -1.11569642e-02 -2.85303692e+02] [ 1.57418119e-02 3.11411581e-04 9.99876042e-01 -2.78089316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 902.0465599949999 meters 0.014790883966184012 Centerline is valid? [True, True] Translation: X:-203.19, Y:-285.28, Z:-2.78 [[-6.91565013e-01 -7.22228730e-01 1.11127743e-02 -2.03187811e+02] [ 7.22142665e-01 -6.91654223e-01 -1.11538275e-02 -2.85284198e+02] [ 1.57418119e-02 3.11411583e-04 9.99876042e-01 -2.78089350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 902.0765599949999 meters 0.014702600901102975 Centerline is valid? [True, True] Translation: X:-203.21, Y:-285.26, Z:-2.78 [[-6.92132810e-01 -7.21681975e-01 1.12827549e-02 -2.03207458e+02] [ 7.21593285e-01 -6.92224698e-01 -1.13180527e-02 -2.85264526e+02] [ 1.59782362e-02 3.07964574e-04 9.99872293e-01 -2.78080054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 902.106559995 meters 0.014899196598775694 Centerline is valid? [True, True] Translation: X:-203.23, Y:-285.25, Z:-2.78 [[-6.93122156e-01 -7.20726875e-01 1.15952255e-02 -2.03226402e+02] [ 7.20633197e-01 -6.93219072e-01 -1.16237913e-02 -2.85246536e+02] [ 1.64156102e-02 2.99197139e-04 9.99865210e-01 -2.78183661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 902.136559995 meters 0.014735877584565443 Centerline is valid? [True, True] Translation: X:-203.24, Y:-285.23, Z:-2.78 [[-6.94365419e-01 -7.19529685e-01 1.15627421e-02 -2.03244533e+02] [ 7.19436489e-01 -6.94461630e-01 -1.15837396e-02 -2.85227588e+02] [ 1.63647252e-02 2.75310400e-04 9.99866051e-01 -2.78222414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 902.166559995 meters 0.013518490706601122 Centerline is valid? [True, True] Translation: X:-203.26, Y:-285.20, Z:-2.78 [[-6.97731370e-01 -7.16278721e-01 1.07577701e-02 -2.03261474e+02] [ 7.16197753e-01 -6.97814272e-01 -1.07712865e-02 -2.85204690e+02] [ 1.52221688e-02 1.89226273e-04 9.99884118e-01 -2.78106608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 902.1965599949999 meters 0.013114687234685157 Centerline is valid? [True, True] Translation: X:-203.28, Y:-285.18, Z:-2.78 [[-6.99915145e-01 -7.14150397e-01 1.03922708e-02 -2.03280020e+02] [ 7.14074687e-01 -6.99992278e-01 -1.03996381e-02 -2.85183118e+02] [ 1.47014150e-02 1.41993347e-04 9.99891918e-01 -2.78059922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 902.2265599949999 meters 0.01252101844648009 Centerline is valid? [True, True] Translation: X:-203.30, Y:-285.16, Z:-2.78 [[-7.04319527e-01 -7.09822988e-01 9.23735700e-03 -2.03296329e+02] [ 7.09762862e-01 -7.04380098e-01 -9.23888004e-03 -2.85159811e+02] [ 1.30645799e-02 4.92093189e-05 9.99914654e-01 -2.77962571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 902.256559995 meters 0.012486105766829207 Centerline is valid? [True, True] Translation: X:-203.31, Y:-285.14, Z:-2.78 [[-7.06587758e-01 -7.07565892e-01 9.17866772e-03 -2.03313933e+02] [ 7.07506409e-01 -7.06647372e-01 -9.17460970e-03 -2.85138907e+02] [ 1.29777223e-02 1.12993326e-05 9.99915786e-01 -2.77918802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 902.286559995 meters 0.012553821688758656 Centerline is valid? [True, True] Translation: X:-203.33, Y:-285.16, Z:-2.78 [[-6.59352024e-01 -7.51789489e-01 8.21425935e-03 -2.03332403e+02] [ 7.51730723e-01 -6.59403188e-01 -9.39980439e-03 -2.85160076e+02] [ 1.24831829e-02 -2.28689290e-05 9.99922082e-01 -2.77881286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 902.3165599949999 meters 0.01262865534607617 Centerline is valid? [True, True] Translation: X:-203.35, Y:-285.14, Z:-2.78 [[-6.61543839e-01 -7.49864901e-01 7.89802817e-03 -2.03348977e+02] [ 7.49810515e-01 -6.61590982e-01 -9.03132982e-03 -2.85138194e+02] [ 1.19975415e-02 -5.25960373e-05 9.99928026e-01 -2.77802593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 902.3465599949999 meters 0.012997148152499968 Centerline is valid? [True, True] Translation: X:-203.37, Y:-285.12, Z:-2.78 [[-6.65037076e-01 -7.46768502e-01 7.90521858e-03 -2.03365890e+02] [ 7.46713858e-01 -6.65084050e-01 -9.03446921e-03 -2.85115139e+02] [ 1.20042918e-02 -1.05320726e-04 9.99927940e-01 -2.77745916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 902.376559995 meters 0.01339212133384864 Centerline is valid? [True, True] Translation: X:-203.38, Y:-285.09, Z:-2.78 [[-6.66837958e-01 -7.45158969e-01 8.07768747e-03 -2.03383194e+02] [ 7.45101859e-01 -6.66886867e-01 -9.22641302e-03 -2.85093369e+02] [ 1.22620481e-02 -1.33822475e-04 9.99924809e-01 -2.77765535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 902.406559995 meters 0.014263008898446262 Centerline is valid? [True, True] Translation: X:-203.40, Y:-285.07, Z:-2.78 [[-6.70528269e-01 -7.41833332e-01 8.66873541e-03 -2.03399905e+02] [ 7.41767353e-01 -6.70584271e-01 -9.89595291e-03 -2.85070238e+02] [ 1.31542653e-02 -2.05331258e-04 9.99913458e-01 -2.77849518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 902.4365599949999 meters 0.01506848483230301 Centerline is valid? [True, True] Translation: X:-203.42, Y:-285.05, Z:-2.78 [[-6.72809672e-01 -7.39762507e-01 8.86451136e-03 -2.03416045e+02] [ 7.39693392e-01 -6.72868020e-01 -1.01149853e-02 -2.85048960e+02] [ 1.34473331e-02 -2.48439488e-04 9.99909550e-01 -2.77875788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 902.4665599949999 meters 0.016267602216073606 Centerline is valid? [True, True] Translation: X:-203.43, Y:-285.03, Z:-2.78 [[-6.75302010e-01 -7.37485296e-01 9.09030480e-03 -2.03431892e+02] [ 7.37412493e-01 -6.75363124e-01 -1.03665482e-02 -2.85027298e+02] [ 1.37844335e-02 -2.97246483e-04 9.99904946e-01 -2.77937333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 902.496559995 meters 0.016771892774754205 Centerline is valid? [True, True] Translation: X:-203.45, Y:-285.01, Z:-2.78 [[-6.78112290e-01 -7.34901786e-01 9.11524003e-03 -2.03449773e+02] [ 7.34828428e-01 -6.78173463e-01 -1.03892164e-02 -2.85005423e+02] [ 1.38167676e-02 -3.46917819e-04 9.99904484e-01 -2.77891348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 902.526559995 meters 0.01727928830535666 Centerline is valid? [True, True] Translation: X:-203.47, Y:-284.98, Z:-2.78 [[-6.81048587e-01 -7.32179946e-01 9.23840039e-03 -2.03467573e+02] [ 7.32104425e-01 -6.81111124e-01 -1.05236413e-02 -2.84983682e+02] [ 1.39975764e-02 -4.03637252e-04 9.99901948e-01 -2.77823577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 902.5565599949999 meters 0.01887489141174322 Centerline is valid? [True, True] Translation: X:-203.48, Y:-284.96, Z:-2.78 [[-6.86744091e-01 -7.26849394e-01 8.51532692e-03 -2.03484694e+02] [ 7.26784869e-01 -6.86796722e-01 -9.69624365e-03 -2.84961270e+02] [ 1.28960074e-02 -4.70027279e-04 9.99916733e-01 -2.77742310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 902.5865599949999 meters 0.019642903683126885 Centerline is valid? [True, True] Translation: X:-203.50, Y:-284.94, Z:-2.78 [[-6.89344241e-01 -7.24387191e-01 8.22894758e-03 -2.03502563e+02] [ 7.24326825e-01 -6.89393177e-01 -9.36474776e-03 -2.84939836e+02] [ 1.24566836e-02 -4.95087461e-04 9.99922290e-01 -2.77703110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 902.616559995 meters 0.021093799829301152 Centerline is valid? [True, True] Translation: X:-203.52, Y:-284.92, Z:-2.78 [[-6.91682677e-01 -7.22158159e-01 7.91630726e-03 -2.03519218e+02] [ 7.22102212e-01 -6.91727788e-01 -9.00351496e-03 -2.84918468e+02] [ 1.19778915e-02 -5.11192345e-04 9.99928132e-01 -2.77677433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 902.646559995 meters 0.022237210375123453 Centerline is valid? [True, True] Translation: X:-203.54, Y:-284.90, Z:-2.78 [[-6.95067735e-01 -7.18905311e-01 7.48315761e-03 -2.03537319e+02] [ 7.18855188e-01 -6.95107812e-01 -8.50578755e-03 -2.84897804e+02] [ 1.13164572e-02 -5.32791816e-04 9.99935825e-01 -2.77560465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 902.6765599949999 meters 0.022901465366394837 Centerline is valid? [True, True] Translation: X:-203.56, Y:-284.88, Z:-2.78 [[-6.95807762e-01 -7.18188919e-01 7.49897728e-03 -2.03556153e+02] [ 7.18138597e-01 -6.95847959e-01 -8.51900760e-03 -2.84876957e+02] [ 1.13364049e-02 -5.42286590e-04 9.99935594e-01 -2.77546852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 902.7065599949999 meters 0.022428208240566107 Centerline is valid? [True, True] Translation: X:-203.58, Y:-284.86, Z:-2.78 [[-6.95120019e-01 -7.18857602e-01 7.20460998e-03 -2.03577956e+02] [ 7.18811239e-01 -6.95157169e-01 -8.18002526e-03 -2.84858985e+02] [ 1.08886096e-02 -5.07344689e-04 9.99940589e-01 -2.77539656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 902.736559995 meters 0.02196164892643384 Centerline is valid? [True, True] Translation: X:-203.60, Y:-284.84, Z:-2.78 [[-6.93758897e-01 -7.20171596e-01 7.17389484e-03 -2.03598727e+02] [ 7.20125748e-01 -6.93795820e-01 -8.14050402e-03 -2.84840175e+02] [ 1.08397780e-02 -4.81440703e-04 9.99941132e-01 -2.77539128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 902.766559995 meters 0.020969838034626636 Centerline is valid? [True, True] Translation: X:-203.62, Y:-284.82, Z:-2.78 [[-6.91579023e-01 -7.22265295e-01 7.16232670e-03 -2.03620370e+02] [ 7.22219737e-01 -6.91615967e-01 -8.12439405e-03 -2.84821678e+02] [ 1.08215474e-02 -4.45886794e-04 9.99941346e-01 -2.77520610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 902.7965599949999 meters 0.018393748629894256 Centerline is valid? [True, True] Translation: X:-203.65, Y:-284.81, Z:-2.78 [[-6.85399681e-01 -7.28131429e-01 7.20419798e-03 -2.03645913e+02] [ 7.28085710e-01 -6.85437451e-01 -8.16705932e-03 -2.84807355e+02] [ 1.08847197e-02 -3.52426251e-04 9.99940698e-01 -2.77554623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 902.8265599949999 meters 0.01698148490860079 Centerline is valid? [True, True] Translation: X:-203.67, Y:-284.79, Z:-2.78 [[-6.81790984e-01 -7.31509643e-01 7.39569835e-03 -2.03668501e+02] [ 7.31461711e-01 -6.81831028e-01 -8.37943799e-03 -2.84790049e+02] [ 1.11722563e-02 -3.03355106e-04 9.99937543e-01 -2.77586461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 902.856559995 meters 0.015606374683247546 Centerline is valid? [True, True] Translation: X:-203.69, Y:-284.77, Z:-2.78 [[-6.77770455e-01 -7.35233854e-01 7.64136815e-03 -2.03690768e+02] [ 7.35182981e-01 -6.77813484e-01 -8.65248055e-03 -2.84773335e+02] [ 1.15410190e-02 -2.46591866e-04 9.99933370e-01 -2.77596222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 902.886559995 meters 0.013202244156875634 Centerline is valid? [True, True] Translation: X:-203.72, Y:-284.76, Z:-2.78 [[-6.68918034e-01 -7.43295882e-01 7.73923611e-03 -2.03718218e+02] [ 7.43244289e-01 -6.68962795e-01 -8.75814628e-03 -2.84760940e+02] [ 1.16871551e-02 -1.06338956e-04 9.99931697e-01 -2.77615491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 902.916559995 meters 0.012516031661510663 Centerline is valid? [True, True] Translation: X:-203.74, Y:-284.74, Z:-2.78 [[-6.64228046e-01 -7.47494060e-01 7.33028463e-03 -2.03741678e+02] [ 7.47448082e-01 -6.64268492e-01 -8.29068828e-03 -2.84744386e+02] [ 1.10665174e-02 -2.79004904e-05 9.99938764e-01 -2.77604534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 902.9465599949999 meters 0.012457935381195955 Centerline is valid? [True, True] Translation: X:-203.76, Y:-284.73, Z:-2.78 [[-6.59647749e-01 -7.51537691e-01 7.47967312e-03 -2.03764870e+02] [ 7.51490133e-01 -6.59690152e-01 -8.45475680e-03 -2.84727306e+02] [ 1.12883351e-02 4.37392544e-05 9.99936284e-01 -2.77542407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 902.9765599949999 meters 0.012984768615185223 Centerline is valid? [True, True] Translation: X:-203.79, Y:-284.71, Z:-2.78 [[-6.55424066e-01 -7.55224472e-01 7.43582010e-03 -2.03787771e+02] [ 7.55177755e-01 -6.55466235e-01 -8.40075394e-03 -2.84710619e+02] [ 1.12183840e-02 1.09309634e-04 9.99937066e-01 -2.77612577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 903.006559995 meters 0.015495326282381929 Centerline is valid? [True, True] Translation: X:-203.81, Y:-284.70, Z:-2.78 [[-6.47569488e-01 -7.61972536e-01 7.18427868e-03 -2.03813510e+02] [ 7.61929377e-01 -6.47609301e-01 -8.11279309e-03 -2.84697817e+02] [ 1.08343312e-02 2.20315722e-04 9.99941283e-01 -2.77621922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 903.036559995 meters 0.017446149693133798 Centerline is valid? [True, True] Translation: X:-203.84, Y:-284.68, Z:-2.78 [[-6.42311022e-01 -7.66415527e-01 6.61747136e-03 -2.03836779e+02] [ 7.66379189e-01 -6.42345051e-01 -7.46818652e-03 -2.84681390e+02] [ 9.97443408e-03 2.74593818e-04 9.99950217e-01 -2.77502175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 903.0665599949999 meters 0.018009679724350396 Centerline is valid? [True, True] Translation: X:-203.86, Y:-284.66, Z:-2.77 [[-6.40906973e-01 -7.67591335e-01 6.46489973e-03 -2.03856749e+02] [ 7.67556753e-01 -6.40939513e-01 -7.29189322e-03 -2.84661917e+02] [ 9.74080374e-03 2.88752235e-04 9.99952516e-01 -2.77453490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 903.0965599949999 meters 0.018334622908879616 Centerline is valid? [True, True] Translation: X:-203.88, Y:-284.64, Z:-2.77 [[-6.40063624e-01 -7.68295611e-01 6.35700101e-03 -2.03876044e+02] [ 7.68262249e-01 -6.40095123e-01 -7.16587358e-03 -2.84642077e+02] [ 9.57459456e-03 2.97228879e-04 9.99954118e-01 -2.77404272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 903.126559995 meters 0.01811749694098162 Centerline is valid? [True, True] Translation: X:-203.90, Y:-284.62, Z:-2.77 [[-6.39792964e-01 -7.68519164e-01 6.57701638e-03 -2.03895549e+02] [ 7.68483508e-01 -6.39826692e-01 -7.40963439e-03 -2.84621428e+02] [ 9.90259667e-03 3.13696667e-04 9.99950919e-01 -2.77384891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 903.156559995 meters 0.01821036306648471 Centerline is valid? [True, True] Translation: X:-203.91, Y:-284.60, Z:-2.77 [[-6.40371119e-01 -7.68036339e-01 6.70907084e-03 -2.03914409e+02] [ 7.67999254e-01 -6.40406185e-01 -7.55410470e-03 -2.84601271e+02] [ 1.00983574e-02 3.15130924e-04 9.99948961e-01 -2.77437835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 903.1865599949999 meters 0.017622679117227355 Centerline is valid? [True, True] Translation: X:-203.93, Y:-284.58, Z:-2.77 [[-6.41192503e-01 -7.67347915e-01 7.02502075e-03 -2.03932684e+02] [ 7.67307261e-01 -6.41230905e-01 -7.90530162e-03 -2.84579538e+02] [ 1.05707771e-02 3.21529292e-04 9.99944076e-01 -2.77462990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 903.2165599949999 meters 0.01775376341508177 Centerline is valid? [True, True] Translation: X:-203.95, Y:-284.56, Z:-2.78 [[-6.42157448e-01 -7.66537462e-01 7.35741284e-03 -2.03950619e+02] [ 7.66492870e-01 -6.42199512e-01 -8.27449019e-03 -2.84559652e+02] [ 1.10676336e-02 3.25878977e-04 9.99938699e-01 -2.77550872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 903.246559995 meters 0.017156633906697093 Centerline is valid? [True, True] Translation: X:-203.97, Y:-284.54, Z:-2.78 [[-6.44309235e-01 -7.64714720e-01 8.77533205e-03 -2.03968028e+02] [ 7.64651188e-01 -6.44368893e-01 -9.86359054e-03 -2.84537681e+02] [ 1.31973839e-02 3.54865603e-04 9.99912848e-01 -2.77690089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 903.276559995 meters 0.016900697803712533 Centerline is valid? [True, True] Translation: X:-203.99, Y:-284.52, Z:-2.78 [[-6.45779051e-01 -7.63466308e-01 9.41346635e-03 -2.03985260e+02] [ 7.63393161e-01 -6.45847558e-01 -1.05742000e-02 -2.84516981e+02] [ 1.41527097e-02 3.57578977e-04 9.99899782e-01 -2.77789220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 903.3065599949999 meters 0.016416850989678648 Centerline is valid? [True, True] Translation: X:-204.00, Y:-284.50, Z:-2.78 [[-6.47046038e-01 -7.62384334e-01 1.00773444e-02 -2.04002168e+02] [ 7.62300482e-01 -6.47124406e-01 -1.13127852e-02 -2.84495527e+02] [ 1.51459857e-02 3.62071643e-04 9.99885228e-01 -2.77835432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 903.3365599949999 meters 0.015803659256874266 Centerline is valid? [True, True] Translation: X:-204.02, Y:-284.47, Z:-2.78 [[-6.49809836e-01 -7.60023917e-01 1.05272271e-02 -2.04016897e+02] [ 7.59932200e-01 -6.49895022e-01 -1.18115001e-02 -2.84472719e+02] [ 1.58186151e-02 3.24749889e-04 9.99874825e-01 -2.77901109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 903.366559995 meters 0.015347689202829628 Centerline is valid? [True, True] Translation: X:-204.03, Y:-284.45, Z:-2.78 [[-6.51530409e-01 -7.58547313e-01 1.06818345e-02 -2.04033576e+02] [ 7.58452789e-01 -6.51617899e-01 -1.19783508e-02 -2.84449779e+02] [ 1.60466203e-02 2.97407419e-04 9.99871201e-01 -2.77865646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 903.396559995 meters 0.014501655282463367 Centerline is valid? [True, True] Translation: X:-204.05, Y:-284.43, Z:-2.78 [[-6.54583105e-01 -7.55918873e-01 1.03738615e-02 -2.04048160e+02] [ 7.55829490e-01 -6.54665262e-01 -1.16265748e-02 -2.84425225e+02] [ 1.55801541e-02 2.30311008e-04 9.99878596e-01 -2.77803875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 903.4265599949999 meters 0.014233210956654013 Centerline is valid? [True, True] Translation: X:-204.06, Y:-284.40, Z:-2.78 [[-6.56049592e-01 -7.54649124e-01 1.01800635e-02 -2.04063566e+02] [ 7.54562980e-01 -6.56128540e-01 -1.14039201e-02 -2.84404274e+02] [ 1.52853885e-02 1.99961935e-04 9.99883152e-01 -2.77763255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 903.4565599949999 meters 0.01397304238016883 Centerline is valid? [True, True] Translation: X:-204.08, Y:-284.38, Z:-2.78 [[-6.57480861e-01 -7.53407263e-01 9.81902198e-03 -2.04079664e+02] [ 7.53327082e-01 -6.57554155e-01 -1.09927461e-02 -2.84382359e+02] [ 1.47385535e-02 1.69414969e-04 9.99891367e-01 -2.77741399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 903.486559995 meters 0.013731112494413576 Centerline is valid? [True, True] Translation: X:-204.10, Y:-284.36, Z:-2.78 [[-6.58829571e-01 -7.52231907e-01 9.52655736e-03 -2.04095765e+02] [ 7.52156401e-01 -6.58898428e-01 -1.06588334e-02 -2.84360670e+02] [ 1.42949482e-02 1.43106464e-04 9.99897812e-01 -2.77685993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 903.516559995 meters 0.01341358124294355 Centerline is valid? [True, True] Translation: X:-204.11, Y:-284.34, Z:-2.78 [[-6.60839918e-01 -7.50471070e-01 9.15293654e-03 -2.04110517e+02] [ 7.50401287e-01 -6.60903292e-01 -1.02346162e-02 -2.84337050e+02] [ 1.37299892e-02 1.04932460e-04 9.99905734e-01 -2.77636638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 903.5465599949999 meters 0.013238953305829559 Centerline is valid? [True, True] Translation: X:-204.12, Y:-284.31, Z:-2.78 [[-6.62580531e-01 -7.48936786e-01 8.98499618e-03 -2.04124497e+02] [ 7.48869484e-01 -6.62641445e-01 -1.00404693e-02 -2.84314783e+02] [ 1.34735077e-02 7.59699739e-05 9.99909225e-01 -2.77649175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 903.5765599949999 meters 0.013122794532343688 Centerline is valid? [True, True] Translation: X:-204.14, Y:-284.29, Z:-2.78 [[-6.63537414e-01 -7.48086848e-01 9.17432192e-03 -2.04141075e+02] [ 7.48016682e-01 -6.63600832e-01 -1.02459821e-02 -2.84292808e+02] [ 1.37529721e-02 6.39533595e-05 9.99905422e-01 -2.77641860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 903.606559995 meters 0.013144290217856463 Centerline is valid? [True, True] Translation: X:-204.16, Y:-284.27, Z:-2.78 [[-6.64234518e-01 -7.47469898e-01 9.01424245e-03 -2.04157838e+02] [ 7.47402182e-01 -6.64295679e-01 -1.00613064e-02 -2.84271663e+02] [ 1.35086460e-02 5.41974602e-05 9.99908753e-01 -2.77651884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 903.636559995 meters 0.012684947000560876 Centerline is valid? [True, True] Translation: X:-204.17, Y:-284.25, Z:-2.77 [[-6.64890272e-01 -7.46885825e-01 9.08248082e-03 -2.04174944e+02] [ 7.46817102e-01 -6.64952301e-01 -1.01317645e-02 -2.84249396e+02] [ 1.36066878e-02 4.64403335e-05 9.99907424e-01 -2.77434394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 903.666559995 meters 0.012678241220060883 Centerline is valid? [True, True] Translation: X:-204.19, Y:-284.23, Z:-2.77 [[-6.65526219e-01 -7.46320285e-01 8.99356177e-03 -2.04191548e+02] [ 7.46252927e-01 -6.65586982e-01 -1.00269026e-02 -2.84226531e+02] [ 1.34692784e-02 3.83052389e-05 9.99909285e-01 -2.77391754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 903.6965599949999 meters 0.012647911784887014 Centerline is valid? [True, True] Translation: X:-204.21, Y:-284.20, Z:-2.77 [[-6.65829977e-01 -7.46047749e-01 9.12128568e-03 -2.04209163e+02] [ 7.45978517e-01 -6.65892450e-01 -1.01635378e-02 -2.84204923e+02] [ 1.36562797e-02 3.70950434e-05 9.99906748e-01 -2.77360237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 903.7265599949999 meters 0.013156926658426629 Centerline is valid? [True, True] Translation: X:-204.23, Y:-284.18, Z:-2.78 [[-6.66184303e-01 -7.45724679e-01 9.65284568e-03 -2.04225633e+02] [ 7.45647172e-01 -6.66254232e-01 -1.07513908e-02 -2.84183840e+02] [ 1.44488268e-02 3.52092616e-05 9.99895610e-01 -2.77704828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 903.756559995 meters 0.012703517912526871 Centerline is valid? [True, True] Translation: X:-204.24, Y:-284.16, Z:-2.77 [[-6.66092216e-01 -7.45804644e-01 9.82816476e-03 -2.04243447e+02] [ 7.45724396e-01 -6.66164718e-01 -1.09404668e-02 -2.84161899e+02] [ 1.47066275e-02 4.17424833e-05 9.99891851e-01 -2.77366711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 903.786559995 meters 0.012625186997872961 Centerline is valid? [True, True] Translation: X:-204.26, Y:-284.14, Z:-2.77 [[-6.65979987e-01 -7.45904649e-01 9.84438743e-03 -2.04261607e+02] [ 7.45824240e-01 -6.66052740e-01 -1.09522148e-02 -2.84140601e+02] [ 1.47261891e-02 4.82269284e-05 9.99891563e-01 -2.77307340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 903.8165599949999 meters 0.012808370458456807 Centerline is valid? [True, True] Translation: X:-204.28, Y:-284.12, Z:-2.77 [[-6.65076984e-01 -7.46709912e-01 9.84443961e-03 -2.04279252e+02] [ 7.46629658e-01 -6.65149835e-01 -1.09476737e-02 -2.84120636e+02] [ 1.47227639e-02 6.91047620e-05 9.99891612e-01 -2.77412089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 903.8465599949999 meters 0.01297826222520905 Centerline is valid? [True, True] Translation: X:-204.30, Y:-284.10, Z:-2.78 [[-6.64545806e-01 -7.47183174e-01 9.80693540e-03 -2.04297121e+02] [ 7.47103659e-01 -6.64618159e-01 -1.09007015e-02 -2.84101051e+02] [ 1.46626881e-02 8.27818263e-05 9.99892494e-01 -2.77508107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 903.876559995 meters 0.012885158077056653 Centerline is valid? [True, True] Translation: X:-204.32, Y:-284.08, Z:-2.77 [[-6.64078944e-01 -7.47597203e-01 9.87820191e-03 -2.04315359e+02] [ 7.47516666e-01 -6.64152402e-01 -1.09736905e-02 -2.84079625e+02] [ 1.47645318e-02 9.67237882e-05 9.99890994e-01 -2.77384007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 903.906559995 meters 0.012859053307643217 Centerline is valid? [True, True] Translation: X:-204.33, Y:-284.06, Z:-2.77 [[-6.63643179e-01 -7.47983060e-01 9.95356140e-03 -2.04333729e+02] [ 7.47901427e-01 -6.63717809e-01 -1.10510600e-02 -2.84058195e+02] [ 1.48723617e-02 1.10322150e-04 9.99889394e-01 -2.77363889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 903.9365599949999 meters 0.013360212823101241 Centerline is valid? [True, True] Translation: X:-204.35, Y:-284.04, Z:-2.77 [[-6.62711224e-01 -7.48808176e-01 1.00074990e-02 -2.04351433e+02] [ 7.48725850e-01 -6.62786767e-01 -1.11042201e-02 -2.84037245e+02] [ 1.49477687e-02 1.33981924e-04 9.99888267e-01 -2.77437580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 903.9665599949999 meters 0.013360212823101241 Centerline is valid? [True, True] Translation: X:-204.37, Y:-284.02, Z:-2.77 [[-6.62941164e-01 -7.48604565e-01 1.00109093e-02 -2.04369427e+02] [ 7.48522262e-01 -6.63016732e-01 -1.11011457e-02 -2.84017447e+02] [ 1.49477687e-02 1.33982000e-04 9.99888267e-01 -2.77437613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 903.996559995 meters 0.013132319839565252 Centerline is valid? [True, True] Translation: X:-204.39, Y:-284.00, Z:-2.77 [[-6.62742133e-01 -7.48782804e-01 9.85781275e-03 -2.04387255e+02] [ 7.48703111e-01 -6.62815429e-01 -1.09251507e-02 -2.83995683e+02] [ 1.47144754e-02 1.40017403e-04 9.99891727e-01 -2.77304673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 904.026559995 meters 0.013701751951415408 Centerline is valid? [True, True] Translation: X:-204.41, Y:-283.98, Z:-2.77 [[-6.62471203e-01 -7.49026687e-01 9.53561660e-03 -2.04405769e+02] [ 7.48952234e-01 -6.62539811e-01 -1.05617202e-02 -2.83975859e+02] [ 1.42287359e-02 1.44885869e-04 9.99898756e-01 -2.77442587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 904.0565599949999 meters 0.013490519304264245 Centerline is valid? [True, True] Translation: X:-204.42, Y:-283.95, Z:-2.77 [[-6.62020721e-01 -7.49429447e-01 9.16891120e-03 -2.04422427e+02] [ 7.49360737e-01 -6.62084195e-01 -1.01491498e-02 -2.83953914e+02] [ 1.36766629e-02 1.51874558e-04 9.99906459e-01 -2.77206281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 904.0865599949999 meters 0.013438906791093852 Centerline is valid? [True, True] Translation: X:-204.44, Y:-283.93, Z:-2.77 [[-6.61820422e-01 -7.49606994e-01 9.11502713e-03 -2.04440910e+02] [ 7.49539184e-01 -6.61883169e-01 -1.00837800e-02 -2.83932112e+02] [ 1.35919551e-02 1.58418458e-04 9.99907613e-01 -2.77151194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 904.116559995 meters 0.01423861759736731 Centerline is valid? [True, True] Translation: X:-204.46, Y:-283.91, Z:-2.77 [[-6.61729874e-01 -7.49690625e-01 8.80578779e-03 -2.04459769e+02] [ 7.49627422e-01 -6.61788442e-01 -9.73584485e-03 -2.83913213e+02] [ 1.31264402e-02 1.58560613e-04 9.99913832e-01 -2.77355281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 904.146559995 meters 0.013812774948155205 Centerline is valid? [True, True] Translation: X:-204.48, Y:-283.89, Z:-2.77 [[-6.60855307e-01 -7.50464349e-01 8.57462098e-03 -2.04476296e+02] [ 7.50404562e-01 -6.60910910e-01 -9.47428798e-03 -2.83890777e+02] [ 1.27771759e-02 1.73301212e-04 9.99918354e-01 -2.77185407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 904.1765599949999 meters 0.013864116583429715 Centerline is valid? [True, True] Translation: X:-204.49, Y:-283.87, Z:-2.77 [[-6.60373039e-01 -7.50887603e-01 8.67507044e-03 -2.04494996e+02] [ 7.50826515e-01 -6.60429990e-01 -9.57982891e-03 -2.83869290e+02] [ 1.29226515e-02 1.87212179e-04 9.99916482e-01 -2.77157070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 904.2065599949999 meters 0.014918550856679359 Centerline is valid? [True, True] Translation: X:-204.51, Y:-283.85, Z:-2.77 [[-6.59587382e-01 -7.51574653e-01 8.94580332e-03 -2.04514584e+02] [ 7.51509833e-01 -6.59648010e-01 -9.87287304e-03 -2.83850307e+02] [ 1.33212825e-02 2.10836686e-04 9.99911246e-01 -2.77328052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 904.236559995 meters 0.014528417239084065 Centerline is valid? [True, True] Translation: X:-204.53, Y:-283.83, Z:-2.77 [[-6.57736125e-01 -7.53193428e-01 9.10221539e-03 -2.04532313e+02] [ 7.53126554e-01 -6.57799055e-01 -1.00397400e-02 -2.83828291e+02] [ 1.35492949e-02 2.51620413e-04 9.99908173e-01 -2.77244783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 904.266559995 meters 0.014854288366352258 Centerline is valid? [True, True] Translation: X:-204.55, Y:-283.81, Z:-2.77 [[-6.57080228e-01 -7.53764134e-01 9.23067390e-03 -2.04550834e+02] [ 7.53695500e-01 -6.57145005e-01 -1.01752799e-02 -2.83808202e+02] [ 1.37356523e-02 2.71142163e-04 9.99905625e-01 -2.77279212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 904.2965599949999 meters 0.015703852215466156 Centerline is valid? [True, True] Translation: X:-204.57, Y:-283.79, Z:-2.77 [[-6.55322434e-01 -7.55288194e-01 9.60476316e-03 -2.04569685e+02] [ 7.55214138e-01 -6.55392738e-01 -1.05812926e-02 -2.83787941e+02] [ 1.42868174e-02 3.19494521e-04 9.99897887e-01 -2.77300319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 904.3265599949999 meters 0.016098985355061952 Centerline is valid? [True, True] Translation: X:-204.59, Y:-283.77, Z:-2.77 [[-6.54721594e-01 -7.55807101e-01 9.76013610e-03 -2.04588870e+02] [ 7.55730775e-01 -6.54794250e-01 -1.07464063e-02 -2.83767104e+02] [ 1.45130912e-02 3.40130976e-04 9.99894622e-01 -2.77328389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 904.356559995 meters 0.016298995355038072 Centerline is valid? [True, True] Translation: X:-204.61, Y:-283.75, Z:-2.77 [[-6.54321233e-01 -7.56151517e-01 9.93017118e-03 -2.04607389e+02] [ 7.56072639e-01 -6.54396482e-01 -1.09274592e-02 -2.83746046e+02] [ 1.47610839e-02 3.57862151e-04 9.99890985e-01 -2.77331227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 904.386559995 meters 0.016657199039090714 Centerline is valid? [True, True] Translation: X:-204.62, Y:-283.73, Z:-2.77 [[-6.54223884e-01 -7.56231910e-01 1.02180349e-02 -2.04624423e+02] [ 7.56148503e-01 -6.54303568e-01 -1.12375457e-02 -2.83725541e+02] [ 1.51838874e-02 3.74480981e-04 9.99884648e-01 -2.77420516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 904.416559995 meters 0.016380167399988144 Centerline is valid? [True, True] Translation: X:-204.64, Y:-283.70, Z:-2.77 [[-6.54786706e-01 -7.55742201e-01 1.03968447e-02 -2.04641845e+02] [ 7.55655900e-01 -6.54869136e-01 -1.14269656e-02 -2.83704400e+02] [ 1.54444128e-02 3.74211849e-04 9.99880658e-01 -2.77425146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 904.4465599949999 meters 0.016174625219193044 Centerline is valid? [True, True] Translation: X:-204.66, Y:-283.68, Z:-2.77 [[-6.55351908e-01 -7.55250663e-01 1.05029718e-02 -2.04659797e+02] [ 7.55162629e-01 -6.55435961e-01 -1.15370894e-02 -2.83682442e+02] [ 1.55974199e-02 3.70598231e-04 9.99878284e-01 -2.77450698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 904.4765599949999 meters 0.015242542286672404 Centerline is valid? [True, True] Translation: X:-204.68, Y:-283.66, Z:-2.77 [[-6.57043753e-01 -7.53774039e-01 1.08722477e-02 -2.04675640e+02] [ 7.53679610e-01 -6.57133605e-01 -1.19361144e-02 -2.83658280e+02] [ 1.61416525e-02 3.51641997e-04 9.99869653e-01 -2.77477286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 904.506559995 meters 0.015294753608422555 Centerline is valid? [True, True] Translation: X:-204.69, Y:-283.64, Z:-2.78 [[-6.58147736e-01 -7.52806551e-01 1.11290176e-02 -2.04693003e+02] [ 7.52707590e-01 -6.58241735e-01 -1.22107730e-02 -2.83636929e+02] [ 1.65179337e-02 3.40403399e-04 9.99863512e-01 -2.77524962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 904.536559995 meters 0.014728043864968898 Centerline is valid? [True, True] Translation: X:-204.71, Y:-283.61, Z:-2.78 [[-6.60181875e-01 -7.51012383e-01 1.18445020e-02 -2.04708147e+02] [ 7.50900128e-01 -6.60288042e-01 -1.29884499e-02 -2.83613198e+02] [ 1.75752698e-02 3.19298856e-04 9.99845492e-01 -2.77572846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 904.5665599949999 meters 0.015485155103780944 Centerline is valid? [True, True] Translation: X:-204.73, Y:-283.59, Z:-2.78 [[-6.61346818e-01 -7.49982403e-01 1.21153726e-02 -2.04725524e+02] [ 7.49864940e-01 -6.61457711e-01 -1.32766172e-02 -2.83593021e+02] [ 1.79710359e-02 3.04444615e-04 9.99838462e-01 -2.77780697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 904.5965599949999 meters 0.014301269927268356 Centerline is valid? [True, True] Translation: X:-204.74, Y:-283.57, Z:-2.78 [[-6.62648020e-01 -7.48827531e-01 1.24471165e-02 -2.04740849e+02] [ 7.48703485e-01 -6.62764851e-01 -1.36324848e-02 -2.83569439e+02] [ 1.84578912e-02 2.85660445e-04 9.99829598e-01 -2.77595737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 904.626559995 meters 0.013869678334927343 Centerline is valid? [True, True] Translation: X:-204.76, Y:-283.55, Z:-2.78 [[-6.65161179e-01 -7.46596006e-01 1.24503344e-02 -2.04755243e+02] [ 7.46471644e-01 -6.65277650e-01 -1.36284001e-02 -2.83545283e+02] [ 1.84578383e-02 2.28738892e-04 9.99829614e-01 -2.77578324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 904.656559995 meters 0.01372679384593526 Centerline is valid? [True, True] Translation: X:-204.77, Y:-283.52, Z:-2.78 [[-6.66424021e-01 -7.45478564e-01 1.18631582e-02 -2.04771307e+02] [ 7.45365629e-01 -6.66529574e-01 -1.29771494e-02 -2.83523982e+02] [ 1.75813325e-02 1.94106281e-04 9.99845418e-01 -2.77586419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 904.6865599949999 meters 0.013433314062889917 Centerline is valid? [True, True] Translation: X:-204.79, Y:-283.50, Z:-2.78 [[-6.67758913e-01 -7.44287829e-01 1.15612688e-02 -2.04787684e+02] [ 7.44180524e-01 -6.67858968e-01 -1.26390588e-02 -2.83501901e+02] [ 1.71283947e-02 1.63826917e-04 9.99853285e-01 -2.77502685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 904.7165599949999 meters 0.012849230535180138 Centerline is valid? [True, True] Translation: X:-204.80, Y:-283.48, Z:-2.77 [[-6.70251888e-01 -7.42065355e-01 1.00704942e-02 -2.04802734e+02] [ 7.41983775e-01 -6.70327531e-01 -1.10035458e-02 -2.83477059e+02] [ 1.49158796e-02 9.69959509e-05 9.99888748e-01 -2.77320832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 904.746559995 meters 0.012647926644455153 Centerline is valid? [True, True] Translation: X:-204.82, Y:-283.46, Z:-2.77 [[-6.71548081e-01 -7.40900973e-01 9.42990140e-03 -2.04818556e+02] [ 7.40829397e-01 -6.71614282e-01 -1.02985964e-02 -2.83455727e+02] [ 1.39634965e-02 6.99455384e-05 9.99902503e-01 -2.77253239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 904.776559995 meters 0.0124875963633674 Centerline is valid? [True, True] Translation: X:-204.83, Y:-283.43, Z:-2.77 [[-6.73937775e-01 -7.38738663e-01 8.54767833e-03 -2.04831988e+02] [ 7.38679757e-01 -6.73991978e-01 -9.32901405e-03 -2.83432753e+02] [ 1.26527700e-02 2.68219728e-05 9.99919950e-01 -2.77206189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 904.8065599949999 meters 0.012371966031179401 Centerline is valid? [True, True] Translation: X:-204.85, Y:-283.41, Z:-2.77 [[-6.74860647e-01 -7.37897170e-01 8.41873154e-03 -2.04848357e+02] [ 7.37840033e-01 -6.74913155e-01 -9.18249120e-03 -2.83410847e+02] [ 1.24576469e-02 1.47752147e-05 9.99922401e-01 -2.77059333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 904.8365599949999 meters 0.012360980348809263 Centerline is valid? [True, True] Translation: X:-204.86, Y:-283.39, Z:-2.77 [[-6.75626691e-01 -7.37197252e-01 8.29374501e-03 -2.04864419e+02] [ 7.37141802e-01 -6.75677594e-01 -9.04176226e-03 -2.83390425e+02] [ 1.22694600e-02 4.81022996e-06 9.99924727e-01 -2.77077338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 904.866559995 meters 0.012261138187966295 Centerline is valid? [True, True] Translation: X:-204.88, Y:-283.37, Z:-2.77 [[-6.76030649e-01 -7.36824779e-01 8.47393520e-03 -2.04881590e+02] [ 7.36766935e-01 -6.76083756e-01 -9.23240419e-03 -2.83369769e+02] [ 1.25317541e-02 1.92707320e-06 9.99921475e-01 -2.77039540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 904.896559995 meters 0.012262986291378893 Centerline is valid? [True, True] Translation: X:-204.90, Y:-283.35, Z:-2.77 [[-6.74978996e-01 -7.37783560e-01 8.87541858e-03 -2.04899141e+02] [ 7.37720268e-01 -6.75037346e-01 -9.66372476e-03 -2.83349303e+02] [ 1.31209763e-02 2.47649423e-05 9.99913916e-01 -2.77049485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 904.9265599949999 meters 0.0122283558876596 Centerline is valid? [True, True] Translation: X:-204.92, Y:-283.33, Z:-2.77 [[-6.73793192e-01 -7.38863789e-01 9.11242743e-03 -2.04917972e+02] [ 7.38797255e-01 -6.73854806e-01 -9.91551437e-03 -2.83330182e+02] [ 1.34666675e-02 5.12302923e-05 9.99909319e-01 -2.77096466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 904.9565599949999 meters 0.01238345817433113 Centerline is valid? [True, True] Translation: X:-204.94, Y:-283.31, Z:-2.77 [[-6.72199210e-01 -7.40308743e-01 9.54917033e-03 -2.04937618e+02] [ 7.40235884e-01 -6.72267028e-01 -1.03864679e-02 -2.83310790e+02] [ 1.41087853e-02 8.68630579e-05 9.99900463e-01 -2.77160504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 904.986559995 meters 0.012994507835009876 Centerline is valid? [True, True] Translation: X:-204.96, Y:-283.29, Z:-2.77 [[-6.68602290e-01 -7.43548983e-01 1.02902006e-02 -2.04957851e+02] [ 7.43464835e-01 -6.68681449e-01 -1.11874110e-02 -2.83293225e+02] [ 1.51992543e-02 1.70473722e-04 9.99884470e-01 -2.77274689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 905.016559995 meters 0.013230613125284316 Centerline is valid? [True, True] Translation: X:-204.98, Y:-283.27, Z:-2.77 [[-6.67174830e-01 -7.44823247e-01 1.07738660e-02 -2.04977813e+02] [ 7.44731273e-01 -6.67261781e-01 -1.17066535e-02 -2.83273653e+02] [ 1.59083767e-02 2.13250450e-04 9.99873431e-01 -2.77279820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 905.0465599949999 meters 0.013772550605359151 Centerline is valid? [True, True] Translation: X:-205.00, Y:-283.26, Z:-2.77 [[-6.65381924e-01 -7.46428129e-01 1.05803038e-02 -2.04998632e+02] [ 7.46339739e-01 -6.65465991e-01 -1.14895177e-02 -2.83255907e+02] [ 1.56169316e-02 2.51583804e-04 9.99878017e-01 -2.77298213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 905.0765599949999 meters 0.013750605740770071 Centerline is valid? [True, True] Translation: X:-205.02, Y:-283.24, Z:-2.77 [[-6.65091167e-01 -7.46692543e-01 1.01973847e-02 -2.05017598e+02] [ 7.46610571e-01 -6.65169289e-01 -1.10667271e-02 -2.83236456e+02] [ 1.50464298e-02 2.53092790e-04 9.99886764e-01 -2.77271316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 905.106559995 meters 0.013596364268766179 Centerline is valid? [True, True] Translation: X:-205.04, Y:-283.22, Z:-2.77 [[-6.65375752e-01 -7.46442399e-01 9.94251792e-03 -2.05036542e+02] [ 7.46364535e-01 -6.65449987e-01 -1.07840246e-02 -2.83216131e+02] [ 1.46659016e-02 2.45314315e-04 9.99892420e-01 -2.77198341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 905.136559995 meters 0.013712465811187464 Centerline is valid? [True, True] Translation: X:-205.06, Y:-283.20, Z:-2.77 [[-6.65867233e-01 -7.46008880e-01 9.56969723e-03 -2.05055006e+02] [ 7.45936800e-01 -6.65935956e-01 -1.03727246e-02 -2.83197463e+02] [ 1.41109501e-02 2.31531914e-04 9.99900409e-01 -2.77197520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 905.166559995 meters 0.013263239635125447 Centerline is valid? [True, True] Translation: X:-205.07, Y:-283.18, Z:-2.77 [[-6.66844540e-01 -7.45145430e-01 8.75482226e-03 -2.05073974e+02] [ 7.45085098e-01 -6.66901978e-01 -9.48413407e-03 -2.83176465e+02] [ 1.29056674e-02 1.98644577e-04 9.99916699e-01 -2.77042329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 905.1965599949999 meters 0.013392968398249964 Centerline is valid? [True, True] Translation: X:-205.09, Y:-283.16, Z:-2.77 [[-6.67424618e-01 -7.44629733e-01 8.42255288e-03 -2.05092265e+02] [ 7.44573928e-01 -6.67477735e-01 -9.11813572e-03 -2.83157943e+02] [ 1.24115015e-02 1.85545022e-04 9.99922957e-01 -2.77061808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 905.2265599949999 meters 0.013041896077052877 Centerline is valid? [True, True] Translation: X:-205.11, Y:-283.14, Z:-2.77 [[-6.68082043e-01 -7.44043199e-01 8.13032946e-03 -2.05110402e+02] [ 7.43991221e-01 -6.68131490e-01 -8.79627503e-03 -2.83138108e+02] [ 1.19769378e-02 1.72260350e-04 9.99928259e-01 -2.76991904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 905.256559995 meters 0.012604873385198334 Centerline is valid? [True, True] Translation: X:-205.13, Y:-283.12, Z:-2.77 [[-6.68479921e-01 -7.43686710e-01 8.04195382e-03 -2.05129239e+02] [ 7.43635889e-01 -6.68528271e-01 -8.69568552e-03 -2.83116753e+02] [ 1.18431392e-02 1.67394308e-04 9.99929854e-01 -2.76908172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 905.286559995 meters 0.012754922581977742 Centerline is valid? [True, True] Translation: X:-205.15, Y:-283.10, Z:-2.77 [[-6.68613608e-01 -7.43565127e-01 8.16975880e-03 -2.05148256e+02] [ 7.43512733e-01 -6.68663497e-01 -8.82855591e-03 -2.83097738e+02] [ 1.20274258e-02 1.71427070e-04 9.99927653e-01 -2.76950641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 905.3165599949999 meters 0.012814746208493323 Centerline is valid? [True, True] Translation: X:-205.17, Y:-283.08, Z:-2.77 [[-6.68412698e-01 -7.43746337e-01 8.11482651e-03 -2.05167662e+02] [ 7.43694725e-01 -6.68461932e-01 -8.76363738e-03 -2.83077932e+02] [ 1.19423758e-02 1.77227170e-04 9.99928672e-01 -2.76989321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 905.3465599949999 meters 0.012793771310341961 Centerline is valid? [True, True] Translation: X:-205.19, Y:-283.06, Z:-2.77 [[-6.68323938e-01 -7.43825770e-01 8.14480418e-03 -2.05187552e+02] [ 7.43773841e-01 -6.68373541e-01 -8.79104523e-03 -2.83057711e+02] [ 1.19827776e-02 1.82626326e-04 9.99928187e-01 -2.77027573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 905.376559995 meters 0.013296179366613441 Centerline is valid? [True, True] Translation: X:-205.21, Y:-283.04, Z:-2.77 [[-6.67630348e-01 -7.44444088e-01 8.52750300e-03 -2.05207213e+02] [ 7.44387267e-01 -6.67684774e-01 -9.19992038e-03 -2.83039684e+02] [ 1.25425103e-02 2.05618611e-04 9.99921319e-01 -2.77145662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 905.406559995 meters 0.014803652257243427 Centerline is valid? [True, True] Translation: X:-205.23, Y:-283.02, Z:-2.77 [[-6.67341175e-01 -7.44703657e-01 8.49821426e-03 -2.05227334e+02] [ 7.44647322e-01 -6.67395249e-01 -9.16231788e-03 -2.83022853e+02] [ 1.24948794e-02 2.13780508e-04 9.99921913e-01 -2.77359163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 905.4365599949999 meters 0.013699722184818467 Centerline is valid? [True, True] Translation: X:-205.25, Y:-283.00, Z:-2.77 [[-6.66938100e-01 -7.45059949e-01 8.90189736e-03 -2.05245278e+02] [ 7.44998236e-01 -6.66997465e-01 -9.59221398e-03 -2.83001435e+02] [ 1.30843174e-02 2.34484859e-04 9.99914369e-01 -2.77212346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 905.4665599949999 meters 0.014297672649679212 Centerline is valid? [True, True] Translation: X:-205.26, Y:-282.98, Z:-2.77 [[-6.65891641e-01 -7.45989850e-01 9.35231991e-03 -2.05264893e+02] [ 7.45921888e-01 -6.65957259e-01 -1.00730463e-02 -2.82983465e+02] [ 1.37426356e-02 2.68542805e-04 9.99905530e-01 -2.77333264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 905.496559995 meters 0.014657294971109711 Centerline is valid? [True, True] Translation: X:-205.28, Y:-282.96, Z:-2.77 [[-6.65504912e-01 -7.46329433e-01 9.77699963e-03 -2.05284694e+02] [ 7.46255277e-01 -6.65576662e-01 -1.05246841e-02 -2.82963723e+02] [ 1.43622243e-02 2.91908580e-04 9.99896815e-01 -2.77382951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 905.526559995 meters 0.015346514720802201 Centerline is valid? [True, True] Translation: X:-205.30, Y:-282.95, Z:-2.77 [[-6.64539867e-01 -7.47192677e-01 9.47988255e-03 -2.05304590e+02] [ 7.47123111e-01 -6.64607411e-01 -1.02003400e-02 -2.82945923e+02] [ 1.39220196e-02 3.04106723e-04 9.99903038e-01 -2.77453781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 905.5565599949999 meters 0.014462743855736098 Centerline is valid? [True, True] Translation: X:-205.32, Y:-282.92, Z:-2.77 [[-6.64303540e-01 -7.47404366e-01 9.35526066e-03 -2.05323315e+02] [ 7.47336716e-01 -6.64369339e-01 -1.00605524e-02 -2.82924660e+02] [ 1.37346491e-02 3.08269231e-04 9.99905628e-01 -2.77331654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 905.5865599949999 meters 0.015817243246632088 Centerline is valid? [True, True] Translation: X:-205.34, Y:-282.91, Z:-2.77 [[-6.64259952e-01 -7.47446784e-01 9.05653970e-03 -2.05343173e+02] [ 7.47383475e-01 -6.64321619e-01 -9.73282090e-03 -2.82907222e+02] [ 1.32912208e-02 3.03584967e-04 9.99911622e-01 -2.77439003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 905.616559995 meters 0.01486548733358508 Centerline is valid? [True, True] Translation: X:-205.36, Y:-282.89, Z:-2.77 [[-6.64682068e-01 -7.47077338e-01 8.55562591e-03 -2.05360665e+02] [ 7.47020881e-01 -6.64737069e-01 -9.18874986e-03 -2.82886831e+02] [ 1.25519485e-02 2.83633942e-04 9.99921181e-01 -2.77320432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 905.646559995 meters 0.01458611319967433 Centerline is valid? [True, True] Translation: X:-205.38, Y:-282.87, Z:-2.77 [[-6.66048219e-01 -7.45867962e-01 7.79448849e-03 -2.05379659e+02] [ 7.45821073e-01 -6.66093781e-01 -8.36667174e-03 -2.82866900e+02] [ 1.14322927e-02 2.40686968e-04 9.99934620e-01 -2.77274316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 905.6765599949999 meters 0.01410464708351592 Centerline is valid? [True, True] Translation: X:-205.40, Y:-282.85, Z:-2.77 [[-6.67055631e-01 -7.44969258e-01 7.58873380e-03 -2.05397570e+02] [ 7.44924811e-01 -6.67098759e-01 -8.14074435e-03 -2.82846460e+02] [ 1.11270392e-02 2.22706727e-04 9.99938068e-01 -2.77248161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 905.7065599949999 meters 0.014764047820938226 Centerline is valid? [True, True] Translation: X:-205.42, Y:-282.83, Z:-2.77 [[-6.68403574e-01 -7.43761431e-01 7.45627447e-03 -2.05415803e+02] [ 7.43718503e-01 -6.68445131e-01 -7.99344773e-03 -2.82827704e+02] [ 1.09293285e-02 2.02520253e-04 9.99940253e-01 -2.77347928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 905.736559995 meters 0.013265439636881319 Centerline is valid? [True, True] Translation: X:-205.43, Y:-282.81, Z:-2.77 [[-6.69154482e-01 -7.43089107e-01 7.13149885e-03 -2.05432560e+02] [ 7.43049850e-01 -6.69192457e-01 -7.64044061e-03 -2.82805576e+02] [ 1.04498734e-02 1.86424072e-04 9.99945381e-01 -2.77212051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 905.766559995 meters 0.013012534784722172 Centerline is valid? [True, True] Translation: X:-205.45, Y:-282.78, Z:-2.77 [[-6.69600644e-01 -7.42688279e-01 7.00701866e-03 -2.05451494e+02] [ 7.42650402e-01 -6.69637281e-01 -7.50282589e-03 -2.82784437e+02] [ 1.02644218e-02 1.79868172e-04 9.99947303e-01 -2.77186529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 905.7965599949999 meters 0.01360917264135249 Centerline is valid? [True, True] Translation: X:-205.47, Y:-282.77, Z:-2.77 [[-6.69812032e-01 -7.42501941e-01 6.53530648e-03 -2.05470255e+02] [ 7.42469028e-01 -6.69843892e-01 -6.99306516e-03 -2.82765644e+02] [ 9.56999958e-03 1.68223468e-04 9.99954193e-01 -2.77273250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 905.8265599949999 meters 0.013028663923548792 Centerline is valid? [True, True] Translation: X:-205.49, Y:-282.74, Z:-2.77 [[-6.70123000e-01 -7.42220450e-01 6.63087996e-03 -2.05488870e+02] [ 7.42186593e-01 -6.70155784e-01 -7.09131996e-03 -2.82744527e+02] [ 9.70704525e-03 1.69293602e-04 9.99952871e-01 -2.77250623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 905.856559995 meters 0.013028663923548792 Centerline is valid? [True, True] Translation: X:-205.51, Y:-282.72, Z:-2.77 [[-6.70331856e-01 -7.42031811e-01 6.63287548e-03 -2.05507768e+02] [ 7.41997963e-01 -6.70364649e-01 -7.08945348e-03 -2.82724422e+02] [ 9.70704525e-03 1.69293591e-04 9.99952871e-01 -2.77250657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 905.886559995 meters 0.012836408874364788 Centerline is valid? [True, True] Translation: X:-205.53, Y:-282.70, Z:-2.77 [[-6.70526627e-01 -7.41856186e-01 6.59111411e-03 -2.05526492e+02] [ 7.41822793e-01 -6.70558999e-01 -7.04079021e-03 -2.82703616e+02] [ 9.64298465e-03 1.68401367e-04 9.99953491e-01 -2.77239470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 905.916559995 meters 0.013014317629125876 Centerline is valid? [True, True] Translation: X:-205.54, Y:-282.68, Z:-2.77 [[-6.70976407e-01 -7.41450405e-01 6.47753341e-03 -2.05544908e+02] [ 7.41418174e-01 -6.71007653e-01 -6.91529476e-03 -2.82684194e+02] [ 9.47382259e-03 1.62561358e-04 9.99955109e-01 -2.77295411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 905.9465599949999 meters 0.012981227914135397 Centerline is valid? [True, True] Translation: X:-205.56, Y:-282.66, Z:-2.77 [[-6.71327636e-01 -7.41131076e-01 6.62822495e-03 -2.05564245e+02] [ 7.41097350e-01 -6.71360337e-01 -7.07218767e-03 -2.82663342e+02] [ 9.69134539e-03 1.64404914e-04 9.99953024e-01 -2.77315298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 905.9765599949999 meters 0.012783547941523992 Centerline is valid? [True, True] Translation: X:-205.58, Y:-282.64, Z:-2.77 [[-6.72369418e-01 -7.40188314e-01 6.37377203e-03 -2.05582552e+02] [ 7.40157126e-01 -6.72399612e-01 -6.79640611e-03 -2.82643444e+02] [ 9.31634222e-03 1.47897165e-04 9.99956591e-01 -2.77387487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 906.006559995 meters 0.012790898816374713 Centerline is valid? [True, True] Translation: X:-205.60, Y:-282.62, Z:-2.77 [[-6.72830897e-01 -7.39768250e-01 6.44361977e-03 -2.05600969e+02] [ 7.39736396e-01 -6.72861735e-01 -6.86657422e-03 -2.82623692e+02] [ 9.41533878e-03 1.46536777e-04 9.99955664e-01 -2.77410540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 906.036559995 meters 0.012693104711739397 Centerline is valid? [True, True] Translation: X:-205.62, Y:-282.60, Z:-2.77 [[-6.73488532e-01 -7.39171121e-01 6.26514828e-03 -2.05619718e+02] [ 7.39141019e-01 -6.73517658e-01 -6.67222318e-03 -2.82603737e+02] [ 9.15160269e-03 1.37162288e-04 9.99958114e-01 -2.77413693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 906.0665599949999 meters 0.012846798106606244 Centerline is valid? [True, True] Translation: X:-205.64, Y:-282.58, Z:-2.77 [[-6.73772716e-01 -7.38913002e-01 6.15654188e-03 -2.05637784e+02] [ 7.38883963e-01 -6.73800829e-01 -6.55227442e-03 -2.82584633e+02] [ 8.98984379e-03 1.34226329e-04 9.99959582e-01 -2.77401203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 906.0965599949999 meters 0.012699956601167357 Centerline is valid? [True, True] Translation: X:-205.66, Y:-282.56, Z:-2.77 [[-6.73791344e-01 -7.38899248e-01 5.75555233e-03 -2.05656487e+02] [ 7.38873900e-01 -6.73815913e-01 -6.12168092e-03 -2.82564829e+02] [ 8.40148818e-03 1.27891785e-04 9.99964699e-01 -2.77323764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 906.126559995 meters 0.012864741027729382 Centerline is valid? [True, True] Translation: X:-205.68, Y:-282.55, Z:-2.77 [[-6.73616846e-01 -7.39059294e-01 5.63073383e-03 -2.05675667e+02] [ 7.39035070e-01 -6.73640367e-01 -5.98520648e-03 -2.82545445e+02] [ 8.21651208e-03 1.29573858e-04 9.99966236e-01 -2.77320270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 906.156559995 meters 0.013162572688020884 Centerline is valid? [True, True] Translation: X:-205.70, Y:-282.53, Z:-2.77 [[-6.72508711e-01 -7.40068681e-01 5.51192078e-03 -2.05695925e+02] [ 7.40045529e-01 -6.72531284e-01 -5.85564432e-03 -2.82525946e+02] [ 8.04051812e-03 1.41100512e-04 9.99967665e-01 -2.77296267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 906.1865599949999 meters 0.013753158889698353 Centerline is valid? [True, True] Translation: X:-205.72, Y:-282.51, Z:-2.77 [[-6.72114596e-01 -7.40427404e-01 5.40643535e-03 -2.05715419e+02] [ 7.40405170e-01 -6.72136325e-01 -5.73980365e-03 -2.82507826e+02] [ 7.88376950e-03 1.45146871e-04 9.99968912e-01 -2.77360784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 906.2165599949999 meters 0.013815233078123487 Centerline is valid? [True, True] Translation: X:-205.74, Y:-282.49, Z:-2.77 [[-6.71000171e-01 -7.41433527e-01 5.92415166e-03 -2.05735180e+02] [ 7.41406901e-01 -6.71026300e-01 -6.28591109e-03 -2.82488034e+02] [ 8.63584680e-03 1.74359505e-04 9.99962695e-01 -2.77392244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 906.246559995 meters 0.013701926345624013 Centerline is valid? [True, True] Translation: X:-205.75, Y:-282.47, Z:-2.77 [[-6.70995892e-01 -7.41435712e-01 6.13168994e-03 -2.05754544e+02] [ 7.41407221e-01 -6.71023883e-01 -6.50244546e-03 -2.82467913e+02] [ 8.93565567e-03 1.82965002e-04 9.99960060e-01 -2.77418698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 906.276559995 meters 0.013630237765978711 Centerline is valid? [True, True] Translation: X:-205.77, Y:-282.45, Z:-2.77 [[-6.70733981e-01 -7.41669571e-01 6.49419321e-03 -2.05773881e+02] [ 7.41637659e-01 -6.70765390e-01 -6.88292521e-03 -2.82447454e+02] [ 9.46093622e-03 1.99726418e-04 9.99955225e-01 -2.77435902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 906.3065599949999 meters 0.015345927853814754 Centerline is valid? [True, True] Translation: X:-205.79, Y:-282.43, Z:-2.78 [[-6.70587547e-01 -7.41799007e-01 6.82466375e-03 -2.05794800e+02] [ 7.41763815e-01 -6.70622239e-01 -7.22880407e-03 -2.82429778e+02] [ 9.93909096e-03 2.14742623e-04 9.99950583e-01 -2.77571855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 906.3365599949999 meters 0.013823219602725484 Centerline is valid? [True, True] Translation: X:-205.81, Y:-282.41, Z:-2.77 [[-6.70553095e-01 -7.41826708e-01 7.18900406e-03 -2.05811666e+02] [ 7.41787706e-01 -6.70591591e-01 -7.61036987e-03 -2.82407650e+02] [ 1.04664613e-02 2.29557756e-04 9.99945199e-01 -2.77453793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 906.366559995 meters 0.014539039023484591 Centerline is valid? [True, True] Translation: X:-205.83, Y:-282.39, Z:-2.77 [[-6.70724899e-01 -7.41670551e-01 7.27351744e-03 -2.05830966e+02] [ 7.41630666e-01 -6.70764295e-01 -7.69519785e-03 -2.82388984e+02] [ 1.05861174e-02 2.32902787e-04 9.99943939e-01 -2.77494367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 906.396559995 meters 0.014177093133663702 Centerline is valid? [True, True] Translation: X:-205.85, Y:-282.37, Z:-2.77 [[-6.70891690e-01 -7.41524790e-01 6.73245026e-03 -2.05849680e+02] [ 7.41490655e-01 -6.70925435e-01 -7.11826947e-03 -2.82368849e+02] [ 9.79534540e-03 2.16461115e-04 9.99952001e-01 -2.77401459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 906.4265599949999 meters 0.014450675419331722 Centerline is valid? [True, True] Translation: X:-205.87, Y:-282.35, Z:-2.77 [[-6.71168030e-01 -7.41278973e-01 6.24180228e-03 -2.05868567e+02] [ 7.41249661e-01 -6.71197023e-01 -6.59513997e-03 -2.82350023e+02] [ 9.07831770e-03 2.00286726e-04 9.99958771e-01 -2.77378507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 906.4565599949999 meters 0.014064980391939598 Centerline is valid? [True, True] Translation: X:-205.89, Y:-282.33, Z:-2.77 [[-6.71333835e-01 -7.41133107e-01 5.70953440e-03 -2.05887395e+02] [ 7.41108605e-01 -6.71358089e-01 -6.02932342e-03 -2.82329434e+02] [ 8.30167331e-03 1.83696258e-04 9.99965524e-01 -2.77288406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 906.486559995 meters 0.013923652730745886 Centerline is valid? [True, True] Translation: X:-205.91, Y:-282.31, Z:-2.77 [[-6.71960510e-01 -7.40570031e-01 5.01030892e-03 -2.05906393e+02] [ 7.40551171e-01 -6.71979170e-01 -5.28757877e-03 -2.82309739e+02] [ 7.28264561e-03 1.57346012e-04 9.99973469e-01 -2.77234729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 906.516559995 meters 0.014140755274653624 Centerline is valid? [True, True] Translation: X:-205.93, Y:-282.29, Z:-2.77 [[-6.72556730e-01 -7.40030103e-01 4.78454932e-03 -2.05925120e+02] [ 7.40012914e-01 -6.72573733e-01 -5.04597482e-03 -2.82290678e+02] [ 6.95213546e-03 1.46923958e-04 9.99975823e-01 -2.77235459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 906.5465599949999 meters 0.014053740963443744 Centerline is valid? [True, True] Translation: X:-205.94, Y:-282.27, Z:-2.77 [[-6.73547452e-01 -7.39128387e-01 4.80191572e-03 -2.05943126e+02] [ 7.39111067e-01 -6.73564554e-01 -5.06184140e-03 -2.82272051e+02] [ 6.97575089e-03 1.39758680e-04 9.99975660e-01 -2.77254821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 906.5765599949999 meters 0.01385379767691785 Centerline is valid? [True, True] Translation: X:-205.96, Y:-282.25, Z:-2.77 [[-6.74335094e-01 -7.38409501e-01 4.85698383e-03 -2.05961961e+02] [ 7.38391785e-01 -6.74352572e-01 -5.11675789e-03 -2.82252092e+02] [ 7.05358218e-03 1.35947545e-04 9.99975114e-01 -2.77296425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 906.606559995 meters 0.013042759924369873 Centerline is valid? [True, True] Translation: X:-205.98, Y:-282.23, Z:-2.77 [[-6.75019519e-01 -7.37782279e-01 5.09484779e-03 -2.05979993e+02] [ 7.37762793e-01 -6.75038732e-01 -5.36395875e-03 -2.82230972e+02] [ 7.39665330e-03 1.38012288e-04 9.99972635e-01 -2.77281942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 906.636559995 meters 0.013823089946853571 Centerline is valid? [True, True] Translation: X:-206.00, Y:-282.21, Z:-2.77 [[-6.75694045e-01 -7.37163063e-01 5.30815705e-03 -2.05999021e+02] [ 7.37141920e-01 -6.75714881e-01 -5.58484412e-03 -2.82212938e+02] [ 7.70374150e-03 1.39219159e-04 9.99970316e-01 -2.77396972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 906.666559995 meters 0.012886838437993355 Centerline is valid? [True, True] Translation: X:-206.02, Y:-282.19, Z:-2.77 [[-6.76379415e-01 -7.36529342e-01 5.95115951e-03 -2.06016153e+02] [ 7.36502776e-01 -6.76405578e-01 -6.25742566e-03 -2.82191935e+02] [ 8.63417509e-03 1.50651592e-04 9.99962714e-01 -2.77404464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 906.6965599949999 meters 0.013656737184278487 Centerline is valid? [True, True] Translation: X:-206.04, Y:-282.17, Z:-2.78 [[-6.76811034e-01 -7.36129085e-01 6.38706965e-03 -2.06036035e+02] [ 7.36098508e-01 -6.76841152e-01 -6.71133653e-03 -2.82174317e+02] [ 9.26344159e-03 1.59205827e-04 9.99957081e-01 -2.77558913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 906.7265599949999 meters 0.013627066198948715 Centerline is valid? [True, True] Translation: X:-206.05, Y:-282.16, Z:-2.78 [[-6.76893422e-01 -7.36049897e-01 6.77078971e-03 -2.06054875e+02] [ 7.36015574e-01 -6.76927263e-01 -7.11028194e-03 -2.82155174e+02] [ 9.81685444e-03 1.70503597e-04 9.99951799e-01 -2.77661969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 906.756559995 meters 0.013088519388728476 Centerline is valid? [True, True] Translation: X:-206.07, Y:-282.14, Z:-2.78 [[-6.76708563e-01 -7.36209260e-01 7.83880190e-03 -2.06074208e+02] [ 7.36163316e-01 -6.76753932e-01 -8.22726724e-03 -2.82135071e+02] [ 1.13619303e-02 2.03176212e-04 9.99935431e-01 -2.77759178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 906.786559995 meters 0.013068287015685064 Centerline is valid? [True, True] Translation: X:-206.09, Y:-282.12, Z:-2.78 [[-6.76850239e-01 -7.36076013e-01 8.11522730e-03 -2.06093515e+02] [ 7.36026825e-01 -6.76898854e-01 -8.51204982e-03 -2.82115662e+02] [ 1.17587038e-02 2.11642031e-04 9.99930842e-01 -2.77855961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 906.8165599949999 meters 0.013452364838392333 Centerline is valid? [True, True] Translation: X:-206.11, Y:-282.10, Z:-2.78 [[-6.77516514e-01 -7.35462889e-01 8.10634770e-03 -2.06112232e+02] [ 7.35413829e-01 -6.77564977e-01 -8.49715524e-03 -2.82097741e+02] [ 1.17419196e-02 2.04557206e-04 9.99931041e-01 -2.77968302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 906.8465599949999 meters 0.012466835515088585 Centerline is valid? [True, True] Translation: X:-206.13, Y:-282.08, Z:-2.78 [[-6.78457708e-01 -7.34597995e-01 7.80541094e-03 -2.06130025e+02] [ 7.34552506e-01 -6.78502580e-01 -8.17707810e-03 -2.82076319e+02] [ 1.13028566e-02 1.85682502e-04 9.99936104e-01 -2.77881315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 906.876559995 meters 0.012521640953093776 Centerline is valid? [True, True] Translation: X:-206.15, Y:-282.06, Z:-2.78 [[-6.79507818e-01 -7.33629701e-01 7.52246074e-03 -2.06148083e+02] [ 7.33587448e-01 -6.79549435e-01 -7.87540149e-03 -2.82056904e+02] [ 1.08895124e-02 1.66985893e-04 9.99940694e-01 -2.77929846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 906.906559995 meters 0.012259607190206096 Centerline is valid? [True, True] Translation: X:-206.17, Y:-282.04, Z:-2.78 [[-6.81177342e-01 -7.32082974e-01 7.20750177e-03 -2.06165370e+02] [ 7.32044150e-01 -6.81215458e-01 -7.54072745e-03 -2.82037245e+02] [ 1.04302998e-02 1.39636822e-04 9.99945593e-01 -2.77961523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 906.9365599949999 meters 0.011340769171625098 Centerline is valid? [True, True] Translation: X:-206.18, Y:-282.01, Z:-2.78 [[-6.84682223e-01 -7.28814721e-01 6.27342671e-03 -2.06181458e+02] [ 7.28785204e-01 -6.84710958e-01 -6.55986696e-03 -2.82013794e+02] [ 9.07641162e-03 8.05562684e-05 9.99958805e-01 -2.77904702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 906.9665599949999 meters 0.011104069090315367 Centerline is valid? [True, True] Translation: X:-206.20, Y:-281.99, Z:-2.78 [[-6.86571884e-01 -7.27040749e-01 5.54947557e-03 -2.06198124e+02] [ 7.27017623e-01 -6.86594310e-01 -5.79910768e-03 -2.81993160e+02] [ 8.02642594e-03 5.30622502e-05 9.99967786e-01 -2.77871814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 906.996559995 meters 0.01076800765092308 Centerline is valid? [True, True] Translation: X:-206.21, Y:-281.97, Z:-2.78 [[-6.89980617e-01 -7.23813418e-01 4.56983020e-03 -2.06214558e+02] [ 7.23797683e-01 -6.89995750e-01 -4.77273268e-03 -2.81970152e+02] [ 6.60773137e-03 1.45394672e-05 9.99978169e-01 -2.77774104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 907.026559995 meters 0.010719184192023914 Centerline is valid? [True, True] Translation: X:-206.23, Y:-281.95, Z:-2.78 [[-6.91302712e-01 -7.22551914e-01 4.39228830e-03 -2.06233186e+02] [ 7.22537370e-01 -6.91316666e-01 -4.58442338e-03 -2.81949684e+02] [ 6.34894599e-03 4.36812285e-06 9.99979845e-01 -2.77720001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 907.0565599949999 meters 0.010726179498899716 Centerline is valid? [True, True] Translation: X:-206.25, Y:-281.93, Z:-2.78 [[-6.92431937e-01 -7.21471319e-01 4.14109268e-03 -2.06252143e+02] [ 7.21458388e-01 -6.92444320e-01 -4.31952155e-03 -2.81929502e+02] [ 5.98388701e-03 -3.34861844e-06 9.99982097e-01 -2.77767234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 907.0865599949999 meters 0.010897883563436397 Centerline is valid? [True, True] Translation: X:-206.27, Y:-281.91, Z:-2.78 [[-6.94282107e-01 -7.19690851e-01 4.17558071e-03 -2.06270279e+02] [ 7.19677689e-01 -6.94294663e-01 -4.35262992e-03 -2.81909993e+02] [ 6.03163133e-03 -1.68807945e-05 9.99981810e-01 -2.77866186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 907.116559995 meters 0.010916586611287596 Centerline is valid? [True, True] Translation: X:-206.29, Y:-281.89, Z:-2.78 [[-6.95221207e-01 -7.18781768e-01 4.49936736e-03 -2.06289363e+02] [ 7.18766483e-01 -6.95235766e-01 -4.68749653e-03 -2.81889787e+02] [ 6.49740816e-03 -2.48525376e-05 9.99978891e-01 -2.77869458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 907.146559995 meters 0.011098749646868165 Centerline is valid? [True, True] Translation: X:-206.31, Y:-281.87, Z:-2.78 [[-6.96226522e-01 -7.17807131e-01 4.64247302e-03 -2.06307226e+02] [ 7.17790856e-01 -6.96242000e-01 -4.83370914e-03 -2.81869901e+02] [ 6.70195559e-03 -3.30318199e-05 9.99977541e-01 -2.77961514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 907.1765599949999 meters 0.011171184614887543 Centerline is valid? [True, True] Translation: X:-206.33, Y:-281.85, Z:-2.78 [[-6.97346354e-01 -7.16717529e-01 4.90365035e-03 -2.06325569e+02] [ 7.16699368e-01 -6.97363593e-01 -5.10244204e-03 -2.81850316e+02] [ 7.07663688e-03 -4.37262449e-05 9.99974959e-01 -2.77947933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 907.2065599949999 meters 0.011209718865065558 Centerline is valid? [True, True] Translation: X:-206.34, Y:-281.83, Z:-2.78 [[-6.97917106e-01 -7.16162740e-01 4.75836533e-03 -2.06344656e+02] [ 7.16145648e-01 -6.97933326e-01 -4.94816095e-03 -2.81831475e+02] [ 6.86471025e-03 -4.57235496e-05 9.99976437e-01 -2.77935729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 907.236559995 meters 0.01126743217704769 Centerline is valid? [True, True] Translation: X:-206.36, Y:-281.81, Z:-2.78 [[-6.98197868e-01 -7.15889864e-01 4.63028910e-03 -2.06364373e+02] [ 7.15873693e-01 -6.98213220e-01 -4.81196908e-03 -2.81811980e+02] [ 6.67776895e-03 -4.50043988e-05 9.99977703e-01 -2.77976080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 907.266559995 meters 0.011265736658257012 Centerline is valid? [True, True] Translation: X:-206.38, Y:-281.79, Z:-2.78 [[-6.98404318e-01 -7.15687737e-01 4.74046161e-03 -2.06384762e+02] [ 7.15670804e-01 -6.98420405e-01 -4.92337578e-03 -2.81794314e+02] [ 6.83443478e-03 -4.58969366e-05 9.99976644e-01 -2.78029949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 907.2965599949999 meters 0.011310471749666517 Centerline is valid? [True, True] Translation: X:-206.40, Y:-281.78, Z:-2.78 [[-6.98507261e-01 -7.15587858e-01 4.65019912e-03 -2.06403316e+02] [ 7.15571583e-01 -6.98522738e-01 -4.82645495e-03 -2.81776375e+02] [ 6.70202238e-03 -4.37634791e-05 9.99977540e-01 -2.78099057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 907.3265599949999 meters 0.011341212578938947 Centerline is valid? [True, True] Translation: X:-206.42, Y:-281.76, Z:-2.78 [[-6.98291685e-01 -7.15800561e-01 4.27541698e-03 -2.06424163e+02] [ 7.15786824e-01 -6.98304773e-01 -4.43479491e-03 -2.81758071e+02] [ 6.15997277e-03 -3.64932676e-05 9.99981027e-01 -2.78088312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 907.356559995 meters 0.011149743125342509 Centerline is valid? [True, True] Translation: X:-206.44, Y:-281.74, Z:-2.78 [[-6.98160441e-01 -7.15929846e-01 4.05637026e-03 -2.06444614e+02] [ 7.15917496e-01 -6.98172225e-01 -4.20522294e-03 -2.81739423e+02] [ 5.84268965e-03 -3.18938656e-05 9.99982931e-01 -2.78035541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 907.386559995 meters 0.011194654971546408 Centerline is valid? [True, True] Translation: X:-206.46, Y:-281.72, Z:-2.78 [[-6.98161087e-01 -7.15930779e-01 3.77053329e-03 -2.06463561e+02] [ 7.15920123e-01 -6.98171268e-01 -3.90631096e-03 -2.81721499e+02] [ 5.42912626e-03 -2.78336481e-05 9.99985262e-01 -2.78054442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 907.416559995 meters 0.011135640107128742 Centerline is valid? [True, True] Translation: X:-206.49, Y:-281.70, Z:-2.78 [[-6.97592709e-01 -7.16486801e-01 3.32816922e-03 -2.06485203e+02] [ 7.16478515e-01 -6.97600648e-01 -3.44586104e-03 -2.81704020e+02] [ 4.79064696e-03 -1.92457964e-05 9.99988525e-01 -2.78117130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 907.4465599949999 meters 0.011202256802036153 Centerline is valid? [True, True] Translation: X:-206.51, Y:-281.69, Z:-2.78 [[-6.97282334e-01 -7.16788964e-01 3.30580395e-03 -2.06505246e+02] [ 7.16780802e-01 -6.97290170e-01 -3.42057392e-03 -2.81685936e+02] [ 4.75693423e-03 -1.55689591e-05 9.99988686e-01 -2.78169795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 907.4765599949999 meters 0.011164633596294717 Centerline is valid? [True, True] Translation: X:-206.53, Y:-281.67, Z:-2.78 [[-6.96107121e-01 -7.17931121e-01 3.12758941e-03 -2.06526738e+02] [ 7.17923836e-01 -6.96114147e-01 -3.23415391e-03 -2.81669423e+02] [ 4.49905898e-03 -5.94657594e-06 9.99989879e-01 -2.78201180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 907.506559995 meters 0.011175436804179081 Centerline is valid? [True, True] Translation: X:-206.55, Y:-281.65, Z:-2.78 [[-6.95312802e-01 -7.18700661e-01 3.07702026e-03 -2.06546841e+02] [ 7.18693624e-01 -6.95319610e-01 -3.18032670e-03 -2.81651995e+02] [ 4.42521543e-03 1.12975363e-07 9.99990209e-01 -2.78264365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 907.536559995 meters 0.011194686540788925 Centerline is valid? [True, True] Translation: X:-206.57, Y:-281.63, Z:-2.78 [[-6.94618077e-01 -7.19372242e-01 3.05025621e-03 -2.06567257e+02] [ 7.19365342e-01 -6.94624775e-01 -3.15070217e-03 -2.81634054e+02] [ 4.38531122e-03 5.71391865e-06 9.99990385e-01 -2.78272166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 907.5665599949999 meters 0.011258453130134528 Centerline is valid? [True, True] Translation: X:-206.59, Y:-281.62, Z:-2.78 [[-6.94003354e-01 -7.19965747e-01 2.94419661e-03 -2.06587128e+02] [ 7.19959332e-01 -6.94009599e-01 -3.03916785e-03 -2.81616503e+02] [ 4.23139746e-03 1.05091503e-05 9.99991048e-01 -2.78300115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 907.5965599949999 meters 0.011368044748662959 Centerline is valid? [True, True] Translation: X:-206.61, Y:-281.60, Z:-2.78 [[-6.92815294e-01 -7.21110413e-01 2.59641698e-03 -2.06608146e+02] [ 7.21105438e-01 -6.92820159e-01 -2.67848713e-03 -2.81599421e+02] [ 3.73033499e-03 1.65935593e-05 9.99993042e-01 -2.78284485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 907.626559995 meters 0.01158543463418157 Centerline is valid? [True, True] Translation: X:-206.63, Y:-281.58, Z:-2.78 [[-6.92207067e-01 -7.21695074e-01 2.36571260e-03 -2.06628086e+02] [ 7.21690952e-01 -6.92211109e-01 -2.43930833e-03 -2.81581727e+02] [ 3.39800935e-03 1.88069154e-05 9.99994227e-01 -2.78278312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 907.656559995 meters 0.011555922924716746 Centerline is valid? [True, True] Translation: X:-206.65, Y:-281.56, Z:-2.78 [[-6.91981613e-01 -7.21912963e-01 1.76669858e-03 -2.06648421e+02] [ 7.21910668e-01 -6.91983868e-01 -1.82052005e-03 -2.81563218e+02] [ 2.53678394e-03 1.56321566e-05 9.99996782e-01 -2.78286614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 907.6865599949999 meters 0.011701381956455212 Centerline is valid? [True, True] Translation: X:-206.67, Y:-281.55, Z:-2.78 [[-6.91389736e-01 -7.22480656e-01 1.39069851e-03 -2.06669706e+02] [ 7.22479237e-01 -6.91391135e-01 -1.43226247e-03 -2.81545149e+02] [ 1.99629855e-03 1.44992322e-05 9.99998007e-01 -2.78291254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 907.7165599949999 meters 0.011761980227023905 Centerline is valid? [True, True] Translation: X:-206.69, Y:-281.53, Z:-2.78 [[-6.91305196e-01 -7.22561792e-01 1.25810247e-03 -2.06689736e+02] [ 7.22560632e-01 -6.91306341e-01 -1.29497589e-03 -2.81525830e+02] [ 1.80543432e-03 1.38317494e-05 9.99998370e-01 -2.78291623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 907.746559995 meters 0.011869252129331025 Centerline is valid? [True, True] Translation: X:-206.71, Y:-281.51, Z:-2.78 [[-6.91336347e-01 -7.22532016e-01 1.24163554e-03 -2.06709193e+02] [ 7.22530887e-01 -6.91337461e-01 -1.27722294e-03 -2.81507066e+02] [ 1.78122363e-03 1.41293872e-05 9.99998414e-01 -2.78286548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 907.776559995 meters 0.011869252129331025 Centerline is valid? [True, True] Translation: X:-206.73, Y:-281.49, Z:-2.78 [[-6.91563328e-01 -7.22314766e-01 1.24203678e-03 -2.06727918e+02] [ 7.22313637e-01 -6.91564443e-01 -1.27683276e-03 -2.81487951e+02] [ 1.78122363e-03 1.41293894e-05 9.99998414e-01 -2.78286581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 907.8065599949999 meters 0.012066885295328641 Centerline is valid? [True, True] Translation: X:-206.75, Y:-281.47, Z:-2.78 [[-6.91495319e-01 -7.22380192e-01 1.04031512e-03 -2.06747007e+02] [ 7.22379401e-01 -6.91496102e-01 -1.06875467e-03 -2.81470024e+02] [ 1.49142106e-03 1.24633640e-05 9.99998888e-01 -2.78256244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 907.8365599949999 meters 0.01205639190132925 Centerline is valid? [True, True] Translation: X:-206.77, Y:-281.45, Z:-2.78 [[-6.91536085e-01 -7.22341157e-01 1.04709410e-03 -2.06766206e+02] [ 7.22340357e-01 -6.91536878e-01 -1.07504291e-03 -2.81450043e+02] [ 1.50065193e-03 1.29273600e-05 9.99998874e-01 -2.78199695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 907.866559995 meters 0.01226428947971285 Centerline is valid? [True, True] Translation: X:-206.79, Y:-281.43, Z:-2.78 [[-6.91044976e-01 -7.22810013e-01 1.58954342e-03 -2.06785667e+02] [ 7.22808173e-01 -6.91046804e-01 -1.63095591e-03 -2.81431306e+02] [ 2.27732016e-03 2.18710855e-05 9.99997407e-01 -2.78165167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 907.896559995 meters 0.01239295947463668 Centerline is valid? [True, True] Translation: X:-206.81, Y:-281.41, Z:-2.78 [[-6.90852758e-01 -7.22993564e-01 1.66519442e-03 -2.06805306e+02] [ 7.22991548e-01 -6.90854764e-01 -1.70751383e-03 -2.81412590e+02] [ 2.38492901e-03 2.42808488e-05 9.99997156e-01 -2.78185000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 907.9265599949999 meters 0.012426124927219727 Centerline is valid? [True, True] Translation: X:-206.83, Y:-281.39, Z:-2.78 [[-6.90507182e-01 -7.23323344e-01 1.78127531e-03 -2.06825069e+02] [ 7.23321041e-01 -6.90509479e-01 -1.82550995e-03 -2.81393060e+02] [ 2.55042145e-03 2.79061771e-05 9.99996747e-01 -2.78190192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 907.9565599949999 meters 0.012551918894327314 Centerline is valid? [True, True] Translation: X:-206.85, Y:-281.37, Z:-2.78 [[-6.90099102e-01 -7.23712166e-01 1.98232375e-03 -2.06845365e+02] [ 7.23709319e-01 -6.90101948e-01 -2.03038858e-03 -2.81373563e+02] [ 2.83742241e-03 3.34568352e-05 9.99995974e-01 -2.78207378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 907.986559995 meters 0.013143006518994539 Centerline is valid? [True, True] Translation: X:-206.87, Y:-281.36, Z:-2.78 [[-6.88750903e-01 -7.24993779e-01 2.49264325e-03 -2.06866528e+02] [ 7.24989291e-01 -6.88755412e-01 -2.55154376e-03 -2.81356011e+02] [ 3.56667489e-03 4.97615933e-05 9.99993638e-01 -2.78269824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 908.016559995 meters 0.013005925442487496 Centerline is valid? [True, True] Translation: X:-206.89, Y:-281.34, Z:-2.78 [[-6.88378572e-01 -7.25346043e-01 2.83901528e-03 -2.06886600e+02] [ 7.25340231e-01 -6.88384423e-01 -2.90444654e-03 -2.81335868e+02] [ 4.06106270e-03 5.98932386e-05 9.99991752e-01 -2.78287308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 908.0465599949999 meters 0.013519333137496514 Centerline is valid? [True, True] Translation: X:-206.91, Y:-281.32, Z:-2.78 [[-6.87296245e-01 -7.26368380e-01 3.58444459e-03 -2.06906433e+02] [ 7.26359136e-01 -6.87305587e-01 -3.66537764e-03 -2.81318034e+02] [ 5.12602321e-03 8.43937812e-05 9.99986858e-01 -2.78354075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 908.0765599949999 meters 0.014235707989066407 Centerline is valid? [True, True] Translation: X:-206.93, Y:-281.30, Z:-2.78 [[-6.87006957e-01 -7.26640658e-01 3.84631270e-03 -2.06926257e+02] [ 7.26630034e-01 -6.87017718e-01 -3.93054962e-03 -2.81300414e+02] [ 5.49858214e-03 9.45313887e-05 9.99984878e-01 -2.78372538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 908.106559995 meters 0.01377030114812148 Centerline is valid? [True, True] Translation: X:-206.94, Y:-281.28, Z:-2.78 [[-6.87084661e-01 -7.26567268e-01 3.83069892e-03 -2.06944411e+02] [ 7.26556742e-01 -6.87095332e-01 -3.91213649e-03 -2.81280699e+02] [ 5.47448567e-03 9.52511594e-05 9.99985011e-01 -2.78336671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 908.136559995 meters 0.013711441046727973 Centerline is valid? [True, True] Translation: X:-206.96, Y:-281.26, Z:-2.78 [[-6.87184822e-01 -7.26473967e-01 3.54913954e-03 -2.06963354e+02] [ 7.26464940e-01 -6.87193981e-01 -3.62254644e-03 -2.81260555e+02] [ 5.07063301e-03 8.89665074e-05 9.99987140e-01 -2.78258851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 908.166559995 meters 0.014033670630804516 Centerline is valid? [True, True] Translation: X:-206.98, Y:-281.24, Z:-2.78 [[-6.87393286e-01 -7.26278540e-01 3.15501285e-03 -2.06981686e+02] [ 7.26271414e-01 -6.87400521e-01 -3.21812967e-03 -2.81242162e+02] [ 4.50601599e-03 7.92749218e-05 9.99989845e-01 -2.78197901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 908.1965599949999 meters 0.013727294606930573 Centerline is valid? [True, True] Translation: X:-207.00, Y:-281.22, Z:-2.78 [[-6.88205727e-01 -7.25511156e-01 2.53767418e-03 -2.06999651e+02] [ 7.25506547e-01 -6.88210403e-01 -2.58681293e-03 -2.81221240e+02] [ 3.62321541e-03 6.08397550e-05 9.99993434e-01 -2.78074335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 908.2265599949999 meters 0.013631284783356989 Centerline is valid? [True, True] Translation: X:-207.02, Y:-281.20, Z:-2.78 [[-6.88837567e-01 -7.24911933e-01 2.34441150e-03 -2.07018174e+02] [ 7.24908000e-01 -6.88841555e-01 -2.38830603e-03 -2.81201619e+02] [ 3.34623960e-03 5.43277420e-05 9.99994400e-01 -2.78073910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 908.256559995 meters 0.013177276656404552 Centerline is valid? [True, True] Translation: X:-207.04, Y:-281.18, Z:-2.78 [[-6.89632844e-01 -7.24154537e-01 2.59753991e-03 -2.07036833e+02] [ 7.24149710e-01 -6.89637733e-01 -2.64466530e-03 -2.81180450e+02] [ 3.70650791e-03 5.71597216e-05 9.99993129e-01 -2.78064430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 908.286559995 meters 0.01319231938514012 Centerline is valid? [True, True] Translation: X:-207.06, Y:-281.16, Z:-2.78 [[-6.90355339e-01 -7.23465080e-01 2.79017496e-03 -2.07055681e+02] [ 7.23459511e-01 -6.90360975e-01 -2.83910043e-03 -2.81160397e+02] [ 3.98021793e-03 5.85904743e-05 9.99992077e-01 -2.78096507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 908.3165599949999 meters 0.01276485320660394 Centerline is valid? [True, True] Translation: X:-207.07, Y:-281.14, Z:-2.78 [[-6.92457139e-01 -7.21451530e-01 3.28653020e-03 -2.07072990e+02] [ 7.21443790e-01 -6.92464936e-01 -3.34229503e-03 -2.81138496e+02] [ 4.68711078e-03 5.66507518e-05 9.99989014e-01 -2.78157117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 908.3465599949999 meters 0.012459834658044336 Centerline is valid? [True, True] Translation: X:-207.09, Y:-281.12, Z:-2.78 [[-6.93949982e-01 -7.20014887e-01 3.46197176e-03 -2.07090824e+02] [ 7.20006292e-01 -6.93958615e-01 -3.51851284e-03 -2.81118048e+02] [ 4.93584675e-03 5.09695302e-05 9.99987817e-01 -2.78170832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 908.376559995 meters 0.012095926899627409 Centerline is valid? [True, True] Translation: X:-207.11, Y:-281.10, Z:-2.78 [[-6.96766778e-01 -7.17287796e-01 3.77829425e-03 -2.07106286e+02] [ 7.17277528e-01 -6.96777021e-01 -3.83815011e-03 -2.81097031e+02] [ 5.38568684e-03 3.57900732e-05 9.99985497e-01 -2.78140243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 908.406559995 meters 0.011856869531732227 Centerline is valid? [True, True] Translation: X:-207.12, Y:-281.08, Z:-2.78 [[-6.98313988e-01 -7.15780030e-01 4.06490931e-03 -2.07124106e+02] [ 7.15768133e-01 -6.98325818e-01 -4.12698456e-03 -2.81075655e+02] [ 5.79264424e-03 2.76014997e-05 9.99983222e-01 -2.78117166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 908.4365599949999 meters 0.011816589334811372 Centerline is valid? [True, True] Translation: X:-207.14, Y:-281.05, Z:-2.78 [[-6.99841531e-01 -7.14284507e-01 4.41301257e-03 -2.07141869e+02] [ 7.14270473e-01 -6.99855444e-01 -4.47758646e-03 -2.81054993e+02] [ 6.28674151e-03 1.84836208e-05 9.99980238e-01 -2.78109199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 908.4665599949999 meters 0.011771123056326757 Centerline is valid? [True, True] Translation: X:-207.16, Y:-281.03, Z:-2.78 [[-7.02513462e-01 -7.11651036e-01 5.25733625e-03 -2.07159493e+02] [ 7.11631066e-01 -7.02533134e-01 -5.33128446e-03 -2.81032465e+02] [ 7.48746702e-03 -4.01530935e-06 9.99971969e-01 -2.78140272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 908.496559995 meters 0.011836650123037145 Centerline is valid? [True, True] Translation: X:-207.18, Y:-281.01, Z:-2.78 [[-7.03730333e-01 -7.10445581e-01 5.54026519e-03 -2.07177448e+02] [ 7.10423394e-01 -7.03752141e-01 -5.61468551e-03 -2.81012323e+02] [ 7.88790200e-03 -1.52905059e-05 9.99968890e-01 -2.78165784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 908.526559995 meters 0.011934082132355691 Centerline is valid? [True, True] Translation: X:-207.20, Y:-280.99, Z:-2.78 [[-7.05084693e-01 -7.09101364e-01 5.55266362e-03 -2.07196149e+02] [ 7.09079061e-01 -7.05106556e-01 -5.62409076e-03 -2.80991160e+02] [ 7.90326995e-03 -2.81828037e-05 9.99968768e-01 -2.78137284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 908.5565599949999 meters 0.011955856007080096 Centerline is valid? [True, True] Translation: X:-207.21, Y:-280.97, Z:-2.78 [[-7.06103576e-01 -7.08087951e-01 5.40320223e-03 -2.07214491e+02] [ 7.08066826e-01 -7.06124247e-01 -5.46963164e-03 -2.80970322e+02] [ 7.68831236e-03 -3.62982023e-05 9.99970444e-01 -2.78111525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 908.5865599949999 meters 0.01217510058899341 Centerline is valid? [True, True] Translation: X:-207.23, Y:-280.95, Z:-2.78 [[-7.08040510e-01 -7.06151975e-01 5.29376657e-03 -2.07232336e+02] [ 7.06131666e-01 -7.08060297e-01 -5.35585079e-03 -2.80948769e+02] [ 7.53035055e-03 -5.40631111e-05 9.99971645e-01 -2.78053840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 908.616559995 meters 0.012279630549060188 Centerline is valid? [True, True] Translation: X:-207.25, Y:-280.93, Z:-2.78 [[-7.08854501e-01 -7.05334582e-01 5.33145638e-03 -2.07251569e+02] [ 7.05313982e-01 -7.08874547e-01 -5.39096885e-03 -2.80928097e+02] [ 7.58177049e-03 -6.10618029e-05 9.99971256e-01 -2.78013455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 908.646559995 meters 0.012477664681081193 Centerline is valid? [True, True] Translation: X:-207.27, Y:-280.91, Z:-2.78 [[-7.09636484e-01 -7.04547621e-01 5.35831325e-03 -2.07268757e+02] [ 7.04526818e-01 -7.09656710e-01 -5.41456024e-03 -2.80908240e+02] [ 7.61737849e-03 -6.72941061e-05 9.99970985e-01 -2.78002686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 908.6765599949999 meters 0.012598213657144627 Centerline is valid? [True, True] Translation: X:-207.29, Y:-280.89, Z:-2.78 [[-7.09522295e-01 -7.04660959e-01 5.57184945e-03 -2.07286617e+02] [ 7.04638498e-01 -7.09544169e-01 -5.62666339e-03 -2.80888847e+02] [ 7.91836331e-03 -6.61034974e-05 9.99968647e-01 -2.78029768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 908.7065599949999 meters 0.012264258926885799 Centerline is valid? [True, True] Translation: X:-207.31, Y:-280.87, Z:-2.78 [[-7.09342381e-01 -7.04841888e-01 5.59466692e-03 -2.07306612e+02] [ 7.04819275e-01 -7.09364441e-01 -5.64618918e-03 -2.80870036e+02] [ 7.94832841e-03 -6.18521876e-05 9.99968410e-01 -2.77931441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 908.736559995 meters 0.012012096497276996 Centerline is valid? [True, True] Translation: X:-207.33, Y:-280.85, Z:-2.78 [[-7.07354380e-01 -7.06829734e-01 6.44269151e-03 -2.07327538e+02] [ 7.06799863e-01 -7.07383719e-01 -6.49839507e-03 -2.80850952e+02] [ 9.15071394e-03 -4.29747446e-05 9.99958131e-01 -2.77943019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 908.766559995 meters 0.011986841308039951 Centerline is valid? [True, True] Translation: X:-207.35, Y:-280.83, Z:-2.78 [[-7.06119710e-01 -7.08061490e-01 6.62428828e-03 -2.07346666e+02] [ 7.08030006e-01 -7.06150781e-01 -6.67715631e-03 -2.80833057e+02] [ 9.40558359e-03 -2.46768061e-05 9.99955766e-01 -2.78007291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 908.7965599949999 meters 0.011834596379862707 Centerline is valid? [True, True] Translation: X:-207.37, Y:-280.82, Z:-2.78 [[-7.03079026e-01 -7.11073182e-01 7.40362716e-03 -2.07368806e+02] [ 7.11034064e-01 -7.03118006e-01 -7.45854811e-03 -2.80815442e+02] [ 1.05091971e-02 2.02823713e-05 9.99944777e-01 -2.78047673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 908.8265599949999 meters 0.011982146297539525 Centerline is valid? [True, True] Translation: X:-207.39, Y:-280.80, Z:-2.78 [[-7.01428758e-01 -7.12697564e-01 7.73822954e-03 -2.07389393e+02] [ 7.12654983e-01 -7.01471439e-01 -7.79074146e-03 -2.80797232e+02] [ 1.09805895e-02 5.00377327e-05 9.99939710e-01 -2.78064226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 908.856559995 meters 0.012181331872398738 Centerline is valid? [True, True] Translation: X:-207.41, Y:-280.78, Z:-2.78 [[-6.99971134e-01 -7.14131845e-01 7.49129937e-03 -2.07409924e+02] [ 7.14092070e-01 -7.00011217e-01 -7.53739617e-03 -2.80778544e+02] [ 1.06266882e-02 7.35177291e-05 9.99943533e-01 -2.78056995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 908.886559995 meters 0.012641917372819285 Centerline is valid? [True, True] Translation: X:-207.43, Y:-280.76, Z:-2.78 [[-6.97132891e-01 -7.16907548e-01 7.02133784e-03 -2.07431414e+02] [ 7.16872787e-01 -6.97168240e-01 -7.06056513e-03 -2.80760369e+02] [ 9.95682618e-03 1.11253842e-04 9.99950424e-01 -2.77981073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 908.916559995 meters 0.013049932694554752 Centerline is valid? [True, True] Translation: X:-207.45, Y:-280.74, Z:-2.78 [[-6.95807297e-01 -7.18196284e-01 6.80470758e-03 -2.07451789e+02] [ 7.18163736e-01 -6.95840558e-01 -6.83865677e-03 -2.80741814e+02] [ 9.64648939e-03 1.28506937e-04 9.99953463e-01 -2.77965546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 908.9465599949999 meters 0.013801955632149147 Centerline is valid? [True, True] Translation: X:-207.47, Y:-280.72, Z:-2.78 [[-6.93648850e-01 -7.20287105e-01 6.14484516e-03 -2.07472392e+02] [ 7.20260675e-01 -6.93676052e-01 -6.17206722e-03 -2.80722547e+02] [ 8.70819236e-03 1.44642996e-04 9.99962073e-01 -2.77874540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 908.9765599949999 meters 0.014967392011749176 Centerline is valid? [True, True] Translation: X:-207.49, Y:-280.71, Z:-2.78 [[-6.92826520e-01 -7.21080641e-01 5.84144157e-03 -2.07492883e+02] [ 7.21056813e-01 -6.92851129e-01 -5.86387654e-03 -2.80705050e+02] [ 8.27557723e-03 1.49362069e-04 9.99965746e-01 -2.77920421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 909.006559995 meters 0.014742975422936885 Centerline is valid? [True, True] Translation: X:-207.51, Y:-280.68, Z:-2.78 [[-6.91992948e-01 -7.21881813e-01 5.69284674e-03 -2.07512269e+02] [ 7.21859234e-01 -6.92016347e-01 -5.71156303e-03 -2.80684350e+02] [ 8.06261648e-03 1.57072653e-04 9.99967484e-01 -2.77834960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 909.036559995 meters 0.01523211192472713 Centerline is valid? [True, True] Translation: X:-207.53, Y:-280.66, Z:-2.78 [[-6.90469138e-01 -7.23338911e-01 5.76108521e-03 -2.07533086e+02] [ 7.23315864e-01 -6.90493149e-01 -5.77680434e-03 -2.80664871e+02] [ 8.15657723e-03 1.78379212e-04 9.99966719e-01 -2.77917381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 909.0665599949999 meters 0.016338238335591233 Centerline is valid? [True, True] Translation: X:-207.55, Y:-280.65, Z:-2.78 [[-6.89637057e-01 -7.24127981e-01 6.27675664e-03 -2.07553301e+02] [ 7.24100690e-01 -6.89665589e-01 -6.29017952e-03 -2.80646850e+02] [ 8.88375806e-03 2.07062919e-04 9.99960517e-01 -2.78009486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 909.0965599949999 meters 0.016207238091493464 Centerline is valid? [True, True] Translation: X:-207.57, Y:-280.63, Z:-2.78 [[-6.89014894e-01 -7.24717497e-01 6.55944407e-03 -2.07573078e+02] [ 7.24687753e-01 -6.89046079e-01 -6.56982464e-03 -2.80626332e+02] [ 9.28102608e-03 2.26841759e-04 9.99956905e-01 -2.78030078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 909.126559995 meters 0.016734135772980493 Centerline is valid? [True, True] Translation: X:-207.59, Y:-280.61, Z:-2.78 [[-6.87286203e-01 -7.26347870e-01 7.51309319e-03 -2.07592812e+02] [ 7.26308990e-01 -6.87327207e-01 -7.52075683e-03 -2.80606511e+02] [ 1.06266391e-02 2.87914713e-04 9.99943494e-01 -2.78138497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 909.156559995 meters 0.01748704653747672 Centerline is valid? [True, True] Translation: X:-207.61, Y:-280.59, Z:-2.78 [[-6.86561544e-01 -7.27027970e-01 7.97351607e-03 -2.07612676e+02] [ 7.26984261e-01 -6.86607770e-01 -7.97838545e-03 -2.80587862e+02] [ 1.12751875e-02 3.18968057e-04 9.99936382e-01 -2.78223759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 909.1865599949999 meters 0.01698472129068981 Centerline is valid? [True, True] Translation: X:-207.63, Y:-280.57, Z:-2.78 [[-6.86096977e-01 -7.27460747e-01 8.47346729e-03 -2.07631365e+02] [ 7.27411480e-01 -6.86149211e-01 -8.47348801e-03 -2.80567450e+02] [ 1.19781928e-02 3.50062872e-04 9.99928198e-01 -2.78263951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 909.2165599949999 meters 0.017983175505987208 Centerline is valid? [True, True] Translation: X:-207.65, Y:-280.55, Z:-2.78 [[-6.85165796e-01 -7.28331787e-01 8.98002543e-03 -2.07650740e+02] [ 7.28276575e-01 -6.85224530e-01 -8.97631703e-03 -2.80548557e+02] [ 1.26910707e-02 3.89676758e-04 9.99919389e-01 -2.78405980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 909.246559995 meters 0.018159461826352884 Centerline is valid? [True, True] Translation: X:-208.13, Y:-281.02, Z:-1.80 [[-7.75108970e-01 6.31744686e-01 1.02340951e-02 -2.08134918e+02] [ 6.31682467e-01 7.75176419e-01 -8.87584276e-03 -2.81020908e+02] [-1.35404957e-02 -4.15046892e-04 -9.99908237e-01 -1.80056379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 909.276559995 meters 0.01766756627130722 Centerline is valid? [True, True] Translation: X:-208.11, Y:-281.01, Z:-1.80 [[-8.17639014e-01 5.75629140e-01 1.08414630e-02 -2.08110551e+02] [ 5.75571835e-01 8.17710784e-01 -8.13248896e-03 -2.81007720e+02] [-1.35464788e-02 -4.09399511e-04 -9.99908159e-01 -1.80087751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 909.3065599949999 meters 0.0171895724153238 Centerline is valid? [True, True] Translation: X:-208.09, Y:-280.99, Z:-1.80 [[-8.54821744e-01 5.18795538e-01 1.14444574e-02 -2.08094159e+02] [ 5.18743126e-01 8.54898269e-01 -7.38373147e-03 -2.80989305e+02] [-1.36144938e-02 -3.75040607e-04 -9.99907248e-01 -1.80103658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 909.3365599949999 meters 0.017232844204529713 Centerline is valid? [True, True] Translation: X:-208.08, Y:-280.97, Z:-1.80 [[-8.88448526e-01 4.58821638e-01 1.19130629e-02 -2.08080237e+02] [ 4.58775149e-01 8.88528325e-01 -6.54046066e-03 -2.80966933e+02] [-1.35859987e-02 -3.45445432e-04 -9.99907647e-01 -1.80066276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 909.366559995 meters 0.014925024371850512 Centerline is valid? [True, True] Translation: X:-208.08, Y:-280.95, Z:-1.80 [[-9.16785346e-01 3.99199470e-01 1.20171743e-02 -2.08075338e+02] [ 3.99161278e-01 9.16864063e-01 -5.52849701e-03 -2.80946473e+02] [-1.32250883e-02 -2.71654377e-04 -9.99912508e-01 -1.80217764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 909.396559995 meters 0.014369858449394606 Centerline is valid? [True, True] Translation: X:-208.05, Y:-280.93, Z:-1.80 [[-9.41870673e-01 3.35761075e-01 1.20056531e-02 -2.08053220e+02] [ 3.35730687e-01 9.41947158e-01 -4.52300702e-03 -2.80928703e+02] [-1.28273405e-02 -2.29421488e-04 -9.99917700e-01 -1.80268680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 909.4265599949999 meters 0.0138770879491247 Centerline is valid? [True, True] Translation: X:-207.80, Y:-280.27, Z:-2.78 [[-9.03460006e-01 -4.28525188e-01 1.12330489e-02 -2.07802757e+02] [ 4.28494701e-01 -9.03529815e-01 -5.11520923e-03 -2.80266684e+02] [ 1.23413906e-02 1.91914945e-04 9.99923824e-01 -2.78127344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 909.4565599949999 meters 0.013274505383173076 Centerline is valid? [True, True] Translation: X:-208.11, Y:-280.91, Z:-1.80 [[-9.40884953e-01 3.38549472e-01 1.09435235e-02 -2.08111458e+02] [ 3.38524957e-01 9.40948584e-01 -4.07625278e-03 -2.80914711e+02] [-1.16773062e-02 -1.30629083e-04 -9.99931810e-01 -1.80426193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 909.486559995 meters 0.013001915788823287 Centerline is valid? [True, True] Translation: X:-208.08, Y:-280.90, Z:-1.80 [[-9.62216204e-01 2.72080915e-01 1.05807350e-02 -2.08082477e+02] [ 2.72063195e-01 9.62274370e-01 -3.10714263e-03 -2.80895614e+02] [-1.10269643e-02 -1.11114404e-04 -9.99939195e-01 -1.80463347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 909.516559995 meters 0.01291166585926777 Centerline is valid? [True, True] Translation: X:-207.87, Y:-280.21, Z:-2.78 [[-9.35126649e-01 -3.54167706e-01 1.01678821e-02 -2.07871673e+02] [ 3.54147901e-01 -9.35181922e-01 -3.74663572e-03 -2.80208922e+02] [ 1.08357569e-02 9.73551910e-05 9.99941287e-01 -2.78018679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 909.5465599949999 meters 0.012856163815231667 Centerline is valid? [True, True] Translation: X:-208.13, Y:-280.88, Z:-1.80 [[-9.62738780e-01 2.70194540e-01 1.13557000e-02 -2.08127433e+02] [ 2.70174555e-01 9.62805744e-01 -3.28770944e-03 -2.80882387e+02] [-1.18216544e-02 -9.71841676e-05 -9.99930117e-01 -1.80327079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 909.5765599949999 meters 0.012739772892566378 Centerline is valid? [True, True] Translation: X:-208.12, Y:-280.86, Z:-1.80 [[-9.79440656e-01 2.01345368e-01 1.24917565e-02 -2.08116457e+02] [ 2.01327646e-01 9.79520307e-01 -2.67341691e-03 -2.80856796e+02] [-1.27742093e-02 -1.03517275e-04 -9.99918401e-01 -1.80351161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 909.606559995 meters 0.013008302251189404 Centerline is valid? [True, True] Translation: X:-208.11, Y:-280.83, Z:-1.80 [[-9.91205927e-01 1.31618182e-01 1.36917426e-02 -2.08111224e+02] [ 1.31604127e-01 9.91300481e-01 -1.92644285e-03 -2.80828173e+02] [-1.38261859e-02 -1.07611748e-04 -9.99904408e-01 -1.80154322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 909.636559995 meters 0.012950387136517206 Centerline is valid? [True, True] Translation: X:-208.01, Y:-280.12, Z:-2.78 [[-9.76985729e-01 -2.12873347e-01 1.35581234e-02 -2.08008669e+02] [ 2.12854406e-01 -9.77079795e-01 -2.84182308e-03 -2.80120548e+02] [ 1.38523168e-02 1.09485708e-04 9.99904046e-01 -2.78307403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 909.666559995 meters 0.012950387136517206 Centerline is valid? [True, True] Translation: X:-208.17, Y:-280.82, Z:-1.80 [[-9.91702290e-01 1.27818152e-01 1.37509295e-02 -2.08168573e+02] [ 1.27804422e-01 9.91797615e-01 -1.87625576e-03 -2.80820702e+02] [-1.38779587e-02 -1.03257535e-04 -9.99903691e-01 -1.80173816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 909.6965599949999 meters 0.01264958810923177 Centerline is valid? [True, True] Translation: X:-208.06, Y:-280.11, Z:-2.78 [[-9.77947495e-01 -2.08437914e-01 1.31275353e-02 -2.08064486e+02] [ 2.08420092e-01 -9.78035598e-01 -2.72656363e-03 -2.80112712e+02] [ 1.34075161e-02 6.96060450e-05 9.99910113e-01 -2.78148864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 909.7265599949999 meters 0.012664549310061076 Centerline is valid? [True, True] Translation: X:-208.22, Y:-280.81, Z:-1.80 [[-9.92154502e-01 1.24390376e-01 1.25091206e-02 -2.08224804e+02] [ 1.24379414e-01 9.92233353e-01 -1.65348329e-03 -2.80813575e+02] [-1.26176440e-02 -8.46338020e-05 -9.99920391e-01 -1.80342806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 909.756559995 meters 0.012394519548698538 Centerline is valid? [True, True] Translation: X:-208.12, Y:-280.11, Z:-2.78 [[-9.79151729e-01 -2.02830256e-01 1.10353714e-02 -2.08124549e+02] [ 2.02817266e-01 -9.79213913e-01 -2.29558122e-03 -2.80106134e+02] [ 1.12716026e-02 -9.55846391e-06 9.99936474e-01 -2.77975051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 909.786559995 meters 0.012597810176540707 Centerline is valid? [True, True] Translation: X:-208.28, Y:-280.81, Z:-1.80 [[-9.92476187e-01 1.21946730e-01 1.09550660e-02 -2.08278013e+02] [ 1.21938706e-01 9.92536645e-01 -1.39989242e-03 -2.80805439e+02] [-1.10440167e-02 -5.35133227e-05 -9.99939012e-01 -1.80307181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 909.8165599949999 meters 0.012277700567764989 Centerline is valid? [True, True] Translation: X:-208.28, Y:-280.78, Z:-1.80 [[-9.98584524e-01 5.19818913e-02 1.12619713e-02 -2.08281011e+02] [ 5.19780758e-02 9.98648027e-01 -6.31424840e-04 -2.80778072e+02] [-1.12795680e-02 -4.51554773e-05 -9.99936383e-01 -1.80439099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 909.8465599949999 meters 0.012365971164419808 Centerline is valid? [True, True] Translation: X:-208.23, Y:-280.07, Z:-2.78 [[-9.92071605e-01 -1.25131588e-01 1.16626325e-02 -2.08231545e+02] [ 1.25123850e-01 -9.92140151e-01 -1.39368566e-03 -2.80065539e+02] [ 1.17453601e-02 7.66375084e-05 9.99931018e-01 -2.78156724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 909.876559995 meters 0.012252767256232705 Centerline is valid? [True, True] Translation: X:-208.34, Y:-280.78, Z:-1.80 [[-9.98669929e-01 5.01074836e-02 1.21496457e-02 -2.08343407e+02] [ 5.01036080e-02 9.98743831e-01 -6.23344724e-04 -2.80776891e+02] [-1.21656179e-02 -1.37745436e-05 -9.99925996e-01 -1.80392842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 909.906559995 meters 0.012256877887243407 Centerline is valid? [True, True] Translation: X:-208.35, Y:-280.75, Z:-1.80 [[-9.99757414e-01 -1.88069883e-02 1.14634451e-02 -2.08345362e+02] [-1.88056055e-02 9.99823133e-01 2.28418908e-04 -2.80750709e+02] [-1.14657134e-02 1.27864717e-05 -9.99934267e-01 -1.80423290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 909.9365599949999 meters 0.012307860619689909 Centerline is valid? [True, True] Translation: X:-208.35, Y:-280.72, Z:-1.80 [[-9.95947605e-01 -8.92729846e-02 1.08950650e-02 -2.08350309e+02] [-8.92674262e-02 9.96007196e-01 9.96390150e-04 -2.80723587e+02] [-1.09405139e-02 1.97779713e-05 -9.99940151e-01 -1.80459055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 909.9665599949999 meters 0.012347180618415993 Centerline is valid? [True, True] Translation: X:-208.36, Y:-280.70, Z:-1.80 [[-9.87134580e-01 -1.59570665e-01 1.01254106e-02 -2.08362584e+02] [-1.59562014e-01 9.87186508e-01 1.66175782e-03 -2.80697349e+02] [-1.02608366e-02 2.47476986e-05 -9.99947356e-01 -1.80485377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 909.996559995 meters 0.012231791880939372 Centerline is valid? [True, True] Translation: X:-208.49, Y:-279.99, Z:-2.78 [[-9.95159486e-01 9.78054135e-02 9.57594743e-03 -2.08492923e+02] [-9.78015235e-02 -9.95205555e-01 8.74793330e-04 -2.79986850e+02] [ 9.61559560e-03 -6.59833675e-05 9.99953767e-01 -2.77975983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 910.026559995 meters 0.012223053345870778 Centerline is valid? [True, True] Translation: X:-208.49, Y:-280.72, Z:-1.81 [[-9.86115139e-01 -1.65835556e-01 8.68912367e-03 -2.08491286e+02] [-1.65828914e-01 9.86153420e-01 1.48438562e-03 -2.80716986e+02] [-8.81497294e-03 2.28671939e-05 -9.99961147e-01 -1.80568996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 910.0565599949999 meters 0.012197659722401706 Centerline is valid? [True, True] Translation: X:-208.52, Y:-280.69, Z:-1.81 [[-9.71491548e-01 -2.36923705e-01 8.44576228e-03 -2.08515528e+02] [-2.36914594e-01 9.71528259e-01 2.07777204e-03 -2.80693293e+02] [-8.69757017e-03 1.76136344e-05 -9.99962175e-01 -1.80601917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 910.0865599949999 meters 0.012065959335508525 Centerline is valid? [True, True] Translation: X:-208.56, Y:-280.68, Z:-1.81 [[-9.51422542e-01 -3.07790092e-01 7.77216656e-03 -2.08560264e+02] [-3.07779745e-01 9.51454287e-01 2.52370521e-03 -2.80676190e+02] [-8.17163265e-03 8.99458090e-06 -9.99966612e-01 -1.80648554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 910.116559995 meters 0.012067933399029274 Centerline is valid? [True, True] Translation: X:-208.63, Y:-280.67, Z:-1.81 [[-9.25172048e-01 -3.79482706e-01 7.03967213e-03 -2.08625182e+02] [-3.79471822e-01 9.25198830e-01 2.87413545e-03 -2.80667013e+02] [-7.60378112e-03 -1.22874310e-05 -9.99971091e-01 -1.80583055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 910.146559995 meters 0.012310116173770107 Centerline is valid? [True, True] Translation: X:-208.70, Y:-280.66, Z:-1.81 [[-8.92835218e-01 -4.50340314e-01 6.23498556e-03 -2.08695938e+02] [-4.50329638e-01 8.92856988e-01 3.10120764e-03 -2.80664088e+02] [-6.96354925e-03 -3.89313915e-05 -9.99975754e-01 -1.80591556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 910.1765599949999 meters 0.012385806774442523 Centerline is valid? [True, True] Translation: X:-208.77, Y:-280.67, Z:-1.81 [[-8.55654476e-01 -5.17514338e-01 5.85903628e-03 -2.08771573e+02] [-5.17502637e-01 8.55674534e-01 3.48040912e-03 -2.80671755e+02] [-6.81458976e-03 -5.40390856e-05 -9.99976779e-01 -1.80653393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 910.2065599949999 meters 0.013005629328060693 Centerline is valid? [True, True] Translation: X:-208.86, Y:-280.69, Z:-1.81 [[-8.13250996e-01 -5.81887567e-01 5.44762355e-03 -2.08856097e+02] [-5.81875069e-01 8.13269239e-01 3.81447183e-03 -2.80689331e+02] [-6.64997839e-03 -6.77133127e-05 -9.99977887e-01 -1.80568027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 910.236559995 meters 0.013066094341780235 Centerline is valid? [True, True] Translation: X:-208.94, Y:-280.72, Z:-1.81 [[-7.65918918e-01 -6.42915291e-01 5.30477633e-03 -2.08940405e+02] [-6.42900637e-01 7.65937283e-01 4.34159275e-03 -2.80716671e+02] [-6.85440233e-03 -8.51360599e-05 -9.99976505e-01 -1.80577835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 910.266559995 meters 0.01398025511724043 Centerline is valid? [True, True] Translation: X:-209.03, Y:-280.75, Z:-1.80 [[-7.12206687e-01 -7.01947897e-01 5.54847551e-03 -2.09029993e+02] [-7.01927994e-01 7.12228287e-01 5.28747900e-03 -2.80752764e+02] [-7.66331598e-03 -1.28852390e-04 -9.99970628e-01 -1.80464510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 910.2965599949999 meters 0.014988460038696376 Centerline is valid? [True, True] Translation: X:-209.12, Y:-280.80, Z:-1.80 [[-6.54406181e-01 -7.56122434e-01 5.60494960e-03 -2.09118316e+02] [-7.56096899e-01 6.54430161e-01 6.21635589e-03 -2.80798404e+02] [-8.36837422e-03 -1.69863296e-04 -9.99964970e-01 -1.80347824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 910.3265599949999 meters 0.015557353252685693 Centerline is valid? [True, True] Translation: X:-209.20, Y:-280.86, Z:-1.80 [[-5.94182802e-01 -8.04313332e-01 5.18285635e-03 -2.09204769e+02] [-8.04285382e-01 5.94205378e-01 6.70768973e-03 -2.80856232e+02] [-8.47476539e-03 -1.82901720e-04 -9.99964072e-01 -1.80316287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 910.356559995 meters 0.015809976586437676 Centerline is valid? [True, True] Translation: X:-209.29, Y:-280.92, Z:-1.80 [[-5.30368868e-01 -8.47754020e-01 4.68893356e-03 -2.09286610e+02] [-8.47724054e-01 5.30389560e-01 7.13043219e-03 -2.80921756e+02] [-8.53181396e-03 -1.93162521e-04 -9.99963585e-01 -1.80265918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 910.386559995 meters 0.016056651607946962 Centerline is valid? [True, True] Translation: X:-209.36, Y:-281.00, Z:-1.80 [[-4.63053237e-01 -8.86319239e-01 4.46167128e-03 -2.09364290e+02] [-8.86282581e-01 4.63074679e-01 8.06399676e-03 -2.80995422e+02] [-9.21336247e-03 -2.20241736e-04 -9.99957532e-01 -1.80204482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 910.416559995 meters 0.015497733122232021 Centerline is valid? [True, True] Translation: X:-209.44, Y:-281.08, Z:-1.80 [[-3.94098976e-01 -9.19059760e-01 3.89287826e-03 -2.09438106e+02] [-9.19020354e-01 3.94118140e-01 8.51358414e-03 -2.81082324e+02] [-9.35874654e-03 -2.22439557e-04 -9.99956181e-01 -1.80211221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 910.4465599949999 meters 0.016157870681179794 Centerline is valid? [True, True] Translation: X:-209.51, Y:-281.17, Z:-1.80 [[-3.22636616e-01 -9.46517385e-01 3.23320616e-03 -2.09506310e+02] [-9.46476524e-01 3.22652740e-01 8.79770785e-03 -2.81172061e+02] [-9.37038625e-03 -2.21691034e-04 -9.99956073e-01 -1.80144282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 910.4765599949999 meters 0.015617598620515346 Centerline is valid? [True, True] Translation: X:-209.57, Y:-281.27, Z:-1.80 [[-2.50040252e-01 -9.68232050e-01 2.56332779e-03 -2.09565719e+02] [-9.68189594e-01 2.50053299e-01 9.06955909e-03 -2.81269001e+02] [-9.42240635e-03 -2.14032457e-04 -9.99955585e-01 -1.80127073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 910.506559995 meters 0.015599960659950078 Centerline is valid? [True, True] Translation: X:-209.62, Y:-281.37, Z:-1.80 [[-1.75700727e-01 -9.84441852e-01 1.86944515e-03 -2.09618656e+02] [-9.84398036e-01 1.75710550e-01 9.29032979e-03 -2.81372853e+02] [-9.47427070e-03 -2.07960434e-04 -9.99955097e-01 -1.80126976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 910.536559995 meters 0.015283153703995002 Centerline is valid? [True, True] Translation: X:-209.66, Y:-281.48, Z:-1.80 [[-1.00299175e-01 -9.94956622e-01 1.18180054e-03 -2.09662513e+02] [-9.94909673e-01 1.00305925e-01 9.66764306e-03 -2.81478932e+02] [-9.73742708e-03 -2.06128169e-04 -9.99952569e-01 -1.80154573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 910.5665599949999 meters 0.014363346295279713 Centerline is valid? [True, True] Translation: X:-209.70, Y:-281.60, Z:-1.80 [[-2.63657475e-02 -9.99652260e-01 4.54125037e-04 -2.09696892e+02] [-9.99600665e-01 2.63690013e-02 1.01580331e-02 -2.81595974e+02] [-1.01664755e-02 -1.86119554e-04 -9.99948303e-01 -1.80144329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 910.5965599949999 meters 0.0142778449373418 Centerline is valid? [True, True] Translation: X:-209.72, Y:-281.71, Z:-1.80 [[ 4.89361338e-02 -9.98801856e-01 -3.26946042e-04 -2.09724104e+02] [-9.98750933e-01 -4.89369407e-02 1.00871537e-02 -2.81707977e+02] [-1.00910676e-02 -1.67088640e-04 -9.99949070e-01 -1.80088752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 910.626559995 meters 0.014047037889968783 Centerline is valid? [True, True] Translation: X:-209.74, Y:-281.83, Z:-1.80 [[ 1.23386554e-01 -9.92358066e-01 -1.10774936e-03 -2.09741489e+02] [-9.92306863e-01 -1.23391441e-01 1.00817906e-02 -2.81828768e+02] [-1.01414330e-02 -1.44730102e-04 -9.99948564e-01 -1.80061067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 910.656559995 meters 0.012817307420419416 Centerline is valid? [True, True] Translation: X:-209.75, Y:-281.94, Z:-1.80 [[ 1.94085734e-01 -9.80983088e-01 -1.70561097e-03 -2.09746744e+02] [-9.80941463e-01 -1.94093212e-01 9.03719220e-03 -2.81940510e+02] [-9.19638022e-03 -8.08855645e-05 -9.99957709e-01 -1.80195369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 910.6865599949999 meters 0.012406550919484725 Centerline is valid? [True, True] Translation: X:-209.75, Y:-282.06, Z:-1.80 [[ 2.66347569e-01 -9.63874335e-01 -2.28884315e-03 -2.09745086e+02] [-9.63837029e-01 -2.66357398e-01 8.48048509e-03 -2.82059882e+02] [-8.78377224e-03 -5.26848120e-05 -9.99961421e-01 -1.80301772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 910.7165599949999 meters 0.012110993308732273 Centerline is valid? [True, True] Translation: X:-209.73, Y:-282.18, Z:-1.80 [[ 3.34047564e-01 -9.42552894e-01 -2.50337451e-03 -2.09732578e+02] [-9.42526447e-01 -3.34056944e-01 7.06075561e-03 -2.82175664e+02] [-7.49140527e-03 8.68475477e-07 -9.99971939e-01 -1.80467896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 910.746559995 meters 0.012238195209605252 Centerline is valid? [True, True] Translation: X:-209.71, Y:-282.29, Z:-1.80 [[ 4.02598100e-01 -9.15372117e-01 -2.94215384e-03 -2.09714450e+02] [-9.15348117e-01 -4.02608850e-01 6.62856674e-03 -2.82289865e+02] [-7.25214235e-03 2.44466026e-05 -9.99973703e-01 -1.80491380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 910.776559995 meters 0.013124844306300917 Centerline is valid? [True, True] Translation: X:-209.69, Y:-282.40, Z:-1.80 [[ 4.65648559e-01 -8.84963632e-01 -3.28475449e-03 -2.09685144e+02] [-8.84942687e-01 -4.65660139e-01 6.08899045e-03 -2.82399973e+02] [-6.91811433e-03 7.14898391e-05 -9.99976067e-01 -1.80439230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 910.8065599949999 meters 0.013528013619630462 Centerline is valid? [True, True] Translation: X:-209.65, Y:-282.51, Z:-1.81 [[ 5.29442025e-01 -8.48338473e-01 -3.60253839e-03 -2.09650971e+02] [-8.48319991e-01 -5.29454274e-01 5.60046066e-03 -2.82509776e+02] [-6.65846559e-03 9.09861010e-05 -9.99977828e-01 -1.80546840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 910.8365599949999 meters 0.013665002746548503 Centerline is valid? [True, True] Translation: X:-209.61, Y:-282.62, Z:-1.81 [[ 5.91942445e-01 -8.05972827e-01 -3.45613264e-03 -2.09608495e+02] [-8.05959919e-01 -5.91952528e-01 4.56217833e-03 -2.82620985e+02] [-5.72285822e-03 8.49573942e-05 -9.99983621e-01 -1.80634582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 910.866559995 meters 0.014837798783859884 Centerline is valid? [True, True] Translation: X:-209.56, Y:-282.72, Z:-1.81 [[ 6.48800837e-01 -7.60948245e-01 -3.90403970e-03 -2.09564609e+02] [-7.60935491e-01 -6.48812574e-01 4.40708507e-03 -2.82716886e+02] [-5.88655370e-03 1.11401885e-04 -9.99982668e-01 -1.80584259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 910.896559995 meters 0.014912235334262225 Centerline is valid? [True, True] Translation: X:-209.51, Y:-282.81, Z:-1.81 [[ 7.02910829e-01 -7.11264461e-01 -4.38554768e-03 -2.09514585e+02] [-7.11251789e-01 -7.02924497e-01 4.24783833e-03 -2.82810368e+02] [-6.10404534e-03 1.33377062e-04 -9.99981361e-01 -1.80576212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 910.9265599949999 meters 0.017030389578518483 Centerline is valid? [True, True] Translation: X:-209.52, Y:-282.82, Z:-1.80 [[ 7.51712272e-01 -6.59467071e-01 -5.64291013e-03 -2.09518209e+02] [-6.59450580e-01 -7.51733422e-01 4.66858182e-03 -2.82815789e+02] [-7.32074012e-03 2.11790112e-04 -9.99973181e-01 -1.80476577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 910.9565599949999 meters 0.018621684423050622 Centerline is valid? [True, True] Translation: X:-209.52, Y:-282.82, Z:-1.80 [[ 7.98528723e-01 -6.01927641e-01 -5.91546873e-03 -2.09521750e+02] [-6.01913309e-01 -7.98550598e-01 4.16052350e-03 -2.82821537e+02] [-7.22813519e-03 2.38301836e-04 -9.99973848e-01 -1.80425101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 910.986559995 meters 0.019890811924173513 Centerline is valid? [True, True] Translation: X:-209.52, Y:-282.83, Z:-1.80 [[ 8.41180538e-01 -5.40717616e-01 -6.30583353e-03 -2.09524422e+02] [-5.40704783e-01 -8.41204130e-01 3.73491690e-03 -2.82827937e+02] [-7.32402857e-03 2.67854940e-04 -9.99973143e-01 -1.80384204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 911.016559995 meters 0.021384028640043285 Centerline is valid? [True, True] Translation: X:-209.53, Y:-282.83, Z:-1.80 [[ 8.79129691e-01 -4.76540293e-01 -6.35098283e-03 -2.09526875e+02] [-4.76530171e-01 -8.79152585e-01 3.11892997e-03 -2.82834476e+02] [-7.06977878e-03 2.84490993e-04 -9.99974968e-01 -1.80336838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 911.0465599949999 meters 0.021792043636383214 Centerline is valid? [True, True] Translation: X:-209.53, Y:-282.85, Z:-1.80 [[ 9.11285142e-01 -4.11724263e-01 -6.52092464e-03 -2.09531516e+02] [-4.11716236e-01 -9.11308415e-01 2.59114619e-03 -2.82846717e+02] [-7.00941125e-03 3.23497527e-04 -9.99975382e-01 -1.80379922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 911.0765599949999 meters 0.02276174221962891 Centerline is valid? [True, True] Translation: X:-209.53, Y:-282.86, Z:-1.80 [[ 9.40044796e-01 -3.40984797e-01 -6.71932452e-03 -2.09533180e+02] [-3.40978630e-01 -9.40068750e-01 2.07830812e-03 -2.82856637e+02] [-7.02529848e-03 3.37443334e-04 -9.99975265e-01 -1.80368516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 911.106559995 meters 0.02434880880479509 Centerline is valid? [True, True] Translation: X:-209.54, Y:-282.87, Z:-1.80 [[ 9.63289083e-01 -2.68387244e-01 -6.51379698e-03 -2.09535273e+02] [-2.68383437e-01 -9.63311048e-01 1.46800470e-03 -2.82865979e+02] [-6.66880634e-03 3.34082315e-04 -9.99977708e-01 -1.80351331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 911.136559995 meters 0.023523634688335092 Centerline is valid? [True, True] Translation: X:-209.54, Y:-282.88, Z:-1.80 [[ 9.81386836e-01 -1.91922511e-01 -6.75484767e-03 -2.09539631e+02] [-1.91920336e-01 -9.81410024e-01 9.74843377e-04 -2.82877847e+02] [-6.81636960e-03 3.39694175e-04 -9.99976711e-01 -1.80407239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 911.166559995 meters 0.023684735379849588 Centerline is valid? [True, True] Translation: X:-209.54, Y:-282.89, Z:-1.80 [[ 9.93514730e-01 -1.13519743e-01 -6.46134093e-03 -2.09542646e+02] [-1.13519403e-01 -9.93535691e-01 4.20469345e-04 -2.82888935e+02] [-6.46730439e-03 3.15745079e-04 -9.99979037e-01 -1.80379235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 911.1965599949999 meters 0.022219279631180967 Centerline is valid? [True, True] Translation: X:-209.54, Y:-282.91, Z:-1.80 [[ 9.99504668e-01 -3.08546946e-02 -6.19726012e-03 -2.09544579e+02] [-3.08558003e-02 -9.99523843e-01 -8.28641189e-05 -2.82905607e+02] [-6.19175250e-03 2.74044495e-04 -9.99980794e-01 -1.80355856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 911.2265599949999 meters 0.020721923781981615 Centerline is valid? [True, True] Translation: X:-209.55, Y:-282.92, Z:-1.80 [[ 9.98678993e-01 5.09865824e-02 -6.37478235e-03 -2.09545361e+02] [ 5.09838748e-02 -9.98699304e-01 -5.86621456e-04 -2.82920908e+02] [-6.39640053e-03 2.60835419e-04 -9.99979509e-01 -1.80327669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 911.256559995 meters 0.019715697227085854 Centerline is valid? [True, True] Translation: X:-209.54, Y:-282.93, Z:-1.80 [[ 9.91055940e-01 1.33305711e-01 -6.14089211e-03 -2.09544094e+02] [ 1.33301731e-01 -9.91074940e-01 -1.05481009e-03 -2.82934583e+02] [-6.22669649e-03 2.26784258e-04 -9.99980588e-01 -1.80273330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 911.286559995 meters 0.016884319546472105 Centerline is valid? [True, True] Translation: X:-209.54, Y:-282.95, Z:-1.80 [[ 9.75417548e-01 2.20282949e-01 -6.00244519e-03 -2.09540527e+02] [ 2.20277745e-01 -9.75436003e-01 -1.52307486e-03 -2.82952706e+02] [-6.19050857e-03 1.63428853e-04 -9.99980825e-01 -1.80283141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 911.3165599949999 meters 0.015095147829295821 Centerline is valid? [True, True] Translation: X:-209.54, Y:-282.97, Z:-1.80 [[ 9.53618208e-01 3.00958733e-01 -6.01285445e-03 -2.09535151e+02] [ 3.00951860e-01 -9.53637155e-01 -2.03838570e-03 -2.82967543e+02] [-6.34755138e-03 1.34261988e-04 -9.99979845e-01 -1.80311811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 911.3465599949999 meters 0.013821896152042655 Centerline is valid? [True, True] Translation: X:-209.53, Y:-282.98, Z:-1.80 [[ 9.25058524e-01 3.79774781e-01 -6.15169389e-03 -2.09529007e+02] [ 3.79765628e-01 -9.25078972e-01 -2.63868045e-03 -2.82981512e+02] [-6.69290695e-03 1.04731947e-04 -9.99977597e-01 -1.80303222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 911.376559995 meters 0.012204963224617806 Centerline is valid? [True, True] Translation: X:-209.52, Y:-283.00, Z:-1.80 [[ 8.87658461e-01 4.60466017e-01 -5.78817251e-03 -2.09518132e+02] [ 4.60455986e-01 -8.87677332e-01 -3.03961718e-03 -2.83000830e+02] [-6.53766995e-03 3.29432259e-05 -9.99978629e-01 -1.80341594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 911.406559995 meters 0.012064493301405426 Centerline is valid? [True, True] Translation: X:-209.51, Y:-283.01, Z:-1.80 [[ 8.46192349e-01 5.32853361e-01 -5.07977057e-03 -2.09508746e+02] [ 5.32843762e-01 -8.46207596e-01 -3.19837453e-03 -2.83013002e+02] [-6.00280506e-03 -2.84006942e-07 -9.99981983e-01 -1.80363652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 911.4365599949999 meters 0.012164321942558301 Centerline is valid? [True, True] Translation: X:-209.50, Y:-283.02, Z:-1.80 [[ 7.99147304e-01 6.01119309e-01 -4.37755381e-03 -2.09497412e+02] [ 6.01110464e-01 -7.99159293e-01 -3.26106200e-03 -2.83023897e+02] [-5.45865014e-03 -2.53244978e-05 -9.99985101e-01 -1.80379285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 911.4665599949999 meters 0.01263706562601045 Centerline is valid? [True, True] Translation: X:-209.49, Y:-283.03, Z:-1.80 [[ 7.46752183e-01 6.65091644e-01 -3.77908537e-03 -2.09486265e+02] [ 6.65083433e-01 -7.46761744e-01 -3.30521816e-03 -2.83033278e+02] [-5.02034936e-03 -4.52281956e-05 -9.99987397e-01 -1.80352654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 911.496559995 meters 0.013382507818787987 Centerline is valid? [True, True] Translation: X:-209.48, Y:-283.04, Z:-1.80 [[ 6.89470067e-01 7.24305870e-01 -3.46896291e-03 -2.09475837e+02] [ 7.24297173e-01 -6.89478791e-01 -3.55000681e-03 -2.83039196e+02] [-4.96306712e-03 -6.49365964e-05 -9.99987682e-01 -1.80331342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 911.526559995 meters 0.014679858024364613 Centerline is valid? [True, True] Translation: X:-209.46, Y:-283.05, Z:-1.80 [[ 6.25438018e-01 7.80266161e-01 -3.46464997e-03 -2.09461112e+02] [ 7.80255125e-01 -6.25447605e-01 -4.15117630e-03 -2.83047097e+02] [-5.40597942e-03 -1.07007421e-04 -9.99985382e-01 -1.80349268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 911.5565599949999 meters 0.016466096734270373 Centerline is valid? [True, True] Translation: X:-209.45, Y:-283.05, Z:-1.80 [[ 5.59836851e-01 8.28595121e-01 -3.58127386e-03 -2.09448275e+02] [ 8.28579763e-01 -5.59848287e-01 -5.04696265e-03 -2.83052017e+02] [-6.18685867e-03 -1.41895371e-04 -9.99980851e-01 -1.80225088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 911.5865599949999 meters 0.016466096734270373 Centerline is valid? [True, True] Translation: X:-209.44, Y:-283.05, Z:-1.80 [[ 4.93258758e-01 8.69876840e-01 -3.17520372e-03 -2.09442572e+02] [ 8.69860633e-01 -4.93268957e-01 -5.31179863e-03 -2.83051068e+02] [-6.18684003e-03 -1.41893522e-04 -9.99980851e-01 -1.80225105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 911.616559995 meters 0.017060855770592624 Centerline is valid? [True, True] Translation: X:-209.43, Y:-283.05, Z:-1.80 [[ 4.21504544e-01 9.06821295e-01 -3.00966200e-03 -2.09432999e+02] [ 9.06801006e-01 -4.21515254e-01 -6.06848093e-03 -2.83050707e+02] [-6.77164618e-03 -1.71272247e-04 -9.99977058e-01 -1.80161188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 911.646559995 meters 0.017533222525428452 Centerline is valid? [True, True] Translation: X:-209.42, Y:-283.05, Z:-1.80 [[ 3.45337180e-01 9.38473654e-01 -3.07137467e-03 -2.09420260e+02] [ 9.38442541e-01 -3.45350753e-01 -7.64552847e-03 -2.83051291e+02] [-8.23582859e-03 -2.42023410e-04 -9.99966056e-01 -1.80058503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 911.6765599949999 meters 0.01841833759337579 Centerline is valid? [True, True] Translation: X:-209.41, Y:-283.05, Z:-1.80 [[ 2.69306458e-01 9.63050544e-01 -2.77139107e-03 -2.09409692e+02] [ 9.63009953e-01 -2.69320566e-01 -8.84672077e-03 -2.83050610e+02] [-9.26623187e-03 -2.86398140e-04 -9.99957027e-01 -1.79984917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 911.7065599949999 meters 0.01886520665027252 Centerline is valid? [True, True] Translation: X:-209.40, Y:-283.05, Z:-1.80 [[ 1.91757866e-01 9.81439259e-01 -2.42945046e-03 -2.09400005e+02] [ 9.81382002e-01 -1.91772935e-01 -1.06069210e-02 -2.83047834e+02] [-1.08759516e-02 -3.50258409e-04 -9.99940794e-01 -1.79855011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 911.736559995 meters 0.020884772558800568 Centerline is valid? [True, True] Translation: X:-209.39, Y:-283.05, Z:-1.80 [[ 1.14548419e-01 9.93416092e-01 -1.76869727e-03 -2.09390336e+02] [ 9.93344116e-01 -1.14561422e-01 -1.19644432e-02 -2.83045905e+02] [-1.20882949e-02 -3.86416965e-04 -9.99926859e-01 -1.79647232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 911.766559995 meters 0.018890416715359754 Centerline is valid? [True, True] Translation: X:-209.39, Y:-283.04, Z:-1.80 [[ 3.75210603e-02 9.99295440e-01 -8.90402019e-04 -2.09387634e+02] [ 9.99210969e-01 -3.75294712e-02 -1.29991845e-02 -2.83041644e+02] [-1.30234422e-02 -4.01956277e-04 -9.99915111e-01 -1.79673952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 911.7965599949999 meters 0.017586279773288124 Centerline is valid? [True, True] Translation: X:-209.38, Y:-283.04, Z:-1.80 [[-3.79738384e-02 9.99278723e-01 1.43546976e-04 -2.09383631e+02] [ 9.99175991e-01 3.79719936e-02 -1.43341225e-02 -2.83037115e+02] [-1.43292344e-02 -4.00892960e-04 -9.99897251e-01 -1.79527419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 911.8265599949999 meters 0.017106704172723967 Centerline is valid? [True, True] Translation: X:-209.38, Y:-283.03, Z:-1.79 [[-1.14110833e-01 9.93467153e-01 1.31646508e-03 -2.09379457e+02] [ 9.93356203e-01 1.14117770e-01 -1.48522055e-02 -2.83032475e+02] [-1.49054104e-02 -3.87078787e-04 -9.99888833e-01 -1.79444455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 911.856559995 meters 0.016543083235382762 Centerline is valid? [True, True] Translation: X:-209.38, Y:-283.03, Z:-1.79 [[-1.89395117e-01 9.81897506e-01 2.60322539e-03 -2.09376928e+02] [ 9.81775863e-01 1.89412641e-01 -1.54598609e-02 -2.83028243e+02] [-1.56730827e-02 -3.72238301e-04 -9.99877101e-01 -1.79423945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 911.886559995 meters 0.015434387359955162 Centerline is valid? [True, True] Translation: X:-209.37, Y:-283.02, Z:-1.80 [[-2.63540000e-01 9.64640765e-01 3.85522969e-03 -2.09374021e+02] [ 9.64517797e-01 2.63567975e-01 -1.54058977e-02 -2.83023795e+02] [-1.58772721e-02 -3.41632631e-04 -9.99873890e-01 -1.79508502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 911.916559995 meters 0.014330258139060897 Centerline is valid? [True, True] Translation: X:-209.37, Y:-283.02, Z:-1.80 [[-3.34161788e-01 9.42501498e-01 5.17940664e-03 -2.09373294e+02] [ 9.42375018e-01 3.34201808e-01 -1.54426916e-02 -2.83020547e+02] [-1.62857270e-02 -2.79413998e-04 -9.99867340e-01 -1.79578586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 911.9465599949999 meters 0.014126627630336126 Centerline is valid? [True, True] Translation: X:-209.37, Y:-283.02, Z:-1.80 [[-4.05226658e-01 9.14194865e-01 6.25338554e-03 -2.09369855e+02] [ 9.14076596e-01 4.05274833e-01 -1.47066774e-02 -2.83016792e+02] [-1.59791088e-02 -2.43464382e-04 -9.99872296e-01 -1.79585083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 911.9765599949999 meters 0.013585063417538373 Centerline is valid? [True, True] Translation: X:-209.37, Y:-283.01, Z:-1.80 [[-4.73953561e-01 8.80520028e-01 7.24586471e-03 -2.09366590e+02] [ 8.80410287e-01 4.74008899e-01 -1.39028862e-02 -2.83012276e+02] [-1.56763741e-02 -2.09988579e-04 -9.99877096e-01 -1.79682465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 912.006559995 meters 0.013551784372732002 Centerline is valid? [True, True] Translation: X:-209.36, Y:-283.01, Z:-1.80 [[-5.39170353e-01 8.42159523e-01 7.91635245e-03 -2.09364494e+02] [ 8.42064377e-01 5.39228442e-01 -1.26598767e-02 -2.83009924e+02] [-1.49303581e-02 -1.59751808e-04 -9.99888523e-01 -1.79691700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 912.036559995 meters 0.013040320109536777 Centerline is valid? [True, True] Translation: X:-209.36, Y:-283.01, Z:-1.80 [[-6.02722838e-01 7.97907174e-01 8.32593550e-03 -2.09363768e+02] [ 7.97827909e-01 6.02780327e-01 -1.12474294e-02 -2.83006893e+02] [-1.39931148e-02 -1.36418871e-04 -9.99902082e-01 -1.79928868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 912.0665599949999 meters 0.013040320109536777 Centerline is valid? [True, True] Translation: X:-209.36, Y:-283.00, Z:-1.80 [[-6.63388383e-01 7.48218919e-01 9.18168687e-03 -2.09358323e+02] [ 7.48144402e-01 6.63451906e-01 -1.05603976e-02 -2.83000656e+02] [-1.39930969e-02 -1.36417466e-04 -9.99902083e-01 -1.79928884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 912.0965599949999 meters 0.013375284308534083 Centerline is valid? [True, True] Translation: X:-209.36, Y:-283.00, Z:-1.80 [[-7.20831148e-01 6.93047541e-01 9.35748859e-03 -2.09355159e+02] [ 6.92986528e-01 7.20891868e-01 -9.19712796e-03 -2.82996711e+02] [-1.31197843e-02 -1.44962775e-04 -9.99913922e-01 -1.79973734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 912.126559995 meters 0.013470032615500008 Centerline is valid? [True, True] Translation: X:-209.34, Y:-282.97, Z:-1.80 [[-7.68543671e-01 6.39724859e-01 9.62967469e-03 -2.09340026e+02] [ 6.39672210e-01 7.68603983e-01 -8.20864145e-03 -2.82974981e+02] [-1.26526783e-02 -1.48864143e-04 -9.99919941e-01 -1.79995887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 912.156559995 meters 0.013505118363144983 Centerline is valid? [True, True] Translation: X:-208.94, Y:-282.51, Z:-2.79 [[-7.07054911e-01 -7.07096198e-01 9.39788340e-03 -2.08936604e+02] [ 7.07037139e-01 -7.07117341e-01 -9.14053904e-03 -2.82508973e+02] [ 1.31086467e-02 1.81789579e-04 9.99914062e-01 -2.78527212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 912.1865599949999 meters 0.01372976045274105 Centerline is valid? [True, True] Translation: X:-209.37, Y:-282.95, Z:-1.80 [[-7.71340548e-01 6.36337719e-01 1.03955148e-02 -2.09374626e+02] [ 6.36276917e-01 7.71410577e-01 -8.79817023e-03 -2.82951800e+02] [-1.36178177e-02 -1.71959313e-04 -9.99907259e-01 -1.79864818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 912.2165599949999 meters 0.013644696890573063 Centerline is valid? [True, True] Translation: X:-209.36, Y:-282.93, Z:-1.80 [[-8.14464393e-01 5.80109359e-01 1.09947144e-02 -2.09358867e+02] [ 5.80053644e-01 8.14538582e-01 -8.04162407e-03 -2.82931645e+02] [-1.36206405e-02 -1.72092329e-04 -9.99907220e-01 -1.79895433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 912.246559995 meters 0.013419759054228347 Centerline is valid? [True, True] Translation: X:-209.34, Y:-282.91, Z:-1.80 [[-8.52741736e-01 5.22210827e-01 1.12864972e-02 -2.09344943e+02] [ 5.22162760e-01 8.52816411e-01 -7.08674778e-03 -2.82913343e+02] [-1.33260864e-02 -1.49777094e-04 -9.99911193e-01 -1.79975609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 912.276559995 meters 0.013299546295651297 Centerline is valid? [True, True] Translation: X:-209.33, Y:-282.89, Z:-1.80 [[-8.87245947e-01 4.61152275e-01 1.15416194e-02 -2.09332591e+02] [ 4.61111246e-01 8.87321002e-01 -6.15290249e-03 -2.82890705e+02] [-1.30785463e-02 -1.37167290e-04 -9.99914463e-01 -1.80009870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 912.3065599949999 meters 0.013205751932052012 Centerline is valid? [True, True] Translation: X:-209.32, Y:-282.87, Z:-1.80 [[-9.17293316e-01 3.98026595e-01 1.21573991e-02 -2.09320576e+02] [ 3.97989802e-01 9.17373868e-01 -5.41334392e-03 -2.82867490e+02] [-1.33075351e-02 -1.27103326e-04 -9.99911443e-01 -1.80037658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 912.3365599949999 meters 0.012954667472366352 Centerline is valid? [True, True] Translation: X:-209.06, Y:-282.28, Z:-2.78 [[-8.80499618e-01 -4.73909951e-01 1.13921455e-02 -2.09056778e+02] [ 4.73871723e-01 -8.80573307e-01 -6.02002063e-03 -2.82275753e+02] [ 1.28845669e-02 9.77897324e-05 9.99916986e-01 -2.78392805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 912.366559995 meters 0.01296328995136412 Centerline is valid? [True, True] Translation: X:-209.37, Y:-282.85, Z:-1.80 [[-9.17678019e-01 3.97155307e-01 1.16066924e-02 -2.09366703e+02] [ 3.97122359e-01 9.17751412e-01 -5.11633957e-03 -2.82854734e+02] [-1.26840397e-02 -8.58753008e-05 -9.99919551e-01 -1.80114873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 912.396559995 meters 0.012813606281664934 Centerline is valid? [True, True] Translation: X:-209.10, Y:-282.25, Z:-2.78 [[-8.83077100e-01 -4.69102743e-01 1.08375351e-02 -2.09095544e+02] [ 4.69068197e-01 -8.83143597e-01 -5.69328606e-03 -2.82254983e+02] [ 1.22418358e-02 5.59324889e-05 9.99925065e-01 -2.78323369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 912.4265599949999 meters 0.013028326844157148 Centerline is valid? [True, True] Translation: X:-209.41, Y:-282.84, Z:-1.80 [[-9.18016548e-01 3.96403578e-01 1.04795391e-02 -2.09406206e+02] [ 3.96377200e-01 9.18076359e-01 -4.57311335e-03 -2.82843432e+02] [-1.14338156e-02 -4.43433553e-05 -9.99934631e-01 -1.79936340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 912.4565599949999 meters 0.01271814725946102 Centerline is valid? [True, True] Translation: X:-209.40, Y:-282.82, Z:-1.80 [[-9.43477856e-01 3.31273636e-01 1.03592702e-02 -2.09397298e+02] [ 3.31253302e-01 9.43534725e-01 -3.67048437e-03 -2.82819898e+02] [-1.09902658e-02 -3.14782780e-05 -9.99939605e-01 -1.80134531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 912.486559995 meters 0.012666426365251374 Centerline is valid? [True, True] Translation: X:-209.39, Y:-282.79, Z:-1.80 [[-9.64261402e-01 2.64732560e-01 1.07991326e-02 -2.09389857e+02] [ 2.64715747e-01 9.64321871e-01 -2.98358121e-03 -2.82794961e+02] [-1.12036908e-02 -1.82517483e-05 -9.99937237e-01 -1.80141835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 912.516559995 meters 0.01271096031862678 Centerline is valid? [True, True] Translation: X:-209.21, Y:-282.14, Z:-2.78 [[-9.43795139e-01 -3.30367068e-01 1.04084342e-02 -2.09209001e+02] [ 3.30347062e-01 -9.43852531e-01 -3.63570580e-03 -2.82141494e+02] [ 1.10251444e-02 7.03418938e-06 9.99939221e-01 -2.78357449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 912.5465599949999 meters 0.012772560032898266 Centerline is valid? [True, True] Translation: X:-209.44, Y:-282.79, Z:-1.80 [[-9.64722373e-01 2.63059874e-01 1.04997897e-02 -2.09436339e+02] [ 2.63044362e-01 9.64779510e-01 -2.85678286e-03 -2.82788432e+02] [-1.08814869e-02 5.90813502e-06 -9.99940795e-01 -1.79997103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 912.5765599949999 meters 0.012578286990089272 Centerline is valid? [True, True] Translation: X:-209.44, Y:-282.76, Z:-1.80 [[-9.81097778e-01 1.93232325e-01 1.04124321e-02 -2.09436572e+02] [ 1.93221424e-01 9.81153030e-01 -2.05257172e-03 -2.82762218e+02] [-1.06128125e-02 -1.86859673e-06 -9.99943683e-01 -1.80188783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 912.606559995 meters 0.012681210722232624 Centerline is valid? [True, True] Translation: X:-209.44, Y:-282.73, Z:-1.80 [[-9.92463150e-01 1.22082057e-01 1.06239382e-02 -2.09438838e+02] [ 1.22074925e-01 9.92520011e-01 -1.31961908e-03 -2.82734063e+02] [-1.07055730e-02 -1.27568522e-05 -9.99942694e-01 -1.80143551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 912.636559995 meters 0.012681473421999608 Centerline is valid? [True, True] Translation: X:-209.43, Y:-282.71, Z:-1.80 [[-9.98712816e-01 4.95819927e-02 1.06929081e-02 -2.09432339e+02] [ 4.95788251e-02 9.98770056e-01 -5.61268584e-04 -2.82706762e+02] [-1.07075852e-02 -3.04043082e-05 -9.99942672e-01 -1.80197177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 912.666559995 meters 0.012727092682534693 Centerline is valid? [True, True] Translation: X:-209.39, Y:-282.02, Z:-2.78 [[-9.92237715e-01 -1.23917349e-01 1.04311234e-02 -2.09393160e+02] [ 1.23910678e-01 -9.92292543e-01 -1.28588285e-03 -2.82018040e+02] [ 1.05100691e-02 1.66261102e-05 9.99944768e-01 -2.78327156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 912.6965599949999 meters 0.012939458229892193 Centerline is valid? [True, True] Translation: X:-209.50, Y:-282.70, Z:-1.80 [[-9.99110052e-01 4.09085941e-02 1.02757250e-02 -2.09501146e+02] [ 4.09057023e-02 9.99162891e-01 -4.91527647e-04 -2.82701687e+02] [-1.02872308e-02 -7.07544644e-05 -9.99947083e-01 -1.80149610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 912.7265599949999 meters 0.013842988214569528 Centerline is valid? [True, True] Translation: X:-209.51, Y:-282.67, Z:-1.80 [[-9.99309845e-01 -3.55863203e-02 1.06512244e-02 -2.09511584e+02] [-3.55856942e-02 9.99366598e-01 2.48355251e-04 -2.82671207e+02] [-1.06533159e-02 -1.30847366e-04 -9.99943243e-01 -1.79993214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 912.756559995 meters 0.014282229769065846 Centerline is valid? [True, True] Translation: X:-209.53, Y:-281.99, Z:-2.78 [[-9.98201467e-01 -5.89446667e-02 1.09250721e-02 -2.09530021e+02] [ 5.89428201e-02 -9.98261240e-01 -4.91213482e-04 -2.81989600e+02] [ 1.09350305e-02 1.53624542e-04 9.99940199e-01 -2.78485870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 912.786559995 meters 0.014899424347551992 Centerline is valid? [True, True] Translation: X:-209.60, Y:-282.67, Z:-1.80 [[-9.98864694e-01 -4.62468682e-02 1.14258354e-02 -2.09596672e+02] [-4.62461372e-02 9.98930021e-01 3.28315327e-04 -2.82671726e+02] [-1.14287936e-02 -2.00458165e-04 -9.99934669e-01 -1.79955239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 912.8165599949999 meters 0.015680040859848986 Centerline is valid? [True, True] Translation: X:-209.60, Y:-282.64, Z:-1.80 [[-9.92457956e-01 -1.22110735e-01 1.07783876e-02 -2.09604604e+02] [-1.22106199e-01 9.92516453e-01 1.08038241e-03 -2.82644515e+02] [-1.08296533e-02 -2.43873825e-04 -9.99941328e-01 -1.80066718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 912.8465599949999 meters 0.016778925894746968 Centerline is valid? [True, True] Translation: X:-209.61, Y:-282.62, Z:-1.80 [[-9.80798418e-01 -1.94756425e-01 1.02175801e-02 -2.09610003e+02] [-1.94748570e-01 9.80851604e-01 1.76782071e-03 -2.82615925e+02] [-1.03662243e-02 -2.55983353e-04 -9.99946237e-01 -1.80062797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 912.876559995 meters 0.01682892685727688 Centerline is valid? [True, True] Translation: X:-209.63, Y:-282.59, Z:-1.80 [[-9.63776457e-01 -2.66539592e-01 9.57006704e-03 -2.09633321e+02] [-2.66529169e-01 9.63823934e-01 2.37200511e-03 -2.82593261e+02] [-9.85609294e-03 -2.64619329e-04 -9.99951393e-01 -1.80144193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 912.906559995 meters 0.019023349437426926 Centerline is valid? [True, True] Translation: X:-209.67, Y:-282.57, Z:-1.80 [[-9.40964088e-01 -3.38404541e-01 8.30377158e-03 -2.09665459e+02] [-3.38393827e-01 9.41000689e-01 2.70577218e-03 -2.82570898e+02] [-8.72950037e-03 -2.63910594e-04 -9.99961863e-01 -1.80169615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 912.9365599949999 meters 0.019100538270137895 Centerline is valid? [True, True] Translation: X:-209.72, Y:-282.56, Z:-1.80 [[-9.13240676e-01 -4.07352889e-01 7.42231412e-03 -2.09719028e+02] [-4.07341681e-01 9.13270803e-01 3.03249092e-03 -2.82561817e+02] [-8.01387672e-03 -2.54023849e-04 -9.99967856e-01 -1.80231592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 912.9665599949999 meters 0.020453606737511277 Centerline is valid? [True, True] Translation: X:-209.78, Y:-282.56, Z:-1.80 [[-8.80324526e-01 -4.74317015e-01 7.21789397e-03 -2.09779919e+02] [-4.74303501e-01 8.80354077e-01 3.59012819e-03 -2.82557476e+02] [-8.05716127e-03 -2.62994474e-04 -9.99967506e-01 -1.80188457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 912.996559995 meters 0.019612756275706255 Centerline is valid? [True, True] Translation: X:-209.85, Y:-282.57, Z:-1.80 [[-8.42480302e-01 -5.38667551e-01 8.01313699e-03 -2.09848076e+02] [-5.38646620e-01 8.42518353e-01 4.75851121e-03 -2.82566563e+02] [-9.31447056e-03 -3.07297191e-04 -9.99956572e-01 -1.80116295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 913.026559995 meters 0.019648409369453994 Centerline is valid? [True, True] Translation: X:-209.93, Y:-282.59, Z:-1.80 [[-8.00602644e-01 -5.99135268e-01 8.50507650e-03 -2.09931775e+02] [-5.99105818e-01 8.00647750e-01 5.94967067e-03 -2.82589028e+02] [-1.03742279e-02 -3.32118748e-04 -9.99946131e-01 -1.79993356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 913.0565599949999 meters 0.01833829547870852 Centerline is valid? [True, True] Translation: X:-210.01, Y:-282.62, Z:-1.80 [[-7.54095889e-01 -6.56706167e-01 8.74076167e-03 -2.10007281e+02] [-6.56667311e-01 7.54146465e-01 7.15206092e-03 -2.82615657e+02] [-1.12886170e-02 -3.46432725e-04 -9.99936222e-01 -1.79959404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 913.0865599949999 meters 0.017623819302325105 Centerline is valid? [True, True] Translation: X:-210.09, Y:-282.66, Z:-1.80 [[-7.03733452e-01 -7.10407185e-01 8.99227237e-03 -2.10091230e+02] [-7.10355594e-01 7.03790810e-01 8.56892809e-03 -2.82656218e+02] [-1.24161067e-02 -3.57469642e-04 -9.99922853e-01 -1.79891081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 913.116559995 meters 0.018021419442396887 Centerline is valid? [True, True] Translation: X:-210.17, Y:-282.70, Z:-1.80 [[-6.49446716e-01 -7.60353053e-01 9.06630647e-03 -2.10172346e+02] [-7.60286612e-01 6.49509895e-01 1.00580032e-02 -2.82700975e+02] [-1.35362892e-02 -3.60854289e-04 -9.99908315e-01 -1.79733912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 913.146559995 meters 0.01621324131835005 Centerline is valid? [True, True] Translation: X:-210.25, Y:-282.76, Z:-1.80 [[-5.93607379e-01 -8.04705789e-01 8.88109032e-03 -2.10252631e+02] [-8.04623603e-01 5.93673727e-01 1.15049683e-02 -2.82762864e+02] [-1.45305846e-02 -3.16500805e-04 -9.99894376e-01 -1.79722382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 913.1765599949999 meters 0.015718772044890708 Centerline is valid? [True, True] Translation: X:-210.33, Y:-282.83, Z:-1.80 [[-5.32053845e-01 -8.46672928e-01 7.97862615e-03 -2.10333172e+02] [-8.46585810e-01 5.32113585e-01 1.21489864e-02 -2.82830287e+02] [-1.45317532e-02 -2.90676783e-04 -9.99894366e-01 -1.79750281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 913.2065599949999 meters 0.015103505325922034 Centerline is valid? [True, True] Translation: X:-210.41, Y:-282.91, Z:-1.80 [[-4.67135412e-01 -8.84158458e-01 6.95188568e-03 -2.10411204e+02] [-8.84068903e-01 4.67187062e-01 1.25866564e-02 -2.82909613e+02] [-1.43764297e-02 -2.66273043e-04 -9.99896618e-01 -1.79840895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 913.236559995 meters 0.014993871407916104 Centerline is valid? [True, True] Translation: X:-210.48, Y:-282.99, Z:-1.80 [[-4.00982392e-01 -9.16068034e-01 5.69900977e-03 -2.10481405e+02] [-9.15982828e-01 4.01022834e-01 1.24958092e-02 -2.82990646e+02] [-1.37324444e-02 -2.09595615e-04 -9.99905684e-01 -1.79891466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 913.266559995 meters 0.014024630168342779 Centerline is valid? [True, True] Translation: X:-210.55, Y:-283.08, Z:-1.80 [[-3.31354683e-01 -9.43495484e-01 4.51054463e-03 -2.10546974e+02] [-9.43415111e-01 3.31385336e-01 1.23161728e-02 -2.83084107e+02] [-1.31149817e-02 -1.74294433e-04 -9.99913980e-01 -1.80111952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 913.2965599949999 meters 0.013121000110074102 Centerline is valid? [True, True] Translation: X:-210.60, Y:-283.18, Z:-1.80 [[-2.62877933e-01 -9.64823475e-01 3.29468772e-03 -2.10603814e+02] [-9.64752324e-01 2.62898561e-01 1.17175351e-02 -2.83182679e+02] [-1.21715216e-02 -9.82762242e-05 -9.99925920e-01 -1.80264397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 913.3265599949999 meters 0.012870968722816822 Centerline is valid? [True, True] Translation: X:-210.66, Y:-283.29, Z:-1.80 [[-1.91149333e-01 -9.81558224e-01 2.32055563e-03 -2.10655228e+02] [-9.81489365e-01 1.91163410e-01 1.16266120e-02 -2.83287049e+02] [-1.18558019e-02 -5.51815456e-05 -9.99929716e-01 -1.80255300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 913.356559995 meters 0.012647999273188907 Centerline is valid? [True, True] Translation: X:-210.70, Y:-283.40, Z:-1.80 [[-1.18335590e-01 -9.92972717e-01 1.36811967e-03 -2.10698499e+02] [-9.92907735e-01 1.18343497e-01 1.13599071e-02 -2.83396259e+02] [-1.14419858e-02 -1.41352930e-05 -9.99934538e-01 -1.80310226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 913.386559995 meters 0.013013726325001748 Centerline is valid? [True, True] Translation: X:-210.73, Y:-283.51, Z:-1.80 [[-4.79081286e-02 -9.98851638e-01 4.64835847e-04 -2.10731411e+02] [-9.98792128e-01 4.79103484e-02 1.09034079e-02 -2.83508901e+02] [-1.09131572e-02 5.80874805e-05 -9.99940448e-01 -1.80374774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 913.416559995 meters 0.01321928952133703 Centerline is valid? [True, True] Translation: X:-210.76, Y:-283.63, Z:-1.80 [[ 2.63424631e-02 -9.99652907e-01 -3.75659538e-04 -2.10758479e+02] [-9.99594083e-01 -2.63449884e-02 1.08448635e-02 -2.83631247e+02] [-1.08509960e-02 8.98266356e-05 -9.99941122e-01 -1.80444164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 913.4465599949999 meters 0.013759846467053811 Centerline is valid? [True, True] Translation: X:-210.78, Y:-283.75, Z:-1.80 [[ 1.00647134e-01 -9.94921443e-01 -1.21490150e-03 -2.10776670e+02] [-9.94862734e-01 -1.00654393e-01 1.08089491e-02 -2.83747101e+02] [-1.08763404e-02 1.20770480e-04 -9.99940844e-01 -1.80470951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 913.4765599949999 meters 0.013759846467053811 Centerline is valid? [True, True] Translation: X:-210.79, Y:-283.87, Z:-1.80 [[ 1.76879010e-01 -9.84230483e-01 -2.04278302e-03 -2.10787183e+02] [-9.84172506e-01 -1.76890765e-01 1.06834524e-02 -2.83865597e+02] [-1.08763290e-02 1.20772399e-04 -9.99940844e-01 -1.80471007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 913.506559995 meters 0.014848091227838867 Centerline is valid? [True, True] Translation: X:-210.79, Y:-283.99, Z:-1.80 [[ 2.48054642e-01 -9.68741889e-01 -2.83684321e-03 -2.10786753e+02] [-9.68685998e-01 -2.48070808e-01 1.04072990e-02 -2.83985902e+02] [-1.07857245e-02 1.66431462e-04 -9.99941819e-01 -1.80447715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 913.536559995 meters 0.014836350563287356 Centerline is valid? [True, True] Translation: X:-210.78, Y:-284.11, Z:-1.80 [[ 3.20658244e-01 -9.47187462e-01 -3.76876940e-03 -2.10779843e+02] [-9.47128795e-01 -3.20680335e-01 1.05436414e-02 -2.84105503e+02] [-1.11953752e-02 1.88604472e-04 -9.99937312e-01 -1.80495595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 913.5665599949999 meters 0.015020206677767847 Centerline is valid? [True, True] Translation: X:-210.76, Y:-284.23, Z:-1.81 [[ 3.91264235e-01 -9.20265441e-01 -4.88017896e-03 -2.10764275e+02] [-9.20200706e-01 -3.91294607e-01 1.09174625e-02 -2.84227087e+02] [-1.19565511e-02 2.19131517e-04 -9.99928494e-01 -1.80506634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 913.5965599949999 meters 0.01498819227637544 Centerline is valid? [True, True] Translation: X:-210.74, Y:-284.34, Z:-1.80 [[ 4.60679819e-01 -8.87547631e-01 -5.77132742e-03 -2.10739606e+02] [-8.87483967e-01 -4.60715914e-01 1.06327359e-02 -2.84344057e+02] [-1.20960019e-02 2.23673714e-04 -9.99926816e-01 -1.80484446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 913.626559995 meters 0.015589707862540804 Centerline is valid? [True, True] Translation: X:-210.71, Y:-284.46, Z:-1.80 [[ 5.27464036e-01 -8.49550323e-01 -6.77780940e-03 -2.10705688e+02] [-8.49485720e-01 -5.27507531e-01 1.04792911e-02 -2.84456914e+02] [-1.24780306e-02 2.30203117e-04 -9.99922120e-01 -1.80408234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 913.656559995 meters 0.01499871131404611 Centerline is valid? [True, True] Translation: X:-210.67, Y:-284.57, Z:-1.80 [[ 5.91895811e-01 -8.05977331e-01 -7.73889593e-03 -2.10668178e+02] [-8.05913284e-01 -5.91946359e-01 1.01630014e-02 -2.84566315e+02] [-1.27721600e-02 2.21441083e-04 -9.99918408e-01 -1.80423500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 913.6865599949999 meters 0.014877786665672481 Centerline is valid? [True, True] Translation: X:-210.62, Y:-284.67, Z:-1.80 [[ 6.52253692e-01 -7.57952032e-01 -8.59287746e-03 -2.10621149e+02] [-7.57890574e-01 -6.52310256e-01 9.65442913e-03 -2.84671051e+02] [-1.29228163e-02 2.15323785e-04 -9.99916474e-01 -1.80428789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 913.7165599949999 meters 0.014793730191682246 Centerline is valid? [True, True] Translation: X:-210.58, Y:-284.76, Z:-1.80 [[ 7.08697563e-01 -7.05453823e-01 -9.09222661e-03 -2.10575605e+02] [-7.05399375e-01 -7.08755856e-01 8.76688605e-03 -2.84762010e+02] [-1.26288021e-02 2.00580190e-04 -9.99920234e-01 -1.80411447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 913.746559995 meters 0.014209402243450249 Centerline is valid? [True, True] Translation: X:-210.58, Y:-284.77, Z:-1.80 [[ 7.63420553e-01 -6.45829893e-01 -9.63370136e-03 -2.10581359e+02] [-6.45781176e-01 -7.63481318e-01 7.93412025e-03 -2.84772196e+02] [-1.24792430e-02 1.64192523e-04 -9.99922118e-01 -1.80431076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 913.776559995 meters 0.013381569733001251 Centerline is valid? [True, True] Translation: X:-210.59, Y:-284.79, Z:-1.81 [[ 8.12816532e-01 -5.82433077e-01 -1.00496711e-02 -2.10587988e+02] [-5.82390603e-01 -8.12878646e-01 7.03516074e-03 -2.84785213e+02] [-1.22666734e-02 1.34539051e-04 -9.99924753e-01 -1.80577229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 913.8065599949999 meters 0.012791921577817994 Centerline is valid? [True, True] Translation: X:-210.59, Y:-284.80, Z:-1.81 [[ 8.58585894e-01 -5.12577376e-01 -9.73118550e-03 -2.10594328e+02] [-5.12545301e-01 -8.58641037e-01 5.73449852e-03 -2.84799216e+02] [-1.12949694e-02 6.41138609e-05 -9.99936208e-01 -1.80658462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 913.8365599949999 meters 0.012596892717648155 Centerline is valid? [True, True] Translation: X:-210.60, Y:-284.81, Z:-1.81 [[ 8.97392471e-01 -4.41129500e-01 -9.56649395e-03 -2.10596936e+02] [-4.41104763e-01 -8.97443460e-01 4.67172050e-03 -2.84812210e+02] [-1.06462212e-02 2.74592479e-05 -9.99943327e-01 -1.80734276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 913.866559995 meters 0.012563440917254405 Centerline is valid? [True, True] Translation: X:-210.60, Y:-284.82, Z:-1.81 [[ 9.30275784e-01 -3.66742425e-01 -9.32520584e-03 -2.10598861e+02] [-3.66723940e-01 -9.30322521e-01 3.68221496e-03 -2.84824280e+02] [-1.00258735e-02 -5.69918921e-06 -9.99949740e-01 -1.80753091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 913.896559995 meters 0.01256566067698038 Centerline is valid? [True, True] Translation: X:-210.60, Y:-284.84, Z:-1.81 [[ 9.57070826e-01 -2.89694292e-01 -9.62553171e-03 -2.10599021e+02] [-2.89679230e-01 -9.57119228e-01 2.95432725e-03 -2.84836579e+02] [-1.00686332e-02 -3.91838053e-05 -9.99949309e-01 -1.80765163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 913.9265599949999 meters 0.013262370730898641 Centerline is valid? [True, True] Translation: X:-210.60, Y:-284.85, Z:-1.81 [[ 9.78222014e-01 -2.07352637e-01 -9.30461761e-03 -2.10598309e+02] [-2.07342269e-01 -9.78266259e-01 2.07603235e-03 -2.84853564e+02] [-9.53286424e-03 -1.01580023e-04 -9.99954556e-01 -1.80735923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 913.9565599949999 meters 0.013899546913340081 Centerline is valid? [True, True] Translation: X:-210.60, Y:-284.87, Z:-1.81 [[ 9.91841501e-01 -1.27134350e-01 -9.34311932e-03 -2.10595988e+02] [-1.27127470e-01 -9.91885498e-01 1.32902033e-03 -2.84865368e+02] [-9.43626869e-03 -1.30410393e-04 -9.99955469e-01 -1.80683423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 913.986559995 meters 0.015348610277938797 Centerline is valid? [True, True] Translation: X:-210.60, Y:-284.88, Z:-1.81 [[ 9.98907159e-01 -4.57356310e-02 -9.63017452e-03 -2.10596527e+02] [-4.57319051e-02 -9.98953565e-01 6.06868820e-04 -2.84876563e+02] [-9.64785270e-03 -1.65799382e-04 -9.99953445e-01 -1.80560765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 914.016559995 meters 0.016383224491570973 Centerline is valid? [True, True] Translation: X:-210.59, Y:-284.88, Z:-1.81 [[ 9.99313071e-01 3.57012368e-02 -9.94020436e-03 -2.10594821e+02] [ 3.57014768e-02 -9.99362487e-01 -1.53353577e-04 -2.84882242e+02] [-9.93934227e-03 -2.01631742e-04 -9.99950583e-01 -1.80502220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 914.0465599949999 meters 0.01772204374856243 Centerline is valid? [True, True] Translation: X:-210.59, Y:-284.89, Z:-1.80 [[ 9.92800202e-01 1.19272686e-01 -1.10356587e-02 -2.10591676e+02] [ 1.19268508e-01 -9.92861493e-01 -1.03827558e-03 -2.84891864e+02] [-1.10807185e-02 -2.85406348e-04 -9.99938566e-01 -1.80422895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 914.0765599949999 meters 0.01785980573576114 Centerline is valid? [True, True] Translation: X:-210.59, Y:-284.90, Z:-1.80 [[ 9.80005327e-01 1.98612920e-01 -1.19359822e-02 -2.10587498e+02] [ 1.98602355e-01 -9.80077954e-01 -2.07595319e-03 -2.84898557e+02] [-1.21105042e-02 -3.36068997e-04 -9.99926609e-01 -1.80407473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 914.106559995 meters 0.018563415529093637 Centerline is valid? [True, True] Translation: X:-210.58, Y:-284.91, Z:-1.80 [[ 9.60773055e-01 2.77038315e-01 -1.28416788e-02 -2.10582184e+02] [ 2.77019107e-01 -9.60858789e-01 -3.28658352e-03 -2.84907147e+02] [-1.32495495e-02 -3.99729512e-04 -9.99912141e-01 -1.80256657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 914.136559995 meters 0.01989094464515536 Centerline is valid? [True, True] Translation: X:-210.58, Y:-284.91, Z:-1.80 [[ 9.35959768e-01 3.51858868e-01 -1.32154813e-02 -2.10577428e+02] [ 3.51830215e-01 -9.36052965e-01 -4.51063668e-03 -2.84914082e+02] [-1.39574980e-02 -4.27831170e-04 -9.99902498e-01 -1.80143612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 914.166559995 meters 0.01996030013363385 Centerline is valid? [True, True] Translation: X:-210.57, Y:-284.92, Z:-1.80 [[ 9.05622872e-01 4.23890253e-01 -1.28166789e-02 -2.10572725e+02] [ 4.23854401e-01 -9.05713461e-01 -5.52935797e-03 -2.84915755e+02] [-1.39520795e-02 -4.24892703e-04 -9.99902575e-01 -1.80125166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 914.1965599949999 meters 0.017890858443635946 Centerline is valid? [True, True] Translation: X:-210.57, Y:-284.92, Z:-1.80 [[ 8.70115104e-01 4.92697169e-01 -1.22149650e-02 -2.10567810e+02] [ 4.92655153e-01 -8.70200743e-01 -6.44720086e-03 -2.84918306e+02] [-1.38059893e-02 -4.07958612e-04 -9.99904610e-01 -1.80278367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 914.2265599949999 meters 0.017894031977914632 Centerline is valid? [True, True] Translation: X:-210.56, Y:-284.92, Z:-1.80 [[ 8.29631097e-01 5.58203201e-01 -1.10195486e-02 -2.10563003e+02] [ 5.58159789e-01 -8.29704195e-01 -6.97125752e-03 -2.84923116e+02] [-1.30343440e-02 -3.67096891e-04 -9.99914982e-01 -1.80298891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 914.256559995 meters 0.0165552764777974 Centerline is valid? [True, True] Translation: X:-210.56, Y:-284.92, Z:-1.80 [[ 7.86102441e-01 6.18020340e-01 -9.68563069e-03 -2.10559298e+02] [ 6.17977907e-01 -7.86162055e-01 -7.24774423e-03 -2.84924206e+02] [-1.20937287e-02 -2.88036346e-04 -9.99926827e-01 -1.80405969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 914.286559995 meters 0.014761513484072177 Centerline is valid? [True, True] Translation: X:-210.56, Y:-284.92, Z:-1.80 [[ 7.39418123e-01 6.73189211e-01 -8.78212987e-03 -2.10556057e+02] [ 6.73145034e-01 -7.39470245e-01 -7.71498451e-03 -2.84923928e+02] [-1.16877681e-02 -2.07047741e-04 -9.99931674e-01 -1.80418031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 914.3165599949999 meters 0.014969631069016715 Centerline is valid? [True, True] Translation: X:-210.55, Y:-284.93, Z:-1.80 [[ 6.87018268e-01 7.26593361e-01 -8.24541433e-03 -2.10551087e+02] [ 7.26543939e-01 -6.87067726e-01 -8.47616419e-03 -2.84926810e+02] [-1.18238827e-02 -1.67376163e-04 -9.99930082e-01 -1.80224629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 914.3465599949999 meters 0.013497308076260886 Centerline is valid? [True, True] Translation: X:-210.55, Y:-284.93, Z:-1.80 [[ 6.30733229e-01 7.75961637e-01 -7.68976560e-03 -2.10548961e+02] [ 7.75906436e-01 -6.30780090e-01 -9.25636058e-03 -2.84926193e+02] [-1.20331317e-02 -1.28244423e-04 -9.99927591e-01 -1.80381708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 914.376559995 meters 0.01295704699783674 Centerline is valid? [True, True] Translation: X:-210.54, Y:-284.93, Z:-1.80 [[ 5.71156547e-01 8.20810803e-01 -7.05864810e-03 -2.10544699e+02] [ 8.20749929e-01 -5.71200157e-01 -9.99673386e-03 -2.84928015e+02] [-1.22373280e-02 -8.36849297e-05 -9.99925118e-01 -1.80390901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 914.406559995 meters 0.012650155917584142 Centerline is valid? [True, True] Translation: X:-210.54, Y:-284.93, Z:-1.80 [[ 5.11142036e-01 8.59471698e-01 -6.49762916e-03 -2.10541676e+02] [ 8.59402224e-01 -5.11183333e-01 -1.09278326e-02 -2.84928818e+02] [-1.27136426e-02 1.59766957e-06 -9.99919179e-01 -1.80479913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 914.4365599949999 meters 0.012692235514734152 Centerline is valid? [True, True] Translation: X:-210.54, Y:-284.93, Z:-1.81 [[ 4.44951761e-01 8.95536614e-01 -5.66591545e-03 -2.10535585e+02] [ 8.95462865e-01 -4.44987832e-01 -1.14928721e-02 -2.84931615e+02] [-1.28135512e-02 4.01568037e-05 -9.99917902e-01 -1.80549896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 914.4665599949999 meters 0.01296914448637613 Centerline is valid? [True, True] Translation: X:-210.53, Y:-284.93, Z:-1.81 [[ 3.75150778e-01 9.26951773e-01 -4.72282822e-03 -2.10529781e+02] [ 9.26876184e-01 -3.75180499e-01 -1.18377934e-02 -2.84934647e+02] [-1.27449766e-02 6.34803842e-05 -9.99918778e-01 -1.80550514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 914.496559995 meters 0.013232572212319941 Centerline is valid? [True, True] Translation: X:-210.52, Y:-284.94, Z:-1.81 [[ 3.03468796e-01 9.52832462e-01 -4.12183426e-03 -2.10524027e+02] [ 9.52740068e-01 -3.03496770e-01 -1.32692517e-02 -2.84936946e+02] [-1.38943372e-02 9.97671894e-05 -9.99903464e-01 -1.80521978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 914.526559995 meters 0.013137065908562406 Centerline is valid? [True, True] Translation: X:-210.51, Y:-284.94, Z:-1.81 [[ 2.28382466e-01 9.73566046e-01 -3.25640724e-03 -2.10514448e+02] [ 9.73459903e-01 -2.28405652e-01 -1.43761832e-02 -2.84939587e+02] [-1.47399456e-02 1.13286285e-04 -9.99891355e-01 -1.80541888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 914.5565599949999 meters 0.013280568441316101 Centerline is valid? [True, True] Translation: X:-210.51, Y:-284.94, Z:-1.80 [[ 1.51803071e-01 9.88408470e-01 -2.12692333e-03 -2.10505567e+02] [ 9.88300106e-01 -1.51817923e-01 -1.46361875e-02 -2.84941920e+02] [-1.47894368e-02 1.19779660e-04 -9.99890623e-01 -1.80484337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 914.5865599949999 meters 0.013195772377621613 Centerline is valid? [True, True] Translation: X:-210.50, Y:-284.94, Z:-1.80 [[ 7.28034708e-02 9.97345842e-01 -9.62234672e-04 -2.10496458e+02] [ 9.97239201e-01 -7.28097576e-02 -1.45847936e-02 -2.84943894e+02] [-1.46161434e-02 1.02245462e-04 -9.99893173e-01 -1.80460638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 914.616559995 meters 0.013011319375458824 Centerline is valid? [True, True] Translation: X:-210.49, Y:-284.94, Z:-1.81 [[-6.82952096e-03 9.99976663e-01 1.78175957e-04 -2.10487954e+02] [ 9.99875072e-01 6.83136689e-03 -1.42538871e-02 -2.84944829e+02] [-1.42547716e-02 8.08064773e-05 -9.99898392e-01 -1.80502881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 914.646559995 meters 0.01273107706808344 Centerline is valid? [True, True] Translation: X:-210.48, Y:-284.94, Z:-1.81 [[-8.64099047e-02 9.96258858e-01 1.27167481e-03 -2.10478538e+02] [ 9.96161202e-01 8.64192398e-02 -1.39490020e-02 -2.84944759e+02] [-1.40067140e-02 6.14611757e-05 -9.99901899e-01 -1.80563894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 914.6765599949999 meters 0.012942405159774208 Centerline is valid? [True, True] Translation: X:-210.47, Y:-284.94, Z:-1.80 [[-1.65812155e-01 9.86154501e-01 2.37259454e-03 -2.10470127e+02] [ 9.86056848e-01 1.65829125e-01 -1.38778215e-02 -2.84944575e+02] [-1.40791214e-02 3.84016014e-05 -9.99900884e-01 -1.80417621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 914.7065599949999 meters 0.012555107260730274 Centerline is valid? [True, True] Translation: X:-210.46, Y:-284.94, Z:-1.81 [[-2.46325547e-01 9.69180696e-01 3.53609692e-03 -2.10460540e+02] [ 9.69079868e-01 2.46350926e-01 -1.39796523e-02 -2.84943207e+02] [-1.44199299e-02 -1.67851689e-05 -9.99896027e-01 -1.80590907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 914.736559995 meters 0.012604818057654977 Centerline is valid? [True, True] Translation: X:-210.45, Y:-284.94, Z:-1.81 [[-3.25072339e-01 9.45678103e-01 4.57158475e-03 -2.10451534e+02] [ 9.45581504e-01 3.25104476e-01 -1.35166357e-02 -2.84940645e+02] [-1.42686291e-02 -7.10784013e-05 -9.99898196e-01 -1.80694217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 914.766559995 meters 0.012622190602303645 Centerline is valid? [True, True] Translation: X:-210.44, Y:-284.94, Z:-1.81 [[-4.00029055e-01 9.16486809e-01 5.35574665e-03 -2.10442970e+02] [ 9.16401471e-01 4.00064895e-01 -1.25069950e-02 -2.84936961e+02] [-1.36051421e-02 -9.51472725e-05 -9.99907441e-01 -1.80788297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 914.7965599949999 meters 0.012841451937345238 Centerline is valid? [True, True] Translation: X:-210.44, Y:-284.93, Z:-1.81 [[-4.72245056e-01 8.81446148e-01 6.10702948e-03 -2.10435154e+02] [ 8.81369236e-01 4.72284528e-01 -1.16445046e-02 -2.84933082e+02] [-1.31482592e-02 -1.16511818e-04 -9.99913551e-01 -1.80824950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 914.8265599949999 meters 0.012987735141089307 Centerline is valid? [True, True] Translation: X:-210.43, Y:-284.93, Z:-1.81 [[-5.41300326e-01 8.40798818e-01 7.16274832e-03 -2.10428181e+02] [ 8.40721684e-01 5.41347695e-01 -1.13895948e-02 -2.84927677e+02] [-1.34538952e-02 -1.43313561e-04 -9.99909482e-01 -1.80833161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 914.856559995 meters 0.013288560037878296 Centerline is valid? [True, True] Translation: X:-210.42, Y:-284.92, Z:-1.81 [[-6.07867832e-01 7.93998674e-01 7.92493127e-03 -2.10419939e+02] [ 7.93927286e-01 6.07919462e-01 -1.06485509e-02 -2.84920217e+02] [-1.32726552e-02 -1.81092354e-04 -9.99911898e-01 -1.80890524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 914.886559995 meters 0.013571088724277421 Centerline is valid? [True, True] Translation: X:-210.41, Y:-284.91, Z:-1.81 [[-6.69234469e-01 7.43002945e-01 8.47643677e-03 -2.10412911e+02] [ 7.42939661e-01 6.69288119e-01 -9.69913350e-03 -2.84914065e+02] [-1.28796632e-02 -1.93513393e-04 -9.99917035e-01 -1.80851383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 914.916559995 meters 0.013838336825648544 Centerline is valid? [True, True] Translation: X:-210.41, Y:-284.91, Z:-1.81 [[-7.26093478e-01 6.87536215e-01 9.06729045e-03 -2.10407632e+02] [ 6.87479075e-01 7.26150062e-01 -8.86615743e-03 -2.84907084e+02] [-1.26800178e-02 -2.04086625e-04 -9.99919585e-01 -1.80851520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 914.9465599949999 meters 0.014415979316861963 Centerline is valid? [True, True] Translation: X:-210.39, Y:-284.89, Z:-1.81 [[-7.73823376e-01 6.33329966e-01 9.51510010e-03 -2.10385707e+02] [ 6.33278605e-01 7.73881843e-01 -8.06857194e-03 -2.84886633e+02] [-1.24736316e-02 -2.17940255e-04 -9.99922178e-01 -1.80826521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 914.9765599949999 meters 0.013999287797874765 Centerline is valid? [True, True] Translation: X:-210.37, Y:-284.87, Z:-1.81 [[-8.16828091e-01 5.76793344e-01 1.00651804e-02 -2.10367915e+02] [ 5.76746209e-01 8.16890072e-01 -7.37706978e-03 -2.84866192e+02] [-1.24771907e-02 -2.20743163e-04 -9.99922133e-01 -1.80853764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 915.006559995 meters 0.01398102771375856 Centerline is valid? [True, True] Translation: X:-210.00, Y:-284.37, Z:-2.78 [[-7.53511158e-01 -6.57361217e-01 9.85722934e-03 -2.10002458e+02] [ 6.57309292e-01 -7.53575589e-01 -8.26599664e-03 -2.84370469e+02] [ 1.28619130e-02 2.50727735e-04 9.99917251e-01 -2.77635919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 915.036559995 meters 0.014049981042711036 Centerline is valid? [True, True] Translation: X:-210.41, Y:-284.84, Z:-1.81 [[-8.18678232e-01 5.74154661e-01 1.06008524e-02 -2.10407707e+02] [ 5.74102917e-01 8.18746831e-01 -7.71150667e-03 -2.84838913e+02] [-1.31070118e-02 -2.27262371e-04 -9.99914074e-01 -1.80824523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 915.0665599949999 meters 0.013891340174157987 Centerline is valid? [True, True] Translation: X:-210.04, Y:-284.35, Z:-2.78 [[-7.56909422e-01 -6.53434892e-01 1.05342125e-02 -2.10035378e+02] [ 6.53376563e-01 -7.56982674e-01 -8.73491237e-03 -2.84345209e+02] [ 1.36819128e-02 2.71270048e-04 9.99906362e-01 -2.77724588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 915.0965599949999 meters 0.013921178606691145 Centerline is valid? [True, True] Translation: X:-210.44, Y:-284.82, Z:-1.81 [[-8.19650429e-01 5.72744934e-01 1.16796597e-02 -2.10442058e+02] [ 5.72682906e-01 8.19733610e-01 -8.43199209e-03 -2.84817384e+02] [-1.44035904e-02 -2.22544463e-04 -9.99896238e-01 -1.80676846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 915.126559995 meters 0.013562994818352122 Centerline is valid? [True, True] Translation: X:-210.43, Y:-284.80, Z:-1.81 [[-8.57789719e-01 5.13838797e-01 1.29030576e-02 -2.10426072e+02] [ 5.13776722e-01 8.57886730e-01 -7.98993368e-03 -2.84796510e+02] [-1.51748998e-02 -2.24392346e-04 -9.99884830e-01 -1.80654932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 915.156559995 meters 0.013587951454318336 Centerline is valid? [True, True] Translation: X:-210.41, Y:-284.77, Z:-1.80 [[-8.91529526e-01 4.52732131e-01 1.44472333e-02 -2.10412687e+02] [ 4.52668603e-01 8.91646548e-01 -7.58741126e-03 -2.84774157e+02] [-1.63168906e-02 -2.24592222e-04 -9.99866846e-01 -1.80484305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 915.1865599949999 meters 0.013555293736028819 Centerline is valid? [True, True] Translation: X:-210.40, Y:-284.75, Z:-1.80 [[-9.21174171e-01 3.88859100e-01 1.50581311e-02 -2.10400987e+02] [ 3.88803273e-01 9.21297212e-01 -6.59261095e-03 -2.84750251e+02] [-1.64366109e-02 -2.18292273e-04 -9.99864886e-01 -1.80439659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 915.2165599949999 meters 0.013498274582724037 Centerline is valid? [True, True] Translation: X:-210.40, Y:-284.72, Z:-1.80 [[-9.46324787e-01 3.22834998e-01 1.57149837e-02 -2.10396731e+02] [ 3.22786663e-01 9.46455237e-01 -5.59050739e-03 -2.84723373e+02] [-1.66783400e-02 -2.17848577e-04 -9.99860883e-01 -1.80436426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 915.246559995 meters 0.013477344809972099 Centerline is valid? [True, True] Translation: X:-210.39, Y:-284.70, Z:-1.80 [[-9.66799937e-01 2.55046611e-01 1.57831801e-02 -2.10393602e+02] [ 2.55009049e-01 9.66928736e-01 -4.38222876e-03 -2.84697242e+02] [-1.63788830e-02 -2.11884734e-04 -9.99865835e-01 -1.80431926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 915.276559995 meters 0.013515438123519491 Centerline is valid? [True, True] Translation: X:-210.21, Y:-284.09, Z:-2.78 [[-9.38870722e-01 -3.43909350e-01 1.57520147e-02 -2.10214805e+02] [ 3.43865155e-01 -9.39002824e-01 -5.51831996e-03 -2.84087901e+02] [ 1.66889881e-02 2.35579931e-04 9.99860702e-01 -2.78070777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 915.3065599949999 meters 0.013261880558497344 Centerline is valid? [True, True] Translation: X:-210.43, Y:-284.69, Z:-1.80 [[-9.67792321e-01 2.51210247e-01 1.64752862e-02 -2.10434349e+02] [ 2.51169910e-01 9.67932519e-01 -4.50719011e-03 -2.84690487e+02] [-1.70792176e-02 -2.23927830e-04 -9.99854115e-01 -1.80471307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 915.3365599949999 meters 0.013557488894315952 Centerline is valid? [True, True] Translation: X:-210.27, Y:-284.07, Z:-2.78 [[-9.40000836e-01 -3.40780447e-01 1.63436619e-02 -2.10265955e+02] [ 3.40733387e-01 -9.40142877e-01 -5.66832045e-03 -2.84070745e+02] [ 1.72970301e-02 2.40605312e-04 9.99850366e-01 -2.78077551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 915.366559995 meters 0.01352000752470683 Centerline is valid? [True, True] Translation: X:-210.49, Y:-284.68, Z:-1.81 [[-9.69049103e-01 2.46345857e-01 1.60485317e-02 -2.10485156e+02] [ 2.46308026e-01 9.69181956e-01 -4.32357237e-03 -2.84681207e+02] [-1.66190415e-02 -2.36871753e-04 -9.99861866e-01 -1.80579175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 915.396559995 meters 0.01352000752470683 Centerline is valid? [True, True] Translation: X:-210.31, Y:-284.06, Z:-2.78 [[-9.41056593e-01 -3.37884524e-01 1.57015124e-02 -2.10313539e+02] [ 3.37841662e-01 -9.41187544e-01 -5.38688871e-03 -2.84055331e+02] [ 1.65982143e-02 2.35257923e-04 9.99862213e-01 -2.77913921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 915.4265599949999 meters 0.013476896838892905 Centerline is valid? [True, True] Translation: X:-210.53, Y:-284.67, Z:-1.81 [[-9.70111509e-01 2.42154413e-01 1.56493139e-02 -2.10531354e+02] [ 2.42118951e-01 9.70237694e-01 -4.15091591e-03 -2.84670774e+02] [-1.61887169e-02 -2.37855825e-04 -9.99868926e-01 -1.80634591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 915.4565599949999 meters 0.013611503635401735 Centerline is valid? [True, True] Translation: X:-210.53, Y:-284.64, Z:-1.81 [[-9.84964791e-01 1.72080913e-01 1.52486215e-02 -2.10529487e+02] [ 1.72056542e-01 9.85082790e-01 -2.90580665e-03 -2.84643345e+02] [-1.55211885e-02 -2.38492139e-04 -9.99879511e-01 -1.80655837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 915.486559995 meters 0.013795373662321423 Centerline is valid? [True, True] Translation: X:-210.52, Y:-284.62, Z:-1.81 [[-9.94767706e-01 1.01090648e-01 1.47611952e-02 -2.10523160e+02] [ 1.01075974e-01 9.94877191e-01 -1.73870286e-03 -2.84616766e+02] [-1.48613430e-02 -2.37603272e-04 -9.99889536e-01 -1.80679575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 915.516559995 meters 0.014041037420486934 Centerline is valid? [True, True] Translation: X:-210.53, Y:-284.59, Z:-1.81 [[-9.99474942e-01 2.90990293e-02 1.42508362e-02 -2.10526089e+02] [ 2.90925935e-02 9.99576504e-01 -6.58752903e-04 -2.84588984e+02] [-1.42639700e-02 -2.43813236e-04 -9.99898235e-01 -1.80713834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 915.5465599949999 meters 0.01429715108210134 Centerline is valid? [True, True] Translation: X:-210.50, Y:-283.94, Z:-2.78 [[-9.91258409e-01 -1.31250475e-01 1.34193465e-02 -2.10498962e+02] [ 1.31240922e-01 -9.91349222e-01 -1.59390996e-03 -2.83936331e+02] [ 1.35124602e-02 1.81190751e-04 9.99908686e-01 -2.77767357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 915.5765599949999 meters 0.0152203281659867 Centerline is valid? [True, True] Translation: X:-210.60, Y:-284.58, Z:-1.81 [[-9.99709473e-01 2.04359578e-02 1.27805218e-02 -2.10597496e+02] [ 2.04308323e-02 9.99791128e-01 -5.31495139e-04 -2.84584912e+02] [-1.27887139e-02 -2.70224029e-04 -9.99918185e-01 -1.80677205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 915.606559995 meters 0.015998148480908105 Centerline is valid? [True, True] Translation: X:-210.60, Y:-284.56, Z:-1.81 [[-9.98555053e-01 -5.21748730e-02 1.28681446e-02 -2.10599548e+02] [-5.21742924e-02 9.98637921e-01 3.81046503e-04 -2.84557027e+02] [-1.28704982e-02 -2.90890426e-04 -9.99917130e-01 -1.80617259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 915.636559995 meters 0.015969533649760885 Centerline is valid? [True, True] Translation: X:-210.62, Y:-283.90, Z:-2.78 [[-9.97916421e-01 -6.31703960e-02 1.31270228e-02 -2.10619542e+02] [ 6.31690790e-02 -9.98002706e-01 -5.15347507e-04 -2.83903948e+02] [ 1.31333590e-02 3.14948203e-04 9.99913704e-01 -2.77825027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 915.666559995 meters 0.016736201995107388 Centerline is valid? [True, True] Translation: X:-210.68, Y:-284.56, Z:-1.81 [[-9.98036911e-01 -6.12264959e-02 1.31773064e-02 -2.10678994e+02] [-6.12257984e-02 9.98123837e-01 4.56718002e-04 -2.84560916e+02] [-1.31805469e-02 -3.50969683e-04 -9.99913071e-01 -1.80635141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 915.6965599949999 meters 0.01824959539405378 Centerline is valid? [True, True] Translation: X:-210.69, Y:-284.53, Z:-1.81 [[-9.90970505e-01 -1.33396520e-01 1.35213571e-02 -2.10686553e+02] [-1.33389324e-01 9.91062674e-01 1.43671735e-03 -2.84532452e+02] [-1.35921654e-02 -3.79860163e-04 -9.99907550e-01 -1.80542546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 915.7265599949999 meters 0.017213629338729917 Centerline is valid? [True, True] Translation: X:-210.75, Y:-283.88, Z:-2.78 [[-9.99864342e-01 9.39728140e-03 1.35273697e-02 -2.10751688e+02] [-9.39136064e-03 -9.99955775e-01 5.01144927e-04 -2.83881949e+02] [ 1.35314808e-02 3.74036535e-04 9.99908376e-01 -2.77870542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 915.756559995 meters 0.017507194314612527 Centerline is valid? [True, True] Translation: X:-210.78, Y:-284.54, Z:-1.81 [[-9.89870631e-01 -1.41323245e-01 1.35600553e-02 -2.10781450e+02] [-1.41315636e-01 9.89963420e-01 1.52246124e-03 -2.84544591e+02] [-1.36391179e-02 -4.09208176e-04 -9.99906899e-01 -1.80606032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 915.786559995 meters 0.018607004389438964 Centerline is valid? [True, True] Translation: X:-210.85, Y:-283.89, Z:-2.78 [[-9.99822278e-01 1.29908904e-02 1.36619964e-02 -2.10852494e+02] [-1.29840457e-02 -9.99915530e-01 5.89591441e-04 -2.83891134e+02] [ 1.36685016e-02 4.12098673e-04 9.99906497e-01 -2.77917949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 915.8165599949999 meters 0.018943851715264273 Centerline is valid? [True, True] Translation: X:-210.88, Y:-284.56, Z:-1.81 [[-9.88656805e-01 -1.49553846e-01 1.38336143e-02 -2.10877830e+02] [-1.49545539e-01 9.88753481e-01 1.63883012e-03 -2.84555263e+02] [-1.39231277e-02 -4.48514758e-04 -9.99902968e-01 -1.80580997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 915.8465599949999 meters 0.019899183904149565 Centerline is valid? [True, True] Translation: X:-210.90, Y:-284.53, Z:-1.81 [[-9.75339946e-01 -2.20304273e-01 1.33423112e-02 -2.10896682e+02] [-2.20289893e-01 9.75431099e-01 2.55628115e-03 -2.84529908e+02] [-1.35776650e-02 -4.45933200e-04 -9.99907720e-01 -1.80524963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 915.876559995 meters 0.01989804057134086 Centerline is valid? [True, True] Translation: X:-210.91, Y:-284.51, Z:-1.80 [[-9.56756424e-01 -2.90602351e-01 1.29390832e-02 -2.10912596e+02] [-2.90582094e-01 9.56843808e-01 3.46045757e-03 -2.84506485e+02] [-1.33862987e-02 -4.49050863e-04 -9.99910299e-01 -1.80472455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 915.906559995 meters 0.02012740240785023 Centerline is valid? [True, True] Translation: X:-210.95, Y:-284.49, Z:-1.80 [[-9.33409258e-01 -3.58598949e-01 1.24076793e-02 -2.10949663e+02] [-3.58573439e-01 9.33491620e-01 4.29944491e-03 -2.84490066e+02] [-1.31242411e-02 -4.35922546e-04 -9.99913779e-01 -1.80421627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 915.9365599949999 meters 0.019384855226479217 Centerline is valid? [True, True] Translation: X:-211.01, Y:-284.49, Z:-1.80 [[-9.04759658e-01 -4.25757740e-01 1.18451770e-02 -2.11008707e+02] [-4.25727296e-01 9.04837096e-01 5.10878155e-03 -2.84485686e+02] [-1.28930588e-02 -4.20595717e-04 -9.99916793e-01 -1.80429163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 915.9665599949999 meters 0.019699315183757414 Centerline is valid? [True, True] Translation: X:-211.08, Y:-284.49, Z:-1.80 [[-8.71395946e-01 -4.90445401e-01 1.15071523e-02 -2.11078502e+02] [-4.90408820e-01 8.71471824e-01 6.00414152e-03 -2.84489494e+02] [-1.29728626e-02 -4.11224414e-04 -9.99915764e-01 -1.80384874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 915.996559995 meters 0.018705825836138737 Centerline is valid? [True, True] Translation: X:-211.15, Y:-284.50, Z:-1.80 [[-8.33208172e-01 -5.52852134e-01 1.08931172e-02 -2.11147060e+02] [-5.52810935e-01 8.33279285e-01 6.76038213e-03 -2.84500064e+02] [-1.28145006e-02 -3.89028657e-04 -9.99917815e-01 -1.80393463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 916.026559995 meters 0.017428232119829478 Centerline is valid? [True, True] Translation: X:-211.24, Y:-284.53, Z:-1.81 [[-7.91363239e-01 -6.11268504e-01 9.74885537e-03 -2.11237086e+02] [-6.11227286e-01 7.91423214e-01 7.10639707e-03 -2.84534131e+02] [-1.20593872e-02 -3.35025013e-04 -9.99927227e-01 -1.80513171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 916.0565599949999 meters 0.016835247513893273 Centerline is valid? [True, True] Translation: X:-211.32, Y:-284.57, Z:-1.81 [[-7.43437881e-01 -6.68746041e-01 8.87970192e-03 -2.11316818e+02] [-6.68703400e-01 7.43490841e-01 7.55852839e-03 -2.84565211e+02] [-1.16567130e-02 -3.18590532e-04 -9.99932008e-01 -1.80606691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 916.0865599949999 meters 0.016720352923995922 Centerline is valid? [True, True] Translation: X:-211.38, Y:-284.59, Z:-1.81 [[-6.90579600e-01 -7.23210769e-01 8.12396614e-03 -2.11384475e+02] [-7.23165970e-01 6.90627313e-01 8.05572165e-03 -2.84591335e+02] [-1.14366176e-02 -3.11858815e-04 -9.99934551e-01 -1.80640246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 916.116559995 meters 0.01648866791489483 Centerline is valid? [True, True] Translation: X:-211.47, Y:-284.64, Z:-1.81 [[-6.34874231e-01 -7.72581850e-01 7.21078497e-03 -2.11469343e+02] [-7.72537041e-01 6.34915115e-01 8.32569355e-03 -2.84643408e+02] [-1.10105161e-02 -2.84830193e-04 -9.99939342e-01 -1.80616246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 916.146559995 meters 0.015914401891198148 Centerline is valid? [True, True] Translation: X:-211.55, Y:-284.70, Z:-1.81 [[-5.74951314e-01 -8.18162661e-01 6.39117810e-03 -2.11549674e+02] [-8.18117252e-01 5.74986772e-01 8.62403185e-03 -2.84701826e+02] [-1.07307037e-02 -2.70334625e-04 -9.99942388e-01 -1.80619391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 916.1765599949999 meters 0.015886032223999806 Centerline is valid? [True, True] Translation: X:-211.63, Y:-284.78, Z:-1.81 [[-5.11291250e-01 -8.59388473e-01 5.71924527e-03 -2.11632192e+02] [-8.59340416e-01 5.11323168e-01 9.09223647e-03 -2.84775324e+02] [-1.07381458e-02 -2.65997657e-04 -9.99942309e-01 -1.80604128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 916.2065599949999 meters 0.016227022677309754 Centerline is valid? [True, True] Translation: X:-211.71, Y:-284.85, Z:-1.81 [[-4.44694285e-01 -8.95668490e-01 4.99496725e-03 -2.11706768e+02] [-8.95618367e-01 4.44722262e-01 9.47898754e-03 -2.84849608e+02] [-1.07114036e-02 -2.58332824e-04 -9.99942598e-01 -1.80557022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 916.236559995 meters 0.015532537398023663 Centerline is valid? [True, True] Translation: X:-211.78, Y:-284.95, Z:-1.81 [[-3.76884519e-01 -9.26250837e-01 4.17701646e-03 -2.11783899e+02] [-9.26200568e-01 3.76907594e-01 9.65266122e-03 -2.84952132e+02] [-1.05151348e-02 -2.30816432e-04 -9.99944688e-01 -1.80557547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 916.266559995 meters 0.015083655945246065 Centerline is valid? [True, True] Translation: X:-211.84, Y:-285.03, Z:-1.81 [[-3.06181285e-01 -9.51967552e-01 3.28653557e-03 -2.11841567e+02] [-9.51919668e-01 3.06198855e-01 9.55024632e-03 -2.85028635e+02] [-1.00978580e-02 -2.04411161e-04 -9.99948995e-01 -1.80552910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 916.2965599949999 meters 0.014429391017324548 Centerline is valid? [True, True] Translation: X:-211.90, Y:-285.13, Z:-1.80 [[-2.36276971e-01 -9.71682534e-01 2.49941364e-03 -2.11898639e+02] [-9.71635051e-01 2.36290138e-01 9.60718225e-03 -2.85131024e+02] [-9.92571798e-03 -1.58561970e-04 -9.99950726e-01 -1.80467719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 916.3265599949999 meters 0.01384770086037537 Centerline is valid? [True, True] Translation: X:-211.95, Y:-285.23, Z:-1.81 [[-1.62965196e-01 -9.86630346e-01 1.70440298e-03 -2.11947000e+02] [-9.86584615e-01 1.62974054e-01 9.50023339e-03 -2.85232215e+02] [-9.65099202e-03 -1.33330355e-04 -9.99953419e-01 -1.80515070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 916.356559995 meters 0.014023874371389949 Centerline is valid? [True, True] Translation: X:-211.99, Y:-285.35, Z:-1.81 [[-8.80087429e-02 -9.96119241e-01 9.58704636e-04 -2.11991239e+02] [-9.96073879e-01 8.80138850e-02 9.50706407e-03 -2.85350591e+02] [-9.55454876e-03 -1.18235888e-04 -9.99954347e-01 -1.80500048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 916.386559995 meters 0.013359802846160932 Centerline is valid? [True, True] Translation: X:-212.02, Y:-285.46, Z:-1.81 [[-1.30394713e-02 -9.99914961e-01 2.08828427e-04 -2.12023045e+02] [-9.99874903e-01 1.30408182e-02 8.95073596e-03 -2.85458650e+02] [-8.95269809e-03 -9.20894388e-05 -9.99959920e-01 -1.80619359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 916.416559995 meters 0.01339349416340111 Centerline is valid? [True, True] Translation: X:-212.05, Y:-285.58, Z:-1.81 [[ 6.28656175e-02 -9.98021893e-01 -4.64671237e-04 -2.12048899e+02] [-9.97984684e-01 -6.28672863e-02 8.61833740e-03 -2.85578027e+02] [-8.63050202e-03 -7.80623241e-05 -9.99962754e-01 -1.80567565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 916.4465599949999 meters 0.013033167596195553 Centerline is valid? [True, True] Translation: X:-212.06, Y:-285.70, Z:-1.81 [[ 1.38570332e-01 -9.90351962e-01 -1.12042971e-03 -2.12064939e+02] [-9.90315475e-01 -1.38574845e-01 8.50130342e-03 -2.85696492e+02] [-8.57454589e-03 -6.84495600e-05 -9.99963236e-01 -1.80603596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 916.4765599949999 meters 0.012821387477368685 Centerline is valid? [True, True] Translation: X:-212.07, Y:-285.82, Z:-1.81 [[ 2.13751030e-01 -9.76886473e-01 -1.82101554e-03 -2.12071551e+02] [-9.76848446e-01 -2.13758777e-01 8.61964955e-03 -2.85821621e+02] [-8.80967710e-03 -6.36027653e-05 -9.99961192e-01 -1.80616774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 916.506559995 meters 0.012775329971493988 Centerline is valid? [True, True] Translation: X:-212.07, Y:-285.94, Z:-1.81 [[ 2.88233481e-01 -9.57556858e-01 -2.51477582e-03 -2.12071988e+02] [-9.57518470e-01 -2.88244444e-01 8.57442486e-03 -2.85935932e+02] [-8.93536949e-03 -6.34920329e-05 -9.99960077e-01 -1.80583595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 916.536559995 meters 0.012844081458561842 Centerline is valid? [True, True] Translation: X:-212.06, Y:-286.05, Z:-1.81 [[ 3.61262505e-01 -9.32458541e-01 -3.23613792e-03 -2.12062166e+02] [-9.32419470e-01 -3.61276993e-01 8.53619516e-03 -2.86054078e+02] [-9.12879026e-03 -6.63692411e-05 -9.99958330e-01 -1.80566431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 916.5665599949999 meters 0.012855249657160138 Centerline is valid? [True, True] Translation: X:-212.04, Y:-286.17, Z:-1.81 [[ 4.31705040e-01 -9.02006678e-01 -3.83543535e-03 -2.12043494e+02] [-9.01969765e-01 -4.31722073e-01 8.16057259e-03 -2.86170117e+02] [-9.01673308e-03 -6.35135948e-05 -9.99959347e-01 -1.80560900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 916.5965599949999 meters 0.012905823599546621 Centerline is valid? [True, True] Translation: X:-212.01, Y:-286.29, Z:-1.81 [[ 4.99674102e-01 -8.66200443e-01 -4.75228116e-03 -2.12010864e+02] [-8.66159978e-01 -4.99696696e-01 8.37288019e-03 -2.86294640e+02] [-9.62729172e-03 -6.74756478e-05 -9.99953654e-01 -1.80532980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 916.626559995 meters 0.012802667640157691 Centerline is valid? [True, True] Translation: X:-211.98, Y:-286.40, Z:-1.81 [[ 5.64791921e-01 -8.25216019e-01 -5.34863195e-03 -2.11975965e+02] [-8.25177862e-01 -5.64817243e-01 7.93591117e-03 -2.86402672e+02] [-9.56984058e-03 -6.85658356e-05 -9.99954206e-01 -1.80625554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 916.656559995 meters 0.012800954606534678 Centerline is valid? [True, True] Translation: X:-211.94, Y:-286.50, Z:-1.81 [[ 6.26697153e-01 -7.79238636e-01 -6.15026216e-03 -2.11941257e+02] [-7.79199909e-01 -6.26727326e-01 7.76919922e-03 -2.86499525e+02] [-9.90859757e-03 -7.66513232e-05 -9.99950906e-01 -1.80721983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 916.6865599949999 meters 0.012947242791150936 Centerline is valid? [True, True] Translation: X:-211.89, Y:-286.60, Z:-1.81 [[ 6.84921800e-01 -7.28586135e-01 -6.66132800e-03 -2.11893389e+02] [-7.28550497e-01 -6.84954187e-01 7.20668188e-03 -2.86600153e+02] [-9.81339299e-03 -8.28996985e-05 -9.99951844e-01 -1.80712047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 916.7165599949999 meters 0.012957799218001378 Centerline is valid? [True, True] Translation: X:-211.83, Y:-286.70, Z:-1.81 [[ 7.38928872e-01 -6.73742215e-01 -7.45316806e-03 -2.11834268e+02] [-6.73706669e-01 -7.38966454e-01 6.92134054e-03 -2.86701074e+02] [-1.01708405e-02 -9.31293357e-05 -9.99948271e-01 -1.80713552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 916.746559995 meters 0.013075984014582242 Centerline is valid? [True, True] Translation: X:-211.84, Y:-286.71, Z:-1.81 [[ 7.89492795e-01 -6.13706354e-01 -8.10176982e-03 -2.11837467e+02] [-6.13672766e-01 -7.89534358e-01 6.42138433e-03 -2.86708709e+02] [-1.03374700e-02 -9.78011610e-05 -9.99946562e-01 -1.80704568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 916.776559995 meters 0.013204914375757607 Centerline is valid? [True, True] Translation: X:-211.84, Y:-286.72, Z:-1.81 [[ 8.35223297e-01 -5.49842726e-01 -8.66145167e-03 -2.11840678e+02] [-5.49811888e-01 -8.35268200e-01 5.82424502e-03 -2.86715619e+02] [-1.04370539e-02 -1.02376031e-04 -9.99945527e-01 -1.80658976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 916.8065599949999 meters 0.013291254814557705 Centerline is valid? [True, True] Translation: X:-211.84, Y:-286.72, Z:-1.81 [[ 8.75635786e-01 -4.82878820e-01 -9.48767450e-03 -2.11841119e+02] [-4.82849152e-01 -8.75687178e-01 5.35375268e-03 -2.86722791e+02] [-1.08934487e-02 -1.06821842e-04 -9.99940659e-01 -1.80625221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 916.8365599949999 meters 0.013327753103337631 Centerline is valid? [True, True] Translation: X:-211.84, Y:-286.73, Z:-1.81 [[ 9.10565939e-01 -4.13244782e-01 -9.92069631e-03 -2.11840979e+02] [-4.13219011e-01 -9.10619975e-01 4.61625884e-03 -2.86729342e+02] [-1.09416291e-02 -1.03987751e-04 -9.99940133e-01 -1.80618889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 916.866559995 meters 0.013220123903555871 Centerline is valid? [True, True] Translation: X:-211.84, Y:-286.74, Z:-1.81 [[ 9.39948350e-01 -3.41155493e-01 -1.04895321e-02 -2.11839889e+02] [-3.41133040e-01 -9.40006872e-01 3.91529312e-03 -2.86735062e+02] [-1.11959560e-02 -1.01847334e-04 -9.99937318e-01 -1.80629942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 916.896559995 meters 0.013214988145378312 Centerline is valid? [True, True] Translation: X:-211.84, Y:-286.74, Z:-1.81 [[ 9.63535789e-01 -2.67350110e-01 -1.10770963e-02 -2.11839756e+02] [-2.67331296e-01 -9.63599455e-01 3.17315493e-03 -2.86739670e+02] [-1.15222273e-02 -9.61938236e-05 -9.99933612e-01 -1.80667394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 916.9265599949999 meters 0.012809295557093939 Centerline is valid? [True, True] Translation: X:-211.84, Y:-286.75, Z:-1.81 [[ 9.81306303e-01 -1.92108097e-01 -1.15073519e-02 -2.11838446e+02] [-1.92093845e-01 -9.81373768e-01 2.34157700e-03 -2.86748511e+02] [-1.17428491e-02 -8.73128031e-05 -9.99931047e-01 -1.80766100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 916.9565599949999 meters 0.012676470677873228 Centerline is valid? [True, True] Translation: X:-211.84, Y:-286.76, Z:-1.81 [[ 9.93231970e-01 -1.15555777e-01 -1.17096598e-02 -2.11840303e+02] [-1.15546834e-01 -9.93300990e-01 1.43963560e-03 -2.86757865e+02] [-1.17975749e-02 -7.68779797e-05 -9.99930403e-01 -1.80786156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 916.986559995 meters 0.012607938536011026 Centerline is valid? [True, True] Translation: X:-211.84, Y:-286.77, Z:-1.81 [[ 9.99204763e-01 -3.79473835e-02 -1.22408095e-02 -2.11841581e+02] [-3.79436334e-02 -9.99279736e-01 5.38542046e-04 -2.86767330e+02] [-1.22524291e-02 -7.36529905e-05 -9.99924934e-01 -1.80797077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 917.016559995 meters 0.012607938536011026 Centerline is valid? [True, True] Translation: X:-211.84, Y:-286.78, Z:-1.81 [[ 9.99107975e-01 4.04141741e-02 -1.22453892e-02 -2.11842675e+02] [ 4.04120423e-02 -9.99183011e-01 -4.21584750e-04 -2.86776902e+02] [-1.22524229e-02 -7.36525015e-05 -9.99924934e-01 -1.80797082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 917.0465599949999 meters 0.012605036204482408 Centerline is valid? [True, True] Translation: X:-211.84, Y:-286.79, Z:-1.81 [[ 9.92912306e-01 1.18191088e-01 -1.24907562e-02 -2.11842243e+02] [ 1.18182640e-01 -9.92990867e-01 -1.41492787e-03 -2.86786165e+02] [-1.25704387e-02 -7.12912428e-05 -9.99920987e-01 -1.80810119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 917.0765599949999 meters 0.012597847773146417 Centerline is valid? [True, True] Translation: X:-211.84, Y:-286.79, Z:-1.81 [[ 9.80792110e-01 1.94598551e-01 -1.33507265e-02 -2.11841540e+02] [ 1.94581402e-01 -9.80882970e-01 -2.58424525e-03 -2.86794668e+02] [-1.35983906e-02 -6.31957289e-05 -9.99907536e-01 -1.80775545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 917.106559995 meters 0.012561089786205104 Centerline is valid? [True, True] Translation: X:-211.84, Y:-286.80, Z:-1.81 [[ 9.62725128e-01 2.70157907e-01 -1.32300140e-02 -2.11841412e+02] [ 2.70133180e-01 -9.62816027e-01 -3.65550078e-03 -2.86802695e+02] [-1.37256319e-02 -5.46232847e-05 -9.99905798e-01 -1.80743132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 917.136559995 meters 0.012516998926462018 Centerline is valid? [True, True] Translation: X:-211.84, Y:-286.81, Z:-1.81 [[ 9.38926243e-01 3.43855186e-01 -1.34581296e-02 -2.11839210e+02] [ 3.43820545e-01 -9.39022688e-01 -4.88098864e-03 -2.86811086e+02] [-1.43158423e-02 -4.42931265e-05 -9.99897522e-01 -1.80759886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 917.166559995 meters 0.012527063967138688 Centerline is valid? [True, True] Translation: X:-211.84, Y:-286.82, Z:-1.81 [[ 9.09386002e-01 4.15739699e-01 -1.33267658e-02 -2.11837591e+02] [ 4.15695641e-01 -9.09483646e-01 -6.05247042e-03 -2.86819021e+02] [-1.46367278e-02 -3.58465806e-05 -9.99892877e-01 -1.80713790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 917.1965599949999 meters 0.012472926851904079 Centerline is valid? [True, True] Translation: X:-211.83, Y:-286.83, Z:-1.81 [[ 8.74320899e-01 4.85169137e-01 -1.31861299e-02 -2.11834499e+02] [ 4.85114457e-01 -8.74420327e-01 -7.28394097e-03 -2.86825592e+02] [-1.50641634e-02 -2.82804448e-05 -9.99886529e-01 -1.80728340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 917.2265599949999 meters 0.01251459544750766 Centerline is valid? [True, True] Translation: X:-211.83, Y:-286.83, Z:-1.81 [[ 8.33963518e-01 5.51670233e-01 -1.28376117e-02 -2.11830868e+02] [ 5.51605253e-01 -8.34062320e-01 -8.46710874e-03 -2.86831974e+02] [-1.53784201e-02 -2.00342771e-05 -9.99881745e-01 -1.80781675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 917.256559995 meters 0.01255590109799404 Centerline is valid? [True, True] Translation: X:-211.83, Y:-286.84, Z:-1.81 [[ 7.88941755e-01 6.14339074e-01 -1.25861083e-02 -2.11828395e+02] [ 6.14260962e-01 -7.89042142e-01 -9.79634833e-03 -2.86837518e+02] [-1.59492494e-02 -2.40673861e-06 -9.99872803e-01 -1.80849294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 917.286559995 meters 0.01255590109799404 Centerline is valid? [True, True] Translation: X:-211.82, Y:-286.84, Z:-1.81 [[ 7.38403081e-01 6.74256716e-01 -1.17800913e-02 -2.11824816e+02] [ 6.74170981e-01 -7.38497042e-01 -1.07521075e-02 -2.86844251e+02] [-1.59492433e-02 -2.40641076e-06 -9.99872803e-01 -1.80849299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 917.3165599949999 meters 0.01249594254640781 Centerline is valid? [True, True] Translation: X:-211.82, Y:-286.85, Z:-1.81 [[ 6.83748149e-01 7.29631380e-01 -1.12480674e-02 -2.11820461e+02] [ 7.29532516e-01 -6.83840661e-01 -1.20107600e-02 -2.86850153e+02] [-1.64553133e-02 6.50400973e-06 -9.99864602e-01 -1.80948046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 917.3465599949999 meters 0.012545447411475175 Centerline is valid? [True, True] Translation: X:-211.82, Y:-286.86, Z:-1.81 [[ 6.25221382e-01 7.80380518e-01 -1.02210986e-02 -2.11816135e+02] [ 7.80275701e-01 -6.25304923e-01 -1.27899520e-02 -2.86856267e+02] [-1.63723326e-02 2.12765973e-05 -9.99865964e-01 -1.80987978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 917.376559995 meters 0.012581601361335574 Centerline is valid? [True, True] Translation: X:-211.81, Y:-286.86, Z:-1.81 [[ 5.62652179e-01 8.26645777e-01 -8.90421159e-03 -2.11811078e+02] [ 8.26541462e-01 -5.62722631e-01 -1.31321238e-02 -2.86861759e+02] [-1.58662161e-02 2.91180130e-05 -9.99874123e-01 -1.81041473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 917.406559995 meters 0.012551839632752335 Centerline is valid? [True, True] Translation: X:-211.81, Y:-286.87, Z:-1.81 [[ 4.96529141e-01 8.67984919e-01 -7.80977164e-03 -2.11806110e+02] [ 8.67876453e-01 -4.96590555e-01 -1.37216519e-02 -2.86867407e+02] [-1.57884458e-02 3.52831291e-05 -9.99875354e-01 -1.81085571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 917.4365599949999 meters 0.01256087712877751 Centerline is valid? [True, True] Translation: X:-211.80, Y:-286.87, Z:-1.81 [[ 4.28274132e-01 9.03624487e-01 -6.63743128e-03 -2.11801063e+02] [ 9.03513958e-01 -4.28325559e-01 -1.41330596e-02 -2.86872886e+02] [-1.56139602e-02 5.58120052e-05 -9.99878093e-01 -1.81203496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 917.4665599949999 meters 0.012582733106833983 Centerline is valid? [True, True] Translation: X:-211.80, Y:-286.88, Z:-1.81 [[ 3.56735696e-01 9.34190340e-01 -5.29645023e-03 -2.11795165e+02] [ 9.34084792e-01 -3.56775007e-01 -1.40426781e-02 -2.86877593e+02] [-1.50081753e-02 6.21909318e-05 -9.99887369e-01 -1.81286067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 917.496559995 meters 0.01262398480266917 Centerline is valid? [True, True] Translation: X:-211.79, Y:-286.88, Z:-1.81 [[ 2.83035312e-01 9.59101155e-01 -3.99839677e-03 -2.11789405e+02] [ 9.59002051e-01 -2.83063544e-01 -1.37875622e-02 -2.86881636e+02] [-1.43554672e-02 6.78962543e-05 -9.99896953e-01 -1.81336244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 917.526559995 meters 0.012554488503033036 Centerline is valid? [True, True] Translation: X:-211.78, Y:-286.89, Z:-1.82 [[ 2.08051649e-01 9.78113187e-01 -3.01746227e-03 -2.11781531e+02] [ 9.78004300e-01 -2.08073512e-01 -1.45946422e-02 -2.86885554e+02] [-1.49030659e-02 8.53483042e-05 -9.99888940e-01 -1.81531251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 917.5565599949999 meters 0.012743291963837569 Centerline is valid? [True, True] Translation: X:-211.77, Y:-286.89, Z:-1.82 [[ 1.31433523e-01 9.91323216e-01 -1.87351964e-03 -2.11774269e+02] [ 9.91211912e-01 -1.31446841e-01 -1.48551165e-02 -2.86889979e+02] [-1.49724901e-02 9.54053117e-05 -9.99887902e-01 -1.81541672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 917.5865599949999 meters 0.012679910860278832 Centerline is valid? [True, True] Translation: X:-211.77, Y:-286.89, Z:-1.82 [[ 5.40324460e-02 9.98538920e-01 -7.20618605e-04 -2.11765366e+02] [ 9.98421406e-01 -5.40371427e-02 -1.53193639e-02 -2.86893793e+02] [-1.53359212e-02 1.08261660e-04 -9.99882392e-01 -1.81623434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 917.616559995 meters 0.013041229766138524 Centerline is valid? [True, True] Translation: X:-211.76, Y:-286.90, Z:-1.82 [[-2.26338582e-02 9.99743690e-01 5.13589715e-04 -2.11756339e+02] [ 9.99609822e-01 2.26392323e-02 -1.63605932e-02 -2.86897940e+02] [-1.63680271e-02 1.43085976e-04 -9.99866025e-01 -1.81582419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 917.646559995 meters 0.01317694002565336 Centerline is valid? [True, True] Translation: X:-211.75, Y:-286.90, Z:-1.82 [[-1.00070961e-01 9.94978579e-01 1.85226225e-03 -2.11746974e+02] [ 9.94836632e-01 1.00087973e-01 -1.68069599e-02 -2.86900431e+02] [-1.69079543e-02 1.60809708e-04 -9.99857038e-01 -1.81582490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 917.6765599949999 meters 0.013461891498709452 Centerline is valid? [True, True] Translation: X:-211.74, Y:-286.90, Z:-1.82 [[-1.76766132e-01 9.84247330e-01 3.30589515e-03 -2.11738498e+02] [ 9.84094232e-01 1.76796946e-01 -1.73603455e-02 -2.86903241e+02] [-1.76713459e-02 1.84591232e-04 -9.99843833e-01 -1.81520000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 917.7065599949999 meters 0.013476014174356848 Centerline is valid? [True, True] Translation: X:-211.73, Y:-286.90, Z:-1.82 [[-2.52410394e-01 9.67608315e-01 4.81064312e-03 -2.11728366e+02] [ 9.67447936e-01 2.52456148e-01 -1.76177460e-02 -2.86904108e+02] [-1.82615540e-02 2.07144534e-04 -9.99833223e-01 -1.81593517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 917.736559995 meters 0.014007472885150269 Centerline is valid? [True, True] Translation: X:-211.72, Y:-286.91, Z:-1.82 [[-3.26444877e-01 9.45195015e-01 6.33444806e-03 -2.11719482e+02] [ 9.45030670e-01 3.26506247e-01 -1.76268101e-02 -2.86905379e+02] [-1.87290099e-02 2.32065843e-04 -9.99824570e-01 -1.81557008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 917.766559995 meters 0.01457407194696917 Centerline is valid? [True, True] Translation: X:-211.71, Y:-286.91, Z:-1.82 [[-3.97256449e-01 9.17672912e-01 7.98375338e-03 -2.11712465e+02] [ 9.17501931e-01 3.97336563e-01 -1.77161828e-02 -2.86905616e+02] [-1.94298982e-02 2.87241252e-04 -9.99811181e-01 -1.81616850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 917.7965599949999 meters 0.014419840655093134 Centerline is valid? [True, True] Translation: X:-211.70, Y:-286.90, Z:-1.82 [[-4.66935443e-01 8.84241499e-01 9.39486773e-03 -2.11702554e+02] [ 8.84075766e-01 4.67029844e-01 -1.71220634e-02 -2.86903814e+02] [-1.95277226e-02 3.10876607e-04 -9.99809268e-01 -1.81760514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 917.8265599949999 meters 0.01538288905957896 Centerline is valid? [True, True] Translation: X:-211.69, Y:-286.90, Z:-1.82 [[-5.33730965e-01 8.45586409e-01 1.07182891e-02 -2.11694603e+02] [ 8.45428378e-01 5.33838471e-01 -1.63506675e-02 -2.86902819e+02] [-1.95477373e-02 3.34688230e-04 -9.99808869e-01 -1.81690131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 917.856559995 meters 0.015130328969212238 Centerline is valid? [True, True] Translation: X:-211.69, Y:-286.90, Z:-1.82 [[-5.97481384e-01 8.01795980e-01 1.17984146e-02 -2.11685856e+02] [ 8.01651094e-01 5.97597762e-01 -1.52459305e-02 -2.86899214e+02] [-1.92748319e-02 3.49052301e-04 -9.99814162e-01 -1.81832232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 917.886559995 meters 0.014915608595262067 Centerline is valid? [True, True] Translation: X:-211.68, Y:-286.89, Z:-1.82 [[-6.57846314e-01 7.53050306e-01 1.23880403e-02 -2.11675952e+02] [ 7.52926658e-01 6.57962853e-01 -1.36503190e-02 -2.86894168e+02] [-1.84302472e-02 3.47473760e-04 -9.99830088e-01 -1.82023547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 917.916559995 meters 0.015719927402755768 Centerline is valid? [True, True] Translation: X:-211.67, Y:-286.89, Z:-1.82 [[-7.15079380e-01 6.98923091e-01 1.29612209e-02 -2.11667704e+02] [ 6.98816548e-01 7.15196760e-01 -1.22076377e-02 -2.86890187e+02] [-1.78020231e-02 3.28085673e-04 -9.99841478e-01 -1.81965993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 917.9465599949999 meters 0.014587518490911581 Centerline is valid? [True, True] Translation: X:-211.64, Y:-286.87, Z:-1.82 [[-7.63100263e-01 6.46142817e-01 1.33210095e-02 -2.11641059e+02] [ 6.46051312e-01 7.63216462e-01 -1.08781826e-02 -2.86872250e+02] [-1.71956733e-02 3.04911701e-04 -9.99852097e-01 -1.82212156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 917.9765599949999 meters 0.014134944599575861 Centerline is valid? [True, True] Translation: X:-211.62, Y:-286.85, Z:-1.82 [[-8.08642509e-01 5.88143884e-01 1.35670615e-02 -2.11622267e+02] [ 5.88066196e-01 8.08756275e-01 -9.56231064e-03 -2.86846501e+02] [-1.65964606e-02 2.45839389e-04 -9.99862239e-01 -1.82300228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 918.006559995 meters 0.013771799209999987 Centerline is valid? [True, True] Translation: X:-211.21, Y:-286.28, Z:-2.76 [[-7.84792011e-01 -6.19624774e-01 1.29088807e-02 -2.11214512e+02] [ 6.19535829e-01 -7.84898133e-01 -1.05013119e-02 -2.86277569e+02] [ 1.66390293e-02 -2.43831552e-04 9.99861532e-01 -2.76175874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 918.036559995 meters 0.01364123231315954 Centerline is valid? [True, True] Translation: X:-211.23, Y:-286.31, Z:-2.76 [[-7.39670102e-01 -6.72853939e-01 1.24786928e-02 -2.11232759e+02] [ 6.72754087e-01 -7.39775334e-01 -1.15928071e-02 -2.86305397e+02] [ 1.70316950e-02 -1.79761278e-04 9.99854934e-01 -2.76259112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 918.0665599949999 meters 0.012884048968950066 Centerline is valid? [True, True] Translation: X:-211.71, Y:-286.80, Z:-1.82 [[-7.75425596e-01 6.31279820e-01 1.41751384e-02 -2.11706508e+02] [ 6.31176729e-01 7.75555143e-01 -1.14086813e-02 -2.86804909e+02] [-1.81956718e-02 1.00433987e-04 -9.99834440e-01 -1.82158555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 918.0965599949999 meters 0.012786339894479769 Centerline is valid? [True, True] Translation: X:-211.69, Y:-286.78, Z:-1.82 [[-8.19559265e-01 5.72784637e-01 1.55038963e-02 -2.11686466e+02] [ 5.72683519e-01 8.19705897e-01 -1.07624405e-02 -2.86781088e+02] [-1.88731958e-02 5.83681053e-05 -9.99821884e-01 -1.82107411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 918.126559995 meters 0.01273515413355993 Centerline is valid? [True, True] Translation: X:-211.67, Y:-286.75, Z:-1.82 [[-8.59923079e-01 5.10144158e-01 1.68889337e-02 -2.11673636e+02] [ 5.10045535e-01 8.60088913e-01 -1.00306241e-02 -2.86750511e+02] [-1.96430489e-02 -1.14399348e-05 -9.99807057e-01 -1.81989154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 918.156559995 meters 0.012717255466728363 Centerline is valid? [True, True] Translation: X:-211.66, Y:-286.72, Z:-1.82 [[-8.94448668e-01 4.46835940e-01 1.72980415e-02 -2.11664385e+02] [ 4.46751650e-01 8.94615918e-01 -8.67881732e-03 -2.86721930e+02] [-1.93531108e-02 -3.48279918e-05 -9.99812711e-01 -1.82006500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 918.1865599949999 meters 0.012959478696582405 Centerline is valid? [True, True] Translation: X:-211.36, Y:-286.14, Z:-2.77 [[-8.60119818e-01 -5.09829789e-01 1.63549922e-02 -2.11362837e+02] [ 5.09737920e-01 -8.60275297e-01 -9.67813576e-03 -2.86136971e+02] [ 1.90039977e-02 1.24033630e-05 9.99819408e-01 -2.76648378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 918.2165599949999 meters 0.012619570520132097 Centerline is valid? [True, True] Translation: X:-211.70, Y:-286.70, Z:-1.82 [[-8.97121734e-01 4.41491474e-01 1.60583889e-02 -2.11701311e+02] [ 4.41419288e-01 8.97265442e-01 -7.98368829e-03 -2.86700432e+02] [-1.79333677e-02 -7.38576734e-05 -9.99839182e-01 -1.82083750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 918.246559995 meters 0.012691141307305755 Centerline is valid? [True, True] Translation: X:-211.70, Y:-286.67, Z:-1.82 [[-9.26399012e-01 3.76191684e-01 1.62691922e-02 -2.11695050e+02] [ 3.76132086e-01 9.26541855e-01 -6.69659987e-03 -2.86671699e+02] [-1.75932927e-02 -8.43583029e-05 -9.99845223e-01 -1.82067065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 918.276559995 meters 0.012659674709229926 Centerline is valid? [True, True] Translation: X:-211.44, Y:-286.08, Z:-2.76 [[-8.94579632e-01 -4.46658669e-01 1.49437362e-02 -2.11437462e+02] [ 4.46596799e-01 -8.94704439e-01 -7.43415067e-03 -2.86075128e+02] [ 1.66907549e-02 2.33849602e-05 9.99860700e-01 -2.76386043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 918.3065599949999 meters 0.01248990329602323 Centerline is valid? [True, True] Translation: X:-211.73, Y:-286.66, Z:-1.82 [[-9.28205703e-01 3.71757648e-01 1.51797253e-02 -2.11731392e+02] [ 3.71706268e-01 9.28329813e-01 -6.18130313e-03 -2.86656068e+02] [-1.63897383e-02 -9.51217798e-05 -9.99865675e-01 -1.82182867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 918.3365599949999 meters 0.012548061794533355 Centerline is valid? [True, True] Translation: X:-211.72, Y:-286.63, Z:-1.82 [[-9.52546089e-01 3.04027286e-01 1.49451581e-02 -2.11720832e+02] [ 3.03988105e-01 9.52663318e-01 -4.88203437e-03 -2.86628879e+02] [-1.57219756e-02 -1.07212461e-04 -9.99876397e-01 -1.82136357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 918.366559995 meters 0.012811489968086332 Centerline is valid? [True, True] Translation: X:-211.52, Y:-286.02, Z:-2.76 [[-9.24578511e-01 -3.80727253e-01 1.41892858e-02 -2.11521129e+02] [ 3.80683726e-01 -9.24687381e-01 -5.75738919e-03 -2.86016350e+02] [ 1.53126485e-02 7.84718551e-05 9.99882752e-01 -2.76458513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 918.396559995 meters 0.012881525978288597 Centerline is valid? [True, True] Translation: X:-211.77, Y:-286.61, Z:-1.82 [[-9.54013335e-01 2.99400571e-01 1.47599173e-02 -2.11765626e+02] [ 2.99362758e-01 9.54127499e-01 -4.75983365e-03 -2.86613837e+02] [-1.55079399e-02 -1.22375224e-04 -9.99879737e-01 -1.82035700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 918.4265599949999 meters 0.013172902706934499 Centerline is valid? [True, True] Translation: X:-211.76, Y:-286.59, Z:-1.82 [[-9.73231622e-01 2.29355893e-01 1.46997997e-02 -2.11761297e+02] [ 2.29327499e-01 9.73342619e-01 -3.61178362e-03 -2.86586515e+02] [-1.51363254e-02 -1.44033737e-04 -9.99885429e-01 -1.82027423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 918.4565599949999 meters 0.013303355520045499 Centerline is valid? [True, True] Translation: X:-211.61, Y:-285.96, Z:-2.77 [[-9.49701931e-01 -3.12803003e-01 1.48500440e-02 -2.11606312e+02] [ 3.12767667e-01 -9.49818009e-01 -4.70496561e-03 -2.85962249e+02] [ 1.55765666e-02 1.76298683e-04 9.99878663e-01 -2.76535539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 918.486559995 meters 0.01344523566022722 Centerline is valid? [True, True] Translation: X:-211.81, Y:-286.57, Z:-1.82 [[-9.74139255e-01 2.25438509e-01 1.51720663e-02 -2.11812221e+02] [ 2.25408747e-01 9.74257387e-01 -3.66619351e-03 -2.86574943e+02] [-1.56079989e-02 -1.51466546e-04 -9.99878176e-01 -1.81893474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 918.516559995 meters 0.013501440725194913 Centerline is valid? [True, True] Translation: X:-211.81, Y:-286.55, Z:-1.82 [[-9.87612267e-01 1.56141818e-01 1.55480954e-02 -2.11807733e+02] [ 1.56120136e-01 9.87734636e-01 -2.60613223e-03 -2.86547476e+02] [-1.57643186e-02 -1.46477387e-04 -9.99875725e-01 -1.81830251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 918.5465599949999 meters 0.013301129909578895 Centerline is valid? [True, True] Translation: X:-211.81, Y:-286.52, Z:-1.82 [[-9.96146687e-01 8.64546386e-02 1.47436296e-02 -2.11805056e+02] [ 8.64433131e-02 9.96255780e-01 -1.40491228e-03 -2.86521272e+02] [-1.48098874e-02 -1.25010520e-04 -9.99890320e-01 -1.81894826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 918.5765599949999 meters 0.013037044622597907 Centerline is valid? [True, True] Translation: X:-211.81, Y:-286.50, Z:-1.82 [[-9.99751540e-01 1.63946474e-02 1.51020946e-02 -2.11807007e+02] [ 1.63910726e-02 9.99865592e-01 -3.60459654e-04 -2.86495117e+02] [-1.51059743e-02 -1.12830565e-04 -9.99885892e-01 -1.81964150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 918.606559995 meters 0.01294478287048202 Centerline is valid? [True, True] Translation: X:-211.81, Y:-286.47, Z:-1.82 [[-9.98467341e-01 -5.32630522e-02 1.50338188e-02 -2.11812493e+02] [-5.32583728e-02 9.98580512e-01 7.11730122e-04 -2.86469160e+02] [-1.50503874e-02 -9.00374437e-05 -9.99886733e-01 -1.81938432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 918.636559995 meters 0.012699131065109044 Centerline is valid? [True, True] Translation: X:-211.82, Y:-286.45, Z:-1.82 [[-9.92624510e-01 -1.20342533e-01 1.46375099e-02 -2.11819544e+02] [-1.20329885e-01 9.92732428e-01 1.74495950e-03 -2.86445839e+02] [-1.47411236e-02 -2.92403039e-05 -9.99891343e-01 -1.81983634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 918.666559995 meters 0.012757982446638868 Centerline is valid? [True, True] Translation: X:-211.84, Y:-286.42, Z:-1.82 [[-9.82028983e-01 -1.88208297e-01 1.40254810e-02 -2.11837705e+02] [-1.88188920e-01 9.82129135e-01 2.70066682e-03 -2.86423192e+02] [-1.42831214e-02 1.26929689e-05 -9.99897991e-01 -1.82008755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 918.6965599949999 meters 0.013088969070613776 Centerline is valid? [True, True] Translation: X:-211.86, Y:-286.40, Z:-1.82 [[-9.66737672e-01 -2.55417133e-01 1.34298952e-02 -2.11864328e+02] [-2.55391677e-01 9.66830950e-01 3.60647611e-03 -2.86404201e+02] [-1.39055941e-02 5.66328705e-05 -9.99903311e-01 -1.81928877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 918.7265599949999 meters 0.013673083117433616 Centerline is valid? [True, True] Translation: X:-211.92, Y:-286.40, Z:-1.82 [[-9.46623352e-01 -3.22076858e-01 1.30662330e-02 -2.11917197e+02] [-3.22044621e-01 9.46713519e-01 4.55806054e-03 -2.86395127e+02] [-1.38380253e-02 1.06856491e-04 -9.99904244e-01 -1.81980727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 918.756559995 meters 0.014525996329719631 Centerline is valid? [True, True] Translation: X:-211.98, Y:-286.40, Z:-1.82 [[-9.23439769e-01 -3.83540798e-01 1.24679248e-02 -2.11976766e+02] [-3.83502655e-01 9.23523908e-01 5.41336217e-03 -2.86395185e+02] [-1.35906719e-02 2.17431638e-04 -9.99907619e-01 -1.82176455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 918.786559995 meters 0.01504178108532546 Centerline is valid? [True, True] Translation: X:-212.05, Y:-286.40, Z:-1.82 [[-8.94277966e-01 -4.47348131e-01 1.21066256e-02 -2.12049875e+02] [-4.47302943e-01 8.94359868e-01 6.36424220e-03 -2.86402279e+02] [-1.36747119e-02 2.76072304e-04 -9.99906459e-01 -1.82261174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 918.8165599949999 meters 0.016942045450188604 Centerline is valid? [True, True] Translation: X:-212.13, Y:-286.42, Z:-1.82 [[-8.60412396e-01 -5.09467529e-01 1.15475126e-02 -2.12127552e+02] [-5.09416445e-01 8.60489818e-01 7.22208397e-03 -2.86420356e+02] [-1.36159342e-02 3.31477784e-04 -9.99907244e-01 -1.82219273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 918.8465599949999 meters 0.017604446189088036 Centerline is valid? [True, True] Translation: X:-212.21, Y:-286.45, Z:-1.82 [[-8.21907052e-01 -5.69521283e-01 1.06914521e-02 -2.12211214e+02] [-5.69467129e-01 8.21976501e-01 7.86259208e-03 -2.86446338e+02] [-1.32660359e-02 3.73889360e-04 -9.99911933e-01 -1.82317308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 918.876559995 meters 0.01954682419446658 Centerline is valid? [True, True] Translation: X:-212.30, Y:-286.48, Z:-1.82 [[-7.81212046e-01 -6.24202224e-01 8.90628871e-03 -2.12296298e+02] [-6.24155487e-01 7.81262702e-01 7.64972551e-03 -2.86484854e+02] [-1.17331269e-02 4.17148754e-04 -9.99931078e-01 -1.82444440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 918.906559995 meters 0.019965841055351968 Centerline is valid? [True, True] Translation: X:-212.39, Y:-286.53, Z:-1.82 [[-7.33550451e-01 -6.79586116e-01 8.15145216e-03 -2.12387929e+02] [-6.79537338e-01 7.33595607e-01 8.15422548e-03 -2.86532895e+02] [-1.15213679e-02 4.42319680e-04 -9.99933529e-01 -1.82489033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 918.9365599949999 meters 0.02168100443412414 Centerline is valid? [True, True] Translation: X:-212.47, Y:-286.59, Z:-1.82 [[-6.82469867e-01 -7.30875887e-01 7.43769685e-03 -2.12471640e+02] [-7.30824601e-01 6.82510224e-01 8.67162977e-03 -2.86586075e+02] [-1.14141892e-02 4.82474179e-04 -9.99934740e-01 -1.82455714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 918.9665599949999 meters 0.02198878249991363 Centerline is valid? [True, True] Translation: X:-212.56, Y:-286.66, Z:-1.82 [[-6.25962296e-01 -7.79824090e-01 6.75228644e-03 -2.12564684e+02] [-7.79769867e-01 6.25998514e-01 9.20946912e-03 -2.86657807e+02] [-1.14086871e-02 4.99550935e-04 -9.99934794e-01 -1.82426934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 918.996559995 meters 0.022757392258293124 Centerline is valid? [True, True] Translation: X:-212.65, Y:-286.73, Z:-1.82 [[-5.64947949e-01 -8.25102926e-01 6.24306071e-03 -2.12646815e+02] [-8.25041923e-01 5.64982199e-01 1.00468574e-02 -2.86730535e+02] [-1.18169096e-02 5.25164679e-04 -9.99930040e-01 -1.82385363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 919.026559995 meters 0.023551557346175915 Centerline is valid? [True, True] Translation: X:-212.73, Y:-286.82, Z:-1.82 [[-5.00285810e-01 -8.65842377e-01 5.57550495e-03 -2.12727788e+02] [-8.65776096e-01 5.00316587e-01 1.07268678e-02 -2.86817647e+02] [-1.20772943e-02 5.39360845e-04 -9.99926922e-01 -1.82376964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 919.0565599949999 meters 0.023598874767873944 Centerline is valid? [True, True] Translation: X:-212.80, Y:-286.91, Z:-1.82 [[-4.31166124e-01 -9.02261245e-01 4.51884354e-03 -2.12802756e+02] [-9.02198936e-01 4.31189514e-01 1.06152379e-02 -2.86907703e+02] [-1.15261957e-02 5.00035157e-04 -9.99933446e-01 -1.82384374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 919.0865599949999 meters 0.021190866581682715 Centerline is valid? [True, True] Translation: X:-212.88, Y:-287.01, Z:-1.82 [[-3.59164665e-01 -9.33267362e-01 3.57423564e-03 -2.12875365e+02] [-9.33207427e-01 3.59182146e-01 1.05870019e-02 -2.87005390e+02] [-1.11643050e-02 4.66973756e-04 -9.99937568e-01 -1.82489091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 919.116559995 meters 0.01982198002986416 Centerline is valid? [True, True] Translation: X:-212.94, Y:-287.11, Z:-1.82 [[-2.81679509e-01 -9.59505500e-01 2.41864107e-03 -2.12941410e+02] [-9.59458293e-01 2.81689660e-01 9.52470350e-03 -2.87108603e+02] [-9.82031158e-03 3.62328575e-04 -9.99951714e-01 -1.82483156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 919.146559995 meters 0.01976759331664567 Centerline is valid? [True, True] Translation: X:-213.00, Y:-287.22, Z:-1.82 [[-2.03734985e-01 -9.79024829e-01 1.56221596e-03 -2.12996933e+02] [-9.78983433e-01 2.03740745e-01 9.00814559e-03 -2.87223384e+02] [-9.13748524e-03 3.05890865e-04 -9.99958206e-01 -1.82447273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 919.1765599949999 meters 0.017746741048948484 Centerline is valid? [True, True] Translation: X:-213.05, Y:-287.33, Z:-1.82 [[-1.24628425e-01 -9.92203185e-01 7.72338654e-04 -2.13045754e+02] [-9.92169903e-01 1.24630573e-01 8.13042470e-03 -2.87334260e+02] [-8.16329029e-03 2.46990857e-04 -9.99966649e-01 -1.82483281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 919.2065599949999 meters 0.017746741048948484 Centerline is valid? [True, True] Translation: X:-213.08, Y:-287.45, Z:-1.82 [[-4.79023126e-02 -9.98852015e-01 1.44339717e-04 -2.13080857e+02] [-9.98818667e-01 4.79018933e-02 8.16577142e-03 -2.87451847e+02] [-8.16331138e-03 2.46990131e-04 -9.99966649e-01 -1.82483176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 919.236559995 meters 0.017328454519267907 Centerline is valid? [True, True] Translation: X:-213.11, Y:-287.57, Z:-1.82 [[ 3.26135746e-02 -9.99467943e-01 -4.31438522e-04 -2.13109243e+02] [-9.99441571e-01 -3.26158493e-02 7.26307708e-03 -2.87574090e+02] [-7.27328444e-03 1.94322688e-04 -9.99973531e-01 -1.82463792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 919.266559995 meters 0.014682642196500194 Centerline is valid? [True, True] Translation: X:-213.13, Y:-287.70, Z:-1.82 [[ 1.16175627e-01 -9.93228306e-01 -8.68999002e-04 -2.13134069e+02] [-9.93208104e-01 -1.16178807e-01 6.33616813e-03 -2.87699933e+02] [-6.39422081e-03 1.26988548e-04 -9.99979549e-01 -1.82470810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 919.2965599949999 meters 0.014263332380222142 Centerline is valid? [True, True] Translation: X:-213.14, Y:-287.82, Z:-1.82 [[ 1.94959047e-01 -9.80810699e-01 -1.15891353e-03 -2.13144074e+02] [-9.80796092e-01 -1.94962470e-01 5.35362676e-03 -2.87823672e+02] [-5.47683905e-03 9.29198903e-05 -9.99984998e-01 -1.82405409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 919.3265599949999 meters 0.013623186117979842 Centerline is valid? [True, True] Translation: X:-213.15, Y:-287.94, Z:-1.82 [[ 2.71899990e-01 -9.62324603e-01 -1.32415574e-03 -2.13146400e+02] [-9.62314382e-01 -2.71903206e-01 4.43589327e-03 -2.87943872e+02] [-4.62881142e-03 6.81347731e-05 -9.99989285e-01 -1.82385005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 919.356559995 meters 0.0128619683571802 Centerline is valid? [True, True] Translation: X:-213.14, Y:-288.07, Z:-1.82 [[ 3.48312546e-01 -9.37378004e-01 -9.20915256e-04 -2.13141381e+02] [-9.37374942e-01 -3.48313762e-01 2.39601808e-03 -2.88065250e+02] [-2.56674211e-03 2.86797269e-05 -9.99996706e-01 -1.82367177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 919.386559995 meters 0.012739410001162526 Centerline is valid? [True, True] Translation: X:-213.12, Y:-288.18, Z:-1.82 [[ 4.20018803e-01 -9.07514951e-01 -9.04961091e-04 -2.13123690e+02] [-9.07512954e-01 -4.20019777e-01 1.90400560e-03 -2.88184288e+02] [-2.10801511e-03 2.15457579e-05 -9.99997778e-01 -1.82372055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 919.416559995 meters 0.012599117060683276 Centerline is valid? [True, True] Translation: X:-213.10, Y:-288.30, Z:-1.82 [[ 4.89088196e-01 -8.72233762e-01 -1.00049679e-03 -2.13097345e+02] [-8.72232014e-01 -4.89089219e-01 1.74650702e-03 -2.88299362e+02] [-2.01269458e-03 1.84693660e-05 -9.99997975e-01 -1.82348099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 919.4465599949999 meters 0.012690528129009978 Centerline is valid? [True, True] Translation: X:-213.07, Y:-288.41, Z:-1.82 [[ 5.54875778e-01 -8.31931956e-01 -1.44657464e-03 -2.13065821e+02] [-8.31929229e-01 -5.54877663e-01 2.12994597e-03 -2.88409068e+02] [-2.57464207e-03 2.15922925e-05 -9.99996686e-01 -1.82186856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 919.4765599949999 meters 0.012564465508714606 Centerline is valid? [True, True] Translation: X:-213.03, Y:-288.51, Z:-1.82 [[ 6.16807234e-01 -7.87112926e-01 -1.44117664e-03 -2.13025256e+02] [-7.87110850e-01 -6.16808918e-01 1.80817851e-03 -2.88514302e+02] [-2.31217128e-03 1.90681878e-05 -9.99997327e-01 -1.82136386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 919.506559995 meters 0.012624505921442257 Centerline is valid? [True, True] Translation: X:-212.98, Y:-288.61, Z:-1.82 [[ 6.74478974e-01 -7.38292281e-01 -1.61905979e-03 -2.12983433e+02] [-7.38290228e-01 -6.74480917e-01 1.74129480e-03 -2.88610269e+02] [-2.37760944e-03 2.08692833e-05 -9.99997173e-01 -1.81979949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 919.536559995 meters 0.012645019184110163 Centerline is valid? [True, True] Translation: X:-212.93, Y:-288.70, Z:-1.82 [[ 7.28229868e-01 -6.85330465e-01 -1.84780629e-03 -2.12933012e+02] [-6.85328339e-01 -7.28232212e-01 1.70715846e-03 -2.88701519e+02] [-2.51559976e-03 2.31502315e-05 -9.99996836e-01 -1.81905902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 919.5665599949999 meters 0.01269431356380787 Centerline is valid? [True, True] Translation: X:-212.94, Y:-288.71, Z:-1.82 [[ 7.79125749e-01 -6.26864733e-01 -1.91678201e-03 -2.12936366e+02] [-6.26862912e-01 -7.79128107e-01 1.51114792e-03 -2.88714092e+02] [-2.44070407e-03 2.41852955e-05 -9.99997021e-01 -1.81875875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 919.5965599949999 meters 0.01278533035397698 Centerline is valid? [True, True] Translation: X:-212.94, Y:-288.73, Z:-1.82 [[ 8.25223382e-01 -5.64804638e-01 -1.44594033e-03 -2.12937982e+02] [-5.64803811e-01 -8.25224649e-01 9.66618927e-04 -2.88725547e+02] [-1.73917646e-03 1.89960710e-05 -9.99998488e-01 -1.81844731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 919.626559995 meters 0.013034235121177242 Centerline is valid? [True, True] Translation: X:-212.94, Y:-288.74, Z:-1.82 [[ 8.66380664e-01 -4.99382414e-01 -1.32300088e-03 -2.12938769e+02] [-4.99381863e-01 -8.66381674e-01 7.41736788e-04 -2.88737013e+02] [-1.51663403e-03 1.80562361e-05 -9.99998850e-01 -1.81832489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 919.656559995 meters 0.013071462230376083 Centerline is valid? [True, True] Translation: X:-212.94, Y:-288.75, Z:-1.82 [[ 9.02267067e-01 -4.31176315e-01 -1.06067421e-03 -2.12938183e+02] [-4.31176037e-01 -9.02267690e-01 4.89847518e-04 -2.88748886e+02] [-1.16822272e-03 1.53640191e-05 -9.99999318e-01 -1.81774936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 919.6865599949999 meters 0.013125706146270963 Centerline is valid? [True, True] Translation: X:-212.94, Y:-288.76, Z:-1.82 [[ 9.33151484e-01 -3.59481890e-01 -1.03811449e-03 -2.12936628e+02] [-3.59481686e-01 -9.33152062e-01 3.84038976e-04 -2.88760306e+02] [-1.10677373e-03 1.48166056e-05 -9.99999388e-01 -1.81732651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 919.7165599949999 meters 0.013187016321562137 Centerline is valid? [True, True] Translation: X:-212.94, Y:-288.77, Z:-1.82 [[ 9.58453682e-01 -2.85242414e-01 -1.81787641e-03 -2.12935489e+02] [-2.85241950e-01 -9.58455406e-01 5.15486514e-04 -2.88771605e+02] [-1.88939209e-03 2.44646642e-05 -9.99998215e-01 -1.81642772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 919.746559995 meters 0.012980681364140698 Centerline is valid? [True, True] Translation: X:-212.93, Y:-288.78, Z:-1.82 [[ 9.77992430e-01 -2.08630371e-01 -2.04345977e-03 -2.12932296e+02] [-2.08629969e-01 -9.77994564e-01 4.10200494e-04 -2.88783769e+02] [-2.08407283e-03 2.51539709e-05 -9.99997828e-01 -1.81621379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 919.776559995 meters 0.012887498528499249 Centerline is valid? [True, True] Translation: X:-212.93, Y:-288.80, Z:-1.82 [[ 9.91435530e-01 -1.30580137e-01 -2.10170591e-03 -2.12929437e+02] [-1.30579895e-01 -9.91437758e-01 2.52769319e-04 -2.88795085e+02] [-2.11671725e-03 2.38360530e-05 -9.99997760e-01 -1.81594423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 919.8065599949999 meters 0.012618030712464857 Centerline is valid? [True, True] Translation: X:-212.93, Y:-288.81, Z:-1.82 [[ 9.98736429e-01 -5.02313151e-02 -1.53628919e-03 -2.12928944e+02] [-5.02312770e-02 -9.98737611e-01 6.33649046e-05 -2.88805480e+02] [-1.53753270e-03 1.38849294e-05 -9.99998818e-01 -1.81572748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 919.8365599949999 meters 0.01241238406827584 Centerline is valid? [True, True] Translation: X:-212.93, Y:-288.82, Z:-1.82 [[ 9.99569855e-01 2.93007563e-02 -1.25312108e-03 -2.12926510e+02] [ 2.93007208e-02 -9.99570641e-01 -4.66713558e-05 -2.88816190e+02] [-1.25395055e-03 9.93392947e-06 -9.99999214e-01 -1.81600994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 919.866559995 meters 0.012231733835654799 Centerline is valid? [True, True] Translation: X:-212.92, Y:-288.82, Z:-1.82 [[ 9.94055848e-01 1.08867164e-01 -9.54444859e-04 -2.12924209e+02] [ 1.08867108e-01 -9.94056307e-01 -1.10949134e-04 -2.88824769e+02] [-9.60850650e-04 6.38198362e-06 -9.99999539e-01 -1.81620184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 919.896559995 meters 0.012059429429252278 Centerline is valid? [True, True] Translation: X:-212.92, Y:-288.83, Z:-1.82 [[ 9.82158749e-01 1.88052468e-01 -6.79451181e-04 -2.12920097e+02] [ 1.88052421e-01 -9.82158984e-01 -1.33691934e-04 -2.88832081e+02] [-6.92470181e-04 3.53426278e-06 -9.99999760e-01 -1.81646631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 919.9265599949999 meters 0.011982729065516097 Centerline is valid? [True, True] Translation: X:-212.91, Y:-288.84, Z:-1.82 [[ 9.63607911e-01 2.67319560e-01 -2.17736151e-04 -2.12914416e+02] [ 2.67319553e-01 -9.63607935e-01 -6.12455619e-05 -2.88841542e+02] [-2.26184420e-04 8.11577360e-07 -9.99999975e-01 -1.81649283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 919.9565599949999 meters 0.011932555072306374 Centerline is valid? [True, True] Translation: X:-212.91, Y:-288.85, Z:-1.82 [[ 9.39104261e-01 3.43632294e-01 -1.83709470e-04 -2.12908270e+02] [ 3.43632288e-01 -9.39104279e-01 -6.76706317e-05 -2.88849814e+02] [-1.95776165e-04 4.21273211e-07 -9.99999981e-01 -1.81629457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 919.986559995 meters 0.011940870657229322 Centerline is valid? [True, True] Translation: X:-212.90, Y:-288.86, Z:-1.82 [[ 9.08587555e-01 4.17694431e-01 -1.33311962e-04 -2.12901549e+02] [ 4.17694426e-01 -9.08587565e-01 -6.14990782e-05 -2.88857296e+02] [-1.46813415e-04 1.93633408e-07 -9.99999989e-01 -1.81660496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 920.016559995 meters 0.012300310441603369 Centerline is valid? [True, True] Translation: X:-212.90, Y:-288.86, Z:-1.82 [[ 8.70912173e-01 4.91438681e-01 9.59571310e-05 -2.12895078e+02] [ 4.91438678e-01 -8.70912179e-01 5.27182188e-05 -2.88864797e+02] [ 1.09478005e-04 1.24410713e-06 -9.99999994e-01 -1.81638042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 920.0465599949999 meters 0.012515386959296835 Centerline is valid? [True, True] Translation: X:-212.89, Y:-288.87, Z:-1.82 [[ 8.28457580e-01 5.60051813e-01 7.94586692e-05 -2.12886960e+02] [ 5.60051810e-01 -8.28457583e-01 5.20665155e-05 -2.88870868e+02] [ 9.49880822e-05 1.36607211e-06 -9.99999996e-01 -1.81619338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 920.0765599949999 meters 0.012955959217208823 Centerline is valid? [True, True] Translation: X:-212.88, Y:-288.88, Z:-1.82 [[ 7.80525149e-01 6.25124344e-01 -2.18685217e-04 -2.12879173e+02] [ 6.25124320e-01 -7.80525179e-01 -1.71703914e-04 -2.88876196e+02] [-2.78025616e-04 -2.68622476e-06 -9.99999961e-01 -1.81596197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 920.106559995 meters 0.01338990420414544 Centerline is valid? [True, True] Translation: X:-212.87, Y:-288.88, Z:-1.82 [[ 7.27598277e-01 6.86003435e-01 -1.88821257e-04 -2.12870419e+02] [ 6.86003413e-01 -7.27598301e-01 -1.73852683e-04 -2.88880216e+02] [-2.56649565e-04 -3.03711383e-06 -9.99999967e-01 -1.81582530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 920.136559995 meters 0.01484898293196648 Centerline is valid? [True, True] Translation: X:-212.86, Y:-288.89, Z:-1.82 [[ 6.68423762e-01 7.43780628e-01 -2.25375106e-04 -2.12861506e+02] [ 7.43780589e-01 -6.68423800e-01 -2.42544618e-04 -2.88885398e+02] [-3.31046074e-04 -5.50704243e-06 -9.99999945e-01 -1.81504190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 920.166559995 meters 0.015295205571593772 Centerline is valid? [True, True] Translation: X:-212.85, Y:-288.89, Z:-1.81 [[ 6.06432524e-01 7.95134902e-01 -2.83317836e-04 -2.12854409e+02] [ 7.95134822e-01 -6.06432591e-01 -3.57064575e-04 -2.88886217e+02] [-4.55727676e-04 -8.74030595e-06 -9.99999896e-01 -1.81495425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 920.1965599949999 meters 0.016408282377489855 Centerline is valid? [True, True] Translation: X:-212.85, Y:-288.89, Z:-1.81 [[ 5.39634508e-01 8.41899324e-01 -3.54446780e-04 -2.12847645e+02] [ 8.41899160e-01 -5.39634625e-01 -5.26344221e-04 -2.88886461e+02] [-6.34400600e-04 -1.43749414e-05 -9.99999799e-01 -1.81475506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 920.2265599949999 meters 0.015964163002401156 Centerline is valid? [True, True] Translation: X:-212.84, Y:-288.89, Z:-1.81 [[ 4.71055810e-01 8.82103348e-01 -3.27270975e-04 -2.12839499e+02] [ 8.82103158e-01 -4.71055924e-01 -5.79158890e-04 -2.88886988e+02] [-6.65040929e-04 -1.58706003e-05 -9.99999779e-01 -1.81419189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 920.256559995 meters 0.017599391475145863 Centerline is valid? [True, True] Translation: X:-212.83, Y:-288.89, Z:-1.81 [[ 3.99589313e-01 9.16694205e-01 -3.40877680e-04 -2.12829923e+02] [ 9.16693913e-01 -3.99589458e-01 -7.31517515e-04 -2.88889818e+02] [-8.06788995e-04 -2.01739136e-05 -9.99999674e-01 -1.81363329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 920.286559995 meters 0.018637099990264503 Centerline is valid? [True, True] Translation: X:-212.83, Y:-288.89, Z:-1.81 [[ 3.25249293e-01 9.45628223e-01 -4.02006983e-04 -2.12827720e+02] [ 9.45627612e-01 -3.25249540e-01 -1.07502259e-03 -2.88888677e+02] [-1.14732429e-03 -3.04985646e-05 -9.99999342e-01 -1.81388538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 920.3165599949999 meters 0.017270448103403103 Centerline is valid? [True, True] Translation: X:-212.82, Y:-288.89, Z:-1.81 [[ 2.49389634e-01 9.68403215e-01 -1.50913368e-04 -2.12824163e+02] [ 9.68403072e-01 -2.49389680e-01 -5.26867568e-04 -2.88886459e+02] [-5.47856484e-04 -1.47496589e-05 -9.99999850e-01 -1.81423684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 920.3465599949999 meters 0.01730022390982045 Centerline is valid? [True, True] Translation: X:-212.82, Y:-288.89, Z:-1.81 [[ 1.72593801e-01 9.84993085e-01 -5.23779687e-05 -2.12817112e+02] [ 9.84993051e-01 -1.72593809e-01 -2.58921032e-04 -2.88885218e+02] [-2.64075540e-04 -6.90377019e-06 -9.99999965e-01 -1.81399067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 920.376559995 meters 0.01730022390982045 Centerline is valid? [True, True] Translation: X:-212.81, Y:-288.88, Z:-1.81 [[ 9.49231349e-02 9.95484604e-01 -3.19433734e-05 -2.12809084e+02] [ 9.95484570e-01 -9.49231400e-02 -2.62246857e-04 -2.88884745e+02] [-2.64094875e-04 -6.90584153e-06 -9.99999965e-01 -1.81399050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 920.406559995 meters 0.01731369792097792 Centerline is valid? [True, True] Translation: X:-212.80, Y:-288.88, Z:-1.81 [[ 1.58800625e-02 9.99873903e-01 -3.63826497e-05 -2.12803739e+02] [ 9.99873564e-01 -1.58800871e-02 -8.24334516e-04 -2.88882820e+02] [-8.24808331e-04 -2.32875660e-05 -9.99999660e-01 -1.81397229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 920.4365599949999 meters 0.01751441901691935 Centerline is valid? [True, True] Translation: X:-212.80, Y:-288.88, Z:-1.81 [[-6.26610549e-02 9.98034865e-01 3.47305555e-05 -2.12796809e+02] [ 9.98034348e-01 6.26610578e-02 -1.01616921e-03 -2.88881557e+02] [-1.01634855e-03 -2.90119474e-05 -9.99999483e-01 -1.81385578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 920.4665599949999 meters 0.01852692685514268 Centerline is valid? [True, True] Translation: X:-212.79, Y:-288.88, Z:-1.81 [[-1.41167390e-01 9.89985717e-01 2.20668419e-04 -2.12791412e+02] [ 9.89983785e-01 1.41167551e-01 -1.95680740e-03 -2.88880236e+02] [-1.96836260e-03 -5.77792374e-05 -9.99998061e-01 -1.81292152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 920.496559995 meters 0.017421072404769183 Centerline is valid? [True, True] Translation: X:-212.79, Y:-288.88, Z:-1.81 [[-2.18303073e-01 9.75880897e-01 4.93910060e-04 -2.12786777e+02] [ 9.75877542e-01 2.18303619e-01 -2.55974392e-03 -2.88878030e+02] [-2.60582755e-03 -7.68042297e-05 -9.99996602e-01 -1.81266760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 920.526559995 meters 0.018485397391849352 Centerline is valid? [True, True] Translation: X:-212.78, Y:-288.88, Z:-1.81 [[-2.94024675e-01 9.55797505e-01 7.87306774e-04 -2.12779171e+02] [ 9.55793243e-01 2.94025716e-01 -2.85567419e-03 -2.88875621e+02] [-2.96093471e-03 -8.71361809e-05 -9.99995613e-01 -1.81174124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 920.5565599949999 meters 0.017365098092018236 Centerline is valid? [True, True] Translation: X:-212.78, Y:-288.87, Z:-1.81 [[-3.67788491e-01 9.29908365e-01 1.43490009e-03 -2.12776307e+02] [ 9.29899927e-01 3.67791270e-01 -3.96331747e-03 -2.88873448e+02] [-4.21326580e-03 -1.23349063e-04 -9.99991117e-01 -1.81096819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 920.5865599949999 meters 0.01780665646897474 Centerline is valid? [True, True] Translation: X:-212.77, Y:-288.87, Z:-1.81 [[-4.39327305e-01 8.98325318e-01 1.77260950e-03 -2.12770200e+02] [ 8.98316824e-01 4.39330863e-01 -3.90850231e-03 -2.88870973e+02] [-4.28986865e-03 -1.24746852e-04 -9.99990791e-01 -1.81046787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 920.616559995 meters 0.017642583438889064 Centerline is valid? [True, True] Translation: X:-212.77, Y:-288.87, Z:-1.81 [[-5.08022781e-01 8.61340722e-01 2.23947271e-03 -2.12765750e+02] [ 8.61331168e-01 5.08027699e-01 -4.05896866e-03 -2.88868132e+02] [-4.63386917e-03 -1.33120902e-04 -9.99989255e-01 -1.81033128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 920.646559995 meters 0.01880913341386153 Centerline is valid? [True, True] Translation: X:-212.76, Y:-288.87, Z:-1.81 [[-5.73430469e-01 8.19250650e-01 2.42277118e-03 -2.12762078e+02] [ 8.19242408e-01 5.73435574e-01 -3.67683095e-03 -2.88866468e+02] [-4.40154933e-03 -1.23570005e-04 -9.99990306e-01 -1.80982440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 920.6765599949999 meters 0.018845931891399992 Centerline is valid? [True, True] Translation: X:-212.76, Y:-288.87, Z:-1.81 [[-6.35584737e-01 7.72026782e-01 2.58649708e-03 -2.12761403e+02] [ 7.72019628e-01 6.35589989e-01 -3.32552308e-03 -2.88866618e+02] [-4.21134454e-03 -1.16825199e-04 -9.99991126e-01 -1.81031165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 920.7065599949999 meters 0.016931376014653245 Centerline is valid? [True, True] Translation: X:-212.76, Y:-288.86, Z:-1.81 [[-6.93874811e-01 7.20090573e-01 2.70448528e-03 -2.12759045e+02] [ 7.20084476e-01 6.93880073e-01 -2.96511672e-03 -2.88864773e+02] [-4.01174104e-03 -1.09961934e-04 -9.99991947e-01 -1.81133677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 920.736559995 meters 0.01785258991579618 Centerline is valid? [True, True] Translation: X:-212.75, Y:-288.86, Z:-1.81 [[-7.47874185e-01 6.63834614e-01 2.79455734e-03 -2.12753125e+02] [ 6.63829456e-01 7.47879399e-01 -2.61889689e-03 -2.88860711e+02] [-3.82850627e-03 -1.03495893e-04 -9.99992666e-01 -1.81133534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 920.766559995 meters 0.01728998836545586 Centerline is valid? [True, True] Translation: X:-212.29, Y:-288.38, Z:-2.77 [[-6.62071022e-01 -7.49439361e-01 1.61453110e-03 -2.12293145e+02] [ 7.49437079e-01 -6.62072990e-01 -1.84939165e-03 -2.88378215e+02] [ 2.45494433e-03 -1.44391456e-05 9.99996987e-01 -2.77221782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 920.7965599949999 meters 0.017275159233893382 Centerline is valid? [True, True] Translation: X:-212.31, Y:-288.36, Z:-2.77 [[-6.62539670e-01 -7.49025849e-01 1.20965618e-03 -2.12310743e+02] [ 7.49024728e-01 -6.62540773e-01 -1.29663184e-03 -2.88356662e+02] [ 1.77265730e-03 4.69923588e-05 9.99998428e-01 -2.77159264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 920.8265599949999 meters 0.017237206265966216 Centerline is valid? [True, True] Translation: X:-212.33, Y:-288.33, Z:-2.77 [[-6.62479664e-01 -7.49079781e-01 4.21130292e-04 -2.12326505e+02] [ 7.49079645e-01 -6.62479797e-01 -4.51112895e-04 -2.88334745e+02] [ 6.16909860e-04 1.66070112e-05 9.99999810e-01 -2.77076828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 920.856559995 meters 0.017224967129175747 Centerline is valid? [True, True] Translation: X:-212.34, Y:-288.31, Z:-2.77 [[-6.62422362e-01 -7.49130484e-01 3.64869192e-04 -2.12344486e+02] [ 7.49130382e-01 -6.62422462e-01 -3.90625554e-04 -2.88313191e+02] [ 5.34327060e-04 1.45754946e-05 9.99999857e-01 -2.77040548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 920.886559995 meters 0.01752444535426388 Centerline is valid? [True, True] Translation: X:-212.36, Y:-288.29, Z:-2.77 [[-6.62367921e-01 -7.49178613e-01 3.78160993e-04 -2.12362984e+02] [ 7.49178504e-01 -6.62368029e-01 -4.04601233e-04 -2.88292574e+02] [ 5.53600344e-04 1.53152093e-05 9.99999847e-01 -2.77057494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 920.916559995 meters 0.018164470352275048 Centerline is valid? [True, True] Translation: X:-212.38, Y:-288.27, Z:-2.77 [[-6.62284258e-01 -7.49252290e-01 7.53404433e-04 -2.12379918e+02] [ 7.49251858e-01 -6.62284686e-01 -8.05544886e-04 -2.88272756e+02] [ 1.10252457e-03 3.09899736e-05 9.99999392e-01 -2.77166969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 920.9465599949999 meters 0.01783882043918861 Centerline is valid? [True, True] Translation: X:-212.40, Y:-288.25, Z:-2.77 [[-6.62697391e-01 -7.48886375e-01 1.16860056e-03 -2.12397638e+02] [ 7.48885336e-01 -6.62698419e-01 -1.24868553e-03 -2.88251466e+02] [ 1.70955332e-03 4.76471792e-05 9.99998538e-01 -2.77236517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 920.9765599949999 meters 0.017540262596690614 Centerline is valid? [True, True] Translation: X:-212.42, Y:-288.23, Z:-2.77 [[-6.63051708e-01 -7.48571911e-01 1.58984892e-03 -2.12415565e+02] [ 7.48569988e-01 -6.63053611e-01 -1.69771974e-03 -2.88230432e+02] [ 2.32502038e-03 6.44372165e-05 9.99997295e-01 -2.77308506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 921.006559995 meters 0.01735516234030721 Centerline is valid? [True, True] Translation: X:-212.43, Y:-288.21, Z:-2.77 [[-6.63884669e-01 -7.47830823e-01 2.49148182e-03 -2.12432828e+02] [ 7.47826102e-01 -6.63889337e-01 -2.65883087e-03 -2.88209100e+02] [ 3.64242389e-03 9.80380864e-05 9.99993362e-01 -2.77413647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 921.036559995 meters 0.016699266024332957 Centerline is valid? [True, True] Translation: X:-212.45, Y:-288.19, Z:-2.77 [[-6.64701315e-01 -7.47102469e-01 3.17214713e-03 -2.12450607e+02] [ 7.47094819e-01 -6.64708873e-01 -3.38328686e-03 -2.88187115e+02] [ 4.63621631e-03 1.21019462e-04 9.99989246e-01 -2.77467196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 921.0665599949999 meters 0.016210187057291044 Centerline is valid? [True, True] Translation: X:-212.47, Y:-288.17, Z:-2.78 [[-6.67455135e-01 -7.44640819e-01 3.70036144e-03 -2.12466692e+02] [ 7.44630382e-01 -6.67465381e-01 -3.94455169e-03 -2.88165380e+02] [ 5.40713736e-03 1.22590265e-04 9.99985374e-01 -2.77579620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 921.0965599949999 meters 0.016210187057291044 Centerline is valid? [True, True] Translation: X:-212.49, Y:-288.15, Z:-2.78 [[-6.67688313e-01 -7.44431740e-01 3.70159625e-03 -2.12485088e+02] [ 7.44421306e-01 -6.67698562e-01 -3.94339296e-03 -2.88145929e+02] [ 5.40713738e-03 1.22589728e-04 9.99985374e-01 -2.77579589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 921.126559995 meters 0.015255217841001036 Centerline is valid? [True, True] Translation: X:-212.50, Y:-288.12, Z:-2.78 [[-6.69649295e-01 -7.42667959e-01 3.75832356e-03 -2.12501820e+02] [ 7.42657187e-01 -6.69659832e-01 -4.00157430e-03 -2.88123648e+02] [ 5.48863934e-03 1.11494595e-04 9.99984931e-01 -2.77590278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 921.156559995 meters 0.014527927996635867 Centerline is valid? [True, True] Translation: X:-212.52, Y:-288.10, Z:-2.78 [[-6.71912867e-01 -7.40620104e-01 3.86787393e-03 -2.12518530e+02] [ 7.40608674e-01 -6.71923992e-01 -4.11590855e-03 -2.88101280e+02] [ 5.64724192e-03 9.90490694e-05 9.99984049e-01 -2.77565870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 921.1865599949999 meters 0.014146953770931222 Centerline is valid? [True, True] Translation: X:-212.54, Y:-288.08, Z:-2.78 [[-6.74662121e-01 -7.38117507e-01 3.68365333e-03 -2.12535217e+02] [ 7.38107114e-01 -6.74672173e-01 -3.91769342e-03 -2.88079172e+02] [ 5.37697650e-03 7.58113797e-05 9.99985541e-01 -2.77563117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 921.2165599949999 meters 0.012874106447419367 Centerline is valid? [True, True] Translation: X:-212.55, Y:-288.05, Z:-2.77 [[-6.79761624e-01 -7.33423976e-01 3.66152155e-03 -2.12549012e+02] [ 7.33413651e-01 -6.79771484e-01 -3.89194486e-03 -2.88053338e+02] [ 5.34344361e-03 3.98151289e-05 9.99985723e-01 -2.77423157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 921.246559995 meters 0.012886496520410302 Centerline is valid? [True, True] Translation: X:-212.57, Y:-288.03, Z:-2.77 [[-6.81748946e-01 -7.31580095e-01 2.98985654e-03 -2.12567002e+02] [ 7.31573200e-01 -6.81755501e-01 -3.17644424e-03 -2.88033776e+02] [ 4.36217453e-03 2.17614059e-05 9.99990486e-01 -2.77449225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 921.276559995 meters 0.012569176408801428 Centerline is valid? [True, True] Translation: X:-212.58, Y:-288.01, Z:-2.77 [[-6.85218969e-01 -7.28331178e-01 2.94268957e-03 -2.12583196e+02] [ 7.28324477e-01 -6.85225288e-01 -3.12442729e-03 -2.88012071e+02] [ 4.29202312e-03 2.31599123e-06 9.99990789e-01 -2.77378916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 921.3065599949999 meters 0.012744000837896058 Centerline is valid? [True, True] Translation: X:-212.60, Y:-287.99, Z:-2.77 [[-6.86750984e-01 -7.26887246e-01 2.83154000e-03 -2.12601270e+02] [ 7.26881037e-01 -6.86756821e-01 -3.00455476e-03 -2.87992077e+02] [ 4.12855194e-03 -5.18820537e-06 9.99991478e-01 -2.77362212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 921.3365599949999 meters 0.012732810342678721 Centerline is valid? [True, True] Translation: X:-212.62, Y:-287.97, Z:-2.77 [[-6.87811078e-01 -7.25884209e-01 2.83475484e-03 -2.12619658e+02] [ 7.25877985e-01 -6.87816919e-01 -3.00609418e-03 -2.87972514e+02] [ 4.13186864e-03 -9.93874609e-06 9.99991464e-01 -2.77355663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 921.366559995 meters 0.013056259967527836 Centerline is valid? [True, True] Translation: X:-212.64, Y:-287.95, Z:-2.77 [[-6.90197423e-01 -7.23611002e-01 3.82561340e-03 -2.12636621e+02] [ 7.23599644e-01 -6.90208025e-01 -4.05447430e-03 -2.87951553e+02] [ 5.57433127e-03 -3.01752198e-05 9.99984463e-01 -2.77494238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 921.396559995 meters 0.013132949500034232 Centerline is valid? [True, True] Translation: X:-212.66, Y:-287.93, Z:-2.77 [[-6.91648504e-01 -7.22223552e-01 3.93552440e-03 -2.12655265e+02] [ 7.22211524e-01 -6.91659699e-01 -4.16834668e-03 -2.87931164e+02] [ 5.73252176e-03 -4.07496701e-05 9.99983568e-01 -2.77462436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 921.4265599949999 meters 0.013324778796023501 Centerline is valid? [True, True] Translation: X:-212.67, Y:-287.91, Z:-2.77 [[-6.92736797e-01 -7.21179324e-01 4.01421132e-03 -2.12674431e+02] [ 7.21166808e-01 -6.92748426e-01 -4.24903032e-03 -2.87911293e+02] [ 5.84515138e-03 -4.85436835e-05 9.99982916e-01 -2.77453158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 921.4565599949999 meters 0.01344460955822289 Centerline is valid? [True, True] Translation: X:-212.69, Y:-287.89, Z:-2.77 [[-6.93732319e-01 -7.20220825e-01 4.17536958e-03 -2.12693455e+02] [ 7.20207283e-01 -6.93744881e-01 -4.41687207e-03 -2.87892208e+02] [ 6.07776452e-03 -5.69953240e-05 9.99981529e-01 -2.77484210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 921.486559995 meters 0.013928687678427604 Centerline is valid? [True, True] Translation: X:-212.71, Y:-287.87, Z:-2.78 [[-6.96067649e-01 -7.17961489e-01 4.59657371e-03 -2.12712856e+02] [ 7.17945046e-01 -6.96082821e-01 -4.85976579e-03 -2.87871874e+02] [ 6.68872068e-03 -8.26384317e-05 9.99977627e-01 -2.77506501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 921.516559995 meters 0.014312961595216953 Centerline is valid? [True, True] Translation: X:-212.73, Y:-287.85, Z:-2.78 [[-6.97725467e-01 -7.16349647e-01 4.72818844e-03 -2.12732199e+02] [ 7.16332231e-01 -6.97741481e-01 -4.99614085e-03 -2.87851665e+02] [ 6.87803694e-03 -9.89809356e-05 9.99976341e-01 -2.77512272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 921.5465599949999 meters 0.014761628517412148 Centerline is valid? [True, True] Translation: X:-212.75, Y:-287.83, Z:-2.77 [[-6.99080339e-01 -7.15026173e-01 4.92469555e-03 -2.12750698e+02] [ 7.15007261e-01 -6.99097675e-01 -5.20167796e-03 -2.87831318e+02] [ 7.16217909e-03 -1.15197713e-04 9.99974345e-01 -2.77474361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 921.5765599949999 meters 0.015297272038853388 Centerline is valid? [True, True] Translation: X:-212.77, Y:-287.81, Z:-2.77 [[-7.00916629e-01 -7.13228355e-01 4.60366877e-03 -2.12769992e+02] [ 7.13211807e-01 -7.00931736e-01 -4.85993238e-03 -2.87811143e+02] [ 6.69309912e-03 -1.23016495e-04 9.99977594e-01 -2.77443564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 921.6065599949999 meters 0.015992503275960256 Centerline is valid? [True, True] Translation: X:-212.79, Y:-287.79, Z:-2.77 [[-7.03337347e-01 -7.10844215e-01 4.13258730e-03 -2.12789682e+02] [ 7.10830855e-01 -7.03349476e-01 -4.36008360e-03 -2.87791691e+02] [ 6.00599332e-03 -1.29039067e-04 9.99981956e-01 -2.77373711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 921.636559995 meters 0.016260671664860143 Centerline is valid? [True, True] Translation: X:-212.81, Y:-287.77, Z:-2.77 [[-7.04011058e-01 -7.10176178e-01 4.26924195e-03 -2.12808065e+02] [ 7.10161926e-01 -7.04023989e-01 -4.50134654e-03 -2.87773039e+02] [ 6.20239783e-03 -1.37144654e-04 9.99980756e-01 -2.77345009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 921.666559995 meters 0.016333340608851596 Centerline is valid? [True, True] Translation: X:-212.83, Y:-287.76, Z:-2.77 [[-7.04558836e-01 -7.09634213e-01 4.01639865e-03 -2.12829039e+02] [ 7.09621605e-01 -7.04570271e-01 -4.23215824e-03 -2.87755526e+02] [ 5.83311937e-03 -1.31681227e-04 9.99982979e-01 -2.77351468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 921.6965599949999 meters 0.01668668385348769 Centerline is valid? [True, True] Translation: X:-212.85, Y:-287.74, Z:-2.77 [[-7.04180675e-01 -7.10009905e-01 3.93842683e-03 -2.12847849e+02] [ 7.09997799e-01 -7.04191678e-01 -4.14802779e-03 -2.87736927e+02] [ 5.71854822e-03 -1.24686629e-04 9.99983641e-01 -2.77396112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 921.7265599949999 meters 0.015387275271254462 Centerline is valid? [True, True] Translation: X:-212.87, Y:-287.72, Z:-2.77 [[-7.03243742e-01 -7.10937948e-01 3.93355579e-03 -2.12870200e+02] [ 7.10925901e-01 -7.03254734e-01 -4.14045741e-03 -2.87719809e+02] [ 5.70990003e-03 -1.15284073e-04 9.99983692e-01 -2.77361004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 921.756559995 meters 0.01434416267495589 Centerline is valid? [True, True] Translation: X:-212.89, Y:-287.70, Z:-2.77 [[-7.00084028e-01 -7.14048206e-01 4.18496145e-03 -2.12894554e+02] [ 7.14034638e-01 -7.00096530e-01 -4.40277130e-03 -2.87703649e+02] [ 6.07366793e-03 -9.41024299e-05 9.99981551e-01 -2.77415918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 921.786559995 meters 0.013919961596231099 Centerline is valid? [True, True] Translation: X:-212.92, Y:-287.69, Z:-2.77 [[-6.98233974e-01 -7.15859104e-01 3.88090901e-03 -2.12915945e+02] [ 7.15847477e-01 -6.98244755e-01 -4.08067051e-03 -2.87686404e+02] [ 5.63100949e-03 -7.11238618e-05 9.99984143e-01 -2.77457415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 921.8165599949999 meters 0.013348956164712503 Centerline is valid? [True, True] Translation: X:-212.94, Y:-287.67, Z:-2.77 [[-6.96435233e-01 -7.17609736e-01 3.77273889e-03 -2.12938193e+02] [ 7.17598785e-01 -6.96445450e-01 -3.96474134e-03 -2.87669045e+02] [ 5.47264382e-03 -5.38727075e-05 9.99985024e-01 -2.77457075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 921.8465599949999 meters 0.012746763962728076 Centerline is valid? [True, True] Translation: X:-212.96, Y:-287.65, Z:-2.77 [[-6.92898471e-01 -7.21025210e-01 3.78882273e-03 -2.12962425e+02] [ 7.21014229e-01 -6.92908830e-01 -3.97944815e-03 -2.87653274e+02] [ 5.49459117e-03 -2.55584397e-05 9.99984904e-01 -2.77478669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 921.876559995 meters 0.012586893028944732 Centerline is valid? [True, True] Translation: X:-212.98, Y:-287.64, Z:-2.78 [[-6.91427287e-01 -7.22435433e-01 3.91806422e-03 -2.12983148e+02] [ 7.22423727e-01 -6.91438388e-01 -4.11265438e-03 -2.87636044e+02] [ 5.68022726e-03 -1.30989030e-05 9.99983867e-01 -2.77502452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 921.906559995 meters 0.012527569369725067 Centerline is valid? [True, True] Translation: X:-213.00, Y:-287.62, Z:-2.78 [[-6.90085843e-01 -7.23716894e-01 3.92245392e-03 -2.13003703e+02] [ 7.23705197e-01 -6.90096991e-01 -4.11472607e-03 -2.87618575e+02] [ 5.68477042e-03 -8.13926558e-07 9.99983842e-01 -2.77511976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 921.9365599949999 meters 0.012590720983391042 Centerline is valid? [True, True] Translation: X:-213.02, Y:-287.60, Z:-2.78 [[-6.89070964e-01 -7.24682871e-01 3.99295481e-03 -2.13024816e+02] [ 7.24670781e-01 -6.89082532e-01 -4.18608721e-03 -2.87600593e+02] [ 5.78506111e-03 9.06652952e-06 9.99983267e-01 -2.77510835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 921.9665599949999 meters 0.012649286717266077 Centerline is valid? [True, True] Translation: X:-213.05, Y:-287.58, Z:-2.77 [[-6.86847901e-01 -7.26792002e-01 3.65328684e-03 -2.13047216e+02] [ 7.26781922e-01 -6.86857616e-01 -3.82784396e-03 -2.87583092e+02] [ 5.29133427e-03 2.59962490e-05 9.99986001e-01 -2.77424152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 921.996559995 meters 0.012816000780935569 Centerline is valid? [True, True] Translation: X:-213.07, Y:-287.57, Z:-2.77 [[-6.86217856e-01 -7.27388561e-01 3.30692398e-03 -2.13067022e+02] [ 7.27380319e-01 -6.86225824e-01 -3.46264621e-03 -2.87565981e+02] [ 4.78798588e-03 2.92617666e-05 9.99988537e-01 -2.77413517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 922.026559995 meters 0.012910637142069314 Centerline is valid? [True, True] Translation: X:-213.09, Y:-287.55, Z:-2.77 [[-6.84403898e-01 -7.29099524e-01 2.27772740e-03 -2.13089250e+02] [ 7.29095628e-01 -6.84407688e-01 -2.38364699e-03 -2.87548153e+02] [ 3.29681003e-03 2.93037968e-05 9.99994565e-01 -2.77354054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 922.0565599949999 meters 0.013219595998933922 Centerline is valid? [True, True] Translation: X:-213.11, Y:-287.53, Z:-2.77 [[-6.83812470e-01 -7.29655094e-01 1.98723582e-03 -2.13110182e+02] [ 7.29652135e-01 -6.83815357e-01 -2.07848071e-03 -2.87528647e+02] [ 2.87547642e-03 2.86998291e-05 9.99995866e-01 -2.77333847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 922.0865599949999 meters 0.013466531806584827 Centerline is valid? [True, True] Translation: X:-213.13, Y:-287.51, Z:-2.77 [[-6.82989171e-01 -7.30426035e-01 1.89739165e-03 -2.13129832e+02] [ 7.30423343e-01 -6.82991806e-01 -1.98354344e-03 -2.87510852e+02] [ 2.74473472e-03 3.11604668e-05 9.99996233e-01 -2.77317119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 922.116559995 meters 0.013632813645769867 Centerline is valid? [True, True] Translation: X:-213.15, Y:-287.49, Z:-2.77 [[-6.81378025e-01 -7.31930097e-01 1.52333649e-03 -2.13150329e+02] [ 7.31928367e-01 -6.81379727e-01 -1.59160176e-03 -2.87491273e+02] [ 2.20291183e-03 3.04907218e-05 9.99997573e-01 -2.77299774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 922.146559995 meters 0.013910276130007474 Centerline is valid? [True, True] Translation: X:-213.17, Y:-287.47, Z:-2.77 [[-6.80768208e-01 -7.32496961e-01 1.68796197e-03 -2.13170142e+02] [ 7.32494841e-01 -6.80770300e-01 -1.76260877e-03 -2.87471843e+02] [ 2.44021994e-03 3.64954241e-05 9.99997022e-01 -2.77316737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 922.1765599949999 meters 0.015445723259317928 Centerline is valid? [True, True] Translation: X:-213.19, Y:-287.45, Z:-2.77 [[-6.80030897e-01 -7.33180923e-01 1.92734678e-03 -2.13191697e+02] [ 7.33178165e-01 -6.80033626e-01 -2.01138179e-03 -2.87454864e+02] [ 2.78536738e-03 4.52868088e-05 9.99996120e-01 -2.77367187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 922.2065599949999 meters 0.014532187619792379 Centerline is valid? [True, True] Translation: X:-213.21, Y:-287.43, Z:-2.77 [[-6.79119876e-01 -7.34022965e-01 2.54587437e-03 -2.13210174e+02] [ 7.34018165e-01 -6.79124644e-01 -2.65536301e-03 -2.87433584e+02] [ 3.67806345e-03 6.54082332e-05 9.99993234e-01 -2.77419142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 922.236559995 meters 0.0147687956799999 Centerline is valid? [True, True] Translation: X:-213.23, Y:-287.41, Z:-2.77 [[-6.78689231e-01 -7.34419636e-01 2.95414474e-03 -2.13230019e+02] [ 7.34413184e-01 -6.78695655e-01 -3.07933775e-03 -2.87414929e+02] [ 4.26649131e-03 7.96494770e-05 9.99990895e-01 -2.77463609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 922.266559995 meters 0.014668345106138346 Centerline is valid? [True, True] Translation: X:-213.25, Y:-287.39, Z:-2.78 [[-6.78441185e-01 -7.34647971e-01 3.14923485e-03 -2.13249623e+02] [ 7.34640650e-01 -6.78448488e-01 -3.28083040e-03 -2.87394349e+02] [ 4.54684902e-03 8.77054712e-05 9.99989659e-01 -2.77527875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 922.2965599949999 meters 0.015022290593363605 Centerline is valid? [True, True] Translation: X:-213.27, Y:-287.38, Z:-2.78 [[-6.78185196e-01 -7.34879626e-01 4.09581723e-03 -2.13268312e+02] [ 7.34867263e-01 -6.78197553e-01 -4.26441056e-03 -2.87375049e+02] [ 5.91160166e-03 1.17821891e-04 9.99982520e-01 -2.77652111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 922.3265599949999 meters 0.015138541426835163 Centerline is valid? [True, True] Translation: X:-213.29, Y:-287.36, Z:-2.78 [[-6.78601376e-01 -7.34492100e-01 4.63974879e-03 -2.13286956e+02] [ 7.34476246e-01 -6.78617225e-01 -4.82769895e-03 -2.87355456e+02] [ 6.69452019e-03 1.31702116e-04 9.99977583e-01 -2.77739017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 922.3565599949999 meters 0.014787096069801007 Centerline is valid? [True, True] Translation: X:-213.31, Y:-287.33, Z:-2.78 [[-6.79089202e-01 -7.34038806e-01 4.98865927e-03 -2.13305525e+02] [ 7.34020487e-01 -6.79107511e-01 -5.18780559e-03 -2.87334143e+02] [ 7.19588660e-03 1.38795349e-04 9.99974100e-01 -2.77745285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 922.386559995 meters 0.014886630729309873 Centerline is valid? [True, True] Translation: X:-213.32, Y:-287.31, Z:-2.78 [[-6.80491450e-01 -7.32739981e-01 4.84840978e-03 -2.13323084e+02] [ 7.32722664e-01 -6.80508710e-01 -5.03908985e-03 -2.87313694e+02] [ 6.99172769e-03 1.23482176e-04 9.99975550e-01 -2.77815108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 922.416559995 meters 0.014617372880758298 Centerline is valid? [True, True] Translation: X:-213.34, Y:-287.29, Z:-2.78 [[-6.81667385e-01 -7.31647343e-01 4.66290814e-03 -2.13340399e+02] [ 7.31631320e-01 -6.81683324e-01 -4.84330717e-03 -2.87293069e+02] [ 6.72221954e-03 1.10005107e-04 9.99977400e-01 -2.77752923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 922.4465599949999 meters 0.013924278652919142 Centerline is valid? [True, True] Translation: X:-213.36, Y:-287.27, Z:-2.78 [[-6.83732133e-01 -7.29723667e-01 3.70664874e-03 -2.13356734e+02] [ 7.29713526e-01 -6.83742176e-01 -3.84792672e-03 -2.87269941e+02] [ 5.34231528e-03 7.38405784e-05 9.99985727e-01 -2.77641098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 922.4765599949999 meters 0.013765442410073853 Centerline is valid? [True, True] Translation: X:-213.37, Y:-287.25, Z:-2.78 [[-6.85081957e-01 -7.28459782e-01 3.00973010e-03 -2.13373439e+02] [ 7.28453090e-01 -6.85088566e-01 -3.12294663e-03 -2.87249839e+02] [ 4.33687270e-03 5.29728062e-05 9.99990594e-01 -2.77584332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 922.506559995 meters 0.013300545111310133 Centerline is valid? [True, True] Translation: X:-213.39, Y:-287.23, Z:-2.77 [[-6.86152656e-01 -7.27453430e-01 2.45778838e-03 -2.13390575e+02] [ 7.27448966e-01 -6.86157057e-01 -2.54880834e-03 -2.87227296e+02] [ 3.54056821e-03 3.90440000e-05 9.99993732e-01 -2.77466137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 922.536559995 meters 0.013202258344932376 Centerline is valid? [True, True] Translation: X:-213.41, Y:-287.21, Z:-2.77 [[-6.87227282e-01 -7.26440040e-01 1.87915271e-03 -2.13407258e+02] [ 7.26437430e-01 -6.87229851e-01 -1.94745244e-03 -2.87207144e+02] [ 2.70611726e-03 2.67444174e-05 9.99996338e-01 -2.77412049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 922.5665599949999 meters 0.013042219391378177 Centerline is valid? [True, True] Translation: X:-213.42, Y:-287.18, Z:-2.77 [[-6.88947553e-01 -7.24810714e-01 8.35201089e-04 -2.13423972e+02] [ 7.24810198e-01 -6.88948060e-01 -8.65019160e-04 -2.87184784e+02] [ 1.20238533e-03 9.40943338e-06 9.99999277e-01 -2.77375314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 922.5965599949999 meters 0.012989716886758068 Centerline is valid? [True, True] Translation: X:-213.44, Y:-287.16, Z:-2.77 [[-6.89270107e-01 -7.24504203e-01 6.15988604e-04 -2.13442500e+02] [ 7.24503923e-01 -6.89270382e-01 -6.37623939e-04 -2.87163883e+02] [ 8.86543926e-04 6.79103991e-06 9.99999607e-01 -2.77374856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 922.626559995 meters 0.013078831265338499 Centerline is valid? [True, True] Translation: X:-213.46, Y:-287.14, Z:-2.77 [[-6.89324424e-01 -7.24452547e-01 5.88455747e-04 -2.13461863e+02] [ 7.24452291e-01 -6.89324675e-01 -6.08780481e-04 -2.87142989e+02] [ 8.46669638e-04 6.66086015e-06 9.99999642e-01 -2.77411471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 922.656559995 meters 0.013298626598742029 Centerline is valid? [True, True] Translation: X:-213.48, Y:-287.12, Z:-2.77 [[-6.89158894e-01 -7.24609789e-01 8.20177729e-04 -2.13480162e+02] [ 7.24609293e-01 -6.89159382e-01 -8.47940914e-04 -2.87124314e+02] [ 1.17965946e-03 9.94238268e-06 9.99999304e-01 -2.77494652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 922.6865599949999 meters 0.013644496239432797 Centerline is valid? [True, True] Translation: X:-213.50, Y:-287.10, Z:-2.78 [[-6.87209874e-01 -7.26455865e-01 2.11332034e-03 -2.13499444e+02] [ 7.26452584e-01 -6.87213122e-01 -2.18363605e-03 -2.87104432e+02] [ 3.03861668e-03 3.46107679e-05 9.99995383e-01 -2.77689405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 922.7165599949999 meters 0.01386061055013874 Centerline is valid? [True, True] Translation: X:-213.52, Y:-287.08, Z:-2.78 [[-6.86106238e-01 -7.27495802e-01 2.84396870e-03 -2.13518873e+02] [ 7.27489876e-01 -6.86112130e-01 -2.93693354e-03 -2.87083727e+02] [ 4.08788825e-03 5.39100122e-05 9.99991643e-01 -2.77778483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 922.746559995 meters 0.014298335417341634 Centerline is valid? [True, True] Translation: X:-213.54, Y:-287.06, Z:-2.78 [[-6.84696233e-01 -7.28817790e-01 3.96199505e-03 -2.13537772e+02] [ 7.28806324e-01 -6.84707690e-01 -4.08919593e-03 -2.87063419e+02] [ 5.69308722e-03 8.76699945e-05 9.99983791e-01 -2.77941565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 922.776559995 meters 0.014515645419876861 Centerline is valid? [True, True] Translation: X:-213.56, Y:-287.04, Z:-2.78 [[-6.84204439e-01 -7.29277168e-01 4.37009590e-03 -2.13557384e+02] [ 7.29263243e-01 -6.84218387e-01 -4.50785758e-03 -2.87042664e+02] [ 6.27757758e-03 1.02654139e-04 9.99980291e-01 -2.77978028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 922.8065599949999 meters 0.014776079507578999 Centerline is valid? [True, True] Translation: X:-213.57, Y:-287.02, Z:-2.78 [[-6.84002649e-01 -7.29468457e-01 4.01830795e-03 -2.13574772e+02] [ 7.29456703e-01 -6.84014445e-01 -4.14222178e-03 -2.87022657e+02] [ 5.77020081e-03 9.78909933e-05 9.99983348e-01 -2.78001701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 922.8365599949999 meters 0.014838970011334203 Centerline is valid? [True, True] Translation: X:-213.59, Y:-287.00, Z:-2.78 [[-6.84201201e-01 -7.29284674e-01 3.54694535e-03 -2.13592534e+02] [ 7.29275525e-01 -6.84210389e-01 -3.65403339e-03 -2.87002582e+02] [ 5.09168741e-03 8.66063975e-05 9.99987034e-01 -2.77941904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 922.866559995 meters 0.014779164760678542 Centerline is valid? [True, True] Translation: X:-213.61, Y:-286.98, Z:-2.78 [[-6.84749217e-01 -7.28774281e-01 2.56060941e-03 -2.13610601e+02] [ 7.28769515e-01 -6.84754002e-01 -2.63626289e-03 -2.86981959e+02] [ 3.67462813e-03 6.09151312e-05 9.99993247e-01 -2.77887784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 922.896559995 meters 0.01468250593206728 Centerline is valid? [True, True] Translation: X:-213.63, Y:-286.96, Z:-2.78 [[-6.85284537e-01 -7.28273072e-01 1.85352212e-03 -2.13628360e+02] [ 7.28270576e-01 -6.85287043e-01 -1.90708648e-03 -2.86961394e+02] [ 2.65907442e-03 4.29687467e-05 9.99996464e-01 -2.77786613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 922.9265599949999 meters 0.014768082440029634 Centerline is valid? [True, True] Translation: X:-213.65, Y:-286.94, Z:-2.78 [[-6.85446192e-01 -7.28121041e-01 1.80742491e-03 -2.13645140e+02] [ 7.28118671e-01 -6.85448574e-01 -1.85849504e-03 -2.86939699e+02] [ 2.59210617e-03 4.21214765e-05 9.99996640e-01 -2.77791206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 922.9565599949999 meters 0.014652762611417075 Centerline is valid? [True, True] Translation: X:-213.66, Y:-286.92, Z:-2.78 [[-6.85651042e-01 -7.27926938e-01 2.24091821e-03 -2.13663073e+02] [ 7.27923297e-01 -6.85654702e-01 -2.30293844e-03 -2.86918577e+02] [ 3.21286704e-03 5.22044329e-05 9.99994838e-01 -2.77852203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 922.986559995 meters 0.014757308036492412 Centerline is valid? [True, True] Translation: X:-213.68, Y:-286.90, Z:-2.78 [[-6.85836515e-01 -7.27751354e-01 2.49816959e-03 -2.13680930e+02] [ 7.27746834e-01 -6.85841063e-01 -2.56560597e-03 -2.86899260e+02] [ 3.58047051e-03 5.84487544e-05 9.99993589e-01 -2.77903548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 923.016559995 meters 0.014757308036492412 Centerline is valid? [True, True] Translation: X:-213.70, Y:-286.88, Z:-2.78 [[-6.86062963e-01 -7.27537879e-01 2.49896808e-03 -2.13699681e+02] [ 7.27533361e-01 -6.86067512e-01 -2.56482823e-03 -2.86880156e+02] [ 3.58047051e-03 5.84489914e-05 9.99993589e-01 -2.77903518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 923.0465599949999 meters 0.014473547470859062 Centerline is valid? [True, True] Translation: X:-213.72, Y:-286.86, Z:-2.78 [[-6.86486478e-01 -7.27138519e-01 2.42691082e-03 -2.13716757e+02] [ 7.27134260e-01 -6.86490766e-01 -2.48930057e-03 -2.86858768e+02] [ 3.47611820e-03 5.58188180e-05 9.99993957e-01 -2.77962771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 923.0765599949999 meters 0.014976328429726331 Centerline is valid? [True, True] Translation: X:-213.74, Y:-286.84, Z:-2.78 [[-6.87431157e-01 -7.26244358e-01 2.74535565e-03 -2.13735078e+02] [ 7.26238908e-01 -6.87436637e-01 -2.81407052e-03 -2.86840595e+02] [ 3.93096089e-03 5.93043418e-05 9.99992272e-01 -2.78044764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 923.1065599949999 meters 0.014131043216838543 Centerline is valid? [True, True] Translation: X:-213.75, Y:-286.82, Z:-2.78 [[-6.88331843e-01 -7.25389479e-01 3.06220789e-03 -2.13752080e+02] [ 7.25382699e-01 -6.88338652e-01 -3.13687646e-03 -2.86819125e+02] [ 4.38329323e-03 6.20606734e-05 9.99990392e-01 -2.78029061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 923.136559995 meters 0.013814727592831299 Centerline is valid? [True, True] Translation: X:-213.77, Y:-286.80, Z:-2.78 [[-6.89698952e-01 -7.24089887e-01 3.03190819e-03 -2.13771244e+02] [ 7.24083235e-01 -6.89705614e-01 -3.10408645e-03 -2.86798315e+02] [ 4.33876170e-03 5.44687187e-05 9.99990586e-01 -2.78032579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 923.166559995 meters 0.013721447201028285 Centerline is valid? [True, True] Translation: X:-213.79, Y:-286.78, Z:-2.78 [[-6.91739462e-01 -7.22139613e-01 3.30087476e-03 -2.13789700e+02] [ 7.22131717e-01 -6.91747336e-01 -3.37721202e-03 -2.86779086e+02] [ 4.72218990e-03 4.75155294e-05 9.99988849e-01 -2.78115849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 923.1965599949999 meters 0.013296174948822119 Centerline is valid? [True, True] Translation: X:-213.81, Y:-286.76, Z:-2.78 [[-6.92443555e-01 -7.21465302e-01 3.12111832e-03 -2.13808336e+02] [ 7.21458245e-01 -6.92450588e-01 -3.19133224e-03 -2.86759304e+02] [ 4.46365569e-03 4.19391005e-05 9.99990037e-01 -2.78101211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 923.2265599949999 meters 0.013111723633903675 Centerline is valid? [True, True] Translation: X:-213.83, Y:-286.74, Z:-2.78 [[-6.93510339e-01 -7.20440767e-01 2.91741725e-03 -2.13827206e+02] [ 7.20434600e-01 -6.93516474e-01 -2.98119733e-03 -2.86739740e+02] [ 4.17105301e-03 3.43171613e-05 9.99991301e-01 -2.78111498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 923.256559995 meters 0.013055687962438394 Centerline is valid? [True, True] Translation: X:-213.85, Y:-286.72, Z:-2.78 [[-6.93961233e-01 -7.20006439e-01 2.92143863e-03 -2.13845865e+02] [ 7.20000258e-01 -6.93967382e-01 -2.98343490e-03 -2.86720454e+02] [ 4.17547545e-03 3.30484039e-05 9.99991282e-01 -2.78121452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 923.286559995 meters 0.012969659072220474 Centerline is valid? [True, True] Translation: X:-213.86, Y:-286.70, Z:-2.78 [[-6.94709230e-01 -7.19284818e-01 2.90473842e-03 -2.13864339e+02] [ 7.19278709e-01 -6.94715302e-01 -2.96451599e-03 -2.86701004e+02] [ 4.15029757e-03 2.98398810e-05 9.99991387e-01 -2.78123290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 923.3165599949999 meters 0.012831397126267383 Centerline is valid? [True, True] Translation: X:-213.88, Y:-286.68, Z:-2.78 [[-6.96229355e-01 -7.17812956e-01 3.04079659e-03 -2.13881847e+02] [ 7.17806254e-01 -6.96235995e-01 -3.10186700e-03 -2.86681304e+02] [ 4.34367236e-03 2.30919454e-05 9.99990566e-01 -2.78176482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 923.3465599949999 meters 0.012660041021589342 Centerline is valid? [True, True] Translation: X:-213.90, Y:-286.66, Z:-2.78 [[-6.97475789e-01 -7.16601599e-01 3.11014963e-03 -2.13900376e+02] [ 7.16594585e-01 -6.97482723e-01 -3.17063166e-03 -2.86661484e+02] [ 4.44135535e-03 1.72775615e-05 9.99990137e-01 -2.78211369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 923.376559995 meters 0.012628658620261912 Centerline is valid? [True, True] Translation: X:-213.92, Y:-286.64, Z:-2.78 [[-6.98796678e-01 -7.15313123e-01 3.21539166e-03 -2.13919731e+02] [ 7.15305621e-01 -6.98804076e-01 -3.27606976e-03 -2.86640649e+02] [ 4.59034449e-03 1.06810630e-05 9.99989464e-01 -2.78197052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 923.406559995 meters 0.012589206114002877 Centerline is valid? [True, True] Translation: X:-213.94, Y:-286.62, Z:-2.78 [[-7.01302660e-01 -7.12859390e-01 2.46350853e-03 -2.13936968e+02] [ 7.12854977e-01 -7.01306987e-01 -2.50833232e-03 -2.86621310e+02] [ 3.51576399e-03 -2.97581363e-06 9.99993820e-01 -2.78159415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 923.4365599949999 meters 0.012567601323331132 Centerline is valid? [True, True] Translation: X:-213.96, Y:-286.60, Z:-2.78 [[-7.02761495e-01 -7.11422642e-01 2.02634335e-03 -2.13955800e+02] [ 7.11419653e-01 -7.02764416e-01 -2.06205294e-03 -2.86600755e+02] [ 2.89103316e-03 -7.55092683e-06 9.99995821e-01 -2.78047526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 923.4665599949999 meters 0.013032749636388551 Centerline is valid? [True, True] Translation: X:-213.97, Y:-286.58, Z:-2.78 [[-7.05458824e-01 -7.08747654e-01 2.14722945e-03 -2.13972786e+02] [ 7.08744290e-01 -7.05462092e-01 -2.18362349e-03 -2.86580899e+02] [ 3.06242701e-03 -1.86198484e-05 9.99995311e-01 -2.78039564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 923.496559995 meters 0.012892983967731638 Centerline is valid? [True, True] Translation: X:-213.99, Y:-286.56, Z:-2.78 [[-7.06656096e-01 -7.07553722e-01 2.21193695e-03 -2.13991777e+02] [ 7.07550151e-01 -7.06659557e-01 -2.24803072e-03 -2.86560934e+02] [ 3.15368889e-03 -2.35282942e-05 9.99995027e-01 -2.78074710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 923.526559995 meters 0.013163110538905762 Centerline is valid? [True, True] Translation: X:-214.01, Y:-286.54, Z:-2.78 [[-7.07884269e-01 -7.06323707e-01 2.58496761e-03 -2.14010976e+02] [ 7.06318828e-01 -7.07888988e-01 -2.62552211e-03 -2.86540988e+02] [ 3.68433862e-03 -3.27545081e-05 9.99993212e-01 -2.78150575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 923.5565599949999 meters 0.013620230674385194 Centerline is valid? [True, True] Translation: X:-214.03, Y:-286.52, Z:-2.78 [[-7.09083830e-01 -7.05117750e-01 3.01352970e-03 -2.14029106e+02] [ 7.05111116e-01 -7.09090232e-01 -3.05882434e-03 -2.86521501e+02] [ 4.29369581e-03 -4.40895921e-05 9.99990781e-01 -2.78264199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 923.5865599949999 meters 0.014137424846121495 Centerline is valid? [True, True] Translation: X:-214.05, Y:-286.50, Z:-2.78 [[-7.10879443e-01 -7.03301262e-01 4.21331686e-03 -2.14047848e+02] [ 7.03288274e-01 -7.10891925e-01 -4.27498317e-03 -2.86501167e+02] [ 6.00181400e-03 -7.58213115e-05 9.99981986e-01 -2.78441966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 923.616559995 meters 0.014425386517576294 Centerline is valid? [True, True] Translation: X:-214.07, Y:-286.48, Z:-2.79 [[-7.12166864e-01 -7.01994916e-01 4.63640616e-03 -2.14067727e+02] [ 7.01979176e-01 -7.12181950e-01 -4.70174420e-03 -2.86481504e+02] [ 6.60256530e-03 -9.37658464e-05 9.99978199e-01 -2.78511314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 923.646559995 meters 0.014476830875748132 Centerline is valid? [True, True] Translation: X:-214.09, Y:-286.46, Z:-2.79 [[-7.12637227e-01 -7.01517404e-01 4.63838299e-03 -2.14087202e+02] [ 7.01501660e-01 -7.12652315e-01 -4.70088524e-03 -2.86463091e+02] [ 6.60330719e-03 -9.61924541e-05 9.99978193e-01 -2.78526887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 923.6765599949999 meters 0.014251508064580212 Centerline is valid? [True, True] Translation: X:-214.11, Y:-286.44, Z:-2.79 [[-7.13002460e-01 -7.01143310e-01 5.05476307e-03 -2.14108323e+02] [ 7.01124624e-01 -7.13020369e-01 -5.12000829e-03 -2.86443918e+02] [ 7.19400859e-03 -1.06559644e-04 9.99974117e-01 -2.78510042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 923.7065599949999 meters 0.014357580793679468 Centerline is valid? [True, True] Translation: X:-214.13, Y:-286.43, Z:-2.79 [[-7.12463782e-01 -7.01694814e-01 4.44377169e-03 -2.14127248e+02] [ 7.01680397e-01 -7.12477635e-01 -4.49894095e-03 -2.86425693e+02] [ 6.32297148e-03 -8.72250032e-05 9.99980006e-01 -2.78501761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 923.736559995 meters 0.01375606940066383 Centerline is valid? [True, True] Translation: X:-214.15, Y:-286.41, Z:-2.78 [[-7.10763902e-01 -7.03419872e-01 3.89348066e-03 -2.14149241e+02] [ 7.03408842e-01 -7.10774564e-01 -3.93967057e-03 -2.86407807e+02] [ 5.53862959e-03 -6.14669031e-05 9.99984660e-01 -2.78370663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 923.766559995 meters 0.013194643758910447 Centerline is valid? [True, True] Translation: X:-214.17, Y:-286.39, Z:-2.78 [[-7.08168932e-01 -7.06034231e-01 3.52543831e-03 -2.14172353e+02] [ 7.06025230e-01 -7.08177706e-01 -3.56526527e-03 -2.86391136e+02] [ 5.01383614e-03 -3.57617055e-05 9.99987430e-01 -2.78338515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 923.7965599949999 meters 0.012807302953244368 Centerline is valid? [True, True] Translation: X:-214.20, Y:-286.38, Z:-2.78 [[-7.01970866e-01 -7.12199819e-01 2.88464642e-03 -2.14197412e+02] [ 7.12193853e-01 -7.01976793e-01 -2.91530867e-03 -2.86378437e+02] [ 4.10123715e-03 7.96569671e-06 9.99991590e-01 -2.78303953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 923.8265599949999 meters 0.013314171319739353 Centerline is valid? [True, True] Translation: X:-214.22, Y:-286.36, Z:-2.78 [[-6.99955231e-01 -7.14181386e-01 2.76080102e-03 -2.14218457e+02] [ 7.14175942e-01 -6.99960676e-01 -2.78879745e-03 -2.86362197e+02] [ 3.92415937e-03 1.96643063e-05 9.99992300e-01 -2.78367311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 923.8565599949999 meters 0.013314171319739353 Centerline is valid? [True, True] Translation: X:-214.24, Y:-286.34, Z:-2.78 [[-7.00167369e-01 -7.13973410e-01 2.76162894e-03 -2.14237371e+02] [ 7.13967966e-01 -7.00172815e-01 -2.78797759e-03 -2.86343268e+02] [ 3.92415937e-03 1.96636693e-05 9.99992300e-01 -2.78367280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 923.886559995 meters 0.013314171319739353 Centerline is valid? [True, True] Translation: X:-214.26, Y:-286.32, Z:-2.78 [[-7.00379444e-01 -7.13765370e-01 2.76245708e-03 -2.14256290e+02] [ 7.13759928e-01 -7.00384892e-01 -2.78715704e-03 -2.86324345e+02] [ 3.92415937e-03 1.96636693e-05 9.99992300e-01 -2.78367249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 923.916559995 meters 0.013420163394181754 Centerline is valid? [True, True] Translation: X:-214.28, Y:-286.31, Z:-2.78 [[-6.98243930e-01 -7.15855506e-01 2.51188815e-03 -2.14277943e+02] [ 7.15851025e-01 -6.98248447e-01 -2.53295194e-03 -2.86305801e+02] [ 3.56714959e-03 2.95193931e-05 9.99993637e-01 -2.78276477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 923.9465599949999 meters 0.014207898248937345 Centerline is valid? [True, True] Translation: X:-214.30, Y:-286.29, Z:-2.78 [[-6.94660431e-01 -7.19335391e-01 1.86585649e-03 -2.14300533e+02] [ 7.19332933e-01 -6.94662936e-01 -1.88074859e-03 -2.86289750e+02] [ 2.64903036e-03 3.56903960e-05 9.99996491e-01 -2.78232330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 923.9765599949999 meters 0.01464024379463065 Centerline is valid? [True, True] Translation: X:-214.32, Y:-286.27, Z:-2.78 [[-6.93376862e-01 -7.20573163e-01 1.68621447e-03 -2.14321701e+02] [ 7.20571162e-01 -6.93378912e-01 -1.69873394e-03 -2.86270631e+02] [ 2.39324765e-03 3.71747069e-05 9.99997136e-01 -2.78191556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 924.006559995 meters 0.01521771739877101 Centerline is valid? [True, True] Translation: X:-214.34, Y:-286.25, Z:-2.78 [[-6.92260961e-01 -7.21645030e-01 1.79265022e-03 -2.14342565e+02] [ 7.21642774e-01 -6.92263281e-01 -1.80495783e-03 -2.86251951e+02] [ 2.54352477e-03 4.41512380e-05 9.99996764e-01 -2.78215986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 924.036559995 meters 0.015548492147356176 Centerline is valid? [True, True] Translation: X:-214.36, Y:-286.23, Z:-2.78 [[-6.91183561e-01 -7.22677669e-01 1.50717775e-03 -2.14363938e+02] [ 7.22676079e-01 -6.91185203e-01 -1.51668632e-03 -2.86233102e+02] [ 2.13781430e-03 4.08926569e-05 9.99997714e-01 -2.78220736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 924.0665599949999 meters 0.016071097730305135 Centerline is valid? [True, True] Translation: X:-214.39, Y:-286.21, Z:-2.78 [[-6.89076908e-01 -7.24684485e-01 2.32647577e-03 -2.14385464e+02] [ 7.24680711e-01 -6.89080831e-01 -2.33982578e-03 -2.86214710e+02] [ 3.29876530e-03 7.36322051e-05 9.99994556e-01 -2.78299134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 924.0965599949999 meters 0.016704665843271738 Centerline is valid? [True, True] Translation: X:-214.41, Y:-286.20, Z:-2.78 [[-6.88349172e-01 -7.25373432e-01 2.96672765e-03 -2.14406071e+02] [ 7.25367309e-01 -6.88355558e-01 -2.98196795e-03 -2.86196789e+02] [ 4.20520379e-03 9.93320804e-05 9.99991153e-01 -2.78374390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 924.126559995 meters 0.016846924396686523 Centerline is valid? [True, True] Translation: X:-214.43, Y:-286.18, Z:-2.79 [[-6.87436724e-01 -7.26229880e-01 4.57303438e-03 -2.14426167e+02] [ 7.26215368e-01 -6.87451915e-01 -4.59392421e-03 -2.86177573e+02] [ 6.47998627e-03 1.62975642e-04 9.99978992e-01 -2.78586976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 924.156559995 meters 0.016520102789890467 Centerline is valid? [True, True] Translation: X:-214.45, Y:-286.16, Z:-2.79 [[-6.87877152e-01 -7.25808551e-01 5.19337079e-03 -2.14445559e+02] [ 7.25789845e-01 -6.87896732e-01 -5.21411943e-03 -2.86157547e+02] [ 7.35695527e-03 1.82622151e-04 9.99972921e-01 -2.78681440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 924.1865599949999 meters 0.016829287245800763 Centerline is valid? [True, True] Translation: X:-214.46, Y:-286.14, Z:-2.79 [[-6.88587533e-01 -7.25131834e-01 5.57072917e-03 -2.14464943e+02] [ 7.25110315e-01 -6.88610040e-01 -5.58966999e-03 -2.86138723e+02] [ 7.88930769e-03 1.90416115e-04 9.99968861e-01 -2.78784136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 924.2165599949999 meters 0.015648865195975244 Centerline is valid? [True, True] Translation: X:-214.48, Y:-286.12, Z:-2.79 [[-6.91644558e-01 -7.22213978e-01 5.89709088e-03 -2.14481497e+02] [ 7.22189785e-01 -6.91669677e-01 -5.91379057e-03 -2.86116203e+02] [ 8.34986116e-03 1.68577732e-04 9.99965125e-01 -2.78810698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 924.246559995 meters 0.014578722618940219 Centerline is valid? [True, True] Translation: X:-214.50, Y:-286.09, Z:-2.79 [[-6.95775021e-01 -7.18239180e-01 5.44057782e-03 -2.14496258e+02] [ 7.18218487e-01 -6.95796283e-01 -5.45327068e-03 -2.86093305e+02] [ 7.70228649e-03 1.13274044e-04 9.99970331e-01 -2.78697400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 924.276559995 meters 0.014055615742670906 Centerline is valid? [True, True] Translation: X:-214.51, Y:-286.07, Z:-2.79 [[-6.98517187e-01 -7.15577445e-01 4.76012685e-03 -2.14513727e+02] [ 7.15561560e-01 -6.98533402e-01 -4.76861727e-03 -2.86070821e+02] [ 6.73742257e-03 7.52026662e-05 9.99977301e-01 -2.78638822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 924.3065599949999 meters 0.01300710300208249 Centerline is valid? [True, True] Translation: X:-214.53, Y:-286.05, Z:-2.79 [[-7.03796983e-01 -7.10389498e-01 4.07032054e-03 -2.14527790e+02] [ 7.10377809e-01 -7.03808753e-01 -4.07534966e-03 -2.86045478e+02] [ 5.75981282e-03 2.32465934e-05 9.99983412e-01 -2.78535672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 924.3365599949999 meters 0.012993334484542655 Centerline is valid? [True, True] Translation: X:-214.54, Y:-286.02, Z:-2.78 [[-7.08835682e-01 -7.05363384e-01 3.80432542e-03 -2.14542357e+02] [ 7.05353112e-01 -7.08845891e-01 -3.80665298e-03 -2.86021229e+02] [ 5.38175407e-03 -1.48986861e-05 9.99985518e-01 -2.78455675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 924.366559995 meters 0.013366745509820137 Centerline is valid? [True, True] Translation: X:-214.56, Y:-286.00, Z:-2.78 [[-7.11099083e-01 -7.03079746e-01 4.11902812e-03 -2.14558476e+02] [ 7.03067681e-01 -7.11111011e-01 -4.11886091e-03 -2.86000672e+02] [ 5.82497393e-03 -3.29626639e-05 9.99983034e-01 -2.78491981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 924.396559995 meters 0.013366745509820137 Centerline is valid? [True, True] Translation: X:-214.58, Y:-286.03, Z:-2.78 [[-6.62158860e-01 -7.49353691e-01 3.83287258e-03 -2.14575167e+02] [ 7.49340853e-01 -6.62169952e-01 -4.38637928e-03 -2.86027157e+02] [ 5.82496256e-03 -3.23518934e-05 9.99983034e-01 -2.78491983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 924.4265599949999 meters 0.013442272025666939 Centerline is valid? [True, True] Translation: X:-214.59, Y:-286.00, Z:-2.79 [[-6.64049804e-01 -7.47676270e-01 4.24886213e-03 -2.14592286e+02] [ 7.47660471e-01 -6.64063395e-01 -4.86076655e-03 -2.86004545e+02] [ 6.45579361e-03 -5.10848185e-05 9.99979160e-01 -2.78503963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 924.4565599949999 meters 0.013918616620977157 Centerline is valid? [True, True] Translation: X:-214.61, Y:-285.98, Z:-2.79 [[-6.65482040e-01 -7.46394687e-01 5.35032635e-03 -2.14608998e+02] [ 7.46369614e-01 -6.65503542e-01 -6.11838146e-03 -2.85982758e+02] [ 8.12738856e-03 -7.83519591e-05 9.99966969e-01 -2.78640203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 924.486559995 meters 0.01358353467347761 Centerline is valid? [True, True] Translation: X:-214.63, Y:-285.96, Z:-2.79 [[-6.64686632e-01 -7.47100713e-01 5.67500019e-03 -2.14628624e+02] [ 7.47072565e-01 -6.64710854e-01 -6.48564894e-03 -2.85963421e+02] [ 8.61766717e-03 -7.12871999e-05 9.99962865e-01 -2.78662384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 924.516559995 meters 0.013630391805123382 Centerline is valid? [True, True] Translation: X:-214.65, Y:-285.94, Z:-2.79 [[-6.64107855e-01 -7.47610792e-01 6.23380731e-03 -2.14647982e+02] [ 7.47576891e-01 -6.64137109e-01 -7.11989778e-03 -2.85943726e+02] [ 9.46301518e-03 -6.81297599e-05 9.99955223e-01 -2.78738086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 924.5465599949999 meters 0.013173132299216085 Centerline is valid? [True, True] Translation: X:-214.67, Y:-285.92, Z:-2.79 [[-6.62438944e-01 -7.49081440e-01 7.18627869e-03 -2.14667544e+02] [ 7.49036530e-01 -6.62477920e-01 -8.20257884e-03 -2.85924168e+02] [ 1.09051505e-02 -5.09224107e-05 9.99940536e-01 -2.78748177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 924.5765599949999 meters 0.01305233070252956 Centerline is valid? [True, True] Translation: X:-214.69, Y:-285.90, Z:-2.79 [[-6.61965132e-01 -7.49498577e-01 7.35171360e-03 -2.14685841e+02] [ 7.49451660e-01 -6.62005953e-01 -8.38615273e-03 -2.85904043e+02] [ 1.11522877e-02 -4.15867327e-05 9.99937811e-01 -2.78760327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 924.6065599949999 meters 0.013191776333451827 Centerline is valid? [True, True] Translation: X:-214.70, Y:-285.88, Z:-2.79 [[-6.61660931e-01 -7.49765623e-01 7.50487667e-03 -2.14704849e+02] [ 7.49716804e-01 -6.61703490e-01 -8.55603678e-03 -2.85883716e+02] [ 1.13810253e-02 -3.46631046e-05 9.99935234e-01 -2.78713070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 924.636559995 meters 0.013046656021689102 Centerline is valid? [True, True] Translation: X:-214.72, Y:-285.86, Z:-2.79 [[-6.61288048e-01 -7.50097189e-01 7.23354099e-03 -2.14723352e+02] [ 7.50051913e-01 -6.61327609e-01 -8.24147413e-03 -2.85864308e+02] [ 1.09656469e-02 -2.44570869e-05 9.99939875e-01 -2.78666949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 924.666559995 meters 0.012720043782148225 Centerline is valid? [True, True] Translation: X:-214.74, Y:-285.85, Z:-2.79 [[-6.59778983e-01 -7.51434454e-01 6.16076569e-03 -2.14744392e+02] [ 7.51401709e-01 -6.59807746e-01 -7.01503302e-03 -2.85845832e+02] [ 9.33625843e-03 8.38515423e-07 9.99956416e-01 -2.78589505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 924.6965599949999 meters 0.012698610771155095 Centerline is valid? [True, True] Translation: X:-214.76, Y:-285.83, Z:-2.79 [[-6.59099101e-01 -7.52036204e-01 5.47023401e-03 -2.14763970e+02] [ 7.52010441e-01 -6.59121801e-01 -6.22482970e-03 -2.85827165e+02] [ 8.28684779e-03 1.08934305e-05 9.99965664e-01 -2.78543563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 924.7265599949999 meters 0.012757930904098932 Centerline is valid? [True, True] Translation: X:-214.78, Y:-285.81, Z:-2.79 [[-6.57431745e-01 -7.53502035e-01 4.26428962e-03 -2.14784255e+02] [ 7.53486431e-01 -6.57445574e-01 -4.84933008e-03 -2.85810310e+02] [ 6.45751842e-03 2.49808291e-05 9.99979150e-01 -2.78505231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 924.756559995 meters 0.012765303527357842 Centerline is valid? [True, True] Translation: X:-214.80, Y:-285.79, Z:-2.78 [[-6.56899634e-01 -7.53967512e-01 3.98263277e-03 -2.14803380e+02] [ 7.53953927e-01 -6.56911707e-01 -4.52617352e-03 -2.85790799e+02] [ 6.02882587e-03 2.94798878e-05 9.99981826e-01 -2.78465387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 924.786559995 meters 0.012914348386445913 Centerline is valid? [True, True] Translation: X:-214.82, Y:-285.77, Z:-2.78 [[-6.56306000e-01 -7.54484896e-01 3.86992105e-03 -2.14822093e+02] [ 7.54472095e-01 -6.56317409e-01 -4.39516588e-03 -2.85771654e+02] [ 5.85598283e-03 3.51737022e-05 9.99982853e-01 -2.78494178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 924.8165599949999 meters 0.013019202992750268 Centerline is valid? [True, True] Translation: X:-214.84, Y:-285.75, Z:-2.78 [[-6.54709887e-01 -7.55867866e-01 4.32812913e-03 -2.14842197e+02] [ 7.55851903e-01 -6.54724191e-01 -4.91278614e-03 -2.85752162e+02] [ 6.54714802e-03 5.49749770e-05 9.99978566e-01 -2.78485748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 924.8465599949999 meters 0.013210951354316117 Centerline is valid? [True, True] Translation: X:-214.86, Y:-285.73, Z:-2.79 [[-6.54292456e-01 -7.56230435e-01 4.11236470e-03 -2.14860839e+02] [ 7.56216050e-01 -6.54305377e-01 -4.66477327e-03 -2.85733759e+02] [ 6.21838586e-03 5.77102315e-05 9.99980664e-01 -2.78530068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 924.876559995 meters 0.013217544616589628 Centerline is valid? [True, True] Translation: X:-214.88, Y:-285.71, Z:-2.79 [[-6.53691453e-01 -7.56753032e-01 3.51188907e-03 -2.14880271e+02] [ 7.56742560e-01 -6.53700884e-01 -3.98137875e-03 -2.85713794e+02] [ 5.30864544e-03 5.50026672e-05 9.99985908e-01 -2.78540129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 924.906559995 meters 0.013217544616589628 Centerline is valid? [True, True] Translation: X:-214.90, Y:-285.69, Z:-2.79 [[-6.53904588e-01 -7.56568866e-01 3.51301041e-03 -2.14898573e+02] [ 7.56558397e-01 -6.53914022e-01 -3.98038936e-03 -2.85693153e+02] [ 5.30864544e-03 5.50026620e-05 9.99985908e-01 -2.78540098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 924.9365599949999 meters 0.013827158421556454 Centerline is valid? [True, True] Translation: X:-214.92, Y:-285.68, Z:-2.79 [[-6.52742406e-01 -7.57570354e-01 3.80917045e-03 -2.14919589e+02] [ 7.57558078e-01 -6.52753517e-01 -4.31336851e-03 -2.85675187e+02] [ 5.75412952e-03 7.01493050e-05 9.99983443e-01 -2.78613305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 924.9665599949999 meters 0.013641841004998793 Centerline is valid? [True, True] Translation: X:-214.94, Y:-285.65, Z:-2.79 [[-6.52702023e-01 -7.57604347e-01 3.96512117e-03 -2.14938343e+02] [ 7.57591061e-01 -6.52714063e-01 -4.48739906e-03 -2.85654565e+02] [ 5.98776338e-03 7.50059068e-05 9.99982071e-01 -2.78592763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 924.996559995 meters 0.01355989249228217 Centerline is valid? [True, True] Translation: X:-214.96, Y:-285.63, Z:-2.79 [[-6.53540597e-01 -7.56882769e-01 3.62812839e-03 -2.14957742e+02] [ 7.56871646e-01 -6.53550664e-01 -4.10383682e-03 -2.85633560e+02] [ 5.47728909e-03 6.40035404e-05 9.99984998e-01 -2.78667724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 925.026559995 meters 0.013205740856023987 Centerline is valid? [True, True] Translation: X:-214.98, Y:-285.61, Z:-2.79 [[-6.54641273e-01 -7.55930397e-01 3.74682754e-03 -2.14975802e+02] [ 7.55918532e-01 -6.54651993e-01 -4.23569991e-03 -2.85612500e+02] [ 5.65476243e-03 5.94323939e-05 9.99984010e-01 -2.78679500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 925.0565599949999 meters 0.013082222945247385 Centerline is valid? [True, True] Translation: X:-214.99, Y:-285.59, Z:-2.79 [[-6.56182270e-01 -7.54594318e-01 3.49914414e-03 -2.14993734e+02] [ 7.54583963e-01 -6.56191598e-01 -3.95345984e-03 -2.85591033e+02] [ 5.27936732e-03 4.62077962e-05 9.99986063e-01 -2.78698999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 925.0865599949999 meters 0.012534992339647636 Centerline is valid? [True, True] Translation: X:-215.01, Y:-285.57, Z:-2.79 [[-6.60480017e-01 -7.50836073e-01 3.36738870e-03 -2.15009889e+02] [ 7.50826445e-01 -6.60488601e-01 -3.80244299e-03 -2.85568060e+02] [ 5.07913321e-03 1.68868805e-05 9.99987101e-01 -2.78719750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 925.116559995 meters 0.012408966542832791 Centerline is valid? [True, True] Translation: X:-215.03, Y:-285.55, Z:-2.79 [[-6.63309505e-01 -7.48337993e-01 3.27849509e-03 -2.15027234e+02] [ 7.48328846e-01 -6.63317607e-01 -3.69997004e-03 -2.85545378e+02] [ 4.94351168e-03 -8.32852287e-07 9.99987781e-01 -2.78737125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 925.146559995 meters 0.012557704016497273 Centerline is valid? [True, True] Translation: X:-215.04, Y:-285.52, Z:-2.79 [[-6.66027139e-01 -7.45920894e-01 3.14165250e-03 -2.15043874e+02] [ 7.45912477e-01 -6.66034549e-01 -3.54353583e-03 -2.85522945e+02] [ 4.73564652e-03 -1.66932383e-05 9.99988787e-01 -2.78736736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 925.1765599949999 meters 0.013205259213443999 Centerline is valid? [True, True] Translation: X:-215.06, Y:-285.50, Z:-2.79 [[-6.70900489e-01 -7.41540814e-01 3.12329648e-03 -2.15058411e+02] [ 7.41532458e-01 -6.70907757e-01 -3.52073913e-03 -2.85499388e+02] [ 4.70621560e-03 -4.60398907e-05 9.99988925e-01 -2.78778252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 925.2065599949999 meters 0.01355065344495211 Centerline is valid? [True, True] Translation: X:-215.08, Y:-285.48, Z:-2.79 [[-6.72861541e-01 -7.39760464e-01 3.43550276e-03 -2.15075531e+02] [ 7.39750341e-01 -6.72870309e-01 -3.87050744e-03 -2.85477365e+02] [ 5.17489619e-03 -6.29012642e-05 9.99986608e-01 -2.78774757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 925.236559995 meters 0.01440184879951237 Centerline is valid? [True, True] Translation: X:-215.09, Y:-285.46, Z:-2.79 [[-6.75813317e-01 -7.37059256e-01 4.47363420e-03 -2.15092735e+02] [ 7.37042050e-01 -6.75828116e-01 -5.03729117e-03 -2.85455223e+02] [ 6.73618985e-03 -1.07011935e-04 9.99977306e-01 -2.78970050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 925.266559995 meters 0.014443693922083913 Centerline is valid? [True, True] Translation: X:-215.11, Y:-285.44, Z:-2.79 [[-6.76468533e-01 -7.36455585e-01 4.84712876e-03 -2.15110772e+02] [ 7.36435396e-01 -6.76485888e-01 -5.45442383e-03 -2.85435101e+02] [ 7.29595510e-03 -1.20148903e-04 9.99973377e-01 -2.79065391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 925.2965599949999 meters 0.014818875633220038 Centerline is valid? [True, True] Translation: X:-215.13, Y:-285.42, Z:-2.79 [[-6.76706899e-01 -7.36232907e-01 5.37396439e-03 -2.15127569e+02] [ 7.36208109e-01 -6.76728223e-01 -6.04412559e-03 -2.85415562e+02] [ 8.08659752e-03 -1.33745320e-04 9.99967294e-01 -2.79189514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 925.3265599949999 meters 0.014867464474506752 Centerline is valid? [True, True] Translation: X:-215.15, Y:-285.40, Z:-2.79 [[-6.76844716e-01 -7.36102274e-01 5.88839240e-03 -2.15146092e+02] [ 7.36072532e-01 -6.76870314e-01 -6.61865514e-03 -2.85395409e+02] [ 8.85768511e-03 -1.45517858e-04 9.99960760e-01 -2.79251582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 925.3565599949999 meters 0.01457255304772488 Centerline is valid? [True, True] Translation: X:-215.16, Y:-285.38, Z:-2.79 [[-6.76078201e-01 -7.36807417e-01 5.75295496e-03 -2.15164928e+02] [ 7.36779087e-01 -6.76102665e-01 -6.46247660e-03 -2.85376275e+02] [ 8.65118887e-03 -1.30482652e-04 9.99962569e-01 -2.79245966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 925.386559995 meters 0.014071514933199511 Centerline is valid? [True, True] Translation: X:-215.18, Y:-285.36, Z:-2.79 [[-6.74761745e-01 -7.38015191e-01 5.49234958e-03 -2.15184720e+02] [ 7.37989431e-01 -6.74784089e-01 -6.16710832e-03 -2.85356839e+02] [ 8.25756973e-03 -1.08032824e-04 9.99965900e-01 -2.79123600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 925.416559995 meters 0.013783902198222375 Centerline is valid? [True, True] Translation: X:-215.20, Y:-285.34, Z:-2.79 [[-6.74403269e-01 -7.38346097e-01 5.02706255e-03 -2.15203918e+02] [ 7.38324552e-01 -6.74421999e-01 -5.64117208e-03 -2.85336869e+02] [ 7.55549897e-03 -9.28211868e-05 9.99971453e-01 -2.79085632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 925.4465599949999 meters 0.014025588875311138 Centerline is valid? [True, True] Translation: X:-215.22, Y:-285.32, Z:-2.79 [[-6.74018169e-01 -7.38700155e-01 4.64639705e-03 -2.15221494e+02] [ 7.38681782e-01 -6.74034179e-01 -5.21063077e-03 -2.85317515e+02] [ 6.98092418e-03 -7.98509602e-05 9.99975630e-01 -2.79104031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 925.4765599949999 meters 0.013525608810309389 Centerline is valid? [True, True] Translation: X:-215.24, Y:-285.30, Z:-2.79 [[-6.73196546e-01 -7.39450257e-01 4.44165574e-03 -2.15241154e+02] [ 7.39433498e-01 -6.73211195e-01 -4.97891702e-03 -2.85297924e+02] [ 6.67183384e-03 -6.74806936e-05 9.99977741e-01 -2.79061377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 925.506559995 meters 0.012971906823965184 Centerline is valid? [True, True] Translation: X:-215.26, Y:-285.28, Z:-2.79 [[-6.71668383e-01 -7.40842147e-01 3.80733470e-03 -2.15261404e+02] [ 7.40829871e-01 -6.71679173e-01 -4.26521011e-03 -2.85279218e+02] [ 5.71715484e-03 -4.42195098e-05 9.99983656e-01 -2.79005558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 925.536559995 meters 0.012854931110162787 Centerline is valid? [True, True] Translation: X:-215.28, Y:-285.26, Z:-2.79 [[-6.70771035e-01 -7.41654806e-01 3.79057798e-03 -2.15280609e+02] [ 7.41642665e-01 -6.70781744e-01 -4.24377907e-03 -2.85259930e+02] [ 5.69006965e-03 -3.53497234e-05 9.99983811e-01 -2.78989991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 925.5665599949999 meters 0.01258416735139866 Centerline is valid? [True, True] Translation: X:-215.30, Y:-285.24, Z:-2.79 [[-6.69544584e-01 -7.42762213e-01 3.78747107e-03 -2.15300232e+02] [ 7.42750124e-01 -6.69555296e-01 -4.23780527e-03 -2.85240230e+02] [ 5.68360294e-03 -2.42549576e-05 9.99983848e-01 -2.78989807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 925.5965599949999 meters 0.012508928618656956 Centerline is valid? [True, True] Translation: X:-215.32, Y:-285.22, Z:-2.79 [[-6.66110268e-01 -7.45843806e-01 3.75889411e-03 -2.15322047e+02] [ 7.45831960e-01 -6.66120873e-01 -4.20346662e-03 -2.85221424e+02] [ 5.63900737e-03 3.53109146e-06 9.99984101e-01 -2.78987599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 925.626559995 meters 0.012595304450807416 Centerline is valid? [True, True] Translation: X:-215.34, Y:-285.20, Z:-2.79 [[-6.64079949e-01 -7.47651686e-01 3.84422190e-03 -2.15341774e+02] [ 7.47639343e-01 -6.64091075e-01 -4.29617598e-03 -2.85203047e+02] [ 5.76495667e-03 2.10872077e-05 9.99983382e-01 -2.78996605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 925.656559995 meters 0.013395892685307643 Centerline is valid? [True, True] Translation: X:-215.36, Y:-285.19, Z:-2.79 [[-6.59418493e-01 -7.51765668e-01 3.95360322e-03 -2.15364258e+02] [ 7.51752702e-01 -6.59430342e-01 -4.41580472e-03 -2.85186391e+02] [ 5.92677632e-03 6.02686071e-05 9.99982435e-01 -2.79018950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 925.6865599949999 meters 0.013807955393801695 Centerline is valid? [True, True] Translation: X:-215.38, Y:-285.17, Z:-2.79 [[-6.57195525e-01 -7.53708888e-01 4.11753073e-03 -2.15384576e+02] [ 7.53694878e-01 -6.57208419e-01 -4.59627539e-03 -2.85166953e+02] [ 6.17032947e-03 8.27101994e-05 9.99980960e-01 -2.79042019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 925.7165599949999 meters 0.014606810064470711 Centerline is valid? [True, True] Translation: X:-215.40, Y:-285.15, Z:-2.79 [[-6.55054889e-01 -7.55567865e-01 4.50477754e-03 -2.15404943e+02] [ 7.55551160e-01 -6.55070369e-01 -5.02552729e-03 -2.85148358e+02] [ 6.74807322e-03 1.11593673e-04 9.99977225e-01 -2.79093628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 925.746559995 meters 0.015515249260734332 Centerline is valid? [True, True] Translation: X:-215.43, Y:-285.13, Z:-2.79 [[-6.51930085e-01 -7.58261554e-01 5.15553134e-03 -2.15425283e+02] [ 7.58239776e-01 -6.51950450e-01 -5.74910673e-03 -2.85129533e+02] [ 7.72047759e-03 1.61113287e-04 9.99970184e-01 -2.79141854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 925.776559995 meters 0.016104607758946347 Centerline is valid? [True, True] Translation: X:-215.44, Y:-285.11, Z:-2.79 [[-6.50987040e-01 -7.59071814e-01 5.08479680e-03 -2.15444348e+02] [ 7.59050680e-01 -6.51006876e-01 -5.66682223e-03 -2.85110093e+02] [ 7.61176272e-03 1.70590639e-04 9.99971016e-01 -2.79161282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 925.8065599949999 meters 0.01704999844208226 Centerline is valid? [True, True] Translation: X:-215.46, Y:-285.09, Z:-2.79 [[-6.50116811e-01 -7.59818990e-01 4.82019964e-03 -2.15463902e+02] [ 7.59800042e-01 -6.50134657e-01 -5.36875725e-03 -2.85090889e+02] [ 7.21306255e-03 1.72068550e-04 9.99973971e-01 -2.79140522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 925.8365599949999 meters 0.016894465301487818 Centerline is valid? [True, True] Translation: X:-215.48, Y:-285.07, Z:-2.79 [[-6.50247118e-01 -7.59708487e-01 4.65836010e-03 -2.15481778e+02] [ 7.59690810e-01 -6.50263783e-01 -5.18525572e-03 -2.85070874e+02] [ 6.96844564e-03 1.67215762e-04 9.99975706e-01 -2.79095016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 925.866559995 meters 0.016687367582783403 Centerline is valid? [True, True] Translation: X:-215.50, Y:-285.05, Z:-2.79 [[-6.50255255e-01 -7.59703402e-01 4.34098624e-03 -2.15500012e+02] [ 7.59688071e-01 -6.50269725e-01 -4.82891993e-03 -2.85050520e+02] [ 6.49135883e-03 1.57764909e-04 9.99978919e-01 -2.79073193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 925.896559995 meters 0.017243671510778713 Centerline is valid? [True, True] Translation: X:-215.52, Y:-285.03, Z:-2.79 [[-6.50628716e-01 -7.59383697e-01 4.32147042e-03 -2.15519254e+02] [ 7.59368517e-01 -6.50643049e-01 -4.80401707e-03 -2.85031891e+02] [ 6.45982693e-03 1.55957125e-04 9.99979123e-01 -2.79115336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 925.9265599949999 meters 0.018325531416691025 Centerline is valid? [True, True] Translation: X:-215.54, Y:-285.01, Z:-2.79 [[-6.51134183e-01 -7.58949449e-01 4.47323589e-03 -2.15538135e+02] [ 7.58933196e-01 -6.51149529e-01 -4.96951161e-03 -2.85013783e+02] [ 6.68435354e-03 1.59068323e-04 9.99977647e-01 -2.79190167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 925.9565599949999 meters 0.0162609187356424 Centerline is valid? [True, True] Translation: X:-215.55, Y:-284.99, Z:-2.79 [[-6.51843175e-01 -7.58339084e-01 4.72326867e-03 -2.15553734e+02] [ 7.58320968e-01 -6.51860267e-01 -5.24430841e-03 -2.84990375e+02] [ 7.05587521e-03 1.63287024e-04 9.99975094e-01 -2.79139009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 925.986559995 meters 0.015701754508868262 Centerline is valid? [True, True] Translation: X:-215.57, Y:-284.97, Z:-2.79 [[-6.54115826e-01 -7.56374997e-01 5.41755617e-03 -2.15571078e+02] [ 7.56351123e-01 -6.54138240e-01 -6.01178194e-03 -2.84967959e+02] [ 8.09099220e-03 1.65172985e-04 9.99967254e-01 -2.79257715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 926.016559995 meters 0.01575124207687234 Centerline is valid? [True, True] Translation: X:-215.59, Y:-284.95, Z:-2.79 [[-6.55655460e-01 -7.55036979e-01 5.92275174e-03 -2.15588531e+02] [ 7.55008429e-01 -6.55682189e-01 -6.56801229e-03 -2.84947960e+02] [ 8.84253499e-03 1.65374370e-04 9.99960891e-01 -2.79341731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 926.0465599949999 meters 0.015715087449843748 Centerline is valid? [True, True] Translation: X:-215.61, Y:-284.93, Z:-2.79 [[-6.57727238e-01 -7.53230345e-01 6.23918778e-03 -2.15605618e+02] [ 7.53198608e-01 -6.57756813e-01 -6.91614454e-03 -2.84927365e+02] [ 9.31331821e-03 1.50410899e-04 9.99956619e-01 -2.79441940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 926.0765599949999 meters 0.013949956189392205 Centerline is valid? [True, True] Translation: X:-215.62, Y:-284.90, Z:-2.79 [[-6.62757539e-01 -7.48807352e-01 6.32408741e-03 -2.15619521e+02] [ 7.48774580e-01 -6.62787704e-01 -7.00630821e-03 -2.84901823e+02] [ 9.43790248e-03 9.18323076e-05 9.99955458e-01 -2.79329742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 926.1065599949999 meters 0.013376321417818623 Centerline is valid? [True, True] Translation: X:-215.64, Y:-284.88, Z:-2.79 [[-6.65663519e-01 -7.46227827e-01 6.00920145e-03 -2.15636176e+02] [ 7.46198164e-01 -6.65690640e-01 -6.65374444e-03 -2.84879151e+02] [ 8.96547841e-03 5.49001566e-05 9.99959808e-01 -2.79260165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 926.136559995 meters 0.01326076272763296 Centerline is valid? [True, True] Translation: X:-215.65, Y:-284.85, Z:-2.79 [[-6.72071708e-01 -7.40464512e-01 5.65025120e-03 -2.15649949e+02] [ 7.40438115e-01 -6.72095459e-01 -6.25235754e-03 -2.84854444e+02] [ 8.42715705e-03 -1.83712696e-05 9.99964491e-01 -2.79211464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 926.166559995 meters 0.013502292502575732 Centerline is valid? [True, True] Translation: X:-215.67, Y:-284.83, Z:-2.79 [[-6.75675776e-01 -7.37176836e-01 5.70600545e-03 -2.15666224e+02] [ 7.37149828e-01 -6.75699866e-01 -6.31053496e-03 -2.84831183e+02] [ 8.50752731e-03 -5.76946736e-05 9.99963809e-01 -2.79191188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 926.1965599949999 meters 0.014174944750838648 Centerline is valid? [True, True] Translation: X:-215.68, Y:-284.81, Z:-2.79 [[-6.79491483e-01 -7.33661846e-01 5.62323855e-03 -2.15682557e+02] [ 7.33635524e-01 -6.79514743e-01 -6.21550812e-03 -2.84807916e+02] [ 8.38115466e-03 -9.79772655e-05 9.99964873e-01 -2.79185780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 926.2265599949999 meters 0.016473655148682265 Centerline is valid? [True, True] Translation: X:-215.69, Y:-284.78, Z:-2.79 [[-6.87227375e-01 -7.26413001e-01 6.53353414e-03 -2.15694654e+02] [ 7.26377178e-01 -6.87258398e-01 -7.21730944e-03 -2.84782559e+02] [ 9.73297362e-03 -2.14122533e-04 9.99952611e-01 -2.79225599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 926.256559995 meters 0.017672866499534937 Centerline is valid? [True, True] Translation: X:-215.71, Y:-284.76, Z:-2.79 [[-6.91477850e-01 -7.22365315e-01 6.83634993e-03 -2.15710789e+02] [ 7.22325941e-01 -6.91511586e-01 -7.54725473e-03 -2.84760167e+02] [ 1.01792902e-02 -2.80686570e-04 9.99948150e-01 -2.79224093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 926.286559995 meters 0.01884224615744364 Centerline is valid? [True, True] Translation: X:-215.73, Y:-284.74, Z:-2.79 [[-6.95280512e-01 -7.18702268e-01 7.21523540e-03 -2.15726920e+02] [ 7.18658248e-01 -6.95317860e-01 -7.96217360e-03 -2.84737590e+02] [ 1.07393143e-02 -3.50655704e-04 9.99942271e-01 -2.79188323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 926.3165599949999 meters 0.021788615536103034 Centerline is valid? [True, True] Translation: X:-215.74, Y:-284.71, Z:-2.79 [[-7.01719994e-01 -7.12418191e-01 7.02650848e-03 -2.15740860e+02] [ 7.12376176e-01 -7.01755039e-01 -7.74915876e-03 -2.84714306e+02] [ 1.04515294e-02 -4.32222394e-04 9.99945288e-01 -2.79102934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 926.3465599949999 meters 0.02326366404198433 Centerline is valid? [True, True] Translation: X:-215.76, Y:-284.69, Z:-2.79 [[-7.04440577e-01 -7.09729976e-01 6.84355262e-03 -2.15757952e+02] [ 7.09690040e-01 -7.04473670e-01 -7.54288453e-03 -2.84692850e+02] [ 1.01745139e-02 -4.56712795e-04 9.99948134e-01 -2.79038048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 926.376559995 meters 0.02472243407735304 Centerline is valid? [True, True] Translation: X:-215.78, Y:-284.67, Z:-2.79 [[-7.08517494e-01 -7.05662934e-01 6.54098748e-03 -2.15775117e+02] [ 7.05626319e-01 -7.08547517e-01 -7.20516589e-03 -2.84671175e+02] [ 9.71901894e-03 -4.89493168e-04 9.99952650e-01 -2.78901865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 926.406559995 meters 0.026673294376196782 Centerline is valid? [True, True] Translation: X:-215.79, Y:-284.65, Z:-2.79 [[-7.10187764e-01 -7.03981239e-01 6.61475105e-03 -2.15791855e+02] [ 7.03943762e-01 -7.10218382e-01 -7.28215747e-03 -2.84649737e+02] [ 9.82442002e-03 -5.15286385e-04 9.99951607e-01 -2.78882881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 926.4365599949999 meters 0.024613595821256648 Centerline is valid? [True, True] Translation: X:-215.81, Y:-284.63, Z:-2.79 [[-7.11244136e-01 -7.02912431e-01 6.77442757e-03 -2.15813720e+02] [ 7.02873117e-01 -7.11276193e-01 -7.45376520e-03 -2.84631260e+02] [ 1.00578333e-02 -5.39883762e-04 9.99949273e-01 -2.78787488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 926.4665599949999 meters 0.027066036621460114 Centerline is valid? [True, True] Translation: X:-215.83, Y:-284.61, Z:-2.79 [[-7.11625492e-01 -7.02522196e-01 7.19189394e-03 -2.15831936e+02] [ 7.02477902e-01 -7.11661599e-01 -7.90986274e-03 -2.84610977e+02] [ 1.06750489e-02 -5.76713405e-04 9.99942854e-01 -2.78891356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 926.496559995 meters 0.026396545258104576 Centerline is valid? [True, True] Translation: X:-215.85, Y:-284.59, Z:-2.79 [[-7.10784841e-01 -7.03372043e-01 7.25796188e-03 -2.15853337e+02] [ 7.03327020e-01 -7.10821671e-01 -7.97841810e-03 -2.84592055e+02] [ 1.07709128e-02 -5.66217941e-04 9.99941832e-01 -2.78880254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 926.526559995 meters 0.0244009220882694 Centerline is valid? [True, True] Translation: X:-215.88, Y:-284.58, Z:-2.79 [[-7.07535373e-01 -7.06645128e-01 6.80876340e-03 -2.15878658e+02] [ 7.06605699e-01 -7.07567970e-01 -7.48026605e-03 -2.84577598e+02] [ 1.01035564e-02 -4.81441805e-04 9.99948842e-01 -2.78841983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 926.5565599949999 meters 0.022744590530413455 Centerline is valid? [True, True] Translation: X:-215.90, Y:-284.56, Z:-2.79 [[-7.05310817e-01 -7.08865369e-01 6.82198611e-03 -2.15901169e+02] [ 7.08825922e-01 -7.05343666e-01 -7.49171812e-03 -2.84560732e+02] [ 1.01224642e-02 -4.48389237e-04 9.99948666e-01 -2.78798011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 926.5865599949999 meters 0.02218569942290715 Centerline is valid? [True, True] Translation: X:-215.92, Y:-284.54, Z:-2.79 [[-7.03109384e-01 -7.11052557e-01 6.43858360e-03 -2.15921589e+02] [ 7.11017546e-01 -7.03138755e-01 -7.06694433e-03 -2.84543876e+02] [ 9.55218650e-03 -3.90888964e-04 9.99954301e-01 -2.78779748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 926.616559995 meters 0.0200804864224787 Centerline is valid? [True, True] Translation: X:-215.94, Y:-284.53, Z:-2.79 [[-7.00718000e-01 -7.13410007e-01 6.35980121e-03 -2.15944698e+02] [ 7.13375982e-01 -7.00746772e-01 -6.97642019e-03 -2.84527212e+02] [ 9.43365814e-03 -3.51573766e-04 9.99955440e-01 -2.78675409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 926.646559995 meters 0.020370722467885145 Centerline is valid? [True, True] Translation: X:-215.96, Y:-284.51, Z:-2.79 [[-6.98353011e-01 -7.15723992e-01 6.49925567e-03 -2.15963938e+02] [ 7.15688593e-01 -6.98383177e-01 -7.12567866e-03 -2.84509140e+02] [ 9.63899001e-03 -3.24795999e-04 9.99953491e-01 -2.78694976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 926.6765599949999 meters 0.017608583775016253 Centerline is valid? [True, True] Translation: X:-215.99, Y:-284.50, Z:-2.79 [[-6.93231384e-01 -7.20687127e-01 6.34929629e-03 -2.15990097e+02] [ 7.20653588e-01 -6.93260416e-01 -6.95717777e-03 -2.84495661e+02] [ 9.41566424e-03 -2.47290825e-04 9.99955641e-01 -2.78642198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 926.7065599949999 meters 0.01639438825811276 Centerline is valid? [True, True] Translation: X:-216.01, Y:-284.48, Z:-2.79 [[-6.90639540e-01 -7.23171519e-01 6.32296496e-03 -2.16013045e+02] [ 7.23138398e-01 -6.90668452e-01 -6.92437244e-03 -2.84478670e+02] [ 9.37458136e-03 -2.09866644e-04 9.99956036e-01 -2.78639526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 926.736559995 meters 0.015499192945999172 Centerline is valid? [True, True] Translation: X:-216.04, Y:-284.46, Z:-2.79 [[-6.85051698e-01 -7.28466800e-01 6.34758337e-03 -2.16037651e+02] [ 7.28433687e-01 -6.85081092e-01 -6.94703284e-03 -2.84464933e+02] [ 9.40929213e-03 -1.35283092e-04 9.99955723e-01 -2.78768430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 926.766559995 meters 0.014870259561652662 Centerline is valid? [True, True] Translation: X:-216.06, Y:-284.45, Z:-2.79 [[-6.82564196e-01 -7.30798155e-01 6.33829148e-03 -2.16060243e+02] [ 7.30765273e-01 -6.82593617e-01 -6.93321677e-03 -2.84447985e+02] [ 9.39325934e-03 -1.00562228e-04 9.99955877e-01 -2.78795577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 926.7965599949999 meters 0.013657315530306404 Centerline is valid? [True, True] Translation: X:-216.09, Y:-284.43, Z:-2.79 [[-6.77477079e-01 -7.35521692e-01 5.71386325e-03 -2.16086868e+02] [ 7.35495155e-01 -6.77501173e-01 -6.24798056e-03 -2.84433525e+02] [ 8.46667429e-03 -3.03448740e-05 9.99964157e-01 -2.78564267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 926.8265599949999 meters 0.013657315530306404 Centerline is valid? [True, True] Translation: X:-216.11, Y:-284.41, Z:-2.79 [[-6.77684177e-01 -7.35330870e-01 5.71562164e-03 -2.16105529e+02] [ 7.35304340e-01 -6.77708279e-01 -6.24637204e-03 -2.84413221e+02] [ 8.46667428e-03 -3.03460966e-05 9.99964157e-01 -2.78564235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 926.8565599949999 meters 0.013559747085530968 Centerline is valid? [True, True] Translation: X:-216.13, Y:-284.39, Z:-2.78 [[-6.75248826e-01 -7.37571504e-01 5.22496155e-03 -2.16127517e+02] [ 7.37549425e-01 -6.75269040e-01 -5.70690228e-03 -2.84394840e+02] [ 7.73750327e-03 8.83274195e-08 9.99970065e-01 -2.78470199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 926.886559995 meters 0.013672532020793129 Centerline is valid? [True, True] Translation: X:-216.15, Y:-284.38, Z:-2.78 [[-6.73112293e-01 -7.39520898e-01 5.35564826e-03 -2.16149218e+02] [ 7.39497789e-01 -6.73133599e-01 -5.84625563e-03 -2.84376297e+02] [ 7.92849500e-03 2.53035111e-05 9.99968569e-01 -2.78467770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 926.916559995 meters 0.014468237534819264 Centerline is valid? [True, True] Translation: X:-216.17, Y:-284.36, Z:-2.79 [[-6.68610260e-01 -7.43582063e-01 6.78493259e-03 -2.16173468e+02] [ 7.43545213e-01 -6.68644679e-01 -7.40342161e-03 -2.84362024e+02] [ 1.00417606e-02 9.49004998e-05 9.99949576e-01 -2.78810487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 926.9465599949999 meters 0.014787527140861496 Centerline is valid? [True, True] Translation: X:-216.19, Y:-284.34, Z:-2.79 [[-6.66286415e-01 -7.45659738e-01 7.34637787e-03 -2.16194778e+02] [ 7.45616711e-01 -6.66326899e-01 -8.01154452e-03 -2.84343658e+02] [ 1.08689754e-02 1.39598822e-04 9.99940921e-01 -2.78852373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 926.9765599949999 meters 0.0152335597525073 Centerline is valid? [True, True] Translation: X:-216.22, Y:-284.33, Z:-2.79 [[-6.64163872e-01 -7.47547485e-01 7.68830395e-03 -2.16216225e+02] [ 7.47500539e-01 -6.64208345e-01 -8.37968343e-03 -2.84325108e+02] [ 1.13708469e-02 1.81528351e-04 9.99935334e-01 -2.78922186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 927.006559995 meters 0.016175303816266695 Centerline is valid? [True, True] Translation: X:-216.24, Y:-284.31, Z:-2.79 [[-6.62101294e-01 -7.49369520e-01 8.19750693e-03 -2.16236947e+02] [ 7.49316333e-01 -6.62151999e-01 -8.93099626e-03 -2.84307908e+02] [ 1.21206120e-02 2.29301656e-04 9.99926517e-01 -2.79013101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 927.036559995 meters 0.01692487778427193 Centerline is valid? [True, True] Translation: X:-216.26, Y:-284.29, Z:-2.79 [[-6.58776079e-01 -7.52286487e-01 8.89487252e-03 -2.16258938e+02] [ 7.52224208e-01 -6.58836053e-01 -9.68485564e-03 -2.84290546e+02] [ 1.31460487e-02 3.10787203e-04 9.99913539e-01 -2.79065492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 927.0665599949999 meters 0.01770938369027461 Centerline is valid? [True, True] Translation: X:-216.28, Y:-284.27, Z:-2.79 [[-6.57891963e-01 -7.53056785e-01 9.14568321e-03 -2.16279099e+02] [ 7.52991080e-01 -6.57955443e-01 -9.95336143e-03 -2.84272938e+02] [ 1.35128984e-02 3.38381380e-04 9.99908640e-01 -2.79127389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 927.0965599949999 meters 0.018303514645503987 Centerline is valid? [True, True] Translation: X:-216.30, Y:-284.25, Z:-2.79 [[-6.57515273e-01 -7.53382994e-01 9.36647397e-03 -2.16299323e+02] [ 7.53314194e-01 -6.57581886e-01 -1.01876591e-02 -2.84254168e+02] [ 1.38344328e-02 3.57356325e-04 9.99904236e-01 -2.79171142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 927.126559995 meters 0.017701101293784046 Centerline is valid? [True, True] Translation: X:-216.32, Y:-284.23, Z:-2.79 [[-6.58304403e-01 -7.52694097e-01 9.32250919e-03 -2.16318119e+02] [ 7.52625960e-01 -6.58370319e-01 -1.01334686e-02 -2.84233908e+02] [ 1.37650653e-02 3.45455469e-04 9.99905197e-01 -2.79193293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 927.156559995 meters 0.017583687936065975 Centerline is valid? [True, True] Translation: X:-216.34, Y:-284.21, Z:-2.79 [[-6.59731397e-01 -7.51448317e-01 8.93929625e-03 -2.16336425e+02] [ 7.51385623e-01 -6.59791885e-01 -9.71154393e-03 -2.84213364e+02] [ 1.31957985e-02 3.09848240e-04 9.99912884e-01 -2.79195710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 927.1865599949999 meters 0.01605254462672956 Centerline is valid? [True, True] Translation: X:-216.35, Y:-284.19, Z:-2.79 [[-6.63676578e-01 -7.47973431e-01 8.31543220e-03 -2.16351114e+02] [ 7.47918973e-01 -6.63728631e-01 -9.02856435e-03 -2.84189305e+02] [ 1.22723167e-02 2.27222817e-04 9.99924667e-01 -2.79028880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 927.2165599949999 meters 0.015527748162612593 Centerline is valid? [True, True] Translation: X:-216.37, Y:-284.17, Z:-2.79 [[-6.66530459e-01 -7.45433875e-01 8.09228892e-03 -2.16367518e+02] [ 7.45382168e-01 -6.66579557e-01 -8.78165992e-03 -2.84167595e+02] [ 1.19403012e-02 1.78604049e-04 9.99928696e-01 -2.79033615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 927.246559995 meters 0.014550539028646734 Centerline is valid? [True, True] Translation: X:-216.38, Y:-284.14, Z:-2.79 [[-6.69344616e-01 -7.42911354e-01 7.77846827e-03 -2.16383443e+02] [ 7.42863464e-01 -6.69389799e-01 -8.43635167e-03 -2.84144039e+02] [ 1.14742887e-02 1.31513308e-04 9.99934160e-01 -2.78902848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 927.276559995 meters 0.01381035696808606 Centerline is valid? [True, True] Translation: X:-216.40, Y:-284.12, Z:-2.79 [[-6.75745807e-01 -7.37105188e-01 6.59900973e-03 -2.16396325e+02] [ 7.37070478e-01 -6.75778026e-01 -7.15333878e-03 -2.84119175e+02] [ 9.73222889e-03 3.00965690e-05 9.99952640e-01 -2.78768616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 927.3065599949999 meters 0.013654668455003922 Centerline is valid? [True, True] Translation: X:-216.41, Y:-284.10, Z:-2.79 [[-6.78922788e-01 -7.34183715e-01 6.17417258e-03 -2.16411937e+02] [ 7.34153247e-01 -6.78950862e-01 -6.68861448e-03 -2.84096159e+02] [ 9.10263162e-03 -8.26394487e-06 9.99958570e-01 -2.78624786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 927.3365599949999 meters 0.013884721546376351 Centerline is valid? [True, True] Translation: X:-216.43, Y:-284.07, Z:-2.79 [[-6.82084500e-01 -7.31246104e-01 6.31431529e-03 -2.16426842e+02] [ 7.31214152e-01 -6.82113725e-01 -6.83594144e-03 -2.84074200e+02] [ 9.30583667e-03 -4.55729959e-05 9.99956699e-01 -2.78633426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 927.366559995 meters 0.015051143764101438 Centerline is valid? [True, True] Translation: X:-216.44, Y:-284.05, Z:-2.79 [[-6.88586938e-01 -7.25128790e-01 6.02218243e-03 -2.16439793e+02] [ 7.25099522e-01 -6.88613261e-01 -6.51608873e-03 -2.84048304e+02] [ 8.87195822e-03 -1.20211986e-04 9.99960636e-01 -2.78625648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 927.396559995 meters 0.015703454966579586 Centerline is valid? [True, True] Translation: X:-216.46, Y:-284.03, Z:-2.79 [[-6.91726980e-01 -7.22135583e-01 5.82966389e-03 -2.16456162e+02] [ 7.22108080e-01 -6.91751528e-01 -6.30430544e-03 -2.84025194e+02] [ 8.58524219e-03 -1.51210760e-04 9.99963135e-01 -2.78621190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 927.4265599949999 meters 0.016409332987722663 Centerline is valid? [True, True] Translation: X:-216.47, Y:-284.00, Z:-2.79 [[-6.94928831e-01 -7.19054302e-01 5.90175506e-03 -2.16472725e+02] [ 7.19026034e-01 -6.94953866e-01 -6.37869346e-03 -2.84002634e+02] [ 8.68807447e-03 -1.89222454e-04 9.99962240e-01 -2.78585648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 927.4565599949999 meters 0.01695838011085377 Centerline is valid? [True, True] Translation: X:-216.49, Y:-283.98, Z:-2.79 [[-6.97718367e-01 -7.16345695e-01 6.15839485e-03 -2.16490195e+02] [ 7.16314841e-01 -6.97745507e-01 -6.65256152e-03 -2.83979577e+02] [ 9.06252614e-03 -2.30264729e-04 9.99958908e-01 -2.78595491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 927.486559995 meters 0.019308330439408564 Centerline is valid? [True, True] Translation: X:-216.50, Y:-283.96, Z:-2.79 [[-7.02672551e-01 -7.11479157e-01 6.97817372e-03 -2.16503135e+02] [ 7.11439335e-01 -7.02707123e-01 -7.53472037e-03 -2.83955044e+02] [ 1.02644089e-02 -3.29893915e-04 9.99947265e-01 -2.78680755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 927.516559995 meters 0.021993673102373646 Centerline is valid? [True, True] Translation: X:-216.52, Y:-283.93, Z:-2.79 [[-7.07269404e-01 -7.06904950e-01 7.44183430e-03 -2.16516572e+02] [ 7.06859462e-01 -7.07308430e-01 -8.03030461e-03 -2.83931052e+02] [ 1.09403342e-02 -4.19257773e-04 9.99940065e-01 -2.78754441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 927.5465599949999 meters 0.022394916582369303 Centerline is valid? [True, True] Translation: X:-216.53, Y:-283.91, Z:-2.79 [[-7.09125874e-01 -7.05040098e-01 7.67824268e-03 -2.16534432e+02] [ 7.04991615e-01 -7.09167293e-01 -8.28086684e-03 -2.83909151e+02] [ 1.12835017e-02 -4.59080228e-04 9.99936234e-01 -2.78702912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 927.5765599949999 meters 0.023904809775598224 Centerline is valid? [True, True] Translation: X:-216.55, Y:-283.89, Z:-2.79 [[-7.11968432e-01 -7.02177785e-01 6.87832065e-03 -2.16549953e+02] [ 7.02138788e-01 -7.12001515e-01 -7.41380727e-03 -2.83886054e+02] [ 1.01031855e-02 -4.48861003e-04 9.99948861e-01 -2.78559362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 927.6065599949999 meters 0.024149120015862495 Centerline is valid? [True, True] Translation: X:-216.57, Y:-283.86, Z:-2.78 [[-7.13097596e-01 -7.01035797e-01 6.37421194e-03 -2.16568752e+02] [ 7.01002297e-01 -7.13125955e-01 -6.86671353e-03 -2.83864687e+02] [ 9.35942797e-03 -4.28299695e-04 9.99956108e-01 -2.78478585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 927.636559995 meters 0.02480742106615637 Centerline is valid? [True, True] Translation: X:-216.59, Y:-283.84, Z:-2.78 [[-7.13103619e-01 -7.01034894e-01 5.77107254e-03 -2.16585511e+02] [ 7.01007468e-01 -7.13126867e-01 -6.21298795e-03 -2.83844721e+02] [ 8.47102823e-03 -3.84939243e-04 9.99964046e-01 -2.78436636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 927.666559995 meters 0.020613498589093202 Centerline is valid? [True, True] Translation: X:-216.61, Y:-283.83, Z:-2.78 [[-7.10064563e-01 -7.04110187e-01 6.09596660e-03 -2.16610046e+02] [ 7.04079733e-01 -7.10090636e-01 -6.55881150e-03 -2.83829860e+02] [ 8.94681480e-03 -3.65133090e-04 9.99959910e-01 -2.78427528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 927.6965599949999 meters 0.016391772055883446 Centerline is valid? [True, True] Translation: X:-216.64, Y:-283.82, Z:-2.79 [[-6.97043676e-01 -7.17005465e-01 5.76872747e-03 -2.16637447e+02] [ 7.16978656e-01 -6.97067521e-01 -6.20310270e-03 -2.83819353e+02] [ 8.46885109e-03 -1.87779040e-04 9.99964121e-01 -2.78523404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 927.7265599949999 meters 0.016391772055883446 Centerline is valid? [True, True] Translation: X:-216.66, Y:-283.80, Z:-2.79 [[-6.97264785e-01 -7.16790429e-01 5.77064031e-03 -2.16655747e+02] [ 7.16763628e-01 -6.97288638e-01 -6.20132325e-03 -2.83799827e+02] [ 8.46885108e-03 -1.87779237e-04 9.99964121e-01 -2.78523374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 927.756559995 meters 0.016391772055883446 Centerline is valid? [True, True] Translation: X:-216.67, Y:-283.78, Z:-2.79 [[-6.97485828e-01 -7.16575326e-01 5.77255275e-03 -2.16674053e+02] [ 7.16548532e-01 -6.97509690e-01 -6.19954308e-03 -2.83780307e+02] [ 8.46885108e-03 -1.87779237e-04 9.99964121e-01 -2.78523343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 927.786559995 meters 0.015050986336925254 Centerline is valid? [True, True] Translation: X:-216.70, Y:-283.76, Z:-2.79 [[-6.93699436e-01 -7.20241122e-01 5.81542123e-03 -2.16696535e+02] [ 7.20214087e-01 -6.93723797e-01 -6.24205544e-03 -2.83762817e+02] [ 8.53008111e-03 -1.41762053e-04 9.99963608e-01 -2.78526929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 927.8165599949999 meters 0.015050986336925254 Centerline is valid? [True, True] Translation: X:-216.71, Y:-283.74, Z:-2.79 [[-6.93921892e-01 -7.20026782e-01 5.81734902e-03 -2.16714851e+02] [ 7.19999754e-01 -6.93946261e-01 -6.24025885e-03 -2.83743311e+02] [ 8.53008110e-03 -1.41762365e-04 9.99963608e-01 -2.78526899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 927.8465599949999 meters 0.015050986336925254 Centerline is valid? [True, True] Translation: X:-216.73, Y:-283.72, Z:-2.79 [[-6.94144282e-01 -7.19812373e-01 5.81927649e-03 -2.16733173e+02] [ 7.19785353e-01 -6.94168659e-01 -6.23846145e-03 -2.83723811e+02] [ 8.53008110e-03 -1.41762365e-04 9.99963608e-01 -2.78526868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 927.876559995 meters 0.013417827273267291 Centerline is valid? [True, True] Translation: X:-216.76, Y:-283.71, Z:-2.79 [[-6.87052385e-01 -7.26585862e-01 5.65740179e-03 -2.16758119e+02] [ 7.26560579e-01 -6.87075675e-01 -6.06157540e-03 -2.83708969e+02] [ 8.29131814e-03 -5.41747170e-05 9.99965625e-01 -2.78525414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 927.906559995 meters 0.013051304241376325 Centerline is valid? [True, True] Translation: X:-216.78, Y:-283.69, Z:-2.79 [[-6.84144259e-01 -7.29324463e-01 5.69753354e-03 -2.16778801e+02] [ 7.29298947e-01 -6.84167982e-01 -6.10061465e-03 -2.83692369e+02] [ 8.34739753e-03 -1.84952743e-05 9.99965160e-01 -2.78577137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 927.9365599949999 meters 0.01312836281009313 Centerline is valid? [True, True] Translation: X:-216.80, Y:-283.67, Z:-2.79 [[-6.81659847e-01 -7.31649810e-01 5.32993913e-03 -2.16800514e+02] [ 7.31627579e-01 -6.81680684e-01 -5.70357397e-03 -2.83674992e+02] [ 7.80633537e-03 1.16330997e-05 9.99969530e-01 -2.78643246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 927.9665599949999 meters 0.01305157125024754 Centerline is valid? [True, True] Translation: X:-216.82, Y:-283.66, Z:-2.79 [[-6.79276177e-01 -7.33862646e-01 5.43066915e-03 -2.16821505e+02] [ 7.33839666e-01 -6.79297884e-01 -5.80777716e-03 -2.83657119e+02] [ 7.95115278e-03 4.01557677e-05 9.99968388e-01 -2.78611011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 927.996559995 meters 0.013465057742250767 Centerline is valid? [True, True] Translation: X:-216.84, Y:-283.64, Z:-2.79 [[-6.76210145e-01 -7.36688904e-01 5.41288009e-03 -2.16843829e+02] [ 7.36666188e-01 -6.76231805e-01 -5.78563563e-03 -2.83638876e+02] [ 7.92257524e-03 7.51802347e-05 9.99968613e-01 -2.78609742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 928.026559995 meters 0.013630589171137658 Centerline is valid? [True, True] Translation: X:-216.86, Y:-283.62, Z:-2.79 [[-6.74736662e-01 -7.38040648e-01 5.14195225e-03 -2.16864217e+02] [ 7.38020214e-01 -6.74756248e-01 -5.49274543e-03 -2.83620874e+02] [ 7.52343381e-03 8.87079828e-05 9.99971695e-01 -2.78662282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 928.0565599949999 meters 0.01381930639447636 Centerline is valid? [True, True] Translation: X:-216.88, Y:-283.60, Z:-2.79 [[-6.74669792e-01 -7.38102150e-01 5.08795235e-03 -2.16883301e+02] [ 7.38082170e-01 -6.74688971e-01 -5.43166106e-03 -2.83601603e+02] [ 7.44190604e-03 9.07492670e-05 9.99972305e-01 -2.78693230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 928.0865599949999 meters 0.01391066185942679 Centerline is valid? [True, True] Translation: X:-216.90, Y:-283.58, Z:-2.79 [[-6.74913869e-01 -7.37878136e-01 5.20834100e-03 -2.16901986e+02] [ 7.37857218e-01 -6.74933958e-01 -5.55672802e-03 -2.83582402e+02] [ 7.61547432e-03 9.26991987e-05 9.99970998e-01 -2.78742271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 928.116559995 meters 0.013904770816151442 Centerline is valid? [True, True] Translation: X:-216.92, Y:-283.56, Z:-2.79 [[-6.74627191e-01 -7.38140474e-01 5.17623188e-03 -2.16920489e+02] [ 7.38119848e-01 -6.74647042e-01 -5.51905667e-03 -2.83562599e+02] [ 7.56596863e-03 9.73737828e-05 9.99971373e-01 -2.78747641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 928.146559995 meters 0.013810054316804224 Centerline is valid? [True, True] Translation: X:-216.94, Y:-283.54, Z:-2.79 [[-6.74492202e-01 -7.38262241e-01 5.39745697e-03 -2.16938908e+02] [ 7.38239843e-01 -6.74513789e-01 -5.75169738e-03 -2.83541810e+02] [ 7.88692015e-03 1.05142755e-04 9.99968892e-01 -2.78719287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 928.1765599949999 meters 0.014269093066809097 Centerline is valid? [True, True] Translation: X:-216.96, Y:-283.52, Z:-2.79 [[-6.72907809e-01 -7.39701886e-01 6.01672978e-03 -2.16958326e+02] [ 7.39674142e-01 -6.72934693e-01 -6.40800938e-03 -2.83521056e+02] [ 8.78888283e-03 1.38419887e-04 9.99961368e-01 -2.78837323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 928.2065599949999 meters 0.014269093066809097 Centerline is valid? [True, True] Translation: X:-216.98, Y:-283.50, Z:-2.79 [[-6.73115196e-01 -7.39513158e-01 6.01852643e-03 -2.16977254e+02] [ 7.39485421e-01 -6.73142088e-01 -6.40632196e-03 -2.83501003e+02] [ 8.78888283e-03 1.38419889e-04 9.99961368e-01 -2.78837292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 928.236559995 meters 0.014448352440906241 Centerline is valid? [True, True] Translation: X:-217.00, Y:-283.48, Z:-2.79 [[-6.72647694e-01 -7.39933904e-01 6.54966292e-03 -2.16996506e+02] [ 7.39901113e-01 -6.72679562e-01 -6.96776614e-03 -2.83480435e+02] [ 9.56151079e-03 1.59251056e-04 9.99954275e-01 -2.78930273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 928.266559995 meters 0.014448352440906241 Centerline is valid? [True, True] Translation: X:-217.02, Y:-283.46, Z:-2.79 [[-6.72855247e-01 -7.39745154e-01 6.55161747e-03 -2.17015446e+02] [ 7.39712373e-01 -6.72887124e-01 -6.96592836e-03 -2.83460393e+02] [ 9.56151079e-03 1.59251053e-04 9.99954275e-01 -2.78930242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 928.2965599949999 meters 0.014590794372652845 Centerline is valid? [True, True] Translation: X:-217.03, Y:-283.44, Z:-2.79 [[-6.72256225e-01 -7.40286263e-01 6.91492945e-03 -2.17034598e+02] [ 7.40249816e-01 -6.72291765e-01 -7.34805906e-03 -2.83439366e+02] [ 1.00885173e-02 1.78996798e-04 9.99949094e-01 -2.78981674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 928.3265599949999 meters 0.014768049925613928 Centerline is valid? [True, True] Translation: X:-217.05, Y:-283.42, Z:-2.79 [[-6.71773807e-01 -7.40717282e-01 7.60664098e-03 -2.17053622e+02] [ 7.40673256e-01 -6.71816839e-01 -8.07851528e-03 -2.83418269e+02] [ 1.10941654e-02 2.07100578e-04 9.99938437e-01 -2.79039130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 928.3565599949999 meters 0.01542933500319487 Centerline is valid? [True, True] Translation: X:-217.07, Y:-283.40, Z:-2.79 [[-6.70938356e-01 -7.41465848e-01 8.37369825e-03 -2.17071098e+02] [ 7.41412618e-01 -6.70990563e-01 -8.88783947e-03 -2.83397732e+02] [ 1.22087019e-02 2.45173149e-04 9.99925441e-01 -2.79167835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 928.386559995 meters 0.016096277358552083 Centerline is valid? [True, True] Translation: X:-217.09, Y:-283.38, Z:-2.79 [[-6.70694279e-01 -7.41683896e-01 8.61288907e-03 -2.17089589e+02] [ 7.41627667e-01 -6.70749529e-01 -9.13633481e-03 -2.83377505e+02] [ 1.25533637e-02 2.59869334e-04 9.99921170e-01 -2.79256325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 928.416559995 meters 0.015470197048755296 Centerline is valid? [True, True] Translation: X:-217.11, Y:-283.35, Z:-2.79 [[-6.70756262e-01 -7.41624471e-01 8.89840761e-03 -2.17106753e+02] [ 7.41564516e-01 -6.70815228e-01 -9.43388836e-03 -2.83354542e+02] [ 1.29655898e-02 2.70903640e-04 9.99915907e-01 -2.79180869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 928.4465599949999 meters 0.015000410922650278 Centerline is valid? [True, True] Translation: X:-217.12, Y:-283.33, Z:-2.79 [[-6.71457287e-01 -7.40993874e-01 8.55514812e-03 -2.17122264e+02] [ 7.40938468e-01 -6.71511739e-01 -9.06481743e-03 -2.83330693e+02] [ 1.24618566e-02 2.52200620e-04 9.99922316e-01 -2.79034754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 928.4765599949999 meters 0.01527650438922884 Centerline is valid? [True, True] Translation: X:-217.14, Y:-283.31, Z:-2.79 [[-6.72403916e-01 -7.40139766e-01 8.13019323e-03 -2.17139438e+02] [ 7.40089725e-01 -6.72453028e-01 -8.60958291e-03 -2.83310143e+02] [ 1.18394677e-02 2.27955200e-04 9.99929885e-01 -2.79026315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 928.506559995 meters 0.015320495242492582 Centerline is valid? [True, True] Translation: X:-217.16, Y:-283.29, Z:-2.79 [[-6.73646954e-01 -7.39015440e-01 7.48073191e-03 -2.17156012e+02] [ 7.38973046e-01 -6.73688461e-01 -7.91799749e-03 -2.83289737e+02] [ 1.08912052e-02 1.94124358e-04 9.99940670e-01 -2.78967339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 928.536559995 meters 0.014286070613673183 Centerline is valid? [True, True] Translation: X:-217.17, Y:-283.27, Z:-2.79 [[-6.75245983e-01 -7.37560015e-01 6.93449941e-03 -2.17172220e+02] [ 7.37523551e-01 -6.75281570e-01 -7.33574008e-03 -2.83266818e+02] [ 1.00932882e-02 1.60927613e-04 9.99949049e-01 -2.78840812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 928.5665599949999 meters 0.01336139606929418 Centerline is valid? [True, True] Translation: X:-217.19, Y:-283.24, Z:-2.79 [[-6.78966471e-01 -7.34145718e-01 5.88189862e-03 -2.17186502e+02] [ 7.34119386e-01 -6.78991941e-01 -6.21870713e-03 -2.83242179e+02] [ 8.55919897e-03 9.57221709e-05 9.99963365e-01 -2.78722848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 928.5965599949999 meters 0.012950662002730262 Centerline is valid? [True, True] Translation: X:-217.20, Y:-283.22, Z:-2.79 [[-6.81071799e-01 -7.32193284e-01 5.84814260e-03 -2.17202626e+02] [ 7.32167213e-01 -6.81096902e-01 -6.17913796e-03 -2.83220225e+02] [ 8.50747512e-03 7.33816682e-05 9.99963808e-01 -2.78702809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 928.626559995 meters 0.012575908586954655 Centerline is valid? [True, True] Translation: X:-217.22, Y:-283.20, Z:-2.79 [[-6.85836226e-01 -7.27734914e-01 5.52869576e-03 -2.17216140e+02] [ 7.27711494e-01 -6.85858509e-01 -5.83838005e-03 -2.83195085e+02] [ 8.04069604e-03 1.91229102e-05 9.99967673e-01 -2.78686641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 928.656559995 meters 0.012408214288517433 Centerline is valid? [True, True] Translation: X:-217.23, Y:-283.17, Z:-2.79 [[-6.88592832e-01 -7.25126432e-01 5.61867421e-03 -2.17232454e+02] [ 7.25102184e-01 -6.88615755e-01 -5.93006090e-03 -2.83172386e+02] [ 8.16915148e-03 -9.28449487e-06 9.99966632e-01 -2.78612957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 928.6865599949999 meters 0.012707710805176213 Centerline is valid? [True, True] Translation: X:-217.25, Y:-283.15, Z:-2.79 [[-6.91427168e-01 -7.22423995e-01 5.66068901e-03 -2.17247749e+02] [ 7.22399324e-01 -6.91450338e-01 -5.97044823e-03 -2.83150797e+02] [ 8.22728040e-03 -3.88521946e-05 9.99966155e-01 -2.78658601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 928.7165599949999 meters 0.012707710805176213 Centerline is valid? [True, True] Translation: X:-217.27, Y:-283.13, Z:-2.79 [[-6.91652365e-01 -7.22208378e-01 5.66255037e-03 -2.17266236e+02] [ 7.22183714e-01 -6.91675544e-01 -5.96868289e-03 -2.83131448e+02] [ 8.22728040e-03 -3.88519767e-05 9.99966155e-01 -2.78658571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 928.746559995 meters 0.013376083591232789 Centerline is valid? [True, True] Translation: X:-217.28, Y:-283.11, Z:-2.79 [[-6.94699343e-01 -7.19271789e-01 6.39660711e-03 -2.17281680e+02] [ 7.19240228e-01 -6.94728787e-01 -6.73847798e-03 -2.83108740e+02] [ 9.29070421e-03 -8.05190771e-05 9.99956837e-01 -2.78803680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 928.776559995 meters 0.014548048281267895 Centerline is valid? [True, True] Translation: X:-217.30, Y:-283.08, Z:-2.79 [[-7.00835721e-01 -7.13290057e-01 6.82539922e-03 -2.17295030e+02] [ 7.13253880e-01 -7.00868936e-01 -7.18591183e-03 -2.83083597e+02] [ 9.90934976e-03 -1.67901224e-04 9.99950887e-01 -2.78760571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 928.8065599949999 meters 0.015420520057646015 Centerline is valid? [True, True] Translation: X:-217.31, Y:-283.06, Z:-2.79 [[-7.04089732e-01 -7.10078224e-01 6.82388176e-03 -2.17311760e+02] [ 7.10041951e-01 -7.04122767e-01 -7.18029819e-03 -2.83060546e+02] [ 9.90342390e-03 -2.10331909e-04 9.99950938e-01 -2.78736982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 928.8365599949999 meters 0.016734419161452924 Centerline is valid? [True, True] Translation: X:-217.33, Y:-283.04, Z:-2.79 [[-7.06996531e-01 -7.07181236e-01 7.11377845e-03 -2.17327136e+02] [ 7.07141699e-01 -7.07032271e-01 -7.48229514e-03 -2.83037543e+02] [ 1.03210097e-02 -2.59507326e-04 9.99946703e-01 -2.78703591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 928.866559995 meters 0.01888461367118043 Centerline is valid? [True, True] Translation: X:-217.34, Y:-283.01, Z:-2.79 [[-7.12546438e-01 -7.01588937e-01 7.10896575e-03 -2.17340995e+02] [ 7.01549207e-01 -7.12581819e-01 -7.47404361e-03 -2.83013214e+02] [ 1.03094261e-02 -3.38313867e-04 9.99946799e-01 -2.78689628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 928.896559995 meters 0.020020721191493496 Centerline is valid? [True, True] Translation: X:-217.36, Y:-282.99, Z:-2.79 [[-7.15049198e-01 -6.99037171e-01 7.18872941e-03 -2.17358076e+02] [ 6.98996461e-01 -7.15085234e-01 -7.55346051e-03 -2.82991190e+02] [ 1.04207039e-02 -3.76199460e-04 9.99945632e-01 -2.78663638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 928.9265599949999 meters 0.021317933236958037 Centerline is valid? [True, True] Translation: X:-217.37, Y:-282.97, Z:-2.79 [[-7.17028667e-01 -6.97009019e-01 6.95119678e-03 -2.17374329e+02] [ 6.96970896e-01 -7.17062254e-01 -7.30034835e-03 -2.82969964e+02] [ 1.00728495e-02 -3.89777200e-04 9.99949192e-01 -2.78659965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 928.9565599949999 meters 0.021812357254357824 Centerline is valid? [True, True] Translation: X:-217.39, Y:-282.95, Z:-2.79 [[-7.19492865e-01 -6.94468045e-01 6.64472779e-03 -2.17392207e+02] [ 6.94433128e-01 -7.19523433e-01 -6.97563484e-03 -2.82948956e+02] [ 9.62539284e-03 -4.04600390e-04 9.99953593e-01 -2.78652391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 928.986559995 meters 0.0231642229353798 Centerline is valid? [True, True] Translation: X:-217.41, Y:-282.93, Z:-2.79 [[-7.19850114e-01 -6.94098319e-01 6.58304877e-03 -2.17408960e+02] [ 6.94064075e-01 -7.19880102e-01 -6.90642091e-03 -2.82928206e+02] [ 9.53274096e-03 -4.02530228e-04 9.99954482e-01 -2.78687386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 929.016559995 meters 0.021937930023190933 Centerline is valid? [True, True] Translation: X:-217.43, Y:-282.91, Z:-2.79 [[-7.19843678e-01 -6.94105216e-01 6.55964818e-03 -2.17429419e+02] [ 6.94071253e-01 -7.19873455e-01 -6.87787753e-03 -2.82909345e+02] [ 9.49608727e-03 -3.98133426e-04 9.99954832e-01 -2.78613539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 929.0465599949999 meters 0.01997641722386557 Centerline is valid? [True, True] Translation: X:-217.45, Y:-282.89, Z:-2.79 [[-7.18253355e-01 -6.95751106e-01 6.52049057e-03 -2.17451922e+02] [ 6.95717650e-01 -7.18282856e-01 -6.83314117e-03 -2.82891444e+02] [ 9.43772212e-03 -3.71506199e-04 9.99955395e-01 -2.78522955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 929.0765599949999 meters 0.022169177622241496 Centerline is valid? [True, True] Translation: X:-217.47, Y:-282.87, Z:-2.79 [[-7.16931635e-01 -6.97111999e-01 6.62508265e-03 -2.17468849e+02] [ 6.97077553e-01 -7.16962156e-01 -6.93908592e-03 -2.82870218e+02] [ 9.58725360e-03 -3.56653807e-04 9.99953978e-01 -2.78600434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 929.1065599949999 meters 0.018969255263560678 Centerline is valid? [True, True] Translation: X:-217.49, Y:-282.85, Z:-2.78 [[-7.15445510e-01 -6.98637409e-01 6.59497244e-03 -2.17492687e+02] [ 6.98603377e-01 -7.15475829e-01 -6.90364123e-03 -2.82854129e+02] [ 9.54168540e-03 -3.31909102e-04 9.99954422e-01 -2.78486833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 929.136559995 meters 0.01933555873422334 Centerline is valid? [True, True] Translation: X:-217.51, Y:-282.84, Z:-2.79 [[-7.13500305e-01 -7.00624789e-01 6.49768685e-03 -2.17511958e+02] [ 7.00591868e-01 -7.13529828e-01 -6.79843856e-03 -2.82835139e+02] [ 9.39944796e-03 -2.98461425e-04 9.99955780e-01 -2.78513334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 929.166559995 meters 0.01650640389508369 Centerline is valid? [True, True] Translation: X:-217.54, Y:-282.82, Z:-2.78 [[-7.08382826e-01 -7.05797581e-01 6.59897305e-03 -2.17536818e+02] [ 7.05763886e-01 -7.08413525e-01 -6.90039973e-03 -2.82820589e+02] [ 9.54508719e-03 -2.30807802e-04 9.99954418e-01 -2.78459325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 929.1965599949999 meters 0.015237045091817577 Centerline is valid? [True, True] Translation: X:-217.56, Y:-282.80, Z:-2.78 [[-7.05772481e-01 -7.08409233e-01 6.44700638e-03 -2.17559497e+02] [ 7.08377214e-01 -7.05801901e-01 -6.73793740e-03 -2.82802916e+02] [ 9.32352642e-03 -1.88538385e-04 9.99956517e-01 -2.78420315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 929.2265599949999 meters 0.014155915182799444 Centerline is valid? [True, True] Translation: X:-217.58, Y:-282.79, Z:-2.78 [[-7.03089092e-01 -7.11077622e-01 5.86045763e-03 -2.17582006e+02] [ 7.11051286e-01 -7.03113502e-01 -6.12144814e-03 -2.82785740e+02] [ 8.47339168e-03 -1.36837477e-04 9.99964091e-01 -2.78362636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 929.256559995 meters 0.013146214172067688 Centerline is valid? [True, True] Translation: X:-217.61, Y:-282.77, Z:-2.78 [[-6.97997776e-01 -7.16076786e-01 5.75687583e-03 -2.17605593e+02] [ 7.16051567e-01 -6.98021512e-01 -6.01016687e-03 -2.82771055e+02] [ 8.32216415e-03 -7.28631459e-05 9.99965368e-01 -2.78439646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 929.286559995 meters 0.012642255683354283 Centerline is valid? [True, True] Translation: X:-217.63, Y:-282.75, Z:-2.78 [[-6.95963158e-01 -7.18053135e-01 5.91429692e-03 -2.17627763e+02] [ 7.18026618e-01 -6.95988286e-01 -6.17106288e-03 -2.82753056e+02] [ 8.54743242e-03 -4.82097871e-05 9.99963469e-01 -2.78438992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 929.3165599949999 meters 0.012572801939881096 Centerline is valid? [True, True] Translation: X:-217.65, Y:-282.74, Z:-2.79 [[-6.94110359e-01 -7.19841976e-01 6.19190180e-03 -2.17647695e+02] [ 7.19813021e-01 -6.94137976e-01 -6.45646544e-03 -2.82735735e+02] [ 8.94566902e-03 -2.44880028e-05 9.99959987e-01 -2.78544613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 929.3465599949999 meters 0.012459511891594322 Centerline is valid? [True, True] Translation: X:-217.67, Y:-282.72, Z:-2.79 [[-6.92338332e-01 -7.21545301e-01 6.32554624e-03 -2.17668492e+02] [ 7.21515190e-01 -6.92367228e-01 -6.59181566e-03 -2.82718224e+02] [ 9.13589453e-03 2.11036436e-07 9.99958267e-01 -2.78513185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 929.376559995 meters 0.012570484002967904 Centerline is valid? [True, True] Translation: X:-217.69, Y:-282.70, Z:-2.78 [[-6.89133519e-01 -7.24606648e-01 6.34019127e-03 -2.17690844e+02] [ 7.24576565e-01 -6.89162683e-01 -6.60294427e-03 -2.82701432e+02] [ 9.15396054e-03 4.36437879e-05 9.99958101e-01 -2.78471737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 929.406559995 meters 0.012606065862109507 Centerline is valid? [True, True] Translation: X:-217.71, Y:-282.68, Z:-2.78 [[-6.88106507e-01 -7.25579840e-01 6.58268113e-03 -2.17710899e+02] [ 7.25547496e-01 -6.88137990e-01 -6.85118013e-03 -2.82683113e+02] [ 9.50087114e-03 6.17061833e-05 9.99954864e-01 -2.78482688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 929.4365599949999 meters 0.012825983343129782 Centerline is valid? [True, True] Translation: X:-217.73, Y:-282.66, Z:-2.79 [[-6.87189617e-01 -7.26446990e-01 6.72319210e-03 -2.17730719e+02] [ 7.26413335e-01 -6.87222500e-01 -6.99302308e-03 -2.82664902e+02] [ 9.70038945e-03 7.82835524e-05 9.99952947e-01 -2.78504627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 929.4665599949999 meters 0.013121961312366136 Centerline is valid? [True, True] Translation: X:-217.75, Y:-282.65, Z:-2.79 [[-6.85897168e-01 -7.27664057e-01 7.07784933e-03 -2.17751648e+02] [ 7.27626852e-01 -6.85933678e-01 -7.35891396e-03 -2.82647128e+02] [ 1.02097524e-02 1.02574982e-04 9.99947874e-01 -2.78592128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 929.496559995 meters 0.013205833779893162 Centerline is valid? [True, True] Translation: X:-217.77, Y:-282.63, Z:-2.79 [[-6.85581975e-01 -7.27953360e-01 7.82699423e-03 -2.17771482e+02] [ 7.27907934e-01 -6.85626641e-01 -8.13318984e-03 -2.82626746e+02] [ 1.12869786e-02 1.21362846e-04 9.99936293e-01 -2.78601159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 929.526559995 meters 0.01327546739376776 Centerline is valid? [True, True] Translation: X:-217.79, Y:-282.61, Z:-2.79 [[-6.85797227e-01 -7.27742851e-01 8.51500328e-03 -2.17790286e+02] [ 7.27689137e-01 -6.85850075e-01 -8.84281543e-03 -2.82607727e+02] [ 1.22753113e-02 1.31897078e-04 9.99924647e-01 -2.78735481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 929.5565599949999 meters 0.013333824919898141 Centerline is valid? [True, True] Translation: X:-217.81, Y:-282.59, Z:-2.79 [[-6.85999382e-01 -7.27550830e-01 8.63934964e-03 -2.17808815e+02] [ 7.27495590e-01 -6.86053768e-01 -8.96631798e-03 -2.82588322e+02] [ 1.24505105e-02 1.34200163e-04 9.99922481e-01 -2.78718690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 929.5865599949999 meters 0.013462442846404963 Centerline is valid? [True, True] Translation: X:-217.83, Y:-282.57, Z:-2.79 [[-6.86874608e-01 -7.26727886e-01 8.35782801e-03 -2.17827273e+02] [ 7.26676195e-01 -6.86925444e-01 -8.66843221e-03 -2.82569174e+02] [ 1.20407961e-02 1.19308680e-04 9.99927500e-01 -2.78817618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 929.616559995 meters 0.013116034025628389 Centerline is valid? [True, True] Translation: X:-217.85, Y:-282.55, Z:-2.79 [[-6.87346880e-01 -7.26281491e-01 8.33443990e-03 -2.17845077e+02] [ 7.26230121e-01 -6.87397398e-01 -8.63876397e-03 -2.82548800e+02] [ 1.20032467e-02 1.14893840e-04 9.99927952e-01 -2.78658449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 929.646559995 meters 0.013021595965858659 Centerline is valid? [True, True] Translation: X:-217.86, Y:-282.53, Z:-2.79 [[-6.88492978e-01 -7.25202771e-01 7.63939414e-03 -2.17862152e+02] [ 7.25159602e-01 -6.88535354e-01 -7.91315240e-03 -2.82529012e+02] [ 1.09986330e-02 9.16301566e-05 9.99939509e-01 -2.78571348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 929.6765599949999 meters 0.01293292848599367 Centerline is valid? [True, True] Translation: X:-217.88, Y:-282.51, Z:-2.79 [[-6.89084846e-01 -7.24640048e-01 7.67306320e-03 -2.17880533e+02] [ 7.24596517e-01 -6.89127560e-01 -7.94314626e-03 -2.82508707e+02] [ 1.10436412e-02 8.63731463e-05 9.99939014e-01 -2.78539579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 929.7065599949999 meters 0.01293292848599367 Centerline is valid? [True, True] Translation: X:-217.90, Y:-282.49, Z:-2.79 [[-6.89307023e-01 -7.24428681e-01 7.67549874e-03 -2.17899204e+02] [ 7.24385164e-01 -6.89349750e-01 -7.94079281e-03 -2.82489541e+02] [ 1.10436412e-02 8.63731500e-05 9.99939014e-01 -2.78539548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 929.736559995 meters 0.012972715131306371 Centerline is valid? [True, True] Translation: X:-217.92, Y:-282.47, Z:-2.79 [[-6.89973349e-01 -7.23791333e-01 7.92995833e-03 -2.17917426e+02] [ 7.23744897e-01 -6.90018913e-01 -8.19902982e-03 -2.82469040e+02] [ 1.14062079e-02 8.21548164e-05 9.99934944e-01 -2.78555317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 929.766559995 meters 0.012869395057720095 Centerline is valid? [True, True] Translation: X:-217.93, Y:-282.45, Z:-2.79 [[-6.91172573e-01 -7.22635255e-01 8.87484273e-03 -2.17934636e+02] [ 7.22577070e-01 -6.91229544e-01 -9.17036270e-03 -2.82447625e+02] [ 1.27613809e-02 7.44546792e-05 9.99918568e-01 -2.78655023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 929.7965599949999 meters 0.012978352104702433 Centerline is valid? [True, True] Translation: X:-217.95, Y:-282.43, Z:-2.79 [[-6.91574364e-01 -7.22246497e-01 9.21390563e-03 -2.17952527e+02] [ 7.22183806e-01 -6.91635736e-01 -9.51621289e-03 -2.82428038e+02] [ 1.32457178e-02 7.29645540e-05 9.99912269e-01 -2.78741284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 929.8265599949999 meters 0.013040650162581387 Centerline is valid? [True, True] Translation: X:-217.97, Y:-282.41, Z:-2.79 [[-6.91832311e-01 -7.21992601e-01 9.73332545e-03 -2.17971244e+02] [ 7.21922701e-01 -6.91900772e-01 -1.00466376e-02 -2.82407868e+02] [ 1.39880934e-02 7.61201159e-05 9.99902159e-01 -2.78840331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 929.8565599949999 meters 0.012904693891613233 Centerline is valid? [True, True] Translation: X:-217.99, Y:-282.39, Z:-2.79 [[-6.92466597e-01 -7.21382985e-01 9.82853112e-03 -2.17988493e+02] [ 7.21311738e-01 -6.92536341e-01 -1.01387248e-02 -2.82386987e+02] [ 1.41205185e-02 6.87066204e-05 9.99900298e-01 -2.78830467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 929.886559995 meters 0.012770655072705419 Centerline is valid? [True, True] Translation: X:-218.01, Y:-282.37, Z:-2.79 [[-6.92765314e-01 -7.21095160e-01 9.89896870e-03 -2.18006216e+02] [ 7.21022948e-01 -6.92836031e-01 -1.02050655e-02 -2.82366651e+02] [ 1.42171855e-02 6.76682041e-05 9.99898929e-01 -2.78774125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 929.916559995 meters 0.012897787105106372 Centerline is valid? [True, True] Translation: X:-218.02, Y:-282.35, Z:-2.79 [[-6.92460107e-01 -7.21387880e-01 9.92607367e-03 -2.18022959e+02] [ 7.21315397e-01 -6.92531241e-01 -1.02263794e-02 -2.82346603e+02] [ 1.42513023e-02 7.84700174e-05 9.99898442e-01 -2.78734569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 929.9465599949999 meters 0.013078486160901117 Centerline is valid? [True, True] Translation: X:-218.04, Y:-282.33, Z:-2.79 [[-6.92133458e-01 -7.21698107e-01 1.01547222e-02 -2.18041205e+02] [ 7.21622371e-01 -6.92207941e-01 -1.04555789e-02 -2.82326692e+02] [ 1.45749509e-02 9.12187362e-05 9.99893776e-01 -2.78724681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 929.9765599949999 meters 0.013401087377829005 Centerline is valid? [True, True] Translation: X:-218.06, Y:-282.31, Z:-2.79 [[-6.90451054e-01 -7.23302505e-01 1.05274854e-02 -2.18060266e+02] [ 7.23221382e-01 -6.90531294e-01 -1.08335223e-02 -2.82305832e+02] [ 1.51054720e-02 1.33685614e-04 9.99885897e-01 -2.78709679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 930.006559995 meters 0.013865014108343893 Centerline is valid? [True, True] Translation: X:-218.08, Y:-282.29, Z:-2.79 [[-6.89429272e-01 -7.24279539e-01 1.03164527e-02 -2.18079164e+02] [ 7.24201845e-01 -6.89506436e-01 -1.06095754e-02 -2.82287319e+02] [ 1.47975590e-02 1.56642211e-04 9.99890498e-01 -2.78761617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 930.036559995 meters 0.014411631232449077 Centerline is valid? [True, True] Translation: X:-218.10, Y:-282.27, Z:-2.79 [[-6.88186195e-01 -7.25460106e-01 1.03631756e-02 -2.18098856e+02] [ 7.25381928e-01 -6.88264193e-01 -1.06516892e-02 -2.82268183e+02] [ 1.48599783e-02 1.86914868e-04 9.99889567e-01 -2.78748527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 930.0665599949999 meters 0.01499805160108839 Centerline is valid? [True, True] Translation: X:-218.12, Y:-282.25, Z:-2.79 [[-6.86802294e-01 -7.26774624e-01 1.00625793e-02 -2.18119147e+02] [ 7.26701134e-01 -6.86875972e-01 -1.03373561e-02 -2.82248929e+02] [ 1.44246720e-02 2.12767939e-04 9.99895937e-01 -2.78732199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 930.0965599949999 meters 0.014867370918726476 Centerline is valid? [True, True] Translation: X:-218.14, Y:-282.23, Z:-2.78 [[-6.84074725e-01 -7.29348254e-01 9.63820954e-03 -2.18138424e+02] [ 7.29281164e-01 -6.84142571e-01 -9.89582628e-03 -2.82228032e+02] [ 1.38114131e-02 2.59480030e-04 9.99904584e-01 -2.78438157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 930.126559995 meters 0.015568941813676202 Centerline is valid? [True, True] Translation: X:-218.16, Y:-282.21, Z:-2.78 [[-6.83017318e-01 -7.30344813e-01 9.15410642e-03 -2.18158382e+02] [ 7.30284456e-01 -6.83078606e-01 -9.39320168e-03 -2.82209265e+02] [ 1.31132504e-02 2.69382203e-04 9.99913982e-01 -2.78419358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 930.156559995 meters 0.01613849431010038 Centerline is valid? [True, True] Translation: X:-218.18, Y:-282.19, Z:-2.78 [[-6.82006309e-01 -7.31294029e-01 8.74280561e-03 -2.18178130e+02] [ 7.31239118e-01 -6.82062288e-01 -8.96593306e-03 -2.82190022e+02] [ 1.25198713e-02 2.78258540e-04 9.99921585e-01 -2.78363907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 930.1865599949999 meters 0.017640309539589744 Centerline is valid? [True, True] Translation: X:-218.20, Y:-282.17, Z:-2.78 [[-6.80381438e-01 -7.32814715e-01 7.98076539e-03 -2.18198112e+02] [ 7.32769117e-01 -6.80428184e-01 -8.17971521e-03 -2.82171953e+02] [ 1.14245534e-02 2.82732011e-04 9.99934698e-01 -2.78316949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 930.2165599949999 meters 0.016437095477918266 Centerline is valid? [True, True] Translation: X:-218.22, Y:-282.15, Z:-2.78 [[-6.79821299e-01 -7.33337468e-01 7.69153981e-03 -2.18216137e+02] [ 7.33295198e-01 -6.79864749e-01 -7.87881225e-03 -2.82149875e+02] [ 1.10070350e-02 2.83984834e-04 9.99939381e-01 -2.78137365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 930.246559995 meters 0.01800551417948994 Centerline is valid? [True, True] Translation: X:-218.24, Y:-282.13, Z:-2.78 [[-6.79179043e-01 -7.33935347e-01 7.39823990e-03 -2.18236661e+02] [ 7.33896322e-01 -6.79219276e-01 -7.57385129e-03 -2.82132196e+02] [ 1.05837443e-02 2.85539983e-04 9.99943950e-01 -2.78155401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 930.276559995 meters 0.01876522413646928 Centerline is valid? [True, True] Translation: X:-218.26, Y:-282.11, Z:-2.78 [[-6.78727294e-01 -7.34356560e-01 7.05009880e-03 -2.18255957e+02] [ 7.34321173e-01 -6.78763851e-01 -7.21458893e-03 -2.82113937e+02] [ 1.00834329e-02 2.80298396e-04 9.99949122e-01 -2.78132612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 930.3065599949999 meters 0.01729167481130598 Centerline is valid? [True, True] Translation: X:-218.27, Y:-282.09, Z:-2.78 [[-6.78348498e-01 -7.34692927e-01 8.34375160e-03 -2.18273825e+02] [ 7.34643445e-01 -6.78399725e-01 -8.53356070e-03 -2.82092545e+02] [ 1.19299455e-02 3.40954332e-04 9.99928778e-01 -2.78185260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 930.3365599949999 meters 0.017362892868425853 Centerline is valid? [True, True] Translation: X:-218.29, Y:-282.07, Z:-2.78 [[-6.78625857e-01 -7.34430289e-01 8.89365383e-03 -2.18292943e+02] [ 7.34374125e-01 -6.78684035e-01 -9.08985517e-03 -2.82073972e+02] [ 1.27118458e-02 3.62658499e-04 9.99919136e-01 -2.78328354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 930.366559995 meters 0.019206685352048582 Centerline is valid? [True, True] Translation: X:-218.31, Y:-282.06, Z:-2.79 [[-6.79140945e-01 -7.33941006e-01 9.90843853e-03 -2.18313518e+02] [ 7.33871336e-01 -6.79213104e-01 -1.01203076e-02 -2.82057641e+02] [ 1.41576501e-02 3.98403746e-04 9.99899696e-01 -2.78635442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 930.396559995 meters 0.01820527823878858 Centerline is valid? [True, True] Translation: X:-218.33, Y:-282.04, Z:-2.79 [[-6.80212189e-01 -7.32939541e-01 1.05360205e-02 -2.18330885e+02] [ 7.32860744e-01 -6.80293661e-01 -1.07547697e-02 -2.82037139e+02] [ 1.50501840e-02 4.05910358e-04 9.99886657e-01 -2.78676409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 930.4265599949999 meters 0.01715126864084146 Centerline is valid? [True, True] Translation: X:-218.35, Y:-282.02, Z:-2.79 [[-6.81109890e-01 -7.32103813e-01 1.06454109e-02 -2.18348585e+02] [ 7.32023372e-01 -6.81192961e-01 -1.08596382e-02 -2.82016011e+02] [ 1.52019615e-02 3.96082583e-04 9.99884365e-01 -2.78591078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 930.4565599949999 meters 0.016955241703208872 Centerline is valid? [True, True] Translation: X:-218.37, Y:-282.00, Z:-2.78 [[-6.82702916e-01 -7.30626865e-01 1.00554478e-02 -2.18366325e+02] [ 7.30554994e-01 -6.82776878e-01 -1.02536074e-02 -2.81995912e+02] [ 1.43571883e-02 3.45889885e-04 9.99896871e-01 -2.78478350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 930.486559995 meters 0.01655776592094584 Centerline is valid? [True, True] Translation: X:-218.38, Y:-281.98, Z:-2.78 [[-6.83285199e-01 -7.30091274e-01 9.38444046e-03 -2.18384794e+02] [ 7.30028704e-01 -6.83349567e-01 -9.56347179e-03 -2.81975886e+02] [ 1.33950606e-02 3.16332179e-04 9.99910232e-01 -2.78364893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 930.516559995 meters 0.015690291173482643 Centerline is valid? [True, True] Translation: X:-218.40, Y:-281.95, Z:-2.78 [[-6.84275142e-01 -7.29171371e-01 8.75453834e-03 -2.18403193e+02] [ 7.29116906e-01 -6.84331084e-01 -8.91654488e-03 -2.81954514e+02] [ 1.24926920e-02 2.81711890e-04 9.99921924e-01 -2.78237324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 930.5465599949999 meters 0.01589928511807044 Centerline is valid? [True, True] Translation: X:-218.42, Y:-281.93, Z:-2.78 [[-6.86026643e-01 -7.27537197e-01 7.55467777e-03 -2.18422385e+02] [ 7.27496584e-01 -6.86068203e-01 -7.69037103e-03 -2.81934946e+02] [ 1.07780552e-02 2.20202850e-04 9.99941891e-01 -2.78173185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 930.5765599949999 meters 0.015178871747219878 Centerline is valid? [True, True] Translation: X:-218.44, Y:-281.91, Z:-2.78 [[-6.86771876e-01 -7.26835544e-01 7.38122754e-03 -2.18440187e+02] [ 7.26796783e-01 -6.86811509e-01 -7.50913275e-03 -2.81914757e+02] [ 1.05274166e-02 2.07591250e-04 9.99944564e-01 -2.78081414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 930.6065599949999 meters 0.014505567737682228 Centerline is valid? [True, True] Translation: X:-218.46, Y:-281.89, Z:-2.78 [[-6.88047242e-01 -7.25628495e-01 7.36750337e-03 -2.18459024e+02] [ 7.25589853e-01 -6.88086660e-01 -7.49093857e-03 -2.81893824e+02] [ 1.05051193e-02 1.91666058e-04 9.99944801e-01 -2.78022698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 930.636559995 meters 0.014505567737682228 Centerline is valid? [True, True] Translation: X:-218.48, Y:-281.87, Z:-2.78 [[-6.88252152e-01 -7.25434121e-01 7.36961883e-03 -2.18478422e+02] [ 7.25395491e-01 -6.88291580e-01 -7.48885738e-03 -2.81874202e+02] [ 1.05051193e-02 1.91666057e-04 9.99944801e-01 -2.78022666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 930.666559995 meters 0.01511543018558064 Centerline is valid? [True, True] Translation: X:-218.50, Y:-281.86, Z:-2.78 [[-6.88835101e-01 -7.24880424e-01 7.38741432e-03 -2.18498257e+02] [ 7.24841628e-01 -6.88874688e-01 -7.50194718e-03 -2.81856549e+02] [ 1.05270174e-02 1.87100875e-04 9.99944572e-01 -2.78121919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 930.6965599949999 meters 0.014298615394104534 Centerline is valid? [True, True] Translation: X:-218.52, Y:-281.84, Z:-2.78 [[-6.89535893e-01 -7.24210600e-01 7.69797570e-03 -2.18517394e+02] [ 7.24168480e-01 -6.89578836e-01 -7.81289917e-03 -2.81835446e+02] [ 1.09665455e-02 1.87356953e-04 9.99939848e-01 -2.78052688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 930.7265599949999 meters 0.014272166899467798 Centerline is valid? [True, True] Translation: X:-218.54, Y:-281.82, Z:-2.78 [[-6.90180122e-01 -7.23585497e-01 8.68488260e-03 -2.18537301e+02] [ 7.23531900e-01 -6.90234733e-01 -8.80926551e-03 -2.81817327e+02] [ 1.23688644e-02 2.03809662e-04 9.99923482e-01 -2.78208069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 930.756559995 meters 0.014896985470470882 Centerline is valid? [True, True] Translation: X:-218.56, Y:-281.80, Z:-2.78 [[-6.90648703e-01 -7.23132727e-01 9.13386244e-03 -2.18556891e+02] [ 7.23073464e-01 -6.90709067e-01 -9.26018564e-03 -2.81800416e+02] [ 1.30051849e-02 2.08918347e-04 9.99915407e-01 -2.78368278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 930.786559995 meters 0.014092501192248766 Centerline is valid? [True, True] Translation: X:-218.58, Y:-281.78, Z:-2.78 [[-6.91202726e-01 -7.22596985e-01 9.61192818e-03 -2.18575392e+02] [ 7.22531387e-01 -6.91269522e-01 -9.73874190e-03 -2.81780217e+02] [ 1.36816185e-02 2.13474854e-04 9.99906380e-01 -2.78287965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 930.8165599949999 meters 0.014605869616849027 Centerline is valid? [True, True] Translation: X:-218.59, Y:-281.76, Z:-2.78 [[-6.91863452e-01 -7.21958618e-01 1.00358318e-02 -2.18594493e+02] [ 7.21887134e-01 -6.91936202e-01 -1.01615522e-02 -2.81762657e+02] [ 1.42803756e-02 2.14331295e-04 9.99898007e-01 -2.78420761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 930.8465599949999 meters 0.014014263630857058 Centerline is valid? [True, True] Translation: X:-218.61, Y:-281.74, Z:-2.78 [[-6.92867220e-01 -7.20990441e-01 1.03826435e-02 -2.18612982e+02] [ 7.20913918e-01 -6.92944977e-01 -1.05062464e-02 -2.81742272e+02] [ 1.47695039e-02 2.05558434e-04 9.99890904e-01 -2.78345544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 930.876559995 meters 0.013991469793136334 Centerline is valid? [True, True] Translation: X:-218.63, Y:-281.72, Z:-2.78 [[-6.93514648e-01 -7.20365474e-01 1.05365130e-02 -2.18632114e+02] [ 7.20286692e-01 -6.93594654e-01 -1.06553705e-02 -2.81722913e+02] [ 1.49838300e-02 1.99654571e-04 9.99887716e-01 -2.78343319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 930.906559995 meters 0.013572769272790136 Centerline is valid? [True, True] Translation: X:-218.65, Y:-281.70, Z:-2.78 [[-6.94611745e-01 -7.19307653e-01 1.05367805e-02 -2.18651436e+02] [ 7.19228845e-01 -6.94691635e-01 -1.06490000e-02 -2.81703804e+02] [ 1.49797204e-02 1.81435986e-04 9.99887781e-01 -2.78307543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 930.9365599949999 meters 0.014072314940529318 Centerline is valid? [True, True] Translation: X:-218.67, Y:-281.69, Z:-2.78 [[-6.95276420e-01 -7.18669603e-01 1.02323499e-02 -2.18671041e+02] [ 7.18595313e-01 -6.95351690e-01 -1.03345761e-02 -2.81686254e+02] [ 1.45422276e-02 1.67531612e-04 9.99894242e-01 -2.78478237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 930.9665599949999 meters 0.013495815066275256 Centerline is valid? [True, True] Translation: X:-218.69, Y:-281.67, Z:-2.78 [[-6.96020674e-01 -7.17953260e-01 9.91658314e-03 -2.18689759e+02] [ 7.17883496e-01 -6.96091297e-01 -1.00095998e-02 -2.81666574e+02] [ 1.40892720e-02 1.52063007e-04 9.99900730e-01 -2.78351856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 930.996559995 meters 0.012974170323326185 Centerline is valid? [True, True] Translation: X:-218.71, Y:-281.65, Z:-2.78 [[-6.97077397e-01 -7.16932970e-01 9.49836769e-03 -2.18708006e+02] [ 7.16868952e-01 -6.97142094e-01 -9.58152738e-03 -2.81646691e+02] [ 1.34910248e-02 1.30018728e-04 9.99908984e-01 -2.78170242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 931.026559995 meters 0.012879347549780375 Centerline is valid? [True, True] Translation: X:-218.73, Y:-281.63, Z:-2.78 [[-6.97736306e-01 -7.16294287e-01 9.30282799e-03 -2.18726935e+02] [ 7.16232899e-01 -6.97798309e-01 -9.37839312e-03 -2.81626959e+02] [ 1.32091871e-02 1.19346086e-04 9.99912748e-01 -2.78069453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 931.0565599949999 meters 0.012680855021338582 Centerline is valid? [True, True] Translation: X:-218.75, Y:-281.61, Z:-2.78 [[-6.98837261e-01 -7.15229674e-01 8.54383825e-03 -2.18746348e+02] [ 7.15177874e-01 -6.98889480e-01 -8.60838346e-03 -2.81606130e+02] [ 1.21281700e-02 9.45049528e-05 9.99926447e-01 -2.77944687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 931.0865599949999 meters 0.012782457973589127 Centerline is valid? [True, True] Translation: X:-218.76, Y:-281.59, Z:-2.78 [[-6.99636643e-01 -7.14448893e-01 8.44673628e-03 -2.18764474e+02] [ 7.14398274e-01 -6.99687625e-01 -8.50489630e-03 -2.81587703e+02] [ 1.19863906e-02 8.39967265e-05 9.99928157e-01 -2.77953774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 931.116559995 meters 0.01258406761495114 Centerline is valid? [True, True] Translation: X:-218.78, Y:-281.57, Z:-2.78 [[-7.00066679e-01 -7.14029557e-01 8.27269795e-03 -2.18783956e+02] [ 7.13981028e-01 -7.00115552e-01 -8.32499372e-03 -2.81567593e+02] [ 1.17361361e-02 7.84986831e-05 9.99931126e-01 -2.77876597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 931.146559995 meters 0.012607980008577532 Centerline is valid? [True, True] Translation: X:-218.80, Y:-281.55, Z:-2.78 [[-7.00995983e-01 -7.13116199e-01 8.36168755e-03 -2.18803364e+02] [ 7.13066612e-01 -7.01045849e-01 -8.40983596e-03 -2.81547716e+02] [ 1.18591166e-02 6.71789811e-05 9.99929676e-01 -2.77835578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 931.1765599949999 meters 0.012707487125796635 Centerline is valid? [True, True] Translation: X:-218.82, Y:-281.53, Z:-2.78 [[-7.01498277e-01 -7.12623482e-01 8.24256595e-03 -2.18822274e+02] [ 7.12575327e-01 -7.01546698e-01 -8.28455407e-03 -2.81529836e+02] [ 1.16863127e-02 6.18487192e-05 9.99931711e-01 -2.77913776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 931.2065599949999 meters 0.012617216062142948 Centerline is valid? [True, True] Translation: X:-218.84, Y:-281.51, Z:-2.78 [[-7.02295199e-01 -7.11837069e-01 8.33310999e-03 -2.18841937e+02] [ 7.11787857e-01 -7.02344633e-01 -8.37036117e-03 -2.81510618e+02] [ 1.18110484e-02 5.29420390e-05 9.99930246e-01 -2.77889759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 931.236559995 meters 0.012784088586285077 Centerline is valid? [True, True] Translation: X:-218.86, Y:-281.49, Z:-2.78 [[-7.02942467e-01 -7.11197430e-01 8.37278138e-03 -2.18860787e+02] [ 7.11147767e-01 -7.02992328e-01 -8.40474265e-03 -2.81492597e+02] [ 1.18634324e-02 4.62342505e-05 9.99929626e-01 -2.78049798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 931.266559995 meters 0.012624729101042138 Centerline is valid? [True, True] Translation: X:-218.88, Y:-281.47, Z:-2.78 [[-7.03874320e-01 -7.10275515e-01 8.34470406e-03 -2.18879900e+02] [ 7.10226180e-01 -7.03923783e-01 -8.37147980e-03 -2.81472695e+02] [ 1.18200928e-02 3.41576293e-05 9.99930140e-01 -2.77953735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 931.2965599949999 meters 0.012523626778195488 Centerline is valid? [True, True] Translation: X:-218.90, Y:-281.45, Z:-2.78 [[-7.05111597e-01 -7.09047524e-01 8.32129565e-03 -2.18898959e+02] [ 7.08998440e-01 -7.05160697e-01 -8.34289629e-03 -2.81452918e+02] [ 1.17833606e-02 1.71127116e-05 9.99930574e-01 -2.77969070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 931.3265599949999 meters 0.012688420679302643 Centerline is valid? [True, True] Translation: X:-218.92, Y:-281.43, Z:-2.78 [[-7.08127863e-01 -7.06029793e-01 8.76706365e-03 -2.18915935e+02] [ 7.05975146e-01 -7.08182131e-01 -8.78419824e-03 -2.81432508e+02] [ 1.24105835e-02 -3.10064886e-05 9.99922985e-01 -2.78041967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 931.3565599949999 meters 0.012784052813843347 Centerline is valid? [True, True] Translation: X:-218.93, Y:-281.41, Z:-2.78 [[-7.09867763e-01 -7.04278588e-01 8.91234936e-03 -2.18934180e+02] [ 7.04222048e-01 -7.09923705e-01 -8.92415958e-03 -2.81412424e+02] [ 1.26121826e-02 -5.87002777e-05 9.99920462e-01 -2.77975350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 931.386559995 meters 0.013346900289993878 Centerline is valid? [True, True] Translation: X:-218.95, Y:-281.39, Z:-2.78 [[-7.13031118e-01 -7.01064848e-01 9.73154922e-03 -2.18951279e+02] [ 7.00997214e-01 -7.13097514e-01 -9.73868143e-03 -2.81390501e+02] [ 1.37669908e-02 -1.22194018e-04 9.99905223e-01 -2.78007100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 931.416559995 meters 0.013419416781293226 Centerline is valid? [True, True] Translation: X:-218.97, Y:-281.37, Z:-2.78 [[-7.14361201e-01 -6.99712771e-01 9.49275181e-03 -2.18970042e+02] [ 6.99648372e-01 -7.14424257e-01 -9.49405495e-03 -2.81370210e+02] [ 1.34249637e-02 -1.40596147e-04 9.99909871e-01 -2.77958620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 931.4465599949999 meters 0.013816792677926822 Centerline is valid? [True, True] Translation: X:-218.99, Y:-281.35, Z:-2.78 [[-7.15556789e-01 -6.98486928e-01 9.72073238e-03 -2.18988291e+02] [ 6.98419364e-01 -7.15622795e-01 -9.71633233e-03 -2.81350475e+02] [ 1.37431088e-02 -1.63439836e-04 9.99905546e-01 -2.77960979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 931.4765599949999 meters 0.01426962290661742 Centerline is valid? [True, True] Translation: X:-219.49, Y:-281.86, Z:-1.80 [[-7.46553708e-01 6.65247308e-01 1.01774254e-02 -2.19491542e+02] [ 6.65188727e-01 7.46623056e-01 -8.83006551e-03 -2.81860423e+02] [-1.34728778e-02 1.77790523e-04 -9.99909221e-01 -1.80466407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 931.506559995 meters 0.014267747237545241 Centerline is valid? [True, True] Translation: X:-219.47, Y:-281.84, Z:-1.81 [[-7.91709169e-01 6.10797041e-01 1.11160373e-02 -2.19472434e+02] [ 6.10740098e-01 7.91787182e-01 -8.34219227e-03 -2.81838488e+02] [-1.38969222e-02 1.84419589e-04 -9.99903416e-01 -1.80513964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 931.536559995 meters 0.014056405934626417 Centerline is valid? [True, True] Translation: X:-219.04, Y:-281.27, Z:-2.78 [[-7.65682045e-01 -6.43135952e-01 1.03514448e-02 -2.19041923e+02] [ 6.43073732e-01 -7.65751989e-01 -8.94799150e-03 -2.81270687e+02] [ 1.36814145e-02 -1.94574186e-04 9.99906386e-01 -2.77999005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 931.5665599949999 meters 0.013760858163590736 Centerline is valid? [True, True] Translation: X:-219.06, Y:-281.30, Z:-2.78 [[-7.19230390e-01 -6.94699111e-01 1.00395021e-02 -2.19056789e+02] [ 6.94628561e-01 -7.19300440e-01 -9.90146934e-03 -2.81301272e+02] [ 1.40999602e-02 -1.47712759e-04 9.99900580e-01 -2.77999508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 931.5965599949999 meters 0.01371388298096483 Centerline is valid? [True, True] Translation: X:-219.55, Y:-281.81, Z:-1.80 [[-7.53794773e-01 6.57024323e-01 1.06056052e-02 -2.19553281e+02] [ 6.56961713e-01 7.53869366e-01 -9.07117926e-03 -2.81807460e+02] [-1.39552263e-02 1.29669027e-04 -9.99902613e-01 -1.80417240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 931.626559995 meters 0.013230124779021992 Centerline is valid? [True, True] Translation: X:-219.10, Y:-281.27, Z:-2.78 [[-7.18334884e-01 -6.95626285e-01 9.95316239e-03 -2.19095890e+02] [ 6.95557032e-01 -7.18403825e-01 -9.81630384e-03 -2.81273193e+02] [ 1.39788689e-02 -1.28401390e-04 9.99902283e-01 -2.77967229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 931.656559995 meters 0.013006856213251476 Centerline is valid? [True, True] Translation: X:-219.11, Y:-281.30, Z:-2.78 [[-6.68345212e-01 -7.43796547e-01 9.02080237e-03 -2.19114489e+02] [ 7.43727841e-01 -6.68406085e-01 -1.01095498e-02 -2.81299993e+02] [ 1.35490074e-02 -4.76473220e-05 9.99908207e-01 -2.77932988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 931.6865599949999 meters 0.012766611274571581 Centerline is valid? [True, True] Translation: X:-219.13, Y:-281.28, Z:-2.78 [[-6.67055568e-01 -7.44952159e-01 9.11861797e-03 -2.19134192e+02] [ 7.44882134e-01 -6.67117891e-01 -1.02140654e-02 -2.81281254e+02] [ 1.36921833e-02 -2.10536137e-05 9.99906258e-01 -2.77861679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 931.7165599949999 meters 0.012773391541214032 Centerline is valid? [True, True] Translation: X:-219.15, Y:-281.26, Z:-2.78 [[-6.65465956e-01 -7.46375505e-01 8.86942749e-03 -2.19154162e+02] [ 7.46309464e-01 -6.65525060e-01 -9.92864817e-03 -2.81262552e+02] [ 1.33133261e-02 1.21603258e-05 9.99911374e-01 -2.77782047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 931.746559995 meters 0.012972664184293093 Centerline is valid? [True, True] Translation: X:-219.18, Y:-281.25, Z:-2.78 [[-6.61628767e-01 -7.49783299e-01 8.50768599e-03 -2.19176037e+02] [ 7.49722896e-01 -6.61683458e-01 -9.51739876e-03 -2.81246618e+02] [ 1.27653817e-02 8.14221792e-05 9.99918516e-01 -2.77746445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 931.776559995 meters 0.013318200526622005 Centerline is valid? [True, True] Translation: X:-219.20, Y:-281.23, Z:-2.78 [[-6.59806226e-01 -7.51393073e-01 8.01209742e-03 -2.19196012e+02] [ 7.51339692e-01 -6.59854861e-01 -8.95709889e-03 -2.81228775e+02] [ 1.20171235e-02 1.09857191e-04 9.99927786e-01 -2.77733218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 931.8065599949999 meters 0.014154218560632509 Centerline is valid? [True, True] Translation: X:-219.22, Y:-281.21, Z:-2.78 [[-6.56173984e-01 -7.54570787e-01 7.65703987e-03 -2.19218393e+02] [ 7.54522303e-01 -6.56218638e-01 -8.55537831e-03 -2.81210888e+02] [ 1.14803308e-02 1.63590688e-04 9.99934086e-01 -2.77695525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 931.8365599949999 meters 0.014577857220917246 Centerline is valid? [True, True] Translation: X:-219.24, Y:-281.19, Z:-2.78 [[-6.54567926e-01 -7.55963538e-01 7.74334093e-03 -2.19238899e+02] [ 7.55914108e-01 -6.54613697e-01 -8.64692027e-03 -2.81191301e+02] [ 1.16056535e-02 1.93303983e-04 9.99932634e-01 -2.77659459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 931.866559995 meters 0.016034393016633407 Centerline is valid? [True, True] Translation: X:-219.26, Y:-281.17, Z:-2.78 [[-6.52990600e-01 -7.57325753e-01 7.80894157e-03 -2.19260151e+02] [ 7.57275640e-01 -6.53037253e-01 -8.71498792e-03 -2.81174033e+02] [ 1.16996145e-02 2.22716036e-04 9.99931533e-01 -2.77812456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 931.896559995 meters 0.01679313476041216 Centerline is valid? [True, True] Translation: X:-219.28, Y:-281.16, Z:-2.78 [[-6.50734877e-01 -7.59263851e-01 7.90731996e-03 -2.19280419e+02] [ 7.59212670e-01 -6.50782864e-01 -8.81966626e-03 -2.81155074e+02] [ 1.18424021e-02 2.64073060e-04 9.99929842e-01 -2.77829574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 931.9265599949999 meters 0.016436499693906974 Centerline is valid? [True, True] Translation: X:-219.30, Y:-281.13, Z:-2.78 [[-6.49971956e-01 -7.59916553e-01 7.95539341e-03 -2.19299232e+02] [ 7.59864856e-01 -6.50020579e-01 -8.86831911e-03 -2.81134188e+02] [ 1.19103519e-02 2.80865150e-04 9.99929030e-01 -2.77768166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 931.9565599949999 meters 0.01739195808235671 Centerline is valid? [True, True] Translation: X:-219.32, Y:-281.12, Z:-2.78 [[-6.49502165e-01 -7.60317899e-01 7.97684164e-03 -2.19318940e+02] [ 7.60266016e-01 -6.49551081e-01 -8.88697983e-03 -2.81115228e+02] [ 1.19382959e-02 2.92408975e-04 9.99928693e-01 -2.77819507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 931.986559995 meters 0.017252422415450278 Centerline is valid? [True, True] Translation: X:-219.34, Y:-281.09, Z:-2.78 [[-6.49370389e-01 -7.60427392e-01 8.26310599e-03 -2.19337100e+02] [ 7.60371798e-01 -6.49422887e-01 -9.20019332e-03 -2.81094955e+02] [ 1.23623292e-02 3.08699638e-04 9.99923536e-01 -2.77839964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 932.016559995 meters 0.01606262406445873 Centerline is valid? [True, True] Translation: X:-219.35, Y:-281.07, Z:-2.78 [[-6.50207518e-01 -7.59705163e-01 8.84589377e-03 -2.19353490e+02] [ 7.59641457e-01 -6.50267609e-01 -9.84344192e-03 -2.81072384e+02] [ 1.32303118e-02 3.19427688e-04 9.99912425e-01 -2.77763848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 932.0465599949999 meters 0.016054325908715406 Centerline is valid? [True, True] Translation: X:-219.37, Y:-281.05, Z:-2.78 [[-6.50688018e-01 -7.59291651e-01 9.01625410e-03 -2.19371825e+02] [ 7.59225505e-01 -6.50750403e-01 -1.00272598e-02 -2.81051261e+02] [ 1.34809456e-02 3.20752256e-04 9.99909077e-01 -2.77802928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 932.0765599949999 meters 0.015917816828546115 Centerline is valid? [True, True] Translation: X:-219.39, Y:-281.03, Z:-2.78 [[-6.51293926e-01 -7.58767350e-01 9.39845065e-03 -2.19390401e+02] [ 7.58695507e-01 -6.51361652e-01 -1.04463006e-02 -2.81030156e+02] [ 1.40481022e-02 3.26950161e-04 9.99901267e-01 -2.77817642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 932.1065599949999 meters 0.015833353980355697 Centerline is valid? [True, True] Translation: X:-219.41, Y:-281.01, Z:-2.78 [[-6.51825087e-01 -7.58313131e-01 9.23315308e-03 -2.19408791e+02] [ 7.58243829e-01 -6.51890402e-01 -1.02567131e-02 -2.81009457e+02] [ 1.37968041e-02 3.15398465e-04 9.99904770e-01 -2.77851283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 932.136559995 meters 0.017381989997337033 Centerline is valid? [True, True] Translation: X:-219.43, Y:-280.99, Z:-2.78 [[-6.53167247e-01 -7.57155814e-01 9.36063632e-03 -2.19428782e+02] [ 7.57084526e-01 -6.53234250e-01 -1.03939843e-02 -2.80990566e+02] [ 1.39845539e-02 2.97782793e-04 9.99902167e-01 -2.78067689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 932.166559995 meters 0.015279818801789838 Centerline is valid? [True, True] Translation: X:-219.44, Y:-280.97, Z:-2.78 [[-6.54062347e-01 -7.56386275e-01 9.06917654e-03 -2.19444186e+02] [ 7.56319361e-01 -6.54125162e-01 -1.00646446e-02 -2.80966544e+02] [ 1.35451356e-02 2.76288718e-04 9.99908222e-01 -2.77814391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 932.1965599949999 meters 0.015141754022237008 Centerline is valid? [True, True] Translation: X:-219.46, Y:-280.94, Z:-2.78 [[-6.55475640e-01 -7.55166725e-01 8.65462242e-03 -2.19462158e+02] [ 7.55105753e-01 -6.55532728e-01 -9.59919274e-03 -2.80944681e+02] [ 1.29223792e-02 2.43118169e-04 9.99916473e-01 -2.77747173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 932.2265599949999 meters 0.01432627718687815 Centerline is valid? [True, True] Translation: X:-219.48, Y:-280.92, Z:-2.78 [[-6.57817522e-01 -7.53137468e-01 7.74994591e-03 -2.19477926e+02] [ 7.53088492e-01 -6.57863147e-01 -8.59093265e-03 -2.80920990e+02] [ 1.15685571e-02 1.85129043e-04 9.99933065e-01 -2.77560987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 932.256559995 meters 0.014255712483074553 Centerline is valid? [True, True] Translation: X:-219.49, Y:-280.90, Z:-2.77 [[-6.58902863e-01 -7.52194180e-01 7.13673526e-03 -2.19494569e+02] [ 7.52152648e-01 -6.58941493e-01 -7.90592574e-03 -2.80900572e+02] [ 1.06494823e-02 1.58677218e-04 9.99943280e-01 -2.77482773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 932.286559995 meters 0.014161726959657336 Centerline is valid? [True, True] Translation: X:-219.51, Y:-280.88, Z:-2.77 [[-6.59888508e-01 -7.51331897e-01 6.89479386e-03 -2.19511905e+02] [ 7.51293135e-01 -6.59924511e-01 -7.63315576e-03 -2.80879867e+02] [ 1.02850769e-02 1.42979527e-04 9.99947097e-01 -2.77459161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 932.3165599949999 meters 0.0139319327182854 Centerline is valid? [True, True] Translation: X:-219.53, Y:-280.86, Z:-2.77 [[-6.60906023e-01 -7.50438844e-01 6.69100589e-03 -2.19529091e+02] [ 7.50402341e-01 -6.60939880e-01 -7.40287097e-03 -2.80858160e+02] [ 9.97775457e-03 1.28344466e-04 9.99950213e-01 -2.77444415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 932.3465599949999 meters 0.013733600482207314 Centerline is valid? [True, True] Translation: X:-219.55, Y:-280.84, Z:-2.77 [[-6.61280452e-01 -7.50105431e-01 7.07154458e-03 -2.19547213e+02] [ 7.50064685e-01 -6.61318248e-01 -7.81947263e-03 -2.80837077e+02] [ 1.05419704e-02 1.33251462e-04 9.99944423e-01 -2.77462390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 932.376559995 meters 0.013884235615452533 Centerline is valid? [True, True] Translation: X:-219.56, Y:-280.82, Z:-2.78 [[-6.61479587e-01 -7.49926490e-01 7.41725752e-03 -2.19564818e+02] [ 7.49881711e-01 -6.61521156e-01 -8.19628956e-03 -2.80817649e+02] [ 1.10532874e-02 1.40387528e-04 9.99938901e-01 -2.77541090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 932.406559995 meters 0.013937091258452158 Centerline is valid? [True, True] Translation: X:-219.58, Y:-280.80, Z:-2.78 [[-6.62042213e-01 -7.49423751e-01 8.00934735e-03 -2.19583376e+02] [ 7.49371567e-01 -6.62090643e-01 -8.84501786e-03 -2.80797090e+02] [ 1.19315804e-02 1.46201984e-04 9.99928806e-01 -2.77627615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 932.4365599949999 meters 0.013964730329169988 Centerline is valid? [True, True] Translation: X:-219.60, Y:-280.78, Z:-2.78 [[-6.62674579e-01 -7.48863955e-01 8.07335948e-03 -2.19601194e+02] [ 7.48810962e-01 -6.62723741e-01 -8.90986476e-03 -2.80777890e+02] [ 1.20226836e-02 1.41079195e-04 9.99927715e-01 -2.77661746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 932.4665599949999 meters 0.014261198222207398 Centerline is valid? [True, True] Translation: X:-219.62, Y:-280.76, Z:-2.78 [[-6.63438130e-01 -7.48186491e-01 8.17457339e-03 -2.19619336e+02] [ 7.48132180e-01 -6.63488476e-01 -9.01573781e-03 -2.80758855e+02] [ 1.21691885e-02 1.34277182e-04 9.99925944e-01 -2.77755088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 932.496559995 meters 0.013622414902292265 Centerline is valid? [True, True] Translation: X:-219.64, Y:-280.74, Z:-2.78 [[-6.64839170e-01 -7.46948860e-01 7.50200397e-03 -2.19636374e+02] [ 7.46903097e-01 -6.64881486e-01 -8.26885192e-03 -2.80738016e+02] [ 1.11643531e-02 1.05813356e-04 9.99937671e-01 -2.77520795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 932.526559995 meters 0.013622414902292265 Centerline is valid? [True, True] Translation: X:-219.65, Y:-280.72, Z:-2.78 [[-6.65068609e-01 -7.46744553e-01 7.50454406e-03 -2.19654438e+02] [ 7.46698803e-01 -6.65110940e-01 -8.26654669e-03 -2.80718273e+02] [ 1.11643531e-02 1.05813359e-04 9.99937671e-01 -2.77520752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 932.5565599949999 meters 0.013383763071886282 Centerline is valid? [True, True] Translation: X:-219.67, Y:-280.70, Z:-2.77 [[-6.66167741e-01 -7.45767797e-01 7.13682237e-03 -2.19672695e+02] [ 7.45726416e-01 -6.66205963e-01 -7.85664840e-03 -2.80697988e+02] [ 1.06138290e-02 8.82712549e-05 9.99943668e-01 -2.77477409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 932.5865599949999 meters 0.013253361719875605 Centerline is valid? [True, True] Translation: X:-219.69, Y:-280.68, Z:-2.77 [[-6.68446697e-01 -7.43727201e-01 6.99030291e-03 -2.19690140e+02] [ 7.43687442e-01 -6.68483244e-01 -7.69038796e-03 -2.80678167e+02] [ 1.03924511e-02 5.79860629e-05 9.99945995e-01 -2.77437889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 932.616559995 meters 0.01299119497189161 Centerline is valid? [True, True] Translation: X:-219.71, Y:-280.66, Z:-2.77 [[-6.69502597e-01 -7.42780287e-01 6.61193533e-03 -2.19708508e+02] [ 7.42744709e-01 -6.69535244e-01 -7.27004799e-03 -2.80657278e+02] [ 9.82697207e-03 4.36639759e-05 9.99951713e-01 -2.77332967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 932.646559995 meters 0.012970626671153625 Centerline is valid? [True, True] Translation: X:-219.73, Y:-280.64, Z:-2.77 [[-6.70435071e-01 -7.41940862e-01 6.36973331e-03 -2.19727680e+02] [ 7.41907843e-01 -6.70465328e-01 -6.99975978e-03 -2.80636339e+02] [ 9.46409315e-03 3.28706578e-05 9.99955214e-01 -2.77263563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 932.6765599949999 meters 0.012814438917796791 Centerline is valid? [True, True] Translation: X:-219.75, Y:-280.62, Z:-2.77 [[-6.72213635e-01 -7.40330521e-01 6.28888494e-03 -2.19747254e+02] [ 7.40298300e-01 -6.72243052e-01 -6.90700725e-03 -2.80616646e+02] [ 9.34112748e-03 1.26663875e-05 9.99956371e-01 -2.77250563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 932.7065599949999 meters 0.01283150032568591 Centerline is valid? [True, True] Translation: X:-219.77, Y:-280.60, Z:-2.77 [[-6.73098021e-01 -7.39526617e-01 6.27980909e-03 -2.19766944e+02] [ 7.39494491e-01 -6.73127315e-01 -6.89316910e-03 -2.80596150e+02] [ 9.32479306e-03 4.10574132e-06 9.99956523e-01 -2.77283100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 932.736559995 meters 0.012960595218351977 Centerline is valid? [True, True] Translation: X:-219.79, Y:-280.58, Z:-2.77 [[-6.74276154e-01 -7.38447439e-01 6.85915227e-03 -2.19786752e+02] [ 7.38409099e-01 -6.74311041e-01 -7.52481911e-03 -2.80575799e+02] [ 1.01818855e-02 -8.94565238e-06 9.99948163e-01 -2.77311409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 932.766559995 meters 0.013079429105291425 Centerline is valid? [True, True] Translation: X:-219.81, Y:-280.56, Z:-2.77 [[-6.75601696e-01 -7.37230230e-01 7.34419605e-03 -2.19805852e+02] [ 7.37186256e-01 -6.75641612e-01 -8.05211294e-03 -2.80556590e+02] [ 1.08983055e-02 -2.59807658e-05 9.99940612e-01 -2.77454396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 932.7965599949999 meters 0.013109915559414986 Centerline is valid? [True, True] Translation: X:-219.82, Y:-280.54, Z:-2.77 [[-6.76402412e-01 -7.36490876e-01 7.80812614e-03 -2.19824936e+02] [ 7.36441177e-01 -6.76447476e-01 -8.55594394e-03 -2.80536241e+02] [ 1.15831619e-02 -3.70355116e-05 9.99932912e-01 -2.77496954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 932.8265599949999 meters 0.013451111254508579 Centerline is valid? [True, True] Translation: X:-219.84, Y:-280.52, Z:-2.78 [[-6.77328568e-01 -7.35628727e-01 8.74000637e-03 -2.19843730e+02] [ 7.35566459e-01 -6.77384952e-01 -9.57138799e-03 -2.80516958e+02] [ 1.29613368e-02 -5.41189822e-05 9.99915997e-01 -2.77740395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 932.8565599949999 meters 0.013258724135854685 Centerline is valid? [True, True] Translation: X:-219.86, Y:-280.50, Z:-2.78 [[-6.77772427e-01 -7.35215794e-01 9.07044702e-03 -2.19863444e+02] [ 7.35148775e-01 -6.77833115e-01 -9.92704561e-03 -2.80497888e+02] [ 1.34467701e-02 -6.01497832e-05 9.99909586e-01 -2.77607941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 932.886559995 meters 0.013254677512088961 Centerline is valid? [True, True] Translation: X:-219.88, Y:-280.48, Z:-2.78 [[-6.78160405e-01 -7.34856775e-01 9.16441595e-03 -2.19882067e+02] [ 7.34788393e-01 -6.78222321e-01 -1.00250404e-02 -2.80478998e+02] [ 1.35824803e-02 -6.46789937e-05 9.99907752e-01 -2.77641667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 932.916559995 meters 0.013270359792935253 Centerline is valid? [True, True] Translation: X:-219.90, Y:-280.46, Z:-2.78 [[-6.78676274e-01 -7.34381497e-01 9.07369793e-03 -2.19901116e+02] [ 7.34314503e-01 -6.78736924e-01 -9.91959925e-03 -2.80459911e+02] [ 1.34434240e-02 -6.92486692e-05 9.99909631e-01 -2.77612144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 932.9465599949999 meters 0.013101903900866517 Centerline is valid? [True, True] Translation: X:-219.92, Y:-280.44, Z:-2.78 [[-6.78962299e-01 -7.34125251e-01 8.38520313e-03 -2.19921937e+02] [ 7.34068083e-01 -6.79014073e-01 -9.16176782e-03 -2.80441187e+02] [ 1.24195560e-02 -6.51849491e-05 9.99922872e-01 -2.77500146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 932.9765599949999 meters 0.013136494227917883 Centerline is valid? [True, True] Translation: X:-219.94, Y:-280.42, Z:-2.77 [[-6.79167122e-01 -7.33938166e-01 8.17241838e-03 -2.19940708e+02] [ 7.33883921e-01 -6.79216287e-01 -8.92336409e-03 -2.80422499e+02] [ 1.21000371e-02 -6.28490681e-05 9.99926790e-01 -2.77494125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 933.006559995 meters 0.01316576137922758 Centerline is valid? [True, True] Translation: X:-219.96, Y:-280.40, Z:-2.77 [[-6.79242149e-01 -7.33874474e-01 7.63932731e-03 -2.19960415e+02] [ 7.33827130e-01 -6.79285104e-01 -8.33612079e-03 -2.80403426e+02] [ 1.13069475e-02 -5.62989632e-05 9.99936073e-01 -2.77455958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 933.036559995 meters 0.01297369893357056 Centerline is valid? [True, True] Translation: X:-219.98, Y:-280.39, Z:-2.77 [[-6.79153220e-01 -7.33962374e-01 7.08082166e-03 -2.19981419e+02] [ 7.33921750e-01 -6.79190129e-01 -7.72232973e-03 -2.80385020e+02] [ 1.04771236e-02 -4.78760782e-05 9.99945112e-01 -2.77347289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 933.0665599949999 meters 0.013168775972638408 Centerline is valid? [True, True] Translation: X:-220.00, Y:-280.37, Z:-2.77 [[-6.79202101e-01 -7.33916836e-01 7.11219466e-03 -2.20000125e+02] [ 7.33875902e-01 -6.79239336e-01 -7.75140834e-03 -2.80366794e+02] [ 1.05197715e-02 -4.53045579e-05 9.99944665e-01 -2.77405304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 933.0965599949999 meters 0.012945934109567906 Centerline is valid? [True, True] Translation: X:-220.02, Y:-280.35, Z:-2.77 [[-6.78784863e-01 -7.34301150e-01 7.27536010e-03 -2.20019370e+02] [ 7.34258380e-01 -6.78823850e-01 -7.92544075e-03 -2.80348177e+02] [ 1.07583482e-02 -3.76750893e-05 9.99942127e-01 -2.77454588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 933.126559995 meters 0.012864965768544914 Centerline is valid? [True, True] Translation: X:-220.04, Y:-280.33, Z:-2.77 [[-6.77890236e-01 -7.35128495e-01 7.13604159e-03 -2.20041980e+02] [ 7.35087436e-01 -6.77927795e-01 -7.76959877e-03 -2.80330138e+02] [ 1.05493744e-02 -2.13206335e-05 9.99944354e-01 -2.77388810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 933.156559995 meters 0.012924195185172063 Centerline is valid? [True, True] Translation: X:-220.06, Y:-280.31, Z:-2.77 [[-6.77108960e-01 -7.35846610e-01 7.29539543e-03 -2.20063008e+02] [ 7.35803786e-01 -6.77148261e-01 -7.93860128e-03 -2.80310861e+02] [ 1.07816572e-02 -7.31848137e-06 9.99941876e-01 -2.77386382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 933.1865599949999 meters 0.012754079685019197 Centerline is valid? [True, True] Translation: X:-220.08, Y:-280.29, Z:-2.77 [[-6.76142275e-01 -7.36735313e-01 7.25966570e-03 -2.20083292e+02] [ 7.36692994e-01 -6.76181247e-01 -7.89645599e-03 -2.80292457e+02] [ 1.07264478e-02 9.01713330e-06 9.99942470e-01 -2.77407410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 933.2165599949999 meters 0.0127012837355638 Centerline is valid? [True, True] Translation: X:-220.10, Y:-280.27, Z:-2.77 [[-6.75184054e-01 -7.37613080e-01 7.31010919e-03 -2.20103938e+02] [ 7.37570270e-01 -6.75223625e-01 -7.94687762e-03 -2.80273754e+02] [ 1.07976793e-02 2.61141660e-05 9.99941703e-01 -2.77434109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 933.246559995 meters 0.013044115096209381 Centerline is valid? [True, True] Translation: X:-220.13, Y:-280.26, Z:-2.78 [[-6.73028292e-01 -7.39571979e-01 8.13672258e-03 -2.20125859e+02] [ 7.39519145e-01 -6.73077472e-01 -8.84027923e-03 -2.80257217e+02] [ 1.20146675e-02 6.75041003e-05 9.99927819e-01 -2.77548690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 933.276559995 meters 0.013143131063315473 Centerline is valid? [True, True] Translation: X:-220.15, Y:-280.24, Z:-2.78 [[-6.72046788e-01 -7.40458260e-01 8.64177288e-03 -2.20146302e+02] [ 7.40398803e-01 -6.72102341e-01 -9.38374675e-03 -2.80237999e+02] [ 1.27564286e-02 9.20414375e-05 9.99918629e-01 -2.77591534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 933.3065599949999 meters 0.01344483474485631 Centerline is valid? [True, True] Translation: X:-220.17, Y:-280.22, Z:-2.78 [[-6.70224234e-01 -7.42102219e-01 9.15279316e-03 -2.20168017e+02] [ 7.42035751e-01 -6.70286714e-01 -9.93308104e-03 -2.80220147e+02] [ 1.35063571e-02 1.34308116e-04 9.99908776e-01 -2.77671668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 933.3365599949999 meters 0.01353009132487482 Centerline is valid? [True, True] Translation: X:-220.19, Y:-280.20, Z:-2.78 [[-6.69837306e-01 -7.42450328e-01 9.24632222e-03 -2.20188129e+02] [ 7.42382605e-01 -6.69901104e-01 -1.00289084e-02 -2.80200199e+02] [ 1.36400878e-02 1.46571774e-04 9.99906959e-01 -2.77664405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 933.366559995 meters 0.013487641187963157 Centerline is valid? [True, True] Translation: X:-220.21, Y:-280.18, Z:-2.78 [[-6.69725410e-01 -7.42550232e-01 9.32889056e-03 -2.20207712e+02] [ 7.42481384e-01 -6.69790362e-01 -1.01126712e-02 -2.80180262e+02] [ 1.37575674e-02 1.53814688e-04 9.99905349e-01 -2.77649746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 933.396559995 meters 0.013606614215081603 Centerline is valid? [True, True] Translation: X:-220.23, Y:-280.16, Z:-2.78 [[-6.69909234e-01 -7.42380962e-01 9.59826513e-03 -2.20226793e+02] [ 7.42308151e-01 -6.69977972e-01 -1.03983995e-02 -2.80161185e+02] [ 1.41502000e-02 1.58886625e-04 9.99899868e-01 -2.77692629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 933.4265599949999 meters 0.013488025407016963 Centerline is valid? [True, True] Translation: X:-220.25, Y:-280.14, Z:-2.78 [[-6.70549204e-01 -7.41800907e-01 9.75600268e-03 -2.20245399e+02] [ 7.41725708e-01 -6.70620154e-01 -1.05632627e-02 -2.80140371e+02] [ 1.43784099e-02 1.53090610e-04 9.99896614e-01 -2.77645850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 933.4565599949999 meters 0.013569506479659429 Centerline is valid? [True, True] Translation: X:-220.26, Y:-280.12, Z:-2.78 [[-6.71069085e-01 -7.41332535e-01 9.61015747e-03 -2.20264116e+02] [ 7.41259603e-01 -6.71137878e-01 -1.03994730e-02 -2.80120145e+02] [ 1.41592084e-02 1.44856670e-04 9.99899743e-01 -2.77674479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 933.486559995 meters 0.013582812670875114 Centerline is valid? [True, True] Translation: X:-220.28, Y:-280.10, Z:-2.78 [[-6.72290390e-01 -7.40225101e-01 9.61411920e-03 -2.20281790e+02] [ 7.40152093e-01 -6.72359118e-01 -1.03969305e-02 -2.80100267e+02] [ 1.41602096e-02 1.26154014e-04 9.99899731e-01 -2.77681129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 933.516559995 meters 0.013270452920116495 Centerline is valid? [True, True] Translation: X:-220.30, Y:-280.08, Z:-2.78 [[-6.72878664e-01 -7.39691729e-01 9.51051016e-03 -2.20300011e+02] [ 7.39620313e-01 -6.72945861e-01 -1.02790996e-02 -2.80079125e+02] [ 1.40034234e-02 1.17579709e-04 9.99901940e-01 -2.77564218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 933.5465599949999 meters 0.013200880145716071 Centerline is valid? [True, True] Translation: X:-220.32, Y:-280.06, Z:-2.78 [[-6.73325223e-01 -7.39288441e-01 9.25985281e-03 -2.20318754e+02] [ 7.39220788e-01 -6.73388884e-01 -1.00018989e-02 -2.80058846e+02] [ 1.36297702e-02 1.10544879e-04 9.99907104e-01 -2.77532566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 933.5765599949999 meters 0.01339787773001664 Centerline is valid? [True, True] Translation: X:-220.34, Y:-280.04, Z:-2.78 [[-6.73849065e-01 -7.38820393e-01 8.47733731e-03 -2.20337187e+02] [ 7.38763729e-01 -6.73902380e-01 -9.15064354e-03 -2.80039833e+02] [ 1.24735798e-02 9.65967315e-05 9.99922197e-01 -2.77573477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 933.6065599949999 meters 0.013131367898801807 Centerline is valid? [True, True] Translation: X:-220.36, Y:-280.02, Z:-2.77 [[-6.73996667e-01 -7.38689815e-01 8.11479381e-03 -2.20355356e+02] [ 7.38637944e-01 -6.74045510e-01 -8.75438094e-03 -2.80018897e+02] [ 1.19365124e-02 9.34710348e-05 9.99928753e-01 -2.77419304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 933.636559995 meters 0.01311855471331729 Centerline is valid? [True, True] Translation: X:-220.37, Y:-280.00, Z:-2.77 [[-6.74164229e-01 -7.38539812e-01 7.84464292e-03 -2.20374195e+02] [ 7.38491382e-01 -6.74209862e-01 -8.45820622e-03 -2.79997994e+02] [ 1.15356576e-02 9.09811108e-05 9.99933458e-01 -2.77396704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 933.666559995 meters 0.013058217655163021 Centerline is valid? [True, True] Translation: X:-220.39, Y:-279.98, Z:-2.77 [[-6.74302254e-01 -7.38417825e-01 7.45564031e-03 -2.20392331e+02] [ 7.38374120e-01 -6.74343465e-01 -8.03427339e-03 -2.79977165e+02] [ 1.09603130e-02 8.75231962e-05 9.99939930e-01 -2.77327876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 933.6965599949999 meters 0.013077283879984506 Centerline is valid? [True, True] Translation: X:-220.41, Y:-279.96, Z:-2.77 [[-6.74289147e-01 -7.38431754e-01 7.25880390e-03 -2.20411026e+02] [ 7.38390375e-01 -6.74328211e-01 -7.81777462e-03 -2.79956552e+02] [ 1.06677093e-02 8.83903545e-05 9.99943095e-01 -2.77329670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 933.7265599949999 meters 0.013212092428764205 Centerline is valid? [True, True] Translation: X:-220.43, Y:-279.94, Z:-2.77 [[-6.73945759e-01 -7.38742341e-01 7.54111243e-03 -2.20428744e+02] [ 7.38697759e-01 -6.73987940e-01 -8.11646612e-03 -2.79936584e+02] [ 1.10785960e-02 1.00544938e-04 9.99938626e-01 -2.77368192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 933.756559995 meters 0.013143815707521402 Centerline is valid? [True, True] Translation: X:-220.45, Y:-279.92, Z:-2.77 [[-6.73885818e-01 -7.38793559e-01 7.87282197e-03 -2.20447519e+02] [ 7.38745028e-01 -6.73931795e-01 -8.46868826e-03 -2.79915446e+02] [ 1.15623574e-02 1.09079173e-04 9.99933148e-01 -2.77347957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 933.786559995 meters 0.013367138889553418 Centerline is valid? [True, True] Translation: X:-220.47, Y:-279.90, Z:-2.77 [[-6.73771041e-01 -7.38898844e-01 7.81552419e-03 -2.20465783e+02] [ 7.38851081e-01 -6.73816359e-01 -8.40204799e-03 -2.79896100e+02] [ 1.14744916e-02 1.13451877e-04 9.99934160e-01 -2.77424505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 933.8165599949999 meters 0.01361458526680908 Centerline is valid? [True, True] Translation: X:-220.48, Y:-279.88, Z:-2.78 [[-6.73421486e-01 -7.39214376e-01 8.09987845e-03 -2.20483565e+02] [ 7.39163165e-01 -6.73470185e-01 -8.70204294e-03 -2.79877212e+02] [ 1.18877019e-02 1.26989098e-04 9.99929331e-01 -2.77500389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 933.8465599949999 meters 0.014127946723619297 Centerline is valid? [True, True] Translation: X:-220.50, Y:-279.86, Z:-2.78 [[-6.72553596e-01 -7.40001797e-01 8.30672629e-03 -2.20502064e+02] [ 7.39948039e-01 -6.72604876e-01 -8.92073329e-03 -2.79857177e+02] [ 1.21885033e-02 1.46874583e-04 9.99925707e-01 -2.77559654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 933.876559995 meters 0.01426847203253147 Centerline is valid? [True, True] Translation: X:-220.52, Y:-279.84, Z:-2.78 [[-6.72106708e-01 -7.40408417e-01 8.24318091e-03 -2.20520690e+02] [ 7.40355574e-01 -6.72157238e-01 -8.84719239e-03 -2.79837521e+02] [ 1.20912494e-02 1.56627578e-04 9.99926886e-01 -2.77584453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 933.906559995 meters 0.013888763572822878 Centerline is valid? [True, True] Translation: X:-220.54, Y:-279.82, Z:-2.77 [[-6.71507882e-01 -7.40953018e-01 8.11106594e-03 -2.20538934e+02] [ 7.40901953e-01 -6.71556846e-01 -8.70051009e-03 -2.79816221e+02] [ 1.18937111e-02 1.67043495e-04 9.99929254e-01 -2.77476236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 933.9365599949999 meters 0.015039848731593915 Centerline is valid? [True, True] Translation: X:-220.56, Y:-279.80, Z:-2.78 [[-6.70117282e-01 -7.42214980e-01 7.72996333e-03 -2.20558301e+02] [ 7.42168740e-01 -6.70161839e-01 -8.28680619e-03 -2.79797725e+02] [ 1.13309181e-02 1.83805108e-04 9.99935786e-01 -2.77603764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 933.9665599949999 meters 0.015642441930464147 Centerline is valid? [True, True] Translation: X:-220.58, Y:-279.78, Z:-2.78 [[-6.69490754e-01 -7.42778136e-01 7.92282266e-03 -2.20577334e+02] [ 7.42729655e-01 -6.69537602e-01 -8.48876986e-03 -2.79778214e+02] [ 1.16099003e-02 2.01362404e-04 9.99932583e-01 -2.77667018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 933.996559995 meters 0.01533148608787435 Centerline is valid? [True, True] Translation: X:-220.59, Y:-279.76, Z:-2.78 [[-6.68459331e-01 -7.43703554e-01 8.19426400e-03 -2.20594700e+02] [ 7.43651822e-01 -6.68509515e-01 -8.77474452e-03 -2.79755928e+02] [ 1.20037521e-02 2.28119497e-04 9.99927927e-01 -2.77604818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 934.026559995 meters 0.015370720484698744 Centerline is valid? [True, True] Translation: X:-220.61, Y:-279.74, Z:-2.78 [[-6.68225802e-01 -7.43912675e-01 8.25894495e-03 -2.20612542e+02] [ 7.43860206e-01 -6.68276796e-01 -8.83847063e-03 -2.79735563e+02] [ 1.20943116e-02 2.37406371e-04 9.99926833e-01 -2.77598399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 934.0565599949999 meters 0.015811611292438806 Centerline is valid? [True, True] Translation: X:-220.63, Y:-279.72, Z:-2.78 [[-6.67931754e-01 -7.44178655e-01 8.08090663e-03 -2.20630227e+02] [ 7.44128493e-01 -6.67980592e-01 -8.64376642e-03 -2.79716824e+02] [ 1.18303953e-02 2.39786801e-04 9.99929990e-01 -2.77611043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 934.0865599949999 meters 0.01601654932924957 Centerline is valid? [True, True] Translation: X:-220.65, Y:-279.70, Z:-2.78 [[-6.68015202e-01 -7.44105707e-01 7.89848978e-03 -2.20648626e+02] [ 7.44057838e-01 -6.68061854e-01 -8.44349366e-03 -2.79696415e+02] [ 1.15595316e-02 2.36551109e-04 9.99933159e-01 -2.77591375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 934.116559995 meters 0.015186092102459218 Centerline is valid? [True, True] Translation: X:-220.67, Y:-279.67, Z:-2.77 [[-6.67920949e-01 -7.44201349e-01 6.77927475e-03 -2.20665027e+02] [ 7.44166131e-01 -6.67955320e-01 -7.24293396e-03 -2.79673808e+02] [ 9.91845385e-03 2.07199337e-04 9.99950790e-01 -2.77378752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 934.146559995 meters 0.015593427804297183 Centerline is valid? [True, True] Translation: X:-220.68, Y:-279.65, Z:-2.77 [[-6.68172534e-01 -7.43980526e-01 6.20018646e-03 -2.20683665e+02] [ 7.43951094e-01 -6.68201273e-01 -6.62028568e-03 -2.79653576e+02] [ 9.06833611e-03 1.89142446e-04 9.99958864e-01 -2.77351337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 934.1765599949999 meters 0.014827834723427835 Centerline is valid? [True, True] Translation: X:-220.70, Y:-279.63, Z:-2.77 [[-6.69121966e-01 -7.43135591e-01 5.02873577e-03 -2.20700544e+02] [ 7.43116228e-01 -6.69140846e-01 -5.36650245e-03 -2.79630393e+02] [ 7.35297148e-03 1.46090490e-04 9.99972956e-01 -2.77225147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 934.2065599949999 meters 0.014690926367303687 Centerline is valid? [True, True] Translation: X:-220.72, Y:-279.61, Z:-2.77 [[-6.69997595e-01 -7.42346237e-01 5.02873184e-03 -2.20719005e+02] [ 7.42326874e-01 -6.70016452e-01 -5.36344922e-03 -2.79609236e+02] [ 7.35086941e-03 1.39464706e-04 9.99972972e-01 -2.77228094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 934.236559995 meters 0.01471867502937161 Centerline is valid? [True, True] Translation: X:-220.74, Y:-279.59, Z:-2.77 [[-6.70958961e-01 -7.41477238e-01 5.05752015e-03 -2.20736983e+02] [ 7.41457651e-01 -6.70978009e-01 -5.39099643e-03 -2.79588430e+02] [ 7.39078594e-03 1.32799649e-04 9.99972679e-01 -2.77274790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 934.266559995 meters 0.014292303376253649 Centerline is valid? [True, True] Translation: X:-220.75, Y:-279.57, Z:-2.77 [[-6.72098177e-01 -7.40442991e-01 5.31208507e-03 -2.20754528e+02] [ 7.40421376e-01 -6.72119156e-01 -5.65915668e-03 -2.79566421e+02] [ 7.76063704e-03 1.29672455e-04 9.99969878e-01 -2.77296330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 934.2965599949999 meters 0.013852907775518508 Centerline is valid? [True, True] Translation: X:-220.77, Y:-279.54, Z:-2.77 [[-6.74578225e-01 -7.38179875e-01 5.88987425e-03 -2.20770059e+02] [ 7.38153237e-01 -6.74603928e-01 -6.27211002e-03 -2.79544180e+02] [ 8.60327769e-03 1.16600898e-04 9.99962984e-01 -2.77399122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 934.3265599949999 meters 0.013420946309467318 Centerline is valid? [True, True] Translation: X:-220.79, Y:-279.52, Z:-2.77 [[-6.75910972e-01 -7.36957818e-01 6.12639118e-03 -2.20786984e+02] [ 7.36928981e-01 -6.75938727e-01 -6.52028278e-03 -2.79522071e+02] [ 8.94623842e-03 1.07584543e-04 9.99959976e-01 -2.77425269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 934.3565599949999 meters 0.013318646172322198 Centerline is valid? [True, True] Translation: X:-220.80, Y:-279.50, Z:-2.77 [[-6.77159052e-01 -7.35808338e-01 6.45818390e-03 -2.20804125e+02] [ 7.35776279e-01 -6.77189840e-01 -6.86934307e-03 -2.79501195e+02] [ 9.42793643e-03 1.00140678e-04 9.99955551e-01 -2.77481225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 934.386559995 meters 0.01311547255118473 Centerline is valid? [True, True] Translation: X:-220.82, Y:-279.48, Z:-2.78 [[-6.78280345e-01 -7.34769890e-01 6.99878223e-03 -2.20821084e+02] [ 7.34732230e-01 -6.78316446e-01 -7.43973220e-03 -2.79479898e+02] [ 1.02138803e-02 9.60067518e-05 9.99947833e-01 -2.77514680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 934.416559995 meters 0.01280897000320255 Centerline is valid? [True, True] Translation: X:-220.84, Y:-279.46, Z:-2.78 [[-6.80328726e-01 -7.32873070e-01 7.06316111e-03 -2.20836507e+02] [ 7.32834660e-01 -6.80365386e-01 -7.50350280e-03 -2.79457315e+02] [ 1.03046455e-02 7.12807801e-05 9.99946903e-01 -2.77509843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 934.4465599949999 meters 0.01280897000320255 Centerline is valid? [True, True] Translation: X:-220.85, Y:-279.44, Z:-2.78 [[-6.80556156e-01 -7.32661858e-01 7.06548977e-03 -2.20854927e+02] [ 7.32623459e-01 -6.80592828e-01 -7.50131012e-03 -2.79437905e+02] [ 1.03046455e-02 7.12807760e-05 9.99946903e-01 -2.77509800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 934.4765599949999 meters 0.012978639672085256 Centerline is valid? [True, True] Translation: X:-220.87, Y:-279.42, Z:-2.78 [[-6.81652709e-01 -7.31641845e-01 7.05650664e-03 -2.20872502e+02] [ 7.31603533e-01 -6.81689230e-01 -7.48756590e-03 -2.79415924e+02] [ 1.02885611e-02 5.86456096e-05 9.99947070e-01 -2.77517297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 934.506559995 meters 0.012496877093532508 Centerline is valid? [True, True] Translation: X:-220.89, Y:-279.39, Z:-2.77 [[-6.83154636e-01 -7.30240466e-01 6.97181605e-03 -2.20888646e+02] [ 7.30203037e-01 -6.83190208e-01 -7.39355311e-03 -2.79391995e+02] [ 1.01621481e-02 3.99011661e-05 9.99948363e-01 -2.77419410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 934.536559995 meters 0.012527061247645233 Centerline is valid? [True, True] Translation: X:-220.91, Y:-279.37, Z:-2.77 [[-6.84036088e-01 -7.29416273e-01 6.82135653e-03 -2.20905259e+02] [ 7.29380448e-01 -6.84070099e-01 -7.22921257e-03 -2.79371218e+02] [ 9.93939132e-03 3.03217951e-05 9.99950603e-01 -2.77417562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 934.5665599949999 meters 0.012495200805799767 Centerline is valid? [True, True] Translation: X:-220.92, Y:-279.35, Z:-2.77 [[-6.84575406e-01 -7.28912322e-01 6.58344053e-03 -2.20923140e+02] [ 7.28878967e-01 -6.84607060e-01 -6.97314491e-03 -2.79349422e+02] [ 9.58988112e-03 2.48878260e-05 9.99954016e-01 -2.77387664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 934.5965599949999 meters 0.01239413595092465 Centerline is valid? [True, True] Translation: X:-220.94, Y:-279.33, Z:-2.77 [[-6.85405189e-01 -7.28133392e-01 6.44125876e-03 -2.20939173e+02] [ 7.28101469e-01 -6.85435455e-01 -6.81825478e-03 -2.79326739e+02] [ 9.37966611e-03 1.66227483e-05 9.99956010e-01 -2.77352110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 934.626559995 meters 0.01237615220039043 Centerline is valid? [True, True] Translation: X:-220.96, Y:-279.31, Z:-2.77 [[-6.85645771e-01 -7.27905922e-01 6.54558399e-03 -2.20956519e+02] [ 7.27872987e-01 -6.85677014e-01 -6.92433680e-03 -2.79305755e+02] [ 9.52842225e-03 1.67115238e-05 9.99954604e-01 -2.77322412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 934.656559995 meters 0.01248745774550645 Centerline is valid? [True, True] Translation: X:-220.97, Y:-279.29, Z:-2.77 [[-6.86057754e-01 -7.27519699e-01 6.31235996e-03 -2.20973537e+02] [ 7.27489093e-01 -6.86086793e-01 -6.67322778e-03 -2.79285860e+02] [ 9.18573146e-03 1.39533542e-05 9.99957810e-01 -2.77332353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 934.6865599949999 meters 0.012558165235045795 Centerline is valid? [True, True] Translation: X:-220.99, Y:-279.27, Z:-2.77 [[-6.85001998e-01 -7.28513604e-01 6.33976784e-03 -2.20990390e+02] [ 7.28482814e-01 -6.85031334e-01 -6.69783756e-03 -2.79265257e+02] [ 9.22240540e-03 3.03798084e-05 9.99957472e-01 -2.77319815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 934.7165599949999 meters 0.012557022509036226 Centerline is valid? [True, True] Translation: X:-221.01, Y:-279.25, Z:-2.77 [[-6.84433478e-01 -7.29048957e-01 6.19943849e-03 -2.21008332e+02] [ 7.29019574e-01 -6.84461552e-01 -6.54551274e-03 -2.79245181e+02] [ 9.01527653e-03 3.95439589e-05 9.99959361e-01 -2.77279473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 934.746559995 meters 0.01279694868131318 Centerline is valid? [True, True] Translation: X:-221.03, Y:-279.23, Z:-2.77 [[-6.83705159e-01 -7.29729798e-01 6.45585439e-03 -2.21026594e+02] [ 7.29698005e-01 -6.83735635e-01 -6.81198043e-03 -2.79225367e+02] [ 9.38500281e-03 5.34379052e-05 9.99955959e-01 -2.77268887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 934.776559995 meters 0.01291819315974699 Centerline is valid? [True, True] Translation: X:-221.04, Y:-279.21, Z:-2.77 [[-6.82854749e-01 -7.30527399e-01 6.25395588e-03 -2.21044584e+02] [ 7.30497625e-01 -6.82883384e-01 -6.59575431e-03 -2.79206525e+02] [ 9.08910179e-03 6.45577594e-05 9.99958691e-01 -2.77315816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 934.8065599949999 meters 0.013265476709258645 Centerline is valid? [True, True] Translation: X:-221.06, Y:-279.19, Z:-2.77 [[-6.80827573e-01 -7.32417752e-01 6.16866319e-03 -2.21063429e+02] [ 7.32388894e-01 -6.80855512e-01 -6.50224810e-03 -2.79186091e+02] [ 8.96233027e-03 9.09506180e-05 9.99959834e-01 -2.77313168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 934.8365599949999 meters 0.013450736788785918 Centerline is valid? [True, True] Translation: X:-221.08, Y:-279.17, Z:-2.77 [[-6.80392892e-01 -7.32820885e-01 6.25005281e-03 -2.21081756e+02] [ 7.32791315e-01 -6.80421590e-01 -6.58396303e-03 -2.79166254e+02] [ 9.07753649e-03 1.00302770e-04 9.99958793e-01 -2.77326158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 934.866559995 meters 0.013359456910773624 Centerline is valid? [True, True] Translation: X:-221.10, Y:-279.15, Z:-2.77 [[-6.79940981e-01 -7.33240326e-01 6.23593061e-03 -2.21100063e+02] [ 7.33210940e-01 -6.79969568e-01 -6.56539498e-03 -2.79145529e+02] [ 9.05425540e-03 1.08171441e-04 9.99959004e-01 -2.77295525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 934.896559995 meters 0.013478748917869304 Centerline is valid? [True, True] Translation: X:-221.12, Y:-279.13, Z:-2.77 [[-6.79861648e-01 -7.33315322e-01 6.06441621e-03 -2.21118233e+02] [ 7.33287569e-01 -6.79888687e-01 -6.38079734e-03 -2.79125388e+02] [ 8.80226443e-03 1.08901626e-04 9.99961254e-01 -2.77318500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 934.9265599949999 meters 0.013534433271293292 Centerline is valid? [True, True] Translation: X:-221.13, Y:-279.10, Z:-2.77 [[-6.80195255e-01 -7.33003811e-01 6.31103335e-03 -2.21134699e+02] [ 7.32973781e-01 -6.80224522e-01 -6.63590102e-03 -2.79104821e+02] [ 9.15706038e-03 1.12113602e-04 9.99958067e-01 -2.77350247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 934.9565599949999 meters 0.013657391168680191 Centerline is valid? [True, True] Translation: X:-221.15, Y:-279.08, Z:-2.77 [[-6.81154459e-01 -7.32116157e-01 5.87678295e-03 -2.21151132e+02] [ 7.32090119e-01 -6.81179803e-01 -6.17525107e-03 -2.79084652e+02] [ 8.52414693e-03 9.60349319e-05 9.99963664e-01 -2.77356443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 934.986559995 meters 0.013556078481764697 Centerline is valid? [True, True] Translation: X:-221.17, Y:-279.07, Z:-2.77 [[-6.81159081e-01 -7.32114366e-01 5.55535826e-03 -2.21169561e+02] [ 7.32091128e-01 -6.81181728e-01 -5.83388353e-03 -2.79065057e+02] [ 8.05527848e-03 9.32257553e-05 9.99967552e-01 -2.77248391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 935.016559995 meters 0.013634791888506113 Centerline is valid? [True, True] Translation: X:-221.19, Y:-279.05, Z:-2.77 [[-6.80933736e-01 -7.32325086e-01 5.40516037e-03 -2.21189060e+02] [ 7.32303122e-01 -6.80955181e-01 -5.67265548e-03 -2.79045998e+02] [ 7.83489988e-03 9.55133257e-05 9.99969302e-01 -2.77252231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 935.0465599949999 meters 0.013921130361491778 Centerline is valid? [True, True] Translation: X:-221.21, Y:-279.03, Z:-2.77 [[-6.80739714e-01 -7.32503400e-01 5.67554059e-03 -2.21208220e+02] [ 7.32479221e-01 -6.80763364e-01 -5.95257494e-03 -2.79027766e+02] [ 8.22398149e-03 1.05061390e-04 9.99966177e-01 -2.77328091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 935.0765599949999 meters 0.013942006267866505 Centerline is valid? [True, True] Translation: X:-221.23, Y:-279.01, Z:-2.77 [[-6.81038155e-01 -7.32223276e-01 6.00874090e-03 -2.21227414e+02] [ 7.32196197e-01 -6.81064653e-01 -6.29819907e-03 -2.79008288e+02] [ 8.70402899e-03 1.10263358e-04 9.99962113e-01 -2.77396054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 935.1065599949999 meters 0.014077960691222816 Centerline is valid? [True, True] Translation: X:-221.25, Y:-278.99, Z:-2.77 [[-6.81159007e-01 -7.32109385e-01 6.18514820e-03 -2.21245892e+02] [ 7.32080715e-01 -6.81187078e-01 -6.48005117e-03 -2.78990122e+02] [ 8.95734931e-03 1.14082499e-04 9.99959876e-01 -2.77445265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 935.136559995 meters 0.01388463469069763 Centerline is valid? [True, True] Translation: X:-221.26, Y:-278.97, Z:-2.77 [[-6.81334395e-01 -7.31942992e-01 6.54966643e-03 -2.21264687e+02] [ 7.31910876e-01 -6.81365865e-01 -6.85775731e-03 -2.78970092e+02] [ 9.48220653e-03 1.21346164e-04 9.99955036e-01 -2.77420382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 935.166559995 meters 0.014127990518696365 Centerline is valid? [True, True] Translation: X:-221.28, Y:-278.95, Z:-2.77 [[-6.81139740e-01 -7.32124766e-01 6.47931767e-03 -2.21284283e+02] [ 7.32093383e-01 -6.81170545e-01 -6.77998150e-03 -2.78951191e+02] [ 9.37731272e-03 1.25350757e-04 9.99956024e-01 -2.77440359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 935.1965599949999 meters 0.013815313717706753 Centerline is valid? [True, True] Translation: X:-221.30, Y:-278.93, Z:-2.77 [[-6.81214358e-01 -7.32055883e-01 6.41743319e-03 -2.21302975e+02] [ 7.32025132e-01 -6.81244574e-01 -6.71098379e-03 -2.78931855e+02] [ 9.28465670e-03 1.26103870e-04 9.99956889e-01 -2.77389829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 935.2265599949999 meters 0.013969417452190819 Centerline is valid? [True, True] Translation: X:-221.32, Y:-278.91, Z:-2.77 [[-6.80811175e-01 -7.32431748e-01 6.31495179e-03 -2.21322766e+02] [ 7.32402026e-01 -6.80840449e-01 -6.59966322e-03 -2.78912667e+02] [ 9.13327749e-03 1.31959007e-04 9.99958282e-01 -2.77395313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 935.256559995 meters 0.01421737726173052 Centerline is valid? [True, True] Translation: X:-221.34, Y:-278.89, Z:-2.77 [[-6.80297404e-01 -7.32908547e-01 6.36427626e-03 -2.21343079e+02] [ 7.32878418e-01 -6.80327157e-01 -6.64704257e-03 -2.78894203e+02] [ 9.20146429e-03 1.42274919e-04 9.99957656e-01 -2.77402017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 935.286559995 meters 0.014231553719705324 Centerline is valid? [True, True] Translation: X:-221.36, Y:-278.87, Z:-2.77 [[-6.80145894e-01 -7.33047785e-01 6.51980211e-03 -2.21363043e+02] [ 7.33016208e-01 -6.80177126e-01 -6.80564210e-03 -2.78874130e+02] [ 9.42348113e-03 1.50291084e-04 9.99955587e-01 -2.77394994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 935.3165599949999 meters 0.014572139811164274 Centerline is valid? [True, True] Translation: X:-221.38, Y:-278.86, Z:-2.77 [[-6.80051319e-01 -7.33133137e-01 6.78283378e-03 -2.21381824e+02] [ 7.33099011e-01 -6.80085125e-01 -7.07551109e-03 -2.78856332e+02] [ 9.80019600e-03 1.60778080e-04 9.99951964e-01 -2.77435622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 935.3465599949999 meters 0.014607035585633818 Centerline is valid? [True, True] Translation: X:-221.40, Y:-278.84, Z:-2.77 [[-6.79881396e-01 -7.33290058e-01 6.85410273e-03 -2.21400711e+02] [ 7.33255263e-01 -6.79915924e-01 -7.14537840e-03 -2.78837289e+02] [ 9.89984853e-03 1.67797052e-04 9.99950981e-01 -2.77403073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 935.376559995 meters 0.014677057459193352 Centerline is valid? [True, True] Translation: X:-221.42, Y:-278.82, Z:-2.77 [[-6.79905799e-01 -7.33268337e-01 6.75651359e-03 -2.21419727e+02] [ 7.33234568e-01 -6.79939348e-01 -7.03926609e-03 -2.78818415e+02] [ 9.75569039e-03 1.68071491e-04 9.99952398e-01 -2.77378603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 935.406559995 meters 0.01449232382744203 Centerline is valid? [True, True] Translation: X:-221.44, Y:-278.80, Z:-2.77 [[-6.80039662e-01 -7.33147733e-01 6.36074262e-03 -2.21439087e+02] [ 7.33117833e-01 -6.80069391e-01 -6.62318867e-03 -2.78798036e+02] [ 9.18152212e-03 1.59142860e-04 9.99957836e-01 -2.77310015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 935.4365599949999 meters 0.014394135719955558 Centerline is valid? [True, True] Translation: X:-221.46, Y:-278.78, Z:-2.77 [[-6.80336203e-01 -7.32877540e-01 5.75873082e-03 -2.21458900e+02] [ 7.32853050e-01 -6.80360560e-01 -5.99295513e-03 -2.78777674e+02] [ 8.31011554e-03 1.43079110e-04 9.99965460e-01 -2.77282645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 935.4665599949999 meters 0.01446409258462864 Centerline is valid? [True, True] Translation: X:-221.48, Y:-278.76, Z:-2.77 [[-6.80490517e-01 -7.32736899e-01 5.41234954e-03 -2.21478109e+02] [ 7.32715290e-01 -6.80512027e-01 -5.62892862e-03 -2.78758330e+02] [ 7.80769266e-03 1.35278715e-04 9.99969511e-01 -2.77253713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 935.496559995 meters 0.014605098606436343 Centerline is valid? [True, True] Translation: X:-221.50, Y:-278.74, Z:-2.77 [[-6.80870078e-01 -7.32386727e-01 5.06146470e-03 -2.21496693e+02] [ 7.32367845e-01 -6.80888879e-01 -5.26051889e-03 -2.78739661e+02] [ 7.29902924e-03 1.25124093e-04 9.99973354e-01 -2.77270846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 935.526559995 meters 0.014439943394791467 Centerline is valid? [True, True] Translation: X:-221.52, Y:-278.72, Z:-2.77 [[-6.80918831e-01 -7.32341765e-01 5.00836849e-03 -2.21515389e+02] [ 7.32323298e-01 -6.80937239e-01 -5.20237437e-03 -2.78719029e+02] [ 7.22030064e-03 1.25350247e-04 9.99973926e-01 -2.77252355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 935.5565599949999 meters 0.014693194769269459 Centerline is valid? [True, True] Translation: X:-221.53, Y:-278.70, Z:-2.77 [[-6.80739420e-01 -7.32507901e-01 5.10062739e-03 -2.21534213e+02] [ 7.32488768e-01 -6.80758516e-01 -5.29600808e-03 -2.78700203e+02] [ 7.35166330e-03 1.30950798e-04 9.99972968e-01 -2.77251457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 935.5865599949999 meters 0.014820673104159502 Centerline is valid? [True, True] Translation: X:-221.55, Y:-278.68, Z:-2.77 [[-6.80914079e-01 -7.32344327e-01 5.27305390e-03 -2.21553464e+02] [ 7.32323896e-01 -6.80934482e-01 -5.47194282e-03 -2.78679775e+02] [ 7.59795051e-03 1.35660474e-04 9.99971126e-01 -2.77281310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 935.616559995 meters 0.015250414805531432 Centerline is valid? [True, True] Translation: X:-221.57, Y:-278.66, Z:-2.77 [[-6.80166928e-01 -7.33036765e-01 5.48192140e-03 -2.21573452e+02] [ 7.33014733e-01 -6.80189002e-01 -5.68529576e-03 -2.78660890e+02] [ 7.89627346e-03 1.51379001e-04 9.99968813e-01 -2.77324598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 935.646559995 meters 0.01565162469827506 Centerline is valid? [True, True] Translation: X:-221.59, Y:-278.64, Z:-2.77 [[-6.79886500e-01 -7.33294390e-01 5.80385282e-03 -2.21592962e+02] [ 7.33269733e-01 -6.79911252e-01 -6.01564171e-03 -2.78641851e+02] [ 8.35734115e-03 1.65836016e-04 9.99965063e-01 -2.77371263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 935.6765599949999 meters 0.016140803919435023 Centerline is valid? [True, True] Translation: X:-221.61, Y:-278.62, Z:-2.77 [[-6.79483822e-01 -7.33666397e-01 5.94600605e-03 -2.21613156e+02] [ 7.33640562e-01 -6.79509814e-01 -6.15941090e-03 -2.78623188e+02] [ 8.55932226e-03 1.77011162e-04 9.99963353e-01 -2.77429171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 935.7065599949999 meters 0.01565195690064075 Centerline is valid? [True, True] Translation: X:-221.63, Y:-278.60, Z:-2.77 [[-6.79459828e-01 -7.33687555e-01 6.07568852e-03 -2.21631847e+02] [ 7.33660613e-01 -6.79486967e-01 -6.29020445e-03 -2.78602642e+02] [ 8.74339589e-03 1.83552130e-04 9.99961759e-01 -2.77443786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 935.736559995 meters 0.015715403939516693 Centerline is valid? [True, True] Translation: X:-221.65, Y:-278.58, Z:-2.77 [[-6.79457999e-01 -7.33687751e-01 6.25387378e-03 -2.21651078e+02] [ 7.33659243e-01 -6.79486752e-01 -6.47059983e-03 -2.78583382e+02] [ 8.99682423e-03 1.91711489e-04 9.99959510e-01 -2.77464853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 935.766559995 meters 0.015871414977939105 Centerline is valid? [True, True] Translation: X:-221.67, Y:-278.56, Z:-2.77 [[-6.79914094e-01 -7.33261883e-01 6.62086086e-03 -2.21670199e+02] [ 7.33229947e-01 -6.79946300e-01 -6.84644414e-03 -2.78562730e+02] [ 9.52206637e-03 1.99619587e-04 9.99954644e-01 -2.77469873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 935.7965599949999 meters 0.015499108465014505 Centerline is valid? [True, True] Translation: X:-221.69, Y:-278.54, Z:-2.77 [[-6.80569287e-01 -7.32656457e-01 6.32157303e-03 -2.21688676e+02] [ 7.32627352e-01 -6.80598621e-01 -6.53305754e-03 -2.78541981e+02] [ 9.08894068e-03 1.85158999e-04 9.99958678e-01 -2.77436564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 935.8265599949999 meters 0.015257135824726095 Centerline is valid? [True, True] Translation: X:-221.71, Y:-278.52, Z:-2.77 [[-6.81250479e-01 -7.32022820e-01 6.35418974e-03 -2.21707500e+02] [ 7.31993421e-01 -6.81280088e-01 -6.56305193e-03 -2.78521368e+02] [ 9.13328673e-03 1.80142806e-04 9.99958275e-01 -2.77411411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 935.8565599949999 meters 0.014897870900187083 Centerline is valid? [True, True] Translation: X:-221.73, Y:-278.50, Z:-2.77 [[-6.82657395e-01 -7.30713544e-01 6.04971652e-03 -2.21726019e+02] [ 7.30686871e-01 -6.82684182e-01 -6.24526528e-03 -2.78499544e+02] [ 8.69354570e-03 1.57071908e-04 9.99962198e-01 -2.77358509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 935.886559995 meters 0.014762084884315511 Centerline is valid? [True, True] Translation: X:-221.74, Y:-278.48, Z:-2.77 [[-6.83692192e-01 -7.29746738e-01 5.88942611e-03 -2.21744696e+02] [ 7.29721457e-01 -6.83717543e-01 -6.07596467e-03 -2.78479203e+02] [ 8.46061935e-03 1.43551002e-04 9.99964198e-01 -2.77348560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 935.916559995 meters 0.01435546378481541 Centerline is valid? [True, True] Translation: X:-221.76, Y:-278.46, Z:-2.77 [[-6.85999147e-01 -7.27580203e-01 5.67608619e-03 -2.21762296e+02] [ 7.27556672e-01 -6.86022620e-01 -5.85266364e-03 -2.78458616e+02] [ 8.15220571e-03 1.14752116e-04 9.99966764e-01 -2.77357126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 935.9465599949999 meters 0.013990005727528974 Centerline is valid? [True, True] Translation: X:-221.78, Y:-278.44, Z:-2.77 [[-6.87186699e-01 -7.26460503e-01 5.43860549e-03 -2.21780723e+02] [ 7.26438891e-01 -6.87208213e-01 -5.60450077e-03 -2.78437828e+02] [ 7.80890281e-03 9.94761535e-05 9.99969505e-01 -2.77313397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 935.9765599949999 meters 0.013821297394346812 Centerline is valid? [True, True] Translation: X:-221.80, Y:-278.42, Z:-2.77 [[-6.88757236e-01 -7.24973921e-01 5.12672532e-03 -2.21797960e+02] [ 7.24954700e-01 -6.88776312e-01 -5.27965884e-03 -2.78418092e+02] [ 7.35878193e-03 8.02403901e-05 9.99972921e-01 -2.77312090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 936.006559995 meters 0.013422348170786856 Centerline is valid? [True, True] Translation: X:-221.82, Y:-278.40, Z:-2.77 [[-6.90189642e-01 -7.23610460e-01 5.11464274e-03 -2.21816352e+02] [ 7.23591315e-01 -6.90208590e-01 -5.26412989e-03 -2.78397288e+02] [ 7.33934981e-03 6.76631475e-05 9.99973064e-01 -2.77284226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 936.036559995 meters 0.013145756970151674 Centerline is valid? [True, True] Translation: X:-221.83, Y:-278.38, Z:-2.77 [[-6.92515481e-01 -7.21385157e-01 5.07586870e-03 -2.21833228e+02] [ 7.21366266e-01 -6.92534081e-01 -5.22082751e-03 -2.78377666e+02] [ 7.28143954e-03 4.60565779e-05 9.99973489e-01 -2.77258221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 936.0665599949999 meters 0.013173067085199424 Centerline is valid? [True, True] Translation: X:-221.85, Y:-278.36, Z:-2.77 [[-6.93909238e-01 -7.20045549e-01 4.93727149e-03 -2.21851642e+02] [ 7.20027664e-01 -6.93926802e-01 -5.07507736e-03 -2.78357439e+02] [ 7.08039188e-03 3.33289940e-05 9.99974933e-01 -2.77257469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 936.0965599949999 meters 0.012972502222088136 Centerline is valid? [True, True] Translation: X:-221.87, Y:-278.34, Z:-2.77 [[-6.95284067e-01 -7.18716266e-01 5.19568575e-03 -2.21869273e+02] [ 7.18696449e-01 -6.95303480e-01 -5.33718780e-03 -2.78338362e+02] [ 7.44850207e-03 2.32592590e-05 9.99972259e-01 -2.77293235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 936.126559995 meters 0.012912129686423007 Centerline is valid? [True, True] Translation: X:-221.89, Y:-278.32, Z:-2.77 [[-6.96790882e-01 -7.17251981e-01 5.66232106e-03 -2.21887903e+02] [ 7.17228426e-01 -6.96813888e-01 -5.81290826e-03 -2.78318066e+02] [ 8.11490392e-03 1.07961456e-05 9.99967074e-01 -2.77308195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 936.156559995 meters 0.013036799015112814 Centerline is valid? [True, True] Translation: X:-221.91, Y:-278.30, Z:-2.77 [[-7.00074492e-01 -7.14045575e-01 5.88408021e-03 -2.21906585e+02] [ 7.14020053e-01 -7.00099219e-01 -6.03715540e-03 -2.78296669e+02] [ 8.43024406e-03 -2.51072358e-05 9.99964465e-01 -2.77358007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 936.1865599949999 meters 0.013288495892916804 Centerline is valid? [True, True] Translation: X:-221.92, Y:-278.28, Z:-2.77 [[-7.01654296e-01 -7.12491769e-01 6.06036585e-03 -2.21924447e+02] [ 7.12464673e-01 -7.01680467e-01 -6.21390363e-03 -2.78276959e+02] [ 8.67979553e-03 -4.22156099e-05 9.99962329e-01 -2.77426405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 936.2165599949999 meters 0.013276686728862713 Centerline is valid? [True, True] Translation: X:-221.94, Y:-278.26, Z:-2.77 [[-7.03300619e-01 -7.10867365e-01 5.98571955e-03 -2.21943611e+02] [ 7.10840906e-01 -7.03326088e-01 -6.13351648e-03 -2.78256998e+02] [ 8.57002941e-03 -5.88116255e-05 9.99963275e-01 -2.77331892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 936.246559995 meters 0.013845264740408215 Centerline is valid? [True, True] Translation: X:-221.96, Y:-278.24, Z:-2.77 [[-7.06423257e-01 -7.07764180e-01 6.00386690e-03 -2.21961551e+02] [ 7.07737470e-01 -7.06448764e-01 -6.14961106e-03 -2.78236313e+02] [ 8.59389878e-03 -9.50667122e-05 9.99963067e-01 -2.77318303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 936.276559995 meters 0.013950035039227482 Centerline is valid? [True, True] Translation: X:-221.98, Y:-278.22, Z:-2.77 [[-7.07907581e-01 -7.06279634e-01 5.99465572e-03 -2.21981621e+02] [ 7.06252982e-01 -7.07932953e-01 -6.13672066e-03 -2.78216316e+02] [ 8.57805515e-03 -1.10487601e-04 9.99963202e-01 -2.77269235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 936.3065599949999 meters 0.014435893457502874 Centerline is valid? [True, True] Translation: X:-222.00, Y:-278.20, Z:-2.77 [[-7.09860510e-01 -7.04316557e-01 6.02028189e-03 -2.22001481e+02] [ 7.04289635e-01 -7.09886026e-01 -6.15950156e-03 -2.78196720e+02] [ 8.61195292e-03 -1.32364784e-04 9.99962908e-01 -2.77285053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 936.3365599949999 meters 0.014435893457502874 Centerline is valid? [True, True] Translation: X:-222.02, Y:-278.18, Z:-2.77 [[-7.10057447e-01 -7.04118000e-01 6.02200425e-03 -2.22020818e+02] [ 7.04091086e-01 -7.10082970e-01 -6.15781766e-03 -2.78177033e+02] [ 8.61195292e-03 -1.32364777e-04 9.99962908e-01 -2.77285009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 936.366559995 meters 0.014339664923381477 Centerline is valid? [True, True] Translation: X:-222.04, Y:-278.16, Z:-2.77 [[-7.10729565e-01 -7.03439297e-01 6.05314267e-03 -2.22041203e+02] [ 7.03412110e-01 -7.10755328e-01 -6.18615650e-03 -2.78157634e+02] [ 8.65388898e-03 -1.38830464e-04 9.99962545e-01 -2.77260088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 936.396559995 meters 0.014554280286374881 Centerline is valid? [True, True] Translation: X:-222.06, Y:-278.14, Z:-2.77 [[-7.11028124e-01 -7.03137373e-01 6.06980292e-03 -2.22061546e+02] [ 7.03110054e-01 -7.11054017e-01 -6.19969854e-03 -2.78138142e+02] [ 8.67519750e-03 -1.40420560e-04 9.99962360e-01 -2.77298408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 936.4265599949999 meters 0.014476857127178616 Centerline is valid? [True, True] Translation: X:-222.08, Y:-278.12, Z:-2.77 [[-7.10949650e-01 -7.03216544e-01 6.08999029e-03 -2.22081910e+02] [ 7.03189080e-01 -7.10975720e-01 -6.21641648e-03 -2.78119247e+02] [ 8.70132214e-03 -1.37144458e-04 9.99962134e-01 -2.77303889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 936.4565599949999 meters 0.014319478302116169 Centerline is valid? [True, True] Translation: X:-222.10, Y:-278.10, Z:-2.77 [[-7.10694998e-01 -7.03473367e-01 6.15157401e-03 -2.22102162e+02] [ 7.03445390e-01 -7.10721608e-01 -6.27534470e-03 -2.78101061e+02] [ 8.78659444e-03 -1.32559712e-04 9.99961389e-01 -2.77316437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 936.486559995 meters 0.013783608769449705 Centerline is valid? [True, True] Translation: X:-222.12, Y:-278.08, Z:-2.77 [[-7.08437966e-01 -7.05744143e-01 6.39162484e-03 -2.22124490e+02] [ 7.05714065e-01 -7.08466790e-01 -6.51661362e-03 -2.78083866e+02] [ 9.12731583e-03 -1.05956947e-04 9.99958340e-01 -2.77325909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 936.516559995 meters 0.013471035786635364 Centerline is valid? [True, True] Translation: X:-222.15, Y:-278.07, Z:-2.77 [[-7.07176467e-01 -7.07006092e-01 6.62047352e-03 -2.22145246e+02] [ 7.06973915e-01 -7.07207451e-01 -6.74570831e-03 -2.78066161e+02] [ 9.45130507e-03 -8.99040869e-05 9.99955332e-01 -2.77334271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 936.5465599949999 meters 0.013212467011107624 Centerline is valid? [True, True] Translation: X:-222.17, Y:-278.05, Z:-2.77 [[-7.05657810e-01 -7.08520912e-01 6.72102064e-03 -2.22167020e+02] [ 7.08487856e-01 -7.05689814e-01 -6.84432384e-03 -2.78047883e+02] [ 9.59230237e-03 -6.79890631e-05 9.99953991e-01 -2.77353679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 936.5765599949999 meters 0.01283951078163592 Centerline is valid? [True, True] Translation: X:-222.19, Y:-278.03, Z:-2.77 [[-7.01964651e-01 -7.12176606e-01 7.07893193e-03 -2.22190088e+02] [ 7.12140166e-01 -7.02000343e-01 -7.20427254e-03 -2.78032793e+02] [ 1.01001270e-02 -1.59528935e-05 9.99948992e-01 -2.77396223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 936.6065599949999 meters 0.012877581047908563 Centerline is valid? [True, True] Translation: X:-222.21, Y:-278.02, Z:-2.77 [[-7.00208707e-01 -7.13904911e-01 6.89524948e-03 -2.22210641e+02] [ 7.13870467e-01 -7.00242656e-01 -7.01272016e-03 -2.78016202e+02] [ 9.83476317e-03 1.19472505e-05 9.99951638e-01 -2.77445470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 936.636559995 meters 0.013071688861768715 Centerline is valid? [True, True] Translation: X:-222.23, Y:-278.00, Z:-2.77 [[-6.98432874e-01 -7.15643210e-01 6.80561918e-03 -2.22232340e+02] [ 7.15609776e-01 -6.98466029e-01 -6.91767022e-03 -2.77997978e+02] [ 9.70407753e-03 3.86393221e-05 9.99952914e-01 -2.77445068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 936.666559995 meters 0.013531617658082029 Centerline is valid? [True, True] Translation: X:-222.26, Y:-277.98, Z:-2.77 [[-6.94525599e-01 -7.19441078e-01 6.22322635e-03 -2.22256122e+02] [ 7.19413304e-01 -6.94553474e-01 -6.32215278e-03 -2.77981550e+02] [ 8.87077989e-03 8.61748829e-05 9.99960650e-01 -2.77425580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 936.6965599949999 meters 0.014008416713372227 Centerline is valid? [True, True] Translation: X:-222.28, Y:-277.96, Z:-2.77 [[-6.92788031e-01 -7.21116482e-01 5.98016118e-03 -2.22277549e+02] [ 7.21090927e-01 -6.92813833e-01 -6.07184005e-03 -2.77963506e+02] [ 8.52164233e-03 1.05741851e-04 9.99963685e-01 -2.77407771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 936.7265599949999 meters 0.014457619606281792 Centerline is valid? [True, True] Translation: X:-222.30, Y:-277.95, Z:-2.77 [[-6.91327947e-01 -7.22518847e-01 5.67318148e-03 -2.22298996e+02] [ 7.22495921e-01 -6.91351214e-01 -5.75695729e-03 -2.77945157e+02] [ 8.08167105e-03 1.18905018e-04 9.99967336e-01 -2.77415777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 936.756559995 meters 0.015152132360449563 Centerline is valid? [True, True] Translation: X:-222.32, Y:-277.93, Z:-2.77 [[-6.88766317e-01 -7.24964000e-01 5.30656125e-03 -2.22320743e+02] [ 7.24944036e-01 -6.88786745e-01 -5.38188573e-03 -2.77927587e+02] [ 7.55676245e-03 1.40098313e-04 9.99971438e-01 -2.77356033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 936.786559995 meters 0.01598274925343422 Centerline is valid? [True, True] Translation: X:-222.34, Y:-277.91, Z:-2.77 [[-6.87553914e-01 -7.26114476e-01 5.23290841e-03 -2.22341642e+02] [ 7.26095120e-01 -6.87573810e-01 -5.30402714e-03 -2.77910212e+02] [ 7.44934166e-03 1.52784640e-04 9.99972242e-01 -2.77350123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 936.8165599949999 meters 0.01618943048224972 Centerline is valid? [True, True] Translation: X:-222.36, Y:-277.89, Z:-2.77 [[-6.86577321e-01 -7.27036092e-01 5.48671526e-03 -2.22362053e+02] [ 7.27014866e-01 -6.86599222e-01 -5.55815371e-03 -2.77890832e+02] [ 7.80815278e-03 1.72821281e-04 9.99969501e-01 -2.77371658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 936.8465599949999 meters 0.016689891798720186 Centerline is valid? [True, True] Translation: X:-222.38, Y:-277.87, Z:-2.77 [[-6.85148011e-01 -7.28379736e-01 5.92978950e-03 -2.22383599e+02] [ 7.28355023e-01 -6.85173640e-01 -6.00360299e-03 -2.77872730e+02] [ 8.43583822e-03 2.05635321e-04 9.99964397e-01 -2.77496097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 936.876559995 meters 0.018129097592482952 Centerline is valid? [True, True] Translation: X:-222.40, Y:-277.86, Z:-2.78 [[-6.84579867e-01 -7.28911897e-01 6.15237902e-03 -2.22404886e+02] [ 7.28885338e-01 -6.84607476e-01 -6.22639636e-03 -2.77856299e+02] [ 8.75045905e-03 2.21913269e-04 9.99961690e-01 -2.77611317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 936.906559995 meters 0.01761542255497539 Centerline is valid? [True, True] Translation: X:-222.42, Y:-277.84, Z:-2.78 [[-6.84180347e-01 -7.29286754e-01 6.17125236e-03 -2.22424319e+02] [ 7.29260076e-01 -6.84208139e-01 -6.24204108e-03 -2.77835816e+02] [ 8.77465897e-03 2.29766143e-04 9.99961476e-01 -2.77595206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 936.9365599949999 meters 0.018556444063761987 Centerline is valid? [True, True] Translation: X:-222.44, Y:-277.82, Z:-2.78 [[-6.84329442e-01 -7.29144349e-01 6.46007096e-03 -2.22444077e+02] [ 7.29115149e-01 -6.84359891e-01 -6.52991312e-03 -2.77818779e+02] [ 9.18226271e-03 2.41523798e-04 9.99957813e-01 -2.77708414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 936.9665599949999 meters 0.01864143327522561 Centerline is valid? [True, True] Translation: X:-222.46, Y:-277.80, Z:-2.78 [[-6.84851253e-01 -7.28652080e-01 6.70122765e-03 -2.22462453e+02] [ 7.28620666e-01 -6.84883994e-01 -6.77051006e-03 -2.77800435e+02] [ 9.52290980e-03 2.45860647e-04 9.99954626e-01 -2.77747959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 936.996559995 meters 0.018428978472894406 Centerline is valid? [True, True] Translation: X:-222.48, Y:-277.78, Z:-2.78 [[-6.86018911e-01 -7.27549726e-01 7.03215353e-03 -2.22480711e+02] [ 7.27515119e-01 -6.86054908e-01 -7.10039729e-03 -2.77781289e+02] [ 9.99033555e-03 2.44991192e-04 9.99950065e-01 -2.77811409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 937.026559995 meters 0.016026243078220124 Centerline is valid? [True, True] Translation: X:-222.50, Y:-277.76, Z:-2.78 [[-6.88818966e-01 -7.24900036e-01 6.95493380e-03 -2.22496402e+02] [ 7.24866088e-01 -6.88854045e-01 -7.01846645e-03 -2.77757525e+02] [ 9.87862086e-03 2.06942856e-04 9.99951184e-01 -2.77706590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 937.0565599949999 meters 0.01595342047189452 Centerline is valid? [True, True] Translation: X:-222.52, Y:-277.74, Z:-2.78 [[-6.91170687e-01 -7.22657688e-01 6.99624438e-03 -2.22515188e+02] [ 7.22623260e-01 -6.91206072e-01 -7.05625549e-03 -2.77737384e+02] [ 9.93510387e-03 1.78571971e-04 9.99950630e-01 -2.77789080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 937.0865599949999 meters 0.014658992619995412 Centerline is valid? [True, True] Translation: X:-222.53, Y:-277.71, Z:-2.78 [[-6.93760829e-01 -7.20171382e-01 7.00670557e-03 -2.22532172e+02] [ 7.20136762e-01 -6.93796195e-01 -7.06290213e-03 -2.77714818e+02] [ 9.94772565e-03 1.45821431e-04 9.99950510e-01 -2.77690586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 937.116559995 meters 0.013451965973668267 Centerline is valid? [True, True] Translation: X:-222.55, Y:-277.69, Z:-2.78 [[-7.00473087e-01 -7.13650463e-01 6.36173118e-03 -2.22545770e+02] [ 7.13621680e-01 -7.00501973e-01 -6.40960528e-03 -2.77690196e+02] [ 9.03062302e-03 5.01132922e-05 9.99959222e-01 -2.77603545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 937.146559995 meters 0.013173781541777905 Centerline is valid? [True, True] Translation: X:-222.56, Y:-277.67, Z:-2.78 [[-7.04363064e-01 -7.09813046e-01 6.17369535e-03 -2.22561751e+02] [ 7.09785824e-01 -7.04390120e-01 -6.21639094e-03 -2.77667632e+02] [ 8.76116539e-03 3.40527167e-06 9.99961620e-01 -2.77519483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 937.1765599949999 meters 0.01325930855089435 Centerline is valid? [True, True] Translation: X:-222.58, Y:-277.65, Z:-2.77 [[-7.08447657e-01 -7.05739599e-01 5.79101368e-03 -2.22577817e+02] [ 7.05715541e-01 -7.08471324e-01 -5.82742841e-03 -2.77645187e+02] [ 8.21541412e-03 -4.16196456e-05 9.99966252e-01 -2.77374010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 937.2065599949999 meters 0.01479006994944406 Centerline is valid? [True, True] Translation: X:-222.59, Y:-277.62, Z:-2.77 [[-7.15901500e-01 -6.98180993e-01 5.32373611e-03 -2.22591692e+02] [ 6.98160474e-01 -7.15921286e-01 -5.35407096e-03 -2.77620540e+02] [ 7.54948658e-03 -1.16165310e-04 9.99971496e-01 -2.77285374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 937.236559995 meters 0.015724367419578437 Centerline is valid? [True, True] Translation: X:-222.61, Y:-277.60, Z:-2.77 [[-7.19301313e-01 -6.94677309e-01 5.39053571e-03 -2.22609581e+02] [ 6.94656196e-01 -7.19321495e-01 -5.41806534e-03 -2.77599314e+02] [ 7.64133525e-03 -1.52652481e-04 9.99970793e-01 -2.77229132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 937.266559995 meters 0.017242284930377882 Centerline is valid? [True, True] Translation: X:-222.63, Y:-277.58, Z:-2.77 [[-7.22288038e-01 -6.91571836e-01 5.32783312e-03 -2.22626527e+02] [ 6.91551151e-01 -7.22307665e-01 -5.35192450e-03 -2.77577806e+02] [ 7.54957495e-03 -1.81161921e-04 9.99971485e-01 -2.77264558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 937.2965599949999 meters 0.017947282500312987 Centerline is valid? [True, True] Translation: X:-222.65, Y:-277.56, Z:-2.77 [[-7.26893633e-01 -6.86726458e-01 5.69375652e-03 -2.22645611e+02] [ 6.86702711e-01 -7.26915891e-01 -5.71622990e-03 -2.77557100e+02] [ 8.06436841e-03 -2.45173083e-04 9.99967453e-01 -2.77231640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 937.3265599949999 meters 0.01967926285568542 Centerline is valid? [True, True] Translation: X:-222.66, Y:-277.54, Z:-2.77 [[-7.28534876e-01 -6.84982540e-01 5.98792659e-03 -2.22662647e+02] [ 6.84956240e-01 -7.28559431e-01 -6.00878277e-03 -2.77536656e+02] [ 8.47847167e-03 -2.76140128e-04 9.99964019e-01 -2.77303276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 937.3565599949999 meters 0.018882858749136075 Centerline is valid? [True, True] Translation: X:-222.68, Y:-277.52, Z:-2.77 [[-7.29994268e-01 -6.83423636e-01 6.36416226e-03 -2.22683725e+02] [ 6.83393900e-01 -7.30021944e-01 -6.38275599e-03 -2.77517978e+02] [ 9.00810441e-03 -3.10145624e-04 9.99959378e-01 -2.77269984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 937.386559995 meters 0.02073316745795953 Centerline is valid? [True, True] Translation: X:-222.70, Y:-277.50, Z:-2.77 [[-7.32120727e-01 -6.81140190e-01 6.87623297e-03 -2.22701466e+02] [ 6.81105416e-01 -7.32152928e-01 -6.89222922e-03 -2.77497836e+02] [ 9.72902842e-03 -3.62504354e-04 9.99952606e-01 -2.77319962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 937.416559995 meters 0.020337981522110197 Centerline is valid? [True, True] Translation: X:-222.72, Y:-277.48, Z:-2.77 [[-7.32663003e-01 -6.80557822e-01 6.78052204e-03 -2.22721636e+02] [ 6.80524024e-01 -7.32694289e-01 -6.79207172e-03 -2.77479198e+02] [ 9.59044731e-03 -3.61991518e-04 9.99953945e-01 -2.77274450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 937.4465599949999 meters 0.021429167503424072 Centerline is valid? [True, True] Translation: X:-222.74, Y:-277.46, Z:-2.77 [[-7.33015045e-01 -6.80176679e-01 6.97348149e-03 -2.22740056e+02] [ 6.80140947e-01 -7.33048119e-01 -6.98200498e-03 -2.77460083e+02] [ 9.86089445e-03 -3.74964393e-04 9.99951310e-01 -2.77311063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 937.4765599949999 meters 0.01980621022728652 Centerline is valid? [True, True] Translation: X:-222.76, Y:-277.44, Z:-2.77 [[-7.32964783e-01 -6.80229302e-01 7.12207131e-03 -2.22762779e+02] [ 6.80192073e-01 -7.32999285e-01 -7.12679764e-03 -2.77442945e+02] [ 1.00683298e-02 -3.79315233e-04 9.99949241e-01 -2.77279135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 937.506559995 meters 0.020452264273738172 Centerline is valid? [True, True] Translation: X:-222.78, Y:-277.43, Z:-2.77 [[-7.32142411e-01 -6.81113803e-01 7.17477442e-03 -2.22783355e+02] [ 6.81076103e-01 -7.32177474e-01 -7.17565209e-03 -2.77425302e+02] [ 1.01406439e-02 -3.67031828e-04 9.99948515e-01 -2.77321802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 937.536559995 meters 0.018831296313405684 Centerline is valid? [True, True] Translation: X:-222.81, Y:-277.41, Z:-2.77 [[-7.31153287e-01 -6.82179637e-01 6.76859926e-03 -2.22806148e+02] [ 6.82146166e-01 -7.31184542e-01 -6.76564806e-03 -2.77408263e+02] [ 9.56448249e-03 -3.29551781e-04 9.99954205e-01 -2.77245040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 937.5665599949999 meters 0.01815848126498985 Centerline is valid? [True, True] Translation: X:-223.31, Y:-277.91, Z:-1.81 [[-7.33783758e-01 6.79346332e-01 7.06809489e-03 -2.23309505e+02] [ 6.79318775e-01 7.33817735e-01 -6.12653795e-03 -2.77908442e+02] [-9.34873446e-03 3.05935516e-04 -9.99956253e-01 -1.81237511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 937.5965599949999 meters 0.01725213366230584 Centerline is valid? [True, True] Translation: X:-223.29, Y:-277.88, Z:-1.81 [[-7.83366024e-01 6.21522647e-01 6.87542730e-03 -2.23288310e+02] [ 6.21501313e-01 7.83396160e-01 -5.15506242e-03 -2.77881712e+02] [-8.59017140e-03 2.34786340e-04 -9.99963076e-01 -1.81274286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 937.626559995 meters 0.0165665082077131 Centerline is valid? [True, True] Translation: X:-222.87, Y:-277.33, Z:-2.77 [[-7.73018045e-01 -6.34352320e-01 6.34317380e-03 -2.22873226e+02] [ 6.34328370e-01 -7.73044032e-01 -5.51760298e-03 -2.77331310e+02] [ 8.40365690e-03 -2.41551569e-04 9.99964660e-01 -2.77153672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 937.656559995 meters 0.014690836896554236 Centerline is valid? [True, True] Translation: X:-223.32, Y:-277.84, Z:-1.81 [[-7.92266890e-01 6.10143135e-01 6.20724730e-03 -2.23322454e+02] [ 6.10125666e-01 7.92291196e-01 -4.61869626e-03 -2.77842755e+02] [-7.73601320e-03 1.27960774e-04 -9.99970069e-01 -1.81379810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 937.6865599949999 meters 0.013695931726021826 Centerline is valid? [True, True] Translation: X:-223.31, Y:-277.81, Z:-1.81 [[-8.35420073e-01 5.49571382e-01 6.67817412e-03 -2.23305830e+02] [ 5.49554803e-01 8.35446758e-01 -4.27002971e-03 -2.77813582e+02] [-7.92594505e-03 1.02754129e-04 -9.99968584e-01 -1.81429055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 937.7165599949999 meters 0.013091500108721697 Centerline is valid? [True, True] Translation: X:-223.29, Y:-277.78, Z:-1.81 [[-8.74200924e-01 4.85513634e-01 7.01818543e-03 -2.23291205e+02] [ 4.85498638e-01 8.74229093e-01 -3.81657728e-03 -2.77784771e+02] [-7.98850219e-03 7.08640786e-05 -9.99968089e-01 -1.81408220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 937.746559995 meters 0.012442024378910265 Centerline is valid? [True, True] Translation: X:-222.99, Y:-277.22, Z:-2.77 [[-8.44981068e-01 -5.34755546e-01 6.59547787e-03 -2.22987781e+02] [ 5.34738526e-01 -8.45006805e-01 -4.26717975e-03 -2.77219335e+02] [ 7.85512172e-03 -7.88299880e-05 9.99969145e-01 -2.77054993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 937.776559995 meters 0.012496736674410827 Centerline is valid? [True, True] Translation: X:-223.33, Y:-277.75, Z:-1.81 [[-8.80956555e-01 4.73151602e-01 6.56582627e-03 -2.23333975e+02] [ 4.73138363e-01 8.80981022e-01 -3.53953797e-03 -2.77746791e+02] [-7.45910640e-03 -1.16348881e-05 -9.99972181e-01 -1.81392999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 937.8065599949999 meters 0.012638484825831983 Centerline is valid? [True, True] Translation: X:-223.32, Y:-277.72, Z:-1.81 [[-9.13367388e-01 4.07078736e-01 6.84967268e-03 -2.23318153e+02] [ 4.07067028e-01 9.13393071e-01 -3.08752304e-03 -2.77719186e+02] [-7.51330854e-03 -3.17669481e-05 -9.99971774e-01 -1.81400294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 937.8365599949999 meters 0.012860981363103556 Centerline is valid? [True, True] Translation: X:-223.31, Y:-277.69, Z:-1.81 [[-9.40698258e-01 3.39177129e-01 6.75744584e-03 -2.23309819e+02] [ 3.39168022e-01 9.40722527e-01 -2.48591969e-03 -2.77688716e+02] [-7.20004863e-03 -4.65907834e-05 -9.99974078e-01 -1.81391251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 937.866559995 meters 0.01288836890047554 Centerline is valid? [True, True] Translation: X:-223.31, Y:-277.65, Z:-1.81 [[-9.63284718e-01 2.68367868e-01 7.82556177e-03 -2.23307638e+02] [ 2.68358330e-01 9.63316501e-01 -2.26398948e-03 -2.77654550e+02] [-8.14607482e-03 -8.08117846e-05 -9.99966817e-01 -1.81297403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 937.896559995 meters 0.013098149505404385 Centerline is valid? [True, True] Translation: X:-223.14, Y:-277.08, Z:-2.77 [[-9.35788485e-01 -3.52460832e-01 8.44230219e-03 -2.23138884e+02] [ 3.52447854e-01 -9.35826555e-01 -3.02802087e-03 -2.77083230e+02] [ 8.96778933e-03 1.41884226e-04 9.99959779e-01 -2.77240828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 937.9265599949999 meters 0.013171059174126452 Centerline is valid? [True, True] Translation: X:-223.35, Y:-277.64, Z:-1.81 [[-9.64715444e-01 2.63136315e-01 9.13196142e-03 -2.23352412e+02] [ 2.63123442e-01 9.64758658e-01 -2.60509308e-03 -2.77638441e+02] [-9.49563343e-03 -1.10340402e-04 -9.99954910e-01 -1.81138963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 937.9565599949999 meters 0.013239405391591208 Centerline is valid? [True, True] Translation: X:-223.35, Y:-277.61, Z:-1.81 [[-9.80979281e-01 1.93844245e-01 1.02009436e-02 -2.23349179e+02] [ 1.93832457e-01 9.81032310e-01 -2.14128192e-03 -2.77609468e+02] [-1.04225304e-02 -1.23279250e-04 -9.99945677e-01 -1.81085254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 937.986559995 meters 0.01336995357955462 Centerline is valid? [True, True] Translation: X:-223.35, Y:-277.58, Z:-1.81 [[-9.92285529e-01 1.23450591e-01 1.13745338e-02 -2.23350132e+02] [ 1.23440869e-01 9.92350710e-01 -1.55558653e-03 -2.77579628e+02] [-1.14795648e-02 -1.39503666e-04 -9.99934098e-01 -1.80990152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 938.016559995 meters 0.013325912337196507 Centerline is valid? [True, True] Translation: X:-223.35, Y:-277.55, Z:-1.81 [[-9.98555019e-01 5.23965148e-02 1.19364504e-02 -2.23354535e+02] [ 5.23909938e-02 9.98626348e-01 -7.74972908e-04 -2.77550851e+02] [-1.19606597e-02 -1.48490589e-04 -9.99928458e-01 -1.80987430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 938.0465599949999 meters 0.013422215066081367 Centerline is valid? [True, True] Translation: X:-223.36, Y:-277.52, Z:-1.81 [[-9.99728230e-01 -1.90405783e-02 1.34507440e-02 -2.23359686e+02] [-1.90411612e-02 9.99818697e-01 8.47440880e-05 -2.77522636e+02] [-1.34499189e-02 -1.71396727e-04 -9.99909531e-01 -1.80912056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 938.0765599949999 meters 0.013607142156612505 Centerline is valid? [True, True] Translation: X:-223.36, Y:-276.94, Z:-2.78 [[-9.97144976e-01 -7.42386173e-02 1.38030394e-02 -2.23362864e+02] [ 7.42342965e-02 -9.97240486e-01 -8.25831977e-04 -2.76940056e+02] [ 1.38262584e-02 2.01184715e-04 9.99904393e-01 -2.77609742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 938.1065599949999 meters 0.013357015847235754 Centerline is valid? [True, True] Translation: X:-223.43, Y:-277.52, Z:-1.81 [[-9.99607224e-01 -2.43341802e-02 1.39012779e-02 -2.23425661e+02] [-2.43344365e-02 9.99703862e-01 1.50735483e-04 -2.77523659e+02] [-1.39008292e-02 -1.87603485e-04 -9.99903361e-01 -1.80936753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 938.136559995 meters 0.014162113838984887 Centerline is valid? [True, True] Translation: X:-223.43, Y:-276.94, Z:-2.78 [[-9.97343441e-01 -7.14874827e-02 1.39857406e-02 -2.23432273e+02] [ 7.14832122e-02 -9.97441478e-01 -8.05645836e-04 -2.76941499e+02] [ 1.40075514e-02 1.96240074e-04 9.99901870e-01 -2.77682644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 938.166559995 meters 0.014203970715935514 Centerline is valid? [True, True] Translation: X:-223.49, Y:-277.52, Z:-1.81 [[-9.99430516e-01 -3.07421536e-02 1.39127471e-02 -2.23494556e+02] [-3.07421502e-02 9.99527326e-01 2.14160619e-04 -2.77522946e+02] [-1.39127546e-02 -2.13669102e-04 -9.99903190e-01 -1.80803627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 938.1965599949999 meters 0.01406896219630939 Centerline is valid? [True, True] Translation: X:-223.50, Y:-277.50, Z:-1.81 [[-9.94636755e-01 -1.02516929e-01 1.37115191e-02 -2.23503553e+02] [-1.02510246e-01 9.94731235e-01 1.19119669e-03 -2.77496600e+02] [-1.37613941e-02 -2.20763177e-04 -9.99905283e-01 -1.80874975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 938.2265599949999 meters 0.014207309133776708 Centerline is valid? [True, True] Translation: X:-223.52, Y:-277.47, Z:-1.81 [[-9.84727245e-01 -1.73567699e-01 1.36567604e-02 -2.23516721e+02] [-1.73554206e-01 9.84821914e-01 2.17610063e-03 -2.77471749e+02] [-1.38271777e-02 -2.27322624e-04 -9.99904374e-01 -1.80938295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 938.256559995 meters 0.014207309133776708 Centerline is valid? [True, True] Translation: X:-223.54, Y:-277.45, Z:-1.81 [[-9.69785701e-01 -2.43586448e-01 1.34661080e-02 -2.23537630e+02] [-2.43566216e-01 9.69879163e-01 3.14767160e-03 -2.77447710e+02] [-1.38272277e-02 -2.27322053e-04 -9.99904374e-01 -1.80938219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 938.286559995 meters 0.014542489320932852 Centerline is valid? [True, True] Translation: X:-223.57, Y:-277.43, Z:-1.81 [[-9.49678623e-01 -3.12964269e-01 1.28015676e-02 -2.23569574e+02] [-3.12939005e-01 9.49764874e-01 3.98283627e-03 -2.77428096e+02] [-1.34049647e-02 -2.23695383e-04 -9.99910125e-01 -1.80934708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 938.3165599949999 meters 0.015017247931117923 Centerline is valid? [True, True] Translation: X:-223.62, Y:-277.42, Z:-1.81 [[-9.24372971e-01 -3.81290677e-01 1.23300616e-02 -2.23617906e+02] [-3.81259973e-01 9.24455175e-01 4.84386112e-03 -2.77415505e+02] [-1.32455084e-02 -2.23424667e-04 -9.99912250e-01 -1.80888770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 938.3465599949999 meters 0.014598415277920945 Centerline is valid? [True, True] Translation: X:-223.68, Y:-277.42, Z:-1.81 [[-8.93121700e-01 -4.49658736e-01 1.18595864e-02 -2.23683842e+02] [-4.49622680e-01 8.93200404e-01 5.69946077e-03 -2.77416607e+02] [-1.31557997e-02 -2.42026900e-04 -9.99913430e-01 -1.81104961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 938.376559995 meters 0.014790692772584468 Centerline is valid? [True, True] Translation: X:-223.75, Y:-277.42, Z:-1.81 [[-8.56785382e-01 -5.15546534e-01 1.14271907e-02 -2.23752115e+02] [-5.15504714e-01 8.56861543e-01 6.57159281e-03 -2.77421513e+02] [-1.31794822e-02 -2.60326014e-04 -9.99913113e-01 -1.81158638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 938.406559995 meters 0.015464327530425788 Centerline is valid? [True, True] Translation: X:-223.83, Y:-277.44, Z:-1.81 [[-8.15461227e-01 -5.78709981e-01 1.08510919e-02 -2.23828078e+02] [-5.78663213e-01 8.15533373e-01 7.36230556e-03 -2.77435366e+02] [-1.31100673e-02 -2.75452982e-04 -9.99914022e-01 -1.81140581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 938.4365599949999 meters 0.016246423080195117 Centerline is valid? [True, True] Translation: X:-223.91, Y:-277.46, Z:-1.81 [[-7.69084100e-01 -6.39066153e-01 1.02029240e-02 -2.23908922e+02] [-6.39014956e-01 7.69151718e-01 8.09450185e-03 -2.77459559e+02] [-1.30205187e-02 -2.94468367e-04 -9.99915186e-01 -1.81122286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 938.4665599949999 meters 0.016215789955326108 Centerline is valid? [True, True] Translation: X:-223.99, Y:-277.49, Z:-1.81 [[-7.17378203e-01 -6.96612251e-01 9.99429415e-03 -2.23987513e+02] [-6.96551168e-01 7.17447738e-01 9.23117218e-03 -2.77492995e+02] [-1.36009314e-02 -3.39295556e-04 -9.99907446e-01 -1.81160649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 938.496559995 meters 0.01720281182551139 Centerline is valid? [True, True] Translation: X:-224.07, Y:-277.54, Z:-1.81 [[-6.62553974e-01 -7.48953159e-01 9.56018096e-03 -2.24071886e+02] [-7.48882888e-01 6.62622847e-01 1.02655635e-02 -2.77537532e+02] [-1.40232205e-02 -3.57966047e-04 -9.99901606e-01 -1.81092476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 938.526559995 meters 0.017190008764116135 Centerline is valid? [True, True] Translation: X:-224.15, Y:-277.59, Z:-1.81 [[-6.04048454e-01 -7.96899685e-01 8.73822790e-03 -2.24151592e+02] [-7.96824743e-01 6.04111549e-01 1.09345647e-02 -2.77592580e+02] [-1.39926156e-02 -3.57829293e-04 -9.99902035e-01 -1.81112015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 938.5565599949999 meters 0.0168782130751743 Centerline is valid? [True, True] Translation: X:-224.23, Y:-277.65, Z:-1.81 [[-5.42885785e-01 -8.39771156e-01 7.70913130e-03 -2.24228610e+02] [-8.39695074e-01 5.42940415e-01 1.13087411e-02 -2.77654704e+02] [-1.36823535e-02 -3.33964797e-04 -9.99906337e-01 -1.81148795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 938.5865599949999 meters 0.016026138162059857 Centerline is valid? [True, True] Translation: X:-224.30, Y:-277.73, Z:-1.81 [[-4.78928504e-01 -8.77827834e-01 6.76622045e-03 -2.24302782e+02] [-8.77749189e-01 4.78976197e-01 1.17542827e-02 -2.77727968e+02] [-1.35590951e-02 -3.09583494e-04 -9.99908023e-01 -1.81236324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 938.616559995 meters 0.015586735723419681 Centerline is valid? [True, True] Translation: X:-224.37, Y:-277.81, Z:-1.81 [[-4.12625765e-01 -9.10882264e-01 5.78608510e-03 -2.24373344e+02] [-9.10801928e-01 4.12666238e-01 1.21005953e-02 -2.77810591e+02] [-1.34099396e-02 -2.76960070e-04 -9.99910045e-01 -1.81288018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 938.646559995 meters 0.01427477862987253 Centerline is valid? [True, True] Translation: X:-224.43, Y:-277.90, Z:-1.81 [[-3.46940792e-01 -9.37876293e-01 4.48830776e-03 -2.24432870e+02] [-9.37804712e-01 3.46969772e-01 1.15887474e-02 -2.77898652e+02] [-1.24261186e-02 -1.88546949e-04 -9.99922775e-01 -1.81408351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 938.6765599949999 meters 0.013726961092549327 Centerline is valid? [True, True] Translation: X:-224.49, Y:-278.00, Z:-1.81 [[-2.77369520e-01 -9.60756900e-01 3.51114896e-03 -2.24491701e+02] [-9.60686361e-01 2.77391705e-01 1.16428907e-02 -2.77996213e+02] [-1.21599512e-02 -1.43729925e-04 -9.99926055e-01 -1.81418496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 938.7065599949999 meters 0.013234917189810002 Centerline is valid? [True, True] Translation: X:-224.54, Y:-278.10, Z:-1.81 [[-2.06117386e-01 -9.78523975e-01 2.54042432e-03 -2.24541867e+02] [-9.78455568e-01 2.06133016e-01 1.15707454e-02 -2.78096256e+02] [-1.18459171e-02 -1.00760522e-04 -9.99929830e-01 -1.81423498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 938.736559995 meters 0.01286224174621319 Centerline is valid? [True, True] Translation: X:-224.58, Y:-278.20, Z:-1.81 [[-1.34183974e-01 -9.90955036e-01 1.66671939e-03 -2.24584983e+02] [-9.90883724e-01 1.34194313e-01 1.18883155e-02 -2.78202648e+02] [-1.20044504e-02 -5.63036930e-05 -9.99927943e-01 -1.81421083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 938.766559995 meters 0.012847860116777934 Centerline is valid? [True, True] Translation: X:-224.61, Y:-278.31, Z:-1.81 [[-6.55517344e-02 -9.97848871e-01 7.74566650e-04 -2.24614968e+02] [-9.97771631e-01 6.55562976e-02 1.24154633e-02 -2.78311828e+02] [-1.24395337e-02 4.10145203e-05 -9.99922625e-01 -1.81383497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 938.7965599949999 meters 0.013587138032978485 Centerline is valid? [True, True] Translation: X:-224.64, Y:-278.42, Z:-1.81 [[ 6.83448836e-03 -9.99976628e-01 -1.82956161e-04 -2.24640504e+02] [-9.99897577e-01 -6.83624858e-03 1.25738002e-02 -2.78423992e+02] [-1.25747571e-02 9.70019310e-05 -9.99920930e-01 -1.81324056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 938.8265599949999 meters 0.015582936248092935 Centerline is valid? [True, True] Translation: X:-224.65, Y:-278.54, Z:-1.81 [[ 7.52357495e-02 -9.97165053e-01 -1.19941078e-03 -2.24652162e+02] [-9.97079645e-01 -7.52450054e-02 1.30526112e-02 -2.78539682e+02] [-1.31058574e-02 2.13885083e-04 -9.99914092e-01 -1.81306801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 938.8565599949999 meters 0.015763839238946354 Centerline is valid? [True, True] Translation: X:-224.66, Y:-278.66, Z:-1.81 [[ 1.47601487e-01 -9.89044348e-01 -2.25362295e-03 -2.24662066e+02] [-9.88955904e-01 -1.47618432e-01 1.32294680e-02 -2.78658496e+02] [-1.34172069e-02 2.76044571e-04 -9.99909947e-01 -1.81421583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 938.886559995 meters 0.01632441151161934 Centerline is valid? [True, True] Translation: X:-224.66, Y:-278.78, Z:-1.81 [[ 2.19323435e-01 -9.75646987e-01 -3.19195950e-03 -2.24662980e+02] [-9.75564066e-01 -2.19346423e-01 1.27240289e-02 -2.78776848e+02] [-1.31143054e-02 3.23283248e-04 -9.99913952e-01 -1.81487247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 938.916559995 meters 0.01752472724688232 Centerline is valid? [True, True] Translation: X:-224.65, Y:-278.90, Z:-1.81 [[ 2.89891683e-01 -9.57050267e-01 -4.19501416e-03 -2.24653640e+02] [-9.56968183e-01 -2.89921787e-01 1.25401158e-02 -2.78895930e+02] [-1.32177472e-02 3.79219807e-04 -9.99912570e-01 -1.81464180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 938.9465599949999 meters 0.018913824415063105 Centerline is valid? [True, True] Translation: X:-224.63, Y:-279.01, Z:-1.82 [[ 3.57212682e-01 -9.34008633e-01 -5.19355319e-03 -2.24634185e+02] [-9.33927918e-01 -3.57250137e-01 1.22875305e-02 -2.79010544e+02] [-1.33320572e-02 4.61142581e-04 -9.99911018e-01 -1.81517622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 938.9765599949999 meters 0.020038658309927185 Centerline is valid? [True, True] Translation: X:-224.61, Y:-279.13, Z:-1.81 [[ 4.25977334e-01 -9.04713671e-01 -6.04028535e-03 -2.24607979e+02] [-9.04638255e-01 -4.26019882e-01 1.16913724e-02 -2.79125718e+02] [-1.31506261e-02 4.84013545e-04 -9.99913410e-01 -1.81470671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 939.006559995 meters 0.020249622422507045 Centerline is valid? [True, True] Translation: X:-224.57, Y:-279.24, Z:-1.81 [[ 4.92320422e-01 -8.70384816e-01 -7.13256620e-03 -2.24573842e+02] [-8.70308494e-01 -4.92371804e-01 1.15382486e-02 -2.79237299e+02] [-1.35545909e-02 5.27017539e-04 -9.99907994e-01 -1.81482803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 939.036559995 meters 0.01976696974789453 Centerline is valid? [True, True] Translation: X:-224.54, Y:-279.34, Z:-1.82 [[ 5.57751287e-01 -8.29968584e-01 -8.10254931e-03 -2.24537468e+02] [-8.29894392e-01 -5.57809888e-01 1.11097937e-02 -2.79341344e+02] [-1.37404618e-02 5.27758520e-04 -9.99905456e-01 -1.81506869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 939.0665599949999 meters 0.02016014229902777 Centerline is valid? [True, True] Translation: X:-224.49, Y:-279.44, Z:-1.81 [[ 6.20238544e-01 -7.84363879e-01 -8.80081558e-03 -2.24490314e+02] [-7.84296305e-01 -6.20300771e-01 1.03082114e-02 -2.79444848e+02] [-1.35445413e-02 5.08897137e-04 -9.99908139e-01 -1.81483080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 939.0965599949999 meters 0.018987566282925895 Centerline is valid? [True, True] Translation: X:-224.44, Y:-279.55, Z:-1.81 [[ 6.81159043e-01 -7.32076711e-01 -9.27613105e-03 -2.24435475e+02] [-7.32017526e-01 -6.81222059e-01 9.31928186e-03 -2.79547760e+02] [-1.31415343e-02 4.42377386e-04 -9.99913549e-01 -1.81462072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 939.126559995 meters 0.018324258371223288 Centerline is valid? [True, True] Translation: X:-224.38, Y:-279.64, Z:-1.81 [[ 7.36748425e-01 -6.76101811e-01 -9.38610833e-03 -2.24380933e+02] [-6.76053495e-01 -7.36808112e-01 8.09188898e-03 -2.79638193e+02] [-1.23867016e-02 3.83824881e-04 -9.99923208e-01 -1.81468633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 939.156559995 meters 0.017281649973799613 Centerline is valid? [True, True] Translation: X:-224.39, Y:-279.65, Z:-1.81 [[ 7.89291548e-01 -6.13939447e-01 -9.85943830e-03 -2.24386793e+02] [-6.13896884e-01 -7.89353052e-01 7.23715807e-03 -2.79647761e+02] [-1.22257545e-02 3.40450756e-04 -9.99925205e-01 -1.81498166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 939.1865599949999 meters 0.016177548217019 Centerline is valid? [True, True] Translation: X:-224.39, Y:-279.66, Z:-1.82 [[ 8.36913098e-01 -5.47239424e-01 -1.02702810e-02 -2.24392429e+02] [-5.47202466e-01 -8.36976062e-01 6.36663969e-03 -2.79657938e+02] [-1.20800556e-02 2.91598959e-04 -9.99926991e-01 -1.81508294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 939.2165599949999 meters 0.014495407875780037 Centerline is valid? [True, True] Translation: X:-224.40, Y:-279.67, Z:-1.81 [[ 8.80998876e-01 -4.73001075e-01 -1.05339446e-02 -2.24398265e+02] [-4.72969827e-01 -8.81061830e-01 5.44015188e-03 -2.79669229e+02] [-1.18542542e-02 1.89470269e-04 -9.99929718e-01 -1.81458239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 939.246559995 meters 0.013634852338979361 Centerline is valid? [True, True] Translation: X:-224.40, Y:-279.68, Z:-1.81 [[ 9.17097255e-01 -3.98524168e-01 -1.05410106e-02 -2.24402593e+02] [-3.98499485e-01 -9.17157822e-01 4.43736443e-03 -2.79682042e+02] [-1.14361673e-02 1.31092562e-04 -9.99934596e-01 -1.81490650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 939.276559995 meters 0.012864673825847574 Centerline is valid? [True, True] Translation: X:-224.41, Y:-279.70, Z:-1.81 [[ 9.48563544e-01 -3.16437030e-01 -9.73695451e-03 -2.24406408e+02] [-3.16420561e-01 -9.48613518e-01 3.22847949e-03 -2.79696764e+02] [-1.02582171e-02 1.85546637e-05 -9.99947383e-01 -1.81484092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 939.3065599949999 meters 0.012839473889481146 Centerline is valid? [True, True] Translation: X:-224.41, Y:-279.71, Z:-1.81 [[ 9.71683052e-01 -2.36096612e-01 -9.50984670e-03 -2.24407975e+02] [-2.36084958e-01 -9.71729586e-01 2.34607714e-03 -2.79708351e+02] [-9.79490027e-03 -3.45116429e-05 -9.99952028e-01 -1.81467779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 939.3365599949999 meters 0.013315205166443559 Centerline is valid? [True, True] Translation: X:-224.41, Y:-279.72, Z:-1.81 [[ 9.87972580e-01 -1.54361550e-01 -9.09354628e-03 -2.24408190e+02] [-1.54354274e-01 -9.88014426e-01 1.50088008e-03 -2.79720719e+02] [-9.21623308e-03 -7.92006361e-05 -9.99957527e-01 -1.81452435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 939.366559995 meters 0.014262823165163524 Centerline is valid? [True, True] Translation: X:-224.41, Y:-279.73, Z:-1.81 [[ 9.97394595e-01 -7.16471082e-02 -8.40909989e-03 -2.24411100e+02] [-7.16435972e-02 -9.97430037e-01 7.18407038e-04 -2.79731778e+02] [-8.43896060e-03 -1.14077132e-04 -9.99964385e-01 -1.81404475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 939.396559995 meters 0.015880739031377707 Centerline is valid? [True, True] Translation: X:-224.41, Y:-279.74, Z:-1.81 [[ 9.99861585e-01 1.49403548e-02 -7.32099183e-03 -2.24411693e+02] [ 1.49411203e-02 -9.99888374e-01 4.98758419e-05 -2.79744717e+02] [-7.31942946e-03 -1.59252758e-04 -9.99973200e-01 -1.81440139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 939.4265599949999 meters 0.01717400846469189 Centerline is valid? [True, True] Translation: X:-224.41, Y:-279.75, Z:-1.81 [[ 9.95342400e-01 9.61579310e-02 -6.86725566e-03 -2.24412717e+02] [ 9.61568231e-02 -9.95366075e-01 -4.92080552e-04 -2.79754475e+02] [-6.88275076e-03 -1.70544850e-04 -9.99976299e-01 -1.81404257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 939.4565599949999 meters 0.01838899391076022 Centerline is valid? [True, True] Translation: X:-224.41, Y:-279.76, Z:-1.81 [[ 9.84370197e-01 1.75984603e-01 -6.68838620e-03 -2.24412955e+02] [ 1.75981800e-01 -9.84392902e-01 -1.01000412e-03 -2.79761234e+02] [-6.76174508e-03 -1.82816287e-04 -9.99977123e-01 -1.81366328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 939.486559995 meters 0.018710043140585123 Centerline is valid? [True, True] Translation: X:-224.41, Y:-279.77, Z:-1.81 [[ 9.66920500e-01 2.54989691e-01 -6.70854930e-03 -2.24411619e+02] [ 2.54985010e-01 -9.66943750e-01 -1.55849135e-03 -2.79766316e+02] [-6.88418905e-03 -2.03642279e-04 -9.99976283e-01 -1.81398530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 939.516559995 meters 0.01872858439962359 Centerline is valid? [True, True] Translation: X:-224.41, Y:-279.77, Z:-1.81 [[ 9.43861805e-01 3.30265331e-01 -7.05011274e-03 -2.24410184e+02] [ 3.30257863e-01 -9.43888109e-01 -2.23198230e-03 -2.79772884e+02] [-7.39166396e-03 -2.21672323e-04 -9.99972657e-01 -1.81313761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 939.5465599949999 meters 0.017698193099680435 Centerline is valid? [True, True] Translation: X:-224.41, Y:-279.78, Z:-1.81 [[ 9.15662630e-01 4.01872618e-01 -7.76838190e-03 -2.24407099e+02] [ 4.01860363e-01 -9.15695551e-01 -3.14760770e-03 -2.79779732e+02] [-8.37841008e-03 -2.39658028e-04 -9.99964872e-01 -1.81152613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 939.5765599949999 meters 0.017872774075268646 Centerline is valid? [True, True] Translation: X:-224.40, Y:-279.79, Z:-1.81 [[ 8.81692786e-01 4.71754871e-01 -8.07294022e-03 -2.24404424e+02] [ 4.71737701e-01 -8.81729708e-01 -4.03282638e-03 -2.79787840e+02] [-9.02065671e-03 -2.52596330e-04 -9.99959281e-01 -1.81068031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 939.6065599949999 meters 0.0190286063758456 Centerline is valid? [True, True] Translation: X:-224.40, Y:-279.80, Z:-1.81 [[ 8.42619367e-01 5.38448305e-01 -8.12560778e-03 -2.24401454e+02] [ 5.38426170e-01 -8.42658506e-01 -4.88892902e-03 -2.79795223e+02] [-9.47954805e-03 -2.55533603e-04 -9.99955036e-01 -1.80872670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 939.636559995 meters 0.016802857060616343 Centerline is valid? [True, True] Translation: X:-224.40, Y:-279.80, Z:-1.81 [[ 7.99380639e-01 6.00769945e-01 -8.12822981e-03 -2.24400997e+02] [ 6.00741972e-01 -7.99421925e-01 -5.80255974e-03 -2.79796655e+02] [-9.98388861e-03 -2.44514891e-04 -9.99950130e-01 -1.80878519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 939.666559995 meters 0.016340200606902996 Centerline is valid? [True, True] Translation: X:-224.40, Y:-279.80, Z:-1.81 [[ 7.51115925e-01 6.60121488e-01 -8.03047697e-03 -2.24398463e+02] [ 6.60087115e-01 -7.51158815e-01 -6.74057983e-03 -2.79801336e+02] [-1.04817651e-02 -2.37857519e-04 -9.99945037e-01 -1.80887215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 939.6965599949999 meters 0.016268742726200974 Centerline is valid? [True, True] Translation: X:-224.40, Y:-279.81, Z:-1.81 [[ 6.98436610e-01 7.15631284e-01 -7.62672062e-03 -2.24396641e+02] [ 7.15592070e-01 -6.98478214e-01 -7.49488927e-03 -2.79806532e+02] [-1.06906754e-02 -2.22915740e-04 -9.99942828e-01 -1.80826221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 939.7265599949999 meters 0.014840115952242662 Centerline is valid? [True, True] Translation: X:-224.40, Y:-279.81, Z:-1.81 [[ 6.43988022e-01 7.65001189e-01 -7.25315651e-03 -2.24396863e+02] [ 7.64955733e-01 -6.44028842e-01 -8.34133097e-03 -2.79807621e+02] [-1.10523701e-02 -1.76626427e-04 -9.99938905e-01 -1.80843105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 939.756559995 meters 0.01468294409433832 Centerline is valid? [True, True] Translation: X:-224.39, Y:-279.81, Z:-1.81 [[ 5.83129614e-01 8.12355616e-01 -6.18111322e-03 -2.24394066e+02] [ 8.12312738e-01 -5.83162353e-01 -8.34787056e-03 -2.79813112e+02] [-1.03860321e-02 -1.53106466e-04 -9.99946052e-01 -1.80893061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 939.786559995 meters 0.014383957288357134 Centerline is valid? [True, True] Translation: X:-224.39, Y:-279.82, Z:-1.81 [[ 5.18486725e-01 8.55071570e-01 -4.91186451e-03 -2.24389634e+02] [ 8.55035520e-01 -5.18509975e-01 -7.85282707e-03 -2.79818413e+02] [-9.26157991e-03 -1.28232038e-04 -9.99957103e-01 -1.80973731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 939.8165599949999 meters 0.01417025508864131 Centerline is valid? [True, True] Translation: X:-224.39, Y:-279.82, Z:-1.81 [[ 4.51128690e-01 8.92452169e-01 -3.46853886e-03 -2.24385112e+02] [ 8.92427368e-01 -4.51142014e-01 -6.65398790e-03 -2.79823792e+02] [-7.50316955e-03 -9.36141560e-05 -9.99971847e-01 -1.81089213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 939.8465599949999 meters 0.014028206651074147 Centerline is valid? [True, True] Translation: X:-224.38, Y:-279.83, Z:-1.81 [[ 3.80056168e-01 9.24959774e-01 -2.59359967e-03 -2.24379581e+02] [ 9.24939669e-01 -3.80065009e-01 -6.09908404e-03 -2.79829200e+02] [-6.62714387e-03 -8.09287165e-05 -9.99978037e-01 -1.81169340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 939.876559995 meters 0.014016632724996052 Centerline is valid? [True, True] Translation: X:-224.37, Y:-279.83, Z:-1.81 [[ 3.06783009e-01 9.51777923e-01 -1.72353363e-03 -2.24373478e+02] [ 9.51764055e-01 -3.06787844e-01 -5.13840252e-03 -2.79834107e+02] [-5.41937725e-03 -6.40227699e-05 -9.99985313e-01 -1.81293132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 939.906559995 meters 0.013893099286028136 Centerline is valid? [True, True] Translation: X:-224.37, Y:-279.84, Z:-1.81 [[ 2.32014217e-01 9.72711634e-01 -1.21685585e-03 -2.24369202e+02] [ 9.72699485e-01 -2.32017401e-01 -4.86189614e-03 -2.79839431e+02] [-5.01155467e-03 -5.56060342e-05 -9.99987441e-01 -1.81337587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 939.9365599949999 meters 0.013603197548645524 Centerline is valid? [True, True] Translation: X:-224.36, Y:-279.84, Z:-1.81 [[ 1.55742482e-01 9.87797389e-01 -7.72560690e-04 -2.24361955e+02] [ 9.87786738e-01 -1.55744391e-01 -4.58750501e-03 -2.79843413e+02] [-4.65184747e-03 -4.86557873e-05 -9.99989179e-01 -1.81361276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 939.9665599949999 meters 0.013575382539991925 Centerline is valid? [True, True] Translation: X:-224.35, Y:-279.85, Z:-1.81 [[ 7.88893087e-02 9.96883279e-01 -4.52496416e-04 -2.24354092e+02] [ 9.96870233e-01 -7.88905914e-02 -5.10024662e-03 -2.79848709e+02] [-5.12004828e-03 -4.87252782e-05 -9.99986891e-01 -1.81307974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 939.996559995 meters 0.013215097204601376 Centerline is valid? [True, True] Translation: X:-224.35, Y:-279.85, Z:-1.81 [[ 2.45194714e-03 9.99996993e-01 -5.10580887e-05 -2.24346411e+02] [ 9.99984115e-01 -2.45217469e-03 -5.07502374e-03 -2.79851562e+02] [-5.07513368e-03 -3.86135877e-05 -9.99987121e-01 -1.81252636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 940.026559995 meters 0.013146120978022306 Centerline is valid? [True, True] Translation: X:-224.34, Y:-279.86, Z:-1.81 [[-7.48293173e-02 9.97196280e-01 3.89998172e-04 -2.24339265e+02] [ 9.97179993e-01 7.48303242e-02 -5.69944520e-03 -2.79855546e+02] [-5.71264925e-03 -3.75872189e-05 -9.99983682e-01 -1.81184202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 940.0565599949999 meters 0.0128624931744698 Centerline is valid? [True, True] Translation: X:-224.33, Y:-279.86, Z:-1.81 [[-1.50304193e-01 9.88639292e-01 9.99915393e-04 -2.24332740e+02] [ 9.88616130e-01 1.50307517e-01 -6.76745875e-03 -2.79857798e+02] [-6.84087043e-03 -2.86449421e-05 -9.99976601e-01 -1.81129283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 940.0865599949999 meters 0.012855293467754512 Centerline is valid? [True, True] Translation: X:-224.32, Y:-279.86, Z:-1.81 [[-2.26284077e-01 9.74059929e-01 1.66478534e-03 -2.24324827e+02] [ 9.74032787e-01 2.26290199e-01 -7.27160996e-03 -2.79859913e+02] [-7.45970848e-03 -2.38940393e-05 -9.99972176e-01 -1.81072134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 940.116559995 meters 0.012822827679235009 Centerline is valid? [True, True] Translation: X:-224.32, Y:-279.86, Z:-1.81 [[-3.00582897e-01 9.53752400e-01 2.50639312e-03 -2.24316515e+02] [ 9.53718806e-01 3.00593346e-01 -8.00503270e-03 -2.79861267e+02] [-8.38822424e-03 -1.57816662e-05 -9.99964818e-01 -1.81011727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 940.146559995 meters 0.012822827679235009 Centerline is valid? [True, True] Translation: X:-224.31, Y:-279.86, Z:-1.81 [[-3.74400270e-01 9.27261919e-01 3.12604549e-03 -2.24307625e+02] [ 9.27229246e-01 3.74413319e-01 -7.78403684e-03 -2.79862129e+02] [-8.38827401e-03 -1.57846878e-05 -9.99964818e-01 -1.81011685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 940.1765599949999 meters 0.012844135922058684 Centerline is valid? [True, True] Translation: X:-224.30, Y:-279.86, Z:-1.81 [[-4.43760172e-01 8.96137777e-01 3.74090918e-03 -2.24299454e+02] [ 8.96106012e-01 4.43775939e-01 -7.54525526e-03 -2.79862477e+02] [-8.42171376e-03 3.96744120e-06 -9.99964537e-01 -1.80933082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 940.2065599949999 meters 0.013097311902082477 Centerline is valid? [True, True] Translation: X:-224.29, Y:-279.86, Z:-1.81 [[-5.11511100e-01 8.59266457e-01 4.18923122e-03 -2.24291321e+02] [ 8.59237864e-01 5.11528254e-01 -7.00980754e-03 -2.79861668e+02] [-8.16620263e-03 1.39517219e-05 -9.99966656e-01 -1.80947125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 940.236559995 meters 0.013028649943148311 Centerline is valid? [True, True] Translation: X:-224.28, Y:-279.86, Z:-1.81 [[-5.76746421e-01 8.16911018e-01 4.46708063e-03 -2.24283651e+02] [ 8.16886762e-01 5.76763720e-01 -6.29528758e-03 -2.79860473e+02] [-7.71913983e-03 1.83144490e-05 -9.99970207e-01 -1.80969731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 940.266559995 meters 0.012811942360477849 Centerline is valid? [True, True] Translation: X:-224.28, Y:-279.86, Z:-1.81 [[-6.38651402e-01 7.69481260e-01 4.79347336e-03 -2.24275816e+02] [ 7.69459830e-01 6.38669390e-01 -5.74290792e-03 -2.79858617e+02] [-7.48050474e-03 2.06690022e-05 -9.99972021e-01 -1.81032258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 940.2965599949999 meters 0.012750980929257269 Centerline is valid? [True, True] Translation: X:-224.27, Y:-279.86, Z:-1.81 [[-6.96470110e-01 7.17573297e-01 4.23662670e-03 -2.24268413e+02] [ 7.17560208e-01 6.96482995e-01 -4.33414878e-03 -2.79857504e+02] [-6.06080789e-03 2.14296638e-05 -9.99981633e-01 -1.81165175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 940.3265599949999 meters 0.012588179699001993 Centerline is valid? [True, True] Translation: X:-224.26, Y:-279.85, Z:-1.81 [[-7.50772093e-01 6.60549680e-01 3.92246604e-03 -2.24260035e+02] [ 6.60540782e-01 7.50782339e-01 -3.42862299e-03 -2.79853343e+02] [-5.20969405e-03 1.68343240e-05 -9.99986429e-01 -1.81254367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 940.3565599949999 meters 0.012572641235021402 Centerline is valid? [True, True] Translation: X:-224.24, Y:-279.83, Z:-1.81 [[-7.96249097e-01 6.04961943e-01 2.90230509e-03 -2.24239293e+02] [ 6.04957962e-01 7.96254386e-01 -2.19471390e-03 -2.79833102e+02] [-3.63869155e-03 8.23361032e-06 -9.99993380e-01 -1.81336159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 940.386559995 meters 0.012477466643298189 Centerline is valid? [True, True] Translation: X:-223.80, Y:-279.26, Z:-2.77 [[-7.55464561e-01 -6.55185366e-01 2.33108613e-03 -2.23795772e+02] [ 6.55182088e-01 -7.55468156e-01 -2.07296246e-03 -2.79256328e+02] [ 3.11923601e-03 -3.87637988e-05 9.99995135e-01 -2.77051246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 940.416559995 meters 0.012497940288098903 Centerline is valid? [True, True] Translation: X:-223.81, Y:-279.28, Z:-2.77 [[-7.08408603e-01 -7.05800247e-01 1.80603474e-03 -2.23814485e+02] [ 7.05797967e-01 -7.08410905e-01 -1.79410708e-03 -2.79282427e+02] [ 2.54569592e-03 3.73475519e-06 9.99996760e-01 -2.77051842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 940.4465599949999 meters 0.012813788264165207 Centerline is valid? [True, True] Translation: X:-224.32, Y:-279.79, Z:-1.81 [[-7.61090191e-01 6.48644232e-01 1.54346633e-03 -2.24323178e+02] [ 6.48642870e-01 7.61091756e-01 -1.32936004e-03 -2.79793837e+02] [-2.03700122e-03 -1.06044543e-05 -9.99997925e-01 -1.81387967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 940.4765599949999 meters 0.013317369542966558 Centerline is valid? [True, True] Translation: X:-223.85, Y:-279.26, Z:-2.77 [[-7.05575940e-01 -7.08633674e-01 9.53153717e-04 -2.23854000e+02] [ 7.08632962e-01 -7.05576583e-01 -1.00481295e-03 -2.79259145e+02] [ 1.38456724e-03 -3.35356989e-05 9.99999041e-01 -2.77052201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 940.506559995 meters 0.013979974917222618 Centerline is valid? [True, True] Translation: X:-224.35, Y:-279.76, Z:-1.81 [[-7.69422172e-01 6.38739793e-01 9.98981905e-04 -2.24353506e+02] [ 6.38739223e-01 7.69422821e-01 -8.53358164e-04 -2.79758372e+02] [-1.31371329e-03 -1.85037668e-05 -9.99999137e-01 -1.81335458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 940.536559995 meters 0.014836858998127917 Centerline is valid? [True, True] Translation: X:-223.90, Y:-279.23, Z:-2.77 [[-7.01427775e-01 -7.12739368e-01 1.29256421e-03 -2.23898650e+02] [ 7.12738300e-01 -7.01428963e-01 -1.23500955e-03 -2.79232176e+02] [ 1.78688190e-03 5.49900163e-05 9.99998402e-01 -2.77185264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 940.5665599949999 meters 0.015087505614248285 Centerline is valid? [True, True] Translation: X:-224.38, Y:-279.73, Z:-1.81 [[-7.74974043e-01 6.31990711e-01 1.72458026e-03 -2.24384148e+02] [ 6.31989016e-01 7.74975961e-01 -1.46413874e-03 -2.79726533e+02] [-2.26183032e-03 -4.47537380e-05 -9.99997441e-01 -1.81117638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 940.5965599949999 meters 0.015842554786090386 Centerline is valid? [True, True] Translation: X:-224.37, Y:-279.70, Z:-1.81 [[-8.18845791e-01 5.74008381e-01 2.43900941e-03 -2.24366167e+02] [ 5.74005593e-01 8.18849421e-01 -1.79044008e-03 -2.79702744e+02] [-3.02490905e-03 -6.60892838e-05 -9.99995423e-01 -1.81041591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 940.626559995 meters 0.016114707593258892 Centerline is valid? [True, True] Translation: X:-224.35, Y:-279.68, Z:-1.81 [[-8.58326803e-01 5.13090776e-01 3.59938628e-03 -2.24349776e+02] [ 5.13085768e-01 8.58334344e-01 -2.26913955e-03 -2.79679479e+02] [-4.25375143e-03 -1.00869426e-04 -9.99990948e-01 -1.80893921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 940.656559995 meters 0.01625928450912551 Centerline is valid? [True, True] Translation: X:-224.34, Y:-279.65, Z:-1.81 [[-8.92479893e-01 4.51068903e-01 4.06027084e-03 -2.24341313e+02] [ 4.51063676e-01 8.92489122e-01 -2.17438398e-03 -2.79652884e+02] [-4.60454456e-03 -1.09153292e-04 -9.99989393e-01 -1.80852402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 940.6865599949999 meters 0.01571441649645355 Centerline is valid? [True, True] Translation: X:-224.32, Y:-279.63, Z:-1.81 [[-9.22049955e-01 3.87045112e-01 4.46788244e-03 -2.24322375e+02] [ 3.87039963e-01 9.22060773e-01 -1.99963400e-03 -2.79633172e+02] [-4.89360770e-03 -1.14513380e-04 -9.99988020e-01 -1.80862344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 940.7165599949999 meters 0.015768352035393656 Centerline is valid? [True, True] Translation: X:-224.31, Y:-279.61, Z:-1.81 [[-9.46477236e-01 3.22737918e-01 4.59115518e-03 -2.24311025e+02] [ 3.22733586e-01 9.46488365e-01 -1.67541433e-03 -2.79609030e+02] [-4.88619469e-03 -1.04021545e-04 -9.99988057e-01 -1.80845380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 940.746559995 meters 0.015293857278210048 Centerline is valid? [True, True] Translation: X:-224.07, Y:-278.96, Z:-2.78 [[-9.05763756e-01 -4.23762825e-01 4.13352759e-03 -2.24071218e+02] [ 4.23758787e-01 -9.05773185e-01 -1.85143353e-03 -2.78962992e+02] [ 4.52860715e-03 7.46572454e-05 9.99989743e-01 -2.77597158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 940.776559995 meters 0.014209243103346298 Centerline is valid? [True, True] Translation: X:-224.35, Y:-279.60, Z:-1.81 [[-9.46194287e-01 3.23572540e-01 4.14513415e-03 -2.24351767e+02] [ 3.23569095e-01 9.46203364e-01 -1.49475391e-03 -2.79600114e+02] [-4.40580120e-03 -7.30903056e-05 -9.99990292e-01 -1.80780754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 940.8065599949999 meters 0.014036322720256084 Centerline is valid? [True, True] Translation: X:-224.34, Y:-279.57, Z:-1.81 [[-9.66371953e-01 2.57110267e-01 4.42256804e-03 -2.24344297e+02] [ 2.57107246e-01 9.66382070e-01 -1.24828640e-03 -2.79574969e+02] [-4.59483771e-03 -6.92346787e-05 -9.99989441e-01 -1.80762551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 940.8365599949999 meters 0.013390868316012081 Centerline is valid? [True, True] Translation: X:-224.34, Y:-279.55, Z:-1.81 [[-9.81852136e-01 1.89594419e-01 4.50986851e-03 -2.24337600e+02] [ 1.89592130e-01 9.81862492e-01 -9.33490521e-04 -2.79550936e+02] [-4.60505533e-03 -6.15140836e-05 -9.99989395e-01 -1.80795247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 940.866559995 meters 0.013289954366990344 Centerline is valid? [True, True] Translation: X:-224.33, Y:-279.53, Z:-1.81 [[-9.92642474e-01 1.20996645e-01 4.55314223e-03 -2.24331435e+02] [ 1.20995122e-01 9.92652915e-01 -6.09586893e-04 -2.79525310e+02] [-4.59344787e-03 -5.41938447e-05 -9.99989449e-01 -1.80771731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 940.896559995 meters 0.012850920732718683 Centerline is valid? [True, True] Translation: X:-224.34, Y:-279.50, Z:-1.81 [[-9.98598508e-01 5.26731119e-02 5.15393750e-03 -2.24339479e+02] [ 5.26721604e-02 9.98611807e-01 -3.20270834e-04 -2.79500432e+02] [-5.16365250e-03 -4.83529540e-05 -9.99986667e-01 -1.80710185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 940.9265599949999 meters 0.012729319876171968 Centerline is valid? [True, True] Translation: X:-224.29, Y:-278.78, Z:-2.78 [[-9.90401500e-01 -1.38096922e-01 5.84037265e-03 -2.24287316e+02] [ 1.38095125e-01 -9.90418714e-01 -7.11814388e-04 -2.78784961e+02] [ 5.88271375e-03 1.01544953e-04 9.99982692e-01 -2.77760459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 940.9565599949999 meters 0.012691627728956984 Centerline is valid? [True, True] Translation: X:-224.40, Y:-279.50, Z:-1.81 [[-9.98775843e-01 4.90772218e-02 6.18405725e-03 -2.24398366e+02] [ 4.90759605e-02 9.98794986e-01 -3.55629365e-04 -2.79499919e+02] [-6.19405868e-03 -5.17054696e-05 -9.99980815e-01 -1.80603153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 940.986559995 meters 0.012551897216491179 Centerline is valid? [True, True] Translation: X:-224.40, Y:-279.47, Z:-1.81 [[-9.99729178e-01 -2.20404119e-02 7.46932972e-03 -2.24397957e+02] [-2.20402648e-02 9.99757079e-01 1.02015244e-04 -2.79474992e+02] [-7.46976372e-03 -6.26383896e-05 -9.99972099e-01 -1.80555846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 941.016559995 meters 0.012618734944460195 Centerline is valid? [True, True] Translation: X:-224.40, Y:-279.45, Z:-1.81 [[-9.95706688e-01 -9.22758891e-02 7.30427783e-03 -2.24402511e+02] [-9.22738712e-02 9.95733477e-01 6.13499570e-04 -2.79447804e+02] [-7.32972517e-03 -6.31283670e-05 -9.99973135e-01 -1.80534045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 941.0465599949999 meters 0.01308021142871581 Centerline is valid? [True, True] Translation: X:-224.45, Y:-278.72, Z:-2.78 [[-9.99949727e-01 6.25361675e-03 7.83805503e-03 -2.24452602e+02] [-6.25262357e-03 -9.99980441e-01 1.51211156e-04 -2.78720666e+02] [ 7.83884734e-03 1.02195147e-04 9.99969271e-01 -2.78000710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 941.0765599949999 meters 0.013127409816714473 Centerline is valid? [True, True] Translation: X:-224.49, Y:-279.46, Z:-1.80 [[-9.94872263e-01 -1.00832429e-01 7.87409577e-03 -2.24493821e+02] [-1.00829960e-01 9.94903419e-01 7.10935047e-04 -2.79455538e+02] [-7.90565012e-03 -8.66551998e-05 -9.99968746e-01 -1.80468765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 941.1065599949999 meters 0.013134017328368225 Centerline is valid? [True, True] Translation: X:-224.56, Y:-278.73, Z:-2.78 [[-9.99927274e-01 9.66011971e-03 7.22009152e-03 -2.24556416e+02] [-9.65963593e-03 -9.99953340e-01 1.01874940e-04 -2.78728266e+02] [ 7.22073875e-03 3.21240750e-05 9.99973930e-01 -2.77884033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 941.136559995 meters 0.013841907621909821 Centerline is valid? [True, True] Translation: X:-224.60, Y:-279.46, Z:-1.81 [[-9.93622951e-01 -1.12548144e-01 6.80789986e-03 -2.24598095e+02] [-1.12546276e-01 9.93646266e-01 6.58034208e-04 -2.79461914e+02] [-6.83870481e-03 -1.12365887e-04 -9.99976610e-01 -1.80589898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 941.166559995 meters 0.014224306994109768 Centerline is valid? [True, True] Translation: X:-224.61, Y:-279.43, Z:-1.81 [[-9.82786870e-01 -1.84639492e-01 6.18271246e-03 -2.24607757e+02] [-1.84636559e-01 9.82806311e-01 1.04679624e-03 -2.79433978e+02] [-6.26968875e-03 -1.12777157e-04 -9.99980339e-01 -1.80594946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 941.1965599949999 meters 0.014973170201154498 Centerline is valid? [True, True] Translation: X:-224.63, Y:-279.41, Z:-1.81 [[-9.66654375e-01 -2.56017219e-01 5.87397590e-03 -2.24632061e+02] [-2.56013233e-01 9.66672214e-01 1.43346869e-03 -2.79409192e+02] [-6.04520196e-03 -1.18146785e-04 -9.99981721e-01 -1.80632489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 941.2265599949999 meters 0.01544208882258936 Centerline is valid? [True, True] Translation: X:-224.67, Y:-279.39, Z:-1.81 [[-9.44809397e-01 -3.27579701e-01 5.17137649e-03 -2.24665206e+02] [-3.27575485e-01 9.44823542e-01 1.66619091e-03 -2.79388339e+02] [-5.43184857e-03 -1.19783332e-04 -9.99985240e-01 -1.80724041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 941.256559995 meters 0.015823673640413073 Centerline is valid? [True, True] Translation: X:-224.73, Y:-279.38, Z:-1.81 [[-9.18144104e-01 -3.96209744e-01 5.40764894e-03 -2.24725226e+02] [-3.96203709e-01 9.18160020e-01 2.19073553e-03 -2.79379393e+02] [-5.83307783e-03 -1.31119654e-04 -9.99982979e-01 -1.80665978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 941.286559995 meters 0.015330870044190432 Centerline is valid? [True, True] Translation: X:-224.78, Y:-279.38, Z:-1.81 [[-8.85912704e-01 -4.63819483e-01 5.49261507e-03 -2.24784020e+02] [-4.63811563e-01 8.85929719e-01 2.71432988e-03 -2.79375719e+02] [-6.12503000e-03 -1.42879057e-04 -9.99981232e-01 -1.80672786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 941.3165599949999 meters 0.01549751085479994 Centerline is valid? [True, True] Translation: X:-224.86, Y:-279.38, Z:-1.81 [[-8.48932691e-01 -5.28472614e-01 5.47554169e-03 -2.24858731e+02] [-5.28462749e-01 8.48950336e-01 3.23248248e-03 -2.79383279e+02] [-6.35674143e-03 -1.49459762e-04 -9.99979785e-01 -1.80613087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 941.3465599949999 meters 0.01596730561683525 Centerline is valid? [True, True] Translation: X:-224.94, Y:-279.40, Z:-1.81 [[-8.06833659e-01 -5.90751981e-01 5.61642069e-03 -2.24939109e+02] [-5.90739063e-01 8.06853190e-01 3.91016525e-03 -2.79399935e+02] [-6.84156482e-03 -1.62986158e-04 -9.99976583e-01 -1.80552552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 941.376559995 meters 0.015548818694738549 Centerline is valid? [True, True] Translation: X:-225.02, Y:-279.43, Z:-1.81 [[-7.60301434e-01 -6.49548593e-01 5.32491360e-03 -2.25020873e+02] [-6.49534139e-01 7.60320064e-01 4.33620142e-03 -2.79427574e+02] [-6.86521218e-03 -1.61893010e-04 -9.99976421e-01 -1.80559744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 941.406559995 meters 0.01586744858066136 Centerline is valid? [True, True] Translation: X:-225.11, Y:-279.47, Z:-1.81 [[-7.09404649e-01 -7.04777988e-01 5.74732387e-03 -2.25107975e+02] [-7.04756931e-01 7.09427906e-01 5.45110935e-03 -2.79465796e+02] [-7.91913382e-03 -1.83424023e-04 -9.99968627e-01 -1.80512725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 941.4365599949999 meters 0.015715390759438813 Centerline is valid? [True, True] Translation: X:-225.19, Y:-279.51, Z:-1.80 [[-6.54488006e-01 -7.56050722e-01 5.72325840e-03 -2.25193002e+02] [-7.56024343e-01 6.54513001e-01 6.31862417e-03 -2.79513304e+02] [-8.52314740e-03 -1.91458942e-04 -9.99963659e-01 -1.80473962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 941.4665599949999 meters 0.015488473750971633 Centerline is valid? [True, True] Translation: X:-225.28, Y:-279.57, Z:-1.80 [[-5.95740382e-01 -8.03159170e-01 5.36139010e-03 -2.25279265e+02] [-8.03129468e-01 5.95764477e-01 6.90988105e-03 -2.79572969e+02] [-8.74386009e-03 -1.89395195e-04 -9.99961754e-01 -1.80453823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 941.496559995 meters 0.014646740118798745 Centerline is valid? [True, True] Translation: X:-225.36, Y:-279.64, Z:-1.80 [[-5.35091504e-01 -8.44779512e-01 4.96575873e-03 -2.25360199e+02] [-8.44746048e-01 5.35114518e-01 7.52110552e-03 -2.79641078e+02] [-9.01092544e-03 -1.70325398e-04 -9.99959386e-01 -1.80480577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 941.526559995 meters 0.014155346085506863 Centerline is valid? [True, True] Translation: X:-225.44, Y:-279.72, Z:-1.81 [[-4.70290175e-01 -8.82500605e-01 4.45343452e-03 -2.25436458e+02] [-8.82464188e-01 4.70311233e-01 8.01876058e-03 -2.79716044e+02] [-9.17106135e-03 -1.58852166e-04 -9.99957932e-01 -1.80528864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 941.5565599949999 meters 0.013746379639718958 Centerline is valid? [True, True] Translation: X:-225.51, Y:-279.80, Z:-1.81 [[-4.03314004e-01 -9.15054079e-01 3.72118611e-03 -2.25507883e+02] [-9.15018215e-01 4.03331147e-01 8.10261520e-03 -2.79798694e+02] [-8.91520135e-03 -1.37054895e-04 -9.99960250e-01 -1.80558261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 941.5865599949999 meters 0.013336521187344694 Centerline is valid? [True, True] Translation: X:-225.57, Y:-279.89, Z:-1.81 [[-3.33816032e-01 -9.42633717e-01 2.92116217e-03 -2.25573797e+02] [-9.42600516e-01 3.33828794e-01 7.91228324e-03 -2.79890617e+02] [-8.43355300e-03 -1.12241978e-04 -9.99964431e-01 -1.80658111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 941.616559995 meters 0.012281744774962838 Centerline is valid? [True, True] Translation: X:-225.63, Y:-279.99, Z:-1.81 [[-2.64735272e-01 -9.64319250e-01 1.90287206e-03 -2.25630529e+02] [-9.64295964e-01 2.64742104e-01 6.70173889e-03 -2.79990170e+02] [-6.96638617e-03 -6.07451785e-05 -9.99975733e-01 -1.80862797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 941.646559995 meters 0.01212076570932716 Centerline is valid? [True, True] Translation: X:-225.68, Y:-280.09, Z:-1.81 [[-1.91921705e-01 -9.81409413e-01 1.27427979e-03 -2.25681374e+02] [-9.81389259e-01 1.91925930e-01 6.28963103e-03 -2.80088374e+02] [-6.41727043e-03 -4.34477929e-05 -9.99979408e-01 -1.80926773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 941.6765599949999 meters 0.011968916191013096 Centerline is valid? [True, True] Translation: X:-225.73, Y:-280.20, Z:-1.81 [[-1.17452824e-01 -9.93078201e-01 7.21218413e-04 -2.25726486e+02] [-9.93061004e-01 1.17455034e-01 5.84441048e-03 -2.80198056e+02] [-5.88866738e-03 -2.97713665e-05 -9.99982661e-01 -1.80946778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 941.7065599949999 meters 0.01190807128345092 Centerline is valid? [True, True] Translation: X:-225.76, Y:-280.31, Z:-1.81 [[-4.31624453e-02 -9.99068041e-01 2.29424679e-04 -2.25762366e+02] [-9.99055452e-01 4.31630531e-02 5.01549270e-03 -2.80310814e+02] [-5.02072114e-03 -1.27270474e-05 -9.99987396e-01 -1.80984529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 941.736559995 meters 0.011758832504095078 Centerline is valid? [True, True] Translation: X:-225.79, Y:-280.43, Z:-1.81 [[ 3.32875268e-02 -9.99445804e-01 -1.61389869e-04 -2.25790542e+02] [-9.99432653e-01 -3.32879167e-02 5.12713813e-03 -2.80426805e+02] [-5.12966902e-03 -9.37144335e-06 -9.99986843e-01 -1.80979590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 941.766559995 meters 0.01185566021259157 Centerline is valid? [True, True] Translation: X:-225.81, Y:-280.55, Z:-1.81 [[ 1.09978156e-01 -9.93933848e-01 -5.58698707e-04 -2.25809485e+02] [-9.93920659e-01 -1.09979575e-01 5.12027224e-03 -2.80551218e+02] [-5.15065733e-03 -7.81591145e-06 -9.99986735e-01 -1.80931395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 941.7965599949999 meters 0.012029791621108765 Centerline is valid? [True, True] Translation: X:-225.82, Y:-280.67, Z:-1.81 [[ 1.86450732e-01 -9.82463685e-01 -1.11024503e-03 -2.25819404e+02] [-9.82445929e-01 -1.86454037e-01 5.90667368e-03 -2.80673087e+02] [-6.01010206e-03 -1.05479230e-05 -9.99981939e-01 -1.80873335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 941.8265599949999 meters 0.011964261765933957 Centerline is valid? [True, True] Translation: X:-225.82, Y:-280.79, Z:-1.81 [[ 2.62491545e-01 -9.64932925e-01 -1.62465849e-03 -2.25821973e+02] [-9.64914042e-01 -2.62496572e-01 6.03662431e-03 -2.80789220e+02] [-6.25140483e-03 -1.69070431e-05 -9.99980460e-01 -1.80850011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 941.8565599949999 meters 0.01213495031230691 Centerline is valid? [True, True] Translation: X:-225.82, Y:-280.91, Z:-1.81 [[ 3.38735169e-01 -9.40879179e-01 -2.20381397e-03 -2.25815391e+02] [-9.40858556e-01 -3.38742336e-01 6.22960961e-03 -2.80911916e+02] [-6.60783506e-03 -3.67106311e-05 -9.99978168e-01 -1.80824946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 941.886559995 meters 0.012282328612083296 Centerline is valid? [True, True] Translation: X:-225.80, Y:-281.03, Z:-1.81 [[ 4.11867681e-01 -9.11239854e-01 -2.63488041e-03 -2.25799257e+02] [-9.11220453e-01 -4.11876106e-01 5.94645357e-03 -2.81032569e+02] [-6.50388976e-03 -4.81951192e-05 -9.99978848e-01 -1.80829483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 941.916559995 meters 0.012508470442797482 Centerline is valid? [True, True] Translation: X:-225.78, Y:-281.15, Z:-1.81 [[ 4.82389031e-01 -8.75951885e-01 -3.01968692e-03 -2.25775426e+02] [-8.75933950e-01 -4.82398478e-01 5.60560217e-03 -2.81148527e+02] [-6.36693016e-03 -5.90347093e-05 -9.99979729e-01 -1.80841871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 941.9465599949999 meters 0.013294791890121274 Centerline is valid? [True, True] Translation: X:-225.74, Y:-281.26, Z:-1.81 [[ 5.51234139e-01 -8.34343057e-01 -3.54799776e-03 -2.25743705e+02] [-8.34324778e-01 -5.51245550e-01 5.52340534e-03 -2.81263911e+02] [-6.56423287e-03 -8.45071435e-05 -9.99978452e-01 -1.80766709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 941.9765599949999 meters 0.013633290833644037 Centerline is valid? [True, True] Translation: X:-225.70, Y:-281.38, Z:-1.81 [[ 6.14646572e-01 -7.88792374e-01 -4.02270910e-03 -2.25701138e+02] [-7.88774458e-01 -6.14659728e-01 5.31725705e-03 -2.81375494e+02] [-6.66680909e-03 -9.52236274e-05 -9.99977772e-01 -1.80737698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 942.006559995 meters 0.013945713325283417 Centerline is valid? [True, True] Translation: X:-225.66, Y:-281.47, Z:-1.81 [[ 6.74330172e-01 -7.38415564e-01 -4.61238382e-03 -2.25657701e+02] [-7.38397167e-01 -6.74345937e-01 5.21358182e-03 -2.81474469e+02] [-6.96013225e-03 -1.09904384e-04 -9.99975772e-01 -1.80725512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 942.036559995 meters 0.01448096679847336 Centerline is valid? [True, True] Translation: X:-225.61, Y:-281.57, Z:-1.81 [[ 7.29884492e-01 -6.83556379e-01 -4.39369354e-03 -2.25605077e+02] [-6.83543105e-01 -7.29897709e-01 4.26123807e-03 -2.81572040e+02] [-6.11974331e-03 -1.06932652e-04 -9.99981269e-01 -1.80767456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 942.0665599949999 meters 0.01448096679847336 Centerline is valid? [True, True] Translation: X:-225.61, Y:-281.58, Z:-1.81 [[ 7.81069747e-01 -6.24426005e-01 -4.71332331e-03 -2.25606613e+02] [-6.24413804e-01 -7.81083960e-01 3.90486135e-03 -2.81577048e+02] [-6.11979821e-03 -1.06904924e-04 -9.99981268e-01 -1.80767401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 942.0965599949999 meters 0.014235662150197736 Centerline is valid? [True, True] Translation: X:-225.61, Y:-281.58, Z:-1.81 [[ 8.27903037e-01 -5.60852689e-01 -4.56322130e-03 -2.25608790e+02] [-5.60843489e-01 -8.27915606e-01 3.21404831e-03 -2.81584220e+02] [-5.58056977e-03 -1.01667398e-04 -9.99984423e-01 -1.80866781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 942.126559995 meters 0.015188933842481985 Centerline is valid? [True, True] Translation: X:-225.61, Y:-281.59, Z:-1.81 [[ 8.69443340e-01 -4.94013537e-01 -4.34780027e-03 -2.25611924e+02] [-4.94006816e-01 -8.69454206e-01 2.57876049e-03 -2.81592123e+02] [-5.05415583e-03 -9.42431650e-05 -9.99987223e-01 -1.80862902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 942.156559995 meters 0.015855800212550675 Centerline is valid? [True, True] Translation: X:-225.61, Y:-281.60, Z:-1.81 [[ 9.05461288e-01 -4.24415257e-01 -3.39783714e-03 -2.25612023e+02] [-4.24411973e-01 -9.05467661e-01 1.67095365e-03 -2.81596215e+02] [-3.78580987e-03 -7.09010739e-05 -9.99992831e-01 -1.80922371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 942.1865599949999 meters 0.014527710108712184 Centerline is valid? [True, True] Translation: X:-225.61, Y:-281.60, Z:-1.81 [[ 9.35955476e-01 -3.52107900e-01 -2.71547290e-03 -2.25611066e+02] [-3.52106247e-01 -9.35959414e-01 1.08057019e-03 -2.81601437e+02] [-2.92204972e-03 -5.52306129e-05 -9.99995729e-01 -1.81055537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 942.2165599949999 meters 0.014343921721306477 Centerline is valid? [True, True] Translation: X:-225.61, Y:-281.61, Z:-1.81 [[ 9.60481185e-01 -2.78339642e-01 -1.71369090e-03 -2.25611312e+02] [-2.78339139e-01 -9.60482713e-01 5.30363233e-04 -2.81609103e+02] [-1.79359160e-03 -3.24166574e-05 -9.99998391e-01 -1.81119988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 942.246559995 meters 0.013947048419941675 Centerline is valid? [True, True] Translation: X:-225.61, Y:-281.62, Z:-1.81 [[ 9.79060143e-01 -2.03570828e-01 -3.92079293e-04 -2.25610746e+02] [-2.03570809e-01 -9.79060222e-01 8.73661475e-05 -2.81617132e+02] [-4.01654440e-04 -5.72081396e-06 -9.99999919e-01 -1.81179748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 942.276559995 meters 0.01388093962058129 Centerline is valid? [True, True] Translation: X:-225.61, Y:-281.62, Z:-1.81 [[ 9.91892717e-01 -1.27077727e-01 -2.97747901e-04 -2.25610051e+02] [-1.27077720e-01 -9.91892762e-01 4.19271686e-05 -2.81624717e+02] [-3.00661998e-04 -3.75012870e-06 -9.99999955e-01 -1.81186354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 942.3065599949999 meters 0.013701494830651483 Centerline is valid? [True, True] Translation: X:-225.61, Y:-281.63, Z:-1.81 [[ 9.98764602e-01 -4.96893800e-02 -4.85722102e-04 -2.25611718e+02] [-4.96893709e-02 -9.98764720e-01 3.07776594e-05 -2.81631578e+02] [-4.86651423e-04 -6.60441111e-06 -9.99999882e-01 -1.81107368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 942.3365599949999 meters 0.013081340516927399 Centerline is valid? [True, True] Translation: X:-225.61, Y:-281.64, Z:-1.81 [[ 9.99639546e-01 2.67937851e-02 -1.69449766e-03 -2.25613348e+02] [ 2.67937859e-02 -9.99640982e-01 -2.22263308e-05 -2.81639178e+02] [-1.69448483e-03 -2.31836883e-05 -9.99998564e-01 -1.80925682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 942.366559995 meters 0.01307030347166802 Centerline is valid? [True, True] Translation: X:-225.61, Y:-281.65, Z:-1.81 [[ 9.94583687e-01 1.03909146e-01 -2.48562098e-03 -2.25614761e+02] [ 1.03908902e-01 -9.94586793e-01 -2.27422220e-04 -2.81647222e+02] [-2.49579705e-03 -3.20877178e-05 -9.99996885e-01 -1.80835836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 942.396559995 meters 0.012933011212413623 Centerline is valid? [True, True] Translation: X:-225.62, Y:-281.65, Z:-1.81 [[ 9.83570285e-01 1.80501692e-01 -2.93820896e-03 -2.25615517e+02] [ 1.80500995e-01 -9.83574673e-01 -5.02760170e-04 -2.81653575e+02] [-2.98069698e-03 -3.58496784e-05 -9.99995557e-01 -1.80771647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 942.4265599949999 meters 0.0127527120762101 Centerline is valid? [True, True] Translation: X:-225.62, Y:-281.66, Z:-1.81 [[ 9.66692066e-01 2.55920919e-01 -3.30665744e-03 -2.25615759e+02] [ 2.55919554e-01 -9.66697720e-01 -8.36475296e-04 -2.81659145e+02] [-3.41060974e-03 -3.76242672e-05 -9.99994183e-01 -1.80703887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 942.4565599949999 meters 0.012457889629931034 Centerline is valid? [True, True] Translation: X:-225.62, Y:-281.66, Z:-1.81 [[ 9.44348380e-01 3.28920492e-01 -4.17702737e-03 -2.25616773e+02] [ 3.28917462e-01 -9.44357617e-01 -1.41233183e-03 -2.81663405e+02] [-4.40915249e-03 -4.01639601e-05 -9.99990279e-01 -1.80649233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 942.486559995 meters 0.012370914697144901 Centerline is valid? [True, True] Translation: X:-225.62, Y:-281.67, Z:-1.81 [[ 9.16137321e-01 4.00839686e-01 -4.46707532e-03 -2.25617198e+02] [ 4.00835129e-01 -9.16148211e-01 -1.91175804e-03 -2.81667578e+02] [-4.85881155e-03 -3.91278267e-05 -9.99988195e-01 -1.80601347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 942.516559995 meters 0.01204767825591336 Centerline is valid? [True, True] Translation: X:-225.61, Y:-281.67, Z:-1.81 [[ 8.82907028e-01 4.69521198e-01 -5.00252078e-03 -2.25614902e+02] [ 4.69513880e-01 -8.82921199e-01 -2.62160810e-03 -2.81674060e+02] [-5.64773222e-03 -3.41167254e-05 -9.99984051e-01 -1.80583554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 942.5465599949999 meters 0.011946496695598606 Centerline is valid? [True, True] Translation: X:-225.61, Y:-281.68, Z:-1.81 [[ 8.44007909e-01 5.36307475e-01 -4.99425926e-03 -2.25613027e+02] [ 5.36298291e-01 -8.44022684e-01 -3.13866939e-03 -2.81681762e+02] [-5.89855996e-03 -2.93509222e-05 -9.99982603e-01 -1.80541788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 942.5765599949999 meters 0.01180945164810319 Centerline is valid? [True, True] Translation: X:-225.61, Y:-281.69, Z:-1.81 [[ 8.00088226e-01 5.99866052e-01 -4.42154015e-03 -2.25609611e+02] [ 5.99857039e-01 -8.00100443e-01 -3.28837869e-03 -2.81688997e+02] [-5.51026297e-03 -2.12989133e-05 -9.99984818e-01 -1.80569136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 942.6065599949999 meters 0.011693835052503602 Centerline is valid? [True, True] Translation: X:-225.61, Y:-281.70, Z:-1.81 [[ 7.52467301e-01 6.58620804e-01 -3.40556975e-03 -2.25606543e+02] [ 6.58614089e-01 -7.52475007e-01 -2.97413396e-03 -2.81695634e+02] [-4.52143262e-03 -5.01766715e-06 -9.99989778e-01 -1.80607575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 942.636559995 meters 0.01169742419529234 Centerline is valid? [True, True] Translation: X:-225.60, Y:-281.70, Z:-1.81 [[ 6.99580910e-01 7.14547046e-01 -3.01164639e-03 -2.25602634e+02] [ 7.14540417e-01 -6.99587392e-01 -3.07778468e-03 -2.81701838e+02] [-4.30613179e-03 1.21634111e-06 -9.99990729e-01 -1.80646278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 942.666559995 meters 0.011959057013409038 Centerline is valid? [True, True] Translation: X:-225.60, Y:-281.71, Z:-1.81 [[ 6.42587401e-01 7.66208647e-01 -2.39618132e-03 -2.25599968e+02] [ 7.66203282e-01 -6.42591869e-01 -2.86718870e-03 -2.81708308e+02] [-3.73663141e-03 6.45734179e-06 -9.99993019e-01 -1.80647793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 942.6965599949999 meters 0.011851671958495704 Centerline is valid? [True, True] Translation: X:-225.60, Y:-281.71, Z:-1.81 [[ 5.82235847e-01 8.13018437e-01 -1.56210468e-03 -2.25597369e+02] [ 8.13015462e-01 -5.82237943e-01 -2.19913477e-03 -2.81713697e+02] [-2.69745373e-03 1.03998397e-05 -9.99996362e-01 -1.80754579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 942.7265599949999 meters 0.011949983981402358 Centerline is valid? [True, True] Translation: X:-225.59, Y:-281.72, Z:-1.81 [[ 5.17472923e-01 8.55698552e-01 -1.32738918e-03 -2.25592813e+02] [ 8.55695677e-01 -5.17474625e-01 -2.21835831e-03 -2.81719418e+02] [-2.58513621e-03 1.20991749e-05 -9.99996659e-01 -1.80783748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 942.756559995 meters 0.01201188030149209 Centerline is valid? [True, True] Translation: X:-225.59, Y:-281.73, Z:-1.81 [[ 4.49278019e-01 8.93391478e-01 -9.64019591e-04 -2.25586653e+02] [ 8.93389367e-01 -4.49279053e-01 -1.94214278e-03 -2.81726359e+02] [-2.16820762e-03 1.13172112e-05 -9.99997650e-01 -1.80831496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 942.786559995 meters 0.012002785267289522 Centerline is valid? [True, True] Translation: X:-225.58, Y:-281.73, Z:-1.81 [[ 3.78233951e-01 9.25709893e-01 -5.21930570e-04 -2.25579331e+02] [ 9.25708982e-01 -3.78234311e-01 -1.29913756e-03 -2.81732491e+02] [-1.40003654e-03 8.22211588e-06 -9.99999020e-01 -1.80884074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 942.8165599949999 meters 0.012167565755160923 Centerline is valid? [True, True] Translation: X:-225.57, Y:-281.74, Z:-1.81 [[ 3.04661017e-01 9.52460739e-01 -4.52496359e-04 -2.25571532e+02] [ 9.52459645e-01 -3.04661353e-01 -1.44391136e-03 -2.81738860e+02] [-1.51312704e-03 8.91898331e-06 -9.99998855e-01 -1.80860362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 942.8465599949999 meters 0.012036793754996129 Centerline is valid? [True, True] Translation: X:-225.56, Y:-281.75, Z:-1.81 [[ 2.28955073e-01 9.73436886e-01 -4.52268375e-04 -2.25563922e+02] [ 9.73434889e-01 -2.28955519e-01 -1.97183604e-03 -2.81745418e+02] [-2.02300727e-03 1.12080480e-05 -9.99997954e-01 -1.80727357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 942.876559995 meters 0.01200438139112004 Centerline is valid? [True, True] Translation: X:-225.56, Y:-281.75, Z:-1.81 [[ 1.51935342e-01 9.88390392e-01 -2.92680987e-04 -2.25556578e+02] [ 9.88388417e-01 -1.51935623e-01 -1.97588252e-03 -2.81749788e+02] [-1.99741196e-03 1.09238878e-05 -9.99998005e-01 -1.80677969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 942.906559995 meters 0.012041505661945074 Centerline is valid? [True, True] Translation: X:-225.55, Y:-281.75, Z:-1.81 [[ 7.41464347e-02 9.97247353e-01 -1.49654901e-04 -2.25549615e+02] [ 9.97244984e-01 -7.41465847e-02 -2.17410080e-03 -2.81753362e+02] [-2.17921267e-03 1.19592233e-05 -9.99997626e-01 -1.80617979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 942.9365599949999 meters 0.012124365810945628 Centerline is valid? [True, True] Translation: X:-225.54, Y:-281.76, Z:-1.81 [[-4.31423763e-03 9.99990694e-01 1.96625908e-05 -2.25543482e+02] [ 9.99988654e-01 4.31426854e-03 -2.01977329e-03 -2.81757954e+02] [-2.01983932e-03 1.09485858e-05 -9.99997960e-01 -1.80551284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 942.9665599949999 meters 0.012016817826683486 Centerline is valid? [True, True] Translation: X:-225.53, Y:-281.76, Z:-1.81 [[-8.32491893e-02 9.96528740e-01 2.08201194e-04 -2.25533289e+02] [ 9.96525952e-01 8.32494489e-02 -2.35741458e-03 -2.81760902e+02] [-2.36656401e-03 1.12250401e-05 -9.99997200e-01 -1.80537666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 942.996559995 meters 0.011948884887361975 Centerline is valid? [True, True] Translation: X:-225.52, Y:-281.76, Z:-1.81 [[-1.61475301e-01 9.86876654e-01 4.42997592e-04 -2.25523241e+02] [ 9.86873132e-01 1.61475908e-01 -2.63682528e-03 -2.81762549e+02] [-2.67375475e-03 1.14002654e-05 -9.99996426e-01 -1.80520351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 943.026559995 meters 0.011993203012452196 Centerline is valid? [True, True] Translation: X:-225.51, Y:-281.77, Z:-1.80 [[-2.39694014e-01 9.70848224e-01 7.11297755e-04 -2.25512725e+02] [ 9.70844050e-01 2.39695069e-01 -2.84687072e-03 -2.81765144e+02] [-2.93437394e-03 8.18132493e-06 -9.99995695e-01 -1.80426778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 943.0565599949999 meters 0.011939611924951861 Centerline is valid? [True, True] Translation: X:-225.50, Y:-281.77, Z:-1.80 [[-3.16255238e-01 9.48673646e-01 9.68744727e-04 -2.25504394e+02] [ 9.48669239e-01 3.16256722e-01 -2.89168789e-03 -2.81767729e+02] [-3.04964013e-03 4.50688064e-06 -9.99995350e-01 -1.80386143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 943.0865599949999 meters 0.011985817001524504 Centerline is valid? [True, True] Translation: X:-225.49, Y:-281.77, Z:-1.80 [[-3.90570240e-01 9.20572322e-01 1.21954077e-03 -2.25494455e+02] [ 9.20567845e-01 3.90572144e-01 -2.87115341e-03 -2.81767403e+02] [-3.11942302e-03 1.28294703e-06 -9.99995135e-01 -1.80392514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 943.116559995 meters 0.011982565323407853 Centerline is valid? [True, True] Translation: X:-225.48, Y:-281.77, Z:-1.80 [[-4.64094871e-01 8.85784577e-01 1.27811076e-03 -2.25483916e+02] [ 8.85781177e-01 4.64096631e-01 -2.45423136e-03 -2.81765983e+02] [-2.76708719e-03 -6.86973395e-06 -9.99996172e-01 -1.80412514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 943.146559995 meters 0.012020302743064466 Centerline is valid? [True, True] Translation: X:-225.47, Y:-281.76, Z:-1.80 [[-5.33272105e-01 8.45942736e-01 1.32249065e-03 -2.25474717e+02] [ 8.45940090e-01 5.33273745e-01 -2.11600797e-03 -2.81763538e+02] [-2.49527111e-03 -9.66017015e-06 -9.99996887e-01 -1.80417162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 943.1765599949999 meters 0.012479497420128334 Centerline is valid? [True, True] Translation: X:-225.46, Y:-281.76, Z:-1.80 [[-6.00840637e-01 7.99368109e-01 1.07462283e-03 -2.25464171e+02] [ 7.99366791e-01 6.00841598e-01 -1.45190461e-03 -2.81761154e+02] [-1.80628435e-03 -1.33454865e-05 -9.99998369e-01 -1.80375197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 943.2065599949999 meters 0.013157916232394614 Centerline is valid? [True, True] Translation: X:-225.46, Y:-281.76, Z:-1.80 [[-6.64184714e-01 7.47567703e-01 1.09343150e-03 -2.25455543e+02] [ 7.47566645e-01 6.64185614e-01 -1.25773363e-03 -2.81757989e+02] [-1.66648251e-03 -1.79545371e-05 -9.99998611e-01 -1.80292331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 943.236559995 meters 0.013157916232394614 Centerline is valid? [True, True] Translation: X:-225.45, Y:-281.76, Z:-1.80 [[-7.20704735e-01 6.93241135e-01 1.18862862e-03 -2.25450373e+02] [ 6.93240151e-01 7.20705715e-01 -1.16825080e-03 -2.81756697e+02] [-1.66653095e-03 -1.79588032e-05 -9.99998611e-01 -1.80292289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 943.266559995 meters 0.013380930330682243 Centerline is valid? [True, True] Translation: X:-224.96, Y:-281.26, Z:-2.78 [[-6.54031683e-01 -7.56466660e-01 8.66435577e-04 -2.24956211e+02] [ 7.56465984e-01 -6.54032257e-01 -1.01137680e-03 -2.81258588e+02] [ 1.33174965e-03 -6.04343183e-06 9.99999113e-01 -2.78133444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 943.2965599949999 meters 0.01368447147746637 Centerline is valid? [True, True] Translation: X:-224.98, Y:-281.24, Z:-2.78 [[-6.52218805e-01 -7.58030514e-01 6.09011101e-04 -2.24975490e+02] [ 7.58030204e-01 -6.52219089e-01 -6.85629685e-04 -2.81237785e+02] [ 9.16936889e-04 1.44682358e-05 9.99999580e-01 -2.78062982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 943.3265599949999 meters 0.014116426434095296 Centerline is valid? [True, True] Translation: X:-224.99, Y:-281.22, Z:-2.78 [[-6.51483801e-01 -7.58662270e-01 6.46319566e-04 -2.24993933e+02] [ 7.58661921e-01 -6.51484121e-01 -7.27194636e-04 -2.81218357e+02] [ 9.72762069e-04 1.65825185e-05 9.99999527e-01 -2.78044297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 943.3565599949999 meters 0.01523242258058521 Centerline is valid? [True, True] Translation: X:-225.01, Y:-281.20, Z:-2.78 [[-6.50039332e-01 -7.59900381e-01 5.26267815e-04 -2.25013594e+02] [ 7.59900151e-01 -6.50039545e-01 -5.91851054e-04 -2.81200331e+02] [ 7.91842734e-04 1.51845280e-05 9.99999687e-01 -2.78038951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 943.386559995 meters 0.015055166351414927 Centerline is valid? [True, True] Translation: X:-225.03, Y:-281.18, Z:-2.78 [[-6.49708898e-01 -7.60182848e-01 6.21049462e-04 -2.25031965e+02] [ 7.60182527e-01 -6.49709195e-01 -6.98006695e-04 -2.81180724e+02] [ 9.34114264e-04 1.86097885e-05 9.99999564e-01 -2.78086363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 943.416559995 meters 0.01511953269379521 Centerline is valid? [True, True] Translation: X:-225.05, Y:-281.16, Z:-2.78 [[-6.49243101e-01 -7.60580600e-01 7.39637158e-04 -2.25050563e+02] [ 7.60580147e-01 -6.49243522e-01 -8.30759274e-04 -2.81160896e+02] [ 1.11206402e-03 2.31886116e-05 9.99999382e-01 -2.78148074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 943.4465599949999 meters 0.015537090974914073 Centerline is valid? [True, True] Translation: X:-225.07, Y:-281.14, Z:-2.78 [[-6.48868356e-01 -7.60899903e-01 1.09256012e-03 -2.25069363e+02] [ 7.60898916e-01 -6.48869275e-01 -1.22638378e-03 -2.81141749e+02] [ 1.64208399e-03 3.55661823e-05 9.99998651e-01 -2.78229529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 943.4765599949999 meters 0.01626158848237674 Centerline is valid? [True, True] Translation: X:-225.09, Y:-281.12, Z:-2.78 [[-6.49170681e-01 -7.60641508e-01 1.38662415e-03 -2.25087487e+02] [ 7.60639919e-01 -6.49172161e-01 -1.55543415e-03 -2.81123150e+02] [ 2.08328558e-03 4.49794342e-05 9.99997829e-01 -2.78223688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 943.506559995 meters 0.01659343795669743 Centerline is valid? [True, True] Translation: X:-225.11, Y:-281.10, Z:-2.78 [[-6.49643885e-01 -7.60237385e-01 1.39339527e-03 -2.25105237e+02] [ 7.60235781e-01 -6.49645378e-01 -1.56203627e-03 -2.81103592e+02] [ 2.09273117e-03 4.45416290e-05 9.99997809e-01 -2.78246760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 943.536559995 meters 0.014944005178858124 Centerline is valid? [True, True] Translation: X:-225.12, Y:-281.08, Z:-2.78 [[-6.50320460e-01 -7.59658851e-01 1.31527475e-03 -2.25121103e+02] [ 7.59657423e-01 -6.50321788e-01 -1.47361938e-03 -2.81080335e+02] [ 1.97479983e-03 4.08333953e-05 9.99998049e-01 -2.78224242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 943.5665599949999 meters 0.014625811884223057 Centerline is valid? [True, True] Translation: X:-225.14, Y:-281.06, Z:-2.78 [[-6.51595098e-01 -7.58565877e-01 1.27994382e-03 -2.25138081e+02] [ 7.58564524e-01 -6.51596354e-01 -1.43321953e-03 -2.81058356e+02] [ 1.92119815e-03 3.70411508e-05 9.99998154e-01 -2.78225194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 943.5965599949999 meters 0.014513319280959005 Centerline is valid? [True, True] Translation: X:-225.16, Y:-281.04, Z:-2.78 [[-6.53275298e-01 -7.57119344e-01 1.29791447e-03 -2.25155806e+02] [ 7.57117951e-01 -6.53276586e-01 -1.45251713e-03 -2.81037398e+02] [ 1.94762595e-03 3.37807844e-05 9.99998103e-01 -2.78259141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 943.626559995 meters 0.014110241607576582 Centerline is valid? [True, True] Translation: X:-225.17, Y:-281.02, Z:-2.78 [[-6.53977982e-01 -7.56512163e-01 1.46518811e-03 -2.25173419e+02] [ 7.56510389e-01 -6.53979622e-01 -1.63878799e-03 -2.81015239e+02] [ 2.19796622e-03 3.66987679e-05 9.99997584e-01 -2.78300476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 943.656559995 meters 0.014270830138599502 Centerline is valid? [True, True] Translation: X:-225.19, Y:-281.00, Z:-2.78 [[-6.54836547e-01 -7.55768858e-01 1.59033634e-03 -2.25190935e+02] [ 7.55766769e-01 -6.54838477e-01 -1.77758019e-03 -2.80995061e+02] [ 2.38485319e-03 3.78988837e-05 9.99997156e-01 -2.78325918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 943.6865599949999 meters 0.013712594827160786 Centerline is valid? [True, True] Translation: X:-225.21, Y:-280.97, Z:-2.78 [[-6.55947689e-01 -7.54804461e-01 1.68990645e-03 -2.25208008e+02] [ 7.54802101e-01 -6.55949864e-01 -1.88780056e-03 -2.80972892e+02] [ 2.53341419e-03 3.72465250e-05 9.99996790e-01 -2.78322860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 943.7165599949999 meters 0.01339232171372943 Centerline is valid? [True, True] Translation: X:-225.23, Y:-280.95, Z:-2.78 [[-6.57618560e-01 -7.53348887e-01 1.81243579e-03 -2.25225042e+02] [ 7.53346170e-01 -6.57621056e-01 -2.02339579e-03 -2.80951292e+02] [ 2.71621890e-03 3.47689359e-05 9.99996311e-01 -2.78398782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 943.746559995 meters 0.013754622737104948 Centerline is valid? [True, True] Translation: X:-225.24, Y:-280.93, Z:-2.78 [[-6.58739742e-01 -7.52368143e-01 2.03220709e-03 -2.25243196e+02] [ 7.52364727e-01 -6.58742876e-01 -2.26724229e-03 -2.80932099e+02] [ 3.04450282e-03 3.54383271e-05 9.99995365e-01 -2.78451616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 943.776559995 meters 0.01307313530982051 Centerline is valid? [True, True] Translation: X:-225.26, Y:-280.91, Z:-2.78 [[-6.59733885e-01 -7.51496481e-01 2.05919739e-03 -2.25259430e+02] [ 7.51492974e-01 -6.59737098e-01 -2.29590877e-03 -2.80910060e+02] [ 3.08389627e-03 3.27835552e-05 9.99995244e-01 -2.78436593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 943.8065599949999 meters 0.012766545384551246 Centerline is valid? [True, True] Translation: X:-225.28, Y:-280.89, Z:-2.79 [[-6.61201713e-01 -7.50204780e-01 2.25457438e-03 -2.25276538e+02] [ 7.50200575e-01 -6.61205556e-01 -2.51216422e-03 -2.80888757e+02] [ 3.37537472e-03 3.03357128e-05 9.99994303e-01 -2.78530054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 943.8365599949999 meters 0.01278781048915231 Centerline is valid? [True, True] Translation: X:-225.29, Y:-280.87, Z:-2.79 [[-6.61836336e-01 -7.49644380e-01 2.44303402e-03 -2.25294292e+02] [ 7.49639444e-01 -6.61840844e-01 -2.72044828e-03 -2.80868321e+02] [ 3.65626846e-03 3.09031438e-05 9.99993316e-01 -2.78608621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 943.866559995 meters 0.012624548399936918 Centerline is valid? [True, True] Translation: X:-225.31, Y:-280.85, Z:-2.79 [[-6.62986690e-01 -7.48624917e-01 3.06316419e-03 -2.25310464e+02] [ 7.48617157e-01 -6.62993766e-01 -3.40875434e-03 -2.80847911e+02] [ 4.58273719e-03 3.31785092e-05 9.99989499e-01 -2.78700701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 943.896559995 meters 0.012576027361744345 Centerline is valid? [True, True] Translation: X:-225.33, Y:-280.83, Z:-2.79 [[-6.63486727e-01 -7.48181561e-01 3.11686913e-03 -2.25328277e+02] [ 7.48173532e-01 -6.63494047e-01 -3.46633528e-03 -2.80826712e+02] [ 4.66147226e-03 3.20915316e-05 9.99989135e-01 -2.78673787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 943.9265599949999 meters 0.012618215281071538 Centerline is valid? [True, True] Translation: X:-225.35, Y:-280.81, Z:-2.79 [[-6.63907702e-01 -7.47808546e-01 2.99045583e-03 -2.25346318e+02] [ 7.47801159e-01 -6.63914436e-01 -3.32386433e-03 -2.80805740e+02] [ 4.47102094e-03 2.95272103e-05 9.99990005e-01 -2.78691240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 943.9565599949999 meters 0.012618215281071538 Centerline is valid? [True, True] Translation: X:-225.36, Y:-280.79, Z:-2.79 [[-6.64118214e-01 -7.47621595e-01 2.99139152e-03 -2.25364824e+02] [ 7.47614211e-01 -6.64124950e-01 -3.32302225e-03 -2.80785276e+02] [ 4.47102094e-03 2.95272127e-05 9.99990005e-01 -2.78691192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 943.986559995 meters 0.012516766838755095 Centerline is valid? [True, True] Translation: X:-225.38, Y:-280.76, Z:-2.79 [[-6.64526123e-01 -7.47261066e-01 2.43535462e-03 -2.25383385e+02] [ 7.47256175e-01 -6.64530585e-01 -2.70381556e-03 -2.80763808e+02] [ 3.63882372e-03 2.30777070e-05 9.99993379e-01 -2.78629905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 944.016559995 meters 0.012512594478456878 Centerline is valid? [True, True] Translation: X:-225.40, Y:-280.74, Z:-2.79 [[-6.64470308e-01 -7.47311277e-01 2.25052999e-03 -2.25402659e+02] [ 7.47307105e-01 -6.64474119e-01 -2.49720180e-03 -2.80742778e+02] [ 3.36160600e-03 2.25206014e-05 9.99994350e-01 -2.78552891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 944.0465599949999 meters 0.012468928240126782 Centerline is valid? [True, True] Translation: X:-225.42, Y:-280.72, Z:-2.79 [[-6.64474033e-01 -7.47309561e-01 1.63705819e-03 -2.25421820e+02] [ 7.47307356e-01 -6.64476049e-01 -1.81545741e-03 -2.80722558e+02] [ 2.44449464e-03 1.70613271e-05 9.99997012e-01 -2.78526967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 944.0765599949999 meters 0.012538636545927486 Centerline is valid? [True, True] Translation: X:-225.44, Y:-280.70, Z:-2.78 [[-6.63903052e-01 -7.47818280e-01 7.47354885e-04 -2.25441196e+02] [ 7.47817821e-01 -6.63903472e-01 -8.28455888e-04 -2.80704185e+02] [ 1.11570596e-03 8.87090854e-06 9.99999378e-01 -2.78429321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 944.1065599949999 meters 0.012637737728546468 Centerline is valid? [True, True] Translation: X:-225.46, Y:-280.68, Z:-2.78 [[-6.63681670e-01 -7.48015132e-01 5.91122693e-05 -2.25460541e+02] [ 7.48015129e-01 -6.63681673e-01 -6.54931944e-05 -2.80684681e+02] [ 8.82216314e-05 7.50239146e-07 9.99999996e-01 -2.78394046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 944.136559995 meters 0.012741391095350846 Centerline is valid? [True, True] Translation: X:-225.48, Y:-280.67, Z:-2.78 [[-6.63403947e-01 -7.48261397e-01 -2.93060000e-04 -2.25479906e+02] [ 7.48261326e-01 -6.63404011e-01 3.24430177e-04 -2.80666191e+02] [-4.37175755e-04 -4.05720458e-06 9.99999905e-01 -2.78379936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 944.166559995 meters 0.012926233844831724 Centerline is valid? [True, True] Translation: X:-225.50, Y:-280.65, Z:-2.78 [[-6.62533923e-01 -7.49031860e-01 -2.71267488e-04 -2.25500738e+02] [ 7.49031800e-01 -6.62533979e-01 3.00115651e-04 -2.80648126e+02] [-4.04520111e-04 -4.35117528e-06 9.99999918e-01 -2.78455101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 944.1965599949999 meters 0.013098158729250442 Centerline is valid? [True, True] Translation: X:-225.52, Y:-280.63, Z:-2.79 [[-6.62136768e-01 -7.49383007e-01 -9.89833697e-05 -2.25519389e+02] [ 7.49382999e-01 -6.62136775e-01 1.09453283e-04 -2.80630136e+02] [-1.47562958e-04 -1.70341135e-06 9.99999989e-01 -2.78539737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 944.2265599949999 meters 0.013362432564598027 Centerline is valid? [True, True] Translation: X:-225.54, Y:-280.61, Z:-2.79 [[-6.61800647e-01 -7.49679824e-01 2.55957660e-04 -2.25538286e+02] [ 7.49679771e-01 -6.61800696e-01 -2.82871975e-04 -2.80611339e+02] [ 3.81456371e-04 4.68142394e-06 9.99999927e-01 -2.78613589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 944.256559995 meters 0.013296296588708692 Centerline is valid? [True, True] Translation: X:-225.56, Y:-280.59, Z:-2.79 [[-6.60995794e-01 -7.50388694e-01 1.16968212e-03 -2.25558246e+02] [ 7.50387583e-01 -6.60996828e-01 -1.29191874e-03 -2.80591818e+02] [ 1.74259739e-03 2.37620915e-05 9.99998482e-01 -2.78735414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 944.286559995 meters 0.013486651799934635 Centerline is valid? [True, True] Translation: X:-225.58, Y:-280.57, Z:-2.79 [[-6.60760020e-01 -7.50596243e-01 1.21500266e-03 -2.25577754e+02] [ 7.50595045e-01 -6.60761136e-01 -1.34113292e-03 -2.80572318e+02] [ 1.80947587e-03 2.58079575e-05 9.99998363e-01 -2.78795542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 944.3165599949999 meters 0.014142586604512026 Centerline is valid? [True, True] Translation: X:-225.60, Y:-280.55, Z:-2.79 [[-6.60558720e-01 -7.50773415e-01 1.20705750e-03 -2.25597343e+02] [ 7.50772235e-01 -6.60559822e-01 -1.33148618e-03 -2.80554546e+02] [ 1.79697812e-03 2.67004501e-05 9.99998385e-01 -2.78842315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 944.3465599949999 meters 0.013692094157996389 Centerline is valid? [True, True] Translation: X:-225.62, Y:-280.53, Z:-2.79 [[-6.60108671e-01 -7.51169307e-01 1.10208193e-03 -2.25617052e+02] [ 7.51168325e-01 -6.60109591e-01 -1.21500302e-03 -2.80534087e+02] [ 1.64016783e-03 2.58150054e-05 9.99998655e-01 -2.78873748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 944.376559995 meters 0.01364404336931924 Centerline is valid? [True, True] Translation: X:-225.64, Y:-280.51, Z:-2.79 [[-6.60268286e-01 -7.51029368e-01 8.23804070e-04 -2.25636397e+02] [ 7.51028820e-01 -6.60268800e-01 -9.07699356e-04 -2.80513970e+02] [ 1.22564100e-03 1.93754996e-05 9.99999249e-01 -2.78876868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 944.406559995 meters 0.014121470567649825 Centerline is valid? [True, True] Translation: X:-225.66, Y:-280.50, Z:-2.79 [[-6.60733660e-01 -7.50620178e-01 6.15482567e-04 -2.25655533e+02] [ 7.50619872e-01 -6.60733947e-01 -6.77713125e-04 -2.80495225e+02] [ 9.15375373e-04 1.42055719e-05 9.99999581e-01 -2.78892275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 944.4365599949999 meters 0.013375779429327867 Centerline is valid? [True, True] Translation: X:-225.67, Y:-280.47, Z:-2.79 [[-6.61663845e-01 -7.49800429e-01 5.22774950e-04 -2.25673207e+02] [ 7.49800208e-01 -6.61664052e-01 -5.75305098e-04 -2.80473445e+02] [ 7.77265401e-04 1.13181830e-05 9.99999698e-01 -2.78879035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 944.4665599949999 meters 0.013486098567819314 Centerline is valid? [True, True] Translation: X:-225.69, Y:-280.45, Z:-2.79 [[-6.63573724e-01 -7.48110835e-01 -3.04022901e-04 -2.25691015e+02] [ 7.48110760e-01 -6.63573793e-01 3.34335476e-04 -2.80453693e+02] [-4.51861620e-04 -5.58656609e-06 9.99999898e-01 -2.78795347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 944.496559995 meters 0.012843865877980922 Centerline is valid? [True, True] Translation: X:-225.71, Y:-280.43, Z:-2.79 [[-6.64965893e-01 -7.46873434e-01 -6.59686061e-04 -2.25707931e+02] [ 7.46873082e-01 -6.64966220e-01 7.25015222e-04 -2.80432301e+02] [-9.80163554e-04 -1.05913668e-05 9.99999520e-01 -2.78791264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 944.526559995 meters 0.012556479430475862 Centerline is valid? [True, True] Translation: X:-225.73, Y:-280.41, Z:-2.79 [[-6.66381159e-01 -7.45610873e-01 -7.59569867e-04 -2.25725697e+02] [ 7.45610407e-01 -6.66381592e-01 8.34321822e-04 -2.80411125e+02] [-1.12824280e-03 -1.03668549e-05 9.99999364e-01 -2.78794886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 944.5565599949999 meters 0.0122318764472207 Centerline is valid? [True, True] Translation: X:-225.74, Y:-280.39, Z:-2.79 [[-6.69013801e-01 -7.43249109e-01 -1.13818138e-03 -2.25743035e+02] [ 7.43248059e-01 -6.69014769e-01 1.24948759e-03 -2.80389459e+02] [-1.69014069e-03 -1.00266619e-05 9.99998572e-01 -2.78821501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 944.5865599949999 meters 0.012066211556041394 Centerline is valid? [True, True] Translation: X:-225.76, Y:-280.37, Z:-2.79 [[-6.70082763e-01 -7.42285466e-01 -1.17376558e-03 -2.25761563e+02] [ 7.42284349e-01 -6.70083791e-01 1.28782504e-03 -2.80368075e+02] [-1.74245510e-03 -8.31845974e-06 9.99998482e-01 -2.78838332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 944.616559995 meters 0.01203659350393038 Centerline is valid? [True, True] Translation: X:-225.78, Y:-280.35, Z:-2.79 [[-6.70979066e-01 -7.41475840e-01 -8.19489344e-04 -2.25779054e+02] [ 7.41475296e-01 -6.70979567e-01 8.98680790e-04 -2.80348454e+02] [-1.21621070e-03 -4.63510646e-06 9.99999261e-01 -2.78875809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 944.646559995 meters 0.011881202658522778 Centerline is valid? [True, True] Translation: X:-225.80, Y:-280.33, Z:-2.79 [[-6.71856727e-01 -7.40681053e-01 3.40454336e-04 -2.25796859e+02] [ 7.40680959e-01 -6.71856814e-01 -3.73128003e-04 -2.80327742e+02] [ 5.05105409e-04 1.47948480e-06 9.99999873e-01 -2.79023053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 944.6765599949999 meters 0.011896087328604095 Centerline is valid? [True, True] Translation: X:-225.82, Y:-280.31, Z:-2.79 [[-6.72176995e-01 -7.40389624e-01 1.13645052e-03 -2.25816015e+02] [ 7.40388578e-01 -6.72177956e-01 -1.24479675e-03 -2.80307148e+02] [ 1.68553159e-03 4.69124672e-06 9.99998580e-01 -2.79088941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 944.7065599949999 meters 0.011977966616278257 Centerline is valid? [True, True] Translation: X:-225.83, Y:-280.29, Z:-2.79 [[-6.72213676e-01 -7.40355776e-01 1.44887053e-03 -2.25834662e+02] [ 7.40354077e-01 -6.72215238e-01 -1.58600467e-03 -2.80287575e+02] [ 2.14816057e-03 6.54317117e-06 9.99997693e-01 -2.79205173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 944.736559995 meters 0.012059334620621453 Centerline is valid? [True, True] Translation: X:-225.85, Y:-280.27, Z:-2.79 [[-6.72072980e-01 -7.40481175e-01 2.35351718e-03 -2.25854058e+02] [ 7.40476699e-01 -6.72077100e-01 -2.57481413e-03 -2.80267265e+02] [ 3.48834640e-03 1.22616292e-05 9.99993916e-01 -2.79295940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 944.766559995 meters 0.012097681730320043 Centerline is valid? [True, True] Translation: X:-225.87, Y:-280.25, Z:-2.79 [[-6.71525965e-01 -7.40973991e-01 3.22845902e-03 -2.25872787e+02] [ 7.40965585e-01 -6.71533725e-01 -3.52967544e-03 -2.80248859e+02] [ 4.78341681e-03 2.19083231e-05 9.99988559e-01 -2.79434009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 944.7965599949999 meters 0.01208080900654153 Centerline is valid? [True, True] Translation: X:-225.89, Y:-280.23, Z:-2.79 [[-6.71387983e-01 -7.41099142e-01 3.19974640e-03 -2.25891934e+02] [ 7.41090895e-01 -6.71395607e-01 -3.49631163e-03 -2.80228859e+02] [ 4.73940922e-03 2.39213098e-05 9.99988769e-01 -2.79445755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 944.8265599949999 meters 0.012090092836180578 Centerline is valid? [True, True] Translation: X:-225.91, Y:-280.21, Z:-2.79 [[-6.71781328e-01 -7.40744018e-01 2.85440963e-03 -2.25910870e+02] [ 7.40737459e-01 -6.71787392e-01 -3.11721673e-03 -2.80208314e+02] [ 4.22661604e-03 2.02801412e-05 9.99991068e-01 -2.79433689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 944.8565599949999 meters 0.012164177507291249 Centerline is valid? [True, True] Translation: X:-225.93, Y:-280.19, Z:-2.79 [[-6.72037181e-01 -7.40512464e-01 2.70521062e-03 -2.25929031e+02] [ 7.40506579e-01 -6.72042625e-01 -2.95242604e-03 -2.80188535e+02] [ 4.00432513e-03 1.90861856e-05 9.99991983e-01 -2.79395091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 944.886559995 meters 0.012116515496183103 Centerline is valid? [True, True] Translation: X:-225.95, Y:-280.17, Z:-2.79 [[-6.72176704e-01 -7.40386879e-01 2.39732677e-03 -2.25947238e+02] [ 7.40382262e-01 -6.72180979e-01 -2.61475868e-03 -2.80168575e+02] [ 3.54737047e-03 1.73583455e-05 9.99993708e-01 -2.79358057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 944.916559995 meters 0.012103753351596561 Centerline is valid? [True, True] Translation: X:-225.97, Y:-280.15, Z:-2.79 [[-6.72393830e-01 -7.40189720e-01 2.39068449e-03 -2.25966298e+02] [ 7.40185133e-01 -6.72398080e-01 -2.60604534e-03 -2.80147780e+02] [ 3.53645963e-03 1.72603075e-05 9.99993747e-01 -2.79318575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 944.9465599949999 meters 0.012172248379118268 Centerline is valid? [True, True] Translation: X:-225.99, Y:-280.13, Z:-2.79 [[-6.72207384e-01 -7.40361418e-01 1.48469270e-03 -2.25985113e+02] [ 7.40359651e-01 -6.72209023e-01 -1.61742274e-03 -2.80128267e+02] [ 2.19550122e-03 1.19630563e-05 9.99997590e-01 -2.79265473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 944.9765599949999 meters 0.012190116798725236 Centerline is valid? [True, True] Translation: X:-226.00, Y:-280.11, Z:-2.79 [[-6.72047815e-01 -7.40506938e-01 1.09979892e-03 -2.26003357e+02] [ 7.40505970e-01 -6.72048715e-01 -1.19736516e-03 -2.80108538e+02] [ 1.62577566e-03 9.72102651e-06 9.99998679e-01 -2.79201273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 945.006559995 meters 0.01234043695543667 Centerline is valid? [True, True] Translation: X:-226.02, Y:-280.09, Z:-2.79 [[-6.71670461e-01 -7.40849605e-01 8.09583566e-04 -2.26022071e+02] [ 7.40849081e-01 -6.71670949e-01 -8.80822763e-04 -2.80089602e+02] [ 1.19633096e-03 8.15660972e-06 9.99999285e-01 -2.79198123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 945.036559995 meters 0.01247536521139714 Centerline is valid? [True, True] Translation: X:-226.04, Y:-280.07, Z:-2.79 [[-6.71262407e-01 -7.41219567e-01 5.77512280e-04 -2.26041509e+02] [ 7.41219301e-01 -6.71262656e-01 -6.27942221e-04 -2.80069985e+02] [ 8.53105489e-04 6.54924148e-06 9.99999636e-01 -2.79239784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 945.0665599949999 meters 0.012580018248243643 Centerline is valid? [True, True] Translation: X:-226.06, Y:-280.05, Z:-2.79 [[-6.71002517e-01 -7.41454689e-01 7.53247188e-04 -2.26060315e+02] [ 7.41454237e-01 -6.71002940e-01 -8.18503798e-04 -2.80050475e+02] [ 1.11231456e-03 9.28021012e-06 9.99999381e-01 -2.79292726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 945.0965599949999 meters 0.012786534975293964 Centerline is valid? [True, True] Translation: X:-226.08, Y:-280.03, Z:-2.79 [[-6.70420997e-01 -7.41979609e-01 1.39535366e-03 -2.26079195e+02] [ 7.41978062e-01 -6.70422449e-01 -1.51523074e-03 -2.80031955e+02] [ 2.05974673e-03 1.94792961e-05 9.99997879e-01 -2.79363376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 945.126559995 meters 0.01334215232841685 Centerline is valid? [True, True] Translation: X:-226.10, Y:-280.01, Z:-2.80 [[-6.69353786e-01 -7.42941699e-01 1.77246406e-03 -2.26099427e+02] [ 7.42939209e-01 -6.69356132e-01 -1.92362968e-03 -2.80013802e+02] [ 2.61555439e-03 2.92442436e-05 9.99996579e-01 -2.79500694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 945.156559995 meters 0.013003411270565002 Centerline is valid? [True, True] Translation: X:-226.12, Y:-279.99, Z:-2.79 [[-6.68983913e-01 -7.43275102e-01 1.62699378e-03 -2.26117999e+02] [ 7.43273008e-01 -6.68985890e-01 -1.76475606e-03 -2.79993218e+02] [ 2.40013513e-03 2.87071519e-05 9.99997119e-01 -2.79478021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 945.1865599949999 meters 0.013195394912861494 Centerline is valid? [True, True] Translation: X:-226.14, Y:-279.97, Z:-2.79 [[-6.68853872e-01 -7.43391993e-01 1.68631702e-03 -2.26136552e+02] [ 7.43389746e-01 -6.68855997e-01 -1.82788717e-03 -2.79974835e+02] [ 2.48673994e-03 3.10013665e-05 9.99996908e-01 -2.79495382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 945.2165599949999 meters 0.013241119262904562 Centerline is valid? [True, True] Translation: X:-226.16, Y:-279.96, Z:-2.80 [[-6.68915362e-01 -7.43336748e-01 1.64855894e-03 -2.26155479e+02] [ 7.43334604e-01 -6.68917393e-01 -1.78583042e-03 -2.79955672e+02] [ 2.43022312e-03 3.08615059e-05 9.99997047e-01 -2.79532780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 945.246559995 meters 0.013246253439119504 Centerline is valid? [True, True] Translation: X:-226.18, Y:-279.94, Z:-2.80 [[-6.69139046e-01 -7.43135427e-01 1.63513438e-03 -2.26175501e+02] [ 7.43133319e-01 -6.69141044e-01 -1.77017392e-03 -2.79936962e+02] [ 2.40961448e-03 3.06303547e-05 9.99997097e-01 -2.79583174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 945.276559995 meters 0.013280062273806854 Centerline is valid? [True, True] Translation: X:-226.19, Y:-279.92, Z:-2.80 [[-6.69618453e-01 -7.42703298e-01 1.71430941e-03 -2.26193779e+02] [ 7.42700983e-01 -6.69620646e-01 -1.85466528e-03 -2.79918754e+02] [ 2.52540299e-03 3.13011909e-05 9.99996811e-01 -2.79636898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 945.3065599949999 meters 0.013139220615611291 Centerline is valid? [True, True] Translation: X:-226.21, Y:-279.90, Z:-2.80 [[-6.69990089e-01 -7.42367886e-01 1.78959800e-03 -2.26212571e+02] [ 7.42365365e-01 -6.69992478e-01 -1.93491005e-03 -2.79899211e+02] [ 2.63543228e-03 3.21650171e-05 9.99996527e-01 -2.79658326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 945.3365599949999 meters 0.013083677430542656 Centerline is valid? [True, True] Translation: X:-226.23, Y:-279.88, Z:-2.80 [[-6.70785189e-01 -7.41650696e-01 1.21468167e-03 -2.26231618e+02] [ 7.41649535e-01 -6.70786288e-01 -1.31249940e-03 -2.79879119e+02] [ 1.78820791e-03 2.04629388e-05 9.99998401e-01 -2.79631667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 945.366559995 meters 0.012928030782581822 Centerline is valid? [True, True] Translation: X:-226.25, Y:-279.86, Z:-2.80 [[-6.71332247e-01 -7.41156311e-01 5.80040800e-04 -2.26250051e+02] [ 7.41156047e-01 -6.71332497e-01 -6.26360668e-04 -2.79858715e+02] [ 8.53631402e-04 9.40463180e-06 9.99999636e-01 -2.79594191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 945.396559995 meters 0.012961513162521716 Centerline is valid? [True, True] Translation: X:-226.27, Y:-279.84, Z:-2.80 [[-6.71657562e-01 -7.40861739e-01 -6.62027858e-05 -2.26268289e+02] [ 7.40861735e-01 -6.71657565e-01 7.14475476e-05 -2.79839179e+02] [-9.73983550e-05 -1.05882513e-06 9.99999995e-01 -2.79519845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 945.4265599949999 meters 0.013019285238742481 Centerline is valid? [True, True] Translation: X:-226.29, Y:-279.82, Z:-2.80 [[-6.72117367e-01 -7.40444618e-01 -1.13250675e-04 -2.26287055e+02] [ 7.40444608e-01 -6.72117376e-01 1.22149553e-04 -2.79819470e+02] [-1.66562724e-04 -1.75701592e-06 9.99999986e-01 -2.79573649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 945.4565599949999 meters 0.012989262167076516 Centerline is valid? [True, True] Translation: X:-226.31, Y:-279.80, Z:-2.80 [[-6.72241145e-01 -7.40332146e-01 3.95657473e-04 -2.26306685e+02] [ 7.40332023e-01 -6.72241261e-01 -4.26518306e-04 -2.79800353e+02] [ 5.81742493e-04 6.19474329e-06 9.99999831e-01 -2.79742413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 945.486559995 meters 0.012926158470218212 Centerline is valid? [True, True] Translation: X:-226.33, Y:-279.78, Z:-2.80 [[-6.72541227e-01 -7.40059263e-01 7.65662735e-04 -2.26325433e+02] [ 7.40058803e-01 -6.72541663e-01 -8.24858164e-04 -2.79780737e+02] [ 1.12538401e-03 1.18843254e-05 9.99999367e-01 -2.79867677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 945.516559995 meters 0.012978242215629055 Centerline is valid? [True, True] Translation: X:-226.34, Y:-279.76, Z:-2.80 [[-6.72609944e-01 -7.39994427e-01 2.02768078e-03 -2.26344096e+02] [ 7.39991208e-01 -6.72612999e-01 -2.18307183e-03 -2.79761496e+02] [ 2.97930545e-03 3.21101272e-05 9.99995562e-01 -2.80069535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 945.5465599949999 meters 0.012926231520907895 Centerline is valid? [True, True] Translation: X:-226.36, Y:-279.74, Z:-2.80 [[-6.72642812e-01 -7.39963019e-01 2.52571943e-03 -2.26362844e+02] [ 7.39958029e-01 -6.72647552e-01 -2.71756836e-03 -2.79741500e+02] [ 3.70981908e-03 4.09735486e-05 9.99993118e-01 -2.80144978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 945.5765599949999 meters 0.013009168901893887 Centerline is valid? [True, True] Translation: X:-226.38, Y:-279.72, Z:-2.80 [[-6.72464749e-01 -7.40122742e-01 3.08027724e-03 -2.26381506e+02] [ 7.40115332e-01 -6.72471802e-01 -3.31217334e-03 -2.79722012e+02] [ 4.52281440e-03 5.24406025e-05 9.99989771e-01 -2.80217824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 945.6065599949999 meters 0.013235013712817144 Centerline is valid? [True, True] Translation: X:-226.40, Y:-279.70, Z:-2.80 [[-6.72431953e-01 -7.40151801e-01 3.25274742e-03 -2.26399684e+02] [ 7.40143547e-01 -6.72439818e-01 -3.49593339e-03 -2.79702878e+02] [ 4.77479827e-03 5.67226944e-05 9.99988599e-01 -2.80271646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 945.636559995 meters 0.013117556231866449 Centerline is valid? [True, True] Translation: X:-226.42, Y:-279.68, Z:-2.80 [[-6.72374379e-01 -7.40203637e-01 3.35722693e-03 -2.26418304e+02] [ 7.40194855e-01 -6.72382758e-01 -3.60618755e-03 -2.79681933e+02] [ 4.92665464e-03 6.02939880e-05 9.99987862e-01 -2.80258681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 945.666559995 meters 0.01334267120096407 Centerline is valid? [True, True] Translation: X:-226.44, Y:-279.66, Z:-2.80 [[-6.72241120e-01 -7.40325307e-01 3.21188783e-03 -2.26436549e+02] [ 7.40317279e-01 -6.72248790e-01 -3.44837642e-03 -2.79663063e+02] [ 4.71210805e-03 5.96756318e-05 9.99988896e-01 -2.80250356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 945.6965599949999 meters 0.013359799015798295 Centerline is valid? [True, True] Translation: X:-226.46, Y:-279.64, Z:-2.80 [[-6.72570542e-01 -7.40026788e-01 3.03648804e-03 -2.26455357e+02] [ 7.40019618e-01 -6.72577394e-01 -3.25802845e-03 -2.79642945e+02] [ 4.45330154e-03 5.58067598e-05 9.99990083e-01 -2.80240638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 945.7265599949999 meters 0.013629548894521075 Centerline is valid? [True, True] Translation: X:-226.47, Y:-279.62, Z:-2.80 [[-6.73108767e-01 -7.39538697e-01 2.66506030e-03 -2.26474186e+02] [ 7.39533178e-01 -6.73114042e-01 -2.85763401e-03 -2.79624014e+02] [ 3.90722044e-03 4.74020072e-05 9.99992366e-01 -2.80251388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 945.756559995 meters 0.013310681843518038 Centerline is valid? [True, True] Translation: X:-226.49, Y:-279.60, Z:-2.80 [[-6.74256591e-01 -7.38495439e-01 1.59267327e-03 -2.26491268e+02] [ 7.38493467e-01 -6.74258471e-01 -1.70669441e-03 -2.79602701e+02] [ 2.33425948e-03 2.54288510e-05 9.99997275e-01 -2.80123395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 945.786559995 meters 0.013293590915808309 Centerline is valid? [True, True] Translation: X:-226.51, Y:-279.58, Z:-2.80 [[-6.74817898e-01 -7.37983028e-01 1.36173436e-03 -2.26508826e+02] [ 7.37981588e-01 -6.74819272e-01 -1.45827024e-03 -2.79583837e+02] [ 1.99510328e-03 2.08680270e-05 9.99998010e-01 -2.80065574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 945.8165599949999 meters 0.013066621463890982 Centerline is valid? [True, True] Translation: X:-226.53, Y:-279.56, Z:-2.80 [[-6.75276011e-01 -7.37564681e-01 8.05969901e-04 -2.26526464e+02] [ 7.37564177e-01 -6.75276492e-01 -8.62566370e-04 -2.79563360e+02] [ 1.18045102e-03 1.19841490e-05 9.99999303e-01 -2.80018669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 945.8465599949999 meters 0.013039520680503753 Centerline is valid? [True, True] Translation: X:-226.55, Y:-279.54, Z:-2.80 [[-6.75629707e-01 -7.37240502e-01 9.70060143e-04 -2.26545446e+02] [ 7.37239773e-01 -6.75630403e-01 -1.03752349e-03 -2.79543721e+02] [ 1.42030647e-03 1.41852262e-05 9.99998991e-01 -2.80033248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 945.876559995 meters 0.013039520680503753 Centerline is valid? [True, True] Translation: X:-226.56, Y:-279.52, Z:-2.80 [[-6.75861559e-01 -7.37027959e-01 9.70386427e-04 -2.26563797e+02] [ 7.37027229e-01 -6.75862255e-01 -1.03721833e-03 -2.79524244e+02] [ 1.42030647e-03 1.41852246e-05 9.99998991e-01 -2.80033202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 945.906559995 meters 0.01304770231263426 Centerline is valid? [True, True] Translation: X:-226.58, Y:-279.50, Z:-2.80 [[-6.75816712e-01 -7.37068711e-01 1.21949100e-03 -2.26583043e+02] [ 7.37067560e-01 -6.75817812e-01 -1.30266029e-03 -2.79504770e+02] [ 1.78430388e-03 1.84876645e-05 9.99998408e-01 -2.80072168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 945.9365599949999 meters 0.013274288622193896 Centerline is valid? [True, True] Translation: X:-226.60, Y:-279.49, Z:-2.80 [[-6.74881758e-01 -7.37924257e-01 1.55048145e-03 -2.26603771e+02] [ 7.37922401e-01 -6.74883538e-01 -1.65529026e-03 -2.79485225e+02] [ 2.26787325e-03 2.70097913e-05 9.99997428e-01 -2.80111617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 945.9665599949999 meters 0.013366446990720158 Centerline is valid? [True, True] Translation: X:-226.62, Y:-279.47, Z:-2.80 [[-6.74660676e-01 -7.38126613e-01 1.44080146e-03 -2.26624304e+02] [ 7.38125012e-01 -6.74662214e-01 -1.53732644e-03 -2.79465370e+02] [ 2.10679586e-03 2.63179010e-05 9.99997781e-01 -2.80118740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 945.996559995 meters 0.013545481052331177 Centerline is valid? [True, True] Translation: X:-226.65, Y:-279.45, Z:-2.80 [[-6.73832661e-01 -7.38882548e-01 1.45794360e-03 -2.26645645e+02] [ 7.38880913e-01 -6.73834238e-01 -1.55473164e-03 -2.79446629e+02] [ 2.13117639e-03 2.96177398e-05 9.99997729e-01 -2.80160803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 946.026559995 meters 0.013949504703593496 Centerline is valid? [True, True] Translation: X:-226.67, Y:-279.43, Z:-2.80 [[-6.73575916e-01 -7.39115761e-01 1.83763789e-03 -2.26665617e+02] [ 7.39113166e-01 -6.73578422e-01 -1.95881611e-03 -2.79427956e+02] [ 2.68558509e-03 3.88110007e-05 9.99996393e-01 -2.80198107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 946.0565599949999 meters 0.013868704214824444 Centerline is valid? [True, True] Translation: X:-226.68, Y:-279.41, Z:-2.80 [[-6.73602304e-01 -7.39091408e-01 1.95636481e-03 -2.26684632e+02] [ 7.39088471e-01 -6.73605143e-01 -2.08406015e-03 -2.79408875e+02] [ 2.85812835e-03 4.20989586e-05 9.99995915e-01 -2.80248275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 946.0865599949999 meters 0.013898502504212372 Centerline is valid? [True, True] Translation: X:-226.70, Y:-279.39, Z:-2.80 [[-6.73429343e-01 -7.39247833e-01 2.35836888e-03 -2.26704443e+02] [ 7.39243571e-01 -6.73433470e-01 -2.51088883e-03 -2.79389000e+02] [ 3.44437366e-03 5.25028182e-05 9.99994067e-01 -2.80308878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 946.116559995 meters 0.014098922903574684 Centerline is valid? [True, True] Translation: X:-226.72, Y:-279.37, Z:-2.80 [[-6.73348109e-01 -7.39321007e-01 2.60258946e-03 -2.26724056e+02] [ 7.39315823e-01 -6.73353136e-01 -2.76916012e-03 -2.79369435e+02] [ 3.79976002e-03 5.95268377e-05 9.99992779e-01 -2.80377636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 946.146559995 meters 0.014306885451567102 Centerline is valid? [True, True] Translation: X:-226.74, Y:-279.35, Z:-2.80 [[-6.73153842e-01 -7.39494331e-01 3.46977353e-03 -2.26743069e+02] [ 7.39485132e-01 -6.73162779e-01 -3.68940946e-03 -2.79351023e+02] [ 5.06401977e-03 8.23057850e-05 9.99987175e-01 -2.80496428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 946.1765599949999 meters 0.014466518457930384 Centerline is valid? [True, True] Translation: X:-226.76, Y:-279.33, Z:-2.81 [[-6.73382954e-01 -7.39285796e-01 3.45109614e-03 -2.26761781e+02] [ 7.39276705e-01 -6.73391792e-01 -3.66716285e-03 -2.79332485e+02] [ 5.03502122e-03 8.19100286e-05 9.99987321e-01 -2.80548783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 946.2065599949999 meters 0.01422087566752545 Centerline is valid? [True, True] Translation: X:-226.78, Y:-279.31, Z:-2.81 [[-6.73800127e-01 -7.38906121e-01 3.33675365e-03 -2.26780698e+02] [ 7.38897628e-01 -6.73808385e-01 -3.54355372e-03 -2.79312171e+02] [ 4.86668612e-03 7.78724142e-05 9.99988155e-01 -2.80544557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 946.236559995 meters 0.014775032401196934 Centerline is valid? [True, True] Translation: X:-226.80, Y:-279.29, Z:-2.81 [[-6.74712616e-01 -7.38074499e-01 2.98669434e-03 -2.26800326e+02] [ 7.38067696e-01 -6.74719223e-01 -3.16971254e-03 -2.79294334e+02] [ 4.35466408e-03 6.57375717e-05 9.99990516e-01 -2.80590005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 946.266559995 meters 0.013792277070992587 Centerline is valid? [True, True] Translation: X:-226.82, Y:-279.27, Z:-2.80 [[-6.75499400e-01 -7.37355798e-01 2.64347831e-03 -2.26817112e+02] [ 7.37350469e-01 -6.75504571e-01 -2.80369822e-03 -2.79272878e+02] [ 3.85300482e-03 5.52735066e-05 9.99992576e-01 -2.80491332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 946.2965599949999 meters 0.013720090140370811 Centerline is valid? [True, True] Translation: X:-226.83, Y:-279.25, Z:-2.80 [[-6.76383813e-01 -7.36545469e-01 2.38959215e-03 -2.26834984e+02] [ 7.36541116e-01 -6.76388032e-01 -2.53275606e-03 -2.79253250e+02] [ 3.48178153e-03 4.69176673e-05 9.99993938e-01 -2.80475722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 946.3265599949999 meters 0.013357279945433606 Centerline is valid? [True, True] Translation: X:-226.85, Y:-279.23, Z:-2.80 [[-6.77677167e-01 -7.35357922e-01 1.54427849e-03 -2.26852623e+02] [ 7.35356102e-01 -6.77678926e-01 -1.63588148e-03 -2.79231894e+02] [ 2.24948340e-03 2.69950839e-05 9.99997470e-01 -2.80333287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 946.3565599949999 meters 0.013534269143734845 Centerline is valid? [True, True] Translation: X:-226.87, Y:-279.21, Z:-2.80 [[-6.78317564e-01 -7.34767783e-01 1.25992570e-03 -2.26870983e+02] [ 7.34766573e-01 -6.78318734e-01 -1.33378096e-03 -2.79212748e+02] [ 1.83465049e-03 2.10242385e-05 9.99998317e-01 -2.80311232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 946.386559995 meters 0.013831769451452956 Centerline is valid? [True, True] Translation: X:-226.89, Y:-279.19, Z:-2.80 [[-6.78733698e-01 -7.34383457e-01 1.22704505e-03 -2.26889843e+02] [ 7.34382310e-01 -6.78734806e-01 -1.29813754e-03 -2.79193815e+02] [ 1.78616892e-03 2.00304881e-05 9.99998405e-01 -2.80307821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 946.416559995 meters 0.0132939079110689 Centerline is valid? [True, True] Translation: X:-226.91, Y:-279.17, Z:-2.80 [[-6.79047267e-01 -7.34093555e-01 1.20898084e-03 -2.26907958e+02] [ 7.34092443e-01 -6.79048343e-01 -1.27830305e-03 -2.79172632e+02] [ 1.75935047e-03 1.94755066e-05 9.99998452e-01 -2.80306214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 946.4465599949999 meters 0.01342824669675799 Centerline is valid? [True, True] Translation: X:-226.93, Y:-279.15, Z:-2.80 [[-6.78973409e-01 -7.34160807e-01 1.73800518e-03 -2.26928100e+02] [ 7.34158510e-01 -6.78975633e-01 -1.83656487e-03 -2.79153746e+02] [ 2.52839711e-03 2.89925843e-05 9.99996803e-01 -2.80438964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 946.4765599949999 meters 0.013575720405597081 Centerline is valid? [True, True] Translation: X:-226.95, Y:-279.13, Z:-2.81 [[-6.78988086e-01 -7.34145049e-01 2.49509225e-03 -2.26947191e+02] [ 7.34140322e-01 -6.78992669e-01 -2.63492581e-03 -2.79134799e+02] [ 3.62856709e-03 4.26645961e-05 9.99993416e-01 -2.80563676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 946.506559995 meters 0.013629734252807786 Centerline is valid? [True, True] Translation: X:-226.97, Y:-279.12, Z:-2.81 [[-6.79101188e-01 -7.34038458e-01 3.01975126e-03 -2.26965738e+02] [ 7.34031539e-01 -6.79107900e-01 -3.18743786e-03 -2.79116483e+02] [ 4.39043891e-03 5.19998217e-05 9.99990361e-01 -2.80671178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 946.536559995 meters 0.013912275192982715 Centerline is valid? [True, True] Translation: X:-226.99, Y:-279.10, Z:-2.81 [[-6.78886734e-01 -7.34228325e-01 4.64432181e-03 -2.26985058e+02] [ 7.34211983e-01 -6.78902615e-01 -4.89936020e-03 -2.79097211e+02] [ 6.75029126e-03 8.38060811e-05 9.99977213e-01 -2.80846731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 946.5665599949999 meters 0.013858220224156365 Centerline is valid? [True, True] Translation: X:-227.00, Y:-279.08, Z:-2.81 [[-6.78948239e-01 -7.34169398e-01 4.95815679e-03 -2.27004069e+02] [ 7.34150795e-01 -6.78966337e-01 -5.22718203e-03 -2.79077084e+02] [ 7.20405864e-03 9.10487138e-05 9.99974046e-01 -2.80848694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 946.5965599949999 meters 0.01378871754179118 Centerline is valid? [True, True] Translation: X:-227.02, Y:-279.06, Z:-2.81 [[-6.79109921e-01 -7.34020164e-01 4.91059891e-03 -2.27022664e+02] [ 7.34001935e-01 -6.79127669e-01 -5.17378985e-03 -2.79057252e+02] [ 7.13258967e-03 9.08170918e-05 9.99974559e-01 -2.80779418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 946.626559995 meters 0.014202635953118185 Centerline is valid? [True, True] Translation: X:-227.04, Y:-279.04, Z:-2.81 [[-6.79343522e-01 -7.33804731e-01 4.79541154e-03 -2.27041460e+02] [ 7.33787366e-01 -6.79360441e-01 -5.04910300e-03 -2.79039355e+02] [ 6.96286857e-03 8.87369885e-05 9.99975755e-01 -2.80790291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 946.656559995 meters 0.013879342017947632 Centerline is valid? [True, True] Translation: X:-227.06, Y:-279.02, Z:-2.81 [[-6.79735651e-01 -7.33441783e-01 4.75362657e-03 -2.27059823e+02] [ 7.33424731e-01 -6.79752267e-01 -5.00200347e-03 -2.79019181e+02] [ 6.89996678e-03 8.63872027e-05 9.99976191e-01 -2.80718420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 946.6865599949999 meters 0.013854210247496977 Centerline is valid? [True, True] Translation: X:-227.08, Y:-279.00, Z:-2.81 [[-6.80063960e-01 -7.33137965e-01 4.66202532e-03 -2.27078830e+02] [ 7.33121578e-01 -6.80079934e-01 -4.90256318e-03 -2.78999530e+02] [ 6.76480506e-03 8.37748290e-05 9.99977115e-01 -2.80675513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 946.7165599949999 meters 0.013946649395006517 Centerline is valid? [True, True] Translation: X:-227.10, Y:-278.98, Z:-2.81 [[-6.80437411e-01 -7.32792430e-01 4.49276223e-03 -2.27097009e+02] [ 7.32777223e-01 -6.80452239e-01 -4.72148669e-03 -2.78981063e+02] [ 6.51697982e-03 7.95176500e-05 9.99978761e-01 -2.80663930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 946.746559995 meters 0.013794938314409923 Centerline is valid? [True, True] Translation: X:-227.12, Y:-278.96, Z:-2.81 [[-6.81026844e-01 -7.32245312e-01 4.38647447e-03 -2.27116131e+02] [ 7.32230823e-01 -6.81040966e-01 -4.60693621e-03 -2.78961453e+02] [ 6.36077625e-03 7.44645897e-05 9.99979767e-01 -2.80612200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 946.776559995 meters 0.013809098016941707 Centerline is valid? [True, True] Translation: X:-227.13, Y:-278.94, Z:-2.81 [[-6.81420807e-01 -7.31878180e-01 4.47363477e-03 -2.27134848e+02] [ 7.31863122e-01 -6.81435488e-01 -4.69543672e-03 -2.78942407e+02] [ 6.48498117e-03 7.45200310e-05 9.99978970e-01 -2.80587146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 946.8065599949999 meters 0.01343328122811361 Centerline is valid? [True, True] Translation: X:-227.15, Y:-278.92, Z:-2.80 [[-6.81828182e-01 -7.31501598e-01 3.96768821e-03 -2.27153455e+02] [ 7.31489760e-01 -6.81839724e-01 -4.16205406e-03 -2.78921838e+02] [ 5.74987663e-03 6.45175440e-05 9.99983467e-01 -2.80463648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 946.8365599949999 meters 0.013514854678658086 Centerline is valid? [True, True] Translation: X:-227.17, Y:-278.90, Z:-2.80 [[-6.82106531e-01 -7.31241240e-01 4.11455133e-03 -2.27172700e+02] [ 7.31228520e-01 -6.82118938e-01 -4.31353710e-03 -2.78902645e+02] [ 5.96084959e-03 6.63854536e-05 9.99982232e-01 -2.80426071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 946.866559995 meters 0.013345423202872176 Centerline is valid? [True, True] Translation: X:-227.19, Y:-278.88, Z:-2.80 [[-6.82403201e-01 -7.30965629e-01 3.88850773e-03 -2.27192297e+02] [ 7.30954277e-01 -6.82414277e-01 -4.07425591e-03 -2.78882694e+02] [ 5.63171422e-03 6.20360766e-05 9.99984140e-01 -2.80370996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 946.896559995 meters 0.013429993750070666 Centerline is valid? [True, True] Translation: X:-227.21, Y:-278.86, Z:-2.80 [[-6.82529801e-01 -7.30847756e-01 3.82464428e-03 -2.27212280e+02] [ 7.30836785e-01 -6.82540514e-01 -4.00508196e-03 -2.78862779e+02] [ 5.53757984e-03 6.16029342e-05 9.99984666e-01 -2.80336894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 946.9265599949999 meters 0.013447688560218845 Centerline is valid? [True, True] Translation: X:-227.23, Y:-278.84, Z:-2.80 [[-6.82633133e-01 -7.30748453e-01 4.32471403e-03 -2.27232816e+02] [ 7.30734439e-01 -6.82646829e-01 -4.52620447e-03 -2.78843111e+02] [ 6.25976924e-03 7.04803456e-05 9.99980405e-01 -2.80351473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 946.9565599949999 meters 0.013555586286354261 Centerline is valid? [True, True] Translation: X:-227.25, Y:-278.83, Z:-2.80 [[-6.82618181e-01 -7.30757604e-01 5.07372988e-03 -2.27251705e+02] [ 7.30738334e-01 -6.82637032e-01 -5.30752979e-03 -2.78825079e+02] [ 7.34203365e-03 8.45525888e-05 9.99973043e-01 -2.80411420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 946.986559995 meters 0.01366334251140309 Centerline is valid? [True, True] Translation: X:-227.27, Y:-278.81, Z:-2.80 [[-6.82803830e-01 -7.30582889e-01 5.25089350e-03 -2.27271311e+02] [ 7.30562271e-01 -6.82824014e-01 -5.48945279e-03 -2.78805837e+02] [ 7.59593646e-03 8.78852942e-05 9.99971147e-01 -2.80459159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 947.016559995 meters 0.01364857747240707 Centerline is valid? [True, True] Translation: X:-227.29, Y:-278.79, Z:-2.81 [[-6.82767509e-01 -7.30611330e-01 5.96769628e-03 -2.27291088e+02] [ 7.30584733e-01 -6.82793581e-01 -6.23495508e-03 -2.78786821e+02] [ 8.63003354e-03 1.02883045e-04 9.99962755e-01 -2.80502547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 947.0465599949999 meters 0.013512308528377192 Centerline is valid? [True, True] Translation: X:-227.31, Y:-278.77, Z:-2.80 [[-6.82981090e-01 -7.30408238e-01 6.37477409e-03 -2.27310588e+02] [ 7.30377914e-01 -6.83010830e-01 -6.65650357e-03 -2.78766399e+02] [ 9.21600479e-03 1.09728139e-04 9.99957526e-01 -2.80442823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 947.0765599949999 meters 0.013423451444437897 Centerline is valid? [True, True] Translation: X:-227.33, Y:-278.75, Z:-2.80 [[-6.83502728e-01 -7.29919044e-01 6.49693740e-03 -2.27330609e+02] [ 7.29887560e-01 -6.83533597e-01 -6.78022914e-03 -2.78746117e+02] [ 9.38989336e-03 1.07728674e-04 9.99955908e-01 -2.80446933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 947.1065599949999 meters 0.013592445744265413 Centerline is valid? [True, True] Translation: X:-227.35, Y:-278.73, Z:-2.80 [[-6.83974218e-01 -7.29474892e-01 6.75665880e-03 -2.27349764e+02] [ 7.29440860e-01 -6.84007581e-01 -7.04707590e-03 -2.78726850e+02] [ 9.76227077e-03 1.08564780e-04 9.99952342e-01 -2.80479099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 947.136559995 meters 0.01321328173104423 Centerline is valid? [True, True] Translation: X:-227.37, Y:-278.71, Z:-2.80 [[-6.85813362e-01 -7.27744941e-01 6.87998418e-03 -2.27368866e+02] [ 7.27709613e-01 -6.85847865e-01 -7.17120388e-03 -2.78706863e+02] [ 9.93742980e-03 8.85231887e-05 9.99950619e-01 -2.80463857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 947.166559995 meters 0.013136579553205624 Centerline is valid? [True, True] Translation: X:-227.39, Y:-278.69, Z:-2.80 [[-6.86974152e-01 -7.26648619e-01 6.94970333e-03 -2.27387810e+02] [ 7.26612561e-01 -6.87009300e-01 -7.23935096e-03 -2.78686738e+02] [ 1.00349752e-02 7.64947444e-05 9.99949646e-01 -2.80404535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 947.1965599949999 meters 0.01276427341640773 Centerline is valid? [True, True] Translation: X:-227.41, Y:-278.67, Z:-2.80 [[-6.89686614e-01 -7.24081043e-01 6.24637844e-03 -2.27405909e+02] [ 7.24051841e-01 -6.89714899e-01 -6.50312559e-03 -2.78665709e+02] [ 9.01701024e-03 3.75831367e-05 9.99959345e-01 -2.80309966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 947.2265599949999 meters 0.012725048891719024 Centerline is valid? [True, True] Translation: X:-227.42, Y:-278.65, Z:-2.80 [[-6.90932895e-01 -7.22894484e-01 5.94133137e-03 -2.27424021e+02] [ 7.22868053e-01 -6.90958439e-01 -6.18171366e-03 -2.78645831e+02] [ 8.57393976e-03 2.36493185e-05 9.99963243e-01 -2.80224526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 947.256559995 meters 0.012703820007216045 Centerline is valid? [True, True] Translation: X:-227.44, Y:-278.63, Z:-2.80 [[-6.92216558e-01 -7.21668743e-01 5.51920011e-03 -2.27442630e+02] [ 7.21645924e-01 -6.92238561e-01 -5.73898363e-03 -2.78625675e+02] [ 7.96224824e-03 1.02887623e-05 9.99968301e-01 -2.80221975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 947.286559995 meters 0.01275363231190201 Centerline is valid? [True, True] Translation: X:-227.46, Y:-278.61, Z:-2.80 [[-6.94142909e-01 -7.19815568e-01 5.58296159e-03 -2.27460736e+02] [ 7.19792187e-01 -6.94165361e-01 -5.80166653e-03 -2.78605790e+02] [ 8.05162844e-03 -8.61354527e-06 9.99967585e-01 -2.80157984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 947.3165599949999 meters 0.01277345692256912 Centerline is valid? [True, True] Translation: X:-227.48, Y:-278.59, Z:-2.80 [[-6.94824290e-01 -7.19156295e-01 5.78181871e-03 -2.27478970e+02] [ 7.19131229e-01 -6.94848345e-01 -6.00439361e-03 -2.78586723e+02] [ 8.33558463e-03 -1.41121315e-05 9.99965258e-01 -2.80214207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 947.3465599949999 meters 0.01285687471378227 Centerline is valid? [True, True] Translation: X:-227.50, Y:-278.57, Z:-2.80 [[-6.95941882e-01 -7.18075164e-01 5.74064222e-03 -2.27498993e+02] [ 7.18050447e-01 -6.95965558e-01 -5.95793233e-03 -2.78567526e+02] [ 8.27353250e-03 -2.43039257e-05 9.99965774e-01 -2.80171187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 947.376559995 meters 0.01287905684207096 Centerline is valid? [True, True] Translation: X:-227.52, Y:-278.55, Z:-2.80 [[-6.96352171e-01 -7.17673497e-01 6.19724072e-03 -2.27519226e+02] [ 7.17644708e-01 -6.96379746e-01 -6.42820370e-03 -2.78547802e+02] [ 8.92898435e-03 -2.88765968e-05 9.99960136e-01 -2.80189758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 947.406559995 meters 0.012851308738873031 Centerline is valid? [True, True] Translation: X:-227.54, Y:-278.53, Z:-2.80 [[-6.96772579e-01 -7.17262438e-01 6.52445844e-03 -2.27538735e+02] [ 7.17230550e-01 -6.96803125e-01 -6.76337400e-03 -2.78528513e+02] [ 9.39737715e-03 -3.29926286e-05 9.99955843e-01 -2.80245200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 947.4365599949999 meters 0.012941027124328965 Centerline is valid? [True, True] Translation: X:-227.56, Y:-278.51, Z:-2.80 [[-6.97237567e-01 -7.16802560e-01 7.33937163e-03 -2.27557684e+02] [ 7.16762236e-01 -6.97276193e-01 -7.60313518e-03 -2.78510671e+02] [ 1.05675159e-02 -4.06070523e-05 9.99944162e-01 -2.80366625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 947.4665599949999 meters 0.01314043769138766 Centerline is valid? [True, True] Translation: X:-227.58, Y:-278.49, Z:-2.80 [[-6.97583751e-01 -7.16462710e-01 7.62201137e-03 -2.27576156e+02] [ 7.16419243e-01 -6.97625389e-01 -7.89216705e-03 -2.78491552e+02] [ 1.09717520e-02 -4.48918788e-05 9.99939808e-01 -2.80497369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 947.496559995 meters 0.012861739568286507 Centerline is valid? [True, True] Translation: X:-227.60, Y:-278.47, Z:-2.80 [[-6.97733278e-01 -7.16314707e-01 7.84306365e-03 -2.27596501e+02] [ 7.16268724e-01 -6.97777356e-01 -8.11649705e-03 -2.78471874e+02] [ 1.12866784e-02 -4.54089023e-05 9.99936303e-01 -2.80304717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 947.526559995 meters 0.013298980703829228 Centerline is valid? [True, True] Translation: X:-227.62, Y:-278.45, Z:-2.81 [[-6.97881221e-01 -7.16164782e-01 8.35504816e-03 -2.27615168e+02] [ 7.16112656e-01 -6.97931231e-01 -8.64062090e-03 -2.78452905e+02] [ 1.20193574e-02 -4.69713393e-05 9.99927764e-01 -2.80521430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 947.5565599949999 meters 0.01289743342410798 Centerline is valid? [True, True] Translation: X:-227.64, Y:-278.43, Z:-2.80 [[-6.97972500e-01 -7.16069739e-01 8.86108821e-03 -2.27636014e+02] [ 7.16011166e-01 -6.98028744e-01 -9.15876229e-03 -2.78433827e+02] [ 1.27436068e-02 -4.79261103e-05 9.99918796e-01 -2.80297350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 947.5865599949999 meters 0.012979971555738027 Centerline is valid? [True, True] Translation: X:-227.66, Y:-278.42, Z:-2.80 [[-6.98162753e-01 -7.15885220e-01 8.78199116e-03 -2.27655460e+02] [ 7.15827742e-01 -6.98217982e-01 -9.07158855e-03 -2.78415168e+02] [ 1.26259603e-02 -4.70523290e-05 9.99920288e-01 -2.80369330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 947.616559995 meters 0.01301708119770583 Centerline is valid? [True, True] Translation: X:-227.68, Y:-278.40, Z:-2.80 [[-6.98186300e-01 -7.15857605e-01 9.15315440e-03 -2.27675835e+02] [ 7.15795233e-01 -6.98246294e-01 -9.44972512e-03 -2.78396086e+02] [ 1.31558137e-02 -4.58843302e-05 9.99913458e-01 -2.80400069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 947.646559995 meters 0.013075708755365161 Centerline is valid? [True, True] Translation: X:-227.69, Y:-278.38, Z:-2.80 [[-6.98292900e-01 -7.15754731e-01 9.06593091e-03 -2.27694576e+02] [ 7.15693592e-01 -6.98351748e-01 -9.35514409e-03 -2.78377062e+02] [ 1.30271973e-02 -4.42020357e-05 9.99915142e-01 -2.80412347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 947.6765599949999 meters 0.013016316508697345 Centerline is valid? [True, True] Translation: X:-227.71, Y:-278.36, Z:-2.80 [[-6.98386906e-01 -7.15663115e-01 9.05732144e-03 -2.27714323e+02] [ 7.15602153e-01 -6.98445634e-01 -9.34104926e-03 -2.78357542e+02] [ 1.30110910e-02 -4.22277735e-05 9.99915351e-01 -2.80325971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 947.7065599949999 meters 0.012945594525589927 Centerline is valid? [True, True] Translation: X:-227.73, Y:-278.34, Z:-2.80 [[-6.98298961e-01 -7.15755884e-01 8.48975136e-03 -2.27734321e+02] [ 7.15702390e-01 -6.98350566e-01 -8.75079177e-03 -2.78338187e+02] [ 1.21922534e-02 -3.45334564e-05 9.99925671e-01 -2.80266927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 947.736559995 meters 0.01299391373967487 Centerline is valid? [True, True] Translation: X:-227.75, Y:-278.32, Z:-2.80 [[-6.98275033e-01 -7.15781895e-01 8.26177295e-03 -2.27753981e+02] [ 7.15731294e-01 -6.98323906e-01 -8.51104782e-03 -2.78318393e+02] [ 1.18614475e-02 -2.98427539e-05 9.99929650e-01 -2.80225711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 947.766559995 meters 0.01299391373967487 Centerline is valid? [True, True] Translation: X:-227.77, Y:-278.30, Z:-2.80 [[-6.98474951e-01 -7.15586785e-01 8.26415026e-03 -2.27773240e+02] [ 7.15536196e-01 -6.98523839e-01 -8.50873949e-03 -2.78298655e+02] [ 1.18614475e-02 -2.98427568e-05 9.99929650e-01 -2.80225663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 947.7965599949999 meters 0.012898406461623218 Centerline is valid? [True, True] Translation: X:-227.79, Y:-278.28, Z:-2.80 [[-6.97967457e-01 -7.16081562e-01 8.28405621e-03 -2.27793260e+02] [ 7.16030821e-01 -6.98016616e-01 -8.52445862e-03 -2.78279563e+02] [ 1.18866165e-02 -1.81551376e-05 9.99929352e-01 -2.80195423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 947.8265599949999 meters 0.012891872257833118 Centerline is valid? [True, True] Translation: X:-227.81, Y:-278.26, Z:-2.80 [[-6.97731571e-01 -7.16315573e-01 7.91544754e-03 -2.27813020e+02] [ 7.16269314e-01 -6.97776469e-01 -8.14062165e-03 -2.78260268e+02] [ 1.13544671e-02 -1.03765573e-05 9.99935536e-01 -2.80199937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 947.8565599949999 meters 0.012793193261078006 Centerline is valid? [True, True] Translation: X:-227.83, Y:-278.24, Z:-2.80 [[-6.96862300e-01 -7.17164877e-01 7.58117038e-03 -2.27833576e+02] [ 7.17122541e-01 -6.96903536e-01 -7.79245332e-03 -2.78240808e+02] [ 1.08718183e-02 6.36122244e-06 9.99940900e-01 -2.80119488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 947.886559995 meters 0.012886181130556316 Centerline is valid? [True, True] Translation: X:-227.85, Y:-278.22, Z:-2.80 [[-6.96446159e-01 -7.17568588e-01 7.62032836e-03 -2.27853309e+02] [ 7.17525888e-01 -6.96487848e-01 -7.82806169e-03 -2.78221697e+02] [ 1.09246373e-02 1.59593694e-05 9.99940324e-01 -2.80156686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 947.916559995 meters 0.012872256281056524 Centerline is valid? [True, True] Translation: X:-227.87, Y:-278.20, Z:-2.80 [[-6.96251062e-01 -7.17755136e-01 7.87557598e-03 -2.27872868e+02] [ 7.17709596e-01 -6.96295602e-01 -8.08528059e-03 -2.78202944e+02] [ 1.12869806e-02 2.29912586e-05 9.99936300e-01 -2.80162658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 947.9465599949999 meters 0.013044064426831752 Centerline is valid? [True, True] Translation: X:-227.89, Y:-278.18, Z:-2.80 [[-6.96279178e-01 -7.17726750e-01 7.97613064e-03 -2.27891783e+02] [ 7.17680098e-01 -6.96324861e-01 -8.18322796e-03 -2.78184858e+02] [ 1.14272997e-02 2.64989816e-05 9.99934706e-01 -2.80214179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 947.9765599949999 meters 0.012964452120334395 Centerline is valid? [True, True] Translation: X:-227.91, Y:-278.17, Z:-2.80 [[-6.96354393e-01 -7.17650650e-01 8.25249045e-03 -2.27911106e+02] [ 7.17600766e-01 -6.96403291e-01 -8.46151783e-03 -2.78166260e+02] [ 1.18194753e-02 2.97783564e-05 9.99930147e-01 -2.80237856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 948.006559995 meters 0.012929837757622825 Centerline is valid? [True, True] Translation: X:-227.93, Y:-278.15, Z:-2.80 [[-6.96834566e-01 -7.17184088e-01 8.28086816e-03 -2.27930238e+02] [ 7.17133889e-01 -6.96883766e-01 -8.48532829e-03 -2.78146912e+02] [ 1.18563450e-02 2.56211397e-05 9.99929711e-01 -2.80243322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 948.036559995 meters 0.012899124351202999 Centerline is valid? [True, True] Translation: X:-227.95, Y:-278.13, Z:-2.80 [[-6.97746116e-01 -7.16298752e-01 8.15203005e-03 -2.27949028e+02] [ 7.16250105e-01 -6.97793736e-01 -8.34808114e-03 -2.78127799e+02] [ 1.16681556e-02 1.40511847e-05 9.99931925e-01 -2.80265773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 948.0665599949999 meters 0.012963125800965581 Centerline is valid? [True, True] Translation: X:-227.97, Y:-278.11, Z:-2.80 [[-6.99397283e-01 -7.14686880e-01 8.13046477e-03 -2.27966132e+02] [ 7.14638427e-01 -6.99444540e-01 -8.32197148e-03 -2.78108383e+02] [ 1.16344130e-02 -1.00216862e-05 9.99932318e-01 -2.80285012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 948.0965599949999 meters 0.012992213486911717 Centerline is valid? [True, True] Translation: X:-227.98, Y:-278.09, Z:-2.80 [[-7.00417985e-01 -7.13686263e-01 8.15869267e-03 -2.27984669e+02] [ 7.13637465e-01 -7.00465501e-01 -8.34571073e-03 -2.78088286e+02] [ 1.16711018e-02 -2.31371318e-05 9.99931890e-01 -2.80275164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 948.126559995 meters 0.01310116197673553 Centerline is valid? [True, True] Translation: X:-228.00, Y:-278.07, Z:-2.80 [[-7.02104945e-01 -7.12021706e-01 8.58695331e-03 -2.28003553e+02] [ 7.11967587e-01 -7.02157452e-01 -8.77884423e-03 -2.78067286e+02] [ 1.22801209e-02 -5.00375209e-05 9.99924595e-01 -2.80226219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 948.156559995 meters 0.013287413103178075 Centerline is valid? [True, True] Translation: X:-228.02, Y:-278.05, Z:-2.80 [[-7.02862209e-01 -7.11272461e-01 8.72938471e-03 -2.28021639e+02] [ 7.11216539e-01 -7.02916413e-01 -8.91916692e-03 -2.78047627e+02] [ 1.24799856e-02 -6.04625872e-05 9.99922120e-01 -2.80343833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 948.1865599949999 meters 0.013148797337037792 Centerline is valid? [True, True] Translation: X:-228.04, Y:-278.03, Z:-2.80 [[-7.03690002e-01 -7.10452134e-01 8.84003074e-03 -2.28041225e+02] [ 7.10394789e-01 -7.03745522e-01 -9.02681823e-03 -2.78028197e+02] [ 1.26342543e-02 -7.21699646e-05 9.99920182e-01 -2.80284074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 948.2165599949999 meters 0.013488763091647264 Centerline is valid? [True, True] Translation: X:-228.06, Y:-278.01, Z:-2.80 [[-7.03855719e-01 -7.10286621e-01 8.94668731e-03 -2.28059951e+02] [ 7.10227940e-01 -7.03912574e-01 -9.13030992e-03 -2.78008783e+02] [ 1.27828227e-02 -7.22335592e-05 9.99918294e-01 -2.80452406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 948.246559995 meters 0.013178097019305713 Centerline is valid? [True, True] Translation: X:-228.08, Y:-277.99, Z:-2.80 [[-7.03926645e-01 -7.10214415e-01 9.09748648e-03 -2.28080015e+02] [ 7.10153801e-01 -7.03985426e-01 -9.27895380e-03 -2.77989614e+02] [ 1.29945446e-02 -7.10882097e-05 9.99915565e-01 -2.80323208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 948.276559995 meters 0.013107790722962481 Centerline is valid? [True, True] Translation: X:-228.10, Y:-277.97, Z:-2.80 [[-7.03332532e-01 -7.10804638e-01 8.95077939e-03 -2.28099672e+02] [ 7.10746077e-01 -7.03389482e-01 -9.12416273e-03 -2.77970161e+02] [ 1.27813813e-02 -5.55891327e-05 9.99918313e-01 -2.80268179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 948.3065599949999 meters 0.013069268012766996 Centerline is valid? [True, True] Translation: X:-228.12, Y:-277.95, Z:-2.80 [[-7.02995867e-01 -7.11137186e-01 8.98414085e-03 -2.28119179e+02] [ 7.11078285e-01 -7.03053271e-01 -9.15270881e-03 -2.77950856e+02] [ 1.28251612e-02 -4.58889948e-05 9.99917753e-01 -2.80315053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 948.3365599949999 meters 0.012981333302948877 Centerline is valid? [True, True] Translation: X:-228.14, Y:-277.93, Z:-2.80 [[-7.01728200e-01 -7.12389347e-01 8.88553538e-03 -2.28140123e+02] [ 7.12331897e-01 -7.01784453e-01 -9.04713194e-03 -2.77931733e+02] [ 1.26808110e-02 -1.91773424e-05 9.99919595e-01 -2.80258092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 948.366559995 meters 0.012983899102155203 Centerline is valid? [True, True] Translation: X:-228.16, Y:-277.91, Z:-2.80 [[-7.00926146e-01 -7.13177920e-01 8.93263893e-03 -2.28159683e+02] [ 7.13119993e-01 -7.00983063e-01 -9.08967549e-03 -2.77912846e+02] [ 1.27441845e-02 -1.14779928e-06 9.99918790e-01 -2.80292852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 948.396559995 meters 0.012965274164868671 Centerline is valid? [True, True] Translation: X:-228.18, Y:-277.89, Z:-2.80 [[-7.00122201e-01 -7.13963204e-01 9.24378412e-03 -2.28179899e+02] [ 7.13901309e-01 -7.00183221e-01 -9.40096028e-03 -2.77893598e+02] [ 1.31842823e-02 1.73285849e-05 9.99913084e-01 -2.80280572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 948.4265599949999 meters 0.012991327488536873 Centerline is valid? [True, True] Translation: X:-228.20, Y:-277.88, Z:-2.80 [[-6.98225807e-01 -7.15816594e-01 9.34487092e-03 -2.28199771e+02] [ 7.15753555e-01 -6.98288337e-01 -9.49983556e-03 -2.77875618e+02] [ 1.33255543e-02 5.55942368e-05 9.99911209e-01 -2.80332246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 948.4565599949999 meters 0.013121980877773906 Centerline is valid? [True, True] Translation: X:-228.22, Y:-277.86, Z:-2.80 [[-6.97621847e-01 -7.16406101e-01 9.27672583e-03 -2.28219130e+02] [ 7.16344109e-01 -6.97683520e-01 -9.42465709e-03 -2.77856802e+02] [ 1.32241006e-02 7.04812101e-05 9.99912555e-01 -2.80306347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 948.486559995 meters 0.013295909604552835 Centerline is valid? [True, True] Translation: X:-228.24, Y:-277.84, Z:-2.80 [[-6.95965786e-01 -7.18025829e-01 8.39841472e-03 -2.28239172e+02] [ 7.17975202e-01 -6.96016451e-01 -8.52703950e-03 -2.77838507e+02] [ 1.19680694e-02 9.53257565e-05 9.99928376e-01 -2.80242591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 948.516559995 meters 0.013352230520616758 Centerline is valid? [True, True] Translation: X:-228.26, Y:-277.82, Z:-2.80 [[-6.95284737e-01 -7.18687397e-01 8.21945558e-03 -2.28259385e+02] [ 7.18639006e-01 -6.95333311e-01 -8.34063200e-03 -2.77818500e+02] [ 1.17095684e-02 1.07707259e-04 9.99931435e-01 -2.80164045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 948.5465599949999 meters 0.013476487574739503 Centerline is valid? [True, True] Translation: X:-228.28, Y:-277.80, Z:-2.80 [[-6.94581500e-01 -7.19371170e-01 7.85243844e-03 -2.28278779e+02] [ 7.19327100e-01 -6.94625875e-01 -7.96346794e-03 -2.77799929e+02] [ 1.11831962e-02 1.17194267e-04 9.99937459e-01 -2.80170510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 948.5765599949999 meters 0.013765995653938568 Centerline is valid? [True, True] Translation: X:-228.30, Y:-277.78, Z:-2.80 [[-6.94028141e-01 -7.19906698e-01 7.69976249e-03 -2.28297405e+02] [ 7.19864408e-01 -6.94070840e-01 -7.80409872e-03 -2.77782134e+02] [ 1.09624036e-02 1.26520843e-04 9.99939903e-01 -2.80151269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 948.6065599949999 meters 0.014094421436821762 Centerline is valid? [True, True] Translation: X:-228.32, Y:-277.76, Z:-2.80 [[-6.92596211e-01 -7.21285113e-01 7.63380747e-03 -2.28317083e+02] [ 7.21243674e-01 -6.92638264e-01 -7.73293598e-03 -2.77762222e+02] [ 1.08651188e-02 1.50033186e-04 9.99940962e-01 -2.80099700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 948.636559995 meters 0.014332106345922862 Centerline is valid? [True, True] Translation: X:-228.34, Y:-277.74, Z:-2.80 [[-6.92165181e-01 -7.21701554e-01 7.36398684e-03 -2.28335867e+02] [ 7.21663066e-01 -6.92204336e-01 -7.45496462e-03 -2.77743002e+02] [ 1.04776432e-02 1.54250385e-04 9.99945096e-01 -2.80092893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 948.666559995 meters 0.015122946503723176 Centerline is valid? [True, True] Translation: X:-228.35, Y:-277.72, Z:-2.80 [[-6.91245986e-01 -7.22587647e-01 6.78813336e-03 -2.28354177e+02] [ 7.22555025e-01 -6.91279298e-01 -6.86799597e-03 -2.77724900e+02] [ 9.65522512e-03 1.57325219e-04 9.99953375e-01 -2.80034078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 948.6965599949999 meters 0.01466949074931174 Centerline is valid? [True, True] Translation: X:-228.37, Y:-277.70, Z:-2.80 [[-6.90733204e-01 -7.23081719e-01 6.36151326e-03 -2.28373115e+02] [ 7.23053122e-01 -6.90762480e-01 -6.43273563e-03 -2.77703888e+02] [ 9.04568821e-03 1.56407927e-04 9.99959075e-01 -2.79930075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 948.7265599949999 meters 0.015319778337574955 Centerline is valid? [True, True] Translation: X:-228.39, Y:-277.69, Z:-2.80 [[-6.90185294e-01 -7.23603590e-01 6.48871200e-03 -2.28393268e+02] [ 7.23573897e-01 -6.90215775e-01 -6.55746680e-03 -2.77685246e+02] [ 9.22361790e-03 1.69195469e-04 9.99957447e-01 -2.79999533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 948.756559995 meters 0.015890527255990307 Centerline is valid? [True, True] Translation: X:-228.41, Y:-277.67, Z:-2.80 [[-6.89516699e-01 -7.24239758e-01 6.59503585e-03 -2.28412607e+02] [ 7.24209149e-01 -6.89548214e-01 -6.66106416e-03 -2.77666904e+02] [ 9.37180268e-03 1.83270325e-04 9.99956067e-01 -2.80061177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 948.786559995 meters 0.015319672700607063 Centerline is valid? [True, True] Translation: X:-228.43, Y:-277.65, Z:-2.80 [[-6.88864341e-01 -7.24859214e-01 6.71116015e-03 -2.28430814e+02] [ 7.24827583e-01 -6.88897003e-01 -6.77449677e-03 -2.77645959e+02] [ 9.53385452e-03 1.97724737e-04 9.99954532e-01 -2.80012493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 948.8165599949999 meters 0.01767903995350765 Centerline is valid? [True, True] Translation: X:-228.45, Y:-277.63, Z:-2.80 [[-6.87739100e-01 -7.25925266e-01 6.88759002e-03 -2.28451800e+02] [ 7.25892044e-01 -6.87773553e-01 -6.94842463e-03 -2.77628450e+02] [ 9.78113926e-03 2.20943495e-04 9.99952139e-01 -2.80182882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 948.8465599949999 meters 0.017011480994037282 Centerline is valid? [True, True] Translation: X:-228.47, Y:-277.61, Z:-2.80 [[-6.87209945e-01 -7.26420783e-01 7.43892557e-03 -2.28469385e+02] [ 7.26382102e-01 -6.87250162e-01 -7.50052522e-03 -2.77606779e+02] [ 1.05609402e-02 2.49066864e-04 9.99944201e-01 -2.80100476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 948.876559995 meters 0.017342282828748203 Centerline is valid? [True, True] Translation: X:-228.49, Y:-277.59, Z:-2.80 [[-6.86407553e-01 -7.27159048e-01 9.18642954e-03 -2.28487899e+02] [ 7.27100190e-01 -6.86468946e-01 -9.25741377e-03 -2.77585658e+02] [ 1.30378108e-02 3.25095931e-04 9.99914951e-01 -2.80322140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 948.906559995 meters 0.017168323200956202 Centerline is valid? [True, True] Translation: X:-228.51, Y:-277.56, Z:-2.80 [[-6.86339358e-01 -7.27210316e-01 1.01706587e-02 -2.28506505e+02] [ 7.27138259e-01 -6.86414614e-01 -1.02435501e-02 -2.77564625e+02] [ 1.44305040e-02 3.64923446e-04 9.99895808e-01 -2.80394114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 948.9365599949999 meters 0.01703323683433137 Centerline is valid? [True, True] Translation: X:-228.52, Y:-277.54, Z:-2.80 [[-6.86689664e-01 -7.26870889e-01 1.07711452e-02 -2.28523793e+02] [ 7.26790133e-01 -6.86774027e-01 -1.08415256e-02 -2.77543347e+02] [ 1.52777321e-02 3.83598421e-04 9.99883215e-01 -2.80491069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 948.9665599949999 meters 0.01725240930269332 Centerline is valid? [True, True] Translation: X:-228.54, Y:-277.52, Z:-2.81 [[-6.87454000e-01 -7.26148040e-01 1.07713299e-02 -2.28541636e+02] [ 7.26067302e-01 -6.87538279e-01 -1.08345570e-02 -2.77523872e+02] [ 1.52731940e-02 3.72450843e-04 9.99883289e-01 -2.80522310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 948.996559995 meters 0.016106334379360068 Centerline is valid? [True, True] Translation: X:-228.56, Y:-277.50, Z:-2.80 [[-6.89939201e-01 -7.23785547e-01 1.08802614e-02 -2.28557419e+02] [ 7.23702967e-01 -6.90024909e-01 -1.09380655e-02 -2.77499647e+02] [ 1.54244651e-02 3.27477263e-04 9.99880982e-01 -2.80432027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 949.026559995 meters 0.01598667129554597 Centerline is valid? [True, True] Translation: X:-228.57, Y:-277.48, Z:-2.80 [[-6.91935941e-01 -7.21881487e-01 1.05722489e-02 -2.28574947e+02] [ 7.21803378e-01 -6.92016648e-01 -1.06227573e-02 -2.77478553e+02] [ 1.49845441e-02 2.80817442e-04 9.99887686e-01 -2.80467523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 949.0565599949999 meters 0.014910619150563055 Centerline is valid? [True, True] Translation: X:-228.59, Y:-277.46, Z:-2.80 [[-6.94034958e-01 -7.19865439e-01 1.04511461e-02 -2.28592134e+02] [ 7.19788961e-01 -6.94113603e-01 -1.04956728e-02 -2.77455285e+02] [ 1.48097547e-02 2.38255786e-04 9.99890301e-01 -2.80361691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 949.0865599949999 meters 0.013714351034197299 Centerline is valid? [True, True] Translation: X:-228.61, Y:-277.43, Z:-2.80 [[-6.98261722e-01 -7.15774683e-01 9.85750310e-03 -2.28606204e+02] [ 7.15706316e-01 -6.98331284e-01 -9.89385847e-03 -2.77430301e+02] [ 1.39655762e-02 1.46574566e-04 9.99902466e-01 -2.80245287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 949.116559995 meters 0.013165488098767804 Centerline is valid? [True, True] Translation: X:-228.62, Y:-277.41, Z:-2.80 [[-7.00393293e-01 -7.13711406e-01 8.07856483e-03 -2.28624826e+02] [ 7.13665403e-01 -7.00439876e-01 -8.10384509e-03 -2.77408980e+02] [ 1.14423556e-02 8.95134721e-05 9.99934530e-01 -2.79988670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 949.146559995 meters 0.013165488098767804 Centerline is valid? [True, True] Translation: X:-228.64, Y:-277.39, Z:-2.80 [[-7.00616951e-01 -7.13491824e-01 8.08110408e-03 -2.28643793e+02] [ 7.13445836e-01 -7.00663549e-01 -8.10131296e-03 -2.77390101e+02] [ 1.14423556e-02 8.95128662e-05 9.99934530e-01 -2.79988624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 949.1765599949999 meters 0.013051889617408868 Centerline is valid? [True, True] Translation: X:-228.66, Y:-277.37, Z:-2.80 [[-7.01844745e-01 -7.12294550e-01 7.10128695e-03 -2.28662048e+02] [ 7.12259023e-01 -7.01880667e-01 -7.11437355e-03 -2.77371514e+02] [ 1.00517855e-02 6.47700065e-05 9.99949478e-01 -2.79907712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 949.2065599949999 meters 0.013110590581044457 Centerline is valid? [True, True] Translation: X:-228.68, Y:-277.35, Z:-2.80 [[-7.02081456e-01 -7.12064890e-01 6.72470777e-03 -2.28681648e+02] [ 7.12033060e-01 -7.02113658e-01 -6.73298017e-03 -2.77352977e+02] [ 9.51582795e-03 6.11137319e-05 9.99954722e-01 -2.79897714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 949.236559995 meters 0.012966250021517274 Centerline is valid? [True, True] Translation: X:-228.70, Y:-277.33, Z:-2.80 [[-7.02055314e-01 -7.12084797e-01 7.31976649e-03 -2.28701109e+02] [ 7.12047133e-01 -7.02093468e-01 -7.32418368e-03 -2.77334083e+02] [ 1.03546001e-02 7.00366738e-05 9.99946387e-01 -2.79937265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 949.266559995 meters 0.012966250021517274 Centerline is valid? [True, True] Translation: X:-228.72, Y:-277.32, Z:-2.80 [[-7.02278406e-01 -7.11864754e-01 7.32206123e-03 -2.28720099e+02] [ 7.11827102e-01 -7.02316572e-01 -7.32188960e-03 -2.77315229e+02] [ 1.03546001e-02 7.00366680e-05 9.99946387e-01 -2.79937218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 949.2965599949999 meters 0.013167340086907965 Centerline is valid? [True, True] Translation: X:-228.74, Y:-277.34, Z:-2.80 [[-6.52654679e-01 -7.57619027e-01 7.43505328e-03 -2.28735172e+02] [ 7.57571253e-01 -6.52697023e-01 -8.50841641e-03 -2.77342965e+02] [ 1.12989753e-02 7.95248422e-05 9.99936162e-01 -2.80055893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 949.3265599949999 meters 0.01312230172212737 Centerline is valid? [True, True] Translation: X:-228.75, Y:-277.32, Z:-2.80 [[-6.52830027e-01 -7.57465649e-01 7.66459505e-03 -2.28753217e+02] [ 7.57414916e-01 -6.52875014e-01 -8.76704903e-03 -2.77322552e+02] [ 1.16447611e-02 8.18857599e-05 9.99932194e-01 -2.80030219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 949.3565599949999 meters 0.013347151665288515 Centerline is valid? [True, True] Translation: X:-228.77, Y:-277.30, Z:-2.80 [[-6.52760975e-01 -7.57521151e-01 8.05084012e-03 -2.28772362e+02] [ 7.57465254e-01 -6.52810614e-01 -9.20278937e-03 -2.77303822e+02] [ 1.22269815e-02 9.10098936e-05 9.99925244e-01 -2.80172793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 949.386559995 meters 0.0131949130081343 Centerline is valid? [True, True] Translation: X:-228.79, Y:-277.28, Z:-2.80 [[-6.52910205e-01 -7.57391084e-01 8.18605394e-03 -2.28790882e+02] [ 7.57333356e-01 -6.52961513e-01 -9.35145987e-03 -2.77284026e+02] [ 1.24278905e-02 9.39081308e-05 9.99922767e-01 -2.80137903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 949.416559995 meters 0.0134881106416091 Centerline is valid? [True, True] Translation: X:-228.81, Y:-277.27, Z:-2.80 [[-6.53390628e-01 -7.56975095e-01 8.33019626e-03 -2.28810400e+02] [ 7.56915363e-01 -6.53443721e-01 -9.50985269e-03 -2.77266015e+02] [ 1.26420361e-02 9.16049020e-05 9.99920082e-01 -2.80284906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 949.4465599949999 meters 0.013353612282119768 Centerline is valid? [True, True] Translation: X:-228.83, Y:-277.25, Z:-2.80 [[-6.53667720e-01 -7.56737387e-01 8.18775822e-03 -2.28828466e+02] [ 7.56679733e-01 -6.53718992e-01 -9.34143480e-03 -2.77246039e+02] [ 1.24215060e-02 8.93163080e-05 9.99922846e-01 -2.80224413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 949.4765599949999 meters 0.013238161409214163 Centerline is valid? [True, True] Translation: X:-228.85, Y:-277.23, Z:-2.80 [[-6.54082964e-01 -7.56378764e-01 8.16343689e-03 -2.28846509e+02] [ 7.56321497e-01 -6.54133899e-01 -9.30782583e-03 -2.77225633e+02] [ 1.23802226e-02 8.60924965e-05 9.99923359e-01 -2.80175168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 949.506559995 meters 0.013205409875430939 Centerline is valid? [True, True] Translation: X:-228.86, Y:-277.20, Z:-2.80 [[-6.54566862e-01 -7.55966241e-01 7.56742336e-03 -2.28863355e+02] [ 7.55917069e-01 -6.54610599e-01 -8.62257876e-03 -2.77204886e+02] [ 1.14720940e-02 7.62901653e-05 9.99934191e-01 -2.80077436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 949.536559995 meters 0.013203192618792502 Centerline is valid? [True, True] Translation: X:-228.88, Y:-277.18, Z:-2.80 [[-6.54639548e-01 -7.55911096e-01 6.74367242e-03 -2.28880580e+02] [ 7.55872094e-01 -6.54674278e-01 -7.67896356e-03 -2.77184965e+02] [ 1.02195226e-02 7.04005629e-05 9.99947777e-01 -2.79992727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 949.5665599949999 meters 0.013339579733264334 Centerline is valid? [True, True] Translation: X:-228.90, Y:-277.17, Z:-2.80 [[-6.53520579e-01 -7.56889874e-01 5.34522837e-03 -2.28899269e+02] [ 7.56865435e-01 -6.53542434e-01 -6.08274237e-03 -2.77165315e+02] [ 8.09729967e-03 7.04212816e-05 9.99967214e-01 -2.79804548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 949.5965599949999 meters 0.013575563414730072 Centerline is valid? [True, True] Translation: X:-228.92, Y:-277.15, Z:-2.80 [[-6.52566788e-01 -7.57713201e-01 5.22424679e-03 -2.28918175e+02] [ 7.57689911e-01 -6.52587694e-01 -5.94132366e-03 -2.77145831e+02] [ 7.91109853e-03 8.12485941e-05 9.99968704e-01 -2.79770130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 949.626559995 meters 0.014222374116716908 Centerline is valid? [True, True] Translation: X:-228.94, Y:-277.13, Z:-2.80 [[-6.49835512e-01 -7.60052863e-01 5.78391323e-03 -2.28938791e+02] [ 7.60024442e-01 -6.49861240e-01 -6.57392121e-03 -2.77127508e+02] [ 8.75526866e-03 1.23947969e-04 9.99961664e-01 -2.79905242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 949.656559995 meters 0.015205300212667026 Centerline is valid? [True, True] Translation: X:-228.96, Y:-277.11, Z:-2.80 [[-6.46523678e-01 -7.62867120e-01 6.39460138e-03 -2.28958951e+02] [ 7.62832558e-01 -6.46555275e-01 -7.26394624e-03 -2.77108122e+02] [ 9.67588901e-03 1.81696888e-04 9.99953171e-01 -2.79940566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 949.6865599949999 meters 0.015205300212667026 Centerline is valid? [True, True] Translation: X:-228.98, Y:-277.09, Z:-2.80 [[-6.46762178e-01 -7.62664911e-01 6.39687200e-03 -2.28976713e+02] [ 7.62630358e-01 -6.46793786e-01 -7.26194675e-03 -2.77088106e+02] [ 9.67588902e-03 1.81696289e-04 9.99953171e-01 -2.79940520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 949.7165599949999 meters 0.01685669792922209 Centerline is valid? [True, True] Translation: X:-229.00, Y:-277.07, Z:-2.80 [[-6.43533399e-01 -7.65386977e-01 6.89489368e-03 -2.28997057e+02] [ 7.65347027e-01 -6.43570289e-01 -7.82376269e-03 -2.77070465e+02] [ 1.04255548e-02 2.42133783e-04 9.99945623e-01 -2.80045700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 949.746559995 meters 0.016810799423133724 Centerline is valid? [True, True] Translation: X:-229.02, Y:-277.05, Z:-2.80 [[-6.42322327e-01 -7.66400712e-01 7.20944863e-03 -2.29015538e+02] [ 7.66357152e-01 -6.42362727e-01 -8.17576925e-03 -2.77049947e+02] [ 1.08969965e-02 2.73533383e-04 9.99940589e-01 -2.80023963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 949.776559995 meters 0.01778817610176079 Centerline is valid? [True, True] Translation: X:-229.04, Y:-277.03, Z:-2.80 [[-6.40790812e-01 -7.67678811e-01 7.50855449e-03 -2.29035264e+02] [ 7.67631705e-01 -6.40834727e-01 -8.50987914e-03 -2.77031294e+02] [ 1.13445964e-02 3.10752116e-04 9.99935600e-01 -2.80097027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 949.8065599949999 meters 0.01778817610176079 Centerline is valid? [True, True] Translation: X:-229.05, Y:-277.01, Z:-2.80 [[-6.41031006e-01 -7.67478228e-01 7.51121701e-03 -2.29053054e+02] [ 7.67431137e-01 -6.41074935e-01 -8.50752916e-03 -2.77011298e+02] [ 1.13445964e-02 3.10751830e-04 9.99935600e-01 -2.80096981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 949.8365599949999 meters 0.018866282888307308 Centerline is valid? [True, True] Translation: X:-229.07, Y:-276.99, Z:-2.80 [[-6.39705852e-01 -7.68580210e-01 7.80280010e-03 -2.29072822e+02] [ 7.68529534e-01 -6.39753344e-01 -8.83256393e-03 -2.76993072e+02] [ 1.17804013e-02 3.46439492e-04 9.99930549e-01 -2.80197092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 949.866559995 meters 0.0186415069031901 Centerline is valid? [True, True] Translation: X:-229.09, Y:-276.97, Z:-2.80 [[-6.38651696e-01 -7.69452064e-01 8.21782479e-03 -2.29091576e+02] [ 7.69395991e-01 -6.38704449e-01 -9.29708934e-03 -2.76972563e+02] [ 1.24024258e-02 3.85159575e-04 9.99923013e-01 -2.80210503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 949.896559995 meters 0.019704676358956227 Centerline is valid? [True, True] Translation: X:-229.11, Y:-276.95, Z:-2.80 [[-6.37233614e-01 -7.70619967e-01 8.84237831e-03 -2.29110744e+02] [ 7.70555223e-01 -6.37294807e-01 -9.99890000e-03 -2.76954182e+02] [ 1.33405538e-02 4.41905602e-04 9.99910913e-01 -2.80327135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 949.9265599949999 meters 0.020050413501595185 Centerline is valid? [True, True] Translation: X:-229.13, Y:-276.93, Z:-2.80 [[-6.37157874e-01 -7.70680954e-01 8.98392317e-03 -2.29128741e+02] [ 7.70614213e-01 -6.37221045e-01 -1.01525676e-02 -2.76934064e+02] [ 1.35491354e-02 4.54350484e-04 9.99908103e-01 -2.80351590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 949.9565599949999 meters 0.02007088678381 Centerline is valid? [True, True] Translation: X:-229.15, Y:-276.91, Z:-2.80 [[-6.37752500e-01 -7.70187117e-01 9.14074215e-03 -2.29146889e+02] [ 7.70118064e-01 -6.37817840e-01 -1.03233241e-02 -2.76913419e+02] [ 1.37810196e-02 4.55724879e-04 9.99904934e-01 -2.80334241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 949.986559995 meters 0.01971642733611475 Centerline is valid? [True, True] Translation: X:-229.16, Y:-276.89, Z:-2.80 [[-6.38460411e-01 -7.69603485e-01 8.87582934e-03 -2.29164494e+02] [ 7.69538403e-01 -6.38521956e-01 -1.00178653e-02 -2.76892284e+02] [ 1.33771960e-02 4.34281129e-04 9.99910427e-01 -2.80284937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 950.016559995 meters 0.019079863665814455 Centerline is valid? [True, True] Translation: X:-229.18, Y:-276.87, Z:-2.80 [[-6.41159760e-01 -7.67360920e-01 8.44870873e-03 -2.29181009e+02] [ 7.67301826e-01 -6.41215315e-01 -9.53037702e-03 -2.76870387e+02] [ 1.27306803e-02 3.72215393e-04 9.99918892e-01 -2.80271784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 950.0465599949999 meters 0.018196970919470652 Centerline is valid? [True, True] Translation: X:-229.20, Y:-276.85, Z:-2.80 [[-6.42774977e-01 -7.66010212e-01 8.28755208e-03 -2.29198313e+02] [ 7.65953299e-01 -6.42828311e-01 -9.34376157e-03 -2.76847706e+02] [ 1.24848899e-02 3.41941730e-04 9.99922002e-01 -2.80193848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 950.0765599949999 meters 0.01589949464389885 Centerline is valid? [True, True] Translation: X:-229.21, Y:-276.82, Z:-2.80 [[-6.46829141e-01 -7.62595644e-01 7.74243651e-03 -2.29211726e+02] [ 7.62545786e-01 -6.46875425e-01 -8.72404055e-03 -2.76822580e+02] [ 1.16613072e-02 2.60998677e-04 9.99931971e-01 -2.80013246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 950.1065599949999 meters 0.015255243473741601 Centerline is valid? [True, True] Translation: X:-229.23, Y:-276.80, Z:-2.80 [[-6.49222888e-01 -7.60561327e-01 7.49060225e-03 -2.29228327e+02] [ 7.60514578e-01 -6.49266062e-01 -8.43550251e-03 -2.76799503e+02] [ 1.12791108e-02 2.20190904e-04 9.99936365e-01 -2.79985401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 950.136559995 meters 0.014763688948249276 Centerline is valid? [True, True] Translation: X:-229.24, Y:-276.78, Z:-2.80 [[-6.53812339e-01 -7.56618392e-01 7.61799629e-03 -2.29243037e+02] [ 7.56569826e-01 -6.53856700e-01 -8.57406264e-03 -2.76775694e+02] [ 1.14683714e-02 1.57718176e-04 9.99934224e-01 -2.80079718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 950.166559995 meters 0.01365316429742626 Centerline is valid? [True, True] Translation: X:-229.26, Y:-276.75, Z:-2.80 [[-6.56370991e-01 -7.54396036e-01 7.98389600e-03 -2.29257990e+02] [ 7.54342596e-01 -6.56419533e-01 -8.98020699e-03 -2.76752467e+02] [ 1.20154178e-02 1.28245474e-04 9.99927804e-01 -2.79936702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 950.1965599949999 meters 0.013392633729963063 Centerline is valid? [True, True] Translation: X:-229.28, Y:-276.73, Z:-2.80 [[-6.58065640e-01 -7.52917021e-01 8.09776327e-03 -2.29275897e+02] [ 7.52861996e-01 -6.58115452e-01 -9.10308469e-03 -2.76730642e+02] [ 1.21831305e-02 1.06070971e-04 9.99925777e-01 -2.79929091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 950.2265599949999 meters 0.013432443448767688 Centerline is valid? [True, True] Translation: X:-229.30, Y:-276.71, Z:-2.80 [[-6.60097575e-01 -7.51137548e-01 7.97348176e-03 -2.29295205e+02] [ 7.51084132e-01 -6.60145725e-01 -8.95813062e-03 -2.76711830e+02] [ 1.19924482e-02 7.55153305e-05 9.99928085e-01 -2.80167266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 950.256559995 meters 0.013368969620398465 Centerline is valid? [True, True] Translation: X:-229.31, Y:-276.69, Z:-2.80 [[-6.61459487e-01 -7.49939681e-01 7.86272536e-03 -2.29312716e+02] [ 7.49887715e-01 -6.61506214e-01 -8.82853676e-03 -2.76691252e+02] [ 1.18221117e-02 5.64417680e-05 9.99930115e-01 -2.80146383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 950.286559995 meters 0.013039296578739947 Centerline is valid? [True, True] Translation: X:-229.33, Y:-276.67, Z:-2.80 [[-6.63983400e-01 -7.47696846e-01 8.68741427e-03 -2.29329482e+02] [ 7.47633286e-01 -6.64040229e-01 -9.74902831e-03 -2.76668483e+02] [ 1.30581103e-02 2.18071186e-05 9.99914739e-01 -2.79926229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 950.3165599949999 meters 0.01361907546982624 Centerline is valid? [True, True] Translation: X:-229.35, Y:-276.65, Z:-2.80 [[-6.65476125e-01 -7.46356333e-01 9.68252646e-03 -2.29346764e+02] [ 7.46277300e-01 -6.65546561e-01 -1.08612792e-02 -2.76647977e+02] [ 1.45505567e-02 -2.07227438e-06 9.99894135e-01 -2.80316467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 950.3465599949999 meters 0.013480459067300795 Centerline is valid? [True, True] Translation: X:-229.36, Y:-276.63, Z:-2.80 [[-6.68972956e-01 -7.43205086e-01 1.10174699e-02 -2.29363783e+02] [ 7.43102443e-01 -6.69063670e-01 -1.23517357e-02 -2.76625417e+02] [ 1.65512617e-02 -7.58683190e-05 9.99863016e-01 -2.80068617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 950.376559995 meters 0.014255653868473689 Centerline is valid? [True, True] Translation: X:-229.38, Y:-276.60, Z:-2.80 [[-6.73169827e-01 -7.39403734e-01 1.11580971e-02 -2.29381322e+02] [ 7.39298014e-01 -6.73262274e-01 -1.25042333e-02 -2.76604343e+02] [ 1.67580026e-02 -1.68313514e-04 9.99859561e-01 -2.80167314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 950.406559995 meters 0.015875832753408835 Centerline is valid? [True, True] Translation: X:-229.40, Y:-276.58, Z:-2.80 [[-6.79081612e-01 -7.33985976e-01 1.06184900e-02 -2.29397864e+02] [ 7.33889679e-01 -6.79164566e-01 -1.18925282e-02 -2.76582689e+02] [ 1.59406510e-02 -2.83197036e-04 9.99872900e-01 -2.80053186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 950.4365599949999 meters 0.016316292670139485 Centerline is valid? [True, True] Translation: X:-229.42, Y:-276.56, Z:-2.80 [[-6.82294084e-01 -7.31011474e-01 9.84923185e-03 -2.29416824e+02] [ 7.30928381e-01 -6.82365093e-01 -1.10264570e-02 -2.76562532e+02] [ 1.47812386e-02 -3.24203286e-04 9.99890699e-01 -2.79775511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 950.4665599949999 meters 0.01715504928445086 Centerline is valid? [True, True] Translation: X:-229.43, Y:-276.54, Z:-2.80 [[-6.83745264e-01 -7.29664885e-01 9.03155428e-03 -2.29434606e+02] [ 7.29594980e-01 -6.83804835e-01 -1.01051047e-02 -2.76542399e+02] [ 1.35491605e-02 -3.19940798e-04 9.99908155e-01 -2.79610345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 950.496559995 meters 0.01715504928445086 Centerline is valid? [True, True] Translation: X:-229.45, Y:-276.52, Z:-2.80 [[-6.83968279e-01 -7.29455803e-01 9.03464295e-03 -2.29452525e+02] [ 7.29385915e-01 -6.84027872e-01 -1.01023433e-02 -2.76522512e+02] [ 1.35491605e-02 -3.19941032e-04 9.99908155e-01 -2.79610299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 950.526559995 meters 0.01642675958136618 Centerline is valid? [True, True] Translation: X:-229.47, Y:-276.50, Z:-2.79 [[-6.83955709e-01 -7.29468715e-01 8.94329120e-03 -2.29473308e+02] [ 7.29400309e-01 -6.84014106e-01 -9.99460319e-03 -2.76503379e+02] [ 1.34080877e-02 -3.12626546e-04 9.99910059e-01 -2.79467532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 950.5565599949999 meters 0.01642675958136618 Centerline is valid? [True, True] Translation: X:-229.49, Y:-276.48, Z:-2.79 [[-6.84158513e-01 -7.29278477e-01 8.94607014e-03 -2.29491758e+02] [ 7.29210088e-01 -6.84216929e-01 -9.99211586e-03 -2.76482862e+02] [ 1.34080877e-02 -3.12626548e-04 9.99910059e-01 -2.79467485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 950.5865599949999 meters 0.017492603774423368 Centerline is valid? [True, True] Translation: X:-229.51, Y:-276.46, Z:-2.80 [[-6.83686242e-01 -7.29726221e-01 8.53030905e-03 -2.29509907e+02] [ 7.29664135e-01 -6.83739395e-01 -9.52310849e-03 -2.76463425e+02] [ 1.27817703e-02 -2.86557672e-04 9.99918269e-01 -2.79523729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 950.616559995 meters 0.01573688175449259 Centerline is valid? [True, True] Translation: X:-229.53, Y:-276.45, Z:-2.79 [[-6.82692402e-01 -7.30655713e-01 8.56229128e-03 -2.29532779e+02] [ 7.30593303e-01 -6.82746042e-01 -9.55344581e-03 -2.76446567e+02] [ 1.28261502e-02 -2.66512210e-04 9.99917706e-01 -2.79345368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 950.646559995 meters 0.015542957234422282 Centerline is valid? [True, True] Translation: X:-229.55, Y:-276.43, Z:-2.79 [[-6.81291401e-01 -7.31961073e-01 8.66110202e-03 -2.29553824e+02] [ 7.31897388e-01 -6.81346410e-01 -9.65830643e-03 -2.76428084e+02] [ 1.29707151e-02 -2.41083173e-04 9.99915848e-01 -2.79367789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 950.6765599949999 meters 0.014923450128389588 Centerline is valid? [True, True] Translation: X:-229.58, Y:-276.41, Z:-2.79 [[-6.79438457e-01 -7.33675103e-01 9.17748953e-03 -2.29575707e+02] [ 7.33603832e-01 -6.79500402e-01 -1.02284218e-02 -2.76409857e+02] [ 1.37404462e-02 -2.16941607e-04 9.99905572e-01 -2.79404478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 950.7065599949999 meters 0.014060238212924 Centerline is valid? [True, True] Translation: X:-229.60, Y:-276.39, Z:-2.80 [[-6.75395896e-01 -7.37390135e-01 9.80681817e-03 -2.29600871e+02] [ 7.37309233e-01 -6.75467074e-01 -1.09237192e-02 -2.76394539e+02] [ 1.46792256e-02 -1.47177553e-04 9.99892244e-01 -2.79509872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 950.736559995 meters 0.013699467545269144 Centerline is valid? [True, True] Translation: X:-229.62, Y:-276.38, Z:-2.80 [[-6.73436651e-01 -7.39177956e-01 9.95123696e-03 -2.29622104e+02] [ 7.39094952e-01 -6.73510162e-01 -1.10776333e-02 -2.76376488e+02] [ 1.48906015e-02 -1.05175262e-04 9.99889123e-01 -2.79506616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 950.766559995 meters 0.013408955143273876 Centerline is valid? [True, True] Translation: X:-229.65, Y:-276.36, Z:-2.79 [[-6.70005240e-01 -7.42297931e-01 9.31457193e-03 -2.29645303e+02] [ 7.42225588e-01 -6.70069982e-01 -1.03631457e-02 -2.76360702e+02] [ 1.39339567e-02 -2.98482788e-05 9.99902917e-01 -2.79466168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 950.7965599949999 meters 0.01311312685787922 Centerline is valid? [True, True] Translation: X:-229.67, Y:-276.34, Z:-2.79 [[-6.68443088e-01 -7.43709357e-01 8.95712321e-03 -2.29666953e+02] [ 7.43642663e-01 -6.68503098e-01 -9.95982140e-03 -2.76342637e+02] [ 1.33950770e-02 3.32516915e-06 9.99910282e-01 -2.79343885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 950.8265599949999 meters 0.013214515401221136 Centerline is valid? [True, True] Translation: X:-229.69, Y:-276.33, Z:-2.79 [[-6.66743262e-01 -7.45234859e-01 8.85595947e-03 -2.29687573e+02] [ 7.45169851e-01 -6.66802072e-01 -9.84325985e-03 -2.76325108e+02] [ 1.32407125e-02 3.62668156e-05 9.99912337e-01 -2.79358473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 950.8565599949999 meters 0.01355059771476227 Centerline is valid? [True, True] Translation: X:-229.71, Y:-276.31, Z:-2.79 [[-6.63431539e-01 -7.48184299e-01 8.87961103e-03 -2.29710625e+02] [ 7.48119284e-01 -6.63490953e-01 -9.86371081e-03 -2.76309707e+02] [ 1.32714151e-02 9.91114016e-05 9.99911926e-01 -2.79440655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 950.886559995 meters 0.01397299215220184 Centerline is valid? [True, True] Translation: X:-229.73, Y:-276.29, Z:-2.79 [[-6.60419422e-01 -7.50847953e-01 8.57547021e-03 -2.29733936e+02] [ 7.50787608e-01 -6.60475079e-01 -9.52044527e-03 -2.76292368e+02] [ 1.28122912e-02 1.50869797e-04 9.99917908e-01 -2.79397214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 950.916559995 meters 0.013977152113341286 Centerline is valid? [True, True] Translation: X:-229.75, Y:-276.27, Z:-2.79 [[-6.59163090e-01 -7.51954618e-01 8.26281200e-03 -2.29754696e+02] [ 7.51898745e-01 -6.59214854e-01 -9.16803715e-03 -2.76272669e+02] [ 1.23409163e-02 1.69566279e-04 9.99923834e-01 -2.79349991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 950.9465599949999 meters 0.015350752381119302 Centerline is valid? [True, True] Translation: X:-229.78, Y:-276.26, Z:-2.79 [[-6.56818173e-01 -7.54004742e-01 8.16918118e-03 -2.29777578e+02] [ 7.53950346e-01 -6.56868940e-01 -9.05928065e-03 -2.76256762e+02] [ 1.21968220e-02 2.08856812e-04 9.99925594e-01 -2.79470345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 950.9765599949999 meters 0.015531965542327327 Centerline is valid? [True, True] Translation: X:-229.80, Y:-276.24, Z:-2.79 [[-6.55359819e-01 -7.55277405e-01 7.71686024e-03 -2.29798861e+02] [ 7.55228994e-01 -6.55405213e-01 -8.55416424e-03 -2.76238876e+02] [ 1.15184374e-02 2.21941077e-04 9.99933636e-01 -2.79436121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 951.006559995 meters 0.015932324064226785 Centerline is valid? [True, True] Translation: X:-229.82, Y:-276.22, Z:-2.79 [[-6.53926338e-01 -7.56514234e-01 8.15831754e-03 -2.29819988e+02] [ 7.56460284e-01 -6.53977175e-01 -9.03842305e-03 -2.76220513e+02] [ 1.21730491e-02 2.60980312e-04 9.99925872e-01 -2.79492904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 951.036559995 meters 0.016139964173675476 Centerline is valid? [True, True] Translation: X:-229.84, Y:-276.20, Z:-2.80 [[-6.53290473e-01 -7.57059568e-01 8.50695679e-03 -2.29839880e+02] [ 7.57001022e-01 -6.53345796e-01 -9.41931989e-03 -2.76200275e+02] [ 1.26889707e-02 2.86223039e-04 9.99919451e-01 -2.79569481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 951.0665599949999 meters 0.01718478398895434 Centerline is valid? [True, True] Translation: X:-229.86, Y:-276.18, Z:-2.80 [[-6.52027871e-01 -7.58117719e-01 1.08249857e-02 -2.29861244e+02] [ 7.58023179e-01 -6.52117603e-01 -1.19787835e-02 -2.76182948e+02] [ 1.61404917e-02 3.95089378e-04 9.99869656e-01 -2.79900093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 951.0965599949999 meters 0.0175471462700583 Centerline is valid? [True, True] Translation: X:-229.88, Y:-276.17, Z:-2.80 [[-6.52541056e-01 -7.57667766e-01 1.13898122e-02 -2.29880567e+02] [ 7.57563138e-01 -6.52640323e-01 -1.25976902e-02 -2.76165376e+02] [ 1.69783145e-02 4.07991855e-04 9.99855775e-01 -2.80093089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 951.126559995 meters 0.0175471462700583 Centerline is valid? [True, True] Translation: X:-229.90, Y:-276.15, Z:-2.80 [[-6.52773285e-01 -7.57467638e-01 1.13936732e-02 -2.29898591e+02] [ 7.57363041e-01 -6.52872584e-01 -1.25941984e-02 -2.76145614e+02] [ 1.69783145e-02 4.07990730e-04 9.99855775e-01 -2.80093043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 951.156559995 meters 0.0175471462700583 Centerline is valid? [True, True] Translation: X:-229.92, Y:-276.13, Z:-2.80 [[-6.53005452e-01 -7.57267440e-01 1.13975339e-02 -2.29916621e+02] [ 7.57162873e-01 -6.53104783e-01 -1.25907046e-02 -2.76125857e+02] [ 1.69783145e-02 4.07990730e-04 9.99855775e-01 -2.80092996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 951.1865599949999 meters 0.0175471462700583 Centerline is valid? [True, True] Translation: X:-229.93, Y:-276.11, Z:-2.80 [[-6.53237559e-01 -7.57067170e-01 1.14013935e-02 -2.29934657e+02] [ 7.56962634e-01 -6.53336922e-01 -1.25872097e-02 -2.76106106e+02] [ 1.69783145e-02 4.07990730e-04 9.99855775e-01 -2.80092950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 951.2165599949999 meters 0.017227819189354288 Centerline is valid? [True, True] Translation: X:-229.95, Y:-276.09, Z:-2.80 [[-6.54168360e-01 -7.56261357e-01 1.15116214e-02 -2.29952228e+02] [ 7.56154799e-01 -6.54269519e-01 -1.27010512e-02 -2.76085607e+02] [ 1.71370172e-02 3.95941955e-04 9.99853072e-01 -2.80066774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 951.246559995 meters 0.016879068943224117 Centerline is valid? [True, True] Translation: X:-229.97, Y:-276.06, Z:-2.80 [[-6.55381064e-01 -7.55214595e-01 1.12505998e-02 -2.29969556e+02] [ 7.55112774e-01 -6.55477522e-01 -1.24062820e-02 -2.76064885e+02] [ 1.67439205e-02 3.64629350e-04 9.99859744e-01 -2.80038544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 951.276559995 meters 0.01561377420287234 Centerline is valid? [True, True] Translation: X:-229.99, Y:-276.04, Z:-2.80 [[-6.58189341e-01 -7.52785760e-01 1.00195658e-02 -2.29985058e+02] [ 7.52704808e-01 -6.58265543e-01 -1.10429289e-02 -2.76040817e+02] [ 1.49084945e-02 2.73437201e-04 9.99888825e-01 -2.79765621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 951.3065599949999 meters 0.015056552582490819 Centerline is valid? [True, True] Translation: X:-230.00, Y:-276.02, Z:-2.80 [[-6.60133755e-01 -7.51088793e-01 9.43662847e-03 -2.30002266e+02] [ 7.51016895e-01 -6.60201162e-01 -1.03946982e-02 -2.76018528e+02] [ 1.40374144e-02 2.25176222e-04 9.99901445e-01 -2.79657215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 951.3365599949999 meters 0.013912546017397024 Centerline is valid? [True, True] Translation: X:-230.02, Y:-275.99, Z:-2.79 [[-6.64133118e-01 -7.47563968e-01 8.67846176e-03 -2.30017273e+02] [ 7.47502927e-01 -6.64189803e-01 -9.55405279e-03 -2.75994033e+02] [ 1.29064114e-02 1.42012697e-04 9.99916699e-01 -2.79465276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 951.366559995 meters 0.013516204904654376 Centerline is valid? [True, True] Translation: X:-230.03, Y:-275.97, Z:-2.79 [[-6.66466817e-01 -7.45486235e-01 8.50027518e-03 -2.30034723e+02] [ 7.45427574e-01 -6.66521014e-01 -9.35255821e-03 -2.75971449e+02] [ 1.26378154e-02 1.03169794e-04 9.99920134e-01 -2.79457755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 951.396559995 meters 0.013479097278388901 Centerline is valid? [True, True] Translation: X:-230.05, Y:-275.95, Z:-2.80 [[-6.68700672e-01 -7.43481829e-01 8.61281842e-03 -2.30051972e+02] [ 7.43421508e-01 -6.68756133e-01 -9.47080128e-03 -2.75950050e+02] [ 1.28012438e-02 6.98232804e-05 9.99918058e-01 -2.79566628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 951.4265599949999 meters 0.013272039486367031 Centerline is valid? [True, True] Translation: X:-230.07, Y:-275.93, Z:-2.80 [[-6.72570089e-01 -7.39981801e-01 8.74125234e-03 -2.30067070e+02] [ 7.39919441e-01 -6.72626890e-01 -9.60661765e-03 -2.75926261e+02] [ 1.29883236e-02 6.69886660e-06 9.99915648e-01 -2.79500576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 951.4565599949999 meters 0.013290233200367927 Centerline is valid? [True, True] Translation: X:-230.08, Y:-275.90, Z:-2.80 [[-6.74030905e-01 -7.38653316e-01 8.58007765e-03 -2.30084612e+02] [ 7.38593194e-01 -6.74085512e-01 -9.42418848e-03 -2.75903826e+02] [ 1.27449141e-02 -1.50073258e-05 9.99918780e-01 -2.79506829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 951.486559995 meters 0.01327676221243289 Centerline is valid? [True, True] Translation: X:-230.10, Y:-275.88, Z:-2.79 [[-6.75229004e-01 -7.37556369e-01 8.74042058e-03 -2.30102362e+02] [ 7.37493957e-01 -6.75285570e-01 -9.59489841e-03 -2.75882225e+02] [ 1.29790583e-02 -3.27463353e-05 9.99915768e-01 -2.79476579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 951.516559995 meters 0.013251918369415553 Centerline is valid? [True, True] Translation: X:-230.12, Y:-275.86, Z:-2.79 [[-6.76044263e-01 -7.36809800e-01 8.68752432e-03 -2.30120748e+02] [ 7.36748150e-01 -6.76100079e-01 -9.53141012e-03 -2.75860810e+02] [ 1.28964723e-02 -4.31376601e-05 9.99916836e-01 -2.79447927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 951.5465599949999 meters 0.01332847589864869 Centerline is valid? [True, True] Translation: X:-230.14, Y:-275.84, Z:-2.79 [[-6.76579602e-01 -7.36319562e-01 8.57584868e-03 -2.30138392e+02] [ 7.36259518e-01 -6.76633949e-01 -9.40325401e-03 -2.75839721e+02] [ 1.27265102e-02 -4.79996388e-05 9.99919014e-01 -2.79488152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 951.5765599949999 meters 0.01332847589864869 Centerline is valid? [True, True] Translation: X:-230.16, Y:-275.82, Z:-2.79 [[-6.76784214e-01 -7.36131467e-01 8.57846218e-03 -2.30157025e+02] [ 7.36071439e-01 -6.76838578e-01 -9.40086981e-03 -2.75819398e+02] [ 1.27265102e-02 -4.79992885e-05 9.99919014e-01 -2.79488104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 951.6065599949999 meters 0.013424942338831836 Centerline is valid? [True, True] Translation: X:-230.17, Y:-275.80, Z:-2.79 [[-6.76940873e-01 -7.35990019e-01 8.35147778e-03 -2.30174251e+02] [ 7.35933189e-01 -6.76992386e-01 -9.14610912e-03 -2.75799972e+02] [ 1.23853319e-02 -4.52454146e-05 9.99923298e-01 -2.79495937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 951.636559995 meters 0.013399345312932078 Centerline is valid? [True, True] Translation: X:-230.19, Y:-275.78, Z:-2.79 [[-6.76814534e-01 -7.36105711e-01 8.39453334e-03 -2.30192738e+02] [ 7.36048374e-01 -6.76866590e-01 -9.18755932e-03 -2.75779364e+02] [ 1.24449940e-02 -3.94910682e-05 9.99922557e-01 -2.79484496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 951.666559995 meters 0.013179668944582178 Centerline is valid? [True, True] Translation: X:-230.21, Y:-275.76, Z:-2.79 [[-6.75985808e-01 -7.36869153e-01 8.18777037e-03 -2.30211672e+02] [ 7.36814723e-01 -6.76035392e-01 -8.95613114e-03 -2.75759176e+02] [ 1.21347193e-02 -2.13477846e-05 9.99926372e-01 -2.79409020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 951.6965599949999 meters 0.013091505613155242 Centerline is valid? [True, True] Translation: X:-230.23, Y:-275.74, Z:-2.79 [[-6.75600223e-01 -7.37223197e-01 8.14232043e-03 -2.30230382e+02] [ 7.37169457e-01 -6.75649287e-01 -8.90132950e-03 -2.75738810e+02] [ 1.20636196e-02 -1.14702704e-05 9.99927232e-01 -2.79444199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 951.7265599949999 meters 0.013207627160838587 Centerline is valid? [True, True] Translation: X:-230.25, Y:-275.72, Z:-2.79 [[-6.74490266e-01 -7.38240995e-01 7.94450495e-03 -2.30249232e+02] [ 7.38189963e-01 -6.74537051e-01 -8.68015682e-03 -2.75718697e+02] [ 1.17669105e-02 9.87253880e-06 9.99930768e-01 -2.79472356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 951.756559995 meters 0.013305715873179842 Centerline is valid? [True, True] Translation: X:-230.27, Y:-275.70, Z:-2.79 [[-6.73869365e-01 -7.38811823e-01 7.56103194e-03 -2.30268436e+02] [ 7.38765687e-01 -6.73911781e-01 -8.25652400e-03 -2.75698083e+02] [ 1.11954861e-02 2.20123803e-05 9.99937328e-01 -2.79444777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 951.786559995 meters 0.013298954475103333 Centerline is valid? [True, True] Translation: X:-230.29, Y:-275.68, Z:-2.79 [[-6.73300426e-01 -7.39333261e-01 7.27087077e-03 -2.30286229e+02] [ 7.39290686e-01 -6.73339682e-01 -7.93440193e-03 -2.75679360e+02] [ 1.07619331e-02 3.30508372e-05 9.99942088e-01 -2.79470335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 951.8165599949999 meters 0.0134157823875733 Centerline is valid? [True, True] Translation: X:-230.30, Y:-275.66, Z:-2.79 [[-6.73032298e-01 -7.39581560e-01 6.82951264e-03 -2.30304515e+02] [ 7.39544055e-01 -6.73066947e-01 -7.44814895e-03 -2.75659674e+02] [ 1.01052328e-02 3.78806650e-05 9.99948940e-01 -2.79420443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 951.8465599949999 meters 0.013312509733034592 Centerline is valid? [True, True] Translation: X:-230.32, Y:-275.64, Z:-2.79 [[-6.72461337e-01 -7.40104164e-01 6.44808120e-03 -2.30323553e+02] [ 7.40070794e-01 -6.72492249e-01 -7.02818107e-03 -2.75638517e+02] [ 9.53787070e-03 4.58565369e-05 9.99954513e-01 -2.79331638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 951.876559995 meters 0.013270696342578768 Centerline is valid? [True, True] Translation: X:-230.34, Y:-275.62, Z:-2.79 [[-6.71916003e-01 -7.40604180e-01 5.85951026e-03 -2.30341808e+02] [ 7.40576675e-01 -6.71941550e-01 -6.38298168e-03 -2.75616940e+02] [ 8.66451131e-03 5.05890877e-05 9.99962461e-01 -2.79272474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 951.906559995 meters 0.013395205404359279 Centerline is valid? [True, True] Translation: X:-230.36, Y:-275.60, Z:-2.79 [[-6.72411714e-01 -7.40155395e-01 5.69901478e-03 -2.30359042e+02] [ 7.40129392e-01 -6.72435862e-01 -6.20438374e-03 -2.75595374e+02] [ 8.42443002e-03 4.61080410e-05 9.99964513e-01 -2.79342145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 951.9365599949999 meters 0.013395205404359279 Centerline is valid? [True, True] Translation: X:-230.38, Y:-275.58, Z:-2.79 [[-6.72641647e-01 -7.39946426e-01 5.70094216e-03 -2.30377215e+02] [ 7.39920431e-01 -6.72665804e-01 -6.20261279e-03 -2.75575748e+02] [ 8.42443002e-03 4.61078938e-05 9.99964513e-01 -2.79342099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 951.9665599949999 meters 0.013361783891267182 Centerline is valid? [True, True] Translation: X:-230.39, Y:-275.55, Z:-2.79 [[-6.73826133e-01 -7.38871223e-01 5.25921854e-03 -2.30394427e+02] [ 7.38849092e-01 -6.73846656e-01 -5.71881709e-03 -2.75552911e+02] [ 7.76937620e-03 3.22804401e-05 9.99969818e-01 -2.79328160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 951.996559995 meters 0.013351400030009853 Centerline is valid? [True, True] Translation: X:-230.41, Y:-275.53, Z:-2.79 [[-6.75447277e-01 -7.37391331e-01 5.00022044e-03 -2.30409837e+02] [ 7.37371311e-01 -6.75465784e-01 -5.43359965e-03 -2.75531377e+02] [ 7.38416710e-03 1.69090168e-05 9.99972737e-01 -2.79342381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 952.026559995 meters 0.013299050042024965 Centerline is valid? [True, True] Translation: X:-230.43, Y:-275.51, Z:-2.79 [[-6.76224844e-01 -7.36680513e-01 4.66714163e-03 -2.30427075e+02] [ 7.36663077e-01 -6.76240949e-01 -5.06847325e-03 -2.75510247e+02] [ 6.88995776e-03 1.06833774e-05 9.99976264e-01 -2.79322087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 952.0565599949999 meters 0.013303229285210485 Centerline is valid? [True, True] Translation: X:-230.44, Y:-275.49, Z:-2.79 [[-6.76820247e-01 -7.36134717e-01 4.47574528e-03 -2.30443652e+02] [ 7.36118685e-01 -6.76835045e-01 -4.85826680e-03 -2.75490281e+02] [ 6.60568012e-03 6.50639801e-06 9.99978182e-01 -2.79334412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 952.0865599949999 meters 0.013187786189181936 Centerline is valid? [True, True] Translation: X:-230.46, Y:-275.47, Z:-2.79 [[-6.77094532e-01 -7.35884017e-01 4.20807738e-03 -2.30461515e+02] [ 7.35869857e-01 -6.77107608e-01 -4.56511610e-03 -2.75469014e+02] [ 6.20871719e-03 5.58215057e-06 9.99980726e-01 -2.79282558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 952.116559995 meters 0.013185994769585384 Centerline is valid? [True, True] Translation: X:-230.48, Y:-275.45, Z:-2.79 [[-6.77221150e-01 -7.35768136e-01 4.09441345e-03 -2.30478667e+02] [ 7.35754740e-01 -6.77233527e-01 -4.43995734e-03 -2.75448155e+02] [ 6.03965320e-03 5.65108310e-06 9.99981761e-01 -2.79347624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 952.146559995 meters 0.013140859291500637 Centerline is valid? [True, True] Translation: X:-230.50, Y:-275.43, Z:-2.79 [[-6.76085086e-01 -7.36809958e-01 4.47694677e-03 -2.30496931e+02] [ 7.36793982e-01 -6.76099909e-01 -4.85201154e-03 -2.75427288e+02] [ 6.60187372e-03 1.82147933e-05 9.99978207e-01 -2.79392014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 952.1765599949999 meters 0.013359513796365696 Centerline is valid? [True, True] Translation: X:-230.52, Y:-275.41, Z:-2.80 [[-6.75220586e-01 -7.37598232e-01 5.09979812e-03 -2.30515478e+02] [ 7.37577549e-01 -6.75239844e-01 -5.52372400e-03 -2.75408167e+02] [ 7.51787594e-03 3.17644427e-05 9.99971740e-01 -2.79542807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 952.2065599949999 meters 0.013285206396340765 Centerline is valid? [True, True] Translation: X:-230.53, Y:-275.39, Z:-2.80 [[-6.74023193e-01 -7.38689157e-01 5.57350189e-03 -2.30534619e+02] [ 7.38664519e-01 -6.74046235e-01 -6.03338005e-03 -2.75387177e+02] [ 8.21359039e-03 5.03100112e-05 9.99966267e-01 -2.79529141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 952.236559995 meters 0.013764601577254168 Centerline is valid? [True, True] Translation: X:-230.55, Y:-275.37, Z:-2.80 [[-6.72552831e-01 -7.40023671e-01 6.13644689e-03 -2.30554263e+02] [ 7.39993896e-01 -6.72580821e-01 -6.63879744e-03 -2.75368612e+02] [ 9.04012374e-03 7.59912299e-05 9.99959135e-01 -2.79715355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 952.266559995 meters 0.01388436648521689 Centerline is valid? [True, True] Translation: X:-230.57, Y:-275.35, Z:-2.80 [[-6.71044220e-01 -7.41386697e-01 6.73953971e-03 -2.30573676e+02] [ 7.41350890e-01 -6.71078054e-01 -7.28722782e-03 -2.75348045e+02] [ 9.92541096e-03 1.06311652e-04 9.99950736e-01 -2.79733299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 952.2965599949999 meters 0.01477020239046906 Centerline is valid? [True, True] Translation: X:-230.59, Y:-275.33, Z:-2.80 [[-6.67729271e-01 -7.44364772e-01 7.66200419e-03 -2.30594215e+02] [ 7.44318739e-01 -6.67773207e-01 -8.28006282e-03 -2.75328500e+02] [ 1.12798682e-02 1.74132978e-04 9.99936365e-01 -2.79903544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 952.3265599949999 meters 0.015344498932529496 Centerline is valid? [True, True] Translation: X:-230.61, Y:-275.31, Z:-2.80 [[-6.66053064e-01 -7.45860623e-01 8.07755233e-03 -2.30613680e+02] [ 7.45809632e-01 -6.66102008e-01 -8.72399585e-03 -2.75308875e+02] [ 1.18873588e-02 2.13672163e-04 9.99929320e-01 -2.79992186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 952.3565599949999 meters 0.01653299911376926 Centerline is valid? [True, True] Translation: X:-230.63, Y:-275.29, Z:-2.80 [[-6.64634928e-01 -7.47122818e-01 8.24058254e-03 -2.30633295e+02] [ 7.47069908e-01 -6.64685967e-01 -8.89487573e-03 -2.75290681e+02] [ 1.21229642e-02 2.44446142e-04 9.99926484e-01 -2.80128984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 952.386559995 meters 0.017071867668496797 Centerline is valid? [True, True] Translation: X:-230.65, Y:-275.27, Z:-2.80 [[-6.61908554e-01 -7.49539176e-01 8.25160107e-03 -2.30651156e+02] [ 7.49486370e-01 -6.61959922e-01 -8.90185907e-03 -2.75268929e+02] [ 1.21345213e-02 2.92245867e-04 9.99926331e-01 -2.80054917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 952.416559995 meters 0.017070269707844116 Centerline is valid? [True, True] Translation: X:-230.67, Y:-275.25, Z:-2.80 [[-6.61087053e-01 -7.50264849e-01 8.15875567e-03 -2.30669301e+02] [ 7.50213338e-01 -6.61137326e-01 -8.79676992e-03 -2.75247350e+02] [ 1.19939652e-02 3.05376628e-04 9.99928023e-01 -2.79980923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 952.4465599949999 meters 0.01792624863636827 Centerline is valid? [True, True] Translation: X:-230.69, Y:-275.23, Z:-2.80 [[-6.59460433e-01 -7.51701149e-01 7.57099069e-03 -2.30687386e+02] [ 7.51656942e-01 -6.59503818e-01 -8.15820276e-03 -2.75226415e+02] [ 1.11256277e-02 3.10775785e-04 9.99938060e-01 -2.79895719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 952.4765599949999 meters 0.018545093689601926 Centerline is valid? [True, True] Translation: X:-230.71, Y:-275.21, Z:-2.80 [[-6.58849126e-01 -7.52239980e-01 7.26924651e-03 -2.30706418e+02] [ 7.52199305e-01 -6.58889154e-01 -7.82871277e-03 -2.75205294e+02] [ 1.06786984e-02 3.09981606e-04 9.99942933e-01 -2.79851927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 952.506559995 meters 0.01823868908598144 Centerline is valid? [True, True] Translation: X:-230.72, Y:-275.18, Z:-2.80 [[-6.58499035e-01 -7.52550669e-01 6.81999867e-03 -2.30723636e+02] [ 7.52514929e-01 -6.58534283e-01 -7.34023186e-03 -2.75184005e+02] [ 1.00150993e-02 2.98615223e-04 9.99949803e-01 -2.79753844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 952.536559995 meters 0.020960097158190964 Centerline is valid? [True, True] Translation: X:-230.74, Y:-275.17, Z:-2.80 [[-6.58021114e-01 -7.52971634e-01 6.47555876e-03 -2.30744282e+02] [ 7.52939473e-01 -6.58052911e-01 -6.96538160e-03 -2.75165927e+02] [ 9.50599505e-03 2.92335647e-04 9.99954774e-01 -2.79818243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 952.5665599949999 meters 0.022227155212767927 Centerline is valid? [True, True] Translation: X:-230.76, Y:-275.15, Z:-2.80 [[-6.57029428e-01 -7.53840187e-01 6.10767906e-03 -2.30762041e+02] [ 7.53811646e-01 -6.57057752e-01 -6.56601828e-03 -2.75145341e+02] [ 8.96282632e-03 2.89972370e-04 9.99959791e-01 -2.79730842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 952.5965599949999 meters 0.01982012015076369 Centerline is valid? [True, True] Translation: X:-230.78, Y:-275.12, Z:-2.80 [[-6.56895404e-01 -7.53958152e-01 5.96098229e-03 -2.30776943e+02] [ 7.53931007e-01 -6.56922387e-01 -6.40431093e-03 -2.75122014e+02] [ 8.74448515e-03 2.87206962e-04 9.99961725e-01 -2.79628340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 952.626559995 meters 0.020216789524683983 Centerline is valid? [True, True] Translation: X:-230.79, Y:-275.10, Z:-2.80 [[-6.56606393e-01 -7.54207714e-01 6.22641908e-03 -2.30794340e+02] [ 7.54178144e-01 -6.56635843e-01 -6.68554887e-03 -2.75100540e+02] [ 9.13078247e-03 3.06055056e-04 9.99958267e-01 -2.79691506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 952.656559995 meters 0.020216789524683983 Centerline is valid? [True, True] Translation: X:-230.81, Y:-275.08, Z:-2.80 [[-6.56841068e-01 -7.54003327e-01 6.22849915e-03 -2.30812665e+02] [ 7.53973766e-01 -6.56870527e-01 -6.68361103e-03 -2.75081029e+02] [ 9.13078248e-03 3.06054753e-04 9.99958267e-01 -2.79691460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 952.6865599949999 meters 0.02104506681534991 Centerline is valid? [True, True] Translation: X:-230.83, Y:-275.06, Z:-2.80 [[-6.56403298e-01 -7.54377006e-01 7.07411224e-03 -2.30829847e+02] [ 7.54338928e-01 -6.56441320e-01 -7.58790336e-03 -2.75060781e+02] [ 1.03678794e-02 3.55553455e-04 9.99946189e-01 -2.79817022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 952.7165599949999 meters 0.020614732510603858 Centerline is valid? [True, True] Translation: X:-230.85, Y:-275.04, Z:-2.80 [[-6.56260891e-01 -7.54497578e-01 7.41945158e-03 -2.30848069e+02] [ 7.54455747e-01 -6.56302721e-01 -7.95390816e-03 -2.75038840e+02] [ 1.08706107e-02 3.77809026e-04 9.99940842e-01 -2.79849351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 952.746559995 meters 0.02155129927875279 Centerline is valid? [True, True] Translation: X:-230.87, Y:-275.02, Z:-2.80 [[-6.55861511e-01 -7.54834174e-01 8.42897855e-03 -2.30866073e+02] [ 7.54780258e-01 -6.55915526e-01 -9.03238170e-03 -2.75019257e+02] [ 1.23466483e-02 4.38035100e-04 9.99923681e-01 -2.80034173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 952.776559995 meters 0.02145653451499671 Centerline is valid? [True, True] Translation: X:-230.88, Y:-275.00, Z:-2.80 [[-6.55726037e-01 -7.54947070e-01 8.84794716e-03 -2.30884341e+02] [ 7.54887739e-01 -6.55785564e-01 -9.47611261e-03 -2.74997896e+02] [ 1.29563195e-02 4.65473048e-04 9.99915955e-01 -2.80065194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 952.8065599949999 meters 0.021553734067650876 Centerline is valid? [True, True] Translation: X:-230.90, Y:-274.98, Z:-2.80 [[-6.55854549e-01 -7.54827921e-01 9.46685995e-03 -2.30902623e+02] [ 7.54760074e-01 -6.55922679e-01 -1.01326658e-02 -2.74977154e+02] [ 1.38579472e-02 4.99652951e-04 9.99903849e-01 -2.80118873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 952.8365599949999 meters 0.019648610456179535 Centerline is valid? [True, True] Translation: X:-230.92, Y:-274.95, Z:-2.80 [[-6.57005152e-01 -7.53819776e-01 9.99878557e-03 -2.30918084e+02] [ 7.53744063e-01 -6.57081034e-01 -1.06958961e-02 -2.74953047e+02] [ 1.46327904e-02 5.09266395e-04 9.99892805e-01 -2.80074427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 952.866559995 meters 0.01979848615831031 Centerline is valid? [True, True] Translation: X:-230.94, Y:-274.93, Z:-2.80 [[-6.58129198e-01 -7.52838925e-01 9.97555568e-03 -2.30935812e+02] [ 7.52763538e-01 -6.58204613e-01 -1.06650475e-02 -2.74932595e+02] [ 1.45950197e-02 4.90255429e-04 9.99893367e-01 -2.80098841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 952.896559995 meters 0.020712289944864078 Centerline is valid? [True, True] Translation: X:-230.95, Y:-274.91, Z:-2.80 [[-6.59533056e-01 -7.51609628e-01 9.95568471e-03 -2.30954369e+02] [ 7.51534485e-01 -6.59608028e-01 -1.06380247e-02 -2.74912748e+02] [ 1.45624913e-02 4.65911452e-04 9.99893853e-01 -2.80187268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 952.9265599949999 meters 0.017655923137354985 Centerline is valid? [True, True] Translation: X:-230.97, Y:-274.89, Z:-2.80 [[-6.62350583e-01 -7.49133099e-01 9.55534404e-03 -2.30968040e+02] [ 7.49063703e-01 -6.62419384e-01 -1.02042909e-02 -2.74887629e+02] [ 1.39740172e-02 3.98743356e-04 9.99902279e-01 -2.79972458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 952.9565599949999 meters 0.01793471534131863 Centerline is valid? [True, True] Translation: X:-230.99, Y:-274.87, Z:-2.80 [[-6.63916358e-01 -7.47748867e-01 9.31141161e-03 -2.30986751e+02] [ 7.47682909e-01 -6.63981551e-01 -9.93820408e-03 -2.74867281e+02] [ 1.36138864e-02 3.63847057e-04 9.99907261e-01 -2.80018762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 952.986559995 meters 0.01844548426224834 Centerline is valid? [True, True] Translation: X:-231.01, Y:-274.85, Z:-2.80 [[-6.65315986e-01 -7.46503963e-01 9.29901479e-03 -2.31005049e+02] [ 7.46438133e-01 -6.65380881e-01 -9.91957885e-03 -2.74847863e+02] [ 1.35923916e-02 3.41484853e-04 9.99907561e-01 -2.80088139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 953.016559995 meters 0.016475104812931202 Centerline is valid? [True, True] Translation: X:-231.02, Y:-274.82, Z:-2.80 [[-6.66680067e-01 -7.45290035e-01 8.96951315e-03 -2.31021440e+02] [ 7.45228747e-01 -6.66740331e-01 -9.56272669e-03 -2.74824740e+02] [ 1.31073411e-02 3.09059777e-04 9.99914048e-01 -2.79915569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 953.0465599949999 meters 0.016192289189098822 Centerline is valid? [True, True] Translation: X:-231.04, Y:-274.80, Z:-2.80 [[-6.68611163e-01 -7.43568073e-01 8.10147243e-03 -2.31039631e+02] [ 7.43518002e-01 -6.68660196e-01 -8.63267605e-03 -2.74804344e+02] [ 1.18361144e-02 2.51687020e-04 9.99929919e-01 -2.79820798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 953.0765599949999 meters 0.015402279589453428 Centerline is valid? [True, True] Translation: X:-231.06, Y:-274.78, Z:-2.80 [[-6.69326341e-01 -7.42925961e-01 7.95402522e-03 -2.31057983e+02] [ 7.42877707e-01 -6.69373558e-01 -8.47072534e-03 -2.74782739e+02] [ 1.16173359e-02 2.39188420e-04 9.99932488e-01 -2.79696348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 953.1065599949999 meters 0.01514038398878127 Centerline is valid? [True, True] Translation: X:-231.08, Y:-274.76, Z:-2.80 [[-6.70692691e-01 -7.41696344e-01 7.60582846e-03 -2.31077762e+02] [ 7.41652191e-01 -6.70735782e-01 -8.09561742e-03 -2.74762192e+02] [ 1.11059911e-02 2.11207905e-04 9.99938304e-01 -2.79676698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 953.136559995 meters 0.01514038398878127 Centerline is valid? [True, True] Translation: X:-231.10, Y:-274.74, Z:-2.80 [[-6.70902034e-01 -7.41506964e-01 7.60811334e-03 -2.31096706e+02] [ 7.41462823e-01 -6.70945138e-01 -8.09347017e-03 -2.74742133e+02] [ 1.11059911e-02 2.11207597e-04 9.99938304e-01 -2.79676651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 953.166559995 meters 0.014775389189017635 Centerline is valid? [True, True] Translation: X:-231.12, Y:-274.72, Z:-2.80 [[-6.72330390e-01 -7.40211445e-01 7.67227412e-03 -2.31115405e+02] [ 7.40166524e-01 -6.72374136e-01 -8.15711634e-03 -2.74721476e+02] [ 1.11966296e-02 1.94483253e-04 9.99937297e-01 -2.79681406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 953.1965599949999 meters 0.014823709408272932 Centerline is valid? [True, True] Translation: X:-231.13, Y:-274.70, Z:-2.80 [[-6.73469107e-01 -7.39175190e-01 7.70719302e-03 -2.31133775e+02] [ 7.39129849e-01 -6.73513182e-01 -8.18907598e-03 -2.74702045e+02] [ 1.12440579e-02 1.81526718e-04 9.99936767e-01 -2.79712449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 953.2265599949999 meters 0.014431069989773256 Centerline is valid? [True, True] Translation: X:-231.15, Y:-274.68, Z:-2.80 [[-6.74159029e-01 -7.38545011e-01 7.80198873e-03 -2.31152288e+02] [ 7.38498565e-01 -6.74204150e-01 -8.28456621e-03 -2.74681428e+02] [ 1.13786582e-02 1.76642376e-04 9.99935246e-01 -2.79677532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 953.256559995 meters 0.014353940719987232 Centerline is valid? [True, True] Translation: X:-231.17, Y:-274.66, Z:-2.80 [[-6.74886693e-01 -7.37878440e-01 7.95985335e-03 -2.31170885e+02] [ 7.37830111e-01 -6.74933610e-01 -8.44687889e-03 -2.74661689e+02] [ 1.16051424e-02 1.72333318e-04 9.99932643e-01 -2.79683378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 953.286559995 meters 0.014204996132545696 Centerline is valid? [True, True] Translation: X:-231.19, Y:-274.64, Z:-2.80 [[-6.76582300e-01 -7.36324762e-01 7.88893345e-03 -2.31188999e+02] [ 7.36277248e-01 -6.76628275e-01 -8.36610632e-03 -2.74642824e+02] [ 1.14980467e-02 1.48082749e-04 9.99933884e-01 -2.79735474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 953.3165599949999 meters 0.013674204753676353 Centerline is valid? [True, True] Translation: X:-231.21, Y:-274.62, Z:-2.80 [[-6.77614324e-01 -7.35374493e-01 7.94877567e-03 -2.31207836e+02] [ 7.35326245e-01 -6.77660930e-01 -8.42477798e-03 -2.74621712e+02] [ 1.15819415e-02 1.36193129e-04 9.99932918e-01 -2.79655558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 953.3465599949999 meters 0.013621782489228438 Centerline is valid? [True, True] Translation: X:-231.23, Y:-274.60, Z:-2.80 [[-6.79719990e-01 -7.33431419e-01 7.68688540e-03 -2.31226912e+02] [ 7.33386212e-01 -6.79763446e-01 -8.14381813e-03 -2.74602102e+02] [ 1.11981958e-02 1.01939783e-04 9.99937293e-01 -2.79690196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 953.376559995 meters 0.013102525684451659 Centerline is valid? [True, True] Translation: X:-231.25, Y:-274.58, Z:-2.80 [[-6.80984092e-01 -7.32261381e-01 7.34419930e-03 -2.31245324e+02] [ 7.32220093e-01 -6.81023688e-01 -7.77639683e-03 -2.74581102e+02] [ 1.06959288e-02 8.19677587e-05 9.99942794e-01 -2.79580422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 953.406559995 meters 0.01319080213974417 Centerline is valid? [True, True] Translation: X:-231.26, Y:-274.56, Z:-2.80 [[-6.82498126e-01 -7.30852372e-01 7.14966355e-03 -2.31263658e+02] [ 7.30813214e-01 -6.82535571e-01 -7.56567207e-03 -2.74561637e+02] [ 1.04092891e-02 6.15115894e-05 9.99945820e-01 -2.79623629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 953.4365599949999 meters 0.012947203248130621 Centerline is valid? [True, True] Translation: X:-231.28, Y:-274.54, Z:-2.80 [[-6.83596495e-01 -7.29826069e-01 7.05271048e-03 -2.31281806e+02] [ 7.29787959e-01 -6.83632874e-01 -7.45839343e-03 -2.74541154e+02] [ 1.02647947e-02 4.84515759e-05 9.99947315e-01 -2.79528553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 953.4665599949999 meters 0.012799062488343563 Centerline is valid? [True, True] Translation: X:-231.30, Y:-274.52, Z:-2.79 [[-6.84580250e-01 -7.28903949e-01 6.99384336e-03 -2.31300923e+02] [ 7.28866468e-01 -6.84615974e-01 -7.39195417e-03 -2.74520353e+02] [ 1.01761215e-02 3.71920733e-05 9.99948221e-01 -2.79499271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 953.496559995 meters 0.012799062488343563 Centerline is valid? [True, True] Translation: X:-231.32, Y:-274.50, Z:-2.79 [[-6.84786035e-01 -7.28710604e-01 6.99593037e-03 -2.31319932e+02] [ 7.28673132e-01 -6.84821769e-01 -7.38997900e-03 -2.74500361e+02] [ 1.01761215e-02 3.71920769e-05 9.99948221e-01 -2.79499224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 953.526559995 meters 0.012734278968960263 Centerline is valid? [True, True] Translation: X:-231.34, Y:-274.48, Z:-2.80 [[-6.86233989e-01 -7.27347050e-01 7.01291893e-03 -2.31338579e+02] [ 7.27309370e-01 -6.86269822e-01 -7.40350910e-03 -2.74481207e+02] [ 1.01976751e-02 2.00220745e-05 9.99948002e-01 -2.79503004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 953.5565599949999 meters 0.012716940574442455 Centerline is valid? [True, True] Translation: X:-231.36, Y:-274.46, Z:-2.80 [[-6.86792761e-01 -7.26820519e-01 6.90191708e-03 -2.31357986e+02] [ 7.26784037e-01 -6.86827440e-01 -7.28221597e-03 -2.74461552e+02] [ 1.00332900e-02 1.48299482e-05 9.99949665e-01 -2.79534225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 953.5865599949999 meters 0.012764079107332002 Centerline is valid? [True, True] Translation: X:-231.38, Y:-274.44, Z:-2.80 [[-6.87664591e-01 -7.25994646e-01 7.01315355e-03 -2.31376825e+02] [ 7.25956986e-01 -6.87700352e-01 -7.39466521e-03 -2.74443136e+02] [ 1.01914355e-02 6.19838911e-06 9.99948066e-01 -2.79598376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 953.616559995 meters 0.01281206686094245 Centerline is valid? [True, True] Translation: X:-231.40, Y:-274.42, Z:-2.80 [[-6.88271533e-01 -7.25418256e-01 7.11699794e-03 -2.31396203e+02] [ 7.25379485e-01 -6.88308328e-01 -7.49990688e-03 -2.74422868e+02] [ 1.03392583e-02 5.51900309e-07 9.99946549e-01 -2.79547130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 953.646559995 meters 0.012823639645299985 Centerline is valid? [True, True] Translation: X:-231.41, Y:-274.40, Z:-2.80 [[-6.88860427e-01 -7.24858266e-01 7.19763663e-03 -2.31414724e+02] [ 7.24818614e-01 -6.88898029e-01 -7.58175127e-03 -2.74403171e+02] [ 1.04541328e-02 -5.78741232e-06 9.99945354e-01 -2.79614380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 953.6765599949999 meters 0.012782339440253114 Centerline is valid? [True, True] Translation: X:-231.43, Y:-274.38, Z:-2.80 [[-6.89704222e-01 -7.24055928e-01 7.14836852e-03 -2.31433674e+02] [ 7.24016822e-01 -6.89741265e-01 -7.52518484e-03 -2.74383654e+02] [ 1.03791794e-02 -1.46126972e-05 9.99946135e-01 -2.79550220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 953.7065599949999 meters 0.012793511182029774 Centerline is valid? [True, True] Translation: X:-231.45, Y:-274.36, Z:-2.80 [[-6.90945285e-01 -7.22869778e-01 7.34148450e-03 -2.31453644e+02] [ 7.22828510e-01 -6.90984285e-01 -7.72415146e-03 -2.74363269e+02] [ 1.06564061e-02 -3.03317231e-05 9.99943219e-01 -2.79552845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 953.736559995 meters 0.012841602125511655 Centerline is valid? [True, True] Translation: X:-231.47, Y:-274.34, Z:-2.80 [[-6.91712396e-01 -7.22135118e-01 7.40491287e-03 -2.31472889e+02] [ 7.22093144e-01 -6.91752030e-01 -7.78599287e-03 -2.74343443e+02] [ 1.07449024e-02 -3.86309696e-05 9.99942271e-01 -2.79568136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 953.766559995 meters 0.012932526649200981 Centerline is valid? [True, True] Translation: X:-231.49, Y:-274.32, Z:-2.80 [[-6.92877584e-01 -7.21013922e-01 7.71867890e-03 -2.31492466e+02] [ 7.20968302e-01 -6.92920574e-01 -8.11082024e-03 -2.74324737e+02] [ 1.11964457e-02 -5.48827094e-05 9.99937316e-01 -2.79534214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 953.7965599949999 meters 0.012970063251225013 Centerline is valid? [True, True] Translation: X:-231.51, Y:-274.31, Z:-2.80 [[-6.93243646e-01 -7.20663919e-01 7.53407383e-03 -2.31511510e+02] [ 7.20620492e-01 -6.93284583e-01 -7.91164336e-03 -2.74306118e+02] [ 1.09248931e-02 -5.54885073e-05 9.99940320e-01 -2.79563749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 953.8265599949999 meters 0.013030801784519338 Centerline is valid? [True, True] Translation: X:-231.53, Y:-274.29, Z:-2.80 [[-6.93580162e-01 -7.20338698e-01 7.66285122e-03 -2.31531298e+02] [ 7.20293808e-01 -6.93622489e-01 -8.04189256e-03 -2.74287388e+02] [ 1.11080123e-02 -5.81928585e-05 9.99938303e-01 -2.79585043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 953.8565599949999 meters 0.012826711791920872 Centerline is valid? [True, True] Translation: X:-231.55, Y:-274.27, Z:-2.80 [[-6.93247292e-01 -7.20662263e-01 7.35495153e-03 -2.31553059e+02] [ 7.20620974e-01 -6.93286305e-01 -7.71440581e-03 -2.74269362e+02] [ 1.06585683e-02 -4.78586052e-05 9.99943195e-01 -2.79518894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 953.886559995 meters 0.012793532151190876 Centerline is valid? [True, True] Translation: X:-231.57, Y:-274.25, Z:-2.80 [[-6.92791176e-01 -7.21101817e-01 7.24956508e-03 -2.31572977e+02] [ 7.21061774e-01 -6.92829105e-01 -7.59934337e-03 -2.74250960e+02] [ 1.05026100e-02 -3.73737782e-05 9.99944846e-01 -2.79521266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 953.916559995 meters 0.01267416897709416 Centerline is valid? [True, True] Translation: X:-231.59, Y:-274.23, Z:-2.79 [[-6.92213659e-01 -7.21659793e-01 6.88422935e-03 -2.31592561e+02] [ 7.21623759e-01 -6.92247891e-01 -7.21165707e-03 -2.74233220e+02] [ 9.96995620e-03 -2.41840645e-05 9.99950299e-01 -2.79497408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 953.9465599949999 meters 0.012639522116300527 Centerline is valid? [True, True] Translation: X:-231.61, Y:-274.22, Z:-2.80 [[-6.91399799e-01 -7.22442788e-01 6.53736998e-03 -2.31611792e+02] [ 7.22410359e-01 -6.91430704e-01 -6.84503768e-03 -2.74215930e+02] [ 9.46528643e-03 -9.99388550e-06 9.99955203e-01 -2.79505463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 953.9765599949999 meters 0.012585611344222715 Centerline is valid? [True, True] Translation: X:-231.63, Y:-274.20, Z:-2.79 [[-6.90342076e-01 -7.23454934e-01 6.38569035e-03 -2.31632556e+02] [ 7.23424074e-01 -6.90371609e-01 -6.68209929e-03 -2.74197465e+02] [ 9.24269702e-03 6.62783811e-06 9.99957285e-01 -2.79393289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 954.006559995 meters 0.01277829302941491 Centerline is valid? [True, True] Translation: X:-231.65, Y:-274.18, Z:-2.79 [[-6.87837171e-01 -7.25833794e-01 6.73274101e-03 -2.31654778e+02] [ 7.25799647e-01 -6.87870120e-01 -7.04071483e-03 -2.74182375e+02] [ 9.74164012e-03 4.37556830e-05 9.99952548e-01 -2.79454646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 954.036559995 meters 0.0129776141714108 Centerline is valid? [True, True] Translation: X:-231.68, Y:-274.16, Z:-2.80 [[-6.86645323e-01 -7.26958242e-01 7.06508609e-03 -2.31675810e+02] [ 7.26920745e-01 -6.86681666e-01 -7.38376893e-03 -2.74164616e+02] [ 1.02191568e-02 6.57272454e-05 9.99947781e-01 -2.79532374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 954.0665599949999 meters 0.013610254970786481 Centerline is valid? [True, True] Translation: X:-231.70, Y:-274.15, Z:-2.80 [[-6.84087428e-01 -7.29351695e-01 8.39621839e-03 -2.31698219e+02] [ 7.29298977e-01 -6.84138941e-01 -8.76994066e-03 -2.74149041e+02] [ 1.21405510e-02 1.23947338e-04 9.99926293e-01 -2.79718821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 954.0965599949999 meters 0.013687673487272735 Centerline is valid? [True, True] Translation: X:-231.72, Y:-274.13, Z:-2.80 [[-6.83155204e-01 -7.30217692e-01 9.00502973e-03 -2.31718818e+02] [ 7.30157194e-01 -6.83214534e-01 -9.40066727e-03 -2.74130058e+02] [ 1.30169008e-02 1.52972473e-04 9.99915265e-01 -2.79723416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 954.126559995 meters 0.014377181874513945 Centerline is valid? [True, True] Translation: X:-231.74, Y:-274.11, Z:-2.80 [[-6.82311634e-01 -7.31000681e-01 9.42541398e-03 -2.31740014e+02] [ 7.30934556e-01 -6.82376708e-01 -9.83380611e-03 -2.74112543e+02] [ 1.36202019e-02 1.79640464e-04 9.99907225e-01 -2.79891593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 954.156559995 meters 0.014772889101425333 Centerline is valid? [True, True] Translation: X:-231.76, Y:-274.09, Z:-2.80 [[-6.81856556e-01 -7.31421801e-01 9.68431594e-03 -2.31760156e+02] [ 7.31352114e-01 -6.81925297e-01 -1.00982681e-02 -2.74094323e+02] [ 1.39900735e-02 1.97074627e-04 9.99902115e-01 -2.79924463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 954.1865599949999 meters 0.015010410449155595 Centerline is valid? [True, True] Translation: X:-231.78, Y:-274.08, Z:-2.80 [[-6.81635276e-01 -7.31627096e-01 9.75415812e-03 -2.31779866e+02] [ 7.31556486e-01 -6.81705032e-01 -1.01664396e-02 -2.74076645e+02] [ 1.40875013e-02 2.05913814e-04 9.99900745e-01 -2.79916323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 954.2165599949999 meters 0.013970576996322885 Centerline is valid? [True, True] Translation: X:-231.80, Y:-274.06, Z:-2.80 [[-6.82499450e-01 -7.30827158e-01 9.28251302e-03 -2.31797561e+02] [ 7.30763220e-01 -6.82562547e-01 -9.66883039e-03 -2.74056256e+02] [ 1.34021396e-02 1.84347675e-04 9.99910170e-01 -2.79676937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 954.246559995 meters 0.013970576996322885 Centerline is valid? [True, True] Translation: X:-231.82, Y:-274.04, Z:-2.80 [[-6.82727138e-01 -7.30614423e-01 9.28552557e-03 -2.31816167e+02] [ 7.30550504e-01 -6.82790254e-01 -9.66593731e-03 -2.74037030e+02] [ 1.34021396e-02 1.84347673e-04 9.99910170e-01 -2.79676890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 954.276559995 meters 0.01386108096768768 Centerline is valid? [True, True] Translation: X:-231.83, Y:-274.02, Z:-2.80 [[-6.84210890e-01 -7.29232867e-01 8.65351379e-03 -2.31834640e+02] [ 7.29177305e-01 -6.84265594e-01 -9.00303355e-03 -2.74017097e+02] [ 1.24866097e-02 1.49972269e-04 9.99922028e-01 -2.79612142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 954.3065599949999 meters 0.013306850135895066 Centerline is valid? [True, True] Translation: X:-231.85, Y:-274.00, Z:-2.79 [[-6.85386506e-01 -7.28132075e-01 8.30777146e-03 -2.31852882e+02] [ 7.28080848e-01 -6.85436843e-01 -8.63789243e-03 -2.73996307e+02] [ 1.19839792e-02 1.28434383e-04 9.99928181e-01 -2.79493416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 954.3365599949999 meters 0.01322073028807216 Centerline is valid? [True, True] Translation: X:-231.87, Y:-273.98, Z:-2.79 [[-6.86351031e-01 -7.27225557e-01 8.07785533e-03 -2.31871868e+02] [ 7.27177125e-01 -6.86398555e-01 -8.39357308e-03 -2.73976217e+02] [ 1.16486491e-02 1.13094078e-04 9.99932146e-01 -2.79473757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 954.366559995 meters 0.013188785192882309 Centerline is valid? [True, True] Translation: X:-231.89, Y:-273.96, Z:-2.80 [[-6.87999963e-01 -7.25665898e-01 8.06571943e-03 -2.31889966e+02] [ 7.25617568e-01 -6.88047234e-01 -8.37545035e-03 -2.73956931e+02] [ 1.16273746e-02 9.03181913e-05 9.99932396e-01 -2.79568008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 954.396559995 meters 0.013097824292350272 Centerline is valid? [True, True] Translation: X:-231.91, Y:-273.94, Z:-2.80 [[-6.88739379e-01 -7.24963796e-01 8.09705812e-03 -2.31908725e+02] [ 7.24915100e-01 -6.88786969e-01 -8.40294824e-03 -2.73937410e+02] [ 1.16689814e-02 8.22383403e-05 9.99931912e-01 -2.79568939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 954.4265599949999 meters 0.012909250307213545 Centerline is valid? [True, True] Translation: X:-231.93, Y:-273.92, Z:-2.80 [[-6.89431014e-01 -7.24301966e-01 8.45806904e-03 -2.31928183e+02] [ 7.24248841e-01 -6.89482891e-01 -8.77266052e-03 -2.73916750e+02] [ 1.21857491e-02 7.76024632e-05 9.99925748e-01 -2.79505761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 954.4565599949999 meters 0.012962065563075243 Centerline is valid? [True, True] Translation: X:-231.95, Y:-273.90, Z:-2.80 [[-6.89478590e-01 -7.24251322e-01 8.90486068e-03 -2.31946752e+02] [ 7.24192511e-01 -6.89536087e-01 -9.22995088e-03 -2.73898557e+02] [ 1.28250269e-02 8.49798874e-05 9.99917753e-01 -2.79560859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 954.486559995 meters 0.013042404452939076 Centerline is valid? [True, True] Translation: X:-231.97, Y:-273.88, Z:-2.80 [[-6.89501095e-01 -7.24225671e-01 9.24216717e-03 -2.31965167e+02] [ 7.24162401e-01 -6.89563028e-01 -9.57330672e-03 -2.73880276e+02] [ 1.33062913e-02 9.20244963e-05 9.99911463e-01 -2.79631703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 954.516559995 meters 0.012954874532324747 Centerline is valid? [True, True] Translation: X:-231.99, Y:-273.86, Z:-2.80 [[-6.89404254e-01 -7.24305294e-01 1.01792221e-02 -2.31985100e+02] [ 7.24228639e-01 -6.89479391e-01 -1.05379756e-02 -2.73859863e+02] [ 1.46510754e-02 1.07158947e-04 9.99892662e-01 -2.79608371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 954.5465599949999 meters 0.013278583467956922 Centerline is valid? [True, True] Translation: X:-232.00, Y:-273.84, Z:-2.80 [[-6.89101333e-01 -7.24573752e-01 1.14991710e-02 -2.32004254e+02] [ 7.24476082e-01 -6.89197258e-01 -1.18973506e-02 -2.73841297e+02] [ 1.65457051e-02 1.32394198e-04 9.99863102e-01 -2.79789229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 954.5765599949999 meters 0.013263882798096809 Centerline is valid? [True, True] Translation: X:-232.02, Y:-273.82, Z:-2.80 [[-6.89542997e-01 -7.24146374e-01 1.19366973e-02 -2.32023407e+02] [ 7.24041197e-01 -6.89646295e-01 -1.23423099e-02 -2.73821643e+02] [ 1.71697380e-02 1.32107262e-04 9.99852581e-01 -2.79809472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 954.6065599949999 meters 0.013234856116920705 Centerline is valid? [True, True] Translation: X:-232.04, Y:-273.80, Z:-2.80 [[-6.90237341e-01 -7.23481491e-01 1.21221147e-02 -2.32042119e+02] [ 7.23373055e-01 -6.90343768e-01 -1.25261957e-02 -2.73802013e+02] [ 1.74308971e-02 1.22763179e-04 9.99848063e-01 -2.79811924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 954.636559995 meters 0.013349767700319268 Centerline is valid? [True, True] Translation: X:-232.06, Y:-273.78, Z:-2.80 [[-6.92932862e-01 -7.20901228e-01 1.20610523e-02 -2.32058978e+02] [ 7.20793631e-01 -6.93037817e-01 -1.24549362e-02 -2.73782318e+02] [ 1.73375442e-02 6.30950756e-05 9.99849692e-01 -2.79942481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 954.666559995 meters 0.012932599933177493 Centerline is valid? [True, True] Translation: X:-232.08, Y:-273.76, Z:-2.80 [[-6.94995844e-01 -7.18914279e-01 1.19598223e-02 -2.32076171e+02] [ 7.18808318e-01 -6.95098741e-01 -1.23427155e-02 -2.73761267e+02] [ 1.71866118e-02 1.86837541e-05 9.99852299e-01 -2.79670157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 954.6965599949999 meters 0.012820553555947703 Centerline is valid? [True, True] Translation: X:-232.09, Y:-273.74, Z:-2.80 [[-6.97424964e-01 -7.16565467e-01 1.15044414e-02 -2.32094256e+02] [ 7.16467212e-01 -6.97519843e-01 -1.18660726e-02 -2.73739848e+02] [ 1.65273940e-02 -3.31401764e-05 9.99863413e-01 -2.79538051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 954.7265599949999 meters 0.013120253805117943 Centerline is valid? [True, True] Translation: X:-232.11, Y:-273.72, Z:-2.79 [[-7.00098191e-01 -7.13964160e-01 1.08490043e-02 -2.32111983e+02] [ 7.13876566e-01 -7.00182241e-01 -1.11837833e-02 -2.73717926e+02] [ 1.55811006e-02 -8.48964939e-05 9.99878604e-01 -2.79457747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 954.756559995 meters 0.014027502671426297 Centerline is valid? [True, True] Translation: X:-232.13, Y:-273.69, Z:-2.79 [[-7.05828280e-01 -7.08316692e-01 9.69039023e-03 -2.32127401e+02] [ 7.08246354e-01 -7.05894773e-01 -9.98352161e-03 -2.73694419e+02] [ 1.39118908e-02 -1.83468329e-04 9.99903208e-01 -2.79283034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 954.786559995 meters 0.014858343409103606 Centerline is valid? [True, True] Translation: X:-232.14, Y:-273.67, Z:-2.79 [[-7.08568506e-01 -7.05578831e-01 9.44388479e-03 -2.32144576e+02] [ 7.05511860e-01 -7.08631401e-01 -9.72387251e-03 -2.73673111e+02] [ 1.35531919e-02 -2.27257097e-04 9.99908126e-01 -2.79234337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 954.8165599949999 meters 0.015427819801513051 Centerline is valid? [True, True] Translation: X:-232.16, Y:-273.65, Z:-2.79 [[-7.10988929e-01 -7.03146654e-01 8.91776117e-03 -2.32163007e+02] [ 7.03086810e-01 -7.11044808e-01 -9.17706472e-03 -2.73651997e+02] [ 1.27937501e-02 -2.54831154e-04 9.99918124e-01 -2.79136627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 954.8465599949999 meters 0.01643537899672213 Centerline is valid? [True, True] Translation: X:-232.18, Y:-273.63, Z:-2.79 [[-7.14375684e-01 -6.99710740e-01 8.50077338e-03 -2.32181250e+02] [ 6.99656178e-01 -7.14426197e-01 -8.74309539e-03 -2.73630633e+02] [ 1.21908129e-02 -2.98236132e-04 9.99925645e-01 -2.79011234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 954.876559995 meters 0.016511866867869693 Centerline is valid? [True, True] Translation: X:-232.20, Y:-273.61, Z:-2.79 [[-7.15194109e-01 -6.98870743e-01 8.77907008e-03 -2.32201286e+02] [ 6.98812549e-01 -7.15247918e-01 -9.02429724e-03 -2.73610443e+02] [ 1.25860289e-02 -3.19199885e-04 9.99920742e-01 -2.78973040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 954.906559995 meters 0.01711855189470357 Centerline is valid? [True, True] Translation: X:-232.22, Y:-273.59, Z:-2.79 [[-7.15506736e-01 -6.98549607e-01 8.86328018e-03 -2.32219771e+02] [ 6.98490343e-01 -7.15561557e-01 -9.10488723e-03 -2.73591548e+02] [ 1.27024380e-02 -3.23692524e-04 9.99919269e-01 -2.79006648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 954.9365599949999 meters 0.015999866066728617 Centerline is valid? [True, True] Translation: X:-232.24, Y:-273.57, Z:-2.79 [[-7.14477636e-01 -6.99599942e-01 9.03486779e-03 -2.32242975e+02] [ 6.99538513e-01 -7.14534692e-01 -9.27595300e-03 -2.73574518e+02] [ 1.29451827e-02 -3.07222987e-04 9.99916161e-01 -2.78954300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 954.9665599949999 meters 0.016103384090698857 Centerline is valid? [True, True] Translation: X:-232.26, Y:-273.56, Z:-2.79 [[-7.13830651e-01 -7.00253995e-01 9.49444845e-03 -2.32263143e+02] [ 7.00186291e-01 -7.13893724e-01 -9.74217922e-03 -2.73556338e+02] [ 1.36000271e-02 -3.06383491e-04 9.99907469e-01 -2.79016879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 954.996559995 meters 0.01598453043880037 Centerline is valid? [True, True] Translation: X:-232.28, Y:-273.54, Z:-2.79 [[-7.12973405e-01 -7.01122439e-01 9.81064648e-03 -2.32282864e+02] [ 7.01050324e-01 -7.13040839e-01 -1.00600801e-02 -2.73538935e+02] [ 1.40487395e-02 -2.94812692e-04 9.99901268e-01 -2.79077428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 955.026559995 meters 0.015319178131602258 Centerline is valid? [True, True] Translation: X:-232.31, Y:-273.52, Z:-2.79 [[-7.11524209e-01 -7.02583061e-01 1.05043798e-02 -2.32306190e+02] [ 7.02500639e-01 -7.11601689e-01 -1.07651551e-02 -2.73522916e+02] [ 1.50383500e-02 -2.80334893e-04 9.99886878e-01 -2.79128626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 955.0565599949999 meters 0.015423223454989289 Centerline is valid? [True, True] Translation: X:-232.33, Y:-273.51, Z:-2.79 [[-7.11071052e-01 -7.03034581e-01 1.09698032e-02 -2.32325924e+02] [ 7.02944861e-01 -7.11155609e-01 -1.12348417e-02 -2.73505336e+02] [ 1.56997193e-02 -2.77603924e-04 9.99876713e-01 -2.79183365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 955.0865599949999 meters 0.014940978414672847 Centerline is valid? [True, True] Translation: X:-232.35, Y:-273.49, Z:-2.79 [[-7.10938562e-01 -7.03168633e-01 1.09651348e-02 -2.32346647e+02] [ 7.03079115e-01 -7.11023067e-01 -1.12230910e-02 -2.73487840e+02] [ 1.56881894e-02 -2.69570910e-04 9.99876897e-01 -2.79139189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 955.116559995 meters 0.014526025303932372 Centerline is valid? [True, True] Translation: X:-232.37, Y:-273.47, Z:-2.79 [[-7.10823846e-01 -7.03288224e-01 1.07300564e-02 -2.32368204e+02] [ 7.03202611e-01 -7.10904781e-01 -1.09763234e-02 -2.73469521e+02] [ 1.53475675e-02 -2.56828735e-04 9.99882186e-01 -2.79057271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 955.146559995 meters 0.01438236536606278 Centerline is valid? [True, True] Translation: X:-232.39, Y:-273.45, Z:-2.79 [[-7.10558057e-01 -7.03568835e-01 9.90667332e-03 -2.32391074e+02] [ 7.03495965e-01 -7.10627077e-01 -1.01283910e-02 -2.73452179e+02] [ 1.41659705e-02 -2.27505088e-04 9.99899632e-01 -2.78922581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 955.1765599949999 meters 0.014134034300452455 Centerline is valid? [True, True] Translation: X:-232.41, Y:-273.43, Z:-2.79 [[-7.10464786e-01 -7.03670289e-01 9.37609777e-03 -2.32412634e+02] [ 7.03605097e-01 -7.10526622e-01 -9.58055034e-03 -2.73434372e+02] [ 1.34035157e-02 -2.09573466e-04 9.99910147e-01 -2.78844916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 955.2065599949999 meters 0.014070790979434825 Centerline is valid? [True, True] Translation: X:-232.44, Y:-273.42, Z:-2.79 [[-7.09923702e-01 -7.04224851e-01 8.70036074e-03 -2.32435363e+02] [ 7.04168822e-01 -7.09976990e-01 -8.88502240e-03 -2.73418545e+02] [ 1.24341095e-02 -1.81165219e-04 9.99922677e-01 -2.78814447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 955.236559995 meters 0.013938104274960927 Centerline is valid? [True, True] Translation: X:-232.46, Y:-273.40, Z:-2.79 [[-7.09719957e-01 -7.04432914e-01 8.47662117e-03 -2.32456275e+02] [ 7.04379810e-01 -7.09770555e-01 -8.65115883e-03 -2.73400919e+02] [ 1.21106171e-02 -1.69139262e-04 9.99926650e-01 -2.78768770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 955.266559995 meters 0.013911831912000757 Centerline is valid? [True, True] Translation: X:-232.48, Y:-273.38, Z:-2.79 [[-7.09666703e-01 -7.04485742e-01 8.54462267e-03 -2.32477011e+02] [ 7.04431852e-01 -7.09718122e-01 -8.71516032e-03 -2.73383618e+02] [ 1.22039797e-02 -1.65754723e-04 9.99925515e-01 -2.78743196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 955.2965599949999 meters 0.01384499385690455 Centerline is valid? [True, True] Translation: X:-232.50, Y:-273.37, Z:-2.79 [[-7.09456126e-01 -7.04697090e-01 8.60331274e-03 -2.32497311e+02] [ 7.04642543e-01 -7.09508271e-01 -8.76932677e-03 -2.73366894e+02] [ 1.22838406e-02 -1.59192433e-04 9.99924538e-01 -2.78751587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 955.3265599949999 meters 0.013569136448404039 Centerline is valid? [True, True] Translation: X:-232.52, Y:-273.35, Z:-2.79 [[-7.08185009e-01 -7.05971320e-01 8.85935366e-03 -2.32519849e+02] [ 7.05913651e-01 -7.08240409e-01 -9.02449422e-03 -2.73352350e+02] [ 1.26455864e-02 -1.37072839e-04 9.99920032e-01 -2.78829606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 955.3565599949999 meters 0.013331735818051079 Centerline is valid? [True, True] Translation: X:-232.54, Y:-273.34, Z:-2.79 [[-7.07462813e-01 -7.06689057e-01 9.32439762e-03 -2.32541758e+02] [ 7.06625313e-01 -7.07524247e-01 -9.49243516e-03 -2.73335165e+02] [ 1.33054375e-02 -1.26689486e-04 9.99911471e-01 -2.78844526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 955.386559995 meters 0.013331735818051079 Centerline is valid? [True, True] Translation: X:-232.56, Y:-273.32, Z:-2.79 [[-7.07677246e-01 -7.06474287e-01 9.32727821e-03 -2.32560579e+02] [ 7.06410562e-01 -7.07738699e-01 -9.48960470e-03 -2.73316167e+02] [ 1.33054375e-02 -1.26689480e-04 9.99911471e-01 -2.78844480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 955.416559995 meters 0.013133832177466323 Centerline is valid? [True, True] Translation: X:-232.58, Y:-273.30, Z:-2.79 [[-7.06469364e-01 -7.07676532e-01 9.74497979e-03 -2.32581647e+02] [ 7.07607150e-01 -7.06536563e-01 -9.90992353e-03 -2.73300424e+02] [ 1.38982048e-02 -1.05439996e-04 9.99903410e-01 -2.78882684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 955.4465599949999 meters 0.01251589406947324 Centerline is valid? [True, True] Translation: X:-232.61, Y:-273.29, Z:-2.79 [[-7.03461491e-01 -7.10660549e-01 1.01742797e-02 -2.32607373e+02] [ 7.10585322e-01 -7.03535062e-01 -1.03400680e-02 -2.73287686e+02] [ 1.45062409e-02 -4.41458302e-05 9.99894778e-01 -2.78913627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 955.4765599949999 meters 0.012453614157583438 Centerline is valid? [True, True] Translation: X:-232.63, Y:-273.27, Z:-2.79 [[-7.01937819e-01 -7.12158204e-01 1.06766816e-02 -2.32630216e+02] [ 7.12075630e-01 -7.02019012e-01 -1.08445776e-02 -2.73270176e+02] [ 1.52182883e-02 -9.61437144e-06 9.99884195e-01 -2.78891711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 955.506559995 meters 0.012389809117392816 Centerline is valid? [True, True] Translation: X:-232.65, Y:-273.25, Z:-2.79 [[-6.99011865e-01 -7.15026658e-01 1.09220529e-02 -2.32654827e+02] [ 7.14940691e-01 -6.99097186e-01 -1.10875517e-02 -2.73254508e+02] [ 1.55634714e-02 5.82898735e-05 9.99878880e-01 -2.78849427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 955.536559995 meters 0.012389809117392816 Centerline is valid? [True, True] Translation: X:-232.67, Y:-273.23, Z:-2.79 [[-6.99213273e-01 -7.14829658e-01 1.09251764e-02 -2.32674219e+02] [ 7.14743715e-01 -6.99298618e-01 -1.10844739e-02 -2.73234920e+02] [ 1.55634714e-02 5.82898777e-05 9.99878880e-01 -2.78849379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 955.5665599949999 meters 0.012843905701626124 Centerline is valid? [True, True] Translation: X:-232.70, Y:-273.22, Z:-2.79 [[-6.97039134e-01 -7.16951269e-01 1.08315890e-02 -2.32697578e+02] [ 7.16867148e-01 -6.97123279e-01 -1.09829949e-02 -2.73220527e+02] [ 1.54252250e-02 1.09233036e-04 9.99881018e-01 -2.78931035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 955.5965599949999 meters 0.012644417241886901 Centerline is valid? [True, True] Translation: X:-232.72, Y:-273.20, Z:-2.79 [[-6.96196578e-01 -7.17771792e-01 1.06761498e-02 -2.32718865e+02] [ 7.17690257e-01 -6.96278420e-01 -1.08192673e-02 -2.73201641e+02] [ 1.51993376e-02 1.29831834e-04 9.99884475e-01 -2.78787006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 955.626559995 meters 0.012930642859653953 Centerline is valid? [True, True] Translation: X:-232.74, Y:-273.18, Z:-2.79 [[-6.95345499e-01 -7.18600270e-01 1.04062604e-02 -2.32739746e+02] [ 7.18522963e-01 -6.95423347e-01 -1.05414108e-02 -2.73184755e+02] [ 1.48118171e-02 1.47214501e-04 9.99890288e-01 -2.78832087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 955.656559995 meters 0.013156876813975678 Centerline is valid? [True, True] Translation: X:-232.76, Y:-273.17, Z:-2.79 [[-6.93774272e-01 -7.20118198e-01 1.03459824e-02 -2.32762869e+02] [ 7.20042040e-01 -6.93851387e-01 -1.04744314e-02 -2.73167825e+02] [ 1.47214030e-02 1.82651233e-04 9.99891618e-01 -2.78740320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 955.6865599949999 meters 0.01341750117368623 Centerline is valid? [True, True] Translation: X:-232.78, Y:-273.15, Z:-2.79 [[-6.92910178e-01 -7.20948281e-01 1.04432268e-02 -2.32784359e+02] [ 7.20870866e-01 -6.92988841e-01 -1.05669504e-02 -2.73149544e+02] [ 1.48552644e-02 2.06270484e-04 9.99889633e-01 -2.78766243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 955.7165599949999 meters 0.013470237108047501 Centerline is valid? [True, True] Translation: X:-232.80, Y:-273.13, Z:-2.79 [[-6.92221434e-01 -7.21611145e-01 1.03364519e-02 -2.32804834e+02] [ 7.21535472e-01 -6.92298567e-01 -1.04526198e-02 -2.73131057e+02] [ 1.46986378e-02 2.22589221e-04 9.99891945e-01 -2.78711668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 955.746559995 meters 0.014180383848145654 Centerline is valid? [True, True] Translation: X:-232.83, Y:-273.11, Z:-2.79 [[-6.90807475e-01 -7.22962720e-01 1.04850970e-02 -2.32826602e+02] [ 7.22885104e-01 -6.90886994e-01 -1.05966088e-02 -2.73114508e+02] [ 1.49049703e-02 2.59303874e-04 9.99888881e-01 -2.78701753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 955.776559995 meters 0.014360566561443439 Centerline is valid? [True, True] Translation: X:-232.85, Y:-273.10, Z:-2.79 [[-6.90300964e-01 -7.23449064e-01 1.02971717e-02 -2.32847471e+02] [ 7.23374345e-01 -6.90377708e-01 -1.04008453e-02 -2.73095786e+02] [ 1.46334196e-02 2.68996323e-04 9.99892890e-01 -2.78695835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 955.8065599949999 meters 0.014425451741720833 Centerline is valid? [True, True] Translation: X:-232.87, Y:-273.08, Z:-2.79 [[-6.89929641e-01 -7.23799202e-01 1.05737999e-02 -2.32868059e+02] [ 7.23720546e-01 -6.90010603e-01 -1.06742090e-02 -2.73076631e+02] [ 1.50220180e-02 2.88023067e-04 9.99887122e-01 -2.78674068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 955.8365599949999 meters 0.014949945578801613 Centerline is valid? [True, True] Translation: X:-232.89, Y:-273.06, Z:-2.79 [[-6.89323206e-01 -7.24367535e-01 1.11888800e-02 -2.32888560e+02] [ 7.24279610e-01 -6.89413933e-01 -1.12905019e-02 -2.73059573e+02] [ 1.58922428e-02 3.21072629e-04 9.99873659e-01 -2.78702019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 955.866559995 meters 0.014880018705982488 Centerline is valid? [True, True] Translation: X:-232.91, Y:-273.04, Z:-2.79 [[-6.89321967e-01 -7.24368181e-01 1.12233798e-02 -2.32908895e+02] [ 7.24279815e-01 -6.89413252e-01 -1.13189109e-02 -2.73039871e+02] [ 1.59366056e-02 3.26493531e-04 9.99872951e-01 -2.78722129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 955.896559995 meters 0.015056436001495498 Centerline is valid? [True, True] Translation: X:-232.93, Y:-273.02, Z:-2.79 [[-6.89387543e-01 -7.24302463e-01 1.14349312e-02 -2.32928694e+02] [ 7.24210837e-01 -6.89482291e-01 -1.15253881e-02 -2.73021203e+02] [ 1.62320496e-02 3.35842142e-04 9.99868195e-01 -2.78738564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 955.9265599949999 meters 0.015294863672009 Centerline is valid? [True, True] Translation: X:-232.95, Y:-273.00, Z:-2.79 [[-6.89949558e-01 -7.23770190e-01 1.12392071e-02 -2.32947532e+02] [ 7.23681716e-01 -6.90041019e-01 -1.13210561e-02 -2.73002240e+02] [ 1.59493568e-02 3.22650998e-04 9.99872749e-01 -2.78747976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 955.9565599949999 meters 0.015266900121141978 Centerline is valid? [True, True] Translation: X:-232.97, Y:-272.98, Z:-2.79 [[-6.90544647e-01 -7.23203884e-01 1.11459779e-02 -2.32966544e+02] [ 7.23116907e-01 -6.90634523e-01 -1.12202531e-02 -2.72982876e+02] [ 1.58123277e-02 3.11759384e-04 9.99874929e-01 -2.78729663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 955.986559995 meters 0.015070568875136634 Centerline is valid? [True, True] Translation: X:-232.99, Y:-272.96, Z:-2.79 [[-6.91310585e-01 -7.22472410e-01 1.11036888e-02 -2.32985279e+02] [ 7.22386106e-01 -6.91399687e-01 -1.11708285e-02 -2.72963478e+02] [ 1.57477024e-02 2.98638536e-04 9.99875953e-01 -2.78695956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 956.016559995 meters 0.014594867423405898 Centerline is valid? [True, True] Translation: X:-233.00, Y:-272.94, Z:-2.79 [[-6.92887856e-01 -7.20962528e-01 1.09294296e-02 -2.33004176e+02] [ 7.20878816e-01 -6.92973999e-01 -1.09895236e-02 -2.72942319e+02] [ 1.54968453e-02 2.64286855e-04 9.99879882e-01 -2.78658539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 956.0465599949999 meters 0.013994272313916391 Centerline is valid? [True, True] Translation: X:-233.02, Y:-272.92, Z:-2.79 [[-6.93892174e-01 -7.19996405e-01 1.09007976e-02 -2.33022688e+02] [ 7.19913106e-01 -6.93977749e-01 -1.09546143e-02 -2.72920907e+02] [ 1.54521939e-02 2.46305961e-04 9.99880578e-01 -2.78565335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 956.0765599949999 meters 0.014080011582174016 Centerline is valid? [True, True] Translation: X:-233.04, Y:-272.90, Z:-2.79 [[-6.94950734e-01 -7.18972837e-01 1.10244076e-02 -2.33040485e+02] [ 7.18887623e-01 -6.95038133e-01 -1.10715552e-02 -2.72901963e+02] [ 1.56225311e-02 2.31124748e-04 9.99877934e-01 -2.78614455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 956.1065599949999 meters 0.013404220515189632 Centerline is valid? [True, True] Translation: X:-233.06, Y:-272.88, Z:-2.78 [[-6.96277724e-01 -7.17695974e-01 1.04794921e-02 -2.33058632e+02] [ 7.17618919e-01 -6.96356554e-01 -1.05183993e-02 -2.72880069e+02] [ 1.48464758e-02 1.96554708e-04 9.99889766e-01 -2.78476558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 956.136559995 meters 0.013014947984389364 Centerline is valid? [True, True] Translation: X:-233.08, Y:-272.86, Z:-2.78 [[-6.98956584e-01 -7.15100189e-01 9.56101177e-03 -2.33075466e+02] [ 7.15035879e-01 -6.99021961e-01 -9.59116408e-03 -2.72858003e+02] [ 1.35420004e-02 1.32659166e-04 9.99908294e-01 -2.78350778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 956.166559995 meters 0.012748843813465622 Centerline is valid? [True, True] Translation: X:-233.09, Y:-272.84, Z:-2.78 [[-7.00457307e-01 -7.13639092e-01 8.87733149e-03 -2.33093667e+02] [ 7.13583580e-01 -7.00513552e-01 -8.90156648e-03 -2.72837003e+02] [ 1.25711968e-02 9.95507009e-05 9.99920975e-01 -2.78263006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 956.1965599949999 meters 0.012256512542999363 Centerline is valid? [True, True] Translation: X:-233.11, Y:-272.81, Z:-2.78 [[-7.03558176e-01 -7.10591369e-01 8.11167148e-03 -2.33110941e+02] [ 7.10544869e-01 -7.03604935e-01 -8.12931870e-03 -2.72814046e+02] [ 1.14840358e-02 4.42579123e-05 9.99934055e-01 -2.78140590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 956.2265599949999 meters 0.012108413917976199 Centerline is valid? [True, True] Translation: X:-233.13, Y:-272.79, Z:-2.78 [[-7.05428729e-01 -7.08733833e-01 8.16469211e-03 -2.33129259e+02] [ 7.08686652e-01 -7.05475976e-01 -8.17783000e-03 -2.72793116e+02] [ 1.15558989e-02 1.73320966e-05 9.99933228e-01 -2.78085389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 956.256559995 meters 0.01224036634778025 Centerline is valid? [True, True] Translation: X:-233.15, Y:-272.77, Z:-2.78 [[-7.07585481e-01 -7.06582674e-01 7.98204496e-03 -2.33147605e+02] [ 7.06537493e-01 -7.07630500e-01 -7.99040816e-03 -2.72771527e+02] [ 1.12942224e-02 -1.42827695e-05 9.99936218e-01 -2.78114944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 956.286559995 meters 0.012566556849359164 Centerline is valid? [True, True] Translation: X:-233.16, Y:-272.75, Z:-2.78 [[-7.11931929e-01 -7.02199946e-01 8.25623372e-03 -2.33163491e+02] [ 7.02151345e-01 -7.11979795e-01 -8.26196065e-03 -2.72747945e+02] [ 1.16798199e-02 -8.48279712e-05 9.99931785e-01 -2.78066304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 956.3165599949999 meters 0.012918352334239118 Centerline is valid? [True, True] Translation: X:-233.18, Y:-272.73, Z:-2.78 [[-7.14092431e-01 -7.00001341e-01 8.37398672e-03 -2.33181434e+02] [ 6.99951245e-01 -7.14141519e-01 -8.37531456e-03 -2.72726162e+02] [ 1.18429430e-02 -1.19366302e-04 9.99929863e-01 -2.78056666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 956.3465599949999 meters 0.013410305891501809 Centerline is valid? [True, True] Translation: X:-233.20, Y:-272.70, Z:-2.78 [[-7.16276526e-01 -6.97766703e-01 8.34067944e-03 -2.33199639e+02] [ 6.97716908e-01 -7.16325070e-01 -8.33732296e-03 -2.72704576e+02] [ 1.17921441e-02 -1.52395655e-04 9.99930459e-01 -2.78081452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 956.376559995 meters 0.014528103268985931 Centerline is valid? [True, True] Translation: X:-233.22, Y:-272.73, Z:-2.78 [[-6.71289751e-01 -7.41155708e-01 7.63455198e-03 -2.33216027e+02] [ 7.41104270e-01 -6.71333132e-01 -8.73421571e-03 -2.72726514e+02] [ 1.15987415e-02 -2.05190411e-04 9.99932711e-01 -2.78066656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 956.406559995 meters 0.014905923619062492 Centerline is valid? [True, True] Translation: X:-233.23, Y:-272.70, Z:-2.78 [[-6.72818065e-01 -7.39769516e-01 7.54419330e-03 -2.33233490e+02] [ 7.39719239e-01 -6.72860322e-01 -8.62755161e-03 -2.72704894e+02] [ 1.14585880e-02 -2.24187650e-04 9.99934323e-01 -2.78072132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 956.4365599949999 meters 0.015441949562583416 Centerline is valid? [True, True] Translation: X:-233.25, Y:-272.68, Z:-2.78 [[-6.74010615e-01 -7.38683269e-01 7.53122615e-03 -2.33250317e+02] [ 7.38633155e-01 -6.74052647e-01 -8.60764427e-03 -2.72683786e+02] [ 1.14347657e-02 -2.38830274e-04 9.99934593e-01 -2.78086584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 956.4665599949999 meters 0.015232251317546401 Centerline is valid? [True, True] Translation: X:-233.27, Y:-272.66, Z:-2.78 [[-6.74869594e-01 -7.37901838e-01 7.20479224e-03 -2.33268796e+02] [ 7.37855980e-01 -6.74908009e-01 -8.22991134e-03 -2.72663248e+02] [ 1.09354387e-02 -2.38017882e-04 9.99940178e-01 -2.78021697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 956.496559995 meters 0.015301560829816215 Centerline is valid? [True, True] Translation: X:-233.29, Y:-272.64, Z:-2.78 [[-6.75327166e-01 -7.37489645e-01 6.49943638e-03 -2.33287925e+02] [ 7.37452349e-01 -6.75358406e-01 -7.42001514e-03 -2.72642497e+02] [ 9.86163332e-03 -2.17913168e-04 9.99951349e-01 -2.78022365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 956.526559995 meters 0.016185272784776383 Centerline is valid? [True, True] Translation: X:-233.30, Y:-272.62, Z:-2.78 [[-6.75108343e-01 -7.37691448e-01 6.32870433e-03 -2.33304947e+02] [ 7.37656135e-01 -6.75137975e-01 -7.22089307e-03 -2.72621718e+02] [ 9.59953969e-03 -2.06477584e-04 9.99953902e-01 -2.78105439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 956.5565599949999 meters 0.014528521449795558 Centerline is valid? [True, True] Translation: X:-233.33, Y:-272.60, Z:-2.78 [[-6.74149054e-01 -7.38574291e-01 5.57411618e-03 -2.33327560e+02] [ 7.38546956e-01 -6.74172077e-01 -6.35645291e-03 -2.72603350e+02] [ 8.45262618e-03 -1.68450174e-04 9.99964262e-01 -2.77958057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 956.5865599949999 meters 0.014276469514633064 Centerline is valid? [True, True] Translation: X:-233.35, Y:-272.58, Z:-2.78 [[-6.73644282e-01 -7.39035577e-01 5.45863495e-03 -2.33347114e+02] [ 7.39009408e-01 -6.73666380e-01 -6.22121607e-03 -2.72583224e+02] [ 8.27499885e-03 -1.56904051e-04 9.99965749e-01 -2.77925212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 956.616559995 meters 0.014268759842060335 Centerline is valid? [True, True] Translation: X:-233.37, Y:-272.56, Z:-2.78 [[-6.73054229e-01 -7.39573677e-01 5.36474571e-03 -2.33365908e+02] [ 7.39548447e-01 -6.73075594e-01 -6.11063724e-03 -2.72563328e+02] [ 8.13014586e-03 -1.45300881e-04 9.99966939e-01 -2.77944307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 956.646559995 meters 0.013990159416972294 Centerline is valid? [True, True] Translation: X:-233.39, Y:-272.54, Z:-2.78 [[-6.71560266e-01 -7.40930698e-01 5.33945272e-03 -2.33385696e+02] [ 7.40905775e-01 -6.71581481e-01 -6.07843902e-03 -2.72544849e+02] [ 8.08957963e-03 -1.26006773e-04 9.99967271e-01 -2.77968154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 956.6765599949999 meters 0.01350888600709907 Centerline is valid? [True, True] Translation: X:-233.41, Y:-272.53, Z:-2.78 [[-6.70715797e-01 -7.41697639e-01 4.99318906e-03 -2.33405762e+02] [ 7.41675889e-01 -6.70734374e-01 -5.68104797e-03 -2.72525684e+02] [ 7.56272341e-03 -1.07040677e-04 9.99971397e-01 -2.77946988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 956.7065599949999 meters 0.013302430968240728 Centerline is valid? [True, True] Translation: X:-233.43, Y:-272.51, Z:-2.78 [[-6.69566617e-01 -7.42736017e-01 4.87386851e-03 -2.33425497e+02] [ 7.42715345e-01 -6.69584349e-01 -5.54211239e-03 -2.72506476e+02] [ 7.37979256e-03 -9.09165156e-05 9.99972765e-01 -2.77972203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 956.736559995 meters 0.012736863055969662 Centerline is valid? [True, True] Translation: X:-233.45, Y:-272.49, Z:-2.78 [[-6.66876425e-01 -7.45156199e-01 4.25127882e-03 -2.33446871e+02] [ 7.45140533e-01 -6.66889974e-01 -4.83218767e-03 -2.72488957e+02] [ 6.43586982e-03 -5.46718703e-05 9.99979288e-01 -2.78008905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 956.766559995 meters 0.01248452925273686 Centerline is valid? [True, True] Translation: X:-233.47, Y:-272.47, Z:-2.78 [[-6.65612311e-01 -7.46286165e-01 4.14861163e-03 -2.33466737e+02] [ 7.46271287e-01 -6.65625238e-01 -4.71257125e-03 -2.72469808e+02] [ 6.27834733e-03 -4.07557019e-05 9.99980290e-01 -2.78040268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 956.7965599949999 meters 0.012252160966447547 Centerline is valid? [True, True] Translation: X:-233.49, Y:-272.45, Z:-2.78 [[-6.64309094e-01 -7.47448792e-01 3.70555250e-03 -2.33485878e+02] [ 7.47436952e-01 -6.64319428e-01 -4.20726363e-03 -2.72451242e+02] [ 5.60638464e-03 -2.52566209e-05 9.99984284e-01 -2.78062275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 956.8265599949999 meters 0.012138688519045135 Centerline is valid? [True, True] Translation: X:-233.51, Y:-272.43, Z:-2.78 [[-6.62931397e-01 -7.48670645e-01 3.77218920e-03 -2.33506554e+02] [ 7.48658408e-01 -6.62942129e-01 -4.28051789e-03 -2.72431440e+02] [ 5.70544123e-03 -1.36085416e-05 9.99983724e-01 -2.78071553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 956.8565599949999 meters 0.012015245701975982 Centerline is valid? [True, True] Translation: X:-233.53, Y:-272.41, Z:-2.78 [[-6.60207854e-01 -7.51071502e-01 4.14582275e-03 -2.33527052e+02] [ 7.51056788e-01 -6.60220871e-01 -4.70138890e-03 -2.72414554e+02] [ 6.26823794e-03 9.85443991e-06 9.99980355e-01 -2.78206704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 956.886559995 meters 0.012165996994392046 Centerline is valid? [True, True] Translation: X:-233.55, Y:-272.39, Z:-2.78 [[-6.58565808e-01 -7.52510257e-01 4.40340865e-03 -2.33546951e+02] [ 7.52493708e-01 -6.58580529e-01 -4.99061421e-03 -2.72394736e+02] [ 6.65548758e-03 2.68894249e-05 9.99977852e-01 -2.78198632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 956.916559995 meters 0.012295665417435781 Centerline is valid? [True, True] Translation: X:-233.57, Y:-272.38, Z:-2.78 [[-6.57012154e-01 -7.53865231e-01 4.71631941e-03 -2.33567082e+02] [ 7.53846304e-01 -6.57029080e-01 -5.34217652e-03 -2.72375234e+02] [ 7.12604014e-03 4.55050481e-05 9.99974609e-01 -2.78256174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 956.9465599949999 meters 0.012869933606839062 Centerline is valid? [True, True] Translation: X:-233.59, Y:-272.36, Z:-2.78 [[-6.53058474e-01 -7.57290797e-01 5.02778929e-03 -2.33588684e+02] [ 7.57269411e-01 -6.53077822e-01 -5.69191799e-03 -2.72356256e+02] [ 7.59397479e-03 9.02357578e-05 9.99971161e-01 -2.78311888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 956.9765599949999 meters 0.013294877044000833 Centerline is valid? [True, True] Translation: X:-233.61, Y:-272.34, Z:-2.78 [[-6.51310615e-01 -7.58795242e-01 4.92580525e-03 -2.33608481e+02] [ 7.58774781e-01 -6.51329232e-01 -5.57344592e-03 -2.72336328e+02] [ 7.43742520e-03 1.07532313e-04 9.99972336e-01 -2.78298602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 957.006559995 meters 0.014332063500428198 Centerline is valid? [True, True] Translation: X:-233.63, Y:-272.32, Z:-2.78 [[-6.47896899e-01 -7.61713519e-01 4.70346272e-03 -2.33628755e+02] [ 7.61694961e-01 -6.47913957e-01 -5.31884093e-03 -2.72316987e+02] [ 7.09887219e-03 1.36543305e-04 9.99974794e-01 -2.78255479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 957.036559995 meters 0.015208848149115174 Centerline is valid? [True, True] Translation: X:-233.65, Y:-272.30, Z:-2.78 [[-6.46508063e-01 -7.62892858e-01 4.67034365e-03 -2.33647650e+02] [ 7.62874607e-01 -6.46524914e-01 -5.27919542e-03 -2.72297962e+02] [ 7.04695402e-03 1.49844173e-04 9.99975159e-01 -2.78259842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 957.0665599949999 meters 0.015529686136754223 Centerline is valid? [True, True] Translation: X:-233.67, Y:-272.28, Z:-2.78 [[-6.45453020e-01 -7.63787012e-01 4.44958104e-03 -2.33666507e+02] [ 7.63770486e-01 -6.45468339e-01 -5.02681651e-03 -2.72276958e+02] [ 6.71148085e-03 1.53884768e-04 9.99977466e-01 -2.78248861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 957.0965599949999 meters 0.01594910438997435 Centerline is valid? [True, True] Translation: X:-233.69, Y:-272.26, Z:-2.78 [[-6.44551026e-01 -7.64547398e-01 4.60989930e-03 -2.33685149e+02] [ 7.64529699e-01 -6.44567488e-01 -5.20499074e-03 -2.72256119e+02] [ 6.95085334e-03 1.69522807e-04 9.99975828e-01 -2.78265032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 957.126559995 meters 0.01679420115069663 Centerline is valid? [True, True] Translation: X:-233.70, Y:-272.24, Z:-2.78 [[-6.43284629e-01 -7.65611510e-01 4.88886917e-03 -2.33702451e+02] [ 7.65591659e-01 -6.43303177e-01 -5.51668784e-03 -2.72235725e+02] [ 7.36866478e-03 1.94076965e-04 9.99972832e-01 -2.78351678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 957.156559995 meters 0.01657814410734648 Centerline is valid? [True, True] Translation: X:-233.72, Y:-272.21, Z:-2.78 [[-6.43477055e-01 -7.65447403e-01 5.24911683e-03 -2.33719637e+02] [ 7.65424542e-01 -6.43498431e-01 -5.91944575e-03 -2.72214173e+02] [ 7.90882282e-03 2.08775328e-04 9.99968703e-01 -2.78383446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 957.1865599949999 meters 0.016401371993846295 Centerline is valid? [True, True] Translation: X:-233.74, Y:-272.19, Z:-2.78 [[-6.43994543e-01 -7.65008802e-01 5.70621336e-03 -2.33735032e+02] [ 7.64981805e-01 -6.44019785e-01 -6.43083525e-03 -2.72191408e+02] [ 8.59455987e-03 2.23726590e-04 9.99963041e-01 -2.78417099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 957.2165599949999 meters 0.01626338094730225 Centerline is valid? [True, True] Translation: X:-233.75, Y:-272.17, Z:-2.78 [[-6.44944195e-01 -7.64207144e-01 5.86742611e-03 -2.33751683e+02] [ 7.64178603e-01 -6.44970846e-01 -6.60834747e-03 -2.72169504e+02] [ 8.83446513e-03 2.21746143e-04 9.99960951e-01 -2.78434669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 957.246559995 meters 0.016153243464488428 Centerline is valid? [True, True] Translation: X:-233.77, Y:-272.15, Z:-2.78 [[-6.45996944e-01 -7.63316465e-01 5.99362852e-03 -2.33767664e+02] [ 7.63286675e-01 -6.46024712e-01 -6.74719535e-03 -2.72148097e+02] [ 9.02227743e-03 2.16189208e-04 9.99959275e-01 -2.78446837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 957.276559995 meters 0.015565667536986906 Centerline is valid? [True, True] Translation: X:-233.78, Y:-272.12, Z:-2.78 [[-6.47412865e-01 -7.62114058e-01 6.22460962e-03 -2.33783310e+02] [ 7.62081908e-01 -6.47442754e-01 -7.00331962e-03 -2.72124947e+02] [ 9.36740673e-03 2.09623159e-04 9.99956103e-01 -2.78436320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 957.3065599949999 meters 0.015565667536986906 Centerline is valid? [True, True] Translation: X:-233.80, Y:-272.11, Z:-2.78 [[-6.47649872e-01 -7.61912640e-01 6.22678719e-03 -2.33801154e+02] [ 7.61880500e-01 -6.47679770e-01 -7.00138358e-03 -2.72105037e+02] [ 9.36740674e-03 2.09622559e-04 9.99956103e-01 -2.78436274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 957.3365599949999 meters 0.013821740988056481 Centerline is valid? [True, True] Translation: X:-233.81, Y:-272.08, Z:-2.78 [[-6.51237874e-01 -7.58850688e-01 5.90462897e-03 -2.33812892e+02] [ 7.58821695e-01 -6.51264622e-01 -6.63527393e-03 -2.72078563e+02] [ 8.88065814e-03 1.59418873e-04 9.99960554e-01 -2.78305594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 957.366559995 meters 0.013431722826145763 Centerline is valid? [True, True] Translation: X:-233.83, Y:-272.06, Z:-2.78 [[-6.53521637e-01 -7.56888311e-01 5.43643364e-03 -2.33828366e+02] [ 7.56863687e-01 -6.53544236e-01 -6.10658132e-03 -2.72055796e+02] [ 8.17494990e-03 1.23856191e-04 9.99966577e-01 -2.78274511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 957.396559995 meters 0.012366032837731354 Centerline is valid? [True, True] Translation: X:-233.84, Y:-272.03, Z:-2.78 [[-6.58875469e-01 -7.52238012e-01 4.59238901e-03 -2.33839311e+02] [ 7.52220345e-01 -6.58891471e-01 -5.15582559e-03 -2.72029133e+02] [ 6.90429394e-03 5.74414446e-05 9.99976164e-01 -2.78173020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 957.4265599949999 meters 0.011951403743692171 Centerline is valid? [True, True] Translation: X:-233.85, Y:-272.00, Z:-2.78 [[-6.62078875e-01 -7.49421152e-01 4.41586730e-03 -2.33854437e+02] [ 7.49404772e-01 -6.62093600e-01 -4.95504281e-03 -2.72004425e+02] [ 6.63713137e-03 2.86428595e-05 9.99977974e-01 -2.78132459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 957.4565599949999 meters 0.011712063403492453 Centerline is valid? [True, True] Translation: X:-233.87, Y:-271.98, Z:-2.78 [[-6.65494572e-01 -7.46390964e-01 4.18384045e-03 -2.33869095e+02] [ 7.46376216e-01 -6.65507723e-01 -4.69201583e-03 -2.71980098e+02] [ 6.28645635e-03 2.07933026e-07 9.99980240e-01 -2.78078308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 957.486559995 meters 0.012478082489319763 Centerline is valid? [True, True] Translation: X:-233.88, Y:-271.95, Z:-2.78 [[-6.72042477e-01 -7.40502363e-01 3.89361151e-03 -2.33879035e+02] [ 7.40489506e-01 -6.72053754e-01 -4.36391606e-03 -2.71952789e+02] [ 5.84820639e-03 -4.95584917e-05 9.99982898e-01 -2.78063336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 957.516559995 meters 0.013051360163065165 Centerline is valid? [True, True] Translation: X:-233.89, Y:-271.93, Z:-2.78 [[-6.74912626e-01 -7.37887761e-01 3.82097482e-03 -2.33894815e+02] [ 7.37875351e-01 -6.74923438e-01 -4.28012626e-03 -2.71929065e+02] [ 5.73711824e-03 -6.93081202e-05 9.99983540e-01 -2.78045296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 957.5465599949999 meters 0.01326497874075674 Centerline is valid? [True, True] Translation: X:-233.91, Y:-271.91, Z:-2.78 [[-6.77257058e-01 -7.35735619e-01 3.99699436e-03 -2.33911264e+02] [ 7.35722016e-01 -6.77268847e-01 -4.47490628e-03 -2.71906049e+02] [ 5.99938770e-03 -8.99851123e-05 9.99982000e-01 -2.78007181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 957.5765599949999 meters 0.013929392861357238 Centerline is valid? [True, True] Translation: X:-233.93, Y:-271.88, Z:-2.78 [[-6.79102383e-01 -7.34031290e-01 4.24490940e-03 -2.33926565e+02] [ 7.34015932e-01 -6.79115640e-01 -4.74962085e-03 -2.71883865e+02] [ 6.36915469e-03 -1.09647707e-04 9.99979711e-01 -2.78033284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 957.6065599949999 meters 0.01438739481446427 Centerline is valid? [True, True] Translation: X:-233.94, Y:-271.86, Z:-2.78 [[-6.80614039e-01 -7.32626209e-01 4.83402843e-03 -2.33942199e+02] [ 7.32606278e-01 -6.80631192e-01 -5.40575321e-03 -2.71860127e+02] [ 7.25058701e-03 -1.37791944e-04 9.99973705e-01 -2.78084534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 957.636559995 meters 0.014676168668235706 Centerline is valid? [True, True] Translation: X:-233.96, Y:-271.84, Z:-2.78 [[-6.80792757e-01 -7.32456599e-01 5.34346760e-03 -2.33958422e+02] [ 7.32432268e-01 -6.80813710e-01 -5.97200558e-03 -2.71840104e+02] [ 8.01214089e-03 -1.51970052e-04 9.99967891e-01 -2.78138884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 957.666559995 meters 0.01460017506917807 Centerline is valid? [True, True] Translation: X:-233.98, Y:-271.82, Z:-2.78 [[-6.80310026e-01 -7.32902114e-01 5.72361686e-03 -2.33976218e+02] [ 7.32874248e-01 -6.80334085e-01 -6.39289654e-03 -2.71819467e+02] [ 8.57933903e-03 -1.54460209e-04 9.99963185e-01 -2.78169035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 957.6965599949999 meters 0.01482646535006246 Centerline is valid? [True, True] Translation: X:-233.99, Y:-271.80, Z:-2.78 [[-6.78359915e-01 -7.34705817e-01 5.93193552e-03 -2.33993700e+02] [ 7.34675987e-01 -6.78385838e-01 -6.62194329e-03 -2.71798123e+02] [ 8.88932130e-03 -1.34010308e-04 9.99960480e-01 -2.78307828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 957.7265599949999 meters 0.013416665062356028 Centerline is valid? [True, True] Translation: X:-234.01, Y:-271.78, Z:-2.78 [[-6.77237252e-01 -7.35740809e-01 5.93008849e-03 -2.34014759e+02] [ 7.35711070e-01 -6.77263204e-01 -6.61619163e-03 -2.71779122e+02] [ 8.88403292e-03 -1.17899693e-04 9.99960529e-01 -2.78173870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 957.756559995 meters 0.012819918587681889 Centerline is valid? [True, True] Translation: X:-234.04, Y:-271.76, Z:-2.78 [[-6.74798161e-01 -7.37981206e-01 5.58415771e-03 -2.34035096e+02] [ 7.37954930e-01 -6.74821260e-01 -6.22804373e-03 -2.71759116e+02] [ 8.36448756e-03 -8.18157445e-05 9.99965014e-01 -2.78168823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 957.786559995 meters 0.012622789617524386 Centerline is valid? [True, True] Translation: X:-234.05, Y:-271.74, Z:-2.78 [[-6.73965206e-01 -7.38741406e-01 5.66012452e-03 -2.34054416e+02] [ 7.38714467e-01 -6.73988969e-01 -6.30922395e-03 -2.71738106e+02] [ 8.47574646e-03 -7.09815557e-05 9.99964078e-01 -2.78175193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 957.8165599949999 meters 0.012604338206488288 Centerline is valid? [True, True] Translation: X:-234.07, Y:-271.72, Z:-2.78 [[-6.73104459e-01 -7.39525481e-01 5.69653260e-03 -2.34072331e+02] [ 7.39498249e-01 -6.73128561e-01 -6.34669976e-03 -2.71718446e+02] [ 8.52804499e-03 -5.94160225e-05 9.99963634e-01 -2.78162859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 957.8465599949999 meters 0.012279151201600131 Centerline is valid? [True, True] Translation: X:-234.09, Y:-271.70, Z:-2.78 [[-6.70984831e-01 -7.41453816e-01 5.05923082e-03 -2.34092562e+02] [ 7.41432415e-01 -6.71003904e-01 -5.63347247e-03 -2.71698384e+02] [ 7.57172329e-03 -2.88968485e-05 9.99971334e-01 -2.78031831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 957.876559995 meters 0.012296845535809316 Centerline is valid? [True, True] Translation: X:-234.11, Y:-271.68, Z:-2.78 [[-6.69744899e-01 -7.42576344e-01 4.70567961e-03 -2.34111369e+02] [ 7.42557878e-01 -6.69761430e-01 -5.23684735e-03 -2.71678241e+02] [ 7.04044167e-03 -1.31123367e-05 9.99975216e-01 -2.78119907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 957.906559995 meters 0.01223837501576236 Centerline is valid? [True, True] Translation: X:-234.13, Y:-271.66, Z:-2.78 [[-6.68326157e-01 -7.43854898e-01 4.47656231e-03 -2.34131198e+02] [ 7.43838235e-01 -6.68341149e-01 -4.97881423e-03 -2.71658837e+02] [ 6.69538615e-03 2.36642482e-06 9.99977586e-01 -2.77997811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 957.9365599949999 meters 0.012315647215779527 Centerline is valid? [True, True] Translation: X:-234.15, Y:-271.64, Z:-2.78 [[-6.64509416e-01 -7.47271574e-01 3.52577150e-03 -2.34152370e+02] [ 7.47261299e-01 -6.64518769e-01 -3.91888773e-03 -2.71641058e+02] [ 5.27141474e-03 3.05347958e-05 9.99986106e-01 -2.77904777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 957.9665599949999 meters 0.012668242691053303 Centerline is valid? [True, True] Translation: X:-234.17, Y:-271.62, Z:-2.78 [[-6.62497712e-01 -7.49057051e-01 3.21185048e-03 -2.34172758e+02] [ 7.49048555e-01 -6.62505497e-01 -3.56794230e-03 -2.71621508e+02] [ 4.80046094e-03 4.20783534e-05 9.99988477e-01 -2.77879954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 957.996559995 meters 0.014091383809523964 Centerline is valid? [True, True] Translation: X:-234.19, Y:-271.60, Z:-2.78 [[-6.57852162e-01 -7.53139343e-01 3.41497812e-03 -2.34194930e+02] [ 7.53129804e-01 -6.57861022e-01 -3.79132351e-03 -2.71604587e+02] [ 5.10197589e-03 7.77914367e-05 9.99986982e-01 -2.78024800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 958.026559995 meters 0.014455679551604086 Centerline is valid? [True, True] Translation: X:-234.21, Y:-271.58, Z:-2.78 [[-6.55603633e-01 -7.55095863e-01 3.75684709e-03 -2.34214552e+02] [ 7.55084364e-01 -6.55614388e-01 -4.16850808e-03 -2.71584106e+02] [ 5.61066622e-03 1.03847456e-04 9.99984255e-01 -2.78057608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 958.0565599949999 meters 0.015429745746559182 Centerline is valid? [True, True] Translation: X:-234.23, Y:-271.57, Z:-2.78 [[-6.53631617e-01 -7.56800668e-01 4.29626036e-03 -2.34233986e+02] [ 7.56785685e-01 -6.53645722e-01 -4.76418331e-03 -2.71565447e+02] [ 6.41376931e-03 1.37327498e-04 9.99979422e-01 -2.78138290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 958.0865599949999 meters 0.016998929248124395 Centerline is valid? [True, True] Translation: X:-234.25, Y:-271.55, Z:-2.78 [[-6.50335313e-01 -7.59629124e-01 5.25123807e-03 -2.34253890e+02] [ 7.59606858e-01 -6.50356481e-01 -5.81969066e-03 -2.71546415e+02] [ 7.83598323e-03 2.04126105e-04 9.99969278e-01 -2.78304948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 958.116559995 meters 0.01755240427676702 Centerline is valid? [True, True] Translation: X:-234.27, Y:-271.53, Z:-2.78 [[-6.49120670e-01 -7.60663381e-01 5.79458412e-03 -2.34272765e+02] [ 7.60636341e-01 -6.49146488e-01 -6.41827600e-03 -2.71526043e+02] [ 8.64368146e-03 2.41335643e-04 9.99962614e-01 -2.78367477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 958.146559995 meters 0.01874857997997012 Centerline is valid? [True, True] Translation: X:-234.29, Y:-271.51, Z:-2.78 [[-6.48415887e-01 -7.61263353e-01 5.91144463e-03 -2.34291441e+02] [ 7.61235262e-01 -6.48442782e-01 -6.54476979e-03 -2.71507169e+02] [ 8.81552700e-03 2.56267397e-04 9.99961110e-01 -2.78415098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 958.1765599949999 meters 0.018590821413585125 Centerline is valid? [True, True] Translation: X:-234.31, Y:-271.49, Z:-2.78 [[-6.47982345e-01 -7.61632068e-01 5.95603725e-03 -2.34309561e+02] [ 7.61603599e-01 -6.48009663e-01 -6.59049461e-03 -2.71485402e+02] [ 8.87910173e-03 2.65615257e-04 9.99960545e-01 -2.78400782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 958.2065599949999 meters 0.019683640281037328 Centerline is valid? [True, True] Translation: X:-234.33, Y:-271.47, Z:-2.78 [[-6.47962395e-01 -7.61649066e-01 5.95281791e-03 -2.34326729e+02] [ 7.61620657e-01 -6.47989683e-01 -6.58377005e-03 -2.71465084e+02] [ 8.87188690e-03 2.67753680e-04 9.99960608e-01 -2.78418421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 958.236559995 meters 0.018148669952075768 Centerline is valid? [True, True] Translation: X:-234.34, Y:-271.44, Z:-2.78 [[-6.48508261e-01 -7.61184626e-01 5.91613037e-03 -2.34341895e+02] [ 7.61156583e-01 -6.48535193e-01 -6.53908226e-03 -2.71442647e+02] [ 8.81426764e-03 2.62452705e-04 9.99961119e-01 -2.78346891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 958.266559995 meters 0.01824428817205391 Centerline is valid? [True, True] Translation: X:-234.36, Y:-271.42, Z:-2.78 [[-6.49131219e-01 -7.60651743e-01 6.13079122e-03 -2.34358213e+02] [ 7.60621635e-01 -6.49160115e-01 -6.77305802e-03 -2.71422257e+02] [ 9.13180352e-03 2.66609035e-04 9.99958269e-01 -2.78365253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 958.2965599949999 meters 0.016856414495190312 Centerline is valid? [True, True] Translation: X:-234.37, Y:-271.40, Z:-2.78 [[-6.50057028e-01 -7.59857242e-01 6.54467319e-03 -2.34374110e+02] [ 7.59822916e-01 -6.50089915e-01 -7.22771489e-03 -2.71398193e+02] [ 9.74665754e-03 2.74365807e-04 9.99952463e-01 -2.78325479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 958.3265599949999 meters 0.017272095699180184 Centerline is valid? [True, True] Translation: X:-234.39, Y:-271.38, Z:-2.78 [[-6.52006024e-01 -7.58180427e-01 7.11231327e-03 -2.34389756e+02] [ 7.58139835e-01 -6.52044757e-01 -7.85023390e-03 -2.71375834e+02] [ 1.05894403e-02 2.73728216e-04 9.99943893e-01 -2.78452943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 958.3565599949999 meters 0.01664322659758579 Centerline is valid? [True, True] Translation: X:-234.41, Y:-271.35, Z:-2.78 [[-6.53031657e-01 -7.57299211e-01 6.89629220e-03 -2.34406173e+02] [ 7.57261044e-01 -6.53068021e-01 -7.60730002e-03 -2.71353300e+02] [ 1.02647502e-02 2.54485695e-04 9.99947284e-01 -2.78419745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 958.386559995 meters 0.016138790542587104 Centerline is valid? [True, True] Translation: X:-234.42, Y:-271.33, Z:-2.78 [[-6.54245729e-01 -7.56251436e-01 6.80383990e-03 -2.34423218e+02] [ 7.56214271e-01 -6.54281063e-01 -7.50112822e-03 -2.71330829e+02] [ 1.01243626e-02 2.37579738e-04 9.99948719e-01 -2.78395920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 958.416559995 meters 0.01572320273064282 Centerline is valid? [True, True] Translation: X:-234.44, Y:-271.31, Z:-2.78 [[-6.55591159e-01 -7.55087665e-01 6.54610013e-03 -2.34438202e+02] [ 7.55053244e-01 -6.55623804e-01 -7.21295344e-03 -2.71306516e+02] [ 9.73819125e-03 2.13905634e-04 9.99952560e-01 -2.78338603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 958.4465599949999 meters 0.015735176938841387 Centerline is valid? [True, True] Translation: X:-234.45, Y:-271.29, Z:-2.78 [[-6.56397979e-01 -7.54384007e-01 6.81642335e-03 -2.34454010e+02] [ 7.54346683e-01 -6.56433335e-01 -7.50718168e-03 -2.71285600e+02] [ 1.01378253e-02 2.14247469e-04 9.99948588e-01 -2.78348834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 958.4765599949999 meters 0.014934030820092717 Centerline is valid? [True, True] Translation: X:-234.47, Y:-271.26, Z:-2.78 [[-6.58306726e-01 -7.52718002e-01 6.91845294e-03 -2.34468678e+02] [ 7.52679500e-01 -6.58343051e-01 -7.61559450e-03 -2.71260245e+02] [ 1.02871105e-02 1.93980617e-04 9.99947068e-01 -2.78342189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 958.506559995 meters 0.014262349782735361 Centerline is valid? [True, True] Translation: X:-234.48, Y:-271.24, Z:-2.78 [[-6.59420250e-01 -7.51740847e-01 7.11562807e-03 -2.34484475e+02] [ 7.51700110e-01 -6.59458614e-01 -7.82818794e-03 -2.71236868e+02] [ 1.05772309e-02 1.86752751e-04 9.99944042e-01 -2.78286779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 958.536559995 meters 0.01413169095781564 Centerline is valid? [True, True] Translation: X:-234.50, Y:-271.21, Z:-2.78 [[-6.60703038e-01 -7.50614851e-01 6.98862182e-03 -2.34500255e+02] [ 7.50575539e-01 -6.60739977e-01 -7.68402404e-03 -2.71214732e+02] [ 1.03854044e-02 1.68630556e-04 9.99946056e-01 -2.78298606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 958.5665599949999 meters 0.013699558303340015 Centerline is valid? [True, True] Translation: X:-234.51, Y:-271.19, Z:-2.78 [[-6.63354169e-01 -7.48274057e-01 6.86898413e-03 -2.34513488e+02] [ 7.48235984e-01 -6.63389718e-01 -7.54938627e-03 -2.71190128e+02] [ 1.02058233e-02 1.31704256e-04 9.99947911e-01 -2.78273675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 958.5965599949999 meters 0.013342951281866824 Centerline is valid? [True, True] Translation: X:-234.53, Y:-271.17, Z:-2.78 [[-6.64693523e-01 -7.47085575e-01 6.75751516e-03 -2.34529379e+02] [ 7.47048713e-01 -6.64727862e-01 -7.42222725e-03 -2.71167834e+02] [ 1.00369475e-02 1.14686623e-04 9.99949622e-01 -2.78211130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 958.626559995 meters 0.01304653305040712 Centerline is valid? [True, True] Translation: X:-234.55, Y:-271.14, Z:-2.78 [[-6.66020019e-01 -7.45905903e-01 6.45899029e-03 -2.34546187e+02] [ 7.45872209e-01 -6.66051331e-01 -7.09034896e-03 -2.71144783e+02] [ 9.59075221e-03 9.52670048e-05 9.99954003e-01 -2.78199067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 958.656559995 meters 0.01290013747913886 Centerline is valid? [True, True] Translation: X:-234.56, Y:-271.12, Z:-2.78 [[-6.67084987e-01 -7.44954438e-01 6.36436890e-03 -2.34562870e+02] [ 7.44921718e-01 -6.67115341e-01 -6.98251618e-03 -2.71121875e+02] [ 9.44742455e-03 8.30249047e-05 9.99955369e-01 -2.78183591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 958.6865599949999 meters 0.012580907533399875 Centerline is valid? [True, True] Translation: X:-234.58, Y:-271.10, Z:-2.78 [[-6.69270545e-01 -7.42989061e-01 6.64780179e-03 -2.34576889e+02] [ 7.42953305e-01 -6.69303558e-01 -7.28937577e-03 -2.71097359e+02] [ 9.86532384e-03 6.04418074e-05 9.99951335e-01 -2.78197828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 958.7165599949999 meters 0.012593552692553852 Centerline is valid? [True, True] Translation: X:-234.59, Y:-271.08, Z:-2.78 [[-6.69982086e-01 -7.42343874e-01 7.04110552e-03 -2.34592717e+02] [ 7.42303778e-01 -6.70019081e-01 -7.71576561e-03 -2.71075495e+02] [ 1.04454264e-02 5.72144923e-05 9.99945444e-01 -2.78234249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 958.746559995 meters 0.012596536571606504 Centerline is valid? [True, True] Translation: X:-234.61, Y:-271.05, Z:-2.78 [[-6.70870812e-01 -7.41538387e-01 7.29206879e-03 -2.34609142e+02] [ 7.41495382e-01 -6.70910439e-01 -7.98627716e-03 -2.71053029e+02] [ 1.08144562e-02 4.92751019e-05 9.99941521e-01 -2.78239983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 958.776559995 meters 0.012669004679788473 Centerline is valid? [True, True] Translation: X:-234.62, Y:-271.03, Z:-2.78 [[-6.71497221e-01 -7.40965701e-01 7.83017223e-03 -2.34624502e+02] [ 7.40916132e-01 -6.71542871e-01 -8.57077993e-03 -2.71028491e+02] [ 1.16089503e-02 4.62460136e-05 9.99932613e-01 -2.78194782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 958.8065599949999 meters 0.012715454084711784 Centerline is valid? [True, True] Translation: X:-234.64, Y:-271.01, Z:-2.78 [[-6.71564749e-01 -7.40904560e-01 7.82441887e-03 -2.34641105e+02] [ 7.40855125e-01 -6.71610327e-01 -8.55879973e-03 -2.71007965e+02] [ 1.15962143e-02 4.89726323e-05 9.99932761e-01 -2.78190369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 958.8365599949999 meters 0.012745717040327231 Centerline is valid? [True, True] Translation: X:-234.66, Y:-270.99, Z:-2.78 [[-6.71266649e-01 -7.41174759e-01 7.81422006e-03 -2.34659142e+02] [ 7.41125527e-01 -6.71312128e-01 -8.54283375e-03 -2.70986706e+02] [ 1.15775134e-02 5.67985782e-05 9.99932977e-01 -2.78136628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 958.866559995 meters 0.01284659418778813 Centerline is valid? [True, True] Translation: X:-234.68, Y:-270.97, Z:-2.78 [[-6.70410481e-01 -7.41953217e-01 7.43039105e-03 -2.34675986e+02] [ 7.41908810e-01 -6.70451653e-01 -8.11783546e-03 -2.70966113e+02] [ 1.10047721e-02 7.03906081e-05 9.99939443e-01 -2.78049020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 958.896559995 meters 0.012862729776363557 Centerline is valid? [True, True] Translation: X:-234.69, Y:-270.94, Z:-2.78 [[-6.69860933e-01 -7.42450596e-01 7.31048367e-03 -2.34694433e+02] [ 7.42407689e-01 -6.69900818e-01 -7.98228602e-03 -2.70944809e+02] [ 1.08237520e-02 8.03377268e-05 9.99941418e-01 -2.77957352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 958.9265599949999 meters 0.012938748301993677 Centerline is valid? [True, True] Translation: X:-234.71, Y:-270.92, Z:-2.78 [[-6.69309131e-01 -7.42946082e-01 7.51046525e-03 -2.34712627e+02] [ 7.42900881e-01 -6.69351262e-01 -8.19572042e-03 -2.70924997e+02] [ 1.11161178e-02 9.40607347e-05 9.99938210e-01 -2.77979179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 958.9565599949999 meters 0.013386316858593933 Centerline is valid? [True, True] Translation: X:-234.73, Y:-270.91, Z:-2.78 [[-6.67731339e-01 -7.44361513e-01 7.79719588e-03 -2.34731734e+02] [ 7.44312950e-01 -6.67776850e-01 -8.50353663e-03 -2.70905023e+02] [ 1.15364923e-02 1.25475972e-04 9.99933445e-01 -2.77996281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 958.986559995 meters 0.013605089308753973 Centerline is valid? [True, True] Translation: X:-234.75, Y:-270.88, Z:-2.78 [[-6.66674140e-01 -7.45307493e-01 7.89501864e-03 -2.34751289e+02] [ 7.45257828e-01 -6.66720870e-01 -8.60534242e-03 -2.70884912e+02] [ 1.16773999e-02 1.46865182e-04 9.99931806e-01 -2.77950377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 959.016559995 meters 0.01389925655092316 Centerline is valid? [True, True] Translation: X:-234.77, Y:-270.87, Z:-2.78 [[-6.65954749e-01 -7.45951924e-01 7.74597981e-03 -2.34769861e+02] [ 7.45904210e-01 -6.65999777e-01 -8.43844184e-03 -2.70867002e+02] [ 1.14534927e-02 1.58138534e-04 9.99934394e-01 -2.77929983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 959.0465599949999 meters 0.014898713257679039 Centerline is valid? [True, True] Translation: X:-234.79, Y:-270.85, Z:-2.78 [[-6.64840919e-01 -7.46946223e-01 7.60870713e-03 -2.34791221e+02] [ 7.46900305e-01 -6.64884433e-01 -8.28400980e-03 -2.70849237e+02] [ 1.12466208e-02 1.75396984e-04 9.99936740e-01 -2.77964131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 959.0765599949999 meters 0.014165202204701315 Centerline is valid? [True, True] Translation: X:-234.81, Y:-270.83, Z:-2.78 [[-6.65021395e-01 -7.46786861e-01 7.47852666e-03 -2.34808859e+02] [ 7.46742548e-01 -6.65063422e-01 -8.13712626e-03 -2.70828858e+02] [ 1.10503935e-02 1.73170988e-04 9.99938928e-01 -2.77823868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 959.1065599949999 meters 0.014115654922049078 Centerline is valid? [True, True] Translation: X:-234.83, Y:-270.81, Z:-2.78 [[-6.65697136e-01 -7.46183179e-01 7.61491926e-03 -2.34827602e+02] [ 7.46137254e-01 -6.65740666e-01 -8.28031516e-03 -2.70809526e+02] [ 1.12481933e-02 1.69592863e-04 9.99936723e-01 -2.77799616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 959.136559995 meters 0.013524136756445442 Centerline is valid? [True, True] Translation: X:-234.85, Y:-270.79, Z:-2.78 [[-6.67495372e-01 -7.44579365e-01 7.17613956e-03 -2.34845747e+02] [ 7.44538535e-01 -6.67533932e-01 -7.79877017e-03 -2.70788132e+02] [ 1.05971200e-02 1.37269433e-04 9.99943840e-01 -2.77701034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 959.166559995 meters 0.013382064725850625 Centerline is valid? [True, True] Translation: X:-234.86, Y:-270.77, Z:-2.78 [[-6.68867756e-01 -7.43347424e-01 7.10860930e-03 -2.34864039e+02] [ 7.43307334e-01 -6.68905519e-01 -7.72103502e-03 -2.70767329e+02] [ 1.04943995e-02 1.19530066e-04 9.99944925e-01 -2.77688568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 959.1965599949999 meters 0.013382064725850625 Centerline is valid? [True, True] Translation: X:-234.88, Y:-270.75, Z:-2.78 [[-6.69076595e-01 -7.43159436e-01 7.11077859e-03 -2.34882780e+02] [ 7.43119356e-01 -6.69114369e-01 -7.71903723e-03 -2.70747081e+02] [ 1.04943995e-02 1.19530055e-04 9.99944925e-01 -2.77688521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 959.2265599949999 meters 0.01295540356940215 Centerline is valid? [True, True] Translation: X:-234.90, Y:-270.73, Z:-2.78 [[-6.71468145e-01 -7.41005807e-01 6.39721030e-03 -2.34900762e+02] [ 7.40973307e-01 -6.71498614e-01 -6.94052992e-03 -2.70725232e+02] [ 9.43869082e-03 7.98173191e-05 9.99955452e-01 -2.77638766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 959.256559995 meters 0.012863539563430613 Centerline is valid? [True, True] Translation: X:-234.92, Y:-270.71, Z:-2.78 [[-6.72940562e-01 -7.39669647e-01 6.30977607e-03 -2.34917836e+02] [ 7.39638001e-01 -6.72970140e-01 -6.84233282e-03 -2.70705560e+02] [ 9.30735679e-03 6.24668646e-05 9.99956684e-01 -2.77616768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 959.286559995 meters 0.012589672361858003 Centerline is valid? [True, True] Translation: X:-234.94, Y:-270.68, Z:-2.78 [[-6.74299506e-01 -7.38431178e-01 6.29068909e-03 -2.34935790e+02] [ 7.38399705e-01 -6.74328847e-01 -6.81779918e-03 -2.70684173e+02] [ 9.27646860e-03 4.78043454e-05 9.99956972e-01 -2.77578373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 959.3165599949999 meters 0.012620879966061514 Centerline is valid? [True, True] Translation: X:-234.95, Y:-270.66, Z:-2.78 [[-6.76691563e-01 -7.36232680e-01 7.06896599e-03 -2.34953323e+02] [ 7.36192870e-01 -6.76728484e-01 -7.65621241e-03 -2.70664392e+02] [ 1.04205244e-02 2.32280165e-05 9.99945705e-01 -2.77654683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 959.3465599949999 meters 0.012733053198110439 Centerline is valid? [True, True] Translation: X:-234.97, Y:-270.65, Z:-2.78 [[-6.78172278e-01 -7.34863361e-01 7.62905905e-03 -2.34972391e+02] [ 7.34816951e-01 -6.78215188e-01 -8.25883189e-03 -2.70645657e+02] [ 1.12432567e-02 5.05106925e-06 9.99936793e-01 -2.77864139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 959.376559995 meters 0.012675229820523728 Centerline is valid? [True, True] Translation: X:-234.99, Y:-270.62, Z:-2.78 [[-6.78508213e-01 -7.34549852e-01 7.94477985e-03 -2.34992111e+02] [ 7.34499556e-01 -6.78554725e-01 -8.59578697e-03 -2.70624975e+02] [ 1.17050020e-02 3.12521307e-06 9.99931494e-01 -2.77847881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 959.406559995 meters 0.012707804744813617 Centerline is valid? [True, True] Translation: X:-235.01, Y:-270.61, Z:-2.78 [[-6.78511773e-01 -7.34544300e-01 8.15133664e-03 -2.35010704e+02] [ 7.34491424e-01 -6.78560735e-01 -8.81344013e-03 -2.70606027e+02] [ 1.20050392e-02 7.06396279e-06 9.99927937e-01 -2.77940103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 959.4365599949999 meters 0.01271647127020247 Centerline is valid? [True, True] Translation: X:-235.03, Y:-270.59, Z:-2.78 [[-6.78158105e-01 -7.34870681e-01 8.16498223e-03 -2.35030254e+02] [ 7.34817716e-01 -6.78207256e-01 -8.82282410e-03 -2.70586843e+02] [ 1.20211849e-02 1.65039209e-05 9.99927743e-01 -2.77945877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 959.4665599949999 meters 0.012775954569791192 Centerline is valid? [True, True] Translation: X:-235.05, Y:-270.57, Z:-2.78 [[-6.77462143e-01 -7.35511763e-01 8.21538540e-03 -2.35050094e+02] [ 7.35458256e-01 -6.77511953e-01 -8.87170114e-03 -2.70567557e+02] [ 1.20912623e-02 3.18313593e-05 9.99926898e-01 -2.77866647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 959.496559995 meters 0.012836688836272545 Centerline is valid? [True, True] Translation: X:-235.07, Y:-270.55, Z:-2.78 [[-6.76499555e-01 -7.36392164e-01 8.65639063e-03 -2.35070645e+02] [ 7.36332898e-01 -6.76554934e-01 -9.34263219e-03 -2.70548153e+02] [ 1.27363649e-02 5.36986794e-05 9.99918888e-01 -2.77852002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 959.526559995 meters 0.013258444937672411 Centerline is valid? [True, True] Translation: X:-235.09, Y:-270.53, Z:-2.78 [[-6.73898031e-01 -7.38765742e-01 9.30707670e-03 -2.35092728e+02] [ 7.38697539e-01 -6.73962288e-01 -1.00388881e-02 -2.70531082e+02] [ 1.36890054e-02 1.09927704e-04 9.99906295e-01 -2.77970405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 959.5565599949999 meters 0.013480885309586847 Centerline is valid? [True, True] Translation: X:-235.11, Y:-270.51, Z:-2.78 [[-6.72687807e-01 -7.39865816e-01 9.47043171e-03 -2.35113122e+02] [ 7.39795387e-01 -6.72754454e-01 -1.02092928e-02 -2.70512177e+02] [ 1.39247819e-02 1.38514912e-04 9.99903036e-01 -2.77973409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 959.5865599949999 meters 0.013837947630083646 Centerline is valid? [True, True] Translation: X:-235.13, Y:-270.49, Z:-2.78 [[-6.71654719e-01 -7.40796088e-01 1.00545782e-02 -2.35133161e+02] [ 7.40716903e-01 -6.71729950e-01 -1.08325365e-02 -2.70494232e+02] [ 1.47786619e-02 1.71871731e-04 9.99890775e-01 -2.78070207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 959.616559995 meters 0.014048462995150734 Centerline is valid? [True, True] Translation: X:-235.15, Y:-270.47, Z:-2.78 [[-6.69967434e-01 -7.42328624e-01 9.58391404e-03 -2.35154026e+02] [ 7.42256918e-01 -6.70035950e-01 -1.03195896e-02 -2.70474894e+02] [ 1.40820937e-02 1.99937530e-04 9.99900823e-01 -2.77979222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 959.646559995 meters 0.01448843568128473 Centerline is valid? [True, True] Translation: X:-235.17, Y:-270.46, Z:-2.78 [[-6.69351824e-01 -7.42885135e-01 9.47693941e-03 -2.35173303e+02] [ 7.42815135e-01 -6.69418876e-01 -1.02001727e-02 -2.70456345e+02] [ 1.39215988e-02 2.12109828e-04 9.99903068e-01 -2.77962806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 959.6765599949999 meters 0.014878597110030487 Centerline is valid? [True, True] Translation: X:-235.19, Y:-270.44, Z:-2.78 [[-6.68331732e-01 -7.43807676e-01 9.10153078e-03 -2.35193023e+02] [ 7.43743275e-01 -6.68393664e-01 -9.79033898e-03 -2.70436968e+02] [ 1.33655348e-02 2.26008104e-04 9.99910652e-01 -2.77786975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 959.7065599949999 meters 0.015871079576035264 Centerline is valid? [True, True] Translation: X:-235.21, Y:-270.42, Z:-2.78 [[-6.68193303e-01 -7.43936402e-01 8.73726991e-03 -2.35212724e+02] [ 7.43877143e-01 -6.68250388e-01 -9.39236808e-03 -2.70419406e+02] [ 1.28260085e-02 2.23537925e-04 9.99917719e-01 -2.77859828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 959.736559995 meters 0.01479580488940213 Centerline is valid? [True, True] Translation: X:-235.23, Y:-270.40, Z:-2.78 [[-6.67988760e-01 -7.44124155e-01 8.38202202e-03 -2.35229985e+02] [ 7.44069694e-01 -6.68041311e-01 -9.00538655e-03 -2.70397772e+02] [ 1.23006626e-02 2.21311563e-04 9.99924320e-01 -2.77641012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 959.766559995 meters 0.014778678505540453 Centerline is valid? [True, True] Translation: X:-235.25, Y:-270.38, Z:-2.78 [[-6.68195805e-01 -7.43945122e-01 7.74737724e-03 -2.35249393e+02] [ 7.43898638e-01 -6.68240685e-01 -8.31879636e-03 -2.70376944e+02] [ 1.13658407e-02 2.04678549e-04 9.99935386e-01 -2.77565107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 959.7965599949999 meters 0.014829105484897279 Centerline is valid? [True, True] Translation: X:-235.27, Y:-270.36, Z:-2.78 [[-6.68729809e-01 -7.43465657e-01 7.69802247e-03 -2.35268147e+02] [ 7.43419788e-01 -6.68774086e-01 -8.26085196e-03 -2.70357074e+02] [ 1.12898977e-02 1.98584277e-04 9.99936248e-01 -2.77571675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 959.8265599949999 meters 0.014448383019571333 Centerline is valid? [True, True] Translation: X:-235.29, Y:-270.34, Z:-2.78 [[-6.70307384e-01 -7.42045725e-01 7.49354812e-03 -2.35285762e+02] [ 7.42002221e-01 -6.70349246e-01 -8.03689627e-03 -2.70335560e+02] [ 1.09870389e-02 1.73038444e-04 9.99939626e-01 -2.77514855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 959.8565599949999 meters 0.014469429098258157 Centerline is valid? [True, True] Translation: X:-235.30, Y:-270.32, Z:-2.78 [[-6.71189318e-01 -7.41243046e-01 7.97793555e-03 -2.35303307e+02] [ 7.41193745e-01 -6.71236707e-01 -8.55072236e-03 -2.70316385e+02] [ 1.16932467e-02 1.74042426e-04 9.99931617e-01 -2.77548008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 959.886559995 meters 0.014278991819679171 Centerline is valid? [True, True] Translation: X:-235.32, Y:-270.30, Z:-2.78 [[-6.72307784e-01 -7.40229578e-01 7.90030550e-03 -2.35321810e+02] [ 7.40181221e-01 -6.72354183e-01 -8.46252092e-03 -2.70295701e+02] [ 1.15760117e-02 1.58239072e-04 9.99932983e-01 -2.77571031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 959.916559995 meters 0.013801045990492668 Centerline is valid? [True, True] Translation: X:-235.34, Y:-270.28, Z:-2.78 [[-6.74292683e-01 -7.38417057e-01 8.34433265e-03 -2.35339138e+02] [ 7.38363040e-01 -6.74344297e-01 -8.93253519e-03 -2.70275141e+02] [ 1.22228895e-02 1.38003704e-04 9.99925288e-01 -2.77597380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 959.9465599949999 meters 0.013701971899583689 Centerline is valid? [True, True] Translation: X:-235.36, Y:-270.26, Z:-2.78 [[-6.75467802e-01 -7.37340332e-01 8.51372662e-03 -2.35356573e+02] [ 7.37284069e-01 -6.75521442e-01 -9.10944844e-03 -2.70255666e+02] [ 1.24679686e-02 1.23895899e-04 9.99922264e-01 -2.77694979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 959.9765599949999 meters 0.013549573742346136 Centerline is valid? [True, True] Translation: X:-235.37, Y:-270.23, Z:-2.78 [[-6.76638734e-01 -7.36261971e-01 8.85061533e-03 -2.35374589e+02] [ 7.36201147e-01 -6.76696607e-01 -9.46433190e-03 -2.70234527e+02] [ 1.29574090e-02 1.11899607e-04 9.99916043e-01 -2.77714061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 960.006559995 meters 0.01330363940652719 Centerline is valid? [True, True] Translation: X:-235.39, Y:-270.21, Z:-2.78 [[-6.79134840e-01 -7.33951798e-01 9.51987299e-03 -2.35391761e+02] [ 7.33881289e-01 -6.79201555e-01 -1.01735809e-02 -2.70212642e+02] [ 1.39328305e-02 7.72234482e-05 9.99902931e-01 -2.77789111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 960.036559995 meters 0.013223073885018527 Centerline is valid? [True, True] Translation: X:-235.41, Y:-270.19, Z:-2.78 [[-6.80374990e-01 -7.32795549e-01 1.00277297e-02 -2.35409782e+02] [ 7.32717279e-01 -6.80448881e-01 -1.07102559e-02 -2.70191606e+02] [ 1.46717853e-02 6.05006117e-05 9.99892362e-01 -2.77843023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 960.0665599949999 meters 0.013372883912933979 Centerline is valid? [True, True] Translation: X:-235.43, Y:-270.17, Z:-2.78 [[-6.81418665e-01 -7.31817005e-01 1.06053717e-02 -2.35427607e+02] [ 7.31729443e-01 -6.81501188e-01 -1.13204725e-02 -2.70171182e+02] [ 1.55120877e-02 4.62814383e-05 9.99879679e-01 -2.77958980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 960.0965599949999 meters 0.013251066067098445 Centerline is valid? [True, True] Translation: X:-235.45, Y:-270.15, Z:-2.78 [[-6.82474663e-01 -7.30827767e-01 1.09137204e-02 -2.35446073e+02] [ 7.30735018e-01 -6.82561919e-01 -1.16430531e-02 -2.70149384e+02] [ 1.59583565e-02 2.89489577e-05 9.99872657e-01 -2.77912083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 960.126559995 meters 0.013322628966329322 Centerline is valid? [True, True] Translation: X:-235.46, Y:-270.13, Z:-2.78 [[-6.83353304e-01 -7.30001716e-01 1.12141830e-02 -2.35463337e+02] [ 7.29903807e-01 -6.83445313e-01 -1.19556569e-02 -2.70129145e+02] [ 1.63919309e-02 1.53371790e-05 9.99865643e-01 -2.77916822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 960.156559995 meters 0.013305759507688815 Centerline is valid? [True, True] Translation: X:-235.48, Y:-270.11, Z:-2.78 [[-6.84804844e-01 -7.28644688e-01 1.09198798e-02 -2.35481293e+02] [ 7.28551783e-01 -6.84891902e-01 -1.16353730e-02 -2.70107048e+02] [ 1.59569900e-02 -1.22618580e-05 9.99872679e-01 -2.77865551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 960.1865599949999 meters 0.013332033078603355 Centerline is valid? [True, True] Translation: X:-235.50, Y:-270.09, Z:-2.78 [[-6.85540421e-01 -7.27955438e-01 1.07336892e-02 -2.35499889e+02] [ 7.27865690e-01 -6.85624445e-01 -1.14305702e-02 -2.70086195e+02] [ 1.56802254e-02 -2.34337976e-05 9.99877058e-01 -2.77811044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 960.2165599949999 meters 0.01342670947063436 Centerline is valid? [True, True] Translation: X:-235.52, Y:-270.07, Z:-2.78 [[-6.86342111e-01 -7.27217346e-01 9.45718970e-03 -2.35516975e+02] [ 7.27147698e-01 -6.86407263e-01 -1.00645442e-02 -2.70065920e+02] [ 1.38105948e-02 -3.09468167e-05 9.99904629e-01 -2.77743504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 960.246559995 meters 0.013282357440766007 Centerline is valid? [True, True] Translation: X:-235.54, Y:-270.05, Z:-2.78 [[-6.86643967e-01 -7.26939758e-01 8.86850985e-03 -2.35535647e+02] [ 7.26878564e-01 -6.86701236e-01 -9.43218247e-03 -2.70045453e+02] [ 1.29466451e-02 -3.02214832e-05 9.99916188e-01 -2.77643885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 960.276559995 meters 0.013319063950717315 Centerline is valid? [True, True] Translation: X:-235.55, Y:-270.03, Z:-2.78 [[-6.86795451e-01 -7.26802681e-01 8.35887229e-03 -2.35553959e+02] [ 7.26748376e-01 -6.86846316e-01 -8.88463470e-03 -2.70025670e+02] [ 1.21986370e-02 -2.71298404e-05 9.99925594e-01 -2.77607525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 960.3065599949999 meters 0.013286147128831775 Centerline is valid? [True, True] Translation: X:-235.57, Y:-270.01, Z:-2.78 [[-6.86719241e-01 -7.26877112e-01 8.14549915e-03 -2.35572717e+02] [ 7.26825613e-01 -6.86767547e-01 -8.65244538e-03 -2.70005620e+02] [ 1.18833290e-02 -2.14433092e-05 9.99929391e-01 -2.77575283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 960.3365599949999 meters 0.013297782054350438 Centerline is valid? [True, True] Translation: X:-235.59, Y:-269.99, Z:-2.78 [[-6.85588377e-01 -7.27944277e-01 8.10604784e-03 -2.35591319e+02] [ 7.27893414e-01 -6.85636296e-01 -8.60513161e-03 -2.69986173e+02] [ 1.18218569e-02 7.60624906e-07 9.99930120e-01 -2.77549162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 960.366559995 meters 0.013328205333801404 Centerline is valid? [True, True] Translation: X:-235.61, Y:-269.97, Z:-2.78 [[-6.84665151e-01 -7.28813182e-01 8.06077652e-03 -2.35611236e+02] [ 7.28763003e-01 -6.84712600e-01 -8.55222358e-03 -2.69966028e+02] [ 1.17522885e-02 1.89862566e-05 9.99930939e-01 -2.77541486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 960.396559995 meters 0.013383537649585343 Centerline is valid? [True, True] Translation: X:-235.63, Y:-269.95, Z:-2.78 [[-6.83173497e-01 -7.30210211e-01 8.18665541e-03 -2.35630989e+02] [ 7.30158611e-01 -6.83222545e-01 -8.68087409e-03 -2.69946147e+02] [ 1.19321704e-02 4.70138325e-05 9.99928808e-01 -2.77500456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 960.4265599949999 meters 0.014104141562098898 Centerline is valid? [True, True] Translation: X:-235.65, Y:-269.93, Z:-2.78 [[-6.79583988e-01 -7.33548225e-01 8.52087821e-03 -2.35652668e+02] [ 7.33492653e-01 -6.79637395e-01 -9.02989391e-03 -2.69928775e+02] [ 1.24149701e-02 1.13430255e-04 9.99922925e-01 -2.77621546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 960.4565599949999 meters 0.014390547184120903 Centerline is valid? [True, True] Translation: X:-235.67, Y:-269.91, Z:-2.78 [[-6.77959016e-01 -7.35047981e-01 8.71998584e-03 -2.35673011e+02] [ 7.34989971e-01 -6.78015076e-01 -9.23571108e-03 -2.69909885e+02] [ 1.27009727e-02 1.47668548e-04 9.99919329e-01 -2.77631759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 960.486559995 meters 0.015298595539509493 Centerline is valid? [True, True] Translation: X:-235.69, Y:-269.89, Z:-2.78 [[-6.74952173e-01 -7.37802128e-01 9.35858560e-03 -2.35694275e+02] [ 7.37735649e-01 -6.75017016e-01 -9.90654812e-03 -2.69891125e+02] [ 1.36262768e-02 2.17716042e-04 9.99907134e-01 -2.77747966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 960.516559995 meters 0.015585348572459709 Centerline is valid? [True, True] Translation: X:-235.71, Y:-269.87, Z:-2.78 [[-6.73855088e-01 -7.38802139e-01 9.52464388e-03 -2.35714119e+02] [ 7.38733458e-01 -6.73922354e-01 -1.00766599e-02 -2.69870687e+02] [ 1.38635283e-02 2.45964590e-04 9.99903867e-01 -2.77756408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 960.5465599949999 meters 0.01598269415249548 Centerline is valid? [True, True] Translation: X:-235.73, Y:-269.85, Z:-2.78 [[-6.72916000e-01 -7.39653716e-01 9.82030899e-03 -2.35733939e+02] [ 7.39580878e-01 -6.72987596e-01 -1.03836404e-02 -2.69850524e+02] [ 1.42892444e-02 2.75594961e-04 9.99897866e-01 -2.77773252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 960.5765599949999 meters 0.01604029832823469 Centerline is valid? [True, True] Translation: X:-235.75, Y:-269.83, Z:-2.78 [[-6.72036485e-01 -7.40451245e-01 9.94565846e-03 -2.35753207e+02] [ 7.40376710e-01 -6.72110008e-01 -1.05101952e-02 -2.69830132e+02] [ 1.44668637e-02 3.00299254e-04 9.99895305e-01 -2.77750423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 960.6065599949999 meters 0.017157626516626813 Centerline is valid? [True, True] Translation: X:-235.77, Y:-269.81, Z:-2.78 [[-6.70166975e-01 -7.42148760e-01 9.56261621e-03 -2.35773064e+02] [ 7.42080086e-01 -6.70235116e-01 -1.01012247e-02 -2.69811781e+02] [ 1.39058126e-02 3.26719884e-04 9.99903256e-01 -2.77771471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 960.636559995 meters 0.01742866429201286 Centerline is valid? [True, True] Translation: X:-235.79, Y:-269.79, Z:-2.78 [[-6.69027955e-01 -7.43185936e-01 8.73275943e-03 -2.35793649e+02] [ 7.43128818e-01 -6.69084869e-01 -9.21943423e-03 -2.69792502e+02] [ 1.26947110e-02 3.21505966e-04 9.99919367e-01 -2.77718082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 960.666559995 meters 0.01742866429201286 Centerline is valid? [True, True] Translation: X:-235.81, Y:-269.77, Z:-2.78 [[-6.69236922e-01 -7.42997736e-01 8.73535191e-03 -2.35812678e+02] [ 7.42940635e-01 -6.69293852e-01 -9.21697791e-03 -2.69772518e+02] [ 1.26947110e-02 3.21505966e-04 9.99919367e-01 -2.77718035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 960.6965599949999 meters 0.017394556142497422 Centerline is valid? [True, True] Translation: X:-235.83, Y:-269.75, Z:-2.78 [[-6.68907533e-01 -7.43294813e-01 8.69101141e-03 -2.35832349e+02] [ 7.43238380e-01 -6.68963910e-01 -9.16497030e-03 -2.69752641e+02] [ 1.26262479e-02 3.28975571e-04 9.99920232e-01 -2.77742984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 960.7265599949999 meters 0.017349554487144876 Centerline is valid? [True, True] Translation: X:-235.85, Y:-269.73, Z:-2.78 [[-6.69077950e-01 -7.43139867e-01 8.82235822e-03 -2.35851895e+02] [ 7.43081771e-01 -6.69136029e-01 -9.29817122e-03 -2.69732017e+02] [ 1.28131995e-02 3.34532226e-04 9.99917852e-01 -2.77786431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 960.756559995 meters 0.017478041703853725 Centerline is valid? [True, True] Translation: X:-235.87, Y:-269.71, Z:-2.78 [[-6.69654001e-01 -7.42615929e-01 9.22498666e-03 -2.35870943e+02] [ 7.42552414e-01 -6.69717451e-01 -9.71845723e-03 -2.69712950e+02] [ 1.33952157e-02 3.42032343e-04 9.99910222e-01 -2.77898175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 960.786559995 meters 0.017722942736572968 Centerline is valid? [True, True] Translation: X:-235.89, Y:-269.69, Z:-2.78 [[-6.70031524e-01 -7.42277080e-01 9.08256516e-03 -2.35890105e+02] [ 7.42215558e-01 -6.70092997e-01 -9.56242983e-03 -2.69693289e+02] [ 1.31841358e-02 3.34091737e-04 9.99913030e-01 -2.77939997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 960.8165599949999 meters 0.017162453455466273 Centerline is valid? [True, True] Translation: X:-235.91, Y:-269.67, Z:-2.78 [[-6.70453058e-01 -7.41896996e-01 9.03017054e-03 -2.35908658e+02] [ 7.41836218e-01 -6.70513788e-01 -9.50188770e-03 -2.69671989e+02] [ 1.31042758e-02 3.28337894e-04 9.99914082e-01 -2.77891333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 960.8465599949999 meters 0.01739156896521583 Centerline is valid? [True, True] Translation: X:-235.93, Y:-269.65, Z:-2.78 [[-6.71139473e-01 -7.41281734e-01 8.55566217e-03 -2.35926894e+02] [ 7.41227200e-01 -6.71193936e-01 -8.99659083e-03 -2.69653535e+02] [ 1.24115170e-02 3.03722292e-04 9.99922928e-01 -2.77860367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 960.876559995 meters 0.01730460943142597 Centerline is valid? [True, True] Translation: X:-235.95, Y:-269.63, Z:-2.78 [[-6.71378839e-01 -7.41067240e-01 8.35466640e-03 -2.35945738e+02] [ 7.41015290e-01 -6.71430754e-01 -8.77969134e-03 -2.69634182e+02] [ 1.21159216e-02 2.96436565e-04 9.99926556e-01 -2.77866815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 960.906559995 meters 0.01677492152116 Centerline is valid? [True, True] Translation: X:-235.96, Y:-269.61, Z:-2.78 [[-6.71896634e-01 -7.40599030e-01 8.24562031e-03 -2.35964272e+02] [ 7.40548450e-01 -6.71947166e-01 -8.66015297e-03 -2.69613571e+02] [ 1.19543221e-02 2.87553715e-04 9.99928503e-01 -2.77819416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 960.9365599949999 meters 0.017123351446272576 Centerline is valid? [True, True] Translation: X:-235.98, Y:-269.59, Z:-2.78 [[-6.73335877e-01 -7.39284597e-01 8.77962790e-03 -2.35983497e+02] [ 7.39227208e-01 -6.73393053e-01 -9.21580423e-03 -2.69593836e+02] [ 1.27252426e-02 2.84808195e-04 9.99918990e-01 -2.77978777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 960.9665599949999 meters 0.016700714117834227 Centerline is valid? [True, True] Translation: X:-236.00, Y:-269.57, Z:-2.78 [[-6.74526583e-01 -7.38197744e-01 8.83061407e-03 -2.36001205e+02] [ 7.38139667e-01 -6.74584330e-01 -9.26358174e-03 -2.69573533e+02] [ 1.27953490e-02 2.69694393e-04 9.99918100e-01 -2.78024493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 960.996559995 meters 0.01590570273604454 Centerline is valid? [True, True] Translation: X:-236.02, Y:-269.55, Z:-2.78 [[-6.75964584e-01 -7.36881721e-01 8.78691938e-03 -2.36018763e+02] [ 7.36824172e-01 -6.76021647e-01 -9.21257450e-03 -2.69551687e+02] [ 1.27287255e-02 2.47040506e-04 9.99918956e-01 -2.77976639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 961.026559995 meters 0.015235499206426324 Centerline is valid? [True, True] Translation: X:-236.04, Y:-269.53, Z:-2.78 [[-6.78757112e-01 -7.34317142e-01 8.19255024e-03 -2.36035282e+02] [ 7.34266985e-01 -6.78806526e-01 -8.58461262e-03 -2.69529487e+02] [ 1.18649848e-02 1.88652293e-04 9.99929591e-01 -2.77916744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 961.0565599949999 meters 0.014910786626527669 Centerline is valid? [True, True] Translation: X:-236.05, Y:-269.51, Z:-2.78 [[-6.79904692e-01 -7.33261259e-01 7.58529190e-03 -2.36053505e+02] [ 7.33218251e-01 -6.79946984e-01 -7.94330425e-03 -2.69508603e+02] [ 1.09821136e-02 1.60984628e-04 9.99939682e-01 -2.77842824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 961.0865599949999 meters 0.01443932710436093 Centerline is valid? [True, True] Translation: X:-236.07, Y:-269.49, Z:-2.78 [[-6.81945738e-01 -7.31370779e-01 6.84062444e-03 -2.36072041e+02] [ 7.31335746e-01 -6.81980036e-01 -7.15948238e-03 -2.69487792e+02] [ 9.90140550e-03 1.20414683e-04 9.99950973e-01 -2.77824124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 961.116559995 meters 0.01443932710436093 Centerline is valid? [True, True] Translation: X:-236.09, Y:-269.47, Z:-2.78 [[-6.82175793e-01 -7.31156182e-01 6.84287614e-03 -2.36090607e+02] [ 7.31121159e-01 -6.82210102e-01 -7.15733028e-03 -2.69468509e+02] [ 9.90140551e-03 1.20414076e-04 9.99950973e-01 -2.77824077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 961.146559995 meters 0.014267673724431195 Centerline is valid? [True, True] Translation: X:-236.11, Y:-269.45, Z:-2.78 [[-6.83240164e-01 -7.30164321e-01 6.55308072e-03 -2.36109152e+02] [ 7.30132197e-01 -6.83271581e-01 -6.84992971e-03 -2.69448665e+02] [ 9.47910810e-03 1.04468119e-04 9.99955067e-01 -2.77857720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 961.1765599949999 meters 0.014359513569697398 Centerline is valid? [True, True] Translation: X:-236.13, Y:-269.43, Z:-2.78 [[-6.84176856e-01 -7.29286851e-01 6.53599564e-03 -2.36127499e+02] [ 7.29254896e-01 -6.84208068e-01 -6.82759607e-03 -2.69429868e+02] [ 9.45125699e-03 9.51236101e-05 9.99955332e-01 -2.77933585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 961.2065599949999 meters 0.013725584588145778 Centerline is valid? [True, True] Translation: X:-236.15, Y:-269.41, Z:-2.78 [[-6.85829020e-01 -7.27732659e-01 6.61309964e-03 -2.36145087e+02] [ 7.27699915e-01 -6.85860898e-01 -6.90380402e-03 -2.69408669e+02] [ 9.55979011e-03 7.75229086e-05 9.99954301e-01 -2.77907803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 961.236559995 meters 0.013718955793227176 Centerline is valid? [True, True] Translation: X:-236.16, Y:-269.39, Z:-2.78 [[-6.86427106e-01 -7.27169541e-01 6.50289219e-03 -2.36163378e+02] [ 7.27137894e-01 -6.86457904e-01 -6.78447901e-03 -2.69388840e+02] [ 9.39742823e-03 7.14490365e-05 9.99955841e-01 -2.77884712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 961.266559995 meters 0.013760816799013538 Centerline is valid? [True, True] Translation: X:-236.18, Y:-269.37, Z:-2.78 [[-6.86801316e-01 -7.26815112e-01 6.61400007e-03 -2.36181818e+02] [ 7.26782400e-01 -6.86833158e-01 -6.89607431e-03 -2.69369334e+02] [ 9.55488558e-03 7.07059379e-05 9.99954349e-01 -2.77862738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 961.2965599949999 meters 0.013929409293178763 Centerline is valid? [True, True] Translation: X:-236.20, Y:-269.35, Z:-2.78 [[-6.87188524e-01 -7.26446906e-01 6.84288854e-03 -2.36200049e+02] [ 7.26411918e-01 -6.87222590e-01 -7.13004311e-03 -2.69350970e+02] [ 9.88218535e-03 7.10719874e-05 9.99951168e-01 -2.77886335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 961.3265599949999 meters 0.01363235376424238 Centerline is valid? [True, True] Translation: X:-236.22, Y:-269.33, Z:-2.78 [[-6.87094009e-01 -7.26539144e-01 6.53414473e-03 -2.36219673e+02] [ 7.26507287e-01 -6.87125074e-01 -6.80406728e-03 -2.69332088e+02] [ 9.43319589e-03 7.20698948e-05 9.99955504e-01 -2.77812465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 961.3565599949999 meters 0.013754659199478915 Centerline is valid? [True, True] Translation: X:-236.24, Y:-269.31, Z:-2.78 [[-6.87037505e-01 -7.26589994e-01 6.81527400e-03 -2.36239149e+02] [ 7.26555373e-01 -6.87071302e-01 -7.09336237e-03 -2.69313826e+02] [ 9.83654530e-03 7.82679595e-05 9.99951617e-01 -2.77856887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 961.386559995 meters 0.013695755659488952 Centerline is valid? [True, True] Translation: X:-236.26, Y:-269.30, Z:-2.78 [[-6.86985809e-01 -7.26639149e-01 6.78570409e-03 -2.36259414e+02] [ 7.26604873e-01 -6.87019317e-01 -7.05818511e-03 -2.69295121e+02] [ 9.79066340e-03 8.16526480e-05 9.99952067e-01 -2.77858358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 961.416559995 meters 0.013597962039207273 Centerline is valid? [True, True] Translation: X:-236.28, Y:-269.28, Z:-2.78 [[-6.87312781e-01 -7.26330996e-01 6.66525953e-03 -2.36278561e+02] [ 7.26297954e-01 -6.87345094e-01 -6.92854110e-03 -2.69275552e+02] [ 9.61374759e-03 7.88895063e-05 9.99953784e-01 -2.77813729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 961.4465599949999 meters 0.013612523063626238 Centerline is valid? [True, True] Translation: X:-236.30, Y:-269.26, Z:-2.78 [[-6.87920597e-01 -7.25758676e-01 6.29256675e-03 -2.36296909e+02] [ 7.25729241e-01 -6.87949373e-01 -6.53681795e-03 -2.69257076e+02] [ 9.07311970e-03 6.98879818e-05 9.99958836e-01 -2.77821670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 961.4765599949999 meters 0.01327288046580661 Centerline is valid? [True, True] Translation: X:-236.32, Y:-269.24, Z:-2.78 [[-6.88787149e-01 -7.24937939e-01 6.10315904e-03 -2.36315851e+02] [ 7.24910248e-01 -6.88814185e-01 -6.33650612e-03 -2.69236116e+02] [ 8.79751621e-03 5.97385548e-05 9.99961299e-01 -2.77737558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 961.506559995 meters 0.013021778061336309 Centerline is valid? [True, True] Translation: X:-236.33, Y:-269.22, Z:-2.78 [[-6.90848888e-01 -7.22980256e-01 5.23091286e-03 -2.36333962e+02] [ 7.22959884e-01 -6.90868691e-01 -5.42751203e-03 -2.69215807e+02] [ 7.53785795e-03 3.21495033e-05 9.99971590e-01 -2.77600459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 961.536559995 meters 0.012942378191949334 Centerline is valid? [True, True] Translation: X:-236.35, Y:-269.20, Z:-2.78 [[-6.92024066e-01 -7.21858453e-01 4.80275365e-03 -2.36351917e+02] [ 7.21841274e-01 -6.92040732e-01 -4.97999448e-03 -2.69196647e+02] [ 6.91855226e-03 2.05497888e-05 9.99976066e-01 -2.77556928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 961.5665599949999 meters 0.012848841807919146 Centerline is valid? [True, True] Translation: X:-236.37, Y:-269.18, Z:-2.78 [[-6.93502218e-01 -7.20440127e-01 4.54944023e-03 -2.36370860e+02] [ 7.20424701e-01 -6.93517140e-01 -4.71442630e-03 -2.69177071e+02] [ 6.55157666e-03 8.06402590e-06 9.99978538e-01 -2.77595891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 961.5965599949999 meters 0.012755487973546469 Centerline is valid? [True, True] Translation: X:-236.39, Y:-269.16, Z:-2.78 [[-6.96184620e-01 -7.17852730e-01 3.79915194e-03 -2.36389364e+02] [ 7.17841948e-01 -6.96194986e-01 -3.93449171e-03 -2.69157017e+02] [ 5.46933615e-03 -1.19419857e-05 9.99985043e-01 -2.77563025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 961.626559995 meters 0.012832823720148526 Centerline is valid? [True, True] Translation: X:-236.41, Y:-269.14, Z:-2.78 [[-6.97747675e-01 -7.16335427e-01 3.42610912e-03 -2.36408033e+02] [ 7.16326651e-01 -6.97756086e-01 -3.54597675e-03 -2.69136834e+02] [ 4.93069726e-03 -1.99837612e-05 9.99987844e-01 -2.77577911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 961.656559995 meters 0.013151749466481118 Centerline is valid? [True, True] Translation: X:-236.43, Y:-269.12, Z:-2.78 [[-7.00404681e-01 -7.13737682e-01 3.43567626e-03 -2.36426686e+02] [ 7.13728835e-01 -7.00413107e-01 -3.55390320e-03 -2.69116259e+02] [ 4.94294732e-03 -3.70292207e-05 9.99987783e-01 -2.77535204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 961.6865599949999 meters 0.013371025323719516 Centerline is valid? [True, True] Translation: X:-236.44, Y:-269.10, Z:-2.78 [[-7.01512738e-01 -7.12649178e-01 3.32096117e-03 -2.36444418e+02] [ 7.12640910e-01 -7.01520597e-01 -3.43300050e-03 -2.69096944e+02] [ 4.77624765e-03 -4.16407874e-05 9.99988593e-01 -2.77572488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 961.7165599949999 meters 0.013620254490200873 Centerline is valid? [True, True] Translation: X:-236.46, Y:-269.08, Z:-2.78 [[-7.02907049e-01 -7.11271445e-01 3.82261009e-03 -2.36463868e+02] [ 7.11260482e-01 -7.02917441e-01 -3.94941438e-03 -2.69076971e+02] [ 5.49608497e-03 -5.71997132e-05 9.99984895e-01 -2.77636095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 961.746559995 meters 0.013833895995832375 Centerline is valid? [True, True] Translation: X:-236.48, Y:-269.06, Z:-2.78 [[-7.03561244e-01 -7.10622303e-01 4.18549262e-03 -2.36483647e+02] [ 7.10609164e-01 -7.03573691e-01 -4.32169692e-03 -2.69057618e+02] [ 6.01589671e-03 -6.63290516e-05 9.99981902e-01 -2.77713333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 961.776559995 meters 0.013603493035141696 Centerline is valid? [True, True] Translation: X:-236.50, Y:-269.04, Z:-2.78 [[-7.03649712e-01 -7.10533249e-01 4.42560157e-03 -2.36503373e+02] [ 7.10518576e-01 -7.03663626e-01 -4.56676621e-03 -2.69039422e+02] [ 6.35897408e-03 -6.89316068e-05 9.99979779e-01 -2.77776262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 961.8065599949999 meters 0.013771842111532795 Centerline is valid? [True, True] Translation: X:-236.52, Y:-269.02, Z:-2.78 [[-7.03049486e-01 -7.11121147e-01 5.30412516e-03 -2.36523326e+02] [ 7.11100115e-01 -7.03069491e-01 -5.46972690e-03 -2.69021588e+02] [ 7.61880704e-03 -7.37246803e-05 9.99970974e-01 -2.78004157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 961.8365599949999 meters 0.013200690174737103 Centerline is valid? [True, True] Translation: X:-236.55, Y:-269.00, Z:-2.78 [[-7.01572752e-01 -7.12572415e-01 6.01891342e-03 -2.36545770e+02] [ 7.12545416e-01 -7.01598567e-01 -6.20333993e-03 -2.69004481e+02] [ 8.64318995e-03 -6.33450958e-05 9.99962645e-01 -2.78012798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 961.866559995 meters 0.013183454012046781 Centerline is valid? [True, True] Translation: X:-236.57, Y:-268.99, Z:-2.78 [[-7.00886225e-01 -7.13245916e-01 6.22590678e-03 -2.36566464e+02] [ 7.13217087e-01 -7.00913875e-01 -6.41305519e-03 -2.68985460e+02] [ 8.93790987e-03 -5.43989536e-05 9.99960055e-01 -2.78049764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 961.896559995 meters 0.013084774068468296 Centerline is valid? [True, True] Translation: X:-236.59, Y:-268.97, Z:-2.78 [[-7.00240667e-01 -7.13877329e-01 6.49361714e-03 -2.36585983e+02] [ 7.13846031e-01 -7.00270774e-01 -6.68483535e-03 -2.68967310e+02] [ 9.31944271e-03 -4.55507423e-05 9.99956572e-01 -2.78083730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 961.9265599949999 meters 0.013084774068468296 Centerline is valid? [True, True] Translation: X:-236.60, Y:-268.95, Z:-2.78 [[-7.00464265e-01 -7.13657915e-01 6.49571083e-03 -2.36604703e+02] [ 7.13626627e-01 -7.00494381e-01 -6.68280091e-03 -2.68948183e+02] [ 9.31944271e-03 -4.55510188e-05 9.99956572e-01 -2.78083684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 961.9565599949999 meters 0.012931985596602028 Centerline is valid? [True, True] Translation: X:-236.63, Y:-268.93, Z:-2.78 [[-6.98818723e-01 -7.15265467e-01 6.90681162e-03 -2.36626280e+02] [ 7.15230210e-01 -6.98852854e-01 -7.10174618e-03 -2.68929676e+02] [ 9.90647881e-03 -2.28728706e-05 9.99950930e-01 -2.78121826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 961.986559995 meters 0.013033020214586924 Centerline is valid? [True, True] Translation: X:-236.65, Y:-268.91, Z:-2.78 [[-6.97994080e-01 -7.16068740e-01 7.05859301e-03 -2.36647007e+02] [ 7.16032000e-01 -6.98029769e-01 -7.25373646e-03 -2.68910225e+02] [ 1.01212820e-02 -8.88663423e-06 9.99948779e-01 -2.78132014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 962.016559995 meters 0.013154286516441035 Centerline is valid? [True, True] Translation: X:-236.67, Y:-268.89, Z:-2.78 [[-6.96094984e-01 -7.17917365e-01 6.81401095e-03 -2.36667251e+02] [ 7.17883259e-01 -6.96128334e-01 -6.99776643e-03 -2.68893797e+02] [ 9.76724413e-03 2.05542768e-05 9.99952299e-01 -2.78231343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 962.0465599949999 meters 0.013049487888824098 Centerline is valid? [True, True] Translation: X:-236.69, Y:-268.87, Z:-2.78 [[-6.94873704e-01 -7.19102684e-01 6.47030531e-03 -2.36687924e+02] [ 7.19072019e-01 -6.94903827e-01 -6.64105161e-03 -2.68874239e+02] [ 9.27183796e-03 3.79233728e-05 9.99957015e-01 -2.78046404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 962.0765599949999 meters 0.01313643570390056 Centerline is valid? [True, True] Translation: X:-236.71, Y:-268.86, Z:-2.78 [[-6.93739221e-01 -7.20199948e-01 6.15865598e-03 -2.36708719e+02] [ 7.20172240e-01 -6.93766555e-01 -6.31762754e-03 -2.68855305e+02] [ 8.82262457e-03 5.25070663e-05 9.99961079e-01 -2.78015625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 962.1065599949999 meters 0.013640076041211901 Centerline is valid? [True, True] Translation: X:-236.73, Y:-268.84, Z:-2.78 [[-6.91213669e-01 -7.22626919e-01 5.83089447e-03 -2.36729883e+02] [ 7.22602198e-01 -6.91238258e-01 -5.97786407e-03 -2.68837934e+02] [ 8.35030283e-03 8.14358038e-05 9.99965132e-01 -2.77964650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 962.136559995 meters 0.013823921746629855 Centerline is valid? [True, True] Translation: X:-236.75, Y:-268.82, Z:-2.78 [[-6.90075970e-01 -7.23716119e-01 5.48948793e-03 -2.36750175e+02] [ 7.23694270e-01 -6.90097798e-01 -5.62432047e-03 -2.68819335e+02] [ 7.85869492e-03 9.15025516e-05 9.99969116e-01 -2.77945483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 962.166559995 meters 0.01422885592917419 Centerline is valid? [True, True] Translation: X:-236.77, Y:-268.80, Z:-2.78 [[-6.88645030e-01 -7.25079362e-01 5.28597026e-03 -2.36771064e+02] [ 7.25059166e-01 -6.88665309e-01 -5.41277825e-03 -2.68800235e+02] [ 7.56495814e-03 1.05158346e-04 9.99971380e-01 -2.77925666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 962.1965599949999 meters 0.01497572597895081 Centerline is valid? [True, True] Translation: X:-236.79, Y:-268.78, Z:-2.78 [[-6.86079004e-01 -7.27510135e-01 4.96025285e-03 -2.36792600e+02] [ 7.27492435e-01 -6.86096923e-01 -5.07639131e-03 -2.68781746e+02] [ 7.09634034e-03 1.25740932e-04 9.99974813e-01 -2.77867258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 962.2265599949999 meters 0.015504828053355367 Centerline is valid? [True, True] Translation: X:-236.81, Y:-268.76, Z:-2.78 [[-6.85039821e-01 -7.28491228e-01 4.57977659e-03 -2.36812552e+02] [ 7.28476179e-01 -6.85055118e-01 -4.68422529e-03 -2.68763647e+02] [ 6.54981643e-03 1.27377289e-04 9.99978542e-01 -2.77818886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 962.256559995 meters 0.015612226271610815 Centerline is valid? [True, True] Translation: X:-236.83, Y:-268.74, Z:-2.78 [[-6.84149723e-01 -7.29326208e-01 4.73692044e-03 -2.36832975e+02] [ 7.29310147e-01 -6.84166107e-01 -4.84221067e-03 -2.68743888e+02] [ 6.77239156e-03 1.41887057e-04 9.99977057e-01 -2.77793431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 962.286559995 meters 0.016153079278215163 Centerline is valid? [True, True] Translation: X:-236.85, Y:-268.72, Z:-2.78 [[-6.83376365e-01 -7.30049653e-01 4.92413288e-03 -2.36853604e+02] [ 7.30032337e-01 -6.83394088e-01 -5.03075226e-03 -2.68724827e+02] [ 7.03782224e-03 1.56879034e-04 9.99975222e-01 -2.77886258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 962.3165599949999 meters 0.016998492009224073 Centerline is valid? [True, True] Translation: X:-236.87, Y:-268.71, Z:-2.78 [[-6.81992389e-01 -7.31333120e-01 6.18467069e-03 -2.36873341e+02] [ 7.31305880e-01 -6.82020397e-01 -6.31568836e-03 -2.68706946e+02] [ 8.83694363e-03 2.15634656e-04 9.99960930e-01 -2.78053936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 962.3465599949999 meters 0.017297033371802623 Centerline is valid? [True, True] Translation: X:-236.89, Y:-268.69, Z:-2.78 [[-6.81483422e-01 -7.31805252e-01 6.43575227e-03 -2.36893074e+02] [ 7.31775811e-01 -6.81513770e-01 -6.56843679e-03 -2.68687008e+02] [ 9.19287034e-03 2.33247054e-04 9.99957718e-01 -2.78115145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 962.376559995 meters 0.016601043544843607 Centerline is valid? [True, True] Translation: X:-236.91, Y:-268.67, Z:-2.78 [[-6.81349405e-01 -7.31925592e-01 6.92221898e-03 -2.36911130e+02] [ 7.31891578e-01 -6.81384519e-01 -7.06087086e-03 -2.68665942e+02] [ 9.88472494e-03 2.55393614e-04 9.99951112e-01 -2.78084866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 962.406559995 meters 0.01853800320197033 Centerline is valid? [True, True] Translation: X:-236.93, Y:-268.65, Z:-2.78 [[-6.80563884e-01 -7.32648860e-01 7.64507283e-03 -2.36931427e+02] [ 7.32607452e-01 -6.80606759e-01 -7.79493743e-03 -2.68648100e+02] [ 1.09142403e-02 2.95884435e-04 9.99940394e-01 -2.78266017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 962.4365599949999 meters 0.018753903592971053 Centerline is valid? [True, True] Translation: X:-236.95, Y:-268.63, Z:-2.78 [[-6.80718328e-01 -7.32498794e-01 8.25072948e-03 -2.36950942e+02] [ 7.32450615e-01 -6.80768253e-01 -8.40735342e-03 -2.68628467e+02] [ 1.17752109e-02 3.20212313e-04 9.99930619e-01 -2.78375946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 962.4665599949999 meters 0.017687302462657838 Centerline is valid? [True, True] Translation: X:-236.97, Y:-268.61, Z:-2.78 [[-6.80920663e-01 -7.32303765e-01 8.84574744e-03 -2.36968261e+02] [ 7.32248440e-01 -6.80978031e-01 -9.00799253e-03 -2.68607069e+02] [ 1.26203465e-02 3.43556519e-04 9.99920301e-01 -2.78374966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 962.496559995 meters 0.017526451389145152 Centerline is valid? [True, True] Translation: X:-236.99, Y:-268.59, Z:-2.78 [[-6.81157822e-01 -7.32079890e-01 9.11355794e-03 -2.36986935e+02] [ 7.32021212e-01 -6.81218695e-01 -9.27549071e-03 -2.68585968e+02] [ 1.29987263e-02 3.53244687e-04 9.99915451e-01 -2.78361150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 962.526559995 meters 0.01897611973528788 Centerline is valid? [True, True] Translation: X:-237.01, Y:-268.57, Z:-2.78 [[-6.81773272e-01 -7.31506627e-01 9.12465913e-03 -2.37006443e+02] [ 7.31447814e-01 -6.81834243e-01 -9.28224655e-03 -2.68567716e+02] [ 1.30115299e-02 3.45824378e-04 9.99915287e-01 -2.78484013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 962.5565599949999 meters 0.01722790953604729 Centerline is valid? [True, True] Translation: X:-237.02, Y:-268.54, Z:-2.78 [[-6.83029185e-01 -7.30337621e-01 8.83699593e-03 -2.37021992e+02] [ 7.30282423e-01 -6.83086275e-01 -8.98462642e-03 -2.68543339e+02] [ 1.25982413e-02 3.16740737e-04 9.99920589e-01 -2.78279599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 962.5865599949999 meters 0.017077758674974557 Centerline is valid? [True, True] Translation: X:-237.04, Y:-268.52, Z:-2.78 [[-6.84140021e-01 -7.29298347e-01 8.73799754e-03 -2.37040295e+02] [ 7.29244356e-01 -6.84195756e-01 -8.87906085e-03 -2.68522075e+02] [ 1.24539852e-02 2.97614510e-04 9.99922402e-01 -2.78238108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 962.616559995 meters 0.017638323783508946 Centerline is valid? [True, True] Translation: X:-237.06, Y:-268.50, Z:-2.78 [[-6.85375940e-01 -7.28137990e-01 8.65379205e-03 -2.37058294e+02] [ 7.28084994e-01 -6.85430515e-01 -8.78928468e-03 -2.68503241e+02] [ 1.23313852e-02 2.76731884e-04 9.99923927e-01 -2.78260348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 962.646559995 meters 0.016541320979150592 Centerline is valid? [True, True] Translation: X:-237.08, Y:-268.48, Z:-2.78 [[-6.86553476e-01 -7.27030438e-01 8.43007585e-03 -2.37075831e+02] [ 7.26980119e-01 -6.86605183e-01 -8.55741185e-03 -2.68480625e+02] [ 1.20096327e-02 2.53376692e-04 9.99927850e-01 -2.78133018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 962.6765599949999 meters 0.01600353842918074 Centerline is valid? [True, True] Translation: X:-237.09, Y:-268.46, Z:-2.78 [[-6.88657357e-01 -7.25048346e-01 7.47936311e-03 -2.37092977e+02] [ 7.25008663e-01 -6.88697943e-01 -7.58824412e-03 -2.68458973e+02] [ 1.06528658e-02 1.96902918e-04 9.99943237e-01 -2.78013109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 962.7065599949999 meters 0.01582393293801515 Centerline is valid? [True, True] Translation: X:-237.11, Y:-268.44, Z:-2.78 [[-6.89604588e-01 -7.24149508e-01 7.28027559e-03 -2.37111105e+02] [ 7.24111906e-01 -6.89642992e-01 -7.38181673e-03 -2.68438962e+02] [ 1.03663300e-02 1.81199549e-04 9.99946252e-01 -2.77930253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 962.736559995 meters 0.014994697370093487 Centerline is valid? [True, True] Translation: X:-237.13, Y:-268.42, Z:-2.78 [[-6.90406616e-01 -7.23385614e-01 7.20825283e-03 -2.37128636e+02] [ 7.23348757e-01 -6.90444223e-01 -7.30421277e-03 -2.68417630e+02] [ 1.02606590e-02 1.71203902e-04 9.99947344e-01 -2.77783840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 962.766559995 meters 0.014436847661904532 Centerline is valid? [True, True] Translation: X:-237.15, Y:-268.40, Z:-2.78 [[-6.92210676e-01 -7.21655347e-01 7.61183101e-03 -2.37146057e+02] [ 7.21614189e-01 -6.92252509e-01 -7.70883907e-03 -2.68395693e+02] [ 1.08324341e-02 1.56664554e-04 9.99941315e-01 -2.77765225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 962.7965599949999 meters 0.014437785950196725 Centerline is valid? [True, True] Translation: X:-237.16, Y:-268.38, Z:-2.78 [[-6.93387066e-01 -7.20520156e-01 8.06732850e-03 -2.37163964e+02] [ 7.20473910e-01 -6.93433978e-01 -8.16474456e-03 -2.68376659e+02] [ 1.14770227e-02 1.50971427e-04 9.99934126e-01 -2.77836097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 962.8265599949999 meters 0.01419697069683464 Centerline is valid? [True, True] Translation: X:-237.18, Y:-268.36, Z:-2.78 [[-6.95289157e-01 -7.18674038e-01 8.97859292e-03 -2.37181188e+02] [ 7.18616675e-01 -6.95347113e-01 -9.08113158e-03 -2.68356403e+02] [ 1.27696122e-02 1.38154269e-04 9.99918456e-01 -2.77950630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 962.8565599949999 meters 0.013760158233170266 Centerline is valid? [True, True] Translation: X:-237.20, Y:-268.34, Z:-2.78 [[-6.96345659e-01 -7.17648028e-01 9.16679329e-03 -2.37199548e+02] [ 7.17588222e-01 -6.96405982e-01 -9.26565318e-03 -2.68335665e+02] [ 1.30332874e-02 1.25885523e-04 9.99915055e-01 -2.77910678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 962.886559995 meters 0.013682113955709256 Centerline is valid? [True, True] Translation: X:-237.22, Y:-268.32, Z:-2.78 [[-6.97653675e-01 -7.16374306e-01 9.33824815e-03 -2.37217653e+02] [ 7.16312210e-01 -6.97716161e-01 -9.43274775e-03 -2.68316256e+02] [ 1.32728248e-02 1.08310032e-04 9.99911906e-01 -2.77931183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 962.916559995 meters 0.013388085821038561 Centerline is valid? [True, True] Translation: X:-237.24, Y:-268.30, Z:-2.78 [[-6.99161386e-01 -7.14900913e-01 9.48899927e-03 -2.37236428e+02] [ 7.14836731e-01 -6.99225770e-01 -9.57964950e-03 -2.68295217e+02] [ 1.34834530e-02 8.53641998e-05 9.99909091e-01 -2.77906652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 962.9465599949999 meters 0.013188929517146168 Centerline is valid? [True, True] Translation: X:-237.25, Y:-268.27, Z:-2.78 [[-7.02265882e-01 -7.11847294e-01 9.80112572e-03 -2.37252447e+02] [ 7.11778613e-01 -7.02334272e-01 -9.88822171e-03 -2.68274428e+02] [ 1.39225704e-02 3.20709363e-05 9.99903076e-01 -2.77869179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 962.9765599949999 meters 0.013242212394600779 Centerline is valid? [True, True] Translation: X:-237.27, Y:-268.25, Z:-2.78 [[-7.04123543e-01 -7.10013092e-01 9.56274578e-03 -2.37270184e+02] [ 7.09947623e-01 -7.04188476e-01 -9.64175463e-03 -2.68253762e+02] [ 1.35797474e-02 6.22128359e-08 9.99907791e-01 -2.77839912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 963.006559995 meters 0.013242212394600779 Centerline is valid? [True, True] Translation: X:-237.29, Y:-268.23, Z:-2.78 [[-7.04343001e-01 -7.09795347e-01 9.56572623e-03 -2.37289110e+02] [ 7.09729898e-01 -7.04407954e-01 -9.63879769e-03 -2.68234833e+02] [ 1.35797474e-02 6.22169864e-08 9.99907791e-01 -2.77839866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 963.036559995 meters 0.013500924945138283 Centerline is valid? [True, True] Translation: X:-237.31, Y:-268.21, Z:-2.78 [[-7.07802351e-01 -7.06349309e-01 9.29976661e-03 -2.37305164e+02] [ 7.06287230e-01 -7.07863441e-01 -9.36473873e-03 -2.68213352e+02] [ 1.31977415e-02 -6.00777000e-05 9.99912904e-01 -2.77870183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 963.0665599949999 meters 0.013589309859716662 Centerline is valid? [True, True] Translation: X:-237.32, Y:-268.19, Z:-2.78 [[-7.09323458e-01 -7.04820676e-01 9.38331843e-03 -2.37323067e+02] [ 7.04757419e-01 -7.09385514e-01 -9.44309209e-03 -2.68193354e+02] [ 1.33120767e-02 -8.52434552e-05 9.99911387e-01 -2.77811587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 963.0965599949999 meters 0.013814342765946945 Centerline is valid? [True, True] Translation: X:-237.34, Y:-268.17, Z:-2.78 [[-7.11758320e-01 -7.02368003e-01 8.90407799e-03 -2.37340504e+02] [ 7.02310920e-01 -7.11814003e-01 -8.95528899e-03 -2.68172782e+02] [ 1.26279558e-02 -1.20570239e-04 9.99920257e-01 -2.77792988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 963.126559995 meters 0.014114736167325895 Centerline is valid? [True, True] Translation: X:-237.36, Y:-268.15, Z:-2.78 [[-7.12562861e-01 -7.01552066e-01 8.88072759e-03 -2.37358396e+02] [ 7.01495273e-01 -7.12618188e-01 -8.92755964e-03 -2.68153618e+02] [ 1.25917159e-02 -1.31659015e-04 9.99920713e-01 -2.77796587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 963.156559995 meters 0.014163511351883156 Centerline is valid? [True, True] Translation: X:-237.38, Y:-268.13, Z:-2.78 [[-7.13139396e-01 -7.00968039e-01 8.71845688e-03 -2.37377701e+02] [ 7.00913323e-01 -7.13192674e-01 -8.75914357e-03 -2.68134123e+02] [ 1.23578193e-02 -1.35607767e-04 9.99923630e-01 -2.77757253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 963.1865599949999 meters 0.013925387649174854 Centerline is valid? [True, True] Translation: X:-237.40, Y:-268.12, Z:-2.78 [[-7.12311772e-01 -7.01815101e-01 8.21610063e-03 -2.37397742e+02] [ 7.01766611e-01 -7.12359145e-01 -8.25059043e-03 -2.68117542e+02] [ 1.16432034e-02 -1.11207593e-04 9.99932210e-01 -2.77752529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 963.2165599949999 meters 0.013369779051153016 Centerline is valid? [True, True] Translation: X:-237.42, Y:-268.10, Z:-2.78 [[-7.11543357e-01 -7.02595634e-01 8.08866275e-03 -2.37419161e+02] [ 7.02548745e-01 -7.11589324e-01 -8.11754275e-03 -2.68100285e+02] [ 1.14591562e-02 -9.33037590e-05 9.99934338e-01 -2.77660837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 963.246559995 meters 0.013369779051153016 Centerline is valid? [True, True] Translation: X:-237.44, Y:-268.08, Z:-2.78 [[-7.11763472e-01 -7.02372616e-01 8.09120605e-03 -2.37438130e+02] [ 7.02325742e-01 -7.11809454e-01 -8.11500771e-03 -2.68081395e+02] [ 1.14591562e-02 -9.33037720e-05 9.99934338e-01 -2.77660790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 963.276559995 meters 0.013089050741955 Centerline is valid? [True, True] Translation: X:-237.46, Y:-268.06, Z:-2.78 [[-7.10641117e-01 -7.03510211e-01 7.91115338e-03 -2.37459367e+02] [ 7.03465526e-01 -7.10685147e-01 -7.92943063e-03 -2.68063770e+02] [ 1.12007746e-02 -6.97557637e-05 9.99937267e-01 -2.77648168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 963.3065599949999 meters 0.01280074508619482 Centerline is valid? [True, True] Translation: X:-237.48, Y:-268.05, Z:-2.78 [[-7.07977116e-01 -7.06190082e-01 7.99822763e-03 -2.37481493e+02] [ 7.06144637e-01 -7.08022294e-01 -8.01143125e-03 -2.68048372e+02] [ 1.13205168e-02 -2.40044406e-05 9.99935921e-01 -2.77700175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 963.3365599949999 meters 0.012726422670183165 Centerline is valid? [True, True] Translation: X:-237.50, Y:-268.03, Z:-2.78 [[-7.06773483e-01 -7.07394561e-01 8.01116471e-03 -2.37503502e+02] [ 7.07349098e-01 -7.06818884e-01 -8.01987024e-03 -2.68030018e+02] [ 1.13356551e-02 -1.54148832e-06 9.99935750e-01 -2.77709616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 963.366559995 meters 0.012673902694919102 Centerline is valid? [True, True] Translation: X:-237.53, Y:-268.01, Z:-2.78 [[-7.05623162e-01 -7.08537835e-01 8.37203859e-03 -2.37525275e+02] [ 7.08488319e-01 -7.05672826e-01 -8.37644828e-03 -2.68012060e+02] [ 1.18429507e-02 2.08756305e-05 9.99929870e-01 -2.77778241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 963.396559995 meters 0.012791226817521333 Centerline is valid? [True, True] Translation: X:-237.55, Y:-268.00, Z:-2.78 [[-7.03179347e-01 -7.10958906e-01 8.73162768e-03 -2.37548417e+02] [ 7.10905292e-01 -7.03233553e-01 -8.73133133e-03 -2.67996043e+02] [ 1.23479913e-02 6.76684671e-05 9.99923759e-01 -2.77866236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 963.4265599949999 meters 0.013044908674559255 Centerline is valid? [True, True] Translation: X:-238.04, Y:-268.48, Z:-1.80 [[-7.60033820e-01 6.49814195e-01 9.49233399e-03 -2.38039779e+02] [ 6.49762063e-01 7.60093089e-01 -8.23146969e-03 -2.68483432e+02] [-1.25639833e-02 -8.84368357e-05 -9.99921066e-01 -1.80410730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 963.4565599949999 meters 0.012983498617669962 Centerline is valid? [True, True] Translation: X:-238.02, Y:-268.46, Z:-1.80 [[-8.04840838e-01 5.93411850e-01 9.67484127e-03 -2.38017177e+02] [ 5.93367482e-01 8.04898979e-01 -7.25710706e-03 -2.68462989e+02] [-1.20937232e-02 -1.00079926e-04 -9.99926863e-01 -1.80423671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 963.486559995 meters 0.013057304154863399 Centerline is valid? [True, True] Translation: X:-237.61, Y:-267.92, Z:-2.78 [[-7.51402931e-01 -6.59779354e-01 9.21089163e-03 -2.37605202e+02] [ 6.59731495e-01 -7.51459376e-01 -7.94737191e-03 -2.67921430e+02] [ 1.21651228e-02 1.05036766e-04 9.99925997e-01 -2.77899181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 963.516559995 meters 0.013317661386704453 Centerline is valid? [True, True] Translation: X:-238.05, Y:-268.43, Z:-1.80 [[-8.08373410e-01 5.88599571e-01 9.10909711e-03 -2.38052649e+02] [ 5.88560511e-01 8.08424722e-01 -6.78187800e-03 -2.68430584e+02] [-1.13558298e-02 -1.21034988e-04 -9.99935513e-01 -1.80436452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 963.5465599949999 meters 0.01336430989015826 Centerline is valid? [True, True] Translation: X:-237.65, Y:-267.90, Z:-2.78 [[-7.52682323e-01 -6.58326876e-01 8.66284522e-03 -2.37645450e+02] [ 6.58285168e-01 -7.52732163e-01 -7.41141930e-03 -2.67898335e+02] [ 1.13999387e-02 1.24178226e-04 9.99935011e-01 -2.77901900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 963.5765599949999 meters 0.013163210437071393 Centerline is valid? [True, True] Translation: X:-238.09, Y:-268.40, Z:-1.80 [[-8.10550062e-01 5.85600583e-01 8.97521329e-03 -2.38087059e+02] [ 5.85563039e-01 8.10599743e-01 -6.63201617e-03 -2.68402210e+02] [-1.11590181e-02 -1.20027941e-04 -9.99937729e-01 -1.80417734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 963.6065599949999 meters 0.013130188719825001 Centerline is valid? [True, True] Translation: X:-237.68, Y:-267.87, Z:-2.78 [[-7.55532311e-01 -6.55059023e-01 8.28273982e-03 -2.37682451e+02] [ 6.55021108e-01 -7.55577704e-01 -7.04849813e-03 -2.67874500e+02] [ 1.08754358e-02 1.00001334e-04 9.99940856e-01 -2.77940503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 963.636559995 meters 0.013153477664684434 Centerline is valid? [True, True] Translation: X:-238.12, Y:-268.38, Z:-1.80 [[-8.11827353e-01 5.83833856e-01 8.62420521e-03 -2.38115160e+02] [ 5.83799597e-01 8.11873154e-01 -6.32555053e-03 -2.68381999e+02] [-1.06948312e-02 -1.00447422e-04 -9.99942804e-01 -1.80364963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 963.666559995 meters 0.012519412283003148 Centerline is valid? [True, True] Translation: X:-238.10, Y:-268.36, Z:-1.80 [[-8.50001598e-01 5.26710586e-01 8.55815743e-03 -2.38099958e+02] [ 5.26683016e-01 8.50044677e-01 -5.38963231e-03 -2.68359767e+02] [-1.01135926e-02 -7.37599059e-05 -9.99948854e-01 -1.80425636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 963.6965599949999 meters 0.012651698905833215 Centerline is valid? [True, True] Translation: X:-238.09, Y:-268.34, Z:-1.80 [[-8.84722193e-01 4.66032570e-01 8.96020624e-03 -2.38085242e+02] [ 4.66007929e-01 8.84767563e-01 -4.79275611e-03 -2.68335497e+02] [-1.01612803e-02 -6.47305457e-05 -9.99948371e-01 -1.80281328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 963.7265599949999 meters 0.01245280992203937 Centerline is valid? [True, True] Translation: X:-238.07, Y:-268.31, Z:-1.80 [[-9.15041803e-01 4.03253359e-01 9.23187604e-03 -2.38071799e+02] [ 4.03232256e-01 9.15088371e-01 -4.12578074e-03 -2.68311519e+02] [-1.01117173e-02 -5.26716502e-05 -9.99948874e-01 -1.80311027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 963.756559995 meters 0.012524502140459304 Centerline is valid? [True, True] Translation: X:-237.80, Y:-267.71, Z:-2.78 [[-8.81206761e-01 -4.72639755e-01 9.29008541e-03 -2.37796799e+02] [ 4.72614428e-01 -8.81255727e-01 -4.89353752e-03 -2.67706235e+02] [ 1.04998213e-02 7.84100520e-05 9.99944872e-01 -2.78125814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 963.786559995 meters 0.012466916593720886 Centerline is valid? [True, True] Translation: X:-238.11, Y:-268.29, Z:-1.80 [[-9.15799135e-01 4.01515562e-01 9.85893672e-03 -2.38110938e+02] [ 4.01491867e-01 9.15852200e-01 -4.36220313e-03 -2.68293702e+02] [-1.07808213e-02 -3.66189432e-05 -9.99941885e-01 -1.80114691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 963.8165599949999 meters 0.012540550342499403 Centerline is valid? [True, True] Translation: X:-238.10, Y:-268.27, Z:-1.80 [[-9.41780649e-01 3.36067402e-01 1.03880458e-02 -2.38099803e+02] [ 3.36046560e-01 9.41837937e-01 -3.74287457e-03 -2.68268101e+02] [-1.10417138e-02 -3.40997721e-05 -9.99939038e-01 -1.80117074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 963.8465599949999 meters 0.01249864860694333 Centerline is valid? [True, True] Translation: X:-237.87, Y:-267.65, Z:-2.78 [[-9.14606547e-01 -4.04216808e-01 1.01801570e-02 -2.37871683e+02] [ 4.04192242e-01 -9.14663201e-01 -4.45655863e-03 -2.67645908e+02] [ 1.11128309e-02 3.87427814e-05 9.99938250e-01 -2.78195835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 963.876559995 meters 0.012692455892551146 Centerline is valid? [True, True] Translation: X:-238.14, Y:-268.25, Z:-1.80 [[-9.42725659e-01 3.33410931e-01 1.02705480e-02 -2.38143376e+02] [ 3.33390873e-01 9.42781603e-01 -3.65714719e-03 -2.68252455e+02] [-1.09022166e-02 -2.35795268e-05 -9.99940569e-01 -1.79936689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 963.906559995 meters 0.012470344589526037 Centerline is valid? [True, True] Translation: X:-237.92, Y:-267.63, Z:-2.78 [[-9.16594763e-01 -3.99690098e-01 1.00929096e-02 -2.37915268e+02] [ 3.99666225e-01 -9.16650329e-01 -4.36843640e-03 -2.67631537e+02] [ 1.09976896e-02 2.97091461e-05 9.99939523e-01 -2.78200683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 963.9365599949999 meters 0.012590850736629126 Centerline is valid? [True, True] Translation: X:-238.19, Y:-268.24, Z:-1.80 [[-9.43503032e-01 3.31208263e-01 1.01545547e-02 -2.38186817e+02] [ 3.31188988e-01 9.43557675e-01 -3.57316992e-03 -2.68238278e+02] [-1.07648714e-02 -8.21996792e-06 -9.99942057e-01 -1.80067916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 963.9665599949999 meters 0.012490699834895013 Centerline is valid? [True, True] Translation: X:-238.17, Y:-268.21, Z:-1.80 [[-9.63944657e-01 2.65926277e-01 9.69085486e-03 -2.38173902e+02] [ 2.65913007e-01 9.63993369e-01 -2.65669854e-03 -2.68213869e+02] [-1.00484058e-02 1.60139905e-05 -9.99949514e-01 -1.80169563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 963.996559995 meters 0.012656018250461528 Centerline is valid? [True, True] Translation: X:-238.17, Y:-268.19, Z:-1.80 [[-9.80097273e-01 1.98300756e-01 9.28146070e-03 -2.38168918e+02] [ 1.98292141e-01 9.80141219e-01 -1.84865373e-03 -2.68187300e+02] [-9.46373164e-03 2.85802337e-05 -9.99955218e-01 -1.80163053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 964.026559995 meters 0.012719558324981523 Centerline is valid? [True, True] Translation: X:-238.16, Y:-268.16, Z:-1.80 [[-9.91282065e-01 1.31542363e-01 7.51494099e-03 -2.38164122e+02] [ 1.31538951e-01 9.91310549e-01 -9.48620193e-04 -2.68161960e+02] [-7.57442402e-03 4.81572725e-05 -9.99971313e-01 -1.80355022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 964.0565599949999 meters 0.012927041289230341 Centerline is valid? [True, True] Translation: X:-238.08, Y:-267.50, Z:-2.78 [[-9.82897611e-01 -1.84007970e-01 7.30428602e-03 -2.38078583e+02] [ 1.84002468e-01 -9.82924750e-01 -1.42403259e-03 -2.67496797e+02] [ 7.44159685e-03 -5.56715706e-05 9.99972310e-01 -2.77995742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 964.0865599949999 meters 0.013153683193479407 Centerline is valid? [True, True] Translation: X:-238.22, Y:-268.16, Z:-1.80 [[-9.91361007e-01 1.30972029e-01 7.04852857e-03 -2.38221939e+02] [ 1.30969232e-01 9.91386061e-01 -8.59021170e-04 -2.68157234e+02] [-7.10032073e-03 7.15402789e-05 -9.99974790e-01 -1.80324421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 964.116559995 meters 0.014067105971993147 Centerline is valid? [True, True] Translation: X:-238.13, Y:-267.49, Z:-2.78 [[-9.84717532e-01 -1.74016796e-01 7.03824033e-03 -2.38134166e+02] [ 1.74011854e-01 -9.84742682e-01 -1.31334026e-03 -2.67486862e+02] [ 7.15939892e-03 -6.85319302e-05 9.99974369e-01 -2.78129352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 964.146559995 meters 0.014385708617398494 Centerline is valid? [True, True] Translation: X:-238.28, Y:-268.15, Z:-1.80 [[-9.91151872e-01 1.32498226e-01 7.88588236e-03 -2.38278855e+02] [ 1.32495047e-01 9.91183235e-01 -9.26421226e-04 -2.68154950e+02] [-7.93910355e-03 1.26616224e-04 -9.99968477e-01 -1.80170543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 964.1765599949999 meters 0.014631448553262713 Centerline is valid? [True, True] Translation: X:-238.20, Y:-267.48, Z:-2.78 [[-9.86081467e-01 -1.66080666e-01 7.78154655e-03 -2.38199260e+02] [ 1.66074471e-01 -9.86112162e-01 -1.44022355e-03 -2.67477020e+02] [ 7.91267098e-03 -1.27861523e-04 9.99968686e-01 -2.78211958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 964.2065599949999 meters 0.015377738768446057 Centerline is valid? [True, True] Translation: X:-238.34, Y:-268.15, Z:-1.80 [[-9.90981136e-01 1.33777317e-01 7.74711806e-03 -2.38340872e+02] [ 1.33774566e-01 9.91011403e-01 -8.74605356e-04 -2.68150700e+02] [-7.79448470e-03 1.69649947e-04 -9.99969608e-01 -1.80127537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 964.236559995 meters 0.01570705651524844 Centerline is valid? [True, True] Translation: X:-238.34, Y:-268.12, Z:-1.80 [[-9.97856426e-01 6.49928456e-02 7.64738399e-03 -2.38341145e+02] [ 6.49923329e-02 9.97885713e-01 -3.15793217e-04 -2.68123219e+02] [-7.65173953e-03 1.81905035e-04 -9.99970709e-01 -1.80157532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 964.266559995 meters 0.01642593135828817 Centerline is valid? [True, True] Translation: X:-238.35, Y:-268.10, Z:-1.80 [[-9.99964410e-01 -3.93754642e-03 7.46158791e-03 -2.38351205e+02] [-3.93598839e-03 9.99992229e-01 2.23480630e-04 -2.68096784e+02] [-7.46240989e-03 1.94103953e-04 -9.99972137e-01 -1.80187485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 964.2965599949999 meters 0.01670250580589268 Centerline is valid? [True, True] Translation: X:-238.35, Y:-268.07, Z:-1.80 [[-9.97318442e-01 -7.28630817e-02 6.84805639e-03 -2.38353786e+02] [-7.28600191e-02 9.97341934e-01 6.95972075e-04 -2.68069532e+02] [-6.88056447e-03 1.95156266e-04 -9.99976310e-01 -1.80238146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 964.3265599949999 meters 0.018373092318412047 Centerline is valid? [True, True] Translation: X:-238.37, Y:-268.05, Z:-1.80 [[-9.90170168e-01 -1.39724817e-01 6.32560939e-03 -2.38371029e+02] [-1.39720606e-01 9.90190351e-01 1.10505310e-03 -2.68046366e+02] [-6.41796073e-03 2.10372644e-04 -9.99979383e-01 -1.80296421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 964.3565599949999 meters 0.019125647077970914 Centerline is valid? [True, True] Translation: X:-238.40, Y:-268.02, Z:-1.80 [[-9.77972472e-01 -2.08653567e-01 5.79080809e-03 -2.38398980e+02] [-2.08648635e-01 9.77989594e-01 1.44991397e-03 -2.68023818e+02] [-5.96587978e-03 2.09731742e-04 -9.99982182e-01 -1.80308608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 964.386559995 meters 0.020007567583630155 Centerline is valid? [True, True] Translation: X:-238.45, Y:-268.01, Z:-1.80 [[-9.60517992e-01 -2.78168232e-01 5.25557208e-03 -2.38449948e+02] [-2.78162913e-01 9.60532349e-01 1.73191773e-03 -2.68009985e+02] [-5.52991149e-03 2.01632901e-04 -9.99984690e-01 -1.80297923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 964.416559995 meters 0.020826971750839956 Centerline is valid? [True, True] Translation: X:-238.51, Y:-268.00, Z:-1.80 [[-9.38017531e-01 -3.46550799e-01 5.06516751e-03 -2.38512446e+02] [-3.46544531e-01 9.38031183e-01 2.09479574e-03 -2.68002533e+02] [-5.47723821e-03 2.09649029e-04 -9.99984978e-01 -1.80265753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 964.4465599949999 meters 0.02109320055087813 Centerline is valid? [True, True] Translation: X:-238.59, Y:-268.00, Z:-1.80 [[-9.09800688e-01 -4.15020540e-01 4.54534286e-03 -2.38587729e+02] [-4.15014276e-01 9.09812021e-01 2.28846371e-03 -2.68004793e+02] [-5.08516702e-03 1.95663679e-04 -9.99987051e-01 -1.80247839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 964.4765599949999 meters 0.020342332360916832 Centerline is valid? [True, True] Translation: X:-238.67, Y:-268.01, Z:-1.80 [[-8.75657355e-01 -4.82911657e-01 4.53089104e-03 -2.38669823e+02] [-4.82904022e-01 8.75669055e-01 2.72247653e-03 -2.68012982e+02] [-5.28227673e-03 1.95971091e-04 -9.99986030e-01 -1.80202077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 964.506559995 meters 0.01990863233629571 Centerline is valid? [True, True] Translation: X:-238.76, Y:-268.03, Z:-1.80 [[-8.36165615e-01 -5.48457289e-01 4.65477643e-03 -2.38755818e+02] [-5.48447432e-01 8.36178547e-01 3.29434807e-03 -2.68032427e+02] [-5.69903340e-03 2.01720406e-04 -9.99983740e-01 -1.80185446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 964.536559995 meters 0.019370578119584998 Centerline is valid? [True, True] Translation: X:-238.85, Y:-268.06, Z:-1.80 [[-7.91243907e-01 -6.11481543e-01 4.83755373e-03 -2.38846235e+02] [-6.11468480e-01 7.91258668e-01 4.00246994e-03 -2.68062627e+02] [-6.27519281e-03 2.08918331e-04 -9.99980289e-01 -1.80167420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 964.5665599949999 meters 0.018796352262530968 Centerline is valid? [True, True] Translation: X:-238.94, Y:-268.10, Z:-1.80 [[-7.41097532e-01 -6.71382198e-01 4.51575843e-03 -2.38938909e+02] [-6.71368128e-01 7.41111265e-01 4.35093131e-03 -2.68103439e+02] [-6.26781727e-03 1.92728174e-04 -9.99980339e-01 -1.80136416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 964.5965599949999 meters 0.01637987280917991 Centerline is valid? [True, True] Translation: X:-239.04, Y:-268.15, Z:-1.80 [[-6.83939286e-01 -7.29522772e-01 4.85578744e-03 -2.39035608e+02] [-7.29502479e-01 6.83956499e-01 5.44437261e-03 -2.68151506e+02] [-7.29294118e-03 1.81311338e-04 -9.99973390e-01 -1.80127416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 964.626559995 meters 0.01585915572193104 Centerline is valid? [True, True] Translation: X:-239.13, Y:-268.21, Z:-1.80 [[-6.24193289e-01 -7.81256377e-01 4.60569356e-03 -2.39125152e+02] [-7.81233135e-01 6.24210259e-01 6.02848030e-03 -2.68210474e+02] [-7.58470985e-03 1.64816528e-04 -9.99971222e-01 -1.80057552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 964.656559995 meters 0.015162964952386702 Centerline is valid? [True, True] Translation: X:-239.22, Y:-268.29, Z:-1.80 [[-5.60306944e-01 -8.28273221e-01 4.42721579e-03 -2.39216911e+02] [-8.28245227e-01 5.60324414e-01 6.81142337e-03 -2.68285042e+02] [-8.12239667e-03 1.49667464e-04 -9.99967002e-01 -1.80032228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 964.6865599949999 meters 0.013682274422306509 Centerline is valid? [True, True] Translation: X:-239.30, Y:-268.35, Z:-1.80 [[-4.89550403e-01 -8.71965444e-01 4.08268327e-03 -2.39300177e+02] [-8.71933447e-01 4.89567417e-01 7.47049314e-03 -2.68354643e+02] [-8.51276057e-03 9.73548297e-05 -9.99963761e-01 -1.80049838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 964.7165599949999 meters 0.013456613902519074 Centerline is valid? [True, True] Translation: X:-239.38, Y:-268.44, Z:-1.80 [[-4.18519661e-01 -9.08200746e-01 3.56351611e-03 -2.39376398e+02] [-9.08166396e-01 4.18534825e-01 7.89918432e-03 -2.68437996e+02] [-8.66550069e-03 6.96983603e-05 -9.99962452e-01 -1.80016550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 964.746559995 meters 0.013052849901210207 Centerline is valid? [True, True] Translation: X:-239.45, Y:-268.53, Z:-1.80 [[-3.44391201e-01 -9.38821805e-01 2.88438480e-03 -2.39448458e+02] [-9.38788008e-01 3.44403278e-01 7.96608543e-03 -2.68530810e+02] [-8.47212628e-03 3.56238659e-05 -9.99964110e-01 -1.80090686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 964.776559995 meters 0.012950208882860982 Centerline is valid? [True, True] Translation: X:-239.51, Y:-268.63, Z:-1.80 [[-2.68643335e-01 -9.63237389e-01 2.11938538e-03 -2.39512617e+02] [-9.63207211e-01 2.68651695e-01 7.62466372e-03 -2.68628226e+02] [-7.91373765e-03 6.90781569e-06 -9.99968686e-01 -1.80115927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 964.8065599949999 meters 0.01331344338251428 Centerline is valid? [True, True] Translation: X:-239.57, Y:-268.73, Z:-1.80 [[-1.87511384e-01 -9.82261354e-01 1.45394095e-03 -2.39573358e+02] [-9.82233668e-01 1.87517015e-01 7.37496557e-03 -2.68734589e+02] [-7.51678233e-03 -4.52197540e-05 -9.99971748e-01 -1.80194994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 964.8365599949999 meters 0.013647237925164361 Centerline is valid? [True, True] Translation: X:-239.62, Y:-268.84, Z:-1.80 [[-1.08866524e-01 -9.94056008e-01 8.56079760e-04 -2.39620559e+02] [-9.94029812e-01 1.08869871e-01 7.21695995e-03 -2.68838961e+02] [-7.26726369e-03 -6.52834578e-05 -9.99973591e-01 -1.80245221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 964.866559995 meters 0.014849374878613205 Centerline is valid? [True, True] Translation: X:-239.66, Y:-268.95, Z:-1.80 [[-2.68542850e-02 -9.99639310e-01 3.10959644e-04 -2.39663005e+02] [-9.99611306e-01 2.68558605e-02 7.48330862e-03 -2.68949890e+02] [-7.48896056e-03 -1.09879873e-04 -9.99971951e-01 -1.80225556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 964.896559995 meters 0.015474792055729995 Centerline is valid? [True, True] Translation: X:-239.69, Y:-269.07, Z:-1.80 [[ 5.16648949e-02 -9.98664439e-01 -2.78013113e-04 -2.39693867e+02] [-9.98632932e-01 -5.16654736e-02 7.93388223e-03 -2.69065009e+02] [-7.93764973e-03 -1.32270141e-04 -9.99968488e-01 -1.80158569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 964.9265599949999 meters 0.015474792055729995 Centerline is valid? [True, True] Translation: X:-239.71, Y:-269.18, Z:-1.80 [[ 1.27861005e-01 -9.91791703e-01 -8.83760037e-04 -2.39713324e+02] [-9.91760332e-01 -1.27863991e-01 7.88944087e-03 -2.69179223e+02] [-7.93768308e-03 -1.32273691e-04 -9.99968488e-01 -1.80158412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 964.9565599949999 meters 0.016129284885146995 Centerline is valid? [True, True] Translation: X:-239.73, Y:-269.30, Z:-1.80 [[ 2.06972950e-01 -9.78344998e-01 -1.80642794e-03 -2.39725598e+02] [-9.78298949e-01 -2.06980739e-01 9.49426213e-03 -2.69297799e+02] [-9.66255965e-03 -1.97828894e-04 -9.99953297e-01 -1.80101522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 964.986559995 meters 0.01635481608009069 Centerline is valid? [True, True] Translation: X:-239.73, Y:-269.41, Z:-1.80 [[ 2.82409179e-01 -9.59290438e-01 -2.62879476e-03 -2.39728976e+02] [-9.59241364e-01 -2.82421329e-01 9.70564350e-03 -2.69410333e+02] [-1.00529587e-02 -2.19314141e-04 -9.99949444e-01 -1.80080589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 965.016559995 meters 0.017148475688659792 Centerline is valid? [True, True] Translation: X:-239.72, Y:-269.53, Z:-1.80 [[ 3.55882618e-01 -9.34523633e-01 -3.62521685e-03 -2.39722499e+02] [-9.34467807e-01 -3.55900995e-01 1.02176232e-02 -2.69530015e+02] [-1.08388286e-02 -2.48626060e-04 -9.99941227e-01 -1.80007424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 965.0465599949999 meters 0.016820458422901464 Centerline is valid? [True, True] Translation: X:-239.71, Y:-269.64, Z:-1.80 [[ 4.26887050e-01 -9.04293155e-01 -4.61922945e-03 -2.39707787e+02] [-9.04233190e-01 -4.26911956e-01 1.04172908e-02 -2.69639889e+02] [-1.13922890e-02 -2.70145938e-04 -9.99935069e-01 -1.80010487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 965.0765599949999 meters 0.018347676655742075 Centerline is valid? [True, True] Translation: X:-239.69, Y:-269.75, Z:-1.80 [[ 4.94628683e-01 -8.69082936e-01 -6.10878205e-03 -2.39686578e+02] [-8.69008834e-01 -4.94666309e-01 1.13529749e-02 -2.69750826e+02] [-1.28884854e-02 -3.06921435e-04 -9.99916893e-01 -1.79755644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 965.1065599949999 meters 0.017416792706287834 Centerline is valid? [True, True] Translation: X:-239.65, Y:-269.86, Z:-1.80 [[ 5.58885993e-01 -8.29215068e-01 -6.98701001e-03 -2.39653076e+02] [-8.29143446e-01 -5.58929586e-01 1.09024959e-02 -2.69857907e+02] [-1.29457605e-02 -3.00018674e-04 -9.99916155e-01 -1.79802211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 965.136559995 meters 0.017018084065750526 Centerline is valid? [True, True] Translation: X:-239.62, Y:-269.96, Z:-1.80 [[ 6.19604081e-01 -7.84873269e-01 -8.04576836e-03 -2.39616217e+02] [-7.84800788e-01 -6.19656246e-01 1.06705763e-02 -2.69956089e+02] [-1.33606607e-02 -2.97207258e-04 -9.99910698e-01 -1.79815702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 965.166559995 meters 0.01630951901221382 Centerline is valid? [True, True] Translation: X:-239.57, Y:-270.05, Z:-1.80 [[ 6.75184044e-01 -7.37599620e-01 -8.56195695e-03 -2.39568591e+02] [-7.37535611e-01 -6.75238283e-01 9.72030315e-03 -2.70051239e+02] [-1.29510530e-02 -2.48245438e-04 -9.99916101e-01 -1.79836852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 965.1965599949999 meters 0.015531521684322333 Centerline is valid? [True, True] Translation: X:-239.52, Y:-270.14, Z:-1.80 [[ 7.27822638e-01 -6.85706788e-01 -8.96702798e-03 -2.39518645e+02] [-6.85651070e-01 -7.27877843e-01 8.74393368e-03 -2.70138625e+02] [-1.25226757e-02 -2.15780545e-04 -9.99921565e-01 -1.79909565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 965.2265599949999 meters 0.014685940524266526 Centerline is valid? [True, True] Translation: X:-239.51, Y:-270.14, Z:-1.80 [[ 7.76692474e-01 -6.29818688e-01 -8.78756955e-03 -2.39514627e+02] [-6.29776170e-01 -7.76742170e-01 7.31968879e-03 -2.70142875e+02] [-1.14357526e-02 -1.50945295e-04 -9.99934598e-01 -1.79982969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 965.256559995 meters 0.014140699835026707 Centerline is valid? [True, True] Translation: X:-239.51, Y:-270.15, Z:-1.80 [[ 8.22784860e-01 -5.68280260e-01 -9.08955757e-03 -2.39513249e+02] [-5.68243812e-01 -8.22835056e-01 6.43752346e-03 -2.70151669e+02] [-1.11375241e-02 -1.31612001e-04 -9.99937967e-01 -1.80081957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 965.286559995 meters 0.01409896616295093 Centerline is valid? [True, True] Translation: X:-239.51, Y:-270.16, Z:-1.80 [[ 8.64035837e-01 -5.03344100e-01 -9.31610766e-03 -2.39512915e+02] [-5.03313419e-01 -8.64086051e-01 5.55867396e-03 -2.70160404e+02] [-1.08478444e-02 -1.13971512e-04 -9.99941154e-01 -1.80063016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 965.3165599949999 meters 0.013929496789282486 Centerline is valid? [True, True] Translation: X:-239.51, Y:-270.17, Z:-1.80 [[ 9.00048937e-01 -4.35677845e-01 -9.83492668e-03 -2.39509275e+02] [-4.35650650e-01 -9.00102664e-01 4.86884640e-03 -2.70166723e+02] [-1.09736922e-02 -9.76078294e-05 -9.99939783e-01 -1.80037115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 965.3465599949999 meters 0.013917747965844543 Centerline is valid? [True, True] Translation: X:-239.51, Y:-270.18, Z:-1.80 [[ 9.31355730e-01 -3.63957830e-01 -1.05452420e-02 -2.39506381e+02] [-3.63933264e-01 -9.31415422e-01 4.22982714e-03 -2.70175277e+02] [-1.13614798e-02 -1.01709392e-04 -9.99935451e-01 -1.79985072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 965.376559995 meters 0.014127071613760736 Centerline is valid? [True, True] Translation: X:-239.50, Y:-270.18, Z:-1.80 [[ 9.57227034e-01 -2.89096734e-01 -1.18103566e-02 -2.39502372e+02] [-2.89073146e-01 -9.57299882e-01 3.69500921e-03 -2.70181960e+02] [-1.23742681e-02 -1.22905768e-04 -9.99923428e-01 -1.79893210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 965.406559995 meters 0.014400052116362787 Centerline is valid? [True, True] Translation: X:-239.50, Y:-270.19, Z:-1.80 [[ 9.77092115e-01 -2.12464200e-01 -1.22458900e-02 -2.39499446e+02] [-2.12445761e-01 -9.77168842e-01 2.80243911e-03 -2.70188934e+02] [-1.25617201e-02 -1.36653733e-04 -9.99921089e-01 -1.79828040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 965.4365599949999 meters 0.014639147589572977 Centerline is valid? [True, True] Translation: X:-239.50, Y:-270.20, Z:-1.80 [[ 9.90846040e-01 -1.34377576e-01 -1.29148347e-02 -2.39495198e+02] [-1.34364109e-01 -9.90930191e-01 1.90877924e-03 -2.70195370e+02] [-1.30541967e-02 -1.56016085e-04 -9.99914778e-01 -1.79817001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 965.4665599949999 meters 0.014982481767163762 Centerline is valid? [True, True] Translation: X:-239.49, Y:-270.20, Z:-1.80 [[ 9.98447697e-01 -5.41651970e-02 -1.29741380e-02 -2.39493798e+02] [-5.41582257e-02 -9.98531971e-01 8.88322860e-04 -2.70199701e+02] [-1.30032078e-02 -1.84287618e-04 -9.99915438e-01 -1.79816933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 965.496559995 meters 0.01545606058252921 Centerline is valid? [True, True] Translation: X:-239.49, Y:-270.20, Z:-1.80 [[ 9.99596595e-01 2.54461825e-02 -1.26150667e-02 -2.39493188e+02] [ 2.54466182e-02 -9.99676175e-01 -1.25997542e-04 -2.70204568e+02] [-1.26141878e-02 -1.95064071e-04 -9.99920419e-01 -1.79824888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 965.526559995 meters 0.016383484324048483 Centerline is valid? [True, True] Translation: X:-239.49, Y:-270.21, Z:-1.80 [[ 9.94255670e-01 1.06347767e-01 -1.20753779e-02 -2.39492159e+02] [ 1.06342620e-01 -9.94328972e-01 -1.06932841e-03 -2.70207599e+02] [-1.21206188e-02 -2.20941493e-04 -9.99926518e-01 -1.79857604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 965.5565599949999 meters 0.01688176574779439 Centerline is valid? [True, True] Translation: X:-239.49, Y:-270.21, Z:-1.80 [[ 9.82618469e-01 1.85273201e-01 -1.16097161e-02 -2.39490584e+02] [ 1.85263046e-01 -9.82687024e-01 -1.95351985e-03 -2.70210884e+02] [-1.17706523e-02 -2.31286693e-04 -9.99930697e-01 -1.79851323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 965.5865599949999 meters 0.017330794406980723 Centerline is valid? [True, True] Translation: X:-239.49, Y:-270.21, Z:-1.80 [[ 9.64707368e-01 2.63091637e-01 -1.10672826e-02 -2.39488283e+02] [ 2.63077190e-01 -9.64770818e-01 -2.76764634e-03 -2.70213971e+02] [-1.14055359e-02 -2.41580786e-04 -9.99934926e-01 -1.79848278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 965.616559995 meters 0.018059143518026444 Centerline is valid? [True, True] Translation: X:-239.49, Y:-270.22, Z:-1.80 [[ 9.40540203e-01 3.39502710e-01 -1.10470387e-02 -2.39486015e+02] [ 3.39482622e-01 -9.40605038e-01 -3.70284617e-03 -2.70216597e+02] [-1.16480265e-02 -2.67601962e-04 -9.99932124e-01 -1.79834953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 965.646559995 meters 0.019803885806823383 Centerline is valid? [True, True] Translation: X:-239.48, Y:-270.22, Z:-1.80 [[ 9.09787061e-01 4.14924953e-01 -1.11708421e-02 -2.39484408e+02] [ 4.14897933e-01 -9.09855583e-01 -4.74578003e-03 -2.70218789e+02] [-1.21329956e-02 -3.17110023e-04 -9.99926342e-01 -1.79704460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 965.6765599949999 meters 0.018280011857829088 Centerline is valid? [True, True] Translation: X:-239.48, Y:-270.22, Z:-1.80 [[ 8.73916122e-01 4.85946587e-01 -1.12483806e-02 -2.39482327e+02] [ 4.85911411e-01 -8.73988440e-01 -5.85718610e-03 -2.70221449e+02] [-1.26772342e-02 -3.47027139e-04 -9.99919581e-01 -1.79843516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 965.7065599949999 meters 0.018979995468645587 Centerline is valid? [True, True] Translation: X:-239.48, Y:-270.23, Z:-1.80 [[ 8.32100380e-01 5.54518760e-01 -1.08582378e-02 -2.39479222e+02] [ 5.54477393e-01 -8.32171138e-01 -6.78367294e-03 -2.70225746e+02] [-1.27975860e-02 -3.75950536e-04 -9.99918037e-01 -1.79830581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 965.736559995 meters 0.0202039679056636 Centerline is valid? [True, True] Translation: X:-239.48, Y:-270.23, Z:-1.80 [[ 7.85817279e-01 6.18375604e-01 -1.01398434e-02 -2.39475565e+02] [ 6.18330240e-01 -7.85882606e-01 -7.49961531e-03 -2.70232120e+02] [-1.26063057e-02 -3.76444512e-04 -9.99920467e-01 -1.79771464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 965.766559995 meters 0.022068374879540713 Centerline is valid? [True, True] Translation: X:-239.47, Y:-270.24, Z:-1.80 [[ 7.34813376e-01 6.78205003e-01 -9.34220187e-03 -2.39472820e+02] [ 6.78156561e-01 -7.34872666e-01 -8.11436352e-03 -2.70236166e+02] [-1.23685307e-02 -3.72932642e-04 -9.99923437e-01 -1.79715862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 965.7965599949999 meters 0.01988828352959597 Centerline is valid? [True, True] Translation: X:-239.47, Y:-270.24, Z:-1.80 [[ 6.78977265e-01 7.34117419e-01 -7.84147938e-03 -2.39472580e+02] [ 7.34074225e-01 -6.79022457e-01 -7.97093207e-03 -2.70236095e+02] [-1.11761407e-02 -3.44146241e-04 -9.99937486e-01 -1.79982266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 965.8265599949999 meters 0.01897871009450111 Centerline is valid? [True, True] Translation: X:-239.47, Y:-270.24, Z:-1.80 [[ 6.19344073e-01 7.85090208e-01 -6.80336011e-03 -2.39467738e+02] [ 7.85048529e-01 -6.19381352e-01 -8.09617470e-03 -2.70239716e+02] [-1.05701019e-02 -3.26650039e-04 -9.99944082e-01 -1.80102868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 965.8565599949999 meters 0.019410626092262545 Centerline is valid? [True, True] Translation: X:-239.46, Y:-270.25, Z:-1.80 [[ 5.56304474e-01 8.30957706e-01 -5.88405963e-03 -2.39462042e+02] [ 8.30916969e-01 -5.56335506e-01 -8.23381515e-03 -2.70245020e+02] [-1.01154634e-02 -3.08656783e-04 -9.99948790e-01 -1.80069648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 965.886559995 meters 0.02152299985743263 Centerline is valid? [True, True] Translation: X:-239.46, Y:-270.25, Z:-1.80 [[ 4.90769579e-01 8.71274150e-01 -5.15512009e-03 -2.39456642e+02] [ 8.71232146e-01 -4.90796568e-01 -8.56015559e-03 -2.70250700e+02] [-9.98835753e-03 -2.90242383e-04 -9.99950073e-01 -1.79909799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 965.916559995 meters 0.018550135185384214 Centerline is valid? [True, True] Translation: X:-239.46, Y:-270.25, Z:-1.80 [[ 4.22565435e-01 9.06321046e-01 -4.54024734e-03 -2.39455520e+02] [ 9.06275609e-01 -4.22589734e-01 -9.07944352e-03 -2.70251794e+02] [-1.01475527e-02 -2.78056425e-04 -9.99948474e-01 -1.80020421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 965.9465599949999 meters 0.017990124987082693 Centerline is valid? [True, True] Translation: X:-239.45, Y:-270.26, Z:-1.80 [[ 3.51884696e-01 9.36035727e-01 -3.77880435e-03 -2.39450586e+02] [ 9.35989384e-01 -3.51904890e-01 -9.31781048e-03 -2.70255480e+02] [-1.00515832e-02 -2.58125850e-04 -9.99949448e-01 -1.79989920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 965.9765599949999 meters 0.017345397223340404 Centerline is valid? [True, True] Translation: X:-239.45, Y:-270.26, Z:-1.80 [[ 2.80610808e-01 9.59816539e-01 -3.12814510e-03 -2.39446239e+02] [ 9.59765809e-01 -2.80628147e-01 -9.87092722e-03 -2.70259289e+02] [-1.03521248e-02 -2.32397845e-04 -9.99946388e-01 -1.79912012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 966.006559995 meters 0.01720891694360342 Centerline is valid? [True, True] Translation: X:-239.44, Y:-270.26, Z:-1.80 [[ 2.05389258e-01 9.78677605e-01 -2.32326977e-03 -2.39440908e+02] [ 9.78626653e-01 -2.05402278e-01 -9.98892737e-03 -2.70262228e+02] [-1.02531444e-02 -2.21995338e-04 -9.99947411e-01 -1.79898141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 966.036559995 meters 0.016731680133472437 Centerline is valid? [True, True] Translation: X:-239.43, Y:-270.26, Z:-1.80 [[ 1.28911659e-01 9.91654939e-01 -1.50554169e-03 -2.39434500e+02] [ 9.91605013e-01 -1.28920279e-01 -9.95290916e-03 -2.70264603e+02] [-1.00639464e-02 -2.09856655e-04 -9.99949335e-01 -1.79899607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 966.0665599949999 meters 0.01656297183928028 Centerline is valid? [True, True] Translation: X:-239.43, Y:-270.27, Z:-1.80 [[ 5.13295161e-02 9.98681509e-01 -7.23932616e-04 -2.39427915e+02] [ 9.98630750e-01 -5.13342076e-02 -1.00709972e-02 -2.70266964e+02] [-1.00948812e-02 -2.06001957e-04 -9.99949024e-01 -1.79877677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 966.0965599949999 meters 0.01659480627811836 Centerline is valid? [True, True] Translation: X:-239.42, Y:-270.27, Z:-1.80 [[-2.69417775e-02 9.99637002e-01 6.64157743e-05 -2.39421030e+02] [ 9.99586821e-01 2.69410907e-02 -1.00182050e-02 -2.70268624e+02] [-1.00163578e-02 -2.03519919e-04 -9.99949814e-01 -1.79869327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 966.126559995 meters 0.016725983113617688 Centerline is valid? [True, True] Translation: X:-239.41, Y:-270.27, Z:-1.80 [[-1.05319636e-01 9.94438042e-01 8.69031602e-04 -2.39414407e+02] [ 9.94385749e-01 1.05323012e-01 -1.02002696e-02 -2.70270455e+02] [-1.02350652e-02 -2.10136048e-04 -9.99947598e-01 -1.79841857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 966.156559995 meters 0.016676379368128172 Centerline is valid? [True, True] Translation: X:-239.41, Y:-270.27, Z:-1.80 [[-1.82902087e-01 9.83129769e-01 1.63844918e-03 -2.39407141e+02] [ 9.83079581e-01 1.82909309e-01 -9.93591469e-03 -2.70271734e+02] [-1.00679811e-02 -2.06573605e-04 -9.99949295e-01 -1.79828038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 966.1865599949999 meters 0.01674738831939085 Centerline is valid? [True, True] Translation: X:-239.40, Y:-270.27, Z:-1.80 [[-2.59399563e-01 9.65766929e-01 2.47107835e-03 -2.39399713e+02] [ 9.65714989e-01 2.59411246e-01 -1.00183232e-02 -2.70272346e+02] [-1.03163908e-02 -2.12391265e-04 -9.99946762e-01 -1.79780272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 966.2165599949999 meters 0.016979267815002905 Centerline is valid? [True, True] Translation: X:-239.39, Y:-270.27, Z:-1.80 [[-3.34415197e-01 9.42420087e-01 3.29494017e-03 -2.39392192e+02] [ 9.42367753e-01 3.34431359e-01 -9.93402848e-03 -2.70273755e+02] [-1.04639593e-02 -2.17044724e-04 -9.99945228e-01 -1.79707972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 966.246559995 meters 0.01686062292534312 Centerline is valid? [True, True] Translation: X:-239.39, Y:-270.27, Z:-1.80 [[-4.06753667e-01 9.13527656e-01 4.32151613e-03 -2.39385795e+02] [ 9.13470080e-01 4.06776561e-01 -1.02588126e-02 -2.70273361e+02] [-1.11296005e-02 -2.25233974e-04 -9.99938039e-01 -1.79652699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 966.276559995 meters 0.016844157192143962 Centerline is valid? [True, True] Translation: X:-239.38, Y:-270.27, Z:-1.80 [[-4.76269157e-01 8.79285032e-01 5.05204927e-03 -2.39380541e+02] [ 8.79230751e-01 4.76295904e-01 -9.77236189e-03 -2.70273965e+02] [-1.09989619e-02 -2.12357484e-04 -9.99939487e-01 -1.79651976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 966.3065599949999 meters 0.016105476176927567 Centerline is valid? [True, True] Translation: X:-239.38, Y:-270.27, Z:-1.80 [[-5.41624097e-01 8.40602602e-01 5.53198623e-03 -2.39377095e+02] [ 8.40555379e-01 5.41652319e-01 -8.91178736e-03 -2.70274610e+02] [-1.04876848e-02 -1.76897996e-04 -9.99944987e-01 -1.79781613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 966.3365599949999 meters 0.015898507391142895 Centerline is valid? [True, True] Translation: X:-239.37, Y:-270.28, Z:-1.80 [[-6.04421526e-01 7.96640599e-01 6.19479136e-03 -2.39372637e+02] [ 7.96596043e-01 6.04453250e-01 -8.42688457e-03 -2.70275037e+02] [-1.04576601e-02 -1.58644142e-04 -9.99945305e-01 -1.79807395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 966.366559995 meters 0.015308805605661613 Centerline is valid? [True, True] Translation: X:-239.37, Y:-270.27, Z:-1.80 [[-6.63565389e-01 7.48090864e-01 6.40580837e-03 -2.39368421e+02] [ 7.48054099e-01 6.63596295e-01 -7.41772011e-03 -2.70274804e+02] [-9.79999935e-03 -1.30251120e-04 -9.99951971e-01 -1.79846744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 966.396559995 meters 0.014431047149484042 Centerline is valid? [True, True] Translation: X:-239.36, Y:-270.27, Z:-1.80 [[-7.17434283e-01 6.96590027e-01 7.09809413e-03 -2.39363985e+02] [ 6.96554630e-01 7.17469390e-01 -7.02301990e-03 -2.70273346e+02] [-9.98483089e-03 -9.43449228e-05 -9.99950146e-01 -1.79959982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 966.4265599949999 meters 0.0143983060361241 Centerline is valid? [True, True] Translation: X:-239.34, Y:-270.26, Z:-1.80 [[-7.63650773e-01 6.45584477e-01 7.62752879e-03 -2.39341487e+02] [ 6.45551286e-01 7.63688861e-01 -6.54679032e-03 -2.70257727e+02] [-1.00515650e-02 -7.55004716e-05 -9.99949479e-01 -1.79903277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 966.4565599949999 meters 0.01400256647882063 Centerline is valid? [True, True] Translation: X:-238.87, Y:-269.72, Z:-2.78 [[-7.10771569e-01 -7.03386686e-01 7.13777140e-03 -2.38866568e+02] [ 7.03352214e-01 -7.10807404e-01 -6.96406391e-03 -2.69722356e+02] [ 9.97201059e-03 7.05086916e-05 9.99950276e-01 -2.78292117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 966.486559995 meters 0.013828840224713477 Centerline is valid? [True, True] Translation: X:-238.88, Y:-269.75, Z:-2.78 [[-6.63533921e-01 -7.48117825e-01 6.51578730e-03 -2.38882548e+02] [ 7.48081935e-01 -6.63565912e-01 -7.32796340e-03 -2.69747284e+02] [ 9.80583439e-03 1.19904840e-05 9.99951922e-01 -2.78269950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 966.516559995 meters 0.013902808358750672 Centerline is valid? [True, True] Translation: X:-238.90, Y:-269.73, Z:-2.78 [[-6.65444123e-01 -7.46420962e-01 6.31395668e-03 -2.38899392e+02] [ 7.46387222e-01 -6.65474077e-01 -7.09705286e-03 -2.69725591e+02] [ 9.49916352e-03 -1.00355339e-05 9.99954882e-01 -2.78216935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 966.5465599949999 meters 0.013985022277782418 Centerline is valid? [True, True] Translation: X:-238.92, Y:-269.70, Z:-2.78 [[-6.67520381e-01 -7.44566351e-01 6.12282118e-03 -2.38916276e+02] [ 7.44534584e-01 -6.67548461e-01 -6.87788430e-03 -2.69703849e+02] [ 9.20832108e-03 -3.24758261e-05 9.99957602e-01 -2.78163046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 966.5765599949999 meters 0.0144630874068922 Centerline is valid? [True, True] Translation: X:-238.93, Y:-269.68, Z:-2.78 [[-6.71951238e-01 -7.40571538e-01 5.94397779e-03 -2.38932235e+02] [ 7.40541476e-01 -6.71977522e-01 -6.67326673e-03 -2.69680641e+02] [ 8.93625087e-03 -8.23477654e-05 9.99960068e-01 -2.78054540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 966.6065599949999 meters 0.015009276838338715 Centerline is valid? [True, True] Translation: X:-238.95, Y:-269.66, Z:-2.78 [[-6.74225119e-01 -7.38504785e-01 5.58314002e-03 -2.38948867e+02] [ 7.38478222e-01 -6.74248228e-01 -6.26448938e-03 -2.69658594e+02] [ 8.39077765e-03 -1.00648788e-04 9.99964792e-01 -2.78029072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 966.636559995 meters 0.015002942006918403 Centerline is valid? [True, True] Translation: X:-238.97, Y:-269.64, Z:-2.78 [[-6.76476769e-01 -7.36445428e-01 5.22621075e-03 -2.38967035e+02] [ 7.36422117e-01 -6.76496946e-01 -5.86071097e-03 -2.69637183e+02] [ 7.85160941e-03 -1.15937634e-04 9.99969169e-01 -2.77916670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 966.666559995 meters 0.01573863871150441 Centerline is valid? [True, True] Translation: X:-238.98, Y:-269.61, Z:-2.78 [[-6.80283840e-01 -7.32929039e-01 5.37785186e-03 -2.38983892e+02] [ 7.32904272e-01 -6.80305078e-01 -6.02734902e-03 -2.69614412e+02] [ 8.07619905e-03 -1.58857533e-04 9.99967375e-01 -2.77836924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 966.6965599949999 meters 0.016652688807636602 Centerline is valid? [True, True] Translation: X:-239.00, Y:-269.59, Z:-2.78 [[-6.81744772e-01 -7.31568173e-01 5.66349951e-03 -2.39000249e+02] [ 7.31540681e-01 -6.81768271e-01 -6.34483168e-03 -2.69593303e+02] [ 8.50287119e-03 -1.82475538e-04 9.99963833e-01 -2.77894738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 966.7265599949999 meters 0.017337212936173883 Centerline is valid? [True, True] Translation: X:-239.02, Y:-269.57, Z:-2.78 [[-6.83577645e-01 -7.29844678e-01 6.95339296e-03 -2.39018513e+02] [ 7.29803195e-01 -6.83612965e-01 -7.78537450e-03 -2.69572414e+02] [ 1.04355437e-02 -2.47299571e-04 9.99945518e-01 -2.77986565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 966.756559995 meters 0.01736827296233078 Centerline is valid? [True, True] Translation: X:-239.04, Y:-269.55, Z:-2.78 [[-6.84112682e-01 -7.29337571e-01 7.51971058e-03 -2.39037669e+02] [ 7.29289077e-01 -6.84153954e-01 -8.41483429e-03 -2.69552197e+02] [ 1.12818945e-02 -2.72652068e-04 9.99936320e-01 -2.78026901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 966.786559995 meters 0.016516031669861115 Centerline is valid? [True, True] Translation: X:-239.06, Y:-269.53, Z:-2.78 [[-6.84240288e-01 -7.29214300e-01 7.85712705e-03 -2.39058290e+02] [ 7.29161406e-01 -6.84285339e-01 -8.78745022e-03 -2.69532948e+02] [ 1.17844512e-02 -2.83613663e-04 9.99930521e-01 -2.78009954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 966.8165599949999 meters 0.016516031669861115 Centerline is valid? [True, True] Translation: X:-239.08, Y:-269.51, Z:-2.78 [[-6.84444877e-01 -7.29022247e-01 7.85959266e-03 -2.39076736e+02] [ 7.28969366e-01 -6.84489943e-01 -8.78524502e-03 -2.69512415e+02] [ 1.17844512e-02 -2.83613662e-04 9.99930521e-01 -2.78009934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 966.8465599949999 meters 0.016637940267644664 Centerline is valid? [True, True] Translation: X:-239.10, Y:-269.49, Z:-2.78 [[-6.84455369e-01 -7.29013817e-01 7.72677874e-03 -2.39095135e+02] [ 7.28962767e-01 -6.84498926e-01 -8.63168068e-03 -2.69493135e+02] [ 1.15815862e-02 -2.75466178e-04 9.99932893e-01 -2.78012850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 966.876559995 meters 0.016076859543410208 Centerline is valid? [True, True] Translation: X:-239.12, Y:-269.47, Z:-2.78 [[-6.83441356e-01 -7.29968062e-01 7.38524403e-03 -2.39116758e+02] [ 7.29921532e-01 -6.83481213e-01 -8.24552291e-03 -2.69474335e+02] [ 1.10666439e-02 -2.44682714e-04 9.99938733e-01 -2.77933821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 966.906559995 meters 0.015885060658710377 Centerline is valid? [True, True] Translation: X:-239.14, Y:-269.45, Z:-2.78 [[-6.82852597e-01 -7.30524137e-01 6.84223617e-03 -2.39137007e+02] [ 7.30484270e-01 -6.82886842e-01 -7.63499391e-03 -2.69454458e+02] [ 1.02500204e-02 -2.15429526e-04 9.99947444e-01 -2.77905459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 966.9365599949999 meters 0.015153315665871199 Centerline is valid? [True, True] Translation: X:-239.16, Y:-269.44, Z:-2.78 [[-6.80731139e-01 -7.32503932e-01 6.56551402e-03 -2.39158612e+02] [ 7.32467356e-01 -6.80762777e-01 -7.32213753e-03 -2.69436442e+02] [ 9.83305209e-03 -1.75382319e-04 9.99951639e-01 -2.77816741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 966.9665599949999 meters 0.01478070117859449 Centerline is valid? [True, True] Translation: X:-239.18, Y:-269.42, Z:-2.78 [[-6.79505444e-01 -7.33642066e-01 6.45533642e-03 -2.39179192e+02] [ 7.33606797e-01 -6.79536089e-01 -7.19527967e-03 -2.69417062e+02] [ 9.66539391e-03 -1.53553035e-04 9.99953277e-01 -2.77812550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 966.996559995 meters 0.014363207790393556 Centerline is valid? [True, True] Translation: X:-239.20, Y:-269.40, Z:-2.78 [[-6.78305213e-01 -7.34754109e-01 6.19975410e-03 -2.39199988e+02] [ 7.34721659e-01 -6.78333533e-01 -6.90657224e-03 -2.69398015e+02] [ 9.28013344e-03 -1.29670341e-04 9.99956930e-01 -2.77785515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 967.026559995 meters 0.01348477934141813 Centerline is valid? [True, True] Translation: X:-239.22, Y:-269.38, Z:-2.78 [[-6.75118214e-01 -7.37682246e-01 6.34831407e-03 -2.39223399e+02] [ 7.37648390e-01 -6.75148055e-01 -7.06806649e-03 -2.69380795e+02] [ 9.50003906e-03 -8.89567702e-05 9.99954870e-01 -2.77723038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 967.0565599949999 meters 0.01313371724257713 Centerline is valid? [True, True] Translation: X:-239.24, Y:-269.36, Z:-2.78 [[-6.73338658e-01 -7.39310577e-01 5.90955206e-03 -2.39244393e+02] [ 7.39281334e-01 -6.73364588e-01 -6.57581220e-03 -2.69362109e+02] [ 8.84085060e-03 -5.89270336e-05 9.99960917e-01 -2.77735716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 967.0865599949999 meters 0.012907853032525018 Centerline is valid? [True, True] Translation: X:-239.27, Y:-269.35, Z:-2.78 [[-6.68796690e-01 -7.43419909e-01 6.15032250e-03 -2.39267076e+02] [ 7.43388433e-01 -6.68824969e-01 -6.84087907e-03 -2.69346201e+02] [ 9.19913495e-03 -3.07867153e-06 9.99957687e-01 -2.77791527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 967.116559995 meters 0.012966484627848059 Centerline is valid? [True, True] Translation: X:-239.29, Y:-269.33, Z:-2.78 [[-6.66736521e-01 -7.45266962e-01 6.29025898e-03 -2.39287545e+02] [ 7.45234163e-01 -6.66766192e-01 -6.99191263e-03 -2.69328627e+02] [ 9.40497351e-03 2.59523889e-05 9.99955772e-01 -2.77842901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 967.146559995 meters 0.013474295294296796 Centerline is valid? [True, True] Translation: X:-239.31, Y:-269.31, Z:-2.78 [[-6.62135105e-01 -7.49351554e-01 7.02507375e-03 -2.39310720e+02] [ 7.49310919e-01 -6.62172364e-01 -7.80427355e-03 -2.69312181e+02] [ 1.04999542e-02 9.64809819e-05 9.99944869e-01 -2.77896927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 967.1765599949999 meters 0.013792568077104557 Centerline is valid? [True, True] Translation: X:-239.33, Y:-269.29, Z:-2.78 [[-6.60203285e-01 -7.51050907e-01 7.35927747e-03 -2.39331878e+02] [ 7.51006470e-01 -6.60244287e-01 -8.17090135e-03 -2.69293091e+02] [ 1.09956838e-02 1.32409085e-04 9.99939537e-01 -2.77954593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 967.2065599949999 meters 0.014176816814402705 Centerline is valid? [True, True] Translation: X:-239.35, Y:-269.27, Z:-2.78 [[-6.58760847e-01 -7.52313353e-01 7.66586918e-03 -2.39352809e+02] [ 7.52265277e-01 -6.58805429e-01 -8.50650409e-03 -2.69273589e+02] [ 1.14498728e-02 1.63015361e-04 9.99934435e-01 -2.77991233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 967.236559995 meters 0.0145362267033119 Centerline is valid? [True, True] Translation: X:-239.37, Y:-269.25, Z:-2.78 [[-6.57692349e-01 -7.53245758e-01 7.84870369e-03 -2.39372492e+02] [ 7.53195486e-01 -6.57739153e-01 -8.70446848e-03 -2.69253911e+02] [ 1.17190037e-02 1.86745869e-04 9.99931313e-01 -2.78023098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 967.266559995 meters 0.015094873855463759 Centerline is valid? [True, True] Translation: X:-239.39, Y:-269.23, Z:-2.78 [[-6.56633339e-01 -7.54167027e-01 8.04691811e-03 -2.39392030e+02] [ 7.54114316e-01 -6.56682610e-01 -8.91897750e-03 -2.69234975e+02] [ 1.20106699e-02 2.11798168e-04 9.99927847e-01 -2.78016057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 967.2965599949999 meters 0.01483004313286757 Centerline is valid? [True, True] Translation: X:-239.41, Y:-269.21, Z:-2.78 [[-6.56724206e-01 -7.54091232e-01 7.72861226e-03 -2.39410560e+02] [ 7.54042659e-01 -6.56769649e-01 -8.56131857e-03 -2.69213558e+02] [ 1.15319332e-02 2.05278199e-04 9.99933484e-01 -2.77908644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 967.3265599949999 meters 0.014962405453429606 Centerline is valid? [True, True] Translation: X:-239.43, Y:-269.19, Z:-2.78 [[-6.57014024e-01 -7.53839983e-01 7.60610919e-03 -2.39428880e+02] [ 7.53792985e-01 -6.57058019e-01 -8.41999063e-03 -2.69194120e+02] [ 1.13449806e-02 2.01379829e-04 9.99935624e-01 -2.77936263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 967.3565599949999 meters 0.01480494149256322 Centerline is valid? [True, True] Translation: X:-239.45, Y:-269.17, Z:-2.78 [[-6.57378791e-01 -7.53520621e-01 7.73307079e-03 -2.39447673e+02] [ 7.53472074e-01 -6.57424242e-01 -8.55571030e-03 -2.69173255e+02] [ 1.15308123e-02 2.02310402e-04 9.99933498e-01 -2.77931261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 967.386559995 meters 0.014834681682108521 Centerline is valid? [True, True] Translation: X:-239.47, Y:-269.15, Z:-2.78 [[-6.57728699e-01 -7.53212354e-01 8.00680346e-03 -2.39465805e+02] [ 7.53160354e-01 -6.57777399e-01 -8.85296065e-03 -2.69153005e+02] [ 1.19348537e-02 2.07560639e-04 9.99928756e-01 -2.77958238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 967.416559995 meters 0.014968019977047043 Centerline is valid? [True, True] Translation: X:-239.48, Y:-269.13, Z:-2.78 [[-6.58271618e-01 -7.52732127e-01 8.53362198e-03 -2.39483766e+02] [ 7.52673098e-01 -6.58326893e-01 -9.42920349e-03 -2.69133337e+02] [ 1.27155772e-02 2.16050659e-04 9.99919131e-01 -2.78046759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 967.4465599949999 meters 0.015368061569864542 Centerline is valid? [True, True] Translation: X:-239.50, Y:-269.11, Z:-2.78 [[-6.59070372e-01 -7.52021012e-01 9.52061177e-03 -2.39501094e+02] [ 7.51947561e-01 -6.59139093e-01 -1.05129093e-02 -2.69113060e+02] [ 1.41813361e-02 2.30253762e-04 9.99899413e-01 -2.78235666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 967.4765599949999 meters 0.01521359102748693 Centerline is valid? [True, True] Translation: X:-239.52, Y:-269.09, Z:-2.78 [[-6.59761912e-01 -7.51412297e-01 9.68399176e-03 -2.39518333e+02] [ 7.51336331e-01 -6.59832941e-01 -1.06868532e-02 -2.69091984e+02] [ 1.44200497e-02 2.25156118e-04 9.99896000e-01 -2.78243716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 967.506559995 meters 0.014914692376572435 Centerline is valid? [True, True] Translation: X:-239.53, Y:-269.07, Z:-2.78 [[-6.61270356e-01 -7.50084820e-01 9.70981474e-03 -2.39534277e+02] [ 7.50008397e-01 -6.61341609e-01 -1.07089111e-02 -2.69069245e+02] [ 1.44540961e-02 2.00957148e-04 9.99895514e-01 -2.78201836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 967.536559995 meters 0.014467447509761767 Centerline is valid? [True, True] Translation: X:-239.55, Y:-269.05, Z:-2.78 [[-6.62077955e-01 -7.49374671e-01 9.50708063e-03 -2.39551186e+02] [ 7.49301425e-01 -6.62146184e-01 -1.04788503e-02 -2.69047166e+02] [ 1.41476621e-02 1.85853302e-04 9.99899900e-01 -2.78079073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 967.5665599949999 meters 0.014047419100458317 Centerline is valid? [True, True] Translation: X:-239.57, Y:-269.02, Z:-2.78 [[-6.62928461e-01 -7.48624966e-01 9.30139373e-03 -2.39568481e+02] [ 7.48554862e-01 -6.62993688e-01 -1.02463658e-02 -2.69024937e+02] [ 1.38374506e-02 1.69995978e-04 9.99904244e-01 -2.77988030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 967.5965599949999 meters 0.014569356585778171 Centerline is valid? [True, True] Translation: X:-239.59, Y:-269.01, Z:-2.78 [[-6.63799146e-01 -7.47854608e-01 9.17494410e-03 -2.39586469e+02] [ 7.47786415e-01 -6.63862532e-01 -1.01003495e-02 -2.69005471e+02] [ 1.36444946e-02 1.56295155e-04 9.99906897e-01 -2.78155038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 967.626559995 meters 0.013717643627627856 Centerline is valid? [True, True] Translation: X:-239.60, Y:-268.98, Z:-2.78 [[-6.64863190e-01 -7.46910852e-01 9.00654545e-03 -2.39601495e+02] [ 7.46845127e-01 -6.64924177e-01 -9.90935425e-03 -2.68981558e+02] [ 1.33900740e-02 1.38129700e-04 9.99910340e-01 -2.77932532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 967.656559995 meters 0.013564225895969177 Centerline is valid? [True, True] Translation: X:-239.62, Y:-268.96, Z:-2.78 [[-6.65484305e-01 -7.46356436e-01 9.09450276e-03 -2.39619053e+02] [ 7.46289447e-01 -6.65546432e-01 -1.00004596e-02 -2.68959430e+02] [ 1.35167213e-02 1.31982523e-04 9.99908636e-01 -2.77914314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 967.6865599949999 meters 0.013674008919133989 Centerline is valid? [True, True] Translation: X:-239.64, Y:-268.94, Z:-2.78 [[-6.66084898e-01 -7.45819359e-01 9.18654724e-03 -2.39635262e+02] [ 7.45751047e-01 -6.66148232e-01 -1.00949435e-02 -2.68939315e+02] [ 1.36486065e-02 1.26787810e-04 9.99906846e-01 -2.77940199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 967.7165599949999 meters 0.013584500002230939 Centerline is valid? [True, True] Translation: X:-239.65, Y:-268.92, Z:-2.78 [[-6.67254726e-01 -7.44773729e-01 9.12265957e-03 -2.39650640e+02] [ 7.44706352e-01 -6.67317076e-01 -1.00184665e-02 -2.68916590e+02] [ 1.35491972e-02 1.08833396e-04 9.99908200e-01 -2.77946005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 967.746559995 meters 0.013526212627295925 Centerline is valid? [True, True] Translation: X:-239.67, Y:-268.90, Z:-2.78 [[-6.68048335e-01 -7.44061330e-01 9.17384277e-03 -2.39667469e+02] [ 7.43993214e-01 -6.68111313e-01 -1.00683143e-02 -2.68895331e+02] [ 1.36205915e-02 9.91561841e-05 9.99907231e-01 -2.77926928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 967.776559995 meters 0.013415407189918224 Centerline is valid? [True, True] Translation: X:-239.68, Y:-268.87, Z:-2.78 [[-6.69259958e-01 -7.42971625e-01 9.18005015e-03 -2.39682884e+02] [ 7.42903405e-01 -6.69322910e-01 -1.00684602e-02 -2.68873764e+02] [ 1.36249981e-02 8.14732550e-05 9.99907172e-01 -2.77915539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 967.8065599949999 meters 0.013227796816544506 Centerline is valid? [True, True] Translation: X:-239.70, Y:-268.85, Z:-2.78 [[-6.69713627e-01 -7.42563185e-01 9.14188093e-03 -2.39700148e+02] [ 7.42495569e-01 -6.69776015e-01 -1.00209284e-02 -2.68851565e+02] [ 1.35641851e-02 7.66537698e-05 9.99907999e-01 -2.77792976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 967.8365599949999 meters 0.013234746166072496 Centerline is valid? [True, True] Translation: X:-239.72, Y:-268.83, Z:-2.78 [[-6.70077417e-01 -7.42237972e-01 8.89091866e-03 -2.39717257e+02] [ 7.42174070e-01 -6.70136395e-01 -9.73968055e-03 -2.68830436e+02] [ 1.31872889e-02 7.22693041e-05 9.99913041e-01 -2.77746036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 967.866559995 meters 0.013205576318896699 Centerline is valid? [True, True] Translation: X:-239.74, Y:-268.81, Z:-2.78 [[-6.70324727e-01 -7.42017009e-01 8.69016893e-03 -2.39735251e+02] [ 7.41956012e-01 -6.70381051e-01 -9.51438703e-03 -2.68808879e+02] [ 1.28855616e-02 6.99942004e-05 9.99916975e-01 -2.77694805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 967.896559995 meters 0.013410896012407084 Centerline is valid? [True, True] Translation: X:-239.75, Y:-268.79, Z:-2.78 [[-6.70045283e-01 -7.42274540e-01 8.23566519e-03 -2.39752345e+02] [ 7.42219829e-01 -6.70095891e-01 -9.01235459e-03 -2.68788734e+02] [ 1.22083268e-02 7.39883224e-05 9.99925473e-01 -2.77738350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 967.9265599949999 meters 0.013528249658484844 Centerline is valid? [True, True] Translation: X:-239.77, Y:-268.77, Z:-2.78 [[-6.69696271e-01 -7.42593314e-01 7.87871535e-03 -2.39770622e+02] [ 7.42543327e-01 -6.69742610e-01 -8.61654540e-03 -2.68768647e+02] [ 1.16753004e-02 7.98191871e-05 9.99931838e-01 -2.77721881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 967.9565599949999 meters 0.013769435923408766 Centerline is valid? [True, True] Translation: X:-239.79, Y:-268.75, Z:-2.78 [[-6.67979437e-01 -7.44139790e-01 7.71004471e-03 -2.39790127e+02] [ 7.44092082e-01 -6.68023922e-01 -8.42689113e-03 -2.68749801e+02] [ 1.14212793e-02 1.07993233e-04 9.99934769e-01 -2.77671611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 967.986559995 meters 0.013908360966541836 Centerline is valid? [True, True] Translation: X:-239.81, Y:-268.73, Z:-2.78 [[-6.66997608e-01 -7.45021377e-01 7.57231264e-03 -2.39809893e+02] [ 7.44975473e-01 -6.67040578e-01 -8.27116440e-03 -2.68730315e+02] [ 1.12132341e-02 1.24340320e-04 9.99937122e-01 -2.77676575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 968.016559995 meters 0.014358414942924402 Centerline is valid? [True, True] Translation: X:-239.83, Y:-268.71, Z:-2.78 [[-6.64959524e-01 -7.46834225e-01 8.21419842e-03 -2.39830438e+02] [ 7.46780408e-01 -6.65010234e-01 -8.96722470e-03 -2.68710736e+02] [ 1.21595563e-02 1.71360984e-04 9.99926055e-01 -2.77769268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 968.0465599949999 meters 0.014947164533906921 Centerline is valid? [True, True] Translation: X:-239.85, Y:-268.69, Z:-2.78 [[-6.64349759e-01 -7.47372346e-01 8.60087906e-03 -2.39850195e+02] [ 7.47313458e-01 -6.64405403e-01 -9.38377095e-03 -2.68691554e+02] [ 1.27276414e-02 1.93446704e-04 9.99918982e-01 -2.77873331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 968.0765599949999 meters 0.01471518468940587 Centerline is valid? [True, True] Translation: X:-239.87, Y:-268.67, Z:-2.78 [[-6.63829609e-01 -7.47831924e-01 8.81271133e-03 -2.39868874e+02] [ 7.47770211e-01 -6.63888070e-01 -9.60945933e-03 -2.68671139e+02] [ 1.30369144e-02 2.10839388e-04 9.99914994e-01 -2.77801078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 968.1065599949999 meters 0.015031873863764564 Centerline is valid? [True, True] Translation: X:-239.89, Y:-268.65, Z:-2.78 [[-6.63304032e-01 -7.48298829e-01 8.75352594e-03 -2.39888113e+02] [ 7.48238065e-01 -6.63361752e-01 -9.53857593e-03 -2.68652853e+02] [ 1.29444595e-02 2.22745436e-04 9.99916192e-01 -2.77825937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 968.136559995 meters 0.015124999042463434 Centerline is valid? [True, True] Translation: X:-239.91, Y:-268.63, Z:-2.78 [[-6.63456207e-01 -7.48166041e-01 8.56954806e-03 -2.39907442e+02] [ 7.48107867e-01 -6.63511513e-01 -9.33226955e-03 -2.68633432e+02] [ 1.26680810e-02 2.19394162e-04 9.99919733e-01 -2.77838974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 968.166559995 meters 0.01489429972290344 Centerline is valid? [True, True] Translation: X:-239.93, Y:-268.61, Z:-2.78 [[-6.63562971e-01 -7.48072687e-01 8.45212292e-03 -2.39926222e+02] [ 7.48016162e-01 -6.63616763e-01 -9.19856067e-03 -2.68613695e+02] [ 1.24901625e-02 2.18500301e-04 9.99921971e-01 -2.77756501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 968.1965599949999 meters 0.014983763056854116 Centerline is valid? [True, True] Translation: X:-239.95, Y:-268.60, Z:-2.78 [[-6.63793652e-01 -7.47875446e-01 7.76567141e-03 -2.39945295e+02] [ 7.47827764e-01 -6.63839045e-01 -8.44734938e-03 -2.68595998e+02] [ 1.14727211e-02 2.00087791e-04 9.99934166e-01 -2.77697034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 968.2265599949999 meters 0.014819025556365785 Centerline is valid? [True, True] Translation: X:-239.96, Y:-268.58, Z:-2.78 [[-6.64263795e-01 -7.47463032e-01 7.25441705e-03 -2.39963771e+02] [ 7.47421450e-01 -6.64303382e-01 -7.88626931e-03 -2.68576269e+02] [ 1.07138286e-02 1.83543728e-04 9.99942589e-01 -2.77644584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 968.256559995 meters 0.014711343091232218 Centerline is valid? [True, True] Translation: X:-239.98, Y:-268.56, Z:-2.78 [[-6.64906041e-01 -7.46893844e-01 7.03865635e-03 -2.39982014e+02] [ 7.46854717e-01 -6.64943273e-01 -7.64694367e-03 -2.68556536e+02] [ 1.03917623e-02 1.72354662e-04 9.99945989e-01 -2.77618467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 968.286559995 meters 0.014414052047113934 Centerline is valid? [True, True] Translation: X:-240.00, Y:-268.54, Z:-2.78 [[-6.66322915e-01 -7.45630905e-01 6.95177351e-03 -2.39999264e+02] [ 7.45592720e-01 -6.66359160e-01 -7.54761686e-03 -2.68536560e+02] [ 1.02601143e-02 1.54041652e-04 9.99947352e-01 -2.77632100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 968.3165599949999 meters 0.014088696269826092 Centerline is valid? [True, True] Translation: X:-240.02, Y:-268.52, Z:-2.78 [[-6.67223339e-01 -7.44825966e-01 6.87723079e-03 -2.40016786e+02] [ 7.44788600e-01 -6.67258765e-01 -7.46203201e-03 -2.68516164e+02] [ 1.01468077e-02 1.43241182e-04 9.99948510e-01 -2.77646922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 968.3465599949999 meters 0.014020758916127292 Centerline is valid? [True, True] Translation: X:-240.03, Y:-268.50, Z:-2.78 [[-6.68252331e-01 -7.43901168e-01 7.06221587e-03 -2.40033877e+02] [ 7.43861765e-01 -6.68289633e-01 -7.65774929e-03 -2.68496809e+02] [ 1.04162143e-02 1.36003547e-04 9.99945741e-01 -2.77710244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 968.376559995 meters 0.013824086501084618 Centerline is valid? [True, True] Translation: X:-240.05, Y:-268.48, Z:-2.78 [[-6.69822046e-01 -7.42482208e-01 7.65490945e-03 -2.40051192e+02] [ 7.42435881e-01 -6.69865774e-01 -8.29505792e-03 -2.68476708e+02] [ 1.12866948e-02 1.27066769e-04 9.99936295e-01 -2.77837499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 968.406559995 meters 0.013651267907653067 Centerline is valid? [True, True] Translation: X:-240.07, Y:-268.46, Z:-2.78 [[-6.70586400e-01 -7.41788914e-01 7.94274648e-03 -2.40069502e+02] [ 7.41739050e-01 -6.70633426e-01 -8.60174035e-03 -2.68456822e+02] [ 1.17073469e-02 1.23235130e-04 9.99931459e-01 -2.77894419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 968.4365599949999 meters 0.013631568058630038 Centerline is valid? [True, True] Translation: X:-240.09, Y:-268.44, Z:-2.78 [[-6.70963576e-01 -7.41442928e-01 8.38232254e-03 -2.40088422e+02] [ 7.41387433e-01 -6.71015922e-01 -9.07229342e-03 -2.68436653e+02] [ 1.23512597e-02 1.27370148e-04 9.99923712e-01 -2.77939964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 968.4665599949999 meters 0.01379261376608538 Centerline is valid? [True, True] Translation: X:-240.11, Y:-268.42, Z:-2.78 [[-6.70793512e-01 -7.41595164e-01 8.52508874e-03 -2.40106973e+02] [ 7.41537848e-01 -6.70847668e-01 -9.22096094e-03 -2.68417931e+02] [ 1.25572559e-02 1.36315187e-04 9.99921145e-01 -2.77977761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 968.496559995 meters 0.01385229859767854 Centerline is valid? [True, True] Translation: X:-240.13, Y:-268.40, Z:-2.78 [[-6.70450301e-01 -7.41902580e-01 8.77250715e-03 -2.40125532e+02] [ 7.41841994e-01 -6.70507673e-01 -9.48243120e-03 -2.68398644e+02] [ 1.29170735e-02 1.50315347e-04 9.99916560e-01 -2.77921822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 968.526559995 meters 0.014203193605420255 Centerline is valid? [True, True] Translation: X:-240.14, Y:-268.38, Z:-2.78 [[-6.69768639e-01 -7.42515069e-01 9.01904014e-03 -2.40144961e+02] [ 7.42451160e-01 -6.69829339e-01 -9.74330921e-03 -2.68380087e+02] [ 1.32757716e-02 1.70433867e-04 9.99911859e-01 -2.77989658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 968.5565599949999 meters 0.014977622155054944 Centerline is valid? [True, True] Translation: X:-240.17, Y:-268.36, Z:-2.78 [[-6.68179521e-01 -7.43939617e-01 9.48546625e-03 -2.40165863e+02] [ 7.43869151e-01 -6.68246811e-01 -1.02413906e-02 -2.68362230e+02] [ 1.39576088e-02 2.12858242e-04 9.99902565e-01 -2.78098078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 968.5865599949999 meters 0.015426994823745726 Centerline is valid? [True, True] Translation: X:-240.19, Y:-268.34, Z:-2.78 [[-6.67271496e-01 -7.44751962e-01 9.65738178e-03 -2.40185719e+02] [ 7.44679081e-01 -6.67341336e-01 -1.04215072e-02 -2.68342531e+02] [ 1.42062080e-02 2.37675496e-04 9.99899059e-01 -2.78127063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 968.616559995 meters 0.01512311359366158 Centerline is valid? [True, True] Translation: X:-240.20, Y:-268.32, Z:-2.78 [[-6.66381409e-01 -7.45549550e-01 9.57527742e-03 -2.40204628e+02] [ 7.45478065e-01 -6.66450150e-01 -1.03272204e-02 -2.68321247e+02] [ 1.40808996e-02 2.56291594e-04 9.99900827e-01 -2.77982912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 968.646559995 meters 0.015198450820263009 Centerline is valid? [True, True] Translation: X:-240.22, Y:-268.30, Z:-2.78 [[-6.66397249e-01 -7.45539139e-01 9.27892644e-03 -2.40222749e+02] [ 7.45472094e-01 -6.66461798e-01 -1.00014247e-02 -2.68301548e+02] [ 1.36405036e-02 2.52258818e-04 9.99906932e-01 -2.77951164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 968.6765599949999 meters 0.015071202024533567 Centerline is valid? [True, True] Translation: X:-240.24, Y:-268.28, Z:-2.78 [[-6.66468819e-01 -7.45476843e-01 9.14276824e-03 -2.40240406e+02] [ 7.45411827e-01 -6.66531480e-01 -9.84855297e-03 -2.68281270e+02] [ 1.34358110e-02 2.51374110e-04 9.99909704e-01 -2.77880496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 968.7065599949999 meters 0.016443137582509943 Centerline is valid? [True, True] Translation: X:-240.26, Y:-268.26, Z:-2.78 [[-6.66806591e-01 -7.45175988e-01 9.03976641e-03 -2.40259713e+02] [ 7.45112464e-01 -6.66867818e-01 -9.73293045e-03 -2.68263673e+02] [ 1.32810754e-02 2.45660442e-04 9.99911773e-01 -2.78055651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 968.736559995 meters 0.016443137582509943 Centerline is valid? [True, True] Translation: X:-240.28, Y:-268.24, Z:-2.78 [[-6.67021050e-01 -7.44983993e-01 9.04256748e-03 -2.40278026e+02] [ 7.44920487e-01 -6.67082296e-01 -9.73032812e-03 -2.68244161e+02] [ 1.32810754e-02 2.45660083e-04 9.99911773e-01 -2.78055632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 968.766559995 meters 0.014829835713650123 Centerline is valid? [True, True] Translation: X:-240.29, Y:-268.22, Z:-2.78 [[-6.67708613e-01 -7.44376160e-01 8.32715795e-03 -2.40293961e+02] [ 7.44322325e-01 -6.67760500e-01 -8.95495274e-03 -2.68222091e+02] [ 1.22264005e-02 2.18790491e-04 9.99925231e-01 -2.77770793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 968.7965599949999 meters 0.014840708429974304 Centerline is valid? [True, True] Translation: X:-240.31, Y:-268.20, Z:-2.78 [[-6.68021139e-01 -7.44097547e-01 8.16074447e-03 -2.40312367e+02] [ 7.44045887e-01 -6.68070951e-01 -8.77057132e-03 -2.68202290e+02] [ 1.19781169e-02 2.13041310e-04 9.99928237e-01 -2.77764843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 968.8265599949999 meters 0.01476785215046381 Centerline is valid? [True, True] Translation: X:-240.33, Y:-268.18, Z:-2.78 [[-6.67905638e-01 -7.44203900e-01 7.91287625e-03 -2.40330702e+02] [ 7.44155400e-01 -6.67952476e-01 -8.49887571e-03 -2.68182321e+02] [ 1.16103217e-02 2.11962583e-04 9.99932576e-01 -2.77730487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 968.8565599949999 meters 0.015527692474296329 Centerline is valid? [True, True] Translation: X:-240.35, Y:-268.16, Z:-2.78 [[-6.68060994e-01 -7.44067312e-01 7.63835514e-03 -2.40350110e+02] [ 7.44022169e-01 -6.68104628e-01 -8.19866251e-03 -2.68163831e+02] [ 1.12035772e-02 2.05898939e-04 9.99937217e-01 -2.77843660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 968.886559995 meters 0.01526645973829416 Centerline is valid? [True, True] Translation: X:-240.37, Y:-268.14, Z:-2.78 [[-6.68187126e-01 -7.43951679e-01 7.86533032e-03 -2.40368857e+02] [ 7.43903866e-01 -6.68233382e-01 -8.43715784e-03 -2.68143558e+02] [ 1.15327140e-02 2.13449381e-04 9.99933473e-01 -2.77821469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 968.916559995 meters 0.014986696190935421 Centerline is valid? [True, True] Translation: X:-240.39, Y:-268.12, Z:-2.78 [[-6.68300743e-01 -7.43847733e-01 8.04162881e-03 -2.40387549e+02] [ 7.43797807e-01 -6.68349087e-01 -8.62091718e-03 -2.68123631e+02] [ 1.17872650e-02 2.19980515e-04 9.99930504e-01 -2.77821062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 968.9465599949999 meters 0.015765874086327496 Centerline is valid? [True, True] Translation: X:-240.41, Y:-268.11, Z:-2.78 [[-6.68150825e-01 -7.43982577e-01 8.02500898e-03 -2.40407014e+02] [ 7.43932933e-01 -6.68198978e-01 -8.59750571e-03 -2.68105541e+02] [ 1.17586973e-02 2.25637931e-04 9.99930839e-01 -2.77912019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 968.9765599949999 meters 0.01648948653417449 Centerline is valid? [True, True] Translation: X:-240.43, Y:-268.09, Z:-2.78 [[-6.67906319e-01 -7.44206125e-01 7.64158486e-03 -2.40426471e+02] [ 7.44161184e-01 -6.67949994e-01 -8.18155347e-03 -2.68087919e+02] [ 1.11929588e-02 2.22059573e-04 9.99937332e-01 -2.77976511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 969.006559995 meters 0.01676440082264891 Centerline is valid? [True, True] Translation: X:-240.45, Y:-268.07, Z:-2.78 [[-6.67232647e-01 -7.44815987e-01 7.05263753e-03 -2.40445576e+02] [ 7.44777787e-01 -6.67269884e-01 -7.54652717e-03 -2.68068885e+02] [ 1.03267867e-02 2.17358469e-04 9.99946654e-01 -2.77910140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 969.036559995 meters 0.015488926525561482 Centerline is valid? [True, True] Translation: X:-240.46, Y:-268.05, Z:-2.78 [[-6.67037386e-01 -7.44993293e-01 6.79117416e-03 -2.40462599e+02] [ 7.44957927e-01 -6.67071921e-01 -7.26216296e-03 -2.68047186e+02] [ 9.94046429e-03 2.15004830e-04 9.99950569e-01 -2.77748299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 969.0665599949999 meters 0.016067392042263845 Centerline is valid? [True, True] Translation: X:-240.48, Y:-268.03, Z:-2.78 [[-6.67045450e-01 -7.44988082e-01 6.56701179e-03 -2.40481677e+02] [ 7.44955057e-01 -6.67077741e-01 -7.01780370e-03 -2.68028779e+02] [ 9.60888751e-03 2.10934623e-04 9.99953811e-01 -2.77793392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 969.0965599949999 meters 0.015864612297811734 Centerline is valid? [True, True] Translation: X:-240.50, Y:-268.01, Z:-2.78 [[-6.66509191e-01 -7.45471185e-01 6.18143006e-03 -2.40500488e+02] [ 7.45441980e-01 -6.66537822e-01 -6.60201577e-03 -2.68007286e+02] [ 9.04176945e-03 2.07593266e-04 9.99959101e-01 -2.77772328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 969.126559995 meters 0.016101524766666545 Centerline is valid? [True, True] Translation: X:-240.52, Y:-267.99, Z:-2.78 [[-6.66585942e-01 -7.45401030e-01 6.36292527e-03 -2.40518384e+02] [ 7.45370123e-01 -6.66616275e-01 -6.79132386e-03 -2.67988039e+02] [ 9.30388934e-03 2.15733376e-04 9.99956695e-01 -2.77809051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 969.156559995 meters 0.016302170157560813 Centerline is valid? [True, True] Translation: X:-240.54, Y:-267.97, Z:-2.78 [[-6.67046732e-01 -7.44990436e-01 6.15700187e-03 -2.40536366e+02] [ 7.44961518e-01 -6.67075114e-01 -6.56720073e-03 -2.67968449e+02] [ 8.99968446e-03 2.06099677e-04 9.99959481e-01 -2.77857330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 969.1865599949999 meters 0.016278651260035526 Centerline is valid? [True, True] Translation: X:-240.55, Y:-267.95, Z:-2.78 [[-6.67500018e-01 -7.44584891e-01 6.08816617e-03 -2.40554612e+02] [ 7.44556636e-01 -6.67527752e-01 -6.48974701e-03 -2.67948549e+02] [ 8.89618745e-03 2.01078276e-04 9.99960408e-01 -2.77877582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 969.2165599949999 meters 0.016148830827236584 Centerline is valid? [True, True] Translation: X:-240.57, Y:-267.93, Z:-2.78 [[-6.68027488e-01 -7.44111156e-01 6.15333340e-03 -2.40572766e+02] [ 7.44082308e-01 -6.68055798e-01 -6.55513507e-03 -2.67928854e+02] [ 8.98851918e-03 1.99576102e-04 9.99959583e-01 -2.77894085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 969.246559995 meters 0.016358611395018482 Centerline is valid? [True, True] Translation: X:-240.59, Y:-267.91, Z:-2.78 [[-6.69095029e-01 -7.43153189e-01 5.93117952e-03 -2.40591057e+02] [ 7.43126386e-01 -6.69121292e-01 -6.31436159e-03 -2.67910348e+02] [ 8.66121646e-03 1.82708042e-04 9.99962474e-01 -2.77955872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 969.276559995 meters 0.016112604232669317 Centerline is valid? [True, True] Translation: X:-240.61, Y:-267.89, Z:-2.78 [[-6.69554395e-01 -7.42741265e-01 5.68559967e-03 -2.40609616e+02] [ 7.42716651e-01 -6.69578512e-01 -6.04917709e-03 -2.67890341e+02] [ 8.29992881e-03 1.72536437e-04 9.99965540e-01 -2.77937464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 969.3065599949999 meters 0.016023001663632328 Centerline is valid? [True, True] Translation: X:-240.63, Y:-267.87, Z:-2.78 [[-6.70524119e-01 -7.41864972e-01 5.81117282e-03 -2.40627706e+02] [ 7.41839260e-01 -6.70549279e-01 -6.17880013e-03 -2.67871081e+02] [ 8.48051313e-03 1.67921627e-04 9.99964026e-01 -2.77977966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 969.3365599949999 meters 0.015122283681685132 Centerline is valid? [True, True] Translation: X:-240.65, Y:-267.85, Z:-2.78 [[-6.71181356e-01 -7.41269318e-01 5.94858723e-03 -2.40645146e+02] [ 7.41242386e-01 -6.71207696e-01 -6.32093320e-03 -2.67850072e+02] [ 8.67825137e-03 1.66852474e-04 9.99962330e-01 -2.77936312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 969.366559995 meters 0.01477900645902508 Centerline is valid? [True, True] Translation: X:-240.66, Y:-267.83, Z:-2.78 [[-6.72011919e-01 -7.40515394e-01 6.07719601e-03 -2.40663575e+02] [ 7.40487286e-01 -6.72039378e-01 -6.45394817e-03 -2.67829001e+02] [ 8.86336299e-03 1.62956290e-04 9.99960707e-01 -2.77925177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 969.396559995 meters 0.015065731664440259 Centerline is valid? [True, True] Translation: X:-240.68, Y:-267.81, Z:-2.78 [[-6.73304243e-01 -7.39342015e-01 5.89747969e-03 -2.40681962e+02] [ 7.39315537e-01 -6.73330055e-01 -6.25892725e-03 -2.67810171e+02] [ 8.59843821e-03 1.45936089e-04 9.99963022e-01 -2.77984734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 969.4265599949999 meters 0.014545114193335778 Centerline is valid? [True, True] Translation: X:-240.70, Y:-267.79, Z:-2.78 [[-6.74136913e-01 -7.38585761e-01 5.52236978e-03 -2.40699397e+02] [ 7.38562547e-01 -6.74159519e-01 -5.85718587e-03 -2.67789752e+02] [ 8.04899224e-03 1.30070289e-04 9.99967598e-01 -2.77941863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 969.4565599949999 meters 0.014132318984885383 Centerline is valid? [True, True] Translation: X:-240.72, Y:-267.77, Z:-2.78 [[-6.75176708e-01 -7.37634387e-01 5.65023426e-03 -2.40717400e+02] [ 7.37610083e-01 -6.75200338e-01 -5.98906241e-03 -2.67769492e+02] [ 8.23277846e-03 1.23994326e-04 9.99966103e-01 -2.77947579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 969.486559995 meters 0.013764066126755539 Centerline is valid? [True, True] Translation: X:-240.73, Y:-267.75, Z:-2.78 [[-6.77640040e-01 -7.35375697e-01 5.15371809e-03 -2.40734759e+02] [ 7.35355434e-01 -6.77659632e-01 -5.45980958e-03 -2.67748522e+02] [ 7.50747798e-03 9.00290227e-05 9.99971815e-01 -2.77959732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 969.516559995 meters 0.013073305483518786 Centerline is valid? [True, True] Translation: X:-240.75, Y:-267.73, Z:-2.78 [[-6.79081840e-01 -7.34043480e-01 5.29380099e-03 -2.40752382e+02] [ 7.34022084e-01 -6.79102469e-01 -5.60505054e-03 -2.67726548e+02] [ 7.70938413e-03 7.94787987e-05 9.99970279e-01 -2.77898539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 969.5465599949999 meters 0.012712765903261399 Centerline is valid? [True, True] Translation: X:-240.77, Y:-267.70, Z:-2.78 [[-6.82184635e-01 -7.31160620e-01 5.31708145e-03 -2.40769025e+02] [ 7.31138972e-01 -6.82205354e-01 -5.62655778e-03 -2.67704321e+02] [ 7.74125890e-03 4.91742000e-05 9.99970035e-01 -2.77925674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 969.5765599949999 meters 0.012606698367510384 Centerline is valid? [True, True] Translation: X:-240.79, Y:-267.68, Z:-2.78 [[-6.84055720e-01 -7.29411618e-01 5.14423682e-03 -2.40785950e+02] [ 7.29391332e-01 -6.84075062e-01 -5.44010247e-03 -2.67683864e+02] [ 7.48711807e-03 3.08285359e-05 9.99971971e-01 -2.77957329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 969.6065599949999 meters 0.012472835799296825 Centerline is valid? [True, True] Translation: X:-240.80, Y:-267.66, Z:-2.78 [[-6.85956503e-01 -7.27624570e-01 5.11483511e-03 -2.40803502e+02] [ 7.27604490e-01 -6.85975572e-01 -5.40567493e-03 -2.67662602e+02] [ 7.44195384e-03 1.35191237e-05 9.99972308e-01 -2.77912785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 969.636559995 meters 0.012524577929164669 Centerline is valid? [True, True] Translation: X:-240.82, Y:-267.64, Z:-2.78 [[-6.87698194e-01 -7.25979447e-01 5.00364744e-03 -2.40821197e+02] [ 7.25960211e-01 -6.87716397e-01 -5.28485917e-03 -2.67641936e+02] [ 7.27778953e-03 -1.93916041e-06 9.99973517e-01 -2.77860499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 969.666559995 meters 0.01249578154859181 Centerline is valid? [True, True] Translation: X:-240.84, Y:-267.62, Z:-2.78 [[-6.87900307e-01 -7.25788198e-01 4.96584094e-03 -2.40839292e+02] [ 7.25769271e-01 -6.87918231e-01 -5.24149358e-03 -2.67623399e+02] [ 7.22030669e-03 -1.57028770e-06 9.99973933e-01 -2.77900754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 969.6965599949999 meters 0.012500387705806991 Centerline is valid? [True, True] Translation: X:-240.86, Y:-267.60, Z:-2.78 [[-6.87918231e-01 -7.25770829e-01 5.02103316e-03 -2.40858844e+02] [ 7.25751503e-01 -6.87936555e-01 -5.29647888e-03 -2.67603861e+02] [ 7.29818212e-03 4.77974768e-07 9.99973368e-01 -2.77884830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 969.7265599949999 meters 0.012509949115103225 Centerline is valid? [True, True] Translation: X:-240.88, Y:-267.59, Z:-2.78 [[-6.87413023e-01 -7.26246293e-01 5.44592882e-03 -2.40878351e+02] [ 7.26223601e-01 -6.87434595e-01 -5.74110294e-03 -2.67585232e+02] [ 7.91317460e-03 8.45310971e-06 9.99968690e-01 -2.77899965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 969.756559995 meters 0.012516073045245785 Centerline is valid? [True, True] Translation: X:-240.90, Y:-267.57, Z:-2.78 [[-6.87455620e-01 -7.26204164e-01 5.68189460e-03 -2.40897371e+02] [ 7.26179493e-01 -6.87479100e-01 -5.98594666e-03 -2.67566524e+02] [ 8.25320318e-03 1.10026658e-05 9.99965942e-01 -2.77963360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 969.786559995 meters 0.012515770383469037 Centerline is valid? [True, True] Translation: X:-240.92, Y:-267.55, Z:-2.78 [[-6.87327444e-01 -7.26323686e-01 5.90667685e-03 -2.40917071e+02] [ 7.26297064e-01 -6.87352823e-01 -6.21864212e-03 -2.67548313e+02] [ 8.57671807e-03 1.57586580e-05 9.99963219e-01 -2.77967652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 969.8165599949999 meters 0.012538469170070406 Centerline is valid? [True, True] Translation: X:-240.94, Y:-267.53, Z:-2.78 [[-6.87390968e-01 -7.26264301e-01 5.81562481e-03 -2.40935788e+02] [ 7.26238517e-01 -6.87415569e-01 -6.11981406e-03 -2.67530255e+02] [ 8.44235352e-03 1.68258219e-05 9.99964363e-01 -2.77989668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 969.8465599949999 meters 0.012607813502457717 Centerline is valid? [True, True] Translation: X:-240.96, Y:-267.51, Z:-2.78 [[-6.87678279e-01 -7.25994126e-01 5.57802963e-03 -2.40955548e+02] [ 7.25970426e-01 -6.87700901e-01 -5.86613811e-03 -2.67511077e+02] [ 8.09479781e-03 1.54687893e-05 9.99967237e-01 -2.77956062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 969.876559995 meters 0.012550849144989653 Centerline is valid? [True, True] Translation: X:-240.98, Y:-267.49, Z:-2.78 [[-6.87673481e-01 -7.25999897e-01 5.41602352e-03 -2.40975211e+02] [ 7.25977582e-01 -6.87694808e-01 -5.69221967e-03 -2.67492099e+02] [ 7.85712216e-03 1.75231429e-05 9.99969132e-01 -2.77940143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 969.906559995 meters 0.012581978419473758 Centerline is valid? [True, True] Translation: X:-241.00, Y:-267.47, Z:-2.78 [[-6.87031500e-01 -7.26607138e-01 5.45753787e-03 -2.40995448e+02] [ 7.26584528e-01 -6.87053175e-01 -5.73225023e-03 -2.67473809e+02] [ 7.91471266e-03 2.71260959e-05 9.99968678e-01 -2.77869111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 969.9365599949999 meters 0.012553096779249519 Centerline is valid? [True, True] Translation: X:-241.02, Y:-267.45, Z:-2.78 [[-6.86678846e-01 -7.26941840e-01 5.26530294e-03 -2.41015016e+02] [ 7.26920831e-01 -6.86699032e-01 -5.52686078e-03 -2.67454875e+02] [ 7.63338477e-03 3.22800041e-05 9.99970865e-01 -2.77852740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 969.9665599949999 meters 0.01276876904440629 Centerline is valid? [True, True] Translation: X:-241.04, Y:-267.44, Z:-2.78 [[-6.84732351e-01 -7.28774551e-01 5.40947381e-03 -2.41036711e+02] [ 7.28752457e-01 -6.84753716e-01 -5.67497835e-03 -2.67436381e+02] [ 7.83993709e-03 5.63260650e-05 9.99969266e-01 -2.77832199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 969.996559995 meters 0.013109802645072647 Centerline is valid? [True, True] Translation: X:-241.06, Y:-267.42, Z:-2.78 [[-6.83602774e-01 -7.29834877e-01 5.31975581e-03 -2.41057306e+02] [ 7.29813560e-01 -6.83623469e-01 -5.57855259e-03 -2.67418209e+02] [ 7.70813216e-03 6.89158970e-05 9.99970290e-01 -2.77868051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 970.026559995 meters 0.013414281346923235 Centerline is valid? [True, True] Translation: X:-241.08, Y:-267.40, Z:-2.78 [[-6.82495565e-01 -7.30869435e-01 5.44729818e-03 -2.41077468e+02] [ 7.30847142e-01 -6.82517298e-01 -5.70898380e-03 -2.67400304e+02] [ 7.89039700e-03 8.47861761e-05 9.99968867e-01 -2.77874398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 970.0565599949999 meters 0.014163034744382191 Centerline is valid? [True, True] Translation: X:-241.10, Y:-267.38, Z:-2.78 [[-6.80340943e-01 -7.32875431e-01 5.45925163e-03 -2.41099423e+02] [ 7.32853131e-01 -6.80362837e-01 -5.71822619e-03 -2.67383286e+02] [ 7.90501941e-03 1.10486257e-04 9.99968749e-01 -2.77954476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 970.0865599949999 meters 0.014219073060008634 Centerline is valid? [True, True] Translation: X:-241.12, Y:-267.36, Z:-2.78 [[-6.79522132e-01 -7.33632844e-01 5.70280472e-03 -2.41119770e+02] [ 7.33608564e-01 -6.79546050e-01 -5.97003577e-03 -2.67363264e+02] [ 8.25513274e-03 1.26854945e-04 9.99965918e-01 -2.77958308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 970.116559995 meters 0.01454245528904624 Centerline is valid? [True, True] Translation: X:-241.14, Y:-267.34, Z:-2.78 [[-6.78993891e-01 -7.34116525e-01 6.34220539e-03 -2.41140300e+02] [ 7.34086550e-01 -6.79023494e-01 -6.63572984e-03 -2.67343716e+02] [ 9.17790539e-03 1.50107648e-04 9.99957871e-01 -2.78026076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 970.146559995 meters 0.01533304684690395 Centerline is valid? [True, True] Translation: X:-241.16, Y:-267.33, Z:-2.78 [[-6.77645687e-01 -7.35348001e-01 7.72270206e-03 -2.41160996e+02] [ 7.35303687e-01 -6.77689660e-01 -8.07541485e-03 -2.67325490e+02] [ 1.11718355e-02 2.06261255e-04 9.99937572e-01 -2.78228468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 970.1765599949999 meters 0.014707595894551095 Centerline is valid? [True, True] Translation: X:-241.18, Y:-267.30, Z:-2.78 [[-6.77200318e-01 -7.35752633e-01 8.23365847e-03 -2.41179613e+02] [ 7.35702349e-01 -6.77250331e-01 -8.60479847e-03 -2.67304296e+02] [ 1.19072510e-02 2.30349624e-04 9.99929080e-01 -2.78169764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 970.2065599949999 meters 0.01628264316964256 Centerline is valid? [True, True] Translation: X:-241.20, Y:-267.29, Z:-2.78 [[-6.76882475e-01 -7.36038872e-01 8.76887471e-03 -2.41200758e+02] [ 7.35981933e-01 -6.76939225e-01 -9.15863017e-03 -2.67286957e+02] [ 1.26771031e-02 2.54417098e-04 9.99919610e-01 -2.78415068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 970.236559995 meters 0.01628871437300091 Centerline is valid? [True, True] Translation: X:-241.22, Y:-267.27, Z:-2.78 [[-6.77049976e-01 -7.35882822e-01 8.93325926e-03 -2.41219665e+02] [ 7.35823786e-01 -6.77108858e-01 -9.32473312e-03 -2.67267045e+02] [ 1.29106999e-02 2.59994315e-04 9.99916620e-01 -2.78441690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 970.266559995 meters 0.015551942866987592 Centerline is valid? [True, True] Translation: X:-241.24, Y:-267.25, Z:-2.78 [[-6.77520372e-01 -7.35449677e-01 8.93970469e-03 -2.41237536e+02] [ 7.35390593e-01 -6.77579300e-01 -9.32568623e-03 -2.67246153e+02] [ 1.29159318e-02 2.55832327e-04 9.99916553e-01 -2.78400263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 970.2965599949999 meters 0.0143125037770179 Centerline is valid? [True, True] Translation: X:-241.25, Y:-267.22, Z:-2.78 [[-6.79138929e-01 -7.33952935e-01 9.13260512e-03 -2.41254784e+02] [ 7.33891205e-01 -6.79200290e-01 -9.52180232e-03 -2.67223106e+02] [ 1.31914228e-02 2.35711944e-04 9.99912962e-01 -2.78260175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 970.3265599949999 meters 0.014616422834684693 Centerline is valid? [True, True] Translation: X:-241.27, Y:-267.20, Z:-2.78 [[-6.80481307e-01 -7.32712312e-01 8.82378040e-03 -2.41273275e+02] [ 7.32654650e-01 -6.80538482e-01 -9.19452722e-03 -2.67203261e+02] [ 1.27418654e-02 2.08079834e-04 9.99918798e-01 -2.78345932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 970.3565599949999 meters 0.01360852884837117 Centerline is valid? [True, True] Translation: X:-241.29, Y:-267.18, Z:-2.78 [[-6.83683757e-01 -7.29733664e-01 8.08085885e-03 -2.41289575e+02] [ 7.29685149e-01 -6.83731496e-01 -8.41569012e-03 -2.67179658e+02] [ 1.16663501e-02 1.42812061e-04 9.99931936e-01 -2.78231305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 970.386559995 meters 0.013200206744312104 Centerline is valid? [True, True] Translation: X:-241.31, Y:-267.16, Z:-2.78 [[-6.85451293e-01 -7.28079235e-01 7.55991634e-03 -2.41307338e+02] [ 7.28036721e-01 -6.85492973e-01 -7.86878729e-03 -2.67157488e+02] [ 1.09113702e-02 1.10226280e-04 9.99940463e-01 -2.78164876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 970.416559995 meters 0.013026726654669205 Centerline is valid? [True, True] Translation: X:-241.32, Y:-267.14, Z:-2.78 [[-6.87478693e-01 -7.26169457e-01 7.13904182e-03 -2.41323701e+02] [ 7.26131479e-01 -6.87515755e-01 -7.42711922e-03 -2.67137170e+02] [ 1.03015509e-02 7.78967750e-05 9.99946935e-01 -2.78177499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 970.4465599949999 meters 0.012558278158838213 Centerline is valid? [True, True] Translation: X:-241.34, Y:-267.11, Z:-2.78 [[-6.91344872e-01 -7.22493810e-01 6.70542355e-03 -2.41339290e+02] [ 7.22460168e-01 -6.91377389e-01 -6.97220794e-03 -2.67112763e+02] [ 9.67335531e-03 2.42012257e-05 9.99953212e-01 -2.78102354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 970.4765599949999 meters 0.012574591056761411 Centerline is valid? [True, True] Translation: X:-241.36, Y:-267.09, Z:-2.78 [[-6.93223141e-01 -7.20691596e-01 6.73057960e-03 -2.41356958e+02] [ 7.20657655e-01 -6.93255814e-01 -6.99441322e-03 -2.67090656e+02] [ 9.70682826e-03 1.75460872e-06 9.99952888e-01 -2.78050690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 970.506559995 meters 0.012739507895581141 Centerline is valid? [True, True] Translation: X:-241.37, Y:-267.07, Z:-2.78 [[-6.96392197e-01 -7.17624117e-01 7.31679412e-03 -2.41372787e+02] [ 7.17583880e-01 -6.96430632e-01 -7.59933157e-03 -2.67067522e+02] [ 1.05491032e-02 -4.17016905e-05 9.99944356e-01 -2.78141372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 970.536559995 meters 0.012854952983249606 Centerline is valid? [True, True] Translation: X:-241.39, Y:-267.05, Z:-2.78 [[-6.97248969e-01 -7.16786702e-01 7.79100524e-03 -2.41390162e+02] [ 7.16741081e-01 -6.97292493e-01 -8.08711124e-03 -2.67048466e+02] [ 1.12293433e-02 -5.45964528e-05 9.99936948e-01 -2.78172735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 970.5665599949999 meters 0.012872309122776772 Centerline is valid? [True, True] Translation: X:-241.41, Y:-267.03, Z:-2.78 [[-6.97424379e-01 -7.16615824e-01 7.80999823e-03 -2.41409004e+02] [ 7.16570014e-01 -6.97468105e-01 -8.10293149e-03 -2.67029666e+02] [ 1.12539136e-02 -5.47714201e-05 9.99936671e-01 -2.78224413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 970.5965599949999 meters 0.01296927060720439 Centerline is valid? [True, True] Translation: X:-241.43, Y:-267.01, Z:-2.78 [[-6.97219539e-01 -7.16805501e-01 8.64807387e-03 -2.41428691e+02] [ 7.16749418e-01 -6.97273168e-01 -8.96662476e-03 -2.67011440e+02] [ 1.24573958e-02 -5.32040603e-05 9.99922402e-01 -2.78290554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 970.626559995 meters 0.01296927060720439 Centerline is valid? [True, True] Translation: X:-241.45, Y:-266.99, Z:-2.78 [[-6.97439595e-01 -7.16591358e-01 8.65082690e-03 -2.41447353e+02] [ 7.16535292e-01 -6.97493242e-01 -8.96396872e-03 -2.66992250e+02] [ 1.24573958e-02 -5.32039352e-05 9.99922402e-01 -2.78290535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 970.656559995 meters 0.012906153146028328 Centerline is valid? [True, True] Translation: X:-241.47, Y:-266.97, Z:-2.78 [[-6.97622754e-01 -7.16404494e-01 9.33246286e-03 -2.41466181e+02] [ 7.16339308e-01 -6.97685172e-01 -9.66426539e-03 -2.66973037e+02] [ 1.34346441e-02 -5.68014544e-05 9.99909750e-01 -2.78287452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 970.6865599949999 meters 0.01303344274435208 Centerline is valid? [True, True] Translation: X:-241.48, Y:-266.95, Z:-2.78 [[-6.98202587e-01 -7.15836464e-01 9.55537315e-03 -2.41484315e+02] [ 7.15768162e-01 -6.98267966e-01 -9.88865930e-03 -2.66953941e+02] [ 1.37508739e-02 -6.48556265e-05 9.99905450e-01 -2.78320218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 970.7165599949999 meters 0.013197443689666487 Centerline is valid? [True, True] Translation: X:-241.50, Y:-266.93, Z:-2.78 [[-6.99835841e-01 -7.14237310e-01 9.73967111e-03 -2.41502171e+02] [ 7.14166280e-01 -6.99903605e-01 -1.00731870e-02 -2.66933776e+02] [ 1.40114769e-02 -9.38326022e-05 9.99901830e-01 -2.78335784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 970.746559995 meters 0.013549704165940138 Centerline is valid? [True, True] Translation: X:-241.52, Y:-266.91, Z:-2.78 [[-7.00971823e-01 -7.13120955e-01 9.84921355e-03 -2.41519775e+02] [ 7.13048300e-01 -7.01041005e-01 -1.01799199e-02 -2.66914363e+02] [ 1.41642168e-02 -1.12872022e-04 9.99899676e-01 -2.78340213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 970.776559995 meters 0.013831017062012762 Centerline is valid? [True, True] Translation: X:-241.54, Y:-266.89, Z:-2.78 [[-7.02170335e-01 -7.11948608e-01 9.27362842e-03 -2.41537698e+02] [ 7.11884176e-01 -7.02231560e-01 -9.57894058e-03 -2.66894925e+02] [ 1.33319480e-02 -1.24298593e-04 9.99911118e-01 -2.78350394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 970.8065599949999 meters 0.013652495592726825 Centerline is valid? [True, True] Translation: X:-241.56, Y:-266.88, Z:-2.78 [[-7.03654044e-01 -7.10493403e-01 8.37320962e-03 -2.41557367e+02] [ 7.10440837e-01 -7.03703849e-01 -8.64356237e-03 -2.66876055e+02] [ 1.20334539e-02 -1.33407568e-04 9.99927587e-01 -2.78077689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 970.8365599949999 meters 0.013853775820847602 Centerline is valid? [True, True] Translation: X:-241.58, Y:-266.86, Z:-2.78 [[-7.04373673e-01 -7.09788450e-01 7.62139877e-03 -2.41576221e+02] [ 7.09744911e-01 -7.04414892e-01 -7.86266492e-03 -2.66856953e+02] [ 1.09494555e-02 -1.29005182e-04 9.99940045e-01 -2.78009457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 970.866559995 meters 0.01350806738070436 Centerline is valid? [True, True] Translation: X:-241.60, Y:-266.84, Z:-2.78 [[-7.04496157e-01 -7.09676418e-01 6.67439101e-03 -2.41596330e+02] [ 7.09643063e-01 -7.04527764e-01 -6.88137526e-03 -2.66838584e+02] [ 9.58584352e-03 -1.11467141e-04 9.99954049e-01 -2.77800560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 970.896559995 meters 0.013416013105926163 Centerline is valid? [True, True] Translation: X:-241.62, Y:-266.82, Z:-2.78 [[-7.04336784e-01 -7.09838026e-01 6.29858304e-03 -2.41616412e+02] [ 7.09808365e-01 -7.04364939e-01 -6.48984153e-03 -2.66819643e+02] [ 9.04323736e-03 -1.00247182e-04 9.99959104e-01 -2.77753187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 970.9265599949999 meters 0.013384248974464486 Centerline is valid? [True, True] Translation: X:-241.64, Y:-266.80, Z:-2.78 [[-7.03838471e-01 -7.10333841e-01 6.10251657e-03 -2.41635284e+02] [ 7.10306053e-01 -7.03864921e-01 -6.28369771e-03 -2.66801996e+02] [ 8.75887047e-03 -8.80537319e-05 9.99961637e-01 -2.77755243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 970.9565599949999 meters 0.013058624711337155 Centerline is valid? [True, True] Translation: X:-241.66, Y:-266.78, Z:-2.78 [[-7.02957281e-01 -7.11206406e-01 6.04235984e-03 -2.41655826e+02] [ 7.11179228e-01 -7.02983245e-01 -6.21791031e-03 -2.66784322e+02] [ 8.66989538e-03 -7.37245121e-05 9.99962413e-01 -2.77715243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 970.986559995 meters 0.012604012802852687 Centerline is valid? [True, True] Translation: X:-241.68, Y:-266.77, Z:-2.78 [[-7.00443035e-01 -7.13683683e-01 5.92919686e-03 -2.41678618e+02] [ 7.13657634e-01 -7.00468129e-01 -6.09769254e-03 -2.66768554e+02] [ 8.50503710e-03 -3.96696658e-05 9.99963831e-01 -2.77768335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 971.016559995 meters 0.012493062302642478 Centerline is valid? [True, True] Translation: X:-241.70, Y:-266.75, Z:-2.78 [[-6.99032312e-01 -7.15063608e-01 6.15328211e-03 -2.41699670e+02] [ 7.15035641e-01 -6.99059394e-01 -6.32422537e-03 -2.66750894e+02] [ 8.82373308e-03 -2.10218622e-05 9.99961070e-01 -2.77797197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 971.0465599949999 meters 0.012429483243536994 Centerline is valid? [True, True] Translation: X:-241.72, Y:-266.73, Z:-2.78 [[-6.95971587e-01 -7.18040091e-01 6.47903822e-03 -2.41722030e+02] [ 7.18009251e-01 -6.96001744e-01 -6.65491228e-03 -2.66734991e+02] [ 9.28791572e-03 2.03795217e-05 9.99956866e-01 -2.77836452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 971.0765599949999 meters 0.01248211150176888 Centerline is valid? [True, True] Translation: X:-241.74, Y:-266.72, Z:-2.78 [[-6.94560858e-01 -7.19405002e-01 6.45435817e-03 -2.41742908e+02] [ 7.19374493e-01 -6.94590845e-01 -6.62543803e-03 -2.66717150e+02] [ 9.24951136e-03 4.13307159e-05 9.99957222e-01 -2.77787474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 971.1065599949999 meters 0.012659604176571583 Centerline is valid? [True, True] Translation: X:-241.77, Y:-266.70, Z:-2.78 [[-6.92086109e-01 -7.21795048e-01 5.35972007e-03 -2.41765817e+02] [ 7.21774106e-01 -6.92106859e-01 -5.49869270e-03 -2.66699921e+02] [ 7.67842819e-03 6.29383210e-05 9.99970519e-01 -2.77685347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 971.136559995 meters 0.012872802700364163 Centerline is valid? [True, True] Translation: X:-241.79, Y:-266.68, Z:-2.78 [[-6.91316095e-01 -7.22535850e-01 4.89932050e-03 -2.41785548e+02] [ 7.22518393e-01 -6.91333452e-01 -5.02303014e-03 -2.66682973e+02] [ 7.01638351e-03 6.73475953e-05 9.99975383e-01 -2.77640806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 971.166559995 meters 0.013184311440598949 Centerline is valid? [True, True] Translation: X:-241.81, Y:-266.67, Z:-2.78 [[-6.90642878e-01 -7.23181355e-01 4.59819839e-03 -2.41805632e+02] [ 7.23166013e-01 -6.90658181e-01 -4.71122620e-03 -2.66665205e+02] [ 6.58285429e-03 7.14859743e-05 9.99978330e-01 -2.77616645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 971.1965599949999 meters 0.013016618886323906 Centerline is valid? [True, True] Translation: X:-241.83, Y:-266.65, Z:-2.78 [[-6.90606940e-01 -7.23216830e-01 4.41265070e-03 -2.41825530e+02] [ 7.23202718e-01 -6.90621034e-01 -4.51856116e-03 -2.66645079e+02] [ 6.31536886e-03 7.06912851e-05 9.99980056e-01 -2.77569649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 971.2265599949999 meters 0.013174611061756944 Centerline is valid? [True, True] Translation: X:-241.84, Y:-266.63, Z:-2.78 [[-6.91244842e-01 -7.22610645e-01 3.79789875e-03 -2.41844495e+02] [ 7.22600196e-01 -6.91255273e-01 -3.88647493e-03 -2.66626836e+02] [ 5.43372570e-03 5.78566307e-05 9.99985236e-01 -2.77586329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 971.256559995 meters 0.012972096976082266 Centerline is valid? [True, True] Translation: X:-241.86, Y:-266.61, Z:-2.78 [[-6.91839831e-01 -7.22039720e-01 4.03624969e-03 -2.41863000e+02] [ 7.22027924e-01 -6.91851602e-01 -4.12778421e-03 -2.66607101e+02] [ 5.77290997e-03 5.85194513e-05 9.99983335e-01 -2.77588838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 971.286559995 meters 0.012871654608423044 Centerline is valid? [True, True] Translation: X:-241.88, Y:-266.59, Z:-2.78 [[-6.92738932e-01 -7.21176501e-01 4.15051490e-03 -2.41881509e+02] [ 7.21164028e-01 -6.92751363e-01 -4.24183896e-03 -2.66588306e+02] [ 5.93438944e-03 5.47150564e-05 9.99982390e-01 -2.77622889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 971.3165599949999 meters 0.012768694378188365 Centerline is valid? [True, True] Translation: X:-241.90, Y:-266.57, Z:-2.78 [[-6.94215333e-01 -7.19752308e-01 4.65696878e-03 -2.41900355e+02] [ 7.19736593e-01 -6.94230951e-01 -4.75648766e-03 -2.66568170e+02] [ 6.65650484e-03 4.97641756e-05 9.99977844e-01 -2.77755094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 971.3465599949999 meters 0.012557129481346446 Centerline is valid? [True, True] Translation: X:-241.92, Y:-266.55, Z:-2.78 [[-6.95152318e-01 -7.18842506e-01 5.35793098e-03 -2.41919860e+02] [ 7.18821700e-01 -6.95172964e-01 -5.46933179e-03 -2.66547305e+02] [ 7.65627693e-03 4.93783904e-05 9.99970689e-01 -2.77786105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 971.376559995 meters 0.012568743076330966 Centerline is valid? [True, True] Translation: X:-241.94, Y:-266.53, Z:-2.78 [[-6.95985726e-01 -7.18029019e-01 6.18040724e-03 -2.41938522e+02] [ 7.18001327e-01 -6.96013165e-01 -6.30630297e-03 -2.66527091e+02] [ 8.82975334e-03 4.84437480e-05 9.99961016e-01 -2.77948848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 971.406559995 meters 0.012553626481636632 Centerline is valid? [True, True] Translation: X:-241.96, Y:-266.51, Z:-2.78 [[-6.96429928e-01 -7.17592481e-01 6.81079546e-03 -2.41956661e+02] [ 7.17558875e-01 -6.96463229e-01 -6.94495356e-03 -2.66507756e+02] [ 9.72711505e-03 5.04732191e-05 9.99952689e-01 -2.78000958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 971.4365599949999 meters 0.012575531007516617 Centerline is valid? [True, True] Translation: X:-241.98, Y:-266.49, Z:-2.78 [[-6.96822861e-01 -7.17207501e-01 7.16251100e-03 -2.41975183e+02] [ 7.17170356e-01 -6.96859669e-01 -7.29946106e-03 -2.66487078e+02] [ 1.02264933e-02 5.03092255e-05 9.99947707e-01 -2.77974535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 971.4665599949999 meters 0.01261308452166544 Centerline is valid? [True, True] Translation: X:-241.99, Y:-266.47, Z:-2.78 [[-6.97093958e-01 -7.16939447e-01 7.60549995e-03 -2.41994236e+02] [ 7.16897596e-01 -6.97135444e-01 -7.74655753e-03 -2.66465872e+02] [ 1.08558762e-02 5.22861822e-05 9.99941072e-01 -2.78015058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 971.496559995 meters 0.012661669525975226 Centerline is valid? [True, True] Translation: X:-242.01, Y:-266.44, Z:-2.78 [[-6.97545689e-01 -7.16495398e-01 8.02230023e-03 -2.42012226e+02] [ 7.16448858e-01 -6.97591817e-01 -8.16651094e-03 -2.66444049e+02] [ 1.14475585e-02 5.10533396e-05 9.99934473e-01 -2.78067568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 971.526559995 meters 0.012651348830036905 Centerline is valid? [True, True] Translation: X:-242.03, Y:-266.42, Z:-2.78 [[-6.98151236e-01 -7.15906088e-01 7.95767735e-03 -2.42029529e+02] [ 7.15860317e-01 -6.98196585e-01 -8.09537875e-03 -2.66424765e+02] [ 1.13515541e-02 4.47867547e-05 9.99935568e-01 -2.78089019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 971.5565599949999 meters 0.012547764403779258 Centerline is valid? [True, True] Translation: X:-242.05, Y:-266.40, Z:-2.78 [[-6.99098276e-01 -7.14983400e-01 7.76775121e-03 -2.42046047e+02] [ 7.14939786e-01 -6.99141428e-01 -7.89721710e-03 -2.66403257e+02] [ 1.10771358e-02 3.25435282e-05 9.99938646e-01 -2.78058147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 971.5865599949999 meters 0.01246030216902538 Centerline is valid? [True, True] Translation: X:-242.06, Y:-266.38, Z:-2.78 [[-6.99720937e-01 -7.14380324e-01 7.16679253e-03 -2.42063912e+02] [ 7.14343213e-01 -6.99757638e-01 -7.28164752e-03 -2.66382267e+02] [ 1.02168835e-02 2.44283770e-05 9.99947806e-01 -2.77983810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 971.616559995 meters 0.012360452278701873 Centerline is valid? [True, True] Translation: X:-242.08, Y:-266.36, Z:-2.78 [[-7.01197550e-01 -7.12938603e-01 6.36747381e-03 -2.42079205e+02] [ 7.12909287e-01 -7.01226460e-01 -6.46524949e-03 -2.66360306e+02] [ 9.07436707e-03 6.01411486e-06 9.99958827e-01 -2.77943621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 971.646559995 meters 0.012402016970982576 Centerline is valid? [True, True] Translation: X:-242.10, Y:-266.34, Z:-2.78 [[-7.02081133e-01 -7.12070481e-01 6.14110389e-03 -2.42096793e+02] [ 7.12043214e-01 -7.02107991e-01 -6.23147660e-03 -2.66339139e+02] [ 8.74896865e-03 -2.27080461e-06 9.99961727e-01 -2.77876285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 971.6765599949999 meters 0.012348800371997119 Centerline is valid? [True, True] Translation: X:-242.11, Y:-266.32, Z:-2.78 [[-7.02981789e-01 -7.11182680e-01 5.98329265e-03 -2.42114666e+02] [ 7.11156797e-01 -7.03007251e-01 -6.06752872e-03 -2.66318128e+02] [ 8.52141945e-03 -1.03029602e-05 9.99963692e-01 -2.77838439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 971.7065599949999 meters 0.012344530649252401 Centerline is valid? [True, True] Translation: X:-242.13, Y:-266.30, Z:-2.78 [[-7.03644561e-01 -7.10530039e-01 5.60328020e-03 -2.42132813e+02] [ 7.10507346e-01 -7.03666870e-01 -5.67861369e-03 -2.66297160e+02] [ 7.97766825e-03 -1.45538911e-05 9.99968178e-01 -2.77816777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 971.736559995 meters 0.012400365927356195 Centerline is valid? [True, True] Translation: X:-242.15, Y:-266.28, Z:-2.78 [[-7.04109105e-01 -7.10067518e-01 5.87258911e-03 -2.42149328e+02] [ 7.10042609e-01 -7.04133595e-01 -5.94764642e-03 -2.66276760e+02] [ 8.35831781e-03 -1.80035035e-05 9.99965069e-01 -2.77820080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 971.766559995 meters 0.01244368533061059 Centerline is valid? [True, True] Translation: X:-242.17, Y:-266.26, Z:-2.78 [[-7.04128249e-01 -7.10044895e-01 6.29733652e-03 -2.42168095e+02] [ 7.10016286e-01 -7.04156408e-01 -6.37391928e-03 -2.66256640e+02] [ 8.96007871e-03 -1.68451385e-05 9.99959858e-01 -2.77864574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 971.7965599949999 meters 0.012405947900630038 Centerline is valid? [True, True] Translation: X:-242.19, Y:-266.24, Z:-2.78 [[-7.04055354e-01 -7.10114521e-01 6.58980129e-03 -2.42187098e+02] [ 7.10083234e-01 -7.04086193e-01 -6.66584318e-03 -2.66236424e+02] [ 9.37330014e-03 -1.38151715e-05 9.99956070e-01 -2.77907400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 971.8265599949999 meters 0.01235123779293171 Centerline is valid? [True, True] Translation: X:-242.21, Y:-266.22, Z:-2.78 [[-7.03994272e-01 -7.10173558e-01 6.75154182e-03 -2.42206168e+02] [ 7.10140759e-01 -7.04026646e-01 -6.82523373e-03 -2.66216627e+02] [ 9.60036586e-03 -1.03804133e-05 9.99953916e-01 -2.77934863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 971.8565599949999 meters 0.012401341440620115 Centerline is valid? [True, True] Translation: X:-242.23, Y:-266.20, Z:-2.78 [[-7.03091300e-01 -7.11067603e-01 6.74451284e-03 -2.42225065e+02] [ 7.11034954e-01 -7.03123648e-01 -6.81394612e-03 -2.66196908e+02] [ 9.58740281e-03 4.75813616e-06 9.99954040e-01 -2.77958678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 971.886559995 meters 0.012435131861851826 Centerline is valid? [True, True] Translation: X:-242.24, Y:-266.18, Z:-2.78 [[-7.02589642e-01 -7.11564707e-01 6.59273443e-03 -2.42243324e+02] [ 7.11533573e-01 -7.02620572e-01 -6.65632553e-03 -2.66178552e+02] [ 9.36859716e-03 1.42865136e-05 9.99956114e-01 -2.77951356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 971.916559995 meters 0.01247448458923822 Centerline is valid? [True, True] Translation: X:-242.26, Y:-266.16, Z:-2.78 [[-7.01508242e-01 -7.12635356e-01 6.08564811e-03 -2.42262946e+02] [ 7.12608900e-01 -7.01534638e-01 -6.14063178e-03 -2.66159710e+02] [ 8.64532426e-03 2.89832009e-05 9.99962628e-01 -2.77884682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 971.9465599949999 meters 0.012539402678214177 Centerline is valid? [True, True] Translation: X:-242.28, Y:-266.14, Z:-2.78 [[-7.00985696e-01 -7.13148015e-01 6.24201135e-03 -2.42282828e+02] [ 7.13120235e-01 -7.01013486e-01 -6.29462056e-03 -2.66140661e+02] [ 8.86473029e-03 3.88656244e-05 9.99960707e-01 -2.77901048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 971.9765599949999 meters 0.012601114352104403 Centerline is valid? [True, True] Translation: X:-242.30, Y:-266.12, Z:-2.78 [[-7.00557650e-01 -7.13566844e-01 6.42940081e-03 -2.42301672e+02] [ 7.13537427e-01 -7.00587151e-01 -6.47949942e-03 -2.66122686e+02] [ 9.12791155e-03 4.83552247e-05 9.99958339e-01 -2.77958565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 972.006559995 meters 0.013154540803795732 Centerline is valid? [True, True] Translation: X:-242.32, Y:-266.10, Z:-2.78 [[-6.99304630e-01 -7.14789410e-01 7.00954395e-03 -2.42321919e+02] [ 7.14754545e-01 -6.99339756e-01 -7.06021539e-03 -2.66104355e+02] [ 9.94861995e-03 7.28620826e-05 9.99950509e-01 -2.78103092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 972.036559995 meters 0.012841773025154546 Centerline is valid? [True, True] Translation: X:-242.34, Y:-266.09, Z:-2.78 [[-6.98420443e-01 -7.15652178e-01 7.13053100e-03 -2.42341197e+02] [ 7.15616189e-01 -6.98456836e-01 -7.17757869e-03 -2.66085083e+02] [ 1.01170179e-02 8.97557278e-05 9.99948818e-01 -2.78020185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 972.0665599949999 meters 0.01331491291829129 Centerline is valid? [True, True] Translation: X:-242.36, Y:-266.07, Z:-2.78 [[-6.96467249e-01 -7.17555417e-01 6.89895048e-03 -2.42361820e+02] [ 7.17521858e-01 -6.96501407e-01 -6.94061892e-03 -2.66066461e+02] [ 9.78540742e-03 1.16234005e-04 9.99952115e-01 -2.78027972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 972.0965599949999 meters 0.013538249554113228 Centerline is valid? [True, True] Translation: X:-242.38, Y:-266.05, Z:-2.78 [[-6.95774743e-01 -7.18226513e-01 6.94142239e-03 -2.42381476e+02] [ 7.18192616e-01 -6.95809356e-01 -6.97897823e-03 -2.66047243e+02] [ 9.84239384e-03 1.29481526e-04 9.99951554e-01 -2.78020091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 972.126559995 meters 0.013577152638105213 Centerline is valid? [True, True] Translation: X:-242.40, Y:-266.03, Z:-2.78 [[-6.95583784e-01 -7.18414891e-01 6.57600733e-03 -2.42400997e+02] [ 7.18384517e-01 -6.95614856e-01 -6.60742736e-03 -2.66027685e+02] [ 9.32124260e-03 1.28082519e-04 9.99956548e-01 -2.78003857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 972.156559995 meters 0.013706059267897596 Centerline is valid? [True, True] Translation: X:-242.42, Y:-266.01, Z:-2.78 [[-6.95511875e-01 -7.18487702e-01 6.21724025e-03 -2.42420141e+02] [ 7.18460589e-01 -6.95539652e-01 -6.24304588e-03 -2.66008244e+02] [ 8.80988880e-03 1.24729537e-04 9.99961185e-01 -2.77929190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 972.1865599949999 meters 0.0135138675025397 Centerline is valid? [True, True] Translation: X:-242.44, Y:-265.99, Z:-2.78 [[-6.95780416e-01 -7.18230388e-01 5.89257040e-03 -2.42439243e+02] [ 7.18206051e-01 -6.95805358e-01 -5.91367941e-03 -2.65987970e+02] [ 8.34746631e-03 1.17457392e-04 9.99965153e-01 -2.77887546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 972.2165599949999 meters 0.013548116766299969 Centerline is valid? [True, True] Translation: X:-242.46, Y:-265.97, Z:-2.78 [[-6.96271177e-01 -7.17757083e-01 5.58725406e-03 -2.42459406e+02] [ 7.17735213e-01 -6.96293586e-01 -5.60411414e-03 -2.65967786e+02] [ 7.91276178e-03 1.08185831e-04 9.99968688e-01 -2.77851395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 972.246559995 meters 0.013488482425564599 Centerline is valid? [True, True] Translation: X:-242.48, Y:-265.95, Z:-2.78 [[-6.96880592e-01 -7.17167260e-01 5.34433011e-03 -2.42478651e+02] [ 7.17147260e-01 -6.96901078e-01 -5.35690139e-03 -2.65950013e+02] [ 7.56626370e-03 9.95510842e-05 9.99971371e-01 -2.77819428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 972.276559995 meters 0.014194713969705843 Centerline is valid? [True, True] Translation: X:-242.50, Y:-265.93, Z:-2.78 [[-6.97172787e-01 -7.16882370e-01 5.45653854e-03 -2.42498887e+02] [ 7.16861532e-01 -6.97194133e-01 -5.46673356e-03 -2.65933170e+02] [ 7.72327156e-03 1.00324707e-04 9.99970170e-01 -2.77945184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 972.3065599949999 meters 0.013380291349841554 Centerline is valid? [True, True] Translation: X:-242.52, Y:-265.91, Z:-2.78 [[-6.97635130e-01 -7.16431337e-01 5.60047495e-03 -2.42517311e+02] [ 7.16409399e-01 -6.97657602e-01 -5.60742978e-03 -2.65913347e+02] [ 7.92455234e-03 1.00292883e-04 9.99968595e-01 -2.77852062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 972.3365599949999 meters 0.013435839388095111 Centerline is valid? [True, True] Translation: X:-242.54, Y:-265.90, Z:-2.78 [[-6.97797607e-01 -7.16272566e-01 5.66667089e-03 -2.42537867e+02] [ 7.16250129e-01 -6.97820608e-01 -5.67018686e-03 -2.65895129e+02] [ 8.01571902e-03 1.02110939e-04 9.99967869e-01 -2.77889853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 972.366559995 meters 0.013589233802783658 Centerline is valid? [True, True] Translation: X:-242.56, Y:-265.88, Z:-2.78 [[-6.97908552e-01 -7.16163545e-01 5.78187753e-03 -2.42557266e+02] [ 7.16140214e-01 -6.97932494e-01 -5.78170397e-03 -2.65877469e+02] [ 8.17600582e-03 1.05534366e-04 9.99966570e-01 -2.77912880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 972.396559995 meters 0.013590257931205432 Centerline is valid? [True, True] Translation: X:-242.58, Y:-265.90, Z:-2.78 [[-6.47775839e-01 -7.61811127e-01 5.50170157e-03 -2.42576517e+02] [ 7.61785110e-01 -6.47799193e-01 -6.29699137e-03 -2.65902740e+02] [ 8.36111593e-03 1.12075471e-04 9.99965039e-01 -2.77960509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 972.4265599949999 meters 0.013481458375951142 Centerline is valid? [True, True] Translation: X:-242.59, Y:-265.88, Z:-2.78 [[-6.48025584e-01 -7.61597168e-01 5.70931465e-03 -2.42594710e+02] [ 7.61569172e-01 -6.48050724e-01 -6.53109338e-03 -2.65882089e+02] [ 8.67398771e-03 1.15722431e-04 9.99962374e-01 -2.77992521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 972.4565599949999 meters 0.013759376960178253 Centerline is valid? [True, True] Translation: X:-242.61, Y:-265.86, Z:-2.78 [[-6.48233518e-01 -7.61416873e-01 6.13612100e-03 -2.42612452e+02] [ 7.61384570e-01 -6.48262548e-01 -7.01465369e-03 -2.65863209e+02] [ 9.31889311e-03 1.24814210e-04 9.99956571e-01 -2.78092264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 972.486559995 meters 0.013431315983464264 Centerline is valid? [True, True] Translation: X:-242.63, Y:-265.84, Z:-2.78 [[-6.48909621e-01 -7.60830831e-01 7.26303218e-03 -2.42629515e+02] [ 7.60785595e-01 -6.48950250e-01 -8.29764460e-03 -2.65842525e+02] [ 1.10264504e-02 1.41188846e-04 9.99939197e-01 -2.78174348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 972.516559995 meters 0.01387091480257074 Centerline is valid? [True, True] Translation: X:-242.65, Y:-265.82, Z:-2.78 [[-6.49639424e-01 -7.60204318e-01 7.61667669e-03 -2.42647853e+02] [ 7.60154593e-01 -6.49684058e-01 -8.69589673e-03 -2.65823041e+02] [ 1.15590917e-02 1.40654425e-04 9.99933182e-01 -2.78373923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 972.5465599949999 meters 0.01387091480257074 Centerline is valid? [True, True] Translation: X:-242.67, Y:-265.80, Z:-2.78 [[-6.49865051e-01 -7.60011423e-01 7.61925795e-03 -2.42665583e+02] [ 7.59961712e-01 -6.49909700e-01 -8.69363515e-03 -2.65802993e+02] [ 1.15590917e-02 1.40654659e-04 9.99933182e-01 -2.78373903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 972.5765599949999 meters 0.013437207292345932 Centerline is valid? [True, True] Translation: X:-242.68, Y:-265.78, Z:-2.78 [[-6.50659837e-01 -7.59328331e-01 7.89068621e-03 -2.42682217e+02] [ 7.59275031e-01 -6.50707666e-01 -8.99775856e-03 -2.65781906e+02] [ 1.19667830e-02 1.36720902e-04 9.99928386e-01 -2.78313480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 972.6065599949999 meters 0.0130230740699381 Centerline is valid? [True, True] Translation: X:-242.70, Y:-265.76, Z:-2.78 [[-6.51994925e-01 -7.58179560e-01 8.14692898e-03 -2.42699001e+02] [ 7.58122725e-01 -6.52045811e-01 -9.28409919e-03 -2.65759978e+02] [ 1.23511851e-02 1.23186440e-04 9.99923714e-01 -2.78257777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 972.636559995 meters 0.01288867894501267 Centerline is valid? [True, True] Translation: X:-242.72, Y:-265.74, Z:-2.78 [[-6.53042071e-01 -7.57280912e-01 7.85325975e-03 -2.42716454e+02] [ 7.57228103e-01 -6.53089281e-01 -8.94380976e-03 -2.65738947e+02] [ 1.19018562e-02 1.06024934e-04 9.99929165e-01 -2.78198611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 972.666559995 meters 0.012858921357714074 Centerline is valid? [True, True] Translation: X:-242.73, Y:-265.72, Z:-2.78 [[-6.54013372e-01 -7.56446281e-01 7.45208694e-03 -2.42733215e+02] [ 7.56398738e-01 -6.54055821e-01 -8.48133943e-03 -2.65718587e+02] [ 1.12897585e-02 8.98397560e-05 9.99936265e-01 -2.78177798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 972.6965599949999 meters 0.01271323658348946 Centerline is valid? [True, True] Translation: X:-242.75, Y:-265.70, Z:-2.78 [[-6.54891585e-01 -7.55689401e-01 7.10920176e-03 -2.42750382e+02] [ 7.55646143e-01 -6.54930166e-01 -8.08606245e-03 -2.65697268e+02] [ 1.07665824e-02 7.65466359e-05 9.99942036e-01 -2.78072848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 972.7265599949999 meters 0.012624260775441345 Centerline is valid? [True, True] Translation: X:-242.77, Y:-265.68, Z:-2.78 [[-6.56474897e-01 -7.54322533e-01 6.18272432e-03 -2.42765917e+02] [ 7.54289786e-01 -6.56504009e-01 -7.02889801e-03 -2.65676265e+02] [ 9.36103945e-03 4.92707072e-05 9.99956183e-01 -2.77982312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 972.756559995 meters 0.012432907033884838 Centerline is valid? [True, True] Translation: X:-242.78, Y:-265.65, Z:-2.78 [[-6.57413058e-01 -7.53506305e-01 6.02659592e-03 -2.42783319e+02] [ 7.53475196e-01 -6.57440679e-01 -6.84705872e-03 -2.65654615e+02] [ 9.12143123e-03 3.95447339e-05 9.99958398e-01 -2.77885457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 972.786559995 meters 0.012395648463205145 Centerline is valid? [True, True] Translation: X:-242.80, Y:-265.63, Z:-2.78 [[-6.58202039e-01 -7.52820656e-01 5.57984136e-03 -2.42800804e+02] [ 7.52793998e-01 -6.58225690e-01 -6.33548330e-03 -2.65633819e+02] [ 8.44227763e-03 3.04430550e-05 9.99964363e-01 -2.77873312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 972.8165599949999 meters 0.012362717877161684 Centerline is valid? [True, True] Translation: X:-242.82, Y:-265.61, Z:-2.78 [[-6.59314679e-01 -7.51849339e-01 5.16971914e-03 -2.42818480e+02] [ 7.51826454e-01 -6.59334947e-01 -5.86611603e-03 -2.65613625e+02] [ 7.81901195e-03 1.91152016e-05 9.99969431e-01 -2.77879149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 972.8465599949999 meters 0.012327131522499507 Centerline is valid? [True, True] Translation: X:-242.84, Y:-265.59, Z:-2.78 [[-6.59559203e-01 -7.51636481e-01 4.92516177e-03 -2.42836344e+02] [ 7.51615732e-01 -6.59577592e-01 -5.58492151e-03 -2.65594190e+02] [ 7.44635710e-03 1.82426911e-05 9.99972275e-01 -2.77922496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 972.876559995 meters 0.012362254864093968 Centerline is valid? [True, True] Translation: X:-242.86, Y:-265.57, Z:-2.78 [[-6.59624790e-01 -7.51578363e-01 5.01006302e-03 -2.42855013e+02] [ 7.51556918e-01 -6.59643816e-01 -5.67765899e-03 -2.65573992e+02] [ 7.57206274e-03 2.02229038e-05 9.99971331e-01 -2.77935669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 972.906559995 meters 0.012412991594576279 Centerline is valid? [True, True] Translation: X:-242.87, Y:-265.55, Z:-2.78 [[-6.59700734e-01 -7.51511105e-01 5.09915007e-03 -2.42873488e+02] [ 7.51488916e-01 -6.59720440e-01 -5.77498091e-03 -2.65554092e+02] [ 7.70397582e-03 2.21956177e-05 9.99970324e-01 -2.77969142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 972.9365599949999 meters 0.012445773068963672 Centerline is valid? [True, True] Translation: X:-242.89, Y:-265.54, Z:-2.78 [[-6.59912712e-01 -7.51326342e-01 4.89285038e-03 -2.42891110e+02] [ 7.51305934e-01 -6.59930850e-01 -5.53768974e-03 -2.65535079e+02] [ 7.38955508e-03 2.16356713e-05 9.99972697e-01 -2.78025105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 972.9665599949999 meters 0.012507598874545223 Centerline is valid? [True, True] Translation: X:-242.91, Y:-265.52, Z:-2.78 [[-6.60077576e-01 -7.51179786e-01 5.15001146e-03 -2.42909177e+02] [ 7.51157202e-01 -6.60097666e-01 -5.82491225e-03 -2.65515318e+02] [ 7.77506688e-03 2.35742339e-05 9.99969774e-01 -2.78048017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 972.996559995 meters 0.012490373522272969 Centerline is valid? [True, True] Translation: X:-242.93, Y:-265.50, Z:-2.78 [[-6.60552084e-01 -7.50760167e-01 5.48784602e-03 -2.42927831e+02] [ 7.50734541e-01 -6.60574879e-01 -6.20311960e-03 -2.65495572e+02] [ 8.28218833e-03 2.24319843e-05 9.99965702e-01 -2.78156909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 973.026559995 meters 0.012517036049901727 Centerline is valid? [True, True] Translation: X:-242.95, Y:-265.48, Z:-2.78 [[-6.60866653e-01 -7.50482142e-01 5.64111844e-03 -2.42945554e+02] [ 7.50455089e-01 -6.60890728e-01 -6.37216561e-03 -2.65476573e+02] [ 8.51035937e-03 2.22542892e-05 9.99963786e-01 -2.78251540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 973.0565599949999 meters 0.012390253349527598 Centerline is valid? [True, True] Translation: X:-242.96, Y:-265.46, Z:-2.78 [[-6.61675314e-01 -7.49768760e-01 5.70840456e-03 -2.42964390e+02] [ 7.49741066e-01 -6.61699937e-01 -6.44413369e-03 -2.65456335e+02] [ 8.60886106e-03 1.59011343e-05 9.99962943e-01 -2.78264796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 973.0865599949999 meters 0.012389403623310187 Centerline is valid? [True, True] Translation: X:-242.98, Y:-265.44, Z:-2.78 [[-6.62237177e-01 -7.49273609e-01 5.56596994e-03 -2.42982552e+02] [ 7.49247296e-01 -6.62260567e-01 -6.27939278e-03 -2.65435768e+02] [ 8.39110570e-03 1.18405774e-05 9.99964794e-01 -2.78259411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 973.116559995 meters 0.012319322541720766 Centerline is valid? [True, True] Translation: X:-243.00, Y:-265.42, Z:-2.78 [[-6.63130144e-01 -7.48484363e-01 5.43784996e-03 -2.43000391e+02] [ 7.48459253e-01 -6.63152440e-01 -6.13096822e-03 -2.65415367e+02] [ 8.19505731e-03 4.37927213e-06 9.99966420e-01 -2.78221726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 973.146559995 meters 0.012275088368392884 Centerline is valid? [True, True] Translation: X:-243.02, Y:-265.39, Z:-2.78 [[-6.63993658e-01 -7.47718607e-01 5.41368785e-03 -2.43019116e+02] [ 7.47693721e-01 -6.64015727e-01 -6.10027932e-03 -2.65394100e+02] [ 8.15606622e-03 -2.76636287e-06 9.99966739e-01 -2.78205646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 973.1765599949999 meters 0.012278311030443639 Centerline is valid? [True, True] Translation: X:-243.04, Y:-265.37, Z:-2.78 [[-6.65456276e-01 -7.46417369e-01 5.39038053e-03 -2.43036980e+02] [ 7.46392686e-01 -6.65478107e-01 -6.07017781e-03 -2.65374034e+02] [ 8.11806638e-03 -1.60973158e-05 9.99967048e-01 -2.78204482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 973.2065599949999 meters 0.012429732459234987 Centerline is valid? [True, True] Translation: X:-243.05, Y:-265.35, Z:-2.78 [[-6.67010755e-01 -7.45030176e-01 5.16624851e-03 -2.43054874e+02] [ 7.45007490e-01 -6.67030761e-01 -5.81411624e-03 -2.65353690e+02] [ 7.77773872e-03 -2.91842335e-05 9.99969753e-01 -2.78208182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 973.236559995 meters 0.01251956052166121 Centerline is valid? [True, True] Translation: X:-243.07, Y:-265.33, Z:-2.78 [[-6.67848484e-01 -7.44280317e-01 5.02118780e-03 -2.43071871e+02] [ 7.44258894e-01 -6.67867359e-01 -5.64713429e-03 -2.65334077e+02] [ 7.55653833e-03 -3.43663975e-05 9.99971449e-01 -2.78250606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 973.266559995 meters 0.012556180498091582 Centerline is valid? [True, True] Translation: X:-243.09, Y:-265.31, Z:-2.78 [[-6.68912743e-01 -7.43325229e-01 4.83183454e-03 -2.43090011e+02] [ 7.43305391e-01 -6.68930193e-01 -5.43075710e-03 -2.65314367e+02] [ 7.26897877e-03 -4.11739604e-05 9.99973580e-01 -2.78155228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 973.2965599949999 meters 0.012607783971435076 Centerline is valid? [True, True] Translation: X:-243.11, Y:-265.29, Z:-2.78 [[-6.69931418e-01 -7.42408478e-01 4.64189555e-03 -2.43109070e+02] [ 7.42390168e-01 -6.69947498e-01 -5.21433886e-03 -2.65293308e+02] [ 6.98099569e-03 -4.71518106e-05 9.99975632e-01 -2.78148093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 973.3265599949999 meters 0.012881499671970009 Centerline is valid? [True, True] Translation: X:-243.13, Y:-265.27, Z:-2.78 [[-6.71612135e-01 -7.40891119e-01 4.18224784e-03 -2.43126162e+02] [ 7.40876245e-01 -6.71625154e-01 -4.69489566e-03 -2.65273901e+02] [ 6.28730935e-03 -5.46208161e-05 9.99980233e-01 -2.78132916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 973.3565599949999 meters 0.01299692629523441 Centerline is valid? [True, True] Translation: X:-243.14, Y:-265.25, Z:-2.78 [[-6.72491627e-01 -7.40093927e-01 3.99888232e-03 -2.43144268e+02] [ 7.40080332e-01 -6.72503514e-01 -4.48626691e-03 -2.65253997e+02] [ 6.00952131e-03 -5.74827802e-05 9.99981941e-01 -2.78103136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 973.386559995 meters 0.013267517685932772 Centerline is valid? [True, True] Translation: X:-243.16, Y:-265.23, Z:-2.78 [[-6.73226463e-01 -7.39426846e-01 3.75075259e-03 -2.43162995e+02] [ 7.39414890e-01 -6.73236909e-01 -4.20530227e-03 -2.65233585e+02] [ 5.63465848e-03 -5.77584598e-05 9.99984124e-01 -2.78103799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 973.416559995 meters 0.013152734472809504 Centerline is valid? [True, True] Translation: X:-243.18, Y:-265.21, Z:-2.78 [[-6.73940898e-01 -7.38776818e-01 3.53269495e-03 -2.43182632e+02] [ 7.38766216e-01 -6.73950154e-01 -3.95833949e-03 -2.65214479e+02] [ 5.30518976e-03 -5.78511894e-05 9.99985926e-01 -2.78096181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 973.4465599949999 meters 0.013243955481704407 Centerline is valid? [True, True] Translation: X:-243.20, Y:-265.19, Z:-2.78 [[-6.74133862e-01 -7.38600364e-01 3.61087800e-03 -2.43201485e+02] [ 7.38589299e-01 -6.74143530e-01 -4.04343071e-03 -2.65194807e+02] [ 5.42072944e-03 -5.88577111e-05 9.99985306e-01 -2.78137029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 973.4765599949999 meters 0.013114655539335178 Centerline is valid? [True, True] Translation: X:-243.22, Y:-265.18, Z:-2.78 [[-6.74132618e-01 -7.38601442e-01 3.62270692e-03 -2.43221184e+02] [ 7.38590318e-01 -6.74142349e-01 -4.05416229e-03 -2.65175860e+02] [ 5.43663026e-03 -5.73467833e-05 9.99985220e-01 -2.78174314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 973.506559995 meters 0.013186930369815256 Centerline is valid? [True, True] Translation: X:-243.24, Y:-265.16, Z:-2.78 [[-6.74002873e-01 -7.38719516e-01 3.68837165e-03 -2.43239023e+02] [ 7.38708001e-01 -6.74012962e-01 -4.12496627e-03 -2.65156975e+02] [ 5.53320339e-03 -5.56094649e-05 9.99984690e-01 -2.78192812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 973.536559995 meters 0.01295287144594354 Centerline is valid? [True, True] Translation: X:-243.26, Y:-265.14, Z:-2.78 [[-6.73916392e-01 -7.38798242e-01 3.72209793e-03 -2.43258811e+02] [ 7.38786530e-01 -6.73926668e-01 -4.16033839e-03 -2.65137126e+02] [ 5.58207175e-03 -5.38844160e-05 9.99984419e-01 -2.78171592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 973.5665599949999 meters 0.013042610783344573 Centerline is valid? [True, True] Translation: X:-243.28, Y:-265.12, Z:-2.78 [[-6.73618935e-01 -7.39068528e-01 3.90398348e-03 -2.43276462e+02] [ 7.39055665e-01 -6.73630246e-01 -4.36074368e-03 -2.65117961e+02] [ 5.85272977e-03 -5.22184055e-05 9.99982871e-01 -2.78245029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 973.5965599949999 meters 0.012638972196053946 Centerline is valid? [True, True] Translation: X:-243.30, Y:-265.10, Z:-2.78 [[-6.72403334e-01 -7.40172737e-01 4.25168685e-03 -2.43297784e+02] [ 7.40157520e-01 -6.72416774e-01 -4.74642009e-03 -2.65099864e+02] [ 6.37207630e-03 -4.45907015e-05 9.99979697e-01 -2.78218668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 973.626559995 meters 0.012696576598993845 Centerline is valid? [True, True] Translation: X:-243.32, Y:-265.08, Z:-2.78 [[-6.71652137e-01 -7.40852292e-01 4.61388254e-03 -2.43316819e+02] [ 7.40834409e-01 -6.71667984e-01 -5.14766316e-03 -2.65080116e+02] [ 6.91265523e-03 -3.93160211e-05 9.99976107e-01 -2.78307394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 973.656559995 meters 0.012459144309150837 Centerline is valid? [True, True] Translation: X:-243.34, Y:-265.06, Z:-2.78 [[-6.70781663e-01 -7.41638358e-01 4.95048532e-03 -2.43336682e+02] [ 7.41617815e-01 -6.70799929e-01 -5.52009043e-03 -2.65060673e+02] [ 7.41469601e-03 -3.14073300e-05 9.99972510e-01 -2.78295129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 973.6865599949999 meters 0.012428367360532468 Centerline is valid? [True, True] Translation: X:-243.36, Y:-265.04, Z:-2.78 [[-6.69492696e-01 -7.42798873e-01 5.41889888e-03 -2.43356374e+02] [ 7.42774329e-01 -6.69514626e-01 -6.03838480e-03 -2.65043150e+02] [ 8.11333748e-03 -1.76355308e-05 9.99967086e-01 -2.78379495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 973.7165599949999 meters 0.012365548776014323 Centerline is valid? [True, True] Translation: X:-243.38, Y:-265.02, Z:-2.78 [[-6.69102631e-01 -7.43149821e-01 5.47838351e-03 -2.43376142e+02] [ 7.43124776e-01 -6.69125058e-01 -6.10119601e-03 -2.65023113e+02] [ 8.19982641e-03 -1.12037872e-05 9.99966381e-01 -2.78383266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 973.746559995 meters 0.01234788930208343 Centerline is valid? [True, True] Translation: X:-243.40, Y:-265.00, Z:-2.78 [[-6.68620858e-01 -7.43582645e-01 5.56757942e-03 -2.43395321e+02] [ 7.43556823e-01 -6.68644039e-01 -6.19681860e-03 -2.65004218e+02] [ 8.33057555e-03 -3.51050150e-06 9.99965300e-01 -2.78395672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 973.776559995 meters 0.012412352349915572 Centerline is valid? [True, True] Translation: X:-243.41, Y:-264.98, Z:-2.78 [[-6.68797420e-01 -7.43427682e-01 5.02920684e-03 -2.43414003e+02] [ 7.43406635e-01 -6.68816329e-01 -5.59406220e-03 -2.64984036e+02] [ 7.52239635e-03 -2.54863616e-06 9.99971707e-01 -2.78329331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 973.8065599949999 meters 0.012348249296902637 Centerline is valid? [True, True] Translation: X:-243.43, Y:-264.96, Z:-2.78 [[-6.69092753e-01 -7.43161542e-01 5.08052534e-03 -2.43433286e+02] [ 7.43140079e-01 -6.69112041e-01 -5.64796402e-03 -2.64963174e+02] [ 7.59679033e-03 -3.46978754e-06 9.99971144e-01 -2.78289408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 973.8365599949999 meters 0.012286901462479394 Centerline is valid? [True, True] Translation: X:-243.45, Y:-264.94, Z:-2.78 [[-6.69374813e-01 -7.42910222e-01 4.66505294e-03 -2.43451931e+02] [ 7.42892143e-01 -6.69391069e-01 -5.18282557e-03 -2.64942690e+02] [ 6.97311887e-03 -3.62172023e-06 9.99975688e-01 -2.78277596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 973.866559995 meters 0.012262306011867168 Centerline is valid? [True, True] Translation: X:-243.47, Y:-264.92, Z:-2.78 [[-6.70153872e-01 -7.42209505e-01 4.34048088e-03 -2.43471178e+02] [ 7.42193857e-01 -6.70167928e-01 -4.81949471e-03 -2.64921808e+02] [ 6.48592586e-03 -8.32479622e-06 9.99978966e-01 -2.78229709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 973.896559995 meters 0.012366370032473735 Centerline is valid? [True, True] Translation: X:-243.49, Y:-264.90, Z:-2.78 [[-6.70694212e-01 -7.41721578e-01 4.28670315e-03 -2.43489084e+02] [ 7.41706323e-01 -6.70707911e-01 -4.75693838e-03 -2.64902011e+02] [ 6.40344955e-03 -1.09761984e-05 9.99979498e-01 -2.78225297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 973.9265599949999 meters 0.012274026013623802 Centerline is valid? [True, True] Translation: X:-243.51, Y:-264.88, Z:-2.78 [[-6.71618306e-01 -7.40885173e-01 4.24406776e-03 -2.43507813e+02] [ 7.40870221e-01 -6.71631715e-01 -4.70695421e-03 -2.64880817e+02] [ 6.33776309e-03 -1.69731985e-05 9.99979916e-01 -2.78191292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 973.9565599949999 meters 0.012456446376048425 Centerline is valid? [True, True] Translation: X:-243.53, Y:-264.86, Z:-2.78 [[-6.72298003e-01 -7.40267491e-01 4.40880465e-03 -2.43525797e+02] [ 7.40251361e-01 -6.72312459e-01 -4.88673580e-03 -2.64860296e+02] [ 6.58158594e-03 -2.17190731e-05 9.99978341e-01 -2.78221766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 973.986559995 meters 0.012355766126884337 Centerline is valid? [True, True] Translation: X:-243.54, Y:-264.84, Z:-2.78 [[-6.72677325e-01 -7.39921649e-01 4.60109306e-03 -2.43543563e+02] [ 7.39904096e-01 -6.72693060e-01 -5.09669579e-03 -2.64840178e+02] [ 6.86627892e-03 -2.40640856e-05 9.99976427e-01 -2.78241985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 974.016559995 meters 0.012403171709876037 Centerline is valid? [True, True] Translation: X:-243.56, Y:-264.82, Z:-2.78 [[-6.72980308e-01 -7.39642883e-01 5.09021720e-03 -2.43561811e+02] [ 7.39621418e-01 -6.72999558e-01 -5.63497384e-03 -2.64820376e+02] [ 7.59358222e-03 -2.73927696e-05 9.99971168e-01 -2.78270125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 974.0465599949999 meters 0.012482151660030248 Centerline is valid? [True, True] Translation: X:-243.58, Y:-264.80, Z:-2.78 [[-6.72819617e-01 -7.39783630e-01 5.82616524e-03 -2.43580682e+02] [ 7.39755549e-01 -6.72844842e-01 -6.44565119e-03 -2.64800328e+02] [ 8.68849246e-03 -2.68224958e-05 9.99962254e-01 -2.78395874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 974.0765599949999 meters 0.01263167663661845 Centerline is valid? [True, True] Translation: X:-243.60, Y:-264.78, Z:-2.79 [[-6.72990773e-01 -7.39624699e-01 6.22290779e-03 -2.43598576e+02] [ 7.39592699e-01 -6.73019542e-01 -6.88007319e-03 -2.64780836e+02] [ 9.27681062e-03 -2.78086022e-05 9.99956969e-01 -2.78516186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 974.1065599949999 meters 0.012625250041547418 Centerline is valid? [True, True] Translation: X:-243.62, Y:-264.76, Z:-2.79 [[-6.72991442e-01 -7.39617592e-01 6.95246829e-03 -2.43617019e+02] [ 7.39577699e-01 -6.73027353e-01 -7.68184938e-03 -2.64761049e+02] [ 1.03608323e-02 -2.79283929e-05 9.99946325e-01 -2.78547212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 974.136559995 meters 0.012596846697368635 Centerline is valid? [True, True] Translation: X:-243.64, Y:-264.74, Z:-2.79 [[-6.73243066e-01 -7.39383546e-01 7.46632604e-03 -2.43636112e+02] [ 7.39337575e-01 -6.73284465e-01 -8.24497598e-03 -2.64740038e+02] [ 1.11231609e-02 -3.07375155e-05 9.99938135e-01 -2.78650590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 974.166559995 meters 0.01290865861147056 Centerline is valid? [True, True] Translation: X:-243.65, Y:-264.72, Z:-2.79 [[-6.73583622e-01 -7.39063797e-01 8.35506710e-03 -2.43652294e+02] [ 7.39006282e-01 -6.73635437e-01 -9.22029526e-03 -2.64719715e+02] [ 1.24426557e-02 -3.61928169e-05 9.99922587e-01 -2.78858358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 974.1965599949999 meters 0.012823070044317058 Centerline is valid? [True, True] Translation: X:-243.67, Y:-264.70, Z:-2.79 [[-6.73815627e-01 -7.38848097e-01 8.71720884e-03 -2.43669849e+02] [ 7.38785546e-01 -6.73872011e-01 -9.61401668e-03 -2.64698929e+02] [ 1.29775810e-02 -3.79267876e-05 9.99915787e-01 -2.78806495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 974.2265599949999 meters 0.01287907840934581 Centerline is valid? [True, True] Translation: X:-243.69, Y:-264.68, Z:-2.79 [[-6.74467806e-01 -7.38256927e-01 8.35993349e-03 -2.43686806e+02] [ 7.38199424e-01 -6.74519613e-01 -9.21429227e-03 -2.64677679e+02] [ 1.24414542e-02 -4.34454025e-05 9.99922601e-01 -2.78739737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 974.256559995 meters 0.012788782327305293 Centerline is valid? [True, True] Translation: X:-243.71, Y:-264.66, Z:-2.79 [[-6.74866200e-01 -7.37895729e-01 8.09350889e-03 -2.43705339e+02] [ 7.37841868e-01 -6.74914729e-01 -8.91555779e-03 -2.64656284e+02] [ 1.20411804e-02 -4.50788897e-05 9.99927502e-01 -2.78606610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 974.286559995 meters 0.012724450082171596 Centerline is valid? [True, True] Translation: X:-243.72, Y:-264.64, Z:-2.79 [[-6.74943970e-01 -7.37829469e-01 7.63622280e-03 -2.43722535e+02] [ 7.37781558e-01 -6.74987165e-01 -8.40832764e-03 -2.64635555e+02] [ 1.13582643e-02 -4.12856801e-05 9.99935492e-01 -2.78550651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 974.3165599949999 meters 0.01275964893037903 Centerline is valid? [True, True] Translation: X:-243.74, Y:-264.62, Z:-2.78 [[-6.75190886e-01 -7.37617674e-01 6.11830427e-03 -2.43738646e+02] [ 7.37586950e-01 -6.75218606e-01 -6.73248657e-03 -2.64615101e+02] [ 9.09719396e-03 -3.29321923e-05 9.99958619e-01 -2.78407992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 974.3465599949999 meters 0.01264853237099517 Centerline is valid? [True, True] Translation: X:-243.76, Y:-264.60, Z:-2.78 [[-6.74830755e-01 -7.37951762e-01 5.53615707e-03 -2.43755883e+02] [ 7.37926650e-01 -6.74853463e-01 -6.08792700e-03 -2.64595866e+02] [ 8.22869123e-03 -2.30425368e-05 9.99966144e-01 -2.78354039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 974.376559995 meters 0.012595583374728683 Centerline is valid? [True, True] Translation: X:-243.77, Y:-264.58, Z:-2.78 [[-6.73094783e-01 -7.39537838e-01 5.21521439e-03 -2.43774600e+02] [ 7.39515628e-01 -6.73114987e-01 -5.73145199e-03 -2.64576449e+02] [ 7.74906458e-03 -1.07789205e-06 9.99969976e-01 -2.78301412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 974.406559995 meters 0.01260957335984339 Centerline is valid? [True, True] Translation: X:-243.79, Y:-264.56, Z:-2.78 [[-6.71867618e-01 -7.40652705e-01 5.24167839e-03 -2.43793581e+02] [ 7.40630330e-01 -6.71888065e-01 -5.75699798e-03 -2.64557048e+02] [ 7.78575727e-03 1.42054795e-05 9.99969691e-01 -2.78333370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 974.4365599949999 meters 0.01260957335984339 Centerline is valid? [True, True] Translation: X:-243.81, Y:-264.54, Z:-2.78 [[-6.72094186e-01 -7.40447103e-01 5.24343952e-03 -2.43811681e+02] [ 7.40424735e-01 -6.72114639e-01 -5.75539399e-03 -2.64537336e+02] [ 7.78575727e-03 1.42054783e-05 9.99969691e-01 -2.78333350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 974.4665599949999 meters 0.012708668476427556 Centerline is valid? [True, True] Translation: X:-243.83, Y:-264.52, Z:-2.78 [[-6.70477929e-01 -7.41909726e-01 5.41341699e-03 -2.43831299e+02] [ 7.41885962e-01 -6.70499781e-01 -5.93827288e-03 -2.64518065e+02] [ 8.03535732e-03 3.46571632e-05 9.99967716e-01 -2.78345191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 974.496559995 meters 0.012897360214468773 Centerline is valid? [True, True] Translation: X:-243.85, Y:-264.50, Z:-2.78 [[-6.68850003e-01 -7.43376104e-01 5.62510086e-03 -2.43850923e+02] [ 7.43350526e-01 -6.68873655e-01 -6.16688616e-03 -2.64499648e+02] [ 8.34679757e-03 5.66998499e-05 9.99965163e-01 -2.78411941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 974.526559995 meters 0.013590772065599534 Centerline is valid? [True, True] Translation: X:-243.87, Y:-264.48, Z:-2.79 [[-6.65233282e-01 -7.46608697e-01 6.33514595e-03 -2.43872580e+02] [ 7.46576436e-01 -6.65263438e-01 -6.94147701e-03 -2.64481050e+02] [ 9.39710808e-03 1.11969152e-04 9.99955840e-01 -2.78514134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 974.5565599949999 meters 0.01405524156768508 Centerline is valid? [True, True] Translation: X:-243.89, Y:-264.46, Z:-2.79 [[-6.63811152e-01 -7.47871516e-01 6.55371941e-03 -2.43892822e+02] [ 7.47837090e-01 -6.63843489e-01 -7.17701173e-03 -2.64461402e+02] [ 9.71812660e-03 1.36934032e-04 9.99952769e-01 -2.78578340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 974.5865599949999 meters 0.015363375168001953 Centerline is valid? [True, True] Translation: X:-243.91, Y:-264.44, Z:-2.79 [[-6.61254267e-01 -7.50127679e-01 7.15957496e-03 -2.43914199e+02] [ 7.50086774e-01 -6.61292998e-01 -7.83592343e-03 -2.64444205e+02] [ 1.06125198e-02 1.88764683e-04 9.99943668e-01 -2.78727124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 974.616559995 meters 0.015699301861773856 Centerline is valid? [True, True] Translation: X:-243.93, Y:-264.42, Z:-2.79 [[-6.60337730e-01 -7.50931813e-01 7.44954722e-03 -2.43934083e+02] [ 7.50887627e-01 -6.60379715e-01 -8.14887573e-03 -2.64424149e+02] [ 1.10387799e-02 2.12762732e-04 9.99939048e-01 -2.78774738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 974.646559995 meters 0.015421689562805431 Centerline is valid? [True, True] Translation: X:-243.95, Y:-264.40, Z:-2.79 [[-6.59786880e-01 -7.51412143e-01 7.81444037e-03 -2.43952803e+02] [ 7.51363611e-01 -6.59833113e-01 -8.54321969e-03 -2.64402988e+02] [ 1.15757055e-02 2.34781881e-04 9.99932972e-01 -2.78728550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 974.6765599949999 meters 0.015589912427237255 Centerline is valid? [True, True] Translation: X:-243.97, Y:-264.38, Z:-2.79 [[-6.58853079e-01 -7.52228233e-01 8.08119986e-03 -2.43972300e+02] [ 7.52176453e-01 -6.58902586e-01 -8.82989087e-03 -2.64382677e+02] [ 1.19668167e-02 2.60887458e-04 9.99928361e-01 -2.78772592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 974.7065599949999 meters 0.017107824351863095 Centerline is valid? [True, True] Translation: X:-243.99, Y:-264.36, Z:-2.79 [[-6.59123653e-01 -7.51990727e-01 8.12145730e-03 -2.43992060e+02] [ 7.51938481e-01 -6.59173633e-01 -8.86800273e-03 -2.64364617e+02] [ 1.20221063e-02 2.61725925e-04 9.99927698e-01 -2.78937945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 974.736559995 meters 0.016888322505567425 Centerline is valid? [True, True] Translation: X:-244.01, Y:-264.34, Z:-2.79 [[-6.59728893e-01 -7.51460125e-01 8.09127375e-03 -2.44010197e+02] [ 7.51408290e-01 -6.59778460e-01 -8.82981059e-03 -2.64343642e+02] [ 1.19736987e-02 2.54569005e-04 9.99928280e-01 -2.78936571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 974.766559995 meters 0.0162216892884239 Centerline is valid? [True, True] Translation: X:-244.03, Y:-264.32, Z:-2.79 [[-6.60811520e-01 -7.50509641e-01 7.96327881e-03 -2.44027252e+02] [ 7.50459426e-01 -6.60859458e-01 -8.68490147e-03 -2.64322358e+02] [ 1.17807104e-02 2.37034698e-04 9.99930577e-01 -2.78864643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 974.7965599949999 meters 0.014528558024262565 Centerline is valid? [True, True] Translation: X:-244.04, Y:-264.30, Z:-2.79 [[-6.63399525e-01 -7.48233798e-01 6.87413503e-03 -2.44042856e+02] [ 7.48196297e-01 -6.63435117e-01 -7.49311469e-03 -2.64298086e+02] [ 1.01671442e-02 1.72273648e-04 9.99948299e-01 -2.78639321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 974.8265599949999 meters 0.0137893598763792 Centerline is valid? [True, True] Translation: X:-244.06, Y:-264.28, Z:-2.79 [[-6.65251142e-01 -7.46594123e-01 6.17526265e-03 -2.44059968e+02] [ 7.46563824e-01 -6.65279789e-01 -6.72748552e-03 -2.64275752e+02] [ 9.13097858e-03 1.34760277e-04 9.99958303e-01 -2.78538173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 974.8565599949999 meters 0.013229137010205337 Centerline is valid? [True, True] Translation: X:-244.08, Y:-264.25, Z:-2.78 [[-6.69039290e-01 -7.43208166e-01 5.29628647e-03 -2.44075130e+02] [ 7.43185797e-01 -6.69060248e-01 -5.76679654e-03 -2.64253432e+02] [ 7.82946502e-03 7.79114160e-05 9.99969346e-01 -2.78435194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 974.886559995 meters 0.012811483711589751 Centerline is valid? [True, True] Translation: X:-244.09, Y:-264.23, Z:-2.78 [[-6.71065072e-01 -7.41380855e-01 5.10863555e-03 -2.44092267e+02] [ 7.41360016e-01 -6.71084514e-01 -5.55896979e-03 -2.64231555e+02] [ 7.54963998e-03 5.69076713e-05 9.99971500e-01 -2.78388459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 974.916559995 meters 0.01258716702478956 Centerline is valid? [True, True] Translation: X:-244.11, Y:-264.21, Z:-2.78 [[-6.72962305e-01 -7.39660198e-01 4.95249402e-03 -2.44108826e+02] [ 7.39640592e-01 -6.72980527e-01 -5.38567679e-03 -2.64210283e+02] [ 7.31650279e-03 3.87081387e-05 9.99973233e-01 -2.78340402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 974.9465599949999 meters 0.012485296434412966 Centerline is valid? [True, True] Translation: X:-244.12, Y:-264.19, Z:-2.78 [[-6.76322751e-01 -7.36587845e-01 5.08757570e-03 -2.44123793e+02] [ 7.36567094e-01 -6.76341886e-01 -5.52893888e-03 -2.64188784e+02] [ 7.51348972e-03 7.99368886e-06 9.99971773e-01 -2.78370766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 974.9765599949999 meters 0.012439107684949366 Centerline is valid? [True, True] Translation: X:-244.14, Y:-264.17, Z:-2.78 [[-6.77813280e-01 -7.35211563e-01 5.75462786e-03 -2.44141012e+02] [ 7.35184997e-01 -6.77837708e-01 -6.25003436e-03 -2.64168081e+02] [ 8.49580129e-03 -5.64022308e-06 9.99963910e-01 -2.78450088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 975.006559995 meters 0.012567688841807352 Centerline is valid? [True, True] Translation: X:-244.16, Y:-264.15, Z:-2.78 [[-6.79090679e-01 -7.34028225e-01 6.19796867e-03 -2.44159130e+02] [ 7.33997397e-01 -6.79118962e-01 -6.72737723e-03 -2.64147392e+02] [ 9.14724282e-03 -1.92063008e-05 9.99958163e-01 -2.78494090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 975.036559995 meters 0.012610546686079662 Centerline is valid? [True, True] Translation: X:-244.18, Y:-264.13, Z:-2.79 [[-6.79964870e-01 -7.33215513e-01 6.54123461e-03 -2.44177584e+02] [ 7.33181182e-01 -6.79996331e-01 -7.09536275e-03 -2.64129261e+02] [ 9.65044558e-03 -2.86872856e-05 9.99953433e-01 -2.78616208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 975.0665599949999 meters 0.012637304506530982 Centerline is valid? [True, True] Translation: X:-244.20, Y:-264.11, Z:-2.79 [[-6.80484107e-01 -7.32729645e-01 6.97477339e-03 -2.44196302e+02] [ 7.32690635e-01 -6.80519850e-01 -7.56087832e-03 -2.64109627e+02] [ 1.02865514e-02 -3.47063913e-05 9.99947092e-01 -2.78589141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 975.0965599949999 meters 0.012738178379973772 Centerline is valid? [True, True] Translation: X:-244.21, Y:-264.09, Z:-2.79 [[-6.81106552e-01 -7.32148083e-01 7.28354693e-03 -2.44214953e+02] [ 7.32105562e-01 -6.81145493e-01 -7.89067777e-03 -2.64089440e+02] [ 1.07382998e-02 -4.20670998e-05 9.99942342e-01 -2.78605410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 975.126559995 meters 0.01270469442359693 Centerline is valid? [True, True] Translation: X:-244.23, Y:-264.07, Z:-2.79 [[-6.81642644e-01 -7.31647981e-01 7.38505709e-03 -2.44234402e+02] [ 7.31604286e-01 -6.81682646e-01 -7.99614306e-03 -2.64068738e+02] [ 1.08846272e-02 -4.75726762e-05 9.99940760e-01 -2.78544548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 975.156559995 meters 0.012740817445722731 Centerline is valid? [True, True] Translation: X:-244.25, Y:-264.05, Z:-2.79 [[-6.82812543e-01 -7.30555412e-01 7.47132342e-03 -2.44253595e+02] [ 7.30510676e-01 -6.82853415e-01 -8.08498946e-03 -2.64048440e+02] [ 1.10083515e-02 -6.26506946e-05 9.99939404e-01 -2.78578278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 975.1865599949999 meters 0.013029650353599228 Centerline is valid? [True, True] Translation: X:-244.27, Y:-264.03, Z:-2.79 [[-6.83468654e-01 -7.29941775e-01 7.45686220e-03 -2.44271498e+02] [ 7.29897218e-01 -6.83509327e-01 -8.06539267e-03 -2.64029069e+02] [ 1.09841019e-02 -6.97000876e-05 9.99939671e-01 -2.78662843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 975.2165599949999 meters 0.012926864426346558 Centerline is valid? [True, True] Translation: X:-244.29, Y:-264.01, Z:-2.79 [[-6.83987218e-01 -7.29454580e-01 7.58290828e-03 -2.44290780e+02] [ 7.29408532e-01 -6.84029246e-01 -8.19658105e-03 -2.64009353e+02] [ 1.11659646e-02 -7.53186742e-05 9.99937656e-01 -2.78625670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 975.246559995 meters 0.013017551880909474 Centerline is valid? [True, True] Translation: X:-244.31, Y:-263.99, Z:-2.79 [[-6.84723568e-01 -7.28766598e-01 7.27191525e-03 -2.44310323e+02] [ 7.28724263e-01 -6.84762177e-01 -7.85551954e-03 -2.63990306e+02] [ 1.07043728e-02 -7.96382782e-05 9.99942704e-01 -2.78626198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 975.276559995 meters 0.013065266210911312 Centerline is valid? [True, True] Translation: X:-244.33, Y:-263.97, Z:-2.79 [[-6.85268163e-01 -7.28254376e-01 7.28750732e-03 -2.44329140e+02] [ 7.28211883e-01 -6.85306907e-01 -7.86748365e-03 -2.63971006e+02] [ 1.07237085e-02 -8.44866433e-05 9.99942496e-01 -2.78606597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 975.3065599949999 meters 0.013148784135446024 Centerline is valid? [True, True] Translation: X:-244.35, Y:-263.95, Z:-2.79 [[-6.85359629e-01 -7.28167619e-01 7.35511397e-03 -2.44348996e+02] [ 7.28124381e-01 -6.85399090e-01 -7.93558789e-03 -2.63951763e+02] [ 1.08196266e-02 -8.32937724e-05 9.99941463e-01 -2.78563360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 975.3365599949999 meters 0.01306009714355801 Centerline is valid? [True, True] Translation: X:-244.37, Y:-263.93, Z:-2.79 [[-6.85678896e-01 -7.27869382e-01 7.11440531e-03 -2.44368483e+02] [ 7.27828962e-01 -6.85715798e-01 -7.67112032e-03 -2.63932211e+02] [ 1.04620337e-02 -8.18550769e-05 9.99945268e-01 -2.78540866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 975.366559995 meters 0.013045238472716394 Centerline is valid? [True, True] Translation: X:-244.39, Y:-263.91, Z:-2.79 [[-6.85906525e-01 -7.27654748e-01 7.12790059e-03 -2.44387993e+02] [ 7.27614213e-01 -6.85943555e-01 -7.68090372e-03 -2.63912477e+02] [ 1.04783835e-02 -8.20202012e-05 9.99945097e-01 -2.78503322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 975.396559995 meters 0.013050904255111647 Centerline is valid? [True, True] Translation: X:-244.41, Y:-263.89, Z:-2.78 [[-6.86305123e-01 -7.27278068e-01 7.20351840e-03 -2.44407206e+02] [ 7.27236698e-01 -6.86342921e-01 -7.75756146e-03 -2.63893406e+02] [ 1.05859882e-02 -8.53912308e-05 9.99943963e-01 -2.78499311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 975.4265599949999 meters 0.01312107241129098 Centerline is valid? [True, True] Translation: X:-244.43, Y:-263.88, Z:-2.78 [[-6.86493310e-01 -7.27104600e-01 6.77017267e-03 -2.44425905e+02] [ 7.27068097e-01 -6.86526689e-01 -7.28613601e-03 -2.63875459e+02] [ 9.94568724e-03 -7.95070671e-05 9.99950537e-01 -2.78479678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 975.4565599949999 meters 0.013048422676250842 Centerline is valid? [True, True] Translation: X:-244.45, Y:-263.86, Z:-2.78 [[-6.86868076e-01 -7.26752347e-01 6.57819741e-03 -2.44445449e+02] [ 7.26717912e-01 -6.86899571e-01 -7.07511559e-03 -2.63856703e+02] [ 9.66041783e-03 -7.91771440e-05 9.99953334e-01 -2.78403537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 975.486559995 meters 0.01292107183797306 Centerline is valid? [True, True] Translation: X:-244.46, Y:-263.84, Z:-2.78 [[-6.87115496e-01 -7.26525604e-01 5.73071514e-03 -2.44464800e+02] [ 7.26499496e-01 -6.87139390e-01 -6.15958696e-03 -2.63838935e+02] [ 8.41289774e-03 -6.89859922e-05 9.99964609e-01 -2.78350181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 975.516559995 meters 0.012928989892627907 Centerline is valid? [True, True] Translation: X:-244.48, Y:-263.82, Z:-2.78 [[-6.87372313e-01 -7.26283441e-01 5.62734164e-03 -2.44483739e+02] [ 7.26258289e-01 -6.87395344e-01 -6.04473068e-03 -2.63819894e+02] [ 8.25839624e-03 -6.80769965e-05 9.99965897e-01 -2.78299470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 975.5465599949999 meters 0.013086880465488738 Centerline is valid? [True, True] Translation: X:-244.50, Y:-263.80, Z:-2.78 [[-6.87831347e-01 -7.25850469e-01 5.39768792e-03 -2.44501881e+02] [ 7.25827345e-01 -6.87852522e-01 -5.79428131e-03 -2.63801079e+02] [ 7.91859505e-03 -6.76988273e-05 9.99968645e-01 -2.78322281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 975.5765599949999 meters 0.012770378648589181 Centerline is valid? [True, True] Translation: X:-244.52, Y:-263.78, Z:-2.78 [[-6.88087492e-01 -7.25606706e-01 5.52378760e-03 -2.44522229e+02] [ 7.25582508e-01 -6.88109660e-01 -5.92628245e-03 -2.63781456e+02] [ 8.10112189e-03 -6.98371652e-05 9.99967183e-01 -2.78220579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 975.6065599949999 meters 0.012943090310238176 Centerline is valid? [True, True] Translation: X:-244.54, Y:-263.76, Z:-2.78 [[-6.88512210e-01 -7.25203270e-01 5.58155035e-03 -2.44541670e+02] [ 7.25178571e-01 -6.88534830e-01 -5.98577555e-03 -2.63762663e+02] [ 8.18399583e-03 -7.36588443e-05 9.99966508e-01 -2.78235422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 975.636559995 meters 0.013223635009194162 Centerline is valid? [True, True] Translation: X:-244.56, Y:-263.74, Z:-2.78 [[-6.88798694e-01 -7.24930821e-01 5.62701806e-03 -2.44559752e+02] [ 7.24905741e-01 -6.88821674e-01 -6.03056751e-03 -2.63743963e+02] [ 8.24775625e-03 -7.47893321e-05 9.99965984e-01 -2.78265788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 975.666559995 meters 0.01307052093879314 Centerline is valid? [True, True] Translation: X:-244.58, Y:-263.72, Z:-2.78 [[-6.88991908e-01 -7.24744536e-01 5.95887839e-03 -2.44579566e+02] [ 7.24716435e-01 -6.89017671e-01 -6.38264395e-03 -2.63724394e+02] [ 8.73155884e-03 -7.90929282e-05 9.99961876e-01 -2.78264196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 975.6965599949999 meters 0.01313834003240209 Centerline is valid? [True, True] Translation: X:-244.60, Y:-263.71, Z:-2.78 [[-6.88855260e-01 -7.24870337e-01 6.43637130e-03 -2.44599634e+02] [ 7.24837597e-01 -6.88885323e-01 -6.88977369e-03 -2.63705733e+02] [ 9.42811430e-03 -8.07329375e-05 9.99955551e-01 -2.78375667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 975.7265599949999 meters 0.013374142909051773 Centerline is valid? [True, True] Translation: X:-244.62, Y:-263.69, Z:-2.78 [[-6.88872717e-01 -7.24850057e-01 6.83914706e-03 -2.44617912e+02] [ 7.24813139e-01 -6.88906661e-01 -7.31611830e-03 -2.63687108e+02] [ 1.00146227e-02 -8.27706465e-05 9.99949849e-01 -2.78468824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 975.756559995 meters 0.013183471590289547 Centerline is valid? [True, True] Translation: X:-244.64, Y:-263.67, Z:-2.78 [[-6.88179974e-01 -7.25507424e-01 6.87767734e-03 -2.44638070e+02] [ 7.25470166e-01 -6.88214337e-01 -7.35283408e-03 -2.63668240e+02] [ 1.00678519e-02 -7.05234441e-05 9.99949316e-01 -2.78493718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 975.786559995 meters 0.013103563405771184 Centerline is valid? [True, True] Translation: X:-244.66, Y:-263.65, Z:-2.78 [[-6.87888815e-01 -7.25785581e-01 6.65348450e-03 -2.44657788e+02] [ 7.25750768e-01 -6.87920989e-01 -7.10879855e-03 -2.63648870e+02] [ 9.73653512e-03 -6.12915233e-05 9.99952597e-01 -2.78482862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 975.8165599949999 meters 0.013100408844732294 Centerline is valid? [True, True] Translation: X:-244.68, Y:-263.63, Z:-2.78 [[-6.87653062e-01 -7.26010253e-01 6.50995597e-03 -2.44677260e+02] [ 7.25976977e-01 -6.87683874e-01 -6.95119509e-03 -2.63629794e+02] [ 9.52343064e-03 -5.39324368e-05 9.99954650e-01 -2.78491193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 975.8465599949999 meters 0.012860214842687267 Centerline is valid? [True, True] Translation: X:-244.70, Y:-263.61, Z:-2.78 [[-6.87330773e-01 -7.26314932e-01 6.55953792e-03 -2.44696485e+02] [ 7.26281203e-01 -6.87362071e-01 -6.99974129e-03 -2.63611073e+02] [ 9.59279419e-03 -4.70684942e-05 9.99953987e-01 -2.78433188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 975.876559995 meters 0.012778340034257797 Centerline is valid? [True, True] Translation: X:-244.72, Y:-263.59, Z:-2.78 [[-6.86319350e-01 -7.27270160e-01 6.62306258e-03 -2.44716886e+02] [ 7.27235858e-01 -6.86351305e-01 -7.06349851e-03 -2.63591215e+02] [ 9.68281933e-03 -3.12871078e-05 9.99953120e-01 -2.78405756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 975.906559995 meters 0.01280719072745243 Centerline is valid? [True, True] Translation: X:-244.74, Y:-263.57, Z:-2.78 [[-6.85762346e-01 -7.27794005e-01 6.77428651e-03 -2.44736033e+02] [ 7.27758174e-01 -6.85795805e-01 -7.22177404e-03 -2.63571708e+02] [ 9.90174112e-03 -2.23783282e-05 9.99950976e-01 -2.78453074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 975.9365599949999 meters 0.012746147801432836 Centerline is valid? [True, True] Translation: X:-244.75, Y:-263.55, Z:-2.78 [[-6.85271240e-01 -7.28258857e-01 6.50880391e-03 -2.44754802e+02] [ 7.28225833e-01 -6.85302150e-01 -6.93543490e-03 -2.63553019e+02] [ 9.51128921e-03 -1.27749285e-05 9.99954767e-01 -2.78469340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 975.9665599949999 meters 0.012692494917296307 Centerline is valid? [True, True] Translation: X:-244.77, Y:-263.53, Z:-2.78 [[-6.84036330e-01 -7.29423882e-01 5.92455004e-03 -2.44774825e+02] [ 7.29396598e-01 -6.84061986e-01 -6.30892410e-03 -2.63534311e+02] [ 8.65463937e-03 5.81335532e-06 9.99962548e-01 -2.78330282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 975.996559995 meters 0.012734006993910717 Centerline is valid? [True, True] Translation: X:-244.79, Y:-263.52, Z:-2.78 [[-6.83594262e-01 -7.29842497e-01 5.36794592e-03 -2.44793496e+02] [ 7.29820141e-01 -6.83615338e-01 -5.71245027e-03 -2.63515999e+02] [ 7.83879913e-03 1.26368206e-05 9.99969276e-01 -2.78386599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 976.026559995 meters 0.012777427968549538 Centerline is valid? [True, True] Translation: X:-244.81, Y:-263.50, Z:-2.78 [[-6.83271044e-01 -7.30144951e-01 5.38812819e-03 -2.44812758e+02] [ 7.30122464e-01 -6.83292288e-01 -5.73032447e-03 -2.63496122e+02] [ 7.86563392e-03 1.86286506e-05 9.99969065e-01 -2.78290258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 976.0565599949999 meters 0.012763957959878737 Centerline is valid? [True, True] Translation: X:-244.83, Y:-263.48, Z:-2.78 [[-6.82626183e-01 -7.30751881e-01 4.81481422e-03 -2.44831151e+02] [ 7.30733964e-01 -6.82643162e-01 -5.11723164e-03 -2.63478035e+02] [ 7.02622666e-03 2.51919847e-05 9.99975316e-01 -2.78293865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 976.0865599949999 meters 0.012831919920880034 Centerline is valid? [True, True] Translation: X:-244.85, Y:-263.46, Z:-2.78 [[-6.82397537e-01 -7.30967163e-01 4.53950590e-03 -2.44849768e+02] [ 7.30951262e-01 -6.82412636e-01 -4.82148755e-03 -2.63459017e+02] [ 6.62216527e-03 2.79863412e-05 9.99978073e-01 -2.78301639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 976.116559995 meters 0.01281139029535026 Centerline is valid? [True, True] Translation: X:-244.87, Y:-263.44, Z:-2.78 [[-6.82154945e-01 -7.31194166e-01 4.44105772e-03 -2.44868888e+02] [ 7.31178969e-01 -6.82169401e-01 -4.71423403e-03 -2.63438403e+02] [ 6.47657411e-03 3.13699488e-05 9.99979026e-01 -2.78220412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 976.146559995 meters 0.012851654776690528 Centerline is valid? [True, True] Translation: X:-244.89, Y:-263.42, Z:-2.78 [[-6.81737357e-01 -7.31583611e-01 4.42666456e-03 -2.44888712e+02] [ 7.31568538e-01 -6.81751728e-01 -4.69629363e-03 -2.63418110e+02] [ 6.45361767e-03 3.67697147e-05 9.99979175e-01 -2.78234034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 976.1765599949999 meters 0.013058456452176006 Centerline is valid? [True, True] Translation: X:-244.91, Y:-263.40, Z:-2.78 [[-6.80225145e-01 -7.32989925e-01 4.41844664e-03 -2.44908860e+02] [ 7.32974955e-01 -6.80239493e-01 -4.68490673e-03 -2.63399138e+02] [ 6.43959133e-03 5.18193658e-05 9.99979264e-01 -2.78215969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 976.2065599949999 meters 0.013307853009952223 Centerline is valid? [True, True] Translation: X:-244.93, Y:-263.38, Z:-2.78 [[-6.79604804e-01 -7.33565192e-01 4.40687842e-03 -2.44928464e+02] [ 7.33550330e-01 -6.79619089e-01 -4.66984252e-03 -2.63380333e+02] [ 6.42063262e-03 5.90197052e-05 9.99979386e-01 -2.78244960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 976.236559995 meters 0.013619569273040323 Centerline is valid? [True, True] Translation: X:-244.95, Y:-263.36, Z:-2.78 [[-6.78828155e-01 -7.34284276e-01 4.35182202e-03 -2.44947748e+02] [ 7.34269818e-01 -6.78842100e-01 -4.60844885e-03 -2.63361858e+02] [ 6.33811153e-03 6.70667387e-05 9.99979912e-01 -2.78266922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 976.266559995 meters 0.013628084121221363 Centerline is valid? [True, True] Translation: X:-244.97, Y:-263.34, Z:-2.78 [[-6.78034410e-01 -7.35018364e-01 4.16464027e-03 -2.44967483e+02] [ 7.35005151e-01 -6.78047196e-01 -4.40775401e-03 -2.63341862e+02] [ 6.06360280e-03 7.24231620e-05 9.99981614e-01 -2.78194938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 976.2965599949999 meters 0.013704160607589175 Centerline is valid? [True, True] Translation: X:-244.99, Y:-263.32, Z:-2.78 [[-6.78015972e-01 -7.35034811e-01 4.26242691e-03 -2.44986873e+02] [ 7.35020986e-01 -6.78029366e-01 -4.50870073e-03 -2.63321227e+02] [ 6.20410261e-03 7.60021251e-05 9.99980752e-01 -2.78180064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 976.3265599949999 meters 0.013791149526436368 Centerline is valid? [True, True] Translation: X:-245.01, Y:-263.30, Z:-2.78 [[-6.78288672e-01 -7.34783544e-01 4.19780592e-03 -2.45005318e+02] [ 7.34770149e-01 -6.78301657e-01 -4.43740083e-03 -2.63302135e+02] [ 6.10790782e-03 7.45837703e-05 9.99981344e-01 -2.78186515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 976.3565599949999 meters 0.013791149526436368 Centerline is valid? [True, True] Translation: X:-245.02, Y:-263.28, Z:-2.78 [[-6.78518150e-01 -7.34571635e-01 4.19919188e-03 -2.45023783e+02] [ 7.34558244e-01 -6.78531140e-01 -4.43608929e-03 -2.63282770e+02] [ 6.10790782e-03 7.45839096e-05 9.99981344e-01 -2.78186495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 976.386559995 meters 0.013961779452595031 Centerline is valid? [True, True] Translation: X:-245.04, Y:-263.26, Z:-2.78 [[-6.78768325e-01 -7.34338179e-01 4.58243405e-03 -2.45042186e+02] [ 7.34322243e-01 -6.78783789e-01 -4.83861159e-03 -2.63263518e+02] [ 6.66365917e-03 8.06869648e-05 9.99977794e-01 -2.78234176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 976.416559995 meters 0.013913057890531443 Centerline is valid? [True, True] Translation: X:-245.06, Y:-263.24, Z:-2.78 [[-6.79263959e-01 -7.33875934e-01 5.15634157e-03 -2.45060622e+02] [ 7.33855768e-01 -6.79283524e-01 -5.44106530e-03 -2.63244122e+02] [ 7.49568475e-03 8.80914424e-05 9.99971903e-01 -2.78307880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 976.4465599949999 meters 0.013694448576530727 Centerline is valid? [True, True] Translation: X:-245.08, Y:-263.22, Z:-2.78 [[-6.79703188e-01 -7.33464306e-01 5.80423189e-03 -2.45079690e+02] [ 7.33438769e-01 -6.79727963e-01 -6.12125994e-03 -2.63223223e+02] [ 8.43502439e-03 9.64087963e-05 9.99964420e-01 -2.78319883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 976.4765599949999 meters 0.013713061764203446 Centerline is valid? [True, True] Translation: X:-245.10, Y:-263.20, Z:-2.78 [[-6.80528525e-01 -7.32690607e-01 6.73800227e-03 -2.45098204e+02] [ 7.32656196e-01 -6.80561874e-01 -7.10178700e-03 -2.63203018e+02] [ 9.78904008e-03 1.03670474e-04 9.99952081e-01 -2.78452964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 976.506559995 meters 0.013616970422342944 Centerline is valid? [True, True] Translation: X:-245.12, Y:-263.18, Z:-2.78 [[-6.80886350e-01 -7.32353962e-01 7.17305202e-03 -2.45116550e+02] [ 7.32314990e-01 -6.80924124e-01 -7.55603202e-03 -2.63182380e+02] [ 1.04179942e-02 1.08134455e-04 9.99945726e-01 -2.78434476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 976.536559995 meters 0.013718613818889674 Centerline is valid? [True, True] Translation: X:-245.13, Y:-263.16, Z:-2.78 [[-6.81569427e-01 -7.31716404e-01 7.36344520e-03 -2.45134979e+02] [ 7.31675348e-01 -6.81609194e-01 -7.75194679e-03 -2.63162404e+02] [ 1.06912186e-02 1.04161397e-04 9.99942842e-01 -2.78485887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 976.5665599949999 meters 0.013529561521189955 Centerline is valid? [True, True] Translation: X:-245.15, Y:-263.14, Z:-2.78 [[-6.82797128e-01 -7.30568185e-01 7.62951636e-03 -2.45151887e+02] [ 7.30524094e-01 -6.82839746e-01 -8.02677961e-03 -2.63141617e+02] [ 1.10738468e-02 9.28834669e-05 9.99938679e-01 -2.78444287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 976.5965599949999 meters 0.013491163822083443 Centerline is valid? [True, True] Translation: X:-245.17, Y:-263.12, Z:-2.78 [[-6.83592719e-01 -7.29825908e-01 7.42562494e-03 -2.45169917e+02] [ 7.29784150e-01 -6.83633043e-01 -7.80744653e-03 -2.63121006e+02] [ 1.07744793e-02 8.19897885e-05 9.99941950e-01 -2.78419848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 976.626559995 meters 0.013362586153457952 Centerline is valid? [True, True] Translation: X:-245.19, Y:-263.10, Z:-2.78 [[-6.84548337e-01 -7.28931591e-01 7.23265869e-03 -2.45188292e+02] [ 7.28891970e-01 -6.84586541e-01 -7.60028269e-03 -2.63099560e+02] [ 1.04914669e-02 6.90659683e-05 9.99944961e-01 -2.78319345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 976.656559995 meters 0.013258280865146292 Centerline is valid? [True, True] Translation: X:-245.21, Y:-263.08, Z:-2.78 [[-6.85488526e-01 -7.28050127e-01 6.96375417e-03 -2.45206053e+02] [ 7.28013399e-01 -6.85523894e-01 -7.31310816e-03 -2.63079296e+02] [ 1.00981292e-02 5.66546121e-05 9.99949011e-01 -2.78291907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 976.6865599949999 meters 0.013149542960517582 Centerline is valid? [True, True] Translation: X:-245.22, Y:-263.06, Z:-2.78 [[-6.86976845e-01 -7.26648964e-01 6.64062700e-03 -2.45222328e+02] [ 7.26615544e-01 -6.87008939e-01 -6.96918268e-03 -2.63058464e+02] [ 9.62631948e-03 3.75156719e-05 9.99953665e-01 -2.78232681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 976.7165599949999 meters 0.013122613039538086 Centerline is valid? [True, True] Translation: X:-245.24, Y:-263.04, Z:-2.78 [[-6.87823079e-01 -7.25849992e-01 6.41884715e-03 -2.45240342e+02] [ 7.25818771e-01 -6.87853028e-01 -6.73225880e-03 -2.63037948e+02] [ 9.30183344e-03 2.83167704e-05 9.99956737e-01 -2.78219837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 976.746559995 meters 0.013104000734487965 Centerline is valid? [True, True] Translation: X:-245.26, Y:-263.02, Z:-2.78 [[-6.88437888e-01 -7.25266293e-01 6.48685037e-03 -2.45258516e+02] [ 7.25234420e-01 -6.88468448e-01 -6.79939734e-03 -2.63017234e+02] [ 9.39736551e-03 2.35244228e-05 9.99955844e-01 -2.78213999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 976.776559995 meters 0.013090413055743209 Centerline is valid? [True, True] Translation: X:-245.28, Y:-263.00, Z:-2.78 [[-6.88982228e-01 -7.24748295e-01 6.58771379e-03 -2.45276904e+02] [ 7.24715437e-01 -6.89013722e-01 -6.90122790e-03 -2.62996200e+02] [ 9.54067835e-03 1.93944977e-05 9.99954487e-01 -2.78136265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 976.8065599949999 meters 0.01313173978047615 Centerline is valid? [True, True] Translation: X:-245.29, Y:-262.97, Z:-2.78 [[-6.89872488e-01 -7.23899040e-01 6.79192433e-03 -2.45294283e+02] [ 7.23864114e-01 -6.89905921e-01 -7.11092891e-03 -2.62974972e+02] [ 9.83338343e-03 1.07960692e-05 9.99951651e-01 -2.78149613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 976.8365599949999 meters 0.013100720645630802 Centerline is valid? [True, True] Translation: X:-245.31, Y:-262.95, Z:-2.78 [[-6.90129928e-01 -7.23651939e-01 6.96807861e-03 -2.45312814e+02] [ 7.23615206e-01 -6.90165105e-01 -7.29119884e-03 -2.62953714e+02] [ 1.00854149e-02 1.03331044e-05 9.99949141e-01 -2.78133221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 976.866559995 meters 0.01316058673670973 Centerline is valid? [True, True] Translation: X:-245.33, Y:-262.93, Z:-2.78 [[-6.90456494e-01 -7.23333101e-01 7.68473793e-03 -2.45330167e+02] [ 7.23288455e-01 -6.90499258e-01 -8.03651903e-03 -2.62931992e+02] [ 1.11193861e-02 9.41546790e-06 9.99938178e-01 -2.78211776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 976.896559995 meters 0.013194213362110562 Centerline is valid? [True, True] Translation: X:-245.35, Y:-262.91, Z:-2.78 [[-6.90596727e-01 -7.23193698e-01 8.18761137e-03 -2.45348516e+02] [ 7.23143068e-01 -6.90645261e-01 -8.55728084e-03 -2.62911439e+02] [ 1.18433066e-02 1.11842712e-05 9.99929866e-01 -2.78281829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 976.9265599949999 meters 0.013217038983616388 Centerline is valid? [True, True] Translation: X:-245.37, Y:-262.89, Z:-2.78 [[-6.90628790e-01 -7.23158215e-01 8.60642958e-03 -2.45367290e+02] [ 7.23102334e-01 -6.90682414e-01 -8.98991558e-03 -2.62890417e+02] [ 1.24454409e-02 1.46347922e-05 9.99922553e-01 -2.78294179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 976.9565599949999 meters 0.013245565914932837 Centerline is valid? [True, True] Translation: X:-245.39, Y:-262.87, Z:-2.78 [[-6.90592385e-01 -7.23189258e-01 8.91373343e-03 -2.45385495e+02] [ 7.23129389e-01 -6.90649909e-01 -9.30535649e-03 -2.62870206e+02] [ 1.28858030e-02 1.95742819e-05 9.99916975e-01 -2.78347398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 976.986559995 meters 0.013213936169686302 Centerline is valid? [True, True] Translation: X:-245.40, Y:-262.85, Z:-2.78 [[-6.89904699e-01 -7.23842017e-01 9.17831337e-03 -2.45403153e+02] [ 7.23778678e-01 -6.89965748e-01 -9.57556659e-03 -2.62849704e+02] [ 1.32639193e-02 3.68391356e-05 9.99912030e-01 -2.78347138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 977.016559995 meters 0.013305428035036638 Centerline is valid? [True, True] Translation: X:-245.42, Y:-262.83, Z:-2.78 [[-6.89734690e-01 -7.24003644e-01 9.20763941e-03 -2.45420995e+02] [ 7.23939999e-01 -6.89796145e-01 -9.59985393e-03 -2.62830561e+02] [ 1.33017234e-02 4.44261877e-05 9.99911527e-01 -2.78418243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 977.0465599949999 meters 0.013309695675887639 Centerline is valid? [True, True] Translation: X:-245.44, Y:-262.81, Z:-2.78 [[-6.89424835e-01 -7.24294767e-01 9.51249424e-03 -2.45439646e+02] [ 7.24226942e-01 -6.89490455e-01 -9.91213334e-03 -2.62810087e+02] [ 1.37380803e-02 5.55337197e-05 9.99905627e-01 -2.78413787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 977.0765599949999 meters 0.013429323461703198 Centerline is valid? [True, True] Translation: X:-245.46, Y:-262.79, Z:-2.79 [[-6.89253048e-01 -7.24460429e-01 9.34468702e-03 -2.45457309e+02] [ 7.24395077e-01 -6.89316388e-01 -9.73084042e-03 -2.62790917e+02] [ 1.34910547e-02 6.22338532e-05 9.99908990e-01 -2.78538864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 977.1065599949999 meters 0.01328833375322966 Centerline is valid? [True, True] Translation: X:-245.47, Y:-262.77, Z:-2.78 [[-6.88829157e-01 -7.24867334e-01 9.04105368e-03 -2.45474276e+02] [ 7.24806272e-01 -6.88888484e-01 -9.40875817e-03 -2.62769495e+02] [ 1.30483792e-02 7.19854442e-05 9.99914864e-01 -2.78391837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 977.136559995 meters 0.013316752155843855 Centerline is valid? [True, True] Translation: X:-245.49, Y:-262.75, Z:-2.78 [[-6.88648147e-01 -7.25042888e-01 8.74869820e-03 -2.45492105e+02] [ 7.24985798e-01 -6.88703713e-01 -9.09879943e-03 -2.62749499e+02] [ 1.26222808e-02 7.68105795e-05 9.99920333e-01 -2.78350803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 977.166559995 meters 0.013499907546693782 Centerline is valid? [True, True] Translation: X:-245.51, Y:-262.73, Z:-2.78 [[-6.88250678e-01 -7.25428291e-01 8.04982157e-03 -2.45510541e+02] [ 7.25380048e-01 -6.88297747e-01 -8.36645022e-03 -2.62730192e+02] [ 1.16099337e-02 8.09649309e-05 9.99932599e-01 -2.78372901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 977.1965599949999 meters 0.014057918316350074 Centerline is valid? [True, True] Translation: X:-245.53, Y:-262.71, Z:-2.78 [[-6.86364268e-01 -7.27221804e-01 7.24845837e-03 -2.45530361e+02] [ 7.27182838e-01 -6.86402533e-01 -7.52876602e-03 -2.62712389e+02] [ 1.04504430e-02 1.03478550e-04 9.99945387e-01 -2.78305698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 977.2265599949999 meters 0.013866994605750794 Centerline is valid? [True, True] Translation: X:-245.55, Y:-262.69, Z:-2.78 [[-6.85291382e-01 -7.28234886e-01 7.04788017e-03 -2.45548768e+02] [ 7.28198148e-01 -6.85327613e-01 -7.31582442e-03 -2.62692740e+02] [ 1.01577455e-02 1.18781862e-04 9.99948402e-01 -2.78173105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 977.256559995 meters 0.015040153471613398 Centerline is valid? [True, True] Translation: X:-245.57, Y:-262.68, Z:-2.78 [[-6.83013262e-01 -7.30373265e-01 6.91218849e-03 -2.45570083e+02] [ 7.30338079e-01 -6.83048220e-01 -7.17073902e-03 -2.62675668e+02] [ 9.95867411e-03 1.50524614e-04 9.99950400e-01 -2.78280359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 977.286559995 meters 0.015014482396820062 Centerline is valid? [True, True] Translation: X:-245.59, Y:-262.66, Z:-2.78 [[-6.82495218e-01 -7.30857540e-01 6.89443416e-03 -2.45589294e+02] [ 7.30822603e-01 -6.82530022e-01 -7.14793578e-03 -2.62656151e+02] [ 9.92978106e-03 1.60176328e-04 9.99950686e-01 -2.78269541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 977.3165599949999 meters 0.014933369861867806 Centerline is valid? [True, True] Translation: X:-245.61, Y:-262.64, Z:-2.78 [[-6.82248176e-01 -7.31086737e-01 7.04342362e-03 -2.45607913e+02] [ 7.31050331e-01 -6.82284512e-01 -7.29785678e-03 -2.62636786e+02] [ 1.01409851e-02 1.70147690e-04 9.99948565e-01 -2.78269793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 977.3465599949999 meters 0.014841496064842736 Centerline is valid? [True, True] Translation: X:-245.63, Y:-262.62, Z:-2.78 [[-6.82454351e-01 -7.30894253e-01 7.04620067e-03 -2.45626897e+02] [ 7.30857855e-01 -6.82490704e-01 -7.29615976e-03 -2.62617361e+02] [ 1.01416877e-02 1.70475137e-04 9.99948557e-01 -2.78300744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 977.376559995 meters 0.014782435985437447 Centerline is valid? [True, True] Translation: X:-245.65, Y:-262.60, Z:-2.78 [[-6.83003399e-01 -7.30376654e-01 7.50332861e-03 -2.45646110e+02] [ 7.30335401e-01 -6.83044590e-01 -7.76466148e-03 -2.62598488e+02] [ 1.07962355e-02 1.76656331e-04 9.99941704e-01 -2.78379059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 977.406559995 meters 0.015073214376056155 Centerline is valid? [True, True] Translation: X:-245.66, Y:-262.58, Z:-2.78 [[-6.83610656e-01 -7.29808948e-01 7.44117626e-03 -2.45664856e+02] [ 7.29768396e-01 -6.83651132e-01 -7.69532133e-03 -2.62580330e+02] [ 1.07032829e-02 1.69731606e-04 9.99942704e-01 -2.78430850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 977.4365599949999 meters 0.014455093363796913 Centerline is valid? [True, True] Translation: X:-245.68, Y:-262.56, Z:-2.78 [[-6.84211948e-01 -7.29244036e-01 7.55958718e-03 -2.45683250e+02] [ 7.29202201e-01 -6.84253688e-01 -7.81286118e-03 -2.62560372e+02] [ 1.08701578e-02 1.66814647e-04 9.99940904e-01 -2.78376461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 977.4665599949999 meters 0.01431582779280319 Centerline is valid? [True, True] Translation: X:-245.70, Y:-262.54, Z:-2.78 [[-6.85255290e-01 -7.28262295e-01 7.69530861e-03 -2.45703003e+02] [ 7.28218938e-01 -6.85298479e-01 -7.94817328e-03 -2.62540999e+02] [ 1.10619382e-02 1.57341673e-04 9.99938803e-01 -2.78422182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 977.496559995 meters 0.014325901797483992 Centerline is valid? [True, True] Translation: X:-245.72, Y:-262.52, Z:-2.78 [[-6.85920999e-01 -7.27635087e-01 7.71772372e-03 -2.45722002e+02] [ 7.27591495e-01 -6.85964400e-01 -7.96612536e-03 -2.62522290e+02] [ 1.10905160e-02 1.51217473e-04 9.99938487e-01 -2.78466393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 977.526559995 meters 0.014077705231591296 Centerline is valid? [True, True] Translation: X:-245.74, Y:-262.50, Z:-2.78 [[-6.86760848e-01 -7.26844326e-01 7.54085818e-03 -2.45741042e+02] [ 7.26802714e-01 -6.86802233e-01 -7.77873828e-03 -2.62502206e+02] [ 1.08330100e-02 1.38583295e-04 9.99941312e-01 -2.78401689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 977.5565599949999 meters 0.01384658915761379 Centerline is valid? [True, True] Translation: X:-245.76, Y:-262.48, Z:-2.78 [[-6.87630366e-01 -7.26023844e-01 7.33878877e-03 -2.45760058e+02] [ 7.25984434e-01 -6.87669516e-01 -7.56559688e-03 -2.62482371e+02] [ 1.05394650e-02 1.25512255e-04 9.99944451e-01 -2.78361067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 977.5865599949999 meters 0.013278472179159053 Centerline is valid? [True, True] Translation: X:-245.78, Y:-262.46, Z:-2.78 [[-6.89780735e-01 -7.23984823e-01 6.96513139e-03 -2.45778441e+02] [ 7.23949261e-01 -6.89815894e-01 -7.17633362e-03 -2.62461282e+02] [ 1.00002150e-02 9.23050367e-05 9.99949993e-01 -2.78357377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 977.616559995 meters 0.013139671256274618 Centerline is valid? [True, True] Translation: X:-245.80, Y:-262.44, Z:-2.78 [[-6.91037804e-01 -7.22783254e-01 7.14989435e-03 -2.45796783e+02] [ 7.22745761e-01 -6.91074787e-01 -7.36234124e-03 -2.62441672e+02] [ 1.02624887e-02 7.98997054e-05 9.99947336e-01 -2.78415463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 977.646559995 meters 0.013071550253633324 Centerline is valid? [True, True] Translation: X:-245.82, Y:-262.42, Z:-2.78 [[-6.92300840e-01 -7.21572242e-01 7.28337510e-03 -2.45815567e+02] [ 7.21533312e-01 -6.92339148e-01 -7.49555349e-03 -2.62421047e+02] [ 1.04511490e-02 6.60197892e-05 9.99945383e-01 -2.78453691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 977.6765599949999 meters 0.01298557833326531 Centerline is valid? [True, True] Translation: X:-245.83, Y:-262.40, Z:-2.79 [[-6.94300548e-01 -7.19644973e-01 7.60675289e-03 -2.45833414e+02] [ 7.19602436e-01 -6.94342215e-01 -7.82449623e-03 -2.62401535e+02] [ 1.09125490e-02 4.12858955e-05 9.99940456e-01 -2.78664755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 977.7065599949999 meters 0.012880593288739781 Centerline is valid? [True, True] Translation: X:-245.85, Y:-262.38, Z:-2.79 [[-6.95037228e-01 -7.18931500e-01 7.79431693e-03 -2.45852465e+02] [ 7.18886845e-01 -6.95080929e-01 -8.01292831e-03 -2.62380711e+02] [ 1.11784276e-02 3.39484266e-05 9.99937519e-01 -2.78571411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 977.736559995 meters 0.012852449019547286 Centerline is valid? [True, True] Translation: X:-245.87, Y:-262.36, Z:-2.79 [[-6.95554808e-01 -7.18429694e-01 7.89204856e-03 -2.45870931e+02] [ 7.18383941e-01 -6.95599579e-01 -8.10803960e-03 -2.62361498e+02] [ 1.13147621e-02 2.99350195e-05 9.99935986e-01 -2.78619132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 977.766559995 meters 0.01287770722522822 Centerline is valid? [True, True] Translation: X:-245.89, Y:-262.34, Z:-2.79 [[-6.95879384e-01 -7.18113911e-01 8.01829107e-03 -2.45890795e+02] [ 7.18066721e-01 -6.95925578e-01 -8.23258079e-03 -2.62342203e+02] [ 1.14920646e-02 2.87847206e-05 9.99933964e-01 -2.78624316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 977.7965599949999 meters 0.012832960957691604 Centerline is valid? [True, True] Translation: X:-245.91, Y:-262.32, Z:-2.79 [[-6.95680768e-01 -7.18309585e-01 7.72072745e-03 -2.45910511e+02] [ 7.18265898e-01 -6.95723609e-01 -7.92212565e-03 -2.62322878e+02] [ 1.10620311e-02 3.42647829e-05 9.99938813e-01 -2.78633360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 977.8265599949999 meters 0.012931492164965998 Centerline is valid? [True, True] Translation: X:-245.93, Y:-262.30, Z:-2.79 [[-6.95321031e-01 -7.18660010e-01 7.51357661e-03 -2.45930363e+02] [ 7.18618708e-01 -6.95361624e-01 -7.70480288e-03 -2.62303801e+02] [ 1.07617865e-02 4.20852336e-05 9.99942090e-01 -2.78644333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 977.8565599949999 meters 0.012993591274431964 Centerline is valid? [True, True] Translation: X:-245.95, Y:-262.28, Z:-2.79 [[-6.94514604e-01 -7.19443083e-01 7.14954048e-03 -2.45950297e+02] [ 7.19405773e-01 -6.94551400e-01 -7.32712393e-03 -2.62284704e+02] [ 1.02371720e-02 5.46261172e-05 9.99947597e-01 -2.78569902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 977.886559995 meters 0.013278237364781623 Centerline is valid? [True, True] Translation: X:-245.97, Y:-262.27, Z:-2.79 [[-6.92085511e-01 -7.21784671e-01 6.67338153e-03 -2.45972165e+02] [ 7.21752310e-01 -6.92117679e-01 -6.83531258e-03 -2.62266504e+02] [ 9.55238918e-03 8.59077390e-05 9.99954371e-01 -2.78546360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 977.916559995 meters 0.013453484733170505 Centerline is valid? [True, True] Translation: X:-245.99, Y:-262.25, Z:-2.79 [[-6.91279130e-01 -7.22559412e-01 6.40787259e-03 -2.45992403e+02] [ 7.22529646e-01 -6.91308822e-01 -6.55925699e-03 -2.62247612e+02] [ 9.16927173e-03 9.56004485e-05 9.99957957e-01 -2.78525062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 977.9465599949999 meters 0.013458041933717442 Centerline is valid? [True, True] Translation: X:-246.01, Y:-262.23, Z:-2.78 [[-6.90549260e-01 -7.23261208e-01 5.91131966e-03 -2.46012364e+02] [ 7.23235932e-01 -6.90574554e-01 -6.04754200e-03 -2.62228225e+02] [ 8.45615947e-03 9.91531261e-05 9.99964241e-01 -2.78468522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 977.9765599949999 meters 0.013752268555229059 Centerline is valid? [True, True] Translation: X:-246.03, Y:-262.21, Z:-2.78 [[-6.89777736e-01 -7.23999920e-01 5.54895885e-03 -2.46033280e+02] [ 7.23977696e-01 -6.89800048e-01 -5.67363375e-03 -2.62208750e+02] [ 7.93538246e-03 1.03776198e-04 9.99968509e-01 -2.78469898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 978.006559995 meters 0.014144795637286 Centerline is valid? [True, True] Translation: X:-246.05, Y:-262.19, Z:-2.78 [[-6.88079350e-01 -7.25618582e-01 4.94795414e-03 -2.46054597e+02] [ 7.25600975e-01 -6.88097131e-01 -5.05608240e-03 -2.62190951e+02] [ 7.07346039e-03 1.11254457e-04 9.99974977e-01 -2.78454141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 978.036559995 meters 0.014575094134325494 Centerline is valid? [True, True] Translation: X:-246.08, Y:-262.17, Z:-2.79 [[-6.87364947e-01 -7.26297463e-01 4.62878053e-03 -2.46075090e+02] [ 7.26282088e-01 -6.87380523e-01 -4.72711059e-03 -2.62172537e+02] [ 6.61502201e-03 1.12550267e-04 9.99978114e-01 -2.78501657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 978.0665599949999 meters 0.015031505439905455 Centerline is valid? [True, True] Translation: X:-246.10, Y:-262.16, Z:-2.79 [[-6.86091586e-01 -7.27496693e-01 5.18628231e-03 -2.46096662e+02] [ 7.27477449e-01 -6.86111174e-01 -5.29331378e-03 -2.62155130e+02] [ 7.40923451e-03 1.41205375e-04 9.99972541e-01 -2.78584267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 978.0965599949999 meters 0.01524686889344798 Centerline is valid? [True, True] Translation: X:-246.12, Y:-262.14, Z:-2.79 [[-6.85815425e-01 -7.27755972e-01 5.33368264e-03 -2.46116690e+02] [ 7.27735652e-01 -6.85836149e-01 -5.44034484e-03 -2.62137081e+02] [ 7.61727580e-03 1.50438609e-04 9.99970977e-01 -2.78672583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 978.126559995 meters 0.015331517685745802 Centerline is valid? [True, True] Translation: X:-246.14, Y:-262.12, Z:-2.79 [[-6.85577263e-01 -7.27974430e-01 6.08658551e-03 -2.46136718e+02] [ 7.27948007e-01 -6.85604258e-01 -6.20482862e-03 -2.62117759e+02] [ 8.68994552e-03 1.76828372e-04 9.99962226e-01 -2.78720907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 978.156559995 meters 0.015831511226410272 Centerline is valid? [True, True] Translation: X:-246.16, Y:-262.10, Z:-2.79 [[-6.85401290e-01 -7.28134454e-01 6.72974978e-03 -2.46156521e+02] [ 7.28102192e-01 -6.85434299e-01 -6.85715387e-03 -2.62100265e+02] [ 9.60573131e-03 2.00043463e-04 9.99953844e-01 -2.78858642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 978.1865599949999 meters 0.015411942925784438 Centerline is valid? [True, True] Translation: X:-246.18, Y:-262.08, Z:-2.79 [[-6.85695082e-01 -7.27856537e-01 6.86422475e-03 -2.46175409e+02] [ 7.27823002e-01 -6.85729408e-01 -6.98978205e-03 -2.62080913e+02] [ 9.79455933e-03 2.03081485e-04 9.99952012e-01 -2.78856983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 978.2165599949999 meters 0.01549741096577235 Centerline is valid? [True, True] Translation: X:-246.19, Y:-262.06, Z:-2.79 [[-6.86269839e-01 -7.27313418e-01 6.99282883e-03 -2.46193974e+02] [ 7.27278634e-01 -6.86305436e-01 -7.11605604e-03 -2.62062826e+02] [ 9.97481948e-03 2.02200367e-04 9.99950230e-01 -2.78908612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 978.246559995 meters 0.01549741096577235 Centerline is valid? [True, True] Translation: X:-246.21, Y:-262.04, Z:-2.79 [[-6.86495423e-01 -7.27100477e-01 6.99503615e-03 -2.46212812e+02] [ 7.27065703e-01 -6.86531030e-01 -7.11388628e-03 -2.62043815e+02] [ 9.97481948e-03 2.02200504e-04 9.99950230e-01 -2.78908592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 978.276559995 meters 0.01496505644166719 Centerline is valid? [True, True] Translation: X:-246.23, Y:-262.02, Z:-2.79 [[-6.88224440e-01 -7.25463095e-01 7.10064256e-03 -2.46231667e+02] [ 7.25427216e-01 -6.88261044e-01 -7.21730898e-03 -2.62023221e+02] [ 1.01229870e-02 1.83870938e-04 9.99948745e-01 -2.78950641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 978.3065599949999 meters 0.01438303088767201 Centerline is valid? [True, True] Translation: X:-246.25, Y:-262.00, Z:-2.79 [[-6.89764870e-01 -7.23998963e-01 7.06579883e-03 -2.46250211e+02] [ 7.23963399e-01 -6.89801040e-01 -7.17788126e-03 -2.62002350e+02] [ 1.00707740e-02 1.64329397e-04 9.99949275e-01 -2.78946764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 978.3365599949999 meters 0.013536583541608938 Centerline is valid? [True, True] Translation: X:-246.27, Y:-261.98, Z:-2.79 [[-6.91867497e-01 -7.21992236e-01 6.82480384e-03 -2.46268950e+02] [ 7.21958994e-01 -6.91901144e-01 -6.92950729e-03 -2.61980371e+02] [ 9.72514005e-03 1.32927647e-04 9.99952701e-01 -2.78885301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 978.366559995 meters 0.01336855074903876 Centerline is valid? [True, True] Translation: X:-246.29, Y:-261.96, Z:-2.79 [[-6.94299253e-01 -7.19656087e-01 6.60790666e-03 -2.46286862e+02] [ 7.19624854e-01 -6.94330690e-01 -6.70548156e-03 -2.61959763e+02] [ 9.41371301e-03 9.96030299e-05 9.99955685e-01 -2.78945091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 978.396559995 meters 0.012531833714822194 Centerline is valid? [True, True] Translation: X:-246.30, Y:-261.94, Z:-2.79 [[-7.00255039e-01 -7.13867216e-01 6.03980646e-03 -2.46301253e+02] [ 7.13840934e-01 -7.00281085e-01 -6.12563812e-03 -2.61935362e+02] [ 8.60245445e-03 2.19521239e-05 9.99962998e-01 -2.78870645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 978.4265599949999 meters 0.012444435159516876 Centerline is valid? [True, True] Translation: X:-246.32, Y:-261.91, Z:-2.79 [[-7.03615152e-01 -7.10557897e-01 5.76132719e-03 -2.46318192e+02] [ 7.10533899e-01 -7.03638739e-01 -5.83988526e-03 -2.61913035e+02] [ 8.20346959e-03 -1.54134800e-05 9.99966351e-01 -2.78792824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 978.4565599949999 meters 0.01283101502071027 Centerline is valid? [True, True] Translation: X:-246.33, Y:-261.89, Z:-2.79 [[-7.07040804e-01 -7.07151085e-01 5.53571588e-03 -2.46334415e+02] [ 7.07128851e-01 -7.07062473e-01 -5.60784718e-03 -2.61891374e+02] [ 7.87969217e-03 -5.05123741e-05 9.99968954e-01 -2.78785323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 978.486559995 meters 0.013179776880913839 Centerline is valid? [True, True] Translation: X:-246.35, Y:-261.87, Z:-2.79 [[-7.10386573e-01 -7.03790838e-01 5.41960546e-03 -2.46351765e+02] [ 7.03769453e-01 -7.10407242e-01 -5.48711540e-03 -2.61869386e+02] [ 7.71190852e-03 -8.38203398e-05 9.99970259e-01 -2.78742128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 978.516559995 meters 0.014375761011149416 Centerline is valid? [True, True] Translation: X:-246.37, Y:-261.85, Z:-2.79 [[-7.15415745e-01 -6.98681488e-01 4.94878002e-03 -2.46368170e+02] [ 6.98663554e-01 -7.15432850e-01 -5.00759871e-03 -2.61846302e+02] [ 7.03923631e-03 -1.24982728e-04 9.99975217e-01 -2.78664834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 978.5465599949999 meters 0.014744025831047601 Centerline is valid? [True, True] Translation: X:-246.39, Y:-261.83, Z:-2.79 [[-7.16691871e-01 -6.97377755e-01 4.12661107e-03 -2.46387187e+02] [ 6.97365278e-01 -7.16703742e-01 -4.17317634e-03 -2.61827024e+02] [ 5.86783795e-03 -1.13126284e-04 9.99982778e-01 -2.78639761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 978.5765599949999 meters 0.015206622094891719 Centerline is valid? [True, True] Translation: X:-246.41, Y:-261.81, Z:-2.79 [[-7.18026917e-01 -6.96001301e-01 4.41985165e-03 -2.46406233e+02] [ 6.95986977e-01 -7.18040508e-01 -4.46723684e-03 -2.61806747e+02] [ 6.28283518e-03 -1.31437110e-04 9.99980254e-01 -2.78669133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 978.6065599949999 meters 0.015542254483097744 Centerline is valid? [True, True] Translation: X:-246.42, Y:-261.79, Z:-2.79 [[-7.18588999e-01 -6.95417144e-01 4.98458218e-03 -2.46424141e+02] [ 6.95398929e-01 -7.18606271e-01 -5.03558351e-03 -2.61787381e+02] [ 7.08378311e-03 -1.52241804e-04 9.99974898e-01 -2.78681586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 978.636559995 meters 0.015552463402980802 Centerline is valid? [True, True] Translation: X:-246.44, Y:-261.77, Z:-2.79 [[-7.18600631e-01 -6.95403313e-01 5.23114333e-03 -2.46443617e+02] [ 6.95383275e-01 -7.18619654e-01 -5.28139864e-03 -2.61768464e+02] [ 7.43190453e-03 -1.57566815e-04 9.99972371e-01 -2.78701278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 978.666559995 meters 0.01541072655540838 Centerline is valid? [True, True] Translation: X:-246.46, Y:-261.75, Z:-2.79 [[-7.18277906e-01 -6.95735698e-01 5.35610426e-03 -2.46463245e+02] [ 6.95714726e-01 -7.18297859e-01 -5.40422337e-03 -2.61750195e+02] [ 7.60718934e-03 -1.55413635e-04 9.99971053e-01 -2.78725616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 978.6965599949999 meters 0.014966572852496645 Centerline is valid? [True, True] Translation: X:-246.48, Y:-261.73, Z:-2.79 [[-7.17078685e-01 -6.96965639e-01 6.08747796e-03 -2.46484764e+02] [ 6.96938626e-01 -7.17104506e-01 -6.13836943e-03 -2.61732770e+02] [ 8.64359045e-03 -1.59095351e-04 9.99962631e-01 -2.78842197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 978.7265599949999 meters 0.014488670182208521 Centerline is valid? [True, True] Translation: X:-246.51, Y:-261.71, Z:-2.79 [[-7.16115169e-01 -6.97956950e-01 5.92963814e-03 -2.46506089e+02] [ 6.97931381e-01 -7.16139704e-01 -5.97590560e-03 -2.61714860e+02] [ 8.41737415e-03 -1.40956116e-04 9.99964564e-01 -2.78865279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 978.756559995 meters 0.014611078435934627 Centerline is valid? [True, True] Translation: X:-246.53, Y:-261.70, Z:-2.79 [[-7.14996691e-01 -6.99103427e-01 5.84202641e-03 -2.46525376e+02] [ 6.99078678e-01 -7.15020547e-01 -5.88377319e-03 -2.61697611e+02] [ 8.29053493e-03 -1.22842262e-04 9.99965626e-01 -2.78959015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 978.786559995 meters 0.013743639150059201 Centerline is valid? [True, True] Translation: X:-246.55, Y:-261.68, Z:-2.79 [[-7.13585660e-01 -7.00544959e-01 5.68033851e-03 -2.46547316e+02] [ 7.00521632e-01 -7.13608261e-01 -5.71781063e-03 -2.61680244e+02] [ 8.05911990e-03 -1.00947672e-04 9.99967520e-01 -2.78905325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 978.8165599949999 meters 0.012839771445468228 Centerline is valid? [True, True] Translation: X:-246.57, Y:-261.66, Z:-2.79 [[-7.09650502e-01 -7.04532960e-01 5.42902698e-03 -2.46569770e+02] [ 7.04511789e-01 -7.09671266e-01 -5.46198376e-03 -2.61664423e+02] [ 7.70097204e-03 -5.12860024e-05 9.99970346e-01 -2.78846980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 978.8465599949999 meters 0.012536604207425984 Centerline is valid? [True, True] Translation: X:-246.59, Y:-261.65, Z:-2.79 [[-7.07263728e-01 -7.06932529e-01 4.94154345e-03 -2.46590902e+02] [ 7.06915064e-01 -7.07280991e-01 -4.96921542e-03 -2.61647989e+02] [ 7.00795977e-03 -2.12943184e-05 9.99975444e-01 -2.78811426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 978.876559995 meters 0.01236642976533995 Centerline is valid? [True, True] Translation: X:-246.61, Y:-261.63, Z:-2.79 [[-7.04823370e-01 -7.09369543e-01 4.34391283e-03 -2.46612981e+02] [ 7.09356109e-01 -7.04836755e-01 -4.36562600e-03 -2.61631399e+02] [ 6.15859154e-03 4.38587809e-06 9.99981036e-01 -2.78752853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 978.906559995 meters 0.012823754026738821 Centerline is valid? [True, True] Translation: X:-246.64, Y:-261.62, Z:-2.79 [[-6.99431983e-01 -7.14688375e-01 3.92771340e-03 -2.46638378e+02] [ 7.14677488e-01 -6.99443010e-01 -3.94516073e-03 -2.61616456e+02] [ 5.56677219e-03 4.76767573e-05 9.99984504e-01 -2.78649493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 978.9365599949999 meters 0.01323941277601637 Centerline is valid? [True, True] Translation: X:-246.66, Y:-261.60, Z:-2.79 [[-6.97152054e-01 -7.16914964e-01 3.45675184e-03 -2.46660325e+02] [ 7.16906567e-01 -6.97160621e-01 -3.47015245e-03 -2.61598965e+02] [ 4.89771548e-03 5.89441871e-05 9.99988005e-01 -2.78630221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 978.9665599949999 meters 0.01397885226655898 Centerline is valid? [True, True] Translation: X:-246.68, Y:-261.58, Z:-2.79 [[-6.95129336e-01 -7.18877126e-01 3.29902918e-03 -2.46681907e+02] [ 7.18869510e-01 -6.95137161e-01 -3.30985009e-03 -2.61582381e+02] [ 4.67265330e-03 7.07975957e-05 9.99989081e-01 -2.78621595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 978.996559995 meters 0.015032911927009531 Centerline is valid? [True, True] Translation: X:-246.70, Y:-261.57, Z:-2.79 [[-6.92008771e-01 -7.21884887e-01 2.46383459e-03 -2.46704883e+02] [ 7.21880664e-01 -6.92013154e-01 -2.47044871e-03 -2.61566185e+02] [ 3.48838553e-03 6.90223720e-05 9.99993913e-01 -2.78588168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 979.026559995 meters 0.015310093905526486 Centerline is valid? [True, True] Translation: X:-246.73, Y:-261.55, Z:-2.79 [[-6.91188186e-01 -7.22671127e-01 2.30963707e-03 -2.46725946e+02] [ 7.22667424e-01 -6.91192041e-01 -2.31453680e-03 -2.61547333e+02] [ 3.26905168e-03 6.93189799e-05 9.99994654e-01 -2.78557309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 979.0565599949999 meters 0.015691328151110896 Centerline is valid? [True, True] Translation: X:-246.75, Y:-261.53, Z:-2.79 [[-6.90643926e-01 -7.23192036e-01 2.06056445e-03 -2.46747055e+02] [ 7.23189094e-01 -6.90646997e-01 -2.06378144e-03 -2.61528095e+02] [ 2.91563295e-03 6.48396231e-05 9.99995748e-01 -2.78513515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 979.0865599949999 meters 0.016348965290152086 Centerline is valid? [True, True] Translation: X:-246.77, Y:-261.51, Z:-2.79 [[-6.90068647e-01 -7.23740639e-01 2.17942819e-03 -2.46768701e+02] [ 7.23737354e-01 -6.90072085e-01 -2.18194150e-03 -2.61511125e+02] [ 3.08312229e-03 7.16441711e-05 9.99995245e-01 -2.78577536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 979.116559995 meters 0.016065696612579762 Centerline is valid? [True, True] Translation: X:-246.79, Y:-261.49, Z:-2.79 [[-6.90118457e-01 -7.23692299e-01 2.44374371e-03 -2.46788035e+02] [ 7.23688173e-01 -6.90122779e-01 -2.44493801e-03 -2.61492628e+02] [ 3.45586601e-03 8.12115746e-05 9.99994025e-01 -2.78621973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 979.146559995 meters 0.016122584118710526 Centerline is valid? [True, True] Translation: X:-246.81, Y:-261.47, Z:-2.79 [[-6.90273385e-01 -7.23543239e-01 2.79917117e-03 -2.46807974e+02] [ 7.23537832e-01 -6.90279054e-01 -2.79877686e-03 -2.61473594e+02] [ 3.95724530e-03 9.33850618e-05 9.99992166e-01 -2.78688242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 979.1765599949999 meters 0.01643812312429195 Centerline is valid? [True, True] Translation: X:-247.25, Y:-261.92, Z:-1.79 [[-7.70107146e-01 6.37903040e-01 3.83343859e-03 -2.47253610e+02] [ 6.37894389e-01 7.70116679e-01 -3.32421489e-03 -2.61918623e+02] [-5.07272178e-03 -1.14672674e-04 -9.99987127e-01 -1.79444447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 979.2065599949999 meters 0.015586829908617332 Centerline is valid? [True, True] Translation: X:-247.24, Y:-261.90, Z:-1.79 [[-8.12960864e-01 5.82298544e-01 4.80000796e-03 -2.47238056e+02] [ 5.82287430e-01 8.12975023e-01 -3.60006646e-03 -2.61897570e+02] [-5.99860004e-03 -1.31728835e-04 -9.99982000e-01 -1.79381452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 979.236559995 meters 0.015367472968541462 Centerline is valid? [True, True] Translation: X:-247.22, Y:-261.88, Z:-1.79 [[-8.51591049e-01 5.24171371e-01 6.08757045e-03 -2.47222110e+02] [ 5.24156699e-01 8.51612794e-01 -3.92476226e-03 -2.61875404e+02] [-7.24150090e-03 -1.51451579e-04 -9.99973769e-01 -1.79271766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 979.266559995 meters 0.014530318326369005 Centerline is valid? [True, True] Translation: X:-247.21, Y:-261.85, Z:-1.79 [[-8.85377589e-01 4.64814437e-01 7.35282240e-03 -2.47208577e+02] [ 4.64796954e-01 8.85408107e-01 -4.03439371e-03 -2.61854746e+02] [-8.38549300e-03 -1.54392327e-04 -9.99964829e-01 -1.79187354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 979.2965599949999 meters 0.014231911076284662 Centerline is valid? [True, True] Translation: X:-246.90, Y:-261.30, Z:-2.79 [[-8.32956125e-01 -5.53287769e-01 7.53253927e-03 -2.46897406e+02] [ 5.53267256e-01 -8.32990160e-01 -4.76831837e-03 -2.61299681e+02] [ 8.91278332e-03 1.95707335e-04 9.99960261e-01 -2.79197985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 979.3265599949999 meters 0.013900600808376008 Centerline is valid? [True, True] Translation: X:-247.25, Y:-261.84, Z:-1.79 [[-8.85605335e-01 4.64366511e-01 8.18128541e-03 -2.47246400e+02] [ 4.64345207e-01 8.85643113e-01 -4.45036387e-03 -2.61838213e+02] [-9.31229902e-03 -1.42325324e-04 -9.99956630e-01 -1.79075365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 979.3565599949999 meters 0.013605588652526542 Centerline is valid? [True, True] Translation: X:-247.24, Y:-261.81, Z:-1.79 [[-9.15599682e-01 4.01992216e-01 8.91519306e-03 -2.47236811e+02] [ 4.01971742e-01 9.15643075e-01 -4.05930837e-03 -2.61814236e+02] [-9.79494516e-03 -1.33045769e-04 -9.99952020e-01 -1.79032641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 979.386559995 meters 0.01349697237239369 Centerline is valid? [True, True] Translation: X:-247.22, Y:-261.79, Z:-1.79 [[-9.40417521e-01 3.39888132e-01 9.53647260e-03 -2.47224760e+02] [ 3.39869604e-01 9.40465868e-01 -3.55017569e-03 -2.61793363e+02] [-1.01753896e-02 -9.74902546e-05 -9.99948225e-01 -1.78867975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 979.416559995 meters 0.012990771911516482 Centerline is valid? [True, True] Translation: X:-246.99, Y:-261.18, Z:-2.79 [[-9.08391318e-01 -4.18014414e-01 9.44263125e-03 -2.46990880e+02] [ 4.17993079e-01 -9.08440388e-01 -4.22469224e-03 -2.61180840e+02] [ 1.03440498e-02 1.09280761e-04 9.99946493e-01 -2.79359596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 979.4465599949999 meters 0.01274637350436376 Centerline is valid? [True, True] Translation: X:-247.27, Y:-261.79, Z:-1.79 [[-9.40192704e-01 3.40510135e-01 9.51458838e-03 -2.47268382e+02] [ 3.40492130e-01 9.40240844e-01 -3.50196466e-03 -2.61785025e+02] [-1.01384591e-02 -5.28791576e-05 -9.99948603e-01 -1.78968943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 979.4765599949999 meters 0.012667450037825228 Centerline is valid? [True, True] Translation: X:-247.27, Y:-261.76, Z:-1.79 [[-9.60748952e-01 2.77240224e-01 9.96542151e-03 -2.47265042e+02] [ 2.77225222e-01 9.60800634e-01 -2.88410015e-03 -2.61762809e+02] [-1.03743719e-02 -8.23000439e-06 -9.99946185e-01 -1.78946679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 979.506559995 meters 0.012719053240492285 Centerline is valid? [True, True] Translation: X:-247.25, Y:-261.74, Z:-1.79 [[-9.77553316e-01 2.10441754e-01 1.01873772e-02 -2.47254575e+02] [ 2.10430470e-01 9.77606397e-01 -2.17931002e-03 -2.61739580e+02] [-1.04178629e-02 1.33428361e-05 -9.99945733e-01 -1.78996354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 979.536559995 meters 0.012781323893146825 Centerline is valid? [True, True] Translation: X:-247.11, Y:-261.07, Z:-2.79 [[-9.62316998e-01 -2.71746371e-01 9.99529615e-03 -2.47108194e+02] [ 2.71731551e-01 -9.62368905e-01 -2.83799488e-03 -2.61071125e+02] [ 1.03903770e-02 -1.50133832e-05 9.99946019e-01 -2.79355378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 979.5665599949999 meters 0.013079490625325308 Centerline is valid? [True, True] Translation: X:-247.30, Y:-261.74, Z:-1.79 [[-9.77365634e-01 2.11344046e-01 9.49270202e-03 -2.47303528e+02] [ 2.11334676e-01 9.77411730e-01 -1.99102541e-03 -2.61736523e+02] [-9.69906968e-03 6.01772906e-05 -9.99952961e-01 -1.79036886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 979.5965599949999 meters 0.013131205920192714 Centerline is valid? [True, True] Translation: X:-247.15, Y:-261.06, Z:-2.79 [[-9.64569001e-01 -2.63680184e-01 8.91088990e-03 -2.47154501e+02] [ 2.63668118e-01 -9.64610156e-01 -2.52387427e-03 -2.61056257e+02] [ 9.26103053e-03 -8.49333096e-05 9.99957112e-01 -2.79202354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 979.626559995 meters 0.013385399525509472 Centerline is valid? [True, True] Translation: X:-247.35, Y:-261.73, Z:-1.79 [[-9.77750774e-01 2.09589829e-01 8.69063441e-03 -2.47351927e+02] [ 2.09582229e-01 9.77789394e-01 -1.78646357e-03 -2.61730803e+02] [-8.87203474e-03 7.46863927e-05 -9.99960640e-01 -1.79114375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 979.656559995 meters 0.013418198457058047 Centerline is valid? [True, True] Translation: X:-247.35, Y:-261.70, Z:-1.79 [[-9.90071347e-01 1.40312571e-01 8.43272847e-03 -2.47347245e+02] [ 1.40308145e-01 9.90107255e-01 -1.11711225e-03 -2.61704815e+02] [-8.50605053e-03 7.71596624e-05 -9.99963820e-01 -1.79187416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 979.6865599949999 meters 0.013420126158118518 Centerline is valid? [True, True] Translation: X:-247.35, Y:-261.68, Z:-1.79 [[-9.97545566e-01 6.95484662e-02 8.11503684e-03 -2.47347085e+02] [ 6.95467592e-02 9.97578571e-01 -4.92697502e-04 -2.61676884e+02] [-8.12965321e-03 7.28863034e-05 -9.99966951e-01 -1.79194538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 979.7165599949999 meters 0.013292439557324252 Centerline is valid? [True, True] Translation: X:-247.30, Y:-260.97, Z:-2.79 [[-9.92821469e-01 -1.19341242e-01 7.94972045e-03 -2.47301540e+02] [ 1.19336776e-01 -9.92853293e-01 -1.03544631e-03 -2.60973439e+02] [ 8.01647758e-03 -7.93193198e-05 9.99967865e-01 -2.79127477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 979.746559995 meters 0.012987163512699611 Centerline is valid? [True, True] Translation: X:-247.42, Y:-261.67, Z:-1.79 [[-9.98048378e-01 6.19179757e-02 8.09939184e-03 -2.47416393e+02] [ 6.19163258e-02 9.98081240e-01 -4.54533969e-04 -2.61671050e+02] [-8.11199487e-03 4.78376929e-05 -9.99967096e-01 -1.79153508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 979.776559995 meters 0.01279374157105226 Centerline is valid? [True, True] Translation: X:-247.38, Y:-260.97, Z:-2.79 [[-9.92936423e-01 -1.18387278e-01 7.85570832e-03 -2.47375011e+02] [ 1.18383098e-01 -9.92967497e-01 -9.96562088e-04 -2.60971853e+02] [ 7.91844330e-03 -5.95397062e-05 9.99968647e-01 -2.79102879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 979.8065599949999 meters 0.012852228523054524 Centerline is valid? [True, True] Translation: X:-247.48, Y:-261.67, Z:-1.79 [[-9.98449455e-01 5.50451497e-02 8.28964787e-03 -2.47484505e+02] [ 5.50435004e-02 9.98483866e-01 -4.27156080e-04 -2.61665611e+02] [-8.30059252e-03 2.97974809e-05 -9.99965549e-01 -1.79097487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 979.8365599949999 meters 0.012642437367893304 Centerline is valid? [True, True] Translation: X:-247.49, Y:-261.64, Z:-1.79 [[-9.99812529e-01 -1.76661356e-02 7.92551388e-03 -2.47486375e+02] [-1.76654554e-02 9.99843942e-01 1.55820295e-04 -2.61636531e+02] [-7.92702978e-03 1.57832710e-05 -9.99968581e-01 -1.79146109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 979.866559995 meters 0.012585214429009806 Centerline is valid? [True, True] Translation: X:-247.50, Y:-260.94, Z:-2.79 [[-9.98797882e-01 -4.83769122e-02 7.90346786e-03 -2.47503525e+02] [ 4.83752655e-02 -9.98829152e-01 -3.99492952e-04 -2.60941876e+02] [ 7.91354034e-03 -1.66803579e-05 9.99968687e-01 -2.79197085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 979.896559995 meters 0.01254030358690352 Centerline is valid? [True, True] Translation: X:-247.58, Y:-261.64, Z:-1.79 [[-9.99595226e-01 -2.72932714e-02 8.02879770e-03 -2.47576080e+02] [-2.72925144e-02 9.99627469e-01 2.03851302e-04 -2.61635640e+02] [-8.03137049e-03 -1.53572884e-05 -9.99967748e-01 -1.79135839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 979.9265599949999 meters 0.012634874870197252 Centerline is valid? [True, True] Translation: X:-247.59, Y:-261.61, Z:-1.79 [[-9.94983585e-01 -9.97354328e-02 7.77871312e-03 -2.47586814e+02] [-9.97325851e-02 9.95013991e-01 7.54097253e-04 -2.61607466e+02] [-7.81513860e-03 -2.54767794e-05 -9.99969461e-01 -1.79133871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 979.9565599949999 meters 0.012754045728052438 Centerline is valid? [True, True] Translation: X:-247.60, Y:-261.58, Z:-1.79 [[-9.84821998e-01 -1.73406346e-01 7.47470094e-03 -2.47596541e+02] [-1.73401717e-01 9.84850363e-01 1.26791834e-03 -2.61578172e+02] [-7.58132702e-03 -4.74521001e-05 -9.99971260e-01 -1.79178068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 979.986559995 meters 0.01290695582048104 Centerline is valid? [True, True] Translation: X:-247.62, Y:-261.55, Z:-1.79 [[-9.69435349e-01 -2.45237848e-01 7.31452403e-03 -2.47622123e+02] [-2.45231338e-01 9.69462941e-01 1.78796873e-03 -2.61553846e+02] [-7.52963759e-03 -6.04304226e-05 -9.99971650e-01 -1.79208496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 980.016559995 meters 0.013127618019789976 Centerline is valid? [True, True] Translation: X:-247.81, Y:-260.90, Z:-2.79 [[-9.86806537e-01 1.61747269e-01 7.11896113e-03 -2.47812130e+02] [-1.61742791e-01 -9.86832215e-01 1.20409379e-03 -2.60898950e+02] [ 7.21997906e-03 3.67669757e-05 9.99973935e-01 -2.79112427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 980.0465599949999 meters 0.013463577480579556 Centerline is valid? [True, True] Translation: X:-247.76, Y:-261.58, Z:-1.79 [[-9.66652104e-01 -2.56014116e-01 6.36252153e-03 -2.47762714e+02] [-2.56009114e-01 9.66673040e-01 1.60232417e-03 -2.61583292e+02] [-6.56069564e-03 -7.99734746e-05 -9.99978475e-01 -1.79221339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 980.0765599949999 meters 0.013623243089182491 Centerline is valid? [True, True] Translation: X:-247.95, Y:-260.94, Z:-2.79 [[-9.86269056e-01 1.65020560e-01 6.44702945e-03 -2.47952337e+02] [-1.65016510e-01 -9.86290124e-01 1.15888681e-03 -2.60935136e+02] [ 6.54988163e-03 7.91079056e-05 9.99978546e-01 -2.79099550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 980.1065599949999 meters 0.01369646999678212 Centerline is valid? [True, True] Translation: X:-247.90, Y:-261.62, Z:-1.79 [[-9.64435978e-01 -2.64252677e-01 5.81100651e-03 -2.47902867e+02] [-2.64248400e-01 9.64453480e-01 1.50587975e-03 -2.61615007e+02] [-6.00237821e-03 -8.32245627e-05 -9.99981982e-01 -1.79198551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 980.136559995 meters 0.01414513925147415 Centerline is valid? [True, True] Translation: X:-247.94, Y:-261.60, Z:-1.79 [[-9.42689725e-01 -3.33629596e-01 5.23203843e-03 -2.47940779e+02] [-3.33624919e-01 9.42704241e-01 1.76845411e-03 -2.61595593e+02] [-5.52227344e-03 -7.84348768e-05 -9.99984749e-01 -1.79177613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 980.166559995 meters 0.01414513925147415 Centerline is valid? [True, True] Translation: X:-248.00, Y:-261.59, Z:-1.79 [[-9.15626714e-01 -4.01997304e-01 5.08796737e-03 -2.48001606e+02] [-4.01991573e-01 9.15640847e-01 2.14813866e-03 -2.61588926e+02] [-5.52229670e-03 -7.84268651e-05 -9.99984749e-01 -1.79177544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 980.1965599949999 meters 0.013768862264693411 Centerline is valid? [True, True] Translation: X:-248.07, Y:-261.59, Z:-1.79 [[-8.83487440e-01 -4.68437640e-01 4.01510409e-03 -2.48067590e+02] [-4.68433130e-01 8.83496561e-01 2.05653652e-03 -2.61589013e+02] [-4.51068977e-03 -6.38835936e-05 -9.99989825e-01 -1.79235443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 980.2265599949999 meters 0.014163738405016136 Centerline is valid? [True, True] Translation: X:-248.15, Y:-261.60, Z:-1.79 [[-8.46266678e-01 -5.32747473e-01 3.58325659e-03 -2.48145143e+02] [-5.32742994e-01 8.46274262e-01 2.18523857e-03 -2.61599419e+02] [-4.19659815e-03 -5.96602611e-05 -9.99991193e-01 -1.79224625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 980.256559995 meters 0.013891041189375635 Centerline is valid? [True, True] Translation: X:-248.22, Y:-261.62, Z:-1.79 [[-8.04338017e-01 -5.94164478e-01 2.98788639e-03 -2.48223765e+02] [-5.94160611e-01 8.04343565e-01 2.14411711e-03 -2.61618806e+02] [-3.67724541e-03 -5.06894999e-05 -9.99993238e-01 -1.79244481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 980.286559995 meters 0.013825151241280042 Centerline is valid? [True, True] Translation: X:-248.30, Y:-261.65, Z:-1.79 [[-7.57549563e-01 -6.52770958e-01 2.95573928e-03 -2.48304194e+02] [-6.52766260e-01 7.57555327e-01 2.47712896e-03 -2.61646548e+02] [-3.85613388e-03 -5.28589129e-05 -9.99992564e-01 -1.79198641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 980.3165599949999 meters 0.013821914510426535 Centerline is valid? [True, True] Translation: X:-248.39, Y:-261.69, Z:-1.79 [[-7.06315571e-01 -7.07890563e-01 3.04387047e-03 -2.48392121e+02] [-7.07884339e-01 7.06322127e-01 2.96902147e-03 -2.61688214e+02] [-4.25169534e-03 -5.76421436e-05 -9.99990960e-01 -1.79158877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 980.3465599949999 meters 0.01387496415546715 Centerline is valid? [True, True] Translation: X:-248.47, Y:-261.73, Z:-1.79 [[-6.50784383e-01 -7.59257280e-01 2.84067484e-03 -2.48473920e+02] [-7.59250431e-01 6.50790580e-01 3.22557587e-03 -2.61733765e+02] [-4.29772639e-03 -5.76291906e-05 -9.99990763e-01 -1.79070682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 980.376559995 meters 0.013793117306528414 Centerline is valid? [True, True] Translation: X:-248.56, Y:-261.80, Z:-1.79 [[-5.91686812e-01 -8.06160440e-01 3.47304022e-03 -2.48558919e+02] [-8.06147287e-01 5.91697000e-01 4.60555453e-03 -2.61795421e+02] [-5.76780335e-03 -7.47360671e-05 -9.99983363e-01 -1.78929352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 980.406559995 meters 0.013669227907193833 Centerline is valid? [True, True] Translation: X:-248.64, Y:-261.86, Z:-1.79 [[-5.28876112e-01 -8.48692280e-01 3.38708622e-03 -2.48638137e+02] [-8.48675829e-01 5.28886952e-01 5.28490779e-03 -2.61861384e+02] [-6.27664615e-03 -7.94767169e-05 -9.99980299e-01 -1.78867991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 980.4365599949999 meters 0.013405984255931784 Centerline is valid? [True, True] Translation: X:-248.72, Y:-261.94, Z:-1.79 [[-4.63113307e-01 -8.86293763e-01 3.07110214e-03 -2.48715666e+02] [-8.86275380e-01 4.63123483e-01 5.70872766e-03 -2.61940348e+02] [-6.48190924e-03 -7.80544758e-05 -9.99978989e-01 -1.78821385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 980.4665599949999 meters 0.013182882547642055 Centerline is valid? [True, True] Translation: X:-248.79, Y:-262.03, Z:-1.79 [[-3.95555436e-01 -9.18437823e-01 2.80401573e-03 -2.48787155e+02] [-9.18416009e-01 3.95565368e-01 6.33044708e-03 -2.62028146e+02] [-6.92329355e-03 -7.12101847e-05 -9.99976031e-01 -1.78739976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 980.496559995 meters 0.013013531310101521 Centerline is valid? [True, True] Translation: X:-248.85, Y:-262.13, Z:-1.79 [[-3.25214840e-01 -9.45637062e-01 2.41956594e-03 -2.48854253e+02] [-9.45612367e-01 3.25223834e-01 6.83444542e-03 -2.62125697e+02] [-7.24980540e-03 -6.53083951e-05 -9.99973718e-01 -1.78731804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 980.526559995 meters 0.012884762876463332 Centerline is valid? [True, True] Translation: X:-248.91, Y:-262.22, Z:-1.79 [[-2.53112646e-01 -9.67434953e-01 1.89747325e-03 -2.48912165e+02] [-9.67409373e-01 2.53119752e-01 7.03535039e-03 -2.62223282e+02] [-7.28653184e-03 -5.48972463e-05 -9.99973452e-01 -1.78690253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 980.5565599949999 meters 0.012577883371546621 Centerline is valid? [True, True] Translation: X:-248.96, Y:-262.33, Z:-1.79 [[-1.81500533e-01 -9.83389958e-01 1.32185081e-03 -2.48960464e+02] [-9.83364999e-01 1.81505344e-01 7.00631940e-03 -2.62326193e+02] [-7.12986713e-03 -2.82111139e-05 -9.99974582e-01 -1.78689305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 980.5865599949999 meters 0.012403568668608443 Centerline is valid? [True, True] Translation: X:-249.00, Y:-262.43, Z:-1.79 [[-1.07216914e-01 -9.94235371e-01 7.48243410e-04 -2.49002698e+02] [-9.94212075e-01 1.07219523e-01 6.80614975e-03 -2.62434520e+02] [-6.84714113e-03 -1.41782641e-05 -9.99976558e-01 -1.78744561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 980.616559995 meters 0.012337623419460271 Centerline is valid? [True, True] Translation: X:-249.04, Y:-262.55, Z:-1.79 [[-3.24427688e-02 -9.99473572e-01 2.13115820e-04 -2.49036874e+02] [-9.99452021e-01 3.24434687e-02 6.56349457e-03 -2.62549014e+02] [-6.56695358e-03 -6.10998400e-08 -9.99978437e-01 -1.78783994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 980.646559995 meters 0.012308346095893756 Centerline is valid? [True, True] Translation: X:-249.06, Y:-262.67, Z:-1.79 [[ 4.13110222e-02 -9.99146313e-01 -2.11642232e-04 -2.49061604e+02] [-9.99135045e-01 -4.13115615e-02 4.74529865e-03 -2.62671102e+02] [-4.74999092e-03 1.54260330e-05 -9.99988719e-01 -1.78900982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 980.6765599949999 meters 0.012414752854035184 Centerline is valid? [True, True] Translation: X:-249.08, Y:-262.78, Z:-1.79 [[ 1.17176718e-01 -9.93110964e-01 -4.79306086e-04 -2.49080084e+02] [-9.93103229e-01 -1.17177697e-01 3.91976204e-03 -2.62782078e+02] [-3.94892265e-03 1.66955712e-05 -9.99992203e-01 -1.78954191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 980.7065599949999 meters 0.012360261464772088 Centerline is valid? [True, True] Translation: X:-249.09, Y:-262.90, Z:-1.79 [[ 1.92275777e-01 -9.81340741e-01 -6.12662883e-04 -2.49088759e+02] [-9.81336027e-01 -1.92276753e-01 3.04183301e-03 -2.62902640e+02] [-3.10287549e-03 1.63573532e-05 -9.99995186e-01 -1.79015558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 980.736559995 meters 0.012566019286943148 Centerline is valid? [True, True] Translation: X:-249.09, Y:-263.02, Z:-1.79 [[ 2.66192767e-01 -9.63919486e-01 -7.97451416e-04 -2.49087407e+02] [-9.63915367e-01 -2.66193961e-01 2.81781169e-03 -2.63024216e+02] [-2.92842034e-03 1.85945848e-05 -9.99995712e-01 -1.79012604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 980.766559995 meters 0.012726168133448594 Centerline is valid? [True, True] Translation: X:-249.08, Y:-263.14, Z:-1.79 [[ 3.37420639e-01 -9.41353406e-01 -1.03811197e-03 -2.49076806e+02] [-9.41349183e-01 -3.37422235e-01 2.81968336e-03 -2.63142666e+02] [-3.00460060e-03 2.58064949e-05 -9.99995486e-01 -1.79010520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 980.7965599949999 meters 0.012882032520942046 Centerline is valid? [True, True] Translation: X:-249.06, Y:-263.26, Z:-1.79 [[ 4.07703666e-01 -9.13113266e-01 -1.37287503e-03 -2.49059308e+02] [-9.13108351e-01 -4.07705976e-01 2.99620549e-03 -2.63257323e+02] [-3.29560434e-03 3.20196864e-05 -9.99994569e-01 -1.78988522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 980.8265599949999 meters 0.012962281456123001 Centerline is valid? [True, True] Translation: X:-249.03, Y:-263.37, Z:-1.79 [[ 4.75924466e-01 -8.79485151e-01 -1.33076515e-03 -2.49032443e+02] [-8.79481882e-01 -4.75926326e-01 2.39841963e-03 -2.63372043e+02] [-2.74272062e-03 2.89172513e-05 -9.99996238e-01 -1.78982696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 980.8565599949999 meters 0.013156706553595863 Centerline is valid? [True, True] Translation: X:-249.00, Y:-263.48, Z:-1.79 [[ 5.41542295e-01 -8.40672036e-01 -1.57177231e-03 -2.48998687e+02] [-8.40668662e-01 -5.41544575e-01 2.38204736e-03 -2.63482337e+02] [-2.85370537e-03 3.13603315e-05 -9.99995928e-01 -1.78988050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 980.886559995 meters 0.013178385000549808 Centerline is valid? [True, True] Translation: X:-248.95, Y:-263.60, Z:-1.79 [[ 6.04056369e-01 -7.96939373e-01 -1.88100884e-03 -2.48953375e+02] [-7.96935687e-01 -6.04059297e-01 2.42416087e-03 -2.63595450e+02] [-3.06815013e-03 3.47132603e-05 -9.99995293e-01 -1.78922062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 980.916559995 meters 0.013033431841072848 Centerline is valid? [True, True] Translation: X:-248.91, Y:-263.69, Z:-1.79 [[ 6.63324674e-01 -7.48329066e-01 -1.99649180e-03 -2.48910114e+02] [-7.48325825e-01 -6.63327678e-01 2.20255992e-03 -2.63693454e+02] [-2.97256788e-03 3.30140281e-05 -9.99995582e-01 -1.78920621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 980.9465599949999 meters 0.01296666638941297 Centerline is valid? [True, True] Translation: X:-248.86, Y:-263.79, Z:-1.79 [[ 7.19066724e-01 -6.94938562e-01 -1.85542108e-03 -2.48858801e+02] [-6.94936341e-01 -7.19069117e-01 1.75689134e-03 -2.63788241e+02] [-2.55510754e-03 2.60774360e-05 -9.99996736e-01 -1.78936736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 980.9765599949999 meters 0.01284377808773715 Centerline is valid? [True, True] Translation: X:-248.86, Y:-263.80, Z:-1.79 [[ 7.71507533e-01 -6.36216991e-01 -2.01664978e-03 -2.48862084e+02] [-6.36214902e-01 -7.71510169e-01 1.63027614e-03 -2.63796780e+02] [-2.59307519e-03 2.52523205e-05 -9.99996638e-01 -1.78945746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 981.006559995 meters 0.01270348598528996 Centerline is valid? [True, True] Translation: X:-248.87, Y:-263.81, Z:-1.79 [[ 8.19141054e-01 -5.73588910e-01 -1.92232027e-03 -2.48865030e+02] [-5.73587393e-01 -8.19143310e-01 1.31953931e-03 -2.63805976e+02] [-2.33152890e-03 2.17298505e-05 -9.99997282e-01 -1.78956713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 981.036559995 meters 0.0126601008523274 Centerline is valid? [True, True] Translation: X:-248.87, Y:-263.82, Z:-1.79 [[ 8.61663529e-01 -5.07474664e-01 -2.33001353e-03 -2.48868250e+02] [-5.07472884e-01 -8.61666679e-01 1.34445331e-03 -2.63817049e+02] [-2.68997101e-03 2.39522966e-05 -9.99996382e-01 -1.78930041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 981.0665599949999 meters 0.012727281754356301 Centerline is valid? [True, True] Translation: X:-248.87, Y:-263.83, Z:-1.79 [[ 8.98883806e-01 -4.38181108e-01 -2.28486269e-03 -2.48870649e+02] [-4.38179753e-01 -8.98886710e-01 1.08989638e-03 -2.63827266e+02] [-2.53140471e-03 2.14903612e-05 -9.99996796e-01 -1.78921246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 981.0965599949999 meters 0.012694928010848235 Centerline is valid? [True, True] Translation: X:-248.87, Y:-263.84, Z:-1.79 [[ 9.30605763e-01 -3.66016033e-01 -2.27527929e-03 -2.48872112e+02] [-3.66014990e-01 -9.30608545e-01 8.74249340e-04 -2.63837589e+02] [-2.43738363e-03 1.92048516e-05 -9.99997030e-01 -1.78871457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 981.126559995 meters 0.01261248875100425 Centerline is valid? [True, True] Translation: X:-248.87, Y:-263.85, Z:-1.79 [[ 9.56532070e-01 -2.91615283e-01 -2.63184933e-03 -2.48871712e+02] [-2.91614236e-01 -9.56535690e-01 7.81438935e-04 -2.63847697e+02] [-2.74533735e-03 2.00133293e-05 -9.99996232e-01 -1.78858372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 981.156559995 meters 0.012569337786133249 Centerline is valid? [True, True] Translation: X:-248.87, Y:-263.86, Z:-1.79 [[ 9.76552482e-01 -2.15264976e-01 -2.49794483e-03 -2.48871562e+02] [-2.15264316e-01 -9.76555677e-01 5.33418673e-04 -2.63856571e+02] [-2.55420856e-03 1.68070552e-05 -9.99996738e-01 -1.78830772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 981.1865599949999 meters 0.012394866479555426 Centerline is valid? [True, True] Translation: X:-248.87, Y:-263.86, Z:-1.79 [[ 9.90585457e-01 -1.36876270e-01 -2.31074303e-03 -2.48871330e+02] [-1.36875926e-01 -9.90588152e-01 3.06791926e-04 -2.63864755e+02] [-2.33098721e-03 1.23814732e-05 -9.99997283e-01 -1.78828869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 981.2165599949999 meters 0.012255446153209714 Centerline is valid? [True, True] Translation: X:-248.87, Y:-263.88, Z:-1.79 [[ 9.98340499e-01 -5.75414471e-02 -2.28695114e-03 -2.48872547e+02] [-5.75413169e-02 -9.98343118e-01 1.22754176e-04 -2.63875551e+02] [-2.29022539e-03 9.04371549e-06 -9.99997378e-01 -1.78846137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 981.246559995 meters 0.01215473557752068 Centerline is valid? [True, True] Translation: X:-248.87, Y:-263.89, Z:-1.79 [[ 9.99698243e-01 2.44909756e-02 -1.90153698e-03 -2.48872646e+02] [ 2.44909301e-02 -9.99700051e-01 -4.72413037e-05 -2.63888071e+02] [-1.90212361e-03 6.56638969e-07 -9.99998191e-01 -1.78843403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 981.276559995 meters 0.012230095927350734 Centerline is valid? [True, True] Translation: X:-248.87, Y:-263.90, Z:-1.79 [[ 9.94502687e-01 1.04695870e-01 -1.78336010e-03 -2.48872404e+02] [ 1.04695708e-01 -9.94504286e-01 -1.84676108e-04 -2.63898803e+02] [-1.79289409e-03 -3.04926202e-06 -9.99998393e-01 -1.78837270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 981.3065599949999 meters 0.012344036868525683 Centerline is valid? [True, True] Translation: X:-248.87, Y:-263.91, Z:-1.79 [[ 9.82876540e-01 1.84259360e-01 -1.48149853e-03 -2.48870817e+02] [ 1.84259159e-01 -9.82877657e-01 -2.72116184e-04 -2.63908089e+02] [-1.50627175e-03 -5.52305861e-06 -9.99998866e-01 -1.78823374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 981.3365599949999 meters 0.012622191832259868 Centerline is valid? [True, True] Translation: X:-248.87, Y:-263.92, Z:-1.79 [[ 9.64481119e-01 2.64149325e-01 -1.14240828e-03 -2.48867220e+02] [ 2.64149150e-01 -9.64481796e-01 -3.04052472e-04 -2.63919247e+02] [-1.18214725e-03 -8.51330921e-06 -9.99999301e-01 -1.78759978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 981.366559995 meters 0.012723488681514277 Centerline is valid? [True, True] Translation: X:-248.86, Y:-263.93, Z:-1.79 [[ 9.40393856e-01 3.40085128e-01 -1.22515602e-03 -2.48863122e+02] [ 3.40084855e-01 -9.40394654e-01 -4.31199126e-04 -2.63929617e+02] [-1.29877458e-03 -1.11599984e-05 -9.99999157e-01 -1.78701917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 981.396559995 meters 0.012956528869848456 Centerline is valid? [True, True] Translation: X:-248.86, Y:-263.94, Z:-1.79 [[ 9.10331596e-01 4.13877244e-01 -1.41844100e-03 -2.48859488e+02] [ 4.13876769e-01 -9.10332701e-01 -6.27785977e-04 -2.63939343e+02] [-1.55107956e-03 -1.55663677e-05 -9.99998797e-01 -1.78646620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 981.4265599949999 meters 0.013434262724010644 Centerline is valid? [True, True] Translation: X:-248.86, Y:-263.95, Z:-1.79 [[ 8.74335354e-01 4.85318564e-01 -1.89234888e-03 -2.48855864e+02] [ 4.85317490e-01 -8.74337401e-01 -1.02129581e-03 -2.63947003e+02] [-2.15020522e-03 -2.54349756e-05 -9.99997688e-01 -1.78593555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 981.4565599949999 meters 0.013481834982369396 Centerline is valid? [True, True] Translation: X:-248.85, Y:-263.95, Z:-1.79 [[ 8.33395141e-01 5.52675117e-01 -1.65983333e-03 -2.48851420e+02] [ 5.52674078e-01 -8.33396793e-01 -1.07161618e-03 -2.63951685e+02] [-1.97555537e-03 -2.42671403e-05 -9.99998048e-01 -1.78580355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 981.486559995 meters 0.013556528096328074 Centerline is valid? [True, True] Translation: X:-248.85, Y:-263.96, Z:-1.79 [[ 7.87317262e-01 6.16545722e-01 -1.70350797e-03 -2.48846480e+02] [ 6.16544353e-01 -7.87319105e-01 -1.29930596e-03 -2.63956407e+02] [-2.14228590e-03 -2.73222110e-05 -9.99997705e-01 -1.78552483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 981.516559995 meters 0.013948026585600626 Centerline is valid? [True, True] Translation: X:-248.84, Y:-263.96, Z:-1.78 [[ 7.35843364e-01 6.77148144e-01 -2.22134413e-03 -2.48843011e+02] [ 6.77145229e-01 -7.35846716e-01 -1.98749945e-03 -2.63960877e+02] [-2.98040035e-03 -4.16842936e-05 -9.99995558e-01 -1.78465983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 981.5465599949999 meters 0.014146453116347449 Centerline is valid? [True, True] Translation: X:-248.84, Y:-263.96, Z:-1.78 [[ 6.80169737e-01 7.33050471e-01 -2.47685540e-03 -2.48839124e+02] [ 7.33045889e-01 -6.80174245e-01 -2.59257438e-03 -2.63964007e+02] [-3.58518112e-03 -5.22580370e-05 -9.99993572e-01 -1.78408579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 981.5765599949999 meters 0.014248970261870764 Centerline is valid? [True, True] Translation: X:-248.84, Y:-263.97, Z:-1.78 [[ 6.20381540e-01 7.84295612e-01 -2.67165257e-03 -2.48835162e+02] [ 7.84288775e-01 -6.20387289e-01 -3.27543876e-03 -2.63966507e+02] [-4.22637155e-03 -6.33253792e-05 -9.99991067e-01 -1.78342752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 981.6065599949999 meters 0.014266726822424561 Centerline is valid? [True, True] Translation: X:-248.83, Y:-263.97, Z:-1.78 [[ 5.57241253e-01 8.30345076e-01 -3.03989506e-03 -2.48833147e+02] [ 8.30333486e-01 -5.57249539e-01 -4.38790004e-03 -2.63968785e+02] [-5.33745132e-03 -7.90077441e-05 -9.99985753e-01 -1.78192126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 981.636559995 meters 0.013715360790875283 Centerline is valid? [True, True] Translation: X:-248.83, Y:-263.97, Z:-1.78 [[ 4.91007950e-01 8.71149629e-01 -3.08503168e-03 -2.48829013e+02] [ 8.71133535e-01 -4.91017634e-01 -5.29597434e-03 -2.63971473e+02] [-6.12839104e-03 -8.71090550e-05 -9.99981218e-01 -1.78182336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 981.666559995 meters 0.013404156760374313 Centerline is valid? [True, True] Translation: X:-248.82, Y:-263.97, Z:-1.78 [[ 4.22239409e-01 9.06480708e-01 -2.57054100e-03 -2.48822900e+02] [ 9.06465021e-01 -4.22247227e-01 -5.33342998e-03 -2.63974316e+02] [-5.92005519e-03 -7.81211707e-05 -9.99982473e-01 -1.78209304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 981.6965599949999 meters 0.013016343847949571 Centerline is valid? [True, True] Translation: X:-248.82, Y:-263.98, Z:-1.78 [[ 3.52466166e-01 9.35822293e-01 -2.05871977e-03 -2.48819908e+02] [ 9.35807304e-01 -3.52472173e-01 -5.29685841e-03 -2.63977223e+02] [-5.68255961e-03 -5.96016284e-05 -9.99983853e-01 -1.78257431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 981.7265599949999 meters 0.012909575259016664 Centerline is valid? [True, True] Translation: X:-248.82, Y:-263.98, Z:-1.78 [[ 2.79700212e-01 9.60086094e-01 -1.57611772e-03 -2.48816528e+02] [ 9.60071809e-01 -2.79704648e-01 -5.23751353e-03 -2.63980338e+02] [-5.46931136e-03 -4.82525439e-05 -9.99985042e-01 -1.78291655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 981.756559995 meters 0.012756766748167619 Centerline is valid? [True, True] Translation: X:-248.81, Y:-263.98, Z:-1.78 [[ 2.05514388e-01 9.78653395e-01 -1.16961676e-03 -2.48814482e+02] [ 9.78638585e-01 -2.05517713e-01 -5.38416912e-03 -2.63983478e+02] [-5.50961235e-03 -3.81078733e-05 -9.99984821e-01 -1.78310918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 981.786559995 meters 0.012273179176126407 Centerline is valid? [True, True] Translation: X:-248.81, Y:-263.99, Z:-1.78 [[ 1.33075869e-01 9.91105558e-01 -7.65838110e-04 -2.48813187e+02] [ 9.91089635e-01 -1.33078072e-01 -5.61797802e-03 -2.63985641e+02] [-5.66992550e-03 -1.13969047e-05 -9.99983926e-01 -1.78356258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 981.8165599949999 meters 0.012322073675976828 Centerline is valid? [True, True] Translation: X:-248.81, Y:-263.99, Z:-1.78 [[ 5.69106667e-02 9.98379222e-01 -3.23524377e-04 -2.48806033e+02] [ 9.98363173e-01 -5.69115862e-02 -5.66086402e-03 -2.63988451e+02] [-5.67010131e-03 -8.31278352e-07 -9.99983925e-01 -1.78360902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 981.8465599949999 meters 0.012288063530874773 Centerline is valid? [True, True] Translation: X:-248.80, Y:-263.99, Z:-1.78 [[-2.05323651e-02 9.99789182e-01 1.18618652e-04 -2.48797589e+02] [ 9.99773668e-01 2.05327073e-02 -5.56956242e-03 -2.63990138e+02] [-5.57082382e-03 4.23551590e-06 -9.99984483e-01 -1.78361265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 981.876559995 meters 0.012354305433133319 Centerline is valid? [True, True] Translation: X:-248.79, Y:-263.99, Z:-1.78 [[-9.82413257e-02 9.95162475e-01 5.38207043e-04 -2.48789735e+02] [ 9.95147945e-01 9.82427997e-02 -5.37774691e-03 -2.63992593e+02] [-5.40460689e-03 7.27864693e-06 -9.99985395e-01 -1.78307103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 981.906559995 meters 0.012437207377741764 Centerline is valid? [True, True] Translation: X:-248.78, Y:-263.99, Z:-1.78 [[-1.75719424e-01 9.84439632e-01 1.13804072e-03 -2.48780159e+02] [ 9.84419346e-01 1.75723109e-01 -6.31978409e-03 -2.63993857e+02] [-6.42142598e-03 9.80047938e-06 -9.99979383e-01 -1.78357373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 981.9365599949999 meters 0.01253711656572998 Centerline is valid? [True, True] Translation: X:-248.77, Y:-263.99, Z:-1.78 [[-2.52269664e-01 9.67655292e-01 1.80372455e-03 -2.48771869e+02] [ 9.67630864e-01 2.52276112e-01 -6.87562440e-03 -2.63994812e+02] [-7.10827095e-03 1.08280860e-05 -9.99974736e-01 -1.78322271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 981.9665599949999 meters 0.01258012575770994 Centerline is valid? [True, True] Translation: X:-248.76, Y:-263.99, Z:-1.78 [[-3.26850560e-01 9.45072339e-01 2.64305184e-03 -2.48764082e+02] [ 9.45041842e-01 3.26861246e-01 -7.59231530e-03 -2.63994385e+02] [-8.03919839e-03 1.62420742e-05 -9.99967685e-01 -1.78286545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 981.996559995 meters 0.012846607708289864 Centerline is valid? [True, True] Translation: X:-248.76, Y:-263.99, Z:-1.78 [[-3.98096414e-01 9.17336950e-01 3.48800060e-03 -2.48757524e+02] [ 9.17302497e-01 3.98111692e-01 -7.95045669e-03 -2.63994962e+02] [-8.68186151e-03 3.45033594e-05 -9.99962311e-01 -1.78246680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 982.026559995 meters 0.012973397035005142 Centerline is valid? [True, True] Translation: X:-248.75, Y:-264.00, Z:-1.78 [[-4.67676948e-01 8.83889329e-01 4.23384516e-03 -2.48750869e+02] [ 8.83854006e-01 4.67696110e-01 -7.90225715e-03 -2.63996051e+02] [-8.96487369e-03 4.63974903e-05 -9.99959814e-01 -1.78192932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 982.0565599949999 meters 0.012973397035005142 Centerline is valid? [True, True] Translation: X:-248.75, Y:-264.00, Z:-1.78 [[-5.35453760e-01 8.44550679e-01 4.83966491e-03 -2.48745427e+02] [ 8.44516964e-01 5.35475629e-01 -7.54646583e-03 -2.63996429e+02] [-8.96489545e-03 4.63956071e-05 -9.99959814e-01 -1.78192914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 982.0865599949999 meters 0.012969516426200556 Centerline is valid? [True, True] Translation: X:-248.74, Y:-263.99, Z:-1.78 [[-5.98940977e-01 8.00774522e-01 5.46540302e-03 -2.48735881e+02] [ 8.00742068e-01 5.98965910e-01 -7.20965788e-03 -2.63992768e+02] [-9.04690043e-03 5.82185776e-05 -9.99959074e-01 -1.78311040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 982.116559995 meters 0.013081404650377422 Centerline is valid? [True, True] Translation: X:-248.73, Y:-263.99, Z:-1.78 [[-6.58671747e-01 7.52406989e-01 5.93739734e-03 -2.48727379e+02] [ 7.52377390e-01 6.58698503e-01 -6.67428597e-03 -2.63988454e+02] [-8.93273415e-03 7.09999174e-05 -9.99960100e-01 -1.78351630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 982.146559995 meters 0.013438175734840381 Centerline is valid? [True, True] Translation: X:-248.72, Y:-263.98, Z:-1.78 [[-7.13713620e-01 7.00412952e-01 5.87922668e-03 -2.48719587e+02] [ 7.00390184e-01 7.13737829e-01 -5.64816966e-03 -2.63983506e+02] [-8.15227768e-03 8.65770391e-05 -9.99966766e-01 -1.78452170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 982.1765599949999 meters 0.013619483464949836 Centerline is valid? [True, True] Translation: X:-248.70, Y:-263.97, Z:-1.79 [[-7.60755380e-01 6.49007345e-01 6.38107045e-03 -2.48696453e+02] [ 6.48985583e-01 7.60782135e-01 -5.31565026e-03 -2.63966703e+02] [-8.30450046e-03 9.73131932e-05 -9.99965512e-01 -1.78502210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 982.2065599949999 meters 0.013906878565780063 Centerline is valid? [True, True] Translation: X:-248.67, Y:-263.95, Z:-1.79 [[-8.04112855e-01 5.94436405e-01 6.91934277e-03 -2.48672361e+02] [ 5.94415563e-01 8.04142617e-01 -4.97896166e-03 -2.63949770e+02] [-8.52381448e-03 1.09317955e-04 -9.99963666e-01 -1.78546340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 982.236559995 meters 0.013878290872221505 Centerline is valid? [True, True] Translation: X:-248.66, Y:-263.92, Z:-1.79 [[-8.44327865e-01 5.35775531e-01 7.41871210e-03 -2.48659603e+02] [ 5.35755984e-01 8.44360449e-01 -4.57788881e-03 -2.63923582e+02] [-8.71678789e-03 1.09380321e-04 -9.99962002e-01 -1.78526828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 982.266559995 meters 0.013768520496727778 Centerline is valid? [True, True] Translation: X:-248.29, Y:-263.33, Z:-2.80 [[-8.20410208e-01 -5.71724430e-01 7.63330658e-03 -2.48285538e+02] [ 5.71698797e-01 -8.20445715e-01 -5.41430883e-03 -2.63331514e+02] [ 9.35820630e-03 -7.80020438e-05 9.99956208e-01 -2.79815490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 982.2965599949999 meters 0.013408558460336936 Centerline is valid? [True, True] Translation: X:-248.30, Y:-263.36, Z:-2.80 [[-7.78070082e-01 -6.28137522e-01 7.08525098e-03 -2.48303240e+02] [ 6.28110571e-01 -7.78102337e-01 -5.81926449e-03 -2.63361029e+02] [ 9.16834872e-03 -7.74745596e-05 9.99957967e-01 -2.79865842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 982.3265599949999 meters 0.013126049835677535 Centerline is valid? [True, True] Translation: X:-248.74, Y:-263.89, Z:-1.78 [[-8.12090510e-01 5.83485791e-01 7.30313545e-03 -2.48743284e+02] [ 5.83462825e-01 8.12123346e-01 -5.17709909e-03 -2.63894818e+02] [-8.95181055e-03 5.68350036e-05 -9.99959930e-01 -1.78454887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 982.3565599949999 meters 0.012840020502088548 Centerline is valid? [True, True] Translation: X:-248.35, Y:-263.34, Z:-2.80 [[-7.77500748e-01 -6.28843587e-01 6.95200305e-03 -2.48345191e+02] [ 6.28817817e-01 -7.77531826e-01 -5.69322477e-03 -2.63337438e+02] [ 8.98555151e-03 -5.49431369e-05 9.99959628e-01 -2.79779091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 982.386559995 meters 0.012781550966679836 Centerline is valid? [True, True] Translation: X:-248.78, Y:-263.87, Z:-1.79 [[-8.16782852e-01 5.76896900e-01 7.46592419e-03 -2.48778893e+02] [ 5.76872989e-01 8.16816973e-01 -5.25248579e-03 -2.63865753e+02] [-9.12843637e-03 1.67496764e-05 -9.99958335e-01 -1.78528415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 982.416559995 meters 0.012861431715217262 Centerline is valid? [True, True] Translation: X:-248.39, Y:-263.31, Z:-2.80 [[-7.75559086e-01 -6.31232922e-01 7.28705845e-03 -2.48387697e+02] [ 6.31205061e-01 -7.75593320e-01 -5.93071493e-03 -2.63313541e+02] [ 9.39545637e-03 8.31896111e-09 9.99955862e-01 -2.79781280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 982.4465599949999 meters 0.012939281617117784 Centerline is valid? [True, True] Translation: X:-248.82, Y:-263.84, Z:-1.79 [[-8.22516198e-01 5.68691204e-01 7.57747651e-03 -2.48816864e+02] [ 5.68666601e-01 8.22551100e-01 -5.29008746e-03 -2.63835254e+02] [-9.24128785e-03 -4.21248155e-05 -9.99957298e-01 -1.78567459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 982.4765599949999 meters 0.013343037555476526 Centerline is valid? [True, True] Translation: X:-248.43, Y:-263.29, Z:-2.80 [[-7.74112783e-01 -6.33004323e-01 7.41117325e-03 -2.48429797e+02] [ 6.32976074e-01 -7.74148257e-01 -5.98051257e-03 -2.63290286e+02] [ 9.52303716e-03 6.15041211e-05 9.99954653e-01 -2.79768578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 982.506559995 meters 0.013520563775749301 Centerline is valid? [True, True] Translation: X:-248.85, Y:-263.81, Z:-1.79 [[-8.27683905e-01 5.61145314e-01 7.43581790e-03 -2.48848497e+02] [ 5.61121652e-01 8.27717300e-01 -5.15393774e-03 -2.63809162e+02] [-9.04686313e-03 -9.34328829e-05 -9.99959072e-01 -1.78560289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 982.536559995 meters 0.013845216697680669 Centerline is valid? [True, True] Translation: X:-248.83, Y:-263.78, Z:-1.79 [[-8.66200086e-01 4.99639246e-01 7.61811248e-03 -2.48834903e+02] [ 4.99618832e-01 8.66233579e-01 -4.51777054e-03 -2.63782984e+02] [-8.85632030e-03 -1.07140767e-04 -9.99960776e-01 -1.78544394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 982.5665599949999 meters 0.014258480655203932 Centerline is valid? [True, True] Translation: X:-248.83, Y:-263.75, Z:-1.79 [[-9.00289540e-01 4.35225703e-01 7.57180859e-03 -2.48826602e+02] [ 4.35209192e-01 9.00321372e-01 -3.79290059e-03 -2.63753896e+02] [-8.46782892e-03 -1.19388030e-04 -9.99964140e-01 -1.78527635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 982.5965599949999 meters 0.014930157514164063 Centerline is valid? [True, True] Translation: X:-248.82, Y:-263.73, Z:-1.79 [[-9.29961347e-01 3.67577590e-01 7.65564612e-03 -2.48815464e+02] [ 3.67563878e-01 9.29992847e-01 -3.17814642e-03 -2.63726670e+02] [-8.28791153e-03 -1.41614350e-04 -9.99965645e-01 -1.78506932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 982.626559995 meters 0.014886886373679992 Centerline is valid? [True, True] Translation: X:-248.56, Y:-263.12, Z:-2.80 [[-8.87339592e-01 -4.61054541e-01 7.56033036e-03 -2.48563496e+02] [ 4.61039277e-01 -8.87371786e-01 -3.75482179e-03 -2.63124234e+02] [ 8.44000150e-03 1.53807210e-04 9.99964371e-01 -2.79803097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 982.656559995 meters 0.015218727273251891 Centerline is valid? [True, True] Translation: X:-248.86, Y:-263.71, Z:-1.78 [[-9.31946729e-01 3.62512654e-01 7.73754572e-03 -2.48860916e+02] [ 3.62498751e-01 9.31978836e-01 -3.17878527e-03 -2.63708754e+02] [-8.36357874e-03 -1.57607879e-04 -9.99965012e-01 -1.78490545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 982.6865599949999 meters 0.015065157141972738 Centerline is valid? [True, True] Translation: X:-248.60, Y:-263.11, Z:-2.80 [[-8.88534850e-01 -4.58743547e-01 7.75747227e-03 -2.48601769e+02] [ 4.58727823e-01 -8.88568695e-01 -3.80248520e-03 -2.63107899e+02] [ 8.63741256e-03 1.79927745e-04 9.99962681e-01 -2.79833815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 982.7165599949999 meters 0.014885029958930622 Centerline is valid? [True, True] Translation: X:-248.89, Y:-263.70, Z:-1.78 [[-9.33236928e-01 3.59160362e-01 8.52473851e-03 -2.48893629e+02] [ 3.59143684e-01 9.33275846e-01 -3.46546787e-03 -2.63699544e+02] [-9.20059124e-03 -1.72496591e-04 -9.99957659e-01 -1.78432365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 982.746559995 meters 0.015367488025753662 Centerline is valid? [True, True] Translation: X:-248.89, Y:-263.67, Z:-1.78 [[-9.56223349e-01 2.92495348e-01 9.13112613e-03 -2.48888518e+02] [ 2.92480249e-01 9.56266929e-01 -2.97721467e-03 -2.63671925e+02] [-9.60261539e-03 -1.76208136e-04 -9.99953878e-01 -1.78314611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 982.776559995 meters 0.015253268057515432 Centerline is valid? [True, True] Translation: X:-248.88, Y:-263.65, Z:-1.78 [[-9.73902816e-01 2.26729141e-01 1.03538417e-02 -2.48880883e+02] [ 2.26714524e-01 9.73957838e-01 -2.57977428e-03 -2.63647386e+02] [-1.06691153e-02 -1.65083144e-04 -9.99943070e-01 -1.78145312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 982.8065599949999 meters 0.01452965257098414 Centerline is valid? [True, True] Translation: X:-248.88, Y:-263.62, Z:-1.78 [[-9.87215113e-01 1.59026620e-01 1.08099462e-02 -2.48876539e+02] [ 1.59015445e-01 9.87274284e-01 -1.89107271e-03 -2.63623262e+02] [-1.09731128e-02 -1.47947151e-04 -9.99939783e-01 -1.78146611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 982.8365599949999 meters 0.013702855429360913 Centerline is valid? [True, True] Translation: X:-248.75, Y:-262.96, Z:-2.80 [[-9.68403925e-01 -2.49146865e-01 1.09396981e-02 -2.48754796e+02] [ 2.49132936e-01 -9.68465700e-01 -2.63986397e-03 -2.62962647e+02] [ 1.12524362e-02 1.68984482e-04 9.99936675e-01 -2.80106835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 982.866559995 meters 0.01325664818613374 Centerline is valid? [True, True] Translation: X:-248.93, Y:-263.62, Z:-1.78 [[-9.86621704e-01 1.62652536e-01 1.10347532e-02 -2.48925847e+02] [ 1.62641632e-01 9.86683408e-01 -1.88447068e-03 -2.63624523e+02] [-1.11943219e-02 -6.45494073e-05 -9.99937340e-01 -1.78146916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 982.896559995 meters 0.012921602286816429 Centerline is valid? [True, True] Translation: X:-248.92, Y:-263.60, Z:-1.78 [[-9.95411652e-01 9.50689297e-02 1.08416338e-02 -2.48918097e+02] [ 9.50629475e-02 9.95470692e-01 -1.06695416e-03 -2.63600951e+02] [-1.08939629e-02 -3.14209437e-05 -9.99940659e-01 -1.78223420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 982.9265599949999 meters 0.012925288948848918 Centerline is valid? [True, True] Translation: X:-248.85, Y:-262.91, Z:-2.80 [[-9.86251359e-01 -1.64896342e-01 1.08375975e-02 -2.48847223e+02] [ 1.64886801e-01 -9.86310902e-01 -1.77423917e-03 -2.62908783e+02] [ 1.09818061e-02 3.71309838e-05 9.99939698e-01 -2.80148395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 982.9565599949999 meters 0.013213015810554916 Centerline is valid? [True, True] Translation: X:-248.98, Y:-263.60, Z:-1.78 [[-9.95022561e-01 9.90617706e-02 1.08106326e-02 -2.48979482e+02] [ 9.90566100e-02 9.95081284e-01 -1.01309777e-03 -2.63603609e+02] [-1.08578175e-02 6.28094864e-05 -9.99941050e-01 -1.78145417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 982.986559995 meters 0.013285408323513168 Centerline is valid? [True, True] Translation: X:-248.91, Y:-262.90, Z:-2.80 [[-9.88173729e-01 -1.52996767e-01 1.02308900e-02 -2.48912511e+02] [ 1.52987613e-01 -9.88226685e-01 -1.67610912e-03 -2.62896057e+02] [ 1.03668778e-02 -9.10875624e-05 9.99946258e-01 -2.80135031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 983.016559995 meters 0.013110205690451432 Centerline is valid? [True, True] Translation: X:-249.05, Y:-263.60, Z:-1.78 [[-9.95317775e-01 9.61508723e-02 9.87611599e-03 -2.49046383e+02] [ 9.61468807e-02 9.95366769e-01 -8.79269447e-04 -2.63597409e+02] [-9.91490018e-03 7.44052356e-05 -9.99950844e-01 -1.78284985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 983.0465599949999 meters 0.013495528369844923 Centerline is valid? [True, True] Translation: X:-248.98, Y:-262.89, Z:-2.80 [[-9.88814635e-01 -1.48796976e-01 1.02507463e-02 -2.48980992e+02] [ 1.48788481e-01 -9.88867766e-01 -1.59076776e-03 -2.62891318e+02] [ 1.03733341e-02 -4.77814649e-05 9.99946195e-01 -2.80156911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 983.0765599949999 meters 0.013320934001067533 Centerline is valid? [True, True] Translation: X:-249.11, Y:-263.59, Z:-1.78 [[-9.95840917e-01 9.04130199e-02 1.12406917e-02 -2.49113886e+02] [ 9.04080738e-02 9.95904353e-01 -9.48419067e-04 -2.63591077e+02] [-1.12804032e-02 7.17747675e-05 -9.99936372e-01 -1.78156961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 983.1065599949999 meters 0.013314266457648305 Centerline is valid? [True, True] Translation: X:-249.05, Y:-262.89, Z:-2.80 [[-9.89324055e-01 -1.45232528e-01 1.20593285e-02 -2.49049062e+02] [ 1.45221521e-01 -9.89397550e-01 -1.78814001e-03 -2.62885977e+02] [ 1.21911662e-02 -1.77759012e-05 9.99925685e-01 -2.80208323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 983.136559995 meters 0.013224665458950405 Centerline is valid? [True, True] Translation: X:-249.18, Y:-263.58, Z:-1.78 [[-9.96353759e-01 8.44281448e-02 1.22912759e-02 -2.49182411e+02] [ 8.44224686e-02 9.96429568e-01 -9.80854679e-04 -2.63584493e+02] [-1.23302025e-02 6.03816094e-05 -9.99923979e-01 -1.78108245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 983.166559995 meters 0.013204048651022104 Centerline is valid? [True, True] Translation: X:-249.12, Y:-262.88, Z:-2.80 [[-9.89537778e-01 -1.43727997e-01 1.25398822e-02 -2.49120768e+02] [ 1.43715961e-01 -9.89617230e-01 -1.86040117e-03 -2.62882832e+02] [ 1.26770752e-02 -3.87560179e-05 9.99919642e-01 -2.80253241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 983.1965599949999 meters 0.013198516538181347 Centerline is valid? [True, True] Translation: X:-249.25, Y:-263.58, Z:-1.78 [[-9.97007824e-01 7.62471889e-02 1.27186596e-02 -2.49249551e+02] [ 7.62412039e-02 9.97088946e-01 -9.55473541e-04 -2.63575176e+02] [-1.27544871e-02 1.70713245e-05 -9.99918658e-01 -1.77965522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 983.2265599949999 meters 0.013058737160019606 Centerline is valid? [True, True] Translation: X:-249.19, Y:-262.88, Z:-2.80 [[-9.89743137e-01 -1.42335796e-01 1.22083237e-02 -2.49192802e+02] [ 1.42324418e-01 -9.89818427e-01 -1.80025063e-03 -2.62881683e+02] [ 1.23402638e-02 -4.42431493e-05 9.99923855e-01 -2.80296030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 983.256559995 meters 0.012965067459159992 Centerline is valid? [True, True] Translation: X:-249.32, Y:-263.57, Z:-1.78 [[-9.97614393e-01 6.79967715e-02 1.19148028e-02 -2.49315656e+02] [ 6.79915910e-02 9.97685541e-01 -8.39798530e-04 -2.63565547e+02] [-1.19443301e-02 -2.76887015e-05 -9.99928664e-01 -1.78026517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 983.286559995 meters 0.013307977144924675 Centerline is valid? [True, True] Translation: X:-249.32, Y:-263.53, Z:-1.78 [[-9.99903402e-01 -7.08980896e-03 1.19550059e-02 -2.49318111e+02] [-7.09019858e-03 9.99974864e-01 9.79329900e-06 -2.63534429e+02] [-1.19547748e-02 -7.49710129e-05 -9.99928536e-01 -1.78054836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 983.3165599949999 meters 0.01349357417803929 Centerline is valid? [True, True] Translation: X:-249.32, Y:-262.85, Z:-2.80 [[-9.97143614e-01 -7.46347610e-02 1.15872890e-02 -2.49321166e+02] [ 7.46303043e-02 -9.97210936e-01 -8.17146850e-04 -2.62853293e+02] [ 1.16159589e-02 4.99501395e-05 9.99932531e-01 -2.80207927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 983.3465599949999 meters 0.013616286833717895 Centerline is valid? [True, True] Translation: X:-249.40, Y:-263.53, Z:-1.78 [[-9.99813009e-01 -1.56859704e-02 1.13092168e-02 -2.49398247e+02] [-1.56862034e-02 9.99876962e-01 6.81039966e-05 -2.63531605e+02] [-1.13088936e-02 -1.09307413e-04 -9.99936047e-01 -1.78160883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 983.376559995 meters 0.014092944596418052 Centerline is valid? [True, True] Translation: X:-249.41, Y:-262.86, Z:-2.80 [[-9.97201032e-01 -7.40580750e-02 1.02715165e-02 -2.49406569e+02] [ 7.40544564e-02 -9.97253930e-01 -7.32697847e-04 -2.62856924e+02] [ 1.02975724e-02 3.00045253e-05 9.99946978e-01 -2.80062899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 983.406559995 meters 0.01416016569198066 Centerline is valid? [True, True] Translation: X:-249.48, Y:-263.53, Z:-1.78 [[-9.99638123e-01 -2.49303583e-02 1.01045088e-02 -2.49478929e+02] [-2.49304873e-02 9.99689181e-01 1.13207518e-04 -2.63528385e+02] [-1.01041904e-02 -1.38743777e-04 -9.99948942e-01 -1.78293488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 983.4365599949999 meters 0.01427972224292199 Centerline is valid? [True, True] Translation: X:-249.49, Y:-262.86, Z:-2.80 [[-9.97422969e-01 -7.10292618e-02 1.01126600e-02 -2.49485608e+02] [ 7.10270406e-02 -9.97474222e-01 -5.79078988e-04 -2.62859355e+02] [ 1.01282492e-02 1.40685630e-04 9.99948698e-01 -2.80001208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 983.4665599949999 meters 0.014322084604778155 Centerline is valid? [True, True] Translation: X:-249.55, Y:-263.53, Z:-1.78 [[-9.99456554e-01 -3.16397002e-02 9.24803984e-03 -2.49554538e+02] [-3.16396553e-02 9.99499329e-01 1.51197001e-04 -2.63527316e+02] [-9.24819345e-03 -1.41489959e-04 -9.99957225e-01 -1.78331622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 983.496559995 meters 0.014958622333752562 Centerline is valid? [True, True] Translation: X:-249.56, Y:-263.50, Z:-1.78 [[-9.94522948e-01 -1.04142112e-01 8.86148951e-03 -2.49561617e+02] [-1.04139309e-01 9.94562416e-01 7.78298867e-04 -2.63498160e+02] [-8.89435810e-03 -1.48793315e-04 -9.99960434e-01 -1.78345820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 983.526559995 meters 0.014714216557174096 Centerline is valid? [True, True] Translation: X:-249.57, Y:-263.47, Z:-1.78 [[-9.84419396e-01 -1.75601880e-01 9.07927850e-03 -2.49573977e+02] [-1.75595925e-01 9.84461251e-01 1.45518231e-03 -2.63472450e+02] [-9.19373062e-03 -1.61774611e-04 -9.99957724e-01 -1.78422041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 983.5565599949999 meters 0.015290716174840128 Centerline is valid? [True, True] Translation: X:-249.60, Y:-263.45, Z:-1.78 [[-9.69150081e-01 -2.46305381e-01 9.04323807e-03 -2.49595873e+02] [-2.46296298e-01 9.69192257e-01 2.12208019e-03 -2.63446716e+02] [-9.28731609e-03 -1.70701874e-04 -9.99956858e-01 -1.78360868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 983.5865599949999 meters 0.015124710266376446 Centerline is valid? [True, True] Translation: X:-249.63, Y:-263.43, Z:-1.78 [[-9.48345500e-01 -3.17070782e-01 1.03407474e-02 -2.49627206e+02] [-3.17054399e-01 9.48401852e-01 3.23031329e-03 -2.63425839e+02] [-1.08314219e-02 -2.15126376e-04 -9.99941315e-01 -1.78308722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 983.616559995 meters 0.015972619474387342 Centerline is valid? [True, True] Translation: X:-249.68, Y:-263.41, Z:-1.78 [[-9.22447421e-01 -3.85968048e-01 1.09280225e-02 -2.49681333e+02] [-3.85944061e-01 9.22512118e-01 4.30977807e-03 -2.63413744e+02] [-1.17446698e-02 -2.42061706e-04 -9.99931000e-01 -1.78165871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 983.646559995 meters 0.015486426284794104 Centerline is valid? [True, True] Translation: X:-249.75, Y:-263.41, Z:-1.78 [[-8.91360633e-01 -4.53153914e-01 1.13027902e-02 -2.49750407e+02] [-4.53121209e-01 8.91432253e-01 5.45057671e-03 -2.63414870e+02] [-1.25456219e-02 -2.63104465e-04 -9.99921266e-01 -1.78160912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 983.6765599949999 meters 0.016008411986234525 Centerline is valid? [True, True] Translation: X:-249.82, Y:-263.42, Z:-1.78 [[-8.55277525e-01 -5.18016944e-01 1.26016190e-02 -2.49815464e+02] [-5.17965915e-01 8.55370302e-01 7.27710732e-03 -2.63417811e+02] [-1.45487156e-02 -3.03262796e-04 -9.99894116e-01 -1.77980388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 983.7065599949999 meters 0.01534880948275223 Centerline is valid? [True, True] Translation: X:-249.90, Y:-263.44, Z:-1.78 [[-8.14709976e-01 -5.79730431e-01 1.26603108e-02 -2.49896267e+02] [-5.79666267e-01 8.14808280e-01 8.63053318e-03 -2.63438680e+02] [-1.53191088e-02 -3.07373607e-04 -9.99882608e-01 -1.78021268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 983.736559995 meters 0.015719446265278245 Centerline is valid? [True, True] Translation: X:-249.98, Y:-263.46, Z:-1.78 [[-7.69673005e-01 -6.38313116e-01 1.26424751e-02 -2.49976281e+02] [-6.38233488e-01 7.69776769e-01 1.00867316e-02 -2.63464305e+02] [-1.61703767e-02 -3.05365910e-04 -9.99869204e-01 -1.77941116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 983.766559995 meters 0.014310726623184389 Centerline is valid? [True, True] Translation: X:-250.06, Y:-263.50, Z:-1.78 [[-7.21716192e-01 -6.92074044e-01 1.26196495e-02 -2.50056501e+02] [-6.91974659e-01 7.21826466e-01 1.17313814e-02 -2.63504156e+02] [-1.72281816e-02 -2.65749786e-04 -9.99851549e-01 -1.78124147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 983.7965599949999 meters 0.014056781935605157 Centerline is valid? [True, True] Translation: X:-250.14, Y:-263.56, Z:-1.78 [[-6.68752172e-01 -7.43389043e-01 1.19692563e-02 -2.50144122e+02] [-7.43276298e-01 6.68859234e-01 1.29487659e-02 -2.63555801e+02] [-1.76317183e-02 -2.36949232e-04 -9.99844521e-01 -1.78109222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 983.8265599949999 meters 0.013734679995237545 Centerline is valid? [True, True] Translation: X:-250.23, Y:-263.61, Z:-1.78 [[-6.11915794e-01 -7.90844182e-01 1.11597994e-02 -2.50225944e+02] [-7.90718760e-01 6.12017514e-01 1.40856172e-02 -2.63612345e+02] [-1.79695211e-02 -2.05051111e-04 -9.99838514e-01 -1.78150577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 983.8565599949999 meters 0.013432513963934816 Centerline is valid? [True, True] Translation: X:-250.31, Y:-263.68, Z:-1.78 [[-5.51822268e-01 -8.33899892e-01 1.01565145e-02 -2.50310072e+02] [-8.33764164e-01 5.51915703e-01 1.50457938e-02 -2.63681895e+02] [-1.81522257e-02 -1.65533747e-04 -9.99835221e-01 -1.78249101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 983.886559995 meters 0.013468240455216276 Centerline is valid? [True, True] Translation: X:-250.39, Y:-263.75, Z:-1.78 [[-4.87378051e-01 -8.73141186e-01 9.33295258e-03 -2.50386467e+02] [-8.72987117e-01 4.87467379e-01 1.64026800e-02 -2.63753021e+02] [-1.88713654e-02 -1.53241157e-04 -9.99821908e-01 -1.78227266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 983.916559995 meters 0.013330993211960032 Centerline is valid? [True, True] Translation: X:-250.46, Y:-263.84, Z:-1.78 [[-4.20505023e-01 -9.07252264e-01 8.29797709e-03 -2.50461984e+02] [-9.07081674e-01 4.20586868e-01 1.75932801e-02 -2.63840333e+02] [-1.94515634e-02 -1.28880322e-04 -9.99810792e-01 -1.78200854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 983.9465599949999 meters 0.013294483381023636 Centerline is valid? [True, True] Translation: X:-250.53, Y:-263.93, Z:-1.78 [[-3.52814333e-01 -9.35660817e-01 7.80267342e-03 -2.50526489e+02] [-9.35436479e-01 3.52900596e-01 2.04881398e-02 -2.63928249e+02] [-2.19235177e-02 -7.03959859e-05 -9.99759648e-01 -1.78230977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 983.9765599949999 meters 0.013294483381023636 Centerline is valid? [True, True] Translation: X:-250.59, Y:-264.03, Z:-1.78 [[-2.79960696e-01 -9.59991398e-01 6.20680727e-03 -2.50589440e+02] [-9.59761099e-01 2.80029482e-01 2.10267135e-02 -2.64027349e+02] [-2.19235531e-02 -7.03988035e-05 -9.99759648e-01 -1.78230806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 984.006559995 meters 0.013568821181787337 Centerline is valid? [True, True] Translation: X:-250.64, Y:-264.13, Z:-1.78 [[-2.06818367e-01 -9.78368699e-01 4.56644678e-03 -2.50644515e+02] [-9.78134565e-01 2.06868769e-01 2.14029285e-02 -2.64132019e+02] [-2.18846105e-02 -4.00807151e-05 -9.99760503e-01 -1.78097766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 984.036559995 meters 0.013051000185306354 Centerline is valid? [True, True] Translation: X:-250.69, Y:-264.24, Z:-1.78 [[-1.32266980e-01 -9.91209806e-01 2.92699598e-03 -2.50691475e+02] [-9.90969129e-01 1.32299362e-01 2.18417951e-02 -2.64242981e+02] [-2.20370412e-02 -1.16143738e-05 -9.99757155e-01 -1.78425589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 984.0665599949999 meters 0.013137648180246203 Centerline is valid? [True, True] Translation: X:-250.73, Y:-264.35, Z:-1.78 [[-5.67790690e-02 -9.98386017e-01 1.22388829e-03 -2.50729698e+02] [-9.98148541e-01 5.67922562e-02 2.17745207e-02 -2.64353299e+02] [-2.18088843e-02 1.47146959e-05 -9.99762158e-01 -1.78477810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 984.0965599949999 meters 0.01329811053346527 Centerline is valid? [True, True] Translation: X:-250.76, Y:-264.47, Z:-1.79 [[ 1.69154125e-02 -9.99856813e-01 -4.71582452e-04 -2.50758753e+02] [-9.99604114e-01 -1.69217393e-02 2.24782020e-02 -2.64470092e+02] [-2.24829634e-02 9.11676992e-05 -9.99747222e-01 -1.78580285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 984.126559995 meters 0.013347971103828477 Centerline is valid? [True, True] Translation: X:-250.78, Y:-264.59, Z:-1.79 [[ 9.18307698e-02 -9.95772378e-01 -2.11683856e-03 -2.50779065e+02] [-9.95539571e-01 -9.18550725e-02 2.15315534e-02 -2.64591941e+02] [-2.16349685e-02 1.30137432e-04 -9.99765928e-01 -1.78649463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 984.156559995 meters 0.013556367434689624 Centerline is valid? [True, True] Translation: X:-250.79, Y:-264.71, Z:-1.79 [[ 1.66217771e-01 -9.86081898e-01 -3.76081469e-03 -2.50790819e+02] [-9.85852722e-01 -1.66260220e-01 2.12591279e-02 -2.64706865e+02] [-2.15885151e-02 1.73964552e-04 -9.99766926e-01 -1.78704715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 984.1865599949999 meters 0.013867918019501683 Centerline is valid? [True, True] Translation: X:-250.79, Y:-264.83, Z:-1.79 [[ 2.38892896e-01 -9.71031560e-01 -5.28143234e-03 -2.50793477e+02] [-9.70815206e-01 -2.38951159e-01 2.04982743e-02 -2.64826604e+02] [-2.11664756e-02 2.30402715e-04 -9.99775939e-01 -1.78800191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 984.2165599949999 meters 0.013897525665837854 Centerline is valid? [True, True] Translation: X:-250.79, Y:-264.95, Z:-1.79 [[ 3.12427797e-01 -9.49916315e-01 -6.91856447e-03 -2.50788484e+02] [-9.49700401e-01 -3.12504298e-01 2.02537230e-02 -2.64947036e+02] [-2.14014230e-02 2.42737402e-04 -9.99770934e-01 -1.78810544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 984.246559995 meters 0.013997097663181858 Centerline is valid? [True, True] Translation: X:-250.78, Y:-265.06, Z:-1.79 [[ 3.84614143e-01 -9.23038743e-01 -8.45217482e-03 -2.50775799e+02] [-9.22829291e-01 -3.84706930e-01 1.96641196e-02 -2.65062893e+02] [-2.14023545e-02 2.36815972e-04 -9.99770915e-01 -1.78718519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 984.276559995 meters 0.015017558722950823 Centerline is valid? [True, True] Translation: X:-250.75, Y:-265.18, Z:-1.78 [[ 4.54840043e-01 -8.90517405e-01 -9.96425722e-03 -2.50752114e+02] [-8.90314438e-01 -4.54949120e-01 1.90131632e-02 -2.65178657e+02] [-2.14647828e-02 2.23374114e-04 -9.99769580e-01 -1.78416390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 984.3065599949999 meters 0.01323551589440696 Centerline is valid? [True, True] Translation: X:-250.72, Y:-265.30, Z:-1.79 [[ 5.24225738e-01 -8.51505468e-01 -1.12166825e-02 -2.50723233e+02] [-8.51316952e-01 -5.24345701e-01 1.79174240e-02 -2.65295101e+02] [-2.11382037e-02 1.56177141e-04 -9.99776551e-01 -1.78836495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 984.3365599949999 meters 0.012900234930525773 Centerline is valid? [True, True] Translation: X:-250.69, Y:-265.40, Z:-1.79 [[ 5.89578948e-01 -8.07621718e-01 -1.19926715e-02 -2.50685438e+02] [-8.07458275e-01 -5.89700899e-01 1.62476237e-02 -2.65403906e+02] [-2.01940229e-02 1.04324909e-04 -9.99796075e-01 -1.78875356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 984.366559995 meters 0.01268915191187626 Centerline is valid? [True, True] Translation: X:-250.64, Y:-265.50, Z:-1.79 [[ 6.51118522e-01 -7.58869860e-01 -1.26966897e-02 -2.50644758e+02] [-7.58727313e-01 -6.51242299e-01 1.47082712e-02 -2.65503723e+02] [-1.94302851e-02 5.64973995e-05 -9.99811213e-01 -1.78918639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 984.396559995 meters 0.012483733005500182 Centerline is valid? [True, True] Translation: X:-250.60, Y:-265.60, Z:-1.79 [[ 7.10567060e-01 -7.03512428e-01 -1.28342143e-02 -2.50596220e+02] [-7.03396695e-01 -7.10682955e-01 1.27604027e-02 -2.65604174e+02] [-1.80981593e-02 -3.95778828e-05 -9.99836214e-01 -1.78887654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 984.4265599949999 meters 0.012613282224044432 Centerline is valid? [True, True] Translation: X:-250.60, Y:-265.61, Z:-1.79 [[ 7.65248537e-01 -6.43592701e-01 -1.35318784e-02 -2.50597658e+02] [-6.43490028e-01 -7.65368165e-01 1.14959529e-02 -2.65611779e+02] [-1.77555803e-02 -8.96323179e-05 -9.99842353e-01 -1.78859250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 984.4565599949999 meters 0.01263219179778687 Centerline is valid? [True, True] Translation: X:-250.60, Y:-265.62, Z:-1.79 [[ 8.14780977e-01 -5.79604020e-01 -1.38253343e-02 -2.50599370e+02] [-5.79517836e-01 -8.14898253e-01 9.99580397e-03 -2.65621622e+02] [-1.70598489e-02 -1.32363106e-04 -9.99854462e-01 -1.78906249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 984.486559995 meters 0.012887563568415646 Centerline is valid? [True, True] Translation: X:-250.60, Y:-265.64, Z:-1.79 [[ 8.60068846e-01 -5.10003577e-01 -1.33391331e-02 -2.50602070e+02] [-5.09938695e-01 -8.60172258e-01 8.13722057e-03 -2.65635875e+02] [-1.56239638e-02 -1.96429781e-04 -9.99877919e-01 -1.79009476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 984.516559995 meters 0.01345786366614589 Centerline is valid? [True, True] Translation: X:-250.60, Y:-265.65, Z:-1.79 [[ 8.98233985e-01 -4.39331404e-01 -1.27916442e-02 -2.50603353e+02] [-4.39283522e-01 -8.98325038e-01 6.48949581e-03 -2.65646542e+02] [-1.43420936e-02 -2.09927156e-04 -9.99897125e-01 -1.79025894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 984.5465599949999 meters 0.013594792349110782 Centerline is valid? [True, True] Translation: X:-250.60, Y:-265.66, Z:-1.79 [[ 9.30426933e-01 -3.66279260e-01 -1.20509699e-02 -2.50601836e+02] [-3.66245590e-01 -9.30504949e-01 4.97078970e-03 -2.65656512e+02] [-1.30341843e-02 -2.11342018e-04 -9.99915029e-01 -1.79113833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 984.5765599949999 meters 0.01358291177320728 Centerline is valid? [True, True] Translation: X:-250.60, Y:-265.67, Z:-1.79 [[ 9.56723888e-01 -2.90791102e-01 -1.09515698e-02 -2.50599883e+02] [-2.90769576e-01 -9.56786545e-01 3.54420053e-03 -2.65669008e+02] [-1.15089366e-02 -2.06438017e-04 -9.99933749e-01 -1.79271937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 984.6065599949999 meters 0.014911540396252611 Centerline is valid? [True, True] Translation: X:-250.60, Y:-265.68, Z:-1.79 [[ 9.76608705e-01 -2.14777972e-01 -1.02887915e-02 -2.50598716e+02] [-2.14763963e-01 -9.76662882e-01 2.46069278e-03 -2.65681667e+02] [-1.05771833e-02 -1.93472365e-04 -9.99944041e-01 -1.79151071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 984.636559995 meters 0.013700924202803558 Centerline is valid? [True, True] Translation: X:-250.59, Y:-265.69, Z:-1.79 [[ 9.90445491e-01 -1.37530363e-01 -1.01552438e-02 -2.50594393e+02] [-1.37521162e-01 -9.90497533e-01 1.60213158e-03 -2.65689567e+02] [-1.02790857e-02 -1.90263066e-04 -9.99947151e-01 -1.79293081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 984.666559995 meters 0.013637769338804367 Centerline is valid? [True, True] Translation: X:-250.59, Y:-265.70, Z:-1.79 [[ 9.98151289e-01 -5.99752180e-02 -9.84774519e-03 -2.50592884e+02] [-5.99705320e-02 -9.98199850e-01 7.70710471e-04 -2.65698568e+02] [-9.87624130e-03 -1.78711131e-04 -9.99951213e-01 -1.79276484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 984.6965599949999 meters 0.013445741221113904 Centerline is valid? [True, True] Translation: X:-250.59, Y:-265.71, Z:-1.79 [[ 9.99784239e-01 1.78197705e-02 -1.06738875e-02 -2.50590593e+02] [ 1.78207573e-02 -9.99841198e-01 -2.66415149e-06 -2.65707473e+02] [-1.06722400e-02 -1.87553182e-04 -9.99943033e-01 -1.79160542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 984.7265599949999 meters 0.01355044598958967 Centerline is valid? [True, True] Translation: X:-250.59, Y:-265.72, Z:-1.79 [[ 9.95350775e-01 9.56511119e-02 -1.13004443e-02 -2.50588680e+02] [ 9.56471663e-02 -9.95414902e-01 -8.90328454e-04 -2.65716005e+02] [-1.13337916e-02 -1.94666363e-04 -9.99935752e-01 -1.79048364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 984.756559995 meters 0.013337670699128095 Centerline is valid? [True, True] Translation: X:-250.59, Y:-265.72, Z:-1.79 [[ 9.84926899e-01 1.72571669e-01 -1.17482987e-02 -2.50586014e+02] [ 1.72561752e-01 -9.84996945e-01 -1.86026259e-03 -2.65723274e+02] [-1.18930669e-02 -1.95084344e-04 -9.99929256e-01 -1.78960418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 984.786559995 meters 0.013115814706066256 Centerline is valid? [True, True] Translation: X:-250.58, Y:-265.73, Z:-1.79 [[ 9.68962969e-01 2.46858181e-01 -1.31073503e-02 -2.50583772e+02] [ 2.46838235e-01 -9.69051600e-01 -3.14376214e-03 -2.65728488e+02] [-1.34777622e-02 -1.89206108e-04 -9.99909153e-01 -1.78765988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 984.8165599949999 meters 0.012579021414497685 Centerline is valid? [True, True] Translation: X:-250.58, Y:-265.73, Z:-1.79 [[ 9.47242431e-01 3.20220798e-01 -1.37992037e-02 -2.50580847e+02] [ 3.20189544e-01 -9.47342921e-01 -4.47734575e-03 -2.65734263e+02] [-1.45063171e-02 -1.77228858e-04 -9.99894762e-01 -1.78776917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 984.8465599949999 meters 0.012293701221448919 Centerline is valid? [True, True] Translation: X:-250.58, Y:-265.74, Z:-1.79 [[ 9.20201568e-01 3.91194023e-01 -1.40111216e-02 -2.50577573e+02] [ 3.91151146e-01 -9.20308217e-01 -5.79371331e-03 -2.65739659e+02] [-1.51610163e-02 -1.49082187e-04 -9.99885054e-01 -1.78691031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 984.876559995 meters 0.011700493703065024 Centerline is valid? [True, True] Translation: X:-250.58, Y:-265.74, Z:-1.79 [[ 8.89770987e-01 4.56182798e-01 -1.43124496e-02 -2.50575631e+02] [ 4.56124726e-01 -8.89886090e-01 -7.27889710e-03 -2.65741713e+02] [-1.60569575e-02 -5.17107043e-05 -9.99871078e-01 -1.78642034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 984.906559995 meters 0.011758060443899572 Centerline is valid? [True, True] Translation: X:-250.57, Y:-265.75, Z:-1.79 [[ 8.53560910e-01 5.20798117e-01 -1.42511135e-02 -2.50572515e+02] [ 5.20725191e-01 -8.53679870e-01 -8.71516729e-03 -2.65745633e+02] [-1.67047314e-02 1.80123313e-05 -9.99860466e-01 -1.78663000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 984.9365599949999 meters 0.012120803792950803 Centerline is valid? [True, True] Translation: X:-250.57, Y:-265.75, Z:-1.79 [[ 8.13082456e-01 5.81997283e-01 -1.32696213e-02 -2.50569699e+02] [ 5.81917796e-01 -8.13190724e-01 -9.61903715e-03 -2.65749214e+02] [-1.63889865e-02 9.92415390e-05 -9.99865687e-01 -1.78650862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 984.9665599949999 meters 0.013959503320630484 Centerline is valid? [True, True] Translation: X:-250.57, Y:-265.75, Z:-1.79 [[ 7.72105216e-01 6.35381970e-01 -1.19702859e-02 -2.50569355e+02] [ 6.35300179e-01 -7.72197954e-01 -1.01981834e-02 -2.65748835e+02] [-1.57231721e-02 2.69345840e-04 -9.99876347e-01 -1.78731590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 984.996559995 meters 0.01654969517100633 Centerline is valid? [True, True] Translation: X:-250.57, Y:-265.75, Z:-1.79 [[ 7.24239782e-01 6.89464267e-01 -1.07593612e-02 -2.50569238e+02] [ 6.89380867e-01 -7.24319612e-01 -1.07294272e-02 -2.65751426e+02] [-1.51907730e-02 3.53380269e-04 -9.99884551e-01 -1.78703291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 985.026559995 meters 0.01790533006002169 Centerline is valid? [True, True] Translation: X:-250.57, Y:-265.75, Z:-1.79 [[ 6.72487927e-01 7.40044955e-01 -9.66714162e-03 -2.50568111e+02] [ 7.39959050e-01 -6.72557266e-01 -1.12840153e-02 -2.65754599e+02] [-1.48523850e-02 4.35075165e-04 -9.99889603e-01 -1.78843068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 985.0565599949999 meters 0.019333260616101203 Centerline is valid? [True, True] Translation: X:-250.57, Y:-265.76, Z:-1.79 [[ 6.17167518e-01 7.86787442e-01 -8.35317893e-03 -2.50565753e+02] [ 7.86704171e-01 -6.17223842e-01 -1.14575759e-02 -2.65759161e+02] [-1.41704581e-02 4.99763006e-04 -9.99899469e-01 -1.78958448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 985.0865599949999 meters 0.024800202483666045 Centerline is valid? [True, True] Translation: X:-250.57, Y:-265.76, Z:-1.79 [[ 5.62788843e-01 8.26574418e-01 -6.59161161e-03 -2.50570030e+02] [ 8.26505197e-01 -5.62827144e-01 -1.07128880e-02 -2.65761016e+02] [-1.25649371e-02 5.81092604e-04 -9.99920889e-01 -1.79078884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 985.116559995 meters 0.023912324870087237 Centerline is valid? [True, True] Translation: X:-250.56, Y:-265.77, Z:-1.79 [[ 5.00291346e-01 8.65839306e-01 -5.55565177e-03 -2.50562782e+02] [ 8.65771533e-01 -5.00321810e-01 -1.08507929e-02 -2.65768260e+02] [-1.21746567e-02 6.18632640e-04 -9.99925695e-01 -1.79253001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 985.146559995 meters 0.02423222487837613 Centerline is valid? [True, True] Translation: X:-250.55, Y:-265.77, Z:-1.79 [[ 4.34303831e-01 9.00755238e-01 -4.49271161e-03 -2.50554505e+02] [ 9.00690926e-01 -4.34326602e-01 -1.07823247e-02 -2.65774946e+02] [-1.16635396e-02 6.36260348e-04 -9.99931776e-01 -1.79345333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 985.1765599949999 meters 0.02678135697865678 Centerline is valid? [True, True] Translation: X:-250.55, Y:-265.78, Z:-1.79 [[ 3.66810532e-01 9.30288995e-01 -3.52419545e-03 -2.50548626e+02] [ 9.30226945e-01 -3.66826848e-01 -1.07654223e-02 -2.65781188e+02] [-1.13077234e-02 6.70568696e-04 -9.99935841e-01 -1.79332492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 985.2065599949999 meters 0.029228018156165884 Centerline is valid? [True, True] Translation: X:-250.54, Y:-265.79, Z:-1.79 [[ 2.93904068e-01 9.55830790e-01 -2.81086050e-03 -2.50543380e+02] [ 9.55760802e-01 -2.93916628e-01 -1.15890062e-02 -2.65787842e+02] [-1.19032876e-02 7.19545771e-04 -9.99928895e-01 -1.79270813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 985.236559995 meters 0.028225123357904797 Centerline is valid? [True, True] Translation: X:-250.53, Y:-265.79, Z:-1.79 [[ 2.17640924e-01 9.76026963e-01 -1.94808679e-03 -2.50531172e+02] [ 9.75952189e-01 -2.17648408e-01 -1.21035040e-02 -2.65793970e+02] [-1.22373443e-02 7.32978238e-04 -9.99924852e-01 -1.79237598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 985.266559995 meters 0.026440403116371344 Centerline is valid? [True, True] Translation: X:-250.52, Y:-265.80, Z:-1.79 [[ 1.38516950e-01 9.90359602e-01 -9.55684384e-04 -2.50517853e+02] [ 9.90290207e-01 -1.38518577e-01 -1.17435381e-02 -2.65799281e+02] [-1.17627057e-02 6.80274195e-04 -9.99930586e-01 -1.79271667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 985.2965599949999 meters 0.024178134733910065 Centerline is valid? [True, True] Translation: X:-250.50, Y:-265.80, Z:-1.79 [[ 5.78106835e-02 9.98327564e-01 -3.12396467e-05 -2.50501410e+02] [ 9.98265665e-01 -5.78074475e-02 -1.11338270e-02 -2.65803291e+02] [-1.11170122e-02 6.12468680e-04 -9.99938017e-01 -1.79308533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 985.3265599949999 meters 0.023209359784954843 Centerline is valid? [True, True] Translation: X:-250.49, Y:-265.81, Z:-1.79 [[-2.39833815e-02 9.99712047e-01 7.87630913e-04 -2.50485993e+02] [ 9.99658151e-01 2.39902780e-02 -1.03946216e-02 -2.65805433e+02] [-1.04105240e-02 5.38063485e-04 -9.99945664e-01 -1.79357959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 985.3565599949999 meters 0.019950236875431605 Centerline is valid? [True, True] Translation: X:-250.46, Y:-265.80, Z:-1.80 [[-1.10661170e-01 9.93857542e-01 1.13690156e-03 -2.50463125e+02] [ 9.93830627e-01 1.10666548e-01 -7.32121971e-03 -2.65804350e+02] [-7.40206640e-03 3.19712856e-04 -9.99972553e-01 -1.79511495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 985.386559995 meters 0.019517707922902056 Centerline is valid? [True, True] Translation: X:-250.45, Y:-265.80, Z:-1.79 [[-1.92499540e-01 9.81296003e-01 1.44270876e-03 -2.50448216e+02] [ 9.81277111e-01 1.92504794e-01 -6.09399175e-03 -2.65803425e+02] [-6.25773810e-03 2.42606472e-04 -9.99980391e-01 -1.79493194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 985.416559995 meters 0.018892673930838925 Centerline is valid? [True, True] Translation: X:-250.43, Y:-265.80, Z:-1.79 [[-2.73236034e-01 9.61945309e-01 1.81455639e-03 -2.50434357e+02] [ 9.61928750e-01 2.73241984e-01 -5.64788069e-03 -2.65801718e+02] [-5.92876533e-03 2.02269443e-04 -9.99982404e-01 -1.79419383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 985.4465599949999 meters 0.0158252900667289 Centerline is valid? [True, True] Translation: X:-250.42, Y:-265.80, Z:-1.79 [[-3.56981387e-01 9.34109331e-01 2.01182069e-03 -2.50416187e+02] [ 9.34096465e-01 3.56987033e-01 -4.90428217e-03 -2.65795343e+02] [-5.29932963e-03 1.28497139e-04 -9.99985950e-01 -1.79300222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 985.4765599949999 meters 0.014877977168558479 Centerline is valid? [True, True] Translation: X:-250.40, Y:-265.79, Z:-1.79 [[-4.33001161e-01 9.01390947e-01 2.08685936e-03 -2.50404414e+02] [ 9.01381482e-01 4.33006180e-01 -4.13174372e-03 -2.65789522e+02] [-4.62793938e-03 9.20065514e-05 -9.99989287e-01 -1.79252509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 985.506559995 meters 0.012922499708250603 Centerline is valid? [True, True] Translation: X:-250.39, Y:-265.78, Z:-1.79 [[-5.10366888e-01 8.59955016e-01 1.73519081e-03 -2.50388313e+02] [ 8.59950279e-01 5.10369836e-01 -2.85463145e-03 -2.65779719e+02] [-3.34044368e-03 3.52684472e-05 -9.99994420e-01 -1.79261186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 985.536559995 meters 0.01235262222593413 Centerline is valid? [True, True] Translation: X:-250.38, Y:-265.77, Z:-1.79 [[-5.79919870e-01 8.14671987e-01 1.58059239e-03 -2.50377809e+02] [ 8.14669037e-01 5.79922024e-01 -2.19244975e-03 -2.65771451e+02] [-2.70274774e-03 1.62145046e-05 -9.99996348e-01 -1.79230864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 985.5665599949999 meters 0.012144047283342946 Centerline is valid? [True, True] Translation: X:-250.37, Y:-265.76, Z:-1.79 [[-6.45642906e-01 7.63638097e-01 1.44691838e-03 -2.50368656e+02] [ 7.63636189e-01 6.45644528e-01 -1.70714996e-03 -2.65763442e+02] [-2.23783968e-03 2.70997402e-06 -9.99997496e-01 -1.79239863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 985.5965599949999 meters 0.012859381195551977 Centerline is valid? [True, True] Translation: X:-250.36, Y:-265.75, Z:-1.79 [[-7.09765879e-01 7.04437300e-01 6.98349776e-04 -2.50358087e+02] [ 7.04436949e-01 7.09766223e-01 -7.03257949e-04 -2.65750940e+02] [-9.91066215e-04 -7.20511094e-06 -9.99999509e-01 -1.79249902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 985.626559995 meters 0.013273751865983957 Centerline is valid? [True, True] Translation: X:-250.35, Y:-265.74, Z:-1.79 [[-7.65363929e-01 6.43597700e-01 2.39158467e-04 -2.50351837e+02] [ 6.43597667e-01 7.65363967e-01 -2.05058598e-04 -2.65739529e+02] [-3.15018516e-04 -3.02262347e-06 -9.99999951e-01 -1.79259170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 985.656559995 meters 0.013957882328208769 Centerline is valid? [True, True] Translation: X:-250.34, Y:-265.71, Z:-1.79 [[-8.11110061e-01 5.84893531e-01 -1.65167572e-04 -2.50338538e+02] [ 5.84893518e-01 8.11110077e-01 1.23981081e-04 -2.65710614e+02] [ 2.06484813e-04 3.95685932e-06 -9.99999979e-01 -1.79266336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 985.6865599949999 meters 0.01559356110212016 Centerline is valid? [True, True] Translation: X:-250.32, Y:-265.68, Z:-1.79 [[-8.53241220e-01 5.21516100e-01 -6.15267472e-04 -2.50322116e+02] [ 5.21515951e-01 8.53241441e-01 3.94804711e-04 -2.65681178e+02] [ 7.30868717e-04 1.59918526e-05 -9.99999733e-01 -1.79235281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 985.7165599949999 meters 0.016376581194325987 Centerline is valid? [True, True] Translation: X:-250.31, Y:-265.65, Z:-1.79 [[-8.88765981e-01 4.58360369e-01 -8.96561958e-04 -2.50311091e+02] [ 4.58360109e-01 8.88766433e-01 4.88986726e-04 -2.65652774e+02] [ 1.02096631e-03 2.36465303e-05 -9.99999479e-01 -1.79243969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 985.746559995 meters 0.01665404102296577 Centerline is valid? [True, True] Translation: X:-250.05, Y:-265.17, Z:-2.79 [[-8.31352876e-01 -5.55744534e-01 -6.39820887e-04 -2.50048260e+02] [ 5.55744371e-01 -8.31353122e-01 4.25077736e-04 -2.65165424e+02] [-7.68151719e-04 -2.18725845e-06 9.99999705e-01 -2.79080673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 985.776559995 meters 0.0165756818770307 Centerline is valid? [True, True] Translation: X:-250.06, Y:-265.19, Z:-2.79 [[-7.92145378e-01 -6.10332451e-01 1.98275863e-05 -2.50064986e+02] [ 6.10332451e-01 -7.92145378e-01 -1.38323956e-05 -2.65191518e+02] [ 2.41486921e-05 1.14415107e-06 1.00000000e+00 -2.79251562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 985.8065599949999 meters 0.01662646577330514 Centerline is valid? [True, True] Translation: X:-250.40, Y:-265.63, Z:-1.79 [[-8.57796084e-01 5.13990111e-01 2.09700663e-04 -2.50399997e+02] [ 5.13990094e-01 8.57796110e-01 -1.31407841e-04 -2.65631642e+02] [-2.47422744e-04 -4.93706805e-06 -9.99999970e-01 -1.78984071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 985.8365599949999 meters 0.016021955207452834 Centerline is valid? [True, True] Translation: X:-250.39, Y:-265.61, Z:-1.79 [[-8.91100155e-01 4.53805920e-01 8.36765668e-04 -2.50385846e+02] [ 4.53805700e-01 8.91100548e-01 -4.47164226e-04 -2.65610167e+02] [-9.48568119e-04 -1.87390811e-05 -9.99999550e-01 -1.78827367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 985.866559995 meters 0.016021955207452834 Centerline is valid? [True, True] Translation: X:-250.12, Y:-265.12, Z:-2.79 [[-8.36897224e-01 -5.47359448e-01 8.19873976e-04 -2.50123986e+02] [ 5.47359208e-01 -8.36897625e-01 -5.12080515e-04 -2.65121969e+02] [ 9.66442693e-04 2.02068090e-05 9.99999533e-01 -2.79468652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 985.896559995 meters 0.015513246823099807 Centerline is valid? [True, True] Translation: X:-250.14, Y:-265.15, Z:-2.80 [[-7.98878626e-01 -6.01490902e-01 1.27945330e-03 -2.50138556e+02] [ 6.01490192e-01 -7.98879650e-01 -9.24587855e-04 -2.65146018e+02] [ 1.57826039e-03 3.09451373e-05 9.99998754e-01 -2.79526864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 985.9265599949999 meters 0.015211632176726305 Centerline is valid? [True, True] Translation: X:-250.15, Y:-265.17, Z:-2.80 [[-7.57372662e-01 -6.52979994e-01 1.94396325e-03 -2.50152807e+02] [ 6.52977998e-01 -7.57375155e-01 -1.61528968e-03 -2.65170351e+02] [ 2.52706131e-03 4.59889849e-05 9.99996806e-01 -2.79637442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 985.9565599949999 meters 0.014828519858656618 Centerline is valid? [True, True] Translation: X:-250.52, Y:-265.60, Z:-1.79 [[-8.21766027e-01 5.69815672e-01 3.27058615e-03 -2.50518561e+02] [ 5.69810842e-01 8.21772533e-01 -2.34704152e-03 -2.65602555e+02] [-4.02505891e-03 -6.51035339e-05 -9.99991897e-01 -1.78516816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 985.986559995 meters 0.01430670302850424 Centerline is valid? [True, True] Translation: X:-250.51, Y:-265.58, Z:-1.78 [[-8.58589693e-01 5.12635573e-01 5.33930011e-03 -2.50508457e+02] [ 5.12625053e-01 8.58606290e-01 -3.28524334e-03 -2.65582051e+02] [-6.26848927e-03 -8.36170631e-05 -9.99980349e-01 -1.78272501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 986.016559995 meters 0.013969398773761146 Centerline is valid? [True, True] Translation: X:-250.50, Y:-265.56, Z:-1.78 [[-8.92003039e-01 4.51985225e-01 6.31932517e-03 -2.50497629e+02] [ 4.51973218e-01 8.92025420e-01 -3.29555737e-03 -2.65559255e+02] [-7.12654192e-03 -8.34814534e-05 -9.99974603e-01 -1.78210950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 986.0465599949999 meters 0.013584411828016039 Centerline is valid? [True, True] Translation: X:-250.22, Y:-265.04, Z:-2.80 [[-8.48878093e-01 -5.28554557e-01 6.00524263e-03 -2.50222009e+02] [ 5.28541966e-01 -8.48899331e-01 -3.64904748e-03 -2.65042634e+02] [ 7.02656713e-03 7.64262819e-05 9.99975311e-01 -2.80111413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 986.0765599949999 meters 0.013280872006706097 Centerline is valid? [True, True] Translation: X:-250.54, Y:-265.55, Z:-1.78 [[-8.91587437e-01 4.52812947e-01 5.68129554e-03 -2.50536648e+02] [ 4.52803428e-01 8.91605537e-01 -2.93646089e-03 -2.65548949e+02] [-6.39514207e-03 -4.56015404e-05 -9.99979550e-01 -1.78234690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 986.1065599949999 meters 0.01292767818526434 Centerline is valid? [True, True] Translation: X:-250.53, Y:-265.53, Z:-1.78 [[-9.20845469e-01 3.89890785e-01 5.36637604e-03 -2.50527758e+02] [ 3.89883956e-01 9.20861105e-01 -2.30780318e-03 -2.65526358e+02] [-5.84147817e-03 -3.28661823e-05 -9.99982938e-01 -1.78398135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 986.136559995 meters 0.012860828546015538 Centerline is valid? [True, True] Translation: X:-250.28, Y:-264.97, Z:-2.80 [[-8.88497945e-01 -4.58863682e-01 3.93994856e-03 -2.50283410e+02] [ 4.58858885e-01 -8.88506679e-01 -2.09902056e-03 -2.64969079e+02] [ 4.46383491e-03 -5.70950497e-05 9.99990036e-01 -2.79836455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 986.166559995 meters 0.012808318280600226 Centerline is valid? [True, True] Translation: X:-250.57, Y:-265.52, Z:-1.79 [[-9.20904136e-01 3.89770583e-01 3.80332166e-03 -2.50571822e+02] [ 3.89767222e-01 9.20911990e-01 -1.61856767e-03 -2.65517117e+02] [-4.13339458e-03 -8.13553913e-06 -9.99991458e-01 -1.78564642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 986.1965599949999 meters 0.012771680145501634 Centerline is valid? [True, True] Translation: X:-250.56, Y:-265.49, Z:-1.78 [[-9.45893944e-01 3.24451554e-01 3.97937395e-03 -2.50563667e+02] [ 3.24448664e-01 9.45902315e-01 -1.36946421e-03 -2.65494560e+02] [-4.20842382e-03 -4.26534662e-06 -9.99991145e-01 -1.78486454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 986.2265599949999 meters 0.012881243128978738 Centerline is valid? [True, True] Translation: X:-250.56, Y:-265.47, Z:-1.78 [[-9.66516487e-01 2.56572358e-01 4.06265768e-03 -2.50558731e+02] [ 2.56570074e-01 9.66525026e-01 -1.08279318e-03 -2.65468787e+02] [-4.20447512e-03 -4.18108107e-06 -9.99991161e-01 -1.78455847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 986.256559995 meters 0.012809653228317995 Centerline is valid? [True, True] Translation: X:-250.40, Y:-264.86, Z:-2.80 [[-9.45994891e-01 -3.24150765e-01 4.46641152e-03 -2.50396043e+02] [ 3.24147337e-01 -9.46005434e-01 -1.49122488e-03 -2.64856448e+02] [ 4.70863125e-03 3.70842779e-05 9.99988914e-01 -2.79787828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 986.286559995 meters 0.01291744906294913 Centerline is valid? [True, True] Translation: X:-250.61, Y:-265.46, Z:-1.79 [[-9.68312784e-01 2.49696887e-01 4.67084944e-03 -2.50609050e+02] [ 2.49693879e-01 9.68324049e-01 -1.22578049e-03 -2.65460471e+02] [-4.82896942e-03 -2.06564071e-05 -9.99988340e-01 -1.78539199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 986.3165599949999 meters 0.012987031725035991 Centerline is valid? [True, True] Translation: X:-250.45, Y:-264.84, Z:-2.80 [[-9.45955698e-01 -3.24267376e-01 4.29960256e-03 -2.50448094e+02] [ 3.24264032e-01 -9.45965469e-01 -1.47280333e-03 -2.64840836e+02] [ 4.54485762e-03 9.99756188e-07 9.99989672e-01 -2.79742326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 986.3465599949999 meters 0.013187256662269485 Centerline is valid? [True, True] Translation: X:-250.66, Y:-265.45, Z:-1.79 [[-9.70100694e-01 2.42663437e-01 4.37033943e-03 -2.50663160e+02] [ 2.42660813e-01 9.70110538e-01 -1.12907348e-03 -2.65448087e+02] [-4.51369719e-03 -3.48048434e-05 -9.99989813e-01 -1.78586517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 986.376559995 meters 0.013326569367434952 Centerline is valid? [True, True] Translation: X:-250.65, Y:-265.42, Z:-1.79 [[-9.85184286e-01 1.71443526e-01 4.36351818e-03 -2.50654620e+02] [ 1.71441655e-01 9.85193948e-01 -8.02047121e-04 -2.65421929e+02] [-4.43641749e-03 -4.20754419e-05 -9.99990158e-01 -1.78605703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 986.406559995 meters 0.013326569367434952 Centerline is valid? [True, True] Translation: X:-250.65, Y:-265.39, Z:-1.79 [[-9.94873030e-01 1.01035687e-01 4.40949546e-03 -2.50653961e+02] [ 1.01034507e-01 9.94882801e-01 -4.90101341e-04 -2.65393952e+02] [-4.43644892e-03 -4.20774080e-05 -9.99990158e-01 -1.78605668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 986.4365599949999 meters 0.014177211200643799 Centerline is valid? [True, True] Translation: X:-250.59, Y:-264.76, Z:-2.80 [[-9.81612592e-01 -1.90829378e-01 4.56812848e-03 -2.50585981e+02] [ 1.90827587e-01 -9.81623220e-01 -8.28790222e-04 -2.64755103e+02] [ 4.64233850e-03 5.81740171e-05 9.99989223e-01 -2.79699240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 986.4665599949999 meters 0.01441500051495693 Centerline is valid? [True, True] Translation: X:-250.71, Y:-265.39, Z:-1.79 [[-9.95813623e-01 9.12884633e-02 4.65245663e-03 -2.50713976e+02] [ 9.12871323e-02 9.95824488e-01 -4.98083321e-04 -2.65388027e+02] [-4.67849950e-03 -7.12887322e-05 -9.99989053e-01 -1.78575768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 986.496559995 meters 0.014928639558363812 Centerline is valid? [True, True] Translation: X:-250.65, Y:-264.75, Z:-2.80 [[-9.81758991e-01 -1.90072065e-01 4.67913390e-03 -2.50646116e+02] [ 1.90070280e-01 -9.81770138e-01 -8.27246822e-04 -2.64748527e+02] [ 4.75107045e-03 7.72072849e-05 9.99988711e-01 -2.79753300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 986.526559995 meters 0.015248134526502964 Centerline is valid? [True, True] Translation: X:-250.77, Y:-265.38, Z:-1.78 [[-9.96493387e-01 8.35292842e-02 4.87738422e-03 -2.50771551e+02] [ 8.35278271e-02 9.96505319e-01 -5.02043250e-04 -2.65383893e+02] [-4.90227463e-03 -9.28854726e-05 -9.99987980e-01 -1.78487527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 986.5565599949999 meters 0.015457472373057893 Centerline is valid? [True, True] Translation: X:-250.77, Y:-265.36, Z:-1.78 [[-9.99916967e-01 1.16451013e-02 5.51824379e-03 -2.50773370e+02] [ 1.16443196e-02 9.99932188e-01 -1.73772472e-04 -2.65357121e+02] [-5.51989318e-03 -1.09501848e-04 -9.99984759e-01 -1.78485332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 986.5865599949999 meters 0.015741256606191946 Centerline is valid? [True, True] Translation: X:-250.75, Y:-264.71, Z:-2.80 [[-9.92763902e-01 -1.19966991e-01 5.26847496e-03 -2.50750560e+02] [ 1.19965783e-01 -9.92777877e-01 -5.45884990e-04 -2.64707092e+02] [ 5.29591357e-03 9.01018133e-05 9.99985973e-01 -2.79791588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 986.616559995 meters 0.01587840502844518 Centerline is valid? [True, True] Translation: X:-250.84, Y:-265.36, Z:-1.79 [[-9.99973152e-01 5.40676908e-03 4.94599311e-03 -2.50837026e+02] [ 5.40617711e-03 9.99985378e-01 -1.33050236e-04 -2.65359102e+02] [-4.94664016e-03 -1.06307749e-04 -9.99987760e-01 -1.78518603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 986.646559995 meters 0.01617168374946552 Centerline is valid? [True, True] Translation: X:-250.82, Y:-264.70, Z:-2.80 [[-9.93242473e-01 -1.15967284e-01 4.58034827e-03 -2.50818116e+02] [ 1.15966405e-01 -9.93253031e-01 -4.57935805e-04 -2.64703082e+02] [ 4.60255037e-03 7.63252290e-05 9.99989405e-01 -2.79770739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 986.6765599949999 meters 0.015809762149209948 Centerline is valid? [True, True] Translation: X:-250.90, Y:-265.36, Z:-1.79 [[-9.99988821e-01 9.72777896e-04 4.62717902e-03 -2.50904808e+02] [ 9.72311800e-04 9.99999522e-01 -1.02978642e-04 -2.65360288e+02] [-4.62727699e-03 -9.84784302e-05 -9.99989289e-01 -1.78564436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 986.7065599949999 meters 0.016053446670560502 Centerline is valid? [True, True] Translation: X:-250.91, Y:-265.33, Z:-1.79 [[-9.97566208e-01 -6.95541501e-02 4.88681823e-03 -2.50906282e+02] [-6.95538131e-02 9.97578172e-01 2.39067246e-04 -2.65334777e+02] [-4.89161132e-03 -1.01411436e-04 -9.99988031e-01 -1.78527213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 986.736559995 meters 0.016544413944899732 Centerline is valid? [True, True] Translation: X:-250.94, Y:-264.67, Z:-2.80 [[-9.99228619e-01 -3.89455865e-02 5.04074501e-03 -2.50937062e+02] [ 3.89456675e-02 -9.99241326e-01 -8.21233391e-05 -2.64669785e+02] [ 5.04011907e-03 1.14255188e-04 9.99987292e-01 -2.79841618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 986.766559995 meters 0.015197745808093504 Centerline is valid? [True, True] Translation: X:-250.99, Y:-265.34, Z:-1.78 [[-9.97363230e-01 -7.23615596e-02 5.51285208e-03 -2.50991538e+02] [-7.23610039e-02 9.97378461e-01 3.00453528e-04 -2.65344330e+02] [-5.52014121e-03 -9.92542092e-05 -9.99984759e-01 -1.78431745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 986.7965599949999 meters 0.014810494050744413 Centerline is valid? [True, True] Translation: X:-251.02, Y:-264.67, Z:-2.80 [[-9.99531809e-01 -3.00869246e-02 5.56240565e-03 -2.51024555e+02] [ 3.00870305e-02 -9.99547281e-01 -6.46557583e-05 -2.64666226e+02] [ 5.56183274e-03 1.02730781e-04 9.99984528e-01 -2.79918374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 986.8265599949999 meters 0.01448012931007564 Centerline is valid? [True, True] Translation: X:-251.08, Y:-265.35, Z:-1.78 [[-9.97240894e-01 -7.39807780e-02 6.11909809e-03 -2.51079047e+02] [-7.39799037e-02 9.97259664e-01 3.69418858e-04 -2.65354197e+02] [-6.12965960e-03 -8.42906944e-05 -9.99981210e-01 -1.78322873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 986.8565599949999 meters 0.01422266895439706 Centerline is valid? [True, True] Translation: X:-251.12, Y:-264.67, Z:-2.80 [[-9.99788820e-01 -1.96211268e-02 6.10965248e-03 -2.51117063e+02] [ 1.96212658e-02 -9.99807484e-01 -3.72087170e-05 -2.64665593e+02] [ 6.10920635e-03 8.26782558e-05 9.99981335e-01 -2.79997414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 986.886559995 meters 0.013767387853385491 Centerline is valid? [True, True] Translation: X:-251.17, Y:-265.36, Z:-1.78 [[-9.96964358e-01 -7.76274390e-02 6.00418134e-03 -2.51170174e+02] [-7.76264417e-02 9.96982435e-01 3.99326604e-04 -2.65362506e+02] [-6.01706204e-03 -6.79688412e-05 -9.99981895e-01 -1.78397045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 986.916559995 meters 0.013869064954793255 Centerline is valid? [True, True] Translation: X:-251.21, Y:-264.67, Z:-2.80 [[-9.99915802e-01 -1.18246908e-02 5.34461196e-03 -2.51211523e+02] [ 1.18246076e-02 -9.99930086e-01 -4.71796595e-05 -2.64669610e+02] [ 5.34479618e-03 1.60222519e-05 9.99985717e-01 -2.79916138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 986.9465599949999 meters 0.01354687692022645 Centerline is valid? [True, True] Translation: X:-251.26, Y:-265.37, Z:-1.78 [[-9.96608266e-01 -8.20730781e-02 5.99789169e-03 -2.51262994e+02] [-8.20719437e-02 9.96626312e-01 4.35444408e-04 -2.65367429e+02] [-6.01339494e-03 -5.82911321e-05 -9.99981918e-01 -1.78398535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 986.9765599949999 meters 0.013610394226563913 Centerline is valid? [True, True] Translation: X:-251.31, Y:-264.68, Z:-2.80 [[-9.99967655e-01 -4.79608815e-03 6.45649452e-03 -2.51310343e+02] [ 4.79658261e-03 -9.99988495e-01 6.11021481e-05 -2.64676423e+02] [ 6.45612718e-03 9.20692811e-05 9.99979155e-01 -2.79981153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 987.006559995 meters 0.01327503775440625 Centerline is valid? [True, True] Translation: X:-251.36, Y:-265.37, Z:-1.78 [[-9.96143303e-01 -8.74044111e-02 7.68041746e-03 -2.51360005e+02] [-8.74023555e-02 9.96172909e-01 6.03526847e-04 -2.65372988e+02] [-7.70377471e-03 -7.00873500e-05 -9.99970323e-01 -1.78320149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 987.036559995 meters 0.013385166888436896 Centerline is valid? [True, True] Translation: X:-251.37, Y:-265.35, Z:-1.78 [[-9.87379558e-01 -1.58171025e-01 7.97093147e-03 -2.51371011e+02] [-1.58166469e-01 9.87411729e-01 1.20268031e-03 -2.65345869e+02] [-8.06082040e-03 -7.32321353e-05 -9.99967509e-01 -1.78262071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 987.0665599949999 meters 0.013301625551994396 Centerline is valid? [True, True] Translation: X:-251.39, Y:-265.32, Z:-1.78 [[-9.73555878e-01 -2.28282331e-01 8.72524101e-03 -2.51391335e+02] [-2.28273888e-01 9.73594973e-01 1.96492138e-03 -2.65321347e+02] [-8.94340762e-03 -7.87839278e-05 -9.99960004e-01 -1.78231257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 987.0965599949999 meters 0.013288987406351056 Centerline is valid? [True, True] Translation: X:-251.43, Y:-265.30, Z:-1.78 [[-9.54617931e-01 -2.97680461e-01 9.53669466e-03 -2.51425628e+02] [-2.97666478e-01 9.54665563e-01 2.88647060e-03 -2.65301556e+02] [-9.96359987e-03 -8.32777154e-05 -9.99950359e-01 -1.78252212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 987.126559995 meters 0.013258872474342518 Centerline is valid? [True, True] Translation: X:-251.48, Y:-265.29, Z:-1.78 [[-9.30491821e-01 -3.66184459e-01 9.69090536e-03 -2.51481253e+02] [-3.66165490e-01 9.30542281e-01 3.72799771e-03 -2.65290363e+02] [-1.03829320e-02 -7.96037301e-05 -9.99946093e-01 -1.78167991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 987.156559995 meters 0.013228199119855729 Centerline is valid? [True, True] Translation: X:-251.55, Y:-265.29, Z:-1.78 [[-9.01183608e-01 -4.33327343e-01 9.77340212e-03 -2.51546644e+02] [-4.33302790e-01 9.01236600e-01 4.61343985e-03 -2.65287572e+02] [-1.08072773e-02 -7.72860385e-05 -9.99941597e-01 -1.78128269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 987.1865599949999 meters 0.013032159128706873 Centerline is valid? [True, True] Translation: X:-251.62, Y:-265.29, Z:-1.78 [[-8.67222579e-01 -4.97827740e-01 9.61973149e-03 -2.51620810e+02] [-4.97797929e-01 8.67275929e-01 5.44835984e-03 -2.65294374e+02] [-1.10553062e-02 -6.37417386e-05 -9.99938886e-01 -1.78180311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 987.2165599949999 meters 0.013007194246255634 Centerline is valid? [True, True] Translation: X:-251.70, Y:-265.31, Z:-1.78 [[-8.28016678e-01 -5.60623181e-01 9.48839167e-03 -2.51702510e+02] [-5.60587169e-01 8.28071039e-01 6.35456349e-03 -2.65311618e+02] [-1.14195779e-02 -5.73860753e-05 -9.99934793e-01 -1.78188994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 987.246559995 meters 0.012941901628539696 Centerline is valid? [True, True] Translation: X:-251.79, Y:-265.34, Z:-1.78 [[-7.83928477e-01 -6.20783279e-01 9.17947904e-03 -2.51786051e+02] [-6.20741497e-01 7.83982218e-01 7.20246856e-03 -2.65337535e+02] [-1.16677204e-02 -5.18633510e-05 -9.99931929e-01 -1.78230731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 987.276559995 meters 0.012868726381108192 Centerline is valid? [True, True] Translation: X:-251.87, Y:-265.37, Z:-1.78 [[-7.35474493e-01 -6.77498129e-01 8.57646107e-03 -2.51871829e+02] [-6.77452722e-01 7.35524496e-01 7.84380016e-03 -2.65372231e+02] [-1.16223571e-02 -4.12319571e-05 -9.99932457e-01 -1.78317041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 987.3065599949999 meters 0.012934653531552428 Centerline is valid? [True, True] Translation: X:-251.96, Y:-265.42, Z:-1.78 [[-6.82256384e-01 -7.31068548e-01 8.06253222e-03 -2.51960230e+02] [-7.31018188e-01 6.82304020e-01 8.58098739e-03 -2.65418878e+02] [-1.17743881e-02 -3.94242626e-05 -9.99930679e-01 -1.78241449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 987.3365599949999 meters 0.01285230353382898 Centerline is valid? [True, True] Translation: X:-252.05, Y:-265.48, Z:-1.78 [[-6.24846355e-01 -7.80712408e-01 7.42751619e-03 -2.52050441e+02] [-7.80658003e-01 6.24890498e-01 9.21675814e-03 -2.65477948e+02] [-1.18370217e-02 -3.92922216e-05 -9.99929939e-01 -1.78334399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 987.366559995 meters 0.012932351850675799 Centerline is valid? [True, True] Translation: X:-252.14, Y:-265.55, Z:-1.78 [[-5.63626368e-01 -8.26002368e-01 6.73841472e-03 -2.52139315e+02] [-8.25944216e-01 5.63666645e-01 9.80130867e-03 -2.65549157e+02] [-1.18941238e-02 -4.12786578e-05 -9.99929262e-01 -1.78325744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 987.396559995 meters 0.012959207655246581 Centerline is valid? [True, True] Translation: X:-252.21, Y:-265.61, Z:-1.78 [[-4.98574451e-01 -8.66825484e-01 6.09074500e-03 -2.52213783e+02] [-8.66761937e-01 4.98611650e-01 1.04960088e-02 -2.65612815e+02] [-1.21351244e-02 -4.61840877e-05 -9.99926366e-01 -1.78312461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 987.4265599949999 meters 0.012952819813294728 Centerline is valid? [True, True] Translation: X:-252.29, Y:-265.69, Z:-1.78 [[-4.30371718e-01 -9.02636261e-01 5.28815860e-03 -2.52289090e+02] [-9.02569632e-01 4.30404203e-01 1.09673392e-02 -2.65693483e+02] [-1.21755638e-02 -5.28987256e-05 -9.99925874e-01 -1.78355368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 987.4565599949999 meters 0.013199119697260965 Centerline is valid? [True, True] Translation: X:-252.36, Y:-265.78, Z:-1.78 [[-3.58393957e-01 -9.33558928e-01 4.63675444e-03 -2.52361742e+02] [-9.33483614e-01 3.58423942e-01 1.18583623e-02 -2.65784008e+02] [-1.27324038e-02 -7.83688953e-05 -9.99918937e-01 -1.78242045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 987.486559995 meters 0.013195309674687095 Centerline is valid? [True, True] Translation: X:-252.43, Y:-265.88, Z:-1.78 [[-2.84681695e-01 -9.58614466e-01 3.82584769e-03 -2.52425303e+02] [-9.58532414e-01 2.84707386e-01 1.25425797e-02 -2.65880522e+02] [-1.31127454e-02 -9.65561782e-05 -9.99914020e-01 -1.78315804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 987.516559995 meters 0.013551898434793774 Centerline is valid? [True, True] Translation: X:-252.48, Y:-265.99, Z:-1.78 [[-2.07388717e-01 -9.78254312e-01 2.90195212e-03 -2.52483845e+02] [-9.78167659e-01 2.07408973e-01 1.30211104e-02 -2.65986434e+02] [-1.33398483e-02 -1.38164333e-04 -9.99911011e-01 -1.78336069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 987.5465599949999 meters 0.014005243503895785 Centerline is valid? [True, True] Translation: X:-252.53, Y:-266.10, Z:-1.78 [[-1.30058785e-01 -9.91504324e-01 1.97184041e-03 -2.52533905e+02] [-9.91408986e-01 1.30073625e-01 1.37504543e-02 -2.66097996e+02] [-1.38901193e-02 -1.66532929e-04 -9.99903514e-01 -1.78309251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 987.5765599949999 meters 0.014384989432837626 Centerline is valid? [True, True] Translation: X:-252.57, Y:-266.21, Z:-1.78 [[-5.19692009e-02 -9.98648275e-01 9.08778956e-04 -2.52574670e+02] [-9.98552465e-01 5.19768043e-02 1.38342240e-02 -2.66207237e+02] [-1.38627593e-02 -1.88509902e-04 -9.99903890e-01 -1.78289912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 987.6065599949999 meters 0.014593174026592425 Centerline is valid? [True, True] Translation: X:-252.61, Y:-266.33, Z:-1.78 [[ 2.70646799e-02 -9.99633673e-01 -1.52545228e-04 -2.52607154e+02] [-9.99541997e-01 -2.70642640e-02 1.35396659e-02 -2.66328441e+02] [-1.35388344e-02 -2.13971360e-04 -9.99908323e-01 -1.78388110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 987.636559995 meters 0.014828932853949511 Centerline is valid? [True, True] Translation: X:-252.63, Y:-266.44, Z:-1.78 [[ 1.04786598e-01 -9.94494071e-01 -1.14529555e-03 -2.52629935e+02] [-9.94409765e-01 -1.04792629e-01 1.29508670e-02 -2.66439918e+02] [-1.29995790e-02 -2.18184211e-04 -9.99915478e-01 -1.78447941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 987.666559995 meters 0.015550548057419419 Centerline is valid? [True, True] Translation: X:-252.64, Y:-266.56, Z:-1.78 [[ 1.81609168e-01 -9.83368668e-01 -2.04282302e-03 -2.52643909e+02] [-9.83292254e-01 -1.81620526e-01 1.22608471e-02 -2.66562654e+02] [-1.24279515e-02 -2.17990192e-04 -9.99922746e-01 -1.78391500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 987.6965599949999 meters 0.01592882898227739 Centerline is valid? [True, True] Translation: X:-252.65, Y:-266.68, Z:-1.78 [[ 2.57368624e-01 -9.66308744e-01 -2.96678834e-03 -2.52648820e+02] [-9.66234038e-01 -2.57385624e-01 1.20176633e-02 -2.66678130e+02] [-1.23763818e-02 -2.26357600e-04 -9.99923384e-01 -1.78389357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 987.7265599949999 meters 0.015387935245842551 Centerline is valid? [True, True] Translation: X:-252.64, Y:-266.80, Z:-1.78 [[ 3.31756276e-01 -9.43356762e-01 -3.97394260e-03 -2.52641846e+02] [-9.43280001e-01 -3.31779986e-01 1.20366226e-02 -2.66796079e+02] [-1.26733040e-02 -2.44684522e-04 -9.99919661e-01 -1.78450796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 987.756559995 meters 0.015439724206109472 Centerline is valid? [True, True] Translation: X:-252.63, Y:-266.91, Z:-1.78 [[ 4.03371913e-01 -9.15021340e-01 -5.20068055e-03 -2.52628300e+02] [-9.14936640e-01 -4.03405351e-01 1.24526304e-02 -2.66910589e+02] [-1.34924049e-02 -2.64748147e-04 -9.99908938e-01 -1.78388430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 987.786559995 meters 0.015439724206109472 Centerline is valid? [True, True] Translation: X:-252.61, Y:-267.02, Z:-1.78 [[ 4.72337872e-01 -8.81396184e-01 -6.14020081e-03 -2.52606197e+02] [-8.81314296e-01 -4.72377706e-01 1.20172422e-02 -2.67024292e+02] [-1.34924454e-02 -2.64751865e-04 -9.99908938e-01 -1.78388237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 987.8165599949999 meters 0.015271024899088995 Centerline is valid? [True, True] Translation: X:-252.58, Y:-267.13, Z:-1.78 [[ 5.38479781e-01 -8.42603918e-01 -7.62648804e-03 -2.52575260e+02] [-8.42511729e-01 -5.38533708e-01 1.24672056e-02 -2.67132881e+02] [-1.46120372e-02 -2.87932541e-04 -9.99893197e-01 -1.78341815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 987.8465599949999 meters 0.015595031498654049 Centerline is valid? [True, True] Translation: X:-252.53, Y:-267.25, Z:-1.78 [[ 6.01303689e-01 -7.98970870e-01 -8.91191870e-03 -2.52533466e+02] [-7.98875648e-01 -6.01369652e-01 1.23385788e-02 -2.67245289e+02] [-1.52175225e-02 -2.99718136e-04 -9.99884162e-01 -1.78295950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 987.876559995 meters 0.015391116612032091 Centerline is valid? [True, True] Translation: X:-252.49, Y:-267.34, Z:-1.78 [[ 6.60026860e-01 -7.51174150e-01 -1.00965130e-02 -2.52493169e+02] [-7.51079298e-01 -6.60104012e-01 1.19407616e-02 -2.67338287e+02] [-1.56343401e-02 -2.97941497e-04 -9.99877732e-01 -1.78284899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 987.906559995 meters 0.015964364867661972 Centerline is valid? [True, True] Translation: X:-252.44, Y:-267.44, Z:-1.78 [[ 7.14945742e-01 -6.99096058e-01 -1.08299340e-02 -2.52441684e+02] [-6.99009760e-01 -7.15027706e-01 1.09880005e-02 -2.67435984e+02] [-1.54253707e-02 -2.85594590e-04 -9.99880981e-01 -1.78186506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 987.9365599949999 meters 0.016557195008063207 Centerline is valid? [True, True] Translation: X:-252.39, Y:-267.52, Z:-1.78 [[ 7.65575242e-01 -6.43240078e-01 -1.16940470e-02 -2.52389866e+02] [-6.43159476e-01 -7.65664499e-01 1.01864146e-02 -2.67523298e+02] [-1.55060268e-02 -2.77329691e-04 -9.99879736e-01 -1.78087036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 987.9665599949999 meters 0.015329067760860607 Centerline is valid? [True, True] Translation: X:-252.39, Y:-267.53, Z:-1.78 [[ 8.12895855e-01 -5.82281420e-01 -1.21932855e-02 -2.52386409e+02] [-5.82211189e-01 -8.12987259e-01 9.04701771e-03 -2.67526761e+02] [-1.51808961e-02 -2.55215931e-04 -9.99884731e-01 -1.78268082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 987.996559995 meters 0.015222619327496249 Centerline is valid? [True, True] Translation: X:-252.38, Y:-267.53, Z:-1.78 [[ 8.55598637e-01 -5.17482846e-01 -1.27466070e-02 -2.52384949e+02] [-5.17421171e-01 -8.55693546e-01 7.99294322e-03 -2.67531397e+02] [-1.50434003e-02 -2.43387018e-04 -9.99886812e-01 -1.78274719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 988.026559995 meters 0.015026525700247729 Centerline is valid? [True, True] Translation: X:-252.38, Y:-267.54, Z:-1.78 [[ 8.93120038e-01 -4.49623412e-01 -1.32433199e-02 -2.52382921e+02] [-4.49570124e-01 -8.93218189e-01 6.92603816e-03 -2.67536473e+02] [-1.49432831e-02 -2.31982504e-04 -9.99888316e-01 -1.78317116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 988.0565599949999 meters 0.01480069292441282 Centerline is valid? [True, True] Translation: X:-252.38, Y:-267.54, Z:-1.78 [[ 9.25007072e-01 -3.79707916e-01 -1.35578670e-02 -2.52380972e+02] [-3.79663819e-01 -9.25106402e-01 5.79049577e-03 -2.67540217e+02] [-1.47411666e-02 -2.08817993e-04 -9.99891321e-01 -1.78299537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 988.0865599949999 meters 0.014401210264967202 Centerline is valid? [True, True] Translation: X:-252.38, Y:-267.55, Z:-1.78 [[ 9.51683262e-01 -3.06756523e-01 -1.41210875e-02 -2.52378880e+02] [-3.06719593e-01 -9.51787999e-01 4.76410938e-03 -2.67545184e+02] [-1.49017033e-02 -2.02708935e-04 -9.99888943e-01 -1.78343994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 988.116559995 meters 0.014476020936766204 Centerline is valid? [True, True] Translation: X:-252.38, Y:-267.55, Z:-1.78 [[ 9.72406097e-01 -2.32824606e-01 -1.48015561e-02 -2.52376960e+02] [-2.32794726e-01 -9.72518724e-01 3.73457949e-03 -2.67550360e+02] [-1.52642925e-02 -1.85803659e-04 -9.99883477e-01 -1.78221308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 988.146559995 meters 0.01399321591488259 Centerline is valid? [True, True] Translation: X:-252.37, Y:-267.56, Z:-1.78 [[ 9.87513045e-01 -1.56804375e-01 -1.51780575e-02 -2.52373520e+02] [-1.56783105e-01 -9.87629666e-01 2.58866265e-03 -2.67555051e+02] [-1.53962135e-02 -1.76675150e-04 -9.99881456e-01 -1.78325941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 988.1765599949999 meters 0.013783085915917096 Centerline is valid? [True, True] Translation: X:-252.37, Y:-267.56, Z:-1.78 [[ 9.96682721e-01 -7.98970530e-02 -1.54923781e-02 -2.52373833e+02] [-7.98848403e-02 -9.96803107e-01 1.40654069e-03 -2.67559686e+02] [-1.55552291e-02 -1.64268659e-04 -9.99878997e-01 -1.78352995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 988.2065599949999 meters 0.013911364570916228 Centerline is valid? [True, True] Translation: X:-252.37, Y:-267.56, Z:-1.78 [[ 9.99880429e-01 -2.73091205e-03 -1.52207060e-02 -2.52374367e+02] [-2.72841244e-03 -9.99996261e-01 1.84987438e-04 -2.67564233e+02] [-1.52211543e-02 -1.43436956e-04 -9.99884141e-01 -1.78302725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 988.236559995 meters 0.014019513138861451 Centerline is valid? [True, True] Translation: X:-252.38, Y:-267.57, Z:-1.78 [[ 9.97052324e-01 7.51880587e-02 -1.52780324e-02 -2.52375102e+02] [ 7.51813702e-02 -9.97169362e-01 -1.01247772e-03 -2.67565534e+02] [-1.53109121e-02 -1.39130147e-04 -9.99882772e-01 -1.78283000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 988.266559995 meters 0.013745329173819864 Centerline is valid? [True, True] Translation: X:-252.37, Y:-267.57, Z:-1.78 [[ 9.88158209e-01 1.52707840e-01 -1.49556012e-02 -2.52374023e+02] [ 1.52692390e-01 -9.88271369e-01 -2.17625978e-03 -2.67568479e+02] [-1.51125244e-02 -1.33117527e-04 -9.99885791e-01 -1.78421756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 988.2965599949999 meters 0.013663867345415177 Centerline is valid? [True, True] Translation: X:-252.37, Y:-267.57, Z:-1.78 [[ 9.73256312e-01 2.29240068e-01 -1.48708769e-02 -2.52373078e+02] [ 2.29215335e-01 -9.73369907e-01 -3.36981604e-03 -2.67571598e+02] [-1.52473609e-02 -1.28938289e-04 -9.99883744e-01 -1.78394598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 988.3265599949999 meters 0.013803391887780124 Centerline is valid? [True, True] Translation: X:-252.37, Y:-267.57, Z:-1.78 [[ 9.52308341e-01 3.04782111e-01 -1.47203491e-02 -2.52373337e+02] [ 3.04747833e-01 -9.52422095e-01 -4.57284101e-03 -2.67574665e+02] [-1.54137058e-02 -1.31239842e-04 -9.99881193e-01 -1.78320432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 988.3565599949999 meters 0.013703636437883629 Centerline is valid? [True, True] Translation: X:-252.37, Y:-267.58, Z:-1.78 [[ 9.25761221e-01 3.77848712e-01 -1.40182965e-02 -2.52372753e+02] [ 3.77807349e-01 -9.25867343e-01 -5.59195289e-03 -2.67576035e+02] [-1.50919952e-02 -1.19402319e-04 -9.99886102e-01 -1.78292941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 988.386559995 meters 0.013449586766198167 Centerline is valid? [True, True] Translation: X:-252.37, Y:-267.58, Z:-1.78 [[ 8.93942271e-01 4.47989830e-01 -1.31274120e-02 -2.52372166e+02] [ 4.47943118e-01 -8.94038647e-01 -6.46999029e-03 -2.67575842e+02] [-1.46349035e-02 -9.65360300e-05 -9.99892900e-01 -1.78326477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 988.416559995 meters 0.013317430790999948 Centerline is valid? [True, True] Translation: X:-252.37, Y:-267.57, Z:-1.78 [[ 8.56634137e-01 5.15774325e-01 -1.24418812e-02 -2.52372444e+02] [ 5.15721312e-01 -8.56724483e-01 -7.39521529e-03 -2.67574965e+02] [-1.44735264e-02 -8.15494065e-05 -9.99895250e-01 -1.78359741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 988.4465599949999 meters 0.012899541153072203 Centerline is valid? [True, True] Translation: X:-252.37, Y:-267.58, Z:-1.79 [[ 8.14681430e-01 5.79797592e-01 -1.13542457e-02 -2.52371526e+02] [ 5.79742200e-01 -8.14760547e-01 -8.01453402e-03 -2.67575916e+02] [-1.38977990e-02 -5.32433351e-05 -9.99903420e-01 -1.78523246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 988.4765599949999 meters 0.01285247913901272 Centerline is valid? [True, True] Translation: X:-252.37, Y:-267.58, Z:-1.79 [[ 7.67377708e-01 6.41109507e-01 -1.04906589e-02 -2.52369802e+02] [ 6.41050313e-01 -7.67449411e-01 -8.71192785e-03 -2.67577544e+02] [-1.36363498e-02 -3.97009423e-05 -9.99907020e-01 -1.78563080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 988.506559995 meters 0.012722769072354789 Centerline is valid? [True, True] Translation: X:-252.37, Y:-267.58, Z:-1.79 [[ 7.15703535e-01 6.98343920e-01 -9.17706899e-03 -2.52368055e+02] [ 6.98286905e-01 -7.15762369e-01 -8.92354783e-03 -2.67579395e+02] [-1.28003060e-02 -2.16123777e-05 -9.99918073e-01 -1.78658793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 988.536559995 meters 0.012784192646461174 Centerline is valid? [True, True] Translation: X:-252.37, Y:-267.58, Z:-1.79 [[ 6.59326542e-01 7.51810829e-01 -8.30591368e-03 -2.52366906e+02] [ 7.51751424e-01 -6.59378857e-01 -9.45089974e-03 -2.67581661e+02] [-1.25820326e-02 -1.27533840e-05 -9.99920843e-01 -1.78610794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 988.5665599949999 meters 0.012723726742435906 Centerline is valid? [True, True] Translation: X:-252.36, Y:-267.58, Z:-1.79 [[ 5.99102977e-01 8.00638559e-01 -7.31581134e-03 -2.52364649e+02] [ 8.00578911e-01 -5.99147643e-01 -9.77285290e-03 -2.67583809e+02] [-1.22077740e-02 -1.93900746e-06 -9.99925483e-01 -1.78662530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 988.5965599949999 meters 0.012809829188638962 Centerline is valid? [True, True] Translation: X:-252.36, Y:-267.58, Z:-1.79 [[ 5.36436833e-01 8.43915118e-01 -6.54207403e-03 -2.52363801e+02] [ 8.43851802e-01 -5.36476722e-01 -1.03374645e-02 -2.67584785e+02] [-1.22336130e-02 2.48557324e-05 -9.99925166e-01 -1.78666169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 988.626559995 meters 0.012962704332515958 Centerline is valid? [True, True] Translation: X:-252.36, Y:-267.59, Z:-1.79 [[ 4.69856046e-01 8.82725250e-01 -5.60621026e-03 -2.52364119e+02] [ 8.82661398e-01 -4.69889489e-01 -1.06171748e-02 -2.67586404e+02] [-1.20063475e-02 4.01583790e-05 -9.99927921e-01 -1.78604579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 988.656559995 meters 0.013216998810023237 Centerline is valid? [True, True] Translation: X:-252.37, Y:-267.59, Z:-1.79 [[ 4.00665441e-01 9.16211868e-01 -4.79770728e-03 -2.52367400e+02] [ 9.16144417e-01 -4.00694161e-01 -1.11173846e-02 -2.67586558e+02] [-1.21082930e-02 5.89590760e-05 -9.99926690e-01 -1.78607171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 988.6865599949999 meters 0.013394606502446331 Centerline is valid? [True, True] Translation: X:-252.37, Y:-267.59, Z:-1.79 [[ 3.30202175e-01 9.43902275e-01 -3.87536012e-03 -2.52367099e+02] [ 9.43834027e-01 -3.30224903e-01 -1.13508673e-02 -2.67588372e+02] [-1.19938499e-02 9.03843149e-05 -9.99928067e-01 -1.78697723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 988.7165599949999 meters 0.013610644612331796 Centerline is valid? [True, True] Translation: X:-252.37, Y:-267.59, Z:-1.79 [[ 2.56325879e-01 9.66586003e-01 -2.92260426e-03 -2.52366119e+02] [ 9.66518586e-01 -2.56342520e-01 -1.14164658e-02 -2.67589994e+02] [-1.17841838e-02 1.01584311e-04 -9.99930559e-01 -1.78708294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 988.746559995 meters 0.01385317834928649 Centerline is valid? [True, True] Translation: X:-252.37, Y:-267.59, Z:-1.79 [[ 1.80736084e-01 9.83529563e-01 -2.01663685e-03 -2.52365984e+02] [ 9.83461214e-01 -1.80747300e-01 -1.15954188e-02 -2.67592645e+02] [-1.17689388e-02 1.12426459e-04 -9.99930737e-01 -1.78738745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 988.776559995 meters 0.013849507925951729 Centerline is valid? [True, True] Translation: X:-252.37, Y:-267.59, Z:-1.79 [[ 1.02865597e-01 9.94694674e-01 -1.08415701e-03 -2.52365264e+02] [ 9.94627878e-01 -1.02871254e-01 -1.15277619e-02 -2.67594457e+02] [-1.15781320e-02 1.07477327e-04 -9.99932966e-01 -1.78736718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 988.8065599949999 meters 0.013880794785338414 Centerline is valid? [True, True] Translation: X:-252.36, Y:-267.60, Z:-1.79 [[ 2.41713019e-02 9.99707816e-01 -1.74864590e-04 -2.52364507e+02] [ 9.99642835e-01 -2.41717246e-02 -1.13986630e-02 -2.67597225e+02] [-1.13995593e-02 1.00718391e-04 -9.99935018e-01 -1.78704807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 988.8365599949999 meters 0.013238544547966857 Centerline is valid? [True, True] Translation: X:-252.36, Y:-267.60, Z:-1.79 [[-5.67531097e-02 9.98388003e-01 6.93413258e-04 -2.52361850e+02] [ 9.98327665e-01 5.67573033e-02 -1.09764247e-02 -2.67598929e+02] [-1.09980870e-02 6.93074016e-05 -9.99939517e-01 -1.78724330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 988.866559995 meters 0.013036993073893952 Centerline is valid? [True, True] Translation: X:-252.36, Y:-267.60, Z:-1.79 [[-1.36403117e-01 9.90652205e-01 1.54862586e-03 -2.52360923e+02] [ 9.90592598e-01 1.36411898e-01 -1.08673467e-02 -2.67602420e+02] [-1.09770119e-02 5.17173532e-05 -9.99939750e-01 -1.78701753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 988.896559995 meters 0.012762968996825297 Centerline is valid? [True, True] Translation: X:-252.36, Y:-267.60, Z:-1.79 [[-2.17271881e-01 9.76108147e-01 2.41148507e-03 -2.52358688e+02] [ 9.76048561e-01 2.17285263e-01 -1.07852254e-02 -2.67604664e+02] [-1.10515266e-02 1.04003117e-05 -9.99938930e-01 -1.78673673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 988.9265599949999 meters 0.012790266547094965 Centerline is valid? [True, True] Translation: X:-252.36, Y:-267.61, Z:-1.79 [[-2.95203792e-01 9.55428364e-01 3.37088303e-03 -2.52358748e+02] [ 9.55365508e-01 2.95223037e-01 -1.09592204e-02 -2.67607757e+02] [-1.14659123e-02 -1.47780296e-05 -9.99934264e-01 -1.78622745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 988.9565599949999 meters 0.01299195443566799 Centerline is valid? [True, True] Translation: X:-252.36, Y:-267.61, Z:-1.79 [[-3.71426114e-01 9.28452379e-01 4.33849517e-03 -2.52359474e+02] [ 9.28387647e-01 3.71451449e-01 -1.09635262e-02 -2.67609847e+02] [-1.17906523e-02 -4.43346242e-05 -9.99930487e-01 -1.78566917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 988.986559995 meters 0.013433118489877391 Centerline is valid? [True, True] Translation: X:-252.36, Y:-267.61, Z:-1.78 [[-4.45080075e-01 8.95473986e-01 5.48341443e-03 -2.52360718e+02] [ 8.95403916e-01 4.45113845e-01 -1.12023664e-02 -2.67612044e+02] [-1.24721714e-02 -7.60793381e-05 -9.99922217e-01 -1.78474684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 989.016559995 meters 0.014493601827134783 Centerline is valid? [True, True] Translation: X:-252.36, Y:-267.61, Z:-1.78 [[-5.17721720e-01 8.55521311e-01 6.89254423e-03 -2.52359806e+02] [ 8.55441775e-01 5.17767579e-01 -1.16663469e-02 -2.67614386e+02] [-1.35495443e-02 -1.43750885e-04 -9.99908191e-01 -1.78342699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 989.0465599949999 meters 0.015295050804779707 Centerline is valid? [True, True] Translation: X:-252.36, Y:-267.62, Z:-1.78 [[-5.84655186e-01 8.11241892e-01 8.05644204e-03 -2.52362617e+02] [ 8.11160723e-01 5.84710666e-01 -1.14768599e-02 -2.67617687e+02] [-1.40211971e-02 -1.74936323e-04 -9.99901683e-01 -1.78276359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 989.0765599949999 meters 0.014183497845271982 Centerline is valid? [True, True] Translation: X:-252.36, Y:-267.61, Z:-1.79 [[-6.48760375e-01 7.60940090e-01 8.95293816e-03 -2.52357400e+02] [ 7.60862939e-01 6.48822110e-01 -1.08377413e-02 -2.67613837e+02] [-1.40557361e-02 -2.19138257e-04 -9.99901189e-01 -1.78671731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 989.1065599949999 meters 0.014606968019150438 Centerline is valid? [True, True] Translation: X:-252.35, Y:-267.61, Z:-1.79 [[-7.07334955e-01 7.06812198e-01 9.68388475e-03 -2.52351378e+02] [ 7.06741363e-01 7.07401202e-01 -1.00092554e-02 -2.67609146e+02] [-1.39250555e-02 -2.35894306e-04 -9.99903014e-01 -1.78706091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 989.136559995 meters 0.01490258831506214 Centerline is valid? [True, True] Translation: X:-252.35, Y:-267.60, Z:-1.79 [[-7.61110699e-01 6.48546779e-01 9.87818907e-03 -2.52347147e+02] [ 6.48488122e-01 7.61174763e-01 -8.72561739e-03 -2.67603910e+02] [-1.31779993e-02 -2.35272476e-04 -9.99913139e-01 -1.78755647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 989.166559995 meters 0.015149387408337477 Centerline is valid? [True, True] Translation: X:-252.33, Y:-267.58, Z:-1.79 [[-8.06052179e-01 5.91765388e-01 9.67527805e-03 -2.52329787e+02] [ 5.91719207e-01 8.06110209e-01 -7.39667269e-03 -2.67580653e+02] [-1.21764353e-02 -2.37056288e-04 -9.99925837e-01 -1.78886493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 989.1965599949999 meters 0.015521826950323862 Centerline is valid? [True, True] Translation: X:-252.32, Y:-267.56, Z:-1.79 [[-8.46234456e-01 5.32720075e-01 9.82687707e-03 -2.52315841e+02] [ 5.32680910e-01 8.46291479e-01 -6.46391284e-03 -2.67555228e+02] [-1.17598585e-02 -2.35395951e-04 -9.99930823e-01 -1.78868284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 989.2265599949999 meters 0.01547994355498858 Centerline is valid? [True, True] Translation: X:-252.30, Y:-267.53, Z:-1.79 [[-8.82037667e-01 4.71082922e-01 9.50974662e-03 -2.52299924e+02] [ 4.71052810e-01 8.82088902e-01 -5.33096795e-03 -2.67532098e+02] [-1.08997699e-02 -2.22521663e-04 -9.99940571e-01 -1.78941524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 989.256559995 meters 0.015641224224931527 Centerline is valid? [True, True] Translation: X:-252.29, Y:-267.51, Z:-1.79 [[-9.12982707e-01 4.07883612e-01 9.67144246e-03 -2.52287256e+02] [ 4.07858247e-01 9.13033906e-01 -4.55372175e-03 -2.67507283e+02] [-1.06877434e-02 -2.12891641e-04 -9.99942862e-01 -1.78952011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 989.286559995 meters 0.014727007314369104 Centerline is valid? [True, True] Translation: X:-252.28, Y:-267.48, Z:-1.79 [[-9.39353914e-01 3.42813407e-01 9.65358909e-03 -2.52280800e+02] [ 3.42793114e-01 9.39403496e-01 -3.73531487e-03 -2.67482158e+02] [-1.03491314e-02 -1.99598777e-04 -9.99946427e-01 -1.79094526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 989.3165599949999 meters 0.014589379347921183 Centerline is valid? [True, True] Translation: X:-252.27, Y:-267.46, Z:-1.79 [[-9.60792372e-01 2.77101480e-01 9.63258866e-03 -2.52271024e+02] [ 2.77085714e-01 9.60840642e-01 -2.96118198e-03 -2.67456886e+02] [-1.00759306e-02 -1.76028359e-04 -9.99949221e-01 -1.79063213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 989.3465599949999 meters 0.014759711274756535 Centerline is valid? [True, True] Translation: X:-252.26, Y:-267.43, Z:-1.79 [[-9.77822047e-01 2.09191464e-01 1.01477389e-02 -2.52264857e+02] [ 2.09178373e-01 9.77874686e-01 -2.34651461e-03 -2.67429518e+02] [-1.04140878e-02 -1.71786201e-04 -9.99945757e-01 -1.79013260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 989.376559995 meters 0.013865744608086466 Centerline is valid? [True, True] Translation: X:-252.11, Y:-266.81, Z:-2.79 [[-9.52518461e-01 -3.04289839e-01 1.07831101e-02 -2.52114791e+02] [ 3.04273146e-01 -9.52579465e-01 -3.19605138e-03 -2.66805636e+02] [ 1.12442952e-02 2.36712890e-04 9.99936753e-01 -2.79353252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 989.406559995 meters 0.01389008507904823 Centerline is valid? [True, True] Translation: X:-252.31, Y:-267.42, Z:-1.79 [[-9.77926381e-01 2.08624353e-01 1.16565008e-02 -2.52314260e+02] [ 2.08607589e-01 9.77995836e-01 -2.64943991e-03 -2.67421322e+02] [-1.19527470e-02 -1.59322648e-04 -9.99928551e-01 -1.78829882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 989.4365599949999 meters 0.01329750029954651 Centerline is valid? [True, True] Translation: X:-252.31, Y:-267.40, Z:-1.79 [[-9.89910822e-01 1.41090090e-01 1.30441823e-02 -2.52311058e+02] [ 1.41075920e-01 9.89996750e-01 -2.00475803e-03 -2.67396441e+02] [-1.31965495e-02 -1.44311658e-04 -9.99912912e-01 -1.78770897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 989.4665599949999 meters 0.013239876534119599 Centerline is valid? [True, True] Translation: X:-252.21, Y:-266.75, Z:-2.80 [[-9.73714100e-01 -2.27357483e-01 1.37632346e-02 -2.52205502e+02] [ 2.27337817e-01 -9.73811343e-01 -2.99770160e-03 -2.66754547e+02] [ 1.40843439e-02 2.09999392e-04 9.99900789e-01 -2.79614777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 989.496559995 meters 0.013070173089390158 Centerline is valid? [True, True] Translation: X:-252.36, Y:-267.39, Z:-1.79 [[-9.90028934e-01 1.40129151e-01 1.43711674e-02 -2.52358947e+02] [ 1.40112714e-01 9.90133227e-01 -2.14929528e-03 -2.67392294e+02] [-1.45305493e-02 -1.14281254e-04 -9.99894420e-01 -1.78600986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 989.526559995 meters 0.012701326354534291 Centerline is valid? [True, True] Translation: X:-252.25, Y:-266.74, Z:-2.80 [[-9.75749560e-01 -2.18431857e-01 1.41534200e-02 -2.52254774e+02] [ 2.18410526e-01 -9.75852198e-01 -3.05461363e-03 -2.66742307e+02] [ 1.44788710e-02 1.10718004e-04 9.99895170e-01 -2.79529082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 989.5565599949999 meters 0.012651108831198934 Centerline is valid? [True, True] Translation: X:-252.41, Y:-267.39, Z:-1.79 [[-9.89851419e-01 1.41383142e-01 1.43169626e-02 -2.52410649e+02] [ 1.41367819e-01 9.89954951e-01 -2.08186618e-03 -2.67391263e+02] [-1.44674888e-02 -3.67804186e-05 -9.99895340e-01 -1.78712336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 989.5865599949999 meters 0.012850705009516591 Centerline is valid? [True, True] Translation: X:-252.31, Y:-266.73, Z:-2.80 [[-9.77843365e-01 -2.08767065e-01 1.54488054e-02 -2.52313863e+02] [ 2.08742935e-01 -9.77965387e-01 -3.17625972e-03 -2.66727519e+02] [ 1.57714954e-02 1.18944500e-04 9.99875615e-01 -2.79670866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 989.616559995 meters 0.012997699649164151 Centerline is valid? [True, True] Translation: X:-252.47, Y:-267.39, Z:-1.79 [[-9.89524099e-01 1.43545932e-01 1.53825303e-02 -2.52467053e+02] [ 1.43529531e-01 9.89643654e-01 -2.17071164e-03 -2.67390547e+02] [-1.55348203e-02 5.98758682e-05 -9.99879326e-01 -1.78596256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 989.646559995 meters 0.01298339358914568 Centerline is valid? [True, True] Translation: X:-252.37, Y:-266.72, Z:-2.80 [[-9.79653635e-01 -2.00112173e-01 1.52929373e-02 -2.52365776e+02] [ 2.00086920e-01 -9.79772992e-01 -3.17949878e-03 -2.66716415e+02] [ 1.56198633e-02 -5.48908216e-05 9.99878001e-01 -2.79535796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 989.6765599949999 meters 0.01298339358914568 Centerline is valid? [True, True] Translation: X:-252.52, Y:-267.39, Z:-1.79 [[-9.89809138e-01 1.41553930e-01 1.55034232e-02 -2.52521405e+02] [ 1.41538059e-01 9.89930541e-01 -2.12177912e-03 -2.67385339e+02] [-1.56476583e-02 9.41680642e-05 -9.99877564e-01 -1.78742853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 989.7065599949999 meters 0.01358359570825902 Centerline is valid? [True, True] Translation: X:-252.52, Y:-267.36, Z:-1.79 [[-9.97202979e-01 7.32120726e-02 1.50403459e-02 -2.52517939e+02] [ 7.32056485e-02 9.97316388e-01 -9.77971386e-04 -2.67361481e+02] [-1.50715828e-02 1.25802297e-04 -9.99886409e-01 -1.78695787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 989.736559995 meters 0.013318391005281706 Centerline is valid? [True, True] Translation: X:-252.52, Y:-267.33, Z:-1.79 [[-9.99893792e-01 3.15807960e-03 1.42278123e-02 -2.52520102e+02] [ 3.15966127e-03 9.99995004e-01 8.86903167e-05 -2.67333504e+02] [-1.42274611e-02 1.33635965e-04 -9.99898776e-01 -1.78907978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 989.766559995 meters 0.013883754175337446 Centerline is valid? [True, True] Translation: X:-252.52, Y:-267.31, Z:-1.79 [[-9.97651584e-01 -6.71564123e-02 1.34660194e-02 -2.52521223e+02] [-6.71485076e-02 9.97742451e-01 1.03879863e-03 -2.67306774e+02] [-1.35053811e-02 1.32135991e-04 -9.99908790e-01 -1.78746814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 989.7965599949999 meters 0.013418840753516488 Centerline is valid? [True, True] Translation: X:-252.57, Y:-266.62, Z:-2.79 [[-9.99712795e-01 1.99815092e-02 1.32312718e-02 -2.52574449e+02] [-1.99817129e-02 -9.99800339e-01 1.16814427e-04 -2.66615307e+02] [ 1.32309642e-02 -1.47602598e-04 9.99912456e-01 -2.79392921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 989.8265599949999 meters 0.013495432838835005 Centerline is valid? [True, True] Translation: X:-252.62, Y:-267.31, Z:-1.79 [[-9.97283925e-01 -7.24862191e-02 1.30583826e-02 -2.52623651e+02] [-7.24781723e-02 9.97369404e-01 1.08903623e-03 -2.67314095e+02] [-1.31029714e-02 1.39630622e-04 -9.99914143e-01 -1.78910254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 989.8565599949999 meters 0.013563897131468966 Centerline is valid? [True, True] Translation: X:-252.63, Y:-267.29, Z:-1.79 [[-9.89587771e-01 -1.43401907e-01 1.23262952e-02 -2.52631960e+02] [-1.43389075e-01 9.89664526e-01 1.92312614e-03 -2.67287815e+02] [-1.24746770e-02 1.35646055e-04 -9.99922179e-01 -1.78912986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 989.886559995 meters 0.013511633402774862 Centerline is valid? [True, True] Translation: X:-252.66, Y:-267.26, Z:-1.79 [[-9.76628070e-01 -2.14618741e-01 1.16794141e-02 -2.52657834e+02] [-2.14601856e-01 9.76697896e-01 2.69506287e-03 -2.67264618e+02] [-1.19856701e-02 1.25650117e-04 -9.99928162e-01 -1.78944368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 989.916559995 meters 0.013385282345894806 Centerline is valid? [True, True] Translation: X:-252.70, Y:-267.25, Z:-1.79 [[-9.58288403e-01 -2.85577334e-01 1.13544269e-02 -2.52701022e+02] [-2.85555858e-01 9.58355661e-01 3.50416281e-03 -2.67246684e+02] [-1.18822887e-02 1.15675480e-04 -9.99929397e-01 -1.78948304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 989.9465599949999 meters 0.01307772535701088 Centerline is valid? [True, True] Translation: X:-252.76, Y:-267.24, Z:-1.79 [[-9.33825483e-01 -3.57544057e-01 1.14984742e-02 -2.52762673e+02] [-3.57515772e-01 9.33896268e-01 4.49819386e-03 -2.67236867e+02] [-1.23466847e-02 8.96421625e-05 -9.99923773e-01 -1.78898202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 989.9765599949999 meters 0.012923130649320498 Centerline is valid? [True, True] Translation: X:-252.83, Y:-267.23, Z:-1.79 [[-9.04208321e-01 -4.26942525e-01 1.12868428e-02 -2.52828815e+02] [-4.26908316e-01 9.04278760e-01 5.40505870e-03 -2.67233801e+02] [-1.25141016e-02 6.88519932e-05 -9.99921693e-01 -1.78862426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 990.006559995 meters 0.012628819858427575 Centerline is valid? [True, True] Translation: X:-252.91, Y:-267.24, Z:-1.79 [[-8.69132787e-01 -4.94467133e-01 1.05096594e-02 -2.52905761e+02] [-4.94430347e-01 8.69196326e-01 6.03153181e-03 -2.67241034e+02] [-1.21173516e-02 4.59074816e-05 -9.99926581e-01 -1.78956370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 990.036559995 meters 0.012393330117245789 Centerline is valid? [True, True] Translation: X:-252.99, Y:-267.26, Z:-1.79 [[-8.27510245e-01 -5.61372197e-01 9.38358793e-03 -2.52988645e+02] [-5.61336150e-01 8.27563446e-01 6.36158278e-03 -2.67257496e+02] [-1.13367301e-02 -3.07219972e-06 -9.99935737e-01 -1.78994661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 990.0665599949999 meters 0.012434675970949188 Centerline is valid? [True, True] Translation: X:-253.07, Y:-267.28, Z:-1.79 [[-7.81803122e-01 -6.23469021e-01 8.38202013e-03 -2.53073116e+02] [-6.23433519e-01 7.81848054e-01 6.65336926e-03 -2.67283378e+02] [-1.07016357e-02 -2.40074463e-05 -9.99942736e-01 -1.79068026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 990.0965599949999 meters 0.012586359009129128 Centerline is valid? [True, True] Translation: X:-253.16, Y:-267.32, Z:-1.79 [[-7.30153903e-01 -6.83251123e-01 6.57116641e-03 -2.53162100e+02] [-6.83224130e-01 7.30183470e-01 6.07362569e-03 -2.67319017e+02] [-8.94796866e-03 -5.48979476e-05 -9.99959965e-01 -1.79192481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 990.126559995 meters 0.012716665237952412 Centerline is valid? [True, True] Translation: X:-253.25, Y:-267.36, Z:-1.79 [[-6.75205047e-01 -7.37608502e-01 5.64289954e-03 -2.53248676e+02] [-7.37583534e-01 6.75228623e-01 6.06938725e-03 -2.67363574e+02] [-8.28707893e-03 -6.40288786e-05 -9.99965660e-01 -1.79196299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 990.156559995 meters 0.01286622112162818 Centerline is valid? [True, True] Translation: X:-253.34, Y:-267.42, Z:-1.79 [[-6.16169194e-01 -7.87597962e-01 4.99754781e-03 -2.53337660e+02] [-7.87573029e-01 6.16189456e-01 6.26730699e-03 -2.67422037e+02] [-8.01555447e-03 -7.42123750e-05 -9.99967872e-01 -1.79162341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 990.1865599949999 meters 0.013076342486079749 Centerline is valid? [True, True] Translation: X:-253.42, Y:-267.48, Z:-1.79 [[-5.52795136e-01 -8.33304971e-01 4.51245097e-03 -2.53420150e+02] [-8.33278541e-01 5.52813546e-01 6.63758884e-03 -2.67484979e+02] [-8.02567980e-03 -9.09017306e-05 -9.99967790e-01 -1.79152327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 990.2165599949999 meters 0.01320372692685278 Centerline is valid? [True, True] Translation: X:-253.50, Y:-267.56, Z:-1.79 [[-4.86962148e-01 -8.73413538e-01 4.08146425e-03 -2.53500637e+02] [-8.73384559e-01 4.86979241e-01 7.11547658e-03 -2.67561424e+02] [-8.20234194e-03 -9.97200981e-05 -9.99966355e-01 -1.79178690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 990.246559995 meters 0.013247526160426064 Centerline is valid? [True, True] Translation: X:-253.57, Y:-267.64, Z:-1.79 [[-4.18452771e-01 -9.08231648e-01 3.54301253e-03 -2.53574931e+02] [-9.08201154e-01 4.18467757e-01 7.44313377e-03 -2.67643406e+02] [-8.24272616e-03 -1.03168117e-04 -9.99966023e-01 -1.79181487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 990.276559995 meters 0.013355378107264552 Centerline is valid? [True, True] Translation: X:-253.64, Y:-267.73, Z:-1.79 [[-3.47517730e-01 -9.37668947e-01 2.89370906e-03 -2.53643288e+02] [-9.37638850e-01 3.47529762e-01 7.51346871e-03 -2.67730216e+02] [-8.05079631e-03 -1.02190443e-04 -9.99967587e-01 -1.79138272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 990.3065599949999 meters 0.013373610397724911 Centerline is valid? [True, True] Translation: X:-253.71, Y:-267.83, Z:-1.79 [[-2.74611635e-01 -9.61552361e-01 2.34680500e-03 -2.53708932e+02] [-9.61520427e-01 2.74621643e-01 7.83718807e-03 -2.67834238e+02] [-8.18035013e-03 -1.04317914e-04 -9.99966535e-01 -1.79051207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 990.3365599949999 meters 0.01334935151865524 Centerline is valid? [True, True] Translation: X:-253.76, Y:-267.93, Z:-1.79 [[-2.00376219e-01 -9.79717333e-01 1.82145080e-03 -2.53762222e+02] [-9.79681539e-01 2.00384469e-01 8.37540170e-03 -2.67931503e+02] [-8.57051667e-03 -1.06210401e-04 -9.99963267e-01 -1.78939850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 990.366559995 meters 0.01321018738833402 Centerline is valid? [True, True] Translation: X:-253.81, Y:-268.04, Z:-1.79 [[-1.25271351e-01 -9.92121755e-01 1.22972638e-03 -2.53807787e+02] [-9.92081839e-01 1.25277343e-01 8.90010423e-03 -2.68041228e+02] [-8.98404388e-03 -1.05061122e-04 -9.99959637e-01 -1.78883922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 990.396559995 meters 0.013139051555016481 Centerline is valid? [True, True] Translation: X:-253.85, Y:-268.15, Z:-1.79 [[-4.86974249e-02 -9.98813424e-01 5.52089178e-04 -2.53845274e+02] [-9.98771636e-01 4.87004380e-02 9.13706847e-03 -2.68149841e+02] [-9.15311363e-03 -1.06459306e-04 -9.99958104e-01 -1.78816025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 990.4265599949999 meters 0.013389185166513476 Centerline is valid? [True, True] Translation: X:-253.88, Y:-268.27, Z:-1.79 [[ 2.87593295e-02 -9.99586352e-01 -1.63355632e-04 -2.53875567e+02] [-9.99537806e-01 -2.87595428e-02 9.85206472e-03 -2.68270372e+02] [-9.85268747e-03 -1.20058646e-04 -9.99951454e-01 -1.78781155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 990.4565599949999 meters 0.013389185166513476 Centerline is valid? [True, True] Translation: X:-253.90, Y:-268.39, Z:-1.79 [[ 1.05490426e-01 -9.94419893e-01 -9.20019461e-04 -2.53896917e+02] [-9.94371508e-01 -1.05494369e-01 9.81033659e-03 -2.68387431e+02] [-9.85265074e-03 -1.20055447e-04 -9.99951454e-01 -1.78781333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 990.486559995 meters 0.013563974953094833 Centerline is valid? [True, True] Translation: X:-253.91, Y:-268.50, Z:-1.79 [[ 1.82203468e-01 -9.83259379e-01 -1.69976788e-03 -2.53909264e+02] [-9.83209830e-01 -1.82211352e-01 9.87188420e-03 -2.68504199e+02] [-1.00163397e-02 -1.27463046e-04 -9.99949827e-01 -1.78723789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 990.516559995 meters 0.014082735980030457 Centerline is valid? [True, True] Translation: X:-253.91, Y:-268.63, Z:-1.79 [[ 2.57808496e-01 -9.66192530e-01 -2.60284369e-03 -2.53912371e+02] [-9.66137609e-01 -2.57821596e-01 1.03026828e-02 -2.68626914e+02] [-1.06254445e-02 -1.41413986e-04 -9.99943539e-01 -1.78611728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 990.5465599949999 meters 0.013777283975408318 Centerline is valid? [True, True] Translation: X:-253.91, Y:-268.74, Z:-1.79 [[ 3.31851677e-01 -9.43325142e-01 -3.48439728e-03 -2.53905568e+02] [-9.43268242e-01 -3.31869935e-01 1.03619713e-02 -2.68742551e+02] [-1.09310747e-02 -1.51916252e-04 -9.99940243e-01 -1.78670651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 990.5765599949999 meters 0.014357444206826598 Centerline is valid? [True, True] Translation: X:-253.89, Y:-268.86, Z:-1.79 [[ 4.04226673e-01 -9.14648064e-01 -4.44039614e-03 -2.53890055e+02] [-9.14588190e-01 -4.04251025e-01 1.04667175e-02 -2.68861381e+02] [-1.13683976e-02 -1.69792536e-04 -9.99935363e-01 -1.78621006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 990.6065599949999 meters 0.014450187948337058 Centerline is valid? [True, True] Translation: X:-253.87, Y:-268.97, Z:-1.79 [[ 4.73621970e-01 -8.80712224e-01 -5.31115036e-03 -2.53867128e+02] [-8.80652581e-01 -4.73651715e-01 1.02511092e-02 -2.68974269e+02] [-1.15439126e-02 -1.77872246e-04 -9.99933351e-01 -1.78671064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 990.636559995 meters 0.015041933401106981 Centerline is valid? [True, True] Translation: X:-253.83, Y:-269.09, Z:-1.79 [[ 5.40874944e-01 -8.41084105e-01 -5.64128683e-03 -2.53832159e+02] [-8.41034846e-01 -5.40904332e-01 9.10443974e-03 -2.69092128e+02] [-1.07089960e-02 -1.79844532e-04 -9.99942641e-01 -1.78742513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 990.666559995 meters 0.015080485347487012 Centerline is valid? [True, True] Translation: X:-253.80, Y:-269.19, Z:-1.79 [[ 6.04271503e-01 -7.96755685e-01 -6.02739472e-03 -2.53797427e+02] [-7.96713055e-01 -6.04301536e-01 8.24393154e-03 -2.69192797e+02] [-1.02107632e-02 -1.79468836e-04 -9.99947853e-01 -1.78827240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 990.6965599949999 meters 0.015701024219028633 Centerline is valid? [True, True] Translation: X:-253.75, Y:-269.30, Z:-1.79 [[ 6.64054799e-01 -7.47657186e-01 -6.32111565e-03 -2.53752305e+02] [-7.47620706e-01 -6.64084859e-01 7.38781534e-03 -2.69296095e+02] [-9.72131042e-03 -1.80117284e-04 -9.99952731e-01 -1.78835891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 990.7265599949999 meters 0.014926006845361465 Centerline is valid? [True, True] Translation: X:-253.70, Y:-269.39, Z:-1.79 [[ 7.20094603e-01 -6.93844840e-01 -6.56512746e-03 -2.53701229e+02] [-6.93813636e-01 -7.20124506e-01 6.58292640e-03 -2.69389444e+02] [-9.29523868e-03 -1.85354818e-04 -9.99956781e-01 -1.78978284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 990.756559995 meters 0.015199330929996582 Centerline is valid? [True, True] Translation: X:-253.65, Y:-269.48, Z:-1.79 [[ 7.71077641e-01 -6.36698108e-01 -7.40209323e-03 -2.53646293e+02] [-6.36666267e-01 -7.71113144e-01 6.37056905e-03 -2.69478545e+02] [-9.76398064e-03 -1.99540294e-04 -9.99952311e-01 -1.78980161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 990.786559995 meters 0.015399792256131806 Centerline is valid? [True, True] Translation: X:-253.65, Y:-269.49, Z:-1.79 [[ 8.18714114e-01 -5.74149448e-01 -7.72086270e-03 -2.53647285e+02] [-5.74121606e-01 -8.18750495e-01 5.65764892e-03 -2.69486152e+02] [-9.56979615e-03 -1.99282926e-04 -9.99954189e-01 -1.78962022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 990.8165599949999 meters 0.015639238664202443 Centerline is valid? [True, True] Translation: X:-253.65, Y:-269.49, Z:-1.79 [[ 8.61076990e-01 -5.08407476e-01 -8.26176375e-03 -2.53647029e+02] [-5.08381807e-01 -8.61116599e-01 5.11274617e-03 -2.69492695e+02] [-9.71370028e-03 -2.02337688e-04 -9.99952801e-01 -1.79011248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 990.8465599949999 meters 0.01553040623811988 Centerline is valid? [True, True] Translation: X:-253.65, Y:-269.50, Z:-1.79 [[ 8.98096481e-01 -4.39720289e-01 -8.29330921e-03 -2.53645761e+02] [-4.39699553e-01 -8.98134751e-01 4.27469827e-03 -2.69498469e+02] [-9.32818076e-03 -1.92527121e-04 -9.99956473e-01 -1.79046906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 990.876559995 meters 0.015502660040783389 Centerline is valid? [True, True] Translation: X:-253.65, Y:-269.50, Z:-1.79 [[ 9.29283973e-01 -3.69268895e-01 -8.47229691e-03 -2.53645152e+02] [-3.69251788e-01 -9.29322576e-01 3.55894444e-03 -2.69504548e+02] [-9.18770428e-03 -1.78859246e-04 -9.99957776e-01 -1.79069779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 990.906559995 meters 0.014853622430340463 Centerline is valid? [True, True] Translation: X:-253.64, Y:-269.51, Z:-1.79 [[ 9.55174711e-01 -2.95919379e-01 -8.54362806e-03 -2.53643727e+02] [-2.95905934e-01 -9.55212904e-01 2.82602191e-03 -2.69511391e+02] [-8.99725842e-03 -1.71234419e-04 -9.99959509e-01 -1.79093944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 990.9365599949999 meters 0.015361755743728002 Centerline is valid? [True, True] Translation: X:-253.64, Y:-269.52, Z:-1.79 [[ 9.75191316e-01 -2.21167770e-01 -9.31209192e-03 -2.53642673e+02] [-2.21155975e-01 -9.75235760e-01 2.29076855e-03 -2.69519366e+02] [-9.58812921e-03 -1.74512833e-04 -9.99954018e-01 -1.78991457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 990.9665599949999 meters 0.015022184919787398 Centerline is valid? [True, True] Translation: X:-253.64, Y:-269.52, Z:-1.79 [[ 9.89283320e-01 -1.45578105e-01 -1.12039415e-02 -2.53639489e+02] [-1.45566580e-01 -9.89346744e-01 1.84174667e-03 -2.69522466e+02] [-1.13527010e-02 -1.91089816e-04 -9.99935538e-01 -1.78878499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 990.996559995 meters 0.014933351423154802 Centerline is valid? [True, True] Translation: X:-253.64, Y:-269.53, Z:-1.79 [[ 9.97602629e-01 -6.81000047e-02 -1.23038238e-02 -2.53640092e+02] [-6.80923196e-02 -9.97678480e-01 1.04293306e-03 -2.69525214e+02] [-1.23462840e-02 -2.02636859e-04 -9.99923761e-01 -1.78796862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 991.026559995 meters 0.014220441469843484 Centerline is valid? [True, True] Translation: X:-253.64, Y:-269.53, Z:-1.79 [[ 9.99860044e-01 9.32945684e-03 -1.38872099e-02 -2.53640715e+02] [ 9.33154736e-03 -9.99956457e-01 8.57443631e-05 -2.69530416e+02] [-1.38858052e-02 -2.15321519e-04 -9.99903565e-01 -1.78784536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 991.0565599949999 meters 0.013872669670740138 Centerline is valid? [True, True] Translation: X:-253.64, Y:-269.54, Z:-1.79 [[ 9.96120649e-01 8.67973758e-02 -1.44868208e-02 -2.53639985e+02] [ 8.67913183e-02 -9.96225963e-01 -1.04750526e-03 -2.69538268e+02] [-1.45230677e-02 -2.13888655e-04 -9.99894512e-01 -1.78831655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 991.0865599949999 meters 0.013882093241924244 Centerline is valid? [True, True] Translation: X:-253.64, Y:-269.55, Z:-1.79 [[ 9.86553457e-01 1.62840063e-01 -1.39782057e-02 -2.53640655e+02] [ 1.62826367e-01 -9.86652462e-01 -2.11999549e-03 -2.69546093e+02] [-1.41368513e-02 -1.84531582e-04 -9.99900053e-01 -1.78809925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 991.116559995 meters 0.013792940733380095 Centerline is valid? [True, True] Translation: X:-253.64, Y:-269.55, Z:-1.79 [[ 9.70912352e-01 2.39069102e-01 -1.32351801e-02 -2.53641052e+02] [ 2.39049272e-01 -9.71002542e-01 -3.08378387e-03 -2.69552122e+02] [-1.35886310e-02 -1.69776324e-04 -9.99907656e-01 -1.78848870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 991.146559995 meters 0.013513382905200395 Centerline is valid? [True, True] Translation: X:-253.64, Y:-269.56, Z:-1.79 [[ 9.49404659e-01 3.13809009e-01 -1.24378287e-02 -2.53638951e+02] [ 3.13784222e-01 -9.49486115e-01 -3.94719767e-03 -2.69558485e+02] [-1.30482119e-02 -1.55306565e-04 -9.99914857e-01 -1.79010848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 991.1765599949999 meters 0.013680668192815309 Centerline is valid? [True, True] Translation: X:-253.64, Y:-269.57, Z:-1.79 [[ 9.21861926e-01 3.87337531e-01 -1.18417491e-02 -2.53637416e+02] [ 3.87307723e-01 -9.21937966e-01 -4.80774567e-03 -2.69565416e+02] [-1.27795784e-02 -1.54323204e-04 -9.99918326e-01 -1.79005942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 991.2065599949999 meters 0.013843400983641774 Centerline is valid? [True, True] Translation: X:-253.64, Y:-269.57, Z:-1.79 [[ 8.88615898e-01 4.58511030e-01 -1.13763559e-02 -2.53636203e+02] [ 4.58475701e-01 -8.88688703e-01 -5.69393519e-03 -2.69571256e+02] [-1.27207711e-02 -1.56061433e-04 -9.99919076e-01 -1.78985691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 991.236559995 meters 0.01358218281410876 Centerline is valid? [True, True] Translation: X:-253.63, Y:-269.58, Z:-1.79 [[ 8.49761795e-01 5.27045441e-01 -1.13134972e-02 -2.53632201e+02] [ 5.27001349e-01 -8.49837088e-01 -6.81928756e-03 -2.69577706e+02] [-1.32087039e-02 -1.67458261e-04 -9.99912747e-01 -1.78998129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 991.266559995 meters 0.013661823746339634 Centerline is valid? [True, True] Translation: X:-253.63, Y:-269.58, Z:-1.79 [[ 8.05802627e-01 5.92072760e-01 -1.14879728e-02 -2.53627645e+02] [ 5.92015787e-01 -8.05884492e-01 -8.21550843e-03 -2.69584406e+02] [-1.41221578e-02 -1.80982969e-04 -9.99900261e-01 -1.78940002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 991.2965599949999 meters 0.013839977415998097 Centerline is valid? [True, True] Translation: X:-253.62, Y:-269.59, Z:-1.79 [[ 7.56775666e-01 6.53581547e-01 -1.10341764e-02 -2.53624046e+02] [ 6.53515712e-01 -7.56856080e-01 -9.27839015e-03 -2.69591115e+02] [-1.44154681e-02 -1.89347747e-04 -9.99896074e-01 -1.78884272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 991.3265599949999 meters 0.013836566240130351 Centerline is valid? [True, True] Translation: X:-253.62, Y:-269.60, Z:-1.79 [[ 7.03149226e-01 7.10968751e-01 -1.02274844e-02 -2.53619839e+02] [ 7.10897488e-01 -7.03223577e-01 -1.00679177e-02 -2.69596351e+02] [-1.43501830e-02 -1.91444420e-04 -9.99897013e-01 -1.78914609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 991.3565599949999 meters 0.013841298528991434 Centerline is valid? [True, True] Translation: X:-253.61, Y:-269.60, Z:-1.79 [[ 6.45450799e-01 7.63742992e-01 -9.48202992e-03 -2.53614877e+02] [ 7.63664911e-01 -6.45520415e-01 -1.09223071e-02 -2.69601302e+02] [-1.44626794e-02 -1.91281698e-04 -9.99895392e-01 -1.78974548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 991.386559995 meters 0.013578243697147076 Centerline is valid? [True, True] Translation: X:-253.61, Y:-269.61, Z:-1.79 [[ 5.84487149e-01 8.11361370e-01 -8.21582940e-03 -2.53609385e+02] [ 8.11285255e-01 -5.84544865e-01 -1.11147071e-02 -2.69606444e+02] [-1.38205648e-02 -1.68977804e-04 -9.99904477e-01 -1.79102819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 991.416559995 meters 0.013607150689752823 Centerline is valid? [True, True] Translation: X:-253.60, Y:-269.61, Z:-1.79 [[ 5.19664555e-01 8.54340521e-01 -7.14318032e-03 -2.53604295e+02] [ 8.54263930e-01 -5.19713623e-01 -1.14406598e-02 -2.69611708e+02] [-1.34866274e-02 -1.56855919e-04 -9.99909039e-01 -1.79114376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 991.4465599949999 meters 0.013354215313221902 Centerline is valid? [True, True] Translation: X:-253.60, Y:-269.62, Z:-1.79 [[ 4.53219491e-01 8.91377124e-01 -6.23830360e-03 -2.53600794e+02] [ 8.91296485e-01 -4.53262405e-01 -1.19903426e-02 -2.69615471e+02] [-1.35155056e-02 -1.25921088e-04 -9.99908654e-01 -1.79130835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 991.4765599949999 meters 0.013149622538054222 Centerline is valid? [True, True] Translation: X:-253.60, Y:-269.62, Z:-1.79 [[ 3.83617724e-01 9.23476744e-01 -5.30532222e-03 -2.53597597e+02] [ 9.23392122e-01 -3.83654394e-01 -1.25018451e-02 -2.69618239e+02] [-1.35805734e-02 -1.02963385e-04 -9.99907775e-01 -1.79119198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 991.506559995 meters 0.013107755381520174 Centerline is valid? [True, True] Translation: X:-253.60, Y:-269.62, Z:-1.79 [[ 3.12297057e-01 9.49974495e-01 -4.35959323e-03 -2.53595446e+02] [ 9.49885178e-01 -3.12327477e-01 -1.30267447e-02 -2.69621620e+02] [-1.37366960e-02 -7.28989348e-05 -9.99905645e-01 -1.79029673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 991.536559995 meters 0.012818664382597048 Centerline is valid? [True, True] Translation: X:-253.59, Y:-269.62, Z:-1.79 [[ 2.39160521e-01 9.70974130e-01 -3.38892760e-03 -2.53590833e+02] [ 9.70879136e-01 -2.39184526e-01 -1.35818145e-02 -2.69624744e+02] [-1.39981695e-02 -4.20052843e-05 -9.99902020e-01 -1.79127496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 991.5665599949999 meters 0.012937805192214538 Centerline is valid? [True, True] Translation: X:-253.59, Y:-269.63, Z:-1.79 [[ 1.67835234e-01 9.85812584e-01 -2.20970489e-03 -2.53588932e+02] [ 9.85724453e-01 -1.67849776e-01 -1.31816113e-02 -2.69627941e+02] [-1.33654968e-02 3.41786769e-05 -9.99910677e-01 -1.79113579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 991.5965599949999 meters 0.012937805192214538 Centerline is valid? [True, True] Translation: X:-253.59, Y:-269.63, Z:-1.79 [[ 9.00846847e-02 9.95933422e-01 -1.17008570e-03 -2.53585130e+02] [ 9.95844423e-01 -9.00922769e-02 -1.33141902e-02 -2.69631445e+02] [-1.33654627e-02 3.41813150e-05 -9.99910678e-01 -1.79113608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 991.626559995 meters 0.013270208771039842 Centerline is valid? [True, True] Translation: X:-253.58, Y:-269.63, Z:-1.79 [[ 1.73839392e-02 9.99848881e-01 -1.14482027e-04 -2.53579820e+02] [ 9.99772666e-01 -1.73840277e-02 -1.23455340e-02 -2.69634053e+02] [-1.23456585e-02 1.00158010e-04 -9.99923785e-01 -1.79336846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 991.656559995 meters 0.013533057159090128 Centerline is valid? [True, True] Translation: X:-253.57, Y:-269.64, Z:-1.79 [[-5.90059524e-02 9.98257267e-01 8.52830843e-04 -2.53571950e+02] [ 9.98181202e-01 5.90119847e-02 -1.23237335e-02 -2.69636316e+02] [-1.23525837e-02 1.24106086e-04 -9.99923696e-01 -1.79313611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 991.6865599949999 meters 0.013886263869174147 Centerline is valid? [True, True] Translation: X:-253.56, Y:-269.64, Z:-1.79 [[-1.35276237e-01 9.90806147e-01 1.87596298e-03 -2.53564471e+02] [ 9.90725728e-01 1.35289160e-01 -1.26243820e-02 -2.69638807e+02] [-1.27621127e-02 1.50785901e-04 -9.99918550e-01 -1.79290319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 991.7165599949999 meters 0.014172349642209179 Centerline is valid? [True, True] Translation: X:-253.56, Y:-269.64, Z:-1.79 [[-2.11109400e-01 9.77458153e-01 2.89506774e-03 -2.53557420e+02] [ 9.77377026e-01 2.11129180e-01 -1.25943783e-02 -2.69639910e+02] [-1.29217110e-02 1.70781069e-04 -9.99916497e-01 -1.79254770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 991.746559995 meters 0.014655671250188072 Centerline is valid? [True, True] Translation: X:-253.55, Y:-269.64, Z:-1.79 [[-2.85223462e-01 9.58450739e-01 4.44502775e-03 -2.53549320e+02] [ 9.58346321e-01 2.85258008e-01 -1.41491505e-02 -2.69640896e+02] [-1.48292435e-02 2.24206314e-04 -9.99890016e-01 -1.79177414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 991.776559995 meters 0.015101770210145703 Centerline is valid? [True, True] Translation: X:-253.54, Y:-269.64, Z:-1.79 [[-3.59230641e-01 9.33229061e-01 6.07171323e-03 -2.53541256e+02] [ 9.33107260e-01 3.59281863e-01 -1.50792658e-02 -2.69642170e+02] [-1.62538655e-02 2.48625381e-04 -9.99867866e-01 -1.79040635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 991.8065599949999 meters 0.015025680135330524 Centerline is valid? [True, True] Translation: X:-253.53, Y:-269.64, Z:-1.79 [[-4.31951484e-01 9.01864754e-01 7.60797500e-03 -2.53533949e+02] [ 9.01734834e-01 4.32018408e-01 -1.53096180e-02 -2.69642512e+02] [-1.70939901e-02 2.47363844e-04 -9.99853857e-01 -1.78981996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 991.8365599949999 meters 0.01415226810438542 Centerline is valid? [True, True] Translation: X:-253.52, Y:-269.64, Z:-1.79 [[-5.02225543e-01 8.64690604e-01 8.92538679e-03 -2.53521424e+02] [ 8.64562205e-01 5.02304793e-01 -1.49026294e-02 -2.69638014e+02] [-1.73694282e-02 2.32070926e-04 -9.99849113e-01 -1.79056570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 991.866559995 meters 0.01400545199593951 Centerline is valid? [True, True] Translation: X:-253.51, Y:-269.63, Z:-1.79 [[-5.70487846e-01 8.21237182e-01 1.06352470e-02 -2.53508937e+02] [ 8.21100949e-01 5.70586936e-01 -1.49592888e-02 -2.69633923e+02] [-1.83534571e-02 1.98518932e-04 -9.99831542e-01 -1.78932592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 991.896559995 meters 0.013727899225670711 Centerline is valid? [True, True] Translation: X:-253.50, Y:-269.63, Z:-1.79 [[-6.34102315e-01 7.73158614e-01 1.18326167e-02 -2.53499497e+02] [ 7.73029142e-01 6.34212682e-01 -1.41498676e-02 -2.69628934e+02] [-1.84444875e-02 1.74493726e-04 -9.99829871e-01 -1.78935084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 991.9265599949999 meters 0.013499815269038849 Centerline is valid? [True, True] Translation: X:-253.49, Y:-269.62, Z:-1.79 [[-6.94515842e-01 7.19365879e-01 1.26679716e-02 -2.53490480e+02] [ 7.19249540e-01 6.94631353e-01 -1.29376665e-02 -2.69623394e+02] [-1.81064861e-02 1.26018383e-04 -9.99836056e-01 -1.79000023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 991.9565599949999 meters 0.013290990440190407 Centerline is valid? [True, True] Translation: X:-253.48, Y:-269.62, Z:-1.79 [[-7.49506544e-01 6.61865005e-01 1.32157274e-02 -2.53482180e+02] [ 6.61764508e-01 7.49623042e-01 -1.15339416e-02 -2.69617149e+02] [-1.75407260e-02 1.00934627e-04 -9.99846145e-01 -1.79111323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 991.986559995 meters 0.013157838389290268 Centerline is valid? [True, True] Translation: X:-253.46, Y:-269.60, Z:-1.79 [[-7.95405753e-01 6.05924305e-01 1.36170533e-02 -2.53461739e+02] [ 6.05837082e-01 7.95522301e-01 -1.02809883e-02 -2.69596481e+02] [-1.70621702e-02 7.21586103e-05 -9.99854428e-01 -1.79145423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 992.016559995 meters 0.013018222794983995 Centerline is valid? [True, True] Translation: X:-253.04, Y:-269.05, Z:-2.79 [[-7.56234999e-01 -6.54187996e-01 1.21116341e-02 -2.53043578e+02] [ 6.54101404e-01 -7.56331971e-01 -1.06444381e-02 -2.69047305e+02] [ 1.61238797e-02 -1.27459800e-04 9.99869994e-01 -2.79099724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 992.0465599949999 meters 0.01303456943283367 Centerline is valid? [True, True] Translation: X:-253.50, Y:-269.57, Z:-1.79 [[-8.00746608e-01 5.98876756e-01 1.23085597e-02 -2.53495025e+02] [ 5.98805719e-01 8.00841202e-01 -9.22391813e-03 -2.69566302e+02] [-1.53811919e-02 -1.55851991e-05 -9.99881703e-01 -1.79212821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 992.0765599949999 meters 0.012958512620465457 Centerline is valid? [True, True] Translation: X:-253.48, Y:-269.54, Z:-1.79 [[-8.43443644e-01 5.37086182e-01 1.18849913e-02 -2.53478208e+02] [ 5.37031628e-01 8.43527372e-01 -7.65520168e-03 -2.69538769e+02] [-1.41368185e-02 -7.41149808e-05 -9.99900068e-01 -1.79365224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 992.1065599949999 meters 0.013094727405878574 Centerline is valid? [True, True] Translation: X:-253.46, Y:-269.51, Z:-1.79 [[-8.78702294e-01 4.77218261e-01 1.20419900e-02 -2.53457005e+02] [ 4.77172731e-01 8.78784802e-01 -6.59213501e-03 -2.69513632e+02] [-1.37282050e-02 -4.64149257e-05 -9.99905763e-01 -1.79384524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 992.136559995 meters 0.013181670630245798 Centerline is valid? [True, True] Translation: X:-253.13, Y:-268.93, Z:-2.79 [[-8.35582164e-01 -5.49257026e-01 1.09163428e-02 -2.53131511e+02] [ 5.49210154e-01 -8.35653469e-01 -7.17542571e-03 -2.68929859e+02] [ 1.30634327e-02 -2.91445818e-07 9.99914670e-01 -2.78826341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 992.166559995 meters 0.01364960519451636 Centerline is valid? [True, True] Translation: X:-253.15, Y:-268.96, Z:-2.79 [[-7.95137539e-01 -6.06355657e-01 9.43994969e-03 -2.53149651e+02] [ 6.06315009e-01 -7.95193560e-01 -7.02219309e-03 -2.68957764e+02] [ 1.17645337e-02 1.39973856e-04 9.99930786e-01 -2.78760583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 992.1965599949999 meters 0.013675716239995864 Centerline is valid? [True, True] Translation: X:-253.55, Y:-269.49, Z:-1.80 [[-8.49594058e-01 5.27345344e-01 9.83994841e-03 -2.53545588e+02] [ 5.27307877e-01 8.49651025e-01 -6.28795444e-03 -2.69488455e+02] [-1.16764458e-02 -1.53526430e-04 -9.99931816e-01 -1.79597728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 992.2265599949999 meters 0.013943989554367445 Centerline is valid? [True, True] Translation: X:-253.19, Y:-268.94, Z:-2.79 [[-7.95265224e-01 -6.06190335e-01 9.30067070e-03 -2.53189373e+02] [ 6.06151026e-01 -7.95319594e-01 -6.90486296e-03 -2.68936727e+02] [ 1.15826668e-02 1.46413698e-04 9.99932908e-01 -2.78704380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 992.256559995 meters 0.014223237178305145 Centerline is valid? [True, True] Translation: X:-253.21, Y:-268.96, Z:-2.79 [[-7.51803701e-01 -6.59319471e-01 9.43565961e-03 -2.53207172e+02] [ 6.59270954e-01 -7.51862882e-01 -8.00100456e-03 -2.68962539e+02] [ 1.23695403e-02 2.05471470e-04 9.99923473e-01 -2.78753867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 992.286559995 meters 0.014621174874210429 Centerline is valid? [True, True] Translation: X:-253.63, Y:-269.46, Z:-1.79 [[-8.17892922e-01 5.75273929e-01 1.05392103e-02 -2.53632815e+02] [ 5.75222141e-01 8.17960783e-01 -7.72312551e-03 -2.69456918e+02] [-1.30635735e-02 -2.54302574e-04 -9.99914636e-01 -1.79431179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 992.3165599949999 meters 0.015225107002079208 Centerline is valid? [True, True] Translation: X:-253.61, Y:-269.43, Z:-1.79 [[-8.57209182e-01 5.14843033e-01 1.13609005e-02 -2.53614383e+02] [ 5.14793493e-01 8.57284418e-01 -7.14746445e-03 -2.69433897e+02] [-1.34193453e-02 -2.78354491e-04 -9.99909918e-01 -1.79321783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 992.3465599949999 meters 0.015252363590962372 Centerline is valid? [True, True] Translation: X:-253.60, Y:-269.41, Z:-1.79 [[-8.92122467e-01 4.51620801e-01 1.24962890e-02 -2.53602060e+02] [ 4.51571568e-01 8.92209928e-01 -6.67562424e-03 -2.69409116e+02] [-1.41641639e-02 -3.12505523e-04 -9.99899635e-01 -1.79321960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 992.376559995 meters 0.01598098368570527 Centerline is valid? [True, True] Translation: X:-253.30, Y:-268.84, Z:-2.79 [[-8.35654534e-01 -5.49112061e-01 1.25476713e-02 -2.53297833e+02] [ 5.49056658e-01 -8.35748654e-01 -7.80858381e-03 -2.68842735e+02] [ 1.47744869e-02 3.64104008e-04 9.99890785e-01 -2.79056669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 992.406559995 meters 0.01581165108130507 Centerline is valid? [True, True] Translation: X:-253.64, Y:-269.39, Z:-1.79 [[-8.93883912e-01 4.48108485e-01 1.30513413e-02 -2.53642467e+02] [ 4.48055312e-01 8.93979126e-01 -6.91089690e-03 -2.69388946e+02] [-1.47644582e-02 -3.29816772e-04 -9.99890945e-01 -1.79201250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 992.4365599949999 meters 0.014967662232716665 Centerline is valid? [True, True] Translation: X:-253.63, Y:-269.37, Z:-1.79 [[-9.22219550e-01 3.86428544e-01 1.35676931e-02 -2.53631412e+02] [ 3.86382121e-01 9.22319304e-01 -5.99653059e-03 -2.69368172e+02] [-1.48309758e-02 -2.87803705e-04 -9.99889974e-01 -1.79236646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 992.4665599949999 meters 0.014007690294282782 Centerline is valid? [True, True] Translation: X:-253.63, Y:-269.35, Z:-1.79 [[-9.45848563e-01 3.24335966e-01 1.32920129e-02 -2.53626632e+02] [ 3.24300805e-01 9.45941931e-01 -4.78025512e-03 -2.69345978e+02] [-1.41238810e-02 -2.10786960e-04 -9.99900231e-01 -1.79283813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 992.496559995 meters 0.013613553368362109 Centerline is valid? [True, True] Translation: X:-253.61, Y:-269.32, Z:-1.79 [[-9.65761821e-01 2.59096666e-01 1.31538021e-02 -2.53612768e+02] [ 2.59070288e-01 9.65851381e-01 -3.70079090e-03 -2.69324266e+02] [-1.36634805e-02 -1.66323265e-04 -9.99906637e-01 -1.79276932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 992.526559995 meters 0.013179135336178344 Centerline is valid? [True, True] Translation: X:-253.42, Y:-268.68, Z:-2.79 [[-9.39012641e-01 -3.43651673e-01 1.26011117e-02 -2.53422836e+02] [ 3.43622798e-01 -9.39097177e-01 -4.45712238e-03 -2.68680203e+02] [ 1.33653660e-02 1.44735013e-04 9.99910669e-01 -2.78962303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 992.5565599949999 meters 0.012981291327231439 Centerline is valid? [True, True] Translation: X:-253.65, Y:-269.32, Z:-1.79 [[-9.65271439e-01 2.60945055e-01 1.25987052e-02 -2.53654378e+02] [ 2.60921703e-01 9.65353651e-01 -3.49193165e-03 -2.69319475e+02] [-1.30734084e-02 -8.33862751e-05 -9.99914536e-01 -1.79289626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 992.5865599949999 meters 0.01254644654043088 Centerline is valid? [True, True] Translation: X:-253.47, Y:-268.66, Z:-2.79 [[-9.42193152e-01 -3.34845866e-01 1.22601445e-02 -2.53465931e+02] [ 3.34818589e-01 -9.42272912e-01 -4.27463980e-03 -2.68662998e+02] [ 1.29837475e-02 7.73879339e-05 9.99915705e-01 -2.78868204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 992.616559995 meters 0.01258823856566901 Centerline is valid? [True, True] Translation: X:-253.70, Y:-269.31, Z:-1.79 [[-9.64937840e-01 2.62175741e-01 1.26034194e-02 -2.53703514e+02] [ 2.62153152e-01 9.65020145e-01 -3.44158108e-03 -2.69312351e+02] [-1.30648527e-02 -1.68856983e-05 -9.99914651e-01 -1.79377980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 992.646559995 meters 0.012584195201772048 Centerline is valid? [True, True] Translation: X:-253.69, Y:-269.29, Z:-1.79 [[-9.80652441e-01 1.95346626e-01 1.26682844e-02 -2.53694115e+02] [ 1.95330501e-01 9.80734263e-01 -2.50999224e-03 -2.69288482e+02] [-1.29145390e-02 1.30723059e-05 -9.99916604e-01 -1.79379679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 992.6765599949999 meters 0.012654862928271391 Centerline is valid? [True, True] Translation: X:-253.69, Y:-269.27, Z:-1.80 [[-9.91580953e-01 1.28912590e-01 1.21965977e-02 -2.53687159e+02] [ 1.28903556e-01 9.91655959e-01 -1.52726318e-03 -2.69265490e+02] [-1.22917122e-02 5.77797349e-05 -9.99924453e-01 -1.79563764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 992.7065599949999 meters 0.012824698222299643 Centerline is valid? [True, True] Translation: X:-253.69, Y:-269.24, Z:-1.80 [[-9.98158499e-01 5.94782518e-02 1.19142186e-02 -2.53690187e+02] [ 5.94748798e-02 9.98229599e-01 -6.37454903e-04 -2.69239025e+02] [-1.19310404e-02 7.23156894e-05 -9.99928820e-01 -1.79569353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 992.736559995 meters 0.013020938028865543 Centerline is valid? [True, True] Translation: X:-253.69, Y:-269.21, Z:-1.80 [[-9.99880988e-01 -9.61865757e-03 1.20620226e-02 -2.53689118e+02] [-9.61677278e-03 9.99953735e-01 2.14250545e-04 -2.69213018e+02] [-1.20635253e-02 9.82273159e-05 -9.99927228e-01 -1.79570812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 992.766559995 meters 0.013084871588413378 Centerline is valid? [True, True] Translation: X:-253.69, Y:-269.19, Z:-1.80 [[-9.96697206e-01 -8.02378280e-02 1.25127971e-02 -2.53694435e+02] [-8.02301211e-02 9.96775742e-01 1.11748846e-03 -2.69186175e+02] [-1.25621174e-02 1.09894398e-04 -9.99921088e-01 -1.79535297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 992.7965599949999 meters 0.013203897112675188 Centerline is valid? [True, True] Translation: X:-253.75, Y:-268.48, Z:-2.79 [[-9.99441548e-01 3.09070259e-02 1.27022658e-02 -2.53754207e+02] [-3.09058226e-02 -9.99522259e-01 2.91061849e-04 -2.68475090e+02] [ 1.27051933e-02 -1.01674669e-04 9.99919281e-01 -2.78830279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 992.8265599949999 meters 0.01344062429914266 Centerline is valid? [True, True] Translation: X:-253.80, Y:-269.20, Z:-1.79 [[-9.96305445e-01 -8.48219514e-02 1.34423782e-02 -2.53799112e+02] [-8.48123364e-02 9.96396115e-01 1.28476358e-03 -2.69197554e+02] [-1.35029096e-02 1.39937447e-04 -9.99908822e-01 -1.79410798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 992.8565599949999 meters 0.013727072890934685 Centerline is valid? [True, True] Translation: X:-253.86, Y:-268.48, Z:-2.79 [[-9.99157766e-01 3.87263487e-02 1.35657280e-02 -2.53862451e+02] [-3.87246293e-02 -9.99249844e-01 3.89494347e-04 -2.68479884e+02] [ 1.35706353e-02 -1.36161485e-04 9.99907906e-01 -2.78931125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 992.886559995 meters 0.013859300533529056 Centerline is valid? [True, True] Translation: X:-253.90, Y:-269.21, Z:-1.79 [[-9.95792919e-01 -9.06153908e-02 1.36129935e-02 -2.53900576e+02] [-9.06048951e-02 9.95885952e-01 1.38704315e-03 -2.69209130e+02] [-1.36826764e-02 1.47803897e-04 -9.99906377e-01 -1.79319571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 992.916559995 meters 0.014368299661405043 Centerline is valid? [True, True] Translation: X:-253.92, Y:-269.18, Z:-1.79 [[-9.86698746e-01 -1.61998843e-01 1.34892222e-02 -2.53917459e+02] [-1.61981733e-01 9.86790938e-01 2.35869729e-03 -2.69184602e+02] [-1.36931485e-02 1.42316061e-04 -9.99906234e-01 -1.79188349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 992.9465599949999 meters 0.014090247261707293 Centerline is valid? [True, True] Translation: X:-253.94, Y:-269.16, Z:-1.79 [[-9.72196625e-01 -2.33833087e-01 1.24824092e-02 -2.53942457e+02] [-2.33812269e-01 9.72276748e-01 3.12238732e-03 -2.69161398e+02] [-1.28664737e-02 1.17033998e-04 -9.99917217e-01 -1.79226872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 992.9765599949999 meters 0.013944345453717418 Centerline is valid? [True, True] Translation: X:-253.99, Y:-269.15, Z:-1.79 [[-9.52204465e-01 -3.05215604e-01 1.22511810e-02 -2.53993051e+02] [-3.05188946e-01 9.52283269e-01 4.03514854e-03 -2.69146301e+02] [-1.28981850e-02 1.03361437e-04 -9.99916810e-01 -1.79226297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 993.006559995 meters 0.01285789441852815 Centerline is valid? [True, True] Translation: X:-254.05, Y:-269.14, Z:-1.80 [[-9.26626975e-01 -3.75799401e-01 1.17157802e-02 -2.54054708e+02] [-3.75768236e-01 9.26701032e-01 4.84042659e-03 -2.69136555e+02] [-1.26760550e-02 8.28518034e-05 -9.99919652e-01 -1.79544930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 993.036559995 meters 0.01263996553958799 Centerline is valid? [True, True] Translation: X:-254.13, Y:-269.14, Z:-1.80 [[-8.94565689e-01 -4.46814401e-01 1.04460000e-02 -2.54126719e+02] [-4.46783531e-01 8.94626676e-01 5.25234498e-03 -2.69136614e+02] [-1.16920937e-02 3.14668367e-05 -9.99931645e-01 -1.79584621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 993.0665599949999 meters 0.012546836033149709 Centerline is valid? [True, True] Translation: X:-254.21, Y:-269.15, Z:-1.80 [[-8.57541302e-01 -5.14324119e-01 9.67554414e-03 -2.54207977e+02] [-5.14291357e-01 8.57595884e-01 5.80508574e-03 -2.69147564e+02] [-1.12834024e-02 2.05205485e-06 -9.99936341e-01 -1.79618260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 993.0965599949999 meters 0.0125750393867034 Centerline is valid? [True, True] Translation: X:-254.30, Y:-269.17, Z:-1.80 [[-8.13631637e-01 -5.81311157e-01 8.99436580e-03 -2.54295067e+02] [-5.81276411e-01 8.13681348e-01 6.35597401e-03 -2.69165662e+02] [-1.10133463e-02 -5.67911341e-05 -9.99939350e-01 -1.79671856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 993.126559995 meters 0.012845801375384236 Centerline is valid? [True, True] Translation: X:-254.38, Y:-269.19, Z:-1.80 [[-7.65898334e-01 -6.42907438e-01 8.35272552e-03 -2.54381698e+02] [-6.42870408e-01 7.65943875e-01 6.90071667e-03 -2.69193621e+02] [-1.08342410e-02 -8.44726567e-05 -9.99941304e-01 -1.79660723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 993.156559995 meters 0.013609558145979608 Centerline is valid? [True, True] Translation: X:-254.47, Y:-269.23, Z:-1.80 [[-7.11869237e-01 -7.02270552e-01 7.63284736e-03 -2.54470849e+02] [-7.02232182e-01 7.11910145e-01 7.34227145e-03 -2.69229185e+02] [-1.05901625e-02 -1.33293879e-04 -9.99943914e-01 -1.79643921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 993.1865599949999 meters 0.013730999577463945 Centerline is valid? [True, True] Translation: X:-254.56, Y:-269.28, Z:-1.80 [[-6.55388306e-01 -7.55261005e-01 6.85443514e-03 -2.54559483e+02] [-7.55222026e-01 6.55424132e-01 7.67449255e-03 -2.69278998e+02] [-1.02888072e-02 -1.46847725e-04 -9.99947058e-01 -1.79672984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 993.2165599949999 meters 0.014839639957342422 Centerline is valid? [True, True] Translation: X:-254.65, Y:-269.34, Z:-1.80 [[-5.94895903e-01 -8.03777323e-01 6.39377944e-03 -2.54648666e+02] [-8.03733877e-01 5.94930238e-01 8.35862099e-03 -2.69337735e+02] [-1.05223227e-02 -1.66387756e-04 -9.99944625e-01 -1.79563783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 993.246559995 meters 0.01467960315094969 Centerline is valid? [True, True] Translation: X:-254.73, Y:-269.40, Z:-1.80 [[-5.31151889e-01 -8.47258214e-01 5.58469905e-03 -2.54729987e+02] [-8.47214734e-01 5.31181220e-01 8.58519366e-03 -2.69403818e+02] [-1.02403631e-02 -1.71397493e-04 -9.99947552e-01 -1.79653089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 993.276559995 meters 0.014575501069932103 Centerline is valid? [True, True] Translation: X:-254.81, Y:-269.48, Z:-1.80 [[-4.64679619e-01 -8.85465872e-01 4.80009500e-03 -2.54808676e+02] [-8.85422365e-01 4.64704380e-01 8.77920602e-03 -2.69480364e+02] [-1.00043125e-02 -1.70593354e-04 -9.99949941e-01 -1.79679723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 993.3065599949999 meters 0.014485086333946422 Centerline is valid? [True, True] Translation: X:-254.88, Y:-269.56, Z:-1.80 [[-3.95222514e-01 -9.18575519e-01 4.26387193e-03 -2.54882634e+02] [-9.18526921e-01 3.95245472e-01 9.45055670e-03 -2.69564384e+02] [-1.03663261e-02 -1.81408375e-04 -9.99946252e-01 -1.79698179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 993.3365599949999 meters 0.014645682049168893 Centerline is valid? [True, True] Translation: X:-254.95, Y:-269.66, Z:-1.80 [[-3.23718394e-01 -9.46146364e-01 3.66857643e-03 -2.54952376e+02] [-9.46092062e-01 3.23739126e-01 1.01385335e-02 -2.69659573e+02] [-1.07801983e-02 -1.88781261e-04 -9.99941874e-01 -1.79629651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 993.366559995 meters 0.014446888544168484 Centerline is valid? [True, True] Translation: X:-255.01, Y:-269.76, Z:-1.80 [[-2.50364018e-01 -9.68147017e-01 3.03527154e-03 -2.55012039e+02] [-9.68085143e-01 2.50382338e-01 1.09471872e-02 -2.69755862e+02] [-1.13584650e-02 -1.97619525e-04 -9.99935471e-01 -1.79604127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 993.396559995 meters 0.014389706633614401 Centerline is valid? [True, True] Translation: X:-255.07, Y:-269.86, Z:-1.79 [[-1.76175633e-01 -9.84355538e-01 2.51404480e-03 -2.55065159e+02] [-9.84272011e-01 1.76193439e-01 1.28250330e-02 -2.69859767e+02] [-1.30673504e-02 -2.15045626e-04 -9.99914596e-01 -1.79448761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 993.4265599949999 meters 0.014498379777033802 Centerline is valid? [True, True] Translation: X:-255.11, Y:-269.97, Z:-1.79 [[-1.00903772e-01 -9.94894888e-01 1.60951567e-03 -2.55110682e+02] [-9.94800040e-01 1.00916380e-01 1.37391650e-02 -2.69970033e+02] [-1.38314515e-02 -2.14812682e-04 -9.99904318e-01 -1.79304884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 993.4565599949999 meters 0.014066463683872654 Centerline is valid? [True, True] Translation: X:-255.14, Y:-270.08, Z:-1.79 [[-2.63984051e-02 -9.99651314e-01 6.12781650e-04 -2.55144724e+02] [-9.99531451e-01 2.64047297e-02 1.54812648e-02 -2.70079047e+02] [-1.54920470e-02 -2.03813833e-04 -9.99879970e-01 -1.79177021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 993.486559995 meters 0.014066463683872654 Centerline is valid? [True, True] Translation: X:-255.17, Y:-270.20, Z:-1.79 [[ 5.06031795e-02 -9.98718670e-01 -5.80464237e-04 -2.55172698e+02] [-9.98598676e-01 -5.06060982e-02 1.54825012e-02 -2.70195829e+02] [-1.54920381e-02 -2.03812970e-04 -9.99879971e-01 -1.79177065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 993.516559995 meters 0.013526717659921732 Centerline is valid? [True, True] Translation: X:-255.19, Y:-270.31, Z:-1.79 [[ 1.26107417e-01 -9.92014979e-01 -1.78938426e-03 -2.55189660e+02] [-9.91892979e-01 -1.26119972e-01 1.55586494e-02 -2.70313186e+02] [-1.56600903e-02 -1.87183400e-04 -9.99877356e-01 -1.79248426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 993.5465599949999 meters 0.013792466295318708 Centerline is valid? [True, True] Translation: X:-255.20, Y:-270.44, Z:-1.79 [[ 2.00747005e-01 -9.79638612e-01 -2.97150513e-03 -2.55198898e+02] [-9.79518749e-01 -2.00768928e-01 1.53250495e-02 -2.70435033e+02] [-1.56095961e-02 -1.65812801e-04 -9.99878149e-01 -1.79106711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 993.5765599949999 meters 0.013180821144493352 Centerline is valid? [True, True] Translation: X:-255.20, Y:-270.55, Z:-1.79 [[ 2.74488583e-01 -9.61581836e-01 -4.04862619e-03 -2.55196794e+02] [-9.61469256e-01 -2.74518400e-01 1.47145307e-02 -2.70554922e+02] [-1.52606478e-02 -1.46341065e-04 -9.99883539e-01 -1.79331195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 993.6065599949999 meters 0.013199143918289719 Centerline is valid? [True, True] Translation: X:-255.19, Y:-270.67, Z:-1.79 [[ 3.46102762e-01 -9.38184663e-01 -4.73453511e-03 -2.55186146e+02] [-9.38092392e-01 -3.46135126e-01 1.31582454e-02 -2.70674812e+02] [-1.39836529e-02 -1.12673698e-04 -9.99902218e-01 -1.79381298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 993.636559995 meters 0.012874467031404437 Centerline is valid? [True, True] Translation: X:-255.17, Y:-270.79, Z:-1.80 [[ 4.16572590e-01 -9.09087954e-01 -5.13508545e-03 -2.55168158e+02] [-9.09016153e-01 -4.16604228e-01 1.14258609e-02 -2.70787692e+02] [-1.25264108e-02 -9.18248517e-05 -9.99921537e-01 -1.79591293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 993.666559995 meters 0.013081306690503794 Centerline is valid? [True, True] Translation: X:-255.14, Y:-270.90, Z:-1.80 [[ 4.84902110e-01 -8.74549095e-01 -5.81584416e-03 -2.55142658e+02] [-8.74484052e-01 -4.84936978e-01 1.06662660e-02 -2.70901214e+02] [-1.21484912e-02 -8.62319332e-05 -9.99926201e-01 -1.79560336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 993.6965599949999 meters 0.01294680561569214 Centerline is valid? [True, True] Translation: X:-255.11, Y:-271.01, Z:-1.80 [[ 5.50905340e-01 -8.34543740e-01 -6.32874348e-03 -2.55107766e+02] [-8.34486825e-01 -5.50941684e-01 9.74683029e-03 -2.71012677e+02] [-1.16209248e-02 -8.83278038e-05 -9.99932471e-01 -1.79659634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 993.7265599949999 meters 0.013038537436219072 Centerline is valid? [True, True] Translation: X:-255.07, Y:-271.11, Z:-1.80 [[ 6.13621585e-01 -7.89569959e-01 -6.91599849e-03 -2.55070187e+02] [-7.89518095e-01 -6.13660551e-01 9.05016796e-03 -2.71114698e+02] [-1.13898162e-02 -9.30724562e-05 -9.99935130e-01 -1.79662260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 993.756559995 meters 0.01318698298244707 Centerline is valid? [True, True] Translation: X:-255.03, Y:-271.21, Z:-1.80 [[ 6.73276572e-01 -7.39353237e-01 -7.44637266e-03 -2.55025186e+02] [-7.39306230e-01 -6.73317740e-01 8.33780905e-03 -2.71213037e+02] [-1.11783609e-02 -1.08501793e-04 -9.99937514e-01 -1.79700822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 993.786559995 meters 0.013420913155740028 Centerline is valid? [True, True] Translation: X:-254.97, Y:-271.31, Z:-1.80 [[ 7.28418525e-01 -6.85083527e-01 -8.18620444e-03 -2.54970944e+02] [-6.85038363e-01 -7.28464512e-01 7.86739169e-03 -2.71309778e+02] [-1.13531799e-02 -1.22889753e-04 -9.99935543e-01 -1.79712364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 993.8165599949999 meters 0.01401016739101216 Centerline is valid? [True, True] Translation: X:-254.97, Y:-271.32, Z:-1.80 [[ 7.81517417e-01 -6.23816098e-01 -9.16529387e-03 -2.54973860e+02] [-6.23770752e-01 -7.81571141e-01 7.52328580e-03 -2.71318500e+02] [-1.18564760e-02 -1.62536632e-04 -9.99929696e-01 -1.79637868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 993.8465599949999 meters 0.01440074877522084 Centerline is valid? [True, True] Translation: X:-254.98, Y:-271.33, Z:-1.80 [[ 8.28928409e-01 -5.59265725e-01 -9.97710385e-03 -2.54975581e+02] [-5.59222457e-01 -8.28988428e-01 6.95920966e-03 -2.71327018e+02] [-1.21629511e-02 -1.89266061e-04 -9.99926011e-01 -1.79586778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 993.876559995 meters 0.014466812902224346 Centerline is valid? [True, True] Translation: X:-254.98, Y:-271.34, Z:-1.80 [[ 8.71097264e-01 -4.90985480e-01 -1.10822384e-02 -2.54977895e+02] [-4.90942431e-01 -8.71167726e-01 6.50554019e-03 -2.71337050e+02] [-1.28486142e-02 -2.26217177e-04 -9.99917428e-01 -1.79618760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 993.906559995 meters 0.015649304989741274 Centerline is valid? [True, True] Translation: X:-254.98, Y:-271.35, Z:-1.79 [[ 9.08451125e-01 -4.17794765e-01 -1.28096560e-02 -2.54980616e+02] [-4.17748437e-01 -9.08541380e-01 6.22929812e-03 -2.71348905e+02] [-1.42406707e-02 -3.07799101e-04 -9.99898549e-01 -1.79461904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 993.9365599949999 meters 0.015553309745890863 Centerline is valid? [True, True] Translation: X:-254.98, Y:-271.36, Z:-1.79 [[ 9.38850010e-01 -3.44052332e-01 -1.37350196e-02 -2.54981283e+02] [-3.44010178e-01 -9.38950412e-01 5.39644461e-03 -2.71360104e+02] [-1.47531616e-02 -3.41465560e-04 -9.99891108e-01 -1.79482599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 993.9665599949999 meters 0.016653612148567226 Centerline is valid? [True, True] Translation: X:-254.98, Y:-271.37, Z:-1.79 [[ 9.63246657e-01 -2.68264022e-01 -1.37946496e-02 -2.54982200e+02] [-2.68231246e-01 -9.63345364e-01 4.20824761e-03 -2.71371020e+02] [-1.44179331e-02 -3.53424402e-04 -9.99895994e-01 -1.79411769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 993.996559995 meters 0.018242366366085068 Centerline is valid? [True, True] Translation: X:-254.98, Y:-271.38, Z:-1.79 [[ 9.81296729e-01 -1.92026993e-01 -1.35042307e-02 -2.54981375e+02] [-1.92004026e-01 -9.81389585e-01 2.98932707e-03 -2.71379444e+02] [-1.38269429e-02 -3.40550210e-04 -9.99904345e-01 -1.79314040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 994.026559995 meters 0.016720937033058676 Centerline is valid? [True, True] Translation: X:-254.98, Y:-271.38, Z:-1.80 [[ 9.93293232e-01 -1.14868081e-01 -1.31863107e-02 -2.54977750e+02] [-1.14853596e-01 -9.93380701e-01 1.85302770e-03 -2.71383379e+02] [-1.33118803e-02 -3.26104668e-04 -9.99911340e-01 -1.79558963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 994.0565599949999 meters 0.01609804622536211 Centerline is valid? [True, True] Translation: X:-254.98, Y:-271.39, Z:-1.80 [[ 9.99200486e-01 -3.81733036e-02 -1.18822152e-02 -2.54978340e+02] [-3.81673342e-02 -9.99271096e-01 7.28819236e-04 -2.71388487e+02] [-1.19013756e-02 -2.74724057e-04 -9.99929139e-01 -1.79759735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 994.0865599949999 meters 0.01574958201958819 Centerline is valid? [True, True] Translation: X:-254.98, Y:-271.40, Z:-1.80 [[ 9.99158386e-01 3.94481393e-02 -1.12411515e-02 -2.54978997e+02] [ 3.94484674e-02 -9.99221588e-01 -1.92625198e-04 -2.71395431e+02] [-1.12399999e-02 -2.50983116e-04 -9.99936798e-01 -1.79820589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 994.116559995 meters 0.015867718372312958 Centerline is valid? [True, True] Translation: X:-254.98, Y:-271.40, Z:-1.80 [[ 9.93124087e-01 1.16577636e-01 -1.06865994e-02 -2.54979720e+02] [ 1.16573370e-01 -9.93181556e-01 -1.02330617e-03 -2.71402729e+02] [-1.07330280e-02 -2.29502896e-04 -9.99942373e-01 -1.79834475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 994.146559995 meters 0.015300518046645928 Centerline is valid? [True, True] Translation: X:-254.98, Y:-271.41, Z:-1.80 [[ 9.81280825e-01 1.92335088e-01 -9.75480761e-03 -2.54979288e+02] [ 1.92327556e-01 -9.81329290e-01 -1.71322903e-03 -2.71408281e+02] [-9.90219249e-03 -1.94959513e-04 -9.99950953e-01 -1.79905012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 994.1765599949999 meters 0.015202476327076518 Centerline is valid? [True, True] Translation: X:-254.98, Y:-271.41, Z:-1.80 [[ 9.63441137e-01 2.67751590e-01 -9.50062008e-03 -2.54978188e+02] [ 2.67740461e-01 -9.63487961e-01 -2.44821638e-03 -2.71414346e+02] [-9.80924690e-03 -1.84988027e-04 -9.99951871e-01 -1.79901019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 994.2065599949999 meters 0.01519081002694802 Centerline is valid? [True, True] Translation: X:-254.98, Y:-271.42, Z:-1.80 [[ 9.39792814e-01 3.41618025e-01 -9.30547753e-03 -2.54977059e+02] [ 3.41603150e-01 -9.39838866e-01 -3.19290593e-03 -2.71420214e+02] [-9.83640366e-03 -1.78110394e-04 -9.99951606e-01 -1.79868052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 994.236559995 meters 0.015138246531271484 Centerline is valid? [True, True] Translation: X:-254.97, Y:-271.43, Z:-1.80 [[ 9.10189326e-01 4.14073692e-01 -9.91811222e-03 -2.54974709e+02] [ 4.14051431e-01 -9.10243341e-01 -4.29794598e-03 -2.71425960e+02] [-1.08075620e-02 -1.94664005e-04 -9.99941578e-01 -1.79828697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 994.266559995 meters 0.015386793079319951 Centerline is valid? [True, True] Translation: X:-254.97, Y:-271.43, Z:-1.80 [[ 8.74935952e-01 4.84134944e-01 -1.00217892e-02 -2.54973406e+02] [ 4.84105859e-01 -8.74993322e-01 -5.31067059e-03 -2.71431545e+02] [-1.13400798e-02 -2.05110246e-04 -9.99935678e-01 -1.79745677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 994.2965599949999 meters 0.01610827288690139 Centerline is valid? [True, True] Translation: X:-254.97, Y:-271.44, Z:-1.80 [[ 8.33694998e-01 5.52130804e-01 -1.02091410e-02 -2.54971028e+02] [ 5.52092810e-01 -8.33757472e-01 -6.48133127e-03 -2.71438111e+02] [-1.20904903e-02 -2.32939895e-04 -9.99926880e-01 -1.79632077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 994.3265599949999 meters 0.01619160442547822 Centerline is valid? [True, True] Translation: X:-254.97, Y:-271.44, Z:-1.80 [[ 7.87508082e-01 6.16224319e-01 -9.93029148e-03 -2.54968453e+02] [ 6.16179261e-01 -7.87570650e-01 -7.45590983e-03 -2.71441226e+02] [-1.24153191e-02 -2.47250418e-04 -9.99922897e-01 -1.79622387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 994.3565599949999 meters 0.016602793085627458 Centerline is valid? [True, True] Translation: X:-254.97, Y:-271.44, Z:-1.80 [[ 7.36238587e-01 6.76655494e-01 -9.49128757e-03 -2.54965595e+02] [ 6.76603838e-01 -7.36299717e-01 -8.36507005e-03 -2.71444116e+02] [-1.26487030e-02 -2.63154232e-04 -9.99919967e-01 -1.79616641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 994.386559995 meters 0.016637729659369334 Centerline is valid? [True, True] Translation: X:-254.96, Y:-271.45, Z:-1.80 [[ 6.80548384e-01 7.32652488e-01 -8.61562785e-03 -2.54962963e+02] [ 7.32598663e-01 -6.80602866e-01 -8.88472852e-03 -2.71447613e+02] [-1.23732395e-02 -2.65309809e-04 -9.99923414e-01 -1.79647994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 994.416559995 meters 0.016748392268119555 Centerline is valid? [True, True] Translation: X:-254.96, Y:-271.45, Z:-1.80 [[ 6.19900594e-01 7.84639863e-01 -7.97108052e-03 -2.54958752e+02] [ 7.84580862e-01 -6.19951775e-01 -9.62641744e-03 -2.71451467e+02] [-1.24949564e-02 -2.86535328e-04 -9.99921894e-01 -1.79718867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 994.4465599949999 meters 0.01704939806510389 Centerline is valid? [True, True] Translation: X:-254.95, Y:-271.46, Z:-1.80 [[ 5.56039255e-01 8.31124233e-01 -7.27029491e-03 -2.54954728e+02] [ 8.31060081e-01 -5.56086703e-01 -1.03305414e-02 -2.71455404e+02] [-1.26288776e-02 -2.97865319e-04 -9.99920208e-01 -1.79699892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 994.4765599949999 meters 0.0177403974634156 Centerline is valid? [True, True] Translation: X:-254.95, Y:-271.46, Z:-1.80 [[ 4.88551245e-01 8.72510234e-01 -6.60094591e-03 -2.54951475e+02] [ 8.72439153e-01 -4.88595735e-01 -1.11414894e-02 -2.71459499e+02] [-1.29462576e-02 -3.15735130e-04 -9.99916144e-01 -1.79679683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 994.506559995 meters 0.018087112576128512 Centerline is valid? [True, True] Translation: X:-254.95, Y:-271.46, Z:-1.80 [[ 4.17593101e-01 9.08616375e-01 -5.68199416e-03 -2.54947174e+02] [ 9.08542744e-01 -4.17631625e-01 -1.15718541e-02 -2.71462154e+02] [-1.28873566e-02 -3.30008132e-04 -9.99916900e-01 -1.79673848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 994.536559995 meters 0.018275947503114984 Centerline is valid? [True, True] Translation: X:-254.94, Y:-271.46, Z:-1.80 [[ 3.44773488e-01 9.38673924e-01 -4.74405625e-03 -2.54943604e+02] [ 9.38597982e-01 -3.44805964e-01 -1.19446781e-02 -2.71464355e+02] [-1.28479367e-02 -3.34553301e-04 -9.99917406e-01 -1.79659245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 994.5665599949999 meters 0.018112709754275008 Centerline is valid? [True, True] Translation: X:-254.94, Y:-271.47, Z:-1.80 [[ 2.69929028e-01 9.62872434e-01 -3.87243653e-03 -2.54939741e+02] [ 9.62790929e-01 -2.69956583e-01 -1.25327871e-02 -2.71466033e+02] [-1.31128650e-02 -3.45383722e-04 -9.99913963e-01 -1.79685447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 994.5965599949999 meters 0.01908737340904586 Centerline is valid? [True, True] Translation: X:-254.94, Y:-271.47, Z:-1.80 [[ 1.93916740e-01 9.81013746e-01 -2.88575590e-03 -2.54935080e+02] [ 9.80929918e-01 -1.93937908e-01 -1.28290536e-02 -2.71469306e+02] [-1.31451353e-02 -3.42956053e-04 -9.99913540e-01 -1.79626215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 994.626559995 meters 0.01757501174275582 Centerline is valid? [True, True] Translation: X:-254.93, Y:-271.47, Z:-1.80 [[ 1.16935117e-01 9.93137750e-01 -1.89419662e-03 -2.54932093e+02] [ 9.93050448e-01 -1.16949962e-01 -1.31725170e-02 -2.71470864e+02] [-1.33036501e-02 -3.40702982e-04 -9.99911445e-01 -1.79752260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 994.656559995 meters 0.01803819368976439 Centerline is valid? [True, True] Translation: X:-254.93, Y:-271.47, Z:-1.80 [[ 4.00697030e-02 9.99196503e-01 -8.76253297e-04 -2.54926795e+02] [ 9.99104188e-01 -4.00779154e-02 -1.35860821e-02 -2.71473351e+02] [-1.36102841e-02 -3.31078065e-04 -9.99907321e-01 -1.79713383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 994.6865599949999 meters 0.01609859908753034 Centerline is valid? [True, True] Translation: X:-254.92, Y:-271.47, Z:-1.80 [[-3.68984412e-02 9.99319004e-01 1.85246279e-04 -2.54921853e+02] [ 9.99231319e-01 3.68976582e-02 -1.32414076e-02 -2.71474249e+02] [-1.32392254e-02 -3.03483414e-04 -9.99912312e-01 -1.79871444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 994.7165599949999 meters 0.01559517637563816 Centerline is valid? [True, True] Translation: X:-254.91, Y:-271.48, Z:-1.80 [[-1.13280544e-01 9.93562311e-01 1.20494914e-03 -2.54914383e+02] [ 9.93477205e-01 1.13286616e-01 -1.30071281e-02 -2.71475117e+02] [-1.30598969e-02 -2.76365051e-04 -9.99914678e-01 -1.79914286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 994.746559995 meters 0.014638778114076765 Centerline is valid? [True, True] Translation: X:-254.91, Y:-271.48, Z:-1.80 [[-1.86140852e-01 9.82520699e-01 2.15856063e-03 -2.54908917e+02] [ 9.82441005e-01 1.86153250e-01 -1.25155714e-02 -2.71475860e+02] [-1.26986310e-02 -2.09000651e-04 -9.99919347e-01 -1.80008300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 994.776559995 meters 0.014364589871781238 Centerline is valid? [True, True] Translation: X:-254.90, Y:-271.48, Z:-1.80 [[-2.59545344e-01 9.65726187e-01 3.02409455e-03 -2.54903169e+02] [ 9.65653079e-01 2.59562910e-01 -1.18838954e-02 -2.71477194e+02] [-1.22615318e-02 -1.64183517e-04 -9.99924811e-01 -1.79958540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 994.8065599949999 meters 0.013073736872227052 Centerline is valid? [True, True] Translation: X:-254.90, Y:-271.48, Z:-1.80 [[-3.27878555e-01 9.44712073e-01 3.84094030e-03 -2.54900198e+02] [ 9.44644476e-01 3.27901042e-01 -1.13013431e-02 -2.71478216e+02] [-1.19359636e-02 -7.71450083e-05 -9.99928761e-01 -1.80036375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 994.8365599949999 meters 0.012906795634222812 Centerline is valid? [True, True] Translation: X:-254.89, Y:-271.48, Z:-1.80 [[-3.97775314e-01 9.17470698e-01 4.72410049e-03 -2.54893320e+02] [ 9.17404895e-01 3.97803364e-01 -1.09882486e-02 -2.71477641e+02] [-1.19606592e-02 -3.69411307e-05 -9.99928468e-01 -1.80082907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 994.866559995 meters 0.012870651286512349 Centerline is valid? [True, True] Translation: X:-254.89, Y:-271.48, Z:-1.80 [[-4.65334904e-01 8.85116998e-01 5.59713032e-03 -2.54886400e+02] [ 8.85053100e-01 4.65368564e-01 -1.06352920e-02 -2.71477805e+02] [-1.20182062e-02 4.78496179e-06 -9.99927779e-01 -1.80091071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 994.896559995 meters 0.013237480536822766 Centerline is valid? [True, True] Translation: X:-254.88, Y:-271.48, Z:-1.80 [[-5.28008090e-01 8.49214693e-01 6.47005602e-03 -2.54881437e+02] [ 8.49152782e-01 5.28047723e-01 -1.02545167e-02 -2.71477503e+02] [-1.21247846e-02 7.95983076e-05 -9.99926489e-01 -1.80052954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 994.9265599949999 meters 0.013584778364139224 Centerline is valid? [True, True] Translation: X:-254.88, Y:-271.48, Z:-1.80 [[-5.90745447e-01 8.06825243e-01 7.26937146e-03 -2.54875346e+02] [ 8.06766494e-01 5.90790161e-01 -9.73705576e-03 -2.71475985e+02] [-1.21507755e-02 1.12563969e-04 -9.99926170e-01 -1.80063573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 994.9565599949999 meters 0.014262235655599647 Centerline is valid? [True, True] Translation: X:-254.87, Y:-271.48, Z:-1.80 [[-6.49091771e-01 7.60665116e-01 8.27368724e-03 -2.54869350e+02] [ 7.60606564e-01 6.49144479e-01 -9.43935939e-03 -2.71476263e+02] [-1.25510098e-02 1.66010315e-04 -9.99921219e-01 -1.80070295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 994.986559995 meters 0.01446287932506896 Centerline is valid? [True, True] Translation: X:-254.86, Y:-271.47, Z:-1.80 [[-7.06063305e-01 7.08092119e-01 8.95321203e-03 -2.54861992e+02] [ 7.08038331e-01 7.06120047e-01 -8.72937766e-03 -2.71473490e+02] [-1.25032460e-02 1.75724060e-04 -9.99921816e-01 -1.80075893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 995.016559995 meters 0.01468870084633097 Centerline is valid? [True, True] Translation: X:-254.35, Y:-270.97, Z:-2.78 [[-6.77945722e-01 -7.35060876e-01 8.66643785e-03 -2.54349945e+02] [ 7.34997869e-01 -6.78001095e-01 -9.62541626e-03 -2.70969372e+02] [ 1.29511213e-02 -1.55696423e-04 9.99916119e-01 -2.78306308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 995.0465599949999 meters 0.01429857827015933 Centerline is valid? [True, True] Translation: X:-254.37, Y:-270.95, Z:-2.78 [[-6.77784147e-01 -7.35203189e-01 9.21531548e-03 -2.54370231e+02] [ 7.35131394e-01 -6.77846764e-01 -1.02760824e-02 -2.70950914e+02] [ 1.38015803e-02 -1.90497997e-04 9.99904736e-01 -2.78352702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 995.0765599949999 meters 0.01464088229132126 Centerline is valid? [True, True] Translation: X:-254.39, Y:-270.93, Z:-2.79 [[-6.77396189e-01 -7.35557144e-01 9.49160503e-03 -2.54388012e+02] [ 7.35481088e-01 -6.77462658e-01 -1.05790520e-02 -2.70931619e+02] [ 1.42117052e-02 -1.85313484e-04 9.99898992e-01 -2.78509105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 995.1065599949999 meters 0.013764389407715499 Centerline is valid? [True, True] Translation: X:-254.41, Y:-270.91, Z:-2.78 [[-6.76929092e-01 -7.35984715e-01 9.66972878e-03 -2.54408847e+02] [ 7.35905909e-01 -6.76998131e-01 -1.07714399e-02 -2.70913003e+02] [ 1.44740035e-02 -1.75490502e-04 9.99895231e-01 -2.78396581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 995.136559995 meters 0.01364363986968786 Centerline is valid? [True, True] Translation: X:-254.43, Y:-270.89, Z:-2.78 [[-6.75721821e-01 -7.37092839e-01 9.70394264e-03 -2.54428362e+02] [ 7.37013654e-01 -6.75791480e-01 -1.08050539e-02 -2.70894229e+02] [ 1.45221696e-02 -1.49272491e-04 9.99894537e-01 -2.78449262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 995.166559995 meters 0.01340504218708333 Centerline is valid? [True, True] Translation: X:-254.45, Y:-270.87, Z:-2.78 [[-6.75228736e-01 -7.37549300e-01 9.33720657e-03 -2.54448513e+02] [ 7.37476114e-01 -6.75293279e-01 -1.03908066e-02 -2.70874001e+02] [ 1.39690850e-02 -1.30204371e-04 9.99902419e-01 -2.78372704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 995.1965599949999 meters 0.013304122370354252 Centerline is valid? [True, True] Translation: X:-254.47, Y:-270.86, Z:-2.78 [[-6.74070605e-01 -7.38618638e-01 8.44551163e-03 -2.54469139e+02] [ 7.38558914e-01 -6.74123504e-01 -9.39319745e-03 -2.70855356e+02] [ 1.26313086e-02 -9.41703928e-05 9.99920218e-01 -2.78314893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 995.2265599949999 meters 0.013079393143237857 Centerline is valid? [True, True] Translation: X:-254.49, Y:-270.84, Z:-2.78 [[-6.73511613e-01 -7.39135493e-01 7.79935897e-03 -2.54488245e+02] [ 7.39084657e-01 -6.73556766e-01 -8.66908180e-03 -2.70836570e+02] [ 1.16609371e-02 -7.43407204e-05 9.99932006e-01 -2.78257565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 995.256559995 meters 0.012886602205533402 Centerline is valid? [True, True] Translation: X:-254.51, Y:-270.82, Z:-2.78 [[-6.72746558e-01 -7.39839038e-01 7.08984496e-03 -2.54508165e+02] [ 7.39797119e-01 -6.72783914e-01 -7.87577069e-03 -2.70817212e+02] [ 1.05967363e-02 -5.33507479e-05 9.99943852e-01 -2.78161162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 995.286559995 meters 0.012908574479805646 Centerline is valid? [True, True] Translation: X:-254.53, Y:-270.80, Z:-2.78 [[-6.71882372e-01 -7.40629513e-01 6.48093372e-03 -2.54526800e+02] [ 7.40594556e-01 -6.71913628e-01 -7.19586273e-03 -2.70798849e+02] [ 9.68409600e-03 -3.50290990e-05 9.99953108e-01 -2.78205032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 995.3165599949999 meters 0.012676307804081908 Centerline is valid? [True, True] Translation: X:-254.55, Y:-270.78, Z:-2.78 [[-6.69555271e-01 -7.42743839e-01 5.22772616e-03 -2.54548490e+02] [ 7.42721179e-01 -6.69575679e-01 -5.80178435e-03 -2.70782484e+02] [ 7.80959787e-03 -1.87235842e-06 9.99969505e-01 -2.78134117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 995.3465599949999 meters 0.012539102630425339 Centerline is valid? [True, True] Translation: X:-254.57, Y:-270.76, Z:-2.78 [[-6.68517374e-01 -7.43675992e-01 5.52627445e-03 -2.54568309e+02] [ 7.43650733e-01 -6.68540215e-01 -6.12926587e-03 -2.70764206e+02] [ 8.25272458e-03 1.20973217e-05 9.99965946e-01 -2.78007998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 995.376559995 meters 0.012684930941496362 Centerline is valid? [True, True] Translation: X:-254.59, Y:-270.75, Z:-2.78 [[-6.66723235e-01 -7.45282521e-01 5.83888079e-03 -2.54590410e+02] [ 7.45254417e-01 -6.66748801e-01 -6.47234164e-03 -2.70746135e+02] [ 8.71678986e-03 3.61911424e-05 9.99962008e-01 -2.78119965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 995.406559995 meters 0.012684930941496362 Centerline is valid? [True, True] Translation: X:-254.61, Y:-270.73, Z:-2.78 [[-6.66931959e-01 -7.45095731e-01 5.84069351e-03 -2.54608939e+02] [ 7.45067634e-01 -6.66957533e-01 -6.47070588e-03 -2.70725704e+02] [ 8.71678986e-03 3.61911444e-05 9.99962008e-01 -2.78119978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 995.4365599949999 meters 0.012798786102390436 Centerline is valid? [True, True] Translation: X:-254.63, Y:-270.71, Z:-2.78 [[-6.66339344e-01 -7.45625622e-01 5.85752801e-03 -2.54628216e+02] [ 7.45597421e-01 -6.66365088e-01 -6.48505220e-03 -2.70707861e+02] [ 8.73867325e-03 4.61123428e-05 9.99961816e-01 -2.78160641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 995.4665599949999 meters 0.012807462327212613 Centerline is valid? [True, True] Translation: X:-254.65, Y:-270.69, Z:-2.78 [[-6.65900764e-01 -7.46017867e-01 5.78924360e-03 -2.54648620e+02] [ 7.45990365e-01 -6.65925927e-01 -6.40585028e-03 -2.70688036e+02] [ 8.63408617e-03 5.30593571e-05 9.99962724e-01 -2.78140812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 995.496559995 meters 0.012981646288449507 Centerline is valid? [True, True] Translation: X:-254.67, Y:-270.67, Z:-2.78 [[-6.64911490e-01 -7.46900777e-01 5.65151464e-03 -2.54668793e+02] [ 7.46874626e-01 -6.64935505e-01 -6.25039508e-03 -2.70671133e+02] [ 8.42631768e-03 6.50133771e-05 9.99964496e-01 -2.78101424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 995.526559995 meters 0.01304780394663396 Centerline is valid? [True, True] Translation: X:-254.69, Y:-270.65, Z:-2.78 [[-6.64711951e-01 -7.47078913e-01 5.57863362e-03 -2.54688504e+02] [ 7.47053470e-01 -6.64735356e-01 -6.16592504e-03 -2.70651785e+02] [ 8.31474758e-03 6.89735446e-05 9.99965430e-01 -2.78088303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 995.5565599949999 meters 0.013459254593445233 Centerline is valid? [True, True] Translation: X:-254.71, Y:-270.63, Z:-2.78 [[-6.64627968e-01 -7.47153094e-01 5.64962350e-03 -2.54707684e+02] [ 7.47127037e-01 -6.64651976e-01 -6.24029152e-03 -2.70634102e+02] [ 8.41748654e-03 7.35141954e-05 9.99964570e-01 -2.78191974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 995.5865599949999 meters 0.013368184082288185 Centerline is valid? [True, True] Translation: X:-254.73, Y:-270.61, Z:-2.78 [[-6.64744748e-01 -7.47045340e-01 6.13841290e-03 -2.54727237e+02] [ 7.47014613e-01 -6.64773085e-01 -6.77604204e-03 -2.70614439e+02] [ 9.14266231e-03 8.11457766e-05 9.99958202e-01 -2.78196758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 995.616559995 meters 0.013126410915807636 Centerline is valid? [True, True] Translation: X:-254.75, Y:-270.59, Z:-2.78 [[-6.65040916e-01 -7.46780420e-01 6.29160134e-03 -2.54745965e+02] [ 7.46748169e-01 -6.65070671e-01 -6.94076825e-03 -2.70594774e+02] [ 9.36758936e-03 8.23469100e-05 9.99956120e-01 -2.78156026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 995.646559995 meters 0.013097649164650279 Centerline is valid? [True, True] Translation: X:-254.77, Y:-270.58, Z:-2.78 [[-6.65618974e-01 -7.46264883e-01 6.33289322e-03 -2.54765542e+02] [ 7.46232226e-01 -6.65649095e-01 -6.98194585e-03 -2.70576012e+02] [ 9.42586565e-03 7.84933710e-05 9.99955573e-01 -2.78147635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 995.6765599949999 meters 0.012952263666392735 Centerline is valid? [True, True] Translation: X:-254.78, Y:-270.56, Z:-2.78 [[-6.66322253e-01 -7.45638648e-01 6.13688846e-03 -2.54784861e+02] [ 7.45607989e-01 -6.66350510e-01 -6.76203178e-03 -2.70555584e+02] [ 9.13135099e-03 7.00208132e-05 9.99958306e-01 -2.78078193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 995.7065599949999 meters 0.012893038767161637 Centerline is valid? [True, True] Translation: X:-254.80, Y:-270.54, Z:-2.78 [[-6.67137868e-01 -7.44908915e-01 6.14601904e-03 -2.54803620e+02] [ 7.44878170e-01 -6.67166175e-01 -6.76805792e-03 -2.70535972e+02] [ 9.14200270e-03 6.28076866e-05 9.99958209e-01 -2.78089365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 995.736559995 meters 0.01270063001617448 Centerline is valid? [True, True] Translation: X:-254.82, Y:-270.52, Z:-2.78 [[-6.68810622e-01 -7.43409850e-01 5.84356412e-03 -2.54823053e+02] [ 7.43382031e-01 -6.68836148e-01 -6.43138280e-03 -2.70515150e+02] [ 8.68954024e-03 4.26234347e-05 9.99962244e-01 -2.78060113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 995.766559995 meters 0.012618145309183907 Centerline is valid? [True, True] Translation: X:-254.84, Y:-270.49, Z:-2.78 [[-6.69657393e-01 -7.42646292e-01 5.95486522e-03 -2.54841727e+02] [ 7.42617406e-01 -6.69683868e-01 -6.55020163e-03 -2.70494512e+02] [ 8.85236013e-03 3.57956195e-05 9.99960817e-01 -2.78043226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 995.7965599949999 meters 0.012717142757165586 Centerline is valid? [True, True] Translation: X:-254.86, Y:-270.47, Z:-2.78 [[-6.70696351e-01 -7.41702204e-01 6.65180530e-03 -2.54860759e+02] [ 7.41666154e-01 -6.70729335e-01 -7.31269349e-03 -2.70473449e+02] [ 9.88540182e-03 2.88220184e-05 9.99951138e-01 -2.78089643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 995.8265599949999 meters 0.012706521264441762 Centerline is valid? [True, True] Translation: X:-254.88, Y:-270.45, Z:-2.78 [[-6.71838434e-01 -7.40656708e-01 7.79490395e-03 -2.54878523e+02] [ 7.40607198e-01 -6.71883652e-01 -8.56367192e-03 -2.70454448e+02] [ 1.15800096e-02 1.95580431e-05 9.99932949e-01 -2.78232957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 995.8565599949999 meters 0.012606284661415697 Centerline is valid? [True, True] Translation: X:-254.90, Y:-270.43, Z:-2.78 [[-6.72543201e-01 -7.40013623e-01 8.09200503e-03 -2.54897652e+02] [ 7.39960288e-01 -6.72591880e-01 -8.88451728e-03 -2.70434393e+02] [ 1.20172807e-02 1.25406882e-05 9.99927790e-01 -2.78263342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 995.886559995 meters 0.012815261761965532 Centerline is valid? [True, True] Translation: X:-254.92, Y:-270.42, Z:-2.78 [[-6.73273991e-01 -7.39343956e-01 8.52337278e-03 -2.54916060e+02] [ 7.39284806e-01 -6.73327940e-01 -9.35200615e-03 -2.70415432e+02] [ 1.26533743e-02 4.73749294e-06 9.99919943e-01 -2.78460594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 995.916559995 meters 0.012574864813170905 Centerline is valid? [True, True] Translation: X:-254.93, Y:-270.40, Z:-2.78 [[-6.73611236e-01 -7.39039768e-01 8.25373204e-03 -2.54934363e+02] [ 7.38984349e-01 -6.73661801e-01 -9.05047425e-03 -2.70395656e+02] [ 1.22488844e-02 2.87764766e-06 9.99924980e-01 -2.78213812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 995.9465599949999 meters 0.012446570668368519 Centerline is valid? [True, True] Translation: X:-254.95, Y:-270.38, Z:-2.78 [[-6.73707203e-01 -7.38957124e-01 7.80860279e-03 -2.54953533e+02] [ 7.38907572e-01 -6.73752454e-01 -8.55752228e-03 -2.70375155e+02] [ 1.15847073e-02 4.57133343e-06 9.99932895e-01 -2.78112305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 995.9765599949999 meters 0.012355253686842056 Centerline is valid? [True, True] Translation: X:-254.97, Y:-270.36, Z:-2.78 [[-6.73402129e-01 -7.39242853e-01 7.04108874e-03 -2.54973120e+02] [ 7.39202625e-01 -6.73438938e-01 -7.71201121e-03 -2.70355369e+02] [ 1.04427925e-02 1.15065190e-05 9.99945473e-01 -2.77952727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 996.006559995 meters 0.012475109828624301 Centerline is valid? [True, True] Translation: X:-254.99, Y:-270.34, Z:-2.78 [[-6.73311914e-01 -7.39327497e-01 6.77633740e-03 -2.54991812e+02] [ 7.39290273e-01 -6.73346012e-01 -7.41895290e-03 -2.70336034e+02] [ 1.00478556e-02 1.44109470e-05 9.99949519e-01 -2.78000029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 996.036559995 meters 0.01235535011171142 Centerline is valid? [True, True] Translation: X:-255.01, Y:-270.32, Z:-2.78 [[-6.73201883e-01 -7.39428294e-01 6.70994778e-03 -2.55011192e+02] [ 7.39391842e-01 -6.73235322e-01 -7.34208081e-03 -2.70315232e+02] [ 9.94631614e-03 1.85780205e-05 9.99950534e-01 -2.77874555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 996.0665599949999 meters 0.01236156619091385 Centerline is valid? [True, True] Translation: X:-255.03, Y:-270.30, Z:-2.78 [[-6.72721828e-01 -7.39866590e-01 6.53993686e-03 -2.55030453e+02] [ 7.39832025e-01 -6.72753616e-01 -7.15175387e-03 -2.70295784e+02] [ 9.69110992e-03 2.73137919e-05 9.99953040e-01 -2.77859011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 996.0965599949999 meters 0.012333767380761746 Centerline is valid? [True, True] Translation: X:-255.05, Y:-270.28, Z:-2.78 [[-6.72370848e-01 -7.40185778e-01 6.51592828e-03 -2.55049388e+02] [ 7.40151519e-01 -6.72402419e-01 -7.12147472e-03 -2.70275640e+02] [ 9.65254025e-03 3.45022151e-05 9.99953413e-01 -2.77820904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 996.126559995 meters 0.012355344924959577 Centerline is valid? [True, True] Translation: X:-255.07, Y:-270.26, Z:-2.78 [[-6.71628380e-01 -7.40858204e-01 6.66639597e-03 -2.55068756e+02] [ 7.40822421e-01 -6.71661461e-01 -7.28159430e-03 -2.70256221e+02] [ 9.87219013e-03 4.80902237e-05 9.99951268e-01 -2.77843675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 996.156559995 meters 0.01242473140529865 Centerline is valid? [True, True] Translation: X:-255.09, Y:-270.24, Z:-2.78 [[-6.71342466e-01 -7.41116596e-01 6.74416887e-03 -2.55087628e+02] [ 7.41080033e-01 -6.71376338e-01 -7.36191231e-03 -2.70236569e+02] [ 9.98391079e-03 5.56045209e-05 9.99950158e-01 -2.77873378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 996.1865599949999 meters 0.012585771772476715 Centerline is valid? [True, True] Translation: X:-255.11, Y:-270.22, Z:-2.78 [[-6.69860520e-01 -7.42453358e-01 7.06361512e-03 -2.55108116e+02] [ 7.42413367e-01 -6.69897757e-01 -7.70640836e-03 -2.70216860e+02] [ 1.04535487e-02 8.19035668e-05 9.99945357e-01 -2.77888891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 996.2165599949999 meters 0.01276044737559389 Centerline is valid? [True, True] Translation: X:-255.13, Y:-270.20, Z:-2.78 [[-6.69096410e-01 -7.43142692e-01 6.99528562e-03 -2.55127752e+02] [ 7.43103553e-01 -6.69132969e-01 -7.62752075e-03 -2.70197188e+02] [ 1.03491125e-02 9.46748443e-05 9.99946442e-01 -2.77903805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 996.246559995 meters 0.01316204342544428 Centerline is valid? [True, True] Translation: X:-255.15, Y:-270.18, Z:-2.78 [[-6.67821101e-01 -7.44288466e-01 7.04674458e-03 -2.55147541e+02] [ 7.44248860e-01 -6.67858268e-01 -7.67902672e-03 -2.70178229e+02] [ 1.04216376e-02 1.16315540e-04 9.99945687e-01 -2.77953485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 996.276559995 meters 0.013213379991256114 Centerline is valid? [True, True] Translation: X:-255.17, Y:-270.16, Z:-2.78 [[-6.67698070e-01 -7.44397526e-01 7.18408317e-03 -2.55166020e+02] [ 7.44356420e-01 -6.67736706e-01 -7.82376667e-03 -2.70158689e+02] [ 1.06210686e-02 1.23604529e-04 9.99943587e-01 -2.77955730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 996.3065599949999 meters 0.013142701022838148 Centerline is valid? [True, True] Translation: X:-255.19, Y:-270.14, Z:-2.78 [[-6.67616078e-01 -7.44470255e-01 7.26713884e-03 -2.55185202e+02] [ 7.44428246e-01 -6.67655616e-01 -7.90974345e-03 -2.70137623e+02] [ 1.07405148e-02 1.29191519e-04 9.99942311e-01 -2.77943572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 996.3365599949999 meters 0.013204701642449593 Centerline is valid? [True, True] Translation: X:-255.20, Y:-270.12, Z:-2.78 [[-6.67779207e-01 -7.44321272e-01 7.53492312e-03 -2.55203811e+02] [ 7.44276151e-01 -6.67821702e-01 -8.19660635e-03 -2.70116998e+02] [ 1.11328936e-02 1.34540297e-04 9.99938019e-01 -2.77960046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 996.366559995 meters 0.01353303723898249 Centerline is valid? [True, True] Translation: X:-255.22, Y:-270.10, Z:-2.78 [[-6.67839252e-01 -7.44262062e-01 8.04473643e-03 -2.55221658e+02] [ 7.44210693e-01 -6.67887687e-01 -8.74541037e-03 -2.70097338e+02] [ 1.18818576e-02 1.46450555e-04 9.99929398e-01 -2.78052294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 996.396559995 meters 0.013228458999357906 Centerline is valid? [True, True] Translation: X:-255.24, Y:-270.08, Z:-2.78 [[-6.67941845e-01 -7.44170496e-01 7.99779207e-03 -2.55239344e+02] [ 7.44119783e-01 -6.67989709e-01 -8.68890545e-03 -2.70076388e+02] [ 1.18084699e-02 1.47631762e-04 9.99930267e-01 -2.77971780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 996.4265599949999 meters 0.013335668221728153 Centerline is valid? [True, True] Translation: X:-255.26, Y:-270.06, Z:-2.78 [[-6.67972937e-01 -7.44146476e-01 7.62741661e-03 -2.55257172e+02] [ 7.44100409e-01 -6.68016468e-01 -8.28130694e-03 -2.70055099e+02] [ 1.12577453e-02 1.43874894e-04 9.99936619e-01 -2.77921793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 996.4565599949999 meters 0.01313728177659604 Centerline is valid? [True, True] Translation: X:-255.28, Y:-270.03, Z:-2.78 [[-6.68068481e-01 -7.44061567e-01 7.54255290e-03 -2.55275571e+02] [ 7.44016566e-01 -6.68111042e-01 -8.18449245e-03 -2.70033456e+02] [ 1.11290292e-02 1.43982871e-04 9.99938060e-01 -2.77864715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 996.486559995 meters 0.01335466322270073 Centerline is valid? [True, True] Translation: X:-255.29, Y:-270.01, Z:-2.78 [[-6.68161260e-01 -7.43978490e-01 7.51905827e-03 -2.55294039e+02] [ 7.43933818e-01 -6.68203551e-01 -8.15408764e-03 -2.70013404e+02] [ 1.10907272e-02 1.45436249e-04 9.99938486e-01 -2.77907341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 996.516559995 meters 0.01317089294554733 Centerline is valid? [True, True] Translation: X:-255.31, Y:-269.99, Z:-2.78 [[-6.68139395e-01 -7.44000292e-01 7.30165196e-03 -2.55312048e+02] [ 7.43958216e-01 -6.68179276e-01 -7.91379337e-03 -2.69991924e+02] [ 1.07666771e-02 1.44606854e-04 9.99942027e-01 -2.77838208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 996.5465599949999 meters 0.01360744191386328 Centerline is valid? [True, True] Translation: X:-255.33, Y:-269.97, Z:-2.78 [[-6.67178851e-01 -7.44858795e-01 7.59979576e-03 -2.55329990e+02] [ 7.44813305e-01 -6.67222113e-01 -8.23363272e-03 -2.69972364e+02] [ 1.12036455e-02 1.67123386e-04 9.99937223e-01 -2.77899237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 996.5765599949999 meters 0.014006820044393173 Centerline is valid? [True, True] Translation: X:-255.35, Y:-269.95, Z:-2.78 [[-6.66807114e-01 -7.45186604e-01 8.07450292e-03 -2.55348525e+02] [ 7.45135339e-01 -6.66855974e-01 -8.74277378e-03 -2.69952566e+02] [ 1.18995284e-02 1.86853716e-04 9.99929181e-01 -2.77959459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 996.6065599949999 meters 0.014107388257902278 Centerline is valid? [True, True] Translation: X:-255.37, Y:-269.93, Z:-2.78 [[-6.65959704e-01 -7.45941627e-01 8.29228557e-03 -2.55366518e+02] [ 7.45887679e-01 -6.66011295e-01 -8.97357138e-03 -2.69930979e+02] [ 1.22165163e-02 2.09076700e-04 9.99925354e-01 -2.77976444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 996.636559995 meters 0.01472232171337736 Centerline is valid? [True, True] Translation: X:-255.38, Y:-269.91, Z:-2.78 [[-6.65731641e-01 -7.46143356e-01 8.45423589e-03 -2.55384399e+02] [ 7.46087371e-01 -6.65785283e-01 -9.14281233e-03 -2.69912250e+02] [ 1.24505545e-02 2.20939169e-04 9.99922465e-01 -2.78063035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 996.666559995 meters 0.014290301616029663 Centerline is valid? [True, True] Translation: X:-255.40, Y:-269.89, Z:-2.78 [[-6.65760883e-01 -7.46119192e-01 8.28245611e-03 -2.55400498e+02] [ 7.46065526e-01 -6.65812364e-01 -8.95139326e-03 -2.69889414e+02] [ 1.21933680e-02 2.19767505e-04 9.99925634e-01 -2.77962796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 996.6965599949999 meters 0.015202059424399006 Centerline is valid? [True, True] Translation: X:-255.42, Y:-269.87, Z:-2.78 [[-6.66181276e-01 -7.45745593e-01 8.12515356e-03 -2.55418977e+02] [ 7.45693989e-01 -6.66230789e-01 -8.77558119e-03 -2.69870297e+02] [ 1.19575785e-02 2.12750298e-04 9.99928483e-01 -2.78067334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 996.7265599949999 meters 0.014103669057918163 Centerline is valid? [True, True] Translation: X:-255.44, Y:-269.85, Z:-2.78 [[-6.66625385e-01 -7.45351257e-01 7.88033541e-03 -2.55435333e+02] [ 7.45302743e-01 -6.66671930e-01 -8.50638518e-03 -2.69847127e+02] [ 1.15938433e-02 2.02663300e-04 9.99932769e-01 -2.77887433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 996.756559995 meters 0.013881711083904406 Centerline is valid? [True, True] Translation: X:-255.45, Y:-269.83, Z:-2.78 [[-6.67245406e-01 -7.44793476e-01 8.13919671e-03 -2.55453040e+02] [ 7.44741740e-01 -6.67295015e-01 -8.78084786e-03 -2.69825808e+02] [ 1.19711636e-02 2.02619130e-04 9.99928323e-01 -2.77850361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 996.786559995 meters 0.013752095207905329 Centerline is valid? [True, True] Translation: X:-255.47, Y:-269.80, Z:-2.78 [[-6.67691208e-01 -7.44402266e-01 7.32918976e-03 -2.55470503e+02] [ 7.44360340e-01 -6.67731409e-01 -7.90252793e-03 -2.69803451e+02] [ 1.07765899e-02 1.79109758e-04 9.99941915e-01 -2.77785402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 996.8165599949999 meters 0.013865154046082608 Centerline is valid? [True, True] Translation: X:-255.49, Y:-269.78, Z:-2.78 [[-6.67916285e-01 -7.44201550e-01 7.20347583e-03 -2.55488970e+02] [ 7.44161084e-01 -6.67955105e-01 -7.76261868e-03 -2.69782526e+02] [ 1.05885513e-02 1.75766963e-04 9.99943924e-01 -2.77770391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 996.8465599949999 meters 0.013838817898706682 Centerline is valid? [True, True] Translation: X:-255.51, Y:-269.76, Z:-2.78 [[-6.68052567e-01 -7.44080650e-01 7.05372162e-03 -2.55506290e+02] [ 7.44041887e-01 -6.68089782e-01 -7.59695678e-03 -2.69760477e+02] [ 1.03652679e-02 1.73097867e-04 9.99946264e-01 -2.77757360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 996.876559995 meters 0.013621239397693961 Centerline is valid? [True, True] Translation: X:-255.52, Y:-269.74, Z:-2.78 [[-6.68421238e-01 -7.43747453e-01 7.26456131e-03 -2.55524447e+02] [ 7.43706367e-01 -6.68460691e-01 -7.81956252e-03 -2.69738629e+02] [ 1.06718534e-02 1.75938835e-04 9.99943039e-01 -2.77744232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 996.906559995 meters 0.01414413912410659 Centerline is valid? [True, True] Translation: X:-255.54, Y:-269.72, Z:-2.78 [[-6.68928521e-01 -7.43290396e-01 7.34997485e-03 -2.55542689e+02] [ 7.43248361e-01 -6.68968876e-01 -7.90672880e-03 -2.69718667e+02] [ 1.07939000e-02 1.73820361e-04 9.99941729e-01 -2.77853706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 996.9365599949999 meters 0.01416309579525455 Centerline is valid? [True, True] Translation: X:-255.56, Y:-269.70, Z:-2.78 [[-6.70332809e-01 -7.42022795e-01 7.48982001e-03 -2.55558614e+02] [ 7.41979120e-01 -6.70374632e-01 -8.05225222e-03 -2.69696931e+02] [ 1.09959400e-02 1.59601207e-04 9.99939530e-01 -2.77938980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 996.9665599949999 meters 0.013331258392508925 Centerline is valid? [True, True] Translation: X:-255.57, Y:-269.67, Z:-2.78 [[-6.71282577e-01 -7.41163378e-01 7.51995538e-03 -2.55574225e+02] [ 7.41119353e-01 -6.71324680e-01 -8.07957078e-03 -2.69674660e+02] [ 1.10366136e-02 1.49509372e-04 9.99939084e-01 -2.77806125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 996.996559995 meters 0.013162747864365882 Centerline is valid? [True, True] Translation: X:-255.59, Y:-269.65, Z:-2.78 [[-6.72359415e-01 -7.40189918e-01 7.19048012e-03 -2.55591734e+02] [ 7.40149657e-01 -6.72397850e-01 -7.72123496e-03 -2.69652475e+02] [ 1.05500436e-02 1.30586374e-04 9.99944338e-01 -2.77780562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 997.026559995 meters 0.012664278439967994 Centerline is valid? [True, True] Translation: X:-255.61, Y:-269.63, Z:-2.78 [[-6.74752295e-01 -7.38014783e-01 6.59703234e-03 -2.55607708e+02] [ 7.37980825e-01 -6.74784538e-01 -7.08025544e-03 -2.69628221e+02] [ 9.67690860e-03 9.10647586e-05 9.99953174e-01 -2.77683987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 997.0565599949999 meters 0.012554601523692662 Centerline is valid? [True, True] Translation: X:-255.62, Y:-269.61, Z:-2.78 [[-6.76137208e-01 -7.36748291e-01 6.35857016e-03 -2.55624903e+02] [ 7.36716728e-01 -6.76167102e-01 -6.82003853e-03 -2.69606656e+02] [ 9.32410769e-03 7.31831909e-05 9.99956527e-01 -2.77675395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 997.0865599949999 meters 0.012428183312751062 Centerline is valid? [True, True] Translation: X:-255.64, Y:-269.58, Z:-2.78 [[-6.77610599e-01 -7.35395345e-01 6.12883781e-03 -2.55642345e+02] [ 7.35365999e-01 -6.77638313e-01 -6.56992647e-03 -2.69584269e+02] [ 8.98462866e-03 5.50871276e-05 9.99959636e-01 -2.77662908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 997.116559995 meters 0.012208061606478634 Centerline is valid? [True, True] Translation: X:-255.66, Y:-269.56, Z:-2.78 [[-6.80412675e-01 -7.32803564e-01 6.12603729e-03 -2.55657663e+02] [ 7.32774173e-01 -6.80440251e-01 -6.56320706e-03 -2.69560550e+02] [ 8.97794388e-03 2.33126339e-05 9.99959697e-01 -2.77690874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 997.146559995 meters 0.012251560160043617 Centerline is valid? [True, True] Translation: X:-255.67, Y:-269.54, Z:-2.78 [[-6.82028691e-01 -7.31298515e-01 6.27271656e-03 -2.55674150e+02] [ 7.31267672e-01 -6.82057536e-01 -6.71634229e-03 -2.69539163e+02] [ 9.19000474e-03 6.29670196e-06 9.99957771e-01 -2.77790059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 997.1765599949999 meters 0.012234019801489264 Centerline is valid? [True, True] Translation: X:-255.69, Y:-269.52, Z:-2.78 [[-6.84736191e-01 -7.28761343e-01 6.57669199e-03 -2.55690175e+02] [ 7.28727360e-01 -6.84767774e-01 -7.03779957e-03 -2.69515507e+02] [ 9.63238300e-03 -2.64206824e-05 9.99953607e-01 -2.77724072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 997.2065599949999 meters 0.012409246692988162 Centerline is valid? [True, True] Translation: X:-255.71, Y:-269.49, Z:-2.78 [[-6.85889421e-01 -7.27677879e-01 6.37236454e-03 -2.55707478e+02] [ 7.27645954e-01 -6.85919021e-01 -6.81631825e-03 -2.69494326e+02] [ 9.33101005e-03 -3.84153027e-05 9.99956465e-01 -2.77794695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 997.236559995 meters 0.01250627385058647 Centerline is valid? [True, True] Translation: X:-255.72, Y:-269.47, Z:-2.78 [[-6.86879837e-01 -7.26741615e-01 6.53558088e-03 -2.55724885e+02] [ 7.26708034e-01 -6.86910928e-01 -6.98653726e-03 -2.69473070e+02] [ 9.56676930e-03 -4.94524462e-05 9.99954236e-01 -2.77829784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 997.266559995 meters 0.012549875206575073 Centerline is valid? [True, True] Translation: X:-255.74, Y:-269.45, Z:-2.78 [[-6.88134930e-01 -7.25551903e-01 6.68979197e-03 -2.55742283e+02] [ 7.25516701e-01 -6.88167444e-01 -7.14736146e-03 -2.69450575e+02] [ 9.78947876e-03 -6.47932753e-05 9.99952080e-01 -2.77821430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 997.2965599949999 meters 0.012549875206575073 Centerline is valid? [True, True] Translation: X:-255.76, Y:-269.43, Z:-2.78 [[-6.88338347e-01 -7.25358904e-01 6.69179592e-03 -2.55761187e+02] [ 7.25323711e-01 -6.88370871e-01 -7.14548528e-03 -2.69430477e+02] [ 9.78947876e-03 -6.47932783e-05 9.99952080e-01 -2.77821443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 997.3265599949999 meters 0.012661498146214508 Centerline is valid? [True, True] Translation: X:-255.78, Y:-269.41, Z:-2.78 [[-6.88563643e-01 -7.25143607e-01 6.84535842e-03 -2.55779225e+02] [ 7.25106815e-01 -6.88597666e-01 -7.30486460e-03 -2.69409651e+02] [ 1.00107737e-02 -6.62481392e-05 9.99949889e-01 -2.77844989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 997.3565599949999 meters 0.012611232119470869 Centerline is valid? [True, True] Translation: X:-255.80, Y:-269.39, Z:-2.78 [[-6.88627873e-01 -7.25083990e-01 6.69777701e-03 -2.55798361e+02] [ 7.25048805e-01 -6.88660441e-01 -7.14336542e-03 -2.69388569e+02] [ 9.79203398e-03 -6.29053147e-05 9.99952055e-01 -2.77837405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 997.386559995 meters 0.012498336195310055 Centerline is valid? [True, True] Translation: X:-255.82, Y:-269.37, Z:-2.78 [[-6.87267555e-01 -7.26374569e-01 6.57981431e-03 -2.55816731e+02] [ 7.26340715e-01 -6.87299050e-01 -7.01291884e-03 -2.69369472e+02] [ 9.61630602e-03 -4.05645558e-05 9.99953762e-01 -2.77790888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 997.416559995 meters 0.012457251471840135 Centerline is valid? [True, True] Translation: X:-255.84, Y:-269.35, Z:-2.78 [[-6.86426825e-01 -7.27169459e-01 6.54158890e-03 -2.55835824e+02] [ 7.27136075e-01 -6.86457994e-01 -6.96782356e-03 -2.69350398e+02] [ 9.55731448e-03 -2.62757239e-05 9.99954328e-01 -2.77780786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 997.4465599949999 meters 0.012338527165026002 Centerline is valid? [True, True] Translation: X:-255.86, Y:-269.33, Z:-2.78 [[-6.85395328e-01 -7.28143670e-01 6.32768101e-03 -2.55855079e+02] [ 7.28112515e-01 -6.85424537e-01 -6.73572526e-03 -2.69331555e+02] [ 9.24172354e-03 -9.37089341e-06 9.99957294e-01 -2.77769535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 997.4765599949999 meters 0.01232442861489033 Centerline is valid? [True, True] Translation: X:-255.88, Y:-269.31, Z:-2.78 [[-6.83646030e-01 -7.29786579e-01 6.29722126e-03 -2.55875346e+02] [ 7.29755828e-01 -6.83675031e-01 -6.69951701e-03 -2.69312371e+02] [ 9.19447055e-03 1.53357127e-05 9.99957730e-01 -2.77784046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 997.506559995 meters 0.012294973848376826 Centerline is valid? [True, True] Translation: X:-255.89, Y:-269.29, Z:-2.78 [[-6.83210359e-01 -7.30194960e-01 6.23912582e-03 -2.55894458e+02] [ 7.30164826e-01 -6.83238846e-01 -6.63375606e-03 -2.69292995e+02] [ 9.10674836e-03 2.33393580e-05 9.99958533e-01 -2.77835766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 997.536559995 meters 0.012398911507681677 Centerline is valid? [True, True] Translation: X:-255.91, Y:-269.27, Z:-2.78 [[-6.82679313e-01 -7.30691641e-01 6.21937196e-03 -2.55913669e+02] [ 7.30661756e-01 -6.82707642e-01 -6.60863476e-03 -2.69273014e+02] [ 9.07488695e-03 3.26789977e-05 9.99958822e-01 -2.77838447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 997.5665599949999 meters 0.012439648462191737 Centerline is valid? [True, True] Translation: X:-255.93, Y:-269.25, Z:-2.78 [[-6.82577985e-01 -7.30788456e-01 5.96051322e-03 -2.55932490e+02] [ 7.30761045e-01 -6.82604008e-01 -6.32958515e-03 -2.69253308e+02] [ 8.69425797e-03 3.52753890e-05 9.99962204e-01 -2.77781687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 997.5965599949999 meters 0.01250117498314125 Centerline is valid? [True, True] Translation: X:-255.95, Y:-269.23, Z:-2.78 [[-6.82728914e-01 -7.30649456e-01 5.70986768e-03 -2.55951853e+02] [ 7.30624326e-01 -6.82752789e-01 -6.06001549e-03 -2.69233161e+02] [ 8.32617511e-03 3.44204338e-05 9.99965336e-01 -2.77750869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 997.626559995 meters 0.012577336764541997 Centerline is valid? [True, True] Translation: X:-255.97, Y:-269.21, Z:-2.78 [[-6.83004547e-01 -7.30391298e-01 5.77408875e-03 -2.55970288e+02] [ 7.30365615e-01 -6.83028953e-01 -6.12518525e-03 -2.69214251e+02] [ 8.41765180e-03 3.36664997e-05 9.99964571e-01 -2.77795596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 997.656559995 meters 0.012404027236301855 Centerline is valid? [True, True] Translation: X:-255.99, Y:-269.19, Z:-2.78 [[-6.83621387e-01 -7.29816846e-01 5.40098571e-03 -2.55988667e+02] [ 7.29794385e-01 -6.83642721e-01 -5.72583323e-03 -2.69194720e+02] [ 7.87115411e-03 2.73069889e-05 9.99969022e-01 -2.77695557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 997.6865599949999 meters 0.012356057787002446 Centerline is valid? [True, True] Translation: X:-256.01, Y:-269.17, Z:-2.78 [[-6.84350520e-01 -7.29133351e-01 5.37795738e-03 -2.56007627e+02] [ 7.29111088e-01 -6.84371651e-01 -5.69786159e-03 -2.69174747e+02] [ 7.83502248e-03 2.17938173e-05 9.99969306e-01 -2.77639420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 997.7165599949999 meters 0.012317881389331814 Centerline is valid? [True, True] Translation: X:-256.03, Y:-269.15, Z:-2.78 [[-6.86475635e-01 -7.27133884e-01 5.24562570e-03 -2.56026082e+02] [ 7.27112671e-01 -6.86495677e-01 -5.55418618e-03 -2.69154118e+02] [ 7.63973633e-03 1.34742701e-06 9.99970817e-01 -2.77615068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 997.746559995 meters 0.012309023446323227 Centerline is valid? [True, True] Translation: X:-256.04, Y:-269.13, Z:-2.78 [[-6.87974003e-01 -7.25719134e-01 4.84869021e-03 -2.56044785e+02] [ 7.25700998e-01 -6.87991089e-01 -5.13067327e-03 -2.69134240e+02] [ 7.05928342e-03 -1.10705070e-05 9.99975083e-01 -2.77588279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 997.776559995 meters 0.012339163824599871 Centerline is valid? [True, True] Translation: X:-256.06, Y:-269.11, Z:-2.78 [[-6.89627387e-01 -7.24149367e-01 4.66494806e-03 -2.56063558e+02] [ 7.24132564e-01 -6.89643164e-01 -4.93315671e-03 -2.69114466e+02] [ 6.78949185e-03 -2.39991739e-05 9.99976951e-01 -2.77568259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 997.8065599949999 meters 0.012951589752426584 Centerline is valid? [True, True] Translation: X:-256.08, Y:-269.09, Z:-2.78 [[-6.93337638e-01 -7.20599622e-01 4.37092510e-03 -2.56081554e+02] [ 7.20584815e-01 -6.93351413e-01 -4.61967803e-03 -2.69092803e+02] [ 6.35952534e-03 -5.33743965e-05 9.99979777e-01 -2.77562236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 997.8365599949999 meters 0.013374041007525556 Centerline is valid? [True, True] Translation: X:-256.10, Y:-269.07, Z:-2.78 [[-6.95644569e-01 -7.18373111e-01 4.32515648e-03 -2.56099787e+02] [ 7.18358586e-01 -6.95658011e-01 -4.56880027e-03 -2.69071514e+02] [ 6.29093302e-03 -7.12478012e-05 9.99980210e-01 -2.77572667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 997.866559995 meters 0.014049262599315807 Centerline is valid? [True, True] Translation: X:-256.12, Y:-269.05, Z:-2.78 [[-6.98224900e-01 -7.15864708e-01 4.43961638e-03 -2.56117777e+02] [ 7.15849369e-01 -6.98239008e-01 -4.68715482e-03 -2.69050146e+02] [ 6.45528205e-03 -9.45916232e-05 9.99979160e-01 -2.77603298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 997.896559995 meters 0.01494231246811614 Centerline is valid? [True, True] Translation: X:-256.14, Y:-269.03, Z:-2.78 [[-7.00842529e-01 -7.13300866e-01 4.65014000e-03 -2.56135843e+02] [ 7.13284000e-01 -7.00857945e-01 -4.90675904e-03 -2.69028521e+02] [ 6.75908304e-03 -1.21994954e-04 9.99977150e-01 -2.77638994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 997.9265599949999 meters 0.016848279494845367 Centerline is valid? [True, True] Translation: X:-256.15, Y:-269.01, Z:-2.78 [[-7.05285781e-01 -7.08904773e-01 5.09813291e-03 -2.56152700e+02] [ 7.08884407e-01 -7.05304184e-01 -5.37635097e-03 -2.69006551e+02] [ 7.40705533e-03 -1.77876962e-04 9.99972552e-01 -2.77721248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 997.9565599949999 meters 0.017572878071404948 Centerline is valid? [True, True] Translation: X:-256.17, Y:-268.99, Z:-2.78 [[-7.06995447e-01 -7.07196260e-01 5.55760268e-03 -2.56171684e+02] [ 7.07172031e-01 -7.07017259e-01 -5.85774739e-03 -2.68985452e+02] [ 8.07189806e-03 -2.11219556e-04 9.99967400e-01 -2.77772238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 997.986559995 meters 0.01901266660495884 Centerline is valid? [True, True] Translation: X:-256.19, Y:-268.97, Z:-2.78 [[-7.09218894e-01 -7.04959389e-01 6.38904092e-03 -2.56189713e+02] [ 7.04927313e-01 -7.09247620e-01 -6.73028259e-03 -2.68965436e+02] [ 9.27598798e-03 -2.69434124e-04 9.99956941e-01 -2.77919984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 998.016559995 meters 0.019787083990725332 Centerline is valid? [True, True] Translation: X:-256.21, Y:-268.95, Z:-2.78 [[-7.09806456e-01 -7.04365941e-01 6.58907270e-03 -2.56207724e+02] [ 7.04331827e-01 -7.09836982e-01 -6.93803381e-03 -2.68945875e+02] [ 9.56408219e-03 -2.83767579e-04 9.99954223e-01 -2.78007301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 998.0465599949999 meters 0.019927552081735425 Centerline is valid? [True, True] Translation: X:-256.23, Y:-268.93, Z:-2.78 [[-7.10106353e-01 -7.04057933e-01 7.16901677e-03 -2.56227015e+02] [ 7.04017580e-01 -7.10142473e-01 -7.54426333e-03 -2.68927071e+02] [ 1.04026217e-02 -3.10115484e-04 9.99945843e-01 -2.78077926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 998.0765599949999 meters 0.01752803780149449 Centerline is valid? [True, True] Translation: X:-256.25, Y:-268.91, Z:-2.78 [[-7.10028072e-01 -7.04130291e-01 7.78910018e-03 -2.56250096e+02] [ 7.04082718e-01 -7.10070717e-01 -8.19168204e-03 -2.68911228e+02] [ 1.12988234e-02 -3.32153388e-04 9.99936111e-01 -2.78005787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 998.1065599949999 meters 0.017354746273711644 Centerline is valid? [True, True] Translation: X:-256.27, Y:-268.89, Z:-2.78 [[-7.10031633e-01 -7.04125684e-01 7.88039740e-03 -2.56269764e+02] [ 7.04077048e-01 -7.10075285e-01 -8.28252107e-03 -2.68892308e+02] [ 1.14276112e-02 -3.32445027e-04 9.99934648e-01 -2.78000948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 998.136559995 meters 0.017592655773911472 Centerline is valid? [True, True] Translation: X:-256.29, Y:-268.87, Z:-2.78 [[-7.09858775e-01 -7.04299314e-01 7.93697708e-03 -2.56288615e+02] [ 7.04250051e-01 -7.09903070e-01 -8.33653241e-03 -2.68873661e+02] [ 1.15058985e-02 -3.28144174e-04 9.99933751e-01 -2.78023183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 998.166559995 meters 0.01671291720936658 Centerline is valid? [True, True] Translation: X:-256.31, Y:-268.86, Z:-2.78 [[-7.09036921e-01 -7.05135539e-01 7.10746011e-03 -2.56310584e+02] [ 7.05096120e-01 -7.09072488e-01 -7.46110326e-03 -2.68855848e+02] [ 1.03007935e-02 -2.78755128e-04 9.99946907e-01 -2.77920512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 998.1965599949999 meters 0.016545095552008542 Centerline is valid? [True, True] Translation: X:-256.33, Y:-268.84, Z:-2.78 [[-7.08475437e-01 -7.05706060e-01 6.44298502e-03 -2.56330878e+02] [ 7.05673725e-01 -7.08504692e-01 -6.75981600e-03 -2.68836697e+02] [ 9.33532824e-03 -2.42518358e-04 9.99956396e-01 -2.77867258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 998.2265599949999 meters 0.01631741091065899 Centerline is valid? [True, True] Translation: X:-256.35, Y:-268.82, Z:-2.78 [[-7.07679496e-01 -7.06510313e-01 5.73671772e-03 -2.56350732e+02] [ 7.06484732e-01 -7.07702718e-01 -6.01553637e-03 -2.68817927e+02] [ 8.30992920e-03 -2.04168266e-04 9.99965451e-01 -2.77806947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 998.256559995 meters 0.015130112114012299 Centerline is valid? [True, True] Translation: X:-256.37, Y:-268.80, Z:-2.78 [[-7.04919808e-01 -7.09269910e-01 4.92538611e-03 -2.56373510e+02] [ 7.09251141e-01 -7.04937000e-01 -5.16184615e-03 -2.68801222e+02] [ 7.13322906e-03 -1.45351876e-04 9.99974548e-01 -2.77728246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 998.286559995 meters 0.014445387565237321 Centerline is valid? [True, True] Translation: X:-256.39, Y:-268.78, Z:-2.78 [[-7.03266082e-01 -7.10910311e-01 4.83193450e-03 -2.56394993e+02] [ 7.10892306e-01 -7.03282670e-01 -5.06109765e-03 -2.68782633e+02] [ 6.99620230e-03 -1.24313254e-04 9.99975519e-01 -2.77689226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 998.3165599949999 meters 0.013875202333305876 Centerline is valid? [True, True] Translation: X:-256.42, Y:-268.76, Z:-2.78 [[-7.01388269e-01 -7.12762203e-01 4.95360485e-03 -2.56416439e+02] [ 7.12743347e-01 -7.01405753e-01 -5.18567791e-03 -2.68764016e+02] [ 7.17064215e-03 -1.06524750e-04 9.99974285e-01 -2.77697222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 998.3465599949999 meters 0.013629018590431355 Centerline is valid? [True, True] Translation: X:-256.44, Y:-268.75, Z:-2.78 [[-6.99625314e-01 -7.14492876e-01 4.93454834e-03 -2.56437736e+02] [ 7.14474228e-01 -6.99642710e-01 -5.16289860e-03 -2.68746037e+02] [ 7.14127504e-03 -8.64869400e-05 9.99974497e-01 -2.77743647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 998.376559995 meters 0.01241967302215493 Centerline is valid? [True, True] Translation: X:-256.46, Y:-268.73, Z:-2.78 [[-6.94696694e-01 -7.19285123e-01 5.04131403e-03 -2.56461698e+02] [ 7.19265806e-01 -6.94714985e-01 -5.27165617e-03 -2.68730518e+02] [ 7.29410026e-03 -3.61573102e-05 9.99973397e-01 -2.77717711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 998.406559995 meters 0.012291442594526292 Centerline is valid? [True, True] Translation: X:-256.48, Y:-268.71, Z:-2.78 [[-6.92104182e-01 -7.21779493e-01 5.11521295e-03 -2.56483316e+02] [ 7.21759695e-01 -6.92123084e-01 -5.34593481e-03 -2.68712946e+02] [ 7.39894308e-03 -7.98930306e-06 9.99972628e-01 -2.77721825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 998.4365599949999 meters 0.012289418091541887 Centerline is valid? [True, True] Translation: X:-256.50, Y:-268.70, Z:-2.78 [[-6.89360444e-01 -7.24399727e-01 5.21677114e-03 -2.56504630e+02] [ 7.24379236e-01 -6.89380182e-01 -5.44865538e-03 -2.68696099e+02] [ 7.54334311e-03 2.28332020e-05 9.99971548e-01 -2.77751994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 998.4665599949999 meters 0.013125541271443011 Centerline is valid? [True, True] Translation: X:-256.53, Y:-268.68, Z:-2.78 [[-6.83650225e-01 -7.29789963e-01 5.38331852e-03 -2.56528692e+02] [ 7.29768334e-01 -6.83671414e-01 -5.61929526e-03 -2.68681873e+02] [ 7.78132626e-03 8.69429144e-05 9.99969721e-01 -2.77839391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 998.496559995 meters 0.013885966472886832 Centerline is valid? [True, True] Translation: X:-256.55, Y:-268.66, Z:-2.78 [[-6.81282017e-01 -7.32001364e-01 5.36804523e-03 -2.56550307e+02] [ 7.31979952e-01 -6.81303155e-01 -5.60007918e-03 -2.68664315e+02] [ 7.75653176e-03 1.14068245e-04 9.99969911e-01 -2.77882709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 998.526559995 meters 0.014675231484399313 Centerline is valid? [True, True] Translation: X:-256.57, Y:-268.65, Z:-2.78 [[-6.78958640e-01 -7.34155089e-01 5.60983793e-03 -2.56571853e+02] [ 7.34131803e-01 -6.78981799e-01 -5.84909677e-03 -2.68646082e+02] [ 8.10312201e-03 1.47065643e-04 9.99967159e-01 -2.77901569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 998.5565599949999 meters 0.01662737306917187 Centerline is valid? [True, True] Translation: X:-256.59, Y:-268.63, Z:-2.78 [[-6.75312863e-01 -7.37507980e-01 5.87509726e-03 -2.56594523e+02] [ 7.37482596e-01 -6.75338390e-01 -6.12208477e-03 -2.68630677e+02] [ 8.48276509e-03 1.98459391e-04 9.99964001e-01 -2.78036148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 998.5865599949999 meters 0.016269997361579375 Centerline is valid? [True, True] Translation: X:-256.61, Y:-268.61, Z:-2.78 [[-6.74001085e-01 -7.38706838e-01 5.89446247e-03 -2.56613647e+02] [ 7.38681354e-01 -6.74026825e-01 -6.13972974e-03 -2.68610865e+02] [ 8.50848616e-03 2.15945015e-04 9.99963779e-01 -2.78011999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 998.616559995 meters 0.017814601590517964 Centerline is valid? [True, True] Translation: X:-256.63, Y:-268.59, Z:-2.78 [[-6.72951829e-01 -7.39662071e-01 5.98808313e-03 -2.56634749e+02] [ 7.39635831e-01 -6.72978429e-01 -6.23469200e-03 -2.68593501e+02] [ 8.64141597e-03 2.33353462e-04 9.99962635e-01 -2.78106449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 998.646559995 meters 0.017523425507859746 Centerline is valid? [True, True] Translation: X:-256.65, Y:-268.57, Z:-2.78 [[-6.72229294e-01 -7.40318614e-01 6.01044592e-03 -2.56653824e+02] [ 7.40292234e-01 -6.72256119e-01 -6.25449557e-03 -2.68573263e+02] [ 8.67087854e-03 2.45031296e-04 9.99962377e-01 -2.78064390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 998.6765599949999 meters 0.018731321804053017 Centerline is valid? [True, True] Translation: X:-256.67, Y:-268.55, Z:-2.78 [[-6.71375474e-01 -7.41097554e-01 5.42112412e-03 -2.56673911e+02] [ 7.41076145e-01 -6.71397320e-01 -5.63793565e-03 -2.68554950e+02] [ 7.81798853e-03 2.32294041e-04 9.99969412e-01 -2.78060146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 998.7065599949999 meters 0.018195303423161845 Centerline is valid? [True, True] Translation: X:-256.69, Y:-268.53, Z:-2.78 [[-6.71687163e-01 -7.40817469e-01 5.08261674e-03 -2.56691866e+02] [ 7.40798666e-01 -6.71706358e-01 -5.28259834e-03 -2.68534830e+02] [ 7.32746711e-03 2.16942211e-04 9.99973130e-01 -2.77985631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 998.736559995 meters 0.018526412827152547 Centerline is valid? [True, True] Translation: X:-256.71, Y:-268.52, Z:-2.78 [[-6.72167610e-01 -7.40382318e-01 4.97272055e-03 -2.56710482e+02] [ 7.40364331e-01 -6.72185971e-01 -5.16500680e-03 -2.68515721e+02] [ 7.16667270e-03 2.09874644e-04 9.99974297e-01 -2.77979882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 998.766559995 meters 0.01792472655676436 Centerline is valid? [True, True] Translation: X:-256.73, Y:-268.49, Z:-2.78 [[-6.73897905e-01 -7.38802685e-01 5.67499779e-03 -2.56729032e+02] [ 7.38779230e-01 -6.73921763e-01 -5.89124160e-03 -2.68494202e+02] [ 8.17696964e-03 2.22475124e-04 9.99966543e-01 -2.78136488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 998.7965599949999 meters 0.016561905843964362 Centerline is valid? [True, True] Translation: X:-256.75, Y:-268.47, Z:-2.78 [[-6.75060489e-01 -7.37739445e-01 5.81788042e-03 -2.56746079e+02] [ 7.37714782e-01 -6.75085524e-01 -6.03618763e-03 -2.68472224e+02] [ 8.38070056e-03 2.17144609e-04 9.99964858e-01 -2.78120230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 998.8265599949999 meters 0.016820977433921573 Centerline is valid? [True, True] Translation: X:-256.76, Y:-268.45, Z:-2.78 [[-6.76466902e-01 -7.36450205e-01 5.79887020e-03 -2.56764243e+02] [ 7.36425676e-01 -6.76491726e-01 -6.01399995e-03 -2.68452756e+02] [ 8.35189920e-03 2.02164990e-04 9.99965102e-01 -2.78192363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 998.8565599949999 meters 0.015534136000062568 Centerline is valid? [True, True] Translation: X:-256.78, Y:-268.43, Z:-2.78 [[-6.80366014e-01 -7.32851355e-01 5.56581237e-03 -2.56779519e+02] [ 7.32828664e-01 -6.80388762e-01 -5.76907718e-03 -2.68429751e+02] [ 8.01479222e-03 1.53702790e-04 9.99967869e-01 -2.78226106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 998.886559995 meters 0.013852385306242396 Centerline is valid? [True, True] Translation: X:-256.80, Y:-268.41, Z:-2.78 [[-6.83076343e-01 -7.30326464e-01 5.47408199e-03 -2.56795410e+02] [ 7.30304458e-01 -6.83098266e-01 -5.67082897e-03 -2.68406293e+02] [ 7.88089238e-03 1.24137361e-04 9.99968938e-01 -2.78133432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 998.916559995 meters 0.013136754457840573 Centerline is valid? [True, True] Translation: X:-256.81, Y:-268.38, Z:-2.78 [[-6.85827041e-01 -7.27744617e-01 5.38916546e-03 -2.56812225e+02] [ 7.27723233e-01 -6.85848207e-01 -5.57970414e-03 -2.68383345e+02] [ 7.75674912e-03 9.51089384e-05 9.99969912e-01 -2.78087223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 998.9465599949999 meters 0.012358612262916006 Centerline is valid? [True, True] Translation: X:-256.83, Y:-268.36, Z:-2.78 [[-6.92257052e-01 -7.21632124e-01 5.22024248e-03 -2.56825786e+02] [ 7.21611901e-01 -6.92276734e-01 -5.40257036e-03 -2.68359002e+02] [ 7.51252074e-03 2.70216718e-05 9.99971780e-01 -2.78183420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 998.9765599949999 meters 0.012110217659675416 Centerline is valid? [True, True] Translation: X:-256.84, Y:-268.34, Z:-2.78 [[-6.95694514e-01 -7.18319568e-01 5.11284047e-03 -2.56841119e+02] [ 7.18300103e-01 -6.95713302e-01 -5.28812553e-03 -2.68336457e+02] [ 7.35563517e-03 -6.36608761e-06 9.99972947e-01 -2.78050744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 999.006559995 meters 0.012440376568914844 Centerline is valid? [True, True] Translation: X:-256.86, Y:-268.31, Z:-2.78 [[-6.99361933e-01 -7.14751559e-01 4.80591345e-03 -2.56856887e+02] [ 7.14734297e-01 -6.99378444e-01 -4.96757723e-03 -2.68314322e+02] [ 6.91173584e-03 -3.91832394e-05 9.99976113e-01 -2.78050222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 999.036559995 meters 0.013872377429362743 Centerline is valid? [True, True] Translation: X:-256.87, Y:-268.29, Z:-2.78 [[-7.06714228e-01 -7.07482852e-01 4.79722133e-03 -2.56870473e+02] [ 7.07465503e-01 -7.06730502e-01 -4.95580871e-03 -2.68288025e+02] [ 6.89649232e-03 -1.08471925e-04 9.99976213e-01 -2.78024896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 999.0665599949999 meters 0.015015419843677377 Centerline is valid? [True, True] Translation: X:-256.89, Y:-268.26, Z:-2.78 [[-7.10460137e-01 -7.03720947e-01 4.81907275e-03 -2.56887104e+02] [ 7.03703371e-01 -7.10476466e-01 -4.97561075e-03 -2.68264803e+02] [ 6.92527928e-03 -1.43775355e-04 9.99976010e-01 -2.78031182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 999.0965599949999 meters 0.01631950455961733 Centerline is valid? [True, True] Translation: X:-256.90, Y:-268.24, Z:-2.78 [[-7.14295152e-01 -6.99828549e-01 4.73686915e-03 -2.56903414e+02] [ 6.99811496e-01 -7.14310836e-01 -4.88871883e-03 -2.68242286e+02] [ 6.80486197e-03 -1.77072673e-04 9.99976831e-01 -2.78086862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 999.126559995 meters 0.018113156663191344 Centerline is valid? [True, True] Translation: X:-256.92, Y:-268.22, Z:-2.78 [[-7.17907661e-01 -6.96118600e-01 5.24271288e-03 -2.56918665e+02] [ 6.96097629e-01 -7.17926766e-01 -5.40829816e-03 -2.68220333e+02] [ 7.52870084e-03 -2.33218678e-04 9.99971632e-01 -2.78107339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 999.156559995 meters 0.020939724258432435 Centerline is valid? [True, True] Translation: X:-256.93, Y:-268.20, Z:-2.78 [[-7.24051235e-01 -6.89721398e-01 5.84831884e-03 -2.56932757e+02] [ 6.89695124e-01 -7.24074777e-01 -6.02936333e-03 -2.68196067e+02] [ 8.39320106e-03 -3.32010974e-04 9.99964722e-01 -2.78186990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 999.1865599949999 meters 0.022275008841352757 Centerline is valid? [True, True] Translation: X:-256.95, Y:-268.17, Z:-2.78 [[-7.26499943e-01 -6.87141180e-01 5.90181170e-03 -2.56950275e+02] [ 6.87114367e-01 -7.26523824e-01 -6.08114626e-03 -2.68173966e+02] [ 8.46641282e-03 -3.62732805e-04 9.99964094e-01 -2.78197934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 999.2165599949999 meters 0.022275008841352757 Centerline is valid? [True, True] Translation: X:-256.97, Y:-268.15, Z:-2.78 [[-7.26710189e-01 -6.86918808e-01 5.90367255e-03 -2.56969010e+02] [ 6.86892002e-01 -7.26734078e-01 -6.07933973e-03 -2.68154811e+02] [ 8.46641283e-03 -3.62732670e-04 9.99964094e-01 -2.78197946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 999.246559995 meters 0.022502270270861126 Centerline is valid? [True, True] Translation: X:-256.99, Y:-268.13, Z:-2.78 [[-7.29904042e-01 -6.83523691e-01 5.95423388e-03 -2.56987220e+02] [ 6.83496342e-01 -7.29928217e-01 -6.12775917e-03 -2.68133847e+02] [ 8.53463188e-03 -4.02979109e-04 9.99963498e-01 -2.78155023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 999.276559995 meters 0.023938525363846365 Centerline is valid? [True, True] Translation: X:-257.00, Y:-268.11, Z:-2.78 [[-7.30943347e-01 -6.82412238e-01 5.94647041e-03 -2.57004272e+02] [ 6.82384947e-01 -7.30967418e-01 -6.11703211e-03 -2.68113428e+02] [ 8.52101370e-03 -4.13422031e-04 9.99963610e-01 -2.78181504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 999.3065599949999 meters 0.023480086635724668 Centerline is valid? [True, True] Translation: X:-257.02, Y:-268.09, Z:-2.78 [[-7.31420367e-01 -6.81901352e-01 5.89856136e-03 -2.57024275e+02] [ 6.81874511e-01 -7.31444034e-01 -6.06441060e-03 -2.68093814e+02] [ 8.44979731e-03 -4.13554783e-04 9.99964214e-01 -2.78180824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 999.3365599949999 meters 0.022615501500566664 Centerline is valid? [True, True] Translation: X:-257.05, Y:-268.08, Z:-2.78 [[-7.30483100e-01 -6.82901432e-01 6.33043355e-03 -2.57045324e+02] [ 6.82870586e-01 -7.30510404e-01 -6.50480443e-03 -2.68075200e+02] [ 9.06658783e-03 -4.28782830e-04 9.99958806e-01 -2.78209982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 999.366559995 meters 0.0228704549473952 Centerline is valid? [True, True] Translation: X:-257.06, Y:-268.06, Z:-2.78 [[-7.29363754e-01 -6.84096762e-01 6.33519816e-03 -2.57064369e+02] [ 6.84065945e-01 -7.29391151e-01 -6.50635081e-03 -2.68056373e+02] [ 9.07181100e-03 -4.11803135e-04 9.99958766e-01 -2.78273024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 999.396559995 meters 0.02112692263646528 Centerline is valid? [True, True] Translation: X:-257.09, Y:-268.04, Z:-2.78 [[-7.27775519e-01 -6.85785275e-01 6.43043250e-03 -2.57086615e+02] [ 6.85753624e-01 -7.27803821e-01 -6.60038027e-03 -2.68039155e+02] [ 9.20653694e-03 -3.93902781e-04 9.99957542e-01 -2.78286815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 999.4265599949999 meters 0.01972097429828563 Centerline is valid? [True, True] Translation: X:-257.11, Y:-268.02, Z:-2.78 [[-7.25453416e-01 -6.88240815e-01 6.47469900e-03 -2.57108292e+02] [ 6.88208858e-01 -7.25482218e-01 -6.64218032e-03 -2.68020850e+02] [ 9.26869859e-03 -3.62647194e-04 9.99956979e-01 -2.78261118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 999.4565599949999 meters 0.018365652708249865 Centerline is valid? [True, True] Translation: X:-257.13, Y:-268.01, Z:-2.78 [[-7.20201362e-01 -6.93736770e-01 6.26835421e-03 -2.57130506e+02] [ 6.93707059e-01 -7.20228586e-01 -6.42651619e-03 -2.68005068e+02] [ 8.97295847e-03 -2.79984145e-04 9.99959703e-01 -2.78356535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 999.486559995 meters 0.016509153993387853 Centerline is valid? [True, True] Translation: X:-257.15, Y:-267.99, Z:-2.78 [[-7.17280047e-01 -6.96755956e-01 6.36178824e-03 -2.57152723e+02] [ 6.96725507e-01 -7.17308218e-01 -6.51838525e-03 -2.67988656e+02] [ 9.10508672e-03 -2.43087542e-04 9.99958518e-01 -2.78313473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 999.516559995 meters 0.015063796824535708 Centerline is valid? [True, True] Translation: X:-257.18, Y:-267.97, Z:-2.78 [[-7.14143800e-01 -6.99969104e-01 6.47205447e-03 -2.57175050e+02] [ 6.99937757e-01 -7.14173097e-01 -6.62753808e-03 -2.67971904e+02] [ 9.26123908e-03 -2.02979935e-04 9.99957093e-01 -2.78332677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 999.5465599949999 meters 0.013308700168998353 Centerline is valid? [True, True] Translation: X:-257.20, Y:-267.96, Z:-2.78 [[-7.07500371e-01 -7.06680767e-01 6.74669608e-03 -2.57198307e+02] [ 7.06647040e-01 -7.07532529e-01 -6.90516944e-03 -2.67958081e+02] [ 9.65325738e-03 -1.17877126e-04 9.99953399e-01 -2.78423474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 999.5765599949999 meters 0.012748345305832803 Centerline is valid? [True, True] Translation: X:-257.22, Y:-267.94, Z:-2.78 [[-7.04482800e-01 -7.09690270e-01 6.61095864e-03 -2.57219786e+02] [ 7.09658053e-01 -7.04513815e-01 -6.76259040e-03 -2.67941203e+02] [ 9.45685630e-03 -7.26085849e-05 9.99955280e-01 -2.78491634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 999.6065599949999 meters 0.012123449766785454 Centerline is valid? [True, True] Translation: X:-257.24, Y:-267.93, Z:-2.78 [[-6.98839814e-01 -7.15251309e-01 6.20325980e-03 -2.57244845e+02] [ 7.15223190e-01 -6.98867345e-01 -6.34219814e-03 -2.67925732e+02] [ 8.87152123e-03 4.53469417e-06 9.99960647e-01 -2.78409286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 999.636559995 meters 0.012146046465158294 Centerline is valid? [True, True] Translation: X:-257.27, Y:-267.91, Z:-2.78 [[-6.96455014e-01 -7.17578035e-01 5.67245242e-03 -2.57266502e+02] [ 7.17554629e-01 -6.96478113e-01 -5.79585738e-03 -2.67908201e+02] [ 8.10971891e-03 3.37405644e-05 9.99967115e-01 -2.78392325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 999.666559995 meters 0.013123427729707022 Centerline is valid? [True, True] Translation: X:-257.29, Y:-267.89, Z:-2.78 [[-6.90707331e-01 -7.23118071e-01 4.86191525e-03 -2.57291006e+02] [ 7.23101032e-01 -6.90724437e-01 -4.96491005e-03 -2.67893241e+02] [ 6.94845986e-03 8.63561613e-05 9.99975856e-01 -2.78312002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 999.6965599949999 meters 0.013123427729707022 Centerline is valid? [True, True] Translation: X:-257.31, Y:-267.87, Z:-2.78 [[-6.90909628e-01 -7.22924778e-01 4.86330425e-03 -2.57310356e+02] [ 7.22907743e-01 -6.90926739e-01 -4.96354949e-03 -2.67873585e+02] [ 6.94845986e-03 8.63561628e-05 9.99975856e-01 -2.78312015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 999.7265599949999 meters 0.013617753565070362 Centerline is valid? [True, True] Translation: X:-257.33, Y:-267.86, Z:-2.78 [[-6.89623771e-01 -7.24153015e-01 4.63320151e-03 -2.57330715e+02] [ 7.24137600e-01 -6.89639328e-01 -4.72591388e-03 -2.67855681e+02] [ 6.61752276e-03 9.59728700e-05 9.99978100e-01 -2.78279381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 999.756559995 meters 0.014025390228999185 Centerline is valid? [True, True] Translation: X:-257.35, Y:-267.84, Z:-2.78 [[-6.88553303e-01 -7.25171823e-01 4.49184536e-03 -2.57351017e+02] [ 7.25157372e-01 -6.88567947e-01 -4.57917847e-03 -2.67836856e+02] [ 6.41363193e-03 1.04286312e-04 9.99979427e-01 -2.78242602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 999.786559995 meters 0.014647382543668507 Centerline is valid? [True, True] Translation: X:-257.37, Y:-267.82, Z:-2.78 [[-6.87715602e-01 -7.25967190e-01 4.34621113e-03 -2.57370809e+02] [ 7.25953690e-01 -6.87729327e-01 -4.42872548e-03 -2.67819074e+02] [ 6.20412625e-03 1.09444401e-04 9.99980748e-01 -2.78234845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 999.8165599949999 meters 0.014678859266103347 Centerline is valid? [True, True] Translation: X:-257.39, Y:-267.80, Z:-2.78 [[-6.86909204e-01 -7.26729168e-01 4.52346054e-03 -2.57390767e+02] [ 7.26714577e-01 -6.86924087e-01 -4.60675653e-03 -2.67799163e+02] [ 6.45513834e-03 1.22841257e-04 9.99979158e-01 -2.78243290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 999.8465599949999 meters 0.01515522672369565 Centerline is valid? [True, True] Translation: X:-257.41, Y:-267.78, Z:-2.78 [[-6.85601178e-01 -7.27957197e-01 5.41702721e-03 -2.57412071e+02] [ 7.27936334e-01 -6.85622559e-01 -5.51367448e-03 -2.67780319e+02] [ 7.72775507e-03 1.63069210e-04 9.99970127e-01 -2.78374857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 999.876559995 meters 0.015283268062453602 Centerline is valid? [True, True] Translation: X:-257.43, Y:-267.76, Z:-2.78 [[-6.84996637e-01 -7.28522402e-01 5.89210564e-03 -2.57431888e+02] [ 7.28497769e-01 -6.85021952e-01 -5.99382721e-03 -2.67760891e+02] [ 8.40285911e-03 1.86634326e-04 9.99964678e-01 -2.78439137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 999.906559995 meters 0.015788581175324726 Centerline is valid? [True, True] Translation: X:-257.45, Y:-267.74, Z:-2.79 [[-6.84495639e-01 -7.28987704e-01 6.53046965e-03 -2.57451686e+02] [ 7.28957502e-01 -6.84526756e-01 -6.63923724e-03 -2.67742013e+02] [ 9.31020352e-03 2.15905912e-04 9.99956636e-01 -2.78513259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 999.9365599949999 meters 0.016264789798074435 Centerline is valid? [True, True] Translation: X:-257.47, Y:-267.72, Z:-2.79 [[-6.83492340e-01 -7.29916601e-01 7.74451037e-03 -2.57471363e+02] [ 7.29874221e-01 -6.83536160e-01 -7.87025216e-03 -2.67722565e+02] [ 1.10382806e-02 2.73261412e-04 9.99939039e-01 -2.78639845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 999.9665599949999 meters 0.01723787835716499 Centerline is valid? [True, True] Translation: X:-257.49, Y:-267.71, Z:-2.79 [[-6.83580716e-01 -7.29829865e-01 8.11009157e-03 -2.57490701e+02] [ 7.29783446e-01 -6.83628763e-01 -8.23631558e-03 -2.67705077e+02] [ 1.15554010e-02 2.88424064e-04 9.99933193e-01 -2.78775543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 999.996559995 meters 0.016086008735619682 Centerline is valid? [True, True] Translation: X:-257.51, Y:-267.68, Z:-2.79 [[-6.83676487e-01 -7.29732300e-01 8.78812451e-03 -2.57508866e+02] [ 7.29677851e-01 -6.83732895e-01 -8.91982437e-03 -2.67682928e+02] [ 1.25178138e-02 3.14225613e-04 9.99921600e-01 -2.78728869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1000.026559995 meters 0.01587956094651481 Centerline is valid? [True, True] Translation: X:-257.53, Y:-267.66, Z:-2.79 [[-6.85193388e-01 -7.28303320e-01 9.18123501e-03 -2.57525479e+02] [ 7.28243831e-01 -6.85254829e-01 -9.31355288e-03 -2.67661795e+02] [ 1.30745771e-02 3.04592905e-04 9.99914478e-01 -2.78716443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1000.0565599949999 meters 0.015537879408017471 Centerline is valid? [True, True] Translation: X:-257.54, Y:-267.64, Z:-2.79 [[-6.86745546e-01 -7.26840770e-01 9.11316923e-03 -2.57543760e+02] [ 7.26782097e-01 -6.86805953e-01 -9.23934773e-03 -2.67639937e+02] [ 1.29745135e-02 2.78207345e-04 9.99915789e-01 -2.78682578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1000.0865599949999 meters 0.015253475137862555 Centerline is valid? [True, True] Translation: X:-257.56, Y:-267.62, Z:-2.79 [[-6.88420791e-01 -7.25262415e-01 8.44060823e-03 -2.57561446e+02] [ 7.25212021e-01 -6.88472494e-01 -8.55273732e-03 -2.67618649e+02] [ 1.20141055e-02 2.33348354e-04 9.99927801e-01 -2.78616790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1000.116559995 meters 0.014364693318886184 Centerline is valid? [True, True] Translation: X:-257.58, Y:-267.60, Z:-2.79 [[-6.92743619e-01 -7.21144864e-01 7.50759385e-03 -2.57576248e+02] [ 7.21104787e-01 -6.92784284e-01 -7.60408954e-03 -2.67595805e+02] [ 1.06847931e-02 1.46077359e-04 9.99942905e-01 -2.78545310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1000.146559995 meters 0.013312630270770457 Centerline is valid? [True, True] Translation: X:-257.59, Y:-267.57, Z:-2.78 [[-6.95246629e-01 -7.18738681e-01 6.84348631e-03 -2.57592261e+02] [ 7.18705301e-01 -6.95280302e-01 -6.92761505e-03 -2.67572659e+02] [ 9.73728613e-03 1.02048881e-04 9.99952586e-01 -2.78364053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1000.1765599949999 meters 0.012850369856139464 Centerline is valid? [True, True] Translation: X:-257.61, Y:-267.55, Z:-2.78 [[-6.97703290e-01 -7.16357292e-01 6.50762170e-03 -2.57609184e+02] [ 7.16327038e-01 -6.97733635e-01 -6.58398748e-03 -2.67550445e+02] [ 9.25707399e-03 6.79156495e-05 9.99957150e-01 -2.78298882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1000.2065599949999 meters 0.012463225116831943 Centerline is valid? [True, True] Translation: X:-257.63, Y:-267.53, Z:-2.78 [[-7.00418657e-01 -7.13706240e-01 6.09164047e-03 -2.57625780e+02] [ 7.13679662e-01 -7.00445146e-01 -6.15931057e-03 -2.67528369e+02] [ 8.66279838e-03 3.33838710e-05 9.99962477e-01 -2.78233756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1000.236559995 meters 0.012553280683444145 Centerline is valid? [True, True] Translation: X:-257.64, Y:-267.50, Z:-2.78 [[-7.05510224e-01 -7.08679757e-01 5.32226517e-03 -2.57638921e+02] [ 7.08659351e-01 -7.05530299e-01 -5.37790501e-03 -2.67503755e+02] [ 7.56623175e-03 -2.24939877e-05 9.99971376e-01 -2.78125193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1000.266559995 meters 0.012814065052880028 Centerline is valid? [True, True] Translation: X:-257.66, Y:-267.48, Z:-2.78 [[-7.07967126e-01 -7.06230397e-01 4.60165477e-03 -2.57655428e+02] [ 7.06215110e-01 -7.07982080e-01 -4.64694581e-03 -2.67481529e+02] [ 6.53970350e-03 -4.01267450e-05 9.99978615e-01 -2.78044534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1000.2965599949999 meters 0.013394578830427944 Centerline is valid? [True, True] Translation: X:-257.67, Y:-267.46, Z:-2.78 [[-7.10516151e-01 -7.03667306e-01 4.37276905e-03 -2.57672101e+02] [ 7.03653469e-01 -7.10529604e-01 -4.41330167e-03 -2.67459310e+02] [ 6.21247796e-03 -5.88080046e-05 9.99980701e-01 -2.78018500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1000.3265599949999 meters 0.01384296946646315 Centerline is valid? [True, True] Translation: X:-257.69, Y:-267.44, Z:-2.78 [[-7.12537171e-01 -7.01622775e-01 4.03251878e-03 -2.57689728e+02] [ 7.01610987e-01 -7.12548578e-01 -4.06772394e-03 -2.67437659e+02] [ 5.72737329e-03 -6.91450323e-05 9.99983596e-01 -2.77928483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1000.3565599949999 meters 0.015121352630757163 Centerline is valid? [True, True] Translation: X:-257.71, Y:-267.41, Z:-2.78 [[-7.15656013e-01 -6.98442699e-01 3.77723743e-03 -2.57705102e+02] [ 6.98432319e-01 -7.15665976e-01 -3.80873200e-03 -2.67414722e+02] [ 5.36342137e-03 -8.75972632e-05 9.99985613e-01 -2.77929205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1000.386559995 meters 0.014803125937489605 Centerline is valid? [True, True] Translation: X:-257.72, Y:-267.39, Z:-2.78 [[-7.16632655e-01 -6.97438212e-01 4.19274837e-03 -2.57724950e+02] [ 6.97425420e-01 -7.16644912e-01 -4.22540230e-03 -2.67394547e+02] [ 5.95166881e-03 -1.03931973e-04 9.99982283e-01 -2.77888552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1000.416559995 meters 0.015008270398512774 Centerline is valid? [True, True] Translation: X:-257.74, Y:-267.37, Z:-2.78 [[-7.17323906e-01 -6.96722817e-01 4.87143440e-03 -2.57743818e+02] [ 6.96705550e-01 -7.17340436e-01 -4.90669794e-03 -2.67373549e+02] [ 6.91308528e-03 -1.25736343e-04 9.99976097e-01 -2.77985906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1000.4465599949999 meters 0.014991966280727267 Centerline is valid? [True, True] Translation: X:-257.76, Y:-267.35, Z:-2.78 [[-7.17215530e-01 -6.96833063e-01 5.05641486e-03 -2.57763171e+02] [ 6.96814485e-01 -7.17233342e-01 -5.08989605e-03 -2.67353947e+02] [ 7.17343718e-03 -1.27169380e-04 9.99974263e-01 -2.78029593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1000.4765599949999 meters 0.014307979333555529 Centerline is valid? [True, True] Translation: X:-257.78, Y:-267.34, Z:-2.78 [[-7.16746994e-01 -6.97312142e-01 5.43358889e-03 -2.57783608e+02] [ 6.97290727e-01 -7.16767577e-01 -5.46648998e-03 -2.67335190e+02] [ 7.70647018e-03 -1.29299113e-04 9.99970297e-01 -2.77987752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1000.506559995 meters 0.01400740843178868 Centerline is valid? [True, True] Translation: X:-257.80, Y:-267.32, Z:-2.78 [[-7.14659865e-01 -6.99451502e-01 5.37349770e-03 -2.57803475e+02] [ 6.99430640e-01 -7.14680059e-01 -5.40306818e-03 -2.67316310e+02] [ 7.61951581e-03 -1.02967035e-04 9.99970966e-01 -2.77966666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1000.536559995 meters 0.013628373533044526 Centerline is valid? [True, True] Translation: X:-257.82, Y:-267.30, Z:-2.78 [[-7.13485133e-01 -7.00651409e-01 5.15455435e-03 -2.57823478e+02] [ 7.00632268e-01 -7.13503747e-01 -5.17966983e-03 -2.67298181e+02] [ 7.30693681e-03 -8.41703140e-05 9.99973301e-01 -2.77947966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1000.5665599949999 meters 0.013506216453160682 Centerline is valid? [True, True] Translation: X:-257.84, Y:-267.28, Z:-2.78 [[-7.12332249e-01 -7.01823038e-01 5.21449236e-03 -2.57842668e+02] [ 7.01803506e-01 -7.12351331e-01 -5.23645736e-03 -2.67280562e+02] [ 7.38961698e-03 -7.05484285e-05 9.99972694e-01 -2.77950743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1000.5965599949999 meters 0.012903728794622553 Centerline is valid? [True, True] Translation: X:-257.86, Y:-267.26, Z:-2.78 [[-7.09391872e-01 -7.04796078e-01 5.06573190e-03 -2.57864384e+02] [ 7.04777740e-01 -7.09409958e-01 -5.08423391e-03 -2.67262768e+02] [ 7.17702877e-03 -3.64991289e-05 9.99974244e-01 -2.77876491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1000.626559995 meters 0.012775865193161106 Centerline is valid? [True, True] Translation: X:-257.88, Y:-267.24, Z:-2.78 [[-7.08069370e-01 -7.06124219e-01 5.13364953e-03 -2.57884400e+02] [ 7.06105445e-01 -7.08087980e-01 -5.14918070e-03 -2.67244669e+02] [ 7.27103672e-03 -2.10792477e-05 9.99973566e-01 -2.77882224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1000.656559995 meters 0.012899387073593394 Centerline is valid? [True, True] Translation: X:-257.90, Y:-267.23, Z:-2.78 [[-7.06811597e-01 -7.07382156e-01 5.27745774e-03 -2.57904235e+02] [ 7.07362376e-01 -7.06831299e-01 -5.28996007e-03 -2.67226748e+02] [ 7.47229567e-03 -5.93008074e-06 9.99972082e-01 -2.77958686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1000.6865599949999 meters 0.012858330540301131 Centerline is valid? [True, True] Translation: X:-257.93, Y:-267.21, Z:-2.78 [[-7.03851933e-01 -7.10325923e-01 5.43508383e-03 -2.57925795e+02] [ 7.10305057e-01 -7.03872917e-01 -5.44454190e-03 -2.67209709e+02] [ 7.69300756e-03 2.84161872e-05 9.99970408e-01 -2.77935611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1000.7165599949999 meters 0.01298487077309513 Centerline is valid? [True, True] Translation: X:-257.95, Y:-267.19, Z:-2.78 [[-7.02480181e-01 -7.11681653e-01 5.55166973e-03 -2.57945863e+02] [ 7.11659953e-01 -7.02502116e-01 -5.55767410e-03 -2.67192159e+02] [ 7.85535442e-03 4.67451117e-05 9.99969145e-01 -2.77952736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1000.746559995 meters 0.013280309285861417 Centerline is valid? [True, True] Translation: X:-257.97, Y:-267.17, Z:-2.78 [[-7.01179139e-01 -7.12961801e-01 5.76931422e-03 -2.57966196e+02] [ 7.12938440e-01 -7.01202871e-01 -5.77194816e-03 -2.67173643e+02] [ 8.16063825e-03 6.59962362e-05 9.99966699e-01 -2.77925026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1000.776559995 meters 0.013613379687883348 Centerline is valid? [True, True] Translation: X:-257.99, Y:-267.16, Z:-2.78 [[-6.99949188e-01 -7.14170538e-01 5.61933084e-03 -2.57985950e+02] [ 7.14148436e-01 -6.99971740e-01 -5.61918037e-03 -2.67156641e+02] [ 7.94642585e-03 7.98955943e-05 9.99968424e-01 -2.77964922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1000.8065599949999 meters 0.01416502078742818 Centerline is valid? [True, True] Translation: X:-258.49, Y:-267.66, Z:-1.80 [[-7.64603440e-01 6.44472882e-01 6.02364662e-03 -2.58492812e+02] [ 6.44451710e-01 7.64627159e-01 -5.22517136e-03 -2.67658639e+02] [-7.97332505e-03 -1.13234632e-04 -9.99968206e-01 -1.80405403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1000.8365599949999 meters 0.014829167273270273 Centerline is valid? [True, True] Translation: X:-258.47, Y:-267.64, Z:-1.80 [[-8.09414910e-01 5.87205401e-01 6.10904737e-03 -2.58472927e+02] [ 5.87187525e-01 8.09437954e-01 -4.58363093e-03 -2.67636559e+02] [-7.63642764e-03 -1.22902816e-04 -9.99970835e-01 -1.80370372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1000.866559995 meters 0.015546086258505119 Centerline is valid? [True, True] Translation: X:-258.46, Y:-267.61, Z:-1.80 [[-8.49658211e-01 5.27297027e-01 6.22658528e-03 -2.58458710e+02] [ 5.27281744e-01 8.49681016e-01 -4.01677908e-03 -2.67610458e+02] [-7.40864697e-03 -1.29724588e-04 -9.99972547e-01 -1.80332198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1000.896559995 meters 0.016315271389956795 Centerline is valid? [True, True] Translation: X:-258.44, Y:-267.59, Z:-1.80 [[-8.85711212e-01 4.64189574e-01 6.60965811e-03 -2.58438879e+02] [ 4.64175412e-01 8.85735862e-01 -3.62886919e-03 -2.67587959e+02] [-7.53889447e-03 -1.46089346e-04 -9.99971572e-01 -1.80265729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1000.9265599949999 meters 0.01657715163662261 Centerline is valid? [True, True] Translation: X:-258.10, Y:-266.98, Z:-2.78 [[-8.31417109e-01 -5.55606069e-01 6.89114719e-03 -2.58098285e+02] [ 5.55588923e-01 -8.31445643e-01 -4.36937430e-03 -2.66980465e+02] [ 8.15726519e-03 1.95872497e-04 9.99966710e-01 -2.78085933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1000.9565599949999 meters 0.01665821115093603 Centerline is valid? [True, True] Translation: X:-258.48, Y:-267.57, Z:-1.80 [[-8.87581730e-01 4.60584664e-01 7.77429827e-03 -2.58476188e+02] [ 4.60565251e-01 8.87615760e-01 -4.23241902e-03 -2.67568636e+02] [-8.84997696e-03 -1.76046165e-04 -9.99960823e-01 -1.80149041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1000.986559995 meters 0.01615836038375992 Centerline is valid? [True, True] Translation: X:-258.48, Y:-267.54, Z:-1.80 [[-9.17877227e-01 3.96766291e-01 8.82641253e-03 -2.58475708e+02] [ 3.96745942e-01 9.17919645e-01 -4.02291122e-03 -2.67540697e+02] [-9.69809302e-03 -1.90695238e-04 -9.99952954e-01 -1.80135564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1001.016559995 meters 0.016021907670481516 Centerline is valid? [True, True] Translation: X:-258.46, Y:-267.52, Z:-1.80 [[-9.43625223e-01 3.30879404e-01 9.50046348e-03 -2.58455655e+02] [ 3.30860521e-01 9.43673027e-01 -3.54038325e-03 -2.67520132e+02] [-1.01367710e-02 -1.97466641e-04 -9.99948602e-01 -1.80108085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1001.0465599949999 meters 0.015181755463930717 Centerline is valid? [True, True] Translation: X:-258.44, Y:-267.50, Z:-1.80 [[-9.64644662e-01 2.63369968e-01 9.84566655e-03 -2.58441355e+02] [ 2.63354152e-01 9.64694885e-01 -2.89306561e-03 -2.67498026e+02] [-1.02600108e-02 -1.97883127e-04 -9.99947345e-01 -1.80181719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1001.0765599949999 meters 0.017127782629314713 Centerline is valid? [True, True] Translation: X:-258.44, Y:-267.47, Z:-1.80 [[-9.80888513e-01 1.94310973e-01 1.00484216e-02 -2.58435563e+02] [ 1.94298704e-01 9.80939961e-01 -2.19254811e-03 -2.67467032e+02] [-1.02829345e-02 -1.98249957e-04 -9.99947110e-01 -1.79953539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1001.1065599949999 meters 0.017127782629314713 Centerline is valid? [True, True] Translation: X:-258.43, Y:-267.44, Z:-1.80 [[-9.92207330e-01 1.24181352e-01 1.01787053e-02 -2.58431332e+02] [ 1.24172767e-01 9.92259519e-01 -1.47365065e-03 -2.67439751e+02] [-1.02829172e-02 -1.98248985e-04 -9.99947110e-01 -1.79953558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1001.136559995 meters 0.015278089152471364 Centerline is valid? [True, True] Translation: X:-258.43, Y:-267.42, Z:-1.80 [[-9.98516472e-01 5.33620403e-02 1.08326958e-02 -2.58433837e+02] [ 5.33566182e-02 9.98575209e-01 -7.89125950e-04 -2.67416021e+02] [-1.08593708e-02 -2.09959248e-04 -9.99941013e-01 -1.80125510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1001.166559995 meters 0.017349066673044526 Centerline is valid? [True, True] Translation: X:-258.43, Y:-267.39, Z:-1.80 [[-9.99780250e-01 -1.71756225e-02 1.20187466e-02 -2.58430946e+02] [-1.71770871e-02 9.99852463e-01 -1.86369477e-05 -2.67385419e+02] [-1.20166533e-02 -2.25079909e-04 -9.99927772e-01 -1.79736271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1001.1965599949999 meters 0.015069903288445652 Centerline is valid? [True, True] Translation: X:-258.43, Y:-267.36, Z:-1.80 [[-9.96057298e-01 -8.77671121e-02 1.29148554e-02 -2.58432896e+02] [-8.77628054e-02 9.96140993e-01 9.00932960e-04 -2.67363201e+02] [-1.29440892e-02 -2.36063094e-04 -9.99916194e-01 -1.79952364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1001.2265599949999 meters 0.015154692428956501 Centerline is valid? [True, True] Translation: X:-258.48, Y:-266.65, Z:-2.78 [[-9.99798081e-01 -1.50777441e-02 1.32837900e-02 -2.58478575e+02] [ 1.50799262e-02 -9.99886289e-01 6.41112312e-05 -2.66651819e+02] [ 1.32813129e-02 2.64416859e-04 9.99911765e-01 -2.78457567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1001.256559995 meters 0.014786488487617972 Centerline is valid? [True, True] Translation: X:-258.53, Y:-267.37, Z:-1.80 [[-9.95766185e-01 -9.09487115e-02 1.33430648e-02 -2.58533195e+02] [-9.09432954e-02 9.95855557e-01 1.01336646e-03 -2.67373033e+02] [-1.33799296e-02 -2.04386233e-04 -9.99910464e-01 -1.79845732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1001.286559995 meters 0.014547187958088246 Centerline is valid? [True, True] Translation: X:-258.54, Y:-267.35, Z:-1.80 [[-9.86927100e-01 -1.60681706e-01 1.25015588e-02 -2.58542473e+02] [-1.60671118e-01 9.87006260e-01 1.85327777e-03 -2.67347847e+02] [-1.26369046e-02 -1.79589373e-04 -9.99920135e-01 -1.79913318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1001.3165599949999 meters 0.014222287812192412 Centerline is valid? [True, True] Translation: X:-258.56, Y:-267.32, Z:-1.80 [[-9.73198923e-01 -2.29672220e-01 1.15986440e-02 -2.58560522e+02] [-2.29657756e-01 9.73268025e-01 2.58189350e-03 -2.67324813e+02] [-1.18815785e-02 -1.51022584e-04 -9.99929400e-01 -1.79978194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1001.3465599949999 meters 0.013851961452551987 Centerline is valid? [True, True] Translation: X:-258.59, Y:-267.31, Z:-1.80 [[-9.54877022e-01 -2.96853368e-01 9.37820173e-03 -2.58594430e+02] [-2.96840050e-01 9.54923070e-01 2.81352358e-03 -2.67308202e+02] [-9.79066513e-03 -9.72568575e-05 -9.99952066e-01 -1.80078152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1001.376559995 meters 0.013546098365897548 Centerline is valid? [True, True] Translation: X:-258.65, Y:-267.30, Z:-1.80 [[-9.31018802e-01 -3.64863467e-01 8.86802501e-03 -2.58653160e+02] [-3.64847728e-01 9.31061032e-01 3.38978228e-03 -2.67300729e+02] [-9.49348022e-03 -7.95277462e-05 -9.99954933e-01 -1.80163122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1001.406559995 meters 0.013352997658963115 Centerline is valid? [True, True] Translation: X:-258.72, Y:-267.30, Z:-1.80 [[-9.02124379e-01 -4.31399776e-01 8.11410711e-03 -2.58716172e+02] [-4.31382943e-01 9.02160867e-01 3.81145132e-03 -2.67299248e+02] [-8.96448915e-03 -6.18842490e-05 -9.99959816e-01 -1.80213848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1001.4365599949999 meters 0.013164592995714593 Centerline is valid? [True, True] Translation: X:-258.79, Y:-267.31, Z:-1.80 [[-8.67901298e-01 -4.96693611e-01 6.54168315e-03 -2.58794387e+02] [-4.96679912e-01 8.67925950e-01 3.68918052e-03 -2.67307380e+02] [-7.51008896e-03 -4.72780487e-05 -9.99971798e-01 -1.80317426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1001.4665599949999 meters 0.013171389840438854 Centerline is valid? [True, True] Translation: X:-258.87, Y:-267.32, Z:-1.80 [[-8.28377376e-01 -5.60130904e-01 6.65533175e-03 -2.58870568e+02] [-5.60113297e-01 8.28404109e-01 4.44138742e-03 -2.67321837e+02] [-8.00106253e-03 -4.85949538e-05 -9.99967990e-01 -1.80262909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1001.496559995 meters 0.013335465159920363 Centerline is valid? [True, True] Translation: X:-258.96, Y:-267.35, Z:-1.80 [[-7.84622448e-01 -6.19921135e-01 8.08706642e-03 -2.58957211e+02] [-6.19888848e-01 7.84664122e-01 6.32711458e-03 -2.67350750e+02] [-1.02679429e-02 -4.86861558e-05 -9.99947282e-01 -1.79942986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1001.526559995 meters 0.013178233454893771 Centerline is valid? [True, True] Translation: X:-259.05, Y:-267.39, Z:-1.80 [[-7.36192049e-01 -6.76724001e-01 8.11754124e-03 -2.59045394e+02] [-6.76683475e-01 7.36236800e-01 7.40604022e-03 -2.67390399e+02] [-1.09882778e-02 -4.07380917e-05 -9.99939626e-01 -1.80003468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1001.5565599949999 meters 0.013145472431596115 Centerline is valid? [True, True] Translation: X:-259.13, Y:-267.44, Z:-1.80 [[-6.83448461e-01 -7.29956073e-01 7.89512396e-03 -2.59132542e+02] [-7.29907875e-01 6.83494061e-01 8.38826587e-03 -2.67438367e+02] [-1.15193359e-02 -2.97657530e-05 -9.99933650e-01 -1.79978268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1001.5865599949999 meters 0.013116829480541934 Centerline is valid? [True, True] Translation: X:-259.22, Y:-267.50, Z:-1.80 [[-6.26925380e-01 -7.79046691e-01 7.12890018e-03 -2.59224350e+02] [-7.78996596e-01 6.26965911e-01 8.83461498e-03 -2.67502612e+02] [-1.13521550e-02 -1.47446176e-05 -9.99935562e-01 -1.79953731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1001.616559995 meters 0.013135677183597021 Centerline is valid? [True, True] Translation: X:-259.31, Y:-267.57, Z:-1.80 [[-5.67661989e-01 -8.23240462e-01 5.91678506e-03 -2.59305999e+02] [-8.23195505e-01 5.67692823e-01 8.60343637e-03 -2.67565624e+02] [-1.04416134e-02 1.31729296e-05 -9.99945485e-01 -1.80010254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1001.646559995 meters 0.013147798426018008 Centerline is valid? [True, True] Translation: X:-259.39, Y:-267.64, Z:-1.80 [[-5.03841688e-01 -8.63780779e-01 5.13015176e-03 -2.59385645e+02] [-8.63735535e-01 5.03867805e-01 8.84091689e-03 -2.67638584e+02] [-1.02215324e-02 2.33281209e-05 -9.99947759e-01 -1.80053104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1001.6765599949999 meters 0.013195685630721597 Centerline is valid? [True, True] Translation: X:-259.46, Y:-267.72, Z:-1.80 [[-4.37113278e-01 -8.99396448e-01 4.24409707e-03 -2.59461927e+02] [-8.99353317e-01 4.37133880e-01 8.80809628e-03 -2.67722741e+02] [-9.77720913e-03 3.31930629e-05 -9.99952202e-01 -1.80038812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1001.7065599949999 meters 0.013264725803259578 Centerline is valid? [True, True] Translation: X:-259.53, Y:-267.82, Z:-1.80 [[-3.67538283e-01 -9.30002227e-01 3.38636263e-03 -2.59534226e+02] [-9.29961752e-01 3.67553881e-01 8.67670237e-03 -2.67818495e+02] [-9.31402326e-03 3.98325693e-05 -9.99956623e-01 -1.80109732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1001.736559995 meters 0.01328674090775123 Centerline is valid? [True, True] Translation: X:-259.60, Y:-267.92, Z:-1.80 [[-2.95685871e-01 -9.55281670e-01 2.60703314e-03 -2.59597219e+02] [-9.55243162e-01 2.95697360e-01 8.57748323e-03 -2.67915609e+02] [-8.96480532e-03 4.58900202e-05 -9.99959814e-01 -1.80115853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1001.766559995 meters 0.013242782780791057 Centerline is valid? [True, True] Translation: X:-259.66, Y:-268.02, Z:-1.80 [[-2.21318054e-01 -9.75199550e-01 2.03886542e-03 -2.59655399e+02] [-9.75156113e-01 2.21327440e-01 9.20433015e-03 -2.68023347e+02] [-9.42731548e-03 4.88723606e-05 -9.99955561e-01 -1.80213143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1001.7965599949999 meters 0.013193612365714324 Centerline is valid? [True, True] Translation: X:-259.71, Y:-268.13, Z:-1.80 [[-1.44663095e-01 -9.89480080e-01 1.32692197e-03 -2.59705815e+02] [-9.89435809e-01 1.44669175e-01 9.36001459e-03 -2.68133664e+02] [-9.45351269e-03 4.11445672e-05 -9.99955314e-01 -1.80208619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1001.8265599949999 meters 0.013036045476125795 Centerline is valid? [True, True] Translation: X:-259.75, Y:-268.25, Z:-1.80 [[-6.68905336e-02 -9.97760145e-01 5.92054985e-04 -2.59747482e+02] [-9.97716851e-01 6.68931466e-02 9.29470900e-03 -2.68248326e+02] [-9.31349461e-03 3.10248093e-05 -9.99956628e-01 -1.80228509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1001.8565599949999 meters 0.013070646531328743 Centerline is valid? [True, True] Translation: X:-259.78, Y:-268.37, Z:-1.80 [[ 1.14739704e-02 -9.99934164e-01 -1.22132332e-04 -2.59780340e+02] [-9.99893750e-01 -1.14746047e-02 8.99017412e-03 -2.68365646e+02] [-8.99098367e-03 1.89663639e-05 -9.99959580e-01 -1.80229971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1001.886559995 meters 0.013004669711483962 Centerline is valid? [True, True] Translation: X:-259.81, Y:-268.49, Z:-1.80 [[ 9.14070155e-02 -9.95813355e-01 -7.20599645e-04 -2.59806200e+02] [-9.95781849e-01 -9.14098556e-02 7.92130369e-03 -2.68486185e+02] [-7.95400992e-03 -6.50268162e-06 -9.99968367e-01 -1.80292431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1001.916559995 meters 0.01311991236593342 Centerline is valid? [True, True] Translation: X:-259.82, Y:-268.61, Z:-1.80 [[ 1.69474359e-01 -9.85533813e-01 -1.24329864e-03 -2.59820563e+02] [-9.85506514e-01 -1.69478919e-01 7.33535051e-03 -2.68607960e+02] [-7.43994886e-03 -1.78749140e-05 -9.99972323e-01 -1.80309683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1001.9465599949999 meters 0.013226520302946234 Centerline is valid? [True, True] Translation: X:-259.83, Y:-268.73, Z:-1.80 [[ 2.47913372e-01 -9.68780635e-01 -1.74377964e-03 -2.59826960e+02] [-9.68755521e-01 -2.47919501e-01 6.97573609e-03 -2.68731849e+02] [-7.19027502e-03 -4.00820993e-05 -9.99974149e-01 -1.80306944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1001.9765599949999 meters 0.013331015697362718 Centerline is valid? [True, True] Translation: X:-259.82, Y:-268.85, Z:-1.80 [[ 3.23216664e-01 -9.46322196e-01 -2.29982528e-03 -2.59822389e+02] [-9.46297087e-01 -3.23224842e-01 6.89378212e-03 -2.68852821e+02] [-7.26709970e-03 -5.18672964e-05 -9.99973593e-01 -1.80284460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1002.006559995 meters 0.013603871891332919 Centerline is valid? [True, True] Translation: X:-259.81, Y:-268.97, Z:-1.80 [[ 3.96300308e-01 -9.18116260e-01 -2.93249400e-03 -2.59808786e+02] [-9.18089916e-01 -3.96311152e-01 6.95535103e-03 -2.68974247e+02] [-7.54800095e-03 -6.41145788e-05 -9.99971512e-01 -1.80205160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1002.036559995 meters 0.01386453472216139 Centerline is valid? [True, True] Translation: X:-259.79, Y:-269.09, Z:-1.80 [[ 4.66768322e-01 -8.84372830e-01 -3.46853850e-03 -2.59787433e+02] [-8.84347229e-01 -4.66781204e-01 6.72952699e-03 -2.69088855e+02] [-7.57045940e-03 -7.37376136e-05 -9.99971341e-01 -1.80199082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1002.0665599949999 meters 0.014044977994092472 Centerline is valid? [True, True] Translation: X:-259.76, Y:-269.21, Z:-1.80 [[ 5.35086039e-01 -8.44787939e-01 -4.03339868e-03 -2.59757219e+02] [-8.44762640e-01 -5.35101233e-01 6.53854466e-03 -2.69205028e+02] [-7.68196028e-03 -9.14194521e-05 -9.99970489e-01 -1.80143235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1002.0965599949999 meters 0.013991175609272063 Centerline is valid? [True, True] Translation: X:-259.72, Y:-269.31, Z:-1.80 [[ 5.98539659e-01 -8.01080726e-01 -4.46615454e-03 -2.59719274e+02] [-8.01057252e-01 -5.98556315e-01 6.13325094e-03 -2.69312973e+02] [-7.58647412e-03 -9.33484398e-05 -9.99971218e-01 -1.80152212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1002.126559995 meters 0.014215626256018021 Centerline is valid? [True, True] Translation: X:-259.68, Y:-269.42, Z:-1.80 [[ 6.58325263e-01 -7.52717477e-01 -4.92424010e-03 -2.59675247e+02] [-7.52695312e-01 -6.58343672e-01 5.77719601e-03 -2.69415785e+02] [-7.59043871e-03 -9.68216446e-05 -9.99971188e-01 -1.80122626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1002.156559995 meters 0.014039822034538185 Centerline is valid? [True, True] Translation: X:-259.63, Y:-269.51, Z:-1.80 [[ 7.13900727e-01 -7.00226619e-01 -5.33236491e-03 -2.59627714e+02] [-7.00206064e-01 -7.13920635e-01 5.36609648e-03 -2.69508518e+02] [-7.56436893e-03 -9.71059317e-05 -9.99971385e-01 -1.80178453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1002.1865599949999 meters 0.014315572174531938 Centerline is valid? [True, True] Translation: X:-259.57, Y:-269.60, Z:-1.80 [[ 7.65186976e-01 -6.43782737e-01 -5.71657835e-03 -2.59573332e+02] [-6.43763813e-01 -7.65208323e-01 4.93709480e-03 -2.69598884e+02] [-7.55278974e-03 -9.76743659e-05 -9.99971473e-01 -1.80148224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1002.2165599949999 meters 0.01420324520445101 Centerline is valid? [True, True] Translation: X:-259.58, Y:-269.61, Z:-1.80 [[ 8.13436624e-01 -5.81617400e-01 -6.48535472e-03 -2.59575635e+02] [-5.81597851e-01 -8.13462469e-01 4.76981097e-03 -2.69607291e+02] [-8.04979772e-03 -1.08070558e-04 -9.99967594e-01 -1.80175016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1002.246559995 meters 0.014585398013052505 Centerline is valid? [True, True] Translation: X:-259.58, Y:-269.62, Z:-1.80 [[ 8.56602893e-01 -5.15926821e-01 -7.14139848e-03 -2.59578435e+02] [-5.15907760e-01 -8.56632653e-01 4.43632815e-03 -2.69616225e+02] [-8.40637581e-03 -1.15868631e-04 -9.99964659e-01 -1.80088438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1002.276559995 meters 0.014796794228692307 Centerline is valid? [True, True] Translation: X:-259.58, Y:-269.63, Z:-1.80 [[ 8.95144542e-01 -4.45684916e-01 -9.01141419e-03 -2.59579334e+02] [-4.45660541e-01 -8.95189885e-01 4.66389997e-03 -2.69625522e+02] [-1.01455567e-02 -1.58832876e-04 -9.99948520e-01 -1.79969368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1002.3065599949999 meters 0.015272946811385593 Centerline is valid? [True, True] Translation: X:-259.58, Y:-269.63, Z:-1.80 [[ 9.27688165e-01 -3.73225627e-01 -9.86404761e-03 -2.59580708e+02] [-3.73202457e-01 -9.27740588e-01 4.16263105e-03 -2.69633799e+02] [-1.07048779e-02 -1.80336752e-04 -9.99942685e-01 -1.79853694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1002.3365599949999 meters 0.015852655451918846 Centerline is valid? [True, True] Translation: X:-259.58, Y:-269.64, Z:-1.80 [[ 9.54753620e-01 -2.97193277e-01 -1.10309592e-02 -2.59579730e+02] [-2.97170721e-01 -9.54817315e-01 3.66835992e-03 -2.69642669e+02] [-1.16227628e-02 -2.24301811e-04 -9.99932428e-01 -1.79752075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1002.366559995 meters 0.016312770080168917 Centerline is valid? [True, True] Translation: X:-259.58, Y:-269.65, Z:-1.80 [[ 9.75306033e-01 -2.20555502e-01 -1.15504234e-02 -2.59577049e+02] [-2.20537080e-01 -9.75374396e-01 2.86091448e-03 -2.69649008e+02] [-1.18969777e-02 -2.42970507e-04 -9.99929199e-01 -1.79737823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1002.396559995 meters 0.016810192789537187 Centerline is valid? [True, True] Translation: X:-259.57, Y:-269.65, Z:-1.80 [[ 9.89714282e-01 -1.42604712e-01 -1.13813837e-02 -2.59573701e+02] [-1.42592405e-01 -9.89779690e-01 1.88975812e-03 -2.69653913e+02] [-1.15345508e-02 -2.47421728e-04 -9.99933444e-01 -1.79760158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1002.4265599949999 meters 0.016466152392358574 Centerline is valid? [True, True] Translation: X:-259.57, Y:-269.66, Z:-1.80 [[ 9.97844664e-01 -6.45455872e-02 -1.18276941e-02 -2.59574402e+02] [-6.45380068e-02 -9.97914727e-01 1.02186987e-03 -2.69657833e+02] [-1.18689873e-02 -2.56331593e-04 -9.99929528e-01 -1.79847812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1002.4565599949999 meters 0.017047912952205844 Centerline is valid? [True, True] Translation: X:-259.57, Y:-269.66, Z:-1.80 [[ 9.99839941e-01 1.35903680e-02 -1.16359147e-02 -2.59574873e+02] [ 1.35923491e-02 -9.99907616e-01 9.11849291e-05 -2.69663098e+02] [-1.16336005e-02 -2.49329748e-04 -9.99932296e-01 -1.79798200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1002.486559995 meters 0.015808375167368507 Centerline is valid? [True, True] Translation: X:-259.57, Y:-269.67, Z:-1.80 [[ 9.95726284e-01 9.16947821e-02 -1.10106348e-02 -2.59574189e+02] [ 9.16917857e-02 -9.95787132e-01 -7.77697370e-04 -2.69668103e+02] [-1.10355592e-02 -2.35211051e-04 -9.99939079e-01 -1.79957815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1002.516559995 meters 0.017151988194373205 Centerline is valid? [True, True] Translation: X:-259.57, Y:-269.68, Z:-1.80 [[ 9.85487520e-01 1.69397295e-01 -1.09043141e-02 -2.59573932e+02] [ 1.69389565e-01 -9.85547818e-01 -1.63526650e-03 -2.69677773e+02] [-1.10237327e-02 -2.35542294e-04 -9.99939209e-01 -1.79844766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1002.5465599949999 meters 0.015434744164363134 Centerline is valid? [True, True] Translation: X:-259.57, Y:-269.68, Z:-1.80 [[ 9.69390244e-01 2.45331710e-01 -9.74204698e-03 -2.59572604e+02] [ 2.45321452e-01 -9.69439173e-01 -2.25290260e-03 -2.69683088e+02] [-9.99703041e-03 -2.05991304e-04 -9.99950007e-01 -1.80026707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1002.5765599949999 meters 0.015728227210291806 Centerline is valid? [True, True] Translation: X:-259.57, Y:-269.69, Z:-1.80 [[ 9.47271637e-01 3.20289270e-01 -9.55140142e-03 -2.59571099e+02] [ 3.20275156e-01 -9.47319768e-01 -3.01376601e-03 -2.69691956e+02] [-1.00135083e-02 -2.04221509e-04 -9.99949843e-01 -1.79999453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1002.6065599949999 meters 0.015302764349978156 Centerline is valid? [True, True] Translation: X:-259.57, Y:-269.70, Z:-1.80 [[ 9.19484679e-01 3.93024469e-01 -8.92708935e-03 -2.59568174e+02] [ 3.93007961e-01 -9.19527993e-01 -3.60728946e-03 -2.69699082e+02] [-9.62646158e-03 -1.91569790e-04 -9.99953646e-01 -1.80051323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1002.636559995 meters 0.015311322429243 Centerline is valid? [True, True] Translation: X:-259.57, Y:-269.71, Z:-1.80 [[ 8.86077176e-01 4.63453240e-01 -8.85050997e-03 -2.59565943e+02] [ 4.63432288e-01 -8.86121356e-01 -4.41112823e-03 -2.69706820e+02] [-9.88697756e-03 -1.93012035e-04 -9.99951104e-01 -1.80011464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1002.666559995 meters 0.015180335348597586 Centerline is valid? [True, True] Translation: X:-259.56, Y:-269.71, Z:-1.80 [[ 8.47404786e-01 5.30880464e-01 -8.42984075e-03 -2.59562739e+02] [ 5.30856368e-01 -8.47446693e-01 -5.06143321e-03 -2.69711951e+02] [-9.83085668e-03 -1.85951922e-04 -9.99951659e-01 -1.80056592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1002.6965599949999 meters 0.015266886955874406 Centerline is valid? [True, True] Translation: X:-259.56, Y:-269.72, Z:-1.80 [[ 8.03334887e-01 5.95478742e-01 -7.62408440e-03 -2.59558476e+02] [ 5.95453991e-01 -8.03371045e-01 -5.43214491e-03 -2.69718187e+02] [-9.35969548e-03 -1.75959967e-04 -9.99956182e-01 -1.80083416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1002.7265599949999 meters 0.015489429100010162 Centerline is valid? [True, True] Translation: X:-259.55, Y:-269.72, Z:-1.80 [[ 7.53642982e-01 6.57247141e-01 -6.96076611e-03 -2.59553447e+02] [ 6.57221283e-01 -7.53675105e-01 -5.83270535e-03 -2.69724724e+02] [-9.07968504e-03 -1.78986187e-04 -9.99958763e-01 -1.80105893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1002.756559995 meters 0.015334593776566784 Centerline is valid? [True, True] Translation: X:-259.55, Y:-269.73, Z:-1.80 [[ 6.99169769e-01 7.14924957e-01 -6.62878961e-03 -2.59547002e+02] [ 7.14895401e-01 -6.99201165e-01 -6.50351984e-03 -2.69731546e+02] [-9.28438606e-03 -1.91826743e-04 -9.99956881e-01 -1.80138158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1002.786559995 meters 0.016365571779640063 Centerline is valid? [True, True] Translation: X:-259.54, Y:-269.74, Z:-1.80 [[ 6.40147870e-01 7.68225639e-01 -6.33025390e-03 -2.59539747e+02] [ 7.68191292e-01 -6.40179134e-01 -7.26745998e-03 -2.69739844e+02] [-9.63554555e-03 -2.10596895e-04 -9.99953555e-01 -1.80057189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1002.8165599949999 meters 0.016453338652857526 Centerline is valid? [True, True] Translation: X:-259.53, Y:-269.75, Z:-1.80 [[ 5.76468937e-01 8.17093860e-01 -6.41786767e-03 -2.59533621e+02] [ 8.17048082e-01 -5.76504605e-01 -8.65287293e-03 -2.69745115e+02] [-1.07701396e-02 -2.55594014e-04 -9.99941968e-01 -1.79957943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1002.8465599949999 meters 0.016696044777887824 Centerline is valid? [True, True] Translation: X:-259.53, Y:-269.75, Z:-1.80 [[ 5.09972710e-01 8.60167880e-01 -6.24935336e-03 -2.59527872e+02] [ 8.60110114e-01 -5.10010917e-01 -9.97276234e-03 -2.69750158e+02] [-1.17654883e-02 -2.89295395e-04 -9.99930743e-01 -1.79928155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1002.876559995 meters 0.017053737191097828 Centerline is valid? [True, True] Translation: X:-259.52, Y:-269.76, Z:-1.80 [[ 4.40597386e-01 8.97688036e-01 -5.48945075e-03 -2.59522736e+02] [ 8.97626573e-01 -4.40631481e-01 -1.05087710e-02 -2.69755295e+02] [-1.18524228e-02 -2.97339839e-04 -9.99929714e-01 -1.79858175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1002.906559995 meters 0.017434557077289775 Centerline is valid? [True, True] Translation: X:-259.52, Y:-269.76, Z:-1.80 [[ 3.68355335e-01 9.29672518e-01 -4.83280183e-03 -2.59517912e+02] [ 9.29603463e-01 -3.68386901e-01 -1.13355183e-02 -2.69758059e+02] [-1.23186607e-02 -3.17090669e-04 -9.99924072e-01 -1.79805057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1002.9365599949999 meters 0.017546762384270175 Centerline is valid? [True, True] Translation: X:-259.51, Y:-269.76, Z:-1.80 [[ 2.94503865e-01 9.55642498e-01 -3.85878577e-03 -2.59513138e+02] [ 9.55573751e-01 -2.94528980e-01 -1.14667168e-02 -2.69760522e+02] [-1.20946062e-02 -3.10361966e-04 -9.99926810e-01 -1.79778868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1002.9665599949999 meters 0.017121429592244275 Centerline is valid? [True, True] Translation: X:-259.51, Y:-269.76, Z:-1.80 [[ 2.18554031e-01 9.75820586e-01 -2.88421537e-03 -2.59507947e+02] [ 9.75753122e-01 -2.18572848e-01 -1.14784864e-02 -2.69763296e+02] [-1.18313545e-02 -3.05612675e-04 -9.99929961e-01 -1.79876176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1002.996559995 meters 0.016359244367970333 Centerline is valid? [True, True] Translation: X:-259.50, Y:-269.77, Z:-1.80 [[ 1.41739205e-01 9.89902349e-01 -1.82711965e-03 -2.59500238e+02] [ 9.89843597e-01 -1.41750705e-01 -1.07884560e-02 -2.69766068e+02] [-1.09385134e-02 -2.79415520e-04 -9.99940134e-01 -1.80043796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1003.026559995 meters 0.016359244367970333 Centerline is valid? [True, True] Translation: X:-259.49, Y:-269.77, Z:-1.80 [[ 6.37716419e-02 9.97964040e-01 -9.76468084e-04 -2.59490651e+02] [ 9.97904568e-01 -6.37785052e-02 -1.08984009e-02 -2.69769108e+02] [-1.09384899e-02 -2.79413040e-04 -9.99940134e-01 -1.80043817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1003.0565599949999 meters 0.016441013884485066 Centerline is valid? [True, True] Translation: X:-259.48, Y:-269.77, Z:-1.80 [[-1.42336108e-02 9.99898691e-01 -1.08491126e-04 -2.59481620e+02] [ 9.99849638e-01 1.42318376e-02 -9.90740431e-03 -2.69772227e+02] [-9.90485657e-03 -2.49492950e-04 -9.99950915e-01 -1.80078795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1003.0865599949999 meters 0.0165613672015577 Centerline is valid? [True, True] Translation: X:-259.47, Y:-269.77, Z:-1.80 [[-9.23554552e-02 9.95725896e-01 6.41106504e-04 -2.59473426e+02] [ 9.95680668e-01 9.23573726e-02 -9.49332243e-03 -2.69773093e+02] [-9.51195789e-03 -2.38422762e-04 -9.99954732e-01 -1.80142584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1003.116559995 meters 0.016499604244013474 Centerline is valid? [True, True] Translation: X:-259.46, Y:-269.77, Z:-1.80 [[-1.70239567e-01 9.85401890e-01 1.26659346e-03 -2.59464592e+02] [ 9.85364186e-01 1.70244137e-01 -8.62298450e-03 -2.69773801e+02] [-8.71273533e-03 -2.19917318e-04 -9.99962019e-01 -1.80248087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1003.146559995 meters 0.016709953106985788 Centerline is valid? [True, True] Translation: X:-259.46, Y:-269.77, Z:-1.80 [[-2.47358433e-01 9.68922147e-01 1.91815787e-03 -2.59455309e+02] [ 9.68885676e-01 2.47365771e-01 -8.40965897e-03 -2.69774232e+02] [-8.62279142e-03 -2.21724382e-04 -9.99962799e-01 -1.80277566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1003.1765599949999 meters 0.016645637858745264 Centerline is valid? [True, True] Translation: X:-259.45, Y:-269.77, Z:-1.80 [[-3.22735604e-01 9.46486249e-01 2.34758639e-03 -2.59445809e+02] [ 9.46456402e-01 3.22744077e-01 -7.51927951e-03 -2.69772919e+02] [-7.87456426e-03 -2.04851049e-04 -9.99968974e-01 -1.80279742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1003.2065599949999 meters 0.017253975255652424 Centerline is valid? [True, True] Translation: X:-259.44, Y:-269.77, Z:-1.80 [[-3.96370762e-01 9.18085791e-01 2.94943281e-03 -2.59435507e+02] [ 9.18056301e-01 3.96381680e-01 -7.36148621e-03 -2.69771439e+02] [-7.92757702e-03 -2.10132520e-04 -9.99968554e-01 -1.80247015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1003.236559995 meters 0.017334530175769677 Centerline is valid? [True, True] Translation: X:-259.43, Y:-269.77, Z:-1.80 [[-4.67549520e-01 8.83959909e-01 3.51069967e-03 -2.59426470e+02] [ 8.83931456e-01 4.67562651e-01 -7.09564293e-03 -2.69769458e+02] [-7.91373593e-03 -2.14346571e-04 -9.99968663e-01 -1.80205463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1003.266559995 meters 0.01767013405880663 Centerline is valid? [True, True] Translation: X:-259.42, Y:-269.77, Z:-1.80 [[-5.35379025e-01 8.44602109e-01 4.07167090e-03 -2.59418383e+02] [ 8.44574555e-01 5.35394464e-01 -6.82559124e-03 -2.69767464e+02] [-7.94485881e-03 -2.15448741e-04 -9.99968416e-01 -1.80146039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1003.2965599949999 meters 0.017108053412922538 Centerline is valid? [True, True] Translation: X:-259.41, Y:-269.76, Z:-1.80 [[-5.99176095e-01 8.00601802e-01 4.97624670e-03 -2.59411629e+02] [ 8.00571004e-01 5.99196716e-01 -7.02593005e-03 -2.69764531e+02] [-8.60672294e-03 -2.25930512e-04 -9.99962936e-01 -1.80109760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1003.3265599949999 meters 0.016998249795798136 Centerline is valid? [True, True] Translation: X:-259.41, Y:-269.76, Z:-1.80 [[-6.59291014e-01 7.51867239e-01 5.56900916e-03 -2.59405818e+02] [ 7.51837560e-01 6.59314498e-01 -6.68403698e-03 -2.69761712e+02] [-8.69723691e-03 -2.19735262e-04 -9.99962154e-01 -1.80081727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1003.3565599949999 meters 0.016243846947885516 Centerline is valid? [True, True] Translation: X:-259.40, Y:-269.76, Z:-1.80 [[-7.15335054e-01 6.98756169e-01 5.96457697e-03 -2.59400079e+02] [ 6.98729451e-01 7.15359891e-01 -6.11402095e-03 -2.69758196e+02] [-8.53902899e-03 -2.05947922e-04 -9.99963521e-01 -1.80146222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1003.386559995 meters 0.016044517773417255 Centerline is valid? [True, True] Translation: X:-259.39, Y:-269.75, Z:-1.80 [[-7.65871882e-01 6.42958569e-01 6.67382879e-03 -2.59393150e+02] [ 6.42932019e-01 7.65900937e-01 -5.84589867e-03 -2.69754321e+02] [-8.87016236e-03 -1.86391194e-04 -9.99960642e-01 -1.80070033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1003.416559995 meters 0.014823608807936414 Centerline is valid? [True, True] Translation: X:-259.37, Y:-269.74, Z:-1.80 [[-8.08383857e-01 5.88613288e-01 7.06668404e-03 -2.59372218e+02] [ 5.88588940e-01 8.08414725e-01 -5.35641739e-03 -2.69738716e+02] [-8.86566988e-03 -1.70669277e-04 -9.99960685e-01 -1.80088143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1003.4465599949999 meters 0.014679959673442605 Centerline is valid? [True, True] Translation: X:-258.95, Y:-269.20, Z:-2.78 [[-7.43200307e-01 -6.69036249e-01 6.61834769e-03 -2.58953493e+02] [ 6.69011652e-01 -7.43229757e-01 -5.73910767e-03 -2.69196408e+02] [ 8.75862401e-03 1.62445142e-04 9.99961629e-01 -2.78277113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1003.4765599949999 meters 0.013666506825602835 Centerline is valid? [True, True] Translation: X:-259.41, Y:-269.72, Z:-1.80 [[-8.06848129e-01 5.90717142e-01 7.02529710e-03 -2.59409272e+02] [ 5.90693508e-01 8.06878706e-01 -5.28530187e-03 -2.69715209e+02] [-8.79068105e-03 -1.14638541e-04 -9.99961355e-01 -1.80045051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1003.506559995 meters 0.013585390811895358 Centerline is valid? [True, True] Translation: X:-259.39, Y:-269.70, Z:-1.80 [[-8.45357866e-01 5.34148899e-01 7.41842455e-03 -2.59389094e+02] [ 5.34127352e-01 8.45390410e-01 -4.79859814e-03 -2.69696594e+02] [-8.83463089e-03 -9.41492140e-05 -9.99960970e-01 -1.79990724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1003.536559995 meters 0.013222372993435675 Centerline is valid? [True, True] Translation: X:-259.37, Y:-269.68, Z:-1.80 [[-8.79988594e-01 4.74930421e-01 7.82110045e-03 -2.59371149e+02] [ 4.74910906e-01 8.80023346e-01 -4.30603215e-03 -2.69677394e+02] [-8.92781665e-03 -7.49332807e-05 -9.99960144e-01 -1.80013386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1003.5665599949999 meters 0.012918186181577633 Centerline is valid? [True, True] Translation: X:-259.03, Y:-269.07, Z:-2.78 [[-8.38798949e-01 -5.44381394e-01 8.07601752e-03 -2.59027351e+02] [ 5.44357492e-01 -8.38837818e-01 -5.10260626e-03 -2.69069862e+02] [ 9.55223282e-03 1.16179874e-04 9.99954370e-01 -2.78328235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1003.5965599949999 meters 0.01286448579417583 Centerline is valid? [True, True] Translation: X:-259.41, Y:-269.66, Z:-1.80 [[-8.79653818e-01 4.75538892e-01 8.48074077e-03 -2.59414619e+02] [ 4.75516356e-01 8.79694697e-01 -4.62973923e-03 -2.69656753e+02] [-9.66208376e-03 -3.98368410e-05 -9.99953320e-01 -1.79940401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1003.626559995 meters 0.012870173065978941 Centerline is valid? [True, True] Translation: X:-259.07, Y:-269.05, Z:-2.78 [[-8.41975647e-01 -5.39449216e-01 8.45894360e-03 -2.59066795e+02] [ 5.39422730e-01 -8.42018135e-01 -5.34586395e-03 -2.69049151e+02] [ 1.00064060e-02 6.18592013e-05 9.99949933e-01 -2.78411457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1003.656559995 meters 0.012772402046589273 Centerline is valid? [True, True] Translation: X:-259.45, Y:-269.64, Z:-1.80 [[-8.80802751e-01 4.73395900e-01 9.10144482e-03 -2.59446938e+02] [ 4.73370278e-01 8.80849772e-01 -4.92529978e-03 -2.69639544e+02] [-1.03486223e-02 -2.98641320e-05 -9.99946451e-01 -1.79899131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1003.6865599949999 meters 0.012867040713648609 Centerline is valid? [True, True] Translation: X:-259.43, Y:-269.61, Z:-1.80 [[-9.12290687e-01 4.09429211e-01 9.66564720e-03 -2.59432150e+02] [ 4.09405826e-01 9.12341888e-01 -4.37598738e-03 -2.69614910e+02] [-1.06100319e-02 -3.50002558e-05 -9.99943712e-01 -1.79865095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1003.7165599949999 meters 0.01288879359082964 Centerline is valid? [True, True] Translation: X:-259.42, Y:-269.59, Z:-1.80 [[-9.39091626e-01 3.43520112e-01 1.00424390e-02 -2.59421589e+02] [ 3.43500041e-01 9.39145320e-01 -3.71349556e-03 -2.69588064e+02] [-1.07069700e-02 -3.77343833e-05 -9.99942678e-01 -1.79790516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1003.746559995 meters 0.012988127619800203 Centerline is valid? [True, True] Translation: X:-259.18, Y:-268.94, Z:-2.79 [[-9.10599386e-01 -4.13161113e-01 1.03273049e-02 -2.59176850e+02] [ 4.13135510e-01 -9.10657943e-01 -4.60020234e-03 -2.68938408e+02] [ 1.13052669e-02 7.76349386e-05 9.99936091e-01 -2.78581461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1003.776559995 meters 0.012844104208260442 Centerline is valid? [True, True] Translation: X:-259.47, Y:-269.57, Z:-1.80 [[-9.40810246e-01 3.38781337e-01 1.01630130e-02 -2.59466065e+02] [ 3.38760967e-01 9.40865135e-01 -3.71545078e-03 -2.69570906e+02] [-1.08207499e-02 -5.27020647e-05 -9.99941453e-01 -1.79784593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1003.8065599949999 meters 0.012959645597997399 Centerline is valid? [True, True] Translation: X:-259.22, Y:-268.92, Z:-2.79 [[-9.11837966e-01 -4.10437516e-01 9.62126439e-03 -2.59223159e+02] [ 4.10415057e-01 -9.11888724e-01 -4.29378651e-03 -2.68923341e+02] [ 1.05358536e-02 3.34742208e-05 9.99944496e-01 -2.78588826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1003.8365599949999 meters 0.012884632964343648 Centerline is valid? [True, True] Translation: X:-259.51, Y:-269.56, Z:-1.80 [[-9.42319740e-01 3.34607626e-01 8.44063967e-03 -2.59506637e+02] [ 3.34593730e-01 9.42357541e-01 -3.04983974e-03 -2.69555526e+02] [-8.97460008e-03 -4.97390768e-05 -9.99959726e-01 -1.79868235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1003.866559995 meters 0.01278709778008377 Centerline is valid? [True, True] Translation: X:-259.27, Y:-268.91, Z:-2.78 [[-9.13237037e-01 -4.07353078e-01 7.84753158e-03 -2.59268946e+02] [ 4.07338256e-01 -9.13270754e-01 -3.47495791e-03 -2.68908736e+02] [ 8.58245588e-03 2.31395621e-05 9.99963170e-01 -2.78352470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1003.896559995 meters 0.012835015126578999 Centerline is valid? [True, True] Translation: X:-259.55, Y:-269.54, Z:-1.80 [[-9.43747774e-01 3.30582597e-01 7.43542414e-03 -2.59551611e+02] [ 3.30571935e-01 9.43777063e-01 -2.65552611e-03 -2.69538854e+02] [-7.89525348e-03 -4.82043127e-05 -9.99968831e-01 -1.79976919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1003.9265599949999 meters 0.012871896087274069 Centerline is valid? [True, True] Translation: X:-259.32, Y:-268.89, Z:-2.78 [[-9.14510776e-01 -4.04511473e-01 6.36470383e-03 -2.59317891e+02] [ 4.04501559e-01 -9.14532924e-01 -2.83199394e-03 -2.68893888e+02] [ 6.96630524e-03 -1.53563505e-05 9.99975735e-01 -2.78284072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1003.9565599949999 meters 0.012866113398894322 Centerline is valid? [True, True] Translation: X:-259.59, Y:-269.52, Z:-1.80 [[-9.45129579e-01 3.26628030e-01 6.64900612e-03 -2.59593229e+02] [ 3.26619605e-01 9.45152965e-01 -2.34646677e-03 -2.69522607e+02] [-7.05074967e-03 -4.60193984e-05 -9.99975142e-01 -1.80024550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1003.986559995 meters 0.01281737727676269 Centerline is valid? [True, True] Translation: X:-259.59, Y:-269.49, Z:-1.80 [[-9.65947359e-01 2.58653939e-01 6.62111468e-03 -2.59590136e+02] [ 2.58647536e-01 9.65970050e-01 -1.82055900e-03 -2.69493556e+02] [-6.86669324e-03 -4.60291611e-05 -9.99976423e-01 -1.80000370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1004.016559995 meters 0.012846363227079927 Centerline is valid? [True, True] Translation: X:-259.58, Y:-269.47, Z:-1.80 [[-9.81974206e-01 1.88866348e-01 7.49415323e-03 -2.59579436e+02] [ 1.88860412e-01 9.82002800e-01 -1.49832650e-03 -2.69466300e+02] [-7.64226292e-03 -5.59691086e-05 -9.99970796e-01 -1.79958371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1004.0465599949999 meters 0.013021991988943802 Centerline is valid? [True, True] Translation: X:-259.58, Y:-269.44, Z:-1.80 [[-9.92918524e-01 1.18533525e-01 7.91255084e-03 -2.59577462e+02] [ 1.18529282e-01 9.92950049e-01 -1.00464042e-03 -2.69436989e+02] [-7.97585132e-03 -5.96571145e-05 -9.99968191e-01 -1.79848792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1004.0765599949999 meters 0.012845678218050226 Centerline is valid? [True, True] Translation: X:-259.49, Y:-268.77, Z:-2.79 [[-9.79827092e-01 -1.99647547e-01 8.92896148e-03 -2.59489715e+02] [ 1.99640552e-01 -9.79867765e-01 -1.67702930e-03 -2.68768423e+02] [ 9.08401632e-03 1.39384051e-04 9.99958730e-01 -2.78551690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1004.1065599949999 meters 0.012876109350552561 Centerline is valid? [True, True] Translation: X:-259.63, Y:-269.43, Z:-1.80 [[-9.93354144e-01 1.14706176e-01 9.48883008e-03 -2.59632895e+02] [ 1.14700284e-01 9.93399461e-01 -1.16468113e-03 -2.69428354e+02] [-9.55979480e-03 -6.85693251e-05 -9.99954302e-01 -1.79697146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1004.136559995 meters 0.012692795236757561 Centerline is valid? [True, True] Translation: X:-259.55, Y:-268.76, Z:-2.79 [[-9.80844732e-01 -1.94545595e-01 9.77877111e-03 -2.59547170e+02] [ 1.94536905e-01 -9.80893472e-01 -1.84131429e-03 -2.68762281e+02] [ 9.95015232e-03 9.62884463e-05 9.99950492e-01 -2.78569835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1004.166559995 meters 0.012774628442154413 Centerline is valid? [True, True] Translation: X:-259.69, Y:-269.42, Z:-1.80 [[-9.93689111e-01 1.11718901e-01 1.00418371e-02 -2.59691454e+02] [ 1.11712572e-01 9.93739847e-01 -1.19073948e-03 -2.69421330e+02] [-1.01120018e-02 -6.14254036e-05 -9.99948871e-01 -1.79728318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1004.1965599949999 meters 0.012756512163105464 Centerline is valid? [True, True] Translation: X:-259.69, Y:-269.39, Z:-1.80 [[-9.99061881e-01 4.22255532e-02 9.61041766e-03 -2.59685707e+02] [ 4.22231655e-02 9.99108103e-01 -4.51301925e-04 -2.69393038e+02] [-9.62090263e-03 -4.50962955e-05 -9.99953717e-01 -1.79690029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1004.2265599949999 meters 0.01263255443701553 Centerline is valid? [True, True] Translation: X:-259.65, Y:-268.73, Z:-2.79 [[-9.92946656e-01 -1.18190325e-01 9.38006920e-03 -2.59651916e+02] [ 1.18185363e-01 -9.92990960e-01 -1.08356551e-03 -2.68725342e+02] [ 9.44239088e-03 3.26641302e-05 9.99955419e-01 -2.78596638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1004.256559995 meters 0.012515940734737344 Centerline is valid? [True, True] Translation: X:-259.76, Y:-269.39, Z:-1.80 [[-9.99231689e-01 3.81433955e-02 9.00626507e-03 -2.59757598e+02] [ 3.81415069e-02 9.99272275e-01 -3.81429180e-04 -2.69389192e+02] [-9.01425999e-03 -3.76236025e-05 -9.99959370e-01 -1.79825518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1004.286559995 meters 0.012517358310584452 Centerline is valid? [True, True] Translation: X:-259.76, Y:-269.36, Z:-1.80 [[-9.99412614e-01 -3.30215344e-02 9.16549748e-03 -2.59755312e+02] [-3.30204938e-02 9.99454640e-01 2.64874223e-04 -2.69359765e+02] [-9.16924553e-03 -3.79306128e-05 -9.99957961e-01 -1.79819648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1004.3165599949999 meters 0.012620888512403955 Centerline is valid? [True, True] Translation: X:-259.76, Y:-269.33, Z:-1.80 [[-9.94472765e-01 -1.04560545e-01 9.54001040e-03 -2.59763559e+02] [-1.04556158e-01 9.94518522e-01 9.58788733e-04 -2.69331195e+02] [-9.58796851e-03 -4.39775508e-05 -9.99954034e-01 -1.79742314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1004.3465599949999 meters 0.012689542251079775 Centerline is valid? [True, True] Translation: X:-259.78, Y:-269.30, Z:-1.80 [[-9.84209877e-01 -1.76710646e-01 1.02110956e-02 -2.59779010e+02] [-1.76701803e-01 9.84262843e-01 1.76889221e-03 -2.69303242e+02] [-1.03629841e-02 -6.33578287e-05 -9.99946301e-01 -1.79729055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1004.376559995 meters 0.012770084391880763 Centerline is valid? [True, True] Translation: X:-259.80, Y:-269.28, Z:-1.80 [[-9.68636909e-01 -2.48265869e-01 1.03246189e-02 -2.59804928e+02] [-2.48252640e-01 9.68691928e-01 2.56414737e-03 -2.69278830e+02] [-1.06379652e-02 -7.93861111e-05 -9.99943412e-01 -1.79725409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1004.406559995 meters 0.0133321325949029 Centerline is valid? [True, True] Translation: X:-259.84, Y:-269.26, Z:-1.80 [[-9.47687788e-01 -3.19037573e-01 1.01431392e-02 -2.59843650e+02] [-3.19020372e-01 9.47742063e-01 3.31427321e-03 -2.69258218e+02] [-1.06704574e-02 -9.49717994e-05 -9.99943065e-01 -1.79589157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1004.4365599949999 meters 0.013152101369190834 Centerline is valid? [True, True] Translation: X:-259.90, Y:-269.25, Z:-1.80 [[-9.21134596e-01 -3.89113545e-01 1.00849521e-02 -2.59903462e+02] [-3.89091585e-01 9.21189794e-01 4.13547365e-03 -2.69250132e+02] [-1.08993237e-02 -1.14642141e-04 -9.99940594e-01 -1.79759260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1004.4665599949999 meters 0.013939254373197724 Centerline is valid? [True, True] Translation: X:-259.97, Y:-269.25, Z:-1.80 [[-8.88775870e-01 -4.58238700e-01 9.73382318e-03 -2.59971470e+02] [-4.58212980e-01 8.88829159e-01 4.85706473e-03 -2.69246307e+02] [-1.08774009e-02 -1.43322200e-04 -9.99940829e-01 -1.79704674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1004.496559995 meters 0.013945862876396159 Centerline is valid? [True, True] Translation: X:-260.05, Y:-269.25, Z:-1.80 [[-8.51678983e-01 -5.23979854e-01 9.38201213e-03 -2.60045247e+02] [-5.23950102e-01 8.51730643e-01 5.58597761e-03 -2.69253612e+02] [-1.09178870e-02 -1.58246482e-04 -9.99940386e-01 -1.79748894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1004.526559995 meters 0.014210487686348874 Centerline is valid? [True, True] Translation: X:-260.12, Y:-269.27, Z:-1.80 [[-8.09544608e-01 -5.86989961e-01 8.96178142e-03 -2.60122429e+02] [-5.86956331e-01 8.09594193e-01 6.28559016e-03 -2.69268572e+02] [-1.09449845e-02 -1.71708720e-04 -9.99940087e-01 -1.79718921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1004.5565599949999 meters 0.014458335879320374 Centerline is valid? [True, True] Translation: X:-260.21, Y:-269.30, Z:-1.80 [[-7.61544091e-01 -6.48048620e-01 9.14246182e-03 -2.60206917e+02] [-6.48005330e-01 7.61598936e-01 7.49358175e-03 -2.69295468e+02] [-1.18190945e-02 -2.17671084e-04 -9.99930129e-01 -1.79754013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1004.5865599949999 meters 0.015261876169300576 Centerline is valid? [True, True] Translation: X:-260.29, Y:-269.33, Z:-1.80 [[-7.09804478e-01 -7.04341430e-01 8.98626529e-03 -2.60293924e+02] [-7.04289300e-01 7.09861318e-01 8.57275471e-03 -2.69332663e+02] [-1.24171484e-02 -2.43950812e-04 -9.99922875e-01 -1.79697235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1004.616559995 meters 0.015232119071177183 Centerline is valid? [True, True] Translation: X:-260.38, Y:-269.38, Z:-1.80 [[-6.54077789e-01 -7.56383448e-01 8.14408219e-03 -2.60378537e+02] [-7.56329488e-01 6.54128442e-01 9.03804711e-03 -2.69378915e+02] [-1.21635050e-02 -2.48023650e-04 -9.99925991e-01 -1.79688075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1004.646559995 meters 0.01530329193905605 Centerline is valid? [True, True] Translation: X:-260.46, Y:-269.44, Z:-1.80 [[-5.93959754e-01 -8.04460926e-01 7.37760002e-03 -2.60463516e+02] [-8.04404260e-01 5.94005514e-01 9.55180639e-03 -2.69435072e+02] [-1.20663901e-02 -2.61184300e-04 -9.99927165e-01 -1.79777333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1004.6765599949999 meters 0.015722236827537456 Centerline is valid? [True, True] Translation: X:-260.54, Y:-269.50, Z:-1.80 [[-5.31398962e-01 -8.47098632e-01 6.24904682e-03 -2.60544864e+02] [-8.47045368e-01 5.31435648e-01 9.50241614e-03 -2.69499435e+02] [-1.13704500e-02 -2.43652085e-04 -9.99935325e-01 -1.79808466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1004.7065599949999 meters 0.015235134660833824 Centerline is valid? [True, True] Translation: X:-260.62, Y:-269.57, Z:-1.80 [[-4.66249352e-01 -8.84641274e-01 4.62150266e-03 -2.60620388e+02] [-8.84601904e-01 4.66272215e-01 8.34820048e-03 -2.69573642e+02] [-9.54004099e-03 -1.95846990e-04 -9.99954474e-01 -1.80061893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1004.736559995 meters 0.015108172487689316 Centerline is valid? [True, True] Translation: X:-260.69, Y:-269.66, Z:-1.80 [[-3.98240798e-01 -9.17274105e-01 3.53302958e-03 -2.60692383e+02] [-9.17241656e-01 3.98256435e-01 7.71725283e-03 -2.69655959e+02] [-8.48588795e-03 -1.67316972e-04 -9.99963980e-01 -1.80157297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1004.766559995 meters 0.015398700288519945 Centerline is valid? [True, True] Translation: X:-260.76, Y:-269.75, Z:-1.80 [[-3.27912433e-01 -9.44704586e-01 2.58476451e-03 -2.60759839e+02] [-9.44678538e-01 3.27922590e-01 7.01678014e-03 -2.69746356e+02] [-7.47638705e-03 -1.40882107e-04 -9.99972042e-01 -1.80177366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1004.7965599949999 meters 0.014559657577811712 Centerline is valid? [True, True] Translation: X:-260.82, Y:-269.84, Z:-1.80 [[-2.55348047e-01 -9.66847072e-01 2.02851622e-03 -2.60817343e+02] [-9.66820632e-01 2.55356069e-01 7.15152289e-03 -2.69841423e+02] [-7.43242289e-03 -1.35083932e-04 -9.99972370e-01 -1.80312292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1004.8265599949999 meters 0.01427236807984147 Centerline is valid? [True, True] Translation: X:-260.87, Y:-269.95, Z:-1.80 [[-1.82382117e-01 -9.83226582e-01 1.50047355e-03 -2.60870173e+02] [-9.83198639e-01 1.82388248e-01 7.41371283e-03 -2.69945179e+02] [-7.56302827e-03 -1.23134906e-04 -9.99971392e-01 -1.80251784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1004.8565599949999 meters 0.014016518745963602 Centerline is valid? [True, True] Translation: X:-260.91, Y:-270.05, Z:-1.80 [[-1.07259014e-01 -9.94230589e-01 1.01947855e-03 -2.60914616e+02] [-9.94196346e-01 1.07263782e-01 8.25271739e-03 -2.70051610e+02] [-8.31445720e-03 -1.28383517e-04 -9.99965426e-01 -1.80190383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1004.886559995 meters 0.013717144981560956 Centerline is valid? [True, True] Translation: X:-260.95, Y:-270.16, Z:-1.80 [[-3.24622014e-02 -9.99472848e-01 4.81570225e-04 -2.60950499e+02] [-9.99418208e-01 3.24654627e-02 1.04517988e-02 -2.70160016e+02] [-1.04619235e-02 -1.42001653e-04 -9.99945263e-01 -1.80100322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1004.916559995 meters 0.013717144981560956 Centerline is valid? [True, True] Translation: X:-260.98, Y:-270.27, Z:-1.80 [[ 4.43179409e-02 -9.99017426e-01 -3.21808975e-04 -2.60979215e+02] [-9.98962697e-01 -4.43188818e-02 1.04578921e-02 -2.70274686e+02] [-1.04618787e-02 -1.41997083e-04 -9.99945263e-01 -1.80100537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1004.9465599949999 meters 0.01370519742402336 Centerline is valid? [True, True] Translation: X:-261.00, Y:-270.39, Z:-1.80 [[ 1.19513677e-01 -9.92831893e-01 -1.14624622e-03 -2.60998530e+02] [-9.92775137e-01 -1.19519102e-01 1.06166277e-02 -2.70393779e+02] [-1.06775249e-02 -1.30867470e-04 -9.99942985e-01 -1.80024823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1004.9765599949999 meters 0.013444287876131427 Centerline is valid? [True, True] Translation: X:-261.01, Y:-270.51, Z:-1.80 [[ 1.92512658e-01 -9.81292588e-01 -1.93206407e-03 -2.61008179e+02] [-9.81237899e-01 -1.92522327e-01 1.03604298e-02 -2.70508851e+02] [-1.05385785e-02 -9.86993915e-05 -9.99944463e-01 -1.80043512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1005.006559995 meters 0.013006989016529512 Centerline is valid? [True, True] Translation: X:-261.01, Y:-270.63, Z:-1.80 [[ 2.65848548e-01 -9.64011180e-01 -2.64483568e-03 -2.61008148e+02] [-9.63960396e-01 -2.65861691e-01 9.89529286e-03 -2.70626894e+02] [-1.02423334e-02 -8.11323905e-05 -9.99947543e-01 -1.80152533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1005.036559995 meters 0.01284886585293472 Centerline is valid? [True, True] Translation: X:-261.00, Y:-270.74, Z:-1.80 [[ 3.37102543e-01 -9.41461965e-01 -3.35313870e-03 -2.61000556e+02] [-9.41413628e-01 -3.37119214e-01 9.54023633e-03 -2.70741458e+02] [-1.01121771e-02 -5.93474536e-05 -9.99948869e-01 -1.80175181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1005.0665599949999 meters 0.012651978281148802 Centerline is valid? [True, True] Translation: X:-260.98, Y:-270.86, Z:-1.80 [[ 4.04224739e-01 -9.14651799e-01 -3.80101279e-03 -2.60982420e+02] [-9.14611053e-01 -4.04242609e-01 8.63332557e-03 -2.70856096e+02] [-9.43301809e-03 -1.33554622e-05 -9.99955508e-01 -1.80243553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1005.0965599949999 meters 0.012648702061107166 Centerline is valid? [True, True] Translation: X:-260.96, Y:-270.97, Z:-1.80 [[ 4.71235957e-01 -8.81996756e-01 -4.28905890e-03 -2.60957666e+02] [-8.81960340e-01 -4.71255475e-01 8.01471625e-03 -2.70967610e+02] [-9.09019622e-03 5.95736905e-06 -9.99958683e-01 -1.80261755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1005.126559995 meters 0.01266587205828662 Centerline is valid? [True, True] Translation: X:-260.93, Y:-271.07, Z:-1.80 [[ 5.35553875e-01 -8.44486213e-01 -5.00841712e-03 -2.60926414e+02] [-8.44449729e-01 -5.35577292e-01 7.84975812e-03 -2.71074515e+02] [-9.31140698e-03 2.53881022e-05 -9.99956648e-01 -1.80302002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1005.156559995 meters 0.012826689778644713 Centerline is valid? [True, True] Translation: X:-260.89, Y:-271.18, Z:-1.80 [[ 5.97224325e-01 -8.02056182e-01 -5.38395386e-03 -2.60886443e+02] [-8.02024172e-01 -5.97248591e-01 7.16574780e-03 -2.71180253e+02] [-8.96289118e-03 3.85022450e-05 -9.99959832e-01 -1.80286264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1005.1865599949999 meters 0.013158066411385817 Centerline is valid? [True, True] Translation: X:-260.84, Y:-271.28, Z:-1.80 [[ 6.54246167e-01 -7.56259433e-01 -5.79863260e-03 -2.60839613e+02] [-7.56230608e-01 -6.54271860e-01 6.60315739e-03 -2.71281046e+02] [-8.78758220e-03 6.50130388e-05 -9.99961387e-01 -1.80296555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1005.2165599949999 meters 0.01314925493069496 Centerline is valid? [True, True] Translation: X:-260.79, Y:-271.37, Z:-1.80 [[ 7.09353176e-01 -7.04823250e-01 -6.50061613e-03 -2.60791393e+02] [-7.04794607e-01 -7.09382958e-01 6.35458319e-03 -2.71373203e+02] [-9.09028428e-03 7.39554269e-05 -9.99958680e-01 -1.80344502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1005.246559995 meters 0.013163435522519968 Centerline is valid? [True, True] Translation: X:-260.79, Y:-271.38, Z:-1.80 [[ 7.61959503e-01 -6.47591782e-01 -6.52681557e-03 -2.60794972e+02] [-6.47568845e-01 -7.61987453e-01 5.45093853e-03 -2.71384085e+02] [-8.50333457e-03 7.31680118e-05 -9.99963843e-01 -1.80397214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1005.276559995 meters 0.013112152496269269 Centerline is valid? [True, True] Translation: X:-260.80, Y:-271.40, Z:-1.80 [[ 8.10361716e-01 -5.85889700e-01 -6.86650796e-03 -2.60798769e+02] [-5.85869406e-01 -8.10390804e-01 4.87689958e-03 -2.71396522e+02] [-8.42188014e-03 7.08242294e-05 -9.99964533e-01 -1.80403665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1005.3065599949999 meters 0.013108198819094833 Centerline is valid? [True, True] Translation: X:-260.80, Y:-271.41, Z:-1.80 [[ 8.54053869e-01 -5.20129574e-01 -7.56405287e-03 -2.60801426e+02] [-5.20109878e-01 -8.54087362e-01 4.52696683e-03 -2.71407132e+02] [-8.81497129e-03 6.78650782e-05 -9.99961145e-01 -1.80349727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1005.3365599949999 meters 0.013033462136827054 Centerline is valid? [True, True] Translation: X:-260.80, Y:-271.42, Z:-1.80 [[ 8.92625031e-01 -4.50726315e-01 -8.14510668e-03 -2.60802219e+02] [-4.50708155e-01 -8.92662190e-01 4.04640715e-03 -2.71419238e+02] [-9.09465095e-03 5.91417007e-05 -9.99958641e-01 -1.80331438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1005.366559995 meters 0.012829666267558113 Centerline is valid? [True, True] Translation: X:-260.80, Y:-271.43, Z:-1.80 [[ 9.26364372e-01 -3.76504711e-01 -9.65676721e-03 -2.60803694e+02] [-3.76484633e-01 -9.26414703e-01 3.88844324e-03 -2.71431720e+02] [-1.04101883e-02 3.35091794e-05 -9.99945812e-01 -1.80192744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1005.396559995 meters 0.01291122330829266 Centerline is valid? [True, True] Translation: X:-260.80, Y:-271.44, Z:-1.80 [[ 9.53543753e-01 -3.01067870e-01 -1.06042476e-02 -2.60801711e+02] [-3.01049420e-01 -9.53602715e-01 3.33304960e-03 -2.71443160e+02] [-1.11157134e-02 1.41939472e-05 -9.99938219e-01 -1.80145566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1005.4265599949999 meters 0.012782355388210575 Centerline is valid? [True, True] Translation: X:-260.80, Y:-271.45, Z:-1.80 [[ 9.74739788e-01 -2.23066778e-01 -1.11156355e-02 -2.60799760e+02] [-2.23052095e-01 -9.74803166e-01 2.55942041e-03 -2.71453359e+02] [-1.14064783e-02 -1.54031183e-05 -9.99934944e-01 -1.80123351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1005.4565599949999 meters 0.013071016455835591 Centerline is valid? [True, True] Translation: X:-260.80, Y:-271.47, Z:-1.80 [[ 9.90027585e-01 -1.40457622e-01 -1.08183381e-02 -2.60797093e+02] [-1.40448379e-01 -9.90086688e-01 1.61324847e-03 -2.71466047e+02] [-1.09376856e-02 -7.77424387e-05 -9.99940179e-01 -1.80123280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1005.486559995 meters 0.013228503252903293 Centerline is valid? [True, True] Translation: X:-260.80, Y:-271.48, Z:-1.80 [[ 9.98167250e-01 -5.95511421e-02 -1.07611473e-02 -2.60796148e+02] [-5.95465045e-02 -9.98225250e-01 7.51129834e-04 -2.71478683e+02] [-1.07867796e-02 -1.08964495e-04 -9.99941815e-01 -1.80249150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1005.516559995 meters 0.013669262043613553 Centerline is valid? [True, True] Translation: X:-260.79, Y:-271.49, Z:-1.80 [[ 9.99714527e-01 2.17173691e-02 -9.96092400e-03 -2.60793021e+02] [ 2.17175911e-02 -9.99764142e-01 -8.58889480e-05 -2.71491155e+02] [-9.96043992e-03 -1.30462846e-04 -9.99950385e-01 -1.80290190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1005.5465599949999 meters 0.014120350026740535 Centerline is valid? [True, True] Translation: X:-260.79, Y:-271.50, Z:-1.80 [[ 9.94683419e-01 1.02552803e-01 -9.37111354e-03 -2.60788855e+02] [ 1.02549657e-01 -9.94727551e-01 -8.16981813e-04 -2.71502982e+02] [-9.40548859e-03 -1.48366211e-04 -9.99955757e-01 -1.80321180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1005.5765599949999 meters 0.015137444456267912 Centerline is valid? [True, True] Translation: X:-260.78, Y:-271.52, Z:-1.80 [[ 9.82764544e-01 1.84670546e-01 -8.40479634e-03 -2.60783000e+02] [ 1.84665307e-01 -9.82800468e-01 -1.40183923e-03 -2.71515898e+02] [-8.51911619e-03 -1.74396402e-04 -9.99963697e-01 -1.80413761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1005.6065599949999 meters 0.015912539647566983 Centerline is valid? [True, True] Translation: X:-260.78, Y:-271.53, Z:-1.80 [[ 9.64774185e-01 2.62965783e-01 -7.73107207e-03 -2.60778665e+02] [ 2.62958822e-01 -9.64805144e-01 -1.92164942e-03 -2.71525049e+02] [-7.96430614e-03 -1.78995857e-04 -9.99968269e-01 -1.80470227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1005.636559995 meters 0.016164589957795537 Centerline is valid? [True, True] Translation: X:-260.77, Y:-271.53, Z:-1.81 [[ 9.40672343e-01 3.39238613e-01 -7.25996625e-03 -2.60771574e+02] [ 3.39230021e-01 -9.40700340e-01 -2.42151376e-03 -2.71533189e+02] [-7.65092369e-03 -1.84947485e-04 -9.99970714e-01 -1.80508483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1005.666559995 meters 0.016570691027057806 Centerline is valid? [True, True] Translation: X:-260.76, Y:-271.54, Z:-1.81 [[ 9.10323955e-01 4.13841079e-01 -6.77186455e-03 -2.60763012e+02] [ 4.13831203e-01 -9.10349122e-01 -2.86560279e-03 -2.71542538e+02] [-7.35066510e-03 -1.93781994e-04 -9.99972965e-01 -1.80509325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1005.6965599949999 meters 0.01700549916339675 Centerline is valid? [True, True] Translation: X:-260.76, Y:-271.55, Z:-1.80 [[ 8.74597350e-01 4.84807243e-01 -6.43529559e-03 -2.60755024e+02] [ 4.84795782e-01 -8.74621002e-01 -3.33950319e-03 -2.71549856e+02] [-7.24746002e-03 -1.99083517e-04 -9.99973717e-01 -1.80485862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1005.7265599949999 meters 0.017447445642436187 Centerline is valid? [True, True] Translation: X:-260.75, Y:-271.56, Z:-1.80 [[ 8.33404199e-01 5.52625187e-01 -6.54555176e-03 -2.60746115e+02] [ 5.52610190e-01 -8.33429874e-01 -4.07710724e-03 -2.71555851e+02] [-7.70837054e-03 -2.19260307e-04 -9.99970266e-01 -1.80447125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1005.756559995 meters 0.01758707615393958 Centerline is valid? [True, True] Translation: X:-260.74, Y:-271.56, Z:-1.80 [[ 7.86711737e-01 6.17277906e-01 -7.25465488e-03 -2.60736632e+02] [ 6.17254777e-01 -7.86745139e-01 -5.35027359e-03 -2.71562303e+02] [-9.01017014e-03 -2.68847357e-04 -9.99959372e-01 -1.80339749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1005.786559995 meters 0.01867485319207614 Centerline is valid? [True, True] Translation: X:-260.73, Y:-271.57, Z:-1.80 [[ 7.35484937e-01 6.77500251e-01 -7.43753250e-03 -2.60727291e+02] [ 6.77469682e-01 -7.35522481e-01 -6.44282447e-03 -2.71567563e+02] [-9.83548755e-03 -3.00102432e-04 -9.99951586e-01 -1.80208531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1005.8165599949999 meters 0.018528969779492317 Centerline is valid? [True, True] Translation: X:-260.72, Y:-271.57, Z:-1.80 [[ 6.79887188e-01 7.33277132e-01 -7.61973981e-03 -2.60718976e+02] [ 7.33236520e-01 -6.79929802e-01 -7.72467425e-03 -2.71569065e+02] [-1.08452152e-02 -3.35164446e-04 -9.99941133e-01 -1.80127759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1005.8465599949999 meters 0.01927145543739331 Centerline is valid? [True, True] Translation: X:-260.71, Y:-271.57, Z:-1.80 [[ 6.19744424e-01 7.84761996e-01 -8.09064931e-03 -2.60711663e+02] [ 7.84703339e-01 -6.19797105e-01 -9.60304098e-03 -2.71571295e+02] [-1.25506626e-02 -3.97328428e-04 -9.99921159e-01 -1.79973740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1005.876559995 meters 0.019237687551188445 Centerline is valid? [True, True] Translation: X:-260.71, Y:-271.57, Z:-1.80 [[ 5.56595907e-01 8.30748859e-01 -7.57156802e-03 -2.60705062e+02] [ 8.30681744e-01 -5.56647255e-01 -1.05675992e-02 -2.71570989e+02] [-1.29937135e-02 -4.07680881e-04 -9.99915495e-01 -1.79946014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1005.906559995 meters 0.018221578063021646 Centerline is valid? [True, True] Translation: X:-260.70, Y:-271.57, Z:-1.80 [[ 4.90232225e-01 8.71565450e-01 -6.78468523e-03 -2.60698394e+02] [ 8.71493138e-01 -4.90279004e-01 -1.12342856e-02 -2.71570515e+02] [-1.31178039e-02 -4.05397792e-04 -9.99913876e-01 -1.79992440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1005.9365599949999 meters 0.01808240975896303 Centerline is valid? [True, True] Translation: X:-260.69, Y:-271.57, Z:-1.80 [[ 4.22512727e-01 9.06337935e-01 -5.87743446e-03 -2.60692240e+02] [ 9.06262252e-01 -4.22553438e-01 -1.17184746e-02 -2.71570056e+02] [-1.31044282e-02 -3.75292329e-04 -9.99914063e-01 -1.79946398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1005.9665599949999 meters 0.017206026030908064 Centerline is valid? [True, True] Translation: X:-260.69, Y:-271.57, Z:-1.80 [[ 3.51584697e-01 9.36143534e-01 -4.84609227e-03 -2.60686940e+02] [ 9.36067855e-01 -3.51617920e-01 -1.19083951e-02 -2.71568566e+02] [-1.28519399e-02 -3.49461731e-04 -9.99917350e-01 -1.80025786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1005.996559995 meters 0.017037923862329413 Centerline is valid? [True, True] Translation: X:-260.68, Y:-271.57, Z:-1.80 [[ 2.78919154e-01 9.60307168e-01 -3.77482101e-03 -2.60682054e+02] [ 9.60233957e-01 -2.78944517e-01 -1.18618721e-02 -2.71568208e+02] [-1.24440065e-02 -3.16207966e-04 -9.99922521e-01 -1.80023088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1006.026559995 meters 0.015344508114312077 Centerline is valid? [True, True] Translation: X:-260.68, Y:-271.57, Z:-1.80 [[ 2.06449175e-01 9.78453277e-01 -2.81474471e-03 -2.60680168e+02] [ 9.78379258e-01 -2.06468187e-01 -1.20380729e-02 -2.71565838e+02] [-1.23598471e-02 -2.68637630e-04 -9.99923578e-01 -1.80116191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1006.0565599949999 meters 0.014843969404514894 Centerline is valid? [True, True] Translation: X:-260.67, Y:-271.56, Z:-1.80 [[ 1.30662126e-01 9.91425262e-01 -1.83273525e-03 -2.60673902e+02] [ 9.91352431e-01 -1.30674746e-01 -1.20194786e-02 -2.71564388e+02] [-1.21559069e-02 -2.46395927e-04 -9.99926084e-01 -1.80153567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1006.0865599949999 meters 0.015167295421969467 Centerline is valid? [True, True] Translation: X:-260.67, Y:-271.56, Z:-1.80 [[ 5.40169501e-02 9.98539606e-01 -9.08553652e-04 -2.60666381e+02] [ 9.98462152e-01 -5.40240783e-02 -1.24390813e-02 -2.71564552e+02] [-1.24699991e-02 -2.35235201e-04 -9.99922219e-01 -1.80052579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1006.116559995 meters 0.014734425694139647 Centerline is valid? [True, True] Translation: X:-260.67, Y:-271.56, Z:-1.80 [[-2.30634206e-02 9.99734002e-01 7.08714067e-05 -2.60665330e+02] [ 9.99651478e-01 2.30624276e-02 -1.28470894e-02 -2.71563377e+02] [-1.28453066e-02 -2.25451120e-04 -9.99917470e-01 -1.80061680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1006.146559995 meters 0.014921549602525052 Centerline is valid? [True, True] Translation: X:-260.66, Y:-271.56, Z:-1.80 [[-1.01321815e-01 9.94853093e-01 1.10129238e-03 -2.60661682e+02] [ 9.94766999e-01 1.01327537e-01 -1.30899914e-02 -2.71563058e+02] [-1.31342097e-02 -2.30772374e-04 -9.99913716e-01 -1.80017565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1006.1765599949999 meters 0.014279216668479106 Centerline is valid? [True, True] Translation: X:-260.66, Y:-271.56, Z:-1.80 [[-1.79157946e-01 9.83817838e-01 2.21187860e-03 -2.60655248e+02] [ 9.83725212e-01 1.79171435e-01 -1.35019888e-02 -2.71560973e+02] [-1.36798029e-02 -2.43107842e-04 -9.99906398e-01 -1.80157880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1006.2065599949999 meters 0.014745052197101064 Centerline is valid? [True, True] Translation: X:-260.65, Y:-271.56, Z:-1.80 [[-2.56501019e-01 9.66538339e-01 3.29647609e-03 -2.60647290e+02] [ 9.66445149e-01 2.56522072e-01 -1.34238971e-02 -2.71558792e+02] [-1.38203301e-02 -2.57379967e-04 -9.99904462e-01 -1.80131641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1006.236559995 meters 0.015219171099080999 Centerline is valid? [True, True] Translation: X:-260.64, Y:-271.56, Z:-1.80 [[-3.33710793e-01 9.42665635e-01 4.31349744e-03 -2.60641103e+02] [ 9.42575336e-01 3.33738545e-01 -1.30506456e-02 -2.71556077e+02] [-1.37419755e-02 -2.89345006e-04 -9.99905533e-01 -1.80208167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1006.266559995 meters 0.015693220765854055 Centerline is valid? [True, True] Translation: X:-260.63, Y:-271.55, Z:-1.80 [[-4.07880790e-01 9.13020066e-01 5.25550451e-03 -2.60634198e+02] [ 9.12934364e-01 4.07914532e-01 -1.25133059e-02 -2.71552100e+02] [-1.35686961e-02 -3.06006429e-04 -9.99907894e-01 -1.80206684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1006.2965599949999 meters 0.016623298497815766 Centerline is valid? [True, True] Translation: X:-260.63, Y:-271.55, Z:-1.80 [[-4.79415611e-01 8.77567262e-01 6.03089757e-03 -2.60626926e+02] [ 8.77489372e-01 4.79453440e-01 -1.16962525e-02 -2.71549484e+02] [-1.31557829e-02 -3.15317532e-04 -9.99913409e-01 -1.80184791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1006.3265599949999 meters 0.016786966052039335 Centerline is valid? [True, True] Translation: X:-260.62, Y:-271.55, Z:-1.80 [[-5.48682247e-01 8.36006947e-01 6.33845351e-03 -2.60622642e+02] [ 8.35944344e-01 5.48718765e-01 -1.02357613e-02 -2.71545594e+02] [-1.20351960e-02 -3.17586170e-04 -9.99927524e-01 -1.80333153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1006.3565599949999 meters 0.01702775046383434 Centerline is valid? [True, True] Translation: X:-260.62, Y:-271.54, Z:-1.80 [[-6.13061270e-01 7.90003975e-01 7.04274072e-03 -2.60617743e+02] [ 7.89945693e-01 6.13101636e-01 -9.60136059e-03 -2.71541208e+02] [-1.19030289e-02 -3.22839615e-04 -9.99929104e-01 -1.80367538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1006.386559995 meters 0.020323362334357636 Centerline is valid? [True, True] Translation: X:-260.61, Y:-271.54, Z:-1.80 [[-6.74233632e-01 7.38476904e-01 7.80203822e-03 -2.60610445e+02] [ 7.38421491e-01 6.74278685e-01 -9.05304789e-03 -2.71535153e+02] [-1.19462148e-02 -3.42676658e-04 -9.99928583e-01 -1.80173962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1006.416559995 meters 0.01935394018466302 Centerline is valid? [True, True] Translation: X:-260.61, Y:-271.53, Z:-1.80 [[-7.30595580e-01 6.82756646e-01 8.57094233e-03 -2.60610582e+02] [ 6.82703861e-01 7.30645766e-01 -8.49721965e-03 -2.71534870e+02] [-1.20638559e-02 -3.56615698e-04 -9.99927166e-01 -1.80253932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1006.4465599949999 meters 0.018825898095598766 Centerline is valid? [True, True] Translation: X:-260.16, Y:-271.08, Z:-2.78 [[-6.38107259e-01 -7.69904306e-01 8.15388182e-03 -2.60162937e+02] [ 7.69848919e-01 -6.38159241e-01 -9.24259657e-03 -2.71081341e+02] [ 1.23193899e-02 3.79489140e-04 9.99924042e-01 -2.78025483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1006.4765599949999 meters 0.018686229972345866 Centerline is valid? [True, True] Translation: X:-260.18, Y:-271.06, Z:-2.78 [[-6.37639956e-01 -7.70292972e-01 8.00148271e-03 -2.60180417e+02] [ 7.70239630e-01 -6.37690046e-01 -9.07293434e-03 -2.71059759e+02] [ 1.20912834e-02 3.77793631e-04 9.99926827e-01 -2.77995964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1006.506559995 meters 0.019122117392030114 Centerline is valid? [True, True] Translation: X:-260.20, Y:-271.04, Z:-2.78 [[-6.36138840e-01 -7.71531256e-01 8.17906067e-03 -2.60198228e+02] [ 7.71475687e-01 -6.36191284e-01 -9.26904224e-03 -2.71038094e+02] [ 1.23548029e-02 4.13548675e-04 9.99923591e-01 -2.77995015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1006.536559995 meters 0.021593988976839586 Centerline is valid? [True, True] Translation: X:-260.22, Y:-271.02, Z:-2.78 [[-6.35516370e-01 -7.72043096e-01 8.27050727e-03 -2.60218101e+02] [ 7.71986368e-01 -6.35570038e-01 -9.36879717e-03 -2.71020228e+02] [ 1.24896018e-02 4.30694897e-04 9.99921909e-01 -2.78116767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1006.5665599949999 meters 0.021219385146868455 Centerline is valid? [True, True] Translation: X:-260.23, Y:-271.00, Z:-2.78 [[-6.34485262e-01 -7.72893341e-01 8.02098853e-03 -2.60234561e+02] [ 7.72840113e-01 -6.34535809e-01 -9.08111207e-03 -2.70997678e+02] [ 1.21083355e-02 4.37109910e-04 9.99926596e-01 -2.78012944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1006.5965599949999 meters 0.021235837794042076 Centerline is valid? [True, True] Translation: X:-260.25, Y:-270.98, Z:-2.78 [[-6.34572250e-01 -7.72825462e-01 7.67237847e-03 -2.60251619e+02] [ 7.72776818e-01 -6.34618491e-01 -8.68099521e-03 -2.70976972e+02] [ 1.15779274e-02 4.20317561e-04 9.99932885e-01 -2.77964811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1006.626559995 meters 0.020736969185578633 Centerline is valid? [True, True] Translation: X:-260.27, Y:-270.96, Z:-2.78 [[-6.34524585e-01 -7.72867492e-01 7.37499179e-03 -2.60268041e+02] [ 7.72822609e-01 -6.34567312e-01 -8.33924442e-03 -2.70955717e+02] [ 1.11250596e-02 4.08104787e-04 9.99938031e-01 -2.77874694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1006.656559995 meters 0.021652632802902742 Centerline is valid? [True, True] Translation: X:-260.29, Y:-270.94, Z:-2.78 [[-6.34700513e-01 -7.72726404e-01 7.01175538e-03 -2.60286187e+02] [ 7.72685879e-01 -6.34739123e-01 -7.92328424e-03 -2.70936112e+02] [ 1.05731664e-02 3.88971798e-04 9.99944027e-01 -2.77880314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1006.6865599949999 meters 0.019865396696704413 Centerline is valid? [True, True] Translation: X:-260.30, Y:-270.91, Z:-2.78 [[-6.34974671e-01 -7.72510026e-01 5.95205396e-03 -2.60301872e+02] [ 7.72480850e-01 -6.35002481e-01 -6.72196900e-03 -2.70911961e+02] [ 8.97235748e-03 3.29567650e-04 9.99959693e-01 -2.77728384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1006.7165599949999 meters 0.020631982621076208 Centerline is valid? [True, True] Translation: X:-260.32, Y:-270.89, Z:-2.78 [[-6.35447747e-01 -7.72122541e-01 5.73965464e-03 -2.60319776e+02] [ 7.72095432e-01 -6.35473589e-01 -6.47772682e-03 -2.70892492e+02] [ 8.64899783e-03 3.15304223e-04 9.99962547e-01 -2.77726326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1006.746559995 meters 0.019647965260372886 Centerline is valid? [True, True] Translation: X:-260.34, Y:-270.87, Z:-2.78 [[-6.36073657e-01 -7.71607916e-01 5.61496843e-03 -2.60337294e+02] [ 7.71581981e-01 -6.36098367e-01 -6.33361437e-03 -2.70869891e+02] [ 8.45873923e-03 3.03763204e-04 9.99964178e-01 -2.77701414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1006.776559995 meters 0.020798951933261128 Centerline is valid? [True, True] Translation: X:-260.36, Y:-270.85, Z:-2.78 [[-6.37463276e-01 -7.70461580e-01 5.43373559e-03 -2.60356242e+02] [ 7.70437278e-01 -6.37486372e-01 -6.12580209e-03 -2.70850363e+02] [ 8.18362755e-03 2.81378586e-04 9.99966474e-01 -2.77850760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1006.8065599949999 meters 0.019578232912319755 Centerline is valid? [True, True] Translation: X:-260.37, Y:-270.83, Z:-2.78 [[-6.38290101e-01 -7.69774718e-01 5.71230948e-03 -2.60372644e+02] [ 7.69747868e-01 -6.38315596e-01 -6.43579780e-03 -2.70828439e+02] [ 8.60037066e-03 2.89132016e-04 9.99962974e-01 -2.77858725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1006.8365599949999 meters 0.019578232912319755 Centerline is valid? [True, True] Translation: X:-260.39, Y:-270.81, Z:-2.78 [[-6.38530575e-01 -7.69575241e-01 5.71432004e-03 -2.60390499e+02] [ 7.69548399e-01 -6.38556078e-01 -6.43401270e-03 -2.70808489e+02] [ 8.60037066e-03 2.89132009e-04 9.99962974e-01 -2.77858761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1006.866559995 meters 0.019479017122035324 Centerline is valid? [True, True] Translation: X:-260.41, Y:-270.79, Z:-2.78 [[-6.39269904e-01 -7.68959258e-01 5.97074598e-03 -2.60408270e+02] [ 7.68929964e-01 -6.39297718e-01 -6.71851451e-03 -2.70787517e+02] [ 8.98334821e-03 2.96141365e-04 9.99959605e-01 -2.77886305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1006.896559995 meters 0.020496212459622225 Centerline is valid? [True, True] Translation: X:-260.43, Y:-270.77, Z:-2.78 [[-6.40014022e-01 -7.68338858e-01 6.11970962e-03 -2.60426605e+02] [ 7.68308098e-01 -6.40043210e-01 -6.88160622e-03 -2.70768127e+02] [ 9.20428405e-03 2.97497983e-04 9.99957596e-01 -2.77965998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1006.9265599949999 meters 0.019865813730338428 Centerline is valid? [True, True] Translation: X:-260.44, Y:-270.75, Z:-2.78 [[-6.40241731e-01 -7.68147490e-01 6.32136261e-03 -2.60443767e+02] [ 7.68114701e-01 -6.40272864e-01 -7.10395984e-03 -2.70747295e+02] [ 9.50428586e-03 3.07280006e-04 9.99954786e-01 -2.77970833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1006.9565599949999 meters 0.019076954866689474 Centerline is valid? [True, True] Translation: X:-260.46, Y:-270.73, Z:-2.78 [[-6.40183186e-01 -7.68194797e-01 6.49937266e-03 -2.60461164e+02] [ 7.68160183e-01 -6.40216098e-01 -7.29937246e-03 -2.70726131e+02] [ 9.76834295e-03 3.19623773e-04 9.99952238e-01 -2.78008793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1006.986559995 meters 0.019226610238323668 Centerline is valid? [True, True] Translation: X:-260.48, Y:-270.71, Z:-2.78 [[-6.39470619e-01 -7.68782189e-01 7.16052164e-03 -2.60480233e+02] [ 7.68740261e-01 -6.39510604e-01 -8.03732692e-03 -2.70705743e+02] [ 1.07581833e-02 3.64946851e-04 9.99942063e-01 -2.78148558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1007.016559995 meters 0.019513883230067332 Centerline is valid? [True, True] Translation: X:-260.50, Y:-270.68, Z:-2.78 [[-6.39394458e-01 -7.68841667e-01 7.56425607e-03 -2.60499361e+02] [ 7.68794936e-01 -6.39439082e-01 -8.48568646e-03 -2.70684952e+02] [ 1.13610303e-02 3.89660869e-04 9.99935386e-01 -2.78278703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1007.0465599949999 meters 0.020448440823584095 Centerline is valid? [True, True] Translation: X:-260.52, Y:-270.67, Z:-2.78 [[-6.39369244e-01 -7.68856269e-01 8.18577885e-03 -2.60518473e+02] [ 7.68801612e-01 -6.39421501e-01 -9.17744849e-03 -2.70665308e+02] [ 1.22903018e-02 4.25461672e-04 9.99924381e-01 -2.78373536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1007.0765599949999 meters 0.019443839434388474 Centerline is valid? [True, True] Translation: X:-260.53, Y:-270.64, Z:-2.78 [[-6.40249820e-01 -7.68117268e-01 8.71952853e-03 -2.60534434e+02] [ 7.68055263e-01 -6.40309040e-01 -9.76964867e-03 -2.70642535e+02] [ 1.30874288e-02 4.42063973e-04 9.99914258e-01 -2.78375219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1007.1065599949999 meters 0.018877806514383935 Centerline is valid? [True, True] Translation: X:-260.55, Y:-270.62, Z:-2.78 [[-6.41039938e-01 -7.67459476e-01 8.58779993e-03 -2.60551549e+02] [ 7.67399342e-01 -6.41097318e-01 -9.61657734e-03 -2.70620572e+02] [ 1.28859489e-02 4.25661871e-04 9.99916882e-01 -2.78300029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1007.136559995 meters 0.019979881986416557 Centerline is valid? [True, True] Translation: X:-260.57, Y:-270.60, Z:-2.78 [[-6.41808880e-01 -7.66819314e-01 8.33673544e-03 -2.60569728e+02] [ 7.66762669e-01 -6.41862895e-01 -9.32919229e-03 -2.70601773e+02] [ 1.25048460e-02 4.04739062e-04 9.99921730e-01 -2.78295166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1007.166559995 meters 0.017987831961246967 Centerline is valid? [True, True] Translation: X:-260.59, Y:-270.58, Z:-2.78 [[-6.42553200e-01 -7.66201553e-01 7.78240508e-03 -2.60585734e+02] [ 7.66152204e-01 -6.42600220e-01 -8.70385104e-03 -2.70578426e+02] [ 1.16698794e-02 3.69819466e-04 9.99931836e-01 -2.78079095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1007.1965599949999 meters 0.018011717279185817 Centerline is valid? [True, True] Translation: X:-260.60, Y:-270.56, Z:-2.78 [[-6.43674098e-01 -7.65268427e-01 6.92031702e-03 -2.60603120e+02] [ 7.65229397e-01 -6.43711220e-01 -7.73532387e-03 -2.70557885e+02] [ 1.03742848e-02 3.16602401e-04 9.99946136e-01 -2.77945909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1007.2265599949999 meters 0.017645030486744834 Centerline is valid? [True, True] Translation: X:-260.62, Y:-270.54, Z:-2.78 [[-6.44206737e-01 -7.64824865e-01 6.37237512e-03 -2.60620892e+02] [ 7.64791788e-01 -6.44238189e-01 -7.11877703e-03 -2.70536700e+02] [ 9.54994508e-03 2.87576040e-04 9.99954357e-01 -2.77877806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1007.256559995 meters 0.018486742446914655 Centerline is valid? [True, True] Translation: X:-260.64, Y:-270.52, Z:-2.78 [[-6.44747808e-01 -7.64371258e-01 6.06998451e-03 -2.60639471e+02] [ 7.64341257e-01 -6.44776323e-01 -6.77760925e-03 -2.70518249e+02] [ 9.09439200e-03 2.69690883e-04 9.99958609e-01 -2.77897269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1007.286559995 meters 0.017427839735929113 Centerline is valid? [True, True] Translation: X:-260.66, Y:-270.50, Z:-2.78 [[-6.45468085e-01 -7.63761781e-01 6.23644493e-03 -2.60656360e+02] [ 7.63730125e-01 -6.45498155e-01 -6.95902682e-03 -2.70496234e+02] [ 9.34065242e-03 2.71131154e-04 9.99956339e-01 -2.77889614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1007.3165599949999 meters 0.017390374434463108 Centerline is valid? [True, True] Translation: X:-260.67, Y:-270.48, Z:-2.78 [[-6.45987965e-01 -7.63317944e-01 6.72798086e-03 -2.60674446e+02] [ 7.63281125e-01 -6.46022936e-01 -7.50273342e-03 -2.70475876e+02] [ 1.00734010e-02 2.88665303e-04 9.99949221e-01 -2.77944759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1007.3465599949999 meters 0.01714854720892274 Centerline is valid? [True, True] Translation: X:-260.69, Y:-270.45, Z:-2.78 [[-6.46285788e-01 -7.63059752e-01 7.38208792e-03 -2.60692391e+02] [ 7.63015464e-01 -6.46327870e-01 -8.22716878e-03 -2.70454912e+02] [ 1.10490705e-02 3.15544978e-04 9.99938908e-01 -2.77968889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1007.376559995 meters 0.01756302008365418 Centerline is valid? [True, True] Translation: X:-260.71, Y:-270.44, Z:-2.78 [[-6.46572625e-01 -7.62809610e-01 8.08334094e-03 -2.60711268e+02] [ 7.62756554e-01 -6.46623060e-01 -9.00326158e-03 -2.70435170e+02] [ 1.20946491e-02 3.44358810e-04 9.99926798e-01 -2.78078396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1007.406559995 meters 0.01773464284026275 Centerline is valid? [True, True] Translation: X:-260.73, Y:-270.41, Z:-2.78 [[-6.46121418e-01 -7.63182366e-01 8.93254150e-03 -2.60730341e+02] [ 7.63117687e-01 -6.46183041e-01 -9.94350038e-03 -2.70414685e+02] [ 1.33607610e-02 3.91871845e-04 9.99910664e-01 -2.78125935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1007.4365599949999 meters 0.01783805346239605 Centerline is valid? [True, True] Translation: X:-260.75, Y:-270.39, Z:-2.78 [[-6.46132592e-01 -7.63168508e-01 9.30063508e-03 -2.60749411e+02] [ 7.63098478e-01 -6.46199396e-01 -1.03467035e-02 -2.70394809e+02] [ 1.39063430e-02 4.11958123e-04 9.99903217e-01 -2.78146106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1007.4665599949999 meters 0.0184403301212228 Centerline is valid? [True, True] Translation: X:-260.77, Y:-270.38, Z:-2.78 [[-6.46187401e-01 -7.63123198e-01 9.21014686e-03 -2.60768612e+02] [ 7.63054613e-01 -6.46252903e-01 -1.02392538e-02 -2.70376145e+02] [ 1.37658962e-02 4.11368279e-04 9.99905161e-01 -2.78178077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1007.496559995 meters 0.01881028962962923 Centerline is valid? [True, True] Translation: X:-260.79, Y:-270.36, Z:-2.78 [[-6.45779052e-01 -7.63476385e-01 8.55717976e-03 -2.60787853e+02] [ 7.63417287e-01 -6.45835625e-01 -9.50739447e-03 -2.70357078e+02] [ 1.27852027e-02 3.93022772e-04 9.99918189e-01 -2.78088132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1007.526559995 meters 0.01886210662762457 Centerline is valid? [True, True] Translation: X:-260.81, Y:-270.34, Z:-2.78 [[-6.45618900e-01 -7.63612201e-01 8.52303586e-03 -2.60806458e+02] [ 7.63553661e-01 -6.45675033e-01 -9.46354702e-03 -2.70336916e+02] [ 1.27295914e-02 3.97950415e-04 9.99918896e-01 -2.77988731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1007.5565599949999 meters 0.019226638667677366 Centerline is valid? [True, True] Translation: X:-260.82, Y:-270.32, Z:-2.78 [[-6.45758171e-01 -7.63498990e-01 8.10414859e-03 -2.60824853e+02] [ 7.63446106e-01 -6.45808911e-01 -8.99409405e-03 -2.70317716e+02] [ 1.21007131e-02 3.79070965e-04 9.99926712e-01 -2.77973043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1007.5865599949999 meters 0.02015622841974482 Centerline is valid? [True, True] Translation: X:-260.84, Y:-270.30, Z:-2.78 [[-6.45463122e-01 -7.63751738e-01 7.78727858e-03 -2.60843541e+02] [ 7.63702979e-01 -6.45509988e-01 -8.63800376e-03 -2.70299921e+02] [ 1.16240565e-02 3.71654977e-04 9.99932369e-01 -2.77980462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1007.616559995 meters 0.01819144583754814 Centerline is valid? [True, True] Translation: X:-260.86, Y:-270.28, Z:-2.78 [[-6.45734617e-01 -7.63520924e-01 7.91225687e-03 -2.60860575e+02] [ 7.63470629e-01 -6.45782980e-01 -8.77163727e-03 -2.70276847e+02] [ 1.18069294e-02 3.76625894e-04 9.99930225e-01 -2.77852098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1007.646559995 meters 0.02062743278488659 Centerline is valid? [True, True] Translation: X:-260.88, Y:-270.26, Z:-2.78 [[-6.45902113e-01 -7.63378205e-01 8.01106068e-03 -2.60881172e+02] [ 7.63326688e-01 -6.45951679e-01 -8.87677837e-03 -2.70260632e+02] [ 1.19510972e-02 3.81526503e-04 9.99928510e-01 -2.78006072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1007.6765599949999 meters 0.021104636010087052 Centerline is valid? [True, True] Translation: X:-260.90, Y:-270.24, Z:-2.78 [[-6.46207016e-01 -7.63121524e-01 7.87611023e-03 -2.60900975e+02] [ 7.63071770e-01 -6.46254904e-01 -8.72204418e-03 -2.70242486e+02] [ 1.17459545e-02 3.73791231e-04 9.99930944e-01 -2.78061134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1007.7065599949999 meters 0.02145240428131205 Centerline is valid? [True, True] Translation: X:-260.92, Y:-270.22, Z:-2.78 [[-6.46297918e-01 -7.63041921e-01 8.12572583e-03 -2.60919607e+02] [ 7.62989007e-01 -6.46348882e-01 -8.99434056e-03 -2.70223790e+02] [ 1.21151127e-02 3.86815901e-04 9.99926535e-01 -2.78093029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1007.736559995 meters 0.02155269324731113 Centerline is valid? [True, True] Translation: X:-260.94, Y:-270.20, Z:-2.78 [[-6.46489205e-01 -7.62877339e-01 8.35898351e-03 -2.60938546e+02] [ 7.62821398e-01 -6.46543120e-01 -9.24709660e-03 -2.70204159e+02] [ 1.24588437e-02 3.98263355e-04 9.99922306e-01 -2.78098322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1007.766559995 meters 0.02221074974146217 Centerline is valid? [True, True] Translation: X:-260.96, Y:-270.19, Z:-2.78 [[-6.46274269e-01 -7.63056394e-01 8.63186050e-03 -2.60957769e+02] [ 7.62996812e-01 -6.46331776e-01 -9.54463297e-03 -2.70186409e+02] [ 1.28621389e-02 4.17631348e-04 9.99917192e-01 -2.78139053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1007.7965599949999 meters 0.01838256695525256 Centerline is valid? [True, True] Translation: X:-260.97, Y:-270.16, Z:-2.78 [[-6.46332420e-01 -7.63006442e-01 8.69327819e-03 -2.60972887e+02] [ 7.62946075e-01 -6.46390742e-01 -9.60707094e-03 -2.70161910e+02] [ 1.29495116e-02 4.23141061e-04 9.99916062e-01 -2.77908223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1007.8265599949999 meters 0.019168414572611113 Centerline is valid? [True, True] Translation: X:-260.99, Y:-270.14, Z:-2.78 [[-6.46574229e-01 -7.62803031e-01 8.56166213e-03 -2.60992101e+02] [ 7.62744542e-01 -6.46630777e-01 -9.45527838e-03 -2.70143491e+02] [ 1.27487492e-02 4.16821732e-04 9.99918645e-01 -2.77955380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1007.8565599949999 meters 0.019390890986857645 Centerline is valid? [True, True] Translation: X:-261.01, Y:-270.12, Z:-2.78 [[-6.46749507e-01 -7.62655687e-01 8.44856773e-03 -2.61010557e+02] [ 7.62598797e-01 -6.46804556e-01 -9.32421847e-03 -2.70124651e+02] [ 1.25757403e-02 4.12433895e-04 9.99920837e-01 -2.77925441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1007.886559995 meters 0.01880708052519847 Centerline is valid? [True, True] Translation: X:-261.03, Y:-270.10, Z:-2.78 [[-6.47640193e-01 -7.61904322e-01 7.99901370e-03 -2.61029813e+02] [ 7.61853328e-01 -6.47689478e-01 -8.82314021e-03 -2.70104238e+02] [ 1.19032657e-02 3.79854975e-04 9.99929082e-01 -2.77890969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1007.916559995 meters 0.020251669940158635 Centerline is valid? [True, True] Translation: X:-261.05, Y:-270.09, Z:-2.78 [[-6.48682423e-01 -7.61020529e-01 7.67260838e-03 -2.61050441e+02] [ 7.60973589e-01 -6.48727702e-01 -8.45964400e-03 -2.70085997e+02] [ 1.14153964e-02 3.51029972e-04 9.99934781e-01 -2.77993736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1007.9465599949999 meters 0.01760689903216064 Centerline is valid? [True, True] Translation: X:-261.07, Y:-270.06, Z:-2.78 [[-6.51602039e-01 -7.58524521e-01 7.43870277e-03 -2.61066551e+02] [ 7.58480288e-01 -6.51644428e-01 -8.19711871e-03 -2.70062636e+02] [ 1.10651048e-02 3.00850156e-04 9.99938735e-01 -2.77862105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1007.9765599949999 meters 0.015836042967755277 Centerline is valid? [True, True] Translation: X:-261.08, Y:-270.04, Z:-2.78 [[-6.53485524e-01 -7.56908791e-01 6.76404039e-03 -2.61083418e+02] [ 7.56872174e-01 -6.53520481e-01 -7.44944394e-03 -2.70040201e+02] [ 1.00589885e-02 2.51410184e-04 9.99949376e-01 -2.77744631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1008.006559995 meters 0.016159732532163514 Centerline is valid? [True, True] Translation: X:-261.10, Y:-270.02, Z:-2.78 [[-6.55500693e-01 -7.55168858e-01 6.23198885e-03 -2.61102215e+02] [ 7.55137730e-01 -6.55530283e-01 -6.85977758e-03 -2.70020517e+02] [ 9.26554781e-03 2.09420959e-04 9.99957052e-01 -2.77779986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1008.036559995 meters 0.014737244388199736 Centerline is valid? [True, True] Translation: X:-261.12, Y:-270.00, Z:-2.78 [[-6.57277584e-01 -7.53626128e-01 5.81695193e-03 -2.61119319e+02] [ 7.53598979e-01 -6.57303300e-01 -6.39932567e-03 -2.69997860e+02] [ 8.64620073e-03 1.77515712e-04 9.99962605e-01 -2.77652045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1008.0665599949999 meters 0.014510703316179511 Centerline is valid? [True, True] Translation: X:-261.14, Y:-269.98, Z:-2.78 [[-6.60444942e-01 -7.50854241e-01 5.51245608e-03 -2.61137254e+02] [ 7.50829789e-01 -6.60467933e-01 -6.06111235e-03 -2.69977544e+02] [ 8.19181238e-03 1.35885237e-04 9.99966437e-01 -2.77641547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1008.0965599949999 meters 0.0130236342726094 Centerline is valid? [True, True] Translation: X:-261.15, Y:-269.96, Z:-2.78 [[-6.63393277e-01 -7.48246711e-01 6.01829779e-03 -2.61153924e+02] [ 7.48217492e-01 -6.63420565e-01 -6.61355222e-03 -2.69955084e+02] [ 8.94123122e-03 1.15609606e-04 9.99960020e-01 -2.77608506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1008.126559995 meters 0.0130236342726094 Centerline is valid? [True, True] Translation: X:-261.17, Y:-269.93, Z:-2.78 [[-6.63604526e-01 -7.48059350e-01 6.02016504e-03 -2.61172542e+02] [ 7.48030138e-01 -6.63631823e-01 -6.61185255e-03 -2.69934729e+02] [ 8.94123122e-03 1.15609610e-04 9.99960020e-01 -2.77608543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1008.156559995 meters 0.012801786108682442 Centerline is valid? [True, True] Translation: X:-261.19, Y:-269.91, Z:-2.78 [[-6.65892372e-01 -7.46015980e-01 6.89249121e-03 -2.61191260e+02] [ 7.45977624e-01 -6.65928034e-01 -7.56560711e-03 -2.69913635e+02] [ 1.02339669e-02 1.03764148e-04 9.99947626e-01 -2.77708841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1008.1865599949999 meters 0.01290018264254235 Centerline is valid? [True, True] Translation: X:-261.21, Y:-269.89, Z:-2.78 [[-6.67217441e-01 -7.44826992e-01 7.32380798e-03 -2.61209843e+02] [ 7.44783666e-01 -6.67257629e-01 -8.03423654e-03 -2.69894465e+02] [ 1.08709830e-02 9.40698048e-05 9.99940905e-01 -2.77850388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1008.2165599949999 meters 0.01281328798828533 Centerline is valid? [True, True] Translation: X:-261.23, Y:-269.88, Z:-2.78 [[-6.68414439e-01 -7.43746989e-01 7.90908082e-03 -2.61227914e+02] [ 7.43696451e-01 -6.68461225e-01 -8.67065027e-03 -2.69875312e+02] [ 1.17356839e-02 8.63674962e-05 9.99931131e-01 -2.77906815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1008.246559995 meters 0.012729092845907477 Centerline is valid? [True, True] Translation: X:-261.25, Y:-269.86, Z:-2.78 [[-6.70681598e-01 -7.41702868e-01 7.94039488e-03 -2.61245430e+02] [ 7.41651851e-01 -6.70728598e-01 -8.69943882e-03 -2.69855688e+02] [ 1.17782487e-02 5.44550281e-05 9.99930633e-01 -2.78008653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1008.276559995 meters 0.012446919422874542 Centerline is valid? [True, True] Translation: X:-261.26, Y:-269.84, Z:-2.78 [[-6.71990019e-01 -7.40517969e-01 7.90898124e-03 -2.61263294e+02] [ 7.40467336e-01 -6.72036559e-01 -8.65960129e-03 -2.69835377e+02] [ 1.17277149e-02 3.71766319e-05 9.99931227e-01 -2.77836908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1008.3065599949999 meters 0.012489019985488816 Centerline is valid? [True, True] Translation: X:-261.28, Y:-269.82, Z:-2.78 [[-6.74025093e-01 -7.38671989e-01 7.33938551e-03 -2.61281798e+02] [ 7.38628331e-01 -6.74065051e-01 -8.03092052e-03 -2.69815370e+02] [ 1.08794393e-02 8.03611567e-06 9.99940817e-01 -2.77812293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1008.3365599949999 meters 0.012345265347191433 Centerline is valid? [True, True] Translation: X:-261.30, Y:-269.79, Z:-2.78 [[-6.74788066e-01 -7.37976545e-01 7.18925967e-03 -2.61300344e+02] [ 7.37934668e-01 -6.74826363e-01 -7.86170480e-03 -2.69794822e+02] [ 1.06532557e-02 2.19367752e-07 9.99943253e-01 -2.77724243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1008.366559995 meters 0.01233482389076191 Centerline is valid? [True, True] Translation: X:-261.32, Y:-269.77, Z:-2.78 [[-6.75661095e-01 -7.37179766e-01 6.93383715e-03 -2.61319174e+02] [ 7.37140814e-01 -6.75696672e-01 -7.57811486e-03 -2.69774412e+02] [ 1.02716036e-02 -9.02302391e-06 9.99947246e-01 -2.77659204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1008.396559995 meters 0.012391541326884461 Centerline is valid? [True, True] Translation: X:-261.34, Y:-269.75, Z:-2.78 [[-6.76357736e-01 -7.36540955e-01 6.90184882e-03 -2.61338818e+02] [ 7.36502371e-01 -6.76392949e-01 -7.53891979e-03 -2.69754018e+02] [ 1.02210851e-02 -1.57786940e-05 9.99947763e-01 -2.77656046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1008.4265599949999 meters 0.012333062498898345 Centerline is valid? [True, True] Translation: X:-261.36, Y:-269.74, Z:-2.78 [[-6.77060006e-01 -7.35895568e-01 6.88921499e-03 -2.61358010e+02] [ 7.35857143e-01 -6.77095054e-01 -7.52013877e-03 -2.69736094e+02] [ 1.01986902e-02 -2.21071414e-05 9.99947992e-01 -2.77712980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1008.4565599949999 meters 0.01231895454482662 Centerline is valid? [True, True] Translation: X:-261.38, Y:-269.72, Z:-2.78 [[-6.77028709e-01 -7.35923503e-01 6.98033880e-03 -2.61377334e+02] [ 7.35884106e-01 -6.77064693e-01 -7.61482130e-03 -2.69717182e+02] [ 1.03300669e-02 -1.87322615e-05 9.99946643e-01 -2.77721651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1008.486559995 meters 0.012288286840477319 Centerline is valid? [True, True] Translation: X:-261.40, Y:-269.70, Z:-2.78 [[-6.76913389e-01 -7.36027178e-01 7.22885361e-03 -2.61396005e+02] [ 7.35984987e-01 -6.76951987e-01 -7.88073843e-03 -2.69699331e+02] [ 1.06940245e-02 -1.42496299e-05 9.99942817e-01 -2.77738687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1008.516559995 meters 0.012288978859478104 Centerline is valid? [True, True] Translation: X:-261.42, Y:-269.68, Z:-2.78 [[-6.76539262e-01 -7.36370889e-01 7.24849112e-03 -2.61416738e+02] [ 7.36328536e-01 -6.76578091e-01 -7.89772027e-03 -2.69679834e+02] [ 1.07198216e-02 -5.84698793e-06 9.99942541e-01 -2.77725019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1008.5465599949999 meters 0.012196244907385733 Centerline is valid? [True, True] Translation: X:-261.44, Y:-269.66, Z:-2.78 [[-6.75317348e-01 -7.37492069e-01 7.20611346e-03 -2.61437391e+02] [ 7.37450328e-01 -6.75355794e-01 -7.84636067e-03 -2.69663275e+02] [ 1.06533192e-02 1.53672559e-05 9.99943252e-01 -2.77772459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1008.5765599949999 meters 0.01221540546320003 Centerline is valid? [True, True] Translation: X:-261.46, Y:-269.64, Z:-2.78 [[-6.74940875e-01 -7.37838635e-01 6.99737767e-03 -2.61457574e+02] [ 7.37799346e-01 -6.74977146e-01 -7.61430766e-03 -2.69644437e+02] [ 1.03412004e-02 2.34531930e-05 9.99946528e-01 -2.77769370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1008.6065599949999 meters 0.012123415519661037 Centerline is valid? [True, True] Translation: X:-261.48, Y:-269.63, Z:-2.78 [[-6.74801019e-01 -7.37968748e-01 6.76107890e-03 -2.61477760e+02] [ 7.37932119e-01 -6.74834889e-01 -7.35258725e-03 -2.69625453e+02] [ 9.98859153e-03 2.76839136e-05 9.99950113e-01 -2.77766784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1008.636559995 meters 0.012145367500790188 Centerline is valid? [True, True] Translation: X:-261.50, Y:-269.61, Z:-2.78 [[-6.74578386e-01 -7.38177854e-01 6.12025060e-03 -2.61498429e+02] [ 7.38147886e-01 -6.74606148e-01 -6.65151951e-03 -2.69607535e+02] [ 9.03876307e-03 3.06787497e-05 9.99959149e-01 -2.77734759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1008.666559995 meters 0.012059862256537606 Centerline is valid? [True, True] Translation: X:-261.52, Y:-269.59, Z:-2.78 [[-6.74681784e-01 -7.38086020e-01 5.78945404e-03 -2.61517935e+02] [ 7.38059235e-01 -6.74706623e-01 -6.28805212e-03 -2.69587880e+02] [ 8.54730634e-03 3.05257892e-05 9.99963471e-01 -2.77709457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1008.6965599949999 meters 0.012049816699895658 Centerline is valid? [True, True] Translation: X:-261.54, Y:-269.57, Z:-2.78 [[-6.74953689e-01 -7.37842763e-01 5.05721289e-03 -2.61537553e+02] [ 7.37822338e-01 -6.74972634e-01 -5.49008323e-03 -2.69570424e+02] [ 7.46429848e-03 2.57727134e-05 9.99972142e-01 -2.77694264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1008.7265599949999 meters 0.012049816699895658 Centerline is valid? [True, True] Translation: X:-261.56, Y:-269.55, Z:-2.78 [[-6.75178985e-01 -7.37636595e-01 5.05888993e-03 -2.61555760e+02] [ 7.37616176e-01 -6.75197937e-01 -5.48853794e-03 -2.69550825e+02] [ 7.46429848e-03 2.57735665e-05 9.99972142e-01 -2.77694300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1008.756559995 meters 0.012021205688930647 Centerline is valid? [True, True] Translation: X:-261.58, Y:-269.53, Z:-2.78 [[-6.75338626e-01 -7.37493459e-01 4.59765935e-03 -2.61575278e+02] [ 7.37476611e-01 -6.75354275e-01 -4.98509162e-03 -2.69531974e+02] [ 6.78152136e-03 2.40413106e-05 9.99977005e-01 -2.77690986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1008.786559995 meters 0.011967332450964265 Centerline is valid? [True, True] Translation: X:-261.59, Y:-269.51, Z:-2.78 [[-6.75645220e-01 -7.37214806e-01 4.22679492e-03 -2.61594846e+02] [ 7.37200579e-01 -6.75658441e-01 -4.58016746e-03 -2.69512842e+02] [ 6.23243693e-03 2.14274080e-05 9.99980578e-01 -2.77670721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1008.8165599949999 meters 0.012003187188712511 Centerline is valid? [True, True] Translation: X:-261.61, Y:-269.49, Z:-2.78 [[-6.75966439e-01 -7.36920118e-01 4.25594299e-03 -2.61614094e+02] [ 7.36905705e-01 -6.75979837e-01 -4.60894207e-03 -2.69494040e+02] [ 6.27335378e-03 2.07385133e-05 9.99980322e-01 -2.77692297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1008.8465599949999 meters 0.011904698424018203 Centerline is valid? [True, True] Translation: X:-261.63, Y:-269.47, Z:-2.78 [[-6.76472438e-01 -7.36455877e-01 4.21682859e-03 -2.61634956e+02] [ 7.36441735e-01 -6.76485581e-01 -4.56402165e-03 -2.69474648e+02] [ 6.21382431e-03 1.80137046e-05 9.99980694e-01 -2.77651283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1008.876559995 meters 0.011980823119622388 Centerline is valid? [True, True] Translation: X:-261.65, Y:-269.46, Z:-2.78 [[-6.77004516e-01 -7.35965796e-01 4.38547375e-03 -2.61654096e+02] [ 7.35950510e-01 -6.77018720e-01 -4.74341519e-03 -2.69456053e+02] [ 6.46003916e-03 1.61781310e-05 9.99979134e-01 -2.77774864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1008.906559995 meters 0.011979246165717272 Centerline is valid? [True, True] Translation: X:-261.67, Y:-269.44, Z:-2.78 [[-6.77675420e-01 -7.35348325e-01 4.34358599e-03 -2.61672988e+02] [ 7.35333335e-01 -6.77689340e-01 -4.69530576e-03 -2.69436813e+02] [ 6.39628715e-03 1.20902634e-05 9.99979544e-01 -2.77810382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1008.9365599949999 meters 0.011929899155937977 Centerline is valid? [True, True] Translation: X:-261.69, Y:-269.42, Z:-2.78 [[-6.78552986e-01 -7.34533897e-01 5.07932766e-03 -2.61692502e+02] [ 7.34513401e-01 -6.78571996e-01 -5.48725841e-03 -2.69417563e+02] [ 7.47726682e-03 7.43866148e-06 9.99972045e-01 -2.77891386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1008.9665599949999 meters 0.011863082956940312 Centerline is valid? [True, True] Translation: X:-261.71, Y:-269.40, Z:-2.78 [[-6.78992159e-01 -7.34123875e-01 5.63779156e-03 -2.61712371e+02] [ 7.34098638e-01 -6.79015564e-01 -6.08714069e-03 -2.69397273e+02] [ 8.29686352e-03 5.57430872e-06 9.99965581e-01 -2.77922804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1008.996559995 meters 0.011930876306336574 Centerline is valid? [True, True] Translation: X:-261.73, Y:-269.38, Z:-2.78 [[-6.79276211e-01 -7.33858982e-01 5.90115766e-03 -2.61731449e+02] [ 7.33831355e-01 -6.79301844e-01 -6.36771062e-03 -2.69378197e+02] [ 8.68166891e-03 5.02018492e-06 9.99962314e-01 -2.78033254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1009.026559995 meters 0.011984671686905183 Centerline is valid? [True, True] Translation: X:-261.75, Y:-269.36, Z:-2.78 [[-6.79383770e-01 -7.33751649e-01 6.79793701e-03 -2.61751466e+02] [ 7.33715027e-01 -6.79417779e-01 -7.33080526e-03 -2.69360050e+02] [ 9.99762971e-03 7.31842965e-06 9.99950023e-01 -2.78122383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1009.0565599949999 meters 0.011904252782253795 Centerline is valid? [True, True] Translation: X:-261.77, Y:-269.34, Z:-2.78 [[-6.79376659e-01 -7.33756965e-01 6.93333801e-03 -2.61770792e+02] [ 7.33718918e-01 -6.79412037e-01 -7.47217187e-03 -2.69340865e+02] [ 1.01933515e-02 1.07020973e-05 9.99948047e-01 -2.78131040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1009.0865599949999 meters 0.012062390818613353 Centerline is valid? [True, True] Translation: X:-261.79, Y:-269.32, Z:-2.78 [[-6.79114462e-01 -7.33999367e-01 6.96249700e-03 -2.61790120e+02] [ 7.33961060e-01 -6.79150152e-01 -7.49895445e-03 -2.69321808e+02] [ 1.02328087e-02 1.75532528e-05 9.99947643e-01 -2.78129469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1009.116559995 meters 0.011918352732132412 Centerline is valid? [True, True] Translation: X:-261.81, Y:-269.30, Z:-2.78 [[-6.78403050e-01 -7.34663498e-01 6.23263092e-03 -2.61809591e+02] [ 7.34632869e-01 -6.78431680e-01 -6.70850180e-03 -2.69304394e+02] [ 9.15690566e-03 2.76274549e-05 9.99958074e-01 -2.78053054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1009.146559995 meters 0.011900514129758599 Centerline is valid? [True, True] Translation: X:-261.83, Y:-269.28, Z:-2.78 [[-6.78011826e-01 -7.35028145e-01 5.79574792e-03 -2.61829183e+02] [ 7.35001703e-01 -6.78036596e-01 -6.23471661e-03 -2.69284791e+02] [ 8.51242137e-03 3.26729919e-05 9.99963768e-01 -2.77946079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1009.1765599949999 meters 0.011980358784707348 Centerline is valid? [True, True] Translation: X:-261.85, Y:-269.27, Z:-2.78 [[-6.76898860e-01 -7.36061656e-01 4.60136366e-03 -2.61849667e+02] [ 7.36045033e-01 -6.76914498e-01 -4.94690341e-03 -2.69267062e+02] [ 6.75595569e-03 3.82575911e-05 9.99977178e-01 -2.77842293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1009.2065599949999 meters 0.012100365431560787 Centerline is valid? [True, True] Translation: X:-261.87, Y:-269.25, Z:-2.78 [[-6.76176109e-01 -7.36729904e-01 3.86231532e-03 -2.61868694e+02] [ 7.36718219e-01 -6.76187139e-01 -4.14961741e-03 -2.69249048e+02] [ 5.66879518e-03 3.95659108e-05 9.99983932e-01 -2.77790665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1009.236559995 meters 0.012153925004894366 Centerline is valid? [True, True] Translation: X:-261.89, Y:-269.23, Z:-2.78 [[-6.75186489e-01 -7.37638986e-01 3.45428465e-03 -2.61888610e+02] [ 7.37629662e-01 -6.75195323e-01 -3.70911738e-03 -2.69229213e+02] [ 5.06830642e-03 4.36368796e-05 9.99987155e-01 -2.77669326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1009.266559995 meters 0.01257236920520042 Centerline is valid? [True, True] Translation: X:-261.91, Y:-269.21, Z:-2.78 [[-6.74044211e-01 -7.38683868e-01 3.24728762e-03 -2.61908923e+02] [ 7.38675650e-01 -6.74052031e-01 -3.48475044e-03 -2.69211260e+02] [ 4.76296976e-03 4.98164347e-05 9.99988656e-01 -2.77676075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1009.2965599949999 meters 0.013325538196264032 Centerline is valid? [True, True] Translation: X:-261.93, Y:-269.19, Z:-2.78 [[-6.70864833e-01 -7.41574147e-01 2.85657269e-03 -2.61930301e+02] [ 7.41567821e-01 -6.70870912e-01 -3.06362476e-03 -2.69193459e+02] [ 4.18829645e-03 6.30642712e-05 9.99991227e-01 -2.77630753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1009.3265599949999 meters 0.014076601196166353 Centerline is valid? [True, True] Translation: X:-261.95, Y:-269.17, Z:-2.78 [[-6.68955167e-01 -7.43297387e-01 2.82475745e-03 -2.61951366e+02] [ 7.43291223e-01 -6.68961127e-01 -3.02780441e-03 -2.69174912e+02] [ 4.14021203e-03 7.41520143e-05 9.99991427e-01 -2.77626814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1009.3565599949999 meters 0.015392916880354815 Centerline is valid? [True, True] Translation: X:-261.97, Y:-269.16, Z:-2.78 [[-6.66983662e-01 -7.45066541e-01 2.94016789e-03 -2.61972757e+02] [ 7.45059889e-01 -6.66990136e-01 -3.14964734e-03 -2.69157809e+02] [ 4.30775983e-03 8.98378481e-05 9.99990718e-01 -2.77650394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1009.386559995 meters 0.01687374178685464 Centerline is valid? [True, True] Translation: X:-262.00, Y:-269.14, Z:-2.78 [[-6.62413127e-01 -7.49132922e-01 2.95189005e-03 -2.61995623e+02] [ 7.49126265e-01 -6.62419694e-01 -3.16040342e-03 -2.69141095e+02] [ 4.32295235e-03 1.17845660e-04 9.99990649e-01 -2.77747674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1009.416559995 meters 0.01749321871738857 Centerline is valid? [True, True] Translation: X:-262.02, Y:-269.12, Z:-2.78 [[-6.60360777e-01 -7.50941688e-01 3.19768510e-03 -2.62015924e+02] [ 7.50933907e-01 -6.60368504e-01 -3.42150197e-03 -2.69122429e+02] [ 4.68099899e-03 1.41824461e-04 9.99989034e-01 -2.77778223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1009.4465599949999 meters 0.01988416824151419 Centerline is valid? [True, True] Translation: X:-262.04, Y:-269.11, Z:-2.78 [[-6.56887266e-01 -7.53979729e-01 3.69982577e-03 -2.62037921e+02] [ 7.53969370e-01 -6.56897657e-01 -3.95693602e-03 -2.69106603e+02] [ 5.41385643e-03 1.90294417e-04 9.99985327e-01 -2.77899204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1009.4765599949999 meters 0.020385933801470493 Centerline is valid? [True, True] Translation: X:-262.06, Y:-269.09, Z:-2.78 [[-6.55835239e-01 -7.54893041e-01 4.07881869e-03 -2.62057582e+02] [ 7.54880484e-01 -6.55847885e-01 -4.35966941e-03 -2.69087289e+02] [ 5.96616871e-03 2.19795793e-04 9.99982178e-01 -2.77927349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1009.506559995 meters 0.020776775946337353 Centerline is valid? [True, True] Translation: X:-262.08, Y:-269.07, Z:-2.78 [[-6.55244440e-01 -7.55404606e-01 4.31333226e-03 -2.62077228e+02] [ 7.55390591e-01 -6.55258593e-01 -4.60774860e-03 -2.69067526e+02] [ 6.30706254e-03 2.39048954e-04 9.99980082e-01 -2.77964507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1009.536559995 meters 0.021536080253479365 Centerline is valid? [True, True] Translation: X:-262.10, Y:-269.05, Z:-2.78 [[-6.54672546e-01 -7.55899446e-01 4.45930796e-03 -2.62097080e+02] [ 7.55884494e-01 -6.54687684e-01 -4.76103471e-03 -2.69047802e+02] [ 6.51831750e-03 2.53803025e-04 9.99978724e-01 -2.78007862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1009.5665599949999 meters 0.02275780193454763 Centerline is valid? [True, True] Translation: X:-262.12, Y:-269.03, Z:-2.78 [[-6.54686324e-01 -7.55886422e-01 4.64061106e-03 -2.62116517e+02] [ 7.55870252e-01 -6.54702716e-01 -4.95134938e-03 -2.69029559e+02] [ 6.78087844e-03 2.66119127e-04 9.99976974e-01 -2.78068841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1009.5965599949999 meters 0.022323738446883682 Centerline is valid? [True, True] Translation: X:-262.13, Y:-269.01, Z:-2.78 [[-6.55065306e-01 -7.55558146e-01 4.61879271e-03 -2.62134348e+02] [ 7.55542140e-01 -6.55081536e-01 -4.92503065e-03 -2.69009035e+02] [ 6.74683285e-03 2.63475818e-04 9.99977205e-01 -2.78025920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1009.626559995 meters 0.021279717392579948 Centerline is valid? [True, True] Translation: X:-262.15, Y:-268.99, Z:-2.78 [[-6.56089989e-01 -7.54668097e-01 4.68924316e-03 -2.62151633e+02] [ 7.54651596e-01 -6.56106695e-01 -4.99738114e-03 -2.68986440e+02] [ 6.84800795e-03 2.60013087e-04 9.99976518e-01 -2.77991655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1009.656559995 meters 0.021124415189517513 Centerline is valid? [True, True] Translation: X:-262.17, Y:-268.97, Z:-2.78 [[-6.57021244e-01 -7.53858677e-01 4.49237995e-03 -2.62169871e+02] [ 7.53843531e-01 -6.57036557e-01 -4.78477179e-03 -2.68965538e+02] [ 6.55869959e-03 2.42854849e-04 9.99978462e-01 -2.77969767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1009.6865599949999 meters 0.021176236744776086 Centerline is valid? [True, True] Translation: X:-262.19, Y:-268.95, Z:-2.78 [[-6.57890718e-01 -7.53101653e-01 4.20766335e-03 -2.62187614e+02] [ 7.53088366e-01 -6.57904135e-01 -4.47905167e-03 -2.68945371e+02] [ 6.14142034e-03 2.22015803e-04 9.99981117e-01 -2.77949366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1009.7165599949999 meters 0.019868675562380256 Centerline is valid? [True, True] Translation: X:-262.20, Y:-268.92, Z:-2.78 [[-6.58601226e-01 -7.52481127e-01 4.07178099e-03 -2.62204195e+02] [ 7.52468683e-01 -6.58613779e-01 -4.33251521e-03 -2.68922977e+02] [ 5.94186700e-03 2.10487849e-04 9.99982325e-01 -2.77892875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1009.746559995 meters 0.019263325359858474 Centerline is valid? [True, True] Translation: X:-262.22, Y:-268.90, Z:-2.78 [[-6.60176884e-01 -7.51099141e-01 4.06961470e-03 -2.62220929e+02] [ 7.51086699e-01 -6.60189397e-01 -4.32779304e-03 -2.68899768e+02] [ 5.93731811e-03 1.99524546e-04 9.99982354e-01 -2.77873433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1009.776559995 meters 0.01965126015763854 Centerline is valid? [True, True] Translation: X:-262.24, Y:-268.88, Z:-2.78 [[-6.60992556e-01 -7.50380783e-01 4.18600256e-03 -2.62238385e+02] [ 7.50367618e-01 -6.61005780e-01 -4.44940486e-03 -2.68880644e+02] [ 6.10571979e-03 2.00017278e-04 9.99981340e-01 -2.77887924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1009.8065599949999 meters 0.018508671859930943 Centerline is valid? [True, True] Translation: X:-262.25, Y:-268.86, Z:-2.78 [[-6.61979585e-01 -7.49510333e-01 4.15811913e-03 -2.62254542e+02] [ 7.49497341e-01 -6.61992616e-01 -4.41729707e-03 -2.68857384e+02] [ 6.06345395e-03 1.92338749e-04 9.99981599e-01 -2.77876841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1009.8365599949999 meters 0.019660339299489165 Centerline is valid? [True, True] Translation: X:-262.27, Y:-268.84, Z:-2.78 [[-6.62235274e-01 -7.49284333e-01 4.17501272e-03 -2.62273044e+02] [ 7.49271244e-01 -6.62248406e-01 -4.43308898e-03 -2.68838331e+02] [ 6.08653964e-03 1.92469080e-04 9.99981458e-01 -2.77933717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1009.866559995 meters 0.018594879739717816 Centerline is valid? [True, True] Translation: X:-262.29, Y:-268.82, Z:-2.78 [[-6.62669951e-01 -7.48899401e-01 4.26875790e-03 -2.62289709e+02] [ 7.48885727e-01 -6.62683672e-01 -4.52979644e-03 -2.68816120e+02] [ 6.22119801e-03 1.95051878e-04 9.99980629e-01 -2.77900509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1009.896559995 meters 0.017887226421698012 Centerline is valid? [True, True] Translation: X:-262.31, Y:-268.79, Z:-2.78 [[-6.63256773e-01 -7.48379586e-01 4.29508459e-03 -2.62305654e+02] [ 7.48365748e-01 -6.63270652e-01 -4.55516574e-03 -2.68792591e+02] [ 6.25779661e-03 1.93049663e-04 9.99980401e-01 -2.77857983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1009.9265599949999 meters 0.018164890990501555 Centerline is valid? [True, True] Translation: X:-262.32, Y:-268.77, Z:-2.78 [[-6.63884549e-01 -7.47823083e-01 4.23579054e-03 -2.62322422e+02] [ 7.47809631e-01 -6.63898036e-01 -4.48929628e-03 -2.68772964e+02] [ 6.16933240e-03 1.87190520e-04 9.99980952e-01 -2.77867441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1009.9565599949999 meters 0.018161274906128226 Centerline is valid? [True, True] Translation: X:-262.34, Y:-268.75, Z:-2.78 [[-6.64230195e-01 -7.47515202e-01 4.38987011e-03 -2.62339958e+02] [ 7.47500765e-01 -6.64244674e-01 -4.64969044e-03 -2.68752428e+02] [ 6.39166213e-03 1.92966478e-04 9.99979555e-01 -2.77885579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1009.986559995 meters 0.018154047304005844 Centerline is valid? [True, True] Translation: X:-262.36, Y:-268.73, Z:-2.78 [[-6.64823810e-01 -7.46985958e-01 4.61298848e-03 -2.62357828e+02] [ 7.46970025e-01 -6.64839784e-01 -4.88297356e-03 -2.68731536e+02] [ 6.71441095e-03 1.99447033e-04 9.99977438e-01 -2.77906708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1010.016559995 meters 0.017017031192943035 Centerline is valid? [True, True] Translation: X:-262.37, Y:-268.71, Z:-2.78 [[-6.65654827e-01 -7.46245153e-01 4.67151711e-03 -2.62374088e+02] [ 7.46228812e-01 -6.65671191e-01 -4.94230181e-03 -2.68707598e+02] [ 6.79786312e-03 1.96153607e-04 9.99976875e-01 -2.77907220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1010.0465599949999 meters 0.01785969224536271 Centerline is valid? [True, True] Translation: X:-262.39, Y:-268.69, Z:-2.78 [[-6.66307257e-01 -7.45662999e-01 4.61857073e-03 -2.62392804e+02] [ 7.45647032e-01 -6.66323237e-01 -4.88342992e-03 -2.68687514e+02] [ 6.71885400e-03 1.89958767e-04 9.99977410e-01 -2.77930920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1010.0765599949999 meters 0.01710713084068711 Centerline is valid? [True, True] Translation: X:-262.41, Y:-268.66, Z:-2.78 [[-6.67890467e-01 -7.44249091e-01 3.95151481e-03 -2.62408487e+02] [ 7.44237391e-01 -6.67902139e-01 -4.17582211e-03 -2.68664250e+02] [ 5.74707701e-03 1.51873288e-04 9.99983474e-01 -2.77801490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1010.1065599949999 meters 0.015861013124328846 Centerline is valid? [True, True] Translation: X:-262.42, Y:-268.64, Z:-2.78 [[-6.69006399e-01 -7.43247527e-01 3.68126276e-03 -2.62424915e+02] [ 7.43237370e-01 -6.69016514e-01 -3.88802391e-03 -2.68641144e+02] [ 5.35258973e-03 1.34939175e-04 9.99985666e-01 -2.77706010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1010.136559995 meters 0.01563478571265074 Centerline is valid? [True, True] Translation: X:-262.44, Y:-268.62, Z:-2.78 [[-6.70158499e-01 -7.42211516e-01 3.10677028e-03 -2.62443001e+02] [ 7.42204279e-01 -6.70165691e-01 -3.27941369e-03 -2.68619253e+02] [ 4.51606946e-03 1.08131243e-04 9.99989797e-01 -2.77645925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1010.166559995 meters 0.014882902717010212 Centerline is valid? [True, True] Translation: X:-262.46, Y:-268.60, Z:-2.78 [[-6.72315053e-01 -7.40261221e-01 2.40694483e-03 -2.62459702e+02] [ 7.40256868e-01 -6.72319358e-01 -2.53980901e-03 -2.68595739e+02] [ 3.49835773e-03 7.42056153e-05 9.99993878e-01 -2.77582517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1010.1965599949999 meters 0.014509002425920148 Centerline is valid? [True, True] Translation: X:-262.48, Y:-268.57, Z:-2.78 [[-6.73547015e-01 -7.39140511e-01 2.39248905e-03 -2.62477279e+02] [ 7.39136208e-01 -6.73551260e-01 -2.52312439e-03 -2.68573726e+02] [ 3.47640747e-03 6.89323871e-05 9.99993955e-01 -2.77597084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1010.2265599949999 meters 0.013819763642871416 Centerline is valid? [True, True] Translation: X:-262.49, Y:-268.55, Z:-2.78 [[-6.74735998e-01 -7.38054377e-01 2.65886653e-03 -2.62494735e+02] [ 7.38049060e-01 -6.74741233e-01 -2.80243421e-03 -2.68551617e+02] [ 3.86239572e-03 7.14707016e-05 9.99992539e-01 -2.77620164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1010.256559995 meters 0.01385078640844009 Centerline is valid? [True, True] Translation: X:-262.51, Y:-268.53, Z:-2.78 [[-6.76309987e-01 -7.36610341e-01 3.16324122e-03 -2.62511713e+02] [ 7.36602809e-01 -6.76317381e-01 -3.33210484e-03 -2.68529998e+02] [ 4.59381790e-03 7.65165875e-05 9.99989446e-01 -2.77761530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1010.286559995 meters 0.013716697939874402 Centerline is valid? [True, True] Translation: X:-262.53, Y:-268.51, Z:-2.78 [[-6.77037372e-01 -7.35940427e-01 3.47638754e-03 -2.62529716e+02] [ 7.35931331e-01 -6.77046292e-01 -3.65991575e-03 -2.68508585e+02] [ 5.04715525e-03 8.04827656e-05 9.99987260e-01 -2.77837849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1010.3165599949999 meters 0.013772195200387674 Centerline is valid? [True, True] Translation: X:-262.55, Y:-268.49, Z:-2.78 [[-6.77932463e-01 -7.35111872e-01 4.25575496e-03 -2.62545685e+02] [ 7.35098242e-01 -6.77945814e-01 -4.47746857e-03 -2.68487921e+02] [ 6.17661156e-03 9.29766980e-05 9.99980920e-01 -2.77951565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1010.3465599949999 meters 0.013475049045718704 Centerline is valid? [True, True] Translation: X:-262.56, Y:-268.47, Z:-2.78 [[-6.78575672e-01 -7.34516661e-01 4.50908768e-03 -2.62563389e+02] [ 7.34501366e-01 -6.78590647e-01 -4.74101044e-03 -2.68466765e+02] [ 6.54217589e-03 9.47967190e-05 9.99978595e-01 -2.77996389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1010.376559995 meters 0.01350833226419961 Centerline is valid? [True, True] Translation: X:-262.58, Y:-268.45, Z:-2.78 [[-6.78913607e-01 -7.34204272e-01 4.51680072e-03 -2.62581635e+02] [ 7.34188938e-01 -6.78928625e-01 -4.74613792e-03 -2.68445829e+02] [ 6.55122004e-03 9.39675126e-05 9.99978536e-01 -2.78048671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1010.406559995 meters 0.013412889366047677 Centerline is valid? [True, True] Translation: X:-262.60, Y:-268.42, Z:-2.78 [[-6.79785977e-01 -7.33396234e-01 4.58149482e-03 -2.62598126e+02] [ 7.33380459e-01 -6.79801410e-01 -4.81110433e-03 -2.68423520e+02] [ 6.64295244e-03 8.94575134e-05 9.99977932e-01 -2.78060705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1010.4365599949999 meters 0.013452987775369653 Centerline is valid? [True, True] Translation: X:-262.62, Y:-268.40, Z:-2.78 [[-6.80296861e-01 -7.32924068e-01 4.30023328e-03 -2.62615378e+02] [ 7.32910179e-01 -6.80310447e-01 -4.51290712e-03 -2.68402699e+02] [ 6.23311187e-03 8.15681956e-05 9.99980571e-01 -2.78061015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1010.4665599949999 meters 0.013641548131482842 Centerline is valid? [True, True] Translation: X:-262.63, Y:-268.38, Z:-2.78 [[-6.80762776e-01 -7.32492424e-01 4.10997098e-03 -2.62632959e+02] [ 7.32479746e-01 -6.80775178e-01 -4.31039394e-03 -2.68383154e+02] [ 5.95529713e-03 7.61147595e-05 9.99982264e-01 -2.78064330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1010.496559995 meters 0.013377693686784639 Centerline is valid? [True, True] Translation: X:-262.65, Y:-268.36, Z:-2.78 [[-6.80830466e-01 -7.32433548e-01 3.31277684e-03 -2.62649242e+02] [ 7.32425320e-01 -6.80838523e-01 -3.47233681e-03 -2.68359567e+02] [ 4.79872206e-03 6.22889490e-05 9.99988484e-01 -2.77935226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1010.526559995 meters 0.013877475926186454 Centerline is valid? [True, True] Translation: X:-262.67, Y:-268.34, Z:-2.78 [[-6.80957790e-01 -7.32317521e-01 2.74544433e-03 -2.62668567e+02] [ 7.32311875e-01 -6.80963323e-01 -2.87594337e-03 -2.68339981e+02] [ 3.97565061e-03 5.21254446e-05 9.99992096e-01 -2.77951613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1010.5565599949999 meters 0.013864291449597447 Centerline is valid? [True, True] Translation: X:-262.69, Y:-268.32, Z:-2.78 [[-6.80246713e-01 -7.32980826e-01 1.87571279e-03 -2.62685776e+02] [ 7.32978197e-01 -6.80249298e-01 -1.96363913e-03 -2.68318345e+02] [ 2.71526214e-03 3.90975161e-05 9.99996313e-01 -2.77909270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1010.5865599949999 meters 0.013925274596896065 Centerline is valid? [True, True] Translation: X:-262.70, Y:-268.30, Z:-2.78 [[-6.79564054e-01 -7.33614494e-01 1.57156520e-03 -2.62704439e+02] [ 7.33612652e-01 -6.79565871e-01 -1.64430630e-03 -2.68297841e+02] [ 2.27426901e-03 3.55086610e-05 9.99997413e-01 -2.77894105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1010.616559995 meters 0.014355036640263703 Centerline is valid? [True, True] Translation: X:-262.72, Y:-268.28, Z:-2.78 [[-6.78620178e-01 -7.34487764e-01 1.54252144e-03 -2.62724132e+02] [ 7.34485993e-01 -6.78621930e-01 -1.61301413e-03 -2.68277518e+02] [ 2.23152801e-03 3.83364591e-05 9.99997510e-01 -2.77914464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1010.646559995 meters 0.014355036640263703 Centerline is valid? [True, True] Translation: X:-262.74, Y:-268.26, Z:-2.78 [[-6.78851285e-01 -7.34274167e-01 1.54302931e-03 -2.62742706e+02] [ 7.34272397e-01 -6.78853038e-01 -1.61252829e-03 -2.68258247e+02] [ 2.23152801e-03 3.83369274e-05 9.99997510e-01 -2.77914500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1010.6765599949999 meters 0.01532529219710849 Centerline is valid? [True, True] Translation: X:-262.76, Y:-268.24, Z:-2.78 [[-6.76493368e-01 -7.36446303e-01 1.88864836e-03 -2.62762695e+02] [ 7.36443663e-01 -6.76496002e-01 -1.97254575e-03 -2.68238995e+02] [ 2.73033709e-03 5.64689990e-05 9.99996271e-01 -2.78074395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1010.7065599949999 meters 0.015824639706699756 Centerline is valid? [True, True] Translation: X:-262.78, Y:-268.22, Z:-2.78 [[-6.75196883e-01 -7.37633342e-01 2.49443030e-03 -2.62782405e+02] [ 7.37628751e-01 -6.75201485e-01 -2.60378720e-03 -2.68219315e+02] [ 3.60488330e-03 8.18945011e-05 9.99993499e-01 -2.78165583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1010.736559995 meters 0.017373885569950672 Centerline is valid? [True, True] Translation: X:-262.80, Y:-268.20, Z:-2.78 [[-6.72615687e-01 -7.39984550e-01 3.31706037e-03 -2.62802943e+02] [ 7.39976470e-01 -6.72623854e-01 -3.46044264e-03 -2.68201110e+02] [ 4.79180802e-03 1.26998621e-04 9.99988511e-01 -2.78322292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1010.766559995 meters 0.01827410665157899 Centerline is valid? [True, True] Translation: X:-262.82, Y:-268.18, Z:-2.78 [[-6.71785234e-01 -7.40737012e-01 3.64381107e-03 -2.62822639e+02] [ 7.40727284e-01 -6.71795100e-01 -3.79910270e-03 -2.68182443e+02] [ 5.26203041e-03 1.46889184e-04 9.99986145e-01 -2.78417998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1010.7965599949999 meters 0.01832941267153819 Centerline is valid? [True, True] Translation: X:-262.84, Y:-268.16, Z:-2.79 [[-6.72056344e-01 -7.40486893e-01 4.40810150e-03 -2.62841327e+02] [ 7.40472669e-01 -6.72070777e-01 -4.59314160e-03 -2.68162987e+02] [ 6.36371735e-03 1.77228731e-04 9.99979736e-01 -2.78532457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1010.8265599949999 meters 0.01687775066351071 Centerline is valid? [True, True] Translation: X:-262.86, Y:-268.14, Z:-2.79 [[-6.73360978e-01 -7.39297463e-01 4.92485196e-03 -2.62858488e+02] [ 7.39279689e-01 -6.73378962e-01 -5.12978915e-03 -2.68139870e+02] [ 7.10873180e-03 1.86643189e-04 9.99974715e-01 -2.78639196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1010.8565599949999 meters 0.017611110479685364 Centerline is valid? [True, True] Translation: X:-262.88, Y:-268.12, Z:-2.79 [[-6.74565758e-01 -7.38198796e-01 4.85539098e-03 -2.62877596e+02] [ 7.38181512e-01 -6.74583210e-01 -5.05459454e-03 -2.68120475e+02] [ 7.00666083e-03 1.74503455e-04 9.99975438e-01 -2.78679771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1010.886559995 meters 0.016325654653796318 Centerline is valid? [True, True] Translation: X:-262.89, Y:-268.10, Z:-2.79 [[-6.76098172e-01 -7.36796335e-01 4.73526872e-03 -2.62894547e+02] [ 7.36779879e-01 -6.76114736e-01 -4.92683692e-03 -2.68098352e+02] [ 6.83166035e-03 1.57825277e-04 9.99976652e-01 -2.78660358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1010.916559995 meters 0.01595044253320048 Centerline is valid? [True, True] Translation: X:-262.91, Y:-268.08, Z:-2.79 [[-6.79084173e-01 -7.34046358e-01 4.54200128e-03 -2.62911194e+02] [ 7.34031174e-01 -6.79099351e-01 -4.72313930e-03 -2.68076062e+02] [ 6.55147332e-03 1.26561384e-04 9.99978531e-01 -2.78669907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1010.9465599949999 meters 0.015433206632887704 Centerline is valid? [True, True] Translation: X:-262.93, Y:-268.05, Z:-2.79 [[-6.80821965e-01 -7.32435222e-01 4.48306132e-03 -2.62928534e+02] [ 7.32420411e-01 -6.80836715e-01 -4.65924065e-03 -2.68054218e+02] [ 6.46482470e-03 1.11372239e-04 9.99979097e-01 -2.78707779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1010.9765599949999 meters 0.01450967448603089 Centerline is valid? [True, True] Translation: X:-262.95, Y:-268.03, Z:-2.79 [[-6.82472245e-01 -7.30895776e-01 4.79574516e-03 -2.62945340e+02] [ 7.30878809e-01 -6.82489086e-01 -4.98135345e-03 -2.68031917e+02] [ 6.91389393e-03 1.05473039e-04 9.99976093e-01 -2.78678292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1011.006559995 meters 0.01350936869029761 Centerline is valid? [True, True] Translation: X:-262.96, Y:-268.01, Z:-2.79 [[-6.84336565e-01 -7.29148344e-01 5.11459901e-03 -2.62962545e+02] [ 7.29129018e-01 -6.84355670e-01 -5.30954935e-03 -2.68009848e+02] [ 7.37165395e-03 9.56837903e-05 9.99972825e-01 -2.78631314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1011.036559995 meters 0.014208540449834217 Centerline is valid? [True, True] Translation: X:-262.98, Y:-267.99, Z:-2.79 [[-6.85014388e-01 -7.28510825e-01 5.22172605e-03 -2.62982184e+02] [ 7.28490690e-01 -6.85034283e-01 -5.41714934e-03 -2.67992446e+02] [ 7.52351330e-03 9.31535769e-05 9.99971694e-01 -2.78777484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1011.0665599949999 meters 0.013675699345358205 Centerline is valid? [True, True] Translation: X:-263.00, Y:-267.97, Z:-2.79 [[-6.86289109e-01 -7.27301403e-01 6.31894555e-03 -2.63000113e+02] [ 7.27271901e-01 -6.86318191e-01 -6.55147800e-03 -2.67972046e+02] [ 9.10170642e-03 9.93835482e-05 9.99958574e-01 -2.78817076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1011.0965599949999 meters 0.013371624543066228 Centerline is valid? [True, True] Translation: X:-263.02, Y:-267.95, Z:-2.79 [[-6.87181385e-01 -7.26456131e-01 6.57532808e-03 -2.63018105e+02] [ 7.26424188e-01 -6.87212836e-01 -6.81300077e-03 -2.67951609e+02] [ 9.46799603e-03 9.47100650e-05 9.99955173e-01 -2.78789175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1011.126559995 meters 0.01368620318296821 Centerline is valid? [True, True] Translation: X:-263.04, Y:-267.93, Z:-2.79 [[-6.88099539e-01 -7.25585660e-01 6.66888915e-03 -2.63037010e+02] [ 7.25552794e-01 -6.88131850e-01 -6.90659115e-03 -2.67933293e+02] [ 9.60039852e-03 8.62089664e-05 9.99953912e-01 -2.78920705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1011.156559995 meters 0.013092597623420481 Centerline is valid? [True, True] Translation: X:-263.05, Y:-267.91, Z:-2.79 [[-6.89571790e-01 -7.24188229e-01 6.49273993e-03 -2.63053699e+02] [ 7.24157053e-01 -6.89602353e-01 -6.71994088e-03 -2.67912146e+02] [ 9.34391081e-03 6.78817532e-05 9.99956343e-01 -2.78762471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1011.1865599949999 meters 0.013099592454269624 Centerline is valid? [True, True] Translation: X:-263.07, Y:-267.89, Z:-2.79 [[-6.90262636e-01 -7.23532066e-01 6.23243457e-03 -2.63071900e+02] [ 7.23503342e-01 -6.90290769e-01 -6.44740099e-03 -2.67892746e+02] [ 8.96709341e-03 5.87872389e-05 9.99959793e-01 -2.78729199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1011.2165599949999 meters 0.012853766628144846 Centerline is valid? [True, True] Translation: X:-263.09, Y:-267.87, Z:-2.79 [[-6.91745391e-01 -7.22117343e-01 5.90401318e-03 -2.63090976e+02] [ 7.22091547e-01 -6.91770584e-01 -6.10382864e-03 -2.67872886e+02] [ 8.49190316e-03 4.09426816e-05 9.99963942e-01 -2.78645454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1011.246559995 meters 0.012853766628144846 Centerline is valid? [True, True] Translation: X:-263.11, Y:-267.85, Z:-2.79 [[-6.91970972e-01 -7.21901167e-01 5.90592000e-03 -2.63109661e+02] [ 7.21875378e-01 -6.91996173e-01 -6.10198366e-03 -2.67853719e+02] [ 8.49190316e-03 4.09426772e-05 9.99963942e-01 -2.78645490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1011.276559995 meters 0.012844024698631551 Centerline is valid? [True, True] Translation: X:-263.13, Y:-267.83, Z:-2.79 [[-6.92980590e-01 -7.20939418e-01 4.92520333e-03 -2.63128583e+02] [ 7.20921482e-01 -6.92998092e-01 -5.08537640e-03 -2.67834974e+02] [ 7.07940481e-03 2.66177479e-05 9.99974941e-01 -2.78603483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1011.3065599949999 meters 0.012872242267778184 Centerline is valid? [True, True] Translation: X:-263.15, Y:-267.82, Z:-2.79 [[-6.93572063e-01 -7.20370863e-01 4.85942597e-03 -2.63147894e+02] [ 7.20353411e-01 -6.93589086e-01 -5.01433744e-03 -2.67815269e+02] [ 6.98262740e-03 2.26997118e-05 9.99975621e-01 -2.78567639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1011.3365599949999 meters 0.012828922757723769 Centerline is valid? [True, True] Translation: X:-263.17, Y:-267.80, Z:-2.79 [[-6.93870917e-01 -7.20082419e-01 4.94578261e-03 -2.63168014e+02] [ 7.20064355e-01 -6.93888543e-01 -5.10056176e-03 -2.67795253e+02] [ 7.10464673e-03 2.21502985e-05 9.99974762e-01 -2.78535246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1011.366559995 meters 0.012924136963821671 Centerline is valid? [True, True] Translation: X:-263.19, Y:-267.78, Z:-2.79 [[-6.94028705e-01 -7.19928592e-01 5.19411245e-03 -2.63186984e+02] [ 7.19908688e-01 -6.94048141e-01 -5.35346478e-03 -2.67776412e+02] [ 7.45907645e-03 2.38284448e-05 9.99972181e-01 -2.78605283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1011.396559995 meters 0.012895438766623017 Centerline is valid? [True, True] Translation: X:-263.21, Y:-267.76, Z:-2.79 [[-6.93923423e-01 -7.20027337e-01 5.56040174e-03 -2.63206095e+02] [ 7.20004558e-01 -6.93945699e-01 -5.72737354e-03 -2.67757222e+02] [ 7.98248239e-03 2.91559489e-05 9.99968139e-01 -2.78593308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1011.4265599949999 meters 0.013039914585534143 Centerline is valid? [True, True] Translation: X:-263.23, Y:-267.74, Z:-2.79 [[-6.93582359e-01 -7.20349201e-01 6.36712699e-03 -2.63226054e+02] [ 7.20319382e-01 -6.93611582e-01 -6.55441029e-03 -2.67738140e+02] [ 9.13777724e-03 4.03416302e-05 9.99958249e-01 -2.78690964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1011.4565599949999 meters 0.013202432847049982 Centerline is valid? [True, True] Translation: X:-263.25, Y:-267.72, Z:-2.79 [[-6.93491406e-01 -7.20436632e-01 6.38202024e-03 -2.63245643e+02] [ 7.20406715e-01 -6.93520770e-01 -6.56561481e-03 -2.67718934e+02] [ 9.15617301e-03 4.44527910e-05 9.99958081e-01 -2.78757007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1011.486559995 meters 0.013255423610860642 Centerline is valid? [True, True] Translation: X:-263.27, Y:-267.70, Z:-2.79 [[-6.93402803e-01 -7.20521061e-01 6.47710153e-03 -2.63265026e+02] [ 7.20490289e-01 -6.93433052e-01 -6.65926284e-03 -2.67700037e+02] [ 9.28957541e-03 4.91372279e-05 9.99956850e-01 -2.78800468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1011.516559995 meters 0.013330577752637393 Centerline is valid? [True, True] Translation: X:-263.28, Y:-267.68, Z:-2.79 [[-6.93061408e-01 -7.20850232e-01 6.38965649e-03 -2.63284807e+02] [ 7.20820333e-01 -6.93090860e-01 -6.56565274e-03 -2.67680547e+02] [ 9.16146481e-03 5.53937892e-05 9.99958032e-01 -2.78823458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1011.5465599949999 meters 0.013307850404444632 Centerline is valid? [True, True] Translation: X:-263.30, Y:-267.66, Z:-2.79 [[-6.93017763e-01 -7.20890321e-01 6.59735803e-03 -2.63303182e+02] [ 7.20858491e-01 -6.93049162e-01 -6.77457040e-03 -2.67662388e+02] [ 9.45601569e-03 6.08639258e-05 9.99955289e-01 -2.78830459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1011.5765599949999 meters 0.013373124355539395 Centerline is valid? [True, True] Translation: X:-263.32, Y:-267.64, Z:-2.79 [[-6.92738805e-01 -7.21166469e-01 5.64550733e-03 -2.63321581e+02] [ 7.21143201e-01 -6.92761806e-01 -5.79338802e-03 -2.67643170e+02] [ 8.08898904e-03 5.79145352e-05 9.99967282e-01 -2.78751987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1011.6065599949999 meters 0.013309311214757794 Centerline is valid? [True, True] Translation: X:-263.34, Y:-267.62, Z:-2.79 [[-6.92708995e-01 -7.21197328e-01 5.35380432e-03 -2.63340126e+02] [ 7.21176429e-01 -6.92729682e-01 -5.49062075e-03 -2.67623604e+02] [ 7.66856017e-03 5.76350976e-05 9.99970595e-01 -2.78654683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1011.636559995 meters 0.013325869742333673 Centerline is valid? [True, True] Translation: X:-263.36, Y:-267.60, Z:-2.79 [[-6.92619022e-01 -7.21289988e-01 4.43210369e-03 -2.63359078e+02] [ 7.21275686e-01 -6.92633200e-01 -4.54251254e-03 -2.67603666e+02] [ 6.34629098e-03 5.05380382e-05 9.99979861e-01 -2.78550988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1011.666559995 meters 0.013307757199133902 Centerline is valid? [True, True] Translation: X:-263.38, Y:-267.58, Z:-2.78 [[-6.92620246e-01 -7.21293765e-01 3.53539298e-03 -2.63378637e+02] [ 7.21284675e-01 -6.92629268e-01 -3.62142551e-03 -2.67583119e+02] [ 5.06082829e-03 4.17521474e-05 9.99987193e-01 -2.78436151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1011.6965599949999 meters 0.013470029718600065 Centerline is valid? [True, True] Translation: X:-263.40, Y:-267.56, Z:-2.78 [[-6.92766207e-01 -7.21156846e-01 2.79034017e-03 -2.63397234e+02] [ 7.21151190e-01 -6.92771825e-01 -2.85643948e-03 -2.67563817e+02] [ 3.99300994e-03 3.34123899e-05 9.99992028e-01 -2.78368277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1011.7265599949999 meters 0.013407096861931117 Centerline is valid? [True, True] Translation: X:-263.42, Y:-267.55, Z:-2.78 [[-6.92804550e-01 -7.21120009e-01 2.79066488e-03 -2.63415988e+02] [ 7.21114359e-01 -6.92810170e-01 -2.85488581e-03 -2.67545127e+02] [ 3.99211629e-03 3.45106322e-05 9.99992031e-01 -2.78427256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1011.756559995 meters 0.013547323508549777 Centerline is valid? [True, True] Translation: X:-263.44, Y:-267.53, Z:-2.78 [[-6.92860843e-01 -7.21065163e-01 2.98052744e-03 -2.63435077e+02] [ 7.21058725e-01 -6.92867253e-01 -3.04723965e-03 -2.67525731e+02] [ 4.26236822e-03 3.78222792e-05 9.99990916e-01 -2.78440978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1011.786559995 meters 0.01346981001244663 Centerline is valid? [True, True] Translation: X:-263.45, Y:-267.51, Z:-2.78 [[-6.92867004e-01 -7.21058073e-01 3.25120677e-03 -2.63454217e+02] [ 7.21050422e-01 -6.92874630e-01 -3.32209541e-03 -2.67505684e+02] [ 4.64810240e-03 4.25137216e-05 9.99989197e-01 -2.78480454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1011.8165599949999 meters 0.013869602401963032 Centerline is valid? [True, True] Translation: X:-263.47, Y:-267.49, Z:-2.79 [[-6.92000864e-01 -7.21885202e-01 4.06925887e-03 -2.63474645e+02] [ 7.21873240e-01 -6.92012826e-01 -4.15627008e-03 -2.67487211e+02] [ 5.81632920e-03 6.13465925e-05 9.99983083e-01 -2.78652943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1011.8465599949999 meters 0.014073101514882573 Centerline is valid? [True, True] Translation: X:-263.49, Y:-267.47, Z:-2.79 [[-6.91821537e-01 -7.22052660e-01 4.78730107e-03 -2.63493749e+02] [ 7.22036129e-01 -6.91838096e-01 -4.88647396e-03 -2.67469500e+02] [ 6.84032878e-03 7.60364050e-05 9.99976602e-01 -2.78806163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1011.876559995 meters 0.01420816276129491 Centerline is valid? [True, True] Translation: X:-263.51, Y:-267.45, Z:-2.79 [[-6.91714051e-01 -7.22150184e-01 5.54822165e-03 -2.63512770e+02] [ 7.22128011e-01 -6.91736296e-01 -5.65972181e-03 -2.67450374e+02] [ 7.92507544e-03 9.16171622e-05 9.99968592e-01 -2.78882928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1011.906559995 meters 0.014384828242108003 Centerline is valid? [True, True] Translation: X:-263.53, Y:-267.43, Z:-2.79 [[-6.91345803e-01 -7.22494617e-01 6.51983724e-03 -2.63532522e+02] [ 7.22464047e-01 -6.91376536e-01 -6.64727955e-03 -2.67430638e+02] [ 9.31028618e-03 1.14779177e-04 9.99956652e-01 -2.78988219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1011.9365599949999 meters 0.014332197711764574 Centerline is valid? [True, True] Translation: X:-263.55, Y:-267.41, Z:-2.79 [[-6.91427406e-01 -7.22415030e-01 6.68329901e-03 -2.63551839e+02] [ 7.22382943e-01 -6.91459695e-01 -6.80981730e-03 -2.67411171e+02] [ 9.54074627e-03 1.19406901e-04 9.99954479e-01 -2.79016689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1011.9665599949999 meters 0.014291723709324569 Centerline is valid? [True, True] Translation: X:-263.57, Y:-267.39, Z:-2.79 [[-6.91336625e-01 -7.22503047e-01 6.55878689e-03 -2.63570552e+02] [ 7.22472187e-01 -6.91367726e-01 -6.67884425e-03 -2.67391105e+02] [ 9.36001890e-03 1.21211467e-04 9.99956187e-01 -2.78919332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1011.996559995 meters 0.014339512185967693 Centerline is valid? [True, True] Translation: X:-263.59, Y:-267.37, Z:-2.79 [[-6.91590421e-01 -7.22262822e-01 6.25350904e-03 -2.63589305e+02] [ 7.22234794e-01 -6.91618683e-01 -6.36388227e-03 -2.67372119e+02] [ 8.92143926e-03 1.15301798e-04 9.99960197e-01 -2.78894197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1012.026559995 meters 0.014294087133239356 Centerline is valid? [True, True] Translation: X:-263.61, Y:-267.35, Z:-2.79 [[-6.92037121e-01 -7.21837689e-01 5.91384055e-03 -2.63608401e+02] [ 7.21812639e-01 -6.92062381e-01 -6.01454432e-03 -2.67352447e+02] [ 8.43427135e-03 1.06396926e-04 9.99964425e-01 -2.78830738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1012.0565599949999 meters 0.01402222759563251 Centerline is valid? [True, True] Translation: X:-263.63, Y:-267.33, Z:-2.79 [[-6.92719348e-01 -7.21187261e-01 5.37031263e-03 -2.63626781e+02] [ 7.21166611e-01 -6.92740158e-01 -5.45833876e-03 -2.67331783e+02] [ 7.65671560e-03 9.17932987e-05 9.99970683e-01 -2.78719606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1012.0865599949999 meters 0.013952371383750007 Centerline is valid? [True, True] Translation: X:-263.65, Y:-267.31, Z:-2.79 [[-6.93136892e-01 -7.20789380e-01 4.89066855e-03 -2.63645214e+02] [ 7.20772265e-01 -6.93154141e-01 -4.96771662e-03 -2.67312149e+02] [ 6.97066455e-03 8.17505905e-05 9.99975701e-01 -2.78630192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1012.116559995 meters 0.013941128132521564 Centerline is valid? [True, True] Translation: X:-263.66, Y:-267.29, Z:-2.79 [[-6.93218422e-01 -7.20712543e-01 4.65294336e-03 -2.63663879e+02] [ 7.20697071e-01 -6.93234033e-01 -4.72315099e-03 -2.67293236e+02] [ 6.62961286e-03 7.91873720e-05 9.99978021e-01 -2.78598207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1012.146559995 meters 0.014082683733959336 Centerline is valid? [True, True] Translation: X:-263.68, Y:-267.27, Z:-2.79 [[-6.93228959e-01 -7.20702014e-01 4.71343438e-03 -2.63683429e+02] [ 7.20686157e-01 -6.93244978e-01 -4.78160045e-03 -2.67273922e+02] [ 6.71367379e-03 8.21630034e-05 9.99977460e-01 -2.78592190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1012.1765599949999 meters 0.014094800477347597 Centerline is valid? [True, True] Translation: X:-263.70, Y:-267.25, Z:-2.79 [[-6.93229272e-01 -7.20700535e-01 4.89029211e-03 -2.63702878e+02] [ 7.20683487e-01 -6.93246515e-01 -4.95795409e-03 -2.67254462e+02] [ 6.96337813e-03 8.73538643e-05 9.99975752e-01 -2.78602919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1012.2065599949999 meters 0.01516061471580283 Centerline is valid? [True, True] Translation: X:-263.72, Y:-267.24, Z:-2.79 [[-6.92623469e-01 -7.21277839e-01 5.56859776e-03 -2.63724663e+02] [ 7.21255777e-01 -6.92645846e-01 -5.64238144e-03 -2.67237322e+02] [ 7.92679080e-03 1.08337503e-04 9.99968577e-01 -2.78754156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1012.236559995 meters 0.014744018548896827 Centerline is valid? [True, True] Translation: X:-263.74, Y:-267.22, Z:-2.79 [[-6.92362265e-01 -7.21525545e-01 5.94833307e-03 -2.63743899e+02] [ 7.21500412e-01 -6.92387806e-01 -6.02350091e-03 -2.67217988e+02] [ 8.46466306e-03 1.21280029e-04 9.99964167e-01 -2.78765209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1012.266559995 meters 0.015264940651611434 Centerline is valid? [True, True] Translation: X:-263.77, Y:-267.20, Z:-2.79 [[-6.91315045e-01 -7.22523363e-01 6.59538147e-03 -2.63765681e+02] [ 7.22492543e-01 -6.91346489e-01 -6.67515577e-03 -2.67200191e+02] [ 9.38264982e-03 1.50478318e-04 9.99955971e-01 -2.78884344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1012.2965599949999 meters 0.01623756156333236 Centerline is valid? [True, True] Translation: X:-263.79, Y:-267.18, Z:-2.79 [[-6.91043525e-01 -7.22783045e-01 6.59673749e-03 -2.63786210e+02] [ 7.22752264e-01 -6.91074993e-01 -6.67231647e-03 -2.67183702e+02] [ 9.38147753e-03 1.56945860e-04 9.99955981e-01 -2.78991240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1012.3265599949999 meters 0.015610347400901184 Centerline is valid? [True, True] Translation: X:-263.80, Y:-267.16, Z:-2.79 [[-6.90794150e-01 -7.23021087e-01 6.62952419e-03 -2.63804686e+02] [ 7.22990048e-01 -6.90825942e-01 -6.70145021e-03 -2.67164299e+02] [ 9.42513710e-03 1.63757409e-04 9.99955569e-01 -2.78872484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1012.3565599949999 meters 0.01541787225468164 Centerline is valid? [True, True] Translation: X:-263.82, Y:-267.15, Z:-2.79 [[-6.90678881e-01 -7.23133622e-01 6.35984656e-03 -2.63824493e+02] [ 7.23105098e-01 -6.90708143e-01 -6.42490537e-03 -2.67145703e+02] [ 9.03886290e-03 1.61291013e-04 9.99959136e-01 -2.78817938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1012.386559995 meters 0.015397336722661243 Centerline is valid? [True, True] Translation: X:-263.84, Y:-267.13, Z:-2.79 [[-6.91158531e-01 -7.22679066e-01 5.90365813e-03 -2.63844033e+02] [ 7.22654500e-01 -6.91183729e-01 -5.96040612e-03 -2.67126328e+02] [ 8.38797317e-03 1.46719575e-04 9.99964810e-01 -2.78772914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1012.416559995 meters 0.015326772236772918 Centerline is valid? [True, True] Translation: X:-263.86, Y:-267.11, Z:-2.79 [[-6.91902287e-01 -7.21966435e-01 5.97418483e-03 -2.63863263e+02] [ 7.21941284e-01 -6.91928064e-01 -6.02795148e-03 -2.67107159e+02] [ 8.48568479e-03 1.42257252e-04 9.99963986e-01 -2.78765894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1012.4465599949999 meters 0.014748389377730974 Centerline is valid? [True, True] Translation: X:-263.88, Y:-267.09, Z:-2.79 [[-6.93063577e-01 -7.20853203e-01 5.79117149e-03 -2.63881898e+02] [ 7.20829561e-01 -6.93087760e-01 -5.83966724e-03 -2.67086734e+02] [ 8.22333291e-03 1.27186930e-04 9.99966180e-01 -2.78753457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1012.4765599949999 meters 0.0143877166624262 Centerline is valid? [True, True] Translation: X:-263.90, Y:-267.07, Z:-2.79 [[-6.95434514e-01 -7.18564753e-01 5.96094353e-03 -2.63900644e+02] [ 7.18539640e-01 -6.95460053e-01 -6.00844034e-03 -2.67066679e+02] [ 8.46305155e-03 1.04697423e-04 9.99964182e-01 -2.78852637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1012.506559995 meters 0.013622126058897012 Centerline is valid? [True, True] Translation: X:-263.92, Y:-267.05, Z:-2.79 [[-6.97642466e-01 -7.16419264e-01 6.19909162e-03 -2.63917613e+02] [ 7.16392053e-01 -6.97670002e-01 -6.24458679e-03 -2.67045176e+02] [ 8.79866253e-03 8.44910545e-05 9.99961288e-01 -2.78802834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1012.536559995 meters 0.013622126058897012 Centerline is valid? [True, True] Translation: X:-263.94, Y:-267.03, Z:-2.79 [[-6.97865611e-01 -7.16201882e-01 6.20103671e-03 -2.63936546e+02] [ 7.16174680e-01 -6.97893156e-01 -6.24265527e-03 -2.67026255e+02] [ 8.79866253e-03 8.44910489e-05 9.99961288e-01 -2.78802870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1012.5665599949999 meters 0.0134825086111359 Centerline is valid? [True, True] Translation: X:-263.95, Y:-267.01, Z:-2.79 [[-6.99168235e-01 -7.14929420e-01 6.30110880e-03 -2.63954971e+02] [ 7.14901309e-01 -6.99196624e-01 -6.34034749e-03 -2.67006932e+02] [ 8.93861496e-03 7.17013617e-05 9.99960047e-01 -2.78850878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1012.5965599949999 meters 0.0134611830929375 Centerline is valid? [True, True] Translation: X:-263.97, Y:-266.99, Z:-2.79 [[-7.00132555e-01 -7.13983257e-01 6.50500183e-03 -2.63973099e+02] [ 7.13953284e-01 -7.00162770e-01 -6.54240508e-03 -2.66988061e+02] [ 9.22572779e-03 6.37166392e-05 9.99957440e-01 -2.78911224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1012.626559995 meters 0.013203601068039143 Centerline is valid? [True, True] Translation: X:-263.99, Y:-266.97, Z:-2.79 [[-7.01090038e-01 -7.13043994e-01 6.40475042e-03 -2.63991671e+02] [ 7.13014936e-01 -7.01119290e-01 -6.43754742e-03 -2.66967483e+02] [ 9.08074859e-03 5.33823489e-05 9.99958768e-01 -2.78826366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1012.656559995 meters 0.013183367631385017 Centerline is valid? [True, True] Translation: X:-264.01, Y:-266.95, Z:-2.79 [[-7.02304696e-01 -7.11849100e-01 6.24279322e-03 -2.64009340e+02] [ 7.11821482e-01 -7.02332440e-01 -6.27065219e-03 -2.66948311e+02] [ 8.84827431e-03 3.98458428e-05 9.99960853e-01 -2.78846056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1012.6865599949999 meters 0.013145406420557802 Centerline is valid? [True, True] Translation: X:-264.03, Y:-266.93, Z:-2.79 [[-7.02808551e-01 -7.11352693e-01 6.12269810e-03 -2.64028646e+02] [ 7.11326138e-01 -7.02835219e-01 -6.14656914e-03 -2.66928333e+02] [ 8.67562637e-03 3.53738499e-05 9.99962366e-01 -2.78764730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1012.7165599949999 meters 0.013223278923278221 Centerline is valid? [True, True] Translation: X:-264.05, Y:-266.91, Z:-2.79 [[-7.02895505e-01 -7.11271866e-01 5.49933378e-03 -2.64047555e+02] [ 7.11250467e-01 -7.02917016e-01 -5.51730514e-03 -2.66909366e+02] [ 7.78987921e-03 3.33147413e-05 9.99969658e-01 -2.78729640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1012.746559995 meters 0.013201423547765226 Centerline is valid? [True, True] Translation: X:-264.07, Y:-266.89, Z:-2.79 [[-7.02715393e-01 -7.11450562e-01 5.40140829e-03 -2.64066668e+02] [ 7.11429950e-01 -7.02736151e-01 -5.41567788e-03 -2.66890612e+02] [ 7.64875194e-03 3.70434182e-05 9.99970747e-01 -2.78713512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1012.776559995 meters 0.013229984178067793 Centerline is valid? [True, True] Translation: X:-264.09, Y:-266.87, Z:-2.79 [[-7.02402211e-01 -7.11757731e-01 5.66277165e-03 -2.64085909e+02] [ 7.11735116e-01 -7.02425036e-01 -5.67401927e-03 -2.66872240e+02] [ 8.01619966e-03 4.49497537e-05 9.99967869e-01 -2.78714285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1012.8065599949999 meters 0.013508115557548953 Centerline is valid? [True, True] Translation: X:-264.11, Y:-266.85, Z:-2.79 [[-7.01108534e-01 -7.13029997e-01 5.91996690e-03 -2.64106033e+02] [ 7.13005355e-01 -7.01133524e-01 -5.92828693e-03 -2.66854551e+02] [ 8.37773368e-03 6.45955402e-05 9.99964904e-01 -2.78794512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1012.8365599949999 meters 0.013794217973397093 Centerline is valid? [True, True] Translation: X:-264.13, Y:-266.84, Z:-2.79 [[-7.00301247e-01 -7.13821659e-01 6.06652072e-03 -2.64126086e+02] [ 7.13795843e-01 -7.00327519e-01 -6.07135149e-03 -2.66836161e+02] [ 8.58241359e-03 7.84822446e-05 9.99963168e-01 -2.78869602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1012.866559995 meters 0.014129842311317252 Centerline is valid? [True, True] Translation: X:-264.15, Y:-266.82, Z:-2.79 [[-6.99360129e-01 -7.14740923e-01 6.38930815e-03 -2.64146939e+02] [ 7.14712356e-01 -6.99389308e-01 -6.39094413e-03 -2.66817041e+02] [ 9.03648311e-03 9.69459754e-05 9.99959166e-01 -2.78900909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1012.896559995 meters 0.014833219208249529 Centerline is valid? [True, True] Translation: X:-264.17, Y:-266.80, Z:-2.79 [[-6.97102833e-01 -7.16941020e-01 6.57375566e-03 -2.64168171e+02] [ 7.16910911e-01 -6.97133815e-01 -6.57188846e-03 -2.66799025e+02] [ 9.29444378e-03 1.31515098e-04 9.99956797e-01 -2.78920990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1012.9265599949999 meters 0.01517406091203062 Centerline is valid? [True, True] Translation: X:-264.19, Y:-266.82, Z:-2.79 [[-6.46027396e-01 -7.63287557e-01 6.38032023e-03 -2.64188725e+02] [ 7.63252642e-01 -6.46058884e-01 -7.30219960e-03 -2.66823120e+02] [ 9.69574066e-03 1.52375280e-04 9.99952984e-01 -2.78888167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1012.9565599949999 meters 0.0158297320425248 Centerline is valid? [True, True] Translation: X:-264.21, Y:-266.80, Z:-2.79 [[-6.43787653e-01 -7.65180556e-01 6.01452876e-03 -2.64208690e+02] [ 7.65149657e-01 -6.43815724e-01 -6.87868523e-03 -2.66803527e+02] [ 9.13568438e-03 1.73601997e-04 9.99958254e-01 -2.78825883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1012.986559995 meters 0.01667595912744907 Centerline is valid? [True, True] Translation: X:-264.23, Y:-266.78, Z:-2.79 [[-6.42909020e-01 -7.65920037e-01 5.87274434e-03 -2.64228393e+02] [ 7.65890633e-01 -6.42935816e-01 -6.71382512e-03 -2.66784400e+02] [ 8.91805086e-03 1.81501152e-04 9.99960217e-01 -2.78865846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1013.016559995 meters 0.01669495791937154 Centerline is valid? [True, True] Translation: X:-264.25, Y:-266.76, Z:-2.79 [[-6.42290853e-01 -7.66438345e-01 5.89277876e-03 -2.64246972e+02] [ 7.66408794e-01 -6.42317855e-01 -6.73303517e-03 -2.66763849e+02] [ 8.94549335e-03 1.91710557e-04 9.99959970e-01 -2.78832683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1013.0465599949999 meters 0.017024112904048302 Centerline is valid? [True, True] Translation: X:-264.27, Y:-266.74, Z:-2.79 [[-6.41638131e-01 -7.66983921e-01 6.01451478e-03 -2.64266125e+02] [ 7.66953195e-01 -6.41666286e-01 -6.86836364e-03 -2.66743277e+02] [ 9.12723584e-03 2.05847326e-04 9.99958325e-01 -2.78887867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1013.0765599949999 meters 0.01722226244766022 Centerline is valid? [True, True] Translation: X:-264.28, Y:-266.72, Z:-2.79 [[-6.41670700e-01 -7.66955367e-01 6.17892947e-03 -2.64283933e+02] [ 7.66922979e-01 -6.41700413e-01 -7.05153901e-03 -2.66723315e+02] [ 9.37323727e-03 2.13997025e-04 9.99956048e-01 -2.78921004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1013.1065599949999 meters 0.016713223345011533 Centerline is valid? [True, True] Translation: X:-264.30, Y:-266.70, Z:-2.79 [[-6.41971837e-01 -7.66697078e-01 6.91020656e-03 -2.64301819e+02] [ 7.66656608e-01 -6.42008983e-01 -7.88114494e-03 -2.66702230e+02] [ 1.04788655e-02 2.38282422e-04 9.99945067e-01 -2.78958291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1013.136559995 meters 0.01681859458865023 Centerline is valid? [True, True] Translation: X:-264.32, Y:-266.68, Z:-2.79 [[-6.42477628e-01 -7.66273232e-01 6.91607006e-03 -2.64319645e+02] [ 7.66232722e-01 -6.42514809e-01 -7.88265327e-03 -2.66682706e+02] [ 1.04839436e-02 2.34890814e-04 9.99945015e-01 -2.79018126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1013.166559995 meters 0.01592622517486154 Centerline is valid? [True, True] Translation: X:-264.34, Y:-266.66, Z:-2.79 [[-6.42925808e-01 -7.65895893e-01 7.06299802e-03 -2.64337312e+02] [ 7.65853671e-01 -6.42964560e-01 -8.04549330e-03 -2.66660322e+02] [ 1.07032677e-02 2.36567679e-04 9.99942691e-01 -2.78939416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1013.1965599949999 meters 0.01591268942113877 Centerline is valid? [True, True] Translation: X:-264.36, Y:-266.64, Z:-2.79 [[-6.44114594e-01 -7.64895673e-01 7.14135771e-03 -2.64355460e+02] [ 7.64852499e-01 -6.44154142e-01 -8.13000825e-03 -2.66639827e+02] [ 1.08187433e-02 2.25428324e-04 9.99941450e-01 -2.78973597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1013.2265599949999 meters 0.015958536265545394 Centerline is valid? [True, True] Translation: X:-264.37, Y:-266.62, Z:-2.79 [[-6.44958794e-01 -7.64185601e-01 6.96571346e-03 -2.64372977e+02] [ 7.64144524e-01 -6.44996374e-01 -7.92616439e-03 -2.66619762e+02] [ 1.05499206e-02 2.10762371e-04 9.99944326e-01 -2.78954084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1013.256559995 meters 0.017663226332819887 Centerline is valid? [True, True] Translation: X:-264.39, Y:-266.60, Z:-2.79 [[-6.45922386e-01 -7.63373468e-01 6.72458387e-03 -2.64392544e+02] [ 7.63335179e-01 -6.45957361e-01 -7.64809813e-03 -2.66601802e+02] [ 1.01821496e-02 1.93033637e-04 9.99948142e-01 -2.79119551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1013.286559995 meters 0.016020179980371977 Centerline is valid? [True, True] Translation: X:-264.41, Y:-266.58, Z:-2.79 [[-6.46903221e-01 -7.62541654e-01 6.81531650e-03 -2.64408068e+02] [ 7.62502327e-01 -6.46939094e-01 -7.74661995e-03 -2.66578751e+02] [ 1.03162151e-02 1.85381295e-04 9.99946769e-01 -2.78927250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1013.3165599949999 meters 0.014833149146013183 Centerline is valid? [True, True] Translation: X:-264.42, Y:-266.56, Z:-2.79 [[-6.49038201e-01 -7.60724354e-01 6.91881215e-03 -2.64424070e+02] [ 7.60683766e-01 -6.49075058e-01 -7.85989105e-03 -2.66555584e+02] [ 1.04700389e-02 1.61658532e-04 9.99945175e-01 -2.78857295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1013.3465599949999 meters 0.014998886564566717 Centerline is valid? [True, True] Translation: X:-264.44, Y:-266.54, Z:-2.79 [[-6.50223765e-01 -7.59711615e-01 6.87878261e-03 -2.64441535e+02] [ 7.59671491e-01 -6.50260133e-01 -7.80929315e-03 -2.66536417e+02] [ 1.04058088e-02 1.47827045e-04 9.99945847e-01 -2.78943723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1013.376559995 meters 0.014344161257210152 Centerline is valid? [True, True] Translation: X:-264.46, Y:-266.51, Z:-2.79 [[-6.51655473e-01 -7.58483586e-01 6.91335520e-03 -2.64457569e+02] [ 7.58443040e-01 -6.51692130e-01 -7.84365241e-03 -2.66514512e+02] [ 1.04546608e-02 1.32027115e-04 9.99945340e-01 -2.78898323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1013.406559995 meters 0.014382032945171283 Centerline is valid? [True, True] Translation: X:-264.47, Y:-266.49, Z:-2.79 [[-6.52338355e-01 -7.57894852e-01 7.07558938e-03 -2.64474765e+02] [ 7.57852402e-01 -6.52376714e-01 -8.02249691e-03 -2.66494764e+02] [ 1.06961589e-02 1.28869967e-04 9.99942786e-01 -2.78941350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1013.4365599949999 meters 0.01387574281075288 Centerline is valid? [True, True] Translation: X:-264.49, Y:-266.47, Z:-2.79 [[-6.52465406e-01 -7.57781891e-01 7.44981479e-03 -2.64492066e+02] [ 7.57734878e-01 -6.52507921e-01 -8.44196722e-03 -2.66472809e+02] [ 1.12582330e-02 1.36892928e-04 9.99936615e-01 -2.78796205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1013.4665599949999 meters 0.014633053073804744 Centerline is valid? [True, True] Translation: X:-264.51, Y:-266.45, Z:-2.79 [[-6.52506554e-01 -7.57743324e-01 7.76222103e-03 -2.64511292e+02] [ 7.57692326e-01 -6.52552706e-01 -8.79230277e-03 -2.66454155e+02] [ 1.17275671e-02 1.44340129e-04 9.99931219e-01 -2.78998096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1013.496559995 meters 0.01397089465652379 Centerline is valid? [True, True] Translation: X:-264.53, Y:-266.43, Z:-2.79 [[-6.52511447e-01 -7.57735553e-01 8.10204858e-03 -2.64529156e+02] [ 7.57680055e-01 -6.52561728e-01 -9.17199140e-03 -2.66432024e+02] [ 1.22370308e-02 1.53931236e-04 9.99925113e-01 -2.78871601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1013.526559995 meters 0.014392537791819784 Centerline is valid? [True, True] Translation: X:-264.55, Y:-266.41, Z:-2.79 [[-6.52110100e-01 -7.58078026e-01 8.37403598e-03 -2.64547594e+02] [ 7.58018840e-01 -6.52163843e-01 -9.47420215e-03 -2.66412723e+02] [ 1.26434279e-02 1.69454124e-04 9.99920054e-01 -2.78942667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1013.5565599949999 meters 0.014211554031109592 Centerline is valid? [True, True] Translation: X:-264.57, Y:-266.39, Z:-2.79 [[-6.52244191e-01 -7.57960823e-01 8.53852061e-03 -2.64565096e+02] [ 7.57899358e-01 -6.52300054e-01 -9.65418011e-03 -2.66392024e+02] [ 1.28871678e-02 1.74456388e-04 9.99916942e-01 -2.78872078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1013.5865599949999 meters 0.01431886622330185 Centerline is valid? [True, True] Translation: X:-264.58, Y:-266.37, Z:-2.79 [[-6.52800239e-01 -7.57482373e-01 8.50308741e-03 -2.64582187e+02] [ 7.57421458e-01 -6.52855594e-01 -9.60774145e-03 -2.66372343e+02] [ 1.28289830e-02 1.68484957e-04 9.99917691e-01 -2.78818502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1013.616559995 meters 0.013999543610996618 Centerline is valid? [True, True] Translation: X:-264.60, Y:-266.35, Z:-2.79 [[-6.53246067e-01 -7.57096755e-01 8.60695429e-03 -2.64600564e+02] [ 7.57034381e-01 -6.53302744e-01 -9.71959106e-03 -2.66351204e+02] [ 1.29816177e-02 1.66475691e-04 9.99915722e-01 -2.78753278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1013.646559995 meters 0.013883821783601763 Centerline is valid? [True, True] Translation: X:-264.62, Y:-266.33, Z:-2.79 [[-6.53854398e-01 -7.56573969e-01 8.38185517e-03 -2.64619033e+02] [ 7.56514839e-01 -6.53908102e-01 -9.46005012e-03 -2.66330620e+02] [ 1.26381907e-02 1.55502440e-04 9.99920123e-01 -2.78732022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1013.6765599949999 meters 0.013699077860958734 Centerline is valid? [True, True] Translation: X:-264.64, Y:-266.31, Z:-2.79 [[-6.55269377e-01 -7.55348310e-01 8.42462467e-03 -2.64637462e+02] [ 7.55288550e-01 -6.55323518e-01 -9.50230885e-03 -2.66309934e+02] [ 1.26984076e-02 1.36450550e-04 9.99919363e-01 -2.78710868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1013.7065599949999 meters 0.013691503795744969 Centerline is valid? [True, True] Translation: X:-264.65, Y:-266.29, Z:-2.79 [[-6.56643575e-01 -7.54155797e-01 8.26127885e-03 -2.64654959e+02] [ 7.54098315e-01 -6.56695531e-01 -9.31189821e-03 -2.66290794e+02] [ 1.24477669e-02 1.15218328e-04 9.99922517e-01 -2.78809078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1013.736559995 meters 0.013201912201541014 Centerline is valid? [True, True] Translation: X:-264.67, Y:-266.27, Z:-2.79 [[-6.58299121e-01 -7.52713597e-01 8.03178108e-03 -2.64672184e+02] [ 7.52659224e-01 -6.58348110e-01 -9.04759474e-03 -2.66269503e+02] [ 1.20979555e-02 8.91704540e-05 9.99926813e-01 -2.78716807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1013.766559995 meters 0.012872734864709048 Centerline is valid? [True, True] Translation: X:-264.69, Y:-266.25, Z:-2.79 [[-6.62260433e-01 -7.49230973e-01 8.00424138e-03 -2.64687915e+02] [ 7.49176784e-01 -6.62308801e-01 -9.01099722e-03 -2.66247510e+02] [ 1.20525977e-02 2.89648897e-05 9.99927365e-01 -2.78648220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1013.7965599949999 meters 0.0128892900976253 Centerline is valid? [True, True] Translation: X:-264.71, Y:-266.23, Z:-2.79 [[-6.64691412e-01 -7.47075895e-01 7.93303627e-03 -2.64705107e+02] [ 7.47022575e-01 -6.64738751e-01 -8.92559850e-03 -2.66225663e+02] [ 1.19414961e-02 -6.61149075e-06 9.99928698e-01 -2.78566568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1013.8265599949999 meters 0.013246055647239052 Centerline is valid? [True, True] Translation: X:-264.72, Y:-266.20, Z:-2.79 [[-6.69032847e-01 -7.43187212e-01 8.23514842e-03 -2.64721301e+02] [ 7.43129520e-01 -6.69083524e-01 -9.26041511e-03 -2.66202724e+02] [ 1.23922242e-02 -7.57399954e-05 9.99923211e-01 -2.78521931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1013.8565599949999 meters 0.013608713038182445 Centerline is valid? [True, True] Translation: X:-264.74, Y:-266.18, Z:-2.79 [[-6.71145416e-01 -7.41280892e-01 8.15289772e-03 -2.64738329e+02] [ 7.41224275e-01 -6.71194925e-01 -9.16225481e-03 -2.66181957e+02] [ 1.22639880e-02 -1.06079619e-04 9.99924789e-01 -2.78534150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1013.886559995 meters 0.013906458514695045 Centerline is valid? [True, True] Translation: X:-264.76, Y:-266.16, Z:-2.79 [[-6.72888546e-01 -7.39694328e-01 8.56191822e-03 -2.64756791e+02] [ 7.39631826e-01 -6.72943001e-01 -9.61663855e-03 -2.66160213e+02] [ 1.28750559e-02 -1.38258720e-04 9.99917104e-01 -2.78538428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1013.916559995 meters 0.01393260836681514 Centerline is valid? [True, True] Translation: X:-264.78, Y:-266.14, Z:-2.78 [[-6.74253374e-01 -7.38447110e-01 8.84611150e-03 -2.64775622e+02] [ 7.38380357e-01 -6.74311381e-01 -9.93025855e-03 -2.66139525e+02] [ 1.32980044e-02 -1.63715361e-04 9.99911564e-01 -2.78473661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1013.9465599949999 meters 0.014206982472245375 Centerline is valid? [True, True] Translation: X:-264.79, Y:-266.12, Z:-2.78 [[-6.75810697e-01 -7.37017872e-01 9.19557514e-03 -2.64794985e+02] [ 7.36945688e-01 -6.75873226e-01 -1.03167366e-02 -2.66118673e+02] [ 1.38186623e-02 -1.95521515e-04 9.99904499e-01 -2.78471415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1013.9765599949999 meters 0.01445323591086929 Centerline is valid? [True, True] Translation: X:-264.81, Y:-266.10, Z:-2.79 [[-6.76079107e-01 -7.36770426e-01 9.29416545e-03 -2.64813320e+02] [ 7.36696758e-01 -6.76142959e-01 -1.04204309e-02 -2.66099159e+02] [ 1.39616498e-02 -1.98054064e-04 9.99902512e-01 -2.78539919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1014.006559995 meters 0.014272858377309768 Centerline is valid? [True, True] Translation: X:-264.83, Y:-266.08, Z:-2.79 [[-6.75745594e-01 -7.37077934e-01 9.16581115e-03 -2.64833448e+02] [ 7.37006404e-01 -6.75807728e-01 -1.02701511e-02 -2.66081056e+02] [ 1.37642277e-02 -1.84747820e-04 9.99905252e-01 -2.78542067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1014.036559995 meters 0.013976996830444347 Centerline is valid? [True, True] Translation: X:-264.85, Y:-266.06, Z:-2.79 [[-6.75274314e-01 -7.37510036e-01 9.14046297e-03 -2.64852999e+02] [ 7.37439027e-01 -6.75336152e-01 -1.02353772e-02 -2.66062103e+02] [ 1.37215785e-02 -1.71153171e-04 9.99905840e-01 -2.78537426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1014.0665599949999 meters 0.013535659894241624 Centerline is valid? [True, True] Translation: X:-264.87, Y:-266.04, Z:-2.78 [[-6.74732124e-01 -7.38005985e-01 9.15022397e-03 -2.64873923e+02] [ 7.37934951e-01 -6.74794147e-01 -1.02404532e-02 -2.66042558e+02] [ 1.37320333e-02 -1.57292670e-04 9.99905699e-01 -2.78449714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1014.0965599949999 meters 0.013424941129352566 Centerline is valid? [True, True] Translation: X:-264.89, Y:-266.02, Z:-2.78 [[-6.72876478e-01 -7.39702923e-01 8.76531122e-03 -2.64894646e+02] [ 7.39637957e-01 -6.72933557e-01 -9.80407244e-03 -2.66024913e+02] [ 1.31505731e-02 -1.13772847e-04 9.99913521e-01 -2.78497634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1014.126559995 meters 0.013106303961009457 Centerline is valid? [True, True] Translation: X:-264.92, Y:-266.01, Z:-2.78 [[-6.72043657e-01 -7.40460898e-01 8.65924953e-03 -2.64915621e+02] [ 7.40397628e-01 -6.72099435e-01 -9.67999857e-03 -2.66006026e+02] [ 1.29875371e-02 -9.40938286e-05 9.99915654e-01 -2.78451260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1014.156559995 meters 0.01273790598942476 Centerline is valid? [True, True] Translation: X:-264.94, Y:-265.99, Z:-2.78 [[-6.69248257e-01 -7.42991995e-01 8.34658928e-03 -2.64937338e+02] [ 7.42933486e-01 -6.69300302e-01 -9.32428532e-03 -2.65990094e+02] [ 1.25142441e-02 -3.93010350e-05 9.99921693e-01 -2.78415465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1014.1865599949999 meters 0.012646413323309857 Centerline is valid? [True, True] Translation: X:-264.96, Y:-265.97, Z:-2.78 [[-6.67945304e-01 -7.44166584e-01 8.07254223e-03 -2.64958394e+02] [ 7.44112001e-01 -6.67994083e-01 -9.01308415e-03 -2.65970921e+02] [ 1.20996465e-02 -1.33716807e-05 9.99926797e-01 -2.78362885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1014.2165599949999 meters 0.012665910680514139 Centerline is valid? [True, True] Translation: X:-264.98, Y:-265.95, Z:-2.78 [[-6.66289703e-01 -7.45647402e-01 8.24517275e-03 -2.64978880e+02] [ 7.45590644e-01 -6.66340717e-01 -9.20005269e-03 -2.65952600e+02] [ 1.23540897e-02 1.76232785e-05 9.99923685e-01 -2.78357454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1014.246559995 meters 0.012951239362947932 Centerline is valid? [True, True] Translation: X:-265.00, Y:-265.94, Z:-2.78 [[-6.62941321e-01 -7.48624985e-01 8.33290580e-03 -2.65002296e+02] [ 7.48567314e-01 -6.62993685e-01 -9.29247903e-03 -2.65936888e+02] [ 1.24812459e-02 7.73725931e-05 9.99922103e-01 -2.78426037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1014.276559995 meters 0.01316599380242449 Centerline is valid? [True, True] Translation: X:-265.02, Y:-265.92, Z:-2.78 [[-6.61147897e-01 -7.50208886e-01 8.37170218e-03 -2.65023637e+02] [ 7.50150868e-01 -6.61200889e-01 -9.33057003e-03 -2.65918144e+02] [ 1.25352535e-02 1.11152902e-04 9.99921425e-01 -2.78380112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1014.3065599949999 meters 0.014216811995099669 Centerline is valid? [True, True] Translation: X:-265.05, Y:-265.90, Z:-2.78 [[-6.57345033e-01 -7.53547548e-01 7.97497124e-03 -2.65046739e+02] [ 7.53495190e-01 -6.57393386e-01 -8.88450705e-03 -2.65903074e+02] [ 1.19375919e-02 1.68915887e-04 9.99928730e-01 -2.78330312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1014.3365599949999 meters 0.014500468987915292 Centerline is valid? [True, True] Translation: X:-265.07, Y:-265.88, Z:-2.78 [[-6.55626392e-01 -7.55046394e-01 7.67974532e-03 -2.65067583e+02] [ 7.54997997e-01 -6.55671341e-01 -8.55085891e-03 -2.65884209e+02] [ 1.14916841e-02 1.92023566e-04 9.99933950e-01 -2.78258864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1014.366559995 meters 0.015410730908859317 Centerline is valid? [True, True] Translation: X:-265.09, Y:-265.87, Z:-2.78 [[-6.54042843e-01 -7.56420506e-01 7.48182445e-03 -2.65088085e+02] [ 7.56374716e-01 -6.54085601e-01 -8.32561152e-03 -2.65866754e+02] [ 1.11914169e-02 2.13756218e-04 9.99937351e-01 -2.78236057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1014.396559995 meters 0.016092172783134406 Centerline is valid? [True, True] Translation: X:-265.11, Y:-265.85, Z:-2.78 [[-6.51398017e-01 -7.58697024e-01 7.71036235e-03 -2.65109525e+02] [ 7.58648612e-01 -6.51443594e-01 -8.57482196e-03 -2.65848712e+02] [ 1.15285581e-02 2.63833674e-04 9.99933509e-01 -2.78127180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1014.4265599949999 meters 0.01611087713241436 Centerline is valid? [True, True] Translation: X:-265.13, Y:-265.83, Z:-2.78 [[-6.50606074e-01 -7.59374221e-01 7.90750638e-03 -2.65129039e+02] [ 7.59323410e-01 -6.50654064e-01 -8.78908334e-03 -2.65828840e+02] [ 1.18192545e-02 2.86123699e-04 9.99930109e-01 -2.78070894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1014.4565599949999 meters 0.01611087713241436 Centerline is valid? [True, True] Translation: X:-265.15, Y:-265.81, Z:-2.78 [[-6.50820119e-01 -7.59190757e-01 7.90998390e-03 -2.65147543e+02] [ 7.59139960e-01 -6.50868122e-01 -8.78685369e-03 -2.65808382e+02] [ 1.18192545e-02 2.86123698e-04 9.99930109e-01 -2.78070930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1014.486559995 meters 0.017157262218800377 Centerline is valid? [True, True] Translation: X:-265.17, Y:-265.79, Z:-2.78 [[-6.50172615e-01 -7.59741238e-01 8.29594411e-03 -2.65167483e+02] [ 7.59685475e-01 -6.50225463e-01 -9.21009341e-03 -2.65790423e+02] [ 1.23915219e-02 3.14157727e-04 9.99923173e-01 -2.78148662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1014.516559995 meters 0.017824672160231213 Centerline is valid? [True, True] Translation: X:-265.19, Y:-265.77, Z:-2.78 [[-6.49524276e-01 -7.60292726e-01 8.55490625e-03 -2.65187656e+02] [ 7.60233546e-01 -6.49580524e-01 -9.49206894e-03 -2.65771868e+02] [ 1.27738514e-02 3.38397511e-04 9.99918354e-01 -2.78204369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1014.5465599949999 meters 0.017396525971869622 Centerline is valid? [True, True] Translation: X:-265.21, Y:-265.75, Z:-2.78 [[-6.49725089e-01 -7.60119983e-01 8.65567304e-03 -2.65205517e+02] [ 7.60059463e-01 -6.49782651e-01 -9.59787098e-03 -2.65751923e+02] [ 1.29198397e-02 3.42848629e-04 9.99916477e-01 -2.78160525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1014.5765599949999 meters 0.017444988193899405 Centerline is valid? [True, True] Translation: X:-265.23, Y:-265.73, Z:-2.78 [[-6.49868026e-01 -7.59996754e-01 8.74547749e-03 -2.65225224e+02] [ 7.59935039e-01 -6.49926775e-01 -9.69140098e-03 -2.65732625e+02] [ 1.30493533e-02 3.47863157e-04 9.99914793e-01 -2.78161560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1014.6065599949999 meters 0.016631545195486704 Centerline is valid? [True, True] Translation: X:-265.24, Y:-265.71, Z:-2.78 [[-6.50046706e-01 -7.59838573e-01 9.19906270e-03 -2.65243312e+02] [ 7.59770355e-01 -6.50111689e-01 -1.01882262e-02 -2.65711516e+02] [ 1.37218254e-02 3.66352272e-04 9.99905784e-01 -2.78126808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1014.636559995 meters 0.01764821797265267 Centerline is valid? [True, True] Translation: X:-265.26, Y:-265.69, Z:-2.78 [[-6.50278364e-01 -7.59637591e-01 9.42230421e-03 -2.65262785e+02] [ 7.59566061e-01 -6.50346516e-01 -1.04311275e-02 -2.65692839e+02] [ 1.40516393e-02 3.73725984e-04 9.99901201e-01 -2.78247519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1014.666559995 meters 0.016757675618207426 Centerline is valid? [True, True] Translation: X:-265.28, Y:-265.67, Z:-2.78 [[-6.50892725e-01 -7.59100443e-01 1.02556225e-02 -2.65280759e+02] [ 7.59015732e-01 -6.50973393e-01 -1.13472284e-02 -2.65670655e+02] [ 1.52898234e-02 3.98350401e-04 9.99883025e-01 -2.78202966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1014.6965599949999 meters 0.01658803255772806 Centerline is valid? [True, True] Translation: X:-265.30, Y:-265.65, Z:-2.78 [[-6.51717403e-01 -7.58385665e-01 1.07522624e-02 -2.65299318e+02] [ 7.58292561e-01 -6.51805968e-01 -1.18899948e-02 -2.65649649e+02] [ 1.60255904e-02 4.04444033e-04 9.99871500e-01 -2.78194965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1014.7265599949999 meters 0.015883411513052514 Centerline is valid? [True, True] Translation: X:-265.32, Y:-265.63, Z:-2.78 [[-6.53850426e-01 -7.56546992e-01 1.07828512e-02 -2.65316997e+02] [ 7.56453215e-01 -6.53939230e-01 -1.19170785e-02 -2.65627882e+02] [ 1.60671592e-02 3.64735600e-04 9.99870849e-01 -2.78158354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1014.756559995 meters 0.015565462715494789 Centerline is valid? [True, True] Translation: X:-265.34, Y:-265.61, Z:-2.78 [[-6.55473937e-01 -7.55143171e-01 1.06165144e-02 -2.65335527e+02] [ 7.55052185e-01 -6.55559825e-01 -1.17266484e-02 -2.65606527e+02] [ 1.58150588e-02 3.29510045e-04 9.99874880e-01 -2.78122237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1014.786559995 meters 0.014715034220838601 Centerline is valid? [True, True] Translation: X:-265.35, Y:-265.58, Z:-2.78 [[-6.58534508e-01 -7.52490677e-01 9.49120491e-03 -2.65352530e+02] [ 7.52417762e-01 -6.58602857e-01 -1.04779789e-02 -2.65583749e+02] [ 1.41355161e-02 2.41240497e-04 9.99900060e-01 -2.77964198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1014.8165599949999 meters 0.014313716243481376 Centerline is valid? [True, True] Translation: X:-265.37, Y:-265.56, Z:-2.78 [[-6.60406939e-01 -7.50852606e-01 9.11252825e-03 -2.65370074e+02] [ 7.50785315e-01 -6.60469775e-01 -1.00542690e-02 -2.65562192e+02] [ 1.35678236e-02 2.01643374e-04 9.99907933e-01 -2.77925325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1014.8465599949999 meters 0.013982820940834145 Centerline is valid? [True, True] Translation: X:-265.39, Y:-265.54, Z:-2.78 [[-6.62160643e-01 -7.49311813e-01 8.66542157e-03 -2.65387412e+02] [ 7.49250900e-01 -6.62217321e-01 -9.55561859e-03 -2.65540713e+02] [ 1.28985301e-02 1.65220357e-04 9.99916797e-01 -2.77888460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1014.876559995 meters 0.013355525475873428 Centerline is valid? [True, True] Translation: X:-265.40, Y:-265.52, Z:-2.78 [[-6.65819099e-01 -7.46068141e-01 8.20102790e-03 -2.65403898e+02] [ 7.46013395e-01 -6.65869597e-01 -9.03849340e-03 -2.65517863e+02] [ 1.22041471e-02 1.00075132e-04 9.99925522e-01 -2.77848334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1014.906559995 meters 0.01317255524475172 Centerline is valid? [True, True] Translation: X:-265.42, Y:-265.50, Z:-2.78 [[-6.67641766e-01 -7.44435573e-01 8.37558785e-03 -2.65421296e+02] [ 7.44378415e-01 -6.67694295e-01 -9.22513358e-03 -2.65496785e+02] [ 1.24598498e-02 7.55223426e-05 9.99922370e-01 -2.77869850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1014.9365599949999 meters 0.01302338508790424 Centerline is valid? [True, True] Translation: X:-265.44, Y:-265.48, Z:-2.78 [[-6.70976258e-01 -7.41431605e-01 8.36876515e-03 -2.65437682e+02] [ 7.41374377e-01 -6.71028446e-01 -9.21184151e-03 -2.65475035e+02] [ 1.24456299e-02 2.34610993e-05 9.99922550e-01 -2.77890825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1014.9665599949999 meters 0.013071452334443148 Centerline is valid? [True, True] Translation: X:-265.46, Y:-265.45, Z:-2.78 [[-6.72370580e-01 -7.40163973e-01 8.66579482e-03 -2.65455744e+02] [ 7.40102575e-01 -6.72426422e-01 -9.53340077e-03 -2.65453642e+02] [ 1.28833892e-02 3.59885382e-06 9.99917006e-01 -2.77872463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1014.996559995 meters 0.013124726384597525 Centerline is valid? [True, True] Translation: X:-265.47, Y:-265.43, Z:-2.78 [[-6.73697562e-01 -7.38955789e-01 8.71416068e-03 -2.65474058e+02] [ 7.38893672e-01 -6.73753918e-01 -9.58121302e-03 -2.65432289e+02] [ 1.29512927e-02 -1.60016684e-05 9.99916129e-01 -2.77868339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1015.026559995 meters 0.013270949692325213 Centerline is valid? [True, True] Translation: X:-265.49, Y:-265.41, Z:-2.78 [[-6.74914546e-01 -7.37841049e-01 8.99672629e-03 -2.65491731e+02] [ 7.37774823e-01 -6.74974507e-01 -9.88566964e-03 -2.65411983e+02] [ 1.33666138e-02 -3.44240992e-05 9.99910662e-01 -2.77895028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1015.0565599949999 meters 0.013325861403301026 Centerline is valid? [True, True] Translation: X:-265.51, Y:-265.39, Z:-2.78 [[-6.76109297e-01 -7.36742168e-01 9.33796388e-03 -2.65510171e+02] [ 7.36670805e-01 -6.76173776e-01 -1.02542152e-02 -2.65391861e+02] [ 1.38687990e-02 -5.39648700e-05 9.99903822e-01 -2.77948302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1015.0865599949999 meters 0.013424024908554941 Centerline is valid? [True, True] Translation: X:-265.53, Y:-265.37, Z:-2.78 [[-6.76552890e-01 -7.36330097e-01 9.70440258e-03 -2.65528996e+02] [ 7.36253082e-01 -6.76622483e-01 -1.06496403e-02 -2.65373217e+02] [ 1.44078677e-02 -6.01486459e-05 9.99896200e-01 -2.77980632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1015.116559995 meters 0.013357873465153478 Centerline is valid? [True, True] Translation: X:-265.55, Y:-265.35, Z:-2.78 [[-6.76718853e-01 -7.36184915e-01 9.13045231e-03 -2.65548284e+02] [ 7.36116812e-01 -6.76780443e-01 -1.00135784e-02 -2.65354202e+02] [ 1.35511569e-02 -5.52978444e-05 9.99908177e-01 -2.77980037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1015.146559995 meters 0.013344957024125892 Centerline is valid? [True, True] Translation: X:-265.57, Y:-265.34, Z:-2.78 [[-6.76483756e-01 -7.36403317e-01 8.93771262e-03 -2.65566944e+02] [ 7.36338163e-01 -6.76542794e-01 -9.79582985e-03 -2.65336151e+02] [ 1.32604267e-02 -4.55408829e-05 9.99912076e-01 -2.77984987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1015.1765599949999 meters 0.013203515407958269 Centerline is valid? [True, True] Translation: X:-265.59, Y:-265.32, Z:-2.78 [[-6.76335696e-01 -7.36541095e-01 8.78870867e-03 -2.65586890e+02] [ 7.36478178e-01 -6.76392795e-01 -9.62706689e-03 -2.65316993e+02] [ 1.30353496e-02 -3.84368357e-05 9.99915036e-01 -2.77894185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1015.2065599949999 meters 0.013003889627648372 Centerline is valid? [True, True] Translation: X:-265.61, Y:-265.30, Z:-2.78 [[-6.75338028e-01 -7.37460097e-01 8.43525640e-03 -2.65607119e+02] [ 7.37402278e-01 -6.75390706e-01 -9.23443205e-03 -2.65299287e+02] [ 1.25071189e-02 -1.61858402e-05 9.99921783e-01 -2.77894688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1015.236559995 meters 0.012978390190649846 Centerline is valid? [True, True] Translation: X:-265.63, Y:-265.28, Z:-2.78 [[-6.74762234e-01 -7.37989561e-01 8.20578195e-03 -2.65626051e+02] [ 7.37934957e-01 -6.74812127e-01 -8.97726966e-03 -2.65280898e+02] [ 1.21624925e-02 -2.18917839e-06 9.99926034e-01 -2.77911990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1015.266559995 meters 0.012928081736469811 Centerline is valid? [True, True] Translation: X:-265.65, Y:-265.26, Z:-2.78 [[-6.73284533e-01 -7.39340548e-01 7.96815612e-03 -2.65646939e+02] [ 7.39289219e-01 -6.73331681e-01 -8.71188730e-03 -2.65263073e+02] [ 1.18062635e-02 2.51929449e-05 9.99930303e-01 -2.77895119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1015.2965599949999 meters 0.012944721239047254 Centerline is valid? [True, True] Translation: X:-265.67, Y:-265.24, Z:-2.78 [[-6.72366622e-01 -7.40178881e-01 7.63869472e-03 -2.65667561e+02] [ 7.40131817e-01 -6.72410010e-01 -8.34697393e-03 -2.65243337e+02] [ 1.13145886e-02 4.14143351e-05 9.99935987e-01 -2.77819696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1015.3265599949999 meters 0.013070708087280742 Centerline is valid? [True, True] Translation: X:-265.69, Y:-265.23, Z:-2.78 [[-6.71261545e-01 -7.41185126e-01 7.24898813e-03 -2.65687295e+02] [ 7.41142856e-01 -6.71300682e-01 -7.91587953e-03 -2.65225536e+02] [ 1.07333828e-02 5.89102480e-05 9.99942394e-01 -2.77806347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1015.3565599949999 meters 0.013525224860711057 Centerline is valid? [True, True] Translation: X:-265.71, Y:-265.21, Z:-2.78 [[-6.68153255e-01 -7.43997723e-01 6.21416410e-03 -2.65710065e+02] [ 7.43966818e-01 -6.68182146e-01 -6.78188842e-03 -2.65209376e+02] [ 9.19790304e-03 9.17910718e-05 9.99957694e-01 -2.77767871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1015.386559995 meters 0.013862924718734732 Centerline is valid? [True, True] Translation: X:-265.73, Y:-265.19, Z:-2.78 [[-6.66800402e-01 -7.45214834e-01 5.66345984e-03 -2.65730409e+02] [ 7.45189240e-01 -6.66824446e-01 -6.17706797e-03 -2.65191426e+02] [ 8.37977615e-03 1.01477926e-04 9.99964884e-01 -2.77754276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1015.416559995 meters 0.014056642724038398 Centerline is valid? [True, True] Translation: X:-265.75, Y:-265.17, Z:-2.78 [[-6.65203929e-01 -7.46641477e-01 5.49885974e-03 -2.65750595e+02] [ 7.46617425e-01 -6.65226646e-01 -5.99415126e-03 -2.65172149e+02] [ 8.13346998e-03 1.18211535e-04 9.99966916e-01 -2.77720403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1015.4465599949999 meters 0.015192327984521237 Centerline is valid? [True, True] Translation: X:-265.77, Y:-265.16, Z:-2.78 [[-6.62552225e-01 -7.48995495e-01 5.50437007e-03 -2.65772378e+02] [ 7.48971505e-01 -6.62575072e-01 -5.99658362e-03 -2.65155690e+02] [ 8.13847251e-03 1.49566519e-04 9.99966871e-01 -2.77843101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1015.4765599949999 meters 0.015525375725658173 Centerline is valid? [True, True] Translation: X:-265.79, Y:-265.14, Z:-2.78 [[-6.61865938e-01 -7.49600083e-01 5.76159638e-03 -2.65792526e+02] [ 7.49573851e-01 -6.61890994e-01 -6.27331310e-03 -2.65136315e+02] [ 8.51602478e-03 1.66649726e-04 9.99963724e-01 -2.77917332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1015.506559995 meters 0.015730221257724195 Centerline is valid? [True, True] Translation: X:-265.81, Y:-265.12, Z:-2.78 [[-6.61577396e-01 -7.49854702e-01 5.76840251e-03 -2.65811601e+02] [ 7.49828453e-01 -6.61602521e-01 -6.27655299e-03 -2.65117541e+02] [ 8.52289242e-03 1.72886748e-04 9.99963665e-01 -2.77987083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1015.536559995 meters 0.015503787479897115 Centerline is valid? [True, True] Translation: X:-265.83, Y:-265.10, Z:-2.78 [[-6.61265184e-01 -7.50129942e-01 5.78149051e-03 -2.65831105e+02] [ 7.50103615e-01 -6.61290434e-01 -6.28718591e-03 -2.65096730e+02] [ 8.53945077e-03 1.79219788e-04 9.99963522e-01 -2.78033869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1015.5665599949999 meters 0.015634620825966637 Centerline is valid? [True, True] Translation: X:-265.85, Y:-265.08, Z:-2.78 [[-6.61299540e-01 -7.50097532e-01 6.05064050e-03 -2.65851396e+02] [ 7.50068729e-01 -6.61327193e-01 -6.57611992e-03 -2.65076931e+02] [ 8.93418442e-03 1.89611150e-04 9.99960072e-01 -2.78083822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1015.5965599949999 meters 0.015772255854528804 Centerline is valid? [True, True] Translation: X:-265.87, Y:-265.06, Z:-2.78 [[-6.61663095e-01 -7.49776790e-01 6.05919979e-03 -2.65870212e+02] [ 7.49747916e-01 -6.61690812e-01 -6.58268218e-03 -2.65057522e+02] [ 8.94485914e-03 1.87354550e-04 9.99959977e-01 -2.78137178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1015.626559995 meters 0.01597281785283783 Centerline is valid? [True, True] Translation: X:-265.89, Y:-265.04, Z:-2.78 [[-6.62555914e-01 -7.48989926e-01 5.80962183e-03 -2.65888493e+02] [ 7.48963388e-01 -6.62581362e-01 -6.30734332e-03 -2.65038764e+02] [ 8.57348375e-03 1.72226429e-04 9.99963232e-01 -2.78166598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1015.656559995 meters 0.01562313436792216 Centerline is valid? [True, True] Translation: X:-265.91, Y:-265.02, Z:-2.78 [[-6.62968678e-01 -7.48626372e-01 5.57563243e-03 -2.65907417e+02] [ 7.48601944e-01 -6.62992103e-01 -6.04991425e-03 -2.65017612e+02] [ 8.22572563e-03 1.63025619e-04 9.99966155e-01 -2.78126761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1015.6865599949999 meters 0.015101211963430979 Centerline is valid? [True, True] Translation: X:-265.93, Y:-265.00, Z:-2.78 [[-6.63336515e-01 -7.48303686e-01 5.12460190e-03 -2.65926156e+02] [ 7.48283064e-01 -6.63356294e-01 -5.55730702e-03 -2.64996426e+02] [ 7.55799025e-03 1.48288140e-04 9.99971427e-01 -2.78101444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1015.7165599949999 meters 0.01564915286492933 Centerline is valid? [True, True] Translation: X:-265.95, Y:-264.98, Z:-2.78 [[-6.62926857e-01 -7.48664880e-01 5.37404906e-03 -2.65946046e+02] [ 7.48642233e-01 -6.62948620e-01 -5.82536330e-03 -2.64978486e+02] [ 7.92396332e-03 1.61450300e-04 9.99968592e-01 -2.78190218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1015.746559995 meters 0.016010685229316476 Centerline is valid? [True, True] Translation: X:-265.96, Y:-264.96, Z:-2.78 [[-6.63011180e-01 -7.48589845e-01 5.42393862e-03 -2.65964523e+02] [ 7.48566801e-01 -6.63033345e-01 -5.87604328e-03 -2.64960514e+02] [ 7.99499850e-03 1.64297989e-04 9.99968026e-01 -2.78272988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1015.776559995 meters 0.015328396013598004 Centerline is valid? [True, True] Translation: X:-265.98, Y:-264.94, Z:-2.78 [[-6.62963693e-01 -7.48629521e-01 5.74292595e-03 -2.65982776e+02] [ 7.48603719e-01 -6.62988543e-01 -6.21803394e-03 -2.64939195e+02] [ 8.46249788e-03 1.76844980e-04 9.99964177e-01 -2.78292687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1015.8065599949999 meters 0.01622344236141718 Centerline is valid? [True, True] Translation: X:-266.00, Y:-264.92, Z:-2.79 [[-6.62818488e-01 -7.48751564e-01 6.53818551e-03 -2.66003007e+02] [ 7.48718161e-01 -6.62850702e-01 -7.07547187e-03 -2.64920448e+02] [ 9.63161149e-03 2.05504662e-04 9.99953594e-01 -2.78535662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1015.8365599949999 meters 0.01597197342320315 Centerline is valid? [True, True] Translation: X:-266.02, Y:-264.90, Z:-2.79 [[-6.62830358e-01 -7.48736989e-01 6.98841232e-03 -2.66021282e+02] [ 7.48698875e-01 -6.62867160e-01 -7.55792796e-03 -2.64899773e+02] [ 1.02912893e-02 2.22592352e-04 9.99947019e-01 -2.78557166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1015.866559995 meters 0.01562307354958039 Centerline is valid? [True, True] Translation: X:-266.04, Y:-264.88, Z:-2.79 [[-6.63335217e-01 -7.48287652e-01 7.20969514e-03 -2.66038875e+02] [ 7.48247107e-01 -6.63374358e-01 -7.79281841e-03 -2.64877915e+02] [ 1.06139967e-02 2.25382640e-04 9.99943645e-01 -2.78586850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1015.896559995 meters 0.016139047634118626 Centerline is valid? [True, True] Translation: X:-266.06, Y:-264.86, Z:-2.79 [[-6.63949999e-01 -7.47742047e-01 7.22700329e-03 -2.66057475e+02] [ 7.47701309e-01 -6.63989294e-01 -7.80829041e-03 -2.64858685e+02] [ 1.06372399e-02 2.19325413e-04 9.99943399e-01 -2.78644180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1015.9265599949999 meters 0.015381353954131592 Centerline is valid? [True, True] Translation: X:-266.07, Y:-264.84, Z:-2.79 [[-6.64750753e-01 -7.47031135e-01 7.13582889e-03 -2.66074934e+02] [ 7.46991423e-01 -6.64789020e-01 -7.70544725e-03 -2.64836451e+02] [ 1.05000297e-02 2.08201116e-04 9.99944852e-01 -2.78581824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1015.9565599949999 meters 0.014954185159881289 Centerline is valid? [True, True] Translation: X:-266.09, Y:-264.81, Z:-2.79 [[-6.66328829e-01 -7.45630712e-01 6.38225875e-03 -2.66091393e+02] [ 7.45598916e-01 -6.66359372e-01 -6.88791811e-03 -2.64814982e+02] [ 9.38872122e-03 1.68986795e-04 9.99955911e-01 -2.78518661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1015.986559995 meters 0.01457298056817332 Centerline is valid? [True, True] Translation: X:-266.11, Y:-264.79, Z:-2.78 [[-6.67405138e-01 -7.44671345e-01 5.91356339e-03 -2.66109485e+02] [ 7.44644041e-01 -6.67431320e-01 -6.37849118e-03 -2.64792906e+02] [ 8.69677702e-03 1.46461957e-04 9.99962172e-01 -2.78452967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1016.016559995 meters 0.014432443227125176 Centerline is valid? [True, True] Translation: X:-266.13, Y:-264.77, Z:-2.78 [[-6.69238566e-01 -7.43032712e-01 4.70438534e-03 -2.66126688e+02] [ 7.43015411e-01 -6.69255093e-01 -5.07140963e-03 -2.64771179e+02] [ 6.91665710e-03 1.01447897e-04 9.99976075e-01 -2.78420285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1016.0465599949999 meters 0.013996415668935383 Centerline is valid? [True, True] Translation: X:-266.14, Y:-264.75, Z:-2.78 [[-6.70335935e-01 -7.42045975e-01 4.18398222e-03 -2.66143399e+02] [ 7.42032289e-01 -6.70348987e-01 -4.50759636e-03 -2.64749996e+02] [ 6.14957198e-03 8.30460842e-05 9.99981088e-01 -2.78368848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1016.0765599949999 meters 0.013909886601315797 Centerline is valid? [True, True] Translation: X:-266.16, Y:-264.73, Z:-2.78 [[-6.71429663e-01 -7.41057770e-01 3.94827905e-03 -2.66160349e+02] [ 7.41045577e-01 -6.71441268e-01 -4.25161880e-03 -2.64729751e+02] [ 5.80173264e-03 7.11917469e-05 9.99983167e-01 -2.78357252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1016.1065599949999 meters 0.013454612833784699 Centerline is valid? [True, True] Translation: X:-266.18, Y:-264.71, Z:-2.78 [[-6.72765424e-01 -7.39845857e-01 3.84607003e-03 -2.66176721e+02] [ 7.39834280e-01 -6.72776415e-01 -4.13922256e-03 -2.64707010e+02] [ 5.64993187e-03 6.07286295e-05 9.99984037e-01 -2.78331734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1016.136559995 meters 0.013283659656111422 Centerline is valid? [True, True] Translation: X:-266.20, Y:-264.69, Z:-2.78 [[-6.73166586e-01 -7.39480063e-01 3.99810877e-03 -2.66195448e+02] [ 7.39467560e-01 -6.73178456e-01 -4.30044175e-03 -2.64685583e+02] [ 5.87153163e-03 6.15580442e-05 9.99982761e-01 -2.78368886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1016.166559995 meters 0.0133427771842865 Centerline is valid? [True, True] Translation: X:-266.21, Y:-264.67, Z:-2.78 [[-6.73676038e-01 -7.39014856e-01 4.19980732e-03 -2.66213607e+02] [ 7.39001069e-01 -6.73689126e-01 -4.51456876e-03 -2.64665270e+02] [ 6.16569791e-03 6.23053080e-05 9.99980990e-01 -2.78382289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1016.1965599949999 meters 0.013446356395893522 Centerline is valid? [True, True] Translation: X:-266.23, Y:-264.64, Z:-2.78 [[-6.73465464e-01 -7.39207722e-01 4.02658597e-03 -2.66232091e+02] [ 7.39195067e-01 -6.73477498e-01 -4.32594210e-03 -2.64644078e+02] [ 5.90958485e-03 6.30598843e-05 9.99982536e-01 -2.78432705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1016.2265599949999 meters 0.01342762905366922 Centerline is valid? [True, True] Translation: X:-266.25, Y:-264.62, Z:-2.78 [[-6.73384589e-01 -7.39280967e-01 4.10452160e-03 -2.66250465e+02] [ 7.39267835e-01 -6.73397095e-01 -4.40690299e-03 -2.64624550e+02] [ 6.02191242e-03 6.68002430e-05 9.99981866e-01 -2.78445246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1016.256559995 meters 0.013997080377477909 Centerline is valid? [True, True] Translation: X:-266.27, Y:-264.61, Z:-2.79 [[-6.72384452e-01 -7.40192881e-01 3.69436155e-03 -2.66269418e+02] [ 7.40182266e-01 -6.72394598e-01 -3.96460324e-03 -2.64606002e+02] [ 5.41863985e-03 6.87633277e-05 9.99985317e-01 -2.78509579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1016.286559995 meters 0.014267984498789374 Centerline is valid? [True, True] Translation: X:-266.29, Y:-264.59, Z:-2.79 [[-6.71955753e-01 -7.40581636e-01 3.78233650e-03 -2.66288531e+02] [ 7.40570530e-01 -6.71966394e-01 -4.05656970e-03 -2.64585938e+02] [ 5.54582405e-03 7.52516004e-05 9.99984619e-01 -2.78523575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1016.3165599949999 meters 0.014169859271849576 Centerline is valid? [True, True] Translation: X:-266.31, Y:-264.57, Z:-2.79 [[-6.71725322e-01 -7.40790470e-01 3.81723752e-03 -2.66307006e+02] [ 7.40779176e-01 -6.71736163e-01 -4.09148015e-03 -2.64565395e+02] [ 5.59510600e-03 7.93792440e-05 9.99984344e-01 -2.78526843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1016.3465599949999 meters 0.014169859271849576 Centerline is valid? [True, True] Translation: X:-266.33, Y:-264.55, Z:-2.79 [[-6.71952758e-01 -7.40584168e-01 3.81849370e-03 -2.66325336e+02] [ 7.40572877e-01 -6.71963603e-01 -4.09030782e-03 -2.64545913e+02] [ 5.59510600e-03 7.93792418e-05 9.99984344e-01 -2.78526879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1016.376559995 meters 0.014668091447176295 Centerline is valid? [True, True] Translation: X:-266.34, Y:-264.53, Z:-2.79 [[-6.71740435e-01 -7.40774669e-01 4.20455560e-03 -2.66343125e+02] [ 7.40760996e-01 -6.71753587e-01 -4.50171126e-03 -2.64527105e+02] [ 6.15917898e-03 9.05893183e-05 9.99981028e-01 -2.78644536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1016.406559995 meters 0.014245133939928947 Centerline is valid? [True, True] Translation: X:-266.36, Y:-264.51, Z:-2.79 [[-6.72127874e-01 -7.40422733e-01 4.27763764e-03 -2.66360223e+02] [ 7.40408591e-01 -6.72141480e-01 -4.57715043e-03 -2.64506464e+02] [ 6.26420392e-03 9.07692684e-05 9.99980376e-01 -2.78647710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1016.4365599949999 meters 0.01442886241064277 Centerline is valid? [True, True] Translation: X:-266.38, Y:-264.49, Z:-2.79 [[-6.72541236e-01 -7.40046212e-01 4.45986695e-03 -2.66377295e+02] [ 7.40030845e-01 -6.72556017e-01 -4.76988039e-03 -2.64486934e+02] [ 6.52944227e-03 9.24978551e-05 9.99978679e-01 -2.78668626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1016.4665599949999 meters 0.014099010190600537 Centerline is valid? [True, True] Translation: X:-266.39, Y:-264.47, Z:-2.79 [[-6.73805257e-01 -7.38897828e-01 4.05903411e-03 -2.66392991e+02] [ 7.38885095e-01 -6.73817479e-01 -4.33842226e-03 -2.64466295e+02] [ 5.94069891e-03 7.59080771e-05 9.99982351e-01 -2.78633701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1016.496559995 meters 0.013562251809781295 Centerline is valid? [True, True] Translation: X:-266.41, Y:-264.44, Z:-2.79 [[-6.74687595e-01 -7.38094283e-01 3.67134650e-03 -2.66409880e+02] [ 7.38083866e-01 -6.74697581e-01 -3.92184029e-03 -2.64444119e+02] [ 5.37173650e-03 6.37446206e-05 9.99985570e-01 -2.78538681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1016.526559995 meters 0.013344093697524696 Centerline is valid? [True, True] Translation: X:-266.43, Y:-264.42, Z:-2.78 [[-6.75967786e-01 -7.36923247e-01 3.41769157e-03 -2.66425712e+02] [ 7.36914214e-01 -6.75976424e-01 -3.64909231e-03 -2.64423557e+02] [ 4.99937988e-03 5.18766426e-05 9.99987502e-01 -2.78476062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1016.5565599949999 meters 0.013208124343175006 Centerline is valid? [True, True] Translation: X:-266.44, Y:-264.40, Z:-2.78 [[-6.76615954e-01 -7.36329601e-01 3.09352652e-03 -2.66443553e+02] [ 7.36322203e-01 -6.76623024e-01 -3.30111782e-03 -2.64402338e+02] [ 4.52386204e-03 4.42432764e-05 9.99989766e-01 -2.78469636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1016.5865599949999 meters 0.013218179726035447 Centerline is valid? [True, True] Translation: X:-266.46, Y:-264.38, Z:-2.78 [[-6.77312605e-01 -7.35690139e-01 2.76677798e-03 -2.66461176e+02] [ 7.35684223e-01 -6.77318255e-01 -2.95048202e-03 -2.64382797e+02] [ 4.04462976e-03 3.70762510e-05 9.99991820e-01 -2.78494841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1016.616559995 meters 0.01313505848719485 Centerline is valid? [True, True] Translation: X:-266.48, Y:-264.36, Z:-2.79 [[-6.78289716e-01 -7.34788720e-01 2.93224075e-03 -2.66478392e+02] [ 7.34782076e-01 -6.78296053e-01 -3.12500304e-03 -2.64360923e+02] [ 4.28514431e-03 3.49005221e-05 9.99990818e-01 -2.78527013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1016.646559995 meters 0.013024923049425543 Centerline is valid? [True, True] Translation: X:-266.50, Y:-264.34, Z:-2.79 [[-6.79122750e-01 -7.34019249e-01 2.83432181e-03 -2.66496052e+02] [ 7.34013042e-01 -6.79128664e-01 -3.01878565e-03 -2.64340645e+02] [ 4.14071596e-03 3.03031612e-05 9.99991427e-01 -2.78545123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1016.6765599949999 meters 0.013014866650870363 Centerline is valid? [True, True] Translation: X:-266.51, Y:-264.32, Z:-2.79 [[-6.79962231e-01 -7.33240207e-01 3.18784638e-03 -2.66513807e+02] [ 7.33232357e-01 -6.79969703e-01 -3.39312837e-03 -2.64321092e+02] [ 4.65561711e-03 3.02329714e-05 9.99989162e-01 -2.78612924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1016.7065599949999 meters 0.012756767737546115 Centerline is valid? [True, True] Translation: X:-266.53, Y:-264.30, Z:-2.79 [[-6.81472453e-01 -7.31834968e-01 3.58830100e-03 -2.66530505e+02] [ 7.31825014e-01 -6.81481899e-01 -3.81705829e-03 -2.64299170e+02] [ 5.23881891e-03 2.47883514e-05 9.99986277e-01 -2.78683152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1016.736559995 meters 0.012581829538854764 Centerline is valid? [True, True] Translation: X:-266.55, Y:-264.28, Z:-2.79 [[-6.82246465e-01 -7.31113228e-01 3.63452174e-03 -2.66547927e+02] [ 7.31103018e-01 -6.82256145e-01 -3.86383625e-03 -2.64278499e+02] [ 5.30457658e-03 2.11211965e-05 9.99985931e-01 -2.78660729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1016.766559995 meters 0.01252791397376998 Centerline is valid? [True, True] Translation: X:-266.57, Y:-264.26, Z:-2.79 [[-6.82899049e-01 -7.30503488e-01 3.68006538e-03 -2.66565260e+02] [ 7.30493022e-01 -6.82908964e-01 -3.91038811e-03 -2.64258785e+02] [ 5.36970179e-03 1.78617629e-05 9.99985583e-01 -2.78693477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1016.7965599949999 meters 0.012566160707143137 Centerline is valid? [True, True] Translation: X:-266.58, Y:-264.24, Z:-2.79 [[-6.83307784e-01 -7.30122248e-01 3.46047870e-03 -2.66582682e+02] [ 7.30113000e-01 -6.83316547e-01 -3.67481952e-03 -2.64238144e+02] [ 5.04766985e-03 1.55077002e-05 9.99987260e-01 -2.78662341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1016.8265599949999 meters 0.012577743870784105 Centerline is valid? [True, True] Translation: X:-266.60, Y:-264.22, Z:-2.79 [[-6.83288728e-01 -7.30139348e-01 3.61203894e-03 -2.66601217e+02] [ 7.30129285e-01 -6.83298275e-01 -3.83344480e-03 -2.64218431e+02] [ 5.26704886e-03 1.79057863e-05 9.99986129e-01 -2.78669184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1016.8565599949999 meters 0.012607207482534783 Centerline is valid? [True, True] Translation: X:-266.62, Y:-264.20, Z:-2.79 [[-6.83163979e-01 -7.30256409e-01 3.54322711e-03 -2.66619540e+02] [ 7.30246740e-01 -6.83173167e-01 -3.75802627e-03 -2.64199324e+02] [ 5.16496046e-03 2.00818721e-05 9.99986661e-01 -2.78698463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1016.886559995 meters 0.012845325018076913 Centerline is valid? [True, True] Translation: X:-266.64, Y:-264.18, Z:-2.79 [[-6.82071981e-01 -7.31274031e-01 4.01302822e-03 -2.66637615e+02] [ 7.31261661e-01 -6.82083785e-01 -4.25367154e-03 -2.64180408e+02] [ 5.84782101e-03 3.32635097e-05 9.99982901e-01 -2.78772879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1016.916559995 meters 0.012801434878765007 Centerline is valid? [True, True] Translation: X:-266.66, Y:-264.16, Z:-2.79 [[-6.81530712e-01 -7.31776923e-01 4.29220487e-03 -2.66656000e+02] [ 7.31762799e-01 -6.81544227e-01 -4.54679539e-03 -2.64160000e+02] [ 6.25256739e-03 4.20951452e-05 9.99980452e-01 -2.78757024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1016.9465599949999 meters 0.013026452452519767 Centerline is valid? [True, True] Translation: X:-266.67, Y:-264.14, Z:-2.79 [[-6.80733680e-01 -7.32516421e-01 4.62063355e-03 -2.66674400e+02] [ 7.32500090e-01 -6.80749359e-01 -4.89172158e-03 -2.64140384e+02] [ 6.72875972e-03 5.46548621e-05 9.99977360e-01 -2.78788373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1016.9765599949999 meters 0.013275270018313863 Centerline is valid? [True, True] Translation: X:-266.69, Y:-264.12, Z:-2.79 [[-6.78892211e-01 -7.34214180e-01 5.90787993e-03 -2.66693590e+02] [ 7.34187575e-01 -6.78917910e-01 -6.25101312e-03 -2.64119809e+02] [ 8.60054797e-03 9.37279226e-05 9.99963010e-01 -2.78859966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1017.006559995 meters 0.013902341275232707 Centerline is valid? [True, True] Translation: X:-266.71, Y:-264.10, Z:-2.79 [[-6.77980348e-01 -7.35052738e-01 6.33396380e-03 -2.66712959e+02] [ 7.35022231e-01 -6.78009925e-01 -6.69791218e-03 -2.64100890e+02] [ 9.21780902e-03 1.14551369e-04 9.99957509e-01 -2.78964556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1017.036559995 meters 0.01399547402730674 Centerline is valid? [True, True] Translation: X:-266.73, Y:-264.08, Z:-2.79 [[-6.76339935e-01 -7.36561241e-01 6.46769643e-03 -2.66731363e+02] [ 7.36529536e-01 -6.76370844e-01 -6.83549823e-03 -2.64079364e+02] [ 9.40932435e-03 1.40529014e-04 9.99955722e-01 -2.78942421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1017.0665599949999 meters 0.014041783120311513 Centerline is valid? [True, True] Translation: X:-266.75, Y:-264.06, Z:-2.79 [[-6.75820485e-01 -7.37035826e-01 6.69800847e-03 -2.66749760e+02] [ 7.37001885e-01 -6.75853658e-01 -7.07490598e-03 -2.64058697e+02] [ 9.74133270e-03 1.55078475e-04 9.99952540e-01 -2.78897894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1017.0965599949999 meters 0.014366823462540774 Centerline is valid? [True, True] Translation: X:-266.77, Y:-264.04, Z:-2.79 [[-6.75687037e-01 -7.37162492e-01 6.20387852e-03 -2.66767314e+02] [ 7.37133419e-01 -6.75715501e-01 -6.54860424e-03 -2.64039631e+02] [ 9.01944230e-03 1.48279190e-04 9.99959313e-01 -2.78903296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1017.126559995 meters 0.01431198038258819 Centerline is valid? [True, True] Translation: X:-266.78, Y:-264.02, Z:-2.79 [[-6.75315841e-01 -7.37508731e-01 5.42088180e-03 -2.66784198e+02] [ 7.37486570e-01 -6.75337585e-01 -5.71886508e-03 -2.64017059e+02] [ 7.87863815e-03 1.35787347e-04 9.99968954e-01 -2.78744334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1017.156559995 meters 0.014372323781909778 Centerline is valid? [True, True] Translation: X:-266.80, Y:-264.00, Z:-2.79 [[-6.75286150e-01 -7.37537109e-01 5.25636344e-03 -2.66802340e+02] [ 7.37516297e-01 -6.75306594e-01 -5.54217893e-03 -2.63996238e+02] [ 7.63721952e-03 1.34097029e-04 9.99970827e-01 -2.78696495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1017.1865599949999 meters 0.014866695257159071 Centerline is valid? [True, True] Translation: X:-266.82, Y:-263.98, Z:-2.79 [[-6.75395443e-01 -7.37440408e-01 4.75828836e-03 -2.66819135e+02] [ 7.37423374e-01 -6.75412193e-01 -5.01368983e-03 -2.63976352e+02] [ 6.91110345e-03 1.22649795e-04 9.99976111e-01 -2.78676484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1017.2165599949999 meters 0.014630355186373612 Centerline is valid? [True, True] Translation: X:-266.84, Y:-263.96, Z:-2.79 [[-6.75628303e-01 -7.37228202e-01 4.57965839e-03 -2.66836298e+02] [ 7.37212439e-01 -6.75643814e-01 -4.82245433e-03 -2.63955553e+02] [ 6.64946720e-03 1.17994496e-04 9.99977885e-01 -2.78616784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1017.246559995 meters 0.014755876583716793 Centerline is valid? [True, True] Translation: X:-266.85, Y:-263.93, Z:-2.79 [[-6.75831669e-01 -7.37039875e-01 4.87630863e-03 -2.66854425e+02] [ 7.37022021e-01 -6.75849249e-01 -5.13164319e-03 -2.63934613e+02] [ 7.07787518e-03 1.25819860e-04 9.99974944e-01 -2.78625735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1017.276559995 meters 0.014517816691066145 Centerline is valid? [True, True] Translation: X:-266.87, Y:-263.91, Z:-2.79 [[-6.76162133e-01 -7.36733491e-01 5.34157271e-03 -2.66870706e+02] [ 7.36712085e-01 -6.76183218e-01 -5.61773333e-03 -2.63912076e+02] [ 7.75065412e-03 1.36702618e-04 9.99969954e-01 -2.78661483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1017.3065599949999 meters 0.014820967507774448 Centerline is valid? [True, True] Translation: X:-266.89, Y:-263.89, Z:-2.79 [[-6.76338610e-01 -7.36571886e-01 5.28603250e-03 -2.66888123e+02] [ 7.36550946e-01 -6.76359253e-01 -5.55565669e-03 -2.63892293e+02] [ 7.66739752e-03 1.35927116e-04 9.99970596e-01 -2.78708341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1017.3365599949999 meters 0.014562674335499837 Centerline is valid? [True, True] Translation: X:-266.91, Y:-263.87, Z:-2.79 [[-6.76554621e-01 -7.36371744e-01 5.52272904e-03 -2.66905218e+02] [ 7.36348909e-01 -6.76577146e-01 -5.80077717e-03 -2.63870868e+02] [ 8.00808066e-03 1.42112906e-04 9.99967925e-01 -2.78675889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1017.366559995 meters 0.014656445271770213 Centerline is valid? [True, True] Translation: X:-266.92, Y:-263.85, Z:-2.79 [[-6.76013615e-01 -7.36863776e-01 6.11292954e-03 -2.66922225e+02] [ 7.36835853e-01 -6.76041232e-01 -6.41705991e-03 -2.63848424e+02] [ 8.86109142e-03 1.66205787e-04 9.99960726e-01 -2.78656597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1017.396559995 meters 0.015081711288014115 Centerline is valid? [True, True] Translation: X:-266.94, Y:-263.83, Z:-2.79 [[-6.75795462e-01 -7.37062529e-01 6.27070422e-03 -2.66940423e+02] [ 7.37033194e-01 -6.75824532e-01 -6.57829928e-03 -2.63829564e+02] [ 9.08651365e-03 1.76132350e-04 9.99958701e-01 -2.78721616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1017.4265599949999 meters 0.015382526808255909 Centerline is valid? [True, True] Translation: X:-266.96, Y:-263.81, Z:-2.79 [[-6.75665558e-01 -7.37179041e-01 6.56626648e-03 -2.66959261e+02] [ 7.37146921e-01 -6.75697437e-01 -6.88407966e-03 -2.63809376e+02] [ 9.51160867e-03 1.88967596e-04 9.99954746e-01 -2.78797375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1017.4565599949999 meters 0.01592804497797982 Centerline is valid? [True, True] Translation: X:-266.98, Y:-263.79, Z:-2.79 [[-6.74722139e-01 -7.38032240e-01 7.64511466e-03 -2.66977317e+02] [ 7.37988805e-01 -6.74765409e-01 -8.01047790e-03 -2.63789289e+02] [ 1.10706499e-02 2.37162241e-04 9.99938691e-01 -2.78900940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1017.486559995 meters 0.016072480296921574 Centerline is valid? [True, True] Translation: X:-267.00, Y:-263.77, Z:-2.79 [[-6.74510815e-01 -7.38222262e-01 7.94058274e-03 -2.66995682e+02] [ 7.38175476e-01 -6.74557506e-01 -8.31491655e-03 -2.63769112e+02] [ 1.14946362e-02 2.53042306e-04 9.99933903e-01 -2.78956102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1017.516559995 meters 0.01568001734816101 Centerline is valid? [True, True] Translation: X:-267.01, Y:-263.75, Z:-2.79 [[-6.74397027e-01 -7.38322910e-01 8.24194522e-03 -2.67013708e+02] [ 7.38272572e-01 -6.74447336e-01 -8.62561419e-03 -2.63746851e+02] [ 1.19272466e-02 2.67713525e-04 9.99928832e-01 -2.78908939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1017.5465599949999 meters 0.016580492335633232 Centerline is valid? [True, True] Translation: X:-267.03, Y:-263.73, Z:-2.79 [[-6.74715465e-01 -7.38029550e-01 8.45127840e-03 -2.67032821e+02] [ 7.37976671e-01 -6.74768337e-01 -8.83881873e-03 -2.63728650e+02] [ 1.22259645e-02 2.73158606e-04 9.99925223e-01 -2.78972385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1017.5765599949999 meters 0.016416301524210034 Centerline is valid? [True, True] Translation: X:-267.05, Y:-263.71, Z:-2.79 [[-6.75475326e-01 -7.37338989e-01 8.01869535e-03 -2.67051495e+02] [ 7.37291395e-01 -6.75522874e-01 -8.38132749e-03 -2.63708314e+02] [ 1.15966917e-02 2.50735154e-04 9.99932725e-01 -2.78901272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1017.6065599949999 meters 0.01500284651103328 Centerline is valid? [True, True] Translation: X:-267.07, Y:-263.69, Z:-2.79 [[-6.77189784e-01 -7.35772159e-01 7.30244144e-03 -2.67069651e+02] [ 7.35732642e-01 -6.77229125e-01 -7.62840121e-03 -2.63687060e+02] [ 1.05581913e-02 2.06769164e-04 9.99944240e-01 -2.78704592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1017.636559995 meters 0.014822323298661531 Centerline is valid? [True, True] Translation: X:-267.09, Y:-263.67, Z:-2.79 [[-6.78273066e-01 -7.34774097e-01 7.25772475e-03 -2.67088765e+02] [ 7.34735058e-01 -6.78311867e-01 -7.57666208e-03 -2.63668499e+02] [ 1.04901359e-02 1.93458999e-04 9.99944958e-01 -2.78702927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1017.666559995 meters 0.014898131411450766 Centerline is valid? [True, True] Translation: X:-267.11, Y:-263.65, Z:-2.79 [[-6.80027484e-01 -7.33158039e-01 6.47392408e-03 -2.67108863e+02] [ 7.33126937e-01 -6.80058282e-01 -6.75474466e-03 -2.63649799e+02] [ 9.35494103e-03 1.52796114e-04 9.99956230e-01 -2.78680683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1017.6965599949999 meters 0.014348751646502643 Centerline is valid? [True, True] Translation: X:-267.13, Y:-263.63, Z:-2.79 [[-6.80841788e-01 -7.32405368e-01 6.06933908e-03 -2.67126900e+02] [ 7.32378037e-01 -6.80868826e-01 -6.32868271e-03 -2.63629099e+02] [ 8.76758496e-03 1.36218988e-04 9.99961555e-01 -2.78574480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1017.7265599949999 meters 0.014008067583772935 Centerline is valid? [True, True] Translation: X:-267.15, Y:-263.61, Z:-2.78 [[-6.81796866e-01 -7.31517248e-01 5.96236490e-03 -2.67145256e+02] [ 7.31490870e-01 -6.81822924e-01 -6.21348975e-03 -2.63608284e+02] [ 8.61055199e-03 1.25077653e-04 9.99962921e-01 -2.78474456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1017.756559995 meters 0.013894999868927158 Centerline is valid? [True, True] Translation: X:-267.16, Y:-263.59, Z:-2.78 [[-6.82359489e-01 -7.30993411e-01 5.84480281e-03 -2.67163693e+02] [ 7.30968075e-01 -6.82384510e-01 -6.08722718e-03 -2.63588550e+02] [ 8.43812586e-03 1.18687038e-04 9.99964392e-01 -2.78496221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1017.786559995 meters 0.013832801940148975 Centerline is valid? [True, True] Translation: X:-267.18, Y:-263.57, Z:-2.79 [[-6.83102861e-01 -7.30294618e-01 6.34451598e-03 -2.67182026e+02] [ 7.30264772e-01 -6.83132312e-01 -6.60358072e-03 -2.63567688e+02] [ 9.15670334e-03 1.22251633e-04 9.99958069e-01 -2.78578306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1017.8165599949999 meters 0.013747141906745189 Centerline is valid? [True, True] Translation: X:-267.20, Y:-263.55, Z:-2.79 [[-6.83731145e-01 -7.29699545e-01 7.09197624e-03 -2.67201066e+02] [ 7.29662266e-01 -6.83767912e-01 -7.37699744e-03 -2.63547570e+02] [ 1.02322575e-02 1.30864546e-04 9.99947641e-01 -2.78672506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1017.8465599949999 meters 0.013727924211217237 Centerline is valid? [True, True] Translation: X:-267.22, Y:-263.53, Z:-2.79 [[-6.84454642e-01 -7.29017055e-01 7.48169446e-03 -2.67219542e+02] [ 7.28975581e-01 -6.84495520e-01 -7.77733350e-03 -2.63528457e+02] [ 1.07909951e-02 1.30740543e-04 9.99941767e-01 -2.78784558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1017.876559995 meters 0.013533639647747555 Centerline is valid? [True, True] Translation: X:-267.24, Y:-263.51, Z:-2.79 [[-6.84877882e-01 -7.28614993e-01 7.90436457e-03 -2.67237861e+02] [ 7.28568732e-01 -6.84923480e-01 -8.21156521e-03 -2.63508242e+02] [ 1.13969544e-02 1.34953487e-04 9.99935044e-01 -2.78772002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1017.906559995 meters 0.01338260723371175 Centerline is valid? [True, True] Translation: X:-267.26, Y:-263.49, Z:-2.79 [[-6.85775915e-01 -7.27769216e-01 7.96011518e-03 -2.67256553e+02] [ 7.27722301e-01 -6.85822100e-01 -8.26434849e-03 -2.63488094e+02] [ 1.14737613e-02 1.25262191e-04 9.99934167e-01 -2.78727589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1017.9365599949999 meters 0.01335841566445996 Centerline is valid? [True, True] Translation: X:-267.28, Y:-263.47, Z:-2.79 [[-6.86226373e-01 -7.27347467e-01 7.68291843e-03 -2.67275523e+02] [ 7.27303791e-01 -6.86269371e-01 -7.97160360e-03 -2.63468541e+02] [ 1.10706773e-02 1.17491071e-04 9.99938711e-01 -2.78676649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1017.9665599949999 meters 0.013333748509535821 Centerline is valid? [True, True] Translation: X:-267.29, Y:-263.45, Z:-2.79 [[-6.86466745e-01 -7.27123520e-01 7.40241962e-03 -2.67294286e+02] [ 7.27083013e-01 -6.86506646e-01 -7.67580027e-03 -2.63449074e+02] [ 1.06630652e-02 1.12991937e-04 9.99943142e-01 -2.78614780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1017.996559995 meters 0.013338988680791785 Centerline is valid? [True, True] Translation: X:-267.31, Y:-263.43, Z:-2.79 [[-6.86499381e-01 -7.27087377e-01 7.90862473e-03 -2.67313828e+02] [ 7.27041197e-01 -6.86544923e-01 -8.19555522e-03 -2.63429921e+02] [ 1.13885109e-02 1.23652397e-04 9.99935141e-01 -2.78639482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1018.026559995 meters 0.014065420816178604 Centerline is valid? [True, True] Translation: X:-267.33, Y:-263.41, Z:-2.79 [[-6.86232102e-01 -7.27336763e-01 8.16915635e-03 -2.67333959e+02] [ 7.27287573e-01 -6.86280711e-01 -8.45997402e-03 -2.63412668e+02] [ 1.17595845e-02 1.35820146e-04 9.99930845e-01 -2.78873426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1018.0565599949999 meters 0.014079368862606885 Centerline is valid? [True, True] Translation: X:-267.35, Y:-263.39, Z:-2.79 [[-6.85159878e-01 -7.28344979e-01 8.33868397e-03 -2.67353988e+02] [ 7.28293856e-01 -6.85210600e-01 -8.63090106e-03 -2.63393173e+02] [ 1.20000281e-02 1.59465186e-04 9.99927985e-01 -2.78842526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1018.0865599949999 meters 0.014008127539317242 Centerline is valid? [True, True] Translation: X:-267.37, Y:-263.37, Z:-2.79 [[-6.84790460e-01 -7.28693420e-01 8.24176225e-03 -2.67372977e+02] [ 7.28643567e-01 -6.84840034e-01 -8.52530867e-03 -2.63373620e+02] [ 1.18566251e-02 1.67257000e-04 9.99929694e-01 -2.78748565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1018.116559995 meters 0.014487364194443846 Centerline is valid? [True, True] Translation: X:-267.39, Y:-263.35, Z:-2.79 [[-6.83598860e-01 -7.29816001e-01 7.82331036e-03 -2.67393429e+02] [ 7.29771205e-01 -6.83643601e-01 -8.08803058e-03 -2.63354693e+02] [ 1.12511302e-02 1.80258146e-04 9.99936688e-01 -2.78661248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1018.146559995 meters 0.014661623255200573 Centerline is valid? [True, True] Translation: X:-267.41, Y:-263.34, Z:-2.79 [[-6.83372367e-01 -7.30029017e-01 7.73582285e-03 -2.67413206e+02] [ 7.29985285e-01 -6.83416126e-01 -7.99267180e-03 -2.63335805e+02] [ 1.11216684e-02 1.85065799e-04 9.99938135e-01 -2.78611269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1018.1765599949999 meters 0.014940262712830743 Centerline is valid? [True, True] Translation: X:-267.43, Y:-263.32, Z:-2.79 [[-6.83143538e-01 -7.30248868e-01 7.17612652e-03 -2.67433307e+02] [ 7.30211295e-01 -6.83181205e-01 -7.40986210e-03 -2.63316924e+02] [ 1.03136382e-02 1.78089228e-04 9.99946797e-01 -2.78588966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1018.2065599949999 meters 0.015299716797418771 Centerline is valid? [True, True] Translation: X:-267.45, Y:-263.30, Z:-2.79 [[-6.82729758e-01 -7.30639014e-01 6.83436788e-03 -2.67453272e+02] [ 7.30604998e-01 -6.82763941e-01 -7.05244989e-03 -2.63299542e+02] [ 9.81905499e-03 1.78305919e-04 9.99951776e-01 -2.78558076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1018.236559995 meters 0.015484944350387672 Centerline is valid? [True, True] Translation: X:-267.47, Y:-263.28, Z:-2.79 [[-6.82574805e-01 -7.30787195e-01 6.45840708e-03 -2.67472868e+02] [ 7.30756863e-01 -6.82605337e-01 -6.66048127e-03 -2.63280887e+02] [ 9.27593757e-03 1.73248586e-04 9.99956963e-01 -2.78523588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1018.266559995 meters 0.015484944350387672 Centerline is valid? [True, True] Translation: X:-267.49, Y:-263.26, Z:-2.79 [[-6.82794752e-01 -7.30581679e-01 6.46041177e-03 -2.67491586e+02] [ 7.30551356e-01 -6.82825292e-01 -6.65853682e-03 -2.63261759e+02] [ 9.27593757e-03 1.73248588e-04 9.99956963e-01 -2.78523623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1018.2965599949999 meters 0.01568038265959345 Centerline is valid? [True, True] Translation: X:-267.51, Y:-263.24, Z:-2.78 [[-6.82723006e-01 -7.30650557e-01 6.24992656e-03 -2.67511164e+02] [ 7.30622215e-01 -6.82751591e-01 -6.43773734e-03 -2.63242991e+02] [ 8.97088367e-03 1.71143795e-04 9.99959746e-01 -2.78491630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1018.3265599949999 meters 0.01617102991317763 Centerline is valid? [True, True] Translation: X:-267.53, Y:-263.22, Z:-2.78 [[-6.82165822e-01 -7.31169166e-01 6.43763617e-03 -2.67531256e+02] [ 7.31139153e-01 -6.82196172e-01 -6.62736381e-03 -2.63224771e+02] [ 9.23745482e-03 1.85846775e-04 9.99957317e-01 -2.78471851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1018.3565599949999 meters 0.015722282261518856 Centerline is valid? [True, True] Translation: X:-267.55, Y:-263.20, Z:-2.78 [[-6.82025160e-01 -7.31299125e-01 6.57806781e-03 -2.67550378e+02] [ 7.31267834e-01 -6.82056854e-01 -6.76778100e-03 -2.63204915e+02] [ 9.43588856e-03 1.94532480e-04 9.99955462e-01 -2.78443973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1018.386559995 meters 0.01617845039674079 Centerline is valid? [True, True] Translation: X:-267.57, Y:-263.19, Z:-2.79 [[-6.81853031e-01 -7.31454721e-01 7.10177971e-03 -2.67570573e+02] [ 7.31418300e-01 -6.81889980e-01 -7.30239333e-03 -2.63186604e+02] [ 1.01840025e-02 2.15212624e-04 9.99948119e-01 -2.78536135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1018.416559995 meters 0.016186398704298405 Centerline is valid? [True, True] Translation: X:-267.59, Y:-263.17, Z:-2.79 [[-6.81887369e-01 -7.31416682e-01 7.69768822e-03 -2.67590605e+02] [ 7.31373943e-01 -6.81930775e-01 -7.91034769e-03 -2.63168277e+02] [ 1.10350508e-02 2.35922414e-04 9.99939084e-01 -2.78670672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1018.4465599949999 meters 0.015490957162653614 Centerline is valid? [True, True] Translation: X:-267.61, Y:-263.15, Z:-2.79 [[-6.82457657e-01 -7.30883875e-01 7.76585465e-03 -2.67608928e+02] [ 7.30840396e-01 -6.82501801e-01 -7.97544291e-03 -2.63148581e+02] [ 1.11293324e-02 2.32698208e-04 9.99938040e-01 -2.78649134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1018.4765599949999 meters 0.014826390629334805 Centerline is valid? [True, True] Translation: X:-267.63, Y:-263.13, Z:-2.79 [[-6.83972828e-01 -7.29464464e-01 7.92259776e-03 -2.67627271e+02] [ 7.29419169e-01 -6.84018676e-01 -8.13187846e-03 -2.63127698e+02] [ 1.13511212e-02 2.16910767e-04 9.99935551e-01 -2.78595315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1018.506559995 meters 0.015064702012751579 Centerline is valid? [True, True] Translation: X:-267.65, Y:-263.11, Z:-2.79 [[-6.85086453e-01 -7.28419440e-01 7.85317217e-03 -2.67645630e+02] [ 7.28374926e-01 -6.85131432e-01 -8.05531364e-03 -2.63109266e+02] [ 1.12481021e-02 2.01467442e-04 9.99936718e-01 -2.78625457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1018.536559995 meters 0.014148814783869552 Centerline is valid? [True, True] Translation: X:-267.66, Y:-263.09, Z:-2.79 [[-6.86288992e-01 -7.27287723e-01 7.74516678e-03 -2.67663448e+02] [ 7.27244409e-01 -6.86332670e-01 -7.93952812e-03 -2.63088658e+02] [ 1.10900823e-02 1.83818478e-04 9.99938486e-01 -2.78523325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1018.5665599949999 meters 0.014432003457402249 Centerline is valid? [True, True] Translation: X:-267.68, Y:-263.07, Z:-2.79 [[-6.87814971e-01 -7.25844356e-01 7.78050535e-03 -2.67682036e+02] [ 7.25800611e-01 -6.87858957e-01 -7.97049802e-03 -2.63070324e+02] [ 1.11372313e-02 1.64867669e-04 9.99937966e-01 -2.78604279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1018.5965599949999 meters 0.014253396294300051 Centerline is valid? [True, True] Translation: X:-267.70, Y:-263.05, Z:-2.79 [[-6.88592836e-01 -7.25105462e-01 7.87240970e-03 -2.67701412e+02] [ 7.25060681e-01 -6.88637817e-01 -8.06011887e-03 -2.63050490e+02] [ 1.12656753e-02 1.57834627e-04 9.99936528e-01 -2.78635217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1018.626559995 meters 0.014164020289661239 Centerline is valid? [True, True] Translation: X:-267.72, Y:-263.03, Z:-2.79 [[-6.89398431e-01 -7.24333779e-01 8.38928147e-03 -2.67720445e+02] [ 7.24282928e-01 -6.89449455e-01 -8.58421425e-03 -2.63031160e+02] [ 1.20018219e-02 1.58269511e-04 9.99927963e-01 -2.78678716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1018.656559995 meters 0.014141902692135656 Centerline is valid? [True, True] Translation: X:-267.74, Y:-263.01, Z:-2.79 [[-6.89741419e-01 -7.24004493e-01 8.61794061e-03 -2.67739635e+02] [ 7.23950871e-01 -6.89795236e-01 -8.81298680e-03 -2.63012408e+02] [ 1.23252564e-02 1.60283595e-04 9.99924028e-01 -2.78741454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1018.6865599949999 meters 0.014204414165066237 Centerline is valid? [True, True] Translation: X:-267.76, Y:-262.99, Z:-2.79 [[-6.90030139e-01 -7.23725233e-01 8.95511611e-03 -2.67758597e+02] [ 7.23667378e-01 -6.90088226e-01 -9.15241246e-03 -2.62993342e+02] [ 1.28036520e-02 1.65084945e-04 9.99918016e-01 -2.78793799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1018.7165599949999 meters 0.014034604674947665 Centerline is valid? [True, True] Translation: X:-267.78, Y:-262.97, Z:-2.79 [[-6.90971959e-01 -7.22825020e-01 9.04112411e-03 -2.67776988e+02] [ 7.22766025e-01 -6.91031090e-01 -9.23612197e-03 -2.62974139e+02] [ 1.29237979e-02 1.52716040e-04 9.99916473e-01 -2.78800755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1018.746559995 meters 0.014029278993578564 Centerline is valid? [True, True] Translation: X:-267.80, Y:-262.95, Z:-2.79 [[-6.91469955e-01 -7.22350712e-01 8.87415214e-03 -2.67795926e+02] [ 7.22293903e-01 -6.91526882e-01 -9.06031967e-03 -2.62954008e+02] [ 1.26814431e-02 1.44807156e-04 9.99919577e-01 -2.78769286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1018.776559995 meters 0.013116785661670812 Centerline is valid? [True, True] Translation: X:-267.81, Y:-262.93, Z:-2.78 [[-6.92533651e-01 -7.21334629e-01 8.57297631e-03 -2.67812595e+02] [ 7.21281600e-01 -6.92586701e-01 -8.74734722e-03 -2.62932674e+02] [ 1.22472938e-02 1.25697764e-04 9.99924991e-01 -2.78452380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1018.8065599949999 meters 0.013010480768756822 Centerline is valid? [True, True] Translation: X:-267.83, Y:-262.91, Z:-2.78 [[-6.93580135e-01 -7.20335948e-01 7.91951906e-03 -2.67830667e+02] [ 7.20290690e-01 -6.93625340e-01 -8.07530105e-03 -2.62913552e+02] [ 1.13101087e-02 1.03487460e-04 9.99936033e-01 -2.78430982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1018.8365599949999 meters 0.012894703102651455 Centerline is valid? [True, True] Translation: X:-267.85, Y:-262.89, Z:-2.78 [[-6.94191485e-01 -7.19749734e-01 7.64875641e-03 -2.67849015e+02] [ 7.19707535e-01 -6.94233615e-01 -7.79434454e-03 -2.62893818e+02] [ 1.09200012e-02 9.41000097e-05 9.99940371e-01 -2.78372611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1018.866559995 meters 0.012601899178243236 Centerline is valid? [True, True] Translation: X:-267.87, Y:-262.87, Z:-2.78 [[-6.95402072e-01 -7.18584596e-01 7.22054354e-03 -2.67868135e+02] [ 7.18546968e-01 -6.95439553e-01 -7.35411590e-03 -2.62872583e+02] [ 1.03060060e-02 7.42322319e-05 9.99946889e-01 -2.78337490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1018.896559995 meters 0.012514614325190805 Centerline is valid? [True, True] Translation: X:-267.89, Y:-262.85, Z:-2.78 [[-6.96581901e-01 -7.17440976e-01 7.21816563e-03 -2.67886480e+02] [ 7.17403353e-01 -6.96619296e-01 -7.34756159e-03 -2.62851530e+02] [ 1.02997552e-02 6.01578026e-05 9.99946954e-01 -2.78347292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1018.9265599949999 meters 0.012514614325190805 Centerline is valid? [True, True] Translation: X:-267.91, Y:-262.83, Z:-2.78 [[-6.96783510e-01 -7.17245152e-01 7.22023049e-03 -2.67905865e+02] [ 7.17207540e-01 -6.96820915e-01 -7.34553253e-03 -2.62831899e+02] [ 1.02997552e-02 6.01578027e-05 9.99946954e-01 -2.78347329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1018.9565599949999 meters 0.012433965908374301 Centerline is valid? [True, True] Translation: X:-267.92, Y:-262.81, Z:-2.78 [[-6.97700155e-01 -7.16352684e-01 7.30241595e-03 -2.67924446e+02] [ 7.16314210e-01 -6.97738367e-01 -7.42448231e-03 -2.62812240e+02] [ 1.04137236e-02 5.07618525e-05 9.99945775e-01 -2.78390398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1018.986559995 meters 0.0123997250358308 Centerline is valid? [True, True] Translation: X:-267.94, Y:-262.79, Z:-2.78 [[-6.98379775e-01 -7.15690107e-01 7.30487109e-03 -2.67943837e+02] [ 7.15651614e-01 -6.98417976e-01 -7.42281805e-03 -2.62791683e+02] [ 1.04142907e-02 4.37967936e-05 9.99945769e-01 -2.78377855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1019.016559995 meters 0.01242779389547213 Centerline is valid? [True, True] Translation: X:-267.96, Y:-262.77, Z:-2.78 [[-6.98959819e-01 -7.15123153e-01 7.35167040e-03 -2.67961700e+02] [ 7.15084186e-01 -6.98998480e-01 -7.46544286e-03 -2.62772895e+02] [ 1.04775175e-02 3.90186481e-05 9.99945109e-01 -2.78398616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1019.0465599949999 meters 0.0125047473308641 Centerline is valid? [True, True] Translation: X:-267.98, Y:-262.75, Z:-2.78 [[-6.99402704e-01 -7.14686577e-01 7.67819634e-03 -2.67980120e+02] [ 7.14644098e-01 -6.99444848e-01 -7.79216937e-03 -2.62753336e+02] [ 1.09394337e-02 3.73133753e-05 9.99940162e-01 -2.78460408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1019.0765599949999 meters 0.012493289686066661 Centerline is valid? [True, True] Translation: X:-268.00, Y:-262.73, Z:-2.78 [[-6.99444619e-01 -7.14643626e-01 7.85571475e-03 -2.67999988e+02] [ 7.14599208e-01 -6.99488732e-01 -7.96786789e-03 -2.62733407e+02] [ 1.11891700e-02 4.06052185e-05 9.99937399e-01 -2.78449152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1019.1065599949999 meters 0.012609892767182738 Centerline is valid? [True, True] Translation: X:-268.02, Y:-262.71, Z:-2.79 [[-6.98824396e-01 -7.15247175e-01 8.12047555e-03 -2.68020604e+02] [ 7.15199812e-01 -6.98871573e-01 -8.23125698e-03 -2.62714811e+02] [ 1.15625528e-02 5.55594031e-05 9.99933150e-01 -2.78525041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1019.136559995 meters 0.012668493000234619 Centerline is valid? [True, True] Translation: X:-268.04, Y:-262.70, Z:-2.79 [[-6.98427175e-01 -7.15635232e-01 8.10534732e-03 -2.68041161e+02] [ 7.15588124e-01 -6.98474202e-01 -8.21132120e-03 -2.62695234e+02] [ 1.15376868e-02 6.50804212e-05 9.99933437e-01 -2.78528161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1019.166559995 meters 0.012690277638747574 Centerline is valid? [True, True] Translation: X:-268.06, Y:-262.68, Z:-2.79 [[-6.98161850e-01 -7.15893994e-01 8.11301494e-03 -2.68060686e+02] [ 7.15846874e-01 -6.98208983e-01 -8.21392348e-03 -2.62676749e+02] [ 1.15448784e-02 7.30283786e-05 9.99933353e-01 -2.78551050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1019.1965599949999 meters 0.01274864089766449 Centerline is valid? [True, True] Translation: X:-268.08, Y:-262.66, Z:-2.79 [[-6.97660582e-01 -7.16388149e-01 7.59819049e-03 -2.68080943e+02] [ 7.16346902e-01 -6.97701952e-01 -7.68787535e-03 -2.62657877e+02] [ 1.08087751e-02 7.94126261e-05 9.99941581e-01 -2.78518396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1019.2265599949999 meters 0.01303708907059424 Centerline is valid? [True, True] Translation: X:-268.10, Y:-262.64, Z:-2.79 [[-6.97727546e-01 -7.16321815e-01 7.70255971e-03 -2.68100538e+02] [ 7.16279478e-01 -6.97770056e-01 -7.78837616e-03 -2.62640185e+02] [ 1.09535993e-02 8.30208623e-05 9.99940004e-01 -2.78618483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1019.256559995 meters 0.012681030900283113 Centerline is valid? [True, True] Translation: X:-268.12, Y:-262.62, Z:-2.79 [[-6.97905541e-01 -7.16150499e-01 7.50451272e-03 -2.68119417e+02] [ 7.16110352e-01 -6.97945883e-01 -7.58337469e-03 -2.62620832e+02] [ 1.06685813e-02 8.15800303e-05 9.99943086e-01 -2.78503668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1019.286559995 meters 0.012809699086840405 Centerline is valid? [True, True] Translation: X:-268.14, Y:-262.60, Z:-2.79 [[-6.98143449e-01 -7.15915906e-01 7.75503179e-03 -2.68139431e+02] [ 7.15873073e-01 -6.98186514e-01 -7.83162307e-03 -2.62601799e+02] [ 1.10212421e-02 8.40221000e-05 9.99939261e-01 -2.78545954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1019.3165599949999 meters 0.013097855278777494 Centerline is valid? [True, True] Translation: X:-268.16, Y:-262.58, Z:-2.79 [[-6.98345225e-01 -7.15719514e-01 7.71518927e-03 -2.68158674e+02] [ 7.15677165e-01 -6.98387836e-01 -7.78628134e-03 -2.62583885e+02] [ 1.09609878e-02 8.40723895e-05 9.99939923e-01 -2.78687416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1019.3465599949999 meters 0.012934419256151047 Centerline is valid? [True, True] Translation: X:-268.18, Y:-262.56, Z:-2.79 [[-6.98333706e-01 -7.15734196e-01 7.38897049e-03 -2.68177459e+02] [ 7.15695400e-01 -6.98372790e-01 -7.45251505e-03 -2.62563867e+02] [ 1.04942758e-02 8.39097367e-05 9.99944930e-01 -2.78541586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1019.376559995 meters 0.013039336805563755 Centerline is valid? [True, True] Translation: X:-268.20, Y:-262.54, Z:-2.78 [[-6.98307389e-01 -7.15764092e-01 6.96818243e-03 -2.68196649e+02] [ 7.15729633e-01 -6.98342150e-01 -7.02385391e-03 -2.62544991e+02] [ 9.89359791e-03 8.25255712e-05 9.99951054e-01 -2.78491077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1019.406559995 meters 0.013535630614690533 Centerline is valid? [True, True] Translation: X:-268.22, Y:-262.53, Z:-2.79 [[-6.98169212e-01 -7.15901852e-01 6.65515696e-03 -2.68216435e+02] [ 7.15870466e-01 -6.98200925e-01 -6.70407154e-03 -2.62527537e+02] [ 9.44609398e-03 8.36539760e-05 9.99955381e-01 -2.78579856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1019.4365599949999 meters 0.013096864101579484 Centerline is valid? [True, True] Translation: X:-268.24, Y:-262.51, Z:-2.78 [[-6.97224221e-01 -7.16827894e-01 6.01293049e-03 -2.68235721e+02] [ 7.16802340e-01 -6.97250143e-01 -6.05331503e-03 -2.62507810e+02] [ 8.53170171e-03 8.95647887e-05 9.99963601e-01 -2.78332673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1019.4665599949999 meters 0.013658192586159638 Centerline is valid? [True, True] Translation: X:-268.26, Y:-262.49, Z:-2.78 [[-6.96767923e-01 -7.17275173e-01 5.54866556e-03 -2.68255929e+02] [ 7.17253456e-01 -6.96790010e-01 -5.58224969e-03 -2.62491081e+02] [ 7.87026385e-03 9.02670232e-05 9.99969025e-01 -2.78421203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1019.496559995 meters 0.014219176137963465 Centerline is valid? [True, True] Translation: X:-268.28, Y:-262.47, Z:-2.78 [[-6.95667985e-01 -7.18346875e-01 4.88080900e-03 -2.68276825e+02] [ 7.18330117e-01 -6.95685101e-01 -4.90744497e-03 -2.62473459e+02] [ 6.92075386e-03 9.20797439e-05 9.99976047e-01 -2.78427398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1019.526559995 meters 0.013795316316451872 Centerline is valid? [True, True] Translation: X:-268.30, Y:-262.45, Z:-2.78 [[-6.95194869e-01 -7.18804833e-01 4.86894651e-03 -2.68295353e+02] [ 7.18788190e-01 -6.95211912e-01 -4.89244860e-03 -2.62453774e+02] [ 6.90166531e-03 9.85360859e-05 9.99976179e-01 -2.78328393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1019.5565599949999 meters 0.013947802860540273 Centerline is valid? [True, True] Translation: X:-268.31, Y:-262.43, Z:-2.78 [[-6.94703651e-01 -7.19279072e-01 4.94511224e-03 -2.68314781e+02] [ 7.19261938e-01 -6.94721243e-01 -4.96586471e-03 -2.62434771e+02] [ 7.00731708e-03 1.07026669e-04 9.99975443e-01 -2.78339435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1019.5865599949999 meters 0.014719565039373177 Centerline is valid? [True, True] Translation: X:-268.34, Y:-262.42, Z:-2.78 [[-6.93662877e-01 -7.20278727e-01 5.51076305e-03 -2.68335482e+02] [ 7.20257506e-01 -6.93684754e-01 -5.53063842e-03 -2.62416769e+02] [ 7.80633351e-03 1.32769890e-04 9.99969521e-01 -2.78439466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1019.616559995 meters 0.014676415736137467 Centerline is valid? [True, True] Translation: X:-268.36, Y:-262.40, Z:-2.78 [[-6.93317971e-01 -7.20606638e-01 6.02199287e-03 -2.68355349e+02] [ 7.20581337e-01 -6.93344107e-01 -6.04036227e-03 -2.62397288e+02] [ 8.52803842e-03 1.51443963e-04 9.99963624e-01 -2.78456823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1019.646559995 meters 0.014807211097198037 Centerline is valid? [True, True] Translation: X:-268.38, Y:-262.38, Z:-2.78 [[-6.92831264e-01 -7.21072599e-01 6.25679967e-03 -2.68375774e+02] [ 7.21045336e-01 -6.92859495e-01 -6.27239019e-03 -2.62377582e+02] [ 8.85793176e-03 1.65728201e-04 9.99960754e-01 -2.78478401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1019.6765599949999 meters 0.01517008219599245 Centerline is valid? [True, True] Translation: X:-268.40, Y:-262.36, Z:-2.78 [[-6.92220140e-01 -7.21659285e-01 6.25735652e-03 -2.68396464e+02] [ 7.21632072e-01 -6.92248399e-01 -6.26946782e-03 -2.62358455e+02] [ 8.85606469e-03 1.75657260e-04 9.99960769e-01 -2.78487634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1019.7065599949999 meters 0.01538200153246862 Centerline is valid? [True, True] Translation: X:-268.42, Y:-262.34, Z:-2.78 [[-6.92116741e-01 -7.21759274e-01 6.16171281e-03 -2.68415900e+02] [ 7.21732925e-01 -6.92144146e-01 -6.16978367e-03 -2.62339652e+02] [ 8.71789203e-03 1.76900442e-04 9.99961983e-01 -2.78488651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1019.736559995 meters 0.015185782535371456 Centerline is valid? [True, True] Translation: X:-268.44, Y:-262.32, Z:-2.78 [[-6.92025410e-01 -7.21843003e-01 6.59622893e-03 -2.68435198e+02] [ 7.21812845e-01 -6.92056820e-01 -6.60114184e-03 -2.62319720e+02] [ 9.32995327e-03 1.93084888e-04 9.99956457e-01 -2.78457695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1019.766559995 meters 0.016212810808641752 Centerline is valid? [True, True] Translation: X:-268.46, Y:-262.30, Z:-2.79 [[-6.92425943e-01 -7.21458364e-01 6.64400335e-03 -2.68455413e+02] [ 7.21427781e-01 -6.92457791e-01 -6.64569271e-03 -2.62302409e+02] [ 9.39528248e-03 1.91518552e-04 9.99955845e-01 -2.78545848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1019.7965599949999 meters 0.01585184112627429 Centerline is valid? [True, True] Translation: X:-268.47, Y:-262.28, Z:-2.78 [[-6.92687364e-01 -7.21208912e-01 6.47462961e-03 -2.68474478e+02] [ 7.21179893e-01 -6.92717598e-01 -6.47232532e-03 -2.62282462e+02] [ 9.15298857e-03 1.86074724e-04 9.99958093e-01 -2.78478905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1019.8265599949999 meters 0.015459021862485748 Centerline is valid? [True, True] Translation: X:-268.49, Y:-262.31, Z:-2.78 [[-6.43295507e-01 -7.65596132e-01 5.78382550e-03 -2.68489903e+02] [ 7.65567534e-01 -6.43321485e-01 -6.61953481e-03 -2.62307055e+02] [ 8.78874946e-03 1.69592024e-04 9.99961364e-01 -2.78364598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1019.8565599949999 meters 0.014546505785240608 Centerline is valid? [True, True] Translation: X:-268.51, Y:-262.28, Z:-2.78 [[-6.43987784e-01 -7.65014955e-01 5.64381547e-03 -2.68506860e+02] [ 7.64987731e-01 -6.44012495e-01 -6.45588974e-03 -2.62283927e+02] [ 8.57353988e-03 1.59935457e-04 9.99963234e-01 -2.78247102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1019.886559995 meters 0.014180598398764281 Centerline is valid? [True, True] Translation: X:-268.52, Y:-262.26, Z:-2.78 [[-6.45510422e-01 -7.63734219e-01 5.13206687e-03 -2.68523597e+02] [ 7.63711694e-01 -6.45530809e-01 -5.86715159e-03 -2.62261693e+02] [ 7.79385171e-03 1.32111988e-04 9.99969619e-01 -2.78138984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1019.916559995 meters 0.014641024881334626 Centerline is valid? [True, True] Translation: X:-268.54, Y:-262.24, Z:-2.78 [[-6.46401393e-01 -7.62981090e-01 5.00956117e-03 -2.68541907e+02] [ 7.62959631e-01 -6.46420793e-01 -5.72371056e-03 -2.62241436e+02] [ 7.60536743e-03 1.22278460e-04 9.99971071e-01 -2.78155935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1019.9465599949999 meters 0.014117758908439188 Centerline is valid? [True, True] Translation: X:-268.56, Y:-262.22, Z:-2.78 [[-6.47173715e-01 -7.62327375e-01 4.81200103e-03 -2.68558799e+02] [ 7.62307583e-01 -6.47191595e-01 -5.49450923e-03 -2.62219404e+02] [ 7.30290142e-03 1.12322924e-04 9.99973327e-01 -2.78094507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1019.9765599949999 meters 0.013734261797848795 Centerline is valid? [True, True] Translation: X:-268.58, Y:-262.20, Z:-2.78 [[-6.48065437e-01 -7.61571871e-01 4.41307005e-03 -2.68576419e+02] [ 7.61555224e-01 -6.48080455e-01 -5.03629015e-03 -2.62196860e+02] [ 6.69552136e-03 9.69509774e-05 9.99977580e-01 -2.78032184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1020.006559995 meters 0.014029444192330145 Centerline is valid? [True, True] Translation: X:-268.59, Y:-262.18, Z:-2.78 [[-6.48287064e-01 -7.61382495e-01 4.53635430e-03 -2.68594894e+02] [ 7.61364923e-01 -6.48302928e-01 -5.17385600e-03 -2.62176416e+02] [ 6.88021517e-03 9.96771222e-05 9.99976326e-01 -2.78106350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1020.036559995 meters 0.014185563095495903 Centerline is valid? [True, True] Translation: X:-268.61, Y:-262.16, Z:-2.78 [[-6.48214456e-01 -7.61441837e-01 4.93436225e-03 -2.68612496e+02] [ 7.61421074e-01 -6.48233227e-01 -5.62427905e-03 -2.62156120e+02] [ 7.48117893e-03 1.11388418e-04 9.99972010e-01 -2.78129750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1020.0665599949999 meters 0.014149076666007515 Centerline is valid? [True, True] Translation: X:-268.63, Y:-262.14, Z:-2.78 [[-6.47597536e-01 -7.61959886e-01 5.87910369e-03 -2.68630348e+02] [ 7.61930468e-01 -6.47624206e-01 -6.69706392e-03 -2.62135059e+02] [ 8.91034392e-03 1.42466137e-04 9.99960292e-01 -2.78188683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1020.0965599949999 meters 0.014531758816191377 Centerline is valid? [True, True] Translation: X:-268.65, Y:-262.12, Z:-2.78 [[-6.47177056e-01 -7.62311817e-01 6.52316205e-03 -2.68648920e+02] [ 7.62275648e-01 -6.47209909e-01 -7.42765939e-03 -2.62115117e+02] [ 9.88404764e-03 1.65436840e-04 9.99951138e-01 -2.78307167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1020.126559995 meters 0.015147528360619599 Centerline is valid? [True, True] Translation: X:-268.67, Y:-262.09, Z:-2.79 [[-6.46163629e-01 -7.63159198e-01 7.78484303e-03 -2.68668046e+02] [ 7.63107804e-01 -6.46210486e-01 -8.85936055e-03 -2.62094736e+02] [ 1.17917497e-02 2.16077907e-04 9.99930452e-01 -2.78506197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1020.156559995 meters 0.015147528360619599 Centerline is valid? [True, True] Translation: X:-268.69, Y:-262.07, Z:-2.79 [[-6.46400330e-01 -7.62958693e-01 7.78759137e-03 -2.68685798e+02] [ 7.62907313e-01 -6.46447203e-01 -8.85694480e-03 -2.62074702e+02] [ 1.17917497e-02 2.16078373e-04 9.99930452e-01 -2.78506233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1020.1865599949999 meters 0.015068154194740571 Centerline is valid? [True, True] Translation: X:-268.70, Y:-262.05, Z:-2.79 [[-6.45917836e-01 -7.63364712e-01 8.02913647e-03 -2.68704309e+02] [ 7.63310189e-01 -6.45967695e-01 -9.12651707e-03 -2.62053444e+02] [ 1.21534238e-02 2.33741522e-04 9.99926117e-01 -2.78508205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1020.2165599949999 meters 0.015278374954921268 Centerline is valid? [True, True] Translation: X:-268.72, Y:-262.03, Z:-2.79 [[-6.45537513e-01 -7.63686922e-01 7.97524243e-03 -2.68722269e+02] [ 7.63633223e-01 -6.45586730e-01 -9.05951818e-03 -2.62033356e+02] [ 1.20673462e-02 2.41901248e-04 9.99927158e-01 -2.78527976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1020.246559995 meters 0.017066201298034215 Centerline is valid? [True, True] Translation: X:-268.74, Y:-262.01, Z:-2.79 [[-6.44800137e-01 -7.64308166e-01 8.11236590e-03 -2.68742099e+02] [ 7.64252720e-01 -6.44851114e-01 -9.20982126e-03 -2.62014206e+02] [ 1.22704098e-02 2.61403699e-04 9.99924682e-01 -2.78629232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1020.276559995 meters 0.015558942942646472 Centerline is valid? [True, True] Translation: X:-268.76, Y:-261.99, Z:-2.78 [[-6.44659928e-01 -7.64428303e-01 7.93391093e-03 -2.68758388e+02] [ 7.64375340e-01 -6.44708695e-01 -9.00207771e-03 -2.61990700e+02] [ 1.19965044e-02 2.61207093e-04 9.99928005e-01 -2.78391760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1020.3065599949999 meters 0.01611188478985606 Centerline is valid? [True, True] Translation: X:-268.78, Y:-261.97, Z:-2.78 [[-6.44679399e-01 -7.64418027e-01 7.31796375e-03 -2.68776533e+02] [ 7.64373030e-01 -6.44720886e-01 -8.29760792e-03 -2.61971091e+02] [ 1.10608851e-02 2.44357244e-04 9.99938797e-01 -2.78392505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1020.3365599949999 meters 0.015956676200044706 Centerline is valid? [True, True] Translation: X:-268.79, Y:-261.95, Z:-2.78 [[-6.44963156e-01 -7.64178670e-01 7.31353925e-03 -2.68793977e+02] [ 7.64133770e-01 -6.45004574e-01 -8.28735942e-03 -2.61949803e+02] [ 1.10502896e-02 2.43480837e-04 9.99938914e-01 -2.78368708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1020.366559995 meters 0.01588521325818986 Centerline is valid? [True, True] Translation: X:-268.81, Y:-261.93, Z:-2.78 [[-6.45235658e-01 -7.63947100e-01 7.46822724e-03 -2.68811383e+02] [ 7.63900325e-01 -6.45278829e-01 -8.45730574e-03 -2.61929074e+02] [ 1.12800231e-02 2.48025981e-04 9.99936348e-01 -2.78370502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1020.396559995 meters 0.01654920862127637 Centerline is valid? [True, True] Translation: X:-268.83, Y:-261.91, Z:-2.78 [[-6.46389567e-01 -7.62968372e-01 7.73243670e-03 -2.68829065e+02] [ 7.62918227e-01 -6.46435770e-01 -8.75072328e-03 -2.61909395e+02] [ 1.16750488e-02 2.42840664e-04 9.99931815e-01 -2.78493572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1020.4265599949999 meters 0.015142824927685674 Centerline is valid? [True, True] Translation: X:-268.84, Y:-261.89, Z:-2.78 [[-6.47455078e-01 -7.62064608e-01 7.71068462e-03 -2.68844995e+02] [ 7.62014745e-01 -6.47500950e-01 -8.72052385e-03 -2.61886822e+02] [ 1.16382782e-02 2.29507925e-04 9.99932247e-01 -2.78387873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1020.4565599949999 meters 0.01502789297915362 Centerline is valid? [True, True] Translation: X:-268.86, Y:-261.87, Z:-2.78 [[-6.49224789e-01 -7.60559224e-01 7.53919822e-03 -2.68862119e+02] [ 7.60511507e-01 -6.49268532e-01 -8.52181472e-03 -2.61865984e+02] [ 1.13763089e-02 2.01073637e-04 9.99935268e-01 -2.78413452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1020.486559995 meters 0.014035220995587197 Centerline is valid? [True, True] Translation: X:-268.88, Y:-261.84, Z:-2.78 [[-6.51380161e-01 -7.58720185e-01 6.89684902e-03 -2.68878936e+02] [ 7.58680196e-01 -6.51416653e-01 -7.79134667e-03 -2.61843034e+02] [ 1.04041743e-02 1.57374113e-04 9.99945863e-01 -2.78288432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1020.516559995 meters 0.014779123746647074 Centerline is valid? [True, True] Translation: X:-268.90, Y:-261.82, Z:-2.78 [[-6.52406004e-01 -7.57840923e-01 6.59855517e-03 -2.68897335e+02] [ 7.57804322e-01 -6.52439358e-01 -7.44940944e-03 -2.61824768e+02] [ 9.95062442e-03 1.40374187e-04 9.99950482e-01 -2.78406849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1020.5465599949999 meters 0.013654929654681935 Centerline is valid? [True, True] Translation: X:-268.91, Y:-261.80, Z:-2.78 [[-6.53448591e-01 -7.56943599e-01 6.42865206e-03 -2.68913461e+02] [ 7.56908859e-01 -6.53480201e-01 -7.25302038e-03 -2.61802666e+02] [ 9.69112419e-03 1.26427745e-04 9.99953032e-01 -2.78233460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1020.5765599949999 meters 0.013697435856803948 Centerline is valid? [True, True] Translation: X:-268.93, Y:-261.78, Z:-2.78 [[-6.54403687e-01 -7.56117689e-01 6.46953095e-03 -2.68931207e+02] [ 7.56082513e-01 -6.54435655e-01 -7.29432120e-03 -2.61782761e+02] [ 9.74925701e-03 1.18068526e-04 9.99952468e-01 -2.78264277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1020.6065599949999 meters 0.013367347303060538 Centerline is valid? [True, True] Translation: X:-268.95, Y:-261.76, Z:-2.78 [[-6.55363526e-01 -7.55285782e-01 6.48362786e-03 -2.68948410e+02] [ 7.55250457e-01 -6.55395588e-01 -7.30557684e-03 -2.61762097e+02] [ 9.76713940e-03 1.08954303e-04 9.99952295e-01 -2.78246494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1020.636559995 meters 0.01312329480598467 Centerline is valid? [True, True] Translation: X:-268.97, Y:-261.74, Z:-2.78 [[-6.56673414e-01 -7.54141779e-01 7.08551113e-03 -2.68966894e+02] [ 7.54099573e-01 -6.56711631e-01 -7.97925868e-03 -2.61740781e+02] [ 1.06706299e-02 1.03413882e-04 9.99943062e-01 -2.78327802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1020.666559995 meters 0.013147982716067918 Centerline is valid? [True, True] Translation: X:-268.98, Y:-261.72, Z:-2.78 [[-6.57494223e-01 -7.53422222e-01 7.50345445e-03 -2.68984984e+02] [ 7.53374903e-01 -6.57537030e-01 -8.44456870e-03 -2.61720856e+02] [ 1.12961249e-02 1.00659127e-04 9.99936192e-01 -2.78397018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1020.6965599949999 meters 0.013122387463509985 Centerline is valid? [True, True] Translation: X:-269.00, Y:-261.70, Z:-2.78 [[-6.58165371e-01 -7.52832079e-01 7.88696614e-03 -2.69002384e+02] [ 7.52779827e-01 -6.58212618e-01 -8.87029465e-03 -2.61701502e+02] [ 1.18691430e-02 9.90282316e-05 9.99929555e-01 -2.78468527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1020.7265599949999 meters 0.012946254993968629 Centerline is valid? [True, True] Translation: X:-269.02, Y:-261.68, Z:-2.78 [[-6.59019375e-01 -7.52078275e-01 8.46946279e-03 -2.69021243e+02] [ 7.52018025e-01 -6.59073789e-01 -9.52003847e-03 -2.61680564e+02] [ 1.27418150e-02 9.52988765e-05 9.99918815e-01 -2.78485228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1020.756559995 meters 0.01301263478774516 Centerline is valid? [True, True] Translation: X:-269.04, Y:-261.66, Z:-2.79 [[-6.59617755e-01 -7.51553050e-01 8.51057593e-03 -2.69039203e+02] [ 7.51492252e-01 -6.59672650e-01 -9.55988595e-03 -2.61661240e+02] [ 1.27989556e-02 8.97613621e-05 9.99918086e-01 -2.78500463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1020.786559995 meters 0.012832349381869902 Centerline is valid? [True, True] Translation: X:-269.06, Y:-261.64, Z:-2.78 [[-6.60172721e-01 -7.51064327e-01 8.62294633e-03 -2.69057832e+02] [ 7.51001950e-01 -6.60229028e-01 -9.67997596e-03 -2.61640717e+02] [ 1.29634041e-02 8.53934335e-05 9.99915968e-01 -2.78477546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1020.8165599949999 meters 0.012773241395691328 Centerline is valid? [True, True] Translation: X:-269.08, Y:-261.62, Z:-2.78 [[-6.61001166e-01 -7.50336482e-01 8.52182283e-03 -2.69077124e+02] [ 7.50275576e-01 -6.61056093e-01 -9.56044217e-03 -2.61620875e+02] [ 1.28069514e-02 7.42521128e-05 9.99917985e-01 -2.78458896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1020.8465599949999 meters 0.012791701787775936 Centerline is valid? [True, True] Translation: X:-269.10, Y:-261.60, Z:-2.78 [[-6.61446835e-01 -7.49941776e-01 8.68426016e-03 -2.69096314e+02] [ 7.49878564e-01 -6.61503837e-01 -9.73718671e-03 -2.61600030e+02] [ 1.30469945e-02 7.15092057e-05 9.99914882e-01 -2.78436885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1020.876559995 meters 0.012778455775072467 Centerline is valid? [True, True] Translation: X:-269.11, Y:-261.58, Z:-2.78 [[-6.62101004e-01 -7.49364290e-01 8.68450013e-03 -2.69114040e+02] [ 7.49301109e-01 -6.62157954e-01 -9.73098685e-03 -2.61580929e+02] [ 1.30425649e-02 6.44094148e-05 9.99914940e-01 -2.78476190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1020.906559995 meters 0.012799734285472096 Centerline is valid? [True, True] Translation: X:-269.13, Y:-261.56, Z:-2.78 [[-6.62610580e-01 -7.48916202e-01 8.47007441e-03 -2.69131837e+02] [ 7.48856143e-01 -6.62664711e-01 -9.48461212e-03 -2.61561271e+02] [ 1.27159991e-02 5.82629179e-05 9.99919147e-01 -2.78441491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1020.9365599949999 meters 0.012633603326397454 Centerline is valid? [True, True] Translation: X:-269.15, Y:-261.54, Z:-2.78 [[-6.62961162e-01 -7.48609590e-01 8.13510242e-03 -2.69149786e+02] [ 7.48554235e-01 -6.63011070e-01 -9.10379805e-03 -2.61541083e+02] [ 1.22088535e-02 5.41008348e-05 9.99925468e-01 -2.78360186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1020.9665599949999 meters 0.012598172745175253 Centerline is valid? [True, True] Translation: X:-269.17, Y:-261.52, Z:-2.78 [[-6.63262963e-01 -7.48345506e-01 7.82598158e-03 -2.69168753e+02] [ 7.48294324e-01 -6.63309130e-01 -8.75233624e-03 -2.61522019e+02] [ 1.17408165e-02 5.10371239e-05 9.99931073e-01 -2.78237480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1020.996559995 meters 0.012546792647107681 Centerline is valid? [True, True] Translation: X:-269.19, Y:-261.50, Z:-2.78 [[-6.63413998e-01 -7.48215886e-01 7.40639307e-03 -2.69187549e+02] [ 7.48170095e-01 -6.63455338e-01 -8.27788282e-03 -2.61502501e+02] [ 1.11074544e-02 4.95784772e-05 9.99938309e-01 -2.78193589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1021.026559995 meters 0.012594663991116889 Centerline is valid? [True, True] Translation: X:-269.21, Y:-261.48, Z:-2.78 [[-6.63006944e-01 -7.48582018e-01 6.83774778e-03 -2.69207265e+02] [ 7.48543057e-01 -6.63042200e-01 -7.63755301e-03 -2.61483162e+02] [ 1.02510502e-02 5.45979477e-05 9.99947455e-01 -2.78105893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1021.0565599949999 meters 0.012551734382229755 Centerline is valid? [True, True] Translation: X:-269.23, Y:-261.46, Z:-2.78 [[-6.62958595e-01 -7.48628332e-01 6.44371290e-03 -2.69226552e+02] [ 7.48593775e-01 -6.62989907e-01 -7.19331792e-03 -2.61462981e+02] [ 9.65723821e-03 5.48514193e-05 9.99953366e-01 -2.77997021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1021.0865599949999 meters 0.012615009115249856 Centerline is valid? [True, True] Translation: X:-269.25, Y:-261.44, Z:-2.78 [[-6.62711577e-01 -7.48847870e-01 6.34299105e-03 -2.69245911e+02] [ 7.48814435e-01 -6.62741929e-01 -7.07661695e-03 -2.61443442e+02] [ 9.50307565e-03 5.99672854e-05 9.99954843e-01 -2.78033146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1021.116559995 meters 0.012621835467435526 Centerline is valid? [True, True] Translation: X:-269.27, Y:-261.42, Z:-2.78 [[-6.62514432e-01 -7.49024121e-01 6.12316523e-03 -2.69265075e+02] [ 7.48993011e-01 -6.62542724e-01 -6.82704986e-03 -2.61423536e+02] [ 9.17048359e-03 6.31889001e-05 9.99957948e-01 -2.77959855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1021.146559995 meters 0.012828459090835628 Centerline is valid? [True, True] Translation: X:-269.28, Y:-261.41, Z:-2.78 [[-6.61764921e-01 -7.49690754e-01 5.56441327e-03 -2.69284845e+02] [ 7.49665120e-01 -6.61788311e-01 -6.19995747e-03 -2.61405603e+02] [ 8.33051445e-03 6.85321764e-05 9.99965298e-01 -2.77917464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1021.1765599949999 meters 0.013233156584424791 Centerline is valid? [True, True] Translation: X:-269.30, Y:-261.39, Z:-2.78 [[-6.61334449e-01 -7.50071320e-01 5.45552254e-03 -2.69304331e+02] [ 7.50046725e-01 -6.61356946e-01 -6.07463612e-03 -2.61387795e+02] [ 8.16445806e-03 7.45306872e-05 9.99966668e-01 -2.78006255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1021.2065599949999 meters 0.012935862849316568 Centerline is valid? [True, True] Translation: X:-269.32, Y:-261.37, Z:-2.78 [[-6.60695513e-01 -7.50632891e-01 5.63041778e-03 -2.69323715e+02] [ 7.50606744e-01 -6.60719498e-01 -6.26581546e-03 -2.61366840e+02] [ 8.42345398e-03 8.64333913e-05 9.99964519e-01 -2.77926169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1021.236559995 meters 0.013427428223554314 Centerline is valid? [True, True] Translation: X:-269.34, Y:-261.35, Z:-2.78 [[-6.59202086e-01 -7.51941778e-01 6.01439899e-03 -2.69344717e+02] [ 7.51912033e-01 -6.59229513e-01 -6.68911761e-03 -2.61348950e+02] [ 8.99469630e-03 1.12818688e-04 9.99959541e-01 -2.78043648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1021.266559995 meters 0.013926985622292607 Centerline is valid? [True, True] Translation: X:-269.36, Y:-261.33, Z:-2.78 [[-6.58362766e-01 -7.52674222e-01 6.32331446e-03 -2.69364440e+02] [ 7.52641404e-01 -6.58393119e-01 -7.02982005e-03 -2.61330247e+02] [ 9.45439106e-03 1.31016501e-04 9.99955298e-01 -2.78137445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1021.2965599949999 meters 0.0143455230596716 Centerline is valid? [True, True] Translation: X:-269.39, Y:-261.31, Z:-2.78 [[-6.56817435e-01 -7.54017301e-01 6.98339039e-03 -2.69385209e+02] [ 7.53977394e-01 -6.56854536e-01 -7.75936157e-03 -2.61311306e+02] [ 1.04377645e-02 1.68834523e-04 9.99945511e-01 -2.78236180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1021.3265599949999 meters 0.014696891816548202 Centerline is valid? [True, True] Translation: X:-269.40, Y:-261.29, Z:-2.78 [[-6.56389841e-01 -7.54388361e-01 7.11184722e-03 -2.69403646e+02] [ 7.54347037e-01 -6.56428343e-01 -7.89803203e-03 -2.61293247e+02] [ 1.06266015e-02 1.80612897e-04 9.99943520e-01 -2.78306048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1021.3565599949999 meters 0.014973564526747871 Centerline is valid? [True, True] Translation: X:-269.42, Y:-261.27, Z:-2.78 [[-6.56086854e-01 -7.54650434e-01 7.26374821e-03 -2.69422569e+02] [ 7.54607396e-01 -6.56127034e-01 -8.06179208e-03 -2.61274005e+02] [ 1.08497765e-02 1.92042322e-04 9.99941121e-01 -2.78348246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1021.386559995 meters 0.015578525190825572 Centerline is valid? [True, True] Translation: X:-269.44, Y:-261.25, Z:-2.78 [[-6.55192952e-01 -7.55419302e-01 7.99211589e-03 -2.69442668e+02] [ 7.55367314e-01 -6.55241655e-01 -8.86539244e-03 -2.61254243e+02] [ 1.19338558e-02 2.28440463e-04 9.99928763e-01 -2.78412017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1021.416559995 meters 0.014897262394930067 Centerline is valid? [True, True] Translation: X:-269.46, Y:-261.23, Z:-2.78 [[-6.55101907e-01 -7.55498380e-01 7.98060726e-03 -2.69460715e+02] [ 7.55446607e-01 -6.55150474e-01 -8.84761350e-03 -2.61233136e+02] [ 1.19128563e-02 2.32834201e-04 9.99929012e-01 -2.78325635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1021.4465599949999 meters 0.014978177676738614 Centerline is valid? [True, True] Translation: X:-269.48, Y:-261.21, Z:-2.78 [[-6.54971639e-01 -7.55612012e-01 7.91453142e-03 -2.69480261e+02] [ 7.55561160e-01 -6.55019413e-01 -8.76939795e-03 -2.61213138e+02] [ 1.18104342e-02 2.36205595e-04 9.99930227e-01 -2.78320011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1021.4765599949999 meters 0.01668521730524636 Centerline is valid? [True, True] Translation: X:-269.50, Y:-261.20, Z:-2.79 [[-6.54881833e-01 -7.55688523e-01 8.03997831e-03 -2.69500973e+02] [ 7.55636123e-01 -6.54931139e-01 -8.90245883e-03 -2.61196547e+02] [ 1.19931181e-02 2.45239470e-04 9.99928050e-01 -2.78575765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1021.506559995 meters 0.014943796581408752 Centerline is valid? [True, True] Translation: X:-269.52, Y:-261.17, Z:-2.78 [[-6.54938344e-01 -7.55637594e-01 8.22141629e-03 -2.69517588e+02] [ 7.55582862e-01 -6.54989895e-01 -9.09818138e-03 -2.61173307e+02] [ 1.22598725e-02 2.53213408e-04 9.99924813e-01 -2.78387487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1021.536559995 meters 0.015036804133612719 Centerline is valid? [True, True] Translation: X:-269.54, Y:-261.15, Z:-2.78 [[-6.55539832e-01 -7.55119874e-01 7.84247545e-03 -2.69535401e+02] [ 7.55070076e-01 -6.55586700e-01 -8.67522543e-03 -2.61153215e+02] [ 1.16922577e-02 2.34662708e-04 9.99931616e-01 -2.78384484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1021.5665599949999 meters 0.015070529810350926 Centerline is valid? [True, True] Translation: X:-269.55, Y:-261.13, Z:-2.78 [[-6.56207801e-01 -7.54539532e-01 7.83686306e-03 -2.69552729e+02] [ 7.54489831e-01 -6.56254556e-01 -8.66325706e-03 -2.61133826e+02] [ 1.16797470e-02 2.27936619e-04 9.99931764e-01 -2.78371810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1021.5965599949999 meters 0.014572512444587226 Centerline is valid? [True, True] Translation: X:-269.57, Y:-261.11, Z:-2.78 [[-6.56959150e-01 -7.53887883e-01 7.59832892e-03 -2.69570520e+02] [ 7.53841172e-01 -6.57003055e-01 -8.39483406e-03 -2.61112440e+02] [ 1.13208890e-02 2.12870122e-04 9.99935894e-01 -2.78305403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1021.626559995 meters 0.014771729316669962 Centerline is valid? [True, True] Translation: X:-269.59, Y:-261.09, Z:-2.78 [[-6.57904553e-01 -7.53064911e-01 7.40537051e-03 -2.69588510e+02] [ 7.53020550e-01 -6.57946199e-01 -8.17621418e-03 -2.61092741e+02] [ 1.10295554e-02 1.97227638e-04 9.99939153e-01 -2.78324607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1021.656559995 meters 0.01382524054328412 Centerline is valid? [True, True] Translation: X:-269.61, Y:-261.07, Z:-2.78 [[-6.60204587e-01 -7.51056010e-01 6.69133460e-03 -2.69605600e+02] [ 7.51019729e-01 -6.60238478e-01 -7.38372871e-03 -2.61069920e+02] [ 9.96347039e-03 1.50552734e-04 9.99950352e-01 -2.78233438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1021.6865599949999 meters 0.013484678176674036 Centerline is valid? [True, True] Translation: X:-269.62, Y:-261.05, Z:-2.78 [[-6.61557798e-01 -7.49865370e-01 6.57318924e-03 -2.69623192e+02] [ 7.49830340e-01 -6.61590439e-01 -7.24927862e-03 -2.61048570e+02] [ 9.78474216e-03 1.32959927e-04 9.99952120e-01 -2.78195196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1021.7165599949999 meters 0.013195209723167003 Centerline is valid? [True, True] Translation: X:-269.64, Y:-261.03, Z:-2.78 [[-6.62806823e-01 -7.48763850e-01 6.30965968e-03 -2.69641260e+02] [ 7.48731560e-01 -6.62836845e-01 -6.95471611e-03 -2.61026732e+02] [ 9.38971493e-03 1.14608044e-04 9.99955909e-01 -2.78175048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1021.746559995 meters 0.012917217939454044 Centerline is valid? [True, True] Translation: X:-269.66, Y:-261.01, Z:-2.78 [[-6.64951005e-01 -7.46859833e-01 6.36795389e-03 -2.69657317e+02] [ 7.46826900e-01 -6.64981490e-01 -7.01430401e-03 -2.61005962e+02] [ 9.47327338e-03 9.15907604e-05 9.99955124e-01 -2.78189494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1021.776559995 meters 0.012943490083690973 Centerline is valid? [True, True] Translation: X:-269.67, Y:-260.99, Z:-2.78 [[-6.66194224e-01 -7.45752919e-01 6.15143734e-03 -2.69674576e+02] [ 7.45722180e-01 -6.66222619e-01 -6.77141422e-03 -2.60986550e+02] [ 9.14802862e-03 7.61862159e-05 9.99958153e-01 -2.78245275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1021.8065599949999 meters 0.012509876093376188 Centerline is valid? [True, True] Translation: X:-269.69, Y:-260.97, Z:-2.78 [[-6.67516982e-01 -7.44570773e-01 5.95345570e-03 -2.69691817e+02] [ 7.44541969e-01 -6.67543527e-01 -6.54944759e-03 -2.60965785e+02] [ 8.85071807e-03 6.07301429e-05 9.99960830e-01 -2.78197984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1021.8365599949999 meters 0.012410965148232173 Centerline is valid? [True, True] Translation: X:-269.71, Y:-260.95, Z:-2.78 [[-6.68356929e-01 -7.43817906e-01 5.82568190e-03 -2.69710023e+02] [ 7.43790331e-01 -6.68382316e-01 -6.40495244e-03 -2.60945344e+02] [ 8.65790107e-03 5.22915294e-05 9.99962518e-01 -2.78191216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1021.866559995 meters 0.01234286154776736 Centerline is valid? [True, True] Translation: X:-269.73, Y:-260.92, Z:-2.78 [[-6.68939862e-01 -7.43294832e-01 5.67921502e-03 -2.69728000e+02] [ 7.43268640e-01 -6.68963968e-01 -6.24008606e-03 -2.60924891e+02] [ 8.43741393e-03 4.69401106e-05 9.99964403e-01 -2.78157412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1021.896559995 meters 0.012391164277712653 Centerline is valid? [True, True] Translation: X:-269.75, Y:-260.91, Z:-2.78 [[-6.69578423e-01 -7.42715221e-01 6.23182126e-03 -2.69745331e+02] [ 7.42683689e-01 -6.69607421e-01 -6.84401869e-03 -2.60905471e+02] [ 9.25603062e-03 4.56647571e-05 9.99957161e-01 -2.78263491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1021.9265599949999 meters 0.012529959149294046 Centerline is valid? [True, True] Translation: X:-269.76, Y:-260.88, Z:-2.78 [[-6.70240142e-01 -7.42114602e-01 6.63846224e-03 -2.69763958e+02] [ 7.42078834e-01 -6.70273016e-01 -7.28623686e-03 -2.60884910e+02] [ 9.85680487e-03 4.27338866e-05 9.99951420e-01 -2.78345565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1021.9565599949999 meters 0.012518520933772034 Centerline is valid? [True, True] Translation: X:-269.78, Y:-260.86, Z:-2.78 [[-6.70777319e-01 -7.41624925e-01 7.08941323e-03 -2.69782044e+02] [ 7.41584153e-01 -6.70814780e-01 -7.77655919e-03 -2.60864792e+02] [ 1.05229733e-02 4.10569823e-05 9.99944631e-01 -2.78430166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1021.986559995 meters 0.012420785988997448 Centerline is valid? [True, True] Translation: X:-269.80, Y:-260.84, Z:-2.78 [[-6.71198932e-01 -7.41240830e-01 7.35021407e-03 -2.69800401e+02] [ 7.41197033e-01 -6.71239175e-01 -8.05784483e-03 -2.60844419e+02] [ 1.09065552e-02 3.95400180e-05 9.99940521e-01 -2.78440811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1022.016559995 meters 0.01245788426931796 Centerline is valid? [True, True] Translation: X:-269.82, Y:-260.82, Z:-2.78 [[-6.72042329e-01 -7.40475606e-01 7.41519541e-03 -2.69818087e+02] [ 7.40431037e-01 -6.72083236e-01 -8.12427707e-03 -2.60823762e+02] [ 1.09994575e-02 3.05827396e-05 9.99939504e-01 -2.78471595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1022.0465599949999 meters 0.012446625490632217 Centerline is valid? [True, True] Translation: X:-269.84, Y:-260.80, Z:-2.78 [[-6.72606127e-01 -7.39964749e-01 7.29163042e-03 -2.69835255e+02] [ 7.39921677e-01 -6.72645649e-01 -7.98394345e-03 -2.60804119e+02] [ 1.08125202e-02 2.51861275e-05 9.99941543e-01 -2.78468747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1022.0765599949999 meters 0.012446625490632217 Centerline is valid? [True, True] Translation: X:-269.85, Y:-260.78, Z:-2.78 [[-6.72822476e-01 -7.39768014e-01 7.29396472e-03 -2.69853396e+02] [ 7.39724953e-01 -6.72862011e-01 -7.98181094e-03 -2.60784452e+02] [ 1.08125202e-02 2.51859085e-05 9.99941543e-01 -2.78468783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1022.1065599949999 meters 0.012433199348153736 Centerline is valid? [True, True] Translation: X:-269.87, Y:-260.76, Z:-2.78 [[-6.73344968e-01 -7.39293486e-01 7.18991311e-03 -2.69870858e+02] [ 7.39251670e-01 -6.73383354e-01 -7.86310581e-03 -2.60764929e+02] [ 1.06547107e-02 2.05725438e-05 9.99943237e-01 -2.78455120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1022.136559995 meters 0.012259362443051964 Centerline is valid? [True, True] Translation: X:-269.89, Y:-260.74, Z:-2.78 [[-6.73878697e-01 -7.38808705e-01 7.01426826e-03 -2.69888740e+02] [ 7.38768930e-01 -6.73915200e-01 -7.66617568e-03 -2.60744480e+02] [ 1.03908593e-02 1.58509911e-05 9.99946014e-01 -2.78261824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1022.166559995 meters 0.012197880560118385 Centerline is valid? [True, True] Translation: X:-269.91, Y:-260.72, Z:-2.78 [[-6.74039672e-01 -7.38668414e-01 6.28446497e-03 -2.69906807e+02] [ 7.38636520e-01 -6.74068968e-01 -6.86423959e-03 -2.60724356e+02] [ 9.30655979e-03 1.51655399e-05 9.99956693e-01 -2.78214552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1022.1965599949999 meters 0.012173215875134962 Centerline is valid? [True, True] Translation: X:-269.93, Y:-260.70, Z:-2.78 [[-6.74042823e-01 -7.38669818e-01 5.75965141e-03 -2.69925091e+02] [ 7.38643062e-01 -6.74067430e-01 -6.28707194e-03 -2.60704720e+02] [ 8.52646371e-03 1.65708394e-05 9.99963649e-01 -2.78206576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1022.2265599949999 meters 0.012173523525750681 Centerline is valid? [True, True] Translation: X:-269.94, Y:-260.68, Z:-2.78 [[-6.74001567e-01 -7.38710760e-01 5.31987763e-03 -2.69943882e+02] [ 7.38687961e-01 -6.74022561e-01 -5.80374968e-03 -2.60684232e+02] [ 7.87300988e-03 1.79931801e-05 9.99969007e-01 -2.78123520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1022.256559995 meters 0.012170748906811014 Centerline is valid? [True, True] Translation: X:-269.96, Y:-260.67, Z:-2.78 [[-6.73441218e-01 -7.39226223e-01 4.63866095e-03 -2.69961880e+02] [ 7.39208924e-01 -6.73457193e-01 -5.05720531e-03 -2.60665361e+02] [ 6.86235836e-03 2.32090655e-05 9.99976454e-01 -2.78100278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1022.286559995 meters 0.012214241232005756 Centerline is valid? [True, True] Translation: X:-269.98, Y:-260.65, Z:-2.78 [[-6.73015411e-01 -7.39616838e-01 4.14608665e-03 -2.69979651e+02] [ 7.39603039e-01 -6.73028181e-01 -4.51803220e-03 -2.60646669e+02] [ 6.13204584e-03 2.57529842e-05 9.99981199e-01 -2.78095928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1022.3165599949999 meters 0.012354896223151095 Centerline is valid? [True, True] Translation: X:-270.00, Y:-260.63, Z:-2.78 [[-6.71860689e-01 -7.40667365e-01 3.88189781e-03 -2.69998841e+02] [ 7.40655300e-01 -6.71871903e-01 -4.22755426e-03 -2.60626777e+02] [ 5.73934955e-03 3.48206686e-05 9.99983529e-01 -2.78049437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1022.3465599949999 meters 0.01241072011836095 Centerline is valid? [True, True] Translation: X:-270.02, Y:-260.61, Z:-2.78 [[-6.71084612e-01 -7.41371708e-01 3.66512320e-03 -2.70017946e+02] [ 7.41360977e-01 -6.71094620e-01 -3.98920096e-03 -2.60606171e+02] [ 5.41712519e-03 4.00879301e-05 9.99985327e-01 -2.77997065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1022.376559995 meters 0.012616087023963234 Centerline is valid? [True, True] Translation: X:-270.04, Y:-260.59, Z:-2.78 [[-6.70309780e-01 -7.42072766e-01 3.57900050e-03 -2.70037874e+02] [ 7.42062554e-01 -6.70319333e-01 -3.89325287e-03 -2.60585883e+02] [ 5.28815015e-03 4.61567774e-05 9.99986017e-01 -2.78016235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1022.406559995 meters 0.012739605868130607 Centerline is valid? [True, True] Translation: X:-270.06, Y:-260.57, Z:-2.78 [[-6.69253433e-01 -7.43024619e-01 3.77591860e-03 -2.70058148e+02] [ 7.43013281e-01 -6.69264082e-01 -4.10514635e-03 -2.60565864e+02] [ 5.57731150e-03 5.81743788e-05 9.99984445e-01 -2.78056057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1022.4365599949999 meters 0.013442128072503348 Centerline is valid? [True, True] Translation: X:-270.08, Y:-260.55, Z:-2.78 [[-6.66825057e-01 -7.45203618e-01 3.98888468e-03 -2.70078716e+02] [ 7.45191019e-01 -6.66836982e-01 -4.33423842e-03 -2.60547049e+02] [ 5.88982597e-03 8.23022613e-05 9.99982652e-01 -2.78182833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1022.4665599949999 meters 0.013715375758044851 Centerline is valid? [True, True] Translation: X:-270.10, Y:-260.53, Z:-2.78 [[-6.65715021e-01 -7.46193833e-01 4.27485789e-03 -2.70098242e+02] [ 7.46179394e-01 -6.65728739e-01 -4.64304864e-03 -2.60527521e+02] [ 6.31051001e-03 9.88636447e-05 9.99980084e-01 -2.78256743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1022.496559995 meters 0.01517820302050451 Centerline is valid? [True, True] Translation: X:-270.12, Y:-260.51, Z:-2.78 [[-6.64162712e-01 -7.47568943e-01 5.34491242e-03 -2.70118764e+02] [ 7.47546435e-01 -6.64184203e-01 -5.80273309e-03 -2.60510166e+02] [ 7.88794944e-03 1.41611285e-04 9.99968880e-01 -2.78496632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1022.526559995 meters 0.015498943048362008 Centerline is valid? [True, True] Translation: X:-270.14, Y:-260.49, Z:-2.79 [[-6.63869882e-01 -7.47825173e-01 5.85576686e-03 -2.70137690e+02] [ 7.47798199e-01 -6.63895688e-01 -6.35374858e-03 -2.60490042e+02] [ 8.63911150e-03 1.60869586e-04 9.99962669e-01 -2.78588775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1022.5565599949999 meters 0.014628501179186801 Centerline is valid? [True, True] Translation: X:-270.15, Y:-260.47, Z:-2.79 [[-6.64542147e-01 -7.47225427e-01 6.15596248e-03 -2.70154320e+02] [ 7.47195627e-01 -6.64570639e-01 -6.67531845e-03 -2.60468374e+02] [ 9.07903960e-03 1.63677786e-04 9.99958771e-01 -2.78622311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1022.5865599949999 meters 0.014241189415321551 Centerline is valid? [True, True] Translation: X:-270.17, Y:-260.45, Z:-2.79 [[-6.65685367e-01 -7.46204178e-01 6.50516598e-03 -2.70171569e+02] [ 7.46170895e-01 -6.65717131e-01 -7.04958224e-03 -2.60447405e+02] [ 9.59102816e-03 1.61161779e-04 9.99953992e-01 -2.78619517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1022.616559995 meters 0.013905069080973049 Centerline is valid? [True, True] Translation: X:-270.19, Y:-260.43, Z:-2.79 [[-6.67216115e-01 -7.44838492e-01 6.18682452e-03 -2.70189187e+02] [ 7.44808362e-01 -6.67244785e-01 -6.70091340e-03 -2.60426167e+02] [ 9.11922463e-03 1.37041227e-04 9.99958410e-01 -2.78633009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1022.646559995 meters 0.013580492369812548 Centerline is valid? [True, True] Translation: X:-270.21, Y:-260.40, Z:-2.79 [[-6.68934064e-01 -7.43295547e-01 6.24082944e-03 -2.70206569e+02] [ 7.43264857e-01 -6.68963165e-01 -6.75548293e-03 -2.60404475e+02] [ 9.19620539e-03 1.19616545e-04 9.99957707e-01 -2.78614474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1022.6765599949999 meters 0.012587491860927048 Centerline is valid? [True, True] Translation: X:-270.22, Y:-260.38, Z:-2.78 [[-6.72917808e-01 -7.39699238e-01 5.16335783e-03 -2.70221642e+02] [ 7.39678149e-01 -6.72937615e-01 -5.58600395e-03 -2.60379735e+02] [ 7.60658057e-03 6.03014240e-05 9.99971068e-01 -2.78443757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1022.7065599949999 meters 0.0123596464385797 Centerline is valid? [True, True] Translation: X:-270.24, Y:-260.36, Z:-2.78 [[-6.75403748e-01 -7.37433014e-01 4.72514786e-03 -2.70237543e+02] [ 7.37415320e-01 -6.75420276e-01 -5.10852457e-03 -2.60359104e+02] [ 6.95865534e-03 3.40797763e-05 9.99975788e-01 -2.78444073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1022.736559995 meters 0.012209739581341018 Centerline is valid? [True, True] Translation: X:-270.25, Y:-260.33, Z:-2.78 [[-6.79638930e-01 -7.33535168e-01 4.13310151e-03 -2.70252257e+02] [ 7.33521575e-01 -6.79651497e-01 -4.46565312e-03 -2.60334972e+02] [ 6.08478224e-03 -3.31258162e-06 9.99981488e-01 -2.78296978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1022.766559995 meters 0.012301480289477746 Centerline is valid? [True, True] Translation: X:-270.27, Y:-260.31, Z:-2.78 [[-6.81689664e-01 -7.31629918e-01 4.10664602e-03 -2.70270033e+02] [ 7.31616479e-01 -6.81702034e-01 -4.43454893e-03 -2.60313019e+02] [ 6.04395761e-03 -1.84962736e-05 9.99981735e-01 -2.78262920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1022.7965599949999 meters 0.012390283128510458 Centerline is valid? [True, True] Translation: X:-270.29, Y:-260.29, Z:-2.78 [[-6.83120795e-01 -7.30294771e-01 3.94052243e-03 -2.70287288e+02] [ 7.30282389e-01 -6.83132159e-01 -4.25261347e-03 -2.60292662e+02] [ 5.79755898e-03 -2.73545605e-05 9.99983194e-01 -2.78254265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1022.8265599949999 meters 0.012579218068115116 Centerline is valid? [True, True] Translation: X:-270.31, Y:-260.27, Z:-2.78 [[-6.84554174e-01 -7.28950755e-01 4.04716864e-03 -2.70305532e+02] [ 7.28937688e-01 -6.84566137e-01 -4.36484615e-03 -2.60273102e+02] [ 5.95231250e-03 -3.78399007e-05 9.99982284e-01 -2.78297829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1022.8565599949999 meters 0.012537664520392351 Centerline is valid? [True, True] Translation: X:-270.33, Y:-260.25, Z:-2.78 [[-6.85002013e-01 -7.28527952e-01 4.38924352e-03 -2.70325412e+02] [ 7.28512591e-01 -6.85016074e-01 -4.73109299e-03 -2.60252752e+02] [ 6.45343585e-03 -4.31890564e-05 9.99979176e-01 -2.78326684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1022.886559995 meters 0.012546959099666851 Centerline is valid? [True, True] Translation: X:-270.34, Y:-260.23, Z:-2.78 [[-6.85332586e-01 -7.28214545e-01 4.77729829e-03 -2.70344968e+02] [ 7.28196361e-01 -6.85349235e-01 -5.14646770e-03 -2.60232204e+02] [ 7.02185037e-03 -4.82307813e-05 9.99975346e-01 -2.78372649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1022.916559995 meters 0.012675207635342927 Centerline is valid? [True, True] Translation: X:-270.36, Y:-260.21, Z:-2.78 [[-6.85748657e-01 -7.27820924e-01 5.04793693e-03 -2.70363517e+02] [ 7.27800636e-01 -6.85767234e-01 -5.43459887e-03 -2.60211939e+02] [ 7.41712452e-03 -5.28771660e-05 9.99972492e-01 -2.78432196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1022.9465599949999 meters 0.012563392847600368 Centerline is valid? [True, True] Translation: X:-270.38, Y:-260.19, Z:-2.78 [[-6.85867724e-01 -7.27708327e-01 5.10449829e-03 -2.70382367e+02] [ 7.27687602e-01 -6.85886717e-01 -5.49238080e-03 -2.60191455e+02] [ 7.49795882e-03 -5.25665983e-05 9.99971889e-01 -2.78367418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1022.9765599949999 meters 0.012636073013991712 Centerline is valid? [True, True] Translation: X:-270.40, Y:-260.17, Z:-2.78 [[-6.86217107e-01 -7.27380447e-01 4.87514971e-03 -2.70401708e+02] [ 7.27361555e-01 -6.86234423e-01 -5.24264738e-03 -2.60171077e+02] [ 7.15889474e-03 -5.15978462e-05 9.99974374e-01 -2.78374874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1023.006559995 meters 0.012621207981963012 Centerline is valid? [True, True] Translation: X:-270.42, Y:-260.15, Z:-2.78 [[-6.86203382e-01 -7.27395551e-01 4.54206427e-03 -2.70421768e+02] [ 7.27379172e-01 -6.86218413e-01 -4.88170357e-03 -2.60151802e+02] [ 6.66777759e-03 -4.60385530e-05 9.99977769e-01 -2.78381702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1023.036559995 meters 0.012704346938208155 Centerline is valid? [True, True] Translation: X:-270.44, Y:-260.13, Z:-2.78 [[-6.86309573e-01 -7.27296334e-01 4.38313121e-03 -2.70440228e+02] [ 7.27281093e-01 -6.86323568e-01 -4.70858328e-03 -2.60133056e+02] [ 6.43278161e-03 -4.37773278e-05 9.99979309e-01 -2.78430107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1023.0665599949999 meters 0.012569679919209077 Centerline is valid? [True, True] Translation: X:-270.46, Y:-260.11, Z:-2.78 [[-6.86184124e-01 -7.27416063e-01 4.14972269e-03 -2.70460786e+02] [ 7.27402419e-01 -6.86196670e-01 -4.45533201e-03 -2.60113239e+02] [ 6.08840596e-03 -3.86597703e-05 9.99981465e-01 -2.78396375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1023.0965599949999 meters 0.01250956375873239 Centerline is valid? [True, True] Translation: X:-270.48, Y:-260.09, Z:-2.78 [[-6.85898800e-01 -7.27683962e-01 4.34603520e-03 -2.70479145e+02] [ 7.27669018e-01 -6.85912567e-01 -4.66381881e-03 -2.60094970e+02] [ 6.37478631e-03 -3.64325556e-05 9.99979680e-01 -2.78420043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1023.126559995 meters 0.01238839994913862 Centerline is valid? [True, True] Translation: X:-270.50, Y:-260.08, Z:-2.78 [[-6.84589566e-01 -7.28914421e-01 4.57085624e-03 -2.70500066e+02] [ 7.28897938e-01 -6.84604825e-01 -4.90201253e-03 -2.60076551e+02] [ 6.70237786e-03 -2.41789428e-05 9.99977539e-01 -2.78485806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1023.156559995 meters 0.012323722678613877 Centerline is valid? [True, True] Translation: X:-270.52, Y:-260.06, Z:-2.78 [[-6.84185330e-01 -7.29294189e-01 4.51885647e-03 -2.70519859e+02] [ 7.29278107e-01 -6.84200252e-01 -4.84322258e-03 -2.60057435e+02] [ 6.62393682e-03 -1.81587474e-05 9.99978061e-01 -2.78497569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1023.1865599949999 meters 0.012312655171599542 Centerline is valid? [True, True] Translation: X:-270.54, Y:-260.04, Z:-2.79 [[-6.83087375e-01 -7.30322594e-01 4.53277698e-03 -2.70540202e+02] [ 7.30306456e-01 -6.83102414e-01 -4.85511793e-03 -2.60039679e+02] [ 6.64215322e-03 -6.15346821e-06 9.99977941e-01 -2.78539584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1023.2165599949999 meters 0.012364506990097786 Centerline is valid? [True, True] Translation: X:-270.56, Y:-260.02, Z:-2.79 [[-6.82707459e-01 -7.30675974e-01 4.81105135e-03 -2.70559687e+02] [ 7.30657825e-01 -6.82724411e-01 -5.14997963e-03 -2.60020799e+02] [ 7.04758858e-03 -6.97190878e-07 9.99975166e-01 -2.78577895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1023.246559995 meters 0.012306938492420814 Centerline is valid? [True, True] Translation: X:-270.58, Y:-260.00, Z:-2.79 [[-6.82676652e-01 -7.30704267e-01 4.88502164e-03 -2.70578363e+02] [ 7.30685580e-01 -6.82694130e-01 -5.22576061e-03 -2.60002480e+02] [ 7.15346117e-03 1.91011050e-06 9.99974414e-01 -2.78646716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1023.276559995 meters 0.012324698300565994 Centerline is valid? [True, True] Translation: X:-270.60, Y:-259.98, Z:-2.79 [[-6.82430517e-01 -7.30935451e-01 4.68582923e-03 -2.70597938e+02] [ 7.30918284e-01 -6.82446604e-01 -5.00955478e-03 -2.59983765e+02] [ 6.85948943e-03 6.28520080e-06 9.99976474e-01 -2.78655894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1023.3065599949999 meters 0.012302131997983612 Centerline is valid? [True, True] Translation: X:-270.62, Y:-259.96, Z:-2.79 [[-6.82698641e-01 -7.30686995e-01 4.36813600e-03 -2.70616410e+02] [ 7.30672091e-01 -6.82712615e-01 -4.66699231e-03 -2.59964267e+02] [ 6.39229214e-03 5.52576024e-06 9.99979569e-01 -2.78646739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1023.3365599949999 meters 0.012244213262054852 Centerline is valid? [True, True] Translation: X:-270.64, Y:-259.94, Z:-2.79 [[-6.84257061e-01 -7.29231009e-01 3.79616618e-03 -2.70635238e+02] [ 7.29219742e-01 -6.84267591e-01 -4.05361151e-03 -2.59943007e+02] [ 5.55361270e-03 -5.47297645e-06 9.99984579e-01 -2.78545423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1023.366559995 meters 0.012244213262054852 Centerline is valid? [True, True] Translation: X:-270.65, Y:-259.92, Z:-2.79 [[-6.84461343e-01 -7.29039266e-01 3.79730175e-03 -2.70654144e+02] [ 7.29028002e-01 -6.84471876e-01 -4.05254776e-03 -2.59922920e+02] [ 5.55361270e-03 -5.47297829e-06 9.99984579e-01 -2.78545459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1023.396559995 meters 0.012372965063859646 Centerline is valid? [True, True] Translation: X:-270.67, Y:-259.90, Z:-2.78 [[-6.86638088e-01 -7.26992436e-01 3.18338372e-03 -2.70672517e+02] [ 7.26984507e-01 -6.86645467e-01 -3.39545967e-03 -2.59901458e+02] [ 4.65432950e-03 -1.71812912e-05 9.99989169e-01 -2.78488839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1023.4265599949999 meters 0.012532910678002709 Centerline is valid? [True, True] Translation: X:-270.69, Y:-259.88, Z:-2.78 [[-6.88082296e-01 -7.25626741e-01 2.93016075e-03 -2.70691612e+02] [ 7.25620019e-01 -6.88088535e-01 -3.12359557e-03 -2.59880379e+02] [ 4.28277449e-03 -2.31075153e-05 9.99990829e-01 -2.78469306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1023.4565599949999 meters 0.012935339647007603 Centerline is valid? [True, True] Translation: X:-270.71, Y:-259.86, Z:-2.79 [[-6.90783157e-01 -7.23055250e-01 3.12015707e-03 -2.70708907e+02] [ 7.23047610e-01 -6.90790203e-01 -3.32414871e-03 -2.59859069e+02] [ 4.55891711e-03 -4.02438307e-05 9.99989607e-01 -2.78529887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1023.486559995 meters 0.013253397099782438 Centerline is valid? [True, True] Translation: X:-270.73, Y:-259.84, Z:-2.79 [[-6.92210267e-01 -7.21688437e-01 3.27807861e-03 -2.70726865e+02] [ 7.21679998e-01 -6.92218027e-01 -3.49034325e-03 -2.59838216e+02] [ 4.78808548e-03 -5.03276674e-05 9.99988536e-01 -2.78554012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1023.516559995 meters 0.013464828223392209 Centerline is valid? [True, True] Translation: X:-270.75, Y:-259.82, Z:-2.79 [[-6.93748775e-01 -7.20209326e-01 3.34125892e-03 -2.70745906e+02] [ 7.20200552e-01 -6.93756818e-01 -3.55562835e-03 -2.59817425e+02] [ 4.87881786e-03 -6.03362971e-05 9.99988097e-01 -2.78571143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1023.5465599949999 meters 0.014075847666361989 Centerline is valid? [True, True] Translation: X:-270.76, Y:-259.80, Z:-2.79 [[-6.96209723e-01 -7.17823618e-01 4.61248359e-03 -2.70763593e+02] [ 7.17806863e-01 -6.96224994e-01 -4.90566410e-03 -2.59795342e+02] [ 6.73272792e-03 -1.04498670e-04 9.99977330e-01 -2.78695080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1023.5765599949999 meters 0.014700275447360111 Centerline is valid? [True, True] Translation: X:-270.78, Y:-259.77, Z:-2.79 [[-6.97402925e-01 -7.16658307e-01 5.48008521e-03 -2.70781197e+02] [ 7.16634647e-01 -6.97424442e-01 -5.82496907e-03 -2.59774204e+02] [ 7.99645785e-03 -1.35131538e-04 9.99968019e-01 -2.78760834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1023.6065599949999 meters 0.01511089606884036 Centerline is valid? [True, True] Translation: X:-270.80, Y:-259.75, Z:-2.79 [[-6.98441233e-01 -7.15643668e-01 5.82964483e-03 -2.70799760e+02] [ 7.15616886e-01 -6.98465545e-01 -6.19312550e-03 -2.59753454e+02] [ 8.50387710e-03 -1.53741931e-04 9.99963830e-01 -2.78821289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1023.636559995 meters 0.015056958588937982 Centerline is valid? [True, True] Translation: X:-270.82, Y:-259.73, Z:-2.79 [[-6.99543965e-01 -7.14556665e-01 6.85665816e-03 -2.70818540e+02] [ 7.14519604e-01 -6.99577541e-01 -7.28008440e-03 -2.59732891e+02] [ 9.99879688e-03 -1.93522435e-04 9.99949992e-01 -2.78819284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1023.666559995 meters 0.015257033435498696 Centerline is valid? [True, True] Translation: X:-270.84, Y:-259.71, Z:-2.79 [[-6.99772894e-01 -7.14330060e-01 7.10374959e-03 -2.70837009e+02] [ 7.14290317e-01 -6.99808921e-01 -7.53771418e-03 -2.59712597e+02] [ 1.03556832e-02 -2.00548518e-04 9.99946359e-01 -2.78844807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1023.6965599949999 meters 0.015084112327489857 Centerline is valid? [True, True] Translation: X:-270.86, Y:-259.69, Z:-2.79 [[-6.98833311e-01 -7.15247023e-01 7.32803845e-03 -2.70856256e+02] [ 7.15204833e-01 -6.98871705e-01 -7.77087371e-03 -2.59693367e+02] [ 1.06794530e-02 -1.89496882e-04 9.99942955e-01 -2.78851069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1023.7265599949999 meters 0.01484583044221069 Centerline is valid? [True, True] Translation: X:-270.88, Y:-259.67, Z:-2.79 [[-6.97923896e-01 -7.16135418e-01 7.23170979e-03 -2.70875889e+02] [ 7.16094428e-01 -6.97961341e-01 -7.66398293e-03 -2.59674205e+02] [ 1.05359035e-02 -1.70289746e-04 9.99944482e-01 -2.78854284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1023.756559995 meters 0.013917230334167346 Centerline is valid? [True, True] Translation: X:-270.90, Y:-259.66, Z:-2.79 [[-6.95323906e-01 -7.18664742e-01 6.75683964e-03 -2.70897464e+02] [ 7.18629114e-01 -6.95356724e-01 -7.15701595e-03 -2.59655199e+02] [ 9.84190890e-03 -1.20782604e-04 9.99951560e-01 -2.78793783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1023.786559995 meters 0.013477415552421842 Centerline is valid? [True, True] Translation: X:-270.92, Y:-259.64, Z:-2.79 [[-6.93754893e-01 -7.20181668e-01 6.52027808e-03 -2.70917969e+02] [ 7.20148594e-01 -6.93785526e-01 -6.90259014e-03 -2.59635684e+02] [ 9.49479344e-03 -9.31365912e-05 9.99954919e-01 -2.78730621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1023.8165599949999 meters 0.013205082499840424 Centerline is valid? [True, True] Translation: X:-270.94, Y:-259.62, Z:-2.79 [[-6.92108507e-01 -7.21765421e-01 6.36333195e-03 -2.70937889e+02] [ 7.21734026e-01 -6.92137755e-01 -6.73223697e-03 -2.59617146e+02] [ 9.26339815e-03 -6.68052815e-05 9.99957092e-01 -2.78704789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1023.8465599949999 meters 0.01303889178819561 Centerline is valid? [True, True] Translation: X:-270.96, Y:-259.60, Z:-2.79 [[-6.90031570e-01 -7.23753078e-01 6.15753513e-03 -2.70957582e+02] [ 7.23723796e-01 -6.90059042e-01 -6.51046328e-03 -2.59598891e+02] [ 8.96103062e-03 -3.60704991e-05 9.99959849e-01 -2.78691556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1023.876559995 meters 0.012910250682413799 Centerline is valid? [True, True] Translation: X:-270.98, Y:-259.58, Z:-2.79 [[-6.85195635e-01 -7.28336456e-01 5.74010647e-03 -2.70980180e+02] [ 7.28311198e-01 -6.85219677e-01 -6.06570710e-03 -2.59581499e+02] [ 8.35110952e-03 2.43877977e-05 9.99965129e-01 -2.78607416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1023.906559995 meters 0.013370224971472158 Centerline is valid? [True, True] Translation: X:-271.00, Y:-259.56, Z:-2.79 [[-6.82558972e-01 -7.30808487e-01 5.67499234e-03 -2.71001570e+02] [ 7.30783913e-01 -6.82582561e-01 -5.99334720e-03 -2.59564347e+02] [ 8.25363980e-03 5.63802006e-05 9.99965937e-01 -2.78695129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1023.9365599949999 meters 0.014043131375675501 Centerline is valid? [True, True] Translation: X:-271.02, Y:-259.55, Z:-2.79 [[-6.79844757e-01 -7.33332915e-01 5.82601876e-03 -2.71023724e+02] [ 7.33307135e-01 -6.79869714e-01 -6.14958249e-03 -2.59546329e+02] [ 8.47062496e-03 9.14997102e-05 9.99964120e-01 -2.78711564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1023.9665599949999 meters 0.014043131375675501 Centerline is valid? [True, True] Translation: X:-271.04, Y:-259.53, Z:-2.79 [[-6.80063570e-01 -7.33129987e-01 5.82785406e-03 -2.71042217e+02] [ 7.33104215e-01 -6.80088534e-01 -6.14784324e-03 -2.59526992e+02] [ 8.47062496e-03 9.15001594e-05 9.99964120e-01 -2.78711599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1023.996559995 meters 0.014371027599555056 Centerline is valid? [True, True] Translation: X:-271.06, Y:-259.51, Z:-2.79 [[-6.77244297e-01 -7.35732941e-01 6.09936797e-03 -2.71063031e+02] [ 7.35704849e-01 -6.77271750e-01 -6.43064166e-03 -2.59507675e+02] [ 8.86216452e-03 1.32219199e-04 9.99960722e-01 -2.78646896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1024.026559995 meters 0.017416874539210894 Centerline is valid? [True, True] Translation: X:-271.09, Y:-259.49, Z:-2.79 [[-6.72015341e-01 -7.40510986e-01 6.23387680e-03 -2.71086245e+02] [ 7.40481880e-01 -6.72044224e-01 -6.56868986e-03 -2.59493346e+02] [ 9.05362790e-03 2.01812462e-04 9.99958995e-01 -2.78732371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1024.056559995 meters 0.01710830359966823 Centerline is valid? [True, True] Translation: X:-271.11, Y:-259.47, Z:-2.79 [[-6.69983162e-01 -7.42348537e-01 6.41964843e-03 -2.71105153e+02] [ 7.42317789e-01 -6.70013876e-01 -6.76065812e-03 -2.59472673e+02] [ 9.32001819e-03 2.35892116e-04 9.99956540e-01 -2.78653692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1024.086559995 meters 0.020562233943343576 Centerline is valid? [True, True] Translation: X:-271.13, Y:-259.46, Z:-2.79 [[-6.67314343e-01 -7.44747790e-01 6.50362951e-03 -2.71128427e+02] [ 7.44716384e-01 -6.67345977e-01 -6.84504051e-03 -2.59457065e+02] [ 9.43799978e-03 2.75565740e-04 9.99955423e-01 -2.78762420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1024.116559995 meters 0.018489415269509965 Centerline is valid? [True, True] Translation: X:-271.15, Y:-259.43, Z:-2.79 [[-6.66772156e-01 -7.45233595e-01 6.46387330e-03 -2.71145611e+02] [ 7.45202630e-01 -6.66803426e-01 -6.79936707e-03 -2.59434316e+02] [ 9.37724962e-03 2.83266747e-04 9.99955993e-01 -2.78644231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1024.146559995 meters 0.01955970020823501 Centerline is valid? [True, True] Translation: X:-271.16, Y:-259.42, Z:-2.79 [[-6.66610826e-01 -7.45378574e-01 6.38656885e-03 -2.71164771e+02] [ 7.45348385e-01 -6.66641358e-01 -6.71453178e-03 -2.59416999e+02] [ 9.26241905e-03 2.84239203e-04 9.99957063e-01 -2.78700698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1024.1765599950002 meters 0.018250632790927236 Centerline is valid? [True, True] Translation: X:-271.18, Y:-259.39, Z:-2.79 [[-6.67334596e-01 -7.44729154e-01 6.55928308e-03 -2.71182127e+02] [ 7.44697316e-01 -6.67366770e-01 -6.89221386e-03 -2.59394731e+02] [ 9.51028016e-03 2.85267753e-04 9.99954736e-01 -2.78708761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1024.2065599950001 meters 0.01786775368824563 Centerline is valid? [True, True] Translation: X:-271.20, Y:-259.37, Z:-2.79 [[-6.68465508e-01 -7.43711679e-01 6.84127787e-03 -2.71200322e+02] [ 7.43677031e-01 -6.68500455e-01 -7.18445474e-03 -2.59373250e+02] [ 9.91656026e-03 2.85141026e-04 9.99950789e-01 -2.78714057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1024.236559995 meters 0.017041899034325732 Centerline is valid? [True, True] Translation: X:-271.22, Y:-259.35, Z:-2.79 [[-6.71194906e-01 -7.41246387e-01 7.15490683e-03 -2.71215443e+02] [ 7.41208390e-01 -6.71232989e-01 -7.50982559e-03 -2.59350616e+02] [ 1.03692406e-02 2.62720300e-04 9.99946204e-01 -2.78664563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1024.266559995 meters 0.01640874790197077 Centerline is valid? [True, True] Translation: X:-271.23, Y:-259.33, Z:-2.79 [[-6.72664581e-01 -7.39914558e-01 6.98627767e-03 -2.71233078e+02] [ 7.39878286e-01 -6.72700818e-01 -7.33025627e-03 -2.59328106e+02] [ 1.01234380e-02 2.38191376e-04 9.99948728e-01 -2.78652130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1024.296559995 meters 0.016409440326017537 Centerline is valid? [True, True] Translation: X:-271.25, Y:-259.31, Z:-2.79 [[-6.74383378e-01 -7.38347243e-01 7.09994234e-03 -2.71250659e+02] [ 7.38309736e-01 -6.74420715e-01 -7.44538300e-03 -2.59307770e+02] [ 1.02856262e-02 2.20914023e-04 9.99947077e-01 -2.78681121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1024.326559995 meters 0.01500204244420246 Centerline is valid? [True, True] Translation: X:-271.27, Y:-259.28, Z:-2.79 [[-6.77664695e-01 -7.35333560e-01 7.42401640e-03 -2.71266589e+02] [ 7.35292417e-01 -6.77705335e-01 -7.78085025e-03 -2.59283812e+02] [ 1.07528158e-02 1.86015445e-04 9.99942170e-01 -2.78703994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1024.356559995 meters 0.014660978876552704 Centerline is valid? [True, True] Translation: X:-271.28, Y:-259.26, Z:-2.79 [[-6.79360480e-01 -7.33767388e-01 7.39992934e-03 -2.71283395e+02] [ 7.33726458e-01 -6.79400761e-01 -7.75184985e-03 -2.59263680e+02] [ 1.07155722e-02 1.63223516e-04 9.99942573e-01 -2.78753863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1024.386559995 meters 0.014248087712384802 Centerline is valid? [True, True] Translation: X:-271.30, Y:-259.24, Z:-2.79 [[-6.81096151e-01 -7.32156603e-01 7.39878612e-03 -2.71301004e+02] [ 7.32115639e-01 -6.81136322e-01 -7.74611934e-03 -2.59242179e+02] [ 1.07109544e-02 1.40914961e-04 9.99942626e-01 -2.78765304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1024.416559995 meters 0.013762832970596026 Centerline is valid? [True, True] Translation: X:-271.32, Y:-259.22, Z:-2.79 [[-6.82770595e-01 -7.30596749e-01 7.25975225e-03 -2.71317364e+02] [ 7.30557272e-01 -6.82809180e-01 -7.59578359e-03 -2.59220734e+02] [ 1.05064803e-02 1.17487115e-04 9.99944799e-01 -2.78709905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1024.4465599950001 meters 0.013209895333042655 Centerline is valid? [True, True] Translation: X:-271.33, Y:-259.20, Z:-2.79 [[-6.85961264e-01 -7.27605089e-01 6.92667513e-03 -2.71333328e+02] [ 7.27569023e-01 -6.85996232e-01 -7.24475888e-03 -2.59196427e+02] [ 1.00229965e-02 7.00102931e-05 9.99949766e-01 -2.78616439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1024.4765599950001 meters 0.013022308223965474 Centerline is valid? [True, True] Translation: X:-271.35, Y:-259.17, Z:-2.79 [[-6.87519565e-01 -7.26137049e-01 6.46786850e-03 -2.71351479e+02] [ 7.26105574e-01 -6.87549986e-01 -6.76107451e-03 -2.59174414e+02] [ 9.35644959e-03 4.79843626e-05 9.99956226e-01 -2.78522089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1024.506559995 meters 0.012954209242015546 Centerline is valid? [True, True] Translation: X:-271.37, Y:-259.15, Z:-2.78 [[-6.89096925e-01 -7.24647249e-01 5.63846748e-03 -2.71369890e+02] [ 7.24623309e-01 -6.89119992e-01 -5.89036897e-03 -2.59153716e+02] [ 8.15402034e-03 2.67298146e-05 9.99966755e-01 -2.78427007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1024.536559995 meters 0.013062730537886777 Centerline is valid? [True, True] Translation: X:-271.39, Y:-259.13, Z:-2.79 [[-6.89715835e-01 -7.24056164e-01 5.89387840e-03 -2.71387989e+02] [ 7.24030019e-01 -6.89741017e-01 -6.15314057e-03 -2.59134742e+02] [ 8.52046904e-03 2.34264083e-05 9.99963700e-01 -2.78583390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1024.566559995 meters 0.012925371834520796 Centerline is valid? [True, True] Translation: X:-271.41, Y:-259.11, Z:-2.78 [[-6.90257537e-01 -7.23535583e-01 6.38691823e-03 -2.71406287e+02] [ 7.23504897e-01 -6.90287085e-01 -6.66367898e-03 -2.59114787e+02] [ 9.23021602e-03 2.13119725e-05 9.99957401e-01 -2.78488334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1024.596559995 meters 0.013031473569766219 Centerline is valid? [True, True] Translation: X:-271.42, Y:-259.10, Z:-2.79 [[-6.90580728e-01 -7.23224437e-01 6.68370752e-03 -2.71424626e+02] [ 7.23190850e-01 -6.90613071e-01 -6.96995379e-03 -2.59095484e+02] [ 9.65669668e-03 2.02803637e-05 9.99953373e-01 -2.78541654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1024.626559995 meters 0.013059823945349585 Centerline is valid? [True, True] Translation: X:-271.44, Y:-259.08, Z:-2.79 [[-6.90376485e-01 -7.23416290e-01 7.01296868e-03 -2.71443373e+02] [ 7.23379369e-01 -6.90412103e-01 -7.30873419e-03 -2.59075724e+02] [ 1.01290958e-02 2.72586419e-05 9.99948699e-01 -2.78505753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1024.656559995 meters 0.013084257212700056 Centerline is valid? [True, True] Translation: X:-271.46, Y:-259.06, Z:-2.78 [[-6.89734960e-01 -7.24034364e-01 6.31867891e-03 -2.71462597e+02] [ 7.24004457e-01 -6.89763901e-01 -6.58083489e-03 -2.59057736e+02] [ 9.12314721e-03 3.57198070e-05 9.99958383e-01 -2.78454128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1024.6865599950002 meters 0.013190237568838754 Centerline is valid? [True, True] Translation: X:-271.48, Y:-259.04, Z:-2.78 [[-6.89627332e-01 -7.24138065e-01 6.18111664e-03 -2.71482423e+02] [ 7.24109486e-01 -6.89655031e-01 -6.43359339e-03 -2.59039514e+02] [ 8.92164806e-03 3.90233443e-05 9.99960201e-01 -2.78474810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1024.7165599950001 meters 0.013149186982963735 Centerline is valid? [True, True] Translation: X:-271.50, Y:-259.02, Z:-2.78 [[-6.89061833e-01 -7.24679454e-01 5.78610016e-03 -2.71502617e+02] [ 7.24654462e-01 -6.89086124e-01 -6.01867625e-03 -2.59020959e+02] [ 8.34873235e-03 4.56832045e-05 9.99965148e-01 -2.78431661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1024.746559995 meters 0.013192468271419866 Centerline is valid? [True, True] Translation: X:-271.52, Y:-259.00, Z:-2.78 [[-6.88534366e-01 -7.25184567e-01 5.26971056e-03 -2.71522722e+02] [ 7.25163878e-01 -6.88554530e-01 -5.47809712e-03 -2.59002993e+02] [ 7.60111457e-03 4.95456144e-05 9.99971110e-01 -2.78408988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1024.776559995 meters 0.013228066723451606 Centerline is valid? [True, True] Translation: X:-271.54, Y:-258.98, Z:-2.78 [[-6.88055781e-01 -7.25642066e-01 4.77861614e-03 -2.71543174e+02] [ 7.25625085e-01 -6.88072372e-01 -4.96445844e-03 -2.58984578e+02] [ 6.89045363e-03 5.16594187e-05 9.99976259e-01 -2.78362999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1024.806559995 meters 0.013430805113548458 Centerline is valid? [True, True] Translation: X:-271.56, Y:-258.97, Z:-2.78 [[-6.86641291e-01 -7.26983723e-01 4.28998373e-03 -2.71564316e+02] [ 7.26970077e-01 -6.86654690e-01 -4.45465729e-03 -2.58968069e+02] [ 6.18420078e-03 5.99381750e-05 9.99980876e-01 -2.78292384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1024.836559995 meters 0.013439871922102428 Centerline is valid? [True, True] Translation: X:-271.58, Y:-258.95, Z:-2.78 [[-6.86525059e-01 -7.27095332e-01 3.96512642e-03 -2.71584922e+02] [ 7.27083690e-01 -6.86536507e-01 -4.11500595e-03 -2.58948386e+02] [ 5.71420566e-03 5.79240468e-05 9.99983672e-01 -2.78218378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1024.866559995 meters 0.013945843163955989 Centerline is valid? [True, True] Translation: X:-271.61, Y:-258.93, Z:-2.78 [[-6.85624909e-01 -7.27947583e-01 3.28640965e-03 -2.71606218e+02] [ 7.27939606e-01 -6.85632783e-01 -3.40836481e-03 -2.58931762e+02] [ 4.73438112e-03 5.54479252e-05 9.99988791e-01 -2.78144952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1024.896559995 meters 0.013461278414362026 Centerline is valid? [True, True] Translation: X:-271.63, Y:-258.91, Z:-2.78 [[-6.85683977e-01 -7.27892722e-01 3.10942335e-03 -2.71625993e+02] [ 7.27885589e-01 -6.85691025e-01 -3.22298949e-03 -2.58911132e+02] [ 4.47809428e-03 5.33521913e-05 9.99989972e-01 -2.78070235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1024.9265599950002 meters 0.013458646386589309 Centerline is valid? [True, True] Translation: X:-271.65, Y:-258.89, Z:-2.78 [[-6.85886810e-01 -7.27701973e-01 3.02042296e-03 -2.71647143e+02] [ 7.27695247e-01 -6.85893459e-01 -3.12896356e-03 -2.58892969e+02] [ 4.34864131e-03 5.18325978e-05 9.99990543e-01 -2.78165575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1024.9565599950001 meters 0.013812100368560528 Centerline is valid? [True, True] Translation: X:-271.67, Y:-258.88, Z:-2.78 [[-6.86662092e-01 -7.26969363e-01 3.27360166e-03 -2.71668194e+02] [ 7.26961464e-01 -6.86669894e-01 -3.38921749e-03 -2.58875231e+02] [ 4.71174099e-03 5.25350824e-05 9.99988898e-01 -2.78314502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1024.986559995 meters 0.013152591459176927 Centerline is valid? [True, True] Translation: X:-271.69, Y:-258.86, Z:-2.78 [[-6.87572804e-01 -7.26106785e-01 3.54628075e-03 -2.71686408e+02] [ 7.26097516e-01 -6.87581947e-01 -3.66921253e-03 -2.58855355e+02] [ 5.10259874e-03 5.20948888e-05 9.99986980e-01 -2.78326981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1025.016559995 meters 0.012781865184716057 Centerline is valid? [True, True] Translation: X:-271.71, Y:-258.84, Z:-2.78 [[-6.89541887e-01 -7.24235236e-01 3.91269538e-03 -2.71705290e+02] [ 7.24223937e-01 -6.89552986e-01 -4.04579720e-03 -2.58835903e+02] [ 5.62811967e-03 4.39210224e-05 9.99984161e-01 -2.78414702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1025.046559995 meters 0.012740166004725354 Centerline is valid? [True, True] Translation: X:-271.72, Y:-258.82, Z:-2.78 [[-6.90481309e-01 -7.23339168e-01 4.00135499e-03 -2.71723828e+02] [ 7.23327347e-01 -6.90492902e-01 -4.13547411e-03 -2.58816847e+02] [ 5.75425762e-03 3.88219118e-05 9.99983444e-01 -2.78460173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1025.076559995 meters 0.012419970201167165 Centerline is valid? [True, True] Translation: X:-271.74, Y:-258.80, Z:-2.78 [[-6.92278526e-01 -7.21616519e-01 4.47678207e-03 -2.71742426e+02] [ 7.21601705e-01 -6.92293001e-01 -4.62395551e-03 -2.58797461e+02] [ 6.43596757e-03 2.93884676e-05 9.99979289e-01 -2.78495149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1025.106559995 meters 0.01234312577686421 Centerline is valid? [True, True] Translation: X:-271.76, Y:-258.78, Z:-2.78 [[-6.93180940e-01 -7.20749907e-01 4.44486005e-03 -2.71761337e+02] [ 7.20735304e-01 -6.93195190e-01 -4.58812593e-03 -2.58778475e+02] [ 6.38804694e-03 2.31661115e-05 9.99979596e-01 -2.78489382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1025.136559995 meters 0.012241117332275816 Centerline is valid? [True, True] Translation: X:-271.78, Y:-258.76, Z:-2.79 [[-6.94080280e-01 -7.19883833e-01 4.45336939e-03 -2.71780713e+02] [ 7.19869174e-01 -6.94094566e-01 -4.59403342e-03 -2.58759154e+02] [ 6.39822988e-03 1.72153409e-05 9.99979531e-01 -2.78518660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1025.166559995 meters 0.012240113190693364 Centerline is valid? [True, True] Translation: X:-271.80, Y:-258.74, Z:-2.79 [[-6.94868717e-01 -7.19122159e-01 4.55920136e-03 -2.71799865e+02] [ 7.19106799e-01 -6.94883674e-01 -4.70026265e-03 -2.58740384e+02] [ 6.54817762e-03 1.24872173e-05 9.99978561e-01 -2.78541478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1025.1965599950001 meters 0.012196561163190404 Centerline is valid? [True, True] Translation: X:-271.82, Y:-258.72, Z:-2.79 [[-6.96115435e-01 -7.17918216e-01 4.09115536e-03 -2.71818976e+02] [ 7.17905841e-01 -6.96127457e-01 -4.21510434e-03 -2.58721528e+02] [ 5.87406576e-03 2.86513555e-06 9.99982748e-01 -2.78538522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1025.2265599950001 meters 0.0121266316665703 Centerline is valid? [True, True] Translation: X:-271.84, Y:-258.70, Z:-2.79 [[-6.96735579e-01 -7.17315558e-01 4.23365845e-03 -2.71837585e+02] [ 7.17302313e-01 -6.96748441e-01 -4.35907669e-03 -2.58702640e+02] [ 6.07662845e-03 -3.10822737e-07 9.99981537e-01 -2.78540919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1025.256559995 meters 0.012094191192855883 Centerline is valid? [True, True] Translation: X:-271.86, Y:-258.68, Z:-2.79 [[-6.97209383e-01 -7.16855101e-01 4.22381698e-03 -2.71856679e+02] [ 7.16841925e-01 -6.97222178e-01 -4.34626730e-03 -2.58683445e+02] [ 6.06058276e-03 -2.44924888e-06 9.99981635e-01 -2.78537180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1025.286559995 meters 0.012150361039223833 Centerline is valid? [True, True] Translation: X:-271.88, Y:-258.67, Z:-2.79 [[-6.97105925e-01 -7.16952324e-01 4.76393278e-03 -2.71875500e+02] [ 7.16935581e-01 -6.97122203e-01 -4.89971383e-03 -2.58665649e+02] [ 6.83390453e-03 -1.86632279e-07 9.99976649e-01 -2.78607136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1025.316559995 meters 0.012126462496760916 Centerline is valid? [True, True] Translation: X:-271.89, Y:-258.65, Z:-2.79 [[-6.96677464e-01 -7.17364260e-01 5.38793093e-03 -2.71894526e+02] [ 7.17342876e-01 -6.96698298e-01 -5.53889137e-03 -2.58647962e+02] [ 7.72716502e-03 6.17307324e-06 9.99970145e-01 -2.78673177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1025.346559995 meters 0.01219392235341351 Centerline is valid? [True, True] Translation: X:-271.91, Y:-258.63, Z:-2.79 [[-6.96318405e-01 -7.17710772e-01 5.65033378e-03 -2.71914584e+02] [ 7.17687295e-01 -6.96341330e-01 -5.80516213e-03 -2.58629537e+02] [ 8.10098833e-03 1.29315332e-05 9.99967187e-01 -2.78775225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1025.376559995 meters 0.012386489229192228 Centerline is valid? [True, True] Translation: X:-271.94, Y:-258.61, Z:-2.79 [[-6.94776397e-01 -7.19199007e-01 6.20862232e-03 -2.71936034e+02] [ 7.19170754e-01 -6.94804136e-01 -6.37495048e-03 -2.58611849e+02] [ 8.89863452e-03 3.58944713e-05 9.99960406e-01 -2.78862775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1025.406559995 meters 0.01243172017094035 Centerline is valid? [True, True] Translation: X:-271.96, Y:-258.59, Z:-2.79 [[-6.94122778e-01 -7.19829594e-01 6.23899401e-03 -2.71955647e+02] [ 7.19801125e-01 -6.94150814e-01 -6.40212066e-03 -2.58593590e+02] [ 8.93923869e-03 4.69771364e-05 9.99960043e-01 -2.78909851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1025.4365599950002 meters 0.012605683225536029 Centerline is valid? [True, True] Translation: X:-271.98, Y:-258.58, Z:-2.79 [[-6.93603195e-01 -7.20327523e-01 6.54733853e-03 -2.71975430e+02] [ 7.20296230e-01 -6.93634094e-01 -6.71456586e-03 -2.58575035e+02] [ 9.37814382e-03 5.87789297e-05 9.99956023e-01 -2.78927139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1025.4665599950001 meters 0.012778811815020328 Centerline is valid? [True, True] Translation: X:-271.99, Y:-258.56, Z:-2.79 [[-6.93106247e-01 -7.20804503e-01 6.67822700e-03 -2.71994898e+02] [ 7.20772007e-01 -6.93138416e-01 -6.84474753e-03 -2.58556280e+02] [ 9.56266053e-03 6.93418020e-05 9.99954274e-01 -2.78943547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1025.496559995 meters 0.01314561690631291 Centerline is valid? [True, True] Translation: X:-272.01, Y:-258.54, Z:-2.79 [[-6.91974443e-01 -7.21889199e-01 6.88145744e-03 -2.72014208e+02] [ 7.21854775e-01 -6.92008654e-01 -7.05036761e-03 -2.58537973e+02] [ 9.85161232e-03 8.87387095e-05 9.99951468e-01 -2.78959791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1025.526559995 meters 0.0135131186618645 Centerline is valid? [True, True] Translation: X:-272.03, Y:-258.52, Z:-2.79 [[-6.91276295e-01 -7.22560927e-01 6.54143173e-03 -2.72032831e+02] [ 7.22529889e-01 -6.91307238e-01 -6.69792150e-03 -2.58519269e+02] [ 9.36179547e-03 9.62655832e-05 9.99956173e-01 -2.78918721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1025.556559995 meters 0.01370342675593401 Centerline is valid? [True, True] Translation: X:-272.05, Y:-258.50, Z:-2.79 [[-6.91077558e-01 -7.22754813e-01 6.10645150e-03 -2.72051493e+02] [ 7.22727808e-01 -6.91104530e-01 -6.24857884e-03 -2.58500213e+02] [ 8.73638673e-03 9.50496983e-05 9.99961833e-01 -2.78887652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1025.586559995 meters 0.013830276635224015 Centerline is valid? [True, True] Translation: X:-272.07, Y:-258.48, Z:-2.79 [[-6.90945288e-01 -7.22882823e-01 5.91896952e-03 -2.72069681e+02] [ 7.22857487e-01 -6.90970633e-01 -6.05291865e-03 -2.58481706e+02] [ 8.46538504e-03 9.63358209e-05 9.99964164e-01 -2.78846956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1025.616559995 meters 0.014053914519280295 Centerline is valid? [True, True] Translation: X:-272.09, Y:-258.46, Z:-2.79 [[-6.90668381e-01 -7.23149299e-01 5.68150509e-03 -2.72087862e+02] [ 7.23125994e-01 -6.90691742e-01 -5.80643418e-03 -2.58463182e+02] [ 8.12308745e-03 9.81235208e-05 9.99967003e-01 -2.78797764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1025.646559995 meters 0.014608087529502423 Centerline is valid? [True, True] Translation: X:-272.11, Y:-258.45, Z:-2.79 [[-6.89912573e-01 -7.23875548e-01 4.98331639e-03 -2.72105963e+02] [ 7.23857661e-01 -6.89930564e-01 -5.08955976e-03 -2.58445026e+02] [ 7.12235014e-03 9.58604853e-05 9.99974631e-01 -2.78694603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1025.6765599950002 meters 0.01393989195379547 Centerline is valid? [True, True] Translation: X:-272.12, Y:-258.42, Z:-2.79 [[-6.89094246e-01 -7.24657372e-01 4.56230911e-03 -2.72123020e+02] [ 7.24642416e-01 -6.89109342e-01 -4.65672782e-03 -2.58423595e+02] [ 6.51846197e-03 9.71183520e-05 9.99978750e-01 -2.78522534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1025.7065599950001 meters 0.013924730839009743 Centerline is valid? [True, True] Translation: X:-272.14, Y:-258.40, Z:-2.78 [[-6.88634227e-01 -7.25094416e-01 4.58152481e-03 -2.72141417e+02] [ 7.25079363e-01 -6.88649459e-01 -4.67327767e-03 -2.58404171e+02] [ 6.54363213e-03 1.03790140e-04 9.99978585e-01 -2.78471392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1025.736559995 meters 0.014546173154188564 Centerline is valid? [True, True] Translation: X:-272.16, Y:-258.39, Z:-2.78 [[-6.88038731e-01 -7.25659839e-01 4.52800537e-03 -2.72160579e+02] [ 7.25645166e-01 -6.88053622e-01 -4.61599861e-03 -2.58385298e+02] [ 6.46515530e-03 1.09739387e-04 9.99979095e-01 -2.78491463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1025.766559995 meters 0.014710357462662058 Centerline is valid? [True, True] Translation: X:-272.18, Y:-258.37, Z:-2.79 [[-6.87523264e-01 -7.26148891e-01 4.42139767e-03 -2.72179481e+02] [ 7.26134928e-01 -6.87537472e-01 -4.50456034e-03 -2.58365544e+02] [ 6.31085807e-03 1.13541252e-04 9.99980080e-01 -2.78509613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1025.796559995 meters 0.014408417040178012 Centerline is valid? [True, True] Translation: X:-272.20, Y:-258.34, Z:-2.79 [[-6.86770352e-01 -7.26853426e-01 5.52999097e-03 -2.72197168e+02] [ 7.26831633e-01 -6.86792599e-01 -5.63060837e-03 -2.58344205e+02] [ 7.89058385e-03 1.52437473e-04 9.99968857e-01 -2.78569389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1025.826559995 meters 0.01574241229355909 Centerline is valid? [True, True] Translation: X:-272.22, Y:-258.33, Z:-2.79 [[-6.86580736e-01 -7.27028790e-01 6.00259703e-03 -2.72217472e+02] [ 7.27003151e-01 -6.86606954e-01 -6.10815210e-03 -2.58326384e+02] [ 8.56222730e-03 1.70167392e-04 9.99963329e-01 -2.78724967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1025.856559995 meters 0.015088646547654704 Centerline is valid? [True, True] Translation: X:-272.24, Y:-258.31, Z:-2.79 [[-6.86704750e-01 -7.26907519e-01 6.48421916e-03 -2.72235530e+02] [ 7.26877633e-01 -6.86735338e-01 -6.59412452e-03 -2.58305325e+02] [ 9.24626113e-03 1.85017242e-04 9.99957235e-01 -2.78745943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1025.886559995 meters 0.015088646547654704 Centerline is valid? [True, True] Translation: X:-272.25, Y:-258.29, Z:-2.79 [[-6.86931763e-01 -7.26692976e-01 6.48627858e-03 -2.72254373e+02] [ 7.26663099e-01 -6.86962360e-01 -6.59209880e-03 -2.58286319e+02] [ 9.24626114e-03 1.85017244e-04 9.99957235e-01 -2.78745979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1025.916559995 meters 0.014862958081796752 Centerline is valid? [True, True] Translation: X:-272.27, Y:-258.27, Z:-2.79 [[-6.87169784e-01 -7.26463529e-01 6.95908230e-03 -2.72272411e+02] [ 7.26429171e-01 -6.87204992e-01 -7.06815751e-03 -2.58266031e+02] [ 9.91707475e-03 1.98256111e-04 9.99950805e-01 -2.78743361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1025.9465599950001 meters 0.01568852788473969 Centerline is valid? [True, True] Translation: X:-272.29, Y:-258.25, Z:-2.79 [[-6.88117845e-01 -7.25563746e-01 7.14716353e-03 -2.72290447e+02] [ 7.25527505e-01 -6.88154934e-01 -7.25440052e-03 -2.58246577e+02] [ 1.01818859e-02 1.93581266e-04 9.99948145e-01 -2.78838203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1025.9765599950001 meters 0.014338150857708691 Centerline is valid? [True, True] Translation: X:-272.31, Y:-258.22, Z:-2.79 [[-6.89161122e-01 -7.24574507e-01 6.98089174e-03 -2.72307541e+02] [ 7.24539922e-01 -6.89196454e-01 -7.08161120e-03 -2.58223431e+02] [ 9.94236078e-03 1.77563641e-04 9.99950558e-01 -2.78688977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1026.006559995 meters 0.013592120022117836 Centerline is valid? [True, True] Translation: X:-272.32, Y:-258.20, Z:-2.79 [[-6.91495352e-01 -7.22351439e-01 6.52514502e-03 -2.72324891e+02] [ 7.22321157e-01 -6.91526124e-01 -6.61555669e-03 -2.58200625e+02] [ 9.29106514e-03 1.38623601e-04 9.99956828e-01 -2.78562724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1026.036559995 meters 0.013309525888769418 Centerline is valid? [True, True] Translation: X:-272.34, Y:-258.18, Z:-2.79 [[-6.93286162e-01 -7.20634262e-01 6.36845410e-03 -2.72341740e+02] [ 7.20605384e-01 -6.93315402e-01 -6.45240377e-03 -2.58180539e+02] [ 9.06517055e-03 1.15780069e-04 9.99958904e-01 -2.78502272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1026.066559995 meters 0.012556475061420273 Centerline is valid? [True, True] Translation: X:-272.36, Y:-258.16, Z:-2.78 [[-6.96902000e-01 -7.17140233e-01 6.12281466e-03 -2.72357207e+02] [ 7.17113427e-01 -6.96928893e-01 -6.20099203e-03 -2.58158254e+02] [ 8.71414731e-03 6.92688587e-05 9.99962029e-01 -2.78462412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1026.096559995 meters 0.012346257790098158 Centerline is valid? [True, True] Translation: X:-272.38, Y:-258.14, Z:-2.78 [[-6.98808078e-01 -7.15282706e-01 6.15796519e-03 -2.72375055e+02] [ 7.15255551e-01 -6.98835208e-01 -6.23292165e-03 -2.58136845e+02] [ 8.76170395e-03 4.89027878e-05 9.99961615e-01 -2.78449745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1026.126559995 meters 0.012247872241509293 Centerline is valid? [True, True] Translation: X:-272.39, Y:-258.12, Z:-2.78 [[-7.00799763e-01 -7.13330967e-01 6.21486229e-03 -2.72392918e+02] [ 7.13303265e-01 -7.00827319e-01 -6.28658321e-03 -2.58115900e+02] [ 8.83995976e-03 2.74455408e-05 9.99960927e-01 -2.78454125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1026.156559995 meters 0.012118509183056186 Centerline is valid? [True, True] Translation: X:-272.41, Y:-258.10, Z:-2.78 [[-7.02653718e-01 -7.11504066e-01 6.30216126e-03 -2.72412276e+02] [ 7.11475539e-01 -7.02681979e-01 -6.37132284e-03 -2.58095833e+02] [ 8.96163725e-03 6.99989799e-06 9.99959844e-01 -2.78445931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1026.1865599950002 meters 0.012177386681759658 Centerline is valid? [True, True] Translation: X:-272.43, Y:-258.08, Z:-2.79 [[-7.03362968e-01 -7.10804202e-01 6.15807559e-03 -2.72431154e+02] [ 7.10776974e-01 -7.03389925e-01 -6.22154833e-03 -2.58077620e+02] [ 8.75383103e-03 1.01163503e-06 9.99961685e-01 -2.78504099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1026.2165599950001 meters 0.012175312742290017 Centerline is valid? [True, True] Translation: X:-272.45, Y:-258.06, Z:-2.78 [[-7.03957323e-01 -7.10212305e-01 6.52447433e-03 -2.72451482e+02] [ 7.10181749e-01 -7.03987558e-01 -6.58803797e-03 -2.58057559e+02] [ 9.27205438e-03 -4.13498931e-06 9.99957014e-01 -2.78495970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1026.246559995 meters 0.012354606573774907 Centerline is valid? [True, True] Translation: X:-272.47, Y:-258.04, Z:-2.79 [[-7.05054514e-01 -7.09118200e-01 7.03641488e-03 -2.72470263e+02] [ 7.09082652e-01 -7.05089625e-01 -7.10028145e-03 -2.58038874e+02] [ 9.99624193e-03 -1.66857619e-05 9.99950036e-01 -2.78601134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1026.276559995 meters 0.01243560216436487 Centerline is valid? [True, True] Translation: X:-272.49, Y:-258.02, Z:-2.79 [[-7.05633468e-01 -7.08539401e-01 7.30246315e-03 -2.72489647e+02] [ 7.08501130e-01 -7.05671253e-01 -7.36424451e-03 -2.58019498e+02] [ 1.03709957e-02 -2.26540023e-05 9.99946220e-01 -2.78610159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1026.306559995 meters 0.012334813556651156 Centerline is valid? [True, True] Translation: X:-272.51, Y:-258.00, Z:-2.79 [[-7.06386733e-01 -7.07787639e-01 7.37847274e-03 -2.72509400e+02] [ 7.07748570e-01 -7.06425266e-01 -7.43672160e-03 -2.57999977e+02] [ 1.04759592e-02 -3.10979367e-05 9.99945125e-01 -2.78577680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1026.336559995 meters 0.012436256578363383 Centerline is valid? [True, True] Translation: X:-272.53, Y:-257.98, Z:-2.79 [[-7.06549079e-01 -7.07624307e-01 7.49932863e-03 -2.72528182e+02] [ 7.07583991e-01 -7.06588876e-01 -7.55353448e-03 -2.57982119e+02] [ 1.06440068e-02 -3.05379474e-05 9.99943351e-01 -2.78648507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1026.366559995 meters 0.012339119610833381 Centerline is valid? [True, True] Translation: X:-272.55, Y:-257.96, Z:-2.79 [[-7.06702166e-01 -7.07474288e-01 7.22361937e-03 -2.72548226e+02] [ 7.07436920e-01 -7.06739083e-01 -7.27131841e-03 -2.57964150e+02] [ 1.02494849e-02 -2.84014318e-05 9.99947472e-01 -2.78689991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1026.396559995 meters 0.0123646861120768 Centerline is valid? [True, True] Translation: X:-272.57, Y:-257.95, Z:-2.79 [[-7.06450448e-01 -7.07725675e-01 7.22039501e-03 -2.72568504e+02] [ 7.07688400e-01 -7.06487345e-01 -7.26359532e-03 -2.57945788e+02] [ 1.02417506e-02 -2.15803703e-05 9.99947552e-01 -2.78730819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1026.4265599950002 meters 0.012246667037298363 Centerline is valid? [True, True] Translation: X:-272.59, Y:-257.93, Z:-2.79 [[-7.05150131e-01 -7.09023908e-01 6.95634844e-03 -2.72589024e+02] [ 7.08989417e-01 -7.05184443e-01 -6.99344856e-03 -2.57929710e+02] [ 9.86403093e-03 5.46253811e-07 9.99951349e-01 -2.78735022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1026.4565599950001 meters 0.012283662494773263 Centerline is valid? [True, True] Translation: X:-272.61, Y:-257.91, Z:-2.79 [[-7.03172072e-01 -7.10989831e-01 6.51906811e-03 -2.72610929e+02] [ 7.10959662e-01 -7.03202289e-01 -6.54979004e-03 -2.57913171e+02] [ 9.24105774e-03 2.91650284e-05 9.99957300e-01 -2.78679842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1026.486559995 meters 0.012325229818770218 Centerline is valid? [True, True] Translation: X:-272.63, Y:-257.89, Z:-2.79 [[-7.01760728e-01 -7.12386984e-01 6.05523467e-03 -2.72631902e+02] [ 7.12361037e-01 -7.01786850e-01 -6.08035190e-03 -2.57894574e+02] [ 8.58104762e-03 4.65610764e-05 9.99963181e-01 -2.78620812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1026.516559995 meters 0.012503213973905324 Centerline is valid? [True, True] Translation: X:-272.65, Y:-257.88, Z:-2.79 [[-7.00503005e-01 -7.13625536e-01 5.84245099e-03 -2.72651650e+02] [ 7.13601447e-01 -7.00527366e-01 -5.86382124e-03 -2.57877768e+02] [ 8.27736937e-03 6.15570863e-05 9.99965740e-01 -2.78607154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1026.546559995 meters 0.012999791342795972 Centerline is valid? [True, True] Translation: X:-272.67, Y:-257.86, Z:-2.79 [[-6.99104181e-01 -7.14999343e-01 5.41146938e-03 -2.72672433e+02] [ 7.14978744e-01 -6.99125120e-01 -5.42792188e-03 -2.57860004e+02] [ 7.66425476e-03 7.44027040e-05 9.99970627e-01 -2.78615997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1026.576559995 meters 0.013740110380379762 Centerline is valid? [True, True] Translation: X:-272.69, Y:-257.84, Z:-2.79 [[-6.95781511e-01 -7.18236107e-01 4.99840675e-03 -2.72694780e+02] [ 7.18218636e-01 -6.95799457e-01 -5.01065144e-03 -2.57843287e+02] [ 7.07671948e-03 1.03630248e-04 9.99974955e-01 -2.78612073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1026.606559995 meters 0.014751487261595192 Centerline is valid? [True, True] Translation: X:-272.72, Y:-257.83, Z:-2.79 [[-6.92882504e-01 -7.21034938e-01 4.73860189e-03 -2.72717384e+02] [ 7.21019319e-01 -6.92898695e-01 -4.74757952e-03 -2.57826167e+02] [ 6.70654178e-03 1.27108727e-04 9.99977503e-01 -2.78615419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1026.636559995 meters 0.014751487261595192 Centerline is valid? [True, True] Translation: X:-272.74, Y:-257.81, Z:-2.79 [[-6.93107271e-01 -7.20818869e-01 4.74008221e-03 -2.72736366e+02] [ 7.20803256e-01 -6.93123468e-01 -4.74610155e-03 -2.57807303e+02] [ 6.70654177e-03 1.27109194e-04 9.99977503e-01 -2.78615455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1026.666559995 meters 0.015280766990337317 Centerline is valid? [True, True] Translation: X:-272.76, Y:-257.79, Z:-2.79 [[-6.91888941e-01 -7.21988246e-01 4.76084772e-03 -2.72757409e+02] [ 7.21972541e-01 -6.91905306e-01 -4.76425550e-03 -2.57788627e+02] [ 6.73379228e-03 1.40865631e-04 9.99977318e-01 -2.78644034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1026.6965599950001 meters 0.01665154195114777 Centerline is valid? [True, True] Translation: X:-272.78, Y:-257.77, Z:-2.79 [[-6.89914505e-01 -7.23874173e-01 4.91513553e-03 -2.72779339e+02] [ 7.23857500e-01 -6.89931993e-01 -4.91578435e-03 -2.57771808e+02] [ 6.94951858e-03 1.66386790e-04 9.99975838e-01 -2.78735651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1026.7265599950001 meters 0.017122103796099793 Centerline is valid? [True, True] Translation: X:-272.80, Y:-257.75, Z:-2.79 [[-6.89376193e-01 -7.24386558e-01 4.95767900e-03 -2.72799951e+02] [ 7.24369628e-01 -6.89393997e-01 -4.95563627e-03 -2.57752865e+02] [ 7.00759044e-03 1.74894427e-04 9.99975431e-01 -2.78783519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1026.756559995 meters 0.0173579914428071 Centerline is valid? [True, True] Translation: X:-273.26, Y:-258.21, Z:-1.80 [[-7.72245707e-01 6.35303970e-01 5.04316286e-03 -2.73258007e+02] [ 6.35288937e-01 7.72262155e-01 -4.37394744e-03 -2.58213066e+02] [-6.67342999e-03 -1.73896566e-04 -9.99977717e-01 -1.79571496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1026.786559995 meters 0.017356571176379672 Centerline is valid? [True, True] Translation: X:-273.24, Y:-258.19, Z:-1.80 [[-8.15562622e-01 5.78647102e-01 5.01413194e-03 -2.73240288e+02] [ 5.78634896e-01 8.15578018e-01 -3.76207531e-03 -2.58191272e+02] [-6.26632977e-03 -1.66856290e-04 -9.99980353e-01 -1.79512134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1026.816559995 meters 0.017512686871799014 Centerline is valid? [True, True] Translation: X:-273.23, Y:-258.17, Z:-1.79 [[-8.54410596e-01 5.19571967e-01 5.24446241e-03 -2.73225624e+02] [ 5.19560982e-01 8.54426676e-01 -3.38262743e-03 -2.58167895e+02] [-6.23852697e-03 -1.65334679e-04 -9.99980527e-01 -1.79490758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1026.846559995 meters 0.016729250719055854 Centerline is valid? [True, True] Translation: X:-272.87, Y:-257.63, Z:-2.79 [[-7.86327119e-01 -6.17789070e-01 5.13095639e-03 -2.72872134e+02] [ 6.17777380e-01 -7.86343839e-01 -3.80474580e-03 -2.57626223e+02] [ 6.38522632e-03 1.78013993e-04 9.99979599e-01 -2.78883487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1026.876559995 meters 0.01692152949710704 Centerline is valid? [True, True] Translation: X:-272.88, Y:-257.65, Z:-2.79 [[-7.43718513e-01 -6.68473886e-01 5.04352275e-03 -2.72884553e+02] [ 6.68459992e-01 -7.43735596e-01 -4.31313610e-03 -2.57653074e+02] [ 6.63426625e-03 1.63634008e-04 9.99977980e-01 -2.78941039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1026.906559995 meters 0.015868593028539636 Centerline is valid? [True, True] Translation: X:-273.31, Y:-258.15, Z:-1.79 [[-8.18052508e-01 5.75114537e-01 5.77608509e-03 -2.73314420e+02] [ 5.75098709e-01 8.18072882e-01 -4.27028194e-03 -2.58148802e+02] [-7.18115980e-03 -1.71495773e-04 -9.99974201e-01 -1.79436246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1026.9365599950002 meters 0.01663515045349819 Centerline is valid? [True, True] Translation: X:-273.30, Y:-258.13, Z:-1.79 [[-8.55480836e-01 5.17787695e-01 6.96003113e-03 -2.73298125e+02] [ 5.17768865e-01 8.55509130e-01 -4.41930124e-03 -2.58127629e+02] [-8.24262998e-03 -1.76940096e-04 -9.99966013e-01 -1.79216734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1026.9665599950001 meters 0.01596097404323045 Centerline is valid? [True, True] Translation: X:-272.94, Y:-257.57, Z:-2.79 [[-7.94488316e-01 -6.07238004e-01 7.09388042e-03 -2.72940745e+02] [ 6.07216232e-01 -7.94519955e-01 -5.14670859e-03 -2.57572344e+02] [ 8.76150660e-03 2.18519499e-04 9.99961594e-01 -2.79237587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1026.996559995 meters 0.015188320335979485 Centerline is valid? [True, True] Translation: X:-273.33, Y:-258.11, Z:-1.79 [[-8.54745204e-01 5.18985322e-01 8.05432929e-03 -2.73330869e+02] [ 5.18960544e-01 8.54783137e-01 -5.07367014e-03 -2.58114832e+02] [-9.51786519e-03 -1.56816106e-04 -9.99954692e-01 -1.78972835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1027.026559995 meters 0.014666445457141452 Centerline is valid? [True, True] Translation: X:-273.32, Y:-258.09, Z:-1.79 [[-8.88591932e-01 4.58613658e-01 8.82563728e-03 -2.73319645e+02] [ 4.58589375e-01 8.88635747e-01 -4.72166289e-03 -2.58091747e+02] [-1.00081959e-02 -1.48288057e-04 -9.99949906e-01 -1.78944547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1027.056559995 meters 0.013621040629707667 Centerline is valid? [True, True] Translation: X:-273.31, Y:-258.07, Z:-1.79 [[-9.18230900e-01 3.95942391e-01 9.03535559e-03 -2.73305030e+02] [ 3.95921812e-01 9.18275343e-01 -4.03895715e-03 -2.58071856e+02] [-9.89613861e-03 -1.31400903e-04 -9.99951024e-01 -1.79055205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1027.086559995 meters 0.013935326661891602 Centerline is valid? [True, True] Translation: X:-273.03, Y:-257.45, Z:-2.79 [[-8.77754178e-01 -4.79038012e-01 8.37778014e-03 -2.73025425e+02] [ 4.79017293e-01 -8.77794152e-01 -4.45643515e-03 -2.57452098e+02] [ 9.48876825e-03 1.01446990e-04 9.99954976e-01 -2.79374006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1027.116559995 meters 0.01363337280119808 Centerline is valid? [True, True] Translation: X:-273.35, Y:-258.05, Z:-1.79 [[-9.18704287e-01 3.94864953e-01 8.00640496e-03 -2.73345597e+02] [ 3.94849057e-01 9.18739169e-01 -3.54437295e-03 -2.58053546e+02] [-8.75534650e-03 -9.49091700e-05 -9.99961667e-01 -1.79057325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1027.146559995 meters 0.01311515220951042 Centerline is valid? [True, True] Translation: X:-273.34, Y:-258.03, Z:-1.79 [[-9.44087236e-01 3.29599204e-01 7.97847011e-03 -2.73336227e+02] [ 3.29586677e-01 9.44120944e-01 -2.87486174e-03 -2.58028897e+02] [-8.48019288e-03 -8.45228162e-05 -9.99964039e-01 -1.79157108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1027.1765599950002 meters 0.012640490100589631 Centerline is valid? [True, True] Translation: X:-273.10, Y:-257.39, Z:-2.79 [[-9.13296629e-01 -4.07213656e-01 8.14280731e-03 -2.73101312e+02] [ 4.07198552e-01 -9.13332922e-01 -3.50897353e-03 -2.57387371e+02] [ 8.86599593e-03 1.11005650e-04 9.99960690e-01 -2.79179290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1027.2065599950001 meters 0.01247177282197197 Centerline is valid? [True, True] Translation: X:-273.38, Y:-258.02, Z:-1.79 [[-9.43581376e-01 3.31033465e-01 8.42804915e-03 -2.73375388e+02] [ 3.31019861e-01 9.43619014e-01 -3.00142917e-03 -2.58019982e+02] [-8.94644093e-03 -4.22410068e-05 -9.99959979e-01 -1.79242198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1027.236559995 meters 0.012371753369953335 Centerline is valid? [True, True] Translation: X:-273.14, Y:-257.37, Z:-2.79 [[-9.16369623e-01 -4.00257068e-01 7.80989138e-03 -2.73139767e+02] [ 4.00242666e-01 -9.16402902e-01 -3.39547493e-03 -2.57370793e+02] [ 8.51606997e-03 1.43416611e-05 9.99963738e-01 -2.79122399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1027.266559995 meters 0.012350781297795155 Centerline is valid? [True, True] Translation: X:-273.42, Y:-258.01, Z:-1.79 [[-9.43388319e-01 3.31603995e-01 7.56764422e-03 -2.73421903e+02] [ 3.31593301e-01 9.43418672e-01 -2.66312890e-03 -2.58008189e+02] [-8.02256104e-03 -2.98456339e-06 -9.99967819e-01 -1.79281459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1027.296559995 meters 0.012454445580890752 Centerline is valid? [True, True] Translation: X:-273.41, Y:-257.98, Z:-1.79 [[-9.63557880e-01 2.67417877e-01 6.62497388e-03 -2.73412226e+02] [ 2.67411717e-01 9.63580655e-01 -1.81530151e-03 -2.57983474e+02] [-6.86914075e-03 2.24475670e-05 -9.99976407e-01 -1.79307866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1027.326559995 meters 0.012482538566633502 Centerline is valid? [True, True] Translation: X:-273.40, Y:-257.96, Z:-1.79 [[-9.79797469e-01 1.99887387e-01 6.47707173e-03 -2.73401392e+02] [ 1.99883231e-01 9.79818877e-01 -1.28932232e-03 -2.57956669e+02] [-6.60407642e-03 3.13832743e-05 -9.99978193e-01 -1.79349620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1027.356559995 meters 0.012612840860740685 Centerline is valid? [True, True] Translation: X:-273.40, Y:-257.93, Z:-1.79 [[-9.91250078e-01 1.31869075e-01 5.81640339e-03 -2.73396550e+02] [ 1.31867041e-01 9.91267141e-01 -7.33557712e-04 -2.57928576e+02] [-5.86234314e-03 3.98527668e-05 -9.99982816e-01 -1.79328205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1027.386559995 meters 0.012703985237643059 Centerline is valid? [True, True] Translation: X:-273.31, Y:-257.24, Z:-2.79 [[-9.82926395e-01 -1.83914107e-01 5.59499293e-03 -2.73306080e+02] [ 1.83910844e-01 -9.82942317e-01 -1.09672511e-03 -2.57238514e+02] [ 5.70125854e-03 -4.90201857e-05 9.99983747e-01 -2.79033609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1027.416559995 meters 0.012618172436049178 Centerline is valid? [True, True] Translation: X:-273.45, Y:-257.92, Z:-1.79 [[-9.91793452e-01 1.27734556e-01 5.44347292e-03 -2.73454246e+02] [ 1.27732842e-01 9.91808390e-01 -6.62837673e-04 -2.57921422e+02] [-5.48354939e-03 3.79122001e-05 -9.99984965e-01 -1.79406082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1027.4465599950001 meters 0.012503488052787568 Centerline is valid? [True, True] Translation: X:-273.37, Y:-257.23, Z:-2.79 [[-9.83435865e-01 -1.81188914e-01 4.94751197e-03 -2.73371370e+02] [ 1.81186295e-01 -9.83448308e-01 -9.76227003e-04 -2.57231320e+02] [ 5.04250378e-03 -6.36352822e-05 9.99987285e-01 -2.78952422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1027.4765599950001 meters 0.012429866397984034 Centerline is valid? [True, True] Translation: X:-273.52, Y:-257.91, Z:-1.79 [[-9.92652836e-01 1.20894424e-01 4.98861309e-03 -2.73516770e+02] [ 1.20893006e-01 9.92665371e-01 -5.85978609e-04 -2.57912155e+02] [-5.02286501e-03 2.14151033e-05 -9.99987385e-01 -1.79389549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1027.506559995 meters 0.012191101673807788 Centerline is valid? [True, True] Translation: X:-273.44, Y:-257.23, Z:-2.79 [[-9.82949599e-01 -1.83800272e-01 5.24841680e-03 -2.73435684e+02] [ 1.83797648e-01 -9.82963611e-01 -9.82141713e-04 -2.57230030e+02] [ 5.33952064e-03 -7.49137333e-07 9.99985745e-01 -2.79138364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1027.536559995 meters 0.012285949774658305 Centerline is valid? [True, True] Translation: X:-273.57, Y:-257.90, Z:-1.79 [[-9.94072029e-01 1.08574835e-01 5.68388637e-03 -2.73574059e+02] [ 1.08572934e-01 9.94088278e-01 -6.42977276e-04 -2.57897976e+02] [-5.72009597e-03 -2.20495070e-05 -9.99983640e-01 -1.79165415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1027.566559995 meters 0.01288670899014739 Centerline is valid? [True, True] Translation: X:-273.58, Y:-257.86, Z:-1.79 [[-9.99475976e-01 3.19141144e-02 5.40948977e-03 -2.73579324e+02] [ 3.19133632e-02 9.99490614e-01 -2.25154281e-04 -2.57863964e+02] [-5.41391985e-03 -5.24012834e-05 -9.99985343e-01 -1.79096441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1027.596559995 meters 0.01288670899014739 Centerline is valid? [True, True] Translation: X:-273.58, Y:-257.84, Z:-1.79 [[-9.99215455e-01 -3.92324918e-02 5.41176588e-03 -2.73583605e+02] [-3.92322004e-02 9.99230108e-01 1.60041356e-04 -2.57836205e+02] [-5.41387822e-03 -5.23996873e-05 -9.99985344e-01 -1.79096491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1027.626559995 meters 0.013487160938583815 Centerline is valid? [True, True] Translation: X:-273.60, Y:-257.81, Z:-1.79 [[-9.93434543e-01 -1.14291140e-01 5.03421518e-03 -2.73595063e+02] [-1.14290028e-01 9.93447296e-01 5.08964916e-04 -2.57806528e+02] [-5.05939764e-03 -6.97372666e-05 -9.99987199e-01 -1.79141959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1027.656559995 meters 0.013717725429195502 Centerline is valid? [True, True] Translation: X:-273.61, Y:-257.78, Z:-1.79 [[-9.82554690e-01 -1.85927736e-01 4.14238768e-03 -2.73605203e+02] [-1.85926352e-01 9.82563420e-01 7.19984308e-04 -2.57778721e+02] [-4.20402365e-03 -6.27550715e-05 -9.99991161e-01 -1.79173249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1027.6865599950002 meters 0.014089097604447876 Centerline is valid? [True, True] Translation: X:-273.63, Y:-257.75, Z:-1.79 [[-9.66306394e-01 -2.57381738e-01 2.56791253e-03 -2.73626742e+02] [-2.57380951e-01 9.66309805e-01 6.38026041e-04 -2.57753327e+02] [-2.64561531e-03 -4.44031267e-05 -9.99996500e-01 -1.79346192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1027.7165599950001 meters 0.014454513337124542 Centerline is valid? [True, True] Translation: X:-273.66, Y:-257.73, Z:-1.79 [[-9.45068548e-01 -3.26869215e-01 1.39870075e-03 -2.73658869e+02] [-3.26868898e-01 9.45069583e-01 4.56084034e-04 -2.57732533e+02] [-1.47094936e-03 -2.61610954e-05 -9.99998918e-01 -1.79374042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1027.746559995 meters 0.014543946965970802 Centerline is valid? [True, True] Translation: X:-273.71, Y:-257.72, Z:-1.79 [[-9.18639231e-01 -3.95096959e-01 5.97776829e-04 -2.73713855e+02] [-3.95096884e-01 9.18639425e-01 2.43342918e-04 -2.57722697e+02] [-6.45285411e-04 -1.26354123e-05 -9.99999792e-01 -1.79402319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1027.776559995 meters 0.014543946965970802 Centerline is valid? [True, True] Translation: X:-273.78, Y:-257.72, Z:-1.79 [[-8.87069647e-01 -4.61635254e-01 5.78214479e-04 -2.73776042e+02] [-4.61635165e-01 8.87069835e-01 2.86643078e-04 -2.57720818e+02] [-6.45241174e-04 -1.26517627e-05 -9.99999792e-01 -1.79402451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1027.806559995 meters 0.015322013713615317 Centerline is valid? [True, True] Translation: X:-273.84, Y:-257.72, Z:-1.79 [[-8.49345019e-01 -5.27837812e-01 5.32597549e-04 -2.73836851e+02] [-5.27837718e-01 8.49345186e-01 3.15265856e-04 -2.57719864e+02] [-6.18768405e-04 -1.33555901e-05 -9.99999809e-01 -1.79356021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1027.836559995 meters 0.01558756228345429 Centerline is valid? [True, True] Translation: X:-273.91, Y:-257.74, Z:-1.79 [[-8.07256850e-01 -5.90199135e-01 1.16563570e-03 -2.73914778e+02] [-5.90198573e-01 8.07257691e-01 8.14959331e-04 -2.57735930e+02] [-1.42195668e-03 -3.00750245e-05 -9.99998989e-01 -1.79270555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1027.866559995 meters 0.015588580114314049 Centerline is valid? [True, True] Translation: X:-274.00, Y:-257.76, Z:-1.79 [[-7.60700432e-01 -6.49100455e-01 1.85801519e-03 -2.73996254e+02] [-6.49098679e-01 7.60702700e-01 1.51937365e-03 -2.57762413e+02] [-2.39962330e-03 -5.02470142e-05 -9.99997120e-01 -1.79150579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1027.896559995 meters 0.015074392926741462 Centerline is valid? [True, True] Translation: X:-274.08, Y:-257.80, Z:-1.79 [[-7.09877723e-01 -7.04320047e-01 2.62496620e-03 -2.74080800e+02] [-7.04315616e-01 7.09882572e-01 2.49925318e-03 -2.57801859e+02] [-3.62369188e-03 -7.46405306e-05 -9.99993432e-01 -1.79036634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1027.9265599950002 meters 0.014983860207869777 Centerline is valid? [True, True] Translation: X:-274.16, Y:-257.85, Z:-1.79 [[-6.55564229e-01 -7.55128526e-01 4.05590783e-03 -2.74164853e+02] [-7.55115161e-01 6.55576766e-01 4.49432543e-03 -2.57849845e+02] [-6.05275227e-03 -1.16358507e-04 -9.99981675e-01 -1.78820338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1027.9565599950001 meters 0.014790805692801192 Centerline is valid? [True, True] Translation: X:-274.25, Y:-257.91, Z:-1.79 [[-5.97219657e-01 -8.02066398e-01 4.26320420e-03 -2.74247129e+02] [-8.02047460e-01 5.97234860e-01 5.51313989e-03 -2.57906072e+02] [-6.96803842e-03 -1.26736585e-04 -9.99975715e-01 -1.78756083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1027.986559995 meters 0.014539043825542405 Centerline is valid? [True, True] Translation: X:-274.33, Y:-257.98, Z:-1.79 [[-5.35638199e-01 -8.44437009e-01 4.22593316e-03 -2.74330708e+02] [-8.44412617e-01 5.35654853e-01 6.41958837e-03 -2.57977443e+02] [-7.68457961e-03 -1.29854527e-04 -9.99970465e-01 -1.78693259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1028.016559995 meters 0.014339100870428133 Centerline is valid? [True, True] Translation: X:-274.40, Y:-258.05, Z:-1.79 [[-4.72163646e-01 -8.81502365e-01 3.88231349e-03 -2.74403332e+02] [-8.81474505e-01 4.72179593e-01 7.00916513e-03 -2.58049050e+02] [-8.01174484e-03 -1.12687405e-04 -9.99967899e-01 -1.78592753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1028.046559995 meters 0.013565975298238487 Centerline is valid? [True, True] Translation: X:-274.47, Y:-258.14, Z:-1.79 [[-4.05485472e-01 -9.14095144e-01 3.40575991e-03 -2.74474548e+02] [-9.14064875e-01 4.05499763e-01 7.43952860e-03 -2.58135091e+02] [-8.18147181e-03 -9.64647361e-05 -9.99966527e-01 -1.78640088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1028.076559995 meters 0.012746659745370986 Centerline is valid? [True, True] Translation: X:-274.54, Y:-258.23, Z:-1.79 [[-3.39962889e-01 -9.40434509e-01 2.85799625e-03 -2.74535429e+02] [-9.40402431e-01 3.39974898e-01 7.76760907e-03 -2.58225155e+02] [-8.27657461e-03 -4.69678080e-05 -9.99965748e-01 -1.78668502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1028.106559995 meters 0.012409598452657855 Centerline is valid? [True, True] Translation: X:-274.59, Y:-258.32, Z:-1.79 [[-2.70570027e-01 -9.62697828e-01 2.18008558e-03 -2.74592515e+02] [-9.62666986e-01 2.70578809e-01 7.70598349e-03 -2.58322077e+02] [-8.00841853e-03 -1.36882501e-05 -9.99967932e-01 -1.78664179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1028.136559995 meters 0.012605741311082037 Centerline is valid? [True, True] Translation: X:-274.64, Y:-258.43, Z:-1.79 [[-2.00000477e-01 -9.79794548e-01 1.56636268e-03 -2.74642825e+02] [-9.79763715e-01 2.00006610e-01 7.77300485e-03 -2.58426876e+02] [-7.92923066e-03 1.99393632e-05 -9.99968563e-01 -1.78664187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1028.166559995 meters 0.013003359650416426 Centerline is valid? [True, True] Translation: X:-274.68, Y:-258.53, Z:-1.79 [[-1.28234365e-01 -9.91743390e-01 9.98406431e-04 -2.74684543e+02] [-9.91709845e-01 1.28238240e-01 8.15710268e-03 -2.58534807e+02] [-8.21778654e-03 5.58913980e-05 -9.99966232e-01 -1.78662718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1028.1965599950001 meters 0.013997927126746431 Centerline is valid? [True, True] Translation: X:-274.72, Y:-258.65, Z:-1.79 [[-5.96621773e-02 -9.98218551e-01 3.85156148e-04 -2.74716138e+02] [-9.98181449e-01 5.96632808e-02 8.60748254e-03 -2.58647208e+02] [-8.61512844e-03 1.29085427e-04 -9.99962881e-01 -1.78720495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1028.2265599950001 meters 0.015521258645372094 Centerline is valid? [True, True] Translation: X:-274.74, Y:-258.76, Z:-1.79 [[ 1.38990612e-02 -9.99903363e-01 -2.83335952e-04 -2.74740839e+02] [-9.99865170e-01 -1.39010072e-02 8.74093322e-03 -2.58763458e+02] [-8.74402718e-03 1.61806983e-04 -9.99961757e-01 -1.78644998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1028.256559995 meters 0.01631169632528285 Centerline is valid? [True, True] Translation: X:-274.76, Y:-258.88, Z:-1.79 [[ 8.61529924e-02 -9.96281463e-01 -9.53251829e-04 -2.74758018e+02] [-9.96243777e-01 -8.61580270e-02 8.66787905e-03 -2.58881897e+02] [-8.71777751e-03 2.02907484e-04 -9.99961979e-01 -1.78701643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1028.286559995 meters 0.01673805286678082 Centerline is valid? [True, True] Translation: X:-274.77, Y:-259.00, Z:-1.79 [[ 1.61574557e-01 -9.86859154e-01 -1.63488555e-03 -2.74767747e+02] [-9.86821209e-01 -1.61582686e-01 8.65660765e-03 -2.59003630e+02] [-8.80702170e-03 2.14652188e-04 -9.99961195e-01 -1.78712122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1028.316559995 meters 0.01686342332167214 Centerline is valid? [True, True] Translation: X:-274.77, Y:-259.13, Z:-1.79 [[ 2.37589061e-01 -9.71363000e-01 -2.31517761e-03 -2.74769662e+02] [-9.71325183e-01 -2.37600247e-01 8.57384791e-03 -2.59125723e+02] [-8.87840540e-03 2.11737843e-04 -9.99960564e-01 -1.78712282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1028.346559995 meters 0.014822044764209511 Centerline is valid? [True, True] Translation: X:-274.77, Y:-259.25, Z:-1.79 [[ 3.14924835e-01 -9.49111755e-01 -3.03723981e-03 -2.74765817e+02] [-9.49073109e-01 -3.14939427e-01 8.56683757e-03 -2.59251916e+02] [-9.08743280e-03 1.84652718e-04 -9.99958692e-01 -1.78739569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1028.376559995 meters 0.014822044764209511 Centerline is valid? [True, True] Translation: X:-274.75, Y:-259.37, Z:-1.79 [[ 3.86909740e-01 -9.22110223e-01 -3.68642445e-03 -2.74748965e+02] [-9.22072813e-01 -3.86927258e-01 8.30812765e-03 -2.59370443e+02] [-9.08738754e-03 1.84656248e-04 -9.99958692e-01 -1.78739792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1028.406559995 meters 0.015521086584036064 Centerline is valid? [True, True] Translation: X:-274.72, Y:-259.49, Z:-1.79 [[ 4.58839775e-01 -8.88507231e-01 -4.57837477e-03 -2.74722862e+02] [-8.88466664e-01 -4.58862584e-01 8.49207196e-03 -2.59487281e+02] [-9.64611223e-03 1.71232972e-04 -9.99953461e-01 -1.78611740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1028.4365599950002 meters 0.013874407811496002 Centerline is valid? [True, True] Translation: X:-274.69, Y:-259.60, Z:-1.79 [[ 5.30936425e-01 -8.47395725e-01 -5.19597820e-03 -2.74693758e+02] [-8.47357149e-01 -5.30961838e-01 8.08636628e-03 -2.59602705e+02] [-9.61121835e-03 1.09502870e-04 -9.99953805e-01 -1.78599524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1028.4665599950001 meters 0.013328350894966099 Centerline is valid? [True, True] Translation: X:-274.65, Y:-259.71, Z:-1.79 [[ 5.96664394e-01 -8.02469958e-01 -5.79378802e-03 -2.74653804e+02] [-8.02433421e-01 -5.96692517e-01 7.65803127e-03 -2.59714393e+02] [-9.60244999e-03 7.98545559e-05 -9.99953892e-01 -1.78551695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1028.496559995 meters 0.012912712603134067 Centerline is valid? [True, True] Translation: X:-274.61, Y:-259.82, Z:-1.79 [[ 6.58716402e-01 -7.52361457e-01 -6.70373941e-03 -2.74609657e+02] [-7.52323268e-01 -6.58750511e-01 7.58061908e-03 -2.59817749e+02] [-1.01194574e-02 4.99010119e-05 -9.99948796e-01 -1.78523042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1028.526559995 meters 0.012389476332648912 Centerline is valid? [True, True] Translation: X:-274.56, Y:-259.92, Z:-1.79 [[ 7.18246225e-01 -6.95757120e-01 -6.66256724e-03 -2.74561382e+02] [-6.95727063e-01 -7.18277126e-01 6.46714607e-03 -2.59918742e+02] [-9.28513258e-03 -9.67491132e-06 -9.99956892e-01 -1.78546650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1028.556559995 meters 0.012319195804538517 Centerline is valid? [True, True] Translation: X:-274.57, Y:-259.93, Z:-1.79 [[ 7.72054672e-01 -6.35514181e-01 -7.30132032e-03 -2.74565669e+02] [-6.35485347e-01 -7.72089194e-01 6.05386719e-03 -2.59929221e+02] [-9.48458898e-03 -3.40343645e-05 -9.99955020e-01 -1.78722046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1028.586559995 meters 0.012711641882947902 Centerline is valid? [True, True] Translation: X:-274.57, Y:-259.94, Z:-1.79 [[ 8.22005196e-01 -5.69428542e-01 -7.65467268e-03 -2.74569773e+02] [-5.69402981e-01 -8.22040832e-01 5.39593312e-03 -2.59940958e+02] [-9.36505183e-03 -7.68916262e-05 -9.99956144e-01 -1.78732257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1028.616559995 meters 0.013122665409885905 Centerline is valid? [True, True] Translation: X:-274.57, Y:-259.95, Z:-1.79 [[ 8.65076602e-01 -5.01579383e-01 -7.78429065e-03 -2.74571050e+02] [-5.01558102e-01 -8.65111619e-01 4.62139163e-03 -2.59950613e+02] [-9.05227505e-03 -9.35837301e-05 -9.99959023e-01 -1.78719124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1028.646559995 meters 0.013052453825204861 Centerline is valid? [True, True] Translation: X:-274.57, Y:-259.96, Z:-1.79 [[ 9.02431608e-01 -4.30753624e-01 -8.27696205e-03 -2.74571916e+02] [-4.30734362e-01 -9.02469558e-01 4.07506500e-03 -2.59962112e+02] [-9.22505530e-03 -1.12295497e-04 -9.99957442e-01 -1.78779684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1028.6765599950002 meters 0.013919246378091197 Centerline is valid? [True, True] Translation: X:-274.57, Y:-259.98, Z:-1.79 [[ 9.34457628e-01 -3.55969799e-01 -8.62810051e-03 -2.74573887e+02] [-3.55953218e-01 -9.34497449e-01 3.43870081e-03 -2.59975696e+02] [-9.28701155e-03 -1.42120058e-04 -9.99956865e-01 -1.78700536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1028.7065599950001 meters 0.013957766270581068 Centerline is valid? [True, True] Translation: X:-274.57, Y:-259.99, Z:-1.79 [[ 9.59902029e-01 -2.80198726e-01 -8.76181218e-03 -2.74572309e+02] [-2.80185568e-01 -9.59942003e-01 2.71990539e-03 -2.59987356e+02] [-9.17294556e-03 -1.55909382e-04 -9.99957916e-01 -1.78729411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1028.736559995 meters 0.01417238973406786 Centerline is valid? [True, True] Translation: X:-274.57, Y:-260.00, Z:-1.79 [[ 9.79134249e-01 -2.03017638e-01 -8.94214467e-03 -2.74569812e+02] [-2.03007606e-01 -9.79175066e-01 2.02524579e-03 -2.59999184e+02] [-9.16708571e-03 -1.67664137e-04 -9.99957968e-01 -1.78720730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1028.766559995 meters 0.01465668147704459 Centerline is valid? [True, True] Translation: X:-274.57, Y:-260.01, Z:-1.79 [[ 9.92203822e-01 -1.24339564e-01 -8.44087462e-03 -2.74567566e+02] [-1.24333613e-01 -9.92239711e-01 1.22826830e-03 -2.60010857e+02] [-8.52809334e-03 -1.69208067e-04 -9.99963621e-01 -1.78692298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1028.796559995 meters 0.014776277005552231 Centerline is valid? [True, True] Translation: X:-274.57, Y:-260.02, Z:-1.79 [[ 9.98905506e-01 -4.60360118e-02 -8.27501915e-03 -2.74566108e+02] [-4.60330486e-02 -9.98939767e-01 5.48299121e-04 -2.60019729e+02] [-8.29148721e-03 -1.66774652e-04 -9.99965611e-01 -1.78727729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1028.826559995 meters 0.014616263969805605 Centerline is valid? [True, True] Translation: X:-274.56, Y:-260.03, Z:-1.79 [[ 9.99450065e-01 3.22077275e-02 -7.88862132e-03 -2.74564579e+02] [ 3.22079719e-02 -9.99481184e-01 -9.60875445e-05 -2.60028601e+02] [-7.88762334e-03 -1.58041791e-04 -9.99968880e-01 -1.78739510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1028.856559995 meters 0.014690350380159766 Centerline is valid? [True, True] Translation: X:-274.56, Y:-260.04, Z:-1.79 [[ 9.93877069e-01 1.10175020e-01 -8.35687706e-03 -2.74563036e+02] [ 1.10172532e-01 -9.93912188e-01 -7.58933523e-04 -2.60037043e+02] [-8.38961748e-03 -1.66411676e-04 -9.99964793e-01 -1.78672396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1028.886559995 meters 0.014878114567101372 Centerline is valid? [True, True] Translation: X:-274.56, Y:-260.04, Z:-1.79 [[ 9.82196483e-01 1.87657980e-01 -8.63433318e-03 -2.74560007e+02] [ 1.87652279e-01 -9.82234418e-01 -1.47293483e-03 -2.60044541e+02] [-8.75734720e-03 -1.73540893e-04 -9.99961639e-01 -1.78586003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1028.916559995 meters 0.015366869862316336 Centerline is valid? [True, True] Translation: X:-274.56, Y:-260.05, Z:-1.78 [[ 9.64076548e-01 2.65401279e-01 -1.08889932e-02 -2.74556445e+02] [ 2.65387138e-01 -9.64138011e-01 -2.75004929e-03 -2.60051260e+02] [-1.12283588e-02 -2.38540712e-04 -9.99936932e-01 -1.78385151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1028.9465599950001 meters 0.01544991042536572 Centerline is valid? [True, True] Translation: X:-274.55, Y:-260.06, Z:-1.78 [[ 9.39925637e-01 3.41179385e-01 -1.16801005e-02 -2.74551910e+02] [ 3.41156683e-01 -9.39998165e-01 -3.94549556e-03 -2.60058029e+02] [-1.23253948e-02 -2.76271900e-04 -9.99924001e-01 -1.78300332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1028.9765599950001 meters 0.017147690365831292 Centerline is valid? [True, True] Translation: X:-274.55, Y:-260.07, Z:-1.78 [[ 9.09934364e-01 4.14560809e-01 -1.26011087e-02 -2.74546790e+02] [ 4.14525900e-01 -9.10021557e-01 -5.38931103e-03 -2.60066613e+02] [-1.37014777e-02 -3.19566619e-04 -9.99906079e-01 -1.78003830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1029.006559995 meters 0.01628798990972821 Centerline is valid? [True, True] Translation: X:-274.54, Y:-260.07, Z:-1.78 [[ 8.73760810e-01 4.86150579e-01 -1.41301541e-02 -2.74542419e+02] [ 4.86094401e-01 -8.73874965e-01 -7.40132425e-03 -2.60070648e+02] [-1.59461460e-02 -4.01601741e-04 -9.99872772e-01 -1.77980103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1029.036559995 meters 0.01628798990972821 Centerline is valid? [True, True] Translation: X:-274.54, Y:-260.08, Z:-1.78 [[ 8.33020117e-01 5.53077788e-01 -1.35072571e-02 -2.74536896e+02] [ 5.53012845e-01 -8.33129522e-01 -8.48489608e-03 -2.60076567e+02] [-1.59461022e-02 -4.01597574e-04 -9.99872772e-01 -1.77980143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1029.066559995 meters 0.017410464188196372 Centerline is valid? [True, True] Translation: X:-274.53, Y:-260.08, Z:-1.78 [[ 7.87088803e-01 6.16695582e-01 -1.33332085e-02 -2.74532191e+02] [ 6.16616053e-01 -7.87201615e-01 -9.91265858e-03 -2.60081195e+02] [-1.66090160e-02 -4.19327821e-04 -9.99861973e-01 -1.77839655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1029.096559995 meters 0.016067474528308704 Centerline is valid? [True, True] Translation: X:-274.53, Y:-260.08, Z:-1.78 [[ 7.37030685e-01 6.75739445e-01 -1.27268444e-02 -2.74528128e+02] [ 6.75648252e-01 -7.37140443e-01 -1.11088114e-02 -2.60082865e+02] [-1.68881338e-02 -4.11335297e-04 -9.99857301e-01 -1.78030732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1029.126559995 meters 0.015169479920853319 Centerline is valid? [True, True] Translation: X:-274.53, Y:-260.08, Z:-1.78 [[ 6.84738712e-01 7.28705193e-01 -1.10289351e-02 -2.74526926e+02] [ 7.28618182e-01 -6.84827451e-01 -1.12653271e-02 -2.60083332e+02] [-1.57620199e-02 -3.22077053e-04 -9.99875720e-01 -1.78137031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1029.156559995 meters 0.014326186685911686 Centerline is valid? [True, True] Translation: X:-274.52, Y:-260.09, Z:-1.78 [[ 6.28049441e-01 7.78114706e-01 -9.56054054e-03 -2.74523125e+02] [ 7.78030742e-01 -6.28122152e-01 -1.14336051e-02 -2.60085451e+02] [-1.49018436e-02 -2.57525134e-04 -9.99888928e-01 -1.78249118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1029.1865599950002 meters 0.014683658680386751 Centerline is valid? [True, True] Translation: X:-274.52, Y:-260.09, Z:-1.78 [[ 5.68064378e-01 8.22945242e-01 -7.99945711e-03 -2.74519096e+02] [ 8.22868345e-01 -5.68120668e-01 -1.12513979e-02 -2.60089414e+02] [-1.38039413e-02 -1.90981685e-04 -9.99904703e-01 -1.78151065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1029.2165599950001 meters 0.012535164387212474 Centerline is valid? [True, True] Translation: X:-274.52, Y:-260.09, Z:-1.79 [[ 5.08994352e-01 8.60749277e-01 -5.95248246e-03 -2.74521923e+02] [ 8.60691916e-01 -5.09029152e-01 -9.93720114e-03 -2.60087527e+02] [-1.15834258e-02 -6.52742819e-05 -9.99932908e-01 -1.78594295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1029.246559995 meters 0.012303099740510207 Centerline is valid? [True, True] Translation: X:-274.52, Y:-260.09, Z:-1.79 [[ 4.44170019e-01 8.95930307e-01 -4.67744815e-03 -2.74519677e+02] [ 8.95880889e-01 -4.44194647e-01 -9.41003425e-03 -2.60090175e+02] [-1.05084323e-02 -1.07813062e-05 -9.99944785e-01 -1.78647856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1029.276559995 meters 0.012736824347660975 Centerline is valid? [True, True] Translation: X:-274.52, Y:-260.09, Z:-1.79 [[ 3.80527616e-01 9.24762096e-01 -3.71476803e-03 -2.74520625e+02] [ 9.24716119e-01 -3.80545741e-01 -9.22163264e-03 -2.60091018e+02] [-9.94145548e-03 7.39800090e-05 -9.99950580e-01 -1.78774275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1029.306559995 meters 0.0130760662276608 Centerline is valid? [True, True] Translation: X:-274.52, Y:-260.10, Z:-1.79 [[ 3.09461913e-01 9.50907943e-01 -2.72168348e-03 -2.74515065e+02] [ 9.50868526e-01 -3.09473868e-01 -8.65858899e-03 -2.60095220e+02] [-9.07581097e-03 9.15403558e-05 -9.99958810e-01 -1.78867481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1029.336559995 meters 0.01363060199343791 Centerline is valid? [True, True] Translation: X:-274.51, Y:-260.10, Z:-1.79 [[ 2.36311091e-01 9.71675296e-01 -2.04658528e-03 -2.74510502e+02] [ 9.71634593e-01 -2.36319926e-01 -8.89439756e-03 -2.60099857e+02] [-9.12611526e-03 1.13311732e-04 -9.99958350e-01 -1.78855841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1029.366559995 meters 0.014118274911352624 Centerline is valid? [True, True] Translation: X:-274.51, Y:-260.10, Z:-1.79 [[ 1.62076163e-01 9.86777057e-01 -1.53551970e-03 -2.74505118e+02] [ 9.86723156e-01 -1.62083360e-01 -1.03148939e-02 -2.60103057e+02] [-1.04273829e-02 1.56665581e-04 -9.99945621e-01 -1.78826395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1029.396559995 meters 0.013933366772995733 Centerline is valid? [True, True] Translation: X:-274.50, Y:-260.11, Z:-1.79 [[ 8.49282440e-02 9.96386781e-01 -7.58504758e-04 -2.74495301e+02] [ 9.96326969e-01 -8.49314578e-02 -1.09187083e-02 -2.60106557e+02] [-1.09436775e-02 1.71587976e-04 -9.99940102e-01 -1.78838062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1029.4265599950002 meters 0.014423220397836202 Centerline is valid? [True, True] Translation: X:-274.49, Y:-260.11, Z:-1.79 [[ 7.72008110e-03 9.99970194e-01 1.07061144e-04 -2.74487321e+02] [ 9.99900923e-01 -7.71828598e-03 -1.17716997e-02 -2.60110094e+02] [-1.17705225e-02 1.97929013e-04 -9.99930706e-01 -1.78765606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1029.4565599950001 meters 0.014767823078714106 Centerline is valid? [True, True] Translation: X:-274.48, Y:-260.11, Z:-1.79 [[-6.99355802e-02 9.97550943e-01 1.06347678e-03 -2.74479683e+02] [ 9.97477232e-01 6.99433426e-02 -1.21285082e-02 -2.60112125e+02] [-1.21731880e-02 2.12579618e-04 -9.99925882e-01 -1.78711755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1029.486559995 meters 0.015168846998983632 Centerline is valid? [True, True] Translation: X:-274.47, Y:-260.12, Z:-1.79 [[-1.47072363e-01 9.89123653e-01 2.02952076e-03 -2.74472100e+02] [ 9.89049370e-01 1.47086194e-01 -1.21241301e-02 -2.60115306e+02] [-1.22907783e-02 2.24171772e-04 -9.99924441e-01 -1.78663094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1029.516559995 meters 0.015288129637078584 Centerline is valid? [True, True] Translation: X:-274.46, Y:-260.12, Z:-1.79 [[-2.23423962e-01 9.74716817e-01 2.97653926e-03 -2.74464254e+02] [ 9.74643693e-01 2.23443667e-01 -1.19415062e-02 -2.60116533e+02] [-1.23046757e-02 2.33046596e-04 -9.99924268e-01 -1.78653521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1029.546559995 meters 0.015162073659197237 Centerline is valid? [True, True] Translation: X:-274.45, Y:-260.12, Z:-1.79 [[-2.98239031e-01 9.54484167e-01 3.66824061e-03 -2.74453020e+02] [ 9.54421161e-01 2.98261501e-01 -1.09692838e-02 -2.60116322e+02] [-1.15641027e-02 2.29577874e-04 -9.99933107e-01 -1.78682135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1029.576559995 meters 0.015134020087294782 Centerline is valid? [True, True] Translation: X:-274.44, Y:-260.12, Z:-1.79 [[-3.71983487e-01 9.28228921e-01 4.39963199e-03 -2.74443468e+02] [ 9.28170978e-01 3.72009436e-01 -1.03737972e-02 -2.60115010e+02] [-1.12659632e-02 2.24729478e-04 -9.99936512e-01 -1.78719992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1029.606559995 meters 0.014800659892432497 Centerline is valid? [True, True] Translation: X:-274.43, Y:-260.11, Z:-1.79 [[-4.43636051e-01 8.96194844e-01 4.67509246e-03 -2.74431869e+02] [ 8.96149763e-01 4.43660639e-01 -8.99108350e-03 -2.60112206e+02] [-1.01319172e-02 2.00814217e-04 -9.99948651e-01 -1.78865317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1029.636559995 meters 0.014804096823022103 Centerline is valid? [True, True] Translation: X:-274.42, Y:-260.11, Z:-1.79 [[-5.12789098e-01 8.58500388e-01 4.94226251e-03 -2.74421784e+02] [ 8.58463877e-01 5.12812882e-01 -7.91964043e-03 -2.60108707e+02] [-9.33347026e-03 1.81648565e-04 -9.99956426e-01 -1.78938227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1029.666559995 meters 0.014709069233545395 Centerline is valid? [True, True] Translation: X:-274.41, Y:-260.10, Z:-1.79 [[-5.79694086e-01 8.14819661e-01 4.86694724e-03 -2.74410717e+02] [ 8.14793045e-01 5.79714498e-01 -6.58747211e-03 -2.60104557e+02] [-8.18904166e-03 1.46836136e-04 -9.99966459e-01 -1.78985987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1029.6965599950001 meters 0.014132999696026938 Centerline is valid? [True, True] Translation: X:-274.40, Y:-260.10, Z:-1.79 [[-6.42880476e-01 7.65950130e-01 5.00925468e-03 -2.74400554e+02] [ 7.65928384e-01 6.42899979e-01 -5.77298791e-03 -2.60098264e+02] [-7.64227056e-03 1.25389130e-04 -9.99970790e-01 -1.79049751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1029.7265599950001 meters 0.014132999696026938 Centerline is valid? [True, True] Translation: X:-274.39, Y:-260.09, Z:-1.79 [[-7.00894389e-01 7.13244275e-01 5.44598966e-03 -2.74393031e+02] [ 7.13224124e-01 7.00915536e-01 -5.36289034e-03 -2.60093740e+02] [-7.64222959e-03 1.25391453e-04 -9.99970790e-01 -1.79049787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1029.756559995 meters 0.013859138083797273 Centerline is valid? [True, True] Translation: X:-273.90, Y:-259.61, Z:-2.79 [[-6.74687088e-01 -7.38086464e-01 5.06999447e-03 -2.73901381e+02] [ 7.38064221e-01 -6.74706126e-01 -5.73151274e-03 -2.59610961e+02] [ 7.65110830e-03 -1.24996125e-04 9.99970722e-01 -2.79351052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1029.786559995 meters 0.01328333072696034 Centerline is valid? [True, True] Translation: X:-273.92, Y:-259.59, Z:-2.79 [[-6.73339226e-01 -7.39319126e-01 4.63863036e-03 -2.73922514e+02] [ 7.39300677e-01 -6.73355198e-01 -5.22367551e-03 -2.59592667e+02] [ 6.98540908e-03 -8.79630645e-05 9.99975598e-01 -2.79333729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1029.816559995 meters 0.01253210949020993 Centerline is valid? [True, True] Translation: X:-273.95, Y:-259.58, Z:-2.79 [[-6.69685870e-01 -7.42629779e-01 4.67406021e-03 -2.73946379e+02] [ 7.42611148e-01 -6.69702179e-01 -5.26060066e-03 -2.59576356e+02] [ 7.03690701e-03 -5.19407127e-05 9.99975239e-01 -2.79347664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1029.846559995 meters 0.012362717909690492 Centerline is valid? [True, True] Translation: X:-273.97, Y:-259.56, Z:-2.79 [[-6.67743126e-01 -7.44376265e-01 4.80556572e-03 -2.73966556e+02] [ 7.44356639e-01 -6.67760417e-01 -5.40544274e-03 -2.59558399e+02] [ 7.23264985e-03 -3.23924832e-05 9.99973844e-01 -2.79367476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1029.876559995 meters 0.012228466235668803 Centerline is valid? [True, True] Translation: X:-273.99, Y:-259.54, Z:-2.79 [[-6.65728670e-01 -7.46176808e-01 5.05064886e-03 -2.73988240e+02] [ 7.46155205e-01 -6.65747829e-01 -5.67792993e-03 -2.59539611e+02] [ 7.59919814e-03 -1.13928036e-05 9.99971126e-01 -2.79370656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1029.906559995 meters 0.012302933035188998 Centerline is valid? [True, True] Translation: X:-274.01, Y:-259.52, Z:-2.79 [[-6.61359321e-01 -7.50050545e-01 5.29414173e-03 -2.74012739e+02] [ 7.50026959e-01 -6.61380510e-01 -5.94826743e-03 -2.59523376e+02] [ 7.96294339e-03 3.68069193e-05 9.99968295e-01 -2.79379424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1029.9365599950002 meters 0.012660813305528117 Centerline is valid? [True, True] Translation: X:-274.03, Y:-259.51, Z:-2.79 [[-6.59609190e-01 -7.51589929e-01 5.31927060e-03 -2.74033827e+02] [ 7.51566198e-01 -6.59630635e-01 -5.97290337e-03 -2.59505369e+02] [ 7.99792787e-03 5.80020332e-05 9.99968015e-01 -2.79454406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1029.9665599950001 meters 0.012743404006847245 Centerline is valid? [True, True] Translation: X:-274.05, Y:-259.49, Z:-2.79 [[-6.57796261e-01 -7.53175042e-01 5.60665963e-03 -2.74054476e+02] [ 7.53148764e-01 -6.57820149e-01 -6.29218538e-03 -2.59486062e+02] [ 8.42729067e-03 8.36727537e-05 9.99964486e-01 -2.79428650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1029.996559995 meters 0.013408767913069124 Centerline is valid? [True, True] Translation: X:-274.08, Y:-259.47, Z:-2.79 [[-6.55225469e-01 -7.55412018e-01 5.68049643e-03 -2.74076057e+02] [ 7.55385159e-01 -6.55250082e-01 -6.37119306e-03 -2.59469488e+02] [ 8.53502156e-03 1.16394739e-04 9.99963569e-01 -2.79499798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1030.026559995 meters 0.013613302464243998 Centerline is valid? [True, True] Translation: X:-274.10, Y:-259.45, Z:-2.79 [[-6.54415315e-01 -7.56113098e-01 5.79475567e-03 -2.74095953e+02] [ 7.56085207e-01 -6.54440957e-01 -6.49562797e-03 -2.59449002e+02] [ 8.70375484e-03 1.30490621e-04 9.99962113e-01 -2.79439363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1030.056559995 meters 0.01418488168396599 Centerline is valid? [True, True] Translation: X:-274.12, Y:-259.43, Z:-2.79 [[-6.53353754e-01 -7.57033089e-01 5.45659577e-03 -2.74115651e+02] [ 7.57008421e-01 -6.53376525e-01 -6.11287931e-03 -2.59430578e+02] [ 8.19286349e-03 1.36816307e-04 9.99966429e-01 -2.79432112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1030.086559995 meters 0.014159251178037235 Centerline is valid? [True, True] Translation: X:-274.13, Y:-259.41, Z:-2.79 [[-6.52870308e-01 -7.57449335e-01 5.55568652e-03 -2.74134966e+02] [ 7.57423808e-01 -6.52893930e-01 -6.22033849e-03 -2.59409801e+02] [ 8.33886526e-03 1.46934931e-04 9.99965220e-01 -2.79407111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1030.116559995 meters 0.014672344684594517 Centerline is valid? [True, True] Translation: X:-274.15, Y:-259.39, Z:-2.79 [[-6.52164644e-01 -7.58055141e-01 5.80354343e-03 -2.74154198e+02] [ 7.58027343e-01 -6.52190445e-01 -6.49393783e-03 -2.59390814e+02] [ 8.70777853e-03 1.64127955e-04 9.99962073e-01 -2.79447218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1030.146559995 meters 0.01625848439621675 Centerline is valid? [True, True] Translation: X:-274.18, Y:-259.37, Z:-2.80 [[-6.51632317e-01 -7.58510278e-01 6.12227051e-03 -2.74175286e+02] [ 7.58479400e-01 -6.51661051e-01 -6.84650883e-03 -2.59373325e+02] [ 9.18279255e-03 1.82209646e-04 9.99957821e-01 -2.79608108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1030.1765599950002 meters 0.015249482461559537 Centerline is valid? [True, True] Translation: X:-274.19, Y:-259.35, Z:-2.80 [[-6.50187609e-01 -7.59740527e-01 7.09966036e-03 -2.74193666e+02] [ 7.59699124e-01 -6.50226328e-01 -7.93498870e-03 -2.59351604e+02] [ 1.06449186e-02 2.34374424e-04 9.99943314e-01 -2.79648226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1030.2065599950001 meters 0.015967507907734504 Centerline is valid? [True, True] Translation: X:-274.21, Y:-259.33, Z:-2.80 [[-6.49707581e-01 -7.60142933e-01 7.92342304e-03 -2.74213076e+02] [ 7.60091458e-01 -6.49755836e-01 -8.85034035e-03 -2.59332854e+02] [ 1.18758140e-02 2.72392962e-04 9.99929443e-01 -2.79761358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1030.236559995 meters 0.01615723341370118 Centerline is valid? [True, True] Translation: X:-274.23, Y:-259.31, Z:-2.80 [[-6.49533222e-01 -7.60285663e-01 8.50317420e-03 -2.74232369e+02] [ 7.60226459e-01 -6.49588810e-01 -9.49260501e-03 -2.59312701e+02] [ 1.27406583e-02 2.98575694e-04 9.99918790e-01 -2.79863734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1030.266559995 meters 0.0159460728276175 Centerline is valid? [True, True] Translation: X:-274.25, Y:-259.29, Z:-2.80 [[-6.49640139e-01 -7.60190536e-01 8.83393234e-03 -2.74251128e+02] [ 7.60126702e-01 -6.49700124e-01 -9.85627011e-03 -2.59291251e+02] [ 1.32320502e-02 3.11879170e-04 9.99912404e-01 -2.79856405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1030.296559995 meters 0.015492413019179035 Centerline is valid? [True, True] Translation: X:-274.27, Y:-259.27, Z:-2.80 [[-6.50498636e-01 -7.59454924e-01 8.92984779e-03 -2.74269448e+02] [ 7.59389703e-01 -6.50559856e-01 -9.95757033e-03 -2.59269481e+02] [ 1.33717263e-02 3.03848541e-04 9.99910548e-01 -2.79804834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1030.326559995 meters 0.014933533175399256 Centerline is valid? [True, True] Translation: X:-274.29, Y:-259.25, Z:-2.80 [[-6.52755976e-01 -7.57519785e-01 8.56800954e-03 -2.74286520e+02] [ 7.57459642e-01 -6.52812155e-01 -9.54886083e-03 -2.59248277e+02] [ 1.28267518e-02 2.56845466e-04 9.99917701e-01 -2.79725567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1030.356559995 meters 0.014505166508053521 Centerline is valid? [True, True] Translation: X:-274.30, Y:-259.23, Z:-2.80 [[-6.54628217e-01 -7.55906910e-01 8.16334133e-03 -2.74304144e+02] [ 7.55852252e-01 -6.54679078e-01 -9.09272518e-03 -2.59226604e+02] [ 1.22176226e-02 2.17925455e-04 9.99925338e-01 -2.79689129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1030.386559995 meters 0.014061724375976253 Centerline is valid? [True, True] Translation: X:-274.32, Y:-259.20, Z:-2.80 [[-6.56992145e-01 -7.53855443e-01 7.95561772e-03 -2.74321134e+02] [ 7.53803440e-01 -6.57040287e-01 -8.85638390e-03 -2.59204729e+02] [ 1.19035946e-02 1.78397347e-04 9.99929134e-01 -2.79660364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1030.416559995 meters 0.012938253895249783 Centerline is valid? [True, True] Translation: X:-274.34, Y:-259.18, Z:-2.80 [[-6.62515719e-01 -7.49005094e-01 8.01823048e-03 -2.74335321e+02] [ 7.48951971e-01 -6.62564231e-01 -8.92101728e-03 -2.59180136e+02] [ 1.19944801e-02 9.49553396e-05 9.99928059e-01 -2.79635741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1030.4465599950001 meters 0.012715155372527308 Centerline is valid? [True, True] Translation: X:-274.35, Y:-259.16, Z:-2.80 [[-6.65652066e-01 -7.46218402e-01 8.08842685e-03 -2.74350592e+02] [ 7.46164211e-01 -6.65701205e-01 -8.99316764e-03 -2.59158760e+02] [ 1.20953427e-02 4.89740148e-05 9.99926848e-01 -2.79665171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1030.4765599950001 meters 0.012904123266029056 Centerline is valid? [True, True] Translation: X:-274.36, Y:-259.13, Z:-2.80 [[-6.72037259e-01 -7.40467450e-01 8.59524563e-03 -2.74364444e+02] [ 7.40405848e-01 -6.72092220e-01 -9.55130088e-03 -2.59133673e+02] [ 1.28492251e-02 -5.48599325e-05 9.99917444e-01 -2.79739704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1030.506559995 meters 0.012904123266029056 Centerline is valid? [True, True] Translation: X:-274.38, Y:-259.11, Z:-2.80 [[-6.72244122e-01 -7.40279620e-01 8.59791418e-03 -2.74382945e+02] [ 7.40218034e-01 -6.72299101e-01 -9.54889877e-03 -2.59113220e+02] [ 1.28492251e-02 -5.48599381e-05 9.99917444e-01 -2.79739738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1030.536559995 meters 0.013868761752507154 Centerline is valid? [True, True] Translation: X:-274.40, Y:-259.09, Z:-2.80 [[-6.78032984e-01 -7.34972313e-01 9.32585439e-03 -2.74396520e+02] [ 7.34899431e-01 -6.78097096e-01 -1.03515620e-02 -2.59087657e+02] [ 1.39319462e-02 -1.65135373e-04 9.99902932e-01 -2.79688776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1030.566559995 meters 0.014326305486788565 Centerline is valid? [True, True] Translation: X:-274.41, Y:-259.07, Z:-2.80 [[-6.80637517e-01 -7.32560125e-01 9.39327058e-03 -2.74413067e+02] [ 7.32486015e-01 -6.80702297e-01 -1.04220830e-02 -2.59065351e+02] [ 1.40288233e-02 -2.13221332e-04 9.99901569e-01 -2.79640406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1030.596559995 meters 0.015184557281043233 Centerline is valid? [True, True] Translation: X:-274.43, Y:-259.04, Z:-2.80 [[-6.83135168e-01 -7.30227824e-01 9.67819718e-03 -2.74429037e+02] [ 7.30149007e-01 -6.83203670e-01 -1.07318421e-02 -2.59043450e+02] [ 1.44488695e-02 -2.64772680e-04 9.99895575e-01 -2.79635332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1030.626559995 meters 0.016268526863167914 Centerline is valid? [True, True] Translation: X:-274.44, Y:-259.02, Z:-2.80 [[-6.86759448e-01 -7.26821407e-01 9.59707084e-03 -2.74444518e+02] [ 7.26743634e-01 -6.86826421e-01 -1.06375407e-02 -2.59020175e+02] [ 1.43231141e-02 -3.30821412e-04 9.99897364e-01 -2.79535648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1030.656559995 meters 0.016960800248683416 Centerline is valid? [True, True] Translation: X:-274.46, Y:-259.00, Z:-2.80 [[-6.88298156e-01 -7.25362837e-01 9.71613872e-03 -2.74461705e+02] [ 7.25283063e-01 -6.88366635e-01 -1.07635613e-02 -2.58998388e+02] [ 1.44957531e-02 -3.61588515e-04 9.99894866e-01 -2.79502179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1030.6865599950002 meters 0.017496750751921326 Centerline is valid? [True, True] Translation: X:-274.48, Y:-258.98, Z:-2.79 [[-6.90236616e-01 -7.23523740e-01 9.31725541e-03 -2.74478998e+02] [ 7.23450294e-01 -6.90299394e-01 -1.03159539e-02 -2.58976167e+02] [ 1.38955333e-02 -3.79877979e-04 9.99903380e-01 -2.79409975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1030.7165599950001 meters 0.017390222668790773 Centerline is valid? [True, True] Translation: X:-274.50, Y:-258.96, Z:-2.79 [[-6.90682767e-01 -7.23101141e-01 9.05849677e-03 -2.74497446e+02] [ 7.23031757e-01 -6.90742066e-01 -1.00238717e-02 -2.58955308e+02] [ 1.35053578e-02 -3.73734587e-04 9.99908729e-01 -2.79342970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1030.746559995 meters 0.017534483041644275 Centerline is valid? [True, True] Translation: X:-274.52, Y:-258.93, Z:-2.79 [[-6.90762132e-01 -7.23024553e-01 9.11991541e-03 -2.74515481e+02] [ 7.22954304e-01 -6.90822232e-01 -1.00855570e-02 -2.58934875e+02] [ 1.35923456e-02 -3.73438737e-04 9.99907550e-01 -2.79335157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1030.776559995 meters 0.016879726147211113 Centerline is valid? [True, True] Translation: X:-274.54, Y:-258.92, Z:-2.79 [[-6.89563388e-01 -7.24170844e-01 8.88386601e-03 -2.74535686e+02] [ 7.24104352e-01 -6.89620529e-01 -9.81905813e-03 -2.58915379e+02] [ 1.32371720e-02 -3.38016954e-04 9.99912328e-01 -2.79294318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1030.806559995 meters 0.016422783081517334 Centerline is valid? [True, True] Translation: X:-274.56, Y:-258.90, Z:-2.79 [[-6.88319346e-01 -7.25354627e-01 8.78306001e-03 -2.74555198e+02] [ 7.25289802e-01 -6.88375312e-01 -9.70226472e-03 -2.58895673e+02] [ 1.30836243e-02 -3.07992661e-04 9.99914358e-01 -2.79274738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1030.836559995 meters 0.01602281728812735 Centerline is valid? [True, True] Translation: X:-274.58, Y:-258.88, Z:-2.79 [[-6.87010419e-01 -7.26595621e-01 8.68835656e-03 -2.74575608e+02] [ 7.26532328e-01 -6.87065299e-01 -9.59434604e-03 -2.58875570e+02] [ 1.29406781e-02 -2.79043776e-04 9.99916227e-01 -2.79272326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1030.866559995 meters 0.015340023902269387 Centerline is valid? [True, True] Translation: X:-274.60, Y:-258.86, Z:-2.79 [[-6.85332817e-01 -7.28180927e-01 8.45381507e-03 -2.74595858e+02] [ 7.28121190e-01 -6.85384914e-01 -9.33017513e-03 -2.58856121e+02] [ 1.25881729e-02 -2.38873316e-04 9.99920737e-01 -2.79242448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1030.896559995 meters 0.013692374642232408 Centerline is valid? [True, True] Translation: X:-274.62, Y:-258.84, Z:-2.79 [[-6.81060431e-01 -7.32182990e-01 8.04723270e-03 -2.74618507e+02] [ 7.32129201e-01 -6.81107954e-01 -8.87628644e-03 -2.58839080e+02] [ 1.19801001e-02 -1.53673422e-04 9.99928224e-01 -2.79083271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1030.9265599950002 meters 0.013476705751791272 Centerline is valid? [True, True] Translation: X:-274.64, Y:-258.82, Z:-2.79 [[-6.79007890e-01 -7.34089495e-01 7.80378266e-03 -2.74638503e+02] [ 7.34039092e-01 -6.79052723e-01 -8.60291445e-03 -2.58819921e+02] [ 1.16144890e-02 -1.13165249e-04 9.99932543e-01 -2.79130391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1030.9565599950001 meters 0.013125387238704841 Centerline is valid? [True, True] Translation: X:-274.66, Y:-258.80, Z:-2.79 [[-6.76993152e-01 -7.35947495e-01 7.84574662e-03 -2.74659489e+02] [ 7.35896709e-01 -6.77038609e-01 -8.64615965e-03 -2.58800392e+02] [ 1.16749929e-02 -7.97317580e-05 9.99931842e-01 -2.79110225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1030.986559995 meters 0.012800590959782041 Centerline is valid? [True, True] Translation: X:-274.68, Y:-258.78, Z:-2.79 [[-6.72834485e-01 -7.39746956e-01 8.25815254e-03 -2.74681865e+02] [ 7.39691038e-01 -6.72885162e-01 -9.09552051e-03 -2.58782211e+02] [ 1.22851719e-02 -1.12984362e-05 9.99924535e-01 -2.79122669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1031.016559995 meters 0.012799632081065652 Centerline is valid? [True, True] Translation: X:-274.70, Y:-258.77, Z:-2.79 [[-6.71080052e-01 -7.41338723e-01 8.27414235e-03 -2.74701372e+02] [ 7.41282783e-01 -6.71131058e-01 -9.10708883e-03 -2.58765111e+02] [ 1.23044715e-02 2.18936152e-05 9.99924297e-01 -2.79232157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1031.046559995 meters 0.01304630181693594 Centerline is valid? [True, True] Translation: X:-274.72, Y:-258.75, Z:-2.79 [[-6.67855414e-01 -7.44247013e-01 8.09503806e-03 -2.74723185e+02] [ 7.44193748e-01 -6.67904468e-01 -8.90438381e-03 -2.58748432e+02] [ 1.20337731e-02 7.74357766e-05 9.99927589e-01 -2.79252712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1031.076559995 meters 0.01320829684128262 Centerline is valid? [True, True] Translation: X:-274.74, Y:-258.73, Z:-2.79 [[-6.66697170e-01 -7.45285795e-01 7.99799213e-03 -2.74743269e+02] [ 7.45233934e-01 -6.66745134e-01 -8.79261356e-03 -2.58728668e+02] [ 1.18856323e-02 9.83645598e-05 9.99929359e-01 -2.79223388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1031.106559995 meters 0.01369072195539727 Centerline is valid? [True, True] Translation: X:-274.76, Y:-258.71, Z:-2.79 [[-6.64461132e-01 -7.47278310e-01 8.15669029e-03 -2.74764022e+02] [ 7.47224581e-01 -6.64511180e-01 -8.96197865e-03 -2.58710143e+02] [ 1.21173041e-02 1.39993003e-04 9.99926573e-01 -2.79243203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1031.136559995 meters 0.014046066636052746 Centerline is valid? [True, True] Translation: X:-274.78, Y:-258.69, Z:-2.79 [[-6.63579128e-01 -7.48059852e-01 8.31858579e-03 -2.74783048e+02] [ 7.48004099e-01 -6.63631247e-01 -9.13437147e-03 -2.58691174e+02] [ 1.23535300e-02 1.60958015e-04 9.99923679e-01 -2.79306792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1031.166559995 meters 0.014253293897593916 Centerline is valid? [True, True] Translation: X:-274.80, Y:-258.67, Z:-2.79 [[-6.62869167e-01 -7.48685034e-01 8.67113814e-03 -2.74802345e+02] [ 7.48624576e-01 -6.62925853e-01 -9.51616279e-03 -2.58670514e+02] [ 1.28729303e-02 1.83456215e-04 9.99917124e-01 -2.79305397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1031.1965599950001 meters 0.014600752126639341 Centerline is valid? [True, True] Translation: X:-274.82, Y:-258.65, Z:-2.79 [[-6.62045870e-01 -7.49405538e-01 9.30620232e-03 -2.74821927e+02] [ 7.49336050e-01 -6.62111239e-01 -1.02073958e-02 -2.58650226e+02] [ 1.38112201e-02 2.15708632e-04 9.99904597e-01 -2.79357149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1031.2265599950001 meters 0.014643843741149734 Centerline is valid? [True, True] Translation: X:-274.84, Y:-258.63, Z:-2.79 [[-6.62010819e-01 -7.49437711e-01 9.20825783e-03 -2.74840820e+02] [ 7.49369759e-01 -6.62074822e-01 -1.00942970e-02 -2.58630096e+02] [ 1.36616025e-02 2.17856152e-04 9.99906652e-01 -2.79381593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1031.256559995 meters 0.014968931325853427 Centerline is valid? [True, True] Translation: X:-274.86, Y:-258.61, Z:-2.79 [[-6.62192536e-01 -7.49276464e-01 9.26420341e-03 -2.74858711e+02] [ 7.49207760e-01 -6.62257300e-01 -1.01489073e-02 -2.58611468e+02] [ 1.37396237e-02 2.20282445e-04 9.99905583e-01 -2.79416598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1031.286559995 meters 0.014690958978559442 Centerline is valid? [True, True] Translation: X:-274.88, Y:-258.59, Z:-2.79 [[-6.62356803e-01 -7.49134105e-01 9.03095724e-03 -2.74876056e+02] [ 7.49068888e-01 -6.62418331e-01 -9.88716452e-03 -2.58590639e+02] [ 1.33890838e-02 2.15978414e-04 9.99910339e-01 -2.79353699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1031.316559995 meters 0.015076537798946008 Centerline is valid? [True, True] Translation: X:-274.89, Y:-258.57, Z:-2.79 [[-6.62450709e-01 -7.49045835e-01 9.45497207e-03 -2.74894191e+02] [ 7.48974435e-01 -6.62518140e-01 -1.03445674e-02 -2.58571748e+02] [ 1.40126456e-02 2.28766388e-04 9.99901792e-01 -2.79454859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1031.346559995 meters 0.015044310454521372 Centerline is valid? [True, True] Translation: X:-274.91, Y:-258.55, Z:-2.79 [[-6.62416435e-01 -7.49075618e-01 9.49658130e-03 -2.74912374e+02] [ 7.49003683e-01 -6.62484463e-01 -1.03836503e-02 -2.58551437e+02] [ 1.40694768e-02 2.34673745e-04 9.99900993e-01 -2.79462438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1031.376559995 meters 0.015449188897568484 Centerline is valid? [True, True] Translation: X:-274.93, Y:-258.53, Z:-2.80 [[-6.61698832e-01 -7.49703585e-01 9.95938877e-03 -2.74931230e+02] [ 7.49624626e-01 -6.61773726e-01 -1.08837101e-02 -2.58530148e+02] [ 1.47504183e-02 2.64064796e-04 9.99891172e-01 -2.79535004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1031.406559995 meters 0.014782277527725436 Centerline is valid? [True, True] Translation: X:-274.95, Y:-258.51, Z:-2.79 [[-6.61429566e-01 -7.49938881e-01 1.01293984e-02 -2.74948401e+02] [ 7.49857327e-01 -6.61507065e-01 -1.10630823e-02 -2.58507946e+02] [ 1.49973042e-02 2.78153864e-04 9.99887496e-01 -2.79386499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1031.4365599950002 meters 0.015973603112738505 Centerline is valid? [True, True] Translation: X:-274.97, Y:-258.49, Z:-2.80 [[-6.61013154e-01 -7.50302679e-01 1.03682591e-02 -2.74968052e+02] [ 7.50217367e-01 -6.61094397e-01 -1.13181506e-02 -2.58489354e+02] [ 1.53464367e-02 2.97001570e-04 9.99882193e-01 -2.79599000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1031.4665599950001 meters 0.016866442599568602 Centerline is valid? [True, True] Translation: X:-274.99, Y:-258.47, Z:-2.80 [[-6.60113694e-01 -7.51081364e-01 1.12559374e-02 -2.74986127e+02] [ 7.50981012e-01 -6.60209562e-01 -1.22822918e-02 -2.58469355e+02] [ 1.66562780e-02 3.45286216e-04 9.99861215e-01 -2.79757611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1031.496559995 meters 0.015937161759221 Centerline is valid? [True, True] Translation: X:-275.00, Y:-258.45, Z:-2.80 [[-6.59909233e-01 -7.51259718e-01 1.13419905e-02 -2.75002572e+02] [ 7.51157982e-01 -6.60006597e-01 -1.23683896e-02 -2.58446990e+02] [ 1.67776614e-02 3.57612169e-04 9.99859181e-01 -2.79581919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1031.526559995 meters 0.01572226399185064 Centerline is valid? [True, True] Translation: X:-275.02, Y:-258.42, Z:-2.79 [[-6.59258704e-01 -7.51836193e-01 1.09681246e-02 -2.75019172e+02] [ 7.51741245e-01 -6.59349836e-01 -1.19538186e-02 -2.58424515e+02] [ 1.62191446e-02 3.64532713e-04 9.99868395e-01 -2.79437273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1031.556559995 meters 0.01570225627091144 Centerline is valid? [True, True] Translation: X:-275.04, Y:-258.40, Z:-2.79 [[-6.59158593e-01 -7.51927169e-01 1.07462448e-02 -2.75037272e+02] [ 7.51836144e-01 -6.59246084e-01 -1.17052400e-02 -2.58403149e+02] [ 1.58859077e-02 3.63805724e-04 9.99873745e-01 -2.79376544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1031.586559995 meters 0.01570225627091144 Centerline is valid? [True, True] Translation: X:-275.06, Y:-258.38, Z:-2.79 [[-6.59374409e-01 -7.51737877e-01 1.07496048e-02 -2.75055978e+02] [ 7.51646877e-01 -6.59461927e-01 -1.17021544e-02 -2.58382871e+02] [ 1.58859077e-02 3.63805718e-04 9.99873745e-01 -2.79376578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1031.616559995 meters 0.016326310371562288 Centerline is valid? [True, True] Translation: X:-275.07, Y:-258.36, Z:-2.79 [[-6.59173575e-01 -7.51922573e-01 1.01312680e-02 -2.75073944e+02] [ 7.51841863e-01 -6.59251334e-01 -1.10223275e-02 -2.58362533e+02] [ 1.49669888e-02 3.51484379e-04 9.99887927e-01 -2.79388037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1031.646559995 meters 0.01624868006070219 Centerline is valid? [True, True] Translation: X:-275.09, Y:-258.34, Z:-2.79 [[-6.59593272e-01 -7.51562048e-01 9.55001432e-03 -2.75092241e+02] [ 7.51490379e-01 -6.59662323e-01 -1.03841131e-02 -2.58341018e+02] [ 1.41040899e-02 3.27452757e-04 9.99900479e-01 -2.79384798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1031.6765599950002 meters 0.015529335473232453 Centerline is valid? [True, True] Translation: X:-275.11, Y:-258.32, Z:-2.79 [[-6.60280484e-01 -7.50963091e-01 9.17166588e-03 -2.75109322e+02] [ 7.50897008e-01 -6.60344110e-01 -9.96697502e-03 -2.58318514e+02] [ 1.35412859e-02 3.05977375e-04 9.99908266e-01 -2.79289360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1031.7065599950001 meters 0.015947689027776532 Centerline is valid? [True, True] Translation: X:-275.13, Y:-258.30, Z:-2.79 [[-6.61922026e-01 -7.49519011e-01 8.97125179e-03 -2.75125539e+02] [ 7.49455725e-01 -6.61982762e-01 -9.74366278e-03 -2.58297188e+02] [ 1.32418745e-02 2.74011002e-04 9.99912285e-01 -2.79424676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1031.736559995 meters 0.015258945861755819 Centerline is valid? [True, True] Translation: X:-275.14, Y:-258.27, Z:-2.79 [[-6.62840637e-01 -7.48704375e-01 9.16786639e-03 -2.75142287e+02] [ 7.48638283e-01 -6.62903981e-01 -9.95156709e-03 -2.58274375e+02] [ 1.35281969e-02 2.67112685e-04 9.99908454e-01 -2.79378837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1031.766559995 meters 0.015009820645603416 Centerline is valid? [True, True] Translation: X:-275.16, Y:-258.25, Z:-2.79 [[-6.64116947e-01 -7.47570660e-01 9.31608790e-03 -2.75158534e+02] [ 7.47502380e-01 -6.64182238e-01 -1.01067622e-02 -2.58250659e+02] [ 1.37430990e-02 2.51725817e-04 9.99905528e-01 -2.79340987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1031.796559995 meters 0.015229668163652265 Centerline is valid? [True, True] Translation: X:-275.18, Y:-258.23, Z:-2.79 [[-6.64356149e-01 -7.47348473e-01 1.00582307e-02 -2.75175955e+02] [ 7.47268962e-01 -6.64432229e-01 -1.09046380e-02 -2.58230279e+02] [ 1.48325772e-02 2.71640374e-04 9.99889955e-01 -2.79409454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1031.826559995 meters 0.015285472139036665 Centerline is valid? [True, True] Translation: X:-275.19, Y:-258.21, Z:-2.80 [[-6.64328718e-01 -7.47361172e-01 1.08918743e-02 -2.75194330e+02] [ 7.47268042e-01 -6.64417933e-01 -1.18018352e-02 -2.58209473e+02] [ 1.60569900e-02 2.98851566e-04 9.99871034e-01 -2.79510082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1031.856559995 meters 0.015732959786701507 Centerline is valid? [True, True] Translation: X:-275.21, Y:-258.19, Z:-2.80 [[-6.63521554e-01 -7.48063716e-01 1.18247377e-02 -2.75212635e+02] [ 7.47954186e-01 -6.63626820e-01 -1.28054953e-02 -2.58188037e+02] [ 1.74265394e-02 3.47639918e-04 9.99848086e-01 -2.79589376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1031.886559995 meters 0.015601535015126126 Centerline is valid? [True, True] Translation: X:-275.23, Y:-258.17, Z:-2.80 [[-6.63470864e-01 -7.48111558e-01 1.16408324e-02 -2.75230694e+02] [ 7.48005538e-01 -6.63572886e-01 -1.25992428e-02 -2.58166768e+02] [ 1.71501799e-02 3.48176574e-04 9.99852864e-01 -2.79540361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1031.916559995 meters 0.015726118129521596 Centerline is valid? [True, True] Translation: X:-275.25, Y:-258.15, Z:-2.80 [[-6.63871346e-01 -7.47758664e-01 1.14811358e-02 -2.75248058e+02] [ 7.47655619e-01 -6.63970530e-01 -1.24181602e-02 -2.58147344e+02] [ 1.69089227e-02 3.39874987e-04 9.99856976e-01 -2.79524239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1031.9465599950001 meters 0.015325502400708348 Centerline is valid? [True, True] Translation: X:-275.27, Y:-258.12, Z:-2.79 [[-6.64874991e-01 -7.46876556e-01 1.08007774e-02 -2.75265138e+02] [ 7.46785350e-01 -6.64962644e-01 -1.16757603e-02 -2.58124807e+02] [ 1.59024651e-02 3.02941312e-04 9.99873502e-01 -2.79420184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1031.9765599950001 meters 0.015166271353350776 Centerline is valid? [True, True] Translation: X:-275.28, Y:-258.10, Z:-2.79 [[-6.66158097e-01 -7.45735606e-01 1.05733589e-02 -2.75281697e+02] [ 7.45648174e-01 -6.66241946e-01 -1.14224056e-02 -2.58104843e+02] [ 1.55625098e-02 2.74877805e-04 9.99878859e-01 -2.79419332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1032.006559995 meters 0.01426693348434461 Centerline is valid? [True, True] Translation: X:-275.30, Y:-258.08, Z:-2.79 [[-6.68771859e-01 -7.43397760e-01 1.01966460e-02 -2.75298000e+02] [ 7.43316231e-01 -6.68849553e-01 -1.10116132e-02 -2.58081161e+02] [ 1.50060307e-02 2.15075452e-04 9.99887380e-01 -2.79361312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1032.036559995 meters 0.014167768093691148 Centerline is valid? [True, True] Translation: X:-275.31, Y:-258.06, Z:-2.79 [[-6.70431661e-01 -7.41902462e-01 1.01057364e-02 -2.75314613e+02] [ 7.41822289e-01 -6.70507796e-01 -1.09081478e-02 -2.58061069e+02] [ 1.48687567e-02 1.83492875e-04 9.99889437e-01 -2.79449998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1032.066559995 meters 0.013623157542035146 Centerline is valid? [True, True] Translation: X:-275.33, Y:-258.04, Z:-2.79 [[-6.72259910e-01 -7.40246788e-01 1.00650656e-02 -2.75330783e+02] [ 7.40167174e-01 -6.72335236e-01 -1.08574632e-02 -2.58039481e+02] [ 1.48043005e-02 1.50793878e-04 9.99890399e-01 -2.79391134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1032.096559995 meters 0.013235524631028964 Centerline is valid? [True, True] Translation: X:-275.35, Y:-258.02, Z:-2.79 [[-6.74847764e-01 -7.37888034e-01 1.00868628e-02 -2.75346542e+02] [ 7.37807906e-01 -6.74923135e-01 -1.08745543e-02 -2.58016242e+02] [ 1.48320606e-02 1.03498510e-04 9.99889994e-01 -2.79327278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1032.126559995 meters 0.013352356675271463 Centerline is valid? [True, True] Translation: X:-275.36, Y:-258.00, Z:-2.79 [[-6.75885143e-01 -7.36943136e-01 9.69991769e-03 -2.75363625e+02] [ 7.36869038e-01 -6.75954738e-01 -1.04505508e-02 -2.57995913e+02] [ 1.42581670e-02 8.41969911e-05 9.99898344e-01 -2.79366926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1032.156559995 meters 0.013185973362036502 Centerline is valid? [True, True] Translation: X:-275.38, Y:-257.98, Z:-2.79 [[-6.76561182e-01 -7.36327177e-01 9.34107730e-03 -2.75380956e+02] [ 7.36258485e-01 -6.76625660e-01 -1.00578396e-02 -2.57975154e+02] [ 1.37262732e-02 7.27035794e-05 9.99905788e-01 -2.79255636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1032.1865599950002 meters 0.013082891920671535 Centerline is valid? [True, True] Translation: X:-275.40, Y:-257.96, Z:-2.79 [[-6.76811155e-01 -7.36105467e-01 8.68346113e-03 -2.75399221e+02] [ 7.36046161e-01 -6.76866854e-01 -9.34409544e-03 -2.57955212e+02] [ 1.27557868e-02 6.72401974e-05 9.99918640e-01 -2.79200641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1032.2165599950001 meters 0.01288084320469925 Centerline is valid? [True, True] Translation: X:-275.42, Y:-257.93, Z:-2.79 [[-6.76451289e-01 -7.36440944e-01 8.26975308e-03 -2.75417517e+02] [ 7.36387248e-01 -6.76501833e-01 -8.89329351e-03 -2.57934943e+02] [ 1.21438886e-02 7.38608549e-05 9.99926258e-01 -2.79081917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1032.246559995 meters 0.013042903921935906 Centerline is valid? [True, True] Translation: X:-275.44, Y:-257.92, Z:-2.79 [[-6.76221043e-01 -7.36651580e-01 8.33966283e-03 -2.75435526e+02] [ 7.36597061e-01 -6.76272462e-01 -8.96254803e-03 -2.57915751e+02] [ 1.22421595e-02 8.23075512e-05 9.99925059e-01 -2.79094904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1032.276559995 meters 0.013251945844375588 Centerline is valid? [True, True] Translation: X:-275.45, Y:-257.90, Z:-2.79 [[-6.75969597e-01 -7.36883991e-01 8.19075267e-03 -2.75454406e+02] [ 7.36831487e-01 -6.76019213e-01 -8.79677712e-03 -2.57896891e+02] [ 1.20193104e-02 8.88505881e-05 9.99927762e-01 -2.79179044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1032.306559995 meters 0.013296806244635738 Centerline is valid? [True, True] Translation: X:-275.47, Y:-257.88, Z:-2.79 [[-6.74899850e-01 -7.37868511e-01 7.76232057e-03 -2.75473830e+02] [ 7.37821480e-01 -6.74944479e-01 -8.33153860e-03 -2.57877881e+02] [ 1.13867154e-02 1.04252700e-04 9.99935164e-01 -2.79076098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1032.336559995 meters 0.01331553066403884 Centerline is valid? [True, True] Translation: X:-275.49, Y:-257.86, Z:-2.79 [[-6.73816563e-01 -7.38862961e-01 7.26392762e-03 -2.75493949e+02] [ 7.38821880e-01 -6.73855705e-01 -7.79220794e-03 -2.57858411e+02] [ 1.06522129e-02 1.16229891e-04 9.99943257e-01 -2.78999144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1032.366559995 meters 0.01331553066403884 Centerline is valid? [True, True] Translation: X:-275.51, Y:-257.84, Z:-2.79 [[-6.74024040e-01 -7.38673675e-01 7.26611583e-03 -2.75512814e+02] [ 7.38632605e-01 -6.74063194e-01 -7.79016751e-03 -2.57838279e+02] [ 1.06522129e-02 1.16229890e-04 9.99943257e-01 -2.78999178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1032.396559995 meters 0.013460113846440594 Centerline is valid? [True, True] Translation: X:-275.53, Y:-257.82, Z:-2.79 [[-6.73544333e-01 -7.39111212e-01 7.25590311e-03 -2.75532178e+02] [ 7.39070335e-01 -6.73583403e-01 -7.77431772e-03 -2.57819116e+02] [ 1.06335413e-02 1.26275102e-04 9.99943455e-01 -2.78982756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1032.4265599950002 meters 0.014203668995583927 Centerline is valid? [True, True] Translation: X:-275.55, Y:-257.80, Z:-2.79 [[-6.72883754e-01 -7.39714747e-01 7.03900599e-03 -2.75552033e+02] [ 7.39676348e-01 -6.72920557e-01 -7.53825298e-03 -2.57802199e+02] [ 1.03128487e-02 1.34218281e-04 9.99946812e-01 -2.79130529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1032.4565599950001 meters 0.01393227871369838 Centerline is valid? [True, True] Translation: X:-275.57, Y:-257.78, Z:-2.79 [[-6.71832421e-01 -7.40668721e-01 7.14455183e-03 -2.75571039e+02] [ 7.40629260e-01 -6.71870391e-01 -7.64699580e-03 -2.57781288e+02] [ 1.04641034e-02 1.53964438e-04 9.99945238e-01 -2.79013395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1032.486559995 meters 0.014202900522281497 Centerline is valid? [True, True] Translation: X:-275.59, Y:-257.76, Z:-2.79 [[-6.71118909e-01 -7.41308997e-01 7.77053274e-03 -2.75591141e+02] [ 7.41262415e-01 -6.71163868e-01 -8.31230461e-03 -2.57761803e+02] [ 1.13772870e-02 1.81459062e-04 9.99935260e-01 -2.79105998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1032.516559995 meters 0.014348160423282866 Centerline is valid? [True, True] Translation: X:-275.61, Y:-257.74, Z:-2.79 [[-6.70554033e-01 -7.41809077e-01 8.75118916e-03 -2.75611038e+02] [ 7.41750109e-01 -6.70611099e-01 -9.35568302e-03 -2.57742598e+02] [ 1.28087752e-02 2.17704540e-04 9.99917941e-01 -2.79319344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1032.546559995 meters 0.014742469110547315 Centerline is valid? [True, True] Translation: X:-275.63, Y:-257.72, Z:-2.80 [[-6.69712527e-01 -7.42542674e-01 1.07474947e-02 -2.75630508e+02] [ 7.42453936e-01 -6.69798696e-01 -1.14829916e-02 -2.57724193e+02] [ 1.57252693e-02 2.89216406e-04 9.99876309e-01 -2.79602018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1032.576559995 meters 0.014561225119862953 Centerline is valid? [True, True] Translation: X:-275.65, Y:-257.70, Z:-2.80 [[-6.69944582e-01 -7.42318248e-01 1.17420649e-02 -2.75648388e+02] [ 7.42212414e-01 -6.70047401e-01 -1.25384378e-02 -2.57701994e+02] [ 1.71752513e-02 3.15047835e-04 9.99852445e-01 -2.79536851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1032.606559995 meters 0.01487977600508999 Centerline is valid? [True, True] Translation: X:-275.67, Y:-257.68, Z:-2.80 [[-6.70442666e-01 -7.41870576e-01 1.16052357e-02 -2.75667071e+02] [ 7.41767253e-01 -6.70543031e-01 -1.23849058e-02 -2.57682381e+02] [ 1.69698071e-02 3.05014571e-04 9.99855956e-01 -2.79587436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1032.636559995 meters 0.01487977600508999 Centerline is valid? [True, True] Translation: X:-275.69, Y:-257.66, Z:-2.80 [[-6.70675815e-01 -7.41659747e-01 1.16091286e-02 -2.75685453e+02] [ 7.41556456e-01 -6.70776212e-01 -1.23812568e-02 -2.57662919e+02] [ 1.69698071e-02 3.05014763e-04 9.99855956e-01 -2.79587469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1032.666559995 meters 0.01487977600508999 Centerline is valid? [True, True] Translation: X:-275.70, Y:-257.64, Z:-2.80 [[-6.70908897e-01 -7.41448845e-01 1.16130202e-02 -2.75703842e+02] [ 7.41345586e-01 -6.71009327e-01 -1.23776068e-02 -2.57643463e+02] [ 1.69698071e-02 3.05014763e-04 9.99855956e-01 -2.79587503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1032.6965599950001 meters 0.01487977600508999 Centerline is valid? [True, True] Translation: X:-275.72, Y:-257.62, Z:-2.80 [[-6.71141914e-01 -7.41237870e-01 1.16169107e-02 -2.75722236e+02] [ 7.41134642e-01 -6.71242376e-01 -1.23739555e-02 -2.57624013e+02] [ 1.69698071e-02 3.05014763e-04 9.99855956e-01 -2.79587536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1032.7265599950001 meters 0.014558341499024163 Centerline is valid? [True, True] Translation: X:-275.74, Y:-257.60, Z:-2.80 [[-6.71756930e-01 -7.40683939e-01 1.13987079e-02 -2.75740653e+02] [ 7.40584588e-01 -6.71853570e-01 -1.21346167e-02 -2.57603165e+02] [ 1.66461783e-02 2.90194507e-04 9.99861401e-01 -2.79525551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1032.756559995 meters 0.014340631955052394 Centerline is valid? [True, True] Translation: X:-275.76, Y:-257.58, Z:-2.79 [[-6.72534173e-01 -7.39981060e-01 1.12168137e-02 -2.75759292e+02] [ 7.39884869e-01 -6.72627650e-01 -1.19341955e-02 -2.57582575e+02] [ 1.63758176e-02 2.72996446e-04 9.99865870e-01 -2.79489829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1032.786559995 meters 0.014349343500862725 Centerline is valid? [True, True] Translation: X:-275.78, Y:-257.56, Z:-2.79 [[-6.73594858e-01 -7.39020504e-01 1.08932070e-02 -2.75777425e+02] [ 7.38929734e-01 -6.73682888e-01 -1.15850826e-02 -2.57562478e+02] [ 1.59001807e-02 2.45662541e-04 9.99873554e-01 -2.79499093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1032.816559995 meters 0.014032179315325561 Centerline is valid? [True, True] Translation: X:-275.80, Y:-257.54, Z:-2.79 [[-6.75155797e-01 -7.37599601e-01 1.05583493e-02 -2.75796071e+02] [ 7.37514248e-01 -6.75238317e-01 -1.12227302e-02 -2.57540969e+02] [ 1.54072833e-02 2.09841698e-04 9.99881279e-01 -2.79451971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1032.846559995 meters 0.013682142718892691 Centerline is valid? [True, True] Translation: X:-275.81, Y:-257.52, Z:-2.79 [[-6.76982039e-01 -7.35925461e-01 1.04420030e-02 -2.75813817e+02] [ 7.35841879e-01 -6.77062542e-01 -1.10925074e-02 -2.57519616e+02] [ 1.52331477e-02 1.74234851e-04 9.99883954e-01 -2.79408425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1032.876559995 meters 0.0134996997578254 Centerline is valid? [True, True] Translation: X:-275.83, Y:-257.50, Z:-2.79 [[-6.79020989e-01 -7.34045089e-01 1.04069423e-02 -2.75831005e+02] [ 7.33961950e-01 -6.79100721e-01 -1.10484036e-02 -2.57499047e+02] [ 1.51773884e-02 1.36201723e-04 9.99884808e-01 -2.79473250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1032.906559995 meters 0.01308564983679083 Centerline is valid? [True, True] Translation: X:-275.85, Y:-257.48, Z:-2.79 [[-6.82553403e-01 -7.30760630e-01 1.04763489e-02 -2.75846870e+02] [ 7.30676099e-01 -6.82633794e-01 -1.11149512e-02 -2.57477507e+02] [ 1.52738786e-02 6.82699925e-05 9.99883345e-01 -2.79483579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1032.9365599950002 meters 0.012907217383057836 Centerline is valid? [True, True] Translation: X:-275.87, Y:-257.46, Z:-2.79 [[-6.83715714e-01 -7.29676684e-01 1.02352158e-02 -2.75865409e+02] [ 7.29595979e-01 -6.83792318e-01 -1.08523635e-02 -2.57457025e+02] [ 1.49174786e-02 4.76407952e-05 9.99888727e-01 -2.79367252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1032.9665599950001 meters 0.012745682946428026 Centerline is valid? [True, True] Translation: X:-275.88, Y:-257.44, Z:-2.79 [[-6.85676753e-01 -7.27843654e-01 9.53976658e-03 -2.75883935e+02] [ 7.27773444e-01 -6.85743112e-01 -1.01093041e-02 -2.57436362e+02] [ 1.38998220e-02 1.10739875e-05 9.99903393e-01 -2.79221402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1032.996559995 meters 0.012728624494195958 Centerline is valid? [True, True] Translation: X:-275.90, Y:-257.42, Z:-2.79 [[-6.86772339e-01 -7.26812562e-01 9.34105715e-03 -2.75902673e+02] [ 7.26745227e-01 -6.86835861e-01 -9.89316944e-03 -2.57415277e+02] [ 1.36062529e-02 -5.78641042e-06 9.99907431e-01 -2.79176404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1033.026559995 meters 0.012762507497274957 Centerline is valid? [True, True] Translation: X:-275.92, Y:-257.39, Z:-2.79 [[-6.87887219e-01 -7.25757469e-01 9.34190212e-03 -2.75921523e+02] [ 7.25690101e-01 -6.87950649e-01 -9.88847054e-03 -2.57394325e+02] [ 1.36033990e-02 -2.28266035e-05 9.99907469e-01 -2.79121916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1033.056559995 meters 0.012914382922861869 Centerline is valid? [True, True] Translation: X:-275.94, Y:-257.37, Z:-2.79 [[-6.90118744e-01 -7.23637661e-01 9.20084160e-03 -2.75939473e+02] [ 7.23572201e-01 -6.90180072e-01 -9.73335209e-03 -2.57374287e+02] [ 1.33936577e-02 -5.96955084e-05 9.99910299e-01 -2.79132381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1033.086559995 meters 0.012967359582945584 Centerline is valid? [True, True] Translation: X:-275.96, Y:-257.35, Z:-2.79 [[-6.90791409e-01 -7.22996029e-01 9.16362499e-03 -2.75958708e+02] [ 7.22931113e-01 -6.90852183e-01 -9.68853819e-03 -2.57354469e+02] [ 1.33354850e-02 -6.80893338e-05 9.99911076e-01 -2.79093115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1033.116559995 meters 0.013034618524418992 Centerline is valid? [True, True] Translation: X:-275.98, Y:-257.34, Z:-2.79 [[-6.91538565e-01 -7.22280826e-01 9.20988846e-03 -2.75978070e+02] [ 7.22215277e-01 -6.91599886e-01 -9.73099956e-03 -2.57337086e+02] [ 1.33980722e-02 -7.78393278e-05 9.99910239e-01 -2.79185898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1033.146559995 meters 0.012946119476686349 Centerline is valid? [True, True] Translation: X:-276.00, Y:-257.32, Z:-2.79 [[-6.91534076e-01 -7.22281594e-01 9.48268770e-03 -2.75998986e+02] [ 7.22212181e-01 -6.91599084e-01 -1.00135763e-02 -2.57317887e+02] [ 1.37908400e-02 -7.62166956e-05 9.99904899e-01 -2.79174585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1033.1765599950002 meters 0.012840334127134352 Centerline is valid? [True, True] Translation: X:-276.02, Y:-257.30, Z:-2.79 [[-6.91282236e-01 -7.22518261e-01 9.80980931e-03 -2.76019978e+02] [ 7.22444085e-01 -6.91351833e-01 -1.03531405e-02 -2.57299715e+02] [ 1.42623627e-02 -6.99034232e-05 9.99898285e-01 -2.79224772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1033.2065599950001 meters 0.013000772349771018 Centerline is valid? [True, True] Translation: X:-276.04, Y:-257.28, Z:-2.79 [[-6.91200557e-01 -7.22593416e-01 1.00271795e-02 -2.76039181e+02] [ 7.22516016e-01 -6.91273282e-01 -1.05762321e-02 -2.57280125e+02] [ 1.45738369e-02 -6.54997521e-05 9.99893794e-01 -2.79303877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1033.236559995 meters 0.012971511883197364 Centerline is valid? [True, True] Translation: X:-276.06, Y:-257.26, Z:-2.79 [[-6.91143927e-01 -7.22642917e-01 1.03579074e-02 -2.76059080e+02] [ 7.22560433e-01 -6.91221535e-01 -1.09183244e-02 -2.57261313e+02] [ 1.50496584e-02 -6.19195838e-05 9.99886746e-01 -2.79252515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1033.266559995 meters 0.012763900323032734 Centerline is valid? [True, True] Translation: X:-276.08, Y:-257.24, Z:-2.79 [[-6.91217206e-01 -7.22573817e-01 1.02885486e-02 -2.76078652e+02] [ 7.22492528e-01 -6.91293770e-01 -1.08383924e-02 -2.57242801e+02] [ 1.49439481e-02 -5.82838182e-05 9.99888331e-01 -2.79180546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1033.296559995 meters 0.012648759745483138 Centerline is valid? [True, True] Translation: X:-276.10, Y:-257.22, Z:-2.79 [[-6.91067442e-01 -7.22728422e-01 9.45618801e-03 -2.76100383e+02] [ 7.22659846e-01 -6.91132134e-01 -9.95592805e-03 -2.57224232e+02] [ 1.37309076e-02 -4.66103608e-05 9.99905726e-01 -2.79105362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1033.326559995 meters 0.01265821824884103 Centerline is valid? [True, True] Translation: X:-276.12, Y:-257.21, Z:-2.79 [[-6.90947997e-01 -7.22845513e-01 9.23196174e-03 -2.76119572e+02] [ 7.22780216e-01 -6.91009669e-01 -9.71585178e-03 -2.57205711e+02] [ 1.34024347e-02 -4.04690305e-05 9.99910183e-01 -2.79127310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1033.356559995 meters 0.01292880234409917 Centerline is valid? [True, True] Translation: X:-276.14, Y:-257.19, Z:-2.79 [[-6.90923492e-01 -7.22874028e-01 8.82424163e-03 -2.76138002e+02] [ 7.22814450e-01 -6.90979839e-01 -9.28074990e-03 -2.57187567e+02] [ 1.28061861e-02 -3.39987736e-05 9.99917997e-01 -2.79264994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1033.386559995 meters 0.012519453104277236 Centerline is valid? [True, True] Translation: X:-276.16, Y:-257.17, Z:-2.79 [[-6.90692333e-01 -7.23098934e-01 8.48718619e-03 -2.76158098e+02] [ 7.23043900e-01 -6.90744476e-01 -8.92125134e-03 -2.57168402e+02] [ 1.23134243e-02 -2.52317079e-05 9.99924187e-01 -2.78955808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1033.416559995 meters 0.012429382908043731 Centerline is valid? [True, True] Translation: X:-276.18, Y:-257.15, Z:-2.79 [[-6.90420837e-01 -7.23361300e-01 8.21562442e-03 -2.76177448e+02] [ 7.23309818e-01 -6.90469716e-01 -8.63009691e-03 -2.57150027e+02] [ 1.19153180e-02 -1.59569326e-05 9.99929010e-01 -2.78931099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1033.4465599950001 meters 0.012296734555436901 Centerline is valid? [True, True] Translation: X:-276.20, Y:-257.13, Z:-2.79 [[-6.89035773e-01 -7.24687234e-01 7.62335032e-03 -2.76198881e+02] [ 7.24643038e-01 -6.89077944e-01 -8.00343406e-03 -2.57132199e+02] [ 1.10530691e-02 9.55536109e-06 9.99938913e-01 -2.78790435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1033.4765599950001 meters 0.012362503021885705 Centerline is valid? [True, True] Translation: X:-276.22, Y:-257.12, Z:-2.79 [[-6.86981444e-01 -7.26642709e-01 6.84606231e-03 -2.76220546e+02] [ 7.26607205e-01 -6.87015554e-01 -7.18311877e-03 -2.57115450e+02] [ 9.92291218e-03 3.97288974e-05 9.99950766e-01 -2.78764102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1033.506559995 meters 0.012362503021885705 Centerline is valid? [True, True] Translation: X:-276.24, Y:-257.10, Z:-2.79 [[-6.87184451e-01 -7.26450710e-01 6.84806905e-03 -2.76239628e+02] [ 7.26415216e-01 -6.87218571e-01 -7.18120567e-03 -2.57095533e+02] [ 9.92291218e-03 3.97286787e-05 9.99950766e-01 -2.78764136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1033.536559995 meters 0.012382334157925085 Centerline is valid? [True, True] Translation: X:-276.26, Y:-257.08, Z:-2.79 [[-6.86064550e-01 -7.27510277e-01 6.65057431e-03 -2.76260423e+02] [ 7.27476889e-01 -6.86096782e-01 -6.97012920e-03 -2.57076373e+02] [ 9.63377825e-03 5.61805549e-05 9.99953593e-01 -2.78685141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1033.566559995 meters 0.012600075632195909 Centerline is valid? [True, True] Translation: X:-276.28, Y:-257.06, Z:-2.79 [[-6.84953373e-01 -7.28558783e-01 6.40131656e-03 -2.76280683e+02] [ 7.28527933e-01 -6.84983281e-01 -6.70486013e-03 -2.57058543e+02] [ 9.26967956e-03 7.10213585e-05 9.99957033e-01 -2.78674796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1033.596559995 meters 0.013004075347930613 Centerline is valid? [True, True] Translation: X:-276.30, Y:-257.04, Z:-2.79 [[-6.82715424e-01 -7.30656758e-01 6.35235423e-03 -2.76303297e+02] [ 7.30626502e-01 -6.82744969e-01 -6.64999435e-03 -2.57040648e+02] [ 9.19590120e-03 1.01144642e-04 9.99957712e-01 -2.78661082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1033.626559995 meters 0.013231761160299447 Centerline is valid? [True, True] Translation: X:-276.32, Y:-257.02, Z:-2.79 [[-6.81625640e-01 -7.31671742e-01 6.55352393e-03 -2.76323706e+02] [ 7.31639625e-01 -6.81657134e-01 -6.85646213e-03 -2.57022623e+02] [ 9.48393592e-03 1.21277402e-04 9.99955019e-01 -2.78716317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1033.656559995 meters 0.013695236871331447 Centerline is valid? [True, True] Translation: X:-276.34, Y:-257.00, Z:-2.79 [[-6.80746345e-01 -7.32487643e-01 6.80197872e-03 -2.76343868e+02] [ 7.32453127e-01 -6.80780312e-01 -7.11217130e-03 -2.57004979e+02] [ 9.84023078e-03 1.40545970e-04 9.99951574e-01 -2.78791809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1033.6865599950002 meters 0.014079292410609437 Centerline is valid? [True, True] Translation: X:-276.36, Y:-256.99, Z:-2.79 [[-6.79806017e-01 -7.33355857e-01 7.27785020e-03 -2.76364567e+02] [ 7.33316437e-01 -6.79844953e-01 -7.60551372e-03 -2.56985997e+02] [ 1.05253578e-02 1.66693192e-04 9.99944593e-01 -2.78868513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1033.7165599950001 meters 0.014598425990921732 Centerline is valid? [True, True] Translation: X:-276.39, Y:-256.97, Z:-2.79 [[-6.78544839e-01 -7.34505707e-01 8.84690012e-03 -2.76386522e+02] [ 7.34447620e-01 -6.78602472e-01 -9.24008290e-03 -2.56968111e+02] [ 1.27904219e-02 2.27774176e-04 9.99918173e-01 -2.79055810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1033.746559995 meters 0.014663781364307703 Centerline is valid? [True, True] Translation: X:-276.41, Y:-256.95, Z:-2.79 [[-6.78519058e-01 -7.34523288e-01 9.35028244e-03 -2.76406336e+02] [ 7.34458486e-01 -6.78583436e-01 -9.75973839e-03 -2.56948884e+02] [ 1.35137019e-02 2.45225793e-04 9.99908656e-01 -2.79151746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1033.776559995 meters 0.014418905017680802 Centerline is valid? [True, True] Translation: X:-276.42, Y:-256.93, Z:-2.79 [[-6.79720010e-01 -7.33404125e-01 9.95480140e-03 -2.76424975e+02] [ 7.33330646e-01 -6.79792859e-01 -1.03842759e-02 -2.56929663e+02] [ 1.43830737e-02 2.41760803e-04 9.99896529e-01 -2.79170035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1033.806559995 meters 0.014438502001574049 Centerline is valid? [True, True] Translation: X:-276.44, Y:-256.91, Z:-2.79 [[-6.81158142e-01 -7.32069170e-01 9.91548906e-03 -2.76442798e+02] [ 7.31996224e-01 -6.81230272e-01 -1.03365407e-02 -2.56910602e+02] [ 1.43217941e-02 2.17281688e-04 9.99897414e-01 -2.79169093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1033.836559995 meters 0.01314671406872536 Centerline is valid? [True, True] Translation: X:-276.46, Y:-256.89, Z:-2.79 [[-6.85384555e-01 -7.28120514e-01 9.40894852e-03 -2.76459251e+02] [ 7.28054503e-01 -6.85449123e-01 -9.80513304e-03 -2.56886843e+02] [ 1.35886740e-02 1.29940590e-04 9.99907661e-01 -2.79019963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1033.866559995 meters 0.012667165074906471 Centerline is valid? [True, True] Translation: X:-276.48, Y:-256.86, Z:-2.79 [[-6.88347101e-01 -7.25325413e-01 9.01744373e-03 -2.76476778e+02] [ 7.25264606e-01 -6.88406159e-01 -9.39206280e-03 -2.56864435e+02] [ 1.30199656e-02 7.50335796e-05 9.99915234e-01 -2.78975837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1033.896559995 meters 0.012386708165863607 Centerline is valid? [True, True] Translation: X:-276.49, Y:-256.84, Z:-2.79 [[-6.91449918e-01 -7.22374402e-01 8.49908607e-03 -2.76493419e+02] [ 7.22320229e-01 -6.91502149e-01 -8.84669475e-03 -2.56842226e+02] [ 1.22677621e-02 2.20154393e-05 9.99924748e-01 -2.78844769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1033.9265599950002 meters 0.012799249133805797 Centerline is valid? [True, True] Translation: X:-276.51, Y:-256.82, Z:-2.79 [[-6.97519988e-01 -7.16525787e-01 7.52749929e-03 -2.76508103e+02] [ 7.16483001e-01 -6.97560601e-01 -7.83053414e-03 -2.56818259e+02] [ 1.08616666e-02 -6.86287932e-05 9.99941008e-01 -2.78685384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1033.9565599950001 meters 0.013185706225252726 Centerline is valid? [True, True] Translation: X:-276.53, Y:-256.80, Z:-2.79 [[-7.00406741e-01 -7.13705750e-01 7.38244804e-03 -2.76525473e+02] [ 7.13664484e-01 -7.00445638e-01 -7.67544438e-03 -2.56796553e+02] [ 1.06490123e-02 -1.07342015e-04 9.99943292e-01 -2.78652587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1033.986559995 meters 0.01434766580492982 Centerline is valid? [True, True] Translation: X:-276.54, Y:-256.77, Z:-2.79 [[-7.05650567e-01 -7.08526782e-01 6.86122299e-03 -2.76541752e+02] [ 7.08490921e-01 -7.05683902e-01 -7.13063087e-03 -2.56773952e+02] [ 9.89409756e-03 -1.70619525e-04 9.99951038e-01 -2.78552098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1034.016559995 meters 0.01534764146255704 Centerline is valid? [True, True] Translation: X:-276.56, Y:-256.75, Z:-2.79 [[-7.08189331e-01 -7.05988282e-01 6.95828938e-03 -2.76559106e+02] [ 7.05951318e-01 -7.08223484e-01 -7.22727679e-03 -2.56752710e+02] [ 1.00303967e-02 -2.06066755e-04 9.99949673e-01 -2.78534735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1034.046559995 meters 0.015358877141522153 Centerline is valid? [True, True] Translation: X:-276.58, Y:-256.73, Z:-2.78 [[-7.10287778e-01 -7.03877935e-01 6.86479544e-03 -2.76577948e+02] [ 7.03841899e-01 -7.10320913e-01 -7.12615458e-03 -2.56732370e+02] [ 9.89215074e-03 -2.29889842e-04 9.99951045e-01 -2.78468465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1034.076559995 meters 0.017324253447001954 Centerline is valid? [True, True] Translation: X:-276.59, Y:-256.71, Z:-2.79 [[-7.13500324e-01 -7.00611758e-01 7.77509581e-03 -2.76593753e+02] [ 7.00565385e-01 -7.13542619e-01 -8.06673718e-03 -2.56710581e+02] [ 1.11995131e-02 -3.08656604e-04 9.99937236e-01 -2.78519135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1034.106559995 meters 0.01777913706735321 Centerline is valid? [True, True] Translation: X:-276.61, Y:-256.69, Z:-2.79 [[-7.14600453e-01 -6.99480861e-01 8.52750310e-03 -2.76613134e+02] [ 6.99425057e-01 -7.14651244e-01 -8.84251065e-03 -2.56689858e+02] [ 1.22793577e-02 -3.54512774e-04 9.99924543e-01 -2.78505361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1034.136559995 meters 0.018284482227565357 Centerline is valid? [True, True] Translation: X:-276.63, Y:-256.67, Z:-2.79 [[-7.15436905e-01 -6.98622217e-01 8.77682414e-03 -2.76632982e+02] [ 6.98563101e-01 -7.15490640e-01 -9.09607190e-03 -2.56669611e+02] [ 1.26344534e-02 -3.76500044e-04 9.99920111e-01 -2.78574668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1034.166559995 meters 0.018041217498554432 Centerline is valid? [True, True] Translation: X:-276.65, Y:-256.65, Z:-2.79 [[-7.15812993e-01 -6.98231247e-01 9.21329528e-03 -2.76653403e+02] [ 6.98166151e-01 -7.15872172e-01 -9.54249728e-03 -2.56651061e+02] [ 1.32584115e-02 -3.98232637e-04 9.99912024e-01 -2.78575801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1034.1965599950001 meters 0.018172583768918983 Centerline is valid? [True, True] Translation: X:-276.67, Y:-256.63, Z:-2.79 [[-7.15499440e-01 -6.98549158e-01 9.46703058e-03 -2.76673620e+02] [ 6.98480541e-01 -7.15561958e-01 -9.79893548e-03 -2.56633649e+02] [ 1.36192851e-02 -3.98596208e-04 9.99907174e-01 -2.78594212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1034.2265599950001 meters 0.018070985346576175 Centerline is valid? [True, True] Translation: X:-276.69, Y:-256.62, Z:-2.79 [[-7.15250715e-01 -6.98807552e-01 9.18808441e-03 -2.76693861e+02] [ 6.98743017e-01 -7.15309627e-01 -9.50438590e-03 -2.56615341e+02] [ 1.32140619e-02 -3.77908990e-04 9.99912619e-01 -2.78553964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1034.256559995 meters 0.017095875431963854 Centerline is valid? [True, True] Translation: X:-276.72, Y:-256.60, Z:-2.78 [[-7.13372643e-01 -7.00735692e-01 8.30435965e-03 -2.76716122e+02] [ 7.00683161e-01 -7.13420912e-01 -8.58547591e-03 -2.56598035e+02] [ 1.19406532e-02 -3.05918674e-04 9.99928661e-01 -2.78384416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1034.286559995 meters 0.015937029582277138 Centerline is valid? [True, True] Translation: X:-276.74, Y:-256.58, Z:-2.78 [[-7.12237874e-01 -7.01896296e-01 7.66815236e-03 -2.76738231e+02] [ 7.01851622e-01 -7.12279104e-01 -7.92334257e-03 -2.56580191e+02] [ 1.10232295e-02 -2.61399491e-04 9.99939208e-01 -2.78243385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1034.316559995 meters 0.014154244615839723 Centerline is valid? [True, True] Translation: X:-276.76, Y:-256.56, Z:-2.78 [[-7.08462061e-01 -7.05710675e-01 7.34512176e-03 -2.76762917e+02] [ 7.05669934e-01 -7.08500111e-01 -7.58539820e-03 -2.56564893e+02] [ 1.05571161e-02 -1.90735261e-04 9.99944254e-01 -2.78102164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1034.346559995 meters 0.013103747404304816 Centerline is valid? [True, True] Translation: X:-276.79, Y:-256.55, Z:-2.78 [[-7.03414879e-01 -7.10739449e-01 7.54609848e-03 -2.76787881e+02] [ 7.10696783e-01 -7.03455345e-01 -7.78845936e-03 -2.56550912e+02] [ 1.08439086e-02 -1.15530288e-04 9.99941197e-01 -2.78156423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1034.376559995 meters 0.013103747404304816 Centerline is valid? [True, True] Translation: X:-276.81, Y:-256.53, Z:-2.78 [[-7.03614068e-01 -7.10542234e-01 7.54828131e-03 -2.76807121e+02] [ 7.10499580e-01 -7.03654546e-01 -7.78634386e-03 -2.56531152e+02] [ 1.08439086e-02 -1.15530384e-04 9.99941197e-01 -2.78156457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1034.406559995 meters 0.0124158939098907 Centerline is valid? [True, True] Translation: X:-276.83, Y:-256.52, Z:-2.78 [[-6.97682303e-01 -7.16362136e-01 8.04324919e-03 -2.76832104e+02] [ 7.16314127e-01 -6.97728665e-01 -8.29352146e-03 -2.56518282e+02] [ 1.15531703e-02 -2.47501376e-05 9.99933260e-01 -2.78274703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1034.4365599950002 meters 0.012184727457381195 Centerline is valid? [True, True] Translation: X:-276.85, Y:-256.50, Z:-2.78 [[-6.94722677e-01 -7.19232780e-01 8.03801626e-03 -2.76854362e+02] [ 7.19185084e-01 -6.94769176e-01 -8.28298208e-03 -2.56502349e+02] [ 1.15419582e-02 2.64459108e-05 9.99933389e-01 -2.78203839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1034.4665599950001 meters 0.01350918470407172 Centerline is valid? [True, True] Translation: X:-276.88, Y:-256.49, Z:-2.78 [[-6.89282330e-01 -7.24450461e-01 7.83573808e-03 -2.76881091e+02] [ 7.24405523e-01 -6.89326858e-01 -8.06983948e-03 -2.56490383e+02] [ 1.12475836e-02 1.13854180e-04 9.99936738e-01 -2.78339580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1034.496559995 meters 0.013967075347192477 Centerline is valid? [True, True] Translation: X:-276.90, Y:-256.47, Z:-2.78 [[-6.84827378e-01 -7.28666042e-01 7.56712036e-03 -2.76904829e+02] [ 7.28624435e-01 -6.84869161e-01 -7.78883004e-03 -2.56474472e+02] [ 1.08579433e-02 1.79584737e-04 9.99941035e-01 -2.78097598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1034.526559995 meters 0.014505796918183423 Centerline is valid? [True, True] Translation: X:-276.93, Y:-256.46, Z:-2.78 [[-6.83353985e-01 -7.30048140e-01 7.55279078e-03 -2.76926712e+02] [ 7.30006821e-01 -6.83395692e-01 -7.76972491e-03 -2.56456880e+02] [ 1.08338179e-02 2.04116306e-04 9.99941292e-01 -2.78096660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1034.556559995 meters 0.015460860899758809 Centerline is valid? [True, True] Translation: X:-276.95, Y:-256.44, Z:-2.78 [[-6.81454362e-01 -7.31817403e-01 7.95248599e-03 -2.76949502e+02] [ 7.31771770e-01 -6.81500718e-01 -8.17606548e-03 -2.56441607e+02] [ 1.14030119e-02 2.47789267e-04 9.99934953e-01 -2.78172248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1034.586559995 meters 0.015807310772042626 Centerline is valid? [True, True] Translation: X:-276.97, Y:-256.42, Z:-2.78 [[-6.81354990e-01 -7.31908201e-01 8.10945750e-03 -2.76969268e+02] [ 7.31860820e-01 -6.81403198e-01 -8.33199468e-03 -2.56424139e+02] [ 1.16240655e-02 2.57948069e-04 9.99932405e-01 -2.78210989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1034.616559995 meters 0.01566595691498334 Centerline is valid? [True, True] Translation: X:-276.99, Y:-256.41, Z:-2.78 [[-6.81974129e-01 -7.31331434e-01 8.10065441e-03 -2.76989651e+02] [ 7.31284174e-01 -6.82022192e-01 -8.31781190e-03 -2.56405335e+02] [ 1.16079034e-02 2.51347844e-04 9.99932595e-01 -2.78188999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1034.646559995 meters 0.015298837179468392 Centerline is valid? [True, True] Translation: X:-277.01, Y:-256.39, Z:-2.78 [[-6.83465122e-01 -7.29940450e-01 7.89730659e-03 -2.77009068e+02] [ 7.29895477e-01 -6.83510709e-01 -8.10575756e-03 -2.56386625e+02] [ 1.13146139e-02 2.24205783e-04 9.99935963e-01 -2.78189346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1034.6765599950002 meters 0.014321700199980001 Centerline is valid? [True, True] Translation: X:-277.03, Y:-256.37, Z:-2.78 [[-6.84398748e-01 -7.29063334e-01 8.06281863e-03 -2.77027380e+02] [ 7.29016449e-01 -6.84446206e-01 -8.27094586e-03 -2.56365900e+02] [ 1.15486090e-02 2.17302418e-04 9.99933289e-01 -2.78102885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1034.7065599950001 meters 0.015056630813956933 Centerline is valid? [True, True] Translation: X:-277.05, Y:-256.35, Z:-2.78 [[-6.85337159e-01 -7.28178705e-01 8.29169406e-03 -2.77047994e+02] [ 7.28129115e-01 -6.85387284e-01 -8.50072314e-03 -2.56347691e+02] [ 1.18730672e-02 2.11562416e-04 9.99929490e-01 -2.78270740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1034.736559995 meters 0.01477731415870012 Centerline is valid? [True, True] Translation: X:-277.07, Y:-256.33, Z:-2.78 [[-6.86101011e-01 -7.27452108e-01 8.87881155e-03 -2.77067529e+02] [ 7.27395256e-01 -6.86158424e-01 -9.09714468e-03 -2.56328028e+02] [ 1.27100084e-02 2.16845241e-04 9.99919201e-01 -2.78305757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1034.766559995 meters 0.014711174276727563 Centerline is valid? [True, True] Translation: X:-277.09, Y:-256.31, Z:-2.78 [[-6.86946465e-01 -7.26650777e-01 9.12153521e-03 -2.77085802e+02] [ 7.26590780e-01 -6.87006990e-01 -9.33992478e-03 -2.56309848e+02] [ 1.30534220e-02 2.11595077e-04 9.99914778e-01 -2.78382824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1034.796559995 meters 0.013877164363323693 Centerline is valid? [True, True] Translation: X:-277.10, Y:-256.29, Z:-2.78 [[-6.87649907e-01 -7.25976054e-01 9.81706004e-03 -2.77104056e+02] [ 7.25906569e-01 -6.87719944e-01 -1.00464766e-02 -2.56289051e+02] [ 1.40448894e-02 2.17809696e-04 9.99901342e-01 -2.78335958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1034.826559995 meters 0.014070308149002644 Centerline is valid? [True, True] Translation: X:-277.12, Y:-256.27, Z:-2.79 [[-6.88433066e-01 -7.25216321e-01 1.10091842e-02 -2.77122796e+02] [ 7.25128954e-01 -6.88521049e-01 -1.12590323e-02 -2.56270590e+02] [ 1.57452890e-02 2.31988143e-04 9.99876009e-01 -2.78509874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1034.856559995 meters 0.014745454580802004 Centerline is valid? [True, True] Translation: X:-277.14, Y:-256.25, Z:-2.79 [[-6.88807291e-01 -7.24851677e-01 1.16001364e-02 -2.77141631e+02] [ 7.24754754e-01 -6.88904920e-01 -1.18557421e-02 -2.56252913e+02] [ 1.65850456e-02 2.40932430e-04 9.99862430e-01 -2.78695611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1034.886559995 meters 0.01487432744990053 Centerline is valid? [True, True] Translation: X:-277.16, Y:-256.23, Z:-2.79 [[-6.88976875e-01 -7.24685106e-01 1.19315719e-02 -2.77160365e+02] [ 7.24582662e-01 -6.89080137e-01 -1.21873497e-02 -2.56233780e+02] [ 1.70538000e-02 2.48608048e-04 9.99854543e-01 -2.78738072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1034.916559995 meters 0.013626879702008954 Centerline is valid? [True, True] Translation: X:-277.18, Y:-256.21, Z:-2.78 [[-6.89481950e-01 -7.24205280e-01 1.18892248e-02 -2.77177743e+02] [ 7.24103606e-01 -6.89584407e-01 -1.21372430e-02 -2.56211812e+02] [ 1.69884795e-02 2.40620586e-04 9.99855657e-01 -2.78456192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1034.9465599950001 meters 0.013694464403507894 Centerline is valid? [True, True] Translation: X:-277.20, Y:-256.19, Z:-2.78 [[-6.89812849e-01 -7.23889309e-01 1.19374390e-02 -2.77196601e+02] [ 7.23786878e-01 -6.89916090e-01 -1.21796440e-02 -2.56191699e+02] [ 1.70525454e-02 2.38486799e-04 9.99854567e-01 -2.78439877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1034.9765599950001 meters 0.013699299670411353 Centerline is valid? [True, True] Translation: X:-277.21, Y:-256.17, Z:-2.78 [[-6.90620385e-01 -7.23124025e-01 1.16244475e-02 -2.77214406e+02] [ 7.23026917e-01 -6.90718174e-01 -1.18524954e-02 -2.56172913e+02] [ 1.66000414e-02 2.19213552e-04 9.99862186e-01 -2.78432871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1035.006559995 meters 0.013158139866818264 Centerline is valid? [True, True] Translation: X:-277.23, Y:-256.15, Z:-2.78 [[-6.91553665e-01 -7.22241184e-01 1.10091385e-02 -2.77232410e+02] [ 7.22154073e-01 -6.91641262e-01 -1.12186944e-02 -2.56151265e+02] [ 1.57169776e-02 1.91964971e-04 9.99876462e-01 -2.78232068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1035.036559995 meters 0.012934211888331845 Centerline is valid? [True, True] Translation: X:-277.25, Y:-256.13, Z:-2.78 [[-6.94273017e-01 -7.19638700e-01 1.02527772e-02 -2.77249712e+02] [ 7.19562947e-01 -6.94348706e-01 -1.04422593e-02 -2.56129235e+02] [ 1.46336565e-02 1.27739746e-04 9.99892914e-01 -2.78258462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1035.066559995 meters 0.012367671645252402 Centerline is valid? [True, True] Translation: X:-277.27, Y:-256.11, Z:-2.78 [[-6.97484323e-01 -7.16534130e-01 9.71905920e-03 -2.77265602e+02] [ 7.16465833e-01 -6.97552031e-01 -9.89311630e-03 -2.56105806e+02] [ 1.38683050e-02 6.30803306e-05 9.99903829e-01 -2.78083908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1035.096559995 meters 0.012290079784723844 Centerline is valid? [True, True] Translation: X:-277.28, Y:-256.08, Z:-2.78 [[-6.99438226e-01 -7.14624354e-01 9.90969156e-03 -2.77284002e+02] [ 7.14553239e-01 -6.99508422e-01 -1.00814946e-02 -2.56083928e+02] [ 1.41363943e-02 2.96195098e-05 9.99900076e-01 -2.78060540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1035.126559995 meters 0.01233107109782537 Centerline is valid? [True, True] Translation: X:-277.30, Y:-256.06, Z:-2.78 [[-7.01408996e-01 -7.12693491e-01 9.66480145e-03 -2.77301466e+02] [ 7.12625744e-01 -7.01475579e-01 -9.82655492e-03 -2.56062943e+02] [ 1.37829439e-02 -5.04769273e-06 9.99905011e-01 -2.78112929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1035.156559995 meters 0.012601392503370596 Centerline is valid? [True, True] Translation: X:-277.32, Y:-256.04, Z:-2.78 [[-7.05022543e-01 -7.09113585e-01 1.00567472e-02 -2.77317980e+02] [ 7.09039947e-01 -7.05094262e-01 -1.02193640e-02 -2.56039392e+02] [ 1.43376446e-02 -7.42465129e-05 9.99897208e-01 -2.78079696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1035.1865599950002 meters 0.012762362473217806 Centerline is valid? [True, True] Translation: X:-277.34, Y:-256.02, Z:-2.78 [[-7.06890347e-01 -7.07249670e-01 1.01952451e-02 -2.77335920e+02] [ 7.07173879e-01 -7.06963856e-01 -1.03543496e-02 -2.56017597e+02] [ 1.45307801e-02 -1.09578743e-04 9.99894417e-01 -2.78087669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1035.2165599950001 meters 0.013826759922559074 Centerline is valid? [True, True] Translation: X:-277.35, Y:-255.99, Z:-2.78 [[-7.10698678e-01 -7.03415779e-01 1.06598262e-02 -2.77350516e+02] [ 7.03332585e-01 -7.10778591e-01 -1.08198433e-02 -2.55994264e+02] [ 1.51876247e-02 -1.92245183e-04 9.99884643e-01 -2.78082368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1035.246559995 meters 0.014321094312938033 Centerline is valid? [True, True] Translation: X:-277.37, Y:-255.97, Z:-2.78 [[-7.12608126e-01 -7.01478510e-01 1.08424734e-02 -2.77368456e+02] [ 7.01392310e-01 -7.12690568e-01 -1.09991853e-02 -2.55972418e+02] [ 1.54430206e-02 -2.33281343e-04 9.99880722e-01 -2.78078502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1035.276559995 meters 0.014802630408491748 Centerline is valid? [True, True] Translation: X:-277.39, Y:-255.95, Z:-2.78 [[-7.14404203e-01 -6.99648466e-01 1.08930400e-02 -2.77386715e+02] [ 6.99561341e-01 -7.14487194e-01 -1.10443990e-02 -2.55950706e+02] [ 1.55101345e-02 -2.69815404e-04 9.99879674e-01 -2.78107771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1035.306559995 meters 0.01647196290114116 Centerline is valid? [True, True] Translation: X:-277.40, Y:-255.93, Z:-2.78 [[-7.17420596e-01 -6.96553109e-01 1.10206925e-02 -2.77401922e+02] [ 6.96463665e-01 -7.17505160e-01 -1.11673439e-02 -2.55927611e+02] [ 1.56860518e-02 -3.36170600e-04 9.99876910e-01 -2.78222908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1035.336559995 meters 0.01704897102293223 Centerline is valid? [True, True] Translation: X:-277.42, Y:-255.91, Z:-2.78 [[-7.18826811e-01 -6.95102789e-01 1.09602903e-02 -2.77419664e+02] [ 6.95014247e-01 -7.18910274e-01 -1.11002033e-02 -2.55905981e+02] [ 1.55952476e-02 -3.61565889e-04 9.99878322e-01 -2.78201628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1035.366559995 meters 0.017672536410438918 Centerline is valid? [True, True] Translation: X:-277.44, Y:-255.88, Z:-2.78 [[-7.19805310e-01 -6.94088542e-01 1.10187167e-02 -2.77436923e+02] [ 6.93999033e-01 -7.19889541e-01 -1.11530831e-02 -2.55884836e+02] [ 1.56734861e-02 -3.81069691e-04 9.99877091e-01 -2.78206605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1035.396559995 meters 0.017672536410438918 Centerline is valid? [True, True] Translation: X:-277.46, Y:-255.87, Z:-2.78 [[-7.20011973e-01 -6.93874105e-01 1.10220381e-02 -2.77455815e+02] [ 6.93784621e-01 -7.20096231e-01 -1.11498008e-02 -2.55865882e+02] [ 1.56734861e-02 -3.81069494e-04 9.99877091e-01 -2.78206638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1035.4265599950002 meters 0.017979975637094074 Centerline is valid? [True, True] Translation: X:-277.47, Y:-255.84, Z:-2.78 [[-7.20474253e-01 -6.93394364e-01 1.10048240e-02 -2.77472521e+02] [ 6.93305207e-01 -7.20558191e-01 -1.11257991e-02 -2.55844150e+02] [ 1.56441825e-02 -3.86150030e-04 9.99877548e-01 -2.78203038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1035.4565599950001 meters 0.017691963091187018 Centerline is valid? [True, True] Translation: X:-277.49, Y:-255.82, Z:-2.78 [[-7.20238185e-01 -6.93640042e-01 1.09749373e-02 -2.77491008e+02] [ 6.93551500e-01 -7.20321700e-01 -1.10890078e-02 -2.55824705e+02] [ 1.55972654e-02 -3.75042624e-04 9.99878285e-01 -2.78187864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1035.486559995 meters 0.017059295464929923 Centerline is valid? [True, True] Translation: X:-277.51, Y:-255.80, Z:-2.78 [[-7.17713169e-01 -6.96251711e-01 1.10164642e-02 -2.77510142e+02] [ 6.96162896e-01 -7.17797643e-01 -1.11250391e-02 -2.55804962e+02] [ 1.56534195e-02 -3.15333506e-04 9.99877428e-01 -2.78291333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1035.516559995 meters 0.01622356951290603 Centerline is valid? [True, True] Translation: X:-277.53, Y:-255.79, Z:-2.78 [[-7.15785981e-01 -6.98231186e-01 1.11193631e-02 -2.77529312e+02] [ 6.98141022e-01 -7.15872291e-01 -1.12239188e-02 -2.55787573e+02] [ 1.57969340e-02 -2.71040227e-04 9.99875184e-01 -2.78329131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1035.546559995 meters 0.01464874454984048 Centerline is valid? [True, True] Translation: X:-277.55, Y:-255.77, Z:-2.78 [[-7.13189980e-01 -7.00884783e-01 1.09806017e-02 -2.77551117e+02] [ 7.00797259e-01 -7.13274476e-01 -1.10780628e-02 -2.55769617e+02] [ 1.55966285e-02 -2.05587836e-04 9.99878344e-01 -2.78278541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1035.576559995 meters 0.012408384762072048 Centerline is valid? [True, True] Translation: X:-277.58, Y:-255.75, Z:-2.78 [[-7.06238032e-01 -7.07899748e-01 1.02853425e-02 -2.77575499e+02] [ 7.07823774e-01 -7.06312923e-01 -1.03711053e-02 -2.55753908e+02] [ 1.46063731e-02 -4.42590209e-05 9.99893320e-01 -2.78020449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1035.606559995 meters 0.012291903870480141 Centerline is valid? [True, True] Translation: X:-277.60, Y:-255.74, Z:-2.78 [[-7.02635799e-01 -7.11476783e-01 1.01844003e-02 -2.77596460e+02] [ 7.11402764e-01 -7.02709604e-01 -1.02625895e-02 -2.55737043e+02] [ 1.44582701e-02 3.43477988e-05 9.99895473e-01 -2.78020678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1035.636559995 meters 0.013622013174101642 Centerline is valid? [True, True] Translation: X:-277.62, Y:-255.72, Z:-2.78 [[-6.95309106e-01 -7.18635231e-01 1.04235844e-02 -2.77620701e+02] [ 7.18558575e-01 -6.95387207e-01 -1.04979070e-02 -2.55721243e+02] [ 1.47925931e-02 1.90665585e-04 9.99890566e-01 -2.78099569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1035.666559995 meters 0.015253700184649176 Centerline is valid? [True, True] Translation: X:-277.64, Y:-255.71, Z:-2.78 [[-6.91869538e-01 -7.21954600e-01 9.90440664e-03 -2.77642031e+02] [ 7.21885790e-01 -6.91940382e-01 -9.97064218e-03 -2.55705051e+02] [ 1.40516099e-02 2.51466816e-04 9.99901240e-01 -2.78137202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1035.6965599950001 meters 0.016076339964209187 Centerline is valid? [True, True] Translation: X:-277.66, Y:-255.69, Z:-2.78 [[-6.89135934e-01 -7.24569545e-01 9.52049172e-03 -2.77662630e+02] [ 7.24506266e-01 -6.89201631e-01 -9.58036110e-03 -2.55686597e+02] [ 1.35031763e-02 2.95484812e-04 9.99908784e-01 -2.78025417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1035.7265599950001 meters 0.018393417864587383 Centerline is valid? [True, True] Translation: X:-277.68, Y:-255.67, Z:-2.78 [[-6.85311455e-01 -7.28203190e-01 8.26584970e-03 -2.77683924e+02] [ 7.28155797e-01 -6.85361227e-01 -8.31415080e-03 -2.55670062e+02] [ 1.17194840e-02 3.21043591e-04 9.99931273e-01 -2.77918388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1035.756559995 meters 0.01913667660216196 Centerline is valid? [True, True] Translation: X:-277.70, Y:-255.65, Z:-2.78 [[-6.84332129e-01 -7.29128195e-01 7.84941040e-03 -2.77703939e+02] [ 7.29085564e-01 -6.84377068e-01 -7.89105925e-03 -2.55650371e+02] [ 1.11255503e-02 3.22786438e-04 9.99938057e-01 -2.77867349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1035.786559995 meters 0.01950382615373456 Centerline is valid? [True, True] Translation: X:-277.72, Y:-255.63, Z:-2.78 [[-6.84057770e-01 -7.29389773e-01 7.45166988e-03 -2.77723090e+02] [ 7.29351416e-01 -6.84098283e-01 -7.48672508e-03 -2.55630800e+02] [ 1.05584153e-02 3.13533516e-04 9.99944209e-01 -2.77833820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1035.816559995 meters 0.020022752028141206 Centerline is valid? [True, True] Translation: X:-277.74, Y:-255.61, Z:-2.78 [[-6.84273704e-01 -7.29189482e-01 7.22472942e-03 -2.77740805e+02] [ 7.29153462e-01 -6.84311776e-01 -7.25416431e-03 -2.55610856e+02] [ 1.02336277e-02 3.04102584e-04 9.99947589e-01 -2.77836644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1035.846559995 meters 0.02010986638351413 Centerline is valid? [True, True] Translation: X:-277.76, Y:-255.59, Z:-2.78 [[-6.84991444e-01 -7.28513562e-01 7.39669560e-03 -2.77758453e+02] [ 7.28475815e-01 -6.85031311e-01 -7.42222469e-03 -2.55591496e+02] [ 1.04741594e-02 3.04153450e-04 9.99945098e-01 -2.77896181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1035.876559995 meters 0.019723484937419 Centerline is valid? [True, True] Translation: X:-277.77, Y:-255.57, Z:-2.78 [[-6.86249300e-01 -7.27322384e-01 8.00302725e-03 -2.77774345e+02] [ 7.27278170e-01 -6.86295892e-01 -8.02570662e-03 -2.55570845e+02] [ 1.13297208e-02 3.12791458e-04 9.99935768e-01 -2.78004339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1035.906559995 meters 0.01944488375815663 Centerline is valid? [True, True] Translation: X:-277.79, Y:-255.55, Z:-2.78 [[-6.87197914e-01 -7.26420170e-01 8.53023255e-03 -2.77792506e+02] [ 7.26369928e-01 -6.87250780e-01 -8.54944795e-03 -2.55550257e+02] [ 1.20729004e-02 3.20941606e-04 9.99927069e-01 -2.78092521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1035.9365599950002 meters 0.018596540161140946 Centerline is valid? [True, True] Translation: X:-277.81, Y:-255.53, Z:-2.78 [[-6.89263032e-01 -7.24444146e-01 9.85655315e-03 -2.77808636e+02] [ 7.24376943e-01 -6.89333422e-01 -9.87307134e-03 -2.55527505e+02] [ 1.39469403e-02 3.34716747e-04 9.99902681e-01 -2.78288588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1035.9665599950001 meters 0.01829559673026669 Centerline is valid? [True, True] Translation: X:-277.82, Y:-255.51, Z:-2.78 [[-6.90825218e-01 -7.22946321e-01 1.04467779e-02 -2.77824712e+02] [ 7.22870760e-01 -6.90904124e-01 -1.04573063e-02 -2.55507341e+02] [ 1.47777931e-02 3.27499383e-04 9.99890749e-01 -2.78371601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1035.996559995 meters 0.0168185179725414 Centerline is valid? [True, True] Translation: X:-277.84, Y:-255.48, Z:-2.78 [[-6.93797858e-01 -7.20085997e-01 1.09858895e-02 -2.77838608e+02] [ 7.20002172e-01 -6.93884771e-01 -1.09907469e-02 -2.55483433e+02] [ 1.55372243e-02 2.84507595e-04 9.99879250e-01 -2.78444570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1036.026559995 meters 0.014063673834196362 Centerline is valid? [True, True] Translation: X:-277.85, Y:-255.46, Z:-2.78 [[-6.95711103e-01 -7.18232228e-01 1.13370305e-02 -2.77852716e+02] [ 7.18142815e-01 -6.95803421e-01 -1.13356297e-02 -2.55458251e+02] [ 1.60299592e-02 2.55283552e-04 9.99871480e-01 -2.78095779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1036.056559995 meters 0.013591924290492293 Centerline is valid? [True, True] Translation: X:-278.33, Y:-255.93, Z:-1.80 [[-7.64105126e-01 6.44976875e-01 1.21732416e-02 -2.78327508e+02] [ 6.44890454e-01 7.64202057e-01 -1.05602413e-02 -2.55931710e+02] [-1.61139278e-02 -2.18727200e-04 -9.99870138e-01 -1.80320153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1036.086559995 meters 0.013030037533210245 Centerline is valid? [True, True] Translation: X:-278.31, Y:-255.92, Z:-1.80 [[-8.04935709e-01 5.93232826e-01 1.23821759e-02 -2.78309538e+02] [ 5.93160086e-01 8.05030929e-01 -9.29061890e-03 -2.55920155e+02] [-1.54795346e-02 -1.33738404e-04 -9.99880176e-01 -1.80296826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1036.116559995 meters 0.013620848316160644 Centerline is valid? [True, True] Translation: X:-278.29, Y:-255.90, Z:-1.80 [[-8.43438505e-01 5.37061980e-01 1.32633760e-02 -2.78293645e+02] [ 5.36993857e-01 8.43542780e-01 -8.55431858e-03 -2.55900356e+02] [-1.57824244e-02 -9.26902143e-05 -9.99875446e-01 -1.79868671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1036.146559995 meters 0.012672747931273083 Centerline is valid? [True, True] Translation: X:-278.28, Y:-255.88, Z:-1.80 [[-8.78297556e-01 4.77921906e-01 1.35666849e-02 -2.78279829e+02] [ 4.77863921e-01 8.78402327e-01 -7.44477801e-03 -2.55882412e+02] [-1.54750300e-02 -5.57011097e-05 -9.99880253e-01 -1.80316046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1036.1765599950002 meters 0.012717562602240598 Centerline is valid? [True, True] Translation: X:-278.27, Y:-255.87, Z:-1.80 [[-9.08284530e-01 4.18142198e-01 1.32783631e-02 -2.78268259e+02] [ 4.18097609e-01 9.08381584e-01 -6.10631674e-03 -2.55865109e+02] [-1.46151292e-02 5.37880987e-06 -9.99893193e-01 -1.80368398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1036.2065599950001 meters 0.012620049895556911 Centerline is valid? [True, True] Translation: X:-278.26, Y:-255.84, Z:-1.80 [[-9.35029968e-01 3.54309614e-01 1.35520041e-02 -2.78257768e+02] [ 3.54272862e-01 9.35128171e-01 -5.10317701e-03 -2.55842737e+02] [-1.44809655e-02 2.94838547e-05 -9.99895145e-01 -1.80429503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1036.236559995 meters 0.012892184163765677 Centerline is valid? [True, True] Translation: X:-278.25, Y:-255.82, Z:-1.80 [[-9.57269229e-01 2.88866628e-01 1.38453874e-02 -2.78249827e+02] [ 2.88837249e-01 9.57369348e-01 -4.12012733e-03 -2.55821532e+02] [-1.44453168e-02 5.49925049e-05 -9.99895660e-01 -1.80448603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1036.266559995 meters 0.012723081310442214 Centerline is valid? [True, True] Translation: X:-278.04, Y:-255.12, Z:-2.78 [[-9.38204941e-01 -3.45825451e-01 1.32757877e-02 -2.78035036e+02] [ 3.45789762e-01 -9.38298861e-01 -4.96871461e-03 -2.55119506e+02] [ 1.41749644e-02 -7.10411245e-05 9.99899528e-01 -2.77864727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1036.296559995 meters 0.012596522357150695 Centerline is valid? [True, True] Translation: X:-278.29, Y:-255.81, Z:-1.81 [[-9.59079207e-01 2.82821593e-01 1.33798772e-02 -2.78292755e+02] [ 2.82794354e-01 9.59172532e-01 -3.92519479e-03 -2.55808997e+02] [-1.39437405e-02 1.91810137e-05 -9.99902781e-01 -1.80544561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1036.326559995 meters 0.012624846563490208 Centerline is valid? [True, True] Translation: X:-278.29, Y:-255.78, Z:-1.81 [[-9.77862520e-01 2.08809801e-01 1.35410194e-02 -2.78290012e+02] [ 2.08788988e-01 9.77956269e-01 -2.94863066e-03 -2.55778007e+02] [-1.38582278e-02 -5.61396657e-05 -9.99903969e-01 -1.80555878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1036.356559995 meters 0.013202809669858782 Centerline is valid? [True, True] Translation: X:-278.29, Y:-255.75, Z:-1.80 [[-9.90979015e-01 1.33298845e-01 1.38568005e-02 -2.78286190e+02] [ 1.33283900e-01 9.91075880e-01 -2.00057626e-03 -2.55746922e+02] [-1.39998153e-02 -1.35640665e-04 -9.99901989e-01 -1.80497068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1036.386559995 meters 0.013837134307354653 Centerline is valid? [True, True] Translation: X:-278.29, Y:-255.72, Z:-1.80 [[-9.98104864e-01 6.00717307e-02 1.33442057e-02 -2.78289662e+02] [ 6.00641685e-02 9.98194050e-01 -9.67114170e-04 -2.55716933e+02] [-1.33782029e-02 -1.63772739e-04 -9.99910495e-01 -1.80498453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1036.416559995 meters 0.014768711257074199 Centerline is valid? [True, True] Translation: X:-278.30, Y:-255.69, Z:-1.81 [[-9.99799982e-01 -1.54010735e-02 1.27594022e-02 -2.78295357e+02] [-1.54025324e-02 9.99881374e-01 -1.60793544e-05 -2.55686443e+02] [-1.27576410e-02 -2.12603244e-04 -9.99918596e-01 -1.80551770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1036.4465599950001 meters 0.014948604234665614 Centerline is valid? [True, True] Translation: X:-278.30, Y:-255.66, Z:-1.81 [[-9.95907781e-01 -8.95001631e-02 1.25464149e-02 -2.78298349e+02] [-8.94961924e-02 9.95986777e-01 8.78705009e-04 -2.55656687e+02] [-1.25747075e-02 -2.47747203e-04 -9.99920905e-01 -1.80634905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1036.4765599950001 meters 0.015490772139930822 Centerline is valid? [True, True] Translation: X:-278.35, Y:-254.96, Z:-2.78 [[-9.99744473e-01 -1.83284579e-02 1.32308855e-02 -2.78345406e+02] [ 1.83308878e-02 -9.99831973e-01 6.23923957e-05 -2.54955925e+02] [ 1.32275188e-02 3.04910331e-04 9.99912466e-01 -2.77906578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1036.506559995 meters 0.015490772139930822 Centerline is valid? [True, True] Translation: X:-278.39, Y:-255.66, Z:-1.80 [[-9.95212139e-01 -9.68405374e-02 1.32177172e-02 -2.78394858e+02] [-9.68357070e-02 9.95299871e-01 1.00646609e-03 -2.55658600e+02] [-1.32530589e-02 -2.78299716e-04 -9.99912136e-01 -1.80498122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1036.536559995 meters 0.015957718242600595 Centerline is valid? [True, True] Translation: X:-278.40, Y:-255.63, Z:-1.80 [[-9.85730189e-01 -1.67815383e-01 1.31905773e-02 -2.78402256e+02] [-1.67804194e-01 9.85818400e-01 1.95841554e-03 -2.55629644e+02] [-1.33321660e-02 -2.82964861e-04 -9.99911083e-01 -1.80386762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1036.566559995 meters 0.01525636032115081 Centerline is valid? [True, True] Translation: X:-278.42, Y:-255.61, Z:-1.80 [[-9.71259644e-01 -2.37653638e-01 1.32458224e-02 -2.78422396e+02] [-2.37635525e-01 9.71349920e-01 2.94780986e-03 -2.55605924e+02] [-1.35668863e-02 -2.84589205e-04 -9.99907925e-01 -1.80433804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1036.596559995 meters 0.01495543065741771 Centerline is valid? [True, True] Translation: X:-278.45, Y:-255.59, Z:-1.80 [[-9.51716744e-01 -3.06710321e-01 1.28069640e-02 -2.78452556e+02] [-3.06686412e-01 9.51802871e-01 3.83934895e-03 -2.55585538e+02] [-1.33672731e-02 -2.73749153e-04 -9.99910617e-01 -1.80464978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1036.626559995 meters 0.015475434738727874 Centerline is valid? [True, True] Translation: X:-278.51, Y:-255.57, Z:-1.80 [[-9.27536148e-01 -3.73552165e-01 1.16393477e-02 -2.78507059e+02] [-3.73525825e-01 9.27609146e-01 4.44180647e-03 -2.55573913e+02] [-1.24560118e-02 -2.27660890e-04 -9.99922395e-01 -1.80419326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1036.656559995 meters 0.015041496383657735 Centerline is valid? [True, True] Translation: X:-278.57, Y:-255.57, Z:-1.80 [[-8.98316103e-01 -4.39212021e-01 1.09991166e-02 -2.78569395e+02] [-4.39181807e-01 8.98383416e-01 5.15551849e-03 -2.55571777e+02] [-1.21457896e-02 -1.99326606e-04 -9.99926217e-01 -1.80458436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1036.6865599950002 meters 0.013308110119657 Centerline is valid? [True, True] Translation: X:-278.64, Y:-255.58, Z:-1.81 [[-8.65197279e-01 -5.01333501e-01 9.91912403e-03 -2.78637015e+02] [-5.01302421e-01 8.65254125e-01 5.58406760e-03 -2.55580564e+02] [-1.13820431e-02 -1.41160795e-04 -9.99935213e-01 -1.80619253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1036.7165599950001 meters 0.012985680221439977 Centerline is valid? [True, True] Translation: X:-278.71, Y:-255.60, Z:-1.81 [[-8.26778240e-01 -5.62444238e-01 9.70677312e-03 -2.78714882e+02] [-5.62407080e-01 8.26835212e-01 6.46605641e-03 -2.55597080e+02] [-1.16626980e-02 -1.13163184e-04 -9.99931982e-01 -1.80562390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1036.746559995 meters 0.012948975483183696 Centerline is valid? [True, True] Translation: X:-278.80, Y:-255.62, Z:-1.80 [[-7.84050567e-01 -6.20629945e-01 9.12028260e-03 -2.78798983e+02] [-6.20589103e-01 7.84103606e-01 7.12041286e-03 -2.55624600e+02] [-1.15703879e-02 -7.71842540e-05 -9.99933058e-01 -1.80354801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1036.776559995 meters 0.012538802092481868 Centerline is valid? [True, True] Translation: X:-278.88, Y:-255.66, Z:-1.80 [[-7.37265732e-01 -6.75545523e-01 8.80264979e-03 -2.78884933e+02] [-6.75497996e-01 7.37318279e-01 8.01324234e-03 -2.55664333e+02] [-1.19036646e-02 -3.82833078e-05 -9.99929148e-01 -1.80393696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1036.806559995 meters 0.012662997095471269 Centerline is valid? [True, True] Translation: X:-278.97, Y:-255.71, Z:-1.80 [[-6.89052826e-01 -7.24658727e-01 8.71386972e-03 -2.78966067e+02] [-7.24599876e-01 6.89107921e-01 9.23545879e-03 -2.55712891e+02] [-1.26973525e-02 4.96500683e-05 -9.99919384e-01 -1.80390687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1036.836559995 meters 0.012783374281316656 Centerline is valid? [True, True] Translation: X:-279.05, Y:-255.77, Z:-1.80 [[-6.34308855e-01 -7.73035672e-01 8.25388560e-03 -2.79052011e+02] [-7.72968312e-01 6.34362547e-01 1.02052740e-02 -2.55772091e+02] [-1.31249968e-02 9.33036594e-05 -9.99913859e-01 -1.80499181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1036.866559995 meters 0.013108504553760674 Centerline is valid? [True, True] Translation: X:-279.14, Y:-255.84, Z:-1.80 [[-5.74980202e-01 -8.18135975e-01 7.16197041e-03 -2.79136560e+02] [-8.18070025e-01 5.75024794e-01 1.03885456e-02 -2.55839677e+02] [-1.26175534e-02 1.14214734e-04 -9.99920389e-01 -1.80495971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1036.896559995 meters 0.013455155037574931 Centerline is valid? [True, True] Translation: X:-279.22, Y:-255.92, Z:-1.80 [[-5.12458491e-01 -8.58689344e-01 6.23737625e-03 -2.79219055e+02] [-8.58622461e-01 5.12496431e-01 1.07181238e-02 -2.55917670e+02] [-1.24001718e-02 1.37042200e-04 -9.99923106e-01 -1.80487503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1036.9265599950002 meters 0.013429500597777087 Centerline is valid? [True, True] Translation: X:-279.30, Y:-256.00, Z:-1.80 [[-4.45394801e-01 -8.95316906e-01 5.57755960e-03 -2.79295732e+02] [-8.95242561e-01 4.45429699e-01 1.15386429e-02 -2.56001841e+02] [-1.28151527e-02 1.45982796e-04 -9.99917872e-01 -1.80470057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1036.9565599950001 meters 0.013515824752377342 Centerline is valid? [True, True] Translation: X:-279.37, Y:-256.09, Z:-1.80 [[-3.74987046e-01 -9.27017042e-01 4.91118303e-03 -2.79367320e+02] [-9.26932279e-01 3.75019175e-01 1.25366521e-02 -2.56092947e+02] [-1.34634780e-02 1.48748066e-04 -9.99909352e-01 -1.80377984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1036.986559995 meters 0.013483324635865544 Centerline is valid? [True, True] Translation: X:-279.43, Y:-256.19, Z:-1.80 [[-3.02170383e-01 -9.53244946e-01 4.13916291e-03 -2.79433117e+02] [-9.53148613e-01 3.02198694e-01 1.35525699e-02 -2.56194288e+02] [-1.41697684e-02 1.49947842e-04 -9.99899593e-01 -1.80312814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1037.016559995 meters 0.013348812838571474 Centerline is valid? [True, True] Translation: X:-279.49, Y:-256.30, Z:-1.80 [[-2.26238515e-01 -9.74067006e-01 3.09885499e-03 -2.79491820e+02] [-9.73967825e-01 2.26259702e-01 1.39004507e-02 -2.56299362e+02] [-1.42411164e-02 1.26632268e-04 -9.99898582e-01 -1.80235960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1037.046559995 meters 0.013342609944767799 Centerline is valid? [True, True] Translation: X:-279.54, Y:-256.41, Z:-1.80 [[-1.49384319e-01 -9.88777162e-01 2.01238379e-03 -2.79542618e+02] [-9.88677357e-01 1.49397833e-01 1.40488913e-02 -2.56412098e+02] [-1.41918686e-02 1.09085761e-04 -9.99899285e-01 -1.80196810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1037.076559995 meters 0.012902533528866547 Centerline is valid? [True, True] Translation: X:-279.59, Y:-256.52, Z:-1.80 [[-6.99271949e-02 -9.97551675e-01 9.18625389e-04 -2.79586345e+02] [-9.97452727e-01 6.99331972e-02 1.40500799e-02 -2.56522468e+02] [-1.40799231e-02 6.61972751e-05 -9.99900871e-01 -1.80208997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1037.106559995 meters 0.01272746499605487 Centerline is valid? [True, True] Translation: X:-279.62, Y:-256.64, Z:-1.80 [[ 8.88250803e-03 -9.99960537e-01 -1.60430533e-04 -2.79619603e+02] [-9.99867592e-01 -8.88386975e-03 1.36335858e-02 -2.56644970e+02] [-1.36344731e-02 3.93088548e-05 -9.99907046e-01 -1.80214334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1037.136559995 meters 0.012534914413203707 Centerline is valid? [True, True] Translation: X:-279.64, Y:-256.77, Z:-1.80 [[ 8.80375896e-02 -9.96116394e-01 -1.23005113e-03 -2.79643664e+02] [-9.96020733e-01 -8.80461817e-02 1.38047161e-02 -2.56767861e+02] [-1.38594053e-02 9.82249360e-06 -9.99903954e-01 -1.80381622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1037.166559995 meters 0.012528647386482673 Centerline is valid? [True, True] Translation: X:-279.66, Y:-256.88, Z:-1.80 [[ 1.66617822e-01 -9.86019147e-01 -2.17811010e-03 -2.79658957e+02] [-9.85933401e-01 -1.66632057e-01 1.30033128e-02 -2.56882735e+02] [-1.31844584e-02 -1.91121606e-05 -9.99913081e-01 -1.80375353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1037.1965599950001 meters 0.01271491376711135 Centerline is valid? [True, True] Translation: X:-279.67, Y:-257.01, Z:-1.80 [[ 2.45635457e-01 -9.69357747e-01 -2.96317526e-03 -2.79665648e+02] [-9.69284040e-01 -2.45653321e-01 1.19538679e-02 -2.57005734e+02] [-1.23154883e-02 -6.41353269e-05 -9.99924160e-01 -1.80396913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1037.2265599950001 meters 0.012696729917345438 Centerline is valid? [True, True] Translation: X:-279.66, Y:-257.13, Z:-1.81 [[ 3.20774306e-01 -9.47148200e-01 -3.75935557e-03 -2.79660828e+02] [-9.47080237e-01 -3.20796324e-01 1.13465213e-02 -2.57126624e+02] [-1.19528247e-02 -7.92611433e-05 -9.99928559e-01 -1.80521506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1037.256559995 meters 0.012772531023497579 Centerline is valid? [True, True] Translation: X:-279.65, Y:-257.25, Z:-1.81 [[ 3.94524388e-01 -9.18876582e-01 -4.04153783e-03 -2.79647918e+02] [-9.18825985e-01 -3.94545078e-01 9.64312836e-03 -2.57246365e+02] [-1.04554137e-02 -9.09793422e-05 -9.99945337e-01 -1.80632469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1037.286559995 meters 0.01282955548646894 Centerline is valid? [True, True] Translation: X:-279.62, Y:-257.36, Z:-1.81 [[ 4.64319717e-01 -8.85656439e-01 -4.45790938e-03 -2.79624912e+02] [-8.85613746e-01 -4.64341108e-01 8.69646598e-03 -2.57363731e+02] [-9.77207167e-03 -8.99547968e-05 -9.99952248e-01 -1.80672172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1037.316559995 meters 0.01282955548646894 Centerline is valid? [True, True] Translation: X:-279.59, Y:-257.48, Z:-1.81 [[ 5.30856603e-01 -8.47446246e-01 -5.11156610e-03 -2.79594245e+02] [-8.47405319e-01 -5.30881204e-01 8.32902770e-03 -2.57475003e+02] [-9.77203762e-03 -8.99510487e-05 -9.99952249e-01 -1.80672335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1037.346559995 meters 0.013472490025308353 Centerline is valid? [True, True] Translation: X:-279.56, Y:-257.58, Z:-1.80 [[ 5.94660253e-01 -8.03958830e-01 -5.42065246e-03 -2.79560708e+02] [-8.03924034e-01 -5.94684952e-01 7.48036091e-03 -2.57580045e+02] [-9.23748265e-03 -9.04805199e-05 -9.99957330e-01 -1.80491581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1037.376559995 meters 0.013021548521201515 Centerline is valid? [True, True] Translation: X:-279.51, Y:-257.68, Z:-1.81 [[ 6.54212195e-01 -7.56293662e-01 -5.12850199e-03 -2.79514524e+02] [-7.56269506e-01 -6.54232292e-01 6.04512910e-03 -2.57682356e+02] [-7.92712443e-03 -7.62675157e-05 -9.99968577e-01 -1.80669155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1037.406559995 meters 0.01347484474870431 Centerline is valid? [True, True] Translation: X:-279.46, Y:-257.78, Z:-1.81 [[ 7.09805277e-01 -7.04377116e-01 -5.41734504e-03 -2.79464530e+02] [-7.04355817e-01 -7.09825946e-01 5.47807004e-03 -2.57780179e+02] [-7.70399924e-03 -7.26245231e-05 -9.99970321e-01 -1.80577608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1037.4365599950002 meters 0.012808741758551762 Centerline is valid? [True, True] Translation: X:-279.41, Y:-257.86, Z:-1.81 [[ 7.60600850e-01 -6.49199724e-01 -5.10545780e-03 -2.79412344e+02] [-6.49184594e-01 -7.60617982e-01 4.43260090e-03 -2.57863575e+02] [-6.76094630e-03 -5.70554606e-05 -9.99977143e-01 -1.80781650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1037.4665599950001 meters 0.012839810317854073 Centerline is valid? [True, True] Translation: X:-279.41, Y:-257.87, Z:-1.81 [[ 8.08717693e-01 -5.88169952e-01 -5.63924791e-03 -2.79414396e+02] [-5.88155172e-01 -8.08737352e-01 4.17010620e-03 -2.57870486e+02] [-7.01340159e-03 -5.56858436e-05 -9.99975404e-01 -1.80761051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1037.496559995 meters 0.012664750618128115 Centerline is valid? [True, True] Translation: X:-279.42, Y:-257.88, Z:-1.81 [[ 8.51926252e-01 -5.23623326e-01 -6.34609193e-03 -2.79415226e+02] [-5.23608312e-01 -8.51949887e-01 3.96562004e-03 -2.57878887e+02] [-7.48304346e-03 -5.55493364e-05 -9.99972000e-01 -1.80761792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1037.526559995 meters 0.01264257474773414 Centerline is valid? [True, True] Translation: X:-279.42, Y:-257.89, Z:-1.81 [[ 8.89877352e-01 -4.56136222e-01 -7.61879306e-03 -2.79416364e+02] [-4.56118957e-01 -8.89909964e-01 3.96902996e-03 -2.57887049e+02] [-8.59045819e-03 -5.68739273e-05 -9.99963100e-01 -1.80649931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1037.556559995 meters 0.012714215913635144 Centerline is valid? [True, True] Translation: X:-279.42, Y:-257.90, Z:-1.81 [[ 9.22726079e-01 -3.85363633e-01 -8.45307469e-03 -2.79417742e+02] [-3.85346880e-01 -9.22764795e-01 3.59373573e-03 -2.57895075e+02] [-9.18509479e-03 -5.86677198e-05 -9.99957815e-01 -1.80523075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1037.586559995 meters 0.012840608000742552 Centerline is valid? [True, True] Translation: X:-279.42, Y:-257.90, Z:-1.80 [[ 9.50057598e-01 -3.11904483e-01 -1.03030918e-02 -2.79417344e+02] [-3.11885335e-01 -9.50113461e-01 3.45678385e-03 -2.57903662e+02] [-1.08672926e-02 -7.07605072e-05 -9.99940947e-01 -1.80353744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1037.616559995 meters 0.012882589145462732 Centerline is valid? [True, True] Translation: X:-279.42, Y:-257.91, Z:-1.80 [[ 9.71593768e-01 -2.36401235e-01 -1.09547425e-02 -2.79416651e+02] [-2.36385322e-01 -9.71655520e-01 2.74397357e-03 -2.57912252e+02] [-1.12929148e-02 -7.64872867e-05 -9.99936230e-01 -1.80306798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1037.646559995 meters 0.012943324220445543 Centerline is valid? [True, True] Translation: X:-279.42, Y:-257.92, Z:-1.80 [[ 9.87172509e-01 -1.59262466e-01 -1.12207167e-02 -2.79415192e+02] [-1.59251225e-01 -9.87236274e-01 1.89402249e-03 -2.57920951e+02] [-1.13791452e-02 -8.28140615e-05 -9.99935252e-01 -1.80263513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1037.6765599950002 meters 0.013023795665274777 Centerline is valid? [True, True] Translation: X:-279.42, Y:-257.93, Z:-1.80 [[ 9.96639607e-01 -8.11486873e-02 -1.11527658e-02 -2.79417443e+02] [-8.11426485e-02 -9.96702003e-01 9.93640379e-04 -2.57927888e+02] [-1.11966166e-02 -8.53364036e-05 -9.99937312e-01 -1.80240746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1037.7065599950001 meters 0.012989913547944624 Centerline is valid? [True, True] Translation: X:-279.42, Y:-257.93, Z:-1.80 [[ 9.99934074e-01 -2.83198094e-03 -1.11277500e-02 -2.79418220e+02] [-2.83085749e-03 -9.99995986e-01 1.16709411e-04 -2.57934879e+02] [-1.11280359e-02 -8.52006428e-05 -9.99938078e-01 -1.80270192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1037.736559995 meters 0.013260632942995131 Centerline is valid? [True, True] Translation: X:-279.42, Y:-257.94, Z:-1.80 [[ 9.97096092e-01 7.53876675e-02 -1.07741754e-02 -2.79419390e+02] [ 7.53841572e-02 -9.97154298e-01 -7.32126563e-04 -2.57941762e+02] [-1.07987086e-02 -8.22015949e-05 -9.99941689e-01 -1.80177106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1037.766559995 meters 0.013103112826586197 Centerline is valid? [True, True] Translation: X:-279.42, Y:-257.95, Z:-1.80 [[ 9.88102056e-01 1.53466126e-01 -1.01230466e-02 -2.79419771e+02] [ 1.53458908e-01 -9.88153906e-01 -1.49062374e-03 -2.57945810e+02] [-1.02318883e-02 -8.05832916e-05 -9.99947650e-01 -1.80300970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1037.796559995 meters 0.013199952992369545 Centerline is valid? [True, True] Translation: X:-279.42, Y:-257.95, Z:-1.80 [[ 9.73023449e-01 2.30489292e-01 -1.00027517e-02 -2.79419320e+02] [ 2.30477984e-01 -9.73074858e-01 -2.28455527e-03 -2.57950556e+02] [-1.02599917e-02 -8.24881890e-05 -9.99947362e-01 -1.80324648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1037.826559995 meters 0.013154012850335229 Centerline is valid? [True, True] Translation: X:-279.42, Y:-257.95, Z:-1.80 [[ 9.51985639e-01 3.05996280e-01 -9.46674870e-03 -2.79418786e+02] [ 3.05981988e-01 -9.52032704e-01 -2.95857419e-03 -2.57954914e+02] [-9.91796706e-03 -8.01344429e-05 -9.99950813e-01 -1.80342310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1037.856559995 meters 0.013250360961220486 Centerline is valid? [True, True] Translation: X:-279.42, Y:-257.96, Z:-1.80 [[ 9.24993676e-01 3.79901398e-01 -7.85026965e-03 -2.79418407e+02] [ 3.79888372e-01 -9.25026985e-01 -3.14681193e-03 -2.57958322e+02] [-8.45718952e-03 -7.14450163e-05 -9.99964235e-01 -1.80433965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1037.886559995 meters 0.013412515897738259 Centerline is valid? [True, True] Translation: X:-279.42, Y:-257.96, Z:-1.80 [[ 8.92445016e-01 4.51099267e-01 -7.16556348e-03 -2.79418088e+02] [ 4.51085330e-01 -8.92473780e-01 -3.54650490e-03 -2.57962289e+02] [-7.99490329e-03 -6.72199443e-05 -9.99968038e-01 -1.80415351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1037.916559995 meters 0.01330566904161924 Centerline is valid? [True, True] Translation: X:-279.42, Y:-257.97, Z:-1.80 [[ 8.54274111e-01 5.19774132e-01 -7.11305236e-03 -2.79417267e+02] [ 5.19756814e-01 -8.54303720e-01 -4.24360348e-03 -2.57965317e+02] [-8.28242242e-03 -7.18568428e-05 -9.99965698e-01 -1.80446555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1037.9465599950001 meters 0.013155642662154167 Centerline is valid? [True, True] Translation: X:-279.41, Y:-257.97, Z:-1.80 [[ 8.10826358e-01 5.85245651e-01 -6.93873757e-03 -2.79414464e+02] [ 5.85225015e-01 -8.10856043e-01 -4.91520917e-03 -2.57971572e+02] [-8.50292208e-03 -7.53416512e-05 -9.99963847e-01 -1.80460456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1037.9765599950001 meters 0.013214752493963101 Centerline is valid? [True, True] Translation: X:-279.41, Y:-257.98, Z:-1.80 [[ 7.62553383e-01 6.46892260e-01 -6.53774559e-03 -2.79410203e+02] [ 6.46869325e-01 -7.62581405e-01 -5.44774343e-03 -2.57978342e+02] [-8.50966627e-03 -7.48718929e-05 -9.99963790e-01 -1.80446943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1038.006559995 meters 0.01325855850489376 Centerline is valid? [True, True] Translation: X:-279.41, Y:-257.98, Z:-1.80 [[ 7.09505322e-01 7.04669075e-01 -6.61000332e-03 -2.79406482e+02] [ 7.04639568e-01 -7.09536108e-01 -6.44913801e-03 -2.57983836e+02] [-9.23454415e-03 -8.19721421e-05 -9.99957358e-01 -1.80400121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1038.036559995 meters 0.013312301870315941 Centerline is valid? [True, True] Translation: X:-279.40, Y:-257.99, Z:-1.80 [[ 6.51945292e-01 7.58238476e-01 -6.46152252e-03 -2.79403079e+02] [ 7.58202594e-01 -6.51977305e-01 -7.37704173e-03 -2.57990520e+02] [-9.80632292e-03 -8.97155119e-05 -9.99951913e-01 -1.80373241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1038.066559995 meters 0.013378279018617427 Centerline is valid? [True, True] Translation: X:-279.40, Y:-258.00, Z:-1.80 [[ 5.90301814e-01 8.07159704e-01 -6.08111119e-03 -2.79398884e+02] [ 8.07118548e-01 -5.90333128e-01 -8.15154374e-03 -2.57996439e+02] [-1.01694790e-02 -9.63065700e-05 -9.99948285e-01 -1.80355109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1038.096559995 meters 0.013490551615747897 Centerline is valid? [True, True] Translation: X:-279.39, Y:-258.00, Z:-1.80 [[ 5.24754418e-01 8.51236459e-01 -5.41224710e-03 -2.79393593e+02] [ 8.51193187e-01 -5.24782318e-01 -8.58360654e-03 -2.58001795e+02] [-1.01469304e-02 -1.02582403e-04 -9.99948513e-01 -1.80366414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1038.126559995 meters 0.013904125268874362 Centerline is valid? [True, True] Translation: X:-279.39, Y:-258.01, Z:-1.80 [[ 4.56236050e-01 8.89846359e-01 -4.70364884e-03 -2.79388078e+02] [ 8.89801422e-01 -4.56260284e-01 -8.94330734e-03 -2.58008707e+02] [-1.01042576e-02 -1.05054211e-04 -9.99948945e-01 -1.80274400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1038.156559995 meters 0.013608406117571747 Centerline is valid? [True, True] Translation: X:-279.38, Y:-258.01, Z:-1.80 [[ 3.84050649e-01 9.23305086e-01 -3.58025419e-03 -2.79382287e+02] [ 9.23267476e-01 -3.84067322e-01 -8.33421777e-03 -2.58013771e+02] [-9.07008429e-03 -1.04770506e-04 -9.99958861e-01 -1.80457897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1038.1865599950002 meters 0.013793495531096411 Centerline is valid? [True, True] Translation: X:-279.38, Y:-258.02, Z:-1.81 [[ 3.09882567e-01 9.50770807e-01 -2.76912487e-03 -2.79375987e+02] [ 9.50735837e-01 -3.09894921e-01 -8.15515019e-03 -2.58019111e+02] [-8.61181646e-03 -1.05567373e-04 -9.99962912e-01 -1.80503404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1038.2165599950001 meters 0.014275154002952409 Centerline is valid? [True, True] Translation: X:-279.37, Y:-258.02, Z:-1.81 [[ 2.32547066e-01 9.72582973e-01 -2.05479802e-03 -2.79369560e+02] [ 9.72549389e-01 -2.32556114e-01 -8.08334583e-03 -2.58024526e+02] [-8.33958037e-03 -1.18634201e-04 -9.99965218e-01 -1.80529332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1038.246559995 meters 0.014275154002952409 Centerline is valid? [True, True] Translation: X:-279.36, Y:-258.03, Z:-1.81 [[ 1.55676310e-01 9.87807108e-01 -1.41550377e-03 -2.79364556e+02] [ 9.87772919e-01 -1.55682700e-01 -8.21939684e-03 -2.58028491e+02] [-8.33954807e-03 -1.18630916e-04 -9.99965219e-01 -1.80529360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1038.276559995 meters 0.014645148722858818 Centerline is valid? [True, True] Translation: X:-279.36, Y:-258.03, Z:-1.80 [[ 7.57060024e-02 9.97129845e-01 -8.20167728e-04 -2.79356691e+02] [ 9.97090358e-01 -7.57103044e-02 -8.87516020e-03 -2.58031636e+02] [-8.91178226e-03 -1.45878434e-04 -9.99960279e-01 -1.80463880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1038.306559995 meters 0.014773091090194656 Centerline is valid? [True, True] Translation: X:-279.35, Y:-258.03, Z:-1.80 [[-3.77636726e-03 9.99992861e-01 -1.31554243e-04 -2.79348448e+02] [ 9.99946918e-01 3.77493253e-03 -9.58708828e-03 -2.58034474e+02] [-9.58652323e-03 -1.67751626e-04 -9.99954034e-01 -1.80410670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1038.336559995 meters 0.015428397586527776 Centerline is valid? [True, True] Translation: X:-279.34, Y:-258.04, Z:-1.80 [[-8.42253302e-02 9.96446519e-01 6.55303525e-04 -2.79339479e+02] [ 9.96395218e-01 8.42276447e-02 -1.01130844e-02 -2.58036142e+02] [-1.01323424e-02 -1.98836574e-04 -9.99948647e-01 -1.80313277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1038.366559995 meters 0.01577156272313956 Centerline is valid? [True, True] Translation: X:-279.33, Y:-258.04, Z:-1.80 [[-1.63072012e-01 9.86613076e-01 1.46878400e-03 -2.79331523e+02] [ 9.86560433e-01 1.63078487e-01 -1.01941053e-02 -2.58037636e+02] [-1.02971646e-02 -2.13329082e-04 -9.99946960e-01 -1.80290133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1038.396559995 meters 0.01657523238698157 Centerline is valid? [True, True] Translation: X:-279.32, Y:-258.04, Z:-1.80 [[-2.41026500e-01 9.70515980e-01 2.22676533e-03 -2.79323244e+02] [ 9.70465647e-01 2.41036684e-01 -9.88664557e-03 -2.58039575e+02] [-1.01318797e-02 -2.21944316e-04 -9.99948647e-01 -1.80256440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1038.4265599950002 meters 0.016134678894959818 Centerline is valid? [True, True] Translation: X:-279.31, Y:-258.04, Z:-1.80 [[-3.17789433e-01 9.48157106e-01 2.82473296e-03 -2.79314387e+02] [ 9.48113150e-01 3.17801908e-01 -9.13250777e-03 -2.58039030e+02] [-9.55675766e-03 -2.24048006e-04 -9.99954308e-01 -1.80360151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1038.4565599950001 meters 0.016347899419156667 Centerline is valid? [True, True] Translation: X:-279.31, Y:-258.04, Z:-1.80 [[-3.92182800e-01 9.19881778e-01 3.18851621e-03 -2.79305048e+02] [ 9.19846826e-01 3.92195704e-01 -8.02170079e-03 -2.58037277e+02] [-8.62953875e-03 -2.13026563e-04 -9.99962742e-01 -1.80422568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1038.486559995 meters 0.016264751100960727 Centerline is valid? [True, True] Translation: X:-279.30, Y:-258.03, Z:-1.80 [[-4.63065945e-01 8.86315951e-01 3.73710865e-03 -2.79295890e+02] [ 8.86283352e-01 4.63080977e-01 -7.60447388e-03 -2.58034932e+02] [-8.47055043e-03 -2.09235698e-04 -9.99964103e-01 -1.80459904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1038.516559995 meters 0.016094644934109344 Centerline is valid? [True, True] Translation: X:-279.29, Y:-258.03, Z:-1.81 [[-5.30883459e-01 8.47435382e-01 4.00318099e-03 -2.79288089e+02] [ 8.47408506e-01 5.30898518e-01 -6.75193628e-03 -2.58032407e+02] [-7.84711256e-03 -1.92161664e-04 -9.99969193e-01 -1.80511790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1038.546559995 meters 0.018110248837754004 Centerline is valid? [True, True] Translation: X:-279.28, Y:-258.03, Z:-1.80 [[-5.95353372e-01 8.03451948e-01 4.39649415e-03 -2.79276581e+02] [ 8.03427721e-01 5.95369577e-01 -6.24221114e-03 -2.58028039e+02] [-7.63285556e-03 -1.84056182e-04 -9.99970853e-01 -1.80403629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1038.576559995 meters 0.016147492278825677 Centerline is valid? [True, True] Translation: X:-279.27, Y:-258.03, Z:-1.81 [[-6.55877790e-01 7.54852069e-01 4.76223758e-03 -2.79272388e+02] [ 7.54830219e-01 6.55895056e-01 -5.74602698e-03 -2.58027268e+02] [-7.46092844e-03 -1.74010645e-04 -9.99972152e-01 -1.80553372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1038.606559995 meters 0.016077145601326916 Centerline is valid? [True, True] Translation: X:-279.27, Y:-258.02, Z:-1.81 [[-7.12648100e-01 7.01503072e-01 5.11134088e-03 -2.79265513e+02] [ 7.01483322e-01 7.12666410e-01 -5.26662098e-03 -2.58022672e+02] [-7.33723176e-03 -1.67727048e-04 -9.99973068e-01 -1.80544798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1038.636559995 meters 0.016044657747390167 Centerline is valid? [True, True] Translation: X:-279.26, Y:-258.02, Z:-1.81 [[-7.65529630e-01 6.43379158e-01 5.25777916e-03 -2.79259206e+02] [ 6.43362519e-01 7.65547669e-01 -4.62996522e-03 -2.58017505e+02] [-7.00390370e-03 -1.61717516e-04 -9.99975459e-01 -1.80527559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1038.666559995 meters 0.016389541321164266 Centerline is valid? [True, True] Translation: X:-278.80, Y:-257.50, Z:-2.78 [[-6.87368186e-01 -7.26289924e-01 5.28432247e-03 -2.78797282e+02] [ 7.26270677e-01 -6.87388469e-01 -5.29127947e-03 -2.57501623e+02] [ 7.47538529e-03 2.00791289e-04 9.99972039e-01 -2.77940636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1038.6965599950001 meters 0.01665022482971086 Centerline is valid? [True, True] Translation: X:-278.82, Y:-257.48, Z:-2.78 [[-6.87216858e-01 -7.26430953e-01 5.57326093e-03 -2.78817616e+02] [ 7.26409298e-01 -6.87239430e-01 -5.61230451e-03 -2.57483081e+02] [ 7.90711638e-03 1.91598288e-04 9.99968720e-01 -2.78003882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1038.7265599950001 meters 0.017191255351877148 Centerline is valid? [True, True] Translation: X:-278.84, Y:-257.47, Z:-2.78 [[-6.86930566e-01 -7.26692132e-01 6.70401655e-03 -2.78838606e+02] [ 7.26660848e-01 -6.86963238e-01 -6.74700306e-03 -2.57465559e+02] [ 9.50840695e-03 2.36823731e-04 9.99954766e-01 -2.78214274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1038.756559995 meters 0.017187258716879466 Centerline is valid? [True, True] Translation: X:-278.86, Y:-257.45, Z:-2.78 [[-6.87057841e-01 -7.26570998e-01 6.79036218e-03 -2.78857797e+02] [ 7.26538938e-01 -6.87091353e-01 -6.82964088e-03 -2.57446785e+02] [ 9.62781812e-03 2.41104217e-04 9.99953623e-01 -2.78231511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1038.786559995 meters 0.019066303454570062 Centerline is valid? [True, True] Translation: X:-278.88, Y:-257.43, Z:-2.78 [[-6.86932653e-01 -7.26687953e-01 6.93891199e-03 -2.78878821e+02] [ 7.26654526e-01 -6.86967653e-01 -6.97449366e-03 -2.57430622e+02] [ 9.83508861e-03 2.51184370e-04 9.99951603e-01 -2.78330346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1038.816559995 meters 0.019066303454570062 Centerline is valid? [True, True] Translation: X:-278.90, Y:-257.41, Z:-2.78 [[-6.87146182e-01 -7.26486027e-01 6.94096117e-03 -2.78897791e+02] [ 7.26452611e-01 -6.87181191e-01 -6.97245434e-03 -2.57411743e+02] [ 9.83508862e-03 2.51183989e-04 9.99951603e-01 -2.78330377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1038.846559995 meters 0.01717352603256661 Centerline is valid? [True, True] Translation: X:-278.92, Y:-257.39, Z:-2.78 [[-6.86619981e-01 -7.26981573e-01 7.12705390e-03 -2.78915442e+02] [ 7.26946408e-01 -6.86656917e-01 -7.15534516e-03 -2.57390000e+02] [ 1.00956449e-02 2.67983270e-04 9.99949002e-01 -2.78165184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1038.876559995 meters 0.01737351901953632 Centerline is valid? [True, True] Translation: X:-278.94, Y:-257.37, Z:-2.78 [[-6.86145824e-01 -7.27428410e-01 7.19834168e-03 -2.78936005e+02] [ 7.27392605e-01 -6.86183525e-01 -7.22280802e-03 -2.57371179e+02] [ 1.01934592e-02 2.80120945e-04 9.99948006e-01 -2.78163156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1038.906559995 meters 0.01883253224853137 Centerline is valid? [True, True] Translation: X:-278.96, Y:-257.35, Z:-2.78 [[-6.86462827e-01 -7.27132008e-01 6.91601462e-03 -2.78957016e+02] [ 7.27098969e-01 -6.86497613e-01 -6.93664735e-03 -2.57354246e+02] [ 9.79168584e-03 2.66876547e-04 9.99952025e-01 -2.78228908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1038.9365599950002 meters 0.017714845350253416 Centerline is valid? [True, True] Translation: X:-278.98, Y:-257.33, Z:-2.78 [[-6.86886084e-01 -7.26734179e-01 6.70384233e-03 -2.78975503e+02] [ 7.26703157e-01 -6.86918749e-01 -6.71961744e-03 -2.57333584e+02] [ 9.48837065e-03 2.56091684e-04 9.99954952e-01 -2.78118708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1038.9665599950001 meters 0.01773016441946197 Centerline is valid? [True, True] Translation: X:-278.99, Y:-257.31, Z:-2.78 [[-6.87813353e-01 -7.25862936e-01 5.98246227e-03 -2.78994740e+02] [ 7.25838227e-01 -6.87839334e-01 -5.99320025e-03 -2.57314566e+02] [ 8.46521480e-03 2.20096651e-04 9.99964145e-01 -2.78071864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1038.996559995 meters 0.017436729939965725 Centerline is valid? [True, True] Translation: X:-279.01, Y:-257.29, Z:-2.78 [[-6.88690907e-01 -7.25034422e-01 5.47004360e-03 -2.79013654e+02] [ 7.25013765e-01 -6.88712603e-01 -5.47645120e-03 -2.57294508e+02] [ 7.73790359e-03 1.94274762e-04 9.99970043e-01 -2.78003743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1039.026559995 meters 0.016919837849631574 Centerline is valid? [True, True] Translation: X:-279.03, Y:-257.27, Z:-2.78 [[-6.89408865e-01 -7.24351473e-01 5.51004408e-03 -2.79032112e+02] [ 7.24330518e-01 -6.89430858e-01 -5.51302290e-03 -2.57274751e+02] [ 7.79216068e-03 1.90366218e-04 9.99969623e-01 -2.77959085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1039.056559995 meters 0.01644531024762643 Centerline is valid? [True, True] Translation: X:-279.05, Y:-257.25, Z:-2.78 [[-6.90363995e-01 -7.23440429e-01 5.61247702e-03 -2.79051919e+02] [ 7.23418683e-01 -6.90386784e-01 -5.61234418e-03 -2.57254703e+02] [ 7.93497664e-03 1.85610383e-04 9.99968501e-01 -2.77998585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1039.086559995 meters 0.016429472556611337 Centerline is valid? [True, True] Translation: X:-279.53, Y:-257.74, Z:-1.80 [[-7.69946382e-01 6.38075660e-01 6.48232761e-03 -2.79534672e+02] [ 6.38050901e-01 7.69973645e-01 -5.62444690e-03 -2.57737758e+02] [-8.58004409e-03 -1.94467574e-04 -9.99963172e-01 -1.80361233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1039.116559995 meters 0.016401772959603007 Centerline is valid? [True, True] Translation: X:-279.52, Y:-257.71, Z:-1.80 [[-8.12757022e-01 5.82559697e-01 7.08673615e-03 -2.79520105e+02] [ 5.82535450e-01 8.12787894e-01 -5.31863242e-03 -2.57713784e+02] [-8.85843425e-03 -1.94480811e-04 -9.99960745e-01 -1.80317436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1039.146559995 meters 0.01604158709037879 Centerline is valid? [True, True] Translation: X:-279.11, Y:-257.17, Z:-2.78 [[-7.43714996e-01 -6.68463613e-01 6.66348273e-03 -2.79106876e+02] [ 6.68439038e-01 -7.43744823e-01 -5.73502072e-03 -2.57173460e+02] [ 8.78958346e-03 1.88911068e-04 9.99961353e-01 -2.78081963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1039.1765599950002 meters 0.016048476699964682 Centerline is valid? [True, True] Translation: X:-279.55, Y:-257.69, Z:-1.80 [[-8.13505986e-01 5.81524117e-01 6.14107042e-03 -2.79548574e+02] [ 5.81506139e-01 8.13529151e-01 -4.57506880e-03 -2.57694029e+02] [-7.65645265e-03 -1.50775712e-04 -9.99970678e-01 -1.80407610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1039.2065599950001 meters 0.01575047150199971 Centerline is valid? [True, True] Translation: X:-279.54, Y:-257.67, Z:-1.80 [[-8.52276846e-01 5.23051204e-01 6.45107270e-03 -2.79536113e+02] [ 5.23034919e-01 8.52301248e-01 -4.12999245e-03 -2.57670111e+02] [-7.65845483e-03 -1.45760648e-04 -9.99970663e-01 -1.80466458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1039.236559995 meters 0.01575047150199971 Centerline is valid? [True, True] Translation: X:-279.52, Y:-257.65, Z:-1.80 [[-8.87156093e-01 4.61420428e-01 6.72716017e-03 -2.79521377e+02] [ 4.61405911e-01 8.87181587e-01 -3.66306385e-03 -2.57646823e+02] [-7.65842512e-03 -1.45757953e-04 -9.99970663e-01 -1.80466488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1039.266559995 meters 0.015629143573916014 Centerline is valid? [True, True] Translation: X:-279.51, Y:-257.62, Z:-1.80 [[-9.17201481e-01 3.98367017e-01 6.72035357e-03 -2.79514586e+02] [ 3.98355257e-01 9.17226091e-01 -3.06385706e-03 -2.57619777e+02] [-7.38462323e-03 -1.33086065e-04 -9.99972725e-01 -1.80465358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1039.296559995 meters 0.015114947724268685 Centerline is valid? [True, True] Translation: X:-279.22, Y:-257.01, Z:-2.78 [[-8.72523542e-01 -4.88522549e-01 6.95614374e-03 -2.79215258e+02] [ 4.88508578e-01 -8.72551254e-01 -3.69854226e-03 -2.57005267e+02] [ 7.87641323e-03 1.71070692e-04 9.99968966e-01 -2.77988413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1039.326559995 meters 0.014483773577209931 Centerline is valid? [True, True] Translation: X:-279.55, Y:-257.61, Z:-1.80 [[-9.16589222e-01 3.99758569e-01 7.56874848e-03 -2.79547215e+02] [ 3.99743976e-01 9.16620464e-01 -3.41733488e-03 -2.57609808e+02] [-8.30377865e-03 -1.06730704e-04 -9.99965518e-01 -1.80395478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1039.356559995 meters 0.014480291208489827 Centerline is valid? [True, True] Translation: X:-279.53, Y:-257.59, Z:-1.80 [[-9.42235603e-01 3.34852439e-01 8.11860061e-03 -2.79534102e+02] [ 3.34839078e-01 9.42270574e-01 -2.99305054e-03 -2.57585959e+02] [-8.65214873e-03 -1.01734035e-04 -9.99962564e-01 -1.80382572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1039.386559995 meters 0.014290344117369498 Centerline is valid? [True, True] Translation: X:-279.53, Y:-257.56, Z:-1.80 [[-9.63321480e-01 2.68227211e-01 8.11728586e-03 -2.79525637e+02] [ 2.68216898e-01 9.63355674e-01 -2.35386901e-03 -2.57560814e+02] [-8.45120512e-03 -9.03393470e-05 -9.99964284e-01 -1.80390401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1039.416559995 meters 0.014069037872021267 Centerline is valid? [True, True] Translation: X:-279.32, Y:-256.90, Z:-2.78 [[-9.36219403e-01 -3.51327965e-01 7.86698917e-03 -2.79324565e+02] [ 3.51316320e-01 -9.36252452e-01 -2.86180839e-03 -2.56896906e+02] [ 8.37092122e-03 8.45211390e-05 9.99964960e-01 -2.77937185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1039.4465599950001 meters 0.013869197103848416 Centerline is valid? [True, True] Translation: X:-279.57, Y:-257.55, Z:-1.81 [[-9.63537070e-01 2.67472201e-01 7.41195109e-03 -2.79565853e+02] [ 2.67463814e-01 9.63565576e-01 -2.11897399e-03 -2.57552919e+02] [-7.70866755e-03 -5.92812859e-05 -9.99970286e-01 -1.80560360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1039.4765599950001 meters 0.01394772904747161 Centerline is valid? [True, True] Translation: X:-279.56, Y:-257.53, Z:-1.81 [[-9.79882066e-01 1.99443726e-01 7.30318984e-03 -2.79559904e+02] [ 1.99437806e-01 9.79909280e-01 -1.53754522e-03 -2.57525926e+02] [-7.46311725e-03 -5.00808252e-05 -9.99972149e-01 -1.80507649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1039.506559995 meters 0.013662869812514423 Centerline is valid? [True, True] Translation: X:-279.56, Y:-257.50, Z:-1.81 [[-9.91448714e-01 1.30294551e-01 7.26476895e-03 -2.79555300e+02] [ 1.30290741e-01 9.91475329e-01 -9.97332376e-04 -2.57499370e+02] [-7.33278616e-03 -4.22717736e-05 -9.99973114e-01 -1.80549848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1039.536559995 meters 0.013615098340877459 Centerline is valid? [True, True] Translation: X:-279.56, Y:-257.47, Z:-1.81 [[-9.98150195e-01 6.03982092e-02 6.94587183e-03 -2.79561010e+02] [ 6.03965057e-02 9.98174361e-01 -4.54937371e-04 -2.57471501e+02] [-6.96066858e-03 -3.45894382e-05 -9.99975774e-01 -1.80559189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1039.566559995 meters 0.013642194826307597 Centerline is valid? [True, True] Translation: X:-279.50, Y:-256.77, Z:-2.78 [[-9.90677328e-01 -1.36083632e-01 6.29892160e-03 -2.79503299e+02] [ 1.36080836e-01 -9.90697353e-01 -8.72357269e-04 -2.56772065e+02] [ 6.35903850e-03 -7.06204936e-06 9.99979781e-01 -2.77868582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1039.596559995 meters 0.013593953895197693 Centerline is valid? [True, True] Translation: X:-279.62, Y:-257.47, Z:-1.81 [[-9.98332053e-01 5.74076790e-02 6.12132599e-03 -2.79623678e+02] [ 5.74064709e-02 9.98350819e-01 -3.73023682e-04 -2.57469661e+02] [-6.13264524e-03 -2.09977759e-05 -9.99981195e-01 -1.80632280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1039.626559995 meters 0.013648914916025006 Centerline is valid? [True, True] Translation: X:-279.57, Y:-256.77, Z:-2.78 [[-9.91420545e-01 -1.30491466e-01 7.56833753e-03 -2.79573831e+02] [ 1.30488603e-01 -9.91449425e-01 -8.72960540e-04 -2.56767478e+02] [ 7.61753780e-03 1.22110779e-04 9.99970979e-01 -2.77958987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1039.656559995 meters 0.013768125008228382 Centerline is valid? [True, True] Translation: X:-279.69, Y:-257.46, Z:-1.80 [[-9.98542496e-01 5.33342450e-02 8.26696256e-03 -2.79686274e+02] [ 5.33322172e-02 9.98576716e-01 -4.65705473e-04 -2.57464357e+02] [-8.28003437e-03 -2.41312632e-05 -9.99965720e-01 -1.80278735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1039.6865599950002 meters 0.013667477424492938 Centerline is valid? [True, True] Translation: X:-279.69, Y:-257.44, Z:-1.80 [[-9.99805788e-01 -1.74199603e-02 9.21582641e-03 -2.79689529e+02] [-1.74194311e-02 9.99848261e-01 1.37693427e-04 -2.57436096e+02] [-9.21682662e-03 -2.28677679e-05 -9.99957524e-01 -1.80274397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1039.7165599950001 meters 0.013695908526248057 Centerline is valid? [True, True] Translation: X:-279.70, Y:-256.74, Z:-2.78 [[-9.98480258e-01 -5.43876756e-02 8.89694641e-03 -2.79695286e+02] [ 5.43855339e-02 -9.98519895e-01 -4.82662653e-04 -2.56735425e+02] [ 8.91002889e-03 1.93605085e-06 9.99960305e-01 -2.78211040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1039.746559995 meters 0.013651018404640792 Centerline is valid? [True, True] Translation: X:-279.77, Y:-257.44, Z:-1.80 [[-9.99692523e-01 -2.30479386e-02 9.14620325e-03 -2.79772352e+02] [-2.30471887e-02 9.99734361e-01 1.87385271e-04 -2.57437113e+02] [-9.14809251e-03 -2.34666188e-05 -9.99958155e-01 -1.80211568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1039.776559995 meters 0.013740729525020357 Centerline is valid? [True, True] Translation: X:-279.78, Y:-257.41, Z:-1.80 [[-9.95528176e-01 -9.40008582e-02 9.35361196e-03 -2.79779999e+02] [-9.39969249e-02 9.95572116e-01 8.60208723e-04 -2.57409051e+02] [-9.39305561e-03 -2.28487407e-05 -9.99955884e-01 -1.80180637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1039.806559995 meters 0.013740729525020357 Centerline is valid? [True, True] Translation: X:-279.79, Y:-257.38, Z:-1.80 [[-9.86279907e-01 -1.64821247e-01 9.26830976e-03 -2.79791404e+02] [-1.64814188e-01 9.86323454e-01 1.52563135e-03 -2.57382456e+02] [-9.39300776e-03 -2.28493972e-05 -9.99955885e-01 -1.80180703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1039.836559995 meters 0.013708524316722712 Centerline is valid? [True, True] Translation: X:-279.82, Y:-257.36, Z:-1.80 [[-9.71933114e-01 -2.35071625e-01 9.34628741e-03 -2.79816369e+02] [-2.35060961e-01 9.71978051e-01 2.23912193e-03 -2.57358751e+02] [-9.61074025e-03 -2.06705535e-05 -9.99953816e-01 -1.80111525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1039.866559995 meters 0.013575241596123212 Centerline is valid? [True, True] Translation: X:-279.86, Y:-257.34, Z:-1.80 [[-9.52651890e-01 -3.03927629e-01 9.07596760e-03 -2.79857597e+02] [-3.03913937e-01 9.52695122e-01 2.88499277e-03 -2.57341560e+02] [-9.52345908e-03 -9.91922918e-06 -9.99954651e-01 -1.80115447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1039.896559995 meters 0.013642439301423523 Centerline is valid? [True, True] Translation: X:-279.92, Y:-257.33, Z:-1.80 [[-9.27987259e-01 -3.72510403e-01 8.69753432e-03 -2.79918923e+02] [-3.72494066e-01 9.28028017e-01 3.48867780e-03 -2.57334199e+02] [-9.37112430e-03 -2.33137500e-06 -9.99956090e-01 -1.80110298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1039.9265599950002 meters 0.013521053933237518 Centerline is valid? [True, True] Translation: X:-279.98, Y:-257.33, Z:-1.80 [[-8.98620889e-01 -4.38662871e-01 7.44210260e-03 -2.79983784e+02] [-4.38647727e-01 8.98651705e-01 3.64498320e-03 -2.57334331e+02] [-8.28677698e-03 1.09966565e-05 -9.99965664e-01 -1.80228109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1039.9565599950001 meters 0.013545960478084797 Centerline is valid? [True, True] Translation: X:-280.06, Y:-257.35, Z:-1.80 [[-8.63906396e-01 -5.03608243e-01 6.66910535e-03 -2.80060596e+02] [-5.03593092e-01 8.63932137e-01 3.90654648e-03 -2.57345166e+02] [-7.72902345e-03 1.63751031e-05 -9.99970131e-01 -1.80322995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1039.986559995 meters 0.01350211030976668 Centerline is valid? [True, True] Translation: X:-280.14, Y:-257.36, Z:-1.80 [[-8.24608551e-01 -5.65667419e-01 6.41168310e-03 -2.80140910e+02] [-5.65650053e-01 8.24633476e-01 4.43245593e-03 -2.57364560e+02] [-7.79458443e-03 2.82721674e-05 -9.99969622e-01 -1.80328926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1040.016559995 meters 0.01350211030976668 Centerline is valid? [True, True] Translation: X:-280.23, Y:-257.39, Z:-1.80 [[-7.79713312e-01 -6.26107361e-01 6.05998471e-03 -2.80227264e+02] [-6.26088169e-01 7.79736861e-01 4.90225637e-03 -2.57394128e+02] [-7.79453225e-03 2.82698197e-05 -9.99969622e-01 -1.80329138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1040.046559995 meters 0.013564045695539134 Centerline is valid? [True, True] Translation: X:-280.32, Y:-257.44, Z:-1.80 [[-7.30544618e-01 -6.82838472e-01 6.01516188e-03 -2.80321657e+02] [-6.82814948e-01 7.30569381e-01 5.66807976e-03 -2.57439684e+02] [-8.26487601e-03 3.35427160e-05 -9.99965845e-01 -1.80230827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1040.076559995 meters 0.013486192603963824 Centerline is valid? [True, True] Translation: X:-280.40, Y:-257.48, Z:-1.80 [[-6.76446548e-01 -7.36471407e-01 5.47131983e-03 -2.80404763e+02] [-7.36446944e-01 6.76468674e-01 6.00266904e-03 -2.57484015e+02] [-8.12197058e-03 3.11479807e-05 -9.99967016e-01 -1.80216028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1040.106559995 meters 0.013407079140973534 Centerline is valid? [True, True] Translation: X:-280.49, Y:-257.54, Z:-1.80 [[-6.17533925e-01 -7.86529476e-01 4.82030946e-03 -2.80492822e+02] [-7.86505255e-01 6.17552737e-01 6.17264673e-03 -2.57543308e+02] [-7.83176390e-03 2.06200400e-05 -9.99969331e-01 -1.80213361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1040.136559995 meters 0.013422502326133396 Centerline is valid? [True, True] Translation: X:-280.58, Y:-257.61, Z:-1.80 [[-5.54978254e-01 -8.31853648e-01 4.31805493e-03 -2.80576650e+02] [-8.31828284e-01 5.54995052e-01 6.49602630e-03 -2.57610334e+02] [-7.80024230e-03 1.32731110e-05 -9.99969578e-01 -1.80217641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1040.166559995 meters 0.013324798523119805 Centerline is valid? [True, True] Translation: X:-280.66, Y:-257.69, Z:-1.80 [[-4.89034046e-01 -8.72256154e-01 3.86062364e-03 -2.80657751e+02] [-8.72228869e-01 4.89049284e-01 6.89909103e-03 -2.57687854e+02] [-7.90580984e-03 6.54300730e-06 -9.99968749e-01 -1.80216810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1040.1965599950001 meters 0.013327051222208028 Centerline is valid? [True, True] Translation: X:-280.74, Y:-257.78, Z:-1.80 [[-4.18668808e-01 -9.08131594e-01 3.66566199e-03 -2.80735880e+02] [-9.08097065e-01 4.18684854e-01 7.91916260e-03 -2.57775060e+02] [-8.72639892e-03 -1.32705336e-05 -9.99961924e-01 -1.80122368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1040.2265599950001 meters 0.013480127459603917 Centerline is valid? [True, True] Translation: X:-280.81, Y:-257.87, Z:-1.80 [[-3.46642990e-01 -9.37991616e-01 3.21963530e-03 -2.80805335e+02] [-9.37951844e-01 3.46657941e-01 8.63779234e-03 -2.57865556e+02] [-9.21828894e-03 -2.56327011e-05 -9.99957511e-01 -1.80058923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1040.256559995 meters 0.013596735715953698 Centerline is valid? [True, True] Translation: X:-280.87, Y:-257.97, Z:-1.80 [[-2.72571204e-01 -9.62132347e-01 2.50721992e-03 -2.80869149e+02] [-9.62092837e-01 2.72582733e-01 8.71934077e-03 -2.57965156e+02] [-9.07258465e-03 -3.55371130e-05 -9.99958843e-01 -1.79912211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1040.286559995 meters 0.013626019168720499 Centerline is valid? [True, True] Translation: X:-280.92, Y:-258.07, Z:-1.80 [[-1.95589887e-01 -9.80684080e-01 1.82518342e-03 -2.80924914e+02] [-9.80644052e-01 1.95598395e-01 8.86065418e-03 -2.58070230e+02] [-9.04650544e-03 -5.68009147e-05 -9.99959078e-01 -1.80051098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1040.316559995 meters 0.01373866766136725 Centerline is valid? [True, True] Translation: X:-281.62, Y:-258.04, Z:-2.78 [[-2.74352603e-01 9.61626426e-01 2.29474273e-03 -2.81624025e+02] [-9.61592560e-01 -2.74362200e-01 8.07049550e-03 -2.58039467e+02] [ 8.39039241e-03 7.55391283e-06 9.99964800e-01 -2.78347621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1040.346559995 meters 0.013911546002284007 Centerline is valid? [True, True] Translation: X:-280.99, Y:-258.35, Z:-1.80 [[-1.82911126e-01 -9.83128230e-01 1.55052073e-03 -2.80987647e+02] [-9.83096336e-01 1.82917682e-01 7.91932233e-03 -2.58349399e+02] [-8.06932700e-03 -7.57790791e-05 -9.99967440e-01 -1.80167565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1040.376559995 meters 0.013953209539013908 Centerline is valid? [True, True] Translation: X:-281.03, Y:-258.46, Z:-1.80 [[-1.06138060e-01 -9.94351001e-01 8.93817497e-04 -2.81033216e+02] [-9.94321645e-01 1.06141795e-01 7.64109621e-03 -2.58457968e+02] [-7.69280306e-03 -7.77309523e-05 -9.99970407e-01 -1.80209744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1040.406559995 meters 0.014074466671011192 Centerline is valid? [True, True] Translation: X:-281.07, Y:-258.57, Z:-1.80 [[-2.86922246e-02 -9.99588248e-01 3.01498698e-04 -2.81070804e+02] [-9.99559096e-01 2.86936906e-02 7.63449174e-03 -2.58573789e+02] [-7.63999933e-03 -8.23152144e-05 -9.99970812e-01 -1.80216970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1040.4365599950002 meters 0.01463846117418502 Centerline is valid? [True, True] Translation: X:-281.10, Y:-258.70, Z:-1.80 [[ 5.00451232e-02 -9.98746921e-01 -2.72932876e-04 -2.81100002e+02] [-9.98720396e-01 -5.00457834e-02 7.27939067e-03 -2.58697415e+02] [-7.28392816e-03 -9.17143730e-05 -9.99973468e-01 -1.80181291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1040.4665599950001 meters 0.014923580063642384 Centerline is valid? [True, True] Translation: X:-281.12, Y:-258.81, Z:-1.80 [[ 1.27605321e-01 -9.91824653e-01 -8.60763838e-04 -2.81119901e+02] [-9.91796422e-01 -1.27608184e-01 7.48386999e-03 -2.58808344e+02] [-7.53252726e-03 -1.01279136e-04 -9.99971625e-01 -1.80122559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1040.496559995 meters 0.014813874834054162 Centerline is valid? [True, True] Translation: X:-281.13, Y:-258.93, Z:-1.80 [[ 2.04990552e-01 -9.78762560e-01 -1.65059746e-03 -2.81128371e+02] [-9.78725569e-01 -2.04997157e-01 8.51040447e-03 -2.58932302e+02] [-8.66803305e-03 -1.29070572e-04 -9.99962424e-01 -1.80052962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1040.526559995 meters 0.014933625303340983 Centerline is valid? [True, True] Translation: X:-281.13, Y:-259.05, Z:-1.80 [[ 2.79916162e-01 -9.60021636e-01 -2.32418117e-03 -2.81129309e+02] [-9.59984509e-01 -2.79925779e-01 8.44395106e-03 -2.59051586e+02] [-8.75697393e-03 -1.32420455e-04 -9.99961648e-01 -1.80008650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1040.556559995 meters 0.015141680898344173 Centerline is valid? [True, True] Translation: X:-281.12, Y:-259.17, Z:-1.80 [[ 3.52997014e-01 -9.35619837e-01 -2.93756905e-03 -2.81121790e+02] [-9.35584272e-01 -3.53009212e-01 8.15881554e-03 -2.59165828e+02] [-8.67053860e-03 -1.31694122e-04 -9.99962402e-01 -1.79964543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1040.586559995 meters 0.01512117398315241 Centerline is valid? [True, True] Translation: X:-281.10, Y:-259.28, Z:-1.80 [[ 4.23475446e-01 -9.05900398e-01 -3.60766642e-03 -2.81103528e+02] [-9.05864869e-01 -4.23490793e-01 8.02415856e-03 -2.59282413e+02] [-8.79690195e-03 -1.29975852e-04 -9.99961298e-01 -1.80001040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1040.616559995 meters 0.01507415870076304 Centerline is valid? [True, True] Translation: X:-281.08, Y:-259.40, Z:-1.80 [[ 4.91398288e-01 -8.70926011e-01 -3.95042134e-03 -2.81076587e+02] [-8.70895902e-01 -4.91414152e-01 7.24292249e-03 -2.59396351e+02] [-8.24934255e-03 -1.18753959e-04 -9.99965967e-01 -1.80036630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1040.646559995 meters 0.01482467234227873 Centerline is valid? [True, True] Translation: X:-281.04, Y:-259.51, Z:-1.80 [[ 5.55510486e-01 -8.31500690e-01 -3.83436882e-03 -2.81038700e+02] [-8.31479736e-01 -5.55523712e-01 5.90374680e-03 -2.59508479e+02] [-7.03905234e-03 -9.13932796e-05 -9.99975222e-01 -1.80139215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1040.6765599950002 meters 0.014445604548927703 Centerline is valid? [True, True] Translation: X:-281.00, Y:-259.61, Z:-1.80 [[ 6.16829850e-01 -7.87086498e-01 -3.97259625e-03 -2.81000171e+02] [-7.87069344e-01 -6.16842637e-01 5.19693160e-03 -2.59607726e+02] [-6.54090144e-03 -7.89138170e-05 -9.99978605e-01 -1.80215418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1040.7065599950001 meters 0.014322729681885199 Centerline is valid? [True, True] Translation: X:-280.95, Y:-259.71, Z:-1.80 [[ 6.74356827e-01 -7.38395049e-01 -3.95244148e-03 -2.80950170e+02] [-7.38381799e-01 -6.74368407e-01 4.42392081e-03 -2.59708594e+02] [-5.93200288e-03 -6.48903441e-05 -9.99982404e-01 -1.80205297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1040.736559995 meters 0.01459758443591219 Centerline is valid? [True, True] Translation: X:-280.90, Y:-259.80, Z:-1.80 [[ 7.28385135e-01 -6.85156318e-01 -3.98945185e-03 -2.80898335e+02] [-6.85145605e-01 -7.28396058e-01 3.83187287e-03 -2.59802518e+02] [-5.53133290e-03 -5.77238368e-05 -9.99984701e-01 -1.80147508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1040.766559995 meters 0.014340210293628981 Centerline is valid? [True, True] Translation: X:-280.90, Y:-259.81, Z:-1.80 [[ 7.79551938e-01 -6.26322730e-01 -4.31450612e-03 -2.80899043e+02] [-6.26312733e-01 -7.79563875e-01 3.53919576e-03 -2.59807283e+02] [-5.58011186e-03 -5.67567933e-05 -9.99984430e-01 -1.80168944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1040.796559995 meters 0.014257399236815507 Centerline is valid? [True, True] Translation: X:-280.90, Y:-259.81, Z:-1.80 [[ 8.26030366e-01 -5.63601558e-01 -5.20753650e-03 -2.80899300e+02] [-5.63589875e-01 -8.26046778e-01 3.62954710e-03 -2.59811699e+02] [-6.34728715e-03 -6.32012723e-05 -9.99979854e-01 -1.80108993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1040.826559995 meters 0.014181625183978258 Centerline is valid? [True, True] Translation: X:-280.90, Y:-259.82, Z:-1.80 [[ 8.67626123e-01 -4.97182869e-01 -5.84001596e-03 -2.80901237e+02] [-4.97171076e-01 -8.67645775e-01 3.42517265e-03 -2.59818957e+02] [-6.77000234e-03 -6.82822502e-05 -9.99977081e-01 -1.80102281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1040.856559995 meters 0.014380033369082867 Centerline is valid? [True, True] Translation: X:-280.90, Y:-259.83, Z:-1.80 [[ 9.03996750e-01 -4.27487955e-01 -6.62758959e-03 -2.80903139e+02] [-4.27475840e-01 -9.04021041e-01 3.21920898e-03 -2.59826454e+02] [-7.36765350e-03 -7.70200241e-05 -9.99972856e-01 -1.80012119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1040.886559995 meters 0.014502012217562553 Centerline is valid? [True, True] Translation: X:-280.90, Y:-259.83, Z:-1.80 [[ 9.35203564e-01 -3.54042714e-01 -6.93182478e-03 -2.80903476e+02] [-3.54032278e-01 -9.35229250e-01 2.71973239e-03 -2.59833266e+02] [-7.44574672e-03 -8.94137087e-05 -9.99972276e-01 -1.79986507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1040.916559995 meters 0.014704954326292801 Centerline is valid? [True, True] Translation: X:-280.90, Y:-259.84, Z:-1.80 [[ 9.60401835e-01 -2.78530736e-01 -6.99606483e-03 -2.80903654e+02] [-2.78522604e-01 -9.60427311e-01 2.13064459e-03 -2.59842137e+02] [-7.31266174e-03 -9.77127776e-05 -9.99973258e-01 -1.79987187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1040.9465599950001 meters 0.014879539811827281 Centerline is valid? [True, True] Translation: X:-280.90, Y:-259.85, Z:-1.80 [[ 9.79519014e-01 -2.01209260e-01 -7.57203969e-03 -2.80903727e+02] [-2.01202343e-01 -9.79548274e-01 1.67231739e-03 -2.59850924e+02] [-7.75366415e-03 -1.14554550e-04 -9.99969934e-01 -1.79957473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1040.9765599950001 meters 0.01536749457868192 Centerline is valid? [True, True] Translation: X:-280.91, Y:-259.86, Z:-1.80 [[ 9.92445639e-01 -1.22390054e-01 -8.50457125e-03 -2.80905149e+02] [-1.22384350e-01 -9.92482068e-01 1.18983903e-03 -2.59859694e+02] [-8.58625893e-03 -1.40024131e-04 -9.99963128e-01 -1.79920842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1041.006559995 meters 0.016600481770617924 Centerline is valid? [True, True] Translation: X:-280.91, Y:-259.87, Z:-1.80 [[ 9.99048358e-01 -4.26810137e-02 -8.98388262e-03 -2.80907578e+02] [-4.26778351e-02 -9.99088737e-01 5.45311841e-04 -2.59868112e+02] [-8.99897040e-03 -1.61380239e-04 -9.99959496e-01 -1.79776656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1041.036559995 meters 0.016203665175383738 Centerline is valid? [True, True] Translation: X:-280.91, Y:-259.87, Z:-1.80 [[ 9.99203006e-01 3.87359924e-02 -9.63724336e-03 -2.80908962e+02] [ 3.87361390e-02 -9.99249459e-01 -1.71513992e-04 -2.59874770e+02] [-9.63665399e-03 -2.01932303e-04 -9.99953546e-01 -1.79828234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1041.066559995 meters 0.018017427747347693 Centerline is valid? [True, True] Translation: X:-280.91, Y:-259.89, Z:-1.80 [[ 9.92985121e-01 1.17859791e-01 -9.46670243e-03 -2.80910384e+02] [ 1.17856442e-01 -9.93030224e-01 -9.12793869e-04 -2.59885665e+02] [-9.50830333e-03 -2.09321139e-04 -9.99954773e-01 -1.79673386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1041.096559995 meters 0.018429980586440263 Centerline is valid? [True, True] Translation: X:-280.91, Y:-259.89, Z:-1.80 [[ 9.80474961e-01 1.96456627e-01 -8.58162205e-03 -2.80910821e+02] [ 1.96450908e-01 -9.80512495e-01 -1.51269661e-03 -2.59887343e+02] [-8.71156692e-03 -2.02706290e-04 -9.99962033e-01 -1.79714818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1041.126559995 meters 0.018429980586440263 Centerline is valid? [True, True] Translation: X:-280.91, Y:-259.89, Z:-1.80 [[ 9.62094786e-01 2.72584741e-01 -8.43688777e-03 -2.80911873e+02] [ 2.72576102e-01 -9.62131757e-01 -2.17961083e-03 -2.59888417e+02] [-8.71152631e-03 -2.02701767e-04 -9.99962034e-01 -1.79714855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1041.156559995 meters 0.017621110609211784 Centerline is valid? [True, True] Translation: X:-280.91, Y:-259.89, Z:-1.80 [[ 9.37985379e-01 3.46593053e-01 -7.52899163e-03 -2.80912340e+02] [ 3.46583432e-01 -9.38015577e-01 -2.58877680e-03 -2.59890702e+02] [-7.95956348e-03 -1.81188971e-04 -9.99968306e-01 -1.79807610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1041.1865599950002 meters 0.01624280773573168 Centerline is valid? [True, True] Translation: X:-280.91, Y:-259.90, Z:-1.80 [[ 9.08415055e-01 4.18017980e-01 -6.56176571e-03 -2.80911276e+02] [ 4.18008306e-01 -9.08438740e-01 -2.84814884e-03 -2.59896464e+02] [-7.15153960e-03 -1.55571282e-04 -9.99974415e-01 -1.79928711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1041.2165599950001 meters 0.015363458501471276 Centerline is valid? [True, True] Translation: X:-280.91, Y:-259.90, Z:-1.80 [[ 8.74544832e-01 4.84926136e-01 -4.24017693e-03 -2.80909446e+02] [ 4.84920926e-01 -8.74555107e-01 -2.24965866e-03 -2.59902912e+02] [-4.79918667e-03 -8.87231678e-05 -9.99988480e-01 -1.80093154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1041.246559995 meters 0.015030022560195989 Centerline is valid? [True, True] Translation: X:-280.91, Y:-259.91, Z:-1.80 [[ 8.35043823e-01 5.50173725e-01 -3.26896166e-03 -2.80907175e+02] [ 5.50169807e-01 -8.35050219e-01 -2.07731685e-03 -2.59910037e+02] [-3.87263230e-03 -6.38334045e-05 -9.99992499e-01 -1.80173801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1041.276559995 meters 0.014948675118829724 Centerline is valid? [True, True] Translation: X:-280.91, Y:-259.92, Z:-1.80 [[ 7.90519097e-01 6.12431770e-01 -2.62397551e-03 -2.80905078e+02] [ 6.12428598e-01 -7.90523450e-01 -1.97164947e-03 -2.59916887e+02] [-3.28181495e-03 -4.83710859e-05 -9.99994614e-01 -1.80244173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1041.306559995 meters 0.014135157908913239 Centerline is valid? [True, True] Translation: X:-280.90, Y:-259.92, Z:-1.80 [[ 7.42285523e-01 6.70080165e-01 -2.18525195e-03 -2.80902540e+02] [ 6.70077395e-01 -7.42288739e-01 -1.92711661e-03 -2.59921973e+02] [-2.91341053e-03 -3.38171733e-05 -9.99995756e-01 -1.80255927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1041.336559995 meters 0.014094109508688816 Centerline is valid? [True, True] Translation: X:-280.90, Y:-259.93, Z:-1.80 [[ 6.88232101e-01 7.25486514e-01 -2.42769604e-03 -2.80899483e+02] [ 7.25482189e-01 -6.88236382e-01 -2.50524109e-03 -2.59929444e+02] [-3.48834737e-03 -3.70628978e-05 -9.99993915e-01 -1.80200399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1041.366559995 meters 0.013901779937124891 Centerline is valid? [True, True] Translation: X:-280.90, Y:-259.94, Z:-1.80 [[ 6.30137411e-01 7.76478380e-01 -2.85800517e-03 -2.80895305e+02] [ 7.76470698e-01 -6.30143891e-01 -3.45427933e-03 -2.59936524e+02] [-4.48312772e-03 -4.24866314e-05 -9.99989950e-01 -1.80056372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1041.396559995 meters 0.013841904565704404 Centerline is valid? [True, True] Translation: X:-280.89, Y:-259.94, Z:-1.80 [[ 5.67625946e-01 8.23281867e-01 -2.78450749e-03 -2.80889832e+02] [ 8.23272342e-01 -5.67632774e-01 -3.96039330e-03 -2.59943919e+02] [-4.84109770e-03 -4.43860160e-05 -9.99988281e-01 -1.79979597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1041.4265599950002 meters 0.013938118555656498 Centerline is valid? [True, True] Translation: X:-280.88, Y:-259.95, Z:-1.80 [[ 5.02070716e-01 8.64821289e-01 -3.02237733e-03 -2.80884018e+02] [ 8.64806212e-01 -5.02079810e-01 -5.10689212e-03 -2.59951143e+02] [-5.93402366e-03 -4.97497110e-05 -9.99982392e-01 -1.79880703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1041.4565599950001 meters 0.013819645401051952 Centerline is valid? [True, True] Translation: X:-280.88, Y:-259.96, Z:-1.80 [[ 4.33056328e-01 9.01362750e-01 -2.72205177e-03 -2.80876873e+02] [ 9.01345666e-01 -4.33064880e-01 -5.54989781e-03 -2.59957060e+02] [-6.18129618e-03 -5.00911989e-05 -9.99980895e-01 -1.79861569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1041.486559995 meters 0.013683515836929469 Centerline is valid? [True, True] Translation: X:-280.87, Y:-259.96, Z:-1.80 [[ 3.61789828e-01 9.32256903e-01 -2.27747136e-03 -2.80870287e+02] [ 9.32239221e-01 -3.61796994e-01 -5.74195323e-03 -2.59962672e+02] [-6.17695783e-03 -4.57678540e-05 -9.99980922e-01 -1.79845846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1041.516559995 meters 0.013775907008803906 Centerline is valid? [True, True] Translation: X:-280.86, Y:-259.97, Z:-1.80 [[ 2.88636850e-01 9.57436803e-01 -1.88084773e-03 -2.80863756e+02] [ 9.57417389e-01 -2.88642975e-01 -6.09727974e-03 -2.59967575e+02] [-6.38065350e-03 -4.08567030e-05 -9.99979643e-01 -1.79825140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1041.546559995 meters 0.013551178104116136 Centerline is valid? [True, True] Translation: X:-280.86, Y:-259.97, Z:-1.80 [[ 2.13376978e-01 9.76968888e-01 -1.43446368e-03 -2.80857354e+02] [ 9.76947981e-01 -2.13381796e-01 -6.39156449e-03 -2.59971983e+02] [-6.55044809e-03 -3.75836796e-05 -9.99978545e-01 -1.79846685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1041.576559995 meters 0.013435565129954414 Centerline is valid? [True, True] Translation: X:-280.85, Y:-259.98, Z:-1.80 [[ 1.37948035e-01 9.90438992e-01 -9.71052481e-04 -2.80849800e+02] [ 9.90415828e-01 -1.37951450e-01 -6.77387104e-03 -2.59975665e+02] [-6.84306411e-03 -2.73035445e-05 -9.99976586e-01 -1.79807900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1041.606559995 meters 0.013434370253438813 Centerline is valid? [True, True] Translation: X:-280.84, Y:-259.98, Z:-1.80 [[ 6.06253963e-02 9.98160484e-01 -4.57738234e-04 -2.80843046e+02] [ 9.98134891e-01 -6.06271197e-02 -7.14786258e-03 -2.59980103e+02] [-7.16246532e-03 -2.35425009e-05 -9.99974349e-01 -1.79776596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1041.636559995 meters 0.01336756114764876 Centerline is valid? [True, True] Translation: X:-280.84, Y:-259.98, Z:-1.80 [[-1.69440752e-02 9.99856434e-01 9.93855407e-05 -2.80836746e+02] [ 9.99832788e-01 1.69443580e-02 -6.87646070e-03 -2.59983409e+02] [-6.87715750e-03 -1.71463449e-05 -9.99976352e-01 -1.79736515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1041.666559995 meters 0.013257565857294887 Centerline is valid? [True, True] Translation: X:-280.83, Y:-259.99, Z:-1.80 [[-9.34268356e-02 9.95625931e-01 6.57474546e-04 -2.80830385e+02] [ 9.95600898e-01 9.34291489e-02 -7.06018146e-03 -2.59986173e+02] [-7.09072702e-03 -5.02816396e-06 -9.99974861e-01 -1.79769271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1041.6965599950001 meters 0.013222721811697128 Centerline is valid? [True, True] Translation: X:-280.82, Y:-259.99, Z:-1.80 [[-1.70007267e-01 9.85442045e-01 1.22723019e-03 -2.80820925e+02] [ 9.85416501e-01 1.70011697e-01 -7.09525290e-03 -2.59987437e+02] [-7.20060401e-03 3.08832668e-06 -9.99974075e-01 -1.79780208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1041.7265599950001 meters 0.013276558859405402 Centerline is valid? [True, True] Translation: X:-280.81, Y:-259.99, Z:-1.80 [[-2.45486441e-01 9.69398473e-01 1.73453145e-03 -2.80811246e+02] [ 9.69374609e-01 2.45492569e-01 -6.80189901e-03 -2.59989846e+02] [-7.01956510e-03 1.16367660e-05 -9.99975363e-01 -1.79750128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1041.756559995 meters 0.013239193009853772 Centerline is valid? [True, True] Translation: X:-280.80, Y:-259.99, Z:-1.80 [[-3.18630652e-01 9.47876875e-01 1.98446295e-03 -2.80802809e+02] [ 9.47858946e-01 3.18636831e-01 -5.82995047e-03 -2.59990492e+02] [-6.15839821e-03 2.33900400e-05 -9.99981037e-01 -1.79798072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1041.786559995 meters 0.01341148841615941 Centerline is valid? [True, True] Translation: X:-280.79, Y:-259.99, Z:-1.80 [[-3.90776453e-01 9.20482733e-01 2.30246301e-03 -2.80794650e+02] [ 9.20467196e-01 3.90783235e-01 -5.34837286e-03 -2.59992086e+02] [-5.82284881e-03 2.93234975e-05 -9.99983047e-01 -1.79831715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1041.816559995 meters 0.013432272203103272 Centerline is valid? [True, True] Translation: X:-280.79, Y:-259.99, Z:-1.80 [[-4.60726179e-01 8.87538828e-01 2.49346992e-03 -2.80785344e+02] [ 8.87526213e-01 4.60732925e-01 -4.73211819e-03 -2.59991514e+02] [-5.34876232e-03 3.28091853e-05 -9.99985695e-01 -1.79889950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1041.846559995 meters 0.013569730858268281 Centerline is valid? [True, True] Translation: X:-280.78, Y:-259.99, Z:-1.80 [[-5.28036895e-01 8.49216722e-01 2.82799121e-03 -2.80777182e+02] [ 8.49204920e-01 5.28044466e-01 -4.47729364e-03 -2.59990707e+02] [-5.29549773e-03 3.73678239e-05 -9.99985978e-01 -1.79944088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1041.876559995 meters 0.013684401587473126 Centerline is valid? [True, True] Translation: X:-280.77, Y:-259.99, Z:-1.80 [[-5.91800275e-01 8.06078051e-01 3.25730462e-03 -2.80769057e+02] [ 8.06066269e-01 5.91809238e-01 -4.35857509e-03 -2.59990268e+02] [-5.44105468e-03 4.61974451e-05 -9.99985196e-01 -1.79967022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1041.906559995 meters 0.013753411839730466 Centerline is valid? [True, True] Translation: X:-280.76, Y:-259.99, Z:-1.80 [[-6.52961653e-01 7.57382507e-01 3.58017626e-03 -2.80761120e+02] [ 7.57371518e-01 6.52971466e-01 -4.08017519e-03 -2.59988626e+02] [-5.42800626e-03 4.73255981e-05 -9.99985267e-01 -1.79935768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1041.9365599950002 meters 0.014018261434904004 Centerline is valid? [True, True] Translation: X:-280.75, Y:-259.99, Z:-1.80 [[-7.10298148e-01 7.03888567e-01 4.17460627e-03 -2.80754004e+02] [ 7.03876827e-01 7.10310413e-01 -4.06555914e-03 -2.59987514e+02] [-5.82696690e-03 5.06494960e-05 -9.99983022e-01 -1.79831186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1041.9665599950001 meters 0.013722897781788274 Centerline is valid? [True, True] Translation: X:-280.25, Y:-259.47, Z:-2.79 [[-6.74046418e-01 -7.38674285e-01 4.66127042e-03 -2.80247712e+02] [ 7.38656664e-01 -6.74062535e-01 -5.10220836e-03 -2.59469339e+02] [ 6.91085787e-03 3.95319281e-06 9.99976120e-01 -2.78664222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1041.996559995 meters 0.013575209970780662 Centerline is valid? [True, True] Translation: X:-280.27, Y:-259.45, Z:-2.79 [[-6.73976314e-01 -7.38737997e-01 4.70103622e-03 -2.80266902e+02] [ 7.38719457e-01 -6.73992707e-01 -5.23404675e-03 -2.59449642e+02] [ 7.03505333e-03 -5.48766105e-05 9.99975252e-01 -2.78666653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1042.026559995 meters 0.013498640533045076 Centerline is valid? [True, True] Translation: X:-280.29, Y:-259.43, Z:-2.79 [[-6.73302659e-01 -7.39352652e-01 4.60284708e-03 -2.80286155e+02] [ 7.39334916e-01 -6.73318390e-01 -5.12134085e-03 -2.59431945e+02] [ 6.88565853e-03 -4.51668524e-05 9.99976293e-01 -2.78744176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1042.056559995 meters 0.013365346216122474 Centerline is valid? [True, True] Translation: X:-280.31, Y:-259.41, Z:-2.79 [[-6.72900844e-01 -7.39717949e-01 4.67004139e-03 -2.80305363e+02] [ 7.39699723e-01 -6.72917048e-01 -5.19283790e-03 -2.59413130e+02] [ 6.98378587e-03 -3.98366812e-05 9.99975612e-01 -2.78715841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1042.086559995 meters 0.01327716076617732 Centerline is valid? [True, True] Translation: X:-280.33, Y:-259.39, Z:-2.79 [[-6.72302639e-01 -7.40262093e-01 4.60374240e-03 -2.80325010e+02] [ 7.40244416e-01 -6.72318401e-01 -5.11588385e-03 -2.59393812e+02] [ 6.88227562e-03 -3.15276076e-05 9.99976317e-01 -2.78710767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1042.116559995 meters 0.01335818570312739 Centerline is valid? [True, True] Translation: X:-280.35, Y:-259.38, Z:-2.79 [[-6.70814311e-01 -7.41610821e-01 4.64220764e-03 -2.80345745e+02] [ 7.41592902e-01 -6.70830373e-01 -5.15537833e-03 -2.59375188e+02] [ 6.93741824e-03 -1.56733329e-05 9.99975936e-01 -2.78714869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1042.146559995 meters 0.013176448158756147 Centerline is valid? [True, True] Translation: X:-280.37, Y:-259.36, Z:-2.79 [[-6.69857607e-01 -7.42473174e-01 4.93676545e-03 -2.80366042e+02] [ 7.42452955e-01 -6.69875799e-01 -5.47941864e-03 -2.59355065e+02] [ 7.37534106e-03 -5.11416433e-06 9.99972802e-01 -2.78725327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1042.1765599950002 meters 0.01312015945542155 Centerline is valid? [True, True] Translation: X:-280.39, Y:-259.34, Z:-2.79 [[-6.68982128e-01 -7.43260142e-01 5.22233175e-03 -2.80385513e+02] [ 7.43237569e-01 -6.69002512e-01 -5.79271715e-03 -2.59335894e+02] [ 7.79924883e-03 6.20890504e-06 9.99969586e-01 -2.78757595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1042.2065599950001 meters 0.01321981083582886 Centerline is valid? [True, True] Translation: X:-280.40, Y:-259.32, Z:-2.79 [[-6.68036705e-01 -7.44109733e-01 5.25984040e-03 -2.80404668e+02] [ 7.44086891e-01 -6.68057412e-01 -5.83046881e-03 -2.59317589e+02] [ 7.85238395e-03 1.88111204e-05 9.99969170e-01 -2.78807076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1042.236559995 meters 0.013376684953949908 Centerline is valid? [True, True] Translation: X:-280.43, Y:-259.30, Z:-2.79 [[-6.65544102e-01 -7.46338146e-01 5.51543039e-03 -2.80425832e+02] [ 7.46313138e-01 -6.65566953e-01 -6.10993428e-03 -2.59299799e+02] [ 8.23096522e-03 4.98074380e-05 9.99966124e-01 -2.78851316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1042.266559995 meters 0.01364048244836991 Centerline is valid? [True, True] Translation: X:-280.44, Y:-259.28, Z:-2.79 [[-6.64343579e-01 -7.47406370e-01 5.59700478e-03 -2.80444961e+02] [ 7.47380689e-01 -6.64367153e-01 -6.19619248e-03 -2.59281582e+02] [ 8.34953986e-03 6.66925940e-05 9.99965140e-01 -2.78877081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1042.296559995 meters 0.013703304121143806 Centerline is valid? [True, True] Translation: X:-280.46, Y:-259.26, Z:-2.79 [[-6.63323796e-01 -7.48310412e-01 5.75057447e-03 -2.80464836e+02] [ 7.48283366e-01 -6.63348718e-01 -6.36261366e-03 -2.59261361e+02] [ 8.57584625e-03 8.25861719e-05 9.99963224e-01 -2.78841272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1042.326559995 meters 0.01415290430623797 Centerline is valid? [True, True] Translation: X:-280.48, Y:-259.24, Z:-2.79 [[-6.62157022e-01 -7.49343038e-01 5.75241876e-03 -2.80484784e+02] [ 7.49316046e-01 -6.62182001e-01 -6.36086663e-03 -2.59242430e+02] [ 8.57561928e-03 9.84871767e-05 9.99963224e-01 -2.78877789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1042.356559995 meters 0.01453402691973772 Centerline is valid? [True, True] Translation: X:-280.51, Y:-259.22, Z:-2.79 [[-6.60281553e-01 -7.50992571e-01 6.19914266e-03 -2.80506081e+02] [ 7.50961332e-01 -6.60310640e-01 -6.85102923e-03 -2.59223428e+02] [ 9.23843191e-03 1.31708210e-04 9.99957316e-01 -2.78898476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1042.386559995 meters 0.015047487322995361 Centerline is valid? [True, True] Translation: X:-280.53, Y:-259.21, Z:-2.79 [[-6.59881559e-01 -7.51342305e-01 6.40852896e-03 -2.80525140e+02] [ 7.51308969e-01 -6.59912661e-01 -7.07900965e-03 -2.59205418e+02] [ 9.54782883e-03 1.43477362e-04 9.99954408e-01 -2.78977896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1042.416559995 meters 0.01529971123100417 Centerline is valid? [True, True] Translation: X:-280.54, Y:-259.19, Z:-2.79 [[-6.59772475e-01 -7.51439345e-01 6.26029277e-03 -2.80543588e+02] [ 7.51407580e-01 -6.59802159e-01 -6.91086772e-03 -2.59186912e+02] [ 9.32365260e-03 1.44431130e-04 9.99956524e-01 -2.79001718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1042.4465599950001 meters 0.0153484883378043 Centerline is valid? [True, True] Translation: X:-280.56, Y:-259.17, Z:-2.79 [[-6.60243735e-01 -7.51027967e-01 5.93326307e-03 -2.80562257e+02] [ 7.50999449e-01 -6.60270381e-01 -6.54615636e-03 -2.59166375e+02] [ 8.83390437e-03 1.33818575e-04 9.99960972e-01 -2.78973674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1042.4765599950001 meters 0.014364528306916365 Centerline is valid? [True, True] Translation: X:-280.58, Y:-259.14, Z:-2.79 [[-6.61686850e-01 -7.49760788e-01 5.41050965e-03 -2.80579050e+02] [ 7.49737060e-01 -6.61708961e-01 -5.96586384e-03 -2.59144222e+02] [ 8.05315349e-03 1.08925944e-04 9.99967567e-01 -2.78837704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1042.506559995 meters 0.013997291486233047 Centerline is valid? [True, True] Translation: X:-280.60, Y:-259.12, Z:-2.79 [[-6.62857539e-01 -7.48726987e-01 5.27084493e-03 -2.80597214e+02] [ 7.48704461e-01 -6.62878488e-01 -5.80858644e-03 -2.59122259e+02] [ 7.84297514e-03 9.60398007e-05 9.99969239e-01 -2.78788084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1042.536559995 meters 0.013971364243106068 Centerline is valid? [True, True] Translation: X:-280.62, Y:-259.10, Z:-2.79 [[-6.64342650e-01 -7.47412664e-01 4.81175323e-03 -2.80615172e+02] [ 7.47393881e-01 -6.64360071e-01 -5.29931996e-03 -2.59102402e+02] [ 7.15751557e-03 7.57106564e-05 9.99974382e-01 -2.78804375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1042.566559995 meters 0.013465174824492677 Centerline is valid? [True, True] Translation: X:-280.63, Y:-259.08, Z:-2.79 [[-6.67416864e-01 -7.44665893e-01 5.23804226e-03 -2.80632022e+02] [ 7.44643577e-01 -6.67437417e-01 -5.76524308e-03 -2.59080337e+02] [ 7.78924528e-03 5.26540629e-05 9.99969662e-01 -2.78814340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1042.596559995 meters 0.01319123466178757 Centerline is valid? [True, True] Translation: X:-280.65, Y:-259.06, Z:-2.79 [[-6.69056610e-01 -7.43191791e-01 5.40506002e-03 -2.80649419e+02] [ 7.43168011e-01 -6.69078441e-01 -5.94540968e-03 -2.59059138e+02] [ 8.03498880e-03 3.90520576e-05 9.99967718e-01 -2.78877958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1042.626559995 meters 0.013065252605618074 Centerline is valid? [True, True] Translation: X:-280.67, Y:-259.04, Z:-2.79 [[-6.70735576e-01 -7.41673276e-01 5.87698442e-03 -2.80666553e+02] [ 7.41645138e-01 -6.70761322e-01 -6.46052879e-03 -2.59037706e+02] [ 8.73365539e-03 2.53304230e-05 9.99961861e-01 -2.78901072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1042.656559995 meters 0.013039040565944508 Centerline is valid? [True, True] Translation: X:-280.68, Y:-259.02, Z:-2.79 [[-6.72413807e-01 -7.40147562e-01 6.42332050e-03 -2.80682670e+02] [ 7.40113923e-01 -6.72444486e-01 -7.05655774e-03 -2.59017259e+02] [ 9.54222046e-03 9.06207596e-06 9.99954472e-01 -2.78985799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1042.6865599950002 meters 0.013254186574382423 Centerline is valid? [True, True] Translation: X:-280.70, Y:-258.99, Z:-2.79 [[-6.75815012e-01 -7.37032536e-01 7.55709804e-03 -2.80698539e+02] [ 7.36985815e-01 -6.75857263e-01 -8.29876630e-03 -2.58994372e+02] [ 1.12239804e-02 -3.89567986e-05 9.99937009e-01 -2.79006318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1042.7165599950001 meters 0.013337929486131618 Centerline is valid? [True, True] Translation: X:-280.72, Y:-258.97, Z:-2.79 [[-6.77530242e-01 -7.35452169e-01 7.92959113e-03 -2.80715506e+02] [ 7.35400683e-01 -6.77576640e-01 -8.70242654e-03 -2.58973345e+02] [ 1.17731242e-02 -6.47304300e-05 9.99930692e-01 -2.79016038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1042.746559995 meters 0.01354414231522791 Centerline is valid? [True, True] Translation: X:-280.73, Y:-258.95, Z:-2.79 [[-6.79000349e-01 -7.34090490e-01 8.34737786e-03 -2.80733397e+02] [ 7.34033395e-01 -6.79051651e-01 -9.15589232e-03 -2.58951452e+02] [ 1.23895542e-02 -8.95999663e-05 9.99923243e-01 -2.79006015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1042.776559995 meters 0.013742723622899463 Centerline is valid? [True, True] Translation: X:-280.75, Y:-258.93, Z:-2.79 [[-6.80499681e-01 -7.32700802e-01 8.34978381e-03 -2.80751059e+02] [ 7.32643641e-01 -6.80550896e-01 -9.15277110e-03 -2.58930370e+02] [ 1.23886956e-02 -1.11041803e-04 9.99923251e-01 -2.78990946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1042.806559995 meters 0.013885227487955596 Centerline is valid? [True, True] Translation: X:-280.77, Y:-258.91, Z:-2.79 [[-6.82561973e-01 -7.30782230e-01 8.15389929e-03 -2.80768214e+02] [ 7.30727642e-01 -6.82610661e-01 -8.93304802e-03 -2.58907518e+02] [ 1.20940513e-02 -1.39079284e-04 9.99926855e-01 -2.78883252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1042.836559995 meters 0.01403413626220436 Centerline is valid? [True, True] Translation: X:-280.79, Y:-258.89, Z:-2.79 [[-6.83198783e-01 -7.30188702e-01 7.99267159e-03 -2.80785788e+02] [ 7.30136276e-01 -6.83245519e-01 -8.75094806e-03 -2.58886775e+02] [ 1.18508005e-02 -1.42897588e-04 9.99929767e-01 -2.78829698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1042.866559995 meters 0.014077762623463401 Centerline is valid? [True, True] Translation: X:-280.80, Y:-258.87, Z:-2.79 [[-6.83914609e-01 -7.29525470e-01 7.30729235e-03 -2.80803879e+02] [ 7.29481667e-01 -6.83953631e-01 -7.99551221e-03 -2.58866642e+02] [ 1.08307789e-02 -1.37711793e-04 9.99941336e-01 -2.78774523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1042.896559995 meters 0.013796289887634951 Centerline is valid? [True, True] Translation: X:-280.82, Y:-258.85, Z:-2.79 [[-6.83581189e-01 -7.29842580e-01 6.82393392e-03 -2.80822103e+02] [ 7.29804444e-01 -6.83615238e-01 -7.46194994e-03 -2.58846952e+02] [ 1.01109940e-02 -1.20711318e-04 9.99948875e-01 -2.78663922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1042.9265599950002 meters 0.01408415040445635 Centerline is valid? [True, True] Translation: X:-280.84, Y:-258.83, Z:-2.79 [[-6.83342327e-01 -7.30066642e-01 6.77950378e-03 -2.80840174e+02] [ 7.30029061e-01 -6.83375947e-01 -7.40850010e-03 -2.58827359e+02] [ 1.00416486e-02 -1.13306923e-04 9.99949575e-01 -2.78732073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1042.9565599950001 meters 0.013211618809366915 Centerline is valid? [True, True] Translation: X:-280.86, Y:-258.81, Z:-2.79 [[-6.81188045e-01 -7.32081190e-01 6.32284478e-03 -2.80861058e+02] [ 7.32048624e-01 -6.81217385e-01 -6.90561991e-03 -2.58808878e+02] [ 9.36270623e-03 -7.53959068e-05 9.99956166e-01 -2.78597751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1042.986559995 meters 0.012974793233395095 Centerline is valid? [True, True] Translation: X:-280.88, Y:-258.79, Z:-2.79 [[-6.79904006e-01 -7.33273539e-01 6.36083925e-03 -2.80881190e+02] [ 7.33240669e-01 -6.79933757e-01 -6.94320436e-03 -2.58789241e+02] [ 9.41621736e-03 -5.66864316e-05 9.99955665e-01 -2.78569643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1043.016559995 meters 0.012974793233395095 Centerline is valid? [True, True] Translation: X:-280.90, Y:-258.77, Z:-2.79 [[-6.80109864e-01 -7.33082593e-01 6.36278857e-03 -2.80899877e+02] [ 7.33049731e-01 -6.80139625e-01 -6.94141803e-03 -2.58768946e+02] [ 9.41621736e-03 -5.66864276e-05 9.99955665e-01 -2.78569688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1043.046559995 meters 0.012707459969349497 Centerline is valid? [True, True] Translation: X:-280.92, Y:-258.75, Z:-2.79 [[-6.78338286e-01 -7.34722063e-01 6.37649457e-03 -2.80919108e+02] [ 7.34689175e-01 -6.78368255e-01 -6.95175150e-03 -2.58750586e+02] [ 9.43321669e-03 -3.08976587e-05 9.99955506e-01 -2.78562331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1043.076559995 meters 0.012777698233146796 Centerline is valid? [True, True] Translation: X:-280.94, Y:-258.73, Z:-2.78 [[-6.73762213e-01 -7.38921431e-01 6.29288290e-03 -2.80941489e+02] [ 7.38889622e-01 -6.73791599e-01 -6.85628973e-03 -2.58734195e+02] [ 9.30635104e-03 3.02369303e-05 9.99956695e-01 -2.78480818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1043.106559995 meters 0.0130351776556607 Centerline is valid? [True, True] Translation: X:-280.96, Y:-258.72, Z:-2.79 [[-6.71349189e-01 -7.41114882e-01 6.24488527e-03 -2.80962662e+02] [ 7.41083688e-01 -6.71378230e-01 -6.79999066e-03 -2.58716496e+02] [ 9.23225430e-03 6.28143951e-05 9.99957380e-01 -2.78570788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1043.136559995 meters 0.013249113352237793 Centerline is valid? [True, True] Translation: X:-280.98, Y:-258.70, Z:-2.79 [[-6.68920088e-01 -7.43307018e-01 6.37134132e-03 -2.80983259e+02] [ 7.43274686e-01 -6.68950423e-01 -6.93350182e-03 -2.58697941e+02] [ 9.41583203e-03 9.76980719e-05 9.99955665e-01 -2.78524310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1043.166559995 meters 0.013889963242813786 Centerline is valid? [True, True] Translation: X:-281.00, Y:-258.68, Z:-2.79 [[-6.66796113e-01 -7.45212071e-01 6.47403758e-03 -2.81004436e+02] [ 7.45178818e-01 -6.66827529e-01 -7.04104099e-03 -2.58680282e+02] [ 9.56413521e-03 1.29376908e-04 9.99954254e-01 -2.78598082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1043.1965599950001 meters 0.015300242010008657 Centerline is valid? [True, True] Translation: X:-281.03, Y:-258.66, Z:-2.79 [[-6.62718920e-01 -7.48836522e-01 6.89179497e-03 -2.81027115e+02] [ 7.48799079e-01 -6.62754725e-01 -7.49096065e-03 -2.58664002e+02] [ 1.01770746e-02 1.96168371e-04 9.99948193e-01 -2.78708733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1043.2265599950001 meters 0.015534460186706288 Centerline is valid? [True, True] Translation: X:-281.05, Y:-258.64, Z:-2.79 [[-6.61290180e-01 -7.50096139e-01 7.14710292e-03 -2.81046783e+02] [ 7.50055990e-01 -6.61328762e-01 -7.76409162e-03 -2.58644137e+02] [ 1.05503999e-02 2.26409811e-04 9.99944318e-01 -2.78712096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1043.256559995 meters 0.016863192574276414 Centerline is valid? [True, True] Translation: X:-281.07, Y:-258.63, Z:-2.79 [[-6.60476351e-01 -7.50810055e-01 7.43314862e-03 -2.81067069e+02] [ 7.50766725e-01 -6.60518129e-01 -8.07003906e-03 -2.58626047e+02] [ 1.09687959e-02 2.50490699e-04 9.99939810e-01 -2.78810591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1043.286559995 meters 0.01786028881166417 Centerline is valid? [True, True] Translation: X:-281.09, Y:-258.61, Z:-2.79 [[-6.60072793e-01 -7.51163382e-01 7.58163457e-03 -2.81087138e+02] [ 7.51118363e-01 -6.60116281e-01 -8.22800225e-03 -2.58607498e+02] [ 1.11853344e-02 2.63624519e-04 9.99937408e-01 -2.78865038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1043.316559995 meters 0.015671678775737642 Centerline is valid? [True, True] Translation: X:-281.10, Y:-258.58, Z:-2.79 [[-6.60625682e-01 -7.50679261e-01 7.37268223e-03 -2.81103496e+02] [ 7.50636709e-01 -6.60666773e-01 -7.99668450e-03 -2.58584139e+02] [ 1.08738314e-02 2.51390774e-04 9.99940847e-01 -2.78669069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1043.346559995 meters 0.01566433364799632 Centerline is valid? [True, True] Translation: X:-281.12, Y:-258.56, Z:-2.79 [[-6.61324087e-01 -7.50068106e-01 6.94897718e-03 -2.81122217e+02] [ 7.50030303e-01 -6.61360555e-01 -7.53398681e-03 -2.58563992e+02] [ 1.02467826e-02 2.29536508e-04 9.99947474e-01 -2.78638576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1043.376559995 meters 0.015454958153363094 Centerline is valid? [True, True] Translation: X:-281.14, Y:-258.54, Z:-2.79 [[-6.62210567e-01 -7.49289429e-01 6.52048492e-03 -2.81140160e+02] [ 7.49256149e-01 -6.62242636e-01 -7.06495114e-03 -2.58543478e+02] [ 9.61183633e-03 2.07028118e-04 9.99953784e-01 -2.78609201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1043.406559995 meters 0.014958729309142382 Centerline is valid? [True, True] Translation: X:-281.16, Y:-258.52, Z:-2.79 [[-6.63466726e-01 -7.48179274e-01 6.29900948e-03 -2.81158351e+02] [ 7.48148203e-01 -6.63496601e-01 -6.82112061e-03 -2.58521510e+02] [ 9.28279245e-03 1.87006064e-04 9.99956897e-01 -2.78526716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1043.4365599950002 meters 0.015007867576537642 Centerline is valid? [True, True] Translation: X:-281.18, Y:-258.50, Z:-2.79 [[-6.64296530e-01 -7.47441527e-01 6.42530491e-03 -2.81176377e+02] [ 7.47409207e-01 -6.64327578e-01 -6.95324514e-03 -2.58501798e+02] [ 9.46565141e-03 1.83315434e-04 9.99955183e-01 -2.78638112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1043.4665599950001 meters 0.014741098036014796 Centerline is valid? [True, True] Translation: X:-281.19, Y:-258.48, Z:-2.79 [[-6.64705285e-01 -7.47072193e-01 7.07267179e-03 -2.81194944e+02] [ 7.47033056e-01 -6.64742882e-01 -7.64948724e-03 -2.58480320e+02] [ 1.04162274e-02 1.98865017e-04 9.99945730e-01 -2.78673829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1043.496559995 meters 0.014589418734308954 Centerline is valid? [True, True] Translation: X:-281.21, Y:-258.46, Z:-2.79 [[-6.64974337e-01 -7.46826602e-01 7.69136078e-03 -2.81213088e+02] [ 7.46780356e-01 -6.65018781e-01 -8.31389900e-03 -2.58458998e+02] [ 1.13239403e-02 2.15227666e-04 9.99935859e-01 -2.78771856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1043.526559995 meters 0.014534355332768627 Centerline is valid? [True, True] Translation: X:-281.23, Y:-258.44, Z:-2.79 [[-6.65453900e-01 -7.46397923e-01 7.82607368e-03 -2.81231714e+02] [ 7.46350068e-01 -6.65499883e-01 -8.45470455e-03 -2.58438615e+02] [ 1.15188250e-02 2.14774510e-04 9.99933633e-01 -2.78803862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1043.556559995 meters 0.014638653585085573 Centerline is valid? [True, True] Translation: X:-281.25, Y:-258.42, Z:-2.79 [[-6.66021082e-01 -7.45889787e-01 8.02156132e-03 -2.81249769e+02] [ 7.45839535e-01 -6.66069351e-01 -8.66069920e-03 -2.58419063e+02] [ 1.18028432e-02 2.14589315e-04 9.99930321e-01 -2.78865099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1043.586559995 meters 0.014671626021295653 Centerline is valid? [True, True] Translation: X:-281.27, Y:-258.40, Z:-2.79 [[-6.66825398e-01 -7.45170319e-01 8.06753529e-03 -2.81267503e+02] [ 7.45119505e-01 -6.66874166e-01 -8.70458741e-03 -2.58399114e+02] [ 1.18664310e-02 2.06837946e-04 9.99929570e-01 -2.78903680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1043.616559995 meters 0.01429868842297352 Centerline is valid? [True, True] Translation: X:-281.28, Y:-258.38, Z:-2.79 [[-6.67961359e-01 -7.44155198e-01 7.78870332e-03 -2.81284878e+02] [ 7.44107828e-01 -6.68006741e-01 -8.39847141e-03 -2.58377798e+02] [ 1.14526725e-02 1.85780732e-04 9.99934399e-01 -2.78903466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1043.646559995 meters 0.013501280156486533 Centerline is valid? [True, True] Translation: X:-281.30, Y:-258.35, Z:-2.79 [[-6.70571231e-01 -7.41808872e-01 7.33628947e-03 -2.81300743e+02] [ 7.41766753e-01 -6.70611346e-01 -7.90614469e-03 -2.58353828e+02] [ 1.07846472e-02 1.40182434e-04 9.99941834e-01 -2.78777466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1043.6765599950002 meters 0.013340403536961039 Centerline is valid? [True, True] Translation: X:-281.32, Y:-258.33, Z:-2.79 [[-6.72325070e-01 -7.40221257e-01 7.17571440e-03 -2.81317515e+02] [ 7.40180917e-01 -6.72363353e-01 -7.72864400e-03 -2.58332963e+02] [ 1.05455940e-02 1.15165750e-04 9.99944387e-01 -2.78769225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1043.7065599950001 meters 0.01290112803141382 Centerline is valid? [True, True] Translation: X:-281.33, Y:-258.31, Z:-2.79 [[-6.74398034e-01 -7.38337331e-01 6.72883919e-03 -2.81334763e+02] [ 7.38301804e-01 -6.74431597e-01 -7.24350529e-03 -2.58309947e+02] [ 9.88629212e-03 8.29083845e-05 9.99951126e-01 -2.78706791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1043.736559995 meters 0.012555315431635707 Centerline is valid? [True, True] Translation: X:-281.35, Y:-258.29, Z:-2.79 [[-6.76540538e-01 -7.36375198e-01 6.66851191e-03 -2.81351751e+02] [ 7.36340248e-01 -6.76573400e-01 -7.17452278e-03 -2.58288023e+02] [ 9.79487840e-03 5.64382211e-05 9.99952028e-01 -2.78670732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1043.766559995 meters 0.012378889013767767 Centerline is valid? [True, True] Translation: X:-281.37, Y:-258.26, Z:-2.79 [[-6.80890217e-01 -7.32360030e-01 6.10731462e-03 -2.81367248e+02] [ 7.32330586e-01 -6.80917606e-01 -6.56705659e-03 -2.58263765e+02] [ 8.96802781e-03 1.12871364e-06 9.99959787e-01 -2.78674386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1043.796559995 meters 0.012505757588005106 Centerline is valid? [True, True] Translation: X:-281.38, Y:-258.24, Z:-2.79 [[-6.83324371e-01 -7.30090954e-01 5.91633261e-03 -2.81383980e+02] [ 7.30063272e-01 -6.83349982e-01 -6.35771670e-03 -2.58241858e+02] [ 8.68463724e-03 -2.50856239e-05 9.99962288e-01 -2.78669963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1043.826559995 meters 0.012970259113733652 Centerline is valid? [True, True] Translation: X:-281.40, Y:-258.22, Z:-2.79 [[-6.87253300e-01 -7.26398986e-01 5.23592958e-03 -2.81399192e+02] [ 7.26377221e-01 -6.87273243e-01 -5.62343993e-03 -2.58217133e+02] [ 7.68337536e-03 -6.14676723e-05 9.99970481e-01 -2.78538013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1043.856559995 meters 0.013314649321373285 Centerline is valid? [True, True] Translation: X:-281.42, Y:-258.19, Z:-2.78 [[-6.89163026e-01 -7.24588968e-01 5.01515152e-03 -2.81416597e+02] [ 7.24568974e-01 -6.89181269e-01 -5.38334853e-03 -2.58194795e+02] [ 7.35706345e-03 -7.61815781e-05 9.99972934e-01 -2.78489414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1043.886559995 meters 0.013766265175745099 Centerline is valid? [True, True] Translation: X:-281.43, Y:-258.17, Z:-2.78 [[-6.90868711e-01 -7.22965040e-01 4.68771025e-03 -2.81433532e+02] [ 7.22947555e-01 -6.90884609e-01 -5.02894256e-03 -2.58173213e+02] [ 6.87441653e-03 -8.53704036e-05 9.99976367e-01 -2.78468824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1043.916559995 meters 0.013877245017338526 Centerline is valid? [True, True] Translation: X:-281.45, Y:-258.15, Z:-2.78 [[-6.92169068e-01 -7.21720916e-01 4.57170627e-03 -2.81451376e+02] [ 7.21704277e-01 -6.92184160e-01 -4.90159872e-03 -2.58152327e+02] [ 6.70204898e-03 -9.33150551e-05 9.99977537e-01 -2.78399303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1043.9465599950001 meters 0.014199059999013565 Centerline is valid? [True, True] Translation: X:-281.47, Y:-258.13, Z:-2.78 [[-6.93765359e-01 -7.20189087e-01 4.16001795e-03 -2.81469403e+02] [ 7.20175297e-01 -6.93777825e-01 -4.45771946e-03 -2.58131121e+02] [ 6.09652911e-03 -9.66691824e-05 9.99981411e-01 -2.78437258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1043.9765599950001 meters 0.014369393542280067 Centerline is valid? [True, True] Translation: X:-281.49, Y:-258.11, Z:-2.78 [[-6.93971613e-01 -7.19989939e-01 4.22940618e-03 -2.81487262e+02] [ 7.19975696e-01 -6.93984494e-01 -4.52988220e-03 -2.58111302e+02] [ 6.19661192e-03 -9.85399958e-05 9.99980796e-01 -2.78473828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1044.006559995 meters 0.013984323156009558 Centerline is valid? [True, True] Translation: X:-281.51, Y:-258.09, Z:-2.78 [[-6.93917808e-01 -7.20042602e-01 4.08982744e-03 -2.81507280e+02] [ 7.20029299e-01 -6.93929854e-01 -4.37793781e-03 -2.58091307e+02] [ 5.99035509e-03 -9.31334189e-05 9.99982054e-01 -2.78479755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1044.036559995 meters 0.013836818180304591 Centerline is valid? [True, True] Translation: X:-281.53, Y:-258.07, Z:-2.79 [[-6.92969647e-01 -7.20956481e-01 3.84979084e-03 -2.81526118e+02] [ 7.20944722e-01 -6.92980336e-01 -4.11841435e-03 -2.58072314e+02] [ 5.63702687e-03 -7.84497533e-05 9.99984109e-01 -2.78550629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1044.066559995 meters 0.013421363861827483 Centerline is valid? [True, True] Translation: X:-281.55, Y:-258.05, Z:-2.79 [[-6.92255319e-01 -7.21642817e-01 3.77075560e-03 -2.81546076e+02] [ 7.21631560e-01 -6.92265585e-01 -4.03133114e-03 -2.58053096e+02] [ 5.51954549e-03 -6.96141840e-05 9.99984765e-01 -2.78565476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1044.096559995 meters 0.013209485564903988 Centerline is valid? [True, True] Translation: X:-281.57, Y:-258.03, Z:-2.79 [[-6.91446614e-01 -7.22417534e-01 3.80605807e-03 -2.81565282e+02] [ 7.22406092e-01 -6.91457086e-01 -4.06652980e-03 -2.58034341e+02] [ 5.56945826e-03 -6.22687251e-05 9.99984489e-01 -2.78546370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1044.126559995 meters 0.012846998551550033 Centerline is valid? [True, True] Translation: X:-281.59, Y:-258.02, Z:-2.79 [[-6.89205864e-01 -7.24559108e-01 3.06204680e-03 -2.81585865e+02] [ 7.24551731e-01 -6.89212665e-01 -3.26979221e-03 -2.58016691e+02] [ 4.47955916e-03 -3.49486574e-05 9.99989966e-01 -2.78555634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1044.156559995 meters 0.012497114427517313 Centerline is valid? [True, True] Translation: X:-281.61, Y:-258.00, Z:-2.79 [[-6.87788827e-01 -7.25906465e-01 2.51657038e-03 -2.81605953e+02] [ 7.25901497e-01 -6.87793431e-01 -2.68564334e-03 -2.57998023e+02] [ 3.68040644e-03 -2.03732727e-05 9.99993227e-01 -2.78524721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1044.1865599950002 meters 0.012300987246220899 Centerline is valid? [True, True] Translation: X:-281.63, Y:-257.98, Z:-2.78 [[-6.86131438e-01 -7.27474424e-01 2.14776194e-03 -2.81625079e+02] [ 7.27470816e-01 -6.86134799e-01 -2.29096216e-03 -2.57980553e+02] [ 3.14027059e-03 -9.46703320e-06 9.99995069e-01 -2.78499469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1044.2165599950001 meters 0.012233203820692626 Centerline is valid? [True, True] Translation: X:-281.65, Y:-257.96, Z:-2.79 [[-6.82281772e-01 -7.31086253e-01 2.11534016e-03 -2.81647759e+02] [ 7.31082775e-01 -6.82285051e-01 -2.25507111e-03 -2.57963767e+02] [ 3.09191646e-03 7.89484060e-06 9.99995220e-01 -2.78572497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1044.246559995 meters 0.012444321249590362 Centerline is valid? [True, True] Translation: X:-281.67, Y:-257.95, Z:-2.79 [[-6.80466860e-01 -7.32775560e-01 2.19797897e-03 -2.81668697e+02] [ 7.32771818e-01 -6.80470410e-01 -2.34173604e-03 -2.57945417e+02] [ 3.21162659e-03 1.71432765e-05 9.99994843e-01 -2.78639844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1044.276559995 meters 0.012663457660555879 Centerline is valid? [True, True] Translation: X:-281.69, Y:-257.93, Z:-2.79 [[-6.78438019e-01 -7.34654277e-01 2.22450504e-03 -2.81689545e+02] [ 7.34650459e-01 -6.78441665e-01 -2.36865146e-03 -2.57926362e+02] [ 3.24933683e-03 2.72504469e-05 9.99994721e-01 -2.78636910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1044.306559995 meters 0.0130928850941495 Centerline is valid? [True, True] Translation: X:-281.71, Y:-257.91, Z:-2.79 [[-6.76732293e-01 -7.36226581e-01 1.95550508e-03 -2.81709821e+02] [ 7.36223641e-01 -6.76735118e-01 -2.08097286e-03 -2.57908572e+02] [ 2.85542649e-03 3.14275313e-05 9.99995923e-01 -2.78671990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1044.336559995 meters 0.013808547233760335 Centerline is valid? [True, True] Translation: X:-281.73, Y:-257.89, Z:-2.79 [[-6.73567689e-01 -7.39124162e-01 1.42871383e-03 -2.81731701e+02] [ 7.39122601e-01 -6.73569204e-01 -1.51952096e-03 -2.57890917e+02] [ 2.08545230e-03 3.24944566e-05 9.99997825e-01 -2.78709630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1044.366559995 meters 0.015168468213611359 Centerline is valid? [True, True] Translation: X:-281.75, Y:-257.87, Z:-2.79 [[-6.72717439e-01 -7.39898546e-01 1.17843132e-03 -2.81752975e+02] [ 7.39897486e-01 -6.72718471e-01 -1.25258108e-03 -2.57873469e+02] [ 1.71953544e-03 2.92852295e-05 9.99998521e-01 -2.78738838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1044.396559995 meters 0.014623677499162963 Centerline is valid? [True, True] Translation: X:-281.77, Y:-257.85, Z:-2.79 [[-6.71666313e-01 -7.40853541e-01 6.28185759e-04 -2.81772234e+02] [ 7.40853241e-01 -6.71666607e-01 -6.67334789e-04 -2.57853228e+02] [ 9.16328740e-04 1.71671576e-05 9.99999580e-01 -2.78715428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1044.4265599950002 meters 0.014672203492921797 Centerline is valid? [True, True] Translation: X:-281.79, Y:-257.83, Z:-2.79 [[-6.71662624e-01 -7.40856660e-01 8.54058968e-04 -2.81791011e+02] [ 7.40856105e-01 -6.71663166e-01 -9.06713035e-04 -2.57834122e+02] [ 1.24538434e-03 2.37295447e-05 9.99999224e-01 -2.78725296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1044.4565599950001 meters 0.014952320913540583 Centerline is valid? [True, True] Translation: X:-281.81, Y:-257.82, Z:-2.79 [[-6.71937590e-01 -7.40607594e-01 5.17062626e-04 -2.81809164e+02] [ 7.40607391e-01 -6.71937788e-01 -5.48573345e-04 -2.57815792e+02] [ 7.53711503e-04 1.43333512e-05 9.99999716e-01 -2.78727306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1044.486559995 meters 0.015035675233979804 Centerline is valid? [True, True] Translation: X:-281.83, Y:-257.80, Z:-2.79 [[-6.72039106e-01 -7.40515508e-01 4.72347542e-04 -2.81827695e+02] [ 7.40515339e-01 -6.72039272e-01 -5.00822604e-04 -2.57796329e+02] [ 6.88303005e-04 1.32082252e-05 9.99999763e-01 -2.78767910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1044.516559995 meters 0.01520220899406409 Centerline is valid? [True, True] Translation: X:-281.85, Y:-257.78, Z:-2.79 [[-6.72094990e-01 -7.40464745e-01 5.35452338e-04 -2.81847127e+02] [ 7.40464528e-01 -6.72095203e-01 -5.67382756e-04 -2.57776623e+02] [ 7.80001876e-04 1.51483549e-05 9.99999696e-01 -2.78775734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1044.546559995 meters 0.015698243598881657 Centerline is valid? [True, True] Translation: X:-281.87, Y:-257.76, Z:-2.79 [[-6.72207787e-01 -7.40362350e-01 5.31163901e-04 -2.81866041e+02] [ 7.40362136e-01 -6.72207997e-01 -5.62474807e-04 -2.57758653e+02] [ 7.73487793e-04 1.51536953e-05 9.99999701e-01 -2.78823037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1044.576559995 meters 0.01573935509943297 Centerline is valid? [True, True] Translation: X:-281.89, Y:-257.74, Z:-2.79 [[-6.72079816e-01 -7.40477599e-01 1.28300219e-03 -2.81885227e+02] [ 7.40476355e-01 -6.72081039e-01 -1.35782094e-03 -2.57739571e+02] [ 1.86771743e-03 3.74687403e-05 9.99998255e-01 -2.79004445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1044.606559995 meters 0.01582389400418274 Centerline is valid? [True, True] Translation: X:-281.90, Y:-257.72, Z:-2.79 [[-6.72216904e-01 -7.40352441e-01 1.64234437e-03 -2.81904286e+02] [ 7.40350404e-01 -6.72218909e-01 -1.73707011e-03 -2.57719964e+02] [ 2.39005904e-03 4.82224307e-05 9.99997143e-01 -2.79100733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1044.636559995 meters 0.01585542119234889 Centerline is valid? [True, True] Translation: X:-281.92, Y:-257.70, Z:-2.79 [[-6.72480198e-01 -7.40111586e-01 2.28559068e-03 -2.81923131e+02] [ 7.40107645e-01 -6.72484079e-01 -2.41597005e-03 -2.57700597e+02] [ 3.32511077e-03 6.68911218e-05 9.99994470e-01 -2.79187478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1044.666559995 meters 0.015892700840499728 Centerline is valid? [True, True] Translation: X:-281.94, Y:-257.68, Z:-2.79 [[-6.72842705e-01 -7.39779487e-01 3.00103014e-03 -2.81941374e+02] [ 7.39772699e-01 -6.72849392e-01 -3.17033767e-03 -2.57680480e+02] [ 4.36459208e-03 8.69415908e-05 9.99990472e-01 -2.79326148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1044.6965599950001 meters 0.01584053735918775 Centerline is valid? [True, True] Translation: X:-281.96, Y:-257.66, Z:-2.79 [[-6.73444393e-01 -7.39231417e-01 3.09221967e-03 -2.81959537e+02] [ 7.39224213e-01 -6.73451486e-01 -3.26473854e-03 -2.57660612e+02] [ 4.49585723e-03 8.72237917e-05 9.99989890e-01 -2.79363728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1044.7265599950001 meters 0.01458784273904039 Centerline is valid? [True, True] Translation: X:-281.98, Y:-257.64, Z:-2.79 [[-6.74200644e-01 -7.38541675e-01 3.11211482e-03 -2.81975935e+02] [ 7.38534380e-01 -6.74207822e-01 -3.28367454e-03 -2.57638727e+02] [ 4.52334265e-03 8.45482969e-05 9.99989766e-01 -2.79322197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1044.756559995 meters 0.015547062377837666 Centerline is valid? [True, True] Translation: X:-282.00, Y:-257.62, Z:-2.79 [[-6.75001262e-01 -7.37809558e-01 3.21740344e-03 -2.81995136e+02] [ 7.37801763e-01 -6.75008925e-01 -3.39252671e-03 -2.57620630e+02] [ 4.67481467e-03 8.38461209e-05 9.99989070e-01 -2.79368847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1044.786559995 meters 0.013930759236810319 Centerline is valid? [True, True] Translation: X:-282.01, Y:-257.60, Z:-2.79 [[-6.77348063e-01 -7.35656278e-01 3.07287723e-03 -2.82011321e+02] [ 7.35649153e-01 -6.77355030e-01 -3.23837492e-03 -2.57596855e+02] [ 4.46375969e-03 6.70525514e-05 9.99990035e-01 -2.79273851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1044.816559995 meters 0.01341794770350736 Centerline is valid? [True, True] Translation: X:-282.03, Y:-257.58, Z:-2.79 [[-6.78768676e-01 -7.34345763e-01 3.06355788e-03 -2.82028950e+02] [ 7.34338676e-01 -6.78775587e-01 -3.22667176e-03 -2.57575387e+02] [ 4.44896104e-03 5.95253209e-05 9.99990102e-01 -2.79268718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1044.846559995 meters 0.012902429326298905 Centerline is valid? [True, True] Translation: X:-282.05, Y:-257.55, Z:-2.79 [[-6.80658320e-01 -7.32594801e-01 3.01799221e-03 -2.82046281e+02] [ 7.32587915e-01 -6.80665009e-01 -3.17671823e-03 -2.57554049e+02] [ 4.38148896e-03 4.86849303e-05 9.99990400e-01 -2.79242641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1044.876559995 meters 0.012246300727651123 Centerline is valid? [True, True] Translation: X:-282.06, Y:-257.53, Z:-2.79 [[-6.84712280e-01 -7.28809051e-01 2.54177782e-03 -2.82061247e+02] [ 7.28804146e-01 -6.84716998e-01 -2.67402932e-03 -2.57531279e+02] [ 3.68925525e-03 2.15174958e-05 9.99993195e-01 -2.79218104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1044.906559995 meters 0.01193294346962624 Centerline is valid? [True, True] Translation: X:-282.08, Y:-257.51, Z:-2.79 [[-6.86922736e-01 -7.26726350e-01 2.44284337e-03 -2.82077629e+02] [ 7.26721812e-01 -6.86927079e-01 -2.56832851e-03 -2.57509564e+02] [ 3.54452726e-03 1.10243137e-05 9.99993718e-01 -2.79177413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1044.9365599950002 meters 0.01189719789244992 Centerline is valid? [True, True] Translation: X:-282.09, Y:-257.49, Z:-2.79 [[-6.91418197e-01 -7.22450027e-01 2.61436133e-03 -2.82091518e+02] [ 7.22444805e-01 -6.91423140e-01 -2.74684589e-03 -2.57487102e+02] [ 3.79208881e-03 -1.04874725e-05 9.99992810e-01 -2.79242370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1044.9665599950001 meters 0.01189719789244992 Centerline is valid? [True, True] Translation: X:-282.11, Y:-257.47, Z:-2.79 [[-6.91632628e-01 -7.22244743e-01 2.61517625e-03 -2.82110057e+02] [ 7.22239523e-01 -6.91637572e-01 -2.74607005e-03 -2.57467803e+02] [ 3.79208881e-03 -1.04879997e-05 9.99992810e-01 -2.79242413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1044.996559995 meters 0.012094830619257127 Centerline is valid? [True, True] Translation: X:-282.13, Y:-257.45, Z:-2.79 [[-6.93794305e-01 -7.20168054e-01 2.72700835e-03 -2.82127436e+02] [ 7.20162369e-01 -6.93799664e-01 -2.86169752e-03 -2.57446473e+02] [ 3.95290061e-03 -2.15406488e-05 9.99992187e-01 -2.79197584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1045.026559995 meters 0.012366365543046633 Centerline is valid? [True, True] Translation: X:-282.14, Y:-257.43, Z:-2.79 [[-6.95690793e-01 -7.18335360e-01 2.93788182e-03 -2.82143808e+02] [ 7.18328754e-01 -6.95696996e-01 -3.08095602e-03 -2.57426082e+02] [ 4.25703521e-03 -3.30277495e-05 9.99990938e-01 -2.79195232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1045.056559995 meters 0.012808823691244114 Centerline is valid? [True, True] Translation: X:-282.16, Y:-257.40, Z:-2.79 [[-6.98223195e-01 -7.15873361e-01 3.11471919e-03 -2.82161191e+02] [ 7.15865919e-01 -6.98230140e-01 -3.26458730e-03 -2.57403848e+02] [ 4.51182190e-03 -4.96892593e-05 9.99989821e-01 -2.79242833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1045.086559995 meters 0.01283370413035063 Centerline is valid? [True, True] Translation: X:-282.18, Y:-257.38, Z:-2.79 [[-6.98994790e-01 -7.15118574e-01 3.42164831e-03 -2.82180140e+02] [ 7.15109594e-01 -6.99003163e-01 -3.58426319e-03 -2.57383178e+02] [ 4.95491618e-03 -5.85277652e-05 9.99987723e-01 -2.79247288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1045.116559995 meters 0.013071262209048962 Centerline is valid? [True, True] Translation: X:-282.20, Y:-257.36, Z:-2.79 [[-6.99710799e-01 -7.14413838e-01 4.20303546e-03 -2.82198533e+02] [ 7.14400291e-01 -6.99723419e-01 -4.40017019e-03 -2.57362951e+02] [ 6.08450481e-03 -7.61968372e-05 9.99981487e-01 -2.79340459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1045.146559995 meters 0.012912414601690653 Centerline is valid? [True, True] Translation: X:-282.22, Y:-257.34, Z:-2.79 [[-6.98954392e-01 -7.15152781e-01 4.38824140e-03 -2.82217965e+02] [ 7.15138047e-01 -6.98968164e-01 -4.59119751e-03 -2.57343559e+02] [ 6.35064871e-03 -7.08392790e-05 9.99979832e-01 -2.79335170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1045.1765599950002 meters 0.012912414601690653 Centerline is valid? [True, True] Translation: X:-282.24, Y:-257.32, Z:-2.79 [[-6.99177210e-01 -7.14934934e-01 4.38967190e-03 -2.82236536e+02] [ 7.14920205e-01 -6.99190986e-01 -4.58982983e-03 -2.57324277e+02] [ 6.35064871e-03 -7.08392790e-05 9.99979832e-01 -2.79335214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1045.2065599950001 meters 0.012659621804422408 Centerline is valid? [True, True] Translation: X:-282.26, Y:-257.31, Z:-2.79 [[-6.98609405e-01 -7.15489110e-01 4.49817173e-03 -2.82256581e+02] [ 7.15473672e-01 -6.98623883e-01 -4.70063156e-03 -2.57305022e+02] [ 6.50578089e-03 -6.55819735e-05 9.99978835e-01 -2.79306854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1045.236559995 meters 0.012550706605729605 Centerline is valid? [True, True] Translation: X:-282.28, Y:-257.29, Z:-2.79 [[-6.97536996e-01 -7.16536154e-01 4.25209847e-03 -2.82275379e+02] [ 7.16522391e-01 -6.97549954e-01 -4.44130836e-03 -2.57287078e+02] [ 6.14840910e-03 -5.12531310e-05 9.99981097e-01 -2.79293927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1045.266559995 meters 0.012335110731089529 Centerline is valid? [True, True] Translation: X:-282.29, Y:-257.27, Z:-2.79 [[-6.96369473e-01 -7.17673236e-01 3.83199106e-03 -2.82294509e+02] [ 7.17662086e-01 -6.96380015e-01 -4.00057591e-03 -2.57269272e+02] [ 5.53962825e-03 -3.58042353e-05 9.99984656e-01 -2.79257518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1045.296559995 meters 0.01199055135217676 Centerline is valid? [True, True] Translation: X:-282.32, Y:-257.25, Z:-2.79 [[-6.93643690e-01 -7.20311883e-01 3.03701124e-03 -2.82316061e+02] [ 7.20304913e-01 -6.93650338e-01 -3.16866187e-03 -2.57252662e+02] [ 4.38904867e-03 -1.03481949e-05 9.99990368e-01 -2.79189804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1045.326559995 meters 0.011933509945677646 Centerline is valid? [True, True] Translation: X:-282.34, Y:-257.23, Z:-2.79 [[-6.92331916e-01 -7.21572745e-01 3.04839061e-03 -2.82336380e+02] [ 7.21565744e-01 -6.92338627e-01 -3.17854107e-03 -2.57234831e+02] [ 4.40406717e-03 -9.91193038e-07 9.99990302e-01 -2.79163581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1045.356559995 meters 0.011993766699841061 Centerline is valid? [True, True] Translation: X:-282.36, Y:-257.22, Z:-2.79 [[-6.90100779e-01 -7.23707859e-01 2.80182139e-03 -2.82357899e+02] [ 7.23701970e-01 -6.90106466e-01 -2.91962765e-03 -2.57217766e+02] [ 4.04651253e-03 1.28463503e-05 9.99991813e-01 -2.79175973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1045.386559995 meters 0.012087848461773429 Centerline is valid? [True, True] Translation: X:-282.38, Y:-257.20, Z:-2.79 [[-6.89324614e-01 -7.24447457e-01 2.73116640e-03 -2.82378043e+02] [ 7.24441874e-01 -6.89330024e-01 -2.84421752e-03 -2.57198878e+02] [ 3.94316115e-03 1.79821622e-05 9.99992226e-01 -2.79162167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1045.416559995 meters 0.012126570995473615 Centerline is valid? [True, True] Translation: X:-282.40, Y:-257.18, Z:-2.79 [[-6.88585356e-01 -7.25150543e-01 2.62614529e-03 -2.82397974e+02] [ 7.25145393e-01 -6.88590364e-01 -2.73314010e-03 -2.57180291e+02] [ 3.79027637e-03 2.23369097e-05 9.99992817e-01 -2.79152054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1045.4465599950001 meters 0.012272510407965427 Centerline is valid? [True, True] Translation: X:-282.42, Y:-257.16, Z:-2.79 [[-6.87520443e-01 -7.26161442e-01 2.28067265e-03 -2.82418827e+02] [ 7.26157566e-01 -6.87524225e-01 -2.37259743e-03 -2.57162107e+02] [ 3.29090647e-03 2.49184635e-05 9.99994585e-01 -2.79123195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1045.4765599950001 meters 0.012492295025074731 Centerline is valid? [True, True] Translation: X:-282.44, Y:-257.14, Z:-2.79 [[-6.87364617e-01 -7.26308972e-01 2.27187017e-03 -2.82438689e+02] [ 7.26305130e-01 -6.87368371e-01 -2.36245616e-03 -2.57144089e+02] [ 3.27748480e-03 2.62021841e-05 9.99994629e-01 -2.79150054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1045.506559995 meters 0.012481655010967221 Centerline is valid? [True, True] Translation: X:-282.46, Y:-257.13, Z:-2.79 [[-6.87593089e-01 -7.26091979e-01 2.48633100e-03 -2.82458254e+02] [ 7.26087382e-01 -6.87597584e-01 -2.58388273e-03 -2.57125507e+02] [ 3.58573172e-03 2.86336580e-05 9.99993571e-01 -2.79161978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1045.536559995 meters 0.01235064012657655 Centerline is valid? [True, True] Translation: X:-282.48, Y:-257.11, Z:-2.79 [[-6.88008637e-01 -7.25697643e-01 2.65450768e-03 -2.82478312e+02] [ 7.25692406e-01 -6.88013757e-01 -2.75709988e-03 -2.57105149e+02] [ 3.82715869e-03 2.94475347e-05 9.99992676e-01 -2.79168651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1045.566559995 meters 0.012301209492975317 Centerline is valid? [True, True] Translation: X:-282.50, Y:-257.09, Z:-2.79 [[-6.89209518e-01 -7.24558638e-01 2.24062182e-03 -2.82498390e+02] [ 7.24554905e-01 -6.89213160e-01 -2.32591071e-03 -2.57085848e+02] [ 3.22952474e-03 2.04137333e-05 9.99994785e-01 -2.79240227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1045.596559995 meters 0.012202778158853633 Centerline is valid? [True, True] Translation: X:-282.52, Y:-257.07, Z:-2.79 [[-6.90178574e-01 -7.23635684e-01 2.22093318e-03 -2.82517341e+02] [ 7.23632017e-01 -6.90182147e-01 -2.30402055e-03 -2.57066207e+02] [ 3.20011992e-03 1.69527384e-05 9.99994880e-01 -2.79245144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1045.626559995 meters 0.012007483624658956 Centerline is valid? [True, True] Translation: X:-282.54, Y:-257.05, Z:-2.79 [[-6.92062292e-01 -7.21835032e-01 1.99293581e-03 -2.82536505e+02] [ 7.21832073e-01 -6.92065161e-01 -2.06677084e-03 -2.57045001e+02] [ 2.87110904e-03 8.23082080e-06 9.99995879e-01 -2.79243777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1045.656559995 meters 0.012021884453777573 Centerline is valid? [True, True] Translation: X:-282.55, Y:-257.03, Z:-2.79 [[-6.93249880e-01 -7.20694338e-01 2.06739740e-03 -2.82554533e+02] [ 7.20691154e-01 -6.93252963e-01 -2.14256653e-03 -2.57025829e+02] [ 2.97736494e-03 4.62102993e-06 9.99995568e-01 -2.79269628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1045.6865599950002 meters 0.011911696011679358 Centerline is valid? [True, True] Translation: X:-282.57, Y:-257.01, Z:-2.79 [[-6.94216875e-01 -7.19761698e-01 2.45540313e-03 -2.82573099e+02] [ 7.19757205e-01 -6.94221217e-01 -2.54309620e-03 -2.57006009e+02] [ 3.53501619e-03 1.83379258e-06 9.99993752e-01 -2.79279462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1045.7165599950001 meters 0.011981978834748866 Centerline is valid? [True, True] Translation: X:-282.59, Y:-256.99, Z:-2.79 [[-6.95927610e-01 -7.18105810e-01 2.96768084e-03 -2.82591052e+02] [ 7.18099238e-01 -6.95933938e-01 -3.07219259e-03 -2.56987362e+02] [ 4.27146917e-03 -6.93429900e-06 9.99990877e-01 -2.79415600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1045.746559995 meters 0.012040296360376242 Centerline is valid? [True, True] Translation: X:-282.61, Y:-256.97, Z:-2.79 [[-6.96669157e-01 -7.17385274e-01 3.23340990e-03 -2.82610638e+02] [ 7.17377474e-01 -6.96676660e-01 -3.34519737e-03 -2.56967935e+02] [ 4.65243654e-03 -1.09204012e-05 9.99989177e-01 -2.79481856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1045.776559995 meters 0.012157414444142575 Centerline is valid? [True, True] Translation: X:-282.63, Y:-256.95, Z:-2.80 [[-6.97201750e-01 -7.16865939e-01 3.59793424e-03 -2.82629055e+02] [ 7.16856287e-01 -6.97211034e-01 -3.71989905e-03 -2.56948760e+02] [ 5.17518838e-03 -1.43183494e-05 9.99986609e-01 -2.79588230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1045.806559995 meters 0.012143711051759 Centerline is valid? [True, True] Translation: X:-282.65, Y:-256.93, Z:-2.80 [[-6.97694129e-01 -7.16380733e-01 4.64200547e-03 -2.82649735e+02] [ 7.16364675e-01 -6.97709571e-01 -4.79666021e-03 -2.56929281e+02] [ 6.67500660e-03 -2.12329242e-05 9.99977722e-01 -2.79646950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1045.836559995 meters 0.01215618886404077 Centerline is valid? [True, True] Translation: X:-282.67, Y:-256.91, Z:-2.80 [[-6.97756067e-01 -7.16316770e-01 5.17263763e-03 -2.82668888e+02] [ 7.16296852e-01 -6.97775239e-01 -5.34179356e-03 -2.56910233e+02] [ 7.43575477e-03 -2.21248104e-05 9.99972354e-01 -2.79725250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1045.866559995 meters 0.012153705738169773 Centerline is valid? [True, True] Translation: X:-282.69, Y:-256.89, Z:-2.80 [[-6.97921199e-01 -7.16151719e-01 5.71970250e-03 -2.82688144e+02] [ 7.16127390e-01 -6.97944636e-01 -5.90305819e-03 -2.56890995e+02] [ 8.21952095e-03 -2.38338287e-05 9.99966219e-01 -2.79794302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1045.896559995 meters 0.012143589569282767 Centerline is valid? [True, True] Translation: X:-282.71, Y:-256.87, Z:-2.80 [[-6.97827630e-01 -7.16238733e-01 6.21902477e-03 -2.82707860e+02] [ 7.16210006e-01 -6.97855341e-01 -6.41480479e-03 -2.56870847e+02] [ 8.93451130e-03 -2.23002546e-05 9.99960086e-01 -2.79832085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1045.9265599950002 meters 0.012139632041170335 Centerline is valid? [True, True] Translation: X:-282.73, Y:-256.85, Z:-2.80 [[-6.97764921e-01 -7.16297704e-01 6.45859954e-03 -2.82727969e+02] [ 7.16266759e-01 -6.97794811e-01 -6.65819399e-03 -2.56850564e+02] [ 9.27602631e-03 -1.97740440e-05 9.99956977e-01 -2.79835337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1045.9565599950001 meters 0.012168753846320947 Centerline is valid? [True, True] Translation: X:-282.75, Y:-256.83, Z:-2.80 [[-6.97329515e-01 -7.16723527e-01 6.23976597e-03 -2.82746518e+02] [ 7.16694698e-01 -6.97357431e-01 -6.42835717e-03 -2.56832027e+02] [ 8.95870199e-03 -1.06760036e-05 9.99959870e-01 -2.79809558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1045.986559995 meters 0.01215264472110873 Centerline is valid? [True, True] Translation: X:-282.77, Y:-256.81, Z:-2.80 [[-6.96674418e-01 -7.17364416e-01 5.74887577e-03 -2.82766781e+02] [ 7.17339995e-01 -6.96698137e-01 -5.91931885e-03 -2.56812097e+02] [ 8.25153975e-03 6.04936564e-08 9.99965956e-01 -2.79760899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1046.016559995 meters 0.012290346707275626 Centerline is valid? [True, True] Translation: X:-282.79, Y:-256.79, Z:-2.80 [[-6.94429099e-01 -7.19544870e-01 4.83795873e-03 -2.82786195e+02] [ 7.19527650e-01 -6.94445951e-01 -4.97810739e-03 -2.56794198e+02] [ 6.94167249e-03 2.41024399e-05 9.99975906e-01 -2.79607996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1046.046559995 meters 0.012311082263818381 Centerline is valid? [True, True] Translation: X:-282.81, Y:-256.78, Z:-2.80 [[-6.93196574e-01 -7.20733718e-01 4.62787703e-03 -2.82806184e+02] [ 7.20718007e-01 -6.93212021e-01 -4.75896093e-03 -2.56775160e+02] [ 6.63804359e-03 3.64989005e-05 9.99977967e-01 -2.79547006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1046.076559995 meters 0.012786210733016404 Centerline is valid? [True, True] Translation: X:-282.83, Y:-256.76, Z:-2.80 [[-6.90451672e-01 -7.23363887e-01 4.60161793e-03 -2.82827767e+02] [ 7.23348430e-01 -6.90467003e-01 -4.72933380e-03 -2.56756528e+02] [ 6.59829462e-03 6.31966710e-05 9.99978229e-01 -2.79547281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1046.106559995 meters 0.013062099720103014 Centerline is valid? [True, True] Translation: X:-282.85, Y:-256.74, Z:-2.80 [[-6.89277209e-01 -7.24482171e-01 4.74485094e-03 -2.82847910e+02] [ 7.24465781e-01 -6.89293536e-01 -4.87384078e-03 -2.56737415e+02] [ 6.80160582e-03 7.80547697e-05 9.99976866e-01 -2.79551773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1046.136559995 meters 0.01337691232537523 Centerline is valid? [True, True] Translation: X:-282.87, Y:-256.72, Z:-2.80 [[-6.88292928e-01 -7.25417156e-01 4.77452664e-03 -2.82868212e+02] [ 7.25400601e-01 -6.88309481e-01 -4.90160402e-03 -2.56717566e+02] [ 6.84205960e-03 8.97051179e-05 9.99976589e-01 -2.79568425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1046.166559995 meters 0.014046972403091612 Centerline is valid? [True, True] Translation: X:-282.89, Y:-256.70, Z:-2.80 [[-6.86342436e-01 -7.27258861e-01 5.34883401e-03 -2.82888398e+02] [ 7.27238163e-01 -6.86363267e-01 -5.48817720e-03 -2.56698504e+02] [ 7.66256868e-03 1.23107314e-04 9.99970635e-01 -2.79623046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1046.1965599950001 meters 0.014436748871051374 Centerline is valid? [True, True] Translation: X:-282.91, Y:-256.68, Z:-2.80 [[-6.85577485e-01 -7.27978349e-01 5.57091389e-03 -2.82908429e+02] [ 7.27955945e-01 -6.85600105e-01 -5.71291349e-03 -2.56679017e+02] [ 7.97829648e-03 1.38735025e-04 9.99968163e-01 -2.79663176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1046.2265599950001 meters 0.015429197397072068 Centerline is valid? [True, True] Translation: X:-282.93, Y:-256.66, Z:-2.80 [[-6.84899770e-01 -7.28615418e-01 5.64605569e-03 -2.82928462e+02] [ 7.28592445e-01 -6.84923026e-01 -5.78778049e-03 -2.56661495e+02] [ 8.08417965e-03 1.49623987e-04 9.99967311e-01 -2.79766418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1046.256559995 meters 0.014800433040414477 Centerline is valid? [True, True] Translation: X:-282.95, Y:-256.64, Z:-2.80 [[-6.83929821e-01 -7.29519174e-01 6.46335394e-03 -2.82947326e+02] [ 7.29489144e-01 -6.83960335e-01 -6.62188315e-03 -2.56640112e+02] [ 9.25146845e-03 1.86043173e-04 9.99957187e-01 -2.79773274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1046.286559995 meters 0.01603132818799523 Centerline is valid? [True, True] Translation: X:-282.97, Y:-256.62, Z:-2.80 [[-6.83708724e-01 -7.29723349e-01 6.79813090e-03 -2.82968062e+02] [ 7.29690177e-01 -6.83742490e-01 -6.96076310e-03 -2.56621898e+02] [ 9.72760232e-03 2.01394885e-04 9.99952666e-01 -2.79905097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1046.316559995 meters 0.01512978777205192 Centerline is valid? [True, True] Translation: X:-282.99, Y:-256.60, Z:-2.80 [[-6.83943912e-01 -7.29500820e-01 7.01996674e-03 -2.82985767e+02] [ 7.29465481e-01 -6.83979905e-01 -7.18341427e-03 -2.56601056e+02] [ 1.00418228e-02 2.07770965e-04 9.99949558e-01 -2.79865282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1046.346559995 meters 0.014951191647972489 Centerline is valid? [True, True] Translation: X:-283.00, Y:-256.58, Z:-2.80 [[-6.84852590e-01 -7.28650676e-01 6.71730165e-03 -2.83004168e+02] [ 7.28618319e-01 -6.84885506e-01 -6.86943175e-03 -2.56580841e+02] [ 9.60599863e-03 1.89800913e-04 9.99953843e-01 -2.79890539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1046.376559995 meters 0.014877854342864209 Centerline is valid? [True, True] Translation: X:-283.02, Y:-256.56, Z:-2.80 [[-6.85776282e-01 -7.27783723e-01 6.46094973e-03 -2.83022400e+02] [ 7.27753790e-01 -6.85806695e-01 -6.60297709e-03 -2.56561332e+02] [ 9.23650183e-03 1.73815578e-04 9.99957328e-01 -2.79880741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1046.406559995 meters 0.01463363600800148 Centerline is valid? [True, True] Translation: X:-283.04, Y:-256.54, Z:-2.80 [[-6.86777544e-01 -7.26843300e-01 5.95165888e-03 -2.83040826e+02] [ 7.26817895e-01 -6.86803316e-01 -6.07895047e-03 -2.56540604e+02] [ 8.50606347e-03 1.50885503e-04 9.99963812e-01 -2.79823464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1046.4365599950002 meters 0.013773428246636733 Centerline is valid? [True, True] Translation: X:-283.06, Y:-256.52, Z:-2.80 [[-6.88929641e-01 -7.24811212e-01 4.96562806e-03 -2.83058552e+02] [ 7.24793494e-01 -6.88947528e-01 -5.06898920e-03 -2.56518362e+02] [ 7.09511738e-03 1.06878003e-04 9.99974824e-01 -2.79694704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1046.4665599950001 meters 0.013853190250285464 Centerline is valid? [True, True] Translation: X:-283.08, Y:-256.50, Z:-2.80 [[-6.89977534e-01 -7.23816266e-01 4.58415341e-03 -2.83077083e+02] [ 7.23801165e-01 -6.89992757e-01 -4.67648930e-03 -2.56499694e+02] [ 6.54795167e-03 9.13430222e-05 9.99978558e-01 -2.79730038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1046.496559995 meters 0.013548570658165544 Centerline is valid? [True, True] Translation: X:-283.10, Y:-256.48, Z:-2.80 [[-6.91068617e-01 -7.22775661e-01 4.41702111e-03 -2.83095508e+02] [ 7.22761636e-01 -6.91082729e-01 -4.50328599e-03 -2.56479846e+02] [ 6.30739251e-03 8.03737826e-05 9.99980105e-01 -2.79723803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1046.526559995 meters 0.013442697717600293 Centerline is valid? [True, True] Translation: X:-283.11, Y:-256.46, Z:-2.80 [[-6.91822283e-01 -7.22054468e-01 4.39036930e-03 -2.83113410e+02] [ 7.22040610e-01 -6.91836209e-01 -4.47403964e-03 -2.56461028e+02] [ 6.26791676e-03 7.47846104e-05 9.99980354e-01 -2.79735660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1046.556559995 meters 0.01339614588823052 Centerline is valid? [True, True] Translation: X:-283.13, Y:-256.44, Z:-2.80 [[-6.92350782e-01 -7.21548511e-01 4.25919354e-03 -2.83132698e+02] [ 7.21535475e-01 -6.92363879e-01 -4.33779866e-03 -2.56441484e+02] [ 6.07884392e-03 6.98809416e-05 9.99981521e-01 -2.79729798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1046.586559995 meters 0.013622684546014998 Centerline is valid? [True, True] Translation: X:-283.15, Y:-256.42, Z:-2.80 [[-6.92454831e-01 -7.21449127e-01 4.17895811e-03 -2.83151876e+02] [ 7.21436592e-01 -6.92467438e-01 -4.25344758e-03 -2.56424015e+02] [ 5.96243846e-03 6.95329701e-05 9.99982222e-01 -2.79797794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1046.616559995 meters 0.012999075988389952 Centerline is valid? [True, True] Translation: X:-283.17, Y:-256.40, Z:-2.80 [[-6.92095119e-01 -7.21791839e-01 4.57023809e-03 -2.83171210e+02] [ 7.21776871e-01 -6.92110204e-01 -4.64906601e-03 -2.56403109e+02] [ 6.51876632e-03 8.10962521e-05 9.99978750e-01 -2.79755763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1046.646559995 meters 0.014201806674425202 Centerline is valid? [True, True] Translation: X:-283.19, Y:-256.39, Z:-2.80 [[-6.91661547e-01 -7.22203706e-01 5.11001603e-03 -2.83193162e+02] [ 7.22185027e-01 -6.91680416e-01 -5.19504849e-03 -2.56386805e+02] [ 7.28638128e-03 9.71617938e-05 9.99973449e-01 -2.79964880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1046.6765599950002 meters 0.01485003625318133 Centerline is valid? [True, True] Translation: X:-283.21, Y:-256.37, Z:-2.80 [[-6.90297360e-01 -7.23496405e-01 6.51967163e-03 -2.83214714e+02] [ 7.23466093e-01 -6.90328133e-01 -6.62429215e-03 -2.56370162e+02] [ 9.29336430e-03 1.44029976e-04 9.99956806e-01 -2.80210642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1046.7065599950001 meters 0.01564437617657056 Centerline is valid? [True, True] Translation: X:-283.23, Y:-256.35, Z:-2.80 [[-6.89668050e-01 -7.24088530e-01 7.33362948e-03 -2.83234860e+02] [ 7.24050257e-01 -6.89707018e-01 -7.44674776e-03 -2.56353047e+02] [ 1.04501604e-02 1.74132303e-04 9.99945381e-01 -2.80357261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1046.736559995 meters 0.01585207654886108 Centerline is valid? [True, True] Translation: X:-283.25, Y:-256.33, Z:-2.80 [[-6.89307180e-01 -7.24428368e-01 7.69093434e-03 -2.83254921e+02] [ 7.24386346e-01 -6.89350058e-01 -7.80506494e-03 -2.56334258e+02] [ 1.09559565e-02 1.91120515e-04 9.99939964e-01 -2.80405358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1046.766559995 meters 0.014620326678116297 Centerline is valid? [True, True] Translation: X:-283.27, Y:-256.31, Z:-2.80 [[-6.88869422e-01 -7.24845217e-01 7.63746200e-03 -2.83272935e+02] [ 7.24803855e-01 -6.88911730e-01 -7.74596385e-03 -2.56313685e+02] [ 1.08761620e-02 1.99704251e-04 9.99940833e-01 -2.80153891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1046.796559995 meters 0.014112974631703126 Centerline is valid? [True, True] Translation: X:-283.29, Y:-256.29, Z:-2.80 [[-6.89341450e-01 -7.24402945e-01 6.98130893e-03 -2.83292074e+02] [ 7.24368403e-01 -6.89376777e-01 -7.07646863e-03 -2.56293227e+02] [ 9.93896697e-03 1.78936461e-04 9.99950591e-01 -2.80025567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1046.826559995 meters 0.014112974631703126 Centerline is valid? [True, True] Translation: X:-283.31, Y:-256.27, Z:-2.80 [[-6.89547072e-01 -7.24207200e-01 6.98331769e-03 -2.83311498e+02] [ 7.24172667e-01 -6.89582410e-01 -7.07448633e-03 -2.56273635e+02] [ 9.93896697e-03 1.78936460e-04 9.99950591e-01 -2.80025612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1046.856559995 meters 0.0139341778269187 Centerline is valid? [True, True] Translation: X:-283.33, Y:-256.25, Z:-2.80 [[-6.90794818e-01 -7.23027239e-01 5.84225789e-03 -2.83330469e+02] [ 7.23003055e-01 -6.90819509e-01 -5.91519839e-03 -2.56253920e+02] [ 8.31279528e-03 1.37781908e-04 9.99965439e-01 -2.79850614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1046.886559995 meters 0.013962802872380187 Centerline is valid? [True, True] Translation: X:-283.35, Y:-256.23, Z:-2.80 [[-6.91628737e-01 -7.22232677e-01 5.44516691e-03 -2.83349066e+02] [ 7.22211673e-01 -6.91650161e-01 -5.50951344e-03 -2.56234830e+02] [ 7.74530121e-03 1.22025273e-04 9.99969997e-01 -2.79836235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1046.916559995 meters 0.013674376834689188 Centerline is valid? [True, True] Translation: X:-283.37, Y:-256.21, Z:-2.80 [[-6.92551361e-01 -7.21349843e-01 5.19768983e-03 -2.83367955e+02] [ 7.21330704e-01 -6.92570857e-01 -5.25585235e-03 -2.56214784e+02] [ 7.39107677e-03 1.09305560e-04 9.99972680e-01 -2.79799845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1046.9465599950001 meters 0.013256614557886768 Centerline is valid? [True, True] Translation: X:-283.39, Y:-256.19, Z:-2.80 [[-6.93215954e-01 -7.20712185e-01 5.05832620e-03 -2.83385925e+02] [ 7.20694063e-01 -6.93234402e-01 -5.11203103e-03 -2.56192670e+02] [ 7.19090879e-03 1.01764184e-04 9.99974140e-01 -2.79690667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1046.9765599950001 meters 0.013763306654854554 Centerline is valid? [True, True] Translation: X:-283.40, Y:-256.17, Z:-2.80 [[-6.93234536e-01 -7.20691518e-01 5.44180254e-03 -2.83404550e+02] [ 7.20670568e-01 -6.93255886e-01 -5.49628780e-03 -2.56173355e+02] [ 7.73368964e-03 1.11530401e-04 9.99970089e-01 -2.79694262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1047.006559995 meters 0.013368776941645196 Centerline is valid? [True, True] Translation: X:-283.42, Y:-256.15, Z:-2.80 [[-6.92994977e-01 -7.20922247e-01 5.39221077e-03 -2.83423547e+02] [ 7.20901708e-01 -6.93015945e-01 -5.44311839e-03 -2.56152444e+02] [ 7.66095319e-03 1.15200249e-04 9.99970648e-01 -2.79621374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1047.036559995 meters 0.013692833061549422 Centerline is valid? [True, True] Translation: X:-283.44, Y:-256.13, Z:-2.80 [[-6.92451958e-01 -7.21443165e-01 5.48136836e-03 -2.83443444e+02] [ 7.21421982e-01 -6.92473641e-01 -5.53000067e-03 -2.56133014e+02] [ 7.78528429e-03 1.25119831e-04 9.99969687e-01 -2.79628635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1047.066559995 meters 0.014667857908231994 Centerline is valid? [True, True] Translation: X:-283.46, Y:-256.12, Z:-2.80 [[-6.91998503e-01 -7.21876936e-01 5.63566274e-03 -2.83464680e+02] [ 7.21854584e-01 -6.92021438e-01 -5.68228692e-03 -2.56115293e+02] [ 8.00191130e-03 1.35994941e-04 9.99967975e-01 -2.79706712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1047.096559995 meters 0.014384358602289881 Centerline is valid? [True, True] Translation: X:-283.49, Y:-256.10, Z:-2.80 [[-6.90494775e-01 -7.23312765e-01 5.96739491e-03 -2.83485346e+02] [ 7.23287786e-01 -6.90520541e-01 -6.01339532e-03 -2.56096212e+02] [ 8.47017435e-03 1.63925802e-04 9.99964114e-01 -2.79667237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1047.126559995 meters 0.01458698977757262 Centerline is valid? [True, True] Translation: X:-283.51, Y:-256.08, Z:-2.80 [[-6.90024719e-01 -7.23758391e-01 6.29911113e-03 -2.83506253e+02] [ 7.23730608e-01 -6.90053447e-01 -6.34410428e-03 -2.56077394e+02] [ 8.93832205e-03 1.81270751e-04 9.99960036e-01 -2.79710249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1047.156559995 meters 0.014846417167449067 Centerline is valid? [True, True] Translation: X:-283.53, Y:-256.06, Z:-2.80 [[-6.89585807e-01 -7.24177186e-01 6.23034652e-03 -2.83527135e+02] [ 7.24150055e-01 -6.89613927e-01 -6.27132766e-03 -2.56058601e+02] [ 8.83808615e-03 1.87087229e-04 9.99960926e-01 -2.79751163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1047.1865599950002 meters 0.01665243802135276 Centerline is valid? [True, True] Translation: X:-283.55, Y:-256.04, Z:-2.80 [[-6.89471087e-01 -7.24283767e-01 6.53039130e-03 -2.83548640e+02] [ 7.24254000e-01 -6.89501984e-01 -6.56949616e-03 -2.56043676e+02] [ 9.26089718e-03 2.00184361e-04 9.99957097e-01 -2.79885526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1047.2165599950001 meters 0.017051185842319627 Centerline is valid? [True, True] Translation: X:-283.57, Y:-256.03, Z:-2.80 [[-6.89354289e-01 -7.24396648e-01 6.33714791e-03 -2.83568610e+02] [ 7.24368648e-01 -6.89383389e-01 -6.37221067e-03 -2.56026915e+02] [ 8.98473256e-03 1.97720501e-04 9.99959617e-01 -2.79869625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1047.246559995 meters 0.0152119130176138 Centerline is valid? [True, True] Translation: X:-283.59, Y:-256.01, Z:-2.80 [[-6.89584032e-01 -7.24177568e-01 6.38062467e-03 -2.83585772e+02] [ 7.24149209e-01 -6.89613522e-01 -6.41191587e-03 -2.56005980e+02] [ 9.04353070e-03 1.98969513e-04 9.99959087e-01 -2.79712617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1047.276559995 meters 0.015302720792754253 Centerline is valid? [True, True] Translation: X:-283.61, Y:-255.99, Z:-2.80 [[-6.90057950e-01 -7.23728274e-01 6.11650616e-03 -2.83605386e+02] [ 7.23702229e-01 -6.90085031e-01 -6.14268341e-03 -2.55986813e+02] [ 8.66654301e-03 1.87721618e-04 9.99962427e-01 -2.79707906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1047.306559995 meters 0.01417119494482503 Centerline is valid? [True, True] Translation: X:-283.62, Y:-255.96, Z:-2.80 [[-6.91115550e-01 -7.22722853e-01 5.56551089e-03 -2.83624011e+02] [ 7.22701282e-01 -6.91137940e-01 -5.58622424e-03 -2.55964806e+02] [ 7.88382765e-03 1.61475419e-04 9.99968909e-01 -2.79611339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1047.336559995 meters 0.014473395392405474 Centerline is valid? [True, True] Translation: X:-283.64, Y:-255.95, Z:-2.80 [[-6.91458873e-01 -7.22396761e-01 5.24848943e-03 -2.83643676e+02] [ 7.22377592e-01 -6.91478775e-01 -5.26482748e-03 -2.55946047e+02] [ 7.43251336e-03 1.50979482e-04 9.99972367e-01 -2.79595229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1047.366559995 meters 0.014336457829868846 Centerline is valid? [True, True] Translation: X:-283.66, Y:-255.93, Z:-2.80 [[-6.92526828e-01 -7.21378149e-01 4.48981974e-03 -2.83662756e+02] [ 7.21364117e-01 -6.92541372e-01 -4.50097763e-03 -2.55926468e+02] [ 6.35629283e-03 1.21747091e-04 9.99979791e-01 -2.79567760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1047.396559995 meters 0.013785016466647794 Centerline is valid? [True, True] Translation: X:-283.68, Y:-255.91, Z:-2.80 [[-6.93286910e-01 -7.20645983e-01 4.75688947e-03 -2.83681839e+02] [ 7.20630233e-01 -6.93303218e-01 -4.76600557e-03 -2.55905610e+02] [ 6.73256954e-03 1.23749092e-04 9.99977329e-01 -2.79559507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1047.4265599950002 meters 0.01388764576238296 Centerline is valid? [True, True] Translation: X:-283.70, Y:-255.89, Z:-2.80 [[-6.94127909e-01 -7.19835221e-01 4.86839943e-03 -2.83701105e+02] [ 7.19818724e-01 -6.94144971e-01 -4.87485771e-03 -2.55886530e+02] [ 6.88846926e-03 1.20590274e-04 9.99976267e-01 -2.79588026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1047.4565599950001 meters 0.013402961629483281 Centerline is valid? [True, True] Translation: X:-283.72, Y:-255.87, Z:-2.80 [[-6.95664727e-01 -7.18342923e-01 5.83372294e-03 -2.83719836e+02] [ 7.18319214e-01 -6.95689175e-01 -5.83779609e-03 -2.55866261e+02] [ 8.25199740e-03 1.29326454e-04 9.99965944e-01 -2.79698090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1047.486559995 meters 0.013301051216120375 Centerline is valid? [True, True] Translation: X:-283.74, Y:-255.85, Z:-2.80 [[-6.96409553e-01 -7.17616947e-01 6.29695586e-03 -2.83738723e+02] [ 7.17589328e-01 -6.96438009e-01 -6.29738499e-03 -2.55846589e+02] [ 8.90454959e-03 1.33069257e-04 9.99960345e-01 -2.79753975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1047.516559995 meters 0.013083429209428428 Centerline is valid? [True, True] Translation: X:-283.76, Y:-255.83, Z:-2.80 [[-6.97713931e-01 -7.16339741e-01 7.25571774e-03 -2.83757814e+02] [ 7.16303048e-01 -6.97751644e-01 -7.25167805e-03 -2.55827098e+02] [ 1.02573542e-02 1.37695929e-04 9.99947383e-01 -2.79918592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1047.546559995 meters 0.012752666904397357 Centerline is valid? [True, True] Translation: X:-284.23, Y:-256.31, Z:-1.78 [[-7.63156776e-01 6.46157708e-01 8.48245760e-03 -2.84230805e+02] [ 6.46115856e-01 7.63203904e-01 -7.35543109e-03 -2.56307498e+02] [-1.12266132e-02 -1.32696725e-04 -9.99936971e-01 -1.78434088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1047.576559995 meters 0.012803268051974173 Centerline is valid? [True, True] Translation: X:-283.79, Y:-255.80, Z:-2.80 [[-7.02127430e-01 -7.12001332e-01 8.43656721e-03 -2.83785500e+02] [ 7.11952921e-01 -7.02178092e-01 -8.30457576e-03 -2.55803229e+02] [ 1.18368417e-02 1.75568227e-04 9.99929927e-01 -2.80052731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1047.606559995 meters 0.012933611730001012 Centerline is valid? [True, True] Translation: X:-284.27, Y:-256.28, Z:-1.78 [[-7.63746964e-01 6.45453562e-01 8.95961958e-03 -2.84265051e+02] [ 6.45407398e-01 7.63799507e-01 -7.72036902e-03 -2.56279672e+02] [-1.18264927e-02 -1.13803631e-04 -9.99930058e-01 -1.78297046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1047.636559995 meters 0.012621529381463796 Centerline is valid? [True, True] Translation: X:-284.24, Y:-256.26, Z:-1.78 [[-8.06682781e-01 5.90901451e-01 9.91799626e-03 -2.84242163e+02] [ 5.90855245e-01 8.06743742e-01 -7.39018231e-03 -2.56264492e+02] [-1.23681509e-02 -1.01432710e-04 -9.99923507e-01 -1.78390982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1047.666559995 meters 0.012481356785281726 Centerline is valid? [True, True] Translation: X:-284.22, Y:-256.24, Z:-1.78 [[-8.45705782e-01 5.33543302e-01 1.06430594e-02 -2.84224248e+02] [ 5.33499787e-01 8.45772746e-01 -6.81463115e-03 -2.56244151e+02] [-1.26375104e-02 -8.51030646e-05 -9.99920140e-01 -1.78369117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1047.6965599950001 meters 0.012418996414800525 Centerline is valid? [True, True] Translation: X:-284.21, Y:-256.22, Z:-1.78 [[-8.80537024e-01 4.73835849e-01 1.15817681e-02 -2.84207511e+02] [ 4.73793882e-01 8.80613186e-01 -6.30669442e-03 -2.56223570e+02] [-1.31873956e-02 -6.59070896e-05 -9.99913041e-01 -1.78455367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1047.7265599950001 meters 0.012550149211932754 Centerline is valid? [True, True] Translation: X:-284.19, Y:-256.20, Z:-1.78 [[-9.10348333e-01 4.13651794e-01 1.25740213e-02 -2.84194525e+02] [ 4.13612079e-01 9.10435167e-01 -5.73195383e-03 -2.56200994e+02] [-1.38188642e-02 -1.73075271e-05 -9.99904515e-01 -1.78370384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1047.756559995 meters 0.01265000160224593 Centerline is valid? [True, True] Translation: X:-283.91, Y:-255.58, Z:-2.80 [[-8.80052465e-01 -4.74725923e-01 1.19565132e-02 -2.83907003e+02] [ 4.74682160e-01 -8.80133682e-01 -6.44583883e-03 -2.55578699e+02] [ 1.35833367e-02 2.86714069e-06 9.99907742e-01 -2.80103351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1047.786559995 meters 0.012595586024787121 Centerline is valid? [True, True] Translation: X:-284.24, Y:-256.18, Z:-1.78 [[-9.10608674e-01 4.13087503e-01 1.22702198e-02 -2.84237646e+02] [ 4.13050376e-01 9.10691339e-01 -5.53826308e-03 -2.56183273e+02] [-1.34621702e-02 2.50285273e-05 -9.99909381e-01 -1.78477644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1047.816559995 meters 0.01281194287568151 Centerline is valid? [True, True] Translation: X:-284.23, Y:-256.16, Z:-1.79 [[-9.36715909e-01 3.49891903e-01 1.17882016e-02 -2.84225617e+02] [ 3.49864940e-01 9.36790080e-01 -4.34400115e-03 -2.56159088e+02] [-1.25630012e-02 5.51834812e-05 -9.99921081e-01 -1.78547983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1047.846559995 meters 0.013011620183422794 Centerline is valid? [True, True] Translation: X:-284.21, Y:-256.13, Z:-1.79 [[-9.58801593e-01 2.83846856e-01 1.14222377e-02 -2.84212912e+02] [ 2.83827554e-01 9.58869625e-01 -3.31083523e-03 -2.56134376e+02] [-1.18922069e-02 6.75116827e-05 -9.99929283e-01 -1.78606981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1047.876559995 meters 0.013554951901583047 Centerline is valid? [True, True] Translation: X:-284.02, Y:-255.47, Z:-2.80 [[-9.41903404e-01 -3.35725918e-01 1.02998126e-02 -2.84016827e+02] [ 3.35704465e-01 -9.41959709e-01 -3.79709909e-03 -2.55472360e+02] [ 1.09767931e-02 -1.18807471e-04 9.99939746e-01 -2.79988283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1047.906559995 meters 0.013615115822299967 Centerline is valid? [True, True] Translation: X:-284.27, Y:-256.12, Z:-1.79 [[-9.58988705e-01 2.83271403e-01 9.89826778e-03 -2.84272279e+02] [ 2.83257295e-01 9.59039782e-01 -2.82861962e-03 -2.56118505e+02] [-1.02940996e-02 9.11422853e-05 -9.99947010e-01 -1.78582089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1047.9365599950002 meters 0.014378652377922178 Centerline is valid? [True, True] Translation: X:-284.10, Y:-255.45, Z:-2.80 [[-9.43900358e-01 -3.30093320e-01 9.51388980e-03 -2.84095375e+02] [ 3.30075477e-01 -9.43948298e-01 -3.43365994e-03 -2.55447494e+02] [ 1.01140483e-02 -1.00731140e-04 9.99948847e-01 -2.80020491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1047.9665599950001 meters 0.01367512799415161 Centerline is valid? [True, True] Translation: X:-284.35, Y:-256.10, Z:-1.79 [[-9.59983527e-01 2.79912209e-01 8.98794498e-03 -2.84348399e+02] [ 2.79900771e-01 9.60025598e-01 -2.53186024e-03 -2.56096724e+02] [-9.33735584e-03 8.51886053e-05 -9.99956402e-01 -1.78654747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1047.996559995 meters 0.013706598689981734 Centerline is valid? [True, True] Translation: X:-284.36, Y:-256.06, Z:-1.79 [[-9.77583015e-01 2.10363534e-01 8.86754607e-03 -2.84363309e+02] [ 2.10355580e-01 9.77623229e-01 -1.83079484e-03 -2.56064854e+02] [-9.05425150e-03 7.55838596e-05 -9.99959007e-01 -1.78646916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1048.026559995 meters 0.013549611842653048 Centerline is valid? [True, True] Translation: X:-284.17, Y:-255.41, Z:-2.80 [[-9.64999674e-01 -2.62118641e-01 8.33352044e-03 -2.84169518e+02] [ 2.62107980e-01 -9.65035651e-01 -2.36605857e-03 -2.55405648e+02] [ 8.66233238e-03 -9.89635397e-05 9.99962477e-01 -2.79849268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1048.056559995 meters 0.013308087255158127 Centerline is valid? [True, True] Translation: X:-284.35, Y:-256.06, Z:-1.79 [[-9.79341333e-01 2.02020187e-01 8.85418698e-03 -2.84348225e+02] [ 2.02012260e-01 9.79381357e-01 -1.79001629e-03 -2.56063820e+02] [-9.03324509e-03 3.56173803e-05 -9.99959199e-01 -1.78601162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1048.086559995 meters 0.013175063201737383 Centerline is valid? [True, True] Translation: X:-284.21, Y:-255.40, Z:-2.80 [[-9.65143791e-01 -2.61575101e-01 8.71377240e-03 -2.84212635e+02] [ 2.61564110e-01 -9.65183125e-01 -2.39814403e-03 -2.55403117e+02] [ 9.03768084e-03 -3.53437027e-05 9.99959159e-01 -2.79891146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1048.116559995 meters 0.013244627441082145 Centerline is valid? [True, True] Translation: X:-284.40, Y:-256.05, Z:-1.78 [[-9.81235023e-01 1.92643621e-01 8.14029946e-03 -2.84397423e+02] [ 1.92636876e-01 9.81268788e-01 -1.61219622e-03 -2.56047716e+02] [-8.29840111e-03 -1.38215426e-05 -9.99965568e-01 -1.78411867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1048.146559995 meters 0.01328361432670136 Centerline is valid? [True, True] Translation: X:-284.27, Y:-255.40, Z:-2.80 [[-9.64778406e-01 -2.62946678e-01 7.85313791e-03 -2.84268212e+02] [ 2.62937994e-01 -9.64810367e-01 -2.13704577e-03 -2.55398699e+02] [ 8.13871796e-03 3.11271400e-06 9.99966880e-01 -2.80017674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1048.1765599950002 meters 0.013317047676932032 Centerline is valid? [True, True] Translation: X:-284.45, Y:-256.03, Z:-1.79 [[-9.82589043e-01 1.85620450e-01 7.98882899e-03 -2.84450251e+02] [ 1.85613986e-01 9.82621518e-01 -1.54957894e-03 -2.56034985e+02] [-8.13762881e-03 -3.97608890e-05 -9.99966888e-01 -1.78503261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1048.2065599950001 meters 0.013401425595454194 Centerline is valid? [True, True] Translation: X:-284.45, Y:-256.01, Z:-1.79 [[-9.93447512e-01 1.14033724e-01 7.63877129e-03 -2.84450393e+02] [ 1.14029981e-01 9.93476878e-01 -9.25262706e-04 -2.56005657e+02] [-7.69445381e-03 -4.81509920e-05 -9.99970396e-01 -1.78520059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1048.236559995 meters 0.013671437051086496 Centerline is valid? [True, True] Translation: X:-284.45, Y:-255.97, Z:-1.79 [[-9.99159346e-01 4.03594425e-02 7.19138714e-03 -2.84453785e+02] [ 4.03579245e-02 9.99185224e-01 -3.56138447e-04 -2.55974771e+02] [-7.19990132e-03 -6.56095990e-05 -9.99974078e-01 -1.78520892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1048.266559995 meters 0.013812348824130929 Centerline is valid? [True, True] Translation: X:-284.42, Y:-255.33, Z:-2.80 [[-9.91902970e-01 -1.26796389e-01 7.15355546e-03 -2.84418248e+02] [ 1.26793570e-01 -9.91928763e-01 -8.48021097e-04 -2.55327127e+02] [ 7.20334344e-03 6.58701937e-05 9.99974054e-01 -2.79930036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1048.296559995 meters 0.014108869944730717 Centerline is valid? [True, True] Translation: X:-284.52, Y:-255.97, Z:-1.78 [[-9.99434408e-01 3.30777087e-02 6.06047888e-03 -2.84518797e+02] [ 3.30766570e-02 9.99452780e-01 -2.73703182e-04 -2.55968340e+02] [-6.06621594e-03 -7.30879962e-05 -9.99981598e-01 -1.78499025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1048.326559995 meters 0.014287107155976348 Centerline is valid? [True, True] Translation: X:-284.49, Y:-255.33, Z:-2.80 [[-9.92207684e-01 -1.24452000e-01 5.96759268e-03 -2.84487745e+02] [ 1.24450163e-01 -9.92225627e-01 -6.79572272e-04 -2.55326845e+02] [ 6.00577252e-03 6.83910525e-05 9.99981963e-01 -2.79967800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1048.356559995 meters 0.014137944637797831 Centerline is valid? [True, True] Translation: X:-284.58, Y:-255.97, Z:-1.78 [[-9.99596772e-01 2.77631101e-02 5.95845647e-03 -2.84582187e+02] [ 2.77621633e-02 9.99614528e-01 -2.41583711e-04 -2.55965304e+02] [-5.96286677e-03 -7.60666564e-05 -9.99982219e-01 -1.78473419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1048.386559995 meters 0.014295976977207194 Centerline is valid? [True, True] Translation: X:-284.55, Y:-255.32, Z:-2.80 [[-9.92793068e-01 -1.19691656e-01 5.98602983e-03 -2.84551888e+02] [ 1.19689969e-01 -9.92811111e-01 -6.40605583e-04 -2.55324031e+02] [ 6.01967206e-03 8.04789393e-05 9.99981879e-01 -2.80142090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1048.416559995 meters 0.014029393197771392 Centerline is valid? [True, True] Translation: X:-284.65, Y:-255.96, Z:-1.78 [[-9.99685929e-01 2.42545213e-02 6.30567723e-03 -2.84647109e+02] [ 2.42535758e-02 9.99705813e-01 -2.26389830e-04 -2.55964410e+02] [-6.30931316e-03 -7.33835073e-05 -9.99980094e-01 -1.78295426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1048.4465599950001 meters 0.01403431742279685 Centerline is valid? [True, True] Translation: X:-284.62, Y:-255.32, Z:-2.80 [[-9.93519176e-01 -1.13510012e-01 5.92653382e-03 -2.84622475e+02] [ 1.13508273e-01 -9.93536851e-01 -6.29982412e-04 -2.55319091e+02] [ 5.95973906e-03 4.68110145e-05 9.99982240e-01 -2.80233775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1048.4765599950001 meters 0.013763138896061306 Centerline is valid? [True, True] Translation: X:-284.71, Y:-255.97, Z:-1.78 [[-9.99719842e-01 2.28196710e-02 6.28496374e-03 -2.84711588e+02] [ 2.28188861e-02 9.99739596e-01 -1.96573282e-04 -2.55966026e+02] [-6.28781285e-03 -5.31023393e-05 -9.99980230e-01 -1.78174536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1048.506559995 meters 0.013624012389814817 Centerline is valid? [True, True] Translation: X:-284.69, Y:-255.31, Z:-2.80 [[-9.94416888e-01 -1.05336344e-01 6.26958866e-03 -2.84685076e+02] [ 1.05334592e-01 -9.94436651e-01 -6.09898299e-04 -2.55312544e+02] [ 6.29895321e-03 5.39113939e-05 9.99980160e-01 -2.80277421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1048.536559995 meters 0.01339092558428823 Centerline is valid? [True, True] Translation: X:-284.77, Y:-255.97, Z:-1.78 [[-9.99732605e-01 2.21735183e-02 6.56155136e-03 -2.84772739e+02] [ 2.21728477e-02 9.99754137e-01 -1.74937260e-04 -2.55969170e+02] [-6.56381709e-03 -2.94022034e-05 -9.99978458e-01 -1.78072833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1048.566559995 meters 0.013315687175667055 Centerline is valid? [True, True] Translation: X:-284.75, Y:-255.31, Z:-2.80 [[-9.95256138e-01 -9.70461015e-02 6.87567344e-03 -2.84753115e+02] [ 9.70441519e-02 -9.95279886e-01 -6.17398958e-04 -2.55305682e+02] [ 6.90313564e-03 5.27737950e-05 9.99976172e-01 -2.80393757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1048.596559995 meters 0.013240522002853425 Centerline is valid? [True, True] Translation: X:-284.84, Y:-255.97, Z:-1.78 [[-9.99779793e-01 1.95219466e-02 7.69800048e-03 -2.84841409e+02] [ 1.95212317e-02 9.99809429e-01 -1.67998062e-04 -2.55971244e+02] [-7.69981311e-03 -1.76866164e-05 -9.99970356e-01 -1.78076426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1048.626559995 meters 0.013395306950604677 Centerline is valid? [True, True] Translation: X:-284.82, Y:-255.30, Z:-2.80 [[-9.95949539e-01 -8.95994605e-02 7.51352588e-03 -2.84824690e+02] [ 8.95969662e-02 -9.95977880e-01 -6.68590033e-04 -2.55298932e+02] [ 7.54321088e-03 7.30718973e-06 9.99971550e-01 -2.80396898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1048.656559995 meters 0.013636859658801162 Centerline is valid? [True, True] Translation: X:-284.91, Y:-255.97, Z:-1.78 [[-9.99831521e-01 1.66994942e-02 7.61955663e-03 -2.84912668e+02] [ 1.66989960e-02 9.99860554e-01 -1.29011560e-04 -2.55974488e+02] [-7.62064854e-03 -1.75087855e-06 -9.99970963e-01 -1.78028234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1048.6865599950002 meters 0.014040046946799887 Centerline is valid? [True, True] Translation: X:-284.90, Y:-255.29, Z:-2.80 [[-9.96420334e-01 -8.41652381e-02 7.92027914e-03 -2.84899255e+02] [ 8.41627642e-02 -9.96451811e-01 -6.45728046e-04 -2.55293996e+02] [ 7.94652435e-03 2.31760298e-05 9.99968426e-01 -2.80423229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1048.7165599950001 meters 0.014375338256590446 Centerline is valid? [True, True] Translation: X:-284.99, Y:-255.98, Z:-1.78 [[-9.99897470e-01 1.19112573e-02 7.94799667e-03 -2.84987788e+02] [ 1.19108701e-02 9.99929059e-01 -9.60510848e-05 -2.55975932e+02] [-7.94857691e-03 -1.37368059e-06 -9.99968410e-01 -1.77999890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1048.746559995 meters 0.014647098530305592 Centerline is valid? [True, True] Translation: X:-284.97, Y:-255.29, Z:-2.81 [[-9.96795726e-01 -7.96455122e-02 7.40762617e-03 -2.84973936e+02] [ 7.96430693e-02 -9.96823250e-01 -6.24665966e-04 -2.55291700e+02] [ 7.43384583e-03 -3.26982814e-05 9.99972368e-01 -2.80548126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1048.776559995 meters 0.014647098530305592 Centerline is valid? [True, True] Translation: X:-285.06, Y:-255.98, Z:-1.78 [[-9.99950907e-01 6.52727058e-03 7.45505333e-03 -2.85059397e+02] [ 6.52706320e-03 9.99978697e-01 -5.21476806e-05 -2.55975420e+02] [-7.45523490e-03 -3.48551621e-06 -9.99972210e-01 -1.77903843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1048.806559995 meters 0.01517999752408359 Centerline is valid? [True, True] Translation: X:-285.07, Y:-255.95, Z:-1.78 [[-9.97820896e-01 -6.56224697e-02 6.86669481e-03 -2.85066053e+02] [-6.56209866e-02 9.97844523e-01 4.41316224e-04 -2.55947985e+02] [-6.88085407e-03 -1.02447383e-05 -9.99976327e-01 -1.77987933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1048.836559995 meters 0.01517999752408359 Centerline is valid? [True, True] Translation: X:-285.11, Y:-255.26, Z:-2.80 [[-9.99966392e-01 -4.49026422e-03 6.85952652e-03 -2.85107524e+02] [ 4.49021892e-03 -9.99989919e-01 -2.20044533e-05 -2.55264038e+02] [ 6.85955617e-03 8.79706199e-06 9.99976473e-01 -2.80465431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1048.866559995 meters 0.015461390959161771 Centerline is valid? [True, True] Translation: X:-285.16, Y:-255.95, Z:-1.78 [[-9.97352819e-01 -7.24272668e-02 6.45339790e-03 -2.85160941e+02] [-7.24258466e-02 9.97373697e-01 4.53813786e-04 -2.55953829e+02] [-6.46931781e-03 -1.47803474e-05 -9.99979074e-01 -1.78057492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1048.896559995 meters 0.015749147763332857 Centerline is valid? [True, True] Translation: X:-285.20, Y:-255.27, Z:-2.80 [[-9.99982273e-01 -1.11662527e-03 5.84860167e-03 -2.85204755e+02] [ 1.11643592e-03 -9.99999376e-01 -3.56399034e-05 -2.55269628e+02] [ 5.84863782e-03 -2.91096826e-05 9.99982896e-01 -2.80390338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1048.9265599950002 meters 0.015776983512542014 Centerline is valid? [True, True] Translation: X:-285.25, Y:-255.96, Z:-1.78 [[-9.96580879e-01 -8.24038611e-02 6.01294746e-03 -2.85253749e+02] [-8.24025911e-02 9.96599018e-01 4.59080291e-04 -2.55958018e+02] [-6.03032752e-03 -3.79718101e-05 -9.99981817e-01 -1.78101574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1048.9565599950001 meters 0.01568910904013725 Centerline is valid? [True, True] Translation: X:-285.27, Y:-255.93, Z:-1.78 [[-9.87965897e-01 -1.54543312e-01 6.30487953e-03 -2.85265345e+02] [-1.54540480e-01 9.87986013e-01 9.36918652e-04 -2.55930847e+02] [-6.37392730e-03 -4.87154293e-05 -9.99979685e-01 -1.78149961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1048.986559995 meters 0.015906131227753598 Centerline is valid? [True, True] Translation: X:-285.37, Y:-255.26, Z:-2.80 [[-9.97474779e-01 7.07182348e-02 6.55721385e-03 -2.85367188e+02] [-7.07162831e-02 -9.97496329e-01 5.29298895e-04 -2.55258194e+02] [ 6.57822783e-03 6.42605072e-05 9.99978361e-01 -2.80308719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1049.016559995 meters 0.016317358818247793 Centerline is valid? [True, True] Translation: X:-285.37, Y:-255.94, Z:-1.78 [[-9.86241858e-01 -1.65193525e-01 6.17230609e-03 -2.85370422e+02] [-1.65190778e-01 9.86261169e-01 9.55841865e-04 -2.55941070e+02] [-6.24540471e-03 -7.69167852e-05 -9.99980494e-01 -1.78164904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1049.046559995 meters 0.01609596590217051 Centerline is valid? [True, True] Translation: X:-285.39, Y:-255.92, Z:-1.78 [[-9.71668523e-01 -2.36262541e-01 6.34763161e-03 -2.85391043e+02] [-2.36258078e-01 9.71689253e-01 1.45476987e-03 -2.55916389e+02] [-6.51163304e-03 -8.61251539e-05 -9.99978796e-01 -1.78229216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1049.076559995 meters 0.016364067323700236 Centerline is valid? [True, True] Translation: X:-285.42, Y:-255.89, Z:-1.78 [[-9.51879230e-01 -3.06413935e-01 6.03582250e-03 -2.85421663e+02] [-3.06408364e-01 9.51898363e-01 1.84984265e-03 -2.55894610e+02] [-6.31230712e-03 -8.85997035e-05 -9.99980073e-01 -1.78259029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1049.106559995 meters 0.016850516817319226 Centerline is valid? [True, True] Translation: X:-285.48, Y:-255.88, Z:-1.78 [[-9.26777308e-01 -3.75567240e-01 5.75065070e-03 -2.85475187e+02] [-3.75560607e-01 9.26795145e-01 2.23383776e-03 -2.55881517e+02] [-6.16863143e-03 -8.94477262e-05 -9.99980970e-01 -1.78264327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1049.136559995 meters 0.016591082175147404 Centerline is valid? [True, True] Translation: X:-285.54, Y:-255.88, Z:-1.78 [[-8.96756514e-01 -4.42488587e-01 5.62180952e-03 -2.85539632e+02] [-4.42480508e-01 8.96774132e-01 2.67526194e-03 -2.55879450e+02] [-6.22526622e-03 -8.84825646e-05 -9.99980619e-01 -1.78292156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1049.166559995 meters 0.016420055702220087 Centerline is valid? [True, True] Translation: X:-285.61, Y:-255.89, Z:-1.78 [[-8.61670327e-01 -5.07438985e-01 5.47033898e-03 -2.85611289e+02] [-5.07429398e-01 8.61687686e-01 3.12044409e-03 -2.55885815e+02] [-6.29715872e-03 -8.70167335e-05 -9.99980169e-01 -1.78310612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1049.1965599950001 meters 0.016057933734173056 Centerline is valid? [True, True] Translation: X:-285.69, Y:-255.90, Z:-1.78 [[-8.22208237e-01 -5.69162100e-01 5.30280908e-03 -2.85687342e+02] [-5.69150881e-01 8.22225333e-01 3.57445986e-03 -2.55902665e+02] [-6.39455104e-03 -7.91481254e-05 -9.99979552e-01 -1.78358538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1049.2265599950001 meters 0.01610240416383187 Centerline is valid? [True, True] Translation: X:-285.77, Y:-255.93, Z:-1.78 [[-7.77754107e-01 -6.28545946e-01 5.34257374e-03 -2.85771776e+02] [-6.28531810e-01 7.77772452e-01 4.21626077e-03 -2.55930407e+02] [-6.80542029e-03 -7.87634106e-05 -9.99976840e-01 -1.78353673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1049.256559995 meters 0.0159601438275541 Centerline is valid? [True, True] Translation: X:-285.85, Y:-255.97, Z:-1.78 [[-7.28705742e-01 -6.84807757e-01 5.12620798e-03 -2.85854869e+02] [-6.84791534e-01 7.28723768e-01 4.71436416e-03 -2.55965577e+02] [-6.96402274e-03 -7.49995953e-05 -9.99975748e-01 -1.78346098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1049.286559995 meters 0.01584363261093739 Centerline is valid? [True, True] Translation: X:-285.94, Y:-256.01, Z:-1.78 [[-6.76055092e-01 -7.36833526e-01 5.08600010e-03 -2.85940597e+02] [-7.36813427e-01 6.76074220e-01 5.44271427e-03 -2.56011979e+02] [-7.44888789e-03 -6.78584637e-05 -9.99972255e-01 -1.78309405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1049.316559995 meters 0.01577414509112894 Centerline is valid? [True, True] Translation: X:-286.03, Y:-256.07, Z:-1.78 [[-6.18760553e-01 -7.85565040e-01 4.79012180e-03 -2.86026485e+02] [-7.85542301e-01 6.18779091e-01 5.97740774e-03 -2.56068671e+02] [-7.65966976e-03 -6.42591804e-05 -9.99970662e-01 -1.78262140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1049.346559995 meters 0.01571550376949196 Centerline is valid? [True, True] Translation: X:-286.11, Y:-256.13, Z:-1.78 [[-5.57690836e-01 -8.30036331e-01 4.54100842e-03 -2.86109504e+02] [-8.30009721e-01 5.57709320e-01 6.64660377e-03 -2.56133627e+02] [-8.04948532e-03 -6.23311259e-05 -9.99967601e-01 -1.78223502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1049.376559995 meters 0.01566202227581182 Centerline is valid? [True, True] Translation: X:-286.19, Y:-256.21, Z:-1.78 [[-4.93137289e-01 -8.69941124e-01 4.24919516e-03 -2.86189835e+02] [-8.69909909e-01 4.93155591e-01 7.36979984e-03 -2.56208618e+02] [-8.50680630e-03 -6.20938633e-05 -9.99963815e-01 -1.78160925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1049.406559995 meters 0.015731747928354658 Centerline is valid? [True, True] Translation: X:-286.26, Y:-256.29, Z:-1.78 [[-4.25461674e-01 -9.04966427e-01 4.25801471e-03 -2.86264952e+02] [-9.04922723e-01 4.25482975e-01 8.89403087e-03 -2.56290890e+02] [-9.86051210e-03 -6.91050100e-05 -9.99951382e-01 -1.78059480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1049.4365599950002 meters 0.01589316814133893 Centerline is valid? [True, True] Translation: X:-286.34, Y:-256.39, Z:-1.78 [[-3.54773630e-01 -9.34944758e-01 3.73784011e-03 -2.86338089e+02] [-9.34895064e-01 3.54793313e-01 9.63976461e-03 -2.56387301e+02] [-1.03388081e-02 -7.45539796e-05 -9.99946550e-01 -1.77920626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1049.4665599950001 meters 0.01571471637582623 Centerline is valid? [True, True] Translation: X:-286.40, Y:-256.48, Z:-1.78 [[-2.81412493e-01 -9.59582052e-01 3.04858729e-03 -2.86400021e+02] [-9.59528890e-01 2.81428993e-01 1.01010202e-02 -2.56482450e+02] [-1.05507185e-02 -8.26543062e-05 -9.99944336e-01 -1.78013845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1049.496559995 meters 0.015742288673599857 Centerline is valid? [True, True] Translation: X:-286.46, Y:-256.58, Z:-1.78 [[-2.06213666e-01 -9.78504447e-01 2.22982465e-03 -2.86455427e+02] [-9.78451837e-01 2.06225703e-01 1.01470499e-02 -2.56583844e+02] [-1.03887806e-02 -8.93156734e-05 -9.99946031e-01 -1.78033171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1049.526559995 meters 0.01590094713983041 Centerline is valid? [True, True] Translation: X:-286.50, Y:-256.69, Z:-1.78 [[-1.29387661e-01 -9.91593021e-01 1.45397213e-03 -2.86503642e+02] [-9.91538900e-01 1.29395790e-01 1.03604594e-02 -2.56690550e+02] [-1.04614971e-02 -1.01154330e-04 -9.99945272e-01 -1.78025364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1049.556559995 meters 0.016261183131289166 Centerline is valid? [True, True] Translation: X:-286.54, Y:-256.80, Z:-1.78 [[-5.17233381e-02 -9.98661250e-01 6.36228650e-04 -2.86544934e+02] [-9.98609661e-01 5.17271334e-02 1.01512592e-02 -2.56803527e+02] [-1.01705795e-02 -1.10287065e-04 -9.99948272e-01 -1.77965069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1049.586559995 meters 0.016911693142596065 Centerline is valid? [True, True] Translation: X:-286.58, Y:-256.92, Z:-1.78 [[ 2.80071923e-02 -9.99607711e-01 -1.44440797e-04 -2.86578444e+02] [-9.99555019e-01 -2.80071992e-02 1.02645472e-02 -2.56917307e+02] [-1.02645660e-02 -1.43104625e-04 -9.99947308e-01 -1.77916785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1049.616559995 meters 0.01676644254470806 Centerline is valid? [True, True] Translation: X:-286.60, Y:-257.04, Z:-1.78 [[ 1.06228666e-01 -9.94341256e-01 -9.68191620e-04 -2.86599581e+02] [-9.94284671e-01 -1.06232951e-01 1.06091565e-02 -2.57040412e+02] [-1.06519759e-02 -1.64338456e-04 -9.99943253e-01 -1.78021894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1049.646559995 meters 0.01695936390067679 Centerline is valid? [True, True] Translation: X:-286.61, Y:-257.15, Z:-1.78 [[ 1.83691137e-01 -9.82982392e-01 -1.78409290e-03 -2.86613885e+02] [-9.82926071e-01 -1.83699713e-01 1.05240113e-02 -2.57151987e+02] [-1.06726552e-02 -1.79536182e-04 -9.99943030e-01 -1.78029322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1049.6765599950002 meters 0.017491005792615946 Centerline is valid? [True, True] Translation: X:-286.62, Y:-257.27, Z:-1.78 [[ 2.60049510e-01 -9.65591744e-01 -2.61472581e-03 -2.86618086e+02] [-9.65535021e-01 -2.60062580e-01 1.04679588e-02 -2.57274546e+02] [-1.07877669e-02 -1.97578222e-04 -9.99941791e-01 -1.78011391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1049.7065599950001 meters 0.017762395974974712 Centerline is valid? [True, True] Translation: X:-286.61, Y:-257.39, Z:-1.78 [[ 3.35621952e-01 -9.41990577e-01 -3.41448209e-03 -2.86614956e+02] [-9.41934858e-01 -3.35639246e-01 1.02479171e-02 -2.57389855e+02] [-1.07994755e-02 -2.23206225e-04 -9.99941659e-01 -1.78099256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1049.736559995 meters 0.017631912770937452 Centerline is valid? [True, True] Translation: X:-286.60, Y:-257.51, Z:-1.78 [[ 4.07594525e-01 -9.13152995e-01 -4.27907944e-03 -2.86600863e+02] [-9.13096423e-01 -4.07616917e-01 1.01671548e-02 -2.57507412e+02] [-1.10283930e-02 -2.36864501e-04 -9.99939158e-01 -1.78152730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1049.766559995 meters 0.01789547492472915 Centerline is valid? [True, True] Translation: X:-286.58, Y:-257.62, Z:-1.78 [[ 4.77027590e-01 -8.78873369e-01 -5.12636420e-03 -2.86579001e+02] [-8.78816902e-01 -4.77055070e-01 9.96557776e-03 -2.57622383e+02] [-1.12040389e-02 -2.48720044e-04 -9.99937202e-01 -1.78141423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1049.796559995 meters 0.017972467518417752 Centerline is valid? [True, True] Translation: X:-286.55, Y:-257.74, Z:-1.78 [[ 5.43060782e-01 -8.39668286e-01 -6.49289600e-03 -2.86548403e+02] [-8.39602065e-01 -5.43099524e-01 1.05489069e-02 -2.57735460e+02] [-1.23838713e-02 -2.77248743e-04 -9.99923279e-01 -1.78021957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1049.826559995 meters 0.01774798476954842 Centerline is valid? [True, True] Translation: X:-286.51, Y:-257.84, Z:-1.78 [[ 6.05447301e-01 -7.95848489e-01 -7.66476428e-03 -2.86512185e+02] [-7.95778602e-01 -6.05495747e-01 1.05507044e-02 -2.57838648e+02] [-1.30377444e-02 -2.88440118e-04 -9.99914964e-01 -1.78010103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1049.856559995 meters 0.017006065670596475 Centerline is valid? [True, True] Translation: X:-286.47, Y:-257.94, Z:-1.78 [[ 6.62753994e-01 -7.48787655e-01 -8.61348087e-03 -2.86468339e+02] [-7.48719160e-01 -6.62809911e-01 1.01312337e-02 -2.57935045e+02] [-1.32952432e-02 -2.65437451e-04 -9.99911579e-01 -1.78067175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1049.886559995 meters 0.01732432364690555 Centerline is valid? [True, True] Translation: X:-286.42, Y:-258.03, Z:-1.78 [[ 7.16692616e-01 -6.97329175e-01 -9.14963658e-03 -2.86417429e+02] [-6.97268064e-01 -7.16750978e-01 9.23485160e-03 -2.58031598e+02] [-1.29977424e-02 -2.38800571e-04 -9.99915497e-01 -1.77980957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1049.916559995 meters 0.01696637553311535 Centerline is valid? [True, True] Translation: X:-286.36, Y:-258.12, Z:-1.78 [[ 7.66443538e-01 -6.42240898e-01 -9.53582613e-03 -2.86361918e+02] [-6.42187761e-01 -7.66502827e-01 8.26414678e-03 -2.58119446e+02] [-1.26168107e-02 -2.10211064e-04 -9.99920383e-01 -1.78011167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1049.9465599950001 meters 0.015299956041140513 Centerline is valid? [True, True] Translation: X:-286.36, Y:-258.12, Z:-1.78 [[ 8.12005180e-01 -5.83572316e-01 -9.53621283e-03 -2.86360218e+02] [-5.83529885e-01 -8.12061161e-01 7.03876556e-03 -2.58124781e+02] [-1.18516168e-02 -1.50848923e-04 -9.99929756e-01 -1.78253478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1049.9765599950001 meters 0.015024255030887909 Centerline is valid? [True, True] Translation: X:-286.36, Y:-258.13, Z:-1.78 [[ 8.53933266e-01 -5.20280598e-01 -1.02993786e-02 -2.86360394e+02] [-5.20240975e-01 -8.53995365e-01 6.42217780e-03 -2.58133198e+02] [-1.21369561e-02 -1.25952498e-04 -9.99926337e-01 -1.78248197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1050.006559995 meters 0.014819590302016008 Centerline is valid? [True, True] Translation: X:-286.36, Y:-258.14, Z:-1.78 [[ 8.91014606e-01 -4.53848750e-01 -1.06903880e-02 -2.86360427e+02] [-4.53814754e-01 -8.91078730e-01 5.55581216e-03 -2.58140506e+02] [-1.20474758e-02 -9.88539621e-05 -9.99927422e-01 -1.78222034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1050.036559995 meters 0.014730015234536315 Centerline is valid? [True, True] Translation: X:-286.36, Y:-258.15, Z:-1.78 [[ 9.22952040e-01 -3.84760362e-01 -1.09084671e-02 -2.86359572e+02] [-3.84732571e-01 -9.23016500e-01 4.62499578e-03 -2.58146712e+02] [-1.18482102e-02 -7.18066913e-05 -9.99929805e-01 -1.78120179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1050.066559995 meters 0.014279313463647568 Centerline is valid? [True, True] Translation: X:-286.36, Y:-258.15, Z:-1.78 [[ 9.48920043e-01 -3.15311349e-01 -1.13800394e-02 -2.86358166e+02] [-3.15288376e-01 -9.48988279e-01 3.80618432e-03 -2.58153484e+02] [-1.19996571e-02 -2.37704453e-05 -9.99928001e-01 -1.78251946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1050.096559995 meters 0.014297429014730911 Centerline is valid? [True, True] Translation: X:-286.36, Y:-258.16, Z:-1.78 [[ 9.70346951e-01 -2.41429593e-01 -1.17706111e-02 -2.86357658e+02] [-2.41411730e-01 -9.70418339e-01 2.93685402e-03 -2.58162590e+02] [-1.21314604e-02 -8.20375300e-06 -9.99926411e-01 -1.78179487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1050.126559995 meters 0.014370215409976453 Centerline is valid? [True, True] Translation: X:-286.36, Y:-258.17, Z:-1.78 [[ 9.85962091e-01 -1.66508007e-01 -1.24032186e-02 -2.86355751e+02] [-1.66494992e-01 -9.86040102e-01 2.08181800e-03 -2.58168102e+02] [-1.25767103e-02 1.24801467e-05 -9.99920910e-01 -1.78030480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1050.156559995 meters 0.014204840733163835 Centerline is valid? [True, True] Translation: X:-286.36, Y:-258.18, Z:-1.78 [[ 9.95929544e-01 -8.91812545e-02 -1.30784854e-02 -2.86356932e+02] [-8.91738013e-02 -9.96015413e-01 1.15309843e-03 -2.58177220e+02] [-1.31292078e-02 1.78534662e-05 -9.99913808e-01 -1.78169487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1050.1865599950002 meters 0.014271563005784511 Centerline is valid? [True, True] Translation: X:-286.36, Y:-258.19, Z:-1.78 [[ 9.99842072e-01 -1.08034024e-02 -1.41108837e-02 -2.86358114e+02] [-1.08025693e-02 -9.99941641e-01 1.35259319e-04 -2.58186059e+02] [-1.41115215e-02 1.71958409e-05 -9.99900428e-01 -1.78066609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1050.2165599950001 meters 0.014649961065135263 Centerline is valid? [True, True] Translation: X:-286.36, Y:-258.19, Z:-1.78 [[ 9.97601594e-01 6.75628505e-02 -1.50439752e-02 -2.86358810e+02] [ 6.75549148e-02 -9.97715020e-01 -1.03563130e-03 -2.58192681e+02] [-1.50795702e-02 1.68529775e-05 -9.99886297e-01 -1.77808169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1050.246559995 meters 0.014370416038533528 Centerline is valid? [True, True] Translation: X:-286.36, Y:-258.20, Z:-1.78 [[ 9.89043819e-01 1.46716558e-01 -1.63271794e-02 -2.86357522e+02] [ 1.46696606e-01 -9.89178574e-01 -2.41956615e-03 -2.58201224e+02] [-1.65054865e-02 -2.08486314e-06 -9.99863775e-01 -1.77832418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1050.276559995 meters 0.014311158603923542 Centerline is valid? [True, True] Translation: X:-286.36, Y:-258.21, Z:-1.78 [[ 9.74356577e-01 2.24437898e-01 -1.60278123e-02 -2.86355265e+02] [ 2.24407773e-01 -9.74488394e-01 -3.67719719e-03 -2.58208610e+02] [-1.64442194e-02 -1.38643862e-05 -9.99864785e-01 -1.77843375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1050.306559995 meters 0.014234662014252919 Centerline is valid? [True, True] Translation: X:-286.35, Y:-258.22, Z:-1.78 [[ 9.53644075e-01 3.00536971e-01 -1.55083122e-02 -2.86351989e+02] [ 3.00497608e-01 -9.53770166e-01 -4.86403194e-03 -2.58216014e+02] [-1.62531870e-02 -2.16554945e-05 -9.99867908e-01 -1.77873553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1050.336559995 meters 0.014183789521047112 Centerline is valid? [True, True] Translation: X:-286.35, Y:-258.22, Z:-1.78 [[ 9.27272810e-01 3.74091737e-01 -1.48495213e-02 -2.86349294e+02] [ 3.74044095e-01 -9.27391704e-01 -5.97016805e-03 -2.58221125e+02] [-1.60047134e-02 -1.84012410e-05 -9.99871916e-01 -1.77914319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1050.366559995 meters 0.013997176472877383 Centerline is valid? [True, True] Translation: X:-286.34, Y:-258.23, Z:-1.78 [[ 8.95328850e-01 4.45205434e-01 -1.33556198e-02 -2.86344830e+02] [ 4.45156105e-01 -8.95428457e-01 -6.62730555e-03 -2.58229230e+02] [-1.49095144e-02 -1.17178243e-05 -9.99888847e-01 -1.78130963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1050.396559995 meters 0.013866418583967637 Centerline is valid? [True, True] Translation: X:-286.34, Y:-258.24, Z:-1.78 [[ 8.57984074e-01 5.13539014e-01 -1.18747576e-02 -2.86341063e+02] [ 5.13489913e-01 -8.58066246e-01 -7.10126275e-03 -2.58236628e+02] [-1.38361042e-02 -4.79791391e-06 -9.99904277e-01 -1.78165142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1050.4265599950002 meters 0.013916534298921248 Centerline is valid? [True, True] Translation: X:-286.34, Y:-258.24, Z:-1.78 [[ 8.15458039e-01 5.78731634e-01 -9.89358118e-03 -2.86336633e+02] [ 5.78689021e-01 -8.15518053e-01 -7.02295538e-03 -2.58242734e+02] [-1.21328005e-02 1.61860844e-06 -9.99926395e-01 -1.78303111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1050.4565599950001 meters 0.013631109360671695 Centerline is valid? [True, True] Translation: X:-286.33, Y:-258.25, Z:-1.78 [[ 7.67405451e-01 6.41110628e-01 -8.12626322e-03 -2.86329926e+02] [ 6.41074726e-01 -7.67448476e-01 -6.78474759e-03 -2.58249208e+02] [-1.05862621e-02 -2.88967493e-06 -9.99943964e-01 -1.78417632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1050.486559995 meters 0.013581263286374882 Centerline is valid? [True, True] Translation: X:-286.32, Y:-258.25, Z:-1.78 [[ 7.14496462e-01 6.99600365e-01 -7.35762669e-03 -2.86323374e+02] [ 6.99563397e-01 -7.14534344e-01 -7.19204153e-03 -2.58254843e+02] [-1.02888318e-02 -8.43808520e-06 -9.99947069e-01 -1.78417064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1050.516559995 meters 0.01358928928310679 Centerline is valid? [True, True] Translation: X:-286.32, Y:-258.26, Z:-1.78 [[ 6.55684709e-01 7.55005666e-01 -6.63373926e-03 -2.86315695e+02] [ 7.54967529e-01 -6.55718265e-01 -7.58862854e-03 -2.58260970e+02] [-1.00793215e-02 -3.25100378e-05 -9.99949202e-01 -1.78365033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1050.546559995 meters 0.01358928928310679 Centerline is valid? [True, True] Translation: X:-286.31, Y:-258.27, Z:-1.78 [[ 5.94573326e-01 8.04018860e-01 -6.01932722e-03 -2.86309766e+02] [ 8.03978213e-01 -5.94603794e-01 -8.08462075e-03 -2.58265451e+02] [-1.00793024e-02 -3.25080956e-05 -9.99949202e-01 -1.78365050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1050.576559995 meters 0.013655150252036046 Centerline is valid? [True, True] Translation: X:-286.30, Y:-258.27, Z:-1.78 [[ 5.28764760e-01 8.48751212e-01 -5.40451696e-03 -2.86303003e+02] [ 8.48707750e-01 -5.28792378e-01 -8.58937481e-03 -2.58269677e+02] [-1.01481096e-02 -4.50967131e-05 -9.99948506e-01 -1.78315800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1050.606559995 meters 0.013605276987454529 Centerline is valid? [True, True] Translation: X:-286.29, Y:-258.27, Z:-1.78 [[ 4.59208912e-01 8.88315256e-01 -4.81468849e-03 -2.86294211e+02] [ 8.88267869e-01 -4.59234147e-01 -9.17554988e-03 -2.58274411e+02] [-1.03618503e-02 -6.32388104e-05 -9.99946313e-01 -1.78343872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1050.636559995 meters 0.013605276987454529 Centerline is valid? [True, True] Translation: X:-286.29, Y:-258.28, Z:-1.78 [[ 3.88202511e-01 9.21565058e-01 -4.08098547e-03 -2.86285874e+02] [ 9.21515840e-01 -3.88223956e-01 -9.52455269e-03 -2.58278313e+02] [-1.03618313e-02 -6.32374805e-05 -9.99946313e-01 -1.78343889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1050.666559995 meters 0.014053636251136103 Centerline is valid? [True, True] Translation: X:-286.28, Y:-258.28, Z:-1.78 [[ 3.11664067e-01 9.50186196e-01 -3.42103607e-03 -2.86275161e+02] [ 9.50132449e-01 -3.11682826e-01 -1.01066842e-02 -2.58282722e+02] [-1.06695100e-02 -1.00547091e-04 -9.99943074e-01 -1.78188479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1050.6965599950001 meters 0.014683191734451161 Centerline is valid? [True, True] Translation: X:-286.27, Y:-258.29, Z:-1.78 [[ 2.33402511e-01 9.72376700e-01 -2.61165501e-03 -2.86267506e+02] [ 9.72322003e-01 -2.33417085e-01 -1.03144114e-02 -2.58285965e+02] [-1.06390983e-02 -1.31960099e-04 -9.99943395e-01 -1.78121265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1050.7265599950001 meters 0.01484695196542005 Centerline is valid? [True, True] Translation: X:-286.26, Y:-258.29, Z:-1.78 [[ 1.55306970e-01 9.87864696e-01 -1.75701097e-03 -2.86262239e+02] [ 9.87811421e-01 -1.55316843e-01 -1.02603680e-02 -2.58286153e+02] [-1.04087487e-02 -1.42088844e-04 -9.99945818e-01 -1.78134828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1050.756559995 meters 0.015347315788746424 Centerline is valid? [True, True] Translation: X:-286.26, Y:-258.29, Z:-1.78 [[ 7.62887132e-02 9.97085366e-01 -8.97770129e-04 -2.86257396e+02] [ 9.97037053e-01 -7.62938554e-02 -9.81640954e-03 -2.58287515e+02] [-9.85629264e-03 -1.46228832e-04 -9.99951415e-01 -1.78118703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1050.786559995 meters 0.01577208079756351 Centerline is valid? [True, True] Translation: X:-286.25, Y:-258.29, Z:-1.78 [[-3.91681387e-03 9.99992322e-01 -1.21513169e-04 -2.86253489e+02] [ 9.99947225e-01 3.91548306e-03 -9.49824575e-03 -2.58286771e+02] [-9.49769704e-03 -1.58709617e-04 -9.99954883e-01 -1.78088539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1050.816559995 meters 0.016003486024312584 Centerline is valid? [True, True] Translation: X:-286.25, Y:-258.29, Z:-1.78 [[-8.28851825e-02 9.96558930e-01 5.88006028e-04 -2.86251482e+02] [ 9.96518746e-01 8.28871216e-02 -8.95064658e-03 -2.58286618e+02] [-8.96858491e-03 -1.55916946e-04 -9.99959769e-01 -1.78089635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1050.846559995 meters 0.016425725870467783 Centerline is valid? [True, True] Translation: X:-286.25, Y:-258.29, Z:-1.78 [[-1.61330936e-01 9.86899525e-01 1.28717141e-03 -2.86249710e+02] [ 9.86859611e-01 1.61335990e-01 -8.87736301e-03 -2.58287173e+02] [-8.96873241e-03 -1.61935815e-04 -9.99959767e-01 -1.78042027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1050.876559995 meters 0.015772471143595188 Centerline is valid? [True, True] Translation: X:-286.25, Y:-258.29, Z:-1.78 [[-2.38763801e-01 9.71075685e-01 1.96504762e-03 -2.86245900e+02] [ 9.71036824e-01 2.38771829e-01 -8.68903615e-03 -2.58285646e+02] [-8.90690975e-03 -1.66493696e-04 -9.99960319e-01 -1.78125689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1050.906559995 meters 0.015787422697509063 Centerline is valid? [True, True] Translation: X:-286.24, Y:-258.28, Z:-1.78 [[-3.14520865e-01 9.49247384e-01 2.45542377e-03 -2.86240450e+02] [ 9.49214404e-01 3.14530409e-01 -7.91435237e-03 -2.58283793e+02] [-8.28498373e-03 -1.58505339e-04 -9.99965667e-01 -1.78123507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1050.9365599950002 meters 0.015868086980046218 Centerline is valid? [True, True] Translation: X:-286.23, Y:-258.28, Z:-1.78 [[-3.88502744e-01 9.21442113e-01 3.17037039e-03 -2.86234881e+02] [ 9.21407786e-01 3.88515643e-01 -7.95540805e-03 -2.58281824e+02] [-8.56218649e-03 -1.69493900e-04 -9.99963330e-01 -1.78057214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1050.9665599950001 meters 0.01583891063614955 Centerline is valid? [True, True] Translation: X:-286.23, Y:-258.28, Z:-1.78 [[-4.59500010e-01 8.88169275e-01 3.88329314e-03 -2.86229913e+02] [ 8.88134299e-01 4.59516386e-01 -7.88408672e-03 -2.58278832e+02] [-8.78684041e-03 -1.73852099e-04 -9.99961380e-01 -1.78008415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1050.996559995 meters 0.01587390082370384 Centerline is valid? [True, True] Translation: X:-286.23, Y:-258.28, Z:-1.78 [[-5.26924879e-01 8.49898859e-01 4.70119497e-03 -2.86226251e+02] [ 8.49862037e-01 5.26945822e-01 -7.91321658e-03 -2.58276000e+02] [-9.20270879e-03 -1.74303561e-04 -9.99957639e-01 -1.77962440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1051.026559995 meters 0.015674301201518945 Centerline is valid? [True, True] Translation: X:-286.22, Y:-258.27, Z:-1.78 [[-5.91429455e-01 8.06337876e-01 5.51630669e-03 -2.86222813e+02] [ 8.06300000e-01 5.91455154e-01 -7.81733839e-03 -2.58273455e+02] [-9.56606406e-03 -1.75606100e-04 -9.99954229e-01 -1.77922109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1051.056559995 meters 0.015435570297112297 Centerline is valid? [True, True] Translation: X:-286.22, Y:-258.27, Z:-1.78 [[-6.52172982e-01 7.58043676e-01 6.33933407e-03 -2.86219723e+02] [ 7.58005243e-01 6.52203768e-01 -7.63523539e-03 -2.58270987e+02] [-9.92237947e-03 -1.74245770e-04 -9.99950757e-01 -1.77881255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1051.086559995 meters 0.01499973423236282 Centerline is valid? [True, True] Translation: X:-286.22, Y:-258.27, Z:-1.78 [[-7.07573006e-01 7.06605211e-01 7.03680753e-03 -2.86218242e+02] [ 7.06568161e-01 7.07607980e-01 -7.23742013e-03 -2.58270641e+02] [-1.00932999e-02 -1.49018965e-04 -9.99949050e-01 -1.77836407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1051.116559995 meters 0.014797251502032531 Centerline is valid? [True, True] Translation: X:-286.22, Y:-258.27, Z:-1.78 [[-7.59446349e-01 6.50525266e-01 7.62373933e-03 -2.86216521e+02] [ 6.50490765e-01 7.59484602e-01 -6.70098537e-03 -2.58270275e+02] [-1.01492729e-02 -1.29866839e-04 -9.99948487e-01 -1.77799480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1051.146559995 meters 0.013748304463725651 Centerline is valid? [True, True] Translation: X:-286.20, Y:-258.25, Z:-1.78 [[-8.00931081e-01 5.98699144e-01 8.29089366e-03 -2.86202762e+02] [ 5.98665908e-01 8.00973987e-01 -6.30898062e-03 -2.58252829e+02] [-1.04179714e-02 -8.95832879e-05 -9.99945728e-01 -1.77840436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1051.1765599950002 meters 0.013421489125841997 Centerline is valid? [True, True] Translation: X:-286.18, Y:-258.24, Z:-1.78 [[-8.40158462e-01 5.42269333e-01 8.81643867e-03 -2.86184349e+02] [ 5.42238622e-01 8.40204716e-01 -5.77161719e-03 -2.58235302e+02] [-1.05373844e-02 -6.84594658e-05 -9.99944478e-01 -1.77886430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1051.2065599950001 meters 0.013268527698132936 Centerline is valid? [True, True] Translation: X:-286.17, Y:-258.22, Z:-1.78 [[-8.75454939e-01 4.83205348e-01 9.55207101e-03 -2.86166233e+02] [ 4.83175981e-01 8.75507047e-01 -5.32744349e-03 -2.58216281e+02] [-1.09371547e-02 -4.86054388e-05 -9.99940187e-01 -1.77893983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1051.236559995 meters 0.01315277108559698 Centerline is valid? [True, True] Translation: X:-285.84, Y:-257.63, Z:-2.81 [[-8.37150561e-01 -5.46896003e-01 9.14880318e-03 -2.85837778e+02] [ 5.46863948e-01 -8.37200550e-01 -5.92133757e-03 -2.57631127e+02] [ 1.08977389e-02 4.60995551e-05 9.99940617e-01 -2.80573889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1051.266559995 meters 0.013019412973182513 Centerline is valid? [True, True] Translation: X:-286.21, Y:-258.20, Z:-1.78 [[-8.75346915e-01 4.83399186e-01 9.64398456e-03 -2.86205341e+02] [ 4.83369768e-01 8.75400038e-01 -5.33297874e-03 -2.58197795e+02] [-1.10203020e-02 -6.59591382e-06 -9.99939275e-01 -1.77908158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1051.296559995 meters 0.01292453689018177 Centerline is valid? [True, True] Translation: X:-286.19, Y:-258.17, Z:-1.78 [[-9.06839122e-01 4.21359156e-01 9.96339645e-03 -2.86190886e+02] [ 4.21333825e-01 9.06893854e-01 -4.62021617e-03 -2.58174228e+02] [-1.09825134e-02 8.12316455e-06 -9.99939691e-01 -1.77990188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1051.326559995 meters 0.012937240513584856 Centerline is valid? [True, True] Translation: X:-286.18, Y:-258.15, Z:-1.78 [[-9.34326688e-01 3.56270642e-01 1.02406023e-02 -2.86184466e+02] [ 3.56249368e-01 9.34382807e-01 -3.89335203e-03 -2.58146520e+02] [-1.09557297e-02 1.05453748e-05 -9.99939984e-01 -1.77959173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1051.356559995 meters 0.01292033250433915 Centerline is valid? [True, True] Translation: X:-286.17, Y:-258.12, Z:-1.78 [[-9.57251036e-01 2.89067996e-01 1.04951079e-02 -2.86172987e+02] [ 2.89050733e-01 9.57308568e-01 -3.15911867e-03 -2.58120644e+02] [-1.09602568e-02 9.54900825e-06 -9.99939935e-01 -1.77985469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1051.386559995 meters 0.01280054213752654 Centerline is valid? [True, True] Translation: X:-286.17, Y:-258.09, Z:-1.78 [[-9.75547580e-01 2.19560528e-01 1.00046964e-02 -2.86170500e+02] [ 2.19548978e-01 9.75598880e-01 -2.25211153e-03 -2.58091260e+02] [-1.02550454e-02 -5.21095651e-07 -9.99947416e-01 -1.78121505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1051.416559995 meters 0.012841421107103245 Centerline is valid? [True, True] Translation: X:-286.16, Y:-258.06, Z:-1.78 [[-9.88733603e-01 1.49395110e-01 9.32546299e-03 -2.86163941e+02] [ 1.49388427e-01 9.88777579e-01 -1.41312046e-03 -2.58062986e+02] [-9.43192200e-03 -4.08343343e-06 -9.99955519e-01 -1.78161930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1051.4465599950001 meters 0.012875209857173662 Centerline is valid? [True, True] Translation: X:-286.06, Y:-257.40, Z:-2.80 [[-9.76083432e-01 -2.17224460e-01 8.64100502e-03 -2.86062738e+02] [ 2.17215646e-01 -9.76121679e-01 -1.95717636e-03 -2.57403361e+02] [ 8.85981891e-03 -3.34059352e-05 9.99960751e-01 -2.80335754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1051.4765599950001 meters 0.01286005437446212 Centerline is valid? [True, True] Translation: X:-286.22, Y:-258.05, Z:-1.78 [[-9.89571837e-01 1.43813001e-01 8.08700859e-03 -2.86218539e+02] [ 1.43808062e-01 9.89604881e-01 -1.19199196e-03 -2.58052747e+02] [-8.17436712e-03 -1.65846434e-05 -9.99966589e-01 -1.78186850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1051.506559995 meters 0.0128005816102763 Centerline is valid? [True, True] Translation: X:-286.22, Y:-258.02, Z:-1.78 [[-9.97360144e-01 7.22096075e-02 7.64963257e-03 -2.86219112e+02] [ 7.22073061e-02 9.97389479e-01 -5.76971051e-04 -2.58022726e+02] [-7.67132590e-03 -2.30885692e-05 -9.99970575e-01 -1.78248317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1051.536559995 meters 0.012949393029454729 Centerline is valid? [True, True] Translation: X:-286.23, Y:-257.99, Z:-1.78 [[-9.99971044e-01 7.82166594e-04 7.56965807e-03 -2.86232547e+02] [ 7.81952355e-04 9.99999694e-01 -3.12619556e-05 -2.57993524e+02] [-7.56968021e-03 -2.53419384e-05 -9.99971349e-01 -1.78174852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1051.566559995 meters 0.012920515045801849 Centerline is valid? [True, True] Translation: X:-286.22, Y:-257.34, Z:-2.80 [[-9.97170667e-01 -7.47802750e-02 7.65322867e-03 -2.86217240e+02] [ 7.47783225e-02 -9.97200035e-01 -5.41350464e-04 -2.57336244e+02] [ 7.67228223e-03 3.24767978e-05 9.99970567e-01 -2.80266939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1051.596559995 meters 0.012972129150121673 Centerline is valid? [True, True] Translation: X:-286.30, Y:-257.99, Z:-1.78 [[-9.99966929e-01 -3.15179457e-03 7.49713883e-03 -2.86295121e+02] [-3.15184640e-03 9.99995033e-01 4.90199161e-06 -2.57993250e+02] [-7.49711704e-03 -1.87280005e-05 -9.99971896e-01 -1.78144335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1051.626559995 meters 0.012867883623088217 Centerline is valid? [True, True] Translation: X:-286.30, Y:-257.97, Z:-1.78 [[-9.97238301e-01 -7.39463002e-02 6.90773989e-03 -2.86299622e+02] [-7.39446290e-02 9.97262225e-01 4.97365609e-04 -2.57965844e+02] [-6.92560639e-03 -1.47982279e-05 -9.99976018e-01 -1.78138441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1051.656559995 meters 0.012836681478809994 Centerline is valid? [True, True] Translation: X:-286.34, Y:-257.31, Z:-2.80 [[-9.99971547e-01 2.69112249e-03 7.04720761e-03 -2.86342528e+02] [-2.69089259e-03 -9.99996379e-01 4.21050090e-05 -2.57309478e+02] [ 7.04729540e-03 2.31405322e-05 9.99975167e-01 -2.80320282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1051.6865599950002 meters 0.012875783321219034 Centerline is valid? [True, True] Translation: X:-286.39, Y:-257.97, Z:-1.78 [[-9.96838300e-01 -7.91179102e-02 7.33218919e-03 -2.86390257e+02] [-7.91158503e-02 9.96865265e-01 5.71023776e-04 -2.57971643e+02] [-7.35438293e-03 -1.08740119e-05 -9.99972956e-01 -1.78032770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1051.7165599950001 meters 0.012876818517000019 Centerline is valid? [True, True] Translation: X:-286.40, Y:-257.94, Z:-1.78 [[-9.88611792e-01 -1.50300667e-01 7.51228955e-03 -2.86399326e+02] [-1.50296431e-01 9.88640334e-01 1.12847012e-03 -2.57944082e+02] [-7.59656226e-03 -1.34514430e-05 -9.99971146e-01 -1.78004319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1051.746559995 meters 0.012840039349082115 Centerline is valid? [True, True] Translation: X:-286.42, Y:-257.92, Z:-1.78 [[-9.75288980e-01 -2.20805276e-01 7.51242898e-03 -2.86420247e+02] [-2.20798832e-01 9.75317912e-01 1.68697688e-03 -2.57919195e+02] [-7.69949994e-03 -1.34455863e-05 -9.99970358e-01 -1.78026700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1051.776559995 meters 0.01281850617057092 Centerline is valid? [True, True] Translation: X:-286.45, Y:-257.90, Z:-1.78 [[-9.56788670e-01 -2.90689379e-01 7.42468095e-03 -2.86454344e+02] [-2.90680754e-01 9.56817477e-01 2.23926950e-03 -2.57898772e+02] [-7.75499636e-03 -1.57041763e-05 -9.99969930e-01 -1.77995926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1051.806559995 meters 0.012760074202700502 Centerline is valid? [True, True] Translation: X:-286.51, Y:-257.89, Z:-1.78 [[-9.32925259e-01 -3.60001044e-01 7.05054680e-03 -2.86508329e+02] [-3.59990889e-01 9.32951900e-01 2.70415254e-03 -2.57887400e+02] [-7.55131877e-03 -1.53603967e-05 -9.99971488e-01 -1.78024499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1051.836559995 meters 0.012773925801438659 Centerline is valid? [True, True] Translation: X:-286.57, Y:-257.88, Z:-1.78 [[-9.03816008e-01 -4.27869576e-01 6.65203784e-03 -2.86572808e+02] [-4.27858122e-01 9.03840487e-01 3.13076726e-03 -2.57884067e+02] [-7.35194118e-03 -1.64908458e-05 -9.99972974e-01 -1.78055153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1051.866559995 meters 0.012768495416316679 Centerline is valid? [True, True] Translation: X:-286.64, Y:-257.89, Z:-1.78 [[-8.69561832e-01 -4.93794634e-01 5.39262907e-03 -2.86643649e+02] [-4.93785248e-01 8.69578553e-01 3.04468053e-03 -2.57888313e+02] [-6.19276149e-03 -1.52627027e-05 -9.99980825e-01 -1.78082026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1051.896559995 meters 0.01275254544159291 Centerline is valid? [True, True] Translation: X:-286.72, Y:-257.90, Z:-1.78 [[-8.30225909e-01 -5.57405074e-01 4.95214033e-03 -2.86720776e+02] [-5.57395279e-01 8.30240678e-01 3.30447739e-03 -2.57902444e+02] [-5.95340081e-03 -1.68369033e-05 -9.99982278e-01 -1.78133616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1051.9265599950002 meters 0.012720863962624543 Centerline is valid? [True, True] Translation: X:-286.80, Y:-257.93, Z:-1.78 [[-7.85678994e-01 -6.18618280e-01 4.46575262e-03 -2.86804058e+02] [-6.18608435e-01 7.85691685e-01 3.49012295e-03 -2.57927348e+02] [-5.66775856e-03 -2.04359516e-05 -9.99983938e-01 -1.78141022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1051.9565599950001 meters 0.01290532436120103 Centerline is valid? [True, True] Translation: X:-286.89, Y:-257.96, Z:-1.78 [[-7.36381767e-01 -6.76553113e-01 4.21638853e-03 -2.86889312e+02] [-6.76542219e-01 7.36393838e-01 3.83941537e-03 -2.57961197e+02] [-5.70249095e-03 -2.52893769e-05 -9.99983741e-01 -1.78109482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1051.986559995 meters 0.013306297065920469 Centerline is valid? [True, True] Translation: X:-286.98, Y:-258.00, Z:-1.78 [[-6.81413088e-01 -7.31888206e-01 3.98222816e-03 -2.86977820e+02] [-7.31876051e-01 6.81424723e-01 4.21811624e-03 -2.58004773e+02] [-5.80077825e-03 -4.02178039e-05 -9.99983175e-01 -1.78019393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1052.016559995 meters 0.013770716362026775 Centerline is valid? [True, True] Translation: X:-287.06, Y:-258.06, Z:-1.78 [[-6.23044191e-01 -7.82177046e-01 3.87358487e-03 -2.87063417e+02] [-7.82162437e-01 6.23056230e-01 4.78086557e-03 -2.58057868e+02] [-6.15294450e-03 -5.10820596e-05 -9.99981069e-01 -1.77940100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1052.046559995 meters 0.014191192419556452 Centerline is valid? [True, True] Translation: X:-287.15, Y:-258.12, Z:-1.78 [[-5.60733805e-01 -8.27986181e-01 4.06012463e-03 -2.87149047e+02] [-8.27965371e-01 5.60748499e-01 5.87075319e-03 -2.58122933e+02] [-7.13761131e-03 -6.97128197e-05 -9.99974525e-01 -1.77815240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1052.076559995 meters 0.014849448745364579 Centerline is valid? [True, True] Translation: X:-287.23, Y:-258.20, Z:-1.78 [[-4.94336290e-01 -8.69260891e-01 4.13955246e-03 -2.87230580e+02] [-8.69232047e-01 4.94353612e-01 7.08195585e-03 -2.58195768e+02] [-8.20246997e-03 -9.73638813e-05 -9.99966355e-01 -1.77652848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1052.106559995 meters 0.014970116100417456 Centerline is valid? [True, True] Translation: X:-287.30, Y:-258.27, Z:-1.78 [[-4.26168423e-01 -9.04635542e-01 3.87446566e-03 -2.87303593e+02] [-9.04600463e-01 4.26186021e-01 7.96733137e-03 -2.58273001e+02] [-8.85877424e-03 -1.09418385e-04 -9.99960754e-01 -1.77593701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1052.136559995 meters 0.015111336009714078 Centerline is valid? [True, True] Translation: X:-287.37, Y:-258.37, Z:-1.78 [[-3.56012525e-01 -9.34475203e-01 3.34330562e-03 -2.87374306e+02] [-9.34436889e-01 3.56028205e-01 8.46268906e-03 -2.58365338e+02] [-9.09848418e-03 -1.11284808e-04 -9.99958602e-01 -1.77531033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1052.166559995 meters 0.014766115310598581 Centerline is valid? [True, True] Translation: X:-287.43, Y:-258.46, Z:-1.77 [[-2.85065833e-01 -9.58503158e-01 3.02786456e-03 -2.87433443e+02] [-9.58453082e-01 2.85081892e-01 9.79825108e-03 -2.58458673e+02] [-1.02548440e-02 -1.08919516e-04 -9.99947412e-01 -1.77428816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1052.1965599950001 meters 0.014281042092323445 Centerline is valid? [True, True] Translation: X:-287.49, Y:-258.56, Z:-1.77 [[-2.12272136e-01 -9.77208133e-01 2.19216329e-03 -2.87487718e+02] [-9.77160337e-01 2.12283435e-01 9.66539045e-03 -2.58562827e+02] [-9.91045811e-03 -9.04019513e-05 -9.99950886e-01 -1.77446574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1052.2265599950001 meters 0.013393977546918267 Centerline is valid? [True, True] Translation: X:-287.53, Y:-258.67, Z:-1.78 [[-1.40132149e-01 -9.90131970e-01 1.28947190e-03 -2.87530100e+02] [-9.90093247e-01 1.40138073e-01 8.75691993e-03 -2.58665195e+02] [-8.85121049e-03 -4.95714126e-05 -9.99960826e-01 -1.77510355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1052.256559995 meters 0.013132142603069611 Centerline is valid? [True, True] Translation: X:-287.57, Y:-258.78, Z:-1.78 [[-6.53225762e-02 -9.97864027e-01 5.86782574e-04 -2.87567887e+02] [-9.97828307e-01 6.53252028e-02 8.44318131e-03 -2.58777465e+02] [-8.46347860e-03 -3.39779078e-05 -9.99964184e-01 -1.77587274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1052.286559995 meters 0.012911143849538257 Centerline is valid? [True, True] Translation: X:-287.60, Y:-258.89, Z:-1.78 [[ 1.00406017e-02 -9.99949590e-01 -5.75425016e-05 -2.87596985e+02] [-9.99920428e-01 -1.00407483e-02 7.63679817e-03 -2.58890925e+02] [-7.63699097e-03 -1.91401257e-05 -9.99970838e-01 -1.77649383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1052.316559995 meters 0.012562794619534676 Centerline is valid? [True, True] Translation: X:-287.62, Y:-259.01, Z:-1.78 [[ 8.55509665e-02 -9.96333663e-01 -5.14592404e-04 -2.87616074e+02] [-9.96315115e-01 -8.55525138e-02 6.07945357e-03 -2.59007222e+02] [-6.10118891e-03 -7.40693838e-06 -9.99981388e-01 -1.78056564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1052.346559995 meters 0.012628727761236372 Centerline is valid? [True, True] Translation: X:-287.63, Y:-259.13, Z:-1.78 [[ 1.61911689e-01 -9.86804807e-01 -9.37209056e-04 -2.87629423e+02] [-9.86788008e-01 -1.61914401e-01 5.75803254e-03 -2.59128057e+02] [-5.83380183e-03 -7.46611800e-06 -9.99982983e-01 -1.78100486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1052.376559995 meters 0.012571586795478457 Centerline is valid? [True, True] Translation: X:-287.64, Y:-259.25, Z:-1.78 [[ 2.38303063e-01 -9.71189962e-01 -1.30715462e-03 -2.87635004e+02] [-9.71175047e-01 -2.38306648e-01 5.38236392e-03 -2.59246925e+02] [-5.53880144e-03 -1.31578620e-05 -9.99984661e-01 -1.78112751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1052.406559995 meters 0.012908898643176944 Centerline is valid? [True, True] Translation: X:-287.63, Y:-259.37, Z:-1.78 [[ 3.15487162e-01 -9.48928073e-01 -1.83373150e-03 -2.87632352e+02] [-9.48911398e-01 -3.15492489e-01 5.62560848e-03 -2.59370414e+02] [-5.91682633e-03 -3.47585278e-05 -9.99982495e-01 -1.78002089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1052.4365599950002 meters 0.013107863901269888 Centerline is valid? [True, True] Translation: X:-287.62, Y:-259.49, Z:-1.78 [[ 3.89549477e-01 -9.21001436e-01 -2.74961191e-03 -2.87619817e+02] [-9.20977403e-01 -3.89559176e-01 6.65365105e-03 -2.59490464e+02] [-7.19915872e-03 -5.95958506e-05 -9.99974084e-01 -1.77866473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1052.4665599950001 meters 0.013512520537080313 Centerline is valid? [True, True] Translation: X:-287.60, Y:-259.60, Z:-1.78 [[ 4.60955801e-01 -8.87414075e-01 -4.00112432e-03 -2.87600133e+02] [-8.87378882e-01 -4.60973156e-01 7.90379203e-03 -2.59604293e+02] [-8.85834720e-03 -9.27855595e-05 -9.99960760e-01 -1.77751924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1052.496559995 meters 0.014287381695179562 Centerline is valid? [True, True] Translation: X:-287.57, Y:-259.72, Z:-1.78 [[ 5.31395164e-01 -8.47106495e-01 -5.45588783e-03 -2.87571055e+02] [-8.47058751e-01 -5.31423147e-01 8.99507469e-03 -2.59721184e+02] [-1.05191713e-02 -1.58481654e-04 -9.99944660e-01 -1.77547222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1052.526559995 meters 0.014599339083246399 Centerline is valid? [True, True] Translation: X:-287.53, Y:-259.83, Z:-1.77 [[ 5.96202894e-01 -8.02807550e-01 -6.49210859e-03 -2.87534623e+02] [-8.02756430e-01 -5.96238209e-01 9.06156490e-03 -2.59830038e+02] [-1.11455359e-02 -1.90949299e-04 -9.99937869e-01 -1.77499448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1052.556559995 meters 0.014599339083246399 Centerline is valid? [True, True] Translation: X:-287.49, Y:-259.93, Z:-1.77 [[ 6.55689683e-01 -7.54996499e-01 -7.16428436e-03 -2.87491629e+02] [-7.54948222e-01 -6.55728793e-01 8.54003246e-03 -2.59930631e+02] [-1.11455221e-02 -1.90947439e-04 -9.99937869e-01 -1.77499511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1052.586559995 meters 0.01603916889611087 Centerline is valid? [True, True] Translation: X:-287.45, Y:-260.02, Z:-1.77 [[ 7.12284608e-01 -7.01847904e-01 -7.75613024e-03 -2.87449267e+02] [-7.01803109e-01 -7.12326805e-01 7.93212030e-03 -2.60024350e+02] [-1.10920415e-02 -2.06650879e-04 -9.99938460e-01 -1.77314425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1052.616559995 meters 0.015469387995936733 Centerline is valid? [True, True] Translation: X:-287.39, Y:-260.12, Z:-1.77 [[ 7.64611559e-01 -6.44433751e-01 -8.62007299e-03 -2.87393664e+02] [-6.44389322e-01 -7.64660112e-01 7.57070931e-03 -2.60115392e+02] [-1.14702466e-02 -2.33968858e-04 -9.99934187e-01 -1.77423337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1052.646559995 meters 0.015876847048154355 Centerline is valid? [True, True] Translation: X:-287.39, Y:-260.12, Z:-1.77 [[ 8.12633282e-01 -5.82707628e-01 -8.88652883e-03 -2.87394768e+02] [-5.82669728e-01 -8.12681838e-01 6.64968806e-03 -2.60124482e+02] [-1.10967445e-02 -2.25846488e-04 -9.99938404e-01 -1.77364869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1052.6765599950002 meters 0.015190479393783894 Centerline is valid? [True, True] Translation: X:-287.39, Y:-260.13, Z:-1.77 [[ 8.55303393e-01 -5.18047429e-01 -9.10863896e-03 -2.87393952e+02] [-5.18015404e-01 -8.55351867e-01 5.76415100e-03 -2.60132815e+02] [-1.07771949e-02 -2.11682621e-04 -9.99941902e-01 -1.77446422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1052.7065599950001 meters 0.015045870434921891 Centerline is valid? [True, True] Translation: X:-287.39, Y:-260.14, Z:-1.77 [[ 8.92645556e-01 -4.50670314e-01 -8.95432833e-03 -2.87392825e+02] [-4.50645532e-01 -8.92690446e-01 4.72983086e-03 -2.60141196e+02] [-1.01250377e-02 -1.86834438e-04 -9.99948723e-01 -1.77478982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1052.736559995 meters 0.01512223287713675 Centerline is valid? [True, True] Translation: X:-287.39, Y:-260.15, Z:-1.77 [[ 9.23871887e-01 -3.82611172e-01 -8.33233958e-03 -2.87390878e+02] [-3.82594268e-01 -9.23909450e-01 3.59912307e-03 -2.60147903e+02] [-9.07539198e-03 -1.37223254e-04 -9.99958809e-01 -1.77437771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1052.766559995 meters 0.013969836146370405 Centerline is valid? [True, True] Translation: X:-287.39, Y:-260.15, Z:-1.78 [[ 9.50457812e-01 -3.10739853e-01 -8.40787846e-03 -2.87386865e+02] [-3.10726575e-01 -9.50494992e-01 2.87509633e-03 -2.60153744e+02] [-8.88505338e-03 -1.20106487e-04 -9.99960520e-01 -1.77576251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1052.796559995 meters 0.013930278748893273 Centerline is valid? [True, True] Translation: X:-287.38, Y:-260.16, Z:-1.77 [[ 9.71441951e-01 -2.37131607e-01 -8.31492698e-03 -2.87384390e+02] [-2.37122027e-01 -9.71477530e-01 2.13388786e-03 -2.60160187e+02] [-8.58377698e-03 -1.01295842e-04 -9.99963154e-01 -1.77499647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1052.826559995 meters 0.01320695939256025 Centerline is valid? [True, True] Translation: X:-287.38, Y:-260.16, Z:-1.77 [[ 9.86471903e-01 -1.63669108e-01 -9.25244061e-03 -2.87379824e+02] [-1.63661145e-01 -9.86515290e-01 1.61642862e-03 -2.60163364e+02] [-9.39223356e-03 -8.02963943e-05 -9.99955889e-01 -1.77496559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1052.856559995 meters 0.013117843840733074 Centerline is valid? [True, True] Translation: X:-287.38, Y:-260.17, Z:-1.77 [[ 9.96198305e-01 -8.66124450e-02 -9.33926258e-03 -2.87378856e+02] [-8.66079439e-02 -9.96242079e-01 8.86081823e-04 -2.60169299e+02] [-9.38091208e-03 -7.38588798e-05 -9.99955996e-01 -1.77485886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1052.886559995 meters 0.013165059029469475 Centerline is valid? [True, True] Translation: X:-287.38, Y:-260.18, Z:-1.77 [[ 9.99917057e-01 -7.86870606e-03 -1.01961700e-02 -2.87378438e+02] [-7.86742601e-03 -9.99969038e-01 1.65646312e-04 -2.60178120e+02] [-1.01971578e-02 -8.54149590e-05 -9.99948004e-01 -1.77433951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1052.916559995 meters 0.013213071564353815 Centerline is valid? [True, True] Translation: X:-287.38, Y:-260.19, Z:-1.77 [[ 9.97426343e-01 7.08707013e-02 -1.08643289e-02 -2.87376544e+02] [ 7.08675446e-02 -9.97485506e-01 -6.75743395e-04 -2.60186158e+02] [-1.08849011e-02 -9.59240521e-05 -9.99940753e-01 -1.77377708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1052.9465599950001 meters 0.01351745776052743 Centerline is valid? [True, True] Translation: X:-287.37, Y:-260.20, Z:-1.77 [[ 9.88567958e-01 1.50297318e-01 -1.20045392e-02 -2.87374110e+02] [ 1.50287779e-01 -9.88640835e-01 -1.69796633e-03 -2.60195816e+02] [-1.21233774e-02 -1.25580435e-04 -9.99926501e-01 -1.77225066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1052.9765599950001 meters 0.013393698410960145 Centerline is valid? [True, True] Translation: X:-287.37, Y:-260.21, Z:-1.77 [[ 9.73531093e-01 2.28218605e-01 -1.23886557e-02 -2.87370367e+02] [ 2.28202005e-01 -9.73609905e-01 -2.75633490e-03 -2.60206120e+02] [-1.26907648e-02 -1.43738329e-04 -9.99919459e-01 -1.77219825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1053.006559995 meters 0.013663796238652975 Centerline is valid? [True, True] Translation: X:-287.37, Y:-260.22, Z:-1.77 [[ 9.52422064e-01 3.04510853e-01 -1.28589644e-02 -2.87367042e+02] [ 3.04485414e-01 -9.52508852e-01 -3.93941020e-03 -2.60216233e+02] [-1.34478706e-02 -1.63385912e-04 -9.99909560e-01 -1.77134169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1053.036559995 meters 0.014451025521217594 Centerline is valid? [True, True] Translation: X:-287.36, Y:-260.23, Z:-1.77 [[ 9.25503366e-01 3.78539034e-01 -1.23174548e-02 -2.87362491e+02] [ 3.78507901e-01 -9.25585313e-01 -4.85765483e-03 -2.60225577e+02] [-1.32396672e-02 -1.66478056e-04 -9.99912338e-01 -1.76903070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1053.066559995 meters 0.013770990297153078 Centerline is valid? [True, True] Translation: X:-287.36, Y:-260.23, Z:-1.77 [[ 8.93145657e-01 4.49615613e-01 -1.16890947e-02 -2.87358358e+02] [ 4.49579460e-01 -8.93222131e-01 -5.70389789e-03 -2.60230389e+02] [-1.30055196e-02 -1.60765267e-04 -9.99915412e-01 -1.77059375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1053.096559995 meters 0.013508442898446762 Centerline is valid? [True, True] Translation: X:-287.35, Y:-260.23, Z:-1.77 [[ 8.55943110e-01 5.16969823e-01 -1.01781071e-02 -2.87354088e+02] [ 5.16935075e-01 -8.56003613e-01 -5.99530092e-03 -2.60234952e+02] [-1.18118861e-02 -1.29784042e-04 -9.99930229e-01 -1.77062536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1053.126559995 meters 0.013258245387502641 Centerline is valid? [True, True] Translation: X:-287.35, Y:-260.24, Z:-1.77 [[ 8.13822258e-01 5.81041236e-01 -9.18774995e-03 -2.87350244e+02] [ 5.81005662e-01 -8.13874112e-01 -6.43041576e-03 -2.60238110e+02] [-1.12140086e-02 -1.04919273e-04 -9.99937116e-01 -1.77084468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1053.156559995 meters 0.01293684427090174 Centerline is valid? [True, True] Translation: X:-287.35, Y:-260.24, Z:-1.77 [[ 7.67243012e-01 6.41303677e-01 -8.23125196e-03 -2.87347370e+02] [ 6.41267843e-01 -7.67287161e-01 -6.77978670e-03 -2.60240077e+02] [-1.06636361e-02 -7.66932213e-05 -9.99943139e-01 -1.77138378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1053.1865599950002 meters 0.012487364586941649 Centerline is valid? [True, True] Translation: X:-287.34, Y:-260.24, Z:-1.77 [[ 7.18371529e-01 6.95628769e-01 -6.55448233e-03 -2.87344884e+02] [ 6.95600043e-01 -7.18401430e-01 -6.32176924e-03 -2.60241108e+02] [-9.10635404e-03 -1.79191634e-05 -9.99958536e-01 -1.77314767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1053.2165599950001 meters 0.01252679153636706 Centerline is valid? [True, True] Translation: X:-287.34, Y:-260.24, Z:-1.77 [[ 6.65323775e-01 7.46536791e-01 -5.20518099e-03 -2.87342006e+02] [ 7.46513686e-01 -6.65344136e-01 -5.87352637e-03 -2.60242962e+02] [-7.84804018e-03 2.20578968e-05 -9.99969204e-01 -1.77428999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1053.246559995 meters 0.012525572116263439 Centerline is valid? [True, True] Translation: X:-287.34, Y:-260.25, Z:-1.77 [[ 6.05759561e-01 7.95635497e-01 -4.41713596e-03 -2.87337908e+02] [ 7.95613993e-01 -6.05775664e-01 -5.84968883e-03 -2.60247710e+02] [-7.33001355e-03 2.91697530e-05 -9.99973135e-01 -1.77411489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1053.276559995 meters 0.01253544436354856 Centerline is valid? [True, True] Translation: X:-287.33, Y:-260.25, Z:-1.77 [[ 5.41993690e-01 8.40373992e-01 -3.79399240e-03 -2.87332133e+02] [ 8.40352999e-01 -5.42006968e-01 -5.94011418e-03 -2.60251444e+02] [-7.04828778e-03 3.12115121e-05 -9.99975160e-01 -1.77390113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1053.306559995 meters 0.012608628034723684 Centerline is valid? [True, True] Translation: X:-287.32, Y:-260.26, Z:-1.77 [[ 4.74591735e-01 8.80197445e-01 -3.89138093e-03 -2.87323539e+02] [ 8.80167207e-01 -4.74607687e-01 -7.29603014e-03 -2.60255860e+02] [-8.26882639e-03 3.75697202e-05 -9.99965812e-01 -1.77237145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1053.336559995 meters 0.01270200101153941 Centerline is valid? [True, True] Translation: X:-287.32, Y:-260.26, Z:-1.77 [[ 4.04090267e-01 9.14711605e-01 -3.70613167e-03 -2.87317586e+02] [ 9.14672197e-01 -4.04107260e-01 -8.49085384e-03 -2.60260001e+02] [-9.26435726e-03 4.11757938e-05 -9.99957084e-01 -1.77112152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1053.366559995 meters 0.01280028272375593 Centerline is valid? [True, True] Translation: X:-287.31, Y:-260.26, Z:-1.77 [[ 3.31206001e-01 9.43552962e-01 -3.22394894e-03 -2.87314058e+02] [ 9.43506983e-01 -3.31221689e-01 -9.31484698e-03 -2.60261731e+02] [-9.85689326e-03 4.33148806e-05 -9.99951419e-01 -1.77035264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1053.396559995 meters 0.012788110850132919 Centerline is valid? [True, True] Translation: X:-287.31, Y:-260.26, Z:-1.77 [[ 2.55995137e-01 9.66674271e-01 -2.70978890e-03 -2.87306473e+02] [ 9.66618282e-01 -2.56009475e-01 -1.04041361e-02 -2.60263773e+02] [-1.07511423e-02 4.40767578e-05 -9.99942204e-01 -1.77024171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1053.4265599950002 meters 0.012677298748586965 Centerline is valid? [True, True] Translation: X:-287.30, Y:-260.27, Z:-1.77 [[ 1.79300720e-01 9.83792439e-01 -1.92078665e-03 -2.87298928e+02] [ 9.83733410e-01 -1.79311003e-01 -1.07769246e-02 -2.60265490e+02] [-1.09466752e-02 4.27683484e-05 -9.99940083e-01 -1.77013190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1053.4565599950001 meters 0.012676871428091888 Centerline is valid? [True, True] Translation: X:-287.29, Y:-260.27, Z:-1.77 [[ 1.01442188e-01 9.94840916e-01 -1.01716050e-03 -2.87291635e+02] [ 9.94787124e-01 -1.01447280e-01 -1.03454328e-02 -2.60268125e+02] [-1.03952480e-02 3.76051728e-05 -9.99945967e-01 -1.77031204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1053.486559995 meters 0.012676409776124251 Centerline is valid? [True, True] Translation: X:-287.28, Y:-260.27, Z:-1.77 [[ 2.28273464e-02 9.99739406e-01 -1.81681904e-04 -2.87281223e+02] [ 9.99696427e-01 -2.28280497e-02 -9.27001736e-03 -2.60268855e+02] [-9.27174909e-03 2.99831472e-05 -9.99957016e-01 -1.77133192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1053.516559995 meters 0.012432826327723523 Centerline is valid? [True, True] Translation: X:-287.27, Y:-260.27, Z:-1.77 [[-5.66476492e-02 9.98394152e-01 4.01508547e-04 -2.87270712e+02] [ 9.98370845e-01 5.66490703e-02 -6.82193882e-03 -2.60268940e+02] [-6.83372891e-03 1.44076306e-05 -9.99976650e-01 -1.77353613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1053.546559995 meters 0.012352672854322113 Centerline is valid? [True, True] Translation: X:-287.26, Y:-260.27, Z:-1.77 [[-1.35350533e-01 9.90797462e-01 7.88748337e-04 -2.87260192e+02] [ 9.90780984e-01 1.35352831e-01 -5.71435197e-03 -2.60267819e+02] [-5.76852475e-03 8.03626717e-06 -9.99983362e-01 -1.77458521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1053.576559995 meters 0.01233558845147967 Centerline is valid? [True, True] Translation: X:-287.25, Y:-260.27, Z:-1.77 [[-2.14047393e-01 9.76822767e-01 9.97342626e-04 -2.87250498e+02] [ 9.76812147e-01 2.14049717e-01 -4.55514158e-03 -2.60267304e+02] [-4.66304691e-03 -7.99789162e-07 -9.99989128e-01 -1.77496865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1053.606559995 meters 0.01228170028143653 Centerline is valid? [True, True] Translation: X:-287.24, Y:-260.27, Z:-1.78 [[-2.90661767e-01 9.56825052e-01 1.24819948e-03 -2.87242576e+02] [ 9.56816168e-01 2.90664447e-01 -4.12318596e-03 -2.60265240e+02] [-4.30797483e-03 -4.15507706e-06 -9.99990721e-01 -1.77588202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1053.636559995 meters 0.01236879109488816 Centerline is valid? [True, True] Translation: X:-287.23, Y:-260.26, Z:-1.78 [[-3.65405470e-01 9.30847103e-01 1.58561451e-03 -2.87234647e+02] [ 9.30838252e-01 3.65408910e-01 -4.05916517e-03 -2.60262546e+02] [-4.35785981e-03 -7.29051938e-06 -9.99990505e-01 -1.77585730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1053.666559995 meters 0.012463181772203038 Centerline is valid? [True, True] Translation: X:-287.23, Y:-260.26, Z:-1.78 [[-4.38071660e-01 8.98937774e-01 2.02463129e-03 -2.87227223e+02] [ 8.98928044e-01 4.38076339e-01 -4.18256573e-03 -2.60259105e+02] [-4.64680939e-03 -1.22656642e-05 -9.99989204e-01 -1.77563517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1053.6965599950001 meters 0.01244906702992707 Centerline is valid? [True, True] Translation: X:-287.22, Y:-260.26, Z:-1.78 [[-5.07808025e-01 8.61467149e-01 2.31548755e-03 -2.87219402e+02] [ 8.61458052e-01 5.07813304e-01 -3.95880137e-03 -2.60256024e+02] [-4.58621272e-03 -1.56157075e-05 -9.99989483e-01 -1.77519475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1053.7265599950001 meters 0.012543961551090912 Centerline is valid? [True, True] Translation: X:-287.21, Y:-260.25, Z:-1.77 [[-5.73789243e-01 8.18999052e-01 2.54112099e-03 -2.87214688e+02] [ 8.18990901e-01 5.73794870e-01 -3.65385179e-03 -2.60254208e+02] [-4.45058334e-03 -1.53858835e-05 -9.99990096e-01 -1.77499440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1053.756559995 meters 0.012462528775822697 Centerline is valid? [True, True] Translation: X:-287.21, Y:-260.25, Z:-1.77 [[-6.35883582e-01 7.71776718e-01 3.57309921e-03 -2.87209044e+02] [ 7.71764382e-01 6.35893621e-01 -4.36376385e-03 -2.60249630e+02] [-5.63996234e-03 -1.72550888e-05 -9.99984095e-01 -1.77497035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1053.786559995 meters 0.012491445072096747 Centerline is valid? [True, True] Translation: X:-287.20, Y:-260.25, Z:-1.77 [[-6.94268876e-01 7.19704253e-01 4.06404293e-03 -2.87203393e+02] [ 7.19691780e-01 6.94280771e-01 -4.23714582e-03 -2.60245253e+02] [-5.87107873e-03 -1.68601790e-05 -9.99982765e-01 -1.77406001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1053.816559995 meters 0.012644656849777176 Centerline is valid? [True, True] Translation: X:-287.20, Y:-260.24, Z:-1.77 [[-7.48466787e-01 6.63154316e-01 4.88069306e-03 -2.87201191e+02] [ 6.63140058e-01 7.48482700e-01 -4.34867474e-03 -2.60244262e+02] [-6.53695674e-03 -1.82555339e-05 -9.99978634e-01 -1.77363863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1053.846559995 meters 0.012543052432698635 Centerline is valid? [True, True] Translation: X:-287.18, Y:-260.23, Z:-1.78 [[-7.94420950e-01 6.07345627e-01 5.16174611e-03 -2.87179023e+02] [ 6.07332578e-01 7.94437719e-01 -3.98126908e-03 -2.60226637e+02] [-6.51869217e-03 -2.79069975e-05 -9.99978753e-01 -1.77548294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1053.876559995 meters 0.012885014797970381 Centerline is valid? [True, True] Translation: X:-286.79, Y:-259.72, Z:-2.81 [[-7.45543646e-01 -6.66441689e-01 4.48870484e-03 -2.86786290e+02] [ 6.66429576e-01 -7.45557158e-01 -4.01808652e-03 -2.59715611e+02] [ 6.02440639e-03 -4.25320652e-06 9.99981853e-01 -2.80997405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1053.906559995 meters 0.012708953859337943 Centerline is valid? [True, True] Translation: X:-287.21, Y:-260.20, Z:-1.78 [[-7.97968508e-01 6.02680758e-01 4.70785677e-03 -2.87213667e+02] [ 6.02669983e-01 7.97982395e-01 -3.60404005e-03 -2.60198246e+02] [-5.92887241e-03 -3.86265053e-05 -9.99982424e-01 -1.77576820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1053.9365599950002 meters 0.012888550220841951 Centerline is valid? [True, True] Translation: X:-287.20, Y:-260.17, Z:-1.78 [[-8.39554390e-01 5.43252678e-01 4.99539237e-03 -2.87198469e+02] [ 5.43242715e-01 8.39569250e-01 -3.29050246e-03 -2.60172581e+02] [-5.98155210e-03 -4.88452740e-05 -9.99982109e-01 -1.77606077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1053.9665599950001 meters 0.012927717875702278 Centerline is valid? [True, True] Translation: X:-287.18, Y:-260.15, Z:-1.78 [[-8.75988851e-01 4.82304090e-01 5.12809591e-03 -2.87183917e+02] [ 4.82295497e-01 8.76003860e-01 -2.87937625e-03 -2.60148319e+02] [-5.88096676e-03 -4.90439272e-05 -9.99982706e-01 -1.77617249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1053.996559995 meters 0.012913525115922036 Centerline is valid? [True, True] Translation: X:-286.87, Y:-259.59, Z:-2.81 [[-8.32646598e-01 -5.53782359e-01 4.97409097e-03 -2.86871843e+02] [ 5.53772857e-01 -8.32661453e-01 -3.24448058e-03 -2.59592146e+02] [ 5.93846993e-03 5.30108500e-05 9.99982366e-01 -2.80808477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1054.026559995 meters 0.012719835600795076 Centerline is valid? [True, True] Translation: X:-287.22, Y:-260.13, Z:-1.78 [[-8.77250461e-01 4.80002090e-01 5.44265367e-03 -2.87221582e+02] [ 4.79992527e-01 8.77267344e-01 -3.03011599e-03 -2.60130589e+02] [-6.22912434e-03 -4.57375561e-05 -9.99980598e-01 -1.77703828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1054.056559995 meters 0.012656732080837434 Centerline is valid? [True, True] Translation: X:-287.21, Y:-260.11, Z:-1.78 [[-9.08547048e-01 4.17737423e-01 6.14053629e-03 -2.87210813e+02] [ 4.17727571e-01 9.08567798e-01 -2.86927779e-03 -2.60106134e+02] [-6.77769824e-03 -4.18025583e-05 -9.99977030e-01 -1.77670612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1054.086559995 meters 0.01246963684581269 Centerline is valid? [True, True] Translation: X:-287.20, Y:-260.08, Z:-1.78 [[-9.34809783e-01 3.55070545e-01 7.45500397e-03 -2.87202898e+02] [ 3.55059036e-01 9.34839509e-01 -2.85897803e-03 -2.60082330e+02] [-7.98437114e-03 -2.56341123e-05 -9.99968124e-01 -1.77644166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1054.116559995 meters 0.012556031156331533 Centerline is valid? [True, True] Translation: X:-287.19, Y:-260.06, Z:-1.78 [[-9.57074698e-01 2.89721675e-01 8.32906211e-03 -2.87192206e+02] [ 2.89710602e-01 9.57110940e-01 -2.53308451e-03 -2.60057855e+02] [-8.70572595e-03 -1.13334911e-05 -9.99962105e-01 -1.77594146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1054.146559995 meters 0.012440297824625536 Centerline is valid? [True, True] Translation: X:-287.00, Y:-259.43, Z:-2.81 [[-9.35194776e-01 -3.54032110e-01 8.48504789e-03 -2.86999229e+02] [ 3.54017863e-01 -9.35233267e-01 -3.17630027e-03 -2.59434555e+02] [ 9.06001135e-03 3.33990997e-05 9.99958957e-01 -2.80878349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1054.1765599950002 meters 0.012580207377528229 Centerline is valid? [True, True] Translation: X:-287.24, Y:-260.05, Z:-1.78 [[-9.56980896e-01 2.89999087e-01 9.38583327e-03 -2.87239892e+02] [ 2.89985413e-01 9.57026922e-01 -2.81628876e-03 -2.60047075e+02] [-9.79921629e-03 2.66201972e-05 -9.99951986e-01 -1.77556850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1054.2065599950001 meters 0.01291179208359324 Centerline is valid? [True, True] Translation: X:-287.23, Y:-260.02, Z:-1.78 [[-9.74172866e-01 2.25576213e-01 1.01291282e-02 -2.87229101e+02] [ 2.25564794e-01 9.74225522e-01 -2.27087232e-03 -2.60023808e+02] [-1.03803099e-02 7.25525124e-05 -9.99946121e-01 -1.77549630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1054.236559995 meters 0.01356004719699287 Centerline is valid? [True, True] Translation: X:-287.22, Y:-260.00, Z:-1.78 [[-9.87042732e-01 1.60113485e-01 1.05031655e-02 -2.87224190e+02] [ 1.60105709e-01 9.87098606e-01 -1.58250604e-03 -2.59999601e+02] [-1.06210406e-02 1.19615689e-04 -9.99943588e-01 -1.77546927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1054.266559995 meters 0.013722407815361872 Centerline is valid? [True, True] Translation: X:-287.13, Y:-259.34, Z:-2.81 [[-9.79219991e-01 -2.02525183e-01 1.05716541e-02 -2.87128945e+02] [ 2.02512173e-01 -9.79277049e-01 -2.29815385e-03 -2.59336491e+02] [ 1.08180123e-02 -1.09509541e-04 9.99941478e-01 -2.80895532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1054.296559995 meters 0.013654916057335894 Centerline is valid? [True, True] Translation: X:-287.28, Y:-259.99, Z:-1.78 [[-9.87202126e-01 1.59103956e-01 1.08578630e-02 -2.87284528e+02] [ 1.59096100e-01 9.87261822e-01 -1.58901562e-03 -2.59992121e+02] [-1.09723723e-02 1.58764069e-04 -9.99939789e-01 -1.77645273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1054.326559995 meters 0.013985221781804261 Centerline is valid? [True, True] Translation: X:-287.18, Y:-259.33, Z:-2.81 [[-9.80599672e-01 -1.95708820e-01 1.10608322e-02 -2.87178381e+02] [ 1.95694732e-01 -9.80662041e-01 -2.35251635e-03 -2.59329295e+02] [ 1.13073465e-02 -1.42330174e-04 9.99936060e-01 -2.80826388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1054.356559995 meters 0.014464569723087819 Centerline is valid? [True, True] Translation: X:-287.34, Y:-259.99, Z:-1.78 [[-9.87477366e-01 1.57390445e-01 1.08027568e-02 -2.87339902e+02] [ 1.57383057e-01 9.87536437e-01 -1.53597960e-03 -2.59985622e+02] [-1.09098645e-02 1.83425799e-04 -9.99940469e-01 -1.77652098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1054.386559995 meters 0.014432342207370472 Centerline is valid? [True, True] Translation: X:-287.33, Y:-259.96, Z:-1.78 [[-9.96170170e-01 8.67488015e-02 1.09379378e-02 -2.87334105e+02] [ 8.67455918e-02 9.96230200e-01 -7.68430584e-04 -2.59957513e+02] [-1.09633644e-02 1.83330264e-04 -9.99939884e-01 -1.77704692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1054.416559995 meters 0.01395883909122499 Centerline is valid? [True, True] Translation: X:-287.34, Y:-259.93, Z:-1.78 [[-9.99827491e-01 1.50134986e-02 1.09353825e-02 -2.87338568e+02] [ 1.50145234e-02 9.99887276e-01 1.16099900e-05 -2.59927755e+02] [-1.09339756e-02 1.75797544e-04 -9.99940207e-01 -1.77781762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1054.4465599950001 meters 0.013608684019618443 Centerline is valid? [True, True] Translation: X:-287.34, Y:-259.26, Z:-2.81 [[-9.98585080e-01 -5.22989291e-02 9.62601407e-03 -2.87342502e+02] [ 5.22941587e-02 -9.98631445e-01 -7.46778925e-04 -2.59261256e+02] [ 9.65189608e-03 -2.42337985e-04 9.99953390e-01 -2.80584954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1054.4765599950001 meters 0.013608684019618443 Centerline is valid? [True, True] Translation: X:-287.42, Y:-259.92, Z:-1.78 [[-9.99924801e-01 7.55740345e-03 9.65807626e-03 -2.87423229e+02] [ 7.55835028e-03 9.99971433e-01 6.15382960e-05 -2.59924971e+02] [-9.65733530e-03 1.34532792e-04 -9.99953358e-01 -1.77878034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1054.506559995 meters 0.013293374426197447 Centerline is valid? [True, True] Translation: X:-287.43, Y:-259.90, Z:-1.78 [[-9.97819534e-01 -6.53439843e-02 9.29204095e-03 -2.87428195e+02] [-6.53400866e-02 9.97862792e-01 7.22753215e-04 -2.59895439e+02] [-9.31940950e-03 1.14034516e-04 -9.99956567e-01 -1.77935767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1054.536559995 meters 0.012955884337342417 Centerline is valid? [True, True] Translation: X:-287.44, Y:-259.86, Z:-1.78 [[-9.90152436e-01 -1.39704315e-01 8.99206581e-03 -2.87442624e+02] [-1.39697818e-01 9.90193263e-01 1.34964823e-03 -2.59864574e+02] [-9.09243467e-03 8.01855132e-05 -9.99958660e-01 -1.77869395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1054.566559995 meters 0.012498065065577418 Centerline is valid? [True, True] Translation: X:-287.47, Y:-259.84, Z:-1.78 [[-9.77238671e-01 -2.11939087e-01 9.29539464e-03 -2.87465499e+02] [-2.11928828e-01 9.77282876e-01 2.08636594e-03 -2.59837251e+02] [-9.52641250e-03 6.89153855e-05 -9.99954621e-01 -1.77895277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1054.596559995 meters 0.012402934500419651 Centerline is valid? [True, True] Translation: X:-287.50, Y:-259.81, Z:-1.78 [[-9.58747568e-01 -2.84070375e-01 1.03500014e-02 -2.87500746e+02] [-2.84053226e-01 9.58803431e-01 3.12174047e-03 -2.59814562e+02] [-1.08104108e-02 5.30098090e-05 -9.99941565e-01 -1.77707926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1054.626559995 meters 0.012337693270388113 Centerline is valid? [True, True] Translation: X:-287.56, Y:-259.80, Z:-1.78 [[-9.35247786e-01 -3.53838539e-01 1.04817859e-02 -2.87557530e+02] [-3.53815721e-01 9.35306520e-01 4.01862316e-03 -2.59803128e+02] [-1.12256265e-02 4.97877711e-05 -9.99936990e-01 -1.77696547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1054.656559995 meters 0.012348017426592662 Centerline is valid? [True, True] Translation: X:-287.62, Y:-259.80, Z:-1.78 [[-9.06648709e-01 -4.21746537e-01 1.08617425e-02 -2.87623328e+02] [-4.21715568e-01 9.06713767e-01 5.11115921e-03 -2.59800012e+02] [-1.20041051e-02 5.34599905e-05 -9.99927947e-01 -1.77677002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1054.6865599950002 meters 0.01236516178340416 Centerline is valid? [True, True] Translation: X:-287.70, Y:-259.81, Z:-1.78 [[-8.73219780e-01 -4.87209544e-01 1.06806312e-02 -2.87696462e+02] [-4.87172224e-01 8.73285094e-01 6.03064889e-03 -2.59805498e+02] [-1.22654257e-02 6.27750547e-05 -9.99924775e-01 -1.77644207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1054.7165599950001 meters 0.012756471402059872 Centerline is valid? [True, True] Translation: X:-287.78, Y:-259.82, Z:-1.78 [[-8.35927994e-01 -5.48727834e-01 1.10522899e-02 -2.87776186e+02] [-5.48678229e-01 8.36001049e-01 7.37885180e-03 -2.59821920e+02] [-1.32887073e-02 1.04037963e-04 -9.99911696e-01 -1.77578292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1054.746559995 meters 0.013103045346381839 Centerline is valid? [True, True] Translation: X:-287.86, Y:-259.85, Z:-1.78 [[-7.93830042e-01 -6.08044770e-01 1.07434688e-02 -2.87858496e+02] [-6.07986717e-01 7.93902726e-01 8.40314416e-03 -2.59847491e+02] [-1.36387570e-02 1.38781981e-04 -9.99906978e-01 -1.77597755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1054.776559995 meters 0.013686651134438487 Centerline is valid? [True, True] Translation: X:-287.94, Y:-259.88, Z:-1.78 [[-7.47273888e-01 -6.64441816e-01 9.94035364e-03 -2.87943541e+02] [-6.64380056e-01 7.47339980e-01 9.06063158e-03 -2.59884201e+02] [-1.34490862e-02 1.66600672e-04 -9.99909543e-01 -1.77568621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1054.806559995 meters 0.01467534756686367 Centerline is valid? [True, True] Translation: X:-288.03, Y:-259.93, Z:-1.78 [[-6.97881545e-01 -7.16165160e-01 8.29531232e-03 -2.88029258e+02] [-7.16111172e-01 6.97930816e-01 8.79571010e-03 -2.59931981e+02] [-1.20887352e-02 1.97997925e-04 -9.99926909e-01 -1.77679770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1054.836559995 meters 0.014090447916249305 Centerline is valid? [True, True] Translation: X:-288.12, Y:-259.99, Z:-1.78 [[-6.42726955e-01 -7.66062268e-01 7.11782142e-03 -2.88115580e+02] [-7.66011777e-01 6.42766335e-01 8.79749646e-03 -2.59986470e+02] [-1.13145261e-02 2.02053078e-04 -9.99935968e-01 -1.77868403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1054.866559995 meters 0.014596074418017139 Centerline is valid? [True, True] Translation: X:-288.20, Y:-260.05, Z:-1.78 [[-5.84126687e-01 -8.11642920e-01 5.63772849e-03 -2.88198577e+02] [-8.11601853e-01 5.84153860e-01 8.16700048e-03 -2.60050549e+02] [-9.92198898e-03 1.94972044e-04 -9.99950757e-01 -1.77942847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1054.896559995 meters 0.014623849098982669 Centerline is valid? [True, True] Translation: X:-288.28, Y:-260.13, Z:-1.78 [[-5.20826362e-01 -8.53647795e-01 5.03412261e-03 -2.88280791e+02] [-8.53604179e-01 5.20850653e-01 8.63153768e-03 -2.60126055e+02] [-9.99031916e-03 1.98384275e-04 -9.99950076e-01 -1.77952246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1054.9265599950002 meters 0.014700966555501623 Centerline is valid? [True, True] Translation: X:-288.36, Y:-260.21, Z:-1.78 [[-4.53685370e-01 -8.91151402e-01 4.33179962e-03 -2.88357482e+02] [-8.91106674e-01 4.53706009e-01 8.93044450e-03 -2.60208194e+02] [-9.92374165e-03 1.91516462e-04 -9.99950740e-01 -1.77933548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1054.9565599950001 meters 0.01433739067024908 Centerline is valid? [True, True] Translation: X:-288.43, Y:-260.30, Z:-1.78 [[-3.83317253e-01 -9.23609128e-01 3.74997635e-03 -2.88430792e+02] [-9.23560070e-01 3.83335550e-01 9.52115075e-03 -2.60300635e+02] [-1.02313210e-02 1.86292927e-04 -9.99947641e-01 -1.77904286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1054.986559995 meters 0.013446491302464008 Centerline is valid? [True, True] Translation: X:-288.50, Y:-260.39, Z:-1.78 [[-3.07958458e-01 -9.51394401e-01 3.20652596e-03 -2.88498877e+02] [-9.51337395e-01 3.07975111e-01 1.04159602e-02 -2.60394540e+02] [-1.08972165e-02 1.57195004e-04 -9.99940611e-01 -1.77893840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1055.016559995 meters 0.013178733508562045 Centerline is valid? [True, True] Translation: X:-288.56, Y:-260.50, Z:-1.78 [[-2.31794886e-01 -9.72761751e-01 2.38882761e-03 -2.88558174e+02] [-9.72704234e-01 2.31807159e-01 1.05789944e-02 -2.60498690e+02] [-1.08445885e-02 1.28534077e-04 -9.99941188e-01 -1.77847045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1055.046559995 meters 0.012796444826203708 Centerline is valid? [True, True] Translation: X:-288.61, Y:-260.61, Z:-1.78 [[-1.53601823e-01 -9.88131431e-01 1.66007730e-03 -2.88609994e+02] [-9.88066463e-01 1.53610761e-01 1.13312894e-02 -2.60608544e+02] [-1.14518089e-02 1.00240008e-04 -9.99934421e-01 -1.77826050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1055.076559995 meters 0.012443508004031628 Centerline is valid? [True, True] Translation: X:-288.66, Y:-260.72, Z:-1.78 [[-7.05728876e-02 -9.97506279e-01 8.30830489e-04 -2.88655800e+02] [-9.97433590e-01 7.05777748e-02 1.20420417e-02 -2.60720814e+02] [-1.20706503e-02 2.11434147e-05 -9.99927147e-01 -1.77659731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1055.106559995 meters 0.012283528352548444 Centerline is valid? [True, True] Translation: X:-288.69, Y:-260.84, Z:-1.78 [[ 9.67646677e-03 -9.99953177e-01 -9.78894435e-05 -2.88690478e+02] [-9.99873144e-01 -9.67693077e-03 1.26511868e-02 -2.60836147e+02] [-1.26515417e-02 -2.45417625e-05 -9.99919966e-01 -1.77768838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1055.136559995 meters 0.012432766812599994 Centerline is valid? [True, True] Translation: X:-288.72, Y:-260.95, Z:-1.78 [[ 8.98421902e-02 -9.95955415e-01 -1.09173426e-03 -2.88715457e+02] [-9.95871697e-01 -8.98487935e-02 1.29134961e-02 -2.60953604e+02] [-1.29593574e-02 -7.29495210e-05 -9.99916022e-01 -1.77773096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1055.166559995 meters 0.013205180618506935 Centerline is valid? [True, True] Translation: X:-288.74, Y:-261.06, Z:-1.78 [[ 1.71229407e-01 -9.85228994e-01 -2.07863326e-03 -2.88735636e+02] [-9.85145215e-01 -1.71241956e-01 1.28490340e-02 -2.61061991e+02] [-1.30151900e-02 -1.52376859e-04 -9.99915287e-01 -1.77671985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1055.1965599950001 meters 0.01373671108912395 Centerline is valid? [True, True] Translation: X:-288.74, Y:-261.18, Z:-1.78 [[ 2.48524709e-01 -9.68620869e-01 -3.01364233e-03 -2.88742258e+02] [-9.68540435e-01 -2.48542913e-01 1.24838342e-02 -2.61181059e+02] [-1.28411218e-02 -1.83706802e-04 -9.99917533e-01 -1.77684314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1055.2265599950001 meters 0.014469971115128683 Centerline is valid? [True, True] Translation: X:-288.74, Y:-261.30, Z:-1.78 [[ 3.24595153e-01 -9.45845548e-01 -3.76635222e-03 -2.88740229e+02] [-9.45774134e-01 -3.24616935e-01 1.16247246e-02 -2.61299831e+02] [-1.22178157e-02 -2.11210745e-04 -9.99925338e-01 -1.77674532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1055.256559995 meters 0.015380321321056321 Centerline is valid? [True, True] Translation: X:-288.73, Y:-261.42, Z:-1.78 [[ 3.96425015e-01 -9.18055690e-01 -4.57797160e-03 -2.88728122e+02] [-9.17988063e-01 -3.96451389e-01 1.11450534e-02 -2.61415545e+02] [-1.20467229e-02 -2.15654684e-04 -9.99927413e-01 -1.77620399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1055.286559995 meters 0.014667197315134904 Centerline is valid? [True, True] Translation: X:-288.71, Y:-261.52, Z:-1.78 [[ 4.65071886e-01 -8.85256676e-01 -5.36269478e-03 -2.88707085e+02] [-8.85192539e-01 -4.65102756e-01 1.06581084e-02 -2.61522893e+02] [-1.19293657e-02 -2.09769135e-04 -9.99928821e-01 -1.77753705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1055.316559995 meters 0.014427174602849972 Centerline is valid? [True, True] Translation: X:-288.68, Y:-261.63, Z:-1.78 [[ 5.30139019e-01 -8.47891578e-01 -5.70023983e-03 -2.88676624e+02] [-8.47838878e-01 -5.30169633e-01 9.45497825e-03 -2.61629262e+02] [-1.10388905e-02 -1.79567956e-04 -9.99939054e-01 -1.77860948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1055.346559995 meters 0.013848438068341259 Centerline is valid? [True, True] Translation: X:-288.64, Y:-261.73, Z:-1.78 [[ 5.92606967e-01 -8.05468422e-01 -6.13229555e-03 -2.88640978e+02] [-8.05422389e-01 -5.92638671e-01 8.61286448e-03 -2.61729583e+02] [-1.05716258e-02 -1.64955364e-04 -9.99944105e-01 -1.77962969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1055.376559995 meters 0.013682267433298 Centerline is valid? [True, True] Translation: X:-288.60, Y:-261.83, Z:-1.78 [[ 6.51687689e-01 -7.58456249e-01 -6.87557216e-03 -2.88595277e+02] [-7.58411391e-01 -6.51723938e-01 8.25046198e-03 -2.61831937e+02] [-1.07385894e-02 -1.62212251e-04 -9.99942327e-01 -1.78020566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1055.406559995 meters 0.01354010751519238 Centerline is valid? [True, True] Translation: X:-288.55, Y:-261.92, Z:-1.78 [[ 7.07036129e-01 -7.07140244e-01 -7.25172249e-03 -2.88551078e+02] [-7.07100827e-01 -7.07073300e-01 7.46778032e-03 -2.61921207e+02] [-1.04082674e-02 -1.52291515e-04 -9.99945821e-01 -1.78019215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1055.4365599950002 meters 0.013783619917053578 Centerline is valid? [True, True] Translation: X:-288.49, Y:-262.01, Z:-1.78 [[ 7.58634632e-01 -6.51464568e-01 -8.21051196e-03 -2.88492988e+02] [-6.51424095e-01 -7.58679043e-01 7.26351035e-03 -2.62013812e+02] [-1.09610630e-02 -1.61825180e-04 -9.99939913e-01 -1.77946366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1055.4665599950001 meters 0.013852904066218221 Centerline is valid? [True, True] Translation: X:-288.49, Y:-262.02, Z:-1.78 [[ 8.07262295e-01 -5.90121525e-01 -9.17454700e-03 -2.88491539e+02] [-5.90081011e-01 -8.07314410e-01 6.91692522e-03 -2.62023467e+02] [-1.14885705e-02 -1.70046959e-04 -9.99933990e-01 -1.77914084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1055.496559995 meters 0.013908782527559924 Centerline is valid? [True, True] Translation: X:-288.49, Y:-262.03, Z:-1.78 [[ 8.50679663e-01 -5.25580087e-01 -1.04729484e-02 -2.88489342e+02] [-5.25537676e-01 -8.50744110e-01 6.67914370e-03 -2.62030860e+02] [-1.24202241e-02 -1.77882771e-04 -9.99922850e-01 -1.77820926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1055.526559995 meters 0.014078405512508482 Centerline is valid? [True, True] Translation: X:-288.49, Y:-262.04, Z:-1.78 [[ 8.88657468e-01 -4.58426466e-01 -1.15360273e-02 -2.88487047e+02] [-4.58385303e-01 -8.88732325e-01 6.14568553e-03 -2.62038330e+02] [-1.30697852e-02 -1.73463993e-04 -9.99914572e-01 -1.77687617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1055.556559995 meters 0.01338309246497154 Centerline is valid? [True, True] Translation: X:-288.48, Y:-262.05, Z:-1.78 [[ 9.21256148e-01 -3.88763558e-01 -1.22476677e-02 -2.88483158e+02] [-3.88726898e-01 -9.21337544e-01 5.34114986e-03 -2.62045839e+02] [-1.33606805e-02 -1.59569271e-04 -9.99910730e-01 -1.77763630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1055.586559995 meters 0.012978780189814139 Centerline is valid? [True, True] Translation: X:-288.48, Y:-262.05, Z:-1.78 [[ 9.47569501e-01 -3.19276585e-01 -1.32099666e-02 -2.88478965e+02] [-3.19243909e-01 -9.47661569e-01 4.56914264e-03 -2.62049373e+02] [-1.39773980e-02 -1.12378828e-04 -9.99902305e-01 -1.77743925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1055.616559995 meters 0.012649818109406644 Centerline is valid? [True, True] Translation: X:-288.47, Y:-262.06, Z:-1.78 [[ 9.69034322e-01 -2.46592776e-01 -1.28252426e-02 -2.88474334e+02] [-2.46570172e-01 -9.69119187e-01 3.33960628e-03 -2.62055519e+02] [-1.32527115e-02 -7.38708290e-05 -9.99912176e-01 -1.77795739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1055.646559995 meters 0.01257729743110635 Centerline is valid? [True, True] Translation: X:-288.47, Y:-262.06, Z:-1.78 [[ 9.84854054e-01 -1.72903548e-01 -1.29172853e-02 -2.88470845e+02] [-1.72888204e-01 -9.84938760e-01 2.30375907e-03 -2.62060190e+02] [-1.31210631e-02 -3.56202100e-05 -9.99913915e-01 -1.77795823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1055.6765599950002 meters 0.012553509807383194 Centerline is valid? [True, True] Translation: X:-288.47, Y:-262.06, Z:-1.78 [[ 9.95071885e-01 -9.83030616e-02 -1.29788915e-02 -2.88469092e+02] [-9.82947582e-02 -9.95156525e-01 1.27767433e-03 -2.62063377e+02] [-1.30416278e-02 4.37919420e-06 -9.99914955e-01 -1.77804204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1055.7065599950001 meters 0.012866608489979697 Centerline is valid? [True, True] Translation: X:-288.47, Y:-262.06, Z:-1.78 [[ 9.99553113e-01 -2.70323472e-02 -1.27603455e-02 -2.88467588e+02] [-2.70313308e-02 -9.99634555e-01 2.52147476e-04 -2.62064611e+02] [-1.27624984e-02 9.28943242e-05 -9.99918552e-01 -1.77930519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1055.736559995 meters 0.013433170172551433 Centerline is valid? [True, True] Translation: X:-288.47, Y:-262.07, Z:-1.78 [[ 9.98769441e-01 4.78748519e-02 -1.29461243e-02 -2.88468302e+02] [ 4.78690305e-02 -9.98853332e-01 -7.59342154e-04 -2.62069211e+02] [-1.29676328e-02 1.38689319e-04 -9.99915907e-01 -1.77930991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1055.766559995 meters 0.014792461653222738 Centerline is valid? [True, True] Translation: X:-288.47, Y:-262.07, Z:-1.78 [[ 9.92715750e-01 1.19789763e-01 -1.28783697e-02 -2.88469210e+02] [ 1.19776814e-01 -9.92799257e-01 -1.77486747e-03 -2.62069313e+02] [-1.29982468e-02 2.19408796e-04 -9.99915495e-01 -1.77924777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1055.796559995 meters 0.014970597747489604 Centerline is valid? [True, True] Translation: X:-288.47, Y:-262.08, Z:-1.78 [[ 9.80702276e-01 1.95085545e-01 -1.28326085e-02 -2.88468366e+02] [ 1.95065507e-01 -9.80786199e-01 -2.80717108e-03 -2.62075872e+02] [-1.31336838e-02 2.49799788e-04 -9.99913718e-01 -1.77989494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1055.826559995 meters 0.014818870203833765 Centerline is valid? [True, True] Translation: X:-288.47, Y:-262.09, Z:-1.78 [[ 9.62447907e-01 2.71196306e-01 -1.21074063e-02 -2.88466496e+02] [ 2.71171679e-01 -9.62524028e-01 -3.66273134e-03 -2.62085639e+02] [-1.26469887e-02 2.42002419e-04 -9.99919995e-01 -1.78082711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1055.856559995 meters 0.015028400434723633 Centerline is valid? [True, True] Translation: X:-288.46, Y:-262.10, Z:-1.78 [[ 9.37690182e-01 3.47282674e-01 -1.14833089e-02 -2.88463900e+02] [ 3.47253821e-01 -9.37760469e-01 -4.48170511e-03 -2.62095200e+02] [-1.23250117e-02 2.14827992e-04 -9.99924021e-01 -1.77977063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1055.886559995 meters 0.014126426931357404 Centerline is valid? [True, True] Translation: X:-288.46, Y:-262.11, Z:-1.78 [[ 9.07063775e-01 4.20822770e-01 -1.19793522e-02 -2.88458917e+02] [ 4.20782942e-01 -9.07142850e-01 -5.79355484e-03 -2.62106463e+02] [-1.33050435e-02 2.14416663e-04 -9.99911461e-01 -1.78046104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1055.916559995 meters 0.014587318364652097 Centerline is valid? [True, True] Translation: X:-288.46, Y:-262.11, Z:-1.78 [[ 8.70853382e-01 4.91393730e-01 -1.21073886e-02 -2.88455480e+02] [ 4.91342853e-01 -8.70937516e-01 -7.07416583e-03 -2.62114816e+02] [-1.40209797e-02 2.11682395e-04 -9.99901679e-01 -1.77910102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1055.9465599950001 meters 0.013721771615452271 Centerline is valid? [True, True] Translation: X:-288.45, Y:-262.13, Z:-1.78 [[ 8.28079354e-01 5.60481609e-01 -1.20395358e-02 -2.88449102e+02] [ 5.60419223e-01 -8.28166852e-01 -8.36423734e-03 -2.62125350e+02] [-1.46587457e-02 1.79064934e-04 -9.99892539e-01 -1.77918748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1055.9765599950001 meters 0.013510634113346258 Centerline is valid? [True, True] Translation: X:-288.44, Y:-262.13, Z:-1.78 [[ 7.80644825e-01 6.24873965e-01 -1.12332803e-02 -2.88443478e+02] [ 6.24806440e-01 -7.80725627e-01 -9.18734406e-03 -2.62132885e+02] [-1.45110419e-02 1.53426735e-04 -9.99894698e-01 -1.77917051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1056.006559995 meters 0.013353366397732498 Centerline is valid? [True, True] Translation: X:-288.44, Y:-262.14, Z:-1.78 [[ 7.28219723e-01 6.85269282e-01 -1.01017860e-02 -2.88438028e+02] [ 6.85200965e-01 -7.28289774e-01 -9.67688874e-03 -2.62140190e+02] [-1.39883021e-02 1.25147705e-04 -9.99902151e-01 -1.77910096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1056.036559995 meters 0.01287801525825056 Centerline is valid? [True, True] Translation: X:-288.43, Y:-262.15, Z:-1.78 [[ 6.69842381e-01 7.42453692e-01 -8.58484422e-03 -2.88429294e+02] [ 7.42391352e-01 -6.69897387e-01 -9.62141329e-03 -2.62148330e+02] [-1.28944185e-02 7.15162824e-05 -9.99916861e-01 -1.77945689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1056.066559995 meters 0.012616937139037068 Centerline is valid? [True, True] Translation: X:-288.42, Y:-262.15, Z:-1.78 [[ 6.07855008e-01 7.94014727e-01 -7.27340789e-03 -2.88422150e+02] [ 7.93957115e-01 -6.07898521e-01 -9.56497742e-03 -2.62153879e+02] [-1.20162268e-02 3.93454768e-05 -9.99927802e-01 -1.77960919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1056.096559995 meters 0.012565894621790382 Centerline is valid? [True, True] Translation: X:-288.42, Y:-262.16, Z:-1.78 [[ 5.42075803e-01 8.40307105e-01 -6.14753669e-03 -2.88415426e+02] [ 8.40252782e-01 -5.42110661e-01 -9.55475742e-03 -2.62157729e+02] [-1.13615757e-02 1.39180019e-05 -9.99935455e-01 -1.77999436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1056.126559995 meters 0.01255916393679906 Centerline is valid? [True, True] Translation: X:-288.41, Y:-262.16, Z:-1.78 [[ 4.72585549e-01 8.81269514e-01 -5.19075788e-03 -2.88407980e+02] [ 8.81216640e-01 -4.72614055e-01 -9.65344330e-03 -2.62161999e+02] [-1.09605104e-02 -1.21044217e-05 -9.99939932e-01 -1.78067736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1056.156559995 meters 0.012678959824993438 Centerline is valid? [True, True] Translation: X:-288.40, Y:-262.17, Z:-1.78 [[ 3.98018869e-01 9.17367438e-01 -4.23843245e-03 -2.88397865e+02] [ 9.17316997e-01 -3.98041432e-01 -9.62005505e-03 -2.62166264e+02] [-1.05121970e-02 -5.90226946e-05 -9.99944744e-01 -1.78083504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1056.1865599950002 meters 0.013090305075811711 Centerline is valid? [True, True] Translation: X:-288.39, Y:-262.17, Z:-1.78 [[ 3.22923257e-01 9.46418994e-01 -3.41445922e-03 -2.88389856e+02] [ 9.46368695e-01 -3.22941298e-01 -9.75762299e-03 -2.62169746e+02] [-1.03374696e-02 -8.03739287e-05 -9.99946564e-01 -1.77973531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1056.2165599950001 meters 0.013626730902618888 Centerline is valid? [True, True] Translation: X:-288.38, Y:-262.17, Z:-1.78 [[ 2.43363578e-01 9.69931728e-01 -2.57147781e-03 -2.88380174e+02] [ 9.69882864e-01 -2.43377132e-01 -9.73664133e-03 -2.62171586e+02] [-1.00697162e-02 -1.24488386e-04 -9.99949292e-01 -1.77946856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1056.246559995 meters 0.013783529812369064 Centerline is valid? [True, True] Translation: X:-288.37, Y:-262.17, Z:-1.78 [[ 1.64634892e-01 9.86352960e-01 -1.78633221e-03 -2.88369473e+02] [ 9.86303996e-01 -1.64644521e-01 -9.82904184e-03 -2.62172999e+02] [-9.98901432e-03 -1.43663350e-04 -9.99950098e-01 -1.77951633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1056.276559995 meters 0.01470176055755549 Centerline is valid? [True, True] Translation: X:-288.36, Y:-262.18, Z:-1.78 [[ 8.50491702e-02 9.96376234e-01 -1.01912176e-03 -2.88358038e+02] [ 9.96325873e-01 -8.50551192e-02 -1.00190369e-02 -2.62175175e+02] [-1.00694118e-02 -1.63266600e-04 -9.99949289e-01 -1.77821565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1056.306559995 meters 0.015401622749070518 Centerline is valid? [True, True] Translation: X:-288.35, Y:-262.18, Z:-1.78 [[ 4.99252757e-03 9.99987511e-01 -2.30855628e-04 -2.88352657e+02] [ 9.99936870e-01 -4.99459841e-03 -1.00653306e-02 -2.62175619e+02] [-1.00663579e-02 -1.80589613e-04 -9.99949317e-01 -1.77786884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1056.336559995 meters 0.016578664253753584 Centerline is valid? [True, True] Translation: X:-288.35, Y:-262.17, Z:-1.78 [[-7.63474590e-02 9.97081129e-01 5.37169659e-04 -2.88348925e+02] [ 9.97034178e-01 7.63490780e-02 -9.67813471e-03 -2.62174782e+02] [-9.69089789e-03 -2.03324484e-04 -9.99953022e-01 -1.77840564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1056.366559995 meters 0.016578664253753584 Centerline is valid? [True, True] Translation: X:-288.35, Y:-262.17, Z:-1.78 [[-1.54176922e-01 9.88042410e-01 1.29328007e-03 -2.88346538e+02] [ 9.87995731e-01 1.54182212e-01 -9.60636102e-03 -2.62174440e+02] [-9.69089288e-03 -2.03323981e-04 -9.99953022e-01 -1.77840568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1056.396559995 meters 0.01624466756544158 Centerline is valid? [True, True] Translation: X:-288.34, Y:-262.17, Z:-1.78 [[-2.32446090e-01 9.72607528e-01 1.84703200e-03 -2.88341602e+02] [ 9.72569757e-01 2.32453345e-01 -8.57378824e-03 -2.62172971e+02] [-8.76827975e-03 -1.96576083e-04 -9.99961539e-01 -1.77944476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1056.4265599950002 meters 0.018357984889762043 Centerline is valid? [True, True] Translation: X:-288.33, Y:-262.17, Z:-1.78 [[-3.10542239e-01 9.50556489e-01 2.42459085e-03 -2.88333159e+02] [ 9.50521949e-01 3.10551631e-01 -8.10610661e-03 -2.62170701e+02] [-8.45827289e-03 -2.12661673e-04 -9.99964206e-01 -1.77924814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1056.4565599950001 meters 0.01912925066162427 Centerline is valid? [True, True] Translation: X:-288.33, Y:-262.17, Z:-1.78 [[-3.85241829e-01 9.22810900e-01 2.96240422e-03 -2.88331281e+02] [ 9.22779143e-01 3.85253158e-01 -7.65877127e-03 -2.62170433e+02] [-8.20887320e-03 -2.16834222e-04 -9.99966283e-01 -1.77897446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1056.486559995 meters 0.020008030585844366 Centerline is valid? [True, True] Translation: X:-288.33, Y:-262.17, Z:-1.78 [[-4.57596605e-01 8.89152880e-01 3.53614804e-03 -2.88329811e+02] [ 8.89122387e-01 4.57610211e-01 -7.36723712e-03 -2.62170020e+02] [-8.16877755e-03 -2.27154304e-04 -9.99966609e-01 -1.77840617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1056.516559995 meters 0.020700931881697422 Centerline is valid? [True, True] Translation: X:-288.33, Y:-262.17, Z:-1.78 [[-5.26931905e-01 8.49897150e-01 4.19536348e-03 -2.88329335e+02] [ 8.49866453e-01 5.26948551e-01 -7.22749059e-03 -2.62169451e+02] [-8.35336436e-03 -2.42896701e-04 -9.99965081e-01 -1.77755380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1056.546559995 meters 0.018250941417481018 Centerline is valid? [True, True] Translation: X:-288.33, Y:-262.17, Z:-1.78 [[-5.93159756e-01 8.05065462e-01 5.57723236e-03 -2.88326947e+02] [ 8.05025006e-01 5.93185900e-01 -8.07636442e-03 -2.62166229e+02] [-9.81033765e-03 -3.00762839e-04 -9.99951832e-01 -1.77734973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1056.576559995 meters 0.018858136631569027 Centerline is valid? [True, True] Translation: X:-288.32, Y:-262.16, Z:-1.78 [[-6.54715248e-01 7.55849804e-01 6.24648930e-03 -2.88321165e+02] [ 7.55810838e-01 6.54744973e-01 -7.68098831e-03 -2.62161839e+02] [-9.89553097e-03 -3.07695853e-04 -9.99950991e-01 -1.77657569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1056.606559995 meters 0.01871844714573932 Centerline is valid? [True, True] Translation: X:-288.32, Y:-262.16, Z:-1.78 [[-7.11923233e-01 7.02219168e-01 7.31781235e-03 -2.88317858e+02] [ 7.02177235e-01 7.11960765e-01 -7.68108135e-03 -2.62156700e+02] [-1.06037978e-02 -3.29939021e-04 -9.99943724e-01 -1.77615377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1056.636559995 meters 0.01875574132855725 Centerline is valid? [True, True] Translation: X:-288.32, Y:-262.15, Z:-1.78 [[-7.63582208e-01 6.45656557e-01 8.35598560e-03 -2.88315379e+02] [ 6.45613118e-01 7.63627856e-01 -7.49664908e-03 -2.62153158e+02] [-1.12211240e-02 -3.29573936e-04 -9.99936987e-01 -1.77505914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1056.666559995 meters 0.01837796075378751 Centerline is valid? [True, True] Translation: X:-287.89, Y:-261.69, Z:-2.81 [[-6.77331136e-01 -7.35635754e-01 7.91006164e-03 -2.87891016e+02] [ 7.35591322e-01 -6.77377239e-01 -8.09221824e-03 -2.61688342e+02] [ 1.13110208e-02 3.37461321e-04 9.99935972e-01 -2.80977781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1056.6965599950001 meters 0.01652976057401815 Centerline is valid? [True, True] Translation: X:-287.91, Y:-261.66, Z:-2.81 [[-6.79931755e-01 -7.33226215e-01 8.49278549e-03 -2.87907050e+02] [ 7.33174463e-01 -6.79984727e-01 -8.71656934e-03 -2.61664022e+02] [ 1.21661816e-02 3.00021151e-04 9.99925944e-01 -2.81022346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1056.7265599950001 meters 0.016567674705612653 Centerline is valid? [True, True] Translation: X:-287.93, Y:-261.64, Z:-2.81 [[-6.81812453e-01 -7.31473604e-01 8.84003580e-03 -2.87925142e+02] [ 7.31417449e-01 -6.81869700e-01 -9.06796618e-03 -2.61643664e+02] [ 1.26607304e-02 2.83104169e-04 9.99919810e-01 -2.81128834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1056.756559995 meters 0.015644954340829225 Centerline is valid? [True, True] Translation: X:-287.94, Y:-261.62, Z:-2.81 [[-6.83694037e-01 -7.29707103e-01 9.48721516e-03 -2.87942285e+02] [ 7.29642328e-01 -6.83759804e-01 -9.72643679e-03 -2.61621164e+02] [ 1.35844264e-02 2.72366914e-04 9.99907691e-01 -2.81151723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1056.786559995 meters 0.015411677371745475 Centerline is valid? [True, True] Translation: X:-287.96, Y:-261.60, Z:-2.81 [[-6.86808401e-01 -7.26775788e-01 9.54859038e-03 -2.87959885e+02] [ 7.26709958e-01 -6.86874739e-01 -9.78421968e-03 -2.61600377e+02] [ 1.36696195e-02 2.19171443e-04 9.99906543e-01 -2.81301381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1056.816559995 meters 0.014419466167591705 Centerline is valid? [True, True] Translation: X:-287.98, Y:-261.58, Z:-2.81 [[-6.87371975e-01 -7.26251793e-01 8.83751280e-03 -2.87978430e+02] [ 7.26195431e-01 -6.87428756e-01 -9.04989822e-03 -2.61580306e+02] [ 1.26476652e-02 1.97115005e-04 9.99919996e-01 -2.81127649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1056.846559995 meters 0.014316723094720431 Centerline is valid? [True, True] Translation: X:-288.00, Y:-261.56, Z:-2.81 [[-6.88305346e-01 -7.25368783e-01 8.71089724e-03 -2.87997803e+02] [ 7.25314024e-01 -6.88360441e-01 -8.91466290e-03 -2.61560732e+02] [ 1.24626552e-02 1.82125792e-04 9.99922322e-01 -2.81166141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1056.876559995 meters 0.013626068123932205 Centerline is valid? [True, True] Translation: X:-288.02, Y:-261.54, Z:-2.81 [[-6.90981707e-01 -7.22819344e-01 8.74510591e-03 -2.88016248e+02] [ 7.22764011e-01 -6.91037030e-01 -8.94467231e-03 -2.61539062e+02] [ 1.25085742e-02 1.40042883e-04 9.99921755e-01 -2.81074749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1056.906559995 meters 0.01334702750406864 Centerline is valid? [True, True] Translation: X:-288.03, Y:-261.52, Z:-2.81 [[-6.92844611e-01 -7.21038610e-01 8.34669204e-03 -2.88034467e+02] [ 7.20988139e-01 -6.92894878e-01 -8.53180912e-03 -2.61518587e+02] [ 1.19351439e-02 1.06647987e-04 9.99928768e-01 -2.81001827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1056.9365599950002 meters 0.01311996293644297 Centerline is valid? [True, True] Translation: X:-288.05, Y:-261.50, Z:-2.81 [[-6.94601259e-01 -7.19352532e-01 7.81194568e-03 -2.88052153e+02] [ 7.19308270e-01 -6.94645182e-01 -7.98022262e-03 -2.61498277e+02] [ 1.11671238e-02 7.61244606e-05 9.99937643e-01 -2.80907740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1056.9665599950001 meters 0.012904383823265564 Centerline is valid? [True, True] Translation: X:-288.07, Y:-261.48, Z:-2.81 [[-6.96467611e-01 -7.17552685e-01 7.14222642e-03 -2.88070143e+02] [ 7.17515638e-01 -6.96504230e-01 -7.29155046e-03 -2.61477394e+02] [ 1.02066625e-02 4.63304177e-05 9.99947910e-01 -2.80824771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1056.996559995 meters 0.01272475950188874 Centerline is valid? [True, True] Translation: X:-288.09, Y:-261.46, Z:-2.81 [[-6.98821887e-01 -7.15267888e-01 6.31012685e-03 -2.88088251e+02] [ 7.15238910e-01 -6.98850376e-01 -6.43843213e-03 -2.61456130e+02] [ 9.01503827e-03 1.39309586e-05 9.99959364e-01 -2.80656603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1057.026559995 meters 0.012707573553840038 Centerline is valid? [True, True] Translation: X:-288.11, Y:-261.44, Z:-2.81 [[-6.99656209e-01 -7.14452182e-01 6.26652624e-03 -2.88106736e+02] [ 7.14423608e-01 -6.99684272e-01 -6.38970070e-03 -2.61437871e+02] [ 8.94972545e-03 6.36051560e-06 9.99959951e-01 -2.80685642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1057.056559995 meters 0.012688024910086769 Centerline is valid? [True, True] Translation: X:-288.13, Y:-261.42, Z:-2.81 [[-7.00798851e-01 -7.13331228e-01 6.28730925e-03 -2.88127255e+02] [ 7.13302452e-01 -7.00827054e-01 -6.40728201e-03 -2.61418645e+02] [ 8.97683076e-03 -5.46276519e-06 9.99959708e-01 -2.80768805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1057.086559995 meters 0.012712507685507345 Centerline is valid? [True, True] Translation: X:-288.15, Y:-261.40, Z:-2.81 [[-7.01123586e-01 -7.13010786e-01 6.42927068e-03 -2.88146941e+02] [ 7.12980716e-01 -7.01153064e-01 -6.54827060e-03 -2.61399094e+02] [ 9.17689040e-03 -7.20095267e-06 9.99957892e-01 -2.80789943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1057.116559995 meters 0.01273944136699596 Centerline is valid? [True, True] Translation: X:-288.17, Y:-261.38, Z:-2.81 [[-7.01457610e-01 -7.12679510e-01 6.71846429e-03 -2.88165451e+02] [ 7.12646702e-01 -7.01489783e-01 -6.83828944e-03 -2.61380702e+02] [ 9.58644283e-03 -8.87875172e-06 9.99954049e-01 -2.80859831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1057.146559995 meters 0.012840470466694195 Centerline is valid? [True, True] Translation: X:-288.18, Y:-261.36, Z:-2.81 [[-7.01220777e-01 -7.12905882e-01 7.39085682e-03 -2.88184668e+02] [ 7.12866242e-01 -7.01259726e-01 -7.51779597e-03 -2.61363048e+02] [ 1.05423912e-02 -2.94240670e-06 9.99944428e-01 -2.80933399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1057.1765599950002 meters 0.01281218580127565 Centerline is valid? [True, True] Translation: X:-288.20, Y:-261.34, Z:-2.81 [[-7.00980872e-01 -7.13141998e-01 7.36940731e-03 -2.88204592e+02] [ 7.13102649e-01 -7.01019608e-01 -7.49134031e-03 -2.61343985e+02] [ 1.05084884e-02 3.85761710e-06 9.99944784e-01 -2.80903513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1057.2065599950001 meters 0.012870735612144583 Centerline is valid? [True, True] Translation: X:-288.22, Y:-261.33, Z:-2.81 [[-7.00473509e-01 -7.13640522e-01 7.35311223e-03 -2.88224268e+02] [ 7.13601424e-01 -7.00512102e-01 -7.47018466e-03 -2.61325381e+02] [ 1.04819706e-02 1.45248958e-05 9.99945063e-01 -2.80858925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1057.236559995 meters 0.012907448904454768 Centerline is valid? [True, True] Translation: X:-288.24, Y:-261.31, Z:-2.81 [[-6.99441210e-01 -7.14655014e-01 7.08554925e-03 -2.88244854e+02] [ 7.14618807e-01 -6.99477097e-01 -7.19388451e-03 -2.61307546e+02] [ 1.00973251e-02 3.17674641e-05 9.99949020e-01 -2.80807607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1057.266559995 meters 0.012919515911387968 Centerline is valid? [True, True] Translation: X:-288.27, Y:-261.29, Z:-2.81 [[-6.98994069e-01 -7.15094175e-01 6.90016610e-03 -2.88265016e+02] [ 7.15059902e-01 -6.99028125e-01 -7.00127489e-03 -2.61288831e+02] [ 9.82998106e-03 4.01824664e-05 9.99951684e-01 -2.80852056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1057.296559995 meters 0.01303579463375768 Centerline is valid? [True, True] Translation: X:-288.28, Y:-261.27, Z:-2.81 [[-6.98944959e-01 -7.15139264e-01 7.19567042e-03 -2.88284018e+02] [ 7.15102044e-01 -6.98981996e-01 -7.29630964e-03 -2.61270733e+02] [ 1.02475216e-02 4.59197852e-05 9.99947492e-01 -2.80987016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1057.326559995 meters 0.012921369035763354 Centerline is valid? [True, True] Translation: X:-288.30, Y:-261.25, Z:-2.81 [[-6.99228018e-01 -7.14858809e-01 7.55393783e-03 -2.88303069e+02] [ 7.14817820e-01 -6.99268819e-01 -7.65521871e-03 -2.61249510e+02] [ 1.07546337e-02 4.69459651e-05 9.99942166e-01 -2.80893806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1057.356559995 meters 0.01297225099442743 Centerline is valid? [True, True] Translation: X:-288.32, Y:-261.23, Z:-2.81 [[-6.99883246e-01 -7.14216649e-01 7.61711664e-03 -2.88322136e+02] [ 7.14174984e-01 -6.99924694e-01 -7.71462261e-03 -2.61229712e+02] [ 1.08413199e-02 4.06190381e-05 9.99941231e-01 -2.80958541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1057.386559995 meters 0.012808543070929549 Centerline is valid? [True, True] Translation: X:-288.34, Y:-261.21, Z:-2.81 [[-7.01599865e-01 -7.12541776e-01 6.46893183e-03 -2.88340788e+02] [ 7.12511688e-01 -7.01629687e-01 -6.54806942e-03 -2.61208913e+02] [ 9.20456762e-03 1.50649197e-05 9.99957637e-01 -2.80833214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1057.416559995 meters 0.012759923730216022 Centerline is valid? [True, True] Translation: X:-288.36, Y:-261.19, Z:-2.81 [[-7.02558027e-01 -7.11602002e-01 5.89988337e-03 -2.88359870e+02] [ 7.11576970e-01 -7.02582800e-01 -5.96870023e-03 -2.61188871e+02] [ 8.39249561e-03 4.86287000e-06 9.99964783e-01 -2.80758211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1057.4465599950001 meters 0.012764703606761086 Centerline is valid? [True, True] Translation: X:-288.38, Y:-261.17, Z:-2.81 [[-7.03715724e-01 -7.10460832e-01 5.43939112e-03 -2.88378245e+02] [ 7.10439549e-01 -7.03736745e-01 -5.49919218e-03 -2.61169902e+02] [ 7.73486005e-03 -5.50943341e-06 9.99970086e-01 -2.80762955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1057.4765599950001 meters 0.012874638481144361 Centerline is valid? [True, True] Translation: X:-288.40, Y:-261.15, Z:-2.81 [[-7.04511068e-01 -7.09672938e-01 5.33636437e-03 -2.88396284e+02] [ 7.09652457e-01 -7.04531278e-01 -5.39155167e-03 -2.61151203e+02] [ 7.58587392e-03 -1.14437328e-05 9.99971227e-01 -2.80792702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1057.506559995 meters 0.012741581886392751 Centerline is valid? [True, True] Translation: X:-288.42, Y:-261.13, Z:-2.81 [[-7.05582883e-01 -7.08608332e-01 5.19872006e-03 -2.88415128e+02] [ 7.08588891e-01 -7.05602035e-01 -5.24901461e-03 -2.61132196e+02] [ 7.38772294e-03 -1.98595840e-05 9.99972710e-01 -2.80683345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1057.536559995 meters 0.012860510778907465 Centerline is valid? [True, True] Translation: X:-288.43, Y:-261.11, Z:-2.81 [[-7.06599711e-01 -7.07588849e-01 5.90497331e-03 -2.88434007e+02] [ 7.07563760e-01 -7.06624383e-01 -5.95877051e-03 -2.61111911e+02] [ 8.38895769e-03 -3.23204034e-05 9.99964812e-01 -2.80760434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1057.566559995 meters 0.012929320775270918 Centerline is valid? [True, True] Translation: X:-288.45, Y:-261.09, Z:-2.81 [[-7.06931779e-01 -7.07250569e-01 6.64023189e-03 -2.88453508e+02] [ 7.07218862e-01 -7.06962963e-01 -6.69697805e-03 -2.61092256e+02] [ 9.43083955e-03 -3.82093651e-05 9.99955528e-01 -2.80818928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1057.596559995 meters 0.012876231945863558 Centerline is valid? [True, True] Translation: X:-288.47, Y:-261.07, Z:-2.81 [[-7.06750704e-01 -7.07421128e-01 7.66747220e-03 -2.88474623e+02] [ 7.07378910e-01 -7.06792293e-01 -7.72868129e-03 -2.61073029e+02] [ 1.08867427e-02 -3.84428196e-05 9.99940737e-01 -2.80931760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1057.626559995 meters 0.01289838223530543 Centerline is valid? [True, True] Translation: X:-288.49, Y:-261.06, Z:-2.81 [[-7.06580195e-01 -7.07587850e-01 7.99139872e-03 -2.88494156e+02] [ 7.07542059e-01 -7.06625384e-01 -8.04989859e-03 -2.61055183e+02] [ 1.13429356e-02 -3.36482093e-05 9.99935666e-01 -2.81033494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1057.656559995 meters 0.012893935098939175 Centerline is valid? [True, True] Translation: X:-288.52, Y:-261.04, Z:-2.81 [[-7.05306211e-01 -7.08842962e-01 9.20890807e-03 -2.88515570e+02] [ 7.08782336e-01 -7.05366327e-01 -9.27060909e-03 -2.61038306e+02] [ 1.30670597e-02 -1.15068055e-05 9.99914622e-01 -2.81173179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1057.6865599950002 meters 0.01276830294883185 Centerline is valid? [True, True] Translation: X:-288.54, Y:-261.02, Z:-2.81 [[-7.04655389e-01 -7.09486588e-01 9.46385514e-03 -2.88536245e+02] [ 7.09422689e-01 -7.04718938e-01 -9.52191166e-03 -2.61019767e+02] [ 1.34250266e-02 4.20719369e-06 9.99909880e-01 -2.81174808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1057.7165599950001 meters 0.012754290408924304 Centerline is valid? [True, True] Translation: X:-288.56, Y:-261.00, Z:-2.81 [[-7.03824791e-01 -7.10302110e-01 1.00785103e-02 -2.88556803e+02] [ 7.10229805e-01 -7.03896947e-01 -1.01346658e-02 -2.61001214e+02] [ 1.42929071e-02 2.50293177e-05 9.99897851e-01 -2.81204550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1057.746559995 meters 0.012901464010827129 Centerline is valid? [True, True] Translation: X:-288.58, Y:-260.98, Z:-2.81 [[-7.02286032e-01 -7.11807802e-01 1.11347293e-02 -2.88577786e+02] [ 7.11719835e-01 -7.02374294e-01 -1.11904946e-02 -2.60982709e+02] [ 1.57862290e-02 6.58796936e-05 9.99875388e-01 -2.81266793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1057.776559995 meters 0.012979221369542417 Centerline is valid? [True, True] Translation: X:-288.60, Y:-260.96, Z:-2.81 [[-7.01739416e-01 -7.12343549e-01 1.13339942e-02 -2.88597270e+02] [ 7.12252590e-01 -7.01830935e-01 -1.13836187e-02 -2.60964284e+02] [ 1.60635951e-02 8.43327358e-05 9.99870969e-01 -2.81319501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1057.806559995 meters 0.013066899634945225 Centerline is valid? [True, True] Translation: X:-288.62, Y:-260.95, Z:-2.81 [[-7.01387774e-01 -7.12683708e-01 1.17099364e-02 -2.88617280e+02] [ 7.12586785e-01 -7.01485511e-01 -1.17538423e-02 -2.60945326e+02] [ 1.65911227e-02 1.00344627e-04 9.99862353e-01 -2.81350217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1057.836559995 meters 0.013111525055235522 Centerline is valid? [True, True] Translation: X:-288.64, Y:-260.93, Z:-2.81 [[-7.01078871e-01 -7.12982440e-01 1.20190396e-02 -2.88637061e+02] [ 7.12880503e-01 -7.01181879e-01 -1.20565741e-02 -2.60926259e+02] [ 1.70236584e-02 1.15529627e-04 9.99855081e-01 -2.81376431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1057.866559995 meters 0.013150948971958657 Centerline is valid? [True, True] Translation: X:-288.66, Y:-260.91, Z:-2.81 [[-7.00758257e-01 -7.13307299e-01 1.14263893e-02 -2.88655928e+02] [ 7.13215333e-01 -7.00851398e-01 -1.14545783e-02 -2.60907368e+02] [ 1.61788353e-02 1.22585726e-04 9.99869107e-01 -2.81308449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1057.896559995 meters 0.013226926631707037 Centerline is valid? [True, True] Translation: X:-288.68, Y:-260.89, Z:-2.81 [[-7.00882036e-01 -7.13186634e-01 1.13665286e-02 -2.88675176e+02] [ 7.13095725e-01 -7.00974187e-01 -1.13875579e-02 -2.60888335e+02] [ 1.60890973e-02 1.24088216e-04 9.99870555e-01 -2.81294484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1057.9265599950002 meters 0.013102255228236284 Centerline is valid? [True, True] Translation: X:-288.69, Y:-260.87, Z:-2.81 [[-7.01100170e-01 -7.12975490e-01 1.11580984e-02 -2.88694618e+02] [ 7.12887957e-01 -7.01188945e-01 -1.11724852e-02 -2.60868549e+02] [ 1.57896433e-02 1.21442710e-04 9.99875329e-01 -2.81187446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1057.9565599950001 meters 0.01334765465345749 Centerline is valid? [True, True] Translation: X:-288.71, Y:-260.85, Z:-2.81 [[-7.01304195e-01 -7.12781430e-01 1.07265500e-02 -2.88713257e+02] [ 7.12700623e-01 -7.01386213e-01 -1.07332941e-02 -2.60849881e+02] [ 1.51739470e-02 1.17514677e-04 9.99884862e-01 -2.81252259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1057.986559995 meters 0.01339545753314521 Centerline is valid? [True, True] Translation: X:-288.73, Y:-260.83, Z:-2.81 [[-7.01355333e-01 -7.12730407e-01 1.07732770e-02 -2.88732007e+02] [ 7.12648986e-01 -7.01438060e-01 -1.07735888e-02 -2.60830155e+02] [ 1.52354509e-02 1.21450973e-04 9.99883927e-01 -2.81209084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1058.016559995 meters 0.013492754851165757 Centerline is valid? [True, True] Translation: X:-288.75, Y:-260.81, Z:-2.81 [[-7.01464659e-01 -7.12628292e-01 1.04043050e-02 -2.88750125e+02] [ 7.12552438e-01 -7.01541804e-01 -1.03980709e-02 -2.60811038e+02] [ 1.47090144e-02 1.19733618e-04 9.99891810e-01 -2.81130355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1058.046559995 meters 0.013301723312317595 Centerline is valid? [True, True] Translation: X:-288.77, Y:-260.84, Z:-2.81 [[-6.51672794e-01 -7.58440436e-01 9.52236773e-03 -2.88765788e+02] [ 7.58362202e-01 -6.51742350e-01 -1.08940384e-02 -2.60836915e+02] [ 1.44686095e-02 1.22055350e-04 9.99895317e-01 -2.80998160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1058.076559995 meters 0.013415389956630178 Centerline is valid? [True, True] Translation: X:-288.78, Y:-260.82, Z:-2.81 [[-6.51820494e-01 -7.58311248e-01 9.70026388e-03 -2.88782844e+02] [ 7.58230160e-01 -6.51892656e-01 -1.10900765e-02 -2.60817570e+02] [ 1.47332605e-02 1.26293484e-04 9.99891452e-01 -2.81026901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1058.106559995 meters 0.013827118421700297 Centerline is valid? [True, True] Translation: X:-288.80, Y:-260.80, Z:-2.81 [[-6.51646865e-01 -7.58464848e-01 9.35082640e-03 -2.88800637e+02] [ 7.58389611e-01 -6.51713939e-01 -1.06836605e-02 -2.60798526e+02] [ 1.41972448e-02 1.29595709e-04 9.99899206e-01 -2.81139092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1058.136559995 meters 0.013377901796739361 Centerline is valid? [True, True] Translation: X:-288.82, Y:-260.78, Z:-2.81 [[-6.52087200e-01 -7.58085477e-01 9.41775014e-03 -2.88818049e+02] [ 7.58009215e-01 -6.52155192e-01 -1.07534308e-02 -2.60777044e+02] [ 1.42938544e-02 1.26566788e-04 9.99897830e-01 -2.80974179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1058.166559995 meters 0.013298312780717797 Centerline is valid? [True, True] Translation: X:-288.84, Y:-260.76, Z:-2.81 [[-6.52545651e-01 -7.57690041e-01 9.48557333e-03 -2.88835877e+02] [ 7.57612733e-01 -6.52614578e-01 -1.08240369e-02 -2.60755881e+02] [ 1.43916884e-02 1.23212910e-04 9.99896427e-01 -2.80931458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1058.1965599950001 meters 0.01349793580427929 Centerline is valid? [True, True] Translation: X:-288.85, Y:-260.74, Z:-2.81 [[-6.53724426e-01 -7.56670418e-01 9.70843241e-03 -2.88852969e+02] [ 7.56589430e-01 -6.53796503e-01 -1.10710187e-02 -2.60736226e+02] [ 1.47244515e-02 1.07901985e-04 9.99891584e-01 -2.81047912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1058.2265599950001 meters 0.012980019329388732 Centerline is valid? [True, True] Translation: X:-288.87, Y:-260.71, Z:-2.81 [[-6.56330916e-01 -7.54407179e-01 9.97686110e-03 -2.88868318e+02] [ 7.54321485e-01 -6.56406737e-01 -1.13706875e-02 -2.60712287e+02] [ 1.51270071e-02 6.28269645e-05 9.99885578e-01 -2.80856423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1058.256559995 meters 0.012980019329388732 Centerline is valid? [True, True] Translation: X:-288.89, Y:-260.69, Z:-2.81 [[-6.56542463e-01 -7.54223039e-01 9.98004997e-03 -2.88886563e+02] [ 7.54137367e-01 -6.56618309e-01 -1.13678887e-02 -2.60691599e+02] [ 1.51270071e-02 6.28269646e-05 9.99885578e-01 -2.80856431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1058.286559995 meters 0.013181099576577194 Centerline is valid? [True, True] Translation: X:-288.90, Y:-260.67, Z:-2.81 [[-6.58577486e-01 -7.52444677e-01 1.01342420e-02 -2.88902198e+02] [ 7.52356244e-01 -6.58655454e-01 -1.15358323e-02 -2.60670963e+02] [ 1.53550494e-02 2.73208237e-05 9.99882104e-01 -2.81036925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1058.316559995 meters 0.013361240337222849 Centerline is valid? [True, True] Translation: X:-288.92, Y:-260.65, Z:-2.81 [[-6.60760235e-01 -7.50526383e-01 1.02985159e-02 -2.88917817e+02] [ 7.50434939e-01 -6.60840486e-01 -1.17155501e-02 -2.60649400e+02] [ 1.55985057e-02 -1.28034586e-05 9.99878336e-01 -2.81090080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1058.346559995 meters 0.013699793810553954 Centerline is valid? [True, True] Translation: X:-288.93, Y:-260.62, Z:-2.81 [[-6.65193145e-01 -7.46594534e-01 1.07090127e-02 -2.88932644e+02] [ 7.46495250e-01 -6.65279334e-01 -1.21758335e-02 -2.60624929e+02] [ 1.62148956e-02 -1.05053846e-04 9.99868525e-01 -2.80933856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1058.376559995 meters 0.013951825458482359 Centerline is valid? [True, True] Translation: X:-288.95, Y:-260.60, Z:-2.81 [[-6.67426294e-01 -7.44594609e-01 1.10004656e-02 -2.88949729e+02] [ 7.44489690e-01 -6.67516925e-01 -1.25002512e-02 -2.60602204e+02] [ 1.66506166e-02 -1.53263063e-04 9.99861357e-01 -2.80884201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1058.406559995 meters 0.015085284139877335 Centerline is valid? [True, True] Translation: X:-288.96, Y:-260.58, Z:-2.81 [[-6.72026152e-01 -7.40451445e-01 1.06069768e-02 -2.88964537e+02] [ 7.40353493e-01 -6.72109811e-01 -1.20460487e-02 -2.60578566e+02] [ 1.60485674e-02 -2.42347455e-04 9.99871184e-01 -2.80870092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1058.4365599950002 meters 0.015892842041896546 Centerline is valid? [True, True] Translation: X:-288.98, Y:-260.56, Z:-2.81 [[-6.74601210e-01 -7.38108445e-01 1.04465597e-02 -2.88981450e+02] [ 7.38013255e-01 -6.74682028e-01 -1.18573285e-02 -2.60555824e+02] [ 1.58001003e-02 -2.89268627e-04 9.99875129e-01 -2.80784786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1058.4665599950001 meters 0.016498639302676678 Centerline is valid? [True, True] Translation: X:-289.00, Y:-260.53, Z:-2.81 [[-6.77294702e-01 -7.35642291e-01 1.01146757e-02 -2.88997891e+02] [ 7.35552881e-01 -6.77370142e-01 -1.14738601e-02 -2.60533556e+02] [ 1.52920360e-02 -3.31305756e-04 9.99883015e-01 -2.80658193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1058.496559995 meters 0.01774021186412814 Centerline is valid? [True, True] Translation: X:-289.01, Y:-260.51, Z:-2.80 [[-6.82285643e-01 -7.31031390e-01 8.91118091e-03 -2.89013587e+02] [ 7.30961679e-01 -6.82343728e-01 -1.01025126e-02 -2.60510435e+02] [ 1.34657423e-02 -3.79067562e-04 9.99909261e-01 -2.80352068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1058.526559995 meters 0.018252126780621204 Centerline is valid? [True, True] Translation: X:-289.03, Y:-260.49, Z:-2.80 [[-6.84349286e-01 -7.29107396e-01 8.27405222e-03 -2.89031158e+02] [ 7.29047206e-01 -6.84399194e-01 -9.37632813e-03 -2.60489182e+02] [ 1.24991049e-02 -3.84508814e-04 9.99921809e-01 -2.80236130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1058.556559995 meters 0.018855381115186528 Centerline is valid? [True, True] Translation: X:-289.05, Y:-260.47, Z:-2.80 [[-6.86058187e-01 -7.27507032e-01 7.59494504e-03 -2.89048914e+02] [ 7.27456259e-01 -6.86100121e-01 -8.60319626e-03 -2.60468198e+02] [ 1.14697785e-02 -3.77302918e-04 9.99934149e-01 -2.80121680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1058.586559995 meters 0.019693576992312018 Centerline is valid? [True, True] Translation: X:-289.07, Y:-260.45, Z:-2.80 [[-6.87762367e-01 -7.25901812e-01 7.03465505e-03 -2.89068013e+02] [ 7.25858218e-01 -6.87798242e-01 -7.96407273e-03 -2.60447364e+02] [ 1.06195582e-02 -3.71227334e-04 9.99943542e-01 -2.79973731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1058.616559995 meters 0.020090990073433002 Centerline is valid? [True, True] Translation: X:-289.09, Y:-260.43, Z:-2.80 [[-6.87828516e-01 -7.25835489e-01 7.40106757e-03 -2.89086439e+02] [ 7.25787293e-01 -6.87868223e-01 -8.37338358e-03 -2.60428480e+02] [ 1.11686582e-02 -3.87851204e-04 9.99937554e-01 -2.79976395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1058.646559995 meters 0.019488819547690106 Centerline is valid? [True, True] Translation: X:-289.11, Y:-260.41, Z:-2.80 [[-6.86072330e-01 -7.27492787e-01 7.68132578e-03 -2.89109061e+02] [ 7.27441031e-01 -6.86115228e-01 -8.68559970e-03 -2.60411517e+02] [ 1.15889857e-02 -3.71238076e-04 9.99932777e-01 -2.80016221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1058.6765599950002 meters 0.01771655474243052 Centerline is valid? [True, True] Translation: X:-289.13, Y:-260.39, Z:-2.80 [[-6.84567467e-01 -7.28907239e-01 7.84984035e-03 -2.89131958e+02] [ 7.28853337e-01 -6.84612382e-01 -8.87130728e-03 -2.60394177e+02] [ 1.18404580e-02 -3.51626026e-04 9.99929838e-01 -2.79918329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1058.7065599950001 meters 0.017814035438736303 Centerline is valid? [True, True] Translation: X:-289.15, Y:-260.38, Z:-2.80 [[-6.82788266e-01 -7.30569153e-01 8.30036559e-03 -2.89152073e+02] [ 7.30509072e-01 -6.82838633e-01 -9.37538527e-03 -2.60375883e+02] [ 1.25171776e-02 -3.37910690e-04 9.99921600e-01 -2.79968199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1058.736559995 meters 0.016263478842291294 Centerline is valid? [True, True] Translation: X:-289.18, Y:-260.36, Z:-2.80 [[-6.79052816e-01 -7.34040209e-01 8.49967676e-03 -2.89177858e+02] [ 7.33977549e-01 -6.79105952e-01 -9.59495414e-03 -2.60361604e+02] [ 1.28152632e-02 -2.76908708e-04 9.99917843e-01 -2.79934700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1058.766559995 meters 0.01555809899203109 Centerline is valid? [True, True] Translation: X:-289.20, Y:-260.34, Z:-2.80 [[-6.77144130e-01 -7.35800648e-01 8.55767679e-03 -2.89200102e+02] [ 7.35737340e-01 -6.77198160e-01 -9.65499871e-03 -2.60343927e+02] [ 1.28993973e-02 -2.41623347e-04 9.99916770e-01 -2.79896897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1058.796559995 meters 0.014790401014312964 Centerline is valid? [True, True] Translation: X:-289.22, Y:-260.33, Z:-2.80 [[-6.74324161e-01 -7.38384702e-01 8.65788349e-03 -2.89224818e+02] [ 7.38320185e-01 -6.74379712e-01 -9.76259413e-03 -2.60328533e+02] [ 1.30472511e-02 -1.90862951e-04 9.99914863e-01 -2.79901815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1058.826559995 meters 0.014547203519126547 Centerline is valid? [True, True] Translation: X:-289.25, Y:-260.31, Z:-2.80 [[-6.73606586e-01 -7.39041274e-01 8.49486372e-03 -2.89246103e+02] [ 7.38979285e-01 -6.73660127e-01 -9.57340705e-03 -2.60309843e+02] [ 1.27977939e-02 -1.71181729e-04 9.99918090e-01 -2.79857992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1058.856559995 meters 0.014542326112698695 Centerline is valid? [True, True] Translation: X:-289.27, Y:-260.29, Z:-2.80 [[-6.73085419e-01 -7.39520422e-01 8.09712397e-03 -2.89265787e+02] [ 7.39464191e-01 -6.73134104e-01 -9.12072242e-03 -2.60291848e+02] [ 1.21954108e-02 -1.51492044e-04 9.99925622e-01 -2.79825039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1058.886559995 meters 0.014019159176631673 Centerline is valid? [True, True] Translation: X:-289.29, Y:-260.28, Z:-2.80 [[-6.72562004e-01 -7.39996824e-01 8.06543155e-03 -2.89289159e+02] [ 7.39941129e-01 -6.72610349e-01 -9.07988068e-03 -2.60275345e+02] [ 1.21439756e-02 -1.38838220e-04 9.99926250e-01 -2.79716149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1058.916559995 meters 0.013995124334269011 Centerline is valid? [True, True] Translation: X:-289.31, Y:-260.26, Z:-2.80 [[-6.72465275e-01 -7.40083512e-01 8.17613061e-03 -2.89310194e+02] [ 7.40026348e-01 -6.72514964e-01 -9.19932724e-03 -2.60257017e+02] [ 1.23068406e-02 -1.35676044e-04 9.99924259e-01 -2.79758535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1058.9465599950001 meters 0.013886129936438988 Centerline is valid? [True, True] Translation: X:-289.33, Y:-260.24, Z:-2.80 [[-6.72466400e-01 -7.40086671e-01 7.78847055e-03 -2.89331542e+02] [ 7.40034858e-01 -6.72511489e-01 -8.75821067e-03 -2.60238169e+02] [ 1.17196709e-02 -1.25862702e-04 9.99931315e-01 -2.79769332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1058.9765599950001 meters 0.01375495034158213 Centerline is valid? [True, True] Translation: X:-289.35, Y:-260.22, Z:-2.80 [[-6.72395743e-01 -7.40153704e-01 7.51392308e-03 -2.89352698e+02] [ 7.40105537e-01 -6.72437715e-01 -8.44472517e-03 -2.60219196e+02] [ 1.13030399e-02 -1.17101172e-04 9.99936112e-01 -2.79784266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1059.006559995 meters 0.013502651685987336 Centerline is valid? [True, True] Translation: X:-289.38, Y:-260.20, Z:-2.80 [[-6.71517599e-01 -7.40958962e-01 6.62805747e-03 -2.89376098e+02] [ 7.40921564e-01 -6.71550302e-01 -7.44493559e-03 -2.60202913e+02] [ 9.96746575e-03 -8.85345631e-05 9.99950320e-01 -2.79708909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1059.036559995 meters 0.01340456895322102 Centerline is valid? [True, True] Translation: X:-289.40, Y:-260.19, Z:-2.80 [[-6.70808232e-01 -7.41601447e-01 6.60379345e-03 -2.89396042e+02] [ 7.41564402e-01 -6.70840732e-01 -7.41277108e-03 -2.60185461e+02] [ 9.92741539e-03 -7.54097177e-05 9.99950719e-01 -2.79673092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1059.066559995 meters 0.013170848914583538 Centerline is valid? [True, True] Translation: X:-289.42, Y:-260.17, Z:-2.80 [[-6.69572280e-01 -7.42720232e-01 6.29432821e-03 -2.89416446e+02] [ 7.42686671e-01 -6.69601862e-01 -7.06075988e-03 -2.60168181e+02] [ 9.45886311e-03 -5.29754256e-05 9.99955263e-01 -2.79682538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1059.096559995 meters 0.01296539609894952 Centerline is valid? [True, True] Translation: X:-289.44, Y:-260.15, Z:-2.80 [[-6.67995060e-01 -7.44141401e-01 6.01463507e-03 -2.89438249e+02] [ 7.44110848e-01 -6.68022137e-01 -6.74323580e-03 -2.60149779e+02] [ 9.03583030e-03 -2.88929994e-05 9.99959176e-01 -2.79620956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1059.126559995 meters 0.012860400660336894 Centerline is valid? [True, True] Translation: X:-289.46, Y:-260.14, Z:-2.80 [[-6.64088506e-01 -7.47626851e-01 6.36774577e-03 -2.89462283e+02] [ 7.47592809e-01 -6.64119034e-01 -7.13441074e-03 -2.60136583e+02] [ 9.56281820e-03 2.26007793e-05 9.99954275e-01 -2.79678203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1059.156559995 meters 0.013034006116093374 Centerline is valid? [True, True] Translation: X:-289.48, Y:-260.12, Z:-2.80 [[-6.62347990e-01 -7.49166356e-01 6.70167272e-03 -2.89484119e+02] [ 7.49128772e-01 -6.62381891e-01 -7.50427672e-03 -2.60118873e+02] [ 1.00610183e-02 4.99732498e-05 9.99949386e-01 -2.79692832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1059.1865599950002 meters 0.0135865425473571 Centerline is valid? [True, True] Translation: X:-289.51, Y:-260.11, Z:-2.80 [[-6.58615850e-01 -7.52437343e-01 7.95030884e-03 -2.89509541e+02] [ 7.52384750e-01 -6.58663822e-01 -8.89711939e-03 -2.60105091e+02] [ 1.19311057e-02 1.21907281e-04 9.99928815e-01 -2.79931907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1059.2165599950001 meters 0.013990245169276726 Centerline is valid? [True, True] Translation: X:-289.53, Y:-260.09, Z:-2.80 [[-6.57205386e-01 -7.53664433e-01 8.42631200e-03 -2.89531098e+02] [ 7.53605502e-01 -6.57259385e-01 -9.42598317e-03 -2.60088269e+02] [ 1.26423009e-02 1.55308173e-04 9.99920071e-01 -2.80073823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1059.246559995 meters 0.014231649126573185 Centerline is valid? [True, True] Translation: X:-289.55, Y:-260.07, Z:-2.80 [[-6.56161048e-01 -7.54568300e-01 8.90846158e-03 -2.89552269e+02] [ 7.54502588e-01 -6.56221492e-01 -9.95979121e-03 -2.60069680e+02] [ 1.33612667e-02 1.86230280e-04 9.99910717e-01 -2.80130902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1059.276559995 meters 0.014839339635914271 Centerline is valid? [True, True] Translation: X:-289.57, Y:-260.05, Z:-2.80 [[-6.54883652e-01 -7.55660164e-01 1.02528054e-02 -2.89574573e+02] [ 7.55573359e-01 -6.54963860e-01 -1.14560665e-02 -2.60053428e+02] [ 1.53721101e-02 2.44355983e-04 9.99881812e-01 -2.80317905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1059.306559995 meters 0.014882924718757774 Centerline is valid? [True, True] Translation: X:-289.59, Y:-260.03, Z:-2.80 [[-6.55123910e-01 -7.55445395e-01 1.07199411e-02 -2.89594267e+02] [ 7.55350591e-01 -6.55211561e-01 -1.19705989e-02 -2.60034472e+02] [ 1.60669632e-02 2.55088351e-04 9.99870886e-01 -2.80401051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1059.336559995 meters 0.014460098952555048 Centerline is valid? [True, True] Translation: X:-289.61, Y:-260.01, Z:-2.80 [[-6.55498275e-01 -7.55114522e-01 1.11386979e-02 -2.89613694e+02] [ 7.55012235e-01 -6.55592854e-01 -1.24312040e-02 -2.60014180e+02] [ 1.66894334e-02 2.61220383e-04 9.99860688e-01 -2.80375154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1059.366559995 meters 0.014414305898665975 Centerline is valid? [True, True] Translation: X:-289.63, Y:-260.00, Z:-2.80 [[-6.57175855e-01 -7.53646690e-01 1.16860090e-02 -2.89632184e+02] [ 7.53534022e-01 -6.57279704e-01 -1.30333698e-02 -2.59995857e+02] [ 1.75035326e-02 2.40589406e-04 9.99846773e-01 -2.80472319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1059.396559995 meters 0.014324088340665867 Centerline is valid? [True, True] Translation: X:-289.65, Y:-259.98, Z:-2.80 [[-6.58310123e-01 -7.52658603e-01 1.15243205e-02 -2.89650176e+02] [ 7.52549018e-01 -6.58410951e-01 -1.28450156e-02 -2.59975729e+02] [ 1.72556503e-02 2.16612307e-04 9.99851087e-01 -2.80433482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1059.4265599950002 meters 0.013806225533479252 Centerline is valid? [True, True] Translation: X:-289.67, Y:-259.95, Z:-2.80 [[-6.59152069e-01 -7.51927951e-01 1.10862824e-02 -2.89668175e+02] [ 7.51826553e-01 -6.59245264e-01 -1.23497650e-02 -2.59954402e+02] [ 1.65947127e-02 1.94588258e-04 9.99862280e-01 -2.80268732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1059.4565599950001 meters 0.013565328817638297 Centerline is valid? [True, True] Translation: X:-289.69, Y:-259.93, Z:-2.80 [[-6.60772257e-01 -7.50521568e-01 9.86919523e-03 -2.89686187e+02] [ 7.50441146e-01 -6.60845939e-01 -1.09877863e-02 -2.59933613e+02] [ 1.47685882e-02 1.45825819e-04 9.99890928e-01 -2.80099546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1059.486559995 meters 0.013528565859047133 Centerline is valid? [True, True] Translation: X:-289.70, Y:-259.91, Z:-2.80 [[-6.61734516e-01 -7.49681576e-01 9.21759164e-03 -2.89704008e+02] [ 7.49611431e-01 -6.61798700e-01 -1.02558794e-02 -2.59913518e+02] [ 1.37888340e-02 1.22942698e-04 9.99904922e-01 -2.79998626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1059.516559995 meters 0.013338940714375993 Centerline is valid? [True, True] Translation: X:-289.72, Y:-259.89, Z:-2.80 [[-6.62290222e-01 -7.49198370e-01 8.57106699e-03 -2.89722625e+02] [ 7.49137757e-01 -6.62345673e-01 -9.53057241e-03 -2.59893042e+02] [ 1.28172984e-02 1.08904972e-04 9.99917849e-01 -2.79933762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1059.546559995 meters 0.01327202008934855 Centerline is valid? [True, True] Translation: X:-289.74, Y:-259.87, Z:-2.80 [[-6.62880652e-01 -7.48681551e-01 8.07321996e-03 -2.89740914e+02] [ 7.48627804e-01 -6.62929805e-01 -8.97137145e-03 -2.59872826e+02] [ 1.20686784e-02 9.68883740e-05 9.99927166e-01 -2.79865321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1059.576559995 meters 0.013195585580961948 Centerline is valid? [True, True] Translation: X:-289.76, Y:-259.85, Z:-2.80 [[-6.63452704e-01 -7.48182328e-01 7.32897928e-03 -2.89759239e+02] [ 7.48138059e-01 -6.63493178e-01 -8.13922020e-03 -2.59852369e+02] [ 1.09523485e-02 8.31006836e-05 9.99940018e-01 -2.79759121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1059.606559995 meters 0.013274140533248739 Centerline is valid? [True, True] Translation: X:-289.78, Y:-259.83, Z:-2.80 [[-6.63840811e-01 -7.47841268e-01 6.98683333e-03 -2.89777012e+02] [ 7.47801071e-01 -6.63877573e-01 -7.75415300e-03 -2.59832938e+02] [ 1.04372776e-02 7.72382229e-05 9.99945527e-01 -2.79772468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1059.636559995 meters 0.01317937676543297 Centerline is valid? [True, True] Translation: X:-289.80, Y:-259.81, Z:-2.80 [[-6.64496194e-01 -7.47259083e-01 6.97649655e-03 -2.89795274e+02] [ 7.47219018e-01 -6.64532812e-01 -7.73830281e-03 -2.59812069e+02] [ 1.04186279e-02 7.08981379e-05 9.99945722e-01 -2.79745958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1059.666559995 meters 0.013174377365927262 Centerline is valid? [True, True] Translation: X:-289.81, Y:-259.79, Z:-2.80 [[-6.64919844e-01 -7.46878692e-01 7.33629037e-03 -2.89813375e+02] [ 7.46834418e-01 -6.64960311e-01 -8.13253247e-03 -2.59792058e+02] [ 1.09523571e-02 7.15119199e-05 9.99940019e-01 -2.79828697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1059.6965599950001 meters 0.013204947744523417 Centerline is valid? [True, True] Translation: X:-289.83, Y:-259.77, Z:-2.80 [[-6.65356666e-01 -7.46484530e-01 7.83287738e-03 -2.89831693e+02] [ 7.46434095e-01 -6.65402766e-01 -8.67757228e-03 -2.59771585e+02] [ 1.16896917e-02 7.30461772e-05 9.99931671e-01 -2.79877485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1059.7265599950001 meters 0.013243618457136301 Centerline is valid? [True, True] Translation: X:-289.85, Y:-259.75, Z:-2.80 [[-6.65805168e-01 -7.46076173e-01 8.59197782e-03 -2.89849592e+02] [ 7.46015531e-01 -6.65860600e-01 -9.51257104e-03 -2.59750577e+02] [ 1.28181621e-02 7.62299336e-05 9.99917841e-01 -2.79941085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1059.756559995 meters 0.013107092130680545 Centerline is valid? [True, True] Translation: X:-289.87, Y:-259.73, Z:-2.80 [[-6.66029892e-01 -7.45875835e-01 8.56864456e-03 -2.89867631e+02] [ 7.45815575e-01 -6.66085004e-01 -9.48134824e-03 -2.59729560e+02] [ 1.27793542e-02 7.57672264e-05 9.99918338e-01 -2.79877100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1059.786559995 meters 0.01326446844899282 Centerline is valid? [True, True] Translation: X:-289.89, Y:-259.71, Z:-2.80 [[-6.66135851e-01 -7.45781566e-01 8.53720959e-03 -2.89885779e+02] [ 7.45721811e-01 -6.66190551e-01 -9.44090750e-03 -2.59709744e+02] [ 1.27282631e-02 7.74564453e-05 9.99918990e-01 -2.79931562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1059.816559995 meters 0.013241431499452146 Centerline is valid? [True, True] Translation: X:-289.90, Y:-259.69, Z:-2.80 [[-6.65937113e-01 -7.45960016e-01 8.45081212e-03 -2.89904499e+02] [ 7.45901545e-01 -6.65990726e-01 -9.34012973e-03 -2.59688370e+02] [ 1.25955258e-02 8.35347877e-05 9.99920670e-01 -2.79912252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1059.846559995 meters 0.013247694521355224 Centerline is valid? [True, True] Translation: X:-289.92, Y:-259.67, Z:-2.80 [[-6.66094010e-01 -7.45819626e-01 8.47677910e-03 -2.89922974e+02] [ 7.45760857e-01 -6.66147941e-01 -9.36296294e-03 -2.59667715e+02] [ 1.26298705e-02 8.50365208e-05 9.99920237e-01 -2.79926080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1059.876559995 meters 0.013336926651767778 Centerline is valid? [True, True] Translation: X:-289.94, Y:-259.65, Z:-2.80 [[-6.66139264e-01 -7.45780541e-01 8.35854810e-03 -2.89941351e+02] [ 7.45723470e-01 -6.66191697e-01 -9.22659893e-03 -2.59647088e+02] [ 1.24494133e-02 8.69656709e-05 9.99922499e-01 -2.79958873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1059.906559995 meters 0.013443732518191876 Centerline is valid? [True, True] Translation: X:-289.96, Y:-259.63, Z:-2.80 [[-6.66232965e-01 -7.45695944e-01 8.43775155e-03 -2.89958424e+02] [ 7.45637856e-01 -6.66286388e-01 -9.30792745e-03 -2.59627177e+02] [ 1.25628428e-02 9.02588813e-05 9.99921080e-01 -2.80049649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1059.9365599950002 meters 0.013230069896457183 Centerline is valid? [True, True] Translation: X:-289.98, Y:-259.61, Z:-2.80 [[-6.66304683e-01 -7.45632128e-01 8.41417534e-03 -2.89976581e+02] [ 7.45574425e-01 -6.66357803e-01 -9.27662008e-03 -2.59605223e+02] [ 1.25237974e-02 9.23385432e-05 9.99921570e-01 -2.79971534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1059.9665599950001 meters 0.013470548738137744 Centerline is valid? [True, True] Translation: X:-289.99, Y:-259.59, Z:-2.80 [[-6.66205293e-01 -7.45721752e-01 8.34125907e-03 -2.89994550e+02] [ 7.45665120e-01 -6.66257502e-01 -9.19069478e-03 -2.59585242e+02] [ 1.24111274e-02 9.68964375e-05 9.99922974e-01 -2.80059359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1059.996559995 meters 0.013702435752179753 Centerline is valid? [True, True] Translation: X:-290.01, Y:-259.56, Z:-2.80 [[-6.65176969e-01 -7.46642397e-01 8.04561063e-03 -2.90012877e+02] [ 7.46589842e-01 -6.65225615e-01 -8.85945071e-03 -2.59564803e+02] [ 1.19669878e-02 1.13668593e-04 9.99928387e-01 -2.80042208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1060.026559995 meters 0.01382063424226214 Centerline is valid? [True, True] Translation: X:-290.03, Y:-259.55, Z:-2.80 [[-6.64340566e-01 -7.47390169e-01 7.71672540e-03 -2.90031216e+02] [ 7.47341935e-01 -6.64385370e-01 -8.49197895e-03 -2.59545011e+02] [ 1.14737010e-02 1.25466387e-04 9.99934167e-01 -2.79976956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1060.056559995 meters 0.014484906139400991 Centerline is valid? [True, True] Translation: X:-290.05, Y:-259.53, Z:-2.80 [[-6.61764660e-01 -7.49681060e-01 6.77073696e-03 -2.90050022e+02] [ 7.49644080e-01 -6.61799279e-01 -7.44760570e-03 -2.59526266e+02] [ 1.00641978e-02 1.47080633e-04 9.99949344e-01 -2.79889973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1060.086559995 meters 0.015016798729354781 Centerline is valid? [True, True] Translation: X:-290.07, Y:-259.51, Z:-2.80 [[-6.60631336e-01 -7.50684040e-01 6.30164677e-03 -2.90069294e+02] [ 7.50652088e-01 -6.60661372e-01 -6.92780835e-03 -2.59506119e+02] [ 9.36384976e-03 1.53617013e-04 9.99956147e-01 -2.79854181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1060.116559995 meters 0.015475467538016695 Centerline is valid? [True, True] Translation: X:-290.09, Y:-259.49, Z:-2.80 [[-6.59516421e-01 -7.51668014e-01 5.76944382e-03 -2.90088842e+02] [ 7.51641299e-01 -6.59541638e-01 -6.33925160e-03 -2.59485934e+02] [ 8.57020109e-03 1.55711721e-04 9.99963263e-01 -2.79835277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1060.146559995 meters 0.015700897290580187 Centerline is valid? [True, True] Translation: X:-290.11, Y:-259.46, Z:-2.80 [[-6.58539455e-01 -7.52525941e-01 5.52220971e-03 -2.90107620e+02] [ 7.52501524e-01 -6.58562588e-01 -6.06424054e-03 -2.59464921e+02] [ 8.20021903e-03 1.61929561e-04 9.99966365e-01 -2.79794937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1060.1765599950002 meters 0.016913846098863244 Centerline is valid? [True, True] Translation: X:-290.13, Y:-259.45, Z:-2.80 [[-6.57155051e-01 -7.53732669e-01 5.85688349e-03 -2.90126154e+02] [ 7.53705282e-01 -6.57181123e-01 -6.42801060e-03 -2.59445450e+02] [ 8.69403486e-03 1.90164391e-04 9.99962188e-01 -2.79890942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1060.2065599950001 meters 0.016913846098863244 Centerline is valid? [True, True] Translation: X:-290.14, Y:-259.43, Z:-2.80 [[-6.57382430e-01 -7.53534349e-01 5.85882272e-03 -2.90144249e+02] [ 7.53506970e-01 -6.57408510e-01 -6.42624314e-03 -2.59425772e+02] [ 8.69403486e-03 1.90164424e-04 9.99962188e-01 -2.79890949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1060.236559995 meters 0.01696737107010706 Centerline is valid? [True, True] Translation: X:-290.16, Y:-259.41, Z:-2.80 [[-6.57146720e-01 -7.53737402e-01 6.17386503e-03 -2.90161993e+02] [ 7.53707047e-01 -6.57175689e-01 -6.76767338e-03 -2.59405236e+02] [ 9.15836255e-03 2.05931216e-04 9.99958040e-01 -2.79951295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1060.266559995 meters 0.01635409919102994 Centerline is valid? [True, True] Translation: X:-290.18, Y:-259.38, Z:-2.80 [[-6.56974348e-01 -7.53886518e-01 6.31063332e-03 -2.90179398e+02] [ 7.53854846e-01 -6.57004621e-01 -6.91370817e-03 -2.59382688e+02] [ 9.35826663e-03 2.15172593e-04 9.99956187e-01 -2.79962767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1060.296559995 meters 0.016332980248207576 Centerline is valid? [True, True] Translation: X:-290.20, Y:-259.36, Z:-2.80 [[-6.56796198e-01 -7.54040568e-01 6.44797659e-03 -2.90197013e+02] [ 7.54007548e-01 -6.56827810e-01 -7.06016884e-03 -2.59360366e+02] [ 9.55886406e-03 2.24730965e-04 9.99954288e-01 -2.79991282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1060.326559995 meters 0.016814863964574298 Centerline is valid? [True, True] Translation: X:-290.21, Y:-259.34, Z:-2.80 [[-6.56791877e-01 -7.54045293e-01 6.33459831e-03 -2.90214884e+02] [ 7.54013463e-01 -6.56822386e-01 -6.93187416e-03 -2.59340194e+02] [ 9.38765305e-03 2.23573770e-04 9.99955910e-01 -2.80016441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1060.356559995 meters 0.016691327492603363 Centerline is valid? [True, True] Translation: X:-290.23, Y:-259.32, Z:-2.80 [[-6.56766845e-01 -7.54069668e-01 6.02048520e-03 -2.90231288e+02] [ 7.54040951e-01 -6.56794404e-01 -6.58443667e-03 -2.59317172e+02] [ 8.91934496e-03 2.15252689e-04 9.99960199e-01 -2.79959252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1060.386559995 meters 0.01684453033468203 Centerline is valid? [True, True] Translation: X:-290.25, Y:-259.30, Z:-2.80 [[-6.56840600e-01 -7.54005967e-01 5.95206150e-03 -2.90248429e+02] [ 7.53977933e-01 -6.56867533e-01 -6.50551856e-03 -2.59296296e+02] [ 8.81491577e-03 2.14634307e-04 9.99961125e-01 -2.79940844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1060.416559995 meters 0.016623121334627306 Centerline is valid? [True, True] Translation: X:-290.27, Y:-259.27, Z:-2.80 [[-6.56976695e-01 -7.53889162e-01 5.72314930e-03 -2.90265899e+02] [ 7.53863268e-01 -6.57001590e-01 -6.25178574e-03 -2.59273904e+02] [ 8.47327170e-03 2.07194508e-04 9.99964080e-01 -2.79937275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1060.4465599950001 meters 0.016881769700336297 Centerline is valid? [True, True] Translation: X:-290.28, Y:-259.25, Z:-2.80 [[-6.57114203e-01 -7.53768657e-01 5.80830734e-03 -2.90282540e+02] [ 7.53742018e-01 -6.57139838e-01 -6.34058481e-03 -2.59253580e+02] [ 8.59620424e-03 2.11476964e-04 9.99963030e-01 -2.79976623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1060.4765599950001 meters 0.01664013596455174 Centerline is valid? [True, True] Translation: X:-290.30, Y:-259.23, Z:-2.80 [[-6.57005997e-01 -7.53863622e-01 5.72368115e-03 -2.90298141e+02] [ 7.53837787e-01 -6.57030894e-01 -6.24465380e-03 -2.59230274e+02] [ 8.46825267e-03 2.11952142e-04 9.99964121e-01 -2.79965105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1060.506559995 meters 0.017912908524464134 Centerline is valid? [True, True] Translation: X:-290.32, Y:-259.21, Z:-2.80 [[-6.56816833e-01 -7.54028953e-01 5.65560037e-03 -2.90316589e+02] [ 7.54003767e-01 -6.56841147e-01 -6.16668292e-03 -2.59210970e+02] [ 8.36468850e-03 2.13962835e-04 9.99964993e-01 -2.80078393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1060.536559995 meters 0.01871983631571239 Centerline is valid? [True, True] Translation: X:-290.33, Y:-259.19, Z:-2.80 [[-6.55844192e-01 -7.54872438e-01 5.99988455e-03 -2.90332883e+02] [ 7.54844151e-01 -6.55871592e-01 -6.53938273e-03 -2.59189932e+02] [ 8.87155361e-03 2.40161584e-04 9.99960618e-01 -2.80219636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1060.566559995 meters 0.019347216691577872 Centerline is valid? [True, True] Translation: X:-290.35, Y:-259.17, Z:-2.80 [[-6.55221809e-01 -7.55409007e-01 6.45092488e-03 -2.90350184e+02] [ 7.55376359e-01 -6.55253509e-01 -7.02821368e-03 -2.59169844e+02] [ 9.53616708e-03 2.67837262e-04 9.99954494e-01 -2.80272217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1060.596559995 meters 0.0199316073707884 Centerline is valid? [True, True] Translation: X:-290.37, Y:-259.15, Z:-2.80 [[-6.54652728e-01 -7.55902476e-01 6.42279697e-03 -2.90368222e+02] [ 7.55870171e-01 -6.54684176e-01 -6.99383554e-03 -2.59148732e+02] [ 9.49156115e-03 2.76267124e-04 9.99954916e-01 -2.80327260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1060.626559995 meters 0.02062620655661493 Centerline is valid? [True, True] Translation: X:-290.39, Y:-259.13, Z:-2.80 [[-6.54226594e-01 -7.56268153e-01 6.78561780e-03 -2.90385833e+02] [ 7.56232157e-01 -6.54261714e-01 -7.38475940e-03 -2.59128288e+02] [ 1.00244283e-02 3.00196392e-04 9.99949709e-01 -2.80371150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1060.656559995 meters 0.021776190658164305 Centerline is valid? [True, True] Translation: X:-290.40, Y:-259.11, Z:-2.80 [[-6.53362640e-01 -7.57008359e-01 7.45697453e-03 -2.90401867e+02] [ 7.56964990e-01 -6.53405101e-01 -8.11033656e-03 -2.59106841e+02] [ 1.10120178e-02 3.45677747e-04 9.99939306e-01 -2.80461790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1060.6865599950002 meters 0.02224812932258921 Centerline is valid? [True, True] Translation: X:-290.42, Y:-259.09, Z:-2.81 [[-6.53176562e-01 -7.57163276e-01 8.00956487e-03 -2.90418997e+02] [ 7.57113314e-01 -6.53225559e-01 -8.70624380e-03 -2.59085613e+02] [ 1.18241006e-02 3.77433812e-04 9.99930022e-01 -2.80539521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1060.7165599950001 meters 0.01953708489027437 Centerline is valid? [True, True] Translation: X:-290.43, Y:-259.06, Z:-2.80 [[-6.53237368e-01 -7.57102667e-01 8.74601820e-03 -2.90431350e+02] [ 7.57043158e-01 -6.53295783e-01 -9.50145060e-03 -2.59059346e+02] [ 1.29073104e-02 4.14410647e-04 9.99916612e-01 -2.80474065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1060.746559995 meters 0.01911120133122253 Centerline is valid? [True, True] Translation: X:-290.45, Y:-259.04, Z:-2.80 [[-6.53338676e-01 -7.57011855e-01 9.03473668e-03 -2.90448435e+02] [ 7.56948417e-01 -6.53401000e-01 -9.80954253e-03 -2.59036495e+02] [ 1.33292460e-02 4.29876101e-04 9.99911069e-01 -2.80449498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1060.776559995 meters 0.023251252249670156 Centerline is valid? [True, True] Translation: X:-290.47, Y:-259.02, Z:-2.81 [[-6.53650135e-01 -7.56744990e-01 8.86123403e-03 -2.90469965e+02] [ 7.56684003e-01 -6.53710061e-01 -9.61642138e-03 -2.59020159e+02] [ 1.30698565e-02 4.19378913e-04 9.99914498e-01 -2.80725277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1060.806559995 meters 0.018786415412444465 Centerline is valid? [True, True] Translation: X:-290.48, Y:-258.99, Z:-2.80 [[-6.54222628e-01 -7.56255543e-01 8.38484783e-03 -2.90480937e+02] [ 7.56200961e-01 -6.54276242e-01 -9.09428428e-03 -2.58991555e+02] [ 1.23636096e-02 3.90943421e-04 9.99923491e-01 -2.80374600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1060.836559995 meters 0.019203904527025147 Centerline is valid? [True, True] Translation: X:-290.50, Y:-258.97, Z:-2.80 [[-6.54887228e-01 -7.55684195e-01 8.00719737e-03 -2.90497553e+02] [ 7.55634445e-01 -6.54936075e-01 -8.67888617e-03 -2.58971327e+02] [ 1.18026995e-02 3.66822428e-04 9.99930279e-01 -2.80357331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1060.866559995 meters 0.018839015988393572 Centerline is valid? [True, True] Translation: X:-290.51, Y:-258.95, Z:-2.80 [[-6.55687536e-01 -7.54994684e-01 7.54206831e-03 -2.90514247e+02] [ 7.54950551e-01 -6.55730824e-01 -8.17017875e-03 -2.58948632e+02] [ 1.11140082e-02 3.36804255e-04 9.99938181e-01 -2.80287570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1060.896559995 meters 0.018436408253717052 Centerline is valid? [True, True] Translation: X:-290.53, Y:-258.93, Z:-2.80 [[-6.56508993e-01 -7.54285300e-01 7.04482754e-03 -2.90530565e+02] [ 7.54246801e-01 -6.56546718e-01 -7.62697898e-03 -2.58925906e+02] [ 1.03781765e-02 3.06358342e-04 9.99946099e-01 -2.80207033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1060.9265599950002 meters 0.018331542776202126 Centerline is valid? [True, True] Translation: X:-290.55, Y:-258.90, Z:-2.80 [[-6.57764858e-01 -7.53196193e-01 6.39422366e-03 -2.90545307e+02] [ 7.53164462e-01 -6.57795884e-01 -6.91876332e-03 -2.58902134e+02] [ 9.41728019e-03 2.64982642e-04 9.99955622e-01 -2.80086423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1060.9565599950001 meters 0.016801870818005975 Centerline is valid? [True, True] Translation: X:-290.56, Y:-258.88, Z:-2.80 [[-6.58252587e-01 -7.52772802e-01 6.05319021e-03 -2.90560325e+02] [ 7.52744381e-01 -6.58280372e-01 -6.54593774e-03 -2.58878386e+02] [ 8.91230020e-03 2.47624465e-04 9.99960254e-01 -2.79971506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1060.986559995 meters 0.018243873007061873 Centerline is valid? [True, True] Translation: X:-290.58, Y:-258.86, Z:-2.80 [[-6.57626253e-01 -7.53319306e-01 6.14296956e-03 -2.90577937e+02] [ 7.53290081e-01 -6.57654891e-01 -6.64062602e-03 -2.58857537e+02] [ 9.04246576e-03 2.60388035e-04 9.99959082e-01 -2.80053902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1061.016559995 meters 0.019019968739084663 Centerline is valid? [True, True] Translation: X:-290.60, Y:-258.84, Z:-2.80 [[-6.56993300e-01 -7.53871151e-01 6.17187839e-03 -2.90596057e+02] [ 7.53841711e-01 -6.57022232e-01 -6.66794906e-03 -2.58837369e+02] [ 9.08183576e-03 2.71821510e-04 9.99958723e-01 -2.80118535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1061.046559995 meters 0.019551249064580143 Centerline is valid? [True, True] Translation: X:-290.61, Y:-258.82, Z:-2.80 [[-6.56136165e-01 -7.54613869e-01 6.57592068e-03 -2.90614402e+02] [ 7.54580522e-01 -6.56169047e-01 -7.10053394e-03 -2.58816063e+02] [ 9.67307699e-03 3.03144555e-04 9.99953169e-01 -2.80151973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1061.076559995 meters 0.01945730574683005 Centerline is valid? [True, True] Translation: X:-290.63, Y:-258.79, Z:-2.80 [[-6.53749757e-01 -7.56676815e-01 7.17306616e-03 -2.90630579e+02] [ 7.56637311e-01 -6.53789005e-01 -7.74055545e-03 -2.58793788e+02] [ 1.05467706e-02 3.67023241e-04 9.99944314e-01 -2.80212358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1061.106559995 meters 0.021021350935665623 Centerline is valid? [True, True] Translation: X:-290.65, Y:-258.77, Z:-2.80 [[-6.52601947e-01 -7.57663637e-01 7.51739996e-03 -2.90649893e+02] [ 7.57620369e-01 -6.52645118e-01 -8.10723636e-03 -2.58774463e+02] [ 1.10487526e-02 4.04537093e-04 9.99938879e-01 -2.80329248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1061.136559995 meters 0.021971105011432308 Centerline is valid? [True, True] Translation: X:-290.67, Y:-258.75, Z:-2.80 [[-6.51650057e-01 -7.58476977e-01 8.05474562e-03 -2.90668268e+02] [ 7.58427425e-01 -6.51699679e-01 -8.68160563e-03 -2.58754405e+02] [ 1.18340731e-02 4.51571179e-04 9.99929873e-01 -2.80401019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1061.166559995 meters 0.022595435168648814 Centerline is valid? [True, True] Translation: X:-290.68, Y:-258.73, Z:-2.80 [[-6.50340585e-01 -7.59594090e-01 8.59897507e-03 -2.90684789e+02] [ 7.59537760e-01 -6.50397234e-01 -9.26441094e-03 -2.58732154e+02] [ 1.26299414e-02 5.06223833e-04 9.99920111e-01 -2.80422458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1061.1965599950001 meters 0.024292911609081393 Centerline is valid? [True, True] Translation: X:-290.70, Y:-258.71, Z:-2.80 [[-6.50686284e-01 -7.59295508e-01 8.81423967e-03 -2.90703016e+02] [ 7.59236354e-01 -6.50745776e-01 -9.49173878e-03 -2.58713547e+02] [ 1.29428639e-02 5.15946961e-04 9.99916105e-01 -2.80489357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1061.2265599950001 meters 0.021463716793700748 Centerline is valid? [True, True] Translation: X:-290.72, Y:-258.69, Z:-2.80 [[-6.51811460e-01 -7.58328009e-01 8.96946651e-03 -2.90717717e+02] [ 7.58266734e-01 -6.51872972e-01 -9.65345278e-03 -2.58689398e+02] [ 1.31674364e-02 5.09016923e-04 9.99913176e-01 -2.80386716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1061.256559995 meters 0.020814841897588983 Centerline is valid? [True, True] Translation: X:-290.73, Y:-258.67, Z:-2.80 [[-6.55209750e-01 -7.55389654e-01 9.30887684e-03 -2.90732567e+02] [ 7.55323428e-01 -6.55275706e-01 -1.00134074e-02 -2.58667675e+02] [ 1.36639052e-02 4.70330590e-04 9.99906534e-01 -2.80426460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1061.286559995 meters 0.018986655704444504 Centerline is valid? [True, True] Translation: X:-290.75, Y:-258.64, Z:-2.80 [[-6.57559138e-01 -7.53348134e-01 9.08676228e-03 -2.90748751e+02] [ 7.53284911e-01 -6.57621785e-01 -9.76884393e-03 -2.58644331e+02] [ 1.33349932e-02 4.21328321e-04 9.99910996e-01 -2.80369720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1061.316559995 meters 0.017709465519174142 Centerline is valid? [True, True] Translation: X:-290.76, Y:-258.62, Z:-2.80 [[-6.60949197e-01 -7.50378135e-01 8.87767098e-03 -2.90764504e+02] [ 7.50317596e-01 -6.61008719e-01 -9.53825738e-03 -2.58621081e+02] [ 1.30255177e-02 3.56769190e-04 9.99915101e-01 -2.80314182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1061.346559995 meters 0.01712216772161309 Centerline is valid? [True, True] Translation: X:-290.78, Y:-258.60, Z:-2.80 [[-6.62160178e-01 -7.49313599e-01 8.54574391e-03 -2.90782341e+02] [ 7.49257478e-01 -6.62215240e-01 -9.17647390e-03 -2.58599199e+02] [ 1.25351785e-02 3.26666946e-04 9.99921378e-01 -2.80259520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1061.376559995 meters 0.018374660505162215 Centerline is valid? [True, True] Translation: X:-290.80, Y:-258.58, Z:-2.80 [[-6.63075135e-01 -7.48511513e-01 7.86632942e-03 -2.90801592e+02] [ 7.48463953e-01 -6.63121731e-01 -8.44279016e-03 -2.58580946e+02] [ 1.15358596e-02 2.89459787e-04 9.99933418e-01 -2.80293266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1061.406559995 meters 0.016473146251023137 Centerline is valid? [True, True] Translation: X:-290.82, Y:-258.56, Z:-2.80 [[-6.63881154e-01 -7.47809736e-01 6.51246363e-03 -2.90817816e+02] [ 7.47777142e-01 -6.63913056e-01 -6.98576599e-03 -2.58557598e+02] [ 9.54773345e-03 2.32153046e-04 9.99954393e-01 -2.80001293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1061.4365599950002 meters 0.016128778259391522 Centerline is valid? [True, True] Translation: X:-290.84, Y:-258.54, Z:-2.80 [[-6.64235409e-01 -7.47499729e-01 5.95634628e-03 -2.90837016e+02] [ 7.47472483e-01 -6.64262081e-01 -6.38558188e-03 -2.58536783e+02] [ 8.72979569e-03 2.10675357e-04 9.99961873e-01 -2.79958119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1061.4665599950001 meters 0.017412733594699647 Centerline is valid? [True, True] Translation: X:-290.86, Y:-258.52, Z:-2.80 [[-6.64555050e-01 -7.47215540e-01 5.96006028e-03 -2.90857569e+02] [ 7.47188283e-01 -6.64581742e-01 -6.38571103e-03 -2.58519497e+02] [ 8.73244977e-03 2.09630695e-04 9.99961850e-01 -2.80074119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1061.496559995 meters 0.017121930380456608 Centerline is valid? [True, True] Translation: X:-290.88, Y:-258.50, Z:-2.80 [[-6.64915553e-01 -7.46890098e-01 6.51838946e-03 -2.90876504e+02] [ 7.46857520e-01 -6.64947464e-01 -6.97962794e-03 -2.58500537e+02] [ 9.54740154e-03 2.27445012e-04 9.99954397e-01 -2.80243628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1061.526559995 meters 0.0163423853289572 Centerline is valid? [True, True] Translation: X:-290.89, Y:-258.48, Z:-2.80 [[-6.65257074e-01 -7.46579166e-01 7.25088661e-03 -2.90894657e+02] [ 7.46538882e-01 -6.65296540e-01 -7.75959023e-03 -2.58479472e+02] [ 1.06171382e-02 2.50946488e-04 9.99943605e-01 -2.80264921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1061.556559995 meters 0.016136000819649443 Centerline is valid? [True, True] Translation: X:-290.91, Y:-258.46, Z:-2.80 [[-6.65320233e-01 -7.46513150e-01 8.19175793e-03 -2.90913533e+02] [ 7.46461788e-01 -6.65370600e-01 -8.76148198e-03 -2.58458670e+02] [ 1.19911164e-02 2.85643041e-04 9.99928063e-01 -2.80330727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1061.586559995 meters 0.016730598700171198 Centerline is valid? [True, True] Translation: X:-290.93, Y:-258.44, Z:-2.80 [[-6.65017838e-01 -7.46767909e-01 9.43216842e-03 -2.90932561e+02] [ 7.46699923e-01 -6.65084638e-01 -1.00821078e-02 -2.58439284e+02] [ 1.38021849e-02 3.38217869e-04 9.99904688e-01 -2.80480639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1061.616559995 meters 0.01676583538306277 Centerline is valid? [True, True] Translation: X:-290.95, Y:-258.42, Z:-2.80 [[-6.64518330e-01 -7.47207063e-01 9.84859340e-03 -2.90951821e+02] [ 7.47133075e-01 -6.64591206e-01 -1.05212948e-02 -2.58419154e+02] [ 1.44068744e-02 3.66616605e-04 9.99896149e-01 -2.80491227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1061.646559995 meters 0.01684665795531641 Centerline is valid? [True, True] Translation: X:-290.97, Y:-258.40, Z:-2.80 [[-6.64085324e-01 -7.47593724e-01 9.71116305e-03 -2.90971485e+02] [ 7.47521911e-01 -6.64156220e-01 -1.03685915e-02 -2.58399546e+02] [ 1.42012233e-02 3.73677691e-04 9.99899088e-01 -2.80488297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1061.6765599950002 meters 0.017345759042908995 Centerline is valid? [True, True] Translation: X:-290.99, Y:-258.38, Z:-2.80 [[-6.62721065e-01 -7.48804661e-01 9.61095526e-03 -2.90993021e+02] [ 7.48734532e-01 -6.62790631e-01 -1.02557481e-02 -2.58381169e+02] [ 1.40496031e-02 3.99353786e-04 9.99901220e-01 -2.80448852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1061.7065599950001 meters 0.01832520881432627 Centerline is valid? [True, True] Translation: X:-291.01, Y:-258.36, Z:-2.80 [[-6.62542953e-01 -7.48968425e-01 9.11774945e-03 -2.91013891e+02] [ 7.48905403e-01 -6.62605576e-01 -9.72360968e-03 -2.58363698e+02] [ 1.33241483e-02 3.86022743e-04 9.99911155e-01 -2.80494433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1061.736559995 meters 0.01811573952273584 Centerline is valid? [True, True] Translation: X:-291.03, Y:-258.35, Z:-2.80 [[-6.62858992e-01 -7.48692020e-01 8.84399569e-03 -2.91033193e+02] [ 7.48632777e-01 -6.62917884e-01 -9.42573618e-03 -2.58345004e+02] [ 1.29198164e-02 3.72971077e-04 9.99916466e-01 -2.80460459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1061.766559995 meters 0.017294552195443777 Centerline is valid? [True, True] Translation: X:-291.05, Y:-258.32, Z:-2.80 [[-6.64371518e-01 -7.47357613e-01 8.19057360e-03 -2.91052340e+02] [ 7.47306755e-01 -6.64421924e-01 -8.72473156e-03 -2.58323750e+02] [ 1.19624912e-02 3.24407825e-04 9.99928394e-01 -2.80385955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1061.796559995 meters 0.016450216407554154 Centerline is valid? [True, True] Translation: X:-291.07, Y:-258.30, Z:-2.80 [[-6.66024677e-01 -7.45887603e-01 7.92549160e-03 -2.91069698e+02] [ 7.45839935e-01 -6.66071767e-01 -8.43758892e-03 -2.58301980e+02] [ 1.15724392e-02 2.91505710e-04 9.99932995e-01 -2.80313945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1061.826559995 meters 0.015571718196790912 Centerline is valid? [True, True] Translation: X:-291.09, Y:-258.28, Z:-2.80 [[-6.69327028e-01 -7.42926694e-01 7.82671721e-03 -2.91085350e+02] [ 7.42880058e-01 -6.69372743e-01 -8.32766059e-03 -2.58278818e+02] [ 1.14258325e-02 2.40383832e-04 9.99934694e-01 -2.80237997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1061.856559995 meters 0.015060366808320524 Centerline is valid? [True, True] Translation: X:-291.10, Y:-258.26, Z:-2.80 [[-6.71113026e-01 -7.41313726e-01 7.82729832e-03 -2.91103191e+02] [ 7.41267027e-01 -6.71158635e-01 -8.32361088e-03 -2.58256953e+02] [ 1.14237658e-02 2.16034465e-04 9.99934724e-01 -2.80233534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1061.886559995 meters 0.014710018039733163 Centerline is valid? [True, True] Translation: X:-291.12, Y:-258.24, Z:-2.80 [[-6.72380385e-01 -7.40165624e-01 7.71153866e-03 -2.91120914e+02] [ 7.40120278e-01 -6.72424576e-01 -8.19537320e-03 -2.58236785e+02] [ 1.12513616e-02 1.97057951e-04 9.99936682e-01 -2.80263266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1061.916559995 meters 0.014497855995236524 Centerline is valid? [True, True] Translation: X:-291.14, Y:-258.22, Z:-2.80 [[-6.73581095e-01 -7.39073520e-01 7.67079944e-03 -2.91138733e+02] [ 7.39028625e-01 -6.73624747e-01 -8.14813214e-03 -2.58217371e+02] [ 1.11893090e-02 1.80512597e-04 9.99937382e-01 -2.80313957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1061.9465599950001 meters 0.014109332722544925 Centerline is valid? [True, True] Translation: X:-291.16, Y:-258.20, Z:-2.80 [[-6.75596231e-01 -7.37230246e-01 7.82922583e-03 -2.91157003e+02] [ 7.37183405e-01 -6.75641577e-01 -8.31185834e-03 -2.58196552e+02] [ 1.14175039e-02 1.56115193e-04 9.99934806e-01 -2.80313944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1061.9765599950001 meters 0.014021325837066714 Centerline is valid? [True, True] Translation: X:-291.18, Y:-258.18, Z:-2.80 [[-6.76527463e-01 -7.36375676e-01 7.83940855e-03 -2.91175131e+02] [ 7.36328714e-01 -6.76572866e-01 -8.31755254e-03 -2.58176505e+02] [ 1.14287745e-02 1.45328891e-04 9.99934679e-01 -2.80317305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1062.006559995 meters 0.013802327225678918 Centerline is valid? [True, True] Translation: X:-291.19, Y:-258.16, Z:-2.80 [[-6.77526117e-01 -7.35455786e-01 7.94656245e-03 -2.91193289e+02] [ 7.35407529e-01 -6.77572704e-01 -8.42603640e-03 -2.58156143e+02] [ 1.15813510e-02 1.35102131e-04 9.99932925e-01 -2.80343436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1062.036559995 meters 0.013488463149643023 Centerline is valid? [True, True] Translation: X:-291.21, Y:-258.14, Z:-2.80 [[-6.78665582e-01 -7.34396633e-01 8.63796572e-03 -2.91210570e+02] [ 7.34339598e-01 -6.78720538e-01 -9.15342734e-03 -2.58135359e+02] [ 1.25850110e-02 1.31084183e-04 9.99920797e-01 -2.80319537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1062.066559995 meters 0.013488463149643023 Centerline is valid? [True, True] Translation: X:-291.23, Y:-258.12, Z:-2.80 [[-6.78894503e-01 -7.34184984e-01 8.64081917e-03 -2.91229017e+02] [ 7.34127967e-01 -6.78949477e-01 -9.15073374e-03 -2.58115967e+02] [ 1.25850110e-02 1.31084181e-04 9.99920797e-01 -2.80319545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1062.096559995 meters 0.013712942172718325 Centerline is valid? [True, True] Translation: X:-291.25, Y:-258.10, Z:-2.80 [[-6.79424794e-01 -7.33692957e-01 8.75182895e-03 -2.91247238e+02] [ 7.33634501e-01 -6.79481147e-01 -9.26223238e-03 -2.58097307e+02] [ 1.27423374e-02 1.27653341e-04 9.99918805e-01 -2.80424034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1062.126559995 meters 0.01363584600401556 Centerline is valid? [True, True] Translation: X:-291.27, Y:-258.08, Z:-2.80 [[-6.80150930e-01 -7.33023371e-01 8.45279712e-03 -2.91266083e+02] [ 7.32968857e-01 -6.80203443e-01 -8.94036016e-03 -2.58078076e+02] [ 1.23031146e-02 1.14842765e-04 9.99924307e-01 -2.80457604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1062.156559995 meters 0.013337748223377209 Centerline is valid? [True, True] Translation: X:-291.29, Y:-258.06, Z:-2.80 [[-6.80615100e-01 -7.32593019e-01 8.39965947e-03 -2.91285222e+02] [ 7.32539217e-01 -6.80666921e-01 -8.87914370e-03 -2.58057106e+02] [ 1.22221690e-02 1.09800685e-04 9.99925301e-01 -2.80370937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1062.1865599950002 meters 0.01320523252208998 Centerline is valid? [True, True] Translation: X:-291.30, Y:-258.04, Z:-2.80 [[-6.81933964e-01 -7.31371325e-01 7.87741437e-03 -2.91304239e+02] [ 7.31323988e-01 -6.81979455e-01 -8.32155356e-03 -2.58038459e+02] [ 1.14583804e-02 8.61920841e-05 9.99934347e-01 -2.80397256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1062.2165599950001 meters 0.013081630795371155 Centerline is valid? [True, True] Translation: X:-291.32, Y:-258.02, Z:-2.80 [[-6.82970665e-01 -7.30406153e-01 7.61065544e-03 -2.91323133e+02] [ 7.30361957e-01 -6.83013065e-01 -8.03524574e-03 -2.58018222e+02] [ 1.10671700e-02 7.06960773e-05 9.99938755e-01 -2.80333172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1062.246559995 meters 0.012872963152316636 Centerline is valid? [True, True] Translation: X:-291.34, Y:-258.00, Z:-2.80 [[-6.84281568e-01 -7.29181489e-01 7.28644371e-03 -2.91341796e+02] [ 7.29140954e-01 -6.84320359e-01 -7.68861920e-03 -2.57997623e+02] [ 1.05926606e-02 5.16641171e-05 9.99943895e-01 -2.80275600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1062.276559995 meters 0.012828010402116488 Centerline is valid? [True, True] Translation: X:-291.36, Y:-257.98, Z:-2.80 [[-6.85869711e-01 -7.27684444e-01 7.62170119e-03 -2.91360534e+02] [ 7.27640051e-01 -6.85912057e-01 -8.03786242e-03 -2.57976854e+02] [ 1.10768442e-02 3.29286716e-05 9.99938650e-01 -2.80246023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1062.306559995 meters 0.012844772097858611 Centerline is valid? [True, True] Translation: X:-291.38, Y:-257.96, Z:-2.80 [[-6.88195463e-01 -7.25483370e-01 7.80289020e-03 -2.91378067e+02] [ 7.25436761e-01 -6.88239697e-01 -8.22350214e-03 -2.57957148e+02] [ 1.13362728e-02 1.12652993e-06 9.99935743e-01 -2.80263196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1062.336559995 meters 0.012837246084290125 Centerline is valid? [True, True] Translation: X:-291.40, Y:-257.94, Z:-2.80 [[-6.89135148e-01 -7.24590549e-01 7.82848761e-03 -2.91397120e+02] [ 7.24543634e-01 -6.89179612e-01 -8.24531433e-03 -2.57937174e+02] [ 1.13697109e-02 -1.00550473e-05 9.99935363e-01 -2.80259937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1062.366559995 meters 0.012842829435535613 Centerline is valid? [True, True] Translation: X:-291.42, Y:-257.92, Z:-2.80 [[-6.90045923e-01 -7.23722503e-01 7.89707001e-03 -2.91415815e+02] [ 7.23674768e-01 -6.90091109e-01 -8.31209545e-03 -2.57919379e+02] [ 1.14653483e-02 -2.08172645e-05 9.99934271e-01 -2.80277503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1062.396559995 meters 0.012819141188838078 Centerline is valid? [True, True] Translation: X:-291.44, Y:-257.90, Z:-2.80 [[-6.90139196e-01 -7.23637736e-01 7.50449310e-03 -2.91436090e+02] [ 7.23594678e-01 -6.90179996e-01 -7.89403491e-03 -2.57900889e+02] [ 1.08918726e-02 -1.77716345e-05 9.99940682e-01 -2.80324694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1062.4265599950002 meters 0.012713047366768922 Centerline is valid? [True, True] Translation: X:-291.46, Y:-257.88, Z:-2.80 [[-6.90087855e-01 -7.23684232e-01 7.73846774e-03 -2.91457185e+02] [ 7.23638502e-01 -6.90131243e-01 -8.13549316e-03 -2.57881795e+02] [ 1.12280865e-02 -1.43518215e-05 9.99936963e-01 -2.80242511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1062.4565599950001 meters 0.01270783341067595 Centerline is valid? [True, True] Translation: X:-291.48, Y:-257.86, Z:-2.80 [[-6.89597734e-01 -7.24149183e-01 7.93261462e-03 -2.91477971e+02] [ 7.24101218e-01 -6.89643358e-01 -8.33457039e-03 -2.57864610e+02] [ 1.15061473e-02 -3.48495358e-06 9.99933802e-01 -2.80326608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1062.486559995 meters 0.012813991961565328 Centerline is valid? [True, True] Translation: X:-291.50, Y:-257.85, Z:-2.80 [[-6.89418571e-01 -7.24317005e-01 8.17985922e-03 -2.91497051e+02] [ 7.24266082e-01 -6.89467096e-01 -8.58870504e-03 -2.57846708e+02] [ 1.18606889e-02 3.18183010e-06 9.99929660e-01 -2.80452437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1062.516559995 meters 0.012600462924529826 Centerline is valid? [True, True] Translation: X:-291.52, Y:-257.83, Z:-2.80 [[-6.88877730e-01 -7.24829370e-01 8.35806311e-03 -2.91518077e+02] [ 7.24776302e-01 -6.88928431e-01 -8.77089006e-03 -2.57827332e+02] [ 1.21155060e-02 1.56552417e-05 9.99926605e-01 -2.80290170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1062.546559995 meters 0.012618753520594654 Centerline is valid? [True, True] Translation: X:-291.54, Y:-257.81, Z:-2.80 [[-6.89008919e-01 -7.24706845e-01 8.16687766e-03 -2.91538270e+02] [ 7.24656225e-01 -6.89057319e-01 -8.56546656e-03 -2.57807577e+02] [ 1.18348991e-02 1.64958716e-05 9.99929965e-01 -2.80297989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1062.576559995 meters 0.012568986987673062 Centerline is valid? [True, True] Translation: X:-291.56, Y:-257.79, Z:-2.80 [[-6.88934957e-01 -7.24779555e-01 7.95113954e-03 -2.91558644e+02] [ 7.24731634e-01 -6.88980839e-01 -8.33449090e-03 -2.57787667e+02] [ 1.15188514e-02 2.05202113e-05 9.99933656e-01 -2.80266142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1062.606559995 meters 0.01262527480193948 Centerline is valid? [True, True] Translation: X:-291.58, Y:-257.77, Z:-2.80 [[-6.88620118e-01 -7.25085745e-01 7.27983128e-03 -2.91579057e+02] [ 7.25045636e-01 -6.88658596e-01 -7.62653143e-03 -2.57768949e+02] [ 1.05432076e-02 2.64269304e-05 9.99944419e-01 -2.80189463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1062.636559995 meters 0.01246641811740443 Centerline is valid? [True, True] Translation: X:-291.60, Y:-257.75, Z:-2.80 [[-6.88371418e-01 -7.25328698e-01 6.56285246e-03 -2.91599317e+02] [ 7.25296148e-01 -6.88402701e-01 -6.87155326e-03 -2.57750071e+02] [ 9.50202014e-03 2.98307507e-05 9.99954855e-01 -2.80093830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1062.666559995 meters 0.01245527120913191 Centerline is valid? [True, True] Translation: X:-291.62, Y:-257.73, Z:-2.80 [[-6.88422242e-01 -7.25281588e-01 6.43707486e-03 -2.91619465e+02] [ 7.25250307e-01 -6.88452335e-01 -6.73609307e-03 -2.57730045e+02] [ 9.31718349e-03 3.12142245e-05 9.99956594e-01 -2.80025472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1062.6965599950001 meters 0.012481936474640668 Centerline is valid? [True, True] Translation: X:-291.64, Y:-257.71, Z:-2.80 [[-6.88622319e-01 -7.25092726e-01 6.31200081e-03 -2.91638886e+02] [ 7.25062679e-01 -6.88651246e-01 -6.60106190e-03 -2.57710423e+02] [ 9.13314918e-03 3.09576612e-05 9.99958292e-01 -2.79985909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1062.7265599950001 meters 0.012570049874958269 Centerline is valid? [True, True] Translation: X:-291.66, Y:-257.69, Z:-2.80 [[-6.89143335e-01 -7.24598921e-01 6.15364652e-03 -2.91657254e+02] [ 7.24570381e-01 -6.89170808e-01 -6.43122358e-03 -2.57692224e+02] [ 8.90097121e-03 2.67151381e-05 9.99960385e-01 -2.80043864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1062.756559995 meters 0.01245297589982873 Centerline is valid? [True, True] Translation: X:-291.68, Y:-257.67, Z:-2.80 [[-6.90301649e-01 -7.23493174e-01 6.42337412e-03 -2.91676863e+02] [ 7.23462068e-01 -6.90331534e-01 -6.70895356e-03 -2.57672658e+02] [ 9.28813982e-03 1.58658210e-05 9.99956864e-01 -2.79989418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1062.786559995 meters 0.012478472592173056 Centerline is valid? [True, True] Translation: X:-291.70, Y:-257.65, Z:-2.80 [[-6.91049691e-01 -7.22775692e-01 6.75453930e-03 -2.91695832e+02] [ 7.22741303e-01 -6.91082701e-01 -7.05047726e-03 -2.57653284e+02] [ 9.76385884e-03 9.55440570e-06 9.99952333e-01 -2.80022807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1062.816559995 meters 0.012437751147755926 Centerline is valid? [True, True] Translation: X:-291.71, Y:-257.63, Z:-2.80 [[-6.91722973e-01 -7.22129688e-01 6.93123849e-03 -2.91714534e+02] [ 7.22093490e-01 -6.91757698e-01 -7.23042312e-03 -2.57634050e+02] [ 1.00160408e-02 3.55241161e-06 9.99949838e-01 -2.80044759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1062.846559995 meters 0.012490674466957374 Centerline is valid? [True, True] Translation: X:-291.73, Y:-257.62, Z:-2.80 [[-6.92535674e-01 -7.21342535e-01 7.69985325e-03 -2.91732892e+02] [ 7.21297872e-01 -6.92578477e-01 -8.02698045e-03 -2.57615481e+02] [ 1.11229551e-02 -5.08255476e-06 9.99938138e-01 -2.80137434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1062.876559995 meters 0.012482712929905097 Centerline is valid? [True, True] Translation: X:-291.75, Y:-257.60, Z:-2.80 [[-6.92987303e-01 -7.20907379e-01 7.81972905e-03 -2.91751688e+02] [ 7.20861344e-01 -6.93031421e-01 -8.14694668e-03 -2.57596293e+02] [ 1.12925119e-02 -8.79021463e-06 9.99936238e-01 -2.80143034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1062.906559995 meters 0.012539631964508791 Centerline is valid? [True, True] Translation: X:-291.77, Y:-257.58, Z:-2.80 [[-6.92886120e-01 -7.21000352e-01 8.20469221e-03 -2.91770587e+02] [ 7.20949726e-01 -6.92934696e-01 -8.54396559e-03 -2.57578636e+02] [ 1.18455181e-02 -4.82456669e-06 9.99929840e-01 -2.80177960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1062.9365599950002 meters 0.012648270956817047 Centerline is valid? [True, True] Translation: X:-291.79, Y:-257.56, Z:-2.80 [[-6.92776806e-01 -7.21103202e-01 8.39461184e-03 -2.91790018e+02] [ 7.21050277e-01 -6.92827664e-01 -8.73646055e-03 -2.57560165e+02] [ 1.21159090e-02 5.19960125e-07 9.99926600e-01 -2.80198258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1062.9665599950001 meters 0.012641650349533271 Centerline is valid? [True, True] Translation: X:-291.81, Y:-257.54, Z:-2.80 [[-6.92937481e-01 -7.20947694e-01 8.48938055e-03 -2.91809904e+02] [ 7.20893621e-01 -6.92989482e-01 -8.82978969e-03 -2.57540949e+02] [ 1.22488679e-02 1.44805811e-06 9.99924980e-01 -2.80249589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1062.996559995 meters 0.012653445680418374 Centerline is valid? [True, True] Translation: X:-291.83, Y:-257.52, Z:-2.80 [[-6.92779939e-01 -7.21095765e-01 8.76662946e-03 -2.91829743e+02] [ 7.21038187e-01 -6.92835404e-01 -9.11243158e-03 -2.57523283e+02] [ 1.26447671e-02 8.16481809e-06 9.99920052e-01 -2.80281867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1063.026559995 meters 0.01272379666722272 Centerline is valid? [True, True] Translation: X:-291.85, Y:-257.50, Z:-2.80 [[-6.92480965e-01 -7.21381901e-01 8.84680626e-03 -2.91849363e+02] [ 7.21323357e-01 -6.92537474e-01 -9.19034868e-03 -2.57504710e+02] [ 1.27564961e-02 1.72664632e-05 9.99918633e-01 -2.80291406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1063.056559995 meters 0.012828398960490654 Centerline is valid? [True, True] Translation: X:-291.87, Y:-257.49, Z:-2.80 [[-6.91358007e-01 -7.22455938e-01 9.02910120e-03 -2.91870136e+02] [ 7.22395119e-01 -6.91416963e-01 -9.37420703e-03 -2.57486570e+02] [ 1.30153253e-02 4.16455466e-05 9.99915296e-01 -2.80289821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1063.086559995 meters 0.012966147117944412 Centerline is valid? [True, True] Translation: X:-291.89, Y:-257.47, Z:-2.80 [[-6.90531486e-01 -7.23241967e-01 9.34473869e-03 -2.91889768e+02] [ 7.23176971e-01 -6.90594710e-01 -9.69615497e-03 -2.57468067e+02] [ 1.34660933e-02 6.23995086e-05 9.99909326e-01 -2.80286783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1063.116559995 meters 0.013416667166114832 Centerline is valid? [True, True] Translation: X:-291.91, Y:-257.45, Z:-2.80 [[-6.89809464e-01 -7.23928266e-01 9.52731005e-03 -2.91910007e+02] [ 7.23860851e-01 -6.89875249e-01 -9.87975163e-03 -2.57449762e+02] [ 1.37248869e-02 8.13005886e-05 9.99905806e-01 -2.80329510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1063.146559995 meters 0.013824747190222312 Centerline is valid? [True, True] Translation: X:-291.93, Y:-257.43, Z:-2.80 [[-6.87690677e-01 -7.25939888e-01 9.63392427e-03 -2.91931797e+02] [ 7.25871205e-01 -6.87758144e-01 -9.98648825e-03 -2.57432850e+02] [ 1.38754000e-02 1.25373351e-04 9.99903724e-01 -2.80398238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1063.1765599950002 meters 0.014107933426898114 Centerline is valid? [True, True] Translation: X:-291.95, Y:-257.41, Z:-2.80 [[-6.86762120e-01 -7.26818998e-01 9.58822659e-03 -2.91951714e+02] [ 7.26751131e-01 -6.86829035e-01 -9.93334431e-03 -2.57414161e+02] [ 1.38052158e-02 1.46409913e-04 9.99904693e-01 -2.80352128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1063.2065599950001 meters 0.014501161174366645 Centerline is valid? [True, True] Translation: X:-291.97, Y:-257.40, Z:-2.80 [[-6.86258013e-01 -7.27296352e-01 9.48457318e-03 -2.91971286e+02] [ 7.27230067e-01 -6.86323533e-01 -9.82029006e-03 -2.57395121e+02] [ 1.36517469e-02 1.58214048e-04 9.99906798e-01 -2.80341973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1063.236559995 meters 0.014904987495294033 Centerline is valid? [True, True] Translation: X:-291.99, Y:-257.38, Z:-2.80 [[-6.85464086e-01 -7.28049318e-01 9.12020291e-03 -2.91990022e+02] [ 7.27988170e-01 -6.85524735e-01 -9.43730992e-03 -2.57377070e+02] [ 1.31229517e-02 1.70462808e-04 9.99913876e-01 -2.80183959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1063.266559995 meters 0.015034247826688135 Centerline is valid? [True, True] Translation: X:-292.01, Y:-257.36, Z:-2.80 [[-6.85534138e-01 -7.27986880e-01 8.83452176e-03 -2.92008486e+02] [ 7.27929571e-01 -6.85591040e-01 -9.13593103e-03 -2.57358720e+02] [ 1.27077069e-02 1.67917034e-04 9.99919240e-01 -2.80126434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1063.296559995 meters 0.013898505157171845 Centerline is valid? [True, True] Translation: X:-292.03, Y:-257.34, Z:-2.80 [[-6.85647001e-01 -7.27887457e-01 8.24861917e-03 -2.92026004e+02] [ 7.27837554e-01 -6.85696598e-01 -8.52467178e-03 -2.57337145e+02] [ 1.18610518e-02 1.58739156e-04 9.99929643e-01 -2.79737493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1063.326559995 meters 0.014074086442802919 Centerline is valid? [True, True] Translation: X:-292.04, Y:-257.32, Z:-2.80 [[-6.86241151e-01 -7.27330494e-01 7.96462376e-03 -2.92044913e+02] [ 7.27283993e-01 -6.86287353e-01 -8.22575142e-03 -2.57319146e+02] [ 1.14488604e-02 1.47694252e-04 9.99934449e-01 -2.79763662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1063.356559995 meters 0.013952820819228358 Centerline is valid? [True, True] Translation: X:-292.06, Y:-257.30, Z:-2.80 [[-6.86925613e-01 -7.26687718e-01 7.62645601e-03 -2.92064068e+02] [ 7.26645095e-01 -6.86967934e-01 -7.87168344e-03 -2.57299331e+02] [ 1.09593864e-02 1.34465875e-04 9.99939935e-01 -2.79737345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1063.386559995 meters 0.013601350425704463 Centerline is valid? [True, True] Translation: X:-292.08, Y:-257.28, Z:-2.80 [[-6.88361390e-01 -7.25334124e-01 7.00043361e-03 -2.92082377e+02] [ 7.25298186e-01 -6.88396977e-01 -7.22108953e-03 -2.57278909e+02] [ 1.00567800e-02 1.06682576e-04 9.99949424e-01 -2.79656071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1063.416559995 meters 0.013385812189941115 Centerline is valid? [True, True] Translation: X:-292.10, Y:-257.26, Z:-2.80 [[-6.89132102e-01 -7.24603023e-01 6.88513699e-03 -2.92101204e+02] [ 7.24568266e-01 -6.89166489e-01 -7.09776998e-03 -2.57259065e+02] [ 9.88807127e-03 9.74506240e-05 9.99951107e-01 -2.79630564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1063.4465599950001 meters 0.013212839144746202 Centerline is valid? [True, True] Translation: X:-292.12, Y:-257.24, Z:-2.80 [[-6.90050445e-01 -7.23727541e-01 6.98785468e-03 -2.92119775e+02] [ 7.23691739e-01 -6.90085820e-01 -7.19920039e-03 -2.57239781e+02] [ 1.00324790e-02 8.92412662e-05 9.99949670e-01 -2.79632569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1063.4765599950001 meters 0.013138378191787143 Centerline is valid? [True, True] Translation: X:-292.14, Y:-257.22, Z:-2.80 [[-6.90480563e-01 -7.23317188e-01 6.98847325e-03 -2.92138521e+02] [ 7.23281403e-01 -6.90515922e-01 -7.19536056e-03 -2.57220692e+02] [ 1.00301800e-02 8.63761315e-05 9.99949693e-01 -2.79642093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1063.506559995 meters 0.01318106194366766 Centerline is valid? [True, True] Translation: X:-292.16, Y:-257.20, Z:-2.80 [[-6.90836389e-01 -7.22973382e-01 7.38738008e-03 -2.92157344e+02] [ 7.22933428e-01 -6.90875880e-01 -7.60112602e-03 -2.57202215e+02] [ 1.05991745e-02 8.94495606e-05 9.99943823e-01 -2.79698711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1063.536559995 meters 0.013046661728781514 Centerline is valid? [True, True] Translation: X:-292.18, Y:-257.18, Z:-2.80 [[-6.91103374e-01 -7.22712701e-01 7.90430768e-03 -2.92176829e+02] [ 7.22666996e-01 -6.91148568e-01 -8.12840462e-03 -2.57181738e+02] [ 1.13375522e-02 9.46144294e-05 9.99935724e-01 -2.79667646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1063.566559995 meters 0.013229690282925508 Centerline is valid? [True, True] Translation: X:-292.20, Y:-257.16, Z:-2.80 [[-6.91461238e-01 -7.22358603e-01 8.91101526e-03 -2.92195821e+02] [ 7.22300532e-01 -6.91518647e-01 -9.15987462e-03 -2.57162693e+02] [ 1.27788474e-02 1.02732814e-04 9.99918342e-01 -2.79803336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1063.596559995 meters 0.013154306682933577 Centerline is valid? [True, True] Translation: X:-292.22, Y:-257.14, Z:-2.80 [[-6.91850104e-01 -7.21976178e-01 9.68673125e-03 -2.92215016e+02] [ 7.21907605e-01 -6.91917905e-01 -9.95103782e-03 -2.57143345e+02] [ 1.38868350e-02 1.08298396e-04 9.99903568e-01 -2.79884195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1063.626559995 meters 0.013005985299769693 Centerline is valid? [True, True] Translation: X:-292.23, Y:-257.12, Z:-2.80 [[-6.92187661e-01 -7.21649882e-01 9.88380428e-03 -2.92234228e+02] [ 7.21578538e-01 -6.92258215e-01 -1.01477691e-02 -2.57123330e+02] [ 1.41652811e-02 1.07780482e-04 9.99899662e-01 -2.79851371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1063.656559995 meters 0.01297310498570762 Centerline is valid? [True, True] Translation: X:-292.25, Y:-257.10, Z:-2.80 [[-6.92713600e-01 -7.21145605e-01 9.84303349e-03 -2.92254129e+02] [ 7.21074878e-01 -6.92783520e-01 -1.01002130e-02 -2.57102880e+02] [ 1.41028156e-02 1.01009260e-04 9.99900545e-01 -2.79822202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1063.6865599950002 meters 0.013003659836076412 Centerline is valid? [True, True] Translation: X:-292.27, Y:-257.08, Z:-2.80 [[-6.94535925e-01 -7.19400179e-01 9.12316645e-03 -2.92273183e+02] [ 7.19339336e-01 -6.94595838e-01 -9.35631408e-03 -2.57082937e+02] [ 1.30678475e-02 6.43562455e-05 9.99914610e-01 -2.79810180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1063.7165599950001 meters 0.012681749192216426 Centerline is valid? [True, True] Translation: X:-292.29, Y:-257.06, Z:-2.80 [[-6.95936241e-01 -7.18052403e-01 8.57294090e-03 -2.92291226e+02] [ 7.17998643e-01 -6.95989041e-01 -8.78656913e-03 -2.57062801e+02] [ 1.22758900e-02 4.04680476e-05 9.99924648e-01 -2.79729039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1063.746559995 meters 0.012539520084384175 Centerline is valid? [True, True] Translation: X:-292.31, Y:-257.04, Z:-2.80 [[-6.97456588e-01 -7.16581887e-01 8.04406240e-03 -2.92309452e+02] [ 7.16534511e-01 -6.97502974e-01 -8.23987203e-03 -2.57041949e+02] [ 1.15153005e-02 1.68952889e-05 9.99933697e-01 -2.79575716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1063.776559995 meters 0.012503955009619575 Centerline is valid? [True, True] Translation: X:-292.33, Y:-257.02, Z:-2.79 [[-7.00178604e-01 -7.13932282e-01 7.11472941e-03 -2.92327273e+02] [ 7.13895125e-01 -7.00214751e-01 -7.28379713e-03 -2.57020509e+02] [ 1.01819764e-02 -2.07882690e-05 9.99948162e-01 -2.79410575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1063.806559995 meters 0.01261272915271702 Centerline is valid? [True, True] Translation: X:-292.35, Y:-257.00, Z:-2.79 [[-7.01617444e-01 -7.12522036e-01 6.73134991e-03 -2.92345363e+02] [ 7.12488750e-01 -7.01649733e-01 -6.88719238e-03 -2.57000844e+02] [ 9.63032620e-03 -3.61632307e-05 9.99953627e-01 -2.79384894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1063.836559995 meters 0.012652934900232643 Centerline is valid? [True, True] Translation: X:-292.36, Y:-256.98, Z:-2.79 [[-7.02621962e-01 -7.11533941e-01 6.46757239e-03 -2.92364646e+02] [ 7.11503206e-01 -7.02651727e-01 -6.61358104e-03 -2.56980257e+02] [ 9.25023829e-03 -4.51487954e-05 9.99957215e-01 -2.79306254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1063.866559995 meters 0.012836810835148012 Centerline is valid? [True, True] Translation: X:-292.38, Y:-256.96, Z:-2.79 [[-7.03647119e-01 -7.10519050e-01 6.58878010e-03 -2.92383279e+02] [ 7.10487134e-01 -7.03677964e-01 -6.73475474e-03 -2.56960228e+02] [ 9.42155090e-03 -5.76472857e-05 9.99955615e-01 -2.79294831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1063.896559995 meters 0.012931539123533568 Centerline is valid? [True, True] Translation: X:-292.40, Y:-256.94, Z:-2.79 [[-7.03751306e-01 -7.10413604e-01 6.82727120e-03 -2.92402947e+02] [ 7.10379372e-01 -7.03784419e-01 -6.97419173e-03 -2.56941224e+02] [ 9.75948777e-03 -5.81439052e-05 9.99952374e-01 -2.79318294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1063.9265599950002 meters 0.012696320113822185 Centerline is valid? [True, True] Translation: X:-292.42, Y:-256.92, Z:-2.79 [[-7.02397422e-01 -7.11752660e-01 6.78327626e-03 -2.92424578e+02] [ 7.11718968e-01 -7.02430174e-01 -6.92535627e-03 -2.56923318e+02] [ 9.69391867e-03 -3.65660012e-05 9.99953012e-01 -2.79284088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1063.9565599950001 meters 0.01267065477406765 Centerline is valid? [True, True] Translation: X:-292.44, Y:-256.91, Z:-2.79 [[-7.01369893e-01 -7.12762453e-01 7.06821063e-03 -2.92444822e+02] [ 7.12725966e-01 -7.01405507e-01 -7.21197883e-03 -2.56905268e+02] [ 1.00981096e-02 -2.05675726e-05 9.99949013e-01 -2.79326434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1063.986559995 meters 0.01258463515765332 Centerline is valid? [True, True] Translation: X:-292.47, Y:-256.89, Z:-2.79 [[-6.99900078e-01 -7.14202782e-01 7.36669453e-03 -2.92465929e+02] [ 7.14163272e-01 -6.99938845e-01 -7.51226067e-03 -2.56887075e+02] [ 1.05215131e-02 3.19084128e-06 9.99944648e-01 -2.79288956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1064.016559995 meters 0.01258463515765332 Centerline is valid? [True, True] Translation: X:-292.49, Y:-256.87, Z:-2.79 [[-7.00103078e-01 -7.14003768e-01 7.36882988e-03 -2.92485283e+02] [ 7.13964270e-01 -7.00141857e-01 -7.51016610e-03 -2.56867430e+02] [ 1.05215131e-02 3.19084129e-06 9.99944648e-01 -2.79288964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1064.046559995 meters 0.0126012572287674 Centerline is valid? [True, True] Translation: X:-292.51, Y:-256.85, Z:-2.79 [[-6.98624542e-01 -7.15448139e-01 7.59669146e-03 -2.92506817e+02] [ 7.15406293e-01 -6.98665842e-01 -7.73801701e-03 -2.56849292e+02] [ 1.08436987e-02 2.87522858e-05 9.99941205e-01 -2.79323935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1064.076559995 meters 0.012908473035390127 Centerline is valid? [True, True] Translation: X:-292.53, Y:-256.83, Z:-2.79 [[-6.95599374e-01 -7.18382765e-01 8.22886706e-03 -2.92530593e+02] [ 7.18333924e-01 -6.95648040e-01 -8.37721043e-03 -2.56832695e+02] [ 1.17424388e-02 8.38920401e-05 9.99931052e-01 -2.79415548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1064.106559995 meters 0.013194961126013347 Centerline is valid? [True, True] Translation: X:-292.55, Y:-256.82, Z:-2.79 [[-6.94264026e-01 -7.19670415e-01 8.48269200e-03 -2.92551229e+02] [ 7.19618673e-01 -6.94315836e-01 -8.63045529e-03 -2.56815103e+02] [ 1.21007507e-02 1.12488927e-04 9.99926777e-01 -2.79446968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1064.136559995 meters 0.013943772748445282 Centerline is valid? [True, True] Translation: X:-292.57, Y:-256.80, Z:-2.80 [[-6.91633933e-01 -7.22186610e-01 9.43415409e-03 -2.92573725e+02] [ 7.22122914e-01 -6.91698249e-01 -9.59313972e-03 -2.56797802e+02] [ 1.34536249e-02 1.77677893e-04 9.99909480e-01 -2.79532283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1064.166559995 meters 0.014330545283863664 Centerline is valid? [True, True] Translation: X:-292.59, Y:-256.78, Z:-2.80 [[-6.90530550e-01 -7.23238087e-01 9.70717101e-03 -2.92594607e+02] [ 7.23170831e-01 -6.90598745e-01 -9.86528322e-03 -2.56779074e+02] [ 1.38387087e-02 2.07663475e-04 9.99904219e-01 -2.79559971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1064.1965599950001 meters 0.014712119873882197 Centerline is valid? [True, True] Translation: X:-292.61, Y:-256.76, Z:-2.80 [[-6.89743534e-01 -7.23985642e-01 9.93215135e-03 -2.92614834e+02] [ 7.23915392e-01 -6.89815002e-01 -1.00880236e-02 -2.56760831e+02] [ 1.41549312e-02 2.31888208e-04 9.99899787e-01 -2.79565312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1064.2265599950001 meters 0.015319633887582309 Centerline is valid? [True, True] Translation: X:-292.64, Y:-256.74, Z:-2.80 [[-6.88540917e-01 -7.25125735e-01 1.02016849e-02 -2.92636300e+02] [ 7.25051828e-01 -6.88616437e-01 -1.03561271e-02 -2.56742410e+02] [ 1.45345422e-02 2.66133001e-04 9.99894333e-01 -2.79517557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1064.256559995 meters 0.01548806893351511 Centerline is valid? [True, True] Translation: X:-292.66, Y:-256.72, Z:-2.79 [[-6.88386008e-01 -7.25275415e-01 1.00138254e-02 -2.92656343e+02] [ 7.25204309e-01 -6.88458786e-01 -1.01591916e-02 -2.56723445e+02] [ 1.42623180e-02 2.68624018e-04 9.99898252e-01 -2.79486188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1064.286559995 meters 0.015152912420521482 Centerline is valid? [True, True] Translation: X:-292.68, Y:-256.70, Z:-2.79 [[-6.88774073e-01 -7.24909599e-01 9.81582286e-03 -2.92675580e+02] [ 7.24841327e-01 -6.88843964e-01 -9.95213580e-03 -2.56703929e+02] [ 1.39759691e-02 2.60140954e-04 9.99902298e-01 -2.79351596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1064.316559995 meters 0.015199073678882786 Centerline is valid? [True, True] Translation: X:-292.69, Y:-256.68, Z:-2.79 [[-6.89273348e-01 -7.24439276e-01 9.48616085e-03 -2.92693832e+02] [ 7.24375531e-01 -6.89338578e-01 -9.61328494e-03 -2.56684933e+02] [ 1.35034178e-02 2.45361698e-04 9.99908795e-01 -2.79308835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1064.346559995 meters 0.014575045760563864 Centerline is valid? [True, True] Translation: X:-292.71, Y:-256.66, Z:-2.79 [[-6.90212064e-01 -7.23545443e-01 9.44982773e-03 -2.92712161e+02] [ 7.23482173e-01 -6.90276712e-01 -9.57108856e-03 -2.56663644e+02] [ 1.34481135e-02 2.30701110e-04 9.99909544e-01 -2.79176769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1064.376559995 meters 0.014089716939725615 Centerline is valid? [True, True] Translation: X:-292.73, Y:-256.64, Z:-2.79 [[-6.92053736e-01 -7.21782477e-01 9.57511715e-03 -2.92730629e+02] [ 7.21717419e-01 -6.92119943e-01 -9.69287189e-03 -2.56641705e+02] [ 1.36232746e-02 2.02540631e-04 9.99907179e-01 -2.79177062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1064.406559995 meters 0.014023800316459585 Centerline is valid? [True, True] Translation: X:-292.75, Y:-256.62, Z:-2.79 [[-6.93284545e-01 -7.20595808e-01 9.91070508e-03 -2.92748968e+02] [ 7.20526082e-01 -6.93355353e-01 -1.00259300e-02 -2.56622414e+02] [ 1.40962836e-02 1.90099176e-04 9.99900625e-01 -2.79217474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1064.4365599950002 meters 0.013925398890379127 Centerline is valid? [True, True] Translation: X:-292.77, Y:-256.60, Z:-2.79 [[-6.94418197e-01 -7.19500712e-01 1.01041230e-02 -2.92767113e+02] [ 7.19428218e-01 -6.94491681e-01 -1.02149110e-02 -2.56603189e+02] [ 1.43668651e-02 1.75771100e-04 9.99896776e-01 -2.79272539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1064.4665599950001 meters 0.01328631428046625 Centerline is valid? [True, True] Translation: X:-292.79, Y:-256.58, Z:-2.79 [[-6.95696459e-01 -7.18262533e-01 1.02650244e-02 -2.92785184e+02] [ 7.18187663e-01 -6.95772168e-01 -1.03716589e-02 -2.56581076e+02] [ 1.45916923e-02 1.56687564e-04 9.99893523e-01 -2.79121041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1064.496559995 meters 0.013619526650282874 Centerline is valid? [True, True] Translation: X:-292.80, Y:-256.56, Z:-2.79 [[-6.95754077e-01 -7.18212974e-01 9.81778702e-03 -2.92804265e+02] [ 7.18144564e-01 -6.95823326e-01 -9.91381641e-03 -2.56562134e+02] [ 1.39516768e-02 1.53012193e-04 9.99902659e-01 -2.79220226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1064.526559995 meters 0.01374371275862624 Centerline is valid? [True, True] Translation: X:-292.82, Y:-256.54, Z:-2.79 [[-6.95706880e-01 -7.18252755e-01 1.02428940e-02 -2.92823228e+02] [ 7.18178390e-01 -6.95782260e-01 -1.03367194e-02 -2.56542884e+02] [ 1.45512011e-02 1.64898296e-04 9.99894112e-01 -2.79233207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1064.556559995 meters 0.014344480943285146 Centerline is valid? [True, True] Translation: X:-292.84, Y:-256.52, Z:-2.79 [[-6.94108751e-01 -7.19781228e-01 1.13148325e-02 -2.92843302e+02] [ 7.19690758e-01 -6.94200933e-01 -1.14139350e-02 -2.56524156e+02] [ 1.60703034e-02 2.20668237e-04 9.99870840e-01 -2.79395391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1064.586559995 meters 0.014366221662112372 Centerline is valid? [True, True] Translation: X:-292.86, Y:-256.50, Z:-2.79 [[-6.93140872e-01 -7.20701096e-01 1.20690723e-02 -2.92863020e+02] [ 7.20598416e-01 -6.93245888e-01 -1.21680250e-02 -2.56504505e+02] [ 1.71363437e-02 2.62798898e-04 9.99853128e-01 -2.79382965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1064.616559995 meters 0.015363508715840747 Centerline is valid? [True, True] Translation: X:-292.88, Y:-256.49, Z:-2.80 [[-6.90236038e-01 -7.23462531e-01 1.32732284e-02 -2.92884692e+02] [ 7.23338988e-01 -6.90363549e-01 -1.33745714e-02 -2.56486508e+02] [ 1.88393543e-02 3.69432449e-04 9.99822456e-01 -2.79556397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1064.646559995 meters 0.016383267538801316 Centerline is valid? [True, True] Translation: X:-292.90, Y:-256.47, Z:-2.80 [[-6.88817308e-01 -7.24804512e-01 1.37526538e-02 -2.92904830e+02] [ 7.24672270e-01 -6.88954453e-01 -1.38514662e-02 -2.56469042e+02] [ 1.95145572e-02 4.25037145e-04 9.99809483e-01 -2.79716745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1064.6765599950002 meters 0.016900492873039383 Centerline is valid? [True, True] Translation: X:-292.93, Y:-256.45, Z:-2.80 [[-6.87645236e-01 -7.25914044e-01 1.38863531e-02 -2.92925296e+02] [ 7.25779594e-01 -6.87785274e-01 -1.39784532e-02 -2.56449770e+02] [ 1.96979846e-02 4.66214991e-04 9.99805867e-01 -2.79718196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1064.7065599950001 meters 0.017412418601962985 Centerline is valid? [True, True] Translation: X:-292.94, Y:-256.43, Z:-2.80 [[-6.86988398e-01 -7.26538470e-01 1.37401977e-02 -2.92944678e+02] [ 7.26407116e-01 -6.87125620e-01 -1.38233227e-02 -2.56430899e+02] [ 1.94844176e-02 4.84515082e-04 9.99810043e-01 -2.79755620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1064.736559995 meters 0.01685626743345939 Centerline is valid? [True, True] Translation: X:-292.96, Y:-256.41, Z:-2.80 [[-6.87404532e-01 -7.26155589e-01 1.31556098e-02 -2.92961770e+02] [ 7.26035260e-01 -6.87530254e-01 -1.32269409e-02 -2.56409316e+02] [ 1.86496968e-02 4.59177508e-04 9.99825974e-01 -2.79599558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1064.766559995 meters 0.016101417155810586 Centerline is valid? [True, True] Translation: X:-292.98, Y:-256.39, Z:-2.79 [[-6.88062573e-01 -7.25540185e-01 1.27018230e-02 -2.92979032e+02] [ 7.25428039e-01 -6.88179667e-01 -1.27635037e-02 -2.56387299e+02] [ 1.80015711e-02 4.32169352e-04 9.99837865e-01 -2.79403697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1064.796559995 meters 0.015017175959181053 Centerline is valid? [True, True] Translation: X:-292.99, Y:-256.36, Z:-2.79 [[-6.91513840e-01 -7.22272344e-01 1.14572973e-02 -2.92994751e+02] [ 7.22180757e-01 -6.91608676e-01 -1.15062534e-02 -2.56363554e+02] [ 1.62346148e-02 3.17506146e-04 9.99868160e-01 -2.79239669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1064.826559995 meters 0.014589472646192527 Centerline is valid? [True, True] Translation: X:-293.01, Y:-256.34, Z:-2.79 [[-6.93686039e-01 -7.20190513e-01 1.11939611e-02 -2.93012005e+02] [ 7.20102890e-01 -6.93776300e-01 -1.12371731e-02 -2.56342387e+02] [ 1.58590103e-02 2.65733685e-04 9.99874203e-01 -2.79224948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1064.856559995 meters 0.013964273960402968 Centerline is valid? [True, True] Translation: X:-293.03, Y:-256.32, Z:-2.79 [[-6.95856214e-01 -7.18098395e-01 1.09006312e-02 -2.93029760e+02] [ 7.18015105e-01 -6.95941556e-01 -1.09389455e-02 -2.56319806e+02] [ 1.54414414e-02 2.14884599e-04 9.99880751e-01 -2.79179015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1064.886559995 meters 0.01293704629072384 Centerline is valid? [True, True] Translation: X:-293.04, Y:-256.30, Z:-2.79 [[-6.99851663e-01 -7.14215876e-01 1.01652874e-02 -2.93044839e+02] [ 7.14143116e-01 -6.99925473e-01 -1.01952617e-02 -2.56295191e+02] [ 1.43965614e-02 1.24299203e-04 9.99896357e-01 -2.79062899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1064.916559995 meters 0.012660934387601009 Centerline is valid? [True, True] Translation: X:-293.06, Y:-256.27, Z:-2.79 [[-7.01736044e-01 -7.12366934e-01 9.99384363e-03 -2.93062780e+02] [ 7.12296499e-01 -7.01807199e-01 -1.00176443e-02 -2.56273103e+02] [ 1.41499900e-02 8.88377313e-05 9.99899880e-01 -2.79004673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1064.9465599950001 meters 0.012610880791470392 Centerline is valid? [True, True] Translation: X:-293.08, Y:-256.25, Z:-2.79 [[-7.03340408e-01 -7.10785928e-01 9.77936951e-03 -2.93080583e+02] [ 7.10718408e-01 -7.03408389e-01 -9.79711957e-03 -2.56251745e+02] [ 1.38425453e-02 5.96678497e-05 9.99904186e-01 -2.78968528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1064.9765599950001 meters 0.012567900069480789 Centerline is valid? [True, True] Translation: X:-293.10, Y:-256.23, Z:-2.79 [[-7.06051182e-01 -7.08096671e-01 9.53066434e-03 -2.93097077e+02] [ 7.08032368e-01 -7.06115504e-01 -9.54259279e-03 -2.56228874e+02] [ 1.34868280e-02 1.04599200e-05 9.99909049e-01 -2.78940936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1065.006559995 meters 0.012730767829841411 Centerline is valid? [True, True] Translation: X:-293.11, Y:-256.21, Z:-2.79 [[-7.07386458e-01 -7.06762403e-01 9.55538347e-03 -2.93114644e+02] [ 7.06697721e-01 -7.07450992e-01 -9.56167109e-03 -2.56208421e+02] [ 1.35177952e-02 -1.10289209e-05 9.99908631e-01 -2.79002450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1065.036559995 meters 0.012679009130209983 Centerline is valid? [True, True] Translation: X:-293.13, Y:-256.19, Z:-2.79 [[-7.08620410e-01 -7.05515614e-01 1.02387937e-02 -2.93131705e+02] [ 7.05441310e-01 -7.08694375e-01 -1.02391863e-02 -2.56186658e+02] [ 1.44800813e-02 -3.28283192e-05 9.99895158e-01 -2.78995577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1065.066559995 meters 0.01271880741919939 Centerline is valid? [True, True] Translation: X:-293.15, Y:-256.17, Z:-2.79 [[-7.09137910e-01 -7.04994195e-01 1.03252272e-02 -2.93150040e+02] [ 7.04918669e-01 -7.09213074e-01 -1.03192303e-02 -2.56166914e+02] [ 1.45977835e-02 -3.93120280e-05 9.99893446e-01 -2.79019947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1065.096559995 meters 0.012638733138953423 Centerline is valid? [True, True] Translation: X:-293.17, Y:-256.19, Z:-2.79 [[-6.60216400e-01 -7.51012113e-01 9.75253407e-03 -2.93169256e+02] [ 7.50929232e-01 -6.60288426e-01 -1.11572073e-02 -2.56189531e+02] [ 1.48186832e-02 -4.27083283e-05 9.99890197e-01 -2.78967084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1065.126559995 meters 0.012745044836049524 Centerline is valid? [True, True] Translation: X:-293.19, Y:-256.17, Z:-2.79 [[-6.59954715e-01 -7.51244413e-01 9.57114716e-03 -2.93185921e+02] [ 7.51164711e-01 -6.60024114e-01 -1.09428730e-02 -2.56168556e+02] [ 1.45379601e-02 -3.22926149e-05 9.99894318e-01 -2.79070985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1065.156559995 meters 0.012699946993247316 Centerline is valid? [True, True] Translation: X:-293.20, Y:-256.15, Z:-2.79 [[-6.59804109e-01 -7.51378728e-01 9.40979685e-03 -2.93203674e+02] [ 7.51301799e-01 -6.59871204e-01 -1.07517374e-02 -2.56148148e+02] [ 1.42878807e-02 -2.44431944e-05 9.99897923e-01 -2.79095762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1065.1865599950002 meters 0.01260527445734736 Centerline is valid? [True, True] Translation: X:-293.22, Y:-256.13, Z:-2.79 [[-6.59447404e-01 -7.51691413e-01 9.44147207e-03 -2.93221900e+02] [ 7.51614095e-01 -6.59514988e-01 -1.07811256e-02 -2.56127312e+02] [ 1.43308719e-02 -1.32418060e-05 9.99897308e-01 -2.79034310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1065.2165599950001 meters 0.012523190497137949 Centerline is valid? [True, True] Translation: X:-293.24, Y:-256.11, Z:-2.79 [[-6.58277951e-01 -7.52718573e-01 9.21354460e-03 -2.93239767e+02] [ 7.52645127e-01 -6.58342426e-01 -1.05148611e-02 -2.56106269e+02] [ 1.39803985e-02 1.28282599e-05 9.99902270e-01 -2.78981388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1065.246559995 meters 0.01273274965301159 Centerline is valid? [True, True] Translation: X:-293.26, Y:-256.09, Z:-2.79 [[-6.57565236e-01 -7.53340290e-01 9.29345358e-03 -2.93257895e+02] [ 7.53265689e-01 -6.57630905e-01 -1.06016525e-02 -2.56086059e+02] [ 1.40983143e-02 2.91615836e-05 9.99900614e-01 -2.79139361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1065.276559995 meters 0.012782562764570547 Centerline is valid? [True, True] Translation: X:-293.28, Y:-256.07, Z:-2.79 [[-6.55535555e-01 -7.55109428e-01 9.10428359e-03 -2.93275949e+02] [ 7.55038091e-01 -6.55598770e-01 -1.03794784e-02 -2.56066281e+02] [ 1.38063991e-02 6.99637945e-05 9.99904685e-01 -2.79112145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1065.306559995 meters 0.012763813620222594 Centerline is valid? [True, True] Translation: X:-293.29, Y:-256.05, Z:-2.79 [[-6.54538438e-01 -7.55975700e-01 8.95399613e-03 -2.93294908e+02] [ 7.55906859e-01 -6.54599674e-01 -1.02023608e-02 -2.56045065e+02] [ 1.35740198e-02 9.05497960e-05 9.99907865e-01 -2.79026842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1065.336559995 meters 0.012902568706549858 Centerline is valid? [True, True] Translation: X:-293.31, Y:-256.02, Z:-2.79 [[-6.53408829e-01 -7.56950383e-01 9.11152393e-03 -2.93313894e+02] [ 7.56879284e-01 -6.53472344e-01 -1.03752704e-02 -2.56024842e+02] [ 1.38076938e-02 1.17030453e-04 9.99904663e-01 -2.79004662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1065.366559995 meters 0.01343243074332684 Centerline is valid? [True, True] Translation: X:-293.33, Y:-256.01, Z:-2.79 [[-6.50333178e-01 -7.59598957e-01 8.72824895e-03 -2.93333701e+02] [ 7.59534026e-01 -6.50391725e-01 -9.93315325e-03 -2.56005106e+02] [ 1.32219937e-02 1.69542941e-04 9.99912571e-01 -2.78937203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1065.396559995 meters 0.014308393127493367 Centerline is valid? [True, True] Translation: X:-293.35, Y:-255.99, Z:-2.79 [[-6.46881875e-01 -7.62544717e-01 8.33032100e-03 -2.93354089e+02] [ 7.62485883e-01 -6.46935472e-01 -9.47488703e-03 -2.55986010e+02] [ 1.26142052e-02 2.22619474e-04 9.99920413e-01 -2.78952042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1065.4265599950002 meters 0.015018220230167351 Centerline is valid? [True, True] Translation: X:-293.37, Y:-255.97, Z:-2.79 [[-6.45152309e-01 -7.64010886e-01 8.11565714e-03 -2.93373185e+02] [ 7.63955229e-01 -6.45203304e-01 -9.22517444e-03 -2.55966536e+02] [ 1.22843825e-02 2.48356120e-04 9.99924513e-01 -2.78952135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1065.4565599950001 meters 0.01536506982660211 Centerline is valid? [True, True] Translation: X:-293.39, Y:-255.95, Z:-2.79 [[-6.43716632e-01 -7.65224014e-01 7.81707186e-03 -2.93392455e+02] [ 7.65172526e-01 -6.43764039e-01 -8.88069463e-03 -2.55945666e+02] [ 1.18280706e-02 2.64757791e-04 9.99930011e-01 -2.78911681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1065.486559995 meters 0.016386815574819965 Centerline is valid? [True, True] Translation: X:-293.41, Y:-255.93, Z:-2.79 [[-6.42416023e-01 -7.66316118e-01 7.82692263e-03 -2.93411632e+02] [ 7.66264644e-01 -6.42463637e-01 -8.88653465e-03 -2.55926139e+02] [ 1.18384079e-02 2.88641828e-04 9.99929882e-01 -2.78931047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1065.516559995 meters 0.01721598600892894 Centerline is valid? [True, True] Translation: X:-293.43, Y:-255.91, Z:-2.79 [[-6.40665755e-01 -7.67784599e-01 7.36198520e-03 -2.93430750e+02] [ 7.67739212e-01 -6.40707983e-01 -8.35367615e-03 -2.55906142e+02] [ 1.11307066e-02 3.00170479e-04 9.99938007e-01 -2.78906728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1065.546559995 meters 0.01688326956744317 Centerline is valid? [True, True] Translation: X:-293.45, Y:-255.88, Z:-2.79 [[-6.40031771e-01 -7.68316203e-01 7.03878656e-03 -2.93448711e+02] [ 7.68274794e-01 -6.40070405e-01 -7.98235163e-03 -2.55884548e+02] [ 1.06382891e-02 2.98763643e-04 9.99943367e-01 -2.78863257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1065.576559995 meters 0.01854722779638526 Centerline is valid? [True, True] Translation: X:-293.47, Y:-255.87, Z:-2.79 [[-6.39627649e-01 -7.68654255e-01 6.86342422e-03 -2.93468735e+02] [ 7.68614952e-01 -6.39664402e-01 -7.77876812e-03 -2.55866041e+02] [ 1.03694714e-02 2.99815311e-04 9.99946191e-01 -2.78955921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1065.606559995 meters 0.01921924760451324 Centerline is valid? [True, True] Translation: X:-293.49, Y:-255.85, Z:-2.79 [[-6.38713937e-01 -7.69413233e-01 6.91258378e-03 -2.93487060e+02] [ 7.69373442e-01 -6.38751264e-01 -7.83132788e-03 -2.55845515e+02] [ 1.04409489e-02 3.16380116e-04 9.99945442e-01 -2.79007359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1065.636559995 meters 0.019176586430407372 Centerline is valid? [True, True] Translation: X:-293.51, Y:-255.82, Z:-2.79 [[-6.38510043e-01 -7.69580864e-01 7.08651339e-03 -2.93505269e+02] [ 7.69539103e-01 -6.38549282e-01 -8.02394819e-03 -2.55823811e+02] [ 1.07001650e-02 3.29977656e-04 9.99942697e-01 -2.79019287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1065.666559995 meters 0.01884826462358152 Centerline is valid? [True, True] Translation: X:-293.52, Y:-255.80, Z:-2.79 [[-6.38038328e-01 -7.69962643e-01 8.03871106e-03 -2.93522360e+02] [ 7.69908997e-01 -6.38088850e-01 -9.09700036e-03 -2.55801887e+02] [ 1.21337623e-02 3.84841078e-04 9.99926309e-01 -2.79134903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1065.6965599950001 meters 0.01878602735102037 Centerline is valid? [True, True] Translation: X:-293.54, Y:-255.78, Z:-2.79 [[-6.38055283e-01 -7.69942102e-01 8.63799969e-03 -2.93540639e+02] [ 7.69880229e-01 -6.38113615e-01 -9.76966852e-03 -2.55780313e+02] [ 1.30341043e-02 4.16636564e-04 9.99914966e-01 -2.79233821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1065.7265599950001 meters 0.019432623269261814 Centerline is valid? [True, True] Translation: X:-293.56, Y:-255.76, Z:-2.79 [[-6.38070500e-01 -7.69923860e-01 9.12617161e-03 -2.93558932e+02] [ 7.69854879e-01 -6.38135607e-01 -1.03156489e-02 -2.55760626e+02] [ 1.37659993e-02 4.43716498e-04 9.99905146e-01 -2.79372569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1065.756559995 meters 0.018274218087435908 Centerline is valid? [True, True] Translation: X:-293.58, Y:-255.74, Z:-2.79 [[-6.38059845e-01 -7.69916400e-01 1.04101231e-02 -2.93575321e+02] [ 7.69826720e-01 -6.38144559e-01 -1.17619748e-02 -2.55738391e+02] [ 1.56989007e-02 5.09147081e-04 9.99876635e-01 -2.79455035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1065.786559995 meters 0.01998361616632445 Centerline is valid? [True, True] Translation: X:-293.60, Y:-255.72, Z:-2.80 [[-6.38066166e-01 -7.69904258e-01 1.09087711e-02 -2.93595028e+02] [ 7.69805901e-01 -6.38159184e-01 -1.23179080e-02 -2.55719497e+02] [ 1.64451423e-02 5.37996003e-04 9.99864625e-01 -2.79646442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1065.816559995 meters 0.01924507020844992 Centerline is valid? [True, True] Translation: X:-293.61, Y:-255.70, Z:-2.80 [[-6.38595330e-01 -7.69458865e-01 1.13604453e-02 -2.93611642e+02] [ 7.69352262e-01 -6.38696132e-01 -1.28198181e-02 -2.55698427e+02] [ 1.71201952e-02 5.53508265e-04 9.99853286e-01 -2.79632425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1065.846559995 meters 0.018686282015677073 Centerline is valid? [True, True] Translation: X:-293.63, Y:-255.68, Z:-2.80 [[-6.39705300e-01 -7.68541991e-01 1.09698598e-02 -2.93628616e+02] [ 7.68442574e-01 -6.39799142e-01 -1.23720634e-02 -2.55676020e+02] [ 1.65269571e-02 5.15232736e-04 9.99863288e-01 -2.79568290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1065.876559995 meters 0.018686282015677073 Centerline is valid? [True, True] Translation: X:-293.65, Y:-255.66, Z:-2.80 [[-6.39948458e-01 -7.68339474e-01 1.09737747e-02 -2.93646462e+02] [ 7.68240087e-01 -6.40042332e-01 -1.23685911e-02 -2.55656058e+02] [ 1.65269571e-02 5.15232842e-04 9.99863288e-01 -2.79568298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1065.906559995 meters 0.018442358549966217 Centerline is valid? [True, True] Translation: X:-293.66, Y:-255.63, Z:-2.79 [[-6.40844533e-01 -7.67596120e-01 1.06995695e-02 -2.93663761e+02] [ 7.67501651e-01 -6.40933661e-01 -1.20523141e-02 -2.55634389e+02] [ 1.61090238e-02 4.88277644e-04 9.99870122e-01 -2.79497166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1065.9365599950002 meters 0.01770706279665616 Centerline is valid? [True, True] Translation: X:-293.68, Y:-255.61, Z:-2.79 [[-6.43548486e-01 -7.65345885e-01 9.54059177e-03 -2.93679678e+02] [ 7.65270617e-01 -6.43619084e-01 -1.07404684e-02 -2.55612485e+02] [ 1.43606802e-02 3.89122397e-04 9.99896805e-01 -2.79345598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1065.9665599950001 meters 0.017630131624553715 Centerline is valid? [True, True] Translation: X:-293.70, Y:-255.59, Z:-2.79 [[-6.44977485e-01 -7.64149525e-01 8.91891290e-03 -2.93697248e+02] [ 7.64083705e-01 -6.45039058e-01 -1.00352080e-02 -2.55591602e+02] [ 1.34214466e-02 3.42312767e-04 9.99909870e-01 -2.79313060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1065.996559995 meters 0.016879843707689156 Centerline is valid? [True, True] Translation: X:-293.71, Y:-255.57, Z:-2.79 [[-6.46492511e-01 -7.62875160e-01 8.30200093e-03 -2.93714561e+02] [ 7.62818090e-01 -6.46545746e-01 -9.33592067e-03 -2.55569367e+02] [ 1.24897654e-02 2.97313694e-04 9.99921956e-01 -2.79237708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1066.026559995 meters 0.015508179346771027 Centerline is valid? [True, True] Translation: X:-293.73, Y:-255.55, Z:-2.79 [[-6.48396808e-01 -7.61261215e-01 7.93359584e-03 -2.93730467e+02] [ 7.61209037e-01 -6.48445292e-01 -8.91656766e-03 -2.55546431e+02] [ 1.19323400e-02 2.57650844e-04 9.99928774e-01 -2.79109919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1066.056559995 meters 0.016042641111366662 Centerline is valid? [True, True] Translation: X:-293.75, Y:-255.53, Z:-2.79 [[-6.49018952e-01 -7.60730370e-01 7.98144677e-03 -2.93748661e+02] [ 7.60677593e-01 -6.49067978e-01 -8.96437447e-03 -2.55526879e+02] [ 1.19999734e-02 2.53258794e-04 9.99927966e-01 -2.79160710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1066.086559995 meters 0.01618575412759432 Centerline is valid? [True, True] Translation: X:-293.77, Y:-255.51, Z:-2.79 [[-6.49324937e-01 -7.60468765e-01 8.02392373e-03 -2.93766624e+02] [ 7.60415471e-01 -6.49374463e-01 -9.00658274e-03 -2.55506740e+02] [ 1.20597560e-02 2.53316970e-04 9.99927247e-01 -2.79165117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1066.116559995 meters 0.01660691566457062 Centerline is valid? [True, True] Translation: X:-293.79, Y:-255.49, Z:-2.79 [[-6.48921749e-01 -7.60810799e-01 8.21540564e-03 -2.93786296e+02] [ 7.60755019e-01 -6.48973695e-01 -9.21653687e-03 -2.55486493e+02] [ 1.23436229e-02 2.69099850e-04 9.99923779e-01 -2.79176325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1066.146559995 meters 0.015969815129754372 Centerline is valid? [True, True] Translation: X:-293.80, Y:-255.47, Z:-2.79 [[-6.48616113e-01 -7.61072518e-01 8.10925724e-03 -2.93803800e+02] [ 7.61018261e-01 -6.48666746e-01 -9.09172484e-03 -2.55466164e+02] [ 1.21796674e-02 2.74253610e-04 9.99925788e-01 -2.79059240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1066.1765599950002 meters 0.016050862504237297 Centerline is valid? [True, True] Translation: X:-293.82, Y:-255.45, Z:-2.79 [[-6.47897629e-01 -7.61685207e-01 8.01924205e-03 -2.93823603e+02] [ 7.61632256e-01 -6.47947193e-01 -8.98571862e-03 -2.55445766e+02] [ 1.20403343e-02 2.85887621e-04 9.99927472e-01 -2.79028883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1066.2065599950001 meters 0.018497205911453478 Centerline is valid? [True, True] Translation: X:-293.85, Y:-255.43, Z:-2.79 [[-6.45856722e-01 -7.63419650e-01 7.71582133e-03 -2.93846506e+02] [ 7.63370813e-01 -6.45902735e-01 -8.64057123e-03 -2.55430167e+02] [ 1.15800520e-02 3.09461795e-04 9.99932901e-01 -2.79151097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1066.236559995 meters 0.017441649278220388 Centerline is valid? [True, True] Translation: X:-293.86, Y:-255.41, Z:-2.79 [[-6.44998304e-01 -7.64145357e-01 7.68514971e-03 -2.93864890e+02] [ 7.64097015e-01 -6.45044005e-01 -8.60135752e-03 -2.55408759e+02] [ 1.15299472e-02 3.24338928e-04 9.99933476e-01 -2.79041480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1066.266559995 meters 0.018813230944576896 Centerline is valid? [True, True] Translation: X:-293.89, Y:-255.39, Z:-2.79 [[-6.44093117e-01 -7.64905997e-01 7.92919069e-03 -2.93885032e+02] [ 7.64854642e-01 -6.44141826e-01 -8.87043935e-03 -2.55391045e+02] [ 1.18925756e-02 3.51289375e-04 9.99929219e-01 -2.79138922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1066.296559995 meters 0.021717276055260953 Centerline is valid? [True, True] Translation: X:-293.91, Y:-255.37, Z:-2.79 [[-6.43378294e-01 -7.65502212e-01 8.41034124e-03 -2.93906410e+02] [ 7.65444555e-01 -6.43433146e-01 -9.40325004e-03 -2.55374003e+02] [ 1.26097010e-02 3.87802938e-04 9.99920420e-01 -2.79329206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1066.326559995 meters 0.018497769184065583 Centerline is valid? [True, True] Translation: X:-293.92, Y:-255.35, Z:-2.79 [[-6.43500864e-01 -7.65397719e-01 8.54227780e-03 -2.93920840e+02] [ 7.65338306e-01 -6.43557438e-01 -9.54471613e-03 -2.55349923e+02] [ 1.28029504e-02 3.95699339e-04 9.99917961e-01 -2.79126461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1066.356559995 meters 0.018975295065206628 Centerline is valid? [True, True] Translation: X:-293.94, Y:-255.33, Z:-2.79 [[-6.44100527e-01 -7.64896271e-01 8.25874433e-03 -2.93939384e+02] [ 7.64840771e-01 -6.44153362e-01 -9.22178275e-03 -2.55330679e+02] [ 1.23736052e-02 3.76869257e-04 9.99923373e-01 -2.79129331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1066.386559995 meters 0.018232566401747266 Centerline is valid? [True, True] Translation: X:-293.96, Y:-255.31, Z:-2.79 [[-6.44776746e-01 -7.64331694e-01 7.74661539e-03 -2.93956880e+02] [ 7.64282887e-01 -6.44823186e-01 -8.64448894e-03 -2.55309623e+02] [ 1.16024541e-02 3.46840134e-04 9.99932629e-01 -2.79023748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1066.416559995 meters 0.017026950209618225 Centerline is valid? [True, True] Translation: X:-293.97, Y:-255.29, Z:-2.79 [[-6.45335732e-01 -7.63866479e-01 7.05656090e-03 -2.93974343e+02] [ 7.63826001e-01 -6.45374237e-01 -7.86989679e-03 -2.55287193e+02] [ 1.05656730e-02 3.11259084e-04 9.99944133e-01 -2.78847308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1066.4465599950001 meters 0.018568322319624967 Centerline is valid? [True, True] Translation: X:-293.99, Y:-255.27, Z:-2.79 [[-6.47116989e-01 -7.62367863e-01 5.90286673e-03 -2.93994768e+02] [ 7.62339510e-01 -6.47143865e-01 -6.57942639e-03 -2.55268693e+02] [ 8.83594723e-03 2.42329939e-04 9.99960933e-01 -2.78813853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1066.4765599950001 meters 0.016878629378743217 Centerline is valid? [True, True] Translation: X:-294.01, Y:-255.25, Z:-2.79 [[-6.48069733e-01 -7.61560758e-01 5.55284698e-03 -2.94010799e+02] [ 7.61535670e-01 -6.48093484e-01 -6.18535697e-03 -2.55246179e+02] [ 8.30928909e-03 2.20148411e-04 9.99965453e-01 -2.78645479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1066.506559995 meters 0.016598558950764973 Centerline is valid? [True, True] Translation: X:-294.03, Y:-255.22, Z:-2.79 [[-6.49037242e-01 -7.60737134e-01 5.44714610e-03 -2.94028540e+02] [ 7.60712994e-01 -6.49060066e-01 -6.06397894e-03 -2.55224845e+02] [ 8.14861897e-03 2.07966651e-04 9.99966778e-01 -2.78599960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1066.536559995 meters 0.016289587654640853 Centerline is valid? [True, True] Translation: X:-294.05, Y:-255.20, Z:-2.79 [[-6.50813684e-01 -7.59217897e-01 5.45285759e-03 -2.94045466e+02] [ 7.59193680e-01 -6.50836499e-01 -6.06700520e-03 -2.55203718e+02] [ 8.15509768e-03 1.91285013e-04 9.99966729e-01 -2.78589791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1066.566559995 meters 0.016195442724604887 Centerline is valid? [True, True] Translation: X:-294.06, Y:-255.18, Z:-2.79 [[-6.51661436e-01 -7.58487865e-01 5.79062188e-03 -2.94063462e+02] [ 7.58460561e-01 -6.51687133e-01 -6.43881143e-03 -2.55183366e+02] [ 8.65743411e-03 1.96033211e-04 9.99962505e-01 -2.78614012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1066.596559995 meters 0.016051956524831136 Centerline is valid? [True, True] Translation: X:-294.08, Y:-255.16, Z:-2.79 [[-6.53018335e-01 -7.57319388e-01 5.86503376e-03 -2.94081123e+02] [ 7.57291367e-01 -6.53044646e-01 -6.51730054e-03 -2.55164323e+02] [ 8.76580695e-03 1.85622696e-04 9.99961563e-01 -2.78694398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1066.626559995 meters 0.015258219989930868 Centerline is valid? [True, True] Translation: X:-294.10, Y:-255.14, Z:-2.79 [[-6.53605316e-01 -7.56811049e-01 6.09318773e-03 -2.94098483e+02] [ 7.56780823e-01 -6.53633690e-01 -6.76654675e-03 -2.55143435e+02] [ 9.10371012e-03 1.88556697e-04 9.99958543e-01 -2.78666874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1066.656559995 meters 0.014777142066976844 Centerline is valid? [True, True] Translation: X:-294.12, Y:-255.12, Z:-2.79 [[-6.54277817e-01 -7.56228823e-01 6.20529831e-03 -2.94116593e+02] [ 7.56197484e-01 -6.54307216e-01 -6.88711625e-03 -2.55122469e+02] [ 9.26840728e-03 1.86343592e-04 9.99957030e-01 -2.78669396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1066.6865599950002 meters 0.014907654415684292 Centerline is valid? [True, True] Translation: X:-294.13, Y:-255.10, Z:-2.79 [[-6.55800626e-01 -7.54904796e-01 6.65500921e-03 -2.94134536e+02] [ 7.54868724e-01 -6.55834367e-01 -7.38197713e-03 -2.55102128e+02] [ 9.93727368e-03 1.82553090e-04 9.99950608e-01 -2.78737386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1066.7165599950001 meters 0.01455726257189688 Centerline is valid? [True, True] Translation: X:-294.15, Y:-255.08, Z:-2.79 [[-6.57048151e-01 -7.53816206e-01 6.98960368e-03 -2.94151767e+02] [ 7.53776404e-01 -6.57085304e-01 -7.74830832e-03 -2.55081528e+02] [ 1.04335662e-02 1.77586671e-04 9.99945553e-01 -2.78759182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1066.746559995 meters 0.01407192902952792 Centerline is valid? [True, True] Translation: X:-294.17, Y:-255.06, Z:-2.79 [[-6.58370887e-01 -7.52660566e-01 7.06037690e-03 -2.94169081e+02] [ 7.52619923e-01 -6.58408723e-01 -7.82335014e-03 -2.55059848e+02] [ 1.05369409e-02 1.63114352e-04 9.99944472e-01 -2.78734013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1066.776559995 meters 0.013484733769936188 Centerline is valid? [True, True] Translation: X:-294.19, Y:-255.04, Z:-2.79 [[-6.61081304e-01 -7.50281037e-01 7.06216234e-03 -2.94186149e+02] [ 7.50240284e-01 -6.61119012e-01 -7.82097877e-03 -2.55037183e+02] [ 1.05368619e-02 1.28015834e-04 9.99944478e-01 -2.78791882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1066.806559995 meters 0.013265115838903753 Centerline is valid? [True, True] Translation: X:-294.20, Y:-255.02, Z:-2.79 [[-6.62693524e-01 -7.48856698e-01 7.13719477e-03 -2.94203189e+02] [ 7.48815044e-01 -6.62731948e-01 -7.89910734e-03 -2.55016148e+02] [ 1.06453464e-02 1.09751540e-04 9.99943331e-01 -2.78775651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1066.836559995 meters 0.012726646391558561 Centerline is valid? [True, True] Translation: X:-294.22, Y:-254.99, Z:-2.79 [[-6.66023617e-01 -7.45900795e-01 6.67423665e-03 -2.94220415e+02] [ 7.45864262e-01 -6.66057055e-01 -7.38259838e-03 -2.54993519e+02] [ 9.95210841e-03 6.10897153e-05 9.99950475e-01 -2.78823137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1066.866559995 meters 0.012643468244949864 Centerline is valid? [True, True] Translation: X:-294.24, Y:-254.97, Z:-2.79 [[-6.67804523e-01 -7.44307278e-01 6.61777197e-03 -2.94237154e+02] [ 7.44271330e-01 -6.67837311e-01 -7.31531615e-03 -2.54973563e+02] [ 9.86443810e-03 4.02167375e-05 9.99951345e-01 -2.78853343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1066.896559995 meters 0.012667953767793163 Centerline is valid? [True, True] Translation: X:-294.25, Y:-254.95, Z:-2.79 [[-6.71753186e-01 -7.40747579e-01 6.37817360e-03 -2.94252451e+02] [ 7.40714067e-01 -6.71783465e-01 -7.04610939e-03 -2.54951241e+02] [ 9.50414004e-03 -8.84352086e-06 9.99954835e-01 -2.78806694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1066.9265599950002 meters 0.012683646305118755 Centerline is valid? [True, True] Translation: X:-294.27, Y:-254.93, Z:-2.79 [[-6.73960028e-01 -7.38741115e-01 6.28058788e-03 -2.94269693e+02] [ 7.38708574e-01 -6.73989290e-01 -6.93394511e-03 -2.54929456e+02] [ 9.35543931e-03 -3.36777220e-05 9.99956237e-01 -2.78760558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1066.9565599950001 meters 0.012979468119305301 Centerline is valid? [True, True] Translation: X:-294.29, Y:-254.91, Z:-2.79 [[-6.76245302e-01 -7.36648981e-01 6.36948466e-03 -2.94286164e+02] [ 7.36615463e-01 -6.76275295e-01 -7.02746439e-03 -2.54908446e+02] [ 9.48429960e-03 -6.04288832e-05 9.99955021e-01 -2.78778584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1066.986559995 meters 0.013322944014366832 Centerline is valid? [True, True] Translation: X:-294.30, Y:-254.89, Z:-2.79 [[-6.78361405e-01 -7.34698438e-01 6.63403667e-03 -2.94303861e+02] [ 7.34662023e-01 -6.78393837e-01 -7.31529684e-03 -2.54886455e+02] [ 9.87502675e-03 -8.86402312e-05 9.99951237e-01 -2.78814348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1067.016559995 meters 0.01402478315124447 Centerline is valid? [True, True] Translation: X:-294.32, Y:-254.86, Z:-2.79 [[-6.81951618e-01 -7.31358343e-01 7.54746040e-03 -2.94321106e+02] [ 7.31311058e-01 -6.81993365e-01 -8.31783962e-03 -2.54863920e+02] [ 1.12306393e-02 -1.52822938e-04 9.99936923e-01 -2.78866016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1067.046559995 meters 0.014539268861044898 Centerline is valid? [True, True] Translation: X:-294.34, Y:-254.84, Z:-2.79 [[-6.83395520e-01 -7.30010211e-01 7.46024657e-03 -2.94338323e+02] [ 7.29963967e-01 -6.83436217e-01 -8.21850033e-03 -2.54843676e+02] [ 1.10981919e-02 -1.70775125e-04 9.99938399e-01 -2.78910736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1067.076559995 meters 0.015066552135101838 Centerline is valid? [True, True] Translation: X:-294.36, Y:-254.82, Z:-2.79 [[-6.85027467e-01 -7.28477845e-01 7.57621668e-03 -2.94356047e+02] [ 7.28430114e-01 -6.85069333e-01 -8.34136570e-03 -2.54822973e+02] [ 1.12667338e-02 -1.95320238e-04 9.99936509e-01 -2.78913074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1067.106559995 meters 0.015132384554633496 Centerline is valid? [True, True] Translation: X:-294.37, Y:-254.80, Z:-2.79 [[-6.85604743e-01 -7.27935860e-01 7.45128271e-03 -2.94374766e+02] [ 7.27889714e-01 -6.85645204e-01 -8.19872370e-03 -2.54803164e+02] [ 1.10770812e-02 -1.97371815e-04 9.99938628e-01 -2.78842762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1067.136559995 meters 0.015101196050893625 Centerline is valid? [True, True] Translation: X:-294.39, Y:-254.78, Z:-2.79 [[-6.86009478e-01 -7.27555703e-01 7.32771465e-03 -2.94393277e+02] [ 7.27511108e-01 -6.86048585e-01 -8.05776185e-03 -2.54783796e+02] [ 1.08896388e-02 -1.96707203e-04 9.99940687e-01 -2.78788125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1067.166559995 meters 0.01531838588134014 Centerline is valid? [True, True] Translation: X:-294.41, Y:-254.77, Z:-2.79 [[-6.86139503e-01 -7.27435854e-01 7.04708642e-03 -2.94411215e+02] [ 7.27394655e-01 -6.86175665e-01 -7.74413841e-03 -2.54765081e+02] [ 1.04689031e-02 -1.87546282e-04 9.99945182e-01 -2.78785524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1067.1965599950001 meters 0.014687732622309609 Centerline is valid? [True, True] Translation: X:-294.43, Y:-254.75, Z:-2.79 [[-6.84827064e-01 -7.28674156e-01 6.77260169e-03 -2.94432708e+02] [ 7.28636206e-01 -6.84860533e-01 -7.43844859e-03 -2.54746445e+02] [ 1.00584928e-02 -1.59288106e-04 9.99949400e-01 -2.78727951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1067.2265599950001 meters 0.013954622626568122 Centerline is valid? [True, True] Translation: X:-294.45, Y:-254.73, Z:-2.79 [[-6.83985312e-01 -7.29465014e-01 6.69977080e-03 -2.94453696e+02] [ 7.29427955e-01 -6.84018109e-01 -7.35431966e-03 -2.54728150e+02] [ 9.94748344e-03 -1.43246516e-04 9.99950512e-01 -2.78671864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1067.256559995 meters 0.013636225923471997 Centerline is valid? [True, True] Translation: X:-294.47, Y:-254.71, Z:-2.79 [[-6.82581309e-01 -7.30781885e-01 6.37125363e-03 -2.94474654e+02] [ 7.30748466e-01 -6.82611033e-01 -6.98979868e-03 -2.54708813e+02] [ 9.45710628e-03 -1.15322116e-04 9.99955274e-01 -2.78697976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1067.286559995 meters 0.012954770068581293 Centerline is valid? [True, True] Translation: X:-294.50, Y:-254.69, Z:-2.79 [[-6.79121058e-01 -7.33998680e-01 6.36609776e-03 -2.94497454e+02] [ 7.33965491e-01 -6.79150892e-01 -6.98025192e-03 -2.54691839e+02] [ 9.44703667e-03 -6.79399961e-05 9.99955374e-01 -2.78718654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1067.316559995 meters 0.012560983024272863 Centerline is valid? [True, True] Translation: X:-294.52, Y:-254.67, Z:-2.79 [[-6.77152252e-01 -7.35816165e-01 6.27683893e-03 -2.94519006e+02] [ 7.35784016e-01 -6.77181342e-01 -6.87843646e-03 -2.54672997e+02] [ 9.31182294e-03 -3.93509906e-05 9.99956643e-01 -2.78664716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1067.346559995 meters 0.012462640634299868 Centerline is valid? [True, True] Translation: X:-294.54, Y:-254.65, Z:-2.79 [[-6.75067883e-01 -7.37729452e-01 6.21367349e-03 -2.94539848e+02] [ 7.37698053e-01 -6.75096479e-01 -6.80636565e-03 -2.54654741e+02] [ 9.21608549e-03 -1.09440107e-05 9.99957531e-01 -2.78713185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1067.376559995 meters 0.012477850634141785 Centerline is valid? [True, True] Translation: X:-294.56, Y:-254.64, Z:-2.79 [[-6.70697827e-01 -7.41707501e-01 5.86587546e-03 -2.94563808e+02] [ 7.41679705e-01 -6.70723476e-01 -6.42134904e-03 -2.54640260e+02] [ 8.69714313e-03 4.38159356e-05 9.99962178e-01 -2.78695440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1067.406559995 meters 0.012794011080788047 Centerline is valid? [True, True] Translation: X:-294.59, Y:-254.62, Z:-2.79 [[-6.68377483e-01 -7.43801665e-01 5.53385089e-03 -2.94585868e+02] [ 7.43777026e-01 -6.68400388e-01 -6.05450579e-03 -2.54621952e+02] [ 8.20217957e-03 6.92558118e-05 9.99966359e-01 -2.78700132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1067.4365599950002 meters 0.013265971463175505 Centerline is valid? [True, True] Translation: X:-294.61, Y:-254.60, Z:-2.79 [[-6.66190467e-01 -7.45763649e-01 5.18089256e-03 -2.94607625e+02] [ 7.45742136e-01 -6.66210607e-01 -5.66519046e-03 -2.54603767e+02] [ 7.67645868e-03 8.95139999e-05 9.99970532e-01 -2.78698306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1067.4665599950001 meters 0.014520707853856112 Centerline is valid? [True, True] Translation: X:-294.63, Y:-254.59, Z:-2.79 [[-6.62163689e-01 -7.49345537e-01 4.52946898e-03 -2.94631633e+02] [ 7.49329195e-01 -6.62179170e-01 -4.95011342e-03 -2.54587821e+02] [ 6.70866541e-03 1.16277988e-04 9.99977490e-01 -2.78691050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1067.496559995 meters 0.014957979090067953 Centerline is valid? [True, True] Translation: X:-294.65, Y:-254.57, Z:-2.79 [[-6.60627846e-01 -7.50701591e-01 4.23921992e-03 -2.94652563e+02] [ 7.50687321e-01 -6.60641435e-01 -4.63030509e-03 -2.54569132e+02] [ 6.27658173e-03 1.23420171e-04 9.99980295e-01 -2.78680364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1067.526559995 meters 0.016208782476788565 Centerline is valid? [True, True] Translation: X:-294.68, Y:-254.55, Z:-2.79 [[-6.57974670e-01 -7.53028112e-01 4.24230524e-03 -2.94675643e+02] [ 7.53013886e-01 -6.57988329e-01 -4.63108312e-03 -2.54551887e+02] [ 6.27872311e-03 1.47379369e-04 9.99980278e-01 -2.78724709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1067.556559995 meters 0.016432602405818293 Centerline is valid? [True, True] Translation: X:-294.70, Y:-254.53, Z:-2.79 [[-6.57216788e-01 -7.53689819e-01 4.21313975e-03 -2.94695997e+02] [ 7.53675817e-01 -6.57230274e-01 -4.59665786e-03 -2.54532381e+02] [ 6.23345722e-03 1.54340832e-04 9.99980560e-01 -2.78734713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1067.586559995 meters 0.016505787687840442 Centerline is valid? [True, True] Translation: X:-294.72, Y:-254.51, Z:-2.79 [[-6.56759557e-01 -7.54088432e-01 4.18586568e-03 -2.94715767e+02] [ 7.54074635e-01 -6.56772877e-01 -4.56430240e-03 -2.54512478e+02] [ 6.19105068e-03 1.58805920e-04 9.99980823e-01 -2.78718215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1067.616559995 meters 0.01744432113879437 Centerline is valid? [True, True] Translation: X:-294.74, Y:-254.50, Z:-2.79 [[-6.56636319e-01 -7.54195354e-01 4.25589922e-03 -2.94736659e+02] [ 7.54181106e-01 -6.56650091e-01 -4.63874025e-03 -2.54495055e+02] [ 6.29315295e-03 1.63753450e-04 9.99980185e-01 -2.78782076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1067.646559995 meters 0.01641685939893177 Centerline is valid? [True, True] Translation: X:-294.75, Y:-254.47, Z:-2.79 [[-6.57284035e-01 -7.53629860e-01 4.44204127e-03 -2.94754880e+02] [ 7.53614343e-01 -6.57299024e-01 -4.83886088e-03 -2.54473808e+02] [ 6.56645944e-03 1.67080005e-04 9.99978427e-01 -2.78778878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1067.6765599950002 meters 0.017321170853601138 Centerline is valid? [True, True] Translation: X:-294.78, Y:-254.46, Z:-2.79 [[-6.58344122e-01 -7.52702309e-01 4.71713913e-03 -2.94775486e+02] [ 7.52684808e-01 -6.58361000e-01 -5.13554933e-03 -2.54455427e+02] [ 6.97112027e-03 1.69560248e-04 9.99975687e-01 -2.78939576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1067.7065599950001 meters 0.0160455529263108 Centerline is valid? [True, True] Translation: X:-294.79, Y:-254.43, Z:-2.79 [[-6.59173989e-01 -7.51972716e-01 5.16591201e-03 -2.94793187e+02] [ 7.51951729e-01 -6.59194207e-01 -5.62093440e-03 -2.54433576e+02] [ 7.63212858e-03 1.79342716e-04 9.99970859e-01 -2.78934480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1067.736559995 meters 0.0169467470274921 Centerline is valid? [True, True] Translation: X:-294.81, Y:-254.42, Z:-2.79 [[-6.59841308e-01 -7.51385115e-01 5.46420153e-03 -2.94812894e+02] [ 7.51361643e-01 -6.59863906e-01 -5.94197137e-03 -2.54415557e+02] [ 8.07033821e-03 1.84833276e-04 9.99967417e-01 -2.79051439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1067.766559995 meters 0.0152768213845336 Centerline is valid? [True, True] Translation: X:-294.83, Y:-254.39, Z:-2.79 [[-6.61421631e-01 -7.49987012e-01 6.39594214e-03 -2.94829893e+02] [ 7.49954821e-01 -6.61452525e-01 -6.95148036e-03 -2.54392390e+02] [ 9.44413206e-03 1.98808163e-04 9.99955384e-01 -2.79050295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1067.796559995 meters 0.0152768213845336 Centerline is valid? [True, True] Translation: X:-294.85, Y:-254.37, Z:-2.79 [[-6.61633891e-01 -7.49799747e-01 6.39790965e-03 -2.94848620e+02] [ 7.49767566e-01 -6.61664794e-01 -6.94966958e-03 -2.54372141e+02] [ 9.44413206e-03 1.98808216e-04 9.99955384e-01 -2.79050303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1067.826559995 meters 0.015024455451865587 Centerline is valid? [True, True] Translation: X:-294.87, Y:-254.35, Z:-2.79 [[-6.62739262e-01 -7.48819459e-01 6.78884314e-03 -2.94867526e+02] [ 7.48783212e-01 -6.62774003e-01 -7.37040991e-03 -2.54350678e+02] [ 1.00185751e-02 1.98711747e-04 9.99949793e-01 -2.79073157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1067.856559995 meters 0.014469606941850708 Centerline is valid? [True, True] Translation: X:-294.89, Y:-254.33, Z:-2.79 [[-6.64956068e-01 -7.46850951e-01 6.86187237e-03 -2.94885360e+02] [ 7.46813855e-01 -6.64991449e-01 -7.44576454e-03 -2.54328403e+02] [ 1.01239628e-02 1.73435046e-04 9.99948737e-01 -2.79030007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1067.886559995 meters 0.014392227023254984 Centerline is valid? [True, True] Translation: X:-294.90, Y:-254.31, Z:-2.79 [[-6.66637738e-01 -7.45351181e-01 6.76339422e-03 -2.94903461e+02] [ 7.45315105e-01 -6.66672030e-01 -7.33476386e-03 -2.54308050e+02] [ 9.97594065e-03 1.51229481e-04 9.99950228e-01 -2.79007659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1067.916559995 meters 0.013832035459393651 Centerline is valid? [True, True] Translation: X:-294.92, Y:-254.29, Z:-2.79 [[-6.68385969e-01 -7.43787765e-01 6.32118969e-03 -2.94921297e+02] [ 7.43756218e-01 -6.68415848e-01 -6.85140235e-03 -2.54285784e+02] [ 9.32117261e-03 1.22042946e-04 9.99956550e-01 -2.78928292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1067.9465599950001 meters 0.013400277337406228 Centerline is valid? [True, True] Translation: X:-294.94, Y:-254.26, Z:-2.79 [[-6.70453019e-01 -7.41925923e-01 6.21886909e-03 -2.94938029e+02] [ 7.41895347e-01 -6.70481854e-01 -6.73631691e-03 -2.54264606e+02] [ 9.16748702e-03 9.73660323e-05 9.99957973e-01 -2.78865735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1067.9765599950001 meters 0.012692970640833148 Centerline is valid? [True, True] Translation: X:-294.95, Y:-254.24, Z:-2.79 [[-6.74982761e-01 -7.37807923e-01 6.14343601e-03 -2.94953762e+02] [ 7.37777944e-01 -6.75010716e-01 -6.65118179e-03 -2.54240226e+02] [ 9.05417976e-03 4.30585433e-05 9.99959009e-01 -2.78819262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1068.006559995 meters 0.012559506882081415 Centerline is valid? [True, True] Translation: X:-294.97, Y:-254.22, Z:-2.79 [[-6.77428658e-01 -7.35565371e-01 5.83071084e-03 -2.94970688e+02] [ 7.35538317e-01 -6.77453751e-01 -6.30870400e-03 -2.54218332e+02] [ 8.59050113e-03 1.50143510e-05 9.99963101e-01 -2.78815618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1068.036559995 meters 0.012575170888299608 Centerline is valid? [True, True] Translation: X:-294.99, Y:-254.20, Z:-2.79 [[-6.80059692e-01 -7.33135743e-01 5.54949353e-03 -2.94986881e+02] [ 7.33111178e-01 -6.80082335e-01 -6.00156088e-03 -2.54197244e+02] [ 8.17407132e-03 -1.30239045e-05 9.99966592e-01 -2.78835192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1068.066559995 meters 0.013034610668688284 Centerline is valid? [True, True] Translation: X:-295.00, Y:-254.17, Z:-2.79 [[-6.85191319e-01 -7.28346481e-01 4.92537716e-03 -2.95001958e+02] [ 7.28327028e-01 -6.85209019e-01 -5.32362202e-03 -2.54172873e+02] [ 7.25235421e-03 -6.04142853e-05 9.99973700e-01 -2.78678525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1068.096559995 meters 0.013370818183843952 Centerline is valid? [True, True] Translation: X:-295.02, Y:-254.15, Z:-2.79 [[-6.87861984e-01 -7.25825733e-01 4.78496542e-03 -2.95019162e+02] [ 7.25807333e-01 -6.87878622e-01 -5.16894485e-03 -2.54150796e+02] [ 7.04322860e-03 -8.25576697e-05 9.99975193e-01 -2.78633379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1068.126559995 meters 0.014390381198324169 Centerline is valid? [True, True] Translation: X:-295.04, Y:-254.13, Z:-2.79 [[-6.92575603e-01 -7.21332065e-01 4.36887392e-03 -2.95035662e+02] [ 7.21316651e-01 -6.92589373e-01 -4.71696019e-03 -2.54126876e+02] [ 6.42833029e-03 -1.15510041e-04 9.99979332e-01 -2.78577926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1068.156559995 meters 0.015284323553292938 Centerline is valid? [True, True] Translation: X:-295.05, Y:-254.10, Z:-2.79 [[-6.94778116e-01 -7.19209167e-01 4.64160566e-03 -2.95052376e+02] [ 7.19191742e-01 -6.94793606e-01 -5.00842048e-03 -2.54104907e+02] [ 6.82705985e-03 -1.41536483e-04 9.99976686e-01 -2.78597972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1068.1865599950002 meters 0.015971494896433732 Centerline is valid? [True, True] Translation: X:-295.07, Y:-254.08, Z:-2.79 [[-6.96643191e-01 -7.17402722e-01 4.64752923e-03 -2.95069649e+02] [ 7.17385231e-01 -6.96658675e-01 -5.01203213e-03 -2.54082816e+02] [ 6.83338705e-03 -1.57529221e-04 9.99976640e-01 -2.78580659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1068.2165599950001 meters 0.01699774383133341 Centerline is valid? [True, True] Translation: X:-295.09, Y:-254.06, Z:-2.79 [[-6.98180391e-01 -7.15906645e-01 4.67100242e-03 -2.95086501e+02] [ 7.15888963e-01 -6.98195995e-01 -5.03440107e-03 -2.54060969e+02] [ 6.86543636e-03 -1.71001025e-04 9.99976418e-01 -2.78597866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1068.246559995 meters 0.017361576422985747 Centerline is valid? [True, True] Translation: X:-295.10, Y:-254.04, Z:-2.79 [[-7.00049809e-01 -7.14080448e-01 4.40220577e-03 -2.95104213e+02] [ 7.14064724e-01 -7.00063628e-01 -4.74208841e-03 -2.54039380e+02] [ 6.46805676e-03 -1.76238242e-04 9.99979067e-01 -2.78556196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1068.276559995 meters 0.01747080966340095 Centerline is valid? [True, True] Translation: X:-295.12, Y:-254.02, Z:-2.79 [[-7.00921106e-01 -7.13226840e-01 4.13258962e-03 -2.95123433e+02] [ 7.13212983e-01 -7.00933267e-01 -4.44920117e-03 -2.54018284e+02] [ 6.06995924e-03 -1.71122430e-04 9.99981563e-01 -2.78518146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1068.306559995 meters 0.016945674639191454 Centerline is valid? [True, True] Translation: X:-295.14, Y:-254.00, Z:-2.78 [[-7.00946820e-01 -7.13201589e-01 4.12895696e-03 -2.95143401e+02] [ 7.13187771e-01 -7.00958961e-01 -4.44280925e-03 -2.53998054e+02] [ 6.06284800e-03 -1.69451402e-04 9.99981607e-01 -2.78489691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1068.336559995 meters 0.017008648170178463 Centerline is valid? [True, True] Translation: X:-295.16, Y:-253.98, Z:-2.79 [[-6.99109215e-01 -7.14996497e-01 5.12973497e-03 -2.95162776e+02] [ 7.14975240e-01 -6.99128009e-01 -5.51660313e-03 -2.53978463e+02] [ 7.53069331e-03 -1.89074592e-04 9.99971626e-01 -2.78660691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1068.366559995 meters 0.015735942749853786 Centerline is valid? [True, True] Translation: X:-295.18, Y:-253.96, Z:-2.79 [[-6.97629933e-01 -7.16439495e-01 5.18906910e-03 -2.95184619e+02] [ 7.16417805e-01 -6.97649210e-01 -5.57750676e-03 -2.53959884e+02] [ 7.61609608e-03 -1.73494176e-04 9.99970982e-01 -2.78686371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1068.396559995 meters 0.014424804777273443 Centerline is valid? [True, True] Translation: X:-295.21, Y:-253.94, Z:-2.79 [[-6.93479201e-01 -7.20463207e-01 4.40064781e-03 -2.95206565e+02] [ 7.20447706e-01 -6.93493155e-01 -4.72723160e-03 -2.53942643e+02] [ 6.45761557e-03 -1.07800168e-04 9.99979144e-01 -2.78619754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1068.4265599950002 meters 0.013558760421504196 Centerline is valid? [True, True] Translation: X:-295.23, Y:-253.92, Z:-2.79 [[-6.91564107e-01 -7.22305143e-01 3.79031484e-03 -2.95227943e+02] [ 7.22293684e-01 -6.91574490e-01 -4.06930905e-03 -2.53923831e+02] [ 5.56056791e-03 -7.64676121e-05 9.99984537e-01 -2.78547413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1068.4565599950001 meters 0.013169915314561834 Centerline is valid? [True, True] Translation: X:-295.25, Y:-253.91, Z:-2.79 [[-6.89404779e-01 -7.24367947e-01 3.48254288e-03 -2.95248161e+02] [ 7.24358308e-01 -6.89413573e-01 -3.73734265e-03 -2.53905553e+02] [ 5.10812356e-03 -5.39330222e-05 9.99986952e-01 -2.78507526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1068.486559995 meters 0.01250125622142939 Centerline is valid? [True, True] Translation: X:-295.27, Y:-253.89, Z:-2.78 [[-6.85306320e-01 -7.28248892e-01 2.96632506e-03 -2.95269929e+02] [ 7.28241943e-01 -6.85312739e-01 -3.18162388e-03 -2.53888753e+02] [ 4.34987442e-03 -2.01846289e-05 9.99990539e-01 -2.78470960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1068.516559995 meters 0.012327662284945272 Centerline is valid? [True, True] Translation: X:-295.29, Y:-253.87, Z:-2.78 [[-6.83502095e-01 -7.29943566e-01 2.69747520e-03 -2.95290269e+02] [ 7.29937839e-01 -6.83507418e-01 -2.89144999e-03 -2.53870467e+02] [ 3.95433963e-03 -7.32290906e-06 9.99992182e-01 -2.78420486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1068.546559995 meters 0.012254974851331153 Centerline is valid? [True, True] Translation: X:-295.31, Y:-253.85, Z:-2.78 [[-6.81561078e-01 -7.31757189e-01 2.43164451e-03 -2.95311353e+02] [ 7.31752553e-01 -6.81565416e-01 -2.60502763e-03 -2.53851424e+02] [ 3.56357250e-03 3.87663312e-06 9.99993651e-01 -2.78382076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1068.576559995 meters 0.01263216538056431 Centerline is valid? [True, True] Translation: X:-295.33, Y:-253.84, Z:-2.78 [[-6.77444851e-01 -7.35572295e-01 1.36850990e-03 -2.95333567e+02] [ 7.35570836e-01 -6.77446233e-01 -1.46521208e-03 -2.53835538e+02] [ 2.00486129e-03 1.40355888e-05 9.99997990e-01 -2.78338632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1068.606559995 meters 0.013102963045014545 Centerline is valid? [True, True] Translation: X:-295.35, Y:-253.82, Z:-2.78 [[-6.75716845e-01 -7.37160891e-01 7.52102188e-04 -2.95354702e+02] [ 7.37160452e-01 -6.75717264e-01 -8.04771419e-04 -2.53817670e+02] [ 1.10145445e-03 1.06223843e-05 9.99999394e-01 -2.78346017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1068.636559995 meters 0.0133813427105241 Centerline is valid? [True, True] Translation: X:-295.38, Y:-253.80, Z:-2.78 [[-6.73969470e-01 -7.38759016e-01 5.19063442e-04 -2.95375532e+02] [ 7.38758808e-01 -6.73969670e-01 -5.55099413e-04 -2.53798708e+02] [ 7.59917714e-04 9.34263166e-06 9.99999711e-01 -2.78383091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1068.666559995 meters 0.013796041430002 Centerline is valid? [True, True] Translation: X:-295.40, Y:-253.78, Z:-2.78 [[-6.72208830e-01 -7.40361508e-01 3.54845958e-04 -2.95395893e+02] [ 7.40361411e-01 -6.72208924e-01 -3.79283586e-04 -2.53779521e+02] [ 5.19337589e-04 7.75647815e-06 9.99999865e-01 -2.78451630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1068.6965599950001 meters 0.01538961734571937 Centerline is valid? [True, True] Translation: X:-295.42, Y:-253.76, Z:-2.79 [[-6.69457432e-01 -7.42849838e-01 9.30097039e-04 -2.95417166e+02] [ 7.42849174e-01 -6.69458077e-01 -9.93688884e-04 -2.53762869e+02] [ 1.36082260e-03 2.56894090e-05 9.99999074e-01 -2.78636990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1068.7265599950001 meters 0.015739162786811176 Centerline is valid? [True, True] Translation: X:-295.44, Y:-253.74, Z:-2.79 [[-6.68608841e-01 -7.43613542e-01 1.05685173e-03 -2.95436770e+02] [ 7.43612687e-01 -6.68609676e-01 -1.12849202e-03 -2.53742473e+02] [ 1.54578325e-03 3.13686114e-05 9.99998805e-01 -2.78676955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1068.756559995 meters 0.0172497830080547 Centerline is valid? [True, True] Translation: X:-295.46, Y:-253.72, Z:-2.79 [[-6.67983564e-01 -7.44175189e-01 1.11677428e-03 -2.95456985e+02] [ 7.44174235e-01 -6.67984496e-01 -1.19178931e-03 -2.53724006e+02] [ 1.63288794e-03 3.49789726e-05 9.99998666e-01 -2.78733941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1068.786559995 meters 0.017745336615094313 Centerline is valid? [True, True] Translation: X:-295.48, Y:-253.70, Z:-2.79 [[-6.67610174e-01 -7.44509680e-01 1.41108119e-03 -2.95475202e+02] [ 7.44508161e-01 -6.67611664e-01 -1.50493981e-03 -2.53704782e+02] [ 2.06249652e-03 4.58483331e-05 9.99997872e-01 -2.78758069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1068.816559995 meters 0.0163619323116135 Centerline is valid? [True, True] Translation: X:-295.49, Y:-253.68, Z:-2.79 [[-6.66599668e-01 -7.45414613e-01 1.39237659e-03 -2.95491547e+02] [ 7.45413137e-01 -6.66601120e-01 -1.48416020e-03 -2.53682150e+02] [ 2.03447449e-03 4.85551020e-05 9.99997929e-01 -2.78779038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1068.846559995 meters 0.017806094083964566 Centerline is valid? [True, True] Translation: X:-295.51, Y:-253.67, Z:-2.79 [[-6.66288916e-01 -7.45691973e-01 1.60066476e-03 -2.95511217e+02] [ 7.45690025e-01 -6.66290836e-01 -1.70534947e-03 -2.53665034e+02] [ 2.33817368e-03 5.73442990e-05 9.99997265e-01 -2.78849539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1068.876559995 meters 0.016822123886480182 Centerline is valid? [True, True] Translation: X:-295.53, Y:-253.64, Z:-2.79 [[-6.65170704e-01 -7.46688350e-01 2.10793298e-03 -2.95528100e+02] [ 7.46684981e-01 -6.65174039e-01 -2.24452343e-03 -2.53642699e+02] [ 3.07810179e-03 8.09706680e-05 9.99995260e-01 -2.78957415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1068.906559995 meters 0.01797580269425491 Centerline is valid? [True, True] Translation: X:-295.55, Y:-253.62, Z:-2.79 [[-6.64909172e-01 -7.46919768e-01 2.57940994e-03 -2.95547652e+02] [ 7.46914731e-01 -6.64914167e-01 -2.74491575e-03 -2.53623353e+02] [ 3.76531804e-03 1.01479623e-04 9.99992906e-01 -2.79051831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1068.9365599950002 meters 0.017816743305713725 Centerline is valid? [True, True] Translation: X:-295.57, Y:-253.60, Z:-2.79 [[-6.64524823e-01 -7.47260437e-01 2.93245037e-03 -2.95566012e+02] [ 7.47253937e-01 -6.64531283e-01 -3.11888022e-03 -2.53602193e+02] [ 4.27932080e-03 1.18711763e-04 9.99990837e-01 -2.79110480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1068.9665599950001 meters 0.018074773731410268 Centerline is valid? [True, True] Translation: X:-295.58, Y:-253.58, Z:-2.79 [[-6.64542298e-01 -7.47242215e-01 3.55041352e-03 -2.95583256e+02] [ 7.47232700e-01 -6.64551767e-01 -3.77379115e-03 -2.53581100e+02] [ 5.17936964e-03 1.45141231e-04 9.99986577e-01 -2.79241229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1068.996559995 meters 0.0182171242970391 Centerline is valid? [True, True] Translation: X:-295.60, Y:-253.56, Z:-2.79 [[-6.65044973e-01 -7.46793732e-01 3.78243215e-03 -2.95600368e+02] [ 7.46782939e-01 -6.65055712e-01 -4.01779925e-03 -2.53560857e+02] [ 5.51599540e-03 1.52638599e-04 9.99984775e-01 -2.79270514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1069.026559995 meters 0.017917809044150034 Centerline is valid? [True, True] Translation: X:-295.62, Y:-253.54, Z:-2.79 [[-6.66270820e-01 -7.45696832e-01 4.40777962e-03 -2.95616194e+02] [ 7.45682171e-01 -6.66285378e-01 -4.67920127e-03 -2.53538462e+02] [ 6.42610468e-03 1.69187404e-04 9.99979338e-01 -2.79385095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1069.056559995 meters 0.01654702569022788 Centerline is valid? [True, True] Translation: X:-295.63, Y:-253.51, Z:-2.79 [[-6.67249006e-01 -7.44820576e-01 4.59047688e-03 -2.95632115e+02] [ 7.44804672e-01 -6.67264775e-01 -4.87039669e-03 -2.53514961e+02] [ 6.69063519e-03 1.69241277e-04 9.99977603e-01 -2.79362104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1069.086559995 meters 0.016091496540303982 Centerline is valid? [True, True] Translation: X:-295.65, Y:-253.49, Z:-2.79 [[-6.68701188e-01 -7.43516744e-01 4.64463997e-03 -2.95648984e+02] [ 7.43500449e-01 -6.68717299e-01 -4.92509357e-03 -2.53492640e+02] [ 6.76784063e-03 1.59875982e-04 9.99977085e-01 -2.79359253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1069.116559995 meters 0.0148056175217323 Centerline is valid? [True, True] Translation: X:-295.66, Y:-253.46, Z:-2.79 [[-6.72913915e-01 -7.39708718e-01 4.22794767e-03 -2.95660560e+02] [ 7.39695155e-01 -6.72927188e-01 -4.48075635e-03 -2.53464519e+02] [ 6.15955547e-03 1.12229109e-04 9.99981024e-01 -2.79179177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1069.146559995 meters 0.01374979238435608 Centerline is valid? [True, True] Translation: X:-295.68, Y:-253.44, Z:-2.79 [[-6.76505539e-01 -7.36428967e-01 3.55433013e-03 -2.95675173e+02] [ 7.36419343e-01 -6.76514872e-01 -3.76553311e-03 -2.53439287e+02] [ 5.17760485e-03 7.00734546e-05 9.99986594e-01 -2.79109314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1069.1765599950002 meters 0.013256091661542634 Centerline is valid? [True, True] Translation: X:-295.69, Y:-253.42, Z:-2.79 [[-6.79986100e-01 -7.33218714e-01 3.03663537e-03 -2.95689059e+02] [ 7.33211663e-01 -6.79992880e-01 -3.21576370e-03 -2.53415110e+02] [ 4.42274856e-03 3.98218530e-05 9.99990219e-01 -2.79133104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1069.2065599950001 meters 0.012911453372308422 Centerline is valid? [True, True] Translation: X:-295.71, Y:-253.39, Z:-2.79 [[-6.81652373e-01 -7.31668321e-01 3.39259301e-03 -2.95705012e+02] [ 7.31659512e-01 -6.81660815e-01 -3.59050062e-03 -2.53392976e+02] [ 4.93965328e-03 3.47496763e-05 9.99987799e-01 -2.79167968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1069.236559995 meters 0.012911453372308422 Centerline is valid? [True, True] Translation: X:-295.72, Y:-253.37, Z:-2.79 [[-6.81877717e-01 -7.31458312e-01 3.39369884e-03 -2.95723473e+02] [ 7.31449506e-01 -6.81886161e-01 -3.58945542e-03 -2.53373599e+02] [ 4.93965328e-03 3.47496756e-05 9.99987799e-01 -2.79167976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1069.266559995 meters 0.012911453372308422 Centerline is valid? [True, True] Translation: X:-295.74, Y:-253.35, Z:-2.79 [[-6.82102995e-01 -7.31248234e-01 3.39480435e-03 -2.95741939e+02] [ 7.31239430e-01 -6.82111442e-01 -3.58840988e-03 -2.53354228e+02] [ 4.93965328e-03 3.47496756e-05 9.99987799e-01 -2.79167984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1069.296559995 meters 0.012846694629510432 Centerline is valid? [True, True] Translation: X:-295.76, Y:-253.33, Z:-2.79 [[-6.83557831e-01 -7.29887398e-01 3.61646736e-03 -2.95757826e+02] [ 7.29877401e-01 -6.83567397e-01 -3.82024415e-03 -2.53333212e+02] [ 5.26044724e-03 2.82199877e-05 9.99986164e-01 -2.79254552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1069.326559995 meters 0.012669848670758993 Centerline is valid? [True, True] Translation: X:-295.77, Y:-253.31, Z:-2.79 [[-6.84597538e-01 -7.28912648e-01 3.54448458e-03 -2.95774760e+02] [ 7.28903042e-01 -6.84606713e-01 -3.74210263e-03 -2.53310089e+02] [ 5.15424388e-03 2.17513488e-05 9.99986717e-01 -2.79108344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1069.356559995 meters 0.012849547613347702 Centerline is valid? [True, True] Translation: X:-295.79, Y:-253.29, Z:-2.79 [[-6.84172172e-01 -7.29313659e-01 3.16631883e-03 -2.95794189e+02] [ 7.29306006e-01 -6.84179498e-01 -3.34122018e-03 -2.53292205e+02] [ 4.60312795e-03 2.32454733e-05 9.99989405e-01 -2.79163485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1069.386559995 meters 0.012851689194439292 Centerline is valid? [True, True] Translation: X:-295.81, Y:-253.27, Z:-2.79 [[-6.83573866e-01 -7.29874352e-01 3.19394214e-03 -2.95812677e+02] [ 7.29866580e-01 -6.83581327e-01 -3.36826397e-03 -2.53272774e+02] [ 4.64172869e-03 2.86944001e-05 9.99989227e-01 -2.79097202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1069.416559995 meters 0.013050332906573125 Centerline is valid? [True, True] Translation: X:-295.83, Y:-253.25, Z:-2.79 [[-6.82716916e-01 -7.30672478e-01 3.91699598e-03 -2.95831719e+02] [ 7.30660818e-01 -6.82728151e-01 -4.12804733e-03 -2.53253927e+02] [ 5.69049400e-03 4.37077475e-05 9.99983808e-01 -2.79130277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1069.4465599950001 meters 0.012949786768854502 Centerline is valid? [True, True] Translation: X:-295.85, Y:-253.23, Z:-2.79 [[-6.82707029e-01 -7.30680967e-01 4.05423262e-03 -2.95850479e+02] [ 7.30668493e-01 -6.82719065e-01 -4.26983382e-03 -2.53234825e+02] [ 5.88778821e-03 4.72544782e-05 9.99982666e-01 -2.79170199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1069.4765599950001 meters 0.013046097361803734 Centerline is valid? [True, True] Translation: X:-295.87, Y:-253.22, Z:-2.79 [[-6.82859312e-01 -7.30538080e-01 4.15609005e-03 -2.95868904e+02] [ 7.30524986e-01 -6.82871958e-01 -4.37421480e-03 -2.53216161e+02] [ 6.03360784e-03 4.91543146e-05 9.99981797e-01 -2.79198904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1069.506559995 meters 0.013006303972285062 Centerline is valid? [True, True] Translation: X:-295.89, Y:-253.20, Z:-2.79 [[-6.83400528e-01 -7.30032609e-01 4.01346627e-03 -2.95887859e+02] [ 7.30020405e-01 -6.83412312e-01 -4.22145578e-03 -2.53196330e+02] [ 5.82465264e-03 4.49671611e-05 9.99983036e-01 -2.79253964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1069.536559995 meters 0.013046567490414973 Centerline is valid? [True, True] Translation: X:-295.91, Y:-253.18, Z:-2.79 [[-6.83797949e-01 -7.29660569e-01 3.97735107e-03 -2.95906885e+02] [ 7.29648593e-01 -6.83809515e-01 -4.18072069e-03 -2.53177489e+02] [ 5.77025754e-03 4.33003721e-05 9.99983351e-01 -2.79274304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1069.566559995 meters 0.012952577210120218 Centerline is valid? [True, True] Translation: X:-295.93, Y:-253.16, Z:-2.79 [[-6.84383001e-01 -7.29113013e-01 3.75806219e-03 -2.95926206e+02] [ 7.29102326e-01 -6.84393318e-01 -3.94773724e-03 -2.53157710e+02] [ 5.45033924e-03 3.82476219e-05 9.99985146e-01 -2.79241833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1069.596559995 meters 0.012886482453837205 Centerline is valid? [True, True] Translation: X:-295.95, Y:-253.14, Z:-2.79 [[-6.84988716e-01 -7.28546750e-01 3.17669617e-03 -2.95945527e+02] [ 7.28539118e-01 -6.84996082e-01 -3.33493929e-03 -2.53137908e+02] [ 4.60568361e-03 2.99516400e-05 9.99989394e-01 -2.79215292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1069.626559995 meters 0.012722562368547624 Centerline is valid? [True, True] Translation: X:-295.96, Y:-253.12, Z:-2.79 [[-6.86567578e-01 -7.27061288e-01 2.61637052e-03 -2.95963331e+02] [ 7.27056106e-01 -6.86572563e-01 -2.74489864e-03 -2.53118174e+02] [ 3.79203775e-03 1.76897537e-05 9.99992810e-01 -2.79099994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1069.656559995 meters 0.012722185232113215 Centerline is valid? [True, True] Translation: X:-295.98, Y:-253.10, Z:-2.79 [[-6.87653125e-01 -7.26035510e-01 2.37024947e-03 -2.95981400e+02] [ 7.26031257e-01 -6.87657210e-01 -2.48506929e-03 -2.53099303e+02] [ 3.43416768e-03 1.20095412e-05 9.99994103e-01 -2.79093707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1069.6865599950002 meters 0.012655210014410492 Centerline is valid? [True, True] Translation: X:-296.00, Y:-253.08, Z:-2.79 [[-6.88909764e-01 -7.24843900e-01 2.15815270e-03 -2.95999937e+02] [ 7.24840373e-01 -6.88913144e-01 -2.26133192e-03 -2.53079442e+02] [ 3.12589241e-03 6.46256752e-06 9.99995115e-01 -2.79052124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1069.7165599950001 meters 0.012655210014410492 Centerline is valid? [True, True] Translation: X:-296.02, Y:-253.06, Z:-2.79 [[-6.89128153e-01 -7.24636273e-01 2.15883402e-03 -2.96018498e+02] [ 7.24632747e-01 -6.89131534e-01 -2.26068149e-03 -2.53060165e+02] [ 3.12589241e-03 6.46256661e-06 9.99995115e-01 -2.79052132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1069.746559995 meters 0.012591779576271202 Centerline is valid? [True, True] Translation: X:-296.04, Y:-253.04, Z:-2.79 [[-6.90260990e-01 -7.23558342e-01 1.75819425e-03 -2.96036699e+02] [ 7.23556002e-01 -6.90263229e-01 -1.84001624e-03 -2.53040492e+02] [ 2.54497594e-03 2.06057475e-06 9.99996762e-01 -2.78997513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1069.776559995 meters 0.012631007516121414 Centerline is valid? [True, True] Translation: X:-296.05, Y:-253.02, Z:-2.79 [[-6.92213441e-01 -7.21691691e-01 1.28678068e-03 -2.96054940e+02] [ 7.21690436e-01 -6.92214637e-01 -1.34583214e-03 -2.53020409e+02] [ 1.86200429e-03 -2.94579024e-06 9.99998267e-01 -2.78975531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1069.806559995 meters 0.012634130175623487 Centerline is valid? [True, True] Translation: X:-296.07, Y:-253.00, Z:-2.79 [[-6.93269552e-01 -7.20677441e-01 1.16390257e-03 -2.96074146e+02] [ 7.20676414e-01 -6.93270529e-01 -1.21655045e-03 -2.53000552e+02] [ 1.68363982e-03 -4.60025967e-06 9.99998583e-01 -2.79005857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1069.836559995 meters 0.01278248035315641 Centerline is valid? [True, True] Translation: X:-296.09, Y:-252.98, Z:-2.79 [[-6.94981683e-01 -7.19025994e-01 1.44267215e-03 -2.96092018e+02] [ 7.19024415e-01 -6.94983180e-01 -1.50693930e-03 -2.52981090e+02] [ 2.08616141e-03 -9.97871708e-06 9.99997824e-01 -2.79111181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1069.866559995 meters 0.01283742930460181 Centerline is valid? [True, True] Translation: X:-296.11, Y:-252.96, Z:-2.79 [[-6.95729280e-01 -7.18302739e-01 1.39434112e-03 -2.96110674e+02] [ 7.18301265e-01 -6.95730677e-01 -1.45555723e-03 -2.52961457e+02] [ 2.01561664e-03 -1.11167934e-05 9.99997969e-01 -2.79154893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1069.896559995 meters 0.012823473112166466 Centerline is valid? [True, True] Translation: X:-296.13, Y:-252.94, Z:-2.79 [[-6.96483050e-01 -7.17571987e-01 1.34332958e-03 -2.96130527e+02] [ 7.17570619e-01 -6.96484345e-01 -1.40151780e-03 -2.52941017e+02] [ 1.94129794e-03 -1.21995541e-05 9.99998116e-01 -2.79175433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1069.9265599950002 meters 0.01285332084104756 Centerline is valid? [True, True] Translation: X:-296.15, Y:-252.92, Z:-2.79 [[-6.96894021e-01 -7.17172768e-01 1.39490629e-03 -2.96149874e+02] [ 7.17171293e-01 -6.96895416e-01 -1.45451119e-03 -2.52921059e+02] [ 2.01523962e-03 -1.32534062e-05 9.99997969e-01 -2.79244795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1069.9565599950001 meters 0.013138974042868595 Centerline is valid? [True, True] Translation: X:-296.17, Y:-252.90, Z:-2.79 [[-6.97182157e-01 -7.16891857e-01 1.76218518e-03 -2.96168606e+02] [ 7.16889506e-01 -6.97184384e-01 -1.83626564e-03 -2.52902166e+02] [ 2.54497187e-03 -1.69195818e-05 9.99996762e-01 -2.79358110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1069.986559995 meters 0.01305984178522522 Centerline is valid? [True, True] Translation: X:-296.19, Y:-252.88, Z:-2.79 [[-6.97039880e-01 -7.17029595e-01 1.99141812e-03 -2.96188305e+02] [ 7.17026596e-01 -6.97042725e-01 -2.07383403e-03 -2.52882734e+02] [ 2.87510389e-03 -1.76452621e-05 9.99995867e-01 -2.79374714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1070.016559995 meters 0.01286299422896151 Centerline is valid? [True, True] Translation: X:-296.21, Y:-252.86, Z:-2.79 [[-6.96574311e-01 -7.17482202e-01 1.87596478e-03 -2.96207204e+02] [ 7.17479546e-01 -6.96576836e-01 -1.95231795e-03 -2.52863904e+02] [ 2.70750699e-03 -1.39681768e-05 9.99996335e-01 -2.79421752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1070.046559995 meters 0.012755191109715208 Centerline is valid? [True, True] Translation: X:-296.23, Y:-252.85, Z:-2.79 [[-6.95063117e-01 -7.18945236e-01 2.23859769e-03 -2.96228186e+02] [ 7.18941466e-01 -6.95066721e-01 -2.32825916e-03 -2.52846259e+02] [ 3.22986559e-03 -8.86635930e-06 9.99994784e-01 -2.79471779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1070.076559995 meters 0.012703761307188512 Centerline is valid? [True, True] Translation: X:-296.25, Y:-252.83, Z:-2.80 [[-6.93940133e-01 -7.20027918e-01 2.62495520e-03 -2.96248073e+02] [ 7.20022748e-01 -6.93945097e-01 -2.72839148e-03 -2.52827746e+02] [ 3.78609283e-03 -3.31288172e-06 9.99992833e-01 -2.79503837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1070.106559995 meters 0.012821859232155876 Centerline is valid? [True, True] Translation: X:-296.27, Y:-252.81, Z:-2.80 [[-6.92836069e-01 -7.21090223e-01 2.65947639e-03 -2.96268074e+02] [ 7.21084931e-01 -6.92841173e-01 -2.76254717e-03 -2.52809734e+02] [ 3.83464049e-03 3.71603026e-06 9.99992648e-01 -2.79570413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1070.136559995 meters 0.012975196755801765 Centerline is valid? [True, True] Translation: X:-296.29, Y:-252.79, Z:-2.80 [[-6.90250102e-01 -7.23564538e-01 3.02601908e-03 -2.96289445e+02] [ 7.23557719e-01 -6.90256734e-01 -3.14134013e-03 -2.52792911e+02] [ 4.36169237e-03 2.11891199e-05 9.99990488e-01 -2.79647815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1070.166559995 meters 0.013182454310301342 Centerline is valid? [True, True] Translation: X:-296.31, Y:-252.77, Z:-2.80 [[-6.88977646e-01 -7.24775570e-01 3.19010714e-03 -2.96309625e+02] [ 7.24768014e-01 -6.88985031e-01 -3.30963477e-03 -2.52774852e+02] [ 4.59667849e-03 3.18232416e-05 9.99989435e-01 -2.79689937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1070.1965599950001 meters 0.01317908459899986 Centerline is valid? [True, True] Translation: X:-296.33, Y:-252.76, Z:-2.80 [[-6.88072972e-01 -7.25633666e-01 3.37184127e-03 -2.96329947e+02] [ 7.25625244e-01 -6.88081232e-01 -3.49621573e-03 -2.52755965e+02] [ 4.85707253e-03 4.10416002e-05 9.99988204e-01 -2.79696203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1070.2265599950001 meters 0.01367013868517232 Centerline is valid? [True, True] Translation: X:-296.35, Y:-252.74, Z:-2.80 [[-6.86484407e-01 -7.27137121e-01 3.28121942e-03 -2.96350928e+02] [ 7.27129173e-01 -6.86492247e-01 -3.40024090e-03 -2.52738406e+02] [ 4.72497307e-03 5.16580083e-05 9.99988836e-01 -2.79739976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1070.256559995 meters 0.013742660615876907 Centerline is valid? [True, True] Translation: X:-296.37, Y:-252.72, Z:-2.80 [[-6.86253331e-01 -7.27356323e-01 3.02430482e-03 -2.96369999e+02] [ 7.27349581e-01 -6.86259993e-01 -3.13205979e-03 -2.52719455e+02] [ 4.35358290e-03 5.03403800e-05 9.99990522e-01 -2.79710345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1070.286559995 meters 0.013862867146613885 Centerline is valid? [True, True] Translation: X:-296.39, Y:-252.70, Z:-2.80 [[-6.86198199e-01 -7.27407733e-01 3.16584775e-03 -2.96389048e+02] [ 7.27400355e-01 -6.86205500e-01 -3.27659597e-03 -2.52699530e+02] [ 4.55584338e-03 5.44445244e-05 9.99989621e-01 -2.79706237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1070.316559995 meters 0.013936069130017877 Centerline is valid? [True, True] Translation: X:-296.41, Y:-252.68, Z:-2.80 [[-6.86395573e-01 -7.27222405e-01 2.94816847e-03 -2.96407154e+02] [ 7.27216014e-01 -6.86401902e-01 -3.04930274e-03 -2.52680424e+02] [ 4.24114972e-03 5.09274231e-05 9.99991005e-01 -2.79674260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1070.346559995 meters 0.013670497926154669 Centerline is valid? [True, True] Translation: X:-296.43, Y:-252.66, Z:-2.80 [[-6.86851956e-01 -7.26791671e-01 2.87366187e-03 -2.96425249e+02] [ 7.26785602e-01 -6.86857965e-01 -2.97056958e-03 -2.52659484e+02] [ 4.13278278e-03 4.81945456e-05 9.99991459e-01 -2.79674991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1070.376559995 meters 0.013839174694525183 Centerline is valid? [True, True] Translation: X:-296.44, Y:-252.64, Z:-2.80 [[-6.87589803e-01 -7.26094213e-01 2.73083967e-03 -2.96443427e+02] [ 7.26088734e-01 -6.87595225e-01 -2.82106134e-03 -2.52641040e+02] [ 3.92606863e-03 4.30989018e-05 9.99992292e-01 -2.79707191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1070.406559995 meters 0.013779660679184558 Centerline is valid? [True, True] Translation: X:-296.46, Y:-252.62, Z:-2.80 [[-6.88342385e-01 -7.25379594e-01 3.03411082e-03 -2.96461571e+02] [ 7.25372832e-01 -6.88349070e-01 -3.13245268e-03 -2.52621283e+02] [ 4.36074462e-03 4.46616134e-05 9.99990491e-01 -2.79730780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1070.4365599950002 meters 0.013298632505899459 Centerline is valid? [True, True] Translation: X:-296.48, Y:-252.60, Z:-2.80 [[-6.89624126e-01 -7.24162962e-01 2.56309066e-03 -2.96478999e+02] [ 7.24158134e-01 -6.89628888e-01 -2.64466413e-03 -2.52599520e+02] [ 3.68274918e-03 3.22587608e-05 9.99993218e-01 -2.79684476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1070.4665599950001 meters 0.01337416349247043 Centerline is valid? [True, True] Translation: X:-296.50, Y:-252.58, Z:-2.80 [[-6.90557262e-01 -7.23273960e-01 2.33410491e-03 -2.96497557e+02] [ 7.23269955e-01 -6.90561206e-01 -2.40695916e-03 -2.52579656e+02] [ 3.35273318e-03 2.60448297e-05 9.99994379e-01 -2.79688738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1070.496559995 meters 0.013395407833192187 Centerline is valid? [True, True] Translation: X:-296.52, Y:-252.56, Z:-2.80 [[-6.91328009e-01 -7.22538239e-01 2.01936518e-03 -2.96515709e+02] [ 7.22535241e-01 -6.91330958e-01 -2.08139813e-03 -2.52560158e+02] [ 2.89993940e-03 2.01336812e-05 9.99995795e-01 -2.79699318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1070.526559995 meters 0.013188750671329847 Centerline is valid? [True, True] Translation: X:-296.53, Y:-252.54, Z:-2.80 [[-6.91960353e-01 -7.21933036e-01 1.88722296e-03 -2.96532918e+02] [ 7.21930418e-01 -6.91962927e-01 -1.94398089e-03 -2.52539372e+02] [ 2.70931235e-03 1.72859564e-05 9.99996330e-01 -2.79621485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1070.556559995 meters 0.013263827789253162 Centerline is valid? [True, True] Translation: X:-296.55, Y:-252.52, Z:-2.80 [[-6.92920810e-01 -7.21012134e-01 1.50114690e-03 -2.96550124e+02] [ 7.21010478e-01 -6.92922436e-01 -1.54554722e-03 -2.52519683e+02] [ 2.15453666e-03 1.14008119e-05 9.99997679e-01 -2.79635377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1070.586559995 meters 0.013241407949210287 Centerline is valid? [True, True] Translation: X:-296.57, Y:-252.50, Z:-2.80 [[-6.93187354e-01 -7.20755551e-01 1.65173804e-03 -2.96568981e+02] [ 7.20753547e-01 -6.93189322e-01 -1.69959639e-03 -2.52499598e+02] [ 2.36996071e-03 1.23573278e-05 9.99997192e-01 -2.79645362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1070.616559995 meters 0.013344989723283964 Centerline is valid? [True, True] Translation: X:-296.59, Y:-252.48, Z:-2.80 [[-6.93445853e-01 -7.20506652e-01 1.73617524e-03 -2.96587606e+02] [ 7.20504440e-01 -6.93448026e-01 -1.78538390e-03 -2.52480396e+02] [ 2.49032827e-03 1.28549093e-05 9.99996899e-01 -2.79695660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1070.646559995 meters 0.01328957865539336 Centerline is valid? [True, True] Translation: X:-296.61, Y:-252.46, Z:-2.80 [[-6.92907284e-01 -7.21021251e-01 2.80197620e-03 -2.96606960e+02] [ 7.21015501e-01 -6.92912949e-01 -2.87961621e-03 -2.52461391e+02] [ 4.01779008e-03 2.49612287e-05 9.99991929e-01 -2.79810105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1070.6765599950002 meters 0.013469719662930453 Centerline is valid? [True, True] Translation: X:-296.63, Y:-252.44, Z:-2.80 [[-6.92435603e-01 -7.21473533e-01 2.97950687e-03 -2.96627293e+02] [ 7.21467043e-01 -6.92442013e-01 -3.06019044e-03 -2.52442750e+02] [ 4.27098214e-03 3.06312023e-05 9.99990879e-01 -2.79877420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1070.7065599950001 meters 0.013715795786783287 Centerline is valid? [True, True] Translation: X:-296.65, Y:-252.43, Z:-2.80 [[-6.91906682e-01 -7.21978620e-01 3.46634241e-03 -2.96647373e+02] [ 7.21969854e-01 -6.91915364e-01 -3.55792693e-03 -2.52425531e+02] [ 4.96716274e-03 4.08413044e-05 9.99987663e-01 -2.79977329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1070.736559995 meters 0.01391487457153139 Centerline is valid? [True, True] Translation: X:-296.67, Y:-252.41, Z:-2.80 [[-6.90142066e-01 -7.23661235e-01 4.28331329e-03 -2.96669427e+02] [ 7.23647897e-01 -6.90155354e-01 -4.39407465e-03 -2.52407341e+02] [ 6.13597309e-03 6.70748947e-05 9.99981173e-01 -2.80032088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1070.766559995 meters 0.013984291192647488 Centerline is valid? [True, True] Translation: X:-296.69, Y:-252.39, Z:-2.80 [[-6.89475063e-01 -7.24295361e-01 4.51299017e-03 -2.96689928e+02] [ 7.24280587e-01 -6.89489828e-01 -4.62692752e-03 -2.52388792e+02] [ 6.46292296e-03 7.85200239e-05 9.99979112e-01 -2.80040458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1070.796559995 meters 0.014385547324364522 Centerline is valid? [True, True] Translation: X:-296.71, Y:-252.37, Z:-2.80 [[-6.88761004e-01 -7.24974877e-01 4.43922562e-03 -2.96710544e+02] [ 7.24960615e-01 -6.88775305e-01 -4.54828888e-03 -2.52371747e+02] [ 6.35502415e-03 8.55797183e-05 9.99979803e-01 -2.80082597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1070.826559995 meters 0.014550930963487146 Centerline is valid? [True, True] Translation: X:-296.73, Y:-252.35, Z:-2.80 [[-6.88059685e-01 -7.25640553e-01 4.43383452e-03 -2.96731168e+02] [ 7.25626357e-01 -6.88073964e-01 -4.53992451e-03 -2.52353220e+02] [ 6.34515942e-03 9.35681636e-05 9.99979865e-01 -2.80072383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1070.856559995 meters 0.014700178641111271 Centerline is valid? [True, True] Translation: X:-296.75, Y:-252.33, Z:-2.80 [[-6.86557635e-01 -7.27064152e-01 4.04142377e-03 -2.96752209e+02] [ 7.27052396e-01 -6.86569522e-01 -4.13576137e-03 -2.52334160e+02] [ 5.78168222e-03 9.88882876e-05 9.99983281e-01 -2.79980828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1070.886559995 meters 0.015004996162363426 Centerline is valid? [True, True] Translation: X:-296.77, Y:-252.31, Z:-2.80 [[-6.86066816e-01 -7.27528795e-01 3.76529020e-03 -2.96772349e+02] [ 7.27518609e-01 -6.86077141e-01 -3.85099556e-03 -2.52314994e+02] [ 5.38498969e-03 9.72784246e-05 9.99985496e-01 -2.79948713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1070.916559995 meters 0.015460527201895441 Centerline is valid? [True, True] Translation: X:-296.79, Y:-252.30, Z:-2.80 [[-6.85736221e-01 -7.27840750e-01 3.69840136e-03 -2.96792541e+02] [ 7.27830936e-01 -6.85746187e-01 -3.78101874e-03 -2.52296361e+02] [ 5.28814415e-03 9.90294175e-05 9.99986013e-01 -2.79975511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1070.9465599950001 meters 0.015404270526074224 Centerline is valid? [True, True] Translation: X:-296.81, Y:-252.28, Z:-2.80 [[-6.85786355e-01 -7.27793586e-01 3.68395134e-03 -2.96811377e+02] [ 7.27783860e-01 -6.85796242e-01 -3.76387774e-03 -2.52277337e+02] [ 5.26576607e-03 9.99043320e-05 9.99986131e-01 -2.79987043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1070.9765599950001 meters 0.015489909033568474 Centerline is valid? [True, True] Translation: X:-296.83, Y:-252.26, Z:-2.80 [[-6.86074044e-01 -7.27520636e-01 4.01629855e-03 -2.96830999e+02] [ 7.27509086e-01 -6.86085791e-01 -4.10087710e-03 -2.52258020e+02] [ 5.73899808e-03 1.08388350e-04 9.99983526e-01 -2.80067457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1071.006559995 meters 0.015543854231508865 Centerline is valid? [True, True] Translation: X:-296.85, Y:-252.24, Z:-2.80 [[-6.86544256e-01 -7.27075117e-01 4.33110488e-03 -2.96850530e+02] [ 7.27061694e-01 -6.86557908e-01 -4.41957451e-03 -2.52238483e+02] [ 6.18691696e-03 1.14746960e-04 9.99980854e-01 -2.80125086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1071.036559995 meters 0.01594433685436609 Centerline is valid? [True, True] Translation: X:-296.87, Y:-252.22, Z:-2.80 [[-6.86860654e-01 -7.26774274e-01 4.64725897e-03 -2.96870062e+02] [ 7.26758827e-01 -6.86876365e-01 -4.73991909e-03 -2.52220334e+02] [ 6.63694360e-03 1.21772550e-04 9.99977968e-01 -2.80168472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1071.066559995 meters 0.01557396380071033 Centerline is valid? [True, True] Translation: X:-296.89, Y:-252.20, Z:-2.80 [[-6.87366413e-01 -7.26299020e-01 4.14097310e-03 -2.96888984e+02] [ 7.26286763e-01 -6.87378878e-01 -4.22094804e-03 -2.52200375e+02] [ 5.91208787e-03 1.06196038e-04 9.99982518e-01 -2.80106834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1071.096559995 meters 0.015536855768488289 Centerline is valid? [True, True] Translation: X:-296.91, Y:-252.18, Z:-2.80 [[-6.87481756e-01 -7.26191083e-01 3.91753977e-03 -2.96908358e+02] [ 7.26180124e-01 -6.87492910e-01 -3.99074993e-03 -2.52180701e+02] [ 5.59132783e-03 1.01271749e-04 9.99984363e-01 -2.80043788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1071.126559995 meters 0.015210046077224032 Centerline is valid? [True, True] Translation: X:-296.93, Y:-252.16, Z:-2.80 [[-6.87744062e-01 -7.25944635e-01 3.53445711e-03 -2.96926934e+02] [ 7.25935723e-01 -6.87753138e-01 -3.59825977e-03 -2.52161066e+02] [ 5.04297134e-03 9.11068879e-05 9.99987280e-01 -2.80002408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1071.156559995 meters 0.015217940138719372 Centerline is valid? [True, True] Translation: X:-296.95, Y:-252.14, Z:-2.80 [[-6.87790450e-01 -7.25899918e-01 3.68866002e-03 -2.96945948e+02] [ 7.25890224e-01 -6.87800334e-01 -3.75288256e-03 -2.52141411e+02] [ 5.26127874e-03 9.63654609e-05 9.99986155e-01 -2.79995679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1071.1865599950002 meters 0.015157940895714274 Centerline is valid? [True, True] Translation: X:-296.96, Y:-252.12, Z:-2.80 [[-6.87979425e-01 -7.25720169e-01 3.81425718e-03 -2.96964856e+02] [ 7.25709813e-01 -6.87989991e-01 -3.87822900e-03 -2.52122391e+02] [ 5.43867976e-03 9.99021064e-05 9.99985205e-01 -2.80053879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1071.2165599950001 meters 0.015395082042488626 Centerline is valid? [True, True] Translation: X:-296.98, Y:-252.10, Z:-2.80 [[-6.88352893e-01 -7.25364893e-01 4.00842251e-03 -2.96983680e+02] [ 7.25353465e-01 -6.88364556e-01 -4.07297221e-03 -2.52103849e+02] [ 5.71364704e-03 1.03880958e-04 9.99983672e-01 -2.80112886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1071.246559995 meters 0.015076760607447373 Centerline is valid? [True, True] Translation: X:-297.00, Y:-252.08, Z:-2.80 [[-6.88718088e-01 -7.25014971e-01 4.54830636e-03 -2.97001393e+02] [ 7.25000269e-01 -6.88733096e-01 -4.61864986e-03 -2.52083372e+02] [ 6.48115942e-03 1.16575635e-04 9.99978990e-01 -2.80202724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1071.276559995 meters 0.015072380009815964 Centerline is valid? [True, True] Translation: X:-297.02, Y:-252.06, Z:-2.80 [[-6.89048066e-01 -7.24699466e-01 4.84225149e-03 -2.97020612e+02] [ 7.24682816e-01 -6.89065069e-01 -4.91405934e-03 -2.52063580e+02] [ 6.89784254e-03 1.23073362e-04 9.99976202e-01 -2.80247435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1071.306559995 meters 0.01526933200420203 Centerline is valid? [True, True] Translation: X:-297.04, Y:-252.04, Z:-2.80 [[-6.89233314e-01 -7.24520801e-01 5.20074736e-03 -2.97039017e+02] [ 7.24501615e-01 -6.89252922e-01 -5.27440560e-03 -2.52044823e+02] [ 7.40604689e-03 1.32653808e-04 9.99972566e-01 -2.80301034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1071.336559995 meters 0.014932948663524523 Centerline is valid? [True, True] Translation: X:-297.06, Y:-252.03, Z:-2.80 [[-6.89938493e-01 -7.23849631e-01 5.15625629e-03 -2.97057266e+02] [ 7.23830777e-01 -6.89957749e-01 -5.22602091e-03 -2.52025031e+02] [ 7.34045230e-03 1.26624003e-04 9.99973051e-01 -2.80289220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1071.366559995 meters 0.015003773462614207 Centerline is valid? [True, True] Translation: X:-297.08, Y:-252.01, Z:-2.80 [[-6.90396328e-01 -7.23414317e-01 4.96340766e-03 -2.97076571e+02] [ 7.23396858e-01 -6.90414159e-01 -5.02744169e-03 -2.52005763e+02] [ 7.06373022e-03 1.19586220e-04 9.99975045e-01 -2.80292267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1071.396559995 meters 0.015118995185519925 Centerline is valid? [True, True] Translation: X:-297.10, Y:-251.99, Z:-2.80 [[-6.90862707e-01 -7.22970453e-01 4.73755161e-03 -2.97095370e+02] [ 7.22954557e-01 -6.90878941e-01 -4.79555105e-03 -2.51987586e+02] [ 6.74011636e-03 1.11967149e-04 9.99977279e-01 -2.80313320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1071.4265599950002 meters 0.01481059690607988 Centerline is valid? [True, True] Translation: X:-297.11, Y:-251.97, Z:-2.80 [[-6.91414423e-01 -7.22444521e-01 4.47330093e-03 -2.97114472e+02] [ 7.22430355e-01 -6.91428886e-01 -4.52527342e-03 -2.51967983e+02] [ 6.36222847e-03 1.02809073e-04 9.99979756e-01 -2.80300859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1071.4565599950001 meters 0.014446971615342365 Centerline is valid? [True, True] Translation: X:-297.13, Y:-251.95, Z:-2.80 [[-6.92406438e-01 -7.21493468e-01 4.52787073e-03 -2.97133666e+02] [ 7.21478952e-01 -6.92421235e-01 -4.57761489e-03 -2.51948375e+02] [ 6.43791309e-03 9.71934157e-05 9.99979272e-01 -2.80295223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1071.486559995 meters 0.014600142774552311 Centerline is valid? [True, True] Translation: X:-297.15, Y:-251.93, Z:-2.80 [[-6.93044583e-01 -7.20879701e-01 4.65432189e-03 -2.97153045e+02] [ 7.20864370e-01 -6.93060205e-01 -4.70237349e-03 -2.51930220e+02] [ 6.61557088e-03 9.61803439e-05 9.99978112e-01 -2.80352425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1071.516559995 meters 0.014513332270229199 Centerline is valid? [True, True] Translation: X:-297.17, Y:-251.91, Z:-2.80 [[-6.93735051e-01 -7.20214891e-01 4.71062062e-03 -2.97172960e+02] [ 7.20199191e-01 -6.93751037e-01 -4.75638163e-03 -2.51911338e+02] [ 6.69361482e-03 9.29165060e-05 9.99977593e-01 -2.80393422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1071.546559995 meters 0.014313212477414591 Centerline is valid? [True, True] Translation: X:-297.19, Y:-251.89, Z:-2.80 [[-6.94152153e-01 -7.19813248e-01 4.65585897e-03 -2.97192060e+02] [ 7.19797921e-01 -6.94167761e-01 -4.69818726e-03 -2.51891691e+02] [ 6.61376462e-03 9.00208057e-05 9.99978125e-01 -2.80376697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1071.576559995 meters 0.01447566153519509 Centerline is valid? [True, True] Translation: X:-297.21, Y:-251.87, Z:-2.80 [[-6.94476689e-01 -7.19500863e-01 4.54286090e-03 -2.97211153e+02] [ 7.19486283e-01 -6.94491542e-01 -4.58119855e-03 -2.51873753e+02] [ 6.45115477e-03 8.69905053e-05 9.99979187e-01 -2.80414963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1071.606559995 meters 0.01447566153519509 Centerline is valid? [True, True] Translation: X:-297.23, Y:-251.85, Z:-2.80 [[-6.94691868e-01 -7.19293097e-01 4.54423095e-03 -2.97230080e+02] [ 7.19278522e-01 -6.94706725e-01 -4.57983955e-03 -2.51854842e+02] [ 6.45115478e-03 8.69904339e-05 9.99979187e-01 -2.80414971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1071.636559995 meters 0.013927259179105348 Centerline is valid? [True, True] Translation: X:-297.25, Y:-251.83, Z:-2.80 [[-6.95227192e-01 -7.18775910e-01 4.51028663e-03 -2.97248948e+02] [ 7.18761558e-01 -6.95241817e-01 -4.54306973e-03 -2.51833922e+02] [ 6.40118895e-03 8.33550294e-05 9.99979509e-01 -2.80373994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1071.666559995 meters 0.014302539602635445 Centerline is valid? [True, True] Translation: X:-297.27, Y:-251.82, Z:-2.80 [[-6.95989556e-01 -7.18036658e-01 4.67932431e-03 -2.97268519e+02] [ 7.18021214e-01 -6.96005281e-01 -4.71021208e-03 -2.51816243e+02] [ 6.63893937e-03 8.15957091e-05 9.99977959e-01 -2.80488340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1071.6965599950001 meters 0.014182704431707034 Centerline is valid? [True, True] Translation: X:-297.29, Y:-251.80, Z:-2.81 [[-6.96841092e-01 -7.17207948e-01 5.02515879e-03 -2.97287978e+02] [ 7.17190136e-01 -6.96859206e-01 -5.05535353e-03 -2.51796811e+02] [ 7.12756789e-03 8.12162417e-05 9.99974595e-01 -2.80575871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1071.7265599950001 meters 0.013660144937981782 Centerline is valid? [True, True] Translation: X:-297.31, Y:-251.78, Z:-2.81 [[-6.97707309e-01 -7.16359798e-01 5.75776383e-03 -2.97306046e+02] [ 7.16336414e-01 -6.97731061e-01 -5.78875173e-03 -2.51776321e+02] [ 8.16419969e-03 8.56415010e-05 9.99966669e-01 -2.80576112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1071.756559995 meters 0.013450333270536081 Centerline is valid? [True, True] Translation: X:-297.32, Y:-251.76, Z:-2.81 [[-6.98749287e-01 -7.15340402e-01 6.12726771e-03 -2.97324672e+02] [ 7.15313914e-01 -6.98776147e-01 -6.15641332e-03 -2.51756657e+02] [ 8.68551970e-03 8.11304323e-05 9.99962277e-01 -2.80647781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1071.786559995 meters 0.013199689496800088 Centerline is valid? [True, True] Translation: X:-297.34, Y:-251.74, Z:-2.81 [[-7.00951911e-01 -7.13172421e-01 7.17754053e-03 -2.97341831e+02] [ 7.13136008e-01 -7.00988655e-01 -7.20699009e-03 -2.51736535e+02] [ 1.01712011e-02 6.68091231e-05 9.99948270e-01 -2.80699677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1071.816559995 meters 0.013063933769566133 Centerline is valid? [True, True] Translation: X:-297.36, Y:-251.72, Z:-2.81 [[-7.02073592e-01 -7.12066368e-01 7.35928267e-03 -2.97360112e+02] [ 7.12028074e-01 -7.02112160e-01 -7.38491624e-03 -2.51716553e+02] [ 1.04255923e-02 5.52611932e-05 9.99945651e-01 -2.80687761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1071.846559995 meters 0.01292712823271486 Centerline is valid? [True, True] Translation: X:-297.38, Y:-251.70, Z:-2.81 [[-7.04137250e-01 -7.10025998e-01 7.33587203e-03 -2.97377373e+02] [ 7.09987886e-01 -7.04175462e-01 -7.35666566e-03 -2.51696497e+02] [ 1.03891650e-02 2.82779445e-05 9.99946031e-01 -2.80691252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1071.876559995 meters 0.012870927473320857 Centerline is valid? [True, True] Translation: X:-297.40, Y:-251.68, Z:-2.81 [[-7.05147850e-01 -7.09027019e-01 6.86995357e-03 -2.97395763e+02] [ 7.08993589e-01 -7.05181315e-01 -6.88507065e-03 -2.51677346e+02] [ 9.72626401e-03 1.57602708e-05 9.99952699e-01 -2.80659184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1071.906559995 meters 0.012796931684012918 Centerline is valid? [True, True] Translation: X:-297.42, Y:-251.66, Z:-2.81 [[-7.05932406e-01 -7.08251748e-01 6.23702211e-03 -2.97415033e+02] [ 7.08224197e-01 -7.05959958e-01 -6.24703822e-03 -2.51657815e+02] [ 8.82756361e-03 7.22325537e-06 9.99961036e-01 -2.80593518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1071.9365599950002 meters 0.012734052805349927 Centerline is valid? [True, True] Translation: X:-297.43, Y:-251.64, Z:-2.80 [[-7.06658836e-01 -7.07530517e-01 5.81870416e-03 -2.97434488e+02] [ 7.07506542e-01 -7.06682792e-01 -5.82446559e-03 -2.51638220e+02] [ 8.23296525e-03 8.61184898e-07 9.99966109e-01 -2.80466157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1071.9665599950001 meters 0.012648371339576619 Centerline is valid? [True, True] Translation: X:-297.45, Y:-251.62, Z:-2.80 [[-7.07595137e-01 -7.06598832e-01 5.21667859e-03 -2.97453018e+02] [ 7.06579561e-01 -7.07614366e-01 -5.21848151e-03 -2.51619804e+02] [ 7.37876965e-03 -6.57367605e-06 9.99972777e-01 -2.80430393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1071.996559995 meters 0.012710854394231278 Centerline is valid? [True, True] Translation: X:-297.47, Y:-251.60, Z:-2.80 [[-7.07963541e-01 -7.06233288e-01 4.70829726e-03 -2.97471536e+02] [ 7.06217602e-01 -7.07979197e-01 -4.70692364e-03 -2.51601575e+02] [ 6.65756268e-03 -7.24792396e-06 9.99977838e-01 -2.80417166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1072.026559995 meters 0.012645101954136373 Centerline is valid? [True, True] Translation: X:-297.96, Y:-252.09, Z:-1.78 [[-7.54742998e-01 6.56003630e-01 4.71630155e-03 -2.97958379e+02] [ 6.55990878e-01 7.54757734e-01 -4.09034530e-03 -2.52086732e+02] [-6.24294644e-03 6.69131800e-06 -9.99980513e-01 -1.78112863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1072.056559995 meters 0.01257692416408894 Centerline is valid? [True, True] Translation: X:-297.94, Y:-252.06, Z:-1.78 [[-7.99784125e-01 6.00269678e-01 4.65481656e-03 -2.97939872e+02] [ 6.00259520e-01 7.99797671e-01 -3.49210289e-03 -2.52064526e+02] [-5.81911492e-03 1.16949608e-06 -9.99983069e-01 -1.78164115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1072.086559995 meters 0.012630208770155553 Centerline is valid? [True, True] Translation: X:-297.92, Y:-252.04, Z:-1.78 [[-8.40731099e-01 5.41432002e-01 4.75469353e-03 -2.97924353e+02] [ 5.41423318e-01 8.40744544e-01 -3.06638168e-03 -2.52039867e+02] [-5.65771981e-03 -3.70049160e-06 -9.99983995e-01 -1.78158243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1072.116559995 meters 0.01265007807964453 Centerline is valid? [True, True] Translation: X:-297.91, Y:-252.02, Z:-1.78 [[-8.77552658e-01 4.79454351e-01 4.98576257e-03 -2.97906507e+02] [ 4.79446542e-01 8.77566821e-01 -2.73633162e-03 -2.52015792e+02] [-5.68728591e-03 -1.08684584e-05 -9.99983827e-01 -1.78104179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1072.146559995 meters 0.012791644697142094 Centerline is valid? [True, True] Translation: X:-297.58, Y:-251.43, Z:-2.81 [[-8.40119637e-01 -5.42373383e-01 5.48716790e-03 -2.97580463e+02] [ 5.42362303e-01 -8.40137554e-01 -3.46730939e-03 -2.51427573e+02] [ 6.49055214e-03 6.30783184e-05 9.99978934e-01 -2.80511663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1072.1765599950002 meters 0.012938911236637606 Centerline is valid? [True, True] Translation: X:-297.94, Y:-251.99, Z:-1.78 [[-8.80916714e-01 4.73228345e-01 6.37781658e-03 -2.97944517e+02] [ 4.73215623e-01 8.80939801e-01 -3.47009957e-03 -2.51989902e+02] [-7.26062195e-03 -3.87862645e-05 -9.99973641e-01 -1.77932911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1072.2065599950001 meters 0.012894876333467626 Centerline is valid? [True, True] Translation: X:-297.62, Y:-251.41, Z:-2.81 [[-8.41092116e-01 -5.40854819e-01 6.33385134e-03 -2.97623169e+02] [ 5.40839971e-01 -8.41115962e-01 -4.00800591e-03 -2.51407834e+02] [ 7.49525278e-03 5.44978004e-05 9.99971909e-01 -2.80595807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1072.236559995 meters 0.012909859559228834 Centerline is valid? [True, True] Translation: X:-297.65, Y:-251.43, Z:-2.81 [[-8.02514383e-01 -5.96597439e-01 6.49317470e-03 -2.97647450e+02] [ 5.96578418e-01 -8.02540649e-01 -4.76422416e-03 -2.51429172e+02] [ 8.05336057e-03 5.03294811e-05 9.99967570e-01 -2.80677482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1072.266559995 meters 0.012996645286382428 Centerline is valid? [True, True] Translation: X:-298.03, Y:-251.97, Z:-1.78 [[-8.49531903e-01 5.27491558e-01 6.94276011e-03 -2.98032200e+02] [ 5.27473437e-01 8.49560271e-01 -4.37263701e-03 -2.51969720e+02] [-8.20482227e-03 -5.25731001e-05 -9.99966339e-01 -1.77772621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1072.296559995 meters 0.012786576116193502 Centerline is valid? [True, True] Translation: X:-298.02, Y:-251.95, Z:-1.78 [[-8.84764969e-01 4.65981168e-01 7.24575583e-03 -2.98018807e+02] [ 4.65965050e-01 8.84794636e-01 -3.87606673e-03 -2.51946413e+02] [-8.21717999e-03 -5.31390824e-05 -9.99966237e-01 -1.77898933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1072.326559995 meters 0.012713388218247437 Centerline is valid? [True, True] Translation: X:-298.01, Y:-251.92, Z:-1.78 [[-9.15586857e-01 4.02052924e-01 7.35896674e-03 -2.98008357e+02] [ 4.02039472e-01 9.15616428e-01 -3.28927152e-03 -2.51920265e+02] [-8.06045207e-03 -5.30186705e-05 -9.99967513e-01 -1.77885337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1072.356559995 meters 0.012695989274678769 Centerline is valid? [True, True] Translation: X:-298.00, Y:-251.89, Z:-1.78 [[-9.41724523e-01 3.36311159e-01 7.05180037e-03 -2.98000455e+02] [ 3.36301346e-01 9.41750924e-01 -2.56956116e-03 -2.51893664e+02] [-7.50521161e-03 -4.82888021e-05 -9.99971835e-01 -1.77904236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1072.386559995 meters 0.012667715317607702 Centerline is valid? [True, True] Translation: X:-298.00, Y:-251.87, Z:-1.78 [[-9.63132713e-01 2.68933035e-01 7.09932420e-03 -2.97999324e+02] [ 2.68925380e-01 9.63158876e-01 -2.02963954e-03 -2.51865057e+02] [-7.38361424e-03 -4.56237786e-05 -9.99972740e-01 -1.77867392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1072.416559995 meters 0.012648503507186087 Centerline is valid? [True, True] Translation: X:-297.80, Y:-251.23, Z:-2.81 [[-9.38904476e-01 -3.44111545e-01 6.75492596e-03 -2.97803729e+02] [ 3.44102883e-01 -9.38928775e-01 -2.44178054e-03 -2.51231424e+02] [ 7.18263923e-03 3.17908204e-05 9.99974204e-01 -2.80579793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1072.4465599950001 meters 0.012565366259919393 Centerline is valid? [True, True] Translation: X:-298.04, Y:-251.86, Z:-1.78 [[-9.63699904e-01 2.66874902e-01 7.76412160e-03 -2.98036653e+02] [ 2.66865933e-01 9.63731179e-01 -2.18827323e-03 -2.51857167e+02] [-8.06652126e-03 -3.68591430e-05 -9.99967465e-01 -1.77808365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1072.4765599950001 meters 0.012646219157045094 Centerline is valid? [True, True] Translation: X:-298.03, Y:-251.83, Z:-1.78 [[-9.79973930e-01 1.98973716e-01 7.78179970e-03 -2.98029496e+02] [ 1.98967187e-01 9.80004826e-01 -1.61222977e-03 -2.51830995e+02] [-7.94699261e-03 -3.16203480e-05 -9.99968422e-01 -1.77789201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1072.506559995 meters 0.012477905895802357 Centerline is valid? [True, True] Translation: X:-297.89, Y:-251.18, Z:-2.81 [[-9.62270392e-01 -2.71971049e-01 8.21223358e-03 -2.97885256e+02] [ 2.71961766e-01 -9.62305432e-01 -2.24819521e-03 -2.51178661e+02] [ 8.51412099e-03 7.00418620e-05 9.99963752e-01 -2.80685998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1072.536559995 meters 0.012695871030340157 Centerline is valid? [True, True] Translation: X:-298.08, Y:-251.82, Z:-1.78 [[-9.80855275e-01 1.94572890e-01 8.01999963e-03 -2.98075614e+02] [ 1.94566070e-01 9.80888061e-01 -1.62956485e-03 -2.51823387e+02] [-8.18379104e-03 -3.79474691e-05 -9.99966512e-01 -1.77782253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1072.566559995 meters 0.012568378189295773 Centerline is valid? [True, True] Translation: X:-297.94, Y:-251.17, Z:-2.81 [[-9.62829977e-01 -2.70002890e-01 7.54160394e-03 -2.97937482e+02] [ 2.69994716e-01 -9.62859512e-01 -2.10099522e-03 -2.51168505e+02] [ 7.82877987e-03 1.32920346e-05 9.99969355e-01 -2.80642104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1072.596559995 meters 0.012816326483518053 Centerline is valid? [True, True] Translation: X:-298.12, Y:-251.81, Z:-1.78 [[-9.82301909e-01 1.87147994e-01 7.65423773e-03 -2.98123392e+02] [ 1.87141798e-01 9.82331728e-01 -1.52419961e-03 -2.51813294e+02] [-7.80425148e-03 -6.47963748e-05 -9.99969544e-01 -1.77861283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1072.626559995 meters 0.013055448851534488 Centerline is valid? [True, True] Translation: X:-298.12, Y:-251.78, Z:-1.78 [[-9.93264537e-01 1.15552296e-01 8.55725586e-03 -2.98122595e+02] [ 1.15547283e-01 9.93301394e-01 -1.07963263e-03 -2.51784603e+02] [-8.62468820e-03 -8.35931452e-05 -9.99962803e-01 -1.77823629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1072.656559995 meters 0.013764928472860195 Centerline is valid? [True, True] Translation: X:-298.13, Y:-251.75, Z:-1.78 [[-9.99008279e-01 4.35211586e-02 9.40034467e-03 -2.98126711e+02] [ 4.35182665e-02 9.99052500e-01 -5.12085442e-04 -2.51754762e+02] [-9.41372439e-03 -1.02490892e-04 -9.99955685e-01 -1.77636123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1072.6865599950002 meters 0.013666071693603064 Centerline is valid? [True, True] Translation: X:-298.09, Y:-251.09, Z:-2.81 [[-9.90950746e-01 -1.33760902e-01 1.11642431e-02 -2.98088634e+02] [ 1.33755182e-01 -9.91013603e-01 -1.26084750e-03 -2.51091452e+02] [ 1.12325689e-02 2.43837598e-04 9.99936883e-01 -2.80851042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1072.7165599950001 meters 0.013913045705116978 Centerline is valid? [True, True] Translation: X:-298.19, Y:-251.75, Z:-1.78 [[-9.99228696e-01 3.73535052e-02 1.21131931e-02 -2.98192927e+02] [ 3.73489187e-02 9.99302103e-01 -6.04708543e-04 -2.51753090e+02] [-1.21273273e-02 -1.51827464e-04 -9.99926450e-01 -1.77526054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1072.746559995 meters 0.013866421619340102 Centerline is valid? [True, True] Translation: X:-298.16, Y:-251.09, Z:-2.81 [[-9.91535441e-01 -1.29211873e-01 1.27185535e-02 -2.98155291e+02] [ 1.29203882e-01 -9.91616988e-01 -1.45143698e-03 -2.51086834e+02] [ 1.27994766e-02 2.04135285e-04 9.99918063e-01 -2.80950553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1072.776559995 meters 0.013741076273209349 Centerline is valid? [True, True] Translation: X:-298.26, Y:-251.75, Z:-1.78 [[-9.99355721e-01 3.36273994e-02 1.25435886e-02 -2.98257039e+02] [ 3.36229132e-02 9.99434428e-01 -5.68419371e-04 -2.51752050e+02] [-1.25556088e-02 -1.46301158e-04 -9.99921165e-01 -1.77541833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1072.806559995 meters 0.013707140450747527 Centerline is valid? [True, True] Translation: X:-298.26, Y:-251.73, Z:-1.78 [[-9.99251814e-01 -3.67387186e-02 1.20862881e-02 -2.98259118e+02] [-3.67376175e-02 9.99324897e-01 3.13181214e-04 -2.51725257e+02] [-1.20896345e-02 -1.31074533e-04 -9.99926909e-01 -1.77576590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1072.836559995 meters 0.013272230239117734 Centerline is valid? [True, True] Translation: X:-298.27, Y:-251.70, Z:-1.78 [[-9.94411362e-01 -1.04965192e-01 1.13292589e-02 -2.98270989e+02] [-1.04959427e-01 9.94475892e-01 1.10386332e-03 -2.51701014e+02] [-1.13825421e-02 -9.14183033e-05 -9.99935213e-01 -1.77803917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1072.866559995 meters 0.012984721921073594 Centerline is valid? [True, True] Translation: X:-298.28, Y:-251.68, Z:-1.78 [[-9.84748980e-01 -1.73670469e-01 1.03929707e-02 -2.98278312e+02] [-1.73661461e-01 9.84803820e-01 1.76994834e-03 -2.51675462e+02] [-1.05424250e-02 -6.19036480e-05 -9.99944425e-01 -1.77867612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1072.896559995 meters 0.012793439508271522 Centerline is valid? [True, True] Translation: X:-298.30, Y:-251.65, Z:-1.78 [[-9.70791039e-01 -2.39741682e-01 9.41720315e-03 -2.98302415e+02] [-2.39730539e-01 9.70836714e-01 2.31155784e-03 -2.51654775e+02] [-9.69674333e-03 -1.35515473e-05 -9.99952986e-01 -1.78006717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1072.9265599950002 meters 0.012718593149255603 Centerline is valid? [True, True] Translation: X:-298.34, Y:-251.64, Z:-1.78 [[-9.51552478e-01 -3.07359586e-01 8.82990152e-03 -2.98339675e+02] [-3.07346287e-01 9.51593445e-01 2.85916571e-03 -2.51637575e+02] [-9.28126840e-03 6.80877178e-06 -9.99956928e-01 -1.78101499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1072.9565599950001 meters 0.01287166295046227 Centerline is valid? [True, True] Translation: X:-298.40, Y:-251.63, Z:-1.78 [[-9.27066088e-01 -3.74797284e-01 8.68707957e-03 -2.98398204e+02] [-3.74780579e-01 9.27106788e-01 3.53871515e-03 -2.51630396e+02] [-9.38015125e-03 2.48740994e-05 -9.99956005e-01 -1.78150772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1072.986559995 meters 0.013081062849921419 Centerline is valid? [True, True] Translation: X:-298.47, Y:-251.63, Z:-1.78 [[-8.97920813e-01 -4.40064378e-01 9.03084449e-03 -2.98466354e+02] [-4.40041525e-01 8.97966225e-01 4.48513602e-03 -2.51631270e+02] [-1.00831419e-02 5.33504023e-05 -9.99949163e-01 -1.78101036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1073.016559995 meters 0.013146350550986638 Centerline is valid? [True, True] Translation: X:-298.54, Y:-251.64, Z:-1.78 [[-8.63133318e-01 -5.04896211e-01 8.98284248e-03 -2.98542594e+02] [-5.04868084e-01 8.63180057e-01 5.32975970e-03 -2.51640683e+02] [-1.04447860e-02 6.51427022e-05 -9.99945450e-01 -1.78056570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1073.046559995 meters 0.013213358282677551 Centerline is valid? [True, True] Translation: X:-298.62, Y:-251.66, Z:-1.78 [[-8.24009097e-01 -5.66511565e-01 8.58227773e-03 -2.98623493e+02] [-5.66479773e-01 8.24053785e-01 6.00221747e-03 -2.51658798e+02] [-1.04725841e-02 8.41950587e-05 -9.99945158e-01 -1.78149580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1073.076559995 meters 0.013525714194046043 Centerline is valid? [True, True] Translation: X:-298.71, Y:-251.69, Z:-1.78 [[-7.79421269e-01 -6.26442885e-01 8.47331302e-03 -2.98710955e+02] [-6.26404544e-01 7.79467320e-01 6.93144239e-03 -2.51689078e+02] [-1.09468234e-02 9.47918456e-05 -9.99940077e-01 -1.78118478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1073.106559995 meters 0.013495672977921017 Centerline is valid? [True, True] Translation: X:-298.80, Y:-251.73, Z:-1.78 [[-7.30107809e-01 -6.83290577e-01 7.52162514e-03 -2.98799120e+02] [-6.83252999e-01 7.30146546e-01 7.16661824e-03 -2.51728397e+02] [-1.03887713e-02 9.32310079e-05 -9.99946031e-01 -1.78094971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1073.136559995 meters 0.013250188692165701 Centerline is valid? [True, True] Translation: X:-298.89, Y:-251.78, Z:-1.78 [[-6.76534522e-01 -7.36381469e-01 6.58575062e-03 -2.98888019e+02] [-7.36345252e-01 6.76566570e-01 7.30389888e-03 -2.51775893e+02] [-9.83415449e-03 9.19535393e-05 -9.99951639e-01 -1.78216843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1073.166559995 meters 0.013170234945617237 Centerline is valid? [True, True] Translation: X:-298.98, Y:-251.83, Z:-1.78 [[-6.18372048e-01 -7.85867309e-01 5.34625082e-03 -2.98976842e+02] [-7.85836838e-01 6.18395154e-01 6.92084615e-03 -2.51833599e+02] [-8.74496234e-03 7.83769658e-05 -9.99961759e-01 -1.78250538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1073.1965599950001 meters 0.01317087671995376 Centerline is valid? [True, True] Translation: X:-299.06, Y:-251.90, Z:-1.78 [[-5.56335537e-01 -8.30945070e-01 4.58929194e-03 -2.99062731e+02] [-8.30915748e-01 5.56354461e-01 6.98096368e-03 -2.51902696e+02] [-8.35407040e-03 7.04432311e-05 -9.99965102e-01 -1.78246084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1073.2265599950001 meters 0.013103370043559706 Centerline is valid? [True, True] Translation: X:-299.14, Y:-251.98, Z:-1.78 [[-4.90637113e-01 -8.71355232e-01 3.90941988e-03 -2.99143512e+02] [-8.71326562e-01 4.90652684e-01 7.06874059e-03 -2.51978933e+02] [-8.07755145e-03 6.18050907e-05 -9.99967374e-01 -1.78246833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1073.256559995 meters 0.012900611560091754 Centerline is valid? [True, True] Translation: X:-299.22, Y:-252.07, Z:-1.78 [[-4.21200054e-01 -9.06961448e-01 3.38339061e-03 -2.99220995e+02] [-9.06931241e-01 4.21213640e-01 7.40222733e-03 -2.52065795e+02] [-8.13866509e-03 4.93159056e-05 -9.99966879e-01 -1.78282475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1073.286559995 meters 0.01260360036440936 Centerline is valid? [True, True] Translation: X:-299.29, Y:-252.16, Z:-1.78 [[-3.46340325e-01 -9.38104233e-01 2.97096949e-03 -2.99294337e+02] [-9.38069402e-01 3.46353068e-01 8.08396147e-03 -2.52156555e+02] [-8.61260288e-03 1.28262749e-05 -9.99962911e-01 -1.78218249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1073.316559995 meters 0.012723386619239637 Centerline is valid? [True, True] Translation: X:-299.36, Y:-252.25, Z:-1.78 [[-2.70158720e-01 -9.62812654e-01 2.46151015e-03 -2.99359389e+02] [-9.62773300e-01 2.70169933e-01 8.70519204e-03 -2.52254622e+02] [-9.04649509e-03 -1.80927147e-05 -9.99959080e-01 -1.78139152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1073.346559995 meters 0.012939955986701137 Centerline is valid? [True, True] Translation: X:-299.42, Y:-252.36, Z:-1.78 [[-1.91917537e-01 -9.81409277e-01 1.86809969e-03 -2.99417678e+02] [-9.81365513e-01 1.91926621e-01 9.26837123e-03 -2.52360243e+02] [-9.45460357e-03 -5.45256395e-05 -9.99955303e-01 -1.78087734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1073.376559995 meters 0.014297378134361195 Centerline is valid? [True, True] Translation: X:-299.47, Y:-252.47, Z:-1.78 [[-1.08455210e-01 -9.94100673e-01 1.14847006e-03 -2.99472797e+02] [-9.94056756e-01 1.08461215e-01 9.34514516e-03 -2.52471113e+02] [-9.41457956e-03 -1.28114740e-04 -9.99955674e-01 -1.77984955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1073.406559995 meters 0.014579277460667799 Centerline is valid? [True, True] Translation: X:-299.51, Y:-252.58, Z:-1.78 [[-2.82615136e-02 -9.99600474e-01 4.22758819e-04 -2.99512490e+02] [-9.99557592e-01 2.82642177e-02 9.26037432e-03 -2.52582813e+02] [-9.26862351e-03 -1.60859592e-04 -9.99957033e-01 -1.78103051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1073.4365599950002 meters 0.015295299409319224 Centerline is valid? [True, True] Translation: X:-299.54, Y:-252.70, Z:-1.78 [[ 5.13124271e-02 -9.98682613e-01 -2.72060460e-04 -2.99543860e+02] [-9.98644284e-01 -5.13128418e-02 8.75133867e-03 -2.52696984e+02] [-8.75376996e-03 -1.77360805e-04 -9.99961669e-01 -1.78159271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1073.4665599950001 meters 0.016567864763983656 Centerline is valid? [True, True] Translation: X:-299.57, Y:-252.82, Z:-1.78 [[ 1.31169786e-01 -9.91359571e-01 -8.29577079e-04 -2.99566788e+02] [-9.91329910e-01 -1.31172281e-01 7.67084425e-03 -2.52815604e+02] [-7.71338238e-03 -1.83798429e-04 -9.99970235e-01 -1.78283712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1073.496559995 meters 0.01710080955797501 Centerline is valid? [True, True] Translation: X:-299.58, Y:-252.93, Z:-1.78 [[ 2.07360645e-01 -9.78263654e-01 -1.33637770e-03 -2.99578369e+02] [-9.78237441e-01 -2.07364875e-01 7.16363709e-03 -2.52934621e+02] [-7.28504359e-03 -1.78161709e-04 -9.99973448e-01 -1.78322868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1073.526559995 meters 0.01710080955797501 Centerline is valid? [True, True] Translation: X:-299.58, Y:-253.05, Z:-1.78 [[ 2.81694322e-01 -9.59502355e-01 -1.88125103e-03 -2.99580269e+02] [-9.59476544e-01 -2.81700548e-01 7.04016001e-03 -2.53051058e+02] [-7.28499955e-03 -1.78156867e-04 -9.99973448e-01 -1.78323076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1073.556559995 meters 0.01735851416887555 Centerline is valid? [True, True] Translation: X:-299.57, Y:-253.17, Z:-1.78 [[ 3.54732052e-01 -9.34965231e-01 -2.27765986e-03 -2.99573671e+02] [-9.34942732e-01 -3.54739322e-01 6.48852481e-03 -2.53166190e+02] [-6.87452061e-03 -1.72206189e-04 -9.99976356e-01 -1.78435394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1073.586559995 meters 0.017264016950102806 Centerline is valid? [True, True] Translation: X:-299.56, Y:-253.28, Z:-1.78 [[ 4.25117239e-01 -9.05134548e-01 -2.60452417e-03 -2.99559800e+02] [-9.05115170e-01 -4.25125187e-01 5.92486258e-03 -2.53275288e+02] [-6.47004664e-03 -1.61366881e-04 -9.99979056e-01 -1.78470434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1073.616559995 meters 0.016844439560232797 Centerline is valid? [True, True] Translation: X:-299.54, Y:-253.39, Z:-1.79 [[ 4.92933692e-01 -8.70061589e-01 -3.03427733e-03 -2.99535572e+02] [-8.70043065e-01 -4.92943005e-01 5.67972552e-03 -2.53386924e+02] [-6.43743679e-03 -1.59776122e-04 -9.99979267e-01 -1.78502667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1073.646559995 meters 0.01757406361640904 Centerline is valid? [True, True] Translation: X:-299.51, Y:-253.49, Z:-1.78 [[ 5.57907853e-01 -8.29895684e-01 -3.46136478e-03 -2.99506505e+02] [-8.29877902e-01 -5.57918568e-01 5.43509180e-03 -2.53494273e+02] [-6.44171891e-03 -1.59770254e-04 -9.99979239e-01 -1.78426611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1073.6765599950002 meters 0.01772621411784927 Centerline is valid? [True, True] Translation: X:-299.47, Y:-253.60, Z:-1.78 [[ 6.18891634e-01 -7.85463849e-01 -4.43713031e-03 -2.99468477e+02] [-7.85441577e-01 -6.18907514e-01 5.91764816e-03 -2.53597768e+02] [-7.39427199e-03 -1.77276311e-04 -9.99972646e-01 -1.78365714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1073.7065599950001 meters 0.016202988497349715 Centerline is valid? [True, True] Translation: X:-299.42, Y:-253.69, Z:-1.78 [[ 6.76331366e-01 -7.36578247e-01 -5.32633841e-03 -2.99421380e+02] [-7.36553184e-01 -6.76352313e-01 6.07919523e-03 -2.53694813e+02] [-8.08028427e-03 -1.88418894e-04 -9.99967336e-01 -1.78386412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1073.736559995 meters 0.017663098109738703 Centerline is valid? [True, True] Translation: X:-299.37, Y:-253.79, Z:-1.78 [[ 7.29750037e-01 -6.83687758e-01 -5.99449780e-03 -2.99368341e+02] [-6.83662538e-01 -7.29774632e-01 5.87541260e-03 -2.53794119e+02] [-8.39158009e-03 -1.89368984e-04 -9.99964772e-01 -1.78220660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1073.766559995 meters 0.015539515605509072 Centerline is valid? [True, True] Translation: X:-299.36, Y:-253.80, Z:-1.78 [[ 7.79878007e-01 -6.25884551e-01 -7.66965356e-03 -2.99364121e+02] [-6.25851633e-01 -7.79915692e-01 6.42248996e-03 -2.53800031e+02] [-1.00014204e-02 -2.08693470e-04 -9.99949963e-01 -1.78240516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1073.796559995 meters 0.015743254843525286 Centerline is valid? [True, True] Translation: X:-299.36, Y:-253.81, Z:-1.78 [[ 8.25626339e-01 -5.64150991e-01 -8.64910644e-03 -2.99364328e+02] [-5.64117392e-01 -8.25671615e-01 6.16051817e-03 -2.53808396e+02] [-1.06167841e-02 -2.07174693e-04 -9.99943619e-01 -1.78163379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1073.826559995 meters 0.015118347744315535 Centerline is valid? [True, True] Translation: X:-299.36, Y:-253.82, Z:-1.78 [[ 8.66495791e-01 -4.99087924e-01 -9.81266489e-03 -2.99361613e+02] [-4.99053205e-01 -8.66551326e-01 5.89042731e-03 -2.53815650e+02] [-1.14430189e-02 -2.06988601e-04 -9.99934505e-01 -1.78158542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1073.856559995 meters 0.01455426604351147 Centerline is valid? [True, True] Translation: X:-299.36, Y:-253.82, Z:-1.78 [[ 9.01261263e-01 -4.33125801e-01 -1.14094844e-02 -2.99358649e+02] [-4.33088510e-01 -9.01333461e-01 5.68641915e-03 -2.53820641e+02] [-1.27466849e-02 -1.83632694e-04 -9.99918741e-01 -1.78046887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1073.886559995 meters 0.014073644266788784 Centerline is valid? [True, True] Translation: X:-299.35, Y:-253.83, Z:-1.78 [[ 9.31459068e-01 -3.63638726e-01 -1.22834056e-02 -2.99354673e+02] [-3.63604863e-01 -9.31540043e-01 4.96505258e-03 -2.53826509e+02] [-1.32479696e-02 -1.58437216e-04 -9.99912229e-01 -1.77976783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1073.916559995 meters 0.0137076508792458 Centerline is valid? [True, True] Translation: X:-299.35, Y:-253.83, Z:-1.78 [[ 9.56239330e-01 -2.92270667e-01 -1.35721049e-02 -2.99349999e+02] [-2.92239273e-01 -9.56335631e-01 4.28576711e-03 -2.53832340e+02] [-1.42320915e-02 -1.31917005e-04 -9.99898710e-01 -1.77929466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1073.9465599950001 meters 0.01323862846254477 Centerline is valid? [True, True] Translation: X:-299.35, Y:-253.83, Z:-1.78 [[ 9.74647119e-01 -2.23305824e-01 -1.40535849e-02 -2.99345274e+02] [-2.23282088e-01 -9.74748433e-01 3.25596387e-03 -2.53832437e+02] [-1.44257855e-02 -3.55020230e-05 -9.99895942e-01 -1.77860038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1073.9765599950001 meters 0.013356421025807638 Centerline is valid? [True, True] Translation: X:-299.34, Y:-253.83, Z:-1.78 [[ 9.88553273e-01 -1.50184949e-01 -1.43843026e-02 -2.99340724e+02] [-1.50169339e-01 -9.88657919e-01 2.16533902e-03 -2.53834253e+02] [-1.45463560e-02 1.95282376e-05 -9.99894196e-01 -1.77843190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1074.006559995 meters 0.013695595270574292 Centerline is valid? [True, True] Translation: X:-299.34, Y:-253.83, Z:-1.78 [[ 9.96960695e-01 -7.64854400e-02 -1.48104912e-02 -2.99339498e+02] [-7.64782179e-02 -9.97070695e-01 1.05422245e-03 -2.53834663e+02] [-1.48477394e-02 8.16616247e-05 -9.99889763e-01 -1.77862959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1074.036559995 meters 0.01518752165727417 Centerline is valid? [True, True] Translation: X:-299.34, Y:-253.83, Z:-1.78 [[ 9.99873950e-01 -6.06014673e-03 -1.46750795e-02 -2.99340308e+02] [-6.06237781e-03 -9.99981618e-01 -1.07551178e-04 -2.53829920e+02] [-1.46741579e-02 1.96503497e-04 -9.99892310e-01 -1.77855450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1074.066559995 meters 0.015431822148332677 Centerline is valid? [True, True] Translation: X:-299.34, Y:-253.83, Z:-1.78 [[ 9.97557867e-01 6.83108844e-02 -1.45576595e-02 -2.99339642e+02] [ 6.82999026e-02 -9.97664051e-01 -1.25079065e-03 -2.53834601e+02] [-1.46090962e-02 2.53449322e-04 -9.99893250e-01 -1.78037069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1074.096559995 meters 0.016053352439362744 Centerline is valid? [True, True] Translation: X:-299.34, Y:-253.84, Z:-1.78 [[ 9.89697109e-01 1.42509515e-01 -1.38083379e-02 -2.99339215e+02] [ 1.42491482e-01 -9.89793388e-01 -2.28609877e-03 -2.53840438e+02] [-1.39931923e-02 2.94974813e-04 -9.99902047e-01 -1.78113155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1074.126559995 meters 0.017537371168042104 Centerline is valid? [True, True] Translation: X:-299.34, Y:-253.84, Z:-1.78 [[ 9.76715931e-01 2.14149719e-01 -1.28797680e-02 -2.99339475e+02] [ 2.14126314e-01 -9.76800785e-01 -3.18570948e-03 -2.53843697e+02] [-1.32631862e-02 3.53635962e-04 -9.99911978e-01 -1.78228207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1074.156559995 meters 0.01768578316689021 Centerline is valid? [True, True] Translation: X:-299.34, Y:-253.85, Z:-1.78 [[ 9.57463514e-01 2.88296640e-01 -1.21929454e-02 -2.99337534e+02] [ 2.88268392e-01 -9.57541077e-01 -4.05213244e-03 -2.53851891e+02] [-1.28434622e-02 3.64928216e-04 -9.99917453e-01 -1.78288256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1074.1865599950002 meters 0.018168301106878608 Centerline is valid? [True, True] Translation: X:-299.34, Y:-253.86, Z:-1.78 [[ 9.32310952e-01 3.61474743e-01 -1.15021394e-02 -2.99336112e+02] [ 3.61442355e-01 -9.32381829e-01 -4.85265981e-03 -2.53859618e+02] [-1.24784997e-02 3.66827527e-04 -9.99922073e-01 -1.78328869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1074.2165599950001 meters 0.020732392336389485 Centerline is valid? [True, True] Translation: X:-299.34, Y:-253.86, Z:-1.78 [[ 9.01254272e-01 4.33164029e-01 -1.04719843e-02 -2.99336190e+02] [ 4.33130258e-01 -9.01315041e-01 -5.42004985e-03 -2.53864180e+02] [-1.17863276e-02 3.49109802e-04 -9.99930478e-01 -1.78203326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1074.246559995 meters 0.01817424799358423 Centerline is valid? [True, True] Translation: X:-299.33, Y:-253.88, Z:-1.78 [[ 8.64126580e-01 5.03172808e-01 -1.01182846e-02 -2.99330447e+02] [ 5.03133648e-01 -8.64185749e-01 -6.28678171e-03 -2.53875285e+02] [-1.19074150e-02 3.41725722e-04 -9.99929046e-01 -1.78329931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1074.276559995 meters 0.01802484912269064 Centerline is valid? [True, True] Translation: X:-299.33, Y:-253.88, Z:-1.78 [[ 8.21306187e-01 5.70406082e-01 -9.64618506e-03 -2.99326404e+02] [ 5.70362022e-01 -8.21362767e-01 -7.09709289e-03 -2.53882814e+02] [-1.19712422e-02 3.27068682e-04 -9.99928289e-01 -1.78345035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1074.306559995 meters 0.016471413563327843 Centerline is valid? [True, True] Translation: X:-299.32, Y:-253.89, Z:-1.78 [[ 7.71012359e-01 6.36760096e-01 -8.74770342e-03 -2.99317928e+02] [ 6.36715274e-01 -7.71061938e-01 -7.55958739e-03 -2.53894358e+02] [-1.15586647e-02 2.58738927e-04 -9.99933163e-01 -1.78339673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1074.336559995 meters 0.01590655092505354 Centerline is valid? [True, True] Translation: X:-299.31, Y:-253.90, Z:-1.78 [[ 7.16508924e-01 6.97530685e-01 -8.11824019e-03 -2.99312158e+02] [ 6.97482402e-01 -7.16554880e-01 -8.20995032e-03 -2.53902880e+02] [-1.15438569e-02 2.20172998e-04 -9.99933343e-01 -1.78291672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1074.366559995 meters 0.015102497287800104 Centerline is valid? [True, True] Translation: X:-299.31, Y:-253.91, Z:-1.78 [[ 6.57229874e-01 7.53654980e-01 -7.28453006e-03 -2.99305435e+02] [ 7.53605655e-01 -6.57270218e-01 -8.62427241e-03 -2.53909861e+02] [-1.12876305e-02 1.78466423e-04 -9.99936277e-01 -1.78287988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1074.396559995 meters 0.013904382244931927 Centerline is valid? [True, True] Translation: X:-299.30, Y:-253.92, Z:-1.78 [[ 5.90411469e-01 8.07076887e-01 -6.41838674e-03 -2.99296867e+02] [ 8.07027446e-01 -5.90446347e-01 -8.93379520e-03 -2.53918289e+02] [-1.09999726e-02 9.48008872e-05 -9.99939494e-01 -1.78247063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1074.4265599950002 meters 0.01342738910335805 Centerline is valid? [True, True] Translation: X:-299.29, Y:-253.92, Z:-1.78 [[ 5.22391416e-01 8.52687162e-01 -5.64031410e-03 -2.99292331e+02] [ 8.52636320e-01 -5.22421862e-01 -9.31155450e-03 -2.53923487e+02] [-1.08864664e-02 5.51394824e-05 -9.99940739e-01 -1.78231882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1074.4565599950001 meters 0.01315641231898369 Centerline is valid? [True, True] Translation: X:-299.29, Y:-253.93, Z:-1.78 [[ 4.51066831e-01 8.92477715e-01 -4.71620952e-03 -2.99287815e+02] [ 8.92428514e-01 -4.51091485e-01 -9.37121598e-03 -2.53926817e+02] [-1.04910434e-02 1.81648421e-05 -9.99944968e-01 -1.78251783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1074.486559995 meters 0.013146848507199285 Centerline is valid? [True, True] Translation: X:-299.28, Y:-253.93, Z:-1.78 [[ 3.74243409e-01 9.27323124e-01 -3.70057979e-03 -2.99275532e+02] [ 9.27278892e-01 -3.74261702e-01 -9.05733662e-03 -2.53932773e+02] [-9.78406298e-03 -4.18209967e-05 -9.99952134e-01 -1.78396879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1074.516559995 meters 0.013350690226102309 Centerline is valid? [True, True] Translation: X:-299.27, Y:-253.94, Z:-1.78 [[ 2.97957389e-01 9.54574835e-01 -2.87738465e-03 -2.99265198e+02] [ 9.54532428e-01 -2.97971275e-01 -8.99799200e-03 -2.53936330e+02] [-9.44663470e-03 -6.55387475e-05 -9.99955378e-01 -1.78368886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1074.546559995 meters 0.013711760474449537 Centerline is valid? [True, True] Translation: X:-299.26, Y:-253.94, Z:-1.78 [[ 2.19649878e-01 9.75576708e-01 -2.00425135e-03 -2.99255877e+02] [ 9.75539541e-01 -2.19659006e-01 -8.51620518e-03 -2.53939870e+02] [-8.74846328e-03 -8.46430127e-05 -9.99961728e-01 -1.78358395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1074.576559995 meters 0.014196689531800947 Centerline is valid? [True, True] Translation: X:-299.24, Y:-253.94, Z:-1.78 [[ 1.38151944e-01 9.90410273e-01 -1.23752953e-03 -2.99243836e+02] [ 9.90377643e-01 -1.38157439e-01 -8.04032067e-03 -2.53941317e+02] [-8.13419010e-03 -1.14835647e-04 -9.99966911e-01 -1.78403703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1074.606559995 meters 0.014732807487637351 Centerline is valid? [True, True] Translation: X:-299.23, Y:-253.94, Z:-1.78 [[ 5.80855055e-02 9.98311443e-01 -5.79742241e-04 -2.99234420e+02] [ 9.98281049e-01 -5.80882615e-02 -7.79105800e-03 -2.53941376e+02] [-7.81157858e-03 -1.26198151e-04 -9.99969481e-01 -1.78393611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1074.636559995 meters 0.015221425739921088 Centerline is valid? [True, True] Translation: X:-299.23, Y:-253.94, Z:-1.78 [[-2.20822183e-02 9.99756158e-01 3.14626984e-05 -2.99225911e+02] [ 9.99726795e-01 2.20818109e-02 -7.66354164e-03 -2.53942108e+02] [-7.66236770e-03 -1.37773897e-04 -9.99970634e-01 -1.78372441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1074.666559995 meters 0.016627191735785217 Centerline is valid? [True, True] Translation: X:-299.22, Y:-253.94, Z:-1.78 [[-1.01967546e-01 9.94787535e-01 6.16849415e-04 -2.99217068e+02] [ 9.94759605e-01 1.01969306e-01 -7.45582279e-03 -2.53941765e+02] [-7.47985928e-03 -1.46635072e-04 -9.99972015e-01 -1.78291201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1074.6965599950001 meters 0.015714528027167062 Centerline is valid? [True, True] Translation: X:-299.21, Y:-253.94, Z:-1.78 [[-1.81849750e-01 9.83325521e-01 1.26060526e-03 -2.99209218e+02] [ 9.83294898e-01 1.81854038e-01 -7.76224469e-03 -2.53939462e+02] [-7.86205946e-03 -1.72015529e-04 -9.99969079e-01 -1.78383396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1074.7265599950001 meters 0.01814770325757325 Centerline is valid? [True, True] Translation: X:-299.20, Y:-253.94, Z:-1.78 [[-2.58990379e-01 9.65878100e-01 1.86553709e-03 -2.99196063e+02] [ 9.65847870e-01 2.58997037e-01 -7.64372948e-03 -2.53936833e+02] [-7.86607948e-03 -1.77827370e-04 -9.99969046e-01 -1.78157798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1074.756559995 meters 0.017231978622444948 Centerline is valid? [True, True] Translation: X:-299.19, Y:-253.93, Z:-1.78 [[-3.34471354e-01 9.42402305e-01 2.60948573e-03 -2.99193801e+02] [ 9.42368946e-01 3.34481477e-01 -7.93165031e-03 -2.53934844e+02] [-8.34763017e-03 -1.93811506e-04 -9.99965139e-01 -1.78143817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1074.786559995 meters 0.017480333387206906 Centerline is valid? [True, True] Translation: X:-299.19, Y:-253.93, Z:-1.78 [[-4.07599773e-01 9.13153869e-01 3.52660262e-03 -2.99190848e+02] [ 9.13114998e-01 4.07614973e-01 -8.42816421e-03 -2.53932579e+02] [-9.13370678e-03 -2.15124076e-04 -9.99958264e-01 -1.77962941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1074.816559995 meters 0.017174999504006333 Centerline is valid? [True, True] Translation: X:-299.19, Y:-253.93, Z:-1.78 [[-4.77751854e-01 8.78483127e-01 4.53450573e-03 -2.99188166e+02] [ 8.78438845e-01 4.77773317e-01 -8.82346547e-03 -2.53930257e+02] [-9.91773138e-03 -2.32141012e-04 -9.99950791e-01 -1.77875998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1074.846559995 meters 0.017120299966093794 Centerline is valid? [True, True] Translation: X:-299.19, Y:-253.93, Z:-1.78 [[-5.44927737e-01 8.38463624e-01 5.70200568e-03 -2.99185891e+02] [ 8.38412810e-01 5.44957510e-01 -9.23428935e-03 -2.53927625e+02] [-1.08499665e-02 -2.51385782e-04 -9.99941106e-01 -1.77784143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1074.876559995 meters 0.01639630191516034 Centerline is valid? [True, True] Translation: X:-299.18, Y:-253.92, Z:-1.78 [[-6.08631091e-01 7.93422317e-01 7.01593395e-03 -2.99182936e+02] [ 7.93364400e-01 6.08671467e-01 -9.59034661e-03 -2.53923773e+02] [-1.18795938e-02 -2.70790884e-04 -9.99929399e-01 -1.77744852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1074.906559995 meters 0.015704165665040102 Centerline is valid? [True, True] Translation: X:-299.18, Y:-253.92, Z:-1.78 [[-6.67551773e-01 7.44507891e-01 9.09011057e-03 -2.99180288e+02] [ 7.44432834e-01 6.67613597e-01 -1.05755113e-02 -2.53919891e+02] [-1.39422330e-02 -2.92724553e-04 -9.99902760e-01 -1.77596839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1074.9365599950002 meters 0.01572493992871241 Centerline is valid? [True, True] Translation: X:-299.18, Y:-253.92, Z:-1.77 [[-7.22789599e-01 6.90989784e-01 1.04074027e-02 -2.99175655e+02] [ 6.90912400e-01 7.22864466e-01 -1.03450409e-02 -2.53915698e+02] [-1.46714592e-02 -2.86684427e-04 -9.99892327e-01 -1.77441892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1074.9665599950001 meters 0.017137973773651824 Centerline is valid? [True, True] Translation: X:-299.16, Y:-253.90, Z:-1.77 [[-7.67807250e-01 6.40566713e-01 1.20960082e-02 -2.99155501e+02] [ 6.40481836e-01 7.67902480e-01 -1.04306963e-02 -2.53898371e+02] [-1.59701115e-02 -2.61490730e-04 -9.99872436e-01 -1.76946371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1074.996559995 meters 0.014430642755302476 Centerline is valid? [True, True] Translation: X:-299.14, Y:-253.89, Z:-1.77 [[-8.10045973e-01 5.86218315e-01 1.31760692e-02 -2.99139556e+02] [ 5.86136006e-01 8.10153091e-01 -9.82603962e-03 -2.53885621e+02] [-1.64348376e-02 -2.36575250e-04 -9.99864911e-01 -1.77405356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1075.026559995 meters 0.014166822627322611 Centerline is valid? [True, True] Translation: X:-299.13, Y:-253.86, Z:-1.77 [[-8.48513552e-01 5.28993770e-01 1.37965482e-02 -2.99127507e+02] [ 5.28919921e-01 8.48625683e-01 -8.84126257e-03 -2.53863970e+02] [-1.63850779e-02 -2.04661943e-04 -9.99865735e-01 -1.77429409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1075.056559995 meters 0.013641394500791444 Centerline is valid? [True, True] Translation: X:-299.12, Y:-253.85, Z:-1.77 [[-8.81901641e-01 4.71229838e-01 1.38540722e-02 -2.99115112e+02] [ 4.71169355e-01 8.82010444e-01 -7.55093799e-03 -2.53845902e+02] [-1.57776636e-02 -1.31570358e-04 -9.99875516e-01 -1.77484689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1075.086559995 meters 0.013394729533793833 Centerline is valid? [True, True] Translation: X:-299.10, Y:-253.83, Z:-1.78 [[-9.12080004e-01 4.09779238e-01 1.38218021e-02 -2.99098525e+02] [ 4.09730694e-01 9.12184723e-01 -6.30797861e-03 -2.53826609e+02] [-1.51929153e-02 -9.01646105e-05 -9.99884577e-01 -1.77516751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1075.116559995 meters 0.013203480758500991 Centerline is valid? [True, True] Translation: X:-298.81, Y:-253.21, Z:-2.81 [[-8.77985531e-01 -4.78503864e-01 1.32461175e-02 -2.98814305e+02] [ 4.78450793e-01 -8.78085444e-01 -7.12692065e-03 -2.53214310e+02] [ 1.50414820e-02 8.02822065e-05 9.99886867e-01 -2.80916847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1075.146559995 meters 0.01304522907832975 Centerline is valid? [True, True] Translation: X:-299.14, Y:-253.81, Z:-1.78 [[-9.12151923e-01 4.09654030e-01 1.27453544e-02 -2.99140129e+02] [ 4.09613545e-01 9.12240963e-01 -5.75930094e-03 -2.53812613e+02] [-1.39861552e-02 -3.26876259e-05 -9.99902189e-01 -1.77705889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1075.1765599950002 meters 0.012998826005980397 Centerline is valid? [True, True] Translation: X:-298.86, Y:-253.20, Z:-2.81 [[-8.80898396e-01 -4.73177032e-01 1.10232410e-02 -2.98855597e+02] [ 4.73139162e-01 -8.80967362e-01 -5.98668141e-03 -2.53197491e+02] [ 1.25438757e-02 -5.81310358e-05 9.99921321e-01 -2.80727397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1075.2065599950001 meters 0.013041844283024743 Centerline is valid? [True, True] Translation: X:-299.18, Y:-253.79, Z:-1.78 [[-9.13102055e-01 4.07558508e-01 1.18616858e-02 -2.99179136e+02] [ 4.07523950e-01 9.13179097e-01 -5.30732367e-03 -2.53793229e+02] [-1.29948884e-02 -1.22071047e-05 -9.99915563e-01 -1.77672171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1075.236559995 meters 0.012953781801254699 Centerline is valid? [True, True] Translation: X:-298.90, Y:-253.18, Z:-2.81 [[-8.83254268e-01 -4.68739287e-01 1.20573344e-02 -2.98899302e+02] [ 4.68696404e-01 -8.83336560e-01 -6.34053863e-03 -2.53179557e+02] [ 1.36227438e-02 5.09214568e-05 9.99907205e-01 -2.80643249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1075.266559995 meters 0.013295842875584548 Centerline is valid? [True, True] Translation: X:-299.23, Y:-253.77, Z:-1.78 [[-9.13917231e-01 4.05700001e-01 1.27594650e-02 -2.99225322e+02] [ 4.05660621e-01 9.14006296e-01 -5.65256637e-03 -2.53773964e+02] [-1.39554775e-02 1.00346711e-05 -9.99902618e-01 -1.77688048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1075.296559995 meters 0.013119764716882636 Centerline is valid? [True, True] Translation: X:-299.21, Y:-253.75, Z:-1.78 [[-9.40012097e-01 3.40880988e-01 1.33195041e-02 -2.99214217e+02] [ 3.40847147e-01 9.40106458e-01 -4.80321797e-03 -2.53748822e+02] [-1.41590775e-02 2.48319608e-05 -9.99899755e-01 -1.77866578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1075.326559995 meters 0.01320154171721947 Centerline is valid? [True, True] Translation: X:-299.20, Y:-253.72, Z:-1.78 [[-9.61698846e-01 2.73767432e-01 1.36646623e-02 -2.99202383e+02] [ 2.73740247e-01 9.61795920e-01 -3.85807724e-03 -2.53723398e+02] [-1.41988324e-02 3.02596095e-05 -9.99899191e-01 -1.77841312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1075.356559995 meters 0.01316166115719809 Centerline is valid? [True, True] Translation: X:-299.20, Y:-253.70, Z:-1.78 [[-9.78358268e-01 2.06422901e-01 1.43068095e-02 -2.99195217e+02] [ 2.06401652e-01 9.78462868e-01 -2.96226506e-03 -2.53695451e+02] [-1.46101612e-02 5.47926040e-05 -9.99893265e-01 -1.77827329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1075.386559995 meters 0.013276622343219082 Centerline is valid? [True, True] Translation: X:-299.19, Y:-253.67, Z:-1.78 [[-9.90371525e-01 1.37629118e-01 1.49153634e-02 -2.99192434e+02] [ 1.37614636e-01 9.90483832e-01 -1.99790289e-03 -2.53667300e+02] [-1.50483959e-02 7.39061776e-05 -9.99886764e-01 -1.77786799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1075.416559995 meters 0.013276622343219082 Centerline is valid? [True, True] Translation: X:-299.10, Y:-253.00, Z:-2.81 [[-9.80840959e-01 -1.94253168e-01 1.47213868e-02 -2.99100356e+02] [ 1.94230137e-01 -9.80951426e-01 -2.99213193e-03 -2.52999982e+02] [ 1.50221964e-02 -7.54685785e-05 9.99887158e-01 -2.80704810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1075.4465599950001 meters 0.013444842399579994 Centerline is valid? [True, True] Translation: X:-299.25, Y:-253.66, Z:-1.78 [[-9.90796592e-01 1.34591353e-01 1.43972481e-02 -2.99249090e+02] [ 1.34578459e-01 9.90901186e-01 -1.86510115e-03 -2.53660027e+02] [-1.45172767e-02 8.96236087e-05 -9.99894615e-01 -1.77777012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1075.4765599950001 meters 0.01355779627054029 Centerline is valid? [True, True] Translation: X:-299.25, Y:-253.63, Z:-1.78 [[-9.97692022e-01 6.64017125e-02 1.41930436e-02 -2.99253171e+02] [ 6.63967550e-02 9.97792963e-01 -8.20730835e-04 -2.53632326e+02] [-1.42162169e-02 1.23535432e-04 -9.99898937e-01 -1.77839325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1075.506559995 meters 0.013719644953006182 Centerline is valid? [True, True] Translation: X:-299.21, Y:-252.96, Z:-2.81 [[-9.93306049e-01 -1.14728898e-01 1.34303259e-02 -2.99205304e+02] [ 1.14716217e-01 -9.93396826e-01 -1.71334692e-03 -2.52958835e+02] [ 1.35382135e-02 -1.61201678e-04 9.99908341e-01 -2.80569183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1075.536559995 meters 0.014073258687628815 Centerline is valid? [True, True] Translation: X:-299.31, Y:-253.63, Z:-1.78 [[-9.97835189e-01 6.44846459e-02 1.29098992e-02 -2.99312807e+02] [ 6.44811651e-02 9.97918688e-01 -6.86107390e-04 -2.53630833e+02] [-1.29272730e-02 1.47823242e-04 -9.99916429e-01 -1.77975780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1075.566559995 meters 0.014298989463843299 Centerline is valid? [True, True] Translation: X:-299.31, Y:-253.60, Z:-1.78 [[-9.99916564e-01 -4.82741920e-03 1.19817056e-02 -2.99314819e+02] [-4.82516882e-03 9.99988335e-01 2.16718932e-04 -2.53603537e+02] [-1.19826120e-02 1.58887098e-04 -9.99928193e-01 -1.78166657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1075.596559995 meters 0.014521225390728865 Centerline is valid? [True, True] Translation: X:-299.32, Y:-253.58, Z:-1.78 [[-9.97065411e-01 -7.56979828e-02 1.14184715e-02 -2.99323480e+02] [-7.56912323e-02 9.97130779e-01 1.02281415e-03 -2.53575700e+02] [-1.14631344e-02 1.55534432e-04 -9.99934284e-01 -1.78168308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1075.626559995 meters 0.01480349528956196 Centerline is valid? [True, True] Translation: X:-299.34, Y:-253.55, Z:-1.78 [[-9.89093377e-01 -1.46885787e-01 1.09021875e-02 -2.99335781e+02] [-1.46875206e-01 9.89153448e-01 1.76922429e-03 -2.53548589e+02] [-1.10438103e-02 1.48666987e-04 -9.99939004e-01 -1.78142835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1075.656559995 meters 0.014218111264667658 Centerline is valid? [True, True] Translation: X:-299.36, Y:-253.52, Z:-1.78 [[-9.75665681e-01 -2.19073319e-01 9.13021027e-03 -2.99364938e+02] [-2.19062660e-01 9.75708393e-01 2.16382352e-03 -2.53523595e+02] [-9.38245880e-03 1.11080200e-04 -9.99955978e-01 -1.78266300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1075.6865599950002 meters 0.013995549661868443 Centerline is valid? [True, True] Translation: X:-299.40, Y:-253.50, Z:-1.78 [[-9.56899399e-01 -2.90301341e-01 8.28689439e-03 -2.99400014e+02] [-2.90289625e-01 9.56935276e-01 2.60966972e-03 -2.53502759e+02] [-8.68761219e-03 9.15919148e-05 -9.99962258e-01 -1.78299868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1075.7165599950001 meters 0.013671735376656263 Centerline is valid? [True, True] Translation: X:-299.46, Y:-253.49, Z:-1.78 [[-9.32343923e-01 -3.61492448e-01 7.61704472e-03 -2.99462260e+02] [-3.61479758e-01 9.32375035e-01 3.02972378e-03 -2.53492958e+02] [-8.19716460e-03 7.13370746e-05 -9.99966400e-01 -1.78310058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1075.746559995 meters 0.013102646322346815 Centerline is valid? [True, True] Translation: X:-299.53, Y:-253.49, Z:-1.78 [[-9.01337873e-01 -4.33053929e-01 7.37111199e-03 -2.99532255e+02] [-4.33039125e-01 9.01368012e-01 3.58099755e-03 -2.53488572e+02] [-8.19484962e-03 3.57088266e-05 -9.99966421e-01 -1.78237394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1075.776559995 meters 0.012969764883228124 Centerline is valid? [True, True] Translation: X:-299.61, Y:-253.49, Z:-1.78 [[-8.65394522e-01 -5.01032883e-01 7.64020598e-03 -2.99607491e+02] [-5.01013207e-01 8.65428247e-01 4.44023651e-03 -2.53494449e+02] [-8.83675456e-03 1.47122470e-05 -9.99960955e-01 -1.78255919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1075.806559995 meters 0.012863850361334972 Centerline is valid? [True, True] Translation: X:-299.69, Y:-253.51, Z:-1.78 [[-8.24192217e-01 -5.66261686e-01 7.40888929e-03 -2.99688935e+02] [-5.66238889e-01 8.24225517e-01 5.08119120e-03 -2.53510224e+02] [-8.98387950e-03 -7.32300038e-06 -9.99959644e-01 -1.78207547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1075.836559995 meters 0.013050573780957073 Centerline is valid? [True, True] Translation: X:-299.77, Y:-253.54, Z:-1.78 [[-7.77881456e-01 -6.28369173e-01 7.25418724e-03 -2.99773512e+02] [-6.28342224e-01 7.77915279e-01 5.81961097e-03 -2.53535032e+02] [-9.30000723e-03 -3.11446927e-05 -9.99956754e-01 -1.78124810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1075.866559995 meters 0.013485208332399837 Centerline is valid? [True, True] Translation: X:-299.86, Y:-253.57, Z:-1.78 [[-7.25694739e-01 -6.87980788e-01 7.04140676e-03 -2.99863800e+02] [-6.87949355e-01 7.25728896e-01 6.57687156e-03 -2.53571327e+02] [-9.63491363e-03 -7.13301428e-05 -9.99953581e-01 -1.78044616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1075.896559995 meters 0.01350043462564836 Centerline is valid? [True, True] Translation: X:-299.95, Y:-253.62, Z:-1.78 [[-6.70514428e-01 -7.41864559e-01 6.88319692e-03 -2.99949332e+02] [-7.41826866e-01 6.70549751e-01 7.47885601e-03 -2.53617215e+02] [-1.01638242e-02 -9.14595386e-05 -9.99948343e-01 -1.78095817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1075.9265599950002 meters 0.013797032689316983 Centerline is valid? [True, True] Translation: X:-300.04, Y:-253.67, Z:-1.78 [[-6.11653033e-01 -7.91098531e-01 6.60920574e-03 -3.00035037e+02] [-7.91054221e-01 6.11688730e-01 8.37359929e-03 -2.53672906e+02] [-1.06671188e-02 -1.06502694e-04 -9.99943099e-01 -1.78005091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1075.9565599950001 meters 0.013855276091767519 Centerline is valid? [True, True] Translation: X:-300.12, Y:-253.74, Z:-1.78 [[-5.49938346e-01 -8.35180631e-01 6.41318921e-03 -3.00117124e+02] [-8.35126225e-01 5.49975727e-01 9.53351388e-03 -2.53738825e+02] [-1.14893045e-02 -1.12977644e-04 -9.99933990e-01 -1.77874458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1075.986559995 meters 0.013643084152521124 Centerline is valid? [True, True] Translation: X:-300.19, Y:-253.81, Z:-1.78 [[-4.85161344e-01 -8.74405066e-01 5.85239592e-03 -3.00193944e+02] [-8.74344181e-01 4.85196628e-01 1.03191396e-02 -2.53813385e+02] [-1.18626707e-02 -1.10560703e-04 -9.99929630e-01 -1.77914513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1076.016559995 meters 0.01341902016390557 Centerline is valid? [True, True] Translation: X:-300.27, Y:-253.90, Z:-1.78 [[-4.18102903e-01 -9.08385232e-01 5.12180594e-03 -3.00267891e+02] [-9.08319936e-01 4.18134261e-01 1.08918899e-02 -2.53900124e+02] [-1.20356345e-02 -9.83076728e-05 -9.99927564e-01 -1.77942869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1076.046559995 meters 0.013316151010648446 Centerline is valid? [True, True] Translation: X:-300.33, Y:-253.99, Z:-1.78 [[-3.50155414e-01 -9.36682341e-01 4.16881248e-03 -3.00331080e+02] [-9.36618027e-01 3.50180224e-01 1.09764527e-02 -2.53985427e+02] [-1.17412851e-02 -6.11205593e-05 -9.99931067e-01 -1.77856274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1076.076559995 meters 0.01313308604537994 Centerline is valid? [True, True] Translation: X:-300.39, Y:-254.09, Z:-1.78 [[-2.79062836e-01 -9.60266777e-01 3.41326066e-03 -3.00391801e+02] [-9.60196804e-01 2.79083706e-01 1.15923296e-02 -2.54085770e+02] [-1.20843144e-02 -4.24136141e-05 -9.99926981e-01 -1.77875828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1076.106559995 meters 0.013071015896056559 Centerline is valid? [True, True] Translation: X:-300.44, Y:-254.19, Z:-1.78 [[-2.06351715e-01 -9.78474512e-01 2.56874231e-03 -3.00443914e+02] [-9.78399974e-01 2.06367702e-01 1.20773624e-02 -2.54186783e+02] [-1.23474967e-02 -2.10729654e-05 -9.99923767e-01 -1.77917252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1076.136559995 meters 0.013203314944816122 Centerline is valid? [True, True] Translation: X:-300.49, Y:-254.30, Z:-1.78 [[-1.32937302e-01 -9.91122833e-01 1.79002990e-03 -3.00487345e+02] [-9.91032125e-01 1.32949352e-01 1.34088259e-02 -2.54295173e+02] [-1.35277768e-02 8.55599244e-06 -9.99908496e-01 -1.77833120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1076.166559995 meters 0.013367165393504875 Centerline is valid? [True, True] Translation: X:-300.52, Y:-254.41, Z:-1.78 [[-5.73307314e-02 -9.98354924e-01 7.95274407e-04 -3.00524479e+02] [-9.98253369e-01 5.73362426e-02 1.42396502e-02 -2.54408235e+02] [-1.42618230e-02 2.24842075e-05 -9.99898295e-01 -1.77699491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1076.1965599950001 meters 0.013332157774102406 Centerline is valid? [True, True] Translation: X:-300.55, Y:-254.52, Z:-1.78 [[ 1.86346357e-02 -9.99826310e-01 -3.17082962e-04 -3.00553175e+02] [-9.99713677e-01 -1.86372958e-02 1.50071936e-02 -2.54524206e+02] [-1.50104965e-02 3.73385889e-05 -9.99887336e-01 -1.77747089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1076.2265599950001 meters 0.013490515594256475 Centerline is valid? [True, True] Translation: X:-300.57, Y:-254.64, Z:-1.78 [[ 9.47243912e-02 -9.95502415e-01 -1.49359289e-03 -3.00572318e+02] [-9.95386747e-01 -9.47361530e-02 1.51751661e-02 -2.54644078e+02] [-1.52484117e-02 4.92441958e-05 -9.99883735e-01 -1.77713679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1076.256559995 meters 0.013529174182936534 Centerline is valid? [True, True] Translation: X:-300.58, Y:-254.76, Z:-1.78 [[ 1.70956951e-01 -9.85274916e-01 -2.65738082e-03 -3.00584383e+02] [-9.85160263e-01 -1.70977597e-01 1.50305859e-02 -2.54761501e+02] [-1.52636118e-02 4.83628512e-05 -9.99883503e-01 -1.77728454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1076.286559995 meters 0.013342793775861844 Centerline is valid? [True, True] Translation: X:-300.59, Y:-254.88, Z:-1.78 [[ 2.46277884e-01 -9.69191967e-01 -3.75970586e-03 -3.00586593e+02] [-9.69081890e-01 -2.46306576e-01 1.46069296e-02 -2.54884152e+02] [-1.50829591e-02 4.60991595e-05 -9.99886245e-01 -1.77805482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1076.316559995 meters 0.013410837742088977 Centerline is valid? [True, True] Translation: X:-300.58, Y:-255.00, Z:-1.78 [[ 3.20641186e-01 -9.47188925e-01 -4.72974399e-03 -3.00579398e+02] [-9.47087503e-01 -3.20676066e-01 1.38608361e-02 -2.55003813e+02] [-1.46455462e-02 3.51264842e-05 -9.99892748e-01 -1.77818996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1076.346559995 meters 0.013386025154500223 Centerline is valid? [True, True] Translation: X:-300.57, Y:-255.12, Z:-1.78 [[ 3.92740958e-01 -9.19632595e-01 -5.51646425e-03 -3.00565716e+02] [-9.19542913e-01 -3.92779697e-01 1.28429505e-02 -2.55117397e+02] [-1.39775510e-02 2.86729338e-05 -9.99902309e-01 -1.77859097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1076.376559995 meters 0.013429023241829671 Centerline is valid? [True, True] Translation: X:-300.54, Y:-255.23, Z:-1.78 [[ 4.62378531e-01 -8.86660264e-01 -6.29843427e-03 -3.00541083e+02] [-8.86578714e-01 -4.62421427e-01 1.20252892e-02 -2.55234353e+02] [-1.35748770e-02 2.38222079e-05 -9.99907857e-01 -1.77840237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1076.406559995 meters 0.013197656165721801 Centerline is valid? [True, True] Translation: X:-300.51, Y:-255.34, Z:-1.78 [[ 5.28768610e-01 -8.48738248e-01 -6.86615031e-03 -3.00511839e+02] [-8.48667319e-01 -5.28813187e-01 1.09724570e-02 -2.55342076e+02] [-1.29436547e-02 2.51865595e-05 -9.99916227e-01 -1.78000104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1076.4365599950002 meters 0.013221891214588985 Centerline is valid? [True, True] Translation: X:-300.47, Y:-255.45, Z:-1.78 [[ 5.91413438e-01 -8.06330405e-01 -7.83728120e-03 -3.00472660e+02] [-8.06260453e-01 -5.91465363e-01 1.06210016e-02 -2.55448726e+02] [-1.31995169e-02 3.74868120e-05 -9.99912882e-01 -1.78108058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1076.4665599950001 meters 0.013495231426949285 Centerline is valid? [True, True] Translation: X:-300.43, Y:-255.55, Z:-1.78 [[ 6.50178522e-01 -7.59733320e-01 -8.55404353e-03 -3.00426113e+02] [-7.59668685e-01 -6.50234788e-01 9.91006189e-03 -2.55549420e+02] [-1.30911409e-02 5.49296072e-05 -9.99914306e-01 -1.77930101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1076.496559995 meters 0.013477087366695728 Centerline is valid? [True, True] Translation: X:-300.37, Y:-255.65, Z:-1.78 [[ 7.05544335e-01 -7.08601522e-01 -9.54327572e-03 -3.00373987e+02] [-7.08538012e-01 -7.05608871e-01 9.48718504e-03 -2.55645533e+02] [-1.34564538e-02 6.81439414e-05 -9.99909456e-01 -1.78003413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1076.526559995 meters 0.013344330510081484 Centerline is valid? [True, True] Translation: X:-300.38, Y:-255.65, Z:-1.78 [[ 7.58253961e-01 -6.51881178e-01 -1.00925796e-02 -3.00376829e+02] [-6.51824790e-01 -7.58321122e-01 8.57432597e-03 -2.55653736e+02] [-1.32428580e-02 7.70769657e-05 -9.99912307e-01 -1.78118845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1076.556559995 meters 0.013518944790723618 Centerline is valid? [True, True] Translation: X:-300.38, Y:-255.66, Z:-1.78 [[ 8.06571651e-01 -5.91042795e-01 -1.05160085e-02 -3.00378786e+02] [-5.90993893e-01 -8.06640197e-01 7.60330690e-03 -2.55661216e+02] [-1.29765149e-02 8.22849896e-05 -9.99915798e-01 -1.78097724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1076.586559995 meters 0.013350065635379696 Centerline is valid? [True, True] Translation: X:-300.38, Y:-255.67, Z:-1.78 [[ 8.50113922e-01 -5.26499178e-01 -1.02437533e-02 -3.00381113e+02] [-5.26462102e-01 -8.50175634e-01 6.24871615e-03 -2.55670543e+02] [-1.19989333e-02 8.08272723e-05 -9.99928007e-01 -1.78254743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1076.616559995 meters 0.013421917978438629 Centerline is valid? [True, True] Translation: X:-300.38, Y:-255.68, Z:-1.78 [[ 8.88703223e-01 -4.58362934e-01 -1.04882486e-02 -3.00382730e+02] [-4.58332051e-01 -8.88765107e-01 5.32125426e-03 -2.55679081e+02] [-1.17606551e-02 7.80846864e-05 -9.99930838e-01 -1.78295770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1076.646559995 meters 0.013462135691273351 Centerline is valid? [True, True] Translation: X:-300.38, Y:-255.69, Z:-1.78 [[ 9.21921056e-01 -3.87233456e-01 -1.05743775e-02 -3.00383412e+02] [-3.87208894e-01 -9.21981695e-01 4.36200779e-03 -2.55686918e+02] [-1.14384979e-02 7.30661934e-05 -9.99934576e-01 -1.78292340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1076.6765599950002 meters 0.01330231324855806 Centerline is valid? [True, True] Translation: X:-300.38, Y:-255.70, Z:-1.78 [[ 9.49649368e-01 -3.13119939e-01 -1.10445439e-02 -3.00383294e+02] [-3.13099549e-01 -9.49713588e-01 3.57389406e-03 -2.55697179e+02] [-1.16082109e-02 6.40954806e-05 -9.99932621e-01 -1.78295775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1076.7065599950001 meters 0.013354828425520635 Centerline is valid? [True, True] Translation: X:-300.38, Y:-255.71, Z:-1.78 [[ 9.71422058e-01 -2.37070018e-01 -1.17043956e-02 -3.00382271e+02] [-2.37053510e-01 -9.71492565e-01 2.79821365e-03 -2.55705295e+02] [-1.20341059e-02 5.63216052e-05 -9.99927586e-01 -1.78223765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1076.736559995 meters 0.013191006840962912 Centerline is valid? [True, True] Translation: X:-300.38, Y:-255.71, Z:-1.78 [[ 9.87371903e-01 -1.57920455e-01 -1.25640413e-02 -3.00379955e+02] [-1.57908026e-01 -9.87451836e-01 1.98144026e-03 -2.55714036e+02] [-1.27192956e-02 2.75445270e-05 -9.99919106e-01 -1.78182774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1076.766559995 meters 0.013142532419713577 Centerline is valid? [True, True] Translation: X:-300.38, Y:-255.72, Z:-1.78 [[ 9.96854574e-01 -7.82009911e-02 -1.28671415e-02 -3.00380419e+02] [-7.81945181e-02 -9.96937613e-01 1.00615698e-03 -2.55722902e+02] [-1.29064198e-02 3.14773868e-06 -9.99916709e-01 -1.78178828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1076.796559995 meters 0.01307173067742791 Centerline is valid? [True, True] Translation: X:-300.38, Y:-255.73, Z:-1.78 [[ 9.99913348e-01 2.24901293e-03 -1.29706698e-02 -3.00380081e+02] [ 2.24914742e-03 -9.99997471e-01 -4.21865906e-06 -2.55733500e+02] [-1.29706464e-02 -2.49546549e-05 -9.99915877e-01 -1.78188091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1076.826559995 meters 0.013391883605942618 Centerline is valid? [True, True] Translation: X:-300.38, Y:-255.75, Z:-1.78 [[ 9.96212224e-01 8.59262030e-02 -1.33376553e-02 -3.00378709e+02] [ 8.59198277e-02 -9.96301500e-01 -1.05133657e-03 -2.55745562e+02] [-1.33786634e-02 -9.86147037e-05 -9.99910497e-01 -1.78167499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1076.856559995 meters 0.01380970648976337 Centerline is valid? [True, True] Translation: X:-300.38, Y:-255.75, Z:-1.78 [[ 9.85954227e-01 1.66525259e-01 -1.27906773e-02 -3.00377280e+02] [ 1.66513001e-01 -9.86037180e-01 -2.02489367e-03 -2.55754354e+02] [-1.29492793e-02 -1.33361595e-04 -9.99916146e-01 -1.78144994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1076.886559995 meters 0.014393556466458617 Centerline is valid? [True, True] Translation: X:-300.37, Y:-255.76, Z:-1.78 [[ 9.69093699e-01 2.46380835e-01 -1.24051172e-02 -3.00373935e+02] [ 2.46362934e-01 -9.69173078e-01 -2.97499564e-03 -2.55762006e+02] [-1.27556876e-02 -1.73111552e-04 -9.99918628e-01 -1.78142594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1076.916559995 meters 0.016195927829672187 Centerline is valid? [True, True] Translation: X:-300.37, Y:-255.77, Z:-1.78 [[ 9.44879854e-01 3.27180652e-01 -1.24451531e-02 -3.00370861e+02] [ 3.27155830e-01 -9.44961775e-01 -4.03827381e-03 -2.55771417e+02] [-1.30814391e-02 -2.55820826e-04 -9.99914402e-01 -1.78085956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1076.9465599950001 meters 0.01609581128300429 Centerline is valid? [True, True] Translation: X:-300.37, Y:-255.78, Z:-1.78 [[ 9.15330880e-01 4.02516514e-01 -1.22407902e-02 -3.00366573e+02] [ 4.02484780e-01 -9.15412678e-01 -5.06274870e-03 -2.55777494e+02] [-1.32432145e-02 -2.92641553e-04 -9.99912262e-01 -1.78160971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1076.9765599950001 meters 0.01707035892853842 Centerline is valid? [True, True] Translation: X:-300.36, Y:-255.78, Z:-1.78 [[ 8.80095103e-01 4.74644225e-01 -1.20611206e-02 -3.00361406e+02] [ 4.74604690e-01 -8.80177683e-01 -6.13469119e-03 -2.55784813e+02] [-1.35277249e-02 -3.25152716e-04 -9.99908443e-01 -1.78099080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1077.006559995 meters 0.018317471932355903 Centerline is valid? [True, True] Translation: X:-300.36, Y:-255.79, Z:-1.78 [[ 8.38955617e-01 5.44075205e-01 -1.16466467e-02 -3.00356585e+02] [ 5.44028699e-01 -8.39036377e-01 -7.12274335e-03 -2.55790825e+02] [-1.36472683e-02 -3.60444525e-04 -9.99906807e-01 -1.77975809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1077.036559995 meters 0.01700108467544598 Centerline is valid? [True, True] Translation: X:-300.35, Y:-255.79, Z:-1.78 [[ 7.93410008e-01 6.08587307e-01 -1.10475555e-02 -3.00350893e+02] [ 6.08534735e-01 -7.93486833e-01 -8.00767103e-03 -2.55794901e+02] [-1.36394567e-02 -3.69454907e-04 -9.99906910e-01 -1.78138421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1077.066559995 meters 0.01783810063584807 Centerline is valid? [True, True] Translation: X:-300.34, Y:-255.80, Z:-1.78 [[ 7.43292425e-01 6.68897091e-01 -9.64636358e-03 -3.00344020e+02] [ 6.68846708e-01 -7.43354937e-01 -8.21697900e-03 -2.55801101e+02] [-1.26669854e-02 -3.44320273e-04 -9.99919711e-01 -1.78153714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1077.096559995 meters 0.017937807976836775 Centerline is valid? [True, True] Translation: X:-300.34, Y:-255.80, Z:-1.78 [[ 6.89040889e-01 7.24672446e-01 -8.51463710e-03 -3.00339447e+02] [ 7.24622794e-01 -6.89093421e-01 -8.48907284e-03 -2.55803844e+02] [-1.20191776e-02 -3.20581827e-04 -9.99927716e-01 -1.78158951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1077.126559995 meters 0.01741094028651092 Centerline is valid? [True, True] Translation: X:-300.33, Y:-255.81, Z:-1.78 [[ 6.30587200e-01 7.76079866e-01 -7.73462282e-03 -3.00334329e+02] [ 7.76027445e-01 -6.30634557e-01 -9.02554869e-03 -2.55805597e+02] [-1.18822671e-02 -3.10884105e-04 -9.99929355e-01 -1.78205932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1077.156559995 meters 0.017516733560452732 Centerline is valid? [True, True] Translation: X:-300.33, Y:-255.81, Z:-1.78 [[ 5.68446784e-01 8.22690575e-01 -6.96209160e-03 -3.00329568e+02] [ 8.22635245e-01 -5.68489337e-01 -9.54603877e-03 -2.55807799e+02] [-1.18113110e-02 -3.00846889e-04 -9.99930199e-01 -1.78166447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1077.1865599950002 meters 0.015915798098003007 Centerline is valid? [True, True] Translation: X:-300.32, Y:-255.81, Z:-1.78 [[ 5.03411054e-01 8.64024793e-01 -6.20231263e-03 -3.00324419e+02] [ 8.63966077e-01 -5.03449179e-01 -1.00767660e-02 -2.55809143e+02] [-1.18291249e-02 -2.85832316e-04 -9.99929993e-01 -1.78249072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1077.2165599950001 meters 0.017105955985497818 Centerline is valid? [True, True] Translation: X:-300.31, Y:-255.81, Z:-1.78 [[ 4.34647694e-01 9.00583347e-01 -5.56923835e-03 -3.00314827e+02] [ 9.00517754e-01 -4.34683277e-01 -1.08731036e-02 -2.55813748e+02] [-1.22129908e-02 -2.89228616e-04 -9.99925377e-01 -1.78107599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1077.246559995 meters 0.01673749946884457 Centerline is valid? [True, True] Translation: X:-300.31, Y:-255.81, Z:-1.78 [[ 3.63292208e-01 9.31662804e-01 -4.81572291e-03 -3.00310839e+02] [ 9.31591242e-01 -3.63324009e-01 -1.15509125e-02 -2.55814602e+02] [-1.25112233e-02 -2.89928767e-04 -9.99921690e-01 -1.78085721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1077.276559995 meters 0.01649259890175679 Centerline is valid? [True, True] Translation: X:-300.31, Y:-255.82, Z:-1.78 [[ 2.90230310e-01 9.56946997e-01 -4.33726584e-03 -3.00306737e+02] [ 9.56855484e-01 -2.90262553e-01 -1.32375976e-02 -2.55815034e+02] [-1.39266251e-02 -3.08184557e-04 -9.99902973e-01 -1.77924449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1077.306559995 meters 0.01649259890175679 Centerline is valid? [True, True] Translation: X:-300.30, Y:-255.82, Z:-1.78 [[ 2.14387750e-01 9.76743103e-01 -3.28702505e-03 -3.00301423e+02] [ 9.76649345e-01 -2.14412725e-01 -1.35366358e-02 -2.55816317e+02] [-1.39265956e-02 -3.08181981e-04 -9.99902973e-01 -1.77924475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1077.336559995 meters 0.015632108651160825 Centerline is valid? [True, True] Translation: X:-300.29, Y:-255.82, Z:-1.78 [[ 1.37606581e-01 9.90484369e-01 -2.26804862e-03 -3.00294576e+02] [ 9.90384430e-01 -1.37624922e-01 -1.40734320e-02 -2.55817016e+02] [-1.42516544e-02 -3.09643181e-04 -9.99898392e-01 -1.77934440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1077.366559995 meters 0.015367759705744924 Centerline is valid? [True, True] Translation: X:-300.29, Y:-255.82, Z:-1.78 [[ 6.04070759e-02 9.98173048e-01 -1.24558768e-03 -3.00287716e+02] [ 9.98056174e-01 -6.04190675e-02 -1.52777447e-02 -2.55817264e+02] [-1.53250903e-02 -3.20282589e-04 -9.99882513e-01 -1.77861534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1077.396559995 meters 0.015998076499401985 Centerline is valid? [True, True] Translation: X:-300.28, Y:-255.82, Z:-1.78 [[-1.73781629e-02 9.99848987e-01 -4.70275056e-05 -3.00279439e+02] [ 9.99723533e-01 1.73752373e-02 -1.58417084e-02 -2.55818728e+02] [-1.58384990e-02 -3.22314294e-04 -9.99874511e-01 -1.77739145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1077.4265599950002 meters 0.014968388828280355 Centerline is valid? [True, True] Translation: X:-300.27, Y:-255.82, Z:-1.78 [[-9.51457022e-02 9.95462631e-01 1.20267289e-03 -3.00272629e+02] [ 9.95335386e-01 9.51527730e-02 -1.59191804e-02 -2.55817953e+02] [-1.59613869e-02 -3.17578713e-04 -9.99872559e-01 -1.77874470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1077.4565599950001 meters 0.015156904854881198 Centerline is valid? [True, True] Translation: X:-300.26, Y:-255.82, Z:-1.78 [[-1.71891455e-01 9.85112748e-01 2.49019258e-03 -3.00263286e+02] [ 9.84981810e-01 1.71909215e-01 -1.60641274e-02 -2.55817987e+02] [-1.62530638e-02 -3.08491850e-04 -9.99867863e-01 -1.77804481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1077.486559995 meters 0.01474056322886012 Centerline is valid? [True, True] Translation: X:-300.25, Y:-255.82, Z:-1.78 [[-2.47225497e-01 9.68950960e-01 3.68669454e-03 -3.00254961e+02] [ 9.68825605e-01 2.47252823e-01 -1.55881066e-02 -2.55816647e+02] [-1.60156565e-02 -2.82013327e-04 -9.99871702e-01 -1.77805437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1077.516559995 meters 0.015025118269634978 Centerline is valid? [True, True] Translation: X:-300.25, Y:-255.81, Z:-1.78 [[-3.21585743e-01 9.46868303e-01 4.79866088e-03 -3.00246217e+02] [ 9.46750334e-01 3.21621435e-01 -1.49485261e-02 -2.55814975e+02] [-1.56976378e-02 -2.64099087e-04 -9.99876750e-01 -1.77711385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1077.546559995 meters 0.014221325513747623 Centerline is valid? [True, True] Translation: X:-300.24, Y:-255.81, Z:-1.78 [[-3.92264316e-01 9.19833571e-01 5.90830849e-03 -3.00241096e+02] [ 9.19720686e-01 3.92308747e-01 -1.44120220e-02 -2.55813048e+02] [-1.55745428e-02 -2.19328408e-04 -9.99878686e-01 -1.77768720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1077.576559995 meters 0.013792642233287331 Centerline is valid? [True, True] Translation: X:-300.24, Y:-255.81, Z:-1.78 [[-4.61465633e-01 8.87130707e-01 6.96982280e-03 -3.00235763e+02] [ 8.87023268e-01 4.61518227e-01 -1.38075631e-02 -2.55811350e+02] [-1.54658135e-02 -1.89320865e-04 -9.99880379e-01 -1.77851422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1077.606559995 meters 0.012966491701671436 Centerline is valid? [True, True] Translation: X:-300.23, Y:-255.81, Z:-1.78 [[-5.25280789e-01 8.50894066e-01 7.70586676e-03 -3.00230831e+02] [ 8.50799492e-01 5.25337298e-01 -1.26865104e-02 -2.55808984e+02] [-1.48430557e-02 -1.07832672e-04 -9.99889830e-01 -1.77977206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1077.636559995 meters 0.013158981010679333 Centerline is valid? [True, True] Translation: X:-300.22, Y:-255.81, Z:-1.78 [[-5.88159098e-01 8.08700226e-01 8.53351380e-03 -3.00223753e+02] [ 8.08613463e-01 5.88220997e-01 -1.18459665e-02 -2.55806227e+02] [-1.45994278e-02 -6.69988298e-05 -9.99893421e-01 -1.77798283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1077.666559995 meters 0.012853606237329297 Centerline is valid? [True, True] Translation: X:-300.22, Y:-255.80, Z:-1.78 [[-6.47206161e-01 7.62258121e-01 9.31355810e-03 -3.00220127e+02] [ 7.62178773e-01 6.47273170e-01 -1.09982506e-02 -2.55803411e+02] [-1.44119221e-02 -1.95392664e-05 -9.99896143e-01 -1.77936403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1077.6965599950001 meters 0.012731086668341683 Centerline is valid? [True, True] Translation: X:-300.22, Y:-255.80, Z:-1.78 [[-7.02519106e-01 7.11599110e-01 9.67535338e-03 -3.00215301e+02] [ 7.11532168e-01 7.02585729e-01 -9.76051322e-03 -2.55798969e+02] [-1.37433377e-02 2.73781483e-05 -9.99905556e-01 -1.77976162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1077.7265599950001 meters 0.013289816139394358 Centerline is valid? [True, True] Translation: X:-300.21, Y:-255.80, Z:-1.78 [[-7.52230868e-01 6.58817260e-01 1.04182516e-02 -3.00211229e+02] [ 6.58756064e-01 7.52303002e-01 -8.98007824e-03 -2.55796413e+02] [-1.37539125e-02 1.07994394e-04 -9.99905405e-01 -1.77959794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1077.756559995 meters 0.01406115467934664 Centerline is valid? [True, True] Translation: X:-300.19, Y:-255.78, Z:-1.78 [[-7.93865712e-01 6.07995883e-01 1.08736768e-02 -3.00192463e+02] [ 6.07941873e-01 7.93940158e-01 -8.10578022e-03 -2.55779563e+02] [-1.35613297e-02 1.75662430e-04 -9.99908026e-01 -1.77975349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1077.786559995 meters 0.014311548628653036 Centerline is valid? [True, True] Translation: X:-300.18, Y:-255.76, Z:-1.78 [[-8.33797337e-01 5.51957987e-01 1.11526085e-02 -3.00175267e+02] [ 5.51911795e-01 8.33871897e-01 -7.14350477e-03 -2.55758869e+02] [-1.32427613e-02 1.99020904e-04 -9.99912291e-01 -1.78029049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1077.816559995 meters 0.014743229643294898 Centerline is valid? [True, True] Translation: X:-299.80, Y:-255.19, Z:-2.80 [[-8.13356003e-01 -5.81666289e-01 1.07861076e-02 -2.99802158e+02] [ 5.81612001e-01 -8.13427496e-01 -7.94913277e-03 -2.55187051e+02] [ 1.33974591e-02 -1.92145214e-04 9.99910232e-01 -2.80481221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1077.846559995 meters 0.015332929124335095 Centerline is valid? [True, True] Translation: X:-300.21, Y:-255.74, Z:-1.78 [[-8.34779316e-01 5.50467032e-01 1.13815663e-02 -3.00213195e+02] [ 5.50419563e-01 8.34856871e-01 -7.23255451e-03 -2.55738361e+02] [-1.34832617e-02 2.27049853e-04 -9.99909071e-01 -1.77985551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1077.876559995 meters 0.014681179254730373 Centerline is valid? [True, True] Translation: X:-300.20, Y:-255.71, Z:-1.78 [[-8.72002030e-01 4.89366003e-01 1.15487849e-02 -3.00196526e+02] [ 4.89326286e-01 8.72078477e-01 -6.23819053e-03 -2.55713870e+02] [-1.31242051e-02 2.11409214e-04 -9.99913852e-01 -1.78087902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1077.906559995 meters 0.014331924241980773 Centerline is valid? [True, True] Translation: X:-300.19, Y:-255.68, Z:-1.78 [[-9.04812347e-01 4.25657286e-01 1.14232916e-02 -3.00190445e+02] [ 4.25626032e-01 9.04884434e-01 -5.16162365e-03 -2.55684300e+02] [-1.25338415e-02 1.91749461e-04 -9.99921430e-01 -1.78078719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1077.9365599950002 meters 0.014066213944347445 Centerline is valid? [True, True] Translation: X:-300.18, Y:-255.66, Z:-1.78 [[-9.33168470e-01 3.59252281e-01 1.15933130e-02 -3.00177437e+02] [ 3.59226851e-01 9.33240467e-01 -4.27796683e-03 -2.55657893e+02] [-1.23562181e-02 1.72565545e-04 -9.99923644e-01 -1.78075006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1077.9665599950001 meters 0.013627658144615742 Centerline is valid? [True, True] Translation: X:-300.17, Y:-255.63, Z:-1.78 [[-9.57481639e-01 2.88296910e-01 1.06678023e-02 -3.00170701e+02] [ 2.88280299e-01 9.57541059e-01 -3.09671107e-03 -2.55628882e+02] [-1.11076309e-02 1.10273247e-04 -9.99938302e-01 -1.78006399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1077.996559995 meters 0.01317482712356665 Centerline is valid? [True, True] Translation: X:-300.17, Y:-255.60, Z:-1.78 [[-9.76042445e-01 2.17343550e-01 1.01453117e-02 -3.00165135e+02] [ 2.17332640e-01 9.76095167e-01 -2.17911880e-03 -2.55600237e+02] [-1.03764071e-02 7.79949257e-05 -9.99946161e-01 -1.78083289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1078.026559995 meters 0.01265618461104942 Centerline is valid? [True, True] Translation: X:-300.02, Y:-254.95, Z:-2.80 [[-9.61811292e-01 -2.73562050e-01 9.10179126e-03 -3.00023240e+02] [ 2.73548499e-01 -9.61854348e-01 -2.72605695e-03 -2.54946242e+02] [ 9.50034323e-03 -1.32171017e-04 9.99954862e-01 -2.80303462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1078.056559995 meters 0.012588696642260425 Centerline is valid? [True, True] Translation: X:-300.22, Y:-255.58, Z:-1.78 [[-9.78786346e-01 2.04699067e-01 8.69376091e-03 -3.00217211e+02] [ 2.04690873e-01 9.78824955e-01 -1.83152772e-03 -2.55583752e+02] [-8.88458214e-03 -1.31408082e-05 -9.99960531e-01 -1.78274532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1078.086559995 meters 0.013005651293323296 Centerline is valid? [True, True] Translation: X:-300.22, Y:-255.55, Z:-1.78 [[-9.91786709e-01 1.27703230e-01 7.14207054e-03 -3.00217783e+02] [ 1.27699468e-01 9.91812422e-01 -9.82239301e-04 -2.55550066e+02] [-7.20902941e-03 -6.21332765e-05 -9.99974013e-01 -1.78392673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1078.116559995 meters 0.01332268833487655 Centerline is valid? [True, True] Translation: X:-300.13, Y:-254.91, Z:-2.80 [[-9.76753859e-01 -2.14258448e-01 6.72434808e-03 -3.00129627e+02] [ 2.14253630e-01 -9.76777004e-01 -1.43735934e-03 -2.54907590e+02] [ 6.87615495e-03 3.67697058e-05 9.99976358e-01 -2.80047891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1078.146559995 meters 0.013926195695155059 Centerline is valid? [True, True] Translation: X:-300.27, Y:-255.54, Z:-1.78 [[-9.93065346e-01 1.17387053e-01 6.44189134e-03 -3.00270056e+02] [ 1.17383950e-01 9.93086235e-01 -8.59066682e-04 -2.55538715e+02] [-6.49819692e-03 -9.69347029e-05 -9.99978882e-01 -1.78443626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1078.1765599950002 meters 0.015011760671857319 Centerline is valid? [True, True] Translation: X:-300.27, Y:-255.51, Z:-1.78 [[-9.99068326e-01 4.27276930e-02 6.06828959e-03 -3.00272309e+02] [ 4.27262097e-02 9.99086749e-01 -3.73913798e-04 -2.55507453e+02] [-6.07872419e-03 -1.14290419e-04 -9.99981518e-01 -1.78476786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1078.2065599950001 meters 0.015201804148526775 Centerline is valid? [True, True] Translation: X:-300.28, Y:-255.48, Z:-1.78 [[-9.99535927e-01 -2.98160242e-02 6.23980862e-03 -3.00278312e+02] [-2.98162316e-02 9.99555396e-01 5.98018647e-05 -2.55479182e+02] [-6.23881743e-03 -1.26273467e-04 -9.99980531e-01 -1.78486331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1078.236559995 meters 0.015438221259000115 Centerline is valid? [True, True] Translation: X:-300.29, Y:-254.85, Z:-2.80 [[-9.96862784e-01 -7.88778499e-02 6.54789047e-03 -3.00288716e+02] [ 7.88771611e-02 -9.96884277e-01 -3.63780023e-04 -2.54845565e+02] [ 6.55618324e-03 1.53840245e-04 9.99978496e-01 -2.80051805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1078.266559995 meters 0.015882194612984853 Centerline is valid? [True, True] Translation: X:-300.35, Y:-255.48, Z:-1.78 [[-9.99302554e-01 -3.65534489e-02 7.63228062e-03 -3.00351433e+02] [-3.65536809e-02 9.99331685e-01 1.09141786e-04 -2.55478437e+02] [-7.63116936e-03 -1.69922285e-04 -9.99970868e-01 -1.78350283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1078.296559995 meters 0.01618066298915599 Centerline is valid? [True, True] Translation: X:-300.36, Y:-254.85, Z:-2.80 [[-9.97121447e-01 -7.54281239e-02 7.70826295e-03 -3.00355877e+02] [ 7.54272450e-02 -9.97151226e-01 -4.05077508e-04 -2.54848283e+02] [ 7.71685808e-03 1.77501566e-04 9.99970209e-01 -2.80228933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1078.326559995 meters 0.016479654389435716 Centerline is valid? [True, True] Translation: X:-300.42, Y:-255.48, Z:-1.78 [[-9.99122643e-01 -4.10753771e-02 8.17057467e-03 -3.00416709e+02] [-4.10754831e-02 9.99156034e-01 1.54912219e-04 -2.55478743e+02] [-8.17004206e-03 -1.80833996e-04 -9.99966608e-01 -1.78210477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1078.356559995 meters 0.015755180544453337 Centerline is valid? [True, True] Translation: X:-300.43, Y:-254.85, Z:-2.80 [[-9.97546170e-01 -6.93971374e-02 9.25616099e-03 -3.00425750e+02] [ 6.93967120e-02 -9.97589074e-01 -3.67515798e-04 -2.54846875e+02] [ 9.25934962e-03 2.75733162e-04 9.99957093e-01 -2.80323492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1078.386559995 meters 0.015775398508551332 Centerline is valid? [True, True] Translation: X:-300.49, Y:-255.48, Z:-1.78 [[-9.98970771e-01 -4.42181124e-02 1.01073377e-02 -3.00486768e+02] [-4.42179250e-02 9.99021880e-01 2.42118469e-04 -2.55483794e+02] [-1.01081576e-02 -2.05056229e-04 -9.99948890e-01 -1.78122779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1078.416559995 meters 0.015207923310772902 Centerline is valid? [True, True] Translation: X:-300.50, Y:-255.46, Z:-1.78 [[-9.93519990e-01 -1.13056064e-01 1.16771948e-02 -3.00495832e+02] [-1.13050759e-01 9.93588588e-01 1.11551163e-03 -2.55459963e+02] [-1.17284428e-02 -2.11832620e-04 -9.99931197e-01 -1.77974140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1078.4465599950001 meters 0.015051014957538612 Centerline is valid? [True, True] Translation: X:-300.51, Y:-255.44, Z:-1.78 [[-9.83195870e-01 -1.82137751e-01 1.23175307e-02 -3.00505709e+02] [-1.82126082e-01 9.83273002e-01 2.07198739e-03 -2.55435455e+02] [-1.24888825e-02 -2.06174164e-04 -9.99921990e-01 -1.77890080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1078.4765599950001 meters 0.014197970638967519 Centerline is valid? [True, True] Translation: X:-300.53, Y:-255.42, Z:-1.78 [[-9.67949844e-01 -2.50802583e-01 1.30830090e-02 -3.00531450e+02] [-2.50782528e-01 9.68038234e-01 3.17825344e-03 -2.55416252e+02] [-1.34619671e-02 -2.04600136e-04 -9.99909363e-01 -1.77973552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1078.506559995 meters 0.013929400340664082 Centerline is valid? [True, True] Translation: X:-300.57, Y:-255.40, Z:-1.78 [[-9.48321013e-01 -3.17031306e-01 1.33569277e-02 -3.00569472e+02] [-3.17002246e-01 9.48415060e-01 4.29541227e-03 -2.55402315e+02] [-1.40296915e-02 -1.60746365e-04 -9.99901566e-01 -1.77863687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1078.536559995 meters 0.01341349171689401 Centerline is valid? [True, True] Translation: X:-300.63, Y:-255.40, Z:-1.78 [[-9.23280180e-01 -3.83917980e-01 1.26765050e-02 -3.00628207e+02] [-3.83883680e-01 9.23367191e-01 5.13343556e-03 -2.55397879e+02] [-1.36758870e-02 -1.26704076e-04 -9.99906473e-01 -1.77968694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1078.566559995 meters 0.012797393849810306 Centerline is valid? [True, True] Translation: X:-300.69, Y:-255.40, Z:-1.78 [[-8.94708074e-01 -4.46496865e-01 1.17478129e-02 -3.00692012e+02] [-4.46459146e-01 8.94785196e-01 5.80385753e-03 -2.55402637e+02] [-1.31031732e-02 -5.21603028e-05 -9.99914149e-01 -1.78013410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1078.596559995 meters 0.01271270680461442 Centerline is valid? [True, True] Translation: X:-300.77, Y:-255.41, Z:-1.78 [[-8.59967361e-01 -5.10242026e-01 1.04504947e-02 -3.00768077e+02] [-5.10204729e-01 8.60030856e-01 6.16935444e-03 -2.55413581e+02] [-1.21356118e-02 -2.64483601e-05 -9.99926361e-01 -1.78102217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1078.626559995 meters 0.01288254072752963 Centerline is valid? [True, True] Translation: X:-300.85, Y:-255.43, Z:-1.78 [[-8.20281371e-01 -5.71886571e-01 9.17735147e-03 -3.00849921e+02] [-5.71850879e-01 8.20332707e-01 6.38918049e-03 -2.55433398e+02] [-1.11823681e-02 -7.15078331e-06 -9.99937476e-01 -1.78165356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1078.656559995 meters 0.01275699706410067 Centerline is valid? [True, True] Translation: X:-300.93, Y:-255.46, Z:-1.78 [[-7.76416136e-01 -6.30159509e-01 8.77362200e-03 -3.00932257e+02] [-6.30118993e-01 7.76465706e-01 7.14576153e-03 -2.55462415e+02] [-1.13153862e-02 1.96586927e-05 -9.99935979e-01 -1.78240444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1078.6865599950002 meters 0.013085077545093948 Centerline is valid? [True, True] Translation: X:-301.02, Y:-255.50, Z:-1.78 [[-7.27477830e-01 -6.86080089e-01 8.37375576e-03 -3.01018471e+02] [-6.86034104e-01 7.27526021e-01 7.94339579e-03 -2.55502800e+02] [-1.15419309e-02 3.39623027e-05 -9.99933389e-01 -1.78131845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1078.7165599950001 meters 0.012899241823076772 Centerline is valid? [True, True] Translation: X:-301.11, Y:-255.55, Z:-1.78 [[-6.74801205e-01 -7.37957869e-01 7.84329526e-03 -3.01105425e+02] [-7.37907043e-01 6.74846783e-01 8.66118364e-03 -2.55552641e+02] [-1.16846112e-02 5.69543505e-05 -9.99931731e-01 -1.78322528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1078.746559995 meters 0.013483402285972633 Centerline is valid? [True, True] Translation: X:-301.19, Y:-255.61, Z:-1.78 [[-6.19969289e-01 -7.84584495e-01 8.07784696e-03 -3.01187835e+02] [-7.84515377e-01 6.20021900e-01 1.04147627e-02 -2.55611411e+02] [-1.31797033e-02 1.19637856e-04 -9.99913137e-01 -1.78301095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1078.776559995 meters 0.014006547916046596 Centerline is valid? [True, True] Translation: X:-301.27, Y:-255.68, Z:-1.78 [[-5.59901071e-01 -8.28524294e-01 7.63446861e-03 -3.01271978e+02] [-8.28443556e-01 5.59953097e-01 1.15673784e-02 -2.55682775e+02] [-1.38587984e-02 1.51861235e-04 -9.99903951e-01 -1.78194633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1078.806559995 meters 0.014443325627520211 Centerline is valid? [True, True] Translation: X:-301.35, Y:-255.76, Z:-1.78 [[-4.98342419e-01 -8.66950619e-01 7.17344649e-03 -3.01352832e+02] [-8.66854363e-01 4.98393997e-01 1.29204212e-02 -2.55758962e+02] [-1.47765698e-02 2.20460542e-04 -9.99890796e-01 -1.78207575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1078.836559995 meters 0.014869221359987594 Centerline is valid? [True, True] Translation: X:-301.43, Y:-255.84, Z:-1.78 [[-4.32089814e-01 -9.01808560e-01 6.30190723e-03 -3.01427994e+02] [-9.01704016e-01 4.32135694e-01 1.37335713e-02 -2.55844406e+02] [-1.51083312e-02 2.51681197e-04 -9.99885831e-01 -1.78191909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1078.866559995 meters 0.015317439885477499 Centerline is valid? [True, True] Translation: X:-301.50, Y:-255.94, Z:-1.78 [[-3.63168795e-01 -9.31708427e-01 5.27570619e-03 -3.01497236e+02] [-9.31598710e-01 3.63207006e-01 1.43008271e-02 -2.55938102e+02] [-1.52403746e-02 2.78773064e-04 -9.99883820e-01 -1.78183443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1078.896559995 meters 0.015706538521139676 Centerline is valid? [True, True] Translation: X:-301.56, Y:-256.04, Z:-1.78 [[-2.91684208e-01 -9.56505259e-01 4.24414341e-03 -3.01559513e+02] [-9.56388378e-01 2.91714926e-01 1.49556656e-02 -2.56038283e+02] [-1.55432527e-02 3.03282034e-04 -9.99879151e-01 -1.78184732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1078.9265599950002 meters 0.015829464201695155 Centerline is valid? [True, True] Translation: X:-302.26, Y:-255.95, Z:-2.80 [[-3.16925742e-01 9.48435376e-01 5.33027985e-03 -3.02258934e+02] [-9.48315935e-01 -3.16970436e-01 1.50542505e-02 -2.55953221e+02] [ 1.59675248e-02 -2.83709825e-04 9.99872471e-01 -2.80192625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1078.9565599950001 meters 0.01583807849560899 Centerline is valid? [True, True] Translation: X:-301.64, Y:-256.31, Z:-1.78 [[-2.85637517e-01 -9.58328655e-01 4.17106089e-03 -3.01641926e+02] [-9.58207220e-01 2.85667740e-01 1.52599465e-02 -2.56310137e+02] [-1.58155815e-02 3.62072559e-04 -9.99874860e-01 -1.78419257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1078.986559995 meters 0.01572895953680539 Centerline is valid? [True, True] Translation: X:-301.70, Y:-256.42, Z:-1.78 [[-2.10836377e-01 -9.77516730e-01 3.01070152e-03 -3.01697136e+02] [-9.77391336e-01 2.10857566e-01 1.56608725e-02 -2.56415922e+02] [-1.59435940e-02 3.59248023e-04 -9.99872828e-01 -1.78444666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1079.016559995 meters 0.01695365275549437 Centerline is valid? [True, True] Translation: X:-301.74, Y:-256.53, Z:-1.78 [[-1.34661269e-01 -9.90890151e-01 1.74693831e-03 -3.01742833e+02] [-9.90770676e-01 1.34672167e-01 1.53907484e-02 -2.56529916e+02] [-1.54858050e-02 3.41722466e-04 -9.99880030e-01 -1.78278115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1079.046559995 meters 0.015618910277408114 Centerline is valid? [True, True] Translation: X:-301.78, Y:-256.65, Z:-1.78 [[-5.57342288e-02 -9.98445492e-01 5.42685634e-04 -3.01784431e+02] [-9.98332385e-01 5.57360849e-02 1.50312691e-02 -2.56645216e+02] [-1.50381500e-02 2.95975547e-04 -9.99886877e-01 -1.78413549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1079.076559995 meters 0.014595808850127727 Centerline is valid? [True, True] Translation: X:-301.82, Y:-256.77, Z:-1.79 [[ 2.27368238e-02 -9.99741312e-01 -5.88713612e-04 -3.01815117e+02] [-9.99637408e-01 -2.27429497e-02 1.44156420e-02 -2.56765200e+02] [-1.44253019e-02 2.60734238e-04 -9.99895916e-01 -1.78593625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1079.106559995 meters 0.014281490270691994 Centerline is valid? [True, True] Translation: X:-301.83, Y:-256.89, Z:-1.79 [[ 1.01153433e-01 -9.94869537e-01 -1.60856766e-03 -3.01834853e+02] [-9.94776225e-01 -1.01165979e-01 1.36274397e-02 -2.56887886e+02] [-1.37202569e-02 2.21702558e-04 -9.99905848e-01 -1.78654478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1079.136559995 meters 0.013562859783944817 Centerline is valid? [True, True] Translation: X:-301.85, Y:-257.00, Z:-1.79 [[ 1.81893967e-01 -9.83314909e-01 -2.52498860e-03 -3.01848381e+02] [-9.83231304e-01 -1.81911429e-01 1.28231945e-02 -2.57003417e+02] [-1.30685626e-02 1.50186119e-04 -9.99914592e-01 -1.78758300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1079.166559995 meters 0.013104522861778434 Centerline is valid? [True, True] Translation: X:-301.85, Y:-257.13, Z:-1.79 [[ 2.59181964e-01 -9.65822168e-01 -3.49998454e-03 -3.01850665e+02] [-9.65740218e-01 -2.59205567e-01 1.25819800e-02 -2.57126274e+02] [-1.30591707e-02 1.19053542e-04 -9.99914718e-01 -1.78816466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1079.1965599950001 meters 0.012630043793339344 Centerline is valid? [True, True] Translation: X:-301.85, Y:-257.25, Z:-1.79 [[ 3.37323295e-01 -9.41379152e-01 -4.27631825e-03 -3.01847127e+02] [-9.41305356e-01 -3.37350396e-01 1.17871394e-02 -2.57248728e+02] [-1.25387849e-02 4.92445774e-05 -9.99921385e-01 -1.78799977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1079.2265599950001 meters 0.012544370741539605 Centerline is valid? [True, True] Translation: X:-301.83, Y:-257.37, Z:-1.79 [[ 4.10674407e-01 -9.11766699e-01 -5.29322398e-03 -3.01832166e+02] [-9.11691548e-01 -4.10708517e-01 1.17061853e-02 -2.57366743e+02] [-1.28472821e-02 1.83568451e-05 -9.99917470e-01 -1.78757917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1079.256559995 meters 0.012544370741539605 Centerline is valid? [True, True] Translation: X:-301.81, Y:-257.48, Z:-1.79 [[ 4.79241504e-01 -8.77661363e-01 -6.17355900e-03 -3.01807157e+02] [-8.77589043e-01 -4.79281266e-01 1.12667377e-02 -2.57479573e+02] [-1.28472515e-02 1.83594170e-05 -9.99917471e-01 -1.78758062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1079.286559995 meters 0.012496889445356398 Centerline is valid? [True, True] Translation: X:-301.77, Y:-257.60, Z:-1.79 [[ 5.46626383e-01 -8.37348977e-01 -6.80359869e-03 -3.01773063e+02] [-8.37283924e-01 -5.46668721e-01 1.04374196e-02 -2.57595517e+02] [-1.24590772e-02 -8.82512583e-06 -9.99922383e-01 -1.78727065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1079.316559995 meters 0.012514009487849509 Centerline is valid? [True, True] Translation: X:-301.74, Y:-257.70, Z:-1.79 [[ 6.11039621e-01 -7.91567253e-01 -7.20176374e-03 -3.01738872e+02] [-7.91511500e-01 -6.11082059e-01 9.39482231e-03 -2.57697280e+02] [-1.18375023e-02 -4.03298390e-05 -9.99929934e-01 -1.78829448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1079.346559995 meters 0.012493186068071142 Centerline is valid? [True, True] Translation: X:-301.69, Y:-257.80, Z:-1.79 [[ 6.70021542e-01 -7.42302916e-01 -7.58386000e-03 -3.01694038e+02] [-7.42254584e-01 -6.70064459e-01 8.47071001e-03 -2.57796686e+02] [-1.13695078e-02 -4.64033323e-05 -9.99935364e-01 -1.78837942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1079.376559995 meters 0.012410604546561366 Centerline is valid? [True, True] Translation: X:-301.64, Y:-257.89, Z:-1.79 [[ 7.24608021e-01 -6.89113020e-01 -8.15239235e-03 -3.01643351e+02] [-6.89068646e-01 -7.24653878e-01 7.82037290e-03 -2.57889501e+02] [-1.12967835e-02 -4.91469739e-05 -9.99936188e-01 -1.78943124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1079.406559995 meters 0.012526196049262516 Centerline is valid? [True, True] Translation: X:-301.65, Y:-257.90, Z:-1.79 [[ 7.75653913e-01 -6.31098728e-01 -8.68348901e-03 -3.01645292e+02] [-6.31058639e-01 -7.75702516e-01 7.11338976e-03 -2.57899459e+02] [-1.12250555e-02 -3.77378413e-05 -9.99936997e-01 -1.78839953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1079.4365599950002 meters 0.01248200200326466 Centerline is valid? [True, True] Translation: X:-301.64, Y:-257.91, Z:-1.79 [[ 8.22004227e-01 -5.69409114e-01 -9.07261081e-03 -3.01643454e+02] [-5.69374089e-01 -8.22054293e-01 6.31555096e-03 -2.57905518e+02] [-1.10543109e-02 -2.57000646e-05 -9.99938899e-01 -1.78790115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1079.4665599950001 meters 0.012435546738972828 Centerline is valid? [True, True] Translation: X:-301.64, Y:-257.91, Z:-1.79 [[ 8.62336355e-01 -5.06238483e-01 -9.93021928e-03 -3.01641740e+02] [-5.06205070e-01 -8.62393529e-01 5.81621903e-03 -2.57914291e+02] [-1.15081507e-02 1.11902309e-05 -9.99933779e-01 -1.78905781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1079.496559995 meters 0.012568481102051794 Centerline is valid? [True, True] Translation: X:-301.64, Y:-257.92, Z:-1.79 [[ 8.98248155e-01 -4.39360932e-01 -1.05936062e-02 -3.01640127e+02] [-4.39330888e-01 -8.98310620e-01 5.13817557e-03 -2.57923948e+02] [-1.17738626e-02 3.87417047e-05 -9.99930685e-01 -1.78894742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1079.526559995 meters 0.012992049621560172 Centerline is valid? [True, True] Translation: X:-301.64, Y:-257.93, Z:-1.79 [[ 9.28942429e-01 -3.70037723e-01 -1.17493866e-02 -3.01639065e+02] [-3.70009113e-01 -9.29016727e-01 4.60193182e-03 -2.57931831e+02] [-1.26182651e-02 7.24504146e-05 -9.99920384e-01 -1.78740247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1079.556559995 meters 0.013679744070329175 Centerline is valid? [True, True] Translation: X:-301.64, Y:-257.94, Z:-1.79 [[ 9.53499525e-01 -3.01077271e-01 -1.38250678e-02 -3.01636004e+02] [-3.01047989e-01 -9.53599734e-01 4.20183723e-03 -2.57938028e+02] [-1.44486587e-02 1.55559063e-04 -9.99895601e-01 -1.78634998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1079.586559995 meters 0.014255291520198762 Centerline is valid? [True, True] Translation: X:-301.63, Y:-257.94, Z:-1.79 [[ 9.73608922e-01 -2.27723610e-01 -1.50872148e-02 -3.01633437e+02] [-2.27699451e-01 -9.73725792e-01 3.32299652e-03 -2.57944558e+02] [-1.54475349e-02 2.00051467e-04 -9.99880660e-01 -1.78526065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1079.616559995 meters 0.015104028164622143 Centerline is valid? [True, True] Translation: X:-301.63, Y:-257.95, Z:-1.78 [[ 9.87827938e-01 -1.54743902e-01 -1.58205259e-02 -3.01633108e+02] [-1.54728444e-01 -9.87954580e-01 2.20386190e-03 -2.57949526e+02] [-1.59709952e-02 2.70848999e-04 -9.99872419e-01 -1.78461127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1079.646559995 meters 0.01531608377413538 Centerline is valid? [True, True] Translation: X:-301.63, Y:-257.96, Z:-1.79 [[ 9.96804057e-01 -7.82194353e-02 -1.62293298e-02 -3.01632865e+02] [-7.82139094e-02 -9.96936122e-01 9.75906579e-04 -2.57956559e+02] [-1.62559400e-02 2.96571692e-04 -9.99867820e-01 -1.78501341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1079.6765599950002 meters 0.015765118161647152 Centerline is valid? [True, True] Translation: X:-301.63, Y:-257.96, Z:-1.78 [[ 9.99866230e-01 -1.24188130e-03 -1.63088854e-02 -3.01633312e+02] [-1.24692336e-03 -9.99999178e-01 -2.98995155e-04 -2.57962316e+02] [-1.63085007e-02 3.19291089e-04 -9.99866957e-01 -1.78492734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1079.7065599950001 meters 0.01582512880004937 Centerline is valid? [True, True] Translation: X:-301.63, Y:-257.97, Z:-1.79 [[ 9.96977896e-01 7.58669885e-02 -1.67115072e-02 -3.01632091e+02] [ 7.58504739e-02 -9.97117886e-01 -1.62076197e-03 -2.57969238e+02] [-1.67863050e-02 3.48288118e-04 -9.99859040e-01 -1.78597460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1079.736559995 meters 0.015535591436877577 Centerline is valid? [True, True] Translation: X:-301.63, Y:-257.98, Z:-1.79 [[ 9.87965290e-01 1.53825267e-01 -1.61979199e-02 -3.01629745e+02] [ 1.53798961e-01 -9.88098008e-01 -2.86484089e-03 -2.57978381e+02] [-1.64458173e-02 3.39140111e-04 -9.99864701e-01 -1.78654015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1079.766559995 meters 0.015692741656396884 Centerline is valid? [True, True] Translation: X:-301.63, Y:-257.99, Z:-1.79 [[ 9.72472091e-01 2.32494839e-01 -1.56263470e-02 -3.01628779e+02] [ 2.32459801e-01 -9.72597583e-01 -4.04768916e-03 -2.57986331e+02] [-1.61392141e-02 3.03767244e-04 -9.99869708e-01 -1.78613095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1079.796559995 meters 0.014564162903322622 Centerline is valid? [True, True] Translation: X:-301.62, Y:-258.00, Z:-1.79 [[ 9.50820457e-01 3.09401446e-01 -1.45328469e-02 -3.01624876e+02] [ 3.09361047e-01 -9.50931478e-01 -5.00668793e-03 -2.57998037e+02] [-1.53688180e-02 2.64564586e-04 -9.99881858e-01 -1.78760115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1079.826559995 meters 0.015057487505335186 Centerline is valid? [True, True] Translation: X:-301.62, Y:-258.01, Z:-1.79 [[ 9.23004054e-01 3.84550316e-01 -1.35856569e-02 -3.01621958e+02] [ 3.84505013e-01 -9.23104004e-01 -5.90702900e-03 -2.58006603e+02] [-1.48125242e-02 2.28458522e-04 -9.99890263e-01 -1.78666935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1079.856559995 meters 0.013942625081387161 Centerline is valid? [True, True] Translation: X:-301.62, Y:-258.01, Z:-1.79 [[ 8.87874083e-01 4.59933137e-01 -1.18794699e-02 -3.01618230e+02] [ 4.59889826e-01 -8.87953540e-01 -6.31334608e-03 -2.58012793e+02] [-1.34521345e-02 1.42208999e-04 -9.99909506e-01 -1.78764060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1079.886559995 meters 0.01340607256876886 Centerline is valid? [True, True] Translation: X:-301.61, Y:-258.02, Z:-1.79 [[ 8.47770074e-01 5.30253284e-01 -1.08331159e-02 -3.01614137e+02] [ 5.30208460e-01 -8.47839280e-01 -6.89521155e-03 -2.58017898e+02] [-1.28409497e-02 1.01744317e-04 -9.99917547e-01 -1.78800614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1079.916559995 meters 0.012512115856593068 Centerline is valid? [True, True] Translation: X:-301.61, Y:-258.03, Z:-1.79 [[ 7.99954953e-01 5.99979024e-01 -9.86124826e-03 -3.01605337e+02] [ 5.99933125e-01 -8.00015731e-01 -7.42128575e-03 -2.58028073e+02] [-1.23417695e-02 2.06048059e-05 -9.99923837e-01 -1.78995640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1079.9465599950001 meters 0.012397656816107964 Centerline is valid? [True, True] Translation: X:-301.60, Y:-258.04, Z:-1.79 [[ 7.48598107e-01 6.62965256e-01 -8.82859668e-03 -3.01596833e+02] [ 6.62919396e-01 -7.48650165e-01 -7.79778214e-03 -2.58035444e+02] [-1.17791890e-02 -1.52430256e-05 -9.99930623e-01 -1.79004098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1079.9765599950001 meters 0.012595196902788045 Centerline is valid? [True, True] Translation: X:-301.59, Y:-258.04, Z:-1.79 [[ 6.92294766e-01 7.21568808e-01 -8.14932971e-03 -3.01589834e+02] [ 7.21519653e-01 -6.92342728e-01 -8.42247769e-03 -2.58042888e+02] [-1.17195263e-02 -4.90643227e-05 -9.99931323e-01 -1.78952633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1080.006559995 meters 0.013145549108814202 Centerline is valid? [True, True] Translation: X:-301.58, Y:-258.05, Z:-1.79 [[ 6.29826421e-01 7.76698555e-01 -7.61800387e-03 -3.01582172e+02] [ 7.76643845e-01 -6.29872481e-01 -9.21928546e-03 -2.58047431e+02] [-1.19589767e-02 -1.09926246e-04 -9.99928483e-01 -1.78980614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1080.036559995 meters 0.013606811953811738 Centerline is valid? [True, True] Translation: X:-301.58, Y:-258.05, Z:-1.79 [[ 5.65295600e-01 8.24859255e-01 -6.93505600e-03 -3.01576209e+02] [ 8.24800138e-01 -5.65338121e-01 -9.87634098e-03 -2.58051259e+02] [-1.20672428e-02 -1.36983043e-04 -9.99927179e-01 -1.78910677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1080.066559995 meters 0.013975343233300864 Centerline is valid? [True, True] Translation: X:-301.57, Y:-258.05, Z:-1.79 [[ 4.96475877e-01 8.68027965e-01 -6.25743875e-03 -3.01570190e+02] [ 8.67963418e-01 -4.96515278e-01 -1.05869517e-02 -2.58054148e+02] [-1.22966840e-02 -1.75061818e-04 -9.99924378e-01 -1.78975819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1080.096559995 meters 0.013913478637515912 Centerline is valid? [True, True] Translation: X:-301.56, Y:-258.06, Z:-1.79 [[ 4.26373032e-01 9.04532263e-01 -5.23671366e-03 -3.01563517e+02] [ 9.04469083e-01 -4.26405153e-01 -1.06922603e-02 -2.58056545e+02] [-1.19044561e-02 -1.77554159e-04 -9.99929124e-01 -1.79061785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1080.126559995 meters 0.014103256260084579 Centerline is valid? [True, True] Translation: X:-301.56, Y:-258.06, Z:-1.79 [[ 3.53616541e-01 9.35380932e-01 -4.22535296e-03 -3.01556854e+02] [ 9.35320077e-01 -3.53641739e-01 -1.06711756e-02 -2.58058832e+02] [-1.14758754e-02 -1.78553255e-04 -9.99934134e-01 -1.79078852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1080.156559995 meters 0.013918870419468972 Centerline is valid? [True, True] Translation: X:-301.55, Y:-258.06, Z:-1.79 [[ 2.79316965e-01 9.60192814e-01 -3.43415948e-03 -3.01550090e+02] [ 9.60128021e-01 -2.79338017e-01 -1.11559503e-02 -2.58060404e+02] [-1.16711546e-02 -1.81186579e-04 -9.99931874e-01 -1.79069303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1080.1865599950002 meters 0.013657854569992087 Centerline is valid? [True, True] Translation: X:-301.54, Y:-258.06, Z:-1.79 [[ 2.03680254e-01 9.79033903e-01 -2.64034386e-03 -3.01541862e+02] [ 9.78962881e-01 -2.03697285e-01 -1.17937826e-02 -2.58062049e+02] [-1.20843439e-02 -1.82637989e-04 -9.99926965e-01 -1.79041183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1080.2165599950001 meters 0.013759449228703115 Centerline is valid? [True, True] Translation: X:-301.54, Y:-258.06, Z:-1.79 [[ 1.27932459e-01 9.91781028e-01 -1.91810853e-03 -3.01535565e+02] [ 9.91690067e-01 -1.27946706e-01 -1.34332528e-02 -2.58064109e+02] [-1.35682609e-02 -1.83620114e-04 -9.99907930e-01 -1.78876251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1080.246559995 meters 0.013578015837257993 Centerline is valid? [True, True] Translation: X:-301.53, Y:-258.06, Z:-1.79 [[ 5.08469221e-02 9.98706040e-01 -9.14258294e-04 -3.01531728e+02] [ 9.98602246e-01 -5.08548195e-02 -1.43993897e-02 -2.58063922e+02] [-1.44272519e-02 -1.80815740e-04 -9.99895906e-01 -1.78841641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1080.276559995 meters 0.013371460178870434 Centerline is valid? [True, True] Translation: X:-301.52, Y:-258.06, Z:-1.79 [[-2.70841514e-02 9.99633132e-01 2.22379355e-04 -3.01524898e+02] [ 9.99523668e-01 2.70844767e-02 -1.47942201e-02 -2.58064559e+02] [-1.47948156e-02 -1.78415467e-04 -9.99890535e-01 -1.78877177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1080.306559995 meters 0.013389404837994332 Centerline is valid? [True, True] Translation: X:-301.52, Y:-258.06, Z:-1.79 [[-1.05122347e-01 9.94458345e-01 1.37553174e-03 -3.01517960e+02] [ 9.94350105e-01 1.05131201e-01 -1.46730751e-02 -2.58064768e+02] [-1.47363732e-02 -1.74707950e-04 -9.99891399e-01 -1.78879895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1080.336559995 meters 0.013340130346614635 Centerline is valid? [True, True] Translation: X:-301.51, Y:-258.06, Z:-1.79 [[-1.82353407e-01 9.83229865e-01 2.50339180e-03 -3.01510745e+02] [ 9.83124109e-01 1.82370512e-01 -1.44215990e-02 -2.58064294e+02] [-1.46362917e-02 -1.68682882e-04 -9.99892870e-01 -1.78928690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1080.366559995 meters 0.013580959555885572 Centerline is valid? [True, True] Translation: X:-301.50, Y:-258.06, Z:-1.79 [[-2.58864596e-01 9.65906858e-01 3.61437078e-03 -3.01503567e+02] [ 9.65803388e-01 2.58889772e-01 -1.41386668e-02 -2.58064334e+02] [-1.45923588e-02 -1.69228718e-04 -9.99893512e-01 -1.78872833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1080.396559995 meters 0.013959165298179794 Centerline is valid? [True, True] Translation: X:-301.50, Y:-258.07, Z:-1.79 [[-3.34489085e-01 9.42387227e-01 4.83394659e-03 -3.01499526e+02] [ 9.42280647e-01 3.34523961e-01 -1.41739962e-02 -2.58065559e+02] [-1.49744639e-02 -1.86112696e-04 -9.99887859e-01 -1.78767475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1080.4265599950002 meters 0.014128909922266604 Centerline is valid? [True, True] Translation: X:-301.50, Y:-258.07, Z:-1.79 [[-4.08101999e-01 9.12917619e-01 5.84629328e-03 -3.01498515e+02] [ 9.12816941e-01 4.08143825e-01 -1.35591736e-02 -2.58066888e+02] [-1.47645370e-02 -1.96930292e-04 -9.99890979e-01 -1.78774180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1080.4565599950001 meters 0.014772189287622476 Centerline is valid? [True, True] Translation: X:-301.50, Y:-258.07, Z:-1.79 [[-4.78925623e-01 8.77828450e-01 6.88910001e-03 -3.01495225e+02] [ 8.77731354e-01 4.78975124e-01 -1.30575899e-02 -2.58068289e+02] [-1.47620314e-02 -2.06835280e-04 -9.99891014e-01 -1.78684325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1080.486559995 meters 0.014267497362448553 Centerline is valid? [True, True] Translation: X:-301.49, Y:-258.07, Z:-1.79 [[-5.46842033e-01 8.37198402e-01 7.91371085e-03 -3.01493009e+02] [ 8.37104907e-01 5.46899249e-01 -1.25134575e-02 -2.58068142e+02] [-1.48042492e-02 -2.18278374e-04 -9.99890387e-01 -1.78853634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1080.516559995 meters 0.014688537299810612 Centerline is valid? [True, True] Translation: X:-301.49, Y:-258.07, Z:-1.79 [[-6.11994820e-01 7.90807928e-01 9.22830161e-03 -3.01490630e+02] [ 7.90711752e-01 6.12064341e-01 -1.23356345e-02 -2.58068097e+02] [-1.54034319e-02 -2.52417881e-04 -9.99881328e-01 -1.78832658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1080.546559995 meters 0.0151194571237916 Centerline is valid? [True, True] Translation: X:-301.49, Y:-258.07, Z:-1.79 [[-6.72609241e-01 7.39925085e-01 1.03767663e-02 -3.01487404e+02] [ 7.39830790e-01 6.72689227e-01 -1.18155125e-02 -2.58067197e+02] [-1.57229330e-02 -2.70171693e-04 -9.99876351e-01 -1.78776055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1080.576559995 meters 0.01569230347394109 Centerline is valid? [True, True] Translation: X:-301.48, Y:-258.07, Z:-1.79 [[-7.30176426e-01 6.83166800e-01 1.12031386e-02 -3.01483419e+02] [ 6.83079900e-01 7.30262302e-01 -1.09005020e-02 -2.58065441e+02] [-1.56280909e-02 -3.06650826e-04 -9.99877827e-01 -1.78879496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1080.606559995 meters 0.016224041836352013 Centerline is valid? [True, True] Translation: X:-301.46, Y:-258.04, Z:-1.79 [[-7.77627587e-01 6.28619737e-01 1.15135818e-02 -3.01462973e+02] [ 6.28544742e-01 7.77712752e-01 -9.71502409e-03 -2.58043622e+02] [-1.50613153e-02 -3.17869457e-04 -9.99886522e-01 -1.78910626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1080.636559995 meters 0.016784706349881818 Centerline is valid? [True, True] Translation: X:-301.44, Y:-258.02, Z:-1.79 [[-8.20942029e-01 5.70887237e-01 1.19141911e-02 -3.01444863e+02] [ 5.70821230e-01 8.21028412e-01 -8.68733917e-03 -2.58019531e+02] [-1.47413804e-02 -3.30928642e-04 -9.99891285e-01 -1.78940746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1080.666559995 meters 0.017699292984034054 Centerline is valid? [True, True] Translation: X:-301.42, Y:-257.99, Z:-1.79 [[-8.60282815e-01 5.09673265e-01 1.21095567e-02 -3.01424205e+02] [ 5.09617043e-01 8.60367969e-01 -7.57808801e-03 -2.57992601e+02] [-1.42810235e-02 -3.48062411e-04 -9.99897961e-01 -1.78908224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1080.6965599950001 meters 0.018007040652034557 Centerline is valid? [True, True] Translation: X:-301.41, Y:-257.96, Z:-1.79 [[-8.94385422e-01 4.47109934e-01 1.29392425e-02 -3.01412124e+02] [ 4.47057252e-01 8.94478941e-01 -6.87295675e-03 -2.57964541e+02] [-1.46468471e-02 -3.62490139e-04 -9.99892664e-01 -1.78854550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1080.7265599950001 meters 0.017522089309292038 Centerline is valid? [True, True] Translation: X:-301.10, Y:-257.39, Z:-2.80 [[-8.36281391e-01 -5.48164261e-01 1.22220311e-02 -3.01104709e+02] [ 5.48111632e-01 -8.36370628e-01 -7.60339421e-03 -2.57386648e+02] [ 1.43900568e-02 3.40460308e-04 9.99896400e-01 -2.79618353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1080.756559995 meters 0.018242780010647375 Centerline is valid? [True, True] Translation: X:-301.12, Y:-257.42, Z:-2.80 [[-7.97457553e-01 -6.03265153e-01 1.15154439e-02 -3.01117117e+02] [ 6.03208525e-01 -7.97540615e-01 -8.27301383e-03 -2.57415432e+02] [ 1.41748552e-02 3.48836571e-04 9.99899471e-01 -2.79639395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1080.786559995 meters 0.017638603611921235 Centerline is valid? [True, True] Translation: X:-301.50, Y:-257.95, Z:-1.79 [[-8.63954274e-01 5.03430888e-01 1.18470769e-02 -3.01495534e+02] [ 5.03378116e-01 8.64035430e-01 -7.29711309e-03 -2.57948701e+02] [-1.39098863e-02 -3.40812810e-04 -9.99903195e-01 -1.78955707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1080.816559995 meters 0.017872826295317116 Centerline is valid? [True, True] Translation: X:-301.49, Y:-257.92, Z:-1.79 [[-8.97395331e-01 4.41068719e-01 1.18323509e-02 -3.01486405e+02] [ 4.41025576e-01 8.97473275e-01 -6.17756847e-03 -2.57922123e+02] [-1.33439509e-02 -3.25351734e-04 -9.99910913e-01 -1.78984130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1080.846559995 meters 0.018035856624191632 Centerline is valid? [True, True] Translation: X:-301.47, Y:-257.90, Z:-1.79 [[-9.25998673e-01 3.77348596e-01 1.15971963e-02 -3.01472729e+02] [ 3.77314994e-01 9.26071245e-01 -5.04432653e-03 -2.57897748e+02] [-1.26432996e-02 -2.95243614e-04 -9.99920027e-01 -1.78921170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1080.876559995 meters 0.017101330740634187 Centerline is valid? [True, True] Translation: X:-301.46, Y:-257.87, Z:-1.79 [[-9.49785312e-01 3.12659050e-01 1.23361461e-02 -3.01460714e+02] [ 3.12628841e-01 9.49865380e-01 -4.35514371e-03 -2.57874338e+02] [-1.30793532e-02 -2.79816461e-04 -9.99914423e-01 -1.78773408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1080.906559995 meters 0.01498974491365165 Centerline is valid? [True, True] Translation: X:-301.24, Y:-257.25, Z:-2.80 [[-9.10327283e-01 -4.13689947e-01 1.28399938e-02 -3.01240064e+02] [ 4.13654207e-01 -9.10417764e-01 -5.44902417e-03 -2.57253737e+02] [ 1.39439650e-02 3.50922083e-04 9.99902717e-01 -2.79634677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1080.9365599950002 meters 0.01469551863726368 Centerline is valid? [True, True] Translation: X:-301.51, Y:-257.87, Z:-1.79 [[-9.49848863e-01 3.12389540e-01 1.41390375e-02 -3.01505597e+02] [ 3.12350714e-01 9.49954053e-01 -4.93243393e-03 -2.57865535e+02] [-1.49722767e-02 -2.68728313e-04 -9.99887873e-01 -1.78804275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1080.9665599950001 meters 0.014408946565693945 Centerline is valid? [True, True] Translation: X:-301.28, Y:-257.24, Z:-2.80 [[-9.13411922e-01 -4.06778572e-01 1.44863604e-02 -3.01280321e+02] [ 4.06733072e-01 -9.13526730e-01 -6.09279594e-03 -2.57236938e+02] [ 1.57120963e-02 3.26849423e-04 9.99876504e-01 -2.79801165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1080.996559995 meters 0.013850452594712953 Centerline is valid? [True, True] Translation: X:-301.55, Y:-257.86, Z:-1.79 [[-9.49127880e-01 3.14494553e-01 1.57938148e-02 -3.01546116e+02] [ 3.14447511e-01 9.49259257e-01 -5.44303172e-03 -2.57859641e+02] [-1.67042287e-02 -1.99807411e-04 -9.99860455e-01 -1.78634319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1081.026559995 meters 0.013593609104964004 Centerline is valid? [True, True] Translation: X:-301.32, Y:-257.22, Z:-2.80 [[-9.17225682e-01 -3.98076297e-01 1.52417332e-02 -3.01322399e+02] [ 3.98024734e-01 -9.17352291e-01 -6.40975349e-03 -2.57216340e+02] [ 1.65336098e-02 1.87396271e-04 9.99863293e-01 -2.79815054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1081.056559995 meters 0.013462843231995803 Centerline is valid? [True, True] Translation: X:-301.59, Y:-257.85, Z:-1.79 [[-9.49576716e-01 3.13214300e-01 1.41725906e-02 -3.01588827e+02] [ 3.13177178e-01 9.49682464e-01 -4.82426338e-03 -2.57847372e+02] [-1.49704890e-02 -1.42476267e-04 -9.99887926e-01 -1.78826306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1081.086559995 meters 0.013005295364657785 Centerline is valid? [True, True] Translation: X:-301.59, Y:-257.82, Z:-1.79 [[-9.69343656e-01 2.45296480e-01 1.42307502e-02 -3.01585927e+02] [ 2.45267976e-01 9.69448100e-01 -3.74191264e-03 -2.57820814e+02] [-1.47138517e-02 -1.36851987e-04 -9.99891736e-01 -1.79037075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1081.116559995 meters 0.013005295364657785 Centerline is valid? [True, True] Translation: X:-301.41, Y:-257.16, Z:-2.79 [[-9.44758029e-01 -3.27473327e-01 1.39099648e-02 -3.01407700e+02] [ 3.27439924e-01 -9.44860414e-01 -4.67910483e-03 -2.57159005e+02] [ 1.46752571e-02 1.34055964e-04 9.99892304e-01 -2.79474923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1081.146559995 meters 0.012679587591202577 Centerline is valid? [True, True] Translation: X:-301.63, Y:-257.81, Z:-1.79 [[-9.69970696e-01 2.42853031e-01 1.33885632e-02 -3.01630389e+02] [ 2.42828324e-01 9.70063087e-01 -3.46587209e-03 -2.57811700e+02] [-1.38294484e-02 -1.10672019e-04 -9.99904363e-01 -1.79185348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1081.1765599950002 meters 0.0128159302107315 Centerline is valid? [True, True] Translation: X:-301.45, Y:-257.15, Z:-2.79 [[-9.46767896e-01 -3.21680736e-01 1.23310392e-02 -3.01450560e+02] [ 3.21654181e-01 -9.46848193e-01 -4.13359929e-03 -2.57147011e+02] [ 1.30053215e-02 5.27712205e-05 9.99915426e-01 -2.79394154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1081.2065599950001 meters 0.012442307469240663 Centerline is valid? [True, True] Translation: X:-301.68, Y:-257.80, Z:-1.79 [[-9.70214561e-01 2.41986697e-01 1.12313814e-02 -3.01677708e+02] [ 2.41969788e-01 9.70279565e-01 -2.86124551e-03 -2.57802419e+02] [-1.15899632e-02 -5.83670668e-05 -9.99932833e-01 -1.79382311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1081.236559995 meters 0.012447637268300657 Centerline is valid? [True, True] Translation: X:-301.67, Y:-257.78, Z:-1.79 [[-9.84766317e-01 1.73546467e-01 1.08131712e-02 -3.01669794e+02] [ 1.73535517e-01 9.84825681e-01 -1.95002401e-03 -2.57775922e+02] [-1.09875085e-02 -4.38487083e-05 -9.99939635e-01 -1.79426556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1081.266559995 meters 0.012435604869139994 Centerline is valid? [True, True] Translation: X:-301.67, Y:-257.75, Z:-1.79 [[-9.94529615e-01 1.03920442e-01 1.05540262e-02 -3.01674370e+02] [ 1.03914220e-01 9.94585613e-01 -1.13771713e-03 -2.57746641e+02] [-1.06151147e-02 -3.47799776e-05 -9.99943658e-01 -1.79422100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1081.296559995 meters 0.01235397577377676 Centerline is valid? [True, True] Translation: X:-301.67, Y:-257.72, Z:-1.79 [[-9.99383793e-01 3.34427269e-02 1.06591700e-02 -3.01665967e+02] [ 3.34405035e-02 9.99440635e-01 -3.86803100e-04 -2.57717754e+02] [-1.06661434e-02 -3.01167374e-05 -9.99943115e-01 -1.79402498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1081.326559995 meters 0.012364236550596456 Centerline is valid? [True, True] Translation: X:-301.67, Y:-257.69, Z:-1.79 [[-9.99221735e-01 -3.78572209e-02 1.10795376e-02 -3.01669375e+02] [-3.78552605e-02 9.99283158e-01 3.86676271e-04 -2.57688998e+02] [-1.10862338e-02 -3.30434465e-05 -9.99938545e-01 -1.79389344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1081.356559995 meters 0.01242791116921429 Centerline is valid? [True, True] Translation: X:-301.68, Y:-257.66, Z:-1.79 [[-9.93943766e-01 -1.09274833e-01 1.16104204e-02 -3.01679494e+02] [-1.09267834e-01 9.94011574e-01 1.23742359e-03 -2.57659453e+02] [-1.16761115e-02 -3.87160241e-05 -9.99931831e-01 -1.79280624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1081.386559995 meters 0.012449003554859237 Centerline is valid? [True, True] Translation: X:-301.69, Y:-257.63, Z:-1.79 [[-9.83581726e-01 -1.80081659e-01 1.17296323e-02 -3.01694120e+02] [-1.80069350e-01 9.83651663e-01 2.10584978e-03 -2.57632778e+02] [-1.19170973e-02 -4.08719061e-05 -9.99928988e-01 -1.79281616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1081.416559995 meters 0.012477339569252515 Centerline is valid? [True, True] Translation: X:-301.72, Y:-257.61, Z:-1.79 [[-9.68049126e-01 -2.50507138e-01 1.12722601e-02 -3.01721444e+02] [-2.50490653e-01 9.68114752e-01 2.87415217e-03 -2.57609773e+02] [-1.16328369e-02 -4.12752844e-05 -9.99932336e-01 -1.79198787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1081.4465599950001 meters 0.01262084514467688 Centerline is valid? [True, True] Translation: X:-301.77, Y:-257.59, Z:-1.79 [[-9.47447717e-01 -3.19695482e-01 1.17312758e-02 -3.01765407e+02] [-3.19671461e-01 9.47520341e-01 3.91914895e-03 -2.57593185e+02] [-1.23685567e-02 -3.69653547e-05 -9.99923506e-01 -1.79107933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1081.4765599950001 meters 0.012476875045002448 Centerline is valid? [True, True] Translation: X:-301.83, Y:-257.59, Z:-1.79 [[-9.21375836e-01 -3.88494681e-01 1.17665338e-02 -3.01827272e+02] [-3.88463530e-01 9.21450966e-01 4.91980336e-03 -2.57586610e+02] [-1.27536013e-02 -3.78812996e-05 -9.99918669e-01 -1.79146763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1081.506559995 meters 0.012613119664662335 Centerline is valid? [True, True] Translation: X:-301.90, Y:-257.59, Z:-1.79 [[-8.90190526e-01 -4.55443531e-01 1.14899132e-02 -3.01895546e+02] [-4.55406113e-01 8.90264674e-01 5.83804775e-03 -2.57587535e+02] [-1.28879649e-02 -3.56019085e-05 -9.99916946e-01 -1.79067609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1081.536559995 meters 0.012613910698296447 Centerline is valid? [True, True] Translation: X:-301.97, Y:-257.60, Z:-1.79 [[-8.53713281e-01 -5.20633483e-01 1.06962616e-02 -3.01970675e+02] [-5.20593186e-01 8.53780285e-01 6.47761164e-03 -2.57597267e+02] [-1.25047188e-02 -3.83778047e-05 -9.99921812e-01 -1.79037802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1081.566559995 meters 0.012490086405583082 Centerline is valid? [True, True] Translation: X:-302.05, Y:-257.62, Z:-1.79 [[-8.12131518e-01 -5.83389801e-01 9.93664777e-03 -3.02053609e+02] [-5.83346780e-01 8.12192304e-01 7.08494787e-03 -2.57618510e+02] [-1.22037552e-02 -4.26020049e-05 -9.99925531e-01 -1.79194647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1081.596559995 meters 0.012637593130720907 Centerline is valid? [True, True] Translation: X:-302.14, Y:-257.65, Z:-1.79 [[-7.65141524e-01 -6.43805765e-01 8.51968638e-03 -3.02140426e+02] [-6.43766648e-01 7.65188953e-01 7.09708498e-03 -2.57648758e+02] [-1.10883141e-02 -5.44155264e-05 -9.99938521e-01 -1.79209348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1081.626559995 meters 0.012489176362869756 Centerline is valid? [True, True] Translation: X:-302.23, Y:-257.69, Z:-1.79 [[-7.13848033e-01 -7.00259620e-01 7.57968765e-03 -3.02226354e+02] [-7.00221038e-01 7.13888270e-01 7.35095346e-03 -2.57688478e+02] [-1.05586260e-02 -5.99930841e-05 -9.99944255e-01 -1.79311642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1081.656559995 meters 0.012660872960598089 Centerline is valid? [True, True] Translation: X:-302.31, Y:-257.74, Z:-1.79 [[-6.57511750e-01 -7.53416246e-01 6.50069563e-03 -3.02314084e+02] [-7.53380516e-01 6.57543881e-01 7.33783231e-03 -2.57739230e+02] [-9.80293471e-03 -7.27864601e-05 -9.99951948e-01 -1.79334463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1081.6865599950002 meters 0.012694711522309993 Centerline is valid? [True, True] Translation: X:-302.40, Y:-257.80, Z:-1.79 [[-5.97617591e-01 -8.01761951e-01 5.56685351e-03 -3.02400314e+02] [-8.01728372e-01 5.97643513e-01 7.33820317e-03 -2.57800341e+02] [-9.21048598e-03 -7.76651018e-05 -9.99957580e-01 -1.79384472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1081.7165599950001 meters 0.013094682944082366 Centerline is valid? [True, True] Translation: X:-302.48, Y:-257.87, Z:-1.79 [[-5.33464339e-01 -8.45807743e-01 5.00618442e-03 -3.02483982e+02] [-8.45772125e-01 5.33487820e-01 7.76269380e-03 -2.57868734e+02] [-9.23648493e-03 -9.29709157e-05 -9.99957339e-01 -1.79348073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1081.746559995 meters 0.01396538725739938 Centerline is valid? [True, True] Translation: X:-302.57, Y:-257.95, Z:-1.79 [[-4.64071764e-01 -8.85787224e-01 4.28853102e-03 -3.02565047e+02] [-8.85751852e-01 4.64091562e-01 7.91698479e-03 -2.57947070e+02] [-9.00303504e-03 -1.24525197e-04 -9.99959464e-01 -1.79376289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1081.776559995 meters 0.014751950939639305 Centerline is valid? [True, True] Translation: X:-302.64, Y:-258.03, Z:-1.79 [[-3.92853089e-01 -9.19593886e-01 3.67913339e-03 -3.02641616e+02] [-9.19556984e-01 3.92870290e-01 8.23947117e-03 -2.58034949e+02] [-9.02238951e-03 -1.46271104e-04 -9.99959287e-01 -1.79326758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1081.806559995 meters 0.015491238987585433 Centerline is valid? [True, True] Translation: X:-302.71, Y:-258.13, Z:-1.79 [[-3.19247722e-01 -9.47665986e-01 3.17343632e-03 -3.02710666e+02] [-9.47624439e-01 3.19263447e-01 8.87542662e-03 -2.58126937e+02] [-9.42410214e-03 -1.73766080e-04 -9.99955577e-01 -1.79267298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1081.836559995 meters 0.015590194319311293 Centerline is valid? [True, True] Translation: X:-302.77, Y:-258.22, Z:-1.79 [[-2.42215307e-01 -9.70218256e-01 2.87760197e-03 -3.02770704e+02] [-9.70161081e-01 2.42232281e-01 1.05355711e-02 -2.58220451e+02] [-1.09188515e-02 -2.39860846e-04 -9.99940359e-01 -1.79087581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1081.866559995 meters 0.016508098794483218 Centerline is valid? [True, True] Translation: X:-302.83, Y:-258.33, Z:-1.79 [[-1.65923007e-01 -9.86136321e-01 2.17077727e-03 -3.02825696e+02] [-9.86071651e-01 1.65936993e-01 1.12966332e-02 -2.58325495e+02] [-1.15002326e-02 -2.66170582e-04 -9.99933835e-01 -1.78932207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1081.896559995 meters 0.01577249476481781 Centerline is valid? [True, True] Translation: X:-302.87, Y:-258.43, Z:-1.79 [[-9.00985912e-02 -9.95931880e-01 1.39104509e-03 -3.02866417e+02] [-9.95857489e-01 9.01088678e-02 1.21759587e-02 -2.58427580e+02] [-1.22517709e-02 -2.88245952e-04 -9.99924903e-01 -1.78951980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1081.9265599950002 meters 0.015373082789691525 Centerline is valid? [True, True] Translation: X:-302.90, Y:-258.54, Z:-1.79 [[-1.40153700e-02 -9.99901672e-01 4.63618420e-04 -3.02900668e+02] [-9.99822581e-01 1.40200940e-02 1.25795110e-02 -2.58540710e+02] [-1.25847741e-02 -2.87229664e-04 -9.99920768e-01 -1.78951507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1081.9565599950001 meters 0.01765381275879186 Centerline is valid? [True, True] Translation: X:-302.93, Y:-258.65, Z:-1.79 [[ 6.15636749e-02 -9.98103029e-01 -5.08291170e-04 -3.02930747e+02] [-9.98022438e-01 -6.15651646e-02 1.26863693e-02 -2.58649378e+02] [-1.26935967e-02 -2.73733522e-04 -9.99919396e-01 -1.78703773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1081.986559995 meters 0.015541650754536554 Centerline is valid? [True, True] Translation: X:-303.59, Y:-258.78, Z:-2.80 [[-4.54772143e-02 9.98965321e-01 3.32885256e-04 -3.03590444e+02] [-9.98893602e-01 -4.54779388e-02 1.19720257e-02 -2.58784590e+02] [ 1.19747774e-02 2.11937426e-04 9.99928278e-01 -2.79678243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1082.016559995 meters 0.014932253194060024 Centerline is valid? [True, True] Translation: X:-302.91, Y:-258.93, Z:-1.79 [[ 6.52888362e-02 -9.97866238e-01 -5.81520591e-04 -3.02913117e+02] [-9.97797692e-01 -6.52911681e-02 1.16974420e-02 -2.58928734e+02] [-1.17104507e-02 -1.83472474e-04 -9.99931414e-01 -1.78897956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1082.046559995 meters 0.013033540206054201 Centerline is valid? [True, True] Translation: X:-302.92, Y:-259.04, Z:-1.79 [[ 1.36691071e-01 -9.90612847e-01 -1.31832302e-03 -3.02924106e+02] [-9.90558847e-01 -1.36697385e-01 1.03438944e-02 -2.59040728e+02] [-1.04270060e-02 -1.08041472e-04 -9.99945632e-01 -1.79068084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1082.076559995 meters 0.012676500110740863 Centerline is valid? [True, True] Translation: X:-302.93, Y:-259.16, Z:-1.79 [[ 2.09863426e-01 -9.77728474e-01 -2.09150592e-03 -3.02929770e+02] [-9.77676098e-01 -2.09873833e-01 1.01203356e-02 -2.59162171e+02] [-1.03338927e-02 -7.90729646e-05 -9.99946601e-01 -1.79118490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1082.106559995 meters 0.01249652192596807 Centerline is valid? [True, True] Translation: X:-302.93, Y:-259.28, Z:-1.79 [[ 2.83088971e-01 -9.59089990e-01 -2.65060146e-03 -3.02929059e+02] [-9.59045971e-01 -2.83101373e-01 9.18900724e-03 -2.59278025e+02] [-9.56347377e-03 -5.92579503e-05 -9.99954267e-01 -1.79155467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1082.136559995 meters 0.012437001156074145 Centerline is valid? [True, True] Translation: X:-302.92, Y:-259.40, Z:-1.79 [[ 3.54150593e-01 -9.35182650e-01 -3.28153607e-03 -3.02918536e+02] [-9.35141475e-01 -3.54165794e-01 8.77567822e-03 -2.59396271e+02] [-9.36906984e-03 -3.92111579e-05 -9.99956109e-01 -1.79167151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1082.166559995 meters 0.01240760899982971 Centerline is valid? [True, True] Translation: X:-302.90, Y:-259.51, Z:-1.79 [[ 4.24248324e-01 -9.05536539e-01 -4.11550717e-03 -3.02899024e+02] [-9.05493179e-01 -4.24268284e-01 8.86151538e-03 -2.59513593e+02] [-9.77050512e-03 -3.29193748e-05 -9.99952267e-01 -1.79171802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1082.1965599950001 meters 0.012426793329968466 Centerline is valid? [True, True] Translation: X:-302.87, Y:-259.63, Z:-1.79 [[ 4.91672316e-01 -8.70764025e-01 -5.32425138e-03 -3.02870773e+02] [-8.70712391e-01 -4.91701142e-01 9.48254285e-03 -2.59628590e+02] [-1.08749977e-02 -2.64121502e-05 -9.99940865e-01 -1.79161365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1082.2265599950001 meters 0.012462630687098089 Centerline is valid? [True, True] Translation: X:-302.84, Y:-259.74, Z:-1.79 [[ 5.56698530e-01 -8.30689866e-01 -6.41039381e-03 -3.02837932e+02] [-8.30634300e-01 -5.56735436e-01 9.60804471e-03 -2.59735958e+02] [-1.15501988e-02 -2.40914015e-05 -9.99933294e-01 -1.79107316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1082.256559995 meters 0.012555602260931706 Centerline is valid? [True, True] Translation: X:-302.80, Y:-259.84, Z:-1.79 [[ 6.18177762e-01 -7.86003602e-01 -7.38867653e-03 -3.02795192e+02] [-7.85947112e-01 -6.18221916e-01 9.42336891e-03 -2.59843451e+02] [-1.19746437e-02 -1.82081211e-05 -9.99928301e-01 -1.79035084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1082.286559995 meters 0.01257365129233668 Centerline is valid? [True, True] Translation: X:-302.75, Y:-259.94, Z:-1.79 [[ 6.75381454e-01 -7.37417289e-01 -8.69677631e-03 -3.02749270e+02] [-7.37356126e-01 -6.75437445e-01 9.49743482e-03 -2.59942245e+02] [-1.28777010e-02 -1.77004166e-06 -9.99917079e-01 -1.78895199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1082.316559995 meters 0.012759824971510155 Centerline is valid? [True, True] Translation: X:-302.70, Y:-260.04, Z:-1.79 [[ 7.28906418e-01 -6.84547037e-01 -9.52827741e-03 -3.02696865e+02] [-6.84488753e-01 -7.28968692e-01 8.93268184e-03 -2.60035728e+02] [-1.30606568e-02 1.09096031e-05 -9.99914706e-01 -1.78856287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1082.346559995 meters 0.012977956227900895 Centerline is valid? [True, True] Translation: X:-302.70, Y:-260.04, Z:-1.79 [[ 7.79578973e-01 -6.26223823e-01 -1.00174194e-02 -3.02698962e+02] [-6.26172504e-01 -7.79643331e-01 8.01697772e-03 -2.60043084e+02] [-1.28304367e-02 2.27653598e-05 -9.99917686e-01 -1.78901439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1082.376559995 meters 0.012712002083779116 Centerline is valid? [True, True] Translation: X:-302.70, Y:-260.05, Z:-1.79 [[ 8.26095666e-01 -5.63433841e-01 -1.04046989e-02 -3.02700653e+02] [-5.63389512e-01 -8.26161187e-01 7.06760474e-03 -2.60050323e+02] [-1.25780860e-02 2.33805754e-05 -9.99920893e-01 -1.78960659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1082.406559995 meters 0.012636131243481159 Centerline is valid? [True, True] Translation: X:-302.70, Y:-260.06, Z:-1.79 [[ 8.67719209e-01 -4.96934020e-01 -1.09523443e-02 -3.02702414e+02] [-4.96894747e-01 -8.67788326e-01 6.24752042e-03 -2.60059087e+02] [-1.26089220e-02 2.10688569e-05 -9.99920504e-01 -1.79026555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1082.4365599950002 meters 0.012686008336786044 Centerline is valid? [True, True] Translation: X:-302.70, Y:-260.07, Z:-1.79 [[ 9.04381204e-01 -4.26567756e-01 -1.16012054e-02 -3.02704216e+02] [-4.26532762e-01 -9.04455610e-01 5.46382934e-03 -2.60068328e+02] [-1.28234687e-02 6.90960459e-06 -9.99917776e-01 -1.78987833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1082.4665599950001 meters 0.012621980768055053 Centerline is valid? [True, True] Translation: X:-302.70, Y:-260.08, Z:-1.79 [[ 9.35233303e-01 -3.53821262e-01 -1.22140627e-02 -3.02704931e+02] [-3.53791046e-01 -9.35313057e-01 4.62398250e-03 -2.60079279e+02] [-1.30600356e-02 -3.27642285e-06 -9.99914714e-01 -1.79024103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1082.496559995 meters 0.012695715154315704 Centerline is valid? [True, True] Translation: X:-302.71, Y:-260.09, Z:-1.79 [[ 9.60282908e-01 -2.78736606e-01 -1.27531182e-02 -3.02705852e+02] [-2.78711809e-01 -9.60367588e-01 3.71796639e-03 -2.60089066e+02] [-1.32840147e-02 -1.58549264e-05 -9.99911764e-01 -1.78941331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1082.526559995 meters 0.012754632085590566 Centerline is valid? [True, True] Translation: X:-302.70, Y:-260.10, Z:-1.79 [[ 9.79446860e-01 -2.01247558e-01 -1.35376719e-02 -3.02704199e+02] [-2.01227794e-01 -9.79540412e-01 2.82060664e-03 -2.60099506e+02] [-1.38283369e-02 -3.84784605e-05 -9.99904383e-01 -1.78870535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1082.556559995 meters 0.012799577862014131 Centerline is valid? [True, True] Translation: X:-302.71, Y:-260.11, Z:-1.79 [[ 9.92271190e-01 -1.23393085e-01 -1.31161060e-02 -3.02705042e+02] [-1.23381726e-01 -9.92357871e-01 1.67480864e-03 -2.60107937e+02] [-1.32225308e-02 -4.35765673e-05 -9.99912578e-01 -1.78919307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1082.586559995 meters 0.012779364370821094 Centerline is valid? [True, True] Translation: X:-302.71, Y:-260.12, Z:-1.79 [[ 9.98940448e-01 -4.45632026e-02 -1.14935504e-02 -3.02706787e+02] [-4.45597170e-02 -9.99006566e-01 5.59298719e-04 -2.60115432e+02] [-1.15070565e-02 -4.65567595e-05 -9.99933791e-01 -1.79065037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1082.616559995 meters 0.012571817349999745 Centerline is valid? [True, True] Translation: X:-302.71, Y:-260.12, Z:-1.79 [[ 9.99374328e-01 3.38922501e-02 -1.01127683e-02 -3.02705979e+02] [ 3.38909454e-02 -9.99425492e-01 -3.00407317e-04 -2.60123715e+02] [-1.01171399e-02 -4.25119175e-05 -9.99948820e-01 -1.79248423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1082.646559995 meters 0.012584011783199227 Centerline is valid? [True, True] Translation: X:-302.70, Y:-260.13, Z:-1.79 [[ 9.93608750e-01 1.12597435e-01 -7.96681246e-03 -3.02704821e+02] [ 1.12594128e-01 -9.93640688e-01 -8.63881714e-04 -2.60133534e+02] [-8.01341988e-03 -3.86558716e-05 -9.99967891e-01 -1.79483923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1082.6765599950002 meters 0.012645669743921208 Centerline is valid? [True, True] Translation: X:-302.70, Y:-260.14, Z:-1.80 [[ 9.81676898e-01 1.90427127e-01 -6.92657856e-03 -3.02703690e+02] [ 1.90422652e-01 -9.81701333e-01 -1.30599494e-03 -2.60142633e+02] [-7.04852827e-03 -3.69124007e-05 -9.99975158e-01 -1.79540524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1082.7065599950001 meters 0.012694823319223933 Centerline is valid? [True, True] Translation: X:-302.70, Y:-260.15, Z:-1.80 [[ 9.63535332e-01 2.67507572e-01 -6.27396452e-03 -3.02701534e+02] [ 2.67502169e-01 -9.63555757e-01 -1.70062974e-03 -2.60151673e+02] [-6.50024597e-03 -3.96822824e-05 -9.99978873e-01 -1.79629243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1082.736559995 meters 0.012738054903338496 Centerline is valid? [True, True] Translation: X:-302.70, Y:-260.16, Z:-1.80 [[ 9.39350730e-01 3.42910826e-01 -5.68962869e-03 -3.02699011e+02] [ 3.42904808e-01 -9.39367960e-01 -2.03196982e-03 -2.60160312e+02] [-6.04143935e-03 -4.22686954e-05 -9.99981750e-01 -1.79631424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1082.766559995 meters 0.013095608356732222 Centerline is valid? [True, True] Translation: X:-302.70, Y:-260.17, Z:-1.80 [[ 9.08859301e-01 4.17064569e-01 -5.64947933e-03 -3.02696146e+02] [ 4.17056884e-01 -9.08876858e-01 -2.53236964e-03 -2.60169542e+02] [-6.19084268e-03 -5.45865496e-05 -9.99980835e-01 -1.79521576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1082.796559995 meters 0.013088511512740906 Centerline is valid? [True, True] Translation: X:-302.69, Y:-260.18, Z:-1.79 [[ 8.72833905e-01 4.87980755e-01 -5.97971181e-03 -3.02691215e+02] [ 4.87969837e-01 -8.72854385e-01 -3.26499185e-03 -2.60177143e+02] [-6.81267087e-03 -6.81234088e-05 -9.99976791e-01 -1.79461213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1082.826559995 meters 0.013794153797613161 Centerline is valid? [True, True] Translation: X:-302.69, Y:-260.19, Z:-1.79 [[ 8.30364168e-01 5.57179863e-01 -6.77853995e-03 -3.02686590e+02] [ 5.57162314e-01 -8.30391829e-01 -4.42344299e-03 -2.60186173e+02] [-8.09349754e-03 -1.03678443e-04 -9.99967242e-01 -1.79302884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1082.856559995 meters 0.01392881352381744 Centerline is valid? [True, True] Translation: X:-302.68, Y:-260.19, Z:-1.79 [[ 7.83211319e-01 6.21716393e-01 -6.98258639e-03 -3.02681155e+02] [ 6.21693120e-01 -7.83242434e-01 -5.38087886e-03 -2.60192879e+02] [-8.81443856e-03 -1.26660695e-04 -9.99961144e-01 -1.79297981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1082.886559995 meters 0.014222741121122715 Centerline is valid? [True, True] Translation: X:-302.68, Y:-260.20, Z:-1.79 [[ 7.31081976e-01 6.82254566e-01 -6.91758292e-03 -3.02675146e+02] [ 6.82225930e-01 -7.31114687e-01 -6.25257077e-03 -2.60198995e+02] [-9.32339143e-03 -1.48212652e-04 -9.99956525e-01 -1.79239462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1082.916559995 meters 0.014567434668265862 Centerline is valid? [True, True] Translation: X:-302.67, Y:-260.20, Z:-1.79 [[ 6.74251313e-01 7.38468873e-01 -6.99218455e-03 -3.02668177e+02] [ 7.38431882e-01 -6.74287544e-01 -7.39356065e-03 -2.60204708e+02] [-1.01746574e-02 -1.78134018e-04 -9.99948221e-01 -1.79201497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1082.9465599950001 meters 0.015261970628295174 Centerline is valid? [True, True] Translation: X:-302.66, Y:-260.21, Z:-1.79 [[ 6.12502985e-01 7.90435677e-01 -7.17873109e-03 -3.02660875e+02] [ 7.90385678e-01 -6.12545010e-01 -8.89329132e-03 -2.60210662e+02] [-1.14268707e-02 -2.26798759e-04 -9.99934686e-01 -1.79076280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1082.9765599950001 meters 0.015349109881373928 Centerline is valid? [True, True] Translation: X:-302.65, Y:-260.21, Z:-1.79 [[ 5.48624854e-01 8.36041225e-01 -6.77057903e-03 -3.02654629e+02] [ 8.35982869e-01 -5.48666578e-01 -9.88078483e-03 -2.60213965e+02] [-1.19755339e-02 -2.39243941e-04 -9.99928262e-01 -1.78992557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1083.006559995 meters 0.014854370872141753 Centerline is valid? [True, True] Translation: X:-302.65, Y:-260.22, Z:-1.79 [[ 4.82972065e-01 8.75613283e-01 -6.27403254e-03 -3.02650172e+02] [ 8.75545477e-01 -4.83012760e-01 -1.08991182e-02 -2.60216188e+02] [-1.25738504e-02 -2.29231198e-04 -9.99920920e-01 -1.78985388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1083.036559995 meters 0.014854370872141753 Centerline is valid? [True, True] Translation: X:-302.64, Y:-260.22, Z:-1.79 [[ 4.12955842e-01 9.10735030e-01 -5.40161872e-03 -3.02643489e+02] [ 9.10664248e-01 -4.12991104e-01 -1.13567467e-02 -2.60219970e+02] [-1.25738075e-02 -2.29226169e-04 -9.99920920e-01 -1.78985426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1083.066559995 meters 0.014365150055470175 Centerline is valid? [True, True] Translation: X:-302.64, Y:-260.22, Z:-1.79 [[ 3.42325321e-01 9.39570587e-01 -4.52629885e-03 -3.02638438e+02] [ 9.39496210e-01 -3.42355182e-01 -1.18237146e-02 -2.60222654e+02] [-1.26588163e-02 -2.04883725e-04 -9.99919853e-01 -1.79013688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1083.096559995 meters 0.014245626021687687 Centerline is valid? [True, True] Translation: X:-302.63, Y:-260.23, Z:-1.79 [[ 2.70347260e-01 9.62756871e-01 -3.40103029e-03 -3.02633715e+02] [ 9.62688034e-01 -2.70368604e-01 -1.15137484e-02 -2.60225717e+02] [-1.20044722e-02 -1.61420825e-04 -9.99927931e-01 -1.78983069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1083.126559995 meters 0.013019521919566693 Centerline is valid? [True, True] Translation: X:-302.64, Y:-260.23, Z:-1.79 [[ 2.00945669e-01 9.79600116e-01 -2.10984776e-03 -3.02637221e+02] [ 9.79549525e-01 -2.00956734e-01 -9.95586165e-03 -2.60226924e+02] [-1.01767513e-02 -6.61130952e-05 -9.99948214e-01 -1.79203017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1083.156559995 meters 0.01270551417701818 Centerline is valid? [True, True] Translation: X:-302.63, Y:-260.23, Z:-1.79 [[ 1.27321199e-01 9.91860836e-01 -1.18118328e-03 -3.02632543e+02] [ 9.91819973e-01 -1.27326675e-01 -9.00331074e-03 -2.60228985e+02] [-9.08042746e-03 -2.52088507e-05 -9.99958772e-01 -1.79443488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1083.1865599950002 meters 0.012639927708054558 Centerline is valid? [True, True] Translation: X:-302.63, Y:-260.23, Z:-1.80 [[ 5.30408649e-02 9.98592245e-01 -4.41901587e-04 -3.02627753e+02] [ 9.98556193e-01 -5.30427049e-02 -8.48537635e-03 -2.60230771e+02] [-8.49687067e-03 8.80813382e-06 -9.99963901e-01 -1.79529380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1083.2165599950001 meters 0.013347284335741097 Centerline is valid? [True, True] Translation: X:-302.63, Y:-260.23, Z:-1.80 [[-1.79681196e-02 9.99838536e-01 2.19693427e-04 -3.02626101e+02] [ 9.99803734e-01 1.79693273e-02 -8.34253401e-03 -2.60234096e+02] [-8.34513474e-03 6.97506591e-05 -9.99965177e-01 -1.79576561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1083.246559995 meters 0.013669235423917285 Centerline is valid? [True, True] Translation: X:-302.62, Y:-260.24, Z:-1.80 [[-9.29938530e-02 9.95666315e-01 8.55976861e-04 -3.02619857e+02] [ 9.95633053e-01 9.29977436e-02 -8.13908185e-03 -2.60235747e+02] [-8.18341355e-03 9.53542740e-05 -9.99966511e-01 -1.79629393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1083.276559995 meters 0.015130376738762245 Centerline is valid? [True, True] Translation: X:-302.62, Y:-260.24, Z:-1.80 [[-1.66387221e-01 9.86059085e-01 1.66556919e-03 -3.02616503e+02] [ 9.86018120e-01 1.66395492e-01 -8.98928447e-03 -2.60239377e+02] [-9.14110882e-03 1.46579347e-04 -9.99958209e-01 -1.79587170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1083.306559995 meters 0.014654470675524665 Centerline is valid? [True, True] Translation: X:-302.61, Y:-260.24, Z:-1.80 [[-2.41642106e-01 9.70362364e-01 2.44437043e-03 -3.02605636e+02] [ 9.70319437e-01 2.41654412e-01 -9.12878509e-03 -2.60240237e+02] [-9.44892238e-03 1.65921285e-04 -9.99955344e-01 -1.79643984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1083.336559995 meters 0.015119905525251937 Centerline is valid? [True, True] Translation: X:-302.60, Y:-260.24, Z:-1.80 [[-3.15965282e-01 9.48764554e-01 3.42952088e-03 -3.02596140e+02] [ 9.48715055e-01 3.15983836e-01 -9.69326817e-03 -2.60241787e+02] [-1.02803024e-02 1.90901882e-04 -9.99947138e-01 -1.79513458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1083.366559995 meters 0.015310262044382869 Centerline is valid? [True, True] Translation: X:-302.59, Y:-260.24, Z:-1.79 [[-3.89334793e-01 9.21085357e-01 4.49257009e-03 -3.02586956e+02] [ 9.21030001e-01 3.89360658e-01 -1.01002458e-02 -2.60242835e+02] [-1.10524186e-02 2.05414719e-04 -9.99938899e-01 -1.79469046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1083.396559995 meters 0.015261613701091923 Centerline is valid? [True, True] Translation: X:-302.58, Y:-260.24, Z:-1.79 [[-4.60669091e-01 8.87555550e-01 5.39766199e-03 -3.02578203e+02] [ 8.87499763e-01 4.60700667e-01 -9.95319414e-03 -2.60242165e+02] [-1.13207192e-02 2.05294843e-04 -9.99935898e-01 -1.79428420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1083.4265599950002 meters 0.014890366173213158 Centerline is valid? [True, True] Translation: X:-302.57, Y:-260.24, Z:-1.79 [[-5.29513205e-01 8.48278370e-01 6.29065035e-03 -3.02567814e+02] [ 8.48222934e-01 5.29550533e-01 -9.69983971e-03 -2.60239061e+02] [-1.15593815e-02 1.99680682e-04 -9.99933168e-01 -1.79427105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1083.4565599950001 meters 0.0153080255234404 Centerline is valid? [True, True] Translation: X:-302.56, Y:-260.24, Z:-1.79 [[-5.94815333e-01 8.03832720e-01 6.90493205e-03 -3.02559769e+02] [ 8.03782206e-01 5.94855379e-01 -9.01353391e-03 -2.60238026e+02] [-1.13528095e-02 1.88673345e-04 -9.99935537e-01 -1.79366001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1083.486559995 meters 0.014953816314201462 Centerline is valid? [True, True] Translation: X:-302.55, Y:-260.24, Z:-1.79 [[-6.57402396e-01 7.53502693e-01 7.46872682e-03 -3.02552745e+02] [ 7.53456885e-01 6.57444800e-01 -8.31006249e-03 -2.60237415e+02] [-1.11719301e-02 1.64308658e-04 -9.99937579e-01 -1.79394572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1083.516559995 meters 0.014701613809174924 Centerline is valid? [True, True] Translation: X:-302.55, Y:-260.24, Z:-1.79 [[-7.15256936e-01 6.98817345e-01 7.86345646e-03 -3.02547708e+02] [ 6.98777356e-01 7.15300145e-01 -7.47727428e-03 -2.60236051e+02] [-1.08499805e-02 1.46633019e-04 -9.99941127e-01 -1.79406074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1083.546559995 meters 0.01388911219165909 Centerline is valid? [True, True] Translation: X:-302.53, Y:-260.21, Z:-1.80 [[-7.64073106e-01 6.45079385e-01 8.05456357e-03 -3.02525625e+02] [ 6.45045229e-01 7.64115549e-01 -6.63938979e-03 -2.60214522e+02] [-1.04375507e-02 1.22578621e-04 -9.99945520e-01 -1.79523191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1083.576559995 meters 0.013644298328908979 Centerline is valid? [True, True] Translation: X:-302.08, Y:-259.68, Z:-2.79 [[-7.33897620e-01 -6.79217680e-01 7.59122106e-03 -3.02079096e+02] [ 6.79179624e-01 -7.33936869e-01 -7.19102795e-03 -2.59679267e+02] [ 1.04557503e-02 -1.21675637e-04 9.99945330e-01 -2.78981566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1083.606559995 meters 0.013192953567457477 Centerline is valid? [True, True] Translation: X:-302.56, Y:-260.18, Z:-1.80 [[-7.70723273e-01 6.37117941e-01 8.14652135e-03 -3.02557176e+02] [ 6.37083065e-01 7.70766325e-01 -6.66638979e-03 -2.60179537e+02] [-1.05263409e-02 5.20690387e-05 -9.99944595e-01 -1.79522381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1083.636559995 meters 0.013126698336977483 Centerline is valid? [True, True] Translation: X:-302.13, Y:-259.66, Z:-2.79 [[-7.29162973e-01 -6.84296166e-01 7.75350922e-03 -3.02126669e+02] [ 6.84256851e-01 -7.29204194e-01 -7.33526368e-03 -2.59657843e+02] [ 1.06733842e-02 -4.32108725e-05 9.99943037e-01 -2.79146344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1083.666559995 meters 0.013039796814876554 Centerline is valid? [True, True] Translation: X:-302.59, Y:-260.14, Z:-1.79 [[-7.78188568e-01 6.27971635e-01 8.61266741e-03 -3.02585717e+02] [ 6.27932590e-01 7.78236226e-01 -7.00277727e-03 -2.60143667e+02] [-1.11002353e-02 -4.13066627e-05 -9.99938390e-01 -1.79476980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1083.6965599950001 meters 0.013326689201498213 Centerline is valid? [True, True] Translation: X:-302.17, Y:-259.64, Z:-2.79 [[-7.27347484e-01 -6.86221015e-01 8.14590284e-03 -3.02166466e+02] [ 6.86178675e-01 -7.27393096e-01 -7.62294300e-03 -2.59635021e+02] [ 1.11562972e-02 4.50164070e-05 9.99937766e-01 -2.79154400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1083.7265599950001 meters 0.013374747303473869 Centerline is valid? [True, True] Translation: X:-302.62, Y:-260.11, Z:-1.79 [[-7.83485778e-01 6.21348563e-01 8.71774441e-03 -3.02615119e+02] [ 6.21308725e-01 7.83534271e-01 -7.03667861e-03 -2.60113586e+02] [-1.12028817e-02 -9.67269580e-05 -9.99937241e-01 -1.79463711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1083.756559995 meters 0.013728508422862327 Centerline is valid? [True, True] Translation: X:-302.59, Y:-260.09, Z:-1.80 [[-8.25393356e-01 5.64479625e-01 9.41067413e-03 -3.02592050e+02] [ 5.64441321e-01 8.25446994e-01 -6.57687894e-03 -2.60088411e+02] [-1.14805268e-02 -1.16738842e-04 -9.99934090e-01 -1.79501807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1083.786559995 meters 0.013835013693815103 Centerline is valid? [True, True] Translation: X:-302.22, Y:-259.56, Z:-2.79 [[-7.69983202e-01 -6.38008971e-01 8.39177045e-03 -3.02222568e+02] [ 6.37972069e-01 -7.70028927e-01 -6.86226240e-03 -2.59563481e+02] [ 1.08400910e-02 6.98883810e-05 9.99941242e-01 -2.79017432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1083.816559995 meters 0.014129388667530917 Centerline is valid? [True, True] Translation: X:-302.63, Y:-260.06, Z:-1.79 [[-8.28259136e-01 5.60272685e-01 9.01784090e-03 -3.02626911e+02] [ 5.60237516e-01 8.28308213e-01 -6.27928743e-03 -2.60059685e+02] [-1.09876649e-02 -1.48744396e-04 -9.99939623e-01 -1.79446092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1083.846559995 meters 0.013992646666522814 Centerline is valid? [True, True] Translation: X:-302.62, Y:-260.03, Z:-1.79 [[-8.65770121e-01 5.00355650e-01 9.29097138e-03 -3.02615557e+02] [ 5.00325043e-01 8.65819960e-01 -5.53612032e-03 -2.60033744e+02] [-1.08143375e-02 -1.44501898e-04 -9.99941513e-01 -1.79460508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1083.876559995 meters 0.013850324997121811 Centerline is valid? [True, True] Translation: X:-302.59, Y:-260.01, Z:-1.80 [[-8.98661773e-01 4.38535527e-01 9.67526302e-03 -3.02593677e+02] [ 4.38508416e-01 8.98713843e-01 -4.87826919e-03 -2.60014528e+02] [-1.08345872e-02 -1.41229778e-04 -9.99941294e-01 -1.79512541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1083.906559995 meters 0.013748942237562818 Centerline is valid? [True, True] Translation: X:-302.31, Y:-259.45, Z:-2.79 [[-8.54456422e-01 -5.19449827e-01 8.72352031e-03 -3.02307549e+02] [ 5.19423845e-01 -8.54500947e-01 -5.19620029e-03 -2.59447986e+02] [ 1.01534217e-02 9.12777516e-05 9.99948449e-01 -2.79029666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1083.9365599950002 meters 0.01437219292500691 Centerline is valid? [True, True] Translation: X:-302.63, Y:-259.99, Z:-1.79 [[-8.99607023e-01 4.36598955e-01 9.41047450e-03 -3.02631092e+02] [ 4.36573663e-01 8.99656233e-01 -4.70093705e-03 -2.59994295e+02] [-1.05186162e-02 -1.20630668e-04 -9.99944671e-01 -1.79351364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1083.9665599950001 meters 0.013607430839396613 Centerline is valid? [True, True] Translation: X:-302.62, Y:-259.97, Z:-1.79 [[-9.28143516e-01 3.72074296e-01 1.05038826e-02 -3.02621420e+02] [ 3.72048929e-01 9.28202943e-01 -4.34651940e-03 -2.59969713e+02] [-1.13669629e-02 -1.26235523e-04 -9.99935386e-01 -1.79401052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1083.996559995 meters 0.013598304745490503 Centerline is valid? [True, True] Translation: X:-302.38, Y:-259.38, Z:-2.79 [[-8.91003571e-01 -4.53868907e-01 1.07541614e-02 -3.02379773e+02] [ 4.53838165e-01 -8.91068452e-01 -5.28532316e-03 -2.59384232e+02] [ 1.19815378e-02 1.71407056e-04 9.99928204e-01 -2.79192865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1084.026559995 meters 0.013999394423365032 Centerline is valid? [True, True] Translation: X:-302.66, Y:-259.95, Z:-1.79 [[-9.29758496e-01 3.67974542e-01 1.19948647e-02 -3.02664713e+02] [ 3.67941799e-01 9.29835853e-01 -4.91111374e-03 -2.59951715e+02] [-1.29604200e-02 -1.52737645e-04 -9.99915999e-01 -1.79146375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1084.056559995 meters 0.013760557514127386 Centerline is valid? [True, True] Translation: X:-302.66, Y:-259.93, Z:-1.79 [[-9.53541050e-01 3.00923731e-01 1.42959732e-02 -3.02657109e+02] [ 3.00887073e-01 9.53648193e-01 -4.70036983e-03 -2.59926574e+02] [-1.50477818e-02 -1.80522042e-04 -9.99886760e-01 -1.79061418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1084.086559995 meters 0.014018275620783246 Centerline is valid? [True, True] Translation: X:-302.66, Y:-259.90, Z:-1.79 [[-9.72455952e-01 2.32597880e-01 1.50880039e-02 -3.02656429e+02] [ 2.32566917e-01 9.72572975e-01 -3.79963704e-03 -2.59897956e+02] [-1.55579724e-02 -1.86009095e-04 -9.99878950e-01 -1.78911864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1084.116559995 meters 0.013793067055712045 Centerline is valid? [True, True] Translation: X:-302.65, Y:-259.87, Z:-1.79 [[-9.86334060e-01 1.63980908e-01 1.59807469e-02 -3.02648889e+02] [ 1.63956459e-01 9.86463497e-01 -2.83713407e-03 -2.59873909e+02] [-1.62296593e-02 -1.78215284e-04 -9.99868275e-01 -1.78883333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1084.146559995 meters 0.013445036451439213 Centerline is valid? [True, True] Translation: X:-302.53, Y:-259.24, Z:-2.80 [[-9.68024305e-01 -2.50358991e-01 1.57899253e-02 -3.02533174e+02] [ 2.50328730e-01 -9.68153058e-01 -3.89660782e-03 -2.59242248e+02] [ 1.62626152e-02 1.80660874e-04 9.99867739e-01 -2.79557717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1084.1765599950002 meters 0.013314517005720413 Centerline is valid? [True, True] Translation: X:-302.70, Y:-259.87, Z:-1.79 [[-9.86560135e-01 1.62669830e-01 1.54151426e-02 -3.02697910e+02] [ 1.62647903e-01 9.86680551e-01 -2.67402807e-03 -2.59870743e+02] [-1.56448050e-02 -1.30848891e-04 -9.99877604e-01 -1.78997043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1084.2065599950001 meters 0.012938740139232343 Centerline is valid? [True, True] Translation: X:-302.58, Y:-259.23, Z:-2.79 [[-9.70470321e-01 -2.40818441e-01 1.39224564e-02 -3.02583296e+02] [ 2.40794273e-01 -9.70570181e-01 -3.41188188e-03 -2.59226627e+02] [ 1.43343651e-02 4.13176679e-05 9.99897257e-01 -2.79445293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1084.236559995 meters 0.012829613412636205 Centerline is valid? [True, True] Translation: X:-302.75, Y:-259.87, Z:-1.79 [[-9.86135085e-01 1.65361647e-01 1.38967676e-02 -3.02748758e+02] [ 1.65344909e-01 9.86232998e-01 -2.35284440e-03 -2.59871151e+02] [-1.40945210e-02 -2.24626393e-05 -9.99900667e-01 -1.79146920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1084.266559995 meters 0.013002737268595625 Centerline is valid? [True, True] Translation: X:-302.63, Y:-259.21, Z:-2.79 [[-9.73350976e-01 -2.28968189e-01 1.27061491e-02 -3.02629907e+02] [ 2.28948150e-01 -9.73433905e-01 -3.02955154e-03 -2.59209064e+02] [ 1.30622672e-02 -3.97676258e-05 9.99914684e-01 -2.79276827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1084.296559995 meters 0.013221970454410013 Centerline is valid? [True, True] Translation: X:-302.80, Y:-259.87, Z:-1.79 [[-9.85442890e-01 1.69546425e-01 1.25028093e-02 -3.02798300e+02] [ 1.69533884e-01 9.85522198e-01 -2.06390402e-03 -2.59873620e+02] [-1.26717237e-02 8.57902801e-05 -9.99919707e-01 -1.79297530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1084.326559995 meters 0.013791360427579946 Centerline is valid? [True, True] Translation: X:-302.80, Y:-259.85, Z:-1.79 [[-9.94788948e-01 1.01223893e-01 1.21931618e-02 -3.02796626e+02] [ 1.01217634e-01 9.94863665e-01 -1.13096471e-03 -2.59849190e+02] [-1.22450143e-02 1.09091790e-04 -9.99925021e-01 -1.79205744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1084.356559995 meters 0.013610860611681642 Centerline is valid? [True, True] Translation: X:-302.80, Y:-259.82, Z:-1.79 [[-9.99411179e-01 3.21720632e-02 1.19270440e-02 -3.02797880e+02] [ 3.21713141e-02 9.99482337e-01 -2.54704982e-04 -2.59822523e+02] [-1.19290642e-02 1.29153671e-04 -9.99928838e-01 -1.79377569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1084.386559995 meters 0.01395919966290649 Centerline is valid? [True, True] Translation: X:-302.81, Y:-259.80, Z:-1.79 [[-9.99254616e-01 -3.68005900e-02 1.16588955e-02 -3.02807351e+02] [-3.67963076e-02 9.99322617e-01 5.81674679e-04 -2.59798734e+02] [-1.16724040e-02 1.52236801e-04 -9.99931864e-01 -1.79461510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1084.416559995 meters 0.013921305161436165 Centerline is valid? [True, True] Translation: X:-302.81, Y:-259.77, Z:-1.79 [[-9.94096466e-01 -1.07878707e-01 1.15931688e-02 -3.02811335e+02] [-1.07869568e-01 9.94164051e-01 1.41254993e-03 -2.59772326e+02] [-1.16778958e-02 1.53660778e-04 -9.99931799e-01 -1.79493971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1084.4465599950001 meters 0.013772305599437807 Centerline is valid? [True, True] Translation: X:-302.83, Y:-259.75, Z:-1.80 [[-9.83503973e-01 -1.80522234e-01 1.14742560e-02 -3.02829107e+02] [-1.80508353e-01 9.83570895e-01 2.24267751e-03 -2.59748267e+02] [-1.16905974e-02 1.34483186e-04 -9.99931654e-01 -1.79521189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1084.4765599950001 meters 0.01347649199101659 Centerline is valid? [True, True] Translation: X:-302.99, Y:-259.06, Z:-2.79 [[-9.90815457e-01 1.34708259e-01 1.17649757e-02 -3.02992343e+02] [-1.34700261e-01 -9.90885296e-01 1.47323396e-03 -2.59057479e+02] [ 1.18561982e-02 -1.25042319e-04 9.99929705e-01 -2.78968805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1084.506559995 meters 0.013479347045651272 Centerline is valid? [True, True] Translation: X:-302.97, Y:-259.78, Z:-1.79 [[-9.81490311e-01 -1.91152259e-01 1.17295779e-02 -3.02974031e+02] [-1.91137512e-01 9.81560393e-01 2.37609900e-03 -2.59775239e+02] [-1.19674858e-02 9.01558098e-05 -9.99928383e-01 -1.79479449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1084.536559995 meters 0.013264177815405538 Centerline is valid? [True, True] Translation: X:-303.01, Y:-259.75, Z:-1.79 [[-9.64476611e-01 -2.63902214e-01 1.18527368e-02 -3.03006362e+02] [-2.63881505e-01 9.64549438e-01 3.30665837e-03 -2.59753093e+02] [-1.23051851e-02 6.14766228e-05 -9.99924287e-01 -1.79427603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1084.566559995 meters 0.012995398712274437 Centerline is valid? [True, True] Translation: X:-303.06, Y:-259.74, Z:-1.79 [[-9.40584268e-01 -3.39318589e-01 1.28112994e-02 -3.03061128e+02] [-3.39287337e-01 9.40671513e-01 4.60524534e-03 -2.59738606e+02] [-1.36138698e-02 -1.50903432e-05 -9.99907327e-01 -1.79388262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1084.596559995 meters 0.013123246357112405 Centerline is valid? [True, True] Translation: X:-303.13, Y:-259.73, Z:-1.79 [[-9.11794803e-01 -4.10447057e-01 1.27848087e-02 -3.03125897e+02] [-4.10407612e-01 9.11884428e-01 5.69048842e-03 -2.59733977e+02] [-1.39939122e-02 -5.84250251e-05 -9.99902079e-01 -1.79372151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1084.626559995 meters 0.013795061159311535 Centerline is valid? [True, True] Translation: X:-303.20, Y:-259.74, Z:-1.79 [[-8.76138371e-01 -4.81905224e-01 1.22029203e-02 -3.03201158e+02] [-4.81860683e-01 8.76223337e-01 6.55334979e-03 -2.59738081e+02] [-1.38505770e-02 -1.38466287e-04 -9.99904067e-01 -1.79353691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1084.656559995 meters 0.013969388202467679 Centerline is valid? [True, True] Translation: X:-303.28, Y:-259.75, Z:-1.79 [[-8.36509133e-01 -5.47830956e-01 1.15634903e-02 -3.03277921e+02] [-5.47781391e-01 8.36589036e-01 7.37107459e-03 -2.59750653e+02] [-1.37119920e-02 -1.68293581e-04 -9.99905972e-01 -1.79432156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1084.6865599950002 meters 0.014947729059931324 Centerline is valid? [True, True] Translation: X:-303.36, Y:-259.77, Z:-1.80 [[-7.91002009e-01 -6.11723250e-01 1.05113165e-02 -3.03362309e+02] [-6.11672703e-01 7.91071819e-01 7.86643686e-03 -2.59774529e+02] [-1.31272886e-02 -2.07118009e-04 -9.99913812e-01 -1.79526226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1084.7165599950001 meters 0.015010461034066534 Centerline is valid? [True, True] Translation: X:-303.45, Y:-259.81, Z:-1.80 [[-7.42207647e-01 -6.70106313e-01 9.23782894e-03 -3.03447433e+02] [-6.70057799e-01 7.42265106e-01 8.06587890e-03 -2.59807822e+02] [-1.22619145e-02 -2.03322320e-04 -9.99924799e-01 -1.79617072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1084.746559995 meters 0.015067018111734179 Centerline is valid? [True, True] Translation: X:-303.53, Y:-259.85, Z:-1.80 [[-6.89304793e-01 -7.24427025e-01 8.02421673e-03 -3.03533061e+02] [-7.24381146e-01 6.89351470e-01 8.15508949e-03 -2.59850342e+02] [-1.14392728e-02 -1.91249037e-04 -9.99934551e-01 -1.79653591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1084.776559995 meters 0.014978205136007174 Centerline is valid? [True, True] Translation: X:-303.62, Y:-259.91, Z:-1.80 [[-6.33137814e-01 -7.74007176e-01 7.02856258e-03 -3.03622374e+02] [-7.73962469e-01 6.33176802e-01 8.32074111e-03 -2.59907194e+02] [-1.08906361e-02 -1.71667815e-04 -9.99940681e-01 -1.79688082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1084.806559995 meters 0.01447625993666037 Centerline is valid? [True, True] Translation: X:-303.70, Y:-259.97, Z:-1.80 [[-5.74723043e-01 -8.18324479e-01 6.20252058e-03 -3.03703256e+02] [-8.18279364e-01 5.74756495e-01 8.59381777e-03 -2.59966345e+02] [-1.05974704e-02 -1.36329500e-04 -9.99943836e-01 -1.79651545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1084.836559995 meters 0.013913706994702945 Centerline is valid? [True, True] Translation: X:-303.78, Y:-260.04, Z:-1.80 [[-5.12077695e-01 -8.58921823e-01 5.45317051e-03 -3.03783271e+02] [-8.58875534e-01 5.12106716e-01 8.91790095e-03 -2.60037472e+02] [-1.04523850e-02 -1.16936571e-04 -9.99945366e-01 -1.79694763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1084.866559995 meters 0.01360865798829887 Centerline is valid? [True, True] Translation: X:-303.86, Y:-260.12, Z:-1.80 [[-4.47055775e-01 -8.94495583e-01 4.33427716e-03 -3.03862092e+02] [-8.94455340e-01 4.47076778e-01 8.48523311e-03 -2.60120504e+02] [-9.52775820e-03 -8.34448903e-05 -9.99954607e-01 -1.79727516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1084.896559995 meters 0.0133222301957892 Centerline is valid? [True, True] Translation: X:-303.93, Y:-260.21, Z:-1.80 [[-3.77691177e-01 -9.25924392e-01 3.65999271e-03 -3.03932993e+02] [-9.25882895e-01 3.77708902e-01 8.76640048e-03 -2.60207692e+02] [-9.49943586e-03 -7.77325299e-05 -9.99954877e-01 -1.79781722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1084.9265599950002 meters 0.013469109082629384 Centerline is valid? [True, True] Translation: X:-304.00, Y:-260.30, Z:-1.80 [[-3.06079752e-01 -9.52001813e-01 2.78088532e-03 -3.03999493e+02] [-9.51964510e-01 3.06092377e-01 8.42781059e-03 -2.60304421e+02] [-8.87449876e-03 -6.77219580e-05 -9.99960619e-01 -1.79780745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1084.9565599950001 meters 0.013469109082629384 Centerline is valid? [True, True] Translation: X:-304.06, Y:-260.41, Z:-1.80 [[-2.32122232e-01 -9.72684301e-01 2.12592049e-03 -3.04057550e+02] [-9.72646140e-01 2.32131957e-01 8.61635404e-03 -2.60405583e+02] [-8.87448639e-03 -6.77210291e-05 -9.99960619e-01 -1.79780805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1084.986559995 meters 0.013279193054373428 Centerline is valid? [True, True] Translation: X:-304.11, Y:-260.51, Z:-1.80 [[-1.56550362e-01 -9.87668880e-01 1.47233748e-03 -3.04107875e+02] [-9.87629262e-01 1.56557270e-01 8.84655388e-03 -2.60511467e+02] [-8.96797110e-03 -6.91923633e-05 -9.99959785e-01 -1.79806613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1085.016559995 meters 0.01333575009592056 Centerline is valid? [True, True] Translation: X:-304.15, Y:-260.62, Z:-1.80 [[-8.05488255e-02 -9.96750317e-01 8.32105267e-04 -3.04150548e+02] [-9.96705583e-01 8.05530941e-02 9.44354463e-03 -2.60623291e+02] [-9.47988476e-03 -6.86975365e-05 -9.99955063e-01 -1.79719905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1085.046559995 meters 0.013300577309795844 Centerline is valid? [True, True] Translation: X:-304.18, Y:-260.74, Z:-1.80 [[-4.24380823e-03 -9.99990989e-01 1.09420008e-04 -3.04184329e+02] [-9.99940024e-01 4.24469667e-03 1.00961047e-02 -2.60736697e+02] [-1.00964781e-02 -6.65675129e-05 -9.99949027e-01 -1.79579753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1085.076559995 meters 0.013264197020458645 Centerline is valid? [True, True] Translation: X:-304.21, Y:-260.85, Z:-1.79 [[ 7.12820603e-02 -9.97455858e-01 -8.24198485e-04 -3.04208034e+02] [-9.97378195e-01 -7.12867953e-02 1.24470524e-02 -2.60851956e+02] [-1.24741398e-02 -6.52139415e-05 -9.99922193e-01 -1.79328521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1085.106559995 meters 0.013343296182371725 Centerline is valid? [True, True] Translation: X:-304.22, Y:-260.97, Z:-1.79 [[ 1.45481555e-01 -9.89358748e-01 -2.09389096e-03 -3.04221771e+02] [-9.89252034e-01 -1.45496616e-01 1.45309677e-02 -2.60971095e+02] [-1.46809941e-02 -4.26018840e-05 -9.99892228e-01 -1.79097628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1085.136559995 meters 0.013255649363505873 Centerline is valid? [True, True] Translation: X:-304.23, Y:-261.10, Z:-1.79 [[ 2.20524796e-01 -9.75375823e-01 -3.28921751e-03 -3.04226148e+02] [-9.75265082e-01 -2.20549322e-01 1.46975058e-02 -2.61097121e+02] [-1.50610266e-02 -3.33054872e-05 -9.99886576e-01 -1.79172007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1085.166559995 meters 0.013330805145320182 Centerline is valid? [True, True] Translation: X:-304.23, Y:-261.21, Z:-1.79 [[ 2.94326941e-01 -9.55694782e-01 -4.37437457e-03 -3.04225609e+02] [-9.55588006e-01 -2.94359445e-01 1.42856516e-02 -2.61208806e+02] [-1.49403612e-02 -2.45522640e-05 -9.99888386e-01 -1.79116732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1085.1965599950001 meters 0.01327506009192466 Centerline is valid? [True, True] Translation: X:-304.21, Y:-261.33, Z:-1.79 [[ 3.66975850e-01 -9.30214856e-01 -5.38957848e-03 -3.04214031e+02] [-9.30113556e-01 -3.67015424e-01 1.37277695e-02 -2.61327722e+02] [-1.47478335e-02 -2.48398534e-05 -9.99891245e-01 -1.79175101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1085.2265599950001 meters 0.013173780026132443 Centerline is valid? [True, True] Translation: X:-304.19, Y:-261.44, Z:-1.79 [[ 4.36961363e-01 -8.99459421e-01 -6.12513466e-03 -3.04194281e+02] [-8.99370484e-01 -4.37004290e-01 1.26484384e-02 -2.61443245e+02] [-1.40534672e-02 -1.81135750e-05 -9.99901245e-01 -1.79282917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1085.256559995 meters 0.01305794450323085 Centerline is valid? [True, True] Translation: X:-304.17, Y:-261.55, Z:-1.79 [[ 5.03326465e-01 -8.64074475e-01 -6.14583046e-03 -3.04170894e+02] [-8.64010021e-01 -5.03363985e-01 1.05537857e-02 -2.61545642e+02] [-1.22128466e-02 -1.94055324e-06 -9.99925421e-01 -1.79457231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1085.286559995 meters 0.013044810298837911 Centerline is valid? [True, True] Translation: X:-304.13, Y:-261.66, Z:-1.80 [[ 5.67511029e-01 -8.23341001e-01 -6.38972612e-03 -3.04132902e+02] [-8.23288937e-01 -5.67547000e-01 9.25903312e-03 -2.61656444e+02] [-1.12498115e-02 5.98741055e-06 -9.99936719e-01 -1.79575578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1085.316559995 meters 0.012978015646709858 Centerline is valid? [True, True] Translation: X:-304.09, Y:-261.76, Z:-1.80 [[ 6.28298688e-01 -7.77945217e-01 -6.48062199e-03 -3.04090759e+02] [-7.77904045e-01 -6.28332109e-01 8.00357314e-03 -2.61758389e+02] [-1.02983243e-02 1.26675610e-05 -9.99946971e-01 -1.79633467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1085.346559995 meters 0.013041425742948823 Centerline is valid? [True, True] Translation: X:-304.04, Y:-261.86, Z:-1.80 [[ 6.85281503e-01 -7.28249708e-01 -6.45172514e-03 -3.04042093e+02] [-7.28217701e-01 -6.85311873e-01 6.82764893e-03 -2.61855967e+02] [-9.39367718e-03 1.93989264e-05 -9.99955878e-01 -1.79673955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1085.376559995 meters 0.013030783096917577 Centerline is valid? [True, True] Translation: X:-303.99, Y:-261.95, Z:-1.80 [[ 7.37871354e-01 -6.74907101e-01 -6.80214001e-03 -3.03989345e+02] [-6.74878805e-01 -7.37902706e-01 6.18025414e-03 -2.61946512e+02] [-9.19041493e-03 3.03876294e-05 -9.99957767e-01 -1.79717026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1085.406559995 meters 0.012992058443483988 Centerline is valid? [True, True] Translation: X:-303.99, Y:-261.96, Z:-1.80 [[ 7.88298388e-01 -6.15250888e-01 -7.21078863e-03 -3.03993487e+02] [-6.15225511e-01 -7.88331367e-01 5.58814662e-03 -2.61955208e+02] [-9.12260303e-03 3.11341453e-05 -9.99958388e-01 -1.79709252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1085.4365599950002 meters 0.013025666934037141 Centerline is valid? [True, True] Translation: X:-304.00, Y:-261.96, Z:-1.80 [[ 8.33957635e-01 -5.51779607e-01 -7.34357036e-03 -3.03996337e+02] [-5.51758537e-01 -8.33989966e-01 4.82215398e-03 -2.61964813e+02] [-8.78523023e-03 3.04055095e-05 -9.99961409e-01 -1.79669141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1085.4665599950001 meters 0.013158882334146563 Centerline is valid? [True, True] Translation: X:-304.00, Y:-261.97, Z:-1.80 [[ 8.74624821e-01 -4.84738856e-01 -7.72428919e-03 -3.03998257e+02] [-4.84720247e-01 -8.74658928e-01 4.24745067e-03 -2.61972960e+02] [-8.81502288e-03 2.91935885e-05 -9.99961147e-01 -1.79665010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1085.496559995 meters 0.013037387676523201 Centerline is valid? [True, True] Translation: X:-304.00, Y:-261.98, Z:-1.80 [[ 9.09842753e-01 -4.14877550e-01 -7.92362978e-03 -3.03999878e+02] [-4.14862094e-01 -9.09877254e-01 3.58125283e-03 -2.61982328e+02] [-8.69531191e-03 2.88367094e-05 -9.99962195e-01 -1.79696583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1085.526559995 meters 0.01312914791468049 Centerline is valid? [True, True] Translation: X:-304.00, Y:-261.99, Z:-1.80 [[ 9.39473035e-01 -3.42527008e-01 -8.10343656e-03 -3.04000818e+02] [-3.42514534e-01 -9.39507982e-01 2.92345968e-03 -2.61990621e+02] [-8.61460722e-03 2.90332567e-05 -9.99962893e-01 -1.79631584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1085.556559995 meters 0.013215664128788026 Centerline is valid? [True, True] Translation: X:-304.00, Y:-262.00, Z:-1.80 [[ 9.63424781e-01 -2.67839584e-01 -8.63992647e-03 -3.03999890e+02] [-2.67829079e-01 -9.63463521e-01 2.37228784e-03 -2.61998850e+02] [-8.95964657e-03 2.85026551e-05 -9.99959861e-01 -1.79624426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1085.586559995 meters 0.013163157070510115 Centerline is valid? [True, True] Translation: X:-304.00, Y:-262.01, Z:-1.80 [[ 9.81451030e-01 -1.91492922e-01 -9.18347133e-03 -3.03998956e+02] [-1.91484805e-01 -9.81493994e-01 1.76336317e-03 -2.62008239e+02] [-9.35119352e-03 2.78406150e-05 -9.99956276e-01 -1.79681103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1085.616559995 meters 0.013119392268364238 Centerline is valid? [True, True] Translation: X:-304.00, Y:-262.02, Z:-1.80 [[ 9.93430706e-01 -1.14085400e-01 -8.94168591e-03 -3.04000480e+02] [-1.14081024e-01 -9.93470946e-01 9.99564833e-04 -2.62017469e+02] [-8.99734091e-03 2.70782908e-05 -9.99959523e-01 -1.79684856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1085.646559995 meters 0.013089513328225826 Centerline is valid? [True, True] Translation: X:-304.00, Y:-262.03, Z:-1.80 [[ 9.99311244e-01 -3.59981303e-02 -9.00960270e-03 -3.04002053e+02] [-3.59969126e-02 -9.99351857e-01 2.97336161e-04 -2.62026202e+02] [-9.01446673e-03 2.71865120e-05 -9.99959369e-01 -1.79667195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1085.6765599950002 meters 0.013213348851872342 Centerline is valid? [True, True] Translation: X:-304.00, Y:-262.03, Z:-1.80 [[ 9.99075435e-01 4.19866107e-02 -9.24116426e-03 -3.04002505e+02] [ 4.19845285e-02 -9.99118173e-01 -4.19289605e-04 -2.62034070e+02] [-9.25061970e-03 3.09160204e-05 -9.99957212e-01 -1.79630510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1085.7065599950001 meters 0.013322832854904166 Centerline is valid? [True, True] Translation: X:-304.00, Y:-262.04, Z:-1.80 [[ 9.92752759e-01 1.19799840e-01 -9.48464087e-03 -3.04003077e+02] [ 1.19794037e-01 -9.92798065e-01 -1.17957037e-03 -2.62040518e+02] [-9.55764544e-03 3.48183189e-05 -9.99954324e-01 -1.79549415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1085.736559995 meters 0.013253791077024957 Centerline is valid? [True, True] Translation: X:-304.00, Y:-262.05, Z:-1.80 [[ 9.80415917e-01 1.96721198e-01 -9.24124719e-03 -3.04003390e+02] [ 1.96712089e-01 -9.80459468e-01 -1.89350402e-03 -2.62046894e+02] [-9.43316069e-03 3.85564373e-05 -9.99955506e-01 -1.79620118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1085.766559995 meters 0.01325495806811687 Centerline is valid? [True, True] Translation: X:-304.00, Y:-262.05, Z:-1.80 [[ 9.62062166e-01 2.72681014e-01 -9.02516308e-03 -3.04002500e+02] [ 2.72668627e-01 -9.62104497e-01 -2.59939779e-03 -2.62053920e+02] [-9.39195641e-03 3.99034389e-05 -9.99955894e-01 -1.79625539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1085.796559995 meters 0.01335500511691546 Centerline is valid? [True, True] Translation: X:-304.00, Y:-262.06, Z:-1.80 [[ 9.37724988e-01 3.47269137e-01 -8.71742511e-03 -3.04001749e+02] [ 3.47253751e-01 -9.37765507e-01 -3.26912298e-03 -2.62060288e+02] [-9.31016609e-03 3.83797366e-05 -9.99956659e-01 -1.79558772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1085.826559995 meters 0.013182910878054165 Centerline is valid? [True, True] Translation: X:-304.00, Y:-262.07, Z:-1.80 [[ 9.07438911e-01 4.20104894e-01 -8.15479384e-03 -3.03998862e+02] [ 4.20087614e-01 -9.07475552e-01 -3.81045582e-03 -2.62068317e+02] [-9.00106718e-03 3.20279977e-05 -9.99959489e-01 -1.79612650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1085.856559995 meters 0.013405857612210267 Centerline is valid? [True, True] Translation: X:-304.00, Y:-262.08, Z:-1.79 [[ 8.70971532e-01 4.91266176e-01 -8.13240418e-03 -3.03996479e+02] [ 4.91244567e-01 -8.71009497e-01 -4.60770933e-03 -2.62076106e+02] [-9.34701302e-03 1.81842795e-05 -9.99956316e-01 -1.79409664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1085.886559995 meters 0.013241389871109848 Centerline is valid? [True, True] Translation: X:-303.99, Y:-262.08, Z:-1.80 [[ 8.29234349e-01 5.58845494e-01 -7.88082758e-03 -3.03991956e+02] [ 5.58820163e-01 -8.29271797e-01 -5.32085223e-03 -2.62083563e+02] [-9.50888234e-03 8.26808522e-06 -9.99954790e-01 -1.79516513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1085.916559995 meters 0.013255870921117371 Centerline is valid? [True, True] Translation: X:-303.99, Y:-262.09, Z:-1.80 [[ 7.83007323e-01 6.21966313e-01 -7.57878768e-03 -3.03987909e+02] [ 6.21937061e-01 -7.83044000e-01 -6.03214075e-03 -2.62090510e+02] [-9.68631256e-03 9.68144486e-06 -9.99953087e-01 -1.79545248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1085.9465599950001 meters 0.013386565812711063 Centerline is valid? [True, True] Translation: X:-303.98, Y:-262.10, Z:-1.80 [[ 7.32373839e-01 6.80866129e-01 -7.06220432e-03 -3.03984924e+02] [ 6.80834268e-01 -7.32407888e-01 -6.58676635e-03 -2.62097228e+02] [-9.65712026e-03 1.57846503e-05 -9.99953369e-01 -1.79520742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1085.9765599950001 meters 0.013339397750940556 Centerline is valid? [True, True] Translation: X:-303.98, Y:-262.10, Z:-1.80 [[ 6.77195748e-01 7.35775842e-01 -6.31107137e-03 -3.03981914e+02] [ 7.35743615e-01 -6.77225155e-01 -6.88646299e-03 -2.62102009e+02] [-9.34090939e-03 2.01529907e-05 -9.99956373e-01 -1.79552326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1086.006559995 meters 0.013459553616190525 Centerline is valid? [True, True] Translation: X:-303.98, Y:-262.11, Z:-1.80 [[ 6.19041677e-01 7.85339404e-01 -5.42428823e-03 -3.03978840e+02] [ 7.85308741e-01 -6.19065440e-01 -6.93988776e-03 -2.62106998e+02] [-8.80815670e-03 3.63388003e-05 -9.99961207e-01 -1.79622225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1086.036559995 meters 0.013519894168761981 Centerline is valid? [True, True] Translation: X:-303.97, Y:-262.11, Z:-1.80 [[ 5.56445993e-01 8.30869304e-01 -4.90473679e-03 -3.03974434e+02] [ 8.30836309e-01 -5.56467607e-01 -7.40480390e-03 -2.62112662e+02] [-8.88175141e-03 4.53400502e-05 -9.99960556e-01 -1.79624430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1086.066559995 meters 0.013595618623229047 Centerline is valid? [True, True] Translation: X:-303.97, Y:-262.12, Z:-1.80 [[ 4.90768746e-01 8.71277287e-01 -4.68263380e-03 -3.03968840e+02] [ 8.71236435e-01 -4.90791082e-01 -8.43729766e-03 -2.62117859e+02] [-9.64942072e-03 6.10808176e-05 -9.99953442e-01 -1.79586087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1086.096559995 meters 0.013707980408819829 Centerline is valid? [True, True] Translation: X:-303.96, Y:-262.12, Z:-1.80 [[ 4.20973064e-01 9.07063669e-01 -4.14498495e-03 -3.03962688e+02] [ 9.07018223e-01 -4.20993465e-01 -9.07993929e-03 -2.62124668e+02] [-9.98109462e-03 6.28329699e-05 -9.99950186e-01 -1.79544244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1086.126559995 meters 0.013669800585989596 Centerline is valid? [True, True] Translation: X:-303.95, Y:-262.13, Z:-1.80 [[ 3.47890344e-01 9.37528983e-01 -3.42256072e-03 -3.03954254e+02] [ 9.37482057e-01 -3.47907175e-01 -9.38031262e-03 -2.62130437e+02] [-9.98504839e-03 5.47309258e-05 -9.99950147e-01 -1.79515574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1086.156559995 meters 0.013541868397108605 Centerline is valid? [True, True] Translation: X:-303.95, Y:-262.14, Z:-1.79 [[ 2.71019154e-01 9.62569627e-01 -2.88644196e-03 -3.03945999e+02] [ 9.62513770e-01 -2.71034522e-01 -1.03696564e-02 -2.62135954e+02] [-1.07638417e-02 3.21353600e-05 -9.99942068e-01 -1.79430647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1086.1865599950002 meters 0.013587587122009163 Centerline is valid? [True, True] Translation: X:-303.94, Y:-262.14, Z:-1.79 [[ 1.93956638e-01 9.81007763e-01 -2.14296751e-03 -3.03940964e+02] [ 9.80946525e-01 -1.93968474e-01 -1.09611218e-02 -2.62140962e+02] [-1.11686137e-02 2.38457917e-05 -9.99937629e-01 -1.79399976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1086.2165599950001 meters 0.013456811128209182 Centerline is valid? [True, True] Translation: X:-303.93, Y:-262.14, Z:-1.79 [[ 1.15951055e-01 9.93254120e-01 -1.26718823e-03 -3.03934790e+02] [ 9.93193156e-01 -1.15957978e-01 -1.10046624e-02 -2.62143933e+02] [-1.10773669e-02 1.74395458e-05 -9.99938644e-01 -1.79483899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1086.246559995 meters 0.013463265860017708 Centerline is valid? [True, True] Translation: X:-303.93, Y:-262.15, Z:-1.80 [[ 3.70839629e-02 9.99312072e-01 -4.03897297e-04 -3.03927776e+02] [ 9.99250027e-01 -3.70861611e-02 -1.11355076e-02 -2.62147001e+02] [-1.11428261e-02 9.35436409e-06 -9.99937917e-01 -1.79574467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1086.276559995 meters 0.013408472207834381 Centerline is valid? [True, True] Translation: X:-303.92, Y:-262.15, Z:-1.80 [[-4.18877903e-02 9.99122215e-01 4.61889629e-04 -3.03920673e+02] [ 9.99062268e-01 4.18903367e-02 -1.09446550e-02 -2.62150689e+02] [-1.09543966e-02 3.00908698e-06 -9.99939999e-01 -1.79570743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1086.306559995 meters 0.01348177009102747 Centerline is valid? [True, True] Translation: X:-303.91, Y:-262.15, Z:-1.79 [[-1.20585976e-01 9.92701981e-01 1.34149639e-03 -3.03914025e+02] [ 9.92640265e-01 1.20593438e-01 -1.10692165e-02 -2.62153719e+02] [-1.11502088e-02 -3.16894360e-06 -9.99937835e-01 -1.79460055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1086.336559995 meters 0.013447569597042497 Centerline is valid? [True, True] Translation: X:-303.91, Y:-262.16, Z:-1.79 [[-1.98391048e-01 9.80120473e-01 2.20233761e-03 -3.03910212e+02] [ 9.80059650e-01 1.98403272e-01 -1.09189728e-02 -2.62155414e+02] [-1.11388597e-02 -7.80422734e-06 -9.99937961e-01 -1.79432253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1086.366559995 meters 0.013392173571381255 Centerline is valid? [True, True] Translation: X:-303.90, Y:-262.16, Z:-1.79 [[-2.75504756e-01 9.61294904e-01 3.03931065e-03 -3.03904510e+02] [ 9.61235668e-01 2.75521519e-01 -1.06716150e-02 -2.62156230e+02] [-1.10959646e-02 -1.85868710e-05 -9.99938438e-01 -1.79470250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1086.396559995 meters 0.013413553940078015 Centerline is valid? [True, True] Translation: X:-303.90, Y:-262.16, Z:-1.80 [[-3.52284150e-01 9.35884795e-01 3.94071515e-03 -3.03895022e+02] [ 9.35824758e-01 3.52306187e-01 -1.06006212e-02 -2.62155833e+02] [-1.13092985e-02 -4.66120312e-05 -9.99936047e-01 -1.79530913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1086.4265599950002 meters 0.013844792531285184 Centerline is valid? [True, True] Translation: X:-303.89, Y:-262.15, Z:-1.80 [[-4.27450645e-01 9.04024594e-01 5.04778081e-03 -3.03885156e+02] [ 9.03959099e-01 4.27480440e-01 -1.08821264e-02 -2.62154792e+02] [-1.19955375e-02 -8.85845597e-05 -9.99928047e-01 -1.79502733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1086.4565599950001 meters 0.013899397720555642 Centerline is valid? [True, True] Translation: X:-303.88, Y:-262.15, Z:-1.80 [[-4.98418641e-01 8.66916096e-01 5.94486729e-03 -3.03876496e+02] [ 8.66851779e-01 4.98454081e-01 -1.05604500e-02 -2.62152592e+02] [-1.21182674e-02 -1.10206343e-04 -9.99926565e-01 -1.79501557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1086.486559995 meters 0.014196093236509468 Centerline is valid? [True, True] Translation: X:-303.87, Y:-262.15, Z:-1.79 [[-5.66139329e-01 8.24280629e-01 6.90690064e-03 -3.03868228e+02] [ 8.24216403e-01 5.66181444e-01 -1.02904595e-02 -2.62150566e+02] [-1.23927854e-02 -1.33053040e-04 -9.99923198e-01 -1.79465312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1086.516559995 meters 0.014397198290396221 Centerline is valid? [True, True] Translation: X:-303.86, Y:-262.14, Z:-1.79 [[-6.31040475e-01 7.75710552e-01 7.81400403e-03 -3.03859040e+02] [ 7.75647743e-01 6.31088830e-01 -9.87255911e-03 -2.62144857e+02] [-1.25895789e-02 -1.69069795e-04 -9.99920734e-01 -1.79483303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1086.546559995 meters 0.014727378675852764 Centerline is valid? [True, True] Translation: X:-303.85, Y:-262.14, Z:-1.79 [[-6.90522754e-01 7.23259511e-01 8.60270279e-03 -3.03851114e+02] [ 7.23200086e-01 6.90576315e-01 -9.27298262e-03 -2.62140599e+02] [-1.26475957e-02 -1.81730093e-04 -9.99920000e-01 -1.79443385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1086.576559995 meters 0.014846258209110664 Centerline is valid? [True, True] Translation: X:-303.84, Y:-262.14, Z:-1.79 [[-7.45527681e-01 6.66410776e-01 9.22798385e-03 -3.03844778e+02] [ 6.66356566e-01 7.45584765e-01 -8.50207993e-03 -2.62136230e+02] [-1.25461219e-02 -1.89408305e-04 -9.99921277e-01 -1.79454214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1086.606559995 meters 0.014868246329919418 Centerline is valid? [True, True] Translation: X:-303.83, Y:-262.12, Z:-1.79 [[-7.90949405e-01 6.11799195e-01 1.00390949e-02 -3.03826295e+02] [ 6.11746739e-01 7.91013089e-01 -8.01382806e-03 -2.62115928e+02] [-1.28439090e-02 -1.97148969e-04 -9.99917494e-01 -1.79486799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1086.636559995 meters 0.014997489105344063 Centerline is valid? [True, True] Translation: X:-303.81, Y:-262.09, Z:-1.79 [[-8.32244220e-01 5.54309568e-01 1.05100157e-02 -3.03809230e+02] [ 5.54262390e-01 8.32310558e-01 -7.23450921e-03 -2.62094207e+02] [-1.27577547e-02 -1.95572043e-04 -9.99918598e-01 -1.79471997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1086.666559995 meters 0.015128449818819483 Centerline is valid? [True, True] Translation: X:-303.42, Y:-261.54, Z:-2.79 [[-7.74138435e-01 -6.32931670e-01 1.03530388e-02 -3.03417473e+02] [ 6.32878985e-01 -7.74207627e-01 -8.16955535e-03 -2.61535549e+02] [ 1.31861719e-02 2.27853872e-04 9.99913033e-01 -2.79093038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1086.6965599950001 meters 0.015014688552831026 Centerline is valid? [True, True] Translation: X:-303.43, Y:-261.56, Z:-2.79 [[-7.30168691e-01 -6.83196495e-01 9.80981080e-03 -3.03434064e+02] [ 6.83138382e-01 -7.30234560e-01 -8.91286132e-03 -2.61560520e+02] [ 1.32526985e-02 1.93565997e-04 9.99912161e-01 -2.79151198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1086.7265599950001 meters 0.015194777267583358 Centerline is valid? [True, True] Translation: X:-303.89, Y:-262.07, Z:-1.79 [[-7.94659245e-01 6.06962144e-01 1.06602019e-02 -3.03894267e+02] [ 6.06904224e-01 7.94730720e-01 -8.38719022e-03 -2.62067961e+02] [-1.35626969e-02 -1.95236677e-04 -9.99908004e-01 -1.79287937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1086.756559995 meters 0.014764653945288744 Centerline is valid? [True, True] Translation: X:-303.88, Y:-262.05, Z:-1.79 [[-8.35058985e-01 5.50028577e-01 1.20439183e-02 -3.03880086e+02] [ 5.49968003e-01 8.35145812e-01 -8.16514672e-03 -2.62047373e+02] [-1.45494919e-02 -1.94609457e-04 -9.99894132e-01 -1.79293008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1086.786559995 meters 0.014559403462196238 Centerline is valid? [True, True] Translation: X:-303.87, Y:-262.03, Z:-1.79 [[-8.71523126e-01 4.90186952e-01 1.28137424e-02 -3.03865696e+02] [ 4.90130812e-01 8.71617300e-01 -7.42093473e-03 -2.62025060e+02] [-1.48063249e-02 -1.87106265e-04 -9.99890363e-01 -1.79322166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1086.816559995 meters 0.014295899655550988 Centerline is valid? [True, True] Translation: X:-303.85, Y:-262.00, Z:-1.79 [[-9.03775963e-01 4.27803697e-01 1.31531546e-02 -3.03848720e+02] [ 4.27755566e-01 9.03871654e-01 -6.41952652e-03 -2.62004689e+02] [-1.46350608e-02 -1.75478681e-04 -9.99892887e-01 -1.79373342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1086.846559995 meters 0.014295899655550988 Centerline is valid? [True, True] Translation: X:-303.84, Y:-261.98, Z:-1.79 [[-9.31811700e-01 3.62688127e-01 1.35749188e-02 -3.03837016e+02] [ 3.62646896e-01 9.31910560e-01 -5.47147007e-03 -2.61979512e+02] [-1.46350474e-02 -1.75477681e-04 -9.99892887e-01 -1.79373356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1086.876559995 meters 0.014252836712885235 Centerline is valid? [True, True] Translation: X:-303.57, Y:-261.34, Z:-2.79 [[-8.95764729e-01 -4.44346544e-01 1.27160713e-02 -3.03572787e+02] [ 4.44303973e-01 -8.95854971e-01 -6.15224270e-03 -2.61335912e+02] [ 1.41254835e-02 1.38838998e-04 9.99900221e-01 -2.79198062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1086.906559995 meters 0.013928879333816821 Centerline is valid? [True, True] Translation: X:-303.88, Y:-261.97, Z:-1.79 [[-9.32001255e-01 3.62220629e-01 1.30336986e-02 -3.03881100e+02] [ 3.62183367e-01 9.32092378e-01 -5.19689938e-03 -2.61967094e+02] [-1.40310353e-02 -1.22927884e-04 -9.99901553e-01 -1.79441130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1086.9365599950002 meters 0.014205592806950783 Centerline is valid? [True, True] Translation: X:-303.87, Y:-261.94, Z:-1.79 [[-9.54955290e-01 2.96440492e-01 1.35435812e-02 -3.03870172e+02] [ 2.96409101e-01 9.55051320e-01 -4.31523307e-03 -2.61942125e+02] [-1.42140250e-02 -1.06413906e-04 -9.99898970e-01 -1.79283636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1086.9665599950001 meters 0.013666065868536388 Centerline is valid? [True, True] Translation: X:-303.65, Y:-261.27, Z:-2.79 [[-9.27920649e-01 -3.72562143e-01 1.26774689e-02 -3.03648462e+02] [ 3.72528357e-01 -9.28007244e-01 -5.01782125e-03 -2.61272863e+02] [ 1.36342332e-02 6.65766881e-05 9.99907047e-01 -2.79085306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1086.996559995 meters 0.013450368874272563 Centerline is valid? [True, True] Translation: X:-303.91, Y:-261.93, Z:-1.80 [[-9.54587862e-01 2.97629096e-01 1.33766793e-02 -3.03914420e+02] [ 2.97599371e-01 9.54681581e-01 -4.20643999e-03 -2.61934600e+02] [-1.40224283e-02 -3.45252071e-05 -9.99901681e-01 -1.79512834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1087.026559995 meters 0.013405089932390256 Centerline is valid? [True, True] Translation: X:-303.91, Y:-261.91, Z:-1.80 [[-9.72927631e-01 2.30696916e-01 1.38115331e-02 -3.03906824e+02] [ 2.30673487e-01 9.73025659e-01 -3.28775126e-03 -2.61908335e+02] [-1.41974502e-02 -1.27895397e-05 -9.99899211e-01 -1.79539468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1087.056559995 meters 0.013425242416220937 Centerline is valid? [True, True] Translation: X:-303.90, Y:-261.88, Z:-1.80 [[-9.86256611e-01 1.64568270e-01 1.46691030e-02 -3.03897956e+02] [ 1.64550668e-01 9.86365694e-01 -2.40721006e-03 -2.61882675e+02] [-1.48652503e-02 3.96838589e-05 -9.99889505e-01 -1.79505617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1087.086559995 meters 0.013391698803403372 Centerline is valid? [True, True] Translation: X:-303.90, Y:-261.86, Z:-1.80 [[-9.95275398e-01 9.59437207e-02 1.48891091e-02 -3.03895205e+02] [ 9.59340046e-02 9.95386758e-01 -1.36707496e-03 -2.61855733e+02] [-1.49515843e-02 6.77557788e-05 -9.99888217e-01 -1.79510513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1087.116559995 meters 0.013617321204075085 Centerline is valid? [True, True] Translation: X:-303.82, Y:-261.14, Z:-2.79 [[-9.88337890e-01 -1.51573614e-01 1.46169280e-02 -3.03821580e+02] [ 1.51555893e-01 -9.88445969e-01 -2.31895801e-03 -2.61140829e+02] [ 1.47995364e-02 -7.66324893e-05 9.99890478e-01 -2.79013109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1087.146559995 meters 0.013926351876291272 Centerline is valid? [True, True] Translation: X:-303.96, Y:-261.85, Z:-1.80 [[-9.95128194e-01 9.76022410e-02 1.39168883e-02 -3.03955761e+02] [ 9.75948138e-02 9.95225492e-01 -1.21345299e-03 -2.61852558e+02] [-1.39688777e-02 1.50674837e-04 -9.99902419e-01 -1.79641174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1087.1765599950002 meters 0.014776524172883694 Centerline is valid? [True, True] Translation: X:-303.96, Y:-261.83, Z:-1.80 [[-9.99419491e-01 3.10575225e-02 1.40040147e-02 -3.03955070e+02] [ 3.10574734e-02 9.99517576e-01 -2.21037168e-04 -2.61826473e+02] [-1.40041237e-02 2.14020460e-04 -9.99901915e-01 -1.79657052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1087.2065599950001 meters 0.014995112748682458 Centerline is valid? [True, True] Translation: X:-303.94, Y:-261.10, Z:-2.79 [[-9.97720662e-01 -6.60703736e-02 1.37181217e-02 -3.03936835e+02] [ 6.60610159e-02 -9.97814940e-01 -1.13465537e-03 -2.61101237e+02] [ 1.37631139e-02 -2.25836053e-04 9.99905259e-01 -2.78840462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1087.236559995 meters 0.015642255583048926 Centerline is valid? [True, True] Translation: X:-304.04, Y:-261.83, Z:-1.80 [[-9.99474825e-01 2.91550230e-02 1.41442153e-02 -3.04042237e+02] [ 2.91558353e-02 9.99574867e-01 -1.48817689e-04 -2.61825133e+02] [-1.41425409e-02 2.63646876e-04 -9.99899955e-01 -1.79605192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1087.266559995 meters 0.01563479982941705 Centerline is valid? [True, True] Translation: X:-304.02, Y:-261.10, Z:-2.79 [[-9.98223564e-01 -5.78016433e-02 1.44459539e-02 -3.04021781e+02] [ 5.77919979e-02 -9.98328057e-01 -1.08459691e-03 -2.61100286e+02] [ 1.44844925e-02 -2.47809661e-04 9.99895064e-01 -2.78923257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1087.296559995 meters 0.01682778780129363 Centerline is valid? [True, True] Translation: X:-304.12, Y:-261.82, Z:-1.79 [[-9.99532958e-01 2.63695855e-02 1.54437732e-02 -3.04123090e+02] [ 2.63716380e-02 9.99652205e-01 -7.07673545e-05 -2.61822934e+02] [-1.54402680e-02 3.36543293e-04 -9.99880736e-01 -1.79483587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1087.326559995 meters 0.016168607639638826 Centerline is valid? [True, True] Translation: X:-304.12, Y:-261.10, Z:-2.79 [[-9.98636171e-01 -4.98668392e-02 1.54627614e-02 -3.04117150e+02] [ 4.98556827e-02 -9.98755820e-01 -1.10638404e-03 -2.61100871e+02] [ 1.54986948e-02 -3.33968597e-04 9.99879832e-01 -2.78922338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1087.356559995 meters 0.016303274221403943 Centerline is valid? [True, True] Translation: X:-304.21, Y:-261.82, Z:-1.80 [[-9.99678338e-01 2.03306094e-02 1.51620007e-02 -3.04214014e+02] [ 2.03332001e-02 9.99793259e-01 1.67180072e-05 -2.61816637e+02] [-1.51585262e-02 3.25004624e-04 -9.99885050e-01 -1.79626409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1087.386559995 meters 0.01610199828225491 Centerline is valid? [True, True] Translation: X:-304.22, Y:-261.79, Z:-1.80 [[-9.98537255e-01 -5.18864838e-02 1.52034057e-02 -3.04218486e+02] [-5.18757179e-02 9.98652941e-01 1.10190442e-03 -2.61786443e+02] [-1.52400998e-02 3.11605028e-04 -9.99883815e-01 -1.79638488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1087.416559995 meters 0.015444945355798835 Centerline is valid? [True, True] Translation: X:-304.23, Y:-261.76, Z:-1.80 [[-9.92103337e-01 -1.24576776e-01 1.45463634e-02 -3.04230135e+02] [-1.24559279e-01 9.92209932e-01 2.10619345e-03 -2.61756095e+02] [-1.46954291e-02 2.77676997e-04 -9.99891978e-01 -1.79681298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1087.4465599950001 meters 0.014535995730725313 Centerline is valid? [True, True] Translation: X:-304.26, Y:-261.73, Z:-1.80 [[-9.79798911e-01 -1.99508260e-01 1.38039506e-02 -3.04258071e+02] [-1.99485482e-01 9.79896123e-01 3.02171967e-03 -2.61726755e+02] [-1.41292957e-02 2.06989893e-04 -9.99900155e-01 -1.79729534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1087.4765599950001 meters 0.014126784538782659 Centerline is valid? [True, True] Translation: X:-304.30, Y:-261.70, Z:-1.80 [[-9.62038136e-01 -2.72590020e-01 1.33155990e-02 -3.04297314e+02] [-2.72561506e-01 9.62130268e-01 3.94619186e-03 -2.61704731e+02] [-1.38870334e-02 1.67067333e-04 -9.99903557e-01 -1.79780922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1087.506559995 meters 0.013315117165592737 Centerline is valid? [True, True] Translation: X:-304.36, Y:-261.69, Z:-1.80 [[-9.37229277e-01 -3.48487056e-01 1.25719238e-02 -3.04357514e+02] [-3.48454694e-01 9.37313590e-01 4.74970161e-03 -2.61687636e+02] [-1.34390446e-02 7.08135275e-05 -9.99909690e-01 -1.79797127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1087.536559995 meters 0.013037597639305933 Centerline is valid? [True, True] Translation: X:-304.43, Y:-261.68, Z:-1.80 [[-9.07384303e-01 -4.20126145e-01 1.21552223e-02 -3.04426987e+02] [-4.20088203e-01 9.07465714e-01 5.64621081e-03 -2.61681627e+02] [-1.34025683e-02 1.70175465e-05 -9.99910182e-01 -1.79808470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1087.566559995 meters 0.012923263706034497 Centerline is valid? [True, True] Translation: X:-304.50, Y:-261.68, Z:-1.80 [[-8.71855626e-01 -4.89624460e-01 1.16471523e-02 -3.04500980e+02] [-4.89581316e-01 8.71933419e-01 6.49987261e-03 -2.61682894e+02] [-1.33380379e-02 -3.52776318e-05 -9.99911044e-01 -1.79819355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1087.596559995 meters 0.013253537080338915 Centerline is valid? [True, True] Translation: X:-304.58, Y:-261.70, Z:-1.80 [[-8.30864918e-01 -5.56363991e-01 1.10724127e-02 -3.04583680e+02] [-5.56315976e-01 8.30938688e-01 7.30975900e-03 -2.61695161e+02] [-1.32673827e-02 -8.63377485e-05 -9.99911981e-01 -1.79805361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1087.626559995 meters 0.014487499477733186 Centerline is valid? [True, True] Translation: X:-304.67, Y:-261.71, Z:-1.80 [[-7.82570291e-01 -6.22484776e-01 9.82059776e-03 -3.04672564e+02] [-6.22438472e-01 7.82631890e-01 7.59425874e-03 -2.61713733e+02] [-1.24132234e-02 -1.69676595e-04 -9.99922939e-01 -1.79855320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1087.656559995 meters 0.016162180626668136 Centerline is valid? [True, True] Translation: X:-304.76, Y:-261.74, Z:-1.80 [[-7.30118246e-01 -6.83266623e-01 8.60632227e-03 -3.04760295e+02] [-6.83222674e-01 7.30168935e-01 7.75275155e-03 -2.61740783e+02] [-1.15812655e-02 -2.19609150e-04 -9.99932911e-01 -1.79902688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1087.6865599950002 meters 0.016447916783521435 Centerline is valid? [True, True] Translation: X:-304.85, Y:-261.78, Z:-1.80 [[-6.75303123e-01 -7.37495268e-01 8.14992987e-03 -3.04847072e+02] [-7.37445915e-01 6.75352256e-01 8.53540728e-03 -2.61782909e+02] [-1.17988960e-02 -2.46145294e-04 -9.99930360e-01 -1.79954184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1087.7165599950001 meters 0.01709266052364675 Centerline is valid? [True, True] Translation: X:-304.93, Y:-261.83, Z:-1.80 [[-6.16659523e-01 -7.87197566e-01 7.14320915e-03 -3.04931775e+02] [-7.87149399e-01 6.16700843e-01 8.71170229e-03 -2.61832759e+02] [-1.12630539e-02 -2.50618609e-04 -9.99936539e-01 -1.79956591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1087.746559995 meters 0.017488420617155033 Centerline is valid? [True, True] Translation: X:-305.02, Y:-261.89, Z:-1.80 [[-5.54513460e-01 -8.32150017e-01 6.41651253e-03 -3.05015789e+02] [-8.32099637e-01 5.54550522e-01 9.16037179e-03 -2.61894298e+02] [-1.11810839e-02 -2.59628296e-04 -9.99937456e-01 -1.80008083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1087.776559995 meters 0.016120368216003548 Centerline is valid? [True, True] Translation: X:-305.09, Y:-261.96, Z:-1.80 [[-4.88808024e-01 -8.72374249e-01 5.46677828e-03 -3.05091328e+02] [-8.72325589e-01 4.88838523e-01 9.21772118e-03 -2.61960093e+02] [-1.07136744e-02 -2.63114503e-04 -9.99942573e-01 -1.80164458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1087.806559995 meters 0.016641012037268157 Centerline is valid? [True, True] Translation: X:-305.17, Y:-262.03, Z:-1.80 [[-4.20391607e-01 -9.07329044e-01 4.99024519e-03 -3.05165993e+02] [-9.07272984e-01 4.20421127e-01 1.00900327e-02 -2.62034398e+02] [-1.12529842e-02 -2.85749597e-04 -9.99936643e-01 -1.80120726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1087.836559995 meters 0.017554034943683086 Centerline is valid? [True, True] Translation: X:-305.24, Y:-262.12, Z:-1.80 [[-3.48883508e-01 -9.37154265e-01 4.70971807e-03 -3.05239241e+02] [-9.37081455e-01 3.48915134e-01 1.16866032e-02 -2.62118251e+02] [-1.25954419e-02 -3.36126340e-04 -9.99920618e-01 -1.79894231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1087.866559995 meters 0.017347247289440017 Centerline is valid? [True, True] Translation: X:-305.30, Y:-262.21, Z:-1.80 [[-2.76015520e-01 -9.61144898e-01 3.98982432e-03 -3.05302536e+02] [-9.61062452e-01 2.76044123e-01 1.25938891e-02 -2.62210087e+02] [-1.32059198e-02 -3.58361476e-04 -9.99912734e-01 -1.79838713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1087.896559995 meters 0.017953646308283777 Centerline is valid? [True, True] Translation: X:-305.36, Y:-262.31, Z:-1.80 [[-2.01357428e-01 -9.79513123e-01 3.03789927e-03 -3.05360352e+02] [-9.79427594e-01 2.01380007e-01 1.29491883e-02 -2.62305885e+02] [-1.32956720e-02 -3.67987119e-04 -9.99911541e-01 -1.79800990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1087.9265599950002 meters 0.017994837142288413 Centerline is valid? [True, True] Translation: X:-305.41, Y:-262.41, Z:-1.80 [[-1.26110654e-01 -9.92014148e-01 2.00822326e-03 -3.05409256e+02] [-9.91929944e-01 1.26126125e-01 1.29300670e-02 -2.62408683e+02] [-1.30800988e-02 -3.61397582e-04 -9.99914387e-01 -1.79828083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1087.9565599950001 meters 0.017541069855782826 Centerline is valid? [True, True] Translation: X:-305.45, Y:-262.51, Z:-1.80 [[-5.03064871e-02 -9.98733304e-01 1.02214749e-03 -3.05448954e+02] [-9.98646871e-01 5.03155858e-02 1.31441730e-02 -2.62513863e+02] [-1.31789533e-02 -3.59527228e-04 -9.99913089e-01 -1.79897041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1087.986559995 meters 0.017073944869224738 Centerline is valid? [True, True] Translation: X:-305.48, Y:-262.63, Z:-1.80 [[ 2.39226990e-02 -9.99713811e-01 1.30790762e-05 -3.05480829e+02] [-9.99643839e-01 -2.39208698e-02 1.18316339e-02 -2.62625133e+02] [-1.18279350e-02 -2.96119035e-04 -9.99930004e-01 -1.80031875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1088.016559995 meters 0.017095835919399185 Centerline is valid? [True, True] Translation: X:-305.51, Y:-262.73, Z:-1.80 [[ 9.54823199e-02 -9.95430807e-01 -7.96903909e-04 -3.05506550e+02] [-9.95370345e-01 -9.54853058e-02 1.09742078e-02 -2.62729326e+02] [-1.10001571e-02 -2.54628300e-04 -9.99939464e-01 -1.80046839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1088.046559995 meters 0.014778152308240717 Centerline is valid? [True, True] Translation: X:-305.52, Y:-262.83, Z:-1.80 [[ 1.65891374e-01 -9.86143069e-01 -1.37801952e-03 -3.05517943e+02] [-9.86100404e-01 -1.65897017e-01 9.17459684e-03 -2.62834592e+02] [-9.27607441e-03 -1.63120865e-04 -9.99956963e-01 -1.80252425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1088.076559995 meters 0.013832097461692014 Centerline is valid? [True, True] Translation: X:-305.52, Y:-262.95, Z:-1.80 [[ 2.37457171e-01 -9.71396050e-01 -1.95111284e-03 -3.05521525e+02] [-9.71358856e-01 -2.37465155e-01 8.50139429e-03 -2.62949937e+02] [-8.72154214e-03 -1.23486307e-04 -9.99961959e-01 -1.80340014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1088.106559995 meters 0.01331812385235047 Centerline is valid? [True, True] Translation: X:-305.52, Y:-263.06, Z:-1.80 [[ 3.07438357e-01 -9.51564653e-01 -2.52341719e-03 -3.05517890e+02] [-9.51530222e-01 -3.07448700e-01 8.09532126e-03 -2.63061832e+02] [-8.47904290e-03 -8.77045517e-05 -9.99964049e-01 -1.80344518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1088.136559995 meters 0.01281227279544369 Centerline is valid? [True, True] Translation: X:-305.50, Y:-263.17, Z:-1.80 [[ 3.75718888e-01 -9.26728656e-01 -3.05226411e-03 -3.05504910e+02] [-9.26696916e-01 -3.75731282e-01 7.67005085e-03 -2.63173627e+02] [-8.25488701e-03 -5.32592415e-05 -9.99965927e-01 -1.80411310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1088.166559995 meters 0.012738758697881747 Centerline is valid? [True, True] Translation: X:-305.48, Y:-263.28, Z:-1.80 [[ 4.38363489e-01 -8.98790560e-01 -3.60296645e-03 -3.05482577e+02] [-8.98760423e-01 -4.38378295e-01 7.36023180e-03 -2.63280785e+02] [-8.19476915e-03 1.17467654e-05 -9.99966422e-01 -1.80342064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1088.1965599950001 meters 0.012757960191476042 Centerline is valid? [True, True] Translation: X:-305.45, Y:-263.39, Z:-1.80 [[ 5.02600130e-01 -8.64507969e-01 -4.36814201e-03 -3.05454316e+02] [-8.64476070e-01 -5.02619109e-01 7.42665866e-03 -2.63389213e+02] [-8.61591724e-03 4.35146303e-05 -9.99962882e-01 -1.80496290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1088.2265599950001 meters 0.013106471663520159 Centerline is valid? [True, True] Translation: X:-305.42, Y:-263.49, Z:-1.80 [[ 5.64224952e-01 -8.25605909e-01 -5.00865614e-03 -3.05418370e+02] [-8.25574541e-01 -5.64247178e-01 7.19718172e-03 -2.63494690e+02] [-8.76815585e-03 7.41894895e-05 -9.99961556e-01 -1.80479807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1088.256559995 meters 0.013803029502809507 Centerline is valid? [True, True] Translation: X:-305.38, Y:-263.59, Z:-1.81 [[ 6.21227896e-01 -7.83608834e-01 -5.75303826e-03 -3.05376610e+02] [-7.83577099e-01 -6.21254521e-01 7.05342176e-03 -2.63592842e+02] [-9.10122463e-03 1.26166669e-04 -9.99958575e-01 -1.80515540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1088.286559995 meters 0.014297203070502876 Centerline is valid? [True, True] Translation: X:-305.33, Y:-263.69, Z:-1.81 [[ 6.77360157e-01 -7.35623851e-01 -6.38496460e-03 -3.05330865e+02] [-7.35593212e-01 -6.77390233e-01 6.71557792e-03 -2.63685266e+02] [-9.26525196e-03 1.47871707e-04 -9.99957066e-01 -1.80503527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1088.316559995 meters 0.01460651089270563 Centerline is valid? [True, True] Translation: X:-305.28, Y:-263.77, Z:-1.81 [[ 7.29270323e-01 -6.84185322e-01 -7.43241766e-03 -3.05279817e+02] [-6.84152383e-01 -7.29308173e-01 6.71611191e-03 -2.63774342e+02] [-1.00155881e-02 1.87045148e-04 -9.99949825e-01 -1.80534541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1088.346559995 meters 0.015118025630790973 Centerline is valid? [True, True] Translation: X:-305.28, Y:-263.79, Z:-1.80 [[ 7.80309458e-01 -6.25341430e-01 -8.07750430e-03 -3.05282588e+02] [-6.25310481e-01 -7.80351240e-01 6.22452979e-03 -2.63785398e+02] [-1.01957469e-02 1.93888634e-04 -9.99948003e-01 -1.80451550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1088.376559995 meters 0.015280688478740824 Centerline is valid? [True, True] Translation: X:-305.28, Y:-263.80, Z:-1.80 [[ 8.26810468e-01 -5.62409411e-01 -8.95013120e-03 -3.05283332e+02] [-5.62379101e-01 -8.26858884e-01 5.84234735e-03 -2.63795696e+02] [-1.06862866e-02 2.02852791e-04 -9.99942880e-01 -1.80374188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1088.406559995 meters 0.014449532114425928 Centerline is valid? [True, True] Translation: X:-305.29, Y:-263.81, Z:-1.80 [[ 8.68939678e-01 -4.94823948e-01 -9.64867038e-03 -3.05285945e+02] [-4.94795903e-01 -8.68993224e-01 5.27170705e-03 -2.63811749e+02] [-1.09931961e-02 1.93327149e-04 -9.99939554e-01 -1.80385339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1088.4365599950002 meters 0.01446381991860332 Centerline is valid? [True, True] Translation: X:-305.29, Y:-263.82, Z:-1.80 [[ 9.05585246e-01 -4.24048365e-01 -9.91701753e-03 -3.05286338e+02] [-4.24025048e-01 -9.05639528e-01 4.45031316e-03 -2.63824096e+02] [-1.08683911e-02 1.74925893e-04 -9.99940922e-01 -1.80345859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1088.4665599950001 meters 0.013782721820549342 Centerline is valid? [True, True] Translation: X:-305.28, Y:-263.84, Z:-1.80 [[ 9.37300085e-01 -3.48395613e-01 -9.43647702e-03 -3.05284587e+02] [-3.48379276e-01 -9.37347578e-01 3.37619361e-03 -2.63837620e+02] [-1.00215099e-02 1.22966473e-04 -9.99949776e-01 -1.80365572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1088.496559995 meters 0.013354519354725794 Centerline is valid? [True, True] Translation: X:-305.28, Y:-263.85, Z:-1.80 [[ 9.62272190e-01 -2.71944080e-01 -8.86841931e-03 -3.05281609e+02] [-2.71933419e-01 -9.62313051e-01 2.40980461e-03 -2.63850020e+02] [-9.18952774e-03 9.27316217e-05 -9.99957771e-01 -1.80423837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1088.526559995 meters 0.01302465490678934 Centerline is valid? [True, True] Translation: X:-305.28, Y:-263.86, Z:-1.80 [[ 9.81057460e-01 -1.93518187e-01 -8.77331126e-03 -3.05277358e+02] [-1.93511076e-01 -9.81096686e-01 1.66046034e-03 -2.63861916e+02] [-8.92879587e-03 6.87258964e-05 -9.99960135e-01 -1.80470682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1088.556559995 meters 0.012643449742021428 Centerline is valid? [True, True] Translation: X:-305.27, Y:-263.88, Z:-1.80 [[ 9.93807968e-01 -1.10783176e-01 -8.53298024e-03 -3.05273209e+02] [-1.10779261e-01 -9.93844599e-01 9.31577135e-04 -2.63875408e+02] [-8.58365941e-03 1.94684637e-05 -9.99963160e-01 -1.80486620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1088.586559995 meters 0.012553905818187987 Centerline is valid? [True, True] Translation: X:-305.27, Y:-263.89, Z:-1.81 [[ 9.99534320e-01 -2.93390347e-02 -8.38829578e-03 -3.05269919e+02] [-2.93379287e-02 -9.99569518e-01 2.54900431e-04 -2.63888944e+02] [-8.39216330e-03 -8.68650539e-06 -9.99964785e-01 -1.80575464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1088.616559995 meters 0.012628247229817362 Centerline is valid? [True, True] Translation: X:-305.27, Y:-263.90, Z:-1.81 [[ 9.98611432e-01 5.20955830e-02 -7.82681441e-03 -3.05266694e+02] [ 5.20942343e-02 -9.98642103e-01 -3.76216289e-04 -2.63901590e+02] [-7.83578560e-03 -3.20380169e-05 -9.99969299e-01 -1.80562044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1088.646559995 meters 0.013145695566641672 Centerline is valid? [True, True] Translation: X:-305.26, Y:-263.92, Z:-1.81 [[ 9.90711125e-01 1.35834757e-01 -6.35491518e-03 -3.05260403e+02] [ 1.35832370e-01 -9.90731505e-01 -8.07716486e-04 -2.63916883e+02] [-6.40573065e-03 -6.29894832e-05 -9.99979481e-01 -1.80623603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1088.6765599950002 meters 0.013407617816546227 Centerline is valid? [True, True] Translation: X:-305.25, Y:-263.93, Z:-1.81 [[ 9.76445592e-01 2.15691243e-01 -5.59403138e-03 -3.05253009e+02] [ 2.15688125e-01 -9.76461614e-01 -1.16196676e-03 -2.63929745e+02] [-5.71298296e-03 -7.19688154e-05 -9.99983678e-01 -1.80675161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1088.7065599950001 meters 0.013803010886354784 Centerline is valid? [True, True] Translation: X:-305.24, Y:-263.94, Z:-1.81 [[ 9.55854068e-01 2.93802439e-01 -4.80912465e-03 -3.05244369e+02] [ 2.93799117e-01 -9.55866163e-01 -1.39928698e-03 -2.63941445e+02] [-5.00799346e-03 -7.54024217e-05 -9.99987457e-01 -1.80675394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1088.736559995 meters 0.014495591150356634 Centerline is valid? [True, True] Translation: X:-305.24, Y:-263.95, Z:-1.81 [[ 9.29085312e-01 3.69838133e-01 -4.49872024e-03 -3.05235713e+02] [ 3.69834231e-01 -9.29096200e-01 -1.70101958e-03 -2.63951715e+02] [-4.80884579e-03 -8.33884328e-05 -9.99988434e-01 -1.80644592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1088.766559995 meters 0.014495591150356634 Centerline is valid? [True, True] Translation: X:-305.23, Y:-263.96, Z:-1.81 [[ 8.97273781e-01 4.41453083e-01 -4.35168911e-03 -3.05227542e+02] [ 4.41448340e-01 -8.97284330e-01 -2.04804799e-03 -2.63957861e+02] [-4.80881955e-03 -8.33861653e-05 -9.99988434e-01 -1.80644616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1088.796559995 meters 0.015123583527977822 Centerline is valid? [True, True] Translation: X:-305.22, Y:-263.97, Z:-1.81 [[ 8.58181478e-01 5.13325010e-01 -4.68893724e-03 -3.05216378e+02] [ 5.13318058e-01 -8.58194280e-01 -2.67395885e-03 -2.63966290e+02] [-5.39662906e-03 -1.12174201e-04 -9.99985432e-01 -1.80549091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1088.826559995 meters 0.01597625216866458 Centerline is valid? [True, True] Translation: X:-305.21, Y:-263.97, Z:-1.80 [[ 8.14805398e-01 5.79713130e-01 -4.98508646e-03 -3.05206109e+02] [ 5.79703256e-01 -8.14820637e-01 -3.38593158e-03 -2.63973328e+02] [-6.02482031e-03 -1.30995526e-04 -9.99981842e-01 -1.80425899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1088.856559995 meters 0.01638027022620907 Centerline is valid? [True, True] Translation: X:-305.20, Y:-263.98, Z:-1.80 [[ 7.66458334e-01 6.42272522e-01 -5.25644925e-03 -3.05198213e+02] [ 6.42258759e-01 -7.66476343e-01 -4.20736588e-03 -2.63975773e+02] [-6.73121950e-03 -1.51229925e-04 -9.99977334e-01 -1.80366255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1088.886559995 meters 0.01658074476288757 Centerline is valid? [True, True] Translation: X:-305.19, Y:-263.98, Z:-1.80 [[ 7.13481309e-01 7.00655536e-01 -5.12270754e-03 -3.05189697e+02] [ 7.00639083e-01 -7.13499681e-01 -4.80429328e-03 -2.63976445e+02] [-7.02120488e-03 -1.61395658e-04 -9.99975338e-01 -1.80325919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1088.916559995 meters 0.016263068976128246 Centerline is valid? [True, True] Translation: X:-305.18, Y:-263.98, Z:-1.80 [[ 6.56225466e-01 7.54548597e-01 -4.95514411e-03 -3.05180861e+02] [ 7.54529029e-01 -6.56244151e-01 -5.43677352e-03 -2.63977397e+02] [-7.35409417e-03 -1.71050839e-04 -9.99972944e-01 -1.80309319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1088.9465599950001 meters 0.01628316961828572 Centerline is valid? [True, True] Translation: X:-305.17, Y:-263.98, Z:-1.80 [[ 5.95248185e-01 8.03530101e-01 -4.35607542e-03 -3.05171312e+02] [ 8.03510572e-01 -5.95264102e-01 -5.60444020e-03 -2.63977860e+02] [-7.09635172e-03 -1.64119793e-04 -9.99974807e-01 -1.80283097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1088.9765599950001 meters 0.016552258007488357 Centerline is valid? [True, True] Translation: X:-305.16, Y:-263.98, Z:-1.80 [[ 5.30784297e-01 8.47498161e-01 -3.85971120e-03 -3.05162775e+02] [ 8.47477911e-01 -5.30798306e-01 -5.86080790e-03 -2.63978767e+02] [-7.01575209e-03 -1.60195188e-04 -9.99975377e-01 -1.80249291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1089.006559995 meters 0.016052004828851472 Centerline is valid? [True, True] Translation: X:-305.16, Y:-263.98, Z:-1.80 [[ 4.63817039e-01 8.85924165e-01 -3.48263621e-03 -3.05156335e+02] [ 8.85901668e-01 -4.63830087e-01 -6.31546856e-03 -2.63975996e+02] [-7.21037767e-03 -1.56051298e-04 -9.99973993e-01 -1.80188273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1089.036559995 meters 0.015489159333606882 Centerline is valid? [True, True] Translation: X:-305.15, Y:-263.97, Z:-1.80 [[ 3.94038314e-01 9.19088623e-01 -3.14818478e-03 -3.05148833e+02] [ 9.19062389e-01 -3.94050859e-01 -6.94592519e-03 -2.63974365e+02] [-7.62446574e-03 -1.56417569e-04 -9.99970921e-01 -1.80162838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1089.066559995 meters 0.015157843293713094 Centerline is valid? [True, True] Translation: X:-305.14, Y:-263.97, Z:-1.80 [[ 3.23598032e-01 9.46190045e-01 -2.95183068e-03 -3.05143933e+02] [ 9.46154888e-01 -3.23611459e-01 -8.15790439e-03 -2.63972485e+02] [-8.67417415e-03 -1.53007222e-04 -9.99962367e-01 -1.80075386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1089.096559995 meters 0.014619578213884236 Centerline is valid? [True, True] Translation: X:-305.14, Y:-263.97, Z:-1.80 [[ 2.50111232e-01 9.68214055e-01 -2.43229845e-03 -3.05138388e+02] [ 9.68173790e-01 -2.50123016e-01 -8.83120001e-03 -2.63969328e+02] [-9.15886580e-03 -1.46105289e-04 -9.99958046e-01 -1.80080005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1089.126559995 meters 0.014186579492865578 Centerline is valid? [True, True] Translation: X:-305.13, Y:-263.97, Z:-1.80 [[ 1.75542595e-01 9.84470265e-01 -1.75913914e-03 -3.05132502e+02] [ 9.84427928e-01 -1.75551362e-01 -9.13096778e-03 -2.63966103e+02] [-9.29798554e-03 -1.28871918e-04 -9.99956765e-01 -1.80076452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1089.156559995 meters 0.013627108596594313 Centerline is valid? [True, True] Translation: X:-305.13, Y:-263.96, Z:-1.80 [[ 1.02272274e-01 9.94755901e-01 -1.03948037e-03 -3.05130717e+02] [ 9.94712929e-01 -1.02277519e-01 -9.24653013e-03 -2.63964014e+02] [-9.30435588e-03 -8.83209036e-05 -9.99956710e-01 -1.80104569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1089.1865599950002 meters 0.013191261981887296 Centerline is valid? [True, True] Translation: X:-305.12, Y:-263.96, Z:-1.80 [[ 2.62770838e-02 9.99654652e-01 -3.04423860e-04 -3.05124891e+02] [ 9.99613524e-01 -2.62787642e-02 -9.06808864e-03 -2.63961007e+02] [-9.07295687e-03 -6.60232821e-05 -9.99958838e-01 -1.80236315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1089.2165599950001 meters 0.013122751519961584 Centerline is valid? [True, True] Translation: X:-305.12, Y:-263.96, Z:-1.80 [[-5.01153493e-02 9.98743367e-01 3.71989206e-04 -3.05118549e+02] [ 9.98708971e-01 5.01167106e-02 -8.28900179e-03 -2.63959329e+02] [-8.29722843e-03 -4.38972631e-05 -9.99965577e-01 -1.80231575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1089.246559995 meters 0.012953215853583734 Centerline is valid? [True, True] Translation: X:-305.11, Y:-263.96, Z:-1.80 [[-1.26334103e-01 9.91987293e-01 9.51933737e-04 -3.05112189e+02] [ 9.91957518e-01 1.26337686e-01 -7.68586052e-03 -2.63955796e+02] [-7.74454107e-03 -2.67084648e-05 -9.99970010e-01 -1.80343204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1089.276559995 meters 0.012947737778272048 Centerline is valid? [True, True] Translation: X:-305.11, Y:-263.95, Z:-1.80 [[-2.00271944e-01 9.79739345e-01 1.40160111e-03 -3.05107807e+02] [ 9.79715355e-01 2.00276848e-01 -6.85622464e-03 -2.63952540e+02] [-6.99802129e-03 6.06961458e-08 -9.99975514e-01 -1.80374850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1089.306559995 meters 0.012941172343785473 Centerline is valid? [True, True] Translation: X:-305.10, Y:-263.95, Z:-1.80 [[-2.75024366e-01 9.61435244e-01 1.96699025e-03 -3.05100837e+02] [ 9.61410924e-01 2.75031400e-01 -6.83850706e-03 -2.63948275e+02] [-7.11576579e-03 1.03298450e-05 -9.99974683e-01 -1.80364942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1089.336559995 meters 0.013065532463005847 Centerline is valid? [True, True] Translation: X:-305.09, Y:-263.94, Z:-1.80 [[-3.47607880e-01 9.37636685e-01 2.49196714e-03 -3.05094381e+02] [ 9.37613090e-01 3.47616811e-01 -6.65181318e-03 -2.63944438e+02] [-7.10323373e-03 2.42783381e-05 -9.99974772e-01 -1.80335596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1089.366559995 meters 0.01330180651167268 Centerline is valid? [True, True] Translation: X:-305.09, Y:-263.94, Z:-1.80 [[-4.17611933e-01 9.08619241e-01 3.36872426e-03 -3.05090315e+02] [ 9.08590602e-01 4.17625517e-01 -7.21433130e-03 -2.63942063e+02] [-7.96194544e-03 4.80003583e-05 -9.99968302e-01 -1.80238916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1089.396559995 meters 0.01354912196502535 Centerline is valid? [True, True] Translation: X:-305.09, Y:-263.94, Z:-1.80 [[-4.86368141e-01 8.73744153e-01 4.14564264e-03 -3.05086413e+02] [ 8.73713494e-01 4.86385805e-01 -7.31977890e-03 -2.63939474e+02] [-8.41199575e-03 6.19966605e-05 -9.99964617e-01 -1.80214780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1089.4265599950002 meters 0.013504970860780455 Centerline is valid? [True, True] Translation: X:-305.08, Y:-263.93, Z:-1.80 [[-5.52686444e-01 8.33376260e-01 4.65865159e-03 -3.05080378e+02] [ 8.33347677e-01 5.52706074e-01 -6.90259002e-03 -2.63934079e+02] [-8.32731969e-03 6.73085466e-05 -9.99965325e-01 -1.80247109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1089.4565599950001 meters 0.013688473344866591 Centerline is valid? [True, True] Translation: X:-305.08, Y:-263.93, Z:-1.80 [[-6.15714444e-01 7.87947339e-01 5.89192869e-03 -3.05075723e+02] [ 7.87912544e-01 6.15742629e-01 -7.40531793e-03 -2.63929026e+02] [-9.46291222e-03 8.27633077e-05 -9.99955222e-01 -1.80210829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1089.486559995 meters 0.013745703739784131 Centerline is valid? [True, True] Translation: X:-305.07, Y:-263.92, Z:-1.80 [[-6.75787486e-01 7.37067147e-01 6.57986623e-03 -3.05070451e+02] [ 7.37033368e-01 6.75819513e-01 -7.05692701e-03 -2.63922539e+02] [-9.64823105e-03 8.05980122e-05 -9.99953452e-01 -1.80197955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1089.516559995 meters 0.013548131587258466 Centerline is valid? [True, True] Translation: X:-305.06, Y:-263.91, Z:-1.80 [[-7.31698761e-01 6.81588908e-01 7.31323405e-03 -3.05064782e+02] [ 6.81555939e-01 7.31735303e-01 -6.70437783e-03 -2.63914309e+02] [-9.92098110e-03 7.87931474e-05 -9.99950783e-01 -1.80228645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1089.546559995 meters 0.013650325664461551 Centerline is valid? [True, True] Translation: X:-304.64, Y:-263.45, Z:-2.78 [[-6.95015470e-01 -7.18964118e-01 6.64027595e-03 -3.04638889e+02] [ 7.18930021e-01 -6.95047184e-01 -7.00267073e-03 -2.63450825e+02] [ 9.64997409e-03 -9.30707622e-05 9.99953434e-01 -2.78302139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1089.576559995 meters 0.013469046628138862 Centerline is valid? [True, True] Translation: X:-304.66, Y:-263.43, Z:-2.78 [[-6.94614283e-01 -7.19350696e-01 6.75092819e-03 -3.04658097e+02] [ 7.19315887e-01 -6.94647086e-01 -7.07686988e-03 -2.63430000e+02] [ 9.78026386e-03 -5.96449938e-05 9.99952170e-01 -2.78308524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1089.606559995 meters 0.013483783681938304 Centerline is valid? [True, True] Translation: X:-304.68, Y:-263.41, Z:-2.78 [[-6.94614874e-01 -7.19349656e-01 6.80064849e-03 -3.04677230e+02] [ 7.19314372e-01 -6.94648162e-01 -7.12496682e-03 -2.63409261e+02] [ 9.84940041e-03 -5.73037321e-05 9.99951492e-01 -2.78345383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1089.636559995 meters 0.013468701973460567 Centerline is valid? [True, True] Translation: X:-304.70, Y:-263.39, Z:-2.78 [[-6.93620101e-01 -7.20310518e-01 6.62672280e-03 -3.04695250e+02] [ 7.20277087e-01 -6.93651754e-01 -6.93988991e-03 -2.63388670e+02] [ 9.59551359e-03 -4.05705496e-05 9.99953961e-01 -2.78378877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1089.666559995 meters 0.013436461936610905 Centerline is valid? [True, True] Translation: X:-304.71, Y:-263.37, Z:-2.78 [[-6.93177089e-01 -7.20735180e-01 6.80619108e-03 -3.04713704e+02] [ 7.20699978e-01 -6.93210502e-01 -7.12338363e-03 -2.63368241e+02] [ 9.85219631e-03 -3.25445701e-05 9.99951466e-01 -2.78366354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1089.6965599950001 meters 0.013330296407010105 Centerline is valid? [True, True] Translation: X:-304.73, Y:-263.35, Z:-2.78 [[-6.92632712e-01 -7.21255614e-01 7.08975212e-03 -3.04731871e+02] [ 7.21217492e-01 -6.92668996e-01 -7.41555627e-03 -2.63347857e+02] [ 1.02593631e-02 -2.30036102e-05 9.99947371e-01 -2.78368678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1089.7265599950001 meters 0.013309508368294438 Centerline is valid? [True, True] Translation: X:-304.75, Y:-263.33, Z:-2.78 [[-6.91025665e-01 -7.22798769e-01 6.74309662e-03 -3.04749108e+02] [ 7.22764391e-01 -6.91058564e-01 -7.04959096e-03 -2.63327791e+02] [ 9.75531033e-03 2.22183583e-06 9.99952416e-01 -2.78315313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1089.756559995 meters 0.013273980412997023 Centerline is valid? [True, True] Translation: X:-304.77, Y:-263.31, Z:-2.78 [[-6.90295282e-01 -7.23497075e-01 6.66379790e-03 -3.04768119e+02] [ 7.23463574e-01 -6.90327446e-01 -6.96242696e-03 -2.63307762e+02] [ 9.63749813e-03 1.48845617e-05 9.99953558e-01 -2.78275833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1089.786559995 meters 0.013356363563416929 Centerline is valid? [True, True] Translation: X:-304.79, Y:-263.29, Z:-2.78 [[-6.89354962e-01 -7.24396050e-01 6.33244359e-03 -3.04786561e+02] [ 7.24365874e-01 -6.89384045e-01 -6.61198334e-03 -2.63288867e+02] [ 9.15518019e-03 2.90025227e-05 9.99958090e-01 -2.78227395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1089.816559995 meters 0.013465966568500503 Centerline is valid? [True, True] Translation: X:-304.81, Y:-263.27, Z:-2.78 [[-6.88279095e-01 -7.25420215e-01 6.11553877e-03 -3.04805231e+02] [ 7.25392138e-01 -6.88306262e-01 -6.38251068e-03 -2.63269995e+02] [ 8.83936590e-03 4.32150693e-05 9.99960931e-01 -2.78169385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1089.846559995 meters 0.013971897998688353 Centerline is valid? [True, True] Translation: X:-304.82, Y:-263.25, Z:-2.78 [[-6.85759464e-01 -7.27807371e-01 5.51260635e-03 -3.04824911e+02] [ 7.27784660e-01 -6.85781617e-01 -5.75001090e-03 -2.63251162e+02] [ 7.96534441e-03 6.88659490e-05 9.99968274e-01 -2.78143236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1089.876559995 meters 0.014280748533661727 Centerline is valid? [True, True] Translation: X:-304.84, Y:-263.23, Z:-2.78 [[-6.84527284e-01 -7.28965863e-01 5.58290413e-03 -3.04844889e+02] [ 7.28942632e-01 -6.84550045e-01 -5.82026294e-03 -2.63231202e+02] [ 8.06455027e-03 8.54880569e-05 9.99967478e-01 -2.78168128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1089.906559995 meters 0.014143363672698485 Centerline is valid? [True, True] Translation: X:-304.86, Y:-263.21, Z:-2.78 [[-6.83477328e-01 -7.29948168e-01 5.86641023e-03 -3.04863117e+02] [ 7.29922583e-01 -6.83502496e-01 -6.11236733e-03 -2.63210166e+02] [ 8.47141737e-03 1.04360821e-04 9.99964112e-01 -2.78081793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1089.9365599950002 meters 0.015619726822739276 Centerline is valid? [True, True] Translation: X:-304.88, Y:-263.19, Z:-2.78 [[-6.81661071e-01 -7.31642042e-01 6.17309018e-03 -3.04883539e+02] [ 7.31613816e-01 -6.81689008e-01 -6.42807185e-03 -2.63191646e+02] [ 8.91117534e-03 1.34551724e-04 9.99960286e-01 -2.78276066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1089.9665599950001 meters 0.014671356154674058 Centerline is valid? [True, True] Translation: X:-304.90, Y:-263.17, Z:-2.78 [[-6.81107277e-01 -7.32153416e-01 6.65230029e-03 -3.04901176e+02] [ 7.32120698e-01 -6.81139745e-01 -6.92330017e-03 -2.63168667e+02] [ 9.60006399e-03 1.54776602e-04 9.99953907e-01 -2.78161469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1089.996559995 meters 0.016388399602245564 Centerline is valid? [True, True] Translation: X:-304.92, Y:-263.15, Z:-2.78 [[-6.80835369e-01 -7.32401993e-01 7.10779904e-03 -3.04921791e+02] [ 7.32364700e-01 -6.80872449e-01 -7.39288269e-03 -2.63151541e+02] [ 1.02540666e-02 1.72165098e-04 9.99947411e-01 -2.78455522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1090.026559995 meters 0.014975597312352141 Centerline is valid? [True, True] Translation: X:-304.94, Y:-263.13, Z:-2.78 [[-6.80677839e-01 -7.32540137e-01 7.91366420e-03 -3.04937019e+02] [ 7.32493972e-01 -6.80723812e-01 -8.22636668e-03 -2.63127027e+02] [ 1.14131634e-02 1.97205829e-04 9.99934848e-01 -2.78285363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1090.056559995 meters 0.015116453387014612 Centerline is valid? [True, True] Translation: X:-304.95, Y:-263.11, Z:-2.78 [[-6.80782674e-01 -7.32442207e-01 7.96019164e-03 -3.04954834e+02] [ 7.32395547e-01 -6.80829181e-01 -8.26974787e-03 -2.63106723e+02] [ 1.14766431e-02 2.00107837e-04 9.99934121e-01 -2.78300037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1090.086559995 meters 0.015232786814705013 Centerline is valid? [True, True] Translation: X:-304.97, Y:-263.09, Z:-2.78 [[-6.81026226e-01 -7.32216911e-01 7.85331020e-03 -3.04972978e+02] [ 7.32171533e-01 -6.81071477e-01 -8.15413757e-03 -2.63085682e+02] [ 1.13192630e-02 1.96788636e-04 9.99935916e-01 -2.78299052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1090.116559995 meters 0.01535253491862226 Centerline is valid? [True, True] Translation: X:-304.99, Y:-263.06, Z:-2.78 [[-6.81218946e-01 -7.32030338e-01 8.50480800e-03 -3.04991014e+02] [ 7.31977171e-01 -6.81272001e-01 -8.82506537e-03 -2.63064917e+02] [ 1.22543031e-02 2.13523567e-04 9.99924891e-01 -2.78300703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1090.146559995 meters 0.015447746882541519 Centerline is valid? [True, True] Translation: X:-305.01, Y:-263.04, Z:-2.78 [[-6.81891545e-01 -7.31398205e-01 8.97699279e-03 -3.05007516e+02] [ 7.31338974e-01 -6.81950599e-01 -9.31052181e-03 -2.63043796e+02] [ 1.29315645e-02 2.16458596e-04 9.99916361e-01 -2.78421444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1090.1765599950002 meters 0.015320124847129081 Centerline is valid? [True, True] Translation: X:-305.03, Y:-263.02, Z:-2.78 [[-6.82150249e-01 -7.31152802e-01 9.30689687e-03 -3.05025008e+02] [ 7.31089200e-01 -6.82213698e-01 -9.64638166e-03 -2.63023480e+02] [ 1.34022715e-02 2.23890134e-04 9.99910161e-01 -2.78471084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1090.2065599950001 meters 0.015563427187755656 Centerline is valid? [True, True] Translation: X:-305.04, Y:-263.00, Z:-2.79 [[-6.82510050e-01 -7.30815744e-01 9.40104230e-03 -3.05043092e+02] [ 7.30750902e-01 -6.82574756e-01 -9.73765242e-03 -2.63003771e+02] [ 1.35333439e-02 2.23774498e-04 9.99908395e-01 -2.78577429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1090.236559995 meters 0.015057019936071074 Centerline is valid? [True, True] Translation: X:-305.06, Y:-262.98, Z:-2.79 [[-6.83468418e-01 -7.29924752e-01 8.98768381e-03 -3.05058413e+02] [ 7.29865483e-01 -6.83527481e-01 -9.30376389e-03 -2.62981151e+02] [ 1.29343764e-02 2.00971398e-04 9.99916327e-01 -2.78547845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1090.266559995 meters 0.014858201491949065 Centerline is valid? [True, True] Translation: X:-305.08, Y:-262.96, Z:-2.79 [[-6.84490440e-01 -7.28965199e-01 9.08717672e-03 -3.05075569e+02] [ 7.28904601e-01 -6.84550731e-01 -9.40098768e-03 -2.62959697e+02] [ 1.30736263e-02 1.88798724e-04 9.99914519e-01 -2.78514527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1090.296559995 meters 0.014440703230091808 Centerline is valid? [True, True] Translation: X:-305.09, Y:-262.94, Z:-2.78 [[-6.86790410e-01 -7.26808625e-01 8.25564256e-03 -3.05090547e+02] [ 7.26758509e-01 -6.86840014e-01 -8.53613223e-03 -2.62935825e+02] [ 1.18744402e-02 1.37324727e-04 9.99929487e-01 -2.78468823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1090.326559995 meters 0.013984842876517616 Centerline is valid? [True, True] Translation: X:-305.11, Y:-262.91, Z:-2.78 [[-6.88359640e-01 -7.25327311e-01 7.82938528e-03 -3.05107046e+02] [ 7.25282196e-01 -6.88404155e-01 -8.09048333e-03 -2.62913392e+02] [ 1.12580299e-02 1.09351558e-04 9.99936621e-01 -2.78367420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1090.356559995 meters 0.013698781214192091 Centerline is valid? [True, True] Translation: X:-305.12, Y:-262.89, Z:-2.78 [[-6.89960926e-01 -7.23808140e-01 7.46308148e-03 -3.05123862e+02] [ 7.23767109e-01 -6.90001283e-01 -7.70727410e-03 -2.62891218e+02] [ 1.07281235e-02 8.38149351e-05 9.99942449e-01 -2.78296924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1090.386559995 meters 0.01360276091470006 Centerline is valid? [True, True] Translation: X:-305.14, Y:-262.87, Z:-2.78 [[-6.91104658e-01 -7.22717695e-01 7.31326881e-03 -3.05140029e+02] [ 7.22678285e-01 -6.91143348e-01 -7.54775128e-03 -2.62870654e+02] [ 1.05094105e-02 6.88544884e-05 9.99944772e-01 -2.78272421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1090.416559995 meters 0.013417912275435704 Centerline is valid? [True, True] Translation: X:-305.16, Y:-262.85, Z:-2.78 [[-6.92984368e-01 -7.20917378e-01 7.12734561e-03 -3.05155456e+02] [ 7.20879896e-01 -6.93021018e-01 -7.35145665e-03 -2.62847870e+02] [ 1.02391932e-02 4.35156153e-05 9.99947577e-01 -2.78229033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1090.4465599950001 meters 0.013444801137585824 Centerline is valid? [True, True] Translation: X:-305.17, Y:-262.83, Z:-2.78 [[-6.93980823e-01 -7.19960654e-01 6.87559597e-03 -3.05172285e+02] [ 7.19925770e-01 -6.94014881e-01 -7.08733890e-03 -2.62828174e+02] [ 9.87437107e-03 3.14414400e-05 9.99951247e-01 -2.78267812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1090.4765599950001 meters 0.013236755293475722 Centerline is valid? [True, True] Translation: X:-305.19, Y:-262.81, Z:-2.78 [[-6.94295895e-01 -7.19661048e-01 6.41765630e-03 -3.05190846e+02] [ 7.19630681e-01 -6.94325555e-01 -6.61115854e-03 -2.62808525e+02] [ 9.21373605e-03 2.82421335e-05 9.99957552e-01 -2.78097723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1090.506559995 meters 0.013388327095101078 Centerline is valid? [True, True] Translation: X:-305.21, Y:-262.79, Z:-2.78 [[-6.93956600e-01 -7.19992901e-01 5.87032718e-03 -3.05210955e+02] [ 7.19967536e-01 -6.93981428e-01 -6.04357788e-03 -2.62790753e+02] [ 8.42523120e-03 3.24642379e-05 9.99964507e-01 -2.78268359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1090.536559995 meters 0.013327277901904726 Centerline is valid? [True, True] Translation: X:-305.23, Y:-262.77, Z:-2.78 [[-6.94205560e-01 -7.19749101e-01 6.31444986e-03 -3.05229710e+02] [ 7.19719779e-01 -6.94234276e-01 -6.49683610e-03 -2.62771059e+02] [ 9.05979947e-03 3.44947187e-05 9.99958959e-01 -2.78202458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1090.566559995 meters 0.01332364288059252 Centerline is valid? [True, True] Translation: X:-305.25, Y:-262.75, Z:-2.78 [[-6.94381652e-01 -7.19578908e-01 6.34953858e-03 -3.05249153e+02] [ 7.19549289e-01 -6.94410681e-01 -6.52894559e-03 -2.62751933e+02] [ 9.10727895e-03 3.52259450e-05 9.99958527e-01 -2.78211479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1090.596559995 meters 0.013346590680706216 Centerline is valid? [True, True] Translation: X:-305.27, Y:-262.73, Z:-2.78 [[-6.94741385e-01 -7.19225758e-01 6.97985244e-03 -3.05267725e+02] [ 7.19189994e-01 -6.94776445e-01 -7.17247252e-03 -2.62733699e+02] [ 1.00080640e-02 3.68265416e-05 9.99949918e-01 -2.78294712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1090.626559995 meters 0.013358058791294319 Centerline is valid? [True, True] Translation: X:-305.29, Y:-262.71, Z:-2.78 [[-6.95185319e-01 -7.18792174e-01 7.42854906e-03 -3.05286782e+02] [ 7.18751689e-01 -6.95225006e-01 -7.62892400e-03 -2.62714413e+02] [ 1.06481239e-02 3.57662225e-05 9.99943307e-01 -2.78355160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1090.656559995 meters 0.013358058791294319 Centerline is valid? [True, True] Translation: X:-305.31, Y:-262.70, Z:-2.78 [[-6.95403266e-01 -7.18581297e-01 7.43086239e-03 -3.05305538e+02] [ 7.18540823e-01 -6.95442966e-01 -7.62667076e-03 -2.62695318e+02] [ 1.06481239e-02 3.57662235e-05 9.99943307e-01 -2.78355176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1090.6865599950002 meters 0.013271637955112246 Centerline is valid? [True, True] Translation: X:-305.33, Y:-262.68, Z:-2.78 [[-6.95745208e-01 -7.18250073e-01 7.44572628e-03 -3.05325082e+02] [ 7.18209464e-01 -6.95785047e-01 -7.63764416e-03 -2.62675809e+02] [ 1.06663635e-02 3.37367545e-05 9.99943112e-01 -2.78305602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1090.7165599950001 meters 0.013202035573612636 Centerline is valid? [True, True] Translation: X:-305.34, Y:-262.66, Z:-2.78 [[-6.96132378e-01 -7.17874219e-01 7.50451321e-03 -3.05344750e+02] [ 7.17832997e-01 -6.96172827e-01 -7.69312037e-03 -2.62657089e+02] [ 1.07471310e-02 3.15570277e-05 9.99942248e-01 -2.78346618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1090.746559995 meters 0.013172899214049289 Centerline is valid? [True, True] Translation: X:-305.37, Y:-262.64, Z:-2.78 [[-6.96390239e-01 -7.17631359e-01 6.77264617e-03 -3.05366006e+02] [ 7.17597812e-01 -6.96423170e-01 -6.93890477e-03 -2.62637972e+02] [ 9.69620337e-03 2.78505251e-05 9.99952991e-01 -2.78349647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1090.776559995 meters 0.013169267506173449 Centerline is valid? [True, True] Translation: X:-305.39, Y:-262.62, Z:-2.78 [[-6.96470182e-01 -7.17553270e-01 6.82573620e-03 -3.05385958e+02] [ 7.17519232e-01 -6.96503629e-01 -6.98909611e-03 -2.62618915e+02] [ 9.76919879e-03 2.98999570e-05 9.99952280e-01 -2.78374014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1090.806559995 meters 0.013157022384124167 Centerline is valid? [True, True] Translation: X:-305.41, Y:-262.60, Z:-2.78 [[-6.96726252e-01 -7.17303487e-01 6.94538302e-03 -3.05406555e+02] [ 7.17268273e-01 -6.96760868e-01 -7.10759584e-03 -2.62599232e+02] [ 9.93757438e-03 2.96542766e-05 9.99950621e-01 -2.78408796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1090.836559995 meters 0.013301241325625011 Centerline is valid? [True, True] Translation: X:-305.43, Y:-262.58, Z:-2.79 [[-6.96664395e-01 -7.17363605e-01 6.94111939e-03 -3.05426621e+02] [ 7.17328484e-01 -6.96698972e-01 -7.09852086e-03 -2.62581786e+02] [ 9.92809126e-03 3.37759109e-05 9.99950715e-01 -2.78567940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1090.866559995 meters 0.01317538541971378 Centerline is valid? [True, True] Translation: X:-305.45, Y:-262.56, Z:-2.79 [[-6.96580278e-01 -7.17443635e-01 7.10966606e-03 -3.05445896e+02] [ 7.17406837e-01 -6.96616559e-01 -7.26636591e-03 -2.62562730e+02] [ 1.01659191e-02 3.89158565e-05 9.99948325e-01 -2.78501372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1090.896559995 meters 0.013200448277440994 Centerline is valid? [True, True] Translation: X:-305.47, Y:-262.54, Z:-2.78 [[-6.95277222e-01 -7.18707029e-01 7.05636472e-03 -3.05466128e+02] [ 7.18670887e-01 -6.95313026e-01 -7.20781735e-03 -2.62543545e+02] [ 1.00866913e-02 5.97726727e-05 9.99949126e-01 -2.78486315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1090.9265599950002 meters 0.01334596091722386 Centerline is valid? [True, True] Translation: X:-305.49, Y:-262.52, Z:-2.79 [[-6.94328635e-01 -7.19621519e-01 7.25372880e-03 -3.05486342e+02] [ 7.19583423e-01 -6.94366519e-01 -7.40500528e-03 -2.62524975e+02] [ 1.03655476e-02 7.81557930e-05 9.99946273e-01 -2.78526208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1090.9565599950001 meters 0.01387832965369392 Centerline is valid? [True, True] Translation: X:-305.51, Y:-262.51, Z:-2.79 [[-6.93040691e-01 -7.20861929e-01 7.25803904e-03 -3.05507248e+02] [ 7.20823901e-01 -6.93078689e-01 -7.40504694e-03 -2.62507229e+02] [ 1.03684086e-02 9.97691696e-05 9.99946242e-01 -2.78665891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1090.986559995 meters 0.014351063510159606 Centerline is valid? [True, True] Translation: X:-305.53, Y:-262.49, Z:-2.79 [[-6.89837292e-01 -7.23933741e-01 6.66705031e-03 -3.05528977e+02] [ 7.23901832e-01 -6.89869495e-01 -6.79831025e-03 -2.62488866e+02] [ 9.52092081e-03 1.36561997e-04 9.99954666e-01 -2.78554484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1091.016559995 meters 0.01552160411565903 Centerline is valid? [True, True] Translation: X:-305.55, Y:-262.47, Z:-2.79 [[-6.88384199e-01 -7.25315515e-01 6.67824067e-03 -3.05550290e+02] [ 7.25283602e-01 -6.88416574e-01 -6.80573096e-03 -2.62472157e+02] [ 9.53371382e-03 1.58660797e-04 9.99954541e-01 -2.78645535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1091.046559995 meters 0.015701772284568125 Centerline is valid? [True, True] Translation: X:-305.57, Y:-262.45, Z:-2.79 [[-6.86854965e-01 -7.26764431e-01 6.61212545e-03 -3.05570444e+02] [ 7.26733248e-01 -6.86886767e-01 -6.73468230e-03 -2.62452770e+02] [ 9.43630902e-03 1.79501427e-04 9.99955461e-01 -2.78593299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1091.076559995 meters 0.01620743340351047 Centerline is valid? [True, True] Translation: X:-305.59, Y:-262.43, Z:-2.79 [[-6.85580405e-01 -7.27968743e-01 6.40447404e-03 -3.05591199e+02] [ 7.27939574e-01 -6.85610291e-01 -6.51962149e-03 -2.62433416e+02] [ 9.13705398e-03 1.92345361e-04 9.99958238e-01 -2.78567934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1091.106559995 meters 0.017126740964847762 Centerline is valid? [True, True] Translation: X:-305.61, Y:-262.41, Z:-2.78 [[-6.83269440e-01 -7.30144597e-01 5.63386604e-03 -3.05611647e+02] [ 7.30122124e-01 -6.83292638e-01 -5.73201305e-03 -2.62414132e+02] [ 8.03477755e-03 1.96900896e-04 9.99967701e-01 -2.78424762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1091.136559995 meters 0.0170448219903251 Centerline is valid? [True, True] Translation: X:-305.63, Y:-262.39, Z:-2.78 [[-6.82505752e-01 -7.30860762e-01 5.33338979e-03 -3.05630608e+02] [ 7.30840667e-01 -6.82526562e-01 -5.42325293e-03 -2.62393944e+02] [ 7.60382296e-03 1.96456832e-04 9.99971071e-01 -2.78309306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1091.166559995 meters 0.017381810230882925 Centerline is valid? [True, True] Translation: X:-305.65, Y:-262.38, Z:-2.78 [[-6.82071986e-01 -7.31271077e-01 4.51865409e-03 -3.05649745e+02] [ 7.31256680e-01 -6.82086932e-01 -4.59188742e-03 -2.62375181e+02] [ 6.44002936e-03 1.72298219e-04 9.99979248e-01 -2.78250539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1091.1965599950001 meters 0.01725474120413618 Centerline is valid? [True, True] Translation: X:-305.67, Y:-262.36, Z:-2.78 [[-6.81791764e-01 -7.31535350e-01 4.00287097e-03 -3.05668904e+02] [ 7.31524070e-01 -6.81803496e-01 -4.06544024e-03 -2.62355080e+02] [ 5.70318467e-03 1.56412794e-04 9.99983725e-01 -2.78180812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1091.2265599950001 meters 0.018567625327901075 Centerline is valid? [True, True] Translation: X:-305.69, Y:-262.34, Z:-2.78 [[-6.82314907e-01 -7.31050154e-01 3.46994663e-03 -3.05689023e+02] [ 7.31041683e-01 -6.82323717e-01 -3.52183651e-03 -2.62337716e+02] [ 4.94226601e-03 1.33674079e-04 9.99987778e-01 -2.78191969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1091.256559995 meters 0.01703657015929941 Centerline is valid? [True, True] Translation: X:-305.71, Y:-262.32, Z:-2.78 [[-6.83443809e-01 -7.29995775e-01 3.27540161e-03 -3.05706848e+02] [ 7.29988224e-01 -6.83451647e-01 -3.32252505e-03 -2.62315372e+02] [ 4.66400788e-03 1.20245427e-04 9.99989116e-01 -2.78187365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1091.286559995 meters 0.015981674398655808 Centerline is valid? [True, True] Translation: X:-305.72, Y:-262.29, Z:-2.78 [[-6.84730970e-01 -7.28788202e-01 3.35505707e-03 -3.05724441e+02] [ 7.28780274e-01 -6.84739179e-01 -3.40137815e-03 -2.62293771e+02] [ 4.77622329e-03 1.16070452e-04 9.99988587e-01 -2.78214946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1091.316559995 meters 0.015665640141709108 Centerline is valid? [True, True] Translation: X:-305.74, Y:-262.27, Z:-2.78 [[-6.88321872e-01 -7.25394287e-01 4.01617097e-03 -3.05741176e+02] [ 7.25382880e-01 -6.88333579e-01 -4.06950631e-03 -2.62272499e+02] [ 5.71646197e-03 1.12131464e-04 9.99983655e-01 -2.78333954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1091.346559995 meters 0.015438930334907012 Centerline is valid? [True, True] Translation: X:-305.76, Y:-262.25, Z:-2.78 [[-6.90373978e-01 -7.23440936e-01 4.12097836e-03 -3.05758814e+02] [ 7.23428901e-01 -6.90386270e-01 -4.17403575e-03 -2.62252012e+02] [ 5.86473521e-03 9.95891765e-05 9.99982798e-01 -2.78402044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1091.376559995 meters 0.013774719315677069 Centerline is valid? [True, True] Translation: X:-305.77, Y:-262.23, Z:-2.78 [[-6.94544468e-01 -7.19437205e-01 4.25334355e-03 -3.05773834e+02] [ 7.19424324e-01 -6.94557488e-01 -4.30574481e-03 -2.62227342e+02] [ 6.05190462e-03 6.94275700e-05 9.99981685e-01 -2.78352842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1091.406559995 meters 0.013574232886750354 Centerline is valid? [True, True] Translation: X:-305.79, Y:-262.21, Z:-2.78 [[-6.96419596e-01 -7.17620582e-01 4.52182934e-03 -3.05791707e+02] [ 7.17606003e-01 -6.96434274e-01 -4.57461701e-03 -2.62208132e+02] [ 6.43199626e-03 5.90389483e-05 9.99979313e-01 -2.78432241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1091.4365599950002 meters 0.012975014379568193 Centerline is valid? [True, True] Translation: X:-305.81, Y:-262.19, Z:-2.78 [[-6.98037608e-01 -7.16046868e-01 4.51454907e-03 -3.05809984e+02] [ 7.16032322e-01 -6.98052205e-01 -4.56437172e-03 -2.62187411e+02] [ 6.41969501e-03 4.64599384e-05 9.99979393e-01 -2.78367273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1091.4665599950001 meters 0.012701798193724778 Centerline is valid? [True, True] Translation: X:-305.83, Y:-262.17, Z:-2.78 [[-7.01019272e-01 -7.13128076e-01 4.50859465e-03 -3.05827745e+02] [ 7.13113522e-01 -7.01033770e-01 -4.55613205e-03 -2.62168032e+02] [ 6.40978279e-03 2.12034368e-05 9.99979457e-01 -2.78468817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1091.496559995 meters 0.012629963310990016 Centerline is valid? [True, True] Translation: X:-305.85, Y:-262.15, Z:-2.79 [[-7.03122191e-01 -7.11053675e-01 4.67501193e-03 -3.05845657e+02] [ 7.11038000e-01 -7.03137732e-01 -4.72138613e-03 -2.62148104e+02] [ 6.64433625e-03 4.39977713e-06 9.99977926e-01 -2.78507546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1091.526559995 meters 0.012687864994083262 Centerline is valid? [True, True] Translation: X:-305.86, Y:-262.13, Z:-2.79 [[-7.05881730e-01 -7.08315040e-01 4.55932295e-03 -3.05863296e+02] [ 7.08300093e-01 -7.05896454e-01 -4.60166220e-03 -2.62127493e+02] [ 6.47783645e-03 -1.88604038e-05 9.99979019e-01 -2.78511027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1091.556559995 meters 0.012893852091743619 Centerline is valid? [True, True] Translation: X:-305.88, Y:-262.11, Z:-2.78 [[-7.08883952e-01 -7.05310999e-01 4.46506926e-03 -3.05881435e+02] [ 7.05296620e-01 -7.08898013e-01 -4.50399867e-03 -2.62105565e+02] [ 6.34199853e-03 -4.36141181e-05 9.99979889e-01 -2.78472389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1091.586559995 meters 0.014204827457822556 Centerline is valid? [True, True] Translation: X:-305.90, Y:-262.08, Z:-2.78 [[-7.15325662e-01 -6.98782030e-01 3.58783508e-03 -3.05897467e+02] [ 6.98772673e-01 -7.15334655e-01 -3.61709635e-03 -2.62082079e+02] [ 5.09406470e-03 -8.03207299e-05 9.99987022e-01 -2.78349236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1091.616559995 meters 0.015189409507769244 Centerline is valid? [True, True] Translation: X:-305.92, Y:-262.06, Z:-2.78 [[-7.18703313e-01 -6.95310630e-01 2.94567348e-03 -3.05915796e+02] [ 6.95304300e-01 -7.18709344e-01 -2.96793779e-03 -2.62061279e+02] [ 4.18072175e-03 -8.49272856e-05 9.99991257e-01 -2.78299121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1091.646559995 meters 0.017555237799913304 Centerline is valid? [True, True] Translation: X:-305.93, Y:-262.04, Z:-2.78 [[-7.25536306e-01 -6.88178837e-01 2.63764385e-03 -3.05933090e+02] [ 6.88173721e-01 -7.25541092e-01 -2.65600759e-03 -2.62039138e+02] [ 3.74152721e-03 -1.11872759e-04 9.99992994e-01 -2.78263255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1091.6765599950002 meters 0.01885835976967559 Centerline is valid? [True, True] Translation: X:-305.95, Y:-262.02, Z:-2.78 [[-7.28960155e-01 -6.84550650e-01 2.73869944e-03 -3.05952248e+02] [ 6.84545114e-01 -7.28965287e-01 -2.75620308e-03 -2.62018394e+02] [ 3.88317744e-03 -1.34398904e-04 9.99992452e-01 -2.78266508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1091.7065599950001 meters 0.020152785248622174 Centerline is valid? [True, True] Translation: X:-305.97, Y:-262.00, Z:-2.78 [[-7.32239990e-01 -6.81041963e-01 2.53812955e-03 -3.05971124e+02] [ 6.81037193e-01 -7.32244375e-01 -2.55281125e-03 -2.61998346e+02] [ 3.59710267e-03 -1.40709861e-04 9.99993521e-01 -2.78267832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1091.736559995 meters 0.022040259009714742 Centerline is valid? [True, True] Translation: X:-305.99, Y:-261.98, Z:-2.78 [[-7.35483451e-01 -6.77538533e-01 2.37273756e-03 -3.05988882e+02] [ 6.77534351e-01 -7.35487264e-01 -2.38503275e-03 -2.61977975e+02] [ 3.36106985e-03 -1.46540911e-04 9.99994341e-01 -2.78282206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1091.766559995 meters 0.022254432103302232 Centerline is valid? [True, True] Translation: X:-306.01, Y:-261.96, Z:-2.78 [[-7.38297094e-01 -6.74471811e-01 2.27511983e-03 -3.06009220e+02] [ 6.74467956e-01 -7.38300584e-01 -2.28560129e-03 -2.61958559e+02] [ 3.22129594e-03 -1.52957367e-04 9.99994800e-01 -2.78228857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1091.796559995 meters 0.024346403088291765 Centerline is valid? [True, True] Translation: X:-306.03, Y:-261.94, Z:-2.78 [[-7.42095919e-01 -6.70289750e-01 2.30183506e-03 -3.06028642e+02] [ 6.70285788e-01 -7.42099469e-01 -2.31101161e-03 -2.61939632e+02] [ 3.25723797e-03 -1.72104955e-04 9.99994681e-01 -2.78212488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1091.826559995 meters 0.025020267119401286 Centerline is valid? [True, True] Translation: X:-306.05, Y:-261.92, Z:-2.78 [[-7.42771534e-01 -6.69540472e-01 2.45045793e-03 -3.06049458e+02] [ 6.69535983e-01 -7.42775553e-01 -2.45887602e-03 -2.61920953e+02] [ 3.46645725e-03 -1.85713357e-04 9.99993975e-01 -2.78233826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1091.856559995 meters 0.02516726056454195 Centerline is valid? [True, True] Translation: X:-306.07, Y:-261.91, Z:-2.78 [[-7.41465824e-01 -6.70985656e-01 2.58491961e-03 -3.06072766e+02] [ 6.70980674e-01 -7.41470306e-01 -2.59250986e-03 -2.61906182e+02] [ 3.65617807e-03 -1.87826361e-04 9.99993299e-01 -2.78346407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1091.886559995 meters 0.022560650828497154 Centerline is valid? [True, True] Translation: X:-306.10, Y:-261.89, Z:-2.78 [[-7.39523811e-01 -6.73125553e-01 2.55387724e-03 -3.06097344e+02] [ 6.73120708e-01 -7.39528201e-01 -2.55987733e-03 -2.61891546e+02] [ 3.61178308e-03 -1.74022587e-04 9.99993463e-01 -2.78347972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1091.916559995 meters 0.02185665947098517 Centerline is valid? [True, True] Translation: X:-306.12, Y:-261.88, Z:-2.78 [[-7.37012226e-01 -6.75874997e-01 2.44284728e-03 -3.06119588e+02] [ 6.75870584e-01 -7.37016258e-01 -2.44706350e-03 -2.61875711e+02] [ 3.45432721e-03 -1.52467099e-04 9.99994022e-01 -2.78359287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1091.9465599950001 meters 0.019995939244743827 Centerline is valid? [True, True] Translation: X:-306.15, Y:-261.86, Z:-2.78 [[-7.30476272e-01 -6.82934121e-01 2.32432661e-03 -3.06145503e+02] [ 6.82930166e-01 -7.30479961e-01 -2.32694389e-03 -2.61863470e+02] [ 3.28702339e-03 -1.12424541e-04 9.99994592e-01 -2.78425613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1091.9765599950001 meters 0.018326375580924696 Centerline is valid? [True, True] Translation: X:-306.17, Y:-261.85, Z:-2.78 [[-7.26835662e-01 -6.86806860e-01 2.50148942e-03 -3.06168999e+02] [ 6.86802307e-01 -7.26839960e-01 -2.50277975e-03 -2.61848481e+02] [ 3.53710877e-03 -1.01080871e-04 9.99993739e-01 -2.78468779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1092.006559995 meters 0.015568520596429433 Centerline is valid? [True, True] Translation: X:-306.19, Y:-261.83, Z:-2.78 [[-7.23284524e-01 -6.90544973e-01 2.67179831e-03 -3.06194680e+02] [ 6.90539810e-01 -7.23289453e-01 -2.67163024e-03 -2.61834606e+02] [ 3.77736437e-03 -8.73657038e-05 9.99992862e-01 -2.78447290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1092.036559995 meters 0.013375587885806128 Centerline is valid? [True, True] Translation: X:-306.67, Y:-262.30, Z:-1.80 [[-7.47546727e-01 6.64202074e-01 3.08144708e-03 -3.06673402e+02] [ 6.64196695e-01 7.47553077e-01 -2.67348450e-03 -2.62300882e+02] [-4.07927920e-03 4.81323811e-05 -9.99991679e-01 -1.80002965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1092.066559995 meters 0.012733526075048428 Centerline is valid? [True, True] Translation: X:-306.25, Y:-261.81, Z:-2.79 [[-7.14439670e-01 -6.99692666e-01 2.47619855e-03 -3.06252097e+02] [ 6.99688088e-01 -7.14443957e-01 -2.53211991e-03 -2.61809810e+02] [ 3.54081083e-03 -7.64802798e-05 9.99993729e-01 -2.78544070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1092.096559995 meters 0.012301846804329887 Centerline is valid? [True, True] Translation: X:-306.27, Y:-261.84, Z:-2.79 [[-6.62064261e-01 -7.49443532e-01 2.30360399e-03 -3.06273611e+02] [ 7.49438957e-01 -6.62068269e-01 -2.61854305e-03 -2.61839699e+02] [ 3.48759326e-03 -7.23320177e-06 9.99993918e-01 -2.78563285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1092.126559995 meters 0.012641295541739641 Centerline is valid? [True, True] Translation: X:-306.30, Y:-261.83, Z:-2.79 [[-6.55392419e-01 -7.55285851e-01 2.01517581e-03 -3.06300409e+02] [ 7.55282382e-01 -6.55395517e-01 -2.28923854e-03 -2.61825359e+02] [ 3.04976667e-03 2.16772065e-05 9.99995349e-01 -2.78611505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1092.156559995 meters 0.013155122918875934 Centerline is valid? [True, True] Translation: X:-306.32, Y:-261.81, Z:-2.79 [[-6.52517383e-01 -7.57771792e-01 1.72523185e-03 -3.06322295e+02] [ 7.57769261e-01 -6.52519663e-01 -1.95879274e-03 -2.61807192e+02] [ 2.61006559e-03 2.91813541e-05 9.99996594e-01 -2.78630716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1092.1865599950002 meters 0.014354076102313066 Centerline is valid? [True, True] Translation: X:-306.34, Y:-261.79, Z:-2.79 [[-6.49886706e-01 -7.60029019e-01 1.77773566e-03 -3.06344715e+02] [ 7.60026342e-01 -6.49889136e-01 -2.01768716e-03 -2.61790409e+02] [ 2.68883188e-03 3.98578688e-05 9.99996384e-01 -2.78665135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1092.2165599950001 meters 0.01568858276445325 Centerline is valid? [True, True] Translation: X:-306.37, Y:-261.77, Z:-2.79 [[-6.45491190e-01 -7.63765076e-01 2.00807404e-03 -3.06368286e+02] [ 7.63761682e-01 -6.45494311e-01 -2.27783677e-03 -2.61773741e+02] [ 3.03593255e-03 6.33664344e-05 9.99995390e-01 -2.78770025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1092.246559995 meters 0.016023575368606137 Centerline is valid? [True, True] Translation: X:-306.39, Y:-261.75, Z:-2.79 [[-6.43754326e-01 -7.65228985e-01 2.22910789e-03 -3.06388548e+02] [ 7.65224816e-01 -6.43758180e-01 -2.52703535e-03 -2.61754769e+02] [ 3.36876714e-03 7.89787374e-05 9.99994323e-01 -2.78856438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1092.276559995 meters 0.018083823920275296 Centerline is valid? [True, True] Translation: X:-306.41, Y:-261.74, Z:-2.79 [[-6.40746206e-01 -7.67748231e-01 2.63706162e-03 -3.06411493e+02] [ 7.67742425e-01 -6.40751623e-01 -2.98770743e-03 -2.61738623e+02] [ 3.98350861e-03 1.10221883e-04 9.99992060e-01 -2.78990069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1092.306559995 meters 0.01826387523898464 Centerline is valid? [True, True] Translation: X:-306.43, Y:-261.72, Z:-2.79 [[-6.39964314e-01 -7.68399747e-01 2.73957667e-03 -3.06430934e+02] [ 7.68393495e-01 -6.39970167e-01 -3.10211472e-03 -2.61718256e+02] [ 4.13691150e-03 1.19830172e-04 9.99991436e-01 -2.79037109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1092.336559995 meters 0.018592840202216347 Centerline is valid? [True, True] Translation: X:-306.45, Y:-261.70, Z:-2.79 [[-6.39138550e-01 -7.69085593e-01 3.04376455e-03 -3.06449731e+02] [ 7.69077892e-01 -6.39145782e-01 -3.44461400e-03 -2.61697714e+02] [ 4.59461227e-03 1.39306426e-04 9.99989435e-01 -2.79080991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1092.366559995 meters 0.01831273290957553 Centerline is valid? [True, True] Translation: X:-306.47, Y:-261.68, Z:-2.79 [[-6.38927123e-01 -7.69258644e-01 3.64278595e-03 -3.06468088e+02] [ 7.69247629e-01 -6.38937485e-01 -4.12017864e-03 -2.61676910e+02] [ 5.49699553e-03 1.69710568e-04 9.99984877e-01 -2.79142608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1092.396559995 meters 0.018596842817790116 Centerline is valid? [True, True] Translation: X:-306.49, Y:-261.66, Z:-2.79 [[-6.38814877e-01 -7.69344921e-01 4.89333738e-03 -3.06486702e+02] [ 7.69325070e-01 -6.38833577e-01 -5.53148147e-03 -2.61656211e+02] [ 7.38164540e-03 2.30974473e-04 9.99972729e-01 -2.79381565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1092.4265599950002 meters 0.018999283091422025 Centerline is valid? [True, True] Translation: X:-306.50, Y:-261.64, Z:-2.79 [[-6.39392918e-01 -7.68858074e-01 5.82734333e-03 -3.06504341e+02] [ 7.68829941e-01 -6.39419415e-01 -6.58289353e-03 -2.61636825e+02] [ 8.78742731e-03 2.71180520e-04 9.99961353e-01 -2.79489778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1092.4565599950001 meters 0.018482368794922665 Centerline is valid? [True, True] Translation: X:-306.52, Y:-261.62, Z:-2.80 [[-6.40222476e-01 -7.68165528e-01 6.07481817e-03 -3.06521324e+02] [ 7.68134962e-01 -6.40251237e-01 -6.85813417e-03 -2.61615673e+02] [ 9.15759210e-03 2.75548584e-04 9.99958031e-01 -2.79585661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1092.486559995 meters 0.018523820517412182 Centerline is valid? [True, True] Translation: X:-306.54, Y:-261.59, Z:-2.80 [[-6.41993790e-01 -7.66677184e-01 7.07596730e-03 -3.06537732e+02] [ 7.66635670e-01 -6.42032714e-01 -7.98398443e-03 -2.61593849e+02] [ 1.06641412e-02 2.99020507e-04 9.99943092e-01 -2.79743553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1092.516559995 meters 0.017587941654911655 Centerline is valid? [True, True] Translation: X:-306.55, Y:-261.57, Z:-2.80 [[-6.43304105e-01 -7.65576748e-01 7.21608881e-03 -3.06554387e+02] [ 7.65533552e-01 -6.43344511e-01 -8.13757984e-03 -2.61570598e+02] [ 1.08723730e-02 2.89219584e-04 9.99940852e-01 -2.79727787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1092.546559995 meters 0.017587941654911655 Centerline is valid? [True, True] Translation: X:-306.57, Y:-261.55, Z:-2.80 [[-6.43540752e-01 -7.65377811e-01 7.21860440e-03 -3.06572221e+02] [ 7.65334628e-01 -6.43581171e-01 -8.13534842e-03 -2.61550658e+02] [ 1.08723730e-02 2.89219675e-04 9.99940852e-01 -2.79727794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1092.576559995 meters 0.016601659753991787 Centerline is valid? [True, True] Translation: X:-306.59, Y:-261.53, Z:-2.80 [[-6.46288698e-01 -7.63052156e-01 7.89476898e-03 -3.06586583e+02] [ 7.63000385e-01 -6.46336856e-01 -8.89276313e-03 -2.61525157e+02] [ 1.18883222e-02 2.76419470e-04 9.99929293e-01 -2.79737233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1092.606559995 meters 0.016132883728063218 Centerline is valid? [True, True] Translation: X:-306.60, Y:-261.50, Z:-2.80 [[-6.48216602e-01 -7.61414777e-01 7.92307116e-03 -3.06601968e+02] [ 7.61362569e-01 -6.48264973e-01 -8.91986439e-03 -2.61502893e+02] [ 1.19279661e-02 2.50325633e-04 9.99928828e-01 -2.79741020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1092.636559995 meters 0.015453989352449267 Centerline is valid? [True, True] Translation: X:-306.62, Y:-261.48, Z:-2.80 [[-6.50257960e-01 -7.59672136e-01 7.92659488e-03 -3.06617721e+02] [ 7.59619806e-01 -6.50306233e-01 -8.91929122e-03 -2.61478685e+02] [ 1.19304511e-02 2.21358355e-04 9.99928805e-01 -2.79688677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1092.666559995 meters 0.013396358007077676 Centerline is valid? [True, True] Translation: X:-306.63, Y:-261.45, Z:-2.79 [[-6.55711482e-01 -7.54981510e-01 6.73589287e-03 -3.06628559e+02] [ 7.54943515e-01 -6.55746069e-01 -7.57517588e-03 -2.61450860e+02] [ 1.01361530e-02 1.18088833e-04 9.99948621e-01 -2.79421065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1092.6965599950001 meters 0.013005078232017749 Centerline is valid? [True, True] Translation: X:-306.64, Y:-261.43, Z:-2.79 [[-6.58880968e-01 -7.52222290e-01 6.12352005e-03 -3.06643120e+02] [ 7.52190804e-01 -6.58909419e-01 -6.88275955e-03 -2.61427624e+02] [ 9.21221019e-03 7.11361965e-05 9.99957564e-01 -2.79365049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1092.7265599950001 meters 0.012509746520680763 Centerline is valid? [True, True] Translation: X:-306.66, Y:-261.40, Z:-2.79 [[-6.62386384e-01 -7.49143350e-01 5.34028453e-03 -3.06657368e+02] [ 7.49119329e-01 -6.62407911e-01 -5.99924339e-03 -2.61403176e+02] [ 8.03174001e-03 2.66932286e-05 9.99967745e-01 -2.79256527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1092.756559995 meters 0.012554522752117185 Centerline is valid? [True, True] Translation: X:-306.67, Y:-261.37, Z:-2.79 [[-6.69291389e-01 -7.42988136e-01 4.20323928e-03 -3.06667541e+02] [ 7.42973149e-01 -6.69304586e-01 -4.71924097e-03 -2.61374452e+02] [ 6.31958738e-03 -3.56534207e-05 9.99980031e-01 -2.78959937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1092.786559995 meters 0.012969731195026311 Centerline is valid? [True, True] Translation: X:-306.68, Y:-261.35, Z:-2.79 [[-6.72624514e-01 -7.39975196e-01 3.60193217e-03 -3.06682415e+02] [ 7.39964159e-01 -6.72634156e-01 -4.04185961e-03 -2.61349621e+02] [ 5.41365846e-03 -5.33531429e-05 9.99985345e-01 -2.78867684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1092.816559995 meters 0.013502039682580529 Centerline is valid? [True, True] Translation: X:-306.70, Y:-261.33, Z:-2.79 [[-6.75717122e-01 -7.37154550e-01 3.08885517e-03 -3.06697610e+02] [ 7.37146413e-01 -6.75724179e-01 -3.46415459e-03 -2.61325697e+02] [ 4.64083144e-03 -6.38500636e-05 9.99989229e-01 -2.78769347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1092.846559995 meters 0.014255754212992971 Centerline is valid? [True, True] Translation: X:-306.71, Y:-261.30, Z:-2.79 [[-6.78598659e-01 -7.34504639e-01 2.60678636e-03 -3.06712943e+02] [ 7.34498831e-01 -6.78603662e-01 -2.92186965e-03 -2.61301629e+02] [ 3.91510159e-03 -6.80952908e-05 9.99992334e-01 -2.78725042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1092.876559995 meters 0.015497227516302205 Centerline is valid? [True, True] Translation: X:-306.73, Y:-261.28, Z:-2.79 [[-6.82680125e-01 -7.30712079e-01 2.77555246e-03 -3.06726189e+02] [ 7.30705470e-01 -6.82685761e-01 -3.10927938e-03 -2.61276105e+02] [ 4.16681815e-03 -9.45318742e-05 9.99991314e-01 -2.78741699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1092.906559995 meters 0.01603674488269099 Centerline is valid? [True, True] Translation: X:-306.74, Y:-261.25, Z:-2.79 [[-6.83841700e-01 -7.29624541e-01 2.92570793e-03 -3.06742544e+02] [ 7.29617193e-01 -6.83847950e-01 -3.27615052e-03 -2.61253821e+02] [ 4.39109919e-03 -1.05721536e-04 9.99990354e-01 -2.78773141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1092.9365599950002 meters 0.016826547503527113 Centerline is valid? [True, True] Translation: X:-306.76, Y:-261.23, Z:-2.79 [[-6.84772657e-01 -7.28749023e-01 3.35711047e-03 -3.06758858e+02] [ 7.28739349e-01 -6.84780875e-01 -3.75702076e-03 -2.61231566e+02] [ 5.03681025e-03 -1.26246589e-04 9.99987307e-01 -2.78859924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1092.9665599950001 meters 0.016145998617942907 Centerline is valid? [True, True] Translation: X:-306.78, Y:-261.21, Z:-2.79 [[-6.84692484e-01 -7.28821108e-01 3.99933043e-03 -3.06776366e+02] [ 7.28807396e-01 -6.84704148e-01 -4.47323928e-03 -2.61209197e+02] [ 5.99854935e-03 -1.48051718e-04 9.99981998e-01 -2.78918584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1092.996559995 meters 0.016434240515584418 Centerline is valid? [True, True] Translation: X:-306.79, Y:-261.19, Z:-2.79 [[-6.83909318e-01 -7.29552322e-01 4.63179539e-03 -3.06792314e+02] [ 7.29533964e-01 -6.83924983e-01 -5.17813100e-03 -2.61188639e+02] [ 6.94551808e-03 -1.62319991e-04 9.99975867e-01 -2.78976203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1093.026559995 meters 0.015226348791777153 Centerline is valid? [True, True] Translation: X:-306.81, Y:-261.17, Z:-2.79 [[-6.81485097e-01 -7.31813237e-01 5.23918597e-03 -3.06811642e+02] [ 7.31789840e-01 -6.81505218e-01 -5.85390646e-03 -2.61168428e+02] [ 7.85449881e-03 -1.55366946e-04 9.99969141e-01 -2.79036015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1093.056559995 meters 0.014707080263562556 Centerline is valid? [True, True] Translation: X:-306.83, Y:-261.15, Z:-2.79 [[-6.79786016e-01 -7.33391716e-01 5.25017107e-03 -3.06831151e+02] [ 7.33368293e-01 -6.79806276e-01 -5.86293920e-03 -2.61147720e+02] [ 7.86893029e-03 -1.35235087e-04 9.99969031e-01 -2.79048243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1093.086559995 meters 0.014412288841475452 Centerline is valid? [True, True] Translation: X:-306.85, Y:-261.13, Z:-2.79 [[-6.78119140e-01 -7.34933512e-01 5.21201280e-03 -3.06849415e+02] [ 7.34910498e-01 -6.78139160e-01 -5.81715305e-03 -2.61128061e+02] [ 7.80969070e-03 -1.14359907e-04 9.99969498e-01 -2.79061891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1093.116559995 meters 0.013220640886302273 Centerline is valid? [True, True] Translation: X:-306.87, Y:-261.11, Z:-2.79 [[-6.73786901e-01 -7.38912352e-01 4.44393677e-03 -3.06870353e+02] [ 7.38895726e-01 -6.73801553e-01 -4.95718148e-03 -2.61109368e+02] [ 6.65725412e-03 -5.64780586e-05 9.99977839e-01 -2.78988640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1093.146559995 meters 0.01278182929704431 Centerline is valid? [True, True] Translation: X:-306.89, Y:-261.09, Z:-2.79 [[-6.71580055e-01 -7.40921231e-01 3.99496909e-03 -3.06889918e+02] [ 7.40907846e-01 -6.71591936e-01 -4.45364120e-03 -2.61090149e+02] [ 5.98278635e-03 -3.10726608e-05 9.99982103e-01 -2.78937711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1093.1765599950002 meters 0.01252690439512135 Centerline is valid? [True, True] Translation: X:-306.91, Y:-261.07, Z:-2.79 [[-6.69169180e-01 -7.43100533e-01 3.76927930e-03 -3.06909662e+02] [ 7.43088667e-01 -6.69179795e-01 -4.19942046e-03 -2.61071124e+02] [ 5.64291713e-03 -9.21401742e-06 9.99984079e-01 -2.78869889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1093.2065599950001 meters 0.012488595098163684 Centerline is valid? [True, True] Translation: X:-306.93, Y:-261.05, Z:-2.79 [[-6.66416465e-01 -7.45571818e-01 3.42932252e-03 -3.06928992e+02] [ 7.45562038e-01 -6.66425288e-01 -3.81882899e-03 -2.61052807e+02] [ 5.13259852e-03 1.18421704e-05 9.99986828e-01 -2.78857505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1093.236559995 meters 0.013460725308130946 Centerline is valid? [True, True] Translation: X:-306.95, Y:-261.04, Z:-2.79 [[-6.60509423e-01 -7.50811885e-01 2.96913894e-03 -3.06951103e+02] [ 7.50804614e-01 -6.60516095e-01 -3.30459657e-03 -2.61035176e+02] [ 4.44229444e-03 4.65260421e-05 9.99990132e-01 -2.78796085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1093.266559995 meters 0.014033571395409465 Centerline is valid? [True, True] Translation: X:-306.97, Y:-261.02, Z:-2.79 [[-6.57641204e-01 -7.53326026e-01 2.81864896e-03 -3.06970949e+02] [ 7.53319504e-01 -6.57647242e-01 -3.13534825e-03 -2.61015310e+02] [ 4.21561615e-03 6.14090345e-05 9.99991113e-01 -2.78773287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1093.296559995 meters 0.016446476210176857 Centerline is valid? [True, True] Translation: X:-306.99, Y:-261.00, Z:-2.79 [[-6.52221120e-01 -7.58023078e-01 2.93673308e-03 -3.06992656e+02] [ 7.58016054e-01 -6.52227724e-01 -3.26474106e-03 -2.60998587e+02] [ 4.39016780e-03 9.67577560e-05 9.99990359e-01 -2.78793770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1093.326559995 meters 0.017223333263774364 Centerline is valid? [True, True] Translation: X:-307.01, Y:-260.98, Z:-2.79 [[-6.50562887e-01 -7.59446009e-01 3.11294804e-03 -3.07012950e+02] [ 7.59438141e-01 -6.50570325e-01 -3.45873518e-03 -2.60978590e+02] [ 4.65191424e-03 1.13966728e-04 9.99989173e-01 -2.78829903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1093.356559995 meters 0.017700145558867286 Centerline is valid? [True, True] Translation: X:-307.03, Y:-260.96, Z:-2.79 [[-6.49913725e-01 -7.59999036e-01 3.68989382e-03 -3.07032680e+02] [ 7.59988004e-01 -6.49924184e-01 -4.09738429e-03 -2.60959946e+02] [ 5.51215934e-03 1.41328750e-04 9.99984798e-01 -2.78900884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1093.386559995 meters 0.016650748502246977 Centerline is valid? [True, True] Translation: X:-307.05, Y:-260.94, Z:-2.79 [[-6.50814674e-01 -7.59221774e-01 4.74958539e-03 -3.07052008e+02] [ 7.59203499e-01 -6.50831981e-01 -5.27076843e-03 -2.60940978e+02] [ 7.09286423e-03 1.75608411e-04 9.99974830e-01 -2.79169448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1093.416559995 meters 0.01610665209084902 Centerline is valid? [True, True] Translation: X:-307.07, Y:-260.92, Z:-2.79 [[-6.51919615e-01 -7.58268226e-01 5.48760221e-03 -3.07071224e+02] [ 7.58243824e-01 -6.51942682e-01 -6.08632918e-03 -2.60920745e+02] [ 8.19267213e-03 1.93143106e-04 9.99966421e-01 -2.79270297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1093.4465599950001 meters 0.01654828432967729 Centerline is valid? [True, True] Translation: X:-307.09, Y:-260.90, Z:-2.79 [[-6.53595807e-01 -7.56818730e-01 6.15886025e-03 -3.07091637e+02] [ 7.56787964e-01 -6.53624794e-01 -6.82697065e-03 -2.60902595e+02] [ 9.19236302e-03 1.98871920e-04 9.99957730e-01 -2.79484263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1093.4765599950001 meters 0.01599435262313091 Centerline is valid? [True, True] Translation: X:-307.11, Y:-260.88, Z:-2.79 [[-6.54024423e-01 -7.56446476e-01 6.38620356e-03 -3.07109411e+02] [ 7.56413421e-01 -6.54055569e-01 -7.07457368e-03 -2.60881288e+02] [ 9.52846833e-03 2.03666112e-04 9.99954583e-01 -2.79396381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1093.506559995 meters 0.016277457981190815 Centerline is valid? [True, True] Translation: X:-307.13, Y:-260.86, Z:-2.79 [[-6.53441701e-01 -7.56947792e-01 6.63205748e-03 -3.07127584e+02] [ 7.56912197e-01 -6.53475319e-01 -7.34394649e-03 -2.60860543e+02] [ 9.89286996e-03 2.21044309e-04 9.99951040e-01 -2.79306230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1093.536559995 meters 0.016446244183689247 Centerline is valid? [True, True] Translation: X:-307.15, Y:-260.84, Z:-2.79 [[-6.53225395e-01 -7.57129572e-01 7.16897168e-03 -3.07147026e+02] [ 7.57088039e-01 -6.53264687e-01 -7.93412350e-03 -2.60839885e+02] [ 1.06903956e-02 2.44771751e-04 9.99942826e-01 -2.79358854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1093.566559995 meters 0.016816779171726106 Centerline is valid? [True, True] Translation: X:-307.17, Y:-260.82, Z:-2.79 [[-6.53184839e-01 -7.57163135e-01 7.31804371e-03 -3.07165435e+02] [ 7.57119916e-01 -6.53225782e-01 -8.09386727e-03 -2.60821162e+02] [ 1.09087127e-02 2.53845253e-04 9.99940466e-01 -2.79460734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1093.596559995 meters 0.01614439917471401 Centerline is valid? [True, True] Translation: X:-307.18, Y:-260.80, Z:-2.80 [[-6.53419702e-01 -7.56957763e-01 7.59205308e-03 -3.07182648e+02] [ 7.56911292e-01 -6.53463753e-01 -8.39163141e-03 -2.60800586e+02] [ 1.13132420e-02 2.63253417e-04 9.99935969e-01 -2.79516408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1093.626559995 meters 0.016940479567926086 Centerline is valid? [True, True] Translation: X:-307.20, Y:-260.78, Z:-2.80 [[-6.55122739e-01 -7.55478236e-01 8.17513770e-03 -3.07201517e+02] [ 7.55424301e-01 -6.55173693e-01 -9.03092136e-03 -2.60781252e+02] [ 1.21787997e-02 2.59335748e-04 9.99925802e-01 -2.79788953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1093.656559995 meters 0.016494345503529108 Centerline is valid? [True, True] Translation: X:-307.22, Y:-260.76, Z:-2.80 [[-6.56624476e-01 -7.54171204e-01 8.37214566e-03 -3.07218298e+02] [ 7.54114600e-01 -6.56677802e-01 -9.24308005e-03 -2.60760167e+02] [ 1.24686670e-02 2.44324673e-04 9.99922233e-01 -2.79819677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1093.6865599950002 meters 0.015519865260233358 Centerline is valid? [True, True] Translation: X:-307.23, Y:-260.74, Z:-2.80 [[-6.58172581e-01 -7.52821178e-01 8.31424519e-03 -3.07234874e+02] [ 7.52765308e-01 -6.58225056e-01 -9.17425341e-03 -2.60737121e+02] [ 1.23792168e-02 2.20433288e-04 9.99923350e-01 -2.79722363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1093.7165599950001 meters 0.014159960734250005 Centerline is valid? [True, True] Translation: X:-307.25, Y:-260.71, Z:-2.79 [[-6.60633376e-01 -7.50663724e-01 8.21684681e-03 -3.07248983e+02] [ 7.50609049e-01 -6.60684449e-01 -9.06172408e-03 -2.60712414e+02] [ 1.22310504e-02 1.81162198e-04 9.99925182e-01 -2.79481677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1093.746559995 meters 0.014467495273759373 Centerline is valid? [True, True] Translation: X:-307.27, Y:-260.69, Z:-2.80 [[-6.61424269e-01 -7.49967054e-01 8.20701205e-03 -3.07267061e+02] [ 7.49912525e-01 -6.61475161e-01 -9.04525077e-03 -2.60692671e+02] [ 1.22123747e-02 1.71792751e-04 9.99925412e-01 -2.79546716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1093.776559995 meters 0.013946931971989634 Centerline is valid? [True, True] Translation: X:-307.28, Y:-260.67, Z:-2.79 [[-6.62149584e-01 -7.49327488e-01 8.13906065e-03 -3.07284778e+02] [ 7.49273877e-01 -6.62199585e-01 -8.96477045e-03 -2.60672302e+02] [ 1.21072315e-02 1.62366506e-04 9.99926692e-01 -2.79477379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1093.806559995 meters 0.01397337134400285 Centerline is valid? [True, True] Translation: X:-307.30, Y:-260.65, Z:-2.80 [[-6.62336166e-01 -7.49159907e-01 8.38072700e-03 -3.07303546e+02] [ 7.49103124e-01 -6.62389165e-01 -9.22523201e-03 -2.60652611e+02] [ 1.24624767e-02 1.67823971e-04 9.99922326e-01 -2.79516779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1093.836559995 meters 0.01425783590180636 Centerline is valid? [True, True] Translation: X:-307.32, Y:-260.63, Z:-2.80 [[-6.62255643e-01 -7.49225677e-01 8.85148745e-03 -3.07322155e+02] [ 7.49162424e-01 -6.62314768e-01 -9.73710799e-03 -2.60633551e+02] [ 1.31577622e-02 1.82747077e-04 9.99913416e-01 -2.79614709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1093.866559995 meters 0.014296557669048087 Centerline is valid? [True, True] Translation: X:-307.34, Y:-260.61, Z:-2.80 [[-6.62245740e-01 -7.49229301e-01 9.27549442e-03 -3.07341093e+02] [ 7.49159929e-01 -6.62310665e-01 -1.01972799e-02 -2.60613701e+02] [ 1.37833598e-02 1.95723560e-04 9.99904986e-01 -2.79663226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1093.896559995 meters 0.014453149416720745 Centerline is valid? [True, True] Translation: X:-307.36, Y:-260.59, Z:-2.80 [[-6.62438765e-01 -7.49050055e-01 9.94477179e-03 -3.07358837e+02] [ 7.48970393e-01 -6.62513375e-01 -1.09260474e-02 -2.60594867e+02] [ 1.47727007e-02 2.10502308e-04 9.99890856e-01 -2.79732114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1093.9265599950002 meters 0.014330754443778662 Centerline is valid? [True, True] Translation: X:-307.38, Y:-260.57, Z:-2.80 [[-6.63222162e-01 -7.48354105e-01 1.01241166e-02 -3.07376703e+02] [ 7.48271565e-01 -6.63299399e-01 -1.11163196e-02 -2.60574638e+02] [ 1.50342638e-02 2.02999048e-04 9.99886959e-01 -2.79714536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1093.9565599950001 meters 0.014181810555191725 Centerline is valid? [True, True] Translation: X:-307.39, Y:-260.56, Z:-2.80 [[-6.64244048e-01 -7.47449131e-01 9.98204658e-03 -3.07394135e+02] [ 7.47368893e-01 -6.64319022e-01 -1.09533486e-02 -2.60555100e+02] [ 1.48183343e-02 1.84574479e-04 9.99890186e-01 -2.79736801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1093.986559995 meters 0.013556048561307875 Centerline is valid? [True, True] Translation: X:-307.41, Y:-260.53, Z:-2.80 [[-6.66944693e-01 -7.45046634e-01 9.50203475e-03 -3.07412161e+02] [ 7.44973756e-01 -6.67012366e-01 -1.04214402e-02 -2.60532785e+02] [ 1.41024337e-02 1.28242263e-04 9.99900548e-01 -2.79619023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1094.016559995 meters 0.012800461328247621 Centerline is valid? [True, True] Translation: X:-307.43, Y:-260.51, Z:-2.79 [[-6.68927839e-01 -7.43271024e-01 9.15046801e-03 -3.07429366e+02] [ 7.43203350e-01 -6.68990416e-01 -1.00301451e-02 -2.60510445e+02] [ 1.35766916e-02 9.12152141e-05 9.99907829e-01 -2.79396114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1094.046559995 meters 0.012864120529483417 Centerline is valid? [True, True] Translation: X:-307.45, Y:-260.49, Z:-2.80 [[-6.71088175e-01 -7.41327804e-01 8.58770526e-03 -3.07447298e+02] [ 7.41268109e-01 -6.71143117e-01 -9.40783761e-03 -2.60489626e+02] [ 1.27378709e-02 5.23034691e-05 9.99918869e-01 -2.79501641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1094.076559995 meters 0.012653685049945896 Centerline is valid? [True, True] Translation: X:-307.46, Y:-260.47, Z:-2.79 [[-6.73308997e-01 -7.39319146e-01 7.88641294e-03 -3.07464414e+02] [ 7.39268726e-01 -6.73355182e-01 -8.63421989e-03 -2.60467757e+02] [ 1.16938011e-02 1.66805141e-05 9.99931625e-01 -2.79283870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1094.106559995 meters 0.012684761153303126 Centerline is valid? [True, True] Translation: X:-307.48, Y:-260.45, Z:-2.79 [[-6.77631543e-01 -7.35373238e-01 6.45701955e-03 -3.07479928e+02] [ 7.35339302e-01 -6.77662305e-01 -7.06485745e-03 -2.60445362e+02] [ 9.57098585e-03 -3.92699989e-05 9.99954196e-01 -2.79034021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1094.136559995 meters 0.012942939094918737 Centerline is valid? [True, True] Translation: X:-307.50, Y:-260.42, Z:-2.79 [[-6.79632537e-01 -7.33525251e-01 6.34992608e-03 -3.07497335e+02] [ 7.33492391e-01 -6.79662198e-01 -6.94335823e-03 -2.60423821e+02] [ 9.40893330e-03 -6.13097070e-05 9.99955733e-01 -2.78975138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1094.166559995 meters 0.01323349091977047 Centerline is valid? [True, True] Translation: X:-307.51, Y:-260.40, Z:-2.79 [[-6.81353744e-01 -7.31926380e-01 6.39142836e-03 -3.07514040e+02] [ 7.31893061e-01 -6.81383716e-01 -6.98418367e-03 -2.60403413e+02] [ 9.46692347e-03 -8.08576249e-05 9.99955185e-01 -2.78991772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1094.1965599950001 meters 0.013738364780215692 Centerline is valid? [True, True] Translation: X:-307.53, Y:-260.38, Z:-2.79 [[-6.83141150e-01 -7.30256805e-01 6.57017228e-03 -3.07530684e+02] [ 7.30221546e-01 -6.83172736e-01 -7.17676171e-03 -2.60382634e+02] [ 9.72944165e-03 -1.05059889e-04 9.99952663e-01 -2.79018902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1094.2265599950001 meters 0.01385691407552075 Centerline is valid? [True, True] Translation: X:-307.55, Y:-260.36, Z:-2.79 [[-6.83520779e-01 -7.29900671e-01 6.65997985e-03 -3.07548223e+02] [ 7.29864471e-01 -6.83553216e-01 -7.27023116e-03 -2.60363333e+02] [ 9.85899724e-03 -1.08471391e-04 9.99951393e-01 -2.79047989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1094.256559995 meters 0.013362402138308586 Centerline is valid? [True, True] Translation: X:-307.57, Y:-260.34, Z:-2.79 [[-6.82504205e-01 -7.30846970e-01 7.12157458e-03 -3.07569058e+02] [ 7.30805680e-01 -6.82541351e-01 -7.76928143e-03 -2.60344924e+02] [ 1.05389249e-02 -9.80800901e-05 9.99944459e-01 -2.78980280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1094.286559995 meters 0.01319041007606329 Centerline is valid? [True, True] Translation: X:-307.59, Y:-260.33, Z:-2.79 [[-6.81672860e-01 -7.31620677e-01 7.30056281e-03 -3.07588921e+02] [ 7.31577383e-01 -6.81711947e-01 -7.95956911e-03 -2.60325990e+02] [ 1.08002662e-02 -8.48956014e-05 9.99941672e-01 -2.78991953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1094.316559995 meters 0.013020277673808991 Centerline is valid? [True, True] Translation: X:-307.61, Y:-260.31, Z:-2.79 [[-6.80669338e-01 -7.32553313e-01 7.40923853e-03 -3.07608763e+02] [ 7.32508831e-01 -6.80709659e-01 -8.07301120e-03 -2.60307371e+02] [ 1.09574513e-02 -6.77185271e-05 9.99939963e-01 -2.79010017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1094.346559995 meters 0.012756300960994709 Centerline is valid? [True, True] Translation: X:-307.63, Y:-260.29, Z:-2.79 [[-6.78282261e-01 -7.34752357e-01 8.49403843e-03 -3.07630910e+02] [ 7.34694140e-01 -6.78335443e-01 -9.24921118e-03 -2.60290152e+02] [ 1.25576870e-02 -3.30556126e-05 9.99921149e-01 -2.79098307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1094.376559995 meters 0.012606817605446402 Centerline is valid? [True, True] Translation: X:-307.65, Y:-260.27, Z:-2.79 [[-6.76844259e-01 -7.36077699e-01 8.45399055e-03 -3.07651289e+02] [ 7.36020201e-01 -6.76897053e-01 -9.20013026e-03 -2.60271181e+02] [ 1.24944920e-02 -4.74752477e-06 9.99921941e-01 -2.79127331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1094.406559995 meters 0.012564892062911611 Centerline is valid? [True, True] Translation: X:-307.67, Y:-260.25, Z:-2.79 [[-6.75459287e-01 -7.37348979e-01 8.44005407e-03 -3.07670815e+02] [ 7.37291842e-01 -6.75512015e-01 -9.17919484e-03 -2.60252612e+02] [ 1.24696279e-02 2.26106116e-05 9.99922251e-01 -2.79120418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1094.4365599950002 meters 0.012822845335952127 Centerline is valid? [True, True] Translation: X:-307.69, Y:-260.23, Z:-2.79 [[-6.74312212e-01 -7.38400633e-01 8.21865643e-03 -3.07690678e+02] [ 7.38346599e-01 -6.74362294e-01 -8.93283297e-03 -2.60233707e+02] [ 1.21383615e-02 4.46986677e-05 9.99926327e-01 -2.79103441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1094.4665599950001 meters 0.012990426937650738 Centerline is valid? [True, True] Translation: X:-307.71, Y:-260.22, Z:-2.79 [[-6.71299510e-01 -7.41150251e-01 7.29887335e-03 -3.07711363e+02] [ 7.41107853e-01 -6.71339183e-01 -7.92792790e-03 -2.60217419e+02] [ 1.07758054e-02 8.72382426e-05 9.99941936e-01 -2.78995384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1094.496559995 meters 0.012990426937650738 Centerline is valid? [True, True] Translation: X:-307.73, Y:-260.20, Z:-2.79 [[-6.71527408e-01 -7.40943744e-01 7.30131122e-03 -3.07729571e+02] [ 7.40901358e-01 -6.71567093e-01 -7.92568277e-03 -2.60197809e+02] [ 1.07758054e-02 8.72381927e-05 9.99941936e-01 -2.78995391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1094.526559995 meters 0.013212771743852651 Centerline is valid? [True, True] Translation: X:-307.75, Y:-260.18, Z:-2.79 [[-6.70133325e-01 -7.42207641e-01 7.01032525e-03 -3.07749684e+02] [ 7.42168684e-01 -6.70169984e-01 -7.60512418e-03 -2.60179440e+02] [ 1.03426908e-02 1.06396702e-04 9.99946507e-01 -2.78913757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1094.556559995 meters 0.013674809766805695 Centerline is valid? [True, True] Translation: X:-307.77, Y:-260.16, Z:-2.79 [[-6.68827983e-01 -7.43386100e-01 6.79974149e-03 -3.07770077e+02] [ 7.43349549e-01 -6.68862536e-01 -7.37265298e-03 -2.60160658e+02] [ 1.00288201e-02 1.23548151e-04 9.99949703e-01 -2.78914027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1094.586559995 meters 0.014350588324874042 Centerline is valid? [True, True] Translation: X:-307.79, Y:-260.14, Z:-2.79 [[-6.66624207e-01 -7.45361587e-01 6.94782480e-03 -3.07791326e+02] [ 7.45323576e-01 -6.66660393e-01 -7.52912878e-03 -2.60142529e+02] [ 1.02437630e-02 1.59278125e-04 9.99947519e-01 -2.78955818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1094.616559995 meters 0.014167096857126383 Centerline is valid? [True, True] Translation: X:-307.81, Y:-260.12, Z:-2.79 [[-6.66101102e-01 -7.45828016e-01 7.06346286e-03 -3.07810207e+02] [ 7.45788800e-01 -6.66138530e-01 -7.65013915e-03 -2.60122038e+02] [ 1.04109329e-02 1.72085376e-04 9.99945790e-01 -2.78908034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1094.646559995 meters 0.014433454643750777 Centerline is valid? [True, True] Translation: X:-307.83, Y:-260.10, Z:-2.79 [[-6.65505488e-01 -7.46354217e-01 7.60449817e-03 -3.07829764e+02] [ 7.46308850e-01 -6.65548904e-01 -8.23149687e-03 -2.60101343e+02] [ 1.12047778e-02 1.97197942e-04 9.99937205e-01 -2.78962820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1094.6765599950002 meters 0.014358431079192425 Centerline is valid? [True, True] Translation: X:-307.85, Y:-260.08, Z:-2.79 [[-6.65786252e-01 -7.46101748e-01 7.80049447e-03 -3.07848772e+02] [ 7.46054049e-01 -6.65831917e-01 -8.43890445e-03 -2.60080587e+02] [ 1.14900995e-02 2.01083914e-04 9.99933967e-01 -2.78970741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1094.7065599950001 meters 0.014276438456424166 Centerline is valid? [True, True] Translation: X:-307.87, Y:-260.06, Z:-2.79 [[-6.66113153e-01 -7.45807393e-01 8.03742492e-03 -3.07867747e+02] [ 7.45756789e-01 -6.66161610e-01 -8.69030577e-03 -2.60059553e+02] [ 1.18355182e-02 2.05237221e-04 9.99929937e-01 -2.78983641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1094.736559995 meters 0.014416551714204577 Centerline is valid? [True, True] Translation: X:-307.89, Y:-260.04, Z:-2.79 [[-6.66939088e-01 -7.45063661e-01 8.50845456e-03 -3.07886139e+02] [ 7.45006948e-01 -6.66993327e-01 -9.19507333e-03 -2.60040554e+02] [ 1.25259974e-02 2.06303944e-04 9.99921526e-01 -2.79097600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1094.766559995 meters 0.013797377716944944 Centerline is valid? [True, True] Translation: X:-307.90, Y:-260.02, Z:-2.79 [[-6.68748544e-01 -7.43433358e-01 9.06789879e-03 -3.07903497e+02] [ 7.43368865e-01 -6.68809992e-01 -9.79414023e-03 -2.60018991e+02] [ 1.33459919e-02 1.90976610e-04 9.99910920e-01 -2.79171684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1094.796559995 meters 0.013701444654876122 Centerline is valid? [True, True] Translation: X:-307.92, Y:-260.00, Z:-2.79 [[-6.70095387e-01 -7.42213790e-01 9.53213109e-03 -3.07920984e+02] [ 7.42142496e-01 -6.70163157e-01 -1.02887181e-02 -2.59999101e+02] [ 1.40245115e-02 1.79777031e-04 9.99901636e-01 -2.79255567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1094.826559995 meters 0.012846464204288182 Centerline is valid? [True, True] Translation: X:-307.94, Y:-259.98, Z:-2.79 [[-6.73533617e-01 -7.39088423e-01 1.00383948e-02 -3.07936385e+02] [ 7.39009096e-01 -6.73608408e-01 -1.08290505e-02 -2.59975099e+02] [ 1.47655730e-02 1.24735466e-04 9.99890975e-01 -2.79191837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1094.856559995 meters 0.01265817373303133 Centerline is valid? [True, True] Translation: X:-307.95, Y:-259.95, Z:-2.79 [[-6.75698242e-01 -7.37109969e-01 1.00389069e-02 -3.07953769e+02] [ 7.37030505e-01 -6.75772807e-01 -1.08234931e-02 -2.59952649e+02] [ 1.47621249e-02 8.55653544e-05 9.99891030e-01 -2.79200855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1094.886559995 meters 0.012550849067330285 Centerline is valid? [True, True] Translation: X:-307.97, Y:-259.93, Z:-2.79 [[-6.78071878e-01 -7.34925066e-01 1.01820965e-02 -3.07969528e+02] [ 7.34843182e-01 -6.78148321e-01 -1.09705775e-02 -2.59931990e+02] [ 1.49675241e-02 4.34041237e-05 9.99887980e-01 -2.79226592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1094.916559995 meters 0.012532699986655634 Centerline is valid? [True, True] Translation: X:-307.99, Y:-259.91, Z:-2.79 [[-6.80660431e-01 -7.32531517e-01 9.94753743e-03 -3.07986327e+02] [ 7.32453204e-01 -6.80733117e-01 -1.07111497e-02 -2.59909857e+02] [ 1.46178729e-02 -4.55008782e-06 9.99893153e-01 -2.79220087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1094.9465599950001 meters 0.012818346309234261 Centerline is valid? [True, True] Translation: X:-308.00, Y:-259.89, Z:-2.79 [[-6.85012521e-01 -7.28468966e-01 9.52953065e-03 -3.08000733e+02] [ 7.28396789e-01 -6.85078798e-01 -1.02546817e-02 -2.59885378e+02] [ 1.39986968e-02 -8.33058312e-05 9.99902010e-01 -2.79155569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1094.9765599950001 meters 0.012876695259145459 Centerline is valid? [True, True] Translation: X:-308.02, Y:-259.86, Z:-2.79 [[-6.86936685e-01 -7.26655980e-01 9.43809934e-03 -3.08018293e+02] [ 7.26585090e-01 -6.87001509e-01 -1.01505821e-02 -2.59863529e+02] [ 1.38599697e-02 -1.15224963e-04 9.99903940e-01 -2.79080512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1095.006559995 meters 0.013169228037481025 Centerline is valid? [True, True] Translation: X:-308.04, Y:-259.84, Z:-2.79 [[-6.88435831e-01 -7.25238654e-01 9.21961678e-03 -3.08036042e+02] [ 7.25170955e-01 -6.88497550e-01 -9.91005458e-03 -2.59841532e+02] [ 1.35348382e-02 -1.36638357e-04 9.99908391e-01 -2.79090014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1095.036559995 meters 0.01335512420522118 Centerline is valid? [True, True] Translation: X:-308.05, Y:-259.82, Z:-2.79 [[-6.89464094e-01 -7.24260352e-01 9.28470173e-03 -3.08053915e+02] [ 7.24191691e-01 -6.89526591e-01 -9.97374967e-03 -2.59821110e+02] [ 1.36256402e-02 -1.52638439e-04 9.99907155e-01 -2.79092254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1095.066559995 meters 0.013584093354605304 Centerline is valid? [True, True] Translation: X:-308.07, Y:-259.80, Z:-2.79 [[-6.89876537e-01 -7.23867119e-01 9.31442951e-03 -3.08071903e+02] [ 7.23798047e-01 -6.89939396e-01 -1.00008371e-02 -2.59801723e+02] [ 1.36656690e-02 -1.57576998e-04 9.99906608e-01 -2.79206634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1095.096559995 meters 0.013606228083915473 Centerline is valid? [True, True] Translation: X:-308.09, Y:-259.78, Z:-2.79 [[-6.89766803e-01 -7.23965164e-01 9.80816859e-03 -3.08090911e+02] [ 7.23888679e-01 -6.89836515e-01 -1.05244472e-02 -2.59781759e+02] [ 1.43853660e-02 -1.59392084e-04 9.99896513e-01 -2.79219634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1095.126559995 meters 0.013426639398898502 Centerline is valid? [True, True] Translation: X:-308.11, Y:-259.76, Z:-2.79 [[-6.88622599e-01 -7.25048419e-01 1.01836042e-02 -3.08109396e+02] [ 7.24966191e-01 -6.88697881e-01 -1.09202217e-02 -2.59763387e+02] [ 1.49311161e-02 -1.37142665e-04 9.99888515e-01 -2.79304573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1095.156559995 meters 0.013293425234835824 Centerline is valid? [True, True] Translation: X:-308.13, Y:-259.74, Z:-2.79 [[-6.87926268e-01 -7.25706846e-01 1.03452218e-02 -3.08129097e+02] [ 7.25622165e-01 -6.88004040e-01 -1.10866881e-02 -2.59743967e+02] [ 1.51632399e-02 -1.20101757e-04 9.99885024e-01 -2.79325694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1095.1865599950002 meters 0.012973046453767088 Centerline is valid? [True, True] Translation: X:-308.15, Y:-259.72, Z:-2.79 [[-6.86916165e-01 -7.26661314e-01 1.04650702e-02 -3.08149138e+02] [ 7.26574866e-01 -6.86995871e-01 -1.12088564e-02 -2.59724790e+02] [ 1.53345024e-02 -9.58876781e-05 9.99882415e-01 -2.79256900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1095.2165599950001 meters 0.012757713237328288 Centerline is valid? [True, True] Translation: X:-308.17, Y:-259.71, Z:-2.79 [[-6.84468950e-01 -7.28967696e-01 1.04093518e-02 -3.08170928e+02] [ 7.28882527e-01 -6.84548096e-01 -1.11429450e-02 -2.59707009e+02] [ 1.52485489e-02 -3.98051722e-05 9.99883734e-01 -2.79324175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1095.246559995 meters 0.012601235189260462 Centerline is valid? [True, True] Translation: X:-308.19, Y:-259.69, Z:-2.79 [[-6.83437510e-01 -7.29938231e-01 1.01661184e-02 -3.08191777e+02] [ 7.29857194e-01 -6.83513116e-01 -1.08764646e-02 -2.59687759e+02] [ 1.48878226e-02 -1.35692865e-05 9.99889170e-01 -2.79328905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1095.276559995 meters 0.012652619482078619 Centerline is valid? [True, True] Translation: X:-308.21, Y:-259.67, Z:-2.79 [[-6.82518979e-01 -7.30800583e-01 9.91724025e-03 -3.08211506e+02] [ 7.30723658e-01 -6.82591026e-01 -1.06031784e-02 -2.59669825e+02] [ 1.45182282e-02 9.89157043e-06 9.99894605e-01 -2.79403922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1095.306559995 meters 0.012704272745390698 Centerline is valid? [True, True] Translation: X:-308.23, Y:-259.65, Z:-2.79 [[-6.80968061e-01 -7.32253002e-01 9.38302310e-03 -3.08232905e+02] [ 7.32184360e-01 -6.81032701e-01 -1.00261264e-02 -2.59651844e+02] [ 1.37318067e-02 4.26309056e-05 9.99905714e-01 -2.79310023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1095.336559995 meters 0.012724225808963872 Centerline is valid? [True, True] Translation: X:-308.25, Y:-259.63, Z:-2.79 [[-6.80692574e-01 -7.32509366e-01 9.36210671e-03 -3.08252151e+02] [ 7.32441139e-01 -6.80756951e-01 -9.99760833e-03 -2.59633085e+02] [ 1.36966610e-02 5.18943575e-05 9.99906195e-01 -2.79307205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1095.366559995 meters 0.012631977401285273 Centerline is valid? [True, True] Translation: X:-308.27, Y:-259.61, Z:-2.79 [[-6.80690911e-01 -7.32513707e-01 9.14076975e-03 -3.08271401e+02] [ 7.32448742e-01 -6.80752280e-01 -9.75575248e-03 -2.59613279e+02] [ 1.33688223e-02 5.44932607e-05 9.99910632e-01 -2.79205304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1095.396559995 meters 0.012522435683283728 Centerline is valid? [True, True] Translation: X:-308.29, Y:-259.59, Z:-2.79 [[-6.80806433e-01 -7.32414622e-01 8.45118666e-03 -3.08290819e+02] [ 7.32359151e-01 -6.80858884e-01 -9.01409511e-03 -2.59593953e+02] [ 1.23561206e-02 5.24499481e-05 9.99923659e-01 -2.79159549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1095.4265599950002 meters 0.012804896368959491 Centerline is valid? [True, True] Translation: X:-308.31, Y:-259.58, Z:-2.79 [[-6.80851046e-01 -7.32377936e-01 8.02569252e-03 -3.08309784e+02] [ 7.32327975e-01 -6.80898345e-01 -8.55462008e-03 -2.59575498e+02] [ 1.17298958e-02 5.30171251e-05 9.99931201e-01 -2.79298198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1095.4565599950001 meters 0.012616330180892789 Centerline is valid? [True, True] Translation: X:-308.33, Y:-259.56, Z:-2.79 [[-6.80976765e-01 -7.32265982e-01 7.56150096e-03 -3.08328898e+02] [ 7.32221681e-01 -6.81018743e-01 -8.05486636e-03 -2.59555476e+02] [ 1.10478285e-02 5.15181051e-05 9.99938970e-01 -2.79143308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1095.486559995 meters 0.012488911412915634 Centerline is valid? [True, True] Translation: X:-308.35, Y:-259.54, Z:-2.79 [[-6.80784922e-01 -7.32451492e-01 6.83385758e-03 -3.08349331e+02] [ 7.32415358e-01 -6.80819219e-01 -7.27563430e-03 -2.59536193e+02] [ 9.98167078e-03 5.20801113e-05 9.99950181e-01 -2.79016315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1095.516559995 meters 0.012478768542542411 Centerline is valid? [True, True] Translation: X:-308.37, Y:-259.52, Z:-2.79 [[-6.80655017e-01 -7.32576898e-01 6.31163592e-03 -3.08369129e+02] [ 7.32546116e-01 -6.80684278e-01 -6.71579831e-03 -2.59516328e+02] [ 9.21607003e-03 5.24225601e-05 9.99957530e-01 -2.78938753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1095.546559995 meters 0.012587687759386857 Centerline is valid? [True, True] Translation: X:-308.39, Y:-259.50, Z:-2.79 [[-6.80516537e-01 -7.32710986e-01 5.64396123e-03 -3.08388783e+02] [ 7.32686407e-01 -6.80539939e-01 -6.00173456e-03 -2.59497184e+02] [ 8.23847788e-03 5.09740573e-05 9.99966062e-01 -2.78955399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1095.576559995 meters 0.012563892876760458 Centerline is valid? [True, True] Translation: X:-308.41, Y:-259.48, Z:-2.79 [[-6.80191433e-01 -7.33015990e-01 5.21279403e-03 -3.08409498e+02] [ 7.32995056e-01 -6.80211405e-01 -5.54008646e-03 -2.59477505e+02] [ 7.60677391e-03 5.26329022e-05 9.99971067e-01 -2.78846041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1095.606559995 meters 0.012654787840501211 Centerline is valid? [True, True] Translation: X:-308.43, Y:-259.46, Z:-2.79 [[-6.80077380e-01 -7.33121903e-01 5.19940475e-03 -3.08428684e+02] [ 7.33101096e-01 -6.80097253e-01 -5.52356881e-03 -2.59459054e+02] [ 7.58555016e-03 5.52351181e-05 9.99971228e-01 -2.78924353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1095.636559995 meters 0.012658482380855008 Centerline is valid? [True, True] Translation: X:-308.45, Y:-259.44, Z:-2.79 [[-6.80112090e-01 -7.33087219e-01 5.53850992e-03 -3.08447843e+02] [ 7.33063639e-01 -6.80134638e-01 -5.88011767e-03 -2.59439656e+02] [ 8.07757155e-03 6.09411204e-05 9.99967374e-01 -2.78958109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1095.666559995 meters 0.012720200812504136 Centerline is valid? [True, True] Translation: X:-308.47, Y:-259.42, Z:-2.79 [[-6.80088543e-01 -7.33103321e-01 6.25253358e-03 -3.08467443e+02] [ 7.33073304e-01 -6.80117281e-01 -6.63444729e-03 -2.59419544e+02] [ 9.11619147e-03 7.15538598e-05 9.99958444e-01 -2.79094786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1095.6965599950001 meters 0.012868800321366475 Centerline is valid? [True, True] Translation: X:-308.49, Y:-259.40, Z:-2.79 [[-6.80267959e-01 -7.32934061e-01 6.57010253e-03 -3.08486553e+02] [ 7.32900947e-01 -6.80299681e-01 -6.96749456e-03 -2.59399404e+02] [ 9.57635274e-03 7.54710624e-05 9.99954143e-01 -2.79163250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1095.7265599950001 meters 0.012867818646077372 Centerline is valid? [True, True] Translation: X:-308.50, Y:-259.38, Z:-2.79 [[-6.80339160e-01 -7.32861626e-01 7.24319666e-03 -3.08504477e+02] [ 7.32821423e-01 -6.80377711e-01 -7.67680588e-03 -2.59380882e+02] [ 1.05541460e-02 8.51380166e-05 9.99944300e-01 -2.79279010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1095.756559995 meters 0.012881128130709102 Centerline is valid? [True, True] Translation: X:-308.52, Y:-259.36, Z:-2.79 [[-6.80774856e-01 -7.32450648e-01 7.85135675e-03 -3.08522497e+02] [ 7.32403444e-01 -6.80820123e-01 -8.31596560e-03 -2.59361401e+02] [ 1.14363961e-02 8.90604430e-05 9.99934599e-01 -2.79394398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1095.786559995 meters 0.012717468972515274 Centerline is valid? [True, True] Translation: X:-308.54, Y:-259.34, Z:-2.79 [[-6.81633428e-01 -7.31639775e-01 8.89435070e-03 -3.08539968e+02] [ 7.31579196e-01 -6.81691449e-01 -9.41534501e-03 -2.59339710e+02] [ 1.29518437e-02 8.91080317e-05 9.99916118e-01 -2.79423338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1095.816559995 meters 0.012758805082492207 Centerline is valid? [True, True] Translation: X:-308.56, Y:-259.32, Z:-2.80 [[-6.82425397e-01 -7.30900385e-01 8.95571310e-03 -3.08558184e+02] [ 7.30838977e-01 -6.82484154e-01 -9.47464101e-03 -2.59319534e+02] [ 1.30371510e-02 7.94485562e-05 9.99915010e-01 -2.79521291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1095.846559995 meters 0.012675351468753503 Centerline is valid? [True, True] Translation: X:-308.58, Y:-259.30, Z:-2.80 [[-6.83058569e-01 -7.30306648e-01 9.12089805e-03 -3.08576091e+02] [ 7.30242981e-01 -6.83119458e-01 -9.64335837e-03 -2.59299086e+02] [ 1.32732717e-02 7.34932133e-05 9.99911904e-01 -2.79506262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1095.876559995 meters 0.01267955563296758 Centerline is valid? [True, True] Translation: X:-308.59, Y:-259.28, Z:-2.79 [[-6.84448584e-01 -7.29013339e-01 8.34787864e-03 -3.08593161e+02] [ 7.28959981e-01 -6.84499488e-01 -8.82027151e-03 -2.59278575e+02] [ 1.21442142e-02 4.82471044e-05 9.99926255e-01 -2.79494604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1095.906559995 meters 0.01241185234389533 Centerline is valid? [True, True] Translation: X:-308.61, Y:-259.26, Z:-2.79 [[-6.85498087e-01 -7.28032998e-01 7.76704214e-03 -3.08610810e+02] [ 7.27986801e-01 -6.85542087e-01 -8.20146193e-03 -2.59257282e+02] [ 1.12955692e-02 3.22177015e-05 9.99936203e-01 -2.79287193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1095.9365599950002 meters 0.01236547912962941 Centerline is valid? [True, True] Translation: X:-308.63, Y:-259.24, Z:-2.79 [[-6.86670165e-01 -7.26932643e-01 7.28126113e-03 -3.08628695e+02] [ 7.26892029e-01 -6.86708768e-01 -7.68415443e-03 -2.59235897e+02] [ 1.05859685e-02 1.62110864e-05 9.99943967e-01 -2.79163168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1095.9665599950001 meters 0.012518846842359894 Centerline is valid? [True, True] Translation: X:-308.65, Y:-259.21, Z:-2.79 [[-6.88003348e-01 -7.25672600e-01 7.11836472e-03 -3.08646376e+02] [ 7.25633747e-01 -6.88040172e-01 -7.50913963e-03 -2.59214998e+02] [ 1.03468978e-02 -9.87539452e-07 9.99946470e-01 -2.79203354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1095.996559995 meters 0.012591157170367092 Centerline is valid? [True, True] Translation: X:-308.66, Y:-259.19, Z:-2.79 [[-6.91366441e-01 -7.22469290e-01 7.11119464e-03 -3.08662072e+02] [ 7.22430394e-01 -6.91403010e-01 -7.49688270e-03 -2.59192725e+02] [ 1.03329689e-02 -4.57499652e-05 9.99946613e-01 -2.79169289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1096.026559995 meters 0.012932881279144872 Centerline is valid? [True, True] Translation: X:-308.68, Y:-259.17, Z:-2.79 [[-6.93350204e-01 -7.20567386e-01 6.93814027e-03 -3.08679408e+02] [ 7.20530310e-01 -6.93384913e-01 -7.30986439e-03 -2.59171591e+02] [ 1.00780517e-02 -6.91556039e-05 9.99949213e-01 -2.79180459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1096.056559995 meters 0.01318807590732047 Centerline is valid? [True, True] Translation: X:-308.70, Y:-259.15, Z:-2.79 [[-6.95137182e-01 -7.18843726e-01 6.92794344e-03 -3.08696696e+02] [ 7.18806719e-01 -6.95171698e-01 -7.29456990e-03 -2.59150334e+02] [ 1.00597660e-02 -9.08744709e-05 9.99949395e-01 -2.79170802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1096.086559995 meters 0.013843355980126159 Centerline is valid? [True, True] Translation: X:-308.71, Y:-259.13, Z:-2.79 [[-6.97950376e-01 -7.16115602e-01 6.61186139e-03 -3.08713151e+02] [ 7.16081812e-01 -6.97981683e-01 -6.95766754e-03 -2.59127860e+02] [ 9.59745242e-03 -1.21472993e-04 9.99953936e-01 -2.79114866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1096.116559995 meters 0.014137940906640015 Centerline is valid? [True, True] Translation: X:-308.73, Y:-259.11, Z:-2.79 [[-6.99006788e-01 -7.15085862e-01 6.45915557e-03 -3.08730232e+02] [ 7.15053612e-01 -6.99036618e-01 -6.79254479e-03 -2.59107763e+02] [ 9.37243901e-03 -1.29392397e-04 9.99956070e-01 -2.79095763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1096.146559995 meters 0.014182039805078732 Centerline is valid? [True, True] Translation: X:-308.75, Y:-259.09, Z:-2.79 [[-6.99845131e-01 -7.14263328e-01 6.68515867e-03 -3.08749014e+02] [ 7.14228787e-01 -6.99877045e-01 -7.02584257e-03 -2.59087500e+02] [ 9.69709079e-03 -1.42268954e-04 9.99952972e-01 -2.79054869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1096.1765599950002 meters 0.014050438321220894 Centerline is valid? [True, True] Translation: X:-308.77, Y:-259.07, Z:-2.79 [[-6.99869760e-01 -7.14237293e-01 6.88536135e-03 -3.08768346e+02] [ 7.14200696e-01 -6.99903614e-01 -7.23171469e-03 -2.59067860e+02] [ 9.98424961e-03 -1.43728558e-04 9.99950146e-01 -2.79086492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1096.2065599950001 meters 0.013955804113759455 Centerline is valid? [True, True] Translation: X:-308.79, Y:-259.05, Z:-2.79 [[-6.99512786e-01 -7.14582549e-01 7.32416369e-03 -3.08787549e+02] [ 7.14541208e-01 -6.99551113e-01 -7.68779668e-03 -2.59048169e+02] [ 1.06171922e-02 -1.44295296e-04 9.99943626e-01 -2.79162428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1096.236559995 meters 0.013950048562203452 Centerline is valid? [True, True] Translation: X:-308.81, Y:-259.03, Z:-2.79 [[-6.99044727e-01 -7.15036856e-01 7.66577151e-03 -3.08806145e+02] [ 7.14991652e-01 -6.99086743e-01 -8.04138667e-03 -2.59028911e+02] [ 1.11089271e-02 -1.40326317e-04 9.99938284e-01 -2.79232092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1096.266559995 meters 0.01354781169696012 Centerline is valid? [True, True] Translation: X:-308.83, Y:-259.01, Z:-2.79 [[-6.97625617e-01 -7.16418280e-01 7.95906950e-03 -3.08825256e+02] [ 7.16369699e-01 -6.97671007e-01 -8.34390822e-03 -2.59009817e+02] [ 1.15305404e-02 -1.19287904e-04 9.99933514e-01 -2.79202312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1096.296559995 meters 0.013534843595211612 Centerline is valid? [True, True] Translation: X:-308.84, Y:-258.99, Z:-2.79 [[-6.96957996e-01 -7.17068130e-01 7.92781398e-03 -3.08843494e+02] [ 7.17020033e-01 -6.97003075e-01 -8.30576752e-03 -2.58991303e+02] [ 1.14815119e-02 -1.04369644e-04 9.99934080e-01 -2.79241433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1096.326559995 meters 0.012885725510209538 Centerline is valid? [True, True] Translation: X:-308.86, Y:-258.97, Z:-2.79 [[-6.95542882e-01 -7.18443701e-01 7.66471938e-03 -3.08864733e+02] [ 7.18398878e-01 -6.95585108e-01 -8.02558720e-03 -2.58972881e+02] [ 1.10973972e-02 -7.58142453e-05 9.99938419e-01 -2.79131838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1096.356559995 meters 0.012885725510209538 Centerline is valid? [True, True] Translation: X:-308.88, Y:-258.95, Z:-2.79 [[-6.95746634e-01 -7.18246363e-01 7.66699561e-03 -3.08883837e+02] [ 7.18201552e-01 -6.95788873e-01 -8.02341271e-03 -2.58952975e+02] [ 1.10973972e-02 -7.58142426e-05 9.99938419e-01 -2.79131845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1096.386559995 meters 0.012815528342248101 Centerline is valid? [True, True] Translation: X:-308.90, Y:-258.93, Z:-2.79 [[-6.95323886e-01 -7.18658914e-01 7.35244895e-03 -3.08903081e+02] [ 7.18617776e-01 -6.95362755e-01 -7.68967821e-03 -2.58933949e+02] [ 1.06388750e-02 -6.32164231e-05 9.99943404e-01 -2.79156231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1096.416559995 meters 0.012758632421179876 Centerline is valid? [True, True] Translation: X:-308.92, Y:-258.91, Z:-2.79 [[-6.94938923e-01 -7.19034824e-01 6.98671625e-03 -3.08922312e+02] [ 7.18997742e-01 -6.94974042e-01 -7.30258185e-03 -2.58914612e+02] [ 1.01063971e-02 -5.14151603e-05 9.99948928e-01 -2.79109086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1096.4465599950001 meters 0.012634683630437881 Centerline is valid? [True, True] Translation: X:-308.94, Y:-258.90, Z:-2.79 [[-6.94576734e-01 -7.19388885e-01 6.54159538e-03 -3.08940997e+02] [ 7.19356434e-01 -6.94607537e-01 -6.83306983e-03 -2.58895406e+02] [ 9.45947594e-03 -4.03526011e-05 9.99955258e-01 -2.79067617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1096.4765599950001 meters 0.012523839537141724 Centerline is valid? [True, True] Translation: X:-308.96, Y:-258.88, Z:-2.79 [[-6.94141052e-01 -7.19817151e-01 5.60966995e-03 -3.08960675e+02] [ 7.19793329e-01 -6.94163718e-01 -5.85632809e-03 -2.58875118e+02] [ 8.10951476e-03 -2.73147398e-05 9.99967117e-01 -2.78918593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1096.506559995 meters 0.012476907231319067 Centerline is valid? [True, True] Translation: X:-308.98, Y:-258.86, Z:-2.79 [[-6.93969459e-01 -7.19983666e-01 5.46902418e-03 -3.08979890e+02] [ 7.19961053e-01 -6.93991009e-01 -5.70628226e-03 -2.58855152e+02] [ 7.90388363e-03 -2.25012032e-05 9.99968764e-01 -2.78892761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1096.536559995 meters 0.012465484539721013 Centerline is valid? [True, True] Translation: X:-309.00, Y:-258.84, Z:-2.79 [[-6.93096548e-01 -7.20821217e-01 5.82659926e-03 -3.08999396e+02] [ 7.20795610e-01 -6.93121038e-01 -6.07576072e-03 -2.58836777e+02] [ 8.41807576e-03 -1.13016142e-05 9.99964567e-01 -2.79001543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1096.566559995 meters 0.01262060310288353 Centerline is valid? [True, True] Translation: X:-309.02, Y:-258.82, Z:-2.79 [[-6.92760616e-01 -7.21143201e-01 5.93402587e-03 -3.09018422e+02] [ 7.21116679e-01 -6.92786030e-01 -6.18479694e-03 -2.58818900e+02] [ 8.57113449e-03 -5.45870955e-06 9.99963267e-01 -2.79116753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1096.596559995 meters 0.012437785998892371 Centerline is valid? [True, True] Translation: X:-309.04, Y:-258.80, Z:-2.79 [[-6.92246512e-01 -7.21635845e-01 6.03942003e-03 -3.09038297e+02] [ 7.21608426e-01 -6.92272856e-01 -6.29070399e-03 -2.58799974e+02] [ 8.72052404e-03 3.37848579e-06 9.99961976e-01 -2.79109647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1096.626559995 meters 0.012464024129696246 Centerline is valid? [True, True] Translation: X:-309.06, Y:-258.78, Z:-2.79 [[-6.91237398e-01 -7.22602499e-01 6.04052690e-03 -3.09058753e+02] [ 7.22575141e-01 -6.91263791e-01 -6.28792217e-03 -2.58782010e+02] [ 8.71926579e-03 1.82876180e-05 9.99961986e-01 -2.79135758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1096.656559995 meters 0.012458716895519577 Centerline is valid? [True, True] Translation: X:-309.08, Y:-258.76, Z:-2.79 [[-6.90737215e-01 -7.23083044e-01 5.74551155e-03 -3.09077838e+02] [ 7.23058342e-01 -6.90761110e-01 -5.97690522e-03 -2.58763717e+02] [ 8.29057475e-03 2.58691940e-05 9.99965632e-01 -2.79192234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1096.6865599950002 meters 0.012405454985185199 Centerline is valid? [True, True] Translation: X:-309.10, Y:-258.74, Z:-2.79 [[-6.90629711e-01 -7.23183214e-01 6.05323021e-03 -3.09097621e+02] [ 7.23155829e-01 -6.90656238e-01 -6.29348388e-03 -2.58743710e+02] [ 8.73204310e-03 3.09617581e-05 9.99961875e-01 -2.79149889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1096.7165599950001 meters 0.012388903387210987 Centerline is valid? [True, True] Translation: X:-309.12, Y:-258.72, Z:-2.79 [[-6.90576468e-01 -7.23231783e-01 6.31905441e-03 -3.09117158e+02] [ 7.23201976e-01 -6.90605378e-01 -6.56614896e-03 -2.58724159e+02] [ 9.11282057e-03 3.55246757e-05 9.99958477e-01 -2.79171004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1096.746559995 meters 0.012583333374316706 Centerline is valid? [True, True] Translation: X:-309.14, Y:-258.71, Z:-2.79 [[-6.90874027e-01 -7.22938207e-01 7.30940215e-03 -3.09136381e+02] [ 7.22898345e-01 -6.90912692e-01 -7.59176931e-03 -2.58705746e+02] [ 1.05385388e-02 3.89984856e-05 9.99944467e-01 -2.79409123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1096.776559995 meters 0.012536977808265636 Centerline is valid? [True, True] Translation: X:-309.16, Y:-258.69, Z:-2.79 [[-6.91339150e-01 -7.22487889e-01 7.83771188e-03 -3.09155151e+02] [ 7.22442085e-01 -6.91383576e-01 -8.13540422e-03 -2.58686457e+02] [ 1.12965963e-02 3.79694830e-05 9.99936191e-01 -2.79416316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1096.806559995 meters 0.012453629065732282 Centerline is valid? [True, True] Translation: X:-309.17, Y:-258.67, Z:-2.79 [[-6.91518073e-01 -7.22311444e-01 8.30258205e-03 -3.09174582e+02] [ 7.22260090e-01 -6.91567912e-01 -8.61310674e-03 -2.58666552e+02] [ 1.19631449e-02 4.05046864e-05 9.99928438e-01 -2.79435725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1096.836559995 meters 0.012529112132621494 Centerline is valid? [True, True] Translation: X:-309.19, Y:-258.65, Z:-2.79 [[-6.91485918e-01 -7.22343347e-01 8.20460024e-03 -3.09193853e+02] [ 7.22293263e-01 -6.91534589e-01 -8.50614661e-03 -2.58647307e+02] [ 1.18181233e-02 4.42468806e-05 9.99930163e-01 -2.79450409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1096.866559995 meters 0.01260558997798454 Centerline is valid? [True, True] Translation: X:-309.21, Y:-258.63, Z:-2.79 [[-6.91358073e-01 -7.22467805e-01 8.01786021e-03 -3.09212902e+02] [ 7.22420047e-01 -6.91404562e-01 -8.30709732e-03 -2.58628512e+02] [ 1.15451955e-02 4.90841531e-05 9.99933351e-01 -2.79416080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1096.896559995 meters 0.012450695249977353 Centerline is valid? [True, True] Translation: X:-309.23, Y:-258.61, Z:-2.79 [[-6.91318431e-01 -7.22506896e-01 7.91273752e-03 -3.09232529e+02] [ 7.22460438e-01 -6.91363712e-01 -8.19349831e-03 -2.58608700e+02] [ 1.13904386e-02 5.23234131e-05 9.99935126e-01 -2.79292159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1096.9265599950002 meters 0.012569039953670442 Centerline is valid? [True, True] Translation: X:-309.25, Y:-258.59, Z:-2.79 [[-6.90735475e-01 -7.23065328e-01 7.81256009e-03 -3.09252399e+02] [ 7.23020129e-01 -6.90779652e-01 -8.08488971e-03 -2.58590913e+02] [ 1.12426610e-02 6.41180706e-05 9.99936797e-01 -2.79333483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1096.9565599950001 meters 0.012666550531035837 Centerline is valid? [True, True] Translation: X:-309.27, Y:-258.57, Z:-2.79 [[-6.90514766e-01 -7.23276523e-01 7.77365894e-03 -3.09271160e+02] [ 7.23231830e-01 -6.90558518e-01 -8.04073329e-03 -2.58572838e+02] [ 1.11838400e-02 6.99125129e-05 9.99937457e-01 -2.79385252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1096.986559995 meters 0.012661567821063388 Centerline is valid? [True, True] Translation: X:-309.29, Y:-258.55, Z:-2.79 [[-6.90707846e-01 -7.23088174e-01 8.13419200e-03 -3.09290232e+02] [ 7.23039288e-01 -6.90755737e-01 -8.40837427e-03 -2.58553622e+02] [ 1.16987358e-02 7.36103075e-05 9.99931565e-01 -2.79374956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1097.016559995 meters 0.012836485076251543 Centerline is valid? [True, True] Translation: X:-309.31, Y:-258.53, Z:-2.79 [[-6.90768751e-01 -7.23022512e-01 8.77388084e-03 -3.09308422e+02] [ 7.22965704e-01 -6.90824465e-01 -9.06367163e-03 -2.58534948e+02] [ 1.26144502e-02 8.23138090e-05 9.99920431e-01 -2.79442227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1097.046559995 meters 0.012664348991344427 Centerline is valid? [True, True] Translation: X:-309.33, Y:-258.51, Z:-2.79 [[-6.90923506e-01 -7.22875163e-01 8.72971276e-03 -3.09327234e+02] [ 7.22818978e-01 -6.90978648e-01 -9.01297257e-03 -2.58514492e+02] [ 1.25472991e-02 8.27274398e-05 9.99921276e-01 -2.79344007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1097.076559995 meters 0.012684819682604246 Centerline is valid? [True, True] Translation: X:-309.35, Y:-258.49, Z:-2.79 [[-6.91075799e-01 -7.22738900e-01 7.91973951e-03 -3.09346320e+02] [ 7.22692707e-01 -6.91121174e-01 -8.17157409e-03 -2.58494773e+02] [ 1.13794141e-02 7.63608921e-05 9.99935250e-01 -2.79204301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1097.106559995 meters 0.012676402842695484 Centerline is valid? [True, True] Translation: X:-309.37, Y:-258.47, Z:-2.79 [[-6.91259532e-01 -7.22571132e-01 7.15672233e-03 -3.09366222e+02] [ 7.22533445e-01 -6.91296575e-01 -7.38014152e-03 -2.58474926e+02] [ 1.02800948e-02 6.93780679e-05 9.99947156e-01 -2.79148398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1097.136559995 meters 0.01263456249201416 Centerline is valid? [True, True] Translation: X:-309.39, Y:-258.46, Z:-2.79 [[-6.91446928e-01 -7.22397870e-01 6.51639356e-03 -3.09386129e+02] [ 7.22366653e-01 -6.91477631e-01 -6.71606310e-03 -2.58455651e+02] [ 9.35761006e-03 6.34241997e-05 9.99956215e-01 -2.79107606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1097.166559995 meters 0.012653801001765233 Centerline is valid? [True, True] Translation: X:-309.41, Y:-258.44, Z:-2.79 [[-6.91463656e-01 -7.22384716e-01 6.19148336e-03 -3.09406082e+02] [ 7.22356565e-01 -6.91491373e-01 -6.37762485e-03 -2.58436059e+02] [ 8.88845605e-03 6.25628571e-05 9.99960495e-01 -2.79041883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1097.1965599950001 meters 0.012712500860121094 Centerline is valid? [True, True] Translation: X:-309.43, Y:-258.42, Z:-2.79 [[-6.91542611e-01 -7.22314775e-01 5.49389271e-03 -3.09425316e+02] [ 7.22292637e-01 -6.91564431e-01 -5.65551259e-03 -2.58416789e+02] [ 7.88444109e-03 5.71703055e-05 9.99968916e-01 -2.78942813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1097.2265599950001 meters 0.012743431903792945 Centerline is valid? [True, True] Translation: X:-309.44, Y:-258.40, Z:-2.79 [[-6.91761580e-01 -7.22106355e-01 5.32253389e-03 -3.09444160e+02] [ 7.22085595e-01 -6.91782054e-01 -5.47569851e-03 -2.58397124e+02] [ 7.63607011e-03 5.54472007e-05 9.99970843e-01 -2.78931049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1097.256559995 meters 0.012793484101285097 Centerline is valid? [True, True] Translation: X:-309.46, Y:-258.38, Z:-2.79 [[-6.91911336e-01 -7.21961989e-01 5.43960902e-03 -3.09462989e+02] [ 7.21940330e-01 -6.91932715e-01 -5.59265194e-03 -2.58377300e+02] [ 7.80152557e-03 5.74538549e-05 9.99969566e-01 -2.78885908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1097.286559995 meters 0.01287890231828317 Centerline is valid? [True, True] Translation: X:-309.48, Y:-258.36, Z:-2.79 [[-6.91949021e-01 -7.21922216e-01 5.90471519e-03 -3.09482299e+02] [ 7.21896725e-01 -6.91974212e-01 -6.06706411e-03 -2.58357556e+02] [ 8.46585900e-03 6.44954829e-05 9.99964162e-01 -2.78936898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1097.316559995 meters 0.013008744639670384 Centerline is valid? [True, True] Translation: X:-309.50, Y:-258.34, Z:-2.79 [[-6.92110712e-01 -7.21763675e-01 6.32144237e-03 -3.09501022e+02] [ 7.21734490e-01 -6.92139576e-01 -6.49101621e-03 -2.58339402e+02] [ 9.06030015e-03 6.99011318e-05 9.99958952e-01 -2.79023626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1097.346559995 meters 0.012967685076345449 Centerline is valid? [True, True] Translation: X:-309.52, Y:-258.32, Z:-2.79 [[-6.92343930e-01 -7.21536088e-01 6.74958034e-03 -3.09520499e+02] [ 7.21502842e-01 -6.92376826e-01 -6.92675878e-03 -2.58319791e+02] [ 9.67115944e-03 7.41420006e-05 9.99953231e-01 -2.79054147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1097.376559995 meters 0.013230699525680506 Centerline is valid? [True, True] Translation: X:-309.54, Y:-258.30, Z:-2.79 [[-6.92649314e-01 -7.21240480e-01 7.00696952e-03 -3.09539605e+02] [ 7.21204683e-01 -6.92684751e-01 -7.18615858e-03 -2.58302204e+02] [ 1.00365694e-02 7.59714210e-05 9.99949630e-01 -2.79191727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1097.406559995 meters 0.012885481986001144 Centerline is valid? [True, True] Translation: X:-309.56, Y:-258.28, Z:-2.79 [[-6.93045462e-01 -7.20854915e-01 7.49533560e-03 -3.09557999e+02] [ 7.20813983e-01 -6.93085987e-01 -7.68222045e-03 -2.58282726e+02] [ 1.07326784e-02 7.86146919e-05 9.99942400e-01 -2.79100805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1097.4365599950002 meters 0.012893088453308084 Centerline is valid? [True, True] Translation: X:-309.58, Y:-258.26, Z:-2.79 [[-6.93306800e-01 -7.20602482e-01 7.59896836e-03 -3.09577333e+02] [ 7.20560443e-01 -6.93348438e-01 -7.78407295e-03 -2.58262379e+02] [ 1.08779551e-02 7.87652997e-05 9.99940830e-01 -2.79098209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1097.4665599950001 meters 0.012840720533038115 Centerline is valid? [True, True] Translation: X:-309.60, Y:-258.24, Z:-2.79 [[-6.93678749e-01 -7.20240687e-01 7.94644272e-03 -3.09596907e+02] [ 7.20194743e-01 -6.93724258e-01 -8.13542461e-03 -2.58241607e+02] [ 1.13721039e-02 7.96151055e-05 9.99935333e-01 -2.79097015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1097.496559995 meters 0.012842901121471023 Centerline is valid? [True, True] Translation: X:-309.62, Y:-258.22, Z:-2.79 [[-6.94161823e-01 -7.19775248e-01 7.93446432e-03 -3.09616170e+02] [ 7.19729465e-01 -6.94207164e-01 -8.11857667e-03 -2.58221443e+02] [ 1.13517125e-02 7.50617761e-05 9.99935565e-01 -2.79082429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1097.526559995 meters 0.012789859045527785 Centerline is valid? [True, True] Translation: X:-309.64, Y:-258.20, Z:-2.79 [[-6.94911608e-01 -7.19047701e-01 8.26209668e-03 -3.09635092e+02] [ 7.18998066e-01 -6.94960718e-01 -8.44877847e-03 -2.58201543e+02] [ 1.18169074e-02 6.92773070e-05 9.99930176e-01 -2.79049880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1097.556559995 meters 0.012796441879632353 Centerline is valid? [True, True] Translation: X:-309.65, Y:-258.18, Z:-2.79 [[-6.95341103e-01 -7.18633770e-01 8.13973681e-03 -3.09654987e+02] [ 7.18585621e-01 -6.95388740e-01 -8.31898995e-03 -2.58181342e+02] [ 1.16385884e-02 6.45621876e-05 9.99932267e-01 -2.79030986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1097.586559995 meters 0.012769194173899446 Centerline is valid? [True, True] Translation: X:-309.67, Y:-258.16, Z:-2.79 [[-6.96328828e-01 -7.17680531e-01 7.79856505e-03 -3.09673399e+02] [ 7.17636333e-01 -6.96372495e-01 -7.96504503e-03 -2.58162094e+02] [ 1.11470640e-02 5.02431504e-05 9.99937868e-01 -2.79017940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1097.616559995 meters 0.012684890881816067 Centerline is valid? [True, True] Translation: X:-309.69, Y:-258.14, Z:-2.79 [[-6.96746815e-01 -7.17276441e-01 7.64082121e-03 -3.09692481e+02] [ 7.17234036e-01 -6.96788709e-01 -7.79954952e-03 -2.58141936e+02] [ 1.09184711e-02 4.59457453e-05 9.99940391e-01 -2.78938352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1097.646559995 meters 0.012723581702552555 Centerline is valid? [True, True] Translation: X:-309.71, Y:-258.12, Z:-2.79 [[-6.97073644e-01 -7.16961520e-01 7.38330889e-03 -3.09710551e+02] [ 7.16921960e-01 -6.97112743e-01 -7.53169819e-03 -2.58123433e+02] [ 1.05469365e-02 4.31079747e-05 9.99944379e-01 -2.78958327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1097.6765599950002 meters 0.012639944219207336 Centerline is valid? [True, True] Translation: X:-309.73, Y:-258.10, Z:-2.79 [[-6.96822972e-01 -7.17211114e-01 6.77971625e-03 -3.09729432e+02] [ 7.17177811e-01 -6.96855951e-01 -6.91167390e-03 -2.58103336e+02] [ 9.68161495e-03 4.60489165e-05 9.99953131e-01 -2.78744314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1097.7065599950001 meters 0.0126824302862746 Centerline is valid? [True, True] Translation: X:-309.75, Y:-258.08, Z:-2.79 [[-6.96622382e-01 -7.17408120e-01 6.54568364e-03 -3.09748911e+02] [ 7.17377124e-01 -6.96653132e-01 -6.66893440e-03 -2.58084273e+02] [ 9.34441871e-03 4.99947401e-05 9.99956339e-01 -2.78680769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1097.736559995 meters 0.012693119238513115 Centerline is valid? [True, True] Translation: X:-309.77, Y:-258.06, Z:-2.79 [[-6.96233883e-01 -7.17787473e-01 6.28688238e-03 -3.09768611e+02] [ 7.17758927e-01 -6.96262265e-01 -6.40166569e-03 -2.58064930e+02] [ 8.97235440e-03 5.54093992e-05 9.99959746e-01 -2.78612375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1097.766559995 meters 0.012805539402458137 Centerline is valid? [True, True] Translation: X:-309.79, Y:-258.05, Z:-2.79 [[-6.95251402e-01 -7.18736871e-01 6.54204841e-03 -3.09789112e+02] [ 7.18706039e-01 -6.95282176e-01 -6.65770755e-03 -2.58046331e+02] [ 9.33370955e-03 7.30291861e-05 9.99956438e-01 -2.78606650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1097.796559995 meters 0.012934013356470032 Centerline is valid? [True, True] Translation: X:-309.81, Y:-258.03, Z:-2.79 [[-6.94953157e-01 -7.19021784e-01 6.91253360e-03 -3.09809733e+02] [ 7.18987414e-01 -6.94987530e-01 -7.03074150e-03 -2.58026726e+02] [ 9.85938095e-03 8.39886531e-05 9.99951392e-01 -2.78673349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1097.826559995 meters 0.013078611293495319 Centerline is valid? [True, True] Translation: X:-309.83, Y:-258.01, Z:-2.79 [[-6.94765957e-01 -7.19196832e-01 7.49546727e-03 -3.09829697e+02] [ 7.19156480e-01 -6.94806381e-01 -7.61906993e-03 -2.58007876e+02] [ 1.06875094e-02 9.69434466e-05 9.99942882e-01 -2.78814136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1097.856559995 meters 0.01308286845781013 Centerline is valid? [True, True] Translation: X:-309.85, Y:-257.99, Z:-2.79 [[-6.95221593e-01 -7.18746108e-01 8.42435326e-03 -3.09848368e+02] [ 7.18695159e-01 -6.95272624e-01 -8.55844256e-03 -2.57987493e+02] [ 1.20085695e-02 1.04527834e-04 9.99927889e-01 -2.78913126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1097.886559995 meters 0.012896876556011799 Centerline is valid? [True, True] Translation: X:-309.87, Y:-257.97, Z:-2.79 [[-6.96293014e-01 -7.17707240e-01 8.50631060e-03 -3.09867394e+02] [ 7.17655276e-01 -6.96344965e-01 -8.63681471e-03 -2.57966532e+02] [ 1.21220310e-02 9.08449430e-05 9.99926522e-01 -2.78910075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1097.916559995 meters 0.012915771245515309 Centerline is valid? [True, True] Translation: X:-309.89, Y:-257.95, Z:-2.79 [[-6.97577178e-01 -7.16462098e-01 8.25492476e-03 -3.09885647e+02] [ 7.16413131e-01 -6.97626016e-01 -8.37664652e-03 -2.57946808e+02] [ 1.17604000e-02 7.05790528e-05 9.99930842e-01 -2.78973662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1097.9465599950001 meters 0.012734075495700905 Centerline is valid? [True, True] Translation: X:-309.90, Y:-257.93, Z:-2.79 [[-6.99134057e-01 -7.14945552e-01 8.02678126e-03 -3.09903725e+02] [ 7.14899212e-01 -6.99180131e-01 -8.14009167e-03 -2.57926413e+02] [ 1.14318883e-02 4.73242874e-05 9.99934653e-01 -2.78936290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1097.9765599950001 meters 0.012545775231899875 Centerline is valid? [True, True] Translation: X:-309.92, Y:-257.90, Z:-2.79 [[-7.02261994e-01 -7.11885066e-01 6.90976683e-03 -3.09919902e+02] [ 7.11850621e-01 -7.02295986e-01 -7.00292854e-03 -2.57903810e+02] [ 9.83798176e-03 8.31256493e-07 9.99951606e-01 -2.78823893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1098.006559995 meters 0.01263215300855569 Centerline is valid? [True, True] Translation: X:-309.94, Y:-257.88, Z:-2.79 [[-7.04010578e-01 -7.10156031e-01 6.89338970e-03 -3.09936737e+02] [ 7.10121710e-01 -7.04044325e-01 -6.98175729e-03 -2.57883654e+02] [ 9.81138895e-03 -2.00852984e-05 9.99951867e-01 -2.78829145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1098.036559995 meters 0.01269158955465777 Centerline is valid? [True, True] Translation: X:-309.96, Y:-257.86, Z:-2.79 [[-7.05608349e-01 -7.08569237e-01 6.81866533e-03 -3.09955514e+02] [ 7.08535620e-01 -7.05641293e-01 -6.90218105e-03 -2.57862070e+02] [ 9.70220498e-03 -3.89693022e-05 9.99952932e-01 -2.78786478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1098.066559995 meters 0.012876722325361892 Centerline is valid? [True, True] Translation: X:-309.97, Y:-257.84, Z:-2.79 [[-7.06974326e-01 -7.07203488e-01 7.10842438e-03 -3.09973638e+02] [ 7.07166928e-01 -7.07010059e-01 -7.19120385e-03 -2.57841190e+02] [ 1.01113720e-02 -5.71538691e-05 9.99948877e-01 -2.78861280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1098.096559995 meters 0.013169681500293417 Centerline is valid? [True, True] Translation: X:-309.99, Y:-257.82, Z:-2.79 [[-7.08658881e-01 -7.05505113e-01 8.07007727e-03 -3.09990276e+02] [ 7.05457936e-01 -7.08704824e-01 -8.15923993e-03 -2.57819680e+02] [ 1.14756882e-02 -8.90177870e-05 9.99934148e-01 -2.78981401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1098.126559995 meters 0.013345732564619513 Centerline is valid? [True, True] Translation: X:-310.01, Y:-257.80, Z:-2.79 [[-7.08875888e-01 -7.05281073e-01 8.57815352e-03 -3.10008834e+02] [ 7.05227817e-01 -7.08927782e-01 -8.66755141e-03 -2.57799762e+02] [ 1.21943513e-02 -9.46657159e-05 9.99925642e-01 -2.79006971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1098.156559995 meters 0.013306372190331707 Centerline is valid? [True, True] Translation: X:-310.03, Y:-257.78, Z:-2.79 [[-7.08954536e-01 -7.05196730e-01 9.00210187e-03 -3.10028174e+02] [ 7.05138145e-01 -7.09011680e-01 -9.09030845e-03 -2.57780031e+02] [ 1.27930512e-02 -9.68899947e-05 9.99918161e-01 -2.79037277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1098.1865599950002 meters 0.01339372134835124 Centerline is valid? [True, True] Translation: X:-310.05, Y:-257.76, Z:-2.79 [[-7.08654497e-01 -7.05495528e-01 9.21214222e-03 -3.10046231e+02] [ 7.05434261e-01 -7.08714365e-01 -9.29797077e-03 -2.57761624e+02] [ 1.30884543e-02 -9.04880650e-05 9.99914339e-01 -2.79099890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1098.2165599950001 meters 0.013312434476139993 Centerline is valid? [True, True] Translation: X:-310.07, Y:-257.74, Z:-2.79 [[-7.08559521e-01 -7.05593311e-01 9.02686613e-03 -3.10065494e+02] [ 7.05534562e-01 -7.08617014e-01 -9.10545342e-03 -2.57742356e+02] [ 1.28213380e-02 -8.29896715e-05 9.99917800e-01 -2.79097609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1098.246559995 meters 0.013199631176784037 Centerline is valid? [True, True] Translation: X:-310.08, Y:-257.72, Z:-2.79 [[-7.08312124e-01 -7.05844345e-01 8.81458291e-03 -3.10084724e+02] [ 7.05788413e-01 -7.08366964e-01 -8.88590955e-03 -2.57723481e+02] [ 1.25160283e-02 -7.27669794e-05 9.99921669e-01 -2.79074438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1098.276559995 meters 0.013199631176784037 Centerline is valid? [True, True] Translation: X:-310.10, Y:-257.70, Z:-2.79 [[-7.08526855e-01 -7.05628763e-01 8.81728639e-03 -3.10103653e+02] [ 7.05572848e-01 -7.08581713e-01 -8.88322695e-03 -2.57704559e+02] [ 1.25160283e-02 -7.27669799e-05 9.99921669e-01 -2.79074445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1098.306559995 meters 0.012980932256497525 Centerline is valid? [True, True] Translation: X:-310.12, Y:-257.69, Z:-2.79 [[-7.08308229e-01 -7.05856603e-01 8.11845593e-03 -3.10123297e+02] [ 7.05809275e-01 -7.08354751e-01 -8.17406049e-03 -2.57685006e+02] [ 1.15204614e-02 -5.96728131e-05 9.99933636e-01 -2.78973115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1098.336559995 meters 0.01292234665641288 Centerline is valid? [True, True] Translation: X:-310.14, Y:-257.67, Z:-2.79 [[-7.08103010e-01 -7.06061069e-01 8.23977179e-03 -3.10142469e+02] [ 7.06012390e-01 -7.08150947e-01 -8.29106279e-03 -2.57665517e+02] [ 1.16889989e-02 -5.35455388e-05 9.99931680e-01 -2.78990260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1098.366559995 meters 0.012853511457491489 Centerline is valid? [True, True] Translation: X:-310.16, Y:-257.65, Z:-2.79 [[-7.07488393e-01 -7.06678858e-01 8.07255076e-03 -3.10162480e+02] [ 7.06632227e-01 -7.07534445e-01 -8.11826655e-03 -2.57646170e+02] [ 1.14486151e-02 -3.92548373e-05 9.99934462e-01 -2.78983657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1098.396559995 meters 0.012881129521476062 Centerline is valid? [True, True] Translation: X:-310.18, Y:-257.63, Z:-2.79 [[-7.07341751e-01 -7.06827299e-01 7.92575501e-03 -3.10181474e+02] [ 7.06782416e-01 -7.07386153e-01 -7.96539305e-03 -2.57627442e+02] [ 1.12367266e-02 -3.24707900e-05 9.99936866e-01 -2.79071330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1098.4265599950002 meters 0.012902260401139095 Centerline is valid? [True, True] Translation: X:-310.20, Y:-257.61, Z:-2.79 [[-7.07208443e-01 -7.06959105e-01 8.06490404e-03 -3.10200640e+02] [ 7.06912698e-01 -7.07254426e-01 -8.10027481e-03 -2.57608294e+02] [ 1.14305021e-02 -2.73996611e-05 9.99934669e-01 -2.79062621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1098.4565599950001 meters 0.012823985856292108 Centerline is valid? [True, True] Translation: X:-310.22, Y:-257.59, Z:-2.79 [[-7.07270617e-01 -7.06897649e-01 7.99925582e-03 -3.10219992e+02] [ 7.06852048e-01 -7.07315851e-01 -8.02929953e-03 -2.57589066e+02] [ 1.13338934e-02 -2.45972696e-05 9.99935769e-01 -2.79031731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1098.486559995 meters 0.01292239251382458 Centerline is valid? [True, True] Translation: X:-310.24, Y:-257.57, Z:-2.79 [[-7.07462686e-01 -7.06701877e-01 8.30692642e-03 -3.10239251e+02] [ 7.06652749e-01 -7.07511453e-01 -8.33289608e-03 -2.57569700e+02] [ 1.17661189e-02 -2.51006553e-05 9.99930777e-01 -2.79103910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1098.516559995 meters 0.012938121833212971 Centerline is valid? [True, True] Translation: X:-310.26, Y:-257.55, Z:-2.79 [[-7.07425949e-01 -7.06739666e-01 8.22018350e-03 -3.10258872e+02] [ 7.06691620e-01 -7.07473706e-01 -8.24074584e-03 -2.57550183e+02] [ 1.16396256e-02 -2.05826529e-05 9.99932257e-01 -2.79131372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1098.546559995 meters 0.012954639146331636 Centerline is valid? [True, True] Translation: X:-310.28, Y:-257.53, Z:-2.79 [[-7.07405552e-01 -7.06760223e-01 8.20804192e-03 -3.10279148e+02] [ 7.06712374e-01 -7.07453169e-01 -8.22395091e-03 -2.57530446e+02] [ 1.16191667e-02 -1.69437363e-05 9.99932495e-01 -2.79097735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1098.576559995 meters 0.01293789065865841 Centerline is valid? [True, True] Translation: X:-310.30, Y:-257.51, Z:-2.79 [[-7.07130357e-01 -7.07039376e-01 7.87265108e-03 -3.10298319e+02] [ 7.06995418e-01 -7.07174180e-01 -7.88406337e-03 -2.57511897e+02] [ 1.11416788e-02 -9.13230550e-06 9.99937930e-01 -2.79107460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1098.606559995 meters 0.012945711895041867 Centerline is valid? [True, True] Translation: X:-310.32, Y:-257.49, Z:-2.79 [[-7.06771317e-01 -7.07403078e-01 7.42912287e-03 -3.10318483e+02] [ 7.07364002e-01 -7.06810360e-01 -7.43527483e-03 -2.57493485e+02] [ 1.05107173e-02 5.51005343e-08 9.99944761e-01 -2.79103811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1098.636559995 meters 0.012998279013937254 Centerline is valid? [True, True] Translation: X:-310.34, Y:-257.47, Z:-2.79 [[-7.06723584e-01 -7.07453375e-01 7.17618136e-03 -3.10338460e+02] [ 7.07416963e-01 -7.06760017e-01 -7.17768549e-03 -2.57474333e+02] [ 1.01497159e-02 3.91279941e-06 9.99948490e-01 -2.79108014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1098.666559995 meters 0.01306582979434888 Centerline is valid? [True, True] Translation: X:-310.36, Y:-257.46, Z:-2.79 [[-7.06448986e-01 -7.07729493e-01 6.98532788e-03 -3.10358601e+02] [ 7.07695048e-01 -7.06483520e-01 -6.98247092e-03 -2.57455239e+02] [ 9.87671964e-03 1.07224445e-05 9.99951224e-01 -2.79052541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1098.6965599950001 meters 0.013151896279170176 Centerline is valid? [True, True] Translation: X:-310.86, Y:-257.95, Z:-1.79 [[-7.56742773e-01 6.53674911e-01 7.03464235e-03 -3.10856162e+02] [ 6.53646453e-01 7.56775469e-01 -6.09953783e-03 -2.57953840e+02] [-9.31075962e-03 -1.76121550e-05 -9.99956654e-01 -1.79452709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1098.7265599950001 meters 0.013168250312754143 Centerline is valid? [True, True] Translation: X:-310.84, Y:-257.93, Z:-1.79 [[-8.01257131e-01 5.98275134e-01 7.33986531e-03 -3.10836046e+02] [ 5.98249769e-01 8.01290748e-01 -5.50909710e-03 -2.57933079e+02] [-9.17732198e-03 -2.31306087e-05 -9.99957887e-01 -1.79419394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1098.756559995 meters 0.013400942415654203 Centerline is valid? [True, True] Translation: X:-310.82, Y:-257.91, Z:-1.79 [[-8.42698238e-01 5.38335207e-01 7.40844996e-03 -3.10816842e+02] [ 5.38313983e-01 8.42730802e-01 -4.78034131e-03 -2.57910096e+02] [-8.81675500e-03 -4.03129897e-05 -9.99961131e-01 -1.79413356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1098.786559995 meters 0.013535280239189639 Centerline is valid? [True, True] Translation: X:-310.44, Y:-257.33, Z:-2.79 [[-7.98389038e-01 -6.02103141e-01 6.83748460e-03 -3.10437563e+02] [ 6.02081303e-01 -7.98418316e-01 -5.12811477e-03 -2.57328567e+02] [ 8.54682695e-03 2.24910150e-05 9.99963475e-01 -2.79109767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1098.816559995 meters 0.013740416662777992 Centerline is valid? [True, True] Translation: X:-310.86, Y:-257.88, Z:-1.79 [[-8.46086495e-01 5.33001263e-01 6.87722870e-03 -3.10860462e+02] [ 5.32983083e-01 8.46114443e-01 -4.40258230e-03 -2.57879558e+02] [-8.16550446e-03 -5.95188649e-05 -9.99966660e-01 -1.79439649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1098.846559995 meters 0.014360169093511786 Centerline is valid? [True, True] Translation: X:-310.84, Y:-257.86, Z:-1.79 [[-8.83185957e-01 4.68975602e-01 6.66705517e-03 -3.10837502e+02] [ 4.68961565e-01 8.83211118e-01 -3.62940393e-03 -2.57857624e+02] [-7.59051914e-03 -7.88459558e-05 -9.99971189e-01 -1.79400904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1098.876559995 meters 0.014463395160726457 Centerline is valid? [True, True] Translation: X:-310.51, Y:-257.26, Z:-2.79 [[-8.37912822e-01 -5.45763988e-01 6.61609583e-03 -3.10509845e+02] [ 5.45747881e-01 -8.37938936e-01 -4.19418196e-03 -2.57256987e+02] [ 7.83291778e-03 9.63614375e-05 9.99969318e-01 -2.79115789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1098.906559995 meters 0.014523230111502267 Centerline is valid? [True, True] Translation: X:-310.53, Y:-257.28, Z:-2.79 [[-7.98739163e-01 -6.01644984e-01 6.25003317e-03 -3.10529479e+02] [ 6.01627498e-01 -7.98763610e-01 -4.58799719e-03 -2.57280125e+02] [ 7.75264456e-03 9.55787812e-05 9.99969943e-01 -2.79100909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1098.9365599950002 meters 0.015530154526940076 Centerline is valid? [True, True] Translation: X:-310.93, Y:-257.83, Z:-1.79 [[-8.53299404e-01 5.21375878e-01 6.87901792e-03 -3.10930910e+02] [ 5.21357870e-01 8.53327125e-01 -4.33481758e-03 -2.57832655e+02] [-8.13012190e-03 -1.12467130e-04 -9.99966944e-01 -1.79288029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1098.9665599950001 meters 0.015068525086381438 Centerline is valid? [True, True] Translation: X:-310.92, Y:-257.81, Z:-1.79 [[-8.88292171e-01 4.59212114e-01 7.82649143e-03 -3.10916185e+02] [ 4.59193023e-01 8.88326639e-01 -4.18917170e-03 -2.57811234e+02] [-8.87619922e-03 -1.27338158e-04 -9.99960598e-01 -1.79355858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1098.996559995 meters 0.015889807061806437 Centerline is valid? [True, True] Translation: X:-310.90, Y:-257.79, Z:-1.79 [[-9.18640488e-01 3.94997369e-01 8.75973511e-03 -3.10901718e+02] [ 3.94977966e-01 9.18682241e-01 -3.91748731e-03 -2.57785362e+02] [-9.59481026e-03 -1.38860099e-04 -9.99953959e-01 -1.79185970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1099.026559995 meters 0.014775546741638355 Centerline is valid? [True, True] Translation: X:-310.89, Y:-257.76, Z:-1.79 [[-9.44045997e-01 3.29704202e-01 8.50263618e-03 -3.10889303e+02] [ 3.29689652e-01 9.44084278e-01 -3.09984937e-03 -2.57763364e+02] [-9.04923851e-03 -1.23169223e-04 -9.99959047e-01 -1.79325991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1099.056559995 meters 0.014620235620963064 Centerline is valid? [True, True] Translation: X:-310.65, Y:-257.12, Z:-2.79 [[-9.09115208e-01 -4.16469715e-01 7.90668527e-03 -3.10649748e+02] [ 4.16454858e-01 -9.09149585e-01 -3.51904573e-03 -2.57124225e+02] [ 8.65393560e-03 9.35595019e-05 9.99962550e-01 -2.79201694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1099.086559995 meters 0.014562751815550303 Centerline is valid? [True, True] Translation: X:-310.93, Y:-257.75, Z:-1.79 [[-9.44593230e-01 3.28149660e-01 7.83771427e-03 -3.10931216e+02] [ 3.28137517e-01 9.44625741e-01 -2.82463845e-03 -2.57750565e+02] [-8.33061080e-03 -9.62862541e-05 -9.99965295e-01 -1.79363767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1099.116559995 meters 0.014036103025812924 Centerline is valid? [True, True] Translation: X:-310.92, Y:-257.73, Z:-1.79 [[-9.64828785e-01 2.62764060e-01 7.77592914e-03 -3.10923547e+02] [ 2.62754914e-01 9.64860116e-01 -2.19356823e-03 -2.57726458e+02] [-8.07907479e-03 -7.32541803e-05 -9.99967361e-01 -1.79423948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1099.146559995 meters 0.013894626326232094 Centerline is valid? [True, True] Translation: X:-310.92, Y:-257.70, Z:-1.79 [[-9.80772522e-01 1.94987502e-01 8.07053104e-03 -3.10917625e+02] [ 1.94980366e-01 9.80805725e-01 -1.66932784e-03 -2.57700529e+02] [-8.24112112e-03 -6.36357809e-05 -9.99966040e-01 -1.79407961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1099.1765599950002 meters 0.013787927051989692 Centerline is valid? [True, True] Translation: X:-310.91, Y:-257.67, Z:-1.79 [[-9.91975759e-01 1.26151213e-01 8.36449516e-03 -3.10913763e+02] [ 1.26146263e-01 9.92011022e-01 -1.11887540e-03 -2.57674672e+02] [-8.43881888e-03 -5.47474698e-05 -9.99964391e-01 -1.79449826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1099.2065599950001 meters 0.013715920027416856 Centerline is valid? [True, True] Translation: X:-310.91, Y:-257.65, Z:-1.79 [[-9.98308904e-01 5.75600064e-02 8.13503248e-03 -3.10910958e+02] [ 5.75578086e-02 9.98342048e-01 -5.04221114e-04 -2.57648752e+02] [-8.15056796e-03 -3.51337844e-05 -9.99966783e-01 -1.79450139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1099.236559995 meters 0.01364690936025676 Centerline is valid? [True, True] Translation: X:-310.91, Y:-257.62, Z:-1.79 [[-9.99887788e-01 -1.26676063e-02 7.99652071e-03 -3.10911687e+02] [-1.26674183e-02 9.99919762e-01 7.41564802e-05 -2.57621154e+02] [-7.99681847e-03 -2.71471137e-05 -9.99968025e-01 -1.79396881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1099.266559995 meters 0.013689289494049815 Centerline is valid? [True, True] Translation: X:-310.92, Y:-256.92, Z:-2.79 [[-9.98129402e-01 -6.06287455e-02 7.86468567e-03 -3.10918054e+02] [ 6.06270136e-02 -9.98160385e-01 -4.58653340e-04 -2.56921261e+02] [ 7.87802525e-03 1.90170215e-05 9.99968968e-01 -2.79170421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1099.296559995 meters 0.013603792557473817 Centerline is valid? [True, True] Translation: X:-311.00, Y:-257.62, Z:-1.79 [[-9.99851387e-01 -1.50734476e-02 8.36635199e-03 -3.10998434e+02] [-1.50729394e-02 9.99886389e-01 1.23797499e-04 -2.57623452e+02] [-8.36726754e-03 -2.32641541e-06 -9.99964994e-01 -1.79390409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1099.326559995 meters 0.013684320514080105 Centerline is valid? [True, True] Translation: X:-311.00, Y:-257.60, Z:-1.79 [[-9.96326755e-01 -8.52027084e-02 8.57297282e-03 -3.11001124e+02] [-8.51995002e-02 9.96363638e-01 7.39404799e-04 -2.57596712e+02] [-8.60479768e-03 6.27578423e-06 -9.99962978e-01 -1.79386469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1099.356559995 meters 0.01367839602925696 Centerline is valid? [True, True] Translation: X:-311.01, Y:-257.57, Z:-1.79 [[-9.87897625e-01 -1.54881226e-01 8.37187579e-03 -3.11012330e+02] [-1.54875524e-01 9.87933098e-01 1.32917575e-03 -2.57571012e+02] [-8.47671755e-03 1.64909198e-05 -9.99964072e-01 -1.79329196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1099.386559995 meters 0.013876398997582483 Centerline is valid? [True, True] Translation: X:-311.04, Y:-257.55, Z:-1.79 [[-9.74943563e-01 -2.22286440e-01 8.58994679e-03 -3.11035671e+02] [-2.22277391e-01 9.74981403e-01 2.00623690e-03 -2.57549737e+02] [-8.82099763e-03 4.66167844e-05 -9.99961093e-01 -1.79328321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1099.416559995 meters 0.01402874585621792 Centerline is valid? [True, True] Translation: X:-311.22, Y:-256.86, Z:-2.79 [[-9.85757378e-01 1.67959901e-01 8.47724731e-03 -3.11223971e+02] [-1.67954218e-01 -9.85793826e-01 1.38299103e-03 -2.56860670e+02] [ 8.58910510e-03 -6.04958252e-05 9.99963111e-01 -2.79247784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1099.4465599950001 meters 0.014210800308222119 Centerline is valid? [True, True] Translation: X:-311.18, Y:-257.58, Z:-1.79 [[-9.74148322e-01 -2.25765342e-01 8.06580199e-03 -3.11182446e+02] [-2.25756977e-01 9.74181710e-01 1.94484546e-03 -2.57584889e+02] [-8.29663548e-03 7.36568625e-05 -9.99965580e-01 -1.79349533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1099.4765599950001 meters 0.014675167047698284 Centerline is valid? [True, True] Translation: X:-311.23, Y:-257.57, Z:-1.79 [[-9.56222633e-01 -2.92544092e-01 7.49870817e-03 -3.11229719e+02] [-2.92534266e-01 9.56252030e-01 2.39992418e-03 -2.57571493e+02] [-7.87273855e-03 1.01232732e-04 -9.99969005e-01 -1.79408654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1099.506559995 meters 0.015267712030554848 Centerline is valid? [True, True] Translation: X:-311.29, Y:-257.57, Z:-1.79 [[-9.32827963e-01 -3.60250518e-01 7.18023187e-03 -3.11291909e+02] [-3.60238893e-01 9.32855590e-01 2.89634463e-03 -2.57566432e+02] [-7.74152909e-03 1.15192485e-04 -9.99970027e-01 -1.79440050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1099.536559995 meters 0.015574010780709316 Centerline is valid? [True, True] Translation: X:-311.36, Y:-257.57, Z:-1.80 [[-9.04546039e-01 -4.26332286e-01 6.10286689e-03 -3.11363377e+02] [-4.26321709e-01 9.04566619e-01 3.00530580e-03 -2.57568741e+02] [-6.80170857e-03 1.16652819e-04 -9.99976861e-01 -1.79515105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1099.566559995 meters 0.01612269781753295 Centerline is valid? [True, True] Translation: X:-311.44, Y:-257.58, Z:-1.80 [[-8.71905199e-01 -4.89653033e-01 4.60781399e-03 -3.11438631e+02] [-4.89645521e-01 8.71917367e-01 2.71449106e-03 -2.57578507e+02] [-5.34679182e-03 1.10583384e-04 -9.99985700e-01 -1.79634300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1099.596559995 meters 0.016726174309700057 Centerline is valid? [True, True] Translation: X:-311.52, Y:-257.60, Z:-1.80 [[-8.33370909e-01 -5.52700488e-01 3.88571266e-03 -3.11521884e+02] [-5.52693896e-01 8.33379961e-01 2.70146039e-03 -2.57599819e+02] [-4.73137354e-03 1.03708826e-04 -9.99988802e-01 -1.79672240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1099.626559995 meters 0.0171104494048651 Centerline is valid? [True, True] Translation: X:-311.61, Y:-257.63, Z:-1.80 [[-7.90186774e-01 -6.12859592e-01 2.82548238e-03 -3.11609633e+02] [-6.12855287e-01 7.90191821e-01 2.29881066e-03 -2.57629902e+02] [-3.64152123e-03 8.48779655e-05 -9.99993366e-01 -1.79757975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1099.656559995 meters 0.01679925678492171 Centerline is valid? [True, True] Translation: X:-311.70, Y:-257.67, Z:-1.80 [[-7.41329000e-01 -6.71135942e-01 2.80379017e-03 -3.11700617e+02] [-6.71130683e-01 7.41334297e-01 2.65821861e-03 -2.57670220e+02] [-3.86257187e-03 8.89049301e-05 -9.99992536e-01 -1.79764666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1099.6865599950002 meters 0.01652337252744928 Centerline is valid? [True, True] Translation: X:-311.79, Y:-257.72, Z:-1.80 [[-6.87674217e-01 -7.26013799e-01 2.85224129e-03 -3.11793244e+02] [-7.26006978e-01 6.87680125e-01 3.14862375e-03 -2.57721791e+02] [-4.24737394e-03 9.44802898e-05 -9.99990976e-01 -1.79715511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1099.7165599950001 meters 0.016302842424233303 Centerline is valid? [True, True] Translation: X:-311.88, Y:-257.78, Z:-1.80 [[-6.29320690e-01 -7.77140442e-01 2.86422953e-03 -3.11883228e+02] [-7.77131678e-01 6.29327200e-01 3.69186834e-03 -2.57782335e+02] [-4.67163775e-03 9.74856288e-05 -9.99989083e-01 -1.79666075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1099.746559995 meters 0.0154519663153159 Centerline is valid? [True, True] Translation: X:-311.97, Y:-257.85, Z:-1.80 [[-5.65223572e-01 -8.24931227e-01 3.28383192e-03 -3.11973908e+02] [-8.24916233e-01 5.65233102e-01 4.97481331e-03 -2.57850479e+02] [-5.96000935e-03 1.02995492e-04 -9.99982234e-01 -1.79576807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1099.776559995 meters 0.015035441105833948 Centerline is valid? [True, True] Translation: X:-312.05, Y:-257.92, Z:-1.79 [[-4.98694608e-01 -8.66772286e-01 3.08099961e-03 -3.12054306e+02] [-8.66754567e-01 4.98704117e-01 5.54292988e-03 -2.57922518e+02] [-6.34096520e-03 9.37587589e-05 -9.99979892e-01 -1.79496564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1099.806559995 meters 0.01460108907340803 Centerline is valid? [True, True] Translation: X:-312.14, Y:-258.02, Z:-1.79 [[-4.28753588e-01 -9.03416894e-01 2.87693101e-03 -3.12137093e+02] [-9.03395212e-01 4.28763231e-01 6.25960326e-03 -2.58016986e+02] [-6.88855357e-03 8.48216570e-05 -9.99976270e-01 -1.79437533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1099.836559995 meters 0.01402767484619892 Centerline is valid? [True, True] Translation: X:-312.21, Y:-258.11, Z:-1.79 [[-3.52762350e-01 -9.35708851e-01 2.76975283e-03 -3.12209965e+02] [-9.35678850e-01 3.52773219e-01 7.49308372e-03 -2.58105306e+02] [-7.98843938e-03 5.16786749e-05 -9.99968091e-01 -1.79390754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1099.866559995 meters 0.013839744821548698 Centerline is valid? [True, True] Translation: X:-312.27, Y:-258.20, Z:-1.79 [[-2.77493771e-01 -9.60724736e-01 2.27802488e-03 -3.12274324e+02] [-9.60691383e-01 2.77503119e-01 8.00536437e-03 -2.58201833e+02] [-8.32311058e-03 3.29598710e-05 -9.99965362e-01 -1.79397965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1099.896559995 meters 0.013721254902514086 Centerline is valid? [True, True] Translation: X:-312.33, Y:-258.31, Z:-1.79 [[-2.00565332e-01 -9.79678811e-01 1.72467363e-03 -3.12331876e+02] [-9.79642008e-01 2.00572746e-01 8.49173513e-03 -2.58307092e+02] [-8.66509551e-03 1.35849361e-05 -9.99962457e-01 -1.79360233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1099.9265599950002 meters 0.0137127822881605 Centerline is valid? [True, True] Translation: X:-312.38, Y:-258.41, Z:-1.79 [[-1.23840318e-01 -9.92301554e-01 1.09662297e-03 -3.12380288e+02] [-9.92262716e-01 1.23845174e-01 8.77927103e-03 -2.58411186e+02] [-8.84749575e-03 -9.10367234e-07 -9.99960860e-01 -1.79328039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1099.9565599950001 meters 0.013787955803787773 Centerline is valid? [True, True] Translation: X:-312.42, Y:-258.52, Z:-1.79 [[-4.49659271e-02 -9.98988438e-01 4.09003297e-04 -3.12422376e+02] [-9.98951161e-01 4.49677825e-02 8.62997921e-03 -2.58522410e+02] [-8.63964142e-03 -2.05193028e-05 -9.99962678e-01 -1.79329099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1099.986559995 meters 0.01382958358411598 Centerline is valid? [True, True] Translation: X:-312.45, Y:-258.64, Z:-1.79 [[ 3.22856490e-02 -9.99478651e-01 -2.50711884e-04 -3.12453055e+02] [-9.99442518e-01 -3.22866137e-02 8.49871551e-03 -2.58638244e+02] [-8.50237936e-03 -2.38144295e-05 -9.99963854e-01 -1.79301695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1100.016559995 meters 0.013752673947556823 Centerline is valid? [True, True] Translation: X:-312.47, Y:-258.76, Z:-1.79 [[ 1.08411694e-01 -9.94105756e-01 -8.06552104e-04 -3.12474593e+02] [-9.94077059e-01 -1.08414693e-01 7.55350538e-03 -2.58755939e+02] [-7.59642527e-03 -1.71133720e-05 -9.99971147e-01 -1.79470424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1100.046559995 meters 0.013651142344891688 Centerline is valid? [True, True] Translation: X:-312.49, Y:-258.88, Z:-1.80 [[ 1.83877062e-01 -9.82948430e-01 -1.26899194e-03 -3.12486198e+02] [-9.82924579e-01 -1.83881441e-01 6.84751528e-03 -2.58875114e+02] [-6.96409846e-03 -1.17776228e-05 -9.99975750e-01 -1.79538480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1100.076559995 meters 0.013566732920040622 Centerline is valid? [True, True] Translation: X:-312.49, Y:-258.99, Z:-1.80 [[ 2.58239055e-01 -9.66079662e-01 -1.63634193e-03 -3.12489558e+02] [-9.66060096e-01 -2.58244239e-01 6.14849430e-03 -2.58991950e+02] [-6.36251117e-03 -6.97671440e-06 -9.99979759e-01 -1.79590357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1100.106559995 meters 0.013601114645243235 Centerline is valid? [True, True] Translation: X:-312.48, Y:-259.11, Z:-1.80 [[ 3.30192384e-01 -9.43912143e-01 -1.69015197e-03 -3.12484345e+02] [-9.43899805e-01 -3.30196710e-01 4.82606307e-03 -2.59110652e+02] [-5.11346215e-03 1.80484691e-06 -9.99986926e-01 -1.79672362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1100.136559995 meters 0.013620838183107437 Centerline is valid? [True, True] Translation: X:-312.47, Y:-259.23, Z:-1.80 [[ 4.00887202e-01 -9.16124923e-01 -2.13926066e-03 -3.12469635e+02] [-9.16111954e-01 -4.00892910e-01 4.87464220e-03 -2.59226655e+02] [-5.32339565e-03 5.62058423e-06 -9.99985831e-01 -1.79591019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1100.166559995 meters 0.013620838183107437 Centerline is valid? [True, True] Translation: X:-312.45, Y:-259.34, Z:-1.80 [[ 4.69882381e-01 -8.82725476e-01 -2.50636666e-03 -3.12445603e+02] [-8.82712982e-01 -4.69889066e-01 4.69645570e-03 -2.59340397e+02] [-5.32339538e-03 5.62060504e-06 -9.99985831e-01 -1.79591020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1100.1965599950001 meters 0.013596589862788343 Centerline is valid? [True, True] Translation: X:-312.42, Y:-259.45, Z:-1.80 [[ 5.35928760e-01 -8.44257522e-01 -3.09863806e-03 -3.12415119e+02] [-8.44243483e-01 -5.35937718e-01 4.86866652e-03 -2.59450413e+02] [-5.77108534e-03 6.74657505e-06 -9.99983347e-01 -1.79547507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1100.2265599950001 meters 0.013698495503563751 Centerline is valid? [True, True] Translation: X:-312.38, Y:-259.56, Z:-1.79 [[ 5.99016490e-01 -8.00728267e-01 -3.67245763e-03 -3.12375840e+02] [-8.00713275e-01 -5.99027748e-01 4.89989178e-03 -2.59559325e+02] [-6.12338588e-03 5.46960394e-06 -9.99981252e-01 -1.79466444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1100.256559995 meters 0.013725311820470798 Centerline is valid? [True, True] Translation: X:-312.33, Y:-259.66, Z:-1.79 [[ 6.59096760e-01 -7.52039309e-01 -5.32333802e-03 -3.12333417e+02] [-7.52014756e-01 -6.59118257e-01 6.07700288e-03 -2.59662455e+02] [-8.07885433e-03 -2.10416923e-06 -9.99967366e-01 -1.79248245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1100.286559995 meters 0.013722565868486376 Centerline is valid? [True, True] Translation: X:-312.29, Y:-259.75, Z:-1.79 [[ 7.14819677e-01 -6.99281046e-01 -6.23286817e-03 -3.12287357e+02] [-6.99254352e-01 -7.14846850e-01 6.11000283e-03 -2.59754956e+02] [-8.72815535e-03 -9.19005415e-06 -9.99961909e-01 -1.79151516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1100.316559995 meters 0.013677716285879984 Centerline is valid? [True, True] Translation: X:-312.29, Y:-259.76, Z:-1.79 [[ 7.67881041e-01 -6.40551748e-01 -7.22257274e-03 -3.12287466e+02] [-6.40523188e-01 -7.67915007e-01 6.04874688e-03 -2.59764253e+02] [-9.42085739e-03 -1.84927323e-05 -9.99955623e-01 -1.79220480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1100.346559995 meters 0.013762514516936037 Centerline is valid? [True, True] Translation: X:-312.29, Y:-259.78, Z:-1.79 [[ 8.16709039e-01 -5.76970187e-01 -9.57851909e-03 -3.12289462e+02] [-5.76929854e-01 -8.16765206e-01 6.82221684e-03 -2.59776973e+02] [-1.17596168e-02 -4.56325392e-05 -9.99930852e-01 -1.79116177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1100.376559995 meters 0.013891286248338224 Centerline is valid? [True, True] Translation: X:-312.29, Y:-259.79, Z:-1.79 [[ 8.59752464e-01 -5.10588224e-01 -1.11966918e-02 -3.12288617e+02] [-5.10543984e-01 -8.59825367e-01 6.72152065e-03 -2.59787610e+02] [-1.30591289e-02 -6.24403111e-05 -9.99914724e-01 -1.78971558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1100.406559995 meters 0.014058195281798745 Centerline is valid? [True, True] Translation: X:-312.29, Y:-259.80, Z:-1.79 [[ 8.97290532e-01 -4.41252679e-01 -1.28753039e-02 -3.12286888e+02] [-4.41206006e-01 -8.97382899e-01 6.41818514e-03 -2.59796783e+02] [-1.43861189e-02 -7.83153574e-05 -9.99896512e-01 -1.78834594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1100.4365599950002 meters 0.014152840588704588 Centerline is valid? [True, True] Translation: X:-312.28, Y:-259.81, Z:-1.79 [[ 9.29254611e-01 -3.69150949e-01 -1.46097604e-02 -3.12283227e+02] [-3.69103702e-01 -9.29369446e-01 5.90678126e-03 -2.59805923e+02] [-1.57583588e-02 -9.63870874e-05 -9.99875825e-01 -1.78728454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1100.4665599950001 meters 0.014236090355075594 Centerline is valid? [True, True] Translation: X:-312.28, Y:-259.81, Z:-1.79 [[ 9.55233050e-01 -2.95483512e-01 -1.48092539e-02 -3.12278653e+02] [-2.95446490e-01 -9.55347835e-01 4.67828836e-03 -2.59813540e+02] [-1.55303457e-02 -9.35135748e-05 -9.99879393e-01 -1.78725630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1100.496559995 meters 0.014072570426507457 Centerline is valid? [True, True] Translation: X:-312.27, Y:-259.82, Z:-1.79 [[ 9.75377382e-01 -2.20096519e-01 -1.40173315e-02 -3.12274738e+02] [-2.20072569e-01 -9.75478096e-01 3.24791139e-03 -2.59819426e+02] [-1.43884538e-02 -8.31091587e-05 -9.99896478e-01 -1.78802893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1100.526559995 meters 0.013920936433955214 Centerline is valid? [True, True] Translation: X:-312.27, Y:-259.82, Z:-1.79 [[ 9.89550911e-01 -1.43610597e-01 -1.28449022e-02 -3.12268739e+02] [-1.43597597e-01 -9.89634272e-01 1.93354710e-03 -2.59824060e+02] [-1.29894332e-02 -6.88462106e-05 -9.99915632e-01 -1.78912748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1100.556559995 meters 0.013653726488173342 Centerline is valid? [True, True] Translation: X:-312.27, Y:-259.83, Z:-1.79 [[ 9.97734658e-01 -6.61699050e-02 -1.21283490e-02 -3.12266155e+02] [-6.61642967e-02 -9.97808369e-01 8.63520374e-04 -2.59831060e+02] [-1.21589072e-02 -5.91005238e-05 -9.99926076e-01 -1.79072147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1100.586559995 meters 0.01371549964923702 Centerline is valid? [True, True] Translation: X:-312.26, Y:-259.84, Z:-1.79 [[ 9.99865833e-01 1.17640706e-02 -1.13984106e-02 -3.12264161e+02] [ 1.17638889e-02 -9.99930800e-01 -8.29901265e-05 -2.59837619e+02] [-1.13985981e-02 -5.11106443e-05 -9.99935033e-01 -1.79074978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1100.616559995 meters 0.01353554728338711 Centerline is valid? [True, True] Translation: X:-312.26, Y:-259.84, Z:-1.79 [[ 9.95978008e-01 8.90430111e-02 -9.95737987e-03 -3.12262141e+02] [ 8.90389174e-02 -9.96027781e-01 -8.54562286e-04 -2.59838938e+02] [-9.99391978e-03 -3.54690801e-05 -9.99950059e-01 -1.79199234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1100.646559995 meters 0.013441261220288603 Centerline is valid? [True, True] Translation: X:-312.26, Y:-259.84, Z:-1.79 [[ 9.86017500e-01 1.66352273e-01 -9.81890589e-03 -3.12258862e+02] [ 1.66344341e-01 -9.86066388e-01 -1.62476376e-03 -2.59842980e+02] [-9.95237621e-03 -3.12739254e-05 -9.99950474e-01 -1.79293193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1100.6765599950002 meters 0.013512465625424411 Centerline is valid? [True, True] Translation: X:-312.26, Y:-259.85, Z:-1.79 [[ 9.69893478e-01 2.43320733e-01 -1.00828188e-02 -3.12256342e+02] [ 2.43307964e-01 -9.69945885e-01 -2.49298912e-03 -2.59846334e+02] [-1.03863845e-02 -3.52962259e-05 -9.99946060e-01 -1.79259484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1100.7065599950001 meters 0.01355779201217736 Centerline is valid? [True, True] Translation: X:-312.25, Y:-259.85, Z:-1.79 [[ 9.47762012e-01 3.18811930e-01 -1.03015460e-02 -3.12252876e+02] [ 3.18793564e-01 -9.47817995e-01 -3.42223231e-03 -2.59849808e+02] [-1.08550392e-02 -4.06048012e-05 -9.99941082e-01 -1.79253797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1100.736559995 meters 0.01352149088652747 Centerline is valid? [True, True] Translation: X:-312.25, Y:-259.86, Z:-1.79 [[ 9.19694578e-01 3.92488047e-01 -1.07246060e-02 -3.12247820e+02] [ 3.92461981e-01 -9.19757104e-01 -4.52361448e-03 -2.59856943e+02] [-1.16394972e-02 -4.86564163e-05 -9.99932258e-01 -1.79288289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1100.766559995 meters 0.013638234336462753 Centerline is valid? [True, True] Translation: X:-312.24, Y:-259.86, Z:-1.79 [[ 8.85330796e-01 4.64832828e-01 -1.09464424e-02 -3.12242124e+02] [ 4.64798321e-01 -8.85398462e-01 -5.66423996e-03 -2.59863903e+02] [-1.23248879e-02 -7.31619776e-05 -9.99924043e-01 -1.79200693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1100.796559995 meters 0.013821731114945338 Centerline is valid? [True, True] Translation: X:-312.24, Y:-259.87, Z:-1.79 [[ 8.45636553e-01 5.33647547e-01 -1.09140099e-02 -3.12237087e+02] [ 5.33604481e-01 -8.45706975e-01 -6.78012555e-03 -2.59869936e+02] [-1.28482517e-02 -9.02426137e-05 -9.99917454e-01 -1.79120112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1100.826559995 meters 0.014068997038230845 Centerline is valid? [True, True] Translation: X:-312.23, Y:-259.87, Z:-1.79 [[ 8.00538306e-01 5.99188561e-01 -1.05588417e-02 -3.12231765e+02] [ 5.99138222e-01 -8.00607929e-01 -7.76756049e-03 -2.59873483e+02] [-1.31077258e-02 -1.07975934e-04 -9.99914084e-01 -1.79099190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1100.856559995 meters 0.014576096677716765 Centerline is valid? [True, True] Translation: X:-312.23, Y:-259.88, Z:-1.79 [[ 7.49338873e-01 6.62103250e-01 -1.05137529e-02 -3.12227549e+02] [ 6.62040948e-01 -7.49412612e-01 -9.08411736e-03 -2.59876846e+02] [-1.38937626e-02 -1.53452663e-04 -9.99903465e-01 -1.79017837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1100.886559995 meters 0.014369578138539797 Centerline is valid? [True, True] Translation: X:-312.22, Y:-259.88, Z:-1.79 [[ 6.94350624e-01 7.19566320e-01 -1.00758337e-02 -3.12220821e+02] [ 7.19494204e-01 -6.94423705e-01 -1.01886605e-02 -2.59880460e+02] [-1.43283147e-02 -1.75001117e-04 -9.99897329e-01 -1.79105768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1100.916559995 meters 0.015107791457037134 Centerline is valid? [True, True] Translation: X:-312.21, Y:-259.88, Z:-1.79 [[ 6.34927181e-01 7.72511479e-01 -9.66901250e-03 -3.12213514e+02] [ 7.72426713e-01 -6.35000767e-01 -1.14454426e-02 -2.59884617e+02] [-1.49815662e-02 -2.01580912e-04 -9.99887750e-01 -1.78925316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1100.9465599950001 meters 0.014930744949891737 Centerline is valid? [True, True] Translation: X:-312.21, Y:-259.89, Z:-1.79 [[ 5.71826290e-01 8.20327463e-01 -8.80612957e-03 -3.12208366e+02] [ 8.20235949e-01 -5.71894053e-01 -1.22548531e-02 -2.59885651e+02] [-1.50891657e-02 -2.15456860e-04 -9.99886129e-01 -1.78962941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1100.9765599950001 meters 0.01505119745019544 Centerline is valid? [True, True] Translation: X:-312.20, Y:-259.89, Z:-1.79 [[ 5.04812523e-01 8.63195252e-01 -7.63368538e-03 -3.12203632e+02] [ 8.63103321e-01 -5.04870186e-01 -1.25997455e-02 -2.59886731e+02] [-1.47300606e-02 -2.28149890e-04 -9.99891481e-01 -1.79040687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1101.006559995 meters 0.015196612256043837 Centerline is valid? [True, True] Translation: X:-312.20, Y:-259.89, Z:-1.79 [[ 4.35315689e-01 9.00254162e-01 -6.53414747e-03 -3.12198547e+02] [ 9.00160580e-01 -4.35364665e-01 -1.29822688e-02 -2.59887066e+02] [-1.45320785e-02 -2.30396664e-04 -9.99894377e-01 -1.79074160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1101.036559995 meters 0.01530740635214274 Centerline is valid? [True, True] Translation: X:-312.20, Y:-259.89, Z:-1.79 [[ 3.63188331e-01 9.31701864e-01 -5.08662616e-03 -3.12196114e+02] [ 9.31618729e-01 -3.63223884e-01 -1.24480514e-02 -2.59888003e+02] [-1.34454568e-02 -2.17809182e-04 -9.99909582e-01 -1.79185955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1101.066559995 meters 0.0160950810087195 Centerline is valid? [True, True] Translation: X:-312.19, Y:-259.89, Z:-1.79 [[ 2.88994902e-01 9.57322650e-01 -3.91028532e-03 -3.12191778e+02] [ 9.57244581e-01 -2.89021279e-01 -1.22275632e-02 -2.59889013e+02] [-1.28358788e-02 -2.09396020e-04 -9.99917595e-01 -1.79136659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1101.096559995 meters 0.015431781186040425 Centerline is valid? [True, True] Translation: X:-312.19, Y:-259.89, Z:-1.79 [[ 2.13209759e-01 9.77002478e-01 -2.78504735e-03 -3.12190508e+02] [ 9.76930819e-01 -2.13227857e-01 -1.18345152e-02 -2.59888452e+02] [-1.21562003e-02 -1.97564449e-04 -9.99926091e-01 -1.79309585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1101.126559995 meters 0.015237499764040013 Centerline is valid? [True, True] Translation: X:-312.19, Y:-259.89, Z:-1.79 [[ 1.36024966e-01 9.90703839e-01 -1.76405421e-03 -3.12187898e+02] [ 9.90637583e-01 -1.36036273e-01 -1.14591203e-02 -2.59887884e+02] [-1.15925698e-02 -1.88811949e-04 -9.99932786e-01 -1.79390065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1101.156559995 meters 0.015545506375754128 Centerline is valid? [True, True] Translation: X:-312.18, Y:-259.89, Z:-1.79 [[ 5.79089955e-02 9.98321495e-01 -8.60521400e-04 -3.12184357e+02] [ 9.98254626e-01 -5.79150777e-02 -1.15562038e-02 -2.59888375e+02] [-1.15866438e-02 -1.89811314e-04 -9.99932855e-01 -1.79333890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1101.1865599950002 meters 0.015497395273192402 Centerline is valid? [True, True] Translation: X:-312.18, Y:-259.89, Z:-1.79 [[-2.02581061e-02 9.99794782e-01 4.81164611e-05 -3.12183131e+02] [ 9.99726613e-01 2.02572868e-02 -1.16765265e-02 -2.59888259e+02] [-1.16751050e-02 -1.88441007e-04 -9.99931826e-01 -1.79333189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1101.2165599950001 meters 0.015197623197054238 Centerline is valid? [True, True] Translation: X:-312.18, Y:-259.89, Z:-1.79 [[-9.78472807e-02 9.95200978e-01 9.61020086e-04 -3.12182378e+02] [ 9.95133197e-01 9.78518339e-02 -1.16163184e-02 -2.59887925e+02] [-1.16546090e-02 -1.80282180e-04 -9.99932067e-01 -1.79333543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1101.246559995 meters 0.015080998100412774 Centerline is valid? [True, True] Translation: X:-312.18, Y:-259.89, Z:-1.79 [[-1.74917369e-01 9.84581214e-01 1.93568423e-03 -3.12180502e+02] [ 9.84509014e-01 1.74927987e-01 -1.19248207e-02 -2.59888122e+02] [-1.20795598e-02 -1.80159705e-04 -9.99927023e-01 -1.79338388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1101.276559995 meters 0.014387760962106888 Centerline is valid? [True, True] Translation: X:-312.18, Y:-259.89, Z:-1.79 [[-2.51148556e-01 9.67944133e-01 2.92548831e-03 -3.12175577e+02] [ 9.67869888e-01 2.51165530e-01 -1.19898652e-02 -2.59886736e+02] [-1.23403015e-02 -1.79745281e-04 -9.99923840e-01 -1.79476579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1101.306559995 meters 0.014382681314507331 Centerline is valid? [True, True] Translation: X:-312.17, Y:-259.89, Z:-1.79 [[-3.25905510e-01 9.45393975e-01 3.97877445e-03 -3.12170420e+02] [ 9.45316572e-01 3.25929746e-01 -1.20987425e-02 -2.59885287e+02] [-1.27348792e-02 -1.81845435e-04 -9.99918892e-01 -1.79450862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1101.336559995 meters 0.014521195620294554 Centerline is valid? [True, True] Translation: X:-312.16, Y:-259.88, Z:-1.79 [[-3.98678607e-01 9.17076593e-01 5.08826772e-03 -3.12164760e+02] [ 9.16995924e-01 3.98711033e-01 -1.21650055e-02 -2.59883823e+02] [-1.31849903e-02 -1.84006681e-04 -9.99913057e-01 -1.79353984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1101.366559995 meters 0.014807819602661407 Centerline is valid? [True, True] Translation: X:-312.16, Y:-259.88, Z:-1.79 [[-4.69795923e-01 8.82748368e-01 6.86367074e-03 -3.12159816e+02] [ 8.82647264e-01 4.69846008e-01 -1.33617383e-02 -2.59883403e+02] [-1.50199210e-02 -2.19089994e-04 -9.99887171e-01 -1.79154713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1101.396559995 meters 0.015534369479740354 Centerline is valid? [True, True] Translation: X:-312.16, Y:-259.88, Z:-1.79 [[-5.37703622e-01 8.43092723e-01 8.33519824e-03 -3.12155302e+02] [ 8.42984564e-01 5.37768170e-01 -1.35063254e-02 -2.59882232e+02] [-1.58694890e-02 -2.35956647e-04 -9.99874044e-01 -1.78971514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1101.4265599950002 meters 0.014949640291227835 Centerline is valid? [True, True] Translation: X:-312.15, Y:-259.88, Z:-1.79 [[-6.02290663e-01 7.98217692e-01 9.71972508e-03 -3.12152696e+02] [ 7.98107045e-01 6.02369035e-01 -1.32924927e-02 -2.59881592e+02] [-1.64651643e-02 -2.48563172e-04 -9.99864409e-01 -1.79066188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1101.4565599950001 meters 0.015273466459399275 Centerline is valid? [True, True] Translation: X:-312.15, Y:-259.88, Z:-1.79 [[-6.62883016e-01 7.48645206e-01 1.07918024e-02 -3.12149830e+02] [ 7.48539862e-01 6.62970809e-01 -1.25611072e-02 -2.59881727e+02] [-1.65584627e-02 -2.48450402e-04 -9.99862869e-01 -1.79021383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1101.486559995 meters 0.015232389463629982 Centerline is valid? [True, True] Translation: X:-312.15, Y:-259.88, Z:-1.79 [[-7.19256147e-01 6.94648783e-01 1.15612666e-02 -3.12149051e+02] [ 6.94553675e-01 7.19349019e-01 -1.14970697e-02 -2.59881656e+02] [-1.63030113e-02 -2.39417837e-04 -9.99867069e-01 -1.79040745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1101.516559995 meters 0.015170134814081481 Centerline is valid? [True, True] Translation: X:-312.13, Y:-259.86, Z:-1.79 [[-7.66349761e-01 6.42315273e-01 1.17954994e-02 -3.12128424e+02] [ 6.42234712e-01 7.66440501e-01 -1.01751654e-02 -2.59864321e+02] [-1.55762126e-02 -2.22256427e-04 -9.99878659e-01 -1.79089021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1101.546559995 meters 0.014979138565530308 Centerline is valid? [True, True] Translation: X:-311.69, Y:-259.36, Z:-2.79 [[-7.02065922e-01 -7.12037802e-01 1.02766770e-02 -3.11687875e+02] [ 7.11964503e-01 -7.02141117e-01 -1.02175484e-02 -2.59363100e+02] [ 1.44909581e-02 1.43236732e-04 9.99894990e-01 -2.79358794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1101.576559995 meters 0.014733868200536796 Centerline is valid? [True, True] Translation: X:-311.71, Y:-259.38, Z:-2.79 [[-6.53203354e-01 -7.57130598e-01 8.86773802e-03 -3.11705937e+02] [ 7.57064272e-01 -6.53263523e-01 -1.00228477e-02 -2.59384988e+02] [ 1.33815744e-02 1.66489915e-04 9.99910449e-01 -2.79290275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1101.606559995 meters 0.014250272559220666 Centerline is valid? [True, True] Translation: X:-311.72, Y:-259.36, Z:-2.79 [[-6.55278284e-01 -7.55339429e-01 8.52741057e-03 -3.11720471e+02] [ 7.55278018e-01 -6.55333755e-01 -9.63252202e-03 -2.59362668e+02] [ 1.28641237e-02 1.28583256e-04 9.99917246e-01 -2.79259099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1101.636559995 meters 0.013362145097189344 Centerline is valid? [True, True] Translation: X:-311.74, Y:-259.34, Z:-2.79 [[-6.56503915e-01 -7.54273713e-01 8.58931697e-03 -3.11735978e+02] [ 7.54211386e-01 -6.56560092e-01 -9.69695560e-03 -2.59339438e+02] [ 1.29535614e-02 1.12071340e-04 9.99916093e-01 -2.78985421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1101.666559995 meters 0.013276256402845523 Centerline is valid? [True, True] Translation: X:-311.75, Y:-259.32, Z:-2.79 [[-6.57852328e-01 -7.53097225e-01 8.65357376e-03 -3.11752091e+02] [ 7.53033924e-01 -6.57909235e-01 -9.76467997e-03 -2.59318776e+02] [ 1.30470195e-02 9.27171520e-05 9.99914880e-01 -2.79026962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1101.6965599950001 meters 0.013158959723019777 Centerline is valid? [True, True] Translation: X:-311.77, Y:-259.30, Z:-2.79 [[-6.60143034e-01 -7.51087098e-01 8.90769119e-03 -3.11767592e+02] [ 7.51019925e-01 -6.60203127e-01 -1.00451097e-02 -2.59295748e+02] [ 1.34256378e-02 5.86444083e-05 9.99909871e-01 -2.79018475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1101.7265599950001 meters 0.013495404280912466 Centerline is valid? [True, True] Translation: X:-311.78, Y:-259.28, Z:-2.79 [[-6.61090558e-01 -7.50250668e-01 9.12192047e-03 -3.11784632e+02] [ 7.50180239e-01 -6.61153486e-01 -1.02799265e-02 -2.59275308e+02] [ 1.37435113e-02 4.71221332e-05 9.99905553e-01 -2.79288865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1101.756559995 meters 0.013440695212138136 Centerline is valid? [True, True] Translation: X:-311.80, Y:-259.25, Z:-2.79 [[-6.61926505e-01 -7.49510770e-01 9.32241264e-03 -3.11801424e+02] [ 7.49437228e-01 -6.61992148e-01 -1.04993500e-02 -2.59254365e+02] [ 1.40407398e-02 3.67650632e-05 9.99901423e-01 -2.79307857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1101.786559995 meters 0.012938120648368016 Centerline is valid? [True, True] Translation: X:-311.82, Y:-259.23, Z:-2.79 [[-6.62606967e-01 -7.48906564e-01 9.53767326e-03 -3.11817817e+02] [ 7.48829620e-01 -6.62675606e-01 -1.07350773e-02 -2.59232953e+02] [ 1.43599533e-02 2.89552119e-05 9.99896890e-01 -2.79020533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1101.816559995 meters 0.012997323007647651 Centerline is valid? [True, True] Translation: X:-311.83, Y:-259.21, Z:-2.79 [[-6.63580857e-01 -7.48036844e-01 1.00660939e-02 -3.11834430e+02] [ 7.47951135e-01 -6.63657201e-01 -1.13234369e-02 -2.59209818e+02] [ 1.51507838e-02 1.49303815e-05 9.99885220e-01 -2.79022031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1101.846559995 meters 0.013015209544285453 Centerline is valid? [True, True] Translation: X:-311.85, Y:-259.19, Z:-2.79 [[-6.63844598e-01 -7.47803457e-01 1.00169805e-02 -3.11851744e+02] [ 7.47718663e-01 -6.63920168e-01 -1.12610311e-02 -2.59188368e+02] [ 1.50715134e-02 1.43086138e-05 9.99886418e-01 -2.79001848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1101.876559995 meters 0.013090861069910507 Centerline is valid? [True, True] Translation: X:-311.87, Y:-259.17, Z:-2.79 [[-6.63781989e-01 -7.47863626e-01 9.66789118e-03 -3.11867970e+02] [ 7.47784751e-01 -6.63852391e-01 -1.08613675e-02 -2.59167372e+02] [ 1.45408744e-02 1.99214496e-05 9.99894276e-01 -2.78982150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1101.906559995 meters 0.013000612701610166 Centerline is valid? [True, True] Translation: X:-311.89, Y:-259.15, Z:-2.79 [[-6.63509995e-01 -7.48105994e-01 9.58686861e-03 -3.11885586e+02] [ 7.48028559e-01 -6.63579250e-01 -1.07635640e-02 -2.59146844e+02] [ 1.44139338e-02 2.95192207e-05 9.99896114e-01 -2.78907331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1101.9365599950002 meters 0.012995401272188815 Centerline is valid? [True, True] Translation: X:-311.90, Y:-259.13, Z:-2.79 [[-6.63134235e-01 -7.48440074e-01 9.51010702e-03 -3.11903947e+02] [ 7.48363994e-01 -6.63202424e-01 -1.06713687e-02 -2.59125897e+02] [ 1.42940060e-02 4.04717430e-05 9.99897835e-01 -2.78849181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1101.9665599950001 meters 0.013080753100270308 Centerline is valid? [True, True] Translation: X:-311.92, Y:-259.11, Z:-2.79 [[-6.61644026e-01 -7.49762320e-01 9.14583375e-03 -3.11921979e+02] [ 7.49692173e-01 -6.61707230e-01 -1.02561185e-02 -2.59105586e+02] [ 1.37415155e-02 7.06604479e-05 9.99905579e-01 -2.78855588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1101.996559995 meters 0.013174287390313975 Centerline is valid? [True, True] Translation: X:-311.94, Y:-259.09, Z:-2.79 [[-6.60937734e-01 -7.50384232e-01 9.20954810e-03 -3.11939802e+02] [ 7.50313259e-01 -6.61001889e-01 -1.03207186e-02 -2.59086559e+02] [ 1.38320332e-02 8.86936682e-05 9.99904329e-01 -2.78893234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1102.026559995 meters 0.013385974014916287 Centerline is valid? [True, True] Translation: X:-311.96, Y:-259.07, Z:-2.79 [[-6.60122952e-01 -7.51100950e-01 9.22232377e-03 -3.11957604e+02] [ 7.51029944e-01 -6.60187361e-01 -1.03282559e-02 -2.59067667e+02] [ 1.38460244e-02 1.08322546e-04 9.99904134e-01 -2.78958224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1102.056559995 meters 0.013519902124243416 Centerline is valid? [True, True] Translation: X:-311.98, Y:-259.05, Z:-2.79 [[-6.59287305e-01 -7.51833471e-01 9.31032336e-03 -3.11975972e+02] [ 7.51761267e-01 -6.59353028e-01 -1.04203201e-02 -2.59047703e+02] [ 1.39731354e-02 1.29155711e-04 9.99902363e-01 -2.78947016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1102.086559995 meters 0.013519902124243416 Centerline is valid? [True, True] Translation: X:-311.99, Y:-259.03, Z:-2.79 [[-6.59519692e-01 -7.51629585e-01 9.31354453e-03 -3.11993888e+02] [ 7.51557401e-01 -6.59585438e-01 -1.04174412e-02 -2.59027815e+02] [ 1.39731354e-02 1.29155711e-04 9.99902363e-01 -2.78947007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1102.116559995 meters 0.013775656118216467 Centerline is valid? [True, True] Translation: X:-312.01, Y:-259.01, Z:-2.79 [[-6.58000789e-01 -7.52960806e-01 9.21879714e-03 -3.12012850e+02] [ 7.52890293e-01 -6.58065346e-01 -1.03056807e-02 -2.59006757e+02] [ 1.38263446e-02 1.59596862e-04 9.99904399e-01 -2.78926955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1102.146559995 meters 0.014104894176204075 Centerline is valid? [True, True] Translation: X:-312.03, Y:-258.99, Z:-2.79 [[-6.57800212e-01 -7.53137015e-01 9.13880956e-03 -3.12030884e+02] [ 7.53067806e-01 -6.57863671e-01 -1.02112760e-02 -2.58987566e+02] [ 1.37025807e-02 1.65163731e-04 9.99906102e-01 -2.78991189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1102.1765599950002 meters 0.014072983474510454 Centerline is valid? [True, True] Translation: X:-312.05, Y:-258.97, Z:-2.79 [[-6.57774472e-01 -7.53161405e-01 8.98010117e-03 -3.12048147e+02] [ 7.53094665e-01 -6.57835747e-01 -1.00277108e-02 -2.58966795e+02] [ 1.34599164e-02 1.66894074e-04 9.99909397e-01 -2.78901879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1102.2065599950001 meters 0.013795802244762508 Centerline is valid? [True, True] Translation: X:-312.07, Y:-258.95, Z:-2.79 [[-6.58295645e-01 -7.52707049e-01 8.88491580e-03 -3.12065865e+02] [ 7.52641750e-01 -6.58355583e-01 -9.91582551e-03 -2.58945514e+02] [ 1.33131457e-02 1.59613822e-04 9.99911364e-01 -2.78817019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1102.236559995 meters 0.013669340079004626 Centerline is valid? [True, True] Translation: X:-312.08, Y:-258.93, Z:-2.79 [[-6.58993755e-01 -7.52100555e-01 8.48446239e-03 -3.12083048e+02] [ 7.52041040e-01 -6.59048355e-01 -9.46261178e-03 -2.58925912e+02] [ 1.27085066e-02 1.44861848e-04 9.99919233e-01 -2.78829408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1102.266559995 meters 0.013416983685960318 Centerline is valid? [True, True] Translation: X:-312.10, Y:-258.90, Z:-2.79 [[-6.60461993e-01 -7.50818524e-01 7.84220467e-03 -3.12101004e+02] [ 7.50767641e-01 -6.60508540e-01 -8.74167371e-03 -2.58903678e+02] [ 1.17432537e-02 1.14130258e-04 9.99931039e-01 -2.78730000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1102.296559995 meters 0.013317331874314654 Centerline is valid? [True, True] Translation: X:-312.12, Y:-258.88, Z:-2.79 [[-6.61572439e-01 -7.49843020e-01 7.57320960e-03 -3.12118385e+02] [ 7.49795569e-01 -6.61615777e-01 -8.43619127e-03 -2.58883718e+02] [ 1.13363741e-02 9.72073644e-05 9.99935737e-01 -2.78722084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1102.326559995 meters 0.01302232228170596 Centerline is valid? [True, True] Translation: X:-312.14, Y:-258.86, Z:-2.79 [[-6.63634597e-01 -7.48023136e-01 7.10697838e-03 -3.12135682e+02] [ 7.47981296e-01 -6.63672648e-01 -7.91185124e-03 -2.58862456e+02] [ 1.06349549e-02 6.53086878e-05 9.99943445e-01 -2.78712870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1102.356559995 meters 0.012971932730193583 Centerline is valid? [True, True] Translation: X:-312.15, Y:-258.84, Z:-2.79 [[-6.64851957e-01 -7.46943120e-01 6.91738877e-03 -3.12153115e+02] [ 7.46903474e-01 -6.64887940e-01 -7.69596889e-03 -2.58841432e+02] [ 1.03477394e-02 4.99417216e-05 9.99946460e-01 -2.78715293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1102.386559995 meters 0.01286861615770359 Centerline is valid? [True, True] Translation: X:-312.17, Y:-258.82, Z:-2.79 [[-6.66020051e-01 -7.45903084e-01 6.77360390e-03 -3.12169744e+02] [ 7.45865065e-01 -6.66054494e-01 -7.53105688e-03 -2.58821495e+02] [ 1.01290279e-02 3.63596241e-05 9.99948700e-01 -2.78711059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1102.416559995 meters 0.01284215287738143 Centerline is valid? [True, True] Translation: X:-312.19, Y:-258.80, Z:-2.79 [[-6.67230991e-01 -7.44825281e-01 6.17296956e-03 -3.12187976e+02] [ 7.44793699e-01 -6.67259545e-01 -6.85899214e-03 -2.58801060e+02] [ 9.22772361e-03 2.10567067e-05 9.99957424e-01 -2.78664131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1102.4465599950001 meters 0.012765266382059572 Centerline is valid? [True, True] Translation: X:-312.21, Y:-258.78, Z:-2.79 [[-6.67986275e-01 -7.44150443e-01 5.86978388e-03 -3.12205846e+02] [ 7.44121897e-01 -6.68012064e-01 -6.51802872e-03 -2.58780830e+02] [ 8.77148041e-03 1.38809942e-05 9.99961530e-01 -2.78640798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1102.4765599950001 meters 0.012831266172063356 Centerline is valid? [True, True] Translation: X:-312.22, Y:-258.76, Z:-2.79 [[-6.68442363e-01 -7.43739562e-01 6.02257490e-03 -3.12224103e+02] [ 7.43709531e-01 -6.68469494e-01 -6.68352288e-03 -2.58760082e+02] [ 8.99670797e-03 1.14965215e-05 9.99959529e-01 -2.78622874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1102.506559995 meters 0.012926649470899072 Centerline is valid? [True, True] Translation: X:-312.24, Y:-258.74, Z:-2.79 [[-6.68842477e-01 -7.43377622e-01 6.28106736e-03 -3.12242673e+02] [ 7.43344985e-01 -6.68871969e-01 -6.96581942e-03 -2.58740822e+02] [ 9.37946417e-03 9.96400365e-06 9.99956012e-01 -2.78802399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1102.536559995 meters 0.01287721065338289 Centerline is valid? [True, True] Translation: X:-312.26, Y:-258.72, Z:-2.79 [[-6.68881717e-01 -7.43341777e-01 6.34437052e-03 -3.12261414e+02] [ 7.43308517e-01 -6.68911804e-01 -7.03182633e-03 -2.58721071e+02] [ 9.47087461e-03 1.23645789e-05 9.99955150e-01 -2.78783497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1102.566559995 meters 0.012958094385039318 Centerline is valid? [True, True] Translation: X:-312.28, Y:-258.70, Z:-2.79 [[-6.68627916e-01 -7.43570385e-01 6.30814251e-03 -3.12279831e+02] [ 7.43537555e-01 -6.68657672e-01 -6.98730355e-03 -2.58702445e+02] [ 9.41353988e-03 1.84346495e-05 9.99955692e-01 -2.78859595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1102.596559995 meters 0.0129650544697226 Centerline is valid? [True, True] Translation: X:-312.30, Y:-258.68, Z:-2.79 [[-6.68170756e-01 -7.43977992e-01 6.67749919e-03 -3.12299311e+02] [ 7.43941269e-01 -6.68204121e-01 -7.39193915e-03 -2.58682685e+02] [ 9.96137252e-03 2.85896540e-05 9.99950384e-01 -2.78856470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1102.626559995 meters 0.012999721824055382 Centerline is valid? [True, True] Translation: X:-312.32, Y:-258.66, Z:-2.79 [[-6.67074952e-01 -7.44957168e-01 7.05874339e-03 -3.12320502e+02] [ 7.44916237e-01 -6.67112296e-01 -7.80926426e-03 -2.58664530e+02] [ 1.05265419e-02 4.88079883e-05 9.99944593e-01 -2.78969905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1102.656559995 meters 0.01315173271832248 Centerline is valid? [True, True] Translation: X:-312.34, Y:-258.65, Z:-2.79 [[-6.66648025e-01 -7.45340774e-01 6.89502788e-03 -3.12339473e+02] [ 7.45301790e-01 -6.66683678e-01 -7.62332143e-03 -2.58646169e+02] [ 1.02787748e-02 5.68044464e-05 9.99947171e-01 -2.79029956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1102.6865599950002 meters 0.01326761010232892 Centerline is valid? [True, True] Translation: X:-312.36, Y:-258.63, Z:-2.79 [[-6.65978553e-01 -7.45942671e-01 6.48837347e-03 -3.12358985e+02] [ 7.45908222e-01 -6.66010156e-01 -7.16922852e-03 -2.58628034e+02] [ 9.66915610e-03 6.51786878e-05 9.99953251e-01 -2.78957770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1102.7165599950001 meters 0.013324823116744015 Centerline is valid? [True, True] Translation: X:-312.38, Y:-258.61, Z:-2.79 [[-6.65704693e-01 -7.46189033e-01 6.26013706e-03 -3.12378274e+02] [ 7.46157014e-01 -6.65734123e-01 -6.91296666e-03 -2.58608547e+02] [ 9.32596676e-03 6.90508230e-05 9.99956510e-01 -2.78924851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1102.746559995 meters 0.013454005386643285 Centerline is valid? [True, True] Translation: X:-312.40, Y:-258.59, Z:-2.79 [[-6.65526951e-01 -7.46349249e-01 6.05615262e-03 -3.12397166e+02] [ 7.46319324e-01 -6.65554501e-01 -6.68378358e-03 -2.58589355e+02] [ 9.01913649e-03 7.15856231e-05 9.99959324e-01 -2.78868027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1102.776559995 meters 0.013222763105400336 Centerline is valid? [True, True] Translation: X:-312.42, Y:-258.57, Z:-2.79 [[-6.65056030e-01 -7.46775194e-01 5.22366103e-03 -3.12415908e+02] [ 7.46752972e-01 -6.65076541e-01 -5.76142847e-03 -2.58570002e+02] [ 7.77662627e-03 6.91116487e-05 9.99969759e-01 -2.78657660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1102.806559995 meters 0.013222921495637516 Centerline is valid? [True, True] Translation: X:-312.44, Y:-258.55, Z:-2.79 [[-6.64790462e-01 -7.47012972e-01 5.02613443e-03 -3.12435175e+02] [ 7.46992429e-01 -6.64809458e-01 -5.54040689e-03 -2.58549363e+02] [ 7.48017752e-03 7.12747116e-05 9.99972021e-01 -2.78595032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1102.836559995 meters 0.013366594636898514 Centerline is valid? [True, True] Translation: X:-312.45, Y:-258.53, Z:-2.79 [[-6.64641758e-01 -7.47144669e-01 5.11641648e-03 -3.12454334e+02] [ 7.47123411e-01 -6.64661446e-01 -5.63652750e-03 -2.58529908e+02] [ 7.61198625e-03 7.63229851e-05 9.99971026e-01 -2.78594052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1102.866559995 meters 0.013278441520231938 Centerline is valid? [True, True] Translation: X:-312.47, Y:-258.51, Z:-2.79 [[-6.64295784e-01 -7.47452318e-01 5.11306019e-03 -3.12473939e+02] [ 7.47431122e-01 -6.64315456e-01 -5.62961244e-03 -2.58510366e+02] [ 7.60455178e-03 8.19325030e-05 9.99971082e-01 -2.78586298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1102.896559995 meters 0.013418511684263041 Centerline is valid? [True, True] Translation: X:-312.49, Y:-258.49, Z:-2.79 [[-6.64112296e-01 -7.47613733e-01 5.34460494e-03 -3.12493182e+02] [ 7.47590607e-01 -6.64133796e-01 -5.88100606e-03 -2.58490983e+02] [ 7.94625365e-03 8.99280105e-05 9.99968424e-01 -2.78609722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1102.9265599950002 meters 0.0135597386447311 Centerline is valid? [True, True] Translation: X:-312.51, Y:-258.47, Z:-2.79 [[-6.63983883e-01 -7.47726934e-01 5.46217457e-03 -3.12512230e+02] [ 7.47702811e-01 -6.64006343e-01 -6.00696474e-03 -2.58470961e+02] [ 8.11848789e-03 9.55554993e-05 9.99967040e-01 -2.78627668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1102.9565599950001 meters 0.0149787560737079 Centerline is valid? [True, True] Translation: X:-312.53, Y:-258.45, Z:-2.79 [[-6.63475874e-01 -7.48176692e-01 5.60375238e-03 -3.12533737e+02] [ 7.48151349e-01 -6.63499530e-01 -6.15897702e-03 -2.58453768e+02] [ 8.32609012e-03 1.06122239e-04 9.99965332e-01 -2.78821748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1102.986559995 meters 0.013800572951116955 Centerline is valid? [True, True] Translation: X:-312.55, Y:-258.43, Z:-2.79 [[-6.63653136e-01 -7.48019839e-01 5.55297422e-03 -3.12549576e+02] [ 7.47994980e-01 -6.63676359e-01 -6.09932197e-03 -2.58431894e+02] [ 8.24779155e-03 1.05762694e-04 9.99965981e-01 -2.78622938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1103.016559995 meters 0.013742280157681884 Centerline is valid? [True, True] Translation: X:-312.57, Y:-258.41, Z:-2.79 [[-6.63750905e-01 -7.47929410e-01 6.02781529e-03 -3.12568079e+02] [ 7.47900150e-01 -6.63778265e-01 -6.61673306e-03 -2.58412421e+02] [ 8.94998202e-03 1.16341405e-04 9.99959942e-01 -2.78640524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1103.046559995 meters 0.013525877154546569 Centerline is valid? [True, True] Translation: X:-312.59, Y:-258.39, Z:-2.79 [[-6.64043007e-01 -7.47669872e-01 6.05378828e-03 -3.12586838e+02] [ 7.47640382e-01 -6.64070591e-01 -6.64146943e-03 -2.58391639e+02] [ 8.98576936e-03 1.15835251e-04 9.99959621e-01 -2.78644121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1103.076559995 meters 0.013584007310915207 Centerline is valid? [True, True] Translation: X:-312.61, Y:-258.37, Z:-2.79 [[-6.64211508e-01 -7.47516155e-01 6.53231465e-03 -3.12606078e+02] [ 7.47481851e-01 -6.64243617e-01 -7.16240587e-03 -2.58370907e+02] [ 9.69306240e-03 1.25434248e-04 9.99953013e-01 -2.78702300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1103.106559995 meters 0.01553245888578092 Centerline is valid? [True, True] Translation: X:-312.63, Y:-258.35, Z:-2.79 [[-6.64482769e-01 -7.47270285e-01 7.05486004e-03 -3.12627171e+02] [ 7.47230313e-01 -6.64520206e-01 -7.73021491e-03 -2.58353984e+02] [ 1.04646569e-02 1.35010662e-04 9.99945235e-01 -2.79086567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1103.136559995 meters 0.013504453096792768 Centerline is valid? [True, True] Translation: X:-312.64, Y:-258.33, Z:-2.79 [[-6.64753322e-01 -7.47026670e-01 7.36044367e-03 -3.12642726e+02] [ 7.46983195e-01 -6.64794055e-01 -8.06049867e-03 -2.58329979e+02] [ 1.09145867e-02 1.39884462e-04 9.99940425e-01 -2.78740411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1103.166559995 meters 0.013659705734343849 Centerline is valid? [True, True] Translation: X:-312.66, Y:-258.31, Z:-2.79 [[-6.65162017e-01 -7.46662323e-01 7.40719254e-03 -3.12660449e+02] [ 7.46618331e-01 -6.65203244e-01 -8.10629896e-03 -2.58310747e+02] [ 1.09799565e-02 1.38343571e-04 9.99939709e-01 -2.78821801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1103.1965599950001 meters 0.013413060189053791 Centerline is valid? [True, True] Translation: X:-312.68, Y:-258.29, Z:-2.79 [[-6.66280180e-01 -7.45668757e-01 6.98756625e-03 -3.12677779e+02] [ 7.45629600e-01 -6.66316810e-01 -7.64258493e-03 -2.58289021e+02] [ 1.03547697e-02 1.18033362e-04 9.99946381e-01 -2.78744262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1103.2265599950001 meters 0.013239186989827003 Centerline is valid? [True, True] Translation: X:-312.70, Y:-258.27, Z:-2.79 [[-6.67200015e-01 -7.44851450e-01 6.36060349e-03 -3.12695560e+02] [ 7.44819008e-01 -6.67230326e-01 -6.95251373e-03 -2.58268085e+02] [ 9.42257747e-03 9.87811125e-05 9.99955602e-01 -2.78660713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1103.256559995 meters 0.012970294851709058 Centerline is valid? [True, True] Translation: X:-312.71, Y:-258.25, Z:-2.79 [[-6.68362951e-01 -7.43815425e-01 5.43866893e-03 -3.12712767e+02] [ 7.43791702e-01 -6.68385074e-01 -5.94109321e-03 -2.58247136e+02] [ 8.05420191e-03 7.44302284e-05 9.99967562e-01 -2.78512246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1103.286559995 meters 0.012823775741434906 Centerline is valid? [True, True] Translation: X:-312.73, Y:-258.23, Z:-2.78 [[-6.68743662e-01 -7.43477080e-01 4.87305179e-03 -3.12730940e+02] [ 7.43458047e-01 -6.68761413e-01 -5.32022607e-03 -2.58226304e+02] [ 7.21437514e-03 6.50421018e-05 9.99973974e-01 -2.78445904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1103.316559995 meters 0.012959878895995588 Centerline is valid? [True, True] Translation: X:-312.75, Y:-258.21, Z:-2.78 [[-6.68815578e-01 -7.43412900e-01 4.79394536e-03 -3.12748900e+02] [ 7.43394497e-01 -6.68832756e-01 -5.23129811e-03 -2.58207277e+02] [ 7.09536218e-03 6.50189288e-05 9.99974826e-01 -2.78456443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1103.346559995 meters 0.012930077289165428 Centerline is valid? [True, True] Translation: X:-312.77, Y:-258.19, Z:-2.78 [[-6.68321735e-01 -7.43857122e-01 4.75820636e-03 -3.12767231e+02] [ 7.43839026e-01 -6.68338670e-01 -5.18902050e-03 -2.58187719e+02] [ 7.03998316e-03 7.14044006e-05 9.99975217e-01 -2.78465663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1103.376559995 meters 0.01310141560971394 Centerline is valid? [True, True] Translation: X:-312.79, Y:-258.17, Z:-2.79 [[-6.68022065e-01 -7.44125443e-01 4.88325032e-03 -3.12785587e+02] [ 7.44106416e-01 -6.68039908e-01 -5.32186797e-03 -2.58169173e+02] [ 7.22234346e-03 7.85326652e-05 9.99973916e-01 -2.78541421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1103.406559995 meters 0.013190144941914193 Centerline is valid? [True, True] Translation: X:-312.80, Y:-258.15, Z:-2.79 [[-6.66932769e-01 -7.45096999e-01 5.58067686e-03 -3.12804440e+02] [ 7.45072204e-01 -6.66956110e-01 -6.07938699e-03 -2.58149087e+02] [ 8.25179953e-03 1.03464808e-04 9.99965948e-01 -2.78586961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1103.4365599950002 meters 0.013723734771985772 Centerline is valid? [True, True] Translation: X:-312.82, Y:-258.13, Z:-2.79 [[-6.66625997e-01 -7.45371448e-01 5.58427364e-03 -3.12824126e+02] [ 7.45346662e-01 -6.66649377e-01 -6.07963640e-03 -2.58129884e+02] [ 8.25433993e-03 1.09376039e-04 9.99965927e-01 -2.78681390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1103.4665599950001 meters 0.0135043870715173 Centerline is valid? [True, True] Translation: X:-312.84, Y:-258.11, Z:-2.79 [[-6.66176575e-01 -7.45772303e-01 5.69590466e-03 -3.12842641e+02] [ 7.45746560e-01 -6.66200914e-01 -6.19763919e-03 -2.58108900e+02] [ 8.41664454e-03 1.18979256e-04 9.99964573e-01 -2.78618996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1103.496559995 meters 0.014034647232931638 Centerline is valid? [True, True] Translation: X:-312.86, Y:-258.09, Z:-2.79 [[-6.65131793e-01 -7.46703679e-01 5.77180271e-03 -3.12861736e+02] [ 7.46677305e-01 -6.65156822e-01 -6.27733888e-03 -2.58090365e+02] [ 8.52646598e-03 1.34416426e-04 9.99963640e-01 -2.78688162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1103.526559995 meters 0.014183391171859518 Centerline is valid? [True, True] Translation: X:-312.88, Y:-258.07, Z:-2.79 [[-6.65158188e-01 -7.46679809e-01 5.81790641e-03 -3.12880553e+02] [ 7.46653045e-01 -6.65183617e-01 -6.32350609e-03 -2.58070332e+02] [ 8.59161034e-03 1.37825683e-04 9.99963082e-01 -2.78719713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1103.556559995 meters 0.014907138776170751 Centerline is valid? [True, True] Translation: X:-312.90, Y:-258.05, Z:-2.79 [[-6.65282367e-01 -7.46567861e-01 5.98337003e-03 -3.12899584e+02] [ 7.46539586e-01 -6.65309258e-01 -6.49907103e-03 -2.58052240e+02] [ 8.83278903e-03 1.43105227e-04 9.99960980e-01 -2.78832283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1103.586559995 meters 0.014138184087582814 Centerline is valid? [True, True] Translation: X:-312.92, Y:-258.03, Z:-2.79 [[-6.65847789e-01 -7.46062982e-01 6.06211098e-03 -3.12916567e+02] [ 7.46033974e-01 -6.65875369e-01 -6.58046135e-03 -2.58030206e+02] [ 8.94604900e-03 1.40955107e-04 9.99959974e-01 -2.78799408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1103.616559995 meters 0.014290796484810867 Centerline is valid? [True, True] Translation: X:-312.93, Y:-258.01, Z:-2.79 [[-6.66510452e-01 -7.45471982e-01 5.94494829e-03 -3.12933591e+02] [ 7.45444098e-01 -6.66536951e-01 -6.44903693e-03 -2.58010770e+02] [ 8.77010404e-03 1.33276099e-04 9.99961533e-01 -2.78821355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1103.646559995 meters 0.01382842285473056 Centerline is valid? [True, True] Translation: X:-312.95, Y:-257.99, Z:-2.79 [[-6.68001906e-01 -7.44136806e-01 5.81949525e-03 -3.12950063e+02] [ 7.44110070e-01 -6.68027245e-01 -6.30900536e-03 -2.57989498e+02] [ 8.58234448e-03 1.15917409e-04 9.99963164e-01 -2.78760712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1103.6765599950002 meters 0.013682147106518784 Centerline is valid? [True, True] Translation: X:-312.97, Y:-257.97, Z:-2.79 [[-6.68955215e-01 -7.43280536e-01 5.74154943e-03 -3.12967783e+02] [ 7.43254513e-01 -6.68979845e-01 -6.22061552e-03 -2.57969273e+02] [ 8.46464330e-03 1.06119336e-04 9.99964169e-01 -2.78757338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1103.7065599950001 meters 0.013408498647532205 Centerline is valid? [True, True] Translation: X:-312.99, Y:-257.95, Z:-2.79 [[-6.70227496e-01 -7.42136332e-01 5.36370419e-03 -3.12985542e+02] [ 7.42113613e-01 -6.70248952e-01 -5.80763619e-03 -2.57948791e+02] [ 7.90507493e-03 8.80404336e-05 9.99968751e-01 -2.78763594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1103.736559995 meters 0.01322063067862437 Centerline is valid? [True, True] Translation: X:-313.00, Y:-257.93, Z:-2.79 [[-6.71617562e-01 -7.40879886e-01 5.18122218e-03 -3.13002581e+02] [ 7.40858677e-01 -6.71637544e-01 -5.60640680e-03 -2.57928987e+02] [ 7.63357737e-03 7.31921389e-05 9.99970861e-01 -2.78751508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1103.766559995 meters 0.01272107215565798 Centerline is valid? [True, True] Translation: X:-313.02, Y:-257.91, Z:-2.79 [[-6.74342566e-01 -7.38408052e-01 3.95639508e-03 -3.13019585e+02] [ 7.38395656e-01 -6.74354171e-01 -4.27865794e-03 -2.57906400e+02] [ 5.82740700e-03 3.61037688e-05 9.99983020e-01 -2.78592124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1103.796559995 meters 0.012637331936018735 Centerline is valid? [True, True] Translation: X:-313.04, Y:-257.89, Z:-2.79 [[-6.75881604e-01 -7.37001322e-01 3.62065188e-03 -3.13037206e+02] [ 7.36990934e-01 -6.75891301e-01 -3.91308974e-03 -2.57885480e+02] [ 5.33111942e-03 2.36022442e-05 9.99985789e-01 -2.78561913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1103.826559995 meters 0.012478107079796465 Centerline is valid? [True, True] Translation: X:-313.05, Y:-257.86, Z:-2.79 [[-6.78114753e-01 -7.34947238e-01 3.59713076e-03 -3.13054013e+02] [ 7.34936968e-01 -6.78124294e-01 -3.88522519e-03 -2.57863510e+02] [ 5.29473728e-03 9.03585665e-06 9.99985983e-01 -2.78513892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1103.856559995 meters 0.012583961721474008 Centerline is valid? [True, True] Translation: X:-313.07, Y:-257.84, Z:-2.79 [[-6.79000095e-01 -7.34129605e-01 3.54872417e-03 -3.13071955e+02] [ 7.34119612e-01 -6.79009369e-01 -3.83053518e-03 -2.57843529e+02] [ 5.22172624e-03 4.25426282e-06 9.99986367e-01 -2.78533962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1103.886559995 meters 0.012585806859966795 Centerline is valid? [True, True] Translation: X:-313.09, Y:-257.82, Z:-2.79 [[-6.79561779e-01 -7.33604396e-01 4.51432443e-03 -3.13090075e+02] [ 7.33588234e-01 -6.79576773e-01 -4.86961063e-03 -2.57824852e+02] [ 6.64019780e-03 2.45401750e-06 9.99977954e-01 -2.78672435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1103.916559995 meters 0.012593487959802547 Centerline is valid? [True, True] Translation: X:-313.11, Y:-257.80, Z:-2.79 [[-6.79746544e-01 -7.33431232e-01 4.82322833e-03 -3.13109426e+02] [ 7.33412799e-01 -6.79763656e-01 -5.19989233e-03 -2.57804347e+02] [ 7.09241876e-03 2.80854641e-06 9.99974849e-01 -2.78732825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1103.9465599950001 meters 0.012617721092745454 Centerline is valid? [True, True] Translation: X:-313.13, Y:-257.78, Z:-2.79 [[-6.79912567e-01 -7.33274438e-01 5.24410940e-03 -3.13128465e+02] [ 7.33252670e-01 -6.79932790e-01 -5.65008009e-03 -2.57784573e+02] [ 7.70870123e-03 3.69676291e-06 9.99970288e-01 -2.78807393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1103.9765599950001 meters 0.01264661074112149 Centerline is valid? [True, True] Translation: X:-313.15, Y:-257.77, Z:-2.79 [[-6.79945843e-01 -7.33242095e-01 5.44791841e-03 -3.13147105e+02] [ 7.33218631e-01 -6.79967668e-01 -5.86599776e-03 -2.57765217e+02] [ 8.00560487e-03 5.95447951e-06 9.99967955e-01 -2.78867411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1104.006559995 meters 0.01264661074112149 Centerline is valid? [True, True] Translation: X:-313.17, Y:-257.75, Z:-2.79 [[-6.80174296e-01 -7.33030168e-01 5.44974610e-03 -3.13165397e+02] [ 7.33006711e-01 -6.80196128e-01 -5.86429980e-03 -2.57745674e+02] [ 8.00560487e-03 5.95448004e-06 9.99967955e-01 -2.78867402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1104.036559995 meters 0.012663885482927451 Centerline is valid? [True, True] Translation: X:-313.18, Y:-257.73, Z:-2.79 [[-6.80041605e-01 -7.33151215e-01 5.71940933e-03 -3.13184920e+02] [ 7.33125411e-01 -6.80065656e-01 -6.15100570e-03 -2.57725347e+02] [ 8.39919116e-03 1.01045236e-05 9.99964726e-01 -2.78872408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1104.066559995 meters 0.012737475177379713 Centerline is valid? [True, True] Translation: X:-313.20, Y:-257.71, Z:-2.79 [[-6.79436309e-01 -7.33710651e-01 5.91468403e-03 -3.13203454e+02] [ 7.33683113e-01 -6.79462052e-01 -6.35679070e-03 -2.57706366e+02] [ 8.68284840e-03 2.04693876e-05 9.99962303e-01 -2.78888509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1104.096559995 meters 0.012764883619045302 Centerline is valid? [True, True] Translation: X:-313.22, Y:-257.69, Z:-2.79 [[-6.79108900e-01 -7.34013116e-01 5.98734963e-03 -3.13222734e+02] [ 7.33984945e-01 -6.79135292e-01 -6.43086077e-03 -2.57686384e+02] [ 8.78655660e-03 2.73697081e-05 9.99961397e-01 -2.78854449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1104.126559995 meters 0.012875658414815817 Centerline is valid? [True, True] Translation: X:-313.24, Y:-257.67, Z:-2.79 [[-6.78236286e-01 -7.34821655e-01 5.71623147e-03 -3.13241408e+02] [ 7.34796040e-01 -6.78260373e-01 -6.13563405e-03 -2.57668431e+02] [ 8.38569006e-03 3.88545945e-05 9.99964839e-01 -2.78842665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1104.156559995 meters 0.0129552606203834 Centerline is valid? [True, True] Translation: X:-313.26, Y:-257.65, Z:-2.79 [[-6.77524277e-01 -7.35477534e-01 5.80101325e-03 -3.13261465e+02] [ 7.35451207e-01 -6.77549109e-01 -6.22313756e-03 -2.57648142e+02] [ 8.50744923e-03 5.00354172e-05 9.99963810e-01 -2.78812892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1104.1865599950002 meters 0.013365645872983466 Centerline is valid? [True, True] Translation: X:-313.28, Y:-257.63, Z:-2.79 [[-6.75802513e-01 -7.37059759e-01 5.82015810e-03 -3.13281820e+02] [ 7.37033343e-01 -6.75827571e-01 -6.24062707e-03 -2.57631099e+02] [ 8.53313840e-03 7.22191185e-05 9.99963590e-01 -2.78949600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1104.2165599950001 meters 0.013371428349147608 Centerline is valid? [True, True] Translation: X:-313.30, Y:-257.61, Z:-2.79 [[-6.75005201e-01 -7.37789285e-01 5.91173200e-03 -3.13301459e+02] [ 7.37762090e-01 -6.75031083e-01 -6.33524855e-03 -2.57610933e+02] [ 8.66468136e-03 8.51260262e-05 9.99962458e-01 -2.78940340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1104.246559995 meters 0.013849893950911915 Centerline is valid? [True, True] Translation: X:-313.32, Y:-257.59, Z:-2.79 [[-6.74389210e-01 -7.38351431e-01 6.02976587e-03 -3.13320487e+02] [ 7.38323199e-01 -6.74416159e-01 -6.45744825e-03 -2.57592605e+02] [ 8.83443769e-03 9.70826013e-05 9.99960971e-01 -2.79038616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1104.276559995 meters 0.014011822520407717 Centerline is valid? [True, True] Translation: X:-313.34, Y:-257.57, Z:-2.79 [[-6.73327600e-01 -7.39322513e-01 5.67144006e-03 -3.13339365e+02] [ 7.39297603e-01 -6.73351476e-01 -6.06990494e-03 -2.57573309e+02] [ 8.30648991e-03 1.05847520e-04 9.99965495e-01 -2.78997865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1104.306559995 meters 0.014234596898962686 Centerline is valid? [True, True] Translation: X:-313.36, Y:-257.55, Z:-2.79 [[-6.72618740e-01 -7.39968498e-01 5.53647061e-03 -3.13358305e+02] [ 7.39944813e-01 -6.72641516e-01 -5.92156453e-03 -2.57554633e+02] [ 8.10583119e-03 1.13727435e-04 9.99967141e-01 -2.78973513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1104.336559995 meters 0.014174138057647835 Centerline is valid? [True, True] Translation: X:-313.38, Y:-257.53, Z:-2.79 [[-6.72057523e-01 -7.40480623e-01 5.20898013e-03 -3.13377434e+02] [ 7.40459696e-01 -6.72077699e-01 -5.56814330e-03 -2.57534101e+02] [ 7.62394160e-03 1.14927251e-04 9.99970931e-01 -2.78898076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1104.366559995 meters 0.015150272173012317 Centerline is valid? [True, True] Translation: X:-313.40, Y:-257.52, Z:-2.79 [[-6.70644065e-01 -7.41764341e-01 4.71184833e-03 -3.13398042e+02] [ 7.41747264e-01 -6.70660606e-01 -5.03470968e-03 -2.57516995e+02] [ 6.89461916e-03 1.18502444e-04 9.99976225e-01 -2.78921947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1104.396559995 meters 0.014924329376141065 Centerline is valid? [True, True] Translation: X:-313.42, Y:-257.50, Z:-2.79 [[-6.70044199e-01 -7.42307969e-01 4.43293902e-03 -3.13417373e+02] [ 7.42292883e-01 -6.70058852e-01 -4.73401901e-03 -2.57496544e+02] [ 6.48443006e-03 1.18537115e-04 9.99978969e-01 -2.78855595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1104.4265599950002 meters 0.015543625146645137 Centerline is valid? [True, True] Translation: X:-313.44, Y:-257.48, Z:-2.79 [[-6.68997387e-01 -7.43251467e-01 4.44444582e-03 -3.13437129e+02] [ 7.43236342e-01 -6.69012138e-01 -4.74348697e-03 -2.57478125e+02] [ 6.49899185e-03 1.29893266e-04 9.99978873e-01 -2.78877686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1104.4565599950001 meters 0.015681849696133548 Centerline is valid? [True, True] Translation: X:-313.46, Y:-257.46, Z:-2.79 [[-6.68641675e-01 -7.43571098e-01 4.50921563e-03 -3.13455739e+02] [ 7.43555555e-01 -6.68656866e-01 -4.80959407e-03 -2.57458696e+02] [ 6.59139313e-03 1.36957293e-04 9.99978267e-01 -2.78865920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1104.486559995 meters 0.015338722909633047 Centerline is valid? [True, True] Translation: X:-313.48, Y:-257.44, Z:-2.79 [[-6.68503143e-01 -7.43694378e-01 4.71374188e-03 -3.13475040e+02] [ 7.43677417e-01 -6.68519746e-01 -5.02487226e-03 -2.57437950e+02] [ 6.88819877e-03 1.46360491e-04 9.99976266e-01 -2.78876132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1104.516559995 meters 0.016049529471054272 Centerline is valid? [True, True] Translation: X:-313.50, Y:-257.42, Z:-2.79 [[-6.67505644e-01 -7.44585569e-01 5.34283015e-03 -3.13495031e+02] [ 7.44563833e-01 -6.67527002e-01 -5.69205358e-03 -2.57419934e+02] [ 7.80470435e-03 1.78600203e-04 9.99969527e-01 -2.78978053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1104.546559995 meters 0.01734442184456782 Centerline is valid? [True, True] Translation: X:-313.52, Y:-257.40, Z:-2.79 [[-6.67017189e-01 -7.45019956e-01 5.77366792e-03 -3.13515758e+02] [ 7.44994611e-01 -6.67042146e-01 -6.14852718e-03 -2.57402458e+02] [ 8.43205529e-03 2.00178171e-04 9.99964430e-01 -2.79115804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1104.576559995 meters 0.01709814459679343 Centerline is valid? [True, True] Translation: X:-313.54, Y:-257.38, Z:-2.79 [[-6.66261065e-01 -7.45693121e-01 6.16141130e-03 -3.13535484e+02] [ 7.45664319e-01 -6.66289516e-01 -6.55780714e-03 -2.57381895e+02] [ 8.99539543e-03 2.25132992e-04 9.99959515e-01 -2.79167846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1104.606559995 meters 0.016959792344527297 Centerline is valid? [True, True] Translation: X:-313.55, Y:-257.36, Z:-2.79 [[-6.66272335e-01 -7.45678462e-01 6.69377198e-03 -3.13554099e+02] [ 7.45644511e-01 -6.66305913e-01 -7.11994883e-03 -2.57361929e+02] [ 9.76929234e-03 2.47349401e-04 9.99952249e-01 -2.79192465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1104.636559995 meters 0.016933084118521773 Centerline is valid? [True, True] Translation: X:-313.57, Y:-257.34, Z:-2.79 [[-6.66524384e-01 -7.45448383e-01 7.20786002e-03 -3.13572253e+02] [ 7.45409054e-01 -6.66563303e-01 -7.66195771e-03 -2.57342066e+02] [ 1.05160890e-02 2.65922476e-04 9.99944669e-01 -2.79214311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1104.666559995 meters 0.01689212695363736 Centerline is valid? [True, True] Translation: X:-313.59, Y:-257.32, Z:-2.79 [[-6.67092810e-01 -7.44933374e-01 7.83916618e-03 -3.13590073e+02] [ 7.44886877e-01 -6.67138808e-01 -8.32783760e-03 -2.57322013e+02] [ 1.14334961e-02 2.83851430e-04 9.99934595e-01 -2.79315070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1104.6965599950001 meters 0.01697547044244421 Centerline is valid? [True, True] Translation: X:-313.61, Y:-257.30, Z:-2.79 [[-6.67849357e-01 -7.44251600e-01 8.17268869e-03 -3.13607483e+02] [ 7.44201078e-01 -6.67899299e-01 -8.67647871e-03 -2.57302202e+02] [ 1.19160162e-02 2.87543006e-04 9.99928961e-01 -2.79373802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1104.7265599950001 meters 0.016850556257045218 Centerline is valid? [True, True] Translation: X:-313.63, Y:-257.28, Z:-2.79 [[-6.68454400e-01 -7.43708815e-01 8.11876102e-03 -3.13625770e+02] [ 7.43658981e-01 -6.68503643e-01 -8.61389921e-03 -2.57281695e+02] [ 1.18336541e-02 2.79590715e-04 9.99929941e-01 -2.79373803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1104.756559995 meters 0.016854165656342936 Centerline is valid? [True, True] Translation: X:-313.64, Y:-257.26, Z:-2.79 [[-6.69212832e-01 -7.43029494e-01 7.83301816e-03 -3.13643884e+02] [ 7.42983118e-01 -6.69258622e-01 -8.30563714e-03 -2.57262015e+02] [ 1.14136483e-02 2.61561299e-04 9.99934828e-01 -2.79345714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1104.786559995 meters 0.016267862533594944 Centerline is valid? [True, True] Translation: X:-313.66, Y:-257.24, Z:-2.79 [[-6.70032925e-01 -7.42295408e-01 7.30805887e-03 -3.13661751e+02] [ 7.42255047e-01 -6.70072737e-01 -7.74419423e-03 -2.57241215e+02] [ 1.06454108e-02 2.35578475e-04 9.99943308e-01 -2.79273414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1104.816559995 meters 0.01574812931146361 Centerline is valid? [True, True] Translation: X:-313.68, Y:-257.22, Z:-2.79 [[-6.71475637e-01 -7.40999551e-01 6.33514668e-03 -3.13679537e+02] [ 7.40969198e-01 -6.71505495e-01 -6.70950987e-03 -2.57219813e+02] [ 9.22582961e-03 1.88876144e-04 9.99957423e-01 -2.79111904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1104.846559995 meters 0.016108380107453336 Centerline is valid? [True, True] Translation: X:-313.70, Y:-257.20, Z:-2.79 [[-6.72646981e-01 -7.39940354e-01 5.85758886e-03 -3.13698101e+02] [ 7.39914399e-01 -6.72672465e-01 -6.19968716e-03 -2.57201172e+02] [ 8.52763745e-03 1.63913489e-04 9.99963626e-01 -2.79147346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1104.876559995 meters 0.015061665864821725 Centerline is valid? [True, True] Translation: X:-313.72, Y:-257.18, Z:-2.79 [[-6.74606961e-01 -7.38155879e-01 5.59886066e-03 -3.13715532e+02] [ 7.38132131e-01 -6.74630180e-01 -5.92263372e-03 -2.57179576e+02] [ 8.14898728e-03 1.37249014e-04 9.99966787e-01 -2.79089242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1104.906559995 meters 0.014837025475322688 Centerline is valid? [True, True] Translation: X:-313.73, Y:-257.16, Z:-2.79 [[-6.75723168e-01 -7.37135006e-01 5.49391739e-03 -3.13733311e+02] [ 7.37112129e-01 -6.75745490e-01 -5.80888145e-03 -2.57160135e+02] [ 7.99441976e-03 1.24437373e-04 9.99968037e-01 -2.79105973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1104.9365599950002 meters 0.014699461586599837 Centerline is valid? [True, True] Translation: X:-313.75, Y:-257.14, Z:-2.79 [[-6.77093389e-01 -7.35873578e-01 5.88386416e-03 -3.13751094e+02] [ 7.35847323e-01 -6.77118943e-01 -6.21724165e-03 -2.57140594e+02] [ 8.55917974e-03 1.19972473e-04 9.99963363e-01 -2.79162367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1104.9665599950001 meters 0.014054697441362294 Centerline is valid? [True, True] Translation: X:-313.77, Y:-257.12, Z:-2.79 [[-6.79076558e-01 -7.34040762e-01 6.26007546e-03 -3.13768220e+02] [ 7.34010998e-01 -6.79105404e-01 -6.61104580e-03 -2.57118648e+02] [ 9.10402816e-03 1.05558005e-04 9.99958552e-01 -2.79163597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1104.996559995 meters 0.014037167350239422 Centerline is valid? [True, True] Translation: X:-313.79, Y:-257.10, Z:-2.79 [[-6.79845336e-01 -7.33326625e-01 6.50994950e-03 -3.13786617e+02] [ 7.33294444e-01 -6.79876496e-01 -6.87083635e-03 -2.57097966e+02] [ 9.46452889e-03 1.02603748e-04 9.99955205e-01 -2.79151837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1105.026559995 meters 0.013892389441760902 Centerline is valid? [True, True] Translation: X:-313.80, Y:-257.08, Z:-2.79 [[-6.80713283e-01 -7.32514839e-01 7.17197227e-03 -3.13804658e+02] [ 7.32475783e-01 -6.80751056e-01 -7.56484425e-03 -2.57078589e+02] [ 1.04236884e-02 1.03806040e-04 9.99945667e-01 -2.79197936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1105.056559995 meters 0.013804108473062982 Centerline is valid? [True, True] Translation: X:-313.82, Y:-257.06, Z:-2.79 [[-6.81181254e-01 -7.32076326e-01 7.50686106e-03 -3.13824077e+02] [ 7.32033562e-01 -6.81222608e-01 -7.91344726e-03 -2.57058816e+02] [ 1.09070909e-02 1.04782313e-04 9.99940511e-01 -2.79296885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1105.086559995 meters 0.0132927038092718 Centerline is valid? [True, True] Translation: X:-313.84, Y:-257.04, Z:-2.79 [[-6.81708851e-01 -7.31582311e-01 7.76944256e-03 -3.13842696e+02] [ 7.31536523e-01 -6.81753116e-01 -8.18563258e-03 -2.57037857e+02] [ 1.12853057e-02 1.03412811e-04 9.99936314e-01 -2.79161127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1105.116559995 meters 0.013215921849915324 Centerline is valid? [True, True] Translation: X:-313.86, Y:-257.02, Z:-2.79 [[-6.82845496e-01 -7.30518020e-01 8.09022608e-03 -3.13862958e+02] [ 7.30468354e-01 -6.82893414e-01 -8.51877849e-03 -2.57017850e+02] [ 1.17478833e-02 9.26446038e-05 9.99930987e-01 -2.79242652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1105.146559995 meters 0.013259724306077752 Centerline is valid? [True, True] Translation: X:-313.88, Y:-257.00, Z:-2.79 [[-6.83600121e-01 -7.29808982e-01 8.35005185e-03 -3.13881769e+02] [ 7.29756086e-01 -6.83651111e-01 -8.78712492e-03 -2.56998612e+02] [ 1.21214449e-02 8.66214911e-05 9.99926529e-01 -2.79256165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1105.1765599950002 meters 0.013332520478682301 Centerline is valid? [True, True] Translation: X:-313.90, Y:-256.98, Z:-2.79 [[-6.84464937e-01 -7.29003023e-01 7.89572199e-03 -3.13900034e+02] [ 7.28955735e-01 -6.84510473e-01 -8.30354529e-03 -2.56980284e+02] [ 1.14580140e-02 7.21462161e-05 9.99934352e-01 -2.79344678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1105.2065599950001 meters 0.014229016933645304 Centerline is valid? [True, True] Translation: X:-313.92, Y:-256.96, Z:-2.79 [[-6.86244231e-01 -7.27333210e-01 7.43354581e-03 -3.13918698e+02] [ 7.27291245e-01 -6.86284489e-01 -7.81308656e-03 -2.56958722e+02] [ 1.07842445e-02 4.46672124e-05 9.99941848e-01 -2.79171265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1105.236559995 meters 0.012971122159484528 Centerline is valid? [True, True] Translation: X:-313.94, Y:-256.94, Z:-2.79 [[-6.86581522e-01 -7.27022364e-01 6.65555084e-03 -3.13936886e+02] [ 7.26988755e-01 -6.86613778e-01 -6.99071877e-03 -2.56939388e+02] [ 9.65220179e-03 3.88122894e-05 9.99953416e-01 -2.78960400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1105.266559995 meters 0.012945866516591624 Centerline is valid? [True, True] Translation: X:-313.96, Y:-256.92, Z:-2.79 [[-6.87327019e-01 -7.26322167e-01 6.13835210e-03 -3.13956109e+02] [ 7.26293582e-01 -6.87354428e-01 -6.44381722e-03 -2.56918994e+02] [ 8.89951078e-03 2.92360545e-05 9.99960398e-01 -2.78785052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1105.296559995 meters 0.013162018152391987 Centerline is valid? [True, True] Translation: X:-313.98, Y:-256.90, Z:-2.79 [[-6.87425297e-01 -7.26231952e-01 5.79776091e-03 -3.13975855e+02] [ 7.26206479e-01 -6.87449745e-01 -6.08263491e-03 -2.56900506e+02] [ 8.40307308e-03 2.90144251e-05 9.99964693e-01 -2.78982796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1105.326559995 meters 0.013011697551885389 Centerline is valid? [True, True] Translation: X:-314.00, Y:-256.88, Z:-2.79 [[-6.87386165e-01 -7.26267215e-01 6.01612748e-03 -3.13995458e+02] [ 7.26239819e-01 -6.87412490e-01 -6.30817111e-03 -2.56880786e+02] [ 8.71697903e-03 3.30017895e-05 9.99962006e-01 -2.78851523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1105.356559995 meters 0.013208696684194818 Centerline is valid? [True, True] Translation: X:-314.02, Y:-256.86, Z:-2.79 [[-6.85768999e-01 -7.27791680e-01 6.33645012e-03 -3.14016701e+02] [ 7.27761391e-01 -6.85798270e-01 -6.64009398e-03 -2.56863606e+02] [ 9.17813168e-03 5.78531571e-05 9.99957879e-01 -2.78975661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1105.386559995 meters 0.013467648171622429 Centerline is valid? [True, True] Translation: X:-314.04, Y:-256.84, Z:-2.79 [[-6.84397682e-01 -7.29079306e-01 6.57100443e-03 -3.14037349e+02] [ 7.29046829e-01 -6.84429222e-01 -6.88199713e-03 -2.56843964e+02] [ 9.51490914e-03 8.05470557e-05 9.99954729e-01 -2.78955570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1105.416559995 meters 0.014238191424474949 Centerline is valid? [True, True] Translation: X:-314.06, Y:-256.83, Z:-2.79 [[-6.81235823e-01 -7.32029256e-01 7.13599115e-03 -3.14059285e+02] [ 7.31991161e-01 -6.81273184e-01 -7.46928123e-03 -2.56827168e+02] [ 1.03292918e-02 1.35140496e-04 9.99946642e-01 -2.79055367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1105.4465599950001 meters 0.014631443843586145 Centerline is valid? [True, True] Translation: X:-314.08, Y:-256.81, Z:-2.79 [[-6.79669858e-01 -7.33479522e-01 7.52825926e-03 -3.14080077e+02] [ 7.33437260e-01 -6.79711529e-01 -7.87547392e-03 -2.56808595e+02] [ 1.08935435e-02 1.68783605e-04 9.99940650e-01 -2.79090173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1105.4765599950001 meters 0.015464281637501676 Centerline is valid? [True, True] Translation: X:-314.10, Y:-256.79, Z:-2.79 [[-6.76946527e-01 -7.35995745e-01 7.32559379e-03 -3.14102488e+02] [ 7.35955920e-01 -6.76986131e-01 -7.65918110e-03 -2.56791246e+02] [ 1.05964501e-02 2.06458075e-04 9.99943835e-01 -2.79090230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1105.506559995 meters 0.01626679867095615 Centerline is valid? [True, True] Translation: X:-314.12, Y:-256.77, Z:-2.79 [[-6.76141505e-01 -7.36739014e-01 6.94916441e-03 -3.14123102e+02] [ 7.36703259e-01 -6.76177182e-01 -7.26131958e-03 -2.56773426e+02] [ 1.00485638e-02 2.09792523e-04 9.99949490e-01 -2.79119568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1105.536559995 meters 0.016799771742147925 Centerline is valid? [True, True] Translation: X:-314.14, Y:-256.75, Z:-2.79 [[-6.75310168e-01 -7.37504591e-01 6.56933177e-03 -3.14143409e+02] [ 7.37472709e-01 -6.75342087e-01 -6.86070518e-03 -2.56754574e+02] [ 9.49634779e-03 2.11598934e-04 9.99954886e-01 -2.79080100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1105.566559995 meters 0.01678503386834293 Centerline is valid? [True, True] Translation: X:-314.16, Y:-256.74, Z:-2.79 [[-6.74103612e-01 -7.38611588e-01 6.10265192e-03 -3.14163181e+02] [ 7.38584152e-01 -6.74131201e-01 -6.36978692e-03 -2.56735075e+02] [ 8.81878650e-03 2.13425626e-04 9.99961091e-01 -2.78981864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1105.596559995 meters 0.016922054602834132 Centerline is valid? [True, True] Translation: X:-314.18, Y:-256.72, Z:-2.79 [[-6.73942937e-01 -7.38758561e-01 6.05855112e-03 -3.14182697e+02] [ 7.38731561e-01 -6.73970134e-01 -6.31979977e-03 -2.56715726e+02] [ 8.75208869e-03 2.16458507e-04 9.99961676e-01 -2.78972625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1105.626559995 meters 0.01694259678627034 Centerline is valid? [True, True] Translation: X:-314.20, Y:-256.70, Z:-2.79 [[-6.73701936e-01 -7.38977317e-01 6.18277278e-03 -3.14201775e+02] [ 7.38949244e-01 -6.73730268e-01 -6.44531208e-03 -2.56695878e+02] [ 8.92846059e-03 2.26536044e-04 9.99960115e-01 -2.78953234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1105.656559995 meters 0.017930796734352807 Centerline is valid? [True, True] Translation: X:-314.22, Y:-256.68, Z:-2.79 [[-6.74100144e-01 -7.38613269e-01 6.27974813e-03 -3.14221478e+02] [ 7.38584331e-01 -6.74129355e-01 -6.54207808e-03 -2.56678977e+02] [ 9.06542823e-03 2.28107797e-04 9.99958882e-01 -2.79078681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1105.6865599950002 meters 0.016473537812967464 Centerline is valid? [True, True] Translation: X:-314.24, Y:-256.66, Z:-2.79 [[-6.74785287e-01 -7.37987407e-01 6.27717004e-03 -3.14239348e+02] [ 7.37958500e-01 -6.74814447e-01 -6.53569745e-03 -2.56657145e+02] [ 9.05918744e-03 2.22098504e-04 9.99958940e-01 -2.79013342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1105.7165599950001 meters 0.016172629322917496 Centerline is valid? [True, True] Translation: X:-314.26, Y:-256.64, Z:-2.79 [[-6.76059590e-01 -7.36818192e-01 6.51028636e-03 -3.14258549e+02] [ 7.36787083e-01 -6.76090900e-01 -6.77413157e-03 -2.56637272e+02] [ 9.39284874e-03 2.16978287e-04 9.99955863e-01 -2.79072071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1105.746559995 meters 0.016130620145492016 Centerline is valid? [True, True] Translation: X:-314.28, Y:-256.62, Z:-2.79 [[-6.76939616e-01 -7.36010023e-01 6.48088910e-03 -3.14276392e+02] [ 7.35979188e-01 -6.76970607e-01 -6.74025576e-03 -2.56618501e+02] [ 9.34826723e-03 2.07053357e-04 9.99956283e-01 -2.79115294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1105.776559995 meters 0.01544563927614323 Centerline is valid? [True, True] Translation: X:-314.29, Y:-256.60, Z:-2.79 [[-6.77985609e-01 -7.35042019e-01 6.98175154e-03 -3.14294916e+02] [ 7.35006224e-01 -6.78021524e-01 -7.25706833e-03 -2.56596899e+02] [ 1.00680280e-02 2.11442945e-04 9.99949294e-01 -2.79096022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1105.806559995 meters 0.01517611849123286 Centerline is valid? [True, True] Translation: X:-314.31, Y:-256.58, Z:-2.79 [[-6.80163897e-01 -7.33020387e-01 7.62793730e-03 -3.14312544e+02] [ 7.32977580e-01 -6.80206639e-01 -7.92432845e-03 -2.56576396e+02] [ 1.09972679e-02 2.01264902e-04 9.99939508e-01 -2.79190907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1105.836559995 meters 0.01500146217563083 Centerline is valid? [True, True] Translation: X:-314.33, Y:-256.56, Z:-2.79 [[-6.81529352e-01 -7.31748372e-01 7.87793178e-03 -3.14330202e+02] [ 7.31702689e-01 -6.81574855e-01 -8.17871966e-03 -2.56556526e+02] [ 1.13541650e-02 1.90266358e-04 9.99935521e-01 -2.79218132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1105.866559995 meters 0.014358130500849178 Centerline is valid? [True, True] Translation: X:-314.35, Y:-256.54, Z:-2.79 [[-6.83244131e-01 -7.30144440e-01 8.15813585e-03 -3.14347485e+02] [ 7.30095396e-01 -6.83292812e-01 -8.46438722e-03 -2.56535700e+02] [ 1.17546209e-02 1.72974539e-04 9.99930897e-01 -2.79193638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1105.896559995 meters 0.014358130500849178 Centerline is valid? [True, True] Translation: X:-314.37, Y:-256.52, Z:-2.79 [[-6.83469819e-01 -7.29933154e-01 8.16075237e-03 -3.14366139e+02] [ 7.29884125e-01 -6.83518516e-01 -8.46186459e-03 -2.56516507e+02] [ 1.17546209e-02 1.72974538e-04 9.99930897e-01 -2.79193629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1105.9265599950002 meters 0.013457853736141466 Centerline is valid? [True, True] Translation: X:-314.38, Y:-256.49, Z:-2.79 [[-6.87369847e-01 -7.26261305e-01 8.19826662e-03 -3.14383026e+02] [ 7.26211617e-01 -6.87418726e-01 -8.49607471e-03 -2.56493329e+02] [ 1.18060123e-02 1.13730883e-04 9.99930300e-01 -2.79204103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1105.9565599950001 meters 0.013337876839021668 Centerline is valid? [True, True] Translation: X:-314.40, Y:-256.47, Z:-2.79 [[-6.89825440e-01 -7.23928073e-01 8.30710148e-03 -3.14400192e+02] [ 7.23876954e-01 -6.89875452e-01 -8.60327635e-03 -2.56473408e+02] [ 1.19590187e-02 7.85604229e-05 9.99928485e-01 -2.79350737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1105.986559995 meters 0.012775172179452704 Centerline is valid? [True, True] Translation: X:-314.41, Y:-256.45, Z:-2.79 [[-6.94879712e-01 -7.19076561e-01 8.43122250e-03 -3.14414541e+02] [ 7.19023610e-01 -6.94930860e-01 -8.72633991e-03 -2.56449268e+02] [ 1.21340232e-02 -1.50852912e-06 9.99926380e-01 -2.79157260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1106.016559995 meters 0.01298953458373173 Centerline is valid? [True, True] Translation: X:-314.43, Y:-256.43, Z:-2.79 [[-6.97519333e-01 -7.16515395e-01 8.51288697e-03 -3.14430304e+02] [ 7.16461284e-01 -6.97571277e-01 -8.80578010e-03 -2.56428685e+02] [ 1.22478224e-02 -4.30479335e-05 9.99924992e-01 -2.79196445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1106.046559995 meters 0.013246332441583977 Centerline is valid? [True, True] Translation: X:-314.45, Y:-256.41, Z:-2.79 [[-7.00237317e-01 -7.13856800e-01 8.72752249e-03 -3.14447852e+02] [ 7.13799782e-01 -7.00291697e-01 -9.02276949e-03 -2.56406711e+02] [ 1.25527769e-02 -8.83762442e-05 9.99921207e-01 -2.79154948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1106.076559995 meters 0.01400512696186514 Centerline is valid? [True, True] Translation: X:-314.46, Y:-256.38, Z:-2.79 [[-7.04308918e-01 -7.09840933e-01 8.64865589e-03 -3.14463492e+02] [ 7.09784697e-01 -7.04362000e-01 -8.93626082e-03 -2.56382895e+02] [ 1.24351083e-02 -1.55204586e-04 9.99922669e-01 -2.79124617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1106.106559995 meters 0.014485030812272566 Centerline is valid? [True, True] Translation: X:-314.48, Y:-256.36, Z:-2.79 [[-7.05958853e-01 -7.08196741e-01 8.91484026e-03 -3.14481917e+02] [ 7.08136925e-01 -7.06015114e-01 -9.20619304e-03 -2.56361365e+02] [ 1.28138079e-02 -1.86265912e-04 9.99917883e-01 -2.79071005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1106.136559995 meters 0.014884523895666555 Centerline is valid? [True, True] Translation: X:-314.50, Y:-256.34, Z:-2.79 [[-7.07286571e-01 -7.06876167e-01 8.47301082e-03 -3.14500662e+02] [ 7.06822104e-01 -7.07337294e-01 -8.74450130e-03 -2.56340997e+02] [ 1.21745561e-02 -1.95957003e-04 9.99925868e-01 -2.79052959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1106.166559995 meters 0.014441676944719683 Centerline is valid? [True, True] Translation: X:-314.52, Y:-256.32, Z:-2.79 [[-7.07435884e-01 -7.06726399e-01 8.50101522e-03 -3.14520728e+02] [ 7.06672028e-01 -7.07486932e-01 -8.76844835e-03 -2.56321610e+02] [ 1.22112511e-02 -1.95685343e-04 9.99925421e-01 -2.78998887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1106.1965599950001 meters 0.014439100081124789 Centerline is valid? [True, True] Translation: X:-314.54, Y:-256.30, Z:-2.79 [[-7.06728759e-01 -7.07432944e-01 8.54935962e-03 -3.14540044e+02] [ 7.07378067e-01 -7.06780445e-01 -8.81320050e-03 -2.56302657e+02] [ 1.22772686e-02 -1.80912773e-04 9.99924615e-01 -2.79007527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1106.2265599950001 meters 0.014093883429468126 Centerline is valid? [True, True] Translation: X:-314.56, Y:-256.28, Z:-2.79 [[-7.05942184e-01 -7.08216015e-01 8.70111433e-03 -3.14559438e+02] [ 7.08159303e-01 -7.05995785e-01 -8.96401195e-03 -2.56284098e+02] [ 1.24914069e-02 -1.66299110e-04 9.99921966e-01 -2.79035793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1106.256559995 meters 0.013758039652616513 Centerline is valid? [True, True] Translation: X:-314.58, Y:-256.27, Z:-2.79 [[-7.03852315e-01 -7.10285642e-01 9.28573593e-03 -3.14579241e+02] [ 7.10221316e-01 -7.03913552e-01 -9.56001493e-03 -2.56267343e+02] [ 1.33266967e-02 -1.33911043e-04 9.99911187e-01 -2.79160861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1106.286559995 meters 0.013515769967935203 Centerline is valid? [True, True] Translation: X:-314.60, Y:-256.25, Z:-2.79 [[-7.02725283e-01 -7.11398437e-01 9.45729141e-03 -3.14600036e+02] [ 7.11331894e-01 -7.02788910e-01 -9.73059756e-03 -2.56249078e+02] [ 1.35688114e-02 -1.10663912e-04 9.99907934e-01 -2.79179767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1106.316559995 meters 0.013317887248596031 Centerline is valid? [True, True] Translation: X:-314.62, Y:-256.23, Z:-2.79 [[-7.01560959e-01 -7.12545166e-01 9.57119131e-03 -3.14620571e+02] [ 7.12477200e-01 -7.01626239e-01 -9.84173107e-03 -2.56231108e+02] [ 1.37280769e-02 -8.53186992e-05 9.99905762e-01 -2.79247055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1106.346559995 meters 0.013223272198587509 Centerline is valid? [True, True] Translation: X:-314.64, Y:-256.21, Z:-2.79 [[-7.00666783e-01 -7.13425600e-01 9.48544884e-03 -3.14640995e+02] [ 7.13359008e-01 -7.00730983e-01 -9.74759943e-03 -2.56213119e+02] [ 1.36009349e-02 -6.32887550e-05 9.99907501e-01 -2.79280829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1106.376559995 meters 0.012985144359859964 Centerline is valid? [True, True] Translation: X:-314.66, Y:-256.20, Z:-2.79 [[-6.98562147e-01 -7.15493931e-01 8.90847433e-03 -3.14662321e+02] [ 7.15435434e-01 -6.98618948e-01 -9.14912175e-03 -2.56196245e+02] [ 1.27697700e-02 -1.77919341e-05 9.99918463e-01 -2.79252735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1106.406559995 meters 0.012809225027889322 Centerline is valid? [True, True] Translation: X:-314.68, Y:-256.18, Z:-2.79 [[-6.97539343e-01 -7.16493658e-01 8.70080576e-03 -3.14682705e+02] [ 7.16438003e-01 -6.97593606e-01 -8.93027261e-03 -2.56177463e+02] [ 1.24681101e-02 4.37141363e-06 9.99922270e-01 -2.79147159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1106.4365599950002 meters 0.012790413638335385 Centerline is valid? [True, True] Translation: X:-314.70, Y:-256.16, Z:-2.79 [[-6.95999149e-01 -7.18003260e-01 7.51684775e-03 -3.14703279e+02] [ 7.17961861e-01 -6.96039739e-01 -7.71027163e-03 -2.56159707e+02] [ 1.07680249e-02 3.04675048e-05 9.99942023e-01 -2.79017679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1106.4665599950001 meters 0.012829038067656123 Centerline is valid? [True, True] Translation: X:-314.72, Y:-256.14, Z:-2.79 [[-6.95700853e-01 -7.18295418e-01 7.21217544e-03 -3.14722927e+02] [ 7.18257371e-01 -6.95738235e-01 -7.39311209e-03 -2.56141011e+02] [ 1.03282247e-02 3.68037864e-05 9.99946662e-01 -2.78969435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1106.496559995 meters 0.012908173222915778 Centerline is valid? [True, True] Translation: X:-314.74, Y:-256.12, Z:-2.79 [[-6.95701557e-01 -7.18301715e-01 6.47988716e-03 -3.14742302e+02] [ 7.18271043e-01 -6.95731733e-01 -6.63808395e-03 -2.56122549e+02] [ 9.27641021e-03 3.61899637e-05 9.99956973e-01 -2.78988020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1106.526559995 meters 0.012759147681178817 Centerline is valid? [True, True] Translation: X:-314.76, Y:-256.10, Z:-2.79 [[-6.96515043e-01 -7.17511676e-01 6.61746475e-03 -3.14762725e+02] [ 7.17479688e-01 -6.96546477e-01 -6.77517939e-03 -2.56102717e+02] [ 9.47064208e-03 2.88821842e-05 9.99955152e-01 -2.78971622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1106.556559995 meters 0.012718025651892888 Centerline is valid? [True, True] Translation: X:-314.78, Y:-256.08, Z:-2.79 [[-6.98044217e-01 -7.16028498e-01 6.12052388e-03 -3.14781683e+02] [ 7.16001108e-01 -6.98071049e-01 -6.26288579e-03 -2.56082680e+02] [ 8.75696524e-03 1.05306715e-05 9.99961657e-01 -2.79029556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1106.586559995 meters 0.012695608233262908 Centerline is valid? [True, True] Translation: X:-314.80, Y:-256.06, Z:-2.79 [[-6.98933205e-01 -7.15161436e-01 6.04117021e-03 -3.14801090e+02] [ 7.15134748e-01 -6.98959313e-01 -6.17822549e-03 -2.56062209e+02] [ 8.64096079e-03 2.08379060e-06 9.99962666e-01 -2.78990178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1106.616559995 meters 0.012765831834751879 Centerline is valid? [True, True] Translation: X:-314.82, Y:-256.04, Z:-2.79 [[-7.00017487e-01 -7.14101564e-01 5.87141319e-03 -3.14819523e+02] [ 7.14076352e-01 -7.00042110e-01 -6.00066125e-03 -2.56042843e+02] [ 8.39531806e-03 -7.93050473e-06 9.99964759e-01 -2.79068551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1106.646559995 meters 0.012722234261879769 Centerline is valid? [True, True] Translation: X:-314.84, Y:-256.02, Z:-2.79 [[-7.01576912e-01 -7.12565343e-01 6.36152515e-03 -3.14839042e+02] [ 7.12535716e-01 -7.01605752e-01 -6.49783730e-03 -2.56022912e+02] [ 9.09341630e-03 -2.59187405e-05 9.99958654e-01 -2.79004685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1106.676559995 meters 0.012747950387380226 Centerline is valid? [True, True] Translation: X:-314.86, Y:-256.00, Z:-2.79 [[-7.02614634e-01 -7.11539230e-01 6.67828892e-03 -3.14857522e+02] [ 7.11506573e-01 -7.02646371e-01 -6.81727042e-03 -2.56003717e+02] [ 9.54323082e-03 -3.82674994e-05 9.99954462e-01 -2.79083745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1106.7065599950001 meters 0.012856059718212885 Centerline is valid? [True, True] Translation: X:-314.88, Y:-255.98, Z:-2.79 [[-7.03607958e-01 -7.10551369e-01 7.25209413e-03 -3.14876884e+02] [ 7.10512849e-01 -7.03645329e-01 -7.39887090e-03 -2.55983706e+02] [ 1.03601800e-02 -5.31983834e-05 9.99946331e-01 -2.79140014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1106.736559995 meters 0.012937126594513345 Centerline is valid? [True, True] Translation: X:-314.90, Y:-255.96, Z:-2.79 [[-7.03977931e-01 -7.10184178e-01 7.31479805e-03 -3.14896371e+02] [ 7.10145017e-01 -7.04015930e-01 -7.45816626e-03 -2.55964005e+02] [ 1.04464060e-02 -5.58170660e-05 9.99945433e-01 -2.79193899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1106.766559995 meters 0.012893589782314013 Centerline is valid? [True, True] Translation: X:-314.92, Y:-255.94, Z:-2.79 [[-7.04076672e-01 -7.10082462e-01 7.67707485e-03 -3.14916281e+02] [ 7.10039368e-01 -7.04118523e-01 -7.82315176e-03 -2.55944520e+02] [ 1.09606535e-02 -5.70732834e-05 9.99939929e-01 -2.79203777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1106.796559995 meters 0.012884603522361086 Centerline is valid? [True, True] Translation: X:-314.94, Y:-255.93, Z:-2.79 [[-7.04062401e-01 -7.10093493e-01 7.96035344e-03 -3.14936446e+02] [ 7.10047213e-01 -7.04107398e-01 -8.10728649e-03 -2.55925261e+02] [ 1.13618751e-02 -5.58088180e-05 9.99935450e-01 -2.79270207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1106.826559995 meters 0.012981544824299513 Centerline is valid? [True, True] Translation: X:-314.96, Y:-255.91, Z:-2.79 [[-7.04046684e-01 -7.10106732e-01 8.16677020e-03 -3.14955369e+02] [ 7.10058085e-01 -7.04094047e-01 -8.31203817e-03 -2.55906347e+02] [ 1.16526085e-02 -5.31817040e-05 9.99932105e-01 -2.79344969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1106.856559995 meters 0.012879538210387008 Centerline is valid? [True, True] Translation: X:-314.98, Y:-255.89, Z:-2.79 [[-7.04229898e-01 -7.09922131e-01 8.41540289e-03 -3.14975224e+02] [ 7.09870521e-01 -7.04280175e-01 -8.56028558e-03 -2.55886516e+02] [ 1.20039376e-02 -5.45626109e-05 9.99927949e-01 -2.79320717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1106.886559995 meters 0.013019765489130421 Centerline is valid? [True, True] Translation: X:-314.99, Y:-255.87, Z:-2.79 [[-7.04459790e-01 -7.09692659e-01 8.52843593e-03 -3.14993402e+02] [ 7.09639688e-01 -7.04511410e-01 -8.67103878e-03 -2.55867421e+02] [ 1.21621530e-02 -5.62815395e-05 9.99926037e-01 -2.79338073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1106.916559995 meters 0.012969044091939125 Centerline is valid? [True, True] Translation: X:-315.01, Y:-255.85, Z:-2.79 [[-7.04463302e-01 -7.09692402e-01 8.25529725e-03 -3.15012699e+02] [ 7.09642831e-01 -7.04511669e-01 -8.38818894e-03 -2.55847773e+02] [ 1.17689872e-02 -5.08587706e-05 9.99930742e-01 -2.79312336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1106.9465599950001 meters 0.012770544226059992 Centerline is valid? [True, True] Translation: X:-315.03, Y:-255.83, Z:-2.79 [[-7.03606045e-01 -7.10548562e-01 7.69904258e-03 -3.15032179e+02] [ 7.10505550e-01 -7.03648165e-01 -7.81808074e-03 -2.55829329e+02] [ 1.09725432e-02 -3.06363812e-05 9.99939800e-01 -2.79209876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1106.9765599950001 meters 0.012699504567785066 Centerline is valid? [True, True] Translation: X:-315.05, Y:-255.81, Z:-2.79 [[-7.03169451e-01 -7.10983557e-01 7.42329299e-03 -3.15052177e+02] [ 7.10943640e-01 -7.03208633e-01 -7.53382731e-03 -2.55810247e+02] [ 1.05765511e-02 -2.00142761e-05 9.99944067e-01 -2.79145644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1107.006559995 meters 0.012751724202693259 Centerline is valid? [True, True] Translation: X:-315.07, Y:-255.79, Z:-2.79 [[-7.02400931e-01 -7.11743506e-01 7.35628022e-03 -3.15071024e+02] [ 7.11704400e-01 -7.02439451e-01 -7.46087640e-03 -2.55792268e+02] [ 1.04775718e-02 -5.02952374e-06 9.99945109e-01 -2.79217504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1107.036559995 meters 0.012794155663319855 Centerline is valid? [True, True] Translation: X:-315.09, Y:-255.78, Z:-2.79 [[-7.00645699e-01 -7.13477620e-01 6.72981938e-03 -3.15091510e+02] [ 7.13445013e-01 -7.00678018e-01 -6.82116704e-03 -2.55775151e+02] [ 9.58218653e-03 2.21347289e-05 9.99954090e-01 -2.79192294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1107.066559995 meters 0.01275101243364579 Centerline is valid? [True, True] Translation: X:-315.11, Y:-255.76, Z:-2.79 [[-6.99996324e-01 -7.14115734e-01 6.62298828e-03 -3.15111191e+02] [ 7.14084222e-01 -7.00027654e-01 -6.70872398e-03 -2.55756953e+02] [ 9.42708031e-03 3.32893110e-05 9.99955564e-01 -2.79138488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1107.096559995 meters 0.012801851598119205 Centerline is valid? [True, True] Translation: X:-315.13, Y:-255.74, Z:-2.79 [[-6.99170379e-01 -7.14931634e-01 5.79138571e-03 -3.15131224e+02] [ 7.14907597e-01 -6.99194363e-01 -5.86270208e-03 -2.55738739e+02] [ 8.24073542e-03 4.12780031e-05 9.99966044e-01 -2.79088416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1107.126559995 meters 0.012734018707927468 Centerline is valid? [True, True] Translation: X:-315.15, Y:-255.72, Z:-2.79 [[-6.99116546e-01 -7.14985775e-01 5.60320910e-03 -3.15150447e+02] [ 7.14963305e-01 -6.99138999e-01 -5.66863527e-03 -2.55719148e+02] [ 7.97041559e-03 4.30521833e-05 9.99968235e-01 -2.79044687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1107.156559995 meters 0.012626722353218536 Centerline is valid? [True, True] Translation: X:-315.17, Y:-255.70, Z:-2.79 [[-6.99399618e-01 -7.14709011e-01 5.58610080e-03 -3.15169669e+02] [ 7.14686694e-01 -6.99421925e-01 -5.64814321e-03 -2.55698920e+02] [ 7.94382022e-03 4.20027063e-05 9.99968447e-01 -2.79020567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1107.1865599950002 meters 0.012654050512034925 Centerline is valid? [True, True] Translation: X:-315.19, Y:-255.68, Z:-2.79 [[-6.99943734e-01 -7.14177344e-01 5.43061574e-03 -3.15188226e+02] [ 7.14156261e-01 -6.99964799e-01 -5.48767087e-03 -2.55679112e+02] [ 7.72041006e-03 3.72473996e-05 9.99970197e-01 -2.79081138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1107.2165599950001 meters 0.012573410849602224 Centerline is valid? [True, True] Translation: X:-315.21, Y:-255.66, Z:-2.79 [[-7.00223616e-01 -7.13903804e-01 5.31474075e-03 -3.15207263e+02] [ 7.13883629e-01 -7.00243784e-01 -5.36724023e-03 -2.55659180e+02] [ 7.55330739e-03 3.58380495e-05 9.99971473e-01 -2.79072471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1107.246559995 meters 0.01260292361412271 Centerline is valid? [True, True] Translation: X:-315.23, Y:-255.64, Z:-2.79 [[-7.00398993e-01 -7.13730450e-01 5.48599858e-03 -3.15225432e+02] [ 7.13708976e-01 -7.00420476e-01 -5.53658512e-03 -2.55640792e+02] [ 7.79413513e-03 3.75877942e-05 9.99969625e-01 -2.79106477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1107.276559995 meters 0.012644363162219964 Centerline is valid? [True, True] Translation: X:-315.25, Y:-255.62, Z:-2.79 [[-7.00336854e-01 -7.13790558e-01 5.59744844e-03 -3.15245451e+02] [ 7.13768230e-01 -7.00359221e-01 -5.64590273e-03 -2.55620698e+02] [ 7.95021668e-03 4.12471127e-05 9.99968396e-01 -2.79060253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1107.306559995 meters 0.012657795745197934 Centerline is valid? [True, True] Translation: X:-315.26, Y:-255.60, Z:-2.79 [[-7.00223401e-01 -7.13903752e-01 5.34984440e-03 -3.15264530e+02] [ 7.13883386e-01 -7.00243837e-01 -5.39260101e-03 -2.55602129e+02] [ 7.59599366e-03 4.31396203e-05 9.99971149e-01 -2.79062811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1107.336559995 meters 0.012831634807669799 Centerline is valid? [True, True] Translation: X:-315.28, Y:-255.58, Z:-2.79 [[-6.99289279e-01 -7.14822591e-01 4.81321006e-03 -3.15284590e+02] [ 7.14806149e-01 -6.99305842e-01 -4.84865020e-03 -2.55583059e+02] [ 6.83183061e-03 4.99030463e-05 9.99976662e-01 -2.79029264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1107.366559995 meters 0.013073822912762394 Centerline is valid? [True, True] Translation: X:-315.30, Y:-255.56, Z:-2.79 [[-6.98910091e-01 -7.15192167e-01 4.98479480e-03 -3.15303546e+02] [ 7.15174564e-01 -6.98927865e-01 -5.01821491e-03 -2.55564863e+02] [ 7.07299999e-03 5.77174009e-05 9.99974985e-01 -2.79046327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1107.396559995 meters 0.01314759629491437 Centerline is valid? [True, True] Translation: X:-315.32, Y:-255.54, Z:-2.79 [[-6.97704501e-01 -7.16365089e-01 5.43036359e-03 -3.15323288e+02] [ 7.16344257e-01 -6.97725629e-01 -5.46369841e-03 -2.55544418e+02] [ 7.70290665e-03 7.79627984e-05 9.99970329e-01 -2.79047946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1107.426559995 meters 0.013291181120907615 Centerline is valid? [True, True] Translation: X:-315.34, Y:-255.52, Z:-2.79 [[-6.97353161e-01 -7.16703754e-01 5.85649459e-03 -3.15343081e+02] [ 7.16679564e-01 -6.97377746e-01 -5.88914058e-03 -2.55524255e+02] [ 8.30495816e-03 9.04191899e-05 9.99965509e-01 -2.79073073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1107.4565599950001 meters 0.01367876670081078 Centerline is valid? [True, True] Translation: X:-315.36, Y:-255.51, Z:-2.79 [[-6.97112454e-01 -7.16937438e-01 5.91076227e-03 -3.15362435e+02] [ 7.16912839e-01 -6.97137505e-01 -5.93978539e-03 -2.55505927e+02] [ 8.37906858e-03 9.68029868e-05 9.99964890e-01 -2.79158400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1107.486559995 meters 0.014100135048081254 Centerline is valid? [True, True] Translation: X:-315.38, Y:-255.49, Z:-2.79 [[-6.96740692e-01 -7.17299817e-01 5.77765202e-03 -3.15381033e+02] [ 7.17276348e-01 -6.96764639e-01 -5.80327730e-03 -2.55487991e+02] [ 8.18835337e-03 1.00793699e-04 9.99966470e-01 -2.79170599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1107.516559995 meters 0.013427803086402375 Centerline is valid? [True, True] Translation: X:-315.40, Y:-255.47, Z:-2.79 [[-6.96791321e-01 -7.17253248e-01 5.44365197e-03 -3.15399026e+02] [ 7.17232436e-01 -6.96812579e-01 -5.46469922e-03 -2.55466097e+02] [ 7.71277843e-03 9.66087747e-05 9.99970252e-01 -2.79011701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1107.546559995 meters 0.013803323251556452 Centerline is valid? [True, True] Translation: X:-315.42, Y:-255.45, Z:-2.79 [[-6.97571767e-01 -7.16499531e-01 4.69594848e-03 -3.15417368e+02] [ 7.16484046e-01 -6.97587568e-01 -4.71135338e-03 -2.55446486e+02] [ 6.65151777e-03 7.80650663e-05 9.99977876e-01 -2.78979063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1107.576559995 meters 0.013270346781165038 Centerline is valid? [True, True] Translation: X:-315.43, Y:-255.43, Z:-2.79 [[-6.98351139e-01 -7.15741866e-01 4.38948697e-03 -3.15434956e+02] [ 7.15728338e-01 -6.98364931e-01 -4.40113345e-03 -2.55425180e+02] [ 6.21553923e-03 6.81436565e-05 9.99980681e-01 -2.78815519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1107.606559995 meters 0.013175758720338342 Centerline is valid? [True, True] Translation: X:-315.45, Y:-255.41, Z:-2.79 [[-6.99604383e-01 -7.14519840e-01 3.88661384e-03 -3.15452508e+02] [ 7.14509229e-01 -6.99615177e-01 -3.89437489e-03 -2.55405527e+02] [ 5.50174215e-03 5.24997145e-05 9.99984864e-01 -2.78782559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1107.636559995 meters 0.012734206187599632 Centerline is valid? [True, True] Translation: X:-315.47, Y:-255.38, Z:-2.79 [[-7.02034121e-01 -7.12134945e-01 3.45143391e-03 -3.15468316e+02] [ 7.12126559e-01 -7.02042605e-01 -3.45618610e-03 -2.55383387e+02] [ 4.88432456e-03 3.14971809e-05 9.99988071e-01 -2.78729484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1107.666559995 meters 0.012541238020894317 Centerline is valid? [True, True] Translation: X:-315.49, Y:-255.36, Z:-2.79 [[-7.03602216e-01 -7.10584735e-01 3.64104392e-03 -3.15485464e+02] [ 7.10575393e-01 -7.03611636e-01 -3.64369490e-03 -2.55363169e+02] [ 5.15103484e-03 2.35244078e-05 9.99986733e-01 -2.78747638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1107.6965599950001 meters 0.012405707028932162 Centerline is valid? [True, True] Translation: X:-315.50, Y:-255.34, Z:-2.79 [[-7.05286553e-01 -7.08912559e-01 3.72316950e-03 -3.15503263e+02] [ 7.08902780e-01 -7.05296380e-01 -3.72360275e-03 -2.55341959e+02] [ 5.26564673e-03 1.31582591e-05 9.99986136e-01 -2.78725996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1107.7265599950001 meters 0.012553796363722692 Centerline is valid? [True, True] Translation: X:-315.52, Y:-255.32, Z:-2.79 [[-7.08007881e-01 -7.06192775e-01 4.07502803e-03 -3.15519794e+02] [ 7.06181029e-01 -7.08019608e-01 -4.07299864e-03 -2.55319588e+02] [ 5.76152196e-03 -6.00764296e-06 9.99983402e-01 -2.78849165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1107.756559995 meters 0.012477095571792015 Centerline is valid? [True, True] Translation: X:-316.04, Y:-255.84, Z:-1.80 [[-7.54098094e-01 6.56745619e-01 4.61060734e-03 -3.16036667e+02] [ 6.56733455e-01 7.54112188e-01 -3.99716680e-03 -2.55838699e+02] [-6.10203697e-03 1.36842195e-05 -9.99981382e-01 -1.79664595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1107.786559995 meters 0.012477095571792015 Centerline is valid? [True, True] Translation: X:-315.55, Y:-255.29, Z:-2.79 [[-7.11313908e-01 -7.02861100e-01 4.33576157e-03 -3.15551741e+02] [ 7.02847929e-01 -7.11327122e-01 -4.30288208e-03 -2.55290457e+02] [ 6.10847323e-03 -1.33188251e-05 9.99981343e-01 -2.78882400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1107.816559995 meters 0.012604973173536047 Centerline is valid? [True, True] Translation: X:-315.58, Y:-255.31, Z:-2.79 [[-6.63215687e-01 -7.48417314e-01 4.05914088e-03 -3.15575620e+02] [ 7.48403114e-01 -6.63228109e-01 -4.61040153e-03 -2.55306355e+02] [ 6.14264066e-03 -1.98169427e-05 9.99981134e-01 -2.78908747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1107.846559995 meters 0.012602744895269313 Centerline is valid? [True, True] Translation: X:-315.59, Y:-255.29, Z:-2.79 [[-6.63070913e-01 -7.48546913e-01 3.80573424e-03 -3.15594002e+02] [ 7.48534446e-01 -6.63081835e-01 -4.32021748e-03 -2.55286443e+02] [ 5.75739870e-03 -1.58873850e-05 9.99983426e-01 -2.78880249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1107.876559995 meters 0.012648737085976925 Centerline is valid? [True, True] Translation: X:-315.61, Y:-255.27, Z:-2.79 [[-6.62684887e-01 -7.48889401e-01 3.66143166e-03 -3.15611769e+02] [ 7.48877881e-01 -6.62695001e-01 -4.15378307e-03 -2.55267386e+02] [ 5.53713657e-03 -1.06840789e-05 9.99984670e-01 -2.78909033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1107.906559995 meters 0.012573617495644488 Centerline is valid? [True, True] Translation: X:-315.63, Y:-255.25, Z:-2.79 [[-6.61027319e-01 -7.50349634e-01 4.27903557e-03 -3.15630722e+02] [ 7.50333950e-01 -6.61041169e-01 -4.85142618e-03 -2.55248207e+02] [ 6.46888453e-03 3.78042430e-06 9.99979077e-01 -2.78861583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1107.9365599950002 meters 0.012643345957423552 Centerline is valid? [True, True] Translation: X:-315.65, Y:-255.23, Z:-2.79 [[-6.60198091e-01 -7.51076977e-01 4.67498638e-03 -3.15649264e+02] [ 7.51058298e-01 -6.60214643e-01 -5.29705777e-03 -2.55228483e+02] [ 7.06499260e-03 1.40798860e-05 9.99975043e-01 -2.78904284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1107.9665599950001 meters 0.012715695826911975 Centerline is valid? [True, True] Translation: X:-315.67, Y:-255.21, Z:-2.79 [[-6.59348393e-01 -7.51820847e-01 5.01103569e-03 -3.15668387e+02] [ 7.51799435e-01 -6.59367434e-01 -5.67427670e-03 -2.55208444e+02] [ 7.57015326e-03 2.59685779e-05 9.99971346e-01 -2.78913653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1107.996559995 meters 0.012973148583006704 Centerline is valid? [True, True] Translation: X:-315.69, Y:-255.19, Z:-2.79 [[-6.57766747e-01 -7.53200346e-01 5.66980058e-03 -3.15688595e+02] [ 7.53173014e-01 -6.57791181e-01 -6.41663912e-03 -2.55188676e+02] [ 8.56255962e-03 4.96889601e-05 9.99963340e-01 -2.79006085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1108.026559995 meters 0.013464365236788347 Centerline is valid? [True, True] Translation: X:-315.71, Y:-255.17, Z:-2.79 [[-6.57209328e-01 -7.53684775e-01 5.92957060e-03 -3.15707851e+02] [ 7.53654941e-01 -6.57236074e-01 -6.70619389e-03 -2.55170604e+02] [ 8.95148393e-03 6.14769995e-05 9.99959933e-01 -2.79224463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1108.056559995 meters 0.013330319539261275 Centerline is valid? [True, True] Translation: X:-315.73, Y:-255.15, Z:-2.79 [[-6.56156309e-01 -7.54597680e-01 6.42181368e-03 -3.15727229e+02] [ 7.54562771e-01 -6.56187728e-01 -7.25886999e-03 -2.55150352e+02] [ 9.69144179e-03 8.27081854e-05 9.99953034e-01 -2.79140454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1108.086559995 meters 0.0133283494361444 Centerline is valid? [True, True] Translation: X:-315.75, Y:-255.13, Z:-2.79 [[-6.56110007e-01 -7.54637361e-01 6.48937016e-03 -3.15745769e+02] [ 7.54601761e-01 -6.56142093e-01 -7.33058010e-03 -2.55129918e+02] [ 9.78987854e-03 8.72231897e-05 9.99952074e-01 -2.79096019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1108.116559995 meters 0.013488325720672762 Centerline is valid? [True, True] Translation: X:-315.76, Y:-255.11, Z:-2.79 [[-6.56036945e-01 -7.54702278e-01 6.32433720e-03 -3.15764264e+02] [ 7.54668512e-01 -6.56067423e-01 -7.13965221e-03 -2.55109640e+02] [ 9.53750340e-03 8.89025135e-05 9.99954513e-01 -2.79098246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1108.146559995 meters 0.013604286817856534 Centerline is valid? [True, True] Translation: X:-315.78, Y:-255.09, Z:-2.79 [[-6.55742864e-01 -7.54957161e-01 6.40164805e-03 -3.15782643e+02] [ 7.54922620e-01 -6.55774104e-01 -7.22235780e-03 -2.55089634e+02] [ 9.65060576e-03 9.67393303e-05 9.99953427e-01 -2.78980403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1108.176559995 meters 0.013773947722506305 Centerline is valid? [True, True] Translation: X:-315.80, Y:-255.07, Z:-2.79 [[-6.55575188e-01 -7.55104327e-01 6.21520341e-03 -3.15801082e+02] [ 7.55071818e-01 -6.55604642e-01 -7.00736067e-03 -2.55070249e+02] [ 9.36600456e-03 9.90731508e-05 9.99956133e-01 -2.78963391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1108.2065599950001 meters 0.013899056786879794 Centerline is valid? [True, True] Translation: X:-315.82, Y:-255.05, Z:-2.79 [[-6.55675325e-01 -7.55018727e-01 6.04901257e-03 -3.15819976e+02] [ 7.54987969e-01 -6.55703220e-01 -6.81576536e-03 -2.55050066e+02] [ 9.11238751e-03 9.80025456e-05 9.99958477e-01 -2.78940864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1108.236559995 meters 0.014309606246106225 Centerline is valid? [True, True] Translation: X:-315.84, Y:-255.03, Z:-2.79 [[-6.55234165e-01 -7.55404807e-01 5.63621380e-03 -3.15838815e+02] [ 7.55378143e-01 -6.55258398e-01 -6.34760317e-03 -2.55032359e+02] [ 8.48818637e-03 9.83062475e-05 9.99963970e-01 -2.78922872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1108.266559995 meters 0.01388269338992194 Centerline is valid? [True, True] Translation: X:-315.86, Y:-255.01, Z:-2.79 [[-6.55402344e-01 -7.55259750e-01 5.52060553e-03 -3.15856306e+02] [ 7.55234197e-01 -6.55425587e-01 -6.21347451e-03 -2.55012048e+02] [ 8.31113333e-03 9.70243255e-05 9.99965457e-01 -2.78819545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1108.296559995 meters 0.013842018578425722 Centerline is valid? [True, True] Translation: X:-315.88, Y:-254.99, Z:-2.79 [[-6.55449437e-01 -7.55221147e-01 5.20138732e-03 -3.15875605e+02] [ 7.55198489e-01 -6.55470068e-01 -5.85087520e-03 -2.54991097e+02] [ 7.82805838e-03 9.31269891e-05 9.99969356e-01 -2.78792031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1108.326559995 meters 0.01402401129695381 Centerline is valid? [True, True] Translation: X:-315.89, Y:-254.97, Z:-2.79 [[-6.55976023e-01 -7.54763905e-01 5.18697816e-03 -3.15893823e+02] [ 7.54741388e-01 -6.55996524e-01 -5.83076935e-03 -2.54971519e+02] [ 7.80349388e-03 8.99822096e-05 9.99969548e-01 -2.78837503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1108.356559995 meters 0.01380571774648191 Centerline is valid? [True, True] Translation: X:-315.91, Y:-254.95, Z:-2.79 [[-6.56365406e-01 -7.54425501e-01 5.15931489e-03 -3.15912018e+02] [ 7.54403238e-01 -6.56385677e-01 -5.79637764e-03 -2.54949977e+02] [ 7.75943550e-03 8.76620950e-05 9.99969891e-01 -2.78736176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1108.386559995 meters 0.013677127305146275 Centerline is valid? [True, True] Translation: X:-315.93, Y:-254.93, Z:-2.79 [[-6.57317014e-01 -7.53593690e-01 5.55820990e-03 -3.15929959e+02] [ 7.53567855e-01 -6.57340508e-01 -6.24057095e-03 -2.54929716e+02] [ 8.35649141e-03 8.64548472e-05 9.99965080e-01 -2.78789840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1108.416559995 meters 0.013640786962352783 Centerline is valid? [True, True] Translation: X:-315.95, Y:-254.91, Z:-2.79 [[-6.57797636e-01 -7.53172287e-01 5.81174457e-03 -3.15947925e+02] [ 7.53144061e-01 -6.57823303e-01 -6.52110019e-03 -2.54909499e+02] [ 8.73461296e-03 8.75166210e-05 9.99961849e-01 -2.78847502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1108.4465599950001 meters 0.013689270464063994 Centerline is valid? [True, True] Translation: X:-315.97, Y:-254.89, Z:-2.79 [[-6.58397438e-01 -7.52643900e-01 6.32247705e-03 -3.15966315e+02] [ 7.52610509e-01 -6.58427788e-01 -7.09014283e-03 -2.54888517e+02] [ 9.49924733e-03 9.02307893e-05 9.99954877e-01 -2.78927234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1108.4765599950001 meters 0.013639212048931358 Centerline is valid? [True, True] Translation: X:-315.99, Y:-254.87, Z:-2.79 [[-6.58624970e-01 -7.52441908e-01 6.65759091e-03 -3.15985199e+02] [ 7.52404916e-01 -6.58658611e-01 -7.46172105e-03 -2.54867244e+02] [ 9.99959121e-03 9.47283221e-05 9.99949999e-01 -2.78949419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1108.506559995 meters 0.013678017222516187 Centerline is valid? [True, True] Translation: X:-316.00, Y:-254.85, Z:-2.79 [[-6.58805601e-01 -7.52274143e-01 7.66774583e-03 -3.16003855e+02] [ 7.52225117e-01 -6.58850212e-01 -8.58901896e-03 -2.54846543e+02] [ 1.15131928e-02 1.09377211e-04 9.99933715e-01 -2.79061551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1108.536559995 meters 0.013672449199438818 Centerline is valid? [True, True] Translation: X:-316.02, Y:-254.83, Z:-2.79 [[-6.59108451e-01 -7.51998006e-01 8.66307997e-03 -3.16022081e+02] [ 7.51935473e-01 -6.59165369e-01 -9.69844986e-03 -2.54825675e+02] [ 1.30036173e-02 1.21746877e-04 9.99915442e-01 -2.79166021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1108.566559995 meters 0.013617857266197525 Centerline is valid? [True, True] Translation: X:-316.04, Y:-254.80, Z:-2.79 [[-6.59704427e-01 -7.51468671e-01 9.21447192e-03 -3.16040073e+02] [ 7.51397953e-01 -6.59768764e-01 -1.03099118e-02 -2.54804584e+02] [ 1.38269965e-02 1.22240876e-04 9.99904395e-01 -2.79177019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1108.596559995 meters 0.013658368414412307 Centerline is valid? [True, True] Translation: X:-316.06, Y:-254.78, Z:-2.79 [[-6.60428741e-01 -7.50834247e-01 9.04492836e-03 -3.16057951e+02] [ 7.50766135e-01 -6.60490667e-01 -1.01138238e-02 -2.54783597e+02] [ 1.35678961e-02 1.11165969e-04 9.99907946e-01 -2.79188732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1108.626559995 meters 0.013658349409381137 Centerline is valid? [True, True] Translation: X:-316.07, Y:-254.76, Z:-2.79 [[-6.61167510e-01 -7.50182200e-01 9.17556149e-03 -3.16074591e+02] [ 7.50112136e-01 -6.61231167e-01 -1.02531160e-02 -2.54763559e+02] [ 1.37588724e-02 1.03672828e-04 9.99905337e-01 -2.79131885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1108.656559995 meters 0.01356679078271443 Centerline is valid? [True, True] Translation: X:-316.09, Y:-254.74, Z:-2.79 [[-6.62815662e-01 -7.48734156e-01 8.51829267e-03 -3.16090634e+02] [ 7.48673727e-01 -6.62870393e-01 -9.51275326e-03 -2.54742074e+02] [ 1.27690473e-02 7.22200725e-05 9.99918470e-01 -2.79035134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1108.6865599950002 meters 0.013394420105257673 Centerline is valid? [True, True] Translation: X:-316.11, Y:-254.72, Z:-2.79 [[-6.63826071e-01 -7.47841914e-01 8.21092236e-03 -3.16108597e+02] [ 7.47785763e-01 -6.63876847e-01 -9.16432321e-03 -2.54720134e+02] [ 1.23045063e-02 5.64941697e-05 9.99924295e-01 -2.78852889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1108.7165599950001 meters 0.013427511570133324 Centerline is valid? [True, True] Translation: X:-316.13, Y:-254.70, Z:-2.79 [[-6.64465380e-01 -7.47276960e-01 7.93120843e-03 -3.16126144e+02] [ 7.47224599e-01 -6.64512711e-01 -8.84624469e-03 -2.54699981e+02] [ 1.18809836e-02 4.83706963e-05 9.99929418e-01 -2.78895591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1108.746559995 meters 0.013342719635236474 Centerline is valid? [True, True] Translation: X:-316.14, Y:-254.68, Z:-2.79 [[-6.65187937e-01 -7.46640336e-01 7.29498923e-03 -3.16143809e+02] [ 7.46596057e-01 -6.65227936e-01 -8.13146713e-03 -2.54679700e+02] [ 1.09241120e-02 3.74563502e-05 9.99940330e-01 -2.78762868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1108.776559995 meters 0.013359953343315025 Centerline is valid? [True, True] Translation: X:-316.16, Y:-254.66, Z:-2.79 [[-6.65006054e-01 -7.46804669e-01 7.05234761e-03 -3.16161743e+02] [ 7.46763350e-01 -6.65043446e-01 -7.85578789e-03 -2.54660694e+02] [ 1.05568566e-02 4.22882279e-05 9.99944274e-01 -2.78762505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1108.806559995 meters 0.013634699924311842 Centerline is valid? [True, True] Translation: X:-316.18, Y:-254.64, Z:-2.79 [[-6.64200772e-01 -7.47522558e-01 6.88184807e-03 -3.16180448e+02] [ 7.47483304e-01 -6.64236421e-01 -7.66083072e-03 -2.54642750e+02] [ 1.02978179e-02 5.57368465e-05 9.99946975e-01 -2.78846819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1108.836559995 meters 0.013537941889443735 Centerline is valid? [True, True] Translation: X:-316.20, Y:-254.62, Z:-2.79 [[-6.64008304e-01 -7.47692867e-01 6.95340101e-03 -3.16199110e+02] [ 7.47652847e-01 -6.64044707e-01 -7.73611382e-03 -2.54622360e+02] [ 1.04016063e-02 6.18862453e-05 9.99945900e-01 -2.78748395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1108.866559995 meters 0.01351448381166724 Centerline is valid? [True, True] Translation: X:-316.22, Y:-254.60, Z:-2.79 [[-6.63591687e-01 -7.48060116e-01 7.22049712e-03 -3.16218828e+02] [ 7.48017034e-01 -6.63630965e-01 -8.02872343e-03 -2.54601788e+02] [ 1.07977133e-02 7.32607100e-05 9.99941701e-01 -2.78743151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1108.896559995 meters 0.013656203820739132 Centerline is valid? [True, True] Translation: X:-316.24, Y:-254.58, Z:-2.79 [[-6.63037533e-01 -7.48549254e-01 7.43261110e-03 -3.16238524e+02] [ 7.48503686e-01 -6.63079186e-01 -8.25988067e-03 -2.54581677e+02] [ 1.11113372e-02 8.67259066e-05 9.99938264e-01 -2.78758688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1108.926559995 meters 0.014108905794535952 Centerline is valid? [True, True] Translation: X:-316.26, Y:-254.56, Z:-2.79 [[-6.61283057e-01 -7.50092293e-01 8.14072831e-03 -3.16259427e+02] [ 7.50037810e-01 -6.61333151e-01 -9.04139592e-03 -2.54563779e+02] [ 1.21656149e-02 1.26932101e-04 9.99925988e-01 -2.78940593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1108.9565599950001 meters 0.014489320325255748 Centerline is valid? [True, True] Translation: X:-316.28, Y:-254.54, Z:-2.79 [[-6.59696044e-01 -7.51482543e-01 8.66707098e-03 -3.16279640e+02] [ 7.51420980e-01 -6.59752954e-01 -9.62030928e-03 -2.54544748e+02] [ 1.29476202e-02 1.66139000e-04 9.99916162e-01 -2.79024700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1108.986559995 meters 0.014770047346483727 Centerline is valid? [True, True] Translation: X:-316.30, Y:-254.53, Z:-2.79 [[-6.59366245e-01 -7.51770609e-01 8.78101028e-03 -3.16298813e+02] [ 7.51707522e-01 -6.59424688e-01 -9.74078398e-03 -2.54525029e+02] [ 1.31132501e-02 1.78007322e-04 9.99914002e-01 -2.79080981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1109.016559995 meters 0.01466291863734859 Centerline is valid? [True, True] Translation: X:-316.32, Y:-254.51, Z:-2.79 [[-6.59286247e-01 -7.51842273e-01 8.65104506e-03 -3.16316897e+02] [ 7.51781123e-01 -6.59342979e-01 -9.59061029e-03 -2.54505010e+02] [ 1.29146321e-02 1.80734907e-04 9.99916587e-01 -2.79043349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1109.046559995 meters 0.015626336263995764 Centerline is valid? [True, True] Translation: X:-316.33, Y:-254.48, Z:-2.79 [[-6.60126264e-01 -7.51107774e-01 8.39207272e-03 -3.16334684e+02] [ 7.51050237e-01 -6.60179585e-01 -9.29826148e-03 -2.54483693e+02] [ 1.25242716e-02 1.64841594e-04 9.99921555e-01 -2.79081438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1109.076559995 meters 0.014420329907169252 Centerline is valid? [True, True] Translation: X:-316.35, Y:-254.46, Z:-2.79 [[-6.60749176e-01 -7.50564920e-01 7.92638728e-03 -3.16352404e+02] [ 7.50513621e-01 -6.60796700e-01 -8.77645100e-03 -2.54463914e+02] [ 1.18250268e-02 1.49828844e-04 9.99930071e-01 -2.78867887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1109.106559995 meters 0.014243117579759457 Centerline is valid? [True, True] Translation: X:-316.37, Y:-254.44, Z:-2.79 [[-6.61574910e-01 -7.49844116e-01 7.24154856e-03 -3.16370679e+02] [ 7.49801293e-01 -6.61614529e-01 -8.01468487e-03 -2.54443031e+02] [ 1.08008780e-02 1.27408057e-04 9.99941661e-01 -2.78796786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1109.136559995 meters 0.014276971941687764 Centerline is valid? [True, True] Translation: X:-316.39, Y:-254.42, Z:-2.79 [[-6.62822626e-01 -7.48742855e-01 7.09250114e-03 -3.16388316e+02] [ 7.48701768e-01 -6.62860562e-01 -7.84459595e-03 -2.54423283e+02] [ 1.05749245e-02 1.10592461e-04 9.99944078e-01 -2.78838120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1109.166559995 meters 0.01371609952606518 Centerline is valid? [True, True] Translation: X:-316.41, Y:-254.40, Z:-2.79 [[-6.65043561e-01 -7.46774452e-01 6.70671619e-03 -3.16405418e+02] [ 7.46737654e-01 -6.65077373e-01 -7.41383039e-03 -2.54400437e+02] [ 9.99694431e-03 7.76373522e-05 9.99950026e-01 -2.78683472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1109.1965599950001 meters 0.013525787112131215 Centerline is valid? [True, True] Translation: X:-316.42, Y:-254.38, Z:-2.79 [[-6.66558799e-01 -7.45423395e-01 6.58249028e-03 -3.16422394e+02] [ 7.45387926e-01 -6.66591298e-01 -7.27192054e-03 -2.54379512e+02] [ 9.80849044e-03 5.93461606e-05 9.99951894e-01 -2.78640821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1109.2265599950001 meters 0.013386203469184267 Centerline is valid? [True, True] Translation: X:-316.44, Y:-254.36, Z:-2.79 [[-6.69292330e-01 -7.42969634e-01 6.62568665e-03 -3.16438809e+02] [ 7.42933618e-01 -6.69325125e-01 -7.31550381e-03 -2.54357123e+02] [ 9.86993573e-03 2.62347640e-05 9.99951291e-01 -2.78625740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1109.256559995 meters 0.013438808784543442 Centerline is valid? [True, True] Translation: X:-316.46, Y:-254.34, Z:-2.79 [[-6.70877304e-01 -7.41537993e-01 6.71171704e-03 -3.16455098e+02] [ 7.41501014e-01 -6.70910877e-01 -7.40555738e-03 -2.54337036e+02] [ 9.99446613e-03 8.52461688e-06 9.99950054e-01 -2.78645455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1109.286559995 meters 0.013398395721777343 Centerline is valid? [True, True] Translation: X:-316.47, Y:-254.32, Z:-2.79 [[-6.72075864e-01 -7.40452126e-01 6.68452966e-03 -3.16472299e+02] [ 7.40415437e-01 -6.72109106e-01 -7.37092113e-03 -2.54315987e+02] [ 9.95054747e-03 -4.48923238e-06 9.99950492e-01 -2.78645865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1109.316559995 meters 0.01360133018309425 Centerline is valid? [True, True] Translation: X:-316.49, Y:-254.30, Z:-2.79 [[-6.73916866e-01 -7.38772367e-01 7.17273856e-03 -3.16488750e+02] [ 7.38730084e-01 -6.73955035e-01 -7.90405402e-03 -2.54295141e+02] [ 1.06734000e-02 -2.79575545e-05 9.99943037e-01 -2.78654192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1109.346559995 meters 0.013575521529607571 Centerline is valid? [True, True] Translation: X:-316.51, Y:-254.28, Z:-2.79 [[-6.74592780e-01 -7.38155947e-01 7.09781152e-03 -3.16506568e+02] [ 7.38114561e-01 -6.74630118e-01 -7.81659029e-03 -2.54275162e+02] [ 1.05582600e-02 -3.40173455e-05 9.99944260e-01 -2.78653613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1109.376559995 meters 0.013737426972505639 Centerline is valid? [True, True] Translation: X:-316.53, Y:-254.25, Z:-2.79 [[-6.74950397e-01 -7.37825916e-01 7.40801205e-03 -3.16525314e+02] [ 7.37780869e-01 -6.74991049e-01 -8.15311106e-03 -2.54254949e+02] [ 1.10159185e-02 -3.74559849e-05 9.99939322e-01 -2.78689519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1109.406559995 meters 0.013754891543334395 Centerline is valid? [True, True] Translation: X:-316.54, Y:-254.24, Z:-2.79 [[-6.75161331e-01 -7.37626965e-01 7.97733310e-03 -3.16543390e+02] [ 7.37574782e-01 -6.75208456e-01 -8.77395777e-03 -2.54236464e+02] [ 1.18582706e-02 -3.99572742e-05 9.99929688e-01 -2.78853381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1109.4365599950002 meters 0.01366540812923833 Centerline is valid? [True, True] Translation: X:-316.56, Y:-254.22, Z:-2.79 [[-6.75182349e-01 -7.37603819e-01 8.33077698e-03 -3.16562273e+02] [ 7.37546979e-01 -6.75233741e-01 -9.15692264e-03 -2.54216900e+02] [ 1.23794028e-02 -3.82531414e-05 9.99923372e-01 -2.78801654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1109.4665599950001 meters 0.013705355389808178 Centerline is valid? [True, True] Translation: X:-316.58, Y:-254.20, Z:-2.79 [[-6.74888797e-01 -7.37870083e-01 8.53537154e-03 -3.16581381e+02] [ 7.37810505e-01 -6.74942768e-01 -9.37654131e-03 -2.54196470e+02] [ 1.26795566e-02 -3.06358960e-05 9.99919611e-01 -2.78812924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1109.496559995 meters 0.013628985962639522 Centerline is valid? [True, True] Translation: X:-316.60, Y:-254.18, Z:-2.79 [[-6.73961978e-01 -7.38714490e-01 8.72667862e-03 -3.16600634e+02] [ 7.38652352e-01 -6.74018473e-01 -9.58126158e-03 -2.54176318e+02] [ 1.29597594e-02 -1.14243138e-05 9.99916019e-01 -2.78771347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1109.526559995 meters 0.013600578145727377 Centerline is valid? [True, True] Translation: X:-316.62, Y:-254.16, Z:-2.79 [[-6.73419565e-01 -7.39208329e-01 8.78273064e-03 -3.16620166e+02] [ 7.39145503e-01 -6.73476834e-01 -9.63736413e-03 -2.54155902e+02] [ 1.30389855e-02 1.72629839e-06 9.99914989e-01 -2.78782187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1109.556559995 meters 0.013561996301678285 Centerline is valid? [True, True] Translation: X:-316.64, Y:-254.14, Z:-2.79 [[-6.71974173e-01 -7.40523569e-01 8.69221377e-03 -3.16640285e+02] [ 7.40462219e-01 -6.72030389e-01 -9.53202842e-03 -2.54137185e+02] [ 1.29001235e-02 3.09789715e-05 9.99916790e-01 -2.78804361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1109.586559995 meters 0.013675687007524584 Centerline is valid? [True, True] Translation: X:-316.66, Y:-254.12, Z:-2.79 [[-6.71264727e-01 -7.41165791e-01 8.77136024e-03 -3.16659235e+02] [ 7.41103456e-01 -6.71322030e-01 -9.61246584e-03 -2.54118641e+02] [ 1.30128382e-02 4.79761374e-05 9.99915328e-01 -2.78840044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1109.616559995 meters 0.01365894435591215 Centerline is valid? [True, True] Translation: X:-316.68, Y:-254.10, Z:-2.79 [[-6.70363529e-01 -7.41983383e-01 8.56729978e-03 -3.16678480e+02] [ 7.41924057e-01 -6.70418269e-01 -9.38291496e-03 -2.54099407e+02] [ 1.27056413e-02 6.63218217e-05 9.99919278e-01 -2.78776801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1109.646559995 meters 0.01432709469634693 Centerline is valid? [True, True] Translation: X:-316.70, Y:-254.08, Z:-2.79 [[-6.67815255e-01 -7.44276539e-01 8.67292680e-03 -3.16700078e+02] [ 7.44216005e-01 -6.67871560e-01 -9.49297815e-03 -2.54082194e+02] [ 1.28578021e-02 1.14975320e-04 9.99917329e-01 -2.78928323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1109.676559995 meters 0.014216775395229428 Centerline is valid? [True, True] Translation: X:-316.72, Y:-254.06, Z:-2.79 [[-6.66516839e-01 -7.45438735e-01 8.74047091e-03 -3.16719780e+02] [ 7.45377424e-01 -6.66574131e-01 -9.56155494e-03 -2.54061748e+02] [ 1.29537252e-02 1.42012315e-04 9.99916087e-01 -2.78765181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1109.7065599950001 meters 0.014950602642468377 Centerline is valid? [True, True] Translation: X:-316.74, Y:-254.04, Z:-2.79 [[-6.63782087e-01 -7.47873152e-01 8.89323040e-03 -3.16740670e+02] [ 7.47809949e-01 -6.63841631e-01 -9.72470855e-03 -2.54044113e+02] [ 1.31765450e-02 1.95358829e-04 9.99913167e-01 -2.78825821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1109.736559995 meters 0.014950602642468377 Centerline is valid? [True, True] Translation: X:-316.76, Y:-254.02, Z:-2.79 [[-6.64014408e-01 -7.47666853e-01 8.89625129e-03 -3.16758816e+02] [ 7.47603668e-01 -6.64073971e-01 -9.72194510e-03 -2.54024434e+02] [ 1.31765450e-02 1.95358482e-04 9.99913167e-01 -2.78825812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1109.766559995 meters 0.015914390193181586 Centerline is valid? [True, True] Translation: X:-316.78, Y:-254.01, Z:-2.79 [[-6.62830140e-01 -7.48715274e-01 9.03569729e-03 -3.16779033e+02] [ 7.48650250e-01 -6.62891687e-01 -9.86991620e-03 -2.54006857e+02] [ 1.33794456e-02 2.22499094e-04 9.99910467e-01 -2.78949667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1109.796559995 meters 0.015456371217308165 Centerline is valid? [True, True] Translation: X:-316.80, Y:-253.99, Z:-2.79 [[-6.61547510e-01 -7.49846821e-01 9.19989277e-03 -3.16797836e+02] [ 7.49779597e-01 -6.61611428e-01 -1.00436247e-02 -2.53986324e+02] [ 1.36179342e-02 2.53556990e-04 9.99907240e-01 -2.78825207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1109.826559995 meters 0.016320585582519233 Centerline is valid? [True, True] Translation: X:-316.82, Y:-253.97, Z:-2.79 [[-6.60384382e-01 -7.50872172e-01 9.13510294e-03 -3.16818066e+02] [ 7.50806070e-01 -6.60447504e-01 -9.96697553e-03 -2.53968257e+02] [ 1.35171805e-02 2.76655757e-04 9.99908601e-01 -2.78863159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1109.856559995 meters 0.01696512257554229 Centerline is valid? [True, True] Translation: X:-316.84, Y:-253.95, Z:-2.79 [[-6.57916360e-01 -7.53041404e-01 8.64334916e-03 -3.16838900e+02] [ 7.52982481e-01 -6.57973062e-01 -9.42518867e-03 -2.53948989e+02] [ 1.27846482e-02 3.07304667e-04 9.99918226e-01 -2.78770559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1109.886559995 meters 0.01745983865620286 Centerline is valid? [True, True] Translation: X:-316.86, Y:-253.93, Z:-2.79 [[-6.56998839e-01 -7.53844442e-01 8.43110374e-03 -3.16858840e+02] [ 7.53788507e-01 -6.57052857e-01 -9.18864751e-03 -2.53929311e+02] [ 1.24664916e-02 3.18338347e-04 9.99922240e-01 -2.78725458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1109.916559995 meters 0.01720151563583577 Centerline is valid? [True, True] Translation: X:-316.88, Y:-253.91, Z:-2.79 [[-6.56400264e-01 -7.54367730e-01 8.24745864e-03 -3.16878314e+02] [ 7.54314309e-01 -6.56451995e-01 -8.98340019e-03 -2.53908464e+02] [ 1.21908479e-02 3.24469801e-04 9.99925636e-01 -2.78648376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1109.9465599950001 meters 0.01919291680636589 Centerline is valid? [True, True] Translation: X:-316.90, Y:-253.89, Z:-2.79 [[-6.55292472e-01 -7.55336305e-01 7.67093400e-03 -3.16900114e+02] [ 7.55290214e-01 -6.55337290e-01 -8.35043311e-03 -2.53891178e+02] [ 1.13344344e-02 3.21805423e-04 9.99935712e-01 -2.78685315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1109.9765599950001 meters 0.019189913232358382 Centerline is valid? [True, True] Translation: X:-316.92, Y:-253.87, Z:-2.79 [[-6.55207890e-01 -7.55412392e-01 7.39855829e-03 -3.16919026e+02] [ 7.55369575e-01 -6.55249585e-01 -8.04899994e-03 -2.53871410e+02] [ 1.09282165e-02 3.14877565e-04 9.99940236e-01 -2.78649888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1110.006559995 meters 0.017769783000247806 Centerline is valid? [True, True] Translation: X:-316.94, Y:-253.85, Z:-2.79 [[-6.55146366e-01 -7.55467716e-01 7.19505063e-03 -3.16936660e+02] [ 7.55427274e-01 -6.55185801e-01 -7.82311428e-03 -2.53849180e+02] [ 1.06242053e-02 3.10052586e-04 9.99943514e-01 -2.78542592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1110.036559995 meters 0.01834821161727404 Centerline is valid? [True, True] Translation: X:-316.96, Y:-253.83, Z:-2.79 [[-6.55035916e-01 -7.55560229e-01 7.52925487e-03 -3.16956166e+02] [ 7.55515986e-01 -6.55079104e-01 -8.18307346e-03 -2.53830428e+02] [ 1.11150624e-02 3.28265401e-04 9.99938172e-01 -2.78619267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1110.066559995 meters 0.01938811420864607 Centerline is valid? [True, True] Translation: X:-316.98, Y:-253.81, Z:-2.79 [[-6.55284764e-01 -7.55341813e-01 7.78613750e-03 -3.16975187e+02] [ 7.55294548e-01 -6.55330932e-01 -8.45664646e-03 -2.53812586e+02] [ 1.14901554e-02 3.39315624e-04 9.99933929e-01 -2.78758824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1110.096559995 meters 0.01890682583618755 Centerline is valid? [True, True] Translation: X:-316.99, Y:-253.79, Z:-2.79 [[-6.56134041e-01 -7.54596890e-01 8.46483288e-03 -3.16993076e+02] [ 7.54541035e-01 -6.56188544e-01 -9.18813172e-03 -2.53792448e+02] [ 1.24878620e-02 3.58417769e-04 9.99921960e-01 -2.78842904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1110.126559995 meters 0.01785631749016968 Centerline is valid? [True, True] Translation: X:-317.01, Y:-253.77, Z:-2.79 [[-6.57067531e-01 -7.53780800e-01 8.76164323e-03 -3.17010417e+02] [ 7.53720959e-01 -6.57125846e-01 -9.50464858e-03 -2.53770729e+02] [ 1.29219238e-02 3.58638169e-04 9.99916444e-01 -2.78874820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1110.156559995 meters 0.01774035130883155 Centerline is valid? [True, True] Translation: X:-317.03, Y:-253.75, Z:-2.79 [[-6.58082466e-01 -7.52891188e-01 9.07339889e-03 -3.17028306e+02] [ 7.52827011e-01 -6.58144916e-01 -9.83666954e-03 -2.53750145e+02] [ 1.33775532e-02 3.57360022e-04 9.99910453e-01 -2.78909169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1110.1865599950002 meters 0.016709335343883042 Centerline is valid? [True, True] Translation: X:-317.05, Y:-253.73, Z:-2.79 [[-6.60445639e-01 -7.50815511e-01 9.36095408e-03 -3.17045129e+02] [ 7.50747071e-01 -6.60511893e-01 -1.01427520e-02 -2.53727189e+02] [ 1.37983571e-02 3.28972498e-04 9.99904744e-01 -2.78915762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1110.2165599950001 meters 0.01660458752206034 Centerline is valid? [True, True] Translation: X:-317.06, Y:-253.71, Z:-2.79 [[-6.61828867e-01 -7.49598602e-01 9.19164521e-03 -3.17062708e+02] [ 7.49532572e-01 -6.61892623e-01 -9.95381199e-03 -2.53706214e+02] [ 1.35452457e-02 3.01717367e-04 9.99908214e-01 -2.78906225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1110.246559995 meters 0.01495642225974297 Centerline is valid? [True, True] Translation: X:-317.08, Y:-253.68, Z:-2.79 [[-6.64859631e-01 -7.46922886e-01 8.23852935e-03 -3.17077195e+02] [ 7.46869697e-01 -6.64910635e-01 -8.91647887e-03 -2.53681912e+02] [ 1.21378079e-02 2.24901058e-04 9.99926309e-01 -2.78619409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1110.276559995 meters 0.014756111785067092 Centerline is valid? [True, True] Translation: X:-317.09, Y:-253.66, Z:-2.79 [[-6.66556845e-01 -7.45416797e-01 7.46795051e-03 -3.17094650e+02] [ 7.45373048e-01 -6.66598654e-01 -8.07798271e-03 -2.53661082e+02] [ 1.09995898e-02 1.81974359e-04 9.99939486e-01 -2.78590720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1110.306559995 meters 0.01409464809534478 Centerline is valid? [True, True] Translation: X:-317.11, Y:-253.64, Z:-2.78 [[-6.68495643e-01 -7.43683227e-01 6.98816677e-03 -3.17111895e+02] [ 7.43644868e-01 -6.68532151e-01 -7.55469311e-03 -2.53638904e+02] [ 1.02901127e-02 1.46434934e-04 9.99947045e-01 -2.78493183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1110.336559995 meters 0.013516210482885056 Centerline is valid? [True, True] Translation: X:-317.13, Y:-253.62, Z:-2.79 [[-6.72562205e-01 -7.40012283e-01 6.47323442e-03 -3.17128045e+02] [ 7.39979235e-01 -6.72593350e-01 -6.99405517e-03 -2.53616252e+02] [ 9.52954116e-03 8.61218951e-05 9.99954589e-01 -2.78504796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1110.366559995 meters 0.01322292918737805 Centerline is valid? [True, True] Translation: X:-317.14, Y:-253.59, Z:-2.78 [[-6.74643882e-01 -7.38115321e-01 6.43476682e-03 -3.17144895e+02] [ 7.38082620e-01 -6.74674566e-01 -6.94811807e-03 -2.53594495e+02] [ 9.46988590e-03 6.18842133e-05 9.99955158e-01 -2.78471357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1110.396559995 meters 0.013083619134521387 Centerline is valid? [True, True] Translation: X:-317.16, Y:-253.57, Z:-2.78 [[-6.76685994e-01 -7.36243688e-01 6.42634828e-03 -3.17161651e+02] [ 7.36211029e-01 -6.76716507e-01 -6.93468394e-03 -2.53572705e+02] [ 9.45443323e-03 3.85449822e-05 9.99955305e-01 -2.78463522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1110.426559995 meters 0.012908132582866588 Centerline is valid? [True, True] Translation: X:-317.18, Y:-253.55, Z:-2.78 [[-6.79694224e-01 -7.33470442e-01 6.07221542e-03 -3.17179076e+02] [ 7.33441207e-01 -6.79721348e-01 -6.54868602e-03 -2.53550987e+02] [ 8.93068208e-03 2.50894780e-06 9.99960121e-01 -2.78371004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1110.4565599950001 meters 0.01300676786320313 Centerline is valid? [True, True] Translation: X:-317.20, Y:-253.53, Z:-2.78 [[-6.80909373e-01 -7.32343077e-01 6.00352795e-03 -3.17198047e+02] [ 7.32314488e-01 -6.80935839e-01 -6.47097544e-03 -2.53530202e+02] [ 8.82699141e-03 -9.67733494e-06 9.99961041e-01 -2.78307762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1110.486559995 meters 0.013125568720203377 Centerline is valid? [True, True] Translation: X:-317.22, Y:-253.51, Z:-2.78 [[-6.83044544e-01 -7.30351794e-01 6.03397649e-03 -3.17215864e+02] [ 7.30322874e-01 -6.83071195e-01 -6.49949784e-03 -2.53510328e+02] [ 8.86855544e-03 -3.26954859e-05 9.99960673e-01 -2.78363394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1110.516559995 meters 0.013201297097506878 Centerline is valid? [True, True] Translation: X:-317.23, Y:-253.49, Z:-2.78 [[-6.84295169e-01 -7.29180408e-01 6.00449683e-03 -3.17234214e+02] [ 7.29151761e-01 -6.84321511e-01 -6.46371688e-03 -2.53490136e+02] [ 8.82222206e-03 -4.49008005e-05 9.99961083e-01 -2.78338588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1110.546559995 meters 0.013440490162838636 Centerline is valid? [True, True] Translation: X:-317.25, Y:-253.47, Z:-2.78 [[-6.85867451e-01 -7.27704591e-01 5.64516382e-03 -3.17252343e+02] [ 7.27679251e-01 -6.85890680e-01 -6.07313297e-03 -2.53469859e+02] [ 8.29141199e-03 -5.74956523e-05 9.99965624e-01 -2.78318013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1110.576559995 meters 0.01373211043094167 Centerline is valid? [True, True] Translation: X:-317.27, Y:-253.45, Z:-2.78 [[-6.88215670e-01 -7.25484482e-01 5.60870508e-03 -3.17271384e+02] [ 7.25459422e-01 -6.88238520e-01 -6.03055848e-03 -2.53448625e+02] [ 8.23520347e-03 -8.14369046e-05 9.99966087e-01 -2.78322107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1110.606559995 meters 0.01413024889041818 Centerline is valid? [True, True] Translation: X:-317.29, Y:-253.43, Z:-2.78 [[-6.89906933e-01 -7.23876690e-01 5.56435036e-03 -3.17290385e+02] [ 7.23851999e-01 -6.89929365e-01 -5.97956479e-03 -2.53428378e+02] [ 8.16747628e-03 -9.75770710e-05 9.99966641e-01 -2.78400715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1110.636559995 meters 0.014485981063328568 Centerline is valid? [True, True] Translation: X:-317.31, Y:-253.41, Z:-2.78 [[-6.91405764e-01 -7.22445339e-01 5.54997713e-03 -3.17309406e+02] [ 7.22420756e-01 -6.91428030e-01 -5.96083683e-03 -2.53408114e+02] [ 8.14378854e-03 -1.11938273e-04 9.99966833e-01 -2.78436759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1110.666559995 meters 0.014835565473215913 Centerline is valid? [True, True] Translation: X:-317.33, Y:-253.39, Z:-2.78 [[-6.93787145e-01 -7.20160294e-01 5.34306667e-03 -3.17329228e+02] [ 7.20137467e-01 -6.93807707e-01 -5.73540334e-03 -2.53388505e+02] [ 7.83747059e-03 -1.31406612e-04 9.99969278e-01 -2.78459701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1110.6965599950001 meters 0.015183297188940471 Centerline is valid? [True, True] Translation: X:-317.35, Y:-253.37, Z:-2.78 [[-6.94957276e-01 -7.19031939e-01 5.23981449e-03 -3.17348313e+02] [ 7.19009977e-01 -6.94977016e-01 -5.62144159e-03 -2.53368510e+02] [ 7.68354668e-03 -1.39182836e-04 9.99970472e-01 -2.78483076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1110.7265599950001 meters 0.015841395844177746 Centerline is valid? [True, True] Translation: X:-317.37, Y:-253.35, Z:-2.78 [[-6.97028621e-01 -7.17023059e-01 5.38842855e-03 -3.17367995e+02] [ 7.16999799e-01 -6.97049429e-01 -5.77767176e-03 -2.53348242e+02] [ 7.89872493e-03 -1.63700385e-04 9.99968791e-01 -2.78441931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1110.756559995 meters 0.01587629613584312 Centerline is valid? [True, True] Translation: X:-317.39, Y:-253.33, Z:-2.78 [[-6.98055696e-01 -7.16024107e-01 5.26525825e-03 -3.17387298e+02] [ 7.16001896e-01 -6.98075533e-01 -5.64225731e-03 -2.53328469e+02] [ 7.71554022e-03 -1.68674964e-04 9.99970221e-01 -2.78386285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1110.786559995 meters 0.017043443830034782 Centerline is valid? [True, True] Translation: X:-317.40, Y:-253.31, Z:-2.78 [[-6.98749959e-01 -7.15349115e-01 4.91314417e-03 -3.17404411e+02] [ 7.15329784e-01 -6.98767213e-01 -5.26147189e-03 -2.53308229e+02] [ 7.19693332e-03 -1.61934917e-04 9.99974089e-01 -2.78400345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1110.816559995 meters 0.01626471233791193 Centerline is valid? [True, True] Translation: X:-317.43, Y:-253.29, Z:-2.78 [[-6.98901704e-01 -7.15204573e-01 4.33895126e-03 -3.17426540e+02] [ 7.15189512e-01 -6.98915158e-01 -4.64369006e-03 -2.53291036e+02] [ 6.35374717e-03 -1.42310463e-04 9.99979805e-01 -2.78238091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1110.846559995 meters 0.015971101538139666 Centerline is valid? [True, True] Translation: X:-317.45, Y:-253.27, Z:-2.78 [[-6.98414194e-01 -7.15681766e-01 4.15011890e-03 -3.17447227e+02] [ 7.15668012e-01 -6.98426513e-01 -4.43884942e-03 -2.53272751e+02] [ 6.07535666e-03 -1.30048103e-04 9.99981537e-01 -2.78235313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1110.876559995 meters 0.015327038114354215 Centerline is valid? [True, True] Translation: X:-317.47, Y:-253.25, Z:-2.78 [[-6.97397624e-01 -7.16672402e-01 4.15003618e-03 -3.17469086e+02] [ 7.16658681e-01 -6.97409962e-01 -4.43629508e-03 -2.53254726e+02] [ 6.07364683e-03 -1.19702195e-04 9.99981548e-01 -2.78207629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1110.906559995 meters 0.016197104018578056 Centerline is valid? [True, True] Translation: X:-317.49, Y:-253.24, Z:-2.78 [[-6.96288559e-01 -7.17751589e-01 3.85998453e-03 -3.17487853e+02] [ 7.17739747e-01 -6.96299250e-01 -4.12424087e-03 -2.53236138e+02] [ 5.64788477e-03 -1.01197412e-04 9.99984046e-01 -2.78310874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1110.9365599950002 meters 0.014692010086777063 Centerline is valid? [True, True] Translation: X:-317.51, Y:-253.22, Z:-2.78 [[-6.92748851e-01 -7.21167646e-01 4.03186447e-03 -3.17511716e+02] [ 7.21154798e-01 -6.92760580e-01 -4.30540619e-03 -2.53221684e+02] [ 5.89803641e-03 -7.49667877e-05 9.99982604e-01 -2.78355303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1110.9665599950001 meters 0.013147788304086075 Centerline is valid? [True, True] Translation: X:-317.54, Y:-253.21, Z:-2.78 [[-6.90618071e-01 -7.23208043e-01 4.09971138e-03 -3.17535821e+02] [ 7.23194809e-01 -6.90630237e-01 -4.37538071e-03 -2.53205673e+02] [ 5.99569516e-03 -5.68269981e-05 9.99982024e-01 -2.78264475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1110.996559995 meters 0.012476967921835582 Centerline is valid? [True, True] Translation: X:-317.56, Y:-253.19, Z:-2.78 [[-6.85077811e-01 -7.28458248e-01 4.11989613e-03 -3.17561308e+02] [ 7.28444993e-01 -6.85090199e-01 -4.39443783e-03 -2.53190760e+02] [ 6.02366494e-03 -9.41414073e-06 9.99981858e-01 -2.78286009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1111.026559995 meters 0.01248161517718315 Centerline is valid? [True, True] Translation: X:-317.58, Y:-253.17, Z:-2.78 [[-6.82250064e-01 -7.31104531e-01 4.58411935e-03 -3.17584021e+02] [ 7.31088199e-01 -6.82265464e-01 -4.88681146e-03 -2.53173117e+02] [ 6.70035632e-03 1.73681300e-05 9.99977552e-01 -2.78323338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1111.056559995 meters 0.012736340500630714 Centerline is valid? [True, True] Translation: X:-317.61, Y:-253.16, Z:-2.78 [[-6.79129189e-01 -7.34003495e-01 4.73434374e-03 -3.17605912e+02] [ 7.33986160e-01 -6.79145689e-01 -5.04485885e-03 -2.53156808e+02] [ 6.91825317e-03 4.88318808e-05 9.99976068e-01 -2.78378142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1111.086559995 meters 0.013207462952479812 Centerline is valid? [True, True] Translation: X:-317.63, Y:-253.14, Z:-2.78 [[-6.76463340e-01 -7.36460107e-01 4.88476659e-03 -3.17628037e+02] [ 7.36441738e-01 -6.76480972e-01 -5.20206277e-03 -2.53140318e+02] [ 7.13556335e-03 7.83412453e-05 9.99974539e-01 -2.78414866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1111.116559995 meters 0.01418555985823967 Centerline is valid? [True, True] Translation: X:-317.65, Y:-253.12, Z:-2.78 [[-6.71618853e-01 -7.40880718e-01 4.88659624e-03 -3.17653109e+02] [ 7.40862471e-01 -6.71636618e-01 -5.20124043e-03 -2.53124413e+02] [ 7.13551571e-03 1.27044632e-04 9.99974534e-01 -2.78411372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1111.146559995 meters 0.01502743360552156 Centerline is valid? [True, True] Translation: X:-317.67, Y:-253.11, Z:-2.78 [[-6.70015159e-01 -7.42331914e-01 4.79756855e-03 -3.17674146e+02] [ 7.42314385e-01 -6.70032320e-01 -5.10340076e-03 -2.53107343e+02] [ 7.00294324e-03 1.41948275e-04 9.99975469e-01 -2.78430934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1111.176559995 meters 0.01557948669504924 Centerline is valid? [True, True] Translation: X:-317.70, Y:-253.09, Z:-2.78 [[-6.67694722e-01 -7.44417842e-01 5.08291229e-03 -3.17696521e+02] [ 7.44398247e-01 -6.67714045e-01 -5.40405210e-03 -2.53089611e+02] [ 7.41680473e-03 1.75453935e-04 9.99972480e-01 -2.78459852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1111.2065599950001 meters 0.016612076383502428 Centerline is valid? [True, True] Translation: X:-317.72, Y:-253.07, Z:-2.79 [[-6.67283909e-01 -7.44784558e-01 5.30537371e-03 -3.17717578e+02] [ 7.44763241e-01 -6.67304973e-01 -5.63821382e-03 -2.53071782e+02] [ 7.73955684e-03 1.88957961e-04 9.99970032e-01 -2.78530398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1111.236559995 meters 0.01648712098214606 Centerline is valid? [True, True] Translation: X:-317.74, Y:-253.05, Z:-2.79 [[-6.67085032e-01 -7.44962404e-01 5.34570730e-03 -3.17736681e+02] [ 7.44940794e-01 -6.67106422e-01 -5.67752282e-03 -2.53052760e+02] [ 7.79569672e-03 1.94844953e-04 9.99969594e-01 -2.78543562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1111.266559995 meters 0.01672941786208545 Centerline is valid? [True, True] Translation: X:-317.76, Y:-253.04, Z:-2.79 [[-6.67247641e-01 -7.44812012e-01 5.97092843e-03 -3.17756245e+02] [ 7.44785073e-01 -6.67274321e-01 -6.33848626e-03 -2.53035223e+02] [ 8.70522792e-03 2.17718365e-04 9.99962085e-01 -2.78684017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1111.296559995 meters 0.0165423566076614 Centerline is valid? [True, True] Translation: X:-317.77, Y:-253.02, Z:-2.79 [[-6.67686015e-01 -7.44415037e-01 6.45276324e-03 -3.17774848e+02] [ 7.44383596e-01 -6.67717155e-01 -6.84570100e-03 -2.53015581e+02] [ 9.40466347e-03 2.32552285e-04 9.99955748e-01 -2.78736320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1111.326559995 meters 0.016105132422742904 Centerline is valid? [True, True] Translation: X:-317.79, Y:-253.00, Z:-2.79 [[-6.68498725e-01 -7.43677082e-01 7.33838753e-03 -3.17793249e+02] [ 7.43636426e-01 -6.68538953e-01 -7.78035178e-03 -2.52995734e+02] [ 1.06920672e-02 2.55937023e-04 9.99942806e-01 -2.78836963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1111.356559995 meters 0.01618583594563979 Centerline is valid? [True, True] Translation: X:-317.81, Y:-252.98, Z:-2.79 [[-6.69151731e-01 -7.43083018e-01 7.97431002e-03 -3.17811522e+02] [ 7.43035032e-01 -6.69199190e-01 -8.44899793e-03 -2.52977383e+02] [ 1.16147087e-02 2.71530112e-04 9.99932510e-01 -2.78937819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1111.386559995 meters 0.016343471547025524 Centerline is valid? [True, True] Translation: X:-317.83, Y:-252.96, Z:-2.79 [[-6.69731879e-01 -7.42551380e-01 8.75548740e-03 -3.17829524e+02] [ 7.42493544e-01 -6.69789044e-01 -9.27222156e-03 -2.52958643e+02] [ 1.27494304e-02 2.90990501e-04 9.99918681e-01 -2.79037090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1111.416559995 meters 0.015658682615011726 Centerline is valid? [True, True] Translation: X:-317.85, Y:-252.94, Z:-2.79 [[-6.71594577e-01 -7.40857219e-01 9.55535955e-03 -3.17847256e+02] [ 7.40788219e-01 -6.71662489e-01 -1.01150908e-02 -2.52937237e+02] [ 1.39118146e-02 2.85257657e-04 9.99903186e-01 -2.79110850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1111.4465599950001 meters 0.014930337400068307 Centerline is valid? [True, True] Translation: X:-317.86, Y:-252.92, Z:-2.79 [[-6.74001129e-01 -7.38670490e-01 9.40134965e-03 -3.17864216e+02] [ 7.38603557e-01 -6.74066651e-01 -9.94667913e-03 -2.52915176e+02] [ 1.36844546e-02 2.39797330e-04 9.99906335e-01 -2.79111581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1111.4765599950001 meters 0.01447371158616305 Centerline is valid? [True, True] Translation: X:-317.88, Y:-252.89, Z:-2.79 [[-6.75501018e-01 -7.37302173e-01 9.15868797e-03 -3.17882517e+02] [ 7.37238594e-01 -6.75563070e-01 -9.68471783e-03 -2.52893298e+02] [ 1.33278349e-02 2.10101497e-04 9.99911159e-01 -2.79085132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1111.506559995 meters 0.014105365567953231 Centerline is valid? [True, True] Translation: X:-317.90, Y:-252.87, Z:-2.79 [[-6.77067598e-01 -7.35865677e-01 9.00959277e-03 -3.17899484e+02] [ 7.35804103e-01 -6.77127515e-01 -9.52100686e-03 -2.52873036e+02] [ 1.31068253e-02 1.82930083e-04 9.99914085e-01 -2.79070451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1111.536559995 meters 0.013512074564414226 Centerline is valid? [True, True] Translation: X:-317.92, Y:-252.85, Z:-2.79 [[-6.78718250e-01 -7.34344709e-01 8.90984772e-03 -3.17916342e+02] [ 7.34284434e-01 -6.78776712e-01 -9.40985692e-03 -2.52851797e+02] [ 1.29578758e-02 1.55720870e-04 9.99916031e-01 -2.79020363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1111.566559995 meters 0.013205319175687366 Centerline is valid? [True, True] Translation: X:-317.93, Y:-252.83, Z:-2.79 [[-6.80349368e-01 -7.32834874e-01 8.81960606e-03 -3.17933858e+02] [ 7.32775755e-01 -6.80406519e-01 -9.30921702e-03 -2.52830157e+02] [ 1.28230363e-02 1.29273577e-04 9.99917773e-01 -2.78987668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1111.596559995 meters 0.013205319175687366 Centerline is valid? [True, True] Translation: X:-317.95, Y:-252.81, Z:-2.79 [[-6.80570943e-01 -7.32629072e-01 8.82242092e-03 -3.17952342e+02] [ 7.32569970e-01 -6.80628112e-01 -9.30654940e-03 -2.52810820e+02] [ 1.28230363e-02 1.29273524e-04 9.99917773e-01 -2.78987660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1111.626559995 meters 0.012596008699149319 Centerline is valid? [True, True] Translation: X:-317.97, Y:-252.79, Z:-2.79 [[-6.83679231e-01 -7.29734253e-01 8.40412430e-03 -3.17968200e+02] [ 7.29680462e-01 -6.83730879e-01 -8.86054954e-03 -2.52787269e+02] [ 1.22120058e-02 7.45516018e-05 9.99925428e-01 -2.79008773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1111.656559995 meters 0.012533758363834354 Centerline is valid? [True, True] Translation: X:-317.99, Y:-252.77, Z:-2.79 [[-6.85111954e-01 -7.28387528e-01 8.55679775e-03 -3.17985294e+02] [ 7.28331727e-01 -6.85165386e-01 -9.01609268e-03 -2.52766286e+02] [ 1.24300311e-02 5.51544094e-05 9.99922743e-01 -2.79016984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1111.6865599950002 meters 0.01247702393214453 Centerline is valid? [True, True] Translation: X:-318.00, Y:-252.75, Z:-2.79 [[-6.86526382e-01 -7.27057351e-01 8.31476979e-03 -3.18002413e+02] [ 7.27004627e-01 -6.86576731e-01 -8.75582032e-03 -2.52745023e+02] [ 1.20747110e-02 3.37744612e-05 9.99927098e-01 -2.78994296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1111.7165599950001 meters 0.012364316573828952 Centerline is valid? [True, True] Translation: X:-318.02, Y:-252.72, Z:-2.79 [[-6.88535801e-01 -7.25152475e-01 8.50526264e-03 -3.18018149e+02] [ 7.25097230e-01 -6.88588330e-01 -8.95086681e-03 -2.52722081e+02] [ 1.23473678e-02 4.15013540e-06 9.99923769e-01 -2.78861907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1111.746559995 meters 0.012346176891988804 Centerline is valid? [True, True] Translation: X:-318.04, Y:-252.70, Z:-2.79 [[-6.89517722e-01 -7.24219280e-01 8.47028664e-03 -3.18035951e+02] [ 7.24164486e-01 -6.89569746e-01 -8.90856709e-03 -2.52700924e+02] [ 1.22926094e-02 -8.73411429e-06 9.99924443e-01 -2.78894065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1111.776559995 meters 0.012233592577537134 Centerline is valid? [True, True] Translation: X:-318.05, Y:-252.68, Z:-2.79 [[-6.90724336e-01 -7.23073671e-01 8.02231852e-03 -3.18053280e+02] [ 7.23024498e-01 -6.90770921e-01 -8.43268071e-03 -2.52678677e+02] [ 1.16390338e-02 -2.43249696e-05 9.99932264e-01 -2.78798687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1111.806559995 meters 0.012565927985697842 Centerline is valid? [True, True] Translation: X:-318.07, Y:-252.66, Z:-2.79 [[-6.91020375e-01 -7.22790199e-01 8.07273076e-03 -3.18070214e+02] [ 7.22740435e-01 -6.91067527e-01 -8.48153366e-03 -2.52658727e+02] [ 1.17091715e-02 -2.64236289e-05 9.99931445e-01 -2.78996407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1111.836559995 meters 0.012367643792687745 Centerline is valid? [True, True] Translation: X:-318.09, Y:-252.64, Z:-2.79 [[-6.91176308e-01 -7.22641591e-01 8.02763115e-03 -3.18088618e+02] [ 7.22592432e-01 -6.91222924e-01 -8.42892533e-03 -2.52639220e+02] [ 1.16399747e-02 -2.51679838e-05 9.99932253e-01 -2.78808403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1111.866559995 meters 0.012283290176214913 Centerline is valid? [True, True] Translation: X:-318.11, Y:-252.62, Z:-2.79 [[-6.90318912e-01 -7.23461631e-01 7.94162005e-03 -3.18108053e+02] [ 7.23413628e-01 -6.90364592e-01 -8.33392524e-03 -2.52618586e+02] [ 1.15118884e-02 -7.99003077e-06 9.99933736e-01 -2.78755046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1111.896559995 meters 0.012300889842157 Centerline is valid? [True, True] Translation: X:-318.13, Y:-252.60, Z:-2.79 [[-6.90212869e-01 -7.23565320e-01 7.70867111e-03 -3.18127283e+02] [ 7.23520149e-01 -6.90255915e-01 -8.08494310e-03 -2.52598540e+02] [ 1.11709403e-02 -2.95289904e-06 9.99937603e-01 -2.78782184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1111.926559995 meters 0.012288918217032905 Centerline is valid? [True, True] Translation: X:-318.15, Y:-252.58, Z:-2.79 [[-6.88882419e-01 -7.24832839e-01 7.63987152e-03 -3.18146733e+02] [ 7.24788599e-01 -6.88924782e-01 -8.00825747e-03 -2.52578389e+02] [ 1.10679448e-02 2.05439957e-05 9.99938748e-01 -2.78791647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1111.9565599950001 meters 0.012258361978375399 Centerline is valid? [True, True] Translation: X:-318.17, Y:-252.56, Z:-2.79 [[-6.88280250e-01 -7.25401835e-01 7.90415890e-03 -3.18165788e+02] [ 7.25354575e-01 -6.88325633e-01 -8.28034922e-03 -2.52558847e+02] [ 1.14472157e-02 3.41169927e-05 9.99934478e-01 -2.78849665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1111.986559995 meters 0.012441610531326499 Centerline is valid? [True, True] Translation: X:-318.18, Y:-252.54, Z:-2.79 [[-6.87638908e-01 -7.26007285e-01 8.13358299e-03 -3.18184750e+02] [ 7.25957346e-01 -6.87687008e-01 -8.51538096e-03 -2.52539525e+02] [ 1.17755880e-02 4.91270555e-05 9.99930664e-01 -2.78895045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1112.016559995 meters 0.012433593063533116 Centerline is valid? [True, True] Translation: X:-318.20, Y:-252.52, Z:-2.79 [[-6.87224742e-01 -7.26401002e-01 7.98360678e-03 -3.18203715e+02] [ 7.26352975e-01 -6.87271112e-01 -8.35314073e-03 -2.52519588e+02] [ 1.15546321e-02 5.84315566e-05 9.99933241e-01 -2.78898291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1112.046559995 meters 0.012877673790691626 Centerline is valid? [True, True] Translation: X:-318.22, Y:-252.50, Z:-2.79 [[-6.86265241e-01 -7.27304876e-01 8.22413278e-03 -3.18222076e+02] [ 7.27254043e-01 -6.86314514e-01 -8.59917088e-03 -2.52500472e+02] [ 1.18985606e-02 7.97217327e-05 9.99929207e-01 -2.79109091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1112.076559995 meters 0.012626602136334743 Centerline is valid? [True, True] Translation: X:-318.24, Y:-252.48, Z:-2.79 [[-6.86145798e-01 -7.27418832e-01 8.11091915e-03 -3.18239616e+02] [ 7.27369459e-01 -6.86193730e-01 -8.47553177e-03 -2.52479655e+02] [ 1.17309233e-02 8.41843673e-05 9.99931187e-01 -2.78908406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1112.106559995 meters 0.012524810765054403 Centerline is valid? [True, True] Translation: X:-318.26, Y:-252.46, Z:-2.79 [[-6.86220276e-01 -7.27358970e-01 7.11767128e-03 -3.18257675e+02] [ 7.27320989e-01 -6.86257184e-01 -7.43347182e-03 -2.52457798e+02] [ 1.02913555e-02 7.58326332e-05 9.99947040e-01 -2.78749743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1112.136559995 meters 0.012425091471932768 Centerline is valid? [True, True] Translation: X:-318.28, Y:-252.44, Z:-2.79 [[-6.86673516e-01 -7.26935319e-01 6.67272908e-03 -3.18275926e+02] [ 7.26901956e-01 -6.86705932e-01 -6.96487560e-03 -2.52436431e+02] [ 9.64521671e-03 6.78242020e-05 9.99953482e-01 -2.78643440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1112.166559995 meters 0.012349937198444186 Centerline is valid? [True, True] Translation: X:-318.29, Y:-252.41, Z:-2.79 [[-6.88445910e-01 -7.25265174e-01 5.71460153e-03 -3.18291342e+02] [ 7.25240671e-01 -6.88469626e-01 -5.96188378e-03 -2.52414668e+02] [ 8.25827626e-03 4.00269433e-05 9.99965899e-01 -2.78507812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1112.1965599950001 meters 0.012282707699487208 Centerline is valid? [True, True] Translation: X:-318.31, Y:-252.39, Z:-2.79 [[-6.89847014e-01 -7.23938070e-01 4.97670515e-03 -3.18307973e+02] [ 7.23919470e-01 -6.89864965e-01 -5.18954639e-03 -2.52394862e+02] [ 7.19016473e-03 2.27406697e-05 9.99974150e-01 -2.78532252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1112.2265599950001 meters 0.01215523607846022 Centerline is valid? [True, True] Translation: X:-318.32, Y:-252.37, Z:-2.78 [[-6.91600888e-01 -7.22265790e-01 4.50993979e-03 -3.18324599e+02] [ 7.22250499e-01 -6.91615593e-01 -4.69985909e-03 -2.52373448e+02] [ 6.51369212e-03 6.87954052e-06 9.99978786e-01 -2.78402137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1112.256559995 meters 0.012190918218849545 Centerline is valid? [True, True] Translation: X:-318.34, Y:-252.35, Z:-2.78 [[-6.93616985e-01 -7.20332249e-01 4.11460602e-03 -3.18340861e+02] [ 7.20319499e-01 -6.93629189e-01 -4.28579259e-03 -2.52352196e+02] [ 5.94120545e-03 -8.86758506e-06 9.99982351e-01 -2.78362163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1112.286559995 meters 0.012541228263769324 Centerline is valid? [True, True] Translation: X:-318.36, Y:-252.33, Z:-2.78 [[-6.97682202e-01 -7.16399428e-01 3.37704811e-03 -3.18355184e+02] [ 7.16390804e-01 -6.97690374e-01 -3.51534613e-03 -2.52327956e+02] [ 4.87452592e-03 -3.33082157e-05 9.99988119e-01 -2.78265956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1112.316559995 meters 0.012963964828514878 Centerline is valid? [True, True] Translation: X:-318.37, Y:-252.31, Z:-2.78 [[-6.99862482e-01 -7.14272179e-01 2.78574628e-03 -3.18372585e+02] [ 7.14266301e-01 -6.99868025e-01 -2.89821891e-03 -2.52306056e+02] [ 4.01977189e-03 -3.85899905e-05 9.99991920e-01 -2.78226286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1112.346559995 meters 0.01390858094978757 Centerline is valid? [True, True] Translation: X:-318.39, Y:-252.28, Z:-2.78 [[-7.03324946e-01 -7.10863970e-01 2.53718271e-03 -3.18389100e+02] [ 7.10859076e-01 -7.03329520e-01 -2.63816148e-03 -2.52282794e+02] [ 3.65984944e-03 -5.19054238e-05 9.99993302e-01 -2.78222119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1112.376559995 meters 0.013932836764984222 Centerline is valid? [True, True] Translation: X:-318.41, Y:-252.26, Z:-2.78 [[-7.04970851e-01 -7.09231718e-01 2.54344966e-03 -3.18407861e+02] [ 7.09226795e-01 -7.04975437e-01 -2.64317385e-03 -2.52262113e+02] [ 3.66769227e-03 -5.94778729e-05 9.99993272e-01 -2.78218011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1112.406559995 meters 0.0143614481255532 Centerline is valid? [True, True] Translation: X:-318.43, Y:-252.24, Z:-2.78 [[-7.06355491e-01 -7.07849638e-01 3.28805678e-03 -3.18425507e+02] [ 7.07841405e-01 -7.06363139e-01 -3.41492919e-03 -2.52241356e+02] [ 4.73981850e-03 -8.47312568e-05 9.99988764e-01 -2.78234724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1112.4365599950002 meters 0.015365921608671276 Centerline is valid? [True, True] Translation: X:-318.44, Y:-252.22, Z:-2.78 [[-7.08761022e-01 -7.05436527e-01 4.13770245e-03 -3.18442510e+02] [ 7.05423464e-01 -7.08773088e-01 -4.29480879e-03 -2.52219784e+02] [ 5.96240714e-03 -1.25160664e-04 9.99982217e-01 -2.78328523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1112.4665599950001 meters 0.0158029516825403 Centerline is valid? [True, True] Translation: X:-318.46, Y:-252.20, Z:-2.78 [[-7.09895299e-01 -7.04291449e-01 4.71377296e-03 -3.18461277e+02] [ 7.04274489e-01 -7.09910932e-01 -4.89005135e-03 -2.52199373e+02] [ 6.79038031e-03 -1.51634426e-04 9.99976934e-01 -2.78382713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1112.496559995 meters 0.01579727346503143 Centerline is valid? [True, True] Translation: X:-318.48, Y:-252.18, Z:-2.78 [[-7.10962703e-01 -7.03211166e-01 5.10804457e-03 -3.18480875e+02] [ 7.03191243e-01 -7.10981031e-01 -5.29610325e-03 -2.52179304e+02] [ 7.35600174e-03 -1.73399666e-04 9.99972929e-01 -2.78387926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1112.526559995 meters 0.016493137889864465 Centerline is valid? [True, True] Translation: X:-318.50, Y:-252.16, Z:-2.78 [[-7.12582155e-01 -7.01567227e-01 5.48631763e-03 -3.18499804e+02] [ 7.01544222e-01 -7.12603246e-01 -5.68495002e-03 -2.52159361e+02] [ 7.89794237e-03 -2.02099506e-04 9.99968791e-01 -2.78448583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1112.556559995 meters 0.017255020553329586 Centerline is valid? [True, True] Translation: X:-318.52, Y:-252.14, Z:-2.79 [[-7.13457048e-01 -7.00678062e-01 5.41242153e-03 -3.18518594e+02] [ 7.00655673e-01 -7.13477548e-01 -5.60510404e-03 -2.52139692e+02] [ 7.78901467e-03 -2.06757136e-04 9.99969644e-01 -2.78507365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1112.586559995 meters 0.0177333985425819 Centerline is valid? [True, True] Translation: X:-318.54, Y:-252.12, Z:-2.79 [[-7.13875562e-01 -7.00249968e-01 5.62701290e-03 -3.18537171e+02] [ 7.00225786e-01 -7.13897706e-01 -5.82359712e-03 -2.52121557e+02] [ 8.09508530e-03 -2.17144139e-04 9.99967211e-01 -2.78526094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1112.616559995 meters 0.017221178796541205 Centerline is valid? [True, True] Translation: X:-318.56, Y:-252.10, Z:-2.79 [[-7.13905612e-01 -7.00219184e-01 5.64548145e-03 -3.18557127e+02] [ 7.00194871e-01 -7.13927901e-01 -5.83912998e-03 -2.52103034e+02] [ 8.11913755e-03 -2.15650508e-04 9.99967016e-01 -2.78504778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1112.646559995 meters 0.017772854918858695 Centerline is valid? [True, True] Translation: X:-318.57, Y:-252.08, Z:-2.79 [[-7.13699855e-01 -7.00428929e-01 5.64194062e-03 -3.18574867e+02] [ 7.00404683e-01 -7.13722124e-01 -5.83172004e-03 -2.52083512e+02] [ 8.11148327e-03 -2.10456114e-04 9.99967079e-01 -2.78500243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1112.676559995 meters 0.017222856550608238 Centerline is valid? [True, True] Translation: X:-318.60, Y:-252.06, Z:-2.78 [[-7.13120915e-01 -7.01019651e-01 5.47812848e-03 -3.18595544e+02] [ 7.00996835e-01 -7.13141929e-01 -5.65918207e-03 -2.52064861e+02] [ 7.87388095e-03 -1.95530375e-04 9.99968982e-01 -2.78369702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1112.7065599950001 meters 0.017095832015395912 Centerline is valid? [True, True] Translation: X:-318.62, Y:-252.05, Z:-2.78 [[-7.12735105e-01 -7.01411908e-01 5.47769114e-03 -3.18615354e+02] [ 7.01389134e-01 -7.12756129e-01 -5.65534523e-03 -2.52045799e+02] [ 7.87098442e-03 -1.88770025e-04 9.99969006e-01 -2.78340033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1112.736559995 meters 0.01639676086959483 Centerline is valid? [True, True] Translation: X:-318.64, Y:-252.03, Z:-2.78 [[-7.11235775e-01 -7.02930606e-01 5.67755457e-03 -3.18637932e+02] [ 7.02906214e-01 -7.11258414e-01 -5.85857058e-03 -2.52028350e+02] [ 8.15637703e-03 -1.76036603e-04 9.99966721e-01 -2.78365370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1112.766559995 meters 0.015814132571842037 Centerline is valid? [True, True] Translation: X:-318.66, Y:-252.01, Z:-2.78 [[-7.10280893e-01 -7.03894257e-01 5.82480862e-03 -3.18659354e+02] [ 7.03868642e-01 -7.10304757e-01 -6.00730148e-03 -2.52010261e+02] [ 8.36589428e-03 -1.66971328e-04 9.99964992e-01 -2.78382433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1112.796559995 meters 0.015352408254961982 Centerline is valid? [True, True] Translation: X:-318.68, Y:-251.99, Z:-2.78 [[-7.09019671e-01 -7.05164085e-01 5.89232359e-03 -3.18680416e+02] [ 7.05137944e-01 -7.09044139e-01 -6.07369809e-03 -2.51992012e+02] [ 8.46087127e-03 -1.51470483e-04 9.99964195e-01 -2.78416507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1112.826559995 meters 0.014537188924024096 Centerline is valid? [True, True] Translation: X:-318.70, Y:-251.98, Z:-2.79 [[-7.05575192e-01 -7.08609250e-01 6.04806839e-03 -3.18703061e+02] [ 7.08581864e-01 -7.05601104e-01 -6.23090435e-03 -2.51975836e+02] [ 8.68280020e-03 -1.10819961e-04 9.99962298e-01 -2.78508211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1112.856559995 meters 0.013948212843112172 Centerline is valid? [True, True] Translation: X:-318.72, Y:-251.96, Z:-2.79 [[-7.03905449e-01 -7.10265110e-01 6.37116252e-03 -3.18724593e+02] [ 7.10234822e-01 -7.03934276e-01 -6.55997803e-03 -2.51958290e+02] [ 9.14420319e-03 -9.25828068e-05 9.99958187e-01 -2.78568465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1112.886559995 meters 0.013344905601959785 Centerline is valid? [True, True] Translation: X:-318.75, Y:-251.94, Z:-2.79 [[-7.02080434e-01 -7.12070656e-01 6.20039656e-03 -3.18745972e+02] [ 7.12042073e-01 -7.02107810e-01 -6.38047174e-03 -2.51940937e+02] [ 8.89669355e-03 -6.46611486e-05 9.99960422e-01 -2.78555365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1112.916559995 meters 0.012393772490995521 Centerline is valid? [True, True] Translation: X:-318.77, Y:-251.93, Z:-2.78 [[-6.98318557e-01 -7.15763130e-01 5.85957744e-03 -3.18769633e+02] [ 7.15737764e-01 -6.98343140e-01 -6.02597931e-03 -2.51925907e+02] [ 8.40516952e-03 -1.41323158e-05 9.99964676e-01 -2.78358433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1112.9465599950001 meters 0.012446577034518591 Centerline is valid? [True, True] Translation: X:-318.79, Y:-251.91, Z:-2.78 [[-6.94286944e-01 -7.19681355e-01 4.93834800e-03 -3.18792069e+02] [ 7.19663459e-01 -6.94304506e-01 -5.07541331e-03 -2.51909859e+02] [ 7.08139759e-03 3.01554068e-05 9.99974926e-01 -2.78242912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1112.9765599950001 meters 0.01269404726279826 Centerline is valid? [True, True] Translation: X:-318.81, Y:-251.89, Z:-2.78 [[-6.92576874e-01 -7.21327614e-01 4.87307737e-03 -3.18812656e+02] [ 7.21310246e-01 -6.92594016e-01 -5.00590998e-03 -2.51893125e+02] [ 6.98596533e-03 4.80231468e-05 9.99975597e-01 -2.78266445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1113.006559995 meters 0.012861783531714048 Centerline is valid? [True, True] Translation: X:-318.83, Y:-251.87, Z:-2.78 [[-6.90993804e-01 -7.22845696e-01 4.65428090e-03 -3.18832776e+02] [ 7.22829906e-01 -6.91009476e-01 -4.77817545e-03 -2.51874974e+02] [ 6.67003576e-03 6.25637977e-05 9.99977753e-01 -2.78183268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1113.036559995 meters 0.013229856668647582 Centerline is valid? [True, True] Translation: X:-318.85, Y:-251.86, Z:-2.78 [[-6.89469091e-01 -7.24301069e-01 4.50930843e-03 -3.18853796e+02] [ 7.24286295e-01 -6.89483833e-01 -4.62675777e-03 -2.51855934e+02] [ 6.46026086e-03 7.60238270e-05 9.99979130e-01 -2.78157167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1113.066559995 meters 0.013704938795108442 Centerline is valid? [True, True] Translation: X:-318.88, Y:-251.84, Z:-2.78 [[-6.86530268e-01 -7.27083968e-01 5.00944461e-03 -3.18875599e+02] [ 7.27065830e-01 -6.86548534e-01 -5.13706282e-03 -2.51837929e+02] [ 7.17430288e-03 1.15446891e-04 9.99974258e-01 -2.78176408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1113.096559995 meters 0.014379814424754367 Centerline is valid? [True, True] Translation: X:-318.90, Y:-251.82, Z:-2.78 [[-6.85172016e-01 -7.28358259e-01 5.79274672e-03 -3.18896590e+02] [ 7.28334080e-01 -6.85196486e-01 -5.93672938e-03 -2.51820238e+02] [ 8.29323557e-03 1.51374018e-04 9.99965599e-01 -2.78284396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1113.126559995 meters 0.014904650452491449 Centerline is valid? [True, True] Translation: X:-318.92, Y:-251.80, Z:-2.78 [[-6.83914816e-01 -7.29535477e-01 6.20577902e-03 -3.18917931e+02] [ 7.29507807e-01 -6.83942947e-01 -6.35644157e-03 -2.51801280e+02] [ 8.88164843e-03 1.79899676e-04 9.99960541e-01 -2.78413719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1113.156559995 meters 0.015646548659073757 Centerline is valid? [True, True] Translation: X:-318.94, Y:-251.78, Z:-2.79 [[-6.81773178e-01 -7.31521257e-01 7.87303095e-03 -3.18939170e+02] [ 7.31476908e-01 -6.81818584e-01 -8.05930955e-03 -2.51783236e+02] [ 1.12635351e-02 2.64319250e-04 9.99936530e-01 -2.78579134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1113.1865599950002 meters 0.01591983433021493 Centerline is valid? [True, True] Translation: X:-318.96, Y:-251.76, Z:-2.79 [[-6.81164217e-01 -7.32081076e-01 8.52099619e-03 -3.18958992e+02] [ 7.32029234e-01 -6.81217446e-01 -8.71735383e-03 -2.51764016e+02] [ 1.21864610e-02 2.99668815e-04 9.99925698e-01 -2.78640368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1113.2165599950001 meters 0.016935294183354793 Centerline is valid? [True, True] Translation: X:-318.98, Y:-251.75, Z:-2.79 [[-6.81146969e-01 -7.32091295e-01 9.00794588e-03 -3.18979070e+02] [ 7.32033408e-01 -6.81206455e-01 -9.21171891e-03 -2.51745990e+02] [ 1.28800901e-02 3.19582908e-04 9.99916997e-01 -2.78779135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1113.246559995 meters 0.016073897299310545 Centerline is valid? [True, True] Translation: X:-319.00, Y:-251.72, Z:-2.79 [[-6.82560729e-01 -7.30762892e-01 9.82071445e-03 -3.18996014e+02] [ 7.30694038e-01 -6.82631299e-01 -1.00366053e-02 -2.51724436e+02] [ 1.40383058e-02 3.25344867e-04 9.99901405e-01 -2.78829360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1113.276559995 meters 0.015496871557960045 Centerline is valid? [True, True] Translation: X:-319.01, Y:-251.70, Z:-2.79 [[-6.84095538e-01 -7.29326797e-01 9.78356899e-03 -3.19013706e+02] [ 7.29258393e-01 -6.84165429e-01 -9.99308730e-03 -2.51702491e+02] [ 1.39818060e-02 2.98523376e-04 9.99902205e-01 -2.78790149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1113.306559995 meters 0.015139351991744949 Centerline is valid? [True, True] Translation: X:-319.03, Y:-251.68, Z:-2.79 [[-6.86272479e-01 -7.27282552e-01 9.49600485e-03 -3.19031237e+02] [ 7.27217987e-01 -6.86338128e-01 -9.69401930e-03 -2.51681079e+02] [ 1.35677613e-02 2.52926877e-04 9.99907922e-01 -2.78798918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1113.336559995 meters 0.013448076720806118 Centerline is valid? [True, True] Translation: X:-319.04, Y:-251.66, Z:-2.79 [[-6.91777508e-01 -7.22063025e-01 8.29869117e-03 -3.19044164e+02] [ 7.22013394e-01 -6.91827269e-01 -8.46691368e-03 -2.51655058e+02] [ 1.18549061e-02 1.34545736e-04 9.99929719e-01 -2.78629531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1113.366559995 meters 0.012644992655583361 Centerline is valid? [True, True] Translation: X:-319.06, Y:-251.63, Z:-2.78 [[-6.95255281e-01 -7.18721761e-01 7.68920972e-03 -3.19059976e+02] [ 7.18678997e-01 -6.95297795e-01 -7.84065507e-03 -2.51631191e+02] [ 1.09815400e-02 7.48166804e-05 9.99939698e-01 -2.78479877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1113.396559995 meters 0.012454965918331232 Centerline is valid? [True, True] Translation: X:-319.08, Y:-251.61, Z:-2.78 [[-6.99131632e-01 -7.14956879e-01 7.18492712e-03 -3.19075644e+02] [ 7.14919382e-01 -6.99168550e-01 -7.32234777e-03 -2.51607921e+02] [ 1.02586380e-02 1.73587093e-05 9.99947379e-01 -2.78448235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1113.426559995 meters 0.013017758203104902 Centerline is valid? [True, True] Translation: X:-319.09, Y:-251.58, Z:-2.78 [[-7.06684628e-01 -7.07503662e-01 5.95019732e-03 -3.19087047e+02] [ 7.07477709e-01 -7.06709674e-01 -6.06041001e-03 -2.51580433e+02] [ 8.49282428e-03 -7.31666272e-05 9.99963933e-01 -2.78248437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1113.4565599950001 meters 0.013845396981358775 Centerline is valid? [True, True] Translation: X:-319.10, Y:-251.56, Z:-2.78 [[-7.10414609e-01 -7.03760604e-01 5.66520842e-03 -3.19103107e+02] [ 7.03736984e-01 -7.10437189e-01 -5.76693944e-03 -2.51556524e+02] [ 8.08331954e-03 -1.10101344e-04 9.99967324e-01 -2.78205970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1113.486559995 meters 0.016111812148611668 Centerline is valid? [True, True] Translation: X:-319.11, Y:-251.53, Z:-2.78 [[-7.16438561e-01 -6.97627678e-01 5.60454969e-03 -3.19114987e+02] [ 6.97604393e-01 -7.16460461e-01 -5.70257885e-03 -2.51530980e+02] [ 7.99371509e-03 -1.75788905e-04 9.99968034e-01 -2.78236701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1113.516559995 meters 0.016111812148611668 Centerline is valid? [True, True] Translation: X:-319.13, Y:-251.51, Z:-2.78 [[-7.16652460e-01 -6.97407931e-01 5.60629803e-03 -3.19133830e+02] [ 6.97384652e-01 -7.16674366e-01 -5.70086002e-03 -2.51511960e+02] [ 7.99371508e-03 -1.75789154e-04 9.99968034e-01 -2.78236693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1113.546559995 meters 0.01680196966163884 Centerline is valid? [True, True] Translation: X:-319.15, Y:-251.49, Z:-2.78 [[-7.18666287e-01 -6.95328920e-01 6.03823041e-03 -3.19150918e+02] [ 6.95301874e-01 -7.18691622e-01 -6.13651142e-03 -2.51489913e+02] [ 8.60651947e-03 -2.11710961e-04 9.99962941e-01 -2.78247112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1113.576559995 meters 0.017072639682773033 Centerline is valid? [True, True] Translation: X:-319.17, Y:-251.47, Z:-2.78 [[-7.20146377e-01 -6.93793890e-01 6.26366454e-03 -3.19168921e+02] [ 6.93764762e-01 -7.20173578e-01 -6.36188044e-03 -2.51468760e+02] [ 8.92475948e-03 -2.35975416e-04 9.99960146e-01 -2.78248221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1113.606559995 meters 0.017894443358941435 Centerline is valid? [True, True] Translation: X:-319.19, Y:-251.45, Z:-2.78 [[-7.20321353e-01 -6.93606037e-01 6.91477858e-03 -3.19185158e+02] [ 6.93570574e-01 -7.20354495e-01 -7.01863664e-03 -2.51447647e+02] [ 9.84926058e-03 -2.59786901e-04 9.99951461e-01 -2.78366210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1113.636559995 meters 0.017786590504119702 Centerline is valid? [True, True] Translation: X:-319.20, Y:-251.43, Z:-2.78 [[-7.19457868e-01 -6.94497234e-01 7.34623712e-03 -3.19204209e+02] [ 6.94457296e-01 -7.19495326e-01 -7.45256779e-03 -2.51428257e+02] [ 1.04613710e-02 -2.60160572e-04 9.99945245e-01 -2.78416248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1113.666559995 meters 0.01712219592642479 Centerline is valid? [True, True] Translation: X:-319.22, Y:-251.41, Z:-2.78 [[-7.18118412e-01 -6.95881422e-01 7.41577298e-03 -3.19224659e+02] [ 6.95840839e-01 -7.18156661e-01 -7.51911352e-03 -2.51409417e+02] [ 1.05580982e-02 -2.39416166e-04 9.99944233e-01 -2.78415015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1113.6965599950001 meters 0.015073987026501211 Centerline is valid? [True, True] Translation: X:-319.25, Y:-251.39, Z:-2.78 [[-7.14456864e-01 -6.99642014e-01 7.24172022e-03 -3.19248265e+02] [ 6.99603546e-01 -7.14493542e-01 -7.33869520e-03 -2.51393111e+02] [ 1.03086218e-02 -1.76848011e-04 9.99946849e-01 -2.78367915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1113.7265599950001 meters 0.014053203969713022 Centerline is valid? [True, True] Translation: X:-319.27, Y:-251.37, Z:-2.78 [[-7.12130514e-01 -7.02012280e-01 6.99214131e-03 -3.19270343e+02] [ 7.01976569e-01 -7.12164827e-01 -7.08207739e-03 -2.51374771e+02] [ 9.95126240e-03 -1.35044047e-04 9.99950476e-01 -2.78296526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1113.756559995 meters 0.012947742468084299 Centerline is valid? [True, True] Translation: X:-319.29, Y:-251.36, Z:-2.78 [[-7.07124140e-01 -7.07061470e-01 6.28717171e-03 -3.19293275e+02] [ 7.07032827e-01 -7.07152087e-01 -6.36446445e-03 -2.51358661e+02] [ 8.94605419e-03 -5.52296656e-05 9.99959982e-01 -2.78230187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1113.786559995 meters 0.012664343909772672 Centerline is valid? [True, True] Translation: X:-319.31, Y:-251.34, Z:-2.78 [[-7.04787322e-01 -7.09390418e-01 6.32970757e-03 -3.19314017e+02] [ 7.09361516e-01 -7.04815745e-01 -6.40356547e-03 -2.51341008e+02] [ 9.00390555e-03 -2.31008023e-05 9.99959464e-01 -2.78209490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1113.816559995 meters 0.012525587670718555 Centerline is valid? [True, True] Translation: X:-319.33, Y:-251.32, Z:-2.78 [[-7.02703365e-01 -7.11453049e-01 6.52228933e-03 -3.19334860e+02] [ 7.11422484e-01 -7.02733633e-01 -6.59468452e-03 -2.51322792e+02] [ 9.27524049e-03 5.99627692e-06 9.99956984e-01 -2.78145608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1113.846559995 meters 0.012789948635896336 Centerline is valid? [True, True] Translation: X:-319.36, Y:-251.31, Z:-2.78 [[-6.98536127e-01 -7.15544076e-01 6.62982793e-03 -3.19356277e+02] [ 7.15512716e-01 -6.98567585e-01 -6.69943737e-03 -2.51306410e+02] [ 9.42512561e-03 6.39271580e-05 9.99955581e-01 -2.78186333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1113.876559995 meters 0.013227998695044159 Centerline is valid? [True, True] Translation: X:-319.38, Y:-251.29, Z:-2.78 [[-6.96728990e-01 -7.17301622e-01 6.86271552e-03 -3.19377248e+02] [ 7.17268143e-01 -6.96762782e-01 -6.93091593e-03 -2.51288002e+02] [ 9.75324199e-03 9.34371567e-05 9.99952432e-01 -2.78205765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1113.906559995 meters 0.013858716338161865 Centerline is valid? [True, True] Translation: X:-319.40, Y:-251.27, Z:-2.78 [[-6.93158668e-01 -7.20753225e-01 6.77118088e-03 -3.19399183e+02] [ 7.20720834e-01 -6.93191725e-01 -6.83462847e-03 -2.51270668e+02] [ 9.61980707e-03 1.42649161e-04 9.99953719e-01 -2.78259697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1113.9365599950002 meters 0.01469993700289678 Centerline is valid? [True, True] Translation: X:-319.42, Y:-251.25, Z:-2.78 [[-6.91650935e-01 -7.22200684e-01 6.71988176e-03 -3.19419772e+02] [ 7.22168887e-01 -6.91683559e-01 -6.77882757e-03 -2.51253385e+02] [ 9.54370564e-03 1.64307101e-04 9.99954444e-01 -2.78299609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1113.9665599950001 meters 0.014958072670256476 Centerline is valid? [True, True] Translation: X:-319.44, Y:-251.23, Z:-2.78 [[-6.90377985e-01 -7.23414848e-01 7.01398821e-03 -3.19440251e+02] [ 7.23380309e-01 -6.90413587e-01 -7.07156913e-03 -2.51233694e+02] [ 9.95823087e-03 1.91725317e-04 9.99950397e-01 -2.78282168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1113.996559995 meters 0.01615804885884473 Centerline is valid? [True, True] Translation: X:-319.46, Y:-251.22, Z:-2.78 [[-6.88561760e-01 -7.25147848e-01 6.58038661e-03 -3.19460591e+02] [ 7.25117563e-01 -6.88593172e-01 -6.63050709e-03 -2.51216153e+02] [ 9.33930724e-03 2.06040275e-04 9.99956367e-01 -2.78307592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1114.026559995 meters 0.0163816644215484 Centerline is valid? [True, True] Translation: X:-319.48, Y:-251.20, Z:-2.78 [[-6.88338196e-01 -7.25360928e-01 6.48472582e-03 -3.19479969e+02] [ 7.25331564e-01 -6.88368709e-01 -6.53010291e-03 -2.51196837e+02] [ 9.20056386e-03 2.08657068e-04 9.99957652e-01 -2.78260828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1114.056559995 meters 0.016735610644428772 Centerline is valid? [True, True] Translation: X:-319.50, Y:-251.18, Z:-2.78 [[-6.88374266e-01 -7.25332221e-01 5.83432997e-03 -3.19498936e+02] [ 7.25308482e-01 -6.88398964e-01 -5.87137614e-03 -2.51178042e+02] [ 8.27504500e-03 1.89984775e-04 9.99965743e-01 -2.78234345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1114.086559995 meters 0.015585318674647743 Centerline is valid? [True, True] Translation: X:-319.52, Y:-251.16, Z:-2.78 [[-6.88652174e-01 -7.25069517e-01 5.69025669e-03 -3.19516811e+02] [ 7.25046953e-01 -6.88675658e-01 -5.72312157e-03 -2.51156372e+02] [ 8.06840226e-03 1.84463156e-04 9.99967433e-01 -2.78119107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1114.116559995 meters 0.015486909392393439 Centerline is valid? [True, True] Translation: X:-319.54, Y:-251.14, Z:-2.78 [[-6.89367957e-01 -7.24392084e-01 5.28474212e-03 -3.19535710e+02] [ 7.24372624e-01 -6.89388193e-01 -5.31226258e-03 -2.51135713e+02] [ 7.49139978e-03 1.66018917e-04 9.99971925e-01 -2.78070855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1114.146559995 meters 0.015556740399225052 Centerline is valid? [True, True] Translation: X:-319.55, Y:-251.12, Z:-2.78 [[-6.90221950e-01 -7.23574557e-01 5.78962667e-03 -3.19554050e+02] [ 7.23551204e-01 -6.90246210e-01 -5.81590701e-03 -2.51117394e+02] [ 8.20451020e-03 1.74824666e-04 9.99966327e-01 -2.78148870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1114.176559995 meters 0.015227816954136225 Centerline is valid? [True, True] Translation: X:-319.57, Y:-251.10, Z:-2.78 [[-6.91042484e-01 -7.22788951e-01 6.03469122e-03 -3.19572562e+02] [ 7.22763582e-01 -6.91068811e-01 -6.05823357e-03 -2.51098019e+02] [ 8.54921117e-03 1.75158269e-04 9.99963440e-01 -2.78252352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1114.2065599950001 meters 0.015226951649095133 Centerline is valid? [True, True] Translation: X:-319.59, Y:-251.08, Z:-2.78 [[-6.91958642e-01 -7.21905974e-01 6.70848340e-03 -3.19591180e+02] [ 7.21874625e-01 -6.91991135e-01 -6.73018011e-03 -2.51079549e+02] [ 9.50076827e-03 1.85677649e-04 9.99954850e-01 -2.78359748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1114.236559995 meters 0.014423289375928426 Centerline is valid? [True, True] Translation: X:-319.61, Y:-251.06, Z:-2.78 [[-6.93468416e-01 -7.20447040e-01 7.59071163e-03 -3.19608902e+02] [ 7.20406862e-01 -6.93509932e-01 -7.61096076e-03 -2.51057835e+02] [ 1.07475281e-02 1.90439847e-04 9.99942226e-01 -2.78439728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1114.266559995 meters 0.014301769254722102 Centerline is valid? [True, True] Translation: X:-319.63, Y:-251.04, Z:-2.79 [[-6.94621474e-01 -7.19321702e-01 8.79190776e-03 -3.19628213e+02] [ 7.19267773e-01 -6.94677082e-01 -8.81039191e-03 -2.51036943e+02] [ 1.24450429e-02 2.03848502e-04 9.99922537e-01 -2.78563464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1114.296559995 meters 0.015146008229463135 Centerline is valid? [True, True] Translation: X:-319.65, Y:-251.02, Z:-2.79 [[-6.94924792e-01 -7.19026055e-01 9.00367924e-03 -3.19648024e+02] [ 7.18969548e-01 -6.94983086e-01 -9.01660835e-03 -2.51019804e+02] [ 1.27405811e-02 2.07506514e-04 9.99918814e-01 -2.78789927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1114.326559995 meters 0.014703597699546177 Centerline is valid? [True, True] Translation: X:-319.67, Y:-251.00, Z:-2.79 [[-6.94938905e-01 -7.19002682e-01 9.74998592e-03 -3.19666585e+02] [ 7.18936500e-01 -6.95007260e-01 -9.75796364e-03 -2.50999451e+02] [ 1.37923130e-02 2.28432190e-04 9.99904856e-01 -2.78736381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1114.356559995 meters 0.014489195723308554 Centerline is valid? [True, True] Translation: X:-319.69, Y:-250.98, Z:-2.79 [[-6.95095142e-01 -7.18849977e-01 9.87184991e-03 -3.19685452e+02] [ 7.18782201e-01 -6.95165201e-01 -9.87374072e-03 -2.50980267e+02] [ 1.39603048e-02 2.32520799e-04 9.99902523e-01 -2.78771050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1114.386559995 meters 0.014561678562862487 Centerline is valid? [True, True] Translation: X:-319.70, Y:-250.96, Z:-2.79 [[-6.95042244e-01 -7.18900189e-01 9.93969322e-03 -3.19704764e+02] [ 7.18831562e-01 -6.95113272e-01 -9.93600522e-03 -2.50960341e+02] [ 1.40522087e-02 2.39021841e-04 9.99901234e-01 -2.78798429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1114.416559995 meters 0.014451024208969258 Centerline is valid? [True, True] Translation: X:-320.20, Y:-251.46, Z:-1.80 [[-7.66397180e-01 6.42280161e-01 1.05621065e-02 -3.20201599e+02] [ 6.42214915e-01 7.66469921e-01 -9.15769041e-03 -2.51463777e+02] [-1.39773398e-02 -2.35285748e-04 -9.99902285e-01 -1.79785701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1114.4465599950001 meters 0.014122793618638581 Centerline is valid? [True, True] Translation: X:-320.18, Y:-251.45, Z:-1.80 [[-8.09424370e-01 5.87131839e-01 1.04112179e-02 -3.20179458e+02] [ 5.87079944e-01 8.09491297e-01 -7.80890516e-03 -2.51448355e+02] [-1.30126471e-02 -2.08500910e-04 -9.99915310e-01 -1.79941023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1114.4765599950001 meters 0.014748490790294512 Centerline is valid? [True, True] Translation: X:-319.75, Y:-250.88, Z:-2.79 [[-7.47443695e-01 -6.64257522e-01 9.47988816e-03 -3.19753096e+02] [ 6.64207005e-01 -7.47503789e-01 -8.19386895e-03 -2.50882982e+02] [ 1.25290914e-02 1.72152448e-04 9.99921493e-01 -2.78662131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1114.506559995 meters 0.014142707962644387 Centerline is valid? [True, True] Translation: X:-319.76, Y:-250.91, Z:-2.78 [[-7.01378263e-01 -7.12742168e-01 8.19350996e-03 -3.19762594e+02] [ 7.12696422e-01 -7.01426098e-01 -8.07704367e-03 -2.50912976e+02] [ 1.15039913e-02 1.74422373e-04 9.99933812e-01 -2.78475493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1114.536559995 meters 0.013948811832235222 Centerline is valid? [True, True] Translation: X:-320.27, Y:-251.42, Z:-1.80 [[-7.68943967e-01 6.39272514e-01 7.47189712e-03 -3.20265292e+02] [ 6.39240556e-01 7.68980256e-01 -6.39358525e-03 -2.51416742e+02] [-9.83298467e-03 -1.39969141e-04 -9.99951645e-01 -1.80173379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1114.566559995 meters 0.013819633112467915 Centerline is valid? [True, True] Translation: X:-320.24, Y:-251.40, Z:-1.80 [[-8.11981765e-01 5.83633578e-01 7.58025675e-03 -3.20240847e+02] [ 5.83606648e-01 8.12017137e-01 -5.60800551e-03 -2.51400642e+02] [-9.42831870e-03 -1.29709977e-04 -9.99955544e-01 -1.80199518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1114.596559995 meters 0.013971824308220736 Centerline is valid? [True, True] Translation: X:-320.22, Y:-251.38, Z:-1.80 [[-8.50900388e-01 5.25270661e-01 7.69823766e-03 -3.20221649e+02] [ 5.25247891e-01 8.50935202e-01 -4.89233091e-03 -2.51378960e+02] [-9.12049931e-03 -1.19403178e-04 -9.99958400e-01 -1.80157091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1114.626559995 meters 0.013769412375701047 Centerline is valid? [True, True] Translation: X:-320.20, Y:-251.36, Z:-1.80 [[-8.85755439e-01 4.64077970e-01 8.30304591e-03 -3.20203976e+02] [ 4.64056310e-01 8.85794346e-01 -4.48535359e-03 -2.51357261e+02] [-9.43634491e-03 -1.19845493e-04 -9.99955470e-01 -1.80166202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1114.656559995 meters 0.013787104145946 Centerline is valid? [True, True] Translation: X:-320.19, Y:-251.33, Z:-1.80 [[-9.16263448e-01 4.00476453e-01 8.93896147e-03 -3.20190622e+02] [ 4.00456098e-01 9.16307042e-01 -4.03950949e-03 -2.51333054e+02] [-9.80856177e-03 -1.21593258e-04 -9.99951888e-01 -1.80141030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1114.6865599950002 meters 0.013813083492802478 Centerline is valid? [True, True] Translation: X:-320.18, Y:-251.31, Z:-1.80 [[-9.42255107e-01 3.34753217e-01 9.77740760e-03 -3.20178349e+02] [ 3.34733798e-01 9.42305825e-01 -3.60788028e-03 -2.51308102e+02] [-1.04210577e-02 -1.26714831e-04 -9.99945691e-01 -1.80116975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1114.7165599950001 meters 0.013767242611938697 Centerline is valid? [True, True] Translation: X:-320.17, Y:-251.28, Z:-1.80 [[-9.63403471e-01 2.67811450e-01 1.14358986e-02 -3.20171540e+02] [ 2.67790894e-01 9.63471333e-01 -3.32091598e-03 -2.51281052e+02] [-1.19075398e-02 -1.36952463e-04 -9.99929094e-01 -1.80009212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1114.746559995 meters 0.013571218619731776 Centerline is valid? [True, True] Translation: X:-319.97, Y:-250.60, Z:-2.78 [[-9.35318275e-01 -3.53622298e-01 1.14452861e-02 -3.19968767e+02] [ 3.53597873e-01 -9.35388286e-01 -4.15911303e-03 -2.50604340e+02] [ 1.21765416e-02 1.56934385e-04 9.99925851e-01 -2.78496711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1114.776559995 meters 0.01366743040287335 Centerline is valid? [True, True] Translation: X:-320.22, Y:-251.27, Z:-1.80 [[-9.64273360e-01 2.64650333e-01 1.17085079e-02 -3.20215200e+02] [ 2.64629137e-01 9.64344432e-01 -3.35209120e-03 -2.51268767e+02] [-1.21781664e-02 -1.33919917e-04 -9.99925835e-01 -1.79961181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1114.806559995 meters 0.013529278526568057 Centerline is valid? [True, True] Translation: X:-320.21, Y:-251.24, Z:-1.80 [[-9.80323534e-01 1.97022706e-01 1.21582361e-02 -3.20206899e+02] [ 1.97006061e-01 9.80398919e-01 -2.56374822e-03 -2.51242159e+02] [-1.24250381e-02 -1.18056516e-04 -9.99922799e-01 -1.79947168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1114.836559995 meters 0.013233420466049996 Centerline is valid? [True, True] Translation: X:-320.20, Y:-251.22, Z:-1.80 [[-9.91716229e-01 1.27887123e-01 1.19919041e-02 -3.20202412e+02] [ 1.27876508e-01 9.91788724e-01 -1.65098725e-03 -2.51215674e+02] [-1.21045753e-02 -1.03828033e-04 -9.99926732e-01 -1.80030292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1114.866559995 meters 0.013011295215930157 Centerline is valid? [True, True] Translation: X:-320.20, Y:-251.19, Z:-1.80 [[-9.98164858e-01 5.95291411e-02 1.10994831e-02 -3.20198629e+02] [ 5.95246956e-02 9.98226566e-01 -7.30735559e-04 -2.51189700e+02] [-1.11232989e-02 -6.87012041e-05 -9.99938132e-01 -1.80127642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1114.896559995 meters 0.012841455522224281 Centerline is valid? [True, True] Translation: X:-320.20, Y:-251.16, Z:-1.80 [[-9.99896611e-01 -1.02430736e-02 1.00919719e-02 -3.20201992e+02] [-1.02430481e-02 9.99947537e-01 5.42142992e-05 -2.51163007e+02] [-1.00919978e-02 -4.91638600e-05 -9.99949073e-01 -1.80176920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1114.926559995 meters 0.012750258235428859 Centerline is valid? [True, True] Translation: X:-320.20, Y:-251.14, Z:-1.80 [[-9.96745316e-01 -8.00310905e-02 9.68499122e-03 -3.20204504e+02] [-8.00276481e-02 9.96792367e-01 7.43081237e-04 -2.51136573e+02] [-9.71339493e-03 -3.44043268e-05 -9.99952823e-01 -1.80213955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1114.9565599950001 meters 0.012639751539888062 Centerline is valid? [True, True] Translation: X:-320.21, Y:-251.11, Z:-1.80 [[-9.88684826e-01 -1.49722338e-01 9.24855617e-03 -3.20214171e+02] [-1.49715992e-01 9.88728083e-01 1.37860669e-03 -2.51110646e+02] [-9.35071543e-03 -2.16492467e-05 -9.99956281e-01 -1.80265263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1114.986559995 meters 0.012661902617270248 Centerline is valid? [True, True] Translation: X:-320.33, Y:-250.40, Z:-2.78 [[-9.96796011e-01 7.95837656e-02 8.00855103e-03 -3.20325729e+02] [-7.95817410e-02 -9.96828180e-01 5.71663210e-04 -2.50401989e+02] [ 8.02864446e-03 -6.75028267e-05 9.99967768e-01 -2.78315253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1115.016559995 meters 0.012573582668996176 Centerline is valid? [True, True] Translation: X:-320.33, Y:-251.13, Z:-1.80 [[-9.88019656e-01 -1.54137920e-01 7.65911052e-03 -3.20331625e+02] [-1.54133308e-01 9.88049342e-01 1.19232815e-03 -2.51128081e+02] [-7.75136209e-03 -2.48039170e-06 -9.99969958e-01 -1.80227155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1115.046559995 meters 0.01265531119890346 Centerline is valid? [True, True] Translation: X:-320.35, Y:-251.10, Z:-1.80 [[-9.74311950e-01 -2.25089029e-01 7.15215589e-03 -3.20354560e+02] [-2.25083004e-01 9.74338201e-01 1.64686890e-03 -2.51103161e+02] [-7.33931082e-03 -5.26468704e-06 -9.99973067e-01 -1.80172853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1115.076559995 meters 0.012739032924592343 Centerline is valid? [True, True] Translation: X:-320.39, Y:-251.08, Z:-1.80 [[-9.55165064e-01 -2.95979789e-01 7.46083702e-03 -3.20392471e+02] [-2.95970863e-01 9.55194202e-01 2.29868621e-03 -2.51083554e+02] [-7.80691293e-03 -1.25656146e-05 -9.99969526e-01 -1.80101334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1115.106559995 meters 0.012743957770024392 Centerline is valid? [True, True] Translation: X:-320.45, Y:-251.07, Z:-1.80 [[-9.30460272e-01 -3.66314751e-01 7.56205226e-03 -3.20454621e+02] [-3.66302844e-01 9.30491001e-01 2.95362218e-03 -2.51074531e+02] [-8.11837695e-03 -2.17731498e-05 -9.99967045e-01 -1.80018323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1115.136559995 meters 0.012902428246821538 Centerline is valid? [True, True] Translation: X:-320.52, Y:-251.07, Z:-1.80 [[-8.99898706e-01 -4.36030847e-01 7.70845488e-03 -3.20519688e+02] [-4.36015248e-01 8.99931719e-01 3.68843127e-03 -2.51070412e+02] [-8.54535287e-03 -4.17893383e-05 -9.99963487e-01 -1.79895114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1115.166559995 meters 0.012957517406961406 Centerline is valid? [True, True] Translation: X:-320.60, Y:-251.08, Z:-1.80 [[-8.64351062e-01 -5.02830848e-01 7.64064639e-03 -3.20596109e+02] [-5.02811762e-01 8.64384831e-01 4.38140214e-03 -2.51078409e+02] [-8.80756299e-03 -5.47372832e-05 -9.99961211e-01 -1.79871182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1115.1965599950001 meters 0.013288193979534867 Centerline is valid? [True, True] Translation: X:-320.68, Y:-251.10, Z:-1.80 [[-8.23091868e-01 -5.67856197e-01 7.68875943e-03 -3.20679707e+02] [-5.67832305e-01 8.23127775e-01 5.20957086e-03 -2.51095721e+02] [-9.28711854e-03 -7.79705818e-05 -9.99956871e-01 -1.79763670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1115.2265599950001 meters 0.013214089371563846 Centerline is valid? [True, True] Translation: X:-320.76, Y:-251.12, Z:-1.80 [[-7.77485951e-01 -6.28859505e-01 7.16369801e-03 -3.20762241e+02] [-6.28833815e-01 7.77518949e-01 5.68489152e-03 -2.51121419e+02] [-9.14490901e-03 -8.48522502e-05 -9.99958181e-01 -1.79789024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1115.256559995 meters 0.013279377917229742 Centerline is valid? [True, True] Translation: X:-321.27, Y:-250.62, Z:-2.79 [[-8.29395940e-01 5.58616841e-01 7.04274828e-03 -3.21268647e+02] [-5.58596333e-01 -8.29425840e-01 4.78674667e-03 -2.50624039e+02] [ 8.51539471e-03 3.60548828e-05 9.99963743e-01 -2.78718823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1115.286559995 meters 0.013214805082583898 Centerline is valid? [True, True] Translation: X:-320.95, Y:-251.27, Z:-1.80 [[-7.71076593e-01 -6.36714987e-01 5.90879322e-03 -3.20952123e+02] [-6.36697068e-01 7.71099228e-01 4.77746150e-03 -2.51268001e+02] [-7.59814723e-03 -7.83225775e-05 -9.99971131e-01 -1.79856338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1115.316559995 meters 0.013442490506450362 Centerline is valid? [True, True] Translation: X:-321.04, Y:-251.31, Z:-1.80 [[-7.20370464e-01 -6.93574274e-01 4.59584410e-03 -3.21042988e+02] [-6.93560777e-01 7.20385121e-01 4.32742865e-03 -2.51309032e+02] [-6.31217089e-03 -7.01454264e-05 -9.99980076e-01 -1.79866783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1115.346559995 meters 0.013475407967310308 Centerline is valid? [True, True] Translation: X:-321.13, Y:-251.36, Z:-1.80 [[-6.65278336e-01 -7.46584820e-01 3.98038913e-03 -3.21129709e+02] [-7.46572079e-01 6.65290239e-01 4.36223320e-03 -2.51357447e+02] [-5.90489112e-03 -6.95481425e-05 -9.99982564e-01 -1.79897227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1115.376559995 meters 0.01374105063390981 Centerline is valid? [True, True] Translation: X:-321.21, Y:-251.41, Z:-1.80 [[-6.05772615e-01 -7.95628791e-01 3.79031593e-03 -3.21213856e+02] [-7.95614024e-01 6.05784467e-01 4.84803685e-03 -2.51412660e+02] [-6.15335222e-03 -7.88205515e-05 -9.99981065e-01 -1.79874029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1115.406559995 meters 0.01374105063390981 Centerline is valid? [True, True] Translation: X:-321.30, Y:-251.48, Z:-1.80 [[-5.43391586e-01 -8.39472428e-01 3.40993132e-03 -3.21296994e+02] [-8.39456801e-01 5.43402279e-01 5.12276675e-03 -2.51480228e+02] [-6.15338589e-03 -7.88216853e-05 -9.99981065e-01 -1.79873876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1115.4365599950002 meters 0.01415034393527438 Centerline is valid? [True, True] Translation: X:-321.38, Y:-251.56, Z:-1.80 [[-4.76716803e-01 -8.79051622e-01 3.05552110e-03 -3.21378304e+02] [-8.79034719e-01 4.76726587e-01 5.45195715e-03 -2.51557013e+02] [-6.24919992e-03 -8.68695531e-05 -9.99980470e-01 -1.79765795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1115.4665599950001 meters 0.01415670409672419 Centerline is valid? [True, True] Translation: X:-321.45, Y:-251.64, Z:-1.80 [[-4.07007685e-01 -9.13420423e-01 2.80618199e-03 -3.21452741e+02] [-9.13400393e-01 4.07017346e-01 6.04997217e-03 -2.51641519e+02] [-6.66833289e-03 -1.00782572e-04 -9.99977762e-01 -1.79742292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1115.496559995 meters 0.014650469638422032 Centerline is valid? [True, True] Translation: X:-321.52, Y:-251.74, Z:-1.80 [[-3.33840040e-01 -9.42626071e-01 2.63013194e-03 -3.21523920e+02] [-9.42599802e-01 3.33850376e-01 7.03848488e-03 -2.51735403e+02] [-7.51272989e-03 -1.29433766e-04 -9.99971771e-01 -1.79592298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1115.526559995 meters 0.01487722022033462 Centerline is valid? [True, True] Translation: X:-321.58, Y:-251.83, Z:-1.80 [[-2.59857746e-01 -9.65644451e-01 2.17838040e-03 -3.21584639e+02] [-9.65614915e-01 2.59866839e-01 7.55398094e-03 -2.51828573e+02] [-7.86054861e-03 -1.40516143e-04 -9.99969096e-01 -1.79519091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1115.556559995 meters 0.014768706443323117 Centerline is valid? [True, True] Translation: X:-321.64, Y:-251.94, Z:-1.79 [[-1.84534565e-01 -9.82824619e-01 1.66220617e-03 -3.21640756e+02] [-9.82791741e-01 1.84541991e-01 8.04039077e-03 -2.51940853e+02] [-8.20904083e-03 -1.49872476e-04 -9.99966294e-01 -1.79468752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1115.586559995 meters 0.014771762427460424 Centerline is valid? [True, True] Translation: X:-321.68, Y:-252.04, Z:-1.79 [[-1.08606479e-01 -9.94084273e-01 1.04506472e-03 -3.21684652e+02] [-9.94050561e-01 1.08611404e-01 8.18809699e-03 -2.52039373e+02] [-8.25316438e-03 -1.49566792e-04 -9.99965931e-01 -1.79393752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1115.616559995 meters 0.014677043771582436 Centerline is valid? [True, True] Translation: X:-321.72, Y:-252.15, Z:-1.79 [[-3.25798457e-02 -9.99469055e-01 4.02093873e-04 -3.21722210e+02] [-9.99436691e-01 3.25820270e-02 8.04436772e-03 -2.52153745e+02] [-8.05319764e-03 -1.39783111e-04 -9.99967563e-01 -1.79399008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1115.646559995 meters 0.014077339390021525 Centerline is valid? [True, True] Translation: X:-321.75, Y:-252.27, Z:-1.79 [[ 4.27833783e-02 -9.99084355e-01 -1.82837903e-04 -3.21749320e+02] [-9.99061739e-01 -4.27836402e-02 6.72322996e-03 -2.52268995e+02] [-6.72489634e-03 -1.04976137e-04 -9.99977382e-01 -1.79463501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1115.676559995 meters 0.014124286120275139 Centerline is valid? [True, True] Translation: X:-321.77, Y:-252.39, Z:-1.79 [[ 1.18588440e-01 -9.92943290e-01 -6.35950930e-04 -3.21769572e+02] [-9.92924711e-01 -1.18590112e-01 6.07484902e-03 -2.52387875e+02] [-6.10739807e-03 -8.89554765e-05 -9.99981346e-01 -1.79488669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1115.7065599950001 meters 0.014116632569224196 Centerline is valid? [True, True] Translation: X:-321.78, Y:-252.51, Z:-1.80 [[ 1.93622541e-01 -9.81075676e-01 -9.10571107e-04 -3.21780369e+02] [-9.81063116e-01 -1.93624670e-01 4.96481577e-03 -2.52507076e+02] [-5.04716902e-03 -6.79725157e-05 -9.99987261e-01 -1.79531506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1115.736559995 meters 0.01311072462334637 Centerline is valid? [True, True] Translation: X:-321.78, Y:-252.63, Z:-1.80 [[ 2.65992498e-01 -9.63974580e-01 -9.99833378e-04 -3.21778017e+02] [-9.63967166e-01 -2.65994374e-01 3.78114321e-03 -2.52628960e+02] [-3.91087599e-03 -4.19491793e-05 -9.99992352e-01 -1.79688553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1115.766559995 meters 0.012882331025858071 Centerline is valid? [True, True] Translation: X:-321.77, Y:-252.74, Z:-1.80 [[ 3.37910428e-01 -9.41177478e-01 -1.22428174e-03 -3.21771922e+02] [-9.41170925e-01 -3.37912644e-01 3.51227960e-03 -2.52740928e+02] [-3.71937873e-03 -3.45775252e-05 -9.99993083e-01 -1.79664459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1115.796559995 meters 0.012701833610359701 Centerline is valid? [True, True] Translation: X:-321.75, Y:-252.86, Z:-1.80 [[ 4.08199340e-01 -9.12891373e-01 -1.62500777e-03 -3.21754867e+02] [-9.12883815e-01 -4.08202573e-01 3.71478343e-03 -2.52858755e+02] [-4.05452610e-03 -3.29288463e-05 -9.99991780e-01 -1.79649045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1115.826559995 meters 0.012736302038036443 Centerline is valid? [True, True] Translation: X:-321.73, Y:-252.98, Z:-1.80 [[ 4.76208151e-01 -8.79330869e-01 -1.73781162e-03 -3.21728011e+02] [-8.79324812e-01 -4.76211321e-01 3.26373871e-03 -2.52976289e+02] [-3.69747176e-03 -2.61181012e-05 -9.99993164e-01 -1.79630788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1115.856559995 meters 0.012454449941972945 Centerline is valid? [True, True] Translation: X:-321.70, Y:-253.08, Z:-1.80 [[ 5.40638527e-01 -8.41252492e-01 -2.05628877e-03 -3.21697519e+02] [-8.41246270e-01 -5.40642437e-01 3.23551039e-03 -2.53080735e+02] [-3.83359815e-03 -1.93963142e-05 -9.99992652e-01 -1.79584874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1115.886559995 meters 0.01245026795691576 Centerline is valid? [True, True] Translation: X:-321.66, Y:-253.19, Z:-1.80 [[ 6.03064080e-01 -7.97688995e-01 -2.44597142e-03 -3.21657523e+02] [-7.97682311e-01 -6.03069040e-01 3.26558905e-03 -2.53186827e+02] [-4.08001408e-03 -1.82513142e-05 -9.99991677e-01 -1.79565696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1115.916559995 meters 0.012396218063501404 Centerline is valid? [True, True] Translation: X:-321.61, Y:-253.29, Z:-1.79 [[ 6.61556361e-01 -7.49886918e-01 -3.57658250e-03 -3.21607520e+02] [-7.49875803e-01 -6.61566029e-01 4.08293948e-03 -2.53291777e+02] [-5.42788839e-03 -1.91019106e-05 -9.99985269e-01 -1.79469830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1115.9465599950001 meters 0.012552116981507407 Centerline is valid? [True, True] Translation: X:-321.56, Y:-253.38, Z:-1.79 [[ 7.16923307e-01 -6.97137271e-01 -4.53839983e-03 -3.21559590e+02] [-6.97123099e-01 -7.16937671e-01 4.44519802e-03 -2.53384898e+02] [-6.35266302e-03 -2.30427104e-05 -9.99979822e-01 -1.79265255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1115.9765599950001 meters 0.012481234674443597 Centerline is valid? [True, True] Translation: X:-321.56, Y:-253.39, Z:-1.79 [[ 7.70087128e-01 -6.37907213e-01 -6.34058632e-03 -3.21564744e+02] [-6.37885146e-01 -7.70113229e-01 5.30612621e-03 -2.53394053e+02] [-8.26778559e-03 -4.16136620e-05 -9.99965821e-01 -1.79207287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1116.006559995 meters 0.012517516081909066 Centerline is valid? [True, True] Translation: X:-321.57, Y:-253.40, Z:-1.79 [[ 8.18136060e-01 -5.74985722e-01 -6.69378472e-03 -3.21568806e+02] [-5.74965985e-01 -8.18163442e-01 4.76436766e-03 -2.53403718e+02] [-8.21605332e-03 -4.92024560e-05 -9.99966247e-01 -1.79203020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1116.036559995 meters 0.012663513019294312 Centerline is valid? [True, True] Translation: X:-321.57, Y:-253.41, Z:-1.79 [[ 8.61176608e-01 -5.08261350e-01 -6.72674646e-03 -3.21572184e+02] [-5.08245334e-01 -8.61202878e-01 4.03531448e-03 -2.53413974e+02] [-7.84408779e-03 -5.62809387e-05 -9.99969233e-01 -1.79201916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1116.066559995 meters 0.013146123165790684 Centerline is valid? [True, True] Translation: X:-321.58, Y:-253.43, Z:-1.79 [[ 8.99018886e-01 -4.37857051e-01 -6.80034034e-03 -3.21576298e+02] [-4.37843959e-01 -8.99044603e-01 3.38661433e-03 -2.53425107e+02] [-7.59666225e-03 -6.71423105e-05 -9.99971143e-01 -1.79185742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1116.096559995 meters 0.012933955669747992 Centerline is valid? [True, True] Translation: X:-321.58, Y:-253.43, Z:-1.79 [[ 9.30730580e-01 -3.65647074e-01 -6.54253344e-03 -3.21576920e+02] [-3.65637536e-01 -9.30753573e-01 2.64182125e-03 -2.53433509e+02] [-7.05546058e-03 -6.66280106e-05 -9.99975108e-01 -1.79273868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1116.126559995 meters 0.012946984583575114 Centerline is valid? [True, True] Translation: X:-321.58, Y:-253.44, Z:-1.79 [[ 9.56457242e-01 -2.91797012e-01 -6.63693202e-03 -3.21577234e+02] [-2.91789511e-01 -9.56480266e-01 2.09328336e-03 -2.53440775e+02] [-6.95890834e-03 -6.55488790e-05 -9.99975785e-01 -1.79328928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1116.156559995 meters 0.012799014988284627 Centerline is valid? [True, True] Translation: X:-321.58, Y:-253.45, Z:-1.79 [[ 9.76118093e-01 -2.17160968e-01 -5.88062517e-03 -3.21575570e+02] [-2.17156715e-01 -9.76135806e-01 1.36007716e-03 -2.53447446e+02] [-6.03564446e-03 -5.05786785e-05 -9.99981784e-01 -1.79390715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1116.1865599950002 meters 0.012723825441015094 Centerline is valid? [True, True] Translation: X:-321.57, Y:-253.45, Z:-1.79 [[ 9.89996552e-01 -1.40967198e-01 -5.92245997e-03 -3.21573583e+02] [-1.40964400e-01 -9.90014266e-01 8.89279043e-04 -2.53452675e+02] [-5.98867903e-03 -4.55271715e-05 -9.99982067e-01 -1.79427785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1116.2165599950001 meters 0.012563529495508763 Centerline is valid? [True, True] Translation: X:-321.58, Y:-253.46, Z:-1.79 [[ 9.97931336e-01 -6.40500795e-02 -5.53500602e-03 -3.21575118e+02] [-6.40488921e-02 -9.97946685e-01 3.91706097e-04 -2.53458228e+02] [-5.54872972e-03 -3.63847852e-05 -9.99984605e-01 -1.79474197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1116.246559995 meters 0.01237953354804566 Centerline is valid? [True, True] Translation: X:-321.58, Y:-253.46, Z:-1.80 [[ 9.99907175e-01 1.25468384e-02 -5.31218004e-03 -3.21576098e+02] [ 1.25467972e-02 -9.99921285e-01 -4.10834517e-05 -2.53464576e+02] [-5.31227736e-03 -2.55712075e-05 -9.99985890e-01 -1.79551518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1116.276559995 meters 0.012344616121096878 Centerline is valid? [True, True] Translation: X:-321.58, Y:-253.47, Z:-1.80 [[ 9.95920478e-01 9.00654636e-02 -5.53303381e-03 -3.21576091e+02] [ 9.00641998e-02 -9.95935847e-01 -4.77654691e-04 -2.53472189e+02] [-5.55356691e-03 -2.26221747e-05 -9.99984579e-01 -1.79578888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1116.306559995 meters 0.012319377442026649 Centerline is valid? [True, True] Translation: X:-321.58, Y:-253.48, Z:-1.80 [[ 9.85933640e-01 1.67045625e-01 -5.53323205e-03 -3.21575619e+02] [ 1.67043102e-01 -9.85949166e-01 -9.18403950e-04 -2.53480725e+02] [-5.60890089e-03 -1.88028953e-05 -9.99984270e-01 -1.79544088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1116.336559995 meters 0.012425182786583878 Centerline is valid? [True, True] Translation: X:-321.57, Y:-253.49, Z:-1.80 [[ 9.69847172e-01 2.43643957e-01 -5.83822940e-03 -3.21573610e+02] [ 2.43639665e-01 -9.69864744e-01 -1.44639505e-03 -2.53490232e+02] [-6.01469828e-03 -1.96421067e-05 -9.99981912e-01 -1.79513858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1116.366559995 meters 0.012358834563653543 Centerline is valid? [True, True] Translation: X:-321.57, Y:-253.50, Z:-1.79 [[ 9.47823393e-01 3.18740939e-01 -5.91854165e-03 -3.21572586e+02] [ 3.18734856e-01 -9.47841872e-01 -1.96937753e-03 -2.53499709e+02] [-6.23756284e-03 -1.98234209e-05 -9.99980546e-01 -1.79457552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1116.396559995 meters 0.012458153324754206 Centerline is valid? [True, True] Translation: X:-321.57, Y:-253.51, Z:-1.79 [[ 9.20270754e-01 3.91232364e-01 -6.24313181e-03 -3.21569951e+02] [ 3.91223482e-01 -9.20291931e-01 -2.63619347e-03 -2.53507944e+02] [-6.77686803e-03 -1.64480148e-05 -9.99977037e-01 -1.79416326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1116.426559995 meters 0.012383732753421332 Centerline is valid? [True, True] Translation: X:-321.57, Y:-253.51, Z:-1.79 [[ 8.87115608e-01 4.61496680e-01 -6.83463598e-03 -3.21566947e+02] [ 4.61483104e-01 -8.87141936e-01 -3.53987075e-03 -2.53514944e+02] [-7.69693079e-03 -1.37944290e-05 -9.99970378e-01 -1.79376297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1116.4565599950001 meters 0.012445588513722112 Centerline is valid? [True, True] Translation: X:-321.56, Y:-253.52, Z:-1.79 [[ 8.48619113e-01 5.28960610e-01 -6.80251720e-03 -3.21563410e+02] [ 5.28943702e-01 -8.48646377e-01 -4.22933421e-03 -2.53522380e+02] [-8.01008278e-03 -9.05478847e-06 -9.99967919e-01 -1.79347984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1116.486559995 meters 0.012502757344207952 Centerline is valid? [True, True] Translation: X:-321.56, Y:-253.53, Z:-1.79 [[ 8.05325539e-01 5.92788044e-01 -7.28776168e-03 -3.21558606e+02] [ 5.92763765e-01 -8.05358513e-01 -5.36515154e-03 -2.53529911e+02] [-9.04965860e-03 7.72506333e-07 -9.99959051e-01 -1.79283282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1116.516559995 meters 0.012540229468058826 Centerline is valid? [True, True] Translation: X:-321.55, Y:-253.54, Z:-1.79 [[ 7.57130991e-01 6.53221531e-01 -7.36841140e-03 -3.21552977e+02] [ 6.53190459e-01 -7.57166845e-01 -6.37124550e-03 -2.53537870e+02] [-9.74095155e-03 1.08913995e-05 -9.99952556e-01 -1.79276674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1116.546559995 meters 0.012465003437155443 Centerline is valid? [True, True] Translation: X:-321.55, Y:-253.54, Z:-1.79 [[ 7.03659587e-01 7.10503994e-01 -6.87461108e-03 -3.21547059e+02] [ 7.10469941e-01 -7.03693168e-01 -6.95616200e-03 -2.53544275e+02] [-9.77999774e-03 1.05655542e-05 -9.99952175e-01 -1.79290160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1116.576559995 meters 0.012471088780567057 Centerline is valid? [True, True] Translation: X:-321.54, Y:-253.55, Z:-1.79 [[ 6.46407213e-01 7.62967636e-01 -6.17261854e-03 -3.21542404e+02] [ 7.62932601e-01 -6.46436684e-01 -7.31165201e-03 -2.53550656e+02] [-9.56876091e-03 1.70126817e-05 -9.99954218e-01 -1.79284434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1116.606559995 meters 0.01237881594832893 Centerline is valid? [True, True] Translation: X:-321.53, Y:-253.56, Z:-1.79 [[ 5.85411912e-01 8.10719326e-01 -5.20276934e-03 -3.21534108e+02] [ 8.10686947e-01 -5.85435030e-01 -7.24559530e-03 -2.53557467e+02] [-8.92002756e-03 2.38406004e-05 -9.99960216e-01 -1.79378004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1116.636559995 meters 0.012426547214093298 Centerline is valid? [True, True] Translation: X:-321.53, Y:-253.56, Z:-1.79 [[ 5.20222005e-01 8.54019416e-01 -4.46124356e-03 -3.21526767e+02] [ 8.53987612e-01 -5.20241133e-01 -7.37028848e-03 -2.53564388e+02] [-8.61529187e-03 2.43395105e-05 -9.99962888e-01 -1.79330684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1116.666559995 meters 0.012378474936774776 Centerline is valid? [True, True] Translation: X:-321.52, Y:-253.57, Z:-1.79 [[ 4.51795636e-01 8.92113252e-01 -3.82731881e-03 -3.21519606e+02] [ 8.92080779e-01 -4.51811846e-01 -7.61181337e-03 -2.53569154e+02] [-8.51982756e-03 2.47065191e-05 -9.99963705e-01 -1.79371616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1116.6965599950001 meters 0.012329901026193954 Centerline is valid? [True, True] Translation: X:-321.51, Y:-253.57, Z:-1.79 [[ 3.80644015e-01 9.24716056e-01 -3.21705513e-03 -3.21510704e+02] [ 9.24682461e-01 -3.80657609e-01 -7.88234061e-03 -2.53574254e+02] [-8.51352343e-03 2.56113224e-05 -9.99963759e-01 -1.79419353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1116.7265599950001 meters 0.012343854471325213 Centerline is valid? [True, True] Translation: X:-321.50, Y:-253.58, Z:-1.79 [[ 3.07255420e-01 9.51623445e-01 -2.63178556e-03 -3.21501801e+02] [ 9.51587747e-01 -3.07266690e-01 -8.24265863e-03 -2.53578394e+02] [-8.65256724e-03 2.82266488e-05 -9.99962566e-01 -1.79438600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1116.756559995 meters 0.012272346702472944 Centerline is valid? [True, True] Translation: X:-321.49, Y:-253.58, Z:-1.80 [[ 2.31800204e-01 9.72761675e-01 -1.84092923e-03 -3.21491348e+02] [ 9.72730087e-01 -2.31807512e-01 -7.83936889e-03 -2.53581648e+02] [-8.05257884e-03 2.64400571e-05 -9.99967577e-01 -1.79502956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1116.786559995 meters 0.012182899017860125 Centerline is valid? [True, True] Translation: X:-321.48, Y:-253.58, Z:-1.80 [[ 1.54976195e-01 9.87917533e-01 -1.15203376e-03 -3.21480055e+02] [ 9.87889009e-01 -1.54980475e-01 -7.50717645e-03 -2.53584518e+02] [-7.59501398e-03 2.53521526e-05 -9.99971157e-01 -1.79550646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1116.816559995 meters 0.012124900174842534 Centerline is valid? [True, True] Translation: X:-321.47, Y:-253.59, Z:-1.80 [[ 7.66361399e-02 9.97058982e-01 -5.37406107e-04 -3.21468944e+02] [ 9.97032528e-01 -7.66380213e-02 -7.26309696e-03 -2.53587043e+02] [-7.28292180e-03 2.08043456e-05 -9.99973479e-01 -1.79581938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1116.846559995 meters 0.012194292517821902 Centerline is valid? [True, True] Translation: X:-321.46, Y:-253.59, Z:-1.80 [[-1.89656129e-03 9.99998201e-01 3.23281661e-05 -3.21459359e+02] [ 9.99972990e-01 1.89674303e-03 -7.10083358e-03 -2.53588431e+02] [-7.10088212e-03 1.88601268e-05 -9.99974788e-01 -1.79647460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1116.876559995 meters 0.011973567257100684 Centerline is valid? [True, True] Translation: X:-321.45, Y:-253.59, Z:-1.80 [[-8.07583221e-02 9.96733520e-01 6.19251710e-04 -3.21446164e+02] [ 9.96705679e-01 8.07606948e-02 -7.44976758e-03 -2.53588127e+02] [-7.47544427e-03 1.55809655e-05 -9.99972059e-01 -1.79724533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1116.906559995 meters 0.012067473784160926 Centerline is valid? [True, True] Translation: X:-321.43, Y:-253.59, Z:-1.80 [[-1.59128992e-01 9.87257081e-01 1.19143914e-03 -3.21434838e+02] [ 9.87229949e-01 1.59133452e-01 -7.31927692e-03 -2.53587777e+02] [-7.41560579e-03 1.15152383e-05 -9.99972504e-01 -1.79683738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1116.9365599950002 meters 0.01195347961924718 Centerline is valid? [True, True] Translation: X:-321.42, Y:-253.59, Z:-1.80 [[-2.36563622e-01 9.71614398e-01 1.76481468e-03 -3.21423472e+02] [ 9.71587587e-01 2.36570205e-01 -7.21795933e-03 -2.53585585e+02] [-7.43057578e-03 7.16543587e-06 -9.99972393e-01 -1.79654778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1116.9665599950001 meters 0.011998608728249975 Centerline is valid? [True, True] Translation: X:-321.41, Y:-253.58, Z:-1.80 [[-3.12683974e-01 9.49854214e-01 2.38831604e-03 -3.21412105e+02] [ 9.49826546e-01 3.12693095e-01 -7.24994362e-03 -2.53581848e+02] [-7.63319944e-03 1.54479083e-06 -9.99970867e-01 -1.79667010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1116.996559995 meters 0.01191676630551369 Centerline is valid? [True, True] Translation: X:-321.40, Y:-253.58, Z:-1.80 [[-3.87775552e-01 9.21748583e-01 3.10985602e-03 -3.21399611e+02] [ 9.21718682e-01 3.87788022e-01 -7.42440549e-03 -2.53577932e+02] [-8.04940016e-03 -1.25905460e-05 -9.99967603e-01 -1.79619436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1117.026559995 meters 0.01203401521989663 Centerline is valid? [True, True] Translation: X:-321.39, Y:-253.57, Z:-1.80 [[-4.59732350e-01 8.88050031e-01 3.64818429e-03 -3.21390312e+02] [ 8.88021706e-01 4.59746824e-01 -7.09284568e-03 -2.53574328e+02] [-7.97604297e-03 -2.11437730e-05 -9.99968191e-01 -1.79526076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1117.056559995 meters 0.012109898565866839 Centerline is valid? [True, True] Translation: X:-321.38, Y:-253.57, Z:-1.80 [[-5.29444986e-01 8.48332761e-01 4.41969784e-03 -3.21381042e+02] [ 8.48302606e-01 5.29463431e-01 -7.15291826e-03 -2.53568128e+02] [-8.40812328e-03 -3.78355163e-05 -9.99964651e-01 -1.79540845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1117.086559995 meters 0.012051400807730848 Centerline is valid? [True, True] Translation: X:-321.37, Y:-253.56, Z:-1.80 [[-5.95121090e-01 8.03619140e-01 5.21205631e-03 -3.21373475e+02] [ 8.03587597e-01 5.95143911e-01 -7.12032203e-03 -2.53561944e+02] [-8.82395064e-03 -4.91100064e-05 -9.99961067e-01 -1.79592938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1117.116559995 meters 0.012337769057627745 Centerline is valid? [True, True] Translation: X:-321.37, Y:-253.56, Z:-1.80 [[-6.56859198e-01 7.53992395e-01 5.60913767e-03 -3.21366128e+02] [ 7.53964188e-01 6.56883145e-01 -6.52206175e-03 -2.53556445e+02] [-8.60213295e-03 -5.49873224e-05 -9.99963000e-01 -1.79573166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1117.146559995 meters 0.012445573969214072 Centerline is valid? [True, True] Translation: X:-321.36, Y:-253.55, Z:-1.80 [[-7.15448109e-01 6.98635942e-01 6.46717111e-03 -3.21359406e+02] [ 6.98606407e-01 7.15477334e-01 -6.42449195e-03 -2.53547779e+02] [-9.11549533e-03 -7.83834460e-05 -9.99958450e-01 -1.79549535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1117.176559995 meters 0.012568784517252322 Centerline is valid? [True, True] Translation: X:-321.34, Y:-253.53, Z:-1.80 [[-7.63683483e-01 6.45551065e-01 7.16669488e-03 -3.21339383e+02] [ 6.45521529e-01 7.63717104e-01 -6.17581910e-03 -2.53526143e+02] [-9.46013406e-03 -9.01152028e-05 -9.99955248e-01 -1.79548311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1117.2065599950001 meters 0.012619854609872933 Centerline is valid? [True, True] Translation: X:-320.94, Y:-253.07, Z:-2.79 [[-7.04565442e-01 -7.09610218e-01 6.39346387e-03 -3.20940960e+02] [ 7.09581759e-01 -7.04594447e-01 -6.35552917e-03 -2.53068712e+02] [ 9.01474758e-03 5.87991141e-05 9.99959365e-01 -2.78989088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1117.236559995 meters 0.012777475434680347 Centerline is valid? [True, True] Translation: X:-320.97, Y:-253.09, Z:-2.79 [[-6.54477224e-01 -7.56065256e-01 4.98916328e-03 -3.20965013e+02] [ 7.56044279e-01 -6.54496235e-01 -5.63263894e-03 -2.53091992e+02] [ 7.52403118e-03 8.55944553e-05 9.99971691e-01 -2.78877914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1117.266559995 meters 0.012731407588194537 Centerline is valid? [True, True] Translation: X:-320.98, Y:-253.07, Z:-2.79 [[-6.54393343e-01 -7.56140645e-01 4.54721891e-03 -3.20984365e+02] [ 7.56123237e-01 -6.54409137e-01 -5.13140291e-03 -2.53072642e+02] [ 6.85580391e-03 8.03019773e-05 9.99976496e-01 -2.78819379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1117.296559995 meters 0.013086122667844318 Centerline is valid? [True, True] Translation: X:-321.00, Y:-253.06, Z:-2.79 [[-6.53938423e-01 -7.56536501e-01 4.13063555e-03 -3.21003892e+02] [ 7.56522164e-01 -6.53951464e-01 -4.65821457e-03 -2.53055481e+02] [ 6.22534452e-03 7.87318517e-05 9.99980619e-01 -2.78813591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1117.326559995 meters 0.013086122667844318 Centerline is valid? [True, True] Translation: X:-321.02, Y:-253.04, Z:-2.79 [[-6.54173142e-01 -7.56333542e-01 4.13208097e-03 -3.21021720e+02] [ 7.56319209e-01 -6.54186187e-01 -4.65693246e-03 -2.53035540e+02] [ 6.22534451e-03 7.87320735e-05 9.99980619e-01 -2.78813559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1117.356559995 meters 0.013149272056281318 Centerline is valid? [True, True] Translation: X:-321.04, Y:-253.02, Z:-2.79 [[-6.54212183e-01 -7.56297670e-01 4.50051600e-03 -3.21040607e+02] [ 7.56280688e-01 -6.54227657e-01 -5.06897238e-03 -2.53016186e+02] [ 6.77801403e-03 8.74698505e-05 9.99977025e-01 -2.78841816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1117.386559995 meters 0.01301518089832896 Centerline is valid? [True, True] Translation: X:-321.06, Y:-253.00, Z:-2.79 [[-6.54241815e-01 -7.56270779e-01 4.70715797e-03 -3.21059412e+02] [ 7.56252222e-01 -6.54258742e-01 -5.29871208e-03 -2.52995983e+02] [ 7.08696035e-03 9.31596644e-05 9.99974883e-01 -2.78847321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1117.416559995 meters 0.01306494425173319 Centerline is valid? [True, True] Translation: X:-321.08, Y:-252.98, Z:-2.79 [[-6.54180132e-01 -7.56322158e-01 5.01473848e-03 -3.21078653e+02] [ 7.56301123e-01 -6.54199345e-01 -5.64172478e-03 -2.52976174e+02] [ 7.54760008e-03 1.01948080e-04 9.99971511e-01 -2.78890716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1117.4465599950001 meters 0.013192802486264034 Centerline is valid? [True, True] Translation: X:-321.10, Y:-252.96, Z:-2.79 [[-6.54279561e-01 -7.56234216e-01 5.29775099e-03 -3.21096974e+02] [ 7.56210765e-01 -6.54301000e-01 -5.95653172e-03 -2.52956843e+02] [ 7.97085687e-03 1.08979372e-04 9.99968226e-01 -2.78907300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1117.4765599950001 meters 0.013582488523293614 Centerline is valid? [True, True] Translation: X:-321.12, Y:-252.94, Z:-2.79 [[-6.53930858e-01 -7.56534110e-01 5.52943010e-03 -3.21115407e+02] [ 7.56508608e-01 -6.53954224e-01 -6.21288436e-03 -2.52938152e+02] [ 8.31625310e-03 1.20264670e-04 9.99965412e-01 -2.78924998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1117.506559995 meters 0.01372892877224612 Centerline is valid? [True, True] Translation: X:-321.13, Y:-252.92, Z:-2.79 [[-6.53600667e-01 -7.56816182e-01 5.95270631e-03 -3.21133832e+02] [ 7.56786675e-01 -6.53627760e-01 -6.68430140e-03 -2.52918662e+02] [ 8.94964155e-03 1.36064964e-04 9.99959942e-01 -2.78946291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1117.536559995 meters 0.014006589676056861 Centerline is valid? [True, True] Translation: X:-321.15, Y:-252.90, Z:-2.79 [[-6.53252639e-01 -7.57115379e-01 6.10684681e-03 -3.21152421e+02] [ 7.57084376e-01 -6.53281166e-01 -6.85312538e-03 -2.52899286e+02] [ 9.17809462e-03 1.46576072e-04 9.99957870e-01 -2.78991786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1117.566559995 meters 0.014731656432153854 Centerline is valid? [True, True] Translation: X:-321.17, Y:-252.88, Z:-2.79 [[-6.51933212e-01 -7.58245151e-01 6.88327705e-03 -3.21171883e+02] [ 7.58205873e-01 -6.51969522e-01 -7.71994029e-03 -2.52880621e+02] [ 1.03412941e-02 1.86055614e-04 9.99946510e-01 -2.79092523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1117.596559995 meters 0.015112547931832135 Centerline is valid? [True, True] Translation: X:-321.19, Y:-252.86, Z:-2.79 [[-6.51614407e-01 -7.58519409e-01 6.85359400e-03 -3.21190725e+02] [ 7.58480532e-01 -6.51650420e-01 -7.68196292e-03 -2.52860617e+02] [ 1.02930654e-02 1.92639908e-04 9.99947007e-01 -2.79148060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1117.626559995 meters 0.014871983427108678 Centerline is valid? [True, True] Translation: X:-321.21, Y:-252.84, Z:-2.79 [[-6.50946257e-01 -7.59092403e-01 6.90613728e-03 -3.21208417e+02] [ 7.59053005e-01 -6.50982858e-01 -7.73652880e-03 -2.52838450e+02] [ 1.03685172e-02 2.06059798e-04 9.99946224e-01 -2.79024835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1117.656559995 meters 0.014917000654276306 Centerline is valid? [True, True] Translation: X:-321.23, Y:-252.82, Z:-2.79 [[-6.51167010e-01 -7.58903571e-01 6.84800100e-03 -3.21225673e+02] [ 7.58864873e-01 -6.51202986e-01 -7.66657858e-03 -2.52817871e+02] [ 1.02776326e-02 2.04484349e-04 9.99947163e-01 -2.78967416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1117.6865599950002 meters 0.014995895517375348 Centerline is valid? [True, True] Translation: X:-321.24, Y:-252.80, Z:-2.79 [[-6.51891832e-01 -7.58286409e-01 6.22578133e-03 -3.21241823e+02] [ 7.58254439e-01 -6.51921536e-01 -6.96539621e-03 -2.52797423e+02] [ 9.34048621e-03 1.80041432e-04 9.99956361e-01 -2.78905334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1117.7165599950001 meters 0.014854758806068492 Centerline is valid? [True, True] Translation: X:-321.26, Y:-252.78, Z:-2.79 [[-6.52797079e-01 -7.57508400e-01 6.08252489e-03 -3.21259425e+02] [ 7.57477889e-01 -6.52825395e-01 -6.80091447e-03 -2.52776519e+02] [ 9.12257655e-03 1.67761011e-04 9.99958375e-01 -2.78874376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1117.746559995 meters 0.01446464576498868 Centerline is valid? [True, True] Translation: X:-321.28, Y:-252.75, Z:-2.79 [[-6.54341910e-01 -7.56180870e-01 5.21121873e-03 -3.21275553e+02] [ 7.56158450e-01 -6.54362648e-01 -5.82435757e-03 -2.52754133e+02] [ 7.81429467e-03 1.29385818e-04 9.99969460e-01 -2.78738028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1117.776559995 meters 0.013917649110857485 Centerline is valid? [True, True] Translation: X:-321.29, Y:-252.73, Z:-2.79 [[-6.55704730e-01 -7.55001063e-01 4.97017584e-03 -3.21292153e+02] [ 7.54980660e-01 -6.55723557e-01 -5.55154348e-03 -2.52732024e+02] [ 7.45048261e-03 1.12213321e-04 9.99972239e-01 -2.78644011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1117.806559995 meters 0.013164913577549512 Centerline is valid? [True, True] Translation: X:-321.31, Y:-252.71, Z:-2.79 [[-6.58749997e-01 -7.52348374e-01 4.51285586e-03 -3.21307892e+02] [ 7.52331508e-01 -6.58765451e-01 -5.03816416e-03 -2.52707692e+02] [ 6.76336813e-03 7.62730275e-05 9.99977125e-01 -2.78598794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1117.836559995 meters 0.012828634879474774 Centerline is valid? [True, True] Translation: X:-321.32, Y:-252.69, Z:-2.79 [[-6.60515491e-01 -7.50797163e-01 4.78607812e-03 -3.21324011e+02] [ 7.50778177e-01 -6.60532827e-01 -5.33977254e-03 -2.52686438e+02] [ 7.17044779e-03 6.62805297e-05 9.99974290e-01 -2.78609410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1117.866559995 meters 0.0123998064715462 Centerline is valid? [True, True] Translation: X:-321.34, Y:-252.66, Z:-2.79 [[-6.62213427e-01 -7.49296920e-01 5.24439360e-03 -3.21340051e+02] [ 7.49274102e-01 -6.62234191e-01 -5.84781418e-03 -2.52663564e+02] [ 7.85476591e-03 5.69872347e-05 9.99969149e-01 -2.78611850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1117.896559995 meters 0.012267046763403372 Centerline is valid? [True, True] Translation: X:-321.35, Y:-252.64, Z:-2.79 [[-6.65046220e-01 -7.46775737e-01 6.28682714e-03 -3.21354961e+02] [ 7.46742877e-01 -6.65075934e-01 -7.00553913e-03 -2.52641485e+02] [ 9.41278408e-03 3.56360681e-05 9.99955698e-01 -2.78894331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1117.926559995 meters 0.01217090817295977 Centerline is valid? [True, True] Translation: X:-321.37, Y:-252.62, Z:-2.79 [[-6.66248171e-01 -7.45699724e-01 6.73030521e-03 -3.21371756e+02] [ 7.45662056e-01 -6.66282164e-01 -7.49508368e-03 -2.52619442e+02] [ 1.00733642e-02 2.49474300e-05 9.99949262e-01 -2.78885781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1117.9565599950001 meters 0.012242435296218043 Centerline is valid? [True, True] Translation: X:-321.39, Y:-252.60, Z:-2.79 [[-6.68353807e-01 -7.43813558e-01 6.67682933e-03 -3.21386759e+02] [ 7.43776428e-01 -6.68387157e-01 -7.43198671e-03 -2.52597173e+02] [ 9.99071945e-03 -1.12834214e-06 9.99950092e-01 -2.78951669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1117.986559995 meters 0.012100669293429263 Centerline is valid? [True, True] Translation: X:-321.40, Y:-252.57, Z:-2.79 [[-6.69900315e-01 -7.42429098e-01 5.70984808e-03 -3.21403303e+02] [ 7.42401924e-01 -6.69924649e-01 -6.35203755e-03 -2.52574804e+02] [ 8.54110548e-03 -1.62297532e-05 9.99963524e-01 -2.78700668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1118.016559995 meters 0.01204702573502442 Centerline is valid? [True, True] Translation: X:-321.42, Y:-252.55, Z:-2.79 [[-6.70564128e-01 -7.41833082e-01 5.23729249e-03 -3.21420000e+02] [ 7.41810228e-01 -6.70584580e-01 -5.82300989e-03 -2.52552555e+02] [ 7.83174896e-03 -1.96244105e-05 9.99969331e-01 -2.78632076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1118.046559995 meters 0.01210015603652959 Centerline is valid? [True, True] Translation: X:-321.44, Y:-252.53, Z:-2.79 [[-6.70849276e-01 -7.41576238e-01 5.09235299e-03 -3.21436999e+02] [ 7.41554650e-01 -6.70868603e-01 -5.65846175e-03 -2.52531695e+02] [ 7.61248052e-03 -1.97169314e-05 9.99971025e-01 -2.78659594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1118.076559995 meters 0.01210015603652959 Centerline is valid? [True, True] Translation: X:-321.45, Y:-252.51, Z:-2.79 [[-6.71076892e-01 -7.41370255e-01 5.09408975e-03 -3.21454977e+02] [ 7.41348673e-01 -6.71096226e-01 -5.65689826e-03 -2.52511883e+02] [ 7.61248051e-03 -1.97170313e-05 9.99971025e-01 -2.78659562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1118.106559995 meters 0.012191152517099086 Centerline is valid? [True, True] Translation: X:-321.47, Y:-252.49, Z:-2.79 [[-6.70505644e-01 -7.41882616e-01 5.68903146e-03 -3.21471378e+02] [ 7.41855752e-01 -6.70529778e-01 -6.31348570e-03 -2.52490914e+02] [ 8.49853029e-03 -1.27870841e-05 9.99963887e-01 -2.78794575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1118.136559995 meters 0.01206979582580571 Centerline is valid? [True, True] Translation: X:-321.49, Y:-252.47, Z:-2.79 [[-6.69812381e-01 -7.42506591e-01 5.94441030e-03 -3.21490379e+02] [ 7.42477319e-01 -6.69838758e-01 -6.59312838e-03 -2.52469707e+02] [ 8.87723769e-03 -2.56920727e-06 9.99960597e-01 -2.78731124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1118.166559995 meters 0.012116899567323043 Centerline is valid? [True, True] Translation: X:-321.51, Y:-252.45, Z:-2.79 [[-6.67480138e-01 -7.44599627e-01 6.45456305e-03 -3.21509056e+02] [ 7.44565253e-01 -6.67511344e-01 -7.15464178e-03 -2.52449654e+02] [ 9.63583766e-03 3.02620901e-05 9.99953574e-01 -2.78839883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1118.1965599950001 meters 0.012521836403971339 Centerline is valid? [True, True] Translation: X:-321.53, Y:-252.43, Z:-2.79 [[-6.64103245e-01 -7.47611846e-01 6.58845302e-03 -3.21528886e+02] [ 7.47576219e-01 -6.64135921e-01 -7.29895706e-03 -2.52429878e+02] [ 9.83241507e-03 7.81097264e-05 9.99951658e-01 -2.78899350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1118.2265599950001 meters 0.012521836403971339 Centerline is valid? [True, True] Translation: X:-321.55, Y:-252.41, Z:-2.79 [[-6.64337595e-01 -7.47403587e-01 6.59074078e-03 -3.21546892e+02] [ 7.47367970e-01 -6.64370283e-01 -7.29689134e-03 -2.52410085e+02] [ 9.83241507e-03 7.81093143e-05 9.99951658e-01 -2.78899318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1118.256559995 meters 0.012907727266399938 Centerline is valid? [True, True] Translation: X:-321.57, Y:-252.39, Z:-2.79 [[-6.62576876e-01 -7.48964019e-01 6.69188733e-03 -3.21566054e+02] [ 7.48927424e-01 -6.62610660e-01 -7.40449841e-03 -2.52390391e+02] [ 9.97981877e-03 1.05688513e-04 9.99950195e-01 -2.78955564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1118.286559995 meters 0.013713067438062021 Centerline is valid? [True, True] Translation: X:-321.59, Y:-252.37, Z:-2.79 [[-6.59569130e-01 -7.51616965e-01 6.36395276e-03 -3.21585125e+02] [ 7.51584029e-01 -6.59599816e-01 -7.03769783e-03 -2.52369779e+02] [ 9.48731516e-03 1.41197018e-04 9.99954985e-01 -2.78907208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1118.316559995 meters 0.014379233573829517 Centerline is valid? [True, True] Translation: X:-321.60, Y:-252.35, Z:-2.79 [[-6.57960679e-01 -7.53031834e-01 5.55008116e-03 -3.21603234e+02] [ 7.53006863e-01 -6.57984071e-01 -6.13403373e-03 -2.52349081e+02] [ 8.27098766e-03 1.43296214e-04 9.99965785e-01 -2.78862181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1118.346559995 meters 0.01500154766145484 Centerline is valid? [True, True] Translation: X:-321.62, Y:-252.33, Z:-2.79 [[-6.57352837e-01 -7.53568993e-01 4.58472269e-03 -3.21619765e+02] [ 7.53551990e-01 -6.57368813e-01 -5.06378983e-03 -2.52329231e+02] [ 6.82976872e-03 1.26130292e-04 9.99976669e-01 -2.78736077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1118.376559995 meters 0.01446373795042942 Centerline is valid? [True, True] Translation: X:-321.64, Y:-252.31, Z:-2.79 [[-6.57551462e-01 -7.53396828e-01 4.39247962e-03 -3.21636369e+02] [ 7.53381238e-01 -6.57566122e-01 -4.84838404e-03 -2.52307864e+02] [ 6.54110295e-03 1.21149719e-04 9.99978600e-01 -2.78672220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1118.406559995 meters 0.014495575378731166 Centerline is valid? [True, True] Translation: X:-321.65, Y:-252.29, Z:-2.79 [[-6.57646423e-01 -7.53315104e-01 4.18783981e-03 -3.21654159e+02] [ 7.53300948e-01 -6.57659746e-01 -4.61957412e-03 -2.52286669e+02] [ 6.23416862e-03 1.16657304e-04 9.99980561e-01 -2.78670003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1118.4365599950002 meters 0.014413483499853696 Centerline is valid? [True, True] Translation: X:-321.67, Y:-252.26, Z:-2.79 [[-6.57675339e-01 -7.53290497e-01 4.07128753e-03 -3.21671353e+02] [ 7.53277133e-01 -6.57687931e-01 -4.48846428e-03 -2.52264315e+02] [ 6.05875416e-03 1.14855534e-04 9.99981639e-01 -2.78732033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1118.4665599950001 meters 0.014565400360659606 Centerline is valid? [True, True] Translation: X:-321.69, Y:-252.24, Z:-2.79 [[-6.57698987e-01 -7.53268910e-01 4.24165667e-03 -3.21689522e+02] [ 7.53254421e-01 -6.57712653e-01 -4.67364667e-03 -2.52243383e+02] [ 6.31030400e-03 1.21193962e-04 9.99980083e-01 -2.78796144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1118.496559995 meters 0.014982089270964323 Centerline is valid? [True, True] Translation: X:-321.71, Y:-252.22, Z:-2.79 [[-6.57803980e-01 -7.53177527e-01 4.18767585e-03 -3.21707519e+02] [ 7.53163422e-01 -6.57817299e-01 -4.61108946e-03 -2.52223995e+02] [ 6.22769457e-03 1.20811269e-04 9.99980601e-01 -2.78867467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1118.526559995 meters 0.015120049883514486 Centerline is valid? [True, True] Translation: X:-321.73, Y:-252.20, Z:-2.79 [[-6.57288134e-01 -7.53626794e-01 4.35489791e-03 -3.21726120e+02] [ 7.53611567e-01 -6.57302547e-01 -4.79253022e-03 -2.52202680e+02] [ 6.47426467e-03 1.31828191e-04 9.99979033e-01 -2.78894548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1118.556559995 meters 0.01559750856095708 Centerline is valid? [True, True] Translation: X:-321.74, Y:-252.18, Z:-2.79 [[-6.56745232e-01 -7.54098952e-01 4.52451555e-03 -3.21744635e+02] [ 7.54082546e-01 -6.56760802e-01 -4.97625070e-03 -2.52182493e+02] [ 6.72410990e-03 1.43729282e-04 9.99977383e-01 -2.78930668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1118.586559995 meters 0.01538197393005835 Centerline is valid? [True, True] Translation: X:-321.76, Y:-252.16, Z:-2.79 [[-6.55564222e-01 -7.55119664e-01 5.46289700e-03 -3.21762036e+02] [ 7.55095812e-01 -6.55586956e-01 -6.00487672e-03 -2.52160298e+02] [ 8.11580451e-03 1.88428314e-04 9.99967049e-01 -2.78983458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1118.616559995 meters 0.016645474939356898 Centerline is valid? [True, True] Translation: X:-321.78, Y:-252.14, Z:-2.79 [[-6.54971460e-01 -7.55629331e-01 6.05807981e-03 -3.21781691e+02] [ 7.55600055e-01 -6.54999440e-01 -6.65508920e-03 -2.52141214e+02] [ 8.99681948e-03 2.18591942e-04 9.99959504e-01 -2.79133780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1118.646559995 meters 0.017689633549932655 Centerline is valid? [True, True] Translation: X:-321.80, Y:-252.12, Z:-2.79 [[-6.53425523e-01 -7.56956811e-01 7.17445416e-03 -3.21800493e+02] [ 7.56915880e-01 -6.53464847e-01 -7.87687757e-03 -2.52121384e+02] [ 1.06507097e-02 2.83505438e-04 9.99943240e-01 -2.79338698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1118.676559995 meters 0.016972473944593065 Centerline is valid? [True, True] Translation: X:-321.82, Y:-252.10, Z:-2.79 [[-6.52853064e-01 -7.57445647e-01 7.67913185e-03 -3.21817625e+02] [ 7.57398842e-01 -6.52898149e-01 -8.42617107e-03 -2.52099529e+02] [ 1.13960576e-02 3.15113965e-04 9.99935013e-01 -2.79348510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1118.7065599950001 meters 0.01781249769430331 Centerline is valid? [True, True] Translation: X:-321.84, Y:-252.08, Z:-2.79 [[-6.52363189e-01 -7.57865428e-01 7.89071332e-03 -3.21835415e+02] [ 7.57816100e-01 -6.52410823e-01 -8.65312972e-03 -2.52078580e+02] [ 1.17058946e-02 3.34726304e-04 9.99931428e-01 -2.79430142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1118.736559995 meters 0.01805239539776453 Centerline is valid? [True, True] Translation: X:-321.85, Y:-252.06, Z:-2.79 [[-6.53435679e-01 -7.56939326e-01 8.04175337e-03 -3.21851317e+02] [ 7.56888073e-01 -6.53485080e-01 -8.81447776e-03 -2.52057030e+02] [ 1.19271907e-02 3.27012950e-04 9.99928815e-01 -2.79430418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1118.766559995 meters 0.01667120311434831 Centerline is valid? [True, True] Translation: X:-321.87, Y:-252.03, Z:-2.79 [[-6.54691893e-01 -7.55856004e-01 7.76056374e-03 -3.21867358e+02] [ 7.55808252e-01 -6.54737819e-01 -8.50146308e-03 -2.52033511e+02] [ 1.15070165e-02 2.99659157e-04 9.99933747e-01 -2.79329384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1118.796559995 meters 0.01582786941566311 Centerline is valid? [True, True] Translation: X:-321.88, Y:-252.01, Z:-2.79 [[-6.56302766e-01 -7.54463916e-01 7.13300011e-03 -3.21884062e+02] [ 7.54423540e-01 -6.56341477e-01 -7.80951119e-03 -2.52010398e+02] [ 1.05736782e-02 2.55899399e-04 9.99944065e-01 -2.79234856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1118.826559995 meters 0.015581366673272427 Centerline is valid? [True, True] Translation: X:-321.90, Y:-251.99, Z:-2.79 [[-6.58053226e-01 -7.52943500e-01 6.48364510e-03 -3.21900355e+02] [ 7.52910096e-01 -6.58085132e-01 -7.09560133e-03 -2.51988912e+02] [ 9.60937734e-03 2.12318511e-04 9.99953807e-01 -2.79192133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1118.856559995 meters 0.014402539855847192 Centerline is valid? [True, True] Translation: X:-321.92, Y:-251.96, Z:-2.79 [[-6.61955396e-01 -7.49521907e-01 5.65384638e-03 -3.21915146e+02] [ 7.49496408e-01 -6.61979525e-01 -6.18411451e-03 -2.51964026e+02] [ 8.37785984e-03 1.43929582e-04 9.99964895e-01 -2.79066005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1118.886559995 meters 0.01372188636201132 Centerline is valid? [True, True] Translation: X:-321.93, Y:-251.94, Z:-2.79 [[-6.65190354e-01 -7.46651184e-01 5.81407903e-03 -3.21930400e+02] [ 7.46624139e-01 -6.65215753e-01 -6.35592002e-03 -2.51941795e+02] [ 8.61327216e-03 1.13035067e-04 9.99962899e-01 -2.79091785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1118.916559995 meters 0.013764633479381238 Centerline is valid? [True, True] Translation: X:-321.95, Y:-251.92, Z:-2.79 [[-6.65946327e-01 -7.45979245e-01 5.51870877e-03 -3.21948928e+02] [ 7.45954888e-01 -6.65969186e-01 -6.02904181e-03 -2.51922659e+02] [ 8.17283004e-03 1.01689529e-04 9.99966597e-01 -2.79108769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1118.9465599950001 meters 0.013628598051080583 Centerline is valid? [True, True] Translation: X:-321.97, Y:-251.90, Z:-2.79 [[-6.66892589e-01 -7.45126860e-01 6.34331893e-03 -3.21968338e+02] [ 7.45094678e-01 -6.66922748e-01 -6.92600225e-03 -2.51902557e+02] [ 9.39125400e-03 1.07473601e-04 9.99955896e-01 -2.79201968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1118.9765599950001 meters 0.013567578373433083 Centerline is valid? [True, True] Translation: X:-321.99, Y:-251.88, Z:-2.79 [[-6.66914395e-01 -7.45101920e-01 6.95114037e-03 -3.21987619e+02] [ 7.45063321e-01 -6.66950608e-01 -7.58510258e-03 -2.51882818e+02] [ 1.02877418e-02 1.20425633e-04 9.99947073e-01 -2.79231075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1119.006559995 meters 0.013808102113118368 Centerline is valid? [True, True] Translation: X:-322.01, Y:-251.86, Z:-2.79 [[-6.66949595e-01 -7.45067400e-01 7.26689346e-03 -3.22006233e+02] [ 7.45025254e-01 -6.66989171e-01 -7.92576506e-03 -2.51864541e+02] [ 1.07521684e-02 1.27933345e-04 9.99942186e-01 -2.79317270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1119.036559995 meters 0.013876695375714137 Centerline is valid? [True, True] Translation: X:-322.03, Y:-251.84, Z:-2.79 [[-6.66513759e-01 -7.45459237e-01 7.06649184e-03 -3.22025618e+02] [ 7.45419456e-01 -6.66551204e-01 -7.70237117e-03 -2.51844905e+02] [ 1.04519824e-02 1.33764145e-04 9.99945368e-01 -2.79309528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1119.066559995 meters 0.014011725548892125 Centerline is valid? [True, True] Translation: X:-322.04, Y:-251.82, Z:-2.79 [[-6.66078458e-01 -7.45845647e-01 7.33199248e-03 -3.22044833e+02] [ 7.45802899e-01 -6.66118795e-01 -7.98673190e-03 -2.51824914e+02] [ 1.08408472e-02 1.48431172e-04 9.99941225e-01 -2.79302448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1119.096559995 meters 0.014334882520802658 Centerline is valid? [True, True] Translation: X:-322.06, Y:-251.81, Z:-2.79 [[-6.65595387e-01 -7.46276625e-01 7.34711198e-03 -3.22063473e+02] [ 7.46233784e-01 -6.65635917e-01 -7.99792764e-03 -2.51806583e+02] [ 1.08591681e-02 1.59279429e-04 9.99941025e-01 -2.79343992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1119.126559995 meters 0.014615500455080269 Centerline is valid? [True, True] Translation: X:-322.08, Y:-251.79, Z:-2.79 [[-6.64863282e-01 -7.46930938e-01 7.14072242e-03 -3.22082555e+02] [ 7.46890558e-01 -6.64901606e-01 -7.76843735e-03 -2.51787355e+02] [ 1.05503640e-02 1.68389404e-04 9.99944329e-01 -2.79340592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1119.156559995 meters 0.014805797271367894 Centerline is valid? [True, True] Translation: X:-322.10, Y:-251.77, Z:-2.79 [[-6.64264326e-01 -7.47464953e-01 7.00354675e-03 -3.22101630e+02] [ 7.47426188e-01 -6.64301222e-01 -7.61445325e-03 -2.51768318e+02] [ 1.03440016e-02 1.76624590e-04 9.99946484e-01 -2.79337242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1119.1865599950002 meters 0.014676081076027997 Centerline is valid? [True, True] Translation: X:-322.12, Y:-251.75, Z:-2.79 [[-6.62807678e-01 -7.48756645e-01 7.03343345e-03 -3.22121202e+02] [ 7.48717663e-01 -6.62844965e-01 -7.64288486e-03 -2.51748332e+02] [ 1.03847368e-02 2.00293087e-04 9.99946057e-01 -2.79254429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1119.2165599950001 meters 0.015095916143599666 Centerline is valid? [True, True] Translation: X:-322.14, Y:-251.73, Z:-2.79 [[-6.62467372e-01 -7.49058869e-01 6.91326069e-03 -3.22140910e+02] [ 7.49021257e-01 -6.62503411e-01 -7.50912854e-03 -2.51729076e+02] [ 1.02048381e-02 2.03626565e-04 9.99947909e-01 -2.79257308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1119.246559995 meters 0.015095916143599666 Centerline is valid? [True, True] Translation: X:-322.16, Y:-251.71, Z:-2.79 [[-6.62679081e-01 -7.48871560e-01 6.91538248e-03 -3.22159650e+02] [ 7.48833958e-01 -6.62715131e-01 -7.50717456e-03 -2.51708825e+02] [ 1.02048381e-02 2.03625699e-04 9.99947909e-01 -2.79257275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1119.276559995 meters 0.01572726746440372 Centerline is valid? [True, True] Translation: X:-322.18, Y:-251.69, Z:-2.79 [[-6.62309078e-01 -7.49200167e-01 6.76723771e-03 -3.22178225e+02] [ 7.49164225e-01 -6.62343617e-01 -7.34144588e-03 -2.51690709e+02] [ 9.98244918e-03 2.07466141e-04 9.99950153e-01 -2.79255330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1119.306559995 meters 0.01583165819898552 Centerline is valid? [True, True] Translation: X:-322.20, Y:-251.67, Z:-2.79 [[-6.62199277e-01 -7.49298772e-01 6.59303345e-03 -3.22196904e+02] [ 7.49264705e-01 -6.62232065e-01 -7.14800201e-03 -2.51671505e+02] [ 9.72210728e-03 2.06525501e-04 9.99952718e-01 -2.79201136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1119.336559995 meters 0.01580407177358255 Centerline is valid? [True, True] Translation: X:-322.22, Y:-251.65, Z:-2.79 [[-6.61569877e-01 -7.49859087e-01 6.05367566e-03 -3.22216531e+02] [ 7.49830427e-01 -6.61597543e-01 -6.55909689e-03 -2.51652024e+02] [ 8.92349535e-03 1.99929277e-04 9.99960165e-01 -2.79112155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1119.366559995 meters 0.01580407177358255 Centerline is valid? [True, True] Translation: X:-322.23, Y:-251.63, Z:-2.79 [[-6.61806005e-01 -7.49650678e-01 6.05574116e-03 -3.22234763e+02] [ 7.49622027e-01 -6.61833680e-01 -6.55718995e-03 -2.51632424e+02] [ 8.92349535e-03 1.99929278e-04 9.99960165e-01 -2.79112123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1119.396559995 meters 0.016050245452915498 Centerline is valid? [True, True] Translation: X:-322.25, Y:-251.61, Z:-2.79 [[-6.61469976e-01 -7.49949489e-01 5.76490529e-03 -3.22254423e+02] [ 7.49923570e-01 -6.61495068e-01 -6.23811071e-03 -2.51614112e+02] [ 8.49172436e-03 1.96915413e-04 9.99963925e-01 -2.79082994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1119.426559995 meters 0.015800486660178123 Centerline is valid? [True, True] Translation: X:-322.27, Y:-251.59, Z:-2.79 [[-6.61677494e-01 -7.49767618e-01 5.60467701e-03 -3.22274001e+02] [ 7.49743142e-01 -6.61701203e-01 -6.06127252e-03 -2.51593336e+02] [ 8.25316738e-03 1.91460537e-04 9.99965924e-01 -2.79074891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1119.4565599950001 meters 0.0160167344294887 Centerline is valid? [True, True] Translation: X:-322.29, Y:-251.57, Z:-2.79 [[-6.61998517e-01 -7.49482925e-01 5.77130109e-03 -3.22293517e+02] [ 7.49456993e-01 -6.62023645e-01 -6.23772072e-03 -2.51573951e+02] [ 8.49580296e-03 1.95980091e-04 9.99963891e-01 -2.79163915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1119.486559995 meters 0.01600239311956826 Centerline is valid? [True, True] Translation: X:-322.31, Y:-251.55, Z:-2.79 [[-6.62206962e-01 -7.49296843e-01 6.01495706e-03 -3.22311788e+02] [ 7.49268704e-01 -6.62234248e-01 -6.49695462e-03 -2.51554200e+02] [ 8.85145815e-03 2.04490497e-04 9.99960804e-01 -2.79170015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1119.516559995 meters 0.015660075278492246 Centerline is valid? [True, True] Translation: X:-322.33, Y:-251.53, Z:-2.79 [[-6.62603261e-01 -7.48943792e-01 6.33365414e-03 -3.22329502e+02] [ 7.48912612e-01 -6.62633497e-01 -6.83729520e-03 -2.51532485e+02] [ 9.31764119e-03 2.12939374e-04 9.99956567e-01 -2.79163606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1119.546559995 meters 0.016277044331020084 Centerline is valid? [True, True] Translation: X:-322.35, Y:-251.51, Z:-2.79 [[-6.62838167e-01 -7.48734695e-01 6.47462670e-03 -3.22348646e+02] [ 7.48702141e-01 -6.62869753e-01 -6.98528772e-03 -2.51513302e+02] [ 9.52196147e-03 2.17451563e-04 9.99954642e-01 -2.79199276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1119.576559995 meters 0.01676012771077946 Centerline is valid? [True, True] Translation: X:-322.37, Y:-251.49, Z:-2.79 [[-6.62828164e-01 -7.48746530e-01 6.12033125e-03 -3.22367945e+02] [ 7.48717481e-01 -6.62856388e-01 -6.59869214e-03 -2.51494847e+02] [ 8.99764851e-03 2.08599999e-04 9.99959499e-01 -2.79192492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1119.606559995 meters 0.016333250690240518 Centerline is valid? [True, True] Translation: X:-322.39, Y:-251.48, Z:-2.79 [[-6.62827319e-01 -7.48748069e-01 6.02285054e-03 -3.22386248e+02] [ 7.48719974e-01 -6.62854650e-01 -6.48952754e-03 -2.51475192e+02] [ 8.85129570e-03 2.07992353e-04 9.99960805e-01 -2.79155636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1119.636559995 meters 0.016153681747036405 Centerline is valid? [True, True] Translation: X:-322.41, Y:-251.46, Z:-2.79 [[-6.62877214e-01 -7.48704078e-01 6.00031162e-03 -3.22405063e+02] [ 7.48676227e-01 -6.62904337e-01 -6.46116313e-03 -2.51456046e+02] [ 8.81513178e-03 2.09332852e-04 9.99961124e-01 -2.79160965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1119.666559995 meters 0.016917867134332465 Centerline is valid? [True, True] Translation: X:-322.42, Y:-251.44, Z:-2.79 [[-6.63033705e-01 -7.48566410e-01 5.88522373e-03 -3.22424728e+02] [ 7.48539649e-01 -6.63059791e-01 -6.33304952e-03 -2.51438175e+02] [ 8.64296336e-03 2.06298015e-04 9.99962628e-01 -2.79222714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1119.6965599950001 meters 0.01627552477013447 Centerline is valid? [True, True] Translation: X:-322.44, Y:-251.42, Z:-2.79 [[-6.63263490e-01 -7.48361494e-01 6.05119444e-03 -3.22442989e+02] [ 7.48333230e-01 -6.63291059e-01 -6.50754758e-03 -2.51417832e+02] [ 8.88370120e-03 2.12091160e-04 9.99960517e-01 -2.79211865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1119.7265599950001 meters 0.016161443013537915 Centerline is valid? [True, True] Translation: X:-322.46, Y:-251.40, Z:-2.79 [[-6.63954681e-01 -7.47746109e-01 6.31969745e-03 -3.22461056e+02] [ 7.47715292e-01 -6.63984721e-01 -6.79203494e-03 -2.51397497e+02] [ 9.27490024e-03 2.15731036e-04 9.99956964e-01 -2.79264143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1119.756559995 meters 0.016378103315337726 Centerline is valid? [True, True] Translation: X:-322.48, Y:-251.38, Z:-2.79 [[-6.64457502e-01 -7.47299811e-01 6.26262841e-03 -3.22478569e+02] [ 7.47269569e-01 -6.64486981e-01 -6.72627814e-03 -2.51378089e+02] [ 9.18798143e-03 2.10545668e-04 9.99957768e-01 -2.79256519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1119.786559995 meters 0.01556530206841165 Centerline is valid? [True, True] Translation: X:-322.50, Y:-251.36, Z:-2.79 [[-6.65239856e-01 -7.46602478e-01 6.37762219e-03 -3.22496356e+02] [ 7.46571120e-01 -6.65270394e-01 -6.84592023e-03 -2.51355687e+02] [ 9.35402423e-03 2.07169548e-04 9.99956229e-01 -2.79196575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1119.816559995 meters 0.01610549259149999 Centerline is valid? [True, True] Translation: X:-322.51, Y:-251.34, Z:-2.79 [[-6.65801922e-01 -7.46102801e-01 6.19776471e-03 -3.22514574e+02] [ 7.46073194e-01 -6.65830739e-01 -6.64959008e-03 -2.51336695e+02] [ 9.08794004e-03 1.96676259e-04 9.99958685e-01 -2.79249489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1119.846559995 meters 0.016707122289188688 Centerline is valid? [True, True] Translation: X:-322.53, Y:-251.32, Z:-2.79 [[-6.66890673e-01 -7.45125909e-01 6.64906864e-03 -3.22533368e+02] [ 7.45091829e-01 -6.66923789e-01 -7.12918886e-03 -2.51318566e+02] [ 9.74656538e-03 1.99777160e-04 9.99952481e-01 -2.79385437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1119.876559995 meters 0.015145154270738977 Centerline is valid? [True, True] Translation: X:-322.55, Y:-251.30, Z:-2.79 [[-6.67243469e-01 -7.44809456e-01 6.71024090e-03 -3.22550235e+02] [ 7.44774771e-01 -6.67277180e-01 -7.19070668e-03 -2.51296310e+02] [ 9.83329695e-03 1.99666058e-04 9.99951632e-01 -2.79266158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1119.906559995 meters 0.015125072411094675 Centerline is valid? [True, True] Translation: X:-322.57, Y:-251.28, Z:-2.79 [[-6.67920892e-01 -7.44199519e-01 6.98263103e-03 -3.22569296e+02] [ 7.44161971e-01 -6.67957360e-01 -7.47838531e-03 -2.51275748e+02] [ 1.02295105e-02 2.01238677e-04 9.99947657e-01 -2.79307402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1119.9365599950002 meters 0.015388819639398957 Centerline is valid? [True, True] Translation: X:-322.59, Y:-251.26, Z:-2.79 [[-6.68814319e-01 -7.43395225e-01 7.13767175e-03 -3.22587798e+02] [ 7.43355984e-01 -6.68852377e-01 -7.64068623e-03 -2.51256821e+02] [ 1.04540984e-02 1.95630644e-04 9.99945335e-01 -2.79375180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1119.9665599950001 meters 0.01483541161213513 Centerline is valid? [True, True] Translation: X:-322.61, Y:-251.24, Z:-2.79 [[-6.69815957e-01 -7.42493098e-01 7.11226005e-03 -3.22605240e+02] [ 7.42454134e-01 -6.69853690e-01 -7.60872548e-03 -2.51236306e+02] [ 1.04135998e-02 1.84081142e-04 9.99945760e-01 -2.79331495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1119.996559995 meters 0.014155527213116928 Centerline is valid? [True, True] Translation: X:-322.62, Y:-251.21, Z:-2.79 [[-6.72115110e-01 -7.40411705e-01 7.19626154e-03 -3.22622640e+02] [ 7.40371742e-01 -6.72153615e-01 -7.69426185e-03 -2.51213963e+02] [ 1.05339147e-02 1.56479038e-04 9.99944505e-01 -2.79289400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1120.026559995 meters 0.013756732902848474 Centerline is valid? [True, True] Translation: X:-322.64, Y:-251.19, Z:-2.79 [[-6.73654000e-01 -7.39013091e-01 7.06675555e-03 -3.22641034e+02] [ 7.38974520e-01 -6.73691051e-01 -7.55154296e-03 -2.51192176e+02] [ 1.03414991e-02 1.35025175e-04 9.99946516e-01 -2.79243449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1120.056559995 meters 0.013597569974825217 Centerline is valid? [True, True] Translation: X:-322.66, Y:-251.17, Z:-2.79 [[-6.75283702e-01 -7.37527114e-01 6.75858104e-03 -3.22658526e+02] [ 7.37491807e-01 -6.75317513e-01 -7.21744679e-03 -2.51172145e+02] [ 9.88725084e-03 1.10573955e-04 9.99951114e-01 -2.79240849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1120.086559995 meters 0.013230092490693863 Centerline is valid? [True, True] Translation: X:-322.68, Y:-251.15, Z:-2.79 [[-6.77128160e-01 -7.35837080e-01 6.42237672e-03 -3.22676009e+02] [ 7.35805158e-01 -6.77158611e-01 -6.85454811e-03 -2.51150325e+02] [ 9.39279836e-03 8.42103701e-05 9.99955883e-01 -2.79145814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1120.116559995 meters 0.012732783429872612 Centerline is valid? [True, True] Translation: X:-322.69, Y:-251.13, Z:-2.79 [[-6.80992780e-01 -7.32266314e-01 5.90583904e-03 -3.22692724e+02] [ 7.32239216e-01 -6.81018388e-01 -6.29972619e-03 -2.51127266e+02] [ 8.63506226e-03 3.44188864e-05 9.99962717e-01 -2.79086468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1120.146559995 meters 0.012631516410131638 Centerline is valid? [True, True] Translation: X:-322.71, Y:-251.11, Z:-2.79 [[-6.83158943e-01 -7.30248162e-01 5.61079522e-03 -3.22709581e+02] [ 7.30223667e-01 -6.83181984e-01 -5.98105938e-03 -2.51107068e+02] [ 8.20085183e-03 1.11212575e-05 9.99966373e-01 -2.79072638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1120.176559995 meters 0.012720792096958379 Centerline is valid? [True, True] Translation: X:-322.73, Y:-251.08, Z:-2.79 [[-6.86742639e-01 -7.26879267e-01 5.57479088e-03 -3.22727075e+02] [ 7.26855002e-01 -6.86765266e-01 -5.93934409e-03 -2.51084329e+02] [ 8.14575882e-03 -2.67362024e-05 9.99966823e-01 -2.79083245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1120.2065599950001 meters 0.012946962507589938 Centerline is valid? [True, True] Translation: X:-322.74, Y:-251.06, Z:-2.79 [[-6.88414884e-01 -7.25294034e-01 5.78894990e-03 -3.22744231e+02] [ 7.25267847e-01 -6.88439222e-01 -6.16342039e-03 -2.51064549e+02] [ 8.45563220e-03 -4.44510993e-05 9.99964250e-01 -2.79120822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1120.236559995 meters 0.013135028384353717 Centerline is valid? [True, True] Translation: X:-322.76, Y:-251.04, Z:-2.79 [[-6.89984483e-01 -7.23800250e-01 5.88321984e-03 -3.22762277e+02] [ 7.23773182e-01 -6.90009561e-01 -6.25989013e-03 -2.51044454e+02] [ 8.59038798e-03 -6.11103140e-05 9.99963100e-01 -2.79177441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1120.266559995 meters 0.013343760556592877 Centerline is valid? [True, True] Translation: X:-322.78, Y:-251.02, Z:-2.79 [[-6.91202356e-01 -7.22635986e-01 6.04440459e-03 -3.22780826e+02] [ 7.22607405e-01 -6.91228780e-01 -6.42740411e-03 -2.51024310e+02] [ 8.82273991e-03 -7.49053496e-05 9.99961076e-01 -2.79214439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1120.296559995 meters 0.013547772843295025 Centerline is valid? [True, True] Translation: X:-322.80, Y:-251.00, Z:-2.79 [[-6.92128414e-01 -7.21748098e-01 6.15969334e-03 -3.22799092e+02] [ 7.21718418e-01 -6.92155817e-01 -6.54596795e-03 -2.51004453e+02] [ 8.98800750e-03 -8.50862815e-05 9.99959604e-01 -2.79252701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1120.326559995 meters 0.01377875691191698 Centerline is valid? [True, True] Translation: X:-322.82, Y:-250.98, Z:-2.79 [[-6.92920762e-01 -7.20988139e-01 6.07627791e-03 -3.22817684e+02] [ 7.20959263e-01 -6.92947397e-01 -6.45336225e-03 -2.50984885e+02] [ 8.86333860e-03 -9.09198389e-05 9.99960716e-01 -2.79241243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1120.356559995 meters 0.013746346794048042 Centerline is valid? [True, True] Translation: X:-322.84, Y:-250.97, Z:-2.79 [[-6.92972693e-01 -7.20939067e-01 5.97564563e-03 -3.22836259e+02] [ 7.20911173e-01 -6.92998452e-01 -6.34240741e-03 -2.50966026e+02] [ 8.71360245e-03 -8.72054434e-05 9.99962032e-01 -2.79264487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1120.386559995 meters 0.01368031775520193 Centerline is valid? [True, True] Translation: X:-322.86, Y:-250.95, Z:-2.79 [[-6.92963101e-01 -7.20945526e-01 6.29989479e-03 -3.22855728e+02] [ 7.20914561e-01 -6.92991732e-01 -6.68247138e-03 -2.50947416e+02] [ 9.18347284e-03 -8.90202063e-05 9.99957827e-01 -2.79299258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1120.416559995 meters 0.013412185360615142 Centerline is valid? [True, True] Translation: X:-322.88, Y:-250.93, Z:-2.79 [[-6.92446457e-01 -7.21439447e-01 6.55968873e-03 -3.22876258e+02] [ 7.21405934e-01 -6.92477522e-01 -6.95415654e-03 -2.50928676e+02] [ 9.55943984e-03 -8.31826857e-05 9.99954304e-01 -2.79294622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1120.4465599950001 meters 0.013384789346954152 Centerline is valid? [True, True] Translation: X:-322.90, Y:-250.91, Z:-2.79 [[-6.91747464e-01 -7.22109271e-01 6.60663813e-03 -3.22895146e+02] [ 7.22075352e-01 -6.91779008e-01 -6.99932102e-03 -2.50910915e+02] [ 9.62460817e-03 -7.12720088e-05 9.99953680e-01 -2.79411241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1120.4765599950001 meters 0.013055394497477916 Centerline is valid? [True, True] Translation: X:-322.92, Y:-250.89, Z:-2.79 [[-6.89877699e-01 -7.23892910e-01 6.91489911e-03 -3.22917367e+02] [ 7.23855887e-01 -6.89912352e-01 -7.32137497e-03 -2.50894222e+02] [ 1.00705657e-02 -4.54628869e-05 9.99949290e-01 -2.79468269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1120.506559995 meters 0.012991795538599598 Centerline is valid? [True, True] Translation: X:-322.94, Y:-250.88, Z:-2.80 [[-6.88967910e-01 -7.24758749e-01 6.92647143e-03 -3.22937049e+02] [ 7.24721693e-01 -6.89002725e-01 -7.32887614e-03 -2.50876215e+02] [ 1.00840248e-02 -2.95963733e-05 9.99949155e-01 -2.79535236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1120.536559995 meters 0.01284760884533531 Centerline is valid? [True, True] Translation: X:-322.96, Y:-250.86, Z:-2.79 [[-6.87824307e-01 -7.25846910e-01 6.63220726e-03 -3.22957477e+02] [ 7.25813028e-01 -6.87856281e-01 -7.01321889e-03 -2.50858202e+02] [ 9.65252868e-03 -1.01199843e-05 9.99953413e-01 -2.79441234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1120.566559995 meters 0.012717475851814557 Centerline is valid? [True, True] Translation: X:-322.98, Y:-250.84, Z:-2.79 [[-6.86996997e-01 -7.26634277e-01 6.14441222e-03 -3.22978097e+02] [ 7.26605263e-01 -6.87024474e-01 -6.49336594e-03 -2.50839535e+02] [ 8.93966384e-03 3.63934867e-06 9.99960041e-01 -2.79327133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1120.596559995 meters 0.012678692809987355 Centerline is valid? [True, True] Translation: X:-323.00, Y:-250.82, Z:-2.79 [[-6.84932061e-01 -7.28589760e-01 5.00338542e-03 -3.23000110e+02] [ 7.28570597e-01 -6.84950335e-01 -5.28420976e-03 -2.50822691e+02] [ 7.27709164e-03 2.59948238e-05 9.99973521e-01 -2.79187817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1120.626559995 meters 0.012818651525996339 Centerline is valid? [True, True] Translation: X:-323.02, Y:-250.80, Z:-2.79 [[-6.83924202e-01 -7.29536733e-01 4.88269690e-03 -3.23020269e+02] [ 7.29518532e-01 -6.83941630e-01 -5.15349982e-03 -2.50804667e+02] [ 7.09914710e-03 3.74146184e-05 9.99974800e-01 -2.79207207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1120.656559995 meters 0.013098587869262582 Centerline is valid? [True, True] Translation: X:-323.04, Y:-250.79, Z:-2.79 [[-6.82974664e-01 -7.30426523e-01 4.76470024e-03 -3.23040409e+02] [ 7.30409236e-01 -6.82991282e-01 -5.02564190e-03 -2.50787349e+02] [ 6.92511087e-03 4.77949743e-05 9.99976020e-01 -2.79285060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1120.6865599950002 meters 0.013334551986672879 Centerline is valid? [True, True] Translation: X:-323.06, Y:-250.77, Z:-2.79 [[-6.82062045e-01 -7.31279505e-01 4.65331109e-03 -3.23060068e+02] [ 7.31263056e-01 -6.82077915e-01 -4.90509448e-03 -2.50769716e+02] [ 6.76091579e-03 5.72157212e-05 9.99977143e-01 -2.79293981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1120.7165599950001 meters 0.01369299319439667 Centerline is valid? [True, True] Translation: X:-323.08, Y:-250.75, Z:-2.79 [[-6.81027633e-01 -7.32243115e-01 4.62423982e-03 -3.23080131e+02] [ 7.32226912e-01 -6.81043329e-01 -4.87175225e-03 -2.50751936e+02] [ 6.71661473e-03 6.81949333e-05 9.99977441e-01 -2.79323795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1120.746559995 meters 0.014437408782152644 Centerline is valid? [True, True] Translation: X:-323.10, Y:-250.73, Z:-2.79 [[-6.79141603e-01 -7.33991009e-01 4.88696969e-03 -3.23102019e+02] [ 7.33972978e-01 -6.79159179e-01 -5.14555116e-03 -2.50734686e+02] [ 7.09581861e-03 9.23458321e-05 9.99974820e-01 -2.79379359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1120.776559995 meters 0.014904264026851712 Centerline is valid? [True, True] Translation: X:-323.12, Y:-250.72, Z:-2.79 [[-6.78495779e-01 -7.34585330e-01 5.27928893e-03 -3.23121829e+02] [ 7.34564332e-01 -6.78516309e-01 -5.55524233e-03 -2.50716898e+02] [ 7.66288315e-03 1.08768875e-04 9.99970634e-01 -2.79425524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1120.806559995 meters 0.015583185245069159 Centerline is valid? [True, True] Translation: X:-323.14, Y:-250.70, Z:-2.80 [[-6.77453681e-01 -7.35541449e-01 5.94031039e-03 -3.23142374e+02] [ 7.35514924e-01 -6.77479711e-01 -6.24803188e-03 -2.50700142e+02] [ 8.62012619e-03 1.36434753e-04 9.99962837e-01 -2.79564956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1120.836559995 meters 0.014099311936901348 Centerline is valid? [True, True] Translation: X:-323.16, Y:-250.68, Z:-2.79 [[-6.77378143e-01 -7.35608556e-01 6.23729598e-03 -3.23159777e+02] [ 7.35579352e-01 -6.77406843e-01 -6.55644384e-03 -2.50678641e+02] [ 9.04816317e-03 1.46834385e-04 9.99959054e-01 -2.79433337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1120.866559995 meters 0.014316528426103507 Centerline is valid? [True, True] Translation: X:-323.18, Y:-250.66, Z:-2.80 [[-6.77200386e-01 -7.35770091e-01 6.48154288e-03 -3.23178871e+02] [ 7.35738591e-01 -6.77231385e-01 -6.81006656e-03 -2.50660132e+02] [ 9.40014755e-03 1.56941522e-04 9.99955806e-01 -2.79512417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1120.896559995 meters 0.014200772981092303 Centerline is valid? [True, True] Translation: X:-323.20, Y:-250.64, Z:-2.80 [[-6.77458457e-01 -7.35531362e-01 6.60721904e-03 -3.23198468e+02] [ 7.35498655e-01 -6.77490657e-01 -6.93814916e-03 -2.50640227e+02] [ 9.57955547e-03 1.59292896e-04 9.99954103e-01 -2.79511101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1120.926559995 meters 0.015432645139434825 Centerline is valid? [True, True] Translation: X:-323.22, Y:-250.62, Z:-2.80 [[-6.77441198e-01 -7.35542560e-01 7.11098299e-03 -3.23219674e+02] [ 7.35504722e-01 -6.77478496e-01 -7.46265287e-03 -2.50623405e+02] [ 1.03066369e-02 1.74653063e-04 9.99946870e-01 -2.79708981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1120.9565599950001 meters 0.014818468787210392 Centerline is valid? [True, True] Translation: X:-323.24, Y:-250.60, Z:-2.80 [[-6.77548709e-01 -7.35440279e-01 7.43928837e-03 -3.23237650e+02] [ 7.35398913e-01 -6.77589523e-01 -7.80235784e-03 -2.50602778e+02] [ 1.07789521e-02 1.84367098e-04 9.99941889e-01 -2.79690100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1120.986559995 meters 0.014294533749142696 Centerline is valid? [True, True] Translation: X:-323.26, Y:-250.58, Z:-2.80 [[-6.77857817e-01 -7.35149874e-01 7.96517468e-03 -3.23256453e+02] [ 7.35102487e-01 -6.77904584e-01 -8.34914212e-03 -2.50581393e+02] [ 1.15374992e-02 1.95688471e-04 9.99933422e-01 -2.79651341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1121.016559995 meters 0.014401342207174957 Centerline is valid? [True, True] Translation: X:-323.28, Y:-250.56, Z:-2.80 [[-6.78057758e-01 -7.34962088e-01 8.27075573e-03 -3.23275230e+02] [ 7.34911041e-01 -6.78108168e-01 -8.66453505e-03 -2.50561147e+02] [ 1.19765718e-02 2.03214491e-04 9.99928258e-01 -2.79649491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1121.046559995 meters 0.01477088853399865 Centerline is valid? [True, True] Translation: X:-323.29, Y:-250.54, Z:-2.80 [[-6.78361347e-01 -7.34679496e-01 8.48063045e-03 -3.23294223e+02] [ 7.34625848e-01 -6.78414325e-01 -8.88072489e-03 -2.50541885e+02] [ 1.22778677e-02 2.05749839e-04 9.99924603e-01 -2.79684043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1121.076559995 meters 0.014553961278750718 Centerline is valid? [True, True] Translation: X:-323.31, Y:-250.52, Z:-2.80 [[-6.78811283e-01 -7.34268798e-01 8.03585578e-03 -3.23313013e+02] [ 7.34220656e-01 -6.78858819e-01 -8.41025229e-03 -2.50521012e+02] [ 1.16305974e-02 1.91117151e-04 9.99932344e-01 -2.79641365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1121.106559995 meters 0.014428362479763689 Centerline is valid? [True, True] Translation: X:-323.33, Y:-250.50, Z:-2.80 [[-6.79018228e-01 -7.34079253e-01 7.86748615e-03 -3.23331935e+02] [ 7.34033147e-01 -6.79063779e-01 -8.22940970e-03 -2.50500399e+02] [ 1.13835638e-02 1.87076428e-04 9.99935188e-01 -2.79555850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1121.136559995 meters 0.014428362479763689 Centerline is valid? [True, True] Translation: X:-323.35, Y:-250.48, Z:-2.80 [[-6.79224309e-01 -7.33888550e-01 7.86979656e-03 -3.23351049e+02] [ 7.33842458e-01 -6.79269873e-01 -8.22720027e-03 -2.50480511e+02] [ 1.13835638e-02 1.87076429e-04 9.99935188e-01 -2.79555817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1121.166559995 meters 0.01438737092942376 Centerline is valid? [True, True] Translation: X:-323.37, Y:-250.46, Z:-2.79 [[-6.80074804e-01 -7.33108732e-01 7.06039423e-03 -3.23368258e+02] [ 7.33071640e-01 -6.80111434e-01 -7.37615457e-03 -2.50461162e+02] [ 1.02093782e-02 1.59437906e-04 9.99947870e-01 -2.79410271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1121.1965599950001 meters 0.013867323846254088 Centerline is valid? [True, True] Translation: X:-323.39, Y:-250.44, Z:-2.79 [[-6.80683245e-01 -7.32549413e-01 6.45579346e-03 -3.23386256e+02] [ 7.32518413e-01 -6.80713844e-01 -6.74065635e-03 -2.50440052e+02] [ 9.33241184e-03 1.40735747e-04 9.99956442e-01 -2.79306066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1121.2265599950001 meters 0.01387645317750488 Centerline is valid? [True, True] Translation: X:-323.40, Y:-250.42, Z:-2.79 [[-6.81292973e-01 -7.31983734e-01 6.30064362e-03 -3.23404495e+02] [ 7.31954218e-01 -6.81322094e-01 -6.57472527e-03 -2.50420424e+02] [ 9.10535966e-03 1.32468557e-04 9.99958537e-01 -2.79293805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1121.256559995 meters 0.013877253673668523 Centerline is valid? [True, True] Translation: X:-323.42, Y:-250.40, Z:-2.79 [[-6.82255817e-01 -7.31088546e-01 6.04472676e-03 -3.23421850e+02] [ 7.31061380e-01 -6.82282584e-01 -6.30349365e-03 -2.50401127e+02] [ 8.73262380e-03 1.18471081e-04 9.99961863e-01 -2.79301913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1121.286559995 meters 0.01393570324360796 Centerline is valid? [True, True] Translation: X:-323.44, Y:-250.38, Z:-2.79 [[-6.83031826e-01 -7.30362837e-01 6.13610476e-03 -3.23439386e+02] [ 7.30334852e-01 -6.83059378e-01 -6.39459024e-03 -2.50381733e+02] [ 8.86169497e-03 1.13702515e-04 9.99960728e-01 -2.79317090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1121.316559995 meters 0.013305038737395658 Centerline is valid? [True, True] Translation: X:-323.46, Y:-250.36, Z:-2.79 [[-6.84850731e-01 -7.28654204e-01 6.52136513e-03 -3.23455752e+02] [ 7.28622556e-01 -6.84881772e-01 -6.79182230e-03 -2.50359718e+02] [ 9.41525398e-03 1.00229263e-04 9.99955671e-01 -2.79319024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1121.346559995 meters 0.013096345683789243 Centerline is valid? [True, True] Translation: X:-323.47, Y:-250.34, Z:-2.79 [[-6.85945773e-01 -7.27620441e-01 6.84763456e-03 -3.23474398e+02] [ 7.27585536e-01 -6.85979945e-01 -7.12761652e-03 -2.50338611e+02] [ 9.88353945e-03 9.30814435e-05 9.99951152e-01 -2.79330438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1121.376559995 meters 0.012977860609212218 Centerline is valid? [True, True] Translation: X:-323.49, Y:-250.32, Z:-2.79 [[-6.86975652e-01 -7.26645425e-01 7.13302596e-03 -3.23493024e+02] [ 7.26607541e-01 -6.87012677e-01 -7.42047015e-03 -2.50318034e+02] [ 1.02925300e-02 8.52281319e-05 9.99947027e-01 -2.79371698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1121.406559995 meters 0.012796535811429173 Centerline is valid? [True, True] Translation: X:-323.51, Y:-250.30, Z:-2.79 [[-6.88377523e-01 -7.25313138e-01 7.56558612e-03 -3.23511456e+02] [ 7.25270487e-01 -6.88419092e-01 -7.86603100e-03 -2.50296500e+02] [ 1.09136296e-02 7.22973948e-05 9.99940442e-01 -2.79368626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1121.4365599950002 meters 0.012841331342037363 Centerline is valid? [True, True] Translation: X:-323.53, Y:-250.28, Z:-2.79 [[-6.88950369e-01 -7.24769856e-01 7.48630983e-03 -3.23529149e+02] [ 7.24728103e-01 -6.88991039e-01 -7.77980214e-03 -2.50277452e+02] [ 1.07965665e-02 6.56415616e-05 9.99941713e-01 -2.79387490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1121.4665599950001 meters 0.012838502190272246 Centerline is valid? [True, True] Translation: X:-323.55, Y:-250.26, Z:-2.79 [[-6.89538640e-01 -7.24212536e-01 7.25721550e-03 -3.23547545e+02] [ 7.24173317e-01 -6.89576827e-01 -7.53703785e-03 -2.50257613e+02] [ 1.04628249e-02 5.84029964e-05 9.99945262e-01 -2.79334911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1121.496559995 meters 0.012861800825496561 Centerline is valid? [True, True] Translation: X:-323.56, Y:-250.24, Z:-2.79 [[-6.90079895e-01 -7.23695246e-01 7.41148747e-03 -3.23564915e+02] [ 7.23654365e-01 -6.90119692e-01 -7.69225345e-03 -2.50238565e+02] [ 1.06816607e-02 5.50858119e-05 9.99942948e-01 -2.79328520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1121.526559995 meters 0.01287817885981837 Centerline is valid? [True, True] Translation: X:-323.58, Y:-250.22, Z:-2.79 [[-6.90742648e-01 -7.23058398e-01 7.81966731e-03 -3.23583354e+02] [ 7.23012908e-01 -6.90786907e-01 -8.11080609e-03 -2.50218335e+02] [ 1.12663103e-02 5.12407222e-05 9.99936532e-01 -2.79327598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1121.556559995 meters 0.012814294046989557 Centerline is valid? [True, True] Translation: X:-323.60, Y:-250.20, Z:-2.79 [[-6.91703265e-01 -7.22134453e-01 8.27196729e-03 -3.23600601e+02] [ 7.22083548e-01 -6.91752723e-01 -8.57431581e-03 -2.50198429e+02] [ 1.19139648e-02 4.21692529e-05 9.99929026e-01 -2.79386548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1121.586559995 meters 0.012710694553526698 Centerline is valid? [True, True] Translation: X:-323.62, Y:-250.18, Z:-2.79 [[-6.92633386e-01 -7.21244913e-01 8.04790563e-03 -3.23618746e+02] [ 7.21196729e-01 -6.92680139e-01 -8.33690314e-03 -2.50177879e+02] [ 1.15875734e-02 2.97057681e-05 9.99932862e-01 -2.79342591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1121.616559995 meters 0.012701909904552073 Centerline is valid? [True, True] Translation: X:-323.64, Y:-250.16, Z:-2.79 [[-6.93949724e-01 -7.19980157e-01 7.89647868e-03 -3.23635334e+02] [ 7.19933745e-01 -6.93994649e-01 -8.17494174e-03 -2.50156560e+02] [ 1.13659098e-02 1.19429054e-05 9.99935406e-01 -2.79196226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1121.646559995 meters 0.012773255377892447 Centerline is valid? [True, True] Translation: X:-323.65, Y:-250.14, Z:-2.79 [[-6.94696725e-01 -7.19259111e-01 7.92407865e-03 -3.23654148e+02] [ 7.19212380e-01 -6.94741917e-01 -8.19891393e-03 -2.50135587e+02] [ 1.14023331e-02 3.33680406e-06 9.99934991e-01 -2.79141016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1121.676559995 meters 0.012690092473134362 Centerline is valid? [True, True] Translation: X:-323.67, Y:-250.11, Z:-2.79 [[-6.95172509e-01 -7.18799721e-01 7.88314435e-03 -3.23673192e+02] [ 7.18753493e-01 -6.95217204e-01 -8.15197969e-03 -2.50114679e+02] [ 1.13401383e-02 -9.94636251e-07 9.99935699e-01 -2.79084765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1121.7065599950001 meters 0.012655914836535997 Centerline is valid? [True, True] Translation: X:-323.69, Y:-250.09, Z:-2.79 [[-6.95379016e-01 -7.18597832e-01 8.07348818e-03 -3.23692470e+02] [ 7.18549385e-01 -6.95425881e-01 -8.34413279e-03 -2.50094131e+02] [ 1.16105884e-02 -1.13487741e-06 9.99932595e-01 -2.79068425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1121.736559995 meters 0.012667797143467179 Centerline is valid? [True, True] Translation: X:-323.71, Y:-250.07, Z:-2.79 [[-6.94828202e-01 -7.19130276e-01 8.08798504e-03 -3.23710854e+02] [ 7.19081756e-01 -6.94875273e-01 -8.35359709e-03 -2.50074949e+02] [ 1.16274654e-02 1.16076408e-05 9.99932399e-01 -2.79053176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1121.766559995 meters 0.012667797143467179 Centerline is valid? [True, True] Translation: X:-323.73, Y:-250.06, Z:-2.79 [[-6.95052721e-01 -7.18913248e-01 8.09059344e-03 -3.23729545e+02] [ 7.18864742e-01 -6.95099807e-01 -8.35107085e-03 -2.50055793e+02] [ 1.16274654e-02 1.16078536e-05 9.99932399e-01 -2.79053144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1121.796559995 meters 0.012612169227470466 Centerline is valid? [True, True] Translation: X:-323.75, Y:-250.04, Z:-2.79 [[-6.94623881e-01 -7.19326419e-01 8.19549510e-03 -3.23747799e+02] [ 7.19276728e-01 -6.94672226e-01 -8.45497382e-03 -2.50037638e+02] [ 1.17750689e-02 2.18021652e-05 9.99930671e-01 -2.79030884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1121.826559995 meters 0.012705705233201114 Centerline is valid? [True, True] Translation: X:-323.77, Y:-250.02, Z:-2.79 [[-6.92857468e-01 -7.21033433e-01 7.70177758e-03 -3.23767306e+02] [ 7.20989709e-01 -6.92900271e-01 -7.94062949e-03 -2.50018988e+02] [ 1.10620231e-02 5.11779375e-05 9.99938813e-01 -2.78926079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1121.856559995 meters 0.012934463141456467 Centerline is valid? [True, True] Translation: X:-323.79, Y:-250.00, Z:-2.79 [[-6.91895682e-01 -7.21956888e-01 7.65615188e-03 -3.23786372e+02] [ 7.21913779e-01 -6.91938037e-01 -7.88975167e-03 -2.50001014e+02] [ 1.09936433e-02 6.81964203e-05 9.99939566e-01 -2.78989363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1121.886559995 meters 0.013008351671560957 Centerline is valid? [True, True] Translation: X:-323.81, Y:-249.98, Z:-2.79 [[-6.91036717e-01 -7.22776135e-01 7.93189039e-03 -3.23805745e+02] [ 7.22729976e-01 -6.91082232e-01 -8.16884425e-03 -2.49982152e+02] [ 1.13858342e-02 8.76436368e-05 9.99935176e-01 -2.78960005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1121.916559995 meters 0.013364328742308342 Centerline is valid? [True, True] Translation: X:-323.83, Y:-249.96, Z:-2.79 [[-6.90195718e-01 -7.23580116e-01 7.85409051e-03 -3.23825644e+02] [ 7.23534967e-01 -6.90240396e-01 -8.08372996e-03 -2.49963092e+02] [ 1.12704368e-02 1.03353320e-04 9.99936481e-01 -2.78974564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1121.9465599950001 meters 0.013745736520113324 Centerline is valid? [True, True] Translation: X:-323.85, Y:-249.94, Z:-2.79 [[-6.89289912e-01 -7.24442240e-01 7.92829326e-03 -3.23845933e+02] [ 7.24396344e-01 -6.89335496e-01 -8.15538074e-03 -2.49944451e+02] [ 1.13733563e-02 1.21804980e-04 9.99935314e-01 -2.79004952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1121.9765599950001 meters 0.013615204416255182 Centerline is valid? [True, True] Translation: X:-323.86, Y:-249.92, Z:-2.79 [[-6.88552226e-01 -7.25146338e-01 7.65644337e-03 -3.23864820e+02] [ 7.25103633e-01 -6.88594780e-01 -7.87080211e-03 -2.49924774e+02] [ 1.09796703e-02 1.32256593e-04 9.99939713e-01 -2.78840881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1122.006559995 meters 0.013972001158863696 Centerline is valid? [True, True] Translation: X:-323.88, Y:-249.90, Z:-2.79 [[-6.87102644e-01 -7.26521726e-01 7.49258487e-03 -3.23884768e+02] [ 7.26480958e-01 -6.87143478e-01 -7.69802285e-03 -2.49904923e+02] [ 1.07412617e-02 1.53888370e-04 9.99942299e-01 -2.78726388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1122.036559995 meters 0.014674774572946647 Centerline is valid? [True, True] Translation: X:-323.91, Y:-249.89, Z:-2.79 [[-6.86586685e-01 -7.27006411e-01 7.77187267e-03 -3.23905030e+02] [ 7.26962631e-01 -6.86630650e-01 -7.98023316e-03 -2.49886575e+02] [ 1.11380867e-02 1.70739172e-04 9.99937955e-01 -2.78823399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1122.066559995 meters 0.014367287040215624 Centerline is valid? [True, True] Translation: X:-323.92, Y:-249.87, Z:-2.79 [[-6.86046306e-01 -7.27513141e-01 8.06819396e-03 -3.23923885e+02] [ 7.27466033e-01 -6.86093721e-01 -8.28107124e-03 -2.49866474e+02] [ 1.15601254e-02 1.88138718e-04 9.99933162e-01 -2.78766522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1122.096559995 meters 0.014769047857434884 Centerline is valid? [True, True] Translation: X:-323.94, Y:-249.85, Z:-2.79 [[-6.85491267e-01 -7.28033828e-01 8.27458752e-03 -3.23943937e+02] [ 7.27984377e-01 -6.85541176e-01 -8.48786747e-03 -2.49847577e+02] [ 1.18520251e-02 2.05411409e-04 9.99929741e-01 -2.78815845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1122.126559995 meters 0.01532880493963172 Centerline is valid? [True, True] Translation: X:-323.96, Y:-249.83, Z:-2.79 [[-6.83995984e-01 -7.29433475e-01 8.73493941e-03 -3.23964617e+02] [ 7.29378544e-01 -6.84051713e-01 -8.95510468e-03 -2.49828351e+02] [ 1.25073034e-02 2.45821751e-04 9.99921751e-01 -2.78824132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1122.156559995 meters 0.015798669074530355 Centerline is valid? [True, True] Translation: X:-323.98, Y:-249.81, Z:-2.79 [[-6.83367868e-01 -7.30019222e-01 8.96060123e-03 -3.23984548e+02] [ 7.29961514e-01 -6.83426562e-01 -9.18273269e-03 -2.49809616e+02] [ 1.28274843e-02 2.65709581e-04 9.99917689e-01 -2.78830743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1122.1865599950002 meters 0.0160173230127934 Centerline is valid? [True, True] Translation: X:-324.00, Y:-249.79, Z:-2.79 [[-6.82886488e-01 -7.30468736e-01 9.02609105e-03 -3.24004833e+02] [ 7.30410287e-01 -6.82946080e-01 -9.24475258e-03 -2.49789846e+02] [ 1.29173362e-02 2.79633128e-04 9.99916529e-01 -2.78779192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1122.2165599950001 meters 0.01660680641250258 Centerline is valid? [True, True] Translation: X:-324.02, Y:-249.77, Z:-2.79 [[-6.82522358e-01 -7.30809886e-01 8.95220615e-03 -3.24024210e+02] [ 7.30752475e-01 -6.82581005e-01 -9.16469196e-03 -2.49772230e+02] [ 1.28082534e-02 2.86739640e-04 9.99917930e-01 -2.78758079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1122.246559995 meters 0.017043211948718343 Centerline is valid? [True, True] Translation: X:-324.05, Y:-249.75, Z:-2.79 [[-6.81838887e-01 -7.31451003e-01 8.66961637e-03 -3.24045061e+02] [ 7.31397271e-01 -6.81893940e-01 -8.87061284e-03 -2.49753596e+02] [ 1.24001775e-02 2.92604957e-04 9.99923072e-01 -2.78682982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1122.276559995 meters 0.01630960986873481 Centerline is valid? [True, True] Translation: X:-324.06, Y:-249.73, Z:-2.79 [[-6.81893988e-01 -7.31401555e-01 8.50608907e-03 -3.24063472e+02] [ 7.31349894e-01 -6.81946978e-01 -8.69783514e-03 -2.49733458e+02] [ 1.21623119e-02 2.89925842e-04 9.99925995e-01 -2.78575077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1122.306559995 meters 0.01765628904446687 Centerline is valid? [True, True] Translation: X:-324.08, Y:-249.72, Z:-2.79 [[-6.82076663e-01 -7.31230344e-01 8.57966589e-03 -3.24083646e+02] [ 7.31177842e-01 -6.82130558e-01 -8.76730579e-03 -2.49716499e+02] [ 1.22633723e-02 2.93286915e-04 9.99924759e-01 -2.78690101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1122.336559995 meters 0.01773087736713654 Centerline is valid? [True, True] Translation: X:-324.10, Y:-249.70, Z:-2.79 [[-6.82487733e-01 -7.30844728e-01 8.74521915e-03 -3.24102606e+02] [ 7.30790214e-01 -6.82543696e-01 -8.93118046e-03 -2.49696976e+02] [ 1.24963003e-02 2.95499472e-04 9.99921875e-01 -2.78696012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1122.366559995 meters 0.017487730309193882 Centerline is valid? [True, True] Translation: X:-324.12, Y:-249.68, Z:-2.79 [[-6.83437595e-01 -7.29953221e-01 9.01933225e-03 -3.24121144e+02] [ 7.29895229e-01 -6.83497045e-01 -9.20569761e-03 -2.49677380e+02] [ 1.28844156e-02 2.91647738e-04 9.99916950e-01 -2.78705534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1122.396559995 meters 0.015582240360109469 Centerline is valid? [True, True] Translation: X:-324.14, Y:-249.66, Z:-2.79 [[-6.84519323e-01 -7.28936723e-01 9.19507739e-03 -3.24137176e+02] [ 7.28876435e-01 -6.84581021e-01 -9.37918077e-03 -2.49655391e+02] [ 1.31316048e-02 2.81844747e-04 9.99913737e-01 -2.78513972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1122.426559995 meters 0.015235840984746644 Centerline is valid? [True, True] Translation: X:-324.16, Y:-249.63, Z:-2.78 [[-6.85920702e-01 -7.27619265e-01 9.11020578e-03 -3.24156208e+02] [ 7.27560010e-01 -6.85981151e-01 -9.28938394e-03 -2.49634046e+02] [ 1.30085642e-02 2.56440647e-04 9.99915352e-01 -2.78487764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1122.4565599950001 meters 0.015445124090351094 Centerline is valid? [True, True] Translation: X:-324.18, Y:-249.61, Z:-2.79 [[-6.89388428e-01 -7.24334851e-01 9.08950700e-03 -3.24175041e+02] [ 7.24275645e-01 -6.89448319e-01 -9.26311499e-03 -2.49613947e+02] [ 1.29763423e-02 1.97424272e-04 9.99915784e-01 -2.78608052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1122.486559995 meters 0.013627107449128968 Centerline is valid? [True, True] Translation: X:-324.19, Y:-249.59, Z:-2.78 [[-6.91562966e-01 -7.22259614e-01 9.03959105e-03 -3.24191615e+02] [ 7.22200946e-01 -6.91622024e-01 -9.20706660e-03 -2.49590909e+02] [ 1.29018726e-02 1.61134918e-04 9.99916755e-01 -2.78320149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1122.516559995 meters 0.013171125248635033 Centerline is valid? [True, True] Translation: X:-324.21, Y:-249.57, Z:-2.78 [[-6.93940687e-01 -7.19975427e-01 9.03923416e-03 -3.24210410e+02] [ 7.19916636e-01 -6.93999546e-01 -9.20152403e-03 -2.49569680e+02] [ 1.28980956e-02 1.22183140e-04 9.99916809e-01 -2.78312977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1122.546559995 meters 0.012823489825382442 Centerline is valid? [True, True] Translation: X:-324.23, Y:-249.55, Z:-2.78 [[-6.96690159e-01 -7.17318040e-01 8.81207540e-03 -3.24228413e+02] [ 7.17262024e-01 -6.96745882e-01 -8.96464412e-03 -2.49549049e+02] [ 1.25702782e-02 7.49877059e-05 9.99920988e-01 -2.78312765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1122.576559995 meters 0.012667044638285227 Centerline is valid? [True, True] Translation: X:-324.25, Y:-249.53, Z:-2.78 [[-6.99693366e-01 -7.14393742e-01 8.41285447e-03 -3.24246444e+02] [ 7.14342532e-01 -6.99743940e-01 -8.55369301e-03 -2.49528012e+02] [ 1.19975487e-02 2.46975148e-05 9.99928027e-01 -2.78277916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1122.606559995 meters 0.012738649097732459 Centerline is valid? [True, True] Translation: X:-324.26, Y:-249.51, Z:-2.78 [[-7.02364610e-01 -7.11766840e-01 8.48060624e-03 -3.24263709e+02] [ 7.11714672e-01 -7.02415806e-01 -8.61745751e-03 -2.49507495e+02] [ 1.20905324e-02 -1.68252833e-05 9.99926907e-01 -2.78272894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1122.636559995 meters 0.013285244086328328 Centerline is valid? [True, True] Translation: X:-324.28, Y:-249.48, Z:-2.78 [[-7.07474235e-01 -7.06689568e-01 8.37031959e-03 -3.24280697e+02] [ 7.06638446e-01 -7.07523742e-01 -8.50067099e-03 -2.49484253e+02] [ 1.19295353e-02 -9.92160712e-05 9.99928836e-01 -2.78235327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1122.666559995 meters 0.013813463194390094 Centerline is valid? [True, True] Translation: X:-324.30, Y:-249.46, Z:-2.78 [[-7.09880748e-01 -7.04271366e-01 8.43608504e-03 -3.24299361e+02] [ 7.04219323e-01 -7.09930859e-01 -8.56274146e-03 -2.49462587e+02] [ 1.20195307e-02 -1.37671209e-04 9.99927754e-01 -2.78243208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1122.6965599950001 meters 0.0149435030483783 Centerline is valid? [True, True] Translation: X:-324.32, Y:-249.44, Z:-2.78 [[-7.13595850e-01 -7.00502822e-01 8.76124619e-03 -3.24317193e+02] [ 7.00446466e-01 -7.13649602e-01 -8.88791164e-03 -2.49441078e+02] [ 1.24784670e-02 -2.05592930e-04 9.99922120e-01 -2.78272412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1122.7265599950001 meters 0.0149435030483783 Centerline is valid? [True, True] Translation: X:-324.34, Y:-249.42, Z:-2.78 [[-7.13811632e-01 -7.00282905e-01 8.76398396e-03 -3.24336062e+02] [ 7.00226565e-01 -7.13865402e-01 -8.88521205e-03 -2.49422088e+02] [ 1.24784670e-02 -2.05593338e-04 9.99922120e-01 -2.78272380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1122.756559995 meters 0.015975626910854888 Centerline is valid? [True, True] Translation: X:-324.35, Y:-249.40, Z:-2.78 [[-7.16311332e-01 -6.97724483e-01 8.86686964e-03 -3.24354545e+02] [ 6.97666682e-01 -7.16366166e-01 -8.98432790e-03 -2.49402404e+02] [ 1.26205109e-02 -2.49456363e-04 9.99920327e-01 -2.78304394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1122.786559995 meters 0.015423651306139955 Centerline is valid? [True, True] Translation: X:-324.38, Y:-249.38, Z:-2.78 [[-7.17086617e-01 -6.96931237e-01 8.58106991e-03 -3.24375416e+02] [ 6.96877105e-01 -7.17137914e-01 -8.68986044e-03 -2.49383650e+02] [ 1.22100458e-02 -2.51431468e-04 9.99925423e-01 -2.78223301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1122.816559995 meters 0.015714429916651736 Centerline is valid? [True, True] Translation: X:-324.40, Y:-249.36, Z:-2.78 [[-7.17660343e-01 -6.96339305e-01 8.67203227e-03 -3.24395218e+02] [ 6.96284036e-01 -7.17712689e-01 -8.77708626e-03 -2.49364036e+02] [ 1.23358577e-02 -2.60769105e-04 9.99923877e-01 -2.78236688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1122.846559995 meters 0.015843565914249864 Centerline is valid? [True, True] Translation: X:-324.41, Y:-249.35, Z:-2.78 [[-7.17743421e-01 -6.96257206e-01 8.38362554e-03 -3.24414343e+02] [ 6.96205613e-01 -7.17792338e-01 -8.47962213e-03 -2.49346522e+02] [ 1.19217002e-02 -2.49465840e-04 9.99928903e-01 -2.78252922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1122.876559995 meters 0.015215977737432437 Centerline is valid? [True, True] Translation: X:-324.44, Y:-249.33, Z:-2.78 [[-7.17512592e-01 -6.96495317e-01 8.36387619e-03 -3.24435254e+02] [ 6.96444039e-01 -7.17561298e-01 -8.45486066e-03 -2.49328154e+02] [ 1.18903647e-02 -2.41497271e-04 9.99929278e-01 -2.78219613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1122.906559995 meters 0.015329991557995136 Centerline is valid? [True, True] Translation: X:-324.45, Y:-249.31, Z:-2.78 [[-7.16829359e-01 -6.97199472e-01 8.28045706e-03 -3.24454773e+02] [ 6.97149316e-01 -7.16877148e-01 -8.36573764e-03 -2.49309106e+02] [ 1.17686583e-02 -2.24091375e-04 9.99930722e-01 -2.78252635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1122.9365599950002 meters 0.014915467507168573 Centerline is valid? [True, True] Translation: X:-324.48, Y:-249.29, Z:-2.78 [[-7.15953607e-01 -6.98095424e-01 8.55639606e-03 -3.24475256e+02] [ 6.98041999e-01 -7.16004703e-01 -8.63911553e-03 -2.49291019e+02] [ 1.21573468e-02 -2.12482115e-04 9.99926074e-01 -2.78256216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1122.9665599950001 meters 0.014624700319666825 Centerline is valid? [True, True] Translation: X:-324.50, Y:-249.27, Z:-2.78 [[-7.14915585e-01 -6.99154331e-01 8.88417227e-03 -3.24496287e+02] [ 6.99096886e-01 -7.14970756e-01 -8.96446247e-03 -2.49273028e+02] [ 1.26194661e-02 -1.97936756e-04 9.99920352e-01 -2.78298501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1122.996559995 meters 0.013973539828644516 Centerline is valid? [True, True] Translation: X:-324.52, Y:-249.26, Z:-2.78 [[-7.12080979e-01 -7.02039762e-01 8.99178538e-03 -3.24518861e+02] [ 7.01981210e-01 -7.12137734e-01 -9.06805448e-03 -2.49256466e+02] [ 1.27695245e-02 -1.45124731e-04 9.99918456e-01 -2.78359629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1123.026559995 meters 0.013973539828644516 Centerline is valid? [True, True] Translation: X:-324.54, Y:-249.24, Z:-2.78 [[-7.12296952e-01 -7.01820597e-01 8.99457501e-03 -3.24537782e+02] [ 7.01762062e-01 -7.12353725e-01 -9.06528746e-03 -2.49237537e+02] [ 1.27695245e-02 -1.45125120e-04 9.99918456e-01 -2.78359598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1123.056559995 meters 0.013551412373639797 Centerline is valid? [True, True] Translation: X:-324.56, Y:-249.22, Z:-2.78 [[-7.11119164e-01 -7.03015684e-01 8.85906799e-03 -3.24559291e+02] [ 7.02959062e-01 -7.11174335e-01 -8.92316100e-03 -2.49219902e+02] [ 1.25734639e-02 -1.17868672e-04 9.99920944e-01 -2.78277462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1123.086559995 meters 0.013322425489315427 Centerline is valid? [True, True] Translation: X:-324.58, Y:-249.20, Z:-2.78 [[-7.09629768e-01 -7.04526258e-01 8.26707381e-03 -3.24579326e+02] [ 7.04477116e-01 -7.09677917e-01 -8.32146116e-03 -2.49202796e+02] [ 1.17296476e-02 -8.11922403e-05 9.99931202e-01 -2.78277885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1123.116559995 meters 0.01288183351145796 Centerline is valid? [True, True] Translation: X:-324.60, Y:-249.18, Z:-2.78 [[-7.08071067e-01 -7.06099985e-01 7.62726206e-03 -3.24600901e+02] [ 7.06058294e-01 -7.08112144e-01 -7.67314629e-03 -2.49184881e+02] [ 1.08189654e-02 -4.78412385e-05 9.99941472e-01 -2.78139334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1123.146559995 meters 0.012808679787221697 Centerline is valid? [True, True] Translation: X:-324.62, Y:-249.17, Z:-2.78 [[-7.06450361e-01 -7.07727007e-01 7.09723032e-03 -3.24620707e+02] [ 7.07691038e-01 -7.06486011e-01 -7.13521150e-03 -2.49167790e+02] [ 1.00638758e-02 -1.80264478e-05 9.99949358e-01 -2.78121007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1123.176559995 meters 0.01272251422264954 Centerline is valid? [True, True] Translation: X:-324.64, Y:-249.15, Z:-2.78 [[-7.04851198e-01 -7.09326240e-01 6.40892711e-03 -3.24641963e+02] [ 7.09297011e-01 -7.04880334e-01 -6.43935474e-03 -2.49150156e+02] [ 9.08512997e-03 7.04594926e-06 9.99958730e-01 -2.78052722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1123.2065599950001 meters 0.012771067445583836 Centerline is valid? [True, True] Translation: X:-324.66, Y:-249.13, Z:-2.78 [[-7.03205622e-01 -7.10961379e-01 5.98091657e-03 -3.24662914e+02] [ 7.10936014e-01 -7.03231055e-01 -6.00565454e-03 -2.49133086e+02] [ 8.47575470e-03 2.88389535e-05 9.99964080e-01 -2.77963534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1123.236559995 meters 0.0129630544630279 Centerline is valid? [True, True] Translation: X:-324.68, Y:-249.12, Z:-2.78 [[-7.01632262e-01 -7.12516928e-01 5.63890300e-03 -3.24683766e+02] [ 7.12494460e-01 -7.01654919e-01 -5.65851106e-03 -2.49116077e+02] [ 7.98834894e-03 4.74932355e-05 9.99968092e-01 -2.77939729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1123.266559995 meters 0.013174688502451057 Centerline is valid? [True, True] Translation: X:-324.70, Y:-249.10, Z:-2.78 [[-7.00027467e-01 -7.14093427e-01 5.66774985e-03 -3.24704685e+02] [ 7.14070809e-01 -7.00050408e-01 -5.68388987e-03 -2.49098987e+02] [ 8.02653899e-03 6.82956941e-05 9.99967785e-01 -2.77959755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1123.296559995 meters 0.014387001854845585 Centerline is valid? [True, True] Translation: X:-324.73, Y:-249.08, Z:-2.78 [[-6.96958650e-01 -7.17085193e-01 6.12095527e-03 -3.24728880e+02] [ 7.17058959e-01 -6.96985519e-01 -6.13476932e-03 -2.49084570e+02] [ 8.66536943e-03 1.13405264e-04 9.99962449e-01 -2.78170332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1123.326559995 meters 0.014437888847576534 Centerline is valid? [True, True] Translation: X:-324.75, Y:-249.07, Z:-2.78 [[-6.95693940e-01 -7.18312059e-01 6.14236543e-03 -3.24749662e+02] [ 7.18285719e-01 -6.95721042e-01 -6.15286064e-03 -2.49066009e+02] [ 8.69304687e-03 1.31465513e-04 9.99962206e-01 -2.78149037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1123.356559995 meters 0.014568538110486825 Centerline is valid? [True, True] Translation: X:-324.77, Y:-249.05, Z:-2.78 [[-6.94543943e-01 -7.19423130e-01 6.25077274e-03 -3.24770199e+02] [ 7.19395929e-01 -6.94572054e-01 -6.25774556e-03 -2.49047499e+02] [ 8.84357896e-03 1.50501187e-04 9.99960884e-01 -2.78117018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1123.386559995 meters 0.014466689703167699 Centerline is valid? [True, True] Translation: X:-324.79, Y:-249.03, Z:-2.78 [[-6.93606849e-01 -7.20323763e-01 6.57378013e-03 -3.24790321e+02] [ 7.20293751e-01 -6.93637979e-01 -6.57768698e-03 -2.49028055e+02] [ 9.29788780e-03 1.72724002e-04 9.99956759e-01 -2.78069203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1123.416559995 meters 0.015381090916382753 Centerline is valid? [True, True] Translation: X:-324.81, Y:-249.01, Z:-2.78 [[-6.92870733e-01 -7.21028981e-01 6.88161091e-03 -3.24811329e+02] [ 7.20996161e-01 -6.92904879e-01 -6.88215686e-03 -2.49010756e+02] [ 9.73053632e-03 1.93169981e-04 9.99952639e-01 -2.78135856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1123.4465599950001 meters 0.015638818644996087 Centerline is valid? [True, True] Translation: X:-324.83, Y:-248.99, Z:-2.78 [[-6.91716923e-01 -7.22134723e-01 7.00999740e-03 -3.24832388e+02] [ 7.22100765e-01 -6.91752409e-01 -7.00637589e-03 -2.48992715e+02] [ 9.90872990e-03 2.15495716e-04 9.99950884e-01 -2.78108947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1123.4765599950001 meters 0.016160437875983168 Centerline is valid? [True, True] Translation: X:-324.85, Y:-249.02, Z:-2.78 [[-6.40887630e-01 -7.67606293e-01 6.60494981e-03 -3.24854330e+02] [ 7.67569143e-01 -6.40921624e-01 -7.55535709e-03 -2.49015300e+02] [ 1.00327948e-02 2.27620762e-04 9.99949645e-01 -2.78146609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1123.506559995 meters 0.016521789904814916 Centerline is valid? [True, True] Translation: X:-324.87, Y:-249.00, Z:-2.78 [[-6.40676366e-01 -7.67779922e-01 6.91274444e-03 -3.24873461e+02] [ 7.67739276e-01 -6.40713612e-01 -7.90385484e-03 -2.48995959e+02] [ 1.04975105e-02 2.43372420e-04 9.99944870e-01 -2.78198140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1123.536559995 meters 0.01639501071935261 Centerline is valid? [True, True] Translation: X:-324.89, Y:-248.98, Z:-2.78 [[-6.40800803e-01 -7.67674170e-01 7.12031391e-03 -3.24891929e+02] [ 7.67631096e-01 -6.40840311e-01 -8.13605069e-03 -2.48975303e+02] [ 1.08088201e-02 2.52186553e-04 9.99941551e-01 -2.78256632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1123.566559995 meters 0.01609252947365551 Centerline is valid? [True, True] Translation: X:-324.91, Y:-248.95, Z:-2.78 [[-6.41302343e-01 -7.67251247e-01 7.53842563e-03 -3.24910139e+02] [ 7.67202999e-01 -6.41346595e-01 -8.60833937e-03 -2.48954366e+02] [ 1.14395027e-02 2.62954541e-04 9.99934532e-01 -2.78305875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1123.596559995 meters 0.015641299875939742 Centerline is valid? [True, True] Translation: X:-324.93, Y:-248.93, Z:-2.78 [[-6.42880274e-01 -7.65920181e-01 8.43977169e-03 -3.24927711e+02] [ 7.65859660e-01 -6.42935614e-01 -9.63216281e-03 -2.48931906e+02] [ 1.28036977e-02 2.71353206e-04 9.99917993e-01 -2.78428392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1123.626559995 meters 0.015260824406265996 Centerline is valid? [True, True] Translation: X:-324.95, Y:-248.91, Z:-2.78 [[-6.44251145e-01 -7.64766347e-01 8.53793863e-03 -3.24945626e+02] [ 7.64704375e-01 -6.44307667e-01 -9.73904250e-03 -2.48909559e+02] [ 1.29491513e-02 2.54609742e-04 9.99916124e-01 -2.78451321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1123.656559995 meters 0.01483693480393086 Centerline is valid? [True, True] Translation: X:-324.96, Y:-248.89, Z:-2.78 [[-6.45914851e-01 -7.63363884e-01 8.34180481e-03 -3.24962738e+02] [ 7.63304678e-01 -6.45968676e-01 -9.50996111e-03 -2.48887287e+02] [ 1.26481055e-02 2.24713520e-04 9.99919984e-01 -2.78414559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1123.6865599950002 meters 0.013795494955874475 Centerline is valid? [True, True] Translation: X:-324.98, Y:-248.86, Z:-2.78 [[-6.49436066e-01 -7.60382227e-01 7.18785717e-03 -3.24977548e+02] [ 7.60338137e-01 -6.49475825e-01 -8.18965754e-03 -2.48862904e+02] [ 1.08956095e-02 1.46542959e-04 9.99940631e-01 -2.78182930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1123.7165599950001 meters 0.013795494955874475 Centerline is valid? [True, True] Translation: X:-325.00, Y:-248.84, Z:-2.78 [[-6.49651663e-01 -7.60198012e-01 7.19017942e-03 -3.24995794e+02] [ 7.60153933e-01 -6.49691435e-01 -8.18761877e-03 -2.48842220e+02] [ 1.08956095e-02 1.46543014e-04 9.99940631e-01 -2.78182897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1123.746559995 meters 0.013642171079442532 Centerline is valid? [True, True] Translation: X:-325.01, Y:-248.82, Z:-2.78 [[-6.51578426e-01 -7.58551654e-01 6.70392295e-03 -3.25012657e+02] [ 7.58513292e-01 -6.51612903e-01 -7.62954826e-03 -2.48820625e+02] [ 1.01557691e-02 1.13765613e-04 9.99948423e-01 -2.78144613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1123.776559995 meters 0.013152589501137246 Centerline is valid? [True, True] Translation: X:-325.03, Y:-248.80, Z:-2.78 [[-6.54339386e-01 -7.56175277e-01 6.23840456e-03 -3.25028885e+02] [ 7.56141988e-01 -6.54369120e-01 -7.09578422e-03 -2.48797266e+02] [ 9.44787590e-03 7.40685312e-05 9.99955365e-01 -2.78038697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1123.806559995 meters 0.013036364270174438 Centerline is valid? [True, True] Translation: X:-325.05, Y:-248.78, Z:-2.78 [[-6.55370459e-01 -7.55281840e-01 6.23724444e-03 -3.25046307e+02] [ 7.55248564e-01 -6.55400136e-01 -7.08998259e-03 -2.48776029e+02] [ 9.44282595e-03 6.41047645e-05 9.99955414e-01 -2.78026524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1123.836559995 meters 0.012907226440434696 Centerline is valid? [True, True] Translation: X:-325.06, Y:-248.75, Z:-2.78 [[-6.56395090e-01 -7.54391308e-01 6.26423643e-03 -3.25064129e+02] [ 7.54357741e-01 -6.56424978e-01 -7.11665673e-03 -2.48754580e+02] [ 9.48074524e-03 5.41367099e-05 9.99955055e-01 -2.78034643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1123.866559995 meters 0.012881737321607804 Centerline is valid? [True, True] Translation: X:-325.08, Y:-248.73, Z:-2.78 [[-6.57104469e-01 -7.53772874e-01 6.33804923e-03 -3.25081567e+02] [ 7.53738527e-01 -6.57135033e-01 -7.19596410e-03 -2.48733741e+02] [ 9.58907674e-03 4.87317178e-05 9.99954023e-01 -2.78031965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1123.896559995 meters 0.012849227566282834 Centerline is valid? [True, True] Translation: X:-325.10, Y:-248.71, Z:-2.78 [[-6.57893326e-01 -7.53078940e-01 6.96288966e-03 -3.25099430e+02] [ 7.53037494e-01 -6.57930170e-01 -7.90092220e-03 -2.48712020e+02] [ 1.05311133e-02 4.53529932e-05 9.99944545e-01 -2.78084284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1123.926559995 meters 0.01289003341590538 Centerline is valid? [True, True] Translation: X:-325.12, Y:-248.69, Z:-2.78 [[-6.58155621e-01 -7.52845956e-01 7.35836038e-03 -3.25118101e+02] [ 7.52799707e-01 -6.58196752e-01 -8.34492481e-03 -2.48690580e+02] [ 1.11256918e-02 4.71123644e-05 9.99938107e-01 -2.78094260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1123.9565599950001 meters 0.012850935499734635 Centerline is valid? [True, True] Translation: X:-325.14, Y:-248.67, Z:-2.78 [[-6.58520094e-01 -7.52525941e-01 7.48292522e-03 -3.25136908e+02] [ 7.52478146e-01 -6.58562606e-01 -8.48136033e-03 -2.48669281e+02] [ 1.13104184e-02 4.55914981e-05 9.99936034e-01 -2.78126932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1123.986559995 meters 0.012872487453816703 Centerline is valid? [True, True] Translation: X:-325.15, Y:-248.65, Z:-2.78 [[-6.58870411e-01 -7.52217610e-01 7.64517933e-03 -3.25154687e+02] [ 7.52167760e-01 -6.58914763e-01 -8.66006739e-03 -2.48649112e+02] [ 1.15517767e-02 4.45952489e-05 9.99933275e-01 -2.78209335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1124.016559995 meters 0.012843149584473385 Centerline is valid? [True, True] Translation: X:-325.17, Y:-248.63, Z:-2.78 [[-6.59389310e-01 -7.51760655e-01 7.85218722e-03 -3.25172466e+02] [ 7.51708095e-01 -6.59436060e-01 -8.88951218e-03 -2.48627594e+02] [ 1.18608009e-02 4.09033967e-05 9.99929658e-01 -2.78144831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1124.046559995 meters 0.012896648232653097 Centerline is valid? [True, True] Translation: X:-325.19, Y:-248.61, Z:-2.78 [[-6.59701844e-01 -7.51483967e-01 8.08236852e-03 -3.25190316e+02] [ 7.51428327e-01 -6.59751351e-01 -9.14463472e-03 -2.48607081e+02] [ 1.22043999e-02 4.05882709e-05 9.99925523e-01 -2.78204001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1124.076559995 meters 0.012881188879885007 Centerline is valid? [True, True] Translation: X:-325.21, Y:-248.59, Z:-2.78 [[-6.60095954e-01 -7.51138092e-01 8.05597336e-03 -3.25208183e+02] [ 7.51082859e-01 -6.60145109e-01 -9.10901529e-03 -2.48585996e+02] [ 1.21602398e-02 3.78793650e-05 9.99926061e-01 -2.78159566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1124.106559995 meters 0.01288704286000615 Centerline is valid? [True, True] Translation: X:-325.23, Y:-248.56, Z:-2.78 [[-6.60375688e-01 -7.50890089e-01 8.24769895e-03 -3.25226645e+02] [ 7.50832242e-01 -6.60427189e-01 -9.32053816e-03 -2.48564575e+02] [ 1.24457044e-02 3.75814906e-05 9.99922549e-01 -2.78133427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1124.136559995 meters 0.012885829815951013 Centerline is valid? [True, True] Translation: X:-325.25, Y:-248.54, Z:-2.78 [[-6.60267969e-01 -7.50989119e-01 7.84551697e-03 -3.25245662e+02] [ 7.50936839e-01 -6.60314577e-01 -8.86134427e-03 -2.48543257e+02] [ 1.18352824e-02 4.06259309e-05 9.99929960e-01 -2.78068216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1124.166559995 meters 0.012885829815951013 Centerline is valid? [True, True] Translation: X:-325.26, Y:-248.52, Z:-2.78 [[-6.60478233e-01 -7.50804177e-01 7.84799802e-03 -3.25263999e+02] [ 7.50751909e-01 -6.60524857e-01 -8.85914702e-03 -2.48522653e+02] [ 1.18352824e-02 4.06257275e-05 9.99929960e-01 -2.78068183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1124.1965599950001 meters 0.012898697346080918 Centerline is valid? [True, True] Translation: X:-325.28, Y:-248.50, Z:-2.78 [[-6.60066782e-01 -7.51171500e-01 7.29525273e-03 -3.25282616e+02] [ 7.51126419e-01 -6.60107094e-01 -8.22971493e-03 -2.48504000e+02] [ 1.09975754e-02 4.74956081e-05 9.99939524e-01 -2.78080730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1124.2265599950001 meters 0.012854769234931573 Centerline is valid? [True, True] Translation: X:-325.30, Y:-248.48, Z:-2.78 [[-6.59956355e-01 -7.51271808e-01 6.94842948e-03 -3.25301765e+02] [ 7.51230963e-01 -6.59992931e-01 -7.83403820e-03 -2.48482887e+02] [ 1.04714064e-02 4.97520805e-05 9.99945172e-01 -2.77966083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1124.256559995 meters 0.012768950503691801 Centerline is valid? [True, True] Translation: X:-325.32, Y:-248.46, Z:-2.78 [[-6.59976074e-01 -7.51258261e-01 6.52740527e-03 -3.25320422e+02] [ 7.51222256e-01 -6.60008351e-01 -7.35517066e-03 -2.48462273e+02] [ 9.83377470e-03 4.92954576e-05 9.99951646e-01 -2.77925597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1124.286559995 meters 0.012949667121311048 Centerline is valid? [True, True] Translation: X:-325.34, Y:-248.44, Z:-2.78 [[-6.60113656e-01 -7.51140557e-01 6.15022744e-03 -3.25338924e+02] [ 7.51108626e-01 -6.60142305e-01 -6.92600583e-03 -2.48443127e+02] [ 9.26242919e-03 4.75378564e-05 9.99957102e-01 -2.78053903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1124.316559995 meters 0.012742126762059117 Centerline is valid? [True, True] Translation: X:-325.36, Y:-248.42, Z:-2.78 [[-6.60249089e-01 -7.51019949e-01 6.33851824e-03 -3.25356892e+02] [ 7.50986067e-01 -6.60279512e-01 -7.13395543e-03 -2.48421946e+02] [ 9.54293657e-03 4.99513131e-05 9.99954464e-01 -2.77866274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1124.346559995 meters 0.012951216154449366 Centerline is valid? [True, True] Translation: X:-325.38, Y:-248.40, Z:-2.78 [[-6.60457077e-01 -7.50838319e-01 6.18616727e-03 -3.25375306e+02] [ 7.50806078e-01 -6.60486045e-01 -6.95828037e-03 -2.48402616e+02] [ 9.31042069e-03 4.89664704e-05 9.99956656e-01 -2.78023453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1124.376559995 meters 0.01279685763509146 Centerline is valid? [True, True] Translation: X:-325.39, Y:-248.38, Z:-2.78 [[-6.61133921e-01 -7.50244707e-01 5.90067496e-03 -3.25392789e+02] [ 7.50215383e-01 -6.61160251e-01 -6.63342250e-03 -2.48381151e+02] [ 8.87798186e-03 4.11964932e-05 9.99960589e-01 -2.77876590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1124.406559995 meters 0.012811335054541113 Centerline is valid? [True, True] Translation: X:-325.41, Y:-248.36, Z:-2.78 [[-6.61694968e-01 -7.49750859e-01 5.78092251e-03 -3.25410584e+02] [ 7.49722731e-01 -6.61720219e-01 -6.49448789e-03 -2.48361445e+02] [ 8.69460118e-03 3.67190516e-05 9.99962201e-01 -2.77910360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1124.4365599950002 meters 0.012729912760251096 Centerline is valid? [True, True] Translation: X:-325.43, Y:-248.34, Z:-2.78 [[-6.62300859e-01 -7.49214181e-01 5.97357141e-03 -3.25428397e+02] [ 7.49184163e-01 -6.62327797e-01 -6.70669305e-03 -2.48341355e+02] [ 8.98121192e-03 3.34565244e-05 9.99959668e-01 -2.77885965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1124.4665599950001 meters 0.012697781170561282 Centerline is valid? [True, True] Translation: X:-325.45, Y:-248.32, Z:-2.78 [[-6.62760719e-01 -7.48807901e-01 5.91247109e-03 -3.25447122e+02] [ 7.48778511e-01 -6.62787090e-01 -6.63434825e-03 -2.48320148e+02] [ 8.88656190e-03 3.01458772e-05 9.99960513e-01 -2.77877549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1124.496559995 meters 0.01263330665690541 Centerline is valid? [True, True] Translation: X:-325.46, Y:-248.30, Z:-2.78 [[-6.63998433e-01 -7.47709352e-01 6.06679717e-03 -3.25464309e+02] [ 7.47678403e-01 -6.64026148e-01 -6.80299524e-03 -2.48300213e+02] [ 9.11517511e-03 1.88350435e-05 9.99958456e-01 -2.77934960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1124.526559995 meters 0.012666558734378013 Centerline is valid? [True, True] Translation: X:-325.48, Y:-248.28, Z:-2.78 [[-6.65144357e-01 -7.46687304e-01 6.40738922e-03 -3.25481472e+02] [ 7.46652781e-01 -6.65175218e-01 -7.18018125e-03 -2.48280275e+02] [ 9.62338670e-03 8.23793850e-06 9.99953694e-01 -2.77954131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1124.556559995 meters 0.012664728196682178 Centerline is valid? [True, True] Translation: X:-325.50, Y:-248.26, Z:-2.78 [[-6.66198761e-01 -7.45748459e-01 6.20053896e-03 -3.25499300e+02] [ 7.45716129e-01 -6.66227616e-01 -6.94402692e-03 -2.48259188e+02] [ 9.30946766e-03 -2.26022222e-06 9.99956666e-01 -2.77927924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1124.586559995 meters 0.012757166266273018 Centerline is valid? [True, True] Translation: X:-325.52, Y:-248.24, Z:-2.78 [[-6.68688544e-01 -7.43515563e-01 6.34339528e-03 -3.25516229e+02] [ 7.43481668e-01 -6.68718630e-01 -7.09954884e-03 -2.48237428e+02] [ 9.52057166e-03 -3.11888728e-05 9.99954678e-01 -2.77972827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1124.616559995 meters 0.012757166266273018 Centerline is valid? [True, True] Translation: X:-325.53, Y:-248.22, Z:-2.78 [[-6.68920623e-01 -7.43306756e-01 6.34561142e-03 -3.25534134e+02] [ 7.43272870e-01 -6.68950720e-01 -7.09756811e-03 -2.48217542e+02] [ 9.52057165e-03 -3.11888718e-05 9.99954678e-01 -2.77972796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1124.646559995 meters 0.013090999844836321 Centerline is valid? [True, True] Translation: X:-325.55, Y:-248.20, Z:-2.78 [[-6.71440148e-01 -7.41027668e-01 6.79139471e-03 -3.25550476e+02] [ 7.40988782e-01 -6.71474490e-01 -7.59170328e-03 -2.48195228e+02] [ 1.01859105e-02 -6.50270824e-05 9.99948120e-01 -2.78089096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1124.676559995 meters 0.013253071796030342 Centerline is valid? [True, True] Translation: X:-325.57, Y:-248.17, Z:-2.78 [[-6.72741084e-01 -7.39842588e-01 7.23730741e-03 -3.25567799e+02] [ 7.39798411e-01 -6.72780007e-01 -8.08540169e-03 -2.48173704e+02] [ 1.08510402e-02 -8.52333732e-05 9.99941122e-01 -2.78111552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1124.7065599950001 meters 0.013517294380100783 Centerline is valid? [True, True] Translation: X:-325.59, Y:-248.15, Z:-2.78 [[-6.74087099e-01 -7.38613146e-01 7.56328927e-03 -3.25585120e+02] [ 7.38564882e-01 -6.74129520e-01 -8.44427838e-03 -2.48152390e+02] [ 1.13356916e-02 -1.06199274e-04 9.99935744e-01 -2.78164188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1124.736559995 meters 0.013609549718450797 Centerline is valid? [True, True] Translation: X:-325.60, Y:-248.13, Z:-2.78 [[-6.74923626e-01 -7.37846054e-01 7.82947605e-03 -3.25602457e+02] [ 7.37794345e-01 -6.74969027e-01 -8.73597295e-03 -2.48131280e+02] [ 1.17304570e-02 -1.19571387e-04 9.99931189e-01 -2.78153711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1124.766559995 meters 0.014325488350608487 Centerline is valid? [True, True] Translation: X:-325.62, Y:-248.11, Z:-2.78 [[-6.75614284e-01 -7.37212558e-01 7.93623110e-03 -3.25617611e+02] [ 7.37159455e-01 -6.75660883e-01 -8.84927139e-03 -2.48110140e+02] [ 1.18859949e-02 -1.28426364e-04 9.99929351e-01 -2.78311376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1124.796559995 meters 0.014325488350608487 Centerline is valid? [True, True] Translation: X:-325.64, Y:-248.09, Z:-2.78 [[-6.75829558e-01 -7.37015186e-01 7.93881568e-03 -3.25635571e+02] [ 7.36962097e-01 -6.75876172e-01 -8.84695280e-03 -2.48090307e+02] [ 1.18859949e-02 -1.28425952e-04 9.99929351e-01 -2.78311344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1124.826559995 meters 0.013476991018813549 Centerline is valid? [True, True] Translation: X:-325.66, Y:-248.07, Z:-2.78 [[-6.75369754e-01 -7.37436033e-01 7.98707084e-03 -3.25655337e+02] [ 7.37382385e-01 -6.75416970e-01 -8.89573435e-03 -2.48070297e+02] [ 1.19546382e-02 -1.18384575e-04 9.99928534e-01 -2.78100415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1124.856559995 meters 0.01355001401829182 Centerline is valid? [True, True] Translation: X:-325.67, Y:-248.05, Z:-2.78 [[-6.74956822e-01 -7.37815327e-01 7.86329708e-03 -3.25673151e+02] [ 7.37763424e-01 -6.75002616e-01 -8.75209185e-03 -2.48051058e+02] [ 1.17651736e-02 -1.06031127e-04 9.99930783e-01 -2.78164478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1124.886559995 meters 0.01344077928466619 Centerline is valid? [True, True] Translation: X:-325.69, Y:-248.03, Z:-2.78 [[-6.74354125e-01 -7.38362638e-01 8.19324132e-03 -3.25691588e+02] [ 7.38306397e-01 -6.74403889e-01 -9.11367061e-03 -2.48031526e+02] [ 1.22547477e-02 -9.67189035e-05 9.99924903e-01 -2.78203295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1124.916559995 meters 0.013829615438934168 Centerline is valid? [True, True] Translation: X:-325.71, Y:-248.01, Z:-2.78 [[-6.73777290e-01 -7.38889720e-01 8.13301248e-03 -3.25708384e+02] [ 7.38834413e-01 -6.73826369e-01 -9.04079539e-03 -2.48011950e+02] [ 1.21603890e-02 -8.25331159e-05 9.99926057e-01 -2.78436733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1124.9465599950001 meters 0.013132331370357206 Centerline is valid? [True, True] Translation: X:-325.73, Y:-247.99, Z:-2.78 [[-6.73166939e-01 -7.39444803e-01 8.22523836e-03 -3.25728321e+02] [ 7.39388346e-01 -6.73217185e-01 -9.13758357e-03 -2.47992565e+02] [ 1.22941105e-02 -6.94737796e-05 9.99924422e-01 -2.78237024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1124.9765599950001 meters 0.013132331370357206 Centerline is valid? [True, True] Translation: X:-325.75, Y:-247.97, Z:-2.78 [[-6.73397435e-01 -7.39234870e-01 8.22808689e-03 -3.25746302e+02] [ 7.39178429e-01 -6.73447698e-01 -9.13501864e-03 -2.47972743e+02] [ 1.22941105e-02 -6.94737796e-05 9.99924422e-01 -2.78236992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1125.006559995 meters 0.013022739329733812 Centerline is valid? [True, True] Translation: X:-325.76, Y:-247.95, Z:-2.78 [[-6.72898023e-01 -7.39687805e-01 8.37872758e-03 -3.25764370e+02] [ 7.39629389e-01 -6.72950183e-01 -9.29615630e-03 -2.47953068e+02] [ 1.25147197e-02 -5.82120304e-05 9.99921686e-01 -2.78273023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1125.036559995 meters 0.012877283170025261 Centerline is valid? [True, True] Translation: X:-325.78, Y:-247.93, Z:-2.78 [[-6.71518267e-01 -7.40942764e-01 8.18771674e-03 -3.25782445e+02] [ 7.40887147e-01 -6.71568180e-01 -9.07832127e-03 -2.47934186e+02] [ 1.22251265e-02 -3.00844767e-05 9.99925270e-01 -2.78286056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1125.066559995 meters 0.012752262137803068 Centerline is valid? [True, True] Translation: X:-325.80, Y:-247.91, Z:-2.78 [[-6.70957259e-01 -7.41455197e-01 7.78124356e-03 -3.25800953e+02] [ 7.41405062e-01 -6.71002378e-01 -8.62228736e-03 -2.47914506e+02] [ 1.16142727e-02 -1.61329328e-05 9.99932552e-01 -2.78201748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1125.096559995 meters 0.012757960116789301 Centerline is valid? [True, True] Translation: X:-325.82, Y:-247.90, Z:-2.78 [[-6.70532895e-01 -7.41844259e-01 7.26169293e-03 -3.25818970e+02] [ 7.41800675e-01 -6.70572215e-01 -8.04135415e-03 -2.47895659e+02] [ 1.08349219e-02 -5.26377151e-06 9.99941301e-01 -2.78223845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1125.126559995 meters 0.012625436096990031 Centerline is valid? [True, True] Translation: X:-325.84, Y:-247.88, Z:-2.78 [[-6.69989766e-01 -7.42338986e-01 6.82234680e-03 -3.25837920e+02] [ 7.42300590e-01 -6.70024500e-01 -7.55010215e-03 -2.47875617e+02] [ 1.01758747e-02 5.74088266e-06 9.99948225e-01 -2.78110105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1125.156559995 meters 0.012636771929373089 Centerline is valid? [True, True] Translation: X:-325.86, Y:-247.86, Z:-2.78 [[-6.69593568e-01 -7.42702015e-01 6.17831155e-03 -3.25855931e+02] [ 7.42670583e-01 -6.69622071e-01 -6.83288057e-03 -2.47856732e+02] [ 9.21192794e-03 1.31973606e-05 9.99957569e-01 -2.78102698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1125.1865599950002 meters 0.012557475566055687 Centerline is valid? [True, True] Translation: X:-325.87, Y:-247.84, Z:-2.78 [[-6.69412139e-01 -7.42870959e-01 5.48865273e-03 -3.25874534e+02] [ 7.42846190e-01 -6.69434640e-01 -6.06633721e-03 -2.47836796e+02] [ 8.18080001e-03 1.63450045e-05 9.99966537e-01 -2.78013619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1125.2165599950001 meters 0.012536578125409412 Centerline is valid? [True, True] Translation: X:-325.89, Y:-247.82, Z:-2.78 [[-6.69512046e-01 -7.42784009e-01 5.05333779e-03 -3.25891437e+02] [ 7.42763038e-01 -6.69531116e-01 -5.58152500e-03 -2.47817155e+02] [ 7.52923441e-03 1.65343036e-05 9.99971655e-01 -2.78004775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1125.246559995 meters 0.012528310767131467 Centerline is valid? [True, True] Translation: X:-325.91, Y:-247.80, Z:-2.78 [[-6.70225691e-01 -7.42140983e-01 4.92792694e-03 -3.25909585e+02] [ 7.42121048e-01 -6.70243807e-01 -5.43960148e-03 -2.47796164e+02] [ 7.33986370e-03 1.13576479e-05 9.99973063e-01 -2.77993894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1125.276559995 meters 0.012501664615143753 Centerline is valid? [True, True] Translation: X:-325.93, Y:-247.78, Z:-2.78 [[-6.70937296e-01 -7.41498109e-01 4.86807966e-03 -3.25926781e+02] [ 7.41478664e-01 -6.70954957e-01 -5.37002285e-03 -2.47776396e+02] [ 7.24812397e-03 6.62859577e-06 9.99973732e-01 -2.78079400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1125.306559995 meters 0.012542072524563196 Centerline is valid? [True, True] Translation: X:-325.94, Y:-247.76, Z:-2.78 [[-6.71656073e-01 -7.40846680e-01 4.93128902e-03 -3.25944672e+02] [ 7.40826732e-01 -6.71674175e-01 -5.43647865e-03 -2.47755887e+02] [ 7.33981664e-03 1.78683509e-06 9.99973063e-01 -2.78124416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1125.336559995 meters 0.01263587076140726 Centerline is valid? [True, True] Translation: X:-325.96, Y:-247.74, Z:-2.78 [[-6.72308049e-01 -7.40254191e-01 5.06157349e-03 -3.25961967e+02] [ 7.40233186e-01 -6.72327103e-01 -5.57659336e-03 -2.47735944e+02] [ 7.53112964e-03 -2.44393441e-06 9.99971641e-01 -2.78204629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1125.366559995 meters 0.012573516131162954 Centerline is valid? [True, True] Translation: X:-325.98, Y:-247.72, Z:-2.78 [[-6.73025895e-01 -7.39599404e-01 5.37268447e-03 -3.25979827e+02] [ 7.39575746e-01 -6.73047340e-01 -5.91562797e-03 -2.47715784e+02] [ 7.99126591e-03 -7.86369082e-06 9.99968069e-01 -2.78096324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1125.396559995 meters 0.012605287656689236 Centerline is valid? [True, True] Translation: X:-326.00, Y:-247.69, Z:-2.78 [[-6.73729996e-01 -7.38959423e-01 5.18308953e-03 -3.25998127e+02] [ 7.38937411e-01 -6.73749933e-01 -5.70365963e-03 -2.47694827e+02] [ 7.70687925e-03 -1.27478199e-05 9.99970302e-01 -2.78107135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1125.426559995 meters 0.012678831102602558 Centerline is valid? [True, True] Translation: X:-326.02, Y:-247.67, Z:-2.78 [[-6.74285859e-01 -7.38450714e-01 5.39675235e-03 -3.26016170e+02] [ 7.38426863e-01 -6.74307455e-01 -5.93505354e-03 -2.47674202e+02] [ 8.02181486e-03 -1.68157588e-05 9.99967825e-01 -2.78129409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1125.4565599950001 meters 0.01260108974456285 Centerline is valid? [True, True] Translation: X:-326.03, Y:-247.65, Z:-2.78 [[-6.74547218e-01 -7.38206688e-01 6.07762575e-03 -3.26033456e+02] [ 7.38176467e-01 -6.74574596e-01 -6.67967483e-03 -2.47653450e+02] [ 9.03079257e-03 -1.93957640e-05 9.99959222e-01 -2.78168153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1125.486559995 meters 0.012804966990960946 Centerline is valid? [True, True] Translation: X:-326.05, Y:-247.63, Z:-2.78 [[-6.74794403e-01 -7.37982461e-01 5.86532812e-03 -3.26050385e+02] [ 7.37954342e-01 -6.74819893e-01 -6.44214032e-03 -2.47633702e+02] [ 8.71222666e-03 -1.87758703e-05 9.99962048e-01 -2.78316312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1125.516559995 meters 0.01281018334304251 Centerline is valid? [True, True] Translation: X:-326.07, Y:-247.61, Z:-2.78 [[-6.74999156e-01 -7.37792483e-01 6.19613506e-03 -3.26068535e+02] [ 7.37761133e-01 -6.75027594e-01 -6.80129564e-03 -2.47613661e+02] [ 9.20050693e-03 -1.96011939e-05 9.99957674e-01 -2.78242701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1125.546559995 meters 0.012812457984443911 Centerline is valid? [True, True] Translation: X:-326.09, Y:-247.59, Z:-2.78 [[-6.74820380e-01 -7.37953786e-01 6.45483739e-03 -3.26086808e+02] [ 7.37919810e-01 -6.74851250e-01 -7.08127249e-03 -2.47592670e+02] [ 9.58170693e-03 -1.54346182e-05 9.99954094e-01 -2.78213891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1125.576559995 meters 0.01285678879072945 Centerline is valid? [True, True] Translation: X:-326.11, Y:-247.57, Z:-2.78 [[-6.74738505e-01 -7.38025879e-01 6.76395155e-03 -3.26105871e+02] [ 7.37988617e-01 -6.74772407e-01 -7.41619781e-03 -2.47571769e+02] [ 1.00374738e-02 -1.22749721e-05 9.99949623e-01 -2.78254990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1125.606559995 meters 0.01295004349463101 Centerline is valid? [True, True] Translation: X:-326.12, Y:-247.55, Z:-2.78 [[-6.74777719e-01 -7.37988871e-01 6.88886592e-03 -3.26123730e+02] [ 7.37950269e-01 -6.74812882e-01 -7.54813822e-03 -2.47552071e+02] [ 1.02191375e-02 -9.67502462e-06 9.99947783e-01 -2.78412479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1125.636559995 meters 0.012917098340915865 Centerline is valid? [True, True] Translation: X:-326.14, Y:-247.53, Z:-2.78 [[-6.74676941e-01 -7.38079996e-01 6.99606901e-03 -3.26141814e+02] [ 7.38040238e-01 -6.74713213e-01 -7.66076755e-03 -2.47531605e+02] [ 1.03745995e-02 -5.16278658e-06 9.99946183e-01 -2.78317977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1125.666559995 meters 0.012921944820216396 Centerline is valid? [True, True] Translation: X:-326.16, Y:-247.51, Z:-2.78 [[-6.74367061e-01 -7.38362223e-01 7.09188375e-03 -3.26159218e+02] [ 7.38321435e-01 -6.74404350e-01 -7.76081198e-03 -2.47510277e+02] [ 1.05130876e-02 2.45382488e-06 9.99944736e-01 -2.78289452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1125.6965599950001 meters 0.012928780513379968 Centerline is valid? [True, True] Translation: X:-326.18, Y:-247.49, Z:-2.78 [[-6.74300710e-01 -7.38425671e-01 6.78835565e-03 -3.26176268e+02] [ 7.38388352e-01 -6.74334879e-01 -7.42377007e-03 -2.47490740e+02] [ 1.00595274e-02 6.58931119e-06 9.99949402e-01 -2.78291383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1125.7265599950001 meters 0.012932082531012187 Centerline is valid? [True, True] Translation: X:-326.19, Y:-247.47, Z:-2.78 [[-6.73945176e-01 -7.38750860e-01 6.71320894e-03 -3.26194576e+02] [ 7.38714421e-01 -6.73978610e-01 -7.33744087e-03 -2.47470020e+02] [ 9.94509999e-03 1.41113791e-05 9.99950546e-01 -2.78199897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1125.756559995 meters 0.012942006933228124 Centerline is valid? [True, True] Translation: X:-326.21, Y:-247.45, Z:-2.78 [[-6.73408313e-01 -7.39241718e-01 6.55192124e-03 -3.26213328e+02] [ 7.39207071e-01 -6.73440185e-01 -7.15710036e-03 -2.47449518e+02] [ 9.70315422e-03 2.35756285e-05 9.99952923e-01 -2.78174259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1125.786559995 meters 0.012942006933228124 Centerline is valid? [True, True] Translation: X:-326.23, Y:-247.43, Z:-2.78 [[-6.73616966e-01 -7.39051574e-01 6.55394145e-03 -3.26232006e+02] [ 7.39016936e-01 -6.73648848e-01 -7.15525046e-03 -2.47429217e+02] [ 9.70315422e-03 2.35756264e-05 9.99952923e-01 -2.78174226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1125.816559995 meters 0.013163798125811688 Centerline is valid? [True, True] Translation: X:-326.25, Y:-247.41, Z:-2.78 [[-6.71711896e-01 -7.40786598e-01 6.19232208e-03 -3.26250895e+02] [ 7.40755792e-01 -6.71740436e-01 -6.75594252e-03 -2.47410626e+02] [ 9.16434481e-03 4.89514860e-05 9.99958006e-01 -2.78249256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1125.846559995 meters 0.013294821457331348 Centerline is valid? [True, True] Translation: X:-326.27, Y:-247.39, Z:-2.78 [[-6.70710051e-01 -7.41694043e-01 6.16230985e-03 -3.26269862e+02] [ 7.41663613e-01 -6.70738356e-01 -6.71886673e-03 -2.47391681e+02] [ 9.11664101e-03 6.39495390e-05 9.99958441e-01 -2.78282379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1125.876559995 meters 0.013469743338633097 Centerline is valid? [True, True] Translation: X:-326.29, Y:-247.37, Z:-2.78 [[-6.69726929e-01 -7.42581291e-01 6.23432477e-03 -3.26288867e+02] [ 7.42550223e-01 -6.69755941e-01 -6.79317700e-03 -2.47371979e+02] [ 9.21996220e-03 7.97256751e-05 9.99957492e-01 -2.78306034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1125.906559995 meters 0.013425946982341896 Centerline is valid? [True, True] Translation: X:-326.31, Y:-247.35, Z:-2.78 [[-6.69056744e-01 -7.43184375e-01 6.32913209e-03 -3.26307953e+02] [ 7.43152418e-01 -6.69086673e-01 -6.89257880e-03 -2.47350838e+02] [ 9.35719480e-03 9.19834848e-05 9.99956216e-01 -2.78267172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1125.9365599950002 meters 0.013640179618468681 Centerline is valid? [True, True] Translation: X:-326.33, Y:-247.33, Z:-2.78 [[-6.68636423e-01 -7.43562248e-01 6.36535137e-03 -3.26326576e+02] [ 7.43529978e-01 -6.68666713e-01 -6.92811895e-03 -2.47330408e+02] [ 9.40778629e-03 1.00436895e-04 9.99955741e-01 -2.78286184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1125.9665599950001 meters 0.013752419577319559 Centerline is valid? [True, True] Translation: X:-326.34, Y:-247.31, Z:-2.78 [[-6.68259242e-01 -7.43902488e-01 6.21883532e-03 -3.26344379e+02] [ 7.43871740e-01 -6.68288170e-01 -6.76437823e-03 -2.47310393e+02] [ 9.18801186e-03 1.05657579e-04 9.99957784e-01 -2.78265462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1125.996559995 meters 0.013772764555259337 Centerline is valid? [True, True] Translation: X:-326.36, Y:-247.29, Z:-2.78 [[-6.68164231e-01 -7.43991801e-01 5.72378379e-03 -3.26362720e+02] [ 7.43965786e-01 -6.68188739e-01 -6.22238917e-03 -2.47288504e+02] [ 8.45397440e-03 1.00721437e-04 9.99964260e-01 -2.78246051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1126.026559995 meters 0.013847985109854487 Centerline is valid? [True, True] Translation: X:-326.38, Y:-247.27, Z:-2.78 [[-6.68523618e-01 -7.43669561e-01 5.63528012e-03 -3.26380408e+02] [ 7.43644368e-01 -6.68547361e-01 -6.12211026e-03 -2.47269165e+02] [ 8.32027870e-03 9.78690261e-05 9.99965381e-01 -2.78290765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1126.056559995 meters 0.013775005075335882 Centerline is valid? [True, True] Translation: X:-326.40, Y:-247.25, Z:-2.78 [[-6.68860559e-01 -7.43366993e-01 5.57379808e-03 -3.26398261e+02] [ 7.43342367e-01 -6.68883775e-01 -6.05151992e-03 -2.47249121e+02] [ 8.22672327e-03 9.56172623e-05 9.99966156e-01 -2.78309109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1126.086559995 meters 0.013711466997681287 Centerline is valid? [True, True] Translation: X:-326.42, Y:-247.23, Z:-2.78 [[-6.68829374e-01 -7.43393681e-01 5.75356961e-03 -3.26416271e+02] [ 7.43367472e-01 -6.68854113e-01 -6.24317515e-03 -2.47227510e+02] [ 8.48943566e-03 1.01397568e-04 9.99963959e-01 -2.78349472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1126.116559995 meters 0.013811828063865337 Centerline is valid? [True, True] Translation: X:-326.43, Y:-247.21, Z:-2.78 [[-6.68827967e-01 -7.43392270e-01 6.08956641e-03 -3.26433667e+02] [ 7.43362950e-01 -6.68855680e-01 -6.60337659e-03 -2.47208250e+02] [ 8.98194020e-03 1.10235111e-04 9.99959656e-01 -2.78401330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1126.146559995 meters 0.01406059907806787 Centerline is valid? [True, True] Translation: X:-326.45, Y:-247.19, Z:-2.78 [[-6.68700243e-01 -7.43505570e-01 6.28118021e-03 -3.26451496e+02] [ 7.43474421e-01 -6.68729732e-01 -6.80667075e-03 -2.47188914e+02] [ 9.26120957e-03 1.18274439e-04 9.99957107e-01 -2.78479928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1126.176559995 meters 0.0140855168397555 Centerline is valid? [True, True] Translation: X:-326.47, Y:-247.17, Z:-2.79 [[-6.68560098e-01 -7.43629619e-01 6.51035078e-03 -3.26470105e+02] [ 7.43596205e-01 -6.68591784e-01 -7.05059337e-03 -2.47168496e+02] [ 9.59579710e-03 1.27326741e-04 9.99953951e-01 -2.78507937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1126.2065599950001 meters 0.014263614918593237 Centerline is valid? [True, True] Translation: X:-326.49, Y:-247.15, Z:-2.79 [[-6.68297042e-01 -7.43863054e-01 6.84261282e-03 -3.26488403e+02] [ 7.43826203e-01 -6.68332056e-01 -7.40556146e-03 -2.47149736e+02] [ 1.00818611e-02 1.40599901e-04 9.99949167e-01 -2.78612392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1126.236559995 meters 0.014497681822473603 Centerline is valid? [True, True] Translation: X:-326.51, Y:-247.13, Z:-2.79 [[-6.68013451e-01 -7.44116846e-01 6.93894858e-03 -3.26507105e+02] [ 7.44079001e-01 -6.68049472e-01 -7.50621939e-03 -2.47130715e+02] [ 1.02210652e-02 1.48870406e-04 9.99947753e-01 -2.78689689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1126.266559995 meters 0.014450859763072534 Centerline is valid? [True, True] Translation: X:-326.53, Y:-247.11, Z:-2.79 [[-6.67819021e-01 -7.44288138e-01 7.27480777e-03 -3.26525387e+02] [ 7.44246603e-01 -6.67858623e-01 -7.86464445e-03 -2.47110869e+02] [ 1.07121047e-02 1.62091815e-04 9.99942611e-01 -2.78707936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1126.296559995 meters 0.014637220891711836 Centerline is valid? [True, True] Translation: X:-326.54, Y:-247.09, Z:-2.79 [[-6.67642147e-01 -7.44443963e-01 7.55979988e-03 -3.26543633e+02] [ 7.44399176e-01 -6.67684923e-01 -8.16767093e-03 -2.47090833e+02] [ 1.11279377e-02 1.74427449e-04 9.99938068e-01 -2.78747666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1126.326559995 meters 0.014276998773719867 Centerline is valid? [True, True] Translation: X:-326.56, Y:-247.07, Z:-2.79 [[-6.68030094e-01 -7.44096179e-01 7.52794526e-03 -3.26562011e+02] [ 7.44051798e-01 -6.68072487e-01 -8.12866243e-03 -2.47068933e+02] [ 1.10777198e-02 1.70990076e-04 9.99938626e-01 -2.78740509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1126.356559995 meters 0.01431569035536157 Centerline is valid? [True, True] Translation: X:-326.58, Y:-247.05, Z:-2.79 [[-6.68466581e-01 -7.43708040e-01 7.12612335e-03 -3.26580529e+02] [ 7.43668299e-01 -6.68504545e-01 -7.68993000e-03 -2.47048752e+02] [ 1.04829086e-02 1.59010814e-04 9.99945040e-01 -2.78712319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1126.386559995 meters 0.014909737908410487 Centerline is valid? [True, True] Translation: X:-326.60, Y:-247.03, Z:-2.79 [[-6.69012791e-01 -7.43219780e-01 6.80032358e-03 -3.26599599e+02] [ 7.43183613e-01 -6.69047336e-01 -7.33351525e-03 -2.47030035e+02] [ 1.00001520e-02 1.47673543e-04 9.99949987e-01 -2.78747157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1126.416559995 meters 0.01390192802466576 Centerline is valid? [True, True] Translation: X:-326.62, Y:-247.01, Z:-2.79 [[-6.70055534e-01 -7.42289310e-01 5.67120133e-03 -3.26616302e+02] [ 7.42264151e-01 -6.70079523e-01 -6.11246404e-03 -2.47007791e+02] [ 8.33737260e-03 1.13839083e-04 9.99965237e-01 -2.78520866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1126.4465599950001 meters 0.013933687355509327 Centerline is valid? [True, True] Translation: X:-326.63, Y:-246.99, Z:-2.78 [[-6.70965229e-01 -7.41471890e-01 5.00978750e-03 -3.26633909e+02] [ 7.41452261e-01 -6.70983925e-01 -5.39605011e-03 -2.46988825e+02] [ 7.36250635e-03 9.39562637e-05 9.99972892e-01 -2.78496933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1126.4765599950001 meters 0.013592134775578878 Centerline is valid? [True, True] Translation: X:-326.65, Y:-246.97, Z:-2.78 [[-6.72054421e-01 -7.40487069e-01 4.66441815e-03 -3.26651954e+02] [ 7.40470050e-01 -6.72070603e-01 -5.02094152e-03 -2.46967915e+02] [ 6.85276059e-03 7.95159943e-05 9.99976517e-01 -2.78456740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1126.506559995 meters 0.013374391817892545 Centerline is valid? [True, True] Translation: X:-326.67, Y:-246.95, Z:-2.78 [[-6.73305490e-01 -7.39352002e-01 4.28189547e-03 -3.26669925e+02] [ 7.39337655e-01 -6.73319103e-01 -4.60629807e-03 -2.46947420e+02] [ 6.28875771e-03 6.43207729e-05 9.99980224e-01 -2.78460911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1126.536559995 meters 0.013315842175850672 Centerline is valid? [True, True] Translation: X:-326.69, Y:-246.93, Z:-2.78 [[-6.74503059e-01 -7.38260998e-01 4.03997623e-03 -3.26687984e+02] [ 7.38248224e-01 -6.74515156e-01 -4.34320653e-03 -2.46927800e+02] [ 5.93144519e-03 5.29991853e-05 9.99982408e-01 -2.78474384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1126.566559995 meters 0.012936069634496894 Centerline is valid? [True, True] Translation: X:-326.71, Y:-246.91, Z:-2.78 [[-6.75967601e-01 -7.36921546e-01 3.79967950e-03 -3.26706242e+02] [ 7.36910238e-01 -6.75978279e-01 -4.08255824e-03 -2.46905914e+02] [ 5.57702594e-03 4.03456242e-05 9.99984448e-01 -2.78416457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1126.596559995 meters 0.012660774992626796 Centerline is valid? [True, True] Translation: X:-326.72, Y:-246.89, Z:-2.78 [[-6.77725436e-01 -7.35309169e-01 2.94290421e-03 -3.26724697e+02] [ 7.35302378e-01 -6.77731825e-01 -3.16015688e-03 -2.46886693e+02] [ 4.31819217e-03 2.22057630e-05 9.99990677e-01 -2.78383764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1126.626559995 meters 0.012630639348036338 Centerline is valid? [True, True] Translation: X:-326.74, Y:-246.87, Z:-2.78 [[-6.78899408e-01 -7.34226819e-01 2.56388548e-03 -3.26743308e+02] [ 7.34221663e-01 -6.78904249e-01 -2.75143440e-03 -2.46866140e+02] [ 3.76080968e-03 1.45130760e-05 9.99992928e-01 -2.78362341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1126.656559995 meters 0.01256806346474803 Centerline is valid? [True, True] Translation: X:-326.76, Y:-246.85, Z:-2.78 [[-6.79866019e-01 -7.33331953e-01 2.53860310e-03 -3.26762214e+02] [ 7.33326898e-01 -6.79870758e-01 -2.72276230e-03 -2.46845033e+02] [ 3.72261061e-03 1.05123702e-05 9.99993071e-01 -2.78333038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1126.6865599950002 meters 0.01260972050097218 Centerline is valid? [True, True] Translation: X:-326.78, Y:-246.82, Z:-2.78 [[-6.81165480e-01 -7.32125103e-01 2.53409622e-03 -3.26780840e+02] [ 7.32120064e-01 -6.81170194e-01 -2.71640145e-03 -2.46824361e+02] [ 3.71489651e-03 4.94379293e-06 9.99993100e-01 -2.78360153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1126.7165599950001 meters 0.012547873614191133 Centerline is valid? [True, True] Translation: X:-326.80, Y:-246.80, Z:-2.78 [[-6.82441404e-01 -7.30934557e-01 2.89893651e-03 -3.26798510e+02] [ 7.30927958e-01 -6.82447561e-01 -3.10597229e-03 -2.46804346e+02] [ 4.24863463e-03 -7.30347395e-07 9.99990975e-01 -2.78482372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1126.746559995 meters 0.012640759051456108 Centerline is valid? [True, True] Translation: X:-326.82, Y:-246.78, Z:-2.78 [[-6.83726648e-01 -7.29731651e-01 3.09667831e-03 -3.26816544e+02] [ 7.29724117e-01 -6.83733660e-01 -3.31577399e-03 -2.46784240e+02] [ 4.53692842e-03 -7.36218776e-06 9.99989708e-01 -2.78449632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1126.776559995 meters 0.012697073030581563 Centerline is valid? [True, True] Translation: X:-326.83, Y:-246.76, Z:-2.78 [[-6.85046810e-01 -7.28492359e-01 3.12256861e-03 -3.26834982e+02] [ 7.28484696e-01 -6.85053927e-01 -3.34139257e-03 -2.46763824e+02] [ 4.57330685e-03 -1.42668780e-05 9.99989542e-01 -2.78488768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1126.806559995 meters 0.012861630951767782 Centerline is valid? [True, True] Translation: X:-326.85, Y:-246.74, Z:-2.79 [[-6.86136207e-01 -7.27465503e-01 3.32391026e-03 -3.26852269e+02] [ 7.27456819e-01 -6.86144258e-01 -3.55450113e-03 -2.46744302e+02] [ 4.86645889e-03 -2.08707436e-05 9.99988159e-01 -2.78510642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1126.836559995 meters 0.012861630951767782 Centerline is valid? [True, True] Translation: X:-326.87, Y:-246.72, Z:-2.79 [[-6.86359437e-01 -7.27254885e-01 3.32500120e-03 -3.26870629e+02] [ 7.27246204e-01 -6.86367491e-01 -3.55348065e-03 -2.46724827e+02] [ 4.86645889e-03 -2.08704838e-05 9.99988159e-01 -2.78510611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1126.866559995 meters 0.012913364293609116 Centerline is valid? [True, True] Translation: X:-326.89, Y:-246.71, Z:-2.79 [[-6.87915957e-01 -7.25783057e-01 3.25443650e-03 -3.26889454e+02] [ 7.25774734e-01 -6.87923654e-01 -3.47590240e-03 -2.46705168e+02] [ 4.76155492e-03 -2.91409410e-05 9.99988664e-01 -2.78530937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1126.896559995 meters 0.012999077047508183 Centerline is valid? [True, True] Translation: X:-326.91, Y:-246.69, Z:-2.79 [[-6.88532251e-01 -7.25198639e-01 3.20529086e-03 -3.26907841e+02] [ 7.25190569e-01 -6.88539711e-01 -3.42118122e-03 -2.46686087e+02] [ 4.68800600e-03 -3.11469035e-05 9.99989011e-01 -2.78519049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1126.926559995 meters 0.012936092095008133 Centerline is valid? [True, True] Translation: X:-326.93, Y:-246.67, Z:-2.79 [[-6.88918793e-01 -7.24831644e-01 3.15977775e-03 -3.26927765e+02] [ 7.24823807e-01 -6.88926039e-01 -3.37071273e-03 -2.46666044e+02] [ 4.62005242e-03 -3.18652077e-05 9.99989327e-01 -2.78513060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1126.9565599950001 meters 0.013017107275293543 Centerline is valid? [True, True] Translation: X:-326.95, Y:-246.65, Z:-2.79 [[-6.89235193e-01 -7.24530781e-01 3.16159597e-03 -3.26945920e+02] [ 7.24522940e-01 -6.89242444e-01 -3.37101008e-03 -2.46646910e+02] [ 4.62150670e-03 -3.27699747e-05 9.99989320e-01 -2.78515972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1126.986559995 meters 0.013082700394001981 Centerline is valid? [True, True] Translation: X:-326.97, Y:-246.63, Z:-2.79 [[-6.89539354e-01 -7.24241153e-01 3.19858003e-03 -3.26965065e+02] [ 7.24233134e-01 -6.89546772e-01 -3.40832310e-03 -2.46626902e+02] [ 4.67401839e-03 -3.36552668e-05 9.99989076e-01 -2.78523419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1127.016559995 meters 0.013048895134725926 Centerline is valid? [True, True] Translation: X:-326.98, Y:-246.61, Z:-2.79 [[-6.89684830e-01 -7.24102211e-01 3.28996503e-03 -3.26984289e+02] [ 7.24093736e-01 -6.89692676e-01 -3.50351935e-03 -2.46607894e+02] [ 4.80597089e-03 -3.40810782e-05 9.99988451e-01 -2.78505213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1127.046559995 meters 0.013021706997098712 Centerline is valid? [True, True] Translation: X:-327.00, Y:-246.59, Z:-2.79 [[-6.89609015e-01 -7.24176368e-01 2.82755449e-03 -3.27003620e+02] [ 7.24170116e-01 -6.89614811e-01 -3.00920647e-03 -2.46588333e+02] [ 4.12911967e-03 -2.75454443e-05 9.99991475e-01 -2.78515803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1127.076559995 meters 0.013005488240628964 Centerline is valid? [True, True] Translation: X:-327.02, Y:-246.57, Z:-2.78 [[-6.89464573e-01 -7.24313284e-01 2.97805413e-03 -3.27023018e+02] [ 7.24306359e-01 -6.89471004e-01 -3.16738655e-03 -2.46569041e+02] [ 4.34746212e-03 -2.67772714e-05 9.99990550e-01 -2.78465182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1127.106559995 meters 0.012894447930809936 Centerline is valid? [True, True] Translation: X:-327.04, Y:-246.55, Z:-2.78 [[-6.89068879e-01 -7.24690965e-01 2.66198591e-03 -3.27041475e+02] [ 7.24685442e-01 -6.89074020e-01 -2.82936625e-03 -2.46550937e+02] [ 3.88472149e-03 -2.05257977e-05 9.99992454e-01 -2.78447672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1127.136559995 meters 0.012768696433617817 Centerline is valid? [True, True] Translation: X:-327.06, Y:-246.53, Z:-2.78 [[-6.88548067e-01 -7.25186851e-01 2.36445238e-03 -3.27061185e+02] [ 7.25182502e-01 -6.88552126e-01 -2.51155031e-03 -2.46532486e+02] [ 3.44939198e-03 -1.46636209e-05 9.99994051e-01 -2.78406436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1127.166559995 meters 0.012676878568485893 Centerline is valid? [True, True] Translation: X:-327.08, Y:-246.52, Z:-2.78 [[-6.87180449e-01 -7.26483379e-01 2.22050139e-03 -3.27082421e+02] [ 7.26479555e-01 -6.87184037e-01 -2.35716571e-03 -2.46515041e+02] [ 3.23833482e-03 -6.64932517e-06 9.99994757e-01 -2.78431339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1127.1965599950001 meters 0.012629109775047782 Centerline is valid? [True, True] Translation: X:-327.10, Y:-246.50, Z:-2.78 [[-6.86591624e-01 -7.27040096e-01 2.15425896e-03 -3.27102309e+02] [ 7.27036504e-01 -6.86595003e-01 -2.28541004e-03 -2.46496663e+02] [ 3.14068818e-03 -2.91848353e-06 9.99995068e-01 -2.78456496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1127.2265599950001 meters 0.012666498073488727 Centerline is valid? [True, True] Translation: X:-327.12, Y:-246.48, Z:-2.78 [[-6.86012987e-01 -7.27586638e-01 1.96637702e-03 -3.27122683e+02] [ 7.27583651e-01 -6.86015805e-01 -2.08491855e-03 -2.46477603e+02] [ 2.86592460e-03 4.22567093e-07 9.99995893e-01 -2.78482753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1127.256559995 meters 0.012611806631676646 Centerline is valid? [True, True] Translation: X:-327.14, Y:-246.46, Z:-2.78 [[-6.85482714e-01 -7.28085359e-01 2.27143509e-03 -3.27143291e+02] [ 7.28081380e-01 -6.85486477e-01 -2.40701034e-03 -2.46458171e+02] [ 3.30954702e-03 3.82561182e-06 9.99994524e-01 -2.78485905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1127.286559995 meters 0.012607855010251466 Centerline is valid? [True, True] Translation: X:-327.16, Y:-246.44, Z:-2.79 [[-6.84956582e-01 -7.28580261e-01 2.29855561e-03 -3.27163875e+02] [ 7.28576194e-01 -6.84960439e-01 -2.43437913e-03 -2.46438639e+02] [ 3.34806025e-03 7.22889429e-06 9.99994395e-01 -2.78508019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1127.316559995 meters 0.012619395029687288 Centerline is valid? [True, True] Translation: X:-327.19, Y:-246.42, Z:-2.79 [[-6.84110444e-01 -7.29373843e-01 2.58797636e-03 -3.27185420e+02] [ 7.29368699e-01 -6.84115339e-01 -2.73935271e-03 -2.46419715e+02] [ 3.76848654e-03 1.35691497e-05 9.99992899e-01 -2.78543707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1127.346559995 meters 0.012642801820667028 Centerline is valid? [True, True] Translation: X:-327.21, Y:-246.40, Z:-2.79 [[-6.83698517e-01 -7.29759623e-01 2.68883620e-03 -3.27205960e+02] [ 7.29754080e-01 -6.83703804e-01 -2.84450459e-03 -2.46400466e+02] [ 3.91417214e-03 1.74056112e-05 9.99992340e-01 -2.78575898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1127.376559995 meters 0.012667991155176733 Centerline is valid? [True, True] Translation: X:-327.23, Y:-246.38, Z:-2.79 [[-6.83260173e-01 -7.30170358e-01 2.60467179e-03 -3.27226574e+02] [ 7.30165165e-01 -6.83265137e-01 -2.75392203e-03 -2.46381324e+02] [ 3.79051367e-03 2.01953645e-05 9.99992816e-01 -2.78598537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1127.406559995 meters 0.012777802739210257 Centerline is valid? [True, True] Translation: X:-327.25, Y:-246.36, Z:-2.79 [[-6.82802412e-01 -7.30598954e-01 2.45645443e-03 -3.27245928e+02] [ 7.30594344e-01 -6.82806830e-01 -2.59549575e-03 -2.46363279e+02] [ 3.57355035e-03 2.24609574e-05 9.99993615e-01 -2.78593886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1127.4365599950002 meters 0.012888262912817106 Centerline is valid? [True, True] Translation: X:-327.27, Y:-246.35, Z:-2.79 [[-6.82292581e-01 -7.31074327e-01 2.67614943e-03 -3.27265330e+02] [ 7.31068867e-01 -6.82297829e-01 -2.82577139e-03 -2.46345214e+02] [ 3.89177987e-03 2.84466749e-05 9.99992427e-01 -2.78611073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1127.4665599950001 meters 0.012967646562041921 Centerline is valid? [True, True] Translation: X:-327.29, Y:-246.33, Z:-2.79 [[-6.81543664e-01 -7.31771767e-01 2.88360561e-03 -3.27285768e+02] [ 7.31765440e-01 -6.81549764e-01 -3.04306721e-03 -2.46325511e+02] [ 4.19215139e-03 3.61397483e-05 9.99991212e-01 -2.78590334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1127.496559995 meters 0.013054637487761303 Centerline is valid? [True, True] Translation: X:-327.31, Y:-246.31, Z:-2.79 [[-6.81721358e-01 -7.31602914e-01 3.62846198e-03 -3.27305304e+02] [ 7.31592907e-01 -6.81731013e-01 -3.82678298e-03 -2.46306693e+02] [ 5.27332064e-03 4.57573537e-05 9.99986095e-01 -2.78690431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1127.526559995 meters 0.013093820420455801 Centerline is valid? [True, True] Translation: X:-327.32, Y:-246.29, Z:-2.79 [[-6.81816705e-01 -7.31508625e-01 4.59477761e-03 -3.27324991e+02] [ 7.31492595e-01 -6.81832184e-01 -4.84319431e-03 -2.46286803e+02] [ 6.67570566e-03 5.88750085e-05 9.99977716e-01 -2.78794152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1127.556559995 meters 0.013123206619885402 Centerline is valid? [True, True] Translation: X:-327.34, Y:-246.27, Z:-2.79 [[-6.82104939e-01 -7.31234683e-01 5.35644717e-03 -3.27344463e+02] [ 7.31212913e-01 -6.82125966e-01 -5.64285696e-03 -2.46266479e+02] [ 7.78002442e-03 6.76827412e-05 9.99969733e-01 -2.78863297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1127.586559995 meters 0.013142243231314505 Centerline is valid? [True, True] Translation: X:-327.36, Y:-246.25, Z:-2.79 [[-6.82664899e-01 -7.30708541e-01 5.80199218e-03 -3.27364182e+02] [ 7.30683009e-01 -6.82689551e-01 -6.10879915e-03 -2.46246016e+02] [ 8.42471115e-03 6.91543450e-05 9.99964509e-01 -2.78929025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1127.616559995 meters 0.013371877938032913 Centerline is valid? [True, True] Translation: X:-327.38, Y:-246.23, Z:-2.79 [[-6.83152353e-01 -7.30249902e-01 6.15978679e-03 -3.27382763e+02] [ 7.30221143e-01 -6.83180119e-01 -6.48122876e-03 -2.46226913e+02] [ 8.94116055e-03 7.03398713e-05 9.99960025e-01 -2.79032344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1127.646559995 meters 0.013069584582098006 Centerline is valid? [True, True] Translation: X:-327.40, Y:-246.21, Z:-2.79 [[-6.84159357e-01 -7.29307181e-01 6.08356733e-03 -3.27401077e+02] [ 7.29279124e-01 -6.84186402e-01 -6.39743112e-03 -2.46205505e+02] [ 8.82798650e-03 5.97562943e-05 9.99961031e-01 -2.78927606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1127.676559995 meters 0.012905301060505431 Centerline is valid? [True, True] Translation: X:-327.42, Y:-246.18, Z:-2.79 [[-6.86764693e-01 -7.26858399e-01 5.57902121e-03 -3.27417517e+02] [ 7.26834745e-01 -6.86787353e-01 -5.86398568e-03 -2.46184608e+02] [ 8.09388845e-03 2.78481320e-05 9.99967244e-01 -2.78852210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1127.7065599950001 meters 0.01288572639877021 Centerline is valid? [True, True] Translation: X:-327.44, Y:-246.16, Z:-2.79 [[-6.88751830e-01 -7.24979612e-01 5.04770883e-03 -3.27435429e+02] [ 7.24960220e-01 -6.88770326e-01 -5.30257001e-03 -2.46162724e+02] [ 7.32096721e-03 7.23331018e-06 9.99973202e-01 -2.78745968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1127.736559995 meters 0.012875984974761808 Centerline is valid? [True, True] Translation: X:-327.45, Y:-246.14, Z:-2.79 [[-6.90713910e-01 -7.23114056e-01 4.51196213e-03 -3.27451760e+02] [ 7.23098542e-01 -6.90728646e-01 -4.73665204e-03 -2.46142320e+02] [ 6.54168116e-03 -9.07821187e-06 9.99978603e-01 -2.78646489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1127.766559995 meters 0.01302228242144237 Centerline is valid? [True, True] Translation: X:-327.47, Y:-246.12, Z:-2.79 [[-6.93088661e-01 -7.20842505e-01 3.76717397e-03 -3.27468655e+02] [ 7.20831670e-01 -6.93098898e-01 -3.95229705e-03 -2.46121293e+02] [ 5.46000783e-03 -2.37939671e-05 9.99985094e-01 -2.78557060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1127.796559995 meters 0.013280649791441968 Centerline is valid? [True, True] Translation: X:-327.49, Y:-246.10, Z:-2.78 [[-6.95228387e-01 -7.18781492e-01 3.26460085e-03 -3.27485564e+02] [ 7.18773342e-01 -6.95236051e-01 -3.42289578e-03 -2.46100152e+02] [ 4.72998233e-03 -3.31862483e-05 9.99988813e-01 -2.78461468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1127.826559995 meters 0.013950877067466153 Centerline is valid? [True, True] Translation: X:-327.50, Y:-246.08, Z:-2.78 [[-6.98785450e-01 -7.15326431e-01 2.64426438e-03 -3.27502170e+02] [ 7.15321066e-01 -6.98790452e-01 -2.77095911e-03 -2.46076704e+02] [ 3.82992699e-03 -4.48078886e-05 9.99992665e-01 -2.78385621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1127.856559995 meters 0.014545022987277468 Centerline is valid? [True, True] Translation: X:-327.52, Y:-246.06, Z:-2.78 [[-7.00300247e-01 -7.13843782e-01 2.57262686e-03 -3.27519503e+02] [ 7.13838699e-01 -7.00304971e-01 -2.69433082e-03 -2.46055190e+02] [ 3.72495468e-03 -5.03999307e-05 9.99993061e-01 -2.78412306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1127.886559995 meters 0.01450478005150594 Centerline is valid? [True, True] Translation: X:-327.54, Y:-246.04, Z:-2.78 [[-7.01865514e-01 -7.12303674e-01 2.87688250e-03 -3.27538804e+02] [ 7.12297312e-01 -7.01871407e-01 -3.01119430e-03 -2.46035408e+02] [ 4.16408633e-03 -6.42577621e-05 9.99991328e-01 -2.78391818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1127.916559995 meters 0.014752641774014228 Centerline is valid? [True, True] Translation: X:-327.56, Y:-246.01, Z:-2.78 [[-7.03059421e-01 -7.11124198e-01 3.13479938e-03 -3.27557818e+02] [ 7.11116640e-01 -7.03066405e-01 -3.27932482e-03 -2.46014284e+02] [ 4.53597937e-03 -7.63522010e-05 9.99989710e-01 -2.78431332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1127.9465599950001 meters 0.015448014622375016 Centerline is valid? [True, True] Translation: X:-327.58, Y:-245.99, Z:-2.79 [[-7.04093064e-01 -7.10099016e-01 3.51358387e-03 -3.27575593e+02] [ 7.10089520e-01 -7.04101825e-01 -3.67341592e-03 -2.45993599e+02] [ 5.08240984e-03 -9.14675896e-05 9.99987080e-01 -2.78520127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1127.9765599950001 meters 0.015564422010756132 Centerline is valid? [True, True] Translation: X:-327.59, Y:-245.97, Z:-2.79 [[-7.04897031e-01 -7.09296381e-01 4.33812873e-03 -3.27594809e+02] [ 7.09281906e-01 -7.04910370e-01 -4.53299822e-03 -2.45973113e+02] [ 6.27323116e-03 -1.18340777e-04 9.99980316e-01 -2.78612839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1128.006559995 meters 0.015245897936677782 Centerline is valid? [True, True] Translation: X:-327.62, Y:-245.95, Z:-2.79 [[-7.05213803e-01 -7.08980266e-01 4.52492282e-03 -3.27615386e+02] [ 7.08964528e-01 -7.05228308e-01 -4.72554244e-03 -2.45953399e+02] [ 6.54142000e-03 -1.24507975e-04 9.99978597e-01 -2.78613666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1128.036559995 meters 0.015379473504084683 Centerline is valid? [True, True] Translation: X:-327.63, Y:-245.93, Z:-2.79 [[-7.05173651e-01 -7.09017842e-01 4.88078615e-03 -3.27633580e+02] [ 7.08999556e-01 -7.05190530e-01 -5.09382782e-03 -2.45934465e+02] [ 7.05349897e-03 -1.31557948e-04 9.99975115e-01 -2.78646077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1128.066559995 meters 0.015744553289727504 Centerline is valid? [True, True] Translation: X:-327.65, Y:-245.92, Z:-2.79 [[-7.05118436e-01 -7.09073853e-01 4.71823486e-03 -3.27651226e+02] [ 7.09056788e-01 -7.05134211e-01 -4.92099815e-03 -2.45915630e+02] [ 6.81633994e-03 -1.24390069e-04 9.99976761e-01 -2.78727567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1128.096559995 meters 0.014979162275524696 Centerline is valid? [True, True] Translation: X:-327.67, Y:-245.90, Z:-2.79 [[-7.05030950e-01 -7.09157123e-01 5.24735869e-03 -3.27672114e+02] [ 7.09136040e-01 -7.05050465e-01 -5.46980865e-03 -2.45896873e+02] [ 7.57860645e-03 -1.35293227e-04 9.99971273e-01 -2.78700203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1128.126559995 meters 0.01484697301927626 Centerline is valid? [True, True] Translation: X:-327.69, Y:-245.88, Z:-2.79 [[-7.04403595e-01 -7.09774438e-01 5.98530421e-03 -3.27692060e+02] [ 7.09747065e-01 -7.04429008e-01 -6.23514819e-03 -2.45877946e+02] [ 8.64177071e-03 -1.44008703e-04 9.99962649e-01 -2.78790525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1128.156559995 meters 0.015050969595397016 Centerline is valid? [True, True] Translation: X:-327.71, Y:-245.86, Z:-2.79 [[-7.03997318e-01 -7.10174022e-01 6.37454762e-03 -3.27710654e+02] [ 7.10143029e-01 -7.04026162e-01 -6.63630206e-03 -2.45858800e+02] [ 9.20077762e-03 -1.45098296e-04 9.99957662e-01 -2.78861672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1128.1865599950002 meters 0.014784951186430677 Centerline is valid? [True, True] Translation: X:-327.73, Y:-245.84, Z:-2.79 [[-7.03621722e-01 -7.10548330e-01 6.12723085e-03 -3.27730097e+02] [ 7.10519745e-01 -7.03648387e-01 -6.37492862e-03 -2.45839774e+02] [ 8.84111099e-03 -1.32019749e-04 9.99960908e-01 -2.78861031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1128.2165599950001 meters 0.014579565719376247 Centerline is valid? [True, True] Translation: X:-327.75, Y:-245.82, Z:-2.79 [[-7.02912830e-01 -7.11250916e-01 5.97391497e-03 -3.27749629e+02] [ 7.11223801e-01 -7.02938205e-01 -6.21162370e-03 -2.45820425e+02] [ 8.61731611e-03 -1.17439480e-04 9.99962864e-01 -2.78837173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1128.246559995 meters 0.014051514739173064 Centerline is valid? [True, True] Translation: X:-327.77, Y:-245.80, Z:-2.79 [[-7.01687968e-01 -7.12461766e-01 5.67699607e-03 -3.27770067e+02] [ 7.12437348e-01 -7.01710926e-01 -5.89925888e-03 -2.45802402e+02] [ 8.18660657e-03 -9.49349526e-05 9.99966485e-01 -2.78807920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1128.276559995 meters 0.014016277220652639 Centerline is valid? [True, True] Translation: X:-327.79, Y:-245.78, Z:-2.79 [[-7.01000400e-01 -7.13139443e-01 5.52948128e-03 -3.27788558e+02] [ 7.13116328e-01 -7.01022203e-01 -5.74226386e-03 -2.45783996e+02] [ 7.97132400e-03 -8.21658729e-05 9.99968225e-01 -2.78822464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1128.306559995 meters 0.013847800766038965 Centerline is valid? [True, True] Translation: X:-327.81, Y:-245.77, Z:-2.79 [[-7.00424351e-01 -7.13707385e-01 5.24387857e-03 -3.27808456e+02] [ 7.13686638e-01 -7.00443977e-01 -5.44229077e-03 -2.45765350e+02] [ 7.55724627e-03 -6.94269151e-05 9.99971441e-01 -2.78781575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1128.336559995 meters 0.013417047195118782 Centerline is valid? [True, True] Translation: X:-327.83, Y:-245.75, Z:-2.79 [[-6.99467179e-01 -7.14645664e-01 5.21928627e-03 -3.27828104e+02] [ 7.14625163e-01 -6.99486649e-01 -5.41337387e-03 -2.45746285e+02] [ 7.51946523e-03 -5.66440531e-05 9.99971727e-01 -2.78712962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1128.366559995 meters 0.013282759833719968 Centerline is valid? [True, True] Translation: X:-327.85, Y:-245.73, Z:-2.79 [[-6.98530796e-01 -7.15561465e-01 5.14951060e-03 -3.27847456e+02] [ 7.15541558e-01 -6.98549775e-01 -5.33767984e-03 -2.45727310e+02] [ 7.41662747e-03 -4.38449115e-05 9.99972496e-01 -2.78706829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1128.396559995 meters 0.013208007714049558 Centerline is valid? [True, True] Translation: X:-327.87, Y:-245.71, Z:-2.79 [[-6.97709648e-01 -7.16363246e-01 4.99460939e-03 -3.27866123e+02] [ 7.16344564e-01 -6.97727525e-01 -5.17373953e-03 -2.45708915e+02] [ 7.19115329e-03 -3.19066985e-05 9.99974143e-01 -2.78694805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1128.426559995 meters 0.012988260683558715 Centerline is valid? [True, True] Translation: X:-327.89, Y:-245.69, Z:-2.79 [[-6.95884382e-01 -7.18138089e-01 4.75521420e-03 -3.27887207e+02] [ 7.18121215e-01 -6.95900629e-01 -4.92295441e-03 -2.45689972e+02] [ 6.84451762e-03 -1.09868867e-05 9.99976576e-01 -2.78602052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1128.4565599950001 meters 0.012980904321166853 Centerline is valid? [True, True] Translation: X:-327.91, Y:-245.67, Z:-2.79 [[-6.94857686e-01 -7.19131787e-01 4.71892493e-03 -3.27906717e+02] [ 7.19115213e-01 -6.94873710e-01 -4.88245081e-03 -2.45670890e+02] [ 6.79018245e-03 8.42227905e-07 9.99976947e-01 -2.78603206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1128.486559995 meters 0.012977354072082505 Centerline is valid? [True, True] Translation: X:-327.93, Y:-245.65, Z:-2.79 [[-6.94097680e-01 -7.19866589e-01 4.52828943e-03 -3.27925738e+02] [ 7.19851357e-01 -6.94112451e-01 -4.68292833e-03 -2.45653007e+02] [ 6.51422572e-03 9.28560395e-06 9.99978782e-01 -2.78614923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1128.516559995 meters 0.013078109651009718 Centerline is valid? [True, True] Translation: X:-327.95, Y:-245.63, Z:-2.79 [[-6.92384806e-01 -7.21517091e-01 4.04571024e-03 -3.27946890e+02] [ 7.21504974e-01 -6.92396626e-01 -4.18152728e-03 -2.45634335e+02] [ 5.81827952e-03 2.37741071e-05 9.99983074e-01 -2.78571248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1128.546559995 meters 0.013099979533077085 Centerline is valid? [True, True] Translation: X:-327.97, Y:-245.61, Z:-2.79 [[-6.91826500e-01 -7.22053096e-01 3.92704888e-03 -3.27966551e+02] [ 7.22041701e-01 -6.91837645e-01 -4.05658723e-03 -2.45614573e+02] [ 5.64595162e-03 2.90385068e-05 9.99984061e-01 -2.78542538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1128.576559995 meters 0.013099979533077085 Centerline is valid? [True, True] Translation: X:-327.99, Y:-245.59, Z:-2.79 [[-6.92030508e-01 -7.21857566e-01 3.92819504e-03 -3.27985785e+02] [ 7.21846175e-01 -6.92041656e-01 -4.05547736e-03 -2.45594802e+02] [ 5.64595161e-03 2.90385080e-05 9.99984061e-01 -2.78542505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1128.606559995 meters 0.013329754001456027 Centerline is valid? [True, True] Translation: X:-328.01, Y:-245.58, Z:-2.79 [[-6.91245225e-01 -7.22610160e-01 3.82042838e-03 -3.28005085e+02] [ 7.22599406e-01 -6.91255782e-01 -3.94241969e-03 -2.45576504e+02] [ 5.48972573e-03 3.54604950e-05 9.99984931e-01 -2.78585715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1128.636559995 meters 0.013436402236311413 Centerline is valid? [True, True] Translation: X:-328.02, Y:-245.56, Z:-2.79 [[-6.91010074e-01 -7.22833942e-01 4.02118318e-03 -3.28024581e+02] [ 7.22822047e-01 -6.91021773e-01 -4.14701976e-03 -2.45557157e+02] [ 5.77633177e-03 4.09674198e-05 9.99983316e-01 -2.78627686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1128.666559995 meters 0.01338303161271433 Centerline is valid? [True, True] Translation: X:-328.04, Y:-245.54, Z:-2.79 [[-6.90700817e-01 -7.23127680e-01 4.32902355e-03 -3.28044051e+02] [ 7.23113916e-01 -6.90714381e-01 -4.46193173e-03 -2.45537183e+02] [ 6.21666516e-03 4.85172818e-05 9.99980675e-01 -2.78639556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1128.6965599950001 meters 0.01364097474747075 Centerline is valid? [True, True] Translation: X:-328.06, Y:-245.52, Z:-2.79 [[-6.90413034e-01 -7.23401814e-01 4.43377173e-03 -3.28063630e+02] [ 7.23387399e-01 -6.90427268e-01 -4.56713487e-03 -2.45518930e+02] [ 6.36507056e-03 5.41251560e-05 9.99979741e-01 -2.78745620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1128.7265599950001 meters 0.01378969603908181 Centerline is valid? [True, True] Translation: X:-328.08, Y:-245.50, Z:-2.79 [[-6.90095985e-01 -7.23700324e-01 5.03713455e-03 -3.28082388e+02] [ 7.23681744e-01 -6.90114365e-01 -5.18618492e-03 -2.45500720e+02] [ 7.22944262e-03 6.63169220e-05 9.99973865e-01 -2.78810348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1128.756559995 meters 0.01378969603908181 Centerline is valid? [True, True] Translation: X:-328.10, Y:-245.48, Z:-2.79 [[-6.90314920e-01 -7.23491481e-01 5.03870296e-03 -3.28101116e+02] [ 7.23472906e-01 -6.90333306e-01 -5.18466113e-03 -2.45481610e+02] [ 7.22944263e-03 6.63161387e-05 9.99973865e-01 -2.78810316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1128.786559995 meters 0.013880708914632564 Centerline is valid? [True, True] Translation: X:-328.12, Y:-245.46, Z:-2.79 [[-6.89891686e-01 -7.23892140e-01 5.44354597e-03 -3.28120562e+02] [ 7.23870500e-01 -6.89913157e-01 -5.59776646e-03 -2.45462081e+02] [ 7.80775313e-03 7.85698025e-05 9.99969516e-01 -2.78832226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1128.816559995 meters 0.01426896366415089 Centerline is valid? [True, True] Translation: X:-328.14, Y:-245.44, Z:-2.79 [[-6.88380828e-01 -7.25317479e-01 6.81109650e-03 -3.28141074e+02] [ 7.25283698e-01 -6.88414512e-01 -7.00117233e-03 -2.45443594e+02] [ 9.76693034e-03 1.20504450e-04 9.99952295e-01 -2.78996621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1128.846559995 meters 0.014798179998291078 Centerline is valid? [True, True] Translation: X:-328.16, Y:-245.43, Z:-2.79 [[-6.87686509e-01 -7.25969501e-01 7.45312517e-03 -3.28161009e+02] [ 7.25929127e-01 -6.87726881e-01 -7.65764509e-03 -2.45425980e+02] [ 1.06849313e-02 1.44381429e-04 9.99942904e-01 -2.79171493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1128.876559995 meters 0.015034576180598407 Centerline is valid? [True, True] Translation: X:-328.18, Y:-245.41, Z:-2.79 [[-6.86622386e-01 -7.26964574e-01 8.49744769e-03 -3.28180742e+02] [ 7.26912232e-01 -6.86674940e-01 -8.72546579e-03 -2.45406594e+02] [ 1.21780889e-02 1.85798524e-04 9.99925827e-01 -2.79252726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1128.906559995 meters 0.015181506697861134 Centerline is valid? [True, True] Translation: X:-328.20, Y:-245.39, Z:-2.79 [[-6.86315926e-01 -7.27250434e-01 8.78957250e-03 -3.28199966e+02] [ 7.27194525e-01 -6.86372177e-01 -9.01983099e-03 -2.45387679e+02] [ 1.25925940e-02 2.01275344e-04 9.99920690e-01 -2.79300450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1128.9365599950002 meters 0.015196745880721587 Centerline is valid? [True, True] Translation: X:-328.22, Y:-245.37, Z:-2.79 [[-6.86460041e-01 -7.27119357e-01 8.36979708e-03 -3.28218955e+02] [ 7.27068715e-01 -6.86511037e-01 -8.58371729e-03 -2.45368280e+02] [ 1.19873451e-02 1.93038683e-04 9.99928131e-01 -2.79283176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1128.9665599950001 meters 0.015026792579767034 Centerline is valid? [True, True] Translation: X:-328.24, Y:-245.35, Z:-2.79 [[-6.86875873e-01 -7.26732172e-01 7.86674430e-03 -3.28238073e+02] [ 7.26687463e-01 -6.86920897e-01 -8.06304340e-03 -2.45348152e+02] [ 1.12635041e-02 1.78354489e-04 9.99936549e-01 -2.79194630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1128.996559995 meters 0.015130215351315522 Centerline is valid? [True, True] Translation: X:-328.26, Y:-245.33, Z:-2.79 [[-6.87436262e-01 -7.26207327e-01 7.36915221e-03 -3.28256435e+02] [ 7.26168104e-01 -6.87475739e-01 -7.54938377e-03 -2.45329552e+02] [ 1.05485312e-02 1.61523126e-04 9.99944350e-01 -2.79136488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1129.026559995 meters 0.01493588129734194 Centerline is valid? [True, True] Translation: X:-328.27, Y:-245.31, Z:-2.79 [[-6.88365981e-01 -7.25332474e-01 6.71403469e-03 -3.28274725e+02] [ 7.25299914e-01 -6.88398709e-01 -6.87403637e-03 -2.45309560e+02] [ 9.60789463e-03 1.37835994e-04 9.99953834e-01 -2.79066588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1129.056559995 meters 0.01416788888230543 Centerline is valid? [True, True] Translation: X:-328.29, Y:-245.29, Z:-2.79 [[-6.90803778e-01 -7.23019282e-01 5.76693149e-03 -3.28292039e+02] [ 7.22995206e-01 -6.90827843e-01 -5.90113158e-03 -2.45287431e+02] [ 8.25058876e-03 9.29398268e-05 9.99965959e-01 -2.78919617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1129.086559995 meters 0.013785418084520574 Centerline is valid? [True, True] Translation: X:-328.31, Y:-245.27, Z:-2.79 [[-6.92366127e-01 -7.21524913e-01 5.56296511e-03 -3.28310063e+02] [ 7.21502490e-01 -6.92388471e-01 -5.68886458e-03 -2.45266541e+02] [ 7.95639043e-03 7.49160449e-05 9.99968345e-01 -2.78817639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1129.116559995 meters 0.013617687573409537 Centerline is valid? [True, True] Translation: X:-328.33, Y:-245.25, Z:-2.79 [[-6.94016130e-01 -7.19941337e-01 5.10720031e-03 -3.28327858e+02] [ 7.19922418e-01 -6.94034919e-01 -5.21954863e-03 -2.45246098e+02] [ 7.30234418e-03 5.43370539e-05 9.99973336e-01 -2.78824602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1129.146559995 meters 0.013367657495762597 Centerline is valid? [True, True] Translation: X:-328.34, Y:-245.23, Z:-2.79 [[-6.95650824e-01 -7.18363873e-01 4.82472513e-03 -3.28344983e+02] [ 7.18346967e-01 -6.95667554e-01 -4.92849743e-03 -2.45226067e+02] [ 6.89685923e-03 3.73133678e-05 9.99976216e-01 -2.78791204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1129.176559995 meters 0.013148786229952733 Centerline is valid? [True, True] Translation: X:-328.36, Y:-245.20, Z:-2.79 [[-6.98745729e-01 -7.15354197e-01 4.77265204e-03 -3.28360712e+02] [ 7.15337606e-01 -6.98762028e-01 -4.87216848e-03 -2.45204440e+02] [ 6.82027420e-03 9.65056200e-06 9.99976742e-01 -2.78822196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1129.2065599950001 meters 0.013148786229952733 Centerline is valid? [True, True] Translation: X:-328.38, Y:-245.19, Z:-2.79 [[-6.98958370e-01 -7.15146422e-01 4.77410055e-03 -3.28379525e+02] [ 7.15129835e-01 -6.98974674e-01 -4.87074914e-03 -2.45185414e+02] [ 6.82027420e-03 9.65085428e-06 9.99976742e-01 -2.78822164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1129.236559995 meters 0.013203296475260886 Centerline is valid? [True, True] Translation: X:-328.40, Y:-245.16, Z:-2.79 [[-7.01558062e-01 -7.12589580e-01 5.69001319e-03 -3.28395818e+02] [ 7.12565963e-01 -7.01581136e-01 -5.80151907e-03 -2.45163886e+02] [ 8.12610796e-03 -1.55927467e-05 9.99966983e-01 -2.78933714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1129.266559995 meters 0.01334046905341574 Centerline is valid? [True, True] Translation: X:-328.41, Y:-245.14, Z:-2.79 [[-7.02543849e-01 -7.11613120e-01 6.23760110e-03 -3.28413689e+02] [ 7.11584735e-01 -7.02571538e-01 -6.35602417e-03 -2.45143486e+02] [ 8.90539119e-03 -2.68039651e-05 9.99960346e-01 -2.78941065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1129.296559995 meters 0.013390503310526707 Centerline is valid? [True, True] Translation: X:-328.43, Y:-245.12, Z:-2.79 [[-7.03256583e-01 -7.10908275e-01 6.29313268e-03 -3.28431291e+02] [ 7.10879389e-01 -7.03284739e-01 -6.40858183e-03 -2.45123879e+02] [ 8.98177803e-03 -3.32190430e-05 9.99959663e-01 -2.78981022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1129.326559995 meters 0.013404347464660306 Centerline is valid? [True, True] Translation: X:-328.45, Y:-245.10, Z:-2.79 [[-7.03531521e-01 -7.10636054e-01 6.30859866e-03 -3.28449954e+02] [ 7.10607050e-01 -7.03559804e-01 -6.42053097e-03 -2.45104431e+02] [ 9.00113722e-03 -3.41112328e-05 9.99959489e-01 -2.79009960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1129.356559995 meters 0.013349329192967574 Centerline is valid? [True, True] Translation: X:-328.47, Y:-245.09, Z:-2.79 [[-7.03479858e-01 -7.10686972e-01 6.33382000e-03 -3.28468679e+02] [ 7.10657773e-01 -7.03508371e-01 -6.44220507e-03 -2.45085641e+02] [ 9.03428660e-03 -3.07830910e-05 9.99959190e-01 -2.79038877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1129.386559995 meters 0.013174519560854121 Centerline is valid? [True, True] Translation: X:-328.49, Y:-245.07, Z:-2.79 [[-7.03050028e-01 -7.11110762e-01 6.49167366e-03 -3.28488264e+02] [ 7.11080146e-01 -7.03079998e-01 -6.59864545e-03 -2.45066818e+02] [ 9.25653370e-03 -2.30776145e-05 9.99957157e-01 -2.78975905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1129.416559995 meters 0.013385197041953706 Centerline is valid? [True, True] Translation: X:-328.51, Y:-245.05, Z:-2.79 [[-7.02019539e-01 -7.12120312e-01 7.29583916e-03 -3.28506839e+02] [ 7.12081745e-01 -7.02057449e-01 -7.41121474e-03 -2.45048466e+02] [ 1.03997748e-02 -7.58367434e-06 9.99945921e-01 -2.79203958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1129.4465599950001 meters 0.013221237197407395 Centerline is valid? [True, True] Translation: X:-328.53, Y:-245.03, Z:-2.79 [[-7.01392009e-01 -7.12732000e-01 7.89587966e-03 -3.28526649e+02] [ 7.12686924e-01 -7.01436452e-01 -8.01577585e-03 -2.45029426e+02] [ 1.12515578e-02 5.08906132e-06 9.99936699e-01 -2.79123130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1129.4765599950001 meters 0.013277036595320917 Centerline is valid? [True, True] Translation: X:-328.55, Y:-245.01, Z:-2.79 [[-7.00822957e-01 -7.13287798e-01 8.22805309e-03 -3.28546092e+02] [ 7.13238948e-01 -7.00871256e-01 -8.34783053e-03 -2.45010624e+02] [ 1.17212116e-02 1.82166532e-05 9.99931304e-01 -2.79199130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1129.506559995 meters 0.013287857877407092 Centerline is valid? [True, True] Translation: X:-328.57, Y:-244.99, Z:-2.79 [[-7.00170175e-01 -7.13920210e-01 8.92528483e-03 -3.28565504e+02] [ 7.13862852e-01 -7.00227058e-01 -9.04962536e-03 -2.44991980e+02] [ 1.27104364e-02 3.51515103e-05 9.99919219e-01 -2.79254263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1129.536559995 meters 0.013357806978781254 Centerline is valid? [True, True] Translation: X:-328.59, Y:-244.97, Z:-2.79 [[-6.98725280e-01 -7.15341576e-01 8.33142720e-03 -3.28585932e+02] [ 7.15291760e-01 -6.98774947e-01 -8.44231342e-03 -2.44973598e+02] [ 1.18609304e-02 6.05434110e-05 9.99929655e-01 -2.79229786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1129.566559995 meters 0.013273545991739235 Centerline is valid? [True, True] Translation: X:-328.61, Y:-244.96, Z:-2.79 [[-6.98140634e-01 -7.15916226e-01 7.97571070e-03 -3.28605615e+02] [ 7.15870668e-01 -6.98186187e-01 -8.07679359e-03 -2.44955204e+02] [ 1.13508386e-02 7.08395491e-05 9.99935575e-01 -2.79125664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1129.596559995 meters 0.013478220790730343 Centerline is valid? [True, True] Translation: X:-328.62, Y:-244.94, Z:-2.79 [[-6.97422829e-01 -7.16619061e-01 7.64983240e-03 -3.28624981e+02] [ 7.16577233e-01 -6.97464777e-01 -7.74303095e-03 -2.44937761e+02] [ 1.08842922e-02 8.15291831e-05 9.99940761e-01 -2.79116653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1129.626559995 meters 0.01348946154085242 Centerline is valid? [True, True] Translation: X:-328.64, Y:-244.92, Z:-2.79 [[-6.96827504e-01 -7.17203138e-01 7.14766587e-03 -3.28644974e+02] [ 7.17166693e-01 -6.96864156e-01 -7.23065398e-03 -2.44918544e+02] [ 1.01667999e-02 8.75493311e-05 9.99948313e-01 -2.79024912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1129.656559995 meters 0.014603220813005333 Centerline is valid? [True, True] Translation: X:-328.67, Y:-244.90, Z:-2.79 [[-6.96235238e-01 -7.17779955e-01 6.95911821e-03 -3.28666993e+02] [ 7.17745479e-01 -6.96270010e-01 -7.03571700e-03 -2.44902098e+02] [ 9.89552193e-03 9.63615318e-05 9.99951034e-01 -2.79280843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1129.6865599950002 meters 0.015324754813419316 Centerline is valid? [True, True] Translation: X:-328.69, Y:-244.89, Z:-2.79 [[-6.94853887e-01 -7.19124492e-01 6.16770716e-03 -3.28687198e+02] [ 7.19097499e-01 -6.94881252e-01 -6.23162868e-03 -2.44886442e+02] [ 8.76714088e-03 1.05111383e-04 9.99961563e-01 -2.79192383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1129.7165599950001 meters 0.014073192380407785 Centerline is valid? [True, True] Translation: X:-328.70, Y:-244.87, Z:-2.79 [[-6.94584255e-01 -7.19386366e-01 5.99750108e-03 -3.28704298e+02] [ 7.19360884e-01 -6.94610139e-01 -6.05589992e-03 -2.44865656e+02] [ 8.52245690e-03 1.08034945e-04 9.99963678e-01 -2.78915268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1129.746559995 meters 0.01396967291203734 Centerline is valid? [True, True] Translation: X:-328.72, Y:-244.85, Z:-2.79 [[-6.94481340e-01 -7.19485130e-01 6.06754374e-03 -3.28723939e+02] [ 7.19459087e-01 -6.94507836e-01 -6.12276031e-03 -2.44846174e+02] [ 8.61919167e-03 1.13206694e-04 9.99962848e-01 -2.78851320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1129.776559995 meters 0.0160040561563455 Centerline is valid? [True, True] Translation: X:-328.75, Y:-244.83, Z:-2.79 [[-6.94564450e-01 -7.19406169e-01 5.91514558e-03 -3.28745877e+02] [ 7.19381447e-01 -6.94589628e-01 -5.96503533e-03 -2.44831587e+02] [ 8.39988199e-03 1.12144500e-04 9.99964714e-01 -2.79159561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1129.806559995 meters 0.013851481618105383 Centerline is valid? [True, True] Translation: X:-328.76, Y:-244.81, Z:-2.79 [[-6.94717235e-01 -7.19258320e-01 5.95256044e-03 -3.28762556e+02] [ 7.19233308e-01 -6.94742726e-01 -5.99937033e-03 -2.44808646e+02] [ 8.45059509e-03 1.13413774e-04 9.99964287e-01 -2.78872274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1129.836559995 meters 0.014167549786799117 Centerline is valid? [True, True] Translation: X:-328.78, Y:-244.79, Z:-2.79 [[-6.95138367e-01 -7.18846833e-01 6.47158333e-03 -3.28782540e+02] [ 7.18817287e-01 -6.95168481e-01 -6.51859031e-03 -2.44790724e+02] [ 9.18470875e-03 1.20563741e-04 9.99957813e-01 -2.78999805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1129.866559995 meters 0.013896193375407739 Centerline is valid? [True, True] Translation: X:-328.80, Y:-244.77, Z:-2.79 [[-6.96059685e-01 -7.17948898e-01 7.09196112e-03 -3.28801508e+02] [ 7.17913413e-01 -6.96095802e-01 -7.13906284e-03 -2.44770746e+02] [ 1.00621667e-02 1.22200177e-04 9.99949368e-01 -2.79060868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1129.896559995 meters 0.013663811842630052 Centerline is valid? [True, True] Translation: X:-328.82, Y:-244.75, Z:-2.79 [[-6.96733919e-01 -7.17291038e-01 7.44395613e-03 -3.28820353e+02] [ 7.17251955e-01 -6.96773673e-01 -7.48876461e-03 -2.44751330e+02] [ 1.05583764e-02 1.21515766e-04 9.99944252e-01 -2.79092381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1129.926559995 meters 0.013409860750015858 Centerline is valid? [True, True] Translation: X:-328.84, Y:-244.73, Z:-2.79 [[-6.97639230e-01 -7.16405929e-01 7.87715891e-03 -3.28839213e+02] [ 7.16362163e-01 -6.97683690e-01 -7.91960450e-03 -2.44731453e+02] [ 1.11694169e-02 1.17871812e-04 9.99937613e-01 -2.79073646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1129.9565599950001 meters 0.013704836829920552 Centerline is valid? [True, True] Translation: X:-328.86, Y:-244.71, Z:-2.79 [[-6.98448409e-01 -7.15617157e-01 7.86791367e-03 -3.28858112e+02] [ 7.15573502e-01 -6.98492715e-01 -7.90512238e-03 -2.44713555e+02] [ 1.11527216e-02 1.08750384e-04 9.99937801e-01 -2.79213016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1129.986559995 meters 0.013110553266381776 Centerline is valid? [True, True] Translation: X:-328.88, Y:-244.69, Z:-2.79 [[-7.00038021e-01 -7.14064832e-01 7.62795285e-03 -3.28875525e+02] [ 7.14023758e-01 -7.00079573e-01 -7.65926290e-03 -2.44692579e+02] [ 1.08093843e-02 8.47643221e-05 9.99941574e-01 -2.79045430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1130.016559995 meters 0.01286562941236793 Centerline is valid? [True, True] Translation: X:-328.89, Y:-244.67, Z:-2.79 [[-7.00677232e-01 -7.13436727e-01 7.71063217e-03 -3.28894502e+02] [ 7.13394768e-01 -7.00719652e-01 -7.73787694e-03 -2.44671610e+02] [ 1.09234771e-02 7.89704574e-05 9.99940334e-01 -2.78907160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1130.046559995 meters 0.01276250154686827 Centerline is valid? [True, True] Translation: X:-328.91, Y:-244.65, Z:-2.79 [[-7.01549062e-01 -7.12579164e-01 7.73623587e-03 -3.28912943e+02] [ 7.12536925e-01 -7.01591712e-01 -7.75892055e-03 -2.44652417e+02] [ 1.09565241e-02 6.90902849e-05 9.99939973e-01 -2.78886908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1130.076559995 meters 0.01299306639522976 Centerline is valid? [True, True] Translation: X:-328.93, Y:-244.63, Z:-2.79 [[-7.02406093e-01 -7.11737347e-01 7.45854139e-03 -3.28931828e+02] [ 7.11698091e-01 -7.02445689e-01 -7.47544299e-03 -2.44633742e+02] [ 1.05597722e-02 5.74329678e-05 9.99944243e-01 -2.79074323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1130.106559995 meters 0.012728177847180139 Centerline is valid? [True, True] Translation: X:-328.95, Y:-244.61, Z:-2.79 [[-7.02986780e-01 -7.11162198e-01 7.61022631e-03 -3.28950038e+02] [ 7.11121347e-01 -7.03027969e-01 -7.62267456e-03 -2.44613866e+02] [ 1.07711599e-02 5.31549409e-05 9.99941988e-01 -2.78905013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1130.136559995 meters 0.012630741797507452 Centerline is valid? [True, True] Translation: X:-328.97, Y:-244.60, Z:-2.79 [[-7.03590255e-01 -7.10559589e-01 8.11319212e-03 -3.28968025e+02] [ 7.10513165e-01 -7.03637029e-01 -8.12250898e-03 -2.44595025e+02] [ 1.14802690e-02 4.96116434e-05 9.99934099e-01 -2.78995536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1130.166559995 meters 0.01275962326344492 Centerline is valid? [True, True] Translation: X:-328.99, Y:-244.58, Z:-2.79 [[-7.03881188e-01 -7.10270310e-01 8.20728279e-03 -3.28986183e+02] [ 7.10222845e-01 -7.03929034e-01 -8.21134640e-03 -2.44576537e+02] [ 1.16096202e-02 4.91874661e-05 9.99932605e-01 -2.79037417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1130.1965599950001 meters 0.012635707475953765 Centerline is valid? [True, True] Translation: X:-329.01, Y:-244.56, Z:-2.79 [[-7.04151729e-01 -7.10001713e-01 8.24076796e-03 -3.29005094e+02] [ 7.09953900e-01 -7.04199947e-01 -8.23976609e-03 -2.44557171e+02] [ 1.16533964e-02 4.85198141e-05 9.99932096e-01 -2.79055573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1130.2265599950001 meters 0.012762159536819768 Centerline is valid? [True, True] Translation: X:-329.49, Y:-245.04, Z:-1.79 [[-7.58733210e-01 6.51340166e-01 8.93896625e-03 -3.29492453e+02] [ 6.51294041e-01 7.58785863e-01 -7.75154876e-03 -2.45044897e+02] [-1.18316563e-02 -5.94620205e-05 -9.99930002e-01 -1.79492977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1130.256559995 meters 0.012762159536819768 Centerline is valid? [True, True] Translation: X:-329.47, Y:-245.02, Z:-1.79 [[-8.02916844e-01 5.96015901e-01 9.46508043e-03 -3.29473996e+02] [ 5.95973618e-01 8.02972629e-01 -7.09961862e-03 -2.45024067e+02] [-1.18316861e-02 -5.94651511e-05 -9.99930002e-01 -1.79492947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1130.286559995 meters 0.01265845403952088 Centerline is valid? [True, True] Translation: X:-329.06, Y:-244.48, Z:-2.79 [[-7.53352957e-01 -6.57551594e-01 9.23172460e-03 -3.29057915e+02] [ 6.57503570e-01 -7.53409513e-01 -7.94738460e-03 -2.44478155e+02] [ 1.21810845e-02 8.27062006e-05 9.99925805e-01 -2.78921499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1130.316559995 meters 0.012797024202117719 Centerline is valid? [True, True] Translation: X:-329.51, Y:-245.00, Z:-1.80 [[-8.06568236e-01 5.91063280e-01 9.58545631e-03 -3.29508155e+02] [ 5.91020204e-01 8.06625186e-01 -7.13633512e-03 -2.44997885e+02] [-1.19498961e-02 -9.07428830e-05 -9.99928594e-01 -1.79553432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1130.346559995 meters 0.012949535680311196 Centerline is valid? [True, True] Translation: X:-329.49, Y:-244.97, Z:-1.80 [[-8.47096030e-01 5.31344907e-01 1.00451814e-02 -3.29492116e+02] [ 5.31306050e-01 8.47155581e-01 -6.42670592e-03 -2.44974361e+02] [-1.19246290e-02 -1.06971408e-04 -9.99928894e-01 -1.79607814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1130.376559995 meters 0.013701545570956722 Centerline is valid? [True, True] Translation: X:-329.48, Y:-244.95, Z:-1.79 [[-8.83296388e-01 4.68697971e-01 1.04739646e-02 -3.29477585e+02] [ 4.68663330e-01 8.83358476e-01 -5.69972643e-03 -2.44948103e+02] [-1.19237156e-02 -1.25784648e-04 -9.99928902e-01 -1.79482934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1130.406559995 meters 0.013508393091002612 Centerline is valid? [True, True] Translation: X:-329.15, Y:-244.36, Z:-2.79 [[-8.37320291e-01 -5.46626641e-01 9.69772175e-03 -3.29147824e+02] [ 5.46591306e-01 -8.37376442e-01 -6.21593400e-03 -2.44355644e+02] [ 1.15184389e-02 9.59627382e-05 9.99933656e-01 -2.78868883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1130.4365599950002 meters 0.014078703335609443 Centerline is valid? [True, True] Translation: X:-329.52, Y:-244.93, Z:-1.80 [[-8.86886298e-01 4.61868354e-01 1.05032611e-02 -3.29515673e+02] [ 4.61833632e-01 8.86948473e-01 -5.66599507e-03 -2.44925873e+02] [-1.19327952e-02 -1.74334194e-04 -9.99928787e-01 -1.79635750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1130.4665599950001 meters 0.014602579885810759 Centerline is valid? [True, True] Translation: X:-329.19, Y:-244.34, Z:-2.79 [[-8.36502252e-01 -5.47871159e-01 1.00586412e-02 -3.29193907e+02] [ 5.47834024e-01 -8.36562707e-01 -6.38117379e-03 -2.44336546e+02] [ 1.19107452e-02 1.72599664e-04 9.99929050e-01 -2.78857339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1130.496559995 meters 0.014999108324931214 Centerline is valid? [True, True] Translation: X:-329.56, Y:-244.90, Z:-1.80 [[-8.90507852e-01 4.54847105e-01 1.04822336e-02 -3.29557888e+02] [ 4.54812624e-01 8.90569515e-01 -5.60506133e-03 -2.44899301e+02] [-1.18846036e-02 -2.23898957e-04 -9.99929351e-01 -1.79635008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1130.526559995 meters 0.015210779721263605 Centerline is valid? [True, True] Translation: X:-329.55, Y:-244.87, Z:-1.80 [[-9.20928550e-01 3.89571015e-01 1.11817352e-02 -3.29548199e+02] [ 3.89539057e-01 9.20996398e-01 -4.99583321e-03 -2.44872764e+02] [-1.22445696e-02 -2.45082850e-04 -9.99925003e-01 -1.79668466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1130.556559995 meters 0.015310987271597194 Centerline is valid? [True, True] Translation: X:-329.27, Y:-244.27, Z:-2.79 [[-8.73630409e-01 -4.86474880e-01 1.05877236e-02 -3.29266610e+02] [ 4.86442255e-01 -8.73694535e-01 -5.63843679e-03 -2.44271037e+02] [ 1.19933941e-02 2.24406291e-04 9.99928052e-01 -2.78835270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1130.586559995 meters 0.015366142866992288 Centerline is valid? [True, True] Translation: X:-329.58, Y:-244.86, Z:-1.80 [[-9.22436675e-01 3.85978011e-01 1.14698054e-02 -3.29584320e+02] [ 3.85944745e-01 9.22507946e-01 -5.07376115e-03 -2.44857185e+02] [-1.25393469e-02 -2.53512249e-04 -9.99921347e-01 -1.79652501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1130.616559995 meters 0.01582230897917874 Centerline is valid? [True, True] Translation: X:-329.57, Y:-244.83, Z:-1.80 [[-9.47394879e-01 3.19841532e-01 1.20140703e-02 -3.29573538e+02] [ 3.19812393e-01 9.47471018e-01 -4.32476092e-03 -2.44831058e+02] [-1.27662216e-02 -2.55007774e-04 -9.99918476e-01 -1.79607450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1130.646559995 meters 0.01582230897917874 Centerline is valid? [True, True] Translation: X:-329.57, Y:-244.80, Z:-1.80 [[-9.67691342e-01 2.51838061e-01 1.22905883e-02 -3.29566256e+02] [ 2.51814396e-01 9.67769356e-01 -3.46180479e-03 -2.44804423e+02] [-1.27662689e-02 -2.55011464e-04 -9.99918476e-01 -1.79607399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1130.676559995 meters 0.01581558008171717 Centerline is valid? [True, True] Translation: X:-329.38, Y:-244.17, Z:-2.79 [[-9.35221241e-01 -3.53849121e-01 1.23300233e-02 -3.29384458e+02] [ 3.53822312e-01 -9.35302476e-01 -4.36469894e-03 -2.44166255e+02] [ 1.30767462e-02 2.80678190e-04 9.99914456e-01 -2.78882542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1130.7065599950001 meters 0.015762085951837715 Centerline is valid? [True, True] Translation: X:-329.61, Y:-244.79, Z:-1.80 [[-9.68458123e-01 2.48846621e-01 1.28149587e-02 -3.29609161e+02] [ 2.48821325e-01 9.68542871e-01 -3.55731308e-03 -2.44794540e+02] [-1.32970622e-02 -2.56473754e-04 -9.99911557e-01 -1.79649813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1130.736559995 meters 0.016018070420261096 Centerline is valid? [True, True] Translation: X:-329.43, Y:-244.15, Z:-2.79 [[-9.36538765e-01 -3.50343083e-01 1.24445556e-02 -3.29430222e+02] [ 3.50315662e-01 -9.36621409e-01 -4.39019158e-03 -2.44154347e+02] [ 1.31939105e-02 2.47938149e-04 9.99912926e-01 -2.78859930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1130.766559995 meters 0.015929877006029117 Centerline is valid? [True, True] Translation: X:-329.67, Y:-244.78, Z:-1.80 [[-9.69432459e-01 2.44987007e-01 1.34934732e-02 -3.29665420e+02] [ 2.44959350e-01 9.69526324e-01 -3.69118091e-03 -2.44778916e+02] [-1.39865688e-02 -2.72998154e-04 -9.99902146e-01 -1.79611065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1130.796559995 meters 0.014841757538153394 Centerline is valid? [True, True] Translation: X:-329.65, Y:-244.76, Z:-1.80 [[-9.84222448e-01 1.76270935e-01 1.53209416e-02 -3.29654748e+02] [ 1.76244929e-01 9.84341644e-01 -3.04198478e-03 -2.44755958e+02] [-1.56172543e-02 -2.93751443e-04 -9.99878000e-01 -1.79727233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1130.826559995 meters 0.014692803623584364 Centerline is valid? [True, True] Translation: X:-329.52, Y:-244.10, Z:-2.79 [[-9.60425099e-01 -2.78117733e-01 1.53021649e-02 -3.29515110e+02] [ 2.78087601e-01 -9.60546943e-01 -4.10569306e-03 -2.44100550e+02] [ 1.58403137e-02 3.12131657e-04 9.99874486e-01 -2.78754909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1130.856559995 meters 0.016221112543697343 Centerline is valid? [True, True] Translation: X:-329.70, Y:-244.75, Z:-1.80 [[-9.84699049e-01 1.73581527e-01 1.54024712e-02 -3.29698417e+02] [ 1.73555898e-01 9.84819464e-01 -2.99554819e-03 -2.44746341e+02] [-1.56886253e-02 -2.76523741e-04 -9.99876888e-01 -1.79501146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1130.886559995 meters 0.01458385085615728 Centerline is valid? [True, True] Translation: X:-329.57, Y:-244.09, Z:-2.79 [[-9.61950548e-01 -2.72802012e-01 1.51725137e-02 -3.29567073e+02] [ 2.72772612e-01 -9.62070156e-01 -4.01458608e-03 -2.44090085e+02] [ 1.56922098e-02 2.76812911e-04 9.99876832e-01 -2.78728425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1130.916559995 meters 0.014342339666184405 Centerline is valid? [True, True] Translation: X:-329.75, Y:-244.74, Z:-1.80 [[-9.85068002e-01 1.71533179e-01 1.47445173e-02 -3.29749130e+02] [ 1.71510365e-01 9.85178315e-01 -2.80756573e-03 -2.44741296e+02] [-1.50075694e-02 -2.36805616e-04 -9.99887352e-01 -1.79810132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1130.9465599950001 meters 0.013984088863091791 Centerline is valid? [True, True] Translation: X:-329.75, Y:-244.72, Z:-1.80 [[-9.94664499e-01 1.02097841e-01 1.47839300e-02 -3.29745037e+02] [ 1.02083245e-01 9.94774337e-01 -1.74057467e-03 -2.44715256e+02] [-1.48843830e-02 -2.22096287e-04 -9.99889197e-01 -1.79916246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1130.9765599950001 meters 0.013785877148395704 Centerline is valid? [True, True] Translation: X:-329.75, Y:-244.69, Z:-1.80 [[-9.99370989e-01 3.23752299e-02 1.44731165e-02 -3.29745535e+02] [ 3.23689509e-02 9.99475765e-01 -6.67943944e-04 -2.44688461e+02] [-1.44871540e-02 -1.99044205e-04 -9.99895036e-01 -1.79985343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1131.006559995 meters 0.013552725742010479 Centerline is valid? [True, True] Translation: X:-329.75, Y:-244.66, Z:-1.80 [[-9.99201823e-01 -3.72579421e-02 1.44070403e-02 -3.29746748e+02] [-3.72565990e-02 9.99305667e-01 3.61702571e-04 -2.44661878e+02] [-1.44105133e-02 -1.75343453e-04 -9.99896148e-01 -1.80016040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1131.036559995 meters 0.013413351823615177 Centerline is valid? [True, True] Translation: X:-329.75, Y:-244.64, Z:-1.80 [[-9.94052311e-01 -1.07931852e-01 1.45161697e-02 -3.29753508e+02] [-1.07922874e-01 9.94158280e-01 1.40278427e-03 -2.44635161e+02] [-1.45827754e-02 -1.72185805e-04 -9.99893651e-01 -1.80030289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1131.066559995 meters 0.013541951543618532 Centerline is valid? [True, True] Translation: X:-329.77, Y:-244.61, Z:-1.80 [[-9.83829927e-01 -1.78529275e-01 1.43517458e-02 -3.29766952e+02] [-1.78512815e-01 9.83934586e-01 2.43021235e-03 -2.44608938e+02] [-1.45550431e-02 -1.71054902e-04 -9.99894055e-01 -1.79996806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1131.096559995 meters 0.013888125205744051 Centerline is valid? [True, True] Translation: X:-329.79, Y:-244.58, Z:-1.80 [[-9.68313866e-01 -2.49329998e-01 1.42411218e-02 -3.29789415e+02] [-2.49305772e-01 9.68418566e-01 3.48031358e-03 -2.44583796e+02] [-1.46591133e-02 -1.80357972e-04 -9.99892533e-01 -1.79939549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1131.126559995 meters 0.013960921651025937 Centerline is valid? [True, True] Translation: X:-329.83, Y:-244.57, Z:-1.80 [[-9.47494703e-01 -3.19460343e-01 1.41024115e-02 -3.29829507e+02] [-3.19427988e-01 9.47599627e-01 4.55065876e-03 -2.44565519e+02] [-1.48171949e-02 -1.92979882e-04 -9.99890201e-01 -1.79950094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1131.156559995 meters 0.013960921651025937 Centerline is valid? [True, True] Translation: X:-329.89, Y:-244.56, Z:-1.80 [[-9.21443740e-01 -3.88269146e-01 1.37296800e-02 -3.29890761e+02] [-3.88229163e-01 9.21546002e-01 5.57526843e-03 -2.44558224e+02] [-1.48172364e-02 -1.92965969e-04 -9.99890200e-01 -1.79949969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1131.1865599950002 meters 0.014327319989075146 Centerline is valid? [True, True] Translation: X:-329.96, Y:-244.56, Z:-1.80 [[-8.89593360e-01 -4.56543635e-01 1.38406242e-02 -3.29959739e+02] [-4.56492311e-01 8.89700994e-01 6.84921024e-03 -2.44556726e+02] [-1.54409804e-02 -2.25126553e-04 -9.99880756e-01 -1.79908783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1131.2165599950001 meters 0.014778888690847546 Centerline is valid? [True, True] Translation: X:-330.03, Y:-244.56, Z:-1.80 [[-8.52831502e-01 -5.22020965e-01 1.31355220e-02 -3.30032388e+02] [-5.21963251e-01 8.52932622e-01 7.76577197e-03 -2.44562647e+02] [-1.52576110e-02 -2.33364784e-04 -9.99883569e-01 -1.79847437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1131.246559995 meters 0.014423048061252153 Centerline is valid? [True, True] Translation: X:-330.11, Y:-244.58, Z:-1.80 [[-8.11079248e-01 -5.84809671e-01 1.21697202e-02 -3.30112295e+02] [-5.84748190e-01 8.11170508e-01 8.48297525e-03 -2.44581213e+02] [-1.48326441e-02 -2.35856670e-04 -9.99889963e-01 -1.79961832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1131.276559995 meters 0.015263909017422745 Centerline is valid? [True, True] Translation: X:-330.20, Y:-244.61, Z:-1.80 [[-7.64579464e-01 -6.44433028e-01 1.11497055e-02 -3.30198989e+02] [-6.44368995e-01 7.64660720e-01 9.08744929e-03 -2.44608919e+02] [-1.43819943e-02 -2.36447411e-04 -9.99896546e-01 -1.79859940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1131.306559995 meters 0.015552505218177375 Centerline is valid? [True, True] Translation: X:-330.29, Y:-244.65, Z:-1.80 [[-7.13498535e-01 -7.00579435e-01 1.04065647e-02 -3.30286989e+02] [-7.00509865e-01 7.13574380e-01 9.87586850e-03 -2.44648183e+02] [-1.43446883e-02 -2.43483499e-04 -9.99897080e-01 -1.79920422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1131.336559995 meters 0.014778419211357724 Centerline is valid? [True, True] Translation: X:-330.37, Y:-244.69, Z:-1.80 [[-6.57865643e-01 -7.53077608e-01 9.32272250e-03 -3.30370289e+02] [-7.53007251e-01 6.57931650e-01 1.02968253e-02 -2.44694928e+02] [-1.38880228e-02 -2.46150039e-04 -9.99903527e-01 -1.80136686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1131.366559995 meters 0.01486203354524262 Centerline is valid? [True, True] Translation: X:-330.46, Y:-244.75, Z:-1.80 [[-5.98670648e-01 -8.00950491e-01 8.47154393e-03 -3.30456848e+02] [-8.00876106e-01 5.98730532e-01 1.09184602e-02 -2.44753835e+02] [-1.38173181e-02 -2.48095471e-04 -9.99904506e-01 -1.80121739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1131.396559995 meters 0.014890351106240679 Centerline is valid? [True, True] Translation: X:-330.54, Y:-244.82, Z:-1.80 [[-5.36009788e-01 -8.44175927e-01 7.77887468e-03 -3.30539087e+02] [-8.44093803e-01 5.36066171e-01 1.17775925e-02 -2.44819397e+02] [-1.41123516e-02 -2.53195055e-04 -9.99900384e-01 -1.80102732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1131.426559995 meters 0.015090901183988299 Centerline is valid? [True, True] Translation: X:-330.62, Y:-244.89, Z:-1.80 [[-4.70033129e-01 -8.82621650e-01 6.91953716e-03 -3.30616185e+02] [-8.82533916e-01 4.70083989e-01 1.24470823e-02 -2.44891402e+02] [-1.42388280e-02 -2.56185168e-04 -9.99898590e-01 -1.80041318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1131.4565599950001 meters 0.015173340297538454 Centerline is valid? [True, True] Translation: X:-330.69, Y:-244.97, Z:-1.80 [[-4.02112706e-01 -9.15571553e-01 5.83979738e-03 -3.30690944e+02] [-9.15483464e-01 4.02155038e-01 1.27024670e-02 -2.44974783e+02] [-1.39785214e-02 -2.38414562e-04 -9.99902267e-01 -1.79994841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1131.486559995 meters 0.014896955488381367 Centerline is valid? [True, True] Translation: X:-330.76, Y:-245.06, Z:-1.80 [[-3.31668451e-01 -9.43384431e-01 4.67478701e-03 -3.30757581e+02] [-9.43299796e-01 3.31701323e-01 1.26383322e-02 -2.45062963e+02] [-1.34734389e-02 -2.17989557e-04 -9.99909206e-01 -1.80022270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1131.516559995 meters 0.014362567419046398 Centerline is valid? [True, True] Translation: X:-330.82, Y:-245.16, Z:-1.80 [[-2.59486854e-01 -9.65740222e-01 3.52094895e-03 -3.30817891e+02] [-9.65661203e-01 2.59510668e-01 1.23553264e-02 -2.45160284e+02] [-1.28457594e-02 -1.93999035e-04 -9.99917471e-01 -1.80097958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1131.546559995 meters 0.013976337052987372 Centerline is valid? [True, True] Translation: X:-330.87, Y:-245.26, Z:-1.80 [[-1.85976330e-01 -9.82551095e-01 2.47993309e-03 -3.30870447e+02] [-9.82475625e-01 1.85992785e-01 1.21790753e-02 -2.45262205e+02] [-1.24278134e-02 -1.71454083e-04 -9.99922757e-01 -1.80161008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1131.576559995 meters 0.013536509086848801 Centerline is valid? [True, True] Translation: X:-330.92, Y:-245.37, Z:-1.80 [[-1.11998724e-01 -9.93707293e-01 1.44963946e-03 -3.30915269e+02] [-9.93639258e-01 1.12008020e-01 1.16287998e-02 -2.45369524e+02] [-1.17179945e-02 -1.38007935e-04 -9.99931333e-01 -1.80164787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1131.606559995 meters 0.013246813153407838 Centerline is valid? [True, True] Translation: X:-330.95, Y:-245.48, Z:-1.80 [[-3.72714316e-02 -9.99305041e-01 5.24176758e-04 -3.30951879e+02] [-9.99243251e-01 3.72749563e-02 1.11132037e-02 -2.45483345e+02] [-1.11250192e-02 -1.09575076e-04 -9.99938109e-01 -1.80192550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1131.636559995 meters 0.012832616658221243 Centerline is valid? [True, True] Translation: X:-330.98, Y:-245.60, Z:-1.80 [[ 3.49331348e-02 -9.99389609e-01 -2.92411543e-04 -3.30978809e+02] [-9.99341668e-01 -3.49343232e-02 9.78895927e-03 -2.45595187e+02] [-9.79319938e-03 -4.97399950e-05 -9.99952044e-01 -1.80236627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1131.666559995 meters 0.012761352904630393 Centerline is valid? [True, True] Translation: X:-331.00, Y:-245.71, Z:-1.80 [[ 1.09318331e-01 -9.94006308e-01 -9.80914827e-04 -3.30997751e+02] [-9.93964233e-01 -1.09322729e-01 9.14576196e-03 -2.45709875e+02] [-9.19818136e-03 -2.48051799e-05 -9.99957696e-01 -1.80263547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1131.6965599950001 meters 0.012731090692245034 Centerline is valid? [True, True] Translation: X:-331.01, Y:-245.83, Z:-1.80 [[ 1.82822110e-01 -9.83144653e-01 -1.63343409e-03 -3.31007505e+02] [-9.83105390e-01 -1.82829406e-01 8.78642111e-03 -2.45829282e+02] [-8.93696271e-03 -5.14188770e-07 -9.99960065e-01 -1.80199571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1131.7265599950001 meters 0.012891383446406831 Centerline is valid? [True, True] Translation: X:-331.01, Y:-245.94, Z:-1.80 [[ 2.52690233e-01 -9.67544440e-01 -2.32438839e-03 -3.31008821e+02] [-9.67505235e-01 -2.52700919e-01 8.71009100e-03 -2.45943690e+02] [-9.01477520e-03 4.79030177e-05 -9.99959365e-01 -1.80224523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1131.756559995 meters 0.013259223511229781 Centerline is valid? [True, True] Translation: X:-331.00, Y:-246.07, Z:-1.80 [[ 3.23550865e-01 -9.46206307e-01 -2.90918097e-03 -3.30999140e+02] [-9.46170036e-01 -3.23563936e-01 8.28510262e-03 -2.46066552e+02] [-8.78072239e-03 7.19277405e-05 -9.99961446e-01 -1.80157528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1131.786559995 meters 0.013803641529878837 Centerline is valid? [True, True] Translation: X:-330.98, Y:-246.18, Z:-1.80 [[ 3.92631745e-01 -9.19689512e-01 -3.39344209e-03 -3.30984053e+02] [-9.19657195e-01 -3.92646398e-01 7.71039385e-03 -2.46178318e+02] [-8.42359117e-03 9.34580483e-05 -9.99964517e-01 -1.80134743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1131.816559995 meters 0.014379698642532749 Centerline is valid? [True, True] Translation: X:-331.56, Y:-246.55, Z:-2.78 [[ 3.52873386e-01 9.35666933e-01 -2.78655368e-03 -3.31564220e+02] [-9.35635332e-01 3.52884372e-01 7.69059911e-03 -2.46552162e+02] [ 8.17917052e-03 -1.06609667e-04 9.99966545e-01 -2.78325709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1131.846559995 meters 0.01448176743720804 Centerline is valid? [True, True] Translation: X:-330.88, Y:-246.42, Z:-1.80 [[ 3.95825720e-01 -9.18320124e-01 -3.18583851e-03 -3.30877776e+02] [-9.18292989e-01 -3.95838519e-01 7.06066765e-03 -2.46424598e+02] [-7.74503079e-03 1.30739317e-04 -9.99969998e-01 -1.80222181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1131.876559995 meters 0.015170667809083676 Centerline is valid? [True, True] Translation: X:-330.85, Y:-246.54, Z:-1.80 [[ 4.62802676e-01 -8.86453983e-01 -3.60820255e-03 -3.30852214e+02] [-8.86429463e-01 -4.62816718e-01 6.59491660e-03 -2.46537407e+02] [-7.51602655e-03 1.46272003e-04 -9.99971744e-01 -1.80225270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1131.906559995 meters 0.015728676722397684 Centerline is valid? [True, True] Translation: X:-330.82, Y:-246.65, Z:-1.80 [[ 5.27549242e-01 -8.49514042e-01 -4.20607471e-03 -3.30819437e+02] [-8.49489504e-01 -5.27565983e-01 6.45882936e-03 -2.46646874e+02] [-7.70584817e-03 1.65665786e-04 -9.99970296e-01 -1.80234387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1131.9365599950002 meters 0.015925264836445643 Centerline is valid? [True, True] Translation: X:-330.78, Y:-246.75, Z:-1.80 [[ 5.89199531e-01 -8.07974424e-01 -4.60890612e-03 -3.30779879e+02] [-8.07952049e-01 -5.89217530e-01 6.01574769e-03 -2.46753429e+02] [-7.57621855e-03 1.79299421e-04 -9.99971284e-01 -1.80224528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1131.9665599950001 meters 0.016544439653093938 Centerline is valid? [True, True] Translation: X:-330.73, Y:-246.85, Z:-1.80 [[ 6.47895286e-01 -7.61710284e-01 -5.39842664e-03 -3.30733106e+02] [-7.61686426e-01 -6.47917744e-01 6.03208952e-03 -2.46853497e+02] [-8.09244102e-03 2.03745933e-04 -9.99967235e-01 -1.80212301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1131.996559995 meters 0.01779013584029952 Centerline is valid? [True, True] Translation: X:-330.68, Y:-246.95, Z:-1.80 [[ 7.02151680e-01 -7.12002421e-01 -5.96411570e-03 -3.30684746e+02] [-7.11979466e-01 -7.02176972e-01 5.72187290e-03 -2.46945473e+02] [-8.26185206e-03 2.28705239e-04 -9.99965844e-01 -1.80171370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1132.026559995 meters 0.017859356137724464 Centerline is valid? [True, True] Translation: X:-330.69, Y:-246.96, Z:-1.80 [[ 7.55524143e-01 -6.55092152e-01 -6.12710875e-03 -3.30687898e+02] [-6.55072954e-01 -7.55548955e-01 5.02015633e-03 -2.46955162e+02] [-7.91799563e-03 2.20853915e-04 -9.99968628e-01 -1.80182698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1132.056559995 meters 0.017608713000895778 Centerline is valid? [True, True] Translation: X:-330.69, Y:-246.97, Z:-1.80 [[ 8.04525039e-01 -5.93882804e-01 -6.53279134e-03 -3.30690856e+02] [-5.93865427e-01 -8.04551531e-01 4.54840840e-03 -2.46966809e+02] [-7.95718881e-03 2.20290481e-04 -9.99968317e-01 -1.80203709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1132.086559995 meters 0.01644258838952743 Centerline is valid? [True, True] Translation: X:-330.70, Y:-246.98, Z:-1.80 [[ 8.49354772e-01 -5.27788329e-01 -5.99598495e-03 -3.30696623e+02] [-5.27776670e-01 -8.49375916e-01 3.51271987e-03 -2.46983413e+02] [-6.94681776e-03 1.80995594e-04 -9.99975854e-01 -1.80262582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1132.116559995 meters 0.01644258838952743 Centerline is valid? [True, True] Translation: X:-330.70, Y:-247.00, Z:-1.80 [[ 8.87999482e-01 -4.59801947e-01 -6.25217925e-03 -3.30698024e+02] [-4.59791976e-01 -8.88021473e-01 3.03345738e-03 -2.46995093e+02] [-6.94685903e-03 1.80993272e-04 -9.99975854e-01 -1.80262539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1132.146559995 meters 0.01739394826002576 Centerline is valid? [True, True] Translation: X:-330.70, Y:-247.01, Z:-1.80 [[ 9.21781160e-01 -3.87658964e-01 -6.32616130e-03 -3.30699074e+02] [-3.87651074e-01 -9.21802853e-01 2.47895842e-03 -2.47006328e+02] [-6.79246399e-03 1.67286059e-04 -9.99976917e-01 -1.80234968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1132.176559995 meters 0.015330489268835313 Centerline is valid? [True, True] Translation: X:-330.70, Y:-247.03, Z:-1.80 [[ 9.50555305e-01 -3.10493337e-01 -6.20480089e-03 -3.30700300e+02] [-3.10487630e-01 -9.50575547e-01 1.88718676e-03 -2.47026202e+02] [-6.48409092e-03 1.32638536e-04 -9.99978969e-01 -1.80235490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1132.2065599950001 meters 0.014826361462903689 Centerline is valid? [True, True] Translation: X:-330.70, Y:-247.04, Z:-1.80 [[ 9.72520240e-01 -2.32722301e-01 -6.68689487e-03 -3.30698211e+02] [-2.32717663e-01 -9.72543221e-01 1.47424909e-03 -2.47040851e+02] [-6.84638492e-03 1.22421475e-04 -9.99976556e-01 -1.80193968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1132.236559995 meters 0.013723221315766441 Centerline is valid? [True, True] Translation: X:-330.70, Y:-247.06, Z:-1.80 [[ 9.88677538e-01 -1.49895929e-01 -6.92360642e-03 -3.30696053e+02] [-1.49892838e-01 -9.88701777e-01 9.66226351e-04 -2.47062240e+02] [-6.99021537e-03 8.25127234e-05 -9.99975565e-01 -1.80056443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1132.266559995 meters 0.013340933461881798 Centerline is valid? [True, True] Translation: X:-330.70, Y:-247.08, Z:-1.80 [[ 9.97613856e-01 -6.86756771e-02 -7.08843393e-03 -3.30695072e+02] [-6.86743704e-02 -9.97639037e-01 4.27878218e-04 -2.47076708e+02] [-7.10108322e-03 5.99364981e-05 -9.99974785e-01 -1.79997296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1132.296559995 meters 0.012961061732113437 Centerline is valid? [True, True] Translation: X:-330.69, Y:-247.09, Z:-1.80 [[ 9.99889956e-01 1.30334610e-02 -7.08557320e-03 -3.30691920e+02] [ 1.30328812e-02 -9.99915060e-01 -1.28002703e-04 -2.47090218e+02] [-7.08663967e-03 3.56431838e-05 -9.99974889e-01 -1.79944989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1132.326559995 meters 0.012848147584773088 Centerline is valid? [True, True] Translation: X:-330.69, Y:-247.10, Z:-1.80 [[ 9.95489080e-01 9.45879143e-02 -7.39038080e-03 -3.30687719e+02] [ 9.45852144e-02 -9.95516512e-01 -7.14773966e-04 -2.47103048e+02] [-7.42485510e-03 1.25289246e-05 -9.99972435e-01 -1.79936909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1132.356559995 meters 0.012854919895807249 Centerline is valid? [True, True] Translation: X:-330.68, Y:-247.12, Z:-1.80 [[ 9.84461054e-01 1.75452104e-01 -7.27960049e-03 -3.30681602e+02] [ 1.75447394e-01 -9.84487968e-01 -1.28560461e-03 -2.47116199e+02] [-7.39224113e-03 -1.15592692e-05 -9.99972677e-01 -1.79911726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1132.386559995 meters 0.01302014819825903 Centerline is valid? [True, True] Translation: X:-330.68, Y:-247.13, Z:-1.80 [[ 9.66819684e-01 2.55354229e-01 -7.34280475e-03 -3.30675453e+02] [ 2.55347165e-01 -9.66847566e-01 -1.89986513e-03 -2.47128133e+02] [-7.58451149e-03 -3.81373653e-05 -9.99971237e-01 -1.79892620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1132.416559995 meters 0.013546167638742149 Centerline is valid? [True, True] Translation: X:-330.67, Y:-247.14, Z:-1.80 [[ 9.41830492e-01 3.36015059e-01 -7.01464590e-03 -3.30665190e+02] [ 3.36006391e-01 -9.41856610e-01 -2.41497116e-03 -2.47142962e+02] [-7.41825728e-03 -8.24723810e-05 -9.99972481e-01 -1.79874382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1132.4465599950001 meters 0.013913433714885376 Centerline is valid? [True, True] Translation: X:-330.66, Y:-247.15, Z:-1.80 [[ 9.11611047e-01 4.11001074e-01 -6.58915486e-03 -3.30655941e+02] [ 4.10991112e-01 -9.11634855e-01 -2.86323328e-03 -2.47153135e+02] [-7.18369518e-03 -9.79289985e-05 -9.99974192e-01 -1.79861841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1132.4765599950001 meters 0.014467636755284183 Centerline is valid? [True, True] Translation: X:-330.65, Y:-247.16, Z:-1.80 [[ 8.75591534e-01 4.83015027e-01 -5.99585067e-03 -3.30647009e+02] [ 4.83004538e-01 -8.75612056e-01 -3.18499657e-03 -2.47161542e+02] [-6.78844034e-03 -1.07267056e-04 -9.99976953e-01 -1.79860855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1132.506559995 meters 0.014951358373731367 Centerline is valid? [True, True] Translation: X:-330.64, Y:-247.17, Z:-1.80 [[ 8.34115243e-01 5.51563853e-01 -5.39243244e-03 -3.30636681e+02] [ 5.51553194e-01 -8.34132666e-01 -3.43085303e-03 -2.47167253e+02] [-6.39033856e-03 -1.12486531e-04 -9.99979575e-01 -1.79866483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1132.536559995 meters 0.015229486281283396 Centerline is valid? [True, True] Translation: X:-330.63, Y:-247.17, Z:-1.80 [[ 7.87611470e-01 6.16149958e-01 -5.23464850e-03 -3.30626312e+02] [ 6.16137385e-01 -7.87628856e-01 -3.93821510e-03 -2.47171210e+02] [-6.54949127e-03 -1.23479249e-04 -9.99978544e-01 -1.79875650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1132.566559995 meters 0.015229486281283396 Centerline is valid? [True, True] Translation: X:-330.62, Y:-247.17, Z:-1.80 [[ 7.36950694e-01 6.75928668e-01 -4.91025217e-03 -3.30617593e+02] [ 6.75914772e-01 -7.36967042e-01 -4.33601478e-03 -2.47173035e+02] [-6.54953071e-03 -1.23482873e-04 -9.99978544e-01 -1.79875614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1132.596559995 meters 0.01552047243589963 Centerline is valid? [True, True] Translation: X:-330.61, Y:-247.17, Z:-1.80 [[ 6.81252762e-01 7.32035397e-01 -4.34183103e-03 -3.30607600e+02] [ 7.32021663e-01 -6.81266587e-01 -4.48588681e-03 -2.47174660e+02] [-6.24177234e-03 -1.22291592e-04 -9.99980513e-01 -1.79871308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1132.626559995 meters 0.015815577938972026 Centerline is valid? [True, True] Translation: X:-330.60, Y:-247.18, Z:-1.80 [[ 6.20763407e-01 7.83985876e-01 -4.35185205e-03 -3.30596558e+02] [ 7.83968213e-01 -6.20778645e-01 -5.26460181e-03 -2.47175969e+02] [-6.82891028e-03 -1.43641516e-04 -9.99976673e-01 -1.79851355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1132.656559995 meters 0.016141828720836755 Centerline is valid? [True, True] Translation: X:-330.59, Y:-247.18, Z:-1.80 [[ 5.56952854e-01 8.30533674e-01 -4.16352209e-03 -3.30587326e+02] [ 8.30512543e-01 -5.56968394e-01 -5.92660827e-03 -2.47176399e+02] [-7.24119795e-03 -1.57015925e-04 -9.99973770e-01 -1.79817209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1132.6865599950002 meters 0.01644624687115024 Centerline is valid? [True, True] Translation: X:-330.58, Y:-247.18, Z:-1.80 [[ 4.89511562e-01 8.71989037e-01 -3.68111089e-03 -3.30577933e+02] [ 8.71966828e-01 -4.89525376e-01 -6.22552335e-03 -2.47175599e+02] [-7.23058530e-03 -1.62340926e-04 -9.99973846e-01 -1.79768361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1132.7165599950001 meters 0.016808904435850057 Centerline is valid? [True, True] Translation: X:-330.57, Y:-247.17, Z:-1.80 [[ 4.18984699e-01 9.07987086e-01 -3.35772583e-03 -3.30569094e+02] [ 9.07961241e-01 -4.18998116e-01 -6.85298812e-03 -2.47173679e+02] [-7.62930550e-03 -1.77387746e-04 -9.99970881e-01 -1.79734345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1132.746559995 meters 0.01715477654418401 Centerline is valid? [True, True] Translation: X:-330.56, Y:-247.17, Z:-1.80 [[ 3.45542836e-01 9.38398364e-01 -2.94278712e-03 -3.30560559e+02] [ 9.38368993e-01 -3.45555312e-01 -7.42701945e-03 -2.47170712e+02] [-7.98639862e-03 -1.95066823e-04 -9.99968089e-01 -1.79703095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1132.776559995 meters 0.017193208121491672 Centerline is valid? [True, True] Translation: X:-330.55, Y:-247.17, Z:-1.80 [[ 2.69723985e-01 9.62934379e-01 -2.52068291e-03 -3.30551469e+02] [ 9.62899641e-01 -2.69735673e-01 -8.18222501e-03 -2.47166843e+02] [-8.55886386e-03 -2.20222327e-04 -9.99963348e-01 -1.79697059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1132.806559995 meters 0.017957100006683737 Centerline is valid? [True, True] Translation: X:-330.54, Y:-247.16, Z:-1.80 [[ 1.91208069e-01 9.81547339e-01 -2.07268322e-03 -3.30542083e+02] [ 9.81503807e-01 -1.91219117e-01 -9.24807470e-03 -2.47162878e+02] [-9.47375977e-03 -2.66039968e-04 -9.99955088e-01 -1.79657711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1132.836559995 meters 0.018365405881611396 Centerline is valid? [True, True] Translation: X:-330.53, Y:-247.16, Z:-1.80 [[ 1.12711454e-01 9.93626715e-01 -1.44202645e-03 -3.30534372e+02] [ 9.93575641e-01 -1.12720288e-01 -1.00788473e-02 -2.47157868e+02] [-1.01771576e-02 -2.96760811e-04 -9.99948168e-01 -1.79648612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1132.866559995 meters 0.017459150314632608 Centerline is valid? [True, True] Translation: X:-330.53, Y:-247.15, Z:-1.80 [[ 3.42184049e-02 9.99414175e-01 -6.37825809e-04 -3.30526279e+02] [ 9.99364198e-01 -3.42230751e-02 -9.99909618e-03 -2.47152071e+02] [-1.00150668e-02 -2.95267157e-04 -9.99949805e-01 -1.79674640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1132.896559995 meters 0.018146422398783883 Centerline is valid? [True, True] Translation: X:-330.52, Y:-247.15, Z:-1.80 [[-4.44542229e-02 9.99011412e-01 1.42162045e-04 -3.30516940e+02] [ 9.98964570e-01 4.44535157e-02 -9.67848238e-03 -2.47147366e+02] [-9.67523395e-03 -2.88234567e-04 -9.99953152e-01 -1.79651190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1132.926559995 meters 0.018712003422798596 Centerline is valid? [True, True] Translation: X:-330.51, Y:-247.14, Z:-1.80 [[-1.22672403e-01 9.92446829e-01 8.79390119e-04 -3.30510327e+02] [ 9.92402210e-01 1.22675230e-01 -9.41493579e-03 -2.47141651e+02] [-9.45170256e-03 -2.82244100e-04 -9.99955292e-01 -1.79674772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1132.9565599950001 meters 0.018451664192660235 Centerline is valid? [True, True] Translation: X:-330.51, Y:-247.13, Z:-1.80 [[-1.99832931e-01 9.79828819e-01 1.51206608e-03 -3.30506029e+02] [ 9.79789957e-01 1.99838478e-01 -8.73063289e-03 -2.47134775e+02] [-8.85669470e-03 -2.63160797e-04 -9.99960744e-01 -1.79743502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1132.986559995 meters 0.017572200360861722 Centerline is valid? [True, True] Translation: X:-330.50, Y:-247.13, Z:-1.80 [[-2.74890374e-01 9.61473780e-01 1.85845613e-03 -3.30502960e+02] [ 9.61446234e-01 2.74896572e-01 -7.28105606e-03 -2.47128190e+02] [-7.51142771e-03 -2.14686571e-04 -9.99971766e-01 -1.79909851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1133.016559995 meters 0.018214786957363092 Centerline is valid? [True, True] Translation: X:-330.50, Y:-247.12, Z:-1.80 [[-3.48272308e-01 9.37390390e-01 2.37836456e-03 -3.30497880e+02] [ 9.37364411e-01 3.48280371e-01 -6.98179811e-03 -2.47120793e+02] [-7.37300815e-03 -2.02172650e-04 -9.99972799e-01 -1.79772993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1133.046559995 meters 0.01792342569224338 Centerline is valid? [True, True] Translation: X:-330.49, Y:-247.11, Z:-1.80 [[-4.20524803e-01 9.07277402e-01 2.57005091e-03 -3.30491848e+02] [ 9.07257802e-01 4.20532619e-01 -5.96638284e-03 -2.47114194e+02] [-6.49395457e-03 -1.77313227e-04 -9.99978899e-01 -1.79916689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1133.076559995 meters 0.01750272378673289 Centerline is valid? [True, True] Translation: X:-330.49, Y:-247.11, Z:-1.80 [[-4.89952214e-01 8.71744369e-01 2.92968776e-03 -3.30489214e+02] [ 8.71726670e-01 4.89960944e-01 -5.55752983e-03 -2.47107844e+02] [-6.28017792e-03 -1.69037092e-04 -9.99980265e-01 -1.79926367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1133.106559995 meters 0.017316657445516706 Centerline is valid? [True, True] Translation: X:-330.49, Y:-247.10, Z:-1.80 [[-5.56573749e-01 8.30791749e-01 3.27596471e-03 -3.30486477e+02] [ 8.30775590e-01 5.56583366e-01 -5.18429005e-03 -2.47100067e+02] [-6.13041287e-03 -1.63848234e-04 -9.99981196e-01 -1.79923478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1133.136559995 meters 0.018318616004063152 Centerline is valid? [True, True] Translation: X:-330.48, Y:-247.09, Z:-1.80 [[-6.19907939e-01 7.84664881e-01 3.89508956e-03 -3.30482531e+02] [ 7.84647600e-01 6.19920152e-01 -5.21050574e-03 -2.47092636e+02] [-6.50314537e-03 -1.73761203e-04 -9.99978839e-01 -1.79872796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1133.166559995 meters 0.018078126275373658 Centerline is valid? [True, True] Translation: X:-330.48, Y:-247.09, Z:-1.80 [[-6.79841898e-01 7.33344334e-01 4.59140283e-03 -3.30483479e+02] [ 7.33325697e-01 6.79857376e-01 -5.23164295e-03 -2.47087391e+02] [-6.95809480e-03 -1.89696396e-04 -9.99975774e-01 -1.79847511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1133.1965599950001 meters 0.01874439283958814 Centerline is valid? [True, True] Translation: X:-330.48, Y:-247.08, Z:-1.80 [[-7.35844490e-01 6.77129620e-01 5.32590145e-03 -3.30482645e+02] [ 6.77109794e-01 7.35863734e-01 -5.18580656e-03 -2.47081341e+02] [-7.43060095e-03 -2.09727151e-04 -9.99972371e-01 -1.79787636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1133.2265599950001 meters 0.01863325516732126 Centerline is valid? [True, True] Translation: X:-330.47, Y:-247.06, Z:-1.80 [[-7.82753099e-01 6.22302828e-01 6.06430497e-03 -3.30468353e+02] [ 6.22281802e-01 7.82776555e-01 -5.12087103e-03 -2.47059185e+02] [-7.93372828e-03 -2.34671041e-04 -9.99968500e-01 -1.79804546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1133.256559995 meters 0.019109290481758075 Centerline is valid? [True, True] Translation: X:-330.12, Y:-246.64, Z:-2.79 [[-6.96910785e-01 -7.17135465e-01 5.66414804e-03 -3.30123866e+02] [ 7.17114431e-01 -6.96933765e-01 -5.49737299e-03 -2.46642837e+02] [ 7.88989715e-03 2.30663767e-04 9.99968848e-01 -2.78745852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1133.286559995 meters 0.01934092797752671 Centerline is valid? [True, True] Translation: X:-330.51, Y:-247.03, Z:-1.80 [[-7.87835015e-01 6.15850660e-01 6.62979128e-03 -3.30506924e+02] [ 6.15825652e-01 7.87862855e-01 -5.55775809e-03 -2.47030290e+02] [-8.64611527e-03 -2.95800889e-04 -9.99962578e-01 -1.79711496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1133.316559995 meters 0.02170912237347326 Centerline is valid? [True, True] Translation: X:-330.49, Y:-247.01, Z:-1.80 [[-8.29985435e-01 5.57735888e-01 7.40656274e-03 -3.30487389e+02] [ 5.57710091e-01 8.30018416e-01 -5.37443404e-03 -2.47007233e+02] [-9.14509822e-03 -3.29987197e-04 -9.99958128e-01 -1.79601549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1133.346559995 meters 0.02248232384646701 Centerline is valid? [True, True] Translation: X:-330.48, Y:-246.98, Z:-1.80 [[-8.68198001e-01 4.96157582e-01 7.73858013e-03 -3.30475735e+02] [ 4.96134307e-01 8.68232420e-01 -4.81808416e-03 -2.46982288e+02] [-9.10941514e-03 -3.43675945e-04 -9.99958450e-01 -1.79558629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1133.376559995 meters 0.022122351767788734 Centerline is valid? [True, True] Translation: X:-330.47, Y:-246.96, Z:-1.80 [[-9.01853145e-01 4.31954892e-01 8.71066240e-03 -3.30469478e+02] [ 4.31930562e-01 9.01895128e-01 -4.60087088e-03 -2.46956773e+02] [-9.84347266e-03 -3.86908570e-04 -9.99951477e-01 -1.79572149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1133.406559995 meters 0.023694179761852882 Centerline is valid? [True, True] Translation: X:-330.21, Y:-246.48, Z:-2.79 [[-8.28769108e-01 -5.59529782e-01 8.25763021e-03 -3.30211472e+02] [ 5.59506442e-01 -8.28810161e-01 -5.12428422e-03 -2.46479614e+02] [ 9.71119746e-03 3.73348831e-04 9.99952776e-01 -2.78984287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1133.4365599950002 meters 0.022897736644267277 Centerline is valid? [True, True] Translation: X:-330.23, Y:-246.50, Z:-2.79 [[-7.88188801e-01 -6.15379520e-01 8.15236064e-03 -3.30232172e+02] [ 6.15352061e-01 -7.88230847e-01 -5.82860599e-03 -2.46496318e+02] [ 1.00127469e-02 4.22529963e-04 9.99949782e-01 -2.78984526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1133.4665599950001 meters 0.022731036723327228 Centerline is valid? [True, True] Translation: X:-330.55, Y:-246.95, Z:-1.80 [[-8.74011245e-01 4.85832027e-01 8.46075420e-03 -3.30553024e+02] [ 4.85804558e-01 8.74052095e-01 -5.18330389e-03 -2.46948078e+02] [-9.91335497e-03 -4.19992934e-04 -9.99950773e-01 -1.79513012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1133.496559995 meters 0.023003625171236816 Centerline is valid? [True, True] Translation: X:-330.54, Y:-246.92, Z:-1.80 [[-9.06170281e-01 4.22821396e-01 8.80277152e-03 -3.30543673e+02] [ 4.22796881e-01 9.06212938e-01 -4.57251434e-03 -2.46923614e+02] [-9.91054234e-03 -4.21692258e-04 -9.99950801e-01 -1.79502080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1133.526559995 meters 0.027422073281080275 Centerline is valid? [True, True] Translation: X:-330.29, Y:-246.43, Z:-2.79 [[-8.31357717e-01 -5.55674109e-01 8.40423293e-03 -3.30293624e+02] [ 5.55650677e-01 -8.31400093e-01 -5.11971089e-03 -2.46431231e+02] [ 9.83217082e-03 4.13506558e-04 9.99951578e-01 -2.79112671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1133.556559995 meters 0.02320703368934336 Centerline is valid? [True, True] Translation: X:-330.58, Y:-246.91, Z:-1.80 [[-9.07659228e-01 4.19621482e-01 8.51691716e-03 -3.30583024e+02] [ 4.19598769e-01 9.07699095e-01 -4.38476564e-03 -2.46908356e+02] [-9.57073985e-03 -4.06185035e-04 -9.99954117e-01 -1.79567463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1133.586559995 meters 0.023669427532009412 Centerline is valid? [True, True] Translation: X:-330.58, Y:-246.88, Z:-1.80 [[-9.35031001e-01 3.54472763e-01 8.12940407e-03 -3.30576513e+02] [ 3.54455874e-01 9.35066266e-01 -3.48023273e-03 -2.46882883e+02] [-8.83517922e-03 -3.72610473e-04 -9.99960900e-01 -1.79609534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1133.616559995 meters 0.022651805996064103 Centerline is valid? [True, True] Translation: X:-330.35, Y:-246.36, Z:-2.79 [[-8.71065107e-01 -4.91103376e-01 7.94062042e-03 -3.30349125e+02] [ 4.91086896e-01 -8.71101217e-01 -4.04106412e-03 -2.46357766e+02] [ 8.90166434e-03 3.79504686e-04 9.99960308e-01 -2.78784025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1133.646559995 meters 0.024377857400959543 Centerline is valid? [True, True] Translation: X:-330.62, Y:-246.87, Z:-1.80 [[-9.35959208e-01 3.52019193e-01 7.92777169e-03 -3.30617237e+02] [ 3.52003338e-01 9.35992715e-01 -3.35975477e-03 -2.46871773e+02] [-8.60303471e-03 -3.53991322e-04 -9.99962931e-01 -1.79675456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1133.676559995 meters 0.022527205677813942 Centerline is valid? [True, True] Translation: X:-330.39, Y:-246.34, Z:-2.79 [[-8.73306185e-01 -4.87117289e-01 7.28380720e-03 -3.30386051e+02] [ 4.87103269e-01 -8.73336505e-01 -3.70859417e-03 -2.46339232e+02] [ 8.16773506e-03 3.09228071e-04 9.99966596e-01 -2.78777467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1133.7065599950001 meters 0.02225664614550991 Centerline is valid? [True, True] Translation: X:-330.66, Y:-246.87, Z:-1.80 [[-9.36199052e-01 3.51398346e-01 7.10898112e-03 -3.30656488e+02] [ 3.51385817e-01 9.36225996e-01 -2.98183743e-03 -2.46865090e+02] [-7.70342567e-03 -2.93598237e-04 -9.99970285e-01 -1.79692984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1133.736559995 meters 0.02141708201214205 Centerline is valid? [True, True] Translation: X:-330.65, Y:-246.84, Z:-1.80 [[-9.58198389e-01 2.86018685e-01 7.01138834e-03 -3.30649648e+02] [ 2.86008975e-01 9.58224003e-01 -2.37189348e-03 -2.46841917e+02] [-7.39688646e-03 -2.67424520e-04 -9.99972607e-01 -1.79715513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1133.766559995 meters 0.020612610995800387 Centerline is valid? [True, True] Translation: X:-330.64, Y:-246.82, Z:-1.80 [[-9.75648146e-01 2.19233402e-01 6.88556790e-03 -3.30643059e+02] [ 2.19226173e-01 9.75672412e-01 -1.79696396e-03 -2.46819044e+02] [-7.11201317e-03 -2.43707859e-04 -9.99974680e-01 -1.79726077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1133.796559995 meters 0.019207028666118866 Centerline is valid? [True, True] Translation: X:-330.65, Y:-246.79, Z:-1.80 [[-9.88393957e-01 1.51745455e-01 7.12063396e-03 -3.30648862e+02] [ 1.51739829e-01 9.88419579e-01 -1.32698469e-03 -2.46794351e+02] [-7.23953792e-03 -2.31099870e-04 -9.99973768e-01 -1.79731851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1133.826559995 meters 0.018735483029466832 Centerline is valid? [True, True] Translation: X:-330.52, Y:-246.19, Z:-2.79 [[-9.60710101e-01 -2.77457429e-01 7.31281081e-03 -3.30524847e+02] [ 2.77451433e-01 -9.60737898e-01 -1.84240324e-03 -2.46188448e+02] [ 7.53688295e-03 2.58934431e-04 9.99971564e-01 -2.78791438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1133.856559995 meters 0.01782176530171987 Centerline is valid? [True, True] Translation: X:-330.69, Y:-246.80, Z:-1.80 [[-9.88179092e-01 1.53097102e-01 7.95992899e-03 -3.30689487e+02] [ 1.53090373e-01 9.88211127e-01 -1.45154910e-03 -2.46795216e+02] [-8.08831835e-03 -2.15801973e-04 -9.99967266e-01 -1.79644990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1133.886559995 meters 0.016699336737953485 Centerline is valid? [True, True] Translation: X:-330.69, Y:-246.77, Z:-1.80 [[-9.96108402e-01 8.76344193e-02 9.39472073e-03 -3.30687447e+02] [ 8.76285945e-02 9.96152683e-01 -1.03065791e-03 -2.46774816e+02] [-9.44889737e-03 -2.03400832e-04 -9.99955338e-01 -1.79526335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1133.916559995 meters 0.016563337744632554 Centerline is valid? [True, True] Translation: X:-330.69, Y:-246.75, Z:-1.79 [[-9.99770134e-01 1.91110694e-02 9.71832678e-03 -3.30687676e+02] [ 1.91083695e-02 9.99817350e-01 -3.70609767e-04 -2.46749555e+02] [-9.72363447e-03 -1.84823198e-04 -9.99952707e-01 -1.79403653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1133.9465599950001 meters 0.015418495139245845 Centerline is valid? [True, True] Translation: X:-330.66, Y:-246.10, Z:-2.79 [[-9.92434839e-01 -1.22381883e-01 9.78595279e-03 -3.30661703e+02] [ 1.22377860e-01 -9.92483066e-01 -1.01112629e-03 -2.46096628e+02] [ 9.83613597e-03 1.94107005e-04 9.99951605e-01 -2.79047776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1133.9765599950001 meters 0.015003217316140035 Centerline is valid? [True, True] Translation: X:-330.75, Y:-246.76, Z:-1.79 [[-9.99789320e-01 1.81060495e-02 9.66882707e-03 -3.30749554e+02] [ 1.81037637e-02 9.99836061e-01 -3.23892183e-04 -2.46755409e+02] [-9.67310639e-03 -1.48781785e-04 -9.99953204e-01 -1.79462388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1134.006559995 meters 0.014778571911432364 Centerline is valid? [True, True] Translation: X:-330.73, Y:-246.09, Z:-2.79 [[-9.93354621e-01 -1.14680266e-01 9.74847106e-03 -3.30728005e+02] [ 1.14676308e-01 -9.93402442e-01 -9.65888120e-04 -2.46088261e+02] [ 9.79492326e-03 1.58449245e-04 9.99952016e-01 -2.79054936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1134.036559995 meters 0.014393440749053897 Centerline is valid? [True, True] Translation: X:-330.82, Y:-246.76, Z:-1.79 [[-9.99805802e-01 1.70776469e-02 9.83430028e-03 -3.30818721e+02] [ 1.70756986e-02 9.99854160e-01 -2.82046279e-04 -2.46761634e+02] [-9.83768273e-03 -1.14063958e-04 -9.99951603e-01 -1.79430943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1134.066559995 meters 0.014319786542702256 Centerline is valid? [True, True] Translation: X:-330.80, Y:-246.08, Z:-2.79 [[-9.94207063e-01 -1.06981158e-01 1.03609209e-02 -3.30796307e+02] [ 1.06976997e-01 -9.94261036e-01 -9.56484336e-04 -2.46078394e+02] [ 1.04037857e-02 1.57436721e-04 9.99945867e-01 -2.79087006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1134.096559995 meters 0.014146695583993549 Centerline is valid? [True, True] Translation: X:-330.89, Y:-246.76, Z:-1.79 [[-9.99848143e-01 1.38702915e-02 1.05502124e-02 -3.30889249e+02] [ 1.38684064e-02 9.99903797e-01 -2.51816028e-04 -2.46764330e+02] [-1.05526902e-02 -1.05463154e-04 -9.99944313e-01 -1.79365952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1134.126559995 meters 0.013819672618911191 Centerline is valid? [True, True] Translation: X:-330.89, Y:-246.74, Z:-1.79 [[-9.98373439e-01 -5.60022103e-02 1.06878149e-02 -3.30888584e+02] [-5.60000241e-02 9.98430640e-01 5.03938827e-04 -2.46739264e+02] [-1.06992635e-02 -9.53987508e-05 -9.99942757e-01 -1.79407061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1134.156559995 meters 0.013847650512886 Centerline is valid? [True, True] Translation: X:-330.89, Y:-246.71, Z:-1.79 [[-9.92017751e-01 -1.25670983e-01 1.03723407e-02 -3.30893438e+02] [-1.25664953e-01 9.92071972e-01 1.23370365e-03 -2.46713853e+02] [-1.04451493e-02 -7.95837869e-05 -9.99945445e-01 -1.79329412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1134.1865599950002 meters 0.013542830966171078 Centerline is valid? [True, True] Translation: X:-330.91, Y:-246.69, Z:-1.79 [[-9.80709124e-01 -1.95205586e-01 1.02172886e-02 -3.30911969e+02] [-1.95195721e-01 9.80762344e-01 1.96373991e-03 -2.46691558e+02] [-1.04040649e-02 -6.85133709e-05 -9.99945874e-01 -1.79388403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1134.2165599950001 meters 0.013392102481141737 Centerline is valid? [True, True] Translation: X:-330.94, Y:-246.67, Z:-1.79 [[-9.64360191e-01 -2.64419807e-01 9.57016186e-03 -3.30935977e+02] [-2.64407348e-01 9.64407675e-01 2.56740351e-03 -2.46671037e+02] [-9.90840989e-03 -5.45193712e-05 -9.99950909e-01 -1.79467024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1134.246559995 meters 0.013459842984779308 Centerline is valid? [True, True] Translation: X:-330.98, Y:-246.66, Z:-1.80 [[-9.42406687e-01 -3.34356659e-01 8.67530487e-03 -3.30981878e+02] [-3.34343026e-01 9.42446615e-01 3.01980499e-03 -2.46655522e+02] [-9.18570361e-03 -5.46432653e-05 -9.99957809e-01 -1.79500004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1134.276559995 meters 0.013767576195959249 Centerline is valid? [True, True] Translation: X:-331.04, Y:-246.65, Z:-1.79 [[-9.14726237e-01 -4.03974102e-01 8.99084295e-03 -3.31044754e+02] [-4.03955352e-01 9.14770419e-01 3.89279521e-03 -2.46649258e+02] [-9.79714563e-03 -7.10572203e-05 -9.99952004e-01 -1.79459423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1134.306559995 meters 0.013767576195959249 Centerline is valid? [True, True] Translation: X:-331.12, Y:-246.65, Z:-1.79 [[-8.82268772e-01 -4.70666032e-01 8.67759042e-03 -3.31115299e+02] [-4.70644058e-01 8.82311443e-01 4.54850194e-03 -2.46652042e+02] [-9.79716268e-03 -7.10551532e-05 -9.99952004e-01 -1.79459365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1134.336559995 meters 0.014179518164640532 Centerline is valid? [True, True] Translation: X:-331.20, Y:-246.67, Z:-1.79 [[-8.43755570e-01 -5.36657555e-01 8.67219447e-03 -3.31200300e+02] [-5.36630354e-01 8.43800131e-01 5.40396083e-03 -2.46665828e+02] [-1.02176752e-02 -9.41407424e-05 -9.99947794e-01 -1.79374403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1134.366559995 meters 0.014464980017289904 Centerline is valid? [True, True] Translation: X:-331.28, Y:-246.69, Z:-1.79 [[-8.00567228e-01 -5.99185428e-01 8.30276674e-03 -3.31279851e+02] [-5.99154555e-01 8.00610275e-01 6.08341218e-03 -2.46685017e+02] [-1.02923723e-02 -1.04460089e-04 -9.99947027e-01 -1.79349907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1134.396559995 meters 0.01469334654506585 Centerline is valid? [True, True] Translation: X:-331.37, Y:-246.72, Z:-1.79 [[-7.52643215e-01 -6.58382374e-01 7.80006165e-03 -3.31365314e+02] [-6.58348555e-01 7.52683623e-01 6.67408811e-03 -2.46716423e+02] [-1.02650806e-02 -1.11952193e-04 -9.99947307e-01 -1.79353306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1134.426559995 meters 0.013521044742573722 Centerline is valid? [True, True] Translation: X:-331.45, Y:-246.76, Z:-1.80 [[-7.00422469e-01 -7.13695278e-01 6.88591176e-03 -3.31449669e+02] [-7.13662325e-01 7.00456308e-01 6.85910830e-03 -2.46760526e+02] [-9.71859353e-03 -1.09942226e-04 -9.99952768e-01 -1.79675862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1134.4565599950001 meters 0.01355233313984649 Centerline is valid? [True, True] Translation: X:-331.54, Y:-246.81, Z:-1.80 [[-6.44202722e-01 -7.64829335e-01 6.24038866e-03 -3.31537662e+02] [-7.64795074e-01 6.44232937e-01 7.24003335e-03 -2.46813668e+02] [-9.55765380e-03 -1.08569310e-04 -9.99954319e-01 -1.79638362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1134.486559995 meters 0.01355233313984649 Centerline is valid? [True, True] Translation: X:-331.62, Y:-246.88, Z:-1.80 [[-5.84112402e-01 -8.11652968e-01 5.67113422e-03 -3.31622658e+02] [-8.11616506e-01 5.84139922e-01 7.69409566e-03 -2.46875629e+02] [-9.55767148e-03 -1.08569447e-04 -9.99954319e-01 -1.79638283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1134.516559995 meters 0.013568780707729707 Centerline is valid? [True, True] Translation: X:-331.70, Y:-246.95, Z:-1.80 [[-5.20735476e-01 -8.53705378e-01 4.65751396e-03 -3.31704218e+02] [-8.53672882e-01 5.20756295e-01 7.44934149e-03 -2.46945216e+02] [-8.78497261e-03 -9.68569776e-05 -9.99961407e-01 -1.79665731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1134.546559995 meters 0.013922075400621667 Centerline is valid? [True, True] Translation: X:-331.78, Y:-247.02, Z:-1.80 [[-4.53796639e-01 -8.91095840e-01 4.10064484e-03 -3.31781777e+02] [-8.91061402e-01 4.53815155e-01 7.83471811e-03 -2.47022379e+02] [-8.84241949e-03 -9.85575941e-05 -9.99960900e-01 -1.79574666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1134.576559995 meters 0.013693499632713643 Centerline is valid? [True, True] Translation: X:-331.85, Y:-247.11, Z:-1.80 [[-3.84219966e-01 -9.23234348e-01 3.65460786e-03 -3.31854136e+02] [-9.23195111e-01 3.84237332e-01 8.51237250e-03 -2.47111287e+02] [-9.26315145e-03 -1.03292633e-04 -9.99957091e-01 -1.79628269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1134.606559995 meters 0.013578455525666241 Centerline is valid? [True, True] Translation: X:-331.92, Y:-247.21, Z:-1.80 [[-3.12212674e-01 -9.50007592e-01 2.97015634e-03 -3.31921173e+02] [-9.49967699e-01 3.12226784e-01 8.70669850e-03 -2.47206377e+02] [-9.19879204e-03 -1.03210959e-04 -9.99957685e-01 -1.79623183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1134.636559995 meters 0.013691718442613852 Centerline is valid? [True, True] Translation: X:-331.98, Y:-247.31, Z:-1.80 [[-2.38068966e-01 -9.71245476e-01 2.32208096e-03 -3.31981397e+02] [-9.71203558e-01 2.38080266e-01 9.02418851e-03 -2.47307505e+02] [-9.31754393e-03 -1.06834060e-04 -9.99956585e-01 -1.79598580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1134.666559995 meters 0.013680659769688243 Centerline is valid? [True, True] Translation: X:-332.04, Y:-247.42, Z:-1.80 [[-1.61985155e-01 -9.86791926e-01 1.58255757e-03 -3.32035764e+02] [-9.86751313e-01 1.61992847e-01 8.95347008e-03 -2.47419942e+02] [-9.09157499e-03 -1.11261525e-04 -9.99958665e-01 -1.79606642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1134.6965599950001 meters 0.014000048393087513 Centerline is valid? [True, True] Translation: X:-332.08, Y:-247.53, Z:-1.80 [[-8.51648769e-02 -9.96366454e-01 9.13034215e-04 -3.32079879e+02] [-9.96323106e-01 8.51696891e-02 9.29478459e-03 -2.47525443e+02] [-9.33877440e-03 -1.18087900e-04 -9.99956386e-01 -1.79573625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1134.7265599950001 meters 0.01436082364061078 Centerline is valid? [True, True] Translation: X:-332.12, Y:-247.64, Z:-1.80 [[-7.64956100e-03 -9.99970723e-01 1.92514593e-04 -3.32116140e+02] [-9.99928304e-01 7.65100988e-03 9.21136051e-03 -2.47640534e+02] [-9.21256376e-03 -1.22037926e-04 -9.99957556e-01 -1.79550749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1134.756559995 meters 0.013833015378818557 Centerline is valid? [True, True] Translation: X:-332.14, Y:-247.76, Z:-1.80 [[ 6.97900100e-02 -9.97561563e-01 -5.31583712e-04 -3.32141346e+02] [-9.97516664e-01 -6.97919128e-02 9.46536893e-03 -2.47759661e+02] [-9.47938847e-03 -1.30324581e-04 -9.99955061e-01 -1.79652503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1134.786559995 meters 0.013990205791145065 Centerline is valid? [True, True] Translation: X:-332.16, Y:-247.88, Z:-1.80 [[ 1.47182271e-01 -9.89108595e-01 -1.25133810e-03 -3.32160139e+02] [-9.89064476e-01 -1.47187527e-01 9.34312881e-03 -2.47877790e+02] [-9.42555038e-03 -1.37488856e-04 -9.99955569e-01 -1.79613191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1134.816559995 meters 0.014644669005517225 Centerline is valid? [True, True] Translation: X:-332.17, Y:-248.00, Z:-1.79 [[ 2.23120740e-01 -9.74788711e-01 -2.02604398e-03 -3.32170096e+02] [-9.74742461e-01 -2.23129892e-01 9.49662477e-03 -2.47996072e+02] [-9.70927359e-03 -1.44022849e-04 -9.99952854e-01 -1.79467507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1134.846559995 meters 0.013818546875603384 Centerline is valid? [True, True] Translation: X:-332.17, Y:-248.12, Z:-1.80 [[ 2.97544058e-01 -9.54703556e-01 -2.94161759e-03 -3.32166734e+02] [-9.54651632e-01 -2.97558558e-01 9.95817515e-03 -2.48116708e+02] [-1.03824087e-02 -1.54775805e-04 -9.99946090e-01 -1.79585027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1134.876559995 meters 0.014691197599978313 Centerline is valid? [True, True] Translation: X:-332.16, Y:-248.24, Z:-1.79 [[ 3.69924261e-01 -9.29054108e-01 -3.80856588e-03 -3.32155539e+02] [-9.29000371e-01 -3.69943832e-01 9.99359303e-03 -2.48243327e+02] [-1.06935441e-02 -1.58713402e-04 -9.99942810e-01 -1.79422149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1134.906559995 meters 0.0140735532985853 Centerline is valid? [True, True] Translation: X:-332.14, Y:-248.35, Z:-1.79 [[ 4.39942051e-01 -8.98013574e-01 -4.75531340e-03 -3.32138770e+02] [-8.97957060e-01 -4.39967720e-01 1.00759146e-02 -2.48350460e+02] [-1.11404924e-02 -1.62751281e-04 -9.99937930e-01 -1.79494648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1134.9365599950002 meters 0.013975849474062876 Centerline is valid? [True, True] Translation: X:-332.11, Y:-248.46, Z:-1.80 [[ 5.07281944e-01 -8.61761123e-01 -5.72678997e-03 -3.32113345e+02] [-8.61702489e-01 -5.07314241e-01 1.00538923e-02 -2.48459429e+02] [-1.15693356e-02 -1.65368846e-04 -9.99933060e-01 -1.79500515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1134.9665599950001 meters 0.01374603167952543 Centerline is valid? [True, True] Translation: X:-332.07, Y:-248.57, Z:-1.80 [[ 5.71434258e-01 -8.20622328e-01 -6.47174935e-03 -3.32074403e+02] [-8.20566489e-01 -5.71470882e-01 9.57436230e-03 -2.48573293e+02] [-1.15553518e-02 -1.60617966e-04 -9.99933222e-01 -1.79564314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1134.996559995 meters 0.013704888520959602 Centerline is valid? [True, True] Translation: X:-332.03, Y:-248.68, Z:-1.80 [[ 6.32451485e-01 -7.74567232e-01 -7.12195974e-03 -3.32033945e+02] [-7.74515294e-01 -6.32491564e-01 8.97115114e-03 -2.48675729e+02] [-1.14533392e-02 -1.57751122e-04 -9.99934396e-01 -1.79587465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1135.026559995 meters 0.01400023518811542 Centerline is valid? [True, True] Translation: X:-331.99, Y:-248.77, Z:-1.80 [[ 6.89740109e-01 -7.24016021e-01 -7.70613188e-03 -3.31988207e+02] [-7.23968295e-01 -6.89783138e-01 8.31444908e-03 -2.48772418e+02] [-1.13353542e-02 -1.55813854e-04 -9.99935741e-01 -1.79571012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1135.056559995 meters 0.013881486420296218 Centerline is valid? [True, True] Translation: X:-331.93, Y:-248.87, Z:-1.80 [[ 7.42952894e-01 -6.69298332e-01 -7.79360694e-03 -3.31932010e+02] [-6.69259413e-01 -7.42993755e-01 7.21922896e-03 -2.48867187e+02] [-1.06224192e-02 -1.47602237e-04 -9.99943570e-01 -1.79665348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1135.086559995 meters 0.014044896767684454 Centerline is valid? [True, True] Translation: X:-331.93, Y:-248.87, Z:-1.80 [[ 7.93066561e-01 -6.09078769e-01 -8.27550782e-03 -3.31933490e+02] [-6.09043653e-01 -7.93109722e-01 6.54199135e-03 -2.48874657e+02] [-1.05479738e-02 -1.48089072e-04 -9.99944358e-01 -1.79660119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1135.116559995 meters 0.014115144662898404 Centerline is valid? [True, True] Translation: X:-331.93, Y:-248.88, Z:-1.80 [[ 8.38320998e-01 -5.45106521e-01 -8.76278223e-03 -3.31934252e+02] [-5.45074870e-01 -8.38366781e-01 5.87597353e-03 -2.48881545e+02] [-1.05494570e-02 -1.49579607e-04 -9.99944342e-01 -1.79645700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1135.146559995 meters 0.013986844387895145 Centerline is valid? [True, True] Translation: X:-331.93, Y:-248.89, Z:-1.80 [[ 8.78390163e-01 -4.77860002e-01 -8.97448645e-03 -3.31934663e+02] [-4.77833353e-01 -8.78435995e-01 5.04868257e-03 -2.48890105e+02] [-1.02960754e-02 -1.46404153e-04 -9.99946983e-01 -1.79638405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1135.176559995 meters 0.014304959159784905 Centerline is valid? [True, True] Translation: X:-331.94, Y:-248.90, Z:-1.80 [[ 9.13277385e-01 -4.07222654e-01 -9.70194020e-03 -3.31935217e+02] [-4.07197829e-01 -9.13328903e-01 4.49921788e-03 -2.48897270e+02] [-1.06932458e-02 -1.58424949e-04 -9.99942813e-01 -1.79591385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1135.2065599950001 meters 0.014378855490997789 Centerline is valid? [True, True] Translation: X:-331.93, Y:-248.90, Z:-1.80 [[ 9.42424877e-01 -3.34232880e-01 -1.11235262e-02 -3.31934034e+02] [-3.34207335e-01 -9.42490504e-01 4.13616580e-03 -2.48904153e+02] [-1.18662604e-02 -1.80461517e-04 -9.99929577e-01 -1.79584448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1135.236559995 meters 0.014323175677323354 Centerline is valid? [True, True] Translation: X:-331.93, Y:-248.91, Z:-1.80 [[ 9.65638391e-01 -2.59627879e-01 -1.16559991e-02 -3.31932826e+02] [-2.59606670e-01 -9.65708719e-01 3.32356897e-03 -2.48911792e+02] [-1.21191911e-02 -1.83390689e-04 -9.99926543e-01 -1.79575333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1135.266559995 meters 0.014457727162574001 Centerline is valid? [True, True] Translation: X:-331.93, Y:-248.92, Z:-1.80 [[ 9.83004263e-01 -1.83196489e-01 -1.19023472e-02 -3.31930389e+02] [-1.83180771e-01 -9.83076300e-01 2.40691541e-03 -2.48919023e+02] [-1.21418539e-02 -1.85726971e-04 -9.99926268e-01 -1.79579852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1135.296559995 meters 0.014144976756469441 Centerline is valid? [True, True] Translation: X:-331.93, Y:-248.93, Z:-1.80 [[ 9.94333639e-01 -1.05643564e-01 -1.18343902e-02 -3.31931124e+02] [-1.05633893e-01 -9.94404045e-01 1.44108943e-03 -2.48927677e+02] [-1.19204073e-02 -1.82810978e-04 -9.99928933e-01 -1.79648801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1135.326559995 meters 0.015000920476867916 Centerline is valid? [True, True] Translation: X:-331.93, Y:-248.94, Z:-1.80 [[ 9.99575111e-01 -2.69719315e-02 -1.10504399e-02 -3.31932551e+02] [-2.69683502e-02 -9.99636176e-01 4.72994122e-04 -2.48938174e+02] [-1.10591771e-02 -1.74781018e-04 -9.99938830e-01 -1.79594631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1135.356559995 meters 0.01528565794531345 Centerline is valid? [True, True] Translation: X:-331.93, Y:-248.94, Z:-1.80 [[ 9.98605099e-01 5.17753056e-02 -1.03524585e-02 -3.31933534e+02] [ 5.17742614e-02 -9.98658745e-01 -3.69019522e-04 -2.48940497e+02] [-1.03576793e-02 -1.67486114e-04 -9.99946344e-01 -1.79662679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1135.386559995 meters 0.014686115500645754 Centerline is valid? [True, True] Translation: X:-331.93, Y:-248.95, Z:-1.80 [[ 9.91456852e-01 1.30056416e-01 -9.93178808e-03 -3.31933212e+02] [ 1.30051552e-01 -9.91506582e-01 -1.13676615e-03 -2.48945102e+02] [-9.99527698e-03 -1.64589863e-04 -9.99950033e-01 -1.79820229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1135.416559995 meters 0.014583054829339264 Centerline is valid? [True, True] Translation: X:-331.93, Y:-248.95, Z:-1.80 [[ 9.78182542e-01 2.07506560e-01 -9.99712650e-03 -3.31932185e+02] [ 2.07497500e-01 -9.78233612e-01 -1.94643531e-03 -2.48952681e+02] [-1.01834233e-02 -1.70409716e-04 -9.99948133e-01 -1.79869140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1135.4465599950001 meters 0.014732645110234144 Centerline is valid? [True, True] Translation: X:-331.93, Y:-248.96, Z:-1.80 [[ 9.58910993e-01 2.83523994e-01 -1.01908239e-02 -3.31932112e+02] [ 2.83509947e-01 -9.58965126e-01 -2.82779449e-03 -2.48960419e+02] [-1.05743923e-02 -1.77596729e-04 -9.99944074e-01 -1.79877416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1135.4765599950001 meters 0.014599714901277002 Centerline is valid? [True, True] Translation: X:-331.93, Y:-248.97, Z:-1.80 [[ 9.33718343e-01 3.57863283e-01 -1.01944577e-02 -3.31930273e+02] [ 3.57844097e-01 -9.33773975e-01 -3.71018304e-03 -2.48967405e+02] [-1.08470575e-02 -1.83760535e-04 -9.99941152e-01 -1.79872162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1135.506559995 meters 0.014906419566645086 Centerline is valid? [True, True] Translation: X:-331.93, Y:-248.97, Z:-1.80 [[ 9.02687134e-01 4.30177148e-01 -1.01764644e-02 -3.31927947e+02] [ 4.30152214e-01 -9.02744474e-01 -4.63555615e-03 -2.48974162e+02] [-1.11808573e-02 -1.92971809e-04 -9.99937474e-01 -1.79784369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1135.536559995 meters 0.014964264163488282 Centerline is valid? [True, True] Translation: X:-331.93, Y:-248.98, Z:-1.80 [[ 8.66148423e-01 4.99684256e-01 -1.01269071e-02 -3.31926408e+02] [ 4.99652819e-01 -8.66207598e-01 -5.60863172e-03 -2.48980583e+02] [-1.15745488e-02 -2.02030163e-04 -9.99932992e-01 -1.79773561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1135.566559995 meters 0.014896272007915223 Centerline is valid? [True, True] Translation: X:-331.92, Y:-248.99, Z:-1.80 [[ 8.24307000e-01 5.66064730e-01 -9.41760141e-03 -3.31922821e+02] [ 5.66030521e-01 -8.24360772e-01 -6.22630243e-03 -2.48987110e+02] [-1.12879914e-02 -1.98265150e-04 -9.99936269e-01 -1.79829115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1135.596559995 meters 0.015297412560813127 Centerline is valid? [True, True] Translation: X:-331.92, Y:-248.99, Z:-1.80 [[ 7.77435382e-01 6.28901529e-01 -8.78032904e-03 -3.31919281e+02] [ 6.28864250e-01 -7.77484938e-01 -6.85021939e-03 -2.48994104e+02] [-1.11346870e-02 -1.96032112e-04 -9.99937988e-01 -1.79814504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1135.626559995 meters 0.014973953081494665 Centerline is valid? [True, True] Translation: X:-331.92, Y:-249.00, Z:-1.80 [[ 7.25998557e-01 6.87652241e-01 -7.77756759e-03 -3.31915530e+02] [ 6.87615464e-01 -7.26040193e-01 -7.11427168e-03 -2.48998817e+02] [-1.05389715e-02 -1.83024774e-04 -9.99944447e-01 -1.79866930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1135.656559995 meters 0.015226550258423692 Centerline is valid? [True, True] Translation: X:-331.91, Y:-249.00, Z:-1.80 [[ 6.69981211e-01 7.42343897e-01 -7.12141935e-03 -3.31911888e+02] [ 7.42304803e-01 -6.70019034e-01 -7.62061193e-03 -2.49004245e+02] [-1.04286013e-02 -1.80596975e-04 -9.99945605e-01 -1.79839087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1135.6865599950002 meters 0.01540119530046951 Centerline is valid? [True, True] Translation: X:-331.91, Y:-249.01, Z:-1.80 [[ 6.09785387e-01 7.92540296e-01 -6.45455482e-03 -3.31910164e+02] [ 7.92498983e-01 -6.09819520e-01 -8.09416261e-03 -2.49008678e+02] [-1.03510636e-02 -1.79526051e-04 -9.99946410e-01 -1.79831944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1135.7165599950001 meters 0.01525552558080394 Centerline is valid? [True, True] Translation: X:-331.91, Y:-249.01, Z:-1.80 [[ 5.46479697e-01 8.37450820e-01 -6.00534348e-03 -3.31908583e+02] [ 8.37403786e-01 -5.46512664e-01 -8.87734771e-03 -2.49011739e+02] [-1.07163384e-02 -1.77607081e-04 -9.99942563e-01 -1.79758086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1135.746559995 meters 0.015197933603254159 Centerline is valid? [True, True] Translation: X:-331.91, Y:-249.01, Z:-1.80 [[ 4.79767058e-01 8.77380145e-01 -5.25837236e-03 -3.31907831e+02] [ 8.77331280e-01 -4.79795844e-01 -9.26138420e-03 -2.49014977e+02] [-1.06486998e-02 -1.70027502e-04 -9.99943287e-01 -1.79736854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1135.776559995 meters 0.015094923669408768 Centerline is valid? [True, True] Translation: X:-331.91, Y:-249.02, Z:-1.80 [[ 4.10239355e-01 9.11967244e-01 -4.40654870e-03 -3.31908322e+02] [ 9.11918712e-01 -4.10262990e-01 -9.40962389e-03 -2.49018104e+02] [-1.03891126e-02 -1.58216175e-04 -9.99946019e-01 -1.79736565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1135.806559995 meters 0.014808725189576407 Centerline is valid? [True, True] Translation: X:-331.91, Y:-249.02, Z:-1.80 [[ 3.38365531e-01 9.41007362e-01 -3.72975461e-03 -3.31907635e+02] [ 9.40955082e-01 -3.38386053e-01 -9.92038386e-03 -2.49020014e+02] [-1.05972512e-02 -1.52815599e-04 -9.99943836e-01 -1.79779639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1135.836559995 meters 0.013862961719586456 Centerline is valid? [True, True] Translation: X:-331.90, Y:-249.02, Z:-1.80 [[ 2.65465077e-01 9.64116506e-01 -2.76700346e-03 -3.31903649e+02] [ 9.64068931e-01 -2.65479467e-01 -9.57853769e-03 -2.49023620e+02] [-9.96940890e-03 -1.24814827e-04 -9.99950297e-01 -1.79867317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1135.866559995 meters 0.013674000038283425 Centerline is valid? [True, True] Translation: X:-331.90, Y:-249.03, Z:-1.80 [[ 1.90050001e-01 9.81772287e-01 -2.04291915e-03 -3.31897397e+02] [ 9.81722041e-01 -1.90060945e-01 -9.93336021e-03 -2.49027571e+02] [-1.01405769e-02 -1.17743633e-04 -9.99948576e-01 -1.79887447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1135.896559995 meters 0.013639937663197864 Centerline is valid? [True, True] Translation: X:-331.89, Y:-249.03, Z:-1.80 [[ 1.13437308e-01 9.93544364e-01 -1.25440299e-03 -3.31891281e+02] [ 9.93493735e-01 -1.13444192e-01 -1.00306247e-02 -2.49031939e+02] [-1.01081754e-02 -1.08394447e-04 -9.99948905e-01 -1.79885982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1135.926559995 meters 0.013734099284396449 Centerline is valid? [True, True] Translation: X:-331.89, Y:-249.04, Z:-1.80 [[ 3.56589561e-02 9.99363914e-01 -4.54694981e-04 -3.31887286e+02] [ 9.99315127e-01 -3.56617084e-02 -9.87522130e-03 -2.49035870e+02] [-9.88515501e-03 -1.02243489e-04 -9.99951136e-01 -1.79904229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1135.9565599950001 meters 0.013536563368717645 Centerline is valid? [True, True] Translation: X:-331.88, Y:-249.04, Z:-1.80 [[-4.22921640e-02 9.99105235e-01 3.18561478e-04 -3.31881941e+02] [ 9.99056749e-01 4.22932501e-02 -9.84346018e-03 -2.49037907e+02] [-9.84812561e-03 -9.80402374e-05 -9.99951501e-01 -1.79964666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1135.986559995 meters 0.013590668029020701 Centerline is valid? [True, True] Translation: X:-331.88, Y:-249.04, Z:-1.80 [[-1.20342302e-01 9.92731890e-01 1.06102805e-03 -3.31876164e+02] [ 9.92686029e-01 1.20346942e-01 -9.54262616e-03 -2.49040366e+02] [-9.60096078e-03 -9.51138810e-05 -9.99953905e-01 -1.79987958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1136.016559995 meters 0.01344681046857333 Centerline is valid? [True, True] Translation: X:-331.87, Y:-249.04, Z:-1.80 [[-1.97580234e-01 9.80285145e-01 1.75662983e-03 -3.31868078e+02] [ 9.80242189e-01 1.97588021e-01 -9.17738278e-03 -2.49042023e+02] [-9.34354102e-03 -9.13467689e-05 -9.99956344e-01 -1.80086887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1136.046559995 meters 0.013794411136622317 Centerline is valid? [True, True] Translation: X:-331.86, Y:-249.04, Z:-1.80 [[-2.73536359e-01 9.61858422e-01 2.49724691e-03 -3.31859331e+02] [ 9.61815267e-01 2.73547743e-01 -9.11180182e-03 -2.49044021e+02] [-9.44737958e-03 -9.05188881e-05 -9.99955369e-01 -1.79994025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1136.076559995 meters 0.013571703266499103 Centerline is valid? [True, True] Translation: X:-331.85, Y:-249.04, Z:-1.80 [[-3.47993387e-01 9.37491104e-01 3.32154518e-03 -3.31852792e+02] [ 9.37445803e-01 3.48009226e-01 -9.21654782e-03 -2.49044493e+02] [-9.79635995e-03 -9.35290967e-05 -9.99952010e-01 -1.79961546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1136.106559995 meters 0.013461353716646545 Centerline is valid? [True, True] Translation: X:-331.84, Y:-249.04, Z:-1.80 [[-4.20347303e-01 9.07353770e-01 4.15714399e-03 -3.31843742e+02] [ 9.07307105e-01 4.20367848e-01 -9.20270676e-03 -2.49043562e+02] [-1.00976403e-02 -9.65266865e-05 -9.99949013e-01 -1.79973309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1136.136559995 meters 0.013562264298132289 Centerline is valid? [True, True] Translation: X:-331.83, Y:-249.04, Z:-1.80 [[-4.90076041e-01 8.71665482e-01 4.97618783e-03 -3.31834637e+02] [ 8.71618494e-01 4.90101294e-01 -9.05114623e-03 -2.49043233e+02] [-1.03284078e-02 -9.84125720e-05 -9.99946656e-01 -1.79933354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1136.166559995 meters 0.013651443262818039 Centerline is valid? [True, True] Translation: X:-331.83, Y:-249.04, Z:-1.80 [[-5.56384135e-01 8.30905575e-01 5.71148343e-03 -3.31826878e+02] [ 8.30860072e-01 5.56413441e-01 -8.69613898e-03 -2.49042750e+02] [-1.04036165e-02 -9.29502283e-05 -9.99945877e-01 -1.79868126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1136.1965599950001 meters 0.01328501105366319 Centerline is valid? [True, True] Translation: X:-331.82, Y:-249.04, Z:-1.80 [[-6.18312745e-01 7.85909450e-01 5.97375034e-03 -3.31820186e+02] [ 7.85871687e-01 6.18341598e-01 -7.70461798e-03 -2.49040771e+02] [-9.74895041e-03 -6.92622367e-05 -9.99952476e-01 -1.79943424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1136.2265599950001 meters 0.013170013503670272 Centerline is valid? [True, True] Translation: X:-331.81, Y:-249.04, Z:-1.80 [[-6.77070074e-01 7.35890979e-01 6.37040758e-03 -3.31812563e+02] [ 7.35857635e-01 6.77100040e-01 -7.00557239e-03 -2.49039136e+02] [-9.46874075e-03 -5.55503611e-05 -9.99955169e-01 -1.79910206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1136.256559995 meters 0.013027780432277387 Centerline is valid? [True, True] Translation: X:-331.81, Y:-249.04, Z:-1.80 [[-7.31663568e-01 6.81634620e-01 6.53207415e-03 -3.31806675e+02] [ 6.81606969e-01 7.31692725e-01 -6.13979705e-03 -2.49037316e+02] [-8.96456936e-03 -3.99585545e-05 -9.99959817e-01 -1.79914602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1136.286559995 meters 0.01283462846694851 Centerline is valid? [True, True] Translation: X:-331.78, Y:-249.03, Z:-1.80 [[-7.75768695e-01 6.30985527e-01 6.34002181e-03 -3.31779391e+02] [ 6.30964374e-01 7.75794602e-01 -5.16671258e-03 -2.49026019e+02] [-8.17867556e-03 -7.84598541e-06 -9.99966554e-01 -1.79956111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1136.316559995 meters 0.012695201255231258 Centerline is valid? [True, True] Translation: X:-331.76, Y:-249.01, Z:-1.80 [[-8.17241935e-01 5.76257523e-01 6.54880508e-03 -3.31762188e+02] [ 5.76239103e-01 8.17268174e-01 -4.60750854e-03 -2.49005100e+02] [-8.00724143e-03 8.22837156e-06 -9.99967942e-01 -1.79967872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1136.346559995 meters 0.012911898231600202 Centerline is valid? [True, True] Translation: X:-331.74, Y:-248.99, Z:-1.80 [[-8.54962608e-01 5.18642508e-01 6.99206719e-03 -3.31740669e+02] [ 5.18625400e-01 8.54991198e-01 -4.21262595e-03 -2.48987004e+02] [-8.16300279e-03 2.46259700e-05 -9.99966682e-01 -1.79887136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1136.376559995 meters 0.012911898231600202 Centerline is valid? [True, True] Translation: X:-331.73, Y:-248.96, Z:-1.80 [[-8.89532357e-01 4.56814287e-01 7.27275774e-03 -3.31725513e+02] [ 4.56799246e-01 8.89562087e-01 -3.70707733e-03 -2.48963432e+02] [-8.16301544e-03 2.46250205e-05 -9.99966682e-01 -1.79887123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1136.406559995 meters 0.013004323374884767 Centerline is valid? [True, True] Translation: X:-331.72, Y:-248.94, Z:-1.80 [[-9.18854994e-01 3.94524670e-01 7.46897097e-03 -3.31715820e+02] [ 3.94511998e-01 9.18885348e-01 -3.16235325e-03 -2.48937997e+02] [-8.11075436e-03 4.08545852e-05 -9.99967107e-01 -1.79891741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1136.4365599950002 meters 0.013178412645790153 Centerline is valid? [True, True] Translation: X:-331.70, Y:-248.91, Z:-1.80 [[-9.43779659e-01 3.30482962e-01 7.80811401e-03 -3.31703780e+02] [ 3.30472174e-01 9.43811956e-01 -2.67094402e-03 -2.48913609e+02] [-8.25209285e-03 5.95817812e-05 -9.99965949e-01 -1.79860573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1136.4665599950001 meters 0.013337066844067165 Centerline is valid? [True, True] Translation: X:-331.69, Y:-248.89, Z:-1.80 [[-9.64269235e-01 2.64814230e-01 7.63318091e-03 -3.31692514e+02] [ 2.64806542e-01 9.64299444e-01 -2.01923955e-03 -2.48888748e+02] [-7.89539547e-03 7.42256639e-05 -9.99968828e-01 -1.79890129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1136.496559995 meters 0.01396136726127631 Centerline is valid? [True, True] Translation: X:-331.50, Y:-248.19, Z:-2.79 [[-9.51430367e-01 -3.07787719e-01 6.85396374e-03 -3.31497351e+02] [ 3.07778919e-01 -9.51455048e-01 -2.32982381e-03 -2.48189797e+02] [ 7.23832956e-03 -1.07159568e-04 9.99973797e-01 -2.78606581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1136.526559995 meters 0.01401569788841944 Centerline is valid? [True, True] Translation: X:-331.73, Y:-248.88, Z:-1.80 [[-9.63949174e-01 2.66003068e-01 6.66014797e-03 -3.31734800e+02] [ 2.65997438e-01 9.63972177e-01 -1.73358022e-03 -2.48879348e+02] [-6.88133500e-03 1.00499073e-04 -9.99976318e-01 -1.79884962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1136.556559995 meters 0.014199932897766774 Centerline is valid? [True, True] Translation: X:-331.73, Y:-248.85, Z:-1.80 [[-9.80191901e-01 1.97962670e-01 5.88377395e-03 -3.31728520e+02] [ 1.97959677e-01 9.80209556e-01 -1.09269835e-03 -2.48851359e+02] [-5.98364493e-03 9.36959112e-05 -9.99982094e-01 -1.79890004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1136.586559995 meters 0.014204687431601562 Centerline is valid? [True, True] Translation: X:-331.59, Y:-248.14, Z:-2.79 [[-9.72409014e-01 -2.33197875e-01 6.28185414e-03 -3.31591514e+02] [ 2.33192544e-01 -9.72429302e-01 -1.57833798e-03 -2.48139900e+02] [ 6.47672410e-03 -6.99085323e-05 9.99979024e-01 -2.78588919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1136.616559995 meters 0.014383293845644041 Centerline is valid? [True, True] Translation: X:-331.79, Y:-248.84, Z:-1.80 [[-9.80997663e-01 1.93911870e-01 6.46318766e-03 -3.31785590e+02] [ 1.93908345e-01 9.81018948e-01 -1.17362062e-03 -2.48839272e+02] [-6.56808853e-03 1.01946939e-04 -9.99978425e-01 -1.79898226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1136.646559995 meters 0.013949549349009481 Centerline is valid? [True, True] Translation: X:-331.78, Y:-248.81, Z:-1.80 [[-9.92372407e-01 1.23098924e-01 6.60762993e-03 -3.31780562e+02] [ 1.23096858e-01 9.92394400e-01 -7.20043958e-04 -2.48810080e+02] [-6.64601158e-03 9.88267292e-05 -9.99977910e-01 -1.79911723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1136.676559995 meters 0.014425031907571873 Centerline is valid? [True, True] Translation: X:-331.78, Y:-248.78, Z:-1.80 [[-9.98667112e-01 5.11535176e-02 6.87876928e-03 -3.31781543e+02] [ 5.11529555e-02 9.98690797e-01 -2.57747110e-04 -2.48781827e+02] [-6.88294825e-03 9.44658164e-05 -9.99976308e-01 -1.79831301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1136.7065599950001 meters 0.01349671465236767 Centerline is valid? [True, True] Translation: X:-331.75, Y:-248.07, Z:-2.79 [[-9.95690200e-01 -9.24917335e-02 6.80471652e-03 -3.31748828e+02] [ 9.24889101e-02 -9.95713448e-01 -7.29101612e-04 -2.48069034e+02] [ 6.84298362e-03 -9.65985156e-05 9.99976582e-01 -2.78595250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1136.736559995 meters 0.013219945920402196 Centerline is valid? [True, True] Translation: X:-331.85, Y:-248.77, Z:-1.80 [[-9.99042236e-01 4.31403354e-02 7.31590745e-03 -3.31853394e+02] [ 4.31397439e-02 9.99069020e-01 -2.38704598e-04 -2.48773073e+02] [-7.31939428e-03 7.71303982e-05 -9.99973210e-01 -1.79856935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1136.766559995 meters 0.012902948699096736 Centerline is valid? [True, True] Translation: X:-331.83, Y:-248.07, Z:-2.79 [[-9.95656622e-01 -9.28062211e-02 7.40921038e-03 -3.31827464e+02] [ 9.28031310e-02 -9.95684187e-01 -7.60527674e-04 -2.48072760e+02] [ 7.44781532e-03 -6.96264935e-05 9.99972262e-01 -2.78709365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1136.796559995 meters 0.012732177508818464 Centerline is valid? [True, True] Translation: X:-331.92, Y:-248.76, Z:-1.80 [[-9.99417241e-01 3.32794804e-02 7.59301089e-03 -3.31924380e+02] [ 3.32788437e-02 9.99446084e-01 -2.10218350e-04 -2.48763757e+02] [-7.59580095e-03 4.25907784e-05 -9.99971151e-01 -1.79745171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1136.826559995 meters 0.012613982806978207 Centerline is valid? [True, True] Translation: X:-331.93, Y:-248.73, Z:-1.80 [[-9.99199162e-01 -3.92121606e-02 7.96495521e-03 -3.31933454e+02] [-3.92106450e-02 9.99230907e-01 3.46419643e-04 -2.48733648e+02] [-7.97241328e-03 3.38311866e-05 -9.99968219e-01 -1.79713008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1136.856559995 meters 0.012439733251398553 Centerline is valid? [True, True] Translation: X:-331.96, Y:-248.05, Z:-2.79 [[-9.99721421e-01 -2.21879453e-02 8.04838924e-03 -3.31960647e+02] [ 2.21869947e-02 -9.99753817e-01 -2.07381658e-04 -2.48050632e+02] [ 8.05100924e-03 -2.87543161e-05 9.99967590e-01 -2.78689246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1136.886559995 meters 0.012439733251398553 Centerline is valid? [True, True] Translation: X:-332.02, Y:-248.73, Z:-1.80 [[-9.98843478e-01 -4.74052111e-02 8.02825400e-03 -3.32022923e+02] [-4.74035600e-02 9.98875741e-01 3.95930953e-04 -2.48733814e+02] [-8.03799735e-03 1.49052297e-05 -9.99967695e-01 -1.79790274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1136.916559995 meters 0.012413752084794682 Centerline is valid? [True, True] Translation: X:-332.03, Y:-248.70, Z:-1.80 [[-9.92717461e-01 -1.20234993e-01 7.45580719e-03 -3.32029712e+02] [-1.20231596e-01 9.92745459e-01 9.03760953e-04 -2.48704398e+02] [-7.51038243e-03 7.55680233e-07 -9.99971797e-01 -1.79908033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1136.9465599950001 meters 0.012458504980978934 Centerline is valid? [True, True] Translation: X:-332.05, Y:-248.68, Z:-1.80 [[-9.81404477e-01 -1.91822854e-01 7.01757118e-03 -3.32046258e+02] [-1.91817997e-01 9.81429566e-01 1.36497822e-03 -2.48677437e+02] [-7.14908586e-03 -6.50071298e-06 -9.99974445e-01 -1.79955172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1136.9765599950001 meters 0.012423063087868088 Centerline is valid? [True, True] Translation: X:-332.08, Y:-248.65, Z:-1.80 [[-9.64793723e-01 -2.62925146e-01 6.59087829e-03 -3.32076056e+02] [-2.62919105e-01 9.64816235e-01 1.78234369e-03 -2.48654125e+02] [-6.82760935e-03 -1.32738097e-05 -9.99976692e-01 -1.79968433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1137.006559995 meters 0.01254894703782494 Centerline is valid? [True, True] Translation: X:-332.12, Y:-248.64, Z:-1.80 [[-9.42748700e-01 -3.33444134e-01 6.31657055e-03 -3.32122638e+02] [-3.33436801e-01 9.42769860e-01 2.21147614e-03 -2.48637433e+02] [-6.69247608e-03 -2.13108142e-05 -9.99977605e-01 -1.79948462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1137.036559995 meters 0.012681398299737903 Centerline is valid? [True, True] Translation: X:-332.19, Y:-248.63, Z:-1.80 [[-9.14511305e-01 -4.04516960e-01 5.92478213e-03 -3.32185415e+02] [-4.04508747e-01 9.14530496e-01 2.57801327e-03 -2.48628238e+02] [-6.46124403e-03 -3.90039209e-05 -9.99979125e-01 -1.79922183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1137.066559995 meters 0.012906988646382534 Centerline is valid? [True, True] Translation: X:-332.25, Y:-248.63, Z:-1.80 [[-8.81475743e-01 -4.72194640e-01 5.72165762e-03 -3.32253559e+02] [-4.72185052e-01 8.81494311e-01 3.00951873e-03 -2.48627777e+02] [-6.46468725e-03 -4.88634467e-05 -9.99979103e-01 -1.79869707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1137.096559995 meters 0.013185436879519006 Centerline is valid? [True, True] Translation: X:-332.33, Y:-248.64, Z:-1.80 [[-8.43191257e-01 -5.37585675e-01 5.49050112e-03 -3.32329359e+02] [-5.37574727e-01 8.43209131e-01 3.43131745e-03 -2.48636968e+02] [-6.47426779e-03 -5.82977700e-05 -9.99979040e-01 -1.79840512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1137.126559995 meters 0.013348560179654453 Centerline is valid? [True, True] Translation: X:-332.41, Y:-248.66, Z:-1.80 [[-7.99810315e-01 -6.00227629e-01 5.50033136e-03 -3.32412415e+02] [-6.00214049e-01 7.99829225e-01 4.03824811e-03 -2.48657942e+02] [-6.82319386e-03 -7.15436640e-05 -9.99976719e-01 -1.79807723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1137.156559995 meters 0.013564240273360874 Centerline is valid? [True, True] Translation: X:-332.50, Y:-248.69, Z:-1.80 [[-7.51527505e-01 -6.59678604e-01 5.52711781e-03 -3.32495853e+02] [-6.59661607e-01 7.51547824e-01 4.73625612e-03 -2.48686812e+02] [-7.27830019e-03 -8.66006706e-05 -9.99973509e-01 -1.79767888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1137.1865599950002 meters 0.013910142979952968 Centerline is valid? [True, True] Translation: X:-332.59, Y:-248.73, Z:-1.80 [[-6.97876371e-01 -7.16194879e-01 5.78500920e-03 -3.32586650e+02] [-7.16171678e-01 6.97900338e-01 5.76605319e-03 -2.48729541e+02] [-8.16697765e-03 -1.19067470e-04 -9.99966643e-01 -1.79723858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1137.2165599950001 meters 0.014236133405412443 Centerline is valid? [True, True] Translation: X:-332.67, Y:-248.78, Z:-1.80 [[-6.40689046e-01 -7.67779953e-01 5.61160708e-03 -3.32672309e+02] [-7.67752359e-01 6.40713606e-01 6.51080901e-03 -2.48779197e+02] [-8.59430164e-03 -1.36920555e-04 -9.99963059e-01 -1.79699950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1137.246559995 meters 0.014426201644504555 Centerline is valid? [True, True] Translation: X:-332.76, Y:-248.84, Z:-1.80 [[-5.79810643e-01 -8.14733598e-01 5.36491492e-03 -3.32757418e+02] [-8.14701144e-01 5.79835443e-01 7.27362461e-03 -2.48840326e+02] [-9.03683417e-03 -1.53477363e-04 -9.99959155e-01 -1.79663577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1137.276559995 meters 0.014888289736170549 Centerline is valid? [True, True] Translation: X:-332.84, Y:-248.90, Z:-1.80 [[-5.14844658e-01 -8.57267668e-01 5.20804597e-03 -3.32835510e+02] [-8.57227338e-01 5.14870966e-01 8.31735276e-03 -2.48904343e+02] [-9.81166927e-03 -1.82334751e-04 -9.99951848e-01 -1.79607542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1137.306559995 meters 0.015754450089546748 Centerline is valid? [True, True] Translation: X:-332.91, Y:-248.98, Z:-1.80 [[-4.47002900e-01 -8.94519189e-01 4.88140469e-03 -3.32914766e+02] [-8.94470841e-01 4.47029504e-01 9.30249784e-03 -2.48982437e+02] [-1.05033947e-02 -2.08030645e-04 -9.99944816e-01 -1.79522157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1137.336559995 meters 0.01608271387738432 Centerline is valid? [True, True] Translation: X:-332.99, Y:-249.07, Z:-1.79 [[-3.76338246e-01 -9.26471970e-01 4.38328907e-03 -3.32985942e+02] [-9.26416148e-01 3.76363700e-01 1.01727962e-02 -2.49065227e+02] [-1.10745215e-02 -2.32337493e-04 -9.99938649e-01 -1.79468036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1137.366559995 meters 0.015401716586276691 Centerline is valid? [True, True] Translation: X:-333.05, Y:-249.16, Z:-1.79 [[-3.02884335e-01 -9.53019247e-01 3.92361313e-03 -3.33051161e+02] [-9.52950593e-01 3.02909625e-01 1.14423468e-02 -2.49158761e+02] [-1.20932769e-02 -2.73301846e-04 -9.99926836e-01 -1.79459884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1137.396559995 meters 0.015818091129755227 Centerline is valid? [True, True] Translation: X:-333.11, Y:-249.26, Z:-1.79 [[-2.28979300e-01 -9.73426444e-01 3.07210963e-03 -3.33110533e+02] [-9.73354418e-01 2.28999738e-01 1.18447232e-02 -2.49256971e+02] [-1.22334791e-02 -2.78055058e-04 -9.99925130e-01 -1.79391149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1137.426559995 meters 0.016540791405539254 Centerline is valid? [True, True] Translation: X:-333.16, Y:-249.36, Z:-1.79 [[-1.53894389e-01 -9.88084881e-01 2.18769056e-03 -3.33162391e+02] [-9.88009318e-01 1.53909682e-01 1.22228304e-02 -2.49359950e+02] [-1.24139007e-02 -2.80433643e-04 -9.99922905e-01 -1.79302921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1137.4565599950001 meters 0.01557224625625003 Centerline is valid? [True, True] Translation: X:-333.20, Y:-249.47, Z:-1.79 [[-7.84500137e-02 -9.96917263e-01 1.25190044e-03 -3.33203484e+02] [-9.96839847e-01 7.84595268e-02 1.24266458e-02 -2.49473892e+02] [-1.24865613e-02 -2.73073704e-04 -9.99922003e-01 -1.79394076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1137.486559995 meters 0.01528154353865783 Centerline is valid? [True, True] Translation: X:-333.24, Y:-249.58, Z:-1.79 [[-3.04829947e-03 -9.99995316e-01 2.74177712e-04 -3.33235886e+02] [-9.99927511e-01 3.05128625e-03 1.16473998e-02 -2.49581629e+02] [-1.16481819e-02 -2.38653074e-04 -9.99932129e-01 -1.79441678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1137.516559995 meters 0.014215752817065368 Centerline is valid? [True, True] Translation: X:-333.26, Y:-249.69, Z:-1.80 [[ 6.98402342e-02 -9.97558042e-01 -5.42528371e-04 -3.33256945e+02] [-9.97506356e-01 -6.98421390e-02 1.01560831e-02 -2.49692245e+02] [-1.01691737e-02 -1.68127723e-04 -9.99948279e-01 -1.79607746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1137.546559995 meters 0.013587582282010624 Centerline is valid? [True, True] Translation: X:-333.27, Y:-249.81, Z:-1.80 [[ 1.43949035e-01 -9.89584328e-01 -1.23818814e-03 -3.33271044e+02] [-9.89539192e-01 -1.43954297e-01 9.45244944e-03 -2.49810259e+02] [-9.53223833e-03 -1.35435290e-04 -9.99954558e-01 -1.79703824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1137.576559995 meters 0.013138432720480096 Centerline is valid? [True, True] Translation: X:-333.28, Y:-249.93, Z:-1.80 [[ 2.16950687e-01 -9.76180845e-01 -1.83247648e-03 -3.33277321e+02] [-9.76141909e-01 -2.16958401e-01 8.71931690e-03 -2.49925118e+02] [-8.90920131e-03 -1.02904706e-04 -9.99960307e-01 -1.79758440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1137.606559995 meters 0.01280309075514751 Centerline is valid? [True, True] Translation: X:-333.27, Y:-250.04, Z:-1.80 [[ 2.88901965e-01 -9.57355887e-01 -2.31509170e-03 -3.33274531e+02] [-9.57323041e-01 -2.88911231e-01 7.93069674e-03 -2.50042114e+02] [-8.26135521e-03 -7.49032447e-05 -9.99965872e-01 -1.79777151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1137.636559995 meters 0.012485421105489603 Centerline is valid? [True, True] Translation: X:-333.26, Y:-250.16, Z:-1.80 [[ 3.59343177e-01 -9.33201542e-01 -2.71354981e-03 -3.33261320e+02] [-9.33173845e-01 -3.59353419e-01 7.18995124e-03 -2.50162875e+02] [-7.68479699e-03 -5.14462151e-05 -9.99970470e-01 -1.79807485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1137.666559995 meters 0.012322626027310825 Centerline is valid? [True, True] Translation: X:-333.24, Y:-250.28, Z:-1.80 [[ 4.27789891e-01 -9.03872250e-01 -3.28108920e-03 -3.33241413e+02] [-9.03845055e-01 -4.27802472e-01 7.01154953e-03 -2.50276493e+02] [-7.74120312e-03 -3.38737658e-05 -9.99970036e-01 -1.79765679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1137.6965599950001 meters 0.012212032829837046 Centerline is valid? [True, True] Translation: X:-333.21, Y:-250.38, Z:-1.80 [[ 4.92477147e-01 -8.70315300e-01 -4.18790724e-03 -3.33214068e+02] [-8.70283761e-01 -4.92494953e-01 7.40921861e-03 -2.50381728e+02] [-8.51087949e-03 -4.20316981e-06 -9.99963782e-01 -1.79669657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1137.7265599950001 meters 0.012232152411115218 Centerline is valid? [True, True] Translation: X:-333.18, Y:-250.49, Z:-1.80 [[ 5.56320157e-01 -8.30952455e-01 -5.08923145e-03 -3.33176245e+02] [-8.30917852e-01 -5.56343434e-01 7.58331877e-03 -2.50492898e+02] [-9.13273785e-03 9.98017340e-06 -9.99958296e-01 -1.79621536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1137.756559995 meters 0.01229574896544358 Centerline is valid? [True, True] Translation: X:-333.14, Y:-250.59, Z:-1.80 [[ 6.17088330e-01 -7.86870487e-01 -6.06885537e-03 -3.33135872e+02] [-7.86832824e-01 -6.17118171e-01 7.69871198e-03 -2.50593364e+02] [-9.80309016e-03 2.43892906e-05 -9.99951948e-01 -1.79567886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1137.786559995 meters 0.012508995597891258 Centerline is valid? [True, True] Translation: X:-333.09, Y:-250.69, Z:-1.79 [[ 6.73933095e-01 -7.38752617e-01 -7.66511550e-03 -3.33087212e+02] [-7.38705665e-01 -6.73976682e-01 8.32900642e-03 -2.50690373e+02] [-1.13191844e-02 4.90711704e-05 -9.99935935e-01 -1.79436925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1137.816559995 meters 0.012508191798985607 Centerline is valid? [True, True] Translation: X:-333.03, Y:-250.78, Z:-1.79 [[ 7.28047291e-01 -6.85470949e-01 -8.75901974e-03 -3.33033783e+02] [-6.85422249e-01 -7.28099976e-01 8.17099547e-03 -2.50782859e+02] [-1.19784221e-02 5.47558914e-05 -9.99928255e-01 -1.79430923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1137.846559995 meters 0.012683482725022977 Centerline is valid? [True, True] Translation: X:-333.04, Y:-250.79, Z:-1.79 [[ 7.79064240e-01 -6.26871488e-01 -9.54190899e-03 -3.33035086e+02] [-6.26825453e-01 -7.79122669e-01 7.59720268e-03 -2.50787753e+02] [-1.21967874e-02 6.24025016e-05 -9.99925615e-01 -1.79393109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1137.876559995 meters 0.012666126587007344 Centerline is valid? [True, True] Translation: X:-333.03, Y:-250.79, Z:-1.79 [[ 8.25719473e-01 -5.63990798e-01 -1.00861903e-02 -3.33034527e+02] [-5.63949637e-01 -8.25781070e-01 6.81407725e-03 -2.50793176e+02] [-1.21720619e-02 6.15870795e-05 -9.99925916e-01 -1.79428588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1137.906559995 meters 0.012653082009756856 Centerline is valid? [True, True] Translation: X:-333.03, Y:-250.80, Z:-1.79 [[ 8.67432280e-01 -4.97448947e-01 -1.02851773e-02 -3.33034712e+02] [-4.97414748e-01 -8.67493252e-01 5.83319574e-03 -2.50797560e+02] [-1.18240390e-02 5.60966131e-05 -9.99930092e-01 -1.79430802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1137.9365599950002 meters 0.012359885025030578 Centerline is valid? [True, True] Translation: X:-333.03, Y:-250.80, Z:-1.80 [[ 9.04495189e-01 -4.26368736e-01 -9.90722812e-03 -3.33033789e+02] [-4.26343535e-01 -9.04549446e-01 4.63579079e-03 -2.50801903e+02] [-1.09381340e-02 3.08321862e-05 -9.99940177e-01 -1.79515680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1137.9665599950001 meters 0.012235360890563112 Centerline is valid? [True, True] Translation: X:-333.03, Y:-250.81, Z:-1.80 [[ 9.35535203e-01 -3.53104106e-01 -9.55896240e-03 -3.33031074e+02] [-3.53085839e-01 -9.35584037e-01 3.59167736e-03 -2.50805963e+02] [-1.02114487e-02 1.49936515e-05 -9.99947862e-01 -1.79548146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1137.996559995 meters 0.012200397599287536 Centerline is valid? [True, True] Translation: X:-333.03, Y:-250.81, Z:-1.80 [[ 9.60816597e-01 -2.77021575e-01 -9.51387495e-03 -3.33028516e+02] [-2.77007947e-01 -9.60863699e-01 2.74772686e-03 -2.50810070e+02] [-9.90271669e-03 -4.64260855e-06 -9.99950967e-01 -1.79591665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1138.026559995 meters 0.012187819852994917 Centerline is valid? [True, True] Translation: X:-333.03, Y:-250.81, Z:-1.80 [[ 9.79888949e-01 -1.99338242e-01 -9.05056091e-03 -3.33026336e+02] [-1.99329546e-01 -9.79930745e-01 1.86211745e-03 -2.50812583e+02] [-9.24011412e-03 -2.06241129e-05 -9.99957309e-01 -1.79601877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1138.056559995 meters 0.012655859805506037 Centerline is valid? [True, True] Translation: X:-333.02, Y:-250.82, Z:-1.80 [[ 9.93005358e-01 -1.17741703e-01 -8.78922180e-03 -3.33023498e+02] [-1.17736566e-01 -9.93044253e-01 1.10144941e-03 -2.50815706e+02] [-8.85777273e-03 -5.89323697e-05 -9.99960768e-01 -1.79598849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1138.086559995 meters 0.01314394469854039 Centerline is valid? [True, True] Translation: X:-333.02, Y:-250.82, Z:-1.80 [[ 9.99272324e-01 -3.71727760e-02 -8.54439601e-03 -3.33023641e+02] [-3.71707493e-02 -9.99308851e-01 3.95940772e-04 -2.50816359e+02] [-8.55320877e-03 -7.80510543e-05 -9.99963418e-01 -1.79596682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1138.116559995 meters 0.01397441476013062 Centerline is valid? [True, True] Translation: X:-333.02, Y:-250.82, Z:-1.80 [[ 9.99008127e-01 4.37309538e-02 -8.38843813e-03 -3.33023847e+02] [ 4.37302366e-02 -9.99043340e-01 -2.68988850e-04 -2.50816004e+02] [-8.39217638e-03 -9.81063366e-05 -9.99964780e-01 -1.79583949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1138.146559995 meters 0.014691255710869848 Centerline is valid? [True, True] Translation: X:-333.02, Y:-250.81, Z:-1.80 [[ 9.92243097e-01 1.24037622e-01 -8.26464992e-03 -3.33023798e+02] [ 1.24034294e-01 -9.92277509e-01 -9.16083229e-04 -2.50814819e+02] [-8.31445503e-03 -1.16122758e-04 -9.99965428e-01 -1.79560491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1138.176559995 meters 0.016680111441826278 Centerline is valid? [True, True] Translation: X:-333.02, Y:-250.81, Z:-1.80 [[ 9.78556025e-01 2.05836384e-01 -7.71294632e-03 -3.33024516e+02] [ 2.05831163e-01 -9.78586410e-01 -1.47334893e-03 -2.50814437e+02] [-7.85105327e-03 -1.45810238e-04 -9.99969170e-01 -1.79576643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1138.2065599950001 meters 0.015458089437818852 Centerline is valid? [True, True] Translation: X:-333.02, Y:-250.82, Z:-1.80 [[ 9.58765873e-01 2.84107486e-01 -7.13700303e-03 -3.33022767e+02] [ 2.84100815e-01 -9.58792424e-01 -1.95310091e-03 -2.50817074e+02] [-7.39779502e-03 -1.55061883e-04 -9.99972624e-01 -1.79763360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1138.236559995 meters 0.015486759572030339 Centerline is valid? [True, True] Translation: X:-333.02, Y:-250.82, Z:-1.80 [[ 9.32927699e-01 3.60005622e-01 -6.46995716e-03 -3.33019621e+02] [ 3.59998125e-01 -9.32950121e-01 -2.32857519e-03 -2.50824210e+02] [-6.87444748e-03 -1.56780154e-04 -9.99976359e-01 -1.79821790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1138.266559995 meters 0.015486759572030339 Centerline is valid? [True, True] Translation: X:-333.02, Y:-250.83, Z:-1.80 [[ 9.01894240e-01 4.31911441e-01 -6.26790446e-03 -3.33016374e+02] [ 4.31902213e-01 -9.01916006e-01 -2.82775928e-03 -2.50831442e+02] [-6.87446494e-03 -1.56781998e-04 -9.99976358e-01 -1.79821774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1138.296559995 meters 0.016460752867547352 Centerline is valid? [True, True] Translation: X:-333.01, Y:-250.84, Z:-1.80 [[ 8.63698691e-01 5.03978054e-01 -5.54006219e-03 -3.33012243e+02] [ 5.03968896e-01 -8.63716443e-01 -3.04250231e-03 -2.50839421e+02] [-6.31839720e-03 -1.64213768e-04 -9.99980025e-01 -1.79850645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1138.326559995 meters 0.016460752867547352 Centerline is valid? [True, True] Translation: X:-333.01, Y:-250.85, Z:-1.80 [[ 8.21581445e-01 5.70066663e-01 -5.28481161e-03 -3.33008068e+02] [ 5.70056144e-01 -8.21598426e-01 -3.46700097e-03 -2.50845932e+02] [-6.31841458e-03 -1.64215656e-04 -9.99980025e-01 -1.79850629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1138.356559995 meters 0.018643136160203803 Centerline is valid? [True, True] Translation: X:-333.00, Y:-250.85, Z:-1.80 [[ 7.73145198e-01 6.34211044e-01 -4.78069513e-03 -3.33002371e+02] [ 6.34200259e-01 -7.73159960e-01 -3.70252572e-03 -2.50854365e+02] [-6.04442476e-03 -1.69328104e-04 -9.99981718e-01 -1.79740775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1138.386559995 meters 0.019696525929738074 Centerline is valid? [True, True] Translation: X:-333.00, Y:-250.86, Z:-1.80 [[ 7.20702054e-01 6.93228549e-01 -4.76739171e-03 -3.33000571e+02] [ 6.93215051e-01 -7.20717798e-01 -4.32994274e-03 -2.50857319e+02] [-6.43758398e-03 -1.84229064e-04 -9.99979262e-01 -1.79679408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1138.416559995 meters 0.018902605740705205 Centerline is valid? [True, True] Translation: X:-333.00, Y:-250.86, Z:-1.80 [[ 6.64024625e-01 7.47698376e-01 -4.29375869e-03 -3.32998950e+02] [ 7.47684479e-01 -6.64038483e-01 -4.56219546e-03 -2.50857947e+02] [-6.26236714e-03 -1.80966598e-04 -9.99980375e-01 -1.79669372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1138.4465599950001 meters 0.018649481645866703 Centerline is valid? [True, True] Translation: X:-333.00, Y:-250.86, Z:-1.80 [[ 6.03417298e-01 7.97413888e-01 -4.31933977e-03 -3.32996490e+02] [ 7.97395781e-01 -6.03432724e-01 -5.37738073e-03 -2.50859777e+02] [-6.89442903e-03 -1.99418756e-04 -9.99976213e-01 -1.79630925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1138.4765599950001 meters 0.017536838291923276 Centerline is valid? [True, True] Translation: X:-332.99, Y:-250.86, Z:-1.80 [[ 5.38745047e-01 8.42457815e-01 -4.31335236e-03 -3.32992475e+02] [ 8.42434086e-01 -5.38762266e-01 -6.32707181e-03 -2.50862390e+02] [-7.65416259e-03 -2.25036453e-04 -9.99970681e-01 -1.79610097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1138.506559995 meters 0.019916799946649882 Centerline is valid? [True, True] Translation: X:-332.98, Y:-250.87, Z:-1.79 [[ 4.70923915e-01 8.82164590e-01 -4.03772782e-03 -3.32983973e+02] [ 8.82136436e-01 -4.70941163e-01 -7.05189542e-03 -2.50868349e+02] [-8.12246466e-03 -2.40920627e-04 -9.99966983e-01 -1.79478450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1138.536559995 meters 0.017726715459845273 Centerline is valid? [True, True] Translation: X:-332.98, Y:-250.87, Z:-1.79 [[ 3.99893531e-01 9.16553862e-01 -3.76586362e-03 -3.32980101e+02] [ 9.16519279e-01 -3.99911175e-01 -7.96644766e-03 -2.50869972e+02] [-8.80768932e-03 -2.65755718e-04 -9.99961176e-01 -1.79493516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1138.566559995 meters 0.01917490538646477 Centerline is valid? [True, True] Translation: X:-332.97, Y:-250.87, Z:-1.79 [[ 3.26803702e-01 9.45085909e-01 -3.45919944e-03 -3.32972011e+02] [ 9.45042119e-01 -3.26821877e-01 -9.10244454e-03 -2.50874267e+02] [-9.73313412e-03 -2.94376600e-04 -9.99952589e-01 -1.79362625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1138.596559995 meters 0.01917490538646477 Centerline is valid? [True, True] Translation: X:-332.97, Y:-250.88, Z:-1.79 [[ 2.51798421e-01 9.67775837e-01 -2.73581426e-03 -3.32968679e+02] [ 9.67730759e-01 -2.51813110e-01 -9.34538430e-03 -2.50876323e+02] [-9.73315101e-03 -2.94378605e-04 -9.99952589e-01 -1.79362610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1138.626559995 meters 0.017761235741628096 Centerline is valid? [True, True] Translation: X:-332.96, Y:-250.88, Z:-1.79 [[ 1.75786047e-01 9.84426034e-01 -2.15618134e-03 -3.32964234e+02] [ 9.84372202e-01 -1.75798994e-01 -1.02995742e-02 -2.50877939e+02] [-1.05182235e-02 -3.11963543e-04 -9.99944633e-01 -1.79332190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1138.656559995 meters 0.017688305188035342 Centerline is valid? [True, True] Translation: X:-332.96, Y:-250.88, Z:-1.79 [[ 9.86800779e-02 9.95118188e-01 -1.42661323e-03 -3.32958452e+02] [ 9.95056489e-01 -9.86898525e-02 -1.10858886e-02 -2.50879912e+02] [-1.11725616e-02 -3.25604404e-04 -9.99937532e-01 -1.79306567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1138.6865599950002 meters 0.017777993272886785 Centerline is valid? [True, True] Translation: X:-332.95, Y:-250.88, Z:-1.79 [[ 2.17149898e-02 9.99764033e-01 -5.81128214e-04 -3.32953215e+02] [ 9.99695484e-01 -2.17203086e-02 -1.17118438e-02 -2.50882214e+02] [-1.17217025e-02 -3.26628684e-04 -9.99931245e-01 -1.79252934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1138.7165599950001 meters 0.01792740318163864 Centerline is valid? [True, True] Translation: X:-332.95, Y:-250.88, Z:-1.79 [[-5.60115873e-02 9.98430063e-01 3.33397770e-04 -3.32949151e+02] [ 9.98363257e-01 5.60116977e-02 -1.15540896e-02 -2.50883052e+02] [-1.15546246e-02 -3.14310817e-04 -9.99933194e-01 -1.79236748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1138.746559995 meters 0.017938152946312444 Centerline is valid? [True, True] Translation: X:-332.95, Y:-250.89, Z:-1.79 [[-1.33556822e-01 9.91040419e-01 1.20937208e-03 -3.32945872e+02] [ 9.90976822e-01 1.33561957e-01 -1.12313211e-02 -2.50885480e+02] [-1.12922192e-02 -3.01559853e-04 -9.99936196e-01 -1.79258950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1138.776559995 meters 0.016905581467080284 Centerline is valid? [True, True] Translation: X:-332.94, Y:-250.89, Z:-1.79 [[-2.09915156e-01 9.77717525e-01 2.01713334e-03 -3.32941912e+02] [ 9.77658595e-01 2.09924658e-01 -1.07382295e-02 -2.50886629e+02] [-1.09224012e-02 -2.82049385e-04 -9.99940309e-01 -1.79362573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1138.806559995 meters 0.015922686597641993 Centerline is valid? [True, True] Translation: X:-332.94, Y:-250.89, Z:-1.79 [[-2.84638485e-01 9.58631153e-01 2.69168383e-03 -3.32936238e+02] [ 9.58579516e-01 2.84651100e-01 -9.95303321e-03 -2.50886296e+02] [-1.03074785e-02 -2.52823315e-04 -9.99946845e-01 -1.79466370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1138.836559995 meters 0.017044337384631694 Centerline is valid? [True, True] Translation: X:-332.93, Y:-250.89, Z:-1.79 [[-3.57509751e-01 9.33903773e-01 3.24369780e-03 -3.32927261e+02] [ 9.33859495e-01 3.57524396e-01 -9.09676085e-03 -2.50886365e+02] [-9.65520037e-03 -2.23022718e-04 -9.99953363e-01 -1.79395959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1138.866559995 meters 0.01520209453752571 Centerline is valid? [True, True] Translation: X:-332.92, Y:-250.89, Z:-1.80 [[-4.27125712e-01 9.04185172e-01 3.57778281e-03 -3.32924958e+02] [ 9.04149872e-01 4.27140659e-01 -7.99159506e-03 -2.50887427e+02] [-8.75409826e-03 -1.78563857e-04 -9.99961666e-01 -1.79629406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1138.896559995 meters 0.015133737526999595 Centerline is valid? [True, True] Translation: X:-332.92, Y:-250.89, Z:-1.80 [[-4.95632424e-01 8.68522294e-01 4.18622642e-03 -3.32919559e+02] [ 8.68488398e-01 4.95650074e-01 -7.67504889e-03 -2.50887939e+02] [-8.74085451e-03 -1.68314009e-04 -9.99961784e-01 -1.79659157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1138.926559995 meters 0.01429386779042397 Centerline is valid? [True, True] Translation: X:-332.91, Y:-250.89, Z:-1.80 [[-5.60903186e-01 8.27867262e-01 4.83868668e-03 -3.32913665e+02] [ 8.27834003e-01 5.60924034e-01 -7.42232093e-03 -2.50886424e+02] [-8.85883216e-03 -1.57574093e-04 -9.99960748e-01 -1.79696564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1138.9565599950001 meters 0.014026608837757656 Centerline is valid? [True, True] Translation: X:-332.91, Y:-250.88, Z:-1.80 [[-6.23112403e-01 7.82113145e-01 5.47376074e-03 -3.32907332e+02] [ 7.82080851e-01 6.23136427e-01 -7.10890626e-03 -2.50883915e+02] [-8.97086874e-03 -1.48724211e-04 -9.99959750e-01 -1.79651260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1138.986559995 meters 0.01405347655742183 Centerline is valid? [True, True] Translation: X:-332.90, Y:-250.88, Z:-1.80 [[-6.81533126e-01 7.31760577e-01 6.24952886e-03 -3.32900818e+02] [ 7.31727874e-01 6.81561764e-01 -6.91957306e-03 -2.50881965e+02] [-9.32291069e-03 -1.42963790e-04 -9.99956531e-01 -1.79593200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1139.016559995 meters 0.013601006646362518 Centerline is valid? [True, True] Translation: X:-332.90, Y:-250.88, Z:-1.80 [[-7.35286416e-01 6.77718261e-01 7.20036310e-03 -3.32896477e+02] [ 6.77684015e-01 7.35321659e-01 -6.81425165e-03 -2.50881358e+02] [-9.91272572e-03 -1.30855698e-04 -9.99950859e-01 -1.79520598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1139.046559995 meters 0.013610784491669733 Centerline is valid? [True, True] Translation: X:-332.41, Y:-250.38, Z:-2.79 [[-6.68883092e-01 -7.43338618e-01 6.56572047e-03 -3.32408200e+02] [ 7.43304481e-01 -6.68915306e-01 -7.12470334e-03 -2.50376364e+02] [ 9.68797805e-03 1.14735847e-04 9.99953064e-01 -2.78935383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1139.076559995 meters 0.013214428793421688 Centerline is valid? [True, True] Translation: X:-332.43, Y:-250.36, Z:-2.79 [[-6.69505386e-01 -7.42781288e-01 6.20455297e-03 -3.32426523e+02] [ 7.42750935e-01 -6.69534126e-01 -6.71590420e-03 -2.50355111e+02] [ 9.14260792e-03 1.12103487e-04 9.99958199e-01 -2.78814917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1139.106559995 meters 0.01330496372677534 Centerline is valid? [True, True] Translation: X:-332.45, Y:-250.33, Z:-2.79 [[-6.69957368e-01 -7.42378205e-01 5.63258515e-03 -3.32445360e+02] [ 7.42353205e-01 -6.69981038e-01 -6.09336075e-03 -2.50334931e+02] [ 8.29730346e-03 9.90757037e-05 9.99965572e-01 -2.78747910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1139.136559995 meters 0.013404116825973401 Centerline is valid? [True, True] Translation: X:-332.46, Y:-250.32, Z:-2.79 [[-6.69878368e-01 -7.42452919e-01 5.16097600e-03 -3.32463591e+02] [ 7.42431960e-01 -6.69898242e-01 -5.57946152e-03 -2.50316675e+02] [ 7.59981624e-03 9.41129531e-05 9.99971117e-01 -2.78676752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1139.166559995 meters 0.013483523651487975 Centerline is valid? [True, True] Translation: X:-332.48, Y:-250.30, Z:-2.79 [[-6.70008012e-01 -7.42335159e-01 5.27029471e-03 -3.32482700e+02] [ 7.42313326e-01 -6.70028733e-01 -5.69408652e-03 -2.50297659e+02] [ 7.75816950e-03 9.71264039e-05 9.99969900e-01 -2.78706119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1139.1965599950001 meters 0.013426433538882005 Centerline is valid? [True, True] Translation: X:-332.50, Y:-250.28, Z:-2.79 [[-6.69830547e-01 -7.42491610e-01 5.76608012e-03 -3.32502069e+02] [ 7.42465516e-01 -6.69855355e-01 -6.22583006e-03 -2.50278120e+02] [ 8.48506623e-03 1.10864496e-04 9.99963995e-01 -2.78746596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1139.2265599950001 meters 0.014209814800932596 Centerline is valid? [True, True] Translation: X:-332.52, Y:-250.26, Z:-2.79 [[-6.69788314e-01 -7.42527881e-01 5.99666542e-03 -3.32521598e+02] [ 7.42499687e-01 -6.69815148e-01 -6.47166242e-03 -2.50260799e+02] [ 8.82204711e-03 1.17878337e-04 9.99961078e-01 -2.78921652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1139.256559995 meters 0.01358355704539744 Centerline is valid? [True, True] Translation: X:-332.54, Y:-250.24, Z:-2.79 [[-6.69791778e-01 -7.42522383e-01 6.28362736e-03 -3.32539272e+02] [ 7.42491466e-01 -6.69821241e-01 -6.77708068e-03 -2.50240120e+02] [ 9.24104117e-03 1.26306768e-04 9.99957293e-01 -2.78850180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1139.286559995 meters 0.013833348124975154 Centerline is valid? [True, True] Translation: X:-332.56, Y:-250.22, Z:-2.79 [[-6.69931155e-01 -7.42392608e-01 6.74259798e-03 -3.32557964e+02] [ 7.42357050e-01 -6.69965071e-01 -7.26729297e-03 -2.50221215e+02] [ 9.91248972e-03 1.36829171e-04 9.99950861e-01 -2.78913772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1139.316559995 meters 0.013721818461176637 Centerline is valid? [True, True] Translation: X:-332.58, Y:-250.20, Z:-2.79 [[-6.70198379e-01 -7.42148420e-01 7.06085150e-03 -3.32576964e+02] [ 7.42109461e-01 -6.70235558e-01 -7.60556609e-03 -2.50201369e+02] [ 1.03768926e-02 1.42686636e-04 9.99946149e-01 -2.78935820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1139.346559995 meters 0.013908629537516409 Centerline is valid? [True, True] Translation: X:-332.60, Y:-250.18, Z:-2.79 [[-6.70408444e-01 -7.41954444e-01 7.49146696e-03 -3.32595722e+02] [ 7.41910634e-01 -6.70450282e-01 -8.06413315e-03 -2.50183467e+02] [ 1.10058756e-02 1.51736044e-04 9.99939422e-01 -2.79015635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1139.376559995 meters 0.01369259230939233 Centerline is valid? [True, True] Translation: X:-332.61, Y:-250.16, Z:-2.79 [[-6.70848565e-01 -7.41558353e-01 7.30832508e-03 -3.32614228e+02] [ 7.41516689e-01 -6.70888358e-01 -7.86207022e-03 -2.50163684e+02] [ 1.07332541e-02 1.44986486e-04 9.99942387e-01 -2.78981449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1139.406559995 meters 0.013785275982478001 Centerline is valid? [True, True] Translation: X:-332.63, Y:-250.15, Z:-2.79 [[-6.71322421e-01 -7.41129454e-01 7.30345530e-03 -3.32632914e+02] [ 7.41087875e-01 -6.71362132e-01 -7.85167938e-03 -2.50145243e+02] [ 1.07223742e-02 1.41493760e-04 9.99942504e-01 -2.78984313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1139.4365599950002 meters 0.0134990522330897 Centerline is valid? [True, True] Translation: X:-332.65, Y:-250.13, Z:-2.79 [[-6.71980028e-01 -7.40537894e-01 6.81690729e-03 -3.32651275e+02] [ 7.40501686e-01 -6.72014592e-01 -7.32399978e-03 -2.50125683e+02] [ 1.00047605e-02 1.26349768e-04 9.99949943e-01 -2.78900671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1139.4665599950001 meters 0.013255824646822647 Centerline is valid? [True, True] Translation: X:-332.67, Y:-250.11, Z:-2.79 [[-6.73363795e-01 -7.39286035e-01 6.11219723e-03 -3.32669867e+02] [ 7.39256913e-01 -6.73391528e-01 -6.56254218e-03 -2.50107251e+02] [ 8.96749761e-03 9.95057471e-05 9.99959786e-01 -2.78833921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1139.496559995 meters 0.01297593547602226 Centerline is valid? [True, True] Translation: X:-332.69, Y:-250.09, Z:-2.79 [[-6.74611157e-01 -7.38152063e-01 5.59631607e-03 -3.32688505e+02] [ 7.38127639e-01 -6.74634365e-01 -6.00527647e-03 -2.50086855e+02] [ 8.20827435e-03 7.95690515e-05 9.99966309e-01 -2.78763634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1139.526559995 meters 0.012627468979976525 Centerline is valid? [True, True] Translation: X:-332.71, Y:-250.07, Z:-2.79 [[-6.76128004e-01 -7.36763073e-01 5.57636907e-03 -3.32707016e+02] [ 7.36738803e-01 -6.76150996e-01 -5.98050082e-03 -2.50066164e+02] [ 8.17667967e-03 6.47433909e-05 9.99966568e-01 -2.78703872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1139.556559995 meters 0.01250112087657419 Centerline is valid? [True, True] Translation: X:-332.73, Y:-250.05, Z:-2.79 [[-6.77779886e-01 -7.35245629e-01 5.31905342e-03 -3.32725529e+02] [ 7.35223525e-01 -6.77800755e-01 -5.70133640e-03 -2.50045572e+02] [ 7.79714109e-03 4.64420725e-05 9.99969601e-01 -2.78676225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1139.586559995 meters 0.012512277122973104 Centerline is valid? [True, True] Translation: X:-332.74, Y:-250.03, Z:-2.79 [[-6.79677291e-01 -7.33494428e-01 4.97034792e-03 -3.32743605e+02] [ 7.33475106e-01 -6.79695463e-01 -5.32404753e-03 -2.50026338e+02] [ 7.28348213e-03 2.69922660e-05 9.99973475e-01 -2.78758001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1139.616559995 meters 0.01228965026043364 Centerline is valid? [True, True] Translation: X:-332.76, Y:-250.00, Z:-2.79 [[-6.81582474e-01 -7.31726142e-01 4.70996675e-03 -3.32762192e+02] [ 7.31708769e-01 -6.81598747e-01 -5.04229574e-03 -2.50004729e+02] [ 6.89988705e-03 9.58357279e-06 9.99976196e-01 -2.78622419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1139.646559995 meters 0.01231311217125354 Centerline is valid? [True, True] Translation: X:-332.78, Y:-249.98, Z:-2.79 [[-6.84977754e-01 -7.28551824e-01 4.20906745e-03 -3.32779024e+02] [ 7.28537908e-01 -6.84990686e-01 -4.50306507e-03 -2.49984931e+02] [ 6.16388827e-03 -1.80342068e-05 9.99981003e-01 -2.78550161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1139.676559995 meters 0.012475061132256849 Centerline is valid? [True, True] Translation: X:-332.80, Y:-249.96, Z:-2.78 [[-6.86584398e-01 -7.27038799e-01 4.05581873e-03 -3.32798278e+02] [ 7.27025866e-01 -6.86596376e-01 -4.33665257e-03 -2.49964197e+02] [ 5.93762512e-03 -2.87928672e-05 9.99982372e-01 -2.78494817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1139.7065599950001 meters 0.012608000677886397 Centerline is valid? [True, True] Translation: X:-332.82, Y:-249.94, Z:-2.79 [[-6.87921746e-01 -7.25774396e-01 3.89837501e-03 -3.32816874e+02] [ 7.25762441e-01 -6.87932791e-01 -4.16581752e-03 -2.49944249e+02] [ 5.70526370e-03 -3.64622984e-05 9.99983724e-01 -2.78518559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1139.736559995 meters 0.012802434641298628 Centerline is valid? [True, True] Translation: X:-332.83, Y:-249.93, Z:-2.79 [[-6.88998048e-01 -7.24751788e-01 4.06640815e-03 -3.32834584e+02] [ 7.24738776e-01 -6.89010046e-01 -4.34327634e-03 -2.49925282e+02] [ 5.94959336e-03 -4.54252582e-05 9.99982300e-01 -2.78565705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1139.766559995 meters 0.012766314442967256 Centerline is valid? [True, True] Translation: X:-332.85, Y:-249.91, Z:-2.79 [[-6.89943401e-01 -7.23851517e-01 4.13348657e-03 -3.32853811e+02] [ 7.23838071e-01 -6.89955781e-01 -4.41215641e-03 -2.49905931e+02] [ 6.04566907e-03 -5.21632526e-05 9.99981724e-01 -2.78598900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1139.796559995 meters 0.01302106824604422 Centerline is valid? [True, True] Translation: X:-332.87, Y:-249.89, Z:-2.79 [[-6.90697079e-01 -7.23129687e-01 4.58269287e-03 -3.32872949e+02] [ 7.23113166e-01 -6.90712279e-01 -4.88859030e-03 -2.49886421e+02] [ 6.70040700e-03 -6.27294914e-05 9.99977550e-01 -2.78655534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1139.826559995 meters 0.013084535974347375 Centerline is valid? [True, True] Translation: X:-332.89, Y:-249.87, Z:-2.79 [[-6.91010074e-01 -7.22826680e-01 5.16427318e-03 -3.32891791e+02] [ 7.22805717e-01 -6.91029367e-01 -5.50538738e-03 -2.49868137e+02] [ 7.54810531e-03 -7.15119564e-05 9.99971510e-01 -2.78749002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1139.856559995 meters 0.013123682888211525 Centerline is valid? [True, True] Translation: X:-332.91, Y:-249.85, Z:-2.79 [[-6.91117438e-01 -7.22723184e-01 5.28078004e-03 -3.32910449e+02] [ 7.22701290e-01 -6.91137609e-01 -5.62595764e-03 -2.49849775e+02] [ 7.71575571e-03 -7.17708833e-05 9.99970231e-01 -2.78813183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1139.886559995 meters 0.012937029885324254 Centerline is valid? [True, True] Translation: X:-332.93, Y:-249.83, Z:-2.79 [[-6.90980668e-01 -7.22854398e-01 5.21870793e-03 -3.32930680e+02] [ 7.22833046e-01 -6.91000372e-01 -5.55636001e-03 -2.49831039e+02] [ 7.62256840e-03 -6.70828083e-05 9.99970946e-01 -2.78804490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1139.916559995 meters 0.01289315973994484 Centerline is valid? [True, True] Translation: X:-332.95, Y:-249.81, Z:-2.79 [[-6.90907462e-01 -7.22923625e-01 5.32078478e-03 -3.32951478e+02] [ 7.22901455e-01 -6.90927947e-01 -5.66207442e-03 -2.49811365e+02] [ 7.76952627e-03 -6.55664109e-05 9.99969815e-01 -2.78831022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1139.9465599950001 meters 0.012912087061786311 Centerline is valid? [True, True] Translation: X:-332.97, Y:-249.79, Z:-2.79 [[-6.90844434e-01 -7.22983038e-01 5.43092659e-03 -3.32971464e+02] [ 7.22959971e-01 -6.90865778e-01 -5.77564494e-03 -2.49792548e+02] [ 7.92773465e-03 -6.37296291e-05 9.99968573e-01 -2.78864076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1139.9765599950001 meters 0.012789855546269796 Centerline is valid? [True, True] Translation: X:-332.99, Y:-249.77, Z:-2.79 [[-6.90508847e-01 -7.23302338e-01 5.59103788e-03 -3.32992089e+02] [ 7.23277932e-01 -6.90531480e-01 -5.94220545e-03 -2.49774267e+02] [ 8.15879875e-03 -5.92711243e-05 9.99966715e-01 -2.78951162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1140.006559995 meters 0.012822269104434193 Centerline is valid? [True, True] Translation: X:-333.01, Y:-249.75, Z:-2.79 [[-6.90722244e-01 -7.23097827e-01 5.68458047e-03 -3.33012281e+02] [ 7.23072618e-01 -6.90745633e-01 -6.03825038e-03 -2.49754331e+02] [ 8.29284486e-03 -6.03893694e-05 9.99965612e-01 -2.78984945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1140.036559995 meters 0.01270755006104698 Centerline is valid? [True, True] Translation: X:-333.03, Y:-249.74, Z:-2.79 [[-6.90526141e-01 -7.23282089e-01 6.05539968e-03 -3.33030526e+02] [ 7.23253528e-01 -6.90552689e-01 -6.42791066e-03 -2.49736048e+02] [ 8.83076518e-03 -5.90511581e-05 9.99961006e-01 -2.79031497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1140.066559995 meters 0.012684979954092417 Centerline is valid? [True, True] Translation: X:-333.05, Y:-249.72, Z:-2.79 [[-6.90163730e-01 -7.23624905e-01 6.40494072e-03 -3.33048963e+02] [ 7.23592996e-01 -6.90193447e-01 -6.79567993e-03 -2.49717674e+02] [ 9.33817136e-03 -5.55615618e-05 9.99956397e-01 -2.79057362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1140.096559995 meters 0.012845949672404783 Centerline is valid? [True, True] Translation: X:-333.07, Y:-249.70, Z:-2.79 [[-6.89679808e-01 -7.24084312e-01 6.60852777e-03 -3.33067869e+02] [ 7.24050407e-01 -6.89711467e-01 -7.00716168e-03 -2.49698805e+02] [ 9.63175323e-03 -4.77906995e-05 9.99953613e-01 -2.79182086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1140.126559995 meters 0.012619308066365659 Centerline is valid? [True, True] Translation: X:-333.09, Y:-249.68, Z:-2.79 [[-6.89213832e-01 -7.24526443e-01 6.76226724e-03 -3.33088046e+02] [ 7.24491007e-01 -6.89247004e-01 -7.16576514e-03 -2.49680594e+02] [ 9.85265876e-03 -3.95426438e-05 9.99951461e-01 -2.79102982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1140.156559995 meters 0.012291640785021133 Centerline is valid? [True, True] Translation: X:-333.11, Y:-249.66, Z:-2.79 [[-6.87350541e-01 -7.26298310e-01 6.32443186e-03 -3.33110509e+02] [ 7.26267425e-01 -6.87379636e-01 -6.69802193e-03 -2.49662860e+02] [ 9.21204768e-03 -1.06601537e-05 9.99957568e-01 -2.79014068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1140.1865599950002 meters 0.012316852523210393 Centerline is valid? [True, True] Translation: X:-333.13, Y:-249.64, Z:-2.79 [[-6.86377298e-01 -7.27222256e-01 5.83052418e-03 -3.33131082e+02] [ 7.27196069e-01 -6.86402062e-01 -6.17144906e-03 -2.49643680e+02] [ 8.49009892e-03 3.99173280e-06 9.99963959e-01 -2.78960884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1140.2165599950001 meters 0.012316852523210393 Centerline is valid? [True, True] Translation: X:-333.15, Y:-249.62, Z:-2.79 [[-6.86582560e-01 -7.27028454e-01 5.83226616e-03 -3.33150071e+02] [ 7.27002274e-01 -6.86607331e-01 -6.16980284e-03 -2.49623678e+02] [ 8.49009892e-03 3.99173218e-06 9.99963959e-01 -2.78960867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1140.246559995 meters 0.012245698269515708 Centerline is valid? [True, True] Translation: X:-333.17, Y:-249.60, Z:-2.79 [[-6.85660654e-01 -7.27899157e-01 5.68204572e-03 -3.33170645e+02] [ 7.27874366e-01 -6.85684197e-01 -6.00749504e-03 -2.49604388e+02] [ 8.26893952e-03 1.67124512e-05 9.99965812e-01 -2.78932974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1140.276559995 meters 0.012289909822627062 Centerline is valid? [True, True] Translation: X:-333.19, Y:-249.59, Z:-2.79 [[-6.84744768e-01 -7.28762203e-01 5.50044729e-03 -3.33190638e+02] [ 7.28739027e-01 -6.84766859e-01 -5.81203339e-03 -2.49585663e+02] [ 8.00211427e-03 2.86311466e-05 9.99967982e-01 -2.78937495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1140.306559995 meters 0.012439838396423923 Centerline is valid? [True, True] Translation: X:-333.21, Y:-249.57, Z:-2.79 [[-6.83741557e-01 -7.29704425e-01 5.37918114e-03 -3.33211254e+02] [ 7.29682314e-01 -6.83762715e-01 -5.68069761e-03 -2.49565883e+02] [ 7.82331368e-03 4.09643100e-05 9.99969397e-01 -2.78918327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1140.336559995 meters 0.01264010129386732 Centerline is valid? [True, True] Translation: X:-333.23, Y:-249.55, Z:-2.79 [[-6.82857556e-01 -7.30531804e-01 5.37040506e-03 -3.33230572e+02] [ 7.30509820e-01 -6.82878672e-01 -5.66766783e-03 -2.49548077e+02] [ 7.80774668e-03 5.29238307e-05 9.99969518e-01 -2.78940731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1140.366559995 meters 0.01292267084252693 Centerline is valid? [True, True] Translation: X:-333.25, Y:-249.53, Z:-2.79 [[-6.80795605e-01 -7.32451697e-01 5.64410343e-03 -3.33252361e+02] [ 7.32427508e-01 -6.80818996e-01 -5.95318107e-03 -2.49529853e+02] [ 8.20303041e-03 8.09971037e-05 9.99966351e-01 -2.78979739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1140.396559995 meters 0.013343182652014807 Centerline is valid? [True, True] Translation: X:-333.27, Y:-249.51, Z:-2.79 [[-6.79972753e-01 -7.33215089e-01 5.71732200e-03 -3.33271910e+02] [ 7.33190325e-01 -6.79996782e-01 -6.02686418e-03 -2.49512920e+02] [ 8.30674833e-03 9.37817500e-05 9.99965494e-01 -2.79077964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1140.426559995 meters 0.013289488689692769 Centerline is valid? [True, True] Translation: X:-333.29, Y:-249.49, Z:-2.79 [[-6.79305878e-01 -7.33832019e-01 5.83880301e-03 -3.33291118e+02] [ 7.33806244e-01 -6.79330962e-01 -6.15146398e-03 -2.49493054e+02] [ 8.48062090e-03 1.05824462e-04 9.99964033e-01 -2.79041044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1140.4565599950001 meters 0.013394450139295175 Centerline is valid? [True, True] Translation: X:-333.31, Y:-249.47, Z:-2.79 [[-6.78935834e-01 -7.34173778e-01 5.91586554e-03 -3.33311388e+02] [ 7.34147360e-01 -6.78961598e-01 -6.22916452e-03 -2.49472980e+02] [ 8.58993477e-03 1.13914064e-04 9.99963100e-01 -2.79092768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1140.486559995 meters 0.013337368857705222 Centerline is valid? [True, True] Translation: X:-333.33, Y:-249.45, Z:-2.79 [[-6.78603196e-01 -7.34478567e-01 6.23997223e-03 -3.33330614e+02] [ 7.34449222e-01 -6.78631873e-01 -6.56668059e-03 -2.49452526e+02] [ 9.05773019e-03 1.26772318e-04 9.99958970e-01 -2.79075666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1140.516559995 meters 0.01371936469246385 Centerline is valid? [True, True] Translation: X:-333.35, Y:-249.43, Z:-2.79 [[-6.78538304e-01 -7.34536055e-01 6.52327166e-03 -3.33349495e+02] [ 7.34504018e-01 -6.78569646e-01 -6.86165017e-03 -2.49433815e+02] [ 9.46662359e-03 1.35476770e-04 9.99955182e-01 -2.79160498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1140.546559995 meters 0.013485840620378612 Centerline is valid? [True, True] Translation: X:-333.37, Y:-249.41, Z:-2.79 [[-6.78479818e-01 -7.34585378e-01 7.03272177e-03 -3.33368428e+02] [ 7.34548187e-01 -6.78516249e-01 -7.39331220e-03 -2.49412891e+02] [ 1.02028350e-02 1.49659902e-04 9.99947939e-01 -2.79151064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1140.576559995 meters 0.014103026807609588 Centerline is valid? [True, True] Translation: X:-333.39, Y:-249.39, Z:-2.79 [[-6.78414638e-01 -7.34644454e-01 7.14882140e-03 -3.33388305e+02] [ 7.34606075e-01 -6.78452284e-01 -7.51084869e-03 -2.49393879e+02] [ 1.03679375e-02 1.56097934e-04 9.99946240e-01 -2.79255074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1140.606559995 meters 0.013610945584521604 Centerline is valid? [True, True] Translation: X:-333.41, Y:-249.37, Z:-2.79 [[-6.78490616e-01 -7.34571197e-01 7.45931861e-03 -3.33407254e+02] [ 7.34529455e-01 -6.78531599e-01 -7.83261838e-03 -2.49372835e+02] [ 1.08149992e-02 1.64731164e-04 9.99941503e-01 -2.79210600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1140.636559995 meters 0.013556529112888295 Centerline is valid? [True, True] Translation: X:-333.43, Y:-249.35, Z:-2.79 [[-6.78780801e-01 -7.34302495e-01 7.51461583e-03 -3.33426079e+02] [ 7.34260165e-01 -6.78822376e-01 -7.88614713e-03 -2.49352234e+02] [ 1.08919069e-02 1.64717794e-04 9.99940668e-01 -2.79194183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1140.666559995 meters 0.013872072361638978 Centerline is valid? [True, True] Translation: X:-333.45, Y:-249.33, Z:-2.79 [[-6.79059559e-01 -7.34041996e-01 7.77576597e-03 -3.33445148e+02] [ 7.33996712e-01 -6.79104056e-01 -8.15526450e-03 -2.49332803e+02] [ 1.12668608e-02 1.69476340e-04 9.99936513e-01 -2.79273097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1140.6965599950001 meters 0.01363896888794281 Centerline is valid? [True, True] Translation: X:-333.46, Y:-249.31, Z:-2.79 [[-6.79708653e-01 -7.33440709e-01 7.80220812e-03 -3.33463610e+02] [ 7.33395128e-01 -6.79753412e-01 -8.17840333e-03 -2.49311677e+02] [ 1.13019515e-02 1.63169913e-04 9.99936118e-01 -2.79281251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1140.7265599950001 meters 0.013336507465365457 Centerline is valid? [True, True] Translation: X:-333.48, Y:-249.29, Z:-2.79 [[-6.81019640e-01 -7.32222597e-01 7.89415379e-03 -3.33481087e+02] [ 7.32175908e-01 -6.81065376e-01 -8.27009331e-03 -2.49289097e+02] [ 1.14319840e-02 1.47813243e-04 9.99934642e-01 -2.79253217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1140.756559995 meters 0.01321291169826699 Centerline is valid? [True, True] Translation: X:-333.50, Y:-249.27, Z:-2.79 [[-6.81742065e-01 -7.31551830e-01 7.72510487e-03 -3.33499456e+02] [ 7.31507127e-01 -6.81785818e-01 -8.08843883e-03 -2.49267760e+02] [ 1.11839792e-02 1.36740281e-04 9.99937448e-01 -2.79229117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1140.786559995 meters 0.013194959560195927 Centerline is valid? [True, True] Translation: X:-333.52, Y:-249.25, Z:-2.79 [[-6.82431995e-01 -7.30912991e-01 7.26439669e-03 -3.33517632e+02] [ 7.30873470e-01 -6.82470647e-01 -7.60178567e-03 -2.49246881e+02] [ 1.05139814e-02 1.21653050e-04 9.99944719e-01 -2.79162330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1140.816559995 meters 0.013001473542909127 Centerline is valid? [True, True] Translation: X:-333.54, Y:-249.23, Z:-2.79 [[-6.83209721e-01 -7.30188280e-01 7.03935563e-03 -3.33535914e+02] [ 7.30151178e-01 -6.83245976e-01 -7.36166965e-03 -2.49226302e+02] [ 1.01850163e-02 1.10229531e-04 9.99948125e-01 -2.79126261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1140.846559995 meters 0.012998765516929342 Centerline is valid? [True, True] Translation: X:-333.55, Y:-249.21, Z:-2.79 [[-6.83595549e-01 -7.29827604e-01 6.98525668e-03 -3.33554520e+02] [ 7.29791095e-01 -6.83631229e-01 -7.30077711e-03 -2.49205706e+02] [ 1.01036483e-02 1.06999388e-04 9.99948951e-01 -2.79109496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1140.876559995 meters 0.01298175205161474 Centerline is valid? [True, True] Translation: X:-333.57, Y:-249.19, Z:-2.79 [[-6.83954589e-01 -7.29490927e-01 7.00776520e-03 -3.33572897e+02] [ 7.29454210e-01 -6.83990480e-01 -7.31972994e-03 -2.49185771e+02] [ 1.01329213e-02 1.05480952e-04 9.99948655e-01 -2.79117484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1140.906559995 meters 0.012934496634343002 Centerline is valid? [True, True] Translation: X:-333.59, Y:-249.17, Z:-2.79 [[-6.84074885e-01 -7.29378383e-01 6.98043341e-03 -3.33590990e+02] [ 7.29341993e-01 -6.84110490e-01 -7.28661396e-03 -2.49165763e+02] [ 1.00900864e-02 1.06533614e-04 9.99949088e-01 -2.79112732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1140.9365599950002 meters 0.012845280770720415 Centerline is valid? [True, True] Translation: X:-333.61, Y:-249.14, Z:-2.79 [[-6.84003166e-01 -7.29443273e-01 7.22358043e-03 -3.33608345e+02] [ 7.29404351e-01 -6.84041299e-01 -7.53614838e-03 -2.49144136e+02] [ 1.04384201e-02 1.14161639e-04 9.99945512e-01 -2.79044621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1140.9665599950001 meters 0.012910474396585396 Centerline is valid? [True, True] Translation: X:-333.63, Y:-249.12, Z:-2.79 [[-6.83961993e-01 -7.29483286e-01 7.08006034e-03 -3.33627063e+02] [ 7.29445941e-01 -6.83998627e-01 -7.38225542e-03 -2.49123462e+02] [ 1.02279835e-02 1.15339151e-04 9.99947686e-01 -2.79064418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1140.996559995 meters 0.013187222666311772 Centerline is valid? [True, True] Translation: X:-333.64, Y:-249.10, Z:-2.79 [[-6.83859749e-01 -7.29572691e-01 7.71567335e-03 -3.33644827e+02] [ 7.29528404e-01 -6.83903262e-01 -8.03965617e-03 -2.49104421e+02] [ 1.11422878e-02 1.30805619e-04 9.99937914e-01 -2.79117639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1141.026559995 meters 0.0131863989584122 Centerline is valid? [True, True] Translation: X:-333.66, Y:-249.08, Z:-2.79 [[-6.83869084e-01 -7.29561801e-01 7.91551244e-03 -3.33663257e+02] [ 7.29515249e-01 -6.83914878e-01 -8.24269801e-03 -2.49083969e+02] [ 1.14270943e-02 1.37560683e-04 9.99934699e-01 -2.79132219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1141.056559995 meters 0.01325030072224052 Centerline is valid? [True, True] Translation: X:-333.68, Y:-249.06, Z:-2.79 [[-6.83634123e-01 -7.29780948e-01 8.00957094e-03 -3.33681542e+02] [ 7.29733359e-01 -6.83681027e-01 -8.33541875e-03 -2.49064285e+02] [ 1.15590215e-02 1.46474413e-04 9.99933182e-01 -2.79154584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1141.086559995 meters 0.013540776972780659 Centerline is valid? [True, True] Translation: X:-333.70, Y:-249.05, Z:-2.79 [[-6.83184436e-01 -7.30198645e-01 8.30459278e-03 -3.33699727e+02] [ 7.30147565e-01 -6.83234889e-01 -8.63825747e-03 -2.49045248e+02] [ 1.19816314e-02 1.62055149e-04 9.99928205e-01 -2.79162393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1141.116559995 meters 0.013932122020815046 Centerline is valid? [True, True] Translation: X:-333.72, Y:-249.03, Z:-2.79 [[-6.82317190e-01 -7.31013482e-01 7.90828246e-03 -3.33717735e+02] [ 7.30967274e-01 -6.82362997e-01 -8.22096654e-03 -2.49025202e+02] [ 1.14059567e-02 1.71388880e-04 9.99934935e-01 -2.79110826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1141.146559995 meters 0.013885136486228156 Centerline is valid? [True, True] Translation: X:-333.74, Y:-249.00, Z:-2.79 [[-6.81915329e-01 -7.31391855e-01 7.57886930e-03 -3.33736205e+02] [ 7.31349494e-01 -6.81957421e-01 -7.87358793e-03 -2.49004544e+02] [ 1.09271442e-02 1.73681929e-04 9.99940282e-01 -2.79012760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1141.176559995 meters 0.013961014987345581 Centerline is valid? [True, True] Translation: X:-333.76, Y:-248.98, Z:-2.79 [[-6.81363823e-01 -7.31907268e-01 7.42237542e-03 -3.33755461e+02] [ 7.31866715e-01 -6.81404225e-01 -7.70667179e-03 -2.48983470e+02] [ 1.06982071e-02 1.81142160e-04 9.99942756e-01 -2.78944727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1141.2065599950001 meters 0.014262659957945885 Centerline is valid? [True, True] Translation: X:-333.77, Y:-248.96, Z:-2.79 [[-6.80753826e-01 -7.32477761e-01 7.11037335e-03 -3.33774243e+02] [ 7.32440625e-01 -6.80790933e-01 -7.37807984e-03 -2.48963658e+02] [ 1.02449571e-02 1.85270219e-04 9.99947502e-01 -2.78888278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1141.236559995 meters 0.014503545866234858 Centerline is valid? [True, True] Translation: X:-333.79, Y:-248.94, Z:-2.79 [[-6.80551119e-01 -7.32665805e-01 7.14090246e-03 -3.33793144e+02] [ 7.32628407e-01 -6.80588555e-01 -7.40512154e-03 -2.48943533e+02] [ 1.02854958e-02 1.92064240e-04 9.99947085e-01 -2.78841490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1141.266559995 meters 0.014660723762671241 Centerline is valid? [True, True] Translation: X:-333.81, Y:-248.92, Z:-2.79 [[-6.80312290e-01 -7.32890898e-01 6.79110175e-03 -3.33811458e+02] [ 7.32857129e-01 -6.80346159e-01 -7.03795596e-03 -2.48923510e+02] [ 9.77835385e-03 1.88899393e-04 9.99952173e-01 -2.78825840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1141.296559995 meters 0.015039167380382508 Centerline is valid? [True, True] Translation: X:-333.83, Y:-248.90, Z:-2.79 [[-6.79693647e-01 -7.33465380e-01 6.71441794e-03 -3.33830318e+02] [ 7.33432435e-01 -6.79726781e-01 -6.95460982e-03 -2.48902168e+02] [ 9.66493523e-03 1.97567785e-04 9.99953274e-01 -2.78803255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1141.326559995 meters 0.015267476220159368 Centerline is valid? [True, True] Translation: X:-333.85, Y:-248.88, Z:-2.79 [[-6.79260586e-01 -7.33867142e-01 6.63884470e-03 -3.33849107e+02] [ 7.33834994e-01 -6.79292997e-01 -6.87203643e-03 -2.48882008e+02] [ 9.55288245e-03 2.03913073e-04 9.99954350e-01 -2.78789405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1141.356559995 meters 0.015179336505819428 Centerline is valid? [True, True] Translation: X:-333.87, Y:-248.86, Z:-2.79 [[-6.78717552e-01 -7.34369339e-01 6.64517588e-03 -3.33867888e+02] [ 7.34337191e-01 -6.78750049e-01 -6.87469771e-03 -2.48861000e+02] [ 9.55898067e-03 2.13821786e-04 9.99954289e-01 -2.78728248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1141.386559995 meters 0.015864995818323565 Centerline is valid? [True, True] Translation: X:-333.89, Y:-248.84, Z:-2.79 [[-6.78018871e-01 -7.35013429e-01 6.75791984e-03 -3.33886730e+02] [ 7.34980241e-01 -6.78052510e-01 -6.98845485e-03 -2.48842142e+02] [ 9.71883268e-03 2.28633288e-04 9.99952745e-01 -2.78752160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1141.416559995 meters 0.01647901159253261 Centerline is valid? [True, True] Translation: X:-333.91, Y:-248.82, Z:-2.79 [[-6.77357435e-01 -7.35621219e-01 6.95181282e-03 -3.33906443e+02] [ 7.35586171e-01 -6.77393063e-01 -7.18498741e-03 -2.48822146e+02] [ 9.99453898e-03 2.46852728e-04 9.99950023e-01 -2.78758024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1141.4465599950001 meters 0.0166431905212988 Centerline is valid? [True, True] Translation: X:-333.93, Y:-248.80, Z:-2.79 [[-6.77009609e-01 -7.35938972e-01 7.19851126e-03 -3.33925490e+02] [ 7.35901453e-01 -6.77047827e-01 -7.43583353e-03 -2.48801952e+02] [ 1.03460561e-02 2.63264141e-04 9.99946444e-01 -2.78757084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1141.4765599950001 meters 0.016809393673158868 Centerline is valid? [True, True] Translation: X:-333.94, Y:-248.78, Z:-2.79 [[-6.76820719e-01 -7.36111559e-01 7.31350719e-03 -3.33944043e+02] [ 7.36072891e-01 -6.76860176e-01 -7.54990918e-03 -2.48782334e+02] [ 1.05077972e-02 2.73339427e-04 9.99944754e-01 -2.78730545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1141.506559995 meters 0.017555518000701462 Centerline is valid? [True, True] Translation: X:-333.96, Y:-248.76, Z:-2.79 [[-6.76633024e-01 -7.36287400e-01 6.97249483e-03 -3.33962536e+02] [ 7.36252310e-01 -6.76668896e-01 -7.19317038e-03 -2.48763717e+02] [ 1.00143111e-02 2.66378797e-04 9.99949820e-01 -2.78738407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1141.536559995 meters 0.016267747354086304 Centerline is valid? [True, True] Translation: X:-333.98, Y:-248.74, Z:-2.79 [[-6.76693905e-01 -7.36231248e-01 6.99344864e-03 -3.33979999e+02] [ 7.36195985e-01 -6.76729989e-01 -7.21067391e-03 -2.48741242e+02] [ 1.00413999e-02 2.69129722e-04 9.99949548e-01 -2.78623022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1141.566559995 meters 0.017008994789422725 Centerline is valid? [True, True] Translation: X:-334.00, Y:-248.72, Z:-2.79 [[-6.77113522e-01 -7.35851455e-01 6.31782759e-03 -3.33998585e+02] [ 7.35822695e-01 -6.77142953e-01 -6.51022816e-03 -2.48722137e+02] [ 9.06863330e-03 2.40637406e-04 9.99958850e-01 -2.78622097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1141.596559995 meters 0.017732361176286727 Centerline is valid? [True, True] Translation: X:-334.02, Y:-248.70, Z:-2.79 [[-6.77551134e-01 -7.35450612e-01 6.07114270e-03 -3.34017044e+02] [ 7.35424074e-01 -6.77578295e-01 -6.25192375e-03 -2.48703674e+02] [ 8.71165566e-03 2.28866469e-04 9.99962027e-01 -2.78601640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1141.626559995 meters 0.015724188080570408 Centerline is valid? [True, True] Translation: X:-334.03, Y:-248.68, Z:-2.78 [[-6.78357679e-01 -7.34708980e-01 5.79438110e-03 -3.34033542e+02] [ 7.34684807e-01 -6.78382393e-01 -5.96348787e-03 -2.48680521e+02] [ 8.31223421e-03 2.11665971e-04 9.99965431e-01 -2.78426348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1141.656559995 meters 0.01574134225283571 Centerline is valid? [True, True] Translation: X:-334.05, Y:-248.66, Z:-2.78 [[-6.79326768e-01 -7.33814912e-01 5.55133610e-03 -3.34052234e+02] [ 7.33792722e-01 -6.79349422e-01 -5.71001575e-03 -2.48660561e+02] [ 7.96139167e-03 1.94563479e-04 9.99968289e-01 -2.78407894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1141.6865599950002 meters 0.01710784054185339 Centerline is valid? [True, True] Translation: X:-334.07, Y:-248.64, Z:-2.78 [[-6.80313489e-01 -7.32904860e-01 4.90128571e-03 -3.34072707e+02] [ 7.32887554e-01 -6.80331125e-01 -5.03928925e-03 -2.48642439e+02] [ 7.02781681e-03 1.63794844e-04 9.99975291e-01 -2.78429588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1141.7165599950001 meters 0.015387923187053775 Centerline is valid? [True, True] Translation: X:-334.09, Y:-248.62, Z:-2.78 [[-6.81590341e-01 -7.31717792e-01 4.86626151e-03 -3.34089898e+02] [ 7.31700721e-01 -6.81607695e-01 -5.00049732e-03 -2.48619942e+02] [ 6.97583414e-03 1.52356387e-04 9.99975657e-01 -2.78319554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1141.746559995 meters 0.014416882915004745 Centerline is valid? [True, True] Translation: X:-334.11, Y:-248.60, Z:-2.78 [[-6.83549893e-01 -7.29888811e-01 4.67628135e-03 -3.34107250e+02] [ 7.29873022e-01 -6.83565876e-01 -4.80256007e-03 -2.48597777e+02] [ 6.70188122e-03 1.30302178e-04 9.99977534e-01 -2.78221304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1141.776559995 meters 0.014308004182539571 Centerline is valid? [True, True] Translation: X:-334.13, Y:-248.58, Z:-2.78 [[-6.84307823e-01 -7.29177974e-01 4.72080047e-03 -3.34126629e+02] [ 7.29161885e-01 -6.84324095e-01 -4.84554252e-03 -2.48577410e+02] [ 6.76382039e-03 1.26385118e-04 9.99977117e-01 -2.78220210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1141.806559995 meters 0.014481521630396763 Centerline is valid? [True, True] Translation: X:-334.15, Y:-248.56, Z:-2.78 [[-6.84948387e-01 -7.28574172e-01 5.03813230e-03 -3.34146017e+02] [ 7.28555855e-01 -6.84966903e-01 -5.16799523e-03 -2.48558120e+02] [ 7.21622173e-03 1.30750795e-04 9.99973954e-01 -2.78283224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1141.836559995 meters 0.014040673503096863 Centerline is valid? [True, True] Translation: X:-334.17, Y:-248.54, Z:-2.78 [[-6.85296524e-01 -7.28245599e-01 5.19817330e-03 -3.34165899e+02] [ 7.28226112e-01 -6.85316226e-01 -5.32914966e-03 -2.48537935e+02] [ 7.44332230e-03 1.33397793e-04 9.99972289e-01 -2.78268410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1141.866559995 meters 0.013878228024723252 Centerline is valid? [True, True] Translation: X:-334.19, Y:-248.52, Z:-2.78 [[-6.85743274e-01 -7.27822996e-01 5.46342056e-03 -3.34185947e+02] [ 7.27801481e-01 -6.85765024e-01 -5.59789465e-03 -2.48517740e+02] [ 7.82089918e-03 1.37566970e-04 9.99969407e-01 -2.78301447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1141.896559995 meters 0.013966268547985721 Centerline is valid? [True, True] Translation: X:-334.21, Y:-248.50, Z:-2.78 [[-6.86628861e-01 -7.26980353e-01 6.35397753e-03 -3.34206101e+02] [ 7.26951252e-01 -6.86658243e-01 -6.50646895e-03 -2.48499097e+02] [ 9.09308615e-03 1.51502558e-04 9.99958646e-01 -2.78451509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1141.926559995 meters 0.013966268547985721 Centerline is valid? [True, True] Translation: X:-334.22, Y:-248.48, Z:-2.78 [[-6.86856565e-01 -7.26765203e-01 6.35601549e-03 -3.34224878e+02] [ 7.26736111e-01 -6.86885956e-01 -6.50447813e-03 -2.48480020e+02] [ 9.09308615e-03 1.51502478e-04 9.99958646e-01 -2.78451493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1141.9565599950001 meters 0.013589370779092398 Centerline is valid? [True, True] Translation: X:-334.24, Y:-248.46, Z:-2.79 [[-6.87997453e-01 -7.25680474e-01 6.88155732e-03 -3.34244430e+02] [ 7.25646359e-01 -6.88031851e-01 -7.03810820e-03 -2.48460329e+02] [ 9.84214831e-03 1.51376503e-04 9.99951554e-01 -2.78521034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1141.986559995 meters 0.01329415388555776 Centerline is valid? [True, True] Translation: X:-334.26, Y:-248.44, Z:-2.79 [[-6.88938642e-01 -7.24781467e-01 7.44131364e-03 -3.34263900e+02] [ 7.24741569e-01 -6.88978811e-01 -7.60629252e-03 -2.48439709e+02] [ 1.06398073e-02 1.52760484e-04 9.99943384e-01 -2.78534711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1142.016559995 meters 0.013121994772550513 Centerline is valid? [True, True] Translation: X:-334.28, Y:-248.42, Z:-2.79 [[-6.90055998e-01 -7.23717449e-01 7.46822384e-03 -3.34282461e+02] [ 7.23677248e-01 -6.90096395e-01 -7.62933892e-03 -2.48420627e+02] [ 1.06752801e-02 1.39912592e-04 9.99943008e-01 -2.78572861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1142.046559995 meters 0.012764900512440952 Centerline is valid? [True, True] Translation: X:-334.30, Y:-248.40, Z:-2.79 [[-6.91380051e-01 -7.22447781e-01 7.92648198e-03 -3.34301110e+02] [ 7.22402463e-01 -6.91425474e-01 -8.09288725e-03 -2.48400214e+02] [ 1.13272600e-02 1.30849316e-04 9.99935836e-01 -2.78521735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1142.076559995 meters 0.012764900512440952 Centerline is valid? [True, True] Translation: X:-334.32, Y:-248.38, Z:-2.79 [[-6.91584510e-01 -7.22252034e-01 7.92877249e-03 -3.34320465e+02] [ 7.22206728e-01 -6.91629947e-01 -8.09064320e-03 -2.48380552e+02] [ 1.13272600e-02 1.30849321e-04 9.99935836e-01 -2.78521718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1142.106559995 meters 0.01267892592798658 Centerline is valid? [True, True] Translation: X:-334.34, Y:-248.36, Z:-2.79 [[-6.93051898e-01 -7.20845035e-01 7.84235982e-03 -3.34337963e+02] [ 7.20800682e-01 -6.93096258e-01 -7.99713093e-03 -2.48361503e+02] [ 1.12002024e-02 1.10351534e-04 9.99937270e-01 -2.78537047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1142.136559995 meters 0.01258025905388978 Centerline is valid? [True, True] Translation: X:-334.36, Y:-248.34, Z:-2.79 [[-6.94590508e-01 -7.19361419e-01 7.94827664e-03 -3.34356204e+02] [ 7.19315823e-01 -6.94635977e-01 -8.09978816e-03 -2.48342362e+02] [ 1.13478340e-02 9.12851741e-05 9.99935607e-01 -2.78565374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1142.166559995 meters 0.012195479063707996 Centerline is valid? [True, True] Translation: X:-334.37, Y:-248.32, Z:-2.79 [[-6.97081919e-01 -7.16950981e-01 7.62166910e-03 -3.34373923e+02] [ 7.16908963e-01 -6.97123582e-01 -7.76211474e-03 -2.48321360e+02] [ 1.08783010e-02 5.32130594e-05 9.99940828e-01 -2.78518457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1142.1965599950001 meters 0.0122281829677856 Centerline is valid? [True, True] Translation: X:-334.39, Y:-248.30, Z:-2.79 [[-6.98190412e-01 -7.15870147e-01 7.75126178e-03 -3.34391940e+02] [ 7.15826678e-01 -6.98233436e-01 -7.88894121e-03 -2.48302452e+02] [ 1.10596477e-02 4.05768588e-05 9.99938840e-01 -2.78502853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1142.2265599950001 meters 0.01210220335339614 Centerline is valid? [True, True] Translation: X:-334.41, Y:-248.28, Z:-2.78 [[-6.99117048e-01 -7.14966996e-01 7.58603789e-03 -3.34410823e+02] [ 7.14925359e-01 -6.99158204e-01 -7.71603912e-03 -2.48282786e+02] [ 1.08205539e-02 2.90363650e-05 9.99941456e-01 -2.78494650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1142.256559995 meters 0.012138830912321078 Centerline is valid? [True, True] Translation: X:-334.43, Y:-248.26, Z:-2.78 [[-7.00027297e-01 -7.14077022e-01 7.46933751e-03 -3.34429905e+02] [ 7.14036655e-01 -7.00067145e-01 -7.59270408e-03 -2.48263379e+02] [ 1.06508133e-02 1.82806541e-05 9.99943279e-01 -2.78495069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1142.286559995 meters 0.012033907531142226 Centerline is valid? [True, True] Translation: X:-334.45, Y:-248.24, Z:-2.78 [[-7.00477842e-01 -7.13638059e-01 7.17727317e-03 -3.34449128e+02] [ 7.13600810e-01 -7.00514611e-01 -7.29129617e-03 -2.48243956e+02] [ 1.02311312e-02 1.43165396e-05 9.99947661e-01 -2.78452282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1142.316559995 meters 0.011977760355529794 Centerline is valid? [True, True] Translation: X:-334.47, Y:-248.22, Z:-2.78 [[-7.00801753e-01 -7.13323376e-01 6.83119165e-03 -3.34468521e+02] [ 7.13289659e-01 -7.00835046e-01 -6.93542312e-03 -2.48224617e+02] [ 9.73473795e-03 1.22616833e-05 9.99952616e-01 -2.78414868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1142.346559995 meters 0.012000646165128736 Centerline is valid? [True, True] Translation: X:-334.49, Y:-248.21, Z:-2.78 [[-7.00788299e-01 -7.13340161e-01 6.44785861e-03 -3.34487863e+02] [ 7.13310152e-01 -7.00817961e-01 -6.54311445e-03 -2.48206593e+02] [ 9.18624144e-03 1.39849630e-05 9.99957806e-01 -2.78365135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1142.376559995 meters 0.012033058719578993 Centerline is valid? [True, True] Translation: X:-334.51, Y:-248.19, Z:-2.78 [[-7.00645230e-01 -7.13482271e-01 6.26976455e-03 -3.34506647e+02] [ 7.13453939e-01 -7.00673282e-01 -6.35835165e-03 -2.48188788e+02] [ 8.92962768e-03 1.82394564e-05 9.99960130e-01 -2.78368928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1142.406559995 meters 0.012013276793931417 Centerline is valid? [True, True] Translation: X:-334.53, Y:-248.17, Z:-2.78 [[-7.00309089e-01 -7.13811621e-01 6.33630302e-03 -3.34526477e+02] [ 7.13782734e-01 -7.00337753e-01 -6.42185771e-03 -2.48170181e+02] [ 9.02154889e-03 2.54583620e-05 9.99959305e-01 -2.78324293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1142.4365599950002 meters 0.012080517163092589 Centerline is valid? [True, True] Translation: X:-334.55, Y:-248.15, Z:-2.78 [[-6.99835915e-01 -7.14275590e-01 6.33033616e-03 -3.34546336e+02] [ 7.14246812e-01 -6.99864544e-01 -6.41180421e-03 -2.48151568e+02] [ 9.01017307e-03 3.42115583e-05 9.99959407e-01 -2.78318833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1142.4665599950001 meters 0.012314577441844877 Centerline is valid? [True, True] Translation: X:-334.57, Y:-248.13, Z:-2.78 [[-6.98550848e-01 -7.15528907e-01 6.71545295e-03 -3.34567013e+02] [ 7.15496621e-01 -6.98583124e-01 -6.79742821e-03 -2.48134595e+02] [ 9.55505847e-03 5.65346521e-05 9.99954348e-01 -2.78396953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1142.496559995 meters 0.012414096721247065 Centerline is valid? [True, True] Translation: X:-334.59, Y:-248.12, Z:-2.78 [[-6.98125671e-01 -7.15941146e-01 6.98736148e-03 -3.34587119e+02] [ 7.15906256e-01 -6.98160634e-01 -7.06842653e-03 -2.48115694e+02] [ 9.93887811e-03 6.76457839e-05 9.99950606e-01 -2.78380572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1142.526559995 meters 0.012425960355843608 Centerline is valid? [True, True] Translation: X:-334.61, Y:-248.10, Z:-2.78 [[-6.97750980e-01 -7.16304267e-01 7.19486702e-03 -3.34607715e+02] [ 7.16267335e-01 -6.97788070e-01 -7.27422219e-03 -2.48095919e+02] [ 1.02310488e-02 7.78525651e-05 9.99947659e-01 -2.78361979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1142.556559995 meters 0.012551224210950533 Centerline is valid? [True, True] Translation: X:-334.63, Y:-248.08, Z:-2.78 [[-6.97412825e-01 -7.16633682e-01 7.17758455e-03 -3.34627514e+02] [ 7.16596986e-01 -6.97449754e-01 -7.25265182e-03 -2.48076653e+02] [ 1.02034991e-02 8.53430597e-05 9.99947940e-01 -2.78351444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1142.586559995 meters 0.012675468892773213 Centerline is valid? [True, True] Translation: X:-334.65, Y:-248.06, Z:-2.78 [[-6.97169292e-01 -7.16869198e-01 7.31651202e-03 -3.34647042e+02] [ 7.16831126e-01 -6.97207677e-01 -7.38863182e-03 -2.48057941e+02] [ 1.03978109e-02 9.35763410e-05 9.99945937e-01 -2.78349565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1142.616559995 meters 0.013191400780719271 Centerline is valid? [True, True] Translation: X:-334.67, Y:-248.04, Z:-2.79 [[-6.96813016e-01 -7.17216104e-01 7.25820815e-03 -3.34666721e+02] [ 7.17178692e-01 -6.96850809e-01 -7.32620642e-03 -2.48040551e+02] [ 1.03123614e-02 1.00436245e-04 9.99946821e-01 -2.78505801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1142.646559995 meters 0.013448835526378187 Centerline is valid? [True, True] Translation: X:-334.69, Y:-248.02, Z:-2.79 [[-6.96586725e-01 -7.17435928e-01 7.25422298e-03 -3.34686363e+02] [ 7.17398613e-01 -6.96624488e-01 -7.31792611e-03 -2.48022057e+02] [ 1.03036125e-02 1.06599322e-04 9.99946911e-01 -2.78516622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1142.676559995 meters 0.013021021270178628 Centerline is valid? [True, True] Translation: X:-334.71, Y:-248.00, Z:-2.78 [[-6.95365236e-01 -7.18621940e-01 7.04958102e-03 -3.34705868e+02] [ 7.18586802e-01 -6.95400958e-01 -7.10746105e-03 -2.48001956e+02] [ 1.00098628e-02 1.23454545e-04 9.99949893e-01 -2.78343628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1142.7065599950001 meters 0.013544225687902865 Centerline is valid? [True, True] Translation: X:-334.73, Y:-247.98, Z:-2.78 [[-6.94702609e-01 -7.19260282e-01 7.27540974e-03 -3.34725887e+02] [ 7.19222937e-01 -6.94740691e-01 -7.33076990e-03 -2.47984209e+02] [ 1.03272548e-02 1.39936578e-04 9.99946663e-01 -2.78416829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1142.736559995 meters 0.014191152913121171 Centerline is valid? [True, True] Translation: X:-334.75, Y:-247.97, Z:-2.79 [[-6.93913950e-01 -7.20016533e-01 7.72153095e-03 -3.34746687e+02] [ 7.19974563e-01 -6.93956890e-01 -7.77579056e-03 -2.47966281e+02] [ 1.09571074e-02 1.63576329e-04 9.99939956e-01 -2.78532968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1142.766559995 meters 0.013840084664953832 Centerline is valid? [True, True] Translation: X:-334.77, Y:-247.95, Z:-2.78 [[-6.93050281e-01 -7.20844511e-01 8.03113405e-03 -3.34766158e+02] [ 7.20799216e-01 -6.93096787e-01 -8.08298436e-03 -2.47945961e+02] [ 1.13929281e-02 1.86920545e-04 9.99935081e-01 -2.78476844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1142.796559995 meters 0.014316737166792978 Centerline is valid? [True, True] Translation: X:-334.79, Y:-247.93, Z:-2.79 [[-6.92041991e-01 -7.21808357e-01 8.40112648e-03 -3.34786130e+02] [ 7.21758923e-01 -6.92092948e-01 -8.45031126e-03 -2.47928083e+02] [ 1.19138657e-02 2.15617776e-04 9.99929004e-01 -2.78537446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1142.826559995 meters 0.014823972029719242 Centerline is valid? [True, True] Translation: X:-334.81, Y:-247.91, Z:-2.79 [[-6.91251043e-01 -7.22563287e-01 8.61929051e-03 -3.34805909e+02] [ 7.22511355e-01 -6.91304737e-01 -8.66619592e-03 -2.47909718e+02] [ 1.22204314e-02 2.37018302e-04 9.99925300e-01 -2.78576102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1142.856559995 meters 0.015280004680306054 Centerline is valid? [True, True] Translation: X:-334.83, Y:-247.89, Z:-2.78 [[-6.89941961e-01 -7.23814681e-01 8.50871245e-03 -3.34825976e+02] [ 7.23764225e-01 -6.89994377e-01 -8.55023297e-03 -2.47890090e+02] [ 1.20597479e-02 2.59137171e-04 9.99927245e-01 -2.78473549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1142.886559995 meters 0.015668436329520592 Centerline is valid? [True, True] Translation: X:-334.85, Y:-247.87, Z:-2.78 [[-6.89738285e-01 -7.24008318e-01 8.54718083e-03 -3.34845182e+02] [ 7.23957470e-01 -6.89791189e-01 -8.58470570e-03 -2.47872009e+02] [ 1.21111684e-02 2.66595227e-04 9.99926622e-01 -2.78457809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1142.916559995 meters 0.017174126531690696 Centerline is valid? [True, True] Translation: X:-334.87, Y:-247.86, Z:-2.79 [[-6.89752567e-01 -7.23998158e-01 8.25010727e-03 -3.34866051e+02] [ 7.23950846e-01 -6.89801855e-01 -8.28089480e-03 -2.47855111e+02] [ 1.16862919e-02 2.60903691e-04 9.99931679e-01 -2.78570685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1142.9465599950001 meters 0.01591040638092273 Centerline is valid? [True, True] Translation: X:-334.88, Y:-247.83, Z:-2.78 [[-6.90068430e-01 -7.23698359e-01 8.13931053e-03 -3.34883771e+02] [ 7.23652346e-01 -6.90116382e-01 -8.16462255e-03 -2.47834192e+02] [ 1.15257955e-02 2.55882896e-04 9.99933543e-01 -2.78440027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1142.9765599950001 meters 0.015341221801538615 Centerline is valid? [True, True] Translation: X:-334.90, Y:-247.81, Z:-2.78 [[-6.90886854e-01 -7.22920731e-01 7.80845210e-03 -3.34902147e+02] [ 7.22878388e-01 -6.90930938e-01 -7.82781358e-03 -2.47814131e+02] [ 1.10539898e-02 2.36427778e-04 9.99938875e-01 -2.78433708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1143.006559995 meters 0.014726840940200457 Centerline is valid? [True, True] Translation: X:-334.92, Y:-247.79, Z:-2.78 [[-6.91934477e-01 -7.21920965e-01 7.53665494e-03 -3.34920757e+02] [ 7.21881505e-01 -6.91975487e-01 -7.55105042e-03 -2.47792903e+02] [ 1.06664421e-02 2.15739693e-04 9.99943089e-01 -2.78354532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1143.036559995 meters 0.014069493441670529 Centerline is valid? [True, True] Translation: X:-334.94, Y:-247.77, Z:-2.78 [[-6.94475091e-01 -7.19482065e-01 7.06443741e-03 -3.34938294e+02] [ 7.19447309e-01 -6.94511000e-01 -7.07393941e-03 -2.47771095e+02] [ 9.99590203e-03 1.69815770e-04 9.99950026e-01 -2.78293736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1143.066559995 meters 0.013795815146278333 Centerline is valid? [True, True] Translation: X:-334.96, Y:-247.75, Z:-2.78 [[-6.95940027e-01 -7.18066721e-01 6.90383920e-03 -3.34956947e+02] [ 7.18033495e-01 -6.95974254e-01 -6.90924975e-03 -2.47749994e+02] [ 9.76619664e-03 1.48764334e-04 9.99952299e-01 -2.78255742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1143.096559995 meters 0.01355630245210085 Centerline is valid? [True, True] Translation: X:-334.97, Y:-247.73, Z:-2.78 [[-6.97406040e-01 -7.16643397e-01 6.85978997e-03 -3.34974712e+02] [ 7.16610569e-01 -6.97439764e-01 -6.86063232e-03 -2.47730258e+02] [ 9.70091715e-03 1.31151576e-04 9.99952937e-01 -2.78245861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1143.126559995 meters 0.013167740594928524 Centerline is valid? [True, True] Translation: X:-334.99, Y:-247.71, Z:-2.78 [[-6.98819966e-01 -7.15269319e-01 6.36058051e-03 -3.34993165e+02] [ 7.15241072e-01 -6.98848904e-01 -6.35759332e-03 -2.47709433e+02] [ 8.99247616e-03 1.06535271e-04 9.99959561e-01 -2.78213577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1143.156559995 meters 0.013067929459400943 Centerline is valid? [True, True] Translation: X:-335.49, Y:-248.20, Z:-1.80 [[-7.62344248e-01 6.47139752e-01 6.43345731e-03 -3.35487461e+02] [ 6.47115718e-01 7.62371389e-01 -5.57795528e-03 -2.48204716e+02] [-8.51440038e-03 -8.91307775e-05 -9.99963748e-01 -1.80280122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1143.1865599950002 meters 0.012810087662320476 Centerline is valid? [True, True] Translation: X:-335.02, Y:-247.68, Z:-2.78 [[-7.03300362e-01 -7.10869235e-01 5.79062713e-03 -3.35019702e+02] [ 7.10845903e-01 -7.03324197e-01 -5.75979124e-03 -2.47684492e+02] [ 8.16714657e-03 6.53803080e-05 9.99966646e-01 -2.78182793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1143.2165599950001 meters 0.012778348373740886 Centerline is valid? [True, True] Translation: X:-335.51, Y:-248.19, Z:-1.80 [[-7.62686641e-01 6.46733123e-01 6.73463829e-03 -3.35514837e+02] [ 6.46707128e-01 7.62716372e-01 -5.79889925e-03 -2.48185528e+02] [-8.88695911e-03 -6.74044080e-05 -9.99960508e-01 -1.80210032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1143.246559995 meters 0.0127650596342462 Centerline is valid? [True, True] Translation: X:-335.50, Y:-248.17, Z:-1.80 [[-8.06221955e-01 5.91567292e-01 7.36880693e-03 -3.35497118e+02] [ 5.91541848e-01 8.06255627e-01 -5.48696008e-03 -2.48165221e+02] [-9.18704816e-03 -6.47500120e-05 -9.99957796e-01 -1.80189244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1143.276559995 meters 0.01277479962692987 Centerline is valid? [True, True] Translation: X:-335.48, Y:-248.14, Z:-1.80 [[-8.46023905e-01 5.33082566e-01 8.15655524e-03 -3.35478479e+02] [ 5.33057025e-01 8.46063221e-01 -5.21872538e-03 -2.48144495e+02] [-9.68297291e-03 -6.72573573e-05 -9.99953117e-01 -1.80124033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1143.306559995 meters 0.013005280464444005 Centerline is valid? [True, True] Translation: X:-335.47, Y:-248.12, Z:-1.80 [[-8.81639754e-01 4.71827586e-01 9.49071177e-03 -3.35465238e+02] [ 4.71799333e-01 8.81690832e-01 -5.16393728e-03 -2.48119178e+02] [-1.08043616e-02 -7.50209092e-05 -9.99941629e-01 -1.79907869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1143.336559995 meters 0.013096539027148996 Centerline is valid? [True, True] Translation: X:-335.45, Y:-248.10, Z:-1.80 [[-9.12831135e-01 4.08203155e-01 1.04644128e-02 -3.35449912e+02] [ 4.08175335e-01 9.12891110e-01 -4.76628351e-03 -2.48095864e+02] [-1.14984813e-02 -7.94967995e-05 -9.99933887e-01 -1.79823055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1143.366559995 meters 0.013093696564938721 Centerline is valid? [True, True] Translation: X:-335.15, Y:-247.46, Z:-2.79 [[-8.76976282e-01 -4.80415989e-01 1.06338504e-02 -3.35151942e+02] [ 4.80382297e-01 -8.77040742e-01 -5.69078754e-03 -2.47457902e+02] [ 1.20602653e-02 1.17627760e-04 9.99927266e-01 -2.78750752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1143.396559995 meters 0.012845939934818673 Centerline is valid? [True, True] Translation: X:-335.49, Y:-248.08, Z:-1.80 [[-9.13791937e-01 4.06034694e-01 1.09600765e-02 -3.35492547e+02] [ 4.06004604e-01 9.13857660e-01 -4.94356513e-03 -2.48079225e+02] [-1.20232088e-02 -6.75484579e-05 -9.99927717e-01 -1.79822117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1143.426559995 meters 0.012753181179075269 Centerline is valid? [True, True] Translation: X:-335.48, Y:-248.06, Z:-1.80 [[-9.39866739e-01 3.41363961e-01 1.10072292e-02 -3.35478837e+02] [ 3.41339883e-01 9.39931191e-01 -4.05478991e-03 -2.48055737e+02] [-1.17301972e-02 -5.37558395e-05 -9.99931198e-01 -1.79813136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1143.4565599950001 meters 0.012661411323582545 Centerline is valid? [True, True] Translation: X:-335.47, Y:-248.03, Z:-1.80 [[-9.61315264e-01 2.75236333e-01 1.08592917e-02 -3.35467790e+02] [ 2.75218347e-01 9.61376596e-01 -3.14672065e-03 -2.48031713e+02] [-1.13059608e-02 -3.63142768e-05 -9.99936085e-01 -1.79930130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1143.486559995 meters 0.012619578415158357 Centerline is valid? [True, True] Translation: X:-335.46, Y:-248.01, Z:-1.80 [[-9.78039664e-01 2.08167257e-01 1.02376492e-02 -3.35460954e+02] [ 2.08155701e-01 9.78093244e-01 -2.19342703e-03 -2.48006418e+02] [-1.04699752e-02 -1.42335852e-05 -9.99945188e-01 -1.79979409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1143.516559995 meters 0.012507163518134877 Centerline is valid? [True, True] Translation: X:-335.46, Y:-247.98, Z:-1.80 [[-9.90092336e-01 1.40110823e-01 9.28024447e-03 -3.35456213e+02] [ 1.40104717e-01 9.90135828e-01 -1.30808360e-03 -2.47980869e+02] [-9.37197921e-03 5.08247723e-06 -9.99956082e-01 -1.80133922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1143.546559995 meters 0.012629904501326592 Centerline is valid? [True, True] Translation: X:-335.46, Y:-247.96, Z:-1.80 [[-9.97327060e-01 7.27626501e-02 6.65828613e-03 -3.35457427e+02] [ 7.27612030e-02 9.97349285e-01 -4.59649795e-04 -2.47955590e+02] [-6.67408225e-03 2.60437294e-05 -9.99977728e-01 -1.80319196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1143.576559995 meters 0.012755768541826959 Centerline is valid? [True, True] Translation: X:-335.45, Y:-247.93, Z:-1.80 [[-9.99978206e-01 2.93400715e-03 5.91427901e-03 -3.35454306e+02] [ 2.93413581e-03 9.99995695e-01 1.30776316e-05 -2.47928662e+02] [-5.91421518e-03 3.04306444e-05 -9.99982511e-01 -1.80383951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1143.606559995 meters 0.012814139199048436 Centerline is valid? [True, True] Translation: X:-335.46, Y:-247.90, Z:-1.80 [[-9.97698486e-01 -6.76187788e-02 5.04292090e-03 -3.35460344e+02] [-6.76177694e-02 9.97711231e-01 3.70594734e-04 -2.47900882e+02] [-5.05643798e-03 2.87507429e-05 -9.99987216e-01 -1.80432996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1143.636559995 meters 0.01291822206810247 Centerline is valid? [True, True] Translation: X:-335.46, Y:-247.87, Z:-1.80 [[-9.90295517e-01 -1.38898574e-01 4.68784010e-03 -3.35464681e+02] [-1.38896894e-01 9.90306612e-01 6.83574393e-04 -2.47871954e+02] [-4.73734655e-03 2.58142280e-05 -9.99988779e-01 -1.80427140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1143.666559995 meters 0.01291822206810247 Centerline is valid? [True, True] Translation: X:-335.49, Y:-247.85, Z:-1.80 [[-9.77773919e-01 -2.09610967e-01 4.62670374e-03 -3.35485295e+02] [-2.09608495e-01 9.77784865e-01 1.01824298e-03 -2.47847259e+02] [-4.73735579e-03 2.58150163e-05 -9.99988779e-01 -1.80427125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1143.6965599950001 meters 0.012862324881331454 Centerline is valid? [True, True] Translation: X:-335.52, Y:-247.83, Z:-1.80 [[-9.59941277e-01 -2.80158103e-01 4.91757691e-03 -3.35521195e+02] [-2.80154288e-01 9.59953872e-01 1.46227411e-03 -2.47826671e+02] [-5.13031494e-03 2.60170193e-05 -9.99986840e-01 -1.80342718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1143.7265599950001 meters 0.012959030143648784 Centerline is valid? [True, True] Translation: X:-335.58, Y:-247.82, Z:-1.80 [[-9.36397866e-01 -3.50889983e-01 5.93772054e-03 -3.35581098e+02] [-3.50882758e-01 9.36416691e-01 2.25196771e-03 -2.47815647e+02] [-6.35037353e-03 2.52940057e-05 -9.99979836e-01 -1.80172481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1143.756559995 meters 0.012964601647463929 Centerline is valid? [True, True] Translation: X:-335.65, Y:-247.81, Z:-1.80 [[-9.07705713e-01 -4.19558023e-01 6.43459547e-03 -3.35650485e+02] [-4.19547293e-01 9.07728519e-01 3.00064628e-03 -2.47813626e+02] [-7.09981104e-03 2.40866512e-05 -9.99974796e-01 -1.80051650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1143.786559995 meters 0.012964531791948954 Centerline is valid? [True, True] Translation: X:-335.73, Y:-247.82, Z:-1.80 [[-8.73562772e-01 -4.86663772e-01 6.81590470e-03 -3.35725633e+02] [-4.86648783e-01 8.73589362e-01 3.81965097e-03 -2.47819467e+02] [-7.81318759e-03 1.97531652e-05 -9.99969477e-01 -1.80015754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1143.816559995 meters 0.012925963864079227 Centerline is valid? [True, True] Translation: X:-335.81, Y:-247.83, Z:-1.80 [[-8.34299176e-01 -5.51271217e-01 6.70301810e-03 -3.35805495e+02] [-5.51253283e-01 8.34326103e-01 4.44667526e-03 -2.47833783e+02] [-8.04382705e-03 1.47967691e-05 -9.99967648e-01 -1.79997039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1143.846559995 meters 0.012874260807348784 Centerline is valid? [True, True] Translation: X:-335.89, Y:-247.86, Z:-1.80 [[-7.90157264e-01 -6.12871584e-01 6.31817129e-03 -3.35891029e+02] [-6.12851903e-01 7.90182524e-01 4.91157802e-03 -2.47858798e+02] [-8.00267514e-03 8.81575041e-06 -9.99967978e-01 -1.79987022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1143.876559995 meters 0.012960919866236844 Centerline is valid? [True, True] Translation: X:-335.98, Y:-247.89, Z:-1.80 [[-7.40991993e-01 -6.71488051e-01 5.88769092e-03 -3.35978661e+02] [-6.71466842e-01 7.41015383e-01 5.33695269e-03 -2.47893976e+02] [-7.94656950e-03 1.24998317e-06 -9.99968426e-01 -1.79973698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1143.906559995 meters 0.01291422886597556 Centerline is valid? [True, True] Translation: X:-336.07, Y:-247.94, Z:-1.80 [[-6.87160424e-01 -7.26487044e-01 5.20843344e-03 -3.36070649e+02] [-7.26466267e-01 6.87180163e-01 5.49426687e-03 -2.47941464e+02] [-7.57064583e-03 -8.30845070e-06 -9.99971342e-01 -1.79932190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1143.9365599950002 meters 0.012799048252848784 Centerline is valid? [True, True] Translation: X:-336.16, Y:-248.00, Z:-1.80 [[-6.29821800e-01 -7.76725089e-01 4.75775080e-03 -3.36156294e+02] [-7.76703044e-01 6.29839770e-01 5.85194459e-03 -2.47995520e+02] [-7.54197285e-03 -9.67725784e-06 -9.99971559e-01 -1.80045866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1143.9665599950001 meters 0.012771281735357382 Centerline is valid? [True, True] Translation: X:-336.24, Y:-248.06, Z:-1.80 [[-5.68730466e-01 -8.22513880e-01 4.07126147e-03 -3.36240896e+02] [-8.22492929e-01 5.68745038e-01 5.87056323e-03 -2.48060515e+02] [-7.14412950e-03 -9.81560923e-06 -9.99974481e-01 -1.80086483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1143.996559995 meters 0.012794585650454611 Centerline is valid? [True, True] Translation: X:-336.32, Y:-248.13, Z:-1.80 [[-5.04238413e-01 -8.63557126e-01 3.56564093e-03 -3.36322291e+02] [-8.63535675e-01 5.04251020e-01 6.08659719e-03 -2.48134869e+02] [-7.05410245e-03 -9.96204410e-06 -9.99975120e-01 -1.80094749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1144.026559995 meters 0.012794585650454611 Centerline is valid? [True, True] Translation: X:-336.40, Y:-248.22, Z:-1.80 [[-4.36692092e-01 -8.99605731e-01 3.08951419e-03 -3.36398737e+02] [-8.99583379e-01 4.36703020e-01 6.34156968e-03 -2.48218271e+02] [-7.05411261e-03 -9.96228814e-06 -9.99975120e-01 -1.80094701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1144.056559995 meters 0.012753174051041071 Centerline is valid? [True, True] Translation: X:-336.47, Y:-248.31, Z:-1.80 [[-3.66781062e-01 -9.30304281e-01 2.36591822e-03 -3.36469800e+02] [-9.30285051e-01 3.66788692e-01 5.98154464e-03 -2.48308953e+02] [-6.43244864e-03 -7.06105420e-06 -9.99979312e-01 -1.80086275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1144.086559995 meters 0.0127476715430096 Centerline is valid? [True, True] Translation: X:-336.53, Y:-248.41, Z:-1.80 [[-2.94707161e-01 -9.55585837e-01 1.84333504e-03 -3.36534377e+02] [-9.55567230e-01 2.94712925e-01 5.96325964e-03 -2.48406704e+02] [-6.24166112e-03 -4.01524161e-06 -9.99980521e-01 -1.80103582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1144.116559995 meters 0.012627763459724424 Centerline is valid? [True, True] Translation: X:-336.59, Y:-248.51, Z:-1.80 [[-2.21106802e-01 -9.75248814e-01 1.23804712e-03 -3.36592014e+02] [-9.75233533e-01 2.21110269e-01 5.45942627e-03 -2.48510024e+02] [-5.59804393e-03 -2.68780175e-07 -9.99984331e-01 -1.80074183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1144.146559995 meters 0.012597088816843667 Centerline is valid? [True, True] Translation: X:-336.64, Y:-248.62, Z:-1.80 [[-1.45646187e-01 -9.89336414e-01 8.04643354e-04 -3.36640986e+02] [-9.89321300e-01 1.45648410e-01 5.46864942e-03 -2.48618475e+02] [-5.52752904e-03 4.37127036e-07 -9.99984723e-01 -1.80032554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1144.176559995 meters 0.012659369943905872 Centerline is valid? [True, True] Translation: X:-336.68, Y:-248.73, Z:-1.80 [[-6.90902829e-02 -9.97610341e-01 3.75611479e-04 -3.36681349e+02] [-9.97595587e-01 6.90913039e-02 5.42563300e-03 -2.48731364e+02] [-5.43861907e-03 1.50164337e-07 -9.99985211e-01 -1.79997854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1144.2065599950001 meters 0.012603432713416561 Centerline is valid? [True, True] Translation: X:-336.71, Y:-248.85, Z:-1.80 [[ 8.26166939e-03 -9.99965871e-01 -4.78653628e-05 -3.36713148e+02] [-9.99947608e-01 -8.26180779e-03 6.04358077e-03 -2.48850080e+02] [-6.04376996e-03 -2.06721122e-06 -9.99981736e-01 -1.80003699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1144.236559995 meters 0.012645209891623967 Centerline is valid? [True, True] Translation: X:-336.74, Y:-248.97, Z:-1.80 [[ 8.55811294e-02 -9.96331053e-01 -5.50673728e-04 -3.36736082e+02] [-9.96310046e-01 -8.55829009e-02 6.46988581e-03 -2.48970273e+02] [-6.49327639e-03 -5.05836687e-06 -9.99978919e-01 -1.79958525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1144.266559995 meters 0.012553563756194843 Centerline is valid? [True, True] Translation: X:-336.75, Y:-249.09, Z:-1.80 [[ 1.62842919e-01 -9.86651413e-01 -1.08305535e-03 -3.36750612e+02] [-9.86629130e-01 -1.62846521e-01 6.63103783e-03 -2.49086983e+02] [-6.71889464e-03 -1.12436032e-05 -9.99977428e-01 -1.79912843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1144.296559995 meters 0.012653038914948917 Centerline is valid? [True, True] Translation: X:-337.41, Y:-249.31, Z:-2.79 [[ 8.99236064e-02 9.95948399e-01 -7.29891928e-04 -3.37411643e+02] [-9.95920971e-01 8.99265470e-02 7.39167070e-03 -2.49306738e+02] [ 7.42735926e-03 6.22289905e-05 9.99972415e-01 -2.78640186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1144.326559995 meters 0.01277301226578175 Centerline is valid? [True, True] Translation: X:-336.71, Y:-249.37, Z:-1.80 [[ 1.75787603e-01 -9.84427311e-01 -1.26015428e-03 -3.36711074e+02] [-9.84400390e-01 -1.75792115e-01 7.28040016e-03 -2.49366426e+02] [-7.38854994e-03 -3.93077244e-05 -9.99972704e-01 -1.79732275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1144.356559995 meters 0.012883959769700701 Centerline is valid? [True, True] Translation: X:-336.72, Y:-249.49, Z:-1.80 [[ 2.52690739e-01 -9.67545303e-01 -1.86462111e-03 -3.36715187e+02] [-9.67517371e-01 -2.52697613e-01 7.35210249e-03 -2.49487291e+02] [-7.58467754e-03 -5.37548927e-05 -9.99971235e-01 -1.79721686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1144.386559995 meters 0.013057629354227746 Centerline is valid? [True, True] Translation: X:-336.71, Y:-249.61, Z:-1.80 [[ 3.27836336e-01 -9.44731261e-01 -2.48609971e-03 -3.36709208e+02] [-9.44702499e-01 -3.27845755e-01 7.37224844e-03 -2.49611826e+02] [-7.77985080e-03 -6.82663066e-05 -9.99969734e-01 -1.79656123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1144.416559995 meters 0.01337544769364103 Centerline is valid? [True, True] Translation: X:-336.70, Y:-249.73, Z:-1.80 [[ 4.00973614e-01 -9.16085002e-01 -2.90357148e-03 -3.36695700e+02] [-9.16059563e-01 -4.00984119e-01 6.82739061e-03 -2.49729161e+02] [-7.41875619e-03 -7.77590660e-05 -9.99972478e-01 -1.79614207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1144.4465599950001 meters 0.013675591320500072 Centerline is valid? [True, True] Translation: X:-336.68, Y:-249.84, Z:-1.80 [[ 4.71456387e-01 -8.81883220e-01 -3.29573842e-03 -3.36675667e+02] [-8.81860381e-01 -4.71467898e-01 6.34736112e-03 -2.49839330e+02] [-7.15146613e-03 -8.61228034e-05 -9.99974424e-01 -1.79626944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1144.4765599950001 meters 0.014196082814808372 Centerline is valid? [True, True] Translation: X:-336.65, Y:-249.95, Z:-1.80 [[ 5.39554371e-01 -8.41942806e-01 -3.65965011e-03 -3.36645237e+02] [-8.41922172e-01 -5.39566773e-01 5.89526835e-03 -2.49953263e+02] [-6.93810437e-03 -9.96772370e-05 -9.99975926e-01 -1.79634166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1144.506559995 meters 0.014380795116387223 Centerline is valid? [True, True] Translation: X:-336.61, Y:-250.06, Z:-1.80 [[ 6.03139956e-01 -7.97626807e-01 -3.69746542e-03 -3.36608391e+02] [-7.97610834e-01 -6.03151282e-01 5.04872579e-03 -2.50058249e+02] [-6.25713003e-03 -9.59497750e-05 -9.99980420e-01 -1.79678569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1144.536559995 meters 0.014343121143167489 Centerline is valid? [True, True] Translation: X:-336.56, Y:-250.16, Z:-1.80 [[ 6.62863705e-01 -7.48729505e-01 -3.97951859e-03 -3.36562526e+02] [-7.48715110e-01 -6.62875644e-01 4.64389102e-03 -2.50160265e+02] [-6.11494417e-03 -9.87411076e-05 -9.99981299e-01 -1.79734195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1144.566559995 meters 0.015009271120240461 Centerline is valid? [True, True] Translation: X:-336.52, Y:-250.25, Z:-1.80 [[ 7.17999562e-01 -6.96030462e-01 -4.26921073e-03 -3.36516713e+02] [-6.96017314e-01 -7.18012247e-01 4.27923960e-03 -2.50252606e+02] [-6.04382670e-03 -1.01047570e-04 -9.99981731e-01 -1.79705122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1144.596559995 meters 0.014636717878142766 Centerline is valid? [True, True] Translation: X:-336.46, Y:-250.34, Z:-1.80 [[ 7.69268687e-01 -6.38908000e-01 -4.71755472e-03 -3.36461454e+02] [-6.38895115e-01 -7.69283145e-01 4.05896098e-03 -2.50339967e+02] [-6.22243797e-03 -1.08408921e-04 -9.99980635e-01 -1.79766593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1144.626559995 meters 0.014882820747561126 Centerline is valid? [True, True] Translation: X:-336.46, Y:-250.35, Z:-1.80 [[ 8.17240258e-01 -5.76273674e-01 -5.19756760e-03 -3.36462084e+02] [-5.76261105e-01 -8.17256777e-01 3.80777959e-03 -2.50348107e+02] [-6.44207048e-03 -1.16714718e-04 -9.99979243e-01 -1.79749204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1144.656559995 meters 0.014944679228300764 Centerline is valid? [True, True] Translation: X:-336.46, Y:-250.36, Z:-1.80 [[ 8.60247169e-01 -5.09841006e-01 -6.07926596e-03 -3.36462843e+02] [-5.09827153e-01 -8.60268638e-01 3.76094117e-03 -2.50356575e+02] [-7.14728388e-03 -1.35964142e-04 -9.99974449e-01 -1.79651079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1144.6865599950002 meters 0.015089385067310461 Centerline is valid? [True, True] Translation: X:-336.46, Y:-250.36, Z:-1.80 [[ 8.97552128e-01 -4.40856260e-01 -6.77756554e-03 -3.36463322e+02] [-4.40842456e-01 -8.97577705e-01 3.49177807e-03 -2.50364606e+02] [-7.62276394e-03 -1.46214205e-04 -9.99970936e-01 -1.79546652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1144.7165599950001 meters 0.01475512412178635 Centerline is valid? [True, True] Translation: X:-336.46, Y:-250.37, Z:-1.80 [[ 9.29330743e-01 -3.69167631e-01 -7.72212921e-03 -3.36462538e+02] [-3.69153430e-01 -9.29362811e-01 3.24204682e-03 -2.50374296e+02] [-8.37351845e-03 -1.62283290e-04 -9.99964929e-01 -1.79517991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1144.746559995 meters 0.015079687366164577 Centerline is valid? [True, True] Translation: X:-336.46, Y:-250.38, Z:-1.79 [[ 9.55264248e-01 -2.95625120e-01 -8.71815603e-03 -3.36462757e+02] [-2.95611127e-01 -9.55304013e-01 2.88166746e-03 -2.50384098e+02] [-9.18038274e-03 -1.75569976e-04 -9.99957844e-01 -1.79407190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1144.776559995 meters 0.014863768686324877 Centerline is valid? [True, True] Translation: X:-336.46, Y:-250.39, Z:-1.79 [[ 9.75381620e-01 -2.20336653e-01 -9.08046334e-03 -3.36460023e+02] [-2.20325427e-01 -9.75423871e-01 2.23105582e-03 -2.50391656e+02] [-9.34888408e-03 -1.75473876e-04 -9.99956283e-01 -1.79394321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1144.806559995 meters 0.014334778647261268 Centerline is valid? [True, True] Translation: X:-336.46, Y:-250.40, Z:-1.79 [[ 9.89520981e-01 -1.44110316e-01 -8.96914391e-03 -3.36457438e+02] [-1.44102892e-01 -9.89561615e-01 1.47190978e-03 -2.50400681e+02] [-9.08763792e-03 -1.64006033e-04 -9.99958693e-01 -1.79481005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1144.836559995 meters 0.014328987377060468 Centerline is valid? [True, True] Translation: X:-336.46, Y:-250.41, Z:-1.80 [[ 9.97640070e-01 -6.81468998e-02 -8.38391563e-03 -3.36458723e+02] [-6.81433520e-02 -9.97675289e-01 7.08436722e-04 -2.50407968e+02] [-8.41270321e-03 -1.35456748e-04 -9.99964604e-01 -1.79571430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1144.866559995 meters 0.01392806682497776 Centerline is valid? [True, True] Translation: X:-336.46, Y:-250.41, Z:-1.80 [[ 9.99931490e-01 9.06269505e-03 -7.40831826e-03 -3.36458106e+02] [ 9.06326797e-03 -9.99958927e-01 4.37657641e-05 -2.50413972e+02] [-7.40761734e-03 -1.10906339e-04 -9.99972557e-01 -1.79663787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1144.896559995 meters 0.013788354453013338 Centerline is valid? [True, True] Translation: X:-336.46, Y:-250.42, Z:-1.80 [[ 9.96268138e-01 8.60596161e-02 -6.59849111e-03 -3.36457209e+02] [ 8.60583293e-02 -9.96289985e-01 -4.79225494e-04 -2.50419847e+02] [-6.61525257e-03 -9.04180310e-05 -9.99978115e-01 -1.79742562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1144.926559995 meters 0.013442324497700865 Centerline is valid? [True, True] Translation: X:-336.46, Y:-250.43, Z:-1.80 [[ 9.86672342e-01 1.62604536e-01 -6.12007243e-03 -3.36456816e+02] [ 1.62601892e-01 -9.86691319e-01 -9.30401033e-04 -2.50426229e+02] [-6.18990977e-03 -7.71343904e-05 -9.99980840e-01 -1.79836731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1144.9565599950001 meters 0.013279375628370905 Centerline is valid? [True, True] Translation: X:-336.46, Y:-250.43, Z:-1.80 [[ 9.71143395e-01 2.38420818e-01 -6.00162717e-03 -3.36456021e+02] [ 2.38416717e-01 -9.71161937e-01 -1.40021143e-03 -2.50433129e+02] [-6.16239142e-03 -7.10821645e-05 -9.99981010e-01 -1.79837460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1144.986559995 meters 0.013253127511542234 Centerline is valid? [True, True] Translation: X:-336.45, Y:-250.44, Z:-1.80 [[ 9.49736670e-01 3.12995276e-01 -5.84931591e-03 -3.36454191e+02] [ 3.12989768e-01 -9.49754681e-01 -1.85803174e-03 -2.50439352e+02] [-6.13697032e-03 -6.61351527e-05 -9.99981167e-01 -1.79805827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1145.016559995 meters 0.01311007912926171 Centerline is valid? [True, True] Translation: X:-336.45, Y:-250.44, Z:-1.80 [[ 9.22722274e-01 3.85418965e-01 -5.98554650e-03 -3.36451989e+02] [ 3.85411296e-01 -9.22741685e-01 -2.43210435e-03 -2.50444810e+02] [-6.46049241e-03 -6.27403770e-05 -9.99979129e-01 -1.79697094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1145.046559995 meters 0.013160765258858446 Centerline is valid? [True, True] Translation: X:-336.45, Y:-250.45, Z:-1.80 [[ 8.89713641e-01 4.56477318e-01 -6.17214303e-03 -3.36450389e+02] [ 4.56466859e-01 -8.89735047e-01 -3.09093442e-03 -2.50450927e+02] [-6.90251343e-03 -6.73322241e-05 -9.99976175e-01 -1.79635057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1145.076559995 meters 0.013042857090424161 Centerline is valid? [True, True] Translation: X:-336.45, Y:-250.46, Z:-1.80 [[ 8.51313662e-01 5.24618913e-01 -6.32815179e-03 -3.36446321e+02] [ 5.24605037e-01 -8.51337178e-01 -3.81629239e-03 -2.50457623e+02] [-7.38949005e-03 -7.09184553e-05 -9.99972695e-01 -1.79621429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1145.106559995 meters 0.013306394492694246 Centerline is valid? [True, True] Translation: X:-336.44, Y:-250.47, Z:-1.80 [[ 8.07412274e-01 5.89953074e-01 -6.38672999e-03 -3.36442760e+02] [ 5.89935382e-01 -8.07437530e-01 -4.56957537e-03 -2.50465439e+02] [-7.85272052e-03 -7.82267531e-05 -9.99969164e-01 -1.79523318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1145.136559995 meters 0.01332360370356257 Centerline is valid? [True, True] Translation: X:-336.44, Y:-250.47, Z:-1.79 [[ 7.58593001e-01 6.51532521e-01 -6.48329787e-03 -3.36439506e+02] [ 6.51509698e-01 -7.58620700e-01 -5.45409165e-03 -2.50469534e+02] [-8.47188205e-03 -8.64956845e-05 -9.99964109e-01 -1.79493411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1145.166559995 meters 0.013259757205045295 Centerline is valid? [True, True] Translation: X:-336.44, Y:-250.47, Z:-1.79 [[ 7.05220389e-01 7.08960988e-01 -6.20653240e-03 -3.36435673e+02] [ 7.08934643e-01 -7.05247694e-01 -6.11237482e-03 -2.50473711e+02] [-8.71057796e-03 -8.94544845e-05 -9.99962058e-01 -1.79493347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1145.1965599950001 meters 0.013433507516052523 Centerline is valid? [True, True] Translation: X:-336.43, Y:-250.48, Z:-1.79 [[ 6.46892453e-01 7.62557908e-01 -5.96588113e-03 -3.36432067e+02] [ 7.62526913e-01 -6.46919954e-01 -6.87606868e-03 -2.50478348e+02] [-9.10284810e-03 -1.01067994e-04 -9.99958563e-01 -1.79446205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1145.2265599950001 meters 0.013611423281304243 Centerline is valid? [True, True] Translation: X:-336.43, Y:-250.48, Z:-1.79 [[ 5.84951885e-01 8.11048215e-01 -5.66442351e-03 -3.36428930e+02] [ 8.11011980e-01 -5.84979300e-01 -7.66729412e-03 -2.50483011e+02] [-9.53211571e-03 -1.08917174e-04 -9.99954563e-01 -1.79373896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1145.256559995 meters 0.013676412580284016 Centerline is valid? [True, True] Translation: X:-336.43, Y:-250.49, Z:-1.79 [[ 5.19360260e-01 8.54540382e-01 -5.06526702e-03 -3.36426634e+02] [ 8.54501832e-01 -5.19384948e-01 -8.11760745e-03 -2.50486177e+02] [-9.56764681e-03 -1.12317232e-04 -9.99954223e-01 -1.79355301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1145.286559995 meters 0.013443567977672028 Centerline is valid? [True, True] Translation: X:-336.42, Y:-250.49, Z:-1.79 [[ 4.50796908e-01 8.92614584e-01 -4.62075793e-03 -3.36422002e+02] [ 8.92570356e-01 -4.50820574e-01 -8.88654906e-03 -2.50489473e+02] [-1.00153960e-02 -1.18322704e-04 -9.99949838e-01 -1.79373480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1145.316559995 meters 0.013446140544520093 Centerline is valid? [True, True] Translation: X:-336.42, Y:-250.49, Z:-1.79 [[ 3.79323463e-01 9.25255788e-01 -3.92902377e-03 -3.36415766e+02] [ 9.25209414e-01 -3.79343792e-01 -9.26432073e-03 -2.50492959e+02] [-1.00623172e-02 -1.20995559e-04 -9.99949366e-01 -1.79387955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1145.346559995 meters 0.013488280492339386 Centerline is valid? [True, True] Translation: X:-336.41, Y:-250.50, Z:-1.79 [[ 3.05935160e-01 9.52047454e-01 -3.05332375e-03 -3.36409695e+02] [ 9.52003666e-01 -3.05950376e-01 -9.13166279e-03 -2.50497464e+02] [-9.62794186e-03 -1.13078683e-04 -9.99953644e-01 -1.79375169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1145.376559995 meters 0.013224015697165305 Centerline is valid? [True, True] Translation: X:-336.40, Y:-250.50, Z:-1.79 [[ 2.30518306e-01 9.73065370e-01 -2.25752434e-03 -3.36402463e+02] [ 9.73023242e-01 -2.30529335e-01 -9.05522322e-03 -2.50501176e+02] [-9.33174972e-03 -1.09228929e-04 -9.99956453e-01 -1.79438106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1145.406559995 meters 0.013216631891202077 Centerline is valid? [True, True] Translation: X:-336.39, Y:-250.50, Z:-1.79 [[ 1.53649004e-01 9.88124414e-01 -1.45797672e-03 -3.36394072e+02] [ 9.88086052e-01 -1.53655887e-01 -8.70757377e-03 -2.50503981e+02] [-8.82819293e-03 -1.02696418e-04 -9.99961026e-01 -1.79489259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1145.4365599950002 meters 0.013559674163011737 Centerline is valid? [True, True] Translation: X:-336.38, Y:-250.51, Z:-1.79 [[ 7.57780888e-02 9.97124411e-01 -7.68598202e-04 -3.36384795e+02] [ 9.97085894e-01 -7.57819177e-02 -8.76479793e-03 -2.50507704e+02] [-8.79783982e-03 -1.02178788e-04 -9.99961293e-01 -1.79421386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1145.4665599950001 meters 0.013667371034494023 Centerline is valid? [True, True] Translation: X:-336.38, Y:-250.51, Z:-1.79 [[-2.17508953e-03 9.99997632e-01 -7.82902460e-05 -3.36380663e+02] [ 9.99960519e-01 2.17433427e-03 -8.61583615e-03 -2.50510536e+02] [-8.61564551e-03 -9.70273701e-05 -9.99962880e-01 -1.79358488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1145.496559995 meters 0.013047215259357838 Centerline is valid? [True, True] Translation: X:-336.37, Y:-250.51, Z:-1.79 [[-7.97292142e-02 9.96816372e-01 6.11552787e-04 -3.36373833e+02] [ 9.96777456e-01 7.97315057e-02 -8.80859975e-03 -2.50512135e+02] [-8.82931647e-03 -9.27207054e-05 -9.99961017e-01 -1.79447265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1145.526559995 meters 0.013008412482903443 Centerline is valid? [True, True] Translation: X:-336.37, Y:-250.51, Z:-1.79 [[-1.56505256e-01 9.87676083e-01 1.43565476e-03 -3.36366243e+02] [ 9.87628969e-01 1.56511813e-01 -9.64743668e-03 -2.50513017e+02] [-9.75323939e-03 -9.19803147e-05 -9.99952432e-01 -1.79370812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1145.556559995 meters 0.012934124436240861 Centerline is valid? [True, True] Translation: X:-336.36, Y:-250.51, Z:-1.79 [[-2.32605089e-01 9.72568681e-01 2.24367197e-03 -3.36358470e+02] [ 9.72519796e-01 2.32615894e-01 -9.75148834e-03 -2.50514693e+02] [-1.00059059e-02 -8.62304092e-05 -9.99949936e-01 -1.79325629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1145.586559995 meters 0.012794075215130719 Centerline is valid? [True, True] Translation: X:-336.35, Y:-250.51, Z:-1.79 [[-3.06797997e-01 9.51769840e-01 3.02680165e-03 -3.36350932e+02] [ 9.51721128e-01 3.06812919e-01 -9.62948551e-03 -2.50514326e+02] [-1.00937157e-02 -7.36357859e-05 -9.99949055e-01 -1.79355294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1145.616559995 meters 0.012690939474445793 Centerline is valid? [True, True] Translation: X:-336.34, Y:-250.51, Z:-1.79 [[-3.79725462e-01 9.25091827e-01 3.69936898e-03 -3.36342985e+02] [ 9.25046255e-01 3.79743476e-01 -9.18247784e-03 -2.50514265e+02] [-9.89944644e-03 -6.47332210e-05 -9.99950997e-01 -1.79349809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1145.646559995 meters 0.012690939474445793 Centerline is valid? [True, True] Translation: X:-336.34, Y:-250.51, Z:-1.79 [[-4.51032743e-01 8.92496521e-01 4.40741747e-03 -3.36335851e+02] [ 8.92452501e-01 4.51054272e-01 -8.86442127e-03 -2.50513813e+02] [-9.89944963e-03 -6.47334975e-05 -9.99950997e-01 -1.79349806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1145.676559995 meters 0.012573858990016245 Centerline is valid? [True, True] Translation: X:-336.33, Y:-250.51, Z:-1.79 [[-5.19323750e-01 8.54563505e-01 4.90500699e-03 -3.36328187e+02] [ 8.54524302e-01 5.19346909e-01 -8.18569710e-03 -2.50511275e+02] [-9.54259822e-03 -5.95792384e-05 -9.99954467e-01 -1.79418042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1145.7065599950001 meters 0.012489145099365035 Centerline is valid? [True, True] Translation: X:-336.32, Y:-250.51, Z:-1.79 [[-5.84202075e-01 8.11590934e-01 5.30010428e-03 -3.36318609e+02] [ 8.11556724e-01 5.84226115e-01 -7.45187517e-03 -2.50506685e+02] [-9.14433366e-03 -5.20656756e-05 -9.99958189e-01 -1.79487236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1145.736559995 meters 0.012588994525639647 Centerline is valid? [True, True] Translation: X:-336.31, Y:-250.50, Z:-1.79 [[-6.45683951e-01 7.63582092e-01 5.88427159e-03 -3.36308610e+02] [ 7.63549693e-01 6.45710761e-01 -7.03416865e-03 -2.50502384e+02] [-9.17070270e-03 -4.89160469e-05 -9.99957947e-01 -1.79441869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1145.766559995 meters 0.012455612412016802 Centerline is valid? [True, True] Translation: X:-336.30, Y:-250.50, Z:-1.79 [[-7.03300948e-01 7.10867038e-01 5.98580404e-03 -3.36301223e+02] [ 7.10840766e-01 7.03326419e-01 -6.11175818e-03 -2.50497487e+02] [-8.55462156e-03 -4.34517927e-05 -9.99963408e-01 -1.79471917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1145.796559995 meters 0.012513376944157257 Centerline is valid? [True, True] Translation: X:-336.29, Y:-250.49, Z:-1.79 [[-7.56707825e-01 6.53720126e-01 6.57751320e-03 -3.36293690e+02] [ 6.53694936e-01 7.56736410e-01 -5.73893597e-03 -2.50493349e+02] [-8.72910167e-03 -4.30106866e-05 -9.99961900e-01 -1.79404601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1145.826559995 meters 0.012515625426226477 Centerline is valid? [True, True] Translation: X:-336.28, Y:-250.47, Z:-1.79 [[-8.00924774e-01 5.98720743e-01 7.27866262e-03 -3.36276195e+02] [ 5.98695531e-01 8.00957845e-01 -5.49468124e-03 -2.50471805e+02] [-9.11968157e-03 -4.31235487e-05 -9.99958414e-01 -1.79383896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1145.856559995 meters 0.012407349386154254 Centerline is valid? [True, True] Translation: X:-336.26, Y:-250.45, Z:-1.79 [[-8.41505791e-01 5.40193110e-01 7.70763740e-03 -3.36258201e+02] [ 5.40169938e-01 8.41541088e-01 -5.00361098e-03 -2.50450943e+02] [-9.18920973e-03 -4.71335965e-05 -9.99957777e-01 -1.79453682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1145.886559995 meters 0.012407349386154254 Centerline is valid? [True, True] Translation: X:-336.24, Y:-250.43, Z:-1.79 [[-8.77619467e-01 4.79290509e-01 8.04238036e-03 -3.36242420e+02] [ 4.79269893e-01 8.77656314e-01 -4.44566777e-03 -2.50427940e+02] [-9.18921227e-03 -4.71338054e-05 -9.99957777e-01 -1.79453680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1145.916559995 meters 0.012457716225628366 Centerline is valid? [True, True] Translation: X:-336.23, Y:-250.40, Z:-1.79 [[-9.09426101e-01 4.15781370e-01 8.36778433e-03 -3.36230844e+02] [ 4.15763274e-01 9.09464595e-01 -3.87952888e-03 -2.50402460e+02] [-9.22323943e-03 -4.91274164e-05 -9.99957464e-01 -1.79462255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1145.9465599950001 meters 0.012491693408220013 Centerline is valid? [True, True] Translation: X:-335.93, Y:-249.78, Z:-2.79 [[-8.74215700e-01 -4.85464086e-01 8.45759220e-03 -3.35934022e+02] [ 4.85442213e-01 -8.74256608e-01 -4.60894612e-03 -2.49776971e+02] [ 9.63158368e-03 7.64592107e-05 9.99953612e-01 -2.78982600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1145.9765599950001 meters 0.012538079289627947 Centerline is valid? [True, True] Translation: X:-336.28, Y:-250.38, Z:-1.79 [[-9.11088201e-01 4.12122005e-01 8.58741301e-03 -3.36277353e+02] [ 4.12103146e-01 9.11128668e-01 -3.94294304e-03 -2.50380612e+02] [-9.44921177e-03 -5.34689682e-05 -9.99955354e-01 -1.79465770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1146.006559995 meters 0.012610369972577954 Centerline is valid? [True, True] Translation: X:-336.26, Y:-250.36, Z:-1.79 [[-9.38121870e-01 3.46189565e-01 8.95217991e-03 -3.36259015e+02] [ 3.46173223e-01 9.38164581e-01 -3.36420194e-03 -2.50357351e+02] [-9.56326972e-03 -5.70264445e-05 -9.99954269e-01 -1.79451325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1146.036559995 meters 0.012588811634891214 Centerline is valid? [True, True] Translation: X:-336.02, Y:-249.71, Z:-2.79 [[-9.07524433e-01 -4.19908526e-01 8.73117409e-03 -3.36021940e+02] [ 4.19889719e-01 -9.07566431e-01 -3.97461881e-03 -2.49710833e+02] [ 9.59309683e-03 5.90665570e-05 9.99953984e-01 -2.78948694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1146.066559995 meters 0.012681734575141244 Centerline is valid? [True, True] Translation: X:-336.30, Y:-250.34, Z:-1.79 [[-9.39636252e-01 3.42062003e-01 8.79199945e-03 -3.36301663e+02] [ 3.42046415e-01 9.39677382e-01 -3.26618911e-03 -2.50340217e+02] [-9.37888222e-03 -6.17578055e-05 -9.99956016e-01 -1.79474779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1146.096559995 meters 0.012707548061217851 Centerline is valid? [True, True] Translation: X:-336.29, Y:-250.31, Z:-1.80 [[-9.61511116e-01 2.74605961e-01 9.37762375e-03 -3.36294439e+02] [ 2.74592253e-01 9.61556843e-01 -2.74455339e-03 -2.50313188e+02] [-9.77078901e-03 -6.38957589e-05 -9.99952263e-01 -1.79516945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1146.126559995 meters 0.01272236205949829 Centerline is valid? [True, True] Translation: X:-336.29, Y:-250.29, Z:-1.80 [[-9.78501655e-01 2.06010210e-01 9.71106029e-03 -3.36288067e+02] [ 2.05999424e-01 9.78549840e-01 -2.10895301e-03 -2.50286091e+02] [-9.93722234e-03 -6.31411834e-05 -9.99950623e-01 -1.79518345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1146.156559995 meters 0.01258107462780753 Centerline is valid? [True, True] Translation: X:-336.29, Y:-250.26, Z:-1.80 [[-9.90568621e-01 1.36622360e-01 1.03989342e-02 -3.36285189e+02] [ 1.36614187e-01 9.90623201e-01 -1.49562345e-03 -2.50258388e+02] [-1.05057611e-02 -6.08757145e-05 -9.99944811e-01 -1.79527397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1146.1865599950002 meters 0.012617769015558096 Centerline is valid? [True, True] Translation: X:-336.18, Y:-249.58, Z:-2.79 [[-9.76833002e-01 -2.13753911e-01 1.03224522e-02 -3.36181651e+02] [ 2.13742670e-01 -9.76887538e-01 -2.19301432e-03 -2.49581677e+02] [ 1.05526403e-02 6.41397378e-05 9.99944317e-01 -2.78992197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1146.2165599950001 meters 0.0125045446112074 Centerline is valid? [True, True] Translation: X:-336.34, Y:-250.25, Z:-1.79 [[-9.90746951e-01 1.35311957e-01 1.05429333e-02 -3.36336933e+02] [ 1.35303949e-01 9.90803045e-01 -1.47248402e-03 -2.50251922e+02] [-1.06452151e-02 -3.23585423e-05 -9.99943338e-01 -1.79478761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1146.246559995 meters 0.012387455656738412 Centerline is valid? [True, True] Translation: X:-336.24, Y:-249.57, Z:-2.79 [[-9.78457638e-01 -2.06201263e-01 1.00840973e-02 -3.36237957e+02] [ 2.06190416e-01 -9.78509601e-01 -2.11500106e-03 -2.49572809e+02] [ 1.03035019e-02 9.80528113e-06 9.99946918e-01 -2.78922535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1146.276559995 meters 0.012392745254690977 Centerline is valid? [True, True] Translation: X:-336.39, Y:-250.25, Z:-1.80 [[-9.90940998e-01 1.33981801e-01 9.20955814e-03 -3.36390839e+02] [ 1.33976004e-01 9.90983793e-01 -1.24638289e-03 -2.50246557e+02] [-9.29351548e-03 -1.23211353e-06 -9.99956815e-01 -1.79645905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1146.306559995 meters 0.01244221966035443 Centerline is valid? [True, True] Translation: X:-336.29, Y:-249.56, Z:-2.79 [[-9.79892914e-01 -1.99366394e-01 7.93207183e-03 -3.36294424e+02] [ 1.99359253e-01 -9.79925015e-01 -1.68895801e-03 -2.49563964e+02] [ 8.10955708e-03 -7.36660754e-05 9.99967114e-01 -2.78707885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1146.336559995 meters 0.012528969459866491 Centerline is valid? [True, True] Translation: X:-336.45, Y:-250.24, Z:-1.80 [[-9.91207840e-01 1.32112207e-01 7.30631319e-03 -3.36445122e+02] [ 1.32108741e-01 9.91234768e-01 -9.57085878e-04 -2.50240975e+02] [-7.36871438e-03 1.65568128e-05 -9.99972851e-01 -1.79813551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1146.366559995 meters 0.012531840721760152 Centerline is valid? [True, True] Translation: X:-336.36, Y:-249.55, Z:-2.79 [[-9.81091446e-01 -1.93424277e-01 6.82822271e-03 -3.36360962e+02] [ 1.93419301e-01 -9.81115206e-01 -1.38804319e-03 -2.49554535e+02] [ 6.96775438e-03 -4.10872415e-05 9.99975724e-01 -2.78627467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1146.396559995 meters 0.012633236363849186 Centerline is valid? [True, True] Translation: X:-336.50, Y:-250.23, Z:-1.80 [[-9.91595626e-01 1.29182444e-01 7.07182644e-03 -3.36504569e+02] [ 1.29179355e-01 9.91620843e-01 -8.93803934e-04 -2.50232842e+02] [-7.12803427e-03 2.72419073e-05 -9.99974595e-01 -1.79792225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1146.426559995 meters 0.012539603827140266 Centerline is valid? [True, True] Translation: X:-336.41, Y:-249.55, Z:-2.79 [[-9.82094277e-01 -1.88254676e-01 7.14207355e-03 -3.36414468e+02] [ 1.88249563e-01 -9.82120246e-01 -1.38760613e-03 -2.49550278e+02] [ 7.27559837e-03 -1.82678158e-05 9.99973533e-01 -2.78631614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1146.4565599950001 meters 0.012606709533724215 Centerline is valid? [True, True] Translation: X:-336.56, Y:-250.22, Z:-1.80 [[-9.92147964e-01 1.24838028e-01 7.60812986e-03 -3.36564528e+02] [ 1.24834569e-01 9.92177135e-01 -9.29734940e-04 -2.50223937e+02] [-7.66467876e-03 2.73229824e-05 -9.99970626e-01 -1.79793347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1146.486559995 meters 0.012695266062543805 Centerline is valid? [True, True] Translation: X:-336.48, Y:-249.54, Z:-2.79 [[-9.82731072e-01 -1.84872159e-01 7.86924425e-03 -3.36478567e+02] [ 1.84866182e-01 -9.82762578e-01 -1.48661121e-03 -2.49543959e+02] [ 8.00843179e-03 -6.18188688e-06 9.99967932e-01 -2.78719083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1146.516559995 meters 0.012627791918768165 Centerline is valid? [True, True] Translation: X:-336.62, Y:-250.22, Z:-1.80 [[-9.92760082e-01 1.19823135e-01 8.35678372e-03 -3.36621492e+02] [ 1.19819088e-01 9.92795254e-01 -9.85138060e-04 -2.50215452e+02] [-8.41461754e-03 2.32964594e-05 -9.99964596e-01 -1.79794042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1146.546559995 meters 0.012658814741448041 Centerline is valid? [True, True] Translation: X:-336.54, Y:-249.54, Z:-2.79 [[-9.83308161e-01 -1.81745313e-01 8.58501414e-03 -3.36536436e+02] [ 1.81738356e-01 -9.83345637e-01 -1.59022089e-03 -2.49539288e+02] [ 8.73105139e-03 -3.45082589e-06 9.99961884e-01 -2.78684675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1146.576559995 meters 0.012682669108915336 Centerline is valid? [True, True] Translation: X:-336.68, Y:-250.21, Z:-1.80 [[-9.93507234e-01 1.13416422e-01 8.94940639e-03 -3.36677536e+02] [ 1.13411864e-01 9.93547541e-01 -1.01681861e-03 -2.50206596e+02] [-9.00698464e-03 4.75221180e-06 -9.99959436e-01 -1.79793419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1146.606559995 meters 0.012665769203051907 Centerline is valid? [True, True] Translation: X:-336.68, Y:-250.18, Z:-1.80 [[-9.99090799e-01 4.16326778e-02 9.18131267e-03 -3.36678572e+02] [ 4.16308868e-02 9.99132984e-01 -3.86176014e-04 -2.50177264e+02] [-9.18942987e-03 -3.59871312e-06 -9.99957776e-01 -1.79809271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1146.636559995 meters 0.012683408904114816 Centerline is valid? [True, True] Translation: X:-336.65, Y:-249.51, Z:-2.79 [[-9.93854833e-01 -1.10316448e-01 9.10229309e-03 -3.36648902e+02] [ 1.10311836e-01 -9.93896514e-01 -1.00878011e-03 -2.49505059e+02] [ 9.15802241e-03 1.50967101e-06 9.99958065e-01 -2.78660265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1146.666559995 meters 0.012682220903287572 Centerline is valid? [True, True] Translation: X:-336.75, Y:-250.17, Z:-1.80 [[-9.99323053e-01 3.56716899e-02 8.99816000e-03 -3.36746638e+02] [ 3.56701042e-02 9.99363563e-01 -3.36696984e-04 -2.50172342e+02] [-9.00444379e-03 -1.55037528e-05 -9.99959459e-01 -1.79790862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1146.6965599950001 meters 0.012712191191545272 Centerline is valid? [True, True] Translation: X:-336.72, Y:-249.50, Z:-2.79 [[-9.94204289e-01 -1.07133461e-01 8.95846938e-03 -3.36720684e+02] [ 1.07129255e-01 -9.94244649e-01 -9.49428682e-04 -2.49503967e+02] [ 9.00862582e-03 1.57880816e-05 9.99959422e-01 -2.78635474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1146.7265599950001 meters 0.012812238351932435 Centerline is valid? [True, True] Translation: X:-336.81, Y:-250.17, Z:-1.80 [[-9.99522017e-01 2.95019529e-02 9.23976423e-03 -3.36813190e+02] [ 2.95004096e-02 9.99564722e-01 -3.03305507e-04 -2.50168269e+02] [-9.24469047e-03 -3.05837024e-05 -9.99957267e-01 -1.79830532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1146.756559995 meters 0.012758252430920903 Centerline is valid? [True, True] Translation: X:-336.82, Y:-250.14, Z:-1.80 [[-9.99038877e-01 -4.29452882e-02 8.77631847e-03 -3.36823842e+02] [-4.29439854e-02 9.99077425e-01 3.36931487e-04 -2.50138985e+02] [-8.78269127e-03 -4.02824375e-05 -9.99961431e-01 -1.79932583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1146.786559995 meters 0.012865548644909774 Centerline is valid? [True, True] Translation: X:-336.85, Y:-249.48, Z:-2.79 [[-9.99357862e-01 -3.47594248e-02 8.69752074e-03 -3.36850213e+02] [ 3.47584085e-02 -9.99395708e-01 -2.68033964e-04 -2.49477169e+02] [ 8.70158161e-03 3.44501300e-05 9.99962140e-01 -2.78509768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1146.816559995 meters 0.012988386164819985 Centerline is valid? [True, True] Translation: X:-336.91, Y:-250.14, Z:-1.80 [[-9.98689441e-01 -5.05110061e-02 8.24854781e-03 -3.36908123e+02] [-5.05097297e-02 9.98723503e-01 3.63124002e-04 -2.50139552e+02] [-8.25636033e-03 -5.39838142e-05 -9.99965914e-01 -1.79996595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1146.846559995 meters 0.013081870924844016 Centerline is valid? [True, True] Translation: X:-336.93, Y:-249.48, Z:-2.78 [[-9.99486934e-01 -3.10116386e-02 8.00925301e-03 -3.36934874e+02] [ 3.10109309e-02 -9.99519023e-01 -2.12560175e-04 -2.49483167e+02] [ 8.01199258e-03 3.59232738e-05 9.99967903e-01 -2.78454509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1146.876559995 meters 0.013264442655476378 Centerline is valid? [True, True] Translation: X:-336.99, Y:-250.14, Z:-1.80 [[-9.98228571e-01 -5.89346237e-02 8.15044039e-03 -3.36990307e+02] [-5.89333079e-02 9.98261841e-01 4.01718292e-04 -2.50138254e+02] [-8.15994875e-03 -7.93257367e-05 -9.99966704e-01 -1.80059090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1146.906559995 meters 0.013424192105388399 Centerline is valid? [True, True] Translation: X:-337.00, Y:-250.11, Z:-1.80 [[-9.91357994e-01 -1.30937734e-01 8.03981578e-03 -3.37000978e+02] [-1.30934144e-01 9.91390590e-01 9.73554621e-04 -2.50110164e+02] [-8.09807275e-03 -8.75452437e-05 -9.99967206e-01 -1.80067049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1146.9365599950002 meters 0.013873733321971927 Centerline is valid? [True, True] Translation: X:-337.08, Y:-249.47, Z:-2.78 [[-9.99122314e-01 4.10228599e-02 8.46914398e-03 -3.37075557e+02] [-4.10203872e-02 -9.99158201e-01 4.65544562e-04 -2.49469673e+02] [ 8.48111263e-03 1.17728395e-04 9.99964028e-01 -2.78467409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1146.9665599950001 meters 0.013873938125633232 Centerline is valid? [True, True] Translation: X:-337.10, Y:-250.12, Z:-1.80 [[-9.90231305e-01 -1.39166440e-01 8.64085927e-03 -3.37098945e+02] [-1.39162137e-01 9.90268998e-01 1.10016569e-03 -2.50119153e+02] [-8.70988120e-03 -1.13061939e-04 -9.99962062e-01 -1.80086908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1146.996559995 meters 0.013957508173659957 Centerline is valid? [True, True] Translation: X:-337.11, Y:-250.09, Z:-1.80 [[-9.77546783e-01 -2.10541126e-01 8.64417749e-03 -3.37114784e+02] [-2.10534013e-01 9.77584993e-01 1.73499611e-03 -2.50092546e+02] [-8.81570622e-03 -1.23853515e-04 -9.99961133e-01 -1.80120068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1147.026559995 meters 0.013830062131129995 Centerline is valid? [True, True] Translation: X:-337.14, Y:-250.07, Z:-1.80 [[-9.59832027e-01 -2.80452664e-01 8.29357902e-03 -3.37142826e+02] [-2.80443292e-01 9.59867850e-01 2.29593714e-03 -2.50070425e+02] [-8.60464154e-03 -1.22164602e-04 -9.99962972e-01 -1.80149530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1147.056559995 meters 0.014061709967727484 Centerline is valid? [True, True] Translation: X:-337.19, Y:-250.05, Z:-1.80 [[-9.36988604e-01 -3.49264788e-01 8.15254758e-03 -3.37186899e+02] [-3.49252695e-01 9.37024062e-01 2.90904591e-03 -2.50053430e+02] [-8.65516056e-03 -1.21556346e-04 -9.99962536e-01 -1.80096245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1147.086559995 meters 0.013759592098915596 Centerline is valid? [True, True] Translation: X:-337.25, Y:-250.05, Z:-1.80 [[-9.09044859e-01 -4.16630441e-01 7.51805624e-03 -3.37249833e+02] [-4.16617203e-01 9.09075940e-01 3.32309473e-03 -2.50048497e+02] [-8.21898646e-03 -1.11309382e-04 -9.99966218e-01 -1.80132302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1147.116559995 meters 0.013646984479163585 Centerline is valid? [True, True] Translation: X:-337.32, Y:-250.05, Z:-1.80 [[-8.76157225e-01 -4.81972330e-01 7.15477116e-03 -3.37315759e+02] [-4.81957218e-01 8.76186432e-01 3.81799921e-03 -2.50048893e+02] [-8.10908338e-03 -1.03126009e-04 -9.99967116e-01 -1.80080708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1147.146559995 meters 0.01353741612385834 Centerline is valid? [True, True] Translation: X:-337.39, Y:-250.06, Z:-1.80 [[-8.38595371e-01 -5.44711946e-01 6.83376738e-03 -3.37390571e+02] [-5.44694766e-01 8.38623209e-01 4.32723769e-03 -2.50060411e+02] [-8.08805400e-03 -9.35158250e-05 -9.99967287e-01 -1.80053327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1147.176559995 meters 0.013088102351797172 Centerline is valid? [True, True] Translation: X:-337.47, Y:-250.08, Z:-1.80 [[-7.97414671e-01 -6.03401554e-01 6.03390643e-03 -3.37468064e+02] [-6.03384880e-01 7.97437497e-01 4.48617072e-03 -2.50081186e+02] [-7.51862562e-03 -6.34295591e-05 -9.99971733e-01 -1.80105238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1147.2065599950001 meters 0.012981413426683852 Centerline is valid? [True, True] Translation: X:-337.55, Y:-250.11, Z:-1.80 [[-7.50774214e-01 -6.60535180e-01 5.59957491e-03 -3.37550627e+02] [-6.60517326e-01 7.50795094e-01 4.85681164e-03 -2.50112250e+02] [-7.41222832e-03 -5.22473039e-05 -9.99972528e-01 -1.80095089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1147.236559995 meters 0.012909562316981829 Centerline is valid? [True, True] Translation: X:-337.64, Y:-250.15, Z:-1.80 [[-6.99776447e-01 -7.14341430e-01 5.40791876e-03 -3.37636023e+02] [-7.14320585e-01 6.99797342e-01 5.45734091e-03 -2.50154315e+02] [-7.68285188e-03 -4.40690597e-05 -9.99970486e-01 -1.80046622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1147.266559995 meters 0.012790122383941107 Centerline is valid? [True, True] Translation: X:-337.72, Y:-250.21, Z:-1.80 [[-6.44535865e-01 -7.64554759e-01 5.43508475e-03 -3.37721671e+02] [-7.64528097e-01 6.44558779e-01 6.38518761e-03 -2.50206942e+02] [-8.38505716e-03 -3.97925770e-05 -9.99964844e-01 -1.80073855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1147.296559995 meters 0.012849819943093185 Centerline is valid? [True, True] Translation: X:-337.80, Y:-250.27, Z:-1.80 [[-5.85309062e-01 -8.10793826e-01 5.16461286e-03 -3.37804955e+02] [-8.10762791e-01 5.85331846e-01 7.09416570e-03 -2.50267405e+02] [-8.77491813e-03 -3.49964571e-05 -9.99961499e-01 -1.80020578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1147.326559995 meters 0.012784123345983552 Centerline is valid? [True, True] Translation: X:-337.89, Y:-250.34, Z:-1.80 [[-5.22383894e-01 -8.52696436e-01 4.88422304e-03 -3.37886969e+02] [-8.52659749e-01 5.22406726e-01 7.90981922e-03 -2.50338702e+02] [-9.29622562e-03 -3.26182251e-05 -9.99956789e-01 -1.79975773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1147.356559995 meters 0.012793919437621289 Centerline is valid? [True, True] Translation: X:-337.96, Y:-250.41, Z:-1.80 [[-4.56006077e-01 -8.89964800e-01 4.59485489e-03 -3.37963704e+02] [-8.89920363e-01 4.56029224e-01 8.89346858e-03 -2.50414323e+02] [-1.00102621e-02 -3.35792177e-05 -9.99949896e-01 -1.79905195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1147.386559995 meters 0.012868656938757871 Centerline is valid? [True, True] Translation: X:-338.04, Y:-250.50, Z:-1.80 [[-3.86345567e-01 -9.22345852e-01 3.90277687e-03 -3.38036146e+02] [-9.22299794e-01 3.86365277e-01 9.21755247e-03 -2.50500415e+02] [-1.00096688e-02 -3.83697663e-05 -9.99949901e-01 -1.79915255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1147.416559995 meters 0.012769825116762997 Centerline is valid? [True, True] Translation: X:-338.10, Y:-250.59, Z:-1.80 [[-3.14123336e-01 -9.49376788e-01 3.20073106e-03 -3.38102342e+02] [-9.49328961e-01 3.14139640e-01 9.52948333e-03 -2.50593043e+02] [-1.00525468e-02 -4.51135886e-05 -9.99949471e-01 -1.79894267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1147.4465599950001 meters 0.012890372931526287 Centerline is valid? [True, True] Translation: X:-338.16, Y:-250.69, Z:-1.80 [[-2.39913266e-01 -9.70791246e-01 2.44570253e-03 -3.38161792e+02] [-9.70742962e-01 2.39925726e-01 9.68230149e-03 -2.50692918e+02] [-9.98628048e-03 -5.12359448e-05 -9.99950135e-01 -1.79902193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1147.4765599950001 meters 0.01290559022746047 Centerline is valid? [True, True] Translation: X:-338.21, Y:-250.80, Z:-1.80 [[-1.64090969e-01 -9.86443792e-01 1.67323902e-03 -3.38213628e+02] [-9.86396166e-01 1.64099489e-01 9.69333073e-03 -2.50797219e+02] [-9.83650359e-03 -5.98885187e-05 -9.99951619e-01 -1.79922949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1147.506559995 meters 0.012920838297975733 Centerline is valid? [True, True] Translation: X:-338.85, Y:-250.80, Z:-2.79 [[-2.43085202e-01 9.70002111e-01 2.34314167e-03 -3.38849203e+02] [-9.69954469e-01 -2.43096486e-01 9.61391660e-03 -2.50799436e+02] [ 9.89512890e-03 6.42601277e-05 9.99951040e-01 -2.78544287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1147.536559995 meters 0.013131987025098848 Centerline is valid? [True, True] Translation: X:-338.27, Y:-251.06, Z:-1.80 [[-1.52708782e-01 -9.88270122e-01 1.48092917e-03 -3.38265944e+02] [-9.88228340e-01 1.52715944e-01 9.08788751e-03 -2.51062714e+02] [-9.20744919e-03 -7.56959423e-05 -9.99957608e-01 -1.79938537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1147.566559995 meters 0.013246122628080833 Centerline is valid? [True, True] Translation: X:-338.31, Y:-251.17, Z:-1.80 [[-7.64618028e-02 -9.97072211e-01 7.73634132e-04 -3.38308363e+02] [-9.97030837e-01 7.64656779e-02 9.08348011e-03 -2.51171955e+02] [-9.11604206e-03 -7.67978216e-05 -9.99958445e-01 -1.79965035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1147.596559995 meters 0.013224280488576856 Centerline is valid? [True, True] Translation: X:-338.34, Y:-251.28, Z:-1.80 [[ 1.70347986e-04 -9.99999983e-01 7.15999898e-05 -3.38342158e+02] [-9.99963099e-01 -1.69726726e-04 8.58906658e-03 -2.51282208e+02] [-8.58905428e-03 -7.30604779e-05 -9.99963111e-01 -1.79994171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1147.626559995 meters 0.013041841846405812 Centerline is valid? [True, True] Translation: X:-338.37, Y:-251.40, Z:-1.80 [[ 7.65055800e-02 -9.97069005e-01 -5.43257088e-04 -3.38366312e+02] [-9.97037435e-01 -7.65074808e-02 7.93465657e-03 -2.51399556e+02] [-7.95296336e-03 -6.53978495e-05 -9.99968373e-01 -1.80091156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1147.656559995 meters 0.013005727513298803 Centerline is valid? [True, True] Translation: X:-338.38, Y:-251.52, Z:-1.80 [[ 1.51497893e-01 -9.88457080e-01 -9.94921487e-04 -3.38381819e+02] [-9.88433618e-01 -1.51501152e-01 6.81054580e-03 -2.51515031e+02] [-6.88266396e-03 -4.83694947e-05 -9.99976313e-01 -1.80228361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1147.6865599950002 meters 0.013077824275938295 Centerline is valid? [True, True] Translation: X:-338.39, Y:-251.63, Z:-1.80 [[ 2.26169723e-01 -9.74086987e-01 -1.34078738e-03 -3.38389384e+02] [-9.74068828e-01 -2.26173694e-01 5.94805793e-03 -2.51630478e+02] [-6.09717667e-03 -3.92514293e-05 -9.99981411e-01 -1.80233851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1147.7165599950001 meters 0.013013708608071724 Centerline is valid? [True, True] Translation: X:-338.39, Y:-251.75, Z:-1.80 [[ 2.99771109e-01 -9.54009776e-01 -1.62140283e-03 -3.38387753e+02] [-9.53995211e-01 -2.99775492e-01 5.27185835e-03 -2.51746811e+02] [-5.51546124e-03 -3.35402835e-05 -9.99984789e-01 -1.80309973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1147.746559995 meters 0.012934642039045215 Centerline is valid? [True, True] Translation: X:-338.38, Y:-251.86, Z:-1.80 [[ 3.71419956e-01 -9.28463051e-01 -1.89204949e-03 -3.38376911e+02] [-9.28450610e-01 -3.71424774e-01 4.80639344e-03 -2.51862731e+02] [-5.16531277e-03 -2.85159360e-05 -9.99986659e-01 -1.80360810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1147.776559995 meters 0.01288201237919152 Centerline is valid? [True, True] Translation: X:-338.36, Y:-251.98, Z:-1.80 [[ 4.41060211e-01 -8.97474688e-01 -2.25270111e-03 -3.38357726e+02] [-8.97462670e-01 -4.41065963e-01 4.64456549e-03 -2.51977799e+02] [-5.16196975e-03 -2.68178804e-05 -9.99986677e-01 -1.80359663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1147.806559995 meters 0.01288201237919152 Centerline is valid? [True, True] Translation: X:-338.33, Y:-252.09, Z:-1.80 [[ 5.08312585e-01 -8.61168712e-01 -2.60083954e-03 -3.38330379e+02] [-8.61157169e-01 -5.08319238e-01 4.45897119e-03 -2.52088443e+02] [-5.16198325e-03 -2.68195568e-05 -9.99986677e-01 -1.80359601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1147.836559995 meters 0.012975595486430737 Centerline is valid? [True, True] Translation: X:-338.30, Y:-252.20, Z:-1.80 [[ 5.71987853e-01 -8.20255682e-01 -3.24215666e-03 -3.38297093e+02] [-8.20242245e-01 -5.71997041e-01 4.69519218e-03 -2.52196833e+02] [-5.70576209e-03 -2.62390414e-05 -9.99983722e-01 -1.80217092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1147.866559995 meters 0.0128982050784022 Centerline is valid? [True, True] Translation: X:-338.26, Y:-252.30, Z:-1.80 [[ 6.32379717e-01 -7.74647557e-01 -4.12991753e-03 -3.38256486e+02] [-7.74630757e-01 -6.32393202e-01 5.10182305e-03 -2.52298312e+02] [-6.56384653e-03 -2.71282735e-05 -9.99978458e-01 -1.80176976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1147.896559995 meters 0.012915755024185127 Centerline is valid? [True, True] Translation: X:-338.21, Y:-252.39, Z:-1.80 [[ 6.88968247e-01 -7.24777075e-01 -4.57664979e-03 -3.38209304e+02] [-7.24760857e-01 -6.88983448e-01 4.84867237e-03 -2.52394430e+02] [-6.66744253e-03 -2.36046803e-05 -9.99977772e-01 -1.80191887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1147.926559995 meters 0.012933810487406926 Centerline is valid? [True, True] Translation: X:-338.16, Y:-252.48, Z:-1.80 [[ 7.41366093e-01 -6.71078943e-01 -5.41926719e-03 -3.38160150e+02] [-6.71060819e-01 -7.41385899e-01 4.93210674e-03 -2.52481836e+02] [-7.32760126e-03 -1.98388252e-05 -9.99973153e-01 -1.80157914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1147.9565599950001 meters 0.012914744278256587 Centerline is valid? [True, True] Translation: X:-338.16, Y:-252.49, Z:-1.80 [[ 7.90922034e-01 -6.11886974e-01 -6.05534483e-03 -3.38160826e+02] [-6.11868918e-01 -7.90945214e-01 4.70061443e-03 -2.52493326e+02] [-7.66569075e-03 -1.27422366e-05 -9.99970618e-01 -1.80156606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1147.986559995 meters 0.012928965029601834 Centerline is valid? [True, True] Translation: X:-338.16, Y:-252.50, Z:-1.80 [[ 8.35963660e-01 -5.48741040e-01 -6.93044521e-03 -3.38160745e+02] [-5.48722096e-01 -8.35992387e-01 4.55955420e-03 -2.52504399e+02] [-8.29581395e-03 -8.73319109e-06 -9.99965589e-01 -1.80172782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1148.016559995 meters 0.012937526138724023 Centerline is valid? [True, True] Translation: X:-338.16, Y:-252.52, Z:-1.80 [[ 8.75416511e-01 -4.83311596e-01 -7.47222436e-03 -3.38159571e+02] [-4.83294055e-01 -8.75448400e-01 4.11770080e-03 -2.52515439e+02] [-8.53167941e-03 6.57834314e-06 -9.99963605e-01 -1.80162144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1148.046559995 meters 0.012899603620869738 Centerline is valid? [True, True] Translation: X:-338.16, Y:-252.53, Z:-1.80 [[ 9.10444571e-01 -4.13552982e-01 -8.03829803e-03 -3.38158100e+02] [-4.13536944e-01 -9.10480055e-01 3.64204757e-03 -2.52527217e+02] [-8.82488967e-03 8.25076236e-06 -9.99961060e-01 -1.80154382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1148.076559995 meters 0.012970318715522337 Centerline is valid? [True, True] Translation: X:-338.16, Y:-252.54, Z:-1.80 [[ 9.39942640e-01 -3.41232124e-01 -8.27474661e-03 -3.38156321e+02] [-3.41218987e-01 -9.39979062e-01 2.99431639e-03 -2.52537768e+02] [-8.79984550e-03 9.01500131e-06 -9.99961281e-01 -1.80090676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1148.106559995 meters 0.012903003443552311 Centerline is valid? [True, True] Translation: X:-338.15, Y:-252.55, Z:-1.80 [[ 9.64113095e-01 -2.65348799e-01 -8.71522008e-03 -3.38152781e+02] [-2.65337923e-01 -9.64152485e-01 2.40244803e-03 -2.52550053e+02] [-9.04028780e-03 -3.75321510e-06 -9.99959136e-01 -1.80095817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1148.136559995 meters 0.012921102725618763 Centerline is valid? [True, True] Translation: X:-338.15, Y:-252.56, Z:-1.80 [[ 9.82190686e-01 -1.87673824e-01 -8.94387565e-03 -3.38148809e+02] [-1.87665877e-01 -9.82231406e-01 1.72712339e-03 -2.52561621e+02] [-9.10909141e-03 -1.79042362e-05 -9.99958511e-01 -1.80101633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1148.166559995 meters 0.013020427460770147 Centerline is valid? [True, True] Translation: X:-338.15, Y:-252.57, Z:-1.80 [[ 9.94030215e-01 -1.08709926e-01 -9.27810977e-03 -3.38145236e+02] [-1.08704882e-01 -9.94073514e-01 1.04770508e-03 -2.52572392e+02] [-9.33701912e-03 -3.28746790e-05 -9.99956409e-01 -1.80044854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1148.1965599950001 meters 0.013194667462224587 Centerline is valid? [True, True] Translation: X:-338.14, Y:-252.58, Z:-1.80 [[ 9.99546960e-01 -2.85606616e-02 -9.49545792e-03 -3.38142346e+02] [-2.85588769e-02 -9.99592060e-01 3.23515222e-04 -2.52582085e+02] [-9.50082415e-03 -5.21890428e-05 -9.99954865e-01 -1.79989072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1148.2265599950001 meters 0.013338587097494518 Centerline is valid? [True, True] Translation: X:-338.14, Y:-252.59, Z:-1.80 [[ 9.98595685e-01 5.19740385e-02 -1.02643464e-02 -3.38138451e+02] [ 5.19721096e-02 -9.98648433e-01 -4.54755686e-04 -2.52591874e+02] [-1.02741089e-02 -7.93426674e-05 -9.99947217e-01 -1.79978852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1148.256559995 meters 0.01368459209898961 Centerline is valid? [True, True] Translation: X:-338.13, Y:-252.60, Z:-1.80 [[ 9.91141272e-01 1.32420336e-01 -1.01898944e-02 -3.38133582e+02] [ 1.32414423e-01 -9.91193646e-01 -1.25577124e-03 -2.52601453e+02] [-1.02664482e-02 -1.04642270e-04 -9.99947293e-01 -1.79944564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1148.286559995 meters 0.014669844261652985 Centerline is valid? [True, True] Translation: X:-338.13, Y:-252.61, Z:-1.80 [[ 9.76808484e-01 2.13886691e-01 -9.88277485e-03 -3.38128588e+02] [ 2.13877261e-01 -9.76858466e-01 -2.01373790e-03 -2.52612188e+02] [-1.00847840e-02 -1.46664554e-04 -9.99949137e-01 -1.79926469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1148.316559995 meters 0.014801676111538023 Centerline is valid? [True, True] Translation: X:-338.12, Y:-252.62, Z:-1.80 [[ 9.56463505e-01 2.91696945e-01 -9.51080522e-03 -3.38122792e+02] [ 2.91684233e-01 -9.56510776e-01 -2.72814601e-03 -2.52619394e+02] [-9.89297954e-03 -1.64779836e-04 -9.99951050e-01 -1.80030913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1148.346559995 meters 0.014928665156726114 Centerline is valid? [True, True] Translation: X:-338.12, Y:-252.63, Z:-1.80 [[ 9.30150022e-01 3.67086315e-01 -8.28093478e-03 -3.38115541e+02] [ 3.67073302e-01 -9.30186869e-01 -3.09505689e-03 -2.52627310e+02] [-8.83896982e-03 -1.60842843e-04 -9.99960923e-01 -1.80102751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1148.376559995 meters 0.015391097446168131 Centerline is valid? [True, True] Translation: X:-338.11, Y:-252.63, Z:-1.80 [[ 8.97955286e-01 4.40029876e-01 -7.07202593e-03 -3.38108978e+02] [ 4.40017561e-01 -8.97983121e-01 -3.29557536e-03 -2.52634778e+02] [-7.80071153e-03 -1.52536290e-04 -9.99969563e-01 -1.80149751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1148.406559995 meters 0.015354210690533613 Centerline is valid? [True, True] Translation: X:-338.10, Y:-252.64, Z:-1.80 [[ 8.60391879e-01 5.09599497e-01 -5.84529303e-03 -3.38100784e+02] [ 5.09588806e-01 -8.60411724e-01 -3.30361237e-03 -2.52641310e+02] [-6.71287786e-03 -1.36294641e-04 -9.99977459e-01 -1.80224569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1148.4365599950002 meters 0.015813512096184368 Centerline is valid? [True, True] Translation: X:-338.09, Y:-252.65, Z:-1.80 [[ 8.17419951e-01 5.76024829e-01 -4.47444250e-03 -3.38092708e+02] [ 5.76016955e-01 -8.17432189e-01 -3.01404433e-03 -2.52647421e+02] [-5.39371769e-03 -1.13614776e-04 -9.99985448e-01 -1.80250379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1148.4665599950001 meters 0.01601069824225642 Centerline is valid? [True, True] Translation: X:-338.09, Y:-252.65, Z:-1.80 [[ 7.69728074e-01 6.38359295e-01 -4.01280350e-03 -3.38085593e+02] [ 6.38351348e-01 -7.69738527e-01 -3.18704258e-03 -2.52651002e+02] [-5.12328771e-03 -1.08422374e-04 -9.99986870e-01 -1.80248410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1148.496559995 meters 0.016000443798859794 Centerline is valid? [True, True] Translation: X:-338.08, Y:-252.65, Z:-1.80 [[ 7.17492153e-01 6.96556662e-01 -3.71854527e-03 -3.38077542e+02] [ 6.96548071e-01 -7.17501781e-01 -3.46112444e-03 -2.52653021e+02] [-5.07893214e-03 -1.06815911e-04 -9.99987097e-01 -1.80231339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1148.526559995 meters 0.01575069479173457 Centerline is valid? [True, True] Translation: X:-338.07, Y:-252.65, Z:-1.80 [[ 6.60913433e-01 7.50455012e-01 -3.27264304e-03 -3.38069316e+02] [ 7.50446557e-01 -6.60921527e-01 -3.56367293e-03 -2.52654504e+02] [-4.83733645e-03 -1.00664395e-04 -9.99988295e-01 -1.80202287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1148.556559995 meters 0.016092600342584813 Centerline is valid? [True, True] Translation: X:-338.06, Y:-252.66, Z:-1.80 [[ 6.00314195e-01 7.99756576e-01 -3.50519595e-03 -3.38061802e+02] [ 7.99744064e-01 -6.00324417e-01 -4.47519577e-03 -2.52656256e+02] [-5.68332197e-03 -1.16736106e-04 -9.99983843e-01 -1.80137039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1148.586559995 meters 0.015339852078874403 Centerline is valid? [True, True] Translation: X:-338.06, Y:-252.66, Z:-1.80 [[ 5.36536038e-01 8.43870362e-01 -3.44864401e-03 -3.38055349e+02] [ 8.43854383e-01 -5.36547107e-01 -5.19450140e-03 -2.52656456e+02] [-6.23384574e-03 -1.23116159e-04 -9.99980562e-01 -1.80081442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1148.616559995 meters 0.015434991568906428 Centerline is valid? [True, True] Translation: X:-338.05, Y:-252.66, Z:-1.80 [[ 4.69181395e-01 8.83096034e-01 -3.19569701e-03 -3.38047243e+02] [ 8.83077364e-01 -4.69192261e-01 -5.74375460e-03 -2.52657701e+02] [-6.57168322e-03 -1.27184899e-04 -9.99978398e-01 -1.80020350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1148.646559995 meters 0.015400341013211407 Centerline is valid? [True, True] Translation: X:-338.04, Y:-252.66, Z:-1.80 [[ 3.98635503e-01 9.17105203e-01 -2.78980719e-03 -3.38040030e+02] [ 9.17084968e-01 -3.98645244e-01 -6.09357438e-03 -2.52657514e+02] [-6.70059214e-03 -1.29375149e-04 -9.99977543e-01 -1.79966295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1148.676559995 meters 0.01565480454872988 Centerline is valid? [True, True] Translation: X:-338.03, Y:-252.66, Z:-1.80 [[ 3.25761113e-01 9.45448392e-01 -2.65261404e-03 -3.38034656e+02] [ 9.45420640e-01 -3.25771879e-01 -7.24547932e-03 -2.52657835e+02] [-7.71437383e-03 -1.47540656e-04 -9.99970233e-01 -1.79825712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1148.7065599950001 meters 0.01582419017654982 Centerline is valid? [True, True] Translation: X:-338.03, Y:-252.66, Z:-1.80 [[ 2.50869857e-01 9.68018452e-01 -2.14299617e-03 -3.38029830e+02] [ 9.67988100e-01 -2.50878964e-01 -7.66706832e-03 -2.52657546e+02] [-7.95949626e-03 -1.50958466e-04 -9.99968312e-01 -1.79742895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1148.736559995 meters 0.01587494903483399 Centerline is valid? [True, True] Translation: X:-338.03, Y:-252.66, Z:-1.80 [[ 1.74209463e-01 9.84707201e-01 -1.67078717e-03 -3.38025610e+02] [ 9.84670567e-01 -1.74217397e-01 -8.49552023e-03 -2.52655261e+02] [-8.65668014e-03 -1.65174933e-04 -9.99962517e-01 -1.79679714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1148.766559995 meters 0.015521058923867697 Centerline is valid? [True, True] Translation: X:-338.02, Y:-252.65, Z:-1.80 [[ 9.63619280e-02 9.95345815e-01 -1.04313367e-03 -3.38019828e+02] [ 9.95305414e-01 -9.63674169e-02 -8.96961339e-03 -2.52653174e+02] [-9.02839125e-03 -1.73907355e-04 -9.99959228e-01 -1.79650738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1148.796559995 meters 0.015969224404186872 Centerline is valid? [True, True] Translation: X:-338.01, Y:-252.65, Z:-1.80 [[ 1.77325948e-02 9.99842702e-01 -3.55549567e-04 -3.38013279e+02] [ 9.99797467e-01 -1.77351752e-02 -9.51257076e-03 -2.52652166e+02] [-9.51738018e-03 -1.86794994e-04 -9.99954691e-01 -1.79580017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1148.826559995 meters 0.015568265527090295 Centerline is valid? [True, True] Translation: X:-338.01, Y:-252.65, Z:-1.80 [[-6.08716612e-02 9.98145521e-01 3.99964782e-04 -3.38008080e+02] [ 9.98098068e-01 6.08726681e-02 -9.73475706e-03 -2.52650298e+02] [-9.74105108e-03 -1.93366758e-04 -9.99952536e-01 -1.79587169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1148.856559995 meters 0.015622585234075411 Centerline is valid? [True, True] Translation: X:-338.00, Y:-252.65, Z:-1.80 [[-1.39490498e-01 9.90222660e-01 1.21836108e-03 -3.38002954e+02] [ 9.90170646e-01 1.39495662e-01 -1.01514979e-02 -2.52647791e+02] [-1.02221993e-02 -2.09652123e-04 -9.99947730e-01 -1.79558133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1148.886559995 meters 0.015788168051576824 Centerline is valid? [True, True] Translation: X:-338.00, Y:-252.64, Z:-1.80 [[-2.17066047e-01 9.76154828e-01 2.02088656e-03 -3.37996960e+02] [ 9.76102788e-01 2.17075346e-01 -1.00817312e-02 -2.52644698e+02] [-1.02800153e-02 -2.15808540e-04 -9.99947136e-01 -1.79547944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1148.916559995 meters 0.016211481439460395 Centerline is valid? [True, True] Translation: X:-337.99, Y:-252.64, Z:-1.80 [[-2.92973057e-01 9.56116613e-01 2.79456485e-03 -3.37991399e+02] [ 9.56065829e-01 2.92986306e-01 -9.85671864e-03 -2.52642739e+02] [-1.02429417e-02 -2.15965035e-04 -9.99947517e-01 -1.79540231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1148.9465599950001 meters 0.015927424130159653 Centerline is valid? [True, True] Translation: X:-337.99, Y:-252.64, Z:-1.80 [[-3.67425046e-01 9.30046806e-01 3.43130455e-03 -3.37986942e+02] [ 9.30000689e-01 3.67441006e-01 -9.26416505e-03 -2.52639944e+02] [-9.87690911e-03 -2.12770669e-04 -9.99951200e-01 -1.79644181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1148.9765599950001 meters 0.016549140908516197 Centerline is valid? [True, True] Translation: X:-337.98, Y:-252.64, Z:-1.80 [[-4.39534024e-01 8.98217174e-01 3.96866836e-03 -3.37981071e+02] [ 8.98176196e-01 4.39551892e-01 -8.58232258e-03 -2.52636968e+02] [-9.45322522e-03 -2.07659332e-04 -9.99955296e-01 -1.79640880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1149.006559995 meters 0.017038555753482322 Centerline is valid? [True, True] Translation: X:-337.98, Y:-252.64, Z:-1.80 [[-5.09267897e-01 8.60598479e-01 4.05799850e-03 -3.37979966e+02] [ 8.60568143e-01 5.09284029e-01 -7.22834603e-03 -2.52636392e+02] [-8.28737742e-03 -1.88980342e-04 -9.99965641e-01 -1.79783962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1149.036559995 meters 0.016674935926258447 Centerline is valid? [True, True] Translation: X:-337.98, Y:-252.63, Z:-1.80 [[-5.75800204e-01 8.17579707e-01 4.18900987e-03 -3.37976602e+02] [ 8.17555781e-01 5.75815414e-01 -6.25737824e-03 -2.52633370e+02] [-7.52800192e-03 -1.78250434e-04 -9.99971649e-01 -1.79924292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1149.066559995 meters 0.016682596592188657 Centerline is valid? [True, True] Translation: X:-337.97, Y:-252.63, Z:-1.80 [[-6.38374878e-01 7.69712355e-01 4.51728324e-03 -3.37972952e+02] [ 7.69691108e-01 6.38390837e-01 -5.72175151e-03 -2.52629006e+02] [-7.28789506e-03 -1.75709684e-04 -9.99973428e-01 -1.79985751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1149.096559995 meters 0.01779705168013406 Centerline is valid? [True, True] Translation: X:-337.97, Y:-252.62, Z:-1.80 [[-6.97519628e-01 7.16553410e-01 4.19278744e-03 -3.37967253e+02] [ 7.16539103e-01 6.97532212e-01 -4.53074439e-03 -2.52624791e+02] [-6.17112464e-03 -1.55986991e-04 -9.99980946e-01 -1.80018370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1149.126559995 meters 0.017755099603934284 Centerline is valid? [True, True] Translation: X:-337.96, Y:-252.62, Z:-1.80 [[-7.52216075e-01 6.58901307e-01 4.47712396e-03 -3.37964577e+02] [ 6.58888349e-01 7.52229382e-01 -4.13534993e-03 -2.52620508e+02] [-6.09261166e-03 -1.60751882e-04 -9.99981427e-01 -1.80036622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1149.156559995 meters 0.019058243421019114 Centerline is valid? [True, True] Translation: X:-337.95, Y:-252.59, Z:-1.80 [[-7.98542994e-01 6.01919338e-01 4.71155689e-03 -3.37954828e+02] [ 6.01907551e-01 7.98556874e-01 -3.77083348e-03 -2.52593971e+02] [-6.03218373e-03 -1.75250987e-04 -9.99981791e-01 -1.79973915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1149.1865599950002 meters 0.018060007277811794 Centerline is valid? [True, True] Translation: X:-337.93, Y:-252.58, Z:-1.80 [[-8.39963133e-01 5.42617171e-01 5.34239005e-03 -3.37934083e+02] [ 5.42604676e-01 8.39980099e-01 -3.68785272e-03 -2.52579407e+02] [-6.48859353e-03 -1.98854502e-04 -9.99978929e-01 -1.80015523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1149.2165599950001 meters 0.018713065344224667 Centerline is valid? [True, True] Translation: X:-337.57, Y:-252.05, Z:-2.79 [[-7.61476269e-01 -6.48166419e-01 5.84684471e-03 -3.37565021e+02] [ 6.48150166e-01 -7.61498661e-01 -4.59905574e-03 -2.52050951e+02] [ 7.43331791e-03 2.87561569e-04 9.99972331e-01 -2.78504427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1149.246559995 meters 0.020787501078135887 Centerline is valid? [True, True] Translation: X:-337.58, Y:-252.08, Z:-2.79 [[-7.15122306e-01 -6.98971750e-01 6.21130970e-03 -3.37584359e+02] [ 6.98948904e-01 -7.15149220e-01 -5.65894888e-03 -2.52076459e+02] [ 8.39745869e-03 2.94547535e-04 9.99964698e-01 -2.78628923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1149.276559995 meters 0.02191318265675054 Centerline is valid? [True, True] Translation: X:-338.03, Y:-252.54, Z:-1.80 [[-8.07161475e-01 5.90289254e-01 6.99641088e-03 -3.38029196e+02] [ 5.90263527e-01 8.07191731e-01 -5.52068384e-03 -2.52542458e+02] [-8.90624536e-03 -3.26357153e-04 -9.99960286e-01 -1.79738579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1149.306559995 meters 0.021939796862444915 Centerline is valid? [True, True] Translation: X:-338.01, Y:-252.53, Z:-1.80 [[-8.47569038e-01 5.30624637e-01 8.01376305e-03 -3.38005431e+02] [ 5.30596771e-01 8.47606843e-01 -5.45042043e-03 -2.52527061e+02] [-9.68464776e-03 -3.67530803e-04 -9.99953035e-01 -1.79691413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1149.336559995 meters 0.02166816882755039 Centerline is valid? [True, True] Translation: X:-337.99, Y:-252.51, Z:-1.80 [[-8.83568217e-01 4.68224373e-01 8.55235576e-03 -3.37990251e+02] [ 4.68198158e-01 8.83609522e-01 -4.96967373e-03 -2.52506043e+02] [-9.88386535e-03 -3.86848539e-04 -9.99951079e-01 -1.79674029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1149.366559995 meters 0.022855010890524628 Centerline is valid? [True, True] Translation: X:-337.98, Y:-252.48, Z:-1.80 [[-9.14748247e-01 4.03927862e-01 8.82759366e-03 -3.37977888e+02] [ 4.03904902e-01 9.14790757e-01 -4.32439749e-03 -2.52480908e+02] [-9.82214573e-03 -3.90226666e-04 -9.99951686e-01 -1.79594878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1149.396559995 meters 0.0227277583193878 Centerline is valid? [True, True] Translation: X:-337.69, Y:-251.90, Z:-2.79 [[-8.46094313e-01 -5.32963421e-01 8.62584500e-03 -3.37689579e+02] [ 5.32940512e-01 -8.46138186e-01 -4.95791555e-03 -2.51902466e+02] [ 9.94104448e-03 4.02198094e-04 9.99950506e-01 -2.78851896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1149.426559995 meters 0.022630030929486646 Centerline is valid? [True, True] Translation: X:-338.02, Y:-252.47, Z:-1.80 [[-9.15390298e-01 4.02464335e-01 9.11381179e-03 -3.38017871e+02] [ 4.02440202e-01 9.15435587e-01 -4.42382782e-03 -2.52467565e+02] [-1.01235406e-02 -3.81764801e-04 -9.99948683e-01 -1.79585917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1149.4565599950001 meters 0.021722566671145378 Centerline is valid? [True, True] Translation: X:-338.01, Y:-252.45, Z:-1.80 [[-9.40967946e-01 3.38357784e-01 9.66099914e-03 -3.38005187e+02] [ 3.38335858e-01 9.41017466e-01 -3.86993228e-03 -2.52446171e+02] [-1.04005906e-02 -3.72819792e-04 -9.99945843e-01 -1.79597425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1149.486559995 meters 0.02065158179176981 Centerline is valid? [True, True] Translation: X:-337.76, Y:-251.83, Z:-2.79 [[-8.85845789e-01 -4.63890212e-01 9.11642196e-03 -3.37760008e+02] [ 4.63869621e-01 -8.85892630e-01 -4.38436393e-03 -2.51832383e+02] [ 1.01100345e-02 3.44960871e-04 9.99948833e-01 -2.78827574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1149.516559995 meters 0.01838374510729831 Centerline is valid? [True, True] Translation: X:-338.04, Y:-252.44, Z:-1.80 [[-9.40212277e-01 3.40440369e-01 1.00613170e-02 -3.38044427e+02] [ 3.40417178e-01 9.40266053e-01 -3.98674322e-03 -2.52440963e+02] [-1.08175631e-02 -3.23339786e-04 -9.99941436e-01 -1.79662671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1149.546559995 meters 0.01867441204439728 Centerline is valid? [True, True] Translation: X:-338.04, Y:-252.41, Z:-1.80 [[-9.61491337e-01 2.74637145e-01 1.04330483e-02 -3.38040429e+02] [ 2.74617486e-01 9.61547890e-01 -3.30038562e-03 -2.52413697e+02] [-1.09382840e-02 -3.08194693e-04 -9.99940128e-01 -1.79579632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1149.576559995 meters 0.0188711318793968 Centerline is valid? [True, True] Translation: X:-337.83, Y:-251.77, Z:-2.79 [[-9.20825868e-01 -3.89835139e-01 1.04060104e-02 -3.37828499e+02] [ 3.89814251e-01 -9.20884605e-01 -4.04884589e-03 -2.51770943e+02] [ 1.11611172e-02 3.28129120e-04 9.99937659e-01 -2.78934565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1149.606559995 meters 0.017893377732373653 Centerline is valid? [True, True] Translation: X:-338.08, Y:-252.41, Z:-1.80 [[-9.61845132e-01 2.73379587e-01 1.08417491e-02 -3.38079428e+02] [ 2.73358790e-01 9.61906189e-01 -3.38459873e-03 -2.52406071e+02] [-1.13540258e-02 -2.91772399e-04 -9.99935499e-01 -1.79574761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1149.636559995 meters 0.01808052574765591 Centerline is valid? [True, True] Translation: X:-338.07, Y:-252.38, Z:-1.79 [[-9.78357871e-01 2.06631306e-01 1.09261480e-02 -3.38071975e+02] [ 2.06615400e-01 9.78418844e-01 -2.57742555e-03 -2.52381113e+02] [-1.12229259e-02 -2.64134130e-04 -9.99936986e-01 -1.79497535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1149.666559995 meters 0.016667446613380377 Centerline is valid? [True, True] Translation: X:-337.92, Y:-251.71, Z:-2.79 [[-9.48651447e-01 -3.16141648e-01 1.07186820e-02 -3.37915264e+02] [ 3.16124590e-01 -9.48711964e-01 -3.29454253e-03 -2.51709382e+02] [ 1.12104840e-02 2.63066431e-04 9.99937126e-01 -2.78884560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1149.6965599950001 meters 0.01647172413106874 Centerline is valid? [True, True] Translation: X:-338.12, Y:-252.38, Z:-1.80 [[-9.78698778e-01 2.04986221e-01 1.13732646e-02 -3.38118098e+02] [ 2.04969416e-01 9.78764827e-01 -2.63655439e-03 -2.52375495e+02] [-1.16722086e-02 -2.49221161e-04 -9.99931847e-01 -1.79517727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1149.7265599950001 meters 0.01647172413106874 Centerline is valid? [True, True] Translation: X:-338.11, Y:-252.35, Z:-1.80 [[-9.90776186e-01 1.35016921e-01 1.15316782e-02 -3.38113625e+02] [ 1.35004845e-01 9.90843262e-01 -1.82286638e-03 -2.52348234e+02] [-1.16722035e-02 -2.49220163e-04 -9.99931847e-01 -1.79517733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1149.756559995 meters 0.01604416814876547 Centerline is valid? [True, True] Translation: X:-338.12, Y:-252.32, Z:-1.79 [[-9.97780342e-01 6.55950558e-02 1.14751042e-02 -3.38116905e+02] [ 6.55880528e-02 9.97846299e-01 -9.85949099e-04 -2.52321647e+02] [-1.15150636e-02 -2.31130890e-04 -9.99933673e-01 -1.79492365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1149.786559995 meters 0.015991428264779183 Centerline is valid? [True, True] Translation: X:-338.12, Y:-252.29, Z:-1.79 [[-9.99917644e-01 -5.12335100e-03 1.17667671e-02 -3.38115860e+02] [-5.12572320e-03 9.99986849e-01 -1.71452710e-04 -2.52294744e+02] [-1.17657339e-02 -2.31751781e-04 -9.99930755e-01 -1.79490917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1149.816559995 meters 0.016591212868771646 Centerline is valid? [True, True] Translation: X:-338.10, Y:-251.60, Z:-2.79 [[-9.94763091e-01 -1.01564862e-01 1.14443088e-02 -3.38100399e+02] [ 1.01560539e-01 -9.94828898e-01 -9.59770941e-04 -2.51596833e+02] [ 1.14826081e-02 2.07545464e-04 9.99934051e-01 -2.79016240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1149.846559995 meters 0.016411469597631623 Centerline is valid? [True, True] Translation: X:-338.19, Y:-252.29, Z:-1.79 [[-9.99887067e-01 -1.01070961e-02 1.11220613e-02 -3.38186864e+02] [-1.01089409e-02 9.99948897e-01 -1.09654685e-04 -2.52292166e+02] [-1.11203847e-02 -2.22074561e-04 -9.99938142e-01 -1.79468806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1149.876559995 meters 0.0166699614685082 Centerline is valid? [True, True] Translation: X:-338.17, Y:-251.60, Z:-2.79 [[-9.95163348e-01 -9.76299156e-02 1.08770806e-02 -3.38174393e+02] [ 9.76263211e-02 -9.95222768e-01 -8.62204213e-04 -2.51597175e+02] [ 1.09092952e-02 2.03855337e-04 9.99940471e-01 -2.79019222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1149.906559995 meters 0.016901600433968628 Centerline is valid? [True, True] Translation: X:-338.26, Y:-252.29, Z:-1.79 [[-9.99808239e-01 -1.62747954e-02 1.08911443e-02 -3.38255646e+02] [-1.62763296e-02 9.99867531e-01 -5.22477586e-05 -2.52289445e+02] [-1.08888513e-02 -2.29505595e-04 -9.99940689e-01 -1.79421091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1149.9365599950002 meters 0.017486563564239894 Centerline is valid? [True, True] Translation: X:-338.26, Y:-252.26, Z:-1.79 [[-9.96006016e-01 -8.86428068e-02 1.06990548e-02 -3.38262880e+02] [-8.86402769e-02 9.96063450e-01 7.11362762e-04 -2.52259864e+02] [-1.07199946e-02 -2.39845588e-04 -9.99942511e-01 -1.79344547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1149.9665599950001 meters 0.016981733569207326 Centerline is valid? [True, True] Translation: X:-338.31, Y:-251.57, Z:-2.79 [[-9.99665564e-01 -2.36706829e-02 1.04143680e-02 -3.38309997e+02] [ 2.36716116e-02 -9.99719788e-01 -3.40984266e-05 -2.51573325e+02] [ 1.04122569e-02 2.12437851e-04 9.99945769e-01 -2.79075956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1149.996559995 meters 0.018429906393949307 Centerline is valid? [True, True] Translation: X:-338.36, Y:-252.26, Z:-1.79 [[-9.95387232e-01 -9.53903358e-02 1.02441192e-02 -3.38357122e+02] [-9.53877435e-02 9.95439916e-01 7.42470055e-04 -2.52263037e+02] [-1.02682296e-02 -2.38118199e-04 -9.99947252e-01 -1.79314136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1150.026559995 meters 0.01617923059491758 Centerline is valid? [True, True] Translation: X:-338.40, Y:-251.58, Z:-2.79 [[-9.99772745e-01 -1.87579517e-02 1.01291059e-02 -3.38402631e+02] [ 1.87592717e-02 -9.99824029e-01 3.53185716e-05 -2.51578000e+02] [ 1.01266609e-02 2.25325195e-04 9.99948699e-01 -2.78949378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1150.056559995 meters 0.01632385745521806 Centerline is valid? [True, True] Translation: X:-338.45, Y:-252.27, Z:-1.79 [[-9.94708047e-01 -1.02244074e-01 1.01020183e-02 -3.38448861e+02] [-1.02241289e-01 9.94759313e-01 7.93064410e-04 -2.52272190e+02] [-1.01301629e-02 -2.43975824e-04 -9.99948659e-01 -1.79493849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1150.086559995 meters 0.0169982930175008 Centerline is valid? [True, True] Translation: X:-338.46, Y:-252.24, Z:-1.79 [[-9.84787665e-01 -1.73486280e-01 9.78603912e-03 -3.38459062e+02] [-1.73480172e-01 9.84836256e-01 1.47602306e-03 -2.52243505e+02] [-9.89371588e-03 -2.44114446e-04 -9.99951026e-01 -1.79436852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1150.116559995 meters 0.017524178420948895 Centerline is valid? [True, True] Translation: X:-338.48, Y:-252.22, Z:-1.79 [[-9.69522933e-01 -2.44802294e-01 9.85492441e-03 -3.38476319e+02] [-2.44792400e-01 9.69572982e-01 2.21668314e-03 -2.52215715e+02] [-1.00977176e-02 -2.63285457e-04 -9.99948982e-01 -1.79360065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1150.146559995 meters 0.018416255078432486 Centerline is valid? [True, True] Translation: X:-338.51, Y:-252.19, Z:-1.79 [[-9.49174620e-01 -3.14600798e-01 9.68910554e-03 -3.38513103e+02] [-3.14587313e-01 9.49224033e-01 2.92543836e-03 -2.52194543e+02] [-1.01174771e-02 -2.71317827e-04 -9.99948780e-01 -1.79310119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1150.176559995 meters 0.0178212501254647 Centerline is valid? [True, True] Translation: X:-338.56, Y:-252.18, Z:-1.79 [[-9.23310301e-01 -3.83942424e-01 9.28995502e-03 -3.38560489e+02] [-3.83925959e-01 9.23356995e-01 3.56624274e-03 -2.52181639e+02] [-9.94717683e-03 -2.73906238e-04 -9.99950488e-01 -1.79330104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1150.2065599950001 meters 0.01847517528756763 Centerline is valid? [True, True] Translation: X:-338.85, Y:-251.57, Z:-2.79 [[-9.63611392e-01 2.67151383e-01 9.12265800e-03 -3.38845454e+02] [-2.67137103e-01 -9.63654546e-01 2.77212900e-03 -2.51571254e+02] [ 9.53166895e-03 2.34254654e-04 9.99954545e-01 -2.79136347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1150.236559995 meters 0.01855942931736996 Centerline is valid? [True, True] Translation: X:-338.72, Y:-252.24, Z:-1.79 [[-9.19177829e-01 -3.93744199e-01 8.81048396e-03 -3.38722220e+02] [-3.93729100e-01 9.19220008e-01 3.46026100e-03 -2.52237629e+02] [-9.46123083e-03 -2.88348728e-04 -9.99955200e-01 -1.79390171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1150.266559995 meters 0.019615998957325766 Centerline is valid? [True, True] Translation: X:-338.79, Y:-252.23, Z:-1.79 [[-8.87341995e-01 -4.61033906e-01 8.48062835e-03 -3.38785457e+02] [-4.61015993e-01 8.87382472e-01 4.07470620e-03 -2.52232321e+02] [-9.40413866e-03 -2.94047371e-04 -9.99955737e-01 -1.79382519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1150.296559995 meters 0.021070543878746923 Centerline is valid? [True, True] Translation: X:-338.86, Y:-252.24, Z:-1.79 [[-8.50450036e-01 -5.25991965e-01 8.19687482e-03 -3.38859949e+02] [-5.25970933e-01 8.50489483e-01 4.71349838e-03 -2.52237035e+02] [-9.45061811e-03 -3.02723029e-04 -9.99955296e-01 -1.79308131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1150.326559995 meters 0.019814568913518966 Centerline is valid? [True, True] Translation: X:-338.93, Y:-252.25, Z:-1.79 [[-8.08454977e-01 -5.88509356e-01 7.56895204e-03 -3.38930255e+02] [-5.88486989e-01 8.08490352e-01 5.13960981e-03 -2.52250092e+02] [-9.14413316e-03 -2.99086665e-04 -9.99958147e-01 -1.79354493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1150.356559995 meters 0.020395267230507604 Centerline is valid? [True, True] Translation: X:-339.01, Y:-252.28, Z:-1.79 [[-7.61959283e-01 -6.47584975e-01 7.19378988e-03 -3.39013930e+02] [-6.47559826e-01 7.61993181e-01 5.71524894e-03 -2.52275352e+02] [-9.18272817e-03 -3.03622339e-04 -9.99957792e-01 -1.79322742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1150.386559995 meters 0.02113640585625135 Centerline is valid? [True, True] Translation: X:-339.10, Y:-252.31, Z:-1.79 [[-7.10864383e-01 -7.03296199e-01 6.80339709e-03 -3.39101392e+02] [-7.03268108e-01 7.10896871e-01 6.29350028e-03 -2.52311924e+02] [-9.26270852e-03 -3.10787007e-04 -9.99957052e-01 -1.79259533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1150.416559995 meters 0.02144630661947866 Centerline is valid? [True, True] Translation: X:-339.18, Y:-252.35, Z:-1.79 [[-6.55710717e-01 -7.54984424e-01 6.47888764e-03 -3.39180325e+02] [-7.54952285e-01 6.55742647e-01 6.97345233e-03 -2.52351162e+02] [-9.51333082e-03 -3.18683596e-04 -9.99954697e-01 -1.79232974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1150.4465599950001 meters 0.02166708639287542 Centerline is valid? [True, True] Translation: X:-339.26, Y:-252.41, Z:-1.79 [[-5.97095751e-01 -8.02146682e-01 6.11264345e-03 -3.39264673e+02] [-8.02110070e-01 5.97126951e-01 7.67071686e-03 -2.52405888e+02] [-9.80306423e-03 -3.22860424e-04 -9.99951897e-01 -1.79189002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1150.4765599950001 meters 0.019207757254517583 Centerline is valid? [True, True] Translation: X:-339.34, Y:-252.47, Z:-1.79 [[-5.34965360e-01 -8.44854814e-01 5.69280673e-03 -3.39343693e+02] [-8.44813326e-01 5.34995549e-01 8.37895823e-03 -2.52473367e+02] [-1.01246295e-02 -3.26906592e-04 -9.99948691e-01 -1.79281369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1150.506559995 meters 0.021269416092374687 Centerline is valid? [True, True] Translation: X:-339.42, Y:-252.54, Z:-1.79 [[-4.71228393e-01 -8.81993784e-01 5.54675960e-03 -3.39421870e+02] [-8.81940760e-01 4.71260920e-01 9.67686916e-03 -2.52540921e+02] [-1.11489095e-02 -3.31897885e-04 -9.99937794e-01 -1.79033929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1150.536559995 meters 0.019056603103855367 Centerline is valid? [True, True] Translation: X:-339.49, Y:-252.63, Z:-1.79 [[-4.04047147e-01 -9.14724593e-01 4.98216201e-03 -3.39492612e+02] [-9.14664691e-01 4.04077731e-01 1.04732834e-02 -2.52625605e+02] [-1.15933506e-02 -3.25307413e-04 -9.99932742e-01 -1.79109514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1150.566559995 meters 0.017949987025402535 Centerline is valid? [True, True] Translation: X:-339.56, Y:-252.71, Z:-1.79 [[-3.34904466e-01 -9.42242712e-01 4.20372820e-03 -3.39558027e+02] [-9.42179468e-01 3.34930710e-01 1.09210979e-02 -2.52714514e+02] [-1.16982826e-02 -3.03141938e-04 -9.99931527e-01 -1.79161880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1150.596559995 meters 0.017488812794120432 Centerline is valid? [True, True] Translation: X:-339.62, Y:-252.81, Z:-1.79 [[-2.63916760e-01 -9.64539438e-01 3.40828454e-03 -3.39618596e+02] [-9.64472198e-01 2.63938618e-01 1.13923397e-02 -2.52811031e+02] [-1.18879388e-02 -2.80566307e-04 -9.99929297e-01 -1.79158516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1150.626559995 meters 0.016302498754127228 Centerline is valid? [True, True] Translation: X:-339.67, Y:-252.91, Z:-1.79 [[-1.94877599e-01 -9.80824424e-01 2.48401683e-03 -3.39669576e+02] [-9.80757713e-01 1.94893321e-01 1.14412911e-02 -2.52910783e+02] [-1.17060160e-02 -2.06567324e-04 -9.99931461e-01 -1.79221014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1150.656559995 meters 0.015694709460872105 Centerline is valid? [True, True] Translation: X:-339.71, Y:-253.01, Z:-1.79 [[-1.22261522e-01 -9.92496739e-01 1.53092158e-03 -3.39713751e+02] [-9.92434744e-01 1.22270998e-01 1.10942837e-02 -2.53013112e+02] [-1.11982277e-02 -1.62935749e-04 -9.99937285e-01 -1.79287483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1150.6865599950002 meters 0.015426381605956213 Centerline is valid? [True, True] Translation: X:-339.75, Y:-253.13, Z:-1.79 [[-4.88049704e-02 -9.98808112e-01 6.55741808e-04 -3.39751873e+02] [-9.98748793e-01 4.88092189e-02 1.08861806e-02 -2.53126487e+02] [-1.09052118e-02 -1.23621615e-04 -9.99940529e-01 -1.79299843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1150.7165599950001 meters 0.014803967279122296 Centerline is valid? [True, True] Translation: X:-339.78, Y:-253.24, Z:-1.79 [[ 2.20019238e-02 -9.99757916e-01 -1.60660215e-04 -3.39778518e+02] [-9.99712688e-01 -2.20024566e-02 9.50965571e-03 -2.53238140e+02] [-9.51088849e-03 -4.86166644e-05 -9.99954769e-01 -1.79382637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1150.746559995 meters 0.014609962063511898 Centerline is valid? [True, True] Translation: X:-339.80, Y:-253.36, Z:-1.79 [[ 9.62184636e-02 -9.95359867e-01 -8.61705688e-04 -3.39797975e+02] [-9.95317814e-01 -9.62223194e-02 9.14954107e-03 -2.53360113e+02] [-9.19000130e-03 -2.26837620e-05 -9.99957771e-01 -1.79457246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1150.776559995 meters 0.014516438462546556 Centerline is valid? [True, True] Translation: X:-339.81, Y:-253.47, Z:-1.79 [[ 1.68521320e-01 -9.85696925e-01 -1.46201661e-03 -3.39809238e+02] [-9.85660559e-01 -1.68527662e-01 8.46697032e-03 -2.53471761e+02] [-8.59225685e-03 1.41870899e-05 -9.99963086e-01 -1.79479531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1150.806559995 meters 0.014516438462546556 Centerline is valid? [True, True] Translation: X:-339.81, Y:-253.59, Z:-1.79 [[ 2.43836721e-01 -9.69814006e-01 -2.10894667e-03 -3.39812198e+02] [-9.69778236e-01 -2.43845841e-01 8.32944744e-03 -2.53592526e+02] [-8.59227267e-03 1.41854282e-05 -9.99963086e-01 -1.79479453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1150.836559995 meters 0.014526970982535447 Centerline is valid? [True, True] Translation: X:-339.81, Y:-253.71, Z:-1.79 [[ 3.16197162e-01 -9.48689570e-01 -2.73027109e-03 -3.39805850e+02] [-9.48654962e-01 -3.16208948e-01 8.10331309e-03 -2.53711192e+02] [-8.55086476e-03 2.78406123e-05 -9.99963440e-01 -1.79486685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1150.866559995 meters 0.014547663528324716 Centerline is valid? [True, True] Translation: X:-339.79, Y:-253.83, Z:-1.79 [[ 3.87376020e-01 -9.21915609e-01 -3.38074071e-03 -3.39790218e+02] [-9.21881303e-01 -3.87390770e-01 7.95328274e-03 -2.53830133e+02] [-8.64192325e-03 3.57306382e-05 -9.99962657e-01 -1.79447904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1150.896559995 meters 0.01460770862990566 Centerline is valid? [True, True] Translation: X:-339.77, Y:-253.95, Z:-1.79 [[ 4.56949721e-01 -8.89482179e-01 -4.29025040e-03 -3.39766243e+02] [-8.89443772e-01 -4.56969860e-01 8.26581743e-03 -2.53948098e+02] [-9.31281242e-03 3.88735293e-05 -9.99956634e-01 -1.79363157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1150.926559995 meters 0.014482553876476645 Centerline is valid? [True, True] Translation: X:-339.74, Y:-254.06, Z:-1.79 [[ 5.23912175e-01 -8.51757018e-01 -5.10055564e-03 -3.39736443e+02] [-8.51717381e-01 -5.23937001e-01 8.21717504e-03 -2.54059639e+02] [-9.67140634e-03 3.91538413e-05 -9.99953230e-01 -1.79367919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1150.9565599950001 meters 0.0144089421717276 Centerline is valid? [True, True] Translation: X:-339.70, Y:-254.17, Z:-1.79 [[ 5.88145474e-01 -8.08733678e-01 -5.89402853e-03 -3.39699273e+02] [-8.08693637e-01 -5.88175005e-01 8.04769472e-03 -2.54166660e+02] [-9.97516201e-03 3.32481367e-05 -9.99950246e-01 -1.79325941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1150.986559995 meters 0.014366417316706763 Centerline is valid? [True, True] Translation: X:-339.66, Y:-254.27, Z:-1.79 [[ 6.48853729e-01 -7.60885073e-01 -6.53796443e-03 -3.39655920e+02] [-7.60846827e-01 -6.48886667e-01 7.62890974e-03 -2.54267992e+02] [-1.00471215e-02 2.43429557e-05 -9.99949526e-01 -1.79317374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1151.016559995 meters 0.014098701770387875 Centerline is valid? [True, True] Translation: X:-339.61, Y:-254.37, Z:-1.79 [[ 7.06887489e-01 -7.07293632e-01 -6.76729035e-03 -3.39606999e+02] [-7.07261181e-01 -7.06919881e-01 6.77515669e-03 -2.54366203e+02] [-9.57595727e-03 -3.03173392e-06 -9.99954150e-01 -1.79370174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1151.046559995 meters 0.014078099914411184 Centerline is valid? [True, True] Translation: X:-339.55, Y:-254.46, Z:-1.79 [[ 7.59790115e-01 -6.50132509e-01 -6.83386656e-03 -3.39553976e+02] [-6.50105978e-01 -7.59820847e-01 5.87346488e-03 -2.54456132e+02] [-9.01104474e-03 -1.98630557e-05 -9.99959400e-01 -1.79401527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1151.076559995 meters 0.014093225176528243 Centerline is valid? [True, True] Translation: X:-339.56, Y:-254.46, Z:-1.79 [[ 8.09551917e-01 -5.87009815e-01 -6.72092209e-03 -3.39555826e+02] [-5.86989212e-01 -8.09579814e-01 4.91833797e-03 -2.54464554e+02] [-8.32823552e-03 -3.65411759e-05 -9.99965319e-01 -1.79474674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1151.106559995 meters 0.014152983740906042 Centerline is valid? [True, True] Translation: X:-339.56, Y:-254.47, Z:-1.80 [[ 8.54240100e-01 -5.19837993e-01 -6.50482046e-03 -3.39556231e+02] [-5.19822453e-01 -8.54264865e-01 4.01972471e-03 -2.54472982e+02] [-7.64644519e-03 -5.24583137e-05 -9.99970764e-01 -1.79573463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1151.136559995 meters 0.014334574107851362 Centerline is valid? [True, True] Translation: X:-339.56, Y:-254.49, Z:-1.80 [[ 8.94011141e-01 -4.48015720e-01 -5.09847973e-03 -3.39558692e+02] [-4.48008043e-01 -8.94025677e-01 2.62354094e-03 -2.54486787e+02] [-5.73355938e-03 -6.13148988e-05 -9.99983561e-01 -1.79807660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1151.166559995 meters 0.01457686186636827 Centerline is valid? [True, True] Translation: X:-339.56, Y:-254.50, Z:-1.80 [[ 9.26980993e-01 -3.75079587e-01 -4.64138972e-03 -3.39559601e+02] [-3.75074544e-01 -9.26992610e-01 1.94602273e-03 -2.54498874e+02] [-5.03244738e-03 -6.30589463e-05 -9.99987335e-01 -1.79874902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1151.1965599950001 meters 0.014917613865020907 Centerline is valid? [True, True] Translation: X:-339.56, Y:-254.51, Z:-1.80 [[ 9.54068411e-01 -2.99559455e-01 -4.19527227e-03 -3.39558391e+02] [-2.99556262e-01 -9.54077633e-01 1.38447642e-03 -2.54510743e+02] [-4.41734843e-03 -6.41651390e-05 -9.99990242e-01 -1.79927574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1151.2265599950001 meters 0.015152011655620558 Centerline is valid? [True, True] Translation: X:-339.56, Y:-254.52, Z:-1.80 [[ 9.74911576e-01 -2.22550766e-01 -4.31006697e-03 -3.39556079e+02] [-2.22548267e-01 -9.74921100e-01 1.05709405e-03 -2.54521675e+02] [-4.43723233e-03 -7.13752953e-05 -9.99990153e-01 -1.79966272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1151.256559995 meters 0.015488198051090684 Centerline is valid? [True, True] Translation: X:-339.55, Y:-254.53, Z:-1.80 [[ 9.89556263e-01 -1.44093087e-01 -3.94777215e-03 -3.39552443e+02] [-1.44091655e-01 -9.89564135e-01 6.46330669e-04 -2.54531675e+02] [-3.99970552e-03 -7.07395373e-05 -9.99991999e-01 -1.79981586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1151.286559995 meters 0.015891402437370788 Centerline is valid? [True, True] Translation: X:-339.55, Y:-254.54, Z:-1.80 [[ 9.97935657e-01 -6.40858052e-02 -4.17551930e-03 -3.39551241e+02] [-6.40848973e-02 -9.97944389e-01 3.50983135e-04 -2.54543018e+02] [-4.18942910e-03 -8.26708594e-05 -9.99991221e-01 -1.79974112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1151.316559995 meters 0.01646773545030337 Centerline is valid? [True, True] Translation: X:-339.55, Y:-254.55, Z:-1.80 [[ 9.99879487e-01 1.48927056e-02 -4.38397454e-03 -3.39550590e+02] [ 1.48929539e-02 -9.99889094e-01 2.39956638e-05 -2.54552478e+02] [-4.38313097e-03 -8.92831026e-05 -9.99990390e-01 -1.79943347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1151.346559995 meters 0.016618095520682833 Centerline is valid? [True, True] Translation: X:-339.55, Y:-254.56, Z:-1.80 [[ 9.95598265e-01 9.36014762e-02 -4.78111510e-03 -3.39548713e+02] [ 9.36008787e-02 -9.95609740e-01 -3.49061303e-04 -2.54558860e+02] [-4.79279741e-03 -9.99917471e-05 -9.99988510e-01 -1.79936263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1151.376559995 meters 0.016850861252555298 Centerline is valid? [True, True] Translation: X:-339.55, Y:-254.57, Z:-1.80 [[ 9.85251221e-01 1.71013319e-01 -5.87173835e-03 -3.39546434e+02] [ 1.71011022e-01 -9.85268709e-01 -8.94785459e-04 -2.54565518e+02] [-5.93826030e-03 -1.22543513e-04 -9.99982361e-01 -1.79814864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1151.406559995 meters 0.015404553746854037 Centerline is valid? [True, True] Translation: X:-339.54, Y:-254.57, Z:-1.80 [[ 9.69055480e-01 2.46770464e-01 -5.98462100e-03 -3.39542233e+02] [ 2.46766529e-01 -9.69073952e-01 -1.39872892e-03 -2.54571972e+02] [-6.14470530e-03 -1.21358230e-04 -9.99981114e-01 -1.79869072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1151.4365599950002 meters 0.015357894598751518 Centerline is valid? [True, True] Translation: X:-339.54, Y:-254.58, Z:-1.80 [[ 9.47141425e-01 3.20758470e-01 -6.09305666e-03 -3.39538361e+02] [ 3.20752637e-01 -9.47161016e-01 -1.93809252e-03 -2.54580526e+02] [-6.39276532e-03 -1.18716283e-04 -9.99979559e-01 -1.79839909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1151.4665599950001 meters 0.014811447741474046 Centerline is valid? [True, True] Translation: X:-339.53, Y:-254.59, Z:-1.80 [[ 9.19808589e-01 3.92316307e-01 -6.33041022e-03 -3.39532785e+02] [ 3.92307872e-01 -9.19830366e-01 -2.57521061e-03 -2.54587700e+02] [-6.83320066e-03 -1.14768923e-04 -9.99976647e-01 -1.79877776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1151.496559995 meters 0.014105745147932447 Centerline is valid? [True, True] Translation: X:-339.53, Y:-254.59, Z:-1.80 [[ 8.88398980e-01 4.59036600e-01 -5.71417260e-03 -3.39528991e+02] [ 4.59027668e-01 -8.88417353e-01 -2.86467441e-03 -2.54594024e+02] [-6.39156050e-03 -7.79894990e-05 -9.99979571e-01 -1.79951760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1151.526559995 meters 0.01369466929298286 Centerline is valid? [True, True] Translation: X:-339.52, Y:-254.60, Z:-1.80 [[ 8.51260593e-01 5.24721226e-01 -4.79987994e-03 -3.39524056e+02] [ 5.24713229e-01 -8.51274123e-01 -2.89739977e-03 -2.54599180e+02] [-5.60634075e-03 -5.21182574e-05 -9.99984283e-01 -1.80017391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1151.556559995 meters 0.013415261183067852 Centerline is valid? [True, True] Translation: X:-339.52, Y:-254.60, Z:-1.80 [[ 8.09541086e-01 5.87045957e-01 -4.50279696e-03 -3.39518949e+02] [ 5.87037101e-01 -8.09553608e-01 -3.22476450e-03 -2.54603122e+02] [-5.53834048e-03 -3.27295126e-05 -9.99984663e-01 -1.80070428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1151.586559995 meters 0.013278994222312861 Centerline is valid? [True, True] Translation: X:-339.51, Y:-254.61, Z:-1.80 [[ 7.63239415e-01 6.46101628e-01 -4.27577793e-03 -3.39514030e+02] [ 6.46091596e-01 -7.63251392e-01 -3.60046313e-03 -2.54606746e+02] [-5.58975854e-03 -1.45288117e-05 -9.99984377e-01 -1.80092836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1151.616559995 meters 0.013278994222312861 Centerline is valid? [True, True] Translation: X:-339.51, Y:-254.61, Z:-1.80 [[ 7.10340738e-01 7.03846708e-01 -3.98093317e-03 -3.39508070e+02] [ 7.03835769e-01 -7.10351893e-01 -3.92402234e-03 -2.54611416e+02] [-5.58977362e-03 -1.45302310e-05 -9.99984377e-01 -1.80092823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1151.646559995 meters 0.01324078150542936 Centerline is valid? [True, True] Translation: X:-339.50, Y:-254.61, Z:-1.80 [[ 6.55709255e-01 7.55003870e-01 -3.81161024e-03 -3.39502965e+02] [ 7.54991070e-01 -6.55720334e-01 -4.39644838e-03 -2.54614401e+02] [-5.81868588e-03 5.06019827e-06 -9.99983071e-01 -1.80068229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1151.676559995 meters 0.013618094654723235 Centerline is valid? [True, True] Translation: X:-339.50, Y:-254.62, Z:-1.80 [[ 5.99889509e-01 8.00072553e-01 -4.06037049e-03 -3.39496437e+02] [ 8.00053645e-01 -5.99903248e-01 -5.50072459e-03 -2.54618514e+02] [-6.83680821e-03 5.13127645e-05 -9.99976628e-01 -1.79994166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1151.7065599950001 meters 0.014109241612522494 Centerline is valid? [True, True] Translation: X:-339.49, Y:-254.62, Z:-1.80 [[ 5.37673128e-01 8.43143990e-01 -3.97748379e-03 -3.39490016e+02] [ 8.43119854e-01 -5.37687834e-01 -6.38002157e-03 -2.54623198e+02] [-7.51792149e-03 7.68705969e-05 -9.99971737e-01 -1.79968910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1151.736559995 meters 0.014297582786395917 Centerline is valid? [True, True] Translation: X:-339.48, Y:-254.63, Z:-1.80 [[ 4.71979161e-01 8.81601671e-01 -3.76365904e-03 -3.39481136e+02] [ 8.81571905e-01 -4.71994156e-01 -7.24521313e-03 -2.54626831e+02] [-8.16381707e-03 1.01653542e-04 -9.99966671e-01 -1.79984139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1151.766559995 meters 0.014875018468632794 Centerline is valid? [True, True] Translation: X:-339.47, Y:-254.63, Z:-1.80 [[ 4.03418153e-01 9.15010148e-01 -3.19746994e-03 -3.39473707e+02] [ 9.14979024e-01 -4.03430807e-01 -7.54782929e-03 -2.54631206e+02] [-8.19629827e-03 1.19313429e-04 -9.99966403e-01 -1.79939846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1151.796559995 meters 0.014838926831148881 Centerline is valid? [True, True] Translation: X:-339.46, Y:-254.63, Z:-1.80 [[ 3.31715961e-01 9.43375326e-01 -2.74153456e-03 -3.39463528e+02] [ 9.43339623e-01 -3.31727262e-01 -8.20847934e-03 -2.54633873e+02] [-8.65311862e-03 1.36685438e-04 -9.99962552e-01 -1.80013336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1151.826559995 meters 0.015281891722850438 Centerline is valid? [True, True] Translation: X:-339.45, Y:-254.64, Z:-1.80 [[ 2.58359524e-01 9.66046699e-01 -2.03256665e-03 -3.39453680e+02] [ 9.66012202e-01 -2.58367478e-01 -8.16525424e-03 -2.54637538e+02] [-8.41316602e-03 1.46087010e-04 -9.99964598e-01 -1.80050463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1151.856559995 meters 0.015273247468291793 Centerline is valid? [True, True] Translation: X:-339.44, Y:-254.64, Z:-1.80 [[ 1.82055086e-01 9.83287384e-01 -1.36622661e-03 -3.39443189e+02] [ 9.83253407e-01 -1.82060155e-01 -8.17550726e-03 -2.54638812e+02] [-8.28760858e-03 1.45045714e-04 -9.99965647e-01 -1.80100440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1151.886559995 meters 0.014786276721664746 Centerline is valid? [True, True] Translation: X:-339.43, Y:-254.64, Z:-1.80 [[ 1.04128776e-01 9.94563549e-01 -7.38824829e-04 -3.39430045e+02] [ 9.94527615e-01 -1.04131295e-01 -8.45558273e-03 -2.54639264e+02] [-8.48654916e-03 1.45687787e-04 -9.99963978e-01 -1.80166283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1151.916559995 meters 0.014845900232671001 Centerline is valid? [True, True] Translation: X:-339.42, Y:-254.64, Z:-1.80 [[ 2.42475717e-02 9.99705982e-01 -7.41230341e-05 -3.39416620e+02] [ 9.99670070e-01 -2.42473290e-02 -8.47459288e-03 -2.54640122e+02] [-8.47389848e-03 1.31389720e-04 -9.99964087e-01 -1.80145273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1151.9465599950001 meters 0.014267726323415907 Centerline is valid? [True, True] Translation: X:-339.40, Y:-254.64, Z:-1.80 [[-5.57768593e-02 9.98443075e-01 6.06818332e-04 -3.39402736e+02] [ 9.98405200e-01 5.57800294e-02 -8.69745342e-03 -2.54638527e+02] [-8.71776048e-03 1.20733943e-04 -9.99961993e-01 -1.80193203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1151.9765599950001 meters 0.014285903994963095 Centerline is valid? [True, True] Translation: X:-339.39, Y:-254.64, Z:-1.80 [[-1.36179789e-01 9.90683270e-01 1.31291326e-03 -3.39390962e+02] [ 9.90644166e-01 1.36186079e-01 -8.80277968e-03 -2.54637136e+02] [-8.89956707e-03 1.01869185e-04 -9.99960393e-01 -1.80114745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1152.006559995 meters 0.013309758968817635 Centerline is valid? [True, True] Translation: X:-339.37, Y:-254.63, Z:-1.80 [[-2.18945367e-01 9.75734512e-01 2.25566881e-03 -3.39373600e+02] [ 9.75685392e-01 2.18956978e-01 -9.79074436e-03 -2.54631906e+02] [-1.00470616e-02 5.71849894e-05 -9.99949526e-01 -1.80113204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1152.036559995 meters 0.013026190101458003 Centerline is valid? [True, True] Translation: X:-339.36, Y:-254.63, Z:-1.80 [[-2.98020552e-01 9.54554806e-01 2.97881745e-03 -3.39361589e+02] [ 9.54507850e-01 2.98035438e-01 -9.46800509e-03 -2.54627009e+02] [-9.92552292e-03 2.16445367e-05 -9.99950741e-01 -1.80042414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1152.066559995 meters 0.012985986416675862 Centerline is valid? [True, True] Translation: X:-339.35, Y:-254.62, Z:-1.80 [[-3.75427468e-01 9.26843589e-01 3.89590194e-03 -3.39350060e+02] [ 9.26793201e-01 3.75447682e-01 -9.66443176e-03 -2.54620721e+02] [-1.04201240e-02 -1.75977184e-05 -9.99945709e-01 -1.80033503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1152.096559995 meters 0.013209968943002736 Centerline is valid? [True, True] Translation: X:-339.34, Y:-254.61, Z:-1.80 [[-4.50467326e-01 8.92780488e-01 4.71050205e-03 -3.39339460e+02] [ 8.92730271e-01 4.50491950e-01 -9.46926852e-03 -2.54614110e+02] [-1.05760214e-02 -6.03882987e-05 -9.99944071e-01 -1.79967083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1152.126559995 meters 0.013470716457430774 Centerline is valid? [True, True] Translation: X:-339.33, Y:-254.61, Z:-1.80 [[-5.22624584e-01 8.52544462e-01 5.61110398e-03 -3.39330302e+02] [ 8.52493077e-01 5.22654693e-01 -9.36083742e-03 -2.54605873e+02] [-1.09131999e-02 -1.08776466e-04 -9.99940444e-01 -1.80045509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1152.156559995 meters 0.01514099117640956 Centerline is valid? [True, True] Translation: X:-339.32, Y:-254.60, Z:-1.80 [[-5.93576065e-01 8.04749119e-01 6.80517203e-03 -3.39318946e+02] [ 8.04692298e-01 5.93615039e-01 -9.56514225e-03 -2.54595693e+02] [-1.17371923e-02 -2.01569982e-04 -9.99931097e-01 -1.79914725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1152.1865599950002 meters 0.015692127840232776 Centerline is valid? [True, True] Translation: X:-339.31, Y:-254.59, Z:-1.80 [[-6.57153295e-01 7.53716661e-01 7.79370545e-03 -3.39313970e+02] [ 7.53659162e-01 6.57199463e-01 -9.31312121e-03 -2.54586853e+02] [-1.21414737e-02 -2.46350772e-04 -9.99926259e-01 -1.79917109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1152.2165599950001 meters 0.01615445471834768 Centerline is valid? [True, True] Translation: X:-339.31, Y:-254.58, Z:-1.80 [[-7.15864831e-01 6.98185031e-01 8.67215611e-03 -3.39310113e+02] [ 6.98128979e-01 7.15917302e-01 -8.85125677e-03 -2.54576771e+02] [-1.23883616e-02 -2.82019942e-04 -9.99923222e-01 -1.79936273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1152.246559995 meters 0.01705420289339611 Centerline is valid? [True, True] Translation: X:-339.31, Y:-254.57, Z:-1.80 [[-7.69408157e-01 6.38692936e-01 9.07858171e-03 -3.39306379e+02] [ 6.38643922e-01 7.69461660e-01 -7.91795433e-03 -2.54567587e+02] [-1.20427621e-02 -2.94157626e-04 -9.99927440e-01 -1.79906370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1152.276559995 meters 0.018131621794357337 Centerline is valid? [True, True] Translation: X:-339.29, Y:-254.54, Z:-1.80 [[-8.13413472e-01 5.81605601e-01 9.66685466e-03 -3.39291537e+02] [ 5.81559953e-01 8.13470853e-01 -7.29336573e-03 -2.54540937e+02] [-1.21055669e-02 -3.10666399e-04 -9.99926677e-01 -1.79911158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1152.306559995 meters 0.018047517977690358 Centerline is valid? [True, True] Translation: X:-339.28, Y:-254.52, Z:-1.80 [[-8.53020030e-01 5.21802372e-01 8.89451938e-03 -3.39278809e+02] [ 5.21770544e-01 8.53066355e-01 -5.77009272e-03 -2.54515163e+02] [-1.05984633e-02 -2.81106444e-04 -9.99943795e-01 -1.80079358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1152.336559995 meters 0.018196416241685248 Centerline is valid? [True, True] Translation: X:-339.27, Y:-254.49, Z:-1.80 [[-8.87818782e-01 4.60122147e-01 8.08831756e-03 -3.39271670e+02] [ 4.60100525e-01 8.87855591e-01 -4.46728660e-03 -2.54486820e+02] [-9.23675547e-03 -2.44701796e-04 -9.99957311e-01 -1.80144030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1152.366559995 meters 0.01821636137126928 Centerline is valid? [True, True] Translation: X:-339.26, Y:-254.46, Z:-1.80 [[-9.18134603e-01 3.96190442e-01 7.87307292e-03 -3.39262252e+02] [ 3.96173732e-01 9.18168330e-01 -3.64591266e-03 -2.54460363e+02] [-8.67328196e-03 -2.28333899e-04 -9.99962361e-01 -1.80199139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1152.396559995 meters 0.016970652313346407 Centerline is valid? [True, True] Translation: X:-339.26, Y:-254.43, Z:-1.80 [[-9.43842209e-01 3.30303585e-01 7.83749185e-03 -3.39258223e+02] [ 3.30290262e-01 9.43874724e-01 -2.97477329e-03 -2.54434568e+02] [-8.38018874e-03 -2.19069355e-04 -9.99964862e-01 -1.80303343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1152.426559995 meters 0.017457213342956933 Centerline is valid? [True, True] Translation: X:-339.26, Y:-254.41, Z:-1.80 [[-9.64788059e-01 2.62902099e-01 8.15400472e-03 -3.39255359e+02] [ 2.62890785e-01 9.64822491e-01 -2.44886361e-03 -2.54405793e+02] [-8.51097853e-03 -2.19021665e-04 -9.99963757e-01 -1.80224762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1152.4565599950001 meters 0.017295065209409297 Centerline is valid? [True, True] Translation: X:-339.25, Y:-254.38, Z:-1.80 [[-9.80951599e-01 1.94058817e-01 8.66815513e-03 -3.39253861e+02] [ 1.94049199e-01 9.80989870e-01 -1.94526974e-03 -2.54378213e+02] [-8.88086912e-03 -2.26166898e-04 -9.99960539e-01 -1.80169354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1152.486559995 meters 0.017516896946356216 Centerline is valid? [True, True] Translation: X:-339.26, Y:-254.35, Z:-1.80 [[-9.92224191e-01 1.24117286e-01 9.27649731e-03 -3.39255343e+02] [ 1.24109624e-01 9.92267526e-01 -1.39937299e-03 -2.54349927e+02] [-9.37845341e-03 -2.37189142e-04 -9.99955993e-01 -1.80083610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1152.516559995 meters 0.016703516429367994 Centerline is valid? [True, True] Translation: X:-339.17, Y:-253.82, Z:-2.78 [[-9.70748694e-01 -2.39866541e-01 1.05363982e-02 -3.39174840e+02] [ 2.39856437e-01 -9.70805806e-01 -2.23102603e-03 -2.53818263e+02] [ 1.07639450e-02 3.61457323e-04 9.99942002e-01 -2.78445483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1152.546559995 meters 0.016524138879689454 Centerline is valid? [True, True] Translation: X:-339.30, Y:-254.35, Z:-1.80 [[-9.92611051e-01 1.20816291e-01 1.12572901e-02 -3.39304296e+02] [ 1.20805296e-01 9.92674843e-01 -1.65413104e-03 -2.54346680e+02] [-1.13746746e-02 -2.81968496e-04 -9.99935267e-01 -1.79946228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1152.576559995 meters 0.016934665588768716 Centerline is valid? [True, True] Translation: X:-339.31, Y:-254.32, Z:-1.80 [[-9.98652460e-01 5.05658605e-02 1.16772722e-02 -3.39307763e+02] [ 5.05590857e-02 9.98720689e-01 -8.74836615e-04 -2.54318324e+02] [-1.17065702e-02 -2.83265532e-04 -9.99931436e-01 -1.79843909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1152.606559995 meters 0.016335760786852373 Centerline is valid? [True, True] Translation: X:-339.32, Y:-254.29, Z:-1.80 [[-9.99726881e-01 -1.99736065e-02 1.21333995e-02 -3.39315595e+02] [-1.99756132e-02 9.99800467e-01 -4.42071189e-05 -2.54292368e+02] [-1.21300955e-02 -2.86567141e-04 -9.99926387e-01 -1.79859559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1152.636559995 meters 0.01670626220423899 Centerline is valid? [True, True] Translation: X:-339.31, Y:-253.75, Z:-2.79 [[-9.95608699e-01 -9.28175294e-02 1.21747896e-02 -3.39314166e+02] [ 9.28141813e-02 -9.95683093e-01 -8.40953853e-04 -2.53745725e+02] [ 1.22002875e-02 2.92732161e-04 9.99925531e-01 -2.78692705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1152.666559995 meters 0.015570075753811153 Centerline is valid? [True, True] Translation: X:-339.38, Y:-254.30, Z:-1.80 [[-9.99696978e-01 -2.15751884e-02 1.18517015e-02 -3.39379061e+02] [-2.15765858e-02 9.99767198e-01 9.95272134e-06 -2.54297471e+02] [-1.18491571e-02 -2.45769548e-04 -9.99929766e-01 -1.79863556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1152.6965599950001 meters 0.015522743631021078 Centerline is valid? [True, True] Translation: X:-339.39, Y:-254.27, Z:-1.80 [[-9.95770325e-01 -9.11425817e-02 1.15970196e-02 -3.39390905e+02] [-9.11390199e-02 9.95837828e-01 8.36344332e-04 -2.54271760e+02] [-1.16249774e-02 -2.24134136e-04 -9.99932403e-01 -1.79867031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1152.7265599950001 meters 0.014635972985489815 Centerline is valid? [True, True] Translation: X:-339.43, Y:-253.71, Z:-2.78 [[-9.99852923e-01 -1.30123285e-02 1.11719311e-02 -3.39431932e+02] [ 1.30135928e-02 -9.99915319e-01 4.04768298e-05 -2.53711724e+02] [ 1.11704583e-02 1.85857839e-04 9.99937591e-01 -2.78485688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1152.756559995 meters 0.013880147583720805 Centerline is valid? [True, True] Translation: X:-339.46, Y:-254.29, Z:-1.80 [[-9.95756566e-01 -9.14782504e-02 1.00295397e-02 -3.39462762e+02] [-9.14750450e-02 9.95807065e-01 7.78837274e-04 -2.54285280e+02] [-1.00587331e-02 -1.41920264e-04 -9.99949400e-01 -1.80068024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1152.786559995 meters 0.013637686236411517 Centerline is valid? [True, True] Translation: X:-339.48, Y:-254.26, Z:-1.80 [[-9.86988761e-01 -1.60494414e-01 9.73291785e-03 -3.39475734e+02] [-1.60487822e-01 9.87036741e-01 1.45971931e-03 -2.54261372e+02] [-9.84102432e-03 -1.21288233e-04 -9.99951569e-01 -1.80125128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1152.816559995 meters 0.013272148704884084 Centerline is valid? [True, True] Translation: X:-339.49, Y:-254.24, Z:-1.80 [[-9.73340225e-01 -2.29189498e-01 8.99891348e-03 -3.39493960e+02] [-2.29180649e-01 9.73381818e-01 2.01646210e-03 -2.54239234e+02] [-9.22153070e-03 -9.96731528e-05 -9.99957476e-01 -1.80175793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1152.846559995 meters 0.013122459963492162 Centerline is valid? [True, True] Translation: X:-339.53, Y:-254.22, Z:-1.80 [[-9.54711290e-01 -2.97415074e-01 8.40396615e-03 -3.39528191e+02] [-2.97404328e-01 9.54748274e-01 2.52966893e-03 -2.54221647e+02] [-8.77603385e-03 -8.42724168e-05 -9.99961487e-01 -1.80246319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1152.876559995 meters 0.013075453228487775 Centerline is valid? [True, True] Translation: X:-339.57, Y:-254.21, Z:-1.80 [[-9.30852446e-01 -3.65321025e-01 7.36703602e-03 -3.39573561e+02] [-3.65310174e-01 9.30881595e-01 2.81663005e-03 -2.54209783e+02] [-7.88681242e-03 -6.93862347e-05 -9.99968896e-01 -1.80304836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1152.906559995 meters 0.013068851390510611 Centerline is valid? [True, True] Translation: X:-339.63, Y:-254.21, Z:-1.80 [[-9.01864106e-01 -4.31967683e-01 6.71228150e-03 -3.39631014e+02] [-4.31956242e-01 9.01889082e-01 3.14453769e-03 -2.54205343e+02] [-7.41207207e-03 -6.34662224e-05 -9.99972528e-01 -1.80330917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1152.9365599950002 meters 0.013150004372570114 Centerline is valid? [True, True] Translation: X:-339.70, Y:-254.21, Z:-1.80 [[-8.67107342e-01 -4.98080201e-01 6.40081533e-03 -3.39696631e+02] [-4.98067210e-01 8.67130964e-01 3.59791826e-03 -2.54208848e+02] [-7.34239702e-03 -6.82548943e-05 -9.99973042e-01 -1.80356122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1152.9665599950001 meters 0.01319277271522089 Centerline is valid? [True, True] Translation: X:-339.77, Y:-254.22, Z:-1.80 [[-8.27020481e-01 -5.62139014e-01 6.07061064e-03 -3.39772013e+02] [-5.62124556e-01 8.27042758e-01 4.03250831e-03 -2.54222918e+02] [-7.28748481e-03 -7.74723502e-05 -9.99973443e-01 -1.80354041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1152.996559995 meters 0.013888973925508058 Centerline is valid? [True, True] Translation: X:-339.85, Y:-254.24, Z:-1.80 [[-7.80691105e-01 -6.24882901e-01 6.53908789e-03 -3.39851955e+02] [-6.24862221e-01 7.80718481e-01 5.08508592e-03 -2.54244699e+02] [-8.28277000e-03 -1.16147637e-04 -9.99965691e-01 -1.80229909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1153.026559995 meters 0.014460891080874543 Centerline is valid? [True, True] Translation: X:-339.94, Y:-254.28, Z:-1.80 [[-7.30224846e-01 -6.83175566e-01 6.54378302e-03 -3.39938542e+02] [-6.83149886e-01 7.30254151e-01 5.92516994e-03 -2.54279930e+02] [-8.82655604e-03 -1.43678320e-04 -9.99961035e-01 -1.80151747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1153.056559995 meters 0.016073925377701265 Centerline is valid? [True, True] Translation: X:-340.02, Y:-254.32, Z:-1.80 [[-6.73220012e-01 -7.39405288e-01 7.39157739e-03 -3.40021602e+02] [-7.39364392e-01 6.73260550e-01 7.77992167e-03 -2.54318898e+02] [-1.07289727e-02 -2.27470161e-04 -9.99942417e-01 -1.79960440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1153.086559995 meters 0.01675905961441739 Centerline is valid? [True, True] Translation: X:-340.10, Y:-254.37, Z:-1.80 [[-6.13783715e-01 -7.89439981e-01 7.35310432e-03 -3.40104609e+02] [-7.89388580e-01 6.13827698e-01 9.01263819e-03 -2.54370289e+02] [-1.16284760e-02 -2.72646030e-04 -9.99932350e-01 -1.79895677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1153.116559995 meters 0.017446181260901646 Centerline is valid? [True, True] Translation: X:-340.19, Y:-254.43, Z:-1.80 [[-5.50826706e-01 -8.34591515e-01 6.85143752e-03 -3.40185027e+02] [-8.34533668e-01 5.50869232e-01 9.83086424e-03 -2.54429454e+02] [-1.19790020e-02 -3.02652719e-04 -9.99928204e-01 -1.79838131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1153.146559995 meters 0.018176296295752434 Centerline is valid? [True, True] Translation: X:-340.26, Y:-254.50, Z:-1.80 [[-4.84638074e-01 -8.74692483e-01 6.24487563e-03 -3.40264877e+02] [-8.74628468e-01 4.84678194e-01 1.05873678e-02 -2.54501653e+02] [-1.22874461e-02 -3.30904476e-04 -9.99924452e-01 -1.79805483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1153.176559995 meters 0.019040744684269008 Centerline is valid? [True, True] Translation: X:-340.34, Y:-254.58, Z:-1.80 [[-4.15942225e-01 -9.09375905e-01 5.24669724e-03 -3.40336894e+02] [-9.09313308e-01 4.15975184e-01 1.06749521e-02 -2.54575476e+02] [-1.18900401e-02 -3.30728304e-04 -9.99929256e-01 -1.79764577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1153.2065599950001 meters 0.01927194847649923 Centerline is valid? [True, True] Translation: X:-340.41, Y:-254.66, Z:-1.80 [[-3.44873091e-01 -9.38639159e-01 4.36814477e-03 -3.40405580e+02] [-9.38575741e-01 3.44900590e-01 1.09160794e-02 -2.54663389e+02] [-1.17528353e-02 -3.35172676e-04 -9.99930877e-01 -1.79826725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1153.236559995 meters 0.01940104721636392 Centerline is valid? [True, True] Translation: X:-340.47, Y:-254.75, Z:-1.80 [[-2.72231308e-01 -9.62226387e-01 3.23952728e-03 -3.40466493e+02] [-9.62171133e-01 2.72250408e-01 1.03163294e-02 -2.54754501e+02] [-1.08086070e-02 -3.08551770e-04 -9.99941538e-01 -1.79881190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1153.266559995 meters 0.01944894721288353 Centerline is valid? [True, True] Translation: X:-340.52, Y:-254.86, Z:-1.80 [[-1.98443496e-01 -9.80109714e-01 2.26420293e-03 -3.40521332e+02] [-9.80061125e-01 1.98456213e-01 9.76337569e-03 -2.54856205e+02] [-1.00185245e-02 -2.81578866e-04 -9.99949774e-01 -1.79948806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1153.296559995 meters 0.0187638770194905 Centerline is valid? [True, True] Translation: X:-340.56, Y:-254.96, Z:-1.80 [[-1.25191089e-01 -9.92131731e-01 1.34914416e-03 -3.40564003e+02] [-9.92092266e-01 1.25198146e-01 8.85215890e-03 -2.54955442e+02] [-8.95141808e-03 -2.30264076e-04 -9.99959909e-01 -1.80083799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1153.326559995 meters 0.018033958999340766 Centerline is valid? [True, True] Translation: X:-340.60, Y:-255.06, Z:-1.80 [[-5.10169650e-02 -9.98697572e-01 6.55063264e-04 -3.40601321e+02] [-9.98659170e-01 5.10207494e-02 8.76049260e-03 -2.55063277e+02] [-8.78250451e-03 -2.07251191e-04 -9.99961412e-01 -1.80099934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1153.356559995 meters 0.016925903875246673 Centerline is valid? [True, True] Translation: X:-340.63, Y:-255.18, Z:-1.80 [[ 2.35351458e-02 -9.99723010e-01 -1.76017991e-05 -3.40629418e+02] [-9.99687837e-01 -2.35344655e-02 8.38795723e-03 -2.55175670e+02] [-8.38604810e-03 -1.79815492e-04 -9.99964821e-01 -1.80161893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1153.386559995 meters 0.016692154558752562 Centerline is valid? [True, True] Translation: X:-340.65, Y:-255.29, Z:-1.80 [[ 9.77846874e-02 -9.95207417e-01 -5.93024569e-04 -3.40650533e+02] [-9.95179114e-01 -9.77863797e-02 7.50704217e-03 -2.55290589e+02] [-7.52905377e-03 -1.43908106e-04 -9.99971646e-01 -1.80139899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1153.416559995 meters 0.015149955586323911 Centerline is valid? [True, True] Translation: X:-340.66, Y:-255.40, Z:-1.80 [[ 1.69362400e-01 -9.85553106e-01 -1.20521567e-03 -3.40658520e+02] [-9.85523186e-01 -1.69366650e-01 7.68035252e-03 -2.55402390e+02] [-7.77351863e-03 -1.12994944e-04 -9.99969780e-01 -1.80141929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1153.4465599950001 meters 0.01448183571970933 Centerline is valid? [True, True] Translation: X:-340.66, Y:-255.52, Z:-1.80 [[ 2.42188747e-01 -9.70227451e-01 -1.81807576e-03 -3.40660944e+02] [-9.70197018e-01 -2.42195551e-01 7.68517469e-03 -2.55516658e+02] [-7.89669730e-03 -9.73711477e-05 -9.99968816e-01 -1.80109668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1153.4765599950001 meters 0.014146155015307946 Centerline is valid? [True, True] Translation: X:-340.65, Y:-255.64, Z:-1.80 [[ 3.14269493e-01 -9.49330302e-01 -2.58124755e-03 -3.40652427e+02] [-9.49295882e-01 -3.14280080e-01 8.08455604e-03 -2.55640755e+02] [-8.48614871e-03 -9.03616567e-05 -9.99963988e-01 -1.80029339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1153.506559995 meters 0.014146155015307946 Centerline is valid? [True, True] Translation: X:-340.64, Y:-255.76, Z:-1.80 [[ 3.86155035e-01 -9.22428365e-01 -3.19372964e-03 -3.40639888e+02] [-9.22394858e-01 -3.86168231e-01 7.86275098e-03 -2.55756701e+02] [-8.48614146e-03 -9.03610832e-05 -9.99963988e-01 -1.80029373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1153.536559995 meters 0.013691589440895663 Centerline is valid? [True, True] Translation: X:-340.62, Y:-255.86, Z:-1.80 [[ 4.52942607e-01 -8.91527361e-01 -4.68617495e-03 -3.40617362e+02] [-8.91477823e-01 -4.52966841e-01 9.39854615e-03 -2.55861639e+02] [-1.05017429e-02 -7.93809530e-05 -9.99944852e-01 -1.79825305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1153.566559995 meters 0.013482333835037297 Centerline is valid? [True, True] Translation: X:-340.59, Y:-255.97, Z:-1.80 [[ 5.18728229e-01 -8.54919601e-01 -5.78793599e-03 -3.40587340e+02] [-8.54864870e-01 -5.18760514e-01 9.67381528e-03 -2.55968963e+02] [-1.12728870e-02 -7.01779214e-05 -9.99936457e-01 -1.79733682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1153.596559995 meters 0.01347998931563866 Centerline is valid? [True, True] Translation: X:-340.55, Y:-256.07, Z:-1.80 [[ 5.81374992e-01 -8.13605002e-01 -7.07245399e-03 -3.40549988e+02] [-8.13543574e-01 -5.81418005e-01 9.99779932e-03 -2.56072801e+02] [-1.22463116e-02 -5.87209962e-05 -9.99925010e-01 -1.79606914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1153.626559995 meters 0.01355468860470101 Centerline is valid? [True, True] Translation: X:-340.50, Y:-256.17, Z:-1.80 [[ 6.40579836e-01 -7.67848366e-01 -8.14621364e-03 -3.40503325e+02] [-7.67785459e-01 -6.40631630e-01 9.82869040e-03 -2.56174722e+02] [-1.27656660e-02 -4.15165071e-05 -9.99918515e-01 -1.79500802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1153.656559995 meters 0.013369156871737765 Centerline is valid? [True, True] Translation: X:-340.45, Y:-256.27, Z:-1.79 [[ 6.96052041e-01 -7.17932498e-01 -9.19163112e-03 -3.40452491e+02] [-7.17869491e-01 -6.96112727e-01 9.51134673e-03 -2.56268167e+02] [-1.32269163e-02 -2.20007472e-05 -9.99912520e-01 -1.79474364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1153.6865599950002 meters 0.013635312693512128 Centerline is valid? [True, True] Translation: X:-340.39, Y:-256.35, Z:-1.79 [[ 7.46105653e-01 -6.65755309e-01 -9.80939981e-03 -3.40393422e+02] [-6.65698238e-01 -7.46170134e-01 8.71709635e-03 -2.56353199e+02] [-1.31229343e-02 2.62253103e-05 -9.99913890e-01 -1.79439303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1153.7165599950001 meters 0.013862085853016062 Centerline is valid? [True, True] Translation: X:-340.39, Y:-256.35, Z:-1.79 [[ 7.94779094e-01 -6.06811454e-01 -1.02981432e-02 -3.40385952e+02] [-6.06761316e-01 -7.94845807e-01 7.80054143e-03 -2.56348079e+02] [-1.29188938e-02 4.88076775e-05 -9.99916547e-01 -1.79448250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1153.746559995 meters 0.014143823419431798 Centerline is valid? [True, True] Translation: X:-340.38, Y:-256.34, Z:-1.79 [[ 8.38942586e-01 -5.44119805e-01 -1.04391080e-02 -3.40378819e+02] [-5.44078665e-01 -8.39007529e-01 6.69129953e-03 -2.56341338e+02] [-1.23993588e-02 6.60798002e-05 -9.99923123e-01 -1.79470862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1153.776559995 meters 0.014305072794850897 Centerline is valid? [True, True] Translation: X:-340.37, Y:-256.33, Z:-1.80 [[ 8.78373274e-01 -4.77862395e-01 -1.03886515e-02 -3.40371936e+02] [-4.77830001e-01 -8.78434702e-01 5.56457397e-03 -2.56334759e+02] [-1.17848527e-02 7.62363106e-05 -9.99930554e-01 -1.79541541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1153.806559995 meters 0.014562342830239342 Centerline is valid? [True, True] Translation: X:-340.37, Y:-256.33, Z:-1.80 [[ 9.12579932e-01 -4.08778247e-01 -9.91019559e-03 -3.40365279e+02] [-4.08755119e-01 -9.12633737e-01 4.34912125e-03 -2.56325745e+02] [-1.08222050e-02 8.19224023e-05 -9.99941435e-01 -1.79643234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1153.836559995 meters 0.01435752954980589 Centerline is valid? [True, True] Translation: X:-340.36, Y:-256.32, Z:-1.80 [[ 9.41996253e-01 -3.35492243e-01 -9.38159444e-03 -3.40359990e+02] [-3.35476322e-01 -9.42042966e-01 3.26912538e-03 -2.56318872e+02] [-9.93463126e-03 6.77989432e-05 -9.99950648e-01 -1.79707171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1153.866559995 meters 0.013932082615645165 Centerline is valid? [True, True] Translation: X:-340.36, Y:-256.31, Z:-1.80 [[ 9.65696240e-01 -2.59514204e-01 -9.11862939e-03 -3.40355651e+02] [-2.59503138e-01 -9.65739290e-01 2.39711413e-03 -2.56311764e+02] [-9.42830383e-03 5.14288393e-05 -9.99955551e-01 -1.79772884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1153.896559995 meters 0.013654981590805063 Centerline is valid? [True, True] Translation: X:-340.35, Y:-256.30, Z:-1.80 [[ 9.83357044e-01 -1.81463980e-01 -8.93022969e-03 -3.40351535e+02] [-1.81456805e-01 -9.83397592e-01 1.61400906e-03 -2.56304305e+02] [-9.07485088e-03 3.33037770e-05 -9.99958822e-01 -1.79806011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1153.926559995 meters 0.013423898143900612 Centerline is valid? [True, True] Translation: X:-340.35, Y:-256.30, Z:-1.80 [[ 9.94782428e-01 -1.01660550e-01 -8.54710002e-03 -3.40350425e+02] [-1.01656900e-01 -9.94819146e-01 8.61603546e-04 -2.56295875e+02] [-8.59040983e-03 1.17636227e-05 -9.99963102e-01 -1.79796738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1153.9565599950001 meters 0.013383624124541114 Centerline is valid? [True, True] Translation: X:-340.35, Y:-256.29, Z:-1.80 [[ 9.99743957e-01 -2.08716896e-02 -8.74036251e-03 -3.40351597e+02] [-2.08707982e-02 -9.99782163e-01 1.93201670e-04 -2.56287058e+02] [-8.74249098e-03 -1.07338602e-05 -9.99961784e-01 -1.79779770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1153.986559995 meters 0.014370193368197236 Centerline is valid? [True, True] Translation: X:-340.35, Y:-256.28, Z:-1.80 [[ 9.97918996e-01 6.38479925e-02 -9.00624398e-03 -3.40354123e+02] [ 6.38460166e-02 -9.97959633e-01 -5.07030884e-04 -2.56280418e+02] [-9.02024084e-03 -6.90370523e-05 -9.99959315e-01 -1.79672863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1154.016559995 meters 0.01561233781696938 Centerline is valid? [True, True] Translation: X:-340.36, Y:-256.27, Z:-1.80 [[ 9.89379917e-01 1.45051553e-01 -9.35024146e-03 -3.40357137e+02] [ 1.45046064e-01 -9.89424093e-01 -1.26613614e-03 -2.56270759e+02] [-9.43500919e-03 -1.03526051e-04 -9.99955484e-01 -1.79608463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1154.046559995 meters 0.017128706237554005 Centerline is valid? [True, True] Translation: X:-340.36, Y:-256.26, Z:-1.80 [[ 9.74244528e-01 2.25294050e-01 -9.49689103e-03 -3.40359424e+02] [ 2.25284735e-01 -9.74290805e-01 -2.05340784e-03 -2.56260826e+02] [-9.71535417e-03 -1.38983227e-04 -9.99952795e-01 -1.79535056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1154.076559995 meters 0.0190416857405665 Centerline is valid? [True, True] Translation: X:-340.36, Y:-256.25, Z:-1.79 [[ 9.52611921e-01 3.04040444e-01 -9.48349690e-03 -3.40363726e+02] [ 3.04027199e-01 -9.52659109e-01 -2.84329889e-03 -2.56250295e+02] [-9.89901757e-03 -1.74680582e-04 -9.99950988e-01 -1.79478164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1154.106559995 meters 0.02305872912403537 Centerline is valid? [True, True] Translation: X:-340.37, Y:-256.24, Z:-1.79 [[ 9.23674977e-01 3.83068133e-01 -9.12920315e-03 -3.40367618e+02] [ 3.83051873e-01 -9.23720062e-01 -3.53693062e-03 -2.56241720e+02] [-9.78771351e-03 -2.29984061e-04 -9.99952073e-01 -1.79481178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1154.136559995 meters 0.02396973777314179 Centerline is valid? [True, True] Translation: X:-340.37, Y:-256.23, Z:-1.79 [[ 8.90482631e-01 4.54932651e-01 -8.77308714e-03 -3.40374789e+02] [ 4.54913178e-01 -8.90525815e-01 -4.21584836e-03 -2.56228104e+02] [-9.73058765e-03 -2.36853215e-04 -9.99952629e-01 -1.79412918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1154.166559995 meters 0.023779080847243884 Centerline is valid? [True, True] Translation: X:-340.38, Y:-256.21, Z:-1.79 [[ 8.52295143e-01 5.22989683e-01 -8.64757359e-03 -3.40383744e+02] [ 5.22965610e-01 -8.52338978e-01 -5.02372699e-03 -2.56211811e+02] [-9.99802143e-03 -2.40685481e-04 -9.99949990e-01 -1.79332175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1154.1965599950001 meters 0.023513222490686693 Centerline is valid? [True, True] Translation: X:-340.39, Y:-256.20, Z:-1.79 [[ 8.09258527e-01 5.87392242e-01 -8.42560273e-03 -3.40394927e+02] [ 5.87363441e-01 -8.09302353e-01 -5.82157987e-03 -2.56197004e+02] [-1.02384110e-02 -2.37727856e-04 -9.99947558e-01 -1.79319131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1154.2265599950001 meters 0.016273016814334275 Centerline is valid? [True, True] Translation: X:-340.40, Y:-256.19, Z:-1.80 [[ 7.61711588e-01 6.47874651e-01 -7.34117925e-03 -3.40398553e+02] [ 6.47847151e-01 -7.61746936e-01 -5.97292294e-03 -2.56193313e+02] [-9.46182616e-03 -2.06317437e-04 -9.99955215e-01 -1.79842877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1154.256559995 meters 0.015679425435591338 Centerline is valid? [True, True] Translation: X:-340.40, Y:-256.20, Z:-1.80 [[ 7.10288568e-01 7.03883892e-01 -6.13330142e-03 -3.40395133e+02] [ 7.03859640e-01 -7.10315028e-01 -5.84527217e-03 -2.56198812e+02] [-8.47096910e-03 -1.65153333e-04 -9.99964107e-01 -1.79978098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1154.286559995 meters 0.01579178896830793 Centerline is valid? [True, True] Translation: X:-340.39, Y:-256.21, Z:-1.80 [[ 6.53759049e-01 7.56685893e-01 -5.05610927e-03 -3.40391627e+02] [ 7.56664905e-01 -6.53778586e-01 -5.63758399e-03 -2.56205603e+02] [-7.57145625e-03 -1.40158893e-04 -9.99971326e-01 -1.80009848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1154.316559995 meters 0.015247613243960104 Centerline is valid? [True, True] Translation: X:-340.39, Y:-256.21, Z:-1.80 [[ 5.92688170e-01 8.05419736e-01 -4.44766587e-03 -3.40386721e+02] [ 8.05398733e-01 -5.92704843e-01 -5.81809222e-03 -2.56211251e+02] [-7.32215940e-03 -1.33830024e-04 -9.99973184e-01 -1.80113596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1154.346559995 meters 0.01564684136484685 Centerline is valid? [True, True] Translation: X:-340.38, Y:-256.22, Z:-1.80 [[ 5.27760212e-01 8.49384992e-01 -3.78077494e-03 -3.40380375e+02] [ 8.49364906e-01 -5.27773739e-01 -5.84275200e-03 -2.56218766e+02] [-6.95813958e-03 -1.27685513e-04 -9.99975784e-01 -1.80088064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1154.376559995 meters 0.01582996663667749 Centerline is valid? [True, True] Translation: X:-340.37, Y:-256.22, Z:-1.80 [[ 4.58296604e-01 8.88791600e-01 -3.70332145e-03 -3.40372569e+02] [ 8.88765258e-01 -4.58311540e-01 -6.84455767e-03 -2.56224456e+02] [-7.78066032e-03 -1.54545906e-04 -9.99969718e-01 -1.79987200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1154.406559995 meters 0.016492224391150154 Centerline is valid? [True, True] Translation: X:-340.37, Y:-256.23, Z:-1.80 [[ 3.86186469e-01 9.22414887e-01 -3.28441789e-03 -3.40366273e+02] [ 9.22385192e-01 -3.86200397e-01 -7.40344317e-03 -2.56229861e+02] [-8.09748969e-03 -1.70388848e-04 -9.99967200e-01 -1.79895120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1154.4365599950002 meters 0.016549102091387703 Centerline is valid? [True, True] Translation: X:-340.36, Y:-256.23, Z:-1.80 [[ 3.11530855e-01 9.50231672e-01 -2.88018070e-03 -3.40359016e+02] [ 9.50196618e-01 -3.11544109e-01 -8.16423343e-03 -2.56234641e+02] [-8.65521652e-03 -1.93327344e-04 -9.99962524e-01 -1.79865627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1154.4665599950001 meters 0.01710438138909942 Centerline is valid? [True, True] Translation: X:-340.35, Y:-256.24, Z:-1.80 [[ 2.35017621e-01 9.71988170e-01 -2.39078417e-03 -3.40352451e+02] [ 9.71946888e-01 -2.35029681e-01 -8.96081160e-03 -2.56239834e+02] [-9.27170810e-03 -2.17766609e-04 -9.99956993e-01 -1.79758500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1154.496559995 meters 0.01733003446550823 Centerline is valid? [True, True] Translation: X:-340.34, Y:-256.24, Z:-1.80 [[ 1.56960781e-01 9.87603164e-01 -1.81766179e-03 -3.40344956e+02] [ 9.87554005e-01 -1.56971110e-01 -9.85683831e-03 -2.56242656e+02] [-1.00199651e-02 -2.47902144e-04 -9.99949768e-01 -1.79716181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1154.526559995 meters 0.017319439554839618 Centerline is valid? [True, True] Translation: X:-340.34, Y:-256.25, Z:-1.80 [[ 7.82327592e-02 9.96934505e-01 -1.10839852e-03 -3.40336997e+02] [ 9.96877946e-01 -7.82401313e-02 -1.06227935e-02 -2.56245502e+02] [-1.06769506e-02 -2.73887593e-04 -9.99942962e-01 -1.79730561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1154.556559995 meters 0.018028270325269997 Centerline is valid? [True, True] Translation: X:-340.33, Y:-256.25, Z:-1.80 [[-1.24152034e-03 9.99999189e-01 -2.83441767e-04 -3.40328525e+02] [ 9.99937593e-01 1.23829680e-03 -1.11030277e-02 -2.56248894e+02] [-1.11026677e-02 -2.97208713e-04 -9.99938320e-01 -1.79702873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1154.586559995 meters 0.01783618256840454 Centerline is valid? [True, True] Translation: X:-340.32, Y:-256.25, Z:-1.80 [[-7.94923073e-02 9.96835310e-01 5.80880988e-04 -3.40321282e+02] [ 9.96775017e-01 7.94938902e-02 -1.09675842e-02 -2.56250744e+02] [-1.09790517e-02 -2.92830914e-04 -9.99939686e-01 -1.79690385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1154.616559995 meters 0.018084169110817217 Centerline is valid? [True, True] Translation: X:-340.31, Y:-256.25, Z:-1.80 [[-1.56972418e-01 9.87601979e-01 1.41109675e-03 -3.40314552e+02] [ 9.87544221e-01 1.56978504e-01 -1.06846296e-02 -2.56253211e+02] [-1.07736731e-02 -2.83671693e-04 -9.99941922e-01 -1.79686707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1154.646559995 meters 0.017331700661998226 Centerline is valid? [True, True] Translation: X:-340.31, Y:-256.25, Z:-1.80 [[-2.32061559e-01 9.72698888e-01 2.07521887e-03 -3.40310677e+02] [ 9.72650059e-01 2.32070709e-01 -9.74928147e-03 -2.56253913e+02] [-9.96471276e-03 -2.43971699e-04 -9.99950321e-01 -1.79778317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1154.676559995 meters 0.01747813862519592 Centerline is valid? [True, True] Translation: X:-340.30, Y:-256.26, Z:-1.80 [[-3.06224378e-01 9.51955450e-01 2.72965710e-03 -3.40304905e+02] [ 9.51910920e-01 3.06236463e-01 -9.21023560e-03 -2.56255560e+02] [-9.60365451e-03 -2.22008265e-04 -9.99953859e-01 -1.79757978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1154.7065599950001 meters 0.016314449453195226 Centerline is valid? [True, True] Translation: X:-340.30, Y:-256.26, Z:-1.80 [[-3.78417403e-01 9.25629140e-01 3.31131454e-03 -3.40300246e+02] [ 9.25588977e-01 3.78431838e-01 -8.62492411e-03 -2.56255845e+02] [-9.23658793e-03 -1.98905140e-04 -9.99957322e-01 -1.79839553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1154.736559995 meters 0.016310000583279426 Centerline is valid? [True, True] Translation: X:-340.29, Y:-256.26, Z:-1.80 [[-4.48385653e-01 8.93831456e-01 3.95409248e-03 -3.40293598e+02] [ 8.93793019e-01 4.48403050e-01 -8.29125887e-03 -2.56256676e+02] [-9.18401511e-03 -1.83541270e-04 -9.99957809e-01 -1.79813034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1154.766559995 meters 0.015781952492509698 Centerline is valid? [True, True] Translation: X:-340.29, Y:-256.26, Z:-1.80 [[-5.15409221e-01 8.56931512e-01 4.66041488e-03 -3.40289005e+02] [ 8.56893479e-01 5.15430263e-01 -8.07530435e-03 -2.56257168e+02] [-9.32210163e-03 -1.68607202e-04 -9.99956534e-01 -1.79832672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1154.796559995 meters 0.015026862082673339 Centerline is valid? [True, True] Translation: X:-340.29, Y:-256.26, Z:-1.80 [[-5.78322645e-01 8.15793075e-01 4.95753633e-03 -3.40285423e+02] [ 8.15761156e-01 5.78343878e-01 -7.21771899e-03 -2.56258130e+02] [-8.75532596e-03 -1.30004769e-04 -9.99961663e-01 -1.79905025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1154.826559995 meters 0.015347696133047919 Centerline is valid? [True, True] Translation: X:-340.28, Y:-256.26, Z:-1.80 [[-6.39418774e-01 7.68839361e-01 5.44689686e-03 -3.40279363e+02] [ 7.68809892e-01 6.39441962e-01 -6.73252396e-03 -2.56257524e+02] [-8.65920384e-03 -1.17274030e-04 -9.99962502e-01 -1.79870663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1154.856559995 meters 0.014832055948392172 Centerline is valid? [True, True] Translation: X:-340.28, Y:-256.26, Z:-1.80 [[-6.97103681e-01 7.16946890e-01 5.79784047e-03 -3.40276808e+02] [ 7.16920807e-01 6.97127783e-01 -6.11636315e-03 -2.56258590e+02] [-8.42694321e-03 -1.07146799e-04 -9.99964487e-01 -1.79942780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1154.886559995 meters 0.014295999423145883 Centerline is valid? [True, True] Translation: X:-340.27, Y:-256.26, Z:-1.80 [[-7.50836740e-01 6.60457188e-01 6.36339368e-03 -3.40270590e+02] [ 6.60432276e-01 7.50863697e-01 -5.73735922e-03 -2.56255752e+02] [-8.56732144e-03 -1.05229523e-04 -9.99963294e-01 -1.80050507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1154.916559995 meters 0.0142159021370872 Centerline is valid? [True, True] Translation: X:-339.79, Y:-255.73, Z:-2.78 [[-6.87132764e-01 -7.26507500e-01 5.95126483e-03 -3.39786718e+02] [ 7.26481556e-01 -6.87158528e-01 -6.14064482e-03 -2.55730224e+02] [ 8.55068690e-03 1.04045881e-04 9.99963437e-01 -2.78381611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1154.9465599950001 meters 0.014204708804679002 Centerline is valid? [True, True] Translation: X:-339.81, Y:-255.71, Z:-2.78 [[-6.87208306e-01 -7.26433516e-01 6.25231947e-03 -3.39808291e+02] [ 7.26404913e-01 -6.87236739e-01 -6.44728044e-03 -2.55711335e+02] [ 8.98034424e-03 1.11090908e-04 9.99959670e-01 -2.78431494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1154.9765599950001 meters 0.014281569290374224 Centerline is valid? [True, True] Translation: X:-339.83, Y:-255.69, Z:-2.78 [[-6.87343995e-01 -7.26303611e-01 6.42630131e-03 -3.39826975e+02] [ 7.26273429e-01 -6.87374026e-01 -6.62230512e-03 -2.55693476e+02] [ 9.22707673e-03 1.15450237e-04 9.99957423e-01 -2.78477753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1155.006559995 meters 0.014933291240888031 Centerline is valid? [True, True] Translation: X:-339.85, Y:-255.68, Z:-2.79 [[-6.87440912e-01 -7.26211697e-01 6.44709828e-03 -3.39847139e+02] [ 7.26181355e-01 -6.87471133e-01 -6.63938927e-03 -2.55676220e+02] [ 9.25379610e-03 1.17574752e-04 9.99957176e-01 -2.78601302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1155.036559995 meters 0.014422836163711279 Centerline is valid? [True, True] Translation: X:-339.87, Y:-255.66, Z:-2.79 [[-6.87501085e-01 -7.26153254e-01 6.61127373e-03 -3.39865118e+02] [ 7.26121385e-01 -6.87532862e-01 -6.80423676e-03 -2.55656309e+02] [ 9.48638661e-03 1.22667082e-04 9.99954996e-01 -2.78517638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1155.066559995 meters 0.014408652734993744 Centerline is valid? [True, True] Translation: X:-339.88, Y:-255.64, Z:-2.78 [[-6.87356305e-01 -7.26287878e-01 6.87233904e-03 -3.39884566e+02] [ 7.26253492e-01 -6.87390647e-01 -7.06849927e-03 -2.55637090e+02] [ 9.85774691e-03 1.32482687e-04 9.99951403e-01 -2.78491884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1155.096559995 meters 0.014363050680007143 Centerline is valid? [True, True] Translation: X:-339.90, Y:-255.62, Z:-2.78 [[-6.87471320e-01 -7.26179206e-01 6.85167287e-03 -3.39903964e+02] [ 7.26145065e-01 -6.87505450e-01 -7.04281563e-03 -2.55617752e+02] [ 9.82490869e-03 1.33574682e-04 9.99951726e-01 -2.78482973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1155.126559995 meters 0.014179605561216497 Centerline is valid? [True, True] Translation: X:-339.92, Y:-255.60, Z:-2.78 [[-6.87784796e-01 -7.25881374e-01 6.95017605e-03 -3.39924042e+02] [ 7.25846270e-01 -6.87819899e-01 -7.14002351e-03 -2.55597451e+02] [ 9.96327946e-03 1.33959741e-04 9.99950357e-01 -2.78451876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1155.156559995 meters 0.014187310213971249 Centerline is valid? [True, True] Translation: X:-339.94, Y:-255.58, Z:-2.78 [[-6.88228394e-01 -7.25460427e-01 6.98905467e-03 -3.39943843e+02] [ 7.25424950e-01 -6.88263868e-01 -7.17567651e-03 -2.55578489e+02] [ 1.00159831e-02 1.31530319e-04 9.99949830e-01 -2.78474118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1155.1865599950002 meters 0.01417537209566459 Centerline is valid? [True, True] Translation: X:-339.96, Y:-255.56, Z:-2.78 [[-6.88677492e-01 -7.25033676e-01 7.03424777e-03 -3.39963709e+02] [ 7.24997757e-01 -6.88713403e-01 -7.21801843e-03 -2.55558630e+02] [ 1.00778872e-02 1.28927030e-04 9.99949209e-01 -2.78498063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1155.2165599950001 meters 0.013986354498122505 Centerline is valid? [True, True] Translation: X:-339.98, Y:-255.54, Z:-2.78 [[-6.89164164e-01 -7.24572492e-01 6.88915909e-03 -3.39982979e+02] [ 7.24538055e-01 -6.89198585e-01 -7.06516733e-03 -2.55538572e+02] [ 9.86722460e-03 1.22397795e-04 9.99951310e-01 -2.78410959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1155.246559995 meters 0.014660698548055812 Centerline is valid? [True, True] Translation: X:-340.00, Y:-255.52, Z:-2.78 [[-6.89550685e-01 -7.24208232e-01 6.50305805e-03 -3.40002699e+02] [ 7.24177572e-01 -6.89581340e-01 -6.66478865e-03 -2.55520702e+02] [ 9.31108229e-03 1.13659206e-04 9.99956645e-01 -2.78479471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1155.276559995 meters 0.014474915412569088 Centerline is valid? [True, True] Translation: X:-340.02, Y:-255.50, Z:-2.78 [[-6.89804025e-01 -7.23969574e-01 6.20188786e-03 -3.40021677e+02] [ 7.23941713e-01 -6.89831895e-01 -6.35234906e-03 -2.55500942e+02] [ 8.87716751e-03 1.07929373e-04 9.99960592e-01 -2.78406810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1155.306559995 meters 0.014205638482462727 Centerline is valid? [True, True] Translation: X:-340.04, Y:-255.48, Z:-2.78 [[-6.89998587e-01 -7.23786723e-01 5.89310452e-03 -3.40040659e+02] [ 7.23761592e-01 -6.90023745e-01 -6.03231860e-03 -2.55481268e+02] [ 8.43249416e-03 1.02911400e-04 9.99964441e-01 -2.78267259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1155.336559995 meters 0.014218211773843534 Centerline is valid? [True, True] Translation: X:-340.06, Y:-255.46, Z:-2.78 [[-6.89799813e-01 -7.23977806e-01 5.68813669e-03 -3.40059795e+02] [ 7.23954422e-01 -6.89823257e-01 -5.81967248e-03 -2.55462578e+02] [ 8.13712269e-03 1.03542729e-04 9.99966888e-01 -2.78240960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1155.366559995 meters 0.0143378109323007 Centerline is valid? [True, True] Translation: X:-340.08, Y:-255.44, Z:-2.78 [[-6.89606218e-01 -7.24163513e-01 5.52004843e-03 -3.40079875e+02] [ 7.24141525e-01 -6.89628302e-01 -5.64417460e-03 -2.55443681e+02] [ 7.89408694e-03 1.05038394e-04 9.99968836e-01 -2.78259266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1155.396559995 meters 0.0143078122418207 Centerline is valid? [True, True] Translation: X:-340.10, Y:-255.42, Z:-2.78 [[-6.89366938e-01 -7.24390032e-01 5.68379517e-03 -3.40099992e+02] [ 7.24366755e-01 -6.89390360e-01 -5.80830014e-03 -2.55424071e+02] [ 8.12582833e-03 1.13102175e-04 9.99966979e-01 -2.78261795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1155.426559995 meters 0.0143078122418207 Centerline is valid? [True, True] Translation: X:-340.12, Y:-255.40, Z:-2.78 [[-6.89572282e-01 -7.24194548e-01 5.68544170e-03 -3.40119337e+02] [ 7.24171277e-01 -6.89595711e-01 -5.80668845e-03 -2.55404400e+02] [ 8.12582833e-03 1.13102174e-04 9.99966979e-01 -2.78261801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1155.4565599950001 meters 0.014411483203480907 Centerline is valid? [True, True] Translation: X:-340.14, Y:-255.39, Z:-2.78 [[-6.89145505e-01 -7.24598928e-01 5.90480412e-03 -3.40140021e+02] [ 7.24573870e-01 -6.89170790e-01 -6.02732714e-03 -2.55385805e+02] [ 8.43681331e-03 1.24761373e-04 9.99964402e-01 -2.78306887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1155.486559995 meters 0.014639976359101215 Centerline is valid? [True, True] Translation: X:-340.16, Y:-255.37, Z:-2.78 [[-6.89166135e-01 -7.24577341e-01 6.14132064e-03 -3.40158717e+02] [ 7.24550271e-01 -6.89193485e-01 -6.26458577e-03 -2.55367853e+02] [ 8.77173508e-03 1.32355176e-04 9.99961519e-01 -2.78360624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1155.516559995 meters 0.014730261590158554 Centerline is valid? [True, True] Translation: X:-340.18, Y:-255.35, Z:-2.78 [[-6.89120822e-01 -7.24619460e-01 6.25551343e-03 -3.40177983e+02] [ 7.24591413e-01 -6.89149199e-01 -6.37688872e-03 -2.55349288e+02] [ 8.93179974e-03 1.38244522e-04 9.99960101e-01 -2.78350281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1155.546559995 meters 0.014561561557212927 Centerline is valid? [True, True] Translation: X:-340.20, Y:-255.33, Z:-2.78 [[-6.89285550e-01 -7.24463264e-01 6.19762258e-03 -3.40197606e+02] [ 7.24435759e-01 -6.89313398e-01 -6.31431888e-03 -2.55329024e+02] [ 8.84659635e-03 1.37410656e-04 9.99960859e-01 -2.78295693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1155.576559995 meters 0.014817475167903035 Centerline is valid? [True, True] Translation: X:-340.22, Y:-255.31, Z:-2.78 [[-6.89347338e-01 -7.24406694e-01 5.93197523e-03 -3.40216947e+02] [ 7.24381529e-01 -6.89372848e-01 -6.03966123e-03 -2.55311656e+02] [ 8.46451369e-03 1.33588897e-04 9.99964167e-01 -2.78259108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1155.606559995 meters 0.014808771595605601 Centerline is valid? [True, True] Translation: X:-340.24, Y:-255.29, Z:-2.78 [[-6.89518444e-01 -7.24248156e-01 5.37802877e-03 -3.40236416e+02] [ 7.24227493e-01 -6.89539407e-01 -5.47223296e-03 -2.55292219e+02] [ 7.67161740e-03 1.21710731e-04 9.99970566e-01 -2.78205454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1155.636559995 meters 0.014782624994951764 Centerline is valid? [True, True] Translation: X:-340.26, Y:-255.27, Z:-2.78 [[-6.89804867e-01 -7.23977889e-01 5.02618296e-03 -3.40255541e+02] [ 7.23959851e-01 -6.89823169e-01 -5.11175279e-03 -2.55273913e+02] [ 7.16797345e-03 1.12642718e-04 9.99974304e-01 -2.78191880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1155.666559995 meters 0.014748370380357981 Centerline is valid? [True, True] Translation: X:-340.28, Y:-255.25, Z:-2.78 [[-6.90179878e-01 -7.23622065e-01 4.77950382e-03 -3.40275158e+02] [ 7.23605766e-01 -6.90196419e-01 -4.85786233e-03 -2.55254734e+02] [ 6.81405279e-03 1.05677692e-04 9.99976779e-01 -2.78204275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1155.6965599950001 meters 0.014478168808836159 Centerline is valid? [True, True] Translation: X:-340.29, Y:-255.24, Z:-2.78 [[-6.90981383e-01 -7.22856564e-01 4.80793094e-03 -3.40294148e+02] [ 7.22840074e-01 -6.90998102e-01 -4.88371210e-03 -2.55235340e+02] [ 6.85249450e-03 1.00811018e-04 9.99976517e-01 -2.78218027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1155.7265599950001 meters 0.014180753932695309 Centerline is valid? [True, True] Translation: X:-340.31, Y:-255.21, Z:-2.78 [[-6.91567703e-01 -7.22295602e-01 4.81423087e-03 -3.40313375e+02] [ 7.22279073e-01 -6.91584452e-01 -4.88734888e-03 -2.55214503e+02] [ 6.85955782e-03 9.72855739e-05 9.99976468e-01 -2.78199332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1155.756559995 meters 0.01426016756710884 Centerline is valid? [True, True] Translation: X:-340.33, Y:-255.20, Z:-2.78 [[-6.93164209e-01 -7.20758382e-01 5.54389449e-03 -3.40332488e+02] [ 7.20736432e-01 -6.93186372e-01 -5.62577209e-03 -2.55195125e+02] [ 7.89777449e-03 9.61028773e-05 9.99968808e-01 -2.78373060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1155.786559995 meters 0.013758495051625016 Centerline is valid? [True, True] Translation: X:-340.35, Y:-255.18, Z:-2.78 [[-6.94105064e-01 -7.19851315e-01 5.67854689e-03 -3.40350465e+02] [ 7.19828285e-01 -6.94128286e-01 -5.75879067e-03 -2.55175098e+02] [ 8.08711305e-03 9.03729014e-05 9.99967295e-01 -2.78377368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1155.816559995 meters 0.013906377667530627 Centerline is valid? [True, True] Translation: X:-340.37, Y:-255.16, Z:-2.78 [[-6.95144817e-01 -7.18845088e-01 5.95163770e-03 -3.40369253e+02] [ 7.18819778e-01 -6.95170290e-01 -6.03280875e-03 -2.55156596e+02] [ 8.47405664e-03 8.44791498e-05 9.99964091e-01 -2.78497330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1155.846559995 meters 0.013612961892707337 Centerline is valid? [True, True] Translation: X:-340.39, Y:-255.14, Z:-2.79 [[-6.96168457e-01 -7.17852774e-01 6.07238739e-03 -3.40387939e+02] [ 7.17826422e-01 -6.96194936e-01 -6.15141489e-03 -2.55136333e+02] [ 8.64337560e-03 7.64990945e-05 9.99962643e-01 -2.78511372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1155.876559995 meters 0.013378359779703112 Centerline is valid? [True, True] Translation: X:-340.41, Y:-255.12, Z:-2.79 [[-6.97018193e-01 -7.17025409e-01 6.34057278e-03 -3.40407003e+02] [ 7.16996679e-01 -6.97047027e-01 -6.41908305e-03 -2.55116225e+02] [ 9.02232306e-03 7.19519595e-05 9.99959296e-01 -2.78513590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1155.906559995 meters 0.013169149084048731 Centerline is valid? [True, True] Translation: X:-340.43, Y:-255.10, Z:-2.79 [[-6.98650724e-01 -7.15431007e-01 6.75579948e-03 -3.40426254e+02] [ 7.15398353e-01 -6.98683385e-01 -6.83558583e-03 -2.55095749e+02] [ 9.61055489e-03 5.74008300e-05 9.99953816e-01 -2.78525885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1155.9365599950002 meters 0.013156501131445392 Centerline is valid? [True, True] Translation: X:-340.44, Y:-255.08, Z:-2.79 [[-6.99621890e-01 -7.14481696e-01 6.71691876e-03 -3.40444945e+02] [ 7.14449400e-01 -6.99654132e-01 -6.79344082e-03 -2.55076063e+02] [ 9.55330908e-03 4.60586677e-05 9.99954365e-01 -2.78579138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1155.9665599950001 meters 0.013071635455276651 Centerline is valid? [True, True] Translation: X:-340.46, Y:-255.06, Z:-2.79 [[-7.00636252e-01 -7.13487207e-01 6.69683077e-03 -3.40463936e+02] [ 7.13455095e-01 -7.00668255e-01 -6.76927687e-03 -2.55055289e+02] [ 9.52204918e-03 3.50872609e-05 9.99954664e-01 -2.78543929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1155.996559995 meters 0.013064337719831976 Centerline is valid? [True, True] Translation: X:-340.48, Y:-255.03, Z:-2.79 [[-7.01860075e-01 -7.12285012e-01 6.51900154e-03 -3.40483255e+02] [ 7.12254565e-01 -7.01890349e-01 -6.58578914e-03 -2.55034382e+02] [ 9.26658316e-03 2.08861540e-05 9.99957064e-01 -2.78510752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1156.026559995 meters 0.012993363456698902 Centerline is valid? [True, True] Translation: X:-340.50, Y:-255.01, Z:-2.78 [[-7.03616368e-01 -7.10558247e-01 5.56645232e-03 -3.40501037e+02] [ 7.10536012e-01 -7.03638386e-01 -5.62115726e-03 -2.55013872e+02] [ 7.91092917e-03 2.65770374e-08 9.99968708e-01 -2.78459724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1156.056559995 meters 0.01305785369898842 Centerline is valid? [True, True] Translation: X:-340.52, Y:-254.99, Z:-2.78 [[-7.04459784e-01 -7.09722043e-01 5.57091578e-03 -3.40520029e+02] [ 7.09699775e-01 -7.04481811e-01 -5.62213950e-03 -2.54994053e+02] [ 7.91476517e-03 -6.89350616e-06 9.99968678e-01 -2.78472432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1156.086559995 meters 0.013111564744009874 Centerline is valid? [True, True] Translation: X:-340.54, Y:-254.97, Z:-2.78 [[-7.04998243e-01 -7.09186331e-01 5.67669712e-03 -3.40538704e+02] [ 7.09163220e-01 -7.05021097e-01 -5.72532594e-03 -2.54974681e+02] [ 8.06251413e-03 -1.06399203e-05 9.99967498e-01 -2.78445664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1156.116559995 meters 0.013130944636730167 Centerline is valid? [True, True] Translation: X:-340.56, Y:-254.96, Z:-2.78 [[-7.05585929e-01 -7.08605855e-01 5.12244945e-03 -3.40558243e+02] [ 7.08587045e-01 -7.05604522e-01 -5.16313754e-03 -2.54955047e+02] [ 7.27305300e-03 -1.33358778e-05 9.99973551e-01 -2.78481604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1156.146559995 meters 0.01308030610498852 Centerline is valid? [True, True] Translation: X:-340.58, Y:-254.94, Z:-2.78 [[-7.05852205e-01 -7.08341200e-01 5.04081879e-03 -3.40577353e+02] [ 7.08323000e-01 -7.05870204e-01 -5.07768104e-03 -2.54936198e+02] [ 7.15489447e-03 -1.35644686e-05 9.99974404e-01 -2.78466915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1156.176559995 meters 0.013078126419812262 Centerline is valid? [True, True] Translation: X:-340.60, Y:-254.92, Z:-2.78 [[-7.05443763e-01 -7.08751798e-01 4.47063014e-03 -3.40596442e+02] [ 7.08737509e-01 -7.05457929e-01 -4.50051832e-03 -2.54917409e+02] [ 6.34359193e-03 -6.35930850e-06 9.99979879e-01 -2.78474297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1156.2065599950001 meters 0.01301393007642163 Centerline is valid? [True, True] Translation: X:-340.62, Y:-254.90, Z:-2.78 [[-7.05118030e-01 -7.09075873e-01 4.46872913e-03 -3.40616278e+02] [ 7.09061619e-01 -7.05132190e-01 -4.49609341e-03 -2.54897819e+02] [ 6.33911612e-03 -1.67221316e-06 9.99979908e-01 -2.78447155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1156.236559995 meters 0.013063152664362811 Centerline is valid? [True, True] Translation: X:-340.64, Y:-254.88, Z:-2.78 [[-7.04422700e-01 -7.09767499e-01 4.33095771e-03 -3.40636136e+02] [ 7.09754140e-01 -7.04436014e-01 -4.35474811e-03 -2.54878806e+02] [ 6.14174127e-03 6.33174279e-06 9.99981140e-01 -2.78459493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1156.266559995 meters 0.013010794207425005 Centerline is valid? [True, True] Translation: X:-340.66, Y:-254.86, Z:-2.78 [[-7.03541288e-01 -7.10640607e-01 4.42529142e-03 -3.40655958e+02] [ 7.10626694e-01 -7.03555206e-01 -4.44683500e-03 -2.54859968e+02] [ 6.27353834e-03 1.61981858e-05 9.99980321e-01 -2.78470251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1156.296559995 meters 0.013304932606056287 Centerline is valid? [True, True] Translation: X:-340.68, Y:-254.84, Z:-2.79 [[-7.00894346e-01 -7.13250957e-01 4.49306359e-03 -3.40677973e+02] [ 7.13236684e-01 -7.00908746e-01 -4.51244732e-03 -2.54841617e+02] [ 6.36773493e-03 4.18689621e-05 9.99979725e-01 -2.78543415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1156.326559995 meters 0.01363211596918797 Centerline is valid? [True, True] Translation: X:-340.70, Y:-254.82, Z:-2.79 [[-6.99540613e-01 -7.14576838e-01 4.78257125e-03 -3.40698106e+02] [ 7.14560716e-01 -6.99556959e-01 -4.80040724e-03 -2.54823696e+02] [ 6.77594083e-03 5.93577076e-05 9.99977041e-01 -2.78572333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1156.356559995 meters 0.013784975858523379 Centerline is valid? [True, True] Translation: X:-340.72, Y:-254.80, Z:-2.79 [[-6.98183174e-01 -7.15904101e-01 4.64482336e-03 -3.40718229e+02] [ 7.15888941e-01 -6.98198620e-01 -4.65950568e-03 -2.54804523e+02] [ 6.57876849e-03 7.19892109e-05 9.99978357e-01 -2.78570005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1156.386559995 meters 0.01443897438310173 Centerline is valid? [True, True] Translation: X:-340.74, Y:-254.79, Z:-2.79 [[-6.96925225e-01 -7.17129799e-01 4.48134301e-03 -3.40739433e+02] [ 7.17115725e-01 -6.96939628e-01 -4.49365534e-03 -2.54786946e+02] [ 6.34575968e-03 8.18997810e-05 9.99979862e-01 -2.78659595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1156.416559995 meters 0.014420379817069099 Centerline is valid? [True, True] Translation: X:-340.76, Y:-254.77, Z:-2.79 [[-6.94874410e-01 -7.19120647e-01 3.87948135e-03 -3.40759859e+02] [ 7.19110141e-01 -6.94885234e-01 -3.88804624e-03 -2.54767093e+02] [ 5.49176863e-03 8.80705403e-05 9.99984916e-01 -2.78609069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1156.4465599950001 meters 0.016045112091245883 Centerline is valid? [True, True] Translation: X:-340.78, Y:-254.75, Z:-2.79 [[-6.94286365e-01 -7.19690854e-01 3.39384272e-03 -3.40781478e+02] [ 7.19682831e-01 -6.94294655e-01 -3.39928002e-03 -2.54750618e+02] [ 4.80275760e-03 8.24165697e-05 9.99988463e-01 -2.78647604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1156.4765599950001 meters 0.014964091695764499 Centerline is valid? [True, True] Translation: X:-340.80, Y:-254.73, Z:-2.79 [[-6.94044600e-01 -7.19925652e-01 3.02468715e-03 -3.40799360e+02] [ 7.19919290e-01 -6.94051187e-01 -3.02761389e-03 -2.54729300e+02] [ 4.27894461e-03 7.62315512e-05 9.99990843e-01 -2.78513665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1156.506559995 meters 0.015051092074373738 Centerline is valid? [True, True] Translation: X:-340.82, Y:-254.71, Z:-2.78 [[-6.93982265e-01 -7.19988253e-01 2.35189286e-03 -3.40818650e+02] [ 7.19984412e-01 -6.93986248e-01 -2.35268596e-03 -2.54709895e+02] [ 3.32608756e-03 6.06038694e-05 9.99994467e-01 -2.78434963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1156.536559995 meters 0.01516053709621115 Centerline is valid? [True, True] Translation: X:-340.84, Y:-254.69, Z:-2.78 [[-6.94025292e-01 -7.19949146e-01 1.45647348e-03 -3.40838296e+02] [ 7.19947674e-01 -6.94026819e-01 -1.45614580e-03 -2.54689875e+02] [ 2.05918258e-03 3.79826826e-05 9.99997879e-01 -2.78374130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1156.566559995 meters 0.015233663370077193 Centerline is valid? [True, True] Translation: X:-340.86, Y:-254.71, Z:-2.78 [[-6.44432703e-01 -7.64661025e-01 -9.35193238e-05 -3.40857921e+02] [ 7.64661017e-01 -6.44432710e-01 1.06836343e-04 -2.54712119e+02] [-1.41960497e-04 -2.66174820e-06 9.99999990e-01 -2.78240908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1156.596559995 meters 0.01506126891272413 Centerline is valid? [True, True] Translation: X:-340.88, Y:-254.69, Z:-2.78 [[-6.44990095e-01 -7.64190825e-01 -4.00341767e-04 -3.40875499e+02] [ 7.64190688e-01 -6.44990219e-01 4.57840532e-04 -2.54690825e+02] [-6.08094056e-04 -1.06348418e-05 9.99999815e-01 -2.78224595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1156.626559995 meters 0.015106707160590057 Centerline is valid? [True, True] Translation: X:-340.89, Y:-254.67, Z:-2.78 [[-6.45717850e-01 -7.63575955e-01 -4.68949545e-04 -3.40892654e+02] [ 7.63575767e-01 -6.45718020e-01 5.36039150e-04 -2.54671125e+02] [-7.12115776e-04 -1.19484613e-05 9.99999747e-01 -2.78238509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1156.656559995 meters 0.01479274570267832 Centerline is valid? [True, True] Translation: X:-340.91, Y:-254.65, Z:-2.78 [[-6.46603333e-01 -7.62826180e-01 -5.90267612e-04 -3.40909872e+02] [ 7.62825882e-01 -6.46603603e-01 6.74289762e-04 -2.54650057e+02] [-8.96035046e-04 -1.42734040e-05 9.99999599e-01 -2.78271883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1156.6865599950002 meters 0.014166342713350771 Centerline is valid? [True, True] Translation: X:-340.93, Y:-254.63, Z:-2.78 [[-6.47781228e-01 -7.61826334e-01 -3.43857911e-04 -3.40927292e+02] [ 7.61826233e-01 -6.47781319e-01 3.92579469e-04 -2.54627371e+02] [-5.21822107e-04 -7.65436675e-06 9.99999864e-01 -2.78317838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1156.7165599950001 meters 0.013614893887336301 Centerline is valid? [True, True] Translation: X:-340.94, Y:-254.60, Z:-2.78 [[-6.50059682e-01 -7.59882880e-01 6.47257965e-04 -3.40944233e+02] [ 7.59882521e-01 -6.50060004e-01 -7.38566399e-04 -2.54604230e+02] [ 9.81980480e-04 1.17277762e-05 9.99999518e-01 -2.78422407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1156.746559995 meters 0.013510046952524331 Centerline is valid? [True, True] Translation: X:-340.96, Y:-254.58, Z:-2.78 [[-6.51550521e-01 -7.58604704e-01 9.06841712e-04 -3.40961536e+02] [ 7.58603999e-01 -6.51551151e-01 -1.03433360e-03 -2.54583403e+02] [ 1.37550409e-03 1.40131566e-05 9.99999054e-01 -2.78487230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1156.776559995 meters 0.01311908694426276 Centerline is valid? [True, True] Translation: X:-340.98, Y:-254.56, Z:-2.78 [[-6.53268113e-01 -7.57125729e-01 1.18450113e-03 -3.40978853e+02] [ 7.57124525e-01 -6.53269186e-01 -1.35055339e-03 -2.54560593e+02] [ 1.79633681e-03 1.45413932e-05 9.99998387e-01 -2.78499427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1156.806559995 meters 0.012979382730108627 Centerline is valid? [True, True] Translation: X:-341.00, Y:-254.54, Z:-2.79 [[-6.55123340e-01 -7.55520564e-01 1.44480782e-03 -3.40995796e+02] [ 7.55518770e-01 -6.55124933e-01 -1.64641286e-03 -2.54538105e+02] [ 2.19042840e-03 1.29759308e-05 9.99997601e-01 -2.78501151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1156.836559995 meters 0.012792871403897264 Centerline is valid? [True, True] Translation: X:-341.01, Y:-254.52, Z:-2.78 [[-6.57313887e-01 -7.53615404e-01 1.50903138e-03 -3.41012669e+02] [ 7.53613445e-01 -6.57315619e-01 -1.71861776e-03 -2.54515449e+02] [ 2.28708671e-03 7.55501688e-06 9.99997385e-01 -2.78495474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1156.866559995 meters 0.012721171396197974 Centerline is valid? [True, True] Translation: X:-341.03, Y:-254.49, Z:-2.79 [[-6.62175944e-01 -7.49346071e-01 1.86684732e-03 -3.41026697e+02] [ 7.49343058e-01 -6.62178576e-01 -2.12485205e-03 -2.54491508e+02] [ 2.82843583e-03 -8.11683021e-06 9.99996000e-01 -2.78555568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1156.896559995 meters 0.012987734514774559 Centerline is valid? [True, True] Translation: X:-341.04, Y:-254.47, Z:-2.79 [[-6.65018064e-01 -7.46824470e-01 2.04591063e-03 -3.41042755e+02] [ 7.46820845e-01 -6.65021210e-01 -2.32719182e-03 -2.54468988e+02] [ 3.09857776e-03 -1.96958882e-05 9.99995199e-01 -2.78583194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1156.926559995 meters 0.013329910058726802 Centerline is valid? [True, True] Translation: X:-341.06, Y:-254.45, Z:-2.79 [[-6.67476839e-01 -7.44627568e-01 2.11061189e-03 -3.41059527e+02] [ 7.44623702e-01 -6.67480176e-01 -2.39945229e-03 -2.54446796e+02] [ 3.19548992e-03 -2.99671868e-05 9.99994894e-01 -2.78579586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1156.9565599950001 meters 0.013577434422569945 Centerline is valid? [True, True] Translation: X:-341.08, Y:-254.43, Z:-2.79 [[-6.69171568e-01 -7.43105550e-01 1.88517999e-03 -3.41077442e+02] [ 7.43102463e-01 -6.69174223e-01 -2.14198481e-03 -2.54425666e+02] [ 2.85323466e-03 -3.24734426e-05 9.99995929e-01 -2.78573682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1156.986559995 meters 0.013954581744661066 Centerline is valid? [True, True] Translation: X:-341.10, Y:-254.40, Z:-2.79 [[-6.70692091e-01 -7.41733747e-01 1.77968447e-03 -3.41095430e+02] [ 7.41730995e-01 -6.70694452e-01 -2.02100664e-03 -2.54404470e+02] [ 2.69267333e-03 -3.54260331e-05 9.99996374e-01 -2.78571136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1157.016559995 meters 0.014314350857941485 Centerline is valid? [True, True] Translation: X:-341.11, Y:-254.38, Z:-2.79 [[-6.72029668e-01 -7.40522087e-01 1.77866574e-03 -3.41113341e+02] [ 7.40519337e-01 -6.72032021e-01 -2.01874515e-03 -2.54382579e+02] [ 2.69024571e-03 -3.95202544e-05 9.99996381e-01 -2.78599008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1157.046559995 meters 0.014458433509545504 Centerline is valid? [True, True] Translation: X:-341.13, Y:-254.36, Z:-2.79 [[-6.73728764e-01 -7.38976079e-01 1.97682513e-03 -3.41131776e+02] [ 7.38972678e-01 -6.73731662e-01 -2.24239281e-03 -2.54361494e+02] [ 2.98892432e-03 -4.99447737e-05 9.99995532e-01 -2.78592145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1157.076559995 meters 0.014797045160879584 Centerline is valid? [True, True] Translation: X:-341.15, Y:-254.34, Z:-2.79 [[-6.74086421e-01 -7.38649838e-01 1.97819405e-03 -3.41149361e+02] [ 7.38646435e-01 -6.74089322e-01 -2.24285150e-03 -2.54341601e+02] [ 2.99016138e-03 -5.06897595e-05 9.99995528e-01 -2.78594419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1157.106559995 meters 0.014516628899235825 Centerline is valid? [True, True] Translation: X:-341.17, Y:-254.32, Z:-2.79 [[-6.74476377e-01 -7.38293531e-01 2.06885895e-03 -3.41169002e+02] [ 7.38289810e-01 -6.74479548e-01 -2.34432645e-03 -2.54321174e+02] [ 3.12620410e-03 -5.37753289e-05 9.99995112e-01 -2.78626593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1157.136559995 meters 0.01462443099399585 Centerline is valid? [True, True] Translation: X:-341.19, Y:-254.30, Z:-2.79 [[-6.74643321e-01 -7.38139803e-01 2.45381961e-03 -3.41186754e+02] [ 7.38134574e-01 -6.74647780e-01 -2.77918358e-03 -2.54301600e+02] [ 3.70688998e-03 -6.37085462e-05 9.99993128e-01 -2.78666861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1157.166559995 meters 0.014627927180024014 Centerline is valid? [True, True] Translation: X:-341.21, Y:-254.28, Z:-2.79 [[-6.74591156e-01 -7.38186370e-01 2.76691304e-03 -3.41205751e+02] [ 7.38179730e-01 -6.74596827e-01 -3.13182809e-03 -2.54281881e+02] [ 4.17842357e-03 -7.02244075e-05 9.99991268e-01 -2.78744559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1157.1965599950001 meters 0.014630648007960741 Centerline is valid? [True, True] Translation: X:-341.23, Y:-254.26, Z:-2.79 [[-6.73692588e-01 -7.39003809e-01 3.41590332e-03 -3.41225628e+02] [ 7.38993712e-01 -6.73701243e-01 -3.86387606e-03 -2.54263977e+02] [ 5.15671743e-03 -7.87335847e-05 9.99986701e-01 -2.78925346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1157.2265599950001 meters 0.014637569377429072 Centerline is valid? [True, True] Translation: X:-341.24, Y:-254.25, Z:-2.79 [[-6.73163906e-01 -7.39483829e-01 3.74455818e-03 -3.41243949e+02] [ 7.39471719e-01 -6.73174316e-01 -4.23292336e-03 -2.54245541e+02] [ 5.65091877e-03 -8.04563520e-05 9.99984030e-01 -2.78999374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1157.256559995 meters 0.014145243118773108 Centerline is valid? [True, True] Translation: X:-341.26, Y:-254.23, Z:-2.79 [[-6.72513520e-01 -7.40073959e-01 4.01248480e-03 -3.41263845e+02] [ 7.40060081e-01 -6.72525486e-01 -4.53300420e-03 -2.54227214e+02] [ 6.05325666e-03 -7.90267850e-05 9.99981676e-01 -2.79035763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1157.286559995 meters 0.013955557329834462 Centerline is valid? [True, True] Translation: X:-341.28, Y:-254.21, Z:-2.79 [[-6.71530444e-01 -7.40964355e-01 4.32293116e-03 -3.41283640e+02] [ 7.40948284e-01 -6.71544354e-01 -4.88073925e-03 -2.54208233e+02] [ 6.51949382e-03 -7.44965779e-05 9.99978745e-01 -2.79070123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1157.316559995 meters 0.013955557329834462 Centerline is valid? [True, True] Translation: X:-341.30, Y:-254.19, Z:-2.79 [[-6.71755125e-01 -7.40760658e-01 4.32441116e-03 -3.41301471e+02] [ 7.40744591e-01 -6.71769039e-01 -4.87942799e-03 -2.54188273e+02] [ 6.51949382e-03 -7.44965781e-05 9.99978745e-01 -2.79070129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1157.346559995 meters 0.013539650059451621 Centerline is valid? [True, True] Translation: X:-341.32, Y:-254.17, Z:-2.79 [[-6.69294508e-01 -7.42982323e-01 4.70420660e-03 -3.41323171e+02] [ 7.42963387e-01 -6.69311038e-01 -5.30475128e-03 -2.54171716e+02] [ 7.08991383e-03 -5.53876348e-05 9.99974865e-01 -2.79163026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1157.376559995 meters 0.013201732761549168 Centerline is valid? [True, True] Translation: X:-341.34, Y:-254.15, Z:-2.79 [[-6.67927180e-01 -7.44210034e-01 4.97062587e-03 -3.41343086e+02] [ 7.44188952e-01 -6.67945674e-01 -5.60182536e-03 -2.54153468e+02] [ 7.48904269e-03 -4.25265565e-05 9.99971956e-01 -2.79216260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1157.406559995 meters 0.013116138540240732 Centerline is valid? [True, True] Translation: X:-341.36, Y:-254.13, Z:-2.79 [[-6.66538006e-01 -7.45452079e-01 5.31824019e-03 -3.41363578e+02] [ 7.45428013e-01 -6.66559222e-01 -5.99000905e-03 -2.54134855e+02] [ 8.01018675e-03 -2.82034730e-05 9.99967918e-01 -2.79277245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1157.4365599950002 meters 0.013076781811723498 Centerline is valid? [True, True] Translation: X:-341.38, Y:-254.12, Z:-2.79 [[-6.65182673e-01 -7.46658393e-01 5.76686567e-03 -3.41384501e+02] [ 7.46630175e-01 -6.65207670e-01 -6.49131349e-03 -2.54116541e+02] [ 8.68295697e-03 -1.21933286e-05 9.99962303e-01 -2.79330732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1157.4665599950001 meters 0.013032130247414234 Centerline is valid? [True, True] Translation: X:-341.41, Y:-254.10, Z:-2.79 [[-6.63766353e-01 -7.47913105e-01 6.34158829e-03 -3.41405865e+02] [ 7.47879079e-01 -6.63796646e-01 -7.13418401e-03 -2.54097506e+02] [ 9.54527475e-03 7.30990205e-06 9.99954443e-01 -2.79387904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1157.496559995 meters 0.01311927242589809 Centerline is valid? [True, True] Translation: X:-341.43, Y:-254.08, Z:-2.79 [[-6.62214574e-01 -7.49285382e-01 6.57827326e-03 -3.41427168e+02] [ 7.49248877e-01 -6.62247246e-01 -7.39628561e-03 -2.54078463e+02] [ 9.89837204e-03 3.08357324e-05 9.99951010e-01 -2.79493095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1157.526559995 meters 0.013396420034257032 Centerline is valid? [True, True] Translation: X:-341.45, Y:-254.06, Z:-2.80 [[-6.59097811e-01 -7.52022524e-01 7.22483693e-03 -3.41450323e+02] [ 7.51978704e-01 -6.59137403e-01 -8.11862888e-03 -2.54060957e+02] [ 1.08675520e-02 8.19529891e-05 9.99940943e-01 -2.79616033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1157.556559995 meters 0.01375231548396895 Centerline is valid? [True, True] Translation: X:-341.47, Y:-254.04, Z:-2.80 [[-6.57593383e-01 -7.53336938e-01 7.37569822e-03 -3.41470437e+02] [ 7.53291388e-01 -6.57634736e-01 -8.28490449e-03 -2.54043283e+02] [ 1.10918399e-02 1.07951578e-04 9.99938478e-01 -2.79713336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1157.586559995 meters 0.014046555222754002 Centerline is valid? [True, True] Translation: X:-341.49, Y:-254.02, Z:-2.80 [[-6.56184427e-01 -7.54564093e-01 7.41810059e-03 -3.41491659e+02] [ 7.54518147e-01 -6.56226342e-01 -8.32788633e-03 -2.54024181e+02] [ 1.11518770e-02 1.32462196e-04 9.99937807e-01 -2.79771583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1157.616559995 meters 0.015789024786620143 Centerline is valid? [True, True] Translation: X:-341.51, Y:-254.01, Z:-2.80 [[-6.54415621e-01 -7.56097538e-01 7.53044934e-03 -3.41514398e+02] [ 7.56050330e-01 -6.54458926e-01 -8.45058149e-03 -2.54007672e+02] [ 1.13178336e-02 1.63206177e-04 9.99935938e-01 -2.80034036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1157.646559995 meters 0.01485927470356598 Centerline is valid? [True, True] Translation: X:-341.53, Y:-253.99, Z:-2.80 [[-6.52785635e-01 -7.57506636e-01 7.38989698e-03 -3.41532844e+02] [ 7.57461316e-01 -6.52827436e-01 -8.28818888e-03 -2.53986456e+02] [ 1.11026856e-02 1.87150448e-04 9.99938346e-01 -2.79781774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1157.676559995 meters 0.017849228594621718 Centerline is valid? [True, True] Translation: X:-341.56, Y:-253.97, Z:-2.80 [[-6.51206816e-01 -7.58863149e-01 7.51028294e-03 -3.41556573e+02] [ 7.58816486e-01 -6.51250086e-01 -8.41822098e-03 -2.53970789e+02] [ 1.12793501e-02 2.16923634e-04 9.99936363e-01 -2.80044768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1157.7065599950001 meters 0.020148607508749444 Centerline is valid? [True, True] Translation: X:-341.58, Y:-253.96, Z:-2.80 [[-6.48120210e-01 -7.61503691e-01 7.23337963e-03 -3.41579753e+02] [ 7.61460621e-01 -6.48160522e-01 -8.10307565e-03 -2.53956051e+02] [ 1.08589131e-02 2.56166662e-04 9.99941008e-01 -2.80051783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1157.736559995 meters 0.017388545672599464 Centerline is valid? [True, True] Translation: X:-341.60, Y:-253.93, Z:-2.80 [[-6.46598566e-01 -7.62797190e-01 7.12326697e-03 -3.41596245e+02] [ 7.62755547e-01 -6.46637743e-01 -7.97525586e-03 -2.53933539e+02] [ 1.06896760e-02 2.76522393e-04 9.99942826e-01 -2.79810613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1157.766559995 meters 0.01944266853482409 Centerline is valid? [True, True] Translation: X:-341.62, Y:-253.92, Z:-2.80 [[-6.45170886e-01 -7.64003122e-01 7.33198063e-03 -3.41618012e+02] [ 7.63959134e-01 -6.45212473e-01 -8.20408731e-03 -2.53917135e+02] [ 1.09986337e-02 3.08295295e-04 9.99939466e-01 -2.79965684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1157.796559995 meters 0.01927659400945405 Centerline is valid? [True, True] Translation: X:-341.64, Y:-253.90, Z:-2.80 [[-6.43772739e-01 -7.65178787e-01 7.62132112e-03 -3.41637559e+02] [ 7.65131394e-01 -6.43817758e-01 -8.52314214e-03 -2.53897085e+02] [ 1.14284694e-02 3.44345497e-04 9.99934634e-01 -2.79959999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1157.826559995 meters 0.01891761992876312 Centerline is valid? [True, True] Translation: X:-341.66, Y:-253.88, Z:-2.80 [[-6.42571085e-01 -7.66182823e-01 8.14143530e-03 -3.41656649e+02] [ 7.66128884e-01 -6.42622541e-01 -9.09964665e-03 -2.53876865e+02] [ 1.22038628e-02 3.90218927e-04 9.99925454e-01 -2.79938969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1157.856559995 meters 0.019912404385515472 Centerline is valid? [True, True] Translation: X:-341.68, Y:-253.86, Z:-2.80 [[-6.41732387e-01 -7.66885637e-01 8.12177635e-03 -3.41676635e+02] [ 7.66832080e-01 -6.41783651e-01 -9.07225345e-03 -2.53858322e+02] [ 1.21698041e-02 4.06079792e-04 9.99925863e-01 -2.79985586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1157.886559995 meters 0.020128273539768503 Centerline is valid? [True, True] Translation: X:-341.70, Y:-253.84, Z:-2.80 [[-6.41016474e-01 -7.67482206e-01 8.30319236e-03 -3.41696769e+02] [ 7.67426345e-01 -6.41070104e-01 -9.26967990e-03 -2.53838637e+02] [ 1.24372428e-02 4.30071037e-04 9.99922562e-01 -2.79961829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1157.916559995 meters 0.020016081134503063 Centerline is valid? [True, True] Translation: X:-341.72, Y:-253.82, Z:-2.80 [[-6.41340593e-01 -7.67211143e-01 8.32506853e-03 -3.41715544e+02] [ 7.67155037e-01 -6.41394479e-01 -9.28819869e-03 -2.53818361e+02] [ 1.24656625e-02 4.29719400e-04 9.99922208e-01 -2.79954264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1157.9465599950001 meters 0.020293547439793898 Centerline is valid? [True, True] Translation: X:-341.73, Y:-253.80, Z:-2.80 [[-6.41785028e-01 -7.66838228e-01 8.43260398e-03 -3.41733922e+02] [ 7.66780691e-01 -6.41840281e-01 -9.40355969e-03 -2.53799019e+02] [ 1.26233940e-02 4.30894076e-04 9.99920229e-01 -2.79958850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1157.9765599950001 meters 0.0200359769418931 Centerline is valid? [True, True] Translation: X:-341.75, Y:-253.78, Z:-2.80 [[-6.42402815e-01 -7.66318987e-01 8.59269011e-03 -3.41752119e+02] [ 7.66259275e-01 -6.42460134e-01 -9.57603956e-03 -2.53778257e+02] [ 1.28587618e-02 4.32553722e-04 9.99917229e-01 -2.79924146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1158.006559995 meters 0.018956987781994433 Centerline is valid? [True, True] Translation: X:-341.77, Y:-253.76, Z:-2.80 [[-6.43296077e-01 -7.65571349e-01 8.40640607e-03 -3.41769267e+02] [ 7.65514201e-01 -6.43350869e-01 -9.36308694e-03 -2.53756379e+02] [ 1.25763797e-02 4.11986130e-04 9.99920830e-01 -2.79845800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1158.036559995 meters 0.019392132805630385 Centerline is valid? [True, True] Translation: X:-341.79, Y:-253.74, Z:-2.80 [[-6.44390277e-01 -7.64650291e-01 8.43230997e-03 -3.41787223e+02] [ 7.64592780e-01 -6.44445322e-01 -9.38658721e-03 -2.53736525e+02] [ 1.26116194e-02 3.98657791e-04 9.99920391e-01 -2.79860955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1158.066559995 meters 0.018705638097949093 Centerline is valid? [True, True] Translation: X:-341.80, Y:-253.71, Z:-2.80 [[-6.46946925e-01 -7.62487891e-01 8.47895974e-03 -3.41803386e+02] [ 7.62429616e-01 -6.47002385e-01 -9.43369132e-03 -2.53714505e+02] [ 1.26789826e-02 3.61512430e-04 9.99919553e-01 -2.79843649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1158.096559995 meters 0.018056152873434095 Centerline is valid? [True, True] Translation: X:-341.82, Y:-253.69, Z:-2.80 [[-6.48628032e-01 -7.61058985e-01 8.42003553e-03 -3.41821289e+02] [ 7.61001458e-01 -6.48682595e-01 -9.36329123e-03 -2.53692285e+02] [ 1.25879474e-02 3.34366147e-04 9.99920713e-01 -2.79841027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1158.126559995 meters 0.017607530146195968 Centerline is valid? [True, True] Translation: X:-341.84, Y:-253.67, Z:-2.80 [[-6.50397574e-01 -7.59549816e-01 8.18983443e-03 -3.41838583e+02] [ 7.59495333e-01 -6.50449066e-01 -9.10232091e-03 -2.53670793e+02] [ 1.22407363e-02 3.00013601e-04 9.99925035e-01 -2.79844708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1158.156559995 meters 0.016722661526336557 Centerline is valid? [True, True] Translation: X:-341.86, Y:-253.65, Z:-2.80 [[-6.52129944e-01 -7.58064660e-01 8.03168135e-03 -3.41855821e+02] [ 7.58012203e-01 -6.52179346e-01 -8.92193569e-03 -2.53648007e+02] [ 1.20015008e-02 2.69851050e-04 9.99927943e-01 -2.79810021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1158.1865599950002 meters 0.015593727122521703 Centerline is valid? [True, True] Translation: X:-341.87, Y:-253.62, Z:-2.80 [[-6.53968228e-01 -7.56480811e-01 7.89555109e-03 -3.41872262e+02] [ 7.56430057e-01 -6.54015845e-01 -8.76606521e-03 -2.53624269e+02] [ 1.17951756e-02 2.39704019e-04 9.99930406e-01 -2.79722805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1158.2165599950001 meters 0.014966941016763699 Centerline is valid? [True, True] Translation: X:-341.89, Y:-253.60, Z:-2.80 [[-6.55934542e-01 -7.54783514e-01 7.19199095e-03 -3.41889102e+02] [ 7.54741349e-01 -6.55973940e-01 -7.98040103e-03 -2.53601324e+02] [ 1.07412338e-02 1.93472256e-04 9.99942293e-01 -2.79632341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1158.246559995 meters 0.01456752702475168 Centerline is valid? [True, True] Translation: X:-341.91, Y:-253.58, Z:-2.79 [[-6.57389084e-01 -7.53520305e-01 6.83692389e-03 -3.41905882e+02] [ 7.53482173e-01 -6.57424614e-01 -7.58233657e-03 -2.53578005e+02] [ 1.02082066e-02 1.66954983e-04 9.99947881e-01 -2.79498977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1158.276559995 meters 0.014222754982983789 Centerline is valid? [True, True] Translation: X:-341.92, Y:-253.56, Z:-2.79 [[-6.59098171e-01 -7.52030821e-01 6.26464079e-03 -3.41921621e+02] [ 7.51998776e-01 -6.59127929e-01 -6.94371342e-03 -2.53555044e+02] [ 9.35108621e-03 1.34413389e-04 9.99956269e-01 -2.79323294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1158.306559995 meters 0.014186024912625083 Centerline is valid? [True, True] Translation: X:-341.94, Y:-253.53, Z:-2.79 [[-6.59452001e-01 -7.51724258e-01 5.80499275e-03 -3.41940212e+02] [ 7.51696763e-01 -6.59477539e-01 -6.43058605e-03 -2.53533516e+02] [ 8.66228987e-03 1.22931414e-04 9.99962474e-01 -2.79317025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1158.336559995 meters 0.014361948364296507 Centerline is valid? [True, True] Translation: X:-341.96, Y:-253.51, Z:-2.79 [[-6.59172673e-01 -7.51967642e-01 6.00443793e-03 -3.41958887e+02] [ 7.51938259e-01 -6.59200007e-01 -6.64876560e-03 -2.53513764e+02] [ 8.95778211e-03 1.32282009e-04 9.99959870e-01 -2.79340716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1158.366559995 meters 0.014386574521165162 Centerline is valid? [True, True] Translation: X:-341.98, Y:-253.49, Z:-2.79 [[-6.58365159e-01 -7.52674333e-01 6.05516775e-03 -3.41977632e+02] [ 7.52644515e-01 -6.58392988e-01 -6.70126928e-03 -2.53493043e+02] [ 9.03055337e-03 1.45506579e-04 9.99959213e-01 -2.79351861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1158.396559995 meters 0.015690494511973477 Centerline is valid? [True, True] Translation: X:-342.00, Y:-253.48, Z:-2.80 [[-6.57493746e-01 -7.53433856e-01 6.27681840e-03 -3.41997874e+02] [ 7.53401889e-01 -6.57523686e-01 -6.94236311e-03 -2.53475331e+02] [ 9.35776818e-03 1.64406514e-04 9.99956202e-01 -2.79532669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1158.426559995 meters 0.015516697858728267 Centerline is valid? [True, True] Translation: X:-342.02, Y:-253.45, Z:-2.80 [[-6.56392604e-01 -7.54391630e-01 6.48210072e-03 -3.42016185e+02] [ 7.54357623e-01 -6.56424583e-01 -7.16542547e-03 -2.53454451e+02] [ 9.66054727e-03 1.86489809e-04 9.99953319e-01 -2.79519667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1158.4565599950001 meters 0.016054796566485608 Centerline is valid? [True, True] Translation: X:-342.03, Y:-253.43, Z:-2.80 [[-6.54363933e-01 -7.56150291e-01 6.67695034e-03 -3.42034981e+02] [ 7.56114343e-01 -6.54397959e-01 -7.37639464e-03 -2.53434359e+02] [ 9.94704563e-03 2.21691315e-04 9.99950503e-01 -2.79501002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1158.486559995 meters 0.01609616689290242 Centerline is valid? [True, True] Translation: X:-342.05, Y:-253.41, Z:-2.80 [[-6.53977338e-01 -7.56483755e-01 6.78013444e-03 -3.42054026e+02] [ 7.56446748e-01 -6.54012442e-01 -7.48614841e-03 -2.53413439e+02] [ 1.00974419e-02 2.33039241e-04 9.99948993e-01 -2.79506346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1158.516559995 meters 0.016210452593858397 Centerline is valid? [True, True] Translation: X:-342.07, Y:-253.39, Z:-2.80 [[-6.53655064e-01 -7.56763208e-01 6.67114746e-03 -3.42072430e+02] [ 7.56727438e-01 -6.53689063e-01 -7.36162598e-03 -2.53392798e+02] [ 9.93186383e-03 2.36276225e-04 9.99950650e-01 -2.79508016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1158.546559995 meters 0.01722783137870116 Centerline is valid? [True, True] Translation: X:-342.09, Y:-253.37, Z:-2.80 [[-6.53628878e-01 -7.56787457e-01 6.48344270e-03 -3.42091691e+02] [ 7.56753714e-01 -6.53660991e-01 -7.15020403e-03 -2.53373708e+02] [ 9.64915830e-03 2.32789500e-04 9.99953419e-01 -2.79533689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1158.576559995 meters 0.01638909741106496 Centerline is valid? [True, True] Translation: X:-342.11, Y:-253.35, Z:-2.79 [[-6.53867112e-01 -7.56585235e-01 6.04831352e-03 -3.42109131e+02] [ 7.56555895e-01 -6.53895050e-01 -6.66654015e-03 -2.53351589e+02] [ 8.99876811e-03 2.16855884e-04 9.99959487e-01 -2.79459994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1158.606559995 meters 0.01645501521864502 Centerline is valid? [True, True] Translation: X:-342.13, Y:-253.33, Z:-2.79 [[-6.54183107e-01 -7.56313746e-01 5.82929596e-03 -3.42127881e+02] [ 7.56286513e-01 -6.54209045e-01 -6.42151067e-03 -2.53330269e+02] [ 8.67025493e-03 2.07774109e-04 9.99962391e-01 -2.79395608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1158.636559995 meters 0.016971656365227517 Centerline is valid? [True, True] Translation: X:-342.14, Y:-253.31, Z:-2.79 [[-6.54867770e-01 -7.55728340e-01 4.78340326e-03 -3.42144879e+02] [ 7.55710012e-01 -6.54885218e-01 -5.26586516e-03 -2.53310635e+02] [ 7.11214363e-03 1.66420361e-04 9.99974695e-01 -2.79315382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1158.666559995 meters 0.01607040938994234 Centerline is valid? [True, True] Translation: X:-342.16, Y:-253.29, Z:-2.79 [[-6.55364360e-01 -7.55299920e-01 4.42557656e-03 -3.42161608e+02] [ 7.55284240e-01 -6.55379285e-01 -4.86918365e-03 -2.53288358e+02] [ 6.57812523e-03 1.51478805e-04 9.99978353e-01 -2.79251254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1158.6965599950001 meters 0.016040065250417006 Centerline is valid? [True, True] Translation: X:-342.18, Y:-253.27, Z:-2.79 [[-6.55920394e-01 -7.54817915e-01 4.28396335e-03 -3.42179479e+02] [ 7.54803229e-01 -6.55934368e-01 -4.71072317e-03 -2.53267261e+02] [ 6.36573704e-03 1.43689967e-04 9.99979728e-01 -2.79242351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1158.7265599950001 meters 0.0161402680376768 Centerline is valid? [True, True] Translation: X:-342.20, Y:-253.25, Z:-2.79 [[-6.56495103e-01 -7.54318014e-01 4.30283610e-03 -3.42196857e+02] [ 7.54303202e-01 -6.56509188e-01 -4.72916142e-03 -2.53247567e+02] [ 6.39214309e-03 1.40971741e-04 9.99979560e-01 -2.79292750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1158.756559995 meters 0.015848057728207167 Centerline is valid? [True, True] Translation: X:-342.21, Y:-253.23, Z:-2.79 [[-6.57224099e-01 -7.53682361e-01 4.40247668e-03 -3.42214468e+02] [ 7.53666861e-01 -6.57238829e-01 -4.83562435e-03 -2.53226648e+02] [ 6.53800340e-03 1.39911922e-04 9.99978617e-01 -2.79370505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1158.786559995 meters 0.015458968350816496 Centerline is valid? [True, True] Translation: X:-342.23, Y:-253.20, Z:-2.79 [[-6.58085930e-01 -7.52929640e-01 4.45709039e-03 -3.42232446e+02] [ 7.52913754e-01 -6.58101010e-01 -4.89284963e-03 -2.53204830e+02] [ 6.61718720e-03 1.35889158e-04 9.99978097e-01 -2.79411026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1158.816559995 meters 0.01504593111525446 Centerline is valid? [True, True] Translation: X:-342.25, Y:-253.18, Z:-2.79 [[-6.59587745e-01 -7.51612361e-01 4.78174040e-03 -3.42249484e+02] [ 7.51594063e-01 -6.59605064e-01 -5.24628276e-03 -2.53182096e+02] [ 7.09723116e-03 1.33543884e-04 9.99974806e-01 -2.79480399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1158.846559995 meters 0.014850272228128073 Centerline is valid? [True, True] Translation: X:-342.27, Y:-253.16, Z:-2.80 [[-6.60488876e-01 -7.50820033e-01 4.87055960e-03 -3.42267246e+02] [ 7.50801050e-01 -6.60506821e-01 -5.34072040e-03 -2.53160503e+02] [ 7.22695771e-03 1.29334851e-04 9.99973877e-01 -2.79511832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1158.876559995 meters 0.014668022183686475 Centerline is valid? [True, True] Translation: X:-342.28, Y:-253.14, Z:-2.80 [[-6.61449211e-01 -7.49973874e-01 4.91222507e-03 -3.42284902e+02] [ 7.49954565e-01 -6.61467439e-01 -5.38301433e-03 -2.53139248e+02] [ 7.28639705e-03 1.23355037e-04 9.99973446e-01 -2.79540587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1158.906559995 meters 0.014725109350143522 Centerline is valid? [True, True] Translation: X:-342.30, Y:-253.12, Z:-2.80 [[-6.62438066e-01 -7.49100898e-01 4.86347237e-03 -3.42301768e+02] [ 7.49081973e-01 -6.62455909e-01 -5.32607131e-03 -2.53119056e+02] [ 7.21160082e-03 1.14947100e-04 9.99973990e-01 -2.79549886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1158.9365599950002 meters 0.014388039975163783 Centerline is valid? [True, True] Translation: X:-342.32, Y:-253.10, Z:-2.79 [[-6.63449837e-01 -7.48204368e-01 4.95357767e-03 -3.42318804e+02] [ 7.48184735e-01 -6.63468320e-01 -5.42136961e-03 -2.53097350e+02] [ 7.34283427e-03 1.09384413e-04 9.99973035e-01 -2.79498818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1158.9665599950001 meters 0.014158364651890036 Centerline is valid? [True, True] Translation: X:-342.34, Y:-253.08, Z:-2.79 [[-6.64111654e-01 -7.47617946e-01 4.80805842e-03 -3.42335713e+02] [ 7.47599458e-01 -6.64129051e-01 -5.25880155e-03 -2.53076177e+02] [ 7.12474569e-03 1.02070468e-04 9.99974614e-01 -2.79454861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1158.996559995 meters 0.014228077881323908 Centerline is valid? [True, True] Translation: X:-342.35, Y:-253.06, Z:-2.79 [[-6.64544649e-01 -7.47234065e-01 4.65415241e-03 -3.42353273e+02] [ 7.47216755e-01 -6.64560940e-01 -5.08711665e-03 -2.53056520e+02] [ 6.89423476e-03 9.70445110e-05 9.99976230e-01 -2.79470012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1159.026559995 meters 0.014406067841371724 Centerline is valid? [True, True] Translation: X:-342.37, Y:-253.04, Z:-2.80 [[-6.64909581e-01 -7.46909179e-01 4.68277111e-03 -3.42370710e+02] [ 7.46891664e-01 -6.64926063e-01 -5.11595065e-03 -2.53037208e+02] [ 6.93484706e-03 9.58781053e-05 9.99975949e-01 -2.79540848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1159.056559995 meters 0.014217998558676115 Centerline is valid? [True, True] Translation: X:-342.39, Y:-253.02, Z:-2.80 [[-6.65017360e-01 -7.46806959e-01 5.59248669e-03 -3.42388418e+02] [ 7.46782006e-01 -6.65040865e-01 -6.10601499e-03 -2.53015850e+02] [ 8.27924668e-03 1.15762451e-04 9.99965720e-01 -2.79627588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1159.086559995 meters 0.014590867964776719 Centerline is valid? [True, True] Translation: X:-342.41, Y:-253.00, Z:-2.80 [[-6.65173167e-01 -7.46666424e-01 5.82327165e-03 -3.42406456e+02] [ 7.46639399e-01 -6.65198645e-01 -6.35384038e-03 -2.52997243e+02] [ 8.61783168e-03 1.21479917e-04 9.99962859e-01 -2.79734918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1159.116559995 meters 0.014305873748694638 Centerline is valid? [True, True] Translation: X:-342.42, Y:-252.98, Z:-2.80 [[-6.65343279e-01 -7.46512193e-01 6.15363789e-03 -3.42424034e+02] [ 7.46482046e-01 -6.65371722e-01 -6.71015406e-03 -2.52976907e+02] [ 9.10366847e-03 1.29024305e-04 9.99958553e-01 -2.79753637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1159.146559995 meters 0.014713060782577793 Centerline is valid? [True, True] Translation: X:-342.44, Y:-252.96, Z:-2.80 [[-6.65591828e-01 -7.46289135e-01 6.32823760e-03 -3.42442333e+02] [ 7.46257284e-01 -6.65621897e-01 -6.89607518e-03 -2.52958021e+02] [ 9.35867949e-03 1.32522122e-04 9.99956198e-01 -2.79819614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1159.176559995 meters 0.013974055749041592 Centerline is valid? [True, True] Translation: X:-342.46, Y:-252.94, Z:-2.80 [[-6.66077391e-01 -7.45856591e-01 6.23345330e-03 -3.42459839e+02] [ 7.45825704e-01 -6.66106546e-01 -6.78894759e-03 -2.52935682e+02] [ 9.21572535e-03 1.27105199e-04 9.99957526e-01 -2.79723247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1159.2065599950001 meters 0.014428123696914767 Centerline is valid? [True, True] Translation: X:-342.48, Y:-252.92, Z:-2.80 [[-6.66550821e-01 -7.45434048e-01 6.17123843e-03 -3.42477731e+02] [ 7.45403797e-01 -6.66579377e-01 -6.71671771e-03 -2.52916520e+02] [ 9.12049033e-03 1.23030856e-04 9.99958400e-01 -2.79773386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1159.236559995 meters 0.014015344665159331 Centerline is valid? [True, True] Translation: X:-342.49, Y:-252.90, Z:-2.80 [[-6.67805524e-01 -7.44310275e-01 6.16415007e-03 -3.42494210e+02] [ 7.44280083e-01 -6.67833963e-01 -6.70489384e-03 -2.52895249e+02] [ 9.10715015e-03 1.10288979e-04 9.99958523e-01 -2.79692518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1159.266559995 meters 0.014015344665159331 Centerline is valid? [True, True] Translation: X:-342.51, Y:-252.88, Z:-2.80 [[-6.68032557e-01 -7.44106499e-01 6.16619530e-03 -3.42512408e+02] [ 7.44076316e-01 -6.68061005e-01 -6.70301298e-03 -2.52875626e+02] [ 9.10715015e-03 1.10288979e-04 9.99958523e-01 -2.79692523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1159.296559995 meters 0.014109129218409032 Centerline is valid? [True, True] Translation: X:-342.53, Y:-252.86, Z:-2.80 [[-6.68884932e-01 -7.43340857e-01 6.10895053e-03 -3.42530122e+02] [ 7.43311228e-01 -6.68912820e-01 -6.63764371e-03 -2.52856344e+02] [ 9.02038709e-03 1.01031658e-04 9.99959311e-01 -2.79726554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1159.326559995 meters 0.013440173956948485 Centerline is valid? [True, True] Translation: X:-342.55, Y:-252.83, Z:-2.80 [[-6.70112693e-01 -7.42233849e-01 6.15575085e-03 -3.42547264e+02] [ 7.42203755e-01 -6.70140960e-01 -6.68432363e-03 -2.52834704e+02] [ 9.08655204e-03 8.95712901e-05 9.99958713e-01 -2.79611805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1159.356559995 meters 0.013467728132525964 Centerline is valid? [True, True] Translation: X:-342.56, Y:-252.81, Z:-2.80 [[-6.71431298e-01 -7.41042070e-01 6.05493344e-03 -3.42564985e+02] [ 7.41012944e-01 -6.71458595e-01 -6.57055277e-03 -2.52814879e+02] [ 8.93469312e-03 7.51092782e-05 9.99960082e-01 -2.79651913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1159.386559995 meters 0.01314563717732304 Centerline is valid? [True, True] Translation: X:-342.58, Y:-252.79, Z:-2.80 [[-6.73056656e-01 -7.39567396e-01 5.89962164e-03 -3.42582458e+02] [ 7.39539722e-01 -6.73082509e-01 -6.39810014e-03 -2.52794030e+02] [ 8.70275840e-03 5.67206586e-05 9.99962129e-01 -2.79612106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1159.416559995 meters 0.01303405098129524 Centerline is valid? [True, True] Translation: X:-342.60, Y:-252.77, Z:-2.80 [[-6.75172204e-01 -7.37636321e-01 5.92899647e-03 -3.42599799e+02] [ 7.37608333e-01 -6.75198235e-01 -6.42583748e-03 -2.52773875e+02] [ 8.74317907e-03 3.47303481e-05 9.99961777e-01 -2.79675854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1159.4465599950001 meters 0.012854725388419332 Centerline is valid? [True, True] Translation: X:-342.61, Y:-252.75, Z:-2.80 [[-6.79628010e-01 -7.33530336e-01 6.24611511e-03 -3.42614967e+02] [ 7.33499136e-01 -6.79656712e-01 -6.76545943e-03 -2.52751440e+02] [ 9.20788379e-03 -1.64756976e-05 9.99957607e-01 -2.79660318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1159.4765599950001 meters 0.01319634734235444 Centerline is valid? [True, True] Translation: X:-342.63, Y:-252.73, Z:-2.80 [[-6.82457988e-01 -7.30898781e-01 6.16983730e-03 -3.42631374e+02] [ 7.30868267e-01 -6.82485875e-01 -6.67885530e-03 -2.52729611e+02] [ 9.09239400e-03 -4.86998538e-05 9.99958662e-01 -2.79644993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1159.506559995 meters 0.013479063989194462 Centerline is valid? [True, True] Translation: X:-342.65, Y:-252.71, Z:-2.80 [[-6.85280123e-01 -7.28251782e-01 6.36360613e-03 -3.42648907e+02] [ 7.28219242e-01 -6.85309663e-01 -6.88484603e-03 -2.52707074e+02] [ 9.37494217e-03 -8.39476958e-05 9.99956051e-01 -2.79577030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1159.536559995 meters 0.014120507040672156 Centerline is valid? [True, True] Translation: X:-342.67, Y:-252.68, Z:-2.80 [[-6.88296793e-01 -7.25399681e-01 6.54432747e-03 -3.42666396e+02] [ 7.25365174e-01 -6.88327893e-01 -7.07650214e-03 -2.52684902e+02] [ 9.63793554e-03 -1.23706495e-04 9.99953547e-01 -2.79586857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1159.566559995 meters 0.015037447228582886 Centerline is valid? [True, True] Translation: X:-342.68, Y:-252.66, Z:-2.80 [[-6.90932706e-01 -7.22887003e-01 6.81002515e-03 -3.42682851e+02] [ 7.22849558e-01 -6.90966247e-01 -7.35956840e-03 -2.52663305e+02] [ 1.00256339e-02 -1.62342844e-04 9.99949729e-01 -2.79639114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1159.596559995 meters 0.015497669207131215 Centerline is valid? [True, True] Translation: X:-342.70, Y:-252.64, Z:-2.80 [[-6.94943419e-01 -7.19030262e-01 7.00909978e-03 -3.42701638e+02] [ 7.18990441e-01 -6.94978729e-01 -7.57043573e-03 -2.52642306e+02] [ 1.03145476e-02 -2.21548739e-04 9.99946779e-01 -2.79550352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1159.626559995 meters 0.016077992351902548 Centerline is valid? [True, True] Translation: X:-342.72, Y:-252.62, Z:-2.80 [[-6.96377764e-01 -7.17639442e-01 7.18617760e-03 -3.42720378e+02] [ 7.17597556e-01 -6.96414798e-01 -7.75736797e-03 -2.52621014e+02] [ 1.05715536e-02 -2.45275074e-04 9.99944090e-01 -2.79525913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1159.656559995 meters 0.018076798548384634 Centerline is valid? [True, True] Translation: X:-342.74, Y:-252.60, Z:-2.80 [[-6.97580882e-01 -7.16469820e-01 7.20485174e-03 -3.42736387e+02] [ 7.16427702e-01 -6.97618039e-01 -7.77295107e-03 -2.52599470e+02] [ 1.05953194e-02 -2.60506687e-04 9.99943834e-01 -2.79609260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1159.6865599950002 meters 0.016702738361938203 Centerline is valid? [True, True] Translation: X:-342.76, Y:-252.58, Z:-2.79 [[-6.98420543e-01 -7.15653426e-01 6.99421138e-03 -3.42757595e+02] [ 7.15613737e-01 -6.98455514e-01 -7.54151110e-03 -2.52580747e+02] [ 1.02822538e-02 -2.61992538e-04 9.99947102e-01 -2.79473494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1159.7165599950001 meters 0.017235045486256116 Centerline is valid? [True, True] Translation: X:-342.78, Y:-252.56, Z:-2.79 [[-6.98819039e-01 -7.15261840e-01 7.24234327e-03 -3.42775410e+02] [ 7.15219318e-01 -6.98856513e-01 -7.80395232e-03 -2.52561351e+02] [ 1.06432281e-02 -2.73686640e-04 9.99943322e-01 -2.79466250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1159.746559995 meters 0.016974627104297108 Centerline is valid? [True, True] Translation: X:-342.79, Y:-252.54, Z:-2.79 [[-6.98713799e-01 -7.15365067e-01 7.20052271e-03 -3.42794874e+02] [ 7.15323091e-01 -6.98750849e-01 -7.75410713e-03 -2.52542380e+02] [ 1.05783887e-02 -2.67201486e-04 9.99944012e-01 -2.79419003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1159.776559995 meters 0.01636204507783468 Centerline is valid? [True, True] Translation: X:-342.82, Y:-252.52, Z:-2.79 [[-6.97262473e-01 -7.16779952e-01 7.17942916e-03 -3.42816694e+02] [ 7.16738341e-01 -6.97299392e-01 -7.72717029e-03 -2.52524213e+02] [ 1.05448923e-02 -2.42093722e-04 9.99944372e-01 -2.79398340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1159.806559995 meters 0.016028885223987713 Centerline is valid? [True, True] Translation: X:-342.84, Y:-252.51, Z:-2.79 [[-6.96283965e-01 -7.17731724e-01 7.05781162e-03 -3.42837425e+02] [ 7.17691602e-01 -6.96319699e-01 -7.59214013e-03 -2.52505592e+02] [ 1.03636131e-02 -2.20953296e-04 9.99946272e-01 -2.79451797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1159.836559995 meters 0.015519641983233422 Centerline is valid? [True, True] Translation: X:-342.86, Y:-252.49, Z:-2.79 [[-6.94693190e-01 -7.19269870e-01 7.22674775e-03 -3.42859030e+02] [ 7.19227930e-01 -6.94730749e-01 -7.76991449e-03 -2.52486683e+02] [ 1.06093093e-02 -2.00027859e-04 9.99943700e-01 -2.79446916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1159.866559995 meters 0.015214998015714765 Centerline is valid? [True, True] Translation: X:-342.88, Y:-252.47, Z:-2.80 [[-6.92855403e-01 -7.21039487e-01 7.31088085e-03 -3.42879472e+02] [ 7.20996707e-01 -6.92893952e-01 -7.85621251e-03 -2.52468559e+02] [ 1.07303046e-02 -1.72098262e-04 9.99942414e-01 -2.79514281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1159.896559995 meters 0.013888900013774658 Centerline is valid? [True, True] Translation: X:-342.90, Y:-252.45, Z:-2.79 [[-6.90959380e-01 -7.22856368e-01 7.33532173e-03 -3.42901991e+02] [ 7.22813450e-01 -6.90998301e-01 -7.87814013e-03 -2.52451251e+02] [ 1.07634586e-02 -1.41405619e-04 9.99942063e-01 -2.79430797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1159.926559995 meters 0.013225300439336918 Centerline is valid? [True, True] Translation: X:-342.92, Y:-252.43, Z:-2.79 [[-6.88713793e-01 -7.24996274e-01 7.32908099e-03 -3.42923623e+02] [ 7.24953596e-01 -6.88752780e-01 -7.86706636e-03 -2.52433129e+02] [ 1.07515187e-02 -1.04913486e-04 9.99942195e-01 -2.79415678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1159.9565599950001 meters 0.012504297937170512 Centerline is valid? [True, True] Translation: X:-342.95, Y:-252.42, Z:-2.79 [[-6.83596833e-01 -7.29821661e-01 7.46410117e-03 -3.42947017e+02] [ 7.29777718e-01 -6.83637581e-01 -8.00873949e-03 -2.52417817e+02] [ 1.09476916e-02 -2.76142333e-05 9.99940072e-01 -2.79384789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1159.986559995 meters 0.012393325913665673 Centerline is valid? [True, True] Translation: X:-342.97, Y:-252.40, Z:-2.79 [[-6.81152064e-01 -7.32102044e-01 7.64612084e-03 -3.42968376e+02] [ 7.32056132e-01 -6.81194977e-01 -8.19894472e-03 -2.52400292e+02] [ 1.12109633e-02 1.26615264e-05 9.99937155e-01 -2.79390070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1160.016559995 meters 0.012541806075118078 Centerline is valid? [True, True] Translation: X:-342.99, Y:-252.38, Z:-2.79 [[-6.78609597e-01 -7.34457536e-01 7.81945505e-03 -3.42989678e+02] [ 7.34409734e-01 -6.78654644e-01 -8.37962396e-03 -2.52383264e+02] [ 1.14611874e-02 5.61906639e-05 9.99934317e-01 -2.79398595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1160.046559995 meters 0.01292791200809154 Centerline is valid? [True, True] Translation: X:-343.01, Y:-252.37, Z:-2.79 [[-6.76218538e-01 -7.36658925e-01 7.88147268e-03 -3.43011704e+02] [ 7.36610564e-01 -6.76264460e-01 -8.44144728e-03 -2.52365530e+02] [ 1.15484273e-02 9.73128948e-05 9.99933310e-01 -2.79403836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1160.076559995 meters 0.01318199018476013 Centerline is valid? [True, True] Translation: X:-343.03, Y:-252.35, Z:-2.79 [[-6.74041949e-01 -7.38652361e-01 7.75502591e-03 -3.43033448e+02] [ 7.38605724e-01 -6.74086547e-01 -8.30134412e-03 -2.52347125e+02] [ 1.13593661e-02 1.32452356e-04 9.99935472e-01 -2.79336517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1160.106559995 meters 0.014310148113722837 Centerline is valid? [True, True] Translation: X:-343.06, Y:-252.33, Z:-2.79 [[-6.71956235e-01 -7.40550573e-01 7.72440825e-03 -3.43055428e+02] [ 7.40504467e-01 -6.72000611e-01 -8.26518344e-03 -2.52331036e+02] [ 1.13115934e-02 1.66117270e-04 9.99936008e-01 -2.79422614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1160.136559995 meters 0.015315138886713903 Centerline is valid? [True, True] Translation: X:-343.08, Y:-252.31, Z:-2.79 [[-6.68871930e-01 -7.43342767e-01 7.20222633e-03 -3.43078252e+02] [ 7.43302892e-01 -6.68910674e-01 -7.70200693e-03 -2.52314427e+02] [ 1.05428772e-02 2.01779425e-04 9.99944402e-01 -2.79314988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1160.166559995 meters 0.016310397416041098 Centerline is valid? [True, True] Translation: X:-343.10, Y:-252.30, Z:-2.79 [[-6.68065343e-01 -7.44067963e-01 7.18080140e-03 -3.43099084e+02] [ 7.44028413e-01 -6.68103899e-01 -7.67470705e-03 -2.52296527e+02] [ 1.05080251e-02 2.15514468e-04 9.99944766e-01 -2.79352427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1160.1965599950001 meters 0.01511269467519827 Centerline is valid? [True, True] Translation: X:-343.12, Y:-252.28, Z:-2.79 [[-6.67773085e-01 -7.44332632e-01 6.93105711e-03 -3.43116999e+02] [ 7.44295842e-01 -6.67809019e-01 -7.40357541e-03 -2.52275107e+02] [ 1.01393452e-02 2.14848601e-04 9.99948573e-01 -2.79173076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1160.2265599950001 meters 0.0156994747014918 Centerline is valid? [True, True] Translation: X:-343.14, Y:-252.26, Z:-2.79 [[-6.67497522e-01 -7.44582263e-01 6.65673442e-03 -3.43136884e+02] [ 7.44548382e-01 -6.67530680e-01 -7.10628792e-03 -2.52256140e+02] [ 9.73479039e-03 2.12831266e-04 9.99952593e-01 -2.79176388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1160.256559995 meters 0.015827849912099914 Centerline is valid? [True, True] Translation: X:-343.16, Y:-252.24, Z:-2.79 [[-6.67771935e-01 -7.44337331e-01 6.52535585e-03 -3.43155251e+02] [ 7.44304794e-01 -6.67803785e-01 -6.96268180e-03 -2.52237893e+02] [ 9.54024132e-03 2.07370144e-04 9.99954470e-01 -2.79181956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1160.286559995 meters 0.015875288387315747 Centerline is valid? [True, True] Translation: X:-343.17, Y:-252.22, Z:-2.79 [[-6.68001713e-01 -7.44131439e-01 6.48947523e-03 -3.43174148e+02] [ 7.44099289e-01 -6.68033203e-01 -6.92011949e-03 -2.52218534e+02] [ 9.48466339e-03 2.06162229e-04 9.99954999e-01 -2.79149495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1160.316559995 meters 0.015249232529091447 Centerline is valid? [True, True] Translation: X:-343.19, Y:-252.20, Z:-2.79 [[-6.68219356e-01 -7.43935458e-01 6.55181225e-03 -3.43192820e+02] [ 7.43902716e-01 -6.68251443e-01 -6.98265761e-03 -2.52197657e+02] [ 9.57290458e-03 2.07963959e-04 9.99954157e-01 -2.79098327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1160.346559995 meters 0.015561846012905802 Centerline is valid? [True, True] Translation: X:-343.21, Y:-252.18, Z:-2.79 [[-6.68330471e-01 -7.43834726e-01 6.65449793e-03 -3.43211491e+02] [ 7.43800978e-01 -6.68363566e-01 -7.08862579e-03 -2.52179424e+02] [ 9.72038998e-03 2.12077455e-04 9.99952734e-01 -2.79128663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1160.376559995 meters 0.015896412785648767 Centerline is valid? [True, True] Translation: X:-343.23, Y:-252.16, Z:-2.79 [[-6.68402035e-01 -7.43762880e-01 7.44972695e-03 -3.43230922e+02] [ 7.43720631e-01 -6.68443507e-01 -7.93107998e-03 -2.52160615e+02] [ 1.08785645e-02 2.39365629e-04 9.99940798e-01 -2.79249670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1160.406559995 meters 0.01609045930961561 Centerline is valid? [True, True] Translation: X:-343.25, Y:-252.14, Z:-2.79 [[-6.68578017e-01 -7.43596332e-01 8.24200041e-03 -3.43249760e+02] [ 7.43544671e-01 -6.68628765e-01 -8.76916569e-03 -2.52141482e+02] [ 1.20315580e-02 2.65424072e-04 9.99927583e-01 -2.79325539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1160.4365599950002 meters 0.01624893725054651 Centerline is valid? [True, True] Translation: X:-343.27, Y:-252.12, Z:-2.79 [[-6.68664497e-01 -7.43510958e-01 8.90195556e-03 -3.43268604e+02] [ 7.43450760e-01 -6.68723688e-01 -9.46554398e-03 -2.52121800e+02] [ 1.29906842e-02 2.88892414e-04 9.99915576e-01 -2.79396915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1160.4665599950001 meters 0.01638262659785931 Centerline is valid? [True, True] Translation: X:-343.29, Y:-252.10, Z:-2.79 [[-6.68963891e-01 -7.43236488e-01 9.31855123e-03 -3.43287354e+02] [ 7.43170578e-01 -6.69028723e-01 -9.90249218e-03 -2.52101941e+02] [ 1.35942719e-02 3.00863407e-04 9.99907549e-01 -2.79463595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1160.496559995 meters 0.01604228428946859 Centerline is valid? [True, True] Translation: X:-343.30, Y:-252.08, Z:-2.80 [[-6.70319319e-01 -7.42005480e-01 9.99397489e-03 -3.43304673e+02] [ 7.41929625e-01 -6.70393749e-01 -1.06138224e-02 -2.52080577e+02] [ 1.45754127e-02 3.00175842e-04 9.99893728e-01 -2.79503153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1160.526559995 meters 0.01480461135065291 Centerline is valid? [True, True] Translation: X:-343.32, Y:-252.06, Z:-2.79 [[-6.71835300e-01 -7.40636423e-01 9.74775129e-03 -3.43321239e+02] [ 7.40564198e-01 -6.71905959e-01 -1.03465537e-02 -2.52058112e+02] [ 1.42126067e-02 2.67655605e-04 9.99898960e-01 -2.79338183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1160.556559995 meters 0.013805096040180565 Centerline is valid? [True, True] Translation: X:-343.34, Y:-252.04, Z:-2.79 [[-6.73776022e-01 -7.38875985e-01 9.38887497e-03 -3.43337960e+02] [ 7.38808885e-01 -6.73841397e-01 -9.96012901e-03 -2.52035371e+02] [ 1.36859128e-02 2.25688139e-04 9.99906318e-01 -2.79165828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1160.586559995 meters 0.01324616752993823 Centerline is valid? [True, True] Translation: X:-343.35, Y:-252.01, Z:-2.79 [[-6.78359474e-01 -7.34683555e-01 8.27636141e-03 -3.43353006e+02] [ 7.34631163e-01 -6.78409948e-01 -8.77480252e-03 -2.52011803e+02] [ 1.20614690e-02 1.27602588e-04 9.99927250e-01 -2.79038550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1160.616559995 meters 0.01324616752993823 Centerline is valid? [True, True] Translation: X:-343.37, Y:-251.99, Z:-2.79 [[-6.78587882e-01 -7.34472562e-01 8.27908965e-03 -3.43371444e+02] [ 7.34420185e-01 -6.78638372e-01 -8.77222845e-03 -2.51992412e+02] [ 1.20614690e-02 1.27602630e-04 9.99927250e-01 -2.79038556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1160.646559995 meters 0.012741875505330532 Centerline is valid? [True, True] Translation: X:-343.39, Y:-251.97, Z:-2.79 [[-6.81301130e-01 -7.31959704e-01 7.98519609e-03 -3.43388056e+02] [ 7.31910862e-01 -6.81347918e-01 -8.45604520e-03 -2.51968993e+02] [ 1.16301811e-02 8.33386089e-05 9.99932364e-01 -2.78897829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1160.676559995 meters 0.012618019442499904 Centerline is valid? [True, True] Translation: X:-343.40, Y:-251.95, Z:-2.79 [[-6.84360724e-01 -7.29102300e-01 7.76120237e-03 -3.43404224e+02] [ 7.29056014e-01 -6.84404731e-01 -8.21545107e-03 -2.51946818e+02] [ 1.13017079e-02 3.60192179e-05 9.99936133e-01 -2.78869339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1160.7065599950001 meters 0.012604070026160766 Centerline is valid? [True, True] Translation: X:-343.42, Y:-251.92, Z:-2.79 [[-6.87397329e-01 -7.26241506e-01 7.62803298e-03 -3.43420410e+02] [ 7.26196669e-01 -6.87439652e-01 -8.06995846e-03 -2.51924018e+02] [ 1.11045511e-02 -7.81574869e-06 9.99938343e-01 -2.78738273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1160.736559995 meters 0.013489837586722592 Centerline is valid? [True, True] Translation: X:-343.43, Y:-251.90, Z:-2.79 [[-6.93467857e-01 -7.20439644e-01 8.30970591e-03 -3.43434498e+02] [ 7.20386074e-01 -6.93517634e-01 -8.78612320e-03 -2.51898961e+02] [ 1.20927990e-02 -1.06697616e-04 9.99926874e-01 -2.78613982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1160.766559995 meters 0.014244023039290907 Centerline is valid? [True, True] Translation: X:-343.45, Y:-251.88, Z:-2.79 [[-6.96633540e-01 -7.17375925e-01 8.57283756e-03 -3.43450319e+02] [ 7.17318744e-01 -6.96686268e-01 -9.05891434e-03 -2.51876966e+02] [ 1.24712253e-02 -1.61286494e-04 9.99922218e-01 -2.78617455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1160.796559995 meters 0.014916142972878698 Centerline is valid? [True, True] Translation: X:-343.47, Y:-251.85, Z:-2.79 [[-6.99502100e-01 -7.14572297e-01 9.12388967e-03 -3.43467504e+02] [ 7.14507360e-01 -6.99561565e-01 -9.63580918e-03 -2.51854245e+02] [ 1.32682048e-02 -2.21182434e-04 9.99911949e-01 -2.78593584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1160.826559995 meters 0.016044123247684394 Centerline is valid? [True, True] Translation: X:-343.48, Y:-251.83, Z:-2.79 [[-7.02240292e-01 -7.11870974e-01 9.91404564e-03 -3.43483880e+02] [ 7.11794121e-01 -7.02310210e-01 -1.04641208e-02 -2.51832230e+02] [ 1.44118393e-02 -2.91567852e-04 9.99896102e-01 -2.78627673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1160.856559995 meters 0.01789018780973322 Centerline is valid? [True, True] Translation: X:-343.50, Y:-251.81, Z:-2.79 [[-7.06429646e-01 -7.07695189e-01 1.11658166e-02 -3.43498638e+02] [ 7.07597265e-01 -7.06517759e-01 -1.17799488e-02 -2.51809831e+02] [ 1.62254608e-02 -4.20803788e-04 9.99868270e-01 -2.78682220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1160.886559995 meters 0.01940452799850079 Centerline is valid? [True, True] Translation: X:-343.52, Y:-251.79, Z:-2.79 [[-7.07997466e-01 -7.06099989e-01 1.27433697e-02 -3.43516553e+02] [ 7.05972325e-01 -7.08111953e-01 -1.34364216e-02 -2.51788727e+02] [ 1.85111896e-02 -5.16486088e-04 9.99828520e-01 -2.78729784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1160.916559995 meters 0.01918178076772266 Centerline is valid? [True, True] Translation: X:-343.53, Y:-251.77, Z:-2.79 [[-7.09215863e-01 -7.04876998e-01 1.26994669e-02 -3.43534215e+02] [ 7.04750160e-01 -7.09329348e-01 -1.33823784e-02 -2.51767832e+02] [ 1.84410353e-02 -5.41043719e-04 9.99829803e-01 -2.78655612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1160.9465599950001 meters 0.019081053973590917 Centerline is valid? [True, True] Translation: X:-343.55, Y:-251.75, Z:-2.79 [[-7.09971799e-01 -7.04112468e-01 1.28715674e-02 -3.43553604e+02] [ 7.03982182e-01 -7.10088245e-01 -1.35562862e-02 -2.51746980e+02] [ 1.86850988e-02 -5.63226798e-04 9.99825260e-01 -2.78579197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1160.9765599950001 meters 0.019019249269397503 Centerline is valid? [True, True] Translation: X:-343.57, Y:-251.73, Z:-2.79 [[-7.10412394e-01 -7.03666609e-01 1.29434551e-02 -3.43572641e+02] [ 7.03534948e-01 -7.10530067e-01 -1.36235359e-02 -2.51727383e+02] [ 1.87831414e-02 -5.72155726e-04 9.99823418e-01 -2.78501583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1161.006559995 meters 0.017955930955402957 Centerline is valid? [True, True] Translation: X:-343.59, Y:-251.71, Z:-2.78 [[-7.09522398e-01 -7.04570757e-01 1.25703996e-02 -3.43593754e+02] [ 7.04446854e-01 -7.09633547e-01 -1.32234325e-02 -2.51709068e+02] [ 1.82372211e-02 -5.27143050e-04 9.99833549e-01 -2.78287103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1161.036559995 meters 0.01864959315100939 Centerline is valid? [True, True] Translation: X:-343.61, Y:-251.69, Z:-2.78 [[-7.08837844e-01 -7.05262260e-01 1.24118706e-02 -3.43612071e+02] [ 7.05141666e-01 -7.08946327e-01 -1.30512882e-02 -2.51689301e+02] [ 1.80039311e-02 -4.99119898e-04 9.99837792e-01 -2.78317183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1161.066559995 meters 0.01885372470953151 Centerline is valid? [True, True] Translation: X:-343.63, Y:-251.67, Z:-2.78 [[-7.07795712e-01 -7.06318352e-01 1.18159038e-02 -3.43630835e+02] [ 7.06209293e-01 -7.07894192e-01 -1.24196622e-02 -2.51670314e+02] [ 1.71366450e-02 -4.46082589e-04 9.99853058e-01 -2.78320525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1161.096559995 meters 0.017525559193469334 Centerline is valid? [True, True] Translation: X:-343.65, Y:-251.65, Z:-2.78 [[-7.06478344e-01 -7.07633031e-01 1.19934453e-02 -3.43652681e+02] [ 7.07520979e-01 -7.06580017e-01 -1.25993841e-02 -2.51652146e+02] [ 1.73900692e-02 -4.15577855e-04 9.99848695e-01 -2.78163181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1161.126559995 meters 0.017525559193469334 Centerline is valid? [True, True] Translation: X:-343.67, Y:-251.63, Z:-2.78 [[-7.06695910e-01 -7.07415688e-01 1.19973198e-02 -3.43671217e+02] [ 7.07303666e-01 -7.06797618e-01 -1.25956949e-02 -2.51632827e+02] [ 1.73900692e-02 -4.15577781e-04 9.99848695e-01 -2.78163187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1161.156559995 meters 0.017168111945330536 Centerline is valid? [True, True] Translation: X:-343.69, Y:-251.61, Z:-2.78 [[-7.05526083e-01 -7.08591664e-01 1.14368267e-02 -3.43691561e+02] [ 7.08490127e-01 -7.05618680e-01 -1.20007305e-02 -2.51614254e+02] [ 1.65736561e-02 -3.63949629e-04 9.99862581e-01 -2.78124772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1161.1865599950002 meters 0.01595641189189516 Centerline is valid? [True, True] Translation: X:-343.71, Y:-251.60, Z:-2.78 [[-7.02592450e-01 -7.11507312e-01 1.10088023e-02 -3.43714622e+02] [ 7.11413693e-01 -7.02678637e-01 -1.15452023e-02 -2.51597283e+02] [ 1.59501460e-02 -2.79759262e-04 9.99872749e-01 -2.78010095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1161.2165599950001 meters 0.014638381593722653 Centerline is valid? [True, True] Translation: X:-343.74, Y:-251.58, Z:-2.78 [[-7.00774432e-01 -7.13300659e-01 1.08335507e-02 -3.43737365e+02] [ 7.13210273e-01 -7.00858128e-01 -1.13574033e-02 -2.51579600e+02] [ 1.56940254e-02 -2.32378174e-04 9.99876814e-01 -2.77850757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1161.246559995 meters 0.014638381593722653 Centerline is valid? [True, True] Translation: X:-343.76, Y:-251.56, Z:-2.78 [[-7.00976389e-01 -7.13102143e-01 1.08367669e-02 -3.43756455e+02] [ 7.13011781e-01 -7.01060111e-01 -1.13543346e-02 -2.51559680e+02] [ 1.56940254e-02 -2.32377947e-04 9.99876814e-01 -2.77850763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1161.276559995 meters 0.014524757159961365 Centerline is valid? [True, True] Translation: X:-343.78, Y:-251.54, Z:-2.78 [[-6.99316749e-01 -7.14732341e-01 1.06660717e-02 -3.43777080e+02] [ 7.14645090e-01 -6.99398059e-01 -1.11692011e-02 -2.51541364e+02] [ 1.54428191e-02 -1.88353642e-04 9.99880735e-01 -2.77891427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1161.306559995 meters 0.013688035109971613 Centerline is valid? [True, True] Translation: X:-343.80, Y:-251.53, Z:-2.78 [[-6.95186781e-01 -7.18747665e-01 1.08227970e-02 -3.43801358e+02] [ 7.18658413e-01 -6.95271015e-01 -1.13270297e-02 -2.51525709e+02] [ 1.56660532e-02 -9.65071825e-05 9.99877275e-01 -2.77920024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1161.336559995 meters 0.01341208423185127 Centerline is valid? [True, True] Translation: X:-343.82, Y:-251.51, Z:-2.78 [[-6.93347119e-01 -7.20521111e-01 1.09133745e-02 -3.43822846e+02] [ 7.20430689e-01 -6.93433001e-01 -1.14146922e-02 -2.51508606e+02] [ 1.57922207e-02 -5.20140178e-05 9.99875294e-01 -2.77973699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1161.366559995 meters 0.013316562896423603 Centerline is valid? [True, True] Translation: X:-343.84, Y:-251.49, Z:-2.78 [[-6.91596856e-01 -7.22201437e-01 1.09028705e-02 -3.43844183e+02] [ 7.22111511e-01 -6.91682791e-01 -1.13965880e-02 -2.51491682e+02] [ 1.57719601e-02 -8.75614583e-06 9.99875615e-01 -2.78020585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1161.396559995 meters 0.013172753931220207 Centerline is valid? [True, True] Translation: X:-343.87, Y:-251.47, Z:-2.78 [[-6.89974924e-01 -7.23748853e-01 1.10545186e-02 -3.43866028e+02] [ 7.23656710e-01 -6.90063473e-01 -1.15485572e-02 -2.51473905e+02] [ 1.59865746e-02 3.14617277e-05 9.99872206e-01 -2.78028898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1161.426559995 meters 0.013355005218111804 Centerline is valid? [True, True] Translation: X:-343.89, Y:-251.46, Z:-2.78 [[-6.88461050e-01 -7.25189742e-01 1.10099989e-02 -3.43887483e+02] [ 7.25098634e-01 -6.88549078e-01 -1.14951752e-02 -2.51456357e+02] [ 1.59171077e-02 6.93547843e-05 9.99873313e-01 -2.78100264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1161.4565599950001 meters 0.013335055792180736 Centerline is valid? [True, True] Translation: X:-343.91, Y:-251.44, Z:-2.78 [[-6.87283998e-01 -7.26305417e-01 1.10067051e-02 -3.43909162e+02] [ 7.26214608e-01 -6.87372121e-01 -1.14852439e-02 -2.51438151e+02] [ 1.59074970e-02 9.96057065e-05 9.99873463e-01 -2.78108250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1161.486559995 meters 0.013858081246480615 Centerline is valid? [True, True] Translation: X:-343.93, Y:-251.42, Z:-2.78 [[-6.84798905e-01 -7.28654069e-01 1.06633293e-02 -3.43931695e+02] [ 7.28569225e-01 -6.84881905e-01 -1.11203103e-02 -2.51422661e+02] [ 1.54059806e-02 1.53797176e-04 9.99881309e-01 -2.78259063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1161.516559995 meters 0.01411200402015511 Centerline is valid? [True, True] Translation: X:-343.95, Y:-251.40, Z:-2.78 [[-6.83718480e-01 -7.29673076e-01 1.03074339e-02 -3.43952515e+02] [ 7.29594015e-01 -6.83796148e-01 -1.07425092e-02 -2.51404387e+02] [ 1.48867033e-02 1.75390034e-04 9.99889172e-01 -2.78265800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1161.546559995 meters 0.014438553629213702 Centerline is valid? [True, True] Translation: X:-343.97, Y:-251.39, Z:-2.78 [[-6.83047889e-01 -7.30298990e-01 1.04387734e-02 -3.43972962e+02] [ 7.30218076e-01 -6.83127622e-01 -1.08726495e-02 -2.51386227e+02] [ 1.50712994e-02 1.96040726e-04 9.99886402e-01 -2.78275384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1161.576559995 meters 0.014490811152969336 Centerline is valid? [True, True] Translation: X:-343.99, Y:-251.37, Z:-2.78 [[-6.82391850e-01 -7.30914604e-01 1.02569476e-02 -3.43993145e+02] [ 7.30836653e-01 -6.82468898e-01 -1.06766154e-02 -2.51368072e+02] [ 1.48037419e-02 2.10517937e-04 9.99890397e-01 -2.78277792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1161.606559995 meters 0.01448873499116971 Centerline is valid? [True, True] Translation: X:-344.01, Y:-251.35, Z:-2.78 [[-6.81377596e-01 -7.31868849e-01 9.62080657e-03 -3.44014699e+02] [ 7.31800442e-01 -6.81445478e-01 -1.00087466e-02 -2.51349423e+02] [ 1.38811450e-02 2.20774771e-04 9.99903628e-01 -2.78199905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1161.636559995 meters 0.015324414484457633 Centerline is valid? [True, True] Translation: X:-344.04, Y:-251.33, Z:-2.78 [[-6.81131525e-01 -7.32101682e-01 9.32597579e-03 -3.44035352e+02] [ 7.32037503e-01 -6.81195331e-01 -9.69621084e-03 -2.51331724e+02] [ 1.34514234e-02 2.22569150e-04 9.99909501e-01 -2.78340707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1161.666559995 meters 0.015590088445145957 Centerline is valid? [True, True] Translation: X:-344.06, Y:-251.31, Z:-2.78 [[-6.80926703e-01 -7.32295940e-01 9.02671708e-03 -3.44055128e+02] [ 7.32235904e-01 -6.80986496e-01 -9.37941024e-03 -2.51313095e+02] [ 1.30155765e-02 2.22995451e-04 9.99915269e-01 -2.78363376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1161.6965599950001 meters 0.015102507036026289 Centerline is valid? [True, True] Translation: X:-344.07, Y:-251.29, Z:-2.78 [[-6.80687613e-01 -7.32522431e-01 8.67539157e-03 -3.44073647e+02] [ 7.32467067e-01 -6.80742859e-01 -9.00869226e-03 -2.51293352e+02] [ 1.25047800e-02 2.22333387e-04 9.99921788e-01 -2.78283900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1161.7265599950001 meters 0.016452322963452726 Centerline is valid? [True, True] Translation: X:-344.10, Y:-251.28, Z:-2.79 [[-6.79982580e-01 -7.33175163e-01 8.82455530e-03 -3.44095387e+02] [ 7.33117981e-01 -6.80039795e-01 -9.15985540e-03 -2.51276362e+02] [ 1.27168273e-02 2.40898059e-04 9.99919109e-01 -2.78507484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1161.756559995 meters 0.01704895332277287 Centerline is valid? [True, True] Translation: X:-344.12, Y:-251.26, Z:-2.79 [[-6.79574957e-01 -7.33551482e-01 8.94996213e-03 -3.44115261e+02] [ 7.33492763e-01 -6.79633842e-01 -9.28485113e-03 -2.51257837e+02] [ 1.28936135e-02 2.54980140e-04 9.99916842e-01 -2.78615088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1161.786559995 meters 0.01599274511799861 Centerline is valid? [True, True] Translation: X:-344.13, Y:-251.24, Z:-2.79 [[-6.79566183e-01 -7.33562795e-01 8.68497368e-03 -3.44133348e+02] [ 7.33507573e-01 -6.79621632e-01 -9.00438586e-03 -2.51237102e+02] [ 1.25077784e-02 2.51417840e-04 9.99921743e-01 -2.78525495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1161.816559995 meters 0.015720523486707095 Centerline is valid? [True, True] Translation: X:-344.15, Y:-251.22, Z:-2.78 [[-6.79551135e-01 -7.33578078e-01 8.57076949e-03 -3.44152439e+02] [ 7.33524361e-01 -6.79605136e-01 -8.88098962e-03 -2.51216504e+02] [ 1.23396383e-02 2.51781633e-04 9.99923832e-01 -2.78492288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1161.846559995 meters 0.015629585975066404 Centerline is valid? [True, True] Translation: X:-344.17, Y:-251.20, Z:-2.79 [[-6.79894106e-01 -7.33263800e-01 8.25853875e-03 -3.44171937e+02] [ 7.33213960e-01 -6.79944219e-01 -8.55264328e-03 -2.51195704e+02] [ 1.18866894e-02 2.40384143e-04 9.99929322e-01 -2.78508776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1161.876559995 meters 0.0154996209007986 Centerline is valid? [True, True] Translation: X:-344.19, Y:-251.17, Z:-2.79 [[-6.80641522e-01 -7.32571990e-01 8.08689361e-03 -3.44190778e+02] [ 7.32524206e-01 -6.80689524e-01 -8.37018141e-03 -2.51174952e+02] [ 1.16364242e-02 2.26752310e-04 9.99932269e-01 -2.78514197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1161.906559995 meters 0.01472523523112771 Centerline is valid? [True, True] Translation: X:-344.21, Y:-251.15, Z:-2.78 [[-6.83209526e-01 -7.30184010e-01 7.48698651e-03 -3.44207751e+02] [ 7.30142956e-01 -6.83250526e-01 -7.74489973e-03 -2.51152155e+02] [ 1.07706894e-02 1.75181190e-04 9.99941979e-01 -2.78489241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1161.9365599950002 meters 0.014306039458294555 Centerline is valid? [True, True] Translation: X:-344.23, Y:-251.13, Z:-2.78 [[-6.85381113e-01 -7.28151399e-01 6.94763697e-03 -3.44225960e+02] [ 7.28115983e-01 -6.85416312e-01 -7.18295098e-03 -2.51130199e+02] [ 9.99229952e-03 1.35626576e-04 9.99950067e-01 -2.78485147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1161.9665599950001 meters 0.013732810630315041 Centerline is valid? [True, True] Translation: X:-344.24, Y:-251.11, Z:-2.78 [[-6.87737302e-01 -7.25929392e-01 6.62743251e-03 -3.44243437e+02] [ 7.25897097e-01 -6.87769226e-01 -6.84806085e-03 -2.51108260e+02] [ 9.52935278e-03 1.01167129e-04 9.99954590e-01 -2.78447672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1161.996559995 meters 0.01344860955874922 Centerline is valid? [True, True] Translation: X:-344.26, Y:-251.09, Z:-2.78 [[-6.90557282e-01 -7.23251611e-01 6.14386594e-03 -3.44260811e+02] [ 7.23223782e-01 -6.90584610e-01 -6.34486382e-03 -2.51086310e+02] [ 8.83179225e-03 6.18980492e-05 9.99960997e-01 -2.78456277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1162.026559995 meters 0.013079437777041179 Centerline is valid? [True, True] Translation: X:-344.28, Y:-251.06, Z:-2.78 [[-6.93251453e-01 -7.20675589e-01 5.39616413e-03 -3.44277932e+02] [ 7.20654068e-01 -6.93272454e-01 -5.56955130e-03 -2.51063766e+02] [ 7.75485161e-03 2.76681013e-05 9.99969931e-01 -2.78368362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1162.056559995 meters 0.013162048605744688 Centerline is valid? [True, True] Translation: X:-344.29, Y:-251.04, Z:-2.78 [[-6.99169717e-01 -7.14944491e-01 4.01037673e-03 -3.44292632e+02] [ 7.14932522e-01 -6.99181218e-01 -4.13691516e-03 -2.51039254e+02] [ 5.76164479e-03 -2.52570480e-05 9.99983401e-01 -2.78302021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1162.086559995 meters 0.013508218623333929 Centerline is valid? [True, True] Translation: X:-344.31, Y:-251.02, Z:-2.78 [[-7.02349870e-01 -7.11822197e-01 3.71742893e-03 -3.44310057e+02] [ 7.11811881e-01 -7.02359707e-01 -3.83258052e-03 -2.51016870e+02] [ 5.33908818e-03 -4.57023511e-05 9.99985746e-01 -2.78300884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1162.116559995 meters 0.013980559855029776 Centerline is valid? [True, True] Translation: X:-344.33, Y:-251.00, Z:-2.78 [[-7.05079495e-01 -7.09120246e-01 3.37384263e-03 -3.44326654e+02] [ 7.09111728e-01 -7.05087564e-01 -3.47630128e-03 -2.50995162e+02] [ 4.84397010e-03 -5.86373725e-05 9.99988266e-01 -2.78340468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1162.146559995 meters 0.017051058777520705 Centerline is valid? [True, True] Translation: X:-344.34, Y:-250.97, Z:-2.79 [[-7.07878356e-01 -7.06325355e-01 3.56741105e-03 -3.44339804e+02] [ 7.06315806e-01 -7.07887341e-01 -3.67360978e-03 -2.50970622e+02] [ 5.12008886e-03 -8.07500423e-05 9.99986889e-01 -2.78543112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1162.176559995 meters 0.015357955725408302 Centerline is valid? [True, True] Translation: X:-344.36, Y:-250.95, Z:-2.78 [[-7.10274030e-01 -7.03915283e-01 3.75200609e-03 -3.44361145e+02] [ 7.03904698e-01 -7.10283932e-01 -3.86156799e-03 -2.50952089e+02] [ 5.38320636e-03 -1.01716743e-04 9.99985505e-01 -2.78437571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1162.2065599950001 meters 0.016349793067241655 Centerline is valid? [True, True] Translation: X:-344.38, Y:-250.93, Z:-2.79 [[-7.12464802e-01 -7.01696232e-01 4.03783251e-03 -3.44377800e+02] [ 7.01683951e-01 -7.12476233e-01 -4.15332389e-03 -2.50930883e+02] [ 5.79123142e-03 -1.25814816e-04 9.99983223e-01 -2.78540871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1162.236559995 meters 0.017712504330086 Centerline is valid? [True, True] Translation: X:-344.39, Y:-250.91, Z:-2.79 [[-7.15433845e-01 -6.98665500e-01 4.57526273e-03 -3.44393363e+02] [ 6.98649685e-01 -7.15448454e-01 -4.70405605e-03 -2.50908915e+02] [ 6.55992632e-03 -1.68935042e-04 9.99978469e-01 -2.78623072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1162.266559995 meters 0.017397734992241887 Centerline is valid? [True, True] Translation: X:-344.41, Y:-250.89, Z:-2.79 [[-7.16330044e-01 -6.97746381e-01 4.61050880e-03 -3.44413137e+02] [ 6.97730319e-01 -7.16344859e-01 -4.73768865e-03 -2.50888576e+02] [ 6.60841939e-03 -1.76856941e-04 9.99978149e-01 -2.78624185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1162.296559995 meters 0.017131065477265665 Centerline is valid? [True, True] Translation: X:-344.43, Y:-250.87, Z:-2.79 [[-7.16956489e-01 -6.97102083e-01 4.69880550e-03 -3.44432902e+02] [ 6.97085404e-01 -7.16971863e-01 -4.82571812e-03 -2.50868684e+02] [ 6.73292949e-03 -1.84361189e-04 9.99977317e-01 -2.78622715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1162.326559995 meters 0.017377200622772364 Centerline is valid? [True, True] Translation: X:-344.45, Y:-250.85, Z:-2.79 [[-7.17116212e-01 -6.96940015e-01 4.35376735e-03 -3.44451724e+02] [ 6.96925708e-01 -7.17129407e-01 -4.46887693e-03 -2.50848521e+02] [ 6.23675375e-03 -1.70451700e-04 9.99980537e-01 -2.78672100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1162.356559995 meters 0.01744821825400414 Centerline is valid? [True, True] Translation: X:-344.47, Y:-250.83, Z:-2.79 [[-7.16852609e-01 -6.97211275e-01 4.33292678e-03 -3.44471141e+02] [ 6.97197122e-01 -7.16865685e-01 -4.44557017e-03 -2.50828752e+02] [ 6.20562818e-03 -1.65914494e-04 9.99980731e-01 -2.78656676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1162.386559995 meters 0.016700412443413377 Centerline is valid? [True, True] Translation: X:-344.49, Y:-250.81, Z:-2.79 [[-7.16213099e-01 -6.97869662e-01 4.09051085e-03 -3.44491697e+02] [ 6.97857072e-01 -7.16224764e-01 -4.19451265e-03 -2.50809383e+02] [ 5.85694830e-03 -1.49572980e-04 9.99982837e-01 -2.78659338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1162.416559995 meters 0.015640235796390144 Centerline is valid? [True, True] Translation: X:-344.51, Y:-250.79, Z:-2.79 [[-7.14280777e-01 -6.99850481e-01 3.50373867e-03 -3.44513604e+02] [ 6.99841278e-01 -7.14289361e-01 -3.59096434e-03 -2.50790708e+02] [ 5.01582138e-03 -1.12895845e-04 9.99987415e-01 -2.78661315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1162.4465599950001 meters 0.015937154152540694 Centerline is valid? [True, True] Translation: X:-344.53, Y:-250.77, Z:-2.79 [[-7.13076875e-01 -7.01078842e-01 3.13480347e-03 -3.44532663e+02] [ 7.01071495e-01 -7.13083760e-01 -3.21104313e-03 -2.50770853e+02] [ 4.48657184e-03 -9.19992498e-05 9.99989931e-01 -2.78731363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1162.4765599950001 meters 0.015057770830312208 Centerline is valid? [True, True] Translation: X:-344.55, Y:-250.75, Z:-2.79 [[-7.11797359e-01 -7.02377938e-01 3.12290640e-03 -3.44554384e+02] [ 7.02370666e-01 -7.11804205e-01 -3.19718310e-03 -2.50752115e+02] [ 4.46852878e-03 -8.23086410e-05 9.99990013e-01 -2.78727957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1162.506559995 meters 0.015046748396633091 Centerline is valid? [True, True] Translation: X:-344.57, Y:-250.73, Z:-2.79 [[-7.10279055e-01 -7.03914551e-01 2.82300337e-03 -3.44573810e+02] [ 7.03908627e-01 -7.10284662e-01 -2.88855730e-03 -2.50733014e+02] [ 4.03843351e-03 -6.45453257e-05 9.99991844e-01 -2.78763440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1162.536559995 meters 0.01446366151118218 Centerline is valid? [True, True] Translation: X:-344.59, Y:-250.71, Z:-2.79 [[-7.08409347e-01 -7.05796453e-01 2.75043103e-03 -3.44594474e+02] [ 7.05790850e-01 -7.08414684e-01 -2.81281408e-03 -2.50714998e+02] [ 3.93371993e-03 -5.13947316e-05 9.99992262e-01 -2.78797555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1162.566559995 meters 0.013475181582015317 Centerline is valid? [True, True] Translation: X:-344.62, Y:-250.70, Z:-2.79 [[-7.06445815e-01 -7.07762000e-01 2.69468019e-03 -3.44616936e+02] [ 7.07756642e-01 -7.06450953e-01 -2.75429317e-03 -2.50697414e+02] [ 3.85304344e-03 -3.85810789e-05 9.99992576e-01 -2.78787016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1162.596559995 meters 0.012880563749618044 Centerline is valid? [True, True] Translation: X:-344.64, Y:-250.68, Z:-2.79 [[-7.01862689e-01 -7.12307994e-01 2.46727075e-03 -3.44638757e+02] [ 7.12303535e-01 -7.01867025e-01 -2.52044775e-03 -2.50680885e+02] [ 3.52703106e-03 -1.15625593e-05 9.99993780e-01 -2.78829256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1162.626559995 meters 0.012771756612530357 Centerline is valid? [True, True] Translation: X:-344.66, Y:-250.66, Z:-2.79 [[-6.99426791e-01 -7.14700292e-01 2.37834383e-03 -3.44660139e+02] [ 7.14696167e-01 -6.99430835e-01 -2.42824397e-03 -2.50662300e+02] [ 3.39895369e-03 1.41433485e-06 9.99994224e-01 -2.78775034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1162.656559995 meters 0.01285937880085063 Centerline is valid? [True, True] Translation: X:-344.68, Y:-250.65, Z:-2.79 [[-6.97042797e-01 -7.17027321e-01 1.77799888e-03 -3.44680214e+02] [ 7.17025025e-01 -6.97045064e-01 -1.81441994e-03 -2.50645362e+02] [ 2.54033401e-03 1.01413452e-05 9.99996773e-01 -2.78765218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1162.6865599950002 meters 0.013220182375546691 Centerline is valid? [True, True] Translation: X:-344.70, Y:-250.63, Z:-2.79 [[-6.94265977e-01 -7.19716329e-01 1.77714858e-03 -3.44701329e+02] [ 7.19714047e-01 -6.94268252e-01 -1.81253708e-03 -2.50627036e+02] [ 2.53833037e-03 2.06559738e-05 9.99996778e-01 -2.78703617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1162.7165599950001 meters 0.014042526006070559 Centerline is valid? [True, True] Translation: X:-344.72, Y:-250.61, Z:-2.79 [[-6.91734250e-01 -7.22150605e-01 1.49346699e-03 -3.44722766e+02] [ 7.22149001e-01 -6.91735862e-01 -1.52258571e-03 -2.50609717e+02] [ 2.13262087e-03 2.52810053e-05 9.99997726e-01 -2.78758408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1162.746559995 meters 0.014810660998446348 Centerline is valid? [True, True] Translation: X:-344.74, Y:-250.59, Z:-2.79 [[-6.89397836e-01 -7.24381016e-01 1.66391322e-03 -3.44743903e+02] [ 7.24379033e-01 -6.89399843e-01 -1.69543656e-03 -2.50591339e+02] [ 2.37524357e-03 3.64735569e-05 9.99997179e-01 -2.78799100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1162.776559995 meters 0.015558512463996912 Centerline is valid? [True, True] Translation: X:-344.76, Y:-250.57, Z:-2.79 [[-6.85725247e-01 -7.27857887e-01 1.94474440e-03 -3.44764091e+02] [ 7.27855195e-01 -6.85728002e-01 -1.98039800e-03 -2.50572429e+02] [ 2.77501400e-03 5.74834072e-05 9.99996148e-01 -2.78898722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1162.806559995 meters 0.01624076844535563 Centerline is valid? [True, True] Translation: X:-344.78, Y:-250.55, Z:-2.79 [[-6.84591103e-01 -7.28924669e-01 1.96185394e-03 -3.44783772e+02] [ 7.28921937e-01 -6.84593911e-01 -1.99670044e-03 -2.50552901e+02] [ 2.79851747e-03 6.31150167e-05 9.99996082e-01 -2.78914610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1162.836559995 meters 0.01629898591381348 Centerline is valid? [True, True] Translation: X:-344.80, Y:-250.53, Z:-2.79 [[-6.83815704e-01 -7.29652335e-01 1.88480707e-03 -3.44802561e+02] [ 7.29649819e-01 -6.83818299e-01 -1.91719326e-03 -2.50531884e+02] [ 2.68775011e-03 6.42422793e-05 9.99996386e-01 -2.78869474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1162.866559995 meters 0.017380765751827437 Centerline is valid? [True, True] Translation: X:-344.82, Y:-250.51, Z:-2.79 [[-6.83638542e-01 -7.29818624e-01 1.76632355e-03 -3.44821944e+02] [ 7.29816418e-01 -6.83640821e-01 -1.79559704e-03 -2.50513502e+02] [ 2.51799104e-03 6.15525848e-05 9.99996828e-01 -2.78908721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1162.896559995 meters 0.016765264339214773 Centerline is valid? [True, True] Translation: X:-344.84, Y:-250.49, Z:-2.79 [[-6.83781201e-01 -7.29684584e-01 1.91759619e-03 -3.44839019e+02] [ 7.29681987e-01 -6.83783886e-01 -1.94814810e-03 -2.50492450e+02] [ 2.73275501e-03 6.71283477e-05 9.99996264e-01 -2.78900445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1162.926559995 meters 0.016721026400464457 Centerline is valid? [True, True] Translation: X:-344.86, Y:-250.47, Z:-2.79 [[-6.84184977e-01 -7.29305986e-01 1.92242885e-03 -3.44856923e+02] [ 7.29303377e-01 -6.84187675e-01 -1.95182744e-03 -2.50472018e+02] [ 2.73878156e-03 6.66228421e-05 9.99996248e-01 -2.78903329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1162.9565599950001 meters 0.016315522007618245 Centerline is valid? [True, True] Translation: X:-344.87, Y:-250.45, Z:-2.79 [[-6.85404207e-01 -7.28159436e-01 2.21587556e-03 -3.44872886e+02] [ 7.28155968e-01 -6.85407785e-01 -2.24834268e-03 -2.50449662e+02] [ 3.15593030e-03 7.24794789e-05 9.99995018e-01 -2.78954775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1162.986559995 meters 0.01652968955552675 Centerline is valid? [True, True] Translation: X:-344.89, Y:-250.43, Z:-2.79 [[-6.85943208e-01 -7.27650338e-01 2.62715264e-03 -3.44890414e+02] [ 7.27645466e-01 -6.85948234e-01 -2.66388663e-03 -2.50429749e+02] [ 3.74046872e-03 8.43607665e-05 9.99993001e-01 -2.79027662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1163.016559995 meters 0.016478095109686598 Centerline is valid? [True, True] Translation: X:-344.91, Y:-250.41, Z:-2.79 [[-6.86486823e-01 -7.27135138e-01 3.21446375e-03 -3.44908001e+02] [ 7.27127849e-01 -6.86494341e-01 -3.25739407e-03 -2.50408806e+02] [ 4.57527686e-03 1.01168011e-04 9.99989528e-01 -2.79106939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1163.046559995 meters 0.016478095109686598 Centerline is valid? [True, True] Translation: X:-344.93, Y:-250.39, Z:-2.79 [[-6.86711710e-01 -7.26922753e-01 3.21547120e-03 -3.44926877e+02] [ 7.26915466e-01 -6.86719231e-01 -3.25639959e-03 -2.50389838e+02] [ 4.57527686e-03 1.01168011e-04 9.99989528e-01 -2.79106944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1163.076559995 meters 0.01649707524505526 Centerline is valid? [True, True] Translation: X:-344.94, Y:-250.37, Z:-2.79 [[-6.87148663e-01 -7.26502836e-01 4.51043610e-03 -3.44942019e+02] [ 7.26488508e-01 -6.87163452e-01 -4.56488817e-03 -2.50368499e+02] [ 6.41581104e-03 1.40023183e-04 9.99979409e-01 -2.79257120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1163.106559995 meters 0.016708594728053895 Centerline is valid? [True, True] Translation: X:-344.96, Y:-250.35, Z:-2.79 [[-6.87303153e-01 -7.26353491e-01 4.99813085e-03 -3.44959018e+02] [ 7.26335916e-01 -6.87321309e-01 -5.05522863e-03 -2.50348781e+02] [ 7.10720481e-03 1.55847375e-04 9.99974732e-01 -2.79331826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1163.136559995 meters 0.01687324161657981 Centerline is valid? [True, True] Translation: X:-344.98, Y:-250.33, Z:-2.79 [[-6.87453228e-01 -7.26207620e-01 5.52744979e-03 -3.44976871e+02] [ 7.26186147e-01 -6.87475427e-01 -5.58721489e-03 -2.50328387e+02] [ 7.85746394e-03 1.73008553e-04 9.99969115e-01 -2.79391339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1163.166559995 meters 0.01692197219080063 Centerline is valid? [True, True] Translation: X:-344.99, Y:-250.31, Z:-2.79 [[-6.87889515e-01 -7.25791415e-01 5.90236936e-03 -3.44994569e+02] [ 7.25766945e-01 -6.87914812e-01 -5.96258985e-03 -2.50307964e+02] [ 8.38792383e-03 1.82141539e-04 9.99964804e-01 -2.79482321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1163.1965599950001 meters 0.016623275349390305 Centerline is valid? [True, True] Translation: X:-345.01, Y:-250.29, Z:-2.79 [[-6.88051051e-01 -7.25635829e-01 6.19632579e-03 -3.45011349e+02] [ 7.25608889e-01 -6.88078925e-01 -6.25572319e-03 -2.50286512e+02] [ 8.80293807e-03 1.91852151e-04 9.99961235e-01 -2.79439566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1163.2265599950001 meters 0.015964200036843616 Centerline is valid? [True, True] Translation: X:-345.03, Y:-250.26, Z:-2.79 [[-6.88556512e-01 -7.25152448e-01 6.62249697e-03 -3.45027832e+02] [ 7.25121691e-01 -6.88588329e-01 -6.68178277e-03 -2.50264925e+02] [ 9.40548526e-03 2.01331159e-04 9.99955747e-01 -2.79385143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1163.256559995 meters 0.016784594121127733 Centerline is valid? [True, True] Translation: X:-345.04, Y:-250.24, Z:-2.79 [[-6.89113776e-01 -7.24624933e-01 6.39611131e-03 -3.45044270e+02] [ 7.24596259e-01 -6.89143432e-01 -6.44912387e-03 -2.50244292e+02] [ 9.08103405e-03 1.90418229e-04 9.99958749e-01 -2.79353359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1163.286559995 meters 0.016933543299026767 Centerline is valid? [True, True] Translation: X:-345.06, Y:-250.22, Z:-2.79 [[-6.89645611e-01 -7.24123258e-01 5.86842795e-03 -3.45061784e+02] [ 7.24099133e-01 -6.89670558e-01 -5.91335871e-03 -2.50224724e+02] [ 8.32928255e-03 1.71201704e-04 9.99965296e-01 -2.79276701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1163.316559995 meters 0.015974344150493765 Centerline is valid? [True, True] Translation: X:-345.08, Y:-250.20, Z:-2.79 [[-6.89998707e-01 -7.23789244e-01 5.56012713e-03 -3.45079341e+02] [ 7.23767604e-01 -6.90021090e-01 -5.59922590e-03 -2.50203329e+02] [ 7.88926446e-03 1.60781256e-04 9.99968867e-01 -2.79131435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1163.346559995 meters 0.016013187813507957 Centerline is valid? [True, True] Translation: X:-345.10, Y:-250.18, Z:-2.79 [[-6.90417426e-01 -7.23393028e-01 5.12883201e-03 -3.45098699e+02] [ 7.23374627e-01 -6.90436461e-01 -5.16171021e-03 -2.50184189e+02] [ 7.27507779e-03 1.46332264e-04 9.99973526e-01 -2.79096007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1163.376559995 meters 0.015970932843141415 Centerline is valid? [True, True] Translation: X:-345.12, Y:-250.17, Z:-2.79 [[-6.90976720e-01 -7.22859172e-01 5.07847016e-03 -3.45118147e+02] [ 7.22841140e-01 -6.90995368e-01 -5.10771742e-03 -2.50165912e+02] [ 7.20135974e-03 1.41613330e-04 9.99974060e-01 -2.79061626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1163.406559995 meters 0.016030613862088924 Centerline is valid? [True, True] Translation: X:-345.14, Y:-250.15, Z:-2.79 [[-6.91784396e-01 -7.22085921e-01 5.12563045e-03 -3.45137772e+02] [ 7.22067555e-01 -6.91803371e-01 -5.15184372e-03 -2.50148100e+02] [ 7.26600224e-03 1.37086351e-04 9.99973593e-01 -2.79110850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1163.4365599950002 meters 0.015364982762720388 Centerline is valid? [True, True] Translation: X:-345.16, Y:-250.13, Z:-2.79 [[-6.93360545e-01 -7.20567196e-01 5.83699769e-03 -3.45158164e+02] [ 7.20543354e-01 -6.93385100e-01 -5.86329355e-03 -2.50129822e+02] [ 8.27218422e-03 1.40433475e-04 9.99965775e-01 -2.79233383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1163.4665599950001 meters 0.015143795071439327 Centerline is valid? [True, True] Translation: X:-345.18, Y:-250.11, Z:-2.79 [[-6.94334646e-01 -7.19624752e-01 6.29404217e-03 -3.45177356e+02] [ 7.19597028e-01 -6.94363158e-01 -6.31838336e-03 -2.50111275e+02] [ 8.91721606e-03 1.42101560e-04 9.99960231e-01 -2.79283253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1163.496559995 meters 0.01515975448997266 Centerline is valid? [True, True] Translation: X:-345.20, Y:-250.09, Z:-2.79 [[-6.95047091e-01 -7.18938608e-01 6.06790924e-03 -3.45196072e+02] [ 7.18912846e-01 -6.95073565e-01 -6.08754505e-03 -2.50092366e+02] [ 8.59421448e-03 1.31167423e-04 9.99963061e-01 -2.79271295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1163.526559995 meters 0.015006431189001667 Centerline is valid? [True, True] Translation: X:-345.21, Y:-250.07, Z:-2.79 [[-6.95675685e-01 -7.18330333e-01 6.07248483e-03 -3.45214313e+02] [ 7.18304540e-01 -6.95702176e-01 -6.08852326e-03 -2.50072104e+02] [ 8.59821185e-03 1.26255838e-04 9.99963027e-01 -2.79195129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1163.556559995 meters 0.015002554713940628 Centerline is valid? [True, True] Translation: X:-345.23, Y:-250.05, Z:-2.79 [[-6.96162444e-01 -7.17861947e-01 5.66358069e-03 -3.45232166e+02] [ 7.17839524e-01 -6.96185472e-01 -5.67500803e-03 -2.50052605e+02] [ 8.01677491e-03 1.14814607e-04 9.99967859e-01 -2.79106866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1163.586559995 meters 0.014799448443459762 Centerline is valid? [True, True] Translation: X:-345.25, Y:-250.03, Z:-2.79 [[-6.96684573e-01 -7.17355764e-01 5.59594550e-03 -3.45250326e+02] [ 7.17333883e-01 -6.96707038e-01 -5.60393823e-03 -2.50032796e+02] [ 7.91875200e-03 1.09984002e-04 9.99968640e-01 -2.79043915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1163.616559995 meters 0.01451406605623787 Centerline is valid? [True, True] Translation: X:-345.27, Y:-250.01, Z:-2.79 [[-6.97008241e-01 -7.17040378e-01 5.71042984e-03 -3.45268405e+02] [ 7.17017610e-01 -6.97031624e-01 -5.71512567e-03 -2.50011954e+02] [ 8.07832606e-03 1.10989063e-04 9.99967364e-01 -2.79037764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1163.646559995 meters 0.014233524491433341 Centerline is valid? [True, True] Translation: X:-345.29, Y:-249.99, Z:-2.79 [[-6.97296619e-01 -7.16755580e-01 6.23415774e-03 -3.45287141e+02] [ 7.16728466e-01 -6.97324476e-01 -6.23543061e-03 -2.49992795e+02] [ 8.81651046e-03 1.20253634e-04 9.99961127e-01 -2.79067161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1163.676559995 meters 0.014605718816041648 Centerline is valid? [True, True] Translation: X:-345.31, Y:-249.98, Z:-2.79 [[-6.97909935e-01 -7.16157801e-01 6.30300916e-03 -3.45306982e+02] [ 7.16130097e-01 -6.97938386e-01 -6.30021684e-03 -2.49975221e+02] [ 8.91106148e-03 1.16790643e-04 9.99960289e-01 -2.79245792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1163.7065599950001 meters 0.014289720636838721 Centerline is valid? [True, True] Translation: X:-345.80, Y:-250.47, Z:-1.79 [[-7.63770638e-01 6.45451194e-01 6.86793034e-03 -3.45799893e+02] [ 6.45423738e-01 7.63801507e-01 -5.95452365e-03 -2.50467104e+02] [-9.08908995e-03 -1.15165053e-04 -9.99958687e-01 -1.79221651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1163.736559995 meters 0.014247150747059924 Centerline is valid? [True, True] Translation: X:-345.78, Y:-250.45, Z:-1.79 [[-8.07144624e-01 5.90306236e-01 7.49021363e-03 -3.45780965e+02] [ 5.90279524e-01 8.07179370e-01 -5.61681421e-03 -2.50446552e+02] [-9.36158637e-03 -1.12261658e-04 -9.99956173e-01 -1.79128086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1163.766559995 meters 0.013905695285644499 Centerline is valid? [True, True] Translation: X:-345.76, Y:-250.43, Z:-1.79 [[-8.45834316e-01 5.33389708e-01 7.72850308e-03 -3.45762791e+02] [ 5.33366446e-01 8.45869619e-01 -4.98226880e-03 -2.50428357e+02] [-9.19479685e-03 -9.20497039e-05 -9.99957723e-01 -1.79185400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1163.796559995 meters 0.013602328116529682 Centerline is valid? [True, True] Translation: X:-345.75, Y:-250.41, Z:-1.79 [[-8.81113207e-01 4.72843773e-01 7.63435283e-03 -3.45750601e+02] [ 4.72825229e-01 8.81146276e-01 -4.18849937e-03 -2.50405319e+02] [-8.70748741e-03 -8.08274927e-05 -9.99962086e-01 -1.79324059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1163.826559995 meters 0.013533640039271789 Centerline is valid? [True, True] Translation: X:-345.74, Y:-250.38, Z:-1.79 [[-9.12137939e-01 4.09817605e-01 7.34240202e-03 -3.45735505e+02] [ 4.09803709e-01 9.12167488e-01 -3.37549973e-03 -2.50382536e+02] [-8.08083962e-03 -6.99777817e-05 -9.99967347e-01 -1.79347172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1163.856559995 meters 0.013415721548980047 Centerline is valid? [True, True] Translation: X:-345.44, Y:-249.74, Z:-2.79 [[-8.74375503e-01 -4.85210273e-01 6.20249533e-03 -3.45437411e+02] [ 4.85198075e-01 -8.74397502e-01 -3.44054004e-03 -2.49744163e+02] [ 7.09283180e-03 1.11486693e-06 9.99974846e-01 -2.79031295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1163.886559995 meters 0.013538710383290391 Centerline is valid? [True, True] Translation: X:-345.77, Y:-250.37, Z:-1.79 [[-9.13608836e-01 4.06547993e-01 6.13390376e-03 -3.45773843e+02] [ 4.06538410e-01 9.13629425e-01 -2.79184497e-03 -2.50366446e+02] [-6.73913393e-03 -5.69867513e-05 -9.99977290e-01 -1.79466312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1163.916559995 meters 0.013562076857445307 Centerline is valid? [True, True] Translation: X:-345.77, Y:-250.34, Z:-1.79 [[-9.40266181e-01 3.40391539e-01 5.75411646e-03 -3.45768877e+02] [ 3.40384809e-01 9.40283786e-01 -2.14116152e-03 -2.50337929e+02] [-6.13933567e-03 -5.46479325e-05 -9.99981153e-01 -1.79477039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1163.9465599950001 meters 0.013874351883327689 Centerline is valid? [True, True] Translation: X:-345.75, Y:-250.31, Z:-1.79 [[-9.62333461e-01 2.71801894e-01 6.16768347e-03 -3.45754930e+02] [ 2.71795882e-01 9.62353223e-01 -1.80908415e-03 -2.50310475e+02] [-6.42720256e-03 -6.45912454e-05 -9.99979343e-01 -1.79285384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1163.9765599950001 meters 0.013724670382419363 Centerline is valid? [True, True] Translation: X:-345.75, Y:-250.28, Z:-1.79 [[-9.79317523e-01 2.02199348e-01 7.25342717e-03 -3.45750545e+02] [ 2.02193198e-01 9.79344381e-01 -1.57906447e-03 -2.50283525e+02] [-7.42288895e-03 -7.98118653e-05 -9.99972447e-01 -1.79278430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1164.006559995 meters 0.013855063514966195 Centerline is valid? [True, True] Translation: X:-345.75, Y:-250.26, Z:-1.79 [[-9.91241683e-01 1.31803144e-01 8.23760364e-03 -3.45747630e+02] [ 1.31797814e-01 9.91275906e-01 -1.18905735e-03 -2.50255671e+02] [-8.32245951e-03 -9.29450587e-05 -9.99965364e-01 -1.79194116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1164.036559995 meters 0.014103701395464083 Centerline is valid? [True, True] Translation: X:-345.75, Y:-250.23, Z:-1.79 [[-9.98109568e-01 6.08047672e-02 8.94821885e-03 -3.45745076e+02] [ 6.08014004e-02 9.98149673e-01 -6.48062151e-04 -2.50227455e+02] [-8.97106698e-03 -1.02772797e-04 -9.99959754e-01 -1.79095357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1164.066559995 meters 0.014036170196336887 Centerline is valid? [True, True] Translation: X:-345.75, Y:-250.20, Z:-1.79 [[-9.99901333e-01 -1.04383357e-02 9.40030889e-03 -3.45748359e+02] [-1.04389013e-02 9.99945513e-01 -1.11037078e-05 -2.50199483e+02] [-9.39968079e-03 -1.09231509e-04 -9.99955816e-01 -1.79100856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1164.096559995 meters 0.01401331686273131 Centerline is valid? [True, True] Translation: X:-345.74, Y:-249.50, Z:-2.79 [[-9.96730077e-01 -8.03127667e-02 8.88889964e-03 -3.45742766e+02] [ 8.03102114e-02 -9.96769710e-01 -6.44621849e-04 -2.49502419e+02] [ 8.91195728e-03 7.13554236e-05 9.99960285e-01 -2.79314100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1164.126559995 meters 0.014069101931277462 Centerline is valid? [True, True] Translation: X:-345.82, Y:-250.20, Z:-1.79 [[-9.99833939e-01 -1.62287088e-02 8.28998569e-03 -3.45821762e+02] [-1.62289890e-02 9.99868301e-01 3.34718281e-05 -2.50197845e+02] [-8.28943711e-03 -1.01071817e-04 -9.99965637e-01 -1.79239273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1164.156559995 meters 0.014200350569603797 Centerline is valid? [True, True] Translation: X:-345.83, Y:-249.50, Z:-2.79 [[-9.97088053e-01 -7.58893301e-02 7.49832243e-03 -3.45829110e+02] [ 7.58874910e-02 -9.97116246e-01 -5.29887843e-04 -2.49504225e+02] [ 7.51691195e-03 4.06840381e-05 9.99971747e-01 -2.79150821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1164.1865599950002 meters 0.014287161833469886 Centerline is valid? [True, True] Translation: X:-345.90, Y:-250.20, Z:-1.79 [[-9.99729253e-01 -2.21287153e-02 7.19317278e-03 -3.45904386e+02] [-2.21288023e-02 9.99755126e-01 6.75017173e-05 -2.50196026e+02] [-7.19290509e-03 -9.16928568e-05 -9.99974127e-01 -1.79331442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1164.2165599950001 meters 0.014359601822282589 Centerline is valid? [True, True] Translation: X:-345.91, Y:-249.51, Z:-2.79 [[-9.97459239e-01 -7.09154053e-02 6.78765098e-03 -3.45905511e+02] [ 7.09141777e-02 -9.97482332e-01 -4.21667229e-04 -2.49506205e+02] [ 6.80046462e-03 6.07448145e-05 9.99976875e-01 -2.79136439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1164.246559995 meters 0.014415716298038974 Centerline is valid? [True, True] Translation: X:-345.98, Y:-250.20, Z:-1.79 [[-9.99592432e-01 -2.76277008e-02 7.18886735e-03 -3.45979806e+02] [-2.76276625e-02 9.99618278e-01 1.04662237e-04 -2.50195924e+02] [-7.18901478e-03 -9.39920204e-05 -9.99974154e-01 -1.79321019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1164.276559995 meters 0.014516065777040892 Centerline is valid? [True, True] Translation: X:-345.98, Y:-250.17, Z:-1.79 [[-9.95101008e-01 -9.85614521e-02 7.72162594e-03 -3.45984353e+02] [-9.85592668e-02 9.95130961e-01 6.63961258e-04 -2.50168186e+02] [-7.74947003e-03 -1.00329273e-04 -9.99969968e-01 -1.79245560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1164.306559995 meters 0.014708066910788197 Centerline is valid? [True, True] Translation: X:-346.00, Y:-250.14, Z:-1.79 [[-9.85568913e-01 -1.69055251e-01 8.61632199e-03 -3.45995036e+02] [-1.69049779e-01 9.85606570e-01 1.36478958e-03 -2.50141344e+02] [-8.72302840e-03 -1.11493145e-04 -9.99961948e-01 -1.79114339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1164.336559995 meters 0.01471623799724508 Centerline is valid? [True, True] Translation: X:-346.02, Y:-250.12, Z:-1.79 [[-9.70910805e-01 -2.39272621e-01 8.99007047e-03 -3.46015294e+02] [-2.39263491e-01 9.70952418e-01 2.09362120e-03 -2.50116834e+02] [-9.22987690e-03 -1.18276195e-04 -9.99957397e-01 -1.79055678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1164.366559995 meters 0.014836695776455923 Centerline is valid? [True, True] Translation: X:-346.05, Y:-250.10, Z:-1.79 [[-9.51173909e-01 -3.08514671e-01 9.32167279e-03 -3.46050948e+02] [-3.08501136e-01 9.51219576e-01 2.89249033e-03 -2.50097335e+02] [-9.75933335e-03 -1.24485314e-04 -9.99952369e-01 -1.78958743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1164.396559995 meters 0.014147149326862611 Centerline is valid? [True, True] Translation: X:-346.09, Y:-250.08, Z:-1.79 [[-9.26175418e-01 -3.76978385e-01 9.29476713e-03 -3.46089568e+02] [-3.76960794e-01 9.26222047e-01 3.64410625e-03 -2.50083074e+02] [-9.98276753e-03 -1.28681162e-04 -9.99950163e-01 -1.79062234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1164.426559995 meters 0.0149831755604376 Centerline is valid? [True, True] Translation: X:-346.15, Y:-250.08, Z:-1.79 [[-8.95858025e-01 -4.44245521e-01 9.18244331e-03 -3.46154470e+02] [-4.44223682e-01 8.95905073e-01 4.40681103e-03 -2.50078599e+02] [-1.01843036e-02 -1.31181760e-04 -9.99948130e-01 -1.78900559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1164.4565599950001 meters 0.014223877906509759 Centerline is valid? [True, True] Translation: X:-346.23, Y:-250.09, Z:-1.79 [[-8.60352118e-01 -5.09622884e-01 8.87409522e-03 -3.46226813e+02] [-5.09597363e-01 8.60397872e-01 5.10185597e-03 -2.50087151e+02] [-1.02352752e-02 -1.32822937e-04 -9.99947610e-01 -1.79025244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1164.486559995 meters 0.01375190021458657 Centerline is valid? [True, True] Translation: X:-346.31, Y:-250.10, Z:-1.79 [[-8.19820364e-01 -5.72556989e-01 8.54780766e-03 -3.46305175e+02] [-5.72527579e-01 8.19864914e-01 5.80476232e-03 -2.50104975e+02] [-1.03316048e-02 -1.34993262e-04 -9.99946619e-01 -1.79107588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1164.516559995 meters 0.014199204313546336 Centerline is valid? [True, True] Translation: X:-346.39, Y:-250.13, Z:-1.79 [[-7.74612342e-01 -6.32382994e-01 8.21399367e-03 -3.46390904e+02] [-6.32349282e-01 7.74655879e-01 6.53104151e-03 -2.50132122e+02] [-1.04931381e-02 -1.35087642e-04 -9.99944937e-01 -1.79015552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1164.546559995 meters 0.01419369063445241 Centerline is valid? [True, True] Translation: X:-346.48, Y:-250.17, Z:-1.79 [[-7.25239321e-01 -6.88454757e-01 7.61416457e-03 -3.46477491e+02] [-6.88418629e-01 7.25279279e-01 7.05398359e-03 -2.50170071e+02] [-1.03787443e-02 -1.25906463e-04 -9.99946132e-01 -1.78991494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1164.576559995 meters 0.013583861659461759 Centerline is valid? [True, True] Translation: X:-346.56, Y:-250.22, Z:-1.79 [[-6.71528736e-01 -7.40944633e-01 7.08571596e-03 -3.46562149e+02] [-7.40905258e-01 6.71566107e-01 7.63950638e-03 -2.50218062e+02] [-1.04189779e-02 -1.19696147e-04 -9.99945714e-01 -1.79104847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1164.606559995 meters 0.013243177444918654 Centerline is valid? [True, True] Translation: X:-346.65, Y:-250.28, Z:-1.79 [[-6.14258123e-01 -7.89080233e-01 6.27242135e-03 -3.46646065e+02] [-7.89040803e-01 6.14290139e-01 7.88897325e-03 -2.50275495e+02] [-1.00781194e-02 -1.03330479e-04 -9.99949209e-01 -1.79155605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1164.636559995 meters 0.013250914072646384 Centerline is valid? [True, True] Translation: X:-346.73, Y:-250.35, Z:-1.79 [[-5.53508437e-01 -8.32823696e-01 5.75336454e-03 -3.46732814e+02] [-8.32780426e-01 5.53538330e-01 8.49000938e-03 -2.50347760e+02] [-1.02553888e-02 -9.19975550e-05 -9.99947408e-01 -1.79092900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1164.666559995 meters 0.01286010642627949 Centerline is valid? [True, True] Translation: X:-346.81, Y:-250.42, Z:-1.79 [[-4.90600380e-01 -8.71370209e-01 5.02259221e-03 -3.46805746e+02] [-8.71325854e-01 4.90626085e-01 8.79213189e-03 -2.50416954e+02] [-1.01254166e-02 -6.28912054e-05 -9.99948735e-01 -1.79103537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1164.6965599950001 meters 0.012796958339260554 Centerline is valid? [True, True] Translation: X:-346.88, Y:-250.51, Z:-1.79 [[-4.23543588e-01 -9.05865594e-01 4.28413248e-03 -3.46883835e+02] [-9.05820466e-01 4.23565252e-01 9.04214851e-03 -2.50507010e+02] [-1.00055809e-02 -5.09108559e-05 -9.99949942e-01 -1.79111572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1164.7265599950001 meters 0.012659487904746454 Centerline is valid? [True, True] Translation: X:-346.95, Y:-250.59, Z:-1.79 [[-3.53267637e-01 -9.35516297e-01 3.35183584e-03 -3.46950631e+02] [-9.35475339e-01 3.53283535e-01 8.75405080e-03 -2.50592122e+02] [-9.37370560e-03 -4.30369252e-05 -9.99956065e-01 -1.79159923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1164.756559995 meters 0.012489173219658355 Centerline is valid? [True, True] Translation: X:-347.01, Y:-250.69, Z:-1.79 [[-2.81135350e-01 -9.59664535e-01 2.62599503e-03 -3.47013736e+02] [-9.59623833e-01 2.81147612e-01 8.83848562e-03 -2.50692528e+02] [-9.22027343e-03 -3.51566674e-05 -9.99957492e-01 -1.79243553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1164.786559995 meters 0.012587691087110548 Centerline is valid? [True, True] Translation: X:-347.07, Y:-250.80, Z:-1.79 [[-2.07288885e-01 -9.78277952e-01 1.88844281e-03 -3.47068551e+02] [-9.78238555e-01 2.07297485e-01 8.77963938e-03 -2.50796455e+02] [-8.98039709e-03 -2.74259058e-05 -9.99959675e-01 -1.79260074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1164.816559995 meters 0.012496303320507043 Centerline is valid? [True, True] Translation: X:-347.12, Y:-250.91, Z:-1.79 [[-1.32322741e-01 -9.91205999e-01 1.16611102e-03 -3.47115421e+02] [-9.91168715e-01 1.32327877e-01 8.59716920e-03 -2.50907602e+02] [-8.67587468e-03 -1.82117727e-05 -9.99962364e-01 -1.79288106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1164.846559995 meters 0.012566097273601877 Centerline is valid? [True, True] Translation: X:-347.15, Y:-251.02, Z:-1.79 [[-5.80641670e-02 -9.98312727e-01 5.02637176e-04 -3.47152635e+02] [-9.98274834e-01 5.80663425e-02 8.69805286e-03 -2.51018853e+02] [-8.71256317e-03 3.27515113e-06 -9.99962045e-01 -1.79298122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1164.876559995 meters 0.012540935888241286 Centerline is valid? [True, True] Translation: X:-347.18, Y:-251.14, Z:-1.79 [[ 1.88056678e-02 -9.99823144e-01 -1.67373427e-04 -3.47184039e+02] [-9.99785746e-01 -1.88064120e-02 8.64763707e-03 -2.51138754e+02] [-8.64925537e-03 4.71297685e-06 -9.99962595e-01 -1.79308287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1164.906559995 meters 0.012474233360659575 Centerline is valid? [True, True] Translation: X:-347.21, Y:-251.26, Z:-1.79 [[ 9.62568736e-02 -9.95356177e-01 -8.34039264e-04 -3.47207232e+02] [-9.95318871e-01 -9.62604869e-02 8.61768112e-03 -2.51258062e+02] [-8.65794716e-03 6.23976556e-07 -9.99962519e-01 -1.79223125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1164.9365599950002 meters 0.012479324957282658 Centerline is valid? [True, True] Translation: X:-347.22, Y:-251.38, Z:-1.79 [[ 1.73088316e-01 -9.84905058e-01 -1.56881995e-03 -3.47220930e+02] [-9.84864409e-01 -1.73095426e-01 8.94817685e-03 -2.51376999e+02] [-9.08466020e-03 -3.74993452e-06 -9.99958734e-01 -1.79113644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1164.9665599950001 meters 0.012479324957282658 Centerline is valid? [True, True] Translation: X:-347.22, Y:-251.50, Z:-1.79 [[ 2.48409374e-01 -9.68652521e-01 -2.25317988e-03 -3.47223615e+02] [-9.68612540e-01 -2.48419592e-01 8.80083660e-03 -2.51497594e+02] [-9.08468659e-03 -3.75202447e-06 -9.99958734e-01 -1.79113513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1164.996559995 meters 0.012587795048759846 Centerline is valid? [True, True] Translation: X:-347.22, Y:-251.62, Z:-1.79 [[ 3.22936425e-01 -9.46415380e-01 -3.16138867e-03 -3.47218731e+02] [-9.46369678e-01 -3.22951898e-01 9.30080834e-03 -2.51617850e+02] [-9.82340453e-03 -1.17274157e-05 -9.99951749e-01 -1.79028263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1165.026559995 meters 0.012589738485566857 Centerline is valid? [True, True] Translation: X:-347.20, Y:-251.74, Z:-1.79 [[ 3.95330467e-01 -9.18530086e-01 -4.03785338e-03 -3.47204294e+02] [-9.18481689e-01 -3.95351087e-01 9.42899230e-03 -2.51736361e+02] [-1.02571828e-02 -1.88735366e-05 -9.99947394e-01 -1.79002037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1165.056559995 meters 0.012622278248075804 Centerline is valid? [True, True] Translation: X:-347.18, Y:-251.85, Z:-1.79 [[ 4.66626218e-01 -8.84439360e-01 -5.19533699e-03 -3.47181351e+02] [-8.84383457e-01 -4.66655137e-01 9.94407040e-03 -2.51854091e+02] [-1.12193580e-02 -4.54938680e-05 -9.99937060e-01 -1.78928502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1165.086559995 meters 0.012704899348333723 Centerline is valid? [True, True] Translation: X:-347.15, Y:-251.97, Z:-1.79 [[ 5.33815625e-01 -8.45578233e-01 -6.19122477e-03 -3.47149597e+02] [-8.45520105e-01 -5.33851524e-01 9.91481968e-03 -2.51968078e+02] [-1.16889505e-02 -5.78806505e-05 -9.99931680e-01 -1.78888614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1165.116559995 meters 0.012820538299053521 Centerline is valid? [True, True] Translation: X:-347.11, Y:-252.07, Z:-1.79 [[ 5.97948556e-01 -8.01504839e-01 -6.89332947e-03 -3.47113380e+02] [-8.01450195e-01 -5.97988285e-01 9.35926854e-03 -2.52074790e+02] [-1.16236293e-02 -7.17008582e-05 -9.99932441e-01 -1.78821446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1165.146559995 meters 0.012844933459276932 Centerline is valid? [True, True] Translation: X:-347.07, Y:-252.18, Z:-1.79 [[ 6.58281083e-01 -7.52737198e-01 -7.26131097e-03 -3.47069164e+02] [-7.52690041e-01 -6.58321126e-01 8.42598872e-03 -2.52178530e+02] [-1.11228296e-02 -8.11525313e-05 -9.99938136e-01 -1.78812787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1165.176559995 meters 0.013045653060316716 Centerline is valid? [True, True] Translation: X:-347.02, Y:-252.28, Z:-1.79 [[ 7.14711281e-01 -6.99374355e-01 -7.95591853e-03 -3.47020143e+02] [-6.99329495e-01 -7.14755554e-01 7.92184863e-03 -2.52275455e+02] [-1.12268747e-02 -9.80260906e-05 -9.99936972e-01 -1.78827589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1165.2065599950001 meters 0.013015889495264037 Centerline is valid? [True, True] Translation: X:-347.02, Y:-252.29, Z:-1.79 [[ 7.67888137e-01 -6.40537881e-01 -7.68327609e-03 -3.47024511e+02] [-6.40504524e-01 -7.67926568e-01 6.53768819e-03 -2.52286032e+02] [-1.00878288e-02 -9.90401086e-05 -9.99949112e-01 -1.78913187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1165.236559995 meters 0.013373842116254956 Centerline is valid? [True, True] Translation: X:-347.03, Y:-252.30, Z:-1.79 [[ 8.16475421e-01 -5.77338095e-01 -6.97221299e-03 -3.47028681e+02] [-5.77316023e-01 -8.16505184e-01 5.04924222e-03 -2.52297132e+02] [-8.60796793e-03 -9.74118864e-05 -9.99962946e-01 -1.78982211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1165.266559995 meters 0.013215848210986064 Centerline is valid? [True, True] Translation: X:-347.03, Y:-252.31, Z:-1.79 [[ 8.59106590e-01 -5.11750948e-01 -6.84355312e-03 -3.47029541e+02] [-5.11733867e-01 -8.59133842e-01 4.18221299e-03 -2.52306134e+02] [-8.01977955e-03 -9.08888401e-05 -9.99967837e-01 -1.79041273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1165.296559995 meters 0.01328589521348427 Centerline is valid? [True, True] Translation: X:-347.03, Y:-252.31, Z:-1.79 [[ 8.96307297e-01 -4.43378541e-01 -6.97843446e-03 -3.47030056e+02] [-4.43364356e-01 -8.96334459e-01 3.54764411e-03 -2.52314612e+02] [-7.82796054e-03 -8.57902023e-05 -9.99969358e-01 -1.79065245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1165.326559995 meters 0.01308815608947999 Centerline is valid? [True, True] Translation: X:-347.03, Y:-252.32, Z:-1.79 [[ 9.27918477e-01 -3.72717402e-01 -7.00273832e-03 -3.47027567e+02] [-3.72706166e-01 -9.27944897e-01 2.89513081e-03 -2.52319606e+02] [-7.57722092e-03 -7.64816245e-05 -9.99971290e-01 -1.79102242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1165.356559995 meters 0.012727774612977305 Centerline is valid? [True, True] Translation: X:-347.03, Y:-252.33, Z:-1.79 [[ 9.53893075e-01 -3.00071319e-01 -6.72342682e-03 -3.47025742e+02] [-3.00063396e-01 -9.53916768e-01 2.18153230e-03 -2.52326995e+02] [-7.06820485e-03 -6.34942754e-05 -9.99975018e-01 -1.79176375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1165.386559995 meters 0.01250994617510102 Centerline is valid? [True, True] Translation: X:-347.02, Y:-252.34, Z:-1.79 [[ 9.74136143e-01 -2.25868989e-01 -6.47882267e-03 -3.47024246e+02] [-2.25863644e-01 -9.74157686e-01 1.55469588e-03 -2.52336052e+02] [-6.66255249e-03 -5.11549467e-05 -9.99977804e-01 -1.79183782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1165.416559995 meters 0.012392620430521374 Centerline is valid? [True, True] Translation: X:-347.02, Y:-252.35, Z:-1.79 [[ 9.88542052e-01 -1.50814628e-01 -6.28964590e-03 -3.47022655e+02] [-1.50811336e-01 -9.88562060e-01 9.97099087e-04 -2.52345588e+02] [-6.36808243e-03 -3.71244757e-05 -9.99979723e-01 -1.79047358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1165.4465599950001 meters 0.012357881543598292 Centerline is valid? [True, True] Translation: X:-347.02, Y:-252.35, Z:-1.79 [[ 9.97253092e-01 -7.38018534e-02 -6.28947326e-03 -3.47022177e+02] [-7.38001878e-02 -9.97272924e-01 4.96817136e-04 -2.52349501e+02] [-6.30898742e-03 -3.12881175e-05 -9.99980098e-01 -1.79043673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1165.4765599950001 meters 0.012260838863514381 Centerline is valid? [True, True] Translation: X:-347.02, Y:-252.35, Z:-1.79 [[ 9.99973547e-01 3.71531412e-03 -6.25322530e-03 -3.47022464e+02] [ 3.71540387e-03 -9.99993098e-01 2.73636602e-06 -2.52352127e+02] [-6.25317198e-03 -2.59695511e-05 -9.99980449e-01 -1.79057757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1165.506559995 meters 0.012227400644713018 Centerline is valid? [True, True] Translation: X:-347.02, Y:-252.35, Z:-1.79 [[ 9.96704261e-01 8.08587692e-02 -6.51730558e-03 -3.47021860e+02] [ 8.08571715e-02 -9.96725569e-01 -5.08695618e-04 -2.52354405e+02] [-6.53709762e-03 -1.99518053e-05 -9.99978633e-01 -1.79017095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1165.536559995 meters 0.012251051934446257 Centerline is valid? [True, True] Translation: X:-347.02, Y:-252.36, Z:-1.79 [[ 9.87497855e-01 1.57466301e-01 -7.23538927e-03 -3.47021250e+02] [ 1.57462176e-01 -9.87524361e-01 -1.13977654e-03 -2.52355813e+02] [-7.32459957e-03 -1.37732490e-05 -9.99973175e-01 -1.78958376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1165.566559995 meters 0.012290181594174833 Centerline is valid? [True, True] Translation: X:-347.02, Y:-252.36, Z:-1.79 [[ 9.72373863e-01 2.33298858e-01 -7.79190948e-03 -3.47019913e+02] [ 2.33291426e-01 -9.72405082e-01 -1.86214438e-03 -2.52359585e+02] [-8.01132853e-03 -7.08515135e-06 -9.99967909e-01 -1.78915169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1165.596559995 meters 0.012320463805650467 Centerline is valid? [True, True] Translation: X:-347.02, Y:-252.36, Z:-1.79 [[ 9.51579046e-01 3.07263372e-01 -9.30261968e-03 -3.47018426e+02] [ 3.07248624e-01 -9.51624516e-01 -3.01043710e-03 -2.52362456e+02] [-9.77759801e-03 6.45176794e-06 -9.99952198e-01 -1.78799142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1165.626559995 meters 0.012446510621365526 Centerline is valid? [True, True] Translation: X:-347.02, Y:-252.37, Z:-1.79 [[ 9.24804960e-01 3.80336407e-01 -8.94445942e-03 -3.47017530e+02] [ 3.80318503e-01 -9.24848213e-01 -3.69036150e-03 -2.52365288e+02] [-9.67584615e-03 1.11211973e-05 -9.99953188e-01 -1.78755539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1165.656559995 meters 0.012505716926834498 Centerline is valid? [True, True] Translation: X:-347.02, Y:-252.37, Z:-1.79 [[ 8.92478928e-01 4.51009039e-01 -8.49762179e-03 -3.47017034e+02] [ 4.50988415e-01 -8.92519382e-01 -4.31313629e-03 -2.52366775e+02] [-9.52955560e-03 1.70542687e-05 -9.99954593e-01 -1.78741441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1165.6865599950002 meters 0.012595290349164621 Centerline is valid? [True, True] Translation: X:-347.02, Y:-252.37, Z:-1.79 [[ 8.54623599e-01 5.19181750e-01 -8.29548576e-03 -3.47017445e+02] [ 5.19157055e-01 -8.54663858e-01 -5.06377233e-03 -2.52367700e+02] [-9.71887004e-03 2.09593750e-05 -9.99952771e-01 -1.78665100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1165.7165599950001 meters 0.01246685831378476 Centerline is valid? [True, True] Translation: X:-347.01, Y:-252.37, Z:-1.79 [[ 8.11762967e-01 5.83932810e-01 -7.95987847e-03 -3.47014536e+02] [ 5.83904403e-01 -8.11801991e-01 -5.75978827e-03 -2.52371986e+02] [-9.82517454e-03 2.77747262e-05 -9.99951732e-01 -1.78826125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1165.746559995 meters 0.012475512778496229 Centerline is valid? [True, True] Translation: X:-347.01, Y:-252.38, Z:-1.79 [[ 7.64086546e-01 6.45071559e-01 -7.37799323e-03 -3.47011127e+02] [ 6.45041040e-01 -7.64122165e-01 -6.27487508e-03 -2.52376660e+02] [-9.68543161e-03 3.54391968e-05 -9.99953095e-01 -1.78869729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1165.776559995 meters 0.012521173198720049 Centerline is valid? [True, True] Translation: X:-347.01, Y:-252.38, Z:-1.79 [[ 7.11959111e-01 7.02187961e-01 -6.80378062e-03 -3.47005628e+02] [ 7.02155295e-01 -7.11991619e-01 -6.77324050e-03 -2.52382790e+02] [-9.60032272e-03 4.49596952e-05 -9.99953915e-01 -1.78947092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1165.806559995 meters 0.012616552458046633 Centerline is valid? [True, True] Translation: X:-347.00, Y:-252.39, Z:-1.79 [[ 6.56673143e-01 7.54153719e-01 -5.70535495e-03 -3.47001149e+02] [ 7.54124418e-01 -6.56697924e-01 -6.64814750e-03 -2.52387515e+02] [-8.76041992e-03 6.31124286e-05 -9.99961625e-01 -1.79035035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1165.836559995 meters 0.012800038550103206 Centerline is valid? [True, True] Translation: X:-347.00, Y:-252.39, Z:-1.79 [[ 5.96660916e-01 8.02478961e-01 -4.82375699e-03 -3.46996084e+02] [ 8.02451787e-01 -5.96680411e-01 -6.60432035e-03 -2.52393051e+02] [-8.17806943e-03 6.97074120e-05 -9.99966557e-01 -1.79061615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1165.866559995 meters 0.013023600936343178 Centerline is valid? [True, True] Translation: X:-346.99, Y:-252.40, Z:-1.79 [[ 5.33086684e-01 8.46050900e-01 -4.05722807e-03 -3.46991763e+02] [ 8.46025307e-01 -5.33102118e-01 -6.58119022e-03 -2.52398754e+02] [-7.73093879e-03 7.58272495e-05 -9.99970113e-01 -1.79079578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1165.896559995 meters 0.01302242937750474 Centerline is valid? [True, True] Translation: X:-346.98, Y:-252.40, Z:-1.79 [[ 4.66331847e-01 8.84603741e-01 -3.29087853e-03 -3.46984337e+02] [ 8.84580486e-01 -4.66343452e-01 -6.41475517e-03 -2.52404050e+02] [-7.20919607e-03 8.03576976e-05 -9.99974010e-01 -1.79135456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1165.926559995 meters 0.013291374764278012 Centerline is valid? [True, True] Translation: X:-346.98, Y:-252.41, Z:-1.79 [[ 3.96457724e-01 9.18048955e-01 -2.71825963e-03 -3.46978428e+02] [ 9.18025883e-01 -3.96467034e-01 -6.50912312e-03 -2.52409134e+02] [-7.05339401e-03 8.51594418e-05 -9.99975121e-01 -1.79123366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1165.9565599950001 meters 0.01365328234464666 Centerline is valid? [True, True] Translation: X:-346.97, Y:-252.41, Z:-1.79 [[ 3.24048555e-01 9.46037733e-01 -2.26745197e-03 -3.46974425e+02] [ 9.46012529e-01 -3.24056475e-01 -6.90628522e-03 -2.52414095e+02] [-7.26838891e-03 9.29337728e-05 -9.99973581e-01 -1.79129180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1165.986559995 meters 0.013546692705314103 Centerline is valid? [True, True] Translation: X:-346.97, Y:-252.42, Z:-1.79 [[ 2.49325391e-01 9.68418172e-01 -1.75896885e-03 -3.46968534e+02] [ 9.68391232e-01 -2.49331576e-01 -7.22401307e-03 -2.52418309e+02] [-7.43443200e-03 9.77598686e-05 -9.99972360e-01 -1.79186092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1166.016559995 meters 0.013380999200519416 Centerline is valid? [True, True] Translation: X:-346.96, Y:-252.42, Z:-1.79 [[ 1.72323882e-01 9.85039494e-01 -1.29436778e-03 -3.46960597e+02] [ 9.85007037e-01 -1.72328713e-01 -7.99694819e-03 -2.52422250e+02] [-8.10036653e-03 1.03103792e-04 -9.99967186e-01 -1.79177622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1166.046559995 meters 0.013425750604238416 Centerline is valid? [True, True] Translation: X:-346.95, Y:-252.43, Z:-1.79 [[ 9.37788328e-02 9.95592835e-01 -6.61393275e-04 -3.46953067e+02] [ 9.95560328e-01 -9.37811159e-02 -8.04588950e-03 -2.52426822e+02] [-8.07245614e-03 9.60772213e-05 -9.99967413e-01 -1.79109565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1166.076559995 meters 0.013138730318037597 Centerline is valid? [True, True] Translation: X:-346.95, Y:-252.43, Z:-1.79 [[ 1.40535898e-02 9.99901243e-01 -3.12711084e-05 -3.46945102e+02] [ 9.99864180e-01 -1.40533381e-02 -8.60966580e-03 -2.52429189e+02] [-8.60925500e-03 8.97298504e-05 -9.99962936e-01 -1.79064230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1166.106559995 meters 0.012526393553777016 Centerline is valid? [True, True] Translation: X:-346.93, Y:-252.43, Z:-1.79 [[-6.76739044e-02 9.97707257e-01 6.87890904e-04 -3.46931653e+02] [ 9.97664967e-01 6.76773696e-02 -9.18631452e-03 -2.52431128e+02] [-9.21180730e-03 6.46108854e-05 -9.99957569e-01 -1.79021347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1166.136559995 meters 0.012312054816570859 Centerline is valid? [True, True] Translation: X:-346.92, Y:-252.43, Z:-1.79 [[-1.47622421e-01 9.89042789e-01 1.40790122e-03 -3.46920164e+02] [ 9.89000750e-01 1.47629128e-01 -9.11906801e-03 -2.52431278e+02] [-9.22699569e-03 4.62364620e-05 -9.99957430e-01 -1.79002107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1166.166559995 meters 0.012417738135642398 Centerline is valid? [True, True] Translation: X:-346.91, Y:-252.43, Z:-1.79 [[-2.26690838e-01 9.73964428e-01 2.13499598e-03 -3.46909843e+02] [ 9.73922345e-01 2.26700890e-01 -9.05386428e-03 -2.52431930e+02] [-9.30214723e-03 2.68922155e-05 -9.99956734e-01 -1.78867985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1166.1965599950001 meters 0.01218344402085914 Centerline is valid? [True, True] Translation: X:-346.90, Y:-252.43, Z:-1.79 [[-3.04038055e-01 9.52655245e-01 2.97425176e-03 -3.46898689e+02] [ 9.52609983e-01 3.04052602e-01 -9.28631108e-03 -2.52431009e+02] [-9.75098194e-03 9.90996660e-06 -9.99952458e-01 -1.78953050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1166.2265599950001 meters 0.012123812578885411 Centerline is valid? [True, True] Translation: X:-346.89, Y:-252.43, Z:-1.79 [[-3.79541114e-01 9.25167368e-01 3.72607065e-03 -3.46887939e+02] [ 9.25122551e-01 3.79559403e-01 -9.10636697e-03 -2.52428761e+02] [-9.83917872e-03 -9.16867468e-06 -9.99951594e-01 -1.78963681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1166.256559995 meters 0.012290160707433306 Centerline is valid? [True, True] Translation: X:-346.88, Y:-252.43, Z:-1.79 [[-4.52250867e-01 8.91879576e-01 4.46936409e-03 -3.46878175e+02] [ 8.91835475e-01 4.52272950e-01 -8.86934936e-03 -2.52426347e+02] [-9.93176403e-03 -2.52334932e-05 -9.99950679e-01 -1.78955402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1166.286559995 meters 0.012249501744104923 Centerline is valid? [True, True] Translation: X:-346.87, Y:-252.42, Z:-1.79 [[-5.22077842e-01 8.52881309e-01 5.31035613e-03 -3.46869010e+02] [ 8.52836359e-01 5.22104847e-01 -8.75632429e-03 -2.52422878e+02] [-1.02406680e-02 -4.26181028e-05 -9.99947562e-01 -1.79016123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1166.316559995 meters 0.012308680482009702 Centerline is valid? [True, True] Translation: X:-346.86, Y:-252.42, Z:-1.79 [[-5.88250856e-01 8.08658637e-01 5.66915036e-03 -3.46860567e+02] [ 8.08620228e-01 5.88278171e-01 -7.88168290e-03 -2.52419430e+02] [-9.70862835e-03 -5.22170662e-05 -9.99952869e-01 -1.79041678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1166.346559995 meters 0.012484117627641624 Centerline is valid? [True, True] Translation: X:-346.85, Y:-252.41, Z:-1.79 [[-6.50824553e-01 7.59206564e-01 5.72660525e-03 -3.46852501e+02] [ 7.59176362e-01 6.50849744e-01 -6.77216535e-03 -2.52414813e+02] [-8.86863195e-03 -5.99881454e-05 -9.99960671e-01 -1.79113809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1166.376559995 meters 0.012381086767012326 Centerline is valid? [True, True] Translation: X:-346.85, Y:-252.41, Z:-1.79 [[-7.08482347e-01 7.05702449e-01 6.06767663e-03 -3.46845158e+02] [ 7.05675832e-01 7.08508327e-01 -6.12954942e-03 -2.52410863e+02] [-8.62463746e-03 -6.08648082e-05 -9.99962805e-01 -1.79121266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1166.406559995 meters 0.01242391895397593 Centerline is valid? [True, True] Translation: X:-346.84, Y:-252.41, Z:-1.79 [[-7.61525047e-01 6.48105778e-01 6.20507683e-03 -3.46839339e+02] [ 6.48083650e-01 7.61550325e-01 -5.35584738e-03 -2.52405731e+02] [-8.19663391e-03 -5.72030895e-05 -9.99966406e-01 -1.79119807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1166.4365599950002 meters 0.012354365724694482 Centerline is valid? [True, True] Translation: X:-346.82, Y:-252.39, Z:-1.79 [[-8.05248067e-01 5.92900437e-01 6.67994856e-03 -3.46820688e+02] [ 5.92879468e-01 8.05275772e-01 -4.98679059e-03 -2.52385428e+02] [-8.33587105e-03 -5.51991351e-05 -9.99965255e-01 -1.79139806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1166.4665599950001 meters 0.012415631716889777 Centerline is valid? [True, True] Translation: X:-346.80, Y:-252.36, Z:-1.79 [[-8.44830753e-01 5.34989980e-01 6.83523092e-03 -3.46804218e+02] [ 5.34972008e-01 8.44858402e-01 -4.38540778e-03 -2.52363142e+02] [-8.12095149e-03 -4.82701506e-05 -9.99967024e-01 -1.79096526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1166.496559995 meters 0.012355150546572644 Centerline is valid? [True, True] Translation: X:-346.79, Y:-252.34, Z:-1.79 [[-8.79923019e-01 4.75056972e-01 7.50693726e-03 -3.46792261e+02] [ 4.75039309e-01 8.79955040e-01 -4.09674267e-03 -2.52339001e+02] [-8.55195344e-03 -3.87278900e-05 -9.99963431e-01 -1.79120813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1166.526559995 meters 0.012203794689358328 Centerline is valid? [True, True] Translation: X:-346.45, Y:-251.74, Z:-2.79 [[-8.42546213e-01 -5.38568965e-01 7.70386830e-03 -3.46453838e+02] [ 5.38547243e-01 -8.42581429e-01 -4.83761465e-03 -2.51741250e+02] [ 9.09652548e-03 7.29831383e-05 9.99958623e-01 -2.79340271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1166.556559995 meters 0.012176734889241342 Centerline is valid? [True, True] Translation: X:-346.47, Y:-251.77, Z:-2.79 [[-8.05262856e-01 -5.92873120e-01 7.29355478e-03 -3.46465848e+02] [ 5.92848835e-01 -8.05295886e-01 -5.36620023e-03 -2.51768679e+02] [ 9.05494553e-03 2.77372446e-06 9.99959003e-01 -2.79329360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1166.586559995 meters 0.012151155173203785 Centerline is valid? [True, True] Translation: X:-346.88, Y:-252.33, Z:-1.79 [[-8.44920025e-01 5.34836490e-01 7.75117544e-03 -3.46875978e+02] [ 5.34814078e-01 8.44955578e-01 -4.89631731e-03 -2.52327440e+02] [-9.16812808e-03 8.44120401e-06 -9.99957972e-01 -1.79152271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1166.616559995 meters 0.01233330977296943 Centerline is valid? [True, True] Translation: X:-346.86, Y:-252.30, Z:-1.79 [[-8.80071078e-01 4.74768709e-01 8.34097197e-03 -3.46864438e+02] [ 4.74747611e-01 8.80110603e-01 -4.47584189e-03 -2.52302089e+02] [-9.46596754e-03 2.07975168e-05 -9.99955197e-01 -1.79076483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1166.646559995 meters 0.012270093195558749 Centerline is valid? [True, True] Translation: X:-346.85, Y:-252.28, Z:-1.79 [[-9.11101119e-01 4.12083120e-01 9.06938162e-03 -3.46848217e+02] [ 4.12063049e-01 9.11146257e-01 -4.06730705e-03 -2.52279007e+02] [-9.93960169e-03 3.14290421e-05 -9.99950601e-01 -1.79074199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1166.676559995 meters 0.01234743702118237 Centerline is valid? [True, True] Translation: X:-346.84, Y:-252.25, Z:-1.79 [[-9.37574752e-01 3.47623042e-01 1.05737689e-02 -3.46837400e+02] [ 3.47601533e-01 9.37634373e-01 -3.86734230e-03 -2.52253242e+02] [-1.12587064e-02 4.95357571e-05 -9.99936618e-01 -1.78982014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1166.7065599950001 meters 0.012602716050814113 Centerline is valid? [True, True] Translation: X:-346.83, Y:-252.23, Z:-1.79 [[-9.59835718e-01 2.80320772e-01 1.16473075e-02 -3.46828316e+02] [ 2.80300817e-01 9.59906382e-01 -3.34510148e-03 -2.52227264e+02] [-1.21180262e-02 5.40019255e-05 -9.99926573e-01 -1.78832567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1166.736559995 meters 0.012751609290408288 Centerline is valid? [True, True] Translation: X:-346.63, Y:-251.56, Z:-2.80 [[-9.41870175e-01 -3.35765190e-01 1.19294276e-02 -3.46632848e+02] [ 3.35737971e-01 -9.41945719e-01 -4.27529641e-03 -2.51563321e+02] [ 1.26723690e-02 -2.16123604e-05 9.99919702e-01 -2.79696599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1166.766559995 meters 0.012524796713156788 Centerline is valid? [True, True] Translation: X:-346.88, Y:-252.21, Z:-1.79 [[-9.60972777e-01 2.76358111e-01 1.25505382e-02 -3.46876805e+02] [ 2.76335286e-01 9.61054729e-01 -3.55220317e-03 -2.52213092e+02] [-1.30434342e-02 5.45860085e-05 -9.99914930e-01 -1.78825325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1166.796559995 meters 0.012476630198298214 Centerline is valid? [True, True] Translation: X:-346.68, Y:-251.55, Z:-2.80 [[-9.42805070e-01 -3.33104751e-01 1.26422245e-02 -3.46684102e+02] [ 3.33074350e-01 -9.42889826e-01 -4.50040999e-03 -2.51551077e+02] [ 1.34193328e-02 -3.22086537e-05 9.99909956e-01 -2.79648152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1166.826559995 meters 0.012418027061838316 Centerline is valid? [True, True] Translation: X:-346.92, Y:-252.20, Z:-1.79 [[-9.62478593e-01 2.71050022e-01 1.29168085e-02 -3.46924172e+02] [ 2.71026090e-01 9.62565262e-01 -3.60198523e-03 -2.52198719e+02] [-1.34095893e-02 3.39584215e-05 -9.99910087e-01 -1.78793716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1166.856559995 meters 0.012418027061838316 Centerline is valid? [True, True] Translation: X:-346.92, Y:-252.17, Z:-1.79 [[-9.79281303e-01 2.02077896e-01 1.31398042e-02 -3.46918847e+02] [ 2.02060173e-01 9.79369452e-01 -2.67652690e-03 -2.52171322e+02] [-1.34095897e-02 3.39583578e-05 -9.99910087e-01 -1.78793715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1166.886559995 meters 0.012458924069034275 Centerline is valid? [True, True] Translation: X:-346.91, Y:-252.14, Z:-1.79 [[-9.91421303e-01 1.29862392e-01 1.48175090e-02 -3.46914126e+02] [ 1.29847960e-01 9.91532026e-01 -1.93603065e-03 -2.52141945e+02] [-1.49434523e-02 4.60127561e-06 -9.99888341e-01 -1.78740531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1166.916559995 meters 0.012571994542456512 Centerline is valid? [True, True] Translation: X:-346.92, Y:-252.11, Z:-1.79 [[-9.98227528e-01 5.76216531e-02 1.48844890e-02 -3.46916759e+02] [ 5.76149868e-02 9.98338492e-01 -8.76643211e-04 -2.52112329e+02] [-1.49102719e-02 -1.75197481e-05 -9.99888836e-01 -1.78635492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1166.9465599950001 meters 0.012571994542456512 Centerline is valid? [True, True] Translation: X:-346.92, Y:-252.08, Z:-1.79 [[-9.99798006e-01 -1.34782892e-02 1.49091540e-02 -3.46920126e+02] [-1.34770521e-02 9.99909164e-01 1.83448730e-04 -2.52084398e+02] [-1.49102723e-02 -1.75197706e-05 -9.99888836e-01 -1.78635492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1166.9765599950001 meters 0.012832213233928597 Centerline is valid? [True, True] Translation: X:-346.93, Y:-252.05, Z:-1.79 [[-9.95979798e-01 -8.83765717e-02 1.46226994e-02 -3.46933988e+02] [-8.83681221e-02 9.96087133e-01 1.22422998e-03 -2.52054044e+02] [-1.46736760e-02 -7.28721521e-05 -9.99892333e-01 -1.78600417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1167.006559995 meters 0.012720898709760219 Centerline is valid? [True, True] Translation: X:-346.94, Y:-252.03, Z:-1.79 [[-9.86845967e-01 -1.61012650e-01 1.44901257e-02 -3.46943090e+02] [-1.60996768e-01 9.86952338e-01 2.26356678e-03 -2.52026283e+02] [-1.46655264e-02 -9.90716688e-05 -9.99892451e-01 -1.78746146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1167.036559995 meters 0.012826395287606818 Centerline is valid? [True, True] Translation: X:-346.97, Y:-252.00, Z:-1.79 [[-9.72382594e-01 -2.32984418e-01 1.37968271e-02 -3.46966392e+02] [-2.32962708e-01 9.72480461e-01 3.18275444e-03 -2.52001865e+02] [-1.41586769e-02 -1.19291186e-04 -9.99899754e-01 -1.78850504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1167.066559995 meters 0.01303122648916427 Centerline is valid? [True, True] Translation: X:-347.00, Y:-251.98, Z:-1.79 [[-9.52658068e-01 -3.03784062e-01 1.25637920e-02 -3.46999044e+02] [-3.03759444e-01 9.52740902e-01 3.86954140e-03 -2.51980835e+02] [-1.31455435e-02 -1.30020621e-04 -9.99913585e-01 -1.78913747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1167.096559995 meters 0.013171556091503101 Centerline is valid? [True, True] Translation: X:-347.05, Y:-251.97, Z:-1.79 [[-9.27340315e-01 -3.74045146e-01 1.14091753e-02 -3.47053829e+02] [-3.74018662e-01 9.27410486e-01 4.45314713e-03 -2.51969716e+02] [-1.22466669e-02 -1.37661617e-04 -9.99924997e-01 -1.79000727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1167.126559995 meters 0.01313501071918765 Centerline is valid? [True, True] Translation: X:-347.12, Y:-251.97, Z:-1.79 [[-8.96798696e-01 -4.42315291e-01 1.04538010e-02 -3.47121546e+02] [-4.42287103e-01 8.96859611e-01 4.99559484e-03 -2.51968825e+02] [-1.15852199e-02 -1.43538412e-04 -9.99932879e-01 -1.79134633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1167.156559995 meters 0.013672773657413942 Centerline is valid? [True, True] Translation: X:-347.19, Y:-251.97, Z:-1.79 [[-8.60574276e-01 -5.09247620e-01 8.87564568e-03 -3.47193172e+02] [-5.09222284e-01 8.60620032e-01 5.08185725e-03 -2.51973583e+02] [-1.02264822e-02 -1.46360941e-04 -9.99947698e-01 -1.79137403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1167.1865599950002 meters 0.013831387639483989 Centerline is valid? [True, True] Translation: X:-347.27, Y:-251.99, Z:-1.79 [[-8.19759861e-01 -5.72649067e-01 8.17413227e-03 -3.47271018e+02] [-5.72622406e-01 8.19800600e-01 5.52785526e-03 -2.51989129e+02] [-9.86667970e-03 -1.49177424e-04 -9.99951312e-01 -1.79187053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1167.2165599950001 meters 0.014098375281509966 Centerline is valid? [True, True] Translation: X:-347.35, Y:-252.02, Z:-1.79 [[-7.74155813e-01 -6.32949585e-01 7.58954387e-03 -3.47354406e+02] [-6.32921088e-01 7.74192999e-01 6.00798333e-03 -2.52015530e+02] [-9.67852229e-03 -1.52467150e-04 -9.99953151e-01 -1.79183680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1167.246559995 meters 0.0139375162200846 Centerline is valid? [True, True] Translation: X:-347.44, Y:-252.05, Z:-1.79 [[-7.23916850e-01 -6.89849388e-01 7.22606263e-03 -3.47440456e+02] [-6.89817214e-01 7.23952897e-01 6.66447231e-03 -2.52053523e+02] [-9.82881112e-03 -1.60138589e-04 -9.99951683e-01 -1.79267556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1167.276559995 meters 0.014475745180155397 Centerline is valid? [True, True] Translation: X:-347.53, Y:-252.10, Z:-1.79 [[-6.69630019e-01 -7.42667055e-01 6.42518213e-03 -3.47525556e+02] [-7.42635059e-01 6.69660826e-01 6.89546026e-03 -2.52097475e+02] [-9.42372394e-03 -1.54158322e-04 -9.99955584e-01 -1.79223659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1167.306559995 meters 0.014578372317994092 Centerline is valid? [True, True] Translation: X:-347.61, Y:-252.15, Z:-1.79 [[-6.10738010e-01 -7.91808031e-01 6.25503101e-03 -3.47610100e+02] [-7.91769369e-01 6.10770016e-01 7.82652393e-03 -2.52152629e+02] [-1.00174899e-02 -1.72586301e-04 -9.99949809e-01 -1.79193343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1167.336559995 meters 0.014288707458856045 Centerline is valid? [True, True] Translation: X:-347.69, Y:-252.22, Z:-1.79 [[-5.48330673e-01 -8.36241011e-01 5.86900007e-03 -3.47691751e+02] [-8.36196680e-01 5.48362050e-01 8.61247616e-03 -2.52217881e+02] [-1.04204427e-02 -1.85153524e-04 -9.99945689e-01 -1.79183533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1167.366559995 meters 0.014212819489462205 Centerline is valid? [True, True] Translation: X:-347.77, Y:-252.29, Z:-1.79 [[-4.82864859e-01 -8.75676485e-01 5.67644855e-03 -3.47771683e+02] [-8.75620877e-01 4.82898180e-01 9.87052538e-03 -2.52293596e+02] [-1.13845336e-02 -2.04287019e-04 -9.99935173e-01 -1.79119060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1167.396559995 meters 0.014546635832463435 Centerline is valid? [True, True] Translation: X:-347.85, Y:-252.38, Z:-1.79 [[-4.14392802e-01 -9.10082761e-01 5.28900228e-03 -3.47847258e+02] [-9.10015357e-01 4.14426494e-01 1.10784682e-02 -2.52376740e+02] [-1.22742256e-02 -2.22235828e-04 -9.99924644e-01 -1.79008563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1167.426559995 meters 0.01509487697437006 Centerline is valid? [True, True] Translation: X:-347.92, Y:-252.47, Z:-1.79 [[-3.43403106e-01 -9.39176837e-01 4.60180100e-03 -3.47917078e+02] [-9.39101412e-01 3.43433858e-01 1.19047500e-02 -2.52466983e+02] [-1.27610797e-02 -2.33429715e-04 -9.99918547e-01 -1.78888642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1167.4565599950001 meters 0.014893507222336542 Centerline is valid? [True, True] Translation: X:-347.98, Y:-252.56, Z:-1.79 [[-2.70591184e-01 -9.62686348e-01 3.92518035e-03 -3.47977461e+02] [-9.62597870e-01 2.70619540e-01 1.30539321e-02 -2.52560788e+02] [-1.36290727e-02 -2.46091301e-04 -9.99907090e-01 -1.78876530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1167.486559995 meters 0.014612087317164128 Centerline is valid? [True, True] Translation: X:-348.03, Y:-252.67, Z:-1.79 [[-1.97435613e-01 -9.80311301e-01 2.98853851e-03 -3.48031090e+02] [-9.80216064e-01 1.97458095e-01 1.36663088e-02 -2.52666332e+02] [-1.39873481e-02 -2.31197393e-04 -9.99902146e-01 -1.78866273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1167.516559995 meters 0.014308181064248207 Centerline is valid? [True, True] Translation: X:-348.08, Y:-252.77, Z:-1.79 [[-1.23004743e-01 -9.92404379e-01 1.83923596e-03 -3.48076938e+02] [-9.92316525e-01 1.23018329e-01 1.32062891e-02 -2.52774109e+02] [-1.33322389e-02 -2.00668032e-04 -9.99911102e-01 -1.78901452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1167.546559995 meters 0.013670948673151176 Centerline is valid? [True, True] Translation: X:-348.11, Y:-252.89, Z:-1.79 [[-4.83277922e-02 -9.98831209e-01 7.99866037e-04 -3.48113749e+02] [-9.98746549e-01 4.83341108e-02 1.30056022e-02 -2.52887571e+02] [-1.30290622e-02 -1.70331405e-04 -9.99915104e-01 -1.78987691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1167.576559995 meters 0.013380777720205747 Centerline is valid? [True, True] Translation: X:-348.14, Y:-253.00, Z:-1.79 [[ 2.66369289e-02 -9.99645154e-01 -2.02490257e-04 -3.48141894e+02] [-9.99561229e-01 -2.66373166e-02 1.29538732e-02 -2.53000517e+02] [-1.29546704e-02 -1.42649991e-04 -9.99916075e-01 -1.78995009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1167.606559995 meters 0.013251010527923561 Centerline is valid? [True, True] Translation: X:-348.16, Y:-253.12, Z:-1.79 [[ 1.00731342e-01 -9.94912953e-01 -1.18882531e-03 -3.48161178e+02] [-9.94830808e-01 -1.00738302e-01 1.27850706e-02 -2.53118235e+02] [-1.28397926e-02 -1.05177279e-04 -9.99917561e-01 -1.78921608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1167.636559995 meters 0.012778200224910625 Centerline is valid? [True, True] Translation: X:-348.17, Y:-253.23, Z:-1.79 [[ 1.74036810e-01 -9.84736877e-01 -2.11479468e-03 -3.48170300e+02] [-9.84659658e-01 -1.74049647e-01 1.23319914e-02 -2.53233580e+02] [-1.25118459e-02 -6.38674278e-05 -9.99921722e-01 -1.79005486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1167.666559995 meters 0.01278298586619122 Centerline is valid? [True, True] Translation: X:-348.17, Y:-253.34, Z:-1.79 [[ 2.42278159e-01 -9.70202363e-01 -2.94422407e-03 -3.48168423e+02] [-9.70131728e-01 -2.42296047e-01 1.17070765e-02 -2.53344547e+02] [-1.20716072e-02 1.99162351e-05 -9.99927135e-01 -1.78984390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1167.6965599950001 meters 0.0131134014885917 Centerline is valid? [True, True] Translation: X:-348.16, Y:-253.46, Z:-1.79 [[ 3.13279428e-01 -9.49653768e-01 -3.70419086e-03 -3.48160193e+02] [-9.49589501e-01 -3.13301321e-01 1.10481693e-02 -2.53459060e+02] [-1.16524635e-02 5.62965873e-05 -9.99932106e-01 -1.78998690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1167.7265599950001 meters 0.013323369282723497 Centerline is valid? [True, True] Translation: X:-348.14, Y:-253.57, Z:-1.79 [[ 3.82393234e-01 -9.23988530e-01 -4.53985336e-03 -3.48143594e+02] [-9.23926307e-01 -3.82420171e-01 1.07234591e-02 -2.53574379e+02] [-1.16444847e-02 9.39117463e-05 -9.99932196e-01 -1.79076757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1167.756559995 meters 0.01386336814609796 Centerline is valid? [True, True] Translation: X:-348.12, Y:-253.69, Z:-1.79 [[ 4.49936499e-01 -8.93045055e-01 -5.26086873e-03 -3.48118089e+02] [-8.92987144e-01 -4.49967238e-01 1.01708281e-02 -2.53690851e+02] [-1.14502263e-02 1.21661370e-04 -9.99934437e-01 -1.79118935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1167.786559995 meters 0.0143078157758077 Centerline is valid? [True, True] Translation: X:-348.09, Y:-253.80, Z:-1.79 [[ 5.15523883e-01 -8.56857453e-01 -5.51647752e-03 -3.48086578e+02] [-8.56811097e-01 -5.15553380e-01 8.91385664e-03 -2.53801590e+02] [-1.04819431e-02 1.31273170e-04 -9.99945055e-01 -1.79143768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1167.816559995 meters 0.015145344228132587 Centerline is valid? [True, True] Translation: X:-348.05, Y:-253.91, Z:-1.79 [[ 5.77661373e-01 -8.16252370e-01 -6.27751621e-03 -3.48049403e+02] [-8.16207157e-01 -5.77695459e-01 8.59264425e-03 -2.53905686e+02] [-1.06402588e-02 1.60114995e-04 -9.99943378e-01 -1.79113492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1167.846559995 meters 0.015738406867093248 Centerline is valid? [True, True] Translation: X:-348.00, Y:-254.01, Z:-1.79 [[ 6.37624135e-01 -7.70314990e-01 -7.09069170e-03 -3.48002118e+02] [-7.70270381e-01 -6.37663536e-01 8.29186056e-03 -2.54009436e+02] [-1.09088200e-02 1.74659377e-04 -9.99940482e-01 -1.79078238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1167.876559995 meters 0.014474298938187047 Centerline is valid? [True, True] Translation: X:-347.95, Y:-254.11, Z:-1.79 [[ 6.93799536e-01 -7.20123504e-01 -8.02143496e-03 -3.47952553e+02] [-7.20078577e-01 -6.93845878e-01 8.04619413e-03 -2.54107931e+02] [-1.13598931e-02 1.93617710e-04 -9.99935456e-01 -1.79208890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1167.906559995 meters 0.016547097442943103 Centerline is valid? [True, True] Translation: X:-347.90, Y:-254.19, Z:-1.79 [[ 7.46211972e-01 -6.65648828e-01 -8.90680105e-03 -3.47896357e+02] [-6.65604694e-01 -7.46265097e-01 7.66791360e-03 -2.54194072e+02] [-1.17509725e-02 2.06519656e-04 -9.99930934e-01 -1.78961770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1167.9365599950002 meters 0.014878569503113868 Centerline is valid? [True, True] Translation: X:-347.90, Y:-254.20, Z:-1.79 [[ 7.95994723e-01 -6.05229314e-01 -9.48039558e-03 -3.47901844e+02] [-6.05189456e-01 -7.96051151e-01 6.94891469e-03 -2.54204317e+02] [-1.17525667e-02 2.06136028e-04 -9.99930915e-01 -1.79152322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1167.9665599950001 meters 0.014981378531744638 Centerline is valid? [True, True] Translation: X:-347.90, Y:-254.21, Z:-1.79 [[ 8.40868680e-01 -5.41142038e-01 -1.02546681e-02 -3.47904957e+02] [-5.41104854e-01 -8.40931180e-01 6.34725889e-03 -2.54211820e+02] [-1.20582388e-02 2.11639505e-04 -9.99927275e-01 -1.79080858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1167.996559995 meters 0.014321541164428896 Centerline is valid? [True, True] Translation: X:-347.91, Y:-254.23, Z:-1.79 [[ 8.80951463e-01 -4.73071527e-01 -1.13070551e-02 -3.47909036e+02] [-4.73035652e-01 -8.81023998e-01 5.82982178e-03 -2.54225257e+02] [-1.27197096e-02 2.12850139e-04 -9.99919079e-01 -1.79133140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1168.026559995 meters 0.01670956602087198 Centerline is valid? [True, True] Translation: X:-347.91, Y:-254.23, Z:-1.79 [[ 9.15549686e-01 -4.02045996e-01 -1.13044189e-02 -3.47910181e+02] [-4.02017991e-01 -9.15619451e-01 4.74931842e-03 -2.54231975e+02] [-1.22599903e-02 1.96342789e-04 -9.99924824e-01 -1.78783562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1168.056559995 meters 0.014135937195076125 Centerline is valid? [True, True] Translation: X:-347.91, Y:-254.25, Z:-1.79 [[ 9.44533200e-01 -3.28219257e-01 -1.13645750e-02 -3.47912199e+02] [-3.28197777e-01 -9.44601549e-01 3.75931120e-03 -2.54246244e+02] [-1.19688735e-02 1.79034004e-04 -9.99928355e-01 -1.79125067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1168.086559995 meters 0.01371904606061444 Centerline is valid? [True, True] Translation: X:-347.91, Y:-254.26, Z:-1.79 [[ 9.67661312e-01 -2.52001991e-01 -1.12509003e-02 -3.47912731e+02] [-2.51986836e-01 -9.67726703e-01 2.76810435e-03 -2.54258314e+02] [-1.15853645e-02 1.56491287e-04 -9.99932875e-01 -1.79186157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1168.116559995 meters 0.013789939489367475 Centerline is valid? [True, True] Translation: X:-347.91, Y:-254.27, Z:-1.79 [[ 9.84708270e-01 -1.73864123e-01 -1.09950224e-02 -3.47914296e+02] [-1.73854785e-01 -9.84769643e-01 1.80671857e-03 -2.54267969e+02] [-1.11416878e-02 1.32446538e-04 -9.99937921e-01 -1.79174703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1168.146559995 meters 0.012879325724868716 Centerline is valid? [True, True] Translation: X:-347.92, Y:-254.28, Z:-1.79 [[ 9.95693043e-01 -9.21733892e-02 -9.97145387e-03 -3.47916470e+02] [-9.21695506e-02 -9.95742969e-01 8.44803539e-04 -2.54281006e+02] [-1.00068735e-02 7.78994152e-05 -9.99949927e-01 -1.79254617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1168.176559995 meters 0.012524672155163412 Centerline is valid? [True, True] Translation: X:-347.92, Y:-254.29, Z:-1.79 [[ 9.99890908e-01 -1.10726746e-02 -9.77592795e-03 -3.47917507e+02] [-1.10726127e-02 -9.99938695e-01 6.04594117e-05 -2.54293177e+02] [-9.77599808e-03 4.77922476e-05 -9.99952213e-01 -1.79283112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1168.2065599950001 meters 0.012328197448938066 Centerline is valid? [True, True] Translation: X:-347.92, Y:-254.30, Z:-1.79 [[ 9.97497039e-01 6.99883509e-02 -1.00642254e-02 -3.47918142e+02] [ 6.99845704e-02 -9.97547809e-01 -7.27762555e-04 -2.54304569e+02] [-1.00904809e-02 2.16005014e-05 -9.99949090e-01 -1.79254265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1168.236559995 meters 0.012300543194470173 Centerline is valid? [True, True] Translation: X:-347.92, Y:-254.32, Z:-1.79 [[ 9.88483983e-01 1.50971149e-01 -1.03502516e-02 -3.47916531e+02] [ 1.50962981e-01 -9.88538169e-01 -1.57041099e-03 -2.54316183e+02] [-1.04687055e-02 -1.01787264e-05 -9.99945202e-01 -1.79203679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1168.266559995 meters 0.012355453274423814 Centerline is valid? [True, True] Translation: X:-347.91, Y:-254.33, Z:-1.79 [[ 9.72904993e-01 2.30973817e-01 -1.03426970e-02 -3.47912855e+02] [ 2.30961247e-01 -9.72959965e-01 -2.41013296e-03 -2.54328161e+02] [-1.06197077e-02 -4.39318108e-05 -9.99943609e-01 -1.79160510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1168.296559995 meters 0.012545980471221909 Centerline is valid? [True, True] Translation: X:-347.91, Y:-254.34, Z:-1.79 [[ 9.50940800e-01 3.09194521e-01 -1.05044123e-02 -3.47908556e+02] [ 3.09176561e-01 -9.50998813e-01 -3.33352510e-03 -2.54339838e+02] [-1.10203913e-02 -7.77330309e-05 -9.99939271e-01 -1.79117443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1168.326559995 meters 0.013135937858368033 Centerline is valid? [True, True] Translation: X:-347.90, Y:-254.35, Z:-1.79 [[ 9.21993569e-01 3.87084210e-01 -9.67847562e-03 -3.47903992e+02] [ 3.87064288e-01 -9.22044359e-01 -3.92911465e-03 -2.54353057e+02] [-1.04448821e-02 -1.23573840e-04 -9.99945443e-01 -1.79104966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1168.356559995 meters 0.01347852538051659 Centerline is valid? [True, True] Translation: X:-347.90, Y:-254.36, Z:-1.79 [[ 8.87982642e-01 4.59791002e-01 -8.89176119e-03 -3.47897937e+02] [ 4.59769492e-01 -8.88027148e-01 -4.44950041e-03 -2.54362080e+02] [-9.94196559e-03 -1.37081400e-04 -9.99950568e-01 -1.79188216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1168.386559995 meters 0.01375806231548822 Centerline is valid? [True, True] Translation: X:-347.89, Y:-254.37, Z:-1.79 [[ 8.48552205e-01 5.29055303e-01 -7.72284934e-03 -3.47891991e+02] [ 5.29034852e-01 -8.48587336e-01 -4.65381187e-03 -2.54370268e+02] [-9.01563600e-03 -1.36654137e-04 -9.99959349e-01 -1.79225065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1168.416559995 meters 0.01392975325712018 Centerline is valid? [True, True] Translation: X:-347.88, Y:-254.38, Z:-1.79 [[ 8.04013687e-01 5.94572042e-01 -6.78807036e-03 -3.47884638e+02] [ 5.94552251e-01 -8.04042330e-01 -4.85309036e-03 -2.54377064e+02] [-8.34340776e-03 -1.33911439e-04 -9.99965184e-01 -1.79259217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1168.4465599950001 meters 0.014022626359320074 Centerline is valid? [True, True] Translation: X:-347.88, Y:-254.38, Z:-1.79 [[ 7.54589979e-01 6.56168462e-01 -6.07568348e-03 -3.47877366e+02] [ 6.56148598e-01 -7.54614426e-01 -5.10735406e-03 -2.54383280e+02] [-7.93608306e-03 -1.32593001e-04 -9.99968500e-01 -1.79314982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1168.4765599950001 meters 0.014100563665060765 Centerline is valid? [True, True] Translation: X:-347.87, Y:-254.39, Z:-1.79 [[ 7.00687103e-01 7.13447703e-01 -5.47352727e-03 -3.47869522e+02] [ 7.13427379e-01 -7.00708469e-01 -5.38663177e-03 -2.54388912e+02] [-7.67842697e-03 -1.30620805e-04 -9.99970512e-01 -1.79293692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1168.506559995 meters 0.013954702530273975 Centerline is valid? [True, True] Translation: X:-347.86, Y:-254.39, Z:-1.79 [[ 6.42519268e-01 7.66255158e-01 -4.69283213e-03 -3.47861154e+02] [ 7.66236109e-01 -6.42536394e-01 -5.40445995e-03 -2.54394462e+02] [-7.15651075e-03 -1.23347776e-04 -9.99974384e-01 -1.79283005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1168.536559995 meters 0.014153768947368417 Centerline is valid? [True, True] Translation: X:-347.85, Y:-254.40, Z:-1.79 [[ 5.80358628e-01 8.14349266e-01 -4.37461130e-03 -3.47853187e+02] [ 8.14327781e-01 -5.80375101e-01 -5.91676181e-03 -2.54399838e+02] [-7.35722611e-03 -1.28523748e-04 -9.99972927e-01 -1.79262216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1168.566559995 meters 0.014437455200797145 Centerline is valid? [True, True] Translation: X:-347.85, Y:-254.40, Z:-1.79 [[ 5.14688430e-01 8.57369171e-01 -3.73171099e-03 -3.47845648e+02] [ 8.57348361e-01 -5.14701943e-01 -5.97471032e-03 -2.54404197e+02] [-7.04325133e-03 -1.24262027e-04 -9.99975188e-01 -1.79237365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1168.596559995 meters 0.015104416635597862 Centerline is valid? [True, True] Translation: X:-347.84, Y:-254.41, Z:-1.79 [[ 4.45616650e-01 8.95217216e-01 -3.45514100e-03 -3.47838970e+02] [ 8.95192613e-01 -4.45630025e-01 -6.63825512e-03 -2.54407578e+02] [-7.48239483e-03 -1.34899694e-04 -9.99971998e-01 -1.79218426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1168.626559995 meters 0.014457378210632062 Centerline is valid? [True, True] Translation: X:-347.83, Y:-254.41, Z:-1.79 [[ 3.74252932e-01 9.27321495e-01 -3.09634879e-03 -3.47832069e+02] [ 9.27292826e-01 -3.74265713e-01 -7.29322931e-03 -2.54408520e+02] [-7.92202550e-03 -1.41709565e-04 -9.99968610e-01 -1.79233175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1168.656559995 meters 0.014446144412655983 Centerline is valid? [True, True] Translation: X:-347.82, Y:-254.41, Z:-1.79 [[ 3.00463834e-01 9.53789485e-01 -2.66514740e-03 -3.47823528e+02] [ 9.53756285e-01 -3.00475616e-01 -7.95943474e-03 -2.54410071e+02] [-8.39243697e-03 -1.50378807e-04 -9.99964772e-01 -1.79168524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1168.6865599950002 meters 0.01423406534299708 Centerline is valid? [True, True] Translation: X:-347.81, Y:-254.41, Z:-1.79 [[ 2.25239460e-01 9.74300296e-01 -2.47379111e-03 -3.47813826e+02] [ 9.74249929e-01 -2.25252974e-01 -9.90824451e-03 -2.54411620e+02] [-1.02108344e-02 -1.78363165e-04 -9.99947852e-01 -1.79004930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1168.7165599950001 meters 0.014157214799209174 Centerline is valid? [True, True] Translation: X:-347.81, Y:-254.41, Z:-1.79 [[ 1.48484898e-01 9.88912963e-01 -1.84024463e-03 -3.47805097e+02] [ 9.88852158e-01 -1.48496178e-01 -1.09678670e-02 -2.54411583e+02] [-1.11195352e-02 -1.91167257e-04 -9.99938158e-01 -1.78952211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1168.746559995 meters 0.01465338945646825 Centerline is valid? [True, True] Translation: X:-347.80, Y:-254.41, Z:-1.79 [[ 7.10649316e-02 9.97471210e-01 -9.80101490e-04 -3.47796465e+02] [ 9.97409164e-01 -7.10714443e-02 -1.11270140e-02 -2.54412546e+02] [-1.11685334e-02 -1.86821715e-04 -9.99937613e-01 -1.78835504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1168.776559995 meters 0.01465338945646825 Centerline is valid? [True, True] Translation: X:-347.79, Y:-254.41, Z:-1.79 [[-7.30955794e-03 9.99973279e-01 -1.05186271e-04 -3.47791244e+02] [ 9.99910913e-01 7.30792714e-03 -1.11696009e-02 -2.54412136e+02] [-1.11685338e-02 -1.86821746e-04 -9.99937613e-01 -1.78835504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1168.806559995 meters 0.014701211192879277 Centerline is valid? [True, True] Translation: X:-347.79, Y:-254.41, Z:-1.79 [[-8.46683344e-02 9.96408869e-01 7.99765589e-04 -3.47787164e+02] [ 9.96341710e-01 8.46719143e-02 -1.15699230e-02 -2.54412390e+02] [-1.15960916e-02 -1.82766299e-04 -9.99932747e-01 -1.78754176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1168.836559995 meters 0.014034589606454515 Centerline is valid? [True, True] Translation: X:-347.78, Y:-254.41, Z:-1.79 [[-1.61255403e-01 9.86911093e-01 1.78595683e-03 -3.47784004e+02] [ 9.86837852e-01 1.61265196e-01 -1.20245686e-02 -2.54411009e+02] [-1.21551929e-02 -1.76576852e-04 -9.99926108e-01 -1.78813275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1168.866559995 meters 0.014041707491500554 Centerline is valid? [True, True] Translation: X:-347.78, Y:-254.41, Z:-1.79 [[-2.35959803e-01 9.71759017e-01 2.71725932e-03 -3.47780110e+02] [ 9.71687102e-01 2.35975401e-01 -1.18231529e-02 -2.54411019e+02] [-1.21304618e-02 -1.49463001e-04 -9.99926412e-01 -1.78702763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1168.896559995 meters 0.012655753308330929 Centerline is valid? [True, True] Translation: X:-347.78, Y:-254.41, Z:-1.79 [[-3.06024519e-01 9.52016915e-01 3.57599858e-03 -3.47778652e+02] [ 9.51948842e-01 3.06045401e-01 -1.13848518e-02 -2.54409681e+02] [-1.19329894e-02 -7.98760826e-05 -9.99928796e-01 -1.78941405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1168.926559995 meters 0.012655753308330929 Centerline is valid? [True, True] Translation: X:-347.77, Y:-254.41, Z:-1.79 [[-3.79656711e-01 9.25116705e-01 4.45686227e-03 -3.47770289e+02] [ 9.25050477e-01 3.79682862e-01 -1.10697337e-02 -2.54406888e+02] [-1.19329898e-02 -7.98761193e-05 -9.99928796e-01 -1.78941405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1168.9565599950001 meters 0.01248884725787117 Centerline is valid? [True, True] Translation: X:-347.77, Y:-254.41, Z:-1.79 [[-4.47867205e-01 8.94084714e-01 5.24318812e-03 -3.47765286e+02] [ 8.94022455e-01 4.47897893e-01 -1.05511960e-02 -2.54405176e+02] [-1.17820760e-02 -3.80067614e-05 -9.99930588e-01 -1.78939662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1168.986559995 meters 0.01262860023108618 Centerline is valid? [True, True] Translation: X:-347.76, Y:-254.41, Z:-1.79 [[-5.09337132e-01 8.60549882e-01 5.43945957e-03 -3.47764047e+02] [ 8.60501953e-01 5.09366173e-01 -9.08245396e-03 -2.54405047e+02] [-1.05865814e-02 5.46345322e-05 -9.99943959e-01 -1.79060253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1169.016559995 meters 0.012852625496015431 Centerline is valid? [True, True] Translation: X:-347.76, Y:-254.40, Z:-1.79 [[-5.71620209e-01 8.20498702e-01 5.67597707e-03 -3.47757653e+02] [ 8.20459863e-01 5.71648381e-01 -7.98385045e-03 -2.54401561e+02] [-9.79540203e-03 9.31811058e-05 -9.99952020e-01 -1.79199481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1169.046559995 meters 0.013860546263007045 Centerline is valid? [True, True] Translation: X:-347.75, Y:-254.40, Z:-1.79 [[-6.30632835e-01 7.76059156e-01 5.86639170e-03 -3.47752205e+02] [ 7.76027452e-01 6.30660107e-01 -7.01598407e-03 -2.54399070e+02] [-9.14451789e-03 1.27971078e-04 -9.99958180e-01 -1.79211138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1169.076559995 meters 0.014873434775981043 Centerline is valid? [True, True] Translation: X:-347.75, Y:-254.40, Z:-1.79 [[-6.86463878e-01 7.27140169e-01 5.87532844e-03 -3.47748601e+02] [ 7.27115418e-01 6.86489003e-01 -6.00141996e-03 -2.54398224e+02] [-8.39722189e-03 1.52283877e-04 -9.99964731e-01 -1.79263606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1169.106559995 meters 0.015157178938205564 Centerline is valid? [True, True] Translation: X:-347.74, Y:-254.39, Z:-1.79 [[-7.38753271e-01 6.73950049e-01 5.91058905e-03 -3.47742239e+02] [ 6.73930324e-01 7.38776896e-01 -5.15920452e-03 -2.54393506e+02] [-7.84365277e-03 1.71945979e-04 -9.99969224e-01 -1.79310912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1169.136559995 meters 0.01672684627649819 Centerline is valid? [True, True] Translation: X:-347.72, Y:-254.38, Z:-1.79 [[-7.80667230e-01 6.24917633e-01 6.05218305e-03 -3.47724094e+02] [ 6.24900953e-01 7.80690660e-01 -4.57087690e-03 -2.54378751e+02] [-7.58130435e-03 2.13681154e-04 -9.99971239e-01 -1.79309888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1169.166559995 meters 0.018118626408466808 Centerline is valid? [True, True] Translation: X:-347.71, Y:-254.36, Z:-1.79 [[-8.21812301e-01 5.69719622e-01 6.64029630e-03 -3.47708210e+02] [ 5.69703348e-01 8.21839093e-01 -4.31279583e-03 -2.54359689e+02] [-7.91433950e-03 2.38690364e-04 -9.99968653e-01 -1.79281123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1169.1965599950001 meters 0.017578441401873122 Centerline is valid? [True, True] Translation: X:-347.32, Y:-253.77, Z:-2.79 [[-8.18696146e-01 -5.74188945e-01 6.60876085e-03 -3.47315805e+02] [ 5.74167953e-01 -8.18722787e-01 -4.91518918e-03 -2.53770486e+02] [ 8.23299040e-03 -2.29507742e-04 9.99966082e-01 -2.79174861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1169.2265599950001 meters 0.018147247661608867 Centerline is valid? [True, True] Translation: X:-347.74, Y:-254.34, Z:-1.79 [[-8.22756429e-01 5.68342853e-01 7.63282568e-03 -3.47744004e+02] [ 5.68321642e-01 8.22791782e-01 -4.91880111e-03 -2.54339133e+02] [-9.07579170e-03 2.90924786e-04 -9.99958772e-01 -1.79219849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1169.256559995 meters 0.01816644801201781 Centerline is valid? [True, True] Translation: X:-347.35, Y:-253.74, Z:-2.79 [[-8.20129874e-01 -5.72111835e-01 8.66242874e-03 -3.47354200e+02] [ 5.72076789e-01 -8.20175585e-01 -6.33699722e-03 -2.53744175e+02] [ 1.07301837e-02 -2.41586311e-04 9.99942401e-01 -2.79409834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1169.286559995 meters 0.01789429722134505 Centerline is valid? [True, True] Translation: X:-347.37, Y:-253.77, Z:-2.79 [[-7.78682558e-01 -6.27360384e-01 8.51017846e-03 -3.47370398e+02] [ 6.27318306e-01 -7.78728993e-01 -7.27316234e-03 -2.53770808e+02] [ 1.11900166e-02 -3.24893918e-04 9.99937337e-01 -2.79460240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1169.316559995 meters 0.0173542220699115 Centerline is valid? [True, True] Translation: X:-347.84, Y:-254.31, Z:-1.79 [[-7.88239579e-01 6.15299605e-01 9.20661930e-03 -3.47836526e+02] [ 6.15262091e-01 7.88293286e-01 -6.80112055e-03 -2.54310276e+02] [-1.14422430e-02 3.03571439e-04 -9.99934490e-01 -1.78927854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1169.346559995 meters 0.016348768534984327 Centerline is valid? [True, True] Translation: X:-347.82, Y:-254.29, Z:-1.79 [[-8.31324987e-01 5.55696111e-01 1.00298679e-02 -3.47819410e+02] [ 5.55659749e-01 8.31385441e-01 -6.36329257e-03 -2.54285076e+02] [-1.18747431e-02 2.83229762e-04 -9.99929453e-01 -1.78876690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1169.376559995 meters 0.015837043797126797 Centerline is valid? [True, True] Translation: X:-347.80, Y:-254.26, Z:-1.79 [[-8.70100793e-01 4.92751795e-01 1.09671486e-02 -3.47804560e+02] [ 4.92716381e-01 8.70169870e-01 -5.91323796e-03 -2.54259800e+02] [-1.24570409e-02 2.58580735e-04 -9.99922375e-01 -1.78826903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1169.406559995 meters 0.014624625438150535 Centerline is valid? [True, True] Translation: X:-347.79, Y:-254.23, Z:-1.79 [[-9.04065483e-01 4.27239568e-01 1.14871619e-02 -3.47794026e+02] [ 4.27208225e-01 9.04138430e-01 -5.17989221e-03 -2.54230567e+02] [-1.25990395e-02 2.24448301e-04 -9.99920604e-01 -1.78840515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1169.4365599950002 meters 0.013561059061864611 Centerline is valid? [True, True] Translation: X:-347.78, Y:-254.20, Z:-1.79 [[-9.34180356e-01 3.56607216e-01 1.17625182e-02 -3.47783112e+02] [ 3.56580960e-01 9.34254393e-01 -4.32990826e-03 -2.54201385e+02] [-1.25332608e-02 1.49374774e-04 -9.99921445e-01 -1.78857789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1169.4665599950001 meters 0.013176388303110737 Centerline is valid? [True, True] Translation: X:-347.78, Y:-254.17, Z:-1.79 [[-9.57828024e-01 2.87109543e-01 1.15579947e-02 -3.47775351e+02] [ 2.87090013e-01 9.57897750e-01 -3.35050957e-03 -2.54172964e+02] [-1.20333404e-02 1.08972894e-04 -9.99927591e-01 -1.78855779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1169.496559995 meters 0.01275286697949859 Centerline is valid? [True, True] Translation: X:-347.77, Y:-254.14, Z:-1.79 [[-9.76380937e-01 2.15760041e-01 1.13080368e-02 -3.47769932e+02] [ 2.15746436e-01 9.76446414e-01 -2.42397689e-03 -2.54143904e+02] [-1.15646893e-02 7.29438225e-05 -9.99933124e-01 -1.78955539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1169.526559995 meters 0.012469140216694683 Centerline is valid? [True, True] Translation: X:-347.62, Y:-253.48, Z:-2.79 [[-9.61706707e-01 -2.73908559e-01 9.71134334e-03 -3.47624990e+02] [ 2.73892892e-01 -9.61755725e-01 -2.93403598e-03 -2.53476687e+02] [ 1.01435976e-02 -1.61814163e-04 9.99948539e-01 -2.79344936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1169.556559995 meters 0.012469140216694683 Centerline is valid? [True, True] Translation: X:-347.82, Y:-254.13, Z:-1.79 [[-9.78360057e-01 2.06671595e-01 9.92219905e-03 -3.47820148e+02] [ 2.06661076e-01 9.78410370e-01 -2.08517874e-03 -2.54131168e+02] [-1.01389297e-02 1.04767399e-05 -9.99948600e-01 -1.79103009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1169.586559995 meters 0.012361934587124424 Centerline is valid? [True, True] Translation: X:-347.68, Y:-253.47, Z:-2.79 [[-9.62135500e-01 -2.72430260e-01 8.77682198e-03 -3.47680114e+02] [ 2.72418212e-01 -9.62175529e-01 -2.56321630e-03 -2.53467339e+02] [ 9.14314101e-03 -7.51952486e-05 9.99958198e-01 -2.79301579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1169.616559995 meters 0.012445304905817762 Centerline is valid? [True, True] Translation: X:-347.87, Y:-254.12, Z:-1.79 [[-9.80434946e-01 1.96693934e-01 7.66904006e-03 -3.47872241e+02] [ 1.96687592e-01 9.80464938e-01 -1.58006244e-03 -2.54115568e+02] [-7.83001359e-03 -4.07434091e-05 -9.99969344e-01 -1.79161908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1169.646559995 meters 0.012629762956548569 Centerline is valid? [True, True] Translation: X:-347.87, Y:-254.09, Z:-1.79 [[-9.92160764e-01 1.24730760e-01 7.69781891e-03 -3.47870733e+02] [ 1.24726575e-01 9.92190624e-01 -1.02329175e-03 -2.54086241e+02] [-7.76533970e-03 -5.51473408e-05 -9.99969848e-01 -1.79168038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1169.676559995 meters 0.012700235662187703 Centerline is valid? [True, True] Translation: X:-347.78, Y:-253.43, Z:-2.79 [[-9.78361342e-01 -2.06762877e-01 7.62867694e-03 -3.47779667e+02] [ 2.06757043e-01 -9.78391082e-01 -1.55431648e-03 -2.53426049e+02] [ 7.78520443e-03 5.65995296e-05 9.99969693e-01 -2.79273721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1169.7065599950001 meters 0.01287779496553389 Centerline is valid? [True, True] Translation: X:-347.92, Y:-254.08, Z:-1.79 [[-9.92995470e-01 1.17908477e-01 7.58865783e-03 -3.47923738e+02] [ 1.17904451e-01 9.93024464e-01 -9.77290124e-04 -2.54078039e+02] [-7.65095366e-03 -7.57081269e-05 -9.99970728e-01 -1.79141762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1169.736559995 meters 0.01304043907807985 Centerline is valid? [True, True] Translation: X:-347.93, Y:-254.05, Z:-1.79 [[-9.98939289e-01 4.54226764e-02 7.55491981e-03 -3.47931773e+02] [ 4.54207137e-02 9.98967854e-01 -4.31255049e-04 -2.54048810e+02] [-7.56671079e-03 -8.76477626e-05 -9.99971368e-01 -1.79129784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1169.766559995 meters 0.01380390519348803 Centerline is valid? [True, True] Translation: X:-347.89, Y:-253.39, Z:-2.79 [[-9.90413427e-01 -1.37886620e-01 8.27794225e-03 -3.47890523e+02] [ 1.37883056e-01 -9.90448009e-01 -1.00244333e-03 -2.53389922e+02] [ 8.33709494e-03 1.48554638e-04 9.99965235e-01 -2.79491630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1169.796559995 meters 0.013761422141402203 Centerline is valid? [True, True] Translation: X:-347.99, Y:-254.04, Z:-1.79 [[-9.99243656e-01 3.78763000e-02 8.80349175e-03 -3.47993400e+02] [ 3.78736974e-02 9.99282427e-01 -4.62218157e-04 -2.54043542e+02] [-8.81468172e-03 -1.28447779e-04 -9.99961142e-01 -1.78948383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1169.826559995 meters 0.013749782815773154 Centerline is valid? [True, True] Translation: X:-347.96, Y:-253.39, Z:-2.80 [[-9.90806121e-01 -1.34938072e-01 9.74405417e-03 -3.47956429e+02] [ 1.34933613e-01 -9.90854012e-01 -1.11659848e-03 -2.53386541e+02] [ 9.80560681e-03 2.08467828e-04 9.99951902e-01 -2.79581995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1169.856559995 meters 0.013901896301119144 Centerline is valid? [True, True] Translation: X:-348.06, Y:-254.04, Z:-1.79 [[-9.99415364e-01 3.22078453e-02 1.14710601e-02 -3.48061154e+02] [ 3.22036470e-02 9.99481177e-01 -5.50556389e-04 -2.54039890e+02] [-1.14828408e-02 -1.80824544e-04 -9.99934054e-01 -1.78696897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1169.886559995 meters 0.014097782524140207 Centerline is valid? [True, True] Translation: X:-348.07, Y:-254.01, Z:-1.79 [[-9.99172194e-01 -3.88558083e-02 1.20479604e-02 -3.48067143e+02] [-3.88552664e-02 9.99244810e-01 2.79137441e-04 -2.54012849e+02] [-1.20497080e-02 -1.89220342e-04 -9.99927382e-01 -1.78629001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1169.916559995 meters 0.014023315103870155 Centerline is valid? [True, True] Translation: X:-348.08, Y:-253.99, Z:-1.79 [[-9.93890214e-01 -1.09643787e-01 1.26681560e-02 -3.48075863e+02] [-1.09637394e-01 9.93970926e-01 1.20011912e-03 -2.53986668e+02] [-1.27233644e-02 -1.96116963e-04 -9.99919036e-01 -1.78603925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1169.9465599950001 meters 0.01400807370527498 Centerline is valid? [True, True] Translation: X:-348.08, Y:-253.96, Z:-1.79 [[-9.83537362e-01 -1.80241770e-01 1.29290935e-02 -3.48083345e+02] [-1.80228874e-01 9.83622318e-01 2.16531569e-03 -2.53960536e+02] [-1.31076252e-02 -2.00527072e-04 -9.99914071e-01 -1.78568915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1169.9765599950001 meters 0.014014764962691965 Centerline is valid? [True, True] Translation: X:-348.11, Y:-253.94, Z:-1.79 [[-9.68160960e-01 -2.49990822e-01 1.29979001e-02 -3.48107869e+02] [-2.49971062e-01 9.68248186e-01 3.14948488e-03 -2.53938269e+02] [-1.33725355e-02 -1.99890592e-04 -9.99910564e-01 -1.78528253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1170.006559995 meters 0.013649723963016482 Centerline is valid? [True, True] Translation: X:-348.29, Y:-253.30, Z:-2.80 [[-9.87810777e-01 1.55070966e-01 1.35227201e-02 -3.48285758e+02] [-1.55053268e-01 -9.87903307e-01 2.35390458e-03 -2.53296391e+02] [ 1.37241621e-02 2.28470374e-04 9.99905793e-01 -2.79889748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1170.036559995 meters 0.013076703512580026 Centerline is valid? [True, True] Translation: X:-348.24, Y:-253.98, Z:-1.79 [[-9.67142163e-01 -2.53899406e-01 1.30816053e-02 -3.48243760e+02] [-2.53878472e-01 9.67230616e-01 3.26442368e-03 -2.53975695e+02] [-1.34817644e-02 -1.63976185e-04 -9.99909104e-01 -1.78611839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1170.066559995 meters 0.01356679381997226 Centerline is valid? [True, True] Translation: X:-348.28, Y:-253.96, Z:-1.78 [[-9.46734906e-01 -3.21770057e-01 1.25319007e-02 -3.48284216e+02] [-3.21743830e-01 9.46817834e-01 4.11065082e-03 -2.53959546e+02] [-1.31881115e-02 -1.40365127e-04 -9.99913023e-01 -1.78494690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1170.096559995 meters 0.013202108558643202 Centerline is valid? [True, True] Translation: X:-348.34, Y:-253.95, Z:-1.79 [[-9.21109792e-01 -3.89133552e-01 1.14816703e-02 -3.48339880e+02] [-3.89104843e-01 9.21181343e-01 4.72818362e-03 -2.53953130e+02] [-1.24165954e-02 -1.12397287e-04 -9.99922905e-01 -1.78563727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1170.126559995 meters 0.012645235036910124 Centerline is valid? [True, True] Translation: X:-348.40, Y:-253.96, Z:-1.79 [[-8.90637306e-01 -4.54596768e-01 1.03425340e-02 -3.48404930e+02] [-4.54567222e-01 8.90697351e-01 5.18361253e-03 -2.53956011e+02] [-1.15685211e-02 -8.46582478e-05 -9.99933079e-01 -1.78790669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1170.156559995 meters 0.012602272541833569 Centerline is valid? [True, True] Translation: X:-348.48, Y:-253.97, Z:-1.79 [[-8.55372820e-01 -5.17934203e-01 9.02783010e-03 -3.48478139e+02] [-5.17906052e-01 8.55420457e-01 5.40024959e-03 -2.53967091e+02] [-1.05195645e-02 -5.63411272e-05 -9.99944666e-01 -1.78881607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1170.1865599950002 meters 0.012464526118923989 Centerline is valid? [True, True] Translation: X:-348.56, Y:-253.99, Z:-1.79 [[-8.15267153e-01 -5.79033683e-01 7.71128292e-03 -3.48560194e+02] [-5.79008165e-01 8.15303620e-01 5.43612906e-03 -2.53989400e+02] [-9.43473871e-03 -3.29983127e-05 -9.99955492e-01 -1.78896917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1170.2165599950001 meters 0.012383007363015782 Centerline is valid? [True, True] Translation: X:-348.64, Y:-254.02, Z:-1.79 [[-7.71633906e-01 -6.36039634e-01 5.89056412e-03 -3.48640838e+02] [-6.36021097e-01 7.71656390e-01 4.85595180e-03 -2.54021188e+02] [-7.63406925e-03 4.94000858e-07 -9.99970860e-01 -1.79100410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1170.246559995 meters 0.012283578007375635 Centerline is valid? [True, True] Translation: X:-348.73, Y:-254.07, Z:-1.79 [[-7.22795421e-01 -6.91041240e-01 5.36504735e-03 -3.48730897e+02] [-6.91022044e-01 7.22815332e-01 5.15085834e-03 -2.54066398e+02] [-7.43739402e-03 1.56508354e-05 -9.99972342e-01 -1.79143636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1170.276559995 meters 0.01234920687306138 Centerline is valid? [True, True] Translation: X:-348.81, Y:-254.12, Z:-1.79 [[-6.69549905e-01 -7.42751965e-01 4.73752058e-03 -3.48814937e+02] [-7.42733080e-01 6.69566665e-01 5.29655207e-03 -2.54115776e+02] [-7.10611031e-03 2.75926783e-05 -9.99974751e-01 -1.79158003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1170.306559995 meters 0.012650280741661381 Centerline is valid? [True, True] Translation: X:-348.90, Y:-254.18, Z:-1.79 [[-6.12641325e-01 -7.90350627e-01 4.06131368e-03 -3.48898823e+02] [-7.90332829e-01 6.12654785e-01 5.30406302e-03 -2.54175905e+02] [-6.68025279e-03 3.96986680e-05 -9.99977686e-01 -1.79122792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1170.336559995 meters 0.01285827189490332 Centerline is valid? [True, True] Translation: X:-348.98, Y:-254.25, Z:-1.79 [[-5.52189099e-01 -8.33711022e-01 3.62372650e-03 -3.48981664e+02] [-8.33692437e-01 5.52200986e-01 5.56703987e-03 -2.54247891e+02] [-6.64232785e-03 5.29853471e-05 -9.99977938e-01 -1.79127679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1170.366559995 meters 0.013223202283524764 Centerline is valid? [True, True] Translation: X:-349.06, Y:-254.33, Z:-1.79 [[-4.88711182e-01 -8.72439598e-01 3.24498524e-03 -3.49058679e+02] [-8.72419425e-01 4.88721950e-01 5.93314949e-03 -2.54325604e+02] [-6.76221007e-03 6.86083377e-05 -9.99977134e-01 -1.79125113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1170.396559995 meters 0.013824475606866591 Centerline is valid? [True, True] Translation: X:-349.13, Y:-254.41, Z:-1.79 [[-4.24617107e-01 -9.05368748e-01 2.78255135e-03 -3.49131793e+02] [-9.05347728e-01 4.24626212e-01 6.17017988e-03 -2.54414465e+02] [-6.76783227e-03 1.00787383e-04 -9.99977093e-01 -1.79136426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1170.426559995 meters 0.0145006462717439 Centerline is valid? [True, True] Translation: X:-349.20, Y:-254.51, Z:-1.79 [[-3.56030653e-01 -9.34471378e-01 2.32766945e-03 -3.49198881e+02] [-9.34449176e-01 3.56038242e-01 6.44270718e-03 -2.54507540e+02] [-6.84926479e-03 1.18712438e-04 -9.99976537e-01 -1.79104363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1170.4565599950001 meters 0.014684912293424716 Centerline is valid? [True, True] Translation: X:-349.26, Y:-254.61, Z:-1.79 [[-2.85426753e-01 -9.58398784e-01 1.82746232e-03 -3.49260187e+02] [-9.58376003e-01 2.85432571e-01 6.60937670e-03 -2.54607639e+02] [-6.85603587e-03 1.35096898e-04 -9.99976488e-01 -1.79108531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1170.486559995 meters 0.015875659585623248 Centerline is valid? [True, True] Translation: X:-349.31, Y:-254.72, Z:-1.79 [[-2.13054759e-01 -9.77039332e-01 1.34675499e-03 -3.49312683e+02] [-9.77014960e-01 2.13058959e-01 6.90277493e-03 -2.54716299e+02] [-7.03122082e-03 1.54869270e-04 -9.99975269e-01 -1.79055483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1170.516559995 meters 0.01609783201701621 Centerline is valid? [True, True] Translation: X:-349.36, Y:-254.83, Z:-1.79 [[-1.39257694e-01 -9.90255866e-01 7.83899654e-04 -3.49358452e+02] [-9.90232891e-01 1.39259804e-01 6.74747204e-03 -2.54828775e+02] [-6.79088948e-03 1.63394173e-04 -9.99976928e-01 -1.79100589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1170.546559995 meters 0.01710130813303769 Centerline is valid? [True, True] Translation: X:-349.39, Y:-254.95, Z:-1.79 [[-6.41510592e-02 -9.97940165e-01 2.61340015e-04 -3.49394504e+02] [-9.97917068e-01 6.41513531e-02 6.79187076e-03 -2.54945722e+02] [-6.79464594e-03 1.74910042e-04 -9.99976901e-01 -1.79070862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1170.576559995 meters 0.018329943210809538 Centerline is valid? [True, True] Translation: X:-349.42, Y:-255.06, Z:-1.79 [[ 1.11539132e-02 -9.99937757e-01 -2.69696387e-04 -3.49422262e+02] [-9.99913583e-01 -1.11555195e-02 6.95568474e-03 -2.55061670e+02] [-6.95826040e-03 1.92089977e-04 -9.99975773e-01 -1.79105668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1170.606559995 meters 0.01641979525113347 Centerline is valid? [True, True] Translation: X:-349.45, Y:-255.18, Z:-1.79 [[ 8.79202030e-02 -9.96127210e-01 -7.86848218e-04 -3.49445200e+02] [-9.96104305e-01 -8.79235194e-02 6.75784845e-03 -2.55184462e+02] [-6.80085919e-03 1.89631489e-04 -9.99976856e-01 -1.79240718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1170.636559995 meters 0.01745909207718529 Centerline is valid? [True, True] Translation: X:-349.45, Y:-255.31, Z:-1.79 [[ 1.64553222e-01 -9.86367447e-01 -1.22325583e-03 -3.49454619e+02] [-9.86347622e-01 -1.64557673e-01 6.25623130e-03 -2.55307672e+02] [-6.37223903e-03 1.77072459e-04 -9.99979682e-01 -1.79200569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1170.666559995 meters 0.01745909207718529 Centerline is valid? [True, True] Translation: X:-349.45, Y:-255.43, Z:-1.79 [[ 2.40061125e-01 -9.70756283e-01 -1.70165602e-03 -3.49454851e+02] [-9.70736860e-01 -2.40067091e-01 6.14338492e-03 -2.55430343e+02] [-6.37224112e-03 1.77072320e-04 -9.99979682e-01 -1.79200559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1170.6965599950001 meters 0.017529696181241623 Centerline is valid? [True, True] Translation: X:-349.45, Y:-255.55, Z:-1.79 [[ 3.14914485e-01 -9.49117368e-01 -2.25583656e-03 -3.49447280e+02] [-9.49096919e-01 -3.14922514e-01 6.23293473e-03 -2.55552876e+02] [-6.62620033e-03 1.78166102e-04 -9.99978031e-01 -1.79216885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1170.7265599950001 meters 0.01541335224325558 Centerline is valid? [True, True] Translation: X:-349.44, Y:-255.68, Z:-1.79 [[ 3.89920759e-01 -9.20844478e-01 -2.69254506e-03 -3.49435550e+02] [-9.20825184e-01 -3.89930024e-01 5.96296461e-03 -2.55678514e+02] [-6.54086720e-03 1.54279615e-04 -9.99978597e-01 -1.79314170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1170.756559995 meters 0.01507014472017835 Centerline is valid? [True, True] Translation: X:-349.41, Y:-255.80, Z:-1.79 [[ 4.61398597e-01 -8.87187998e-01 -2.96493320e-03 -3.49411883e+02] [-8.87171480e-01 -4.61408104e-01 5.41537431e-03 -2.55795858e+02] [-6.17249930e-03 1.31758066e-04 -9.99980941e-01 -1.79355526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1170.786559995 meters 0.014316668397990772 Centerline is valid? [True, True] Translation: X:-349.38, Y:-255.91, Z:-1.79 [[ 5.30147923e-01 -8.47899002e-01 -3.23473224e-03 -3.49383588e+02] [-8.47884481e-01 -5.30157779e-01 4.96352388e-03 -2.55906093e+02] [-5.92348541e-03 1.11277390e-04 -9.99982450e-01 -1.79376842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1170.816559995 meters 0.014252639307267697 Centerline is valid? [True, True] Translation: X:-349.34, Y:-256.01, Z:-1.79 [[ 5.95702593e-01 -8.03197873e-01 -3.40536880e-03 -3.49344885e+02] [-8.03185595e-01 -5.95712320e-01 4.44200055e-03 -2.56014427e+02] [-5.59642555e-03 8.90319178e-05 -9.99984336e-01 -1.79399677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1170.846559995 meters 0.013792248673893661 Centerline is valid? [True, True] Translation: X:-349.30, Y:-256.12, Z:-1.79 [[ 6.57472518e-01 -7.53470037e-01 -3.57658534e-03 -3.49297613e+02] [-7.53459457e-01 -6.57482243e-01 3.99333937e-03 -2.56121326e+02] [-5.36040291e-03 6.93011597e-05 -9.99985631e-01 -1.79388885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1170.876559995 meters 0.012482169045455828 Centerline is valid? [True, True] Translation: X:-349.25, Y:-256.22, Z:-1.79 [[ 7.16647634e-01 -6.97423544e-01 -4.07059404e-03 -3.49253875e+02] [-6.97412626e-01 -7.16659193e-01 3.90260437e-03 -2.56220720e+02] [-5.63899681e-03 4.20914860e-05 -9.99984100e-01 -1.79428595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1170.906559995 meters 0.012249168770941246 Centerline is valid? [True, True] Translation: X:-349.26, Y:-256.23, Z:-1.79 [[ 7.70614701e-01 -6.37284531e-01 -4.62700069e-03 -3.49259431e+02] [-6.37273269e-01 -7.70628592e-01 3.78873377e-03 -2.56231865e+02] [-5.98020045e-03 2.90099125e-05 -9.99982118e-01 -1.79410664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1170.9365599950002 meters 0.012081770463229276 Centerline is valid? [True, True] Translation: X:-349.26, Y:-256.24, Z:-1.79 [[ 8.19379095e-01 -5.73226814e-01 -5.37753207e-03 -3.49263401e+02] [-5.73214605e-01 -8.19396741e-01 3.74136751e-03 -2.56244429e+02] [-6.55098443e-03 1.68815912e-05 -9.99978542e-01 -1.79392295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1170.9665599950001 meters 0.012151106315728868 Centerline is valid? [True, True] Translation: X:-349.27, Y:-256.26, Z:-1.79 [[ 8.62365603e-01 -5.06254395e-01 -5.66174688e-03 -3.49265660e+02] [-5.06243544e-01 -8.62384188e-01 3.31455468e-03 -2.56256341e+02] [-6.56060886e-03 7.86486582e-06 -9.99978479e-01 -1.79335369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1170.996559995 meters 0.012078160563434071 Centerline is valid? [True, True] Translation: X:-349.27, Y:-256.27, Z:-1.79 [[ 8.99950176e-01 -4.35948200e-01 -6.23272436e-03 -3.49266570e+02] [-4.35937730e-01 -8.99971759e-01 3.02146246e-03 -2.56268866e+02] [-6.92647703e-03 -2.08596018e-06 -9.99976012e-01 -1.79349614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1171.026559995 meters 0.011970186000792329 Centerline is valid? [True, True] Translation: X:-349.27, Y:-256.28, Z:-1.79 [[ 9.31541044e-01 -3.63573416e-01 -6.75679059e-03 -3.49266743e+02] [-3.63563795e-01 -9.31565548e-01 2.64498016e-03 -2.56282212e+02] [-7.25603780e-03 -7.38314712e-06 -9.99973675e-01 -1.79382831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1171.056559995 meters 0.01203055743034378 Centerline is valid? [True, True] Translation: X:-349.27, Y:-256.30, Z:-1.79 [[ 9.57317652e-01 -2.88951213e-01 -7.07883316e-03 -3.49265493e+02] [-2.88943215e-01 -9.57343823e-01 2.14990282e-03 -2.56296890e+02] [-7.39809423e-03 -1.27591008e-05 -9.99972634e-01 -1.79410924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1171.086559995 meters 0.01199215393220097 Centerline is valid? [True, True] Translation: X:-349.26, Y:-256.31, Z:-1.79 [[ 9.76959699e-01 -2.13302262e-01 -7.20357272e-03 -3.49263127e+02] [-2.13296372e-01 -9.76986256e-01 1.58529730e-03 -2.56309899e+02] [-7.37593904e-03 -1.22756526e-05 -9.99972798e-01 -1.79431457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1171.116559995 meters 0.0120325674880823 Centerline is valid? [True, True] Translation: X:-349.26, Y:-256.32, Z:-1.79 [[ 9.90634521e-01 -1.36335540e-01 -7.47439766e-03 -3.49260090e+02] [-1.36331565e-01 -9.90662718e-01 1.04112875e-03 -2.56321690e+02] [-7.54654995e-03 -1.23817446e-05 -9.99971525e-01 -1.79429245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1171.146559995 meters 0.012137258962601588 Centerline is valid? [True, True] Translation: X:-349.26, Y:-256.33, Z:-1.79 [[ 9.98255644e-01 -5.85337649e-02 -7.71157172e-03 -3.49259806e+02] [-5.85319329e-02 -9.98285429e-01 4.63233322e-04 -2.56331226e+02] [-7.72546448e-03 -1.10520792e-05 -9.99970158e-01 -1.79404864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1171.176559995 meters 0.012029234198244506 Centerline is valid? [True, True] Translation: X:-349.26, Y:-256.34, Z:-1.79 [[ 9.99764138e-01 1.97884880e-02 -8.94899044e-03 -3.49256769e+02] [ 1.97878080e-02 -9.99804189e-01 -1.64532439e-04 -2.56341423e+02] [-8.95049397e-03 -1.25872727e-05 -9.99959944e-01 -1.79371978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1171.2065599950001 meters 0.012001231401992917 Centerline is valid? [True, True] Translation: X:-349.25, Y:-256.35, Z:-1.79 [[ 9.95145637e-01 9.79341240e-02 -9.69895177e-03 -3.49253509e+02] [ 9.79296001e-02 -9.95192900e-01 -9.41400105e-04 -2.56350758e+02] [-9.74452313e-03 -1.29842612e-05 -9.99952521e-01 -1.79358377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1171.236559995 meters 0.012013417715502933 Centerline is valid? [True, True] Translation: X:-349.25, Y:-256.36, Z:-1.79 [[ 9.84404129e-01 1.75642734e-01 -9.90656310e-03 -3.49249235e+02] [ 1.75633989e-01 -9.84453975e-01 -1.75276563e-03 -2.56359807e+02] [-1.00604160e-02 -1.44994739e-05 -9.99949393e-01 -1.79345116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1171.266559995 meters 0.012040317682628917 Centerline is valid? [True, True] Translation: X:-349.24, Y:-256.37, Z:-1.79 [[ 9.67583599e-01 2.52347044e-01 -1.01462992e-02 -3.49243569e+02] [ 2.52333357e-01 -9.67636796e-01 -2.62830904e-03 -2.56369376e+02] [-1.04811785e-02 -1.71410136e-05 -9.99945071e-01 -1.79321563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1171.296559995 meters 0.01209741577156262 Centerline is valid? [True, True] Translation: X:-349.24, Y:-256.38, Z:-1.79 [[ 9.44638290e-01 3.27946435e-01 -1.04707445e-02 -3.49238164e+02] [ 3.27926585e-01 -9.44696319e-01 -3.60825106e-03 -2.56378309e+02] [-1.10749869e-02 -2.51433780e-05 -9.99938670e-01 -1.79265185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1171.326559995 meters 0.0121314059115145 Centerline is valid? [True, True] Translation: X:-349.23, Y:-256.38, Z:-1.79 [[ 9.15793422e-01 4.01507710e-01 -1.06755220e-02 -3.49232133e+02] [ 4.01480867e-01 -9.15855642e-01 -4.64284553e-03 -2.56384762e+02] [-1.16413754e-02 -3.41304482e-05 -9.99932237e-01 -1.79219961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1171.356559995 meters 0.012311734426605382 Centerline is valid? [True, True] Translation: X:-349.23, Y:-256.39, Z:-1.79 [[ 8.80929048e-01 4.73113602e-01 -1.12929697e-02 -3.49225595e+02] [ 4.73075517e-01 -8.81001428e-01 -6.00325540e-03 -2.56391146e+02] [-1.27893442e-02 -5.39854204e-05 -9.99918212e-01 -1.79095532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1171.386559995 meters 0.012310101636976208 Centerline is valid? [True, True] Translation: X:-349.22, Y:-256.40, Z:-1.79 [[ 8.40940238e-01 5.41011272e-01 -1.12392112e-02 -3.49218059e+02] [ 5.40963950e-01 -8.41015339e-01 -7.15576452e-03 -2.56396077e+02] [-1.33236983e-02 -6.24377666e-05 -9.99911234e-01 -1.79135625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1171.416559995 meters 0.012372482093064205 Centerline is valid? [True, True] Translation: X:-349.21, Y:-256.40, Z:-1.79 [[ 7.95579199e-01 6.05739570e-01 -1.15460753e-02 -3.49210365e+02] [ 6.05677197e-01 -7.95662974e-01 -8.69281186e-03 -2.56399855e+02] [-1.44523647e-02 -7.73741967e-05 -9.99895556e-01 -1.79085910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1171.4465599950001 meters 0.01261893808803868 Centerline is valid? [True, True] Translation: X:-349.20, Y:-256.40, Z:-1.79 [[ 7.45433603e-01 6.66487057e-01 -1.11241927e-02 -3.49204345e+02] [ 6.66414572e-01 -7.45516597e-01 -9.82966791e-03 -2.56403258e+02] [-1.48446167e-02 -8.59593273e-05 -9.99889809e-01 -1.78968660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1171.4765599950001 meters 0.012601668691396603 Centerline is valid? [True, True] Translation: X:-349.20, Y:-256.40, Z:-1.79 [[ 6.90768949e-01 7.22998810e-01 -1.05347255e-02 -3.49198207e+02] [ 7.22916777e-01 -6.90849269e-01 -1.08913514e-02 -2.56403483e+02] [-1.51523415e-02 -9.23224720e-05 -9.99885193e-01 -1.78991423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1171.506559995 meters 0.012461413180526132 Centerline is valid? [True, True] Translation: X:-349.19, Y:-256.41, Z:-1.79 [[ 6.31926828e-01 7.74962653e-01 -1.00682984e-02 -3.49189696e+02] [ 7.74866783e-01 -6.32007023e-01 -1.21898374e-02 -2.56406245e+02] [-1.58099040e-02 -9.85046996e-05 -9.99875011e-01 -1.79092699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1171.536559995 meters 0.012474815889192626 Centerline is valid? [True, True] Translation: X:-349.18, Y:-256.41, Z:-1.79 [[ 5.69055154e-01 8.22251242e-01 -8.89528090e-03 -3.49182283e+02] [ 8.22153564e-01 -5.69124665e-01 -1.26740791e-02 -2.56408878e+02] [-1.54838010e-02 -1.01036859e-04 -9.99880114e-01 -1.79149882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1171.566559995 meters 0.012424555549292938 Centerline is valid? [True, True] Translation: X:-349.17, Y:-256.41, Z:-1.79 [[ 5.02805278e-01 8.64364175e-01 -7.83742960e-03 -3.49174093e+02] [ 8.64262360e-01 -5.02866346e-01 -1.32669126e-02 -2.56410136e+02] [-1.54086235e-02 -1.02921735e-04 -9.99881275e-01 -1.79215187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1171.596559995 meters 0.01253224808483942 Centerline is valid? [True, True] Translation: X:-349.17, Y:-256.41, Z:-1.79 [[ 4.33622775e-01 9.01070495e-01 -6.57658894e-03 -3.49166907e+02] [ 9.00970328e-01 -4.33672633e-01 -1.34355877e-02 -2.56411093e+02] [-1.49584983e-02 -9.93346762e-05 -9.99888111e-01 -1.79221451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1171.626559995 meters 0.012454395247558644 Centerline is valid? [True, True] Translation: X:-349.16, Y:-256.41, Z:-1.79 [[ 3.61889322e-01 9.32205991e-01 -5.30178504e-03 -3.49158515e+02] [ 9.32109714e-01 -3.61928144e-01 -1.33977197e-02 -2.56411458e+02] [-1.44082998e-02 -9.33536374e-05 -9.99896191e-01 -1.79328420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1171.656559995 meters 0.012360234174308636 Centerline is valid? [True, True] Translation: X:-349.15, Y:-256.41, Z:-1.79 [[ 2.88023994e-01 9.57614356e-01 -4.11385099e-03 -3.49151095e+02] [ 9.57520972e-01 -2.88053358e-01 -1.33735639e-02 -2.56411940e+02] [-1.39917254e-02 -8.71913070e-05 -9.99902107e-01 -1.79382180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1171.6865599950002 meters 0.012463608238137937 Centerline is valid? [True, True] Translation: X:-349.15, Y:-256.41, Z:-1.79 [[ 2.12912994e-01 9.77067002e-01 -2.85138682e-03 -3.49146002e+02] [ 9.76983829e-01 -2.12932075e-01 -1.27486866e-02 -2.56411041e+02] [-1.30634727e-02 -7.13977788e-05 -9.99914667e-01 -1.79394023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1171.7165599950001 meters 0.01233399599308736 Centerline is valid? [True, True] Translation: X:-349.14, Y:-256.41, Z:-1.79 [[ 1.36123090e-01 9.90690230e-01 -1.83648293e-03 -3.49140837e+02] [ 9.90606483e-01 -1.36135462e-01 -1.28814277e-02 -2.56409763e+02] [-1.30115150e-02 -6.57721529e-05 -9.99915345e-01 -1.79494551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1171.746559995 meters 0.012228258531470223 Centerline is valid? [True, True] Translation: X:-349.13, Y:-256.41, Z:-1.80 [[ 5.86093912e-02 9.98280685e-01 -7.83650405e-04 -3.49132916e+02] [ 9.98203913e-01 -5.86146026e-02 -1.23805126e-02 -2.56407869e+02] [-1.24051599e-02 -5.66285944e-05 -9.99923052e-01 -1.79601116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1171.776559995 meters 0.012259719424564984 Centerline is valid? [True, True] Translation: X:-349.13, Y:-256.41, Z:-1.80 [[-1.92951392e-02 9.99813814e-01 1.85303169e-04 -3.49125793e+02] [ 9.99739496e-01 1.92959642e-02 -1.21904315e-02 -2.56407070e+02] [-1.21917374e-02 -4.99611759e-05 -9.99925677e-01 -1.79562355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1171.806559995 meters 0.012197257941453482 Centerline is valid? [True, True] Translation: X:-349.12, Y:-256.40, Z:-1.80 [[-9.70061164e-02 9.95283078e-01 1.18660364e-03 -3.49118707e+02] [ 9.95202823e-01 9.70133630e-02 -1.26391603e-02 -2.56404881e+02] [-1.26946587e-02 -4.51645587e-05 -9.99919419e-01 -1.79586319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1171.836559995 meters 0.012270384066670519 Centerline is valid? [True, True] Translation: X:-349.11, Y:-256.40, Z:-1.80 [[-1.74237911e-01 9.84700967e-01 2.27050389e-03 -3.49111462e+02] [ 9.84614232e-01 1.74252699e-01 -1.30694991e-02 -2.56401627e+02] [-1.32651899e-02 -4.16317798e-05 -9.99912013e-01 -1.79571000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1171.866559995 meters 0.012222804294778225 Centerline is valid? [True, True] Translation: X:-349.10, Y:-256.40, Z:-1.80 [[-2.50987713e-01 9.67984716e-01 3.27992023e-03 -3.49103745e+02] [ 9.67899811e-01 2.51009139e-01 -1.28206433e-02 -2.56398998e+02] [-1.32334767e-02 -4.31897730e-05 -9.99912433e-01 -1.79570469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1171.896559995 meters 0.012218585746536212 Centerline is valid? [True, True] Translation: X:-349.10, Y:-256.40, Z:-1.80 [[-3.26377528e-01 9.45229460e-01 4.35641538e-03 -3.49096370e+02] [ 9.45143253e-01 3.26406597e-01 -1.27657888e-02 -2.56395298e+02] [-1.34885624e-02 -4.90300011e-05 -9.99909024e-01 -1.79562974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1171.926559995 meters 0.012292424834461158 Centerline is valid? [True, True] Translation: X:-349.09, Y:-256.39, Z:-1.80 [[-3.99695221e-01 9.16631980e-01 5.43550628e-03 -3.49089740e+02] [ 9.16545376e-01 3.99732175e-01 -1.26001206e-02 -2.56391693e+02] [-1.37224202e-02 -5.43198319e-05 -9.99905842e-01 -1.79525642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1171.9565599950001 meters 0.012306511870422811 Centerline is valid? [True, True] Translation: X:-349.08, Y:-256.39, Z:-1.80 [[-4.70449069e-01 8.82403770e-01 6.42340076e-03 -3.49083331e+02] [ 8.82319864e-01 4.70492915e-01 -1.21686054e-02 -2.56387110e+02] [-1.37597878e-02 -5.72149923e-05 -9.99905328e-01 -1.79510448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1171.986559995 meters 0.012287306923001718 Centerline is valid? [True, True] Translation: X:-349.08, Y:-256.38, Z:-1.79 [[-5.39040984e-01 8.42244412e-01 7.69211716e-03 -3.49075981e+02] [ 8.42156659e-01 5.39095859e-01 -1.21579400e-02 -2.56380666e+02] [-1.43867456e-02 -7.56602704e-05 -9.99896503e-01 -1.79480790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1172.016559995 meters 0.012590186661229075 Centerline is valid? [True, True] Translation: X:-349.07, Y:-256.37, Z:-1.79 [[-6.04000285e-01 7.96934853e-01 8.85976524e-03 -3.49069014e+02] [ 7.96846918e-01 6.04065254e-01 -1.18388565e-02 -2.56374779e+02] [-1.47866737e-02 -9.07961098e-05 -9.99890667e-01 -1.79381381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1172.046559995 meters 0.012606902480991906 Centerline is valid? [True, True] Translation: X:-349.06, Y:-256.37, Z:-1.79 [[-6.64972931e-01 7.46798934e-01 1.01170214e-02 -3.49064210e+02] [ 7.46710162e-01 6.65049880e-01 -1.15148774e-02 -2.56367780e+02] [-1.53276220e-02 -1.02599136e-04 -9.99882520e-01 -1.79347582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1172.076559995 meters 0.012680440107796974 Centerline is valid? [True, True] Translation: X:-349.06, Y:-256.36, Z:-1.79 [[-7.22072073e-01 6.91729257e-01 1.10705204e-02 -3.49059969e+02] [ 6.91645453e-01 7.22156923e-01 -1.07678184e-02 -2.56360910e+02] [-1.54430680e-02 -1.18265903e-04 -9.99880742e-01 -1.79317530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1172.106559995 meters 0.012773807750428154 Centerline is valid? [True, True] Translation: X:-349.04, Y:-256.34, Z:-1.79 [[-7.69491882e-01 6.38548597e-01 1.17445162e-02 -3.49042070e+02] [ 6.38471769e-01 7.69581493e-01 -9.90584862e-03 -2.56340369e+02] [-1.53637280e-02 -1.23928084e-04 -9.99881963e-01 -1.79313842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1172.136559995 meters 0.012947099127144434 Centerline is valid? [True, True] Translation: X:-348.65, Y:-255.87, Z:-2.79 [[-7.12971858e-01 -7.01104676e-01 1.11068644e-02 -3.48649739e+02] [ 7.01022443e-01 -7.13058354e-01 -1.07386711e-02 -2.55873215e+02] [ 1.54487750e-02 1.29790943e-04 9.99880652e-01 -2.79139397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1172.166559995 meters 0.01314180892393416 Centerline is valid? [True, True] Translation: X:-349.08, Y:-256.32, Z:-1.79 [[-7.73192663e-01 6.34070460e-01 1.13030384e-02 -3.49077052e+02] [ 6.33999838e-01 7.73275261e-01 -9.46446203e-03 -2.56315304e+02] [-1.47414957e-02 -1.51728109e-04 -9.99891327e-01 -1.79366677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1172.1965599950001 meters 0.013423899005736832 Centerline is valid? [True, True] Translation: X:-349.06, Y:-256.29, Z:-1.79 [[-8.16671642e-01 5.76984360e-01 1.16823693e-02 -3.49061820e+02] [ 5.76922455e-01 8.16755179e-01 -8.45335021e-03 -2.56292628e+02] [-1.44190865e-02 -1.63790205e-04 -9.99896026e-01 -1.79381273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1172.2265599950001 meters 0.013407882613736245 Centerline is valid? [True, True] Translation: X:-349.05, Y:-256.27, Z:-1.79 [[-8.56038829e-01 5.16783497e-01 1.15039965e-02 -3.49047997e+02] [ 5.16734197e-01 8.56116108e-01 -7.14007003e-03 -2.56269546e+02] [-1.35386271e-02 -1.67668782e-04 -9.99908335e-01 -1.79475134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1172.256559995 meters 0.013879274797222368 Centerline is valid? [True, True] Translation: X:-349.04, Y:-256.24, Z:-1.79 [[-8.91006046e-01 4.53847823e-01 1.14184268e-02 -3.49035187e+02] [ 4.53808049e-01 8.91079190e-01 -6.01093676e-03 -2.56244793e+02] [-1.29027731e-02 -1.74006997e-04 -9.99916741e-01 -1.79435284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1172.286559995 meters 0.013650892641121067 Centerline is valid? [True, True] Translation: X:-349.03, Y:-256.22, Z:-1.80 [[-9.21559540e-01 3.88075658e-01 1.11936755e-02 -3.49026507e+02] [ 3.88044592e-01 9.21627501e-01 -4.91372755e-03 -2.56219759e+02] [-1.22232972e-02 -1.84647252e-04 -9.99925276e-01 -1.79578382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1172.316559995 meters 0.014064227297342642 Centerline is valid? [True, True] Translation: X:-349.02, Y:-256.19, Z:-1.80 [[-9.47223705e-01 3.20396755e-01 1.06382234e-02 -3.49021161e+02] [ 3.20374324e-01 9.47283424e-01 -3.79581014e-03 -2.56192193e+02] [-1.12935779e-02 -1.87267713e-04 -9.99936208e-01 -1.79567283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1172.346559995 meters 0.015015070212705667 Centerline is valid? [True, True] Translation: X:-348.81, Y:-255.61, Z:-2.79 [[-9.09070065e-01 -4.16512881e-01 1.04229445e-02 -3.48809554e+02] [ 4.16487944e-01 -9.09129794e-01 -4.56180807e-03 -2.55609636e+02] [ 1.13758612e-02 1.94027558e-04 9.99935274e-01 -2.78912814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1172.376559995 meters 0.01505876783638622 Centerline is valid? [True, True] Translation: X:-349.06, Y:-256.18, Z:-1.80 [[-9.49679383e-01 3.13036553e-01 1.08252499e-02 -3.49063903e+02] [ 3.13013368e-01 9.49741049e-01 -3.81719155e-03 -2.56179755e+02] [-1.14761046e-02 -2.36660189e-04 -9.99934120e-01 -1.79557646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1172.406559995 meters 0.01578972393462705 Centerline is valid? [True, True] Translation: X:-348.86, Y:-255.59, Z:-2.79 [[-9.09755067e-01 -4.15016060e-01 1.03628436e-02 -3.48858129e+02] [ 4.14991892e-01 -9.09814059e-01 -4.48422777e-03 -2.55592221e+02] [ 1.12892874e-02 2.20947146e-04 9.99936250e-01 -2.78953359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1172.4365599950002 meters 0.01623893038768323 Centerline is valid? [True, True] Translation: X:-349.11, Y:-256.16, Z:-1.80 [[-9.51531722e-01 3.07364746e-01 1.06908530e-02 -3.49111010e+02] [ 3.07342282e-01 9.51591743e-01 -3.72506373e-03 -2.56164015e+02] [-1.13182807e-02 -2.58765149e-04 -9.99935913e-01 -1.79505143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1172.4665599950001 meters 0.01625138951581275 Centerline is valid? [True, True] Translation: X:-349.11, Y:-256.14, Z:-1.80 [[-9.71442066e-01 2.37018483e-01 1.10702530e-02 -3.49107705e+02] [ 2.36999723e-01 9.71505099e-01 -2.99581307e-03 -2.56138130e+02] [-1.14648703e-02 -2.86611946e-04 -9.99934235e-01 -1.79510126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1172.496559995 meters 0.016448445849911654 Centerline is valid? [True, True] Translation: X:-348.94, Y:-255.53, Z:-2.79 [[-9.36675102e-01 -3.50034893e-01 1.07390050e-02 -3.48940582e+02] [ 3.50015269e-01 -9.36736621e-01 -3.71687343e-03 -2.55533879e+02] [ 1.13606546e-02 2.77312917e-04 9.99935427e-01 -2.78991056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1172.526559995 meters 0.01779967433017372 Centerline is valid? [True, True] Translation: X:-349.15, Y:-256.13, Z:-1.79 [[-9.72713119e-01 2.31731284e-01 1.13929889e-02 -3.49154403e+02] [ 2.31711590e-01 9.72779787e-01 -3.03744261e-03 -2.56125314e+02] [-1.17867398e-02 -3.14672718e-04 -9.99930485e-01 -1.79328127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1172.556559995 meters 0.01779967433017372 Centerline is valid? [True, True] Translation: X:-348.99, Y:-255.52, Z:-2.79 [[-9.37686838e-01 -3.47301817e-01 1.11732714e-02 -3.48991250e+02] [ 3.47281155e-01 -9.37753352e-01 -3.80145840e-03 -2.55522164e+02] [ 1.17980261e-02 3.15689091e-04 9.99930351e-01 -2.79124113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1172.586559995 meters 0.018096307756309018 Centerline is valid? [True, True] Translation: X:-349.20, Y:-256.12, Z:-1.79 [[-9.73603119e-01 2.27925524e-01 1.21211874e-02 -3.49197691e+02] [ 2.27903548e-01 9.73678511e-01 -3.18281218e-03 -2.56115608e+02] [-1.25275838e-02 -3.36334252e-04 -9.99921470e-01 -1.79252251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1172.616559995 meters 0.017418433679858833 Centerline is valid? [True, True] Translation: X:-349.20, Y:-256.09, Z:-1.79 [[-9.87331506e-01 1.58163082e-01 1.26860925e-02 -3.49196528e+02] [ 1.58145494e-01 9.87412942e-01 -2.38410549e-03 -2.56090607e+02] [-1.29034894e-02 -3.47654093e-04 -9.99916686e-01 -1.79263943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1172.646559995 meters 0.016705805981067173 Centerline is valid? [True, True] Translation: X:-349.20, Y:-256.07, Z:-1.79 [[-9.95954661e-01 8.89773061e-02 1.25439833e-02 -3.49203244e+02] [ 8.89661514e-02 9.96033601e-01 -1.44558699e-03 -2.56065902e+02] [-1.26228533e-02 -3.23749189e-04 -9.99920276e-01 -1.79289782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1172.676559995 meters 0.01721799872677092 Centerline is valid? [True, True] Translation: X:-349.19, Y:-256.04, Z:-1.79 [[-9.99750346e-01 1.86570757e-02 1.22946742e-02 -3.49194165e+02] [ 1.86518914e-02 9.99825895e-01 -5.36208728e-04 -2.56039669e+02] [-1.23025377e-02 -3.06755933e-04 -9.99924274e-01 -1.79267820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1172.7065599950001 meters 0.016582083709397455 Centerline is valid? [True, True] Translation: X:-349.20, Y:-256.01, Z:-1.79 [[-9.98595305e-01 -5.16695630e-02 1.17334510e-02 -3.49200196e+02] [-5.16693216e-02 9.98664196e-01 3.23918236e-04 -2.56014730e+02] [-1.17345141e-02 -2.82796224e-04 -9.99931108e-01 -1.79302485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1172.736559995 meters 0.015682412664055057 Centerline is valid? [True, True] Translation: X:-349.21, Y:-255.99, Z:-1.79 [[-9.92643558e-01 -1.20620812e-01 1.04587674e-02 -3.49209480e+02] [-1.20616577e-01 9.92698628e-01 1.03714598e-03 -2.55992542e+02] [-1.05075054e-02 -2.31984444e-04 -9.99944768e-01 -1.79376980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1172.766559995 meters 0.016136544558647714 Centerline is valid? [True, True] Translation: X:-349.22, Y:-255.97, Z:-1.79 [[-9.81700714e-01 -1.90160654e-01 1.01309002e-02 -3.49221997e+02] [-1.90152806e-01 9.81752962e-01 1.74122064e-03 -2.55967211e+02] [-1.02771529e-02 -2.17061546e-04 -9.99947165e-01 -1.79312423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1172.796559995 meters 0.015177359252466206 Centerline is valid? [True, True] Translation: X:-349.24, Y:-255.95, Z:-1.79 [[-9.65708146e-01 -2.59434045e-01 1.00873133e-02 -3.49242244e+02] [-2.59422166e-01 9.65760805e-01 2.49156393e-03 -2.55946820e+02] [-1.03883283e-02 -2.10749090e-04 -9.99946018e-01 -1.79373049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1172.826559995 meters 0.014957912252810146 Centerline is valid? [True, True] Translation: X:-349.28, Y:-255.93, Z:-1.79 [[-9.44638340e-01 -3.27970699e-01 9.67611789e-03 -3.49276997e+02] [-3.27955647e-01 9.44687875e-01 3.14850410e-03 -2.55930406e+02] [-1.01735283e-02 -1.99139812e-04 -9.99948229e-01 -1.79367954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1172.856559995 meters 0.01509154634621141 Centerline is valid? [True, True] Translation: X:-349.34, Y:-255.92, Z:-1.79 [[-9.18308890e-01 -3.95748675e-01 9.57960135e-03 -3.49335353e+02] [-3.95729344e-01 9.18358834e-01 3.91642084e-03 -2.55923502e+02] [-1.03474299e-02 -1.94445278e-04 -9.99946445e-01 -1.79321838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1172.886559995 meters 0.014771693153551004 Centerline is valid? [True, True] Translation: X:-349.40, Y:-255.93, Z:-1.79 [[-8.87383839e-01 -4.60922856e-01 1.00021689e-02 -3.49401612e+02] [-4.60895992e-01 8.87440186e-01 4.97998275e-03 -2.55926175e+02] [-1.11717145e-02 -1.90803360e-04 -9.99937576e-01 -1.79207014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1172.916559995 meters 0.014865751674933933 Centerline is valid? [True, True] Translation: X:-349.48, Y:-255.93, Z:-1.79 [[-8.50495374e-01 -5.25892018e-01 9.75726097e-03 -3.49475322e+02] [-5.25860060e-01 8.50551319e-01 5.80090175e-03 -2.55933556e+02] [-1.13496991e-02 -1.97313738e-04 -9.99935571e-01 -1.79183555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1172.9465599950001 meters 0.014704907376495666 Centerline is valid? [True, True] Translation: X:-349.56, Y:-255.95, Z:-1.79 [[-8.08567673e-01 -5.88329879e-01 9.28828896e-03 -3.49556019e+02] [-5.88293924e-01 8.08620994e-01 6.50738251e-03 -2.55950898e+02] [-1.13391930e-02 -2.02584835e-04 -9.99935689e-01 -1.79147577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1172.9765599950001 meters 0.015086938879068396 Centerline is valid? [True, True] Translation: X:-349.64, Y:-255.98, Z:-1.79 [[-7.61983658e-01 -6.47533871e-01 8.98836657e-03 -3.49641285e+02] [-6.47492055e-01 7.62036641e-01 7.36180252e-03 -2.55977529e+02] [-1.16164812e-02 -2.10322729e-04 -9.99932504e-01 -1.79025465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1173.006559995 meters 0.015025293235336294 Centerline is valid? [True, True] Translation: X:-349.73, Y:-256.01, Z:-1.79 [[-7.10962116e-01 -7.03177478e-01 8.62004351e-03 -3.49726991e+02] [-7.03129453e-01 7.11014338e-01 8.22098883e-03 -2.56013864e+02] [-1.19097887e-02 -2.16194863e-04 -9.99929053e-01 -1.78966377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1173.036559995 meters 0.014940485078573316 Centerline is valid? [True, True] Translation: X:-349.82, Y:-256.06, Z:-1.79 [[-6.55894564e-01 -7.54810711e-01 7.94430980e-03 -3.49815733e+02] [-7.54759260e-01 6.55942639e-01 8.81558944e-03 -2.56061687e+02] [-1.18651129e-02 -2.13944184e-04 -9.99929584e-01 -1.78896003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1173.066559995 meters 0.014842925744882399 Centerline is valid? [True, True] Translation: X:-349.90, Y:-256.12, Z:-1.79 [[-5.96949441e-01 -8.02245660e-01 7.29839188e-03 -3.49898306e+02] [-8.02189987e-01 5.96994018e-01 9.45349962e-03 -2.56117500e+02] [-1.19411253e-02 -2.11435566e-04 -9.99928680e-01 -1.78922042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1173.096559995 meters 0.014900650162212363 Centerline is valid? [True, True] Translation: X:-349.98, Y:-256.19, Z:-1.79 [[-5.34505639e-01 -8.45141153e-01 6.33667284e-03 -3.49979884e+02] [-8.45086161e-01 5.34543161e-01 9.64314343e-03 -2.56185429e+02] [-1.15370425e-02 -2.00719976e-04 -9.99933426e-01 -1.78950377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1173.126559995 meters 0.015369783473174092 Centerline is valid? [True, True] Translation: X:-350.06, Y:-256.27, Z:-1.79 [[-4.68830967e-01 -8.83271669e-01 5.35578170e-03 -3.50060811e+02] [-8.83218586e-01 4.68861519e-01 9.68533666e-03 -2.56266149e+02] [-1.10659034e-02 -1.89540190e-04 -9.99938753e-01 -1.78958000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1173.156559995 meters 0.014820078438585483 Centerline is valid? [True, True] Translation: X:-350.13, Y:-256.35, Z:-1.79 [[-4.00251826e-01 -9.16395070e-01 4.30721619e-03 -3.50130032e+02] [-9.16346608e-01 4.00274963e-01 9.42595662e-03 -2.56346179e+02] [-1.03619710e-02 -1.74146597e-04 -9.99946298e-01 -1.79078472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1173.1865599950002 meters 0.015086223045720276 Centerline is valid? [True, True] Translation: X:-350.20, Y:-256.44, Z:-1.79 [[-3.28994802e-01 -9.44326278e-01 3.20945930e-03 -3.50198257e+02] [-9.44285869e-01 3.29010420e-01 8.73738926e-03 -2.56438944e+02] [-9.30689183e-03 -1.56091410e-04 -9.99956678e-01 -1.79028048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1173.2165599950001 meters 0.015161646036844254 Centerline is valid? [True, True] Translation: X:-350.26, Y:-256.52, Z:-1.79 [[-2.58811162e-01 -9.65924577e-01 2.54850755e-03 -3.50256871e+02] [-9.65883421e-01 2.58823664e-01 8.91790685e-03 -2.56523797e+02] [-9.27363946e-03 -1.53507355e-04 -9.99956987e-01 -1.78964745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1173.246559995 meters 0.014442783792105845 Centerline is valid? [True, True] Translation: X:-350.31, Y:-256.62, Z:-1.79 [[-1.84882636e-01 -9.82758894e-01 1.83523225e-03 -3.50308463e+02] [-9.82717969e-01 1.84891688e-01 8.96983068e-03 -2.56624134e+02] [-9.15450006e-03 -1.45149766e-04 -9.99958086e-01 -1.78995149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1173.276559995 meters 0.015015228160324003 Centerline is valid? [True, True] Translation: X:-350.35, Y:-256.73, Z:-1.79 [[-1.09470311e-01 -9.93989365e-01 1.18070984e-03 -3.50354712e+02] [-9.93944879e-01 1.09476584e-01 9.40502652e-03 -2.56729004e+02] [-9.47775642e-03 -1.43989323e-04 -9.99955075e-01 -1.78865204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1173.306559995 meters 0.01481854669629718 Centerline is valid? [True, True] Translation: X:-350.39, Y:-256.83, Z:-1.79 [[-3.41892138e-02 -9.99415272e-01 4.60097680e-04 -3.50391045e+02] [-9.99370465e-01 3.41920382e-02 9.46456248e-03 -2.56834823e+02] [-9.47475996e-03 -1.36222083e-04 -9.99955104e-01 -1.78842427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1173.336559995 meters 0.014474520126499 Centerline is valid? [True, True] Translation: X:-350.42, Y:-256.95, Z:-1.79 [[ 4.10205233e-02 -9.99158269e-01 -2.65226670e-04 -3.50417381e+02] [-9.99114622e-01 -4.10212106e-02 9.33982635e-03 -2.56949553e+02] [-9.34284465e-03 -1.18132720e-04 -9.99956348e-01 -1.78838271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1173.366559995 meters 0.013621618591225008 Centerline is valid? [True, True] Translation: X:-350.43, Y:-257.07, Z:-1.79 [[ 1.17073507e-01 -9.93122809e-01 -9.38702086e-04 -3.50434349e+02] [-9.93083149e-01 -1.17077221e-01 8.87602817e-03 -2.57067577e+02] [-8.92488665e-03 -1.06938518e-04 -9.99960167e-01 -1.79029883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1173.396559995 meters 0.013913286111726276 Centerline is valid? [True, True] Translation: X:-350.45, Y:-257.19, Z:-1.79 [[ 1.92553081e-01 -9.81285401e-01 -1.50744417e-03 -3.50445673e+02] [-9.81251332e-01 -1.92558958e-01 8.17746024e-03 -2.57185676e+02] [-8.31469423e-03 -9.54135556e-05 -9.99965428e-01 -1.79009417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1173.426559995 meters 0.013450613395901803 Centerline is valid? [True, True] Translation: X:-350.45, Y:-257.30, Z:-1.79 [[ 2.67347636e-01 -9.63598153e-01 -1.95991878e-03 -3.50446058e+02] [-9.63569836e-01 -2.67354806e-01 7.38780335e-03 -2.57304790e+02] [-7.64286737e-03 -8.65931472e-05 -9.99970789e-01 -1.79150774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1173.4565599950001 meters 0.01338385056253195 Centerline is valid? [True, True] Translation: X:-350.44, Y:-257.42, Z:-1.79 [[ 3.40920205e-01 -9.40089410e-01 -2.30558501e-03 -3.50439193e+02] [-9.40066271e-01 -3.40927991e-01 6.59634318e-03 -2.57421785e+02] [-6.98719083e-03 -8.14239654e-05 -9.99975586e-01 -1.79214195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1173.486559995 meters 0.0135223582240773 Centerline is valid? [True, True] Translation: X:-350.42, Y:-257.55, Z:-1.79 [[ 4.12827983e-01 -9.10805298e-01 -2.60127049e-03 -3.50421509e+02] [-9.10785970e-01 -4.12836170e-01 5.93409673e-03 -2.57545137e+02] [-6.47870529e-03 -8.05605166e-05 -9.99979010e-01 -1.79215429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1173.516559995 meters 0.014042357326230234 Centerline is valid? [True, True] Translation: X:-350.40, Y:-257.66, Z:-1.79 [[ 4.83146575e-01 -8.75534061e-01 -3.08131493e-03 -3.50401481e+02] [-8.75514997e-01 -4.83156392e-01 5.77854368e-03 -2.57655778e+02] [-6.54806882e-03 -9.41461611e-05 -9.99978557e-01 -1.79091010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1173.546559995 meters 0.014203945368943822 Centerline is valid? [True, True] Translation: X:-350.36, Y:-257.78, Z:-1.79 [[ 5.49424034e-01 -8.35536450e-01 -3.47439055e-03 -3.50364472e+02] [-8.35518605e-01 -5.49435010e-01 5.46170621e-03 -2.57775711e+02] [-6.47240643e-03 -9.78747110e-05 -9.99979049e-01 -1.79052691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1173.576559995 meters 0.014281488358339124 Centerline is valid? [True, True] Translation: X:-350.33, Y:-257.87, Z:-1.79 [[ 6.12021302e-01 -7.90829837e-01 -4.25383193e-03 -3.50330282e+02] [-7.90809478e-01 -6.12036075e-01 5.67566144e-03 -2.57874244e+02] [-7.09198101e-03 -1.09655096e-04 -9.99974846e-01 -1.79028660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1173.606559995 meters 0.014249413107093836 Centerline is valid? [True, True] Translation: X:-350.29, Y:-257.97, Z:-1.79 [[ 6.70333950e-01 -7.42044290e-01 -4.76106232e-03 -3.50285464e+02] [-7.42024408e-01 -6.70350849e-01 5.43305705e-03 -2.57973534e+02] [-7.22315113e-03 -1.09138145e-04 -9.99973907e-01 -1.78969395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1173.636559995 meters 0.014088232723801199 Centerline is valid? [True, True] Translation: X:-350.23, Y:-258.07, Z:-1.79 [[ 7.24567555e-01 -6.89185866e-01 -4.96993728e-03 -3.50234660e+02] [-6.89168688e-01 -7.24584593e-01 4.86706607e-03 -2.58067487e+02] [-6.95545313e-03 -1.01393012e-04 -9.99975806e-01 -1.78955509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1173.666559995 meters 0.013785585880309394 Centerline is valid? [True, True] Translation: X:-350.24, Y:-258.08, Z:-1.79 [[ 7.75937727e-01 -6.30788815e-01 -5.11024143e-03 -3.50236692e+02] [-6.30774334e-01 -7.75954549e-01 4.27527629e-03 -2.58076060e+02] [-6.66211155e-03 -9.39390402e-05 -9.99977804e-01 -1.78988606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1173.6965599950001 meters 0.013907266757449582 Centerline is valid? [True, True] Translation: X:-350.24, Y:-258.08, Z:-1.79 [[ 8.22534541e-01 -5.68692407e-01 -5.08681041e-03 -3.50238793e+02] [-5.68680894e-01 -8.22550266e-01 3.61956893e-03 -2.58084241e+02] [-6.24257863e-03 -8.44485779e-05 -9.99980512e-01 -1.78997915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1173.7265599950001 meters 0.01368177341154124 Centerline is valid? [True, True] Translation: X:-350.24, Y:-258.09, Z:-1.79 [[ 8.64261224e-01 -5.03019331e-01 -4.90812312e-03 -3.50238585e+02] [-5.03010727e-01 -8.64275157e-01 2.94306252e-03 -2.58092149e+02] [-5.72238622e-03 -7.47362399e-05 -9.99983624e-01 -1.79032845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1173.756559995 meters 0.013412020730432628 Centerline is valid? [True, True] Translation: X:-350.24, Y:-258.10, Z:-1.79 [[ 9.00557506e-01 -4.34713211e-01 -4.53910220e-03 -3.50238855e+02] [-4.34707342e-01 -9.00568943e-01 2.25959562e-03 -2.58100885e+02] [-5.07005053e-03 -6.17147405e-05 -9.99987146e-01 -1.79016584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1173.786559995 meters 0.01346195537913191 Centerline is valid? [True, True] Translation: X:-350.24, Y:-258.11, Z:-1.79 [[ 9.31659392e-01 -3.63302745e-01 -4.67906710e-03 -3.50239063e+02] [-3.63297841e-01 -9.31671139e-01 1.88873003e-03 -2.58109408e+02] [-5.04553258e-03 -5.97580921e-05 -9.99987270e-01 -1.78958588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1173.816559995 meters 0.013377083056220086 Centerline is valid? [True, True] Translation: X:-350.24, Y:-258.12, Z:-1.79 [[ 9.57046170e-01 -2.89886810e-01 -5.31655112e-03 -3.50237807e+02] [-2.89881971e-01 -9.57060935e-01 1.67622052e-03 -2.58117536e+02] [-5.57417760e-03 -6.30481100e-05 -9.99984462e-01 -1.78869810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1173.846559995 meters 0.013366128032303732 Centerline is valid? [True, True] Translation: X:-350.24, Y:-258.12, Z:-1.79 [[ 9.76633461e-01 -2.14829828e-01 -5.93535573e-03 -3.50236819e+02] [-2.14825457e-01 -9.76651494e-01 1.37195342e-03 -2.58124541e+02] [-6.09151056e-03 -6.48301049e-05 -9.99981445e-01 -1.78802892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1173.876559995 meters 0.013296943845068483 Centerline is valid? [True, True] Translation: X:-350.23, Y:-258.13, Z:-1.79 [[ 9.90389042e-01 -1.38160703e-01 -6.41610279e-03 -3.50234042e+02] [-1.38157366e-01 -9.90409822e-01 9.62565771e-04 -2.58131757e+02] [-6.48755999e-03 -6.68827284e-05 -9.99978954e-01 -1.78706692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1173.906559995 meters 0.013504004616952985 Centerline is valid? [True, True] Translation: X:-350.24, Y:-258.14, Z:-1.79 [[ 9.98125871e-01 -6.08046969e-02 -6.89456890e-03 -3.50235428e+02] [-6.08027806e-02 -9.98149680e-01 4.87410751e-04 -2.58138620e+02] [-6.91144861e-03 -6.72883203e-05 -9.99976114e-01 -1.78538101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1173.9365599950002 meters 0.013268722689120797 Centerline is valid? [True, True] Translation: X:-350.24, Y:-258.15, Z:-1.79 [[ 9.99818330e-01 1.78158433e-02 -6.77520554e-03 -3.50235067e+02] [ 1.78158942e-02 -9.99841283e-01 -5.28484640e-05 -2.58145073e+02] [-6.77507174e-03 -6.78674821e-05 -9.99977047e-01 -1.78589989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1173.9665599950001 meters 0.013395074578530258 Centerline is valid? [True, True] Translation: X:-350.23, Y:-258.15, Z:-1.79 [[ 9.95348629e-01 9.61079695e-02 -6.66077842e-03 -3.50234692e+02] [ 9.61062692e-02 -9.95370913e-01 -5.75612091e-04 -2.58152553e+02] [-6.68526600e-03 -6.72078583e-05 -9.99977651e-01 -1.78576930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1173.996559995 meters 0.013340367119896257 Centerline is valid? [True, True] Translation: X:-350.23, Y:-258.16, Z:-1.79 [[ 9.84697460e-01 1.74148105e-01 -6.58404925e-03 -3.50233444e+02] [ 1.74144685e-01 -9.84719469e-01 -1.09367847e-03 -2.58160032e+02] [-6.67390352e-03 -6.96347679e-05 -9.99977727e-01 -1.78581809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1174.026559995 meters 0.01354610323899199 Centerline is valid? [True, True] Translation: X:-350.23, Y:-258.17, Z:-1.79 [[ 9.67952110e-01 2.51054352e-01 -6.35806834e-03 -3.50232940e+02] [ 2.51049415e-01 -9.67972989e-01 -1.57597074e-03 -2.58167367e+02] [-6.55009273e-03 -7.07251369e-05 -9.99978546e-01 -1.78574865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1174.056559995 meters 0.013356794935194904 Centerline is valid? [True, True] Translation: X:-350.23, Y:-258.17, Z:-1.79 [[ 9.45483749e-01 3.25609047e-01 -6.26324602e-03 -3.50230307e+02] [ 3.25602381e-01 -9.45504492e-01 -2.08457797e-03 -2.58174822e+02] [-6.60068469e-03 -6.83932272e-05 -9.99978213e-01 -1.78587361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1174.086559995 meters 0.013407694864965708 Centerline is valid? [True, True] Translation: X:-350.23, Y:-258.18, Z:-1.79 [[ 9.17184018e-01 3.98416614e-01 -6.13837767e-03 -3.50228439e+02] [ 3.98408183e-01 -9.17204556e-01 -2.59283183e-03 -2.58182485e+02] [-6.66317524e-03 -6.74759829e-05 -9.99977799e-01 -1.78558419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1174.116559995 meters 0.013186390315565838 Centerline is valid? [True, True] Translation: X:-350.22, Y:-258.19, Z:-1.79 [[ 8.83602663e-01 4.68198591e-01 -6.03432436e-03 -3.50224792e+02] [ 4.68188156e-01 -8.83623266e-01 -3.12649350e-03 -2.58188424e+02] [-6.79588925e-03 -6.26212090e-05 -9.99976906e-01 -1.78615902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1174.146559995 meters 0.013110572408129054 Centerline is valid? [True, True] Translation: X:-350.22, Y:-258.19, Z:-1.79 [[ 8.45370979e-01 5.34149490e-01 -5.67723436e-03 -3.50221921e+02] [ 5.34137822e-01 -8.45390040e-01 -3.53088666e-03 -2.58194717e+02] [-6.68549870e-03 -4.75164814e-05 -9.99977651e-01 -1.78593963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1174.176559995 meters 0.012804851267069373 Centerline is valid? [True, True] Translation: X:-350.22, Y:-258.20, Z:-1.79 [[ 8.01705736e-01 5.97691724e-01 -5.70229412e-03 -3.50216886e+02] [ 5.97676975e-01 -8.01726014e-01 -4.19907294e-03 -2.58201219e+02] [-7.08142868e-03 -4.17090445e-05 -9.99974926e-01 -1.78660879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1174.2065599950001 meters 0.012795179778983189 Centerline is valid? [True, True] Translation: X:-350.21, Y:-258.21, Z:-1.79 [[ 7.53315141e-01 6.57635610e-01 -5.63053288e-03 -3.50212314e+02] [ 6.57617579e-01 -7.53336182e-01 -4.87000876e-03 -2.58207962e+02] [-7.44437533e-03 -3.40860654e-05 -9.99972290e-01 -1.78613910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1174.236559995 meters 0.01293268142518252 Centerline is valid? [True, True] Translation: X:-350.21, Y:-258.21, Z:-1.78 [[ 7.00251036e-01 7.13877698e-01 -5.20759212e-03 -3.50208627e+02] [ 7.13858235e-01 -7.00270399e-01 -5.27151076e-03 -2.58213408e+02] [-7.40993658e-03 -2.61016450e-05 -9.99972546e-01 -1.78463519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1174.266559995 meters 0.012649978547322667 Centerline is valid? [True, True] Translation: X:-350.20, Y:-258.22, Z:-1.79 [[ 6.43485776e-01 7.65440669e-01 -5.16136669e-03 -3.50203227e+02] [ 7.65416235e-01 -6.43506475e-01 -6.11589202e-03 -2.58219132e+02] [-8.00272536e-03 -1.51043366e-05 -9.99967978e-01 -1.78577291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1174.296559995 meters 0.012788477541611519 Centerline is valid? [True, True] Translation: X:-350.20, Y:-258.22, Z:-1.79 [[ 5.82062154e-01 8.13129817e-01 -4.85294135e-03 -3.50196728e+02] [ 8.13101713e-01 -5.82082384e-01 -6.76042352e-03 -2.58224993e+02] [-8.32191361e-03 -1.09482518e-05 -9.99965372e-01 -1.78549281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1174.326559995 meters 0.012712588655148113 Centerline is valid? [True, True] Translation: X:-350.19, Y:-258.23, Z:-1.79 [[ 5.16732293e-01 8.56135322e-01 -4.47755145e-03 -3.50190392e+02] [ 8.56103352e-01 -5.16751692e-01 -7.39867437e-03 -2.58230280e+02] [-8.64804875e-03 -1.01128347e-05 -9.99962605e-01 -1.78528381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1174.356559995 meters 0.012780161689506714 Centerline is valid? [True, True] Translation: X:-350.18, Y:-258.24, Z:-1.79 [[ 4.48214444e-01 8.93916803e-01 -4.06962593e-03 -3.50182887e+02] [ 8.93880148e-01 -4.48232919e-01 -8.09511710e-03 -2.58235346e+02] [-9.06050151e-03 -9.40941408e-06 -9.99958953e-01 -1.78523651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1174.386559995 meters 0.01270886204624619 Centerline is valid? [True, True] Translation: X:-350.17, Y:-258.24, Z:-1.79 [[ 3.76523942e-01 9.26399880e-01 -3.60322021e-03 -3.50174235e+02] [ 9.26357784e-01 -3.76541183e-01 -8.83139833e-03 -2.58240738e+02] [-9.53816716e-03 -1.26381764e-05 -9.99954511e-01 -1.78531968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1174.416559995 meters 0.012806076274801508 Centerline is valid? [True, True] Translation: X:-350.17, Y:-258.25, Z:-1.78 [[ 3.02086838e-01 9.53275066e-01 -3.19219663e-03 -3.50165728e+02] [ 9.53222602e-01 -3.02103703e-01 -1.00011852e-02 -2.58245576e+02] [-1.04982549e-02 -2.16475578e-05 -9.99944892e-01 -1.78493340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1174.4465599950001 meters 0.012869989417074644 Centerline is valid? [True, True] Translation: X:-350.16, Y:-258.25, Z:-1.78 [[ 2.25915808e-01 9.74143455e-01 -2.56454297e-03 -3.50156961e+02] [ 9.74082191e-01 -2.25930361e-01 -1.09250962e-02 -2.58248671e+02] [-1.12220190e-02 -2.99237114e-05 -9.99937031e-01 -1.78493442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1174.4765599950001 meters 0.012863071201418014 Centerline is valid? [True, True] Translation: X:-350.15, Y:-258.25, Z:-1.78 [[ 1.47997847e-01 9.88986217e-01 -1.70314656e-03 -3.50146921e+02] [ 9.88923826e-01 -1.48007641e-01 -1.11087917e-02 -2.58251608e+02] [-1.12385206e-02 -4.02049452e-05 -9.99936845e-01 -1.78475708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1174.506559995 meters 0.012863071201418014 Centerline is valid? [True, True] Translation: X:-350.14, Y:-258.25, Z:-1.78 [[ 7.00724239e-02 9.97541563e-01 -8.27671018e-04 -3.50137820e+02] [ 9.97478597e-01 -7.00773003e-02 -1.12080884e-02 -2.58254236e+02] [-1.12385350e-02 -4.02062008e-05 -9.99936845e-01 -1.78475696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1174.536559995 meters 0.01301867247139335 Centerline is valid? [True, True] Translation: X:-350.13, Y:-258.26, Z:-1.78 [[-9.16672911e-03 9.99957983e-01 5.41039931e-05 -3.50128345e+02] [ 9.99891631e-01 9.16674413e-03 -1.15194286e-02 -2.58256201e+02] [-1.15194405e-02 -5.14973513e-05 -9.99933648e-01 -1.78437963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1174.566559995 meters 0.01319038262904309 Centerline is valid? [True, True] Translation: X:-350.12, Y:-258.26, Z:-1.78 [[-9.01367745e-02 9.95928884e-01 1.00963152e-03 -3.50117719e+02] [ 9.95855088e-01 9.01423864e-02 -1.21241259e-02 -2.58257135e+02] [-1.21657777e-02 -8.73829070e-05 -9.99925991e-01 -1.78388430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1174.596559995 meters 0.013426052014073285 Centerline is valid? [True, True] Translation: X:-350.11, Y:-258.26, Z:-1.78 [[-1.69573306e-01 9.85515584e-01 1.98191217e-03 -3.50108663e+02] [ 9.85440514e-01 1.69584852e-01 -1.21644008e-02 -2.58258369e+02] [-1.23243088e-02 -1.09701102e-04 -9.99924047e-01 -1.78306721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1174.626559995 meters 0.013915168134150906 Centerline is valid? [True, True] Translation: X:-350.10, Y:-258.26, Z:-1.78 [[-2.47576542e-01 9.68863439e-01 3.08098239e-03 -3.50100945e+02] [ 9.68781575e-01 2.47595676e-01 -1.25953250e-02 -2.58258572e+02] [-1.29659878e-02 -1.33508047e-04 -9.99915929e-01 -1.78145383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1174.656559995 meters 0.013944988983145539 Centerline is valid? [True, True] Translation: X:-350.09, Y:-258.26, Z:-1.78 [[-3.24121138e-01 9.46006539e-01 4.13726762e-03 -3.50094528e+02] [ 9.45923208e-01 3.24147505e-01 -1.25570834e-02 -2.58258136e+02] [-1.32201679e-02 -1.56478686e-04 -9.99912598e-01 -1.78176265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1174.6865599950002 meters 0.01392173047067923 Centerline is valid? [True, True] Translation: X:-350.09, Y:-258.26, Z:-1.78 [[-3.98352007e-01 9.17218853e-01 5.02538036e-03 -3.50086470e+02] [ 9.17140421e-01 3.98383668e-01 -1.19958905e-02 -2.58256205e+02] [-1.30048864e-02 -1.69607603e-04 -9.99915419e-01 -1.78221306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1174.7165599950001 meters 0.013904997163298245 Centerline is valid? [True, True] Translation: X:-350.08, Y:-258.25, Z:-1.78 [[-4.69687578e-01 8.82813255e-01 5.85971491e-03 -3.50078401e+02] [ 8.82739779e-01 4.69724095e-01 -1.13910681e-02 -2.58253063e+02] [-1.28086351e-02 -1.77639714e-04 -9.99917950e-01 -1.78280711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1174.746559995 meters 0.01451234989055376 Centerline is valid? [True, True] Translation: X:-350.07, Y:-258.25, Z:-1.78 [[-5.38858138e-01 8.42372482e-01 6.36464007e-03 -3.50069619e+02] [ 8.42309532e-01 5.38895691e-01 -1.02998212e-02 -2.58249686e+02] [-1.21061630e-02 -1.89145456e-04 -9.99926700e-01 -1.78323012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1174.776559995 meters 0.01427871779030381 Centerline is valid? [True, True] Translation: X:-350.06, Y:-258.25, Z:-1.78 [[-6.03949064e-01 7.96992296e-01 6.98632242e-03 -3.50062654e+02] [ 7.96935177e-01 6.03989439e-01 -9.54368750e-03 -2.58245056e+02] [-1.18259104e-02 -1.96255041e-04 -9.99930052e-01 -1.78466836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1174.806559995 meters 0.01464782409884178 Centerline is valid? [True, True] Translation: X:-350.05, Y:-258.24, Z:-1.78 [[-6.65395570e-01 7.46452901e-01 7.53673250e-03 -3.50054930e+02] [ 7.46401497e-01 6.65438220e-01 -8.76248666e-03 -2.58240063e+02] [-1.15560134e-02 -2.05091382e-04 -9.99933206e-01 -1.78466428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1174.836559995 meters 0.015249564748272014 Centerline is valid? [True, True] Translation: X:-350.05, Y:-258.23, Z:-1.78 [[-7.23514707e-01 6.90261416e-01 8.10224862e-03 -3.50048017e+02] [ 6.90214525e-01 7.23560035e-01 -8.04889147e-03 -2.58234006e+02] [-1.14183025e-02 -2.31201672e-04 -9.99934783e-01 -1.78473801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1174.866559995 meters 0.015476296146631395 Centerline is valid? [True, True] Translation: X:-350.03, Y:-258.21, Z:-1.78 [[-7.71463626e-01 6.36213893e-01 8.70383567e-03 -3.50029948e+02] [ 6.36169728e-01 7.71512683e-01 -7.50043007e-03 -2.58212105e+02] [-1.14869974e-02 -2.49192202e-04 -9.99933991e-01 -1.78450124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1174.896559995 meters 0.01540973589929 Centerline is valid? [True, True] Translation: X:-350.01, Y:-258.19, Z:-1.78 [[-8.15110861e-01 5.79229016e-01 9.38252430e-03 -3.50010980e+02] [ 5.79186881e-01 8.15164816e-01 -6.99143152e-03 -2.58191629e+02] [-1.16979437e-02 -2.64556782e-04 -9.99931542e-01 -1.78409507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1174.926559995 meters 0.016302010431792878 Centerline is valid? [True, True] Translation: X:-349.62, Y:-257.67, Z:-2.80 [[-7.44081640e-01 -6.68027522e-01 9.04113395e-03 -3.49621238e+02] [ 6.67982758e-01 -7.44136513e-01 -7.73849218e-03 -2.57665795e+02] [ 1.18973637e-02 2.81251639e-04 9.99929185e-01 -2.80115278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1174.9565599950001 meters 0.016405487604964256 Centerline is valid? [True, True] Translation: X:-349.64, Y:-257.69, Z:-2.80 [[-6.96785581e-01 -7.17230569e-01 8.37645152e-03 -3.49635824e+02] [ 7.17183681e-01 -6.96835868e-01 -8.20617198e-03 -2.57692710e+02] [ 1.17227293e-02 2.89512022e-04 9.99931245e-01 -2.80120133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1174.986559995 meters 0.016777855377047245 Centerline is valid? [True, True] Translation: X:-350.10, Y:-258.16, Z:-1.78 [[-7.78773979e-01 6.27239667e-01 9.02716952e-03 -3.50096008e+02] [ 6.27192853e-01 7.78826234e-01 -7.66953316e-03 -2.58159368e+02] [-1.18412319e-02 -3.11056641e-04 -9.99929842e-01 -1.78350340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1175.016559995 meters 0.016987601367497336 Centerline is valid? [True, True] Translation: X:-350.08, Y:-258.14, Z:-1.78 [[-8.21412672e-01 5.70256608e-01 9.41399202e-03 -3.50078912e+02] [ 5.70214781e-01 8.21466557e-01 -6.91374279e-03 -2.58138240e+02] [-1.16758871e-02 -3.11038540e-04 -9.99931786e-01 -1.78381696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1175.046559995 meters 0.017155737122672033 Centerline is valid? [True, True] Translation: X:-349.69, Y:-257.61, Z:-2.80 [[-7.46616477e-01 -6.65196823e-01 8.77626855e-03 -3.49688268e+02] [ 6.65155463e-01 -7.46667998e-01 -7.42365460e-03 -2.57613749e+02] [ 1.14911503e-02 2.94960130e-04 9.99933931e-01 -2.80027642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1175.076559995 meters 0.018094863126352834 Centerline is valid? [True, True] Translation: X:-349.71, Y:-257.64, Z:-2.80 [[-7.00032984e-01 -7.14065914e-01 7.98072759e-03 -3.49706204e+02] [ 7.14024349e-01 -7.00078410e-01 -7.71033666e-03 -2.57638522e+02] [ 1.10928237e-02 3.00943836e-04 9.99938428e-01 -2.80050571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1175.106559995 meters 0.0173575376692374 Centerline is valid? [True, True] Translation: X:-350.16, Y:-258.11, Z:-1.78 [[-7.83438258e-01 6.21414011e-01 8.31407451e-03 -3.50163104e+02] [ 6.21375061e-01 7.83482319e-01 -6.96351134e-03 -2.58111616e+02] [-1.08411539e-02 -2.89322638e-04 -9.99941191e-01 -1.78488170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1175.136559995 meters 0.016947627216918528 Centerline is valid? [True, True] Translation: X:-349.73, Y:-257.61, Z:-2.80 [[-7.03516595e-01 -7.10639941e-01 7.43478433e-03 -3.49734810e+02] [ 7.10603895e-01 -7.03555837e-01 -7.16169724e-03 -2.57610013e+02] [ 1.03201740e-02 2.44813850e-04 9.99946716e-01 -2.79867250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1175.166559995 meters 0.01789195266528119 Centerline is valid? [True, True] Translation: X:-350.19, Y:-258.09, Z:-1.78 [[-7.84639087e-01 6.19903559e-01 7.81536612e-03 -3.50194361e+02] [ 6.19869552e-01 7.84677967e-01 -6.49820411e-03 -2.58088299e+02] [-1.01608055e-02 -2.54237449e-04 -9.99948346e-01 -1.78484951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1175.1965599950001 meters 0.017640854788975473 Centerline is valid? [True, True] Translation: X:-350.18, Y:-258.07, Z:-1.78 [[-8.26218568e-01 5.63288890e-01 8.27673459e-03 -3.50177191e+02] [ 5.63257580e-01 8.26259986e-01 -5.94426229e-03 -2.58067824e+02] [-1.01870715e-02 -2.49326392e-04 -9.99948080e-01 -1.78468140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1175.2265599950001 meters 0.015966108103413684 Centerline is valid? [True, True] Translation: X:-349.78, Y:-257.53, Z:-2.80 [[-7.55715673e-01 -6.54849547e-01 8.11745451e-03 -3.49783808e+02] [ 6.54815648e-01 -7.55759218e-01 -6.66878229e-03 -2.57531917e+02] [ 1.05018901e-02 2.75732941e-04 9.99944816e-01 -2.79896324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1175.256559995 meters 0.015626322601725716 Centerline is valid? [True, True] Translation: X:-350.21, Y:-258.05, Z:-1.79 [[-8.27489223e-01 5.61407392e-01 9.12838343e-03 -3.50211945e+02] [ 5.61369750e-01 8.27539530e-01 -6.50615048e-03 -2.58049775e+02] [-1.12066991e-02 -2.59371075e-04 -9.99937170e-01 -1.78539829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1175.286559995 meters 0.015485699202452036 Centerline is valid? [True, True] Translation: X:-350.20, Y:-258.03, Z:-1.78 [[-8.64318762e-01 5.02841414e-01 1.01779641e-02 -3.50196930e+02] [ 5.02803039e-01 8.64378648e-01 -6.21747150e-03 -2.58028238e+02] [-1.19240170e-02 -2.56365978e-04 -9.99928874e-01 -1.78470917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1175.316559995 meters 0.016231449569114424 Centerline is valid? [True, True] Translation: X:-349.84, Y:-257.46, Z:-2.80 [[-8.04206017e-01 -5.94272172e-01 9.65756449e-03 -3.49844930e+02] [ 5.94233005e-01 -8.04263964e-01 -6.82729720e-03 -2.57455381e+02] [ 1.18245038e-02 2.48290075e-04 9.99930057e-01 -2.80104292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1175.346559995 meters 0.015144075084453716 Centerline is valid? [True, True] Translation: X:-350.23, Y:-258.01, Z:-1.78 [[-8.65166529e-01 5.01383655e-01 1.00651886e-02 -3.50234551e+02] [ 5.01346614e-01 8.65225044e-01 -6.09882654e-03 -2.58008112e+02] [-1.17665052e-02 -2.30352372e-04 -9.99930746e-01 -1.78445182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1175.376559995 meters 0.014994420447018717 Centerline is valid? [True, True] Translation: X:-350.22, Y:-257.98, Z:-1.78 [[-8.97999219e-01 4.39874894e-01 1.03672949e-02 -3.50221616e+02] [ 4.39842813e-01 8.98059036e-01 -5.31680863e-03 -2.57984751e+02] [-1.16491735e-02 -2.14509868e-04 -9.99932123e-01 -1.78473999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1175.406559995 meters 0.014875492081049501 Centerline is valid? [True, True] Translation: X:-350.21, Y:-257.96, Z:-1.79 [[-9.26415811e-01 3.76379451e-01 9.60492763e-03 -3.50207121e+02] [ 3.76357225e-01 9.26465583e-01 -4.09412258e-03 -2.57962609e+02] [-1.04395785e-02 -1.77975973e-04 -9.99945490e-01 -1.78563371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1175.4365599950002 meters 0.014572922807375028 Centerline is valid? [True, True] Translation: X:-350.20, Y:-257.94, Z:-1.79 [[-9.50693883e-01 3.09990660e-01 9.32368773e-03 -3.50198830e+02] [ 3.09974034e-01 9.50739588e-01 -3.21480413e-03 -2.57937393e+02] [-9.86095828e-03 -1.66193530e-04 -9.99951366e-01 -1.78698174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1175.4665599950001 meters 0.014751845593095187 Centerline is valid? [True, True] Translation: X:-350.19, Y:-257.91, Z:-1.79 [[-9.70282716e-01 2.41798702e-01 9.21085512e-03 -3.50189981e+02] [ 2.41786232e-01 9.70326420e-01 -2.46084770e-03 -2.57911062e+02] [-9.53256585e-03 -1.60660030e-04 -9.99954551e-01 -1.78717899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1175.496559995 meters 0.014799261312790534 Centerline is valid? [True, True] Translation: X:-350.01, Y:-257.25, Z:-2.80 [[-9.40892588e-01 -3.38592882e-01 8.71772659e-03 -3.50008588e+02] [ 3.38579678e-01 -9.40932964e-01 -2.99321915e-03 -2.57252255e+02] [ 9.21627902e-03 1.35347351e-04 9.99957520e-01 -2.79683115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1175.526559995 meters 0.014887108763860929 Centerline is valid? [True, True] Translation: X:-350.24, Y:-257.90, Z:-1.79 [[-9.71234725e-01 2.37951072e-01 9.07727964e-03 -3.50241197e+02] [ 2.37939135e-01 9.71277129e-01 -2.38878094e-03 -2.57898178e+02] [-9.38496709e-03 -1.60226931e-04 -9.99955948e-01 -1.78764239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1175.556559995 meters 0.014941308627106268 Centerline is valid? [True, True] Translation: X:-350.06, Y:-257.24, Z:-2.80 [[-9.41950803e-01 -3.35622921e-01 9.27036271e-03 -3.50058077e+02] [ 3.35608663e-01 -9.41996400e-01 -3.09956468e-03 -2.57240835e+02] [ 9.77293326e-03 1.91576592e-04 9.99952226e-01 -2.79731502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1175.586559995 meters 0.014504530579281031 Centerline is valid? [True, True] Translation: X:-350.28, Y:-257.89, Z:-1.79 [[-9.72271088e-01 2.33666500e-01 9.42859258e-03 -3.50282287e+02] [ 2.33653794e-01 9.72316789e-01 -2.44284502e-03 -2.57887729e+02] [-9.73838991e-03 -1.72081161e-04 -9.99952566e-01 -1.78696308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1175.616559995 meters 0.015457822764051374 Centerline is valid? [True, True] Translation: X:-350.28, Y:-257.86, Z:-1.79 [[-9.86419022e-01 1.63956870e-01 9.78047300e-03 -3.50277333e+02] [ 1.63947028e-01 9.86467492e-01 -1.80520386e-03 -2.57857944e+02] [-9.94409425e-03 -1.77207944e-04 -9.99950541e-01 -1.78592638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1175.646559995 meters 0.014562992850418476 Centerline is valid? [True, True] Translation: X:-350.15, Y:-257.19, Z:-2.80 [[-9.64297739e-01 -2.64661278e-01 9.18034785e-03 -3.50150831e+02] [ 2.64650658e-01 -9.64341427e-01 -2.37498898e-03 -2.57190777e+02] [ 9.48155737e-03 1.39388594e-04 9.99955040e-01 -2.79734677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1175.676559995 meters 0.015726097802947602 Centerline is valid? [True, True] Translation: X:-350.33, Y:-257.85, Z:-1.79 [[-9.87081587e-01 1.59968324e-01 8.94851610e-03 -3.50331789e+02] [ 1.59960249e-01 9.87122135e-01 -1.61563154e-03 -2.57847954e+02] [-9.09172818e-03 -1.63353280e-04 -9.99958656e-01 -1.78685932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1175.7065599950001 meters 0.014529509710165648 Centerline is valid? [True, True] Translation: X:-350.20, Y:-257.18, Z:-2.79 [[-9.65408298e-01 -2.60635186e-01 7.49126546e-03 -3.50198773e+02] [ 2.60627768e-01 -9.65437361e-01 -1.96718691e-03 -2.57182067e+02] [ 7.74506568e-03 5.32932255e-05 9.99970005e-01 -2.79413198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1175.736559995 meters 0.015350192950746504 Centerline is valid? [True, True] Translation: X:-350.38, Y:-257.84, Z:-1.79 [[-9.87563821e-01 1.57080661e-01 6.58523343e-03 -3.50375425e+02] [ 1.57076405e-01 9.87585770e-01 -1.16187049e-03 -2.57841893e+02] [-6.68599021e-03 -1.13036466e-04 -9.99977642e-01 -1.79062427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1175.766559995 meters 0.014353932189456792 Centerline is valid? [True, True] Translation: X:-350.37, Y:-257.82, Z:-1.79 [[-9.96170141e-01 8.72671315e-02 5.43128085e-03 -3.50371951e+02] [ 8.72653502e-02 9.96184943e-01 -5.64560776e-04 -2.57816313e+02] [-5.45982780e-03 -8.84359629e-05 -9.99985091e-01 -1.79206390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1175.796559995 meters 0.01430542706625247 Centerline is valid? [True, True] Translation: X:-350.37, Y:-257.79, Z:-1.79 [[-9.99829905e-01 1.79208129e-02 4.35954384e-03 -3.50369945e+02] [ 1.79203663e-02 9.99839407e-01 -1.41483411e-04 -2.57788517e+02] [-4.36137923e-03 -6.33347227e-05 -9.99990487e-01 -1.79287340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1175.826559995 meters 0.014118872922346625 Centerline is valid? [True, True] Translation: X:-350.38, Y:-257.76, Z:-1.79 [[-9.98618400e-01 -5.23911544e-02 4.05697591e-03 -3.50375248e+02] [-5.23909484e-02 9.98626639e-01 1.57101773e-04 -2.57761085e+02] [-4.05963496e-03 -5.56640947e-05 -9.99991758e-01 -1.79308635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1175.856559995 meters 0.013853619730319462 Centerline is valid? [True, True] Translation: X:-350.40, Y:-257.08, Z:-2.79 [[-9.99120978e-01 -4.17399912e-02 3.87862566e-03 -3.50399997e+02] [ 4.17398378e-02 -9.99128506e-01 -1.20500297e-04 -2.57079403e+02] [ 3.88027515e-03 4.14988313e-05 9.99992471e-01 -2.79138020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1175.886559995 meters 0.013643674240714786 Centerline is valid? [True, True] Translation: X:-350.46, Y:-257.76, Z:-1.79 [[-9.98451627e-01 -5.54973979e-02 3.79299862e-03 -3.50459754e+02] [-5.54971600e-02 9.98458831e-01 1.68015935e-04 -2.57764674e+02] [-3.79647742e-03 -4.27448677e-05 -9.99992793e-01 -1.79269975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1175.916559995 meters 0.013468811835910702 Centerline is valid? [True, True] Translation: X:-350.46, Y:-257.74, Z:-1.79 [[-9.92130485e-01 -1.25148298e-01 3.87350469e-03 -3.50462581e+02] [-1.25147496e-01 9.92138046e-01 4.49706073e-04 -2.57737871e+02] [-3.89933132e-03 -3.85923094e-05 -9.99992397e-01 -1.79228062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1175.9465599950001 meters 0.013003688392989826 Centerline is valid? [True, True] Translation: X:-350.48, Y:-257.71, Z:-1.79 [[-9.81244876e-01 -1.92703830e-01 4.87117217e-03 -3.50478263e+02] [-1.92701629e-01 9.81256966e-01 9.21650078e-04 -2.57714045e+02] [-4.95747712e-03 -3.43183942e-05 -9.99987711e-01 -1.79194239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1175.9765599950001 meters 0.01291207002123035 Centerline is valid? [True, True] Translation: X:-350.51, Y:-257.69, Z:-1.79 [[-9.65178574e-01 -2.61541044e-01 5.15771170e-03 -3.50508516e+02] [-2.61537476e-01 9.65192355e-01 1.36639434e-03 -2.57692658e+02] [-5.33555210e-03 -3.01203592e-05 -9.99985766e-01 -1.79137016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1176.006559995 meters 0.012823800082929725 Centerline is valid? [True, True] Translation: X:-350.55, Y:-257.68, Z:-1.79 [[-9.43856268e-01 -3.30310436e-01 5.51007800e-03 -3.50551292e+02] [-3.30304972e-01 9.43872351e-01 1.89997994e-03 -2.57676597e+02] [-5.82839348e-03 -2.66981876e-05 -9.99983015e-01 -1.79071008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1176.036559995 meters 0.012769835842935586 Centerline is valid? [True, True] Translation: X:-350.62, Y:-257.67, Z:-1.79 [[-9.17444923e-01 -3.97818270e-01 5.95295192e-03 -3.50616303e+02] [-3.97810057e-01 9.17464236e-01 2.55625040e-03 -2.57671881e+02] [-6.47854359e-03 -2.29251967e-05 -9.99979014e-01 -1.78996265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1176.066559995 meters 0.012784488938799151 Centerline is valid? [True, True] Translation: X:-350.68, Y:-257.67, Z:-1.79 [[-8.85582318e-01 -4.64434174e-01 6.69747133e-03 -3.50682566e+02] [-4.64421096e-01 8.85607643e-01 3.48534165e-03 -2.57672557e+02] [-7.55004357e-03 -2.38900437e-05 -9.99971498e-01 -1.78917087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1176.096559995 meters 0.012873337653369964 Centerline is valid? [True, True] Translation: X:-350.76, Y:-257.69, Z:-1.79 [[-8.49072971e-01 -5.28216148e-01 7.92408598e-03 -3.50762251e+02] [-5.28193368e-01 8.49109946e-01 4.90565328e-03 -2.57685687e+02] [-9.31966550e-03 -2.01920562e-05 -9.99956571e-01 -1.78769400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1176.126559995 meters 0.012842486882173376 Centerline is valid? [True, True] Translation: X:-350.84, Y:-257.71, Z:-1.79 [[-8.07447142e-01 -5.89884314e-01 8.09992110e-03 -3.50843822e+02] [-5.89854830e-01 8.07487768e-01 5.89773946e-03 -2.57706943e+02] [-1.00195712e-02 -1.56647194e-05 -9.99949803e-01 -1.78762544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1176.156559995 meters 0.012950970575477958 Centerline is valid? [True, True] Translation: X:-350.93, Y:-257.74, Z:-1.79 [[-7.61291015e-01 -6.48361848e-01 7.93125734e-03 -3.50929697e+02] [-6.48326762e-01 7.61332329e-01 6.74497198e-03 -2.57739006e+02] [-1.04115051e-02 -7.15982814e-06 -9.99945799e-01 -1.78685301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1176.1865599950002 meters 0.012884770792225473 Centerline is valid? [True, True] Translation: X:-351.02, Y:-257.78, Z:-1.79 [[-7.10480602e-01 -7.03676502e-01 7.52955736e-03 -3.51019179e+02] [-7.03637025e-01 7.10520499e-01 7.45370297e-03 -2.57783375e+02] [-1.05949005e-02 -2.36396355e-06 -9.99943873e-01 -1.78730982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1176.2165599950001 meters 0.01291652756803524 Centerline is valid? [True, True] Translation: X:-351.10, Y:-257.83, Z:-1.79 [[-6.55517632e-01 -7.55147050e-01 7.04036975e-03 -3.51104338e+02] [-7.55103433e-01 6.55555438e-01 8.11623105e-03 -2.57833458e+02] [-1.07443006e-02 4.12519091e-06 -9.99942279e-01 -1.78778734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1176.246559995 meters 0.013066816263201858 Centerline is valid? [True, True] Translation: X:-351.19, Y:-257.89, Z:-1.79 [[-5.97009093e-01 -8.02212128e-01 5.98702378e-03 -3.51188394e+02] [-8.02171551e-01 5.97039112e-01 8.06858505e-03 -2.57893005e+02] [-1.00472041e-02 1.43984900e-05 -9.99949526e-01 -1.78799023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1176.276559995 meters 0.012862195509359265 Centerline is valid? [True, True] Translation: X:-351.27, Y:-257.97, Z:-1.79 [[-5.34374555e-01 -8.45232083e-01 5.15375379e-03 -3.51271667e+02] [-8.45192476e-01 5.34399407e-01 8.18247822e-03 -2.57965632e+02] [-9.67025608e-03 1.65942411e-05 -9.99953242e-01 -1.78872122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1176.306559995 meters 0.01293603580482269 Centerline is valid? [True, True] Translation: X:-351.35, Y:-258.05, Z:-1.79 [[-4.69172995e-01 -8.83096865e-01 4.07764162e-03 -3.51350296e+02] [-8.83063085e-01 4.69190714e-01 7.72412454e-03 -2.58046720e+02] [-8.73434175e-03 2.31358602e-05 -9.99961855e-01 -1.78916473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1176.336559995 meters 0.012912828301961778 Centerline is valid? [True, True] Translation: X:-351.42, Y:-258.13, Z:-1.79 [[-4.00990792e-01 -9.16076469e-01 3.20741288e-03 -3.51420036e+02] [-9.16046589e-01 4.01003619e-01 7.39896263e-03 -2.58128256e+02] [-8.06419973e-03 2.87762588e-05 -9.99967484e-01 -1.78996988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1176.366559995 meters 0.012912828301961778 Centerline is valid? [True, True] Translation: X:-351.49, Y:-258.22, Z:-1.79 [[-3.29616188e-01 -9.44111353e-01 2.63102261e-03 -3.51486654e+02] [-9.44080578e-01 3.29626687e-01 7.62302156e-03 -2.58222162e+02] [-8.06423647e-03 2.87739618e-05 -9.99967483e-01 -1.78996812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1176.396559995 meters 0.012956113372635716 Centerline is valid? [True, True] Translation: X:-351.55, Y:-258.32, Z:-1.79 [[-2.58191740e-01 -9.66092118e-01 1.74505804e-03 -3.51545254e+02] [-9.66069016e-01 2.58197634e-01 6.68124575e-03 -2.58322914e+02] [-6.90526872e-03 3.91959596e-05 -9.99976158e-01 -1.79149657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1176.426559995 meters 0.01316839427023994 Centerline is valid? [True, True] Translation: X:-351.60, Y:-258.43, Z:-1.79 [[-1.84359844e-01 -9.82858102e-01 1.18313815e-03 -3.51597749e+02] [-9.82836233e-01 1.84363634e-01 6.55659555e-03 -2.58434881e+02] [-6.66233071e-03 4.59418846e-05 -9.99977806e-01 -1.79148990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1176.4565599950001 meters 0.013237080189032847 Centerline is valid? [True, True] Translation: X:-352.30, Y:-258.41, Z:-2.79 [[-2.36352428e-01 9.71665895e-01 1.70853304e-03 -3.52299957e+02] [-9.71640990e-01 -2.36358602e-01 6.95680462e-03 -2.58413377e+02] [ 7.16351627e-03 -1.58230707e-05 9.99974342e-01 -2.79261880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1176.486559995 meters 0.013348251513169531 Centerline is valid? [True, True] Translation: X:-351.65, Y:-258.71, Z:-1.79 [[-1.76709796e-01 -9.84262184e-01 1.26534095e-03 -3.51649913e+02] [-9.84234192e-01 1.76714314e-01 7.42336266e-03 -2.58709499e+02] [-7.53013901e-03 6.63890745e-05 -9.99971646e-01 -1.79116733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1176.516559995 meters 0.013445736948849105 Centerline is valid? [True, True] Translation: X:-351.69, Y:-258.82, Z:-1.79 [[-1.01212796e-01 -9.94864493e-01 7.81035005e-04 -3.51693403e+02] [-9.94828369e-01 1.01215777e-01 8.47841281e-03 -2.58821012e+02] [-8.51392493e-03 8.11280891e-05 -9.99963753e-01 -1.79074632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1176.546559995 meters 0.01349809520289141 Centerline is valid? [True, True] Translation: X:-351.73, Y:-258.94, Z:-1.79 [[-2.47509736e-02 -9.99693638e-01 1.36853525e-04 -3.51728421e+02] [-9.99651179e-01 2.47511837e-02 9.21406811e-03 -2.58937748e+02] [-9.21463256e-03 9.12513682e-05 -9.99957540e-01 -1.79015271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1176.576559995 meters 0.013852130506595145 Centerline is valid? [True, True] Translation: X:-351.75, Y:-259.06, Z:-1.79 [[ 5.10401876e-02 -9.98696427e-01 -5.87792576e-04 -3.51754365e+02] [-9.98651686e-01 -5.10434652e-02 9.45381383e-03 -2.59055961e+02] [-9.47149307e-03 1.04475615e-04 -9.99955139e-01 -1.78905505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1176.606559995 meters 0.01393936332698259 Centerline is valid? [True, True] Translation: X:-352.44, Y:-259.21, Z:-2.80 [[ 5.52501476e-03 9.99984736e-01 3.82275259e-05 -3.52438157e+02] [-9.99937735e-01 5.52438442e-03 9.69573103e-03 -2.59207447e+02] [ 9.69537185e-03 -9.17942027e-05 9.99952995e-01 -2.79502879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1176.636559995 meters 0.013976926100412524 Centerline is valid? [True, True] Translation: X:-351.74, Y:-259.34, Z:-1.79 [[ 5.97497240e-02 -9.98213170e-01 -6.61041998e-04 -3.51740547e+02] [-9.98170740e-01 -5.97532796e-02 9.20432448e-03 -2.59338026e+02] [-9.22737735e-03 1.09876934e-04 -9.99957421e-01 -1.78933333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1176.666559995 meters 0.014264522502568619 Centerline is valid? [True, True] Translation: X:-351.76, Y:-259.46, Z:-1.79 [[ 1.35384930e-01 -9.90792279e-01 -1.25698983e-03 -3.51756469e+02] [-9.90756756e-01 -1.35390721e-01 8.39071713e-03 -2.59456922e+02] [-8.48364251e-03 1.09394521e-04 -9.99964007e-01 -1.78981087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1176.6965599950001 meters 0.014211064533364806 Centerline is valid? [True, True] Translation: X:-351.76, Y:-259.58, Z:-1.79 [[ 2.10502247e-01 -9.77591686e-01 -1.81655298e-03 -3.51762433e+02] [-9.77559672e-01 -2.10510056e-01 7.91223523e-03 -2.59580314e+02] [-8.11733805e-03 1.10245643e-04 -9.99967048e-01 -1.79012235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1176.7265599950001 meters 0.014622972610610485 Centerline is valid? [True, True] Translation: X:-352.41, Y:-259.84, Z:-2.79 [[ 1.70770235e-01 9.85310034e-01 -1.29009603e-03 -3.52408936e+02] [-9.85276981e-01 1.70775075e-01 8.07129023e-03 -2.59837048e+02] [ 8.17303949e-03 -1.07234215e-04 9.99966595e-01 -2.79416103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1176.756559995 meters 0.014374661032456059 Centerline is valid? [True, True] Translation: X:-351.70, Y:-259.85, Z:-1.79 [[ 2.19417965e-01 -9.75629249e-01 -1.82357883e-03 -3.51704631e+02] [-9.75599555e-01 -2.19425515e-01 7.61256305e-03 -2.59849114e+02] [-7.82717890e-03 1.08749610e-04 -9.99969361e-01 -1.79083404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1176.786559995 meters 0.013804463329914335 Centerline is valid? [True, True] Translation: X:-351.70, Y:-259.97, Z:-1.79 [[ 2.94835960e-01 -9.55544711e-01 -2.46229732e-03 -3.51703475e+02] [-9.55514221e-01 -2.94846224e-01 7.63399112e-03 -2.59973376e+02] [-8.02061891e-03 1.01985003e-04 -9.99967829e-01 -1.79143817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1176.816559995 meters 0.013733113688605868 Centerline is valid? [True, True] Translation: X:-351.69, Y:-260.09, Z:-1.79 [[ 3.68366984e-01 -9.29674973e-01 -3.19535262e-03 -3.51692305e+02] [-9.29642257e-01 -3.68380830e-01 7.79991631e-03 -2.60091192e+02] [-8.42849363e-03 9.73031703e-05 -9.99964475e-01 -1.79086359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1176.846559995 meters 0.013604745563587777 Centerline is valid? [True, True] Translation: X:-351.67, Y:-260.21, Z:-1.79 [[ 4.39890950e-01 -8.98042222e-01 -4.01502452e-03 -3.51672443e+02] [-8.98006658e-01 -4.39909264e-01 7.99258244e-03 -2.60208286e+02] [-8.94392297e-03 8.96540689e-05 -9.99959999e-01 -1.79096439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1176.876559995 meters 0.01331219618092183 Centerline is valid? [True, True] Translation: X:-351.64, Y:-260.32, Z:-1.79 [[ 5.08873536e-01 -8.60828390e-01 -4.71245047e-03 -3.51644103e+02] [-8.60792837e-01 -5.08895350e-01 7.82400846e-03 -2.60323483e+02] [-9.13327274e-03 7.50127663e-05 -9.99958288e-01 -1.79080823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1176.906559995 meters 0.013026679198227352 Centerline is valid? [True, True] Translation: X:-351.61, Y:-260.43, Z:-1.79 [[ 5.74678558e-01 -8.18362408e-01 -5.24630321e-03 -3.51610541e+02] [-8.18329218e-01 -5.74702502e-01 7.37063936e-03 -2.60431475e+02] [-9.04691776e-03 5.74548000e-05 -9.99959074e-01 -1.79098207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1176.9365599950002 meters 0.012798942566590171 Centerline is valid? [True, True] Translation: X:-351.57, Y:-260.54, Z:-1.79 [[ 6.37888769e-01 -7.70105653e-01 -5.93307214e-03 -3.51570415e+02] [-7.70072761e-01 -6.37916360e-01 7.11765681e-03 -2.60538125e+02] [-9.26615153e-03 2.86239014e-05 -9.99957068e-01 -1.79060762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1176.9665599950001 meters 0.012766527491933854 Centerline is valid? [True, True] Translation: X:-351.52, Y:-260.63, Z:-1.79 [[ 6.95773870e-01 -7.18230167e-01 -6.64448020e-03 -3.51524645e+02] [-7.18197600e-01 -6.95805596e-01 6.83963952e-03 -2.60634551e+02] [-9.53570194e-03 1.32072718e-05 -9.99954534e-01 -1.78972760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1176.996559995 meters 0.012789587733735341 Centerline is valid? [True, True] Translation: X:-351.47, Y:-260.73, Z:-1.79 [[ 7.49262541e-01 -6.62232511e-01 -7.33120774e-03 -3.51472553e+02] [-6.62200788e-01 -7.49298406e-01 6.48190655e-03 -2.60726421e+02] [-9.78579152e-03 -1.91823105e-06 -9.99952118e-01 -1.78954158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1177.026559995 meters 0.012795602271494634 Centerline is valid? [True, True] Translation: X:-351.47, Y:-260.74, Z:-1.79 [[ 7.99477138e-01 -6.00644542e-01 -7.90186438e-03 -3.51473859e+02] [-6.00615031e-01 -7.99516187e-01 5.95406800e-03 -2.60737217e+02] [-9.89394693e-03 -1.41627268e-05 -9.99951054e-01 -1.78943087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1177.056559995 meters 0.012859097781380014 Centerline is valid? [True, True] Translation: X:-351.48, Y:-260.75, Z:-1.79 [[ 8.45322148e-01 -5.34194958e-01 -8.13721046e-03 -3.51475352e+02] [-5.34169780e-01 -8.45361311e-01 5.18657509e-03 -2.60750227e+02] [-9.64952516e-03 -3.76748751e-05 -9.99953442e-01 -1.78968703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1177.086559995 meters 0.012901784117607926 Centerline is valid? [True, True] Translation: X:-351.48, Y:-260.76, Z:-1.79 [[ 8.85038924e-01 -4.65445566e-01 -8.15647979e-03 -3.51475519e+02] [-4.65425312e-01 -8.85076507e-01 4.34233470e-03 -2.60763427e+02] [-9.24022907e-03 -4.69030776e-05 -9.99957307e-01 -1.79015087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1177.116559995 meters 0.013031725905685396 Centerline is valid? [True, True] Translation: X:-351.48, Y:-260.78, Z:-1.79 [[ 9.19153602e-01 -3.93816848e-01 -8.05887546e-03 -3.51475591e+02] [-3.93801196e-01 -9.19188929e-01 3.51157588e-03 -2.60775874e+02] [-8.79054685e-03 -5.40828257e-05 -9.99961361e-01 -1.78906558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1177.146559995 meters 0.013106117852343847 Centerline is valid? [True, True] Translation: X:-351.47, Y:-260.79, Z:-1.79 [[ 9.47520106e-01 -3.19597253e-01 -7.95264796e-03 -3.51472668e+02] [-3.19585445e-01 -9.47553477e-01 2.74794430e-03 -2.60787285e+02] [-8.41379468e-03 -6.21819409e-05 -9.99964602e-01 -1.78979335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1177.176559995 meters 0.013134465891687212 Centerline is valid? [True, True] Translation: X:-351.47, Y:-260.80, Z:-1.79 [[ 9.69834056e-01 -2.43633980e-01 -8.02421938e-03 -3.51469747e+02] [-2.43625050e-01 -9.69867248e-01 2.08709441e-03 -2.60799411e+02] [-8.29091469e-03 -6.92343932e-05 -9.99965628e-01 -1.78997045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1177.2065599950001 meters 0.013517437838228735 Centerline is valid? [True, True] Translation: X:-351.47, Y:-260.81, Z:-1.79 [[ 9.86113724e-01 -1.65880027e-01 -7.97117367e-03 -3.51466648e+02] [-1.65873974e-01 -9.86145938e-01 1.41918752e-03 -2.60811076e+02] [-8.09615540e-03 -7.72700424e-05 -9.99967223e-01 -1.78926413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1177.236559995 meters 0.013609990015995816 Centerline is valid? [True, True] Translation: X:-351.46, Y:-260.82, Z:-1.79 [[ 9.96221244e-01 -8.65679012e-02 -7.01658327e-03 -3.51462456e+02] [-8.65651978e-02 -9.96245950e-01 6.88643865e-04 -2.60820584e+02] [-7.04985711e-03 -7.86497298e-05 -9.99975147e-01 -1.79014231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1177.266559995 meters 0.013591043528369196 Centerline is valid? [True, True] Translation: X:-351.46, Y:-260.83, Z:-1.79 [[ 9.99949291e-01 -7.34862806e-03 -6.88575120e-03 -3.51460244e+02] [-7.34787969e-03 -9.99972995e-01 1.33975610e-04 -2.60830182e+02] [-6.88654979e-03 -8.33731446e-05 -9.99976284e-01 -1.79042070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1177.296559995 meters 0.013736939216135282 Centerline is valid? [True, True] Translation: X:-351.46, Y:-260.84, Z:-1.79 [[ 9.97417963e-01 7.14475637e-02 -7.25629562e-03 -3.51457834e+02] [ 7.14463423e-02 -9.97444353e-01 -4.27732581e-04 -2.60839861e+02] [-7.26831154e-03 -9.18076219e-05 -9.99973581e-01 -1.78980288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1177.326559995 meters 0.013924265478781329 Centerline is valid? [True, True] Translation: X:-351.45, Y:-260.85, Z:-1.79 [[ 9.88639233e-01 1.50124268e-01 -7.42779035e-03 -3.51453523e+02] [ 1.50120797e-01 -9.88667130e-01 -1.02581049e-03 -2.60848485e+02] [-7.49761122e-03 -1.00909310e-04 -9.99971888e-01 -1.78888903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1177.356559995 meters 0.01428914070667471 Centerline is valid? [True, True] Translation: X:-351.45, Y:-260.86, Z:-1.79 [[ 9.73589571e-01 2.28154516e-01 -8.29846665e-03 -3.51448871e+02] [ 2.28147311e-01 -9.73624929e-01 -1.81738284e-03 -2.60856438e+02] [-8.49423810e-03 -1.23887877e-04 -9.99963916e-01 -1.78742497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1177.386559995 meters 0.014395543959056985 Centerline is valid? [True, True] Translation: X:-351.44, Y:-260.86, Z:-1.79 [[ 9.52637936e-01 3.03999783e-01 -8.06811206e-03 -3.51443597e+02] [ 3.03989999e-01 -9.52672093e-01 -2.44225275e-03 -2.60862070e+02] [-8.42870950e-03 -1.26042758e-04 -9.99964470e-01 -1.78686880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1177.416559995 meters 0.014180572217618287 Centerline is valid? [True, True] Translation: X:-351.44, Y:-260.87, Z:-1.79 [[ 9.25928959e-01 3.77605057e-01 -8.36567940e-03 -3.51437576e+02] [ 3.77590950e-01 -9.25966740e-01 -3.26679494e-03 -2.60867722e+02] [-8.97989917e-03 -1.33984789e-04 -9.99959671e-01 -1.78667191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1177.4465599950001 meters 0.014159777002953865 Centerline is valid? [True, True] Translation: X:-351.43, Y:-260.87, Z:-1.79 [[ 8.93747354e-01 4.48492771e-01 -8.36072498e-03 -3.51431077e+02] [ 4.48474544e-01 -8.93786449e-01 -4.04564220e-03 -2.60872516e+02] [-9.28714398e-03 -1.33790307e-04 -9.99956865e-01 -1.78638315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1177.4765599950001 meters 0.0138108246103829 Centerline is valid? [True, True] Translation: X:-351.42, Y:-260.88, Z:-1.79 [[ 8.56340127e-01 5.16351791e-01 -7.90031950e-03 -3.51424266e+02] [ 5.16331146e-01 -8.56376560e-01 -4.61901623e-03 -2.60877942e+02] [-9.15068574e-03 -1.23732075e-04 -9.99958124e-01 -1.78647502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1177.506559995 meters 0.013676457856968792 Centerline is valid? [True, True] Translation: X:-351.42, Y:-260.88, Z:-1.79 [[ 8.14054619e-01 5.80730812e-01 -8.17323828e-03 -3.51417358e+02] [ 5.80703037e-01 -8.14095639e-01 -5.68096803e-03 -2.60882999e+02] [-9.95291082e-03 -1.21606023e-04 -9.99950461e-01 -1.78577634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1177.536559995 meters 0.01330011381132996 Centerline is valid? [True, True] Translation: X:-351.41, Y:-260.89, Z:-1.78 [[ 7.68327667e-01 6.40001434e-01 -8.41195681e-03 -3.51412429e+02] [ 6.39964420e-01 -7.68373708e-01 -6.88370182e-03 -2.60886450e+02] [-1.08691055e-02 -9.44145057e-05 -9.99940925e-01 -1.78450048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1177.566559995 meters 0.01308821441876472 Centerline is valid? [True, True] Translation: X:-351.41, Y:-260.89, Z:-1.78 [[ 7.17626767e-01 6.96384372e-01 -7.78651986e-03 -3.51406245e+02] [ 6.96344384e-01 -7.17669006e-01 -7.46299955e-03 -2.60888872e+02] [-1.07852602e-02 -6.64511367e-05 -9.99941835e-01 -1.78438038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1177.596559995 meters 0.01293256128311607 Centerline is valid? [True, True] Translation: X:-351.40, Y:-260.89, Z:-1.78 [[ 6.62673631e-01 7.48873996e-01 -7.16915860e-03 -3.51400384e+02] [ 7.48830847e-01 -6.62712409e-01 -8.03901134e-03 -2.60891024e+02] [-1.07712969e-02 -4.12462735e-05 -9.99941987e-01 -1.78468652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1177.626559995 meters 0.012945236024968705 Centerline is valid? [True, True] Translation: X:-351.39, Y:-260.89, Z:-1.78 [[ 6.04170885e-01 7.96828779e-01 -6.43726596e-03 -3.51394325e+02] [ 7.96783763e-01 -6.04205178e-01 -8.46981853e-03 -2.60892804e+02] [-1.06384246e-02 -1.18912377e-05 -9.99943410e-01 -1.78495532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1177.656559995 meters 0.012954066194326862 Centerline is valid? [True, True] Translation: X:-351.39, Y:-260.90, Z:-1.79 [[ 5.42209562e-01 8.40225450e-01 -5.47582323e-03 -3.51387348e+02] [ 8.40182299e-01 -5.42237212e-01 -8.51530879e-03 -2.60895336e+02] [-1.01239743e-02 1.63921068e-05 -9.99948751e-01 -1.78533564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1177.6865599950002 meters 0.013291405752256267 Centerline is valid? [True, True] Translation: X:-351.38, Y:-260.90, Z:-1.79 [[ 4.79632220e-01 8.77458693e-01 -4.37899815e-03 -3.51383926e+02] [ 8.77420856e-01 -4.79652205e-01 -8.14884243e-03 -2.60896745e+02] [-9.25066875e-03 6.62230777e-05 -9.99957210e-01 -1.78574046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1177.7165599950001 meters 0.013749787203620183 Centerline is valid? [True, True] Translation: X:-351.38, Y:-260.90, Z:-1.79 [[ 4.11814065e-01 9.11260679e-01 -3.62654919e-03 -3.51379583e+02] [ 9.11223444e-01 -4.11830024e-01 -8.23813831e-03 -2.60898536e+02] [-9.00061334e-03 8.79845799e-05 -9.99959490e-01 -1.78575160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1177.746559995 meters 0.014102058080862772 Centerline is valid? [True, True] Translation: X:-351.37, Y:-260.90, Z:-1.79 [[ 3.41681657e-01 9.39811461e-01 -2.83974542e-03 -3.51374940e+02] [ 9.39776362e-01 -3.41693440e-01 -8.12293392e-03 -2.60899789e+02] [-8.60434878e-03 1.06731895e-04 -9.99962976e-01 -1.78601500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1177.776559995 meters 0.014807512494405857 Centerline is valid? [True, True] Translation: X:-351.37, Y:-260.90, Z:-1.79 [[ 2.71526064e-01 9.62428874e-01 -2.06367924e-03 -3.51370592e+02] [ 9.62397082e-01 -2.71533871e-01 -7.82389460e-03 -2.60900643e+02] [-8.09030088e-03 1.38312424e-04 -9.99967264e-01 -1.78687553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1177.806559995 meters 0.014997530396502872 Centerline is valid? [True, True] Translation: X:-351.36, Y:-260.90, Z:-1.79 [[ 1.97053254e-01 9.80391804e-01 -1.38781885e-03 -3.51363044e+02] [ 9.80361983e-01 -1.97058087e-01 -7.64803123e-03 -2.60902209e+02] [-7.77154806e-03 1.46504599e-04 -9.99969791e-01 -1.78735751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1177.836559995 meters 0.015379700695957399 Centerline is valid? [True, True] Translation: X:-351.36, Y:-260.90, Z:-1.79 [[ 1.20899519e-01 9.92664434e-01 -7.91937638e-04 -3.51355149e+02] [ 9.92633766e-01 -1.20902010e-01 -7.80447704e-03 -2.60903800e+02] [-7.84297364e-03 1.57453477e-04 -9.99969231e-01 -1.78773931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1177.866559995 meters 0.015448881596676869 Centerline is valid? [True, True] Translation: X:-351.35, Y:-260.90, Z:-1.79 [[ 4.34870110e-02 9.99053978e-01 -1.73061055e-04 -3.51346010e+02] [ 9.99024861e-01 -4.34870651e-02 -7.62910407e-03 -2.60904444e+02] [-7.62941268e-03 1.58874636e-04 -9.99970883e-01 -1.78773247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1177.896559995 meters 0.015547616924820979 Centerline is valid? [True, True] Translation: X:-351.34, Y:-260.90, Z:-1.79 [[-3.47588304e-02 9.99395648e-01 4.02605545e-04 -3.51337193e+02] [ 9.99369610e-01 3.47608316e-02 -7.21583817e-03 -2.60904252e+02] [-7.22547217e-03 1.51537652e-04 -9.99973885e-01 -1.78761771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1177.926559995 meters 0.01527922518464701 Centerline is valid? [True, True] Translation: X:-351.33, Y:-260.90, Z:-1.79 [[-1.14037678e-01 9.93475885e-01 1.03645542e-03 -3.51327488e+02] [ 9.93446207e-01 1.14042284e-01 -7.68058859e-03 -2.60903501e+02] [-7.74867929e-03 1.53786219e-04 -9.99969967e-01 -1.78740424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1177.9565599950001 meters 0.015020585728870706 Centerline is valid? [True, True] Translation: X:-351.32, Y:-260.90, Z:-1.79 [[-1.92490528e-01 9.81297432e-01 1.65725715e-03 -3.51317152e+02] [ 9.81267381e-01 1.92497606e-01 -7.68101825e-03 -2.60901877e+02] [-7.85638152e-03 1.47689126e-04 -9.99969127e-01 -1.78738460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1177.986559995 meters 0.015018178268779471 Centerline is valid? [True, True] Translation: X:-351.31, Y:-260.90, Z:-1.79 [[-2.70369187e-01 9.62753901e-01 2.33012343e-03 -3.51307712e+02] [ 9.62722457e-01 2.70379192e-01 -7.78222765e-03 -2.60901372e+02] [-8.12238691e-03 1.39187594e-04 -9.99967003e-01 -1.78710452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1178.016559995 meters 0.014415349551304675 Centerline is valid? [True, True] Translation: X:-351.30, Y:-260.90, Z:-1.79 [[-3.46632615e-01 9.37995986e-01 3.05933897e-03 -3.51296945e+02] [ 9.37962690e-01 3.46646092e-01 -7.90438920e-03 -2.60897765e+02] [-8.47479324e-03 1.29626709e-04 -9.99964080e-01 -1.78710371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1178.046559995 meters 0.014098733555249144 Centerline is valid? [True, True] Translation: X:-351.29, Y:-260.89, Z:-1.79 [[-4.20701979e-01 9.07191148e-01 3.75045817e-03 -3.51287550e+02] [ 9.07157537e-01 4.20718680e-01 -7.80994436e-03 -2.60893725e+02] [-8.66300020e-03 1.16597350e-04 -9.99962469e-01 -1.78673173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1178.076559995 meters 0.013519236449055281 Centerline is valid? [True, True] Translation: X:-351.28, Y:-260.89, Z:-1.79 [[-4.93611038e-01 8.69670864e-01 4.55323488e-03 -3.51276036e+02] [ 8.69635519e-01 4.93632030e-01 -7.84113628e-03 -2.60887864e+02] [-9.06683034e-03 8.91833605e-05 -9.99958892e-01 -1.78692986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1178.106559995 meters 0.013386260329907942 Centerline is valid? [True, True] Translation: X:-351.27, Y:-260.88, Z:-1.79 [[-5.61761710e-01 8.27285656e-01 4.71424967e-03 -3.51267192e+02] [ 8.27257512e-01 5.61781487e-01 -6.82429520e-03 -2.60882686e+02] [-8.29401972e-03 6.62707106e-05 -9.99965602e-01 -1.78664733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1178.136559995 meters 0.01318233708769541 Centerline is valid? [True, True] Translation: X:-351.26, Y:-260.88, Z:-1.79 [[-6.25901841e-01 7.79885804e-01 5.00189264e-03 -3.51258833e+02] [ 7.79861566e-01 6.25921825e-01 -6.14872074e-03 -2.60875463e+02] [-7.92609378e-03 5.22881984e-05 -9.99968587e-01 -1.78701250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1178.166559995 meters 0.013155816235069265 Centerline is valid? [True, True] Translation: X:-351.25, Y:-260.87, Z:-1.79 [[-6.86139645e-01 7.27449347e-01 5.46221829e-03 -3.51251104e+02] [ 7.27426766e-01 6.86161385e-01 -5.73179173e-03 -2.60869990e+02] [-7.91755142e-03 4.05542432e-05 -9.99968655e-01 -1.78663496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1178.1965599950001 meters 0.01296497514033624 Centerline is valid? [True, True] Translation: X:-351.24, Y:-260.86, Z:-1.79 [[-7.41901724e-01 6.70486612e-01 5.43457525e-03 -3.51244941e+02] [ 6.70468899e-01 7.41921628e-01 -4.87373805e-03 -2.60862701e+02] [-7.29980503e-03 2.78790154e-05 -9.99973356e-01 -1.78747929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1178.2265599950001 meters 0.012922697787347753 Centerline is valid? [True, True] Translation: X:-351.23, Y:-260.84, Z:-1.79 [[-7.88226361e-01 6.15359781e-01 5.61639023e-03 -3.51227564e+02] [ 6.15344329e-01 7.88246370e-01 -4.36090045e-03 -2.60839736e+02] [-7.11062196e-03 1.86371833e-05 -9.99974719e-01 -1.78719102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1178.256559995 meters 0.012832580348830804 Centerline is valid? [True, True] Translation: X:-351.21, Y:-260.81, Z:-1.79 [[-8.31001068e-01 5.56241058e-01 5.75417785e-03 -3.51212383e+02] [ 5.56227752e-01 8.31020990e-01 -3.84740114e-03 -2.60814719e+02] [-6.92192506e-03 3.43895243e-06 -9.99976043e-01 -1.78759561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1178.286559995 meters 0.012832580348830804 Centerline is valid? [True, True] Translation: X:-351.20, Y:-260.79, Z:-1.79 [[-8.68282140e-01 4.96034254e-01 6.01204789e-03 -3.51198592e+02] [ 4.96022391e-01 8.68302953e-01 -3.43053565e-03 -2.60790421e+02] [-6.92194213e-03 3.43753839e-06 -9.99976043e-01 -1.78759544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1178.316559995 meters 0.012962237291857196 Centerline is valid? [True, True] Translation: X:-351.19, Y:-260.76, Z:-1.79 [[-9.01634106e-01 4.32455484e-01 6.18001605e-03 -3.51187489e+02] [ 4.32445304e-01 9.01655286e-01 -2.96725072e-03 -2.60763897e+02] [-6.85544798e-03 -2.85553406e-06 -9.99976501e-01 -1.78747110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1178.346559995 meters 0.012815830627052573 Centerline is valid? [True, True] Translation: X:-351.18, Y:-260.74, Z:-1.79 [[-9.30452645e-01 3.66362585e-01 6.02761971e-03 -3.51179044e+02] [ 3.66354826e-01 9.30472169e-01 -2.38432269e-03 -2.60736194e+02] [-6.48205901e-03 -1.02517821e-05 -9.99978991e-01 -1.78751984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1178.376559995 meters 0.012884846882043515 Centerline is valid? [True, True] Translation: X:-350.94, Y:-260.14, Z:-2.80 [[-9.01709596e-01 -4.32304418e-01 5.71795179e-03 -3.50942393e+02] [ 4.32295734e-01 -9.01727725e-01 -2.74014322e-03 -2.60144962e+02] [ 6.34061168e-03 1.03273015e-06 9.99979898e-01 -2.79702819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1178.406559995 meters 0.013078965387804004 Centerline is valid? [True, True] Translation: X:-351.22, Y:-260.72, Z:-1.79 [[-9.33193298e-01 3.59324630e-01 6.00655200e-03 -3.51222941e+02] [ 3.59316947e-01 9.33212628e-01 -2.34996393e-03 -2.60717436e+02] [-6.44979010e-03 -3.47146630e-05 -9.99979199e-01 -1.78762864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1178.4365599950002 meters 0.013078664503735618 Centerline is valid? [True, True] Translation: X:-351.22, Y:-260.69, Z:-1.79 [[-9.56636555e-01 2.91215717e-01 6.31722572e-03 -3.51215487e+02] [ 2.91209069e-01 9.56657412e-01 -1.96810093e-03 -2.60689998e+02] [-6.61656273e-03 -4.31238668e-05 -9.99978110e-01 -1.78738292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1178.4665599950001 meters 0.013272723966932765 Centerline is valid? [True, True] Translation: X:-351.03, Y:-260.09, Z:-2.80 [[-9.29712065e-01 -3.68224427e-01 6.80055124e-03 -3.51027676e+02] [ 3.68215282e-01 -9.29736932e-01 -2.59678193e-03 -2.60086253e+02] [ 7.27892219e-03 8.98074013e-05 9.99973504e-01 -2.79758196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1178.496559995 meters 0.013394591329365225 Centerline is valid? [True, True] Translation: X:-351.26, Y:-260.68, Z:-1.79 [[-9.58353549e-01 2.85490538e-01 7.32309643e-03 -3.51263280e+02] [ 2.85481667e-01 9.58381525e-01 -2.25163017e-03 -2.60675469e+02] [-7.66113944e-03 -6.72479927e-05 -9.99970651e-01 -1.78595813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1178.526559995 meters 0.013862010544693276 Centerline is valid? [True, True] Translation: X:-351.26, Y:-260.65, Z:-1.78 [[-9.76440698e-01 2.15624204e-01 8.35260931e-03 -3.51258529e+02] [ 2.15615565e-01 9.76476418e-01 -1.93207007e-03 -2.60646915e+02] [-8.57272709e-03 -8.55992678e-05 -9.99963250e-01 -1.78438117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1178.556559995 meters 0.013958154291249511 Centerline is valid? [True, True] Translation: X:-351.26, Y:-260.62, Z:-1.78 [[-9.89701725e-01 1.42798492e-01 9.95423394e-03 -3.51261145e+02] [ 1.42789934e-01 9.89751774e-01 -1.56885850e-03 -2.60618954e+02] [-1.00762513e-02 -1.31337559e-04 -9.99949225e-01 -1.78427338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1178.586559995 meters 0.014279969795054389 Centerline is valid? [True, True] Translation: X:-351.16, Y:-260.00, Z:-2.80 [[-9.71674925e-01 -2.36110514e-01 9.98328793e-03 -3.51160397e+02] [ 2.36099575e-01 -9.71726198e-01 -2.27739607e-03 -2.59996231e+02] [ 1.02387396e-02 1.44161378e-04 9.99947573e-01 -2.80076760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1178.616559995 meters 0.01472224513559552 Centerline is valid? [True, True] Translation: X:-351.31, Y:-260.61, Z:-1.78 [[-9.90676200e-01 1.35795423e-01 1.09668162e-02 -3.51312162e+02] [ 1.35785093e-01 9.90736883e-01 -1.68451247e-03 -2.60610585e+02] [-1.10939784e-02 -1.79676250e-04 -9.99938444e-01 -1.78280884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1178.646559995 meters 0.015034224773021606 Centerline is valid? [True, True] Translation: X:-351.32, Y:-260.58, Z:-1.78 [[-9.97905983e-01 6.36337981e-02 1.15925971e-02 -3.51319251e+02] [ 6.36271109e-02 9.97973295e-01 -9.45129143e-04 -2.60581850e+02] [-1.16292445e-02 -2.05546567e-04 -9.99932357e-01 -1.78247624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1178.676559995 meters 0.015941196376209766 Centerline is valid? [True, True] Translation: X:-351.32, Y:-260.55, Z:-1.78 [[-9.99878698e-01 -1.01667922e-02 1.17994132e-02 -3.51317174e+02] [-1.01689181e-02 9.99948288e-01 -1.20187779e-04 -2.60553445e+02] [-1.17975811e-02 -2.40160467e-04 -9.99930377e-01 -1.78192455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1178.7065599950001 meters 0.016320643144607083 Centerline is valid? [True, True] Translation: X:-351.33, Y:-260.53, Z:-1.78 [[-9.96565476e-01 -8.19779618e-02 1.16989815e-02 -3.51327728e+02] [-8.19752247e-02 9.96634112e-01 7.14109875e-04 -2.60526092e+02] [-1.17181453e-02 -2.47369386e-04 -9.99931310e-01 -1.78222528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1178.736559995 meters 0.01575824723726745 Centerline is valid? [True, True] Translation: X:-351.34, Y:-260.50, Z:-1.78 [[-9.88153211e-01 -1.53048211e-01 1.13788235e-02 -3.51335059e+02] [-1.53040919e-01 9.88218693e-01 1.51403875e-03 -2.60500941e+02] [-1.14764870e-02 -2.45323346e-04 -9.99934113e-01 -1.78314517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1178.766559995 meters 0.015500736596007729 Centerline is valid? [True, True] Translation: X:-351.42, Y:-259.87, Z:-2.80 [[-9.98998251e-01 4.34450748e-02 1.07247929e-02 -3.51418854e+02] [-4.34406304e-02 -9.99055801e-01 6.47124707e-04 -2.59872267e+02] [ 1.07427809e-02 1.80584687e-04 9.99942279e-01 -2.80008055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1178.796559995 meters 0.016141657485607544 Centerline is valid? [True, True] Translation: X:-351.44, Y:-260.52, Z:-1.78 [[-9.87273531e-01 -1.58698299e-01 1.02871568e-02 -3.51435896e+02] [-1.58691960e-01 9.87327101e-01 1.43474179e-03 -2.60516938e+02] [-1.03844798e-02 -2.16006478e-04 -9.99946057e-01 -1.78364191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1178.826559995 meters 0.016292496876546794 Centerline is valid? [True, True] Translation: X:-351.45, Y:-260.49, Z:-1.78 [[-9.73514822e-01 -2.28399727e-01 1.01220529e-02 -3.51453180e+02] [-2.28389624e-01 9.73567420e-01 2.15852318e-03 -2.60493553e+02] [-1.03475070e-02 -2.10417539e-04 -9.99946441e-01 -1.78342932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1178.856559995 meters 0.0154223133262276 Centerline is valid? [True, True] Translation: X:-351.48, Y:-260.47, Z:-1.78 [[-9.54760003e-01 -2.97213651e-01 9.86823966e-03 -3.51476890e+02] [-2.97199956e-01 9.54810979e-01 2.86027593e-03 -2.60474649e+02] [-1.02724166e-02 -2.01963334e-04 -9.99947217e-01 -1.78435100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1178.886559995 meters 0.015907888802294236 Centerline is valid? [True, True] Translation: X:-351.52, Y:-260.46, Z:-1.78 [[-9.30740244e-01 -3.65556092e-01 9.55728450e-03 -3.51523758e+02] [-3.65538971e-01 9.30789292e-01 3.54336840e-03 -2.60461107e+02] [-1.01911180e-02 -1.95604369e-04 -9.99948050e-01 -1.78378742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1178.916559995 meters 0.015294278080087646 Centerline is valid? [True, True] Translation: X:-351.59, Y:-260.46, Z:-1.78 [[-9.01237779e-01 -4.33227187e-01 9.20162708e-03 -3.51588908e+02] [-4.33206821e-01 9.01284731e-01 4.20526931e-03 -2.60460522e+02] [-1.01151230e-02 -1.96260034e-04 -9.99948822e-01 -1.78413661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1178.9465599950001 meters 0.015279291006691823 Centerline is valid? [True, True] Translation: X:-351.66, Y:-260.47, Z:-1.78 [[-8.66496295e-01 -4.99086460e-01 9.84254957e-03 -3.51658984e+02] [-4.99057175e-01 8.66552166e-01 5.41114730e-03 -2.60466813e+02] [-1.12297130e-02 -2.23255889e-04 -9.99936920e-01 -1.78336999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1178.9765599950001 meters 0.015748807359787193 Centerline is valid? [True, True] Translation: X:-351.74, Y:-260.48, Z:-1.78 [[-8.26516147e-01 -5.62832618e-01 9.51333551e-03 -3.51739611e+02] [-5.62798594e-01 8.26570862e-01 6.19307521e-03 -2.60483507e+02] [-1.13491107e-02 -2.35415185e-04 -9.99935569e-01 -1.78263021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1179.006559995 meters 0.015842347641512086 Centerline is valid? [True, True] Translation: X:-351.81, Y:-260.50, Z:-1.78 [[-7.81698098e-01 -6.23589051e-01 9.20753622e-03 -3.51811048e+02] [-6.23549457e-01 7.81752285e-01 7.03132388e-03 -2.60501309e+02] [-1.15826691e-02 -2.44981706e-04 -9.99932889e-01 -1.78243489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1179.036559995 meters 0.01596171732737276 Centerline is valid? [True, True] Translation: X:-351.90, Y:-260.54, Z:-1.78 [[-7.31493438e-01 -6.81780884e-01 9.60086810e-03 -3.51895851e+02] [-6.81727400e-01 7.31556381e-01 8.54479366e-03 -2.60538628e+02] [-1.28492533e-02 -2.94714360e-04 -9.99917402e-01 -1.78248720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1179.066559995 meters 0.017152174283580297 Centerline is valid? [True, True] Translation: X:-351.98, Y:-260.58, Z:-1.78 [[-6.77437927e-01 -7.35524924e-01 8.99671665e-03 -3.51980361e+02] [-7.35465978e-01 6.77497596e-01 9.31679694e-03 -2.60580160e+02] [-1.29479903e-02 -3.05227396e-04 -9.99916125e-01 -1.78125901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1179.096559995 meters 0.016540238153637584 Centerline is valid? [True, True] Translation: X:-352.07, Y:-260.64, Z:-1.78 [[-6.19929732e-01 -7.84613806e-01 8.26461864e-03 -3.52068286e+02] [-7.84550512e-01 6.19984745e-01 9.97044502e-03 -2.60639788e+02] [-1.29468863e-02 -3.03035488e-04 -9.99916140e-01 -1.78160247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1179.126559995 meters 0.01732723930244893 Centerline is valid? [True, True] Translation: X:-352.15, Y:-260.69, Z:-1.78 [[-5.59078571e-01 -8.29079247e-01 7.66508232e-03 -3.52146338e+02] [-8.29008656e-01 5.59131031e-01 1.08230600e-02 -2.60693301e+02] [-1.32589598e-02 -3.03478690e-04 -9.99912050e-01 -1.78034333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1179.156559995 meters 0.01670065659729803 Centerline is valid? [True, True] Translation: X:-352.23, Y:-260.77, Z:-1.78 [[-4.95239657e-01 -8.68729895e-01 6.78615151e-03 -3.52225049e+02] [-8.68656176e-01 4.95286065e-01 1.13208605e-02 -2.60765315e+02] [-1.31958562e-02 -2.88293337e-04 -9.99912890e-01 -1.78013786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1179.1865599950002 meters 0.01512448614161837 Centerline is valid? [True, True] Translation: X:-352.30, Y:-260.84, Z:-1.78 [[-4.30035534e-01 -9.02792868e-01 5.87173123e-03 -3.52296391e+02] [-9.02716463e-01 4.30075547e-01 1.17478237e-02 -2.60844300e+02] [-1.31311395e-02 -2.48526816e-04 -9.99913752e-01 -1.78139421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1179.2165599950001 meters 0.015252950525629057 Centerline is valid? [True, True] Translation: X:-352.37, Y:-260.93, Z:-1.78 [[-3.60905769e-01 -9.32589666e-01 4.85195098e-03 -3.52368331e+02] [-9.32513696e-01 3.60938310e-01 1.19055665e-02 -2.60934426e+02] [-1.28542633e-02 -2.27723099e-04 -9.99917355e-01 -1.78104194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1179.246559995 meters 0.015087113713376421 Centerline is valid? [True, True] Translation: X:-352.43, Y:-261.02, Z:-1.78 [[-2.89381891e-01 -9.57206728e-01 3.66074677e-03 -3.52430187e+02] [-9.57138692e-01 2.89404975e-01 1.14142533e-02 -2.61024326e+02] [-1.19852384e-02 -2.00764161e-04 -9.99928154e-01 -1.78142745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1179.276559995 meters 0.01499569807320852 Centerline is valid? [True, True] Translation: X:-352.49, Y:-261.13, Z:-1.78 [[-2.15617953e-01 -9.76473770e-01 2.80625619e-03 -3.52487518e+02] [-9.76402545e-01 2.15636124e-01 1.17954433e-02 -2.61126811e+02] [-1.21230712e-02 -1.96726338e-04 -9.99926494e-01 -1.78216325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1179.306559995 meters 0.014556293647138436 Centerline is valid? [True, True] Translation: X:-352.54, Y:-261.24, Z:-1.78 [[-1.39936244e-01 -9.90158713e-01 1.88950551e-03 -3.52536926e+02] [-9.90086500e-01 1.39948861e-01 1.19598945e-02 -2.61237882e+02] [-1.21066279e-02 -1.97151182e-04 -9.99926693e-01 -1.78323707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1179.336559995 meters 0.015254217423044995 Centerline is valid? [True, True] Translation: X:-352.58, Y:-261.34, Z:-1.78 [[-6.27275160e-02 -9.98030238e-01 9.50695404e-04 -3.52579599e+02] [-9.97959448e-01 6.27343915e-02 1.18885249e-02 -2.61342986e+02] [-1.19247486e-02 -2.03017823e-04 -9.99928877e-01 -1.78241177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1179.366559995 meters 0.016044724267804712 Centerline is valid? [True, True] Translation: X:-352.62, Y:-261.46, Z:-1.78 [[ 1.67515089e-02 -9.99859683e-01 3.44270893e-05 -3.52615748e+02] [-9.99791713e-01 -1.67499687e-02 1.16606190e-02 -2.61461401e+02] [-1.16584062e-02 -2.29752882e-04 -9.99932012e-01 -1.78220268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1179.396559995 meters 0.015742379582435573 Centerline is valid? [True, True] Translation: X:-352.64, Y:-261.58, Z:-1.78 [[ 9.55484084e-02 -9.95424406e-01 -8.68715088e-04 -3.52639252e+02] [-9.95355396e-01 -9.55520159e-02 1.17238116e-02 -2.61579718e+02] [-1.17531757e-02 -2.55511288e-04 -9.99930897e-01 -1.78328786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1179.426559995 meters 0.017788871225990616 Centerline is valid? [True, True] Translation: X:-352.66, Y:-261.70, Z:-1.78 [[ 1.74836885e-01 -9.84595767e-01 -1.79962903e-03 -3.52658129e+02] [-9.84524645e-01 -1.74845893e-01 1.18379243e-02 -2.61700629e+02] [-1.19702279e-02 -2.97926679e-04 -9.99928310e-01 -1.78220552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1179.4565599950001 meters 0.01792295446567761 Centerline is valid? [True, True] Translation: X:-352.67, Y:-261.81, Z:-1.78 [[ 2.51195946e-01 -9.67932327e-01 -2.75812740e-03 -3.52665157e+02] [-9.67859250e-01 -2.51210885e-01 1.18980376e-02 -2.61814404e+02] [-1.22093668e-02 -3.19259697e-04 -9.99925412e-01 -1.78225484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1179.486559995 meters 0.01732007180607674 Centerline is valid? [True, True] Translation: X:-352.66, Y:-261.93, Z:-1.78 [[ 3.25453567e-01 -9.45551097e-01 -3.61924405e-03 -3.52660831e+02] [-9.45481059e-01 -3.25473528e-01 1.15130253e-02 -2.61931523e+02] [-1.20641218e-02 -3.25028446e-04 -9.99927173e-01 -1.78300922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1179.516559995 meters 0.01760250913345113 Centerline is valid? [True, True] Translation: X:-352.65, Y:-262.05, Z:-1.78 [[ 3.97487171e-01 -9.17596937e-01 -4.45089644e-03 -3.52648513e+02] [-9.17529873e-01 -3.97511955e-01 1.10985533e-02 -2.62049743e+02] [-1.19532831e-02 -3.27702126e-04 -9.99928503e-01 -1.78340476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1179.546559995 meters 0.01860116275495936 Centerline is valid? [True, True] Translation: X:-352.63, Y:-262.17, Z:-1.78 [[ 4.67089802e-01 -8.84195341e-01 -5.07111700e-03 -3.52629303e+02] [-8.84135588e-01 -4.67117219e-01 1.02842789e-02 -2.62165418e+02] [-1.14621175e-02 -3.20126769e-04 -9.99934257e-01 -1.78323072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1179.576559995 meters 0.018185764460708825 Centerline is valid? [True, True] Translation: X:-352.60, Y:-262.28, Z:-1.78 [[ 5.33777271e-01 -8.45606755e-01 -5.57151231e-03 -3.52599232e+02] [-8.45554489e-01 -5.33806258e-01 9.40666660e-03 -2.62278261e+02] [-1.09284490e-02 -3.10047586e-04 -9.99940235e-01 -1.78389342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1179.606559995 meters 0.018266335558328912 Centerline is valid? [True, True] Translation: X:-352.57, Y:-262.38, Z:-1.78 [[ 5.97158846e-01 -8.02101274e-01 -5.90421855e-03 -3.52566654e+02] [-8.02057078e-01 -5.97187960e-01 8.42521656e-03 -2.62381146e+02] [-1.02838052e-02 -2.95672319e-04 -9.99947077e-01 -1.78450026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1179.636559995 meters 0.018034990094609925 Centerline is valid? [True, True] Translation: X:-352.52, Y:-262.48, Z:-1.79 [[ 6.56660435e-01 -7.54162039e-01 -6.05737126e-03 -3.52524130e+02] [-7.54126038e-01 -6.56688315e-01 7.37398624e-03 -2.62482271e+02] [-9.53898543e-03 -2.74183627e-04 -9.99954465e-01 -1.78535584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1179.666559995 meters 0.018661785305568813 Centerline is valid? [True, True] Translation: X:-352.48, Y:-262.58, Z:-1.79 [[ 7.12268700e-01 -7.01879358e-01 -6.21827547e-03 -3.52476454e+02] [-7.01849392e-01 -7.12295796e-01 6.49080387e-03 -2.62579429e+02] [-8.98501273e-03 -2.58903577e-04 -9.99959601e-01 -1.78536577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1179.6965599950001 meters 0.01961434258507644 Centerline is valid? [True, True] Translation: X:-352.42, Y:-262.67, Z:-1.79 [[ 7.63750163e-01 -6.45476549e-01 -6.76126226e-03 -3.52423867e+02] [-6.45448149e-01 -7.63780044e-01 6.06068443e-03 -2.62671055e+02] [-9.07614685e-03 -2.64804505e-04 -9.99958776e-01 -1.78510337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1179.7265599950001 meters 0.018330345064716504 Centerline is valid? [True, True] Translation: X:-352.42, Y:-262.68, Z:-1.79 [[ 8.11969897e-01 -5.83653618e-01 -7.30345398e-03 -3.52423082e+02] [-5.83626990e-01 -8.12002698e-01 5.58166876e-03 -2.62678510e+02] [-9.18818551e-03 -2.69654147e-04 -9.99957752e-01 -1.78574398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1179.756559995 meters 0.019061571760589865 Centerline is valid? [True, True] Translation: X:-352.42, Y:-262.69, Z:-1.78 [[ 8.55022470e-01 -5.18528969e-01 -8.01776978e-03 -3.52424161e+02] [-5.18503091e-01 -8.55060016e-01 5.18780381e-03 -2.62687373e+02] [-9.54570092e-03 -2.78450413e-04 -9.99954400e-01 -1.78499246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1179.786559995 meters 0.018696300647796055 Centerline is valid? [True, True] Translation: X:-352.42, Y:-262.70, Z:-1.78 [[ 8.92831898e-01 -4.50289967e-01 -9.49458377e-03 -3.52422374e+02] [-4.50260754e-01 -8.92882326e-01 5.13870736e-03 -2.62695005e+02] [-1.07914544e-02 -3.12963409e-04 -9.99941722e-01 -1.78413557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1179.816559995 meters 0.018755110906172365 Centerline is valid? [True, True] Translation: X:-352.42, Y:-262.70, Z:-1.78 [[ 9.25009935e-01 -3.79813626e-01 -9.91111656e-03 -3.52420883e+02] [-3.79788260e-01 -9.25062980e-01 4.40015003e-03 -2.62701951e+02] [-1.08396440e-02 -3.06056775e-04 -9.99941203e-01 -1.78340191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1179.846559995 meters 0.01765902030321719 Centerline is valid? [True, True] Translation: X:-352.42, Y:-262.71, Z:-1.78 [[ 9.51476586e-01 -3.07519333e-01 -1.11429895e-02 -3.52418180e+02] [-3.07494306e-01 -9.51541780e-01 3.93618569e-03 -2.62708880e+02] [-1.18134733e-02 -3.18782697e-04 -9.99930168e-01 -1.78330240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1179.876559995 meters 0.01808049641689359 Centerline is valid? [True, True] Translation: X:-352.42, Y:-262.72, Z:-1.78 [[ 9.72198246e-01 -2.33880266e-01 -1.14276484e-02 -3.52416582e+02] [-2.33860491e-01 -9.72265361e-01 3.05589593e-03 -2.62717025e+02] [-1.18254205e-02 -2.98461191e-04 -9.99930033e-01 -1.78215551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1179.906559995 meters 0.01663549585786349 Centerline is valid? [True, True] Translation: X:-352.41, Y:-262.72, Z:-1.78 [[ 9.86854751e-01 -1.61200736e-01 -1.14901403e-02 -3.52411379e+02] [-1.61186895e-01 -9.86921609e-01 2.12671993e-03 -2.62719165e+02] [-1.16826966e-02 -2.46703623e-04 -9.99931725e-01 -1.78261772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1179.9365599950002 meters 0.015394629079862764 Centerline is valid? [True, True] Translation: X:-352.41, Y:-262.72, Z:-1.78 [[ 9.96221173e-01 -8.61232481e-02 -1.12321288e-02 -3.52411079e+02] [-8.61154192e-02 -9.96284469e-01 1.17970456e-03 -2.62723939e+02] [-1.12919955e-02 -2.07987173e-04 -9.99936222e-01 -1.78342593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1179.9665599950001 meters 0.015026564090440698 Centerline is valid? [True, True] Translation: X:-352.41, Y:-262.73, Z:-1.78 [[ 9.99879047e-01 -1.08058597e-02 -1.11859510e-02 -3.52411572e+02] [-1.08032477e-02 -9.99941600e-01 2.93910742e-04 -2.62729094e+02] [-1.11884737e-02 -1.73030594e-04 -9.99937392e-01 -1.78352022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1179.996559995 meters 0.014238281045021365 Centerline is valid? [True, True] Translation: X:-352.41, Y:-262.73, Z:-1.78 [[ 9.98076679e-01 6.10359035e-02 -1.08426053e-02 -3.52412176e+02] [ 6.10333627e-02 -9.98135567e-01 -5.65373430e-04 -2.62728986e+02] [-1.08568981e-02 -9.74746292e-05 -9.99941058e-01 -1.78312384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1180.026559995 meters 0.013761148696982287 Centerline is valid? [True, True] Translation: X:-352.41, Y:-262.73, Z:-1.78 [[ 9.90618999e-01 1.36257285e-01 -1.03899871e-02 -3.52412193e+02] [ 1.36250481e-01 -9.90673482e-01 -1.36325253e-03 -2.62731762e+02] [-1.04788378e-02 -6.51768829e-05 -9.99945094e-01 -1.78394826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1180.056559995 meters 0.013529654716473556 Centerline is valid? [True, True] Translation: X:-352.41, Y:-262.73, Z:-1.78 [[ 9.77452009e-01 2.10928702e-01 -9.83122170e-03 -3.52412203e+02] [ 2.10918415e-01 -9.77501448e-01 -2.08340866e-03 -2.62734451e+02] [-1.00494841e-02 -3.71537229e-05 -9.99949502e-01 -1.78413363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1180.086559995 meters 0.013524363458205749 Centerline is valid? [True, True] Translation: X:-352.41, Y:-262.74, Z:-1.78 [[ 9.58602140e-01 2.84594975e-01 -9.36150416e-03 -3.52412314e+02] [ 2.84581545e-01 -9.58647850e-01 -2.76484538e-03 -2.62737345e+02] [-9.76124694e-03 -1.37246205e-05 -9.99952358e-01 -1.78413120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1180.116559995 meters 0.013335346004225873 Centerline is valid? [True, True] Translation: X:-352.41, Y:-262.74, Z:-1.79 [[ 9.33845300e-01 3.57568519e-01 -8.81532479e-03 -3.52410252e+02] [ 3.57552597e-01 -9.33886907e-01 -3.37428760e-03 -2.62743813e+02] [-9.43905542e-03 -8.79652504e-07 -9.99955451e-01 -1.78555631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1180.146559995 meters 0.013576143791085396 Centerline is valid? [True, True] Translation: X:-352.41, Y:-262.75, Z:-1.79 [[ 9.03285251e-01 4.28948867e-01 -8.86701682e-03 -3.52406404e+02] [ 4.28928139e-01 -9.03328772e-01 -4.21695138e-03 -2.62752149e+02] [-9.81868792e-03 5.79697040e-06 -9.99951796e-01 -1.78540436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1180.176559995 meters 0.013576143791085396 Centerline is valid? [True, True] Translation: X:-352.40, Y:-262.76, Z:-1.79 [[ 8.66924677e-01 4.98366523e-01 -8.50960631e-03 -3.52402740e+02] [ 4.98342450e-01 -8.66966441e-01 -4.89834177e-03 -2.62760707e+02] [-9.81871265e-03 5.79530488e-06 -9.99951795e-01 -1.78540414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1180.2065599950001 meters 0.013453000500720078 Centerline is valid? [True, True] Translation: X:-352.40, Y:-262.77, Z:-1.78 [[ 8.24035758e-01 5.66463951e-01 -9.14667525e-03 -3.52398411e+02] [ 5.66429288e-01 -8.24086520e-01 -6.26652792e-03 -2.62770743e+02] [-1.10874139e-02 -1.71016672e-05 -9.99938533e-01 -1.78403128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1180.236559995 meters 0.01346369480403226 Centerline is valid? [True, True] Translation: X:-352.39, Y:-262.78, Z:-1.78 [[ 7.76406691e-01 6.30163872e-01 -9.28143107e-03 -3.52393636e+02] [ 6.30119350e-01 -7.76462165e-01 -7.49077561e-03 -2.62778071e+02] [-1.19270962e-02 -3.25210082e-05 -9.99928869e-01 -1.78333436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1180.266559995 meters 0.013647690027237175 Centerline is valid? [True, True] Translation: X:-352.39, Y:-262.79, Z:-1.78 [[ 7.23443969e-01 6.90324071e-01 -9.02776667e-03 -3.52389062e+02] [ 6.90271296e-01 -7.23500293e-01 -8.53610578e-03 -2.62785166e+02] [-1.24242711e-02 -5.62139509e-05 -9.99922814e-01 -1.78218845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1180.296559995 meters 0.013722764329477529 Centerline is valid? [True, True] Translation: X:-352.38, Y:-262.79, Z:-1.78 [[ 6.66013043e-01 7.45888542e-01 -8.76976798e-03 -3.52383027e+02] [ 7.45825457e-01 -6.66070774e-01 -9.70108094e-03 -2.62791868e+02] [-1.30772113e-02 -7.96697772e-05 -9.99914487e-01 -1.78255850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1180.326559995 meters 0.014067854530422393 Centerline is valid? [True, True] Translation: X:-352.37, Y:-262.80, Z:-1.78 [[ 6.02906913e-01 7.97773562e-01 -7.78443245e-03 -3.52374495e+02] [ 7.97709637e-01 -6.02957153e-01 -1.00997977e-02 -2.62798897e+02] [-1.27510308e-02 -1.20478940e-04 -9.99918695e-01 -1.78266765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1180.356559995 meters 0.014155144039549176 Centerline is valid? [True, True] Translation: X:-352.37, Y:-262.81, Z:-1.78 [[ 5.37772305e-01 8.43062548e-01 -6.81824600e-03 -3.52366432e+02] [ 8.42997830e-01 -5.37815511e-01 -1.04467895e-02 -2.62805189e+02] [-1.24742554e-02 -1.29772516e-04 -9.99922185e-01 -1.78256673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1180.386559995 meters 0.014328150802206457 Centerline is valid? [True, True] Translation: X:-352.36, Y:-262.81, Z:-1.78 [[ 4.69494086e-01 8.82917349e-01 -5.67956859e-03 -3.52358893e+02] [ 8.82856101e-01 -4.69528420e-01 -1.04003558e-02 -2.62811218e+02] [-1.18493735e-02 -1.31336224e-04 -9.99929785e-01 -1.78257300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1180.416559995 meters 0.014350635478489361 Centerline is valid? [True, True] Translation: X:-352.35, Y:-262.82, Z:-1.78 [[ 3.98229548e-01 9.17274084e-01 -4.63487888e-03 -3.52351133e+02] [ 9.17215829e-01 -3.98256497e-01 -1.03385518e-02 -2.62815159e+02] [-1.13291562e-02 -1.34067483e-04 -9.99935814e-01 -1.78290489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1180.4465599950001 meters 0.014525449124697153 Centerline is valid? [True, True] Translation: X:-352.34, Y:-262.82, Z:-1.78 [[ 3.25294736e-01 9.45607775e-01 -3.04494117e-03 -3.52343675e+02] [ 9.45569344e-01 -3.25308969e-01 -8.52584760e-03 -2.62819376e+02] [-9.05265445e-03 -1.05789680e-04 -9.99959018e-01 -1.78392737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1180.4765599950001 meters 0.014559507193391432 Centerline is valid? [True, True] Translation: X:-352.34, Y:-262.82, Z:-1.79 [[ 2.50447246e-01 9.68128075e-01 -2.05135075e-03 -3.52340239e+02] [ 9.68098482e-01 -2.50455630e-01 -7.57008908e-03 -2.62822126e+02] [-7.84258811e-03 -9.00015906e-05 -9.99969243e-01 -1.78501589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1180.506559995 meters 0.014187531458657011 Centerline is valid? [True, True] Translation: X:-352.34, Y:-262.82, Z:-1.79 [[ 1.74421425e-01 9.84670218e-01 -1.31444172e-03 -3.52335224e+02] [ 9.84645506e-01 -1.74426361e-01 -6.97659876e-03 -2.62823726e+02] [-7.09892231e-03 -7.73908371e-05 -9.99974800e-01 -1.78633077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1180.536559995 meters 0.013867154017321758 Centerline is valid? [True, True] Translation: X:-352.33, Y:-262.82, Z:-1.79 [[ 9.77232625e-02 9.95213400e-01 -6.72206349e-04 -3.52326495e+02] [ 9.95194021e-01 -9.77255547e-02 -6.21094161e-03 -2.62824900e+02] [-6.24690406e-03 -6.20222622e-05 -9.99980486e-01 -1.78759130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1180.566559995 meters 0.01380180781159707 Centerline is valid? [True, True] Translation: X:-352.32, Y:-262.83, Z:-1.79 [[ 1.99059231e-02 9.99801842e-01 -1.76254062e-04 -3.52317142e+02] [ 9.99783888e-01 -1.99066220e-02 -5.99200385e-03 -2.62827077e+02] [-5.99432511e-03 -5.69396030e-05 -9.99982032e-01 -1.78733177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1180.596559995 meters 0.01378010668838613 Centerline is valid? [True, True] Translation: X:-352.31, Y:-262.83, Z:-1.79 [[-5.83010774e-02 9.98298995e-01 3.16870417e-04 -3.52308021e+02] [ 9.98278048e-01 5.83019069e-02 -6.46735582e-03 -2.62827693e+02] [-6.47482897e-03 -6.07290311e-05 -9.99979036e-01 -1.78689200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1180.626559995 meters 0.0138308549117536 Centerline is valid? [True, True] Translation: X:-352.30, Y:-262.83, Z:-1.79 [[-1.36055975e-01 9.90700779e-01 8.59387927e-04 -3.52299355e+02] [ 9.90678059e-01 1.36058676e-01 -6.70967087e-03 -2.62828459e+02] [-6.76420334e-03 -6.15140518e-05 -9.99977121e-01 -1.78612363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1180.656559995 meters 0.013868170766194217 Centerline is valid? [True, True] Translation: X:-352.29, Y:-262.83, Z:-1.79 [[-2.12931495e-01 9.77065929e-01 1.53267773e-03 -3.52291426e+02] [ 9.77038340e-01 2.12937001e-01 -7.34270548e-03 -2.62827601e+02] [-7.50067115e-03 -6.60083495e-05 -9.99971868e-01 -1.78505507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1180.6865599950002 meters 0.013838438991369873 Centerline is valid? [True, True] Translation: X:-352.28, Y:-262.83, Z:-1.78 [[-2.88687118e-01 9.57420646e-01 2.33555072e-03 -3.52282950e+02] [ 9.57387265e-01 2.88696556e-01 -7.99518868e-03 -2.62827084e+02] [-8.32902416e-03 -7.20814580e-05 -9.99965311e-01 -1.78367561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1180.7165599950001 meters 0.013777116416825656 Centerline is valid? [True, True] Translation: X:-352.28, Y:-262.83, Z:-1.78 [[-3.62432307e-01 9.32004713e-01 3.16834888e-03 -3.52275929e+02] [ 9.31967304e-01 3.62446148e-01 -8.35070334e-03 -2.62825321e+02] [-8.93125071e-03 -7.37671123e-05 -9.99960113e-01 -1.78363159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1180.746559995 meters 0.01366536713400016 Centerline is valid? [True, True] Translation: X:-352.27, Y:-262.82, Z:-1.78 [[-4.34142708e-01 9.00835347e-01 3.97326610e-03 -3.52269428e+02] [ 9.00796024e-01 4.34160883e-01 -8.41735035e-03 -2.62822558e+02] [-9.30768345e-03 -7.52289735e-05 -9.99956680e-01 -1.78338316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1180.776559995 meters 0.013558783640681209 Centerline is valid? [True, True] Translation: X:-352.26, Y:-262.82, Z:-1.78 [[-5.02867454e-01 8.64350785e-01 4.69509087e-03 -3.52261048e+02] [ 8.64311780e-01 5.02889367e-01 -8.21163738e-03 -2.62818207e+02] [-9.45884649e-03 -7.13428363e-05 -9.99955262e-01 -1.78335022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1180.806559995 meters 0.013591382170347855 Centerline is valid? [True, True] Translation: X:-352.25, Y:-262.81, Z:-1.78 [[-5.68411371e-01 8.22726126e-01 5.49869213e-03 -3.52252488e+02] [ 8.22686499e-01 5.68437963e-01 -8.07506434e-03 -2.62814142e+02] [-9.76923175e-03 -6.62586097e-05 -9.99952278e-01 -1.78207365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1180.836559995 meters 0.013501255763555806 Centerline is valid? [True, True] Translation: X:-352.25, Y:-262.81, Z:-1.78 [[-6.30520331e-01 7.76146430e-01 6.38992285e-03 -3.52247650e+02] [ 7.76105587e-01 6.30552706e-01 -7.96261637e-03 -2.62810083e+02] [-1.02093394e-02 -6.13366875e-05 -9.99947882e-01 -1.78198970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1180.866559995 meters 0.013488893608233516 Centerline is valid? [True, True] Translation: X:-352.24, Y:-262.81, Z:-1.78 [[-6.88155965e-01 7.25524837e-01 7.42153404e-03 -3.52242734e+02] [ 7.25481913e-01 6.88195981e-01 -7.89213781e-03 -2.62807272e+02] [-1.08334119e-02 -4.68329962e-05 -9.99941316e-01 -1.78034732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1180.896559995 meters 0.013395731988225119 Centerline is valid? [True, True] Translation: X:-352.24, Y:-262.80, Z:-1.78 [[-7.42312886e-01 6.69999147e-01 8.52774459e-03 -3.52238839e+02] [ 6.69954306e-01 7.42361867e-01 -7.75148944e-03 -2.62803340e+02] [-1.15241637e-02 -4.08312887e-05 -9.99933594e-01 -1.77999203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1180.926559995 meters 0.013343104030527759 Centerline is valid? [True, True] Translation: X:-352.22, Y:-262.78, Z:-1.78 [[-7.87457791e-01 6.16298648e-01 9.28463850e-03 -3.52220446e+02] [ 6.16255306e-01 7.87512524e-01 -7.30901187e-03 -2.62783125e+02] [-1.18163032e-02 -3.38306042e-05 -9.99930185e-01 -1.77963800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1180.9565599950001 meters 0.013242018485349009 Centerline is valid? [True, True] Translation: X:-352.20, Y:-262.76, Z:-1.78 [[-8.28615666e-01 5.59733922e-01 9.69614295e-03 -3.52200574e+02] [ 5.59695282e-01 8.28672394e-01 -6.57688615e-03 -2.62764251e+02] [-1.17162323e-02 -2.28254353e-05 -9.99931363e-01 -1.78067057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1180.986559995 meters 0.01314506544551842 Centerline is valid? [True, True] Translation: X:-351.83, Y:-262.22, Z:-2.80 [[-7.87443485e-01 -6.16321014e-01 9.00920024e-03 -3.51831440e+02] [ 6.16280763e-01 -7.87495021e-01 -7.04366565e-03 -2.62223306e+02] [ 1.14358595e-02 5.70816490e-06 9.99934609e-01 -2.80220079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1181.016559995 meters 0.013164941802670116 Centerline is valid? [True, True] Translation: X:-351.84, Y:-262.25, Z:-2.80 [[-7.44554055e-01 -6.67513003e-01 8.10245885e-03 -3.51843420e+02] [ 6.67473505e-01 -7.44598141e-01 -7.26146356e-03 -2.62252082e+02] [ 1.08801971e-02 1.62447021e-06 9.99940809e-01 -2.80112321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1181.046559995 meters 0.012999420880614575 Centerline is valid? [True, True] Translation: X:-351.86, Y:-262.28, Z:-2.80 [[-6.97222243e-01 -7.16822147e-01 6.86686946e-03 -3.51861957e+02] [ 7.16787551e-01 -6.97256057e-01 -7.04258682e-03 -2.62276789e+02] [ 9.83624853e-03 1.18383685e-05 9.99951623e-01 -2.80003207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1181.076559995 meters 0.013107181198748815 Centerline is valid? [True, True] Translation: X:-351.88, Y:-262.26, Z:-2.80 [[-6.95662684e-01 -7.18336788e-01 6.75936957e-03 -3.51881909e+02] [ 7.18303376e-01 -6.95695521e-01 -6.92833880e-03 -2.62259470e+02] [ 9.67934377e-03 3.54912132e-05 9.99953154e-01 -2.80045993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1181.106559995 meters 0.013360595606057846 Centerline is valid? [True, True] Translation: X:-351.90, Y:-262.24, Z:-2.80 [[-6.93775813e-01 -7.20153486e-01 7.35381262e-03 -3.51902208e+02] [ 7.20114086e-01 -6.93814782e-01 -7.53331406e-03 -2.62240895e+02] [ 1.05273263e-02 6.91529700e-05 9.99944584e-01 -2.80136853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1181.136559995 meters 0.013360595606057846 Centerline is valid? [True, True] Translation: X:-351.92, Y:-262.22, Z:-2.80 [[-6.93991619e-01 -7.19945499e-01 7.35607016e-03 -3.51920982e+02] [ 7.19906111e-01 -6.94030600e-01 -7.53110966e-03 -2.62221837e+02] [ 1.05273263e-02 6.91528737e-05 9.99944584e-01 -2.80136833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1181.166559995 meters 0.013360595606057846 Centerline is valid? [True, True] Translation: X:-351.94, Y:-262.20, Z:-2.80 [[-6.94207363e-01 -7.19737447e-01 7.35832711e-03 -3.51939762e+02] [ 7.19698070e-01 -6.94246356e-01 -7.52890451e-03 -2.62202784e+02] [ 1.05273263e-02 6.91528737e-05 9.99944584e-01 -2.80136812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1181.1965599950001 meters 0.013626079888609694 Centerline is valid? [True, True] Translation: X:-351.96, Y:-262.18, Z:-2.80 [[-6.93452316e-01 -7.20462519e-01 7.59237306e-03 -3.51959228e+02] [ 7.20420692e-01 -6.93493872e-01 -7.76373942e-03 -2.62183306e+02] [ 1.08587475e-02 8.59195790e-05 9.99941039e-01 -2.80154283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1181.2265599950001 meters 0.013531470533885865 Centerline is valid? [True, True] Translation: X:-351.98, Y:-262.16, Z:-2.80 [[-6.92926261e-01 -7.20969763e-01 7.46981068e-03 -3.51977999e+02] [ 7.20929356e-01 -6.92966515e-01 -7.63361263e-03 -2.62163079e+02] [ 1.06799326e-02 9.56751530e-05 9.99942964e-01 -2.80057869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1181.256559995 meters 0.013852477523163882 Centerline is valid? [True, True] Translation: X:-352.00, Y:-262.14, Z:-2.80 [[-6.92075103e-01 -7.21785287e-01 7.61918421e-03 -3.51997783e+02] [ 7.21743347e-01 -6.92117032e-01 -7.78167882e-03 -2.62144154e+02] [ 1.08900684e-02 1.13589350e-04 9.99940695e-01 -2.80109117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1181.286559995 meters 0.013896439628048833 Centerline is valid? [True, True] Translation: X:-352.02, Y:-262.12, Z:-2.80 [[-6.91530113e-01 -7.22309041e-01 7.46670966e-03 -3.52017039e+02] [ 7.22268844e-01 -6.91570412e-01 -7.62122043e-03 -2.62124441e+02] [ 1.06686319e-02 1.22668326e-04 9.99943081e-01 -2.80070034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1181.316559995 meters 0.01421799922916114 Centerline is valid? [True, True] Translation: X:-352.04, Y:-262.11, Z:-2.80 [[-6.90268471e-01 -7.23521591e-01 6.77832861e-03 -3.52035973e+02] [ 7.23488564e-01 -6.90301738e-01 -6.91430603e-03 -2.62105334e+02] [ 9.68174172e-03 1.31315789e-04 9.99953122e-01 -2.79994670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1181.346559995 meters 0.014286417895013606 Centerline is valid? [True, True] Translation: X:-352.06, Y:-262.09, Z:-2.80 [[-6.89951479e-01 -7.23827128e-01 6.42229350e-03 -3.52055180e+02] [ 7.23797530e-01 -6.89981356e-01 -6.54703344e-03 -2.62085337e+02] [ 9.17018319e-03 1.31304763e-04 9.99957945e-01 -2.79934125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1181.376559995 meters 0.0149704112544296 Centerline is valid? [True, True] Translation: X:-352.07, Y:-262.07, Z:-2.80 [[-6.89767792e-01 -7.24003652e-01 6.25344694e-03 -3.52074554e+02] [ 7.23975635e-01 -6.89796125e-01 -6.37073200e-03 -2.62067317e+02] [ 8.92603670e-03 1.33017472e-04 9.99960153e-01 -2.80030499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1181.406559995 meters 0.01447766186567609 Centerline is valid? [True, True] Translation: X:-352.09, Y:-262.05, Z:-2.80 [[-6.90092022e-01 -7.23694496e-01 6.26714830e-03 -3.52091889e+02] [ 7.23666379e-01 -6.90120467e-01 -6.38073977e-03 -2.62046837e+02] [ 8.94279356e-03 1.32026907e-04 9.99960004e-01 -2.79974383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1181.4365599950002 meters 0.014343719238633593 Centerline is valid? [True, True] Translation: X:-352.11, Y:-262.03, Z:-2.80 [[-6.90751983e-01 -7.23066011e-01 6.10267413e-03 -3.52108347e+02] [ 7.23039360e-01 -6.90778929e-01 -6.20925963e-03 -2.62025903e+02] [ 8.70530329e-03 1.23415190e-04 9.99962101e-01 -2.79973587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1181.4665599950001 meters 0.013984470543730771 Centerline is valid? [True, True] Translation: X:-352.13, Y:-262.01, Z:-2.80 [[-6.91717442e-01 -7.22142297e-01 6.12240129e-03 -3.52125758e+02] [ 7.22115472e-01 -6.91744526e-01 -6.22545057e-03 -2.62005144e+02] [ 8.73079875e-03 1.14827956e-04 9.99961879e-01 -2.79953303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1181.496559995 meters 0.01404132173137557 Centerline is valid? [True, True] Translation: X:-352.14, Y:-261.99, Z:-2.80 [[-6.92673830e-01 -7.21228080e-01 5.74651973e-03 -3.52143460e+02] [ 7.21204447e-01 -6.92697659e-01 -5.83942555e-03 -2.61985694e+02] [ 8.19215844e-03 9.95983216e-05 9.99966439e-01 -2.79992346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1181.526559995 meters 0.013853925212262572 Centerline is valid? [True, True] Translation: X:-352.16, Y:-261.96, Z:-2.80 [[-6.93859875e-01 -7.20088297e-01 5.59622595e-03 -3.52161345e+02] [ 7.20065874e-01 -6.93882437e-01 -5.68328565e-03 -2.61964709e+02] [ 7.97559039e-03 8.62474559e-05 9.99968191e-01 -2.79989743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1181.556559995 meters 0.01339218109815947 Centerline is valid? [True, True] Translation: X:-352.18, Y:-261.94, Z:-2.80 [[-6.95791817e-01 -7.18224188e-01 5.26916698e-03 -3.52177141e+02] [ 7.18204281e-01 -6.95811765e-01 -5.34777336e-03 -2.61943459e+02] [ 7.50724856e-03 6.34013421e-05 9.99971818e-01 -2.79951600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1181.586559995 meters 0.013063039694293226 Centerline is valid? [True, True] Translation: X:-352.20, Y:-261.92, Z:-2.80 [[-6.96804164e-01 -7.17241715e-01 5.31783689e-03 -3.52195213e+02] [ 7.17221433e-01 -6.96824453e-01 -5.39414702e-03 -2.61921230e+02] [ 7.57450605e-03 5.54024912e-05 9.99971312e-01 -2.79843421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1181.616559995 meters 0.012930015444898111 Centerline is valid? [True, True] Translation: X:-352.21, Y:-261.90, Z:-2.80 [[-6.97562751e-01 -7.16505674e-01 5.08201524e-03 -3.52213434e+02] [ 7.16487153e-01 -6.97581262e-01 -5.15204292e-03 -2.61900419e+02] [ 7.23658659e-03 4.73253941e-05 9.99973815e-01 -2.79795215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1181.646559995 meters 0.012895119099226585 Centerline is valid? [True, True] Translation: X:-352.23, Y:-261.88, Z:-2.80 [[-6.98040291e-01 -7.16041681e-01 4.90547811e-03 -3.52232438e+02] [ 7.16024432e-01 -6.98057526e-01 -4.97028952e-03 -2.61879815e+02] [ 6.98324037e-03 4.29798323e-05 9.99975616e-01 -2.79782102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1181.676559995 meters 0.012871894278272955 Centerline is valid? [True, True] Translation: X:-352.25, Y:-261.86, Z:-2.80 [[-6.98401215e-01 -7.15691586e-01 4.61484091e-03 -3.52251562e+02] [ 7.15676330e-01 -6.98416461e-01 -4.67318312e-03 -2.61859726e+02] [ 6.56763869e-03 3.89756318e-05 9.99978432e-01 -2.79778391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1181.7065599950001 meters 0.012932908999952595 Centerline is valid? [True, True] Translation: X:-352.27, Y:-261.84, Z:-2.80 [[-6.98367610e-01 -7.15723567e-01 4.73900157e-03 -3.52271572e+02] [ 7.15707497e-01 -6.98383687e-01 -4.79622353e-03 -2.61839719e+02] [ 6.74241160e-03 4.22117893e-05 9.99977269e-01 -2.79800607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1181.736559995 meters 0.013016769369901454 Centerline is valid? [True, True] Translation: X:-352.29, Y:-261.82, Z:-2.80 [[-6.97851667e-01 -7.16219673e-01 5.69479043e-03 -3.52291881e+02] [ 7.16196513e-01 -6.97874900e-01 -5.76014577e-03 -2.61821437e+02] [ 8.09978103e-03 5.88617224e-05 9.99967195e-01 -2.79958405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1181.766559995 meters 0.013297023992417344 Centerline is valid? [True, True] Translation: X:-352.31, Y:-261.80, Z:-2.80 [[-6.97665261e-01 -7.16395343e-01 6.39499237e-03 -3.52311357e+02] [ 7.16366182e-01 -6.97694566e-01 -6.46415929e-03 -2.61804396e+02] [ 9.09264504e-03 7.13368927e-05 9.99958659e-01 -2.80165591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1181.796559995 meters 0.013147857908924894 Centerline is valid? [True, True] Translation: X:-352.33, Y:-261.78, Z:-2.80 [[-6.97326438e-01 -7.16720136e-01 6.93443324e-03 -3.52331140e+02] [ 7.16685903e-01 -6.97360911e-01 -7.00547863e-03 -2.61784517e+02] [ 9.85677028e-03 8.47050869e-05 9.99951417e-01 -2.80153740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1181.826559995 meters 0.013153141247876554 Centerline is valid? [True, True] Translation: X:-352.35, Y:-261.77, Z:-2.80 [[-6.96972286e-01 -7.17057615e-01 7.61631749e-03 -3.52351786e+02] [ 7.17016386e-01 -6.97013892e-01 -7.69000700e-03 -2.61765128e+02] [ 1.08228572e-02 1.01302676e-04 9.99941426e-01 -2.80238496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1181.856559995 meters 0.013402142728086276 Centerline is valid? [True, True] Translation: X:-352.37, Y:-261.75, Z:-2.80 [[-6.96593784e-01 -7.17423378e-01 7.79723825e-03 -3.52371516e+02] [ 7.17380226e-01 -6.96637412e-01 -7.86943625e-03 -2.61746084e+02] [ 1.10775654e-02 1.11784159e-04 9.99938636e-01 -2.80279339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1181.886559995 meters 0.0136376212499057 Centerline is valid? [True, True] Translation: X:-352.39, Y:-261.73, Z:-2.80 [[-6.96436380e-01 -7.17575713e-01 7.83998337e-03 -3.52390410e+02] [ 7.17532154e-01 -6.96480497e-01 -7.90737034e-03 -2.61728264e+02] [ 1.11345324e-02 1.18459780e-04 9.99938002e-01 -2.80328490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1181.916559995 meters 0.01362094802521576 Centerline is valid? [True, True] Translation: X:-352.41, Y:-261.71, Z:-2.80 [[-6.96548011e-01 -7.17468780e-01 7.70834866e-03 -3.52409900e+02] [ 7.17426717e-01 -6.96590652e-01 -7.76978677e-03 -2.61709016e+02] [ 1.09441431e-02 1.18145748e-04 9.99940104e-01 -2.80300266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1181.9465599950001 meters 0.01381864364666797 Centerline is valid? [True, True] Translation: X:-352.43, Y:-261.69, Z:-2.80 [[-6.96960817e-01 -7.17071218e-01 7.38162856e-03 -3.52428938e+02] [ 7.17032660e-01 -6.96999897e-01 -7.43689973e-03 -2.61691590e+02] [ 1.04777811e-02 1.09641055e-04 9.99945101e-01 -2.80383045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1181.9765599950001 meters 0.013546515340442747 Centerline is valid? [True, True] Translation: X:-352.45, Y:-261.67, Z:-2.80 [[-6.97598171e-01 -7.16453094e-01 7.19417582e-03 -3.52447671e+02] [ 7.16416482e-01 -6.97635259e-01 -7.24363438e-03 -2.61672282e+02] [ 1.02086350e-02 1.00880033e-04 9.99947886e-01 -2.80303475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1182.006559995 meters 0.013498425650080857 Centerline is valid? [True, True] Translation: X:-352.47, Y:-261.65, Z:-2.80 [[-6.98297085e-01 -7.15775444e-01 6.83336416e-03 -3.52466313e+02] [ 7.15742423e-01 -6.98330513e-01 -6.87595778e-03 -2.61653420e+02] [ 9.69358843e-03 8.94673504e-05 9.99953012e-01 -2.80282426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1182.036559995 meters 0.013054154754496845 Centerline is valid? [True, True] Translation: X:-352.48, Y:-261.63, Z:-2.80 [[-6.99750993e-01 -7.14360210e-01 6.16752479e-03 -3.52484389e+02] [ 7.14333289e-01 -6.99778169e-01 -6.20211189e-03 -2.61632767e+02] [ 8.74644116e-03 6.57343215e-05 9.99961747e-01 -2.80101760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1182.066559995 meters 0.01288347443763661 Centerline is valid? [True, True] Translation: X:-352.50, Y:-261.61, Z:-2.80 [[-7.00582281e-01 -7.13546601e-01 5.97635514e-03 -3.52503863e+02] [ 7.13521320e-01 -7.00607769e-01 -6.00670861e-03 -2.61611851e+02] [ 8.47314735e-03 5.60631920e-05 9.99964101e-01 -2.80035699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1182.096559995 meters 0.01288347443763661 Centerline is valid? [True, True] Translation: X:-352.52, Y:-261.59, Z:-2.80 [[-7.00782602e-01 -7.13349850e-01 5.97804143e-03 -3.52523369e+02] [ 7.13324576e-01 -7.00808097e-01 -6.00503038e-03 -2.61592346e+02] [ 8.47314735e-03 5.60630578e-05 9.99964101e-01 -2.80035678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1182.126559995 meters 0.012902896988064806 Centerline is valid? [True, True] Translation: X:-352.54, Y:-261.57, Z:-2.80 [[-7.01740550e-01 -7.12407666e-01 5.95980515e-03 -3.52541992e+02] [ 7.12382545e-01 -7.01765856e-01 -5.98275309e-03 -2.61573143e+02] [ 8.44454692e-03 4.73207219e-05 9.99964343e-01 -2.80057112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1182.156559995 meters 0.012845782242300026 Centerline is valid? [True, True] Translation: X:-352.56, Y:-261.55, Z:-2.80 [[-7.02600967e-01 -7.11558442e-01 6.03861921e-03 -3.52560836e+02] [ 7.11532654e-01 -7.02626915e-01 -6.05810054e-03 -2.61553298e+02] [ 8.55358897e-03 4.02474569e-05 9.99963417e-01 -2.79995969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1182.1865599950002 meters 0.012829306313245338 Centerline is valid? [True, True] Translation: X:-352.58, Y:-261.53, Z:-2.80 [[-7.04098835e-01 -7.10071841e-01 6.54301735e-03 -3.52580274e+02] [ 7.10041535e-01 -7.04129236e-01 -6.56040656e-03 -2.61532868e+02] [ 9.26548977e-03 2.66394662e-05 9.99957074e-01 -2.80023435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1182.2165599950001 meters 0.012779230962800875 Centerline is valid? [True, True] Translation: X:-352.60, Y:-261.51, Z:-2.80 [[-7.05007145e-01 -7.09168684e-01 6.68605910e-03 -3.52599790e+02] [ 7.09137033e-01 -7.05038848e-01 -6.70003839e-03 -2.61513352e+02] [ 9.46538882e-03 1.77571767e-05 9.99955202e-01 -2.80055535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1182.246559995 meters 0.01274004007998522 Centerline is valid? [True, True] Translation: X:-352.62, Y:-261.49, Z:-2.80 [[-7.05529420e-01 -7.08648086e-01 6.79175324e-03 -3.52618695e+02] [ 7.08615441e-01 -7.05562110e-01 -6.80190067e-03 -2.61494134e+02] [ 9.61215763e-03 1.38001816e-05 9.99953802e-01 -2.80059023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1182.276559995 meters 0.012702864743795764 Centerline is valid? [True, True] Translation: X:-352.64, Y:-261.47, Z:-2.80 [[-7.05892633e-01 -7.08289021e-01 6.50027961e-03 -3.52638692e+02] [ 7.08259137e-01 -7.05922561e-01 -6.50634952e-03 -2.61473798e+02] [ 9.19706997e-03 1.10982369e-05 9.99957706e-01 -2.80010343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1182.306559995 meters 0.012690763621066279 Centerline is valid? [True, True] Translation: X:-352.66, Y:-261.45, Z:-2.80 [[-7.06274965e-01 -7.07910769e-01 6.16579589e-03 -3.52657868e+02] [ 7.07883897e-01 -7.06301878e-01 -6.16808539e-03 -2.61453831e+02] [ 8.72136729e-03 8.30332912e-06 9.99961968e-01 -2.79949550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1182.336559995 meters 0.012681711337849825 Centerline is valid? [True, True] Translation: X:-352.68, Y:-261.44, Z:-2.80 [[-7.06472131e-01 -7.07715398e-01 6.00374782e-03 -3.52676810e+02] [ 7.07689946e-01 -7.06497641e-01 -6.00198994e-03 -2.61435266e+02] [ 8.48933436e-03 8.55335236e-06 9.99963965e-01 -2.79930205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1182.366559995 meters 0.012768480494476419 Centerline is valid? [True, True] Translation: X:-352.70, Y:-261.46, Z:-2.80 [[-6.56597855e-01 -7.54216760e-01 6.02796678e-03 -3.52695102e+02] [ 7.54185223e-01 -6.56625524e-01 -6.89720035e-03 -2.61461268e+02] [ 9.16010095e-03 1.75165112e-05 9.99958045e-01 -2.79993552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1182.396559995 meters 0.01271683146393788 Centerline is valid? [True, True] Translation: X:-352.71, Y:-261.44, Z:-2.80 [[-6.56231110e-01 -7.54533705e-01 6.29425286e-03 -3.52713378e+02] [ 7.54499372e-01 -6.56261295e-01 -7.19797984e-03 -2.61441159e+02] [ 9.56179293e-03 2.54715285e-05 9.99954285e-01 -2.80009472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1182.426559995 meters 0.012773571124565695 Centerline is valid? [True, True] Translation: X:-352.73, Y:-261.42, Z:-2.80 [[-6.55777548e-01 -7.54923317e-01 6.82594585e-03 -3.52731304e+02] [ 7.54883012e-01 -6.55813072e-01 -7.80084422e-03 -2.61421739e+02] [ 1.03655837e-02 3.71720647e-05 9.99946275e-01 -2.80075113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1182.4565599950001 meters 0.012858194435683937 Centerline is valid? [True, True] Translation: X:-352.75, Y:-261.40, Z:-2.80 [[-6.55301559e-01 -7.55333091e-01 7.19646335e-03 -3.52749783e+02] [ 7.55288373e-01 -6.55341072e-01 -8.21913446e-03 -2.61401744e+02] [ 1.09243222e-02 4.93934634e-05 9.99940327e-01 -2.80121988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1182.486559995 meters 0.013024146098215074 Centerline is valid? [True, True] Translation: X:-352.77, Y:-261.38, Z:-2.80 [[-6.54488748e-01 -7.56034118e-01 7.54270891e-03 -3.52769171e+02] [ 7.55985101e-01 -6.54532206e-01 -8.60922758e-03 -2.61381916e+02] [ 1.14458157e-02 6.75329839e-05 9.99934492e-01 -2.80198913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1182.516559995 meters 0.013041883619531703 Centerline is valid? [True, True] Translation: X:-352.79, Y:-261.36, Z:-2.80 [[-6.54153406e-01 -7.56321857e-01 7.78265995e-03 -3.52787159e+02] [ 7.56269760e-01 -6.54199696e-01 -8.87732726e-03 -2.61362804e+02] [ 1.18055304e-02 7.86565074e-05 9.99930309e-01 -2.80250537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1182.546559995 meters 0.013129750352801456 Centerline is valid? [True, True] Translation: X:-352.81, Y:-261.34, Z:-2.80 [[-6.53901718e-01 -7.56537373e-01 7.98413740e-03 -3.52806012e+02] [ 7.56482628e-01 -6.53950453e-01 -9.10157463e-03 -2.61342868e+02] [ 1.21069116e-02 8.83259563e-05 9.99926705e-01 -2.80274027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1182.576559995 meters 0.013230558827630553 Centerline is valid? [True, True] Translation: X:-352.83, Y:-261.32, Z:-2.80 [[-6.53743583e-01 -7.56672926e-01 8.08773039e-03 -3.52825029e+02] [ 7.56616830e-01 -6.53793602e-01 -9.21400747e-03 -2.61322661e+02] [ 1.22596964e-02 9.57146742e-05 9.99924843e-01 -2.80312182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1182.606559995 meters 0.013121259065198723 Centerline is valid? [True, True] Translation: X:-352.84, Y:-261.30, Z:-2.80 [[-6.54155989e-01 -7.56316006e-01 8.12660633e-03 -3.52842997e+02] [ 7.56259413e-01 -6.54206459e-01 -9.25252581e-03 -2.61302687e+02] [ 1.23143117e-02 9.32273604e-05 9.99924172e-01 -2.80315072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1182.636559995 meters 0.013205816038588272 Centerline is valid? [True, True] Translation: X:-352.86, Y:-261.28, Z:-2.80 [[-6.54621709e-01 -7.55913618e-01 8.06354791e-03 -3.52861039e+02] [ 7.55857943e-01 -6.54671364e-01 -9.17473456e-03 -2.61282935e+02] [ 1.22142807e-02 8.89163100e-05 9.99925399e-01 -2.80359048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1182.666559995 meters 0.013038710036162495 Centerline is valid? [True, True] Translation: X:-352.88, Y:-261.26, Z:-2.80 [[-6.56348644e-01 -7.54419429e-01 7.60147506e-03 -3.52877726e+02] [ 7.54369915e-01 -6.56392658e-01 -8.64351999e-03 -2.61262406e+02] [ 1.15103918e-02 6.11614669e-05 9.99933752e-01 -2.80312049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1182.6965599950001 meters 0.012782747624969015 Centerline is valid? [True, True] Translation: X:-352.89, Y:-261.24, Z:-2.80 [[-6.57611721e-01 -7.53319455e-01 7.52489744e-03 -3.52894789e+02] [ 7.53270921e-01 -6.57654771e-01 -8.55120562e-03 -2.61240896e+02] [ 1.13905743e-02 4.49133813e-05 9.99935125e-01 -2.80187011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1182.7265599950001 meters 0.012625371576930193 Centerline is valid? [True, True] Translation: X:-352.91, Y:-261.22, Z:-2.80 [[-6.59169255e-01 -7.51956564e-01 7.56439397e-03 -3.52912076e+02] [ 7.51907484e-01 -6.59212656e-01 -8.59123641e-03 -2.61218885e+02] [ 1.14467808e-02 2.46455356e-05 9.99934483e-01 -2.80080505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1182.756559995 meters 0.012746660105571999 Centerline is valid? [True, True] Translation: X:-352.93, Y:-261.20, Z:-2.80 [[-6.62309321e-01 -7.49190727e-01 7.72125528e-03 -3.52928291e+02] [ 7.49139467e-01 -6.62354327e-01 -8.76386326e-03 -2.61196521e+02] [ 1.16800119e-02 -2.00912561e-05 9.99931786e-01 -2.80067131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1182.786559995 meters 0.01318037299518059 Centerline is valid? [True, True] Translation: X:-352.94, Y:-261.18, Z:-2.80 [[-6.63829527e-01 -7.47844823e-01 7.64723700e-03 -3.52944326e+02] [ 7.47794518e-01 -6.63873572e-01 -8.67412217e-03 -2.61175633e+02] [ 1.15636959e-02 -3.95765097e-05 9.99933138e-01 -2.80233596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1182.816559995 meters 0.012927283670859074 Centerline is valid? [True, True] Translation: X:-352.96, Y:-261.16, Z:-2.80 [[-6.65259625e-01 -7.46575335e-01 7.40950007e-03 -3.52962005e+02] [ 7.46528089e-01 -6.65300884e-01 -8.39918229e-03 -2.61155179e+02] [ 1.12001693e-02 -5.62369296e-05 9.99937275e-01 -2.80001931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1182.846559995 meters 0.013165913574480586 Centerline is valid? [True, True] Translation: X:-352.98, Y:-261.13, Z:-2.80 [[-6.66618620e-01 -7.45363645e-01 7.25621025e-03 -3.52979573e+02] [ 7.45318318e-01 -6.66658107e-01 -8.22027052e-03 -2.61134335e+02] [ 1.09645022e-02 -7.15989641e-05 9.99939886e-01 -2.79998608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1182.876559995 meters 0.01361426693463292 Centerline is valid? [True, True] Translation: X:-353.00, Y:-261.11, Z:-2.80 [[-6.68525530e-01 -7.43654900e-01 7.14186653e-03 -3.52996174e+02] [ 7.43610950e-01 -6.68563670e-01 -8.08543201e-03 -2.61113372e+02] [ 1.07875636e-02 -9.45475641e-05 9.99941808e-01 -2.80065095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1182.906559995 meters 0.013320656865044623 Centerline is valid? [True, True] Translation: X:-353.01, Y:-261.09, Z:-2.80 [[-6.68973409e-01 -7.43253362e-01 7.00130410e-03 -3.53014797e+02] [ 7.43211156e-01 -6.69010038e-01 -7.92129075e-03 -2.61093047e+02] [ 1.05714687e-02 -9.56855648e-05 9.99944116e-01 -2.79961288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1182.9365599950002 meters 0.013360441429864561 Centerline is valid? [True, True] Translation: X:-353.03, Y:-261.07, Z:-2.80 [[-6.68817789e-01 -7.43394494e-01 6.88420784e-03 -3.53032946e+02] [ 7.43353746e-01 -6.68853212e-01 -7.78390664e-03 -2.61072562e+02] [ 1.03910379e-02 -8.86135369e-05 9.99946008e-01 -2.79868716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1182.9665599950001 meters 0.013134339776851599 Centerline is valid? [True, True] Translation: X:-353.05, Y:-261.05, Z:-2.80 [[-6.68230912e-01 -7.43923210e-01 6.76067695e-03 -3.53051952e+02] [ 7.43883988e-01 -6.68265106e-01 -7.63941782e-03 -2.61052549e+02] [ 1.02010647e-02 -7.57358061e-05 9.99947965e-01 -2.79861041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1182.996559995 meters 0.012993612086336115 Centerline is valid? [True, True] Translation: X:-353.07, Y:-261.03, Z:-2.80 [[-6.67273995e-01 -7.44779588e-01 6.98437707e-03 -3.53071293e+02] [ 7.44737827e-01 -6.67310544e-01 -7.88722049e-03 -2.61033043e+02] [ 1.05349893e-02 -6.14073248e-05 9.99944504e-01 -2.79864544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1183.026559995 meters 0.012821641838125326 Centerline is valid? [True, True] Translation: X:-353.09, Y:-261.01, Z:-2.80 [[-6.66020443e-01 -7.45900119e-01 7.05563218e-03 -3.53090896e+02] [ 7.45857617e-01 -6.66057813e-01 -7.96267513e-03 -2.61014297e+02] [ 1.06388193e-02 -4.08074097e-05 9.99943406e-01 -2.79919259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1183.056559995 meters 0.012747346139666623 Centerline is valid? [True, True] Translation: X:-353.11, Y:-261.00, Z:-2.80 [[-6.64547391e-01 -7.47211917e-01 7.14951733e-03 -3.53110427e+02] [ 7.47168407e-01 -6.64585849e-01 -8.06356071e-03 -2.60995492e+02] [ 1.07766567e-02 -1.67247574e-05 9.99941930e-01 -2.79935566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1183.086559995 meters 0.012628890399999558 Centerline is valid? [True, True] Translation: X:-353.13, Y:-260.98, Z:-2.80 [[-6.61460019e-01 -7.49950465e-01 6.70392641e-03 -3.53131513e+02] [ 7.49912394e-01 -6.61493990e-01 -7.55663910e-03 -2.60977274e+02] [ 1.01017120e-02 2.89428591e-05 9.99948976e-01 -2.79858293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1183.116559995 meters 0.012794822042666161 Centerline is valid? [True, True] Translation: X:-353.15, Y:-260.96, Z:-2.80 [[-6.60166150e-01 -7.51090746e-01 6.58376228e-03 -3.53150806e+02] [ 7.51054129e-01 -6.60198977e-01 -7.41667461e-03 -2.60958447e+02] [ 9.91718879e-03 4.85243178e-05 9.99950823e-01 -2.79897083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1183.146559995 meters 0.012845031750151056 Centerline is valid? [True, True] Translation: X:-353.17, Y:-260.94, Z:-2.80 [[-6.58821226e-01 -7.52270993e-01 6.55332135e-03 -3.53169662e+02] [ 7.52234807e-01 -6.58853815e-01 -7.37880388e-03 -2.60940137e+02] [ 9.86854089e-03 6.83238048e-05 9.99951303e-01 -2.79898809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1183.176559995 meters 0.013074189692746246 Centerline is valid? [True, True] Translation: X:-353.19, Y:-260.92, Z:-2.80 [[-6.57834090e-01 -7.53134610e-01 6.52450131e-03 -3.53188121e+02] [ 7.53098819e-01 -6.57866440e-01 -7.34282098e-03 -2.60921958e+02] [ 9.82238306e-03 8.32362633e-05 9.99951756e-01 -2.79940143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1183.2065599950001 meters 0.013216336588402261 Centerline is valid? [True, True] Translation: X:-353.21, Y:-260.90, Z:-2.80 [[-6.57179648e-01 -7.53706747e-01 6.40697077e-03 -3.53206691e+02] [ 7.53672304e-01 -6.57210872e-01 -7.20609380e-03 -2.60902386e+02] [ 9.64201237e-03 9.30582385e-05 9.99953511e-01 -2.79932318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1183.236559995 meters 0.013225095786681582 Centerline is valid? [True, True] Translation: X:-353.22, Y:-260.88, Z:-2.80 [[-6.56581968e-01 -7.54228667e-01 6.26405077e-03 -3.53224998e+02] [ 7.54195808e-01 -6.56611840e-01 -7.04089285e-03 -2.60882162e+02] [ 9.42349313e-03 1.01397549e-04 9.99955593e-01 -2.79857532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1183.266559995 meters 0.013303039990640253 Centerline is valid? [True, True] Translation: X:-353.24, Y:-260.86, Z:-2.80 [[-6.56356333e-01 -7.54427675e-01 5.93697130e-03 -3.53243298e+02] [ 7.54398205e-01 -6.56383175e-01 -6.66904780e-03 -2.60862410e+02] [ 8.92824231e-03 1.01568734e-04 9.99960137e-01 -2.79834581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1183.296559995 meters 0.013163045026529065 Centerline is valid? [True, True] Translation: X:-353.26, Y:-260.84, Z:-2.80 [[-6.56353665e-01 -7.54431284e-01 5.77098273e-03 -3.53261861e+02] [ 7.54403471e-01 -6.56379027e-01 -6.47888760e-03 -2.60840859e+02] [ 8.67582753e-03 1.01207780e-04 9.99962359e-01 -2.79763573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1183.326559995 meters 0.013280140716226742 Centerline is valid? [True, True] Translation: X:-353.28, Y:-260.82, Z:-2.80 [[-6.56316853e-01 -7.54463370e-01 5.76298653e-03 -3.53279829e+02] [ 7.54435669e-01 -6.56342146e-01 -6.46601656e-03 -2.60820957e+02] [ 8.66086359e-03 1.04046954e-04 9.99962489e-01 -2.79726237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1183.356559995 meters 0.013521796488473545 Centerline is valid? [True, True] Translation: X:-353.30, Y:-260.80, Z:-2.80 [[-6.56469278e-01 -7.54330179e-01 5.83683195e-03 -3.53298265e+02] [ 7.54301786e-01 -6.56495217e-01 -6.54565496e-03 -2.60801733e+02] [ 8.76943734e-03 1.05711376e-04 9.99961542e-01 -2.79751165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1183.386559995 meters 0.013390535694353674 Centerline is valid? [True, True] Translation: X:-353.32, Y:-260.78, Z:-2.80 [[-6.56374936e-01 -7.54409423e-01 6.19408383e-03 -3.53316668e+02] [ 7.54377492e-01 -6.56404151e-01 -6.94189875e-03 -2.60781063e+02] [ 9.30285617e-03 1.16189083e-04 9.99956721e-01 -2.79751899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1183.416559995 meters 0.013655962788255857 Centerline is valid? [True, True] Translation: X:-353.33, Y:-260.76, Z:-2.80 [[-6.56466694e-01 -7.54326817e-01 6.52167719e-03 -3.53334698e+02] [ 7.54291463e-01 -6.56499076e-01 -7.30420211e-03 -2.60762548e+02] [ 9.79123059e-03 1.24280021e-04 9.99952057e-01 -2.79847225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1183.4465599950001 meters 0.013581709887701654 Centerline is valid? [True, True] Translation: X:-353.35, Y:-260.74, Z:-2.80 [[-6.56389820e-01 -7.54386825e-01 7.27483318e-03 -3.53352980e+02] [ 7.54342893e-01 -6.56430117e-01 -8.14259820e-03 -2.60742085e+02] [ 1.09180884e-02 1.43000140e-04 9.99940386e-01 -2.79908325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1183.4765599950001 meters 0.013560311238720096 Centerline is valid? [True, True] Translation: X:-353.37, Y:-260.72, Z:-2.80 [[-6.56812501e-01 -7.54017497e-01 7.41300127e-03 -3.53371091e+02] [ 7.53971915e-01 -6.56854317e-01 -8.29201051e-03 -2.60721345e+02] [ 1.11215829e-02 1.42898602e-04 9.99938143e-01 -2.79949330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1183.506559995 meters 0.013434173081493845 Centerline is valid? [True, True] Translation: X:-353.39, Y:-260.70, Z:-2.80 [[-6.57451912e-01 -7.53458146e-01 7.60297377e-03 -3.53388770e+02] [ 7.53410216e-01 -6.57495857e-01 -8.49970731e-03 -2.60700072e+02] [ 1.14030975e-02 1.40009285e-04 9.99934973e-01 -2.79946528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1183.536559995 meters 0.013339400878788798 Centerline is valid? [True, True] Translation: X:-353.40, Y:-260.68, Z:-2.80 [[-6.58847585e-01 -7.52235802e-01 7.82038037e-03 -3.53404812e+02] [ 7.52185054e-01 -6.58893985e-01 -8.73847114e-03 -2.60679219e+02] [ 1.17261924e-02 1.25052628e-04 9.99931238e-01 -2.79992398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1183.566559995 meters 0.013064637626310391 Centerline is valid? [True, True] Translation: X:-353.42, Y:-260.66, Z:-2.80 [[-6.59701882e-01 -7.51485503e-01 7.93509469e-03 -3.53422005e+02] [ 7.51433269e-01 -6.59749593e-01 -8.86103882e-03 -2.60657463e+02] [ 1.18941177e-02 1.17050156e-04 9.99929256e-01 -2.79934063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1183.596559995 meters 0.012930264388446312 Centerline is valid? [True, True] Translation: X:-353.44, Y:-260.64, Z:-2.80 [[-6.60572444e-01 -7.50721490e-01 7.82886489e-03 -3.53439666e+02] [ 7.50670649e-01 -6.60618826e-01 -8.73749641e-03 -2.60635993e+02] [ 1.17313219e-02 1.05149726e-04 9.99931180e-01 -2.79913787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1183.626559995 meters 0.012844397959333563 Centerline is valid? [True, True] Translation: X:-353.46, Y:-260.61, Z:-2.80 [[-6.61470204e-01 -7.49930654e-01 7.82192986e-03 -3.53457115e+02] [ 7.49879912e-01 -6.61516443e-01 -8.72424737e-03 -2.60614884e+02] [ 1.17169158e-02 9.46783880e-05 9.99931350e-01 -2.79893573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1183.656559995 meters 0.01283064327196245 Centerline is valid? [True, True] Translation: X:-353.47, Y:-260.59, Z:-2.80 [[-6.62213026e-01 -7.49276311e-01 7.67577281e-03 -3.53474203e+02] [ 7.49227465e-01 -6.62257505e-01 -8.55585881e-03 -2.60594190e+02] [ 1.14940405e-02 8.50986515e-05 9.99933938e-01 -2.79859688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1183.6865599950002 meters 0.012729339245016338 Centerline is valid? [True, True] Translation: X:-353.49, Y:-260.57, Z:-2.80 [[-6.62964784e-01 -7.48613902e-01 7.41086918e-03 -3.53491453e+02] [ 7.48568386e-01 -6.63006200e-01 -8.25538322e-03 -2.60573596e+02] [ 1.10935469e-02 7.45140169e-05 9.99938462e-01 -2.79843922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1183.7165599950001 meters 0.012544497403343867 Centerline is valid? [True, True] Translation: X:-353.51, Y:-260.55, Z:-2.80 [[-6.64393391e-01 -7.47348590e-01 7.17686199e-03 -3.53508579e+02] [ 7.47305878e-01 -6.64432150e-01 -7.99019156e-03 -2.60551337e+02] [ 1.07399962e-02 5.46806817e-05 9.99942323e-01 -2.79846443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1183.746559995 meters 0.012480568445028215 Centerline is valid? [True, True] Translation: X:-353.53, Y:-260.53, Z:-2.80 [[-6.65310728e-01 -7.46532734e-01 7.10721313e-03 -3.53526194e+02] [ 7.46490848e-01 -6.65348687e-01 -7.90816878e-03 -2.60529800e+02] [ 1.06324818e-02 4.40800307e-05 9.99943473e-01 -2.79860388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1183.776559995 meters 0.012457154389044312 Centerline is valid? [True, True] Translation: X:-353.54, Y:-260.51, Z:-2.80 [[-6.66156951e-01 -7.45779588e-01 6.90815387e-03 -3.53542799e+02] [ 7.45740014e-01 -6.66192768e-01 -7.68289603e-03 -2.60509687e+02] [ 1.03319092e-02 3.36721704e-05 9.99946624e-01 -2.79899514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1183.806559995 meters 0.012563240257693599 Centerline is valid? [True, True] Translation: X:-353.56, Y:-260.49, Z:-2.80 [[-6.66873203e-01 -7.45134808e-01 7.36540505e-03 -3.53559135e+02] [ 7.45089842e-01 -6.66913875e-01 -8.18602077e-03 -2.60489030e+02] [ 1.10117798e-02 2.88505965e-05 9.99939368e-01 -2.80049020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1183.836559995 meters 0.0125305586329558 Centerline is valid? [True, True] Translation: X:-353.58, Y:-260.47, Z:-2.80 [[-6.67035393e-01 -7.44986594e-01 7.66542774e-03 -3.53576646e+02] [ 7.44937941e-01 -6.67079436e-01 -8.51412418e-03 -2.60468428e+02] [ 1.14563576e-02 3.10457887e-05 9.99934374e-01 -2.80048026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1183.866559995 meters 0.012695494550014596 Centerline is valid? [True, True] Translation: X:-353.59, Y:-260.45, Z:-2.80 [[-6.67054612e-01 -7.44965962e-01 7.99127453e-03 -3.53594012e+02] [ 7.44913134e-01 -6.67102477e-01 -8.87174606e-03 -2.60448935e+02] [ 1.19401479e-02 3.48662296e-05 9.99928713e-01 -2.80201274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1183.896559995 meters 0.012662343342173135 Centerline is valid? [True, True] Translation: X:-353.61, Y:-260.43, Z:-2.80 [[-6.66950686e-01 -7.45058156e-01 8.07015067e-03 -3.53611743e+02] [ 7.45004358e-01 -6.66999507e-01 -8.95345760e-03 -2.60428879e+02] [ 1.20536331e-02 4.07827321e-05 9.99927352e-01 -2.80134732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1183.926559995 meters 0.012955521688662203 Centerline is valid? [True, True] Translation: X:-353.63, Y:-260.41, Z:-2.80 [[-6.66695707e-01 -7.45285282e-01 8.16592515e-03 -3.53630273e+02] [ 7.45230288e-01 -6.66745713e-01 -9.05383206e-03 -2.60409670e+02] [ 1.21922834e-02 4.93437828e-05 9.99925670e-01 -2.80302143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1183.9565599950001 meters 0.012822049339586203 Centerline is valid? [True, True] Translation: X:-353.65, Y:-260.39, Z:-2.80 [[-6.66071108e-01 -7.45842549e-01 8.25656455e-03 -3.53648894e+02] [ 7.45786440e-01 -6.66122277e-01 -9.14869872e-03 -2.60389202e+02] [ 1.23233704e-02 6.39499838e-05 9.99924063e-01 -2.80178833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1183.986559995 meters 0.01284689493011699 Centerline is valid? [True, True] Translation: X:-353.67, Y:-260.37, Z:-2.80 [[-6.64346644e-01 -7.47384031e-01 7.78758242e-03 -3.53668207e+02] [ 7.47334284e-01 -6.64392280e-01 -8.62361527e-03 -2.60370021e+02] [ 1.16191620e-02 9.08574647e-05 9.99932491e-01 -2.80046191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1184.016559995 meters 0.01284689493011699 Centerline is valid? [True, True] Translation: X:-353.69, Y:-260.35, Z:-2.80 [[-6.64580484e-01 -7.47176078e-01 7.79028073e-03 -3.53686222e+02] [ 7.47126345e-01 -6.64626136e-01 -8.62117778e-03 -2.60350227e+02] [ 1.16191620e-02 9.08574647e-05 9.99932491e-01 -2.80046171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1184.046559995 meters 0.013395175784291544 Centerline is valid? [True, True] Translation: X:-353.71, Y:-260.33, Z:-2.80 [[-6.63675211e-01 -7.47983654e-01 7.46108683e-03 -3.53705528e+02] [ 7.47938146e-01 -6.63717141e-01 -8.25143374e-03 -2.60331779e+02] [ 1.11239888e-02 1.04159425e-04 9.99938121e-01 -2.80134950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1184.076559995 meters 0.013403039814867663 Centerline is valid? [True, True] Translation: X:-353.72, Y:-260.31, Z:-2.80 [[-6.62725114e-01 -7.48827777e-01 7.23766238e-03 -3.53724700e+02] [ 7.48785058e-01 -6.62764624e-01 -7.99937577e-03 -2.60312039e+02] [ 1.07870214e-02 1.18066224e-04 9.99941812e-01 -2.80099268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1184.106559995 meters 0.013847618653889686 Centerline is valid? [True, True] Translation: X:-353.74, Y:-260.29, Z:-2.80 [[-6.60984415e-01 -7.50362997e-01 7.41459106e-03 -3.53744086e+02] [ 7.50318310e-01 -6.61025984e-01 -8.19038268e-03 -2.60292053e+02] [ 1.10469974e-02 1.49588129e-04 9.99938969e-01 -2.80126942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1184.136559995 meters 0.014054513497621443 Centerline is valid? [True, True] Translation: X:-353.76, Y:-260.27, Z:-2.80 [[-6.60187888e-01 -7.51059443e-01 7.85278698e-03 -3.53763059e+02] [ 7.51009424e-01 -6.60234567e-01 -8.66963464e-03 -2.60271469e+02] [ 1.16960924e-02 1.73929248e-04 9.99931583e-01 -2.80118456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1184.166559995 meters 0.014159458963167677 Centerline is valid? [True, True] Translation: X:-353.78, Y:-260.25, Z:-2.80 [[-6.59790456e-01 -7.51408142e-01 7.89675194e-03 -3.53781644e+02] [ 7.51357650e-01 -6.59837685e-01 -8.71273230e-03 -2.60251408e+02] [ 1.17573925e-02 1.84707361e-04 9.99930863e-01 -2.80150902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1184.1965599950001 meters 0.014516288902701993 Centerline is valid? [True, True] Translation: X:-353.80, Y:-260.23, Z:-2.80 [[-6.59391000e-01 -7.51758473e-01 7.91882153e-03 -3.53799610e+02] [ 7.51707791e-01 -6.59438519e-01 -8.73137077e-03 -2.60232602e+02] [ 1.17858579e-02 1.95252534e-04 9.99930526e-01 -2.80192088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1184.2265599950001 meters 0.014452806797057842 Centerline is valid? [True, True] Translation: X:-353.82, Y:-260.21, Z:-2.80 [[-6.58954313e-01 -7.52140136e-01 8.02678688e-03 -3.53817640e+02] [ 7.52088158e-01 -6.59003165e-01 -8.84481467e-03 -2.60212564e+02] [ 1.19422181e-02 2.08522589e-04 9.99928668e-01 -2.80122334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1184.256559995 meters 0.014541638207561432 Centerline is valid? [True, True] Translation: X:-353.84, Y:-260.19, Z:-2.80 [[-6.57883781e-01 -7.53084677e-01 7.23878106e-03 -3.53837589e+02] [ 7.53042510e-01 -6.57923572e-01 -7.97197190e-03 -2.60192601e+02] [ 1.07661346e-02 2.06478839e-04 9.99942022e-01 -2.80048939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1184.286559995 meters 0.015548672706515413 Centerline is valid? [True, True] Translation: X:-353.86, Y:-260.17, Z:-2.80 [[-6.57703345e-01 -7.53247837e-01 6.63366807e-03 -3.53857936e+02] [ 7.53212476e-01 -6.57736770e-01 -7.30119423e-03 -2.60174035e+02] [ 9.86281616e-03 1.94541682e-04 9.99951343e-01 -2.80082500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1184.316559995 meters 0.014908499014155979 Centerline is valid? [True, True] Translation: X:-353.88, Y:-260.15, Z:-2.80 [[-6.57734799e-01 -7.53229065e-01 5.55966858e-03 -3.53875278e+02] [ 7.53204259e-01 -6.57758275e-01 -6.11524507e-03 -2.60152956e+02] [ 8.26309834e-03 1.65356564e-04 9.99965847e-01 -2.79838834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1184.346559995 meters 0.015074062666881256 Centerline is valid? [True, True] Translation: X:-353.89, Y:-260.13, Z:-2.80 [[-6.58129602e-01 -7.52884057e-01 5.56987295e-03 -3.53893136e+02] [ 7.52859181e-01 -6.58153150e-01 -6.12241343e-03 -2.60133903e+02] [ 8.27529689e-03 1.63988477e-04 9.99965746e-01 -2.79822445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1184.376559995 meters 0.015353186911178351 Centerline is valid? [True, True] Translation: X:-353.91, Y:-260.11, Z:-2.80 [[-6.59249905e-01 -7.51902069e-01 5.73069366e-03 -3.53910684e+02] [ 7.51875734e-01 -6.59274793e-01 -6.29507867e-03 -2.60114875e+02] [ 8.51138456e-03 1.58739478e-04 9.99963765e-01 -2.79964239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1184.406559995 meters 0.014286059818601274 Centerline is valid? [True, True] Translation: X:-353.93, Y:-260.09, Z:-2.80 [[-6.60298820e-01 -7.50979635e-01 5.92083262e-03 -3.53926923e+02] [ 7.50951522e-01 -6.60325347e-01 -6.49984059e-03 -2.60093430e+02] [ 8.79092377e-03 1.54421195e-04 9.99961347e-01 -2.79924932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1184.4365599950002 meters 0.013887088943031955 Centerline is valid? [True, True] Translation: X:-353.94, Y:-260.07, Z:-2.80 [[-6.61472927e-01 -7.49944149e-01 6.11069657e-03 -3.53944571e+02] [ 7.49914194e-01 -6.61501135e-01 -6.70444823e-03 -2.60071912e+02] [ 9.07019444e-03 1.47687099e-04 9.99958854e-01 -2.79956655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1184.4665599950001 meters 0.014258234662285372 Centerline is valid? [True, True] Translation: X:-353.96, Y:-260.05, Z:-2.80 [[-6.62664846e-01 -7.48890784e-01 6.15591908e-03 -3.53963467e+02] [ 7.48860375e-01 -6.62693425e-01 -6.75010599e-03 -2.60052489e+02] [ 9.13457926e-03 1.36865921e-04 9.99958270e-01 -2.80094559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1184.496559995 meters 0.013453221716153206 Centerline is valid? [True, True] Translation: X:-353.98, Y:-260.03, Z:-2.80 [[-6.64025178e-01 -7.47685537e-01 6.07465707e-03 -3.53980853e+02] [ 7.47655908e-01 -6.64052953e-01 -6.65724718e-03 -2.60030232e+02] [ 9.01142140e-03 1.21173508e-04 9.99959389e-01 -2.80015179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1184.526559995 meters 0.013131237952128954 Centerline is valid? [True, True] Translation: X:-354.00, Y:-260.01, Z:-2.80 [[-6.65354561e-01 -7.46503632e-01 5.96959235e-03 -3.53999198e+02] [ 7.46475005e-01 -6.65381332e-01 -6.53840370e-03 -2.60008639e+02] [ 8.85299742e-03 1.05794759e-04 9.99960806e-01 -2.79982395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1184.556559995 meters 0.012894067813877204 Centerline is valid? [True, True] Translation: X:-354.02, Y:-259.99, Z:-2.80 [[-6.66689030e-01 -7.45314022e-01 5.72245011e-03 -3.54017383e+02] [ 7.45287702e-01 -6.66713583e-01 -6.26415122e-03 -2.59987378e+02] [ 8.48399495e-03 8.86308015e-05 9.99964007e-01 -2.79958683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1184.586559995 meters 0.012530551885459255 Centerline is valid? [True, True] Translation: X:-354.03, Y:-259.97, Z:-2.80 [[-6.69091226e-01 -7.43155870e-01 6.02364810e-03 -3.54034808e+02] [ 7.43126653e-01 -6.69118337e-01 -6.59012739e-03 -2.59965826e+02] [ 8.92802525e-03 6.69370339e-05 9.99960142e-01 -2.79939703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1184.616559995 meters 0.012528172230888979 Centerline is valid? [True, True] Translation: X:-354.05, Y:-259.95, Z:-2.80 [[-6.70337160e-01 -7.42029463e-01 6.35352933e-03 -3.54052354e+02] [ 7.41996934e-01 -6.70367267e-01 -6.94815745e-03 -2.59945380e+02] [ 9.41493563e-03 5.66911505e-05 9.99955677e-01 -2.79972719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1184.646559995 meters 0.012408737689742518 Centerline is valid? [True, True] Translation: X:-354.07, Y:-259.92, Z:-2.80 [[-6.71517780e-01 -7.40959748e-01 6.52094676e-03 -3.54069925e+02] [ 7.40925476e-01 -6.71549439e-01 -7.12674352e-03 -2.59924092e+02] [ 9.65976822e-03 4.58005929e-05 9.99953343e-01 -2.79913099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1184.676559995 meters 0.012379672669390792 Centerline is valid? [True, True] Translation: X:-354.09, Y:-259.90, Z:-2.80 [[-6.72809677e-01 -7.39781496e-01 7.10463191e-03 -3.54088127e+02] [ 7.39740799e-01 -6.72847187e-01 -7.75976897e-03 -2.59903362e+02] [ 1.05208651e-02 3.47384283e-05 9.99944654e-01 -2.79976115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1184.7065599950001 meters 0.01225098959404201 Centerline is valid? [True, True] Translation: X:-354.11, Y:-259.88, Z:-2.80 [[-6.74681502e-01 -7.38068211e-01 7.75804350e-03 -3.54107565e+02] [ 7.38019624e-01 -6.74726105e-01 -8.46864315e-03 -2.59882433e+02] [ 1.14849908e-02 1.19514643e-05 9.99934045e-01 -2.80164886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1184.736559995 meters 0.012411826862929336 Centerline is valid? [True, True] Translation: X:-354.13, Y:-259.86, Z:-2.80 [[-6.75674148e-01 -7.37156964e-01 8.00352155e-03 -3.54125801e+02] [ 7.37105259e-01 -6.75721548e-01 -8.73078943e-03 -2.59862868e+02] [ 1.18441142e-02 2.69117308e-07 9.99929856e-01 -2.80259338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1184.766559995 meters 0.01239736573928955 Centerline is valid? [True, True] Translation: X:-354.14, Y:-259.84, Z:-2.80 [[-6.77547747e-01 -7.35442397e-01 7.31649694e-03 -3.54143238e+02] [ 7.35399145e-01 -6.77587249e-01 -7.97613212e-03 -2.59842991e+02] [ 1.08235508e-02 -2.36647582e-05 9.99941424e-01 -2.80213835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1184.796559995 meters 0.012401248171034622 Centerline is valid? [True, True] Translation: X:-354.16, Y:-259.82, Z:-2.80 [[-6.78833401e-01 -7.34261829e-01 6.69186309e-03 -3.54161593e+02] [ 7.34225634e-01 -6.78866383e-01 -7.29066176e-03 -2.59822937e+02] [ 9.89613553e-03 -3.58072994e-05 9.99951032e-01 -2.80125138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1184.826559995 meters 0.012541179863692808 Centerline is valid? [True, True] Translation: X:-354.18, Y:-259.80, Z:-2.80 [[-6.80261394e-01 -7.32944947e-01 6.01168979e-03 -3.54178790e+02] [ 7.32915722e-01 -6.80287956e-01 -6.54538032e-03 -2.59803626e+02] [ 8.88708359e-03 -4.65075821e-05 9.99960508e-01 -2.80055705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1184.856559995 meters 0.012728270089228055 Centerline is valid? [True, True] Translation: X:-354.20, Y:-259.78, Z:-2.80 [[-6.82166434e-01 -7.31176520e-01 5.46387580e-03 -3.54196401e+02] [ 7.31152351e-01 -6.82188312e-01 -5.94530640e-03 -2.59783263e+02] [ 8.07446065e-03 -6.07628231e-05 9.99967399e-01 -2.79962932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1184.886559995 meters 0.013035565951454466 Centerline is valid? [True, True] Translation: X:-354.21, Y:-259.76, Z:-2.80 [[-6.83937692e-01 -7.29522989e-01 5.04401993e-03 -3.54214118e+02] [ 7.29502372e-01 -6.83956287e-01 -5.48512455e-03 -2.59762470e+02] [ 7.45141361e-03 -7.18589190e-05 9.99972235e-01 -2.79875438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1184.916559995 meters 0.014121457436338044 Centerline is valid? [True, True] Translation: X:-354.23, Y:-259.74, Z:-2.80 [[-6.87497592e-01 -7.26174452e-01 4.21038991e-03 -3.54230405e+02] [ 7.26160039e-01 -6.87510478e-01 -4.57598798e-03 -2.59740776e+02] [ 6.21765274e-03 -8.85638148e-05 9.99980666e-01 -2.79790434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1184.9465599950001 meters 0.014732613978842367 Centerline is valid? [True, True] Translation: X:-354.25, Y:-259.72, Z:-2.80 [[-6.89223276e-01 -7.24539491e-01 3.71500280e-03 -3.54247991e+02] [ 7.24528259e-01 -6.89233282e-01 -4.03532190e-03 -2.59720342e+02] [ 5.48425365e-03 -8.96132691e-05 9.99984958e-01 -2.79734931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1184.9765599950001 meters 0.0153933487227652 Centerline is valid? [True, True] Translation: X:-354.27, Y:-259.70, Z:-2.80 [[-6.90808708e-01 -7.23030199e-01 3.26487073e-03 -3.54266313e+02] [ 7.23021517e-01 -6.90816418e-01 -3.54440015e-03 -2.59699772e+02] [ 4.81813465e-03 -8.79307072e-05 9.99988389e-01 -2.79665970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1185.006559995 meters 0.015928951593199195 Centerline is valid? [True, True] Translation: X:-354.29, Y:-259.68, Z:-2.80 [[-6.91956824e-01 -7.21933012e-01 2.91198867e-03 -3.54285175e+02] [ 7.21926103e-01 -6.91962947e-01 -3.15965516e-03 -2.59679374e+02] [ 4.29604763e-03 -8.41043207e-05 9.99990769e-01 -2.79647692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1185.036559995 meters 0.014943661890947185 Centerline is valid? [True, True] Translation: X:-354.31, Y:-259.66, Z:-2.80 [[-6.92853403e-01 -7.21072395e-01 2.96025209e-03 -3.54307833e+02] [ 7.21065255e-01 -6.92859721e-01 -3.21024164e-03 -2.59661555e+02] [ 4.36585607e-03 -8.96919159e-05 9.99990466e-01 -2.79582701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1185.066559995 meters 0.014943661890947185 Centerline is valid? [True, True] Translation: X:-354.33, Y:-259.64, Z:-2.80 [[-6.93077475e-01 -7.20857021e-01 2.96124949e-03 -3.54326054e+02] [ 7.20849883e-01 -6.93083795e-01 -3.20932162e-03 -2.59641944e+02] [ 4.36585606e-03 -8.96921749e-05 9.99990466e-01 -2.79582680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1185.096559995 meters 0.014641271879503072 Centerline is valid? [True, True] Translation: X:-354.35, Y:-259.62, Z:-2.80 [[-6.92151366e-01 -7.21746007e-01 3.03124028e-03 -3.54348633e+02] [ 7.21738544e-01 -6.92157998e-01 -3.28334924e-03 -2.59624304e+02] [ 4.46784141e-03 -8.48117181e-05 9.99990016e-01 -2.79643568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1185.126559995 meters 0.014245369553823394 Centerline is valid? [True, True] Translation: X:-354.37, Y:-259.61, Z:-2.80 [[-6.91276718e-01 -7.22583278e-01 3.14746742e-03 -3.54369381e+02] [ 7.22575250e-01 -6.91283878e-01 -3.40710397e-03 -2.59605933e+02] [ 4.63770984e-03 -8.09695990e-05 9.99989243e-01 -2.79669886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1185.156559995 meters 0.0138295509463309 Centerline is valid? [True, True] Translation: X:-354.39, Y:-259.59, Z:-2.80 [[-6.90109198e-01 -7.23699049e-01 2.99695980e-03 -3.54390982e+02] [ 7.23691788e-01 -6.90115702e-01 -3.24247334e-03 -2.59587068e+02] [ 4.41482389e-03 -6.87854862e-05 9.99990252e-01 -2.79674337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1185.1865599950002 meters 0.013414395075947784 Centerline is valid? [True, True] Translation: X:-354.41, Y:-259.57, Z:-2.80 [[-6.86996105e-01 -7.26656668e-01 2.53760379e-03 -3.54413512e+02] [ 7.26651488e-01 -6.87000790e-01 -2.74401563e-03 -2.59570724e+02] [ 3.73729307e-03 -4.11744737e-05 9.99993016e-01 -2.79604481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1185.2165599950001 meters 0.013034234227587814 Centerline is valid? [True, True] Translation: X:-354.43, Y:-259.55, Z:-2.80 [[-6.85216968e-01 -7.28335649e-01 2.21130703e-03 -3.54434743e+02] [ 7.28331729e-01 -6.85220536e-01 -2.38968953e-03 -2.59553729e+02] [ 3.25572907e-03 -2.68907428e-05 9.99994700e-01 -2.79502600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1185.246559995 meters 0.012548923025951318 Centerline is valid? [True, True] Translation: X:-354.46, Y:-259.54, Z:-2.79 [[-6.80440617e-01 -7.32800072e-01 2.14981055e-03 -3.54460392e+02] [ 7.32796393e-01 -6.80444013e-01 -2.32195105e-03 -2.59538970e+02] [ 3.16435162e-03 -4.57638646e-06 9.99994994e-01 -2.79487170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1185.276559995 meters 0.012994404222312626 Centerline is valid? [True, True] Translation: X:-354.49, Y:-259.53, Z:-2.80 [[-6.74909394e-01 -7.37896280e-01 2.52780704e-03 -3.54486751e+02] [ 7.37891236e-01 -6.74914127e-01 -2.72862445e-03 -2.59526025e+02] [ 3.71949452e-03 2.36723869e-05 9.99993083e-01 -2.79587143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1185.306559995 meters 0.013213425170038146 Centerline is valid? [True, True] Translation: X:-354.51, Y:-259.51, Z:-2.80 [[-6.72383702e-01 -7.40197407e-01 2.82057601e-03 -3.54509107e+02] [ 7.40191154e-01 -6.72389617e-01 -3.04296346e-03 -2.59508594e+02] [ 4.14891969e-03 4.17263695e-05 9.99991393e-01 -2.79591186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1185.336559995 meters 0.013754075553802009 Centerline is valid? [True, True] Translation: X:-354.53, Y:-259.49, Z:-2.80 [[-6.70001684e-01 -7.42353248e-01 3.06562114e-03 -3.54531780e+02] [ 7.42345892e-01 -6.70008695e-01 -3.30548805e-03 -2.59491262e+02] [ 4.50783262e-03 6.10686983e-05 9.99989838e-01 -2.79628212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1185.366559995 meters 0.014311960274882884 Centerline is valid? [True, True] Translation: X:-354.55, Y:-259.47, Z:-2.80 [[-6.67960813e-01 -7.44190133e-01 3.06578258e-03 -3.54554152e+02] [ 7.44182803e-01 -6.67967844e-01 -3.30380310e-03 -2.59473214e+02] [ 4.50650185e-03 7.46916723e-05 9.99989843e-01 -2.79652969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1185.396559995 meters 0.015722816318775614 Centerline is valid? [True, True] Translation: X:-354.58, Y:-259.46, Z:-2.80 [[-6.64988713e-01 -7.46844839e-01 3.57742802e-03 -3.54578674e+02] [ 7.46834909e-01 -6.64998326e-01 -3.85288307e-03 -2.59458798e+02] [ 5.25648949e-03 1.09624376e-04 9.99986179e-01 -2.79711593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1185.426559995 meters 0.016254842271730414 Centerline is valid? [True, True] Translation: X:-354.60, Y:-259.44, Z:-2.80 [[-6.64391919e-01 -7.47375007e-01 3.73863752e-03 -3.54599147e+02] [ 7.47364182e-01 -6.64402427e-01 -4.02417736e-03 -2.59441195e+02] [ 5.49152943e-03 1.20492853e-04 9.99984914e-01 -2.79737829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1185.4565599950001 meters 0.01694533162995931 Centerline is valid? [True, True] Translation: X:-354.62, Y:-259.42, Z:-2.80 [[-6.64313800e-01 -7.47444003e-01 3.82598492e-03 -3.54619304e+02] [ 7.47432683e-01 -6.64324805e-01 -4.11555868e-03 -2.59423909e+02] [ 5.61784634e-03 1.25643745e-04 9.99984212e-01 -2.79758289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1185.486559995 meters 0.016020682512348446 Centerline is valid? [True, True] Translation: X:-354.64, Y:-259.40, Z:-2.80 [[-6.64514301e-01 -7.47265267e-01 3.91972310e-03 -3.54637327e+02] [ 7.47253398e-01 -6.64525849e-01 -4.21377953e-03 -2.59404106e+02] [ 5.75356841e-03 1.28909643e-04 9.99983440e-01 -2.79699829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1185.516559995 meters 0.016552162646673703 Centerline is valid? [True, True] Translation: X:-354.66, Y:-259.39, Z:-2.80 [[-6.65742649e-01 -7.46172236e-01 3.70405399e-03 -3.54657928e+02] [ 7.46161633e-01 -6.65752944e-01 -3.97935284e-03 -2.59387331e+02] [ 5.43526745e-03 1.14598067e-04 9.99985222e-01 -2.79687271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1185.546559995 meters 0.014407298549431359 Centerline is valid? [True, True] Translation: X:-354.68, Y:-259.37, Z:-2.80 [[-6.67507143e-01 -7.44593721e-01 3.79541730e-03 -3.54675619e+02] [ 7.44582577e-01 -6.67517925e-01 -4.07517761e-03 -2.59365478e+02] [ 5.56786074e-03 1.05791427e-04 9.99984494e-01 -2.79595181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1185.576559995 meters 0.013944960537887621 Centerline is valid? [True, True] Translation: X:-354.70, Y:-259.35, Z:-2.80 [[-6.69597323e-01 -7.42714103e-01 3.89701807e-03 -3.54695791e+02] [ 7.42702336e-01 -6.69608656e-01 -4.18191462e-03 -2.59346839e+02] [ 5.71544400e-03 9.41255921e-05 9.99983662e-01 -2.79681971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1185.606559995 meters 0.013944960537887621 Centerline is valid? [True, True] Translation: X:-354.71, Y:-259.33, Z:-2.80 [[-6.69805661e-01 -7.42526215e-01 3.89819116e-03 -3.54714642e+02] [ 7.42514451e-01 -6.69816998e-01 -4.18082115e-03 -2.59326718e+02] [ 5.71544400e-03 9.41255918e-05 9.99983662e-01 -2.79681950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1185.636559995 meters 0.013740027609189642 Centerline is valid? [True, True] Translation: X:-354.73, Y:-259.31, Z:-2.80 [[-6.70764024e-01 -7.41659963e-01 4.01532987e-03 -3.54734424e+02] [ 7.41647480e-01 -6.70776036e-01 -4.30402465e-03 -2.59306761e+02] [ 5.88550982e-03 9.09743788e-05 9.99982676e-01 -2.79779157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1185.666559995 meters 0.013740027609189642 Centerline is valid? [True, True] Translation: X:-354.75, Y:-259.29, Z:-2.80 [[-6.70972575e-01 -7.41471288e-01 4.01654015e-03 -3.54753284e+02] [ 7.41458809e-01 -6.70984590e-01 -4.30289523e-03 -2.59286650e+02] [ 5.88550982e-03 9.09743793e-05 9.99982676e-01 -2.79779136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1185.6965599950001 meters 0.013522260433626986 Centerline is valid? [True, True] Translation: X:-354.77, Y:-259.27, Z:-2.80 [[-6.72423684e-01 -7.40148041e-01 5.22175945e-03 -3.54772775e+02] [ 7.40126934e-01 -6.72443950e-01 -5.59075853e-03 -2.59267737e+02] [ 7.64932953e-03 1.05406371e-04 9.99970738e-01 -2.79950772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1185.7265599950001 meters 0.013186651397990279 Centerline is valid? [True, True] Translation: X:-354.79, Y:-259.25, Z:-2.80 [[-6.73501644e-01 -7.39161768e-01 5.95115095e-03 -3.54791449e+02] [ 7.39134345e-01 -6.73527927e-01 -6.36808230e-03 -2.59247436e+02] [ 8.71530934e-03 1.09786154e-04 9.99962015e-01 -2.80029133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1185.756559995 meters 0.013229756794963885 Centerline is valid? [True, True] Translation: X:-354.81, Y:-259.23, Z:-2.80 [[-6.75413356e-01 -7.37404896e-01 7.12862656e-03 -3.54809759e+02] [ 7.37365482e-01 -6.75450966e-01 -7.62489409e-03 -2.59227911e+02] [ 1.04376719e-02 1.06447850e-04 9.99945521e-01 -2.80236907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1185.786559995 meters 0.012965188415598674 Centerline is valid? [True, True] Translation: X:-354.83, Y:-259.21, Z:-2.80 [[-6.76568637e-01 -7.36339504e-01 7.68212826e-03 -3.54827837e+02] [ 7.36293714e-01 -6.76612241e-01 -8.21233798e-03 -2.59206933e+02] [ 1.12448909e-02 1.00092435e-04 9.99936769e-01 -2.80217222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1185.816559995 meters 0.012845840525697204 Centerline is valid? [True, True] Translation: X:-354.85, Y:-259.19, Z:-2.80 [[-6.78719022e-01 -7.34352788e-01 8.15307088e-03 -3.54845128e+02] [ 7.34301132e-01 -6.78767985e-01 -8.71033080e-03 -2.59186314e+02] [ 1.19304992e-02 7.49419762e-05 9.99928826e-01 -2.80279181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1185.846559995 meters 0.012869274418326885 Centerline is valid? [True, True] Translation: X:-354.86, Y:-259.17, Z:-2.80 [[-6.79787957e-01 -7.33359254e-01 8.51694883e-03 -3.54862463e+02] [ 7.33302881e-01 -6.79841305e-01 -9.09311732e-03 -2.59167144e+02] [ 1.24586953e-02 6.41114683e-05 9.99922386e-01 -2.80332122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1185.876559995 meters 0.012869274418326885 Centerline is valid? [True, True] Translation: X:-354.88, Y:-259.15, Z:-2.80 [[-6.80014813e-01 -7.33148872e-01 8.51976198e-03 -3.54880825e+02] [ 7.33092515e-01 -6.80068179e-01 -9.09048159e-03 -2.59147699e+02] [ 1.24586953e-02 6.41116016e-05 9.99922386e-01 -2.80332102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1185.906559995 meters 0.012869274418326885 Centerline is valid? [True, True] Translation: X:-354.90, Y:-259.13, Z:-2.80 [[-6.80241604e-01 -7.32938419e-01 8.52257423e-03 -3.54899193e+02] [ 7.32882079e-01 -6.80294987e-01 -9.08784509e-03 -2.59128259e+02] [ 1.24586953e-02 6.41116016e-05 9.99922386e-01 -2.80332082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1185.9365599950002 meters 0.012801901579446927 Centerline is valid? [True, True] Translation: X:-354.92, Y:-259.11, Z:-2.80 [[-6.81451744e-01 -7.31807878e-01 8.98607820e-03 -3.54917191e+02] [ 7.31745215e-01 -6.81510988e-01 -9.57674538e-03 -2.59107081e+02] [ 1.31324487e-02 4.94298783e-05 9.99913765e-01 -2.80306877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1185.9665599950001 meters 0.012903429205251223 Centerline is valid? [True, True] Translation: X:-354.93, Y:-259.09, Z:-2.80 [[-6.81965974e-01 -7.31328705e-01 8.98528815e-03 -3.54934867e+02] [ 7.31266093e-01 -6.82025163e-01 -9.56960863e-03 -2.59088271e+02] [ 1.31267221e-02 4.44890899e-05 9.99913840e-01 -2.80342279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1185.996559995 meters 0.012808167992932256 Centerline is valid? [True, True] Translation: X:-354.95, Y:-259.07, Z:-2.80 [[-6.82248157e-01 -7.31069262e-01 8.67099316e-03 -3.54954189e+02] [ 7.31010996e-01 -6.82303255e-01 -9.22997872e-03 -2.59067225e+02] [ 1.26640006e-02 4.14553774e-05 9.99919808e-01 -2.80204525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1186.026559995 meters 0.012832210550091244 Centerline is valid? [True, True] Translation: X:-354.97, Y:-259.05, Z:-2.80 [[-6.82381422e-01 -7.30950863e-01 8.15053502e-03 -3.54973050e+02] [ 7.30899415e-01 -6.82430095e-01 -8.67238493e-03 -2.59047481e+02] [ 1.19012576e-02 3.93469114e-05 9.99929177e-01 -2.80204146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1186.056559995 meters 0.012957947278728068 Centerline is valid? [True, True] Translation: X:-354.99, Y:-259.03, Z:-2.80 [[-6.82404893e-01 -7.30929606e-01 8.09155255e-03 -3.54990874e+02] [ 7.30878966e-01 -6.82452862e-01 -8.60398277e-03 -2.59028666e+02] [ 1.18110089e-02 4.25456239e-05 9.99930247e-01 -2.80214317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1186.086559995 meters 0.012882120303929946 Centerline is valid? [True, True] Translation: X:-355.01, Y:-259.01, Z:-2.80 [[-6.82264952e-01 -7.31061380e-01 7.98710821e-03 -3.55009096e+02] [ 7.31012109e-01 -6.82311701e-01 -8.48765329e-03 -2.59009020e+02] [ 1.16546929e-02 4.78444435e-05 9.99932081e-01 -2.80137299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1186.116559995 meters 0.013078678609714324 Centerline is valid? [True, True] Translation: X:-355.03, Y:-258.99, Z:-2.80 [[-6.81683938e-01 -7.31603133e-01 7.99146760e-03 -3.55027380e+02] [ 7.31553893e-01 -6.81730777e-01 -8.48821193e-03 -2.58990494e+02] [ 1.16580319e-02 5.99114931e-05 9.99932041e-01 -2.80116943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1186.146559995 meters 0.013059189958557496 Centerline is valid? [True, True] Translation: X:-355.05, Y:-258.97, Z:-2.80 [[-6.81202970e-01 -7.32052345e-01 7.86627788e-03 -3.55046403e+02] [ 7.32004720e-01 -6.81248383e-01 -8.35054176e-03 -2.58970291e+02] [ 1.14719228e-02 6.97386903e-05 9.99934193e-01 -2.80079048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1186.176559995 meters 0.013271903766925558 Centerline is valid? [True, True] Translation: X:-355.07, Y:-258.95, Z:-2.80 [[-6.80793581e-01 -7.32432339e-01 7.93530818e-03 -3.55065446e+02] [ 7.32383958e-01 -6.80839821e-01 -8.41882998e-03 -2.58951260e+02] [ 1.15688971e-02 8.02070015e-05 9.99933075e-01 -2.80173111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1186.2065599950001 meters 0.013526580729460015 Centerline is valid? [True, True] Translation: X:-355.08, Y:-258.93, Z:-2.80 [[-6.79455134e-01 -7.33676657e-01 7.69964035e-03 -3.55084571e+02] [ 7.33631242e-01 -6.79498751e-01 -8.16379418e-03 -2.58932481e+02] [ 1.12214812e-02 1.01764849e-04 9.99937032e-01 -2.80132724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1186.236559995 meters 0.013573991643988417 Centerline is valid? [True, True] Translation: X:-355.10, Y:-258.91, Z:-2.80 [[-6.78886815e-01 -7.34203838e-01 7.57738410e-03 -3.55103522e+02] [ 7.34159942e-01 -6.78929092e-01 -8.02917648e-03 -2.58913097e+02] [ 1.10395587e-02 1.12109828e-04 9.99939056e-01 -2.80100813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1186.266559995 meters 0.014027649179268825 Centerline is valid? [True, True] Translation: X:-355.12, Y:-258.89, Z:-2.80 [[-6.77646029e-01 -7.35353272e-01 7.17110463e-03 -3.55122383e+02] [ 7.35314073e-01 -6.77683960e-01 -7.59372408e-03 -2.58894726e+02] [ 1.04438124e-02 1.27157186e-04 9.99945454e-01 -2.80070468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1186.296559995 meters 0.014027649179268825 Centerline is valid? [True, True] Translation: X:-355.14, Y:-258.88, Z:-2.80 [[-6.77871966e-01 -7.35144979e-01 7.17343801e-03 -3.55140827e+02] [ 7.35105792e-01 -6.77909908e-01 -7.59151988e-03 -2.58875359e+02] [ 1.04438124e-02 1.27157322e-04 9.99945454e-01 -2.80070447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1186.326559995 meters 0.014363196500574875 Centerline is valid? [True, True] Translation: X:-355.16, Y:-258.86, Z:-2.80 [[-6.76979835e-01 -7.35970678e-01 6.74269804e-03 -3.55159774e+02] [ 7.35936140e-01 -6.77013399e-01 -7.13130720e-03 -2.58855638e+02] [ 9.81332992e-03 1.34443997e-04 9.99951839e-01 -2.80027418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1186.356559995 meters 0.014396336414397649 Centerline is valid? [True, True] Translation: X:-355.18, Y:-258.84, Z:-2.80 [[-6.76842036e-01 -7.36099769e-01 6.47994444e-03 -3.55178028e+02] [ 7.36067915e-01 -6.76873041e-01 -6.84917063e-03 -2.58835955e+02] [ 9.42777261e-03 1.33872607e-04 9.99955549e-01 -2.79972596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1186.386559995 meters 0.01436881635736066 Centerline is valid? [True, True] Translation: X:-355.20, Y:-258.82, Z:-2.80 [[-6.76776844e-01 -7.36161078e-01 6.32224380e-03 -3.55196276e+02] [ 7.36130797e-01 -6.76806361e-01 -6.67830021e-03 -2.58816080e+02] [ 9.19523950e-03 1.34279429e-04 9.99957714e-01 -2.79978414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1186.416559995 meters 0.014462310064972634 Centerline is valid? [True, True] Translation: X:-355.21, Y:-258.80, Z:-2.80 [[-6.76817721e-01 -7.36121712e-01 6.52662145e-03 -3.55214848e+02] [ 7.36089481e-01 -6.76849174e-01 -6.88989411e-03 -2.58796268e+02] [ 9.48933899e-03 1.40974965e-04 9.99954965e-01 -2.80011773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1186.4465599950001 meters 0.014800470173944903 Centerline is valid? [True, True] Translation: X:-355.23, Y:-258.78, Z:-2.80 [[-6.77086174e-01 -7.35868230e-01 7.22923990e-03 -3.55233005e+02] [ 7.35828724e-01 -6.77124748e-01 -7.62664259e-03 -2.58776764e+02] [ 1.05073012e-02 1.55588115e-04 9.99944785e-01 -2.80192056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1186.4765599950001 meters 0.014433711102885672 Centerline is valid? [True, True] Translation: X:-355.25, Y:-258.76, Z:-2.80 [[-6.77572822e-01 -7.35414620e-01 7.77219896e-03 -3.55250406e+02] [ 7.35368984e-01 -6.77617377e-01 -8.19434485e-03 -2.58755690e+02] [ 1.12928181e-02 1.63168687e-04 9.99936221e-01 -2.80170495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1186.506559995 meters 0.014345664267382928 Centerline is valid? [True, True] Translation: X:-355.27, Y:-258.74, Z:-2.80 [[-6.77928466e-01 -7.35082282e-01 8.18750011e-03 -3.55268220e+02] [ 7.35031678e-01 -6.77977884e-01 -8.62682287e-03 -2.58735040e+02] [ 1.18923686e-02 1.69703153e-04 9.99929269e-01 -2.80195863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1186.536559995 meters 0.014471176784188796 Centerline is valid? [True, True] Translation: X:-355.29, Y:-258.71, Z:-2.80 [[-6.78437635e-01 -7.34612660e-01 8.16184518e-03 -3.55286252e+02] [ 7.34562402e-01 -6.78486708e-01 -8.59447388e-03 -2.58714382e+02] [ 1.18513128e-02 1.64570064e-04 9.99929757e-01 -2.80213766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1186.566559995 meters 0.014435025179767165 Centerline is valid? [True, True] Translation: X:-355.30, Y:-258.69, Z:-2.80 [[-6.78936630e-01 -7.34154748e-01 7.86504266e-03 -3.55304437e+02] [ 7.34108107e-01 -6.78982166e-01 -8.27682240e-03 -2.58693551e+02] [ 1.14166922e-02 1.54353678e-04 9.99934816e-01 -2.80159261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1186.596559995 meters 0.014232491131047355 Centerline is valid? [True, True] Translation: X:-355.32, Y:-258.67, Z:-2.80 [[-6.79252515e-01 -7.33874505e-01 6.65075072e-03 -3.55321597e+02] [ 7.33841183e-01 -6.79285061e-01 -6.99457693e-03 -2.58672318e+02] [ 9.65089729e-03 1.29510806e-04 9.99953421e-01 -2.79936293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1186.626559995 meters 0.01444685721394213 Centerline is valid? [True, True] Translation: X:-355.34, Y:-258.65, Z:-2.80 [[-6.79485878e-01 -7.33661232e-01 6.33556007e-03 -3.55339504e+02] [ 7.33631024e-01 -6.79515402e-01 -6.65873106e-03 -2.58653316e+02] [ 9.19036349e-03 1.23449700e-04 9.99957760e-01 -2.79926221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1186.656559995 meters 0.014110853378443608 Centerline is valid? [True, True] Translation: X:-355.36, Y:-258.63, Z:-2.80 [[-6.79584634e-01 -7.33572862e-01 5.96507374e-03 -3.55357834e+02] [ 7.33546111e-01 -6.79610802e-01 -6.26579105e-03 -2.58631908e+02] [ 8.65034283e-03 1.17521327e-04 9.99962578e-01 -2.79841956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1186.6865599950002 meters 0.014672324937242265 Centerline is valid? [True, True] Translation: X:-355.38, Y:-258.61, Z:-2.80 [[-6.79578130e-01 -7.33582547e-01 5.49652726e-03 -3.55376331e+02] [ 7.33559862e-01 -6.79600349e-01 -5.77016974e-03 -2.58611803e+02] [ 7.96833766e-03 1.10750611e-04 9.99968246e-01 -2.79889171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1186.7165599950001 meters 0.014114412646867816 Centerline is valid? [True, True] Translation: X:-355.39, Y:-258.59, Z:-2.80 [[-6.79798726e-01 -7.33379321e-01 5.33510169e-03 -3.55393874e+02] [ 7.33357968e-01 -6.79819652e-01 -5.59750495e-03 -2.58589805e+02] [ 7.73200136e-03 1.07362602e-04 9.99970102e-01 -2.79769302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1186.746559995 meters 0.014091509413587127 Centerline is valid? [True, True] Translation: X:-355.41, Y:-258.57, Z:-2.80 [[-6.80119121e-01 -7.33086276e-01 4.74272699e-03 -3.55412557e+02] [ 7.33069413e-01 -6.80135651e-01 -4.97317350e-03 -2.58568592e+02] [ 6.87146295e-03 9.43977035e-05 9.99976387e-01 -2.79740966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1186.776559995 meters 0.014111298697847321 Centerline is valid? [True, True] Translation: X:-355.43, Y:-258.55, Z:-2.80 [[-6.80475630e-01 -7.32757145e-01 4.45906886e-03 -3.55430874e+02] [ 7.32742250e-01 -6.80490234e-01 -4.67293866e-03 -2.58548111e+02] [ 6.45848200e-03 8.75272657e-05 9.99979140e-01 -2.79726118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1186.806559995 meters 0.014085182687295132 Centerline is valid? [True, True] Translation: X:-355.45, Y:-258.53, Z:-2.80 [[-6.80941632e-01 -7.32324558e-01 4.38585593e-03 -3.55447751e+02] [ 7.32310159e-01 -6.80955751e-01 -4.59317577e-03 -2.58527498e+02] [ 6.35026924e-03 8.41222458e-05 9.99979834e-01 -2.79696581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1186.836559995 meters 0.014076481314209625 Centerline is valid? [True, True] Translation: X:-355.47, Y:-258.51, Z:-2.80 [[-6.81359590e-01 -7.31936648e-01 4.22509481e-03 -3.55466148e+02] [ 7.31923295e-01 -6.81372686e-01 -4.42204175e-03 -2.58506814e+02] [ 6.11551861e-03 7.94447571e-05 9.99981297e-01 -2.79716804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1186.866559995 meters 0.014152274933931496 Centerline is valid? [True, True] Translation: X:-355.48, Y:-258.49, Z:-2.80 [[-6.81515718e-01 -7.31791217e-01 4.23557872e-03 -3.55483505e+02] [ 7.31777811e-01 -6.81528876e-01 -4.43025759e-03 -2.58485880e+02] [ 6.12869280e-03 8.02123433e-05 9.99981216e-01 -2.79749842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1186.896559995 meters 0.01423485618925588 Centerline is valid? [True, True] Translation: X:-355.50, Y:-258.47, Z:-2.80 [[-6.81468151e-01 -7.31835643e-01 4.21305928e-03 -3.55501853e+02] [ 7.31822397e-01 -6.81481170e-01 -4.40395630e-03 -2.58465453e+02] [ 6.09409276e-03 8.20551877e-05 9.99981428e-01 -2.79755072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1186.926559995 meters 0.014351068733378389 Centerline is valid? [True, True] Translation: X:-355.52, Y:-258.45, Z:-2.80 [[-6.81723642e-01 -7.31597709e-01 4.20339903e-03 -3.55520009e+02] [ 7.31584536e-01 -6.81736595e-01 -4.39098954e-03 -2.58445894e+02] [ 6.07804883e-03 8.17003525e-05 9.99981525e-01 -2.79785701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1186.9565599950001 meters 0.014333471679973293 Centerline is valid? [True, True] Translation: X:-355.54, Y:-258.43, Z:-2.80 [[-6.81702952e-01 -7.31616628e-01 4.26552969e-03 -3.55537941e+02] [ 7.31603081e-01 -6.81716291e-01 -4.45313579e-03 -2.58425284e+02] [ 6.16586927e-03 8.49588539e-05 9.99980987e-01 -2.79840106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1186.986559995 meters 0.014437489884510138 Centerline is valid? [True, True] Translation: X:-355.56, Y:-258.41, Z:-2.80 [[-6.81922468e-01 -7.31410041e-01 4.59346477e-03 -3.55556017e+02] [ 7.31394345e-01 -6.81937932e-01 -4.79253767e-03 -2.58405309e+02] [ 6.63776804e-03 9.14950436e-05 9.99977966e-01 -2.79899197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1187.016559995 meters 0.014659198970516747 Centerline is valid? [True, True] Translation: X:-355.57, Y:-258.39, Z:-2.80 [[-6.82001041e-01 -7.31332488e-01 5.23184809e-03 -3.55572946e+02] [ 7.31312151e-01 -6.82021100e-01 -5.45506758e-03 -2.58385785e+02] [ 7.55769894e-03 1.05752308e-04 9.99971435e-01 -2.80086730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1187.046559995 meters 0.014572742953562513 Centerline is valid? [True, True] Translation: X:-355.59, Y:-258.37, Z:-2.80 [[-6.82116377e-01 -7.31223997e-01 5.35855878e-03 -3.55591091e+02] [ 7.31202686e-01 -6.82137416e-01 -5.58375455e-03 -2.58365195e+02] [ 7.73824876e-03 1.09422148e-04 9.99970054e-01 -2.80178169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1187.076559995 meters 0.014308506496649876 Centerline is valid? [True, True] Translation: X:-355.61, Y:-258.34, Z:-2.80 [[-6.82372412e-01 -7.30981002e-01 5.88778135e-03 -3.55608683e+02] [ 7.30955297e-01 -6.82397802e-01 -6.13138080e-03 -2.58344932e+02] [ 8.49973193e-03 1.19819849e-04 9.99963870e-01 -2.80225648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1187.106559995 meters 0.01467501043231923 Centerline is valid? [True, True] Translation: X:-355.63, Y:-258.33, Z:-2.80 [[-6.82557054e-01 -7.30805430e-01 6.26833846e-03 -3.55626848e+02] [ 7.30776325e-01 -6.82585824e-01 -6.52341129e-03 -2.58325937e+02] [ 9.04602336e-03 1.28152951e-04 9.99959076e-01 -2.80334918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1187.136559995 meters 0.014476486263878232 Centerline is valid? [True, True] Translation: X:-355.64, Y:-258.31, Z:-2.80 [[-6.82843595e-01 -7.30537274e-01 6.31797891e-03 -3.55644713e+02] [ 7.30507732e-01 -6.82872810e-01 -6.57101254e-03 -2.58305074e+02] [ 9.11474561e-03 1.28358624e-04 9.99958452e-01 -2.80337083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1187.166559995 meters 0.014222252979101601 Centerline is valid? [True, True] Translation: X:-355.66, Y:-258.28, Z:-2.80 [[-6.83321486e-01 -7.30094031e-01 5.86962665e-03 -3.55661571e+02] [ 7.30068550e-01 -6.83346685e-01 -6.10088973e-03 -2.58283074e+02] [ 8.46521309e-03 1.16360774e-04 9.99964163e-01 -2.80251836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1187.1965599950001 meters 0.014457482112285229 Centerline is valid? [True, True] Translation: X:-355.68, Y:-258.26, Z:-2.80 [[-6.83469274e-01 -7.29958448e-01 5.51507765e-03 -3.55678981e+02] [ 7.29935977e-01 -6.83491516e-01 -5.72862097e-03 -2.58264046e+02] [ 7.95116406e-03 1.10317178e-04 9.99968383e-01 -2.80208614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1187.2265599950001 meters 0.014103343632105112 Centerline is valid? [True, True] Translation: X:-355.70, Y:-258.24, Z:-2.80 [[-6.83734419e-01 -7.29711853e-01 5.27795534e-03 -3.55697226e+02] [ 7.29691289e-01 -6.83754782e-01 -5.47921306e-03 -2.58241959e+02] [ 7.60707391e-03 1.04951473e-04 9.99971060e-01 -2.80094788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1187.256559995 meters 0.014271646742161146 Centerline is valid? [True, True] Translation: X:-355.72, Y:-258.22, Z:-2.80 [[-6.83781183e-01 -7.29671355e-01 4.79663708e-03 -3.55716054e+02] [ 7.29654390e-01 -6.83798000e-01 -4.97657040e-03 -2.58221908e+02] [ 6.91119171e-03 9.70021083e-05 9.99976113e-01 -2.80047626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1187.286559995 meters 0.014305399013519689 Centerline is valid? [True, True] Translation: X:-355.73, Y:-258.20, Z:-2.80 [[-6.83192164e-01 -7.30220270e-01 5.17914294e-03 -3.55734755e+02] [ 7.30200531e-01 -6.83211786e-01 -5.37037720e-03 -2.58200655e+02] [ 7.46000978e-03 1.12813298e-04 9.99972168e-01 -2.80124382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1187.316559995 meters 0.014638849291551832 Centerline is valid? [True, True] Translation: X:-355.75, Y:-258.18, Z:-2.80 [[-6.82667108e-01 -7.30708736e-01 5.51033407e-03 -3.55753424e+02] [ 7.30686424e-01 -6.82689335e-01 -5.71159016e-03 -2.58181742e+02] [ 7.93535513e-03 1.27211556e-04 9.99968507e-01 -2.80281258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1187.346559995 meters 0.01483840631001079 Centerline is valid? [True, True] Translation: X:-355.77, Y:-258.16, Z:-2.80 [[-6.82080125e-01 -7.31249852e-01 6.35279877e-03 -3.55772563e+02] [ 7.31220253e-01 -6.82109691e-01 -6.58114210e-03 -2.58161330e+02] [ 9.14576479e-03 1.56428902e-04 9.99958165e-01 -2.80392777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1187.376559995 meters 0.015129902183443195 Centerline is valid? [True, True] Translation: X:-355.79, Y:-258.14, Z:-2.80 [[-6.81366353e-01 -7.31907509e-01 7.16178800e-03 -3.55791879e+02] [ 7.31869971e-01 -6.81403964e-01 -7.41503815e-03 -2.58140441e+02] [ 1.03071928e-02 1.89140079e-04 9.99946862e-01 -2.80455466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1187.406559995 meters 0.01582046208727122 Centerline is valid? [True, True] Translation: X:-355.81, Y:-258.12, Z:-2.81 [[-6.79916592e-01 -7.33245527e-01 8.02657114e-03 -3.55809717e+02] [ 7.33198512e-01 -6.79963927e-01 -8.30669089e-03 -2.58120724e+02] [ 1.15486228e-02 2.37213060e-04 9.99933285e-01 -2.80580538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1187.4365599950002 meters 0.01612539170463723 Centerline is valid? [True, True] Translation: X:-355.83, Y:-258.10, Z:-2.81 [[-6.79482442e-01 -7.33645360e-01 8.25207030e-03 -3.55828989e+02] [ 7.33595752e-01 -6.79532502e-01 -8.53532296e-03 -2.58099929e+02] [ 1.18694501e-02 2.54081627e-04 9.99929524e-01 -2.80604787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1187.4665599950001 meters 0.015901667585994768 Centerline is valid? [True, True] Translation: X:-355.85, Y:-258.08, Z:-2.81 [[-6.79410742e-01 -7.33712673e-01 8.17051470e-03 -3.55847504e+02] [ 7.33664101e-01 -6.79459821e-01 -8.44620456e-03 -2.58078489e+02] [ 1.17486238e-02 2.55971208e-04 9.99930950e-01 -2.80594263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1187.496559995 meters 0.01613044625543247 Centerline is valid? [True, True] Translation: X:-355.87, Y:-258.06, Z:-2.81 [[-6.79528485e-01 -7.33602673e-01 8.25572342e-03 -3.55865903e+02] [ 7.33553138e-01 -6.79578583e-01 -8.52892042e-03 -2.58058494e+02] [ 1.18672516e-02 2.60367451e-04 9.99929548e-01 -2.80607245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1187.526559995 meters 0.016333795530444086 Centerline is valid? [True, True] Translation: X:-355.88, Y:-258.04, Z:-2.81 [[-6.79952442e-01 -7.33215363e-01 7.74004938e-03 -3.55882260e+02] [ 7.33171857e-01 -6.79996451e-01 -7.99091091e-03 -2.58037337e+02] [ 1.11222648e-02 2.41346992e-04 9.99938117e-01 -2.80564835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1187.556559995 meters 0.015828319833548266 Centerline is valid? [True, True] Translation: X:-355.90, Y:-258.01, Z:-2.80 [[-6.80837883e-01 -7.32403016e-01 6.75279817e-03 -3.55898159e+02] [ 7.32369899e-01 -6.80871340e-01 -6.96776406e-03 -2.58014068e+02] [ 9.70099815e-03 2.01628377e-04 9.99952924e-01 -2.80396133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1187.586559995 meters 0.015829774210408744 Centerline is valid? [True, True] Translation: X:-355.92, Y:-257.99, Z:-2.80 [[-6.81586114e-01 -7.31709499e-01 6.44812107e-03 -3.55915921e+02] [ 7.31679310e-01 -6.81616589e-01 -6.64923239e-03 -2.57993382e+02] [ 9.26045279e-03 1.85932312e-04 9.99957104e-01 -2.80361322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1187.616559995 meters 0.016064086159917595 Centerline is valid? [True, True] Translation: X:-355.93, Y:-257.97, Z:-2.80 [[-6.82379763e-01 -7.30972069e-01 6.13956824e-03 -3.55933863e+02] [ 7.30944707e-01 -6.82407361e-01 -6.32691163e-03 -2.57973563e+02] [ 8.81448224e-03 1.70328453e-04 9.99961137e-01 -2.80381914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1187.646559995 meters 0.01522088880416978 Centerline is valid? [True, True] Translation: X:-355.95, Y:-257.95, Z:-2.80 [[-6.83097310e-01 -7.30301788e-01 6.11254668e-03 -3.55950912e+02] [ 7.30274664e-01 -6.83124639e-01 -6.29629448e-03 -2.57951497e+02] [ 8.77382636e-03 1.62856151e-04 9.99961496e-01 -2.80310646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1187.676559995 meters 0.015182498943571791 Centerline is valid? [True, True] Translation: X:-355.97, Y:-257.93, Z:-2.80 [[-6.83924895e-01 -7.29525020e-01 6.32326937e-03 -3.55968635e+02] [ 7.29495989e-01 -6.83954107e-01 -6.51017830e-03 -2.57931613e+02] [ 9.07416401e-03 1.60326634e-04 9.99958816e-01 -2.80345616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1187.7065599950001 meters 0.015369760112344847 Centerline is valid? [True, True] Translation: X:-355.99, Y:-257.91, Z:-2.80 [[-6.84824252e-01 -7.28681125e-01 6.28985816e-03 -3.55986911e+02] [ 7.28652402e-01 -6.84853120e-01 -6.47155774e-03 -2.57912593e+02] [ 9.02333096e-03 1.51240566e-04 9.99959278e-01 -2.80421329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1187.736559995 meters 0.015289372196822337 Centerline is valid? [True, True] Translation: X:-356.00, Y:-257.89, Z:-2.80 [[-6.85584775e-01 -7.27965213e-01 6.33765241e-03 -3.56004917e+02] [ 7.27936050e-01 -6.85614052e-01 -6.51765678e-03 -2.57894088e+02] [ 9.08981096e-03 1.44999403e-04 9.99958677e-01 -2.80468688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1187.766559995 meters 0.014663966464825255 Centerline is valid? [True, True] Translation: X:-356.02, Y:-257.87, Z:-2.80 [[-6.86217937e-01 -7.27365984e-01 6.60826266e-03 -3.56023138e+02] [ 7.27334289e-01 -6.86249739e-01 -6.79170668e-03 -2.57874443e+02] [ 9.47497494e-03 1.45825079e-04 9.99955101e-01 -2.80449645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1187.796559995 meters 0.014663966464825255 Centerline is valid? [True, True] Translation: X:-356.04, Y:-257.86, Z:-2.80 [[-6.86444914e-01 -7.27151760e-01 6.61038212e-03 -3.56041880e+02] [ 7.27120076e-01 -6.86476727e-01 -6.78964382e-03 -2.57855334e+02] [ 9.47497494e-03 1.45825081e-04 9.99955101e-01 -2.80449625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1187.826559995 meters 0.01519641377648875 Centerline is valid? [True, True] Translation: X:-356.06, Y:-257.84, Z:-2.81 [[-6.86945088e-01 -7.26676669e-01 6.88951829e-03 -3.56062113e+02] [ 7.26642274e-01 -6.86979619e-01 -7.07172237e-03 -2.57838363e+02] [ 9.87181430e-03 1.48330297e-04 9.99951262e-01 -2.80611716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1187.856559995 meters 0.015072065703040947 Centerline is valid? [True, True] Translation: X:-356.08, Y:-257.82, Z:-2.81 [[-6.87034598e-01 -7.26582088e-01 7.86963578e-03 -3.56083161e+02] [ 7.26537258e-01 -6.87079647e-01 -8.07290758e-03 -2.57820519e+02] [ 1.12726966e-02 1.71216791e-04 9.99936447e-01 -2.80726675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1187.886559995 meters 0.015136957190272983 Centerline is valid? [True, True] Translation: X:-356.10, Y:-257.80, Z:-2.81 [[-6.86924817e-01 -7.26681388e-01 8.27389755e-03 -3.56103190e+02] [ 7.26631902e-01 -6.86974619e-01 -8.48249462e-03 -2.57802495e+02] [ 1.18480286e-02 1.85241853e-04 9.99929793e-01 -2.80788781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1187.916559995 meters 0.015365869480196472 Centerline is valid? [True, True] Translation: X:-356.12, Y:-257.78, Z:-2.81 [[-6.86401206e-01 -7.27167714e-01 8.97221045e-03 -3.56124222e+02] [ 7.27109627e-01 -6.86459810e-01 -9.19344923e-03 -2.57783230e+02] [ 1.28442413e-02 2.13385955e-04 9.99917487e-01 -2.80812915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1187.9465599950001 meters 0.015313012634706183 Centerline is valid? [True, True] Translation: X:-356.14, Y:-257.76, Z:-2.81 [[-6.85884317e-01 -7.27652864e-01 9.16588467e-03 -3.56144388e+02] [ 7.27592353e-01 -6.85945520e-01 -9.38673180e-03 -2.57763562e+02] [ 1.31175798e-02 2.30815465e-04 9.99913934e-01 -2.80773889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1187.9765599950001 meters 0.015904193196390224 Centerline is valid? [True, True] Translation: X:-356.17, Y:-257.75, Z:-2.81 [[-6.84392613e-01 -7.29051504e-01 9.52133227e-03 -3.56165354e+02] [ 7.28986418e-01 -6.84458787e-01 -9.74538280e-03 -2.57745122e+02] [ 1.36218455e-02 2.71253907e-04 9.99907182e-01 -2.80736518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1188.006559995 meters 0.016168684213328482 Centerline is valid? [True, True] Translation: X:-356.19, Y:-257.73, Z:-2.81 [[-6.84208562e-01 -7.29228938e-01 9.15425455e-03 -3.56185523e+02] [ 7.29168864e-01 -6.84269746e-01 -9.36390769e-03 -2.57726354e+02] [ 1.30924119e-02 2.68131577e-04 9.99914255e-01 -2.80735760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1188.036559995 meters 0.016418290964367893 Centerline is valid? [True, True] Translation: X:-356.21, Y:-257.71, Z:-2.81 [[-6.84347334e-01 -7.29103734e-01 8.74478281e-03 -3.56205380e+02] [ 7.29048977e-01 -6.84403155e-01 -8.93929903e-03 -2.57708664e+02] [ 1.25026332e-02 2.57789504e-04 9.99921806e-01 -2.80726270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1188.066559995 meters 0.01633397328750786 Centerline is valid? [True, True] Translation: X:-356.22, Y:-257.69, Z:-2.81 [[-6.85119869e-01 -7.28381360e-01 8.44751475e-03 -3.56224691e+02] [ 7.28330270e-01 -6.85171903e-01 -8.63021061e-03 -2.57689302e+02] [ 1.20740843e-02 2.39851940e-04 9.99927077e-01 -2.80730710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1188.096559995 meters 0.015265926435054403 Centerline is valid? [True, True] Translation: X:-356.24, Y:-257.67, Z:-2.81 [[-6.86610108e-01 -7.26977634e-01 8.37133246e-03 -3.56242924e+02] [ 7.26927414e-01 -6.86661105e-01 -8.54765060e-03 -2.57667887e+02] [ 1.19622192e-02 2.16447755e-04 9.99928427e-01 -2.80633033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1188.126559995 meters 0.01541213019508988 Centerline is valid? [True, True] Translation: X:-356.26, Y:-257.65, Z:-2.81 [[-6.88128238e-01 -7.25544581e-01 8.03670885e-03 -3.56261528e+02] [ 7.25498250e-01 -6.88175142e-01 -8.20146173e-03 -2.57648441e+02] [ 1.14811894e-02 1.86960801e-04 9.99934072e-01 -2.80707175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1188.156559995 meters 0.013843390690777266 Centerline is valid? [True, True] Translation: X:-356.28, Y:-257.62, Z:-2.81 [[-6.92035385e-01 -7.21825469e-01 7.41753134e-03 -3.56276837e+02] [ 7.21785831e-01 -6.92075125e-01 -7.56537438e-03 -2.57624548e+02] [ 1.05943688e-02 1.18362252e-04 9.99943871e-01 -2.80513764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1188.1865599950002 meters 0.013617096125340854 Centerline is valid? [True, True] Translation: X:-356.29, Y:-257.60, Z:-2.81 [[-6.93890625e-01 -7.20042803e-01 7.35949025e-03 -3.56293742e+02] [ 7.20003734e-01 -6.93929646e-01 -7.50130647e-03 -2.57604561e+02] [ 1.05082302e-02 9.37742178e-05 9.99944783e-01 -2.80528029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1188.2165599950001 meters 0.013176809664953723 Centerline is valid? [True, True] Translation: X:-356.31, Y:-257.58, Z:-2.80 [[-6.97168854e-01 -7.16870470e-01 7.23310985e-03 -3.56308980e+02] [ 7.16832608e-01 -6.97206373e-01 -7.36784873e-03 -2.57583034e+02] [ 1.03247635e-02 4.82943391e-05 9.99946697e-01 -2.80481950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1188.246559995 meters 0.01301177112892121 Centerline is valid? [True, True] Translation: X:-356.33, Y:-257.56, Z:-2.80 [[-6.98443007e-01 -7.15628662e-01 7.27909537e-03 -3.56326485e+02] [ 7.15590297e-01 -6.98480936e-01 -7.41008383e-03 -2.57562596e+02] [ 1.03871777e-02 3.33287865e-05 9.99946051e-01 -2.80368237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1188.276559995 meters 0.013007152231334224 Centerline is valid? [True, True] Translation: X:-356.34, Y:-257.54, Z:-2.81 [[-7.00003089e-01 -7.14100718e-01 7.47267785e-03 -3.56344150e+02] [ 7.14060251e-01 -7.00042974e-01 -7.60219734e-03 -2.57543108e+02] [ 1.06599302e-02 1.43805960e-05 9.99943181e-01 -2.80508049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1188.306559995 meters 0.013075351486393274 Centerline is valid? [True, True] Translation: X:-356.36, Y:-257.52, Z:-2.81 [[-7.00467556e-01 -7.13642025e-01 7.76293934e-03 -3.56363270e+02] [ 7.13598375e-01 -7.00510571e-01 -7.89291183e-03 -2.57523476e+02] [ 1.10707347e-02 1.08922330e-05 9.99938718e-01 -2.80564424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1188.336559995 meters 0.013075351486393274 Centerline is valid? [True, True] Translation: X:-356.38, Y:-257.50, Z:-2.81 [[-7.00674359e-01 -7.13438956e-01 7.76522672e-03 -3.56382127e+02] [ 7.13395319e-01 -7.00717387e-01 -7.89066146e-03 -2.57504494e+02] [ 1.10707347e-02 1.08922330e-05 9.99938718e-01 -2.80564404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1188.366559995 meters 0.01291392373697144 Centerline is valid? [True, True] Translation: X:-356.40, Y:-257.49, Z:-2.80 [[-7.00976244e-01 -7.13137275e-01 8.21781489e-03 -3.56401074e+02] [ 7.13088444e-01 -7.01024413e-01 -8.34532945e-03 -2.57485025e+02] [ 1.17122544e-02 1.01511400e-05 9.99931409e-01 -2.80442254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1188.396559995 meters 0.012958981612404538 Centerline is valid? [True, True] Translation: X:-356.42, Y:-257.47, Z:-2.80 [[-7.00826051e-01 -7.13278673e-01 8.73967367e-03 -3.56421259e+02] [ 7.13223516e-01 -7.00880542e-01 -8.87030617e-03 -2.57465589e+02] [ 1.24524674e-02 1.67991420e-05 9.99922465e-01 -2.80464214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1188.426559995 meters 0.012873860489708844 Centerline is valid? [True, True] Translation: X:-356.44, Y:-257.45, Z:-2.80 [[-7.00706425e-01 -7.13395696e-01 8.77986933e-03 -3.56441089e+02] [ 7.13340102e-01 -7.00761429e-01 -8.90610893e-03 -2.57445980e+02] [ 1.25061736e-02 2.24651306e-05 9.99921795e-01 -2.80404739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1188.4565599950001 meters 0.012907089294503581 Centerline is valid? [True, True] Translation: X:-356.46, Y:-257.43, Z:-2.80 [[-7.00553267e-01 -7.13554962e-01 8.02726500e-03 -3.56460844e+02] [ 7.13508559e-01 -7.00599255e-01 -8.13756155e-03 -2.57427327e+02] [ 1.14304933e-02 2.67269500e-05 9.99934670e-01 -2.80302687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1188.486559995 meters 0.012844831677317316 Centerline is valid? [True, True] Translation: X:-356.48, Y:-257.41, Z:-2.80 [[-7.00618993e-01 -7.13491302e-01 7.94916446e-03 -3.56480308e+02] [ 7.13445851e-01 -7.00664086e-01 -8.05334003e-03 -2.57408698e+02] [ 1.13156821e-02 2.89754186e-05 9.99935975e-01 -2.80282548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1188.516559995 meters 0.012805443373985514 Centerline is valid? [True, True] Translation: X:-356.50, Y:-257.39, Z:-2.80 [[-7.00603200e-01 -7.13507904e-01 7.85023531e-03 -3.56500146e+02] [ 7.13463635e-01 -7.00647179e-01 -7.94812732e-03 -2.57389460e+02] [ 1.11712969e-02 3.23739812e-05 9.99937599e-01 -2.80281559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1188.546559995 meters 0.012818157195913775 Centerline is valid? [True, True] Translation: X:-356.52, Y:-257.37, Z:-2.80 [[-7.00666205e-01 -7.13445714e-01 7.87928590e-03 -3.56518891e+02] [ 7.13401163e-01 -7.00710506e-01 -7.97298753e-03 -2.57371777e+02] [ 1.12093922e-02 3.46888102e-05 9.99937172e-01 -2.80316824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1188.576559995 meters 0.012884938442577569 Centerline is valid? [True, True] Translation: X:-356.54, Y:-257.35, Z:-2.80 [[-7.00463053e-01 -7.13645240e-01 7.87293632e-03 -3.56538589e+02] [ 7.13600829e-01 -7.00507295e-01 -7.96163664e-03 -2.57353293e+02] [ 1.11968334e-02 4.13015761e-05 9.99937313e-01 -2.80353428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1188.606559995 meters 0.012979520294946824 Centerline is valid? [True, True] Translation: X:-356.56, Y:-257.34, Z:-2.80 [[-6.99309995e-01 -7.14771333e-01 8.21416663e-03 -3.56559736e+02] [ 7.14723126e-01 -6.99358232e-01 -8.30156141e-03 -2.57335209e+02] [ 1.16783632e-02 6.54899867e-05 9.99931804e-01 -2.80414017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1188.636559995 meters 0.013080440697102616 Centerline is valid? [True, True] Translation: X:-356.58, Y:-257.32, Z:-2.80 [[-6.98971684e-01 -7.15099823e-01 8.41595148e-03 -3.56579072e+02] [ 7.15049308e-01 -6.99022344e-01 -8.49997507e-03 -2.57317532e+02] [ 1.19612688e-02 7.65783965e-05 9.99928459e-01 -2.80471563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1188.666559995 meters 0.013208199236723077 Centerline is valid? [True, True] Translation: X:-356.60, Y:-257.30, Z:-2.81 [[-6.98528240e-01 -7.15530272e-01 8.64454877e-03 -3.56599192e+02] [ 7.15477074e-01 -6.98581722e-01 -8.72551188e-03 -2.57299414e+02] [ 1.22822917e-02 8.99600052e-05 9.99924566e-01 -2.80536826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1188.6965599950001 meters 0.013693483747280473 Centerline is valid? [True, True] Translation: X:-356.62, Y:-257.28, Z:-2.81 [[-6.97173823e-01 -7.16841516e-01 9.32211884e-03 -3.56620742e+02] [ 7.16779818e-01 -6.97236134e-01 -9.40569330e-03 -2.57282334e+02] [ 1.32421095e-02 1.24503491e-04 9.99912312e-01 -2.80674160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1188.7265599950001 meters 0.013693483747280473 Centerline is valid? [True, True] Translation: X:-356.64, Y:-257.26, Z:-2.81 [[-6.97388085e-01 -7.16633034e-01 9.32492987e-03 -3.56639666e+02] [ 7.16571354e-01 -6.97450414e-01 -9.40290641e-03 -2.57263416e+02] [ 1.32421095e-02 1.24502731e-04 9.99912312e-01 -2.80674140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1188.756559995 meters 0.013436107260804242 Centerline is valid? [True, True] Translation: X:-356.66, Y:-257.24, Z:-2.81 [[-6.96654160e-01 -7.17341696e-01 9.68876374e-03 -3.56660429e+02] [ 7.17275253e-01 -6.96721515e-01 -9.76438987e-03 -2.57244492e+02] [ 1.37547741e-02 1.47107639e-04 9.99905388e-01 -2.80574544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1188.786559995 meters 0.013493872084497559 Centerline is valid? [True, True] Translation: X:-356.68, Y:-257.23, Z:-2.81 [[-6.96646112e-01 -7.17349515e-01 9.68855026e-03 -3.56679964e+02] [ 7.17283162e-01 -6.96713463e-01 -9.75782744e-03 -2.57226311e+02] [ 1.37499162e-02 1.51681419e-04 9.99905454e-01 -2.80623111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1188.816559995 meters 0.013663780368853311 Centerline is valid? [True, True] Translation: X:-356.70, Y:-257.21, Z:-2.81 [[-6.97044941e-01 -7.16961506e-01 9.72365990e-03 -3.56699147e+02] [ 7.16894721e-01 -6.97112743e-01 -9.78688403e-03 -2.57208107e+02] [ 1.37953063e-02 1.48942455e-04 9.99904829e-01 -2.80707825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1188.846559995 meters 0.013289681912154227 Centerline is valid? [True, True] Translation: X:-356.72, Y:-257.19, Z:-2.81 [[-6.97793855e-01 -7.16233943e-01 9.62679681e-03 -3.56717765e+02] [ 7.16168494e-01 -6.97860244e-01 -9.68344367e-03 -2.57187968e+02] [ 1.36537698e-02 1.37361087e-04 9.99906774e-01 -2.80607146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1188.876559995 meters 0.013103340212914342 Centerline is valid? [True, True] Translation: X:-356.74, Y:-257.17, Z:-2.81 [[-6.98654082e-01 -7.15399135e-01 9.30333458e-03 -3.56736524e+02] [ 7.15338012e-01 -6.98716011e-01 -9.35231778e-03 -2.57167677e+02] [ 1.31910289e-02 1.20993867e-04 9.99912987e-01 -2.80536560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1188.906559995 meters 0.012931167051325326 Centerline is valid? [True, True] Translation: X:-356.75, Y:-257.15, Z:-2.80 [[-6.99640137e-01 -7.14437948e-01 9.06079430e-03 -3.56754740e+02] [ 7.14379962e-01 -6.99698798e-01 -9.10285246e-03 -2.57147781e+02] [ 1.28432501e-02 1.04128946e-04 9.99917517e-01 -2.80430335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1188.9365599950002 meters 0.012613923468264551 Centerline is valid? [True, True] Translation: X:-356.77, Y:-257.13, Z:-2.80 [[-7.01152451e-01 -7.12961221e-01 8.45801021e-03 -3.56773506e+02] [ 7.12910650e-01 -7.01203460e-01 -8.49194407e-03 -2.57127549e+02] [ 1.19852128e-02 7.56581527e-05 9.99928172e-01 -2.80313423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1188.9665599950001 meters 0.012487808679360909 Centerline is valid? [True, True] Translation: X:-356.79, Y:-257.11, Z:-2.80 [[-7.01874036e-01 -7.12252314e-01 8.33536516e-03 -3.56792996e+02] [ 7.12203205e-01 -7.01923526e-01 -8.36409328e-03 -2.57107625e+02] [ 1.18081337e-02 6.59338735e-05 9.99930280e-01 -2.80253743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1188.996559995 meters 0.012521422682270349 Centerline is valid? [True, True] Translation: X:-356.81, Y:-257.09, Z:-2.80 [[-7.02404147e-01 -7.11729397e-01 8.34748248e-03 -3.56812461e+02] [ 7.11680164e-01 -7.02453744e-01 -8.37156116e-03 -2.57087951e+02] [ 1.18220065e-02 6.05184295e-05 9.99930116e-01 -2.80272402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1189.026559995 meters 0.012414051503409771 Centerline is valid? [True, True] Translation: X:-356.83, Y:-257.07, Z:-2.80 [[-7.03226081e-01 -7.10915941e-01 8.46190832e-03 -3.56832321e+02] [ 7.10865348e-01 -7.03276988e-01 -8.48151403e-03 -2.57067938e+02] [ 1.19807089e-02 5.08555310e-05 9.99928228e-01 -2.80276697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1189.056559995 meters 0.01248906321223724 Centerline is valid? [True, True] Translation: X:-356.85, Y:-257.05, Z:-2.80 [[-7.03664291e-01 -7.10479574e-01 8.67989036e-03 -3.56851818e+02] [ 7.10426371e-01 -7.03717821e-01 -8.69481471e-03 -2.57048657e+02] [ 1.22856818e-02 4.81923791e-05 9.99924527e-01 -2.80367423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1189.086559995 meters 0.012490979178351158 Centerline is valid? [True, True] Translation: X:-356.87, Y:-257.03, Z:-2.80 [[-7.03845710e-01 -7.10296534e-01 8.94710848e-03 -3.56871208e+02] [ 7.10240061e-01 -7.03902572e-01 -8.95686968e-03 -2.57029011e+02] [ 1.26599262e-02 5.03405732e-05 9.99919859e-01 -2.80329645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1189.116559995 meters 0.012504445373484005 Centerline is valid? [True, True] Translation: X:-356.89, Y:-257.01, Z:-2.80 [[-7.03817023e-01 -7.10316576e-01 9.58956861e-03 -3.56889863e+02] [ 7.10251765e-01 -7.03882347e-01 -9.59537898e-03 -2.57010521e+02] [ 1.35656848e-02 5.76169570e-05 9.99907980e-01 -2.80404814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1189.146559995 meters 0.01258534648134711 Centerline is valid? [True, True] Translation: X:-356.91, Y:-256.99, Z:-2.80 [[-7.03600859e-01 -7.10514640e-01 1.07134327e-02 -3.56909760e+02] [ 7.10433861e-01 -7.03682415e-01 -1.07139139e-02 -2.56991022e+02] [ 1.51512469e-02 7.28663897e-05 9.99885211e-01 -2.80433451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1189.176559995 meters 0.012660590646852264 Centerline is valid? [True, True] Translation: X:-356.93, Y:-256.97, Z:-2.81 [[-7.03534478e-01 -7.10574618e-01 1.10883601e-02 -3.56929488e+02] [ 7.10488202e-01 -7.03621849e-01 -1.10819165e-02 -2.56972157e+02] [ 1.56765410e-02 8.16387135e-05 9.99877112e-01 -2.80507306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1189.2065599950001 meters 0.012749357956067067 Centerline is valid? [True, True] Translation: X:-356.95, Y:-256.99, Z:-2.81 [[-6.53900719e-01 -7.56506249e-01 1.05898284e-02 -3.56953030e+02] [ 7.56409271e-01 -6.53986458e-01 -1.21131421e-02 -2.56991509e+02] [ 1.60892721e-02 8.94520844e-05 9.99870555e-01 -2.80580264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1189.236559995 meters 0.012923060935751404 Centerline is valid? [True, True] Translation: X:-356.97, Y:-256.97, Z:-2.81 [[-6.54051810e-01 -7.56377797e-01 1.04335301e-02 -3.56970624e+02] [ 7.56283759e-01 -6.54135017e-01 -1.19270900e-02 -2.56972259e+02] [ 1.58463234e-02 8.97745864e-05 9.99874435e-01 -2.80652587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1189.266559995 meters 0.012889264223721643 Centerline is valid? [True, True] Translation: X:-356.99, Y:-256.95, Z:-2.81 [[-6.54112179e-01 -7.56327025e-01 1.03289609e-02 -3.56988257e+02] [ 7.56234978e-01 -6.54193719e-01 -1.17998475e-02 -2.56952294e+02] [ 1.56816850e-02 9.26975632e-05 9.99877031e-01 -2.80635299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1189.296559995 meters 0.012804556986374995 Centerline is valid? [True, True] Translation: X:-357.01, Y:-256.93, Z:-2.80 [[-6.54146973e-01 -7.56310876e-01 9.25186856e-03 -3.57005522e+02] [ 7.56237116e-01 -6.54212390e-01 -1.05628181e-02 -2.56931255e+02] [ 1.40414613e-02 8.69709071e-05 9.99901410e-01 -2.80462870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1189.326559995 meters 0.01278236535107994 Centerline is valid? [True, True] Translation: X:-357.02, Y:-256.91, Z:-2.80 [[-6.54512828e-01 -7.55999476e-01 8.81755676e-03 -3.57022864e+02] [ 7.55932535e-01 -6.54572216e-01 -1.00607155e-02 -2.56910380e+02] [ 1.33776233e-02 8.06106900e-05 9.99910513e-01 -2.80357836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1189.356559995 meters 0.012795575734178208 Centerline is valid? [True, True] Translation: X:-357.04, Y:-256.89, Z:-2.80 [[-6.55215362e-01 -7.55394049e-01 8.52414440e-03 -3.57040045e+02] [ 7.55331519e-01 -6.55270804e-01 -9.71960655e-03 -2.56889971e+02] [ 1.29277559e-02 7.01194150e-05 9.99916431e-01 -2.80337895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1189.386559995 meters 0.01275445790735934 Centerline is valid? [True, True] Translation: X:-357.06, Y:-256.87, Z:-2.80 [[-6.56152335e-01 -7.54582759e-01 8.30497198e-03 -3.57057303e+02] [ 7.54523411e-01 -6.56204889e-01 -9.46396393e-03 -2.56868842e+02] [ 1.25911072e-02 5.64937502e-05 9.99920727e-01 -2.80300832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1189.416559995 meters 0.012678836588101462 Centerline is valid? [True, True] Translation: X:-357.07, Y:-256.85, Z:-2.80 [[-6.57837975e-01 -7.53114404e-01 8.23979196e-03 -3.57073304e+02] [ 7.53055938e-01 -6.57889576e-01 -9.38402168e-03 -2.56847210e+02] [ 1.24881151e-02 3.18584512e-05 9.99922020e-01 -2.80287607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1189.4465599950001 meters 0.012514613865777093 Centerline is valid? [True, True] Translation: X:-357.09, Y:-256.83, Z:-2.80 [[-6.58664614e-01 -7.52392443e-01 8.15708353e-03 -3.57090238e+02] [ 7.52335162e-01 -6.58715122e-01 -9.28397123e-03 -2.56826350e+02] [ 1.23583841e-02 2.18374355e-05 9.99923632e-01 -2.80157939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1189.4765599950001 meters 0.01256864215363308 Centerline is valid? [True, True] Translation: X:-357.11, Y:-256.81, Z:-2.80 [[-6.59388529e-01 -7.51760001e-01 7.97924222e-03 -3.57107555e+02] [ 7.51705214e-01 -6.59436806e-01 -9.07584704e-03 -2.56805228e+02] [ 1.20846648e-02 1.35285468e-05 9.99926978e-01 -2.80142611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1189.506559995 meters 0.012574624350541418 Centerline is valid? [True, True] Translation: X:-357.13, Y:-256.78, Z:-2.80 [[-6.59728862e-01 -7.51459990e-01 8.10633623e-03 -3.57125045e+02] [ 7.51403491e-01 -6.59778663e-01 -9.21465214e-03 -2.56784297e+02] [ 1.22728301e-02 1.19573718e-05 9.99924686e-01 -2.80114963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1189.536559995 meters 0.012634665094035245 Centerline is valid? [True, True] Translation: X:-357.14, Y:-256.76, Z:-2.80 [[-6.60049583e-01 -7.51178765e-01 8.06296101e-03 -3.57142427e+02] [ 7.51122921e-01 -6.60098829e-01 -9.15935219e-03 -2.56764316e+02] [ 1.22026620e-02 1.06482306e-05 9.99925545e-01 -2.80108011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1189.566559995 meters 0.012805721342818693 Centerline is valid? [True, True] Translation: X:-357.16, Y:-256.74, Z:-2.80 [[-6.60185069e-01 -7.51056518e-01 8.35355210e-03 -3.57159854e+02] [ 7.50996624e-01 -6.60237917e-01 -9.48494707e-03 -2.56744996e+02] [ 1.26390632e-02 1.16689921e-05 9.99920124e-01 -2.80163387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1189.596559995 meters 0.012802027000561421 Centerline is valid? [True, True] Translation: X:-357.18, Y:-256.72, Z:-2.80 [[-6.60420267e-01 -7.50845553e-01 8.71929105e-03 -3.57178007e+02] [ 7.50780363e-01 -6.60477823e-01 -9.89398443e-03 -2.56724539e+02] [ 1.31877526e-02 1.20846624e-05 9.99913038e-01 -2.80088531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1189.626559995 meters 0.012850556163058708 Centerline is valid? [True, True] Translation: X:-357.20, Y:-256.71, Z:-2.80 [[-6.60326740e-01 -7.50927646e-01 8.73314188e-03 -3.57195669e+02] [ 7.50862342e-01 -6.60384487e-01 -9.90315666e-03 -2.56705149e+02] [ 1.32037855e-02 1.80682094e-05 9.99912826e-01 -2.80143378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1189.656559995 meters 0.012936327843959296 Centerline is valid? [True, True] Translation: X:-357.21, Y:-256.69, Z:-2.80 [[-6.60182021e-01 -7.51049893e-01 9.15197930e-03 -3.57213403e+02] [ 7.50978279e-01 -6.60245453e-01 -1.03713916e-02 -2.56685817e+02] [ 1.38319852e-02 2.59314249e-05 9.99904333e-01 -2.80186994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1189.6865599950002 meters 0.013005278948113064 Centerline is valid? [True, True] Translation: X:-357.23, Y:-256.67, Z:-2.80 [[-6.59740701e-01 -7.51439967e-01 8.95450076e-03 -3.57231808e+02] [ 7.51371532e-01 -6.59801466e-01 -1.01413059e-02 -2.56666259e+02] [ 1.35287753e-02 3.75247164e-05 9.99908481e-01 -2.80116798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1189.7165599950001 meters 0.01323718638584706 Centerline is valid? [True, True] Translation: X:-357.25, Y:-256.65, Z:-2.80 [[-6.59728231e-01 -7.51449741e-01 9.05256102e-03 -3.57249733e+02] [ 7.51379867e-01 -6.59790335e-01 -1.02474541e-02 -2.56647129e+02] [ 1.36732390e-02 4.13773251e-05 9.99906516e-01 -2.80203454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1189.746559995 meters 0.01323718638584706 Centerline is valid? [True, True] Translation: X:-357.27, Y:-256.63, Z:-2.80 [[-6.59948644e-01 -7.51256138e-01 9.05556674e-03 -3.57267544e+02] [ 7.51186282e-01 -6.60010768e-01 -1.02447981e-02 -2.56627162e+02] [ 1.36732390e-02 4.13769037e-05 9.99906516e-01 -2.80203434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1189.776559995 meters 0.01319956337907055 Centerline is valid? [True, True] Translation: X:-357.29, Y:-256.61, Z:-2.80 [[-6.59766379e-01 -7.51416376e-01 9.04184804e-03 -3.57286056e+02] [ 7.51346829e-01 -6.59828332e-01 -1.02232618e-02 -2.56607323e+02] [ 1.36479938e-02 4.85994279e-05 9.99906861e-01 -2.80178390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1189.806559995 meters 0.012979060890532737 Centerline is valid? [True, True] Translation: X:-357.31, Y:-256.59, Z:-2.80 [[-6.59556880e-01 -7.51605337e-01 8.61042881e-03 -3.57305012e+02] [ 7.51542356e-01 -6.59613080e-01 -9.72995966e-03 -2.56587155e+02] [ 1.29926411e-02 5.36401153e-05 9.99915591e-01 -2.79931993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1189.836559995 meters 0.013024613921115228 Centerline is valid? [True, True] Translation: X:-357.32, Y:-256.57, Z:-2.80 [[-6.59704768e-01 -7.51478457e-01 8.35146615e-03 -3.57323120e+02] [ 7.51419277e-01 -6.59757626e-01 -9.43103128e-03 -2.56567689e+02] [ 1.25971603e-02 5.37563547e-05 9.99920651e-01 -2.79958988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1189.866559995 meters 0.01294156630119837 Centerline is valid? [True, True] Translation: X:-357.34, Y:-256.55, Z:-2.80 [[-6.59805368e-01 -7.51394491e-01 7.94950152e-03 -3.57341552e+02] [ 7.51340926e-01 -6.59853253e-01 -8.97205086e-03 -2.56546825e+02] [ 1.19870540e-02 5.29785147e-05 9.99928151e-01 -2.79913422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1189.896559995 meters 0.012956472259589612 Centerline is valid? [True, True] Translation: X:-357.36, Y:-256.53, Z:-2.80 [[-6.60011830e-01 -7.51215681e-01 7.70621424e-03 -3.57359887e+02] [ 7.51165395e-01 -6.60056815e-01 -8.69199267e-03 -2.56526548e+02] [ 1.16161004e-02 5.18234802e-05 9.99932530e-01 -2.79863723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1189.926559995 meters 0.012915668128771 Centerline is valid? [True, True] Translation: X:-357.38, Y:-256.51, Z:-2.80 [[-6.60078625e-01 -7.51159974e-01 7.40962709e-03 -3.57378692e+02] [ 7.51113514e-01 -6.60120210e-01 -8.35449396e-03 -2.56505059e+02] [ 1.11668061e-02 5.08481641e-05 9.99937648e-01 -2.79813860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1189.9565599950001 meters 0.012948082517216134 Centerline is valid? [True, True] Translation: X:-357.40, Y:-256.48, Z:-2.80 [[-6.60145039e-01 -7.51105974e-01 6.95296791e-03 -3.57397166e+02] [ 7.51065096e-01 -6.60181652e-01 -7.83633928e-03 -2.56484805e+02] [ 1.04761431e-02 4.90110067e-05 9.99945123e-01 -2.79864270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1189.986559995 meters 0.012882116459717657 Centerline is valid? [True, True] Translation: X:-357.42, Y:-256.46, Z:-2.80 [[-6.59883581e-01 -7.51341447e-01 6.29999241e-03 -3.57416068e+02] [ 7.51307939e-01 -6.59913652e-01 -7.09595670e-03 -2.56464714e+02] [ 9.48893737e-03 5.07289926e-05 9.99954978e-01 -2.79834489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1190.016559995 meters 0.013063244831276504 Centerline is valid? [True, True] Translation: X:-357.43, Y:-256.45, Z:-2.80 [[-6.59489392e-01 -7.51687525e-01 6.29334517e-03 -3.57434323e+02] [ 7.51654148e-01 -6.59519417e-01 -7.08381578e-03 -2.56446095e+02] [ 9.47539929e-03 5.87176441e-05 9.99955106e-01 -2.79877969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1190.046559995 meters 0.013216485123287167 Centerline is valid? [True, True] Translation: X:-357.45, Y:-256.43, Z:-2.80 [[-6.58831257e-01 -7.52266313e-01 6.06367583e-03 -3.57453230e+02] [ 7.52235393e-01 -6.58859157e-01 -6.82085894e-03 -2.56427238e+02] [ 9.12621076e-03 6.75164976e-05 9.99958353e-01 -2.79983528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1190.076559995 meters 0.013198700674335626 Centerline is valid? [True, True] Translation: X:-357.47, Y:-256.41, Z:-2.80 [[-6.58291633e-01 -7.52737423e-01 6.20467977e-03 -3.57472277e+02] [ 7.52705109e-01 -6.58320869e-01 -6.97517003e-03 -2.56407726e+02] [ 9.33514169e-03 7.85980956e-05 9.99956424e-01 -2.79991345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1190.106559995 meters 0.013538032939001863 Centerline is valid? [True, True] Translation: X:-357.49, Y:-256.39, Z:-2.80 [[-6.57726513e-01 -7.53231808e-01 6.13813225e-03 -3.57490916e+02] [ 7.53200247e-01 -6.57755149e-01 -6.89589839e-03 -2.56389406e+02] [ 9.23159810e-03 8.76275211e-05 9.99957384e-01 -2.80060876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1190.136559995 meters 0.013507379498078394 Centerline is valid? [True, True] Translation: X:-357.51, Y:-256.37, Z:-2.80 [[-6.56917483e-01 -7.53938729e-01 5.98445627e-03 -3.57509001e+02] [ 7.53908795e-01 -6.56944734e-01 -6.71900677e-03 -2.56369407e+02] [ 8.99717646e-03 9.79012025e-05 9.99959520e-01 -2.79971819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1190.166559995 meters 0.013953465559506262 Centerline is valid? [True, True] Translation: X:-357.53, Y:-256.35, Z:-2.80 [[-6.55084119e-01 -7.55541275e-01 4.70950354e-03 -3.57528992e+02] [ 7.55522802e-01 -6.55101040e-01 -5.28424594e-03 -2.56350737e+02] [ 7.07766658e-03 9.65117195e-05 9.99974949e-01 -2.79894110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1190.1965599950001 meters 0.014217904904827019 Centerline is valid? [True, True] Translation: X:-357.55, Y:-256.33, Z:-2.80 [[-6.54158612e-01 -7.56345779e-01 4.19206981e-03 -3.57548018e+02] [ 7.56331177e-01 -6.54172037e-01 -4.70070236e-03 -2.56331602e+02] [ 6.29769123e-03 9.55881637e-05 9.99980165e-01 -2.79839240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1190.2265599950001 meters 0.014408428594338406 Centerline is valid? [True, True] Translation: X:-357.57, Y:-256.31, Z:-2.80 [[-6.53126052e-01 -7.57240014e-01 3.73107162e-03 -3.57567776e+02] [ 7.57228475e-01 -6.53136703e-01 -4.18139427e-03 -2.56311521e+02] [ 5.60321887e-03 9.42961421e-05 9.99984298e-01 -2.79796901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1190.256559995 meters 0.01467710221384327 Centerline is valid? [True, True] Translation: X:-357.59, Y:-256.29, Z:-2.80 [[-6.52194461e-01 -7.58044477e-01 3.30996714e-03 -3.57587697e+02] [ 7.58035417e-01 -6.52202854e-01 -3.70734845e-03 -2.56291724e+02] [ 4.96910503e-03 9.11602002e-05 9.99987650e-01 -2.79792021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1190.286559995 meters 0.01554997065235662 Centerline is valid? [True, True] Translation: X:-357.61, Y:-256.27, Z:-2.80 [[-6.50476452e-01 -7.59518585e-01 3.45042927e-03 -3.57608411e+02] [ 7.59508772e-01 -6.50485594e-01 -3.86235024e-03 -2.56273569e+02] [ 5.17798132e-03 1.08263419e-04 9.99986589e-01 -2.79841805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1190.316559995 meters 0.015469389819210753 Centerline is valid? [True, True] Translation: X:-357.63, Y:-256.25, Z:-2.80 [[-6.50020631e-01 -7.59908282e-01 3.54719728e-03 -3.57627890e+02] [ 7.59897929e-01 -6.50030299e-01 -3.96839799e-03 -2.56253125e+02] [ 5.32140421e-03 1.15967303e-04 9.99985835e-01 -2.79879645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1190.346559995 meters 0.01659070825312045 Centerline is valid? [True, True] Translation: X:-357.65, Y:-256.23, Z:-2.80 [[-6.49548804e-01 -7.60309386e-01 3.99853074e-03 -3.57648188e+02] [ 7.60296255e-01 -6.49561097e-01 -4.47062321e-03 -2.56234848e+02] [ 5.99634680e-03 1.36179992e-04 9.99982013e-01 -2.80014930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1190.376559995 meters 0.016653560286157047 Centerline is valid? [True, True] Translation: X:-357.67, Y:-256.21, Z:-2.80 [[-6.49325031e-01 -7.60499195e-01 4.24019372e-03 -3.57667195e+02] [ 7.60484451e-01 -6.49338858e-01 -4.73787283e-03 -2.56214663e+02] [ 6.35647102e-03 1.48181978e-04 9.99979787e-01 -2.80073552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1190.406559995 meters 0.017015728678254006 Centerline is valid? [True, True] Translation: X:-357.69, Y:-256.20, Z:-2.80 [[-6.49372378e-01 -7.60457992e-01 4.37684631e-03 -3.57686018e+02] [ 7.60442302e-01 -6.49387110e-01 -4.88738162e-03 -2.56195717e+02] [ 6.55891599e-03 1.54608458e-04 9.99978478e-01 -2.80155918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1190.4365599950002 meters 0.016930267862468287 Centerline is valid? [True, True] Translation: X:-357.70, Y:-256.18, Z:-2.80 [[-6.49736303e-01 -7.60145637e-01 4.62026362e-03 -3.57704180e+02] [ 7.60128168e-01 -6.49752710e-01 -5.15603398e-03 -2.56176018e+02] [ 6.92136554e-03 1.61930064e-04 9.99976034e-01 -2.80197553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1190.4665599950001 meters 0.016975791119105084 Centerline is valid? [True, True] Translation: X:-357.72, Y:-256.16, Z:-2.80 [[-6.50416642e-01 -7.59560548e-01 5.09567790e-03 -3.57722782e+02] [ 7.59539307e-01 -6.50436579e-01 -5.68311837e-03 -2.56155677e+02] [ 7.63108781e-03 1.73972897e-04 9.99970868e-01 -2.80250927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1190.496559995 meters 0.016052012197822506 Centerline is valid? [True, True] Translation: X:-357.74, Y:-256.13, Z:-2.80 [[-6.51367073e-01 -7.58745979e-01 5.04736852e-03 -3.57739811e+02] [ 7.58725140e-01 -6.51386608e-01 -5.62572951e-03 -2.56134658e+02] [ 7.55628790e-03 1.65150421e-04 9.99971437e-01 -2.80247253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1190.526559995 meters 0.015436703683471149 Centerline is valid? [True, True] Translation: X:-357.76, Y:-256.11, Z:-2.80 [[-6.52311351e-01 -7.57933364e-01 5.18822246e-03 -3.57757981e+02] [ 7.57911346e-01 -6.52331963e-01 -5.77946027e-03 -2.56112765e+02] [ 7.76488911e-03 1.62205130e-04 9.99969840e-01 -2.80229772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1190.556559995 meters 0.015163137550316862 Centerline is valid? [True, True] Translation: X:-357.78, Y:-256.09, Z:-2.80 [[-6.53202230e-01 -7.57166721e-01 5.04024032e-03 -3.57776809e+02] [ 7.57145942e-01 -6.53221658e-01 -5.61145297e-03 -2.56091458e+02] [ 7.54119958e-03 1.50783913e-04 9.99971554e-01 -2.80223316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1190.586559995 meters 0.01446100759230086 Centerline is valid? [True, True] Translation: X:-357.79, Y:-256.07, Z:-2.80 [[-6.55296658e-01 -7.55356636e-01 4.75843019e-03 -3.57794318e+02] [ 7.55338089e-01 -6.55313923e-01 -5.29468431e-03 -2.56069199e+02] [ 7.11764049e-03 1.24634632e-04 9.99974662e-01 -2.80217646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1190.616559995 meters 0.014253582167657102 Centerline is valid? [True, True] Translation: X:-357.81, Y:-256.05, Z:-2.80 [[-6.56466064e-01 -7.54342001e-01 4.52245974e-03 -3.57812677e+02] [ 7.54325242e-01 -6.56481633e-01 -5.02945196e-03 -2.56047310e+02] [ 6.76283861e-03 1.09741003e-04 9.99977126e-01 -2.80200570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1190.646559995 meters 0.014112074048333562 Centerline is valid? [True, True] Translation: X:-357.83, Y:-256.03, Z:-2.80 [[-6.57900532e-01 -7.53090766e-01 4.60309493e-03 -3.57829469e+02] [ 7.53073397e-01 -6.57916628e-01 -5.11571400e-03 -2.56027259e+02] [ 6.88104967e-03 1.00837373e-04 9.99976320e-01 -2.80200226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1190.676559995 meters 0.013797266276221555 Centerline is valid? [True, True] Translation: X:-357.85, Y:-256.01, Z:-2.80 [[-6.59269736e-01 -7.51893672e-01 4.39557188e-03 -3.57847125e+02] [ 7.51877828e-01 -6.59284384e-01 -4.88200601e-03 -2.56005919e+02] [ 6.56868133e-03 8.63742229e-05 9.99978422e-01 -2.80172164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1190.7065599950001 meters 0.013728684729304943 Centerline is valid? [True, True] Translation: X:-357.86, Y:-255.99, Z:-2.80 [[-6.60675070e-01 -7.50658202e-01 4.55140344e-03 -3.57864617e+02] [ 7.50641207e-01 -6.60690743e-01 -5.05174697e-03 -2.55986731e+02] [ 6.79920542e-03 7.89076856e-05 9.99976882e-01 -2.80262480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1190.736559995 meters 0.013492014644203427 Centerline is valid? [True, True] Translation: X:-357.88, Y:-255.97, Z:-2.80 [[-6.61891373e-01 -7.49587021e-01 4.37131583e-03 -3.57882586e+02] [ 7.49571340e-01 -6.61905804e-01 -4.84902364e-03 -2.55965578e+02] [ 6.52816450e-03 6.70861439e-05 9.99978689e-01 -2.80281468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1190.766559995 meters 0.01309225151412156 Centerline is valid? [True, True] Translation: X:-357.90, Y:-255.94, Z:-2.80 [[-6.63393279e-01 -7.48256464e-01 4.64995625e-03 -3.57900541e+02] [ 7.48238709e-01 -6.63409572e-01 -5.15504595e-03 -2.55944387e+02] [ 6.94212194e-03 5.94544249e-05 9.99975902e-01 -2.80275040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1190.796559995 meters 0.01298675514796116 Centerline is valid? [True, True] Translation: X:-357.92, Y:-255.92, Z:-2.80 [[-6.64124046e-01 -7.47607059e-01 4.78933897e-03 -3.57919214e+02] [ 7.47588228e-01 -6.64141312e-01 -5.30656633e-03 -2.55923585e+02] [ 7.14802432e-03 5.62351275e-05 9.99974451e-01 -2.80266794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1190.826559995 meters 0.012995038107167898 Centerline is valid? [True, True] Translation: X:-357.94, Y:-255.90, Z:-2.80 [[-6.64402626e-01 -7.47354976e-01 5.44896912e-03 -3.57938221e+02] [ 7.47330619e-01 -6.64424967e-01 -6.03399282e-03 -2.55903143e+02] [ 8.12996568e-03 6.31807967e-05 9.99966949e-01 -2.80317566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1190.856559995 meters 0.013047611413937123 Centerline is valid? [True, True] Translation: X:-357.96, Y:-255.88, Z:-2.80 [[-6.64660802e-01 -7.47121282e-01 5.98398446e-03 -3.57956567e+02] [ 7.47091934e-01 -6.64687735e-01 -6.62247336e-03 -2.55883805e+02] [ 8.92527186e-03 6.88880688e-05 9.99960167e-01 -2.80409549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1190.886559995 meters 0.013291031948257228 Centerline is valid? [True, True] Translation: X:-357.98, Y:-255.87, Z:-2.81 [[-6.64922102e-01 -7.46884298e-01 6.51498657e-03 -3.57975142e+02] [ 7.46849545e-01 -6.64954014e-01 -7.20534441e-03 -2.55865627e+02] [ 9.71372506e-03 7.47220083e-05 9.99952818e-01 -2.80610490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1190.916559995 meters 0.013150744495108864 Centerline is valid? [True, True] Translation: X:-357.99, Y:-255.84, Z:-2.81 [[-6.64860793e-01 -7.46935766e-01 6.86211080e-03 -3.57994026e+02] [ 7.46897257e-01 -6.64896199e-01 -7.58497318e-03 -2.55844867e+02] [ 1.02280791e-02 8.23404525e-05 9.99947689e-01 -2.80551733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1190.9465599950001 meters 0.013526656389148354 Centerline is valid? [True, True] Translation: X:-358.01, Y:-255.83, Z:-2.81 [[-6.64831328e-01 -7.46957170e-01 7.36827817e-03 -3.58013647e+02] [ 7.46912832e-01 -6.64872151e-01 -8.13905236e-03 -2.55827224e+02] [ 1.09784865e-02 9.23645254e-05 9.99939731e-01 -2.80782733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1190.9765599950001 meters 0.013526656389148354 Centerline is valid? [True, True] Translation: X:-358.03, Y:-255.81, Z:-2.81 [[-6.65051360e-01 -7.46761248e-01 7.37067604e-03 -3.58031697e+02] [ 7.46716922e-01 -6.65092196e-01 -8.13688093e-03 -2.55807479e+02] [ 1.09784865e-02 9.23647963e-05 9.99939731e-01 -2.80782713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1191.006559995 meters 0.013245018037985683 Centerline is valid? [True, True] Translation: X:-358.05, Y:-255.79, Z:-2.81 [[-6.65802364e-01 -7.46089625e-01 7.58187586e-03 -3.58049090e+02] [ 7.46042737e-01 -6.65845526e-01 -8.36480239e-03 -2.55786544e+02] [ 1.12892504e-02 8.70982210e-05 9.99936271e-01 -2.80649013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1191.036559995 meters 0.013154767777884312 Centerline is valid? [True, True] Translation: X:-358.07, Y:-255.77, Z:-2.81 [[-6.66491974e-01 -7.45475054e-01 7.44264722e-03 -3.58067346e+02] [ 7.45429891e-01 -6.66533524e-01 -8.20606437e-03 -2.55765728e+02] [ 1.10781902e-02 7.86956633e-05 9.99938632e-01 -2.80588087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1191.066559995 meters 0.013012033833401555 Centerline is valid? [True, True] Translation: X:-358.09, Y:-255.75, Z:-2.81 [[-6.67618191e-01 -7.44467664e-01 7.33811572e-03 -3.58085575e+02] [ 7.44423756e-01 -6.67658515e-01 -8.08574463e-03 -2.55745071e+02] [ 1.09189309e-02 6.44774556e-05 9.99940385e-01 -2.80546730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1191.096559995 meters 0.01289771103890926 Centerline is valid? [True, True] Translation: X:-358.10, Y:-255.73, Z:-2.81 [[-6.68625918e-01 -7.43567035e-01 6.88813394e-03 -3.58103160e+02] [ 7.43528350e-01 -6.68661396e-01 -7.58493837e-03 -2.55725109e+02] [ 1.02457394e-02 5.00364837e-05 9.99947510e-01 -2.80502441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1191.126559995 meters 0.012764961286659918 Centerline is valid? [True, True] Translation: X:-358.12, Y:-255.70, Z:-2.80 [[-6.69871662e-01 -7.42446664e-01 6.70134903e-03 -3.58121127e+02] [ 7.42410038e-01 -6.69905180e-01 -7.37467452e-03 -2.55704454e+02] [ 9.96457092e-03 3.50633141e-05 9.99950352e-01 -2.80436909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1191.156559995 meters 0.012814218410815587 Centerline is valid? [True, True] Translation: X:-358.14, Y:-255.68, Z:-2.80 [[-6.71196295e-01 -7.41251541e-01 6.45660086e-03 -3.58138902e+02] [ 7.41217528e-01 -6.71227348e-01 -7.10095520e-03 -2.55684473e+02] [ 9.59744106e-03 1.96109089e-05 9.99953944e-01 -2.80483732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1191.1865599950002 meters 0.012649892104647384 Centerline is valid? [True, True] Translation: X:-358.16, Y:-255.66, Z:-2.80 [[-6.72434148e-01 -7.40132760e-01 5.98447337e-03 -3.58157320e+02] [ 7.40103528e-01 -6.72460778e-01 -6.57797002e-03 -2.55663443e+02] [ 8.89289473e-03 5.87819390e-06 9.99960458e-01 -2.80295545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1191.2165599950001 meters 0.012803930526055253 Centerline is valid? [True, True] Translation: X:-358.17, Y:-255.64, Z:-2.80 [[-6.74886974e-01 -7.37903255e-01 5.13408203e-03 -3.58174759e+02] [ 7.37881694e-01 -6.74906502e-01 -5.64090607e-03 -2.55642573e+02] [ 7.62746829e-03 -1.86288876e-05 9.99970910e-01 -2.80273512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1191.246559995 meters 0.012688557181462409 Centerline is valid? [True, True] Translation: X:-358.19, Y:-255.62, Z:-2.80 [[-6.75930615e-01 -7.36949426e-01 4.83188177e-03 -3.58193284e+02] [ 7.36930325e-01 -6.75947885e-01 -5.30590164e-03 -2.55621560e+02] [ 7.17628143e-03 -2.56611575e-05 9.99974250e-01 -2.80166541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1191.276559995 meters 0.012849535860947565 Centerline is valid? [True, True] Translation: X:-358.21, Y:-255.60, Z:-2.80 [[-6.76881273e-01 -7.36077975e-01 4.57791199e-03 -3.58210689e+02] [ 7.36060832e-01 -6.76896753e-01 -5.02370057e-03 -2.55601318e+02] [ 6.79660911e-03 -3.08271297e-05 9.99976903e-01 -2.80188415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1191.306559995 meters 0.012739556535504976 Centerline is valid? [True, True] Translation: X:-358.23, Y:-255.58, Z:-2.80 [[-6.77698967e-01 -7.35325690e-01 4.49893115e-03 -3.58229807e+02] [ 7.35309138e-01 -6.77713899e-01 -4.93395888e-03 -2.55581236e+02] [ 6.67705489e-03 -3.56336550e-05 9.99977708e-01 -2.80134263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1191.336559995 meters 0.015358348571114656 Centerline is valid? [True, True] Translation: X:-358.25, Y:-255.56, Z:-2.80 [[-6.78190775e-01 -7.34864320e-01 5.63068714e-03 -3.58249216e+02] [ 7.34838405e-01 -6.78214147e-01 -6.17164772e-03 -2.55561560e+02] [ 8.35413538e-03 -4.79093958e-05 9.99965103e-01 -2.80336227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1191.366559995 meters 0.012791196487355851 Centerline is valid? [True, True] Translation: X:-358.27, Y:-255.54, Z:-2.80 [[-6.77637651e-01 -7.35377398e-01 5.22462161e-03 -3.58268124e+02] [ 7.35355127e-01 -6.77657791e-01 -5.72316818e-03 -2.55541653e+02] [ 7.74919407e-03 -3.62819510e-05 9.99969974e-01 -2.80256465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1191.396559995 meters 0.012638954891346168 Centerline is valid? [True, True] Translation: X:-358.29, Y:-255.52, Z:-2.80 [[-6.77168491e-01 -7.35807001e-01 5.55812256e-03 -3.58288032e+02] [ 7.35781843e-01 -6.77191300e-01 -6.08466437e-03 -2.55522389e+02] [ 8.24105088e-03 -3.07773319e-05 9.99966042e-01 -2.80246513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1191.426559995 meters 0.012580174146372605 Centerline is valid? [True, True] Translation: X:-358.31, Y:-255.50, Z:-2.80 [[-6.76569186e-01 -7.36355579e-01 5.88202544e-03 -3.58308132e+02] [ 7.36327456e-01 -6.76594754e-01 -6.43560315e-03 -2.55502709e+02] [ 8.71863984e-03 -2.30339586e-05 9.99961992e-01 -2.80275229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1191.4565599950001 meters 0.01261019170806646 Centerline is valid? [True, True] Translation: X:-358.33, Y:-255.48, Z:-2.80 [[-6.75536832e-01 -7.37298265e-01 6.42310535e-03 -3.58327495e+02] [ 7.37264813e-01 -6.75567368e-01 -7.02340968e-03 -2.55483982e+02] [ 9.51758814e-03 -9.04236913e-06 9.99954707e-01 -2.80356903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1191.486559995 meters 0.012655223341968174 Centerline is valid? [True, True] Translation: X:-358.35, Y:-255.47, Z:-2.80 [[-6.74646570e-01 -7.38109899e-01 6.76620755e-03 -3.58346450e+02] [ 7.38072867e-01 -6.74680500e-01 -7.39369727e-03 -2.55466090e+02] [ 1.00223894e-02 5.82169605e-06 9.99949775e-01 -2.80478756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1191.516559995 meters 0.012690362802083924 Centerline is valid? [True, True] Translation: X:-358.37, Y:-255.45, Z:-2.81 [[-6.73588548e-01 -7.39074285e-01 6.90428781e-03 -3.58365545e+02] [ 7.39035825e-01 -6.73623931e-01 -7.53975851e-03 -2.55448220e+02] [ 1.02233351e-02 2.38210530e-05 9.99947740e-01 -2.80550406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1191.546559995 meters 0.013052606082949633 Centerline is valid? [True, True] Translation: X:-358.39, Y:-255.43, Z:-2.81 [[-6.71247282e-01 -7.41192943e-01 7.75298202e-03 -3.58386931e+02] [ 7.41144640e-01 -6.71292051e-01 -8.46202672e-03 -2.55430065e+02] [ 1.14765097e-02 6.59686306e-05 9.99934141e-01 -2.80636022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1191.576559995 meters 0.012934848044782064 Centerline is valid? [True, True] Translation: X:-358.41, Y:-255.41, Z:-2.81 [[-6.70317903e-01 -7.42030446e-01 8.04527376e-03 -3.58406261e+02] [ 7.41978551e-01 -6.70366177e-01 -8.77604394e-03 -2.55409609e+02] [ 1.19053712e-02 8.66811939e-05 9.99929125e-01 -2.80515305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1191.606559995 meters 0.012934848044782064 Centerline is valid? [True, True] Translation: X:-358.42, Y:-255.39, Z:-2.81 [[-6.70528527e-01 -7.41840096e-01 8.04776498e-03 -3.58424948e+02] [ 7.41788216e-01 -6.70576814e-01 -8.77375950e-03 -2.55389324e+02] [ 1.19053712e-02 8.66811949e-05 9.99929125e-01 -2.80515285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1191.636559995 meters 0.01344360040688903 Centerline is valid? [True, True] Translation: X:-358.45, Y:-255.37, Z:-2.81 [[-6.70081023e-01 -7.42244196e-01 8.06075539e-03 -3.58445087e+02] [ 7.42192240e-01 -6.70129498e-01 -8.78264379e-03 -2.55370464e+02] [ 1.19206163e-02 9.75471650e-05 9.99928942e-01 -2.80733708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1191.666559995 meters 0.013735871214285466 Centerline is valid? [True, True] Translation: X:-358.46, Y:-255.35, Z:-2.81 [[-6.70150003e-01 -7.42181494e-01 8.09967560e-03 -3.58463521e+02] [ 7.42129095e-01 -6.70198941e-01 -8.81959521e-03 -2.55351712e+02] [ 1.19741344e-02 1.00553177e-04 9.99928303e-01 -2.80752937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1191.6965599950001 meters 0.013078301108221769 Centerline is valid? [True, True] Translation: X:-358.48, Y:-255.33, Z:-2.81 [[-6.70873556e-01 -7.41528942e-01 7.96874266e-03 -3.58480819e+02] [ 7.41478242e-01 -6.70920875e-01 -8.67156881e-03 -2.55330312e+02] [ 1.17766150e-02 9.11230986e-05 9.99930649e-01 -2.80502007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1191.7265599950001 meters 0.01293678394339058 Centerline is valid? [True, True] Translation: X:-358.50, Y:-255.31, Z:-2.80 [[-6.71704409e-01 -7.40778540e-01 7.76797578e-03 -3.58499439e+02] [ 7.40730367e-01 -6.71749320e-01 -8.44833885e-03 -2.55308882e+02] [ 1.14764806e-02 7.91890992e-05 9.99934140e-01 -2.80424091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1191.756559995 meters 0.012802122535644007 Centerline is valid? [True, True] Translation: X:-358.52, Y:-255.29, Z:-2.80 [[-6.72780483e-01 -7.39807020e-01 7.21074776e-03 -3.58517678e+02] [ 7.39765503e-01 -6.72819121e-01 -7.83787257e-03 -2.55288085e+02] [ 1.06500421e-02 6.10947501e-05 9.99943285e-01 -2.80357056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1191.786559995 meters 0.012742022149806003 Centerline is valid? [True, True] Translation: X:-358.54, Y:-255.27, Z:-2.80 [[-6.73967075e-01 -7.38728720e-01 6.94689861e-03 -3.58535510e+02] [ 7.38690174e-01 -6.74002875e-01 -7.54661479e-03 -2.55268222e+02] [ 1.02571307e-02 4.54358449e-05 9.99947393e-01 -2.80313723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1191.816559995 meters 0.012790501419455553 Centerline is valid? [True, True] Translation: X:-358.55, Y:-255.25, Z:-2.80 [[-6.75037622e-01 -7.37754992e-01 6.46381014e-03 -3.58553378e+02] [ 7.37721620e-01 -6.75068567e-01 -7.01721083e-03 -2.55248570e+02] [ 9.54049737e-03 3.16111820e-05 9.99954488e-01 -2.80284585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1191.846559995 meters 0.012725928789285012 Centerline is valid? [True, True] Translation: X:-358.57, Y:-255.23, Z:-2.80 [[-6.76577529e-01 -7.36345204e-01 6.21190334e-03 -3.58570232e+02] [ 7.36314352e-01 -6.76606046e-01 -6.74054255e-03 -2.55228702e+02] [ 9.16637753e-03 1.34139578e-05 9.99957988e-01 -2.80282682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1191.876559995 meters 0.01265437098474396 Centerline is valid? [True, True] Translation: X:-358.59, Y:-255.21, Z:-2.80 [[-6.77174368e-01 -7.35796101e-01 6.24290128e-03 -3.58588737e+02] [ 7.35764952e-01 -6.77203144e-01 -6.77037336e-03 -2.55207609e+02] [ 9.20932669e-03 8.58465400e-06 9.99957593e-01 -2.80137528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1191.906559995 meters 0.012670318945411745 Centerline is valid? [True, True] Translation: X:-358.61, Y:-255.19, Z:-2.80 [[-6.77912621e-01 -7.35116672e-01 6.16086046e-03 -3.58606439e+02] [ 7.35086349e-01 -6.77940615e-01 -6.67698011e-03 -2.55188234e+02] [ 9.08505693e-03 2.35532995e-06 9.99958730e-01 -2.80194317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1191.9365599950002 meters 0.012789160704181872 Centerline is valid? [True, True] Translation: X:-358.62, Y:-255.17, Z:-2.80 [[-6.78490518e-01 -7.34579621e-01 6.58776252e-03 -3.58624682e+02] [ 7.34544967e-01 -6.78522498e-01 -7.13520240e-03 -2.55168008e+02] [ 9.71131936e-03 -2.15936190e-06 9.99952844e-01 -2.80242985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1191.9665599950001 meters 0.012847186743818347 Centerline is valid? [True, True] Translation: X:-358.64, Y:-255.15, Z:-2.80 [[-6.78820799e-01 -7.34259508e-01 8.08067275e-03 -3.58643482e+02] [ 7.34207403e-01 -6.78868894e-01 -8.74725736e-03 -2.55146854e+02] [ 1.19084743e-02 -4.93048029e-06 9.99929092e-01 -2.80315618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1191.996559995 meters 0.012847186743818347 Centerline is valid? [True, True] Translation: X:-358.66, Y:-255.13, Z:-2.80 [[-6.79026254e-01 -7.34069485e-01 8.08312051e-03 -3.58662248e+02] [ 7.34017394e-01 -6.79074363e-01 -8.74499549e-03 -2.55126643e+02] [ 1.19084743e-02 -4.93047978e-06 9.99929092e-01 -2.80315598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1192.026559995 meters 0.012987718537183232 Centerline is valid? [True, True] Translation: X:-358.68, Y:-255.11, Z:-2.81 [[-6.79259575e-01 -7.33838792e-01 9.33049890e-03 -3.58681092e+02] [ 7.33769437e-01 -6.79323655e-01 -1.00888875e-02 -2.55106033e+02] [ 1.37420456e-02 -6.53847923e-06 9.99905574e-01 -2.80502223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1192.056559995 meters 0.012967545779650145 Centerline is valid? [True, True] Translation: X:-358.70, Y:-255.09, Z:-2.81 [[-6.79478139e-01 -7.33631665e-01 9.69735208e-03 -3.58699545e+02] [ 7.33556812e-01 -6.79547335e-01 -1.04796953e-02 -2.55085075e+02] [ 1.42780461e-02 -7.16520272e-06 9.99898064e-01 -2.80532851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1192.086559995 meters 0.012963539866701073 Centerline is valid? [True, True] Translation: X:-358.72, Y:-255.06, Z:-2.81 [[-6.79576381e-01 -7.33534669e-01 1.01406384e-02 -3.58718035e+02] [ 7.33452897e-01 -6.79652036e-01 -1.09525285e-02 -2.55063959e+02] [ 1.49261649e-02 -5.39910158e-06 9.99888599e-01 -2.80507718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1192.116559995 meters 0.01299761071710746 Centerline is valid? [True, True] Translation: X:-358.74, Y:-255.04, Z:-2.81 [[-6.79651187e-01 -7.33465022e-01 1.01649435e-02 -3.58736239e+02] [ 7.33382943e-01 -6.79727196e-01 -1.09726060e-02 -2.55042555e+02] [ 1.49574112e-02 -2.74850515e-06 9.99888132e-01 -2.80532664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1192.146559995 meters 0.01312050490931102 Centerline is valid? [True, True] Translation: X:-358.75, Y:-255.02, Z:-2.81 [[-6.79747513e-01 -7.33378504e-01 9.96433332e-03 -3.58752465e+02] [ 7.33299728e-01 -6.79820542e-01 -1.07489285e-02 -2.55021516e+02] [ 1.46569916e-02 2.85477162e-07 9.99892581e-01 -2.80549359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1192.176559995 meters 0.01319597237730547 Centerline is valid? [True, True] Translation: X:-358.77, Y:-255.00, Z:-2.81 [[-6.79805628e-01 -7.33328373e-01 9.68536915e-03 -3.58769429e+02] [ 7.33254011e-01 -6.79874619e-01 -1.04430714e-02 -2.55001576e+02] [ 1.42430373e-02 2.57703816e-06 9.99898563e-01 -2.80544334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1192.2065599950001 meters 0.013032234088450424 Centerline is valid? [True, True] Translation: X:-358.79, Y:-254.98, Z:-2.80 [[-6.79681808e-01 -7.33443166e-01 9.68309581e-03 -3.58788127e+02] [ 7.33368934e-01 -6.79750779e-01 -1.04347477e-02 -2.54980015e+02] [ 1.42353863e-02 8.97349220e-06 9.99898672e-01 -2.80397613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1192.236559995 meters 0.01301436066324707 Centerline is valid? [True, True] Translation: X:-358.81, Y:-254.96, Z:-2.80 [[-6.79525372e-01 -7.33588634e-01 9.64288467e-03 -3.58805053e+02] [ 7.33515130e-01 -6.79593788e-01 -1.03845300e-02 -2.54960499e+02] [ 1.41712177e-02 1.66502162e-05 9.99899583e-01 -2.80415782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1192.266559995 meters 0.013083894003470337 Centerline is valid? [True, True] Translation: X:-358.82, Y:-254.94, Z:-2.80 [[-6.79277969e-01 -7.33815644e-01 9.80006724e-03 -3.58822546e+02] [ 7.33739847e-01 -6.79348659e-01 -1.05468711e-02 -2.54940822e+02] [ 1.43971215e-02 2.64426595e-05 9.99896356e-01 -2.80484631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1192.296559995 meters 0.01301496899223371 Centerline is valid? [True, True] Translation: X:-358.84, Y:-254.92, Z:-2.80 [[-6.78961156e-01 -7.34111198e-01 9.61752456e-03 -3.58840354e+02] [ 7.34038320e-01 -6.79029268e-01 -1.03439570e-02 -2.54920717e+02] [ 1.41241953e-02 3.64865803e-05 9.99900248e-01 -2.80457068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1192.326559995 meters 0.01314177853048341 Centerline is valid? [True, True] Translation: X:-358.86, Y:-254.90, Z:-2.80 [[-6.77452559e-01 -7.35504250e-01 9.56707878e-03 -3.58857805e+02] [ 7.35432354e-01 -6.77520106e-01 -1.02838774e-02 -2.54899000e+02] [ 1.40457237e-02 6.91002343e-05 9.99901352e-01 -2.80375576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1192.356559995 meters 0.013209653111310967 Centerline is valid? [True, True] Translation: X:-358.88, Y:-254.88, Z:-2.80 [[-6.76779704e-01 -7.36127098e-01 9.28056414e-03 -3.58876761e+02] [ 7.36059579e-01 -6.76843327e-01 -9.97028573e-03 -2.54877820e+02] [ 1.36208854e-02 8.33611142e-05 9.99907228e-01 -2.80344939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1192.386559995 meters 0.013394323936867108 Centerline is valid? [True, True] Translation: X:-358.89, Y:-254.86, Z:-2.80 [[-6.76197778e-01 -7.36663154e-01 9.16312411e-03 -3.58894349e+02] [ 7.36597470e-01 -6.76259853e-01 -9.83759488e-03 -2.54858968e+02] [ 1.34436466e-02 9.73742318e-05 9.99909626e-01 -2.80353499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1192.416559995 meters 0.013490026163985829 Centerline is valid? [True, True] Translation: X:-358.91, Y:-254.84, Z:-2.80 [[-6.75370470e-01 -7.37425506e-01 8.85161674e-03 -3.58912543e+02] [ 7.37364356e-01 -6.75428464e-01 -9.49722733e-03 -2.54839032e+02] [ 1.29821316e-02 1.12719788e-04 9.99915722e-01 -2.80277327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1192.4465599950001 meters 0.013721517108878593 Centerline is valid? [True, True] Translation: X:-358.93, Y:-254.82, Z:-2.80 [[-6.73653475e-01 -7.39001814e-01 8.20452739e-03 -3.58931985e+02] [ 7.38949453e-01 -6.73703422e-01 -8.79800183e-03 -2.54818275e+02] [ 1.20291575e-02 1.35926520e-04 9.99927638e-01 -2.80182798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1192.4765599950001 meters 0.0141335770050586 Centerline is valid? [True, True] Translation: X:-358.95, Y:-254.80, Z:-2.80 [[-6.72645439e-01 -7.39921292e-01 8.03708397e-03 -3.58950875e+02] [ 7.39871173e-01 -6.72693436e-01 -8.61334677e-03 -2.54799183e+02] [ 1.17796923e-02 1.52678323e-04 9.99930606e-01 -2.80144268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1192.506559995 meters 0.014424810217979287 Centerline is valid? [True, True] Translation: X:-358.97, Y:-254.78, Z:-2.80 [[-6.71846776e-01 -7.40651149e-01 7.60165558e-03 -3.58970259e+02] [ 7.40606416e-01 -6.71889761e-01 -8.14162926e-03 -2.54779633e+02] [ 1.11375816e-02 1.59907524e-04 9.99937963e-01 -2.80114121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1192.536559995 meters 0.014467332135988121 Centerline is valid? [True, True] Translation: X:-358.99, Y:-254.76, Z:-2.80 [[-6.71097759e-01 -7.41333676e-01 7.22346041e-03 -3.58989542e+02] [ 7.41293370e-01 -6.71136613e-01 -7.73220188e-03 -2.54759042e+02] [ 1.05800704e-02 1.65639949e-04 9.99944016e-01 -2.80047364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1192.566559995 meters 0.015189746270531988 Centerline is valid? [True, True] Translation: X:-359.01, Y:-254.74, Z:-2.80 [[-6.70318012e-01 -7.42038234e-01 7.28161244e-03 -3.59008779e+02] [ 7.41997367e-01 -6.70357536e-01 -7.78981599e-03 -2.54740146e+02] [ 1.06616251e-02 1.81283286e-04 9.99943147e-01 -2.80071249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1192.596559995 meters 0.015358748437712023 Centerline is valid? [True, True] Translation: X:-359.03, Y:-254.72, Z:-2.80 [[-6.70149386e-01 -7.42191882e-01 7.14220264e-03 -3.59027751e+02] [ 7.42152623e-01 -6.70187419e-01 -7.63596278e-03 -2.54720184e+02] [ 1.04539639e-02 1.83368657e-04 9.99945339e-01 -2.80104397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1192.626559995 meters 0.015498988988526806 Centerline is valid? [True, True] Translation: X:-359.05, Y:-254.70, Z:-2.80 [[-6.69641027e-01 -7.42638609e-01 8.29405118e-03 -3.59046689e+02] [ 7.42585763e-01 -6.69692352e-01 -8.86225422e-03 -2.54700148e+02] [ 1.21359148e-02 2.24515302e-04 9.99926332e-01 -2.80246476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1192.656559995 meters 0.01551457271908734 Centerline is valid? [True, True] Translation: X:-359.07, Y:-254.68, Z:-2.80 [[-6.69625624e-01 -7.42648785e-01 8.62002967e-03 -3.59065197e+02] [ 7.42591776e-01 -6.69681062e-01 -9.20483485e-03 -2.54680648e+02] [ 1.26086300e-02 2.37369858e-04 9.99920480e-01 -2.80279518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1192.6865599950002 meters 0.015556267462138836 Centerline is valid? [True, True] Translation: X:-359.08, Y:-254.66, Z:-2.80 [[-6.69783869e-01 -7.42503002e-01 8.88042438e-03 -3.59084440e+02] [ 7.42442559e-01 -6.69842692e-01 -9.47701179e-03 -2.54660761e+02] [ 1.29851971e-02 2.45655389e-04 9.99915659e-01 -2.80323426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1192.7165599950001 meters 0.015556267462138836 Centerline is valid? [True, True] Translation: X:-359.10, Y:-254.64, Z:-2.80 [[-6.70013855e-01 -7.42295440e-01 8.88336006e-03 -3.59102821e+02] [ 7.42235016e-01 -6.70072697e-01 -9.47426006e-03 -2.54641307e+02] [ 1.29851971e-02 2.45655388e-04 9.99915659e-01 -2.80323405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1192.746559995 meters 0.015517880378920072 Centerline is valid? [True, True] Translation: X:-359.12, Y:-254.62, Z:-2.80 [[-6.70099027e-01 -7.42218088e-01 8.92211608e-03 -3.59121904e+02] [ 7.42157206e-01 -6.70158375e-01 -9.50965168e-03 -2.54621593e+02] [ 1.30374663e-02 2.49204412e-04 9.99914978e-01 -2.80305469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1192.776559995 meters 0.015117573211665005 Centerline is valid? [True, True] Translation: X:-359.14, Y:-254.60, Z:-2.80 [[-6.70242896e-01 -7.42091273e-01 8.66036587e-03 -3.59141637e+02] [ 7.42033968e-01 -6.70298801e-01 -9.22540134e-03 -2.54601594e+02] [ 1.26511227e-02 2.43025936e-04 9.99919942e-01 -2.80204576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1192.806559995 meters 0.015729121311187304 Centerline is valid? [True, True] Translation: X:-359.16, Y:-254.58, Z:-2.80 [[-6.70507137e-01 -7.41851413e-01 8.75561800e-03 -3.59161655e+02] [ 7.41792891e-01 -6.70564256e-01 -9.32126702e-03 -2.54583183e+02] [ 1.27861996e-02 2.44879134e-04 9.99918223e-01 -2.80300242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1192.836559995 meters 0.015213521214855414 Centerline is valid? [True, True] Translation: X:-359.18, Y:-254.56, Z:-2.80 [[-6.70945772e-01 -7.41454838e-01 8.74615490e-03 -3.59179779e+02] [ 7.41396484e-01 -6.71002731e-01 -9.30531185e-03 -2.54563215e+02] [ 1.27681623e-02 2.41008846e-04 9.99918455e-01 -2.80235733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1192.866559995 meters 0.01516853353267276 Centerline is valid? [True, True] Translation: X:-359.20, Y:-254.54, Z:-2.80 [[-6.71737136e-01 -7.40740463e-01 8.53151431e-03 -3.59198546e+02] [ 7.40684951e-01 -6.71791274e-01 -9.07125585e-03 -2.54543711e+02] [ 1.24508431e-02 2.25664838e-04 9.99922460e-01 -2.80251075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1192.896559995 meters 0.014583194746261189 Centerline is valid? [True, True] Translation: X:-359.22, Y:-254.52, Z:-2.80 [[-6.72602702e-01 -7.39957341e-01 8.29088660e-03 -3.59216753e+02] [ 7.39904918e-01 -6.72653767e-01 -8.81037534e-03 -2.54522724e+02] [ 1.20961980e-02 2.08585515e-04 9.99926817e-01 -2.80205364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1192.926559995 meters 0.01441788549278427 Centerline is valid? [True, True] Translation: X:-359.24, Y:-254.50, Z:-2.80 [[-6.73895945e-01 -7.38778073e-01 8.43888036e-03 -3.59235596e+02] [ 7.38723732e-01 -6.73948753e-01 -8.96256044e-03 -2.54502239e+02] [ 1.23087160e-02 1.94168056e-04 9.99924226e-01 -2.80190007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1192.9565599950001 meters 0.014115338578931401 Centerline is valid? [True, True] Translation: X:-359.25, Y:-254.48, Z:-2.80 [[-6.77155743e-01 -7.35793869e-01 8.21475228e-03 -3.59253210e+02] [ 7.35742212e-01 -6.77205554e-01 -8.71976968e-03 -2.54481818e+02] [ 1.19790289e-02 1.39297901e-04 9.99928239e-01 -2.80237277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1192.986559995 meters 0.013465430783656224 Centerline is valid? [True, True] Translation: X:-359.27, Y:-254.46, Z:-2.80 [[-6.79275447e-01 -7.33839982e-01 7.98422417e-03 -3.59271202e+02] [ 7.33791104e-01 -6.79322361e-01 -8.47029736e-03 -2.54459685e+02] [ 1.16397049e-02 1.05087646e-04 9.99932251e-01 -2.80119955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1193.016559995 meters 0.013192941212814727 Centerline is valid? [True, True] Translation: X:-359.29, Y:-254.44, Z:-2.80 [[-6.81932395e-01 -7.31373742e-01 7.78831161e-03 -3.59288179e+02] [ 7.31327134e-01 -6.81976866e-01 -8.25697749e-03 -2.54440038e+02] [ 1.13503849e-02 6.51031723e-05 9.99935580e-01 -2.80154760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1193.046559995 meters 0.013006175318710804 Centerline is valid? [True, True] Translation: X:-359.31, Y:-254.42, Z:-2.80 [[-6.84691222e-01 -7.28791760e-01 7.77817736e-03 -3.59306270e+02] [ 7.28745159e-01 -6.84735401e-01 -8.24162073e-03 -2.54418291e+02] [ 1.13324187e-02 2.53437206e-05 9.99935786e-01 -2.80075348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1193.076559995 meters 0.013051154771260929 Centerline is valid? [True, True] Translation: X:-359.32, Y:-254.40, Z:-2.80 [[-6.87637805e-01 -7.26013960e-01 7.61434488e-03 -3.59322694e+02] [ 7.25969174e-01 -6.87679961e-01 -8.06410613e-03 -2.54398037e+02] [ 1.10908860e-02 -1.74045826e-05 9.99938494e-01 -2.80032316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1193.106559995 meters 0.013787464370284327 Centerline is valid? [True, True] Translation: X:-359.34, Y:-254.38, Z:-2.80 [[-6.92943078e-01 -7.20954448e-01 7.38746068e-03 -3.59338034e+02] [ 7.20912050e-01 -6.92982450e-01 -7.81924847e-03 -2.54375525e+02] [ 1.07567026e-02 -9.25846780e-05 9.99942141e-01 -2.79869439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1193.136559995 meters 0.014306805650287123 Centerline is valid? [True, True] Translation: X:-359.36, Y:-254.35, Z:-2.80 [[-6.95450913e-01 -7.18537400e-01 7.21339886e-03 -3.59356164e+02] [ 7.18496890e-01 -6.95488310e-01 -7.63087623e-03 -2.54353882e+02] [ 1.04999045e-02 -1.24095195e-04 9.99944867e-01 -2.79822819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1193.166559995 meters 0.014871625667889191 Centerline is valid? [True, True] Translation: X:-359.37, Y:-254.33, Z:-2.80 [[-6.97672449e-01 -7.16377588e-01 7.50370074e-03 -3.59374734e+02] [ 7.16333673e-01 -6.97712782e-01 -7.93362666e-03 -2.54332812e+02] [ 1.09189003e-02 -1.59919226e-04 9.99940374e-01 -2.79763545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1193.1965599950001 meters 0.015295368252364069 Centerline is valid? [True, True] Translation: X:-359.39, Y:-254.31, Z:-2.80 [[-6.99318614e-01 -7.14771919e-01 7.38779458e-03 -3.59393466e+02] [ 7.14729307e-01 -6.99357613e-01 -7.80682248e-03 -2.54311596e+02] [ 1.07468079e-02 -1.79182980e-04 9.99942236e-01 -2.79742877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1193.2265599950001 meters 0.015127747047297087 Centerline is valid? [True, True] Translation: X:-359.41, Y:-254.29, Z:-2.80 [[-7.00786974e-01 -7.13327665e-01 7.82681712e-03 -3.59413398e+02] [ 7.13279801e-01 -7.00830649e-01 -8.26608185e-03 -2.54291988e+02] [ 1.13816982e-02 -2.10051932e-04 9.99935205e-01 -2.79677999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1193.256559995 meters 0.015794503102583356 Centerline is valid? [True, True] Translation: X:-359.43, Y:-254.27, Z:-2.80 [[-7.02287513e-01 -7.11841299e-01 8.61477010e-03 -3.59432184e+02] [ 7.11783267e-01 -7.02340303e-01 -9.09284822e-03 -2.54272813e+02] [ 1.25231651e-02 -2.53944554e-04 9.99921550e-01 -2.79779458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1193.286559995 meters 0.015888393794315125 Centerline is valid? [True, True] Translation: X:-359.45, Y:-254.25, Z:-2.80 [[-7.02338320e-01 -7.11782783e-01 9.28195659e-03 -3.59451250e+02] [ 7.11715491e-01 -7.02399599e-01 -9.79094425e-03 -2.54253579e+02] [ 1.34886681e-02 -2.70443041e-04 9.99908987e-01 -2.79818009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1193.316559995 meters 0.015867624794735965 Centerline is valid? [True, True] Translation: X:-359.47, Y:-254.23, Z:-2.80 [[-7.02199747e-01 -7.11917484e-01 9.43464428e-03 -3.59470494e+02] [ 7.11848057e-01 -7.02263074e-01 -9.94581018e-03 -2.54234660e+02] [ 1.37061985e-02 -2.67912188e-04 9.99906030e-01 -2.79843693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1193.346559995 meters 0.015718144100525553 Centerline is valid? [True, True] Translation: X:-359.49, Y:-254.22, Z:-2.80 [[-7.01796968e-01 -7.12312296e-01 9.60253851e-03 -3.59489990e+02] [ 7.12240501e-01 -7.01862611e-01 -1.01165085e-02 -2.54215606e+02] [ 1.39457761e-02 -2.60418132e-04 9.99902719e-01 -2.79834518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1193.376559995 meters 0.015592852162945604 Centerline is valid? [True, True] Translation: X:-359.51, Y:-254.20, Z:-2.80 [[-7.01123543e-01 -7.12973996e-01 9.68806900e-03 -3.59509527e+02] [ 7.12901068e-01 -7.01190431e-01 -1.02003192e-02 -2.54196495e+02] [ 1.40657436e-02 -2.45049176e-04 9.99901043e-01 -2.79837824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1193.406559995 meters 0.014886911328316724 Centerline is valid? [True, True] Translation: X:-359.53, Y:-254.18, Z:-2.80 [[-6.98549347e-01 -7.15482231e-01 1.06764745e-02 -3.59531738e+02] [ 7.15394014e-01 -6.98630899e-01 -1.12371060e-02 -2.54178260e+02] [ 1.54988647e-02 -2.11787089e-04 9.99879863e-01 -2.79793889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1193.4365599950002 meters 0.014340545730731617 Centerline is valid? [True, True] Translation: X:-359.55, Y:-254.16, Z:-2.80 [[-6.96820804e-01 -7.17162165e-01 1.09177049e-02 -3.59552856e+02] [ 7.17070223e-01 -6.96906306e-01 -1.14845835e-02 -2.54159211e+02] [ 1.58449262e-02 -1.73935617e-04 9.99874446e-01 -2.79735781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1193.4665599950001 meters 0.014105866748390677 Centerline is valid? [True, True] Translation: X:-359.57, Y:-254.14, Z:-2.80 [[-6.95052379e-01 -7.18872463e-01 1.11612011e-02 -3.59573619e+02] [ 7.18776713e-01 -6.95141975e-01 -1.17333872e-02 -2.54140952e+02] [ 1.61934283e-02 -1.32907213e-04 9.99868869e-01 -2.79736262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1193.496559995 meters 0.013781773285200275 Centerline is valid? [True, True] Translation: X:-359.59, Y:-254.12, Z:-2.80 [[-6.93015446e-01 -7.20836429e-01 1.11550394e-02 -3.59593897e+02] [ 7.20741162e-01 -6.93105213e-01 -1.17192346e-02 -2.54123674e+02] [ 1.61792672e-02 -8.17145137e-05 9.99869104e-01 -2.79718404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1193.526559995 meters 0.013781773285200275 Centerline is valid? [True, True] Translation: X:-359.61, Y:-254.10, Z:-2.80 [[-6.93238299e-01 -7.20622054e-01 1.11586631e-02 -3.59612424e+02] [ 7.20526815e-01 -6.93328096e-01 -1.17157843e-02 -2.54104364e+02] [ 1.61792672e-02 -8.17143801e-05 9.99869104e-01 -2.79718384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1193.556559995 meters 0.013636659718023464 Centerline is valid? [True, True] Translation: X:-359.63, Y:-254.09, Z:-2.80 [[-6.91374785e-01 -7.22417128e-01 1.06957846e-02 -3.59634668e+02] [ 7.22329933e-01 -6.91457513e-01 -1.12239272e-02 -2.54086141e+02] [ 1.55040379e-02 -3.40549406e-05 9.99879805e-01 -2.79695116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1193.586559995 meters 0.013566266696261483 Centerline is valid? [True, True] Translation: X:-359.66, Y:-254.07, Z:-2.80 [[-6.89067056e-01 -7.24620057e-01 1.06002676e-02 -3.59656361e+02] [ 7.24534768e-01 -6.89148585e-01 -1.11174887e-02 -2.54068530e+02] [ 1.53611147e-02 1.95672635e-05 9.99882011e-01 -2.79665707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1193.616559995 meters 0.013692355479985334 Centerline is valid? [True, True] Translation: X:-359.68, Y:-254.05, Z:-2.80 [[-6.87054329e-01 -7.26535089e-01 1.01545404e-02 -3.59677195e+02] [ 7.26457133e-01 -6.87129363e-01 -1.06430054e-02 -2.54051991e+02] [ 1.47099997e-02 6.45153683e-05 9.99891800e-01 -2.79689612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1193.646559995 meters 0.014001114688770494 Centerline is valid? [True, True] Translation: X:-359.70, Y:-254.03, Z:-2.79 [[-6.83080730e-01 -7.30281085e-01 9.50016141e-03 -3.59700085e+02] [ 7.30213290e-01 -6.83146776e-01 -9.95152964e-03 -2.54034604e+02] [ 1.37574185e-02 1.39445983e-04 9.99905353e-01 -2.79463310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1193.676559995 meters 0.014184343778736641 Centerline is valid? [True, True] Translation: X:-359.72, Y:-254.02, Z:-2.79 [[-6.81709409e-01 -7.31568739e-01 8.91420730e-03 -3.59720466e+02] [ 7.31509228e-01 -6.81767670e-01 -9.33240104e-03 -2.54015618e+02] [ 1.29047112e-02 1.58839308e-04 9.99916718e-01 -2.79359542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1193.7065599950001 meters 0.014991081179287633 Centerline is valid? [True, True] Translation: X:-359.74, Y:-254.00, Z:-2.79 [[-6.80388880e-01 -7.32802385e-01 8.46386827e-03 -3.59741826e+02] [ 7.32748896e-01 -6.80441499e-01 -8.85559309e-03 -2.53998116e+02] [ 1.22485670e-02 1.76643072e-04 9.99924968e-01 -2.79438841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1193.736559995 meters 0.014877082679554687 Centerline is valid? [True, True] Translation: X:-359.76, Y:-253.98, Z:-2.79 [[-6.79544277e-01 -7.33586544e-01 8.38804107e-03 -3.59761968e+02] [ 7.33534129e-01 -6.79596017e-01 -8.77132710e-03 -2.53978549e+02] [ 1.21350068e-02 1.92409274e-04 9.99926350e-01 -2.79329718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1193.766559995 meters 0.015914043532033975 Centerline is valid? [True, True] Translation: X:-359.78, Y:-253.96, Z:-2.79 [[-6.78624951e-01 -7.34437721e-01 8.33125043e-03 -3.59783036e+02] [ 7.34386120e-01 -6.78676057e-01 -8.70837339e-03 -2.53961276e+02] [ 1.20499781e-02 2.08635213e-04 9.99927375e-01 -2.79422416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1193.796559995 meters 0.0163197573238479 Centerline is valid? [True, True] Translation: X:-359.80, Y:-253.94, Z:-2.79 [[-6.76757197e-01 -7.36155775e-01 8.62387204e-03 -3.59803943e+02] [ 7.36100670e-01 -6.76812095e-01 -9.01061918e-03 -2.53943045e+02] [ 1.24699603e-02 2.50036611e-04 9.99922216e-01 -2.79374681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1193.826559995 meters 0.016322127760755888 Centerline is valid? [True, True] Translation: X:-359.82, Y:-253.92, Z:-2.79 [[-6.76198168e-01 -7.36661002e-01 9.30629767e-03 -3.59824242e+02] [ 7.36596950e-01 -6.76262145e-01 -9.71823487e-03 -2.53923246e+02] [ 1.34525415e-02 2.83537872e-04 9.99909470e-01 -2.79393020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1193.856559995 meters 0.01668313596911008 Centerline is valid? [True, True] Translation: X:-359.84, Y:-253.90, Z:-2.79 [[-6.75805099e-01 -7.37007908e-01 1.03349226e-02 -3.59844771e+02] [ 7.36929045e-01 -6.75884041e-01 -1.07864258e-02 -2.53904339e+02] [ 1.49348903e-02 3.26583121e-04 9.99888415e-01 -2.79460058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1193.886559995 meters 0.016763219762121792 Centerline is valid? [True, True] Translation: X:-359.86, Y:-253.88, Z:-2.80 [[-6.75557881e-01 -7.37228391e-01 1.07633017e-02 -3.59864702e+02] [ 7.37142979e-01 -6.75643528e-01 -1.12272822e-02 -2.53884590e+02] [ 1.55492263e-02 3.49413288e-04 9.99879043e-01 -2.79527271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1193.916559995 meters 0.01684871684154114 Centerline is valid? [True, True] Translation: X:-359.88, Y:-253.87, Z:-2.80 [[-6.75901903e-01 -7.36902182e-01 1.14800528e-02 -3.59884459e+02] [ 7.36805091e-01 -6.75999288e-01 -1.19674812e-02 -2.53865150e+02] [ 1.65793706e-02 3.69718029e-04 9.99862485e-01 -2.79606006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1193.9465599950001 meters 0.016742598180730223 Centerline is valid? [True, True] Translation: X:-359.90, Y:-253.85, Z:-2.80 [[-6.76385068e-01 -7.36450584e-01 1.19907179e-02 -3.59903322e+02] [ 7.36344726e-01 -6.76491236e-01 -1.24920829e-02 -2.53845919e+02] [ 1.73114174e-02 3.79843526e-04 9.99850074e-01 -2.79691845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1193.9765599950001 meters 0.015941065432397532 Centerline is valid? [True, True] Translation: X:-359.92, Y:-253.83, Z:-2.80 [[-6.78187809e-01 -7.34771101e-01 1.31424994e-02 -3.59920901e+02] [ 7.34643774e-01 -6.78315036e-01 -1.36834448e-02 -2.53825526e+02] [ 1.89689547e-02 3.75109925e-04 9.99820003e-01 -2.79745297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1194.006559995 meters 0.016379063314917907 Centerline is valid? [True, True] Translation: X:-359.94, Y:-253.81, Z:-2.80 [[-6.79227152e-01 -7.33803541e-01 1.35217862e-02 -3.59939002e+02] [ 7.33668747e-01 -6.79361634e-01 -1.40691038e-02 -2.53806968e+02] [ 1.95101410e-02 3.64394678e-04 9.99809593e-01 -2.79909926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1194.036559995 meters 0.015569833744712394 Centerline is valid? [True, True] Translation: X:-359.96, Y:-253.79, Z:-2.80 [[-6.80501087e-01 -7.32613277e-01 1.40020702e-02 -3.59956214e+02] [ 7.32468665e-01 -6.80645037e-01 -1.45598318e-02 -2.53785815e+02] [ 2.01971657e-02 3.48096328e-04 9.99795956e-01 -2.79839738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1194.066559995 meters 0.01590844648377307 Centerline is valid? [True, True] Translation: X:-359.97, Y:-253.77, Z:-2.80 [[-6.81900359e-01 -7.31304407e-01 1.43445275e-02 -3.59973922e+02] [ 7.31152544e-01 -6.82051142e-01 -1.49062896e-02 -2.53766416e+02] [ 2.06847366e-02 3.23433509e-04 9.99785996e-01 -2.79967229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1194.096559995 meters 0.01554541508663659 Centerline is valid? [True, True] Translation: X:-359.99, Y:-253.75, Z:-2.80 [[-6.83406951e-01 -7.29890451e-01 1.46584127e-02 -3.59991673e+02] [ 7.29731734e-01 -6.83564074e-01 -1.52234216e-02 -2.53745398e+02] [ 2.11313944e-02 2.92916787e-04 9.99776664e-01 -2.79961309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1194.126559995 meters 0.01454453510086132 Centerline is valid? [True, True] Translation: X:-360.01, Y:-253.72, Z:-2.80 [[-6.86142957e-01 -7.27320997e-01 1.45605459e-02 -3.60007605e+02] [ 7.27163982e-01 -6.86297399e-01 -1.51136701e-02 -2.53722134e+02] [ 2.09853544e-02 2.17766193e-04 9.99779760e-01 -2.79824988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1194.156559995 meters 0.014330311616613384 Centerline is valid? [True, True] Translation: X:-360.03, Y:-253.70, Z:-2.80 [[-6.87624142e-01 -7.25918163e-01 1.46921753e-02 -3.60025247e+02] [ 7.25758158e-01 -6.87781061e-01 -1.52416607e-02 -2.53700608e+02] [ 2.11691983e-02 1.82432282e-04 9.99775891e-01 -2.79794391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1194.1865599950002 meters 0.014221554855399022 Centerline is valid? [True, True] Translation: X:-360.04, Y:-253.68, Z:-2.80 [[-6.89014610e-01 -7.24597550e-01 1.47396556e-02 -3.60041567e+02] [ 7.24436357e-01 -6.89172235e-01 -1.52838312e-02 -2.53680379e+02] [ 2.12327880e-02 1.47159368e-04 9.99774548e-01 -2.79770239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1194.2165599950001 meters 0.01406593628395232 Centerline is valid? [True, True] Translation: X:-360.06, Y:-253.66, Z:-2.80 [[-6.90300618e-01 -7.23375432e-01 1.45959089e-02 -3.60058855e+02] [ 7.23217284e-01 -6.90454901e-01 -1.51258008e-02 -2.53659381e+02] [ 2.10194495e-02 1.14663944e-04 9.99779061e-01 -2.79708228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1194.246559995 meters 0.013925389639831266 Centerline is valid? [True, True] Translation: X:-360.08, Y:-253.64, Z:-2.80 [[-6.91297035e-01 -7.22429638e-01 1.42768610e-02 -3.60076533e+02] [ 7.22278306e-01 -6.91444438e-01 -1.47864383e-02 -2.53638810e+02] [ 2.05538174e-02 9.00460403e-05 9.99788744e-01 -2.79659628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1194.276559995 meters 0.0138339885970681 Centerline is valid? [True, True] Translation: X:-360.09, Y:-253.62, Z:-2.80 [[-6.92221779e-01 -7.21550792e-01 1.39091151e-02 -3.60094679e+02] [ 7.21407148e-01 -6.92361503e-01 -1.43971219e-02 -2.53618376e+02] [ 2.00183906e-02 6.81337282e-05 9.99799610e-01 -2.79622977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1194.306559995 meters 0.013364115575176468 Centerline is valid? [True, True] Translation: X:-360.11, Y:-253.60, Z:-2.79 [[-6.93322195e-01 -7.20505642e-01 1.32647985e-02 -3.60112006e+02] [ 7.20374964e-01 -6.93449074e-01 -1.37219538e-02 -2.53597285e+02] [ 1.90852074e-02 4.18935639e-05 9.99817860e-01 -2.79435283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1194.336559995 meters 0.013515801469879825 Centerline is valid? [True, True] Translation: X:-360.13, Y:-253.58, Z:-2.79 [[-6.93726604e-01 -7.20120933e-01 1.30092510e-02 -3.60129650e+02] [ 7.19995334e-01 -6.93848572e-01 -1.34491335e-02 -2.53578287e+02] [ 1.87114528e-02 3.65782842e-05 9.99824925e-01 -2.79496550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1194.366559995 meters 0.013013022761460796 Centerline is valid? [True, True] Translation: X:-360.15, Y:-253.56, Z:-2.79 [[-6.93932390e-01 -7.19926538e-01 1.27913464e-02 -3.60147732e+02] [ 7.19805229e-01 -6.94050271e-01 -1.32156328e-02 -2.53558431e+02] [ 1.83921222e-02 3.65224205e-05 9.99830850e-01 -2.79241327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1194.396559995 meters 0.0128791049902233 Centerline is valid? [True, True] Translation: X:-360.17, Y:-253.54, Z:-2.79 [[-6.94079376e-01 -7.19781042e-01 1.30027651e-02 -3.60166497e+02] [ 7.19655805e-01 -6.94201160e-01 -1.34265204e-02 -2.53537938e+02] [ 1.86906894e-02 3.84444984e-05 9.99825313e-01 -2.79171559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1194.426559995 meters 0.012945937494799551 Centerline is valid? [True, True] Translation: X:-360.19, Y:-253.52, Z:-2.79 [[-6.94081557e-01 -7.19771871e-01 1.33882435e-02 -3.60185119e+02] [ 7.19639246e-01 -6.94210668e-01 -1.38168214e-02 -2.53517477e+02] [ 1.92392208e-02 4.47045421e-05 9.99814908e-01 -2.79194588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1194.4565599950001 meters 0.012982968303191116 Centerline is valid? [True, True] Translation: X:-360.20, Y:-253.50, Z:-2.79 [[-6.94136845e-01 -7.19714368e-01 1.36113528e-02 -3.60204068e+02] [ 7.19577428e-01 -6.94270283e-01 -1.40392274e-02 -2.53497027e+02] [ 1.95541914e-02 4.92771981e-05 9.99808798e-01 -2.79195707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1194.486559995 meters 0.013012504116697337 Centerline is valid? [True, True] Translation: X:-360.22, Y:-253.48, Z:-2.79 [[-6.93831676e-01 -7.20006784e-01 1.37053381e-02 -3.60222871e+02] [ 7.19868177e-01 -6.93967021e-01 -1.41273326e-02 -2.53477189e+02] [ 1.96828280e-02 6.40459260e-05 9.99806273e-01 -2.79210307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1194.516559995 meters 0.012923446816785812 Centerline is valid? [True, True] Translation: X:-360.24, Y:-253.46, Z:-2.79 [[-6.93378164e-01 -7.20444691e-01 1.36443797e-02 -3.60241713e+02] [ 7.20307572e-01 -6.93512394e-01 -1.40556675e-02 -2.53457499e+02] [ 1.95888774e-02 8.22570807e-05 9.99808116e-01 -2.79187263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1194.546559995 meters 0.012925452641332165 Centerline is valid? [True, True] Translation: X:-360.26, Y:-253.44, Z:-2.79 [[-6.92161041e-01 -7.21623707e-01 1.31270404e-02 -3.60261152e+02] [ 7.21497145e-01 -6.92285499e-01 -1.35151059e-02 -2.53437220e+02] [ 1.88404805e-02 1.16492420e-04 9.99822496e-01 -2.79097291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1194.576559995 meters 0.013147193173035455 Centerline is valid? [True, True] Translation: X:-360.28, Y:-253.42, Z:-2.79 [[-6.91593774e-01 -7.22173850e-01 1.27664583e-02 -3.60280385e+02] [ 7.22054382e-01 -6.91711582e-01 -1.31360548e-02 -2.53417707e+02] [ 1.83172223e-02 1.33263408e-04 9.99832217e-01 -2.79095759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1194.606559995 meters 0.013551992009551508 Centerline is valid? [True, True] Translation: X:-360.30, Y:-253.40, Z:-2.79 [[-6.91085444e-01 -7.22667722e-01 1.23398682e-02 -3.60299352e+02] [ 7.22556332e-01 -6.91195589e-01 -1.26887988e-02 -2.53399534e+02] [ 1.76990478e-02 1.47205742e-04 9.99843349e-01 -2.79217621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1194.636559995 meters 0.013101396222224644 Centerline is valid? [True, True] Translation: X:-360.32, Y:-253.38, Z:-2.79 [[-6.90307932e-01 -7.23426269e-01 1.13750567e-02 -3.60318143e+02] [ 7.23331828e-01 -6.90401628e-01 -1.16901210e-02 -2.53378899e+02] [ 1.63102983e-02 1.58157332e-04 9.99866966e-01 -2.79032214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1194.666559995 meters 0.013151209923697305 Centerline is valid? [True, True] Translation: X:-360.34, Y:-253.36, Z:-2.79 [[-6.90120676e-01 -7.23609104e-01 1.11048868e-02 -3.60337617e+02] [ 7.23519221e-01 -6.90209996e-01 -1.14060779e-02 -2.53358016e+02] [ 1.59182457e-02 1.63028864e-04 9.99873284e-01 -2.79045933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1194.6965599950001 meters 0.013087275230599238 Centerline is valid? [True, True] Translation: X:-360.36, Y:-253.34, Z:-2.79 [[-6.90291790e-01 -7.23449211e-01 1.08850414e-02 -3.60356733e+02] [ 7.23362930e-01 -6.90377587e-01 -1.11739862e-02 -2.53337024e+02] [ 1.55986001e-02 1.60524523e-04 9.99878322e-01 -2.79016810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1194.7265599950001 meters 0.013234158490390543 Centerline is valid? [True, True] Translation: X:-360.37, Y:-253.32, Z:-2.79 [[-6.90529289e-01 -7.23227895e-01 1.05220239e-02 -3.60374720e+02] [ 7.23147356e-01 -6.90609432e-01 -1.07941778e-02 -2.53317709e+02] [ 1.50732594e-02 1.55277817e-04 9.99886380e-01 -2.79046482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1194.756559995 meters 0.013015753144937475 Centerline is valid? [True, True] Translation: X:-360.39, Y:-253.30, Z:-2.79 [[-6.91060603e-01 -7.22730428e-01 9.79653184e-03 -3.60391846e+02] [ 7.22660651e-01 -6.91130024e-01 -1.00435938e-02 -2.53296922e+02] [ 1.40294881e-02 1.38836075e-04 9.99901572e-01 -2.78922536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1194.786559995 meters 0.013015753144937475 Centerline is valid? [True, True] Translation: X:-360.41, Y:-253.28, Z:-2.79 [[-6.91287625e-01 -7.22513242e-01 9.79968700e-03 -3.60410607e+02] [ 7.22443487e-01 -6.91357068e-01 -1.00405153e-02 -2.53277836e+02] [ 1.40294881e-02 1.38836080e-04 9.99901572e-01 -2.78922516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1194.816559995 meters 0.012749439300774526 Centerline is valid? [True, True] Translation: X:-360.43, Y:-253.26, Z:-2.79 [[-6.91822149e-01 -7.22016232e-01 8.64147277e-03 -3.60429015e+02] [ 7.21962021e-01 -6.91876107e-01 -8.84830276e-03 -2.53258038e+02] [ 1.23674468e-02 1.17363314e-04 9.99923514e-01 -2.78832564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1194.846559995 meters 0.012713691625730019 Centerline is valid? [True, True] Translation: X:-360.45, Y:-253.24, Z:-2.79 [[-6.92088796e-01 -7.21763744e-01 8.37831215e-03 -3.60447549e+02] [ 7.21712834e-01 -6.92139498e-01 -8.57322701e-03 -2.53239429e+02] [ 1.19868052e-02 1.13301054e-04 9.99928149e-01 -2.78848997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1194.876559995 meters 0.01256934497718633 Centerline is valid? [True, True] Translation: X:-360.47, Y:-253.22, Z:-2.79 [[-6.92517603e-01 -7.21356715e-01 7.99118594e-03 -3.60467102e+02] [ 7.21310426e-01 -6.92563701e-01 -8.17250176e-03 -2.53219041e+02] [ 1.14296943e-02 1.04524401e-04 9.99934674e-01 -2.78820975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1194.906559995 meters 0.012721416462960176 Centerline is valid? [True, True] Translation: X:-360.49, Y:-253.20, Z:-2.79 [[-6.92928492e-01 -7.20964448e-01 7.76982501e-03 -3.60486043e+02] [ 7.20920722e-01 -6.92972046e-01 -7.94086260e-03 -2.53200391e+02] [ 1.11093511e-02 9.89779030e-05 9.99938285e-01 -2.78949195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1194.9365599950002 meters 0.012601089429655547 Centerline is valid? [True, True] Translation: X:-360.50, Y:-253.18, Z:-2.79 [[-6.93395390e-01 -7.20514522e-01 7.85216361e-03 -3.60504440e+02] [ 7.20469891e-01 -6.93439842e-01 -8.02006734e-03 -2.53180846e+02] [ 1.12235781e-02 9.61697371e-05 9.99937009e-01 -2.78972270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1194.9665599950001 meters 0.012630107279553344 Centerline is valid? [True, True] Translation: X:-360.52, Y:-253.16, Z:-2.79 [[-6.93972667e-01 -7.19959594e-01 7.75372376e-03 -3.60522838e+02] [ 7.19916098e-01 -6.94015976e-01 -7.91441057e-03 -2.53162026e+02] [ 1.10792640e-02 8.96459409e-05 9.99938619e-01 -2.79082982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1194.996559995 meters 0.012118641459164636 Centerline is valid? [True, True] Translation: X:-360.54, Y:-253.14, Z:-2.79 [[-6.95264389e-01 -7.18716118e-01 7.38722334e-03 -3.60540337e+02] [ 7.18676616e-01 -6.95303629e-01 -7.53560609e-03 -2.53141038e+02] [ 1.05523248e-02 6.97861050e-05 9.99944320e-01 -2.78997047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1195.026559995 meters 0.011940987815463147 Centerline is valid? [True, True] Translation: X:-360.56, Y:-253.12, Z:-2.79 [[-6.96306891e-01 -7.17708409e-01 7.16615641e-03 -3.60559167e+02] [ 7.17671229e-01 -6.96343763e-01 -7.30550461e-03 -2.53120876e+02] [ 1.02333304e-02 5.60710797e-05 9.99947637e-01 -2.79002610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1195.056559995 meters 0.011952835948355616 Centerline is valid? [True, True] Translation: X:-360.58, Y:-253.10, Z:-2.79 [[-6.97252414e-01 -7.16789610e-01 7.19209281e-03 -3.60578633e+02] [ 7.16752154e-01 -6.97289504e-01 -7.32782039e-03 -2.53100266e+02] [ 1.02674764e-02 4.56075543e-05 9.99947287e-01 -2.78974000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1195.086559995 meters 0.011999345313514634 Centerline is valid? [True, True] Translation: X:-360.60, Y:-253.08, Z:-2.79 [[-6.98162116e-01 -7.15902982e-01 7.25122736e-03 -3.60597147e+02] [ 7.15864910e-01 -6.98199770e-01 -7.38318201e-03 -2.53081027e+02] [ 1.03484473e-02 3.62412435e-05 9.99946453e-01 -2.79010818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1195.116559995 meters 0.011847160384174906 Centerline is valid? [True, True] Translation: X:-360.62, Y:-253.06, Z:-2.79 [[-6.99056123e-01 -7.15030715e-01 7.18422606e-03 -3.60615340e+02] [ 7.14993347e-01 -6.99093038e-01 -7.31016010e-03 -2.53061854e+02] [ 1.02494314e-02 2.64616532e-05 9.99947473e-01 -2.79027597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1195.146559995 meters 0.011881252114843763 Centerline is valid? [True, True] Translation: X:-360.63, Y:-253.04, Z:-2.79 [[-6.99891327e-01 -7.14216055e-01 6.89616536e-03 -3.60634298e+02] [ 7.14181627e-01 -6.99925301e-01 -7.01267151e-03 -2.53042029e+02] [ 9.83536319e-03 1.70066214e-05 9.99951632e-01 -2.79000305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1195.176559995 meters 0.011672163692723076 Centerline is valid? [True, True] Translation: X:-360.65, Y:-253.02, Z:-2.79 [[-7.00882407e-01 -7.13248595e-01 6.34768811e-03 -3.60652769e+02] [ 7.13219422e-01 -7.00911151e-01 -6.45092622e-03 -2.53022018e+02] [ 9.05027944e-03 5.95374297e-06 9.99959046e-01 -2.78962845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1195.2065599950001 meters 0.011648832933105565 Centerline is valid? [True, True] Translation: X:-360.67, Y:-253.00, Z:-2.79 [[-7.01570613e-01 -7.12573582e-01 6.12900749e-03 -3.60671961e+02] [ 7.12546389e-01 -7.01597385e-01 -6.22519060e-03 -2.53001930e+02] [ 8.73600200e-03 -2.08630788e-07 9.99961841e-01 -2.78932078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1195.236559995 meters 0.011586320805690525 Centerline is valid? [True, True] Translation: X:-360.69, Y:-252.98, Z:-2.79 [[-7.02000793e-01 -7.12149654e-01 6.14460818e-03 -3.60691803e+02] [ 7.12122338e-01 -7.02027685e-01 -6.23751599e-03 -2.52981472e+02] [ 8.75572991e-03 -3.02843283e-06 9.99961668e-01 -2.78927076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1195.266559995 meters 0.011550077951073217 Centerline is valid? [True, True] Translation: X:-360.71, Y:-252.96, Z:-2.79 [[-7.02153287e-01 -7.11998361e-01 6.25269767e-03 -3.60710310e+02] [ 7.11970096e-01 -7.02181127e-01 -6.34412708e-03 -2.52963100e+02] [ 8.90753437e-03 -2.81592533e-06 9.99960327e-01 -2.79003443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1195.296559995 meters 0.011571043306341938 Centerline is valid? [True, True] Translation: X:-360.73, Y:-252.94, Z:-2.79 [[-7.02229393e-01 -7.11920890e-01 6.52121197e-03 -3.60730255e+02] [ 7.11890180e-01 -7.02259672e-01 -6.61245420e-03 -2.52943804e+02] [ 9.28712845e-03 -1.07293340e-06 9.99956874e-01 -2.79073774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1195.326559995 meters 0.01153048426917504 Centerline is valid? [True, True] Translation: X:-360.75, Y:-252.93, Z:-2.79 [[-7.01200554e-01 -7.12929980e-01 6.97320551e-03 -3.60750481e+02] [ 7.12894960e-01 -7.01235227e-01 -7.06636122e-03 -2.52926109e+02] [ 9.92767811e-03 1.62266559e-05 9.99950719e-01 -2.79234645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1195.356559995 meters 0.011485778703302483 Centerline is valid? [True, True] Translation: X:-360.77, Y:-252.91, Z:-2.79 [[-7.00606904e-01 -7.13511754e-01 7.13750179e-03 -3.60770682e+02] [ 7.13475139e-01 -7.00643259e-01 -7.22833836e-03 -2.52907607e+02] [ 1.01583469e-02 2.82063292e-05 9.99948402e-01 -2.79297852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1195.386559995 meters 0.011707784683935647 Centerline is valid? [True, True] Translation: X:-360.79, Y:-252.89, Z:-2.79 [[-6.99642954e-01 -7.14455622e-01 7.27331193e-03 -3.60790338e+02] [ 7.14417702e-01 -6.99680757e-01 -7.36106297e-03 -2.52890160e+02] [ 1.03481492e-02 4.60669629e-05 9.99946456e-01 -2.79384898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1195.416559995 meters 0.011707784683935647 Centerline is valid? [True, True] Translation: X:-360.81, Y:-252.87, Z:-2.79 [[-6.99858202e-01 -7.14244751e-01 7.27552989e-03 -3.60809229e+02] [ 7.14206842e-01 -6.99896016e-01 -7.35887079e-03 -2.52871210e+02] [ 1.03481492e-02 4.60671556e-05 9.99946456e-01 -2.79384878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1195.4465599950001 meters 0.011864842463854268 Centerline is valid? [True, True] Translation: X:-360.83, Y:-252.85, Z:-2.79 [[-6.98527618e-01 -7.15547958e-01 7.09139571e-03 -3.60829758e+02] [ 7.15512055e-01 -6.98563609e-01 -7.16824078e-03 -2.52852773e+02] [ 1.00830110e-02 6.67649665e-05 9.99949163e-01 -2.79360269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1195.4765599950001 meters 0.01299303549351133 Centerline is valid? [True, True] Translation: X:-360.85, Y:-252.84, Z:-2.80 [[-6.95864679e-01 -7.18141265e-01 6.74329506e-03 -3.60852113e+02] [ 7.18108947e-01 -6.95897344e-01 -6.81366593e-03 -2.52837019e+02] [ 9.58581580e-03 1.01031059e-04 9.99954050e-01 -2.79517454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1195.506559995 meters 0.012902562890162287 Centerline is valid? [True, True] Translation: X:-360.87, Y:-252.82, Z:-2.79 [[-6.94733020e-01 -7.19237524e-01 6.58905249e-03 -3.60872366e+02] [ 7.19206751e-01 -6.94764256e-01 -6.65422942e-03 -2.52817003e+02] [ 9.36380964e-03 1.15978132e-04 9.99956152e-01 -2.79432243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1195.536559995 meters 0.012993929788453394 Centerline is valid? [True, True] Translation: X:-360.89, Y:-252.80, Z:-2.79 [[-6.93662821e-01 -7.20270490e-01 6.50484730e-03 -3.60892563e+02] [ 7.20240577e-01 -6.93693307e-01 -6.56554054e-03 -2.52797389e+02] [ 9.24133414e-03 1.30783601e-04 9.99957290e-01 -2.79382691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1195.566559995 meters 0.013185190607227374 Centerline is valid? [True, True] Translation: X:-360.91, Y:-252.78, Z:-2.79 [[-6.92661924e-01 -7.21234586e-01 6.33493537e-03 -3.60912716e+02] [ 7.21206289e-01 -6.92690877e-01 -6.39043058e-03 -2.52778395e+02] [ 8.99715150e-03 1.42387284e-04 9.99959515e-01 -2.79367275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1195.596559995 meters 0.013764999336213155 Centerline is valid? [True, True] Translation: X:-360.93, Y:-252.76, Z:-2.79 [[-6.91550894e-01 -7.22301716e-01 6.13128798e-03 -3.60932888e+02] [ 7.22275283e-01 -6.91578056e-01 -6.18131217e-03 -2.52760469e+02] [ 8.70503661e-03 1.53785802e-04 9.99962099e-01 -2.79383671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1195.626559995 meters 0.015683642696810926 Centerline is valid? [True, True] Translation: X:-360.95, Y:-252.74, Z:-2.80 [[-6.90469853e-01 -7.23336805e-01 5.93705561e-03 -3.60954542e+02] [ 7.23312088e-01 -6.90495358e-01 -5.98196843e-03 -2.52744141e+02] [ 8.42648727e-03 1.63975224e-04 9.99964483e-01 -2.79500616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1195.656559995 meters 0.01737099279729646 Centerline is valid? [True, True] Translation: X:-360.98, Y:-252.73, Z:-2.80 [[-6.88188011e-01 -7.25508939e-01 5.83444901e-03 -3.60975596e+02] [ 7.25485176e-01 -6.88212717e-01 -5.87501097e-03 -2.52728539e+02] [ 8.27771498e-03 1.89694160e-04 9.99965721e-01 -2.79557525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1195.6865599950002 meters 0.01618232166484302 Centerline is valid? [True, True] Translation: X:-360.99, Y:-252.71, Z:-2.80 [[-6.87323616e-01 -7.26327194e-01 5.92066003e-03 -3.60994095e+02] [ 7.26302783e-01 -6.87349086e-01 -5.95834067e-03 -2.52707967e+02] [ 8.39726511e-03 2.04883604e-04 9.99964722e-01 -2.79511670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1195.7165599950001 meters 0.01892897877780572 Centerline is valid? [True, True] Translation: X:-361.02, Y:-252.69, Z:-2.80 [[-6.86508908e-01 -7.27096971e-01 5.95939538e-03 -3.61016566e+02] [ 7.27072288e-01 -6.86534739e-01 -5.99492816e-03 -2.52692846e+02] [ 8.45022606e-03 2.17339650e-04 9.99964273e-01 -2.79708688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1195.746559995 meters 0.01708233616449531 Centerline is valid? [True, True] Translation: X:-361.03, Y:-252.67, Z:-2.80 [[-6.86088826e-01 -7.27491287e-01 6.20895720e-03 -3.61034838e+02] [ 7.27464540e-01 -6.86116880e-01 -6.24256557e-03 -2.52671457e+02] [ 8.80148240e-03 2.33841706e-04 9.99961239e-01 -2.79665918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1195.776559995 meters 0.01589944346407336 Centerline is valid? [True, True] Translation: X:-361.05, Y:-252.65, Z:-2.80 [[-6.86185969e-01 -7.27398549e-01 6.33778502e-03 -3.61053407e+02] [ 7.27370710e-01 -6.86215195e-01 -6.36844220e-03 -2.52650208e+02] [ 8.98148000e-03 2.39983512e-04 9.99959637e-01 -2.79650263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1195.806559995 meters 0.015798812589032395 Centerline is valid? [True, True] Translation: X:-361.07, Y:-252.63, Z:-2.80 [[-6.86558498e-01 -7.27044600e-01 6.60135168e-03 -3.61072687e+02] [ 7.27014416e-01 -6.86590189e-01 -6.62949584e-03 -2.52630222e+02] [ 9.35236245e-03 2.47741131e-04 9.99956235e-01 -2.79707293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1195.836559995 meters 0.015983519886208747 Centerline is valid? [True, True] Translation: X:-361.09, Y:-252.61, Z:-2.80 [[-6.87209039e-01 -7.26429696e-01 6.60565116e-03 -3.61092353e+02] [ 7.26399479e-01 -6.87240743e-01 -6.63005446e-03 -2.52610037e+02] [ 9.35594106e-03 2.42108216e-04 9.99956203e-01 -2.79736913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1195.866559995 meters 0.016932418203217062 Centerline is valid? [True, True] Translation: X:-361.11, Y:-252.59, Z:-2.80 [[-6.88094430e-01 -7.25593670e-01 6.31525510e-03 -3.61112292e+02] [ 7.25566049e-01 -6.88123373e-01 -6.33494173e-03 -2.52591458e+02] [ 8.94226826e-03 2.23096583e-04 9.99959992e-01 -2.79789697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1195.896559995 meters 0.01545763366276424 Centerline is valid? [True, True] Translation: X:-361.13, Y:-252.57, Z:-2.80 [[-6.89065595e-01 -7.24673198e-01 6.11238957e-03 -3.61129708e+02] [ 7.24647318e-01 -6.89092674e-01 -6.12798130e-03 -2.52568882e+02] [ 8.65278668e-03 2.06745624e-04 9.99962543e-01 -2.79642021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1195.926559995 meters 0.014991900896931701 Centerline is valid? [True, True] Translation: X:-361.15, Y:-252.55, Z:-2.80 [[-6.91047896e-01 -7.22791143e-01 5.07629760e-03 -3.61146978e+02] [ 7.22773257e-01 -6.91066524e-01 -5.08714119e-03 -2.52547958e+02] [ 7.18499993e-03 1.53553932e-04 9.99974176e-01 -2.79559416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1195.9565599950001 meters 0.014991900896931701 Centerline is valid? [True, True] Translation: X:-361.17, Y:-252.53, Z:-2.80 [[-6.91274652e-01 -7.22574267e-01 5.07789301e-03 -3.61165958e+02] [ 7.22556387e-01 -6.91293285e-01 -5.08554869e-03 -2.52529088e+02] [ 7.18499995e-03 1.53553125e-04 9.99974176e-01 -2.79559396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1195.986559995 meters 0.014120794093614266 Centerline is valid? [True, True] Translation: X:-361.18, Y:-252.51, Z:-2.80 [[-6.93420819e-01 -7.20510926e-01 5.61901004e-03 -3.61183932e+02] [ 7.20488989e-01 -6.93443569e-01 -5.62431761e-03 -2.52507233e+02] [ 7.94884867e-03 1.48415935e-04 9.99968397e-01 -2.79631653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1196.016559995 meters 0.013861531706649865 Centerline is valid? [True, True] Translation: X:-361.20, Y:-252.49, Z:-2.80 [[-6.94545400e-01 -7.19425303e-01 5.82418052e-03 -3.61202590e+02] [ 7.19401727e-01 -6.94569804e-01 -5.82600826e-03 -2.52486951e+02] [ 8.23667768e-03 1.43498290e-04 9.99966068e-01 -2.79683927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1196.046559995 meters 0.013778193406283452 Centerline is valid? [True, True] Translation: X:-361.22, Y:-252.47, Z:-2.80 [[-6.95784770e-01 -7.18223967e-01 6.15524815e-03 -3.61220252e+02] [ 7.18197613e-01 -6.95811982e-01 -6.15418410e-03 -2.52467906e+02] [ 8.70297794e-03 1.38696961e-04 9.99962119e-01 -2.79780493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1196.076559995 meters 0.013366584344338354 Centerline is valid? [True, True] Translation: X:-361.24, Y:-252.49, Z:-2.80 [[-6.47093834e-01 -7.62387667e-01 5.88349247e-03 -3.61236455e+02] [ 7.62357950e-01 -6.47120568e-01 -6.73251578e-03 -2.52491332e+02] [ 8.94011598e-03 1.28757806e-04 9.99960028e-01 -2.79798467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1196.106559995 meters 0.01287361035706272 Centerline is valid? [True, True] Translation: X:-361.25, Y:-252.47, Z:-2.80 [[-6.48575069e-01 -7.61125652e-01 6.17429914e-03 -3.61253089e+02] [ 7.61092899e-01 -6.48604446e-01 -7.06195206e-03 -2.52468357e+02] [ 9.37971074e-03 1.19009191e-04 9.99956003e-01 -2.79788234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1196.136559995 meters 0.012832401544832728 Centerline is valid? [True, True] Translation: X:-361.27, Y:-252.45, Z:-2.80 [[-6.50072238e-01 -7.59845612e-01 6.38214049e-03 -3.61269629e+02] [ 7.59810602e-01 -6.50103557e-01 -7.29480863e-03 -2.52447349e+02] [ 9.69198056e-03 1.07065437e-04 9.99953026e-01 -2.79833460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1196.166559995 meters 0.012255036147466604 Centerline is valid? [True, True] Translation: X:-361.29, Y:-252.42, Z:-2.80 [[-6.52153333e-01 -7.58062980e-01 6.04564907e-03 -3.61285979e+02] [ 7.58031527e-01 -6.52181350e-01 -6.90584492e-03 -2.52424918e+02] [ 9.17792495e-03 7.91228202e-05 9.99957879e-01 -2.79770645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1196.1965599950001 meters 0.012273341129094159 Centerline is valid? [True, True] Translation: X:-361.30, Y:-252.41, Z:-2.80 [[-6.52510753e-01 -7.57756217e-01 5.93569693e-03 -3.61303864e+02] [ 7.57725926e-01 -6.52537746e-01 -6.77577504e-03 -2.52405912e+02] [ 9.00765196e-03 7.63653743e-05 9.99959428e-01 -2.79765189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1196.2265599950001 meters 0.012183796490233722 Centerline is valid? [True, True] Translation: X:-361.32, Y:-252.39, Z:-2.80 [[-6.52669139e-01 -7.57620797e-01 5.80722772e-03 -3.61322125e+02] [ 7.57591834e-01 -6.52694969e-01 -6.62491723e-03 -2.52385221e+02] [ 8.80952339e-03 7.56292764e-05 9.99961193e-01 -2.79709550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1196.256559995 meters 0.012277768922621413 Centerline is valid? [True, True] Translation: X:-361.34, Y:-252.36, Z:-2.80 [[-6.52875767e-01 -7.57443782e-01 5.67007863e-03 -3.61340490e+02] [ 7.57416201e-01 -6.52900384e-01 -6.46437141e-03 -2.52364876e+02] [ 8.59839445e-03 7.41779649e-05 9.99963031e-01 -2.79696684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1196.286559995 meters 0.012240433580571381 Centerline is valid? [True, True] Translation: X:-361.36, Y:-252.34, Z:-2.80 [[-6.52819781e-01 -7.57493017e-01 5.53733784e-03 -3.61359212e+02] [ 7.57466744e-01 -6.52843261e-01 -6.30946679e-03 -2.52343680e+02] [ 8.39439073e-03 7.54045337e-05 9.99964764e-01 -2.79657030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1196.316559995 meters 0.01252692431192971 Centerline is valid? [True, True] Translation: X:-361.38, Y:-252.32, Z:-2.80 [[-6.52685491e-01 -7.57607582e-01 5.69226557e-03 -3.61377044e+02] [ 7.57579850e-01 -6.52710307e-01 -6.48281152e-03 -2.52324563e+02] [ 8.62682757e-03 8.11086793e-05 9.99962785e-01 -2.79692546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1196.346559995 meters 0.012611448247711548 Centerline is valid? [True, True] Translation: X:-361.40, Y:-252.30, Z:-2.80 [[-6.52669972e-01 -7.57617732e-01 6.10579109e-03 -3.61395006e+02] [ 7.57585863e-01 -6.52698525e-01 -6.94946641e-03 -2.52304532e+02] [ 9.25027982e-03 8.99529731e-05 9.99957211e-01 -2.79698962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1196.376559995 meters 0.012527409078592958 Centerline is valid? [True, True] Translation: X:-361.41, Y:-252.28, Z:-2.80 [[-6.52828698e-01 -7.57480106e-01 6.21129828e-03 -3.61413233e+02] [ 7.57447163e-01 -6.52858239e-01 -7.06508367e-03 -2.52284234e+02] [ 9.40675758e-03 9.24408900e-05 9.99955751e-01 -2.79715491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1196.406559995 meters 0.012643764746110914 Centerline is valid? [True, True] Translation: X:-361.43, Y:-252.27, Z:-2.80 [[-6.53071336e-01 -7.57270942e-01 6.20891401e-03 -3.61431491e+02] [ 7.57238047e-01 -6.53100843e-01 -7.05892573e-03 -2.52265937e+02] [ 9.40056632e-03 9.16438644e-05 9.99955810e-01 -2.79845626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1196.4365599950002 meters 0.01286165537444311 Centerline is valid? [True, True] Translation: X:-361.45, Y:-252.25, Z:-2.80 [[-6.53003127e-01 -7.57327591e-01 6.46811432e-03 -3.61450165e+02] [ 7.57291939e-01 -6.53035153e-01 -7.34909981e-03 -2.52246521e+02] [ 9.78958208e-03 9.92656749e-05 9.99952076e-01 -2.79877168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1196.4665599950001 meters 0.012838436368031505 Centerline is valid? [True, True] Translation: X:-361.47, Y:-252.23, Z:-2.80 [[-6.52484394e-01 -7.57774800e-01 6.43963456e-03 -3.61468915e+02] [ 7.57739527e-01 -6.52516162e-01 -7.31216482e-03 -2.52227081e+02] [ 9.74293986e-03 1.08492218e-04 9.99952531e-01 -2.79844449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1196.496559995 meters 0.012917210572374428 Centerline is valid? [True, True] Translation: X:-361.49, Y:-252.21, Z:-2.80 [[-6.52054298e-01 -7.58145037e-01 6.42609768e-03 -3.61487513e+02] [ 7.58109976e-01 -6.52085952e-01 -7.29218304e-03 -2.52207258e+02] [ 9.71890041e-03 1.16789456e-04 9.99952764e-01 -2.79804738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1196.526559995 meters 0.01356876371640447 Centerline is valid? [True, True] Translation: X:-361.51, Y:-252.19, Z:-2.80 [[-6.51626939e-01 -7.58513433e-01 6.30112553e-03 -3.61506621e+02] [ 7.58479784e-01 -6.51657392e-01 -7.14563168e-03 -2.52189023e+02] [ 9.52623265e-03 1.22990237e-04 9.99954617e-01 -2.79845908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1196.556559995 meters 0.013104095803399267 Centerline is valid? [True, True] Translation: X:-361.52, Y:-252.17, Z:-2.80 [[-6.51329700e-01 -7.58770356e-01 6.09670314e-03 -3.61524699e+02] [ 7.58738905e-01 -6.51358221e-01 -6.90964161e-03 -2.52168196e+02] [ 9.21396893e-03 1.25351062e-04 9.99957543e-01 -2.79680858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1196.586559995 meters 0.014064612098482518 Centerline is valid? [True, True] Translation: X:-361.54, Y:-252.15, Z:-2.80 [[-6.50943366e-01 -7.59104949e-01 5.69302347e-03 -3.61544563e+02] [ 7.59077575e-01 -6.50968248e-01 -6.44782614e-03 -2.52150427e+02] [ 8.60055425e-03 1.24276805e-04 9.99963007e-01 -2.79743116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1196.616559995 meters 0.013642650296104569 Centerline is valid? [True, True] Translation: X:-361.56, Y:-252.13, Z:-2.80 [[-6.50721100e-01 -7.59296777e-01 5.51857067e-03 -3.61562469e+02] [ 7.59271094e-01 -6.50744488e-01 -6.24632564e-03 -2.52129515e+02] [ 8.33399437e-03 1.25475301e-04 9.99965264e-01 -2.79613015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1196.646559995 meters 0.013801603570551291 Centerline is valid? [True, True] Translation: X:-361.58, Y:-252.11, Z:-2.80 [[-6.50966916e-01 -7.59087352e-01 5.33543947e-03 -3.61581070e+02] [ 7.59063370e-01 -6.50988769e-01 -6.03507196e-03 -2.52110398e+02] [ 8.05445797e-03 1.21304484e-04 9.99967555e-01 -2.79603041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1196.676559995 meters 0.013410458736361578 Centerline is valid? [True, True] Translation: X:-361.60, Y:-252.09, Z:-2.80 [[-6.51321955e-01 -7.58784686e-01 5.05087796e-03 -3.61599261e+02] [ 7.58763213e-01 -6.51341529e-01 -5.70957617e-03 -2.52089473e+02] [ 7.62218553e-03 1.13648078e-04 9.99970944e-01 -2.79560119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1196.7065599950001 meters 0.013011696247515865 Centerline is valid? [True, True] Translation: X:-361.62, Y:-252.07, Z:-2.80 [[-6.52811859e-01 -7.57507148e-01 4.42688795e-03 -3.61618407e+02] [ 7.57490642e-01 -6.52826863e-01 -5.00138816e-03 -2.52069091e+02] [ 6.67857865e-03 8.83606914e-05 9.99977694e-01 -2.79564039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1196.736559995 meters 0.012667920404343487 Centerline is valid? [True, True] Translation: X:-361.64, Y:-252.05, Z:-2.80 [[-6.54123946e-01 -7.56376752e-01 4.00902556e-03 -3.61637135e+02] [ 7.56363209e-01 -6.54136228e-01 -4.52670946e-03 -2.52047705e+02] [ 6.04634666e-03 7.12503823e-05 9.99981718e-01 -2.79603632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1196.766559995 meters 0.012659160368878425 Centerline is valid? [True, True] Translation: X:-361.66, Y:-252.03, Z:-2.80 [[-6.55935066e-01 -7.54807407e-01 3.86878544e-03 -3.61655203e+02] [ 7.54794783e-01 -6.55946473e-01 -4.36581667e-03 -2.52028045e+02] [ 5.83306693e-03 5.64468273e-05 9.99982986e-01 -2.79658710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1196.796559995 meters 0.012266831446507299 Centerline is valid? [True, True] Translation: X:-361.67, Y:-252.01, Z:-2.80 [[-6.57821714e-01 -7.53165691e-01 3.46904257e-03 -3.61671404e+02] [ 7.53155531e-01 -6.57830860e-01 -3.91221730e-03 -2.52007901e+02] [ 5.22859110e-03 3.91871077e-05 9.99986330e-01 -2.79624180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1196.826559995 meters 0.011768268800226741 Centerline is valid? [True, True] Translation: X:-361.69, Y:-251.98, Z:-2.80 [[-6.62815066e-01 -7.48778454e-01 2.64877382e-03 -3.61686701e+02] [ 7.48772502e-01 -6.62820359e-01 -2.98544707e-03 -2.51984429e+02] [ 3.99109965e-03 4.52970660e-06 9.99992036e-01 -2.79510611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1196.856559995 meters 0.011808209978262414 Centerline is valid? [True, True] Translation: X:-361.70, Y:-251.96, Z:-2.79 [[-6.65797635e-01 -7.46128385e-01 2.43773316e-03 -3.61703128e+02] [ 7.46123332e-01 -6.65802098e-01 -2.74589765e-03 -2.51962860e+02] [ 3.67184003e-03 -9.36257419e-06 9.99993259e-01 -2.79452799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1196.886559995 meters 0.01202746815695653 Centerline is valid? [True, True] Translation: X:-361.72, Y:-251.94, Z:-2.79 [[-6.68802869e-01 -7.43436168e-01 2.32100672e-03 -3.61719546e+02] [ 7.43431577e-01 -6.68806896e-01 -2.61278892e-03 -2.51941579e+02] [ 3.49474708e-03 -2.19310423e-05 9.99993893e-01 -2.79458409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1196.916559995 meters 0.012455279601958132 Centerline is valid? [True, True] Translation: X:-361.74, Y:-251.92, Z:-2.79 [[-6.71883064e-01 -7.40653750e-01 2.27403526e-03 -3.61737080e+02] [ 7.40649332e-01 -6.71886912e-01 -2.55845726e-03 -2.51919675e+02] [ 3.42282549e-03 -3.47214064e-05 9.99994142e-01 -2.79464068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1196.9465599950001 meters 0.013883859398720194 Centerline is valid? [True, True] Translation: X:-361.75, Y:-251.90, Z:-2.80 [[-6.77627652e-01 -7.35399874e-01 2.79140619e-03 -3.61752572e+02] [ 7.35393180e-01 -6.77633397e-01 -3.13864458e-03 -2.51896667e+02] [ 4.19970889e-03 -7.40512823e-05 9.99991179e-01 -2.79585740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1196.9765599950001 meters 0.014741306677477767 Centerline is valid? [True, True] Translation: X:-361.77, Y:-251.87, Z:-2.80 [[-6.80483403e-01 -7.32756011e-01 3.31157590e-03 -3.61769702e+02] [ 7.32746569e-01 -6.80491453e-01 -3.72143070e-03 -2.51874757e+02] [ 4.98039981e-03 -1.05825947e-04 9.99987592e-01 -2.79678370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1197.006559995 meters 0.01600440201093683 Centerline is valid? [True, True] Translation: X:-361.79, Y:-251.85, Z:-2.80 [[-6.83529665e-01 -7.29912396e-01 3.88477257e-03 -3.61787021e+02] [ 7.29899370e-01 -6.83540689e-01 -4.36313434e-03 -2.51852635e+02] [ 5.84010596e-03 -1.46838707e-04 9.99982936e-01 -2.79793613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1197.036559995 meters 0.017314433981236374 Centerline is valid? [True, True] Translation: X:-361.80, Y:-251.83, Z:-2.80 [[-6.86004520e-01 -7.27582661e-01 4.61199138e-03 -3.61803317e+02] [ 7.27564264e-01 -6.86019995e-01 -5.17780367e-03 -2.51830701e+02] [ 6.93119847e-03 -1.96476609e-04 9.99975960e-01 -2.79893571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1197.066559995 meters 0.01801236542883841 Centerline is valid? [True, True] Translation: X:-361.82, Y:-251.81, Z:-2.80 [[-6.88490501e-01 -7.25227077e-01 5.14945492e-03 -3.61821096e+02] [ 7.25204094e-01 -6.88509715e-01 -5.77885189e-03 -2.51809674e+02] [ 7.73642961e-03 -2.44278844e-04 9.99970044e-01 -2.79977903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1197.096559995 meters 0.01861443718176273 Centerline is valid? [True, True] Translation: X:-361.84, Y:-251.79, Z:-2.80 [[-6.90465634e-01 -7.23344163e-01 5.51636380e-03 -3.61839327e+02] [ 7.23317756e-01 -6.90487612e-01 -6.18716074e-03 -2.51787902e+02] [ 8.28442748e-03 -2.81937980e-04 9.99965644e-01 -2.80046634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1197.126559995 meters 0.019152218558969345 Centerline is valid? [True, True] Translation: X:-361.86, Y:-251.77, Z:-2.80 [[-6.92093393e-01 -7.21786684e-01 5.54241681e-03 -3.61857453e+02] [ 7.21760006e-01 -6.92115520e-01 -6.21292120e-03 -2.51766622e+02] [ 8.32039648e-03 -2.99626924e-04 9.99965340e-01 -2.80073300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1197.156559995 meters 0.01992079502786729 Centerline is valid? [True, True] Translation: X:-361.87, Y:-251.75, Z:-2.80 [[-6.92911908e-01 -7.20996178e-01 6.13179061e-03 -3.61874457e+02] [ 7.20963521e-01 -6.92938955e-01 -6.87072508e-03 -2.51746132e+02] [ 9.20272310e-03 -3.40009881e-04 9.99957596e-01 -2.80042244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1197.1865599950002 meters 0.01997489666601837 Centerline is valid? [True, True] Translation: X:-361.89, Y:-251.73, Z:-2.80 [[-6.92455815e-01 -7.21433988e-01 6.16003768e-03 -3.61893567e+02] [ 7.21401080e-01 -6.92483134e-01 -6.89859660e-03 -2.51725688e+02] [ 9.24260425e-03 -3.33115489e-04 9.99957231e-01 -2.80048406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1197.2165599950001 meters 0.01909903333179765 Centerline is valid? [True, True] Translation: X:-361.91, Y:-251.71, Z:-2.80 [[-6.91591573e-01 -7.22259355e-01 6.52083168e-03 -3.61914080e+02] [ 7.22222556e-01 -6.91622231e-01 -7.29861430e-03 -2.51706678e+02] [ 9.78144461e-03 -3.38168425e-04 9.99952104e-01 -2.80026580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1197.246559995 meters 0.018190863066055066 Centerline is valid? [True, True] Translation: X:-361.93, Y:-251.69, Z:-2.80 [[-6.90171831e-01 -7.23615876e-01 6.55044347e-03 -3.61934727e+02] [ 7.23578843e-01 -6.90202843e-01 -7.32765287e-03 -2.51687326e+02] [ 9.82354066e-03 -3.17577295e-04 9.99951698e-01 -2.80025820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1197.276559995 meters 0.018094799309206017 Centerline is valid? [True, True] Translation: X:-361.95, Y:-251.67, Z:-2.80 [[-6.88613322e-01 -7.25098238e-01 6.65114738e-03 -3.61953810e+02] [ 7.25060157e-01 -6.88645378e-01 -7.43725736e-03 -2.51668244e+02] [ 9.97302411e-03 -2.98912538e-04 9.99950224e-01 -2.80039562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1197.306559995 meters 0.016179647980393324 Centerline is valid? [True, True] Translation: X:-361.98, Y:-251.65, Z:-2.80 [[-6.86978909e-01 -7.26646221e-01 6.72671540e-03 -3.61976029e+02] [ 7.26607384e-01 -6.87011785e-01 -7.51775457e-03 -2.51649745e+02] [ 1.00840807e-02 -2.76857746e-04 9.99949116e-01 -2.79978642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1197.336559995 meters 0.016179647980393324 Centerline is valid? [True, True] Translation: X:-361.99, Y:-251.63, Z:-2.80 [[-6.87183728e-01 -7.26452508e-01 6.72883446e-03 -3.61994477e+02] [ 7.26413680e-01 -6.87216616e-01 -7.51585794e-03 -2.51629222e+02] [ 1.00840807e-02 -2.76857877e-04 9.99949116e-01 -2.79978621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1197.366559995 meters 0.015327722886502864 Centerline is valid? [True, True] Translation: X:-362.02, Y:-251.61, Z:-2.80 [[-6.83566069e-01 -7.29859072e-01 6.56991033e-03 -3.62015632e+02] [ 7.29822247e-01 -6.83597606e-01 -7.33495869e-03 -2.51611909e+02] [ 9.84466112e-03 -2.19062161e-04 9.99951516e-01 -2.80008163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1197.396559995 meters 0.015251048884853229 Centerline is valid? [True, True] Translation: X:-362.03, Y:-251.59, Z:-2.80 [[-6.82042571e-01 -7.31283852e-01 6.46981421e-03 -3.62034695e+02] [ 7.31248242e-01 -6.82073229e-01 -7.21929276e-03 -2.51593053e+02] [ 9.69223930e-03 -1.92824729e-04 9.99953011e-01 -2.80016099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1197.426559995 meters 0.014417070567864149 Centerline is valid? [True, True] Translation: X:-362.06, Y:-251.57, Z:-2.80 [[-6.80718657e-01 -7.32518242e-01 6.25582475e-03 -3.62055685e+02] [ 7.32485036e-01 -6.80747382e-01 -6.97667537e-03 -2.51574596e+02] [ 9.36917830e-03 -1.66855073e-04 9.99956095e-01 -2.79956801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1197.4565599950001 meters 0.013786030892593238 Centerline is valid? [True, True] Translation: X:-362.08, Y:-251.56, Z:-2.80 [[-6.79521410e-01 -7.33632908e-01 5.78019472e-03 -3.62076298e+02] [ 7.33604631e-01 -6.79545979e-01 -6.44266342e-03 -2.51555916e+02] [ 8.65445798e-03 -1.37550117e-04 9.99962540e-01 -2.79866133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1197.486559995 meters 0.01329751770105385 Centerline is valid? [True, True] Translation: X:-362.10, Y:-251.54, Z:-2.80 [[-6.78488994e-01 -7.34594069e-01 4.92338150e-03 -3.62096724e+02] [ 7.34573601e-01 -6.78506849e-01 -5.48457743e-03 -2.51536965e+02] [ 7.36948612e-03 -1.04639340e-04 9.99972840e-01 -2.79777438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1197.516559995 meters 0.012742885481854628 Centerline is valid? [True, True] Translation: X:-362.12, Y:-251.52, Z:-2.80 [[-6.76565576e-01 -7.36367769e-01 4.64017609e-03 -3.62118094e+02] [ 7.36349650e-01 -6.76581483e-01 -5.16618612e-03 -2.51518765e+02] [ 6.94367017e-03 -7.84716479e-05 9.99975890e-01 -2.79680652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1197.546559995 meters 0.012821381729433024 Centerline is valid? [True, True] Translation: X:-362.14, Y:-251.50, Z:-2.80 [[-6.76084471e-01 -7.36811123e-01 4.37689506e-03 -3.62138477e+02] [ 7.36795030e-01 -6.76098635e-01 -4.87031061e-03 -2.51499013e+02] [ 6.54771180e-03 -6.78668479e-05 9.99978561e-01 -2.79653960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1197.576559995 meters 0.012499914786416683 Centerline is valid? [True, True] Translation: X:-362.16, Y:-251.48, Z:-2.80 [[-6.75403492e-01 -7.37437825e-01 3.94677430e-03 -3.62157461e+02] [ 7.37424765e-01 -6.75415022e-01 -4.38913799e-03 -2.51480173e+02] [ 5.90242703e-03 -5.39900114e-05 9.99982579e-01 -2.79635066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1197.606559995 meters 0.01237269602347608 Centerline is valid? [True, True] Translation: X:-362.18, Y:-251.46, Z:-2.80 [[-6.74928939e-01 -7.37872806e-01 3.82746303e-03 -3.62177225e+02] [ 7.37860544e-01 -6.74939790e-01 -4.25404980e-03 -2.51460789e+02] [ 5.72225475e-03 -4.70473643e-05 9.99983627e-01 -2.79601738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1197.636559995 meters 0.012161888366854503 Centerline is valid? [True, True] Translation: X:-362.20, Y:-251.44, Z:-2.80 [[-6.74145808e-01 -7.38588944e-01 3.71497740e-03 -3.62197533e+02] [ 7.38577416e-01 -6.74156043e-01 -4.12684661e-03 -2.51440613e+02] [ 5.55251775e-03 -3.82979355e-05 9.99984584e-01 -2.79571733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1197.666559995 meters 0.012012039234473805 Centerline is valid? [True, True] Translation: X:-362.22, Y:-251.42, Z:-2.80 [[-6.73131602e-01 -7.39515818e-01 3.19400562e-03 -3.62218537e+02] [ 7.39507316e-01 -6.73139179e-01 -3.54611893e-03 -2.51422347e+02] [ 4.77242136e-03 -2.50141912e-05 9.99988612e-01 -2.79538077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1197.6965599950001 meters 0.011981876930190318 Centerline is valid? [True, True] Translation: X:-362.24, Y:-251.40, Z:-2.80 [[-6.72565301e-01 -7.40031743e-01 2.98932894e-03 -3.62238163e+02] [ 7.40024309e-01 -6.72571944e-01 -3.31690879e-03 -2.51403009e+02] [ 4.46515657e-03 -1.86616776e-05 9.99990031e-01 -2.79544013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1197.7265599950001 meters 0.01195014362337016 Centerline is valid? [True, True] Translation: X:-362.26, Y:-251.38, Z:-2.80 [[-6.72328513e-01 -7.40246587e-01 3.05968863e-03 -3.62257466e+02] [ 7.40238811e-01 -6.72335475e-01 -3.39286061e-03 -2.51383670e+02] [ 4.56869070e-03 -1.62166553e-05 9.99989564e-01 -2.79586731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1197.756559995 meters 0.011922710461042832 Centerline is valid? [True, True] Translation: X:-362.28, Y:-251.36, Z:-2.80 [[-6.72249538e-01 -7.40317320e-01 3.29013715e-03 -3.62276620e+02] [ 7.40308341e-01 -6.72257589e-01 -3.64612884e-03 -2.51364518e+02] [ 4.91111200e-03 -1.53924464e-05 9.99987941e-01 -2.79664936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1197.786559995 meters 0.011954235100243557 Centerline is valid? [True, True] Translation: X:-362.30, Y:-251.35, Z:-2.80 [[-6.71966655e-01 -7.40571560e-01 3.81826537e-03 -3.62295195e+02] [ 7.40559488e-01 -6.71977503e-01 -4.22863685e-03 -2.51345363e+02] [ 5.69739662e-03 -1.38503140e-05 9.99983770e-01 -2.79751828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1197.816559995 meters 0.011935334874290326 Centerline is valid? [True, True] Translation: X:-362.31, Y:-251.33, Z:-2.80 [[-6.71443230e-01 -7.41042381e-01 4.49211645e-03 -3.62314202e+02] [ 7.41025702e-01 -6.71458257e-01 -4.97181061e-03 -2.51326322e+02] [ 6.70059105e-03 -9.51482651e-06 9.99977551e-01 -2.79880157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1197.846559995 meters 0.011925947611793148 Centerline is valid? [True, True] Translation: X:-362.33, Y:-251.31, Z:-2.80 [[-6.71352760e-01 -7.41120923e-01 5.02476275e-03 -3.62333088e+02] [ 7.41100083e-01 -6.71371564e-01 -5.55786300e-03 -2.51306094e+02] [ 7.49253139e-03 -7.43458015e-06 9.99971931e-01 -2.79923728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1197.876559995 meters 0.011962260672165888 Centerline is valid? [True, True] Translation: X:-362.35, Y:-251.29, Z:-2.80 [[-6.71362339e-01 -7.41110362e-01 5.29545482e-03 -3.62352598e+02] [ 7.41087242e-01 -6.71383223e-01 -5.85395963e-03 -2.51285222e+02] [ 7.89370967e-03 -5.73402062e-06 9.99968844e-01 -2.79913849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1197.906559995 meters 0.012018573204059009 Centerline is valid? [True, True] Translation: X:-362.37, Y:-251.27, Z:-2.80 [[-6.71276088e-01 -7.41186135e-01 5.61486181e-03 -3.62371378e+02] [ 7.41160166e-01 -6.71299571e-01 -6.20449169e-03 -2.51265160e+02] [ 8.36793753e-03 -3.41500066e-06 9.99964988e-01 -2.79984219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1197.9365599950002 meters 0.011955622632755066 Centerline is valid? [True, True] Translation: X:-362.39, Y:-251.24, Z:-2.80 [[-6.71009325e-01 -7.41423536e-01 6.13405947e-03 -3.62390583e+02] [ 7.41392586e-01 -6.71037362e-01 -6.77437664e-03 -2.51244342e+02] [ 9.13886536e-03 2.07631670e-06 9.99958240e-01 -2.79970689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1197.9665599950001 meters 0.011955622632755066 Centerline is valid? [True, True] Translation: X:-362.41, Y:-251.22, Z:-2.80 [[-6.71218033e-01 -7.41234580e-01 6.13596651e-03 -3.62409142e+02] [ 7.41203639e-01 -6.71246078e-01 -6.77264937e-03 -2.51223947e+02] [ 9.13886536e-03 2.07631723e-06 9.99958240e-01 -2.79970669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1197.996559995 meters 0.012088516870419674 Centerline is valid? [True, True] Translation: X:-362.43, Y:-251.20, Z:-2.80 [[-6.71600514e-01 -7.40883712e-01 6.63890044e-03 -3.62426521e+02] [ 7.40847516e-01 -6.71633327e-01 -7.32339906e-03 -2.51203393e+02] [ 9.88469386e-03 1.43245411e-08 9.99951145e-01 -2.80191608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1198.026559995 meters 0.0121246397153572 Centerline is valid? [True, True] Translation: X:-362.44, Y:-251.18, Z:-2.80 [[-6.72132286e-01 -7.40397559e-01 7.04598948e-03 -3.62444092e+02] [ 7.40356811e-01 -6.72169216e-01 -7.76767083e-03 -2.51183072e+02] [ 1.04872617e-02 -4.35604069e-06 9.99945007e-01 -2.80161623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1198.056559995 meters 0.012157889015392135 Centerline is valid? [True, True] Translation: X:-362.46, Y:-251.16, Z:-2.80 [[-6.72698029e-01 -7.39880235e-01 7.38918091e-03 -3.62462103e+02] [ 7.39835441e-01 -6.72738610e-01 -8.14144139e-03 -2.51162065e+02] [ 1.09946789e-02 -9.95366377e-06 9.99939557e-01 -2.80134437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1198.086559995 meters 0.012224041502571236 Centerline is valid? [True, True] Translation: X:-362.48, Y:-251.14, Z:-2.80 [[-6.73597830e-01 -7.39059106e-01 7.58954021e-03 -3.62479069e+02] [ 7.39011859e-01 -6.73640585e-01 -8.35667227e-03 -2.51142480e+02] [ 1.12886970e-02 -2.02760893e-05 9.99936281e-01 -2.80199098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1198.116559995 meters 0.01226996756066189 Centerline is valid? [True, True] Translation: X:-362.50, Y:-251.12, Z:-2.80 [[-6.74560101e-01 -7.38177467e-01 7.91815275e-03 -3.62496475e+02] [ 7.38126044e-01 -6.74606571e-01 -8.71303991e-03 -2.51121941e+02] [ 1.17734076e-02 -3.28743172e-05 9.99930691e-01 -2.80214082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1198.146559995 meters 0.012378131533114697 Centerline is valid? [True, True] Translation: X:-362.51, Y:-251.10, Z:-2.80 [[-6.75602021e-01 -7.37224578e-01 7.86326861e-03 -3.62513090e+02] [ 7.37173867e-01 -6.75647778e-01 -8.64696888e-03 -2.51101779e+02] [ 1.16875579e-02 -4.53135244e-05 9.99931697e-01 -2.80250878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1198.176559995 meters 0.012633856266192948 Centerline is valid? [True, True] Translation: X:-362.53, Y:-251.08, Z:-2.80 [[-6.77234606e-01 -7.35728073e-01 7.58234101e-03 -3.62528534e+02] [ 7.35680888e-01 -6.77277047e-01 -8.33262871e-03 -2.51080116e+02] [ 1.12658944e-02 -6.49611526e-05 9.99936536e-01 -2.80223232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1198.2065599950001 meters 0.01271037517358061 Centerline is valid? [True, True] Translation: X:-362.55, Y:-251.06, Z:-2.80 [[-6.77808086e-01 -7.35200899e-01 7.47243641e-03 -3.62545490e+02] [ 7.35155084e-01 -6.77849270e-01 -8.20792467e-03 -2.51059400e+02] [ 1.10996592e-02 -6.99980946e-05 9.99938395e-01 -2.80186657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1198.236559995 meters 0.012756685810007476 Centerline is valid? [True, True] Translation: X:-362.56, Y:-251.04, Z:-2.80 [[-6.78266269e-01 -7.34780066e-01 7.28852953e-03 -3.62563466e+02] [ 7.34736508e-01 -6.78305425e-01 -8.00089415e-03 -2.51038318e+02] [ 1.08227467e-02 -7.15878808e-05 9.99941430e-01 -2.80127553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1198.266559995 meters 0.012784502586695785 Centerline is valid? [True, True] Translation: X:-362.58, Y:-251.02, Z:-2.80 [[-6.78159957e-01 -7.34880546e-01 7.04670093e-03 -3.62580051e+02] [ 7.34839889e-01 -6.78196564e-01 -7.73034499e-03 -2.51018266e+02] [ 1.04599285e-02 -6.42134946e-05 9.99945292e-01 -2.80168873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1198.296559995 meters 0.012536432941433626 Centerline is valid? [True, True] Translation: X:-362.60, Y:-251.00, Z:-2.80 [[-6.76607164e-01 -7.36310835e-01 7.00711261e-03 -3.62598894e+02] [ 7.36270745e-01 -6.76643446e-01 -7.68357865e-03 -2.50997919e+02] [ 1.03988190e-02 -3.96323379e-05 9.99945930e-01 -2.80152301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1198.326559995 meters 0.012461432822488403 Centerline is valid? [True, True] Translation: X:-362.62, Y:-250.98, Z:-2.80 [[-6.75457836e-01 -7.37365483e-01 6.98982042e-03 -3.62618004e+02] [ 7.37325691e-01 -6.75494001e-01 -7.66029918e-03 -2.50977549e+02] [ 1.03700220e-02 -2.04349311e-05 9.99946230e-01 -2.80131173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1198.356559995 meters 0.01258138758984645 Centerline is valid? [True, True] Translation: X:-362.64, Y:-250.96, Z:-2.80 [[-6.73893614e-01 -7.38792939e-01 7.23813991e-03 -3.62636530e+02] [ 7.38750387e-01 -6.73932485e-01 -7.92917498e-03 -2.50957712e+02] [ 1.07360361e-02 3.75827583e-06 9.99942367e-01 -2.80239212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1198.386559995 meters 0.012682544288224459 Centerline is valid? [True, True] Translation: X:-362.66, Y:-250.94, Z:-2.80 [[-6.70197904e-01 -7.42144295e-01 7.52431202e-03 -3.62655855e+02] [ 7.42098574e-01 -6.70240137e-01 -8.23803984e-03 -2.50937120e+02] [ 1.11569102e-02 6.26641879e-05 9.99937758e-01 -2.80122103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1198.416559995 meters 0.012682544288224459 Centerline is valid? [True, True] Translation: X:-362.67, Y:-250.92, Z:-2.80 [[-6.70405568e-01 -7.41956686e-01 7.52661730e-03 -3.62674507e+02] [ 7.41910977e-01 -6.70447814e-01 -8.23593370e-03 -2.50916804e+02] [ 1.11569102e-02 6.26641869e-05 9.99937758e-01 -2.80122082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1198.4465599950001 meters 0.01315159704018464 Centerline is valid? [True, True] Translation: X:-362.69, Y:-250.90, Z:-2.80 [[-6.68802535e-01 -7.43402237e-01 7.50228154e-03 -3.62693662e+02] [ 7.43356967e-01 -6.68844606e-01 -8.20444189e-03 -2.50896987e+02] [ 1.11170610e-02 8.97217246e-05 9.99938200e-01 -2.80197391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1198.4765599950001 meters 0.013376091411649457 Centerline is valid? [True, True] Translation: X:-362.71, Y:-250.88, Z:-2.80 [[-6.67218220e-01 -7.44825018e-01 7.45254692e-03 -3.62712531e+02] [ 7.44780485e-01 -6.67259829e-01 -8.14553496e-03 -2.50876377e+02] [ 1.10397834e-02 1.15662175e-04 9.99939053e-01 -2.80226495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1198.506559995 meters 0.014110847520388957 Centerline is valid? [True, True] Translation: X:-362.73, Y:-250.86, Z:-2.80 [[-6.64315679e-01 -7.47410691e-01 7.87009372e-03 -3.62730717e+02] [ 7.47361250e-01 -6.64362274e-01 -8.59837330e-03 -2.50855751e+02] [ 1.16551095e-02 1.69768882e-04 9.99932063e-01 -2.80276417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1198.536559995 meters 0.015173727709801353 Centerline is valid? [True, True] Translation: X:-362.75, Y:-250.84, Z:-2.80 [[-6.63351715e-01 -7.48266853e-01 7.82428415e-03 -3.62750093e+02] [ 7.48218103e-01 -6.63397831e-01 -8.54327738e-03 -2.50836509e+02] [ 1.15832644e-02 1.87073346e-04 9.99932894e-01 -2.80448003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1198.566559995 meters 0.0150909092330163 Centerline is valid? [True, True] Translation: X:-362.77, Y:-250.82, Z:-2.80 [[-6.62688608e-01 -7.48856902e-01 7.55977533e-03 -3.62766966e+02] [ 7.48811491e-01 -6.62731698e-01 -8.24908848e-03 -2.50815705e+02] [ 1.11874896e-02 1.94269680e-04 9.99937399e-01 -2.80451228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1198.596559995 meters 0.01595678875909962 Centerline is valid? [True, True] Translation: X:-362.78, Y:-250.80, Z:-2.81 [[-6.62305954e-01 -7.49196865e-01 7.40812496e-03 -3.62784785e+02] [ 7.49153337e-01 -6.62347354e-01 -8.07839004e-03 -2.50796664e+02] [ 1.09590565e-02 1.99455716e-04 9.99939928e-01 -2.80514181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1198.626559995 meters 0.015112364253075551 Centerline is valid? [True, True] Translation: X:-362.80, Y:-250.77, Z:-2.80 [[-6.61886328e-01 -7.49574196e-01 6.70924481e-03 -3.62801261e+02] [ 7.49538554e-01 -6.61920304e-01 -7.31215436e-03 -2.50773296e+02] [ 9.92198759e-03 1.89022653e-04 9.99950758e-01 -2.80366469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1198.656559995 meters 0.015550004978738922 Centerline is valid? [True, True] Translation: X:-362.82, Y:-250.75, Z:-2.80 [[-6.61208769e-01 -7.50177620e-01 6.04176706e-03 -3.62817702e+02] [ 7.50148781e-01 -6.61236347e-01 -6.58032560e-03 -2.50752219e+02] [ 8.93144898e-03 1.81255206e-04 9.99960098e-01 -2.80280506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1198.6865599950002 meters 0.015552471614915757 Centerline is valid? [True, True] Translation: X:-362.84, Y:-250.73, Z:-2.80 [[-6.60963664e-01 -7.50397984e-01 5.46805067e-03 -3.62835591e+02] [ 7.50374397e-01 -6.60986261e-01 -5.95210943e-03 -2.50731053e+02] [ 8.08075728e-03 1.68957162e-04 9.99967336e-01 -2.80239562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1198.7165599950001 meters 0.015605893734532144 Centerline is valid? [True, True] Translation: X:-362.85, Y:-250.71, Z:-2.80 [[-6.61072399e-01 -7.50303645e-01 5.26534904e-03 -3.62853688e+02] [ 7.50281799e-01 -6.61093347e-01 -5.72784600e-03 -2.50710790e+02] [ 7.77851096e-03 1.63974655e-04 9.99969734e-01 -2.80261384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1198.746559995 meters 0.016111620942934054 Centerline is valid? [True, True] Translation: X:-362.87, Y:-250.69, Z:-2.80 [[-6.60980790e-01 -7.50383480e-01 5.38778029e-03 -3.62871170e+02] [ 7.50360640e-01 -6.61002726e-01 -5.85716022e-03 -2.50691603e+02] [ 7.95645373e-03 1.71307876e-04 9.99968332e-01 -2.80315250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1198.776559995 meters 0.015751817504261283 Centerline is valid? [True, True] Translation: X:-362.89, Y:-250.67, Z:-2.80 [[-6.61094871e-01 -7.50283783e-01 5.27414302e-03 -3.62888713e+02] [ 7.50261921e-01 -6.61115888e-01 -5.73000185e-03 -2.50670363e+02] [ 7.78594721e-03 1.68913844e-04 9.99969675e-01 -2.80305400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1198.806559995 meters 0.015615104720767591 Centerline is valid? [True, True] Translation: X:-362.91, Y:-250.65, Z:-2.80 [[-6.61043378e-01 -7.50329134e-01 5.27677200e-03 -3.62905906e+02] [ 7.50307277e-01 -6.61064416e-01 -5.72960038e-03 -2.50648461e+02] [ 7.78737229e-03 1.71686042e-04 9.99969663e-01 -2.80354899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1198.836559995 meters 0.016066776411267122 Centerline is valid? [True, True] Translation: X:-362.92, Y:-250.63, Z:-2.80 [[-6.61315928e-01 -7.50086053e-01 5.67075811e-03 -3.62924485e+02] [ 7.50060832e-01 -6.61340215e-01 -6.15371039e-03 -2.50628742e+02] [ 8.36611272e-03 1.83866857e-04 9.99964987e-01 -2.80430392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1198.866559995 meters 0.015866012163454894 Centerline is valid? [True, True] Translation: X:-362.94, Y:-250.61, Z:-2.80 [[-6.61216678e-01 -7.50171797e-01 5.89737510e-03 -3.62942482e+02] [ 7.50144556e-01 -6.61242948e-01 -6.39601557e-03 -2.50607602e+02] [ 8.69770820e-03 1.94731658e-04 9.99962155e-01 -2.80455476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1198.896559995 meters 0.016276692452500408 Centerline is valid? [True, True] Translation: X:-362.96, Y:-250.59, Z:-2.81 [[-6.61100486e-01 -7.50271569e-01 6.22261775e-03 -3.62960754e+02] [ 7.50241285e-01 -6.61129737e-01 -6.74427149e-03 -2.50588799e+02] [ 9.17399278e-03 2.09823579e-04 9.99957896e-01 -2.80531961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1198.926559995 meters 0.01666732622899215 Centerline is valid? [True, True] Translation: X:-362.98, Y:-250.57, Z:-2.81 [[-6.60853269e-01 -7.50485692e-01 6.64704391e-03 -3.62981054e+02] [ 7.50451186e-01 -6.60886657e-01 -7.20029240e-03 -2.50569273e+02] [ 9.79665905e-03 2.29945212e-04 9.99951985e-01 -2.80587858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1198.9565599950001 meters 0.017902265802173634 Centerline is valid? [True, True] Translation: X:-363.00, Y:-250.55, Z:-2.81 [[-6.60308674e-01 -7.50961335e-01 7.03767990e-03 -3.63001874e+02] [ 7.50922712e-01 -6.60346129e-01 -7.62036797e-03 -2.50552109e+02] [ 1.03699064e-02 2.52958605e-04 9.99946199e-01 -2.80731669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1198.986559995 meters 0.017595302350928446 Centerline is valid? [True, True] Translation: X:-363.02, Y:-250.53, Z:-2.81 [[-6.59636651e-01 -7.51545234e-01 7.69739473e-03 -3.63023055e+02] [ 7.51499123e-01 -6.59681497e-01 -8.33014419e-03 -2.50533359e+02] [ 1.13383090e-02 2.89716971e-04 9.99935678e-01 -2.80836371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1199.016559995 meters 0.01775667585790754 Centerline is valid? [True, True] Translation: X:-363.04, Y:-250.51, Z:-2.81 [[-6.59738053e-01 -7.51455441e-01 7.77318026e-03 -3.63042627e+02] [ 7.51408470e-01 -6.59783779e-01 -8.40699538e-03 -2.50514174e+02] [ 1.14461007e-02 2.94418712e-04 9.99934448e-01 -2.80872649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1199.046559995 meters 0.017199403430314866 Centerline is valid? [True, True] Translation: X:-363.06, Y:-250.49, Z:-2.81 [[-6.60080160e-01 -7.51157627e-01 7.51012574e-03 -3.63060490e+02] [ 7.51113818e-01 -6.60122822e-01 -8.11743191e-03 -2.50494129e+02] [ 1.10550763e-02 2.82803455e-04 9.99938851e-01 -2.80811841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1199.076559995 meters 0.01700528094554972 Centerline is valid? [True, True] Translation: X:-363.08, Y:-250.47, Z:-2.81 [[-6.60745521e-01 -7.50575977e-01 7.14558993e-03 -3.63078818e+02] [ 7.50536335e-01 -6.60784105e-01 -7.71860435e-03 -2.50473494e+02] [ 1.05150913e-02 2.62991624e-04 9.99944681e-01 -2.80739921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1199.106559995 meters 0.016070739158212326 Centerline is valid? [True, True] Translation: X:-363.10, Y:-250.45, Z:-2.81 [[-6.62742993e-01 -7.48821594e-01 6.15993597e-03 -3.63096082e+02] [ 7.48792092e-01 -6.62771588e-01 -6.65019644e-03 -2.50450946e+02] [ 9.06244125e-03 2.05140247e-04 9.99958914e-01 -2.80645682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1199.136559995 meters 0.015579535507934176 Centerline is valid? [True, True] Translation: X:-363.11, Y:-250.43, Z:-2.81 [[-6.64001596e-01 -7.47707841e-01 5.90460797e-03 -3.63114198e+02] [ 7.47680721e-01 -6.64027823e-01 -6.37100521e-03 -2.50429479e+02] [ 8.68447453e-03 1.84403913e-04 9.99962272e-01 -2.80647993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1199.166559995 meters 0.015740066324972112 Centerline is valid? [True, True] Translation: X:-363.13, Y:-250.41, Z:-2.81 [[-6.65266150e-01 -7.46585023e-01 5.63498669e-03 -3.63132008e+02] [ 7.46560315e-01 -6.65289995e-01 -6.07610069e-03 -2.50410206e+02] [ 8.28522603e-03 1.64633327e-04 9.99965664e-01 -2.80691162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1199.1965599950001 meters 0.014712926925406116 Centerline is valid? [True, True] Translation: X:-363.15, Y:-250.39, Z:-2.81 [[-6.66578631e-01 -7.45416390e-01 5.22820963e-03 -3.63149184e+02] [ 7.45395109e-01 -6.66599119e-01 -5.63431764e-03 -2.50387832e+02] [ 7.68503265e-03 1.41366153e-04 9.99970460e-01 -2.80618826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1199.2265599950001 meters 0.014896971835232104 Centerline is valid? [True, True] Translation: X:-363.17, Y:-250.37, Z:-2.81 [[-6.67714399e-01 -7.44402091e-01 4.79672361e-03 -3.63166778e+02] [ 7.44384176e-01 -6.67731617e-01 -5.16589894e-03 -2.50368704e+02] [ 7.04842998e-03 1.21260045e-04 9.99975152e-01 -2.80655169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1199.256559995 meters 0.014896971835232104 Centerline is valid? [True, True] Translation: X:-363.19, Y:-250.35, Z:-2.81 [[-6.67940003e-01 -7.44199657e-01 4.79828940e-03 -3.63185073e+02] [ 7.44181747e-01 -6.67957226e-01 -5.16444460e-03 -2.50349176e+02] [ 7.04842998e-03 1.21260246e-04 9.99975152e-01 -2.80655148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1199.286559995 meters 0.014151318225972436 Centerline is valid? [True, True] Translation: X:-363.20, Y:-250.33, Z:-2.81 [[-6.69132606e-01 -7.43129840e-01 4.42682825e-03 -3.63201959e+02] [ 7.43114592e-01 -6.69147241e-01 -4.76163511e-03 -2.50327901e+02] [ 6.50071305e-03 1.03475367e-04 9.99978865e-01 -2.80608843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1199.316559995 meters 0.014183735810008877 Centerline is valid? [True, True] Translation: X:-363.22, Y:-250.31, Z:-2.81 [[-6.70379914e-01 -7.42006491e-01 4.13994695e-03 -3.63219456e+02] [ 7.41993152e-01 -6.70392691e-01 -4.45011522e-03 -2.50308887e+02] [ 6.07740455e-03 8.85444232e-05 9.99981529e-01 -2.80641776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1199.346559995 meters 0.014425156615175306 Centerline is valid? [True, True] Translation: X:-363.24, Y:-250.29, Z:-2.81 [[-6.70479502e-01 -7.41915915e-01 4.24407789e-03 -3.63238252e+02] [ 7.41901913e-01 -6.70492928e-01 -4.55914614e-03 -2.50290126e+02] [ 6.22812729e-03 9.18754728e-05 9.99980601e-01 -2.80691305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1199.376559995 meters 0.014691015830846303 Centerline is valid? [True, True] Translation: X:-363.26, Y:-250.27, Z:-2.81 [[-6.69740465e-01 -7.42582161e-01 4.40957126e-03 -3.63258782e+02] [ 7.42567076e-01 -6.69754973e-01 -4.73437610e-03 -2.50270390e+02] [ 6.46899552e-03 1.03599188e-04 9.99979071e-01 -2.80780499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1199.406559995 meters 0.014691015830846303 Centerline is valid? [True, True] Translation: X:-363.28, Y:-250.25, Z:-2.81 [[-6.69964770e-01 -7.42379788e-01 4.41100117e-03 -3.63277107e+02] [ 7.42364708e-01 -6.69979283e-01 -4.73304389e-03 -2.50250892e+02] [ 6.46899552e-03 1.03598934e-04 9.99979071e-01 -2.80780479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1199.4365599950002 meters 0.014523512386887755 Centerline is valid? [True, True] Translation: X:-363.30, Y:-250.23, Z:-2.81 [[-6.69366128e-01 -7.42918236e-01 4.63478624e-03 -3.63295965e+02] [ 7.42901618e-01 -6.69382163e-01 -4.97039995e-03 -2.50230399e+02] [ 6.79504400e-03 1.16172832e-04 9.99976907e-01 -2.80786766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1199.4665599950001 meters 0.014757228628336835 Centerline is valid? [True, True] Translation: X:-363.32, Y:-250.21, Z:-2.81 [[-6.68594010e-01 -7.43612368e-01 4.76407159e-03 -3.63315430e+02] [ 7.43594849e-01 -6.68610970e-01 -5.10602245e-03 -2.50210875e+02] [ 6.98221197e-03 1.28683072e-04 9.99975616e-01 -2.80791783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1199.496559995 meters 0.016061125857562152 Centerline is valid? [True, True] Translation: X:-363.34, Y:-250.19, Z:-2.81 [[-6.66847255e-01 -7.45180092e-01 4.62268394e-03 -3.63336699e+02] [ 7.45163649e-01 -6.66863262e-01 -4.95247713e-03 -2.50193198e+02] [ 6.77318545e-03 1.42110258e-04 9.99977052e-01 -2.80876077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1199.526559995 meters 0.01620301879455868 Centerline is valid? [True, True] Translation: X:-363.36, Y:-250.17, Z:-2.81 [[-6.66177780e-01 -7.45779197e-01 4.53374948e-03 -3.63356505e+02] [ 7.45763411e-01 -6.66193191e-01 -4.85454300e-03 -2.50173224e+02] [ 6.64077021e-03 1.47115795e-04 9.99977939e-01 -2.80904401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1199.556559995 meters 0.016982680782606962 Centerline is valid? [True, True] Translation: X:-363.38, Y:-250.15, Z:-2.81 [[-6.65881195e-01 -7.46042810e-01 4.72858640e-03 -3.63376778e+02] [ 7.46025666e-01 -6.65897965e-01 -5.06024693e-03 -2.50154711e+02] [ 6.92391691e-03 1.58123546e-04 9.99976017e-01 -2.80993312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1199.586559995 meters 0.01619746224562444 Centerline is valid? [True, True] Translation: X:-363.39, Y:-250.13, Z:-2.81 [[-6.66011245e-01 -7.45928100e-01 4.50470689e-03 -3.63394607e+02] [ 7.45912557e-01 -6.66026462e-01 -4.81767054e-03 -2.50134738e+02] [ 6.59388982e-03 1.51494687e-04 9.99978249e-01 -2.80944774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1199.616559995 meters 0.015823233745842484 Centerline is valid? [True, True] Translation: X:-363.41, Y:-250.11, Z:-2.81 [[-6.66298480e-01 -7.45673479e-01 4.17109737e-03 -3.63413295e+02] [ 7.45660166e-01 -6.66311521e-01 -4.45806854e-03 -2.50114605e+02] [ 6.10351371e-03 1.39816864e-04 9.99981364e-01 -2.80904790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1199.646559995 meters 0.015618881951323101 Centerline is valid? [True, True] Translation: X:-363.43, Y:-250.09, Z:-2.81 [[-6.67109844e-01 -7.44951293e-01 3.46801049e-03 -3.63431604e+02] [ 7.44942092e-01 -6.67118849e-01 -3.70426761e-03 -2.50094397e+02] [ 5.07307411e-03 1.12313603e-04 9.99987126e-01 -2.80850842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1199.676559995 meters 0.014954873093190322 Centerline is valid? [True, True] Translation: X:-363.45, Y:-250.07, Z:-2.81 [[-6.69344399e-01 -7.42950028e-01 1.82533866e-03 -3.63449159e+02] [ 7.42947474e-01 -6.69346886e-01 -1.94860416e-03 -2.50072782e+02] [ 2.66950026e-03 5.18434643e-05 9.99996436e-01 -2.80667043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1199.7065599950001 meters 0.014725387660372085 Centerline is valid? [True, True] Translation: X:-363.47, Y:-250.05, Z:-2.81 [[-6.70688935e-01 -7.41737801e-01 1.17802431e-03 -3.63467385e+02] [ 7.41736737e-01 -6.70689969e-01 -1.25683684e-03 -2.50051891e+02] [ 1.72233248e-03 3.08373447e-05 9.99998517e-01 -2.80583822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1199.736559995 meters 0.014191123965813988 Centerline is valid? [True, True] Translation: X:-363.48, Y:-250.03, Z:-2.81 [[-6.72097904e-01 -7.40461945e-01 7.18074890e-04 -3.63484803e+02] [ 7.40461549e-01 -6.72098288e-01 -7.65634844e-04 -2.50030899e+02] [ 1.04954037e-03 1.71252716e-05 9.99999449e-01 -2.80524565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1199.766559995 meters 0.014100266750724628 Centerline is valid? [True, True] Translation: X:-363.50, Y:-250.01, Z:-2.80 [[-6.73343078e-01 -7.39330066e-01 3.89839178e-04 -3.63502443e+02] [ 7.39329950e-01 -6.73343191e-01 -4.15401357e-04 -2.50010795e+02] [ 5.69614271e-04 8.51215157e-06 9.99999838e-01 -2.80485990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1199.796559995 meters 0.013793550722460909 Centerline is valid? [True, True] Translation: X:-363.52, Y:-249.99, Z:-2.80 [[-6.74200194e-01 -7.38548572e-01 3.24618418e-04 -3.63520013e+02] [ 7.38548491e-01 -6.74200272e-01 -3.45688522e-04 -2.49990203e+02] [ 4.74165592e-04 6.68317479e-06 9.99999888e-01 -2.80472880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1199.826559995 meters 0.013431975713737197 Centerline is valid? [True, True] Translation: X:-363.54, Y:-249.97, Z:-2.80 [[-6.75196830e-01 -7.37637583e-01 1.94023864e-04 -3.63538346e+02] [ 7.37637554e-01 -6.75196857e-01 -2.06501953e-04 -2.49968908e+02] [ 2.83327907e-04 3.68982485e-06 9.99999960e-01 -2.80489636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1199.856559995 meters 0.013556164866992864 Centerline is valid? [True, True] Translation: X:-363.56, Y:-249.95, Z:-2.81 [[-6.75455059e-01 -7.37401061e-01 3.73240259e-04 -3.63556964e+02] [ 7.37400954e-01 -6.75455162e-01 -3.96977565e-04 -2.49950003e+02] [ 5.44838739e-04 7.08721859e-06 9.99999852e-01 -2.80505066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1199.886559995 meters 0.013765785728060675 Centerline is valid? [True, True] Translation: X:-363.58, Y:-249.93, Z:-2.81 [[-6.75654679e-01 -7.37217916e-01 7.06582409e-04 -3.63575539e+02] [ 7.37217533e-01 -6.75655049e-01 -7.51154362e-04 -2.49931432e+02] [ 1.03117043e-03 1.33839809e-05 9.99999468e-01 -2.80545953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1199.916559995 meters 0.01359366172214744 Centerline is valid? [True, True] Translation: X:-363.59, Y:-249.91, Z:-2.81 [[-6.75667542e-01 -7.37205748e-01 1.02873032e-03 -3.63594028e+02] [ 7.37204938e-01 -6.75668325e-01 -1.09293377e-03 -2.49911709e+02] [ 1.50079755e-03 1.99252026e-05 9.99998874e-01 -2.80599240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1199.9465599950001 meters 0.013476516674987915 Centerline is valid? [True, True] Translation: X:-363.61, Y:-249.89, Z:-2.81 [[-6.75795264e-01 -7.37087957e-01 1.45074046e-03 -3.63613817e+02] [ 7.37086348e-01 -6.75796820e-01 -1.54041167e-03 -2.49891234e+02] [ 2.11582469e-03 2.83180761e-05 9.99997761e-01 -2.80612963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1199.9765599950001 meters 0.013508956169933774 Centerline is valid? [True, True] Translation: X:-363.63, Y:-249.87, Z:-2.81 [[-6.75908496e-01 -7.36982822e-01 2.00653238e-03 -3.63633707e+02] [ 7.36979747e-01 -6.75911473e-01 -2.12921836e-03 -2.49871871e+02] [ 2.92543561e-03 3.96169493e-05 9.99995720e-01 -2.80655013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1200.006559995 meters 0.013469701894045725 Centerline is valid? [True, True] Translation: X:-363.65, Y:-249.85, Z:-2.81 [[-6.76035735e-01 -7.36866309e-01 1.93062443e-03 -3.63653147e+02] [ 7.36863466e-01 -6.76038491e-01 -2.04751521e-03 -2.49851782e+02] [ 2.81392140e-03 3.84131618e-05 9.99996040e-01 -2.80642674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1200.036559995 meters 0.013427100958116564 Centerline is valid? [True, True] Translation: X:-363.67, Y:-249.83, Z:-2.81 [[-6.76136840e-01 -7.36773153e-01 2.07238023e-03 -3.63672850e+02] [ 7.36769880e-01 -6.76140015e-01 -2.19661653e-03 -2.49831393e+02] [ 3.01962729e-03 4.16539776e-05 9.99995440e-01 -2.80594472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1200.066559995 meters 0.013678661503779839 Centerline is valid? [True, True] Translation: X:-363.69, Y:-249.81, Z:-2.81 [[-6.76283965e-01 -7.36638670e-01 1.86258643e-03 -3.63691437e+02] [ 7.36636028e-01 -6.76286529e-01 -1.97327881e-03 -2.49813113e+02] [ 2.71323559e-03 3.75514501e-05 9.99996319e-01 -2.80552797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1200.096559995 meters 0.013736851540020441 Centerline is valid? [True, True] Translation: X:-363.71, Y:-249.79, Z:-2.81 [[-6.76734684e-01 -7.36225521e-01 1.46584955e-03 -3.63709934e+02] [ 7.36223886e-01 -6.76736271e-01 -1.55196164e-03 -2.49794539e+02] [ 2.13458733e-03 2.89271835e-05 9.99997722e-01 -2.80510846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1200.126559995 meters 0.013261116201076202 Centerline is valid? [True, True] Translation: X:-363.73, Y:-249.77, Z:-2.80 [[-6.77195632e-01 -7.35801207e-01 1.63067286e-03 -3.63728793e+02] [ 7.35799185e-01 -6.77197595e-01 -1.72549694e-03 -2.49773094e+02] [ 2.37391048e-03 3.13487688e-05 9.99997182e-01 -2.80478088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1200.156559995 meters 0.013668226731600645 Centerline is valid? [True, True] Translation: X:-363.75, Y:-249.76, Z:-2.80 [[-6.77577431e-01 -7.35449796e-01 1.55664049e-03 -3.63747615e+02] [ 7.35447955e-01 -6.77579218e-01 -1.64606894e-03 -2.49755340e+02] [ 2.26534831e-03 2.94889066e-05 9.99997434e-01 -2.80492518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1200.1865599950002 meters 0.013252133220371482 Centerline is valid? [True, True] Translation: X:-363.77, Y:-249.73, Z:-2.80 [[-6.77994651e-01 -7.35064944e-01 1.66775515e-03 -3.63765904e+02] [ 7.35062832e-01 -6.77996701e-01 -1.76246586e-03 -2.49734972e+02] [ 2.42625936e-03 3.09623997e-05 9.99997056e-01 -2.80461143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1200.2165599950001 meters 0.013581535467346847 Centerline is valid? [True, True] Translation: X:-363.79, Y:-249.72, Z:-2.81 [[-6.78585908e-01 -7.34519334e-01 1.58528635e-03 -3.63785175e+02] [ 7.34517427e-01 -6.78587759e-01 -1.67421955e-03 -2.49716569e+02] [ 2.30550254e-03 2.83186523e-05 9.99997342e-01 -2.80504688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1200.246559995 meters 0.012788463280226285 Centerline is valid? [True, True] Translation: X:-363.80, Y:-249.69, Z:-2.80 [[-6.79312188e-01 -7.33847433e-01 1.70195077e-03 -3.63803373e+02] [ 7.33845235e-01 -6.79314320e-01 -1.79640960e-03 -2.49694771e+02] [ 2.47445011e-03 2.86455236e-05 9.99996938e-01 -2.80459337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1200.276559995 meters 0.012732586456346907 Centerline is valid? [True, True] Translation: X:-363.82, Y:-249.67, Z:-2.80 [[-6.79758666e-01 -7.33433745e-01 1.76011975e-03 -3.63823110e+02] [ 7.33431395e-01 -6.79760944e-01 -1.85682367e-03 -2.49674102e+02] [ 2.55831780e-03 2.87351053e-05 9.99996727e-01 -2.80476548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1200.306559995 meters 0.01260402119582375 Centerline is valid? [True, True] Translation: X:-363.84, Y:-249.65, Z:-2.81 [[-6.80236436e-01 -7.32989869e-01 2.05973060e-03 -3.63842658e+02] [ 7.32986653e-01 -6.80239554e-01 -2.17166713e-03 -2.49653567e+02] [ 2.99292024e-03 3.25079324e-05 9.99995521e-01 -2.80505255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1200.336559995 meters 0.012639425824997379 Centerline is valid? [True, True] Translation: X:-363.86, Y:-249.63, Z:-2.81 [[-6.80489556e-01 -7.32753988e-01 2.35723405e-03 -3.63861805e+02] [ 7.32749779e-01 -6.80493638e-01 -2.48394498e-03 -2.49633676e+02] [ 3.42420336e-03 3.69641105e-05 9.99994137e-01 -2.80536017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1200.366559995 meters 0.012603173842409962 Centerline is valid? [True, True] Translation: X:-363.88, Y:-249.61, Z:-2.81 [[-6.80994274e-01 -7.32283284e-01 2.82679281e-03 -3.63880659e+02] [ 7.32277235e-01 -6.81000140e-01 -2.97687939e-03 -2.49614192e+02] [ 4.10496532e-03 4.27582013e-05 9.99991574e-01 -2.80572402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1200.396559995 meters 0.012571710732344943 Centerline is valid? [True, True] Translation: X:-363.90, Y:-249.60, Z:-2.81 [[-6.81658265e-01 -7.31663351e-01 3.27875808e-03 -3.63898992e+02] [ 7.31655216e-01 -6.81666149e-01 -3.45057682e-03 -2.49595384e+02] [ 4.75967899e-03 4.68062380e-05 9.99988672e-01 -2.80626254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1200.426559995 meters 0.012268774962950117 Centerline is valid? [True, True] Translation: X:-363.92, Y:-249.58, Z:-2.81 [[-6.82996356e-01 -7.30410461e-01 4.06649799e-03 -3.63916512e+02] [ 7.30397940e-01 -6.83008460e-01 -4.27691427e-03 -2.49575072e+02] [ 5.90135545e-03 4.90448916e-05 9.99982586e-01 -2.80688890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1200.4565599950001 meters 0.012069040965979666 Centerline is valid? [True, True] Translation: X:-363.93, Y:-249.55, Z:-2.81 [[-6.84171267e-01 -7.29306822e-01 4.60837719e-03 -3.63934589e+02] [ 7.29290738e-01 -6.84186785e-01 -4.84381714e-03 -2.49554836e+02] [ 6.68561966e-03 4.68462939e-05 9.99977650e-01 -2.80731250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1200.486559995 meters 0.01191177714951779 Centerline is valid? [True, True] Translation: X:-363.95, Y:-249.53, Z:-2.81 [[-6.85564824e-01 -7.27994849e-01 4.93671328e-03 -3.63952528e+02] [ 7.27976378e-01 -6.85582598e-01 -5.18601402e-03 -2.49533764e+02] [ 7.15991621e-03 3.84618622e-05 9.99974367e-01 -2.80697758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1200.516559995 meters 0.011781964022774418 Centerline is valid? [True, True] Translation: X:-363.97, Y:-249.51, Z:-2.81 [[-6.87482103e-01 -7.26186422e-01 4.65181709e-03 -3.63969398e+02] [ 7.26170002e-01 -6.87497840e-01 -4.88349414e-03 -2.49513753e+02] [ 6.74444134e-03 2.06952089e-05 9.99977256e-01 -2.80708629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1200.546559995 meters 0.011759644852876542 Centerline is valid? [True, True] Translation: X:-363.99, Y:-249.49, Z:-2.81 [[-6.91352739e-01 -7.22502614e-01 4.62205610e-03 -3.63985277e+02] [ 7.22486340e-01 -6.91368189e-01 -4.84922889e-03 -2.49491013e+02] [ 6.69912310e-03 -1.31552813e-05 9.99977561e-01 -2.80638401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1200.576559995 meters 0.012010832432416392 Centerline is valid? [True, True] Translation: X:-364.00, Y:-249.47, Z:-2.81 [[-6.93646137e-01 -7.20301702e-01 4.52720235e-03 -3.64003525e+02] [ 7.20286060e-01 -6.93660909e-01 -4.74705037e-03 -2.49469104e+02] [ 6.55965176e-03 -3.18923998e-05 9.99978485e-01 -2.80588034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1200.606559995 meters 0.012163048684623172 Centerline is valid? [True, True] Translation: X:-364.02, Y:-249.45, Z:-2.81 [[-6.95788966e-01 -7.18233399e-01 4.30119149e-03 -3.64021825e+02] [ 7.18219256e-01 -6.95802258e-01 -4.50754835e-03 -2.49447486e+02] [ 6.23025053e-03 -4.71038528e-05 9.99980591e-01 -2.80598445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1200.636559995 meters 0.012523088192174328 Centerline is valid? [True, True] Translation: X:-364.04, Y:-249.43, Z:-2.81 [[-6.97695976e-01 -7.16382738e-01 4.01217068e-03 -3.64040148e+02] [ 7.16370415e-01 -6.97707510e-01 -4.20230609e-03 -2.49426491e+02] [ 5.80978116e-03 -5.77316804e-05 9.99983122e-01 -2.80586231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1200.666559995 meters 0.012979383921837274 Centerline is valid? [True, True] Translation: X:-364.06, Y:-249.41, Z:-2.81 [[-6.99426481e-01 -7.14694064e-01 3.87196602e-03 -3.64058727e+02] [ 7.14682574e-01 -6.99437195e-01 -4.05318720e-03 -2.49405717e+02] [ 5.60498589e-03 -6.76798170e-05 9.99984290e-01 -2.80562888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1200.6965599950001 meters 0.013163069633722376 Centerline is valid? [True, True] Translation: X:-364.08, Y:-249.39, Z:-2.81 [[-7.00708952e-01 -7.13436946e-01 3.83256395e-03 -3.64077449e+02] [ 7.13425682e-01 -7.00719429e-01 -4.00968878e-03 -2.49385167e+02] [ 5.54621214e-03 -7.53752690e-05 9.99984617e-01 -2.80584234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1200.7265599950001 meters 0.013621308523226527 Centerline is valid? [True, True] Translation: X:-364.10, Y:-249.37, Z:-2.81 [[-7.01992162e-01 -7.12173020e-01 4.07356426e-03 -3.64095653e+02] [ 7.12160284e-01 -7.02003975e-01 -4.26008323e-03 -2.49365238e+02] [ 5.89357465e-03 -8.95143555e-05 9.99982629e-01 -2.80627866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1200.756559995 meters 0.013802230136089584 Centerline is valid? [True, True] Translation: X:-364.11, Y:-249.35, Z:-2.81 [[-7.02412653e-01 -7.11757257e-01 4.25115764e-03 -3.64114588e+02] [ 7.11743395e-01 -7.02425511e-01 -4.44306198e-03 -2.49345747e+02] [ 6.14850319e-03 -9.51295846e-05 9.99981093e-01 -2.80683466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1200.786559995 meters 0.014216163565314913 Centerline is valid? [True, True] Translation: X:-364.13, Y:-249.33, Z:-2.81 [[-7.02432961e-01 -7.11733464e-01 4.83857093e-03 -3.64132596e+02] [ 7.11715524e-01 -7.02449617e-01 -5.05457378e-03 -2.49326595e+02] [ 6.99636161e-03 -1.06813185e-04 9.99975520e-01 -2.80752701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1200.816559995 meters 0.013723381090163763 Centerline is valid? [True, True] Translation: X:-364.15, Y:-249.31, Z:-2.81 [[-7.02563871e-01 -7.11602323e-01 5.11291102e-03 -3.64153473e+02] [ 7.11582311e-01 -7.02582467e-01 -5.33784816e-03 -2.49308265e+02] [ 7.39066678e-03 -1.11922233e-04 9.99972683e-01 -2.80738413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1200.846559995 meters 0.014055678327692164 Centerline is valid? [True, True] Translation: X:-364.17, Y:-249.29, Z:-2.81 [[-7.02490927e-01 -7.11674630e-01 5.07140003e-03 -3.64171947e+02] [ 7.11654969e-01 -7.02509224e-01 -5.29106783e-03 -2.49289891e+02] [ 7.32822404e-03 -1.07840115e-04 9.99973143e-01 -2.80825356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1200.876559995 meters 0.013787172840532593 Centerline is valid? [True, True] Translation: X:-364.19, Y:-249.27, Z:-2.81 [[-7.02106027e-01 -7.12052259e-01 5.35798321e-03 -3.64192397e+02] [ 7.12030351e-01 -7.02126462e-01 -5.58666435e-03 -2.49271691e+02] [ 7.73997876e-03 -1.07384043e-04 9.99970040e-01 -2.80835140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1200.906559995 meters 0.01309456301234538 Centerline is valid? [True, True] Translation: X:-364.21, Y:-249.25, Z:-2.81 [[-7.01512928e-01 -7.12635258e-01 5.53191637e-03 -3.64213681e+02] [ 7.12611948e-01 -7.01534731e-01 -5.76479027e-03 -2.49253579e+02] [ 7.98902427e-03 -1.01965203e-04 9.99968082e-01 -2.80832024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1200.9365599950002 meters 0.013038639342460988 Centerline is valid? [True, True] Translation: X:-364.23, Y:-249.24, Z:-2.81 [[-7.01116978e-01 -7.13020784e-01 6.02860206e-03 -3.64233806e+02] [ 7.12993149e-01 -7.01142889e-01 -6.27844754e-03 -2.49235413e+02] [ 8.70357506e-03 -1.03574201e-04 9.99962118e-01 -2.80911612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1200.9665599950001 meters 0.013036254813503121 Centerline is valid? [True, True] Translation: X:-364.25, Y:-249.22, Z:-2.81 [[-6.99777761e-01 -7.14323463e-01 7.28530666e-03 -3.64254115e+02] [ 7.14283228e-01 -6.99815676e-01 -7.58225165e-03 -2.49218906e+02] [ 1.05145521e-02 -1.02118730e-04 9.99944716e-01 -2.81092144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1200.996559995 meters 0.012950731520228617 Centerline is valid? [True, True] Translation: X:-364.27, Y:-249.20, Z:-2.81 [[-6.99286443e-01 -7.14800938e-01 7.62169214e-03 -3.64274182e+02] [ 7.14756983e-01 -6.99327970e-01 -7.92747378e-03 -2.49200661e+02] [ 1.09966282e-02 -9.59172568e-05 9.99939531e-01 -2.81143096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1201.026559995 meters 0.012793353984473522 Centerline is valid? [True, True] Translation: X:-364.29, Y:-249.18, Z:-2.81 [[-6.98800164e-01 -7.15269461e-01 8.24190681e-03 -3.64294441e+02] [ 7.15218157e-01 -6.98848761e-01 -8.56723168e-03 -2.49181806e+02] [ 1.18877255e-02 -9.20215077e-05 9.99929334e-01 -2.81114298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1201.056559995 meters 0.012684908547223176 Centerline is valid? [True, True] Translation: X:-364.31, Y:-249.16, Z:-2.81 [[-6.98421130e-01 -7.15638469e-01 8.33712867e-03 -3.64313945e+02] [ 7.15586064e-01 -6.98470884e-01 -8.66081160e-03 -2.49162899e+02] [ 1.20212516e-02 -8.29607342e-05 9.99927739e-01 -2.81077987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1201.086559995 meters 0.012643378654710265 Centerline is valid? [True, True] Translation: X:-364.33, Y:-249.14, Z:-2.81 [[-6.98067229e-01 -7.15983195e-01 8.37904695e-03 -3.64333642e+02] [ 7.15930352e-01 -6.98117511e-01 -8.69896447e-03 -2.49143772e+02] [ 1.20778718e-02 -7.36479829e-05 9.99927057e-01 -2.81026342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1201.116559995 meters 0.012541176230562846 Centerline is valid? [True, True] Translation: X:-364.35, Y:-249.13, Z:-2.81 [[-6.97786838e-01 -7.16257350e-01 8.30286264e-03 -3.64353138e+02] [ 7.16205547e-01 -6.97836231e-01 -8.61447870e-03 -2.49125337e+02] [ 1.19642220e-02 -6.45135740e-05 9.99928424e-01 -2.80912483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1201.146559995 meters 0.012541176230562846 Centerline is valid? [True, True] Translation: X:-364.37, Y:-249.11, Z:-2.81 [[-6.98010638e-01 -7.16039221e-01 8.30555450e-03 -3.64371781e+02] [ 7.15987434e-01 -6.98060047e-01 -8.61188340e-03 -2.49106141e+02] [ 1.19642220e-02 -6.45135728e-05 9.99928424e-01 -2.80912463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1201.176559995 meters 0.012247894085373726 Centerline is valid? [True, True] Translation: X:-364.39, Y:-249.09, Z:-2.81 [[-6.96974532e-01 -7.17061618e-01 7.00979726e-03 -3.64393310e+02] [ 7.17024823e-01 -6.97009781e-01 -7.26425399e-03 -2.49087476e+02] [ 1.00948150e-02 -3.68013906e-05 9.99949046e-01 -2.80731537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1201.2065599950001 meters 0.012208228660958111 Centerline is valid? [True, True] Translation: X:-364.41, Y:-249.07, Z:-2.81 [[-6.96436334e-01 -7.17587072e-01 6.72513729e-03 -3.64412425e+02] [ 7.17553261e-01 -6.96468803e-01 -6.96585062e-03 -2.49069434e+02] [ 9.68245267e-03 -2.56272776e-05 9.99953124e-01 -2.80698063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1201.236559995 meters 0.012181370893286114 Centerline is valid? [True, True] Translation: X:-364.43, Y:-249.05, Z:-2.81 [[-6.95979649e-01 -7.18036036e-01 6.04814106e-03 -3.64431842e+02] [ 7.18008742e-01 -6.96005928e-01 -6.26060018e-03 -2.49051681e+02] [ 8.70487857e-03 -1.46321565e-05 9.99962112e-01 -2.80667113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1201.266559995 meters 0.01196605920590638 Centerline is valid? [True, True] Translation: X:-364.45, Y:-249.03, Z:-2.81 [[-6.95279185e-01 -7.18718103e-01 5.58069134e-03 -3.64452149e+02] [ 7.18694916e-01 -6.95301581e-01 -5.77314020e-03 -2.49033596e+02] [ 8.02952389e-03 -3.12971996e-06 9.99967763e-01 -2.80573665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1201.296559995 meters 0.012015449639173928 Centerline is valid? [True, True] Translation: X:-364.47, Y:-249.02, Z:-2.81 [[-6.94810015e-01 -7.19172959e-01 5.41288085e-03 -3.64472051e+02] [ 7.19151186e-01 -6.94831099e-01 -5.59604111e-03 -2.49015005e+02] [ 7.78555939e-03 4.49428236e-06 9.99969692e-01 -2.80550454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1201.326559995 meters 0.011992051319346206 Centerline is valid? [True, True] Translation: X:-364.49, Y:-249.00, Z:-2.81 [[-6.94323368e-01 -7.19641816e-01 5.54227315e-03 -3.64492241e+02] [ 7.19619031e-01 -6.94345488e-01 -5.72659039e-03 -2.48995592e+02] [ 7.96934626e-03 1.22197053e-05 9.99968244e-01 -2.80526014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1201.356559995 meters 0.012103798048877288 Centerline is valid? [True, True] Translation: X:-364.51, Y:-248.98, Z:-2.81 [[-6.93096473e-01 -7.20823568e-01 5.53749658e-03 -3.64513735e+02] [ 7.20800886e-01 -6.93118593e-01 -5.71840822e-03 -2.48976737e+02] [ 7.96010525e-03 2.80238779e-05 9.99968318e-01 -2.80541203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1201.386559995 meters 0.012210330391570608 Centerline is valid? [True, True] Translation: X:-364.53, Y:-248.96, Z:-2.81 [[-6.92771493e-01 -7.21136247e-01 5.49288494e-03 -3.64534009e+02] [ 7.21113965e-01 -6.92793268e-01 -5.66894693e-03 -2.48958744e+02] [ 7.89351682e-03 3.37112042e-05 9.99968845e-01 -2.80640278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1201.416559995 meters 0.012272419931525738 Centerline is valid? [True, True] Translation: X:-364.55, Y:-248.94, Z:-2.81 [[-6.92461055e-01 -7.21433777e-01 5.56701294e-03 -3.64553318e+02] [ 7.21410928e-01 -6.92483432e-01 -5.74188098e-03 -2.48940121e+02] [ 7.99745111e-03 4.00750130e-05 9.99968019e-01 -2.80606113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1201.4465599950001 meters 0.012444199040473758 Centerline is valid? [True, True] Translation: X:-364.57, Y:-248.92, Z:-2.81 [[-6.91780589e-01 -7.22083317e-01 5.94145101e-03 -3.64573230e+02] [ 7.22057349e-01 -6.91806101e-01 -6.12409282e-03 -2.48922269e+02] [ 8.53243731e-03 5.35398227e-05 9.99963597e-01 -2.80680487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1201.4765599950001 meters 0.012446555012532314 Centerline is valid? [True, True] Translation: X:-364.59, Y:-248.90, Z:-2.81 [[-6.91697999e-01 -7.22160950e-01 6.11884174e-03 -3.64592668e+02] [ 7.22133446e-01 -6.91725060e-01 -6.30300617e-03 -2.48902704e+02] [ 8.78434110e-03 5.88435183e-05 9.99961415e-01 -2.80620032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1201.506559995 meters 0.012525882659754205 Centerline is valid? [True, True] Translation: X:-364.61, Y:-248.88, Z:-2.81 [[-6.91610939e-01 -7.22241290e-01 6.46750819e-03 -3.64611892e+02] [ 7.22210603e-01 -6.91641175e-01 -6.65800962e-03 -2.48883633e+02] [ 9.28188443e-03 6.61507066e-05 9.99956920e-01 -2.80627061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1201.536559995 meters 0.012522662118890493 Centerline is valid? [True, True] Translation: X:-364.63, Y:-248.86, Z:-2.81 [[-6.91744241e-01 -7.22111147e-01 6.73766495e-03 -3.64631092e+02] [ 7.22077879e-01 -6.91777050e-01 -6.93181871e-03 -2.48864555e+02] [ 9.66650554e-03 7.00731428e-05 9.99953276e-01 -2.80690494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1201.566559995 meters 0.012632365531497129 Centerline is valid? [True, True] Translation: X:-364.65, Y:-248.85, Z:-2.81 [[-6.91884549e-01 -7.21970513e-01 7.37225687e-03 -3.64649784e+02] [ 7.21930727e-01 -6.91923820e-01 -7.57976942e-03 -2.48845735e+02] [ 1.05734102e-02 7.79334179e-05 9.99944097e-01 -2.80743143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1201.596559995 meters 0.012646209998796601 Centerline is valid? [True, True] Translation: X:-364.67, Y:-248.83, Z:-2.81 [[-6.92427425e-01 -7.21449847e-01 7.37426239e-03 -3.64668343e+02] [ 7.21410062e-01 -6.92466687e-01 -7.57695537e-03 -2.48826721e+02] [ 1.05728243e-02 7.33753911e-05 9.99944104e-01 -2.80801672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1201.626559995 meters 0.01263092003700029 Centerline is valid? [True, True] Translation: X:-364.69, Y:-248.81, Z:-2.81 [[-6.93528129e-01 -7.20390881e-01 7.46415417e-03 -3.64685954e+02] [ 7.20350097e-01 -6.93568292e-01 -7.66570527e-03 -2.48807369e+02] [ 1.06992048e-02 6.04219475e-05 9.99942760e-01 -2.80868098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1201.656559995 meters 0.012549633277052528 Centerline is valid? [True, True] Translation: X:-364.70, Y:-248.79, Z:-2.81 [[-6.94561250e-01 -7.19398165e-01 7.13800551e-03 -3.64704262e+02] [ 7.19360859e-01 -6.94597926e-01 -7.32634473e-03 -2.48787267e+02] [ 1.02286028e-02 4.62066257e-05 9.99947686e-01 -2.80858007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1201.6865599950002 meters 0.012456625191389677 Centerline is valid? [True, True] Translation: X:-364.72, Y:-248.77, Z:-2.81 [[-6.95472891e-01 -7.18517901e-01 7.03447832e-03 -3.64721942e+02] [ 7.18481671e-01 -6.95508465e-01 -7.21554400e-03 -2.48767467e+02] [ 1.00770367e-02 3.59284928e-05 9.99949225e-01 -2.80828076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1201.7165599950001 meters 0.01240340682878439 Centerline is valid? [True, True] Translation: X:-364.74, Y:-248.75, Z:-2.81 [[-6.96583369e-01 -7.17443226e-01 6.84302390e-03 -3.64740103e+02] [ 7.17408930e-01 -6.96616980e-01 -7.01501597e-03 -2.48746639e+02] [ 9.79984233e-03 2.27029957e-05 9.99951980e-01 -2.80810309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1201.746559995 meters 0.012276750530827692 Centerline is valid? [True, True] Translation: X:-364.76, Y:-248.72, Z:-2.81 [[-6.98355432e-01 -7.15717494e-01 6.93977479e-03 -3.64757288e+02] [ 7.15682175e-01 -6.98389912e-01 -7.11018162e-03 -2.48724843e+02] [ 9.93555007e-03 1.23916266e-06 9.99950641e-01 -2.80701633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1201.776559995 meters 0.012326124045144604 Centerline is valid? [True, True] Translation: X:-364.78, Y:-248.70, Z:-2.81 [[-6.98993739e-01 -7.15094101e-01 6.94113439e-03 -3.64775466e+02] [ 7.15058780e-01 -6.99028201e-01 -7.10734426e-03 -2.48704287e+02] [ 9.93446864e-03 -4.67004839e-06 9.99950652e-01 -2.80682355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1201.806559995 meters 0.012274537668659108 Centerline is valid? [True, True] Translation: X:-364.79, Y:-248.68, Z:-2.81 [[-6.99265948e-01 -7.14829235e-01 6.80431669e-03 -3.64794730e+02] [ 7.14795318e-01 -6.99299053e-01 -6.96335140e-03 -2.48683191e+02] [ 9.73585937e-03 -5.54080695e-06 9.99952606e-01 -2.80669473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1201.836559995 meters 0.0124004815410599 Centerline is valid? [True, True] Translation: X:-364.81, Y:-248.66, Z:-2.81 [[-6.99239182e-01 -7.14857353e-01 6.59784895e-03 -3.64812792e+02] [ 7.14825496e-01 -6.99270309e-01 -6.74877274e-03 -2.48663916e+02] [ 9.43808969e-03 -2.69568495e-06 9.99955460e-01 -2.80783532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1201.866559995 meters 0.012279297602386996 Centerline is valid? [True, True] Translation: X:-364.83, Y:-248.64, Z:-2.81 [[-6.98887093e-01 -7.15202367e-01 6.51190598e-03 -3.64832069e+02] [ 7.15171384e-01 -6.98917430e-01 -6.65714194e-03 -2.48643990e+02] [ 9.31248826e-03 4.53823348e-06 9.99956638e-01 -2.80682505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1201.896559995 meters 0.012191625963490143 Centerline is valid? [True, True] Translation: X:-364.85, Y:-248.62, Z:-2.81 [[-6.98215693e-01 -7.15856707e-01 6.63484819e-03 -3.64852053e+02] [ 7.15824609e-01 -6.98247216e-01 -6.77903472e-03 -2.48623863e+02] [ 9.48558175e-03 1.61591899e-05 9.99955011e-01 -2.80703321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1201.926559995 meters 0.012332668073797572 Centerline is valid? [True, True] Translation: X:-364.87, Y:-248.61, Z:-2.81 [[-6.96305091e-01 -7.17714829e-01 6.68166826e-03 -3.64870990e+02] [ 7.17682404e-01 -6.96337147e-01 -6.82237843e-03 -2.48606150e+02] [ 9.54921598e-03 4.48589061e-05 9.99954404e-01 -2.80809682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1201.9565599950001 meters 0.012531844171286721 Centerline is valid? [True, True] Translation: X:-364.89, Y:-248.59, Z:-2.81 [[-6.95182898e-01 -7.18800978e-01 6.77442558e-03 -3.64890874e+02] [ 7.18767739e-01 -6.95215902e-01 -6.91283572e-03 -2.48587068e+02] [ 9.67864147e-03 6.35533925e-05 9.99953159e-01 -2.80858543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1201.986559995 meters 0.012608268956600577 Centerline is valid? [True, True] Translation: X:-364.91, Y:-248.57, Z:-2.81 [[-6.93962192e-01 -7.19978694e-01 6.86703473e-03 -3.64910849e+02] [ 7.19944636e-01 -6.93996162e-01 -7.00338206e-03 -2.48566754e+02] [ 9.80798162e-03 8.38024594e-05 9.99951897e-01 -2.80814233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1202.016559995 meters 0.0130235184762656 Centerline is valid? [True, True] Translation: X:-364.93, Y:-248.55, Z:-2.81 [[-6.92753821e-01 -7.21142293e-01 6.77762579e-03 -3.64930693e+02] [ 7.21109212e-01 -6.92786968e-01 -6.90808423e-03 -2.48548009e+02] [ 9.67716252e-03 1.01806651e-04 9.99953170e-01 -2.80906516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1202.046559995 meters 0.013447952206462591 Centerline is valid? [True, True] Translation: X:-364.95, Y:-248.53, Z:-2.81 [[-6.91498164e-01 -7.22346450e-01 6.77473084e-03 -3.64950562e+02] [ 7.22313491e-01 -6.91531339e-01 -6.90137807e-03 -2.48528687e+02] [ 9.67012463e-03 1.21189222e-04 9.99953236e-01 -2.80929275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1202.076559995 meters 0.013997431500349766 Centerline is valid? [True, True] Translation: X:-364.97, Y:-248.51, Z:-2.81 [[-6.89092955e-01 -7.24644612e-01 6.40975709e-03 -3.64969583e+02] [ 7.24615241e-01 -6.89122750e-01 -6.52593967e-03 -2.48508434e+02] [ 9.14609645e-03 1.47628623e-04 9.99958163e-01 -2.80841765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1202.106559995 meters 0.01442896828784028 Centerline is valid? [True, True] Translation: X:-364.99, Y:-248.49, Z:-2.81 [[-6.88254475e-01 -7.25443839e-01 6.08390628e-03 -3.64988952e+02] [ 7.25417440e-01 -6.88281347e-01 -6.19075263e-03 -2.48488556e+02] [ 8.67848257e-03 1.52558516e-04 9.99962330e-01 -2.80824435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1202.136559995 meters 0.01451433069473659 Centerline is valid? [True, True] Translation: X:-365.01, Y:-248.47, Z:-2.81 [[-6.87451032e-01 -7.26209648e-01 5.53409788e-03 -3.65008072e+02] [ 7.26187854e-01 -6.87473290e-01 -5.62811671e-03 -2.48467717e+02] [ 7.89173713e-03 1.49740031e-04 9.99968849e-01 -2.80765809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1202.166559995 meters 0.014849501255934622 Centerline is valid? [True, True] Translation: X:-365.03, Y:-248.45, Z:-2.81 [[-6.87025572e-01 -7.26613870e-01 5.30551581e-03 -3.65026731e+02] [ 7.26593878e-01 -6.87046040e-01 -5.39207167e-03 -2.48448508e+02] [ 7.56308769e-03 1.50464186e-04 9.99971388e-01 -2.80744721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1202.1965599950001 meters 0.015427091355966567 Centerline is valid? [True, True] Translation: X:-365.05, Y:-248.43, Z:-2.81 [[-6.85650079e-01 -7.27916153e-01 4.69511891e-03 -3.65045743e+02] [ 7.27900545e-01 -6.85666138e-01 -4.76904431e-03 -2.48427303e+02] [ 6.69074844e-03 1.47684008e-04 9.99977606e-01 -2.80697727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1202.2265599950001 meters 0.015592451991188845 Centerline is valid? [True, True] Translation: X:-365.07, Y:-248.41, Z:-2.81 [[-6.85213238e-01 -7.28327681e-01 4.64844671e-03 -3.65065105e+02] [ 7.28312409e-01 -6.85228989e-01 -4.71897999e-03 -2.48406824e+02] [ 6.62221419e-03 1.52013857e-04 9.99978062e-01 -2.80732988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1202.256559995 meters 0.015922445935318257 Centerline is valid? [True, True] Translation: X:-365.08, Y:-248.39, Z:-2.81 [[-6.84611446e-01 -7.28895394e-01 4.32115793e-03 -3.65084825e+02] [ 7.28882224e-01 -6.84625067e-01 -4.38426553e-03 -2.48386985e+02] [ 6.15404399e-03 1.48096837e-04 9.99981053e-01 -2.80744855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1202.286559995 meters 0.016849257275488087 Centerline is valid? [True, True] Translation: X:-365.10, Y:-248.37, Z:-2.81 [[-6.84100337e-01 -7.29377005e-01 3.98926962e-03 -3.65104415e+02] [ 7.29365797e-01 -6.84111954e-01 -4.04587592e-03 -2.48368437e+02] [ 5.68007589e-03 1.41851732e-04 9.99983858e-01 -2.80784231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1202.316559995 meters 0.017366829445259923 Centerline is valid? [True, True] Translation: X:-365.12, Y:-248.35, Z:-2.81 [[-6.83574236e-01 -7.29871201e-01 3.78075838e-03 -3.65124004e+02] [ 7.29861153e-01 -6.83584677e-01 -3.83231237e-03 -2.48348115e+02] [ 5.38156293e-03 1.39758672e-04 9.99985510e-01 -2.80751004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1202.346559995 meters 0.016919060915318855 Centerline is valid? [True, True] Translation: X:-365.14, Y:-248.33, Z:-2.81 [[-6.84587257e-01 -7.28921341e-01 3.73723925e-03 -3.65141614e+02] [ 7.28911521e-01 -6.84597445e-01 -3.78587059e-03 -2.48327161e+02] [ 5.31810630e-03 1.32357985e-04 9.99985850e-01 -2.80780744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1202.376559995 meters 0.01614853010066232 Centerline is valid? [True, True] Translation: X:-365.16, Y:-248.31, Z:-2.81 [[-6.85668927e-01 -7.27905010e-01 3.52405441e-03 -3.65159586e+02] [ 7.27896276e-01 -6.85677973e-01 -3.56768044e-03 -2.48306654e+02] [ 5.01329895e-03 1.18898463e-04 9.99987426e-01 -2.80788475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1202.406559995 meters 0.01628559952549172 Centerline is valid? [True, True] Translation: X:-365.18, Y:-248.29, Z:-2.81 [[-6.86603681e-01 -7.27023783e-01 3.43559790e-03 -3.65178239e+02] [ 7.27015483e-01 -6.86612268e-01 -3.47585237e-03 -2.48288055e+02] [ 4.88595101e-03 1.11199831e-04 9.99988058e-01 -2.80825781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1202.4365599950002 meters 0.015406489400193029 Centerline is valid? [True, True] Translation: X:-365.20, Y:-248.27, Z:-2.81 [[-6.87304225e-01 -7.26360487e-01 3.65326293e-03 -3.65196327e+02] [ 7.26351103e-01 -6.87313924e-01 -3.69386543e-03 -2.48266910e+02] [ 5.19401638e-03 1.14742243e-04 9.99986505e-01 -2.80813942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1202.4665599950001 meters 0.015425929265009124 Centerline is valid? [True, True] Translation: X:-365.22, Y:-248.25, Z:-2.81 [[-6.87799962e-01 -7.25890188e-01 3.82730109e-03 -3.65215705e+02] [ 7.25879895e-01 -6.87810600e-01 -3.86740806e-03 -2.48247146e+02] [ 5.43977182e-03 1.18157796e-04 9.99985198e-01 -2.80847202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1202.496559995 meters 0.015373968813164211 Centerline is valid? [True, True] Translation: X:-365.24, Y:-248.23, Z:-2.81 [[-6.87916930e-01 -7.25777787e-01 4.11117860e-03 -3.65235068e+02] [ 7.25765924e-01 -6.87929203e-01 -4.15164752e-03 -2.48227897e+02] [ 5.84137336e-03 1.27764716e-04 9.99982931e-01 -2.80852829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1202.526559995 meters 0.015500564485886608 Centerline is valid? [True, True] Translation: X:-365.26, Y:-248.21, Z:-2.81 [[-6.87328427e-01 -7.26334659e-01 4.19480365e-03 -3.65255588e+02] [ 7.26322333e-01 -6.87341214e-01 -4.23370183e-03 -2.48209197e+02] [ 5.95834581e-03 1.36835958e-04 9.99982240e-01 -2.80917387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1202.556559995 meters 0.01638129856944404 Centerline is valid? [True, True] Translation: X:-365.28, Y:-248.19, Z:-2.81 [[-6.86822319e-01 -7.26812133e-01 4.38473322e-03 -3.65276717e+02] [ 7.26798691e-01 -6.86836299e-01 -4.42275434e-03 -2.48191360e+02] [ 6.22610545e-03 1.49171975e-04 9.99980607e-01 -2.80997289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1202.586559995 meters 0.016158747706778685 Centerline is valid? [True, True] Translation: X:-365.30, Y:-248.17, Z:-2.81 [[-6.86259812e-01 -7.27341759e-01 4.63007109e-03 -3.65296366e+02] [ 7.27326800e-01 -6.86275411e-01 -4.66759109e-03 -2.48171889e+02] [ 6.57243785e-03 1.64394606e-04 9.99978388e-01 -2.81043195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1202.616559995 meters 0.01695549674550711 Centerline is valid? [True, True] Translation: X:-365.32, Y:-248.15, Z:-2.81 [[-6.85730618e-01 -7.27838657e-01 4.94055747e-03 -3.65316990e+02] [ 7.27821659e-01 -6.85748391e-01 -4.97763761e-03 -2.48153887e+02] [ 7.01089641e-03 1.82526219e-04 9.99975407e-01 -2.81132320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1202.646559995 meters 0.017904285573570627 Centerline is valid? [True, True] Translation: X:-365.34, Y:-248.14, Z:-2.81 [[-6.85290579e-01 -7.28247750e-01 5.66012722e-03 -3.65337614e+02] [ 7.28225472e-01 -6.85313919e-01 -5.70035762e-03 -2.48136876e+02] [ 8.03023658e-03 2.15447447e-04 9.99967734e-01 -2.81319767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1202.676559995 meters 0.017954183580958898 Centerline is valid? [True, True] Translation: X:-365.36, Y:-248.12, Z:-2.81 [[-6.85620655e-01 -7.27932691e-01 6.18986950e-03 -3.65357274e+02] [ 7.27906068e-01 -6.85648556e-01 -6.23008207e-03 -2.48117362e+02] [ 8.77915549e-03 2.34170617e-04 9.99961435e-01 -2.81375857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1202.7065599950001 meters 0.017826639562026007 Centerline is valid? [True, True] Translation: X:-365.38, Y:-248.10, Z:-2.81 [[-6.86447436e-01 -7.27150360e-01 6.50165627e-03 -3.65376018e+02] [ 7.27120989e-01 -6.86478184e-01 -6.53994543e-03 -2.48098038e+02] [ 9.21876886e-03 2.38161955e-04 9.99957478e-01 -2.81424381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1202.736559995 meters 0.0167066749429717 Centerline is valid? [True, True] Translation: X:-365.39, Y:-248.08, Z:-2.81 [[-6.87612935e-01 -7.26046874e-01 6.66251346e-03 -3.65394248e+02] [ 7.26016014e-01 -6.87645173e-01 -6.69808003e-03 -2.48076687e+02] [ 9.44456528e-03 2.31404995e-04 9.99955373e-01 -2.81383507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1202.766559995 meters 0.0172135166363294 Centerline is valid? [True, True] Translation: X:-365.41, Y:-248.06, Z:-2.81 [[-6.88856807e-01 -7.24866124e-01 6.73806991e-03 -3.65414152e+02] [ 7.24834539e-01 -6.88889725e-01 -6.77035172e-03 -2.48057610e+02] [ 9.54938575e-03 2.20182930e-04 9.99954380e-01 -2.81449523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1202.796559995 meters 0.015248007258849366 Centerline is valid? [True, True] Translation: X:-365.43, Y:-248.04, Z:-2.81 [[-6.90072762e-01 -7.23710716e-01 6.51027828e-03 -3.65431256e+02] [ 7.23681212e-01 -6.90103442e-01 -6.53780267e-03 -2.48035043e+02] [ 9.22424329e-03 1.99806533e-04 9.99957436e-01 -2.81297364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1202.826559995 meters 0.01447776771400546 Centerline is valid? [True, True] Translation: X:-365.45, Y:-248.01, Z:-2.81 [[-6.92876340e-01 -7.21035733e-01 5.46357841e-03 -3.65448604e+02] [ 7.21014893e-01 -6.92897866e-01 -5.48378875e-03 -2.48014767e+02] [ 7.73970946e-03 1.39733926e-04 9.99970038e-01 -2.81177548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1202.856559995 meters 0.014087368229099008 Centerline is valid? [True, True] Translation: X:-365.47, Y:-248.00, Z:-2.81 [[-6.94527963e-01 -7.19448519e-01 4.97365729e-03 -3.65466887e+02] [ 7.19431227e-01 -6.94545763e-01 -4.98931184e-03 -2.47995228e+02] [ 7.04398561e-03 1.12987777e-04 9.99975185e-01 -2.81119613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1202.886559995 meters 0.01365719966372865 Centerline is valid? [True, True] Translation: X:-365.49, Y:-247.97, Z:-2.81 [[-6.95619462e-01 -7.18397304e-01 4.34497945e-03 -3.65485033e+02] [ 7.18384104e-01 -6.95633025e-01 -4.35593606e-03 -2.47974659e+02] [ 6.15180392e-03 9.12902737e-05 9.99981074e-01 -2.81047955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1202.916559995 meters 0.013316438784876214 Centerline is valid? [True, True] Translation: X:-365.50, Y:-247.95, Z:-2.81 [[-6.97064102e-01 -7.16997931e-01 3.95031436e-03 -3.65503413e+02] [ 7.16987011e-01 -6.97075292e-01 -3.95779486e-03 -2.47954030e+02] [ 5.59139726e-03 7.34873649e-05 9.99984366e-01 -2.81007744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1202.9465599950001 meters 0.013366607959009739 Centerline is valid? [True, True] Translation: X:-365.52, Y:-247.94, Z:-2.81 [[-6.98420043e-01 -7.15677676e-01 3.86099042e-03 -3.65521348e+02] [ 7.15667238e-01 -6.98430712e-01 -3.86576267e-03 -2.47935099e+02] [ 5.46327434e-03 6.32582211e-05 9.99985074e-01 -2.81008066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1202.9765599950001 meters 0.013048056372929452 Centerline is valid? [True, True] Translation: X:-365.54, Y:-247.92, Z:-2.81 [[-6.99524372e-01 -7.14599201e-01 3.69262253e-03 -3.65539494e+02] [ 7.14589650e-01 -6.99534116e-01 -3.69495046e-03 -2.47915203e+02] [ 5.22352408e-03 5.40019446e-05 9.99986356e-01 -2.81005359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1203.006559995 meters 0.012669518534877876 Centerline is valid? [True, True] Translation: X:-365.56, Y:-247.89, Z:-2.81 [[-7.01121179e-01 -7.13030365e-01 4.09769388e-03 -3.65557135e+02] [ 7.13018592e-01 -7.01133152e-01 -4.09771688e-03 -2.47894498e+02] [ 5.79482559e-03 4.87358317e-05 9.99983209e-01 -2.81064610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1203.036559995 meters 0.012669518534877876 Centerline is valid? [True, True] Translation: X:-365.58, Y:-247.88, Z:-2.81 [[-7.01343630e-01 -7.12811554e-01 4.09897231e-03 -3.65576132e+02] [ 7.12799785e-01 -7.01355606e-01 -4.09643807e-03 -2.47875651e+02] [ 5.79482559e-03 4.87358335e-05 9.99983209e-01 -2.81064590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1203.066559995 meters 0.012597904379498247 Centerline is valid? [True, True] Translation: X:-366.05, Y:-248.36, Z:-1.77 [[-7.60760529e-01 6.49014698e-01 4.83101000e-03 -3.66053897e+02] [ 6.49001192e-01 7.60775866e-01 -4.18741338e-03 -2.48359281e+02] [-6.39300865e-03 -5.02875759e-05 -9.99979563e-01 -1.77303675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1203.096559995 meters 0.01252437312566983 Centerline is valid? [True, True] Translation: X:-366.04, Y:-248.34, Z:-1.77 [[-8.04708509e-01 5.93647864e-01 5.14088673e-03 -3.66038165e+02] [ 5.93635355e-01 8.04724929e-01 -3.85413414e-03 -2.48336231e+02] [-6.42499821e-03 -4.96424169e-05 -9.99979358e-01 -1.77274126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1203.126559995 meters 0.012780933030183735 Centerline is valid? [True, True] Translation: X:-365.63, Y:-247.80, Z:-2.81 [[-7.52168953e-01 -6.58948172e-01 5.40115102e-03 -3.65630379e+02] [ 6.58932092e-01 -7.52188339e-01 -4.60445148e-03 -2.47796308e+02] [ 7.09677770e-03 9.56662915e-05 9.99974813e-01 -2.81170958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1203.156559995 meters 0.012631739181307349 Centerline is valid? [True, True] Translation: X:-366.07, Y:-248.31, Z:-1.77 [[-8.07820675e-01 5.89398738e-01 5.90635269e-03 -3.66069064e+02] [ 5.89382354e-01 8.07842263e-01 -4.39521572e-03 -2.48311828e+02] [-7.36193592e-03 -6.94460755e-05 -9.99972898e-01 -1.77275182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1203.1865599950002 meters 0.012872437401777787 Centerline is valid? [True, True] Translation: X:-366.06, Y:-248.29, Z:-1.77 [[-8.47733575e-01 5.30384691e-01 6.31392226e-03 -3.66056347e+02] [ 5.30369330e-01 8.47757085e-01 -4.03724365e-03 -2.48285455e+02] [-7.49396455e-03 -7.37962695e-05 -9.99971917e-01 -1.77245163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1203.2165599950001 meters 0.01290888787177885 Centerline is valid? [True, True] Translation: X:-366.04, Y:-248.26, Z:-1.77 [[-8.83245145e-01 4.68860762e-01 6.89932230e-03 -3.66044109e+02] [ 4.68845759e-01 8.83272087e-01 -3.75155694e-03 -2.48259871e+02] [-7.85293665e-03 -7.88264521e-05 -9.99969162e-01 -1.77235191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1203.246559995 meters 0.013117787547406237 Centerline is valid? [True, True] Translation: X:-365.72, Y:-247.68, Z:-2.81 [[-8.38720598e-01 -5.44517501e-01 6.96059777e-03 -3.65715040e+02] [ 5.44499793e-01 -8.38749474e-01 -4.39268243e-03 -2.47676926e+02] [ 8.23009018e-03 1.05810815e-04 9.99966127e-01 -2.81202919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1203.276559995 meters 0.013234480389345065 Centerline is valid? [True, True] Translation: X:-366.08, Y:-248.24, Z:-1.77 [[-8.84913487e-01 4.65693187e-01 7.61428582e-03 -3.66077602e+02] [ 4.65675099e-01 8.84946240e-01 -4.10538151e-03 -2.48240695e+02] [-8.65008181e-03 -8.71241598e-05 -9.99962584e-01 -1.77113617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1203.306559995 meters 0.012663816220050236 Centerline is valid? [True, True] Translation: X:-365.75, Y:-247.66, Z:-2.81 [[-8.41693914e-01 -5.39895616e-01 8.00493376e-03 -3.65752936e+02] [ 5.39872784e-01 -8.41731967e-01 -4.96725975e-03 -2.47656577e+02] [ 9.41981040e-03 1.40733574e-04 9.99955623e-01 -2.81208173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1203.336559995 meters 0.01263215425138781 Centerline is valid? [True, True] Translation: X:-366.11, Y:-248.22, Z:-1.77 [[-8.85133069e-01 4.65262263e-01 8.39510584e-03 -3.66114004e+02] [ 4.65240631e-01 8.85172877e-01 -4.48699151e-03 -2.48224189e+02] [-9.51874781e-03 -6.58402263e-05 -9.99954694e-01 -1.77129681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1203.366559995 meters 0.012542681212981063 Centerline is valid? [True, True] Translation: X:-366.10, Y:-248.20, Z:-1.77 [[-9.15149035e-01 4.03024590e-01 8.56874587e-03 -3.66100502e+02] [ 4.03006433e-01 9.15189149e-01 -3.82594755e-03 -2.48200502e+02] [-9.38397418e-03 -4.80525047e-05 -9.99955969e-01 -1.77130846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1203.396559995 meters 0.012408195044913091 Centerline is valid? [True, True] Translation: X:-365.83, Y:-247.59, Z:-2.81 [[-8.82116593e-01 -4.70965333e-01 7.87216086e-03 -3.65826945e+02] [ 4.70946759e-01 -8.82151719e-01 -4.18277264e-03 -2.47585990e+02] [ 8.91438114e-03 1.76754931e-05 9.99960266e-01 -2.81260958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1203.426559995 meters 0.012238830121397986 Centerline is valid? [True, True] Translation: X:-366.14, Y:-248.19, Z:-1.77 [[-9.15005926e-01 4.03359731e-01 8.06733132e-03 -3.66139664e+02] [ 4.03343969e-01 9.15041489e-01 -3.56594030e-03 -2.48186055e+02] [-8.82029959e-03 -8.94707448e-06 -9.99961101e-01 -1.77133099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1203.4565599950001 meters 0.01226537364926711 Centerline is valid? [True, True] Translation: X:-366.13, Y:-248.16, Z:-1.77 [[-9.40593162e-01 3.39433416e-01 8.33425315e-03 -3.66129727e+02] [ 3.39420181e-01 9.40630085e-01 -2.99744276e-03 -2.48160993e+02] [-8.85688149e-03 9.43955361e-06 -9.99960777e-01 -1.77127593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1203.486559995 meters 0.012433186337493985 Centerline is valid? [True, True] Translation: X:-365.90, Y:-247.52, Z:-2.81 [[-9.17897075e-01 -3.96742856e-01 7.75021594e-03 -3.65895789e+02] [ 3.96728415e-01 -9.17929793e-01 -3.38521609e-03 -2.47524617e+02] [ 8.45721441e-03 -3.25490681e-05 9.99964237e-01 -2.81146060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1203.516559995 meters 0.012744018176074142 Centerline is valid? [True, True] Translation: X:-366.17, Y:-248.15, Z:-1.77 [[-9.40057659e-01 3.40924645e-01 7.87304293e-03 -3.66169143e+02] [ 3.40913166e-01 9.40090625e-01 -2.79818605e-03 -2.48149697e+02] [-8.35534444e-03 5.35677683e-05 -9.99965092e-01 -1.77181223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1203.546559995 meters 0.012570962013823291 Centerline is valid? [True, True] Translation: X:-366.17, Y:-248.12, Z:-1.77 [[-9.61609105e-01 2.74311189e-01 7.82948604e-03 -3.66166009e+02] [ 2.74302602e-01 9.61640977e-01 -2.17130021e-03 -2.48120827e+02] [-8.12476655e-03 5.97063438e-05 -9.99966992e-01 -1.77258006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1203.576559995 meters 0.012690483218398345 Centerline is valid? [True, True] Translation: X:-366.16, Y:-248.09, Z:-1.77 [[-9.78484996e-01 2.06088708e-01 9.72410197e-03 -3.66156252e+02] [ 2.06079345e-01 9.78533310e-01 -1.96613121e-03 -2.48093836e+02] [-9.92055512e-03 8.01066776e-05 -9.99950787e-01 -1.77125934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1203.606559995 meters 0.012734705010971459 Centerline is valid? [True, True] Translation: X:-366.15, Y:-248.07, Z:-1.77 [[-9.90645351e-01 1.36031177e-01 1.08308308e-02 -3.66152933e+02] [ 1.36024006e-01 9.90704553e-01 -1.39937688e-03 -2.48065482e+02] [-1.09205123e-02 8.69667977e-05 -9.99940366e-01 -1.77048975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1203.636559995 meters 0.012720226548695023 Centerline is valid? [True, True] Translation: X:-366.15, Y:-248.04, Z:-1.77 [[-9.97810889e-01 6.50970063e-02 1.16537478e-02 -3.66153593e+02] [ 6.50936245e-02 9.97878936e-01 -6.69665587e-04 -2.48036721e+02] [-1.16726227e-02 9.03850665e-05 -9.99931869e-01 -1.76974211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1203.666559995 meters 0.012780472235262444 Centerline is valid? [True, True] Translation: X:-366.12, Y:-247.36, Z:-2.82 [[-9.93025698e-01 -1.17255024e-01 1.22972379e-02 -3.66116010e+02] [ 1.17245425e-01 -9.93101836e-01 -1.50110721e-03 -2.47362419e+02] [ 1.23884219e-02 -4.88431493e-05 9.99923260e-01 -2.81514760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1203.6965599950001 meters 0.012633069255424236 Centerline is valid? [True, True] Translation: X:-366.22, Y:-248.03, Z:-1.77 [[-9.98146287e-01 5.95174221e-02 1.27148246e-02 -3.66222268e+02] [ 5.95136922e-02 9.98227263e-01 -6.71855517e-04 -2.48030789e+02] [-1.27322717e-02 8.60960690e-05 -9.99918938e-01 -1.76828918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1203.7265599950001 meters 0.012793021778651239 Centerline is valid? [True, True] Translation: X:-366.18, Y:-247.36, Z:-2.82 [[-9.93422650e-01 -1.13745258e-01 1.31702335e-02 -3.66182943e+02] [ 1.13734534e-01 -9.93509946e-01 -1.56281609e-03 -2.47361156e+02] [ 1.32625209e-02 -5.46265266e-05 9.99912048e-01 -2.81687451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1203.756559995 meters 0.012693333797124852 Centerline is valid? [True, True] Translation: X:-366.29, Y:-248.02, Z:-1.77 [[-9.98485881e-01 5.34302878e-02 1.30824654e-02 -3.66288086e+02] [ 5.34266151e-02 9.98571580e-01 -6.30314862e-04 -2.48024225e+02] [-1.30974560e-02 6.95913516e-05 -9.99914222e-01 -1.76640066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1203.786559995 meters 0.012630238714964243 Centerline is valid? [True, True] Translation: X:-366.29, Y:-248.00, Z:-1.77 [[-9.99753261e-01 -1.81157258e-02 1.28545120e-02 -3.66292214e+02] [-1.81134177e-02 9.99835895e-01 2.95968066e-04 -2.47995413e+02] [-1.28577642e-02 6.30558931e-05 -9.99917334e-01 -1.76635568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1203.816559995 meters 0.012520446793484534 Centerline is valid? [True, True] Translation: X:-366.30, Y:-247.97, Z:-1.77 [[-9.95891981e-01 -8.96309235e-02 1.28631337e-02 -3.66300813e+02] [-8.96226938e-02 9.95975047e-01 1.21597373e-03 -2.47967397e+02] [-1.29203491e-02 5.81497943e-05 -9.99916527e-01 -1.76658478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1203.846559995 meters 0.012411578928928517 Centerline is valid? [True, True] Translation: X:-366.36, Y:-247.31, Z:-2.82 [[-9.99445428e-01 3.07834760e-02 1.26970253e-02 -3.66362585e+02] [-3.07819063e-02 -9.99526074e-01 3.19081416e-04 -2.47308295e+02] [ 1.27008302e-02 -7.19341790e-05 9.99919339e-01 -2.81617307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1203.876559995 meters 0.012343061253616453 Centerline is valid? [True, True] Translation: X:-366.40, Y:-247.98, Z:-1.77 [[-9.95203392e-01 -9.70936324e-02 1.19597567e-02 -3.66403006e+02] [-9.70861490e-02 9.95275251e-01 1.20609067e-03 -2.47975173e+02] [-1.20203536e-02 3.91788036e-05 -9.99927752e-01 -1.76861450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1203.906559995 meters 0.012166535248031877 Centerline is valid? [True, True] Translation: X:-366.42, Y:-247.95, Z:-1.77 [[-9.85595217e-01 -1.68757955e-01 1.10824697e-02 -3.66416367e+02] [-1.68746983e-01 9.85657523e-01 1.92447706e-03 -2.47948658e+02] [-1.12482904e-02 2.66220564e-05 -9.99936736e-01 -1.76943303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1203.9365599950002 meters 0.01210992941448161 Centerline is valid? [True, True] Translation: X:-366.44, Y:-247.92, Z:-1.77 [[-9.70272639e-01 -2.41800421e-01 1.01765816e-02 -3.66444253e+02] [-2.41787176e-01 9.70326005e-01 2.53090238e-03 -2.47924010e+02] [-1.04865750e-02 -4.90157489e-06 -9.99945015e-01 -1.77043198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1203.9665599950001 meters 0.012234564830228585 Centerline is valid? [True, True] Translation: X:-366.49, Y:-247.91, Z:-1.77 [[-9.49670817e-01 -3.13099997e-01 9.68144807e-03 -3.66485269e+02] [-3.13083986e-01 9.49720165e-01 3.16650345e-03 -2.47905080e+02] [-1.01860987e-02 -2.39704345e-05 -9.99948120e-01 -1.76953968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1203.996559995 meters 0.012213340109662608 Centerline is valid? [True, True] Translation: X:-366.55, Y:-247.90, Z:-1.77 [[-9.23223621e-01 -3.84155378e-01 9.09897420e-03 -3.66545373e+02] [-3.84137207e-01 9.23268457e-01 3.73672649e-03 -2.47895500e+02] [-9.83627944e-03 -4.54203654e-05 -9.99951622e-01 -1.77017938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1204.026559995 meters 0.012427459597475212 Centerline is valid? [True, True] Translation: X:-366.61, Y:-247.89, Z:-1.77 [[-8.91313443e-01 -4.53301603e-01 8.83192623e-03 -3.66613500e+02] [-4.53280122e-01 8.91357197e-01 4.41353029e-03 -2.47893634e+02] [-9.87306136e-03 -6.94977194e-05 -9.99951258e-01 -1.77027469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1204.056559995 meters 0.012641463327045598 Centerline is valid? [True, True] Translation: X:-366.69, Y:-247.90, Z:-1.77 [[-8.53976659e-01 -5.20245482e-01 8.27675655e-03 -3.66688471e+02] [-5.20222087e-01 8.54016762e-01 4.93459938e-03 -2.47901071e+02] [-9.63569187e-03 -9.17188733e-05 -9.99953572e-01 -1.77034233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1204.086559995 meters 0.013283991852826296 Centerline is valid? [True, True] Translation: X:-366.77, Y:-247.92, Z:-1.77 [[-8.11308542e-01 -5.84561870e-01 8.11602554e-03 -3.66767769e+02] [-5.84534085e-01 8.11349127e-01 5.70060454e-03 -2.47916139e+02] [-9.91728628e-03 -1.19144409e-04 -9.99950816e-01 -1.76948973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1204.116559995 meters 0.013877428590817021 Centerline is valid? [True, True] Translation: X:-366.85, Y:-247.94, Z:-1.77 [[-7.62428967e-01 -6.47012225e-01 8.78927075e-03 -3.66854167e+02] [-6.46972045e-01 7.62479603e-01 7.21302693e-03 -2.47943818e+02] [-1.13685563e-02 -1.86991805e-04 -9.99935359e-01 -1.76897875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1204.146559995 meters 0.014637047046493774 Centerline is valid? [True, True] Translation: X:-366.94, Y:-247.98, Z:-1.77 [[-7.10409300e-01 -7.03736195e-01 8.60199489e-03 -3.66940608e+02] [-7.03688257e-01 7.10461344e-01 8.21679391e-03 -2.47980468e+02] [-1.18938401e-02 -2.15835983e-04 -9.99929243e-01 -1.76781470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1204.176559995 meters 0.014677936879939037 Centerline is valid? [True, True] Translation: X:-367.02, Y:-248.02, Z:-1.77 [[-6.54197326e-01 -7.56278062e-01 8.32776953e-03 -3.67021265e+02] [-7.56221520e-01 6.54250283e-01 9.25093774e-03 -2.48023327e+02] [-1.24447268e-02 -2.45699794e-04 -9.99922531e-01 -1.76783816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1204.2065599950001 meters 0.015410024187683634 Centerline is valid? [True, True] Translation: X:-367.11, Y:-248.08, Z:-1.77 [[-5.93578314e-01 -8.04737074e-01 7.93894274e-03 -3.67109221e+02] [-8.04671363e-01 5.93631335e-01 1.02876494e-02 -2.48083229e+02] [-1.29916581e-02 -2.81714268e-04 -9.99915565e-01 -1.76750988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1204.236559995 meters 0.015580490226493535 Centerline is valid? [True, True] Translation: X:-367.19, Y:-248.15, Z:-1.77 [[-5.30666380e-01 -8.47551876e-01 7.00074984e-03 -3.67188333e+02] [-8.47484924e-01 5.30712484e-01 1.06566436e-02 -2.48146621e+02] [-1.27474436e-02 -2.77907477e-04 -9.99918710e-01 -1.76781457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1204.266559995 meters 0.015522076969191733 Centerline is valid? [True, True] Translation: X:-367.26, Y:-248.22, Z:-1.77 [[-4.64973139e-01 -8.85304551e-01 5.98604457e-03 -3.67264113e+02] [-8.85238406e-01 4.65011593e-01 1.08250782e-02 -2.48219850e+02] [-1.23670711e-02 -2.65705965e-04 -9.99923490e-01 -1.76844108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1204.296559995 meters 0.015403466099649748 Centerline is valid? [True, True] Translation: X:-367.34, Y:-248.30, Z:-1.77 [[-3.96875232e-01 -9.17859581e-01 4.88263805e-03 -3.67336027e+02] [-9.17797474e-01 3.96905192e-01 1.06802033e-02 -2.48303541e+02] [-1.17408713e-02 -2.42564713e-04 -9.99931044e-01 -1.76910928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1204.326559995 meters 0.0150479512260869 Centerline is valid? [True, True] Translation: X:-367.40, Y:-248.39, Z:-1.77 [[-3.27041614e-01 -9.45002197e-01 3.82487317e-03 -3.67400635e+02] [-9.44944959e-01 3.27063911e-01 1.04029919e-02 -2.48391665e+02] [-1.10818282e-02 -2.12083341e-04 -9.99938572e-01 -1.76954496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1204.356559995 meters 0.013782407358067551 Centerline is valid? [True, True] Translation: X:-367.46, Y:-248.49, Z:-1.77 [[-2.58064631e-01 -9.66124207e-01 2.58139845e-03 -3.67456428e+02] [-9.66081168e-01 2.58077503e-01 9.12025202e-03 -2.48488238e+02] [-9.47749712e-03 -1.40225963e-04 -9.99955078e-01 -1.77080340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1204.386559995 meters 0.013245883148812313 Centerline is valid? [True, True] Translation: X:-367.51, Y:-248.59, Z:-1.77 [[-1.85837040e-01 -9.82578991e-01 1.76646486e-03 -3.67506904e+02] [-9.82540007e-01 1.85845404e-01 8.75328069e-03 -2.48589733e+02] [-8.92907908e-03 -1.08938624e-04 -9.99960129e-01 -1.77114635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1204.416559995 meters 0.012771227904053703 Centerline is valid? [True, True] Translation: X:-367.55, Y:-248.70, Z:-1.77 [[-1.12355589e-01 -9.93667520e-01 1.04006890e-03 -3.67549573e+02] [-9.93631511e-01 1.12360373e-01 8.45975995e-03 -2.48701003e+02] [-8.52305122e-03 -8.29439162e-05 -9.99963675e-01 -1.77167631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1204.4465599950001 meters 0.012246502674165478 Centerline is valid? [True, True] Translation: X:-367.58, Y:-248.81, Z:-1.77 [[-3.82308374e-02 -9.99268858e-01 3.90737459e-04 -3.67583777e+02] [-9.99231878e-01 3.82327842e-02 8.59700030e-03 -2.48812731e+02] [-8.60565365e-03 -6.17668041e-05 -9.99962969e-01 -1.77247466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1204.4765599950001 meters 0.012085522945268639 Centerline is valid? [True, True] Translation: X:-367.61, Y:-248.92, Z:-1.77 [[ 3.63184909e-02 -9.99340234e-01 -2.54171080e-04 -3.67609938e+02] [-9.99307544e-01 -3.63193587e-02 8.08315635e-03 -2.48920490e+02] [-8.08705469e-03 -3.95729626e-05 -9.99967299e-01 -1.77267506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1204.506559995 meters 0.012067561957654085 Centerline is valid? [True, True] Translation: X:-367.63, Y:-249.04, Z:-1.77 [[ 1.11246225e-01 -9.93792482e-01 -8.83212696e-04 -3.67627792e+02] [-9.93759319e-01 -1.11249728e-01 8.11871312e-03 -2.49038167e+02] [-8.16657324e-03 -2.54753425e-05 -9.99966653e-01 -1.77272382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1204.536559995 meters 0.011965200140327502 Centerline is valid? [True, True] Translation: X:-367.63, Y:-249.16, Z:-1.77 [[ 1.85862422e-01 -9.82574608e-01 -1.51664943e-03 -3.67634544e+02] [-9.82541310e-01 -1.85868609e-01 8.08919243e-03 -2.49164486e+02] [-8.23013260e-03 -1.33061824e-05 -9.99966132e-01 -1.77293652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1204.566559995 meters 0.011946299971550157 Centerline is valid? [True, True] Translation: X:-367.64, Y:-249.28, Z:-1.77 [[ 2.60937230e-01 -9.65353385e-01 -2.14592053e-03 -3.67637111e+02] [-9.65320310e-01 -2.60946053e-01 7.99108744e-03 -2.49277670e+02] [-8.27419280e-03 -1.36715465e-05 -9.99965768e-01 -1.77279756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1204.596559995 meters 0.012046733155428823 Centerline is valid? [True, True] Translation: X:-367.63, Y:-249.40, Z:-1.77 [[ 3.34736744e-01 -9.42307547e-01 -2.79264343e-03 -3.67630369e+02] [-9.42274307e-01 -3.34748392e-01 7.91481188e-03 -2.49395006e+02] [-8.39301987e-03 -1.79422022e-05 -9.99964778e-01 -1.77270250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1204.626559995 meters 0.012037965698576717 Centerline is valid? [True, True] Translation: X:-367.61, Y:-249.52, Z:-1.77 [[ 4.06981801e-01 -9.13430209e-01 -3.32664827e-03 -3.67613172e+02] [-9.13399176e-01 -4.06995396e-01 7.52943994e-03 -2.49516336e+02] [-8.23154843e-03 -2.57872324e-05 -9.99966120e-01 -1.77261509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1204.656559995 meters 0.012066213580523986 Centerline is valid? [True, True] Translation: X:-367.59, Y:-249.63, Z:-1.77 [[ 4.76657178e-01 -8.79080200e-01 -3.99212094e-03 -3.67590689e+02] [-8.79048758e-01 -4.76673894e-01 7.43503872e-03 -2.49628085e+02] [-8.43893515e-03 -3.46956187e-05 -9.99964391e-01 -1.77199538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1204.6865599950002 meters 0.01211918329438804 Centerline is valid? [True, True] Translation: X:-367.56, Y:-249.74, Z:-1.77 [[ 5.43242207e-01 -8.39562658e-01 -4.73803067e-03 -3.67558871e+02] [-8.39530030e-01 -5.43262867e-01 7.40178720e-03 -2.49737915e+02] [-8.78826026e-03 -4.32441778e-05 -9.99961382e-01 -1.77265276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1204.7165599950001 meters 0.012327850659079476 Centerline is valid? [True, True] Translation: X:-367.52, Y:-249.85, Z:-1.77 [[ 6.06969311e-01 -7.94705498e-01 -5.60606487e-03 -3.67518895e+02] [-7.94670691e-01 -6.06995196e-01 7.43805061e-03 -2.49846439e+02] [-9.31391416e-03 -5.96930102e-05 -9.99956623e-01 -1.77172633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1204.746559995 meters 0.012313723892748749 Centerline is valid? [True, True] Translation: X:-367.47, Y:-249.94, Z:-1.77 [[ 6.66086963e-01 -7.45845458e-01 -6.53540056e-03 -3.67474183e+02] [-7.45808569e-01 -6.66119020e-01 7.41817109e-03 -2.49944823e+02] [-9.88616383e-03 -6.69893094e-05 -9.99951129e-01 -1.77197010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1204.776559995 meters 0.012578245079621896 Centerline is valid? [True, True] Translation: X:-367.42, Y:-250.04, Z:-1.77 [[ 7.21058296e-01 -6.92836082e-01 -7.28680782e-03 -3.67419894e+02] [-6.92799704e-01 -7.21095111e-01 7.10012292e-03 -2.50043185e+02] [-1.01737028e-02 -7.13042328e-05 -9.99948244e-01 -1.77094925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1204.806559995 meters 0.012633312718702917 Centerline is valid? [True, True] Translation: X:-367.42, Y:-250.05, Z:-1.77 [[ 7.72780424e-01 -6.34625480e-01 -7.80486327e-03 -3.67417741e+02] [-6.34592228e-01 -7.72819834e-01 6.49681574e-03 -2.50047692e+02] [-1.01547979e-02 -6.77064476e-05 -9.99948437e-01 -1.77116912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1204.836559995 meters 0.012644202272528092 Centerline is valid? [True, True] Translation: X:-367.42, Y:-250.05, Z:-1.77 [[ 8.19897810e-01 -5.72450425e-01 -8.25176544e-03 -3.67416291e+02] [-5.72420631e-01 -8.19939331e-01 5.84081488e-03 -2.50050995e+02] [-1.01095240e-02 -6.53905499e-05 -9.99948896e-01 -1.77147055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1204.866559995 meters 0.012580475739918481 Centerline is valid? [True, True] Translation: X:-367.41, Y:-250.05, Z:-1.77 [[ 8.61689745e-01 -5.07369697e-01 -8.17151753e-03 -3.67412819e+02] [-5.07346297e-01 -8.61728488e-01 4.87311673e-03 -2.50052987e+02] [-9.51410121e-03 -5.33255544e-05 -9.99954739e-01 -1.77217262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1204.896559995 meters 0.012467644763121897 Centerline is valid? [True, True] Translation: X:-367.41, Y:-250.06, Z:-1.77 [[ 8.98426385e-01 -4.39046586e-01 -8.25382277e-03 -3.67408846e+02] [-4.39027591e-01 -8.98464297e-01 4.08426502e-03 -2.50055008e+02] [-9.20894769e-03 -4.57555318e-05 -9.99957596e-01 -1.77271323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1204.926559995 meters 0.012478011971183383 Centerline is valid? [True, True] Translation: X:-367.40, Y:-250.06, Z:-1.77 [[ 9.29714213e-01 -3.68183425e-01 -8.51162756e-03 -3.67404988e+02] [-3.68167615e-01 -9.29753174e-01 3.41219361e-03 -2.50055682e+02] [-9.17002587e-03 -3.86592761e-05 -9.99957954e-01 -1.77312547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1204.9565599950001 meters 0.012148908327482503 Centerline is valid? [True, True] Translation: X:-367.40, Y:-250.06, Z:-1.78 [[ 9.55003854e-01 -2.96481045e-01 -8.16266235e-03 -3.67403284e+02] [-2.96470060e-01 -9.55038737e-01 2.55223286e-03 -2.50063185e+02] [-8.55234741e-03 -1.74072237e-05 -9.99963428e-01 -1.77571463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1204.986559995 meters 0.012148908327482503 Centerline is valid? [True, True] Translation: X:-367.40, Y:-250.07, Z:-1.78 [[ 9.75246693e-01 -2.20962398e-01 -8.33709872e-03 -3.67402002e+02] [-2.20954172e-01 -9.75282328e-01 1.90672083e-03 -2.50072795e+02] [-8.55233865e-03 -1.74064451e-05 -9.99963428e-01 -1.77571472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1205.016559995 meters 0.012148908327482503 Centerline is valid? [True, True] Translation: X:-367.40, Y:-250.08, Z:-1.78 [[ 9.89545342e-01 -1.43973718e-01 -8.46072161e-03 -3.67401122e+02] [-1.43968306e-01 -9.89581512e-01 1.24853485e-03 -2.50082069e+02] [-8.55232989e-03 -1.74060864e-05 -9.99963428e-01 -1.77571481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1205.046559995 meters 0.012048964326876362 Centerline is valid? [True, True] Translation: X:-367.40, Y:-250.09, Z:-1.78 [[ 9.97581312e-01 -6.90932843e-02 -7.59236800e-03 -3.67401473e+02] [-6.90913422e-02 -9.97610204e-01 5.18093947e-04 -2.50088768e+02] [-7.61002059e-03 7.72605576e-06 -9.99971044e-01 -1.77643788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1205.076559995 meters 0.012114707657992517 Centerline is valid? [True, True] Translation: X:-367.40, Y:-250.10, Z:-1.78 [[ 9.99941737e-01 7.75038847e-03 -7.51356277e-03 -3.67402073e+02] [ 7.75002846e-03 -9.99969965e-01 -7.70302531e-05 -2.50095505e+02] [-7.51393412e-03 1.87954398e-05 -9.99971770e-01 -1.77643655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1205.106559995 meters 0.012274415427308075 Centerline is valid? [True, True] Translation: X:-367.40, Y:-250.10, Z:-1.78 [[ 9.96361643e-01 8.49262382e-02 -7.14213549e-03 -3.67402985e+02] [ 8.49238728e-02 -9.96387241e-01 -6.34353562e-04 -2.50100007e+02] [-7.17020594e-03 2.55077508e-05 -9.99974294e-01 -1.77589060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1205.136559995 meters 0.012111471664114594 Centerline is valid? [True, True] Translation: X:-367.40, Y:-250.11, Z:-1.78 [[ 9.86814879e-01 1.61704805e-01 -6.92465588e-03 -3.67401658e+02] [ 1.61700596e-01 -9.86839174e-01 -1.16724381e-03 -2.50109216e+02] [-7.02227062e-03 3.21325763e-05 -9.99975343e-01 -1.77764496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1205.166559995 meters 0.012311617472111331 Centerline is valid? [True, True] Translation: X:-367.40, Y:-250.12, Z:-1.78 [[ 9.71255422e-01 2.37961404e-01 -6.10529343e-03 -3.67401167e+02] [ 2.37956495e-01 -9.71274611e-01 -1.52894254e-03 -2.50117427e+02] [-6.29374582e-03 3.21995049e-05 -9.99980194e-01 -1.77824964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1205.1965599950001 meters 0.012268009065274489 Centerline is valid? [True, True] Translation: X:-367.40, Y:-250.13, Z:-1.78 [[ 9.49561740e-01 3.13524245e-01 -5.92020093e-03 -3.67398728e+02] [ 3.13517954e-01 -9.49580195e-01 -1.98641828e-03 -2.50125989e+02] [-6.24449585e-03 3.01375161e-05 -9.99980503e-01 -1.77853324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1205.2265599950001 meters 0.012153158491635334 Centerline is valid? [True, True] Translation: X:-367.40, Y:-250.13, Z:-1.78 [[ 9.21925000e-01 3.87322258e-01 -5.98022217e-03 -3.67395465e+02] [ 3.87313910e-01 -9.21944395e-01 -2.54304775e-03 -2.50134662e+02] [-6.49841131e-03 2.82760633e-05 -9.99978885e-01 -1.77839101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1205.256559995 meters 0.012307032533649207 Centerline is valid? [True, True] Translation: X:-367.39, Y:-250.14, Z:-1.78 [[ 8.88492846e-01 4.58849381e-01 -6.14074855e-03 -3.67391418e+02] [ 4.58838219e-01 -8.88514066e-01 -3.20064082e-03 -2.50142603e+02] [-6.92475353e-03 2.61363409e-05 -9.99976023e-01 -1.77775374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1205.286559995 meters 0.012225839053199787 Centerline is valid? [True, True] Translation: X:-367.39, Y:-250.15, Z:-1.78 [[ 8.49394764e-01 5.27716631e-01 -6.61001469e-03 -3.67386775e+02] [ 5.27700443e-01 -8.49420483e-01 -4.13339157e-03 -2.50150188e+02] [-7.79594134e-03 2.27734778e-05 -9.99969611e-01 -1.77736717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1205.316559995 meters 0.012259415321485162 Centerline is valid? [True, True] Translation: X:-367.38, Y:-250.16, Z:-1.78 [[ 8.04980577e-01 5.93260725e-01 -6.92700983e-03 -3.67382539e+02] [ 5.93238566e-01 -8.05010380e-01 -5.12751871e-03 -2.50156820e+02] [-8.61827029e-03 1.81835905e-05 -9.99962862e-01 -1.77633561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1205.346559995 meters 0.01226094336910096 Centerline is valid? [True, True] Translation: X:-367.37, Y:-250.17, Z:-1.78 [[ 7.54729289e-01 6.55995593e-01 -7.31316304e-03 -3.67374033e+02] [ 6.55964786e-01 -7.54764720e-01 -6.35753400e-03 -2.50165718e+02] [-9.69023173e-03 1.03969251e-06 -9.99953049e-01 -1.77591165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1205.376559995 meters 0.012323179169415678 Centerline is valid? [True, True] Translation: X:-367.37, Y:-250.17, Z:-1.77 [[ 7.00403940e-01 7.13715862e-01 -6.63251826e-03 -3.67367873e+02] [ 7.13683970e-01 -7.00435343e-01 -6.74699716e-03 -2.50173280e+02] [-9.46108909e-03 -7.89857128e-06 -9.99955243e-01 -1.77452477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1205.406559995 meters 0.012241726030952162 Centerline is valid? [True, True] Translation: X:-367.36, Y:-250.18, Z:-1.78 [[ 6.41305493e-01 7.67260226e-01 -6.24591286e-03 -3.67360506e+02] [ 7.67224169e-01 -6.41335907e-01 -7.43835489e-03 -2.50178386e+02] [-9.71288204e-03 -2.17574556e-05 -9.99952829e-01 -1.77532708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1205.4365599950002 meters 0.012291257280267481 Centerline is valid? [True, True] Translation: X:-367.35, Y:-250.18, Z:-1.78 [[ 5.78341561e-01 8.15775198e-01 -5.64503953e-03 -3.67352053e+02] [ 8.15736892e-01 -5.78369109e-01 -7.90545827e-03 -2.50184074e+02] [-9.71399327e-03 -3.28119305e-05 -9.99952818e-01 -1.77509358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1205.4665599950001 meters 0.012390780465625723 Centerline is valid? [True, True] Translation: X:-367.34, Y:-250.19, Z:-1.78 [[ 5.11540752e-01 8.59243465e-01 -5.16974540e-03 -3.67343038e+02] [ 8.59200517e-01 -5.11566873e-01 -8.59112556e-03 -2.50188913e+02] [-1.00265390e-02 -4.71370877e-05 -9.99949732e-01 -1.77509614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1205.496559995 meters 0.012592658593000818 Centerline is valid? [True, True] Translation: X:-367.33, Y:-250.19, Z:-1.77 [[ 4.40628719e-01 8.97675496e-01 -5.00362585e-03 -3.67334171e+02] [ 8.97619615e-01 -4.40657121e-01 -1.00164014e-02 -2.50194157e+02] [-1.11963614e-02 -7.78386100e-05 -9.99937316e-01 -1.77412191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1205.526559995 meters 0.012746866190628259 Centerline is valid? [True, True] Translation: X:-367.33, Y:-250.20, Z:-1.77 [[ 3.68328525e-01 9.29685795e-01 -4.29193984e-03 -3.67326566e+02] [ 9.29625437e-01 -3.68353519e-01 -1.05939782e-02 -2.50196484e+02] [-1.14300222e-02 -8.78320804e-05 -9.99934672e-01 -1.77403632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1205.556559995 meters 0.01297952560140577 Centerline is valid? [True, True] Translation: X:-367.32, Y:-250.20, Z:-1.77 [[ 2.93927160e-01 9.55821086e-01 -3.58830926e-03 -3.67319901e+02] [ 9.55753843e-01 -2.93949047e-01 -1.13379786e-02 -2.50199197e+02] [-1.18918591e-02 -9.70005191e-05 -9.99929285e-01 -1.77308770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1205.586559995 meters 0.013080975445166733 Centerline is valid? [True, True] Translation: X:-367.32, Y:-250.20, Z:-1.77 [[ 2.17438373e-01 9.76070376e-01 -2.67854471e-03 -3.67315342e+02] [ 9.76002189e-01 -2.17454845e-01 -1.15376337e-02 -2.50200270e+02] [-1.18440050e-02 -1.05541192e-04 -9.99929852e-01 -1.77331068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1205.616559995 meters 0.01298910443821468 Centerline is valid? [True, True] Translation: X:-367.31, Y:-250.20, Z:-1.77 [[ 1.39795957e-01 9.90178794e-01 -1.74555248e-03 -3.67308360e+02] [ 9.90111172e-01 -1.39806811e-01 -1.15725068e-02 -2.50200371e+02] [-1.17028909e-02 -1.10501351e-04 -9.99931513e-01 -1.77393850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1205.646559995 meters 0.012940026956971112 Centerline is valid? [True, True] Translation: X:-367.30, Y:-250.20, Z:-1.77 [[ 6.10395657e-02 9.98135010e-01 -8.20811794e-04 -3.67299561e+02] [ 9.98068820e-01 -6.10449711e-02 -1.14953052e-02 -2.50200147e+02] [-1.15239730e-02 -1.17558220e-04 -9.99933590e-01 -1.77494712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1205.676559995 meters 0.013222261404626226 Centerline is valid? [True, True] Translation: X:-367.29, Y:-250.20, Z:-1.78 [[-1.84406651e-02 9.99829954e-01 7.55965508e-05 -3.67289176e+02] [ 9.99774003e-01 1.84404329e-02 -1.05779313e-02 -2.50200301e+02] [-1.05775266e-02 -1.19484623e-04 -9.99944049e-01 -1.77504555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1205.7065599950001 meters 0.013124263876216012 Centerline is valid? [True, True] Translation: X:-367.28, Y:-250.20, Z:-1.78 [[-9.70829989e-02 9.95275930e-01 8.45171389e-04 -3.67279824e+02] [ 9.95227179e-01 9.70866092e-02 -9.85148938e-03 -2.50199454e+02] [-9.88700508e-03 -1.15274595e-04 -9.99951116e-01 -1.77572477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1205.736559995 meters 0.013671200225408072 Centerline is valid? [True, True] Translation: X:-367.27, Y:-250.20, Z:-1.78 [[-1.74985410e-01 9.84569893e-01 1.49405844e-03 -3.67270051e+02] [ 9.84528504e-01 1.74991754e-01 -9.02831161e-03 -2.50198086e+02] [-9.15045170e-03 -1.08879680e-04 -9.99958128e-01 -1.77536147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1205.766559995 meters 0.013309236305172707 Centerline is valid? [True, True] Translation: X:-367.26, Y:-250.20, Z:-1.78 [[-2.51685953e-01 9.67806944e-01 1.97478419e-03 -3.67264429e+02] [ 9.67774009e-01 2.51693681e-01 -7.98489463e-03 -2.50195728e+02] [-8.22487718e-03 -9.85410052e-05 -9.99966170e-01 -1.77673346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1205.796559995 meters 0.013169675972648702 Centerline is valid? [True, True] Translation: X:-367.26, Y:-250.19, Z:-1.78 [[-3.26714229e-01 9.45119734e-01 2.54955756e-03 -3.67258399e+02] [ 9.45088602e-01 3.26724163e-01 -7.67175085e-03 -2.50193061e+02] [-8.08372518e-03 -9.69123780e-05 -9.99967322e-01 -1.77798809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1205.826559995 meters 0.013169675972648702 Centerline is valid? [True, True] Translation: X:-367.25, Y:-250.19, Z:-1.78 [[-3.99721759e-01 9.16631137e-01 3.14250810e-03 -3.67251607e+02] [ 9.16600878e-01 3.99734100e-01 -7.44852449e-03 -2.50190266e+02] [-8.08371711e-03 -9.69116287e-05 -9.99967322e-01 -1.77798816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1205.856559995 meters 0.013287961240424803 Centerline is valid? [True, True] Translation: X:-367.25, Y:-250.19, Z:-1.78 [[-4.69992867e-01 8.82661872e-01 3.83743964e-03 -3.67245736e+02] [ 8.82630741e-01 4.70008522e-01 -7.41378471e-03 -2.50186193e+02] [-8.34749443e-03 -9.73837370e-05 -9.99965155e-01 -1.77725957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1205.886559995 meters 0.013253891026148401 Centerline is valid? [True, True] Translation: X:-367.24, Y:-250.18, Z:-1.78 [[-5.37528177e-01 8.43232327e-01 4.76469992e-03 -3.67238531e+02] [ 8.43197473e-01 5.37549284e-01 -7.66742291e-03 -2.50180955e+02] [-9.02667989e-03 -1.03872930e-04 -9.99959254e-01 -1.77695378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1205.916559995 meters 0.013358353422190064 Centerline is valid? [True, True] Translation: X:-367.23, Y:-250.18, Z:-1.78 [[-6.01888004e-01 7.98560835e-01 5.60567129e-03 -3.67231390e+02] [ 7.98524509e-01 6.01914097e-01 -7.61765627e-03 -2.50175792e+02] [-9.45729453e-03 -1.08710017e-04 -9.99955273e-01 -1.77613092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1205.9465599950001 meters 0.0131882708569518 Centerline is valid? [True, True] Translation: X:-367.23, Y:-250.17, Z:-1.78 [[-6.62391368e-01 7.49132934e-01 6.12570815e-03 -3.67226439e+02] [ 7.49099428e-01 6.62419683e-01 -7.08592066e-03 -2.50170129e+02] [-9.36608619e-03 -1.04888211e-04 -9.99956132e-01 -1.77637722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1205.9765599950001 meters 0.012989398664343083 Centerline is valid? [True, True] Translation: X:-367.22, Y:-250.16, Z:-1.78 [[-7.18353215e-01 6.95644753e-01 6.85836884e-03 -3.67221667e+02] [ 6.95611733e-01 7.18385947e-01 -6.77854319e-03 -2.50163951e+02] [-9.64241380e-03 -9.86264581e-05 -9.99953506e-01 -1.77630773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1206.006559995 meters 0.012969093493958531 Centerline is valid? [True, True] Translation: X:-366.78, Y:-249.72, Z:-2.81 [[-6.55313922e-01 -7.55328410e-01 6.53121376e-03 -3.66775870e+02] [ 7.55292591e-01 -6.55346459e-01 -7.35674276e-03 -2.49719594e+02] [ 9.83696462e-03 1.12001412e-04 9.99951610e-01 -2.80811795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1206.036559995 meters 0.013110679613101375 Centerline is valid? [True, True] Translation: X:-366.79, Y:-249.70, Z:-2.81 [[-6.56109095e-01 -7.54636160e-01 6.71725203e-03 -3.66792855e+02] [ 7.54597968e-01 -6.56143474e-01 -7.59267878e-03 -2.49699610e+02] [ 1.01371910e-02 8.71991302e-05 9.99948614e-01 -2.80863126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1206.066559995 meters 0.01300718230758626 Centerline is valid? [True, True] Translation: X:-366.81, Y:-249.68, Z:-2.81 [[-6.57213221e-01 -7.53674421e-01 6.75642085e-03 -3.66809393e+02] [ 7.53635781e-01 -6.57247945e-01 -7.63207174e-03 -2.49679286e+02] [ 1.01927410e-02 7.59820508e-05 9.99948050e-01 -2.80885564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1206.096559995 meters 0.012647822768155438 Centerline is valid? [True, True] Translation: X:-366.83, Y:-249.66, Z:-2.81 [[-6.58431833e-01 -7.52611773e-01 6.56055203e-03 -3.66826717e+02] [ 7.52575329e-01 -6.58464514e-01 -7.40659418e-03 -2.49656583e+02] [ 9.89418068e-03 6.05722261e-05 9.99951050e-01 -2.80734355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1206.126559995 meters 0.012592006886505651 Centerline is valid? [True, True] Translation: X:-366.84, Y:-249.64, Z:-2.81 [[-6.59980317e-01 -7.51253011e-01 6.70035790e-03 -3.66843766e+02] [ 7.51214974e-01 -6.60014327e-01 -7.55988653e-03 -2.49636051e+02] [ 1.01017197e-02 4.40328738e-05 9.99948976e-01 -2.80835722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1206.156559995 meters 0.012503656533088497 Centerline is valid? [True, True] Translation: X:-366.86, Y:-249.61, Z:-2.81 [[-6.63033227e-01 -7.48562050e-01 6.46509082e-03 -3.66859285e+02] [ 7.48526553e-01 -6.63064746e-01 -7.28988901e-03 -2.49613761e+02] [ 9.74370807e-03 5.85351000e-06 9.99952529e-01 -2.80861534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1206.1865599950002 meters 0.012498722844991665 Centerline is valid? [True, True] Translation: X:-366.88, Y:-249.59, Z:-2.81 [[-6.64645466e-01 -7.47130204e-01 6.54703814e-03 -3.66876412e+02] [ 7.47093772e-01 -6.64677710e-01 -7.37812239e-03 -2.49591794e+02] [ 9.86408841e-03 -1.25841763e-05 9.99951349e-01 -2.80811167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1206.2165599950001 meters 0.012582348417428555 Centerline is valid? [True, True] Translation: X:-366.89, Y:-249.57, Z:-2.81 [[-6.66214275e-01 -7.45730895e-01 6.63111733e-03 -3.66892235e+02] [ 7.45693502e-01 -6.66247275e-01 -7.46790773e-03 -2.49571019e+02] [ 9.98701337e-03 -3.04456330e-05 9.99950128e-01 -2.80815862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1206.246559995 meters 0.012732319417468167 Centerline is valid? [True, True] Translation: X:-366.91, Y:-249.55, Z:-2.81 [[-6.67663246e-01 -7.44433322e-01 6.69471367e-03 -3.66909239e+02] [ 7.44395186e-01 -6.67696808e-01 -7.53527849e-03 -2.49549078e+02] [ 1.00795513e-02 -4.75158716e-05 9.99949199e-01 -2.80735373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1206.276559995 meters 0.012840395978782261 Centerline is valid? [True, True] Translation: X:-366.93, Y:-249.53, Z:-2.81 [[-6.68924512e-01 -7.43300011e-01 6.71501809e-03 -3.66926889e+02] [ 7.43261629e-01 -6.68958213e-01 -7.55386876e-03 -2.49526954e+02] [ 1.01068572e-02 -6.19526882e-05 9.99948923e-01 -2.80680617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1206.306559995 meters 0.012949756016978417 Centerline is valid? [True, True] Translation: X:-366.94, Y:-249.51, Z:-2.81 [[-6.70540345e-01 -7.41844211e-01 6.54313384e-03 -3.66944418e+02] [ 7.41807740e-01 -6.70572264e-01 -7.35634597e-03 -2.49505427e+02] [ 9.84490674e-03 -7.89794364e-05 9.99951535e-01 -2.80650895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1206.336559995 meters 0.01321568080060503 Centerline is valid? [True, True] Translation: X:-366.96, Y:-249.49, Z:-2.81 [[-6.71152017e-01 -7.41290197e-01 6.61918966e-03 -3.66961726e+02] [ 7.41252891e-01 -6.71184651e-01 -7.43741615e-03 -2.49485188e+02] [ 9.95598219e-03 -8.51433712e-05 9.99950435e-01 -2.80720717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1206.366559995 meters 0.012948557476529298 Centerline is valid? [True, True] Translation: X:-366.98, Y:-249.46, Z:-2.81 [[-6.71368324e-01 -7.41092417e-01 6.82658714e-03 -3.66981066e+02] [ 7.41052772e-01 -6.71403025e-01 -7.66604470e-03 -2.49464847e+02] [ 1.02646389e-02 -8.78782572e-05 9.99947314e-01 -2.80632674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1206.396559995 meters 0.013047291648740321 Centerline is valid? [True, True] Translation: X:-367.00, Y:-249.44, Z:-2.81 [[-6.70591077e-01 -7.41793753e-01 7.04528300e-03 -3.66999000e+02] [ 7.41751615e-01 -6.70628081e-01 -7.90686431e-03 -2.49444347e+02] [ 1.05900272e-02 -7.64226058e-05 9.99943921e-01 -2.80708315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1206.426559995 meters 0.01277567052421036 Centerline is valid? [True, True] Translation: X:-367.02, Y:-249.42, Z:-2.81 [[-6.69952058e-01 -7.42370318e-01 7.10999074e-03 -3.67018130e+02] [ 7.42327484e-01 -6.69989782e-01 -7.97493316e-03 -2.49424376e+02] [ 1.06839748e-02 -6.48813435e-05 9.99942923e-01 -2.80664946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1206.4565599950001 meters 0.013023716010491806 Centerline is valid? [True, True] Translation: X:-367.04, Y:-249.40, Z:-2.81 [[-6.69150672e-01 -7.43090747e-01 7.31577150e-03 -3.67036220e+02] [ 7.43045495e-01 -6.69190660e-01 -8.20080619e-03 -2.49404620e+02] [ 1.09895892e-02 -5.16239115e-05 9.99939612e-01 -2.80879480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1206.486559995 meters 0.012648938827480636 Centerline is valid? [True, True] Translation: X:-367.06, Y:-249.39, Z:-2.81 [[-6.67970770e-01 -7.44149376e-01 7.53376335e-03 -3.67056108e+02] [ 7.44101507e-01 -6.68013253e-01 -8.44043259e-03 -2.49385030e+02] [ 1.13135964e-02 -3.20775894e-05 9.99935999e-01 -2.80794763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1206.516559995 meters 0.012583657476783791 Centerline is valid? [True, True] Translation: X:-367.08, Y:-249.37, Z:-2.81 [[-6.66504626e-01 -7.45465014e-01 7.31420027e-03 -3.67075710e+02] [ 7.45420025e-01 -6.66544757e-01 -8.18981494e-03 -2.49365422e+02] [ 1.09804623e-02 -6.39819218e-06 9.99939713e-01 -2.80812986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1206.546559995 meters 0.012584981808031963 Centerline is valid? [True, True] Translation: X:-367.09, Y:-249.35, Z:-2.81 [[-6.64813675e-01 -7.46972675e-01 7.38924309e-03 -3.67094452e+02] [ 7.46926912e-01 -6.64854738e-01 -8.26833166e-03 -2.49347153e+02] [ 1.10889911e-02 2.23245655e-05 9.99938515e-01 -2.80809613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1206.576559995 meters 0.01300623316242513 Centerline is valid? [True, True] Translation: X:-367.12, Y:-249.33, Z:-2.81 [[-6.60697463e-01 -7.50625266e-01 6.36971411e-03 -3.67115275e+02] [ 7.50591474e-01 -6.60728163e-01 -7.12283179e-03 -2.49330596e+02] [ 9.55522700e-03 7.50162043e-05 9.99954345e-01 -2.80739765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1206.606559995 meters 0.013291009186066505 Centerline is valid? [True, True] Translation: X:-367.14, Y:-249.31, Z:-2.81 [[-6.58705719e-01 -7.52378441e-01 5.78427824e-03 -3.67135097e+02] [ 7.52350676e-01 -6.58731109e-01 -6.46434876e-03 -2.49311278e+02] [ 8.67392066e-03 9.37021414e-05 9.99962377e-01 -2.80653401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1206.636559995 meters 0.01366735887968948 Centerline is valid? [True, True] Translation: X:-367.16, Y:-249.29, Z:-2.81 [[-6.56972624e-01 -7.53894319e-01 5.50703559e-03 -3.67155413e+02] [ 7.53869233e-01 -6.56995696e-01 -6.15106421e-03 -2.49291409e+02] [ 8.25535104e-03 1.10503899e-04 9.99965918e-01 -2.80619598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1206.666559995 meters 0.013949663922226992 Centerline is valid? [True, True] Translation: X:-367.18, Y:-249.27, Z:-2.81 [[-6.55481715e-01 -7.55192367e-01 5.31130723e-03 -3.67175348e+02] [ 7.55169102e-01 -6.55503222e-01 -5.92907996e-03 -2.49271302e+02] [ 7.95917493e-03 1.24531608e-04 9.99968318e-01 -2.80631131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1206.6965599950001 meters 0.014222325523436599 Centerline is valid? [True, True] Translation: X:-367.20, Y:-249.25, Z:-2.81 [[-6.54116278e-01 -7.56374172e-01 5.47777151e-03 -3.67195228e+02] [ 7.56349495e-01 -6.54139198e-01 -6.11160803e-03 -2.49250465e+02] [ 8.20588752e-03 1.45407414e-04 9.99966321e-01 -2.80630755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1206.7265599950001 meters 0.015116165232968225 Centerline is valid? [True, True] Translation: X:-367.21, Y:-249.23, Z:-2.81 [[-6.53308224e-01 -7.57070981e-01 5.64739478e-03 -3.67214206e+02] [ 7.57044810e-01 -6.53332613e-01 -6.29705009e-03 -2.49231425e+02] [ 8.45694108e-03 1.61416292e-04 9.99964227e-01 -2.80685450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1206.756559995 meters 0.015193019549223724 Centerline is valid? [True, True] Translation: X:-367.23, Y:-249.21, Z:-2.81 [[-6.52189811e-01 -7.58030811e-01 6.14333461e-03 -3.67232851e+02] [ 7.57999919e-01 -6.52218716e-01 -6.84617283e-03 -2.49210622e+02] [ 9.19640776e-03 1.91642975e-04 9.99957694e-01 -2.80704089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1206.786559995 meters 0.015378471115582389 Centerline is valid? [True, True] Translation: X:-367.25, Y:-249.19, Z:-2.81 [[-6.51903246e-01 -7.58275767e-01 6.32612249e-03 -3.67251896e+02] [ 7.58243058e-01 -6.51933908e-01 -7.04589328e-03 -2.49190459e+02] [ 9.46694389e-03 2.03497761e-04 9.99955167e-01 -2.80754495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1206.816559995 meters 0.016155690213844158 Centerline is valid? [True, True] Translation: X:-367.27, Y:-249.17, Z:-2.81 [[-6.51707963e-01 -7.58439930e-01 6.75308765e-03 -3.67271172e+02] [ 7.58402711e-01 -6.51742912e-01 -7.51695290e-03 -2.49171413e+02] [ 1.01024342e-02 2.22701921e-04 9.99948945e-01 -2.80883099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1206.846559995 meters 0.016155690213844158 Centerline is valid? [True, True] Translation: X:-367.29, Y:-249.15, Z:-2.81 [[-6.51940996e-01 -7.58239608e-01 6.75539739e-03 -3.67289139e+02] [ 7.58202400e-01 -6.51975957e-01 -7.51487723e-03 -2.49151585e+02] [ 1.01024342e-02 2.22701963e-04 9.99948945e-01 -2.80883110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1206.876559995 meters 0.015264835706815388 Centerline is valid? [True, True] Translation: X:-367.31, Y:-249.13, Z:-2.81 [[-6.51848149e-01 -7.58316390e-01 7.08827723e-03 -3.67306965e+02] [ 7.58275477e-01 -6.51886644e-01 -7.88064727e-03 -2.49129488e+02] [ 1.05967772e-02 2.37881460e-04 9.99943824e-01 -2.80856745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1206.906559995 meters 0.01636794786745229 Centerline is valid? [True, True] Translation: X:-367.33, Y:-249.11, Z:-2.81 [[-6.51516831e-01 -7.58598376e-01 7.37044931e-03 -3.67326243e+02] [ 7.58554196e-01 -6.51558470e-01 -8.19092943e-03 -2.49110490e+02] [ 1.10159044e-02 2.54356870e-04 9.99939291e-01 -2.80989707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1206.9365599950002 meters 0.016591438510188187 Centerline is valid? [True, True] Translation: X:-367.34, Y:-249.09, Z:-2.81 [[-6.52092351e-01 -7.58103507e-01 7.39183204e-03 -3.67343658e+02] [ 7.58059098e-01 -6.52134197e-01 -8.20932749e-03 -2.49091015e+02] [ 1.10439864e-02 2.50205865e-04 9.99938982e-01 -2.81026612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1206.9665599950001 meters 0.016204532748752887 Centerline is valid? [True, True] Translation: X:-367.36, Y:-249.07, Z:-2.81 [[-6.52974758e-01 -7.57345934e-01 7.14855083e-03 -3.67360783e+02] [ 7.57304408e-01 -6.53013845e-01 -7.93425006e-03 -2.49069763e+02] [ 1.06770747e-02 2.32764045e-04 9.99942972e-01 -2.80960497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1206.996559995 meters 0.015136712511515563 Centerline is valid? [True, True] Translation: X:-367.38, Y:-249.05, Z:-2.81 [[-6.54016027e-01 -7.56451355e-01 6.66216791e-03 -3.67377032e+02] [ 7.56415282e-01 -6.54049926e-01 -7.39022623e-03 -2.49047048e+02] [ 9.94773707e-03 2.06039227e-04 9.99950499e-01 -2.80838468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1207.026559995 meters 0.014890332808428323 Centerline is valid? [True, True] Translation: X:-367.39, Y:-249.03, Z:-2.81 [[-6.55219040e-01 -7.55413158e-01 6.24257881e-03 -3.67394153e+02] [ 7.55381478e-01 -6.55248752e-01 -6.92063964e-03 -2.49025114e+02] [ 9.31838423e-03 1.80993544e-04 9.99956567e-01 -2.80760905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1207.056559995 meters 0.01438115982062446 Centerline is valid? [True, True] Translation: X:-367.41, Y:-249.00, Z:-2.81 [[-6.57998398e-01 -7.52997396e-01 5.74723190e-03 -3.67409431e+02] [ 7.52970474e-01 -6.58023482e-01 -6.36886415e-03 -2.49002769e+02] [ 8.57755167e-03 1.36793524e-04 9.99963203e-01 -2.80742728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1207.086559995 meters 0.013638145137857376 Centerline is valid? [True, True] Translation: X:-367.43, Y:-248.98, Z:-2.81 [[-6.59717343e-01 -7.51491638e-01 5.77446694e-03 -3.67425871e+02] [ 7.51464434e-01 -6.59742604e-01 -6.39541902e-03 -2.48979983e+02] [ 8.61576577e-03 1.20137687e-04 9.99962877e-01 -2.80692889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1207.116559995 meters 0.013236602000565569 Centerline is valid? [True, True] Translation: X:-367.44, Y:-248.96, Z:-2.81 [[-6.61351096e-01 -7.50054092e-01 5.79537890e-03 -3.67442784e+02] [ 7.50026667e-01 -6.61376480e-01 -6.41493935e-03 -2.48957903e+02] [ 8.64447880e-03 1.04161544e-04 9.99962631e-01 -2.80686425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1207.146559995 meters 0.013069916778228193 Centerline is valid? [True, True] Translation: X:-367.46, Y:-248.94, Z:-2.81 [[-6.62808007e-01 -7.48765942e-01 5.92534244e-03 -3.67460206e+02] [ 7.48737254e-01 -6.62834486e-01 -6.55508620e-03 -2.48935786e+02] [ 8.83574660e-03 9.17610069e-05 9.99960960e-01 -2.80713578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1207.176559995 meters 0.012819878258145989 Centerline is valid? [True, True] Translation: X:-367.48, Y:-248.91, Z:-2.81 [[-6.64297692e-01 -7.47444241e-01 5.97359204e-03 -3.67477813e+02] [ 7.47415063e-01 -6.64324545e-01 -6.60471612e-03 -2.48913536e+02] [ 8.90506084e-03 7.72550020e-05 9.99960346e-01 -2.80737894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1207.2065599950001 meters 0.012856470028162483 Centerline is valid? [True, True] Translation: X:-367.49, Y:-248.89, Z:-2.81 [[-6.65479122e-01 -7.46390081e-01 6.27578522e-03 -3.67494720e+02] [ 7.46357868e-01 -6.65508709e-01 -6.93469479e-03 -2.48892413e+02] [ 9.35257713e-03 6.90870763e-05 9.99956262e-01 -2.80801610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1207.236559995 meters 0.012762673319499596 Centerline is valid? [True, True] Translation: X:-367.51, Y:-248.87, Z:-2.81 [[-6.67063521e-01 -7.44966173e-01 7.18755652e-03 -3.67510418e+02] [ 7.44923891e-01 -6.67102240e-01 -7.93719074e-03 -2.48870518e+02] [ 1.07077737e-02 5.95721696e-05 9.99942669e-01 -2.80912451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1207.266559995 meters 0.012800216748793227 Centerline is valid? [True, True] Translation: X:-367.53, Y:-248.85, Z:-2.81 [[-6.67663249e-01 -7.44422326e-01 7.82225721e-03 -3.67527909e+02] [ 7.44372266e-01 -6.67709067e-01 -8.63321286e-03 -2.48848996e+02] [ 1.16497485e-02 5.85923731e-05 9.99932138e-01 -2.80971482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1207.296559995 meters 0.012839669351560131 Centerline is valid? [True, True] Translation: X:-367.54, Y:-248.83, Z:-2.81 [[-6.68090181e-01 -7.44031204e-01 8.54853842e-03 -3.67544661e+02] [ 7.43971464e-01 -6.68144867e-01 -9.42851652e-03 -2.48829282e+02] [ 1.27267726e-02 6.07693452e-05 9.99919010e-01 -2.81079271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1207.326559995 meters 0.012821610014754483 Centerline is valid? [True, True] Translation: X:-367.56, Y:-248.81, Z:-2.81 [[-6.68597593e-01 -7.43572054e-01 8.82376896e-03 -3.67562303e+02] [ 7.43508445e-01 -6.68655814e-01 -9.72603313e-03 -2.48808757e+02] [ 1.31320708e-02 5.77443949e-05 9.99913769e-01 -2.81165600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1207.356559995 meters 0.012910023291805461 Centerline is valid? [True, True] Translation: X:-367.58, Y:-248.79, Z:-2.81 [[-6.69035395e-01 -7.43174226e-01 9.14934795e-03 -3.67579787e+02] [ 7.43105884e-01 -6.69097951e-01 -1.00785927e-02 -2.48788226e+02] [ 1.36119603e-02 5.59990510e-05 9.99907352e-01 -2.81194004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1207.386559995 meters 0.01282142537088826 Centerline is valid? [True, True] Translation: X:-367.60, Y:-248.77, Z:-2.81 [[-6.69297992e-01 -7.42929645e-01 9.78469406e-03 -3.67598074e+02] [ 7.42851554e-01 -6.69369509e-01 -1.07716937e-02 -2.48767374e+02] [ 1.45521864e-02 5.91022444e-05 9.99894110e-01 -2.81174918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1207.416559995 meters 0.012798315131191949 Centerline is valid? [True, True] Translation: X:-367.62, Y:-248.75, Z:-2.81 [[-6.69490678e-01 -7.42759930e-01 9.48254319e-03 -3.67615857e+02] [ 7.42686664e-01 -6.69557827e-01 -1.04324729e-02 -2.48746829e+02] [ 1.40979339e-02 5.81149961e-05 9.99900618e-01 -2.81154156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1207.4465599950001 meters 0.012809580547703073 Centerline is valid? [True, True] Translation: X:-367.63, Y:-248.73, Z:-2.81 [[-6.69435794e-01 -7.42809257e-01 9.49346488e-03 -3.67634547e+02] [ 7.42735910e-01 -6.69503102e-01 -1.04386257e-02 -2.48726061e+02] [ 1.41098120e-02 6.31475770e-05 9.99900450e-01 -2.81089200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1207.4765599950001 meters 0.01287802283089956 Centerline is valid? [True, True] Translation: X:-367.65, Y:-248.70, Z:-2.81 [[-6.69538550e-01 -7.42722811e-01 8.99754615e-03 -3.67653532e+02] [ 7.42656995e-01 -6.69599001e-01 -9.88768848e-03 -2.48704983e+02] [ 1.33685597e-02 6.19019791e-05 9.99910635e-01 -2.80975115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1207.506559995 meters 0.01274885456667659 Centerline is valid? [True, True] Translation: X:-367.67, Y:-248.69, Z:-2.81 [[-6.69424247e-01 -7.42834477e-01 8.25338080e-03 -3.67671960e+02] [ 7.42779172e-01 -6.69475120e-01 -9.06450135e-03 -2.48685632e+02] [ 1.22588572e-02 6.24423723e-05 9.99924856e-01 -2.80936363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1207.536559995 meters 0.01282016037282425 Centerline is valid? [True, True] Translation: X:-367.69, Y:-248.67, Z:-2.81 [[-6.68895819e-01 -7.43322212e-01 7.10436640e-03 -3.67690868e+02] [ 7.43281314e-01 -6.68933543e-01 -7.79770897e-03 -2.48666456e+02] [ 1.05485593e-02 6.46878627e-05 9.99944361e-01 -2.80778157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1207.566559995 meters 0.013039069300246207 Centerline is valid? [True, True] Translation: X:-367.71, Y:-248.65, Z:-2.81 [[-6.68641813e-01 -7.43553191e-01 6.83946424e-03 -3.67709526e+02] [ 7.43515348e-01 -6.68676788e-01 -7.50205259e-03 -2.48648380e+02] [ 1.01515661e-02 6.90605918e-05 9.99948469e-01 -2.80870506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1207.596559995 meters 0.012872745425702223 Centerline is valid? [True, True] Translation: X:-367.73, Y:-248.63, Z:-2.81 [[-6.68470266e-01 -7.43707192e-01 6.86407962e-03 -3.67727690e+02] [ 7.43669131e-01 -6.68505502e-01 -7.52439488e-03 -2.48628637e+02] [ 1.01846216e-02 7.47698849e-05 9.99948133e-01 -2.80785787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1207.626559995 meters 0.013339593901589562 Centerline is valid? [True, True] Translation: X:-367.75, Y:-248.61, Z:-2.81 [[-6.67908180e-01 -7.44211801e-01 6.88900853e-03 -3.67746875e+02] [ 7.44173527e-01 -6.67943701e-01 -7.54811060e-03 -2.48610525e+02] [ 1.02188628e-02 8.51729600e-05 9.99947783e-01 -2.80981533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1207.656559995 meters 0.01316573361746237 Centerline is valid? [True, True] Translation: X:-367.77, Y:-248.59, Z:-2.81 [[-6.66434907e-01 -7.45524742e-01 7.57452739e-03 -3.67765829e+02] [ 7.45478608e-01 -6.66477940e-01 -8.29454639e-03 -2.48589905e+02] [ 1.12320450e-02 1.18872883e-04 9.99936912e-01 -2.80889916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1207.6865599950002 meters 0.014032841672061064 Centerline is valid? [True, True] Translation: X:-367.79, Y:-248.57, Z:-2.81 [[-6.65564310e-01 -7.46297940e-01 7.97076431e-03 -3.67786390e+02] [ 7.46246970e-01 -6.65612022e-01 -8.72326567e-03 -2.48571446e+02] [ 1.18155917e-02 1.42264416e-04 9.99930184e-01 -2.81071576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1207.7165599950001 meters 0.014133630225352549 Centerline is valid? [True, True] Translation: X:-367.81, Y:-248.55, Z:-2.81 [[-6.64564786e-01 -7.47184239e-01 8.32818752e-03 -3.67805809e+02] [ 7.47128725e-01 -6.64616946e-01 -9.10950155e-03 -2.48551578e+02] [ 1.23415305e-02 1.68374179e-04 9.99923826e-01 -2.81054055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1207.746559995 meters 0.014215510193520325 Centerline is valid? [True, True] Translation: X:-367.83, Y:-248.53, Z:-2.81 [[-6.63520465e-01 -7.48107484e-01 8.70550425e-03 -3.67825331e+02] [ 7.48046973e-01 -6.63577542e-01 -9.51692204e-03 -2.48531754e+02] [ 1.28964577e-02 1.97453570e-04 9.99916818e-01 -2.81018220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1207.776559995 meters 0.014423591725038699 Centerline is valid? [True, True] Translation: X:-367.85, Y:-248.51, Z:-2.81 [[-6.62538469e-01 -7.48973589e-01 9.01885341e-03 -3.67845621e+02] [ 7.48908798e-01 -6.62599813e-01 -9.85394283e-03 -2.48511672e+02] [ 1.33562335e-02 2.25682480e-04 9.99910776e-01 -2.81036215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1207.806559995 meters 0.014769487062524322 Centerline is valid? [True, True] Translation: X:-367.87, Y:-248.49, Z:-2.81 [[-6.61593176e-01 -7.49808428e-01 9.04384630e-03 -3.67866015e+02] [ 7.49743430e-01 -6.61654941e-01 -9.87569564e-03 -2.48491735e+02] [ 1.33887854e-02 2.46871497e-04 9.99910336e-01 -2.81048969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1207.836559995 meters 0.015521926922472305 Centerline is valid? [True, True] Translation: X:-367.89, Y:-248.47, Z:-2.81 [[-6.60550619e-01 -7.50724027e-01 9.29059023e-03 -3.67886319e+02] [ 7.50655581e-01 -6.60615894e-01 -1.01409903e-02 -2.48473718e+02] [ 1.37505967e-02 2.75395967e-04 9.99905418e-01 -2.81118518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1207.866559995 meters 0.015877688231018965 Centerline is valid? [True, True] Translation: X:-367.90, Y:-248.46, Z:-2.81 [[-6.60859985e-01 -7.50453762e-01 9.12317194e-03 -3.67904691e+02] [ 7.50387822e-01 -6.60922899e-01 -9.95179568e-03 -2.48455344e+02] [ 1.34980758e-02 2.69173585e-04 9.99908861e-01 -2.81142847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1207.896559995 meters 0.015125367496433728 Centerline is valid? [True, True] Translation: X:-367.92, Y:-248.43, Z:-2.81 [[-6.61310911e-01 -7.50057919e-01 8.99989770e-03 -3.67922217e+02] [ 7.49993794e-01 -6.61372097e-01 -9.81113959e-03 -2.48433834e+02] [ 1.33112042e-02 2.61653757e-04 9.99911368e-01 -2.81009444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1207.926559995 meters 0.014741555948584121 Centerline is valid? [True, True] Translation: X:-367.94, Y:-248.41, Z:-2.81 [[-6.62183388e-01 -7.49294967e-01 8.37935733e-03 -3.67940505e+02] [ 7.49239384e-01 -6.62236361e-01 -9.12952710e-03 -2.48412766e+02] [ 1.23898238e-02 2.32723335e-04 9.99923216e-01 -2.80958201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1207.9565599950001 meters 0.01566703356405559 Centerline is valid? [True, True] Translation: X:-367.96, Y:-248.39, Z:-2.81 [[-6.63171826e-01 -7.48421553e-01 8.26488697e-03 -3.67959202e+02] [ 7.48367464e-01 -6.63223290e-01 -9.00040140e-03 -2.48394658e+02] [ 1.22175599e-02 2.16359867e-04 9.99925340e-01 -2.81067995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1207.986559995 meters 0.014350449548891699 Centerline is valid? [True, True] Translation: X:-367.98, Y:-248.37, Z:-2.81 [[-6.64360711e-01 -7.47370721e-01 7.86460123e-03 -3.67975379e+02] [ 7.47321733e-01 -6.64407232e-01 -8.55910890e-03 -2.48372351e+02] [ 1.16221253e-02 1.91051751e-04 9.99932443e-01 -2.80890561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1208.016559995 meters 0.013656109329910127 Centerline is valid? [True, True] Translation: X:-367.99, Y:-248.35, Z:-2.81 [[-6.66492661e-01 -7.45476637e-01 7.21923221e-03 -3.67993057e+02] [ 7.45435295e-01 -6.66531742e-01 -7.85230798e-03 -2.48350222e+02] [ 1.06655596e-02 1.47964849e-04 9.99943111e-01 -2.80849333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1208.046559995 meters 0.013541217258557394 Centerline is valid? [True, True] Translation: X:-368.01, Y:-248.33, Z:-2.81 [[-6.67563826e-01 -7.44517547e-01 7.22224196e-03 -3.68011054e+02] [ 7.44476168e-01 -6.67602879e-01 -7.85061480e-03 -2.48329529e+02] [ 1.06665100e-02 1.36000570e-04 9.99943102e-01 -2.80897127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1208.076559995 meters 0.013671291506405845 Centerline is valid? [True, True] Translation: X:-368.03, Y:-248.31, Z:-2.81 [[-6.68671809e-01 -7.43523104e-01 7.16970448e-03 -3.68029047e+02] [ 7.43482322e-01 -6.68710235e-01 -7.78835346e-03 -2.48310145e+02] [ 1.05852755e-02 1.22696133e-04 9.99943967e-01 -2.80998936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1208.106559995 meters 0.013138332263305453 Centerline is valid? [True, True] Translation: X:-368.05, Y:-248.29, Z:-2.81 [[-6.69789181e-01 -7.42514863e-01 7.35738230e-03 -3.68046381e+02] [ 7.42471911e-01 -6.69829580e-01 -7.98718379e-03 -2.48288939e+02] [ 1.08587950e-02 1.12920404e-04 9.99941035e-01 -2.80948544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1208.136559995 meters 0.013101731005606429 Centerline is valid? [True, True] Translation: X:-368.06, Y:-248.27, Z:-2.81 [[-6.70726044e-01 -7.41668502e-01 7.37612907e-03 -3.68064437e+02] [ 7.41625335e-01 -6.70766594e-01 -8.00248422e-03 -2.48268619e+02] [ 1.08828515e-02 1.02849607e-04 9.99940775e-01 -2.80977656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1208.166559995 meters 0.013011010466920873 Centerline is valid? [True, True] Translation: X:-368.08, Y:-248.25, Z:-2.81 [[-6.71596996e-01 -7.40880120e-01 7.35687172e-03 -3.68082462e+02] [ 7.40837185e-01 -6.71637283e-01 -7.97657851e-03 -2.48248251e+02] [ 1.08508378e-02 9.31979669e-05 9.99941124e-01 -2.81013293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1208.1965599950001 meters 0.01282326972590503 Centerline is valid? [True, True] Translation: X:-368.10, Y:-248.23, Z:-2.81 [[-6.73136884e-01 -7.39478973e-01 7.58843769e-03 -3.68099953e+02] [ 7.39433261e-01 -6.73179651e-01 -8.22252269e-03 -2.48226880e+02] [ 1.11887645e-02 7.62599266e-05 9.99937401e-01 -2.81049994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1208.2265599950001 meters 0.012866484045513375 Centerline is valid? [True, True] Translation: X:-368.12, Y:-248.21, Z:-2.81 [[-6.73971370e-01 -7.38715357e-01 7.88753071e-03 -3.68117235e+02] [ 7.38665966e-01 -6.74017520e-01 -8.54249802e-03 -2.48207478e+02] [ 1.16268084e-02 6.88513939e-05 9.99932404e-01 -2.81137332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1208.256559995 meters 0.012748748430403354 Centerline is valid? [True, True] Translation: X:-368.14, Y:-248.19, Z:-2.81 [[-6.74826769e-01 -7.37929252e-01 8.32167469e-03 -3.68135624e+02] [ 7.37874277e-01 -6.74878074e-01 -9.00762209e-03 -2.48185923e+02] [ 1.22631036e-02 6.17651801e-05 9.99924804e-01 -2.81105200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1208.286559995 meters 0.012718798247216173 Centerline is valid? [True, True] Translation: X:-368.15, Y:-248.17, Z:-2.81 [[-6.75919959e-01 -7.36924020e-01 8.67168354e-03 -3.68152792e+02] [ 7.36864319e-01 -6.75975581e-01 -9.38026622e-03 -2.48166450e+02] [ 1.27743898e-02 4.95450289e-05 9.99918403e-01 -2.81193462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1208.316559995 meters 0.012869881669615939 Centerline is valid? [True, True] Translation: X:-368.17, Y:-248.15, Z:-2.81 [[-6.76993535e-01 -7.35933544e-01 9.03176330e-03 -3.68170480e+02] [ 7.35868778e-01 -6.77053777e-01 -9.76337992e-03 -2.48146428e+02] [ 1.33001882e-02 3.64475444e-05 9.99911548e-01 -2.81333692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1208.346559995 meters 0.012688240134632085 Centerline is valid? [True, True] Translation: X:-368.19, Y:-248.12, Z:-2.81 [[-6.79559144e-01 -7.33562535e-01 9.24002777e-03 -3.68187520e+02] [ 7.33494604e-01 -6.79621959e-01 -9.98290140e-03 -2.48124584e+02] [ 1.36028082e-02 -6.46142156e-06 9.99907478e-01 -2.81230570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1208.376559995 meters 0.01294282504291879 Centerline is valid? [True, True] Translation: X:-368.21, Y:-248.10, Z:-2.81 [[-6.81248489e-01 -7.31993959e-01 9.23800993e-03 -3.68205700e+02] [ 7.31925990e-01 -6.81311121e-01 -9.97507724e-03 -2.48103163e+02] [ 1.35956552e-02 -3.39667311e-05 9.99907574e-01 -2.81217546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1208.406559995 meters 0.012980328585240957 Centerline is valid? [True, True] Translation: X:-368.22, Y:-248.08, Z:-2.81 [[-6.82682771e-01 -7.30658216e-01 9.09978465e-03 -3.68223222e+02] [ 7.30592226e-01 -6.82743413e-01 -9.81996727e-03 -2.48082168e+02] [ 1.33878578e-02 -5.56905428e-05 9.99910377e-01 -2.81235826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1208.4365599950002 meters 0.013191685731956435 Centerline is valid? [True, True] Translation: X:-368.24, Y:-248.06, Z:-2.81 [[-6.85126345e-01 -7.28370667e-01 8.83537489e-03 -3.68240252e+02] [ 7.28308343e-01 -6.85183306e-01 -9.52863398e-03 -2.48060948e+02] [ 1.29942289e-02 -9.34409243e-05 9.99915567e-01 -2.81048330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1208.4665599950001 meters 0.013212581790168099 Centerline is valid? [True, True] Translation: X:-368.26, Y:-248.04, Z:-2.81 [[-6.86181441e-01 -7.27382107e-01 8.38456436e-03 -3.68258996e+02] [ 7.27325970e-01 -6.86232657e-01 -9.03737252e-03 -2.48039968e+02] [ 1.23273849e-02 -1.02965893e-04 9.99924010e-01 -2.80958695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1208.496559995 meters 0.013404700333437948 Centerline is valid? [True, True] Translation: X:-368.28, Y:-248.02, Z:-2.81 [[-6.86935564e-01 -7.26673174e-01 8.10120975e-03 -3.68276934e+02] [ 7.26620786e-01 -6.86983324e-01 -8.72618827e-03 -2.48020261e+02] [ 1.19064829e-02 -1.07821661e-04 9.99929110e-01 -2.80933528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1208.526559995 meters 0.013405956292345148 Centerline is valid? [True, True] Translation: X:-368.30, Y:-248.00, Z:-2.81 [[-6.87334542e-01 -7.26298143e-01 7.88899297e-03 -3.68297020e+02] [ 7.26248494e-01 -6.87379805e-01 -8.49284572e-03 -2.47999955e+02] [ 1.15910725e-02 -1.08056953e-04 9.99932816e-01 -2.80856347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1208.556559995 meters 0.013304077399898315 Centerline is valid? [True, True] Translation: X:-368.32, Y:-247.98, Z:-2.81 [[-6.87380910e-01 -7.26253941e-01 7.91822008e-03 -3.68316845e+02] [ 7.26203983e-01 -6.87426507e-01 -8.51895471e-03 -2.47980577e+02] [ 1.16301188e-02 -1.05523874e-04 9.99932363e-01 -2.80830521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1208.586559995 meters 0.013243180968621076 Centerline is valid? [True, True] Translation: X:-368.34, Y:-247.96, Z:-2.81 [[-6.87228263e-01 -7.26402062e-01 7.57363948e-03 -3.68336438e+02] [ 7.26356423e-01 -6.87269988e-01 -8.14310900e-03 -2.47962088e+02] [ 1.11203063e-02 -9.50129616e-05 9.99938163e-01 -2.80823185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1208.616559995 meters 0.013182046594925815 Centerline is valid? [True, True] Translation: X:-368.36, Y:-247.94, Z:-2.81 [[-6.86426348e-01 -7.27161970e-01 7.37139453e-03 -3.68356048e+02] [ 7.27118837e-01 -6.86465923e-01 -7.92043919e-03 -2.47944991e+02] [ 1.08196533e-02 -7.69183249e-05 9.99941463e-01 -2.80836734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1208.646559995 meters 0.0128669446574162 Centerline is valid? [True, True] Translation: X:-368.38, Y:-247.93, Z:-2.81 [[-6.85792971e-01 -7.27760648e-01 7.24152675e-03 -3.68376577e+02] [ 7.27719101e-01 -6.85831200e-01 -7.77653356e-03 -2.47925482e+02] [ 1.06259201e-02 -6.32947187e-05 9.99943542e-01 -2.80763741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1208.676559995 meters 0.012904297749762388 Centerline is valid? [True, True] Translation: X:-368.40, Y:-247.91, Z:-2.81 [[-6.85012889e-01 -7.28491746e-01 7.55764405e-03 -3.68396014e+02] [ 7.28446597e-01 -6.85054577e-01 -8.11063747e-03 -2.47907069e+02] [ 1.10859311e-02 -5.05511162e-05 9.99938548e-01 -2.80797734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1208.7065599950001 meters 0.01279130187557205 Centerline is valid? [True, True] Translation: X:-368.42, Y:-247.89, Z:-2.81 [[-6.84002507e-01 -7.29437110e-01 7.87861370e-03 -3.68415156e+02] [ 7.29388171e-01 -6.84047880e-01 -8.44957949e-03 -2.47889597e+02] [ 1.15527858e-02 -3.29659277e-05 9.99933264e-01 -2.80902524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1208.736559995 meters 0.012663833018478426 Centerline is valid? [True, True] Translation: X:-368.44, Y:-247.87, Z:-2.81 [[-6.82879482e-01 -7.30483960e-01 8.29440187e-03 -3.68435420e+02] [ 7.30429863e-01 -6.82929853e-01 -8.88997519e-03 -2.47871825e+02] [ 1.21584789e-02 -1.23028303e-05 9.99926083e-01 -2.80838900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1208.766559995 meters 0.012663833018478426 Centerline is valid? [True, True] Translation: X:-368.45, Y:-247.85, Z:-2.81 [[-6.83105927e-01 -7.30272176e-01 8.29715790e-03 -3.68453753e+02] [ 7.30218094e-01 -6.83156314e-01 -8.88740300e-03 -2.47852332e+02] [ 1.21584789e-02 -1.23028297e-05 9.99926083e-01 -2.80838910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1208.796559995 meters 0.012647550312599424 Centerline is valid? [True, True] Translation: X:-368.47, Y:-247.83, Z:-2.81 [[-6.81756772e-01 -7.31531307e-01 8.34577780e-03 -3.68474675e+02] [ 7.31476745e-01 -6.81807852e-01 -8.93440543e-03 -2.47833706e+02] [ 1.22260141e-02 1.36509803e-05 9.99925260e-01 -2.80777547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1208.826559995 meters 0.012756270007479349 Centerline is valid? [True, True] Translation: X:-368.50, Y:-247.82, Z:-2.81 [[-6.78593820e-01 -7.34469202e-01 8.08817358e-03 -3.68497190e+02] [ 7.34418208e-01 -6.78642016e-01 -8.65504597e-03 -2.47817341e+02] [ 1.18458391e-02 6.68412343e-05 9.99929834e-01 -2.80754358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1208.856559995 meters 0.012933898758637567 Centerline is valid? [True, True] Translation: X:-368.52, Y:-247.80, Z:-2.81 [[-6.77263784e-01 -7.35698933e-01 7.80047721e-03 -3.68518325e+02] [ 7.35651637e-01 -6.77308698e-01 -8.34246958e-03 -2.47798398e+02] [ 1.14208770e-02 8.83813197e-05 9.99934776e-01 -2.80699221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1208.886559995 meters 0.013285494514105737 Centerline is valid? [True, True] Translation: X:-368.54, Y:-247.78, Z:-2.81 [[-6.75766529e-01 -7.37075332e-01 7.71710042e-03 -3.68538931e+02] [ 7.37029187e-01 -6.75810582e-01 -8.24838399e-03 -2.47780313e+02] [ 1.12949785e-02 1.13746426e-04 9.99936203e-01 -2.80719855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1208.916559995 meters 0.013917146122151445 Centerline is valid? [True, True] Translation: X:-368.56, Y:-247.76, Z:-2.81 [[-6.73321510e-01 -7.39306614e-01 7.99217859e-03 -3.68560816e+02] [ 7.39257336e-01 -6.73368922e-01 -8.53734497e-03 -2.47762890e+02] [ 1.16934003e-02 1.59898647e-04 9.99931617e-01 -2.80699333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1208.9465599950001 meters 0.0148866875963222 Centerline is valid? [True, True] Translation: X:-368.58, Y:-247.75, Z:-2.81 [[-6.72653755e-01 -7.39914837e-01 7.93474412e-03 -3.68580939e+02] [ 7.39866364e-01 -6.72700532e-01 -8.47103847e-03 -2.47746447e+02] [ 1.16055536e-02 1.72574441e-04 9.99932639e-01 -2.80801719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1208.9765599950001 meters 0.01477248660596815 Centerline is valid? [True, True] Translation: X:-368.60, Y:-247.73, Z:-2.81 [[-6.71933815e-01 -7.40571067e-01 7.70990980e-03 -3.68599821e+02] [ 7.40525403e-01 -6.71978022e-01 -8.22598438e-03 -2.47727060e+02] [ 1.12728160e-02 1.82066992e-04 9.99936443e-01 -2.80681310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1209.006559995 meters 0.014449202681615017 Centerline is valid? [True, True] Translation: X:-368.62, Y:-247.71, Z:-2.81 [[-6.71470037e-01 -7.40994700e-01 7.40573347e-03 -3.68619417e+02] [ 7.40952641e-01 -6.71510850e-01 -7.89698930e-03 -2.47706628e+02] [ 1.08246576e-02 1.84706078e-04 9.99941395e-01 -2.80513542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1209.036559995 meters 0.014829853999213858 Centerline is valid? [True, True] Translation: X:-368.64, Y:-247.69, Z:-2.80 [[-6.70995469e-01 -7.41430598e-01 6.76371710e-03 -3.68638997e+02] [ 7.41395586e-01 -6.71029534e-01 -7.20759240e-03 -2.47688653e+02] [ 9.88258348e-03 1.78328156e-04 9.99951150e-01 -2.80457627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1209.066559995 meters 0.014813631065521136 Centerline is valid? [True, True] Translation: X:-368.66, Y:-247.67, Z:-2.80 [[-6.70548346e-01 -7.41838634e-01 6.35266868e-03 -3.68658634e+02] [ 7.41807802e-01 -6.70578415e-01 -6.76572064e-03 -2.47668996e+02] [ 9.27903545e-03 1.75716404e-04 9.99956934e-01 -2.80338137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1209.096559995 meters 0.015508503298121895 Centerline is valid? [True, True] Translation: X:-368.68, Y:-247.65, Z:-2.80 [[-6.70007108e-01 -7.42326013e-01 6.52434996e-03 -3.68679531e+02] [ 7.42293554e-01 -6.70038846e-01 -6.94441069e-03 -2.47651915e+02] [ 9.52658462e-03 1.90178401e-04 9.99954603e-01 -2.80299416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1209.126559995 meters 0.01570065005034364 Centerline is valid? [True, True] Translation: X:-368.70, Y:-247.63, Z:-2.80 [[-6.70084824e-01 -7.42253365e-01 6.80227759e-03 -3.68698716e+02] [ 7.42218122e-01 -6.70119320e-01 -7.23576577e-03 -2.47633165e+02] [ 9.92910912e-03 2.00196873e-04 9.99950685e-01 -2.80310831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1209.156559995 meters 0.015134388702512984 Centerline is valid? [True, True] Translation: X:-368.72, Y:-247.61, Z:-2.80 [[-6.70168082e-01 -7.42175945e-01 7.04334250e-03 -3.68717489e+02] [ 7.42138200e-01 -6.70205061e-01 -7.48793907e-03 -2.47612452e+02] [ 1.02778520e-02 2.08955762e-04 9.99947160e-01 -2.80243261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1209.1865599950002 meters 0.015896701765383058 Centerline is valid? [True, True] Translation: X:-368.74, Y:-247.59, Z:-2.80 [[-6.70396595e-01 -7.41969451e-01 7.05259432e-03 -3.68737445e+02] [ 7.41931641e-01 -6.70433659e-01 -7.49328701e-03 -2.47594251e+02] [ 1.02880867e-02 2.09068785e-04 9.99947055e-01 -2.80288765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1209.2165599950001 meters 0.015911628999285943 Centerline is valid? [True, True] Translation: X:-368.76, Y:-247.58, Z:-2.80 [[-6.70537101e-01 -7.41838250e-01 7.48384536e-03 -3.68756578e+02] [ 7.41795720e-01 -6.70578826e-01 -7.94658462e-03 -2.47575499e+02] [ 1.09135887e-02 2.23004652e-04 9.99940420e-01 -2.80319403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1209.246559995 meters 0.01600226730961354 Centerline is valid? [True, True] Translation: X:-368.78, Y:-247.56, Z:-2.80 [[-6.70718822e-01 -7.41668187e-01 8.03513086e-03 -3.68776245e+02] [ 7.41619209e-01 -6.70766907e-01 -8.52673016e-03 -2.47556576e+02] [ 1.17137044e-02 2.39968989e-04 9.99931364e-01 -2.80399914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1209.276559995 meters 0.01566801535926031 Centerline is valid? [True, True] Translation: X:-368.80, Y:-247.54, Z:-2.80 [[-6.71167411e-01 -7.41249851e-01 9.10858135e-03 -3.68795274e+02] [ 7.41186954e-01 -6.71229162e-01 -9.65983902e-03 -2.47537514e+02] [ 1.32742997e-02 2.67792517e-04 9.99911857e-01 -2.80446461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1209.306559995 meters 0.01579437150681829 Centerline is valid? [True, True] Translation: X:-368.81, Y:-247.52, Z:-2.81 [[-6.71609511e-01 -7.40840044e-01 9.83333167e-03 -3.68813677e+02] [ 7.40766793e-01 -6.71681433e-01 -1.04216482e-02 -2.47518627e+02] [ 1.43256407e-02 2.84927484e-04 9.99897342e-01 -2.80503505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1209.336559995 meters 0.01582489773544945 Centerline is valid? [True, True] Translation: X:-368.83, Y:-247.50, Z:-2.81 [[-6.72307936e-01 -7.40202235e-01 1.01335961e-02 -3.68832626e+02] [ 7.40124466e-01 -6.72384243e-01 -1.07333103e-02 -2.47498555e+02] [ 1.47584906e-02 2.84032762e-04 9.99891047e-01 -2.80527821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1209.366559995 meters 0.015504567017920648 Centerline is valid? [True, True] Translation: X:-368.85, Y:-247.48, Z:-2.81 [[-6.73092217e-01 -7.39481824e-01 1.06536433e-02 -3.68850358e+02] [ 7.39395885e-01 -6.73176463e-01 -1.12771879e-02 -2.47478420e+02] [ 1.55110574e-02 2.86672629e-04 9.99879655e-01 -2.80500719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1209.396559995 meters 0.01544350809890504 Centerline is valid? [True, True] Translation: X:-368.87, Y:-247.46, Z:-2.81 [[-6.74989684e-01 -7.37732451e-01 1.18219197e-02 -3.68867637e+02] [ 7.37626499e-01 -6.75093144e-01 -1.25057678e-02 -2.47459019e+02] [ 1.72068077e-02 2.78896951e-04 9.99851913e-01 -2.80576752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1209.426559995 meters 0.015272021354697551 Centerline is valid? [True, True] Translation: X:-368.89, Y:-247.44, Z:-2.81 [[-6.75927023e-01 -7.36867270e-01 1.22182746e-02 -3.68885595e+02] [ 7.36754090e-01 -6.76037390e-01 -1.29173222e-02 -2.47438199e+02] [ 1.77783624e-02 2.70696699e-04 9.99841916e-01 -2.80581263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1209.4565599950001 meters 0.014118344306311327 Centerline is valid? [True, True] Translation: X:-368.90, Y:-247.42, Z:-2.80 [[-6.77187376e-01 -7.35705524e-01 1.24354388e-02 -3.68902662e+02] [ 7.35588224e-01 -6.77301498e-01 -1.31394700e-02 -2.47415895e+02] [ 1.80893219e-02 2.49479155e-04 9.99836344e-01 -2.80326361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1209.486559995 meters 0.01467837527559038 Centerline is valid? [True, True] Translation: X:-368.92, Y:-247.40, Z:-2.81 [[-6.78530866e-01 -7.34469373e-01 1.22720795e-02 -3.68922088e+02] [ 7.34355066e-01 -6.78641800e-01 -1.29593710e-02 -2.47396452e+02] [ 1.78466072e-02 2.18730483e-04 9.99840713e-01 -2.80529689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1209.516559995 meters 0.014340030056781836 Centerline is valid? [True, True] Translation: X:-368.94, Y:-247.38, Z:-2.80 [[-6.79951803e-01 -7.33160464e-01 1.18861373e-02 -3.68939698e+02] [ 7.33053161e-01 -6.80055660e-01 -1.25444278e-02 -2.47375919e+02] [ 1.72803134e-02 1.83564193e-04 9.99850668e-01 -2.80452461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1209.546559995 meters 0.013682433784627617 Centerline is valid? [True, True] Translation: X:-368.96, Y:-247.35, Z:-2.80 [[-6.82984898e-01 -7.30351865e-01 1.08527685e-02 -3.68956044e+02] [ 7.30262148e-01 -6.83071110e-01 -1.14478845e-02 -2.47353374e+02] [ 1.57741965e-02 1.06633834e-04 9.99875574e-01 -2.80242415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1209.576559995 meters 0.013079022812050572 Centerline is valid? [True, True] Translation: X:-368.97, Y:-247.33, Z:-2.80 [[-6.84341096e-01 -7.29088417e-01 1.03607177e-02 -3.68973375e+02] [ 7.29006608e-01 -6.84419516e-01 -1.09220633e-02 -2.47332098e+02] [ 1.50542272e-02 7.86148679e-05 9.99886676e-01 -2.79943473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1209.606559995 meters 0.012902375482046494 Centerline is valid? [True, True] Translation: X:-368.99, Y:-247.31, Z:-2.80 [[-6.85706659e-01 -7.27808595e-01 1.00512013e-02 -3.68991509e+02] [ 7.27731560e-01 -6.85780319e-01 -1.05891526e-02 -2.47311577e+02] [ 1.45997923e-02 5.35239875e-05 9.99893416e-01 -2.79844499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1209.636559995 meters 0.012839180400736394 Centerline is valid? [True, True] Translation: X:-369.01, Y:-247.29, Z:-2.80 [[-6.86849244e-01 -7.26734754e-01 9.73205238e-03 -3.69010558e+02] [ 7.26662502e-01 -6.86918187e-01 -1.02475212e-02 -2.47290255e+02] [ 1.41323536e-02 3.34153191e-05 9.99900133e-01 -2.79753920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1209.666559995 meters 0.012889997066943569 Centerline is valid? [True, True] Translation: X:-369.03, Y:-247.27, Z:-2.80 [[-6.87648941e-01 -7.25980782e-01 9.53085836e-03 -3.69029108e+02] [ 7.25911497e-01 -6.87714987e-01 -1.00297198e-02 -2.47270127e+02] [ 1.38358979e-02 2.16334713e-05 9.99904279e-01 -2.79701894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1209.6965599950001 meters 0.012875897452838226 Centerline is valid? [True, True] Translation: X:-369.05, Y:-247.25, Z:-2.80 [[-6.88028698e-01 -7.25626973e-01 9.05581886e-03 -3.69049419e+02] [ 7.25564462e-01 -6.88088291e-01 -9.52449384e-03 -2.47250838e+02] [ 1.31424326e-02 1.74552403e-05 9.99913635e-01 -2.79608206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1209.7265599950001 meters 0.01287408595218765 Centerline is valid? [True, True] Translation: X:-369.07, Y:-247.23, Z:-2.80 [[-6.87727837e-01 -7.25914872e-01 8.83293703e-03 -3.69069984e+02] [ 7.25855490e-01 -6.87784558e-01 -9.28487439e-03 -2.47231272e+02] [ 1.28151861e-02 2.59692578e-05 9.99917882e-01 -2.79589623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1209.756559995 meters 0.012878305425493066 Centerline is valid? [True, True] Translation: X:-369.09, Y:-247.21, Z:-2.80 [[-6.87043563e-01 -7.26559591e-01 9.07215965e-03 -3.69090774e+02] [ 7.26497076e-01 -6.87103456e-01 -9.53094217e-03 -2.47211865e+02] [ 1.31583097e-02 4.27249960e-05 9.99913425e-01 -2.79550204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1209.786559995 meters 0.012931293092566009 Centerline is valid? [True, True] Translation: X:-369.11, Y:-247.19, Z:-2.80 [[-6.86354587e-01 -7.27210816e-01 9.04488376e-03 -3.69111711e+02] [ 7.27148803e-01 -6.86414180e-01 -9.49694575e-03 -2.47192356e+02] [ 1.31148181e-02 5.87041242e-05 9.99913996e-01 -2.79538944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1209.816559995 meters 0.013112648800745546 Centerline is valid? [True, True] Translation: X:-369.13, Y:-247.17, Z:-2.80 [[-6.85589948e-01 -7.27927368e-01 9.38984819e-03 -3.69132696e+02] [ 7.27860677e-01 -6.85654243e-01 -9.85363810e-03 -2.47173405e+02] [ 1.36109221e-02 7.89460253e-05 9.99907364e-01 -2.79559820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1209.846559995 meters 0.013207022699316808 Centerline is valid? [True, True] Translation: X:-369.15, Y:-247.16, Z:-2.80 [[-6.84677432e-01 -7.28784824e-01 9.46015883e-03 -3.69153868e+02] [ 7.28717297e-01 -6.84742777e-01 -9.92119951e-03 -2.47155339e+02] [ 1.37081951e-02 1.00959959e-04 9.99906033e-01 -2.79624190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1209.876559995 meters 0.013872008635207074 Centerline is valid? [True, True] Translation: X:-369.18, Y:-247.14, Z:-2.80 [[-6.82390567e-01 -7.30915770e-01 1.02591984e-02 -3.69176889e+02] [ 7.30836659e-01 -6.82467664e-01 -1.07548140e-02 -2.47139902e+02] [ 1.48624343e-02 1.58814687e-04 9.99889536e-01 -2.79784309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1209.906559995 meters 0.013910240333498206 Centerline is valid? [True, True] Translation: X:-369.20, Y:-247.12, Z:-2.80 [[-6.81436623e-01 -7.31795784e-01 1.09114580e-02 -3.69197439e+02] [ 7.31706506e-01 -6.81523949e-01 -1.14321942e-02 -2.47121265e+02] [ 1.58024514e-02 1.93668974e-04 9.99875115e-01 -2.79781826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1209.9365599950002 meters 0.014443141753733867 Centerline is valid? [True, True] Translation: X:-369.22, Y:-247.10, Z:-2.80 [[-6.80541646e-01 -7.32621913e-01 1.13225924e-02 -3.69218152e+02] [ 7.32526009e-01 -6.80635793e-01 -1.18559670e-02 -2.47104104e+02] [ 1.63925028e-02 2.25614153e-04 9.99865609e-01 -2.79910981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1209.9665599950001 meters 0.014718434185977833 Centerline is valid? [True, True] Translation: X:-369.24, Y:-247.09, Z:-2.80 [[-6.80189339e-01 -7.32944276e-01 1.16254400e-02 -3.69238479e+02] [ 7.32843346e-01 -6.80288636e-01 -1.21656130e-02 -2.47086178e+02] [ 1.68253711e-02 2.44706101e-04 9.99858414e-01 -2.79981498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1209.996559995 meters 0.01423353220640633 Centerline is valid? [True, True] Translation: X:-369.26, Y:-247.07, Z:-2.80 [[-6.79873687e-01 -7.33236572e-01 1.16575924e-02 -3.69258086e+02] [ 7.33135243e-01 -6.79973576e-01 -1.21923052e-02 -2.47066401e+02] [ 1.68666989e-02 2.57364312e-04 9.99857714e-01 -2.79867263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1210.026559995 meters 0.014855087850025532 Centerline is valid? [True, True] Translation: X:-369.28, Y:-247.05, Z:-2.80 [[-6.79756223e-01 -7.33352936e-01 1.11780889e-02 -3.69278657e+02] [ 7.33259901e-01 -6.79848077e-01 -1.16837765e-02 -2.47048744e+02] [ 1.61677340e-02 2.54324540e-04 9.99869262e-01 -2.79873007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1210.056559995 meters 0.014382216322154688 Centerline is valid? [True, True] Translation: X:-369.30, Y:-247.03, Z:-2.80 [[-6.79915198e-01 -7.33209024e-01 1.09476516e-02 -3.69297933e+02] [ 7.33119869e-01 -6.80003283e-01 -1.14364375e-02 -2.47028670e+02] [ 1.58297382e-02 2.50133275e-04 9.99874671e-01 -2.79723455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1210.086559995 meters 0.014714348949667517 Centerline is valid? [True, True] Translation: X:-369.32, Y:-247.01, Z:-2.80 [[-6.80238469e-01 -7.32919633e-01 1.02194686e-02 -3.69317682e+02] [ 7.32842004e-01 -6.80315191e-01 -1.06695252e-02 -2.47010502e+02] [ 1.47723642e-02 2.31434406e-04 9.99890856e-01 -2.79746192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1210.116559995 meters 0.014295001752627181 Centerline is valid? [True, True] Translation: X:-369.34, Y:-246.99, Z:-2.80 [[-6.80916311e-01 -7.32302625e-01 9.26509761e-03 -3.69337042e+02] [ 7.32238835e-01 -6.80979313e-01 -9.66770660e-03 -2.46990420e+02] [ 1.33890267e-02 2.01365162e-04 9.99910343e-01 -2.79512424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1210.146559995 meters 0.014359719540868222 Centerline is valid? [True, True] Translation: X:-369.36, Y:-246.97, Z:-2.80 [[-6.81661095e-01 -7.31616489e-01 8.68709863e-03 -3.69356227e+02] [ 7.31560429e-01 -6.81716423e-01 -9.05860331e-03 -2.46972263e+02] [ 1.25495613e-02 1.80240147e-04 9.99921235e-01 -2.79509289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1210.176559995 meters 0.01418647216926539 Centerline is valid? [True, True] Translation: X:-369.38, Y:-246.95, Z:-2.80 [[-6.82419391e-01 -7.30914061e-01 8.27110557e-03 -3.69375549e+02] [ 7.30863253e-01 -6.82469493e-01 -8.61953155e-03 -2.46953480e+02] [ 1.19449140e-02 1.62911660e-04 9.99928644e-01 -2.79509093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1210.2065599950001 meters 0.013783508471774432 Centerline is valid? [True, True] Translation: X:-369.39, Y:-246.93, Z:-2.79 [[-6.83464961e-01 -7.29936914e-01 8.23096363e-03 -3.69394582e+02] [ 7.29886591e-01 -6.83514506e-01 -8.57232134e-03 -2.46933533e+02] [ 1.18832368e-02 1.48788721e-04 9.99929381e-01 -2.79453258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1210.236559995 meters 0.013713263061888746 Centerline is valid? [True, True] Translation: X:-369.41, Y:-246.92, Z:-2.80 [[-6.84460091e-01 -7.29002501e-01 8.35091296e-03 -3.69412514e+02] [ 7.28950699e-01 -6.84511019e-01 -8.69154033e-03 -2.46915017e+02] [ 1.20524466e-02 1.38391359e-04 9.99927357e-01 -2.79509877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1210.266559995 meters 0.013503217453047814 Centerline is valid? [True, True] Translation: X:-369.43, Y:-246.89, Z:-2.80 [[-6.85630929e-01 -7.27899301e-01 8.53448661e-03 -3.69431283e+02] [ 7.27845179e-01 -6.85684033e-01 -8.87709103e-03 -2.46894669e+02] [ 1.23135895e-02 1.25376758e-04 9.99924177e-01 -2.79503448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1210.296559995 meters 0.013296596837953223 Centerline is valid? [True, True] Translation: X:-369.45, Y:-246.88, Z:-2.80 [[-6.87458299e-01 -7.26171953e-01 8.68229681e-03 -3.69448466e+02] [ 7.26115876e-01 -6.87513116e-01 -9.02496557e-03 -2.46875132e+02] [ 1.25228698e-02 1.00066082e-04 9.99921581e-01 -2.79582964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1210.326559995 meters 0.013343413065317613 Centerline is valid? [True, True] Translation: X:-369.47, Y:-246.86, Z:-2.80 [[-6.88218572e-01 -7.25447083e-01 9.04026739e-03 -3.69466865e+02] [ 7.25386298e-01 -6.88277938e-01 -9.39136529e-03 -2.46855482e+02] [ 1.30351552e-02 9.43740895e-05 9.99915035e-01 -2.79610292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1210.356559995 meters 0.01337492787683375 Centerline is valid? [True, True] Translation: X:-369.49, Y:-246.84, Z:-2.80 [[-6.88546815e-01 -7.25132684e-01 9.26686102e-03 -3.69485949e+02] [ 7.25068863e-01 -6.88609165e-01 -9.62093416e-03 -2.46835777e+02] [ 1.33576992e-02 9.46488084e-05 9.99910778e-01 -2.79673132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1210.386559995 meters 0.013135995982940374 Centerline is valid? [True, True] Translation: X:-369.50, Y:-246.82, Z:-2.80 [[-6.88517649e-01 -7.25154189e-01 9.73906040e-03 -3.69504993e+02] [ 7.25083781e-01 -6.88586517e-01 -1.01054372e-02 -2.46815513e+02] [ 1.40341858e-02 1.03862890e-04 9.99901511e-01 -2.79588198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1210.416559995 meters 0.01321367647159042 Centerline is valid? [True, True] Translation: X:-369.53, Y:-246.80, Z:-2.80 [[-6.88348013e-01 -7.25304422e-01 1.05123108e-02 -3.69525115e+02] [ 7.25222499e-01 -6.88428269e-01 -1.09016263e-02 -2.46795650e+02] [ 1.51439697e-02 1.19651438e-04 9.99885317e-01 -2.79675505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1210.4465599950001 meters 0.013517048307962009 Centerline is valid? [True, True] Translation: X:-369.55, Y:-246.78, Z:-2.80 [[-6.87412975e-01 -7.26178358e-01 1.13310769e-02 -3.69545227e+02] [ 7.26083398e-01 -6.87506340e-01 -1.17443871e-02 -2.46775778e+02] [ 1.63187070e-02 1.54062744e-04 9.99866829e-01 -2.79816335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1210.4765599950001 meters 0.013833581744249526 Centerline is valid? [True, True] Translation: X:-369.56, Y:-246.76, Z:-2.80 [[-6.86898150e-01 -7.26660979e-01 1.16083712e-02 -3.69564173e+02] [ 7.26561504e-01 -6.86996209e-01 -1.20245524e-02 -2.46756906e+02] [ 1.67126800e-02 1.74552790e-04 9.99860318e-01 -2.79927157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1210.506559995 meters 0.014027146847454347 Centerline is valid? [True, True] Translation: X:-369.58, Y:-246.74, Z:-2.80 [[-6.86576808e-01 -7.26966289e-01 1.15022273e-02 -3.69583124e+02] [ 7.26868788e-01 -6.86673125e-01 -1.19073102e-02 -2.46736945e+02] [ 1.65544835e-02 1.85326978e-04 9.99862948e-01 -2.79931424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1210.536559995 meters 0.013810418200913308 Centerline is valid? [True, True] Translation: X:-369.60, Y:-246.72, Z:-2.80 [[-6.86328759e-01 -7.27202541e-01 1.13710081e-02 -3.69601683e+02] [ 7.27107393e-01 -6.86422922e-01 -1.17648556e-02 -2.46716367e+02] [ 1.63607535e-02 1.93385291e-04 9.99866135e-01 -2.79813571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1210.566559995 meters 0.013898938527667163 Centerline is valid? [True, True] Translation: X:-369.62, Y:-246.70, Z:-2.80 [[-6.86200082e-01 -7.27325007e-01 1.13040842e-02 -3.69620688e+02] [ 7.27231099e-01 -6.86293155e-01 -1.16890550e-02 -2.46696354e+02] [ 1.62596577e-02 1.99651078e-04 9.99867783e-01 -2.79814023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1210.596559995 meters 0.013883220064847792 Centerline is valid? [True, True] Translation: X:-369.64, Y:-246.67, Z:-2.80 [[-6.86149872e-01 -7.27379200e-01 1.08559725e-02 -3.69639442e+02] [ 7.27292689e-01 -6.86235718e-01 -1.12197956e-02 -2.46674750e+02] [ 1.56108020e-02 1.97008131e-04 9.99878125e-01 -2.79812112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1210.626559995 meters 0.014071319869013485 Centerline is valid? [True, True] Translation: X:-369.66, Y:-246.66, Z:-2.80 [[-6.86403419e-01 -7.27143322e-01 1.06271509e-02 -3.69657613e+02] [ 7.27060502e-01 -6.86485653e-01 -1.09760644e-02 -2.46655406e+02] [ 1.52765585e-02 1.92573548e-04 9.99883288e-01 -2.79838958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1210.656559995 meters 0.014071319869013485 Centerline is valid? [True, True] Translation: X:-369.68, Y:-246.64, Z:-2.80 [[-6.86625891e-01 -7.26933201e-01 1.06305093e-02 -3.69676301e+02] [ 7.26850406e-01 -6.86708151e-01 -1.09728117e-02 -2.46636268e+02] [ 1.52765585e-02 1.92573456e-04 9.99883288e-01 -2.79838969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1210.6865599950002 meters 0.0141156977261915 Centerline is valid? [True, True] Translation: X:-369.69, Y:-246.62, Z:-2.80 [[-6.86819216e-01 -7.26756412e-01 1.02216745e-02 -3.69694546e+02] [ 7.26679939e-01 -6.86895249e-01 -1.05443633e-02 -2.46616238e+02] [ 1.46844033e-02 1.85814463e-04 9.99892161e-01 -2.79804651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1210.7165599950001 meters 0.01394495424177815 Centerline is valid? [True, True] Translation: X:-369.71, Y:-246.59, Z:-2.80 [[-6.87084906e-01 -7.26515658e-01 9.45148439e-03 -3.69711556e+02] [ 7.26450335e-01 -6.87149888e-01 -9.74380380e-03 -2.46594355e+02] [ 1.35736125e-02 1.71213484e-04 9.99907860e-01 -2.79659774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1210.746559995 meters 0.014067820559475672 Centerline is valid? [True, True] Translation: X:-369.73, Y:-246.57, Z:-2.80 [[-6.87411693e-01 -7.26209486e-01 9.21669626e-03 -3.69728652e+02] [ 7.26147422e-01 -6.87473458e-01 -9.49556600e-03 -2.46574680e+02] [ 1.32320041e-02 1.65317126e-04 9.99912440e-01 -2.79605769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1210.776559995 meters 0.01400934136669467 Centerline is valid? [True, True] Translation: X:-369.75, Y:-246.55, Z:-2.80 [[-6.87436011e-01 -7.26190122e-01 8.92394076e-03 -3.69746807e+02] [ 7.26132010e-01 -6.87493912e-01 -9.18831441e-03 -2.46553958e+02] [ 1.28076181e-02 1.63580831e-04 9.99917966e-01 -2.79529085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1210.806559995 meters 0.01418482515072931 Centerline is valid? [True, True] Translation: X:-369.77, Y:-246.53, Z:-2.80 [[-6.87381736e-01 -7.26246118e-01 8.53962793e-03 -3.69765751e+02] [ 7.26192973e-01 -6.87434760e-01 -8.78725899e-03 -2.46533704e+02] [ 1.22521498e-02 1.61216461e-04 9.99924927e-01 -2.79503536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1210.836559995 meters 0.014330630763487017 Centerline is valid? [True, True] Translation: X:-369.78, Y:-246.51, Z:-2.79 [[-6.86991769e-01 -7.26619660e-01 8.13513361e-03 -3.69784369e+02] [ 7.26571516e-01 -6.87039914e-01 -8.36594277e-03 -2.46514224e+02] [ 1.16680200e-02 1.63422533e-04 9.99931913e-01 -2.79465774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1210.866559995 meters 0.014728115548368885 Centerline is valid? [True, True] Translation: X:-369.80, Y:-246.50, Z:-2.79 [[-6.86341069e-01 -7.27234165e-01 8.14903983e-03 -3.69803262e+02] [ 7.27185955e-01 -6.86389422e-01 -8.37546475e-03 -2.46495177e+02] [ 1.16843388e-02 1.77441883e-04 9.99931720e-01 -2.79464941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1210.896559995 meters 0.015536800964051188 Centerline is valid? [True, True] Translation: X:-369.82, Y:-246.48, Z:-2.80 [[-6.84917430e-01 -7.28573413e-01 8.30034538e-03 -3.69822258e+02] [ 7.28523552e-01 -6.84967692e-01 -8.52617726e-03 -2.46475945e+02] [ 1.18974145e-02 2.07269678e-04 9.99929202e-01 -2.79516804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1210.926559995 meters 0.016202001739872757 Centerline is valid? [True, True] Translation: X:-369.84, Y:-246.46, Z:-2.80 [[-6.84258314e-01 -7.29188867e-01 8.61141326e-03 -3.69841741e+02] [ 7.29135307e-01 -6.84312461e-01 -8.84077193e-03 -2.46456864e+02] [ 1.23394899e-02 2.29513759e-04 9.99923839e-01 -2.79609911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1210.9565599950001 meters 0.015255498611364297 Centerline is valid? [True, True] Translation: X:-369.86, Y:-246.44, Z:-2.80 [[-6.83654725e-01 -7.29747132e-01 9.23804371e-03 -3.69859484e+02] [ 7.29685615e-01 -6.83717088e-01 -9.47876597e-03 -2.46435041e+02] [ 1.32333106e-02 2.60664470e-04 9.99912402e-01 -2.79515479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1210.986559995 meters 0.015828869272767537 Centerline is valid? [True, True] Translation: X:-369.88, Y:-246.41, Z:-2.80 [[-6.83107496e-01 -7.30251141e-01 9.87015681e-03 -3.69877616e+02] [ 7.30181029e-01 -6.83178736e-01 -1.01232070e-02 -2.46414507e+02] [ 1.41355647e-02 2.91762698e-04 9.99900046e-01 -2.79681847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1211.016559995 meters 0.017195793142692893 Centerline is valid? [True, True] Translation: X:-369.90, Y:-246.40, Z:-2.80 [[-6.83808316e-01 -7.29590819e-01 1.01697816e-02 -3.69896792e+02] [ 7.29516411e-01 -6.83883874e-01 -1.04237174e-02 -2.46396350e+02] [ 1.45599982e-02 2.91197898e-04 9.99893955e-01 -2.79887582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1211.046559995 meters 0.015425015502024454 Centerline is valid? [True, True] Translation: X:-369.91, Y:-246.37, Z:-2.80 [[-6.84660526e-01 -7.28790873e-01 1.01896009e-02 -3.69911952e+02] [ 7.28716181e-01 -6.84736289e-01 -1.04375450e-02 -2.46373525e+02] [ 1.45839770e-02 2.79151976e-04 9.99893609e-01 -2.79671066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1211.076559995 meters 0.015210244545248138 Centerline is valid? [True, True] Translation: X:-369.93, Y:-246.35, Z:-2.80 [[-6.86012274e-01 -7.27522173e-01 9.93221370e-03 -3.69929563e+02] [ 7.27451153e-01 -6.86084125e-01 -1.01683082e-02 -2.46351920e+02] [ 1.42120038e-02 2.49616088e-04 9.99898973e-01 -2.79680718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1211.106559995 meters 0.01497484744346318 Centerline is valid? [True, True] Translation: X:-369.95, Y:-246.33, Z:-2.80 [[-6.87721809e-01 -7.25905314e-01 1.00094109e-02 -3.69946383e+02] [ 7.25833095e-01 -6.87794610e-01 -1.02416966e-02 -2.46330683e+02] [ 1.43189208e-02 2.21723570e-04 9.99897455e-01 -2.79677156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1211.136559995 meters 0.014394733835015983 Centerline is valid? [True, True] Translation: X:-369.96, Y:-246.31, Z:-2.80 [[-6.89821428e-01 -7.23912661e-01 9.84158729e-03 -3.69963058e+02] [ 7.23842716e-01 -6.89891605e-01 -1.00645523e-02 -2.46307889e+02] [ 1.40754853e-02 1.81017466e-04 9.99900919e-01 -2.79638988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1211.166559995 meters 0.013439553015414028 Centerline is valid? [True, True] Translation: X:-369.98, Y:-246.28, Z:-2.80 [[-6.94775561e-01 -7.19163812e-01 9.50429942e-03 -3.69976755e+02] [ 7.19098204e-01 -6.94840560e-01 -9.71438637e-03 -2.46281684e+02] [ 1.35902079e-02 8.52063984e-05 9.99907645e-01 -2.79571201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1211.1965599950001 meters 0.013016129291899546 Centerline is valid? [True, True] Translation: X:-369.99, Y:-246.26, Z:-2.79 [[-6.97661863e-01 -7.16367478e-01 9.24997993e-03 -3.69992977e+02] [ 7.16305158e-01 -6.97723180e-01 -9.44909368e-03 -2.46257989e+02] [ 1.32229488e-02 3.35360370e-05 9.99912573e-01 -2.79376847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1211.2265599950001 meters 0.013193248366443215 Centerline is valid? [True, True] Translation: X:-370.01, Y:-246.24, Z:-2.79 [[-7.00477724e-01 -7.13619744e-01 8.82155881e-03 -3.70008810e+02] [ 7.13562912e-01 -7.00533269e-01 -9.00612169e-03 -2.46235897e+02] [ 1.26067417e-02 -1.38504313e-05 9.99920532e-01 -2.79383548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1211.256559995 meters 0.013566074746074592 Centerline is valid? [True, True] Translation: X:-370.02, Y:-246.21, Z:-2.79 [[-7.03133663e-01 -7.11005836e-01 8.58800366e-03 -3.70023760e+02] [ 7.10951848e-01 -7.03186105e-01 -8.76193683e-03 -2.46213943e+02] [ 1.22687531e-02 -5.51556630e-05 9.99924735e-01 -2.79475111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1211.286559995 meters 0.014770313167205971 Centerline is valid? [True, True] Translation: X:-370.04, Y:-246.19, Z:-2.79 [[-7.07859991e-01 -7.06306460e-01 8.08807120e-03 -3.70036244e+02] [ 7.06258319e-01 -7.07906186e-01 -8.24734657e-03 -2.46188816e+02] [ 1.15507498e-02 -1.25699101e-04 9.99933280e-01 -2.79455014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1211.316559995 meters 0.014533652344622732 Centerline is valid? [True, True] Translation: X:-370.05, Y:-246.17, Z:-2.79 [[-7.09867487e-01 -7.04288961e-01 8.07531915e-03 -3.70054515e+02] [ 7.04240892e-01 -7.09913400e-01 -8.22980259e-03 -2.46167592e+02] [ 1.15289364e-02 -1.55099320e-04 9.99933528e-01 -2.79280837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1211.346559995 meters 0.014939880470305053 Centerline is valid? [True, True] Translation: X:-370.07, Y:-246.15, Z:-2.79 [[-7.11486058e-01 -7.02653519e-01 8.10073022e-03 -3.70071938e+02] [ 7.02605094e-01 -7.11532150e-01 -8.25114507e-03 -2.46145658e+02] [ 1.15616261e-02 -1.78960366e-04 9.99933146e-01 -2.79272832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1211.376559995 meters 0.015161443475378658 Centerline is valid? [True, True] Translation: X:-370.09, Y:-246.13, Z:-2.79 [[-7.12261665e-01 -7.01871022e-01 7.77098973e-03 -3.70089874e+02] [ 7.01826467e-01 -7.12304033e-01 -7.91038305e-03 -2.46125605e+02] [ 1.10873760e-02 -1.80376339e-04 9.99938517e-01 -2.79240304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1211.406559995 meters 0.014323752035111168 Centerline is valid? [True, True] Translation: X:-370.11, Y:-246.11, Z:-2.79 [[-7.09969806e-01 -7.04197233e-01 7.00937239e-03 -3.70111828e+02] [ 7.04161136e-01 -7.10004395e-01 -7.13117906e-03 -2.46107888e+02] [ 9.99844177e-03 -1.27194189e-04 9.99950006e-01 -2.79239022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1211.4365599950002 meters 0.013891502020831765 Centerline is valid? [True, True] Translation: X:-370.13, Y:-246.09, Z:-2.79 [[-7.08308028e-01 -7.05863767e-01 7.48865584e-03 -3.70132598e+02] [ 7.05822703e-01 -7.08347606e-01 -7.61453219e-03 -2.46089153e+02] [ 1.06793938e-02 -1.07770968e-04 9.99942968e-01 -2.79225170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1211.4665599950001 meters 0.01366419477008489 Centerline is valid? [True, True] Translation: X:-370.15, Y:-246.07, Z:-2.79 [[-7.06515600e-01 -7.07650197e-01 8.17955146e-03 -3.70151767e+02] [ 7.07601390e-01 -7.06562942e-01 -8.31156170e-03 -2.46071763e+02] [ 1.16610462e-02 -8.43860197e-05 9.99932004e-01 -2.79298301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1211.496559995 meters 0.013515356920623047 Centerline is valid? [True, True] Translation: X:-370.17, Y:-246.05, Z:-2.79 [[-7.04672834e-01 -7.09476390e-01 8.91346205e-03 -3.70173385e+02] [ 7.09418636e-01 -7.04729203e-01 -9.05256668e-03 -2.46052949e+02] [ 1.27041593e-02 -5.57217259e-05 9.99919298e-01 -2.79297990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1211.526559995 meters 0.013127543270698793 Centerline is valid? [True, True] Translation: X:-370.19, Y:-246.03, Z:-2.79 [[-7.02651393e-01 -7.11473188e-01 9.32324542e-03 -3.70194161e+02] [ 7.11410249e-01 -7.02713243e-01 -9.46338283e-03 -2.46034356e+02] [ 1.32845112e-02 -1.68067788e-05 9.99911757e-01 -2.79278686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1211.556559995 meters 0.013297174710283506 Centerline is valid? [True, True] Translation: X:-370.22, Y:-246.02, Z:-2.79 [[-6.99039394e-01 -7.15013831e-01 9.95726879e-03 -3.70216094e+02] [ 7.14942482e-01 -6.99110305e-01 -1.01009038e-02 -2.46017910e+02] [ 1.41835151e-02 5.79447909e-05 9.99899407e-01 -2.79415106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1211.586559995 meters 0.013462767254993426 Centerline is valid? [True, True] Translation: X:-370.24, Y:-246.00, Z:-2.79 [[-6.97586842e-01 -7.16430756e-01 9.97850554e-03 -3.70236961e+02] [ 7.16359337e-01 -6.97658200e-01 -1.01161262e-02 -2.46000354e+02] [ 1.42090901e-02 9.13191129e-05 9.99899042e-01 -2.79455544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1211.616559995 meters 0.013676248721338885 Centerline is valid? [True, True] Translation: X:-370.26, Y:-245.98, Z:-2.79 [[-6.96367409e-01 -7.17621478e-01 9.58371234e-03 -3.70257363e+02] [ 7.17555798e-01 -6.96433343e-01 -9.70952448e-03 -2.45982876e+02] [ 1.36421801e-02 1.15451953e-04 9.99906935e-01 -2.79474688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1211.646559995 meters 0.01377367750318827 Centerline is valid? [True, True] Translation: X:-370.28, Y:-245.97, Z:-2.79 [[-6.95746932e-01 -7.18228923e-01 9.13350844e-03 -3.70277253e+02] [ 7.18169379e-01 -6.95806869e-01 -9.24897457e-03 -2.45965257e+02] [ 1.29980390e-02 1.24460397e-04 9.99915514e-01 -2.79452011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1211.676559995 meters 0.01376817221207796 Centerline is valid? [True, True] Translation: X:-370.30, Y:-245.95, Z:-2.79 [[-6.95071773e-01 -7.18888424e-01 8.64083190e-03 -3.70296851e+02] [ 7.18835249e-01 -6.95125468e-01 -8.74462716e-03 -2.45946693e+02] [ 1.22928736e-02 1.33191040e-04 9.99924431e-01 -2.79327775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1211.7065599950001 meters 0.013837586630617559 Centerline is valid? [True, True] Translation: X:-370.32, Y:-245.93, Z:-2.79 [[-6.95141394e-01 -7.18823126e-01 8.47089587e-03 -3.70316155e+02] [ 7.18772081e-01 -6.95192992e-01 -8.56734337e-03 -2.45927143e+02] [ 1.20473120e-02 1.33128439e-04 9.99927420e-01 -2.79288840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1211.736559995 meters 0.013840608991876925 Centerline is valid? [True, True] Translation: X:-370.34, Y:-245.91, Z:-2.79 [[-6.95346608e-01 -7.18627484e-01 8.22407028e-03 -3.70335447e+02] [ 7.18579417e-01 -6.95395228e-01 -8.31253848e-03 -2.45907196e+02] [ 1.16925978e-02 1.29552197e-04 9.99931631e-01 -2.79225795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1211.766559995 meters 0.013842895275241743 Centerline is valid? [True, True] Translation: X:-370.35, Y:-245.89, Z:-2.79 [[-6.95768595e-01 -7.18221158e-01 8.02685238e-03 -3.70354793e+02] [ 7.18175399e-01 -6.95814884e-01 -8.10817316e-03 -2.45887387e+02] [ 1.14086649e-02 1.23275665e-04 9.99934912e-01 -2.79214038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1211.796559995 meters 0.013765656603669353 Centerline is valid? [True, True] Translation: X:-370.37, Y:-245.87, Z:-2.79 [[-6.96103673e-01 -7.17897213e-01 7.95416056e-03 -3.70373766e+02] [ 7.17852315e-01 -6.96149106e-01 -8.02973199e-03 -2.45867638e+02] [ 1.13018040e-02 1.20386641e-04 9.99936126e-01 -2.79157604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1211.826559995 meters 0.01373132928805143 Centerline is valid? [True, True] Translation: X:-370.39, Y:-245.85, Z:-2.79 [[-6.96518730e-01 -7.17497653e-01 7.66666201e-03 -3.70393013e+02] [ 7.17455970e-01 -6.96560913e-01 -7.73466304e-03 -2.45847852e+02] [ 1.08898997e-02 1.13154757e-04 9.99940697e-01 -2.79122374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1211.856559995 meters 0.014043888608244622 Centerline is valid? [True, True] Translation: X:-370.41, Y:-245.83, Z:-2.79 [[-6.97363417e-01 -7.16681342e-01 7.21936455e-03 -3.70412048e+02] [ 7.16644386e-01 -6.97400778e-01 -7.27863179e-03 -2.45829629e+02] [ 1.02512501e-02 9.78655386e-05 9.99947450e-01 -2.79152432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1211.886559995 meters 0.013637128936134354 Centerline is valid? [True, True] Translation: X:-370.43, Y:-245.81, Z:-2.79 [[-6.97741871e-01 -7.16317796e-01 6.71536525e-03 -3.70430241e+02] [ 7.16285844e-01 -6.97774181e-01 -6.76633371e-03 -2.45809712e+02] [ 9.53265374e-03 8.89667141e-05 9.99954559e-01 -2.78991573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1211.916559995 meters 0.013721005305220477 Centerline is valid? [True, True] Translation: X:-370.45, Y:-245.79, Z:-2.79 [[-6.98044475e-01 -7.16024780e-01 6.51351733e-03 -3.70449756e+02] [ 7.15994744e-01 -6.98074858e-01 -6.55891591e-03 -2.45790224e+02] [ 9.24326901e-03 8.52291564e-05 9.99957277e-01 -2.78943552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1211.9465599950001 meters 0.013585133386127391 Centerline is valid? [True, True] Translation: X:-370.47, Y:-245.77, Z:-2.79 [[-6.97934569e-01 -7.16131304e-01 6.57974186e-03 -3.70469080e+02] [ 7.16100693e-01 -6.97965578e-01 -6.62188460e-03 -2.45770426e+02] [ 9.33457218e-03 9.01155257e-05 9.99956428e-01 -2.78937482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1211.9765599950001 meters 0.013649726630360287 Centerline is valid? [True, True] Translation: X:-370.49, Y:-245.75, Z:-2.79 [[-6.97840738e-01 -7.16219827e-01 6.88938805e-03 -3.70488832e+02] [ 7.16186315e-01 -6.97874738e-01 -6.92916065e-03 -2.45751607e+02] [ 9.77073212e-03 9.86348496e-05 9.99952261e-01 -2.78991364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1212.006559995 meters 0.01376132881444377 Centerline is valid? [True, True] Translation: X:-370.51, Y:-245.73, Z:-2.79 [[-6.97606797e-01 -7.16445077e-01 7.15605284e-03 -3.70508185e+02] [ 7.16408979e-01 -6.97643491e-01 -7.19263886e-03 -2.45733950e+02] [ 1.01455044e-02 1.09026748e-04 9.99948527e-01 -2.79111903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1212.036559995 meters 0.013781909106227147 Centerline is valid? [True, True] Translation: X:-370.53, Y:-245.71, Z:-2.79 [[-6.97356397e-01 -7.16686119e-01 7.42034098e-03 -3.70527996e+02] [ 7.16647364e-01 -6.97395865e-01 -7.45408359e-03 -2.45713874e+02] [ 1.05171534e-02 1.19614928e-04 9.99944686e-01 -2.79166304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1212.066559995 meters 0.014440989368967467 Centerline is valid? [True, True] Translation: X:-370.55, Y:-245.70, Z:-2.79 [[-6.97027208e-01 -7.16999864e-01 8.01665957e-03 -3.70547956e+02] [ 7.16954694e-01 -6.97073294e-01 -8.04917635e-03 -2.45696055e+02] [ 1.13594576e-02 1.37086791e-04 9.99935470e-01 -2.79370099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1212.096559995 meters 0.014803943811940357 Centerline is valid? [True, True] Translation: X:-370.57, Y:-245.68, Z:-2.79 [[-6.96230906e-01 -7.17766492e-01 8.59006573e-03 -3.70567528e+02] [ 7.17714728e-01 -6.96283877e-01 -8.62158343e-03 -2.45676620e+02] [ 1.21694080e-02 1.62603846e-04 9.99925937e-01 -2.79476526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1212.126559995 meters 0.015045365477249748 Centerline is valid? [True, True] Translation: X:-370.59, Y:-245.66, Z:-2.80 [[-6.95934355e-01 -7.18050869e-01 8.85005022e-03 -3.70586604e+02] [ 7.17996014e-01 -6.95990602e-01 -8.87729923e-03 -2.45657643e+02] [ 1.25339042e-02 1.76283270e-04 9.99921432e-01 -2.79516850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1212.156559995 meters 0.015298048515697653 Centerline is valid? [True, True] Translation: X:-370.61, Y:-245.64, Z:-2.80 [[-6.95801952e-01 -7.18175243e-01 9.16319263e-03 -3.70605676e+02] [ 7.18116517e-01 -6.95862260e-01 -9.18603298e-03 -2.45638357e+02] [ 1.29735014e-02 1.88580302e-04 9.99915823e-01 -2.79534345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1212.1865599950002 meters 0.014754689637682592 Centerline is valid? [True, True] Translation: X:-370.62, Y:-245.62, Z:-2.79 [[-6.95659175e-01 -7.18314044e-01 9.12397098e-03 -3.70623810e+02] [ 7.18255904e-01 -6.95718978e-01 -9.14108166e-03 -2.45617746e+02] [ 1.29138871e-02 1.94268699e-04 9.99916594e-01 -2.79428266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1212.2165599950001 meters 0.014516325968436255 Centerline is valid? [True, True] Translation: X:-370.64, Y:-245.60, Z:-2.79 [[-6.95421888e-01 -7.18538031e-01 9.56537859e-03 -3.70643278e+02] [ 7.18474224e-01 -6.95487637e-01 -9.57790535e-03 -2.45597038e+02] [ 1.35346918e-02 2.11792940e-04 9.99908380e-01 -2.79380330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1212.246559995 meters 0.014623787091530775 Centerline is valid? [True, True] Translation: X:-370.66, Y:-245.58, Z:-2.79 [[-6.95290927e-01 -7.18668619e-01 9.27053498e-03 -3.70663020e+02] [ 7.18608766e-01 -6.95352695e-01 -9.27745710e-03 -2.45577326e+02] [ 1.31137088e-02 2.11355949e-04 9.99913989e-01 -2.79437273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1212.276559995 meters 0.014552436722197226 Centerline is valid? [True, True] Translation: X:-370.68, Y:-245.56, Z:-2.79 [[-6.95538216e-01 -7.18429887e-01 9.22428463e-03 -3.70682241e+02] [ 7.18370677e-01 -6.95599348e-01 -9.22594245e-03 -2.45557026e+02] [ 1.30445992e-02 2.09460042e-04 9.99914894e-01 -2.79412164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1212.306559995 meters 0.014787624348897308 Centerline is valid? [True, True] Translation: X:-370.70, Y:-245.54, Z:-2.79 [[-6.95890784e-01 -7.18091741e-01 8.95924072e-03 -3.70701156e+02] [ 7.18035924e-01 -6.95948426e-01 -8.95551545e-03 -2.45537879e+02] [ 1.26660512e-02 2.00996014e-04 9.99919762e-01 -2.79469807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1212.336559995 meters 0.014323140946780633 Centerline is valid? [True, True] Translation: X:-371.18, Y:-246.02, Z:-1.79 [[-7.65117977e-01 6.43826056e-01 9.08246894e-03 -3.71180210e+02] [ 6.43777906e-01 7.65171862e-01 -7.87591080e-03 -2.46024857e+02] [-1.20203663e-02 -1.78908109e-04 -9.99927737e-01 -1.79058193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1212.366559995 meters 0.014298711183440675 Centerline is valid? [True, True] Translation: X:-371.17, Y:-246.00, Z:-1.79 [[-8.08457866e-01 5.88475776e-01 9.59893416e-03 -3.71165383e+02] [ 5.88431762e-01 8.08514831e-01 -7.19932314e-03 -2.46002389e+02] [-1.19975079e-02 -1.72031683e-04 -9.99928013e-01 -1.79096553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1212.396559995 meters 0.014188976144227029 Centerline is valid? [True, True] Translation: X:-371.15, Y:-245.98, Z:-1.79 [[-8.47717816e-01 5.30358660e-01 9.70548235e-03 -3.71153161e+02] [ 5.30321771e-01 8.47773358e-01 -6.25719089e-03 -2.45977958e+02] [-1.15466047e-02 -1.57303613e-04 -9.99933324e-01 -1.79116083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1212.426559995 meters 0.014165829567548052 Centerline is valid? [True, True] Translation: X:-371.13, Y:-245.96, Z:-1.79 [[-8.82811793e-01 4.69617943e-01 1.01156055e-02 -3.71132259e+02] [ 4.69585172e-01 8.82869733e-01 -5.54988568e-03 -2.45958557e+02] [-1.15370879e-02 -1.49366160e-04 -9.99933435e-01 -1.79094878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1212.4565599950001 meters 0.014119893552533645 Centerline is valid? [True, True] Translation: X:-371.12, Y:-245.94, Z:-1.79 [[-9.13697621e-01 4.06268653e-01 1.01212713e-02 -3.71116725e+02] [ 4.06242029e-01 9.13753666e-01 -4.65317873e-03 -2.45935580e+02] [-1.11387894e-02 -1.39912539e-04 -9.99937952e-01 -1.79113558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1212.486559995 meters 0.014039325591163488 Centerline is valid? [True, True] Translation: X:-370.84, Y:-245.31, Z:-2.79 [[-8.72459723e-01 -4.88590996e-01 9.63691195e-03 -3.70838695e+02] [ 4.88562805e-01 -8.72512936e-01 -5.25003670e-03 -2.45306229e+02] [ 1.09734510e-02 1.27791172e-04 9.99939782e-01 -2.79233513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1212.516559995 meters 0.01459946561982416 Centerline is valid? [True, True] Translation: X:-371.16, Y:-245.92, Z:-1.79 [[-9.14813432e-01 4.03769885e-01 9.28793482e-03 -3.71158422e+02] [ 4.03747756e-01 9.14860572e-01 -4.22895043e-03 -2.45917026e+02] [-1.02046882e-02 -1.18717812e-04 -9.99947924e-01 -1.79104908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1212.546559995 meters 0.014126029074569725 Centerline is valid? [True, True] Translation: X:-371.15, Y:-245.89, Z:-1.79 [[-9.41091422e-01 3.38017297e-01 9.55210876e-03 -3.71149657e+02] [ 3.37998616e-01 9.41139890e-01 -3.55568558e-03 -2.45890700e+02] [-1.01917538e-02 -1.17625662e-04 -9.99948056e-01 -1.79190037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1212.576559995 meters 0.014126029074569725 Centerline is valid? [True, True] Translation: X:-371.14, Y:-245.86, Z:-1.79 [[-9.62678357e-01 2.70471312e-01 9.78006626e-03 -3.71141169e+02] [ 2.70456112e-01 9.62728028e-01 -2.86980969e-03 -2.45864413e+02] [-1.01917451e-02 -1.17624977e-04 -9.99948056e-01 -1.79190046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1212.606559995 meters 0.013968731877672558 Centerline is valid? [True, True] Translation: X:-371.13, Y:-245.84, Z:-1.79 [[-9.79422118e-01 2.01580186e-01 9.88651392e-03 -3.71131149e+02] [ 2.01568717e-01 9.79472008e-01 -2.15343774e-03 -2.45838906e+02] [-1.01176540e-02 -1.16312627e-04 -9.99948809e-01 -1.79211779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1212.636559995 meters 0.014082332056436699 Centerline is valid? [True, True] Translation: X:-370.98, Y:-245.17, Z:-2.79 [[-9.57283209e-01 -2.88958010e-01 1.05889833e-02 -3.70980690e+02] [ 2.88942441e-01 -9.57341755e-01 -3.00512395e-03 -2.45167992e+02] [ 1.10056304e-02 1.82851977e-04 9.99939420e-01 -2.79220842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1212.666559995 meters 0.014326065101904787 Centerline is valid? [True, True] Translation: X:-371.18, Y:-245.83, Z:-1.79 [[-9.80136257e-01 1.98040102e-01 1.06318165e-02 -3.71181175e+02] [ 1.98027104e-01 9.80193911e-01 -2.27224456e-03 -2.45828114e+02] [-1.08712374e-02 -1.21721441e-04 -9.99940899e-01 -1.79113696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1212.6965599950001 meters 0.014034205642729343 Centerline is valid? [True, True] Translation: X:-371.03, Y:-245.16, Z:-2.79 [[-9.58582592e-01 -2.84620907e-01 1.05049368e-02 -3.71032258e+02] [ 2.84605249e-01 -9.58640143e-01 -2.98810121e-03 -2.45157101e+02] [ 1.09209302e-02 1.25418338e-04 9.99940357e-01 -2.79167060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1212.7265599950001 meters 0.013974344152945517 Centerline is valid? [True, True] Translation: X:-371.23, Y:-245.82, Z:-1.79 [[-9.80718711e-01 1.95136009e-01 1.06183042e-02 -3.71231566e+02] [ 1.95123348e-01 9.80776185e-01 -2.22568467e-03 -2.45818833e+02] [-1.08484912e-02 -1.10891531e-04 -9.99941147e-01 -1.79216710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1212.756559995 meters 0.014012652289985075 Centerline is valid? [True, True] Translation: X:-371.08, Y:-245.15, Z:-2.79 [[-9.60075070e-01 -2.79555128e-01 1.02366907e-02 -3.71080170e+02] [ 2.79540294e-01 -9.60129638e-01 -2.88142289e-03 -2.45147411e+02] [ 1.06340667e-02 9.51852392e-05 9.99943452e-01 -2.79166019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1212.786559995 meters 0.013919679845599268 Centerline is valid? [True, True] Translation: X:-371.27, Y:-245.81, Z:-1.79 [[-9.81153762e-01 1.92963252e-01 1.01231769e-02 -3.71274711e+02] [ 1.92952054e-01 9.81205980e-01 -2.08060583e-03 -2.45812345e+02] [-1.03344022e-02 -8.81064487e-05 -9.99946595e-01 -1.79298737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1212.816559995 meters 0.013741776648366856 Centerline is valid? [True, True] Translation: X:-371.27, Y:-245.79, Z:-1.79 [[-9.92069742e-01 1.25350417e-01 9.21416785e-03 -3.71274480e+02] [ 1.25344486e-01 9.92112529e-01 -1.22068159e-03 -2.45785383e+02] [-9.29450431e-03 -5.60561338e-05 -9.99956804e-01 -1.79273361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1212.846559995 meters 0.013488493713304902 Centerline is valid? [True, True] Translation: X:-371.17, Y:-245.10, Z:-2.79 [[-9.79282446e-01 -2.02306906e-01 8.82080046e-03 -3.71173867e+02] [ 2.02299027e-01 -9.79322171e-01 -1.78580837e-03 -2.45097887e+02] [ 8.99968682e-03 3.56285622e-05 9.99959502e-01 -2.79000361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1212.876559995 meters 0.013394489850095389 Centerline is valid? [True, True] Translation: X:-371.33, Y:-245.78, Z:-1.79 [[-9.92223898e-01 1.24183861e-01 8.37291851e-03 -3.71325539e+02] [ 1.24179222e-01 9.92259224e-01 -1.07360797e-03 -2.45782182e+02] [-8.44143041e-03 -2.55169738e-05 -9.99964370e-01 -1.79465354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1212.906559995 meters 0.013223760662946395 Centerline is valid? [True, True] Translation: X:-371.24, Y:-245.09, Z:-2.79 [[-9.81166829e-01 -1.93030837e-01 7.12382972e-03 -3.71235645e+02] [ 1.93025385e-01 -9.81192689e-01 -1.45161801e-03 -2.45087613e+02] [ 7.27005668e-03 -4.91994661e-05 9.99973572e-01 -2.78868410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1212.9365599950002 meters 0.013258045923791735 Centerline is valid? [True, True] Translation: X:-371.38, Y:-245.78, Z:-1.80 [[-9.92164024e-01 1.24774669e-01 6.46776345e-03 -3.71382555e+02] [ 1.24772104e-01 9.92185105e-01 -8.00267596e-04 -2.45776672e+02] [-6.51707168e-03 1.29997325e-05 -9.99978764e-01 -1.79571311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1212.9665599950001 meters 0.013459110057710874 Centerline is valid? [True, True] Translation: X:-371.29, Y:-245.08, Z:-2.79 [[-9.82885734e-01 -1.84116235e-01 6.07012479e-03 -3.71289608e+02] [ 1.84112517e-01 -9.82904477e-01 -1.17052878e-03 -2.45080229e+02] [ 6.18186618e-03 -3.29100848e-05 9.99980892e-01 -2.78796627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1212.996559995 meters 0.013459110057710874 Centerline is valid? [True, True] Translation: X:-371.44, Y:-245.77, Z:-1.80 [[-9.92289982e-01 1.23785346e-01 6.14661008e-03 -3.71438342e+02] [ 1.23783174e-01 9.92309018e-01 -7.33969811e-04 -2.45771354e+02] [-6.19019132e-03 3.25360144e-05 -9.99980840e-01 -1.79606442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1213.026559995 meters 0.01358038647490688 Centerline is valid? [True, True] Translation: X:-371.36, Y:-245.07, Z:-2.79 [[-9.83926187e-01 -1.78458703e-01 6.46136950e-03 -3.71357054e+02] [ 1.78454784e-01 -9.83947403e-01 -1.18277113e-03 -2.45072140e+02] [ 6.56872354e-03 -1.06971912e-05 9.99978426e-01 -2.78795130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1213.056559995 meters 0.014074614098653185 Centerline is valid? [True, True] Translation: X:-371.50, Y:-245.76, Z:-1.79 [[-9.92529940e-01 1.21801793e-01 6.97432101e-03 -3.71502433e+02] [ 1.21799172e-01 9.92554442e-01 -8.01023184e-04 -2.45764893e+02] [-7.01995936e-03 5.44270286e-05 -9.99975359e-01 -1.79487848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1213.086559995 meters 0.014048163796413314 Centerline is valid? [True, True] Translation: X:-371.42, Y:-245.07, Z:-2.79 [[-9.85099494e-01 -1.71818728e-01 7.57050322e-03 -3.71415528e+02] [ 1.71813521e-01 -9.85128583e-01 -1.33780342e-03 -2.45066242e+02] [ 7.68777879e-03 -1.71546613e-05 9.99970449e-01 -2.78911125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1213.116559995 meters 0.014072606705265804 Centerline is valid? [True, True] Translation: X:-371.56, Y:-245.76, Z:-1.80 [[-9.92884405e-01 1.18822493e-01 7.85959237e-03 -3.71560322e+02] [ 1.18819348e-01 9.92915510e-01 -8.67597250e-04 -2.45756762e+02] [-7.90700123e-03 7.24478611e-05 -9.99968737e-01 -1.79514888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1213.146559995 meters 0.014104663696492053 Centerline is valid? [True, True] Translation: X:-371.56, Y:-245.73, Z:-1.80 [[-9.98813934e-01 4.80909957e-02 7.61455035e-03 -3.71560798e+02] [ 4.80901377e-02 9.98842956e-01 -2.95838865e-04 -2.45727627e+02] [-7.61996717e-03 7.06967947e-05 -9.99970965e-01 -1.79513433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1213.176559995 meters 0.013692186754506681 Centerline is valid? [True, True] Translation: X:-371.56, Y:-245.70, Z:-1.80 [[-9.99674033e-01 -2.44872216e-02 7.22520290e-03 -3.71564734e+02] [-2.44861718e-02 9.99700142e-01 2.33726514e-04 -2.45695034e+02] [-7.22875968e-03 5.67327672e-05 -9.99973871e-01 -1.79531252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1213.2065599950001 meters 0.013630704322171512 Centerline is valid? [True, True] Translation: X:-371.59, Y:-245.01, Z:-2.79 [[-9.99581850e-01 -2.79840675e-02 7.28124405e-03 -3.71588318e+02] [ 2.79829362e-02 -9.99608368e-01 -2.57226249e-04 -2.45006694e+02] [ 7.28559072e-03 -5.33681028e-05 9.99973459e-01 -2.78912438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1213.236559995 meters 0.013474944540003957 Centerline is valid? [True, True] Translation: X:-371.66, Y:-245.69, Z:-1.80 [[-9.99433876e-01 -3.27466011e-02 7.71927958e-03 -3.71656115e+02] [-3.27453020e-02 9.99463685e-01 2.94649614e-04 -2.45693535e+02] [-7.72478839e-03 4.17126645e-05 -9.99970163e-01 -1.79518514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1213.266559995 meters 0.013313098840643382 Centerline is valid? [True, True] Translation: X:-371.68, Y:-245.01, Z:-2.79 [[-9.99641783e-01 -2.56095365e-02 7.77549846e-03 -3.71682621e+02] [ 2.56084637e-02 -9.99672021e-01 -2.37514733e-04 -2.45013124e+02] [ 7.77903090e-03 -3.83110805e-05 9.99969742e-01 -2.78890852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1213.296559995 meters 0.01318854344922982 Centerline is valid? [True, True] Translation: X:-371.75, Y:-245.69, Z:-1.80 [[-9.99073364e-01 -4.22715108e-02 8.09528348e-03 -3.71746611e+02] [-4.22700263e-02 9.99106160e-01 3.54464932e-04 -2.45692657e+02] [-8.10303137e-03 1.19486262e-05 -9.99967170e-01 -1.79518137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1213.326559995 meters 0.013168164214445343 Centerline is valid? [True, True] Translation: X:-371.77, Y:-245.02, Z:-2.79 [[-9.99610406e-01 -2.64344961e-02 8.95847951e-03 -3.71774001e+02] [ 2.64338594e-02 -9.99650547e-01 -1.89484707e-04 -2.45022762e+02] [ 8.96035787e-03 4.73963036e-05 9.99959854e-01 -2.78953556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1213.356559995 meters 0.013263408514876989 Centerline is valid? [True, True] Translation: X:-371.84, Y:-245.69, Z:-1.79 [[-9.98498950e-01 -5.39747597e-02 9.30441323e-03 -3.71835738e+02] [-5.39728665e-02 9.98542299e-01 4.54634151e-04 -2.45689001e+02] [-9.31538894e-03 -4.82341298e-05 -9.99956610e-01 -1.79421423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1213.386559995 meters 0.013404049372385608 Centerline is valid? [True, True] Translation: X:-371.86, Y:-245.03, Z:-2.79 [[-9.99613864e-01 -2.60688157e-02 9.61975664e-03 -3.71864571e+02] [ 2.60682907e-02 -9.99660148e-01 -1.79975138e-04 -2.45031613e+02] [ 9.62117909e-03 7.08649700e-05 9.99953713e-01 -2.79025787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1213.416559995 meters 0.013630740288633892 Centerline is valid? [True, True] Translation: X:-371.92, Y:-245.69, Z:-1.79 [[-9.97903284e-01 -6.39953856e-02 9.67607017e-03 -3.71917007e+02] [-6.39932740e-02 9.97950190e-01 5.27999893e-04 -2.45686607e+02] [-9.69002563e-03 -9.23105825e-05 -9.99953047e-01 -1.79316652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1213.4465599950001 meters 0.013824332144028936 Centerline is valid? [True, True] Translation: X:-371.93, Y:-245.66, Z:-1.79 [[-9.90530376e-01 -1.36958014e-01 9.59569256e-03 -3.71929713e+02] [-1.36952682e-01 9.90576847e-01 1.21362898e-03 -2.45657487e+02] [-9.67148710e-03 -1.12019462e-04 -9.99953224e-01 -1.79322851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1213.4765599950001 meters 0.014130823264622167 Centerline is valid? [True, True] Translation: X:-371.94, Y:-245.63, Z:-1.79 [[-9.77854506e-01 -2.09079370e-01 9.29425878e-03 -3.71944217e+02] [-2.09071151e-01 9.77898666e-01 1.85811324e-03 -2.45629538e+02] [-9.47733641e-03 -1.26196984e-04 -9.99955081e-01 -1.79321508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1213.506559995 meters 0.014262451776445995 Centerline is valid? [True, True] Translation: X:-371.97, Y:-245.61, Z:-1.79 [[-9.59756979e-01 -2.80689766e-01 8.93288507e-03 -3.71974708e+02] [-2.80678984e-01 9.59798539e-01 2.46439309e-03 -2.45606020e+02] [-9.26549996e-03 -1.42054637e-04 -9.99957064e-01 -1.79388917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1213.536559995 meters 0.015064917611301324 Centerline is valid? [True, True] Translation: X:-372.02, Y:-245.59, Z:-1.79 [[-9.36869509e-01 -3.49567073e-01 8.85348697e-03 -3.72017685e+02] [-3.49552933e-01 9.36911330e-01 3.14750513e-03 -2.45587685e+02] [-9.39519640e-03 -1.45960749e-04 -9.99955854e-01 -1.79272311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1213.566559995 meters 0.014703842767491178 Centerline is valid? [True, True] Translation: X:-372.08, Y:-245.58, Z:-1.79 [[-9.08628471e-01 -4.17524847e-01 8.20389291e-03 -3.72076540e+02] [-4.17509200e-01 9.08665496e-01 3.61732076e-03 -2.45581545e+02] [-8.96491572e-03 -1.38400135e-04 -9.99959805e-01 -1.79317712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1213.596559995 meters 0.014487627631446431 Centerline is valid? [True, True] Translation: X:-372.14, Y:-245.58, Z:-1.79 [[-8.75498540e-01 -4.83150471e-01 8.24192052e-03 -3.72142769e+02] [-4.83130567e-01 8.75537322e-01 4.38774255e-03 -2.45582703e+02] [-9.33604890e-03 -1.40461542e-04 -9.99956408e-01 -1.79350757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1213.626559995 meters 0.014392251364495045 Centerline is valid? [True, True] Translation: X:-372.49, Y:-245.06, Z:-2.79 [[-9.18290942e-01 3.95822250e-01 8.15434859e-03 -3.72492159e+02] [-3.95805608e-01 -9.18327140e-01 3.63118063e-03 -2.45056077e+02] [ 8.92566170e-03 1.06943381e-04 9.99960160e-01 -2.79058875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1213.656559995 meters 0.014378339466345069 Centerline is valid? [True, True] Translation: X:-372.32, Y:-245.67, Z:-1.79 [[-8.71996232e-01 -4.89461497e-01 7.07211141e-03 -3.72319666e+02] [-4.89446471e-01 8.72024902e-01 3.83699392e-03 -2.45671719e+02] [-8.04511805e-03 -1.15575732e-04 -9.99967631e-01 -1.79395539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1213.6865599950002 meters 0.014716368910989385 Centerline is valid? [True, True] Translation: X:-372.40, Y:-245.68, Z:-1.79 [[-8.33057692e-01 -5.53147808e-01 6.51040337e-03 -3.72395668e+02] [-5.53131979e-01 8.33083123e-01 4.18618337e-03 -2.45682667e+02] [-7.73928533e-03 -1.13780038e-04 -9.99970045e-01 -1.79373581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1213.7165599950001 meters 0.014350988647230065 Centerline is valid? [True, True] Translation: X:-372.47, Y:-245.70, Z:-1.79 [[-7.89490038e-01 -6.13735279e-01 5.87264362e-03 -3.72473243e+02] [-6.13719308e-01 7.89511872e-01 4.42885392e-03 -2.45703192e+02] [-7.35466575e-03 -1.07618734e-04 -9.99972949e-01 -1.79440424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1213.746559995 meters 0.014123274021381473 Centerline is valid? [True, True] Translation: X:-372.56, Y:-245.74, Z:-1.79 [[-7.41076677e-01 -6.71396354e-01 5.68287949e-03 -3.72558126e+02] [-6.71377774e-01 7.41098457e-01 4.99618655e-03 -2.45736877e+02] [-7.56599465e-03 -1.12801659e-04 -9.99971371e-01 -1.79469699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1213.776559995 meters 0.0147032902165289 Centerline is valid? [True, True] Translation: X:-372.64, Y:-245.78, Z:-1.79 [[-6.87941878e-01 -7.25744411e-01 5.56980212e-03 -3.72642307e+02] [-7.25722069e-01 6.87964414e-01 5.69584588e-03 -2.45775629e+02] [-7.96555396e-03 -1.23717410e-04 -9.99968267e-01 -1.79355766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1213.806559995 meters 0.014600783988642509 Centerline is valid? [True, True] Translation: X:-372.73, Y:-245.83, Z:-1.79 [[-6.30686560e-01 -7.76018254e-01 5.48936283e-03 -3.72727909e+02] [-7.75990744e-01 6.30710434e-01 6.53565328e-03 -2.45828534e+02] [-8.53398466e-03 -1.37746064e-04 -9.99963576e-01 -1.79334608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1213.836559995 meters 0.015208081496805368 Centerline is valid? [True, True] Translation: X:-372.81, Y:-245.89, Z:-1.79 [[-5.69697214e-01 -8.21838225e-01 5.19773633e-03 -3.72811517e+02] [-8.21806366e-01 5.69720906e-01 7.23792004e-03 -2.45888495e+02] [-8.90965841e-03 -1.48109922e-04 -9.99960297e-01 -1.79250335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1213.866559995 meters 0.014768053137651298 Centerline is valid? [True, True] Translation: X:-372.89, Y:-245.96, Z:-1.79 [[-5.05315277e-01 -8.62922005e-01 4.69940945e-03 -3.72892587e+02] [-8.62887480e-01 5.05337105e-01 7.72054040e-03 -2.45962306e+02] [-9.03701017e-03 -1.53754573e-04 -9.99959154e-01 -1.79270758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1213.896559995 meters 0.015464476038478142 Centerline is valid? [True, True] Translation: X:-372.97, Y:-246.04, Z:-1.79 [[-4.37243034e-01 -8.99332450e-01 4.43556331e-03 -3.72967412e+02] [-8.99290201e-01 4.37265496e-01 8.71900317e-03 -2.46036279e+02] [-9.78080127e-03 -1.76535210e-04 -9.99952151e-01 -1.79148953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1213.926559995 meters 0.015472805778699587 Centerline is valid? [True, True] Translation: X:-373.04, Y:-246.12, Z:-1.79 [[-3.66942648e-01 -9.30236238e-01 3.69264312e-03 -3.73037455e+02] [-9.30193921e-01 3.66961184e-01 8.87463145e-03 -2.46122731e+02] [-9.61056046e-03 -1.78393414e-04 -9.99953802e-01 -1.79159475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1213.9565599950001 meters 0.015229020756401911 Centerline is valid? [True, True] Translation: X:-373.10, Y:-246.21, Z:-1.79 [[-2.94644595e-01 -9.55602249e-01 2.98394345e-03 -3.73099630e+02] [-9.55559224e-01 2.94659650e-01 9.06975073e-03 -2.46214223e+02] [-9.54632193e-03 -1.78981654e-04 -9.99954417e-01 -1.79233819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1213.986559995 meters 0.015253677082846582 Centerline is valid? [True, True] Translation: X:-373.16, Y:-246.31, Z:-1.79 [[-2.20629230e-01 -9.75355500e-01 2.09548182e-03 -3.73155949e+02] [-9.75318335e-01 2.20639119e-01 8.51611982e-03 -2.46312630e+02] [-8.76858957e-03 -1.64856887e-04 -9.99961542e-01 -1.79273384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1214.016559995 meters 0.015480575165177106 Centerline is valid? [True, True] Translation: X:-373.21, Y:-246.42, Z:-1.79 [[-1.45486659e-01 -9.89359501e-01 1.18728253e-03 -3.73205507e+02] [-9.89333719e-01 1.45491441e-01 7.14375641e-03 -2.46418676e+02] [-7.24048272e-03 -1.35297391e-04 -9.99973778e-01 -1.79388025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1214.046559995 meters 0.01544899951804435 Centerline is valid? [True, True] Translation: X:-373.25, Y:-246.53, Z:-1.79 [[-6.95003024e-02 -9.97581756e-01 5.90536543e-04 -3.73246925e+02] [-9.97559309e-01 6.95027007e-02 6.69323226e-03 -2.46527031e+02] [-6.71809027e-03 -1.23913560e-04 -9.99977426e-01 -1.79392640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1214.076559995 meters 0.014977424253228091 Centerline is valid? [True, True] Translation: X:-373.28, Y:-246.64, Z:-1.79 [[ 6.99755962e-03 -9.99975514e-01 7.21137661e-05 -3.73278303e+02] [-9.99954933e-01 -6.99695285e-03 6.41672412e-03 -2.46636100e+02] [-6.41606243e-03 -1.17011926e-04 -9.99979410e-01 -1.79473228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1214.106559995 meters 0.014978993077637257 Centerline is valid? [True, True] Translation: X:-373.30, Y:-246.74, Z:-1.79 [[ 8.27510238e-02 -9.96570168e-01 -4.10169649e-04 -3.73302509e+02] [-9.96550248e-01 -8.27519635e-02 6.30212701e-03 -2.46744943e+02] [-6.31445412e-03 -1.12752796e-04 -9.99980057e-01 -1.79477831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1214.136559995 meters 0.014832971434754306 Centerline is valid? [True, True] Translation: X:-373.32, Y:-246.86, Z:-1.79 [[ 1.57998560e-01 -9.87439011e-01 -8.09076867e-04 -3.73316125e+02] [-9.87422735e-01 -1.58000601e-01 5.67026152e-03 -2.46864884e+02] [-5.72687206e-03 -9.69922601e-05 -9.99983597e-01 -1.79495323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1214.166559995 meters 0.01505170686664676 Centerline is valid? [True, True] Translation: X:-373.32, Y:-246.98, Z:-1.79 [[ 2.33141808e-01 -9.72441989e-01 -1.21462899e-03 -3.73323175e+02] [-9.72426619e-01 -2.33144954e-01 5.46824249e-03 -2.46979147e+02] [-5.60073323e-03 -9.37383857e-05 -9.99984312e-01 -1.79476567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1214.1965599950001 meters 0.014898276318601812 Centerline is valid? [True, True] Translation: X:-373.32, Y:-247.10, Z:-1.79 [[ 3.06844644e-01 -9.51758290e-01 -1.58822439e-03 -3.73319919e+02] [-9.51743974e-01 -3.06848741e-01 5.22102146e-03 -2.47096398e+02] [-5.45649511e-03 -9.04594830e-05 -9.99985109e-01 -1.79499952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1214.2265599950001 meters 0.015056325012073598 Centerline is valid? [True, True] Translation: X:-373.31, Y:-247.21, Z:-1.79 [[ 3.78761853e-01 -9.25492254e-01 -1.88337316e-03 -3.73308213e+02] [-9.25479670e-01 -3.78766526e-01 4.82686049e-03 -2.47214143e+02] [-5.18058070e-03 -8.52070537e-05 -9.99986577e-01 -1.79491743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1214.256559995 meters 0.015143841521400525 Centerline is valid? [True, True] Translation: X:-373.29, Y:-247.33, Z:-1.79 [[ 4.48649603e-01 -8.93704748e-01 -2.31456728e-03 -3.73288795e+02] [-8.93691823e-01 -4.48655565e-01 4.80723316e-03 -2.47327181e+02] [-5.33469058e-03 -8.82533993e-05 -9.99985767e-01 -1.79452534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1214.286559995 meters 0.014788187684338053 Centerline is valid? [True, True] Translation: X:-373.26, Y:-247.44, Z:-1.79 [[ 5.15942428e-01 -8.56618570e-01 -2.83505666e-03 -3.73259122e+02] [-8.56604612e-01 -5.15950208e-01 4.89094440e-03 -2.47438801e+02] [-5.65242187e-03 -9.49231176e-05 -9.99984021e-01 -1.79471704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1214.316559995 meters 0.015020415702384333 Centerline is valid? [True, True] Translation: X:-373.22, Y:-247.55, Z:-1.79 [[ 5.80796145e-01 -8.14041568e-01 -3.48773911e-03 -3.73222436e+02] [-8.14025737e-01 -5.80806606e-01 5.07793410e-03 -2.47548363e+02] [-6.15935135e-03 -1.10135143e-04 -9.99981025e-01 -1.79412871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1214.346559995 meters 0.015284555796842143 Centerline is valid? [True, True] Translation: X:-373.18, Y:-247.65, Z:-1.79 [[ 6.41549259e-01 -7.67071753e-01 -3.93378565e-03 -3.73179896e+02] [-7.67056223e-01 -6.41561309e-01 4.88233721e-03 -2.47651796e+02] [-6.26886763e-03 -1.14825055e-04 -9.99980344e-01 -1.79410841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1214.376559995 meters 0.015592279216561753 Centerline is valid? [True, True] Translation: X:-373.14, Y:-247.74, Z:-1.79 [[ 6.98277816e-01 -7.15815186e-01 -4.08796008e-03 -3.73135246e+02] [-7.15801977e-01 -6.98289773e-01 4.35014686e-03 -2.47744983e+02] [-5.96848190e-03 -1.11441139e-04 -9.99982182e-01 -1.79400054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1214.406559995 meters 0.015554662314415803 Centerline is valid? [True, True] Translation: X:-373.08, Y:-247.83, Z:-1.79 [[ 7.50626351e-01 -6.60711359e-01 -4.53674063e-03 -3.73083535e+02] [-6.60698364e-01 -7.50640052e-01 4.14535086e-03 -2.47833480e+02] [-6.14433963e-03 -1.14192476e-04 -9.99981117e-01 -1.79406152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1214.4365599950002 meters 0.01567372656203003 Centerline is valid? [True, True] Translation: X:-373.08, Y:-247.84, Z:-1.79 [[ 7.99646268e-01 -6.00452989e-01 -4.69619240e-03 -3.73081533e+02] [-6.00441842e-01 -7.99660051e-01 3.66039616e-03 -2.47838753e+02] [-5.95325327e-03 -1.07231717e-04 -9.99982274e-01 -1.79422515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1214.4665599950001 meters 0.014963609324015798 Centerline is valid? [True, True] Translation: X:-373.08, Y:-247.85, Z:-1.80 [[ 8.43718423e-01 -5.36762629e-01 -5.01030824e-03 -3.73080038e+02] [-5.36752434e-01 -8.43733293e-01 3.30987126e-03 -2.47846403e+02] [-6.00397907e-03 -1.03304216e-04 -9.99981971e-01 -1.79507085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1214.496559995 meters 0.014963609324015798 Centerline is valid? [True, True] Translation: X:-373.08, Y:-247.86, Z:-1.80 [[ 8.83095437e-01 -4.69163988e-01 -5.25369448e-03 -3.73080529e+02] [-4.69154987e-01 -8.83111059e-01 2.90806470e-03 -2.47855955e+02] [-6.00395493e-03 -1.03301705e-04 -9.99981971e-01 -1.79507110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1214.526559995 meters 0.014589317122629248 Centerline is valid? [True, True] Translation: X:-373.08, Y:-247.86, Z:-1.80 [[ 9.16611470e-01 -3.99749214e-01 -4.89686054e-03 -3.73078708e+02] [-3.99743004e-01 -9.16624546e-01 2.22998163e-03 -2.47864895e+02] [-5.38001598e-03 -8.65409998e-05 -9.99985524e-01 -1.79518053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1214.556559995 meters 0.014283438094501388 Centerline is valid? [True, True] Translation: X:-373.08, Y:-247.87, Z:-1.80 [[ 9.44513141e-01 -3.28439466e-01 -4.73756364e-03 -3.73076985e+02] [-3.28434948e-01 -9.44525019e-01 1.72431417e-03 -2.47873161e+02] [-5.04108022e-03 -7.26559186e-05 -9.99987291e-01 -1.79545949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1214.586559995 meters 0.01453491819941919 Centerline is valid? [True, True] Translation: X:-373.08, Y:-247.88, Z:-1.80 [[ 9.66885956e-01 -2.55172284e-01 -4.31901787e-03 -3.73075875e+02] [-2.55169473e-01 -9.66895601e-01 1.19903502e-03 -2.47881908e+02] [-4.48199989e-03 -5.72486061e-05 -9.99989954e-01 -1.79521079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1214.616559995 meters 0.014113384668397842 Centerline is valid? [True, True] Translation: X:-373.07, Y:-247.88, Z:-1.80 [[ 9.83499677e-01 -1.80861702e-01 -4.17489250e-03 -3.73071380e+02] [-1.80859876e-01 -9.83508537e-01 8.14078570e-04 -2.47883386e+02] [-4.25327805e-03 -4.55754737e-05 -9.99990954e-01 -1.79517692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1214.646559995 meters 0.01335463873186747 Centerline is valid? [True, True] Translation: X:-373.07, Y:-247.88, Z:-1.80 [[ 9.94191363e-01 -1.07551632e-01 -4.02249876e-03 -3.73069032e+02] [-1.07550646e-01 -9.94199500e-01 4.61424142e-04 -2.47883289e+02] [-4.04879318e-03 -2.61215574e-05 -9.99991803e-01 -1.79567784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1214.676559995 meters 0.013169278703083822 Centerline is valid? [True, True] Translation: X:-373.07, Y:-247.89, Z:-1.80 [[ 9.99502879e-01 -3.12318785e-02 -4.30878909e-03 -3.73068862e+02] [-3.12315023e-02 -9.99512166e-01 1.54572975e-04 -2.47886201e+02] [-4.31151472e-03 -1.99261773e-05 -9.99990705e-01 -1.79598315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1214.7065599950001 meters 0.01299815645176606 Centerline is valid? [True, True] Translation: X:-373.07, Y:-247.89, Z:-1.80 [[ 9.98970856e-01 4.51419126e-02 -4.40872478e-03 -3.73068810e+02] [ 4.51415247e-02 -9.98980584e-01 -1.87516393e-04 -2.47888819e+02] [-4.41269531e-03 -1.16931465e-05 -9.99990264e-01 -1.79601675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1214.736559995 meters 0.012906681804911644 Centerline is valid? [True, True] Translation: X:-373.07, Y:-247.89, Z:-1.80 [[ 9.92589419e-01 1.21440206e-01 -4.30371204e-03 -3.73068449e+02] [ 1.21439081e-01 -9.92598749e-01 -5.22808068e-04 -2.47893651e+02] [-4.33534910e-03 -3.70507930e-06 -9.99990603e-01 -1.79586477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1214.766559995 meters 0.012898161283439687 Centerline is valid? [True, True] Translation: X:-373.07, Y:-247.90, Z:-1.80 [[ 9.80330470e-01 1.97318337e-01 -4.20042509e-03 -3.73069273e+02] [ 1.97316514e-01 -9.80339469e-01 -8.48193866e-04 -2.47898790e+02] [-4.28520671e-03 2.69705426e-06 -9.99990819e-01 -1.79540452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1214.796559995 meters 0.012868812638861415 Centerline is valid? [True, True] Translation: X:-373.07, Y:-247.90, Z:-1.80 [[ 9.62236858e-01 2.72179502e-01 -4.30669369e-03 -3.73068869e+02] [ 2.72176735e-01 -9.62246496e-01 -1.22738836e-03 -2.47902939e+02] [-4.47817087e-03 8.85649612e-06 -9.99989973e-01 -1.79522781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1214.826559995 meters 0.01284387612464142 Centerline is valid? [True, True] Translation: X:-373.07, Y:-247.91, Z:-1.79 [[ 9.38703231e-01 3.44700331e-01 -4.23386011e-03 -3.73065731e+02] [ 3.44696737e-01 -9.38712779e-01 -1.57424163e-03 -2.47911674e+02] [-4.51702020e-03 1.83479437e-05 -9.99989798e-01 -1.79498073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1214.856559995 meters 0.012893321259172918 Centerline is valid? [True, True] Translation: X:-373.06, Y:-247.92, Z:-1.79 [[ 9.09043261e-01 4.16680497e-01 -4.20873422e-03 -3.73063395e+02] [ 4.16675922e-01 -9.09053004e-01 -1.95253823e-03 -2.47920998e+02] [-4.63954709e-03 2.12635099e-05 -9.99989237e-01 -1.79403576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1214.886559995 meters 0.012904273956910435 Centerline is valid? [True, True] Translation: X:-373.06, Y:-247.93, Z:-1.79 [[ 8.73825687e-01 4.86219812e-01 -4.35469114e-03 -3.73059221e+02] [ 4.86213631e-01 -8.73836538e-01 -2.45164824e-03 -2.47929811e+02] [-4.99732817e-03 2.50030181e-05 -9.99987513e-01 -1.79415937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1214.916559995 meters 0.012892478506392023 Centerline is valid? [True, True] Translation: X:-373.06, Y:-247.94, Z:-1.79 [[ 8.32663303e-01 5.53762965e-01 -4.28975190e-03 -3.73056345e+02] [ 5.53755481e-01 -8.32674353e-01 -2.87907695e-03 -2.47938103e+02] [-5.16629258e-03 2.18281001e-05 -9.99986655e-01 -1.79347384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1214.9465599950001 meters 0.012871132468804785 Centerline is valid? [True, True] Translation: X:-373.05, Y:-247.95, Z:-1.79 [[ 7.86062686e-01 6.18130094e-01 -4.54328440e-03 -3.73053360e+02] [ 6.18119636e-01 -7.86075815e-01 -3.59566673e-03 -2.47945228e+02] [-5.79395580e-03 1.81261483e-05 -9.99983215e-01 -1.79198538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1214.9765599950001 meters 0.01282240648602389 Centerline is valid? [True, True] Translation: X:-373.05, Y:-247.95, Z:-1.79 [[ 7.34113675e-01 6.79011780e-01 -4.48495071e-03 -3.73049223e+02] [ 6.78999035e-01 -7.34127375e-01 -4.16026104e-03 -2.47952292e+02] [-6.11739135e-03 8.82731345e-06 -9.99981289e-01 -1.79183983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1215.006559995 meters 0.012785963337971258 Centerline is valid? [True, True] Translation: X:-373.04, Y:-247.96, Z:-1.79 [[ 6.77188725e-01 7.35795779e-01 -4.47240727e-03 -3.73044106e+02] [ 7.35779772e-01 -6.77203493e-01 -4.85340204e-03 -2.47959378e+02] [-6.59984256e-03 -4.03766461e-06 -9.99978221e-01 -1.79133929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1215.036559995 meters 0.012846859918392082 Centerline is valid? [True, True] Translation: X:-373.04, Y:-247.97, Z:-1.79 [[ 6.15503718e-01 7.88122601e-01 -4.23542811e-03 -3.73037624e+02] [ 7.88104181e-01 -6.15518290e-01 -5.38848333e-03 -2.47965737e+02] [-6.85376897e-03 -2.13270784e-05 -9.99976513e-01 -1.79091019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1215.066559995 meters 0.012915170696434723 Centerline is valid? [True, True] Translation: X:-373.03, Y:-247.97, Z:-1.79 [[ 5.49755740e-01 8.35315738e-01 -4.03033113e-03 -3.73031268e+02] [ 8.35293837e-01 -5.49770512e-01 -6.04905578e-03 -2.47972216e+02] [-7.26862870e-03 -4.10076158e-05 -9.99973583e-01 -1.79060235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1215.096559995 meters 0.013607925492111877 Centerline is valid? [True, True] Translation: X:-373.02, Y:-247.98, Z:-1.79 [[ 4.77976674e-01 8.78364235e-01 -3.81707228e-03 -3.73023092e+02] [ 8.78337648e-01 -4.77991908e-01 -6.83464926e-03 -2.47978315e+02] [-7.82784113e-03 -8.58753648e-05 -9.99969359e-01 -1.78968696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1215.126559995 meters 0.014365335362928574 Centerline is valid? [True, True] Translation: X:-373.02, Y:-247.98, Z:-1.79 [[ 4.05242545e-01 9.14202762e-01 -3.43360333e-03 -3.73016726e+02] [ 9.14172268e-01 -4.05257075e-01 -7.46776366e-03 -2.47984340e+02] [-8.21854220e-03 -1.12649394e-04 -9.99966221e-01 -1.78904724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1215.156559995 meters 0.014875301835016027 Centerline is valid? [True, True] Translation: X:-373.01, Y:-247.99, Z:-1.79 [[ 3.30650238e-01 9.43749070e-01 -2.84822327e-03 -3.73012702e+02] [ 9.43717330e-01 -3.30662481e-01 -7.74116346e-03 -2.47987480e+02] [-8.24751639e-03 -1.28300115e-04 -9.99965981e-01 -1.78880734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1215.1865599950002 meters 0.015580390689622794 Centerline is valid? [True, True] Translation: X:-373.01, Y:-247.99, Z:-1.79 [[ 2.54487241e-01 9.67073433e-01 -2.28456657e-03 -3.73008855e+02] [ 9.67039328e-01 -2.54497455e-01 -8.12299921e-03 -2.47991286e+02] [-8.43695311e-03 -1.42066064e-04 -9.99964398e-01 -1.78883707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1215.2165599950001 meters 0.014362426283157105 Centerline is valid? [True, True] Translation: X:-373.00, Y:-247.99, Z:-1.79 [[ 1.79144163e-01 9.83821221e-01 -1.78154080e-03 -3.73003610e+02] [ 9.83780208e-01 -1.79152964e-01 -8.98433985e-03 -2.47993152e+02] [-9.15815252e-03 -1.43152541e-04 -9.99958053e-01 -1.78931124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1215.246559995 meters 0.013999982017632402 Centerline is valid? [True, True] Translation: X:-373.00, Y:-248.00, Z:-1.79 [[ 1.03151503e-01 9.94665173e-01 -9.80466663e-04 -3.72996038e+02] [ 9.94630390e-01 -1.03156096e-01 -8.31903917e-03 -2.47995812e+02] [-8.37579964e-03 -1.17080544e-04 -9.99964916e-01 -1.78937010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1215.276559995 meters 0.013619095728019953 Centerline is valid? [True, True] Translation: X:-372.99, Y:-248.00, Z:-1.79 [[ 2.65297205e-02 9.99647985e-01 -2.83091809e-04 -3.72988748e+02] [ 9.99621578e-01 -2.65310775e-02 -7.26660029e-03 -2.47997571e+02] [-7.27155307e-03 -9.02038064e-05 -9.99973558e-01 -1.78994011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1215.306559995 meters 0.01344353280085073 Centerline is valid? [True, True] Translation: X:-372.98, Y:-248.00, Z:-1.79 [[-5.05325784e-02 9.98722385e-01 2.38086282e-04 -3.72981743e+02] [ 9.98704189e-01 5.05330950e-02 -6.02900585e-03 -2.47999262e+02] [-6.03333434e-03 -6.68834441e-05 -9.99981797e-01 -1.79063129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1215.336559995 meters 0.013279294461988465 Centerline is valid? [True, True] Translation: X:-372.98, Y:-248.00, Z:-1.79 [[-1.27466388e-01 9.91842726e-01 5.71727439e-04 -3.72976136e+02] [ 9.91830974e-01 1.27467661e-01 -4.82857445e-03 -2.47999934e+02] [-4.86206320e-03 -4.84239620e-05 -9.99988179e-01 -1.79181285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1215.366559995 meters 0.013059193805350564 Centerline is valid? [True, True] Translation: X:-372.97, Y:-248.00, Z:-1.79 [[-2.03143056e-01 9.79148824e-01 6.92896720e-04 -3.72971521e+02] [ 9.79142619e-01 2.03144236e-01 -3.48594774e-03 -2.48001055e+02] [-3.55401961e-03 -2.97013697e-05 -9.99993684e-01 -1.79334024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1215.396559995 meters 0.013107531095246486 Centerline is valid? [True, True] Translation: X:-372.97, Y:-248.00, Z:-1.79 [[-2.78584860e-01 9.60411091e-01 1.00615012e-03 -3.72965670e+02] [ 9.60404450e-01 2.78586676e-01 -3.57158170e-03 -2.48002546e+02] [-3.71048670e-03 -2.86775305e-05 -9.99993116e-01 -1.79268447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1215.426559995 meters 0.013050903622730753 Centerline is valid? [True, True] Translation: X:-372.96, Y:-248.00, Z:-1.79 [[-3.52540409e-01 9.35795405e-01 1.49038111e-03 -3.72960940e+02] [ 9.35786663e-01 3.52543558e-01 -4.04489689e-03 -2.48003611e+02] [-4.31062018e-03 -3.13108350e-05 -9.99990709e-01 -1.79174788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1215.4565599950001 meters 0.013024173425750855 Centerline is valid? [True, True] Translation: X:-372.96, Y:-248.00, Z:-1.79 [[-4.24045761e-01 9.05638593e-01 1.98281330e-03 -3.72955623e+02] [ 9.05628352e-01 4.24050396e-01 -4.30703357e-03 -2.48003091e+02] [-4.74142859e-03 -3.06873909e-05 -9.99988759e-01 -1.79070143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1215.486559995 meters 0.0129745523448174 Centerline is valid? [True, True] Translation: X:-372.95, Y:-248.00, Z:-1.79 [[-4.92839857e-01 8.70116627e-01 2.43532139e-03 -3.72950245e+02] [ 8.70105728e-01 4.92845873e-01 -4.35517819e-03 -2.48003552e+02] [-4.98975105e-03 -2.74183029e-05 -9.99987551e-01 -1.78927093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1215.516559995 meters 0.012886774839443242 Centerline is valid? [True, True] Translation: X:-372.95, Y:-248.00, Z:-1.79 [[-5.58678786e-01 8.29379559e-01 2.74967496e-03 -3.72946998e+02] [ 8.29369315e-01 5.58685552e-01 -4.12226547e-03 -2.48004075e+02] [-4.95512639e-03 -2.25262375e-05 -9.99987723e-01 -1.78875658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1215.546559995 meters 0.012775546688564413 Centerline is valid? [True, True] Translation: X:-372.94, Y:-248.01, Z:-1.79 [[-6.19905550e-01 7.84670404e-01 3.07694231e-03 -3.72944598e+02] [ 7.84660661e-01 6.19913186e-01 -3.91023547e-03 -2.48006701e+02] [-4.97568315e-03 -9.62108654e-06 -9.99987621e-01 -1.78809217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1215.576559995 meters 0.012736866020048752 Centerline is valid? [True, True] Translation: X:-372.94, Y:-248.01, Z:-1.79 [[-6.78380903e-01 7.34701270e-01 3.65978731e-03 -3.72943370e+02] [ 7.34690562e-01 6.78390775e-01 -3.96681525e-03 -2.48008620e+02] [-5.39719015e-03 -2.20051471e-06 -9.99985435e-01 -1.78788067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1215.606559995 meters 0.012769039734125751 Centerline is valid? [True, True] Translation: X:-372.94, Y:-248.01, Z:-1.79 [[-7.32845336e-01 6.80382622e-01 4.14749595e-03 -3.72941285e+02] [ 6.80371772e-01 7.32857072e-01 -3.84238811e-03 -2.48010078e+02] [-5.65381583e-03 5.96296037e-06 -9.99984017e-01 -1.78762076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1215.636559995 meters 0.013174471217196386 Centerline is valid? [True, True] Translation: X:-372.46, Y:-247.50, Z:-2.80 [[-6.88970659e-01 -7.24773521e-01 4.77215722e-03 -3.72460294e+02] [ 7.24756745e-01 -6.88987184e-01 -4.93169004e-03 -2.47499021e+02] [ 6.86231352e-03 6.08633926e-05 9.99976452e-01 -2.79780958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1215.666559995 meters 0.013321967508979567 Centerline is valid? [True, True] Translation: X:-372.48, Y:-247.48, Z:-2.80 [[-6.89925262e-01 -7.23862222e-01 5.15903460e-03 -3.72478291e+02] [ 7.23841592e-01 -6.89944550e-01 -5.46515906e-03 -2.47479887e+02] [ 7.51546999e-03 -3.62274792e-05 9.99971758e-01 -2.79913284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1215.6965599950001 meters 0.013529498358322898 Centerline is valid? [True, True] Translation: X:-372.50, Y:-247.46, Z:-2.80 [[-6.90711313e-01 -7.23111927e-01 5.19838013e-03 -3.72497289e+02] [ 7.23090986e-01 -6.90730873e-01 -5.50336979e-03 -2.47460916e+02] [ 7.57023398e-03 -4.23379588e-05 9.99971345e-01 -2.79982914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1215.7265599950001 meters 0.013289773487906602 Centerline is valid? [True, True] Translation: X:-372.52, Y:-247.44, Z:-2.80 [[-6.91796717e-01 -7.22075037e-01 4.99437082e-03 -3.72518094e+02] [ 7.22055702e-01 -6.91814743e-01 -5.28441294e-03 -2.47441448e+02] [ 7.27092204e-03 -4.95255921e-05 9.99973565e-01 -2.79847937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1215.756559995 meters 0.013713807749077333 Centerline is valid? [True, True] Translation: X:-372.54, Y:-247.42, Z:-2.80 [[-6.94239659e-01 -7.19728850e-01 4.65599378e-03 -3.72536152e+02] [ 7.19712007e-01 -6.94255268e-01 -4.92436512e-03 -2.47421095e+02] [ 6.77665586e-03 -6.77149317e-05 9.99977036e-01 -2.79815989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1215.786559995 meters 0.014071294744392166 Centerline is valid? [True, True] Translation: X:-372.56, Y:-247.40, Z:-2.80 [[-6.95855643e-01 -7.18167871e-01 4.45351290e-03 -3.72555276e+02] [ 7.18152446e-01 -6.95869889e-01 -4.70759570e-03 -2.47400165e+02] [ 6.47990951e-03 -7.75058488e-05 9.99979002e-01 -2.79774914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1215.816559995 meters 0.014660359216916946 Centerline is valid? [True, True] Translation: X:-372.57, Y:-247.38, Z:-2.80 [[-6.97309497e-01 -7.16758654e-01 4.06173233e-03 -3.72572672e+02] [ 7.16745812e-01 -6.97321322e-01 -4.29124321e-03 -2.47381135e+02] [ 5.90811827e-03 -8.10950110e-05 9.99982544e-01 -2.79755277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1215.846559995 meters 0.014814097585640146 Centerline is valid? [True, True] Translation: X:-372.59, Y:-247.36, Z:-2.80 [[-6.98237837e-01 -7.15855808e-01 3.79270448e-03 -3.72590604e+02] [ 7.15844609e-01 -6.98248133e-01 -4.00510505e-03 -2.47361947e+02] [ 5.51532653e-03 -8.15288280e-05 9.99984787e-01 -2.79739457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1215.876559995 meters 0.014776408158681222 Centerline is valid? [True, True] Translation: X:-372.61, Y:-247.34, Z:-2.80 [[-6.99183313e-01 -7.14933303e-01 3.61486261e-03 -3.72609941e+02] [ 7.14923130e-01 -6.99192653e-01 -3.81492208e-03 -2.47342842e+02] [ 5.25490022e-03 -8.29809681e-05 9.99986190e-01 -2.79679608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1215.906559995 meters 0.01500239742422156 Centerline is valid? [True, True] Translation: X:-372.63, Y:-247.32, Z:-2.80 [[-6.99838717e-01 -7.14293089e-01 3.33962910e-03 -3.72629415e+02] [ 7.14284409e-01 -6.99846681e-01 -3.52226367e-03 -2.47323635e+02] [ 4.85315694e-03 -7.95714881e-05 9.99988220e-01 -2.79663824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1215.9365599950002 meters 0.014534661857899405 Centerline is valid? [True, True] Translation: X:-372.65, Y:-247.31, Z:-2.80 [[-6.99485220e-01 -7.14642300e-01 2.60967799e-03 -3.72651522e+02] [ 7.14637008e-01 -6.99490086e-01 -2.75085232e-03 -2.47305900e+02] [ 3.79131931e-03 -5.92080745e-05 9.99992811e-01 -2.79581313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1215.9665599950001 meters 0.01489601426104591 Centerline is valid? [True, True] Translation: X:-372.67, Y:-247.29, Z:-2.80 [[-6.98756444e-01 -7.15355889e-01 2.32046874e-03 -3.72670300e+02] [ 7.15351714e-01 -6.98760295e-01 -2.44438166e-03 -2.47287184e+02] [ 3.37005424e-03 -4.80761499e-05 9.99994320e-01 -2.79599039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1215.996559995 meters 0.014125282035507617 Centerline is valid? [True, True] Translation: X:-372.69, Y:-247.27, Z:-2.80 [[-6.97727472e-01 -7.16360174e-01 2.11564687e-03 -3.72691547e+02] [ 7.16356713e-01 -6.97730679e-01 -2.22723723e-03 -2.47269498e+02] [ 3.07165578e-03 -3.84467702e-05 9.99995282e-01 -2.79557468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1216.026559995 meters 0.013812938342901843 Centerline is valid? [True, True] Translation: X:-372.71, Y:-247.25, Z:-2.80 [[-6.96426485e-01 -7.17625286e-01 2.02471304e-03 -3.72711903e+02] [ 7.17622125e-01 -6.96429428e-01 -2.13017032e-03 -2.47251585e+02] [ 2.93873383e-03 -3.05281547e-05 9.99995682e-01 -2.79558154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1216.056559995 meters 0.013403115973715038 Centerline is valid? [True, True] Translation: X:-372.73, Y:-247.23, Z:-2.80 [[-6.94744657e-01 -7.19253558e-01 2.04480342e-03 -3.72733148e+02] [ 7.19250344e-01 -6.94747666e-01 -2.15009623e-03 -2.47233151e+02] [ 2.96708677e-03 -2.30423085e-05 9.99995598e-01 -2.79549020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1216.086559995 meters 0.013022831853045756 Centerline is valid? [True, True] Translation: X:-372.76, Y:-247.22, Z:-2.80 [[-6.90615439e-01 -7.23219270e-01 2.05020794e-03 -3.72756557e+02] [ 7.23216061e-01 -6.90618482e-01 -2.15456905e-03 -2.47216656e+02] [ 2.97413735e-03 -5.23534119e-06 9.99995577e-01 -2.79639476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1216.116559995 meters 0.013020211776036952 Centerline is valid? [True, True] Translation: X:-372.78, Y:-247.20, Z:-2.80 [[-6.88665063e-01 -7.25077046e-01 1.92561608e-03 -3.72776930e+02] [ 7.25074226e-01 -6.88667755e-01 -2.02229322e-03 -2.47199926e+02] [ 2.79242810e-03 3.53189800e-06 9.99996101e-01 -2.79669748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1216.146559995 meters 0.013172672534947695 Centerline is valid? [True, True] Translation: X:-372.80, Y:-247.18, Z:-2.80 [[-6.86779628e-01 -7.26864017e-01 1.56301688e-03 -3.72798179e+02] [ 7.26862166e-01 -6.86781407e-01 -1.64046661e-03 -2.47182198e+02] [ 2.26584708e-03 9.45878758e-06 9.99997433e-01 -2.79675215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1216.176559995 meters 0.01331668741270249 Centerline is valid? [True, True] Translation: X:-372.82, Y:-247.16, Z:-2.80 [[-6.85008197e-01 -7.28534247e-01 1.27349719e-03 -3.72818990e+02] [ 7.28533022e-01 -6.85009380e-01 -1.33575996e-03 -2.47164205e+02] [ 1.84550440e-03 1.27782346e-05 9.99998297e-01 -2.79645466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1216.2065599950001 meters 0.013482978878971754 Centerline is valid? [True, True] Translation: X:-372.84, Y:-247.15, Z:-2.80 [[-6.83697838e-01 -7.29764585e-01 9.57979456e-04 -3.72839633e+02] [ 7.29763894e-01 -6.83698509e-01 -1.00424893e-03 -2.47145488e+02] [ 1.38783443e-03 1.24959962e-05 9.99999037e-01 -2.79625838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1216.236559995 meters 0.014259673013188685 Centerline is valid? [True, True] Translation: X:-372.86, Y:-247.13, Z:-2.80 [[-6.81321530e-01 -7.31984055e-01 5.63104056e-04 -3.72860702e+02] [ 7.31983817e-01 -6.81321762e-01 -5.89947713e-04 -2.47128164e+02] [ 8.15487369e-04 1.02389780e-05 9.99999668e-01 -2.79545749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1216.266559995 meters 0.014403583803639649 Centerline is valid? [True, True] Translation: X:-372.88, Y:-247.11, Z:-2.80 [[-6.80637888e-01 -7.32619914e-01 3.55653367e-04 -3.72880452e+02] [ 7.32619820e-01 -6.80637981e-01 -3.72372205e-04 -2.47109162e+02] [ 5.14878484e-04 7.10807456e-06 9.99999868e-01 -2.79567326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1216.296559995 meters 0.014471544050054724 Centerline is valid? [True, True] Translation: X:-372.90, Y:-247.09, Z:-2.80 [[-6.80184907e-01 -7.33040513e-01 3.15170314e-04 -3.72900516e+02] [ 7.33040438e-01 -6.80184980e-01 -3.29799280e-04 -2.47089897e+02] [ 4.56130349e-04 6.70809248e-06 9.99999896e-01 -2.79597768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1216.326559995 meters 0.014696856692379408 Centerline is valid? [True, True] Translation: X:-372.92, Y:-247.07, Z:-2.80 [[-6.79717062e-01 -7.33474405e-01 1.16912527e-04 -3.72921128e+02] [ 7.33474395e-01 -6.79717072e-01 -1.22266917e-04 -2.47070790e+02] [ 1.69147097e-04 2.64543563e-06 9.99999986e-01 -2.79618124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1216.356559995 meters 0.015124265695741032 Centerline is valid? [True, True] Translation: X:-372.94, Y:-247.05, Z:-2.80 [[-6.79241243e-01 -7.33915060e-01 1.36988594e-04 -3.72941138e+02] [ 7.33915046e-01 -6.79241257e-01 -1.43167414e-04 -2.47053112e+02] [ 1.98121028e-04 3.29277756e-06 9.99999981e-01 -2.79649421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1216.386559995 meters 0.015124265695741032 Centerline is valid? [True, True] Translation: X:-372.96, Y:-247.03, Z:-2.80 [[-6.79468469e-01 -7.33704696e-01 1.37032718e-04 -3.72959713e+02] [ 7.33704682e-01 -6.79468483e-01 -1.43125182e-04 -2.47033857e+02] [ 1.98121033e-04 3.29249889e-06 9.99999981e-01 -2.79649456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1216.416559995 meters 0.015190196572162518 Centerline is valid? [True, True] Translation: X:-372.98, Y:-247.01, Z:-2.80 [[-6.78775982e-01 -7.34345153e-01 6.02918440e-04 -3.72979919e+02] [ 7.34344883e-01 -6.78776250e-01 -6.29390220e-04 -2.47014532e+02] [ 8.71436376e-04 1.55351068e-05 9.99999620e-01 -2.79700195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1216.4465599950001 meters 0.015729100261578654 Centerline is valid? [True, True] Translation: X:-373.00, Y:-247.00, Z:-2.80 [[-6.77504447e-01 -7.35518277e-01 7.67197799e-04 -3.73001530e+02] [ 7.35517842e-01 -6.77504881e-01 -8.00406187e-04 -2.46997120e+02] [ 1.10849363e-03 2.20089188e-05 9.99999386e-01 -2.79820566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1216.4765599950001 meters 0.016912818026413402 Centerline is valid? [True, True] Translation: X:-373.02, Y:-246.98, Z:-2.80 [[-6.76966056e-01 -7.36013218e-01 1.22555686e-03 -3.73022385e+02] [ 7.36012109e-01 -6.76967165e-01 -1.27785317e-03 -2.46980203e+02] [ 1.77017858e-03 3.69614630e-05 9.99998433e-01 -2.79904952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1216.506559995 meters 0.016713859611432322 Centerline is valid? [True, True] Translation: X:-373.04, Y:-246.96, Z:-2.80 [[-6.76465334e-01 -7.36471510e-01 2.08980058e-03 -3.73042127e+02] [ 7.36468293e-01 -6.76468559e-01 -2.17778860e-03 -2.46960466e+02] [ 3.01756365e-03 6.58733765e-05 9.99995445e-01 -2.80051734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1216.536559995 meters 0.016504222268902066 Centerline is valid? [True, True] Translation: X:-373.06, Y:-246.94, Z:-2.80 [[-6.76521715e-01 -7.36418100e-01 2.59827672e-03 -3.73061217e+02] [ 7.36413133e-01 -6.76526700e-01 -2.70598684e-03 -2.46940720e+02] [ 3.75054126e-03 8.27462398e-05 9.99992963e-01 -2.80124323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1216.566559995 meters 0.016372851423229435 Centerline is valid? [True, True] Translation: X:-373.08, Y:-246.92, Z:-2.80 [[-6.77005876e-01 -7.35971322e-01 3.04255004e-03 -3.73080197e+02] [ 7.35964516e-01 -6.77012706e-01 -3.16670452e-03 -2.46921349e+02] [ 4.39044875e-03 9.53313005e-05 9.99990358e-01 -2.80220057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1216.596559995 meters 0.015932772975790578 Centerline is valid? [True, True] Translation: X:-373.10, Y:-246.90, Z:-2.80 [[-6.77761283e-01 -7.35272584e-01 3.72434226e-03 -3.73098852e+02] [ 7.35262386e-01 -6.77771506e-01 -3.87413739e-03 -2.46900424e+02] [ 5.37280007e-03 1.12628452e-04 9.99985560e-01 -2.80316230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1216.626559995 meters 0.016109385605204557 Centerline is valid? [True, True] Translation: X:-373.12, Y:-246.88, Z:-2.80 [[-6.78739817e-01 -7.34366138e-01 4.31706138e-03 -3.73117430e+02] [ 7.34352436e-01 -6.78753535e-01 -4.48770626e-03 -2.46881399e+02] [ 6.22584018e-03 1.24259615e-04 9.99980612e-01 -2.80404871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1216.656559995 meters 0.015915046958768275 Centerline is valid? [True, True] Translation: X:-373.13, Y:-246.86, Z:-2.80 [[-6.79938636e-01 -7.33253588e-01 4.75683452e-03 -3.73134783e+02] [ 7.33236947e-01 -6.79955263e-01 -4.94169138e-03 -2.46861972e+02] [ 6.85794760e-03 1.27839926e-04 9.99976476e-01 -2.80437101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1216.6865599950002 meters 0.014887469674172612 Centerline is valid? [True, True] Translation: X:-373.15, Y:-246.84, Z:-2.80 [[-6.82163888e-01 -7.31178791e-01 5.47763727e-03 -3.73151207e+02] [ 7.31156683e-01 -6.82185869e-01 -5.68738180e-03 -2.46839350e+02] [ 7.89525969e-03 1.25284612e-04 9.99968824e-01 -2.80499206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1216.7165599950001 meters 0.014317614994846871 Centerline is valid? [True, True] Translation: X:-373.17, Y:-246.82, Z:-2.80 [[-6.83475288e-01 -7.29952902e-01 5.50384503e-03 -3.73169602e+02] [ 7.29930566e-01 -6.83497438e-01 -5.71138367e-03 -2.46817708e+02] [ 7.93090506e-03 1.13835122e-04 9.99968544e-01 -2.80459402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1216.746559995 meters 0.014440597804184517 Centerline is valid? [True, True] Translation: X:-373.19, Y:-246.80, Z:-2.81 [[-6.84814360e-01 -7.28698967e-01 5.20646683e-03 -3.73187806e+02] [ 7.28678964e-01 -6.84834145e-01 -5.40015577e-03 -2.46798925e+02] [ 7.50065419e-03 9.57386361e-05 9.99971865e-01 -2.80545384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1216.776559995 meters 0.014288681110574629 Centerline is valid? [True, True] Translation: X:-373.21, Y:-246.78, Z:-2.81 [[-6.86067302e-01 -7.27518546e-01 5.33133997e-03 -3.73205299e+02] [ 7.27497563e-01 -6.86088010e-01 -5.52617564e-03 -2.46779678e+02] [ 7.67816369e-03 8.72084232e-05 9.99970519e-01 -2.80553206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1216.806559995 meters 0.013384833119602292 Centerline is valid? [True, True] Translation: X:-373.22, Y:-246.76, Z:-2.80 [[-6.88759992e-01 -7.24972201e-01 4.99802221e-03 -3.73221301e+02] [ 7.24953713e-01 -6.88778124e-01 -5.17781618e-03 -2.46755665e+02] [ 7.19630116e-03 5.70621278e-05 9.99974105e-01 -2.80423295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1216.836559995 meters 0.01320966743689117 Centerline is valid? [True, True] Translation: X:-373.24, Y:-246.73, Z:-2.80 [[-6.90219014e-01 -7.23581683e-01 5.22123924e-03 -3.73238945e+02] [ 7.23561492e-01 -6.90238760e-01 -5.40571699e-03 -2.46734737e+02] [ 7.51537950e-03 4.67590008e-05 9.99971758e-01 -2.80406682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1216.866559995 meters 0.013115577343736834 Centerline is valid? [True, True] Translation: X:-373.26, Y:-246.71, Z:-2.80 [[-6.91476776e-01 -7.22381382e-01 5.00083370e-03 -3.73255728e+02] [ 7.22362846e-01 -6.91494858e-01 -5.17505133e-03 -2.46714853e+02] [ 7.19641152e-03 3.39886538e-05 9.99974105e-01 -2.80425152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1216.896559995 meters 0.013021361057433142 Centerline is valid? [True, True] Translation: X:-373.27, Y:-246.70, Z:-2.80 [[-6.92646733e-01 -7.21258176e-01 5.21019259e-03 -3.73272402e+02] [ 7.21238049e-01 -6.92666328e-01 -5.38833882e-03 -2.46695109e+02] [ 7.49530841e-03 2.55738625e-05 9.99971910e-01 -2.80452928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1216.926559995 meters 0.013005426909513056 Centerline is valid? [True, True] Translation: X:-373.29, Y:-246.67, Z:-2.81 [[-6.94113225e-01 -7.19845131e-01 5.46060026e-03 -3.73288243e+02] [ 7.19823006e-01 -6.94134704e-01 -5.64384377e-03 -2.46674521e+02] [ 7.85308560e-03 1.31990937e-05 9.99969164e-01 -2.80509572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1216.9565599950001 meters 0.013043487068391266 Centerline is valid? [True, True] Translation: X:-373.31, Y:-246.65, Z:-2.80 [[-6.94503175e-01 -7.19467370e-01 5.66079193e-03 -3.73306602e+02] [ 7.19443609e-01 -6.94526244e-01 -5.84724832e-03 -2.46654547e+02] [ 8.13847293e-03 1.16880571e-05 9.99966882e-01 -2.80470726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1216.986559995 meters 0.012951485852785 Centerline is valid? [True, True] Translation: X:-373.33, Y:-246.64, Z:-2.80 [[-6.94821249e-01 -7.19161968e-01 5.43103353e-03 -3.73325154e+02] [ 7.19140115e-01 -6.94842474e-01 -5.60641629e-03 -2.46635062e+02] [ 7.80563414e-03 1.02169050e-05 9.99969536e-01 -2.80416783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1217.016559995 meters 0.012997909622688071 Centerline is valid? [True, True] Translation: X:-373.34, Y:-246.62, Z:-2.80 [[-6.94684551e-01 -7.19293209e-01 5.53661891e-03 -3.73344002e+02] [ 7.19270531e-01 -6.94706614e-01 -5.71167815e-03 -2.46616212e+02] [ 7.95469708e-03 1.45122568e-05 9.99968361e-01 -2.80476130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1217.046559995 meters 0.01309963687496112 Centerline is valid? [True, True] Translation: X:-373.36, Y:-246.60, Z:-2.80 [[-6.94357278e-01 -7.19609185e-01 5.53096543e-03 -3.73363255e+02] [ 7.19586591e-01 -6.94379306e-01 -5.70247268e-03 -2.46597020e+02] [ 7.94413966e-03 2.04551538e-05 9.99968445e-01 -2.80481444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1217.076559995 meters 0.01305197453544994 Centerline is valid? [True, True] Translation: X:-373.38, Y:-246.58, Z:-2.80 [[-6.93899203e-01 -7.20051986e-01 5.38833183e-03 -3.73382100e+02] [ 7.20030581e-01 -6.93920123e-01 -5.55198473e-03 -2.46577909e+02] [ 7.73678952e-03 2.72459193e-05 9.99970070e-01 -2.80410143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1217.106559995 meters 0.013181000044985444 Centerline is valid? [True, True] Translation: X:-373.40, Y:-246.56, Z:-2.80 [[-6.93159388e-01 -7.20764465e-01 5.35240271e-03 -3.73401173e+02] [ 7.20743393e-01 -6.93180052e-01 -5.51155741e-03 -2.46558964e+02] [ 7.68271352e-03 3.73211287e-05 9.99970487e-01 -2.80428821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1217.136559995 meters 0.01353215731267455 Centerline is valid? [True, True] Translation: X:-373.42, Y:-246.54, Z:-2.80 [[-6.91561982e-01 -7.22295373e-01 5.60520846e-03 -3.73420610e+02] [ 7.22272340e-01 -6.91584695e-01 -5.76853451e-03 -2.46539808e+02] [ 8.04306217e-03 5.91878711e-05 9.99967653e-01 -2.80445606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1217.166559995 meters 0.01345006788733708 Centerline is valid? [True, True] Translation: X:-373.44, Y:-246.52, Z:-2.80 [[-6.90722337e-01 -7.23095915e-01 5.91196395e-03 -3.73439332e+02] [ 7.23070351e-01 -6.90747633e-01 -6.08079609e-03 -2.46519453e+02] [ 8.48067392e-03 7.46241631e-05 9.99964036e-01 -2.80376806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1217.1965599950001 meters 0.013703478937700278 Centerline is valid? [True, True] Translation: X:-373.46, Y:-246.50, Z:-2.80 [[-6.90114881e-01 -7.23677036e-01 5.74442266e-03 -3.73458374e+02] [ 7.23652949e-01 -6.90138784e-01 -5.90495169e-03 -2.46500752e+02] [ 8.23772681e-03 8.18733661e-05 9.99966066e-01 -2.80428577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1217.2265599950001 meters 0.014107792811701554 Centerline is valid? [True, True] Translation: X:-373.48, Y:-246.48, Z:-2.80 [[-6.88680355e-01 -7.25041399e-01 5.85990989e-03 -3.73477269e+02] [ 7.25016402e-01 -6.88705278e-01 -6.02134928e-03 -2.46482126e+02] [ 8.40147837e-03 1.01745821e-04 9.99964702e-01 -2.80454146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1217.256559995 meters 0.014292517509405564 Centerline is valid? [True, True] Translation: X:-373.50, Y:-246.46, Z:-2.80 [[-6.88329578e-01 -7.25375690e-01 5.70084001e-03 -3.73496552e+02] [ 7.25352073e-01 -6.88353177e-01 -5.85433242e-03 -2.46462207e+02] [ 8.17078176e-03 1.05405956e-04 9.99966613e-01 -2.80460261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1217.286559995 meters 0.014149344613885301 Centerline is valid? [True, True] Translation: X:-373.52, Y:-246.44, Z:-2.80 [[-6.88062138e-01 -7.25628247e-01 5.84308739e-03 -3.73515099e+02] [ 7.25603477e-01 -6.88086938e-01 -5.99666992e-03 -2.46441819e+02] [ 8.37190519e-03 1.13682994e-04 9.99964949e-01 -2.80403235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1217.316559995 meters 0.01573517518195216 Centerline is valid? [True, True] Translation: X:-373.54, Y:-246.43, Z:-2.81 [[-6.88065088e-01 -7.25625165e-01 5.87836384e-03 -3.73535237e+02] [ 7.25600128e-01 -6.88090188e-01 -6.02893364e-03 -2.46425266e+02] [ 8.41959045e-03 1.17042799e-04 9.99964548e-01 -2.80585620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1217.346559995 meters 0.014339461782743358 Centerline is valid? [True, True] Translation: X:-373.55, Y:-246.40, Z:-2.80 [[-6.88044569e-01 -7.25646052e-01 5.69901414e-03 -3.73551389e+02] [ 7.25622549e-01 -6.88068161e-01 -5.84136077e-03 -2.46403196e+02] [ 8.16007056e-03 1.16216615e-04 9.99966700e-01 -2.80379077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1217.376559995 meters 0.014204831862355292 Centerline is valid? [True, True] Translation: X:-373.57, Y:-246.38, Z:-2.80 [[-6.88289055e-01 -7.25412910e-01 5.85547401e-03 -3.73569639e+02] [ 7.25388123e-01 -6.88313951e-01 -5.99797834e-03 -2.46383382e+02] [ 8.38141538e-03 1.19148454e-04 9.99964868e-01 -2.80343132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1217.406559995 meters 0.01429928181604501 Centerline is valid? [True, True] Translation: X:-373.59, Y:-246.36, Z:-2.80 [[-6.88814246e-01 -7.24915308e-01 5.72116246e-03 -3.73587803e+02] [ 7.24891657e-01 -6.88837996e-01 -5.85677160e-03 -2.46363736e+02] [ 8.18661747e-03 1.12995223e-04 9.99966483e-01 -2.80318103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1217.4365599950002 meters 0.013978255840096534 Centerline is valid? [True, True] Translation: X:-373.61, Y:-246.34, Z:-2.80 [[-6.89138358e-01 -7.24609367e-01 5.43954516e-03 -3.73606079e+02] [ 7.24588005e-01 -6.89159818e-01 -5.56498996e-03 -2.46343659e+02] [ 7.78115980e-03 1.06381134e-04 9.99969721e-01 -2.80239331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1217.4665599950001 meters 0.01405319869533012 Centerline is valid? [True, True] Translation: X:-373.63, Y:-246.32, Z:-2.80 [[-6.89550214e-01 -7.24220234e-01 5.05518325e-03 -3.73625341e+02] [ 7.24201797e-01 -6.89568737e-01 -5.16854150e-03 -2.46324220e+02] [ 7.22905867e-03 9.70038996e-05 9.99973866e-01 -2.80266573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1217.496559995 meters 0.014459817323232557 Centerline is valid? [True, True] Translation: X:-373.64, Y:-246.31, Z:-2.80 [[-6.89875968e-01 -7.23905841e-01 5.61083553e-03 -3.73644473e+02] [ 7.23883148e-01 -6.89898776e-01 -5.73291116e-03 -2.46306006e+02] [ 8.02099644e-03 1.06591650e-04 9.99967826e-01 -2.80380530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1217.526559995 meters 0.014553375394639065 Centerline is valid? [True, True] Translation: X:-373.66, Y:-246.29, Z:-2.80 [[-6.90062191e-01 -7.23725802e-01 5.92759618e-03 -3.73663775e+02] [ 7.23700498e-01 -6.90087640e-01 -6.05298872e-03 -2.46286238e+02] [ 8.47126498e-03 1.12865647e-04 9.99964112e-01 -2.80444072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1217.556559995 meters 0.01400417989002524 Centerline is valid? [True, True] Translation: X:-373.68, Y:-246.27, Z:-2.80 [[-6.90355072e-01 -7.23443375e-01 6.28949939e-03 -3.73681736e+02] [ 7.23414911e-01 -6.90383712e-01 -6.41853579e-03 -2.46265205e+02] [ 8.98561513e-03 1.18848902e-04 9.99959622e-01 -2.80379875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1217.586559995 meters 0.014503376333980241 Centerline is valid? [True, True] Translation: X:-373.70, Y:-246.25, Z:-2.81 [[-6.90763324e-01 -7.23050521e-01 6.63135470e-03 -3.73700866e+02] [ 7.23018902e-01 -6.90795143e-01 -6.76298007e-03 -2.46246854e+02] [ 9.47088388e-03 1.22976200e-04 9.99955143e-01 -2.80511400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1217.616559995 meters 0.014419344851327773 Centerline is valid? [True, True] Translation: X:-373.72, Y:-246.23, Z:-2.81 [[-6.91172623e-01 -7.22655094e-01 7.07257172e-03 -3.73719315e+02] [ 7.22619150e-01 -6.91208796e-01 -7.20866626e-03 -2.46227149e+02] [ 1.00980032e-02 1.28342993e-04 9.99949006e-01 -2.80514539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1217.646559995 meters 0.01367589956232212 Centerline is valid? [True, True] Translation: X:-373.74, Y:-246.21, Z:-2.80 [[-6.91612207e-01 -7.22232789e-01 7.23555596e-03 -3.73737640e+02] [ 7.22195190e-01 -6.91650043e-01 -7.37061144e-03 -2.46205973e+02] [ 1.03277699e-02 1.27878860e-04 9.99946659e-01 -2.80404544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1217.676559995 meters 0.013732490177394568 Centerline is valid? [True, True] Translation: X:-373.76, Y:-246.19, Z:-2.80 [[-6.92473225e-01 -7.21407017e-01 7.26277558e-03 -3.73756249e+02] [ 7.21369134e-01 -6.92511301e-01 -7.39395984e-03 -2.46186623e+02] [ 1.03636087e-02 1.19022916e-04 9.99946289e-01 -2.80441291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1217.7065599950001 meters 0.013668604750771095 Centerline is valid? [True, True] Translation: X:-373.78, Y:-246.17, Z:-2.80 [[-6.93076306e-01 -7.20825252e-01 7.49610675e-03 -3.73775253e+02] [ 7.20784913e-01 -6.93116832e-01 -7.62672086e-03 -2.46166556e+02] [ 1.06932108e-02 1.17181131e-04 9.99942819e-01 -2.80460848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1217.736559995 meters 0.013671978607817289 Centerline is valid? [True, True] Translation: X:-373.79, Y:-246.15, Z:-2.80 [[-6.93782775e-01 -7.20144145e-01 7.60742065e-03 -3.73793869e+02] [ 7.20102610e-01 -6.93824473e-01 -7.73513216e-03 -2.46146912e+02] [ 1.08486247e-02 1.11622012e-04 9.99941146e-01 -2.80458800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1217.766559995 meters 0.013477455038381296 Centerline is valid? [True, True] Translation: X:-373.81, Y:-246.13, Z:-2.80 [[-6.95083152e-01 -7.18882074e-01 8.24472390e-03 -3.73811959e+02] [ 7.18833261e-01 -6.95132040e-01 -8.37790558e-03 -2.46126202e+02] [ 1.17538979e-02 1.03240751e-04 9.99930915e-01 -2.80498629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1217.796559995 meters 0.013491098364768635 Centerline is valid? [True, True] Translation: X:-373.83, Y:-246.11, Z:-2.81 [[-6.95822904e-01 -7.18158949e-01 8.84361136e-03 -3.73830405e+02] [ 7.18102799e-01 -6.95879094e-01 -8.98088865e-03 -2.46105920e+02] [ 1.26037898e-02 1.01514045e-04 9.99920564e-01 -2.80557111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1217.826559995 meters 0.0133475418813818 Centerline is valid? [True, True] Translation: X:-373.85, Y:-246.09, Z:-2.81 [[-6.96773093e-01 -7.17229830e-01 9.41425027e-03 -3.73848970e+02] [ 7.17166195e-01 -6.96836683e-01 -9.55440807e-03 -2.46085586e+02] [ 1.34129014e-02 9.43275731e-05 9.99910039e-01 -2.80573578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1217.856559995 meters 0.013373463036833212 Centerline is valid? [True, True] Translation: X:-373.87, Y:-246.07, Z:-2.81 [[-6.97695275e-01 -7.16326220e-01 9.90200255e-03 -3.73866765e+02] [ 7.16255822e-01 -6.97765533e-01 -1.00428452e-02 -2.46066526e+02] [ 1.41032294e-02 8.55213127e-05 9.99900541e-01 -2.80607280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1217.886559995 meters 0.013303219012092329 Centerline is valid? [True, True] Translation: X:-373.89, Y:-246.05, Z:-2.81 [[-6.98251804e-01 -7.15779448e-01 1.02078459e-02 -3.73885828e+02] [ 7.15704668e-01 -6.98326410e-01 -1.03466408e-02 -2.46046428e+02] [ 1.45343212e-02 8.12423365e-05 9.99894368e-01 -2.80634756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1217.916559995 meters 0.01339565833270951 Centerline is valid? [True, True] Translation: X:-373.90, Y:-246.03, Z:-2.81 [[-6.98882359e-01 -7.15159610e-01 1.04967132e-02 -3.73903923e+02] [ 7.15080570e-01 -6.98961177e-01 -1.06325508e-02 -2.46027834e+02] [ 1.49407659e-02 7.50934462e-05 9.99888378e-01 -2.80690651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1217.9465599950001 meters 0.0131233589225801 Centerline is valid? [True, True] Translation: X:-373.92, Y:-246.01, Z:-2.81 [[-6.99555638e-01 -7.14496167e-01 1.08230060e-02 -3.73922812e+02] [ 7.14412162e-01 -6.99639352e-01 -1.09562626e-02 -2.46008447e+02] [ 1.54004085e-02 6.75718655e-05 9.99881405e-01 -2.80604186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1217.9765599950001 meters 0.013111797114662014 Centerline is valid? [True, True] Translation: X:-373.94, Y:-245.99, Z:-2.81 [[-6.99804425e-01 -7.14260715e-01 1.02663785e-02 -3.73941583e+02] [ 7.14185202e-01 -6.99879724e-01 -1.03860296e-02 -2.45989679e+02] [ 1.46035630e-02 6.39061251e-05 9.99893360e-01 -2.80594503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1218.006559995 meters 0.012991997702117739 Centerline is valid? [True, True] Translation: X:-373.96, Y:-245.97, Z:-2.80 [[-7.00173193e-01 -7.13905117e-01 9.84801879e-03 -3.73960355e+02] [ 7.13835685e-01 -7.00242444e-01 -9.95662720e-03 -2.45970452e+02] [ 1.40040879e-02 5.85037858e-05 9.99901936e-01 -2.80447276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1218.036559995 meters 0.012867524263646478 Centerline is valid? [True, True] Translation: X:-373.98, Y:-245.95, Z:-2.80 [[-7.00698262e-01 -7.13393903e-01 9.54390380e-03 -3.73979970e+02] [ 7.13328718e-01 -7.00763254e-01 -9.64376483e-03 -2.45950193e+02] [ 1.35678201e-02 5.05714143e-05 9.99907952e-01 -2.80292889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1218.066559995 meters 0.012841870344828222 Centerline is valid? [True, True] Translation: X:-374.00, Y:-245.93, Z:-2.80 [[-7.00906048e-01 -7.13204591e-01 8.36201090e-03 -3.73999102e+02] [ 7.13154602e-01 -7.00955925e-01 -8.44423398e-03 -2.45931461e+02] [ 1.18838675e-02 4.47918840e-05 9.99929384e-01 -2.80191383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1218.096559995 meters 0.01276241727863246 Centerline is valid? [True, True] Translation: X:-374.02, Y:-245.91, Z:-2.80 [[-7.01240548e-01 -7.12877763e-01 8.18464315e-03 -3.74018615e+02] [ 7.12829909e-01 -7.01288310e-01 -8.26000482e-03 -2.45912555e+02] [ 1.16281683e-02 4.20081213e-05 9.99932390e-01 -2.80140403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1218.126559995 meters 0.01276998972500968 Centerline is valid? [True, True] Translation: X:-374.04, Y:-245.89, Z:-2.80 [[-7.01297065e-01 -7.12820445e-01 8.33307185e-03 -3.74038164e+02] [ 7.12770898e-01 -7.01346570e-01 -8.40451843e-03 -2.45893801e+02] [ 1.18352839e-02 4.55069894e-05 9.99929960e-01 -2.80111923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1218.156559995 meters 0.01277162094290637 Centerline is valid? [True, True] Translation: X:-374.06, Y:-245.87, Z:-2.80 [[-7.01343887e-01 -7.12773450e-01 8.41198341e-03 -3.74058480e+02] [ 7.12723020e-01 -7.01394330e-01 -8.47881498e-03 -2.45874967e+02] [ 1.19435917e-02 4.88491676e-05 9.99928672e-01 -2.80157273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1218.1865599950002 meters 0.012785971877161123 Centerline is valid? [True, True] Translation: X:-374.08, Y:-245.86, Z:-2.80 [[-7.01406255e-01 -7.12710367e-01 8.55564883e-03 -3.74078212e+02] [ 7.12658260e-01 -7.01458431e-01 -8.61827009e-03 -2.45856630e+02] [ 1.21437624e-02 5.23452587e-05 9.99926261e-01 -2.80207600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1218.2165599950001 meters 0.012800940505019773 Centerline is valid? [True, True] Translation: X:-374.10, Y:-245.84, Z:-2.80 [[-7.01422535e-01 -7.12691468e-01 8.79197593e-03 -3.74098498e+02] [ 7.12636510e-01 -7.01477632e-01 -8.85085110e-03 -2.45837951e+02] [ 1.24753005e-02 5.72966282e-05 9.99922179e-01 -2.80258286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1218.246559995 meters 0.012943714424942831 Centerline is valid? [True, True] Translation: X:-374.12, Y:-245.82, Z:-2.80 [[-7.01324561e-01 -7.12785102e-01 9.01437091e-03 -3.74118273e+02] [ 7.12727401e-01 -7.01382488e-01 -9.06958696e-03 -2.45821287e+02] [ 1.27871884e-02 6.40650575e-05 9.99918239e-01 -2.80366537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1218.276559995 meters 0.012943714424942831 Centerline is valid? [True, True] Translation: X:-374.14, Y:-245.80, Z:-2.80 [[-7.01541685e-01 -7.12571369e-01 9.01713404e-03 -3.74137219e+02] [ 7.12513686e-01 -7.01599630e-01 -9.06683982e-03 -2.45802391e+02] [ 1.27871884e-02 6.40653267e-05 9.99918239e-01 -2.80366572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1218.306559995 meters 0.012921598105936226 Centerline is valid? [True, True] Translation: X:-374.16, Y:-245.78, Z:-2.80 [[-7.01725279e-01 -7.12389146e-01 9.12894354e-03 -3.74157082e+02] [ 7.12330081e-01 -7.01784654e-01 -9.17361374e-03 -2.45783191e+02] [ 1.29417353e-02 6.54644356e-05 9.99916250e-01 -2.80346640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1218.336559995 meters 0.013002603152413897 Centerline is valid? [True, True] Translation: X:-374.18, Y:-245.77, Z:-2.80 [[-7.02109164e-01 -7.12007120e-01 9.41183564e-03 -3.74175870e+02] [ 7.11944385e-01 -7.02172242e-01 -9.45180027e-03 -2.45765236e+02] [ 1.33384788e-02 6.45079447e-05 9.99911037e-01 -2.80415640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1218.366559995 meters 0.012836223675755898 Centerline is valid? [True, True] Translation: X:-374.20, Y:-245.75, Z:-2.80 [[-7.02403022e-01 -7.11716609e-01 9.45847865e-03 -3.74195003e+02] [ 7.11653304e-01 -7.02466700e-01 -9.49269192e-03 -2.45745973e+02] [ 1.34003728e-02 6.34620820e-05 9.99910209e-01 -2.80322027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1218.396559995 meters 0.01281763592132187 Centerline is valid? [True, True] Translation: X:-374.22, Y:-245.73, Z:-2.80 [[-7.03576638e-01 -7.10552253e-01 9.76784812e-03 -3.74215294e+02] [ 7.10484702e-01 -7.03644437e-01 -9.79762734e-03 -2.45726206e+02] [ 1.38348182e-02 4.65249620e-05 9.99904293e-01 -2.80328700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1218.426559995 meters 0.012844869596313254 Centerline is valid? [True, True] Translation: X:-374.23, Y:-245.71, Z:-2.80 [[-7.04854759e-01 -7.09284041e-01 9.79374630e-03 -3.74234580e+02] [ 7.09216091e-01 -7.04922796e-01 -9.81774788e-03 -2.45706623e+02] [ 1.38674069e-02 2.57961465e-05 9.99903843e-01 -2.80390743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1218.4565599950001 meters 0.012758562348733833 Centerline is valid? [True, True] Translation: X:-374.25, Y:-245.69, Z:-2.80 [[-7.06201668e-01 -7.07943499e-01 9.75737070e-03 -3.74253694e+02] [ 7.07876000e-01 -7.06269072e-01 -9.77580867e-03 -2.45686200e+02] [ 1.38120493e-02 3.31614939e-06 9.99904609e-01 -2.80367710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1218.486559995 meters 0.012865117657268695 Centerline is valid? [True, True] Translation: X:-374.27, Y:-245.67, Z:-2.80 [[-7.07979727e-01 -7.06165491e-01 9.74712394e-03 -3.74272263e+02] [ 7.06098049e-01 -7.08046820e-01 -9.75942360e-03 -2.45665938e+02] [ 1.37931883e-02 -2.70488495e-05 9.99904869e-01 -2.80369775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1218.516559995 meters 0.013052505263661942 Centerline is valid? [True, True] Translation: X:-374.29, Y:-245.65, Z:-2.80 [[-7.10084546e-01 -7.04050557e-01 9.63069495e-03 -3.74290529e+02] [ 7.03984604e-01 -7.10149850e-01 -9.63682062e-03 -2.45645710e+02] [ 1.36240455e-02 -6.30964223e-05 9.99907187e-01 -2.80371812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1218.546559995 meters 0.013490596628412033 Centerline is valid? [True, True] Translation: X:-374.31, Y:-245.62, Z:-2.80 [[-7.14060300e-01 -7.00025092e-01 9.09718324e-03 -3.74308016e+02] [ 6.99965981e-01 -7.14118235e-01 -9.09786358e-03 -2.45622968e+02] [ 1.28651972e-02 -1.28704407e-04 9.99917232e-01 -2.80240334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1218.576559995 meters 0.01414348595312026 Centerline is valid? [True, True] Translation: X:-374.33, Y:-245.60, Z:-2.80 [[-7.16111707e-01 -6.97935259e-01 8.39034588e-03 -3.74325304e+02] [ 6.97884892e-01 -7.16160842e-01 -8.38602223e-03 -2.45602203e+02] [ 1.18617378e-02 -1.49833067e-04 9.99929636e-01 -2.80225655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1218.606559995 meters 0.014561899166451286 Centerline is valid? [True, True] Translation: X:-374.81, Y:-246.09, Z:-1.78 [[-7.45748450e-01 6.66174420e-01 8.41967507e-03 -3.74814790e+02] [ 6.66134438e-01 7.45795961e-01 -7.30037246e-03 -2.46092591e+02] [-1.11426810e-02 1.64394072e-04 -9.99937905e-01 -1.78273345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1218.636559995 meters 0.014815480094253793 Centerline is valid? [True, True] Translation: X:-374.36, Y:-245.58, Z:-2.80 [[-7.22487618e-01 -6.91355016e-01 6.31538248e-03 -3.74355133e+02] [ 6.91325494e-01 -7.22515175e-01 -6.39398899e-03 -2.45575022e+02] [ 8.98347604e-03 -2.53592958e-04 9.99959616e-01 -2.79943997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1218.666559995 meters 0.014790985831675247 Centerline is valid? [True, True] Translation: X:-374.84, Y:-246.07, Z:-1.79 [[-7.45436043e-01 6.66545499e-01 6.49650182e-03 -3.74843396e+02] [ 6.66522059e-01 7.45464333e-01 -5.59217357e-03 -2.46068398e+02] [-8.57034852e-03 1.61454033e-04 -9.99963261e-01 -1.78517116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1218.6965599950001 meters 0.015197278127341538 Centerline is valid? [True, True] Translation: X:-374.83, Y:-246.05, Z:-1.78 [[-7.90647758e-01 6.12236325e-01 6.54258307e-03 -3.74825116e+02] [ 6.12216972e-01 7.90674812e-01 -4.87037912e-03 -2.46046867e+02] [-8.15487866e-03 1.54726068e-04 -9.99966737e-01 -1.78491705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1218.7265599950001 meters 0.015119465649460625 Centerline is valid? [True, True] Translation: X:-374.41, Y:-245.50, Z:-2.80 [[-7.71980462e-01 -6.35615779e-01 6.22476597e-03 -3.74409445e+02] [ 6.35593503e-01 -7.72005543e-01 -5.32359768e-03 -2.45496716e+02] [ 8.18931652e-03 -1.53292588e-04 9.99966455e-01 -2.79943006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1218.756559995 meters 0.014826709794110967 Centerline is valid? [True, True] Translation: X:-374.86, Y:-246.02, Z:-1.78 [[-7.94002513e-01 6.07875927e-01 6.84591032e-03 -3.74862341e+02] [ 6.07854899e-01 7.94032012e-01 -5.05822034e-03 -2.46016713e+02] [-8.51064233e-03 1.45080469e-04 -9.99963774e-01 -1.78439597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1218.786559995 meters 0.014094245825320586 Centerline is valid? [True, True] Translation: X:-374.45, Y:-245.47, Z:-2.80 [[-7.72183743e-01 -6.35357386e-01 7.29791175e-03 -3.74451260e+02] [ 6.35327794e-01 -7.72218222e-01 -6.13282871e-03 -2.45472247e+02] [ 9.53211845e-03 -9.91044603e-05 9.99954564e-01 -2.80031862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1218.816559995 meters 0.013724561565051946 Centerline is valid? [True, True] Translation: X:-374.89, Y:-245.98, Z:-1.78 [[-8.00564914e-01 5.99168700e-01 9.62745793e-03 -3.74894239e+02] [ 5.99127118e-01 8.00622793e-01 -7.05979723e-03 -2.45984465e+02] [-1.19379718e-02 1.16245158e-04 -9.99928733e-01 -1.78079258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1218.846559995 meters 0.01326114229850531 Centerline is valid? [True, True] Translation: X:-374.50, Y:-245.45, Z:-2.80 [[-7.69267032e-01 -6.38849775e-01 9.95985363e-03 -3.74498847e+02] [ 6.38795225e-01 -7.69331503e-01 -8.34860589e-03 -2.45448526e+02] [ 1.29959342e-02 -6.00003388e-05 9.99915548e-01 -2.80366780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1218.876559995 meters 0.012957741110699687 Centerline is valid? [True, True] Translation: X:-374.93, Y:-245.95, Z:-1.78 [[-8.06041290e-01 5.91755658e-01 1.10761047e-02 -3.74926625e+02] [ 5.91700739e-01 8.06117385e-01 -8.06214468e-03 -2.45953208e+02] [-1.36994603e-02 5.53178486e-05 -9.99906157e-01 -1.77984852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1218.906559995 meters 0.013114945577342796 Centerline is valid? [True, True] Translation: X:-374.91, Y:-245.93, Z:-1.78 [[-8.47268230e-01 5.31039571e-01 1.15551157e-02 -3.74912244e+02] [ 5.30990523e-01 8.47347021e-01 -7.21741640e-03 -2.45925558e+02] [-1.36239266e-02 2.05693289e-05 -9.99907190e-01 -1.77853602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1218.9365599950002 meters 0.013039909549810305 Centerline is valid? [True, True] Translation: X:-374.90, Y:-245.90, Z:-1.78 [[-8.83950979e-01 4.67418001e-01 1.22914253e-02 -3.74899687e+02] [ 4.67372590e-01 8.84036432e-01 -6.51530924e-03 -2.45897541e+02] [-1.39114406e-02 -1.45386966e-05 -9.99903231e-01 -1.77780313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1218.9665599950001 meters 0.012946309647269488 Centerline is valid? [True, True] Translation: X:-374.89, Y:-245.87, Z:-1.78 [[-9.15870372e-01 4.01281482e-01 1.24351600e-02 -3.74889151e+02] [ 4.01243782e-01 9.15954786e-01 -5.50073460e-03 -2.45869376e+02] [-1.35973873e-02 -4.84292140e-05 -9.99907550e-01 -1.77863959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1218.996559995 meters 0.013738095237116202 Centerline is valid? [True, True] Translation: X:-374.88, Y:-245.84, Z:-1.78 [[-9.43367238e-01 3.31508501e-01 1.26636720e-02 -3.74883198e+02] [ 3.31477173e-01 9.43452227e-01 -4.55852076e-03 -2.45837537e+02] [-1.34587580e-02 -1.02640932e-04 -9.99909422e-01 -1.77705625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1219.026559995 meters 0.013455095062771332 Centerline is valid? [True, True] Translation: X:-374.88, Y:-245.81, Z:-1.78 [[-9.64958818e-01 2.62120484e-01 1.21379876e-02 -3.74878706e+02] [ 2.62098214e-01 9.65035149e-01 -3.41877730e-03 -2.45809703e+02] [-1.26097162e-02 -1.17634428e-04 -9.99920488e-01 -1.77953447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1219.056559995 meters 0.013583355577218816 Centerline is valid? [True, True] Translation: X:-374.71, Y:-245.20, Z:-2.80 [[-9.38514122e-01 -3.45068923e-01 1.08941028e-02 -3.74706840e+02] [ 3.45046205e-01 -9.38577347e-01 -3.95978352e-03 -2.45201889e+02] [ 1.15913564e-02 4.26560852e-05 9.99932817e-01 -2.80378338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1219.086559995 meters 0.013969309475698827 Centerline is valid? [True, True] Translation: X:-374.93, Y:-245.80, Z:-1.78 [[-9.66603439e-01 2.56091877e-01 9.73355908e-03 -3.74925873e+02] [ 2.56077649e-01 9.66652438e-01 -2.70211236e-03 -2.45795153e+02] [-1.01009576e-02 -1.19324172e-04 -9.99948977e-01 -1.78091277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1219.116559995 meters 0.013926003452730836 Centerline is valid? [True, True] Translation: X:-374.93, Y:-245.77, Z:-1.78 [[-9.82755474e-01 1.84751228e-01 7.65918340e-03 -3.74926711e+02] [ 1.84744747e-01 9.82785313e-01 -1.55129392e-03 -2.45765274e+02] [-7.81393642e-03 -1.09548685e-04 -9.99969465e-01 -1.78328540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1219.146559995 meters 0.014780097382846052 Centerline is valid? [True, True] Translation: X:-374.92, Y:-245.74, Z:-1.78 [[-9.93506727e-01 1.13565492e-01 6.87481959e-03 -3.74920145e+02] [ 1.13562047e-01 9.93530507e-01 -8.90643132e-04 -2.45735825e+02] [-6.93148932e-03 -1.04141356e-04 -9.99975972e-01 -1.78329731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1219.176559995 meters 0.01472739497828043 Centerline is valid? [True, True] Translation: X:-374.92, Y:-245.71, Z:-1.78 [[-9.99097576e-01 4.20284002e-02 6.13571462e-03 -3.74923520e+02] [ 4.20270132e-02 9.99116412e-01 -3.54868086e-04 -2.45707786e+02] [-6.14520772e-03 -9.66820845e-05 -9.99981114e-01 -1.78410289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1219.2065599950001 meters 0.014238304784945442 Centerline is valid? [True, True] Translation: X:-374.88, Y:-245.09, Z:-2.80 [[-9.90001053e-01 -1.40952732e-01 5.49941554e-03 -3.74884306e+02] [ 1.40950826e-01 -9.90016326e-01 -7.34524913e-04 -2.45087038e+02] [ 5.54804446e-03 4.79667272e-05 9.99984609e-01 -2.79881998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1219.236559995 meters 0.015165763347471413 Centerline is valid? [True, True] Translation: X:-374.98, Y:-245.70, Z:-1.79 [[-9.99322451e-01 3.64182867e-02 5.32424445e-03 -3.74982157e+02] [ 3.64172860e-02 9.99336630e-01 -2.84808438e-04 -2.45703259e+02] [-5.33108474e-03 -9.07209339e-05 -9.99985786e-01 -1.78504458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1219.266559995 meters 0.01489031401578983 Centerline is valid? [True, True] Translation: X:-374.95, Y:-245.09, Z:-2.80 [[-9.90317276e-01 -1.38728253e-01 5.11513375e-03 -3.74948334e+02] [ 1.38726799e-01 -9.90330483e-01 -6.39851849e-04 -2.45087375e+02] [ 5.15443841e-03 7.59497885e-05 9.99986713e-01 -2.79875234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1219.296559995 meters 0.015263197394599528 Centerline is valid? [True, True] Translation: X:-375.04, Y:-245.70, Z:-1.78 [[-9.99545452e-01 2.96569623e-02 5.41802389e-03 -3.75042825e+02] [ 2.96559537e-02 9.99560130e-01 -2.66415078e-04 -2.45697519e+02] [-5.42354173e-03 -1.05617313e-04 -9.99985287e-01 -1.78478220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1219.326559995 meters 0.015799184291835865 Centerline is valid? [True, True] Translation: X:-375.01, Y:-245.09, Z:-2.80 [[-9.90632258e-01 -1.36407369e-01 6.38422971e-03 -3.75013905e+02] [ 1.36405775e-01 -9.90652812e-01 -6.86537560e-04 -2.45088637e+02] [ 6.41820389e-03 1.90739547e-04 9.99979385e-01 -2.80075064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1219.356559995 meters 0.015839185191973137 Centerline is valid? [True, True] Translation: X:-375.10, Y:-245.69, Z:-1.78 [[-9.99699242e-01 2.34237822e-02 7.26308677e-03 -3.75104633e+02] [ 2.34220358e-02 9.99725614e-01 -3.25432445e-04 -2.45690672e+02] [-7.26871673e-03 -1.55218291e-04 -9.99973571e-01 -1.78224220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1219.386559995 meters 0.015624085012927457 Centerline is valid? [True, True] Translation: X:-375.11, Y:-245.66, Z:-1.78 [[-9.98791637e-01 -4.84102772e-02 8.46830124e-03 -3.75110173e+02] [-4.84101219e-02 9.98827518e-01 2.23436496e-04 -2.45662204e+02] [-8.46918893e-03 -1.86784991e-04 -9.99964119e-01 -1.78126896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1219.416559995 meters 0.016480924529246772 Centerline is valid? [True, True] Translation: X:-375.13, Y:-245.06, Z:-2.80 [[-9.97946637e-01 -6.33103150e-02 9.71153662e-03 -3.75127457e+02] [ 6.33102081e-02 -9.97993846e-01 -3.18748334e-04 -2.45062743e+02] [ 9.71223384e-03 2.96745576e-04 9.99952791e-01 -2.80472179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1219.4465599950001 meters 0.016559711112656 Centerline is valid? [True, True] Translation: X:-375.18, Y:-245.66, Z:-1.78 [[-9.98523496e-01 -5.30368944e-02 1.17437279e-02 -3.75180578e+02] [-5.30362597e-02 9.98592520e-01 3.65692809e-04 -2.45661184e+02] [-1.17465940e-02 -2.57690539e-04 -9.99930973e-01 -1.77792494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1219.4765599950001 meters 0.015783453038950592 Centerline is valid? [True, True] Translation: X:-375.19, Y:-245.64, Z:-1.78 [[-9.92353666e-01 -1.22866199e-01 1.17515646e-02 -3.75186495e+02] [-1.22860506e-01 9.92423215e-01 1.20792320e-03 -2.45635389e+02] [-1.18109385e-02 -2.45116161e-04 -9.99930219e-01 -1.77831867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1219.506559995 meters 0.015379099794537596 Centerline is valid? [True, True] Translation: X:-375.20, Y:-245.61, Z:-1.78 [[-9.81425160e-01 -1.91496470e-01 1.15653544e-02 -3.75201332e+02] [-1.91485836e-01 9.81493277e-01 2.03031510e-03 -2.45610328e+02] [-1.17401158e-02 -2.21999235e-04 -9.99931058e-01 -1.77841469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1219.536559995 meters 0.014465565142745117 Centerline is valid? [True, True] Translation: X:-375.31, Y:-245.02, Z:-2.80 [[-9.95919027e-01 8.95504868e-02 1.12250914e-02 -3.75312502e+02] [-8.95427136e-02 -9.95982267e-01 1.19416649e-03 -2.45017504e+02] [ 1.12869301e-02 1.84167987e-04 9.99936284e-01 -2.80488484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1219.566559995 meters 0.014262362129050667 Centerline is valid? [True, True] Translation: X:-375.30, Y:-245.63, Z:-1.78 [[-9.81201431e-01 -1.92694157e-01 1.06166376e-02 -3.75302119e+02] [-1.92684541e-01 9.81258854e-01 1.93094631e-03 -2.45630763e+02] [-1.07897517e-02 -1.51014665e-04 -9.99941778e-01 -1.77919390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1219.596559995 meters 0.013424909723120201 Centerline is valid? [True, True] Translation: X:-375.33, Y:-245.61, Z:-1.78 [[-9.65646011e-01 -2.59680663e-01 9.68164924e-03 -3.75328271e+02] [-2.59668749e-01 9.65694538e-01 2.48989200e-03 -2.45611227e+02] [-9.99609260e-03 -1.09667473e-04 -9.99950032e-01 -1.78036377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1219.626559995 meters 0.012716031198935543 Centerline is valid? [True, True] Translation: X:-375.37, Y:-245.60, Z:-1.78 [[-9.46432454e-01 -3.22773701e-01 9.09660163e-03 -3.75368410e+02] [-3.22759204e-01 9.46476168e-01 3.05932325e-03 -2.45599623e+02] [-9.59718574e-03 -4.05690911e-05 -9.99953945e-01 -1.78151844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1219.656559995 meters 0.0127322790622738 Centerline is valid? [True, True] Translation: X:-375.43, Y:-245.59, Z:-1.78 [[-9.21482486e-01 -3.88330515e-01 8.33298376e-03 -3.75428043e+02] [-3.88314702e-01 9.21520163e-01 3.50446728e-03 -2.45594874e+02] [-9.03990414e-03 -6.51488434e-06 -9.99959139e-01 -1.78139333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1219.6865599950002 meters 0.012794506893766652 Centerline is valid? [True, True] Translation: X:-375.49, Y:-245.60, Z:-1.78 [[-8.91836329e-01 -4.52288841e-01 7.92254480e-03 -3.75494384e+02] [-4.52270755e-01 8.91871518e-01 4.04476139e-03 -2.45597559e+02] [-8.89529250e-03 2.41298277e-05 -9.99960436e-01 -1.78140639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1219.7165599950001 meters 0.012999181444668733 Centerline is valid? [True, True] Translation: X:-375.57, Y:-245.61, Z:-1.78 [[-8.57494073e-01 -5.14435830e-01 7.72601880e-03 -3.75568433e+02] [-5.14414368e-01 8.57528877e-01 4.69935328e-03 -2.45608858e+02] [-9.04279993e-03 5.52925108e-05 -9.99959112e-01 -1.78141609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1219.746559995 meters 0.013684519293404794 Centerline is valid? [True, True] Translation: X:-375.65, Y:-245.63, Z:-1.78 [[-8.18485147e-01 -5.74477754e-01 7.57463801e-03 -3.75648928e+02] [-5.74452169e-01 8.18520191e-01 5.42236773e-03 -2.45631679e+02] [-9.31502379e-03 8.68602096e-05 -9.99956611e-01 -1.78004881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1219.776559995 meters 0.014637481860340598 Centerline is valid? [True, True] Translation: X:-375.73, Y:-245.66, Z:-1.78 [[-7.74736948e-01 -6.32235584e-01 7.79925226e-03 -3.75730874e+02] [-6.32201943e-01 7.74776194e-01 6.52323254e-03 -2.45663198e+02] [-1.01668947e-02 1.23086839e-04 -9.99948308e-01 -1.77887078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1219.806559995 meters 0.015948742717623473 Centerline is valid? [True, True] Translation: X:-375.82, Y:-245.71, Z:-1.78 [[-7.28671469e-01 -6.84819366e-01 7.76701622e-03 -3.75816842e+02] [-6.84777639e-01 7.28712838e-01 7.56214716e-03 -2.45706647e+02] [-1.08386293e-02 1.91641854e-04 -9.99941242e-01 -1.77879849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1219.836559995 meters 0.015545612348112803 Centerline is valid? [True, True] Translation: X:-375.90, Y:-245.76, Z:-1.78 [[-6.76461493e-01 -7.36442459e-01 7.23547642e-03 -3.75903262e+02] [-7.36396834e-01 6.76500152e-01 8.20039691e-03 -2.45755464e+02] [-1.09339214e-02 2.19070803e-04 -9.99940199e-01 -1.77986110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1219.866559995 meters 0.015894042034291095 Centerline is valid? [True, True] Translation: X:-375.99, Y:-245.82, Z:-1.78 [[-6.20212149e-01 -7.84404006e-01 6.87355859e-03 -3.75988493e+02] [-7.84351271e-01 6.20250185e-01 9.09902293e-03 -2.45815447e+02] [-1.14006360e-02 2.52040146e-04 -9.99934979e-01 -1.77985965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1219.896559995 meters 0.01662727410967992 Centerline is valid? [True, True] Translation: X:-376.07, Y:-245.89, Z:-1.78 [[-5.60221466e-01 -8.28320268e-01 6.11908666e-03 -3.76070473e+02] [-8.28265497e-01 5.60254818e-01 9.52918884e-03 -2.45885758e+02] [-1.13214680e-02 2.70227792e-04 -9.99935874e-01 -1.77958865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1219.926559995 meters 0.016975555479233427 Centerline is valid? [True, True] Translation: X:-376.15, Y:-245.96, Z:-1.78 [[-4.96852153e-01 -8.67817636e-01 5.52178799e-03 -3.76149547e+02] [-8.67757248e-01 4.96882746e-01 1.02418859e-02 -2.45964775e+02] [-1.16317704e-02 2.97131499e-04 -9.99932305e-01 -1.77973397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1219.9565599950001 meters 0.017239807639623118 Centerline is valid? [True, True] Translation: X:-376.22, Y:-246.05, Z:-1.78 [[-4.31027899e-01 -9.02325819e-01 4.80270882e-03 -3.76223575e+02] [-9.02261083e-01 4.31054531e-01 1.08133823e-02 -2.46050607e+02] [-1.18274234e-02 3.27572186e-04 -9.99930000e-01 -1.77987058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1219.986559995 meters 0.018737593428191184 Centerline is valid? [True, True] Translation: X:-376.29, Y:-246.15, Z:-1.78 [[-3.61326230e-01 -9.32430855e-01 4.00701966e-03 -3.76292205e+02] [-9.32362708e-01 3.61348289e-01 1.12780818e-02 -2.46150452e+02] [-1.19639611e-02 3.39071071e-04 -9.99928372e-01 -1.77871179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1220.016559995 meters 0.017209307433198835 Centerline is valid? [True, True] Translation: X:-376.35, Y:-246.24, Z:-1.78 [[-2.89023693e-01 -9.57316736e-01 3.15787814e-03 -3.76354542e+02] [-9.57245893e-01 2.89040738e-01 1.16512973e-02 -2.46244330e+02] [-1.20667374e-02 3.44635107e-04 -9.99927135e-01 -1.77965363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1220.046559995 meters 0.018390998729102753 Centerline is valid? [True, True] Translation: X:-376.41, Y:-246.35, Z:-1.78 [[-2.14784406e-01 -9.76658831e-01 2.27754182e-03 -3.76407202e+02] [-9.76585586e-01 2.14796202e-01 1.19660068e-02 -2.46349489e+02] [-1.21759136e-02 3.45897152e-04 -9.99925811e-01 -1.77875763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1220.076559995 meters 0.017441941252488203 Centerline is valid? [True, True] Translation: X:-376.46, Y:-246.46, Z:-1.78 [[-1.38505181e-01 -9.90360751e-01 1.37798317e-03 -3.76455667e+02] [-9.90284066e-01 1.38511611e-01 1.23289519e-02 -2.46463417e+02] [-1.24009767e-02 3.43028938e-04 -9.99923046e-01 -1.77880373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1220.106559995 meters 0.017571672187782047 Centerline is valid? [True, True] Translation: X:-376.49, Y:-246.58, Z:-1.78 [[-6.09994648e-02 -9.98137709e-01 4.23371411e-04 -3.76492990e+02] [-9.98062525e-01 6.10000682e-02 1.22551530e-02 -2.46575368e+02] [-1.22581560e-02 3.25006636e-04 -9.99924813e-01 -1.77865731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1220.136559995 meters 0.016628262983366178 Centerline is valid? [True, True] Translation: X:-376.52, Y:-246.70, Z:-1.78 [[ 1.88787538e-02 -9.99821654e-01 -5.04049651e-04 -3.76524629e+02] [-9.99750517e-01 -1.88834249e-02 1.19298232e-02 -2.46697425e+02] [-1.19372137e-02 2.78703705e-04 -9.99928710e-01 -1.77929598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1220.166559995 meters 0.016158797671875398 Centerline is valid? [True, True] Translation: X:-376.55, Y:-246.81, Z:-1.78 [[ 9.74073918e-02 -9.95243680e-01 -1.34854805e-03 -3.76545778e+02] [-9.95179782e-01 -9.74164226e-02 1.12802114e-02 -2.46814525e+02] [-1.13579298e-02 2.43271785e-04 -9.99935467e-01 -1.77964756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1220.1965599950001 meters 0.015537158942440848 Centerline is valid? [True, True] Translation: X:-376.56, Y:-246.94, Z:-1.78 [[ 1.75426547e-01 -9.84490148e-01 -2.16232112e-03 -3.76557016e+02] [-9.84429706e-01 -1.75439742e-01 1.09110855e-02 -2.46939533e+02] [-1.11212132e-02 2.14559081e-04 -9.99938135e-01 -1.78006111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1220.2265599950001 meters 0.015537158942440848 Centerline is valid? [True, True] Translation: X:-376.56, Y:-247.06, Z:-1.78 [[ 2.50354186e-01 -9.68149693e-01 -2.99214611e-03 -3.76557665e+02] [-9.68090441e-01 -2.50371974e-01 1.07132531e-02 -2.47058362e+02] [-1.11211822e-02 2.14560287e-04 -9.99938135e-01 -1.78006261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1220.256559995 meters 0.015021244890877972 Centerline is valid? [True, True] Translation: X:-376.55, Y:-247.17, Z:-1.78 [[ 3.26142152e-01 -9.45312964e-01 -3.83373206e-03 -3.76552669e+02] [-9.45254287e-01 -3.26164629e-01 1.05340934e-02 -2.47174172e+02] [-1.12084428e-02 1.88239777e-04 -9.99937166e-01 -1.78009105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1220.286559995 meters 0.014217861240230781 Centerline is valid? [True, True] Translation: X:-376.54, Y:-247.29, Z:-1.78 [[ 4.00037330e-01 -9.16486916e-01 -4.67630238e-03 -3.76538622e+02] [-9.16428864e-01 -4.00064630e-01 1.03164591e-02 -2.47292013e+02] [-1.13257229e-02 1.58529743e-04 -9.99935850e-01 -1.78056218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1220.316559995 meters 0.01359758699161447 Centerline is valid? [True, True] Translation: X:-376.52, Y:-247.41, Z:-1.78 [[ 4.71197160e-01 -8.82011221e-01 -5.42612335e-03 -3.76516890e+02] [-8.81955832e-01 -4.71228385e-01 9.88536516e-03 -2.47407307e+02] [-1.12759463e-02 1.27645145e-04 -9.99936417e-01 -1.78084935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1220.346559995 meters 0.01316608931457222 Centerline is valid? [True, True] Translation: X:-376.49, Y:-247.52, Z:-1.78 [[ 5.39896815e-01 -8.41708599e-01 -6.16962776e-03 -3.76487051e+02] [-8.41655529e-01 -5.39932058e-01 9.45216701e-03 -2.47518554e+02] [-1.12871501e-02 8.95064571e-05 -9.99936294e-01 -1.78040846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1220.376559995 meters 0.012917089184809336 Centerline is valid? [True, True] Translation: X:-376.45, Y:-247.63, Z:-1.78 [[ 6.04941566e-01 -7.96242192e-01 -6.63878026e-03 -3.76450520e+02] [-7.96195156e-01 -6.04977991e-01 8.65475131e-03 -2.47625214e+02] [-1.09075941e-02 5.01458717e-05 -9.99940509e-01 -1.78019546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1220.406559995 meters 0.01258138556025866 Centerline is valid? [True, True] Translation: X:-376.41, Y:-247.73, Z:-1.78 [[ 6.65979821e-01 -7.45937837e-01 -6.90090798e-03 -3.76408801e+02] [-7.45898018e-01 -6.66015573e-01 7.70737269e-03 -2.47725864e+02] [-1.03453331e-02 1.44189020e-05 -9.99946486e-01 -1.78095264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1220.4365599950002 meters 0.012736024205409669 Centerline is valid? [True, True] Translation: X:-376.36, Y:-247.82, Z:-1.78 [[ 7.24428682e-01 -6.89321858e-01 -6.20159460e-03 -3.76364563e+02] [-6.89296155e-01 -7.24455226e-01 5.95284653e-03 -2.47824115e+02] [-8.59620485e-03 -3.76774553e-05 -9.99963051e-01 -1.78163938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1220.4665599950001 meters 0.012732253459221876 Centerline is valid? [True, True] Translation: X:-376.37, Y:-247.84, Z:-1.78 [[ 7.77653311e-01 -6.28663284e-01 -6.14835763e-03 -3.76366750e+02] [-6.28643079e-01 -7.77677615e-01 5.04061402e-03 -2.47839054e+02] [-7.95028906e-03 -5.47277159e-05 -9.99968395e-01 -1.78253457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1220.496559995 meters 0.01300767818823535 Centerline is valid? [True, True] Translation: X:-376.37, Y:-247.85, Z:-1.78 [[ 8.25389223e-01 -5.64527454e-01 -6.43308143e-03 -3.76367082e+02] [-5.64509670e-01 -8.25414289e-01 4.48155563e-03 -2.47853892e+02] [-7.83991853e-03 -6.74910422e-05 -9.99969265e-01 -1.78231639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1220.526559995 meters 0.01317822843087292 Centerline is valid? [True, True] Translation: X:-376.37, Y:-247.87, Z:-1.78 [[ 8.67809010e-01 -4.96850775e-01 -6.84320624e-03 -3.76366054e+02] [-4.96834584e-01 -8.67835988e-01 4.01182389e-03 -2.47866958e+02] [-7.93205845e-03 -8.15553970e-05 -9.99968538e-01 -1.78240619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1220.556559995 meters 0.01341608092220425 Centerline is valid? [True, True] Translation: X:-376.36, Y:-247.88, Z:-1.78 [[ 9.04644833e-01 -4.26107406e-01 -7.08549465e-03 -3.76363144e+02] [-4.26093528e-01 -9.04672576e-01 3.44021632e-03 -2.47879516e+02] [-7.87595435e-03 -9.30905070e-05 -9.99968980e-01 -1.78229474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1220.586559995 meters 0.013730491741484118 Centerline is valid? [True, True] Translation: X:-376.36, Y:-247.89, Z:-1.78 [[ 9.35557141e-01 -3.53092998e-01 -7.62699190e-03 -3.76359601e+02] [-3.53080344e-01 -9.35588223e-01 2.99124171e-03 -2.47891560e+02] [-8.19191031e-03 -1.05536618e-04 -9.99966440e-01 -1.78180575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1220.616559995 meters 0.014304334703876449 Centerline is valid? [True, True] Translation: X:-376.35, Y:-247.90, Z:-1.78 [[ 9.60884729e-01 -2.76810371e-01 -8.74964712e-03 -3.76353890e+02] [-2.76797588e-01 -9.60924555e-01 2.66376209e-03 -2.47904764e+02] [-9.14510774e-03 -1.37687094e-04 -9.99958173e-01 -1.78044746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1220.646559995 meters 0.014390965661604627 Centerline is valid? [True, True] Translation: X:-376.35, Y:-247.92, Z:-1.78 [[ 9.79737344e-01 -2.00057172e-01 -9.58464517e-03 -3.76346381e+02] [-2.00046043e-01 -9.79784213e-01 2.11587399e-03 -2.47915129e+02] [-9.81417980e-03 -1.55630424e-04 -9.99951828e-01 -1.77978042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1220.676559995 meters 0.014234442762692368 Centerline is valid? [True, True] Translation: X:-376.34, Y:-247.93, Z:-1.78 [[ 9.92456712e-01 -1.22131153e-01 -1.06610228e-02 -3.76338449e+02] [-1.22122172e-01 -9.92513954e-01 1.49182077e-03 -2.47926160e+02] [-1.07634116e-02 -1.78620282e-04 -9.99942057e-01 -1.77968941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1220.7065599950001 meters 0.015041033966574791 Centerline is valid? [True, True] Translation: X:-376.33, Y:-247.94, Z:-1.78 [[ 9.99002277e-01 -4.32565302e-02 -1.11051195e-02 -3.76332913e+02] [-4.32517073e-02 -9.99063980e-01 6.74206433e-04 -2.47936890e+02] [-1.11238887e-02 -1.93218383e-04 -9.99938109e-01 -1.77839497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1220.736559995 meters 0.01572174579214516 Centerline is valid? [True, True] Translation: X:-376.33, Y:-247.94, Z:-1.78 [[ 9.99270592e-01 3.63615505e-02 -1.16671295e-02 -3.76328108e+02] [ 3.63616165e-02 -9.99338677e-01 -2.06535913e-04 -2.47943338e+02] [-1.16669237e-02 -2.17850425e-04 -9.99931916e-01 -1.77708703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1220.766559995 meters 0.01572174579214516 Centerline is valid? [True, True] Translation: X:-376.32, Y:-247.95, Z:-1.78 [[ 9.93357331e-01 1.14482759e-01 -1.16151244e-02 -3.76322130e+02] [ 1.14477495e-01 -9.93425211e-01 -1.11925744e-03 -2.47946187e+02] [-1.16668931e-02 -2.17847758e-04 -9.99931916e-01 -1.77708731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1220.796559995 meters 0.015281162933519736 Centerline is valid? [True, True] Translation: X:-376.32, Y:-247.95, Z:-1.78 [[ 9.81230329e-01 1.92393285e-01 -1.31097800e-02 -3.76315287e+02] [ 1.92379577e-01 -9.81317869e-01 -2.31071759e-03 -2.47951484e+02] [-1.33094279e-02 -2.54707751e-04 -9.99911393e-01 -1.77697151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1220.826559995 meters 0.015598694102454305 Centerline is valid? [True, True] Translation: X:-376.31, Y:-247.96, Z:-1.78 [[ 9.63183834e-01 2.68512283e-01 -1.33437695e-02 -3.76308688e+02] [ 2.68490279e-01 -9.63276225e-01 -3.44749497e-03 -2.47956428e+02] [-1.37794307e-02 -2.62100983e-04 -9.99905025e-01 -1.77606888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1220.856559995 meters 0.015918247262764616 Centerline is valid? [True, True] Translation: X:-376.30, Y:-247.96, Z:-1.78 [[ 9.39217637e-01 3.43054864e-01 -1.35495504e-02 -3.76302181e+02] [ 3.43023333e-01 -9.39315329e-01 -4.65903315e-03 -2.47958088e+02] [-1.43256044e-02 -2.71965850e-04 -9.99897346e-01 -1.77552817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1220.886559995 meters 0.015329580455181933 Centerline is valid? [True, True] Translation: X:-376.30, Y:-247.96, Z:-1.78 [[ 9.09586374e-01 4.15304721e-01 -1.32142740e-02 -3.76295266e+02] [ 4.15265198e-01 -9.09682316e-01 -5.73586857e-03 -2.47959516e+02] [-1.44029246e-02 -2.70160198e-04 -9.99896236e-01 -1.77634259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1220.916559995 meters 0.015642268886822307 Centerline is valid? [True, True] Translation: X:-376.29, Y:-247.96, Z:-1.78 [[ 8.74424623e-01 4.84996592e-01 -1.26445385e-02 -3.76288814e+02] [ 4.84950239e-01 -8.74516001e-01 -6.71039627e-03 -2.47961567e+02] [-1.43123706e-02 -2.64236231e-04 -9.99897538e-01 -1.77621018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1220.9465599950001 meters 0.014926996913428582 Centerline is valid? [True, True] Translation: X:-376.28, Y:-247.96, Z:-1.78 [[ 8.34088208e-01 5.51510496e-01 -1.15340249e-02 -3.76281246e+02] [ 5.51461806e-01 -8.34167916e-01 -7.33239177e-03 -2.47962215e+02] [-1.36652046e-02 -2.44712713e-04 -9.99906597e-01 -1.77772807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1220.9765599950001 meters 0.014762131509024529 Centerline is valid? [True, True] Translation: X:-376.27, Y:-247.96, Z:-1.78 [[ 7.88602098e-01 6.14809272e-01 -1.07838128e-02 -3.76273280e+02] [ 6.14755867e-01 -7.88675791e-01 -8.10685732e-03 -2.47963712e+02] [-1.34891031e-02 -2.36327502e-04 -9.99908990e-01 -1.77848453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1221.006559995 meters 0.014294728440745327 Centerline is valid? [True, True] Translation: X:-376.27, Y:-247.96, Z:-1.78 [[ 7.39028288e-01 6.73608176e-01 -9.44534662e-03 -3.76265930e+02] [ 6.73556649e-01 -7.39088618e-01 -8.33405684e-03 -2.47963647e+02] [-1.25948370e-02 -2.02872256e-04 -9.99920662e-01 -1.78009998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1221.036559995 meters 0.014678305532663706 Centerline is valid? [True, True] Translation: X:-376.26, Y:-247.97, Z:-1.78 [[ 6.84445549e-01 7.29012944e-01 -8.62654999e-03 -3.76257489e+02] [ 7.28958565e-01 -6.84499883e-01 -8.90622846e-03 -2.47965245e+02] [-1.23976283e-02 -1.92569075e-04 -9.99923128e-01 -1.77964758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1221.066559995 meters 0.014405559621939597 Centerline is valid? [True, True] Translation: X:-376.25, Y:-247.96, Z:-1.78 [[ 6.25548764e-01 7.80146667e-01 -7.74090161e-03 -3.76250846e+02] [ 7.80090559e-01 -6.25596631e-01 -9.35817191e-03 -2.47964693e+02] [-1.21434286e-02 -1.84611393e-04 -9.99926249e-01 -1.78027575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1221.096559995 meters 0.014360210645782136 Centerline is valid? [True, True] Translation: X:-376.24, Y:-247.96, Z:-1.78 [[ 5.62771110e-01 8.26583528e-01 -6.95335978e-03 -3.76244658e+02] [ 8.26524358e-01 -5.62814036e-01 -9.89177200e-03 -2.47963683e+02] [-1.20898243e-02 -1.80317715e-04 -9.99926899e-01 -1.78044179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1221.126559995 meters 0.014081884983735238 Centerline is valid? [True, True] Translation: X:-376.24, Y:-247.96, Z:-1.78 [[ 4.96638363e-01 8.67936116e-01 -6.10206235e-03 -3.76237077e+02] [ 8.67874872e-01 -4.96675818e-01 -1.03120739e-02 -2.47963080e+02] [-1.19809682e-02 -1.74455079e-04 -9.99928211e-01 -1.78096962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1221.156559995 meters 0.014081163616022218 Centerline is valid? [True, True] Translation: X:-376.23, Y:-247.96, Z:-1.78 [[ 4.27311197e-01 9.04088928e-01 -5.32460661e-03 -3.76229188e+02] [ 9.04023739e-01 -4.27344334e-01 -1.08581398e-02 -2.47961920e+02] [-1.20921645e-02 -1.73766052e-04 -9.99926872e-01 -1.78060544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1221.1865599950002 meters 0.014220435527333857 Centerline is valid? [True, True] Translation: X:-376.22, Y:-247.96, Z:-1.78 [[ 3.55686717e-01 9.34593764e-01 -4.63203646e-03 -3.76223948e+02] [ 9.34520768e-01 -3.55716834e-01 -1.16819720e-02 -2.47961187e+02] [-1.25655915e-02 -1.73611999e-04 -9.99921035e-01 -1.77939868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1221.2165599950001 meters 0.014074306987802251 Centerline is valid? [True, True] Translation: X:-376.22, Y:-247.96, Z:-1.78 [[ 2.81811879e-01 9.59462599e-01 -3.68590337e-03 -3.76218945e+02] [ 9.59388134e-01 -2.81835933e-01 -1.19547014e-02 -2.47958923e+02] [-1.25089089e-02 -1.67235093e-04 -9.99921747e-01 -1.77927365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1221.246559995 meters 0.014068145611035145 Centerline is valid? [True, True] Translation: X:-376.22, Y:-247.96, Z:-1.78 [[ 2.06596118e-01 9.78422578e-01 -2.70250864e-03 -3.76216079e+02] [ 9.78348402e-01 -2.06613735e-01 -1.20485959e-02 -2.47956957e+02] [-1.23469937e-02 -1.54801856e-04 -9.99923761e-01 -1.77940708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1221.276559995 meters 0.01357666796830618 Centerline is valid? [True, True] Translation: X:-376.21, Y:-247.95, Z:-1.78 [[ 1.30447319e-01 9.91453784e-01 -1.70054446e-03 -3.76211974e+02] [ 9.91382672e-01 -1.30458331e-01 -1.18752422e-02 -2.47954907e+02] [-1.19956040e-02 -1.36796804e-04 -9.99928041e-01 -1.78072610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1221.306559995 meters 0.01346347864722944 Centerline is valid? [True, True] Translation: X:-376.21, Y:-247.95, Z:-1.78 [[ 5.41703859e-02 9.98531455e-01 -7.09834296e-04 -3.76210648e+02] [ 9.98469785e-01 -5.41749296e-02 -1.10979798e-02 -2.47952961e+02] [-1.11201371e-02 -1.07566251e-04 -9.99938164e-01 -1.78148865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1221.336559995 meters 0.013188098528848584 Centerline is valid? [True, True] Translation: X:-376.20, Y:-247.95, Z:-1.78 [[-2.36401467e-02 9.99720520e-01 1.59185079e-04 -3.76204673e+02] [ 9.99660735e-01 2.36404739e-02 -1.09335815e-02 -2.47950328e+02] [-1.09342890e-02 -9.93403985e-05 -9.99940214e-01 -1.78193580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1221.366559995 meters 0.013193376666361587 Centerline is valid? [True, True] Translation: X:-376.20, Y:-247.95, Z:-1.78 [[-1.01278714e-01 9.94857580e-01 1.00933716e-03 -3.76199021e+02] [ 9.94798649e-01 1.01283701e-01 -1.08286775e-02 -2.47948621e+02] [-1.08752213e-02 -9.26272991e-05 -9.99940859e-01 -1.78168364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1221.396559995 meters 0.013200630521074334 Centerline is valid? [True, True] Translation: X:-376.19, Y:-247.95, Z:-1.78 [[-1.78664422e-01 9.83908249e-01 1.89247006e-03 -3.76193985e+02] [ 9.83847496e-01 1.78674421e-01 -1.09341299e-02 -2.47945668e+02] [-1.10963166e-02 -9.16380807e-05 -9.99938430e-01 -1.78123460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1221.426559995 meters 0.01315491001804494 Centerline is valid? [True, True] Translation: X:-376.19, Y:-247.94, Z:-1.78 [[-2.55015494e-01 9.66932976e-01 2.77811870e-03 -3.76188582e+02] [ 9.66871684e-01 2.55030610e-01 -1.08874112e-02 -2.47943253e+02] [-1.12359022e-02 -9.03742387e-05 -9.99936871e-01 -1.78067508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1221.4565599950001 meters 0.013112948777054581 Centerline is valid? [True, True] Translation: X:-376.18, Y:-247.94, Z:-1.78 [[-3.29864697e-01 9.44020721e-01 3.76291641e-03 -3.76183864e+02] [ 9.43956071e-01 3.29886146e-01 -1.10483924e-02 -2.47939969e+02] [-1.16712454e-02 -9.24468247e-05 -9.99931885e-01 -1.78035871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1221.486559995 meters 0.013249540744188071 Centerline is valid? [True, True] Translation: X:-376.18, Y:-247.94, Z:-1.78 [[-4.02423585e-01 9.15441888e-01 4.62701387e-03 -3.76179809e+02] [ 9.15378848e-01 4.02450175e-01 -1.07434608e-02 -2.47938228e+02] [-1.16971566e-02 -8.79513991e-05 -9.99931582e-01 -1.77907719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1221.516559995 meters 0.012923784779257451 Centerline is valid? [True, True] Translation: X:-376.18, Y:-247.94, Z:-1.78 [[-4.71607570e-01 8.81789960e-01 5.72413812e-03 -3.76178314e+02] [ 8.81723091e-01 4.71642301e-01 -1.08595992e-02 -2.47936654e+02] [-1.22756312e-02 -7.43644126e-05 -9.99924649e-01 -1.78001313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1221.546559995 meters 0.012887395445665242 Centerline is valid? [True, True] Translation: X:-376.17, Y:-247.93, Z:-1.78 [[-5.38642572e-01 8.42508884e-01 6.55437257e-03 -3.76173121e+02] [ 8.42445013e-01 5.38682445e-01 -1.03742338e-02 -2.47932167e+02] [-1.22711096e-02 -6.63054861e-05 -9.99924705e-01 -1.77999637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1221.576559995 meters 0.012869742242905997 Centerline is valid? [True, True] Translation: X:-376.17, Y:-247.93, Z:-1.78 [[-6.02584420e-01 7.98019295e-01 7.56455254e-03 -3.76167582e+02] [ 7.97955134e-01 6.02631896e-01 -1.01194161e-02 -2.47928790e+02] [-1.26341299e-02 -6.16289423e-05 -9.99920185e-01 -1.77954049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1221.606559995 meters 0.012927573671419078 Centerline is valid? [True, True] Translation: X:-376.16, Y:-247.93, Z:-1.78 [[-6.62850168e-01 7.48706980e-01 8.21665742e-03 -3.76164453e+02] [ 7.48648441e-01 6.62901090e-01 -9.36251666e-03 -2.47927662e+02] [-1.24566127e-02 -5.45579747e-05 -9.99922412e-01 -1.77934204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1221.636559995 meters 0.012927573671419078 Centerline is valid? [True, True] Translation: X:-376.16, Y:-247.92, Z:-1.78 [[-7.19469265e-01 6.94466934e-01 8.92493493e-03 -3.76159823e+02] [ 6.94412565e-01 7.19524618e-01 -8.68993752e-03 -2.47923687e+02] [-1.24565847e-02 -5.45560139e-05 -9.99922412e-01 -1.77934229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1221.666559995 meters 0.012938524043000124 Centerline is valid? [True, True] Translation: X:-375.70, Y:-247.46, Z:-2.80 [[-6.64355899e-01 -7.47376312e-01 7.73872280e-03 -3.75702294e+02] [ 7.47325658e-01 -6.64400969e-01 -8.70137940e-03 -2.47461557e+02] [ 1.16448198e-02 2.53337508e-06 9.99932197e-01 -2.80389208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1221.6965599950001 meters 0.012938524043000124 Centerline is valid? [True, True] Translation: X:-375.72, Y:-247.44, Z:-2.80 [[-6.64588660e-01 -7.47168906e-01 7.78067932e-03 -3.75720264e+02] [ 7.47118677e-01 -6.64634202e-01 -8.66372215e-03 -2.47441732e+02] [ 1.16445694e-02 5.52793473e-05 9.99932198e-01 -2.80391025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1221.7265599950001 meters 0.013062835642006934 Centerline is valid? [True, True] Translation: X:-375.74, Y:-247.42, Z:-2.80 [[-6.64014967e-01 -7.47683929e-01 7.27096695e-03 -3.75736425e+02] [ 7.47640154e-01 -6.64054771e-01 -8.09083859e-03 -2.47421135e+02] [ 1.08777103e-02 6.36289270e-05 9.99940834e-01 -2.80361512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1221.756559995 meters 0.013044346596333594 Centerline is valid? [True, True] Translation: X:-375.75, Y:-247.40, Z:-2.80 [[-6.64012680e-01 -7.47688137e-01 7.04350426e-03 -3.75753505e+02] [ 7.47647109e-01 -6.64050033e-01 -7.83288181e-03 -2.47400104e+02] [ 1.05337920e-02 6.49227569e-05 9.99944516e-01 -2.80256369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1221.786559995 meters 0.01299558156230067 Centerline is valid? [True, True] Translation: X:-375.77, Y:-247.38, Z:-2.80 [[-6.64037707e-01 -7.47667195e-01 6.90576620e-03 -3.75771144e+02] [ 7.47627800e-01 -6.64073612e-01 -7.67536843e-03 -2.47378075e+02] [ 1.03245583e-02 6.62087349e-05 9.99946698e-01 -2.80149511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1221.816559995 meters 0.013078862440377054 Centerline is valid? [True, True] Translation: X:-375.79, Y:-247.36, Z:-2.80 [[-6.64117177e-01 -7.47596243e-01 6.94500999e-03 -3.75787804e+02] [ 7.47556434e-01 -6.64153486e-01 -7.71519569e-03 -2.47358421e+02] [ 1.03804039e-02 6.79929246e-05 9.99946120e-01 -2.80117786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1221.846559995 meters 0.013028021867732683 Centerline is valid? [True, True] Translation: X:-375.81, Y:-247.34, Z:-2.80 [[-6.64321688e-01 -7.47415422e-01 6.84699193e-03 -3.75805322e+02] [ 7.47376769e-01 -6.64356969e-01 -7.60154450e-03 -2.47337722e+02] [ 1.02303584e-02 6.74118298e-05 9.99947666e-01 -2.80082799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1221.876559995 meters 0.013116016250856566 Centerline is valid? [True, True] Translation: X:-375.82, Y:-247.32, Z:-2.80 [[-6.64390289e-01 -7.47356490e-01 6.61972842e-03 -3.75822933e+02] [ 7.47320398e-01 -6.64423263e-01 -7.34509133e-03 -2.47315591e+02] [ 9.88770324e-03 6.70507254e-05 9.99951113e-01 -2.80019168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1221.906559995 meters 0.013085901943888874 Centerline is valid? [True, True] Translation: X:-375.84, Y:-247.30, Z:-2.80 [[-6.64384519e-01 -7.47362971e-01 6.46535086e-03 -3.75840470e+02] [ 7.47328577e-01 -6.64415973e-01 -7.17028065e-03 -2.47295962e+02] [ 9.65448463e-03 6.79179982e-05 9.99953392e-01 -2.80043002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1221.9365599950002 meters 0.013068536032565154 Centerline is valid? [True, True] Translation: X:-375.86, Y:-247.28, Z:-2.80 [[-6.64379604e-01 -7.47367110e-01 6.49196164e-03 -3.75858649e+02] [ 7.47332476e-01 -6.64411317e-01 -7.19529217e-03 -2.47275798e+02] [ 9.69085750e-03 7.12484050e-05 9.99953040e-01 -2.80039943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1221.9665599950001 meters 0.01299330682823745 Centerline is valid? [True, True] Translation: X:-375.88, Y:-247.25, Z:-2.80 [[-6.64189967e-01 -7.47533765e-01 6.70509723e-03 -3.75876957e+02] [ 7.47496871e-01 -6.64223806e-01 -7.42724237e-03 -2.47254626e+02] [ 1.00057997e-02 7.89393391e-05 9.99949938e-01 -2.79970968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1221.996559995 meters 0.013187067497362486 Centerline is valid? [True, True] Translation: X:-375.90, Y:-247.24, Z:-2.80 [[-6.64074383e-01 -7.47633577e-01 7.01775020e-03 -3.75895524e+02] [ 7.47593217e-01 -6.64111457e-01 -7.76885958e-03 -2.47235395e+02] [ 1.04688286e-02 8.73218173e-05 9.99945197e-01 -2.80099184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1222.026559995 meters 0.013366896010749732 Centerline is valid? [True, True] Translation: X:-375.91, Y:-247.22, Z:-2.80 [[-6.63401151e-01 -7.48230221e-01 7.10284602e-03 -3.75914156e+02] [ 7.48188961e-01 -6.63439166e-01 -7.85820320e-03 -2.47215860e+02] [ 1.05920513e-02 1.01129942e-04 9.99943898e-01 -2.80085095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1222.056559995 meters 0.013630182717354621 Centerline is valid? [True, True] Translation: X:-375.93, Y:-247.20, Z:-2.80 [[-6.61699229e-01 -7.49735175e-01 7.16222690e-03 -3.75934139e+02] [ 7.49693359e-01 -6.61737977e-01 -7.91945560e-03 -2.47196481e+02] [ 1.06770120e-02 1.29176272e-04 9.99942991e-01 -2.80035990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1222.086559995 meters 0.013630182717354621 Centerline is valid? [True, True] Translation: X:-375.95, Y:-247.18, Z:-2.80 [[-6.61934684e-01 -7.49527278e-01 7.16471429e-03 -3.75952166e+02] [ 7.49485474e-01 -6.61973446e-01 -7.91720533e-03 -2.47176702e+02] [ 1.06770120e-02 1.29176467e-04 9.99942991e-01 -2.80036005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1222.116559995 meters 0.013635364392297926 Centerline is valid? [True, True] Translation: X:-375.97, Y:-247.16, Z:-2.80 [[-6.61360979e-01 -7.50032251e-01 7.29925181e-03 -3.75971464e+02] [ 7.49988942e-01 -6.61401242e-01 -8.06131190e-03 -2.47156391e+02] [ 1.08739781e-02 1.42921013e-04 9.99940867e-01 -2.79999661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1222.146559995 meters 0.014031728977231024 Centerline is valid? [True, True] Translation: X:-375.99, Y:-247.14, Z:-2.80 [[-6.60875577e-01 -7.50458670e-01 7.43345604e-03 -3.75989900e+02] [ 7.50413842e-01 -6.60917362e-01 -8.20405951e-03 -2.47137707e+02] [ 1.10697078e-02 1.56305746e-04 9.99938717e-01 -2.80004304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1222.176559995 meters 0.014110657219635246 Centerline is valid? [True, True] Translation: X:-376.01, Y:-247.12, Z:-2.80 [[-6.60677505e-01 -7.50633130e-01 7.42554346e-03 -3.76009321e+02] [ 7.50588464e-01 -6.60719213e-01 -8.19017561e-03 -2.47117913e+02] [ 1.10540164e-02 1.62462466e-04 9.99938890e-01 -2.80014422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1222.2065599950001 meters 0.014159353542669255 Centerline is valid? [True, True] Translation: X:-376.03, Y:-247.10, Z:-2.80 [[-6.60511384e-01 -7.50780888e-01 7.26424753e-03 -3.76028525e+02] [ 7.50738206e-01 -6.60551308e-01 -8.00722795e-03 -2.47098434e+02] [ 1.08100819e-02 1.64682938e-04 9.99941556e-01 -2.80038627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1222.236559995 meters 0.014099719733104532 Centerline is valid? [True, True] Translation: X:-376.05, Y:-247.08, Z:-2.80 [[-6.60388985e-01 -7.50888890e-01 7.22935079e-03 -3.76047413e+02] [ 7.50846672e-01 -6.60428532e-01 -7.96424585e-03 -2.47078298e+02] [ 1.07547333e-02 1.68633753e-04 9.99942152e-01 -2.79982639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1222.266559995 meters 0.014372498846587511 Centerline is valid? [True, True] Translation: X:-376.07, Y:-247.06, Z:-2.80 [[-6.59857401e-01 -7.51356211e-01 7.21490520e-03 -3.76066902e+02] [ 7.51314224e-01 -6.59896820e-01 -7.94504879e-03 -2.47060031e+02] [ 1.07306548e-02 1.78061653e-04 9.99942409e-01 -2.80021362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1222.296559995 meters 0.014586393551633945 Centerline is valid? [True, True] Translation: X:-376.09, Y:-247.04, Z:-2.80 [[-6.59797524e-01 -7.51405729e-01 7.52715394e-03 -3.76085900e+02] [ 7.51360091e-01 -6.59840432e-01 -8.28365801e-03 -2.47040558e+02] [ 1.11911086e-02 1.90066019e-04 9.99937360e-01 -2.80044526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1222.326559995 meters 0.015144789680674864 Centerline is valid? [True, True] Translation: X:-376.10, Y:-247.02, Z:-2.80 [[-6.59646496e-01 -7.51536056e-01 7.74958764e-03 -3.76104769e+02] [ 7.51487755e-01 -6.59691985e-01 -8.52280065e-03 -2.47022480e+02] [ 1.15175328e-02 2.01684630e-04 9.99933651e-01 -2.80125856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1222.356559995 meters 0.014910634637275757 Centerline is valid? [True, True] Translation: X:-376.12, Y:-247.00, Z:-2.80 [[-6.59526193e-01 -7.51641915e-01 7.72217141e-03 -3.76122813e+02] [ 7.51594024e-01 -6.59571368e-01 -8.48734253e-03 -2.47002460e+02] [ 1.14727656e-02 2.06313168e-04 9.99934165e-01 -2.80095156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1222.386559995 meters 0.015072161669896396 Centerline is valid? [True, True] Translation: X:-376.14, Y:-246.98, Z:-2.80 [[-6.59472257e-01 -7.51689650e-01 7.68198101e-03 -3.76141690e+02] [ 7.51642319e-01 -6.59516964e-01 -8.43791375e-03 -2.46982912e+02] [ 1.14090892e-02 2.09531999e-04 9.99934892e-01 -2.80100349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1222.416559995 meters 0.014861268568069403 Centerline is valid? [True, True] Translation: X:-376.16, Y:-246.96, Z:-2.80 [[-6.59579973e-01 -7.51597140e-01 7.48328188e-03 -3.76160595e+02] [ 7.51552271e-01 -6.59622390e-01 -8.21501987e-03 -2.46962250e+02] [ 1.11105257e-02 2.05614911e-04 9.99938255e-01 -2.80040890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1222.4465599950001 meters 0.015158335624174917 Centerline is valid? [True, True] Translation: X:-376.18, Y:-246.94, Z:-2.80 [[-6.59409275e-01 -7.51750615e-01 7.10075338e-03 -3.76179635e+02] [ 7.51710266e-01 -6.59447476e-01 -7.79124841e-03 -2.46943915e+02] [ 1.05396497e-02 2.00087745e-04 9.99944437e-01 -2.80052039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1222.4765599950001 meters 0.015155513414077509 Centerline is valid? [True, True] Translation: X:-376.20, Y:-246.92, Z:-2.80 [[-6.59614257e-01 -7.51569449e-01 7.23845696e-03 -3.76198519e+02] [ 7.51527562e-01 -6.59653940e-01 -7.93738562e-03 -2.46923852e+02] [ 1.07403732e-02 2.04287203e-04 9.99942300e-01 -2.80058297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1222.506559995 meters 0.014856797770614757 Centerline is valid? [True, True] Translation: X:-376.22, Y:-246.90, Z:-2.80 [[-6.59905256e-01 -7.51315251e-01 7.10265300e-03 -3.76216984e+02] [ 7.51274952e-01 -6.59943448e-01 -7.78408376e-03 -2.46903326e+02] [ 1.05356502e-02 1.99287517e-04 9.99944479e-01 -2.80039417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1222.536559995 meters 0.014993894465450106 Centerline is valid? [True, True] Translation: X:-376.23, Y:-246.88, Z:-2.80 [[-6.60403513e-01 -7.50874951e-01 7.34904127e-03 -3.76234574e+02] [ 7.50831839e-01 -6.60444371e-01 -8.04876442e-03 -2.46884355e+02] [ 1.08972485e-02 2.02461874e-04 9.99940603e-01 -2.80112967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1222.566559995 meters 0.014869676545935788 Centerline is valid? [True, True] Translation: X:-376.25, Y:-246.86, Z:-2.80 [[-6.61047483e-01 -7.50305297e-01 7.62802261e-03 -3.76252546e+02] [ 7.50258871e-01 -6.61091461e-01 -8.34909320e-03 -2.46864395e+02] [ 1.13071895e-02 2.03844586e-04 9.99936051e-01 -2.80135545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1222.596559995 meters 0.01469943371570343 Centerline is valid? [True, True] Translation: X:-376.27, Y:-246.84, Z:-2.80 [[-6.61950357e-01 -7.49503056e-01 8.17889639e-03 -3.76270156e+02] [ 7.49449688e-01 -6.62000851e-01 -8.94645108e-03 -2.46843571e+02] [ 1.21198288e-02 2.07564858e-04 9.99926531e-01 -2.80197750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1222.626559995 meters 0.01484835982553703 Centerline is valid? [True, True] Translation: X:-376.29, Y:-246.82, Z:-2.80 [[-6.62468928e-01 -7.49042512e-01 8.38070089e-03 -3.76287836e+02] [ 7.48986515e-01 -6.62521904e-01 -9.16119339e-03 -2.46824640e+02] [ 1.24145212e-02 2.08025992e-04 9.99922915e-01 -2.80257568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1222.656559995 meters 0.014894657258202071 Centerline is valid? [True, True] Translation: X:-376.31, Y:-246.81, Z:-2.80 [[-6.63086217e-01 -7.48493944e-01 8.57230826e-03 -3.76305908e+02] [ 7.48435389e-01 -6.63141594e-01 -9.36460359e-03 -2.46805118e+02] [ 1.26940032e-02 2.06279293e-04 9.99919407e-01 -2.80283833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1222.6865599950002 meters 0.014087835908811954 Centerline is valid? [True, True] Translation: X:-376.32, Y:-246.78, Z:-2.80 [[-6.63617298e-01 -7.48021125e-01 8.74526250e-03 -3.76323379e+02] [ 7.47960212e-01 -6.63674887e-01 -9.54809065e-03 -2.46783238e+02] [ 1.29461846e-02 2.04830281e-04 9.99916174e-01 -2.80155785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1222.7165599950001 meters 0.013982419705104868 Centerline is valid? [True, True] Translation: X:-376.34, Y:-246.76, Z:-2.80 [[-6.64177361e-01 -7.47522784e-01 8.83853638e-03 -3.76342280e+02] [ 7.47460593e-01 -6.64236138e-01 -9.64444337e-03 -2.46762434e+02] [ 1.30803164e-02 2.00836693e-04 9.99914429e-01 -2.80167935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1222.746559995 meters 0.014553885486037818 Centerline is valid? [True, True] Translation: X:-376.36, Y:-246.74, Z:-2.80 [[-6.64768470e-01 -7.46996537e-01 8.89130550e-03 -3.76361503e+02] [ 7.46933630e-01 -6.64827899e-01 -9.69622251e-03 -2.46743385e+02] [ 1.31542326e-02 1.95472101e-04 9.99913460e-01 -2.80308815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1222.776559995 meters 0.013835898365616167 Centerline is valid? [True, True] Translation: X:-376.38, Y:-246.72, Z:-2.80 [[-6.65854304e-01 -7.46034593e-01 8.39235800e-03 -3.76378681e+02] [ 7.45978544e-01 -6.65907169e-01 -9.14632883e-03 -2.46722263e+02] [ 1.24120091e-02 1.70396580e-04 9.99922954e-01 -2.80191371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1222.806559995 meters 0.01388067911385495 Centerline is valid? [True, True] Translation: X:-376.40, Y:-246.70, Z:-2.80 [[-6.66386635e-01 -7.45562590e-01 8.07942685e-03 -3.76396798e+02] [ 7.45510674e-01 -6.66435592e-01 -8.79975718e-03 -2.46702039e+02] [ 1.19451874e-02 1.59258383e-04 9.99928641e-01 -2.80193953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1222.836559995 meters 0.014555502920612667 Centerline is valid? [True, True] Translation: X:-376.42, Y:-246.68, Z:-2.80 [[-6.66969974e-01 -7.45041324e-01 8.02994678e-03 -3.76415624e+02] [ 7.44990073e-01 -6.67018292e-01 -8.74012024e-03 -2.46683646e+02] [ 1.18678721e-02 1.52832866e-04 9.99929563e-01 -2.80337280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1222.866559995 meters 0.013771847232917423 Centerline is valid? [True, True] Translation: X:-376.43, Y:-246.66, Z:-2.80 [[-6.67474756e-01 -7.44589768e-01 7.97038995e-03 -3.76432702e+02] [ 7.44539306e-01 -6.67522326e-01 -8.66989335e-03 -2.46661913e+02] [ 1.17759271e-02 1.47333657e-04 9.99930651e-01 -2.80173455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1222.896559995 meters 0.013762374684450341 Centerline is valid? [True, True] Translation: X:-376.45, Y:-246.64, Z:-2.80 [[-6.67976820e-01 -7.44139744e-01 7.93788501e-03 -3.76450070e+02] [ 7.44089727e-01 -6.68023967e-01 -8.62889959e-03 -2.46642671e+02] [ 1.17238046e-02 1.42593782e-04 9.99931264e-01 -2.80213933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1222.926559995 meters 0.014009403840362804 Centerline is valid? [True, True] Translation: X:-376.47, Y:-246.62, Z:-2.80 [[-6.68108505e-01 -7.44022123e-01 7.88068243e-03 -3.76468468e+02] [ 7.43972864e-01 -6.68154967e-01 -8.56263451e-03 -2.46623280e+02] [ 1.16363066e-02 1.42244930e-04 9.99932286e-01 -2.80287525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1222.9565599950001 meters 0.013915463530238018 Centerline is valid? [True, True] Translation: X:-376.49, Y:-246.60, Z:-2.80 [[-6.68540688e-01 -7.43632945e-01 7.96192213e-03 -3.76486358e+02] [ 7.43582698e-01 -6.68588082e-01 -8.64564428e-03 -2.46603158e+02] [ 1.17524322e-02 1.40382567e-04 9.99930928e-01 -2.80263803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1222.986559995 meters 0.013587779359903294 Centerline is valid? [True, True] Translation: X:-376.50, Y:-246.58, Z:-2.80 [[-6.69086000e-01 -7.43145339e-01 7.67658775e-03 -3.76503630e+02] [ 7.43098656e-01 -6.69130024e-01 -8.33060419e-03 -2.46582601e+02] [ 1.13274850e-02 1.30571400e-04 9.99935834e-01 -2.80198944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1223.016559995 meters 0.013610037092611414 Centerline is valid? [True, True] Translation: X:-376.52, Y:-246.56, Z:-2.80 [[-6.69543162e-01 -7.42730952e-01 7.91752078e-03 -3.76521683e+02] [ 7.42681326e-01 -6.69589961e-01 -8.58672402e-03 -2.46562026e+02] [ 1.16791181e-02 1.31012471e-04 9.99931788e-01 -2.80226619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1223.046559995 meters 0.013484612664852087 Centerline is valid? [True, True] Translation: X:-376.54, Y:-246.54, Z:-2.80 [[-6.70077646e-01 -7.42248001e-01 7.99089561e-03 -3.76539427e+02] [ 7.42197481e-01 -6.70125279e-01 -8.66085325e-03 -2.46540880e+02] [ 1.17834022e-02 1.27378431e-04 9.99930565e-01 -2.80195057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1223.076559995 meters 0.013751332737139434 Centerline is valid? [True, True] Translation: X:-376.56, Y:-246.52, Z:-2.80 [[-6.70546600e-01 -7.41823195e-01 8.09970796e-03 -3.76557381e+02] [ 7.41771327e-01 -6.70595506e-01 -8.77301618e-03 -2.46521362e+02] [ 1.19396546e-02 1.25414952e-04 9.99928712e-01 -2.80303277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1223.106559995 meters 0.013344415264849266 Centerline is valid? [True, True] Translation: X:-376.58, Y:-246.50, Z:-2.80 [[-6.70956011e-01 -7.41450668e-01 8.30290724e-03 -3.76575130e+02] [ 7.41396200e-01 -6.71007370e-01 -8.98801825e-03 -2.46499421e+02] [ 1.22354841e-02 1.25179008e-04 9.99925136e-01 -2.80171769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1223.136559995 meters 0.013815326048386204 Centerline is valid? [True, True] Translation: X:-376.59, Y:-246.48, Z:-2.80 [[-6.70954299e-01 -7.41450414e-01 8.46242032e-03 -3.76593064e+02] [ 7.41393908e-01 -6.71007651e-01 -9.15458349e-03 -2.46480383e+02] [ 1.24660185e-02 1.31679721e-04 9.99922288e-01 -2.80278360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1223.166559995 meters 0.013573758914606597 Centerline is valid? [True, True] Translation: X:-376.61, Y:-246.46, Z:-2.80 [[-6.71259867e-01 -7.41172441e-01 8.57928101e-03 -3.76610912e+02] [ 7.41114414e-01 -6.71314677e-01 -9.27519331e-03 -2.46459859e+02] [ 1.26339149e-02 1.32163792e-04 9.99920180e-01 -2.80251044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1223.1965599950001 meters 0.013319444010749136 Centerline is valid? [True, True] Translation: X:-376.63, Y:-246.44, Z:-2.80 [[-6.71646409e-01 -7.40818185e-01 8.91727202e-03 -3.76629414e+02] [ 7.40755538e-01 -6.71705589e-01 -9.63511061e-03 -2.46438666e+02] [ 1.31276466e-02 1.34131189e-04 9.99913820e-01 -2.80218652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1223.2265599950001 meters 0.013931115540297254 Centerline is valid? [True, True] Translation: X:-376.65, Y:-246.42, Z:-2.80 [[-6.72094896e-01 -7.40408258e-01 9.16859308e-03 -3.76648180e+02] [ 7.40342071e-01 -6.72157418e-01 -9.90071408e-03 -2.46419666e+02] [ 1.34933083e-02 1.33675786e-04 9.99908952e-01 -2.80431204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1223.256559995 meters 0.01343005965104595 Centerline is valid? [True, True] Translation: X:-376.67, Y:-246.40, Z:-2.80 [[-6.73173078e-01 -7.39424903e-01 9.42444180e-03 -3.76665025e+02] [ 7.39354963e-01 -6.73239035e-01 -1.01706131e-02 -2.46397759e+02] [ 1.38653067e-02 1.21424928e-04 9.99903865e-01 -2.80283783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1223.286559995 meters 0.01321567625207308 Centerline is valid? [True, True] Translation: X:-376.68, Y:-246.38, Z:-2.80 [[-6.73635204e-01 -7.39007555e-01 9.13482907e-03 -3.76684032e+02] [ 7.38941884e-01 -6.73697128e-01 -9.85247593e-03 -2.46376618e+02] [ 1.34351623e-02 1.13133177e-04 9.99909738e-01 -2.80215772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1223.316559995 meters 0.013362659568917124 Centerline is valid? [True, True] Translation: X:-376.70, Y:-246.36, Z:-2.80 [[-6.74302654e-01 -7.38404950e-01 8.60590931e-03 -3.76703108e+02] [ 7.38346683e-01 -6.74357562e-01 -9.27654950e-03 -2.46356980e+02] [ 1.26533101e-02 9.89426495e-05 9.99919939e-01 -2.80267869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1223.346559995 meters 0.013285041550640421 Centerline is valid? [True, True] Translation: X:-376.72, Y:-246.34, Z:-2.80 [[-6.74958806e-01 -7.37810255e-01 8.16328448e-03 -3.76721723e+02] [ 7.37757850e-01 -6.75008164e-01 -8.79397712e-03 -2.46337090e+02] [ 1.19985702e-02 8.69549128e-05 9.99928011e-01 -2.80242947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1223.376559995 meters 0.01311318289547766 Centerline is valid? [True, True] Translation: X:-376.74, Y:-246.32, Z:-2.80 [[-6.75607764e-01 -7.37219370e-01 7.85810223e-03 -3.76740431e+02] [ 7.37170829e-01 -6.75653457e-01 -8.46021509e-03 -2.46316611e+02] [ 1.15463884e-02 7.69767351e-05 9.99933335e-01 -2.80185489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1223.406559995 meters 0.013035820080514276 Centerline is valid? [True, True] Translation: X:-376.76, Y:-246.30, Z:-2.80 [[-6.76276199e-01 -7.36610285e-01 7.46932906e-03 -3.76758739e+02] [ 7.36566441e-01 -6.76317443e-01 -8.03711045e-03 -2.46295680e+02] [ 1.09718557e-02 6.63506086e-05 9.99939805e-01 -2.80082989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1223.4365599950002 meters 0.012953856374580134 Centerline is valid? [True, True] Translation: X:-376.78, Y:-246.28, Z:-2.80 [[-6.77879987e-01 -7.35142317e-01 6.67068127e-03 -3.76776296e+02] [ 7.35107323e-01 -6.77912806e-01 -7.17297162e-03 -2.46275627e+02] [ 9.79529523e-03 4.12527477e-05 9.99952024e-01 -2.79991170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1223.4665599950001 meters 0.012902809728606263 Centerline is valid? [True, True] Translation: X:-376.79, Y:-246.26, Z:-2.80 [[-6.78780820e-01 -7.34313753e-01 6.31750418e-03 -3.76794413e+02] [ 7.34282370e-01 -6.78810218e-01 -6.78894505e-03 -2.46255280e+02] [ 9.27360211e-03 3.06262531e-05 9.99956999e-01 -2.79958644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1223.496559995 meters 0.012875512627979471 Centerline is valid? [True, True] Translation: X:-376.81, Y:-246.24, Z:-2.80 [[-6.80078051e-01 -7.33115211e-01 5.99437707e-03 -3.76811925e+02] [ 7.33086947e-01 -6.80104468e-01 -6.43747727e-03 -2.46235785e+02] [ 8.79621514e-03 1.64125944e-05 9.99961313e-01 -2.79925249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1223.526559995 meters 0.012893245713273459 Centerline is valid? [True, True] Translation: X:-376.83, Y:-246.22, Z:-2.80 [[-6.81319897e-01 -7.31961782e-01 5.92864151e-03 -3.76829952e+02] [ 7.31934125e-01 -6.81345691e-01 -6.36292154e-03 -2.46215696e+02] [ 8.69686974e-03 4.18998700e-06 9.99962182e-01 -2.79894904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1223.556559995 meters 0.012933701342917294 Centerline is valid? [True, True] Translation: X:-376.85, Y:-246.20, Z:-2.80 [[-6.82653102e-01 -7.30717781e-01 6.02227904e-03 -3.76848382e+02] [ 7.30689230e-01 -6.82679665e-01 -6.45940883e-03 -2.46195481e+02] [ 8.83129232e-03 -9.12103872e-06 9.99961004e-01 -2.79938295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1223.586559995 meters 0.012961210978708683 Centerline is valid? [True, True] Translation: X:-376.87, Y:-246.18, Z:-2.80 [[-6.84196065e-01 -7.29273528e-01 5.98885552e-03 -3.76866792e+02] [ 7.29245274e-01 -6.84222274e-01 -6.41952816e-03 -2.46175260e+02] [ 8.77930030e-03 -2.48713195e-05 9.99961461e-01 -2.79955980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1223.616559995 meters 0.013045718615652839 Centerline is valid? [True, True] Translation: X:-376.89, Y:-246.15, Z:-2.80 [[-6.85732608e-01 -7.27826246e-01 6.30437220e-03 -3.76885039e+02] [ 7.27794914e-01 -6.85761586e-01 -6.75352414e-03 -2.46154511e+02] [ 9.23868841e-03 -4.28216964e-05 9.99957322e-01 -2.79973792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1223.646559995 meters 0.013304669786599712 Centerline is valid? [True, True] Translation: X:-376.90, Y:-246.13, Z:-2.80 [[-6.87169610e-01 -7.26469228e-01 6.35516540e-03 -3.76902829e+02] [ 7.26437371e-01 -6.87198994e-01 -6.80366874e-03 -2.46134014e+02] [ 9.30991925e-03 -5.86447461e-05 9.99956660e-01 -2.79972658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1223.676559995 meters 0.01361957294261879 Centerline is valid? [True, True] Translation: X:-376.92, Y:-246.11, Z:-2.80 [[-6.88801624e-01 -7.24921039e-01 6.46609831e-03 -3.76919914e+02] [ 7.24888022e-01 -6.88831969e-01 -6.91907869e-03 -2.46113833e+02] [ 9.46984095e-03 -7.86754197e-05 9.99955157e-01 -2.79982529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1223.7065599950001 meters 0.014074501957287107 Centerline is valid? [True, True] Translation: X:-376.94, Y:-246.09, Z:-2.80 [[-6.91536999e-01 -7.22313247e-01 6.33653985e-03 -3.76937709e+02] [ 7.22281466e-01 -6.91566021e-01 -6.77670582e-03 -2.46092580e+02] [ 9.27704004e-03 -1.09577520e-04 9.99956962e-01 -2.79917927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1223.736559995 meters 0.01436906316638224 Centerline is valid? [True, True] Translation: X:-376.96, Y:-246.07, Z:-2.80 [[-6.92921200e-01 -7.20988120e-01 6.02837649e-03 -3.76955701e+02] [ 7.20959340e-01 -6.92947413e-01 -6.44315190e-03 -2.46072469e+02] [ 8.82278386e-03 -1.18382215e-04 9.99961072e-01 -2.79905123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1223.766559995 meters 0.014392448981682843 Centerline is valid? [True, True] Translation: X:-376.98, Y:-246.05, Z:-2.80 [[-6.94174240e-01 -7.19781017e-01 6.11648519e-03 -3.76975227e+02] [ 7.19751375e-01 -6.94201174e-01 -6.53366089e-03 -2.46052140e+02] [ 8.94887628e-03 -1.33150461e-04 9.99959949e-01 -2.79842875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1223.796559995 meters 0.01537736282618992 Centerline is valid? [True, True] Translation: X:-376.99, Y:-246.03, Z:-2.80 [[-6.95170933e-01 -7.18818644e-01 6.09353289e-03 -3.76993024e+02] [ 7.18789221e-01 -6.95197625e-01 -6.50530152e-03 -2.46031109e+02] [ 8.91234160e-03 -1.42330767e-04 9.99960274e-01 -2.79948223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1223.826559995 meters 0.015712018108937038 Centerline is valid? [True, True] Translation: X:-377.01, Y:-246.01, Z:-2.80 [[-6.96070772e-01 -7.17947549e-01 6.06611134e-03 -3.77011824e+02] [ 7.17918389e-01 -6.96097188e-01 -6.47240022e-03 -2.46011207e+02] [ 8.86944692e-03 -1.50275734e-04 9.99960655e-01 -2.79977937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1223.856559995 meters 0.015057055267899454 Centerline is valid? [True, True] Translation: X:-377.03, Y:-245.99, Z:-2.80 [[-6.96746593e-01 -7.17291503e-01 6.08980230e-03 -3.77031784e+02] [ 7.17262126e-01 -6.96773188e-01 -6.49363911e-03 -2.45993024e+02] [ 8.90104311e-03 -1.56436379e-04 9.99960373e-01 -2.79876331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1223.886559995 meters 0.015339164889517608 Centerline is valid? [True, True] Translation: X:-377.05, Y:-245.97, Z:-2.80 [[-6.97594402e-01 -7.16468308e-01 5.93415725e-03 -3.77050752e+02] [ 7.16440417e-01 -6.97619623e-01 -6.32376761e-03 -2.45972956e+02] [ 8.67056362e-03 -1.59954786e-04 9.99962397e-01 -2.79859602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1223.916559995 meters 0.015089544897188384 Centerline is valid? [True, True] Translation: X:-377.07, Y:-245.95, Z:-2.80 [[-6.97638566e-01 -7.16425274e-01 5.93790159e-03 -3.77069948e+02] [ 7.16397381e-01 -6.97663818e-01 -6.32382410e-03 -2.45953952e+02] [ 8.67320650e-03 -1.57846425e-04 9.99962375e-01 -2.79814465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1223.9465599950001 meters 0.015139706913739018 Centerline is valid? [True, True] Translation: X:-377.09, Y:-245.94, Z:-2.80 [[-6.97498138e-01 -7.16561828e-01 5.95763350e-03 -3.77088750e+02] [ 7.16533790e-01 -6.97523564e-01 -6.34070761e-03 -2.45935481e+02] [ 8.69909879e-03 -1.53786042e-04 9.99962151e-01 -2.79819563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1223.9765599950001 meters 0.014629154720748983 Centerline is valid? [True, True] Translation: X:-377.11, Y:-245.92, Z:-2.80 [[-6.96912837e-01 -7.17131864e-01 5.86404696e-03 -3.77109046e+02] [ 7.17104754e-01 -6.96937493e-01 -6.23719725e-03 -2.45917215e+02] [ 8.55976709e-03 -1.41646878e-04 9.99963355e-01 -2.79807860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1224.006559995 meters 0.014629154720748983 Centerline is valid? [True, True] Translation: X:-377.13, Y:-245.90, Z:-2.80 [[-6.97136680e-01 -7.16914249e-01 5.86599390e-03 -3.77127452e+02] [ 7.16887146e-01 -6.97161345e-01 -6.23536622e-03 -2.45897784e+02] [ 8.55976709e-03 -1.41646879e-04 9.99963355e-01 -2.79807875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1224.036559995 meters 0.01427605176196743 Centerline is valid? [True, True] Translation: X:-377.15, Y:-245.88, Z:-2.80 [[-6.96206980e-01 -7.17816540e-01 5.93776310e-03 -3.77148107e+02] [ 7.17788835e-01 -6.96232288e-01 -6.30792406e-03 -2.45879059e+02] [ 8.66199461e-03 -1.29560702e-04 9.99962476e-01 -2.79839643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1224.066559995 meters 0.013335017393667173 Centerline is valid? [True, True] Translation: X:-377.17, Y:-245.86, Z:-2.80 [[-6.92774013e-01 -7.21126238e-01 6.41209617e-03 -3.77171711e+02] [ 7.21094107e-01 -6.92803681e-01 -6.80800183e-03 -2.45862352e+02] [ 9.35175257e-03 -9.26819866e-05 9.99956267e-01 -2.79857031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1224.096559995 meters 0.013112144502193834 Centerline is valid? [True, True] Translation: X:-377.19, Y:-245.84, Z:-2.80 [[-6.90636586e-01 -7.23172351e-01 6.54654006e-03 -3.77192572e+02] [ 7.23138988e-01 -6.90667610e-01 -6.94677281e-03 -2.45844439e+02] [ 9.54519720e-03 -6.36371092e-05 9.99954442e-01 -2.79900650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1224.126559995 meters 0.012843841088109945 Centerline is valid? [True, True] Translation: X:-377.21, Y:-245.83, Z:-2.80 [[-6.88440937e-01 -7.25263370e-01 6.49002457e-03 -3.77212982e+02] [ 7.25230716e-01 -6.88471526e-01 -6.88234375e-03 -2.45827799e+02] [ 9.45970894e-03 -3.13220126e-05 9.99955256e-01 -2.79965658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1224.156559995 meters 0.012738944142545075 Centerline is valid? [True, True] Translation: X:-377.23, Y:-245.81, Z:-2.80 [[-6.86104910e-01 -7.27470907e-01 6.79199721e-03 -3.77233468e+02] [ 7.27435296e-01 -6.86138528e-01 -7.19800329e-03 -2.45811362e+02] [ 9.89658895e-03 2.15309685e-06 9.99951028e-01 -2.79988563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1224.1865599950002 meters 0.012857175838789425 Centerline is valid? [True, True] Translation: X:-377.26, Y:-245.79, Z:-2.80 [[-6.83835427e-01 -7.29603848e-01 6.88000024e-03 -3.77255044e+02] [ 7.29567459e-01 -6.83870034e-01 -7.28691030e-03 -2.45794160e+02] [ 1.00215838e-02 3.63768798e-05 9.99949782e-01 -2.79991717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1224.2165599950001 meters 0.013050071119057406 Centerline is valid? [True, True] Translation: X:-377.28, Y:-245.78, Z:-2.80 [[-6.81892749e-01 -7.31422143e-01 6.62781514e-03 -3.77275738e+02] [ 7.31388500e-01 -6.81924956e-01 -7.01545552e-03 -2.45776618e+02] [ 9.65093205e-03 6.37195215e-05 9.99953427e-01 -2.79949696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1224.246559995 meters 0.013723376572797315 Centerline is valid? [True, True] Translation: X:-377.30, Y:-245.76, Z:-2.80 [[-6.78346911e-01 -7.34713027e-01 6.49895923e-03 -3.77297902e+02] [ 7.34680856e-01 -6.78378033e-01 -6.87629909e-03 -2.45760646e+02] [ 9.46085770e-03 1.10144688e-04 9.99955239e-01 -2.79887235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1224.276559995 meters 0.014083652815999631 Centerline is valid? [True, True] Translation: X:-377.32, Y:-245.74, Z:-2.80 [[-6.77306415e-01 -7.35673544e-01 6.36054343e-03 -3.77318281e+02] [ 7.35642806e-01 -6.77336269e-01 -6.72617148e-03 -2.45741806e+02] [ 9.25649316e-03 1.23408926e-04 9.99957150e-01 -2.79849391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1224.306559995 meters 0.014389960454523105 Centerline is valid? [True, True] Translation: X:-377.34, Y:-245.72, Z:-2.80 [[-6.76622108e-01 -7.36306799e-01 5.90095733e-03 -3.77337696e+02] [ 7.36280400e-01 -6.76647828e-01 -6.23614825e-03 -2.45723632e+02] [ 8.58458831e-03 1.25243446e-04 9.99963144e-01 -2.79812997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1224.336559995 meters 0.014762833118117465 Centerline is valid? [True, True] Translation: X:-377.36, Y:-245.70, Z:-2.80 [[-6.75715823e-01 -7.37141305e-01 5.55181208e-03 -3.77358452e+02] [ 7.37117992e-01 -6.75738618e-01 -5.86398225e-03 -2.45704069e+02] [ 8.07415735e-03 1.29954987e-04 9.99967395e-01 -2.79718655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1224.366559995 meters 0.014762833118117465 Centerline is valid? [True, True] Translation: X:-377.38, Y:-245.68, Z:-2.80 [[-6.75940847e-01 -7.36934956e-01 5.55360234e-03 -3.77376929e+02] [ 7.36911650e-01 -6.75963648e-01 -5.86228678e-03 -2.45684722e+02] [ 8.07415735e-03 1.29955176e-04 9.99967395e-01 -2.79718669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1224.396559995 meters 0.014978308089121347 Centerline is valid? [True, True] Translation: X:-377.40, Y:-245.67, Z:-2.80 [[-6.75911771e-01 -7.36959237e-01 5.86184653e-03 -3.77395830e+02] [ 7.36933307e-01 -6.75937174e-01 -6.18370090e-03 -2.45666057e+02] [ 8.51937548e-03 1.40153719e-04 9.99963700e-01 -2.79752505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1224.426559995 meters 0.014692166159489746 Centerline is valid? [True, True] Translation: X:-377.41, Y:-245.65, Z:-2.80 [[-6.76179791e-01 -7.36710893e-01 6.16032162e-03 -3.77413886e+02] [ 7.36682281e-01 -6.76207837e-01 -6.49453231e-03 -2.45645878e+02] [ 8.95025046e-03 1.46728279e-04 9.99959935e-01 -2.79755185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1224.4565599950001 meters 0.01424017138480787 Centerline is valid? [True, True] Translation: X:-377.43, Y:-245.62, Z:-2.80 [[-6.76707175e-01 -7.36220605e-01 6.82788532e-03 -3.77432453e+02] [ 7.36185470e-01 -6.76741602e-01 -7.19423508e-03 -2.45624867e+02] [ 9.91725816e-03 1.58199466e-04 9.99950810e-01 -2.79760541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1224.486559995 meters 0.01457177965413221 Centerline is valid? [True, True] Translation: X:-377.45, Y:-245.61, Z:-2.80 [[-6.77149818e-01 -7.35809623e-01 7.23345763e-03 -3.77451008e+02] [ 7.35770215e-01 -6.77188431e-01 -7.61701370e-03 -2.45605641e+02] [ 1.05030858e-02 1.64303235e-04 9.99944828e-01 -2.79890048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1224.516559995 meters 0.014611550803933603 Centerline is valid? [True, True] Translation: X:-377.47, Y:-245.59, Z:-2.80 [[-6.77877860e-01 -7.35133100e-01 7.80591296e-03 -3.77468722e+02] [ 7.35087223e-01 -6.77922781e-01 -8.21447990e-03 -2.45586350e+02] [ 1.13305423e-02 1.69612824e-04 9.99935793e-01 -2.79946916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1224.546559995 meters 0.013822476846057842 Centerline is valid? [True, True] Translation: X:-377.49, Y:-245.56, Z:-2.80 [[-6.78644536e-01 -7.34420585e-01 8.24613372e-03 -3.77486188e+02] [ 7.34369395e-01 -6.78694612e-01 -8.67274386e-03 -2.45564465e+02] [ 1.19660481e-02 1.69998000e-04 9.99928390e-01 -2.79883798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1224.576559995 meters 0.01408610182303152 Centerline is valid? [True, True] Translation: X:-377.50, Y:-245.54, Z:-2.80 [[-6.79334819e-01 -7.33779891e-01 8.44244853e-03 -3.77504919e+02] [ 7.33726251e-01 -6.79387256e-01 -8.87382690e-03 -2.45544679e+02] [ 1.22471277e-02 1.66146511e-04 9.99924988e-01 -2.80011789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1224.606559995 meters 0.014038116862086879 Centerline is valid? [True, True] Translation: X:-377.52, Y:-245.52, Z:-2.80 [[-6.80489067e-01 -7.32699248e-01 9.29746066e-03 -3.77521198e+02] [ 7.32634177e-01 -6.80552559e-01 -9.76613112e-03 -2.45524167e+02] [ 1.34830476e-02 1.65891995e-04 9.99909086e-01 -2.80057796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1224.636559995 meters 0.013753029626091396 Centerline is valid? [True, True] Translation: X:-377.54, Y:-245.50, Z:-2.80 [[-6.81283145e-01 -7.31960054e-01 9.36776710e-03 -3.77538403e+02] [ 7.31894010e-01 -6.81347529e-01 -9.83380454e-03 -2.45502930e+02] [ 1.35806571e-02 1.56607335e-04 9.99907767e-01 -2.80008073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1224.666559995 meters 0.0134952791718237 Centerline is valid? [True, True] Translation: X:-377.56, Y:-245.48, Z:-2.80 [[-6.82141293e-01 -7.31157018e-01 9.62662909e-03 -3.77556212e+02] [ 7.31087273e-01 -6.82209201e-01 -1.00998252e-02 -2.45481342e+02] [ 1.39519330e-02 1.48398193e-04 9.99902656e-01 -2.79963812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1224.6965599950001 meters 0.013503945751559492 Centerline is valid? [True, True] Translation: X:-377.57, Y:-245.46, Z:-2.80 [[-6.83178828e-01 -7.30191732e-01 9.31259544e-03 -3.77572940e+02] [ 7.30126450e-01 -6.83242284e-01 -9.76464563e-03 -2.45459512e+02] [ 1.34928225e-02 1.28373092e-04 9.99908960e-01 -2.79953009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1224.7265599950001 meters 0.013354049802123263 Centerline is valid? [True, True] Translation: X:-377.59, Y:-245.44, Z:-2.80 [[-6.83960083e-01 -7.29466274e-01 8.80683729e-03 -3.77590920e+02] [ 7.29407903e-01 -6.84016771e-01 -9.22860583e-03 -2.45438510e+02] [ 1.27559811e-02 1.11778713e-04 9.99918633e-01 -2.79916396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1224.756559995 meters 0.013385245503325448 Centerline is valid? [True, True] Translation: X:-377.61, Y:-245.42, Z:-2.80 [[-6.84707377e-01 -7.28767049e-01 8.62535071e-03 -3.77608812e+02] [ 7.28711074e-01 -6.84761695e-01 -9.03282576e-03 -2.45417639e+02] [ 1.24891355e-02 1.00546140e-04 9.99922003e-01 -2.79876703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1224.786559995 meters 0.013317045694762336 Centerline is valid? [True, True] Translation: X:-377.63, Y:-245.40, Z:-2.80 [[-6.85078443e-01 -7.28421646e-01 8.33266657e-03 -3.77626018e+02] [ 7.28369448e-01 -6.85129110e-01 -8.72064899e-03 -2.45397619e+02] [ 1.20612619e-02 9.49311193e-05 9.99927256e-01 -2.79848800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1224.816559995 meters 0.013162685780762967 Centerline is valid? [True, True] Translation: X:-377.64, Y:-245.38, Z:-2.80 [[-6.85664655e-01 -7.27871296e-01 8.20722940e-03 -3.77643518e+02] [ 7.27820682e-01 -6.85713767e-01 -8.58400720e-03 -2.45376848e+02] [ 1.18758626e-02 8.76409692e-05 9.99929476e-01 -2.79797351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1224.846559995 meters 0.013166271251946648 Centerline is valid? [True, True] Translation: X:-377.66, Y:-245.36, Z:-2.80 [[-6.86074077e-01 -7.27484131e-01 8.31864763e-03 -3.77661048e+02] [ 7.27432174e-01 -6.86124502e-01 -8.69484576e-03 -2.45356589e+02] [ 1.20329903e-02 8.59436484e-05 9.99927597e-01 -2.79795096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1224.876559995 meters 0.013091221899712575 Centerline is valid? [True, True] Translation: X:-377.68, Y:-245.34, Z:-2.80 [[-6.86503662e-01 -7.27076311e-01 8.52997257e-03 -3.77678870e+02] [ 7.27021718e-01 -6.86556648e-01 -8.91020556e-03 -2.45335746e+02] [ 1.23347088e-02 8.45865717e-05 9.99923921e-01 -2.79785952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1224.906559995 meters 0.013170097177319082 Centerline is valid? [True, True] Translation: X:-377.70, Y:-245.31, Z:-2.80 [[-6.86878830e-01 -7.26721000e-01 8.60589282e-03 -3.77696827e+02] [ 7.26665472e-01 -6.86932734e-01 -8.98395833e-03 -2.45314663e+02] [ 1.24405007e-02 8.27143840e-05 9.99922611e-01 -2.79798182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1224.9365599950002 meters 0.013379239476193289 Centerline is valid? [True, True] Translation: X:-377.71, Y:-245.29, Z:-2.80 [[-6.87261317e-01 -7.26351513e-01 9.23910513e-03 -3.77712779e+02] [ 7.26287540e-01 -6.87323412e-01 -9.64040317e-03 -2.45293233e+02] [ 1.33525747e-02 8.47707487e-05 9.99910847e-01 -2.79878754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1224.9665599950001 meters 0.013223671870888486 Centerline is valid? [True, True] Translation: X:-377.73, Y:-245.27, Z:-2.80 [[-6.87436538e-01 -7.26185533e-01 9.25086474e-03 -3.77730217e+02] [ 7.26121459e-01 -6.87498775e-01 -9.64682537e-03 -2.45272417e+02] [ 1.33653432e-02 8.56711706e-05 9.99910676e-01 -2.79781509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1224.996559995 meters 0.013113148602373382 Centerline is valid? [True, True] Translation: X:-377.75, Y:-245.25, Z:-2.80 [[-6.87398533e-01 -7.26220242e-01 9.34968703e-03 -3.77748312e+02] [ 7.26154879e-01 -6.87462109e-01 -9.74377828e-03 -2.45251806e+02] [ 1.35036846e-02 9.14619605e-05 9.99908817e-01 -2.79669013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1225.026559995 meters 0.01311134519898076 Centerline is valid? [True, True] Translation: X:-377.77, Y:-245.23, Z:-2.80 [[-6.87431686e-01 -7.26189503e-01 9.29961659e-03 -3.77766927e+02] [ 7.26124916e-01 -6.87494580e-01 -9.68552024e-03 -2.45231563e+02] [ 1.34269591e-02 9.45498067e-05 9.99909850e-01 -2.79679186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1225.056559995 meters 0.013085974754438102 Centerline is valid? [True, True] Translation: X:-377.79, Y:-245.21, Z:-2.80 [[-6.87207014e-01 -7.26401934e-01 9.31400238e-03 -3.77785308e+02] [ 7.26337249e-01 -6.87270121e-01 -9.69442536e-03 -2.45211609e+02] [ 1.34432849e-02 1.03029756e-04 9.99909630e-01 -2.79667977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1225.086559995 meters 0.013217570088788074 Centerline is valid? [True, True] Translation: X:-377.80, Y:-245.19, Z:-2.80 [[-6.86556807e-01 -7.27019668e-01 9.06385712e-03 -3.77804185e+02] [ 7.26958533e-01 -6.86616625e-01 -9.42875163e-03 -2.45190289e+02] [ 1.30782829e-02 1.15674661e-04 9.99914469e-01 -2.79590086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1225.116559995 meters 0.013420101484900464 Centerline is valid? [True, True] Translation: X:-377.82, Y:-245.17, Z:-2.80 [[-6.86223563e-01 -7.27337015e-01 8.83680557e-03 -3.77822219e+02] [ 7.27279009e-01 -6.86280447e-01 -9.18645874e-03 -2.45171536e+02] [ 1.27461784e-02 1.22858753e-04 9.99918757e-01 -2.79592701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1225.146559995 meters 0.013485961693409453 Centerline is valid? [True, True] Translation: X:-377.84, Y:-245.15, Z:-2.80 [[-6.85853274e-01 -7.27691577e-01 8.38186253e-03 -3.77841036e+02] [ 7.27639483e-01 -6.85904478e-01 -8.70807448e-03 -2.45152058e+02] [ 1.20859495e-02 1.26512728e-04 9.99926954e-01 -2.79559023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1225.176559995 meters 0.013570763720888302 Centerline is valid? [True, True] Translation: X:-377.86, Y:-245.13, Z:-2.80 [[-6.85587617e-01 -7.27942736e-01 8.30617089e-03 -3.77859762e+02] [ 7.27891661e-01 -6.85637919e-01 -8.62409345e-03 -2.45132847e+02] [ 1.19728719e-02 1.33420845e-04 9.99928314e-01 -2.79551282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1225.2065599950001 meters 0.013588495497400889 Centerline is valid? [True, True] Translation: X:-377.88, Y:-245.11, Z:-2.79 [[-6.85047504e-01 -7.28453142e-01 8.12021523e-03 -3.77878789e+02] [ 7.28404419e-01 -6.85095614e-01 -8.42627743e-03 -2.45112620e+02] [ 1.17012721e-02 1.42400333e-04 9.99931528e-01 -2.79481836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1225.236559995 meters 0.013827395608602015 Centerline is valid? [True, True] Translation: X:-377.90, Y:-245.09, Z:-2.80 [[-6.84714936e-01 -7.28766662e-01 8.03793050e-03 -3.77897490e+02] [ 7.28719008e-01 -6.84762097e-01 -8.33535335e-03 -2.45094007e+02] [ 1.15785978e-02 1.50051802e-04 9.99932955e-01 -2.79502802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1225.266559995 meters 0.014289351243352323 Centerline is valid? [True, True] Translation: X:-377.92, Y:-245.08, Z:-2.80 [[-6.83864318e-01 -7.29561677e-01 8.32792476e-03 -3.77917342e+02] [ 7.29510641e-01 -6.83915002e-01 -8.63102289e-03 -2.45075112e+02] [ 1.19924562e-02 1.72861144e-04 9.99928073e-01 -2.79570334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1225.296559995 meters 0.014486754973999781 Centerline is valid? [True, True] Translation: X:-377.94, Y:-245.06, Z:-2.80 [[-6.83569404e-01 -7.29834270e-01 8.64924694e-03 -3.77936833e+02] [ 7.29779310e-01 -6.83624095e-01 -8.95849670e-03 -2.45055570e+02] [ 1.24510515e-02 1.88287222e-04 9.99922465e-01 -2.79592936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1225.326559995 meters 0.014331757988524051 Centerline is valid? [True, True] Translation: X:-377.96, Y:-245.04, Z:-2.80 [[-6.83369054e-01 -7.30019903e-01 8.81351769e-03 -3.77955910e+02] [ 7.29962921e-01 -6.83425857e-01 -9.12319118e-03 -2.45035649e+02] [ 1.26834970e-02 1.99034598e-04 9.99919542e-01 -2.79586981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1225.356559995 meters 0.01450612894358432 Centerline is valid? [True, True] Translation: X:-377.98, Y:-245.02, Z:-2.80 [[-6.83254321e-01 -7.30126346e-01 8.89109061e-03 -3.77975351e+02] [ 7.30068439e-01 -6.83312137e-01 -9.19771550e-03 -2.45017051e+02] [ 1.27908845e-02 2.06725783e-04 9.99918172e-01 -2.79631871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1225.386559995 meters 0.014722664625356038 Centerline is valid? [True, True] Translation: X:-378.00, Y:-245.00, Z:-2.80 [[-6.83087055e-01 -7.30279284e-01 9.17837160e-03 -3.77995280e+02] [ 7.30217667e-01 -6.83148680e-01 -9.48898026e-03 -2.44998417e+02] [ 1.31997982e-02 2.20409515e-04 9.99912855e-01 -2.79689856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1225.416559995 meters 0.014767578131177593 Centerline is valid? [True, True] Translation: X:-378.01, Y:-244.98, Z:-2.80 [[-6.82937859e-01 -7.30417587e-01 9.27522855e-03 -3.78014795e+02] [ 7.30354754e-01 -6.83000803e-01 -9.58312626e-03 -2.44979715e+02] [ 1.33346725e-02 2.29527534e-04 9.99911063e-01 -2.79694515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1225.4465599950001 meters 0.014734531259726655 Centerline is valid? [True, True] Translation: X:-378.03, Y:-244.96, Z:-2.80 [[-6.82829917e-01 -7.30519536e-01 9.19305383e-03 -3.78034647e+02] [ 7.30457900e-01 -6.82891758e-01 -9.49225225e-03 -2.44961551e+02] [ 1.32121364e-02 2.33544976e-04 9.99912689e-01 -2.79665780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1225.4765599950001 meters 0.014854622174555132 Centerline is valid? [True, True] Translation: X:-378.05, Y:-244.94, Z:-2.80 [[-6.83073602e-01 -7.30293121e-01 9.07810852e-03 -3.78053562e+02] [ 7.30233078e-01 -6.83133885e-01 -9.36738660e-03 -2.44943296e+02] [ 1.30425015e-02 2.30520616e-04 9.99914917e-01 -2.79662470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1225.506559995 meters 0.015091254766338696 Centerline is valid? [True, True] Translation: X:-378.07, Y:-244.93, Z:-2.80 [[-6.83664791e-01 -7.29744213e-01 8.70843296e-03 -3.78072491e+02] [ 7.29688989e-01 -6.83720219e-01 -8.98007582e-03 -2.44925292e+02] [ 1.25072901e-02 2.15085985e-04 9.99921758e-01 -2.79683591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1225.536559995 meters 0.014560851103395452 Centerline is valid? [True, True] Translation: X:-378.09, Y:-244.91, Z:-2.80 [[-6.84330030e-01 -7.29123289e-01 8.46397172e-03 -3.78090911e+02] [ 7.29071141e-01 -6.84382341e-01 -8.72254867e-03 -2.44905068e+02] [ 1.21524062e-02 2.01735525e-04 9.99926137e-01 -2.79610482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1225.566559995 meters 0.013824207586848523 Centerline is valid? [True, True] Translation: X:-378.11, Y:-244.88, Z:-2.80 [[-6.86473526e-01 -7.27114212e-01 7.68255365e-03 -3.78108956e+02] [ 7.27071171e-01 -6.86516496e-01 -7.91282097e-03 -2.44883564e+02] [ 1.10277244e-02 1.53821177e-04 9.99939181e-01 -2.79508396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1225.596559995 meters 0.013673116066323002 Centerline is valid? [True, True] Translation: X:-378.13, Y:-244.86, Z:-2.80 [[-6.87837202e-01 -7.25827902e-01 7.33756995e-03 -3.78126576e+02] [ 7.25788620e-01 -6.87876326e-01 -7.55250181e-03 -2.44864340e+02] [ 1.05291572e-02 1.30633050e-04 9.99944559e-01 -2.79514690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1225.626559995 meters 0.013329243786303461 Centerline is valid? [True, True] Translation: X:-378.14, Y:-244.84, Z:-2.79 [[-6.89337338e-01 -7.24407263e-01 6.93909510e-03 -3.78144371e+02] [ 7.24372104e-01 -6.89372255e-01 -7.13788412e-03 -2.44844113e+02] [ 9.95435473e-03 1.06076877e-04 9.99950449e-01 -2.79470051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1225.656559995 meters 0.013291817413097 Centerline is valid? [True, True] Translation: X:-378.16, Y:-244.83, Z:-2.80 [[-6.90937080e-01 -7.22885746e-01 6.49224990e-03 -3.78162143e+02] [ 7.22854943e-01 -6.90967576e-01 -6.67385655e-03 -2.44825325e+02] [ 9.31036995e-03 8.17399740e-05 9.99956654e-01 -2.79535480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1225.6865599950002 meters 0.012829638425941415 Centerline is valid? [True, True] Translation: X:-378.18, Y:-244.80, Z:-2.79 [[-6.92350766e-01 -7.21533032e-01 6.36395769e-03 -3.78179785e+02] [ 7.21503415e-01 -6.92380011e-01 -6.53785355e-03 -2.44804612e+02] [ 9.12355439e-03 6.51292910e-05 9.99958378e-01 -2.79448837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1225.7165599950001 meters 0.012945775437698774 Centerline is valid? [True, True] Translation: X:-378.20, Y:-244.79, Z:-2.80 [[-6.93715934e-01 -7.20220724e-01 6.34911891e-03 -3.78197814e+02] [ 7.20191229e-01 -6.93744986e-01 -6.51830888e-03 -2.44786014e+02] [ 9.09929056e-03 5.07250154e-05 9.99958600e-01 -2.79590995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1225.746559995 meters 0.01286924092121544 Centerline is valid? [True, True] Translation: X:-378.22, Y:-244.77, Z:-2.80 [[-6.95255137e-01 -7.18730837e-01 6.80286142e-03 -3.78215791e+02] [ 7.18696946e-01 -6.95288417e-01 -6.97981060e-03 -2.44766695e+02] [ 9.74655587e-03 3.64465492e-05 9.99952501e-01 -2.79715885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1225.776559995 meters 0.012774598935651011 Centerline is valid? [True, True] Translation: X:-378.23, Y:-244.75, Z:-2.80 [[-6.95974688e-01 -7.18031222e-01 7.09919075e-03 -3.78234771e+02] [ 7.17994320e-01 -6.96010893e-01 -7.27960678e-03 -2.44747039e+02] [ 1.01680990e-02 3.07565777e-05 9.99948303e-01 -2.79782307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1225.806559995 meters 0.01258511529417694 Centerline is valid? [True, True] Translation: X:-378.25, Y:-244.73, Z:-2.80 [[-6.96372906e-01 -7.17638254e-01 7.75324788e-03 -3.78253365e+02] [ 7.17594269e-01 -6.96416065e-01 -7.94537002e-03 -2.44727404e+02] [ 1.11013878e-02 3.07458356e-05 9.99938377e-01 -2.79726222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1225.836559995 meters 0.012760534527346616 Centerline is valid? [True, True] Translation: X:-378.27, Y:-244.71, Z:-2.80 [[-6.96671761e-01 -7.17342756e-01 8.23578766e-03 -3.78272218e+02] [ 7.17293167e-01 -6.96720439e-01 -8.43466765e-03 -2.44708306e+02] [ 1.17885893e-02 3.12794461e-05 9.99930512e-01 -2.79776705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1225.866559995 meters 0.012712118008127684 Centerline is valid? [True, True] Translation: X:-378.29, Y:-244.69, Z:-2.80 [[-6.96768768e-01 -7.17245857e-01 8.46549959e-03 -3.78290799e+02] [ 7.17193524e-01 -6.96820192e-01 -8.66433272e-03 -2.44690299e+02] [ 1.21133878e-02 3.43650427e-05 9.99926630e-01 -2.79849073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1225.896559995 meters 0.012712118008127684 Centerline is valid? [True, True] Translation: X:-378.31, Y:-244.67, Z:-2.80 [[-6.96986188e-01 -7.17034550e-01 8.46812613e-03 -3.78309583e+02] [ 7.16982231e-01 -6.97037627e-01 -8.66176567e-03 -2.44671240e+02] [ 1.21133878e-02 3.43649345e-05 9.99926630e-01 -2.79849088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1225.926559995 meters 0.01272669264141649 Centerline is valid? [True, True] Translation: X:-378.33, Y:-244.65, Z:-2.80 [[-6.97002774e-01 -7.17017977e-01 8.50615110e-03 -3.78329137e+02] [ 7.16965252e-01 -6.97054675e-01 -8.69523642e-03 -2.44652641e+02] [ 1.21638932e-02 3.80108613e-05 9.99926017e-01 -2.79862076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1225.9565599950001 meters 0.012835080099090707 Centerline is valid? [True, True] Translation: X:-378.35, Y:-244.64, Z:-2.80 [[-6.96184141e-01 -7.17809767e-01 8.76244756e-03 -3.78349802e+02] [ 7.17753954e-01 -6.96239280e-01 -8.95137812e-03 -2.44635516e+02] [ 1.25261468e-02 5.74738953e-05 9.99921543e-01 -2.80042621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1225.986559995 meters 0.012895244257057417 Centerline is valid? [True, True] Translation: X:-378.37, Y:-244.62, Z:-2.80 [[-6.95757692e-01 -7.18225315e-01 8.58081419e-03 -3.78369693e+02] [ 7.18171887e-01 -6.95810601e-01 -8.76059704e-03 -2.44617400e+02] [ 1.22627041e-02 6.72467447e-05 9.99924808e-01 -2.80089024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1226.016559995 meters 0.013010139179272708 Centerline is valid? [True, True] Translation: X:-378.39, Y:-244.60, Z:-2.80 [[-6.95284561e-01 -7.18682063e-01 8.68744514e-03 -3.78389345e+02] [ 7.18627401e-01 -6.95338828e-01 -8.86414443e-03 -2.44598508e+02] [ 1.24112195e-02 7.99333555e-05 9.99922975e-01 -2.80089606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1226.046559995 meters 0.012822656870579452 Centerline is valid? [True, True] Translation: X:-378.41, Y:-244.58, Z:-2.80 [[-6.94880042e-01 -7.19071473e-01 8.82864206e-03 -3.78408544e+02] [ 7.19015115e-01 -6.94936119e-01 -9.00308943e-03 -2.44578417e+02] [ 1.26092070e-02 9.18599261e-05 9.99920497e-01 -2.79942522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1226.076559995 meters 0.013077202610172756 Centerline is valid? [True, True] Translation: X:-378.43, Y:-244.56, Z:-2.80 [[-6.94613720e-01 -7.19328754e-01 8.82744659e-03 -3.78428012e+02] [ 7.19272500e-01 -6.94669802e-01 -8.99647387e-03 -2.44559501e+02] [ 1.26035829e-02 1.00265396e-04 9.99920567e-01 -2.79994647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1226.106559995 meters 0.013319031426105287 Centerline is valid? [True, True] Translation: X:-378.45, Y:-244.54, Z:-2.80 [[-6.94278856e-01 -7.19652435e-01 8.78880348e-03 -3.78446940e+02] [ 7.19596772e-01 -6.94334473e-01 -8.95130448e-03 -2.44541279e+02] [ 1.25441973e-02 1.09693181e-04 9.99921313e-01 -2.80017306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1226.136559995 meters 0.013167072718789832 Centerline is valid? [True, True] Translation: X:-378.47, Y:-244.52, Z:-2.80 [[-6.93189116e-01 -7.20711613e-01 7.97625925e-03 -3.78466712e+02] [ 7.20665888e-01 -6.93234994e-01 -8.11917297e-03 -2.44520673e+02] [ 1.13810043e-02 1.20095627e-04 9.99935227e-01 -2.79743444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1226.166559995 meters 0.013234466201387497 Centerline is valid? [True, True] Translation: X:-378.49, Y:-244.50, Z:-2.80 [[-6.92750096e-01 -7.21135323e-01 7.81992382e-03 -3.78486652e+02] [ 7.21091450e-01 -6.92794219e-01 -7.95551830e-03 -2.44501213e+02] [ 1.11546033e-02 1.27694140e-04 9.99937778e-01 -2.79712884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1226.1965599950001 meters 0.01338707280482008 Centerline is valid? [True, True] Translation: X:-378.51, Y:-244.48, Z:-2.80 [[-6.92234273e-01 -7.21633087e-01 7.57624860e-03 -3.78507160e+02] [ 7.21591983e-01 -6.92275718e-01 -7.70326233e-03 -2.44482010e+02] [ 1.08037819e-02 1.34498053e-04 9.99941629e-01 -2.79719288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1226.2265599950001 meters 0.013728454423561805 Centerline is valid? [True, True] Translation: X:-378.53, Y:-244.46, Z:-2.80 [[-6.91632304e-01 -7.22212357e-01 7.35307419e-03 -3.78527518e+02] [ 7.22173718e-01 -6.91671376e-01 -7.47188981e-03 -2.44463656e+02] [ 1.04822021e-02 1.42396553e-04 9.99945050e-01 -2.79753460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1226.256559995 meters 0.01383731478722726 Centerline is valid? [True, True] Translation: X:-378.55, Y:-244.44, Z:-2.80 [[-6.91128256e-01 -7.22700105e-01 6.80391093e-03 -3.78547782e+02] [ 7.22667083e-01 -6.91161731e-01 -6.90997499e-03 -2.44444040e+02] [ 9.69644250e-03 1.41283507e-04 9.99952979e-01 -2.79710585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1226.286559995 meters 0.014629879877558268 Centerline is valid? [True, True] Translation: X:-378.57, Y:-244.43, Z:-2.80 [[-6.90124881e-01 -7.23663041e-01 6.28112074e-03 -3.78567314e+02] [ 7.23634967e-01 -6.90153449e-01 -6.37592405e-03 -2.44426248e+02] [ 8.94895773e-03 1.45054770e-04 9.99959947e-01 -2.79768034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1226.316559995 meters 0.014369472405599491 Centerline is valid? [True, True] Translation: X:-378.59, Y:-244.41, Z:-2.80 [[-6.90126639e-01 -7.23663115e-01 6.07598540e-03 -3.78585568e+02] [ 7.23636878e-01 -6.90153371e-01 -6.16385084e-03 -2.44406178e+02] [ 8.65391330e-03 1.42969441e-04 9.99962544e-01 -2.79705264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1226.346559995 meters 0.014461273888411535 Centerline is valid? [True, True] Translation: X:-378.60, Y:-244.39, Z:-2.80 [[-6.90392247e-01 -7.23407937e-01 6.28509313e-03 -3.78604215e+02] [ 7.23379888e-01 -6.90420839e-01 -6.37203577e-03 -2.44386878e+02] [ 8.94894053e-03 1.47305872e-04 9.99959947e-01 -2.79727170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1226.376559995 meters 0.014492594636646318 Centerline is valid? [True, True] Translation: X:-378.62, Y:-244.37, Z:-2.80 [[-6.90995027e-01 -7.22829419e-01 6.59575873e-03 -3.78622082e+02] [ 7.22798543e-01 -6.91026489e-01 -6.68266148e-03 -2.44367811e+02] [ 9.38826832e-03 1.49718949e-04 9.99955918e-01 -2.79811644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1226.406559995 meters 0.014176456453218434 Centerline is valid? [True, True] Translation: X:-378.64, Y:-244.35, Z:-2.80 [[-6.91438081e-01 -7.22403667e-01 6.80602979e-03 -3.78640679e+02] [ 7.22370812e-01 -6.91471560e-01 -6.89140199e-03 -2.44347583e+02] [ 9.68455011e-03 1.51499501e-04 9.99953092e-01 -2.79821083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1226.4365599950002 meters 0.013933455609828935 Centerline is valid? [True, True] Translation: X:-378.66, Y:-244.33, Z:-2.80 [[-6.92010163e-01 -7.21854560e-01 6.92309952e-03 -3.78659658e+02] [ 7.21820580e-01 -6.92044776e-01 -7.00552219e-03 -2.44327876e+02] [ 9.84806299e-03 1.49343157e-04 9.99951496e-01 -2.79850938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1226.4665599950001 meters 0.01397800665631372 Centerline is valid? [True, True] Translation: X:-378.68, Y:-244.31, Z:-2.80 [[-6.92395976e-01 -7.21485411e-01 6.82751281e-03 -3.78678417e+02] [ 7.21452390e-01 -6.92429622e-01 -6.90423646e-03 -2.44308899e+02] [ 9.70887799e-03 1.45259885e-04 9.99952857e-01 -2.79862438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1226.496559995 meters 0.013774965889018852 Centerline is valid? [True, True] Translation: X:-378.70, Y:-244.29, Z:-2.80 [[-6.92646459e-01 -7.21246273e-01 6.68557579e-03 -3.78697228e+02] [ 7.21214635e-01 -6.92678709e-01 -6.75689500e-03 -2.44288421e+02] [ 9.50434134e-03 1.41595708e-04 9.99954823e-01 -2.79818226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1226.526559995 meters 0.01379933066722634 Centerline is valid? [True, True] Translation: X:-378.72, Y:-244.27, Z:-2.80 [[-6.93181680e-01 -7.20735449e-01 6.29057223e-03 -3.78716327e+02] [ 7.20707451e-01 -6.93210210e-01 -6.35411241e-03 -2.44268204e+02] [ 8.94032296e-03 1.29107959e-04 9.99960026e-01 -2.79780681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1226.556559995 meters 0.01390435758978467 Centerline is valid? [True, True] Translation: X:-378.73, Y:-244.25, Z:-2.80 [[-6.93924734e-01 -7.20023938e-01 5.83032310e-03 -3.78734345e+02] [ 7.19999894e-01 -6.93949217e-01 -5.88531891e-03 -2.44249015e+02] [ 8.28351865e-03 1.13863655e-04 9.99965685e-01 -2.79780827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1226.586559995 meters 0.01356094651040234 Centerline is valid? [True, True] Translation: X:-378.75, Y:-244.23, Z:-2.80 [[-6.94504748e-01 -7.19468469e-01 5.31759061e-03 -3.78753339e+02] [ 7.19448475e-01 -6.94525098e-01 -5.36472207e-03 -2.44228425e+02] [ 7.55294851e-03 9.99075088e-05 9.99971471e-01 -2.79746366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1226.616559995 meters 0.013352621446064444 Centerline is valid? [True, True] Translation: X:-378.77, Y:-244.21, Z:-2.80 [[-6.94947506e-01 -7.19042469e-01 5.08843244e-03 -3.78772441e+02] [ 7.19024170e-01 -6.94966128e-01 -5.13061715e-03 -2.44208264e+02] [ 7.22541981e-03 9.31963231e-05 9.99973892e-01 -2.79749858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1226.646559995 meters 0.013930638122643408 Centerline is valid? [True, True] Translation: X:-378.79, Y:-244.19, Z:-2.80 [[-6.95435334e-01 -7.18572828e-01 4.77362536e-03 -3.78792260e+02] [ 7.18556732e-01 -6.95451712e-01 -4.81033408e-03 -2.44189868e+02] [ 6.77640129e-03 8.48443538e-05 9.99977037e-01 -2.79821532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1226.676559995 meters 0.013672326488681726 Centerline is valid? [True, True] Translation: X:-378.81, Y:-244.17, Z:-2.80 [[-6.95034354e-01 -7.18964045e-01 4.23657553e-03 -3.78812206e+02] [ 7.18951390e-01 -6.95047262e-01 -4.26650109e-03 -2.44171430e+02] [ 6.01208110e-03 8.05270395e-05 9.99981924e-01 -2.79722415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1226.7065599950001 meters 0.013786466419013458 Centerline is valid? [True, True] Translation: X:-378.83, Y:-244.15, Z:-2.80 [[-6.94910480e-01 -7.19085603e-01 3.91405721e-03 -3.78832007e+02] [ 7.19074818e-01 -6.94921499e-01 -3.93925695e-03 -2.44153270e+02] [ 5.55262546e-03 7.70690358e-05 9.99984581e-01 -2.79748601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1226.736559995 meters 0.014256157841832701 Centerline is valid? [True, True] Translation: X:-378.85, Y:-244.14, Z:-2.80 [[-6.94715277e-01 -7.19270937e-01 4.47254328e-03 -3.78851346e+02] [ 7.19256876e-01 -6.94729668e-01 -4.49840876e-03 -2.44136009e+02] [ 6.34278319e-03 9.17942224e-05 9.99979880e-01 -2.79812901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1226.766559995 meters 0.013849012278459333 Centerline is valid? [True, True] Translation: X:-378.87, Y:-244.12, Z:-2.80 [[-6.94758616e-01 -7.19227526e-01 4.71502947e-03 -3.78870425e+02] [ 7.19211918e-01 -6.94774608e-01 -4.73932632e-03 -2.44115885e+02] [ 6.68453670e-03 9.84175913e-05 9.99977654e-01 -2.79812606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1226.796559995 meters 0.014097507929306407 Centerline is valid? [True, True] Translation: X:-378.89, Y:-244.10, Z:-2.80 [[-6.94737711e-01 -7.19245745e-01 5.00721981e-03 -3.78889322e+02] [ 7.19228166e-01 -6.94755747e-01 -5.02971930e-03 -2.44098265e+02] [ 7.09639894e-03 1.06997844e-04 9.99974815e-01 -2.79880193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1226.826559995 meters 0.01394651177123272 Centerline is valid? [True, True] Translation: X:-378.91, Y:-244.08, Z:-2.80 [[-6.94696952e-01 -7.19283670e-01 5.21028885e-03 -3.78908300e+02] [ 7.19264662e-01 -6.94716481e-01 -5.23040089e-03 -2.44078955e+02] [ 7.38181548e-03 1.14033092e-04 9.99972748e-01 -2.79919087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1226.856559995 meters 0.013922751787173724 Centerline is valid? [True, True] Translation: X:-378.93, Y:-244.06, Z:-2.80 [[-6.94881679e-01 -7.19105515e-01 5.16826672e-03 -3.78927786e+02] [ 7.19086828e-01 -6.94900889e-01 -5.18529795e-03 -2.44059080e+02] [ 7.32020949e-03 1.13263975e-04 9.99973201e-01 -2.79904323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1226.886559995 meters 0.014393818508975025 Centerline is valid? [True, True] Translation: X:-378.95, Y:-244.04, Z:-2.80 [[-6.95138893e-01 -7.18858276e-01 4.96972971e-03 -3.78947450e+02] [ 7.18841014e-01 -6.95156649e-01 -4.98296490e-03 -2.44039735e+02] [ 7.03678621e-03 1.08592846e-04 9.99975236e-01 -2.79920253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1226.916559995 meters 0.014394931472678799 Centerline is valid? [True, True] Translation: X:-378.97, Y:-244.02, Z:-2.80 [[-6.95165439e-01 -7.18834058e-01 4.75504819e-03 -3.78966942e+02] [ 7.18818275e-01 -6.95181693e-01 -4.76456589e-03 -2.44022508e+02] [ 6.73055468e-03 1.05853998e-04 9.99977344e-01 -2.79903834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1226.9465599950001 meters 0.014243450268183635 Centerline is valid? [True, True] Translation: X:-378.99, Y:-244.00, Z:-2.80 [[-6.94847435e-01 -7.19140569e-01 4.88706297e-03 -3.78986643e+02] [ 7.19123927e-01 -6.94864612e-01 -4.89378607e-03 -2.44003910e+02] [ 6.91516721e-03 1.13969215e-04 9.99976084e-01 -2.79906805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1226.9765599950001 meters 0.014501108071762287 Centerline is valid? [True, True] Translation: X:-379.01, Y:-243.99, Z:-2.80 [[-6.94922253e-01 -7.19064069e-01 5.47057644e-03 -3.79005666e+02] [ 7.19043241e-01 -6.94943773e-01 -5.47451775e-03 -2.43985891e+02] [ 7.73827204e-03 1.29216809e-04 9.99970051e-01 -2.79969106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1227.006559995 meters 0.014243212773187594 Centerline is valid? [True, True] Translation: X:-379.03, Y:-243.97, Z:-2.80 [[-6.95083774e-01 -7.18906650e-01 5.63702288e-03 -3.79025069e+02] [ 7.18884555e-01 -6.95106618e-01 -5.63792713e-03 -2.43966136e+02] [ 7.97147522e-03 1.33537012e-04 9.99968219e-01 -2.79950601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1227.036559995 meters 0.014083474781081488 Centerline is valid? [True, True] Translation: X:-379.05, Y:-243.95, Z:-2.80 [[-6.95750409e-01 -7.18263288e-01 5.40526363e-03 -3.79045281e+02] [ 7.18242976e-01 -6.95771395e-01 -5.40307691e-03 -2.43946253e+02] [ 7.64165960e-03 1.23099662e-04 9.99970795e-01 -2.79966546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1227.066559995 meters 0.013834192632694866 Centerline is valid? [True, True] Translation: X:-379.51, Y:-244.43, Z:-1.79 [[-7.65558193e-01 6.43345129e-01 5.26285726e-03 -3.79513425e+02] [ 6.43328954e-01 7.65576275e-01 -4.56330759e-03 -2.44426928e+02] [-6.96490037e-03 -1.07729053e-04 -9.99975739e-01 -1.78567172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1227.096559995 meters 0.014637648154726015 Centerline is valid? [True, True] Translation: X:-379.50, Y:-244.40, Z:-1.79 [[-8.08984476e-01 5.87807424e-01 5.15268877e-03 -3.79496713e+02] [ 5.87794729e-01 8.09000880e-01 -3.86449750e-03 -2.44402178e+02] [-6.44011007e-03 -9.75951881e-05 -9.99979258e-01 -1.78553839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1227.126559995 meters 0.013859458228805788 Centerline is valid? [True, True] Translation: X:-379.10, Y:-243.87, Z:-2.80 [[-7.48056505e-01 -6.63620083e-01 4.45543655e-03 -3.79099349e+02] [ 6.63608770e-01 -7.48069771e-01 -3.87537812e-03 -2.43867050e+02] [ 5.90475615e-03 5.76649561e-05 9.99982565e-01 -2.79755416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1227.156559995 meters 0.013859458228805788 Centerline is valid? [True, True] Translation: X:-379.54, Y:-244.37, Z:-1.79 [[-8.10912684e-01 5.85147957e-01 4.74216783e-03 -3.79537248e+02] [ 5.85137313e-01 8.10926545e-01 -3.53040587e-03 -2.44373856e+02] [-5.91135956e-03 -8.80315546e-05 -9.99982524e-01 -1.78679302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1227.1865599950002 meters 0.013859458228805788 Centerline is valid? [True, True] Translation: X:-379.52, Y:-244.35, Z:-1.79 [[-8.50308803e-01 5.26260523e-01 4.98023350e-03 -3.79521199e+02] [ 5.26250887e-01 8.50323382e-01 -3.18576381e-03 -2.44351539e+02] [-5.91135073e-03 -8.80307144e-05 -9.99982524e-01 -1.78679311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1227.2165599950001 meters 0.014109482749942413 Centerline is valid? [True, True] Translation: X:-379.50, Y:-244.33, Z:-1.79 [[-8.85457801e-01 4.64692649e-01 5.02245994e-03 -3.79496660e+02] [ 4.64684623e-01 8.85472041e-01 -2.73244180e-03 -2.44332611e+02] [-5.71699347e-03 -8.56020005e-05 -9.99983654e-01 -1.78657809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1227.246559995 meters 0.014109482749942413 Centerline is valid? [True, True] Translation: X:-379.48, Y:-244.31, Z:-1.79 [[-9.16129654e-01 4.00848330e-01 5.20327111e-03 -3.79483474e+02] [ 4.00841333e-01 9.16144426e-01 -2.37006566e-03 -2.44308196e+02] [-5.71698469e-03 -8.56013004e-05 -9.99983654e-01 -1.78657818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1227.276559995 meters 0.014052526497054622 Centerline is valid? [True, True] Translation: X:-379.48, Y:-244.28, Z:-1.79 [[-9.42402216e-01 3.34435337e-01 5.57391950e-03 -3.79478187e+02] [ 3.34428908e-01 9.42418695e-01 -2.07567069e-03 -2.44280341e+02] [-5.94714358e-03 -9.20368501e-05 -9.99982312e-01 -1.78634406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1227.306559995 meters 0.014107654879963464 Centerline is valid? [True, True] Translation: X:-379.24, Y:-243.66, Z:-2.80 [[-9.05059128e-01 -4.25249910e-01 5.52175710e-03 -3.79239543e+02] [ 4.25242669e-01 -9.05075966e-01 -2.48355048e-03 -2.43660472e+02] [ 6.05373925e-03 1.00326699e-04 9.99981671e-01 -2.79823054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1227.336559995 meters 0.013857439498298015 Centerline is valid? [True, True] Translation: X:-379.52, Y:-244.27, Z:-1.79 [[-9.43652937e-01 3.30882044e-01 6.01733285e-03 -3.79519638e+02] [ 3.30874642e-01 9.43672116e-01 -2.21547650e-03 -2.44265639e+02] [-6.41145062e-03 -9.96580575e-05 -9.99979442e-01 -1.78582836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1227.366559995 meters 0.01426210257197356 Centerline is valid? [True, True] Translation: X:-379.28, Y:-243.65, Z:-2.80 [[-9.06732086e-01 -4.21656858e-01 6.51295035e-03 -3.79283684e+02] [ 4.21647194e-01 -9.06755464e-01 -2.85888487e-03 -2.43645591e+02] [ 7.11112172e-03 1.53924592e-04 9.99974704e-01 -2.79924520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1227.396559995 meters 0.014280739033683333 Centerline is valid? [True, True] Translation: X:-379.56, Y:-244.25, Z:-1.78 [[-9.44572448e-01 3.28235846e-01 6.64224827e-03 -3.79561139e+02] [ 3.28226957e-01 9.44595797e-01 -2.41786300e-03 -2.44250718e+02] [-7.06786910e-03 -1.03681837e-04 -9.99975017e-01 -1.78440708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1227.426559995 meters 0.013772501081508721 Centerline is valid? [True, True] Translation: X:-379.55, Y:-244.23, Z:-1.78 [[-9.65237568e-01 2.61277413e-01 7.10991626e-03 -3.79550623e+02] [ 2.61269545e-01 9.65263748e-01 -2.03032628e-03 -2.44226652e+02] [-7.39342282e-03 -1.02142616e-04 -9.99972663e-01 -1.78465881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1227.4565599950001 meters 0.01386658494600528 Centerline is valid? [True, True] Translation: X:-379.55, Y:-244.20, Z:-1.78 [[-9.81128187e-01 1.93223449e-01 7.22350957e-03 -3.79550972e+02] [ 1.93217506e-01 9.81154774e-01 -1.51834004e-03 -2.44198510e+02] [-7.38075980e-03 -9.39777095e-05 -9.99972758e-01 -1.78420375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1227.486559995 meters 0.013527214549996117 Centerline is valid? [True, True] Translation: X:-379.54, Y:-244.17, Z:-1.78 [[-9.92251269e-01 1.24036918e-01 7.22922930e-03 -3.79543403e+02] [ 1.24032994e-01 9.92277600e-01 -9.90293175e-04 -2.44173621e+02] [-7.29623521e-03 -8.59567029e-05 -9.99973379e-01 -1.78446489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1227.516559995 meters 0.01340482899253644 Centerline is valid? [True, True] Translation: X:-379.55, Y:-244.15, Z:-1.78 [[-9.98504552e-01 5.41631677e-02 7.41699455e-03 -3.79545211e+02] [ 5.41610706e-02 9.98532095e-01 -4.83468294e-04 -2.44146841e+02] [-7.43229328e-03 -8.10329274e-05 -9.99972377e-01 -1.78422261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1227.546559995 meters 0.013521441238676869 Centerline is valid? [True, True] Translation: X:-379.50, Y:-243.47, Z:-2.80 [[-9.89893815e-01 -1.41599015e-01 7.74302868e-03 -3.79497243e+02] [ 1.41595544e-01 -9.89924092e-01 -9.97439199e-04 -2.43474345e+02] [ 7.80624704e-03 1.09019465e-04 9.99969525e-01 -2.80067769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1227.576559995 meters 0.01324700038613458 Centerline is valid? [True, True] Translation: X:-379.61, Y:-244.15, Z:-1.78 [[-9.98665311e-01 5.10402535e-02 7.90505164e-03 -3.79607554e+02] [ 5.10380621e-02 9.98696594e-01 -4.78836726e-04 -2.44145713e+02] [-7.91918810e-03 -7.47391106e-05 -9.99968640e-01 -1.78419564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1227.606559995 meters 0.013185554659767394 Centerline is valid? [True, True] Translation: X:-379.61, Y:-244.12, Z:-1.78 [[-9.99775218e-01 -1.96412793e-02 7.98333868e-03 -3.79614310e+02] [-1.96412268e-02 9.99807089e-01 8.49847738e-05 -2.44118353e+02] [-7.98346781e-03 -7.18368949e-05 -9.99968129e-01 -1.78408272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1227.636559995 meters 0.013257853461247695 Centerline is valid? [True, True] Translation: X:-379.62, Y:-243.44, Z:-2.80 [[-9.97822091e-01 -6.54890958e-02 7.89005333e-03 -3.79615426e+02] [ 6.54875697e-02 -9.97853283e-01 -4.51900572e-04 -2.43439225e+02] [ 7.90271017e-03 6.57840438e-05 9.99968771e-01 -2.80016356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1227.666559995 meters 0.013241348582826516 Centerline is valid? [True, True] Translation: X:-379.69, Y:-244.12, Z:-1.78 [[-9.99654521e-01 -2.51517407e-02 7.63079888e-03 -3.79687281e+02] [-2.51515480e-02 9.99683643e-01 1.21236423e-04 -2.44118377e+02] [-7.63143413e-03 -7.07318653e-05 -9.99970878e-01 -1.78424838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1227.6965599950001 meters 0.013444993936701505 Centerline is valid? [True, True] Translation: X:-379.70, Y:-243.44, Z:-2.80 [[-9.98101268e-01 -6.11044714e-02 7.75262854e-03 -3.79695831e+02] [ 6.11032555e-02 -9.98131373e-01 -3.93821767e-04 -2.43441163e+02] [ 7.76220604e-03 8.06368375e-05 9.99969871e-01 -2.80019776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1227.7265599950001 meters 0.013350923712226865 Centerline is valid? [True, True] Translation: X:-379.77, Y:-244.12, Z:-1.78 [[-9.99483054e-01 -3.12001704e-02 7.75727291e-03 -3.79767324e+02] [-3.11998482e-02 9.99513153e-01 1.62580649e-04 -2.44118897e+02] [-7.75856885e-03 -7.95291336e-05 -9.99969899e-01 -1.78460283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1227.756559995 meters 0.013318697583482595 Centerline is valid? [True, True] Translation: X:-379.77, Y:-244.09, Z:-1.78 [[-9.94700273e-01 -1.02530449e-01 7.67294258e-03 -3.79773276e+02] [-1.02528027e-01 9.94729863e-01 7.09455375e-04 -2.44091449e+02] [-7.70524590e-03 -8.09962059e-05 -9.99970311e-01 -1.78487922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1227.786559995 meters 0.013297068894948872 Centerline is valid? [True, True] Translation: X:-379.78, Y:-244.06, Z:-1.79 [[-9.84863473e-01 -1.73174146e-01 7.39287890e-03 -3.79781855e+02] [-1.73169864e-01 9.84891217e-01 1.22032647e-03 -2.44064659e+02] [-7.49251049e-03 -7.83688712e-05 -9.99971928e-01 -1.78521016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1227.816559995 meters 0.013297068894948872 Centerline is valid? [True, True] Translation: X:-379.90, Y:-243.40, Z:-2.80 [[-9.96301621e-01 8.56021411e-02 7.43999973e-03 -3.79898406e+02] [-8.55991775e-02 -9.96329397e-01 7.16449130e-04 -2.43397952e+02] [ 7.47402003e-03 7.69415718e-05 9.99972066e-01 -2.79915113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1227.846559995 meters 0.01342138331978465 Centerline is valid? [True, True] Translation: X:-379.89, Y:-244.08, Z:-1.78 [[-9.83859358e-01 -1.78772273e-01 7.82546655e-03 -3.79894586e+02] [-1.78767255e-01 9.83890476e-01 1.34177155e-03 -2.44081786e+02] [-7.93927356e-03 -7.88226846e-05 -9.99968481e-01 -1.78485493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1227.876559995 meters 0.013274266529987382 Centerline is valid? [True, True] Translation: X:-379.92, Y:-244.06, Z:-1.79 [[-9.68605751e-01 -2.48475610e-01 7.92277364e-03 -3.79918922e+02] [-2.48467946e-01 9.68638150e-01 1.95316366e-03 -2.44059141e+02] [-8.15961433e-03 -7.67097379e-05 -9.99966707e-01 -1.78529444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1227.906559995 meters 0.013264544565952923 Centerline is valid? [True, True] Translation: X:-379.96, Y:-244.04, Z:-1.78 [[-9.48264035e-01 -3.17370596e-01 8.43945851e-03 -3.79959201e+02] [-3.17358770e-01 9.48301587e-01 2.74085265e-03 -2.44041753e+02] [-8.87301794e-03 -7.92841760e-05 -9.99960631e-01 -1.78496296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1227.9365599950002 meters 0.013123280909139504 Centerline is valid? [True, True] Translation: X:-380.02, Y:-244.04, Z:-1.78 [[-9.22680448e-01 -3.85468348e-01 8.65698678e-03 -3.80021962e+02] [-3.85452180e-01 9.22721056e-01 3.53133287e-03 -2.44035574e+02] [-9.34920103e-03 -7.85626255e-05 -9.99956292e-01 -1.78471934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1227.9665599950001 meters 0.01309989367719195 Centerline is valid? [True, True] Translation: X:-380.08, Y:-244.03, Z:-1.78 [[-8.92232443e-01 -4.51470547e-01 9.77817676e-03 -3.80081202e+02] [-4.51444350e-01 8.92286019e-01 4.86411944e-03 -2.44032848e+02] [-1.09209371e-02 -7.43774783e-05 -9.99940362e-01 -1.78348013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1227.996559995 meters 0.013093406834824597 Centerline is valid? [True, True] Translation: X:-380.16, Y:-244.04, Z:-1.78 [[-8.56687103e-01 -5.15736998e-01 1.01270277e-02 -3.80157883e+02] [-5.15701916e-01 8.56746955e-01 6.01575677e-03 -2.44043565e+02] [-1.17788485e-02 -6.89063689e-05 -9.99930625e-01 -1.78280692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1228.026559995 meters 0.012992604834637468 Centerline is valid? [True, True] Translation: X:-380.24, Y:-244.06, Z:-1.78 [[-8.16276506e-01 -5.77574856e-01 9.99756632e-03 -3.80238114e+02] [-5.77532421e-01 8.16337726e-01 7.00145788e-03 -2.44062851e+02] [-1.22052566e-02 -5.87931083e-05 -9.99925512e-01 -1.78221907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1228.056559995 meters 0.0131253639687461 Centerline is valid? [True, True] Translation: X:-380.32, Y:-244.09, Z:-1.78 [[-7.71262765e-01 -6.36445926e-01 9.50423535e-03 -3.80324424e+02] [-6.36398336e-01 7.71321322e-01 7.78310269e-03 -2.44094023e+02] [-1.22843434e-02 -4.56622532e-05 -9.99924544e-01 -1.78120878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1228.086559995 meters 0.013011887232771443 Centerline is valid? [True, True] Translation: X:-380.41, Y:-244.13, Z:-1.78 [[-7.21727086e-01 -6.92117707e-01 9.11552816e-03 -3.80408983e+02] [-6.92063084e-01 7.21784648e-01 8.69537127e-03 -2.44133172e+02] [-1.25976687e-02 -3.28355687e-05 -9.99920646e-01 -1.78177669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1228.116559995 meters 0.01303290536308171 Centerline is valid? [True, True] Translation: X:-380.49, Y:-244.18, Z:-1.78 [[-6.68807437e-01 -7.43389865e-01 8.25348123e-03 -3.80492354e+02] [-7.43333419e-01 6.68858362e-01 9.16080659e-03 -2.44181068e+02] [-1.23304607e-02 -8.27284290e-06 -9.99923977e-01 -1.78185703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1228.146559995 meters 0.01303890647149875 Centerline is valid? [True, True] Translation: X:-380.58, Y:-244.24, Z:-1.78 [[-6.11008581e-01 -7.91590820e-01 7.24489001e-03 -3.80579252e+02] [-7.91535152e-01 6.11051532e-01 9.38769935e-03 -2.44241997e+02] [-1.18582178e-02 1.37973961e-06 -9.99929689e-01 -1.78213489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1228.176559995 meters 0.012935950030549235 Centerline is valid? [True, True] Translation: X:-380.66, Y:-244.31, Z:-1.78 [[-5.49208203e-01 -8.35661723e-01 6.31145722e-03 -3.80661530e+02] [-8.35606429e-01 5.49244467e-01 9.61304798e-03 -2.44309753e+02] [-1.14997892e-02 5.67056927e-06 -9.99933875e-01 -1.78281090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1228.2065599950001 meters 0.01298074485691399 Centerline is valid? [True, True] Translation: X:-380.74, Y:-244.39, Z:-1.78 [[-4.83844306e-01 -8.75137084e-01 5.45627009e-03 -3.80740262e+02] [-8.75081303e-01 4.83875070e-01 9.88074193e-03 -2.44386985e+02] [-1.12871568e-02 6.06079029e-06 -9.99936298e-01 -1.78331967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1228.236559995 meters 0.01300248771621862 Centerline is valid? [True, True] Translation: X:-380.82, Y:-244.48, Z:-1.78 [[-4.14117511e-01 -9.10212608e-01 4.43806496e-03 -3.80816670e+02] [-9.10160606e-01 4.14141291e-01 9.72944463e-03 -2.44475329e+02] [-1.06938491e-02 -1.02185037e-05 -9.99942819e-01 -1.78272118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1228.266559995 meters 0.012935121678627749 Centerline is valid? [True, True] Translation: X:-380.89, Y:-244.57, Z:-1.78 [[-3.41907838e-01 -9.39726539e-01 3.61426632e-03 -3.80885750e+02] [-9.39674777e-01 3.41926940e-01 9.86311330e-03 -2.44568224e+02] [-1.05044443e-02 -2.39591567e-05 -9.99944827e-01 -1.78384071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1228.296559995 meters 0.012992062833189402 Centerline is valid? [True, True] Translation: X:-380.95, Y:-244.67, Z:-1.78 [[-2.67396934e-01 -9.63582256e-01 2.84871983e-03 -3.80947835e+02] [-9.63529136e-01 2.67412105e-01 1.01177951e-02 -2.44666169e+02] [-1.05111100e-02 -3.93571604e-05 -9.99944756e-01 -1.78410688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1228.326559995 meters 0.01304018757411243 Centerline is valid? [True, True] Translation: X:-381.00, Y:-244.77, Z:-1.78 [[-1.90966731e-01 -9.81594517e-01 1.97812478e-03 -3.81002993e+02] [-9.81544755e-01 1.90976968e-01 9.88387952e-03 -2.44771051e+02] [-1.00797382e-02 -5.41258505e-05 -9.99949197e-01 -1.78431478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1228.356559995 meters 0.01316122946527723 Centerline is valid? [True, True] Translation: X:-381.05, Y:-244.89, Z:-1.78 [[-1.11846066e-01 -9.93724925e-01 1.10997776e-03 -3.81054057e+02] [-9.93682760e-01 1.11851546e-01 9.15443889e-03 -2.44886743e+02] [-9.22114682e-03 -7.90777837e-05 -9.99957481e-01 -1.78375141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1228.386559995 meters 0.013537006546892045 Centerline is valid? [True, True] Translation: X:-381.09, Y:-245.00, Z:-1.78 [[-3.34597877e-02 -9.99439976e-01 4.21384883e-04 -3.81093745e+02] [-9.99393622e-01 3.34622944e-02 9.62620138e-03 -2.44996158e+02] [-9.63491097e-03 -9.90387106e-05 -9.99953578e-01 -1.78270053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1228.416559995 meters 0.014007486325363288 Centerline is valid? [True, True] Translation: X:-381.12, Y:-245.12, Z:-1.78 [[ 4.49866402e-02 -9.98987535e-01 -3.26322954e-04 -3.81124914e+02] [-9.98938620e-01 -4.49876669e-02 9.88656505e-03 -2.45115885e+02] [-9.89123576e-03 -1.18786744e-04 -9.99951074e-01 -1.78170667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1228.4465599950001 meters 0.013841266132392954 Centerline is valid? [True, True] Translation: X:-381.15, Y:-245.23, Z:-1.78 [[ 1.23509140e-01 -9.92342819e-01 -1.10563879e-03 -3.81145044e+02] [-9.92292318e-01 -1.23514010e-01 1.00122548e-02 -2.45228808e+02] [-1.00721510e-02 -1.39488103e-04 -9.99949265e-01 -1.78197626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1228.4765599950001 meters 0.01451472874569688 Centerline is valid? [True, True] Translation: X:-381.16, Y:-245.35, Z:-1.78 [[ 2.02174019e-01 -9.79347546e-01 -2.01238757e-03 -3.81158462e+02] [-9.79289723e-01 -2.02183953e-01 1.06436701e-02 -2.45346367e+02] [-1.08307247e-02 -1.81163093e-04 -9.99941330e-01 -1.78133657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1228.506559995 meters 0.014867288169233902 Centerline is valid? [True, True] Translation: X:-381.78, Y:-245.58, Z:-2.80 [[ 1.00991702e-01 9.94886475e-01 -1.25662197e-03 -3.81783358e+02] [-9.94829330e-01 1.00999372e-01 1.06644712e-02 -2.45581754e+02] [ 1.07368562e-02 1.73101297e-04 9.99942344e-01 -2.80298159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1228.536559995 meters 0.014917938703637446 Centerline is valid? [True, True] Translation: X:-381.11, Y:-245.62, Z:-1.78 [[ 2.13117451e-01 -9.77024501e-01 -2.01927708e-03 -3.81111333e+02] [-9.76971756e-01 -2.13126932e-01 1.01537469e-02 -2.45620100e+02] [-1.03508218e-02 -1.91163986e-04 -9.99946411e-01 -1.78136013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1228.566559995 meters 0.014606935093729661 Centerline is valid? [True, True] Translation: X:-381.11, Y:-245.74, Z:-1.78 [[ 2.87749139e-01 -9.57701491e-01 -2.87869367e-03 -3.81111649e+02] [-9.57646394e-01 -2.87763469e-01 1.02747105e-02 -2.45736941e+02] [-1.06684885e-02 -1.99768497e-04 -9.99943070e-01 -1.78169391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1228.596559995 meters 0.014638653452219838 Centerline is valid? [True, True] Translation: X:-381.10, Y:-245.85, Z:-1.78 [[ 3.59601003e-01 -9.33098072e-01 -3.88688667e-03 -3.81103494e+02] [-9.33037340e-01 -3.59621951e-01 1.06477198e-02 -2.45854560e+02] [-1.13331766e-02 -2.02320326e-04 -9.99935757e-01 -1.78045089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1228.626559995 meters 0.014253022732700384 Centerline is valid? [True, True] Translation: X:-381.08, Y:-245.97, Z:-1.78 [[ 4.29357652e-01 -9.03122694e-01 -4.62676786e-03 -3.81084956e+02] [-9.03065406e-01 -4.29382538e-01 1.01739298e-02 -2.45970652e+02] [-1.11749602e-02 -1.89980623e-04 -9.99937540e-01 -1.78049676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1228.656559995 meters 0.014372289832614588 Centerline is valid? [True, True] Translation: X:-381.06, Y:-246.09, Z:-1.78 [[ 4.96574663e-01 -8.67978555e-01 -5.17996546e-03 -3.81057913e+02] [-8.67927616e-01 -4.96601648e-01 9.40513412e-03 -2.46085858e+02] [-1.07358341e-02 -1.74516230e-04 -9.99942354e-01 -1.78019321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1228.6865599950002 meters 0.014622351161840096 Centerline is valid? [True, True] Translation: X:-381.03, Y:-246.19, Z:-1.78 [[ 5.60858093e-01 -8.27893686e-01 -5.49945654e-03 -3.81029264e+02] [-8.27851138e-01 -5.60885033e-01 8.39479239e-03 -2.46186366e+02] [-1.00345585e-02 -1.55555891e-04 -9.99949641e-01 -1.78009994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1228.7165599950001 meters 0.014209868686034697 Centerline is valid? [True, True] Translation: X:-380.99, Y:-246.29, Z:-1.78 [[ 6.21542770e-01 -7.83359311e-01 -5.72491000e-03 -3.80986973e+02] [-7.83324075e-01 -6.21569121e-01 7.43117517e-03 -2.46290628e+02] [-9.37970754e-03 -1.34333370e-04 -9.99956001e-01 -1.78074081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1228.746559995 meters 0.013703352133372738 Centerline is valid? [True, True] Translation: X:-380.94, Y:-246.39, Z:-1.78 [[ 6.77427984e-01 -7.35568601e-01 -5.49186820e-03 -3.80938083e+02] [-7.35543292e-01 -6.77450238e-01 6.10251236e-03 -2.46387494e+02] [-8.20928390e-03 -9.45058298e-05 -9.99966299e-01 -1.78190319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1228.776559995 meters 0.013363552018906367 Centerline is valid? [True, True] Translation: X:-380.89, Y:-246.48, Z:-1.78 [[ 7.30348824e-01 -6.83051380e-01 -5.60428717e-03 -3.80888814e+02] [-6.83030462e-01 -7.30370321e-01 5.34618482e-03 -2.46476185e+02] [-7.74492394e-03 -7.66809324e-05 -9.99970005e-01 -1.78206301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1228.806559995 meters 0.013313620981527352 Centerline is valid? [True, True] Translation: X:-380.89, Y:-246.48, Z:-1.78 [[ 7.80637291e-01 -6.24959987e-01 -5.51682745e-03 -3.80886951e+02] [-6.24943830e-01 -7.80656782e-01 4.49424264e-03 -2.46479790e+02] [-7.11547059e-03 -6.06661271e-05 -9.99974683e-01 -1.78155100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1228.836559995 meters 0.012940071745670129 Centerline is valid? [True, True] Translation: X:-380.88, Y:-246.48, Z:-1.78 [[ 8.26388960e-01 -5.63074411e-01 -5.33800551e-03 -3.80884200e+02] [-5.63062293e-01 -8.26406199e-01 3.69439115e-03 -2.46484212e+02] [-6.49157797e-03 -4.73744310e-05 -9.99978929e-01 -1.78194584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1228.866559995 meters 0.012687324854263432 Centerline is valid? [True, True] Translation: X:-380.88, Y:-246.49, Z:-1.78 [[ 8.67378802e-01 -4.97621009e-01 -5.22932360e-03 -3.80883997e+02] [-4.97611701e-01 -8.67394564e-01 3.04393308e-03 -2.46491014e+02] [-6.05061191e-03 -3.80704189e-05 -9.99981694e-01 -1.78289367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1228.896559995 meters 0.012548147511313203 Centerline is valid? [True, True] Translation: X:-380.88, Y:-246.50, Z:-1.78 [[ 9.03218408e-01 -4.29149419e-01 -5.22351241e-03 -3.80883954e+02] [-4.29142042e-01 -9.03233511e-01 2.51646673e-03 -2.46499284e+02] [-5.79799169e-03 -3.12902951e-05 -9.99983191e-01 -1.78357802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1228.926559995 meters 0.012549218749475885 Centerline is valid? [True, True] Translation: X:-380.88, Y:-246.51, Z:-1.78 [[ 9.33883354e-01 -3.57548979e-01 -4.53979291e-03 -3.80884162e+02] [-3.57544625e-01 -9.33894388e-01 1.76452745e-03 -2.46506725e+02] [-4.87059211e-03 -2.46842533e-05 -9.99988139e-01 -1.78393824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1228.9565599950001 meters 0.012593711444905918 Centerline is valid? [True, True] Translation: X:-380.88, Y:-246.51, Z:-1.78 [[ 9.59072561e-01 -2.83126028e-01 -4.41312639e-03 -3.80883005e+02] [-2.83122913e-01 -9.59082714e-01 1.32852504e-03 -2.46514242e+02] [-4.60869325e-03 -2.46947117e-05 -9.99989380e-01 -1.78431632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1228.986559995 meters 0.012689960473272775 Centerline is valid? [True, True] Translation: X:-380.88, Y:-246.52, Z:-1.78 [[ 9.78432573e-01 -2.06517128e-01 -4.51392984e-03 -3.80881825e+02] [-2.06514797e-01 -9.78442985e-01 9.81627858e-04 -2.46522292e+02] [-4.61934595e-03 -2.82633670e-05 -9.99989331e-01 -1.78397889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1229.016559995 meters 0.012981462408936025 Centerline is valid? [True, True] Translation: X:-380.88, Y:-246.53, Z:-1.78 [[ 9.91865331e-01 -1.27213846e-01 -4.45006770e-03 -3.80879770e+02] [-1.27212397e-01 -9.91875313e-01 6.08350001e-04 -2.46531817e+02] [-4.49130284e-03 -3.72974963e-05 -9.99989914e-01 -1.78357183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1229.046559995 meters 0.013296409295434422 Centerline is valid? [True, True] Translation: X:-380.88, Y:-246.54, Z:-1.78 [[ 9.98848294e-01 -4.78151686e-02 -3.97446153e-03 -3.80880903e+02] [-4.78146365e-02 -9.98856200e-01 2.28838365e-04 -2.46540317e+02] [-3.98085749e-03 -3.85373773e-05 -9.99992076e-01 -1.78348566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1229.076559995 meters 0.013089024305898008 Centerline is valid? [True, True] Translation: X:-380.88, Y:-246.55, Z:-1.78 [[ 9.99479056e-01 3.20343905e-02 -3.92620751e-03 -3.80880966e+02] [ 3.20343159e-02 -9.99486766e-01 -8.18950052e-05 -2.46548432e+02] [-3.92681591e-03 -4.39210292e-05 -9.99992289e-01 -1.78417662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1229.106559995 meters 0.01321624442832354 Centerline is valid? [True, True] Translation: X:-380.88, Y:-246.56, Z:-1.78 [[ 9.93761313e-01 1.11458372e-01 -3.93491096e-03 -3.80879862e+02] [ 1.11457695e-01 -9.93769102e-01 -3.91846888e-04 -2.46558648e+02] [-3.95406755e-03 -4.91738254e-05 -9.99992182e-01 -1.78455797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1229.136559995 meters 0.013626541684273472 Centerline is valid? [True, True] Translation: X:-380.88, Y:-246.57, Z:-1.78 [[ 9.81654538e-01 1.90621135e-01 -4.23686451e-03 -3.80878452e+02] [ 1.90619627e-01 -9.81663679e-01 -7.60554843e-04 -2.46569160e+02] [-4.30415383e-03 -6.10274201e-05 -9.99990735e-01 -1.78398824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1229.166559995 meters 0.013998241908969311 Centerline is valid? [True, True] Translation: X:-380.88, Y:-246.58, Z:-1.78 [[ 9.63518526e-01 2.67601586e-01 -4.63047983e-03 -3.80876274e+02] [ 2.67598851e-01 -9.63529650e-01 -1.21195770e-03 -2.46577350e+02] [-4.78592641e-03 -7.13673812e-05 -9.99988545e-01 -1.78346257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1229.1965599950001 meters 0.014030216662602929 Centerline is valid? [True, True] Translation: X:-380.87, Y:-246.58, Z:-1.78 [[ 9.39506083e-01 3.42499092e-01 -4.76364298e-03 -3.80874014e+02] [ 3.42495104e-01 -9.39518156e-01 -1.65476431e-03 -2.46582920e+02] [-5.04228434e-03 -7.68632593e-05 -9.99987285e-01 -1.78306772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1229.2265599950001 meters 0.014155868894200856 Centerline is valid? [True, True] Translation: X:-380.87, Y:-246.59, Z:-1.78 [[ 9.09778484e-01 4.15062763e-01 -5.10033930e-03 -3.80871130e+02] [ 4.15056765e-01 -9.09792776e-01 -2.23303584e-03 -2.46588243e+02] [-5.56710187e-03 -8.53623699e-05 -9.99984500e-01 -1.78266080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1229.256559995 meters 0.0145175312957054 Centerline is valid? [True, True] Translation: X:-380.87, Y:-246.59, Z:-1.78 [[ 8.74475476e-01 4.85041096e-01 -5.27043715e-03 -3.80869440e+02] [ 4.85032918e-01 -8.74491354e-01 -2.81810791e-03 -2.46592638e+02] [-5.97584987e-03 -9.19692529e-05 -9.99982140e-01 -1.78208793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1229.286559995 meters 0.015130264258893356 Centerline is valid? [True, True] Translation: X:-380.87, Y:-246.60, Z:-1.78 [[ 8.33711689e-01 5.52170985e-01 -5.65893855e-03 -3.80868483e+02] [ 5.52159112e-01 -8.33730888e-01 -3.62252761e-03 -2.46595462e+02] [-6.71828650e-03 -1.04490876e-04 -9.99977427e-01 -1.78138294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1229.316559995 meters 0.015606122708550666 Centerline is valid? [True, True] Translation: X:-380.87, Y:-246.60, Z:-1.78 [[ 7.87993023e-01 6.15662227e-01 -5.19790749e-03 -3.80866465e+02] [ 6.15649670e-01 -7.88010160e-01 -3.93330409e-03 -2.46597192e+02] [-6.51759067e-03 -1.00673851e-04 -9.99978755e-01 -1.78123566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1229.346559995 meters 0.015204197614322776 Centerline is valid? [True, True] Translation: X:-380.86, Y:-246.60, Z:-1.78 [[ 7.37438927e-01 6.75397095e-01 -4.75320799e-03 -3.80862310e+02] [ 6.75383911e-01 -7.37454239e-01 -4.22116770e-03 -2.46600607e+02] [-6.35623778e-03 -9.73868205e-05 -9.99979794e-01 -1.78219851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1229.376559995 meters 0.01565454046922494 Centerline is valid? [True, True] Translation: X:-380.86, Y:-246.61, Z:-1.78 [[ 6.82551908e-01 7.30825678e-01 -4.08918538e-03 -3.80858287e+02] [ 7.30813333e-01 -6.82564151e-01 -4.24877645e-03 -2.46606169e+02] [-5.89624628e-03 -8.84207267e-05 -9.99982613e-01 -1.78229991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1229.406559995 meters 0.015935829973937287 Centerline is valid? [True, True] Translation: X:-380.85, Y:-246.61, Z:-1.78 [[ 6.23917188e-01 7.81484669e-01 -3.00930659e-03 -3.80854203e+02] [ 7.81476094e-01 -6.23924441e-01 -3.66151942e-03 -2.46610623e+02] [-4.73900123e-03 -6.72162618e-05 -9.99988769e-01 -1.78309655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1229.4365599950002 meters 0.015536946407294427 Centerline is valid? [True, True] Translation: X:-380.85, Y:-246.61, Z:-1.78 [[ 5.61108256e-01 8.27739350e-01 -2.25697443e-03 -3.80852071e+02] [ 8.27733042e-01 -5.61112792e-01 -3.23214082e-03 -2.46612058e+02] [-3.94178736e-03 -5.45914106e-05 -9.99992230e-01 -1.78391072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1229.4665599950001 meters 0.015096476518567981 Centerline is valid? [True, True] Translation: X:-380.85, Y:-246.62, Z:-1.78 [[ 4.94440355e-01 8.69210015e-01 -1.63867380e-03 -3.80846502e+02] [ 8.69205542e-01 -4.94443068e-01 -2.78902480e-03 -2.46615886e+02] [-3.23447919e-03 -4.53379360e-05 -9.99994768e-01 -1.78461699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1229.496559995 meters 0.01545987967815873 Centerline is valid? [True, True] Translation: X:-380.84, Y:-246.62, Z:-1.78 [[ 4.24465639e-01 9.05442980e-01 -1.38972226e-03 -3.80839761e+02] [ 9.05438476e-01 -4.24467912e-01 -2.85630578e-03 -2.46621002e+02] [-3.17611452e-03 -4.59043472e-05 -9.99994955e-01 -1.78477162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1229.526559995 meters 0.015991859833398656 Centerline is valid? [True, True] Translation: X:-380.83, Y:-246.63, Z:-1.78 [[ 3.50885594e-01 9.36417559e-01 -1.20658262e-03 -3.80832293e+02] [ 9.36412526e-01 -3.50887665e-01 -3.07064208e-03 -2.46625655e+02] [-3.29877812e-03 -5.24150034e-05 -9.99994558e-01 -1.78434694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1229.556559995 meters 0.016486139815414403 Centerline is valid? [True, True] Translation: X:-380.83, Y:-246.63, Z:-1.78 [[ 2.75065967e-01 9.61424761e-01 -1.06866226e-03 -3.80828626e+02] [ 9.61418377e-01 -2.75068036e-01 -3.50424565e-03 -2.46628678e+02] [-3.66302337e-03 -6.35328146e-05 -9.99993289e-01 -1.78388319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1229.586559995 meters 0.01591077139732083 Centerline is valid? [True, True] Translation: X:-380.82, Y:-246.63, Z:-1.78 [[ 1.97581386e-01 9.80286029e-01 -9.47422375e-04 -3.80820864e+02] [ 9.80276666e-01 -1.97583640e-01 -4.28526140e-03 -2.46630777e+02] [-4.38797704e-03 -8.20481614e-05 -9.99990370e-01 -1.78369202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1229.616559995 meters 0.01626089932712068 Centerline is valid? [True, True] Translation: X:-380.81, Y:-246.63, Z:-1.78 [[ 1.19056804e-01 9.92887205e-01 -6.89855432e-04 -3.80811394e+02] [ 9.92874999e-01 -1.19058762e-01 -4.92419256e-03 -2.46632350e+02] [-4.97130112e-03 -9.86815843e-05 -9.99987638e-01 -1.78295403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1229.646559995 meters 0.016553164321715243 Centerline is valid? [True, True] Translation: X:-380.80, Y:-246.63, Z:-1.78 [[ 3.95239615e-02 9.99218556e-01 -3.66215303e-04 -3.80802357e+02] [ 9.99200411e-01 -3.95254513e-02 -6.02315275e-03 -2.46633558e+02] [-6.03292082e-03 -1.27863624e-04 -9.99981794e-01 -1.78247308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1229.676559995 meters 0.016394997011520127 Centerline is valid? [True, True] Translation: X:-380.79, Y:-246.63, Z:-1.78 [[-3.99755983e-02 9.99200646e-01 1.42587682e-04 -3.80791551e+02] [ 9.99168098e-01 3.99754473e-02 -8.06697001e-03 -2.46633403e+02] [-8.06622165e-03 -1.80012890e-04 -9.99967452e-01 -1.78160906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1229.7065599950001 meters 0.016276659345738128 Centerline is valid? [True, True] Translation: X:-380.78, Y:-246.63, Z:-1.78 [[-1.17915066e-01 9.93023302e-01 8.70778190e-04 -3.80782011e+02] [ 9.92982218e-01 1.17918111e-01 -9.03512155e-03 -2.46632092e+02] [-9.07476676e-03 -2.00709698e-04 -9.99958804e-01 -1.78118725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1229.736559995 meters 0.016276659345738128 Centerline is valid? [True, True] Translation: X:-380.77, Y:-246.63, Z:-1.78 [[-1.95299579e-01 9.80742368e-01 1.57551676e-03 -3.80773168e+02] [ 9.80701649e-01 1.95305831e-01 -8.93918683e-03 -2.46631046e+02] [-9.07474687e-03 -2.00707541e-04 -9.99958804e-01 -1.78118743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1229.766559995 meters 0.016938655059347312 Centerline is valid? [True, True] Translation: X:-380.76, Y:-246.63, Z:-1.78 [[-2.70774523e-01 9.62639766e-01 2.41659953e-03 -3.80763447e+02] [ 9.62594354e-01 2.70785228e-01 -9.35254825e-03 -2.46629456e+02] [-9.65751431e-03 -2.06226719e-04 -9.99953344e-01 -1.78044469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1229.796559995 meters 0.016159839905049274 Centerline is valid? [True, True] Translation: X:-380.76, Y:-246.63, Z:-1.78 [[-3.44204898e-01 9.38889310e-01 3.13888232e-03 -3.80758309e+02] [ 9.38844979e-01 3.44219155e-01 -9.12571318e-03 -2.46628283e+02] [-9.64849797e-03 -1.94191266e-04 -9.99953434e-01 -1.78110841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1229.826559995 meters 0.015708495730425227 Centerline is valid? [True, True] Translation: X:-380.75, Y:-246.63, Z:-1.78 [[-4.12986259e-01 9.10728228e-01 4.05532262e-03 -3.80753611e+02] [ 9.10680362e-01 4.13006137e-01 -9.33861221e-03 -2.46628116e+02] [-1.01798109e-02 -1.63615850e-04 -9.99948171e-01 -1.78080466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1229.856559995 meters 0.015216663720824041 Centerline is valid? [True, True] Translation: X:-380.75, Y:-246.63, Z:-1.78 [[-4.80938936e-01 8.76740740e-01 4.83901122e-03 -3.80753170e+02] [ 8.76693377e-01 4.80963259e-01 -9.11407940e-03 -2.46629233e+02] [-1.03180713e-02 -1.40986561e-04 -9.99946758e-01 -1.78096567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1229.886559995 meters 0.014574891051657463 Centerline is valid? [True, True] Translation: X:-380.75, Y:-246.63, Z:-1.78 [[-5.45719563e-01 8.37950867e-01 5.33883730e-03 -3.80754414e+02] [ 8.37908828e-01 5.45745667e-01 -8.39420688e-03 -2.46630815e+02] [-9.94758026e-03 -1.07423996e-04 -9.99950516e-01 -1.78127906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1229.916559995 meters 0.01403866823747478 Centerline is valid? [True, True] Translation: X:-380.76, Y:-246.63, Z:-1.78 [[-6.07366825e-01 7.94399803e-01 5.87307330e-03 -3.80755469e+02] [ 7.94361440e-01 6.07395215e-01 -7.80737382e-03 -2.46634420e+02] [-9.76945284e-03 -7.65968784e-05 -9.99952275e-01 -1.78169888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1229.9465599950001 meters 0.013248460633575935 Centerline is valid? [True, True] Translation: X:-380.76, Y:-246.64, Z:-1.78 [[-6.63030889e-01 7.48566481e-01 6.18579670e-03 -3.80756853e+02] [ 7.48533696e-01 6.63059744e-01 -7.00587778e-03 -2.46636324e+02] [-9.34591805e-03 -1.48361060e-05 -9.99956326e-01 -1.78390310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1229.9765599950001 meters 0.013117132552110273 Centerline is valid? [True, True] Translation: X:-380.75, Y:-246.63, Z:-1.79 [[-7.17764897e-01 6.96255680e-01 6.44838651e-03 -3.80751489e+02] [ 6.96227704e-01 7.17793862e-01 -6.24148080e-03 -2.46632095e+02] [-8.97427871e-03 9.62950929e-06 -9.99959731e-01 -1.78522680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1230.006559995 meters 0.01325777092770576 Centerline is valid? [True, True] Translation: X:-380.73, Y:-246.62, Z:-1.79 [[-7.63683351e-01 6.45552914e-01 7.01241127e-03 -3.80731171e+02] [ 6.45526089e-01 7.63715545e-01 -5.88514726e-03 -2.46615051e+02] [-9.15466146e-03 3.23054354e-05 -9.99958095e-01 -1.78551841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1230.036559995 meters 0.01346078398316434 Centerline is valid? [True, True] Translation: X:-380.71, Y:-246.60, Z:-1.78 [[-8.06220776e-01 5.91567529e-01 7.47786915e-03 -3.80713506e+02] [ 5.91542678e-01 8.06255453e-01 -5.42254971e-03 -2.46595337e+02] [-9.23687712e-03 5.17065111e-05 -9.99957338e-01 -1.78496241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1230.066559995 meters 0.013548291000435784 Centerline is valid? [True, True] Translation: X:-380.70, Y:-246.57, Z:-1.79 [[-8.45079881e-01 5.34576765e-01 8.22658101e-03 -3.80700601e+02] [ 5.34552268e-01 8.45119919e-01 -5.11825778e-03 -2.46571354e+02] [-9.68854916e-03 7.22008567e-05 -9.99953063e-01 -1.78508275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1230.096559995 meters 0.01387701607658135 Centerline is valid? [True, True] Translation: X:-380.68, Y:-246.55, Z:-1.78 [[-8.79734126e-01 4.75367855e-01 9.65766391e-03 -3.80683159e+02] [ 4.75340536e-01 8.79787128e-01 -5.09741869e-03 -2.46549449e+02] [-1.09198374e-02 1.06305965e-04 -9.99940371e-01 -1.78361755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1230.126559995 meters 0.013800809126888459 Centerline is valid? [True, True] Translation: X:-380.36, Y:-245.95, Z:-2.80 [[-8.56070033e-01 -5.16769753e-01 9.64990718e-03 -3.80358652e+02] [ 5.16735795e-01 -8.56124416e-01 -5.92478378e-03 -2.45947127e+02] [ 1.13232702e-02 -8.55773877e-05 9.99935886e-01 -2.80135024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1230.156559995 meters 0.01389699911623663 Centerline is valid? [True, True] Translation: X:-380.72, Y:-246.53, Z:-1.78 [[-8.81448213e-01 4.72153182e-01 1.09736229e-02 -3.80720414e+02] [ 4.72118303e-01 8.81516511e-01 -5.74020284e-03 -2.46529926e+02] [-1.23836848e-02 1.21156680e-04 -9.99923312e-01 -1.78227900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1230.1865599950002 meters 0.013712377901159045 Centerline is valid? [True, True] Translation: X:-380.71, Y:-246.50, Z:-1.78 [[-9.12844296e-01 4.08133957e-01 1.19148487e-02 -3.80709568e+02] [ 4.08100926e-01 9.12922044e-01 -5.19384477e-03 -2.46502784e+02] [-1.29971124e-02 1.21289188e-04 -9.99915527e-01 -1.78200628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1230.2165599950001 meters 0.013604871938636874 Centerline is valid? [True, True] Translation: X:-380.44, Y:-245.88, Z:-2.80 [[-8.91159248e-01 -4.53514436e-01 1.26432145e-02 -3.80436325e+02] [ 4.53467919e-01 -8.91248929e-01 -6.49560154e-03 -2.45881520e+02] [ 1.42141004e-02 -5.53232311e-05 9.99898973e-01 -2.80388152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1230.246559995 meters 0.01351176291524126 Centerline is valid? [True, True] Translation: X:-380.75, Y:-246.48, Z:-1.78 [[-9.15387408e-01 4.02355922e-01 1.32516431e-02 -3.80753991e+02] [ 4.02315288e-01 9.15483317e-01 -5.71896831e-03 -2.46480921e+02] [-1.44327190e-02 9.62670446e-05 -9.99895838e-01 -1.78052852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1230.276559995 meters 0.013380783598615976 Centerline is valid? [True, True] Translation: X:-380.48, Y:-245.86, Z:-2.80 [[-8.91812479e-01 -4.52207488e-01 1.33750115e-02 -3.80483464e+02] [ 4.52155585e-01 -8.91912767e-01 -6.85149071e-03 -2.45864205e+02] [ 1.50276389e-02 -6.26587750e-05 9.99887077e-01 -2.80413657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1230.306559995 meters 0.013292498133968204 Centerline is valid? [True, True] Translation: X:-380.80, Y:-246.46, Z:-1.78 [[-9.17812416e-01 3.96779167e-01 1.36624088e-02 -3.80798479e+02] [ 3.96736237e-01 9.17914097e-01 -5.83686985e-03 -2.46460031e+02] [-1.48568660e-02 6.32210333e-05 -9.99889629e-01 -1.78034651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1230.336559995 meters 0.012825980244372372 Centerline is valid? [True, True] Translation: X:-380.79, Y:-246.43, Z:-1.78 [[-9.44369355e-01 3.28628295e-01 1.30370477e-02 -3.80787008e+02] [ 3.28597396e-01 9.44459339e-01 -4.50647339e-03 -2.46432258e+02] [-1.37939161e-02 2.81645575e-05 -9.99904859e-01 -1.78193325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1230.366559995 meters 0.012748408685064945 Centerline is valid? [True, True] Translation: X:-380.57, Y:-245.81, Z:-2.80 [[-9.21380381e-01 -3.88474392e-01 1.20764230e-02 -3.80565054e+02] [ 3.88440050e-01 -9.21459517e-01 -5.16581925e-03 -2.45805609e+02] [ 1.31347234e-02 -6.87181642e-05 9.99913734e-01 -2.80185554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1230.396559995 meters 0.012761963011906354 Centerline is valid? [True, True] Translation: X:-380.83, Y:-246.42, Z:-1.78 [[-9.46179487e-01 3.23433071e-01 1.16373663e-02 -3.80828490e+02] [ 3.23408654e-01 9.46251050e-01 -3.97412988e-03 -2.46417335e+02] [-1.22972351e-02 3.38480480e-06 -9.99924386e-01 -1.78328718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1230.426559995 meters 0.012778389768603455 Centerline is valid? [True, True] Translation: X:-380.61, Y:-245.79, Z:-2.80 [[-9.22063575e-01 -3.86906503e-01 1.01055171e-02 -3.80612464e+02] [ 3.86882244e-01 -9.22118946e-01 -4.33343219e-03 -2.45791615e+02] [ 1.09951218e-02 -8.60548648e-05 9.99939548e-01 -2.80081783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1230.4565599950001 meters 0.012579771652679168 Centerline is valid? [True, True] Translation: X:-380.88, Y:-246.40, Z:-1.79 [[-9.48320832e-01 3.17177144e-01 9.28758320e-03 -3.80877420e+02] [ 3.17161677e-01 9.48366310e-01 -3.13241136e-03 -2.46399645e+02] [-9.80156030e-03 -2.48654815e-05 -9.99951963e-01 -1.78510921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1230.486559995 meters 0.012674110128912187 Centerline is valid? [True, True] Translation: X:-380.87, Y:-246.37, Z:-1.79 [[-9.69298961e-01 2.45763675e-01 7.72915723e-03 -3.80869804e+02] [ 2.45755466e-01 9.69329776e-01 -2.00921042e-03 -2.46369838e+02] [-7.98589318e-03 -4.80429303e-05 -9.99968111e-01 -1.78662359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1230.516559995 meters 0.012890865309582333 Centerline is valid? [True, True] Translation: X:-380.86, Y:-246.34, Z:-1.79 [[-9.84645857e-01 1.74402319e-01 7.50781321e-03 -3.80864688e+02] [ 1.74396774e-01 9.84674478e-01 -1.39210950e-03 -2.46340809e+02] [-7.63553918e-03 -6.13964500e-05 -9.99970847e-01 -1.78694333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1230.546559995 meters 0.013171274629286427 Centerline is valid? [True, True] Translation: X:-380.87, Y:-246.31, Z:-1.79 [[-9.94764877e-01 1.01935916e-01 7.20480387e-03 -3.80870932e+02] [ 1.01932705e-01 9.94790965e-01 -8.12536971e-04 -2.46309601e+02] [-7.25010050e-03 -7.38780941e-05 -9.99973715e-01 -1.78673116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1230.576559995 meters 0.014294283059233932 Centerline is valid? [True, True] Translation: X:-380.80, Y:-245.67, Z:-2.80 [[-9.81060317e-01 -1.93538796e-01 7.96173852e-03 -3.80796425e+02] [ 1.93533585e-01 -9.81092613e-01 -1.42722146e-03 -2.45673420e+02] [ 8.08742557e-03 1.40673465e-04 9.99967287e-01 -2.79874960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1230.606559995 meters 0.014882504401230357 Centerline is valid? [True, True] Translation: X:-380.92, Y:-246.30, Z:-1.79 [[-9.95849574e-01 9.06519436e-02 8.11483315e-03 -3.80924020e+02] [ 9.06477645e-02 9.95882626e-01 -8.82083371e-04 -2.46296109e+02] [-8.16138392e-03 -1.42830865e-04 -9.99966685e-01 -1.78521548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1230.636559995 meters 0.015422008020464376 Centerline is valid? [True, True] Translation: X:-380.86, Y:-245.67, Z:-2.80 [[-9.81020651e-01 -1.93715574e-01 8.52991063e-03 -3.80861029e+02] [ 1.93709884e-01 -9.81057716e-01 -1.49624710e-03 -2.45671230e+02] [ 8.65818101e-03 1.84478692e-04 9.99962500e-01 -2.80005340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1230.666559995 meters 0.015844392187879686 Centerline is valid? [True, True] Translation: X:-380.98, Y:-246.29, Z:-1.78 [[-9.96509515e-01 8.29408948e-02 9.46541915e-03 -3.80983136e+02] [ 8.29352376e-02 9.96554448e-01 -9.89310688e-04 -2.46286665e+02] [-9.51485987e-03 -2.00840728e-04 -9.99954713e-01 -1.78367782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1230.6965599950001 meters 0.0160316282668344 Centerline is valid? [True, True] Translation: X:-380.92, Y:-245.67, Z:-2.80 [[-9.81069497e-01 -1.93341218e-01 1.10369865e-02 -3.80917257e+02] [ 1.93332953e-01 -9.81131517e-01 -1.82104572e-03 -2.45668231e+02] [ 1.11808185e-02 3.47240774e-04 9.99937433e-01 -2.80173173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1230.7265599950001 meters 0.016370872334315705 Centerline is valid? [True, True] Translation: X:-381.04, Y:-246.28, Z:-1.78 [[-9.96989940e-01 7.66343985e-02 1.17570515e-02 -3.81035879e+02] [ 7.66258073e-02 9.97059223e-01 -1.18012466e-03 -2.46279515e+02] [-1.18129148e-02 -2.75678849e-04 -9.99930187e-01 -1.78169156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1230.756559995 meters 0.01620423928136877 Centerline is valid? [True, True] Translation: X:-380.97, Y:-245.66, Z:-2.80 [[-9.81733045e-01 -1.89866759e-01 1.22818359e-02 -3.80974076e+02] [ 1.89856117e-01 -9.81809811e-01 -2.03734971e-03 -2.45663696e+02] [ 1.24452520e-02 3.31648150e-04 9.99922500e-01 -2.80323635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1230.786559995 meters 0.016465280487218306 Centerline is valid? [True, True] Translation: X:-381.09, Y:-246.27, Z:-1.78 [[-9.97282802e-01 7.25386616e-02 1.28512737e-02 -3.81093607e+02] [ 7.25287490e-02 9.97365556e-01 -1.23634076e-03 -2.46273786e+02] [-1.29071002e-02 -3.00894579e-04 -9.99916655e-01 -1.78036279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1230.816559995 meters 0.01635639338237486 Centerline is valid? [True, True] Translation: X:-381.11, Y:-246.25, Z:-1.78 [[-9.99915588e-01 2.42496999e-03 1.27646283e-02 -3.81108833e+02] [ 2.42111787e-03 9.99997019e-01 -3.17225761e-04 -2.46246110e+02] [-1.27653595e-02 -2.86294314e-04 -9.99918479e-01 -1.78032676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1230.846559995 meters 0.014744662899288495 Centerline is valid? [True, True] Translation: X:-381.08, Y:-245.62, Z:-2.80 [[-9.93787077e-01 -1.10713281e-01 1.13936527e-02 -3.81075028e+02] [ 1.10708012e-01 -9.93852373e-01 -1.09405024e-03 -2.45622910e+02] [ 1.14447347e-02 1.74115654e-04 9.99934492e-01 -2.80262181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1230.876559995 meters 0.01485452319602056 Centerline is valid? [True, True] Translation: X:-381.16, Y:-246.25, Z:-1.78 [[-9.99938402e-01 4.09456488e-03 1.03163727e-02 -3.81158019e+02] [ 4.09262252e-03 9.99991603e-01 -2.09383187e-04 -2.46251793e+02] [-1.03171435e-02 -1.67149270e-04 -9.99946763e-01 -1.78152790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1230.906559995 meters 0.014161803517338672 Centerline is valid? [True, True] Translation: X:-381.16, Y:-246.23, Z:-1.78 [[-9.97889401e-01 -6.42410498e-02 9.47797489e-03 -3.81160928e+02] [-6.42393607e-02 9.97934402e-01 4.82856331e-04 -2.46227577e+02] [-9.48941640e-03 -1.27021832e-04 -9.99954967e-01 -1.78212978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1230.9365599950002 meters 0.013073866156313734 Centerline is valid? [True, True] Translation: X:-381.19, Y:-245.58, Z:-2.80 [[-9.99603920e-01 -2.69065369e-02 8.24872301e-03 -3.81188729e+02] [ 2.69058821e-02 -9.99637953e-01 -1.90366542e-04 -2.45584782e+02] [ 8.25085869e-03 3.16480274e-05 9.99965961e-01 -2.80084117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1230.9665599950001 meters 0.01278467030895009 Centerline is valid? [True, True] Translation: X:-381.24, Y:-246.24, Z:-1.78 [[-9.97927487e-01 -6.39136676e-02 7.46815323e-03 -3.81241710e+02] [-6.39122911e-02 9.97955430e-01 4.23073075e-04 -2.46239795e+02] [-7.47992422e-03 -5.51105322e-05 -9.99972024e-01 -1.78406486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1230.996559995 meters 0.012297027453870046 Centerline is valid? [True, True] Translation: X:-381.25, Y:-246.22, Z:-1.79 [[-9.91598537e-01 -1.29205481e-01 6.18755583e-03 -3.81246880e+02] [-1.29203030e-01 9.91617842e-01 7.95882479e-04 -2.46219538e+02] [-6.23852313e-03 -1.02550611e-05 -9.99980540e-01 -1.78506143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1231.026559995 meters 0.012405197235023573 Centerline is valid? [True, True] Translation: X:-381.26, Y:-246.20, Z:-1.79 [[-9.80304414e-01 -1.97412345e-01 5.62331229e-03 -3.81263739e+02] [-1.97409070e-01 9.80320543e-01 1.13719268e-03 -2.46197028e+02] [-5.73714443e-03 4.70215701e-06 -9.99983543e-01 -1.78501574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1231.056559995 meters 0.012445523722753673 Centerline is valid? [True, True] Translation: X:-381.29, Y:-246.18, Z:-1.79 [[-9.64073950e-01 -2.65576058e-01 5.54765911e-03 -3.81291536e+02] [-2.65571563e-01 9.64089911e-01 1.54516852e-03 -2.46177289e+02] [-5.75880195e-03 1.63562177e-05 -9.99983418e-01 -1.78507442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1231.086559995 meters 0.012833270128685605 Centerline is valid? [True, True] Translation: X:-381.34, Y:-246.17, Z:-1.78 [[-9.42814542e-01 -3.33264961e-01 5.93337128e-03 -3.81341194e+02] [-3.33258150e-01 9.42833212e-01 2.13096969e-03 -2.46166551e+02] [-6.30435703e-03 3.17648757e-05 -9.99980127e-01 -1.78321029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1231.116559995 meters 0.012862062823065961 Centerline is valid? [True, True] Translation: X:-381.40, Y:-246.16, Z:-1.78 [[-9.15819843e-01 -4.01541651e-01 6.19016197e-03 -3.81403552e+02] [-4.01532214e-01 9.15840762e-01 2.75308027e-03 -2.46161754e+02] [-6.77467905e-03 3.57760958e-05 -9.99977051e-01 -1.78247815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1231.146559995 meters 0.012703220188999295 Centerline is valid? [True, True] Translation: X:-381.48, Y:-246.17, Z:-1.78 [[-8.83415467e-01 -4.68542466e-01 6.71341016e-03 -3.81478057e+02] [-4.68528608e-01 8.83440975e-01 3.60381022e-03 -2.46166232e+02] [-7.61943974e-03 3.82369702e-05 -9.99970971e-01 -1.78233405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1231.176559995 meters 0.01263938764004369 Centerline is valid? [True, True] Translation: X:-381.56, Y:-246.18, Z:-1.78 [[-8.45512131e-01 -5.33912279e-01 6.84941678e-03 -3.81557529e+02] [-5.33894443e-01 8.45539874e-01 4.36421500e-03 -2.46178959e+02] [-8.12156297e-03 3.31311676e-05 -9.99967019e-01 -1.78163874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1231.2065599950001 meters 0.01256212494072234 Centerline is valid? [True, True] Translation: X:-381.64, Y:-246.20, Z:-1.78 [[-8.01825959e-01 -5.97504557e-01 7.96474340e-03 -3.81644317e+02] [-5.97474847e-01 8.01865515e-01 5.95839264e-03 -2.46201937e+02] [-9.94681982e-03 1.88600465e-05 -9.99950529e-01 -1.78040393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1231.236559995 meters 0.01255037323493017 Centerline is valid? [True, True] Translation: X:-381.73, Y:-246.24, Z:-1.78 [[-7.54017462e-01 -6.56808602e-01 7.75418423e-03 -3.81733433e+02] [-6.56773729e-01 7.54057332e-01 6.76823477e-03 -2.46236502e+02] [-1.02925343e-02 1.06227131e-05 -9.99947031e-01 -1.77975634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1231.266559995 meters 0.012585973367392296 Centerline is valid? [True, True] Translation: X:-381.82, Y:-246.28, Z:-1.78 [[-7.01794374e-01 -7.12341083e-01 7.40527218e-03 -3.81819162e+02] [-7.12301353e-01 7.01833443e-01 7.52341304e-03 -2.46277340e+02] [-1.05565039e-02 5.10355882e-06 -9.99944279e-01 -1.77941733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1231.296559995 meters 0.012522188600319204 Centerline is valid? [True, True] Translation: X:-381.91, Y:-246.33, Z:-1.78 [[-6.45384437e-01 -7.63828010e-01 6.76010828e-03 -3.81906599e+02] [-7.63786111e-01 6.45419841e-01 8.00040357e-03 -2.46329960e+02] [-1.04740404e-02 5.91406083e-08 -9.99945146e-01 -1.77931159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1231.326559995 meters 0.012596954873387092 Centerline is valid? [True, True] Translation: X:-381.99, Y:-246.39, Z:-1.78 [[-5.85117348e-01 -8.10926824e-01 5.94774103e-03 -3.81993304e+02] [-8.10885015e-01 5.85147577e-01 8.23442090e-03 -2.46394161e+02] [-1.01578190e-02 -4.83155695e-06 -9.99948408e-01 -1.77873677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1231.356559995 meters 0.012515068968878527 Centerline is valid? [True, True] Translation: X:-382.07, Y:-246.46, Z:-1.78 [[-5.21527514e-01 -8.53220145e-01 4.94334629e-03 -3.82074214e+02] [-8.53181920e-01 5.21550941e-01 8.07635622e-03 -2.46462946e+02] [-9.46911674e-03 -5.53169786e-06 -9.99955167e-01 -1.77998729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1231.386559995 meters 0.012458730358599549 Centerline is valid? [True, True] Translation: X:-382.15, Y:-246.54, Z:-1.78 [[-4.55166291e-01 -8.90397316e-01 4.03334754e-03 -3.82151927e+02] [-8.90362408e-01 4.55184161e-01 7.88431515e-03 -2.46543240e+02] [-8.85608896e-03 -2.46653842e-06 -9.99960784e-01 -1.77962226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1231.416559995 meters 0.012396247803297716 Centerline is valid? [True, True] Translation: X:-382.22, Y:-246.63, Z:-1.78 [[-3.86030367e-01 -9.22480253e-01 3.27706030e-03 -3.82224165e+02] [-9.22447010e-01 3.86044277e-01 7.83136892e-03 -2.46631351e+02] [-8.48937356e-03 2.31749352e-07 -9.99963965e-01 -1.78066451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1231.4465599950001 meters 0.012329780361571212 Centerline is valid? [True, True] Translation: X:-382.29, Y:-246.73, Z:-1.78 [[-3.14379321e-01 -9.49294241e-01 2.46731336e-03 -3.82290276e+02] [-9.49264970e-01 3.14389003e-01 7.45466081e-03 -2.46727610e+02] [-7.85236276e-03 1.45706280e-06 -9.99969170e-01 -1.78139742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1231.4765599950001 meters 0.012133600575611749 Centerline is valid? [True, True] Translation: X:-382.35, Y:-246.83, Z:-1.78 [[-2.40544259e-01 -9.70636912e-01 1.56370924e-03 -3.82349199e+02] [-9.70616400e-01 2.40549342e-01 6.31019048e-03 -2.46830965e+02] [-6.50105303e-03 1.18261389e-07 -9.99978868e-01 -1.78326932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1231.506559995 meters 0.012139424158759635 Centerline is valid? [True, True] Translation: X:-382.40, Y:-246.94, Z:-1.78 [[-1.65052413e-01 -9.86284260e-01 1.02981182e-03 -3.82399672e+02] [-9.86265122e-01 1.65055625e-01 6.14410820e-03 -2.46936095e+02] [-6.22981344e-03 -1.56760000e-06 -9.99980595e-01 -1.78348185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1231.536559995 meters 0.012095669128659874 Centerline is valid? [True, True] Translation: X:-382.44, Y:-247.04, Z:-1.78 [[-9.15629275e-02 -9.95799139e-01 5.52139272e-04 -3.82443190e+02] [-9.95781270e-01 9.15645921e-02 5.96561438e-03 -2.47037552e+02] [-5.99111007e-03 -3.58082911e-06 -9.99982053e-01 -1.78441408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1231.566559995 meters 0.012011418379908417 Centerline is valid? [True, True] Translation: X:-382.48, Y:-247.15, Z:-1.78 [[-1.45468959e-02 -9.99894185e-01 8.55434243e-05 -3.82477544e+02] [-9.99878860e-01 1.45471466e-02 5.53583157e-03 -2.47149299e+02] [-5.53649021e-03 -5.00389588e-06 -9.99984674e-01 -1.78490434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1231.596559995 meters 0.012035206628742355 Centerline is valid? [True, True] Translation: X:-382.50, Y:-247.27, Z:-1.78 [[ 6.27155401e-02 -9.98031381e-01 -3.51646350e-04 -3.82503319e+02] [-9.98015037e-01 -6.27165255e-02 5.71167503e-03 -2.47272149e+02] [-5.72248495e-03 -7.26243942e-06 -9.99983627e-01 -1.78422687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1231.626559995 meters 0.012035206628742355 Centerline is valid? [True, True] Translation: X:-382.52, Y:-247.39, Z:-1.78 [[ 1.39201316e-01 -9.90263788e-01 -7.89397631e-04 -3.82519420e+02] [-9.90247569e-01 -1.39203554e-01 5.66776015e-03 -2.47390726e+02] [-5.72246459e-03 -7.26058736e-06 -9.99983627e-01 -1.78422787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1231.656559995 meters 0.011984420751885475 Centerline is valid? [True, True] Translation: X:-382.53, Y:-247.50, Z:-1.78 [[ 2.15215318e-01 -9.76565705e-01 -1.33852936e-03 -3.82528281e+02] [-9.76546510e-01 -2.15219480e-01 6.12294432e-03 -2.47504355e+02] [-6.26753502e-03 -1.06152355e-05 -9.99980359e-01 -1.78407877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1231.6865599950002 meters 0.012048855601784541 Centerline is valid? [True, True] Translation: X:-382.53, Y:-247.63, Z:-1.78 [[ 2.91184624e-01 -9.56664557e-01 -2.10715157e-03 -3.82527517e+02] [-9.56638889e-01 -2.91192247e-01 7.00793375e-03 -2.47625923e+02] [-7.31782804e-03 -2.48194237e-05 -9.99973224e-01 -1.78418955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1231.7165599950001 meters 0.012086143563861625 Centerline is valid? [True, True] Translation: X:-382.52, Y:-247.74, Z:-1.78 [[ 3.64823754e-01 -9.31072465e-01 -2.77377117e-03 -3.82518131e+02] [-9.31044823e-01 -3.64834296e-01 7.17452244e-03 -2.47743147e+02] [-7.69196714e-03 -3.49309138e-05 -9.99970416e-01 -1.78398104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1231.746559995 meters 0.012114475331314345 Centerline is valid? [True, True] Translation: X:-382.50, Y:-247.86, Z:-1.78 [[ 4.35824837e-01 -9.00024692e-01 -3.50232701e-03 -3.82499860e+02] [-8.99994832e-01 -4.35838907e-01 7.33143221e-03 -2.47858437e+02] [-8.12492039e-03 -4.31440407e-05 -9.99966992e-01 -1.78394943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1231.776559995 meters 0.012195658632630514 Centerline is valid? [True, True] Translation: X:-382.47, Y:-247.97, Z:-1.78 [[ 5.03687829e-01 -8.63876178e-01 -4.06450968e-03 -3.82472337e+02] [-8.63847316e-01 -5.03704226e-01 7.06167055e-03 -2.47972523e+02] [-8.14771967e-03 -4.57617276e-05 -9.99966806e-01 -1.78371322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1231.806559995 meters 0.012250876508892894 Centerline is valid? [True, True] Translation: X:-382.44, Y:-248.08, Z:-1.78 [[ 5.68525236e-01 -8.22651338e-01 -4.88183458e-03 -3.82438396e+02] [-8.22620226e-01 -5.68546193e-01 7.15481694e-03 -2.48081226e+02] [-8.66146819e-03 -5.17981249e-05 -9.99962488e-01 -1.78368219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1231.836559995 meters 0.012234798188252793 Centerline is valid? [True, True] Translation: X:-382.40, Y:-248.18, Z:-1.78 [[ 6.29444809e-01 -7.77025765e-01 -5.49481295e-03 -3.82397826e+02] [-7.76995456e-01 -6.29468790e-01 6.86320080e-03 -2.48183530e+02] [-8.79169711e-03 -5.05614273e-05 -9.99961351e-01 -1.78365016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1231.866559995 meters 0.012210176804712895 Centerline is valid? [True, True] Translation: X:-382.35, Y:-248.28, Z:-1.78 [[ 6.86399852e-01 -7.27200956e-01 -5.83201448e-03 -3.82351202e+02] [-7.27174146e-01 -6.86424626e-01 6.24455242e-03 -2.48280014e+02] [-8.54428285e-03 -4.53697108e-05 -9.99963496e-01 -1.78350167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1231.896559995 meters 0.012095925301429564 Centerline is valid? [True, True] Translation: X:-382.30, Y:-248.37, Z:-1.78 [[ 7.39077464e-01 -6.73587103e-01 -6.70202029e-03 -3.82297694e+02] [-6.73558904e-01 -7.39107850e-01 6.16363482e-03 -2.48371873e+02] [-9.10526073e-03 -4.11981593e-05 -9.99958546e-01 -1.78334751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1231.926559995 meters 0.012106739178781873 Centerline is valid? [True, True] Translation: X:-382.29, Y:-248.37, Z:-1.78 [[ 7.88869456e-01 -6.14516954e-01 -7.34133204e-03 -3.82294278e+02] [-6.14489954e-01 -7.88903614e-01 5.76058640e-03 -2.48374146e+02] [-9.33158139e-03 -3.31758693e-05 -9.99956460e-01 -1.78308488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1231.9565599950001 meters 0.012011769370334355 Centerline is valid? [True, True] Translation: X:-382.29, Y:-248.38, Z:-1.78 [[ 8.33908053e-01 -5.51845848e-01 -7.96996123e-03 -3.82290206e+02] [-5.51820372e-01 -8.33946137e-01 5.30254471e-03 -2.48377297e+02] [-9.57270566e-03 -2.38477558e-05 -9.99954181e-01 -1.78307455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1231.986559995 meters 0.012055947991668562 Centerline is valid? [True, True] Translation: X:-382.29, Y:-248.38, Z:-1.78 [[ 8.73347002e-01 -4.87020570e-01 -8.71653614e-03 -3.82286275e+02] [-4.86996302e-01 -8.73390500e-01 4.86185422e-03 -2.48378722e+02] [-9.98076287e-03 -1.16494311e-06 -9.99950191e-01 -1.78204382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1232.016559995 meters 0.012170014089294433 Centerline is valid? [True, True] Translation: X:-382.28, Y:-248.38, Z:-1.78 [[ 9.08254982e-01 -4.18312966e-01 -9.33543547e-03 -3.82281604e+02] [-4.18290991e-01 -9.08302957e-01 4.28776060e-03 -2.48378303e+02] [-1.02730295e-02 1.05486267e-05 -9.99947231e-01 -1.78139989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1232.046559995 meters 0.012482453742984354 Centerline is valid? [True, True] Translation: X:-382.28, Y:-248.37, Z:-1.78 [[ 9.37405519e-01 -3.48095736e-01 -1.00125480e-02 -3.82275858e+02] [-3.48076271e-01 -9.37458990e-01 3.68128026e-03 -2.48374500e+02] [-1.06677911e-02 3.42779522e-05 -9.99943097e-01 -1.78036741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1232.076559995 meters 0.012246946293659786 Centerline is valid? [True, True] Translation: X:-382.27, Y:-248.38, Z:-1.78 [[ 9.61470257e-01 -2.74697136e-01 -1.07902016e-02 -3.82273485e+02] [-2.74680392e-01 -9.61530801e-01 3.03339370e-03 -2.48381866e+02] [-1.12083758e-02 4.73389842e-05 -9.99937183e-01 -1.78234263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1232.106559995 meters 0.012357222509783132 Centerline is valid? [True, True] Translation: X:-382.27, Y:-248.39, Z:-1.78 [[ 9.79830217e-01 -1.99527903e-01 -1.10164046e-02 -3.82270453e+02] [-1.99515946e-01 -9.79892144e-01 2.18505326e-03 -2.48387366e+02] [-1.12308675e-02 5.69671905e-05 -9.99936930e-01 -1.78167724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1232.136559995 meters 0.012451539571208432 Centerline is valid? [True, True] Translation: X:-382.27, Y:-248.39, Z:-1.78 [[ 9.92330253e-01 -1.23145360e-01 -1.07651919e-02 -3.82268766e+02] [-1.23138829e-01 -9.92388642e-01 1.26995385e-03 -2.48391575e+02] [-1.08396431e-02 6.53995087e-05 -9.99941247e-01 -1.78132695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1232.166559995 meters 0.01261113445257052 Centerline is valid? [True, True] Translation: X:-382.27, Y:-248.39, Z:-1.78 [[ 9.98863335e-01 -4.63647759e-02 -1.10609666e-02 -3.82267678e+02] [-4.63628305e-02 -9.98924572e-01 4.32372356e-04 -2.48394071e+02] [-1.10691182e-02 8.09368273e-05 -9.99938732e-01 -1.78124128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1232.1965599950001 meters 0.012769642802421023 Centerline is valid? [True, True] Translation: X:-382.27, Y:-248.40, Z:-1.78 [[ 9.99445977e-01 3.13268251e-02 -1.12413927e-02 -3.82266732e+02] [ 3.13238341e-02 -9.99509191e-01 -4.42076165e-04 -2.48396966e+02] [-1.12497242e-02 8.97077243e-05 -9.99936716e-01 -1.78101881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1232.2265599950001 meters 0.01303799457863754 Centerline is valid? [True, True] Translation: X:-382.27, Y:-248.40, Z:-1.78 [[ 9.94004963e-01 1.08740117e-01 -1.13894926e-02 -3.82267244e+02] [ 1.08731828e-01 -9.94070207e-01 -1.34639193e-03 -2.48398878e+02] [-1.14683621e-02 9.99199128e-05 -9.99934231e-01 -1.78079520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1232.256559995 meters 0.013206933618580158 Centerline is valid? [True, True] Translation: X:-382.27, Y:-248.40, Z:-1.78 [[ 9.82582256e-01 1.85467784e-01 -1.15676682e-02 -3.82266078e+02] [ 1.85453595e-01 -9.82650339e-01 -2.29679353e-03 -2.48400065e+02] [-1.17929543e-02 1.11522914e-04 -9.99930455e-01 -1.78061811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1232.286559995 meters 0.013323677326991003 Centerline is valid? [True, True] Translation: X:-382.27, Y:-248.40, Z:-1.78 [[ 9.65262486e-01 2.61042513e-01 -1.11865836e-02 -3.82265283e+02] [ 2.61023550e-01 -9.65327298e-01 -3.14867923e-03 -2.48401364e+02] [-1.16206537e-02 1.19340174e-04 -9.99932471e-01 -1.78059337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1232.316559995 meters 0.013570140058412061 Centerline is valid? [True, True] Translation: X:-382.27, Y:-248.40, Z:-1.78 [[ 9.42139414e-01 3.35064821e-01 -1.02416294e-02 -3.82265559e+02] [ 3.35043634e-01 -9.42195071e-01 -3.76993257e-03 -2.48402518e+02] [-1.09127845e-02 1.20409325e-04 -9.99940447e-01 -1.78123000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1232.346559995 meters 0.0136154318437894 Centerline is valid? [True, True] Translation: X:-382.26, Y:-248.40, Z:-1.78 [[ 9.13078811e-01 4.07663097e-01 -9.89369113e-03 -3.82264137e+02] [ 4.07637717e-01 -9.13132403e-01 -4.55050791e-03 -2.48403228e+02] [-1.08893241e-02 1.21930687e-04 -9.99940702e-01 -1.78169607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1232.376559995 meters 0.013563619645503712 Centerline is valid? [True, True] Translation: X:-382.26, Y:-248.40, Z:-1.78 [[ 8.78322629e-01 4.77974008e-01 -9.49776668e-03 -3.82262901e+02] [ 4.77944570e-01 -8.78373971e-01 -5.30613802e-03 -2.48403207e+02] [-1.08787871e-02 1.21095078e-04 -9.99940817e-01 -1.78190549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1232.406559995 meters 0.012634210226380409 Centerline is valid? [True, True] Translation: X:-382.26, Y:-248.41, Z:-1.78 [[ 8.38046455e-01 5.45527279e-01 -8.83894805e-03 -3.82256901e+02] [ 5.45495484e-01 -8.38093058e-01 -5.89090452e-03 -2.48412314e+02] [-1.06215101e-02 1.15245406e-04 -9.99943584e-01 -1.78399848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1232.4365599950002 meters 0.012787286338341919 Centerline is valid? [True, True] Translation: X:-382.25, Y:-248.42, Z:-1.78 [[ 7.92501987e-01 6.09808953e-01 -8.58142287e-03 -3.82251686e+02] [ 6.09771645e-01 -7.92548439e-01 -6.74632051e-03 -2.48418705e+02] [-1.09151599e-02 1.13764072e-04 -9.99940422e-01 -1.78347882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1232.4665599950001 meters 0.012279556513482873 Centerline is valid? [True, True] Translation: X:-382.24, Y:-248.43, Z:-1.78 [[ 7.41419311e-01 6.70994078e-01 -8.02204201e-03 -3.82242232e+02] [ 6.70953360e-01 -7.41462702e-01 -7.39264427e-03 -2.48427678e+02] [-1.09084655e-02 9.86331748e-05 -9.99940496e-01 -1.78372895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1232.496559995 meters 0.012139910412351601 Centerline is valid? [True, True] Translation: X:-382.23, Y:-248.43, Z:-1.78 [[ 6.85969156e-01 7.27593119e-01 -7.38714114e-03 -3.82234344e+02] [ 7.27549537e-01 -6.86008925e-01 -7.96407852e-03 -2.48434522e+02] [-1.08622535e-02 8.86011112e-05 -9.99941000e-01 -1.78363420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1232.526559995 meters 0.012066814921016713 Centerline is valid? [True, True] Translation: X:-382.23, Y:-248.44, Z:-1.78 [[ 6.26135737e-01 7.79687080e-01 -6.48817470e-03 -3.82227205e+02] [ 7.79643982e-01 -6.26169348e-01 -8.19812413e-03 -2.48440613e+02] [-1.04546676e-02 7.46721330e-05 -9.99945346e-01 -1.78339991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1232.556559995 meters 0.011633800631934059 Centerline is valid? [True, True] Translation: X:-382.22, Y:-248.45, Z:-1.78 [[ 5.60875746e-01 8.27882846e-01 -5.32831459e-03 -3.82216885e+02] [ 8.27844779e-01 -5.60901053e-01 -7.93918197e-03 -2.48446150e+02] [-9.56136983e-03 4.18771917e-05 -9.99954288e-01 -1.78405747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1232.586559995 meters 0.011561232659381087 Centerline is valid? [True, True] Translation: X:-382.21, Y:-248.45, Z:-1.78 [[ 4.93297518e-01 8.69848955e-01 -4.51161224e-03 -3.82207719e+02] [ 8.69812031e-01 -4.93318148e-01 -8.01474578e-03 -2.48450335e+02] [-9.19727844e-03 2.93995997e-05 -9.99957704e-01 -1.78429957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1232.616559995 meters 0.01141533855005652 Centerline is valid? [True, True] Translation: X:-382.20, Y:-248.45, Z:-1.78 [[ 4.22066303e-01 9.06556233e-01 -3.97902834e-03 -3.82197711e+02] [ 9.06515654e-01 -4.22085059e-01 -8.57747867e-03 -2.48453379e+02] [-9.45545516e-03 1.32132351e-05 -9.99955296e-01 -1.78413956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1232.646559995 meters 0.011399268159642924 Centerline is valid? [True, True] Translation: X:-382.19, Y:-248.46, Z:-1.78 [[ 3.47962490e-01 9.37502372e-01 -3.37772385e-03 -3.82186424e+02] [ 9.37458348e-01 -3.47978883e-01 -9.08534115e-03 -2.48456396e+02] [-9.69290545e-03 -5.11749232e-06 -9.99953023e-01 -1.78390884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1232.676559995 meters 0.011548100406538524 Centerline is valid? [True, True] Translation: X:-382.18, Y:-248.46, Z:-1.78 [[ 2.71268012e-01 9.62499523e-01 -2.88690318e-03 -3.82175663e+02] [ 9.62446179e-01 -2.71283371e-01 -1.01333822e-02 -2.48459684e+02] [-1.05365444e-02 -2.96264969e-05 -9.99944489e-01 -1.78215824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1232.7065599950001 meters 0.011839153126315304 Centerline is valid? [True, True] Translation: X:-382.16, Y:-248.46, Z:-1.78 [[ 1.89872512e-01 9.81805938e-01 -2.35136339e-03 -3.82162511e+02] [ 9.81736803e-01 -1.89887046e-01 -1.16515701e-02 -2.48461227e+02] [-1.18860742e-02 -9.61070848e-05 -9.99929354e-01 -1.78159554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1232.736559995 meters 0.012388779592528666 Centerline is valid? [True, True] Translation: X:-382.15, Y:-248.46, Z:-1.78 [[ 1.09725456e-01 9.93960756e-01 -1.52961014e-03 -3.82152052e+02] [ 9.93880797e-01 -1.09736032e-01 -1.26081170e-02 -2.48462273e+02] [-1.26998268e-02 -1.36818759e-04 -9.99919345e-01 -1.78005595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1232.766559995 meters 0.012936044748965253 Centerline is valid? [True, True] Translation: X:-382.14, Y:-248.46, Z:-1.78 [[ 2.89057382e-02 9.99581987e-01 -5.56079768e-04 -3.82143845e+02] [ 9.99495901e-01 -2.89105474e-02 -1.31196471e-02 -2.48460564e+02] [-1.31302395e-02 -1.76566365e-04 -9.99913779e-01 -1.77923636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1232.796559995 meters 0.013491164610603821 Centerline is valid? [True, True] Translation: X:-382.14, Y:-248.46, Z:-1.78 [[-5.17352251e-02 9.98660714e-01 4.94786402e-04 -3.82136243e+02] [ 9.98566582e-01 5.17371428e-02 -1.37131188e-02 -2.48458904e+02] [-1.37203519e-02 -2.15374122e-04 -9.99905849e-01 -1.77880418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1232.826559995 meters 0.014464558893154317 Centerline is valid? [True, True] Translation: X:-382.13, Y:-248.46, Z:-1.78 [[-1.32236134e-01 9.91217081e-01 1.51759156e-03 -3.82129459e+02] [ 9.91129258e-01 1.32244622e-01 -1.31967404e-02 -2.48457509e+02] [-1.32815278e-02 -2.40956532e-04 -9.99911768e-01 -1.77860352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1232.856559995 meters 0.014499552029574004 Centerline is valid? [True, True] Translation: X:-382.13, Y:-248.46, Z:-1.78 [[-2.09600833e-01 9.77783798e-01 2.51703606e-03 -3.82126864e+02] [ 9.77698937e-01 2.09615809e-01 -1.28841785e-02 -2.48455548e+02] [-1.31255515e-02 -2.39631067e-04 -9.99913828e-01 -1.77899575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1232.886559995 meters 0.014631223476346138 Centerline is valid? [True, True] Translation: X:-382.12, Y:-248.45, Z:-1.78 [[-2.85204398e-01 9.58459801e-01 3.64159266e-03 -3.82124734e+02] [ 9.58370431e-01 2.85227542e-01 -1.30907066e-02 -2.48454189e+02] [-1.35855986e-02 -2.43532370e-04 -9.99907682e-01 -1.77894278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1232.916559995 meters 0.013248556993970723 Centerline is valid? [True, True] Translation: X:-382.12, Y:-248.45, Z:-1.78 [[-3.58769360e-01 9.33414701e-01 4.64143100e-03 -3.82119995e+02] [ 9.33327963e-01 3.58799306e-01 -1.27267929e-02 -2.48450225e+02] [-1.35447179e-02 -2.34006026e-04 -9.99908239e-01 -1.78064598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1232.9465599950001 meters 0.014148146446590489 Centerline is valid? [True, True] Translation: X:-382.11, Y:-248.45, Z:-1.78 [[-4.29632795e-01 9.02985130e-01 5.78935116e-03 -3.82112055e+02] [ 9.02896024e-01 4.29671741e-01 -1.26871927e-02 -2.48445355e+02] [-1.39438670e-02 -2.23651935e-04 -9.99902755e-01 -1.77872184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1232.9765599950001 meters 0.013266180880143214 Centerline is valid? [True, True] Translation: X:-382.11, Y:-248.44, Z:-1.78 [[-4.97988637e-01 8.67157502e-01 6.72193408e-03 -3.82110419e+02] [ 8.67072876e-01 4.98033959e-01 -1.21162110e-02 -2.48442187e+02] [-1.38544147e-02 -2.05328677e-04 -9.99904002e-01 -1.77979079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1233.006559995 meters 0.013448881201517307 Centerline is valid? [True, True] Translation: X:-382.11, Y:-248.44, Z:-1.78 [[-5.62285436e-01 8.26904676e-01 7.98401924e-03 -3.82108528e+02] [ 8.26816809e-01 5.62342089e-01 -1.20557065e-02 -2.48440572e+02] [-1.44586701e-02 -1.77426859e-04 -9.99895452e-01 -1.77852438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1233.036559995 meters 0.012652557405171006 Centerline is valid? [True, True] Translation: X:-382.11, Y:-248.44, Z:-1.78 [[-6.24248020e-01 7.81171247e-01 9.26781616e-03 -3.82107619e+02] [ 7.81081257e-01 6.24316792e-01 -1.18580478e-02 -2.48438517e+02] [-1.50492192e-02 -1.63445363e-04 -9.99886741e-01 -1.77970133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1233.066559995 meters 0.012699556966762197 Centerline is valid? [True, True] Translation: X:-382.11, Y:-248.44, Z:-1.78 [[-6.82550533e-01 7.30765138e-01 1.03480886e-02 -3.82105366e+02] [ 7.30677897e-01 6.82628956e-01 -1.12924507e-02 -2.48436550e+02] [-1.53160342e-02 -1.46548637e-04 -9.99882692e-01 -1.77842762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1233.096559995 meters 0.012176235441451485 Centerline is valid? [True, True] Translation: X:-382.10, Y:-248.43, Z:-1.78 [[-7.36882829e-01 6.75923678e-01 1.14402119e-02 -3.82104767e+02] [ 6.75839464e-01 7.36971617e-01 -1.06702573e-02 -2.48434685e+02] [-1.56433911e-02 -1.30982707e-04 -9.99877626e-01 -1.77929730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1233.126559995 meters 0.012384507267093938 Centerline is valid? [True, True] Translation: X:-381.67, Y:-247.98, Z:-2.81 [[-6.78324377e-01 -7.34682602e-01 1.08404066e-02 -3.81673386e+02] [ 7.34592156e-01 -6.78410978e-01 -1.15286780e-02 -2.47978992e+02] [ 1.58241700e-02 1.43094326e-04 9.99874780e-01 -2.80690225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1233.156559995 meters 0.011755726061590515 Centerline is valid? [True, True] Translation: X:-381.69, Y:-247.96, Z:-2.80 [[-6.78929013e-01 -7.34120215e-01 1.10862381e-02 -3.81691002e+02] [ 7.34024987e-01 -6.79019512e-01 -1.18245766e-02 -2.47956504e+02] [ 1.62084327e-02 1.09527621e-04 9.99868629e-01 -2.80435314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1233.1865599950002 meters 0.011856992303143802 Centerline is valid? [True, True] Translation: X:-381.71, Y:-247.94, Z:-2.80 [[-6.78288401e-01 -7.34713780e-01 1.09775333e-02 -3.81708161e+02] [ 7.34620612e-01 -6.78377215e-01 -1.17009093e-02 -2.47937262e+02] [ 1.60437277e-02 1.27731190e-04 9.99871283e-01 -2.80427487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1233.2165599950001 meters 0.012323044278319477 Centerline is valid? [True, True] Translation: X:-381.73, Y:-247.92, Z:-2.81 [[-6.77280999e-01 -7.35644896e-01 1.08182707e-02 -3.81727082e+02] [ 7.35554619e-01 -6.77367377e-01 -1.15255921e-02 -2.47918640e+02] [ 1.58066866e-02 1.51364490e-04 9.99875055e-01 -2.80503782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1233.246559995 meters 0.012432623789264975 Centerline is valid? [True, True] Translation: X:-381.75, Y:-247.90, Z:-2.80 [[-6.76374168e-01 -7.36481535e-01 1.06270011e-02 -3.81745938e+02] [ 7.36394633e-01 -6.76457625e-01 -1.13148694e-02 -2.47899205e+02] [ 1.55219083e-02 1.72581218e-04 9.99879513e-01 -2.80403343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1233.276559995 meters 0.012592201608819156 Centerline is valid? [True, True] Translation: X:-381.77, Y:-247.88, Z:-2.80 [[-6.75497909e-01 -7.37288836e-01 1.03801474e-02 -3.81765180e+02] [ 7.37206122e-01 -6.75577631e-01 -1.10452544e-02 -2.47879735e+02] [ 1.51561381e-02 1.91261959e-04 9.99885121e-01 -2.80336571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1233.306559995 meters 0.013522104170102456 Centerline is valid? [True, True] Translation: X:-381.78, Y:-247.86, Z:-2.80 [[-6.73748620e-01 -7.38888753e-01 1.03057101e-02 -3.81784599e+02] [ 7.38807503e-01 -6.73827395e-01 -1.09597331e-02 -2.47861053e+02] [ 1.50422933e-02 2.29830898e-04 9.99886832e-01 -2.80359597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1233.336559995 meters 0.012748302584943071 Centerline is valid? [True, True] Translation: X:-381.80, Y:-247.84, Z:-2.80 [[-6.73418814e-01 -7.39190399e-01 1.02301426e-02 -3.81802221e+02] [ 7.39110463e-01 -6.73496472e-01 -1.08732297e-02 -2.47839250e+02] [ 1.49273519e-02 2.38968030e-04 9.99888553e-01 -2.80214266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1233.366559995 meters 0.012882162169935613 Centerline is valid? [True, True] Translation: X:-381.82, Y:-247.82, Z:-2.80 [[-6.73520654e-01 -7.39091314e-01 1.06751404e-02 -3.81820878e+02] [ 7.39004358e-01 -6.73605201e-01 -1.13398194e-02 -2.47818427e+02] [ 1.55719921e-02 2.51372757e-04 9.99878718e-01 -2.80237629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1233.396559995 meters 0.013103244996867438 Centerline is valid? [True, True] Translation: X:-381.84, Y:-247.80, Z:-2.80 [[-6.73969073e-01 -7.38680481e-01 1.08090701e-02 -3.81838356e+02] [ 7.38591366e-01 -6.74055699e-01 -1.14764789e-02 -2.47799011e+02] [ 1.57633663e-02 2.48694030e-04 9.99875720e-01 -2.80306498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1233.426559995 meters 0.013592434720029927 Centerline is valid? [True, True] Translation: X:-381.86, Y:-247.78, Z:-2.80 [[-6.74993174e-01 -7.37743004e-01 1.09305073e-02 -3.81856735e+02] [ 7.37651871e-01 -6.75081629e-01 -1.15979122e-02 -2.47779832e+02] [ 1.59352632e-02 2.34397598e-04 9.99872998e-01 -2.80484324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1233.4565599950001 meters 0.012540239159413942 Centerline is valid? [True, True] Translation: X:-381.87, Y:-247.76, Z:-2.80 [[-6.76352372e-01 -7.36495567e-01 1.10339636e-02 -3.81873752e+02] [ 7.36402644e-01 -6.76442337e-01 -1.17008924e-02 -2.47757716e+02] [ 1.60814955e-02 2.11513610e-04 9.99870662e-01 -2.80369025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1233.486559995 meters 0.011477537041763738 Centerline is valid? [True, True] Translation: X:-381.89, Y:-247.73, Z:-2.80 [[-6.80123021e-01 -7.33023896e-01 1.04233055e-02 -3.81888935e+02] [ 7.32940658e-01 -6.80202876e-01 -1.10471733e-02 -2.47733846e+02] [ 1.51878044e-02 1.26227568e-04 9.99884651e-01 -2.80202840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1233.516559995 meters 0.011477537041763738 Centerline is valid? [True, True] Translation: X:-381.91, Y:-247.71, Z:-2.80 [[-6.80352052e-01 -7.32811277e-01 1.04267578e-02 -3.81907375e+02] [ 7.32728064e-01 -6.80431933e-01 -1.10439150e-02 -2.47714454e+02] [ 1.51878044e-02 1.26227838e-04 9.99884651e-01 -2.80202860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1233.546559995 meters 0.011402473537633125 Centerline is valid? [True, True] Translation: X:-381.92, Y:-247.69, Z:-2.80 [[-6.82786020e-01 -7.30553225e-01 9.75889681e-03 -3.81924192e+02] [ 7.30480182e-01 -6.82855753e-01 -1.03307805e-02 -2.47692913e+02] [ 1.42111039e-02 7.49682062e-05 9.99899015e-01 -2.80218444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1233.576559995 meters 0.011126377330023359 Centerline is valid? [True, True] Translation: X:-381.94, Y:-247.67, Z:-2.80 [[-6.85347604e-01 -7.28161700e-01 8.89942243e-03 -3.81940651e+02] [ 7.28100827e-01 -6.85405382e-01 -9.41531035e-03 -2.47670776e+02] [ 1.29555804e-02 2.69164314e-05 9.99916073e-01 -2.80105317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1233.606559995 meters 0.011331151027421745 Centerline is valid? [True, True] Translation: X:-381.95, Y:-247.65, Z:-2.80 [[-6.90232612e-01 -7.23549982e-01 7.37326880e-03 -3.81954466e+02] [ 7.23507985e-01 -6.90271991e-01 -7.79580175e-03 -2.47647091e+02] [ 1.07302132e-02 -4.62977562e-05 9.99942429e-01 -2.79910440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1233.636559995 meters 0.01159054443421601 Centerline is valid? [True, True] Translation: X:-381.97, Y:-247.63, Z:-2.80 [[-6.92436837e-01 -7.21449258e-01 6.49583023e-03 -3.81971077e+02] [ 7.21416607e-01 -6.92467302e-01 -6.86399771e-03 -2.47625533e+02] [ 9.45017609e-03 -6.66850522e-05 9.99955344e-01 -2.79789689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1233.666559995 meters 0.011956081862465844 Centerline is valid? [True, True] Translation: X:-381.99, Y:-247.60, Z:-2.80 [[-6.94563653e-01 -7.19406965e-01 5.91188053e-03 -3.81987988e+02] [ 7.19379881e-01 -6.94588808e-01 -6.24297996e-03 -2.47604685e+02] [ 8.59756932e-03 -8.32590497e-05 9.99963037e-01 -2.79709750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1233.6965599950001 meters 0.011949259145609322 Centerline is valid? [True, True] Translation: X:-382.01, Y:-247.58, Z:-2.80 [[-6.96116883e-01 -7.17907505e-01 5.48628865e-03 -3.82006874e+02] [ 7.17884160e-01 -6.96138496e-01 -5.79029086e-03 -2.47583863e+02] [ 7.97611000e-03 -9.21995074e-05 9.99968186e-01 -2.79589152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1233.7265599950001 meters 0.012387110262372651 Centerline is valid? [True, True] Translation: X:-382.02, Y:-247.56, Z:-2.80 [[-6.97364130e-01 -7.16698200e-01 5.19240044e-03 -3.82024609e+02] [ 7.16677280e-01 -6.97383453e-01 -5.47686502e-03 -2.47562740e+02] [ 7.54635345e-03 -9.80937881e-05 9.99971521e-01 -2.79635099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1233.756559995 meters 0.012434594748923718 Centerline is valid? [True, True] Translation: X:-382.04, Y:-247.54, Z:-2.80 [[-6.97379344e-01 -7.16682377e-01 5.33121813e-03 -3.82043061e+02] [ 7.16660350e-01 -6.97399714e-01 -5.61976993e-03 -2.47543297e+02] [ 7.74558007e-03 -9.84388089e-05 9.99969998e-01 -2.79671843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1233.786559995 meters 0.012471770160958956 Centerline is valid? [True, True] Translation: X:-382.06, Y:-247.52, Z:-2.80 [[-6.96817320e-01 -7.17227903e-01 5.45506884e-03 -3.82061575e+02] [ 7.17204887e-01 -6.96838666e-01 -5.74655596e-03 -2.47524225e+02] [ 7.92289317e-03 -9.18976880e-05 9.99968609e-01 -2.79761907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1233.816559995 meters 0.012258196467283369 Centerline is valid? [True, True] Translation: X:-382.08, Y:-247.51, Z:-2.80 [[-6.95920933e-01 -7.18095950e-01 5.67986932e-03 -3.82081456e+02] [ 7.18071058e-01 -6.95944106e-01 -5.97966339e-03 -2.47505896e+02] [ 8.24684364e-03 -8.28231510e-05 9.99965991e-01 -2.79803395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1233.846559995 meters 0.012091553255860837 Centerline is valid? [True, True] Translation: X:-382.10, Y:-247.49, Z:-2.80 [[-6.94602351e-01 -7.19371745e-01 5.64500379e-03 -3.82100572e+02] [ 7.19347231e-01 -6.94625286e-01 -5.93910195e-03 -2.47487642e+02] [ 8.19358451e-03 -6.45963305e-05 9.99966430e-01 -2.79871192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1233.876559995 meters 0.011552009828304868 Centerline is valid? [True, True] Translation: X:-382.12, Y:-247.47, Z:-2.80 [[-6.91425433e-01 -7.22422142e-01 6.09257505e-03 -3.82122738e+02] [ 7.22393736e-01 -6.91452274e-01 -6.40641008e-03 -2.47470336e+02] [ 8.84085737e-03 -2.83168110e-05 9.99960919e-01 -2.79793561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1233.906559995 meters 0.01142362760025249 Centerline is valid? [True, True] Translation: X:-382.14, Y:-247.45, Z:-2.80 [[-6.89932930e-01 -7.23851800e-01 5.57892302e-03 -3.82142509e+02] [ 7.23828052e-01 -6.89955485e-01 -5.86344641e-03 -2.47452790e+02] [ 8.09347478e-03 -7.20377844e-06 9.99967247e-01 -2.79833130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1233.9365599950002 meters 0.011355038751255176 Centerline is valid? [True, True] Translation: X:-382.16, Y:-247.43, Z:-2.80 [[-6.88493158e-01 -7.25224050e-01 5.22000399e-03 -3.82163088e+02] [ 7.25203322e-01 -6.88512946e-01 -5.48314416e-03 -2.47434183e+02] [ 7.57054834e-03 1.04569906e-05 9.99971343e-01 -2.79734708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1233.9665599950001 meters 0.011415029016008433 Centerline is valid? [True, True] Translation: X:-382.18, Y:-247.42, Z:-2.80 [[-6.87357215e-01 -7.26305118e-01 4.57557343e-03 -3.82182668e+02] [ 7.26289236e-01 -6.87372443e-01 -4.80305473e-03 -2.47416356e+02] [ 6.63360632e-03 2.17754108e-05 9.99977997e-01 -2.79718129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1233.996559995 meters 0.011499768837561715 Centerline is valid? [True, True] Translation: X:-382.20, Y:-247.40, Z:-2.80 [[-6.86326587e-01 -7.27280907e-01 4.27771086e-03 -3.82202400e+02] [ 7.27267062e-01 -6.86339917e-01 -4.48756382e-03 -2.47397559e+02] [ 6.19968320e-03 3.11038479e-05 9.99980782e-01 -2.79665212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1234.026559995 meters 0.011597492788645506 Centerline is valid? [True, True] Translation: X:-382.22, Y:-247.38, Z:-2.80 [[-6.85789807e-01 -7.27789359e-01 3.87159949e-03 -3.82222395e+02] [ 7.27778039e-01 -6.85800735e-01 -4.05924834e-03 -2.47378361e+02] [ 5.60942352e-03 3.38739544e-05 9.99984267e-01 -2.79650227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1234.056559995 meters 0.011626426531797915 Centerline is valid? [True, True] Translation: X:-382.24, Y:-247.36, Z:-2.80 [[-6.85541609e-01 -7.28027546e-01 2.93188372e-03 -3.82241938e+02] [ 7.28021065e-01 -6.85547877e-01 -3.07195095e-03 -2.47360915e+02] [ 4.24641157e-03 2.85229178e-05 9.99990984e-01 -2.79709032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1234.086559995 meters 0.011646284460704261 Centerline is valid? [True, True] Translation: X:-382.26, Y:-247.34, Z:-2.80 [[-6.85752325e-01 -7.27830544e-01 2.53921795e-03 -3.82261053e+02] [ 7.27825688e-01 -6.85757026e-01 -2.65885884e-03 -2.47341581e+02] [ 3.67648523e-03 2.47894153e-05 9.99993242e-01 -2.79722282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1234.116559995 meters 0.011634684023177473 Centerline is valid? [True, True] Translation: X:-382.28, Y:-247.32, Z:-2.80 [[-6.86165633e-01 -7.27442081e-01 2.17786734e-03 -3.82280157e+02] [ 7.27438511e-01 -6.86169089e-01 -2.27905049e-03 -2.47322276e+02] [ 3.15226248e-03 2.04584493e-05 9.99995032e-01 -2.79697189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1234.146559995 meters 0.011575884204655232 Centerline is valid? [True, True] Translation: X:-382.30, Y:-247.30, Z:-2.80 [[-6.86817023e-01 -7.26828641e-01 1.58228411e-03 -3.82299647e+02] [ 7.26826757e-01 -6.86818846e-01 -1.65485362e-03 -2.47301862e+02] [ 2.28953755e-03 1.34647958e-05 9.99997379e-01 -2.79660297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1234.176559995 meters 0.011628639146411808 Centerline is valid? [True, True] Translation: X:-382.32, Y:-247.28, Z:-2.80 [[-6.87241677e-01 -7.26427909e-01 1.17094382e-03 -3.82318773e+02] [ 7.26426878e-01 -6.87242675e-01 -1.22391278e-03 -2.47282543e+02] [ 1.69380696e-03 9.48119436e-06 9.99998566e-01 -2.79636651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1234.2065599950001 meters 0.011673479839222196 Centerline is valid? [True, True] Translation: X:-382.34, Y:-247.26, Z:-2.80 [[-6.87578713e-01 -7.26109143e-01 1.01287115e-03 -3.82337833e+02] [ 7.26108372e-01 -6.87579459e-01 -1.05803408e-03 -2.47262985e+02] [ 1.46467761e-03 7.97251206e-06 9.99998928e-01 -2.79592606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1234.236559995 meters 0.011626942305058747 Centerline is valid? [True, True] Translation: X:-382.36, Y:-247.24, Z:-2.80 [[-6.87456323e-01 -7.26223183e-01 1.92175853e-03 -3.82357983e+02] [ 7.26220412e-01 -6.87459009e-01 -2.00619002e-03 -2.47244396e+02] [ 2.77807192e-03 1.64522578e-05 9.99996141e-01 -2.79690611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1234.266559995 meters 0.011791422334218902 Centerline is valid? [True, True] Translation: X:-382.38, Y:-247.23, Z:-2.80 [[-6.87082867e-01 -7.26575474e-01 2.28347865e-03 -3.82377745e+02] [ 7.26571569e-01 -6.87086662e-01 -2.38223429e-03 -2.47226256e+02] [ 3.29982073e-03 2.23182977e-05 9.99994556e-01 -2.79854538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1234.296559995 meters 0.01196659826433971 Centerline is valid? [True, True] Translation: X:-382.40, Y:-247.21, Z:-2.80 [[-6.86745901e-01 -7.26891101e-01 3.06530869e-03 -3.82397868e+02] [ 7.26884074e-01 -6.86752741e-01 -3.19633869e-03 -2.47208779e+02] [ 4.42849929e-03 3.30515806e-05 9.99990194e-01 -2.80048949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1234.326559995 meters 0.012092834203205016 Centerline is valid? [True, True] Translation: X:-382.42, Y:-247.19, Z:-2.80 [[-6.86018870e-01 -7.27573533e-01 3.85544440e-03 -3.82417559e+02] [ 7.27562441e-01 -6.86029702e-01 -4.01776883e-03 -2.47189812e+02] [ 5.56817163e-03 4.88113094e-05 9.99984497e-01 -2.80159164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1234.356559995 meters 0.012608959725836208 Centerline is valid? [True, True] Translation: X:-382.44, Y:-247.17, Z:-2.80 [[-6.84850958e-01 -7.28667587e-01 4.76582801e-03 -3.82439211e+02] [ 7.28650684e-01 -6.84867536e-01 -4.96377542e-03 -2.47171108e+02] [ 6.88090315e-03 7.31774891e-05 9.99976324e-01 -2.80396691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1234.386559995 meters 0.012837773172878375 Centerline is valid? [True, True] Translation: X:-382.46, Y:-247.15, Z:-2.80 [[-6.84539672e-01 -7.28958384e-01 5.01129174e-03 -3.82458722e+02] [ 7.28939726e-01 -6.84558010e-01 -5.21608108e-03 -2.47152853e+02] [ 7.23282594e-03 8.23151988e-05 9.99973840e-01 -2.80486065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1234.416559995 meters 0.012895339542511701 Centerline is valid? [True, True] Translation: X:-382.48, Y:-247.13, Z:-2.81 [[-6.84546513e-01 -7.28951281e-01 5.10899972e-03 -3.82478259e+02] [ 7.28931912e-01 -6.84565572e-01 -5.31456676e-03 -2.47133703e+02] [ 7.37150556e-03 8.60447944e-05 9.99972827e-01 -2.80509434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1234.4465599950001 meters 0.01310294964935113 Centerline is valid? [True, True] Translation: X:-382.50, Y:-247.11, Z:-2.81 [[-6.84729514e-01 -7.28779468e-01 5.09703836e-03 -3.82497323e+02] [ 7.28760210e-01 -6.84748479e-01 -5.29876659e-03 -2.47114934e+02] [ 7.35182156e-03 8.62968752e-05 9.99972971e-01 -2.80537608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1234.4765599950001 meters 0.013133856662686799 Centerline is valid? [True, True] Translation: X:-382.52, Y:-247.10, Z:-2.81 [[-6.84859648e-01 -7.28658355e-01 4.92582478e-03 -3.82516040e+02] [ 7.28640388e-01 -6.84877357e-01 -5.11772063e-03 -2.47095456e+02] [ 7.10265576e-03 8.42345233e-05 9.99974772e-01 -2.80520759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1234.506559995 meters 0.012684158119982619 Centerline is valid? [True, True] Translation: X:-382.53, Y:-247.07, Z:-2.80 [[-6.85044641e-01 -7.28485041e-01 4.83570769e-03 -3.82534026e+02] [ 7.28467741e-01 -6.85061704e-01 -5.02126444e-03 -2.47074468e+02] [ 6.97067418e-03 8.28667554e-05 9.99975701e-01 -2.80418512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1234.536559995 meters 0.012731177110946252 Centerline is valid? [True, True] Translation: X:-382.55, Y:-247.05, Z:-2.80 [[-6.85738850e-01 -7.27835806e-01 4.15565058e-03 -3.82551584e+02] [ 7.27823035e-01 -6.85751438e-01 -4.31225000e-03 -2.47054642e+02] [ 5.98835332e-03 6.75008660e-05 9.99982068e-01 -2.80345468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1234.566559995 meters 0.012716086295746817 Centerline is valid? [True, True] Translation: X:-382.57, Y:-247.03, Z:-2.80 [[-6.86322162e-01 -7.27288835e-01 3.58341447e-03 -3.82569598e+02] [ 7.27279343e-01 -6.86331515e-01 -3.71613207e-03 -2.47034675e+02] [ 5.16211165e-03 5.56795270e-05 9.99986675e-01 -2.80256350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1234.596559995 meters 0.012679458706241974 Centerline is valid? [True, True] Translation: X:-382.59, Y:-247.02, Z:-2.80 [[-6.86825160e-01 -7.26815839e-01 3.15234225e-03 -3.82587990e+02] [ 7.26808497e-01 -6.86832392e-01 -3.26706338e-03 -2.47015019e+02] [ 4.53968418e-03 4.72478039e-05 9.99989695e-01 -2.80200218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1234.626559995 meters 0.012992723246736003 Centerline is valid? [True, True] Translation: X:-382.61, Y:-247.00, Z:-2.80 [[-6.87088002e-01 -7.26568296e-01 2.93077370e-03 -3.82606375e+02] [ 7.26561956e-01 -6.87094251e-01 -3.03545412e-03 -2.46996949e+02] [ 4.21918249e-03 4.37645650e-05 9.99991098e-01 -2.80217069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1234.656559995 meters 0.012643122647384441 Centerline is valid? [True, True] Translation: X:-382.62, Y:-246.98, Z:-2.80 [[-6.87600183e-01 -7.26083810e-01 2.87922564e-03 -3.82624491e+02] [ 7.26077695e-01 -6.87606210e-01 -2.98019451e-03 -2.46976831e+02] [ 4.14364441e-03 4.13592263e-05 9.99991414e-01 -2.80190326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1234.6865599950002 meters 0.012770026787112448 Centerline is valid? [True, True] Translation: X:-382.64, Y:-246.96, Z:-2.80 [[-6.87746817e-01 -7.25943060e-01 3.31509023e-03 -3.82642360e+02] [ 7.25934963e-01 -6.87754805e-01 -3.42908821e-03 -2.46958172e+02] [ 4.76929202e-03 4.81954034e-05 9.99988626e-01 -2.80266970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1234.7165599950001 meters 0.012803445653320509 Centerline is valid? [True, True] Translation: X:-382.66, Y:-246.94, Z:-2.80 [[-6.88056766e-01 -7.25647643e-01 3.65848748e-03 -3.82661208e+02] [ 7.25637790e-01 -6.88066490e-01 -3.78195103e-03 -2.46938400e+02] [ 5.26164649e-03 5.25397681e-05 9.99986156e-01 -2.80317541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1234.746559995 meters 0.013120591198551737 Centerline is valid? [True, True] Translation: X:-382.68, Y:-246.92, Z:-2.80 [[-6.88276581e-01 -7.25437208e-01 4.02562277e-03 -3.82680073e+02] [ 7.25425285e-01 -6.88288351e-01 -4.15948643e-03 -2.46919974e+02] [ 5.78823548e-03 5.74114467e-05 9.99983247e-01 -2.80422704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1234.776559995 meters 0.012948338013921487 Centerline is valid? [True, True] Translation: X:-382.70, Y:-246.90, Z:-2.80 [[-6.88776361e-01 -7.24962343e-01 4.08975420e-03 -3.82698534e+02] [ 7.24950044e-01 -6.88788501e-01 -4.22320507e-03 -2.46899729e+02] [ 5.87864031e-03 5.60236682e-05 9.99982719e-01 -2.80427076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1234.806559995 meters 0.012716113638751995 Centerline is valid? [True, True] Translation: X:-382.72, Y:-246.88, Z:-2.80 [[-6.89394029e-01 -7.24375623e-01 3.97860265e-03 -3.82716892e+02] [ 7.24363988e-01 -6.89405508e-01 -4.10587349e-03 -2.46879479e+02] [ 5.71706525e-03 5.13918177e-05 9.99983656e-01 -2.80403335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1234.836559995 meters 0.012671157829106949 Centerline is valid? [True, True] Translation: X:-382.74, Y:-246.86, Z:-2.80 [[-6.90253649e-01 -7.23558020e-01 3.70024800e-03 -3.82735158e+02] [ 7.23547958e-01 -6.90263566e-01 -3.81613053e-03 -2.46860294e+02] [ 5.31533823e-03 4.32088626e-05 9.99985873e-01 -2.80455862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1234.866559995 meters 0.012577460958353685 Centerline is valid? [True, True] Translation: X:-382.75, Y:-246.84, Z:-2.80 [[-6.91773981e-01 -7.22107289e-01 3.13424801e-03 -3.82752329e+02] [ 7.22100063e-01 -6.91781080e-01 -3.23038850e-03 -2.46838837e+02] [ 4.50090056e-03 2.85419738e-05 9.99989871e-01 -2.80421302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1234.896559995 meters 0.012498984136915206 Centerline is valid? [True, True] Translation: X:-382.77, Y:-246.82, Z:-2.80 [[-6.92816130e-01 -7.21107787e-01 3.06115681e-03 -3.82770234e+02] [ 7.21100893e-01 -6.92822892e-01 -3.15327695e-03 -2.46817747e+02] [ 4.39469208e-03 2.27617765e-05 9.99990343e-01 -2.80386880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1234.926559995 meters 0.012528752220487585 Centerline is valid? [True, True] Translation: X:-382.79, Y:-246.80, Z:-2.80 [[-6.93764749e-01 -7.20194795e-01 3.15127707e-03 -3.82788516e+02] [ 7.20187486e-01 -6.93771905e-01 -3.24477501e-03 -2.46797329e+02] [ 4.52313757e-03 1.83997877e-05 9.99989771e-01 -2.80409998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1234.9565599950001 meters 0.012405198538650962 Centerline is valid? [True, True] Translation: X:-382.81, Y:-246.78, Z:-2.80 [[-6.94903609e-01 -7.19098140e-01 2.61522119e-03 -3.82806011e+02] [ 7.19093104e-01 -6.94908530e-01 -2.69111918e-03 -2.46776411e+02] [ 3.75251832e-03 1.05190924e-05 9.99992959e-01 -2.80338242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1234.986559995 meters 0.01241548675010387 Centerline is valid? [True, True] Translation: X:-382.82, Y:-246.76, Z:-2.80 [[-6.96232962e-01 -7.17811091e-01 2.62668452e-03 -3.82823725e+02] [ 7.17806009e-01 -6.96237917e-01 -2.70122920e-03 -2.46756315e+02] [ 3.76776964e-03 4.76512012e-06 9.99992902e-01 -2.80366368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1235.016559995 meters 0.012469350295282369 Centerline is valid? [True, True] Translation: X:-382.84, Y:-246.74, Z:-2.80 [[-6.97237252e-01 -7.16836126e-01 2.48648906e-03 -3.82841774e+02] [ 7.16831571e-01 -6.97241686e-01 -2.55546236e-03 -2.46735709e+02] [ 3.56553156e-03 6.30307399e-07 9.99993644e-01 -2.80333428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1235.046559995 meters 0.01251278388253784 Centerline is valid? [True, True] Translation: X:-382.86, Y:-246.72, Z:-2.80 [[-6.99087905e-01 -7.15032500e-01 2.15064483e-03 -3.82858458e+02] [ 7.15029088e-01 -6.99091213e-01 -2.20885834e-03 -2.46715022e+02] [ 3.08290241e-03 -6.41253861e-06 9.99995248e-01 -2.80324438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1235.076559995 meters 0.01259837362120995 Centerline is valid? [True, True] Translation: X:-382.88, Y:-246.69, Z:-2.80 [[-7.00035698e-01 -7.14104743e-01 2.10659424e-03 -3.82877487e+02] [ 7.14101469e-01 -7.00038867e-01 -2.16240661e-03 -2.46693883e+02] [ 3.01888266e-03 -9.43977848e-06 9.99995443e-01 -2.80287186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1235.106559995 meters 0.012846632183455282 Centerline is valid? [True, True] Translation: X:-382.90, Y:-246.67, Z:-2.80 [[-7.01077036e-01 -7.13082285e-01 2.15512792e-03 -3.82895135e+02] [ 7.13078857e-01 -7.01080348e-01 -2.21115313e-03 -2.46674123e+02] [ 3.08765196e-03 -1.34125326e-05 9.99995233e-01 -2.80295538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1235.136559995 meters 0.013002526857533446 Centerline is valid? [True, True] Translation: X:-382.91, Y:-246.65, Z:-2.80 [[-7.02039375e-01 -7.12134719e-01 2.20419838e-03 -3.82912825e+02] [ 7.12131133e-01 -7.02042835e-01 -2.26003882e-03 -2.46654396e+02] [ 3.15689379e-03 -1.69579458e-05 9.99995017e-01 -2.80295672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1235.166559995 meters 0.013172068236353899 Centerline is valid? [True, True] Translation: X:-382.93, Y:-246.64, Z:-2.80 [[-7.02774923e-01 -7.11408763e-01 2.23166121e-03 -3.82930133e+02] [ 7.11405087e-01 -7.02778466e-01 -2.28712777e-03 -2.46635116e+02] [ 3.19544618e-03 -1.97209010e-05 9.99994895e-01 -2.80338289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1235.1965599950001 meters 0.013138251059198077 Centerline is valid? [True, True] Translation: X:-382.95, Y:-246.62, Z:-2.80 [[-7.03436808e-01 -7.10752585e-01 2.72404392e-03 -3.82949261e+02] [ 7.10747109e-01 -7.03442082e-01 -2.79000447e-03 -2.46615907e+02] [ 3.89921002e-03 -2.64855008e-05 9.99992398e-01 -2.80323823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1235.2265599950001 meters 0.013356139374303981 Centerline is valid? [True, True] Translation: X:-382.97, Y:-246.60, Z:-2.80 [[-7.04212506e-01 -7.09981947e-01 3.22206161e-03 -3.82966579e+02] [ 7.09974288e-01 -7.04219877e-01 -3.29792393e-03 -2.46596773e+02] [ 4.61050628e-03 -3.48583784e-05 9.99989371e-01 -2.80341239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1235.256559995 meters 0.013349797946730807 Centerline is valid? [True, True] Translation: X:-382.99, Y:-246.58, Z:-2.80 [[-7.04332313e-01 -7.09862135e-01 3.42690694e-03 -3.82986708e+02] [ 7.09853479e-01 -7.04340648e-01 -3.50563020e-03 -2.46576681e+02] [ 4.90222399e-03 -3.65268141e-05 9.99987984e-01 -2.80300771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1235.286559995 meters 0.013425229182063292 Centerline is valid? [True, True] Translation: X:-383.00, Y:-246.56, Z:-2.80 [[-7.04338957e-01 -7.09856669e-01 3.18495437e-03 -3.83004900e+02] [ 7.09849202e-01 -7.04346157e-01 -3.25596802e-03 -2.46558276e+02] [ 4.55458098e-03 -3.24678017e-05 9.99989628e-01 -2.80285836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1235.316559995 meters 0.013289014221038667 Centerline is valid? [True, True] Translation: X:-383.02, Y:-246.54, Z:-2.80 [[-7.03559709e-01 -7.10632246e-01 2.35503653e-03 -3.83024635e+02] [ 7.10628173e-01 -7.03563650e-01 -2.40605697e-03 -2.46539526e+02] [ 3.36673977e-03 -1.92494336e-05 9.99994333e-01 -2.80198885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1235.346559995 meters 0.013215895139441668 Centerline is valid? [True, True] Translation: X:-383.04, Y:-246.52, Z:-2.80 [[-7.02786619e-01 -7.11398797e-01 1.64905919e-03 -3.83043313e+02] [ 7.11396805e-01 -7.02788554e-01 -1.68369263e-03 -2.46521456e+02] [ 2.35671684e-03 -1.01412111e-05 9.99997223e-01 -2.80154446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1235.376559995 meters 0.013215895139441668 Centerline is valid? [True, True] Translation: X:-383.06, Y:-246.50, Z:-2.80 [[-7.03002004e-01 -7.11185954e-01 1.64956884e-03 -3.83062117e+02] [ 7.11183963e-01 -7.03003939e-01 -1.68319332e-03 -2.46502421e+02] [ 2.35671684e-03 -1.01413751e-05 9.99997223e-01 -2.80154467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1235.406559995 meters 0.012933316962152797 Centerline is valid? [True, True] Translation: X:-383.08, Y:-246.49, Z:-2.80 [[-7.00442573e-01 -7.13707449e-01 1.37085389e-03 -3.83083738e+02] [ 7.13706080e-01 -7.00443914e-01 -1.39795536e-03 -2.46485791e+02] [ 1.95793742e-03 -8.00689725e-07 9.99998083e-01 -2.80165468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1235.4365599950002 meters 0.01295457834934243 Centerline is valid? [True, True] Translation: X:-383.10, Y:-246.47, Z:-2.80 [[-6.98945449e-01 -7.15173915e-01 1.23750029e-03 -3.83103875e+02] [ 7.15172803e-01 -6.98946544e-01 -1.26120085e-03 -2.46468051e+02] [ 1.76692450e-03 3.51595089e-06 9.99998439e-01 -2.80182939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1235.4665599950001 meters 0.01295457834934243 Centerline is valid? [True, True] Translation: X:-383.12, Y:-246.45, Z:-2.80 [[-6.99161977e-01 -7.14962235e-01 1.23788213e-03 -3.83122696e+02] [ 7.14961123e-01 -6.99163073e-01 -1.26082607e-03 -2.46449035e+02] [ 1.76692450e-03 3.51595089e-06 9.99998439e-01 -2.80182960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1235.496559995 meters 0.013249692864659164 Centerline is valid? [True, True] Translation: X:-383.14, Y:-246.43, Z:-2.80 [[-6.97267603e-01 -7.16809655e-01 1.34491337e-03 -3.83143147e+02] [ 7.16808348e-01 -6.97268900e-01 -1.36901661e-03 -2.46431316e+02] [ 1.91909059e-03 9.47419969e-06 9.99998159e-01 -2.80193885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1235.526559995 meters 0.013423559551644208 Centerline is valid? [True, True] Translation: X:-383.16, Y:-246.41, Z:-2.80 [[-6.95342798e-01 -7.18676984e-01 1.33663867e-03 -3.83164046e+02] [ 7.18675698e-01 -6.95344082e-01 -1.35983049e-03 -2.46411992e+02] [ 1.90670267e-03 1.50613916e-05 9.99998182e-01 -2.80226626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1235.556559995 meters 0.013750848011425811 Centerline is valid? [True, True] Translation: X:-383.18, Y:-246.39, Z:-2.80 [[-6.93505816e-01 -7.20449336e-01 1.56167151e-03 -3.83184971e+02] [ 7.20447586e-01 -6.93507574e-01 -1.58786901e-03 -2.46393688e+02] [ 2.22701019e-03 2.39060758e-05 9.99997520e-01 -2.80261339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1235.586559995 meters 0.0149629541002996 Centerline is valid? [True, True] Translation: X:-383.21, Y:-246.38, Z:-2.80 [[-6.89290418e-01 -7.24482761e-01 1.85715006e-03 -3.83207344e+02] [ 7.24480304e-01 -6.89292919e-01 -1.88717887e-03 -2.46377549e+02] [ 2.64734894e-03 4.46543276e-05 9.99996495e-01 -2.80366372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1235.616559995 meters 0.015573250184228438 Centerline is valid? [True, True] Translation: X:-383.23, Y:-246.36, Z:-2.80 [[-6.87351834e-01 -7.26321737e-01 2.04717807e-03 -3.83228213e+02] [ 7.26318763e-01 -6.87354881e-01 -2.07911667e-03 -2.46358918e+02] [ 2.91724547e-03 5.78191894e-05 9.99995743e-01 -2.80415323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1235.646559995 meters 0.016553438909771453 Centerline is valid? [True, True] Translation: X:-383.25, Y:-246.34, Z:-2.81 [[-6.85543144e-01 -7.28028262e-01 2.33393762e-03 -3.83248700e+02] [ 7.28024411e-01 -6.85547113e-01 -2.36928562e-03 -2.46341842e+02] [ 3.32493109e-03 7.49160504e-05 9.99994470e-01 -2.80501370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1235.676559995 meters 0.01748566232451059 Centerline is valid? [True, True] Translation: X:-383.27, Y:-246.32, Z:-2.81 [[-6.83988973e-01 -7.29487822e-01 2.56964513e-03 -3.83269408e+02] [ 7.29483169e-01 -6.83993793e-01 -2.60703947e-03 -2.46324151e+02] [ 3.65942486e-03 9.13266238e-05 9.99993300e-01 -2.80561650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1235.7065599950001 meters 0.017316694597706017 Centerline is valid? [True, True] Translation: X:-383.29, Y:-246.30, Z:-2.81 [[-6.82716249e-01 -7.30677290e-01 3.03679561e-03 -3.83289366e+02] [ 7.30670811e-01 -6.82722993e-01 -3.07924441e-03 -2.46304152e+02] [ 4.32322415e-03 1.16647716e-04 9.99990648e-01 -2.80572945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1235.736559995 meters 0.01855566306872432 Centerline is valid? [True, True] Translation: X:-383.31, Y:-246.29, Z:-2.81 [[-6.81919049e-01 -7.31420086e-01 3.32698675e-03 -3.83310245e+02] [ 7.31412327e-01 -6.81927152e-01 -3.37147855e-03 -2.46287208e+02] [ 4.73472972e-03 1.34323673e-04 9.99988782e-01 -2.80661486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1235.766559995 meters 0.01931133047776688 Centerline is valid? [True, True] Translation: X:-383.33, Y:-246.27, Z:-2.81 [[-6.81524022e-01 -7.31786571e-01 3.66372439e-03 -3.83331279e+02] [ 7.31777180e-01 -6.81533852e-01 -3.71055326e-03 -2.46270290e+02] [ 5.21228524e-03 1.52198716e-04 9.99986405e-01 -2.80800940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1235.796559995 meters 0.017794118514304593 Centerline is valid? [True, True] Translation: X:-383.35, Y:-246.25, Z:-2.81 [[-6.82136506e-01 -7.31216228e-01 3.55175903e-03 -3.83349667e+02] [ 7.31207405e-01 -6.82145737e-01 -3.59512650e-03 -2.46248825e+02] [ 5.05163212e-03 1.44705472e-04 9.99987230e-01 -2.80803395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1235.826559995 meters 0.01814427189405162 Centerline is valid? [True, True] Translation: X:-383.37, Y:-246.23, Z:-2.81 [[-6.83020820e-01 -7.30391948e-01 3.18771433e-03 -3.83368635e+02] [ 7.30384842e-01 -6.83028247e-01 -3.22449046e-03 -2.46230679e+02] [ 4.53244080e-03 1.25864112e-04 9.99989721e-01 -2.80838800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1235.856559995 meters 0.01720256186596289 Centerline is valid? [True, True] Translation: X:-383.39, Y:-246.21, Z:-2.81 [[-6.84109763e-01 -7.29374316e-01 2.63412621e-03 -3.83386860e+02] [ 7.29369462e-01 -6.84114827e-01 -2.66301540e-03 -2.46209640e+02] [ 3.74437983e-03 9.94563787e-05 9.99992985e-01 -2.80753649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1235.886559995 meters 0.01758862258875301 Centerline is valid? [True, True] Translation: X:-383.41, Y:-246.19, Z:-2.81 [[-6.85405549e-01 -7.28159433e-01 1.75339958e-03 -3.83406024e+02] [ 7.28157280e-01 -6.85407788e-01 -1.77189893e-03 -2.46190675e+02] [ 2.49201864e-03 6.22813108e-05 9.99996893e-01 -2.80695540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1235.916559995 meters 0.01603817163393996 Centerline is valid? [True, True] Translation: X:-383.42, Y:-246.17, Z:-2.81 [[-6.86953502e-01 -7.26700618e-01 1.04739671e-03 -3.83423130e+02] [ 7.26699849e-01 -6.86954300e-01 -1.05784314e-03 -2.46168529e+02] [ 1.48824894e-03 3.44539840e-05 9.99998892e-01 -2.80590821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1235.9465599950001 meters 0.01538784640393406 Centerline is valid? [True, True] Translation: X:-383.44, Y:-246.15, Z:-2.81 [[-6.88586169e-01 -7.25154405e-01 4.20197602e-04 -3.83441521e+02] [ 7.25154281e-01 -6.88586297e-01 -4.24152812e-04 -2.46146900e+02] [ 5.96918593e-04 1.26423303e-05 9.99999822e-01 -2.80517785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1235.9765599950001 meters 0.015258270217106561 Centerline is valid? [True, True] Translation: X:-383.46, Y:-246.13, Z:-2.80 [[-6.90248373e-01 -7.23572498e-01 -1.56606647e-04 -3.83459737e+02] [ 7.23572481e-01 -6.90248391e-01 1.57995169e-04 -2.46127005e+02] [-2.22418443e-04 -4.26035191e-06 9.99999975e-01 -2.80464920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1236.006559995 meters 0.01473750354624189 Centerline is valid? [True, True] Translation: X:-383.48, Y:-246.11, Z:-2.80 [[-6.91909318e-01 -7.21984289e-01 -4.25879888e-04 -3.83478146e+02] [ 7.21984162e-01 -6.91909449e-01 4.29408390e-04 -2.46105590e+02] [-6.04696428e-04 -1.03668674e-05 9.99999817e-01 -2.80402100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1236.036559995 meters 0.014083475209542756 Centerline is valid? [True, True] Translation: X:-383.50, Y:-246.08, Z:-2.80 [[-6.94540646e-01 -7.19453445e-01 -1.79793951e-04 -3.83496364e+02] [ 7.19453422e-01 -6.94540669e-01 1.81183519e-04 -2.46083669e+02] [-2.55227316e-04 -3.51405510e-06 9.99999968e-01 -2.80434998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1236.066559995 meters 0.014228318099028517 Centerline is valid? [True, True] Translation: X:-383.52, Y:-246.07, Z:-2.81 [[-6.95693131e-01 -7.18338958e-01 4.56348311e-04 -3.83515316e+02] [ 7.18338811e-01 -6.95693281e-01 -4.59640127e-04 -2.46065270e+02] [ 6.47655865e-04 8.04422412e-06 9.99999790e-01 -2.80548184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1236.096559995 meters 0.013673026995328236 Centerline is valid? [True, True] Translation: X:-383.53, Y:-246.04, Z:-2.81 [[-6.96800363e-01 -7.17264287e-01 1.09417719e-03 -3.83533586e+02] [ 7.17263442e-01 -6.96801222e-01 -1.10145674e-03 -2.46044418e+02] [ 1.55245959e-03 1.73178452e-05 9.99998795e-01 -2.80668200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1236.126559995 meters 0.013573691937248528 Centerline is valid? [True, True] Translation: X:-383.55, Y:-246.02, Z:-2.81 [[-6.97765979e-01 -7.16322626e-01 2.12928781e-03 -3.83552967e+02] [ 7.16319424e-01 -6.97769227e-01 -2.14211138e-03 -2.46024794e+02] [ 3.02019436e-03 3.05577697e-05 9.99995439e-01 -2.80823688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1236.156559995 meters 0.013347682059480327 Centerline is valid? [True, True] Translation: X:-383.57, Y:-246.00, Z:-2.81 [[-6.98540953e-01 -7.15561915e-01 3.41802058e-03 -3.83572173e+02] [ 7.15553664e-01 -6.98549314e-01 -3.43668119e-03 -2.46004814e+02] [ 4.84681411e-03 4.51145944e-05 9.99988253e-01 -2.80955840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1236.1865599950002 meters 0.013556202325365287 Centerline is valid? [True, True] Translation: X:-383.59, Y:-245.99, Z:-2.81 [[-6.99191433e-01 -7.14921367e-01 4.33352142e-03 -3.83591143e+02] [ 7.14908108e-01 -6.99204860e-01 -4.35430421e-03 -2.45986258e+02] [ 6.14300436e-03 5.35773974e-05 9.99981130e-01 -2.81121514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1236.2165599950001 meters 0.013194887174057592 Centerline is valid? [True, True] Translation: X:-383.61, Y:-245.97, Z:-2.81 [[-7.00491263e-01 -7.13632963e-01 6.32332097e-03 -3.83609763e+02] [ 7.13604717e-01 -7.00519800e-01 -6.34971267e-03 -2.45966617e+02] [ 8.96097580e-03 6.44334178e-05 9.99959848e-01 -2.81314342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1236.246559995 meters 0.01315888394016609 Centerline is valid? [True, True] Translation: X:-383.63, Y:-245.95, Z:-2.81 [[-7.01061408e-01 -7.13066709e-01 6.98361887e-03 -3.83629358e+02] [ 7.13032269e-01 -7.01096188e-01 -7.00843648e-03 -2.45947408e+02] [ 9.89367130e-03 6.62012613e-05 9.99951054e-01 -2.81410047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1236.276559995 meters 0.01311756479643409 Centerline is valid? [True, True] Translation: X:-383.65, Y:-245.93, Z:-2.81 [[-7.01672851e-01 -7.12461958e-01 7.29166427e-03 -3.83649154e+02] [ 7.12424427e-01 -7.01710734e-01 -7.31306175e-03 -2.45928464e+02] [ 1.03269174e-02 6.33828481e-05 9.99946674e-01 -2.81383142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1236.306559995 meters 0.01303941631591438 Centerline is valid? [True, True] Translation: X:-383.67, Y:-245.91, Z:-2.81 [[-7.02298796e-01 -7.11849742e-01 6.80775972e-03 -3.83668843e+02] [ 7.11817040e-01 -7.02331789e-01 -6.82354941e-03 -2.45909386e+02] [ 9.63864795e-03 5.37088363e-05 9.99953546e-01 -2.81338647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1236.336559995 meters 0.0129743205466071 Centerline is valid? [True, True] Translation: X:-383.69, Y:-245.89, Z:-2.81 [[-7.02745961e-01 -7.11411974e-01 6.41229536e-03 -3.83688768e+02] [ 7.11382975e-01 -7.02775214e-01 -6.42355914e-03 -2.45889495e+02] [ 9.07619914e-03 4.74675049e-05 9.99958810e-01 -2.81185110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1236.366559995 meters 0.012925768596815145 Centerline is valid? [True, True] Translation: X:-383.71, Y:-245.87, Z:-2.81 [[-7.03182915e-01 -7.10985904e-01 5.73001131e-03 -3.83708633e+02] [ 7.10962760e-01 -7.03206259e-01 -5.73687207e-03 -2.45870044e+02] [ 8.10821500e-03 3.97542329e-05 9.99967127e-01 -2.81144968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1236.396559995 meters 0.01287634338056962 Centerline is valid? [True, True] Translation: X:-383.73, Y:-245.85, Z:-2.81 [[-7.03708184e-01 -7.10469957e-01 5.21850299e-03 -3.83728607e+02] [ 7.10450768e-01 -7.03727532e-01 -5.22181810e-03 -2.45850361e+02] [ 7.38234911e-03 3.28533262e-05 9.99972750e-01 -2.81059017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1236.426559995 meters 0.01291709950374662 Centerline is valid? [True, True] Translation: X:-383.75, Y:-245.83, Z:-2.81 [[-7.04250979e-01 -7.09935439e-01 4.71511248e-03 -3.83747847e+02] [ 7.09919782e-01 -7.04266762e-01 -4.71498504e-03 -2.45831960e+02] [ 6.66803197e-03 2.68187936e-05 9.99977768e-01 -2.81032181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1236.4565599950001 meters 0.012943843202247967 Centerline is valid? [True, True] Translation: X:-383.77, Y:-245.86, Z:-2.81 [[-6.55150106e-01 -7.55491400e-01 3.32904325e-03 -3.83767470e+02] [ 7.55481788e-01 -6.55158564e-01 -3.81111956e-03 -2.45857122e+02] [ 5.06031925e-03 1.81761615e-05 9.99987197e-01 -2.80958561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1236.486559995 meters 0.013055877634573939 Centerline is valid? [True, True] Translation: X:-383.79, Y:-245.84, Z:-2.81 [[-6.55212671e-01 -7.55438481e-01 3.00937640e-03 -3.83786403e+02] [ 7.55430638e-01 -6.55219582e-01 -3.44239481e-03 -2.45836857e+02] [ 4.57231986e-03 1.78744380e-05 9.99989547e-01 -2.80987399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1236.516559995 meters 0.013087675279336143 Centerline is valid? [True, True] Translation: X:-383.81, Y:-245.82, Z:-2.81 [[-6.55154707e-01 -7.55488698e-01 3.02290689e-03 -3.83805115e+02] [ 7.55480795e-01 -6.55161680e-01 -3.45569614e-03 -2.45816753e+02] [ 4.59123214e-03 1.97325088e-05 9.99989460e-01 -2.81004203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1236.546559995 meters 0.013144780411536714 Centerline is valid? [True, True] Translation: X:-383.82, Y:-245.80, Z:-2.81 [[-6.54660481e-01 -7.55917588e-01 2.87298090e-03 -3.83824363e+02] [ 7.55910463e-01 -6.54666785e-01 -3.28224114e-03 -2.45797003e+02] [ 4.36194897e-03 2.29627587e-05 9.99990487e-01 -2.81007853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1236.576559995 meters 0.013277870600311084 Centerline is valid? [True, True] Translation: X:-383.84, Y:-245.78, Z:-2.81 [[-6.54082892e-01 -7.56417456e-01 2.86419165e-03 -3.83843667e+02] [ 7.56410387e-01 -6.54089162e-01 -3.27015825e-03 -2.45778130e+02] [ 4.34704150e-03 2.75497515e-05 9.99990551e-01 -2.81069801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1236.606559995 meters 0.013504198646644046 Centerline is valid? [True, True] Translation: X:-383.86, Y:-245.76, Z:-2.81 [[-6.52950265e-01 -7.57394610e-01 3.05886915e-03 -3.83862990e+02] [ 7.57386569e-01 -6.52957429e-01 -3.49014484e-03 -2.45759619e+02] [ 4.64072823e-03 3.78554134e-05 9.99989231e-01 -2.81106457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1236.636559995 meters 0.013661369634416439 Centerline is valid? [True, True] Translation: X:-383.88, Y:-245.74, Z:-2.81 [[-6.51665470e-01 -7.58500504e-01 3.01666756e-03 -3.83881998e+02] [ 7.58492706e-01 -6.51672451e-01 -3.43981750e-03 -2.45740295e+02] [ 4.57498245e-03 4.65100558e-05 9.99989534e-01 -2.81095746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1236.666559995 meters 0.014044892102193701 Centerline is valid? [True, True] Translation: X:-383.90, Y:-245.72, Z:-2.81 [[-6.50208313e-01 -7.59749602e-01 3.11328450e-03 -3.83901634e+02] [ 7.59741320e-01 -6.50215764e-01 -3.54788329e-03 -2.45720966e+02] [ 4.71980957e-03 5.84276688e-05 9.99988860e-01 -2.81102936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1236.6965599950001 meters 0.014459891372035745 Centerline is valid? [True, True] Translation: X:-383.92, Y:-245.70, Z:-2.81 [[-6.48664796e-01 -7.61065672e-01 3.60916300e-03 -3.83921531e+02] [ 7.61054575e-01 -6.48674831e-01 -4.11067390e-03 -2.45701288e+02] [ 5.46966599e-03 8.03205634e-05 9.99985038e-01 -2.81108403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1236.7265599950001 meters 0.015641863084369077 Centerline is valid? [True, True] Translation: X:-383.94, Y:-245.68, Z:-2.81 [[-6.46027617e-01 -7.63304202e-01 3.87468027e-03 -3.83942395e+02] [ 7.63291464e-01 -6.46039228e-01 -4.41108569e-03 -2.45684296e+02] [ 5.87019569e-03 1.07827195e-04 9.99982765e-01 -2.81206419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1236.756559995 meters 0.015884894924331212 Centerline is valid? [True, True] Translation: X:-383.96, Y:-245.66, Z:-2.81 [[-6.45459728e-01 -7.63784849e-01 3.80052280e-03 -3.83961980e+02] [ 7.63772616e-01 -6.45470907e-01 -4.32428714e-03 -2.45664079e+02] [ 5.75595191e-03 1.11582043e-04 9.99983428e-01 -2.81217238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1236.786559995 meters 0.01575318145735513 Centerline is valid? [True, True] Translation: X:-383.98, Y:-245.64, Z:-2.81 [[-6.45335447e-01 -7.63890920e-01 3.58103857e-03 -3.83980374e+02] [ 7.63880075e-01 -6.45345373e-01 -4.07199666e-03 -2.45643952e+02] [ 5.42156795e-03 1.07680232e-04 9.99985298e-01 -2.81228604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1236.816559995 meters 0.015905940715547413 Centerline is valid? [True, True] Translation: X:-384.00, Y:-245.62, Z:-2.81 [[-6.45716551e-01 -7.63570277e-01 3.25079888e-03 -3.83999058e+02] [ 7.63561348e-01 -6.45724727e-01 -3.69405035e-03 -2.45624882e+02] [ 4.91978827e-03 9.68749242e-05 9.99987893e-01 -2.81241224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1236.846559995 meters 0.015831972563338407 Centerline is valid? [True, True] Translation: X:-384.02, Y:-245.60, Z:-2.81 [[-6.46502647e-01 -7.62904982e-01 3.21178589e-03 -3.84017314e+02] [ 7.62896269e-01 -6.46510618e-01 -3.64746964e-03 -2.45604738e+02] [ 4.85912644e-03 9.21606990e-05 9.99988190e-01 -2.81287806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1236.876559995 meters 0.01447290131015517 Centerline is valid? [True, True] Translation: X:-384.03, Y:-245.58, Z:-2.81 [[-6.49482414e-01 -7.60372697e-01 2.44039747e-03 -3.84033090e+02] [ 7.60367654e-01 -6.49486996e-01 -2.76987861e-03 -2.45581027e+02] [ 3.69114650e-03 5.66118547e-05 9.99993186e-01 -2.81214981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1236.906559995 meters 0.014004319799035304 Centerline is valid? [True, True] Translation: X:-384.05, Y:-245.56, Z:-2.81 [[-6.51603472e-01 -7.58556686e-01 2.16118835e-03 -3.84049918e+02] [ 7.58552725e-01 -6.51607054e-01 -2.45159217e-03 -2.45558938e+02] [ 3.26791721e-03 4.19093456e-05 9.99994660e-01 -2.81176497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1236.9365599950002 meters 0.013733872302850898 Centerline is valid? [True, True] Translation: X:-384.07, Y:-245.54, Z:-2.81 [[-6.54135071e-01 -7.56375957e-01 1.64921849e-03 -3.84066953e+02] [ 7.56373647e-01 -6.54137150e-01 -1.86977811e-03 -2.45537311e+02] [ 2.49307029e-03 2.43379664e-05 9.99996892e-01 -2.81184069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1236.9665599950001 meters 0.01320266456158934 Centerline is valid? [True, True] Translation: X:-384.08, Y:-245.52, Z:-2.81 [[-6.56578645e-01 -7.54256182e-01 1.44764693e-03 -3.84082678e+02] [ 7.54254399e-01 -6.56580240e-01 -1.64022435e-03 -2.45515110e+02] [ 2.18764573e-03 1.49577864e-05 9.99997607e-01 -2.81137752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1236.996559995 meters 0.01296948421040522 Centerline is valid? [True, True] Translation: X:-384.10, Y:-245.49, Z:-2.81 [[-6.59130666e-01 -7.52027354e-01 1.27443813e-03 -3.84098862e+02] [ 7.52025969e-01 -6.59131898e-01 -1.44307211e-03 -2.45493120e+02] [ 1.92525253e-03 7.23748693e-06 9.99998147e-01 -2.81147241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1237.026559995 meters 0.012850603168760138 Centerline is valid? [True, True] Translation: X:-384.11, Y:-245.47, Z:-2.81 [[-6.61507972e-01 -7.49937304e-01 1.11473481e-03 -3.84114814e+02] [ 7.49936243e-01 -6.61508911e-01 -1.26141123e-03 -2.45472171e+02] [ 1.68338635e-03 1.54644663e-06 9.99998583e-01 -2.81182129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1237.056559995 meters 0.012931021273837814 Centerline is valid? [True, True] Translation: X:-384.13, Y:-245.45, Z:-2.81 [[-6.65073517e-01 -7.46775612e-01 1.84426595e-03 -3.84131894e+02] [ 7.46772700e-01 -6.65076074e-01 -2.08576457e-03 -2.45449389e+02] [ 2.78417527e-03 -9.93931755e-06 9.99996124e-01 -2.81360084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1237.086559995 meters 0.013013107266570437 Centerline is valid? [True, True] Translation: X:-384.15, Y:-245.43, Z:-2.81 [[-6.66394786e-01 -7.45594334e-01 2.66058569e-03 -3.84149400e+02] [ 7.45588270e-01 -6.66400097e-01 -3.00708753e-03 -2.45428403e+02] [ 4.01508198e-03 -2.02059696e-05 9.99991940e-01 -2.81491489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1237.116559995 meters 0.013231792808275557 Centerline is valid? [True, True] Translation: X:-384.17, Y:-245.41, Z:-2.82 [[-6.67573034e-01 -7.44536800e-01 3.34640819e-03 -3.84166040e+02] [ 7.44527206e-01 -6.67581420e-01 -3.77974079e-03 -2.45408045e+02] [ 5.04815604e-03 -3.17610857e-05 9.99987258e-01 -2.81624408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1237.146559995 meters 0.013401425663382108 Centerline is valid? [True, True] Translation: X:-384.18, Y:-245.39, Z:-2.82 [[-6.68407810e-01 -7.43784075e-01 4.03115517e-03 -3.84183393e+02] [ 7.43770156e-01 -6.68419964e-01 -4.55037818e-03 -2.45387377e+02] [ 6.07900342e-03 -4.32554021e-05 9.99981522e-01 -2.81729673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1237.176559995 meters 0.013521394302429065 Centerline is valid? [True, True] Translation: X:-384.20, Y:-245.37, Z:-2.82 [[-6.69188470e-01 -7.43076207e-01 4.95408949e-03 -3.84200825e+02] [ 7.43055186e-01 -6.69206805e-01 -5.58952138e-03 -2.45367085e+02] [ 7.46875074e-03 -5.92813710e-05 9.99972107e-01 -2.81833291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1237.2065599950001 meters 0.013965810320798997 Centerline is valid? [True, True] Translation: X:-384.22, Y:-245.35, Z:-2.82 [[-6.70524697e-01 -7.41860069e-01 6.34572161e-03 -3.84217599e+02] [ 7.41825552e-01 -6.70554718e-01 -7.15683220e-03 -2.45346443e+02] [ 9.56452159e-03 -9.14143024e-05 9.99954255e-01 -2.82072993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1237.236559995 meters 0.013917533085506572 Centerline is valid? [True, True] Translation: X:-384.24, Y:-245.33, Z:-2.82 [[-6.71030641e-01 -7.41395962e-01 7.06437366e-03 -3.84235943e+02] [ 7.41353212e-01 -6.71067818e-01 -7.96237438e-03 -2.45326544e+02] [ 1.06439460e-02 -1.05801087e-04 9.99943346e-01 -2.82128097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1237.266559995 meters 0.013908861929687147 Centerline is valid? [True, True] Translation: X:-384.26, Y:-245.31, Z:-2.82 [[-6.71660158e-01 -7.40823071e-01 7.33555024e-03 -3.84255024e+02] [ 7.40776992e-01 -6.71700205e-01 -8.26338380e-03 -2.45305500e+02] [ 1.10489960e-02 -1.16178829e-04 9.99938951e-01 -2.82167690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1237.296559995 meters 0.014086752372215176 Centerline is valid? [True, True] Translation: X:-384.27, Y:-245.29, Z:-2.82 [[-6.72106044e-01 -7.40416768e-01 7.51504002e-03 -3.84272415e+02] [ 7.40368428e-01 -6.72148045e-01 -8.46145207e-03 -2.45285403e+02] [ 1.13162205e-02 -1.23094708e-04 9.99935962e-01 -2.82221573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1237.326559995 meters 0.014086752372215176 Centerline is valid? [True, True] Translation: X:-384.29, Y:-245.27, Z:-2.82 [[-6.72334908e-01 -7.40208927e-01 7.51765605e-03 -3.84290262e+02] [ 7.40160600e-01 -6.72376925e-01 -8.45912793e-03 -2.45265467e+02] [ 1.13162205e-02 -1.23094186e-04 9.99935962e-01 -2.82221594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1237.356559995 meters 0.014274580992572252 Centerline is valid? [True, True] Translation: X:-384.31, Y:-245.25, Z:-2.82 [[-6.72777430e-01 -7.39806784e-01 7.51350160e-03 -3.84307510e+02] [ 7.39758547e-01 -6.72819372e-01 -8.44894037e-03 -2.45245209e+02] [ 1.13058128e-02 -1.26079359e-04 9.99936080e-01 -2.82226048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1237.386559995 meters 0.014153877082684653 Centerline is valid? [True, True] Translation: X:-384.33, Y:-245.22, Z:-2.82 [[-6.72971527e-01 -7.39636661e-01 6.85086125e-03 -3.84325667e+02] [ 7.39596598e-01 -6.73006387e-01 -7.69901709e-03 -2.45224642e+02] [ 1.03051487e-02 -1.14345613e-04 9.99946894e-01 -2.82134343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1237.416559995 meters 0.014191484236721022 Centerline is valid? [True, True] Translation: X:-384.34, Y:-245.21, Z:-2.82 [[-6.72970535e-01 -7.39641808e-01 6.37610719e-03 -3.84342451e+02] [ 7.39607139e-01 -6.73000732e-01 -7.16205187e-03 -2.45205102e+02] [ 9.58847780e-03 -1.04035482e-04 9.99954024e-01 -2.82077832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1237.4465599950001 meters 0.014134720381661626 Centerline is valid? [True, True] Translation: X:-384.36, Y:-245.18, Z:-2.82 [[-6.72830742e-01 -7.39775209e-01 5.60645149e-03 -3.84361063e+02] [ 7.39748442e-01 -6.72854094e-01 -6.29370452e-03 -2.45184834e+02] [ 8.42825042e-03 -8.72341230e-05 9.99964478e-01 -2.82005945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1237.4765599950001 meters 0.01392236204090205 Centerline is valid? [True, True] Translation: X:-384.38, Y:-245.17, Z:-2.82 [[-6.72633316e-01 -7.39959512e-01 4.93387149e-03 -3.84379712e+02] [ 7.39938811e-01 -6.72651408e-01 -5.53528974e-03 -2.45165340e+02] [ 7.41466590e-03 -7.24572902e-05 9.99972509e-01 -2.81910634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1237.506559995 meters 0.013597512692925999 Centerline is valid? [True, True] Translation: X:-384.40, Y:-245.15, Z:-2.82 [[-6.71360053e-01 -7.41119935e-01 4.11350473e-03 -3.84399012e+02] [ 7.41105586e-01 -6.71372653e-01 -4.61212227e-03 -2.45146677e+02] [ 6.17983034e-03 -4.78533234e-05 9.99980904e-01 -2.81836887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1237.536559995 meters 0.013434016088775123 Centerline is valid? [True, True] Translation: X:-384.42, Y:-245.13, Z:-2.82 [[-6.70460787e-01 -7.41934991e-01 3.84731836e-03 -3.84418062e+02] [ 7.41922467e-01 -6.70471825e-01 -4.31105743e-03 -2.45127164e+02] [ 5.77804292e-03 -3.59830263e-05 9.99983307e-01 -2.81786348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1237.566559995 meters 0.013316394625177228 Centerline is valid? [True, True] Translation: X:-384.44, Y:-245.11, Z:-2.82 [[-6.69566316e-01 -7.42742680e-01 3.77615161e-03 -3.84437273e+02] [ 7.42730642e-01 -6.69576964e-01 -4.22876692e-03 -2.45108204e+02] [ 5.66930981e-03 -2.67763753e-05 9.99983929e-01 -2.81798557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1237.596559995 meters 0.013067115160096883 Centerline is valid? [True, True] Translation: X:-384.46, Y:-245.09, Z:-2.82 [[-6.67217757e-01 -7.44853715e-01 3.66172671e-03 -3.84457725e+02] [ 7.44842438e-01 -6.67227804e-01 -4.09871913e-03 -2.45091545e+02] [ 5.49615204e-03 -7.32873316e-06 9.99984896e-01 -2.81799016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1237.626559995 meters 0.012958156990943638 Centerline is valid? [True, True] Translation: X:-384.48, Y:-245.07, Z:-2.82 [[-6.65993613e-01 -7.45949091e-01 3.53006106e-03 -3.84477186e+02] [ 7.45938638e-01 -6.66002969e-01 -3.94887550e-03 -2.45073290e+02] [ 5.29669123e-03 3.28307846e-06 9.99985973e-01 -2.81819854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1237.656559995 meters 0.01302020569265746 Centerline is valid? [True, True] Translation: X:-384.50, Y:-245.05, Z:-2.82 [[-6.64695639e-01 -7.47106209e-01 3.46694091e-03 -3.84496744e+02] [ 7.47096156e-01 -6.64704680e-01 -3.87583705e-03 -2.45054790e+02] [ 5.20015378e-03 1.38862449e-05 9.99986479e-01 -2.81746809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1237.6865599950002 meters 0.013048839093423 Centerline is valid? [True, True] Translation: X:-384.52, Y:-245.04, Z:-2.82 [[-6.63564805e-01 -7.48110637e-01 3.49640220e-03 -3.84517345e+02] [ 7.48100437e-01 -6.63574016e-01 -3.90654746e-03 -2.45035278e+02] [ 5.24265136e-03 2.34126111e-05 9.99986257e-01 -2.81756307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1237.7165599950001 meters 0.013359948614457863 Centerline is valid? [True, True] Translation: X:-384.54, Y:-245.02, Z:-2.82 [[-6.62069765e-01 -7.49433531e-01 3.60671775e-03 -3.84537526e+02] [ 7.49422707e-01 -6.62079588e-01 -4.02813297e-03 -2.45017044e+02] [ 5.40675212e-03 3.60511341e-05 9.99985383e-01 -2.81826880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1237.746559995 meters 0.013539742814203636 Centerline is valid? [True, True] Translation: X:-384.56, Y:-245.00, Z:-2.82 [[-6.60747713e-01 -7.50599386e-01 3.60853346e-03 -3.84556717e+02] [ 7.50588582e-01 -6.60757565e-01 -4.02763408e-03 -2.44998004e+02] [ 5.40750545e-03 4.72740053e-05 9.99985378e-01 -2.81787550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1237.776559995 meters 0.014223702096477933 Centerline is valid? [True, True] Translation: X:-384.58, Y:-244.98, Z:-2.82 [[-6.58225395e-01 -7.52811596e-01 3.74571722e-03 -3.84577516e+02] [ 7.52799999e-01 -6.58236049e-01 -4.17902946e-03 -2.44981009e+02] [ 5.61158794e-03 6.90325989e-05 9.99984253e-01 -2.81865113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1237.806559995 meters 0.01445717127911215 Centerline is valid? [True, True] Translation: X:-384.60, Y:-244.96, Z:-2.82 [[-6.57326595e-01 -7.53596795e-01 3.69014482e-03 -3.84597374e+02] [ 7.53585565e-01 -6.57336949e-01 -4.11476599e-03 -2.44961696e+02] [ 5.52654300e-03 7.60947490e-05 9.99984726e-01 -2.81892190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1237.836559995 meters 0.014643648723353641 Centerline is valid? [True, True] Translation: X:-384.62, Y:-244.94, Z:-2.82 [[-6.56617548e-01 -7.54215206e-01 3.58046068e-03 -3.84616326e+02] [ 7.54204656e-01 -6.56627305e-01 -3.98995458e-03 -2.44942570e+02] [ 5.36031266e-03 8.05259201e-05 9.99985630e-01 -2.81910167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1237.866559995 meters 0.014885566313172852 Centerline is valid? [True, True] Translation: X:-384.63, Y:-244.92, Z:-2.82 [[-6.56232652e-01 -7.54550396e-01 3.52237273e-03 -3.84634747e+02] [ 7.54540201e-01 -6.56242100e-01 -3.92331881e-03 -2.44923968e+02] [ 5.27187104e-03 8.31619221e-05 9.99986100e-01 -2.81922571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1237.896559995 meters 0.014879922587591903 Centerline is valid? [True, True] Translation: X:-384.65, Y:-244.90, Z:-2.82 [[-6.56147585e-01 -7.54624232e-01 3.55189794e-03 -3.84653176e+02] [ 7.54613879e-01 -6.56157193e-01 -3.95372816e-03 -2.44903964e+02] [ 5.31418246e-03 8.60822960e-05 9.99985876e-01 -2.81914549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1237.926559995 meters 0.01474031590724544 Centerline is valid? [True, True] Translation: X:-384.67, Y:-244.88, Z:-2.82 [[-6.56166074e-01 -7.54608112e-01 3.56107083e-03 -3.84671571e+02] [ 7.54597717e-01 -6.56175731e-01 -3.96170888e-03 -2.44883244e+02] [ 5.32622591e-03 8.76369535e-05 9.99985812e-01 -2.81898458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1237.9565599950001 meters 0.015203282746615554 Centerline is valid? [True, True] Translation: X:-384.69, Y:-244.86, Z:-2.82 [[-6.56373232e-01 -7.54423458e-01 4.40759896e-03 -3.84689851e+02] [ 7.54407546e-01 -6.56388021e-01 -4.90107836e-03 -2.44863816e+02] [ 6.59058365e-03 1.08189274e-04 9.99978276e-01 -2.81996148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1237.986559995 meters 0.014901288140405146 Centerline is valid? [True, True] Translation: X:-384.71, Y:-244.84, Z:-2.82 [[-6.56978714e-01 -7.53894603e-01 4.67947791e-03 -3.84707180e+02] [ 7.53876676e-01 -6.56995369e-01 -5.20014679e-03 -2.44843020e+02] [ 6.99475792e-03 1.11363506e-04 9.99975530e-01 -2.82014016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1238.016559995 meters 0.014798119109222041 Centerline is valid? [True, True] Translation: X:-384.72, Y:-244.82, Z:-2.82 [[-6.57696497e-01 -7.53266048e-01 5.05759590e-03 -3.84724828e+02] [ 7.53245115e-01 -6.57715933e-01 -5.61683713e-03 -2.44821945e+02] [ 7.55743411e-03 1.15435302e-04 9.99971436e-01 -2.82045820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1238.046559995 meters 0.014642645212891381 Centerline is valid? [True, True] Translation: X:-384.74, Y:-244.80, Z:-2.82 [[-6.58465847e-01 -7.52590101e-01 5.55584986e-03 -3.84742205e+02] [ 7.52564849e-01 -6.58489275e-01 -6.16634675e-03 -2.44800791e+02] [ 8.29919907e-03 1.20808569e-04 9.99965554e-01 -2.82078447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1238.076559995 meters 0.014365555941777295 Centerline is valid? [True, True] Translation: X:-384.76, Y:-244.78, Z:-2.82 [[-6.59422019e-01 -7.51751136e-01 5.72976824e-03 -3.84759128e+02] [ 7.51724280e-01 -6.59446901e-01 -6.35537120e-03 -2.44779378e+02] [ 8.55613543e-03 1.16334194e-04 9.99963389e-01 -2.82082591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1238.106559995 meters 0.014047843440876572 Centerline is valid? [True, True] Translation: X:-384.78, Y:-244.76, Z:-2.82 [[-6.60609514e-01 -7.50701794e-01 6.47189128e-03 -3.84776878e+02] [ 7.50667520e-01 -6.60641205e-01 -7.17444604e-03 -2.44756949e+02] [ 9.66146757e-03 1.18731258e-04 9.99953320e-01 -2.82049390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1238.136559995 meters 0.013852057552454675 Centerline is valid? [True, True] Translation: X:-384.79, Y:-244.74, Z:-2.82 [[-6.63250204e-01 -7.48370291e-01 6.40895277e-03 -3.84792760e+02] [ 7.48336599e-01 -6.63281163e-01 -7.10172536e-03 -2.44735244e+02] [ 9.56565791e-03 8.58331230e-05 9.99954245e-01 -2.82111006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1238.166559995 meters 0.013440787253586849 Centerline is valid? [True, True] Translation: X:-384.81, Y:-244.71, Z:-2.82 [[-6.65173398e-01 -7.46662603e-01 6.26960457e-03 -3.84809689e+02] [ 7.46630321e-01 -6.65202942e-01 -6.94334724e-03 -2.44712541e+02] [ 9.35489712e-03 6.25469964e-05 9.99956240e-01 -2.82010479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1238.1965599950001 meters 0.013306744115608454 Centerline is valid? [True, True] Translation: X:-384.83, Y:-244.69, Z:-2.82 [[-6.66957101e-01 -7.45069948e-01 6.24489476e-03 -3.84827039e+02] [ 7.45037886e-01 -6.66986335e-01 -6.91207016e-03 -2.44691067e+02] [ 9.31523522e-03 4.26289147e-05 9.99956612e-01 -2.82081657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1238.2265599950001 meters 0.013220084171597953 Centerline is valid? [True, True] Translation: X:-384.84, Y:-244.67, Z:-2.82 [[-6.69097337e-01 -7.43152184e-01 5.79537603e-03 -3.84843447e+02] [ 7.43124534e-01 -6.69122434e-01 -6.41056182e-03 -2.44669290e+02] [ 8.64183913e-03 1.73962752e-05 9.99962659e-01 -2.82027278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1238.256559995 meters 0.013138182312786819 Centerline is valid? [True, True] Translation: X:-384.86, Y:-244.65, Z:-2.82 [[-6.71254016e-01 -7.41205819e-01 5.65501969e-03 -3.84859476e+02] [ 7.41179456e-01 -6.71277836e-01 -6.25139447e-03 -2.44647660e+02] [ 8.42965935e-03 -4.88922630e-06 9.99964470e-01 -2.81949616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1238.286559995 meters 0.013179282953934446 Centerline is valid? [True, True] Translation: X:-384.88, Y:-244.63, Z:-2.82 [[-6.73552681e-01 -7.39119888e-01 5.34576332e-03 -3.84875560e+02] [ 7.39096294e-01 -6.73573893e-01 -5.90584604e-03 -2.44625622e+02] [ 7.96589488e-03 -2.68645725e-05 9.99968272e-01 -2.81920188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1238.316559995 meters 0.013785313359150389 Centerline is valid? [True, True] Translation: X:-384.89, Y:-244.60, Z:-2.82 [[-6.77812258e-01 -7.35213936e-01 5.56875622e-03 -3.84889391e+02] [ 7.35188229e-01 -6.77835130e-01 -6.14861770e-03 -2.44601458e+02] [ 8.29524801e-03 -7.35244246e-05 9.99965591e-01 -2.81910501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1238.346559995 meters 0.014167875147930891 Centerline is valid? [True, True] Translation: X:-384.91, Y:-244.58, Z:-2.82 [[-6.79382038e-01 -7.33763286e-01 5.61129727e-03 -3.84907028e+02] [ 7.33737163e-01 -6.79405204e-01 -6.19221903e-03 -2.44579963e+02] [ 8.35596755e-03 -8.96650387e-05 9.99965084e-01 -2.81921752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1238.376559995 meters 0.014141325728883035 Centerline is valid? [True, True] Translation: X:-384.93, Y:-244.56, Z:-2.82 [[-6.79933161e-01 -7.33255104e-01 5.27730800e-03 -3.84926119e+02] [ 7.33232011e-01 -6.79953635e-01 -5.82007354e-03 -2.44560694e+02] [ 7.85592338e-03 -8.77698426e-05 9.99969138e-01 -2.81907465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1238.406559995 meters 0.01388746192830827 Centerline is valid? [True, True] Translation: X:-384.95, Y:-244.54, Z:-2.82 [[-6.80072285e-01 -7.33123299e-01 5.64948150e-03 -3.84946330e+02] [ 7.33096859e-01 -6.80095744e-01 -6.22700029e-03 -2.44540625e+02] [ 8.40734731e-03 -9.31931776e-05 9.99964654e-01 -2.81857977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1238.4365599950002 meters 0.014623694315639561 Centerline is valid? [True, True] Translation: X:-384.96, Y:-244.52, Z:-2.82 [[-6.79896519e-01 -7.33282636e-01 6.10738292e-03 -3.84963584e+02] [ 7.33251779e-01 -6.79923942e-01 -6.72769701e-03 -2.44519740e+02] [ 9.08585926e-03 -9.58883809e-05 9.99958718e-01 -2.82025444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1238.4665599950001 meters 0.014095858929247262 Centerline is valid? [True, True] Translation: X:-384.98, Y:-244.50, Z:-2.82 [[-6.79399499e-01 -7.33739118e-01 6.57472966e-03 -3.84983924e+02] [ 7.33703422e-01 -6.79431305e-01 -7.23814431e-03 -2.44501209e+02] [ 9.77798678e-03 -9.36899705e-05 9.99952190e-01 -2.81978325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1238.496559995 meters 0.013569927401948309 Centerline is valid? [True, True] Translation: X:-385.01, Y:-244.48, Z:-2.82 [[-6.78065819e-01 -7.34962488e-01 7.54233061e-03 -3.85005324e+02] [ 7.34915639e-01 -6.78107760e-01 -8.29874263e-03 -2.44482202e+02] [ 1.12137774e-02 -8.41169925e-05 9.99937120e-01 -2.81930459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1238.526559995 meters 0.013569927401948309 Centerline is valid? [True, True] Translation: X:-385.02, Y:-244.46, Z:-2.82 [[-6.78270329e-01 -7.34773733e-01 7.54463997e-03 -3.85023926e+02] [ 7.34726896e-01 -6.78312283e-01 -8.29664318e-03 -2.44461841e+02] [ 1.12137774e-02 -8.41169906e-05 9.99937120e-01 -2.81930480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1238.556559995 meters 0.01343161079472172 Centerline is valid? [True, True] Translation: X:-385.04, Y:-244.44, Z:-2.82 [[-6.76483165e-01 -7.36415164e-01 7.95198706e-03 -3.85043641e+02] [ 7.36363310e-01 -6.76529898e-01 -8.73913799e-03 -2.44443599e+02] [ 1.18153907e-02 -5.63282073e-05 9.99930194e-01 -2.81936114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1238.586559995 meters 0.013305838495954785 Centerline is valid? [True, True] Translation: X:-385.06, Y:-244.43, Z:-2.82 [[-6.75705071e-01 -7.37129292e-01 7.94134201e-03 -3.85063782e+02] [ 7.37077690e-01 -6.75751734e-01 -8.72198048e-03 -2.44425335e+02] [ 1.17956029e-02 -4.01004107e-05 9.99930429e-01 -2.81968904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1238.616559995 meters 0.013238030077289705 Centerline is valid? [True, True] Translation: X:-385.08, Y:-244.41, Z:-2.82 [[-6.74797802e-01 -7.37962204e-01 7.72739136e-03 -3.85084124e+02] [ 7.37913461e-01 -6.74842045e-01 -8.48168321e-03 -2.44407568e+02] [ 1.14739302e-02 -2.12750921e-05 9.99934172e-01 -2.81968535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1238.646559995 meters 0.013027358177644475 Centerline is valid? [True, True] Translation: X:-385.11, Y:-244.39, Z:-2.82 [[-6.73872236e-01 -7.38811283e-01 7.35510626e-03 -3.85105385e+02] [ 7.38767224e-01 -6.73912374e-01 -8.06854463e-03 -2.44388408e+02] [ 1.09178289e-02 -3.45677674e-06 9.99940399e-01 -2.81951669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1238.676559995 meters 0.013001578710490166 Centerline is valid? [True, True] Translation: X:-385.12, Y:-244.37, Z:-2.82 [[-6.73151897e-01 -7.39474341e-01 6.65002387e-03 -3.85124607e+02] [ 7.39438404e-01 -6.73184743e-01 -7.29026239e-03 -2.44370232e+02] [ 9.86765659e-03 9.82908440e-06 9.99951314e-01 -2.81888401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1238.7065599950001 meters 0.012991592296429889 Centerline is valid? [True, True] Translation: X:-385.14, Y:-244.35, Z:-2.82 [[-6.72492779e-01 -7.40078885e-01 6.05853712e-03 -3.85143755e+02] [ 7.40049118e-01 -6.72520069e-01 -6.63770237e-03 -2.44351272e+02] [ 8.98691118e-03 1.98081387e-05 9.99959617e-01 -2.81796333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1238.736559995 meters 0.012985844985978058 Centerline is valid? [True, True] Translation: X:-385.16, Y:-244.33, Z:-2.82 [[-6.71296680e-01 -7.41174082e-01 4.66340643e-03 -3.85162413e+02] [ 7.41156495e-01 -6.71312878e-01 -5.10587680e-03 -2.44333116e+02] [ 6.91494834e-03 2.87558232e-05 9.99976091e-01 -2.81554096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1238.766559995 meters 0.013058576323364567 Centerline is valid? [True, True] Translation: X:-385.18, Y:-244.31, Z:-2.81 [[-6.70853962e-01 -7.41578099e-01 4.10918307e-03 -3.85181205e+02] [ 7.41564468e-01 -6.70866546e-01 -4.49632854e-03 -2.44313764e+02] [ 6.09109223e-03 3.08443430e-05 9.99981449e-01 -2.81434461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1238.796559995 meters 0.013021990623647622 Centerline is valid? [True, True] Translation: X:-385.20, Y:-244.29, Z:-2.81 [[-6.70500083e-01 -7.41900404e-01 3.66469938e-03 -3.85199868e+02] [ 7.41889581e-01 -6.70510097e-01 -4.00746565e-03 -2.44294354e+02] [ 5.43035832e-03 3.17962365e-05 9.99985255e-01 -2.81295787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1238.826559995 meters 0.013067964553006956 Centerline is valid? [True, True] Translation: X:-385.22, Y:-244.27, Z:-2.81 [[-6.70282473e-01 -7.42100384e-01 2.90286068e-03 -3.85219445e+02] [ 7.42093603e-01 -6.70288758e-01 -3.17257978e-03 -2.44274724e+02] [ 4.30012756e-03 2.76697205e-05 9.99990754e-01 -2.81222521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1238.856559995 meters 0.013109399733557845 Centerline is valid? [True, True] Translation: X:-385.24, Y:-244.26, Z:-2.81 [[-6.70257282e-01 -7.42125177e-01 2.32313306e-03 -3.85238806e+02] [ 7.42120840e-01 -6.70261308e-01 -2.53729945e-03 -2.44256498e+02] [ 3.44010001e-03 2.34020281e-05 9.99994083e-01 -2.81206934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1238.886559995 meters 0.013117777428647174 Centerline is valid? [True, True] Translation: X:-385.26, Y:-244.24, Z:-2.81 [[-6.70466241e-01 -7.41938654e-01 1.43305629e-03 -3.85258957e+02] [ 7.41937006e-01 -6.70467772e-01 -1.56414006e-03 -2.44239941e+02] [ 2.12131403e-03 1.45343887e-05 9.99997750e-01 -2.81148812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1238.916559995 meters 0.013126646876047487 Centerline is valid? [True, True] Translation: X:-385.28, Y:-244.22, Z:-2.81 [[-6.71252277e-01 -7.41228068e-01 1.15445331e-03 -3.85277787e+02] [ 7.41226998e-01 -6.71253270e-01 -1.25927702e-03 -2.44220556e+02] [ 1.70834204e-03 1.04193960e-05 9.99998541e-01 -2.81127556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1238.9465599950001 meters 0.01297626920989198 Centerline is valid? [True, True] Translation: X:-385.30, Y:-244.20, Z:-2.81 [[-6.72343242e-01 -7.40238462e-01 1.25891266e-03 -3.85296953e+02] [ 7.40237189e-01 -6.72344421e-01 -1.37245110e-03 -2.44199754e+02] [ 1.86236400e-03 9.13574924e-06 9.99998266e-01 -2.81138818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1238.9765599950001 meters 0.013013366744716441 Centerline is valid? [True, True] Translation: X:-385.32, Y:-244.18, Z:-2.81 [[-6.73780943e-01 -7.38929339e-01 1.63482405e-03 -3.85315463e+02] [ 7.38927192e-01 -6.73782927e-01 -1.78125330e-03 -2.44179056e+02] [ 2.41773686e-03 7.84142245e-06 9.99997077e-01 -2.81181821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1239.006559995 meters 0.012858015246580218 Centerline is valid? [True, True] Translation: X:-385.33, Y:-244.16, Z:-2.81 [[-6.75385224e-01 -7.37461097e-01 2.43499015e-03 -3.85334186e+02] [ 7.37456330e-01 -6.75389613e-01 -2.65159562e-03 -2.44157932e+02] [ 3.60001567e-03 4.85039730e-06 9.99993520e-01 -2.81213163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1239.036559995 meters 0.012926999080533715 Centerline is valid? [True, True] Translation: X:-385.35, Y:-244.14, Z:-2.81 [[-6.77253951e-01 -7.35743483e-01 2.93475844e-03 -3.85352033e+02] [ 7.35736548e-01 -6.77260310e-01 -3.19450904e-03 -2.44137743e+02] [ 4.33793462e-03 -4.28482476e-06 9.99990591e-01 -2.81299041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1239.066559995 meters 0.013246215490577844 Centerline is valid? [True, True] Translation: X:-385.37, Y:-244.12, Z:-2.81 [[-6.80808057e-01 -7.32452032e-01 3.79619772e-03 -3.85370524e+02] [ 7.32440390e-01 -6.80818640e-01 -4.12972692e-03 -2.44117272e+02] [ 5.60934905e-03 -3.10628174e-05 9.99984267e-01 -2.81402171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1239.096559995 meters 0.013542954843860679 Centerline is valid? [True, True] Translation: X:-385.39, Y:-244.10, Z:-2.81 [[-6.82562127e-01 -7.30816127e-01 4.09046697e-03 -3.85388559e+02] [ 7.30802598e-01 -6.82574382e-01 -4.44691106e-03 -2.44098350e+02] [ 6.04192229e-03 -4.59691845e-05 9.99981747e-01 -2.81479769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1239.126559995 meters 0.0138653564008164 Centerline is valid? [True, True] Translation: X:-385.41, Y:-244.08, Z:-2.82 [[-6.83945124e-01 -7.29521137e-01 4.24006637e-03 -3.85408048e+02] [ 7.29506593e-01 -6.83958264e-01 -4.60697458e-03 -2.44077627e+02] [ 6.26091377e-03 -5.77614310e-05 9.99980399e-01 -2.81547054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1239.156559995 meters 0.014170602519551503 Centerline is valid? [True, True] Translation: X:-385.43, Y:-244.06, Z:-2.82 [[-6.85137785e-01 -7.28399071e-01 4.58360621e-03 -3.85426083e+02] [ 7.28382063e-01 -6.85153113e-01 -4.97821975e-03 -2.44058123e+02] [ 6.76660271e-03 -7.21499083e-05 9.99977104e-01 -2.81599162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1239.1865599950002 meters 0.014407481055823148 Centerline is valid? [True, True] Translation: X:-385.45, Y:-244.04, Z:-2.82 [[-6.86213602e-01 -7.27384429e-01 4.77339365e-03 -3.85445056e+02] [ 7.27365981e-01 -6.86230199e-01 -5.18114160e-03 -2.44038084e+02] [ 7.04432860e-03 -8.33656812e-05 9.99975185e-01 -2.81627707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1239.2165599950001 meters 0.014441665177815201 Centerline is valid? [True, True] Translation: X:-385.46, Y:-244.02, Z:-2.82 [[-6.86988577e-01 -7.26652279e-01 4.81264781e-03 -3.85464972e+02] [ 7.26633529e-01 -6.87005428e-01 -5.22084113e-03 -2.44017615e+02] [ 7.10005127e-03 -8.96269583e-05 9.99974791e-01 -2.81646881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1239.246559995 meters 0.01455912083065219 Centerline is valid? [True, True] Translation: X:-385.48, Y:-244.00, Z:-2.82 [[-6.87089562e-01 -7.26550795e-01 5.64592572e-03 -3.85484462e+02] [ 7.26525018e-01 -6.87112751e-01 -6.12098673e-03 -2.43998422e+02] [ 8.32659533e-03 -1.03759811e-04 9.99965328e-01 -2.81690808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1239.276559995 meters 0.01455912083065219 Centerline is valid? [True, True] Translation: X:-385.50, Y:-243.98, Z:-2.82 [[-6.87314795e-01 -7.26337714e-01 5.64782332e-03 -3.85502675e+02] [ 7.26311944e-01 -6.87337992e-01 -6.11923586e-03 -2.43978831e+02] [ 8.32659533e-03 -1.03759810e-04 9.99965328e-01 -2.81690829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1239.306559995 meters 0.01430749130334471 Centerline is valid? [True, True] Translation: X:-385.52, Y:-243.96, Z:-2.82 [[-6.86811660e-01 -7.26812651e-01 5.75448118e-03 -3.85522416e+02] [ 7.26785949e-01 -6.86835760e-01 -6.23090660e-03 -2.43959918e+02] [ 8.48108520e-03 -9.71832382e-05 9.99964030e-01 -2.81725993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1239.336559995 meters 0.014425846630865996 Centerline is valid? [True, True] Translation: X:-385.54, Y:-243.94, Z:-2.82 [[-6.85866356e-01 -7.27702001e-01 6.09428757e-03 -3.85541019e+02] [ 7.27672125e-01 -6.85893425e-01 -6.59453505e-03 -2.43941611e+02] [ 8.97888813e-03 -8.83265338e-05 9.99959685e-01 -2.81823528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1239.366559995 meters 0.013673643232581339 Centerline is valid? [True, True] Translation: X:-385.56, Y:-243.92, Z:-2.82 [[-6.84379152e-01 -7.29099572e-01 6.24419186e-03 -3.85562756e+02] [ 7.29068302e-01 -6.84407634e-01 -6.75291639e-03 -2.43924001e+02] [ 9.19712102e-03 -6.91128368e-05 9.99957703e-01 -2.81713062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1239.396559995 meters 0.013313202181353382 Centerline is valid? [True, True] Translation: X:-385.59, Y:-243.91, Z:-2.82 [[-6.79683292e-01 -7.33471515e-01 7.08230521e-03 -3.85585358e+02] [ 7.33431570e-01 -6.79720190e-01 -7.65481970e-03 -2.43908193e+02] [ 1.04285780e-02 -8.46682318e-06 9.99945621e-01 -2.81795201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1239.426559995 meters 0.013295769092317208 Centerline is valid? [True, True] Translation: X:-385.61, Y:-243.89, Z:-2.82 [[-6.77129811e-01 -7.35824963e-01 7.53945476e-03 -3.85606472e+02] [ 7.35779896e-01 -6.77171783e-01 -8.14382486e-03 -2.43890086e+02] [ 1.10979356e-02 3.29526502e-05 9.99938416e-01 -2.81837872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1239.4565599950001 meters 0.013522491909022352 Centerline is valid? [True, True] Translation: X:-385.63, Y:-243.87, Z:-2.82 [[-6.74430922e-01 -7.38295344e-01 7.93207633e-03 -3.85627983e+02] [ 7.38245686e-01 -6.74477560e-01 -8.56318214e-03 -2.43871691e+02] [ 1.16721650e-02 8.05463050e-05 9.99931875e-01 -2.81874604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1239.486559995 meters 0.014009191621249547 Centerline is valid? [True, True] Translation: X:-385.65, Y:-243.85, Z:-2.82 [[-6.72019925e-01 -7.40487187e-01 8.24293750e-03 -3.85648768e+02] [ 7.40433788e-01 -6.72070465e-01 -8.89358820e-03 -2.43853836e+02] [ 1.21254229e-02 1.26680968e-04 9.99926477e-01 -2.81918022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1239.516559995 meters 0.014258985162415246 Centerline is valid? [True, True] Translation: X:-385.67, Y:-243.83, Z:-2.82 [[-6.69801177e-01 -7.42492714e-01 8.42334343e-03 -3.85669200e+02] [ 7.42437173e-01 -6.69854119e-01 -9.08310383e-03 -2.43834476e+02] [ 1.23865497e-02 1.69929644e-04 9.99923270e-01 -2.81858591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1239.546559995 meters 0.014910804245872683 Centerline is valid? [True, True] Translation: X:-385.69, Y:-243.82, Z:-2.82 [[-6.68081791e-01 -7.44039730e-01 8.46177173e-03 -3.85689501e+02] [ 7.43983873e-01 -6.68135345e-01 -9.11910880e-03 -2.43816033e+02] [ 1.24385880e-02 2.03111162e-04 9.99922617e-01 -2.81897495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1239.576559995 meters 0.015565771426643983 Centerline is valid? [True, True] Translation: X:-385.71, Y:-243.80, Z:-2.82 [[-6.65844891e-01 -7.46048249e-01 7.91145940e-03 -3.85709961e+02] [ 7.45999618e-01 -6.65891852e-01 -8.52127843e-03 -2.43796916e+02] [ 1.16254612e-02 2.28095984e-04 9.99932396e-01 -2.81896359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1239.606559995 meters 0.015904264568236227 Centerline is valid? [True, True] Translation: X:-385.73, Y:-243.78, Z:-2.82 [[-6.65522742e-01 -7.46335827e-01 7.89390482e-03 -3.85728069e+02] [ 7.46287497e-01 -6.65569514e-01 -8.49676615e-03 -2.43778052e+02] [ 1.15953834e-02 2.36331366e-04 9.99932744e-01 -2.81894784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1239.636559995 meters 0.016008635517585818 Centerline is valid? [True, True] Translation: X:-385.75, Y:-243.76, Z:-2.82 [[-6.65525779e-01 -7.46336433e-01 7.57402701e-03 -3.85745845e+02] [ 7.46291997e-01 -6.65568836e-01 -8.14739832e-03 -2.43757979e+02] [ 1.11217365e-02 2.30132118e-04 9.99938125e-01 -2.81885876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1239.666559995 meters 0.016016133091951296 Centerline is valid? [True, True] Translation: X:-385.76, Y:-243.74, Z:-2.82 [[-6.66009073e-01 -7.45906362e-01 7.45755736e-03 -3.85763633e+02] [ 7.45863309e-01 -6.66050786e-01 -8.01716568e-03 -2.43737749e+02] [ 1.09471668e-02 2.22813326e-04 9.99940053e-01 -2.81884625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1239.6965599950001 meters 0.016006447780012124 Centerline is valid? [True, True] Translation: X:-385.78, Y:-243.72, Z:-2.82 [[-6.66451080e-01 -7.45514323e-01 7.16604660e-03 -3.85781085e+02] [ 7.45474597e-01 -6.66489572e-01 -7.69904794e-03 -2.43717422e+02] [ 1.05158458e-02 2.11066891e-04 9.99944685e-01 -2.81884834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1239.7265599950001 meters 0.01568935795069171 Centerline is valid? [True, True] Translation: X:-385.80, Y:-243.70, Z:-2.82 [[-6.67108088e-01 -7.44924295e-01 7.38876652e-03 -3.85798138e+02] [ 7.44882079e-01 -6.67148971e-01 -7.93341147e-03 -2.43696595e+02] [ 1.08391989e-02 2.11316808e-04 9.99941232e-01 -2.81875538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1239.756559995 meters 0.015697186859943816 Centerline is valid? [True, True] Translation: X:-385.81, Y:-243.68, Z:-2.82 [[-6.67700436e-01 -7.44389095e-01 7.81045893e-03 -3.85814231e+02] [ 7.44341932e-01 -6.67746081e-01 -8.38216915e-03 -2.43675444e+02] [ 1.14549986e-02 2.16874093e-04 9.99934366e-01 -2.81942858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1239.786559995 meters 0.01583231440203076 Centerline is valid? [True, True] Translation: X:-385.83, Y:-243.66, Z:-2.82 [[-6.68185295e-01 -7.43953753e-01 7.82469507e-03 -3.85831426e+02] [ 7.43906449e-01 -6.68231074e-01 -8.39204299e-03 -2.43655752e+02] [ 1.14719963e-02 2.13401409e-04 9.99934172e-01 -2.81963961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1239.816559995 meters 0.015981339098912285 Centerline is valid? [True, True] Translation: X:-385.85, Y:-243.64, Z:-2.82 [[-6.68550664e-01 -7.43630838e-01 7.29291754e-03 -3.85848935e+02] [ 7.43589780e-01 -6.68590411e-01 -7.81676278e-03 -2.43635600e+02] [ 1.06887606e-02 1.97037000e-04 9.99942854e-01 -2.81973590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1239.846559995 meters 0.015749132329217312 Centerline is valid? [True, True] Translation: X:-385.87, Y:-243.61, Z:-2.82 [[-6.68882602e-01 -7.43333437e-01 7.17405075e-03 -3.85865775e+02] [ 7.43293737e-01 -6.68921046e-01 -7.68473665e-03 -2.43614611e+02] [ 1.05111952e-02 1.92240343e-04 9.99944738e-01 -2.81893844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1239.876559995 meters 0.015843475523309534 Centerline is valid? [True, True] Translation: X:-385.88, Y:-243.59, Z:-2.82 [[-6.69320305e-01 -7.42945599e-01 6.49359088e-03 -3.85882547e+02] [ 7.42913097e-01 -6.69351782e-01 -6.95145962e-03 -2.43594133e+02] [ 9.51105296e-03 1.71420640e-04 9.99954754e-01 -2.81855567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1239.906559995 meters 0.01527667413014227 Centerline is valid? [True, True] Translation: X:-385.90, Y:-243.57, Z:-2.82 [[-6.70189174e-01 -7.42163565e-01 6.30188987e-03 -3.85897584e+02] [ 7.42132957e-01 -6.70218783e-01 -6.74215943e-03 -2.43570494e+02] [ 9.22743004e-03 1.58317903e-04 9.99957414e-01 -2.81792785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1239.9365599950002 meters 0.014771750255446746 Centerline is valid? [True, True] Translation: X:-385.91, Y:-243.55, Z:-2.82 [[-6.71113126e-01 -7.41328189e-01 6.29984203e-03 -3.85913626e+02] [ 7.41297602e-01 -6.71142678e-01 -6.73582655e-03 -2.43548560e+02] [ 9.22155095e-03 1.49556174e-04 9.99957470e-01 -2.81748970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1239.9665599950001 meters 0.014217022151567983 Centerline is valid? [True, True] Translation: X:-385.93, Y:-243.53, Z:-2.82 [[-6.72267458e-01 -7.40282401e-01 6.19928134e-03 -3.85929416e+02] [ 7.40252776e-01 -6.72296027e-01 -6.62415324e-03 -2.43526637e+02] [ 9.07149628e-03 1.35832554e-04 9.99958844e-01 -2.81719531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1239.996559995 meters 0.014102714963359745 Centerline is valid? [True, True] Translation: X:-385.95, Y:-243.51, Z:-2.82 [[-6.73644983e-01 -7.39028308e-01 6.29269229e-03 -3.85945723e+02] [ 7.38997767e-01 -6.73674361e-01 -6.71978556e-03 -2.43505122e+02] [ 9.20533721e-03 1.23535725e-04 9.99957623e-01 -2.81730329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1240.026559995 meters 0.01399521508888116 Centerline is valid? [True, True] Translation: X:-385.96, Y:-243.48, Z:-2.82 [[-6.75413025e-01 -7.37413842e-01 6.17013737e-03 -3.85962394e+02] [ 7.37384451e-01 -6.75441200e-01 -6.58462322e-03 -2.43484292e+02] [ 9.02315730e-03 1.02423068e-04 9.99959285e-01 -2.81812673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1240.056559995 meters 0.013178312344217957 Centerline is valid? [True, True] Translation: X:-385.98, Y:-243.46, Z:-2.82 [[-6.77428990e-01 -7.35563174e-01 6.06477468e-03 -3.85977590e+02] [ 7.35534739e-01 -6.77456133e-01 -6.46811822e-03 -2.43461207e+02] [ 8.86632837e-03 7.91616687e-05 9.99960690e-01 -2.81723619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1240.086559995 meters 0.012839211190598485 Centerline is valid? [True, True] Translation: X:-385.99, Y:-243.44, Z:-2.82 [[-6.81866893e-01 -7.31447887e-01 6.44430551e-03 -3.85989835e+02] [ 7.31415639e-01 -6.81897344e-01 -6.86836921e-03 -2.43437161e+02] [ 9.41820896e-03 3.01522626e-05 9.99955647e-01 -2.81841318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1240.116559995 meters 0.012793391858859549 Centerline is valid? [True, True] Translation: X:-386.01, Y:-243.41, Z:-2.82 [[-6.84550961e-01 -7.28931826e-01 6.95512352e-03 -3.86005014e+02] [ 7.28894180e-01 -6.84586293e-01 -7.40824757e-03 -2.43414625e+02] [ 1.01614897e-02 -1.77394282e-06 9.99948371e-01 -2.81803220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1240.146559995 meters 0.012878206472398344 Centerline is valid? [True, True] Translation: X:-386.02, Y:-243.39, Z:-2.82 [[-6.86948123e-01 -7.26673668e-01 6.90342677e-03 -3.86021509e+02] [ 7.26636506e-01 -6.86982809e-01 -7.34906877e-03 -2.43391690e+02] [ 1.00829103e-02 -3.21470879e-05 9.99949166e-01 -2.81784231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1240.176559995 meters 0.013071123945545606 Centerline is valid? [True, True] Translation: X:-386.04, Y:-243.37, Z:-2.82 [[-6.89394234e-01 -7.24348402e-01 7.41503151e-03 -3.86038535e+02] [ 7.24305441e-01 -6.89434107e-01 -7.88925727e-03 -2.43368744e+02] [ 1.08267465e-02 -6.80608081e-05 9.99941387e-01 -2.81781378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1240.2065599950001 meters 0.01338425462560549 Centerline is valid? [True, True] Translation: X:-386.06, Y:-243.35, Z:-2.82 [[-6.90973853e-01 -7.22846398e-01 6.94399331e-03 -3.86057178e+02] [ 7.22808688e-01 -6.91008739e-01 -7.38396575e-03 -2.43348125e+02] [ 1.01358331e-02 -8.29485741e-05 9.99948628e-01 -2.81755587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1240.236559995 meters 0.013391975975315065 Centerline is valid? [True, True] Translation: X:-386.08, Y:-243.33, Z:-2.82 [[-6.91136432e-01 -7.22686324e-01 7.41004250e-03 -3.86075928e+02] [ 7.22643426e-01 -6.91176149e-01 -7.87462791e-03 -2.43328881e+02] [ 1.08125305e-02 -8.76237369e-05 9.99941539e-01 -2.81823815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1240.266559995 meters 0.013475434753765728 Centerline is valid? [True, True] Translation: X:-386.09, Y:-243.31, Z:-2.82 [[-6.91531379e-01 -7.22298791e-01 8.29508586e-03 -3.86094289e+02] [ 7.22245071e-01 -6.91581121e-01 -8.80969781e-03 -2.43309179e+02] [ 1.20999589e-02 -1.01097598e-04 9.99926788e-01 -2.81920150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1240.296559995 meters 0.013441433191735002 Centerline is valid? [True, True] Translation: X:-386.11, Y:-243.29, Z:-2.82 [[-6.91522136e-01 -7.22297811e-01 9.11089320e-03 -3.86112767e+02] [ 7.22233085e-01 -6.91582143e-01 -9.67007561e-03 -2.43289778e+02] [ 1.32856055e-02 -1.06882842e-04 9.99911737e-01 -2.81943917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1240.326559995 meters 0.013446257247635039 Centerline is valid? [True, True] Translation: X:-386.13, Y:-243.27, Z:-2.82 [[-6.91447021e-01 -7.22363930e-01 9.55877515e-03 -3.86132245e+02] [ 7.22292769e-01 -6.91513081e-01 -1.01397866e-02 -2.43269542e+02] [ 1.39346341e-02 -1.06891068e-04 9.99902903e-01 -2.81977348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1240.356559995 meters 0.013432549300869921 Centerline is valid? [True, True] Translation: X:-386.15, Y:-243.25, Z:-2.82 [[-6.91313470e-01 -7.22487852e-01 9.84835794e-03 -3.86149709e+02] [ 7.22412424e-01 -6.91383608e-01 -1.04400991e-02 -2.43250544e+02] [ 1.43518380e-02 -1.02805008e-04 9.99897002e-01 -2.82038172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1240.386559995 meters 0.013160317193125805 Centerline is valid? [True, True] Translation: X:-386.17, Y:-243.23, Z:-2.82 [[-6.90426794e-01 -7.23340364e-01 9.46361793e-03 -3.86170191e+02] [ 7.23270873e-01 -6.90491645e-01 -1.00266503e-02 -2.43230701e+02] [ 1.37872300e-02 -7.79088404e-05 9.99904949e-01 -2.81932431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1240.416559995 meters 0.013210741147944648 Centerline is valid? [True, True] Translation: X:-386.19, Y:-243.21, Z:-2.82 [[-6.90125814e-01 -7.23626353e-01 9.55309740e-03 -3.86189141e+02] [ 7.23555661e-01 -6.90191927e-01 -1.01147994e-02 -2.43213037e+02] [ 1.39128061e-02 -6.82864661e-05 9.99903210e-01 -2.82004522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1240.4465599950001 meters 0.013087283563571452 Centerline is valid? [True, True] Translation: X:-386.21, Y:-243.19, Z:-2.82 [[-6.89703901e-01 -7.24025549e-01 9.77410293e-03 -3.86208995e+02] [ 7.23951680e-01 -6.89773152e-01 -1.03423126e-02 -2.43194790e+02] [ 1.42300123e-02 -5.71550788e-05 9.99898747e-01 -2.81932000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1240.4765599950001 meters 0.01307979243626562 Centerline is valid? [True, True] Translation: X:-386.23, Y:-243.18, Z:-2.82 [[-6.89455559e-01 -7.24265683e-01 9.50014284e-03 -3.86227834e+02] [ 7.24196012e-01 -6.89521006e-01 -1.00458200e-02 -2.43176735e+02] [ 1.38263907e-02 -4.61808700e-05 9.99904410e-01 -2.81965102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1240.506559995 meters 0.012827362344535867 Centerline is valid? [True, True] Translation: X:-386.25, Y:-243.16, Z:-2.82 [[-6.88816004e-01 -7.24880524e-01 8.98544304e-03 -3.86247908e+02] [ 7.24818321e-01 -6.88874608e-01 -9.49615557e-03 -2.43157223e+02] [ 1.30734218e-02 -2.82901985e-05 9.99914539e-01 -2.81808391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1240.536559995 meters 0.01276769997114419 Centerline is valid? [True, True] Translation: X:-386.27, Y:-243.14, Z:-2.82 [[-6.87995777e-01 -7.25665238e-01 8.47199463e-03 -3.86267573e+02] [ 7.25610045e-01 -6.88047937e-01 -8.94980455e-03 -2.43138097e+02] [ 1.23237005e-02 -1.00633232e-05 9.99924060e-01 -2.81768495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1240.566559995 meters 0.012837586768050815 Centerline is valid? [True, True] Translation: X:-386.29, Y:-243.12, Z:-2.82 [[-6.84985663e-01 -7.28518812e-01 7.41505507e-03 -3.86288035e+02] [ 7.28476754e-01 -6.85025795e-01 -7.82809530e-03 -2.43121654e+02] [ 1.07824187e-02 3.95622040e-05 9.99941867e-01 -2.81604369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1240.596559995 meters 0.013005123867115519 Centerline is valid? [True, True] Translation: X:-386.31, Y:-243.10, Z:-2.82 [[-6.83052445e-01 -7.30337828e-01 6.78340741e-03 -3.86308638e+02] [ 7.30302764e-01 -6.83086124e-01 -7.15681354e-03 -2.43103491e+02] [ 9.86054313e-03 6.54621926e-05 9.99951382e-01 -2.81528176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1240.626559995 meters 0.013318486799811485 Centerline is valid? [True, True] Translation: X:-386.33, Y:-243.08, Z:-2.81 [[-6.81043979e-01 -7.32214961e-01 6.35214835e-03 -3.86329963e+02] [ 7.32184330e-01 -6.81073596e-01 -6.69810910e-03 -2.43084875e+02] [ 9.23073621e-03 8.92366108e-05 9.99957392e-01 -2.81452424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1240.656559995 meters 0.01391994111879298 Centerline is valid? [True, True] Translation: X:-386.35, Y:-243.07, Z:-2.81 [[-6.79082439e-01 -7.34038586e-01 5.86472927e-03 -3.86350994e+02] [ 7.34012574e-01 -6.79107755e-01 -6.18053343e-03 -2.43067233e+02] [ 8.51953314e-03 1.07693310e-04 9.99963703e-01 -2.81475292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1240.6865599950002 meters 0.014527459098947485 Centerline is valid? [True, True] Translation: X:-386.37, Y:-243.05, Z:-2.81 [[-6.77299603e-01 -7.35684806e-01 5.75442048e-03 -3.86372553e+02] [ 7.35659850e-01 -6.77324036e-01 -6.06098032e-03 -2.43049010e+02] [ 8.35657844e-03 1.28196538e-04 9.99965075e-01 -2.81485698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1240.7165599950001 meters 0.015332819181134619 Centerline is valid? [True, True] Translation: X:-386.39, Y:-243.03, Z:-2.82 [[-6.75721139e-01 -7.37134497e-01 5.80305038e-03 -3.86393923e+02] [ 7.37109198e-01 -6.75746040e-01 -6.10890042e-03 -2.43030562e+02] [ 8.42446955e-03 1.49568661e-04 9.99964503e-01 -2.81563617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1240.746559995 meters 0.015972133227445357 Centerline is valid? [True, True] Translation: X:-386.41, Y:-243.01, Z:-2.82 [[-6.73686876e-01 -7.38993711e-01 5.85553955e-03 -3.86414261e+02] [ 7.38968052e-01 -6.73712300e-01 -6.16078570e-03 -2.43010892e+02] [ 8.49773091e-03 1.76616180e-04 9.99963878e-01 -2.81597566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1240.776559995 meters 0.015625385390473555 Centerline is valid? [True, True] Translation: X:-386.43, Y:-242.99, Z:-2.82 [[-6.73381113e-01 -7.39272165e-01 5.87732864e-03 -3.86433101e+02] [ 7.39246354e-01 -6.73406736e-01 -6.18022895e-03 -2.42989466e+02] [ 8.52670393e-03 1.83144321e-04 9.99963630e-01 -2.81567110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1240.806559995 meters 0.015947049555549483 Centerline is valid? [True, True] Translation: X:-386.45, Y:-242.97, Z:-2.82 [[-6.73560299e-01 -7.39109091e-01 5.85459835e-03 -3.86451276e+02] [ 7.39083508e-01 -6.73585718e-01 -6.15224145e-03 -2.42970868e+02] [ 8.49075141e-03 1.83131491e-04 9.99963936e-01 -2.81577864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1240.836559995 meters 0.015891485185735577 Centerline is valid? [True, True] Translation: X:-386.47, Y:-242.95, Z:-2.82 [[-6.73992797e-01 -7.38714654e-01 5.86253796e-03 -3.86469903e+02] [ 7.38689020e-01 -6.74018269e-01 -6.15675317e-03 -2.42950698e+02] [ 8.49954147e-03 1.80985129e-04 9.99963862e-01 -2.81583609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1240.866559995 meters 0.01588019340985419 Centerline is valid? [True, True] Translation: X:-386.49, Y:-242.93, Z:-2.82 [[-6.74487305e-01 -7.38265333e-01 5.58332881e-03 -3.86488016e+02] [ 7.38242096e-01 -6.74510392e-01 -5.85989324e-03 -2.42930829e+02] [ 8.09216934e-03 1.69424767e-04 9.99967244e-01 -2.81605813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1240.896559995 meters 0.01577514846495393 Centerline is valid? [True, True] Translation: X:-386.51, Y:-242.91, Z:-2.82 [[-6.75219763e-01 -7.37593275e-01 5.86782465e-03 -3.86505451e+02] [ 7.37567619e-01 -6.75245237e-01 -6.15447727e-03 -2.42911148e+02] [ 8.50172170e-03 1.72292769e-04 9.99963845e-01 -2.81647724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1240.926559995 meters 0.015726431613077928 Centerline is valid? [True, True] Translation: X:-386.52, Y:-242.89, Z:-2.82 [[-6.75377602e-01 -7.37448816e-01 5.85998365e-03 -3.86523775e+02] [ 7.37423254e-01 -6.75403002e-01 -6.14244987e-03 -2.42891274e+02] [ 8.48759293e-03 1.72815146e-04 9.99963965e-01 -2.81671415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1240.9565599950001 meters 0.016296228335955374 Centerline is valid? [True, True] Translation: X:-386.54, Y:-242.87, Z:-2.82 [[-6.75577373e-01 -7.37264560e-01 6.01517622e-03 -3.86542542e+02] [ 7.37237645e-01 -6.75604128e-01 -6.30211389e-03 -2.42873138e+02] [ 8.71020311e-03 1.77048810e-04 9.99962050e-01 -2.81780175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1240.986559995 meters 0.015951380572755837 Centerline is valid? [True, True] Translation: X:-386.56, Y:-242.85, Z:-2.82 [[-6.75733563e-01 -7.37120855e-01 6.08256280e-03 -3.86561038e+02] [ 7.37093362e-01 -6.75760915e-01 -6.36882589e-03 -2.42852680e+02] [ 8.80495258e-03 1.79787256e-04 9.99961220e-01 -2.81790998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1241.016559995 meters 0.01570881826694702 Centerline is valid? [True, True] Translation: X:-386.58, Y:-242.83, Z:-2.82 [[-6.75718461e-01 -7.37133813e-01 6.18894686e-03 -3.86579302e+02] [ 7.37105387e-01 -6.75746778e-01 -6.47619523e-03 -2.42832713e+02] [ 8.95598338e-03 1.85821393e-04 9.99959877e-01 -2.81890006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1241.046559995 meters 0.016245554266678792 Centerline is valid? [True, True] Translation: X:-386.60, Y:-242.81, Z:-2.82 [[-6.75752402e-01 -7.37097403e-01 6.79038101e-03 -3.86598005e+02] [ 7.37063216e-01 -6.75786487e-01 -7.10213968e-03 -2.42814584e+02] [ 9.82381644e-03 2.05652119e-04 9.99951724e-01 -2.82039589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1241.076559995 meters 0.01588044716433315 Centerline is valid? [True, True] Translation: X:-386.62, Y:-242.79, Z:-2.82 [[-6.76099892e-01 -7.36775353e-01 7.14254437e-03 -3.86615906e+02] [ 7.36737557e-01 -6.76137585e-01 -7.46586539e-03 -2.42794685e+02] [ 1.03300083e-02 2.14509905e-04 9.99946621e-01 -2.82117431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1241.106559995 meters 0.015585267028314836 Centerline is valid? [True, True] Translation: X:-386.63, Y:-242.77, Z:-2.82 [[-6.76562429e-01 -7.36341752e-01 8.00649279e-03 -3.86634359e+02] [ 7.36294289e-01 -6.76609761e-01 -8.36372116e-03 -2.42774390e+02] [ 1.15758283e-02 2.36555412e-04 9.99932970e-01 -2.82198899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1241.136559995 meters 0.015585267028314836 Centerline is valid? [True, True] Translation: X:-386.65, Y:-242.76, Z:-2.82 [[-6.76790811e-01 -7.36131818e-01 8.00908701e-03 -3.86652940e+02] [ 7.36084370e-01 -6.76838157e-01 -8.36123698e-03 -2.42755138e+02] [ 1.15758283e-02 2.36555410e-04 9.99932970e-01 -2.82198919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1241.166559995 meters 0.01581736815406497 Centerline is valid? [True, True] Translation: X:-386.67, Y:-242.74, Z:-2.82 [[-6.77294755e-01 -7.35662060e-01 8.55276674e-03 -3.86671226e+02] [ 7.35607985e-01 -6.77348708e-01 -8.92301484e-03 -2.42736369e+02] [ 1.23575290e-02 2.47972360e-04 9.99923612e-01 -2.82336747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1241.1965599950001 meters 0.014623060738135083 Centerline is valid? [True, True] Translation: X:-386.69, Y:-242.71, Z:-2.82 [[-6.78612692e-01 -7.34424859e-01 1.02440763e-02 -3.86688522e+02] [ 7.34347231e-01 -6.78689953e-01 -1.06814323e-02 -2.42714617e+02] [ 1.47972611e-02 2.74153508e-04 9.99890477e-01 -2.82413623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1241.2265599950001 meters 0.015441337412510418 Centerline is valid? [True, True] Translation: X:-386.71, Y:-242.70, Z:-2.83 [[-6.79398780e-01 -7.33688657e-01 1.08743709e-02 -3.86708676e+02] [ 7.33601195e-01 -6.79485745e-01 -1.13318072e-02 -2.42696208e+02] [ 1.57029984e-02 2.78635544e-04 9.99876662e-01 -2.82642147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1241.256559995 meters 0.015380328403831823 Centerline is valid? [True, True] Translation: X:-386.73, Y:-242.68, Z:-2.83 [[-6.80268981e-01 -7.32874905e-01 1.13352565e-02 -3.86727181e+02] [ 7.32779882e-01 -6.80363357e-01 -1.18045502e-02 -2.42677924e+02] [ 1.63633517e-02 2.75978603e-04 9.99866074e-01 -2.82708707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1241.286559995 meters 0.015221888012893111 Centerline is valid? [True, True] Translation: X:-386.75, Y:-242.66, Z:-2.83 [[-6.81296552e-01 -7.31917595e-01 1.14735484e-02 -3.86746178e+02] [ 7.31820222e-01 -6.81393107e-01 -1.19413851e-02 -2.42658931e+02] [ 1.65581067e-02 2.60950187e-04 9.99862871e-01 -2.82749550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1241.316559995 meters 0.014586911857460205 Centerline is valid? [True, True] Translation: X:-386.76, Y:-242.64, Z:-2.83 [[-6.82211705e-01 -7.31055012e-01 1.20730834e-02 -3.86764146e+02] [ 7.30947196e-01 -6.82318477e-01 -1.25576236e-02 -2.42638816e+02] [ 1.74180016e-02 2.57828618e-04 9.99848262e-01 -2.82663580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1241.346559995 meters 0.01377810999470768 Centerline is valid? [True, True] Translation: X:-386.78, Y:-242.62, Z:-2.83 [[-6.85523391e-01 -7.27948974e-01 1.21643976e-02 -3.86781814e+02] [ 7.27839151e-01 -6.85631284e-01 -1.26456368e-02 -2.42617108e+02] [ 1.75456699e-02 1.84844972e-04 9.99846046e-01 -2.82609214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1241.376559995 meters 0.013561544378848246 Centerline is valid? [True, True] Translation: X:-386.80, Y:-242.60, Z:-2.83 [[-6.87859618e-01 -7.25740980e-01 1.22137638e-02 -3.86799460e+02] [ 7.25630053e-01 -6.87968031e-01 -1.26891423e-02 -2.42596117e+02] [ 1.76117096e-02 1.34325468e-04 9.99844893e-01 -2.82592747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1241.406559995 meters 0.013556522446889981 Centerline is valid? [True, True] Translation: X:-386.82, Y:-242.58, Z:-2.83 [[-6.90233217e-01 -7.23481679e-01 1.23436616e-02 -3.86816167e+02] [ 7.23368165e-01 -6.90343576e-01 -1.28158372e-02 -2.42576063e+02] [ 1.77933909e-02 8.30953107e-05 9.99841682e-01 -2.82749243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1241.4365599950002 meters 0.013160669574337414 Centerline is valid? [True, True] Translation: X:-386.83, Y:-242.55, Z:-2.83 [[-6.93101708e-01 -7.20732618e-01 1.24304380e-02 -3.86832521e+02] [ 7.20617197e-01 -6.93213166e-01 -1.28981621e-02 -2.42554406e+02] [ 1.79130694e-02 1.78491930e-05 9.99839548e-01 -2.82582528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1241.4665599950001 meters 0.013303993495359467 Centerline is valid? [True, True] Translation: X:-386.85, Y:-242.53, Z:-2.83 [[-6.95766049e-01 -7.18158657e-01 1.25598325e-02 -3.86849981e+02] [ 7.18040541e-01 -6.95879402e-01 -1.30245823e-02 -2.42532845e+02] [ 1.80938452e-02 -4.35932897e-05 9.99836292e-01 -2.82538136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1241.496559995 meters 0.013266414793627538 Centerline is valid? [True, True] Translation: X:-386.87, Y:-242.51, Z:-2.82 [[-6.98413970e-01 -7.15594667e-01 1.19247456e-02 -3.86867396e+02] [ 7.15487951e-01 -6.98515758e-01 -1.23583302e-02 -2.42512394e+02] [ 1.71731779e-02 -9.92187063e-05 9.99852525e-01 -2.82415242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1241.526559995 meters 0.014061356106366786 Centerline is valid? [True, True] Translation: X:-386.88, Y:-242.49, Z:-2.82 [[-7.02913048e-01 -7.11179636e-01 1.16949395e-02 -3.86884311e+02] [ 7.11076492e-01 -7.03010303e-01 -1.21134965e-02 -2.42490170e+02] [ 1.68365350e-02 -1.98738186e-04 9.99858236e-01 -2.82279593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1241.556559995 meters 0.014648210377915756 Centerline is valid? [True, True] Translation: X:-386.90, Y:-242.47, Z:-2.82 [[-7.04938550e-01 -7.09181538e-01 1.10989718e-02 -3.86902242e+02] [ 7.09088497e-01 -7.05025882e-01 -1.14895324e-02 -2.42469496e+02] [ 1.59732266e-02 -2.29261056e-04 9.99872394e-01 -2.82216421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1241.586559995 meters 0.01686269232622 Centerline is valid? [True, True] Translation: X:-386.92, Y:-242.45, Z:-2.82 [[-7.06521514e-01 -7.07603257e-01 1.11794809e-02 -3.86921853e+02] [ 7.07508769e-01 -7.06609908e-01 -1.15663601e-02 -2.42449883e+02] [ 1.60839261e-02 -2.62301436e-04 9.99870611e-01 -2.82245602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1241.616559995 meters 0.01470281282628719 Centerline is valid? [True, True] Translation: X:-386.94, Y:-242.43, Z:-2.82 [[-7.07136771e-01 -7.07005504e-01 1.00401491e-02 -3.86940521e+02] [ 7.06929296e-01 -7.07208002e-01 -1.03833341e-02 -2.42430510e+02] [ 1.44415482e-02 -2.44761834e-04 9.99895686e-01 -2.82006893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1241.646559995 meters 0.014775583484299862 Centerline is valid? [True, True] Translation: X:-386.96, Y:-242.41, Z:-2.82 [[-7.07336093e-01 -7.06815518e-01 9.35280292e-03 -3.86959115e+02] [ 7.06749456e-01 -7.07397888e-01 -9.66615917e-03 -2.42411486e+02] [ 1.34483443e-02 -2.27134889e-04 9.99909541e-01 -2.81949223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1241.676559995 meters 0.014450158650001592 Centerline is valid? [True, True] Translation: X:-386.98, Y:-242.39, Z:-2.82 [[-7.06950145e-01 -7.07205819e-01 9.02348940e-03 -3.86978731e+02] [ 7.07144434e-01 -7.07007699e-01 -9.32000656e-03 -2.42392600e+02] [ 1.29708394e-02 -2.07869675e-04 9.99915854e-01 -2.81865775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1241.7065599950001 meters 0.013890423462548733 Centerline is valid? [True, True] Translation: X:-387.00, Y:-242.37, Z:-2.82 [[-7.04547114e-01 -7.09604283e-01 8.66752027e-03 -3.86999547e+02] [ 7.09547872e-01 -7.04600410e-01 -8.94871293e-03 -2.42374988e+02] [ 1.24571834e-02 -1.54769300e-04 9.99922395e-01 -2.81792388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1241.736559995 meters 0.013170540790345582 Centerline is valid? [True, True] Translation: X:-387.02, Y:-242.36, Z:-2.82 [[-7.02888996e-01 -7.11246896e-01 8.65521010e-03 -3.87021564e+02] [ 7.11190832e-01 -7.02942273e-01 -8.93097153e-03 -2.42357055e+02] [ 1.24362388e-02 -1.21975544e-04 9.99922660e-01 -2.81728493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1241.766559995 meters 0.013117797355321356 Centerline is valid? [True, True] Translation: X:-387.04, Y:-242.34, Z:-2.82 [[-7.01054033e-01 -7.13057195e-01 8.52521198e-03 -3.87041598e+02] [ 7.13002998e-01 -7.01105862e-01 -8.79180121e-03 -2.42339394e+02] [ 1.22461332e-02 -8.50260032e-05 9.99925010e-01 -2.81882505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1241.796559995 meters 0.012757357198049862 Centerline is valid? [True, True] Translation: X:-387.06, Y:-242.32, Z:-2.82 [[-6.99091029e-01 -7.14979515e-01 8.71931045e-03 -3.87062918e+02] [ 7.14923040e-01 -6.99145401e-01 -8.98640244e-03 -2.42321489e+02] [ 1.25211595e-02 -4.86773936e-05 9.99921606e-01 -2.81827054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1241.826559995 meters 0.012615025229207436 Centerline is valid? [True, True] Translation: X:-387.08, Y:-242.30, Z:-2.82 [[-6.97154948e-01 -7.16869414e-01 8.55697172e-03 -3.87083738e+02] [ 7.16815231e-01 -6.97207461e-01 -8.81364984e-03 -2.42303090e+02] [ 1.22842205e-02 -1.07119390e-05 9.99924546e-01 -2.81839678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1241.856559995 meters 0.012550551468862315 Centerline is valid? [True, True] Translation: X:-387.10, Y:-242.28, Z:-2.82 [[-6.95544434e-01 -7.18436859e-01 8.14983123e-03 -3.87104618e+02] [ 7.18387872e-01 -6.95592179e-01 -8.38960999e-03 -2.42284562e+02] [ 1.16963639e-02 1.93933736e-05 9.99931595e-01 -2.81805832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1241.886559995 meters 0.012947691490815481 Centerline is valid? [True, True] Translation: X:-387.13, Y:-242.27, Z:-2.82 [[-6.92634329e-01 -7.21249157e-01 7.57233461e-03 -3.87125894e+02] [ 7.21207090e-01 -6.92675717e-01 -7.78999053e-03 -2.42268629e+02] [ 1.08636964e-02 6.56065484e-05 9.99940986e-01 -2.81908511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1241.916559995 meters 0.013120420187916242 Centerline is valid? [True, True] Translation: X:-387.15, Y:-242.25, Z:-2.82 [[-6.91800419e-01 -7.22051878e-01 7.29838481e-03 -3.87145887e+02] [ 7.22012891e-01 -6.91838911e-01 -7.50370746e-03 -2.42249749e+02] [ 1.04673727e-02 7.84599592e-05 9.99945213e-01 -2.81873314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1241.9465599950001 meters 0.01305885415046476 Centerline is valid? [True, True] Translation: X:-387.17, Y:-242.23, Z:-2.82 [[-6.91370479e-01 -7.22466237e-01 7.02834461e-03 -3.87165271e+02] [ 7.22430148e-01 -6.91406197e-01 -7.22166759e-03 -2.42230146e+02] [ 1.00768520e-02 8.46402552e-05 9.99949224e-01 -2.81760056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1241.9765599950001 meters 0.01304245796701646 Centerline is valid? [True, True] Translation: X:-387.18, Y:-242.21, Z:-2.82 [[-6.91107565e-01 -7.22722914e-01 6.47484720e-03 -3.87184753e+02] [ 7.22692335e-01 -6.91137890e-01 -6.64880197e-03 -2.42210694e+02] [ 9.28025376e-03 8.42850990e-05 9.99956934e-01 -2.81694736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1242.006559995 meters 0.013250452677464183 Centerline is valid? [True, True] Translation: X:-387.20, Y:-242.19, Z:-2.82 [[-6.90571563e-01 -7.23237713e-01 6.17473863e-03 -3.87204207e+02] [ 7.23209960e-01 -6.90599162e-01 -6.33649496e-03 -2.42192921e+02] [ 8.84706144e-03 8.98292450e-05 9.99960860e-01 -2.81756473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1242.036559995 meters 0.013456921485870311 Centerline is valid? [True, True] Translation: X:-387.22, Y:-242.17, Z:-2.82 [[-6.90645746e-01 -7.23167676e-01 6.07997482e-03 -3.87222740e+02] [ 7.23140801e-01 -6.90672502e-01 -6.23522175e-03 -2.42174586e+02] [ 8.70838224e-03 9.03484801e-05 9.99962077e-01 -2.81861826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1242.066559995 meters 0.013305070624052942 Centerline is valid? [True, True] Translation: X:-387.24, Y:-242.15, Z:-2.82 [[-6.90889950e-01 -7.22932608e-01 6.28667650e-03 -3.87241880e+02] [ 7.22903900e-01 -6.90918545e-01 -6.44324528e-03 -2.42154789e+02] [ 9.00161350e-03 9.30895502e-05 9.99959481e-01 -2.81880073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1242.096559995 meters 0.0132658231014176 Centerline is valid? [True, True] Translation: X:-387.26, Y:-242.13, Z:-2.82 [[-6.90912573e-01 -7.22910078e-01 6.39023570e-03 -3.87261202e+02] [ 7.22880450e-01 -6.90942117e-01 -6.54570006e-03 -2.42134045e+02] [ 9.14723553e-03 9.68699779e-05 9.99958159e-01 -2.81845591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1242.126559995 meters 0.013560941791950625 Centerline is valid? [True, True] Translation: X:-387.28, Y:-242.12, Z:-2.82 [[-6.91098869e-01 -7.22731887e-01 6.40104861e-03 -3.87280033e+02] [ 7.22702190e-01 -6.91128505e-01 -6.55243230e-03 -2.42116061e+02] [ 9.15959892e-03 9.76733026e-05 9.99958045e-01 -2.81979288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1242.156559995 meters 0.013543585878460667 Centerline is valid? [True, True] Translation: X:-387.30, Y:-242.10, Z:-2.82 [[-6.91364177e-01 -7.22477269e-01 6.49391976e-03 -3.87299391e+02] [ 7.22446730e-01 -6.91394668e-01 -6.64350642e-03 -2.42096418e+02] [ 9.28964387e-03 9.84287507e-05 9.99956846e-01 -2.82011853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1242.1865599950002 meters 0.013351005841544004 Centerline is valid? [True, True] Translation: X:-387.32, Y:-242.08, Z:-2.82 [[-6.91910235e-01 -7.21952626e-01 6.68081124e-03 -3.87317752e+02] [ 7.21920319e-01 -6.91942481e-01 -6.83049253e-03 -2.42075917e+02] [ 9.55402912e-03 9.69256912e-05 9.99954355e-01 -2.82052244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1242.2165599950001 meters 0.013182646991613355 Centerline is valid? [True, True] Translation: X:-387.34, Y:-242.06, Z:-2.82 [[-6.92455980e-01 -7.21429247e-01 6.67505809e-03 -3.87335723e+02] [ 7.21397013e-01 -6.92488146e-01 -6.82033251e-03 -2.42055995e+02] [ 9.54278595e-03 9.25869354e-05 9.99954463e-01 -2.82045370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1242.246559995 meters 0.01312955268811587 Centerline is valid? [True, True] Translation: X:-387.35, Y:-242.04, Z:-2.82 [[-6.93213878e-01 -7.20695442e-01 7.25257721e-03 -3.87353938e+02] [ 7.20657396e-01 -6.93251810e-01 -7.40580537e-03 -2.42036214e+02] [ 1.03651925e-02 9.28163516e-05 9.99946276e-01 -2.82109181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1242.276559995 meters 0.01298283019802916 Centerline is valid? [True, True] Translation: X:-387.37, Y:-242.01, Z:-2.82 [[-6.94345315e-01 -7.19598946e-01 7.87025574e-03 -3.87372834e+02] [ 7.19554124e-01 -6.94389912e-01 -8.03203754e-03 -2.42014846e+02] [ 1.12448719e-02 8.60673382e-05 9.99936771e-01 -2.82170513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1242.306559995 meters 0.012983811562132122 Centerline is valid? [True, True] Translation: X:-387.39, Y:-241.99, Z:-2.82 [[-6.95833419e-01 -7.18155526e-01 8.27602548e-03 -3.87390299e+02] [ 7.18105926e-01 -6.95882630e-01 -8.44058770e-03 -2.41994889e+02] [ 1.18207971e-02 6.98199452e-05 9.99930130e-01 -2.82314533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1242.336559995 meters 0.012848956980026026 Centerline is valid? [True, True] Translation: X:-387.41, Y:-241.97, Z:-2.82 [[-6.99309032e-01 -7.14755719e-01 9.54675202e-03 -3.87405766e+02] [ 7.14689480e-01 -6.99374194e-01 -9.73060667e-03 -2.41971743e+02] [ 1.36317588e-02 1.82621057e-05 9.99907083e-01 -2.82455122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1242.366559995 meters 0.01286017333267973 Centerline is valid? [True, True] Translation: X:-387.42, Y:-241.95, Z:-2.82 [[-7.01427617e-01 -7.12669325e-01 1.00862238e-02 -3.87423038e+02] [ 7.12595254e-01 -7.01500131e-01 -1.02747437e-02 -2.41949901e+02] [ 1.43979820e-02 -1.95937814e-05 9.99896344e-01 -2.82447625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1242.396559995 meters 0.01300387491112456 Centerline is valid? [True, True] Translation: X:-387.44, Y:-241.93, Z:-2.82 [[-7.03709853e-01 -7.10412373e-01 1.03297786e-02 -3.87440230e+02] [ 7.10334524e-01 -7.03785661e-01 -1.05169815e-02 -2.41927831e+02] [ 1.47413438e-02 -6.33050889e-05 9.99891339e-01 -2.82428641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1242.426559995 meters 0.01336940173391156 Centerline is valid? [True, True] Translation: X:-387.46, Y:-241.91, Z:-2.82 [[-7.06504376e-01 -7.07632887e-01 1.03568099e-02 -3.87457455e+02] [ 7.07554418e-01 -7.06580274e-01 -1.05386198e-02 -2.41905737e+02] [ 1.47753915e-02 -1.17574404e-04 9.99890831e-01 -2.82404361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1242.4565599950001 meters 0.013890120304809803 Centerline is valid? [True, True] Translation: X:-387.47, Y:-241.88, Z:-2.82 [[-7.09236826e-01 -7.04898847e-01 1.00369456e-02 -3.87474466e+02] [ 7.04824957e-01 -7.09307823e-01 -1.02074760e-02 -2.41883616e+02] [ 1.43145221e-02 -1.65228123e-04 9.99897529e-01 -2.82357372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1242.486559995 meters 0.014434511597392619 Centerline is valid? [True, True] Translation: X:-387.49, Y:-241.86, Z:-2.82 [[-7.11981257e-01 -7.02135480e-01 9.40518394e-03 -3.87492012e+02] [ 7.02070428e-01 -7.12043346e-01 -9.55966531e-03 -2.41861913e+02] [ 1.34090788e-02 -2.03201013e-04 9.99910074e-01 -2.82233599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1242.516559995 meters 0.015048622003021709 Centerline is valid? [True, True] Translation: X:-387.51, Y:-241.84, Z:-2.82 [[-7.15863074e-01 -6.98196532e-01 7.85257690e-03 -3.87509877e+02] [ 6.98150995e-01 -7.15906105e-01 -7.97733103e-03 -2.41839920e+02] [ 1.11914526e-02 -2.28392343e-04 9.99937348e-01 -2.81981135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1242.546559995 meters 0.015544277966890034 Centerline is valid? [True, True] Translation: X:-387.53, Y:-241.82, Z:-2.82 [[-7.17315887e-01 -6.96708497e-01 7.42896485e-03 -3.87528082e+02] [ 6.96667693e-01 -7.17354316e-01 -7.54386948e-03 -2.41819122e+02] [ 1.05850780e-02 -2.35817618e-04 9.99943949e-01 -2.81927027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1242.576559995 meters 0.01588389642804758 Centerline is valid? [True, True] Translation: X:-387.55, Y:-241.80, Z:-2.82 [[-7.18273995e-01 -6.95723122e-01 7.19765671e-03 -3.87546996e+02] [ 6.95684813e-01 -7.18310017e-01 -7.30488441e-03 -2.41798149e+02] [ 1.02523259e-02 -2.39608041e-04 9.99947415e-01 -2.81885036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1242.606559995 meters 0.015740561841953393 Centerline is valid? [True, True] Translation: X:-387.57, Y:-241.78, Z:-2.82 [[-7.18756707e-01 -6.95223451e-01 7.29032893e-03 -3.87566897e+02] [ 6.95184167e-01 -7.18793637e-01 -7.39474505e-03 -2.41778347e+02] [ 1.03812422e-02 -2.46901360e-04 9.99946083e-01 -2.81833420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1242.636559995 meters 0.016556989866918902 Centerline is valid? [True, True] Translation: X:-387.59, Y:-241.76, Z:-2.82 [[-7.18564616e-01 -6.95419565e-01 7.51812081e-03 -3.87585406e+02] [ 6.95377846e-01 -7.18603902e-01 -7.62128363e-03 -2.41758229e+02] [ 1.07025407e-02 -2.48450089e-04 9.99942696e-01 -2.81910524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1242.666559995 meters 0.01567097617528061 Centerline is valid? [True, True] Translation: X:-387.61, Y:-241.74, Z:-2.82 [[-7.18128310e-01 -6.95864794e-01 7.99489214e-03 -3.87607096e+02] [ 6.95817695e-01 -7.18172768e-01 -8.10006920e-03 -2.41739550e+02] [ 1.13782668e-02 -2.53901585e-04 9.99935233e-01 -2.81902678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1242.6965599950001 meters 0.0157793137385515 Centerline is valid? [True, True] Translation: X:-387.63, Y:-241.72, Z:-2.82 [[-7.15564243e-01 -6.98491233e-01 8.82104959e-03 -3.87628098e+02] [ 6.98434142e-01 -7.15618574e-01 -8.93343813e-03 -2.41722069e+02] [ 1.25524351e-02 -2.31526694e-04 9.99921188e-01 -2.82157749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1242.7265599950001 meters 0.014707940618974149 Centerline is valid? [True, True] Translation: X:-387.65, Y:-241.70, Z:-2.82 [[-7.13833614e-01 -7.00260370e-01 8.77414607e-03 -3.87650813e+02] [ 7.00204077e-01 -7.13887510e-01 -8.88110835e-03 -2.41704673e+02] [ 1.24828415e-02 -1.95940820e-04 9.99922067e-01 -2.82146817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1242.756559995 meters 0.01421693864612583 Centerline is valid? [True, True] Translation: X:-387.67, Y:-241.69, Z:-2.82 [[-7.11726139e-01 -7.02402611e-01 8.74501631e-03 -3.87672768e+02] [ 7.02346912e-01 -7.11779845e-01 -8.84691938e-03 -2.41687851e+02] [ 1.24386256e-02 -1.54548568e-04 9.99922626e-01 -2.82201756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1242.786559995 meters 0.013588229967894718 Centerline is valid? [True, True] Translation: X:-387.70, Y:-241.67, Z:-2.82 [[-7.09238758e-01 -7.04915687e-01 8.61737701e-03 -3.87695909e+02] [ 7.04861843e-01 -7.09291099e-01 -8.71314767e-03 -2.41670853e+02] [ 1.22542633e-02 -1.05641788e-04 9.99924908e-01 -2.82205972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1242.816559995 meters 0.012963799724604062 Centerline is valid? [True, True] Translation: X:-387.72, Y:-241.65, Z:-2.82 [[-7.06643145e-01 -7.07521453e-01 8.29811709e-03 -3.87719107e+02] [ 7.07471762e-01 -7.06691864e-01 -8.38543817e-03 -2.41654845e+02] [ 1.17970892e-02 -5.48288841e-05 9.99930411e-01 -2.82135275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1242.846559995 meters 0.012612700658852609 Centerline is valid? [True, True] Translation: X:-387.74, Y:-241.64, Z:-2.82 [[-7.04025162e-01 -7.10130544e-01 7.94869854e-03 -3.87741365e+02] [ 7.10085172e-01 -7.04070032e-01 -8.02734288e-03 -2.41638869e+02] [ 1.12969018e-02 -7.19839544e-06 9.99936188e-01 -2.82102136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1242.876559995 meters 0.01295286047571576 Centerline is valid? [True, True] Translation: X:-387.77, Y:-241.63, Z:-2.82 [[-6.98738357e-01 -7.15338342e-01 7.46765871e-03 -3.87765883e+02] [ 7.15298637e-01 -6.98778256e-01 -7.53714411e-03 -2.41625393e+02] [ 1.06098457e-02 7.51144029e-05 9.99943711e-01 -2.82075524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1242.906559995 meters 0.013317807926268417 Centerline is valid? [True, True] Translation: X:-387.79, Y:-241.61, Z:-2.82 [[-6.96742425e-01 -7.17286615e-01 7.06442323e-03 -3.87787735e+02] [ 7.17251221e-01 -6.96778230e-01 -7.12627226e-03 -2.41607898e+02] [ 1.00339160e-02 1.01789980e-04 9.99949654e-01 -2.82031262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1242.9365599950002 meters 0.013816296994761126 Centerline is valid? [True, True] Translation: X:-387.81, Y:-241.59, Z:-2.82 [[-6.95068093e-01 -7.18913642e-01 6.59711257e-03 -3.87809608e+02] [ 7.18882883e-01 -6.95099390e-01 -6.65126640e-03 -2.41590142e+02] [ 9.36733508e-03 1.19468254e-04 9.99956119e-01 -2.81993355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1242.9665599950001 meters 0.014237924900750423 Centerline is valid? [True, True] Translation: X:-387.83, Y:-241.57, Z:-2.82 [[-6.93807869e-01 -7.20134118e-01 6.12320099e-03 -3.87831331e+02] [ 7.20107696e-01 -6.93834876e-01 -6.17013081e-03 -2.41571919e+02] [ 8.69181211e-03 1.28478853e-04 9.99962217e-01 -2.81974997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1242.996559995 meters 0.014529106013435615 Centerline is valid? [True, True] Translation: X:-387.85, Y:-241.55, Z:-2.82 [[-6.93063243e-01 -7.20855112e-01 5.59019528e-03 -3.87851446e+02] [ 7.20833140e-01 -6.93085775e-01 -5.62959252e-03 -2.41554155e+02] [ 7.93260537e-03 1.27934374e-04 9.99968528e-01 -2.81939951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1243.026559995 meters 0.015067123347092785 Centerline is valid? [True, True] Translation: X:-387.87, Y:-241.54, Z:-2.82 [[-6.92354815e-01 -7.21539688e-01 5.02875066e-03 -3.87871724e+02] [ 7.21521944e-01 -6.92373066e-01 -5.06179512e-03 -2.41536833e+02] [ 7.13405759e-03 1.23795728e-04 9.99974545e-01 -2.81917887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1243.056559995 meters 0.015067123347092785 Centerline is valid? [True, True] Translation: X:-387.89, Y:-241.52, Z:-2.82 [[-6.92571758e-01 -7.21331447e-01 5.03027296e-03 -3.87890661e+02] [ 7.21313708e-01 -6.92590015e-01 -5.06028231e-03 -2.41517945e+02] [ 7.13405759e-03 1.23796226e-04 9.99974545e-01 -2.81917907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1243.086559995 meters 0.015610544564861375 Centerline is valid? [True, True] Translation: X:-387.91, Y:-241.50, Z:-2.82 [[-6.91740891e-01 -7.22131552e-01 4.53446667e-03 -3.87912284e+02] [ 7.22117170e-01 -6.91755743e-01 -4.55909317e-03 -2.41499713e+02] [ 6.42900839e-03 1.20705067e-04 9.99979327e-01 -2.81920863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1243.116559995 meters 0.015939460486283454 Centerline is valid? [True, True] Translation: X:-387.93, Y:-241.48, Z:-2.82 [[-6.91816530e-01 -7.22060394e-01 4.32163570e-03 -3.87931997e+02] [ 7.22047346e-01 -6.91830018e-01 -4.34238267e-03 -2.41481634e+02] [ 6.12529985e-03 1.16293478e-04 9.99981234e-01 -2.81935960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1243.146559995 meters 0.015755249884633282 Centerline is valid? [True, True] Translation: X:-387.95, Y:-241.46, Z:-2.82 [[-6.91972198e-01 -7.21912242e-01 4.14628850e-03 -3.87951949e+02] [ 7.21900243e-01 -6.91984611e-01 -4.16371028e-03 -2.41462402e+02] [ 5.87500126e-03 1.12034915e-04 9.99982736e-01 -2.81933945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1243.176559995 meters 0.016112200971697067 Centerline is valid? [True, True] Translation: X:-387.97, Y:-241.44, Z:-2.82 [[-6.92116609e-01 -7.21773977e-01 4.11420252e-03 -3.87971233e+02] [ 7.21762176e-01 -6.92128828e-01 -4.12890995e-03 -2.41444818e+02] [ 5.82769793e-03 1.11788613e-04 9.99983013e-01 -2.81933951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1243.2065599950001 meters 0.01465447369933067 Centerline is valid? [True, True] Translation: X:-387.99, Y:-241.42, Z:-2.82 [[-6.92626671e-01 -7.21287485e-01 3.55789805e-03 -3.87988249e+02] [ 7.21278663e-01 -6.92635803e-01 -3.56861500e-03 -2.41422615e+02] [ 5.03832492e-03 9.45180212e-05 9.99987303e-01 -2.81814239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1243.236559995 meters 0.014945799614094426 Centerline is valid? [True, True] Translation: X:-388.01, Y:-241.40, Z:-2.82 [[-6.93280231e-01 -7.20658530e-01 3.71545695e-03 -3.88007150e+02] [ 7.20648914e-01 -6.93290180e-01 -3.72418874e-03 -2.41403743e+02] [ 5.25975820e-03 9.56335843e-05 9.99986163e-01 -2.81819164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1243.266559995 meters 0.014581178390376167 Centerline is valid? [True, True] Translation: X:-388.03, Y:-241.38, Z:-2.82 [[-6.93862428e-01 -7.20098236e-01 3.66921227e-03 -3.88025357e+02] [ 7.20088861e-01 -6.93872123e-01 -3.67555195e-03 -2.41383949e+02] [ 5.19272259e-03 9.18314822e-05 9.99986514e-01 -2.81803319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1243.296559995 meters 0.01398778270060492 Centerline is valid? [True, True] Translation: X:-388.04, Y:-241.36, Z:-2.82 [[-6.94651156e-01 -7.19339345e-01 3.26795711e-03 -3.88043742e+02] [ 7.19331908e-01 -6.94658838e-01 -3.27173874e-03 -2.41362760e+02] [ 4.62360569e-03 7.80287222e-05 9.99989308e-01 -2.81768672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1243.326559995 meters 0.014177570215174382 Centerline is valid? [True, True] Translation: X:-388.06, Y:-241.34, Z:-2.82 [[-6.95474713e-01 -7.18544127e-01 3.04329297e-03 -3.88062354e+02] [ 7.18537678e-01 -6.95481368e-01 -3.04501739e-03 -2.41343518e+02] [ 4.30453292e-03 6.89880685e-05 9.99990733e-01 -2.81784919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1243.356559995 meters 0.013966832704016397 Centerline is valid? [True, True] Translation: X:-388.08, Y:-241.32, Z:-2.82 [[-6.96549154e-01 -7.17504109e-01 2.67013505e-03 -3.88080809e+02] [ 7.17499144e-01 -6.96554269e-01 -2.67008550e-03 -2.41322720e+02] [ 3.77569128e-03 5.59738151e-05 9.99992871e-01 -2.81756108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1243.386559995 meters 0.013581326029783307 Centerline is valid? [True, True] Translation: X:-388.50, Y:-241.74, Z:-1.77 [[-7.64336718e-01 6.44810715e-01 2.91948647e-03 -3.88501616e+02] [ 6.44805742e-01 7.64342292e-01 -2.53303377e-03 -2.41739302e+02] [-3.86481430e-03 -5.35890753e-05 -9.99992530e-01 -1.76729545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1243.416559995 meters 0.013417086213294791 Centerline is valid? [True, True] Translation: X:-388.49, Y:-241.72, Z:-1.77 [[-8.06579692e-01 5.91119497e-01 2.63446609e-03 -3.88486778e+02] [ 5.91116190e-01 8.06583993e-01 -1.97777809e-03 -2.41719647e+02] [-3.29402137e-03 -3.79600882e-05 -9.99994574e-01 -1.76665592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1243.4465599950001 meters 0.012930599222063747 Centerline is valid? [True, True] Translation: X:-388.47, Y:-241.70, Z:-1.77 [[-8.45753992e-01 5.33564926e-01 2.94179795e-03 -3.88471416e+02] [ 5.33561551e-01 8.45759108e-01 -1.89828235e-03 -2.41700430e+02] [-3.50090929e-03 -3.58496009e-05 -9.99993871e-01 -1.76694023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1243.4765599950001 meters 0.01288568413182431 Centerline is valid? [True, True] Translation: X:-388.14, Y:-241.19, Z:-2.82 [[-7.96681124e-01 -6.04392494e-01 2.98314285e-03 -3.88141737e+02] [ 6.04388492e-01 -7.96686708e-01 -2.20015514e-03 -2.41192081e+02] [ 3.70638751e-03 5.01551375e-05 9.99993130e-01 -2.81804800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1243.506559995 meters 0.012654305789633969 Centerline is valid? [True, True] Translation: X:-388.16, Y:-241.21, Z:-2.82 [[-7.54717589e-01 -6.56041468e-01 3.30956055e-03 -3.88159306e+02] [ 6.56035360e-01 -7.54724844e-01 -2.83127597e-03 -2.41213174e+02] [ 4.35524202e-03 3.43749744e-05 9.99990516e-01 -2.81812654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1243.536559995 meters 0.012757317533990727 Centerline is valid? [True, True] Translation: X:-388.56, Y:-241.68, Z:-1.77 [[-8.08349401e-01 5.88688635e-01 4.11543540e-03 -3.88556379e+02] [ 5.88680770e-01 8.08359876e-01 -3.04340982e-03 -2.41684182e+02] [-5.11837363e-03 -3.74608319e-05 -9.99986901e-01 -1.76549523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1243.566559995 meters 0.01258556010915881 Centerline is valid? [True, True] Translation: X:-388.19, Y:-241.19, Z:-2.82 [[-7.58060860e-01 -6.52168919e-01 4.40836334e-03 -3.88189177e+02] [ 6.52158498e-01 -7.58073674e-01 -3.68771392e-03 -2.41188042e+02] [ 5.74687660e-03 7.94400243e-05 9.99983484e-01 -2.81960244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1243.596559995 meters 0.012586465111334785 Centerline is valid? [True, True] Translation: X:-388.20, Y:-241.21, Z:-2.82 [[-7.12793183e-01 -7.01351535e-01 5.64831503e-03 -3.88201610e+02] [ 7.01330032e-01 -7.12815560e-01 -5.49221970e-03 -2.41212128e+02] [ 7.87818356e-03 4.65161945e-05 9.99968966e-01 -2.82079667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1243.626559995 meters 0.012658284368149949 Centerline is valid? [True, True] Translation: X:-388.65, Y:-241.66, Z:-1.76 [[-7.68302062e-01 6.40054977e-01 6.44723978e-03 -3.88646813e+02] [ 6.40031892e-01 7.68329111e-01 -5.43636455e-03 -2.41660452e+02] [-8.43317421e-03 -5.03310228e-05 -9.99964439e-01 -1.76361883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1243.656559995 meters 0.012731768327228174 Centerline is valid? [True, True] Translation: X:-388.63, Y:-241.64, Z:-1.76 [[-8.11751361e-01 5.83955566e-01 7.45821415e-03 -3.88629219e+02] [ 5.83930288e-01 8.11785621e-01 -5.43367487e-03 -2.41640861e+02] [-9.22749568e-03 -5.57158381e-05 -9.99957424e-01 -1.76351834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1243.6865599950002 meters 0.012800790437386706 Centerline is valid? [True, True] Translation: X:-388.25, Y:-241.13, Z:-2.82 [[-7.62835947e-01 -6.46549047e-01 7.45976974e-03 -3.88254111e+02] [ 6.46519251e-01 -7.62872416e-01 -6.20771585e-03 -2.41128418e+02] [ 9.70444533e-03 8.74159478e-05 9.99952907e-01 -2.82118029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1243.7165599950001 meters 0.012934776621188878 Centerline is valid? [True, True] Translation: X:-388.27, Y:-241.15, Z:-2.82 [[-7.17589374e-01 -6.96429915e-01 7.13191068e-03 -3.88269249e+02] [ 6.96396351e-01 -7.17624811e-01 -6.83757423e-03 -2.41154269e+02] [ 9.87992730e-03 6.00659641e-05 9.99951191e-01 -2.82124679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1243.746559995 meters 0.01288474352890329 Centerline is valid? [True, True] Translation: X:-388.72, Y:-241.61, Z:-1.76 [[-7.73215840e-01 6.34094961e-01 7.80030152e-03 -3.88719094e+02] [ 6.34061819e-01 7.73255182e-01 -6.48335115e-03 -2.41611145e+02] [-1.01426839e-02 -6.71564329e-05 -9.99948560e-01 -1.76386656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1243.776559995 meters 0.012942023855378296 Centerline is valid? [True, True] Translation: X:-388.30, Y:-241.13, Z:-2.82 [[-7.19817986e-01 -6.94135691e-01 6.14077017e-03 -3.88302336e+02] [ 6.94109987e-01 -7.19844178e-01 -5.97369333e-03 -2.41125210e+02] [ 8.56695140e-03 -3.76019986e-05 9.99963303e-01 -2.81944817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1243.806559995 meters 0.012878784401256825 Centerline is valid? [True, True] Translation: X:-388.75, Y:-241.59, Z:-1.77 [[-7.75489817e-01 6.31331570e-01 5.99939887e-03 -3.88747700e+02] [ 6.31312158e-01 7.75513021e-01 -4.95114290e-03 -2.41591388e+02] [-7.77842476e-03 -5.20674546e-05 -9.99969746e-01 -1.76614069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1243.836559995 meters 0.012956809336770621 Centerline is valid? [True, True] Translation: X:-388.73, Y:-241.57, Z:-1.77 [[-8.18231566e-01 5.74862736e-01 5.47165667e-03 -3.88731339e+02] [ 5.74849516e-01 8.18249860e-01 -3.89888554e-03 -2.41569931e+02] [-6.71850632e-03 -4.48120341e-05 -9.99977430e-01 -1.76680836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1243.866559995 meters 0.012989636311519871 Centerline is valid? [True, True] Translation: X:-388.36, Y:-241.04, Z:-2.82 [[-7.69116246e-01 -6.39092243e-01 4.61577146e-03 -3.88355953e+02] [ 6.39080709e-01 -7.69130097e-01 -3.83951213e-03 -2.41044687e+02] [ 6.00393117e-03 -3.18065383e-06 9.99981976e-01 -2.81670871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1243.896559995 meters 0.013039826630901367 Centerline is valid? [True, True] Translation: X:-388.77, Y:-241.55, Z:-1.77 [[-8.20598857e-01 5.71486225e-01 4.58379824e-03 -3.88766333e+02] [ 5.71477026e-01 8.20611658e-01 -3.24279343e-03 -2.41548446e+02] [-5.61473005e-03 -4.14971944e-05 -9.99984237e-01 -1.76834050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1243.926559995 meters 0.013095043015568932 Centerline is valid? [True, True] Translation: X:-388.75, Y:-241.53, Z:-1.77 [[-8.59205634e-01 5.11609179e-01 4.66115605e-03 -3.88749671e+02] [ 5.11601384e-01 8.59218276e-01 -2.82457462e-03 -2.41527027e+02] [-5.45002877e-03 -4.22365407e-05 -9.99985148e-01 -1.76885929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1243.9565599950001 meters 0.013329478453650527 Centerline is valid? [True, True] Translation: X:-388.41, Y:-240.97, Z:-2.82 [[-8.13095885e-01 -5.82109168e-01 4.89879165e-03 -3.88412696e+02] [ 5.82099182e-01 -8.13110639e-01 -3.41056005e-03 -2.40970180e+02] [ 5.96857788e-03 7.84702627e-05 9.99982185e-01 -2.81609785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1243.986559995 meters 0.013435145528106863 Centerline is valid? [True, True] Translation: X:-388.79, Y:-241.50, Z:-1.77 [[-8.62310247e-01 5.06350849e-01 5.46402166e-03 -3.88791447e+02] [ 5.06340202e-01 8.62327556e-01 -3.28425074e-03 -2.41504148e+02] [-6.37475959e-03 -6.53892371e-05 -9.99979679e-01 -1.76833481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1244.016559995 meters 0.014079825746029537 Centerline is valid? [True, True] Translation: X:-388.45, Y:-240.95, Z:-2.82 [[-8.13996163e-01 -5.80844732e-01 5.44470963e-03 -3.88451038e+02] [ 5.80832424e-01 -8.14014368e-01 -3.78224784e-03 -2.40949222e+02] [ 6.62897060e-03 8.37286604e-05 9.99978025e-01 -2.81697632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1244.046559995 meters 0.014351449070305099 Centerline is valid? [True, True] Translation: X:-388.47, Y:-240.98, Z:-2.82 [[-7.72071780e-01 -6.35513322e-01 5.29001902e-03 -3.88467746e+02] [ 6.35499166e-01 -7.72089898e-01 -4.24265292e-03 -2.40975284e+02] [ 6.78063269e-03 8.61700821e-05 9.99977008e-01 -2.81693166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1244.076559995 meters 0.013980389837494634 Centerline is valid? [True, True] Translation: X:-388.88, Y:-241.48, Z:-1.77 [[-8.30259493e-01 5.57348775e-01 5.61410815e-03 -3.88877363e+02] [ 5.57335259e-01 8.30278468e-01 -3.88267067e-03 -2.41481446e+02] [-6.82527486e-03 -9.46837636e-05 -9.99976703e-01 -1.76808792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1244.106559995 meters 0.01429180291981707 Centerline is valid? [True, True] Translation: X:-388.51, Y:-240.95, Z:-2.82 [[-7.72984914e-01 -6.34395332e-01 6.07330080e-03 -3.88508218e+02] [ 6.34377387e-01 -7.73008756e-01 -4.77441129e-03 -2.40949250e+02] [ 7.72357893e-03 1.62216786e-04 9.99970160e-01 -2.81718352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1244.136559995 meters 0.01472912162876353 Centerline is valid? [True, True] Translation: X:-388.54, Y:-240.97, Z:-2.82 [[-7.27982708e-01 -6.85563259e-01 6.64785984e-03 -3.88535367e+02] [ 6.85536433e-01 -7.28013048e-01 -6.06640901e-03 -2.40969619e+02] [ 8.99863584e-03 1.41109263e-04 9.99959502e-01 -2.81873259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1244.166559995 meters 0.014460956558544048 Centerline is valid? [True, True] Translation: X:-388.96, Y:-241.45, Z:-1.77 [[-7.94103231e-01 6.07736211e-01 7.53370041e-03 -3.88963367e+02] [ 6.07707058e-01 7.94138952e-01 -5.95448803e-03 -2.41447081e+02] [-9.60156294e-03 -1.50195275e-04 -9.99953893e-01 -1.76539375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1244.1965599950001 meters 0.014156354975112312 Centerline is valid? [True, True] Translation: X:-388.94, Y:-241.43, Z:-1.77 [[-8.34849573e-01 5.50417231e-01 8.18915414e-03 -3.88940237e+02] [ 5.50388983e-01 8.34889723e-01 -5.57829040e-03 -2.41428952e+02] [-9.90742779e-03 -1.49813136e-04 -9.99950909e-01 -1.76508963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1244.2265599950001 meters 0.01435362300412964 Centerline is valid? [True, True] Translation: X:-388.58, Y:-240.90, Z:-2.82 [[-7.77963761e-01 -6.28261387e-01 7.74706439e-03 -3.88581050e+02] [ 6.28232081e-01 -7.78002320e-01 -6.06984344e-03 -2.40904951e+02] [ 9.84068232e-03 1.44836151e-04 9.99951569e-01 -2.82052950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1244.256559995 meters 0.014093408446269743 Centerline is valid? [True, True] Translation: X:-388.97, Y:-241.41, Z:-1.76 [[-8.35675418e-01 5.49167259e-01 7.86876515e-03 -3.88973661e+02] [ 5.49141515e-01 8.35712454e-01 -5.31885178e-03 -2.41405859e+02] [-9.49696429e-03 -1.23768067e-04 -9.99954895e-01 -1.76443437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1244.286559995 meters 0.013786591131793799 Centerline is valid? [True, True] Translation: X:-388.96, Y:-241.38, Z:-1.77 [[-8.71939008e-01 4.89554959e-01 7.63597303e-03 -3.88960900e+02] [ 4.89535122e-01 8.71972437e-01 -4.40833798e-03 -2.41382756e+02] [-8.81648174e-03 -1.05724852e-04 -9.99961129e-01 -1.76554163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1244.316559995 meters 0.013214315122471792 Centerline is valid? [True, True] Translation: X:-388.95, Y:-241.36, Z:-1.77 [[-9.03310073e-01 4.28944805e-01 6.10470739e-03 -3.88947916e+02] [ 4.28934531e-01 9.03330698e-01 -2.96953385e-03 -2.41361530e+02] [-6.78833571e-03 -6.38900371e-05 -9.99976957e-01 -1.76805669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1244.346559995 meters 0.013214987362562285 Centerline is valid? [True, True] Translation: X:-388.94, Y:-241.34, Z:-1.77 [[-9.30870177e-01 3.65311049e-01 5.34324077e-03 -3.88940585e+02] [ 3.65304750e-01 9.30885511e-01 -2.14583577e-03 -2.41335102e+02] [-5.75784294e-03 -4.55832961e-05 -9.99983423e-01 -1.76845902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1244.376559995 meters 0.01294085878030642 Centerline is valid? [True, True] Translation: X:-388.93, Y:-241.31, Z:-1.77 [[-9.53943820e-01 2.99945753e-01 4.87172097e-03 -3.88930897e+02] [ 2.99941668e-01 9.53956259e-01 -1.56583043e-03 -2.41310709e+02] [-5.11707290e-03 -3.24821496e-05 -9.99986907e-01 -1.76947958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1244.406559995 meters 0.012773182541627482 Centerline is valid? [True, True] Translation: X:-388.73, Y:-240.70, Z:-2.82 [[-9.27561048e-01 -3.73650015e-01 4.02115495e-03 -3.88729604e+02] [ 3.73646411e-01 -9.27569764e-01 -1.64114160e-03 -2.40695027e+02] [ 4.34311433e-03 -1.97689057e-05 9.99990569e-01 -2.81543543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1244.4365599950002 meters 0.012731022296406111 Centerline is valid? [True, True] Translation: X:-388.98, Y:-241.30, Z:-1.77 [[-9.54207588e-01 2.99117999e-01 4.03742570e-03 -3.88975089e+02] [ 2.99115257e-01 9.54216130e-01 -1.28095289e-03 -2.41298228e+02] [-4.23573279e-03 -1.46393410e-05 -9.99991029e-01 -1.76894603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1244.4665599950001 meters 0.012683594520427506 Centerline is valid? [True, True] Translation: X:-388.97, Y:-241.27, Z:-1.77 [[-9.72792001e-01 2.31645674e-01 4.00054963e-03 -3.88972409e+02] [ 2.31643672e-01 9.72800227e-01 -9.63073821e-04 -2.41270024e+02] [-4.11482748e-03 -1.01685014e-05 -9.99991534e-01 -1.76821918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1244.496559995 meters 0.012689745651805447 Centerline is valid? [True, True] Translation: X:-388.82, Y:-240.64, Z:-2.82 [[-9.53768680e-01 -3.00507830e-01 4.51105071e-03 -3.88815281e+02] [ 3.00504713e-01 -9.53779347e-01 -1.36961134e-03 -2.40641044e+02] [ 4.71412593e-03 4.92995957e-05 9.99988887e-01 -2.81732437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1244.526559995 meters 0.012704907626466443 Centerline is valid? [True, True] Translation: X:-389.01, Y:-241.26, Z:-1.77 [[-9.73572328e-01 2.28318179e-01 5.26609214e-03 -3.89014412e+02] [ 2.28314778e-01 9.73586570e-01 -1.24622762e-03 -2.41260264e+02] [-5.41153300e-03 -1.09660628e-05 -9.99985358e-01 -1.76684103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1244.556559995 meters 0.012783070177740746 Centerline is valid? [True, True] Translation: X:-388.86, Y:-240.63, Z:-2.82 [[-9.54668294e-01 -2.97607138e-01 6.19993327e-03 -3.88863155e+02] [ 2.97601412e-01 -9.54688423e-01 -1.84800292e-03 -2.40632053e+02] [ 6.46898337e-03 8.08790964e-05 9.99979073e-01 -2.81909705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1244.586559995 meters 0.01291347960443023 Centerline is valid? [True, True] Translation: X:-389.06, Y:-241.25, Z:-1.76 [[-9.74815597e-01 2.22879069e-01 7.71183900e-03 -3.89062394e+02] [ 2.22871854e-01 9.74846101e-01 -1.79361314e-03 -2.41246845e+02] [-7.91761501e-03 -2.96902057e-05 -9.99968655e-01 -1.76368734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1244.616559995 meters 0.013011461408827836 Centerline is valid? [True, True] Translation: X:-389.06, Y:-241.22, Z:-1.76 [[-9.88368102e-01 1.51794347e-01 9.32581204e-03 -3.89060389e+02] [ 1.51787134e-01 9.88412097e-01 -1.48049801e-03 -2.41217544e+02] [-9.44247667e-03 -4.77387258e-05 -9.99955418e-01 -1.76282545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1244.646559995 meters 0.013310806990086018 Centerline is valid? [True, True] Translation: X:-388.97, Y:-240.59, Z:-2.82 [[-9.73332746e-01 -2.29161562e-01 1.04088806e-02 -3.88965830e+02] [ 2.29149928e-01 -9.73388392e-01 -2.31301926e-03 -2.40587262e+02] [ 1.06619386e-02 1.33856843e-04 9.99943151e-01 -2.82362409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1244.676559995 meters 0.013482926449573437 Centerline is valid? [True, True] Translation: X:-389.12, Y:-241.20, Z:-1.76 [[-9.89385798e-01 1.44850862e-01 1.15746013e-02 -3.89115322e+02] [ 1.44839844e-01 9.89453495e-01 -1.78902707e-03 -2.41204832e+02] [-1.17116719e-02 -9.35745341e-05 -9.99931412e-01 -1.75965938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1244.7065599950001 meters 0.013443560000050167 Centerline is valid? [True, True] Translation: X:-389.02, Y:-240.58, Z:-2.83 [[-9.73644193e-01 -2.27749186e-01 1.21365066e-02 -3.89020054e+02] [ 2.27733366e-01 -9.73719820e-01 -2.68839536e-03 -2.40583086e+02] [ 1.24298369e-02 1.46346975e-04 9.99922736e-01 -2.82504309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1244.736559995 meters 0.013789146749882453 Centerline is valid? [True, True] Translation: X:-389.17, Y:-241.19, Z:-1.76 [[-9.90284545e-01 1.38486512e-01 1.25700307e-02 -3.89166316e+02] [ 1.38473664e-01 9.90364311e-01 -1.89104369e-03 -2.41194422e+02] [-1.27107938e-02 -1.32053133e-04 -9.99919206e-01 -1.75930446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1244.766559995 meters 0.013659299757195707 Centerline is valid? [True, True] Translation: X:-389.17, Y:-241.17, Z:-1.76 [[-9.97610220e-01 6.78752143e-02 1.29152838e-02 -3.89169118e+02] [ 6.78677893e-02 9.97693810e-01 -1.01282379e-03 -2.41166481e+02] [-1.29542444e-02 -1.33871600e-04 -9.99916082e-01 -1.76001796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1244.796559995 meters 0.013525128359776425 Centerline is valid? [True, True] Translation: X:-389.12, Y:-240.54, Z:-2.82 [[-9.87977783e-01 -1.54088196e-01 1.25191526e-02 -3.89117736e+02] [ 1.54077256e-01 -9.88057091e-01 -1.83956027e-03 -2.40543705e+02] [ 1.26530921e-02 1.11472006e-04 9.99919940e-01 -2.82429365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1244.826559995 meters 0.013419576719904196 Centerline is valid? [True, True] Translation: X:-389.23, Y:-241.16, Z:-1.76 [[-9.97761366e-01 6.57473848e-02 1.22285623e-02 -3.89228874e+02] [ 6.57412349e-02 9.97836295e-01 -9.04645018e-04 -2.41163630e+02] [-1.22615813e-02 -9.86990650e-05 -9.99924819e-01 -1.76086532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1244.856559995 meters 0.01317417116004669 Centerline is valid? [True, True] Translation: X:-389.23, Y:-241.14, Z:-1.76 [[-9.99928460e-01 -3.17224214e-03 1.15331223e-02 -3.89231917e+02] [-3.17281060e-03 9.99994966e-01 -3.09927734e-05 -2.41137270e+02] [-1.15329659e-02 -6.75829688e-05 -9.99933491e-01 -1.76097648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1244.886559995 meters 0.013015108394744014 Centerline is valid? [True, True] Translation: X:-389.23, Y:-240.50, Z:-2.82 [[-9.97252060e-01 -7.33053076e-02 1.07079408e-02 -3.89227129e+02] [ 7.33012142e-02 -9.97309547e-01 -7.74771318e-04 -2.40504629e+02] [ 1.07359264e-02 1.22627669e-05 9.99942368e-01 -2.82238826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1244.916559995 meters 0.012903312670025625 Centerline is valid? [True, True] Translation: X:-389.30, Y:-241.14, Z:-1.76 [[-9.99961702e-01 -1.55601509e-03 8.61236475e-03 -3.89301200e+02] [-1.55590464e-03 9.99998790e-01 1.95248642e-05 -2.41142694e+02] [-8.61238471e-03 6.12409816e-06 -9.99962913e-01 -1.76369139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1244.9465599950001 meters 0.012851469699794813 Centerline is valid? [True, True] Translation: X:-389.31, Y:-241.12, Z:-1.76 [[-9.97430679e-01 -7.12297556e-02 7.63960804e-03 -3.89306731e+02] [-7.12275361e-02 9.97459935e-01 5.62547710e-04 -2.41116670e+02] [-7.66027307e-03 1.69518865e-05 -9.99970660e-01 -1.76401298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1244.9765599950001 meters 0.012851469699794813 Centerline is valid? [True, True] Translation: X:-389.35, Y:-240.47, Z:-2.82 [[-9.99933415e-01 8.66344802e-03 7.62306368e-03 -3.89352793e+02] [-8.66334370e-03 -9.99962472e-01 4.67067412e-05 -2.40473535e+02] [ 7.62318224e-03 -1.93375895e-05 9.99970943e-01 -2.82067358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1245.006559995 meters 0.012948045000899678 Centerline is valid? [True, True] Translation: X:-389.40, Y:-241.12, Z:-1.76 [[-9.97106805e-01 -7.56668007e-02 7.24948286e-03 -3.89398661e+02] [-7.56646053e-02 9.97133158e-01 5.77020255e-04 -2.41124527e+02] [-7.27236101e-03 2.68215638e-05 -9.99973556e-01 -1.76437826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1245.036559995 meters 0.01297800105407353 Centerline is valid? [True, True] Translation: X:-389.41, Y:-241.10, Z:-1.77 [[-9.89340147e-01 -1.45471872e-01 6.63387115e-03 -3.89407589e+02] [-1.45468382e-01 9.89362387e-01 1.00823769e-03 -2.41098828e+02] [-6.70997283e-03 3.24715265e-05 -9.99977488e-01 -1.76506144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1245.066559995 meters 0.01305545914870134 Centerline is valid? [True, True] Translation: X:-389.43, Y:-241.08, Z:-1.76 [[-9.76462804e-01 -2.15589955e-01 6.43154252e-03 -3.89430020e+02] [-2.15585042e-01 9.76483984e-01 1.45583407e-03 -2.41075865e+02] [-6.59416146e-03 3.50234526e-05 -9.99978258e-01 -1.76485046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1245.096559995 meters 0.013000197792980511 Centerline is valid? [True, True] Translation: X:-389.46, Y:-241.06, Z:-1.77 [[-9.58208354e-01 -2.86000813e-01 6.34701765e-03 -3.89464044e+02] [-2.85994324e-01 9.58229374e-01 1.92686468e-03 -2.41055459e+02] [-6.63298361e-03 3.11268116e-05 -9.99978001e-01 -1.76539469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1245.126559995 meters 0.012945010275651985 Centerline is valid? [True, True] Translation: X:-389.52, Y:-241.04, Z:-1.76 [[-9.34264533e-01 -3.56525337e-01 6.28234765e-03 -3.89517458e+02] [-3.56517124e-01 9.34285654e-01 2.42004882e-03 -2.41042852e+02] [-6.73231601e-03 2.12012630e-05 -9.99977338e-01 -1.76489607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1245.156559995 meters 0.01287094741442061 Centerline is valid? [True, True] Translation: X:-389.58, Y:-241.04, Z:-1.76 [[-9.04659277e-01 -4.26082749e-01 6.71444755e-03 -3.89582243e+02] [-4.26070939e-01 9.04684194e-01 3.17240532e-03 -2.41038000e+02] [-7.42616175e-03 9.11492628e-06 -9.99972426e-01 -1.76406492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1245.1865599950002 meters 0.012896776082864382 Centerline is valid? [True, True] Translation: X:-389.66, Y:-241.04, Z:-1.76 [[-8.69484339e-01 -4.93912554e-01 6.88286382e-03 -3.89656596e+02] [-4.93897160e-01 8.69511581e-01 3.89950842e-03 -2.41042694e+02] [-7.91074596e-03 -8.86539607e-06 -9.99968710e-01 -1.76321553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1245.2165599950001 meters 0.012969398893076942 Centerline is valid? [True, True] Translation: X:-389.74, Y:-241.06, Z:-1.76 [[-8.28920734e-01 -5.59314771e-01 7.57651291e-03 -3.89735521e+02] [-5.59291763e-01 8.28955359e-01 5.07322387e-03 -2.41056090e+02] [-9.11812002e-03 -3.21808061e-05 -9.99958429e-01 -1.76233269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1245.246559995 meters 0.013306331794934479 Centerline is valid? [True, True] Translation: X:-389.82, Y:-241.08, Z:-1.76 [[-7.82193240e-01 -6.22983435e-01 8.08552526e-03 -3.89821514e+02] [-6.22951194e-01 7.82235025e-01 6.33840037e-03 -2.41079944e+02] [-1.02734995e-02 -7.90336984e-05 -9.99947223e-01 -1.76055310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1245.276559995 meters 0.013435761685287354 Centerline is valid? [True, True] Translation: X:-389.91, Y:-241.11, Z:-1.76 [[-7.32351173e-01 -6.80879495e-01 8.05443102e-03 -3.89906664e+02] [-6.80839769e-01 7.32395456e-01 7.35557659e-03 -2.41113730e+02] [-1.09072900e-02 -9.69118196e-05 -9.99940509e-01 -1.76010226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1245.306559995 meters 0.013447071366203833 Centerline is valid? [True, True] Translation: X:-389.99, Y:-241.16, Z:-1.76 [[-6.78759246e-01 -7.34323194e-01 7.43852537e-03 -3.89993255e+02] [-7.34280700e-01 6.78799997e-01 7.90046470e-03 -2.41158771e+02] [-1.08507655e-02 -9.94521539e-05 -9.99941124e-01 -1.75971344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1245.336559995 meters 0.013530744777377696 Centerline is valid? [True, True] Translation: X:-390.08, Y:-241.21, Z:-1.76 [[-6.21259631e-01 -7.83575522e-01 6.77286331e-03 -3.90079053e+02] [-7.83530689e-01 6.21296541e-01 8.38261035e-03 -2.41213695e+02] [-1.07763648e-02 -9.89688447e-05 -9.99941929e-01 -1.75925315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1245.366559995 meters 0.013431597634202892 Centerline is valid? [True, True] Translation: X:-390.16, Y:-241.28, Z:-1.76 [[-5.60508235e-01 -8.28129160e-01 5.71071754e-03 -3.90160982e+02] [-8.28087752e-01 5.60537319e-01 8.28187585e-03 -2.41277508e+02] [-1.00595332e-02 -8.69156373e-05 -9.99949398e-01 -1.75993124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1245.396559995 meters 0.013262564741436934 Centerline is valid? [True, True] Translation: X:-390.24, Y:-241.35, Z:-1.76 [[-4.97171071e-01 -8.67642327e-01 4.20939792e-03 -3.90238117e+02] [-8.67612250e-01 4.97188886e-01 7.22464221e-03 -2.41348019e+02] [-8.36127125e-03 -6.02420928e-05 -9.99965042e-01 -1.76135892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1245.426559995 meters 0.01320820811982002 Centerline is valid? [True, True] Translation: X:-390.31, Y:-241.43, Z:-1.76 [[-4.30311283e-01 -9.02674283e-01 3.36721316e-03 -3.90311688e+02] [-9.02647550e-01 4.30324454e-01 6.94730455e-03 -2.41427317e+02] [-7.72014733e-03 -4.99031755e-05 -9.99970198e-01 -1.76193772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1245.4565599950001 meters 0.0130758440890213 Centerline is valid? [True, True] Translation: X:-390.38, Y:-241.52, Z:-1.76 [[-3.60998899e-01 -9.32562864e-01 2.50983070e-03 -3.90380157e+02] [-9.32541098e-01 3.61007621e-01 6.37172495e-03 -2.41516412e+02] [-6.84810208e-03 -4.03345846e-05 -9.99976551e-01 -1.76299683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1245.486559995 meters 0.013100753215324805 Centerline is valid? [True, True] Translation: X:-390.44, Y:-241.61, Z:-1.76 [[-2.89219578e-01 -9.57261213e-01 1.73345966e-03 -3.90442441e+02] [-9.57244663e-01 2.89224771e-01 5.62909714e-03 -2.41609519e+02] [-5.88987583e-03 -3.12999079e-05 -9.99982654e-01 -1.76333832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1245.516559995 meters 0.013089432364513336 Centerline is valid? [True, True] Translation: X:-390.50, Y:-241.71, Z:-1.76 [[-2.15261362e-01 -9.76555744e-01 1.19364329e-03 -3.90497750e+02] [-9.76541444e-01 2.15264670e-01 5.28497343e-03 -2.41709340e+02] [-5.41802039e-03 -2.79915601e-05 -9.99985322e-01 -1.76399142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1245.546559995 meters 0.013034811329638345 Centerline is valid? [True, True] Translation: X:-390.55, Y:-241.81, Z:-1.76 [[-1.39813681e-01 -9.90177551e-01 7.43393537e-04 -3.90546219e+02] [-9.90164549e-01 1.39815655e-01 5.07434994e-03 -2.41814171e+02] [-5.12844545e-03 -2.66183812e-05 -9.99986849e-01 -1.76379539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1245.576559995 meters 0.013211321221012175 Centerline is valid? [True, True] Translation: X:-390.59, Y:-241.92, Z:-1.76 [[-6.24096344e-02 -9.98050537e-01 4.03944055e-04 -3.90587977e+02] [-9.98033282e-01 6.24109308e-02 5.86889690e-03 -2.41923690e+02] [-5.88266623e-03 -3.68739013e-05 -9.99982697e-01 -1.76265387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1245.606559995 meters 0.013411613025634463 Centerline is valid? [True, True] Translation: X:-390.62, Y:-242.04, Z:-1.76 [[ 1.50350805e-02 -9.99886966e-01 -5.13504631e-05 -3.90620866e+02] [-9.99866312e-01 -1.50351000e-02 6.42686397e-03 -2.42039607e+02] [-6.42690958e-03 -4.52848190e-05 -9.99979346e-01 -1.76130200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1245.636559995 meters 0.013561950144323825 Centerline is valid? [True, True] Translation: X:-390.64, Y:-242.16, Z:-1.76 [[ 9.23575606e-02 -9.95725735e-01 -5.84294116e-04 -3.90644394e+02] [-9.95701991e-01 -9.23593934e-02 6.87661983e-03 -2.42155010e+02] [-6.90119238e-03 -5.33250179e-05 -9.99976185e-01 -1.76029471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1245.666559995 meters 0.013691658166797915 Centerline is valid? [True, True] Translation: X:-390.66, Y:-242.27, Z:-1.76 [[ 1.69108733e-01 -9.85596561e-01 -1.28656227e-03 -3.90659376e+02] [-9.85564885e-01 -1.69113613e-01 7.90211959e-03 -2.42271422e+02] [-8.00587708e-03 -6.83268327e-05 -9.99967950e-01 -1.75920141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1245.6965599950001 meters 0.013858160637095584 Centerline is valid? [True, True] Translation: X:-390.66, Y:-242.39, Z:-1.76 [[ 2.44751418e-01 -9.69583556e-01 -2.11437821e-03 -3.90664733e+02] [-9.69544425e-01 -2.44760537e-01 8.71133225e-03 -2.42391262e+02] [-8.96388085e-03 -8.21273167e-05 -9.99959820e-01 -1.75788977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1245.7265599950001 meters 0.014055865416187866 Centerline is valid? [True, True] Translation: X:-390.66, Y:-242.51, Z:-1.76 [[ 3.18689890e-01 -9.47854255e-01 -3.01098281e-03 -3.90661694e+02] [-9.47809151e-01 -3.18704100e-01 9.24713521e-03 -2.42507918e+02] [-9.72454902e-03 -9.31314435e-05 -9.99952711e-01 -1.75655140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1245.756559995 meters 0.014133418252683442 Centerline is valid? [True, True] Translation: X:-390.65, Y:-242.62, Z:-1.76 [[ 3.90289118e-01 -9.20683816e-01 -3.96441277e-03 -3.90649020e+02] [-9.20633711e-01 -3.90309239e-01 9.60565306e-03 -2.42624118e+02] [-1.03911162e-02 -9.92098181e-05 -9.99946006e-01 -1.75569334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1245.786559995 meters 0.014155400468061437 Centerline is valid? [True, True] Translation: X:-390.63, Y:-242.73, Z:-1.75 [[ 4.59326928e-01 -8.88252559e-01 -5.11513975e-03 -3.90629052e+02] [-8.88194900e-01 -4.59355396e-01 1.01212354e-02 -2.42734128e+02] [-1.13398803e-02 -1.05714896e-04 -9.99935696e-01 -1.75485755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1245.816559995 meters 0.013886258812609539 Centerline is valid? [True, True] Translation: X:-390.60, Y:-242.84, Z:-1.75 [[ 5.24138334e-01 -8.51610813e-01 -6.16684769e-03 -3.90598483e+02] [-8.51549895e-01 -5.24174604e-01 1.01863571e-02 -2.42841702e+02] [-1.19073168e-02 -8.76817354e-05 -9.99929102e-01 -1.75381401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1245.846559995 meters 0.013355922897252641 Centerline is valid? [True, True] Translation: X:-390.56, Y:-242.95, Z:-1.76 [[ 5.85764520e-01 -8.10452379e-01 -6.84610177e-03 -3.90558797e+02] [-8.10395818e-01 -5.85804523e-01 9.57493671e-03 -2.42947571e+02] [-1.17705076e-02 -6.06059684e-05 -9.99930724e-01 -1.75514043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1245.876559995 meters 0.013141020296253712 Centerline is valid? [True, True] Translation: X:-390.51, Y:-243.05, Z:-1.76 [[ 6.43751715e-01 -7.65200453e-01 -7.21086154e-03 -3.90511193e+02] [-7.65151970e-01 -6.43792098e-01 8.61374280e-03 -2.43050182e+02] [-1.12335356e-02 -2.77067795e-05 -9.99936902e-01 -1.75563239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1245.906559995 meters 0.013011778097347113 Centerline is valid? [True, True] Translation: X:-390.47, Y:-243.14, Z:-1.76 [[ 6.97903685e-01 -7.16152964e-01 -7.44164395e-03 -3.90466417e+02] [-7.16112329e-01 -6.97943359e-01 7.62888368e-03 -2.43137438e+02] [-1.06572936e-02 4.82694551e-06 -9.99943210e-01 -1.75675536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1245.9365599950002 meters 0.013310157214211022 Centerline is valid? [True, True] Translation: X:-390.41, Y:-243.22, Z:-1.76 [[ 7.47974461e-01 -6.63684154e-01 -7.58611057e-03 -3.90411572e+02] [-6.63650543e-01 -7.48012929e-01 6.67947417e-03 -2.43223865e+02] [-1.01075700e-02 3.84503017e-05 -9.99948917e-01 -1.75564639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1245.9665599950001 meters 0.013680173675409848 Centerline is valid? [True, True] Translation: X:-390.41, Y:-243.23, Z:-1.76 [[ 7.93913322e-01 -6.07985789e-01 -7.41065384e-03 -3.90409969e+02] [-6.07960371e-01 -7.93947903e-01 5.56012774e-03 -2.43230213e+02] [-9.26415172e-03 9.11243666e-05 -9.99957083e-01 -1.75722117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1245.996559995 meters 0.013834666411746707 Centerline is valid? [True, True] Translation: X:-390.41, Y:-243.24, Z:-1.76 [[ 8.38250186e-01 -5.45246675e-01 -6.53367635e-03 -3.90409843e+02] [-5.45230918e-01 -8.38275645e-01 4.14606564e-03 -2.43240110e+02] [-7.73765026e-03 8.69220601e-05 -9.99970060e-01 -1.75809532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1246.026559995 meters 0.014019729543244156 Centerline is valid? [True, True] Translation: X:-390.41, Y:-243.25, Z:-1.76 [[ 8.77853906e-01 -4.78895420e-01 -5.62993268e-03 -3.90410142e+02] [-4.78886134e-01 -8.77871956e-01 2.98331138e-03 -2.43249089e+02] [-6.37105417e-03 7.71851506e-05 -9.99979702e-01 -1.75894331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1246.056559995 meters 0.014092392988934558 Centerline is valid? [True, True] Translation: X:-390.41, Y:-243.26, Z:-1.76 [[ 9.12378751e-01 -4.09314523e-01 -5.16106421e-03 -3.90408097e+02] [-4.09308413e-01 -9.12393345e-01 2.23753485e-03 -2.43257279e+02] [-5.62477615e-03 7.09877467e-05 -9.99984179e-01 -1.75954822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1246.086559995 meters 0.014670595367154812 Centerline is valid? [True, True] Translation: X:-390.41, Y:-243.26, Z:-1.76 [[ 9.41408922e-01 -3.37222993e-01 -5.46760082e-03 -3.90405831e+02] [-3.37217774e-01 -9.41424796e-01 1.87775637e-03 -2.43263169e+02] [-5.78055761e-03 7.60355747e-05 -9.99983290e-01 -1.75907108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1246.116559995 meters 0.014369876657186958 Centerline is valid? [True, True] Translation: X:-390.40, Y:-243.27, Z:-1.76 [[ 9.64783698e-01 -2.62967500e-01 -6.36475069e-03 -3.90403173e+02] [-2.62962387e-01 -9.64804688e-01 1.64218299e-03 -2.43270781e+02] [-6.57258206e-03 8.93386567e-05 -9.99978397e-01 -1.75854315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1246.146559995 meters 0.014633923727579804 Centerline is valid? [True, True] Translation: X:-390.40, Y:-243.28, Z:-1.76 [[ 9.82430520e-01 -1.86434981e-01 -8.50120733e-03 -3.90399816e+02] [-1.86429014e-01 -9.82467294e-01 1.49607581e-03 -2.43276967e+02] [-8.63107904e-03 1.15081163e-04 -9.99962745e-01 -1.75628625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1246.176559995 meters 0.013964158318502201 Centerline is valid? [True, True] Translation: X:-390.40, Y:-243.29, Z:-1.76 [[ 9.94130518e-01 -1.07743464e-01 -9.79075644e-03 -3.90400139e+02] [-1.07739425e-01 -9.94178722e-01 9.40558452e-04 -2.43288585e+02] [-9.83510076e-03 1.19812607e-04 -9.99951627e-01 -1.75634366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1246.2065599950001 meters 0.01387106345944236 Centerline is valid? [True, True] Translation: X:-390.40, Y:-243.30, Z:-1.76 [[ 9.99535566e-01 -2.83730836e-02 -1.11184868e-02 -3.90399108e+02] [-2.83726893e-02 -9.99597396e-01 1.93235378e-04 -2.43299951e+02] [-1.11194931e-02 1.22315738e-04 -9.99938169e-01 -1.75518438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1246.236559995 meters 0.01394155836874388 Centerline is valid? [True, True] Translation: X:-390.40, Y:-243.31, Z:-1.75 [[ 9.98589182e-01 5.14762934e-02 -1.30321484e-02 -3.90398007e+02] [ 5.14702893e-02 -9.98674209e-01 -7.95916062e-04 -2.43310277e+02] [-1.30558413e-02 1.24024720e-04 -9.99914761e-01 -1.75266236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1246.266559995 meters 0.013756409722844242 Centerline is valid? [True, True] Translation: X:-390.39, Y:-243.32, Z:-1.75 [[ 9.91304328e-01 1.30799287e-01 -1.43970527e-02 -3.90394809e+02] [ 1.30783750e-01 -9.91408862e-01 -2.01953197e-03 -2.43320074e+02] [-1.45375190e-02 1.19070246e-04 -9.99894318e-01 -1.75092331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1246.296559995 meters 0.013633704490681315 Centerline is valid? [True, True] Translation: X:-390.39, Y:-243.33, Z:-1.75 [[ 9.77788009e-01 2.09055175e-01 -1.50513762e-02 -3.90390698e+02] [ 2.09028688e-01 -9.77903841e-01 -3.32951782e-03 -2.43330193e+02] [-1.54148515e-02 1.09393174e-04 -9.99881178e-01 -1.74998450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1246.326559995 meters 0.013519332534744114 Centerline is valid? [True, True] Translation: X:-390.39, Y:-243.34, Z:-1.75 [[ 9.57985461e-01 2.86415096e-01 -1.51739553e-02 -3.90385135e+02] [ 2.86377700e-01 -9.58105623e-01 -4.62905658e-03 -2.43340127e+02] [-1.58640836e-02 8.90864715e-05 -9.99874154e-01 -1.74970070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1246.356559995 meters 0.013398674455347133 Centerline is valid? [True, True] Translation: X:-390.38, Y:-243.35, Z:-1.75 [[ 9.32704473e-01 3.60359435e-01 -1.42633938e-02 -3.90379640e+02] [ 3.60315854e-01 -9.32813524e-01 -5.60498592e-03 -2.43347593e+02] [-1.53248962e-02 8.84685086e-05 -9.99882563e-01 -1.75080288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1246.386559995 meters 0.013348915786128918 Centerline is valid? [True, True] Translation: X:-390.37, Y:-243.36, Z:-1.75 [[ 9.01758520e-01 4.32048300e-01 -1.28778266e-02 -3.90373131e+02] [ 4.32002890e-01 -9.01850464e-01 -6.26452703e-03 -2.43355549e+02] [-1.43204521e-02 8.58323190e-05 -9.99897454e-01 -1.75213803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1246.416559995 meters 0.013334066572322709 Centerline is valid? [True, True] Translation: X:-390.37, Y:-243.36, Z:-1.75 [[ 8.65449554e-01 5.00863303e-01 -1.15334613e-02 -3.90365707e+02] [ 5.00817484e-01 -8.65526397e-01 -6.77520311e-03 -2.43361938e+02] [-1.33759658e-02 8.74374341e-05 -9.99910534e-01 -1.75342657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1246.4465599950001 meters 0.013346318809474218 Centerline is valid? [True, True] Translation: X:-390.36, Y:-243.37, Z:-1.75 [[ 8.23860404e-01 5.66709209e-01 -9.73176784e-03 -3.90358247e+02] [ 5.66668484e-01 -8.23917876e-01 -6.79436899e-03 -2.43367369e+02] [-1.18686090e-02 8.29254577e-05 -9.99929562e-01 -1.75477115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1246.4765599950001 meters 0.013261220709775562 Centerline is valid? [True, True] Translation: X:-390.35, Y:-243.37, Z:-1.76 [[ 7.77060000e-01 6.29373004e-01 -8.20842305e-03 -3.90351208e+02] [ 6.29336868e-01 -7.77103350e-01 -6.74462902e-03 -2.43372257e+02] [-1.06236805e-02 7.51181772e-05 -9.99943565e-01 -1.75607457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1246.506559995 meters 0.013096896450357057 Centerline is valid? [True, True] Translation: X:-390.34, Y:-243.38, Z:-1.76 [[ 7.24912169e-01 6.88815392e-01 -5.97517246e-03 -3.90344029e+02] [ 6.88791395e-01 -7.24936792e-01 -5.74990106e-03 -2.43377130e+02] [-8.29224271e-03 5.25258785e-05 -9.99965618e-01 -1.75761450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1246.536559995 meters 0.013003755299779348 Centerline is valid? [True, True] Translation: X:-390.34, Y:-243.38, Z:-1.76 [[ 6.67864309e-01 7.44265629e-01 -5.09300395e-03 -3.90337353e+02] [ 7.44243539e-01 -6.67883727e-01 -5.73435308e-03 -2.43381354e+02] [-7.66941636e-03 3.93344749e-05 -9.99970589e-01 -1.75789838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1246.566559995 meters 0.012900613341554502 Centerline is valid? [True, True] Translation: X:-390.33, Y:-243.39, Z:-1.76 [[ 6.06352581e-01 7.95183995e-01 -4.35450834e-03 -3.90328095e+02] [ 7.95163179e-01 -6.06368216e-01 -5.75370740e-03 -2.43385102e+02] [-7.21569149e-03 2.62306346e-05 -9.99973966e-01 -1.75846052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1246.596559995 meters 0.012804884923415343 Centerline is valid? [True, True] Translation: X:-390.32, Y:-243.39, Z:-1.76 [[ 5.40546316e-01 8.41306555e-01 -3.60019063e-03 -3.90318772e+02] [ 8.41287762e-01 -5.40558305e-01 -5.62318442e-03 -2.43387958e+02] [-6.67693486e-03 1.07953011e-05 -9.99977709e-01 -1.75828037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1246.626559995 meters 0.01272108595428747 Centerline is valid? [True, True] Translation: X:-390.31, Y:-243.39, Z:-1.76 [[ 4.71112854e-01 8.82067254e-01 -3.16836527e-03 -3.90309618e+02] [ 8.82047359e-01 -4.71123508e-01 -5.92429956e-03 -2.43390081e+02] [-6.71832201e-03 -3.63454405e-06 -9.99977432e-01 -1.75801702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1246.656559995 meters 0.01289876736534172 Centerline is valid? [True, True] Translation: X:-390.30, Y:-243.39, Z:-1.76 [[ 3.96158534e-01 9.18177227e-01 -2.99930165e-03 -3.90297171e+02] [ 9.18151678e-01 -3.96169885e-01 -6.84975293e-03 -2.43392140e+02] [-7.47752014e-03 -4.02257680e-05 -9.99972042e-01 -1.75703207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1246.6865599950002 meters 0.013345061139713323 Centerline is valid? [True, True] Translation: X:-390.29, Y:-243.39, Z:-1.76 [[ 3.20864968e-01 9.47121560e-01 -2.53452638e-03 -3.90287962e+02] [ 9.47093457e-01 -3.20874972e-01 -7.29634235e-03 -2.43393139e+02] [-7.72378923e-03 -5.92926970e-05 -9.99970170e-01 -1.75625507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1246.7165599950001 meters 0.013577308342722683 Centerline is valid? [True, True] Translation: X:-390.28, Y:-243.39, Z:-1.76 [[ 2.43781297e-01 9.69827904e-01 -2.12503761e-03 -3.90281995e+02] [ 9.69793914e-01 -2.43790545e-01 -8.12003803e-03 -2.43391809e+02] [-8.39310354e-03 -8.13351428e-05 -9.99964774e-01 -1.75564497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1246.746559995 meters 0.013775115624343543 Centerline is valid? [True, True] Translation: X:-390.27, Y:-243.39, Z:-1.76 [[ 1.65289171e-01 9.86243797e-01 -1.63173242e-03 -3.90274262e+02] [ 9.86201884e-01 -1.65297190e-01 -9.09306253e-03 -2.43390163e+02] [-9.23769731e-03 -1.06232818e-04 -9.99957326e-01 -1.75552533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1246.776559995 meters 0.013780171813698883 Centerline is valid? [True, True] Translation: X:-390.27, Y:-243.39, Z:-1.76 [[ 8.63361983e-02 9.96265594e-01 -9.63321162e-04 -3.90265243e+02] [ 9.96218510e-01 -8.63414842e-02 -9.68647606e-03 -2.43388198e+02] [-9.73347740e-03 -1.23384856e-04 -9.99952621e-01 -1.75566466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1246.806559995 meters 0.013885870839669362 Centerline is valid? [True, True] Translation: X:-390.26, Y:-243.39, Z:-1.76 [[ 7.15068528e-03 9.99974411e-01 -2.13443215e-04 -3.90255138e+02] [ 9.99921336e-01 -7.15250503e-03 -1.03035514e-02 -2.43385325e+02] [-1.03048144e-02 -1.39748972e-04 -9.99946894e-01 -1.75581541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1246.836559995 meters 0.01417562721455153 Centerline is valid? [True, True] Translation: X:-390.25, Y:-243.38, Z:-1.76 [[-7.15451542e-02 9.97437164e-01 6.27785925e-04 -3.90245867e+02] [ 9.97377954e-01 7.15477481e-02 -1.08690333e-02 -2.43382565e+02] [-1.08860945e-02 -1.51486825e-04 -9.99940733e-01 -1.75530843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1246.866559995 meters 0.01417562721455153 Centerline is valid? [True, True] Translation: X:-390.24, Y:-243.38, Z:-1.76 [[-1.49459236e-01 9.88766785e-01 1.47732674e-03 -3.90239805e+02] [ 9.88707960e-01 1.49466460e-01 -1.07864023e-02 -2.43379250e+02] [-1.08860471e-02 -1.51482738e-04 -9.99940734e-01 -1.75530884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1246.896559995 meters 0.013981308970018503 Centerline is valid? [True, True] Translation: X:-390.23, Y:-243.37, Z:-1.76 [[-2.25783315e-01 9.74174714e-01 2.34984092e-03 -3.90234127e+02] [ 9.74115017e-01 2.25795495e-01 -1.07855629e-02 -2.43374656e+02] [-1.10376062e-02 -1.46184831e-04 -9.99939073e-01 -1.75525161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1246.926559995 meters 0.013711214670574878 Centerline is valid? [True, True] Translation: X:-390.23, Y:-243.37, Z:-1.76 [[-3.00373916e-01 9.53816313e-01 3.15454959e-03 -3.90229148e+02] [ 9.53758990e-01 3.00390451e-01 -1.04578136e-02 -2.43370459e+02] [-1.09224298e-02 -1.32574394e-04 -9.99940340e-01 -1.75517129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1246.9565599950001 meters 0.013578860483117886 Centerline is valid? [True, True] Translation: X:-390.23, Y:-243.37, Z:-1.75 [[-3.72908697e-01 9.27859749e-01 3.92313337e-03 -3.90225301e+02] [ 9.27805070e-01 3.72929314e-01 -1.00736780e-02 -2.43367077e+02] [-1.08100117e-02 -1.16659097e-04 -9.99941564e-01 -1.75486693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1246.986559995 meters 0.013105357378790716 Centerline is valid? [True, True] Translation: X:-390.22, Y:-243.36, Z:-1.76 [[-4.42743935e-01 8.96635974e-01 4.66254798e-03 -3.90221049e+02] [ 8.96583978e-01 4.42768475e-01 -9.65649168e-03 -2.43362495e+02] [-1.07227871e-02 -9.49873052e-05 -9.99942505e-01 -1.75564280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1247.016559995 meters 0.012860922164494911 Centerline is valid? [True, True] Translation: X:-390.22, Y:-243.36, Z:-1.76 [[-5.09579893e-01 8.60406305e-01 5.41503528e-03 -3.90217379e+02] [ 8.60356265e-01 5.09608659e-01 -9.27971481e-03 -2.43357717e+02] [-1.07438740e-02 -6.98965526e-05 -9.99942281e-01 -1.75565539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1247.046559995 meters 0.012536456053884011 Centerline is valid? [True, True] Translation: X:-390.22, Y:-243.35, Z:-1.76 [[-5.70905621e-01 8.20992163e-01 6.21616987e-03 -3.90215199e+02] [ 8.20943287e-01 5.70939462e-01 -8.95831949e-03 -2.43353637e+02] [-1.09037668e-02 -1.12320253e-05 -9.99940552e-01 -1.75632612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1247.076559995 meters 0.012572652061130549 Centerline is valid? [True, True] Translation: X:-390.21, Y:-243.35, Z:-1.76 [[-6.31256088e-01 7.75545240e-01 6.73288929e-03 -3.90211367e+02] [ 7.75501458e-01 6.31291993e-01 -8.24064535e-03 -2.43349412e+02] [-1.06414124e-02 1.94079165e-05 -9.99943379e-01 -1.75603597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1247.106559995 meters 0.01271760193752025 Centerline is valid? [True, True] Translation: X:-390.21, Y:-243.34, Z:-1.76 [[-6.88035567e-01 7.25637089e-01 7.60744236e-03 -3.90208684e+02] [ 7.25593551e-01 6.88077621e-01 -7.94902458e-03 -2.43344212e+02] [-1.10026179e-02 5.06994795e-05 -9.99939468e-01 -1.75651661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1247.136559995 meters 0.01291396301185999 Centerline is valid? [True, True] Translation: X:-390.21, Y:-243.34, Z:-1.76 [[-7.41011797e-01 6.71437527e-01 8.55363265e-03 -3.90206489e+02] [ 6.71394083e-01 7.41061159e-01 -7.63836568e-03 -2.43338260e+02] [-1.14674503e-02 8.27392728e-05 -9.99934243e-01 -1.75689213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1247.166559995 meters 0.01322594579802123 Centerline is valid? [True, True] Translation: X:-389.80, Y:-242.88, Z:-2.83 [[-7.06210293e-01 -7.07955169e-01 8.15478103e-03 -3.89796635e+02] [ 7.07906745e-01 -7.06257370e-01 -8.28051775e-03 -2.42884521e+02] [ 1.16216095e-02 -7.49623647e-05 9.99932464e-01 -2.82800144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1247.1965599950001 meters 0.013679128666979054 Centerline is valid? [True, True] Translation: X:-389.81, Y:-242.86, Z:-2.83 [[-7.07629039e-01 -7.06532000e-01 8.58344557e-03 -3.89813697e+02] [ 7.06477639e-01 -7.07681082e-01 -8.76538503e-03 -2.42863909e+02] [ 1.22673671e-02 -1.38628622e-04 9.99924744e-01 -2.82852739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1247.2265599950001 meters 0.014255689984907748 Centerline is valid? [True, True] Translation: X:-389.83, Y:-242.84, Z:-2.83 [[-7.09238769e-01 -7.04900715e-01 9.76481571e-03 -3.89831792e+02] [ 7.04830280e-01 -7.09305962e-01 -9.96635850e-03 -2.42842207e+02] [ 1.39515352e-02 -1.85990040e-04 9.99902656e-01 -2.82956438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1247.256559995 meters 0.014482003092872897 Centerline is valid? [True, True] Translation: X:-389.85, Y:-242.82, Z:-2.83 [[-7.09827103e-01 -7.04302901e-01 1.01443863e-02 -3.89849952e+02] [ 7.04226919e-01 -7.09899559e-01 -1.03471203e-02 -2.42823123e+02] [ 1.44890021e-02 -2.00716528e-04 9.99895009e-01 -2.83034029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1247.286559995 meters 0.014516867590749882 Centerline is valid? [True, True] Translation: X:-389.87, Y:-242.80, Z:-2.83 [[-7.10184415e-01 -7.03939334e-01 1.03687760e-02 -3.89868716e+02] [ 7.03860009e-01 -7.10260073e-01 -1.05695677e-02 -2.42803482e+02] [ 1.48048621e-02 -2.08175479e-04 9.99890381e-01 -2.83062203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1247.316559995 meters 0.014681194642733554 Centerline is valid? [True, True] Translation: X:-389.89, Y:-242.78, Z:-2.83 [[-7.10443600e-01 -7.03673198e-01 1.06733931e-02 -3.89886704e+02] [ 7.03589220e-01 -7.10523739e-01 -1.08731576e-02 -2.42784205e+02] [ 1.52348487e-02 -2.15080922e-04 9.99883920e-01 -2.83140281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1247.346559995 meters 0.014285013475439225 Centerline is valid? [True, True] Translation: X:-389.91, Y:-242.77, Z:-2.83 [[-7.10604797e-01 -7.03506346e-01 1.09381577e-02 -3.89905811e+02] [ 7.03418238e-01 -7.10688942e-01 -1.11359799e-02 -2.42765036e+02] [ 1.56078602e-02 -2.19181150e-04 9.99878166e-01 -2.83066565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1247.376559995 meters 0.01382512994545126 Centerline is valid? [True, True] Translation: X:-389.93, Y:-242.75, Z:-2.83 [[-7.10790934e-01 -7.03317780e-01 1.09703240e-02 -3.89925922e+02] [ 7.03229230e-01 -7.10875553e-01 -1.11623791e-02 -2.42745346e+02] [ 1.56492348e-02 -2.19465416e-04 9.99877519e-01 -2.82927635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1247.406559995 meters 0.014309945439771007 Centerline is valid? [True, True] Translation: X:-389.94, Y:-242.73, Z:-2.83 [[-7.10720253e-01 -7.03397197e-01 1.04452979e-02 -3.89944405e+02] [ 7.03317022e-01 -7.10796976e-01 -1.06219203e-02 -2.42725207e+02] [ 1.48959152e-02 -2.02858043e-04 9.99889029e-01 -2.82955017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1247.4365599950002 meters 0.014623413159952556 Centerline is valid? [True, True] Translation: X:-389.96, Y:-242.71, Z:-2.83 [[-7.10649090e-01 -7.03472706e-01 1.01991386e-02 -3.89962402e+02] [ 7.03396370e-01 -7.10722249e-01 -1.03649274e-02 -2.42705699e+02] [ 1.45401983e-02 -1.91789195e-04 9.99894268e-01 -2.82976411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1247.4665599950001 meters 0.01433739728531582 Centerline is valid? [True, True] Translation: X:-389.98, Y:-242.69, Z:-2.83 [[-7.10511671e-01 -7.03618290e-01 9.71942058e-03 -3.89982285e+02] [ 7.03549057e-01 -7.10578124e-01 -9.87184525e-03 -2.42686326e+02] [ 1.38524185e-02 -1.75972078e-04 9.99904035e-01 -2.82855501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1247.496559995 meters 0.01354120460132264 Centerline is valid? [True, True] Translation: X:-390.00, Y:-242.67, Z:-2.83 [[-7.10073894e-01 -7.04068100e-01 9.12006578e-03 -3.90003022e+02] [ 7.04007247e-01 -7.10132443e-01 -9.25791364e-03 -2.42667956e+02] [ 1.29946563e-02 -1.53210381e-04 9.99915554e-01 -2.82648180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1247.526559995 meters 0.01339552469549447 Centerline is valid? [True, True] Translation: X:-390.02, Y:-242.65, Z:-2.83 [[-7.09595897e-01 -7.04554003e-01 8.79317777e-03 -3.90023470e+02] [ 7.04497534e-01 -7.09650363e-01 -8.92112535e-03 -2.42648055e+02] [ 1.25254964e-02 -1.35621886e-04 9.99921544e-01 -2.82596583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1247.556559995 meters 0.01314466808571973 Centerline is valid? [True, True] Translation: X:-390.04, Y:-242.63, Z:-2.83 [[-7.08809948e-01 -7.05346833e-01 8.61995981e-03 -3.90044084e+02] [ 7.05292681e-01 -7.08862351e-01 -8.74077546e-03 -2.42628303e+02] [ 1.22756433e-02 -1.15954027e-04 9.99924645e-01 -2.82515671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1247.586559995 meters 0.012869517610189108 Centerline is valid? [True, True] Translation: X:-390.06, Y:-242.61, Z:-2.82 [[-7.07030470e-01 -7.07132846e-01 8.42931727e-03 -3.90064944e+02] [ 7.07081248e-01 -7.07080711e-01 -8.54266823e-03 -2.42609357e+02] [ 1.20010089e-02 -7.97145570e-05 9.99927982e-01 -2.82487941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1247.616559995 meters 0.012835027643843028 Centerline is valid? [True, True] Translation: X:-390.08, Y:-242.59, Z:-2.82 [[-7.06079694e-01 -7.08082732e-01 8.38519663e-03 -3.90084357e+02] [ 7.08031781e-01 -7.06129480e-01 -8.49447572e-03 -2.42590883e+02] [ 1.19358261e-02 -6.07911195e-05 9.99928764e-01 -2.82498424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1247.646559995 meters 0.01271625169417007 Centerline is valid? [True, True] Translation: X:-390.10, Y:-242.57, Z:-2.82 [[-7.05468642e-01 -7.08695240e-01 8.06555137e-03 -3.90104554e+02] [ 7.08648198e-01 -7.05514745e-01 -8.16558565e-03 -2.42572343e+02] [ 1.14772771e-02 -4.49261713e-05 9.99934133e-01 -2.82462033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1247.676559995 meters 0.012644829778865586 Centerline is valid? [True, True] Translation: X:-390.12, Y:-242.55, Z:-2.82 [[-7.04633442e-01 -7.09530034e-01 7.67095871e-03 -3.90123864e+02] [ 7.09487587e-01 -7.04675195e-01 -7.76104517e-03 -2.42554314e+02] [ 1.09122290e-02 -2.62419906e-05 9.99940460e-01 -2.82425374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1247.7065599950001 meters 0.012568731624822612 Centerline is valid? [True, True] Translation: X:-390.14, Y:-242.54, Z:-2.82 [[-7.03869687e-01 -7.10291393e-01 7.32132732e-03 -3.90144433e+02] [ 7.10252815e-01 -7.03907762e-01 -7.40277405e-03 -2.42535720e+02] [ 1.04116658e-02 -1.05949141e-05 9.99945797e-01 -2.82366459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1247.736559995 meters 0.012594292135629603 Centerline is valid? [True, True] Translation: X:-390.17, Y:-242.52, Z:-2.82 [[-7.03166257e-01 -7.10992620e-01 6.83441808e-03 -3.90165106e+02] [ 7.10959075e-01 -7.03199470e-01 -6.90651707e-03 -2.42517244e+02] [ 9.71644183e-03 2.56179625e-06 9.99952794e-01 -2.82225245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1247.766559995 meters 0.01260661018179115 Centerline is valid? [True, True] Translation: X:-390.19, Y:-242.50, Z:-2.82 [[-7.01468683e-01 -7.12670566e-01 6.50782911e-03 -3.90186571e+02] [ 7.12640247e-01 -7.01498870e-01 -6.57375543e-03 -2.42500037e+02] [ 9.25015677e-03 2.64573756e-05 9.99957216e-01 -2.82306860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1247.796559995 meters 0.012637225103266484 Centerline is valid? [True, True] Translation: X:-390.21, Y:-242.48, Z:-2.82 [[-7.00828531e-01 -7.13299866e-01 6.53241164e-03 -3.90206876e+02] [ 7.13269379e-01 -7.00858973e-01 -6.59487546e-03 -2.42480650e+02] [ 9.28242309e-03 3.74923149e-05 9.99956917e-01 -2.82224939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1247.826559995 meters 0.01271462808986706 Centerline is valid? [True, True] Translation: X:-390.23, Y:-242.46, Z:-2.82 [[-7.00238872e-01 -7.13875993e-01 6.82567832e-03 -3.90227151e+02] [ 7.13842772e-01 -7.00272136e-01 -6.88709851e-03 -2.42461527e+02] [ 9.69636662e-03 4.98470412e-05 9.99952988e-01 -2.82287182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1247.856559995 meters 0.012844918640939068 Centerline is valid? [True, True] Translation: X:-390.25, Y:-242.44, Z:-2.82 [[-6.99712694e-01 -7.14389017e-01 7.10479176e-03 -3.90246770e+02] [ 7.14353096e-01 -6.99748761e-01 -7.16423740e-03 -2.42442993e+02] [ 1.00896217e-02 6.24221357e-05 9.99949097e-01 -2.82332005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1247.886559995 meters 0.012955572562234938 Centerline is valid? [True, True] Translation: X:-390.27, Y:-242.42, Z:-2.82 [[-6.99352940e-01 -7.14737885e-01 7.43112869e-03 -3.90266272e+02] [ 7.14698657e-01 -6.99392415e-01 -7.48865483e-03 -2.42424059e+02] [ 1.05497004e-02 7.38049225e-05 9.99944348e-01 -2.82386697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1247.916559995 meters 0.013212029818246089 Centerline is valid? [True, True] Translation: X:-390.28, Y:-242.41, Z:-2.82 [[-6.99032635e-01 -7.15049267e-01 7.61062165e-03 -3.90284873e+02] [ 7.15008193e-01 -6.99074059e-01 -7.66454452e-03 -2.42405795e+02] [ 1.08009151e-02 8.38900801e-05 9.99941665e-01 -2.82429613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1247.9465599950001 meters 0.01323098397712093 Centerline is valid? [True, True] Translation: X:-390.30, Y:-242.39, Z:-2.82 [[-6.98763471e-01 -7.15313051e-01 7.53995241e-03 -3.90304275e+02] [ 7.15272802e-01 -6.98804144e-01 -7.58865130e-03 -2.42386951e+02] [ 1.06972113e-02 9.04505617e-05 9.99942779e-01 -2.82375883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1247.9765599950001 meters 0.013536379910194372 Centerline is valid? [True, True] Translation: X:-390.32, Y:-242.37, Z:-2.82 [[-6.98600699e-01 -7.15476758e-01 7.07615594e-03 -3.90323659e+02] [ 7.15441363e-01 -6.98636530e-01 -7.11721633e-03 -2.42369090e+02] [ 1.00358639e-02 9.04823489e-05 9.99949636e-01 -2.82426677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1248.006559995 meters 0.013375527202585542 Centerline is valid? [True, True] Translation: X:-390.34, Y:-242.35, Z:-2.82 [[-6.98357556e-01 -7.15719650e-01 6.48892601e-03 -3.90342899e+02] [ 7.15689931e-01 -6.98387697e-01 -6.52293295e-03 -2.42348686e+02] [ 9.20037738e-03 8.87194897e-05 9.99957672e-01 -2.82277037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1248.036559995 meters 0.013551330021177256 Centerline is valid? [True, True] Translation: X:-390.36, Y:-242.33, Z:-2.82 [[-6.98112447e-01 -7.15962588e-01 6.04847817e-03 -3.90361870e+02] [ 7.15936808e-01 -6.98138643e-01 -6.07638333e-03 -2.42329580e+02] [ 8.57313948e-03 8.83293226e-05 9.99963246e-01 -2.82244547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1248.066559995 meters 0.013674167009604334 Centerline is valid? [True, True] Translation: X:-390.38, Y:-242.31, Z:-2.82 [[-6.97885253e-01 -7.16189880e-01 5.31326063e-03 -3.90381240e+02] [ 7.16170017e-01 -6.97905473e-01 -5.33445423e-03 -2.42310559e+02] [ 7.52863581e-03 8.23610206e-05 9.99971656e-01 -2.82186595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1248.096559995 meters 0.013714456890953816 Centerline is valid? [True, True] Translation: X:-390.40, Y:-242.29, Z:-2.82 [[-6.97701547e-01 -7.16370150e-01 5.13415086e-03 -3.90400789e+02] [ 7.16351633e-01 -6.97720432e-01 -5.15140280e-03 -2.42291084e+02] [ 7.27251315e-03 8.37156471e-05 9.99973552e-01 -2.82137667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1248.126559995 meters 0.013826092288597994 Centerline is valid? [True, True] Translation: X:-390.42, Y:-242.27, Z:-2.82 [[-6.97436151e-01 -7.16631171e-01 4.75173207e-03 -3.90419942e+02] [ 7.16615336e-01 -6.97452334e-01 -4.76472400e-03 -2.42272108e+02] [ 6.72865637e-03 8.20733056e-05 9.99977359e-01 -2.82126552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1248.156559995 meters 0.01401500852912484 Centerline is valid? [True, True] Translation: X:-390.44, Y:-242.25, Z:-2.82 [[-6.96885268e-01 -7.17166806e-01 4.76404427e-03 -3.90439782e+02] [ 7.17150921e-01 -6.96901546e-01 -4.77410142e-03 -2.42252855e+02] [ 6.74389688e-03 8.95377881e-05 9.99977256e-01 -2.82203719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1248.1865599950002 meters 0.014260133545237611 Centerline is valid? [True, True] Translation: X:-390.46, Y:-242.23, Z:-2.82 [[-6.96611736e-01 -7.17431123e-01 4.96719386e-03 -3.90459031e+02] [ 7.17413878e-01 -6.96629438e-01 -4.97528946e-03 -2.42234329e+02] [ 7.02972098e-03 9.76887798e-05 9.99975287e-01 -2.82230275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1248.2165599950001 meters 0.01419552413842123 Centerline is valid? [True, True] Translation: X:-390.48, Y:-242.21, Z:-2.82 [[-6.96298143e-01 -7.17734918e-01 5.04814280e-03 -3.90478957e+02] [ 7.17717135e-01 -6.96316434e-01 -5.05354208e-03 -2.42213980e+02] [ 7.14220841e-03 1.04366619e-04 9.99974489e-01 -2.82226566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1248.246559995 meters 0.014776246768796993 Centerline is valid? [True, True] Translation: X:-390.50, Y:-242.20, Z:-2.82 [[-6.95861929e-01 -7.18157865e-01 5.04542920e-03 -3.90498347e+02] [ 7.18140136e-01 -6.95880211e-01 -5.04749997e-03 -2.42196429e+02] [ 7.13591614e-03 1.10962140e-04 9.99974533e-01 -2.82304690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1248.276559995 meters 0.01481963277829903 Centerline is valid? [True, True] Translation: X:-390.52, Y:-242.18, Z:-2.82 [[-6.95317628e-01 -7.18685028e-01 5.02261556e-03 -3.90517970e+02] [ 7.18667493e-01 -6.95335758e-01 -5.02173901e-03 -2.42177078e+02] [ 7.10145285e-03 1.17886876e-04 9.99974778e-01 -2.82324113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1248.306559995 meters 0.014393873722148868 Centerline is valid? [True, True] Translation: X:-390.94, Y:-242.59, Z:-1.76 [[-7.66837331e-01 6.41817861e-01 5.50825342e-03 -3.90942143e+02] [ 6.41800085e-01 7.66857103e-01 -4.77858047e-03 -2.42592868e+02] [-7.29102155e-03 -1.29196384e-04 -9.99973412e-01 -1.76208350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1248.336559995 meters 0.014983594331677456 Centerline is valid? [True, True] Translation: X:-390.92, Y:-242.57, Z:-1.76 [[-8.11122630e-01 5.84844296e-01 6.10147234e-03 -3.90924658e+02] [ 5.84826395e-01 8.11145565e-01 -4.57812318e-03 -2.42569751e+02] [-7.62667146e-03 -1.45117236e-04 -9.99970906e-01 -1.76088716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1248.366559995 meters 0.015005337515915217 Centerline is valid? [True, True] Translation: X:-390.57, Y:-242.10, Z:-2.82 [[-7.44988307e-01 -6.67049549e-01 6.10915080e-03 -3.90570887e+02] [ 6.67029064e-01 -7.45013333e-01 -5.23071419e-03 -2.42097956e+02] [ 8.04054435e-03 1.78160239e-04 9.99967659e-01 -2.82456676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1248.396559995 meters 0.015607589803335088 Centerline is valid? [True, True] Translation: X:-390.59, Y:-242.12, Z:-2.83 [[-6.98156410e-01 -7.15920233e-01 5.98716320e-03 -3.90591212e+02] [ 7.15895910e-01 -6.98182063e-01 -5.90372695e-03 -2.42121360e+02] [ 8.40672753e-03 1.64460831e-04 9.99964650e-01 -2.82534149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1248.426559995 meters 0.01520329860891336 Centerline is valid? [True, True] Translation: X:-391.01, Y:-242.54, Z:-1.76 [[-7.72686358e-01 6.34752779e-01 6.68596520e-03 -3.91010547e+02] [ 6.34727045e-01 7.72715264e-01 -5.71839079e-03 -2.42538241e+02] [-8.79611181e-03 -1.74759616e-04 -9.99961298e-01 -1.75930955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1248.4565599950001 meters 0.01540805803788615 Centerline is valid? [True, True] Translation: X:-390.62, Y:-242.09, Z:-2.83 [[-7.00993492e-01 -7.13138931e-01 6.40236762e-03 -3.90623475e+02] [ 7.13111593e-01 -7.01022704e-01 -6.24707158e-03 -2.42092912e+02] [ 8.94323501e-03 1.86446048e-04 9.99959991e-01 -2.82597366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1248.486559995 meters 0.014954393930780465 Centerline is valid? [True, True] Translation: X:-391.04, Y:-242.52, Z:-1.76 [[-7.74161988e-01 6.32950765e-01 6.82239816e-03 -3.91041241e+02] [ 6.32924279e-01 7.74192031e-01 -5.79277601e-03 -2.42515923e+02] [-8.94838830e-03 -1.66485559e-04 -9.99959949e-01 -1.75933202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1248.516559995 meters 0.014444560485626276 Centerline is valid? [True, True] Translation: X:-391.03, Y:-242.50, Z:-1.76 [[-8.15060940e-01 5.79338934e-01 6.48563299e-03 -3.91025742e+02] [ 5.79319395e-01 8.15086734e-01 -4.75961754e-03 -2.42496284e+02] [-8.04378517e-03 -1.22125365e-04 -9.99967641e-01 -1.75990408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1248.546559995 meters 0.0136958630781647 Centerline is valid? [True, True] Translation: X:-391.01, Y:-242.47, Z:-1.76 [[-8.52843662e-01 5.22127967e-01 6.33041757e-03 -3.91014793e+02] [ 5.22112741e-01 8.52867151e-01 -3.98861500e-03 -2.42473729e+02] [-7.48157263e-03 -9.64733561e-05 -9.99972008e-01 -1.76074084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1248.576559995 meters 0.013265357924520042 Centerline is valid? [True, True] Translation: X:-391.00, Y:-242.46, Z:-1.76 [[-8.86515034e-01 4.62657172e-01 6.27972332e-03 -3.90996355e+02] [ 4.62644974e-01 8.86537273e-01 -3.36045301e-03 -2.42455331e+02] [-7.12194647e-03 -7.38096823e-05 -9.99974636e-01 -1.76147729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1248.606559995 meters 0.012986205906305648 Centerline is valid? [True, True] Translation: X:-390.98, Y:-242.43, Z:-1.76 [[-9.15848824e-01 4.01478066e-01 6.02447550e-03 -3.90982396e+02] [ 4.01469013e-01 9.15868637e-01 -2.69659434e-03 -2.42433570e+02] [-6.60025165e-03 -5.10325177e-05 -9.99978217e-01 -1.76175122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1248.636559995 meters 0.012863382085864968 Centerline is valid? [True, True] Translation: X:-390.97, Y:-242.41, Z:-1.76 [[-9.41130784e-01 3.37987180e-01 6.12480415e-03 -3.90974830e+02] [ 3.37979790e-01 9.41150713e-01 -2.23523301e-03 -2.42408748e+02] [-6.51984390e-03 -3.35865777e-05 -9.99978745e-01 -1.76194703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1248.666559995 meters 0.012686823691096633 Centerline is valid? [True, True] Translation: X:-390.97, Y:-242.38, Z:-1.76 [[-9.62130364e-01 2.72514762e-01 6.39269383e-03 -3.90966206e+02] [ 2.72508613e-01 9.62151602e-01 -1.83080512e-03 -2.42384262e+02] [-6.64966203e-03 -1.94090674e-05 -9.99977891e-01 -1.76205836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1248.6965599950001 meters 0.01268087878957602 Centerline is valid? [True, True] Translation: X:-390.79, Y:-241.79, Z:-2.82 [[-9.40703128e-01 -3.39162099e-01 6.83346355e-03 -3.90791717e+02] [ 3.39153590e-01 -9.40727946e-01 -2.40314305e-03 -2.41785701e+02] [ 7.24348517e-03 5.69495109e-05 9.99973764e-01 -2.82317997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1248.7265599950001 meters 0.012713386561508153 Centerline is valid? [True, True] Translation: X:-391.01, Y:-242.37, Z:-1.76 [[-9.62215540e-01 2.72188620e-01 7.38991438e-03 -3.91011221e+02] [ 2.72180626e-01 9.62243917e-01 -2.08615339e-03 -2.42374976e+02] [-7.67872737e-03 4.06231196e-06 -9.99970518e-01 -1.76111306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1248.756559995 meters 0.012713386561508153 Centerline is valid? [True, True] Translation: X:-390.84, Y:-241.77, Z:-2.82 [[-9.42217487e-01 -3.34924661e-01 7.18886601e-03 -3.90839240e+02] [ 3.34914856e-01 -9.42244911e-01 -2.56272129e-03 -2.41772549e+02] [ 7.63199097e-03 -6.98278635e-06 9.99970876e-01 -2.82378243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1248.786559995 meters 0.012676031408154794 Centerline is valid? [True, True] Translation: X:-391.06, Y:-242.36, Z:-1.76 [[-9.63178425e-01 2.68747224e-01 7.88995215e-03 -3.91057792e+02] [ 2.68738262e-01 9.63210740e-01 -2.19467186e-03 -2.42362669e+02] [-8.18949862e-03 6.47144090e-06 -9.99966466e-01 -1.76046555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1248.816559995 meters 0.01275293321255229 Centerline is valid? [True, True] Translation: X:-390.89, Y:-241.76, Z:-2.83 [[-9.43459699e-01 -3.31371461e-01 8.76079353e-03 -3.90890780e+02] [ 3.31357773e-01 -9.43500372e-01 -3.01256159e-03 -2.41759040e+02] [ 9.26408889e-03 6.07265825e-05 9.99957086e-01 -2.82528155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1248.846559995 meters 0.012908822592794184 Centerline is valid? [True, True] Translation: X:-391.11, Y:-242.35, Z:-1.76 [[-9.64385437e-01 2.64314056e-01 9.94029360e-03 -3.91105257e+02] [ 2.64300014e-01 9.64436665e-01 -2.72447151e-03 -2.42349619e+02] [-1.03068997e-02 -2.20906626e-07 -9.99946883e-01 -1.75856193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1248.876559995 meters 0.01284425371966261 Centerline is valid? [True, True] Translation: X:-390.94, Y:-241.75, Z:-2.83 [[-9.44151115e-01 -3.29341487e-01 1.06234175e-02 -3.90937625e+02] [ 3.29321351e-01 -9.44210878e-01 -3.64232785e-03 -2.41747923e+02] [ 1.12303161e-02 5.96103089e-05 9.99936936e-01 -2.82615710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1248.906559995 meters 0.012851572910814436 Centerline is valid? [True, True] Translation: X:-391.15, Y:-242.34, Z:-1.76 [[-9.65950249e-01 2.58453173e-01 1.19194561e-02 -3.91151889e+02] [ 2.58433145e-01 9.66023787e-01 -3.21760161e-03 -2.42336118e+02] [-1.23460775e-02 -2.76605594e-05 -9.99923784e-01 -1.75803829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1248.9365599950002 meters 0.012844903468773398 Centerline is valid? [True, True] Translation: X:-390.99, Y:-241.74, Z:-2.83 [[-9.44580816e-01 -3.28051866e-01 1.22088602e-02 -3.90991937e+02] [ 3.28025352e-01 -9.44659711e-01 -4.17126401e-03 -2.41735604e+02] [ 1.29016093e-02 6.47196936e-05 9.99916769e-01 -2.82666120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1248.9665599950001 meters 0.013022085646227321 Centerline is valid? [True, True] Translation: X:-391.20, Y:-242.32, Z:-1.76 [[-9.67877964e-01 2.51123354e-01 1.22191867e-02 -3.91201561e+02] [ 2.51102351e-01 9.67955090e-01 -3.24871706e-03 -2.42319280e+02] [-1.26434527e-02 -7.60951451e-05 -9.99920066e-01 -1.75787000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1248.996559995 meters 0.013078166834668843 Centerline is valid? [True, True] Translation: X:-391.04, Y:-241.73, Z:-2.83 [[-9.44679349e-01 -3.27800203e-01 1.13117160e-02 -3.91044201e+02] [ 3.27777064e-01 -9.44747070e-01 -3.89490948e-03 -2.41726305e+02] [ 1.19634627e-02 2.82805048e-05 9.99928435e-01 -2.82614972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1249.026559995 meters 0.01324643923549975 Centerline is valid? [True, True] Translation: X:-391.25, Y:-242.30, Z:-1.76 [[-9.69378743e-01 2.45328406e-01 1.09006993e-02 -3.91251121e+02] [ 2.45311832e-01 9.69440026e-01 -2.85313265e-03 -2.42304413e+02] [-1.12675287e-02 -9.16956342e-05 -9.99936515e-01 -1.75873972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1249.056559995 meters 0.013125955081782967 Centerline is valid? [True, True] Translation: X:-391.09, Y:-241.72, Z:-2.83 [[-9.45317748e-01 -3.25997116e-01 1.00118435e-02 -3.91093754e+02] [ 3.25979300e-01 -9.45370763e-01 -3.40839345e-03 -2.41715275e+02] [ 1.05760305e-02 4.16389064e-05 9.99944072e-01 -2.82511936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1249.086559995 meters 0.013214694623639002 Centerline is valid? [True, True] Translation: X:-391.29, Y:-242.29, Z:-1.76 [[-9.70665394e-01 2.40220527e-01 1.01385905e-02 -3.91293657e+02] [ 2.40206345e-01 9.70718336e-01 -2.61216910e-03 -2.42293806e+02] [-1.04692124e-02 -1.00188371e-04 -9.99945191e-01 -1.76028730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1249.116559995 meters 0.013264502504192626 Centerline is valid? [True, True] Translation: X:-391.30, Y:-242.26, Z:-1.76 [[-9.85362184e-01 1.70196918e-01 9.71470738e-03 -3.91296861e+02] [ 1.70187648e-01 9.85410067e-01 -1.77915672e-03 -2.42264688e+02] [-9.87577743e-03 -9.97905609e-05 -9.99951229e-01 -1.76060670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1249.146559995 meters 0.013306309747997248 Centerline is valid? [True, True] Translation: X:-391.18, Y:-241.67, Z:-2.82 [[-9.66684442e-01 -2.55818599e-01 8.83370717e-03 -3.91182961e+02] [ 2.55808334e-01 -9.66724802e-01 -2.29219837e-03 -2.41666744e+02] [ 9.12615079e-03 4.39034135e-05 9.99958355e-01 -2.82374630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1249.176559995 meters 0.013293586452592588 Centerline is valid? [True, True] Translation: X:-391.35, Y:-242.26, Z:-1.76 [[-9.86102491e-01 1.65909192e-01 8.71878791e-03 -3.91348353e+02] [ 1.65901869e-01 9.86141030e-01 -1.56150043e-03 -2.42255343e+02] [-8.85702176e-03 -9.33362490e-05 -9.99960772e-01 -1.76143333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1249.2065599950001 meters 0.013192586004952263 Centerline is valid? [True, True] Translation: X:-391.23, Y:-241.66, Z:-2.82 [[-9.67674551e-01 -2.52070363e-01 8.15446568e-03 -3.91233639e+02] [ 2.52061935e-01 -9.67708907e-01 -2.06208846e-03 -2.41658423e+02] [ 8.41094045e-03 5.99998712e-05 9.99964626e-01 -2.82284279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1249.236559995 meters 0.013383500455403046 Centerline is valid? [True, True] Translation: X:-391.39, Y:-242.25, Z:-1.76 [[-9.86790298e-01 1.61817950e-01 7.73684578e-03 -3.91392152e+02] [ 1.61812302e-01 9.86820624e-01 -1.35463955e-03 -2.42247308e+02] [-7.85408398e-03 -8.48283333e-05 -9.99969153e-01 -1.76197870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1249.266559995 meters 0.013500604351290336 Centerline is valid? [True, True] Translation: X:-391.40, Y:-242.22, Z:-1.76 [[-9.95812878e-01 9.11054946e-02 7.51672707e-03 -3.91395843e+02] [ 9.11022677e-02 9.95841243e-01 -7.71295393e-04 -2.42218006e+02] [-7.55573608e-03 -8.32750028e-05 -9.99971452e-01 -1.76202417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1249.296559995 meters 0.01331065054820495 Centerline is valid? [True, True] Translation: X:-391.33, Y:-241.62, Z:-2.82 [[-9.83669253e-01 -1.79823435e-01 7.63761381e-03 -3.91329674e+02] [ 1.79818786e-01 -9.83698898e-01 -1.29674302e-03 -2.41617227e+02] [ 7.74629708e-03 9.78202105e-05 9.99969992e-01 -2.82256191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1249.326559995 meters 0.01355370533181647 Centerline is valid? [True, True] Translation: X:-391.45, Y:-242.21, Z:-1.76 [[-9.96327971e-01 8.51172019e-02 9.25397125e-03 -3.91448796e+02] [ 8.51124088e-02 9.96370939e-01 -9.11260803e-04 -2.42212101e+02] [-9.29795199e-03 -1.20286843e-04 -9.99956766e-01 -1.76097799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1249.356559995 meters 0.01370897482105702 Centerline is valid? [True, True] Translation: X:-391.45, Y:-242.18, Z:-1.76 [[-9.99862417e-01 1.33281771e-02 9.87457390e-03 -3.91452740e+02] [ 1.33261933e-02 9.99911167e-01 -2.66671176e-04 -2.42183445e+02] [-9.87725095e-03 -1.35044007e-04 -9.99951210e-01 -1.75994814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1249.386559995 meters 0.013936498721139173 Centerline is valid? [True, True] Translation: X:-391.44, Y:-241.58, Z:-2.83 [[-9.94023871e-01 -1.08610150e-01 1.09717464e-02 -3.91442538e+02] [ 1.08606039e-01 -9.94084395e-01 -9.71515995e-04 -2.41583546e+02] [ 1.10123584e-02 2.25887834e-04 9.99939337e-01 -2.82604780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1249.416559995 meters 0.0141302721173762 Centerline is valid? [True, True] Translation: X:-391.53, Y:-242.18, Z:-1.76 [[-9.99905231e-01 7.19050418e-03 1.17398992e-02 -3.91525017e+02] [ 7.18790218e-03 9.99974132e-01 -2.63817355e-04 -2.42180218e+02] [-1.17414925e-02 -1.79407106e-04 -9.99931050e-01 -1.75803121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1249.4465599950001 meters 0.014220547585920253 Centerline is valid? [True, True] Translation: X:-391.53, Y:-242.15, Z:-1.76 [[-9.97855594e-01 -6.43264557e-02 1.20962772e-02 -3.91527639e+02] [-6.43240291e-02 9.97928891e-01 5.89962920e-04 -2.42152601e+02] [-1.21091747e-02 -1.89383484e-04 -9.99926664e-01 -1.75748151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1249.4765599950001 meters 0.014006551364410345 Centerline is valid? [True, True] Translation: X:-391.54, Y:-242.13, Z:-1.76 [[-9.90865672e-01 -1.34296368e-01 1.22354518e-02 -3.91536710e+02] [-1.34288379e-01 9.90941196e-01 1.47594341e-03 -2.42126130e+02] [-1.23228271e-02 -1.80617329e-04 -9.99924055e-01 -1.75719324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1249.506559995 meters 0.01381988303257188 Centerline is valid? [True, True] Translation: X:-391.55, Y:-242.10, Z:-1.76 [[-9.78949183e-01 -2.03761588e-01 1.18200416e-02 -3.91553635e+02] [-2.03748769e-01 9.79020525e-01 2.29153881e-03 -2.42101614e+02] [-1.20389909e-02 -1.65018875e-04 -9.99927515e-01 -1.75741011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1249.536559995 meters 0.013427564923608862 Centerline is valid? [True, True] Translation: X:-391.58, Y:-242.08, Z:-1.76 [[-9.62140503e-01 -2.72320898e-01 1.12686242e-02 -3.91580334e+02] [-2.72303975e-01 9.62206479e-01 3.03935296e-03 -2.42080872e+02] [-1.16704226e-02 -1.44206584e-04 -9.99931888e-01 -1.75783884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1249.566559995 meters 0.013490190828879797 Centerline is valid? [True, True] Translation: X:-391.62, Y:-242.07, Z:-1.76 [[-9.40384832e-01 -3.39950741e-01 1.04815068e-02 -3.91621687e+02] [-3.39931066e-01 9.40443235e-01 3.65943711e-03 -2.42065051e+02] [-1.11012905e-02 -1.21710639e-04 -9.99938372e-01 -1.75733469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1249.596559995 meters 0.013296851074378009 Centerline is valid? [True, True] Translation: X:-391.68, Y:-242.06, Z:-1.76 [[-9.13304298e-01 -4.07161489e-01 9.73555753e-03 -3.91682094e+02] [-4.07139585e-01 9.13356180e-01 4.22461667e-03 -2.42060146e+02] [-1.06121328e-02 -1.05370289e-04 -9.99943684e-01 -1.75764609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1249.626559995 meters 0.013043782057594345 Centerline is valid? [True, True] Translation: X:-391.75, Y:-242.06, Z:-1.76 [[-8.81267343e-01 -4.72529076e-01 9.17297577e-03 -3.91749295e+02] [-4.72504575e-01 8.81315077e-01 4.81275500e-03 -2.42063311e+02] [-1.03584485e-02 -9.29492066e-05 -9.99946346e-01 -1.75826682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1249.656559995 meters 0.012683941367820634 Centerline is valid? [True, True] Translation: X:-391.82, Y:-242.07, Z:-1.76 [[-8.44410038e-01 -5.35632653e-01 8.32760930e-03 -3.91820258e+02] [-5.35607497e-01 8.44451097e-01 5.19172209e-03 -2.42074761e+02] [-9.81311469e-03 -7.63877252e-05 -9.99951848e-01 -1.75887713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1249.6865599950002 meters 0.012961833846420046 Centerline is valid? [True, True] Translation: X:-391.90, Y:-242.09, Z:-1.76 [[-8.02064248e-01 -5.97184025e-01 8.01140675e-03 -3.91899889e+02] [-5.97155207e-01 8.02104254e-01 5.86720835e-03 -2.42094595e+02] [-9.92978653e-03 -7.81752035e-05 -9.99950696e-01 -1.75782994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1249.7165599950001 meters 0.012798526475423832 Centerline is valid? [True, True] Translation: X:-391.98, Y:-242.13, Z:-1.76 [[-7.54641347e-01 -6.56090295e-01 7.87159785e-03 -3.91984180e+02] [-6.56055820e-01 7.54682395e-01 6.72636118e-03 -2.42126615e+02] [-1.03536566e-02 -8.82173166e-05 -9.99946396e-01 -1.75815804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1249.746559995 meters 0.012839009184816135 Centerline is valid? [True, True] Translation: X:-392.07, Y:-242.17, Z:-1.76 [[-7.02744578e-01 -7.11402947e-01 7.47695293e-03 -3.92070531e+02] [-7.11364136e-01 7.02784346e-01 7.43160281e-03 -2.42168651e+02] [-1.05415496e-02 -9.63175780e-05 -9.99944432e-01 -1.75782044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1249.776559995 meters 0.01327111194451934 Centerline is valid? [True, True] Translation: X:-392.16, Y:-242.22, Z:-1.76 [[-6.46319438e-01 -7.63031716e-01 7.33379305e-03 -3.92155763e+02] [-7.62984561e-01 6.46361036e-01 8.48364901e-03 -2.42218121e+02] [-1.12135713e-02 -1.12423602e-04 -9.99937120e-01 -1.75660960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1249.806559995 meters 0.013359955583928123 Centerline is valid? [True, True] Translation: X:-392.24, Y:-242.28, Z:-1.76 [[-5.85967210e-01 -8.10302938e-01 7.18167596e-03 -3.92238853e+02] [-8.10244812e-01 5.86011204e-01 9.70636168e-03 -2.42277111e+02] [-1.20736360e-02 -1.31306013e-04 -9.99927103e-01 -1.75630422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1249.836559995 meters 0.013636942691278821 Centerline is valid? [True, True] Translation: X:-392.32, Y:-242.34, Z:-1.76 [[-5.21128838e-01 -8.53446927e-01 7.28542356e-03 -3.92318763e+02] [-8.53368168e-01 5.21179731e-01 1.15955943e-02 -2.42344883e+02] [-1.36932394e-02 -1.74349955e-04 -9.99906228e-01 -1.75600276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1249.866559995 meters 0.01400976013943808 Centerline is valid? [True, True] Translation: X:-392.40, Y:-242.42, Z:-1.76 [[-4.54022986e-01 -8.90964101e-01 6.78963797e-03 -3.92395487e+02] [-8.90870869e-01 4.54073708e-01 1.28904238e-02 -2.42421349e+02] [-1.45679009e-02 -1.96141970e-04 -9.99893863e-01 -1.75524586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1249.896559995 meters 0.01397743421651885 Centerline is valid? [True, True] Translation: X:-392.47, Y:-242.51, Z:-1.76 [[-3.84715991e-01 -9.23015038e-01 6.07007911e-03 -3.92468429e+02] [-9.22908529e-01 3.84763820e-01 1.40232369e-02 -2.42510047e+02] [-1.52792054e-02 -2.07164296e-04 -9.99883245e-01 -1.75526526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1249.926559995 meters 0.013927774817341546 Centerline is valid? [True, True] Translation: X:-392.53, Y:-242.60, Z:-1.75 [[-3.13123790e-01 -9.49698822e-01 5.06356729e-03 -3.92533336e+02] [-9.49585345e-01 3.13164658e-01 1.46822984e-02 -2.42601580e+02] [-1.55294918e-02 -2.10912366e-04 -9.99879388e-01 -1.75491002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1249.9565599950001 meters 0.013671406976890605 Centerline is valid? [True, True] Translation: X:-392.59, Y:-242.70, Z:-1.76 [[-2.40152107e-01 -9.70727181e-01 3.96294169e-03 -3.92589935e+02] [-9.70608643e-01 2.40184717e-01 1.51711380e-02 -2.42697349e+02] [-1.56788740e-02 -2.03084702e-04 -9.99877058e-01 -1.75545123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1249.986559995 meters 0.013850948271208358 Centerline is valid? [True, True] Translation: X:-392.64, Y:-242.80, Z:-1.75 [[-1.66239176e-01 -9.86081317e-01 2.85863665e-03 -3.92640011e+02] [-9.85954608e-01 1.66263644e-01 1.58086257e-02 -2.42798230e+02] [-1.60638778e-02 -1.90473073e-04 -9.99870950e-01 -1.75458015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1250.016559995 meters 0.013347001635169416 Centerline is valid? [True, True] Translation: X:-392.68, Y:-242.91, Z:-1.76 [[-9.32148936e-02 -9.95644777e-01 1.56899405e-03 -3.92680524e+02] [-9.95527250e-01 9.32279982e-02 1.52982352e-02 -2.42907441e+02] [-1.53778821e-02 -1.35952966e-04 -9.99881744e-01 -1.75570108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1250.046559995 meters 0.013269321748535635 Centerline is valid? [True, True] Translation: X:-392.71, Y:-243.02, Z:-1.76 [[-1.81278063e-02 -9.99835604e-01 3.83799165e-04 -3.92713976e+02] [-9.99721663e-01 1.81315347e-02 1.50945175e-02 -2.43016326e+02] [-1.50989949e-02 -1.10061851e-04 -9.99885998e-01 -1.75503352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1250.076559995 meters 0.012936558647311656 Centerline is valid? [True, True] Translation: X:-392.74, Y:-243.13, Z:-1.76 [[ 5.69255679e-02 -9.98378140e-01 -7.54359250e-04 -3.92738286e+02] [-9.98270403e-01 -5.69305071e-02 1.46669836e-02 -2.43131095e+02] [-1.46861419e-02 -8.18718603e-05 -9.99892150e-01 -1.75593448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1250.106559995 meters 0.012734473059700747 Centerline is valid? [True, True] Translation: X:-392.75, Y:-243.25, Z:-1.76 [[ 1.31893566e-01 -9.91262145e-01 -1.85662891e-03 -3.92753452e+02] [-9.91157453e-01 -1.31906620e-01 1.44065173e-02 -2.43248553e+02] [-1.45255369e-02 -5.99153685e-05 -9.99894497e-01 -1.75699144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1250.136559995 meters 0.012693200197296944 Centerline is valid? [True, True] Translation: X:-392.76, Y:-243.37, Z:-1.76 [[ 2.06090689e-01 -9.78528544e-01 -2.91843802e-03 -3.92759866e+02] [-9.78427816e-01 -2.06111348e-01 1.40399610e-02 -2.43367270e+02] [-1.43400258e-02 -3.80243014e-05 -9.99897176e-01 -1.75788729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1250.166559995 meters 0.012675894448724166 Centerline is valid? [True, True] Translation: X:-392.76, Y:-243.49, Z:-1.76 [[ 2.79555920e-01 -9.60121013e-01 -4.01610055e-03 -3.92758058e+02] [-9.60020727e-01 -2.79584765e-01 1.38767429e-02 -2.43485334e+02] [-1.44461929e-02 -2.37858449e-05 -9.99895648e-01 -1.75824857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1250.1965599950001 meters 0.012680807466697572 Centerline is valid? [True, True] Translation: X:-392.75, Y:-243.60, Z:-1.76 [[ 3.51806987e-01 -9.36059887e-01 -4.87147733e-03 -3.92748148e+02] [-9.35969549e-01 -3.51840713e-01 1.30044760e-02 -2.43601710e+02] [-1.38869524e-02 -1.55110921e-05 -9.99903572e-01 -1.75864304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1250.2265599950001 meters 0.012601460512983638 Centerline is valid? [True, True] Translation: X:-392.73, Y:-243.72, Z:-1.76 [[ 4.22942316e-01 -9.06138245e-01 -5.76869229e-03 -3.92730682e+02] [-9.06053221e-01 -4.22981654e-01 1.24129370e-02 -2.43717868e+02] [-1.36878880e-02 -2.32140818e-05 -9.99906316e-01 -1.75946355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1250.256559995 meters 0.012666785867417133 Centerline is valid? [True, True] Translation: X:-392.71, Y:-243.83, Z:-1.76 [[ 4.92381129e-01 -8.70355802e-01 -6.44997159e-03 -3.92707672e+02] [-8.70280000e-01 -4.92423371e-01 1.14867601e-02 -2.43828681e+02] [-1.31736850e-02 -4.25826319e-05 -9.99913223e-01 -1.75904202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1250.286559995 meters 0.012896871491256368 Centerline is valid? [True, True] Translation: X:-392.68, Y:-243.94, Z:-1.76 [[ 5.59017386e-01 -8.29122055e-01 -7.49532350e-03 -3.92675013e+02] [-8.29045844e-01 -5.59067629e-01 1.12416701e-02 -2.43940766e+02] [-1.35111093e-02 -7.03222184e-05 -9.99908719e-01 -1.75822635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1250.316559995 meters 0.013086341607177235 Centerline is valid? [True, True] Translation: X:-392.63, Y:-244.05, Z:-1.76 [[ 6.22154151e-01 -7.82848540e-01 -8.50742314e-03 -3.92634638e+02] [-7.82773175e-01 -6.22212306e-01 1.08629410e-02 -2.44048373e+02] [-1.37974609e-02 -9.90412215e-05 -9.99904806e-01 -1.75888883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1250.346559995 meters 0.013187195623309774 Centerline is valid? [True, True] Translation: X:-392.59, Y:-244.14, Z:-1.76 [[ 6.81396545e-01 -7.31849087e-01 -9.78075191e-03 -3.92594041e+02] [-7.31770883e-01 -6.81466724e-01 1.06994930e-02 -2.44143717e+02] [-1.44956711e-02 -1.33328087e-04 -9.99894924e-01 -1.75862176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1250.376559995 meters 0.01426351684373699 Centerline is valid? [True, True] Translation: X:-392.54, Y:-244.24, Z:-1.76 [[ 7.36956416e-01 -6.75841606e-01 -1.15484005e-02 -3.92542153e+02] [-6.75754487e-01 -7.37046868e-01 1.08529971e-02 -2.44242876e+02] [-1.58466195e-02 -1.94302386e-04 -9.99874416e-01 -1.75645771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1250.406559995 meters 0.01407882517360169 Centerline is valid? [True, True] Translation: X:-392.54, Y:-244.25, Z:-1.76 [[ 7.87882285e-01 -6.15696716e-01 -1.26118793e-02 -3.92540956e+02] [-6.15613613e-01 -7.87983192e-01 1.01177189e-02 -2.44250824e+02] [-1.61673952e-02 -2.07526855e-04 -9.99869278e-01 -1.75747769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1250.4365599950002 meters 0.014282321363149086 Centerline is valid? [True, True] Translation: X:-392.54, Y:-244.26, Z:-1.76 [[ 8.33739313e-01 -5.51990889e-01 -1.35947297e-02 -3.92539814e+02] [-5.51913281e-01 -8.33850114e-01 9.25842891e-03 -2.44258190e+02] [-1.64465353e-02 -2.16004259e-04 -9.99864723e-01 -1.75720223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1250.4665599950001 meters 0.01433358354263683 Centerline is valid? [True, True] Translation: X:-392.54, Y:-244.27, Z:-1.76 [[ 8.74286851e-01 -4.85193529e-01 -1.44824564e-02 -3.92536379e+02] [-4.85122833e-01 -8.74406766e-01 8.28524407e-03 -2.44265438e+02] [-1.66835047e-02 -2.17909680e-04 -9.99860797e-01 -1.75718237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1250.496559995 meters 0.01469670656414794 Centerline is valid? [True, True] Translation: X:-392.53, Y:-244.27, Z:-1.76 [[ 9.09241263e-01 -4.16009540e-01 -1.47101357e-02 -3.92533598e+02] [-4.15951527e-01 -9.09360227e-01 6.95012737e-03 -2.44271660e+02] [-1.62681316e-02 -2.00639191e-04 -9.99867645e-01 -1.75630846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1250.526559995 meters 0.013269558563460168 Centerline is valid? [True, True] Translation: X:-392.53, Y:-244.28, Z:-1.76 [[ 9.38231677e-01 -3.45754204e-01 -1.32420174e-02 -3.92529937e+02] [-3.45717625e-01 -9.38325109e-01 5.03121650e-03 -2.44279558e+02] [-1.41648817e-02 -1.42447879e-04 -9.99899663e-01 -1.76089538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1250.556559995 meters 0.013221393151780923 Centerline is valid? [True, True] Translation: X:-392.53, Y:-244.29, Z:-1.76 [[ 9.62063903e-01 -2.72520226e-01 -1.28753132e-02 -3.92527123e+02] [-2.72494175e-01 -9.62150047e-01 3.76993021e-03 -2.44288380e+02] [-1.34153654e-02 -1.18465937e-04 -9.99910003e-01 -1.76076041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1250.586559995 meters 0.013285853270771378 Centerline is valid? [True, True] Translation: X:-392.52, Y:-244.29, Z:-1.76 [[ 9.80199304e-01 -1.97614268e-01 -1.25668604e-02 -3.92522317e+02] [-1.97596747e-01 -9.80279854e-01 2.63331359e-03 -2.44293571e+02] [-1.28394204e-02 -9.80014213e-05 -9.99917567e-01 -1.76046411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1250.616559995 meters 0.013067091360296004 Centerline is valid? [True, True] Translation: X:-392.52, Y:-244.29, Z:-1.76 [[ 9.92527203e-01 -1.21412868e-01 -1.21929325e-02 -3.92515251e+02] [-1.21402703e-01 -9.92602090e-01 1.57317163e-03 -2.44293695e+02] [-1.22937336e-02 -8.11606681e-05 -9.99924426e-01 -1.76096307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1250.646559995 meters 0.012582263320167928 Centerline is valid? [True, True] Translation: X:-392.51, Y:-244.30, Z:-1.76 [[ 9.98945701e-01 -4.42963708e-02 -1.20548132e-02 -3.92513297e+02] [-4.42923239e-02 -9.99018432e-01 6.02610134e-04 -2.44300605e+02] [-1.20696740e-02 -6.80391133e-05 -9.99927157e-01 -1.76349271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1250.676559995 meters 0.012582263320167928 Centerline is valid? [True, True] Translation: X:-392.51, Y:-244.31, Z:-1.76 [[ 9.99346128e-01 3.40845355e-02 -1.20649115e-02 -3.92511262e+02] [ 3.40828735e-02 -9.99418951e-01 -3.43397282e-04 -2.44309328e+02] [-1.20696058e-02 -6.80341098e-05 -9.99927158e-01 -1.76349333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1250.7065599950001 meters 0.01257158850194921 Centerline is valid? [True, True] Translation: X:-392.51, Y:-244.32, Z:-1.76 [[ 9.93717290e-01 1.11294983e-01 -1.18056676e-02 -3.92507798e+02] [ 1.11287799e-01 -9.93787414e-01 -1.26577767e-03 -2.44316473e+02] [-1.18731986e-02 -5.60016049e-05 -9.99929510e-01 -1.76399802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1250.736559995 meters 0.012547693257983111 Centerline is valid? [True, True] Translation: X:-392.50, Y:-244.32, Z:-1.76 [[ 9.82113400e-01 1.87946726e-01 -1.13709214e-02 -3.92504591e+02] [ 1.87934667e-01 -9.82179223e-01 -2.12954700e-03 -2.44323328e+02] [-1.15685242e-02 -4.55336831e-05 -9.99933082e-01 -1.76366403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1250.766559995 meters 0.012597079293133327 Centerline is valid? [True, True] Translation: X:-392.50, Y:-244.33, Z:-1.76 [[ 9.64352818e-01 2.64357860e-01 -1.17713778e-02 -3.92501786e+02] [ 2.64338793e-01 -9.64424657e-01 -3.17542645e-03 -2.44328875e+02] [-1.21920559e-02 -4.94003468e-05 -9.99925673e-01 -1.76242643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1250.796559995 meters 0.01263044282266437 Centerline is valid? [True, True] Translation: X:-392.50, Y:-244.33, Z:-1.76 [[ 9.40485020e-01 3.39609433e-01 -1.23839002e-02 -3.92497339e+02] [ 3.39580847e-01 -9.40566547e-01 -4.40676391e-03 -2.44334581e+02] [-1.31444608e-02 -6.08398691e-05 -9.99913606e-01 -1.76225486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1250.826559995 meters 0.01280256513285997 Centerline is valid? [True, True] Translation: X:-392.49, Y:-244.34, Z:-1.76 [[ 9.10733077e-01 4.12795338e-01 -1.28558188e-02 -3.92491703e+02] [ 4.12755373e-01 -9.10823805e-01 -5.74443710e-03 -2.44339697e+02] [-1.40806627e-02 -7.46594325e-05 -9.99900860e-01 -1.76156024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1250.856559995 meters 0.012978159304500083 Centerline is valid? [True, True] Translation: X:-392.49, Y:-244.34, Z:-1.76 [[ 8.75152316e-01 4.83670084e-01 -1.31024661e-02 -3.92487418e+02] [ 4.83617480e-01 -8.75250388e-01 -7.13380781e-03 -2.44344704e+02] [-1.49183479e-02 -9.34131931e-05 -9.99888711e-01 -1.76041385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1250.886559995 meters 0.013075579375462923 Centerline is valid? [True, True] Translation: X:-392.48, Y:-244.35, Z:-1.76 [[ 8.34086609e-01 5.51479846e-01 -1.30195693e-02 -3.92482194e+02] [ 5.51414758e-01 -8.34188209e-01 -8.47333079e-03 -2.44348359e+02] [-1.55336423e-02 -1.11690902e-04 -9.99879340e-01 -1.75952615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1250.916559995 meters 0.013830031768117236 Centerline is valid? [True, True] Translation: X:-392.48, Y:-244.35, Z:-1.76 [[ 7.87031911e-01 6.16773277e-01 -1.30957001e-02 -3.92477144e+02] [ 6.16691155e-01 -7.87140840e-01 -1.00656832e-02 -2.44352035e+02] [-1.65164048e-02 -1.53988481e-04 -9.99863583e-01 -1.75823316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1250.9465599950001 meters 0.014091651049229981 Centerline is valid? [True, True] Translation: X:-392.47, Y:-244.35, Z:-1.76 [[ 7.35559498e-01 6.77341860e-01 -1.26582274e-02 -3.92473855e+02] [ 6.77245741e-01 -7.35668386e-01 -1.14119599e-02 -2.44351913e+02] [-1.70420558e-02 -1.78555147e-04 -9.99854758e-01 -1.75807837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1250.9765599950001 meters 0.013842407954675198 Centerline is valid? [True, True] Translation: X:-392.47, Y:-244.35, Z:-1.76 [[ 6.79471824e-01 7.33606488e-01 -1.18136101e-02 -3.92467545e+02] [ 7.33500678e-01 -6.79574486e-01 -1.24608921e-02 -2.44354191e+02] [-1.71696193e-02 -1.98465957e-04 -9.99852572e-01 -1.75983036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1251.006559995 meters 0.014872460838824804 Centerline is valid? [True, True] Translation: X:-392.46, Y:-244.36, Z:-1.76 [[ 6.18985557e-01 7.85322675e-01 -1.11881872e-02 -3.92459973e+02] [ 7.85201017e-01 -6.19086621e-01 -1.38246044e-02 -2.44357614e+02] [-1.77832323e-02 -2.27745479e-04 -9.99841840e-01 -1.75791418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1251.036559995 meters 0.014410371366652021 Centerline is valid? [True, True] Translation: X:-392.45, Y:-244.36, Z:-1.76 [[ 5.54843751e-01 8.31892926e-01 -1.01278267e-02 -3.92454521e+02] [ 8.31762348e-01 -5.54936123e-01 -1.47409920e-02 -2.44358540e+02] [-1.78832239e-02 -2.44997645e-04 -9.99840053e-01 -1.75985588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1251.066559995 meters 0.014228906912557914 Centerline is valid? [True, True] Translation: X:-392.45, Y:-244.36, Z:-1.76 [[ 4.87809930e-01 8.72905083e-01 -8.84239648e-03 -3.92447189e+02] [ 8.72770735e-01 -4.87890003e-01 -1.53163310e-02 -2.44359807e+02] [-1.76838200e-02 -2.45926525e-04 -9.99843599e-01 -1.76130880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1251.096559995 meters 0.01395758099274674 Centerline is valid? [True, True] Translation: X:-392.44, Y:-244.36, Z:-1.76 [[ 4.18648762e-01 9.08116941e-01 -7.53900787e-03 -3.92439763e+02] [ 9.07979521e-01 -4.18716574e-01 -1.57993922e-02 -2.44360563e+02] [-1.75044032e-02 -2.30868788e-04 -9.99846760e-01 -1.76210869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1251.126559995 meters 0.013689706517140082 Centerline is valid? [True, True] Translation: X:-392.43, Y:-244.36, Z:-1.76 [[ 3.47275569e-01 9.37743056e-01 -6.13517214e-03 -3.92432122e+02] [ 9.37607123e-01 -3.47329696e-01 -1.59676359e-02 -2.44361493e+02] [-1.71044671e-02 -2.07211274e-04 -9.99853687e-01 -1.76286959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1251.156559995 meters 0.013458751635087023 Centerline is valid? [True, True] Translation: X:-392.42, Y:-244.36, Z:-1.76 [[ 2.74420159e-01 9.61598686e-01 -4.64154468e-03 -3.92424944e+02] [ 9.61471449e-01 -2.74459357e-01 -1.56433788e-02 -2.44361443e+02] [-1.63165679e-02 -1.69854181e-04 -9.99866862e-01 -1.76396448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1251.1865599950002 meters 0.012897754020603147 Centerline is valid? [True, True] Translation: X:-392.42, Y:-244.36, Z:-1.77 [[ 2.02285715e-01 9.79321896e-01 -3.01890452e-03 -3.92421353e+02] [ 9.79219490e-01 -2.02308220e-01 -1.41624467e-02 -2.44361194e+02] [-1.44803433e-02 -9.13094986e-05 -9.99895150e-01 -1.76595488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1251.2165599950001 meters 0.012792600319678936 Centerline is valid? [True, True] Translation: X:-392.42, Y:-244.36, Z:-1.77 [[ 1.26988586e-01 9.91902545e-01 -1.80005459e-03 -3.92416092e+02] [ 9.91809341e-01 -1.27001330e-01 -1.35975427e-02 -2.44360782e+02] [-1.37160466e-02 -5.85782251e-05 -9.99905929e-01 -1.76667695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1251.246559995 meters 0.012604039404531336 Centerline is valid? [True, True] Translation: X:-392.41, Y:-244.36, Z:-1.77 [[ 5.07976537e-02 9.98708727e-01 -6.91291980e-04 -3.92409349e+02] [ 9.98624375e-01 -5.08023479e-02 -1.29799348e-02 -2.44360032e+02] [-1.29982934e-02 -3.09907897e-05 -9.99915518e-01 -1.76747654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1251.276559995 meters 0.01259881297246389 Centerline is valid? [True, True] Translation: X:-392.40, Y:-244.36, Z:-1.77 [[-2.56365906e-02 9.99671278e-01 3.19481401e-04 -3.92403005e+02] [ 9.99590944e-01 2.56385807e-02 -1.26731132e-02 -2.44358995e+02] [-1.26771383e-02 -5.54469984e-06 -9.99919642e-01 -1.76770880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1251.306559995 meters 0.012696493459853776 Centerline is valid? [True, True] Translation: X:-392.40, Y:-244.36, Z:-1.77 [[-1.02423341e-01 9.94739973e-01 1.35838511e-03 -3.92397098e+02] [ 9.94654258e-01 1.02432348e-01 -1.30583527e-02 -2.44358043e+02] [-1.31288080e-02 1.36434191e-05 -9.99913814e-01 -1.76763469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1251.336559995 meters 0.012728338411367512 Centerline is valid? [True, True] Translation: X:-392.39, Y:-244.36, Z:-1.77 [[-1.78588964e-01 9.83920968e-01 2.34762166e-03 -3.92391617e+02] [ 9.83838301e-01 1.78604390e-01 -1.27541898e-02 -2.44357803e+02] [-1.29684103e-02 3.19225653e-05 -9.99915906e-01 -1.76741990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1251.366559995 meters 0.012928599716057391 Centerline is valid? [True, True] Translation: X:-392.39, Y:-244.36, Z:-1.77 [[-2.53694262e-01 9.67278084e-01 3.51135345e-03 -3.92386794e+02] [ 9.67188333e-01 2.53718556e-01 -1.31766115e-02 -2.44356989e+02] [-1.36363431e-02 5.33093569e-05 -9.99907020e-01 -1.76676436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1251.396559995 meters 0.013025628616151393 Centerline is valid? [True, True] Translation: X:-392.38, Y:-244.35, Z:-1.77 [[-3.28438397e-01 9.44513858e-01 4.66822858e-03 -3.92382123e+02] [ 9.44420957e-01 3.28471566e-01 -1.32471451e-02 -2.44354879e+02] [-1.40454925e-02 5.79017958e-05 -9.99901356e-01 -1.76593415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1251.426559995 meters 0.013051473818351117 Centerline is valid? [True, True] Translation: X:-392.38, Y:-244.35, Z:-1.77 [[-4.01859105e-01 9.15681148e-01 6.10707923e-03 -3.92377618e+02] [ 9.15577503e-01 4.01905503e-01 -1.37768683e-02 -2.44352397e+02] [-1.50696873e-02 5.51444019e-05 -9.99886445e-01 -1.76553689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1251.4565599950001 meters 0.013104084856249249 Centerline is valid? [True, True] Translation: X:-392.37, Y:-244.35, Z:-1.77 [[-4.72808209e-01 8.81133594e-01 7.48245003e-03 -3.92373556e+02] [ 8.81024933e-01 4.72867409e-01 -1.38376577e-02 -2.44350609e+02] [-1.57310318e-02 4.96668884e-05 -9.99876259e-01 -1.76505022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1251.486559995 meters 0.013095871715321275 Centerline is valid? [True, True] Translation: X:-392.37, Y:-244.35, Z:-1.76 [[-5.41193802e-01 8.40852801e-01 8.70841727e-03 -3.92370696e+02] [ 8.40744997e-01 5.41263861e-01 -1.34641555e-02 -2.44348825e+02] [-1.60349244e-02 3.48407276e-05 -9.99871432e-01 -1.76486195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1251.516559995 meters 0.012909622521042637 Centerline is valid? [True, True] Translation: X:-392.37, Y:-244.35, Z:-1.77 [[-6.06327273e-01 7.95159191e-01 9.43916582e-03 -3.92366789e+02] [ 7.95063258e-01 6.06400742e-01 -1.23513437e-02 -2.44345478e+02] [-1.55452016e-02 1.57773844e-05 -9.99879166e-01 -1.76595947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1251.546559995 meters 0.012872586585289064 Centerline is valid? [True, True] Translation: X:-392.36, Y:-244.34, Z:-1.77 [[-6.67632543e-01 7.44424332e-01 9.95997712e-03 -3.92362944e+02] [ 7.44341459e-01 6.67706832e-01 -1.11075836e-02 -2.44342720e+02] [-1.49191003e-02 -2.16037479e-06 -9.99888704e-01 -1.76631380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1251.576559995 meters 0.0125950826951945 Centerline is valid? [True, True] Translation: X:-392.36, Y:-244.33, Z:-1.77 [[-7.24869034e-01 6.88811560e-01 1.01744335e-02 -3.92356302e+02] [ 6.88743287e-01 7.24940435e-01 -9.69796580e-03 -2.44334244e+02] [-1.40559292e-02 -2.21823269e-05 -9.99901211e-01 -1.76911573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1251.606559995 meters 0.012657212310091018 Centerline is valid? [True, True] Translation: X:-392.34, Y:-244.30, Z:-1.77 [[-7.74037822e-01 6.33061235e-01 9.94599629e-03 -3.92340837e+02] [ 6.33007884e-01 7.74101718e-01 -8.21885368e-03 -2.44304809e+02] [-1.29022505e-02 -6.58095343e-05 -9.99916761e-01 -1.77033170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1251.636559995 meters 0.012751373262843828 Centerline is valid? [True, True] Translation: X:-392.32, Y:-244.28, Z:-1.77 [[-8.18013724e-01 5.75109740e-01 1.01160915e-02 -3.92323677e+02] [ 5.75064451e-01 8.18076268e-01 -7.21784549e-03 -2.44280232e+02] [-1.24267876e-02 -8.68920657e-05 -9.99922781e-01 -1.77073783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1251.666559995 meters 0.013050307560339536 Centerline is valid? [True, True] Translation: X:-392.31, Y:-244.25, Z:-1.77 [[-8.57692801e-01 5.14053744e-01 1.05738757e-02 -3.92309074e+02] [ 5.14013084e-01 8.57757970e-01 -6.46639122e-03 -2.44254081e+02] [-1.23938987e-02 -1.11066773e-04 -9.99923187e-01 -1.77085956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1251.6965599950001 meters 0.013582554499782311 Centerline is valid? [True, True] Translation: X:-392.30, Y:-244.22, Z:-1.77 [[-8.92882942e-01 4.50156447e-01 1.09190177e-02 -3.92300463e+02] [ 4.50120923e-01 8.92949693e-01 -5.65684724e-03 -2.44224430e+02] [-1.22965997e-02 -1.36024095e-04 -9.99924385e-01 -1.77052659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1251.7265599950001 meters 0.01382326363576219 Centerline is valid? [True, True] Translation: X:-392.29, Y:-244.20, Z:-1.77 [[-9.24057423e-01 3.82064389e-01 1.20284122e-02 -3.92288065e+02] [ 3.82029240e-01 9.24135685e-01 -5.18612082e-03 -2.44197153e+02] [-1.30973170e-02 -1.97068274e-04 -9.99914207e-01 -1.77175603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1251.756559995 meters 0.014651716501380271 Centerline is valid? [True, True] Translation: X:-392.29, Y:-244.16, Z:-1.77 [[-9.49381529e-01 3.13870821e-01 1.26419739e-02 -3.92289351e+02] [ 3.13839814e-01 9.49465669e-01 -4.41758567e-03 -2.44163949e+02] [-1.33896714e-02 -2.26419514e-04 -9.99910329e-01 -1.77088798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1251.786559995 meters 0.014671564903422465 Centerline is valid? [True, True] Translation: X:-392.29, Y:-244.13, Z:-1.77 [[-9.69651635e-01 2.44140961e-01 1.30728221e-02 -3.92287789e+02] [ 2.44115274e-01 9.69739722e-01 -3.55031623e-03 -2.44134394e+02] [-1.35440125e-02 -2.51294373e-04 -9.99908244e-01 -1.77157618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1251.816559995 meters 0.014960253262015366 Centerline is valid? [True, True] Translation: X:-392.13, Y:-243.58, Z:-2.81 [[-9.38525390e-01 -3.44972723e-01 1.28028325e-02 -3.92132198e+02] [ 3.44944274e-01 -9.38612677e-01 -4.43745243e-03 -2.43578518e+02] [ 1.35477009e-02 2.51601978e-04 9.99908194e-01 -2.81358900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1251.846559995 meters 0.015792145212089773 Centerline is valid? [True, True] Translation: X:-392.33, Y:-244.12, Z:-1.77 [[-9.71125474e-01 2.38216600e-01 1.29678745e-02 -3.92327706e+02] [ 2.38191503e-01 9.71212013e-01 -3.46907485e-03 -2.44120387e+02] [-1.34209468e-02 -2.80069422e-04 -9.99909896e-01 -1.77103242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1251.876559995 meters 0.015593499967374956 Centerline is valid? [True, True] Translation: X:-392.18, Y:-243.57, Z:-2.81 [[-9.39247528e-01 -3.43006920e-01 1.26623026e-02 -3.92181795e+02] [ 3.42979707e-01 -9.39332836e-01 -4.32941849e-03 -2.43568823e+02] [ 1.33791371e-02 2.76517218e-04 9.99910457e-01 -2.81369914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1251.906559995 meters 0.016028836284606912 Centerline is valid? [True, True] Translation: X:-392.38, Y:-244.11, Z:-1.77 [[-9.72491191e-01 2.32538762e-01 1.36604247e-02 -3.92375179e+02] [ 2.32511132e-01 9.72587075e-01 -3.59921401e-03 -2.44106201e+02] [-1.41229093e-02 -3.24003113e-04 -9.99900214e-01 -1.77130111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1251.9365599950002 meters 0.016192004512656573 Centerline is valid? [True, True] Translation: X:-392.38, Y:-244.08, Z:-1.77 [[-9.86594333e-01 1.62555614e-01 1.43977168e-02 -3.92376268e+02] [ 1.62533243e-01 9.86699324e-01 -2.71829678e-03 -2.44076672e+02] [-1.46480918e-02 -3.41748590e-04 -9.99892653e-01 -1.77112512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1251.9665599950001 meters 0.01672868901277947 Centerline is valid? [True, True] Translation: X:-392.27, Y:-243.52, Z:-2.81 [[-9.61566219e-01 -2.74183947e-01 1.46140468e-02 -3.92268262e+02] [ 2.74158278e-01 -9.61677191e-01 -3.77093781e-03 -2.43524044e+02] [ 1.50879261e-02 3.80555487e-04 9.99886099e-01 -2.81433614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1251.996559995 meters 0.017011055559493143 Centerline is valid? [True, True] Translation: X:-392.42, Y:-244.07, Z:-1.77 [[-9.87334517e-01 1.57942277e-01 1.49929808e-02 -3.92419708e+02] [ 1.57918402e-01 9.87448278e-01 -2.77059994e-03 -2.44066831e+02] [-1.52423880e-02 -3.67841373e-04 -9.99883761e-01 -1.77046338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1252.026559995 meters 0.01659605017920424 Centerline is valid? [True, True] Translation: X:-392.42, Y:-244.04, Z:-1.77 [[-9.96046405e-01 8.75181309e-02 1.52360277e-02 -3.92424034e+02] [ 8.75022305e-02 9.96162859e-01 -1.70841414e-03 -2.44038166e+02] [-1.53270822e-02 -3.68473347e-04 -9.99882466e-01 -1.77085312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1252.056559995 meters 0.0167469558905077 Centerline is valid? [True, True] Translation: X:-392.43, Y:-244.01, Z:-1.77 [[-9.99727832e-01 1.72208139e-02 1.57386504e-02 -3.92426864e+02] [ 1.72128949e-02 9.99851643e-01 -6.38483852e-04 -2.44008365e+02] [-1.57473106e-02 -3.67402341e-04 -9.99875936e-01 -1.76957676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1252.086559995 meters 0.01594900418069826 Centerline is valid? [True, True] Translation: X:-392.41, Y:-243.45, Z:-2.81 [[-9.91382072e-01 -1.30090291e-01 1.54305940e-02 -3.92413470e+02] [ 1.30079977e-01 -9.91502091e-01 -1.67447169e-03 -2.43451790e+02] [ 1.55172988e-02 3.47170105e-04 9.99879539e-01 -2.81497824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1252.116559995 meters 0.015794867735639505 Centerline is valid? [True, True] Translation: X:-392.49, Y:-244.01, Z:-1.77 [[-9.99774756e-01 1.47002209e-02 1.53082070e-02 -3.92493710e+02] [ 1.46934672e-02 9.99891892e-01 -5.53563246e-04 -2.44007594e+02] [-1.53146896e-02 -3.28507921e-04 -9.99882670e-01 -1.77054419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1252.146559995 meters 0.01529507502993755 Centerline is valid? [True, True] Translation: X:-392.50, Y:-243.98, Z:-1.77 [[-9.98359446e-01 -5.52996820e-02 1.48446279e-02 -3.92498849e+02] [-5.52980488e-02 9.98469757e-01 5.20769765e-04 -2.43981450e+02] [-1.48507104e-02 -3.00963546e-04 -9.99889677e-01 -1.77120156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1252.176559995 meters 0.014853959800196215 Centerline is valid? [True, True] Translation: X:-392.51, Y:-243.42, Z:-2.81 [[-9.98579440e-01 -5.12411501e-02 1.46098216e-02 -3.92513358e+02] [ 5.12397776e-02 -9.98686270e-01 -4.68497954e-04 -2.43419516e+02] [ 1.46146346e-02 2.80771584e-04 9.99893161e-01 -2.81336082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1252.2065599950001 meters 0.01481177912604132 Centerline is valid? [True, True] Translation: X:-392.56, Y:-243.98, Z:-1.77 [[-9.98234416e-01 -5.75761317e-02 1.45958593e-02 -3.92561498e+02] [-5.75738287e-02 9.98341084e-01 5.78279776e-04 -2.43984961e+02] [-1.46049411e-02 -2.63080729e-04 -9.99893308e-01 -1.77122277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1252.236559995 meters 0.014473803446222434 Centerline is valid? [True, True] Translation: X:-392.58, Y:-243.42, Z:-2.82 [[-9.98935015e-01 -4.34779036e-02 1.54437326e-02 -3.92581591e+02] [ 4.34778452e-02 -9.99054334e-01 -3.39692574e-04 -2.43421147e+02] [ 1.54438971e-02 3.32129409e-04 9.99880681e-01 -2.81524476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1252.266559995 meters 0.014287452070402579 Centerline is valid? [True, True] Translation: X:-392.63, Y:-243.99, Z:-1.77 [[-9.98105831e-01 -5.92939478e-02 1.64005656e-02 -3.92628355e+02] [-5.92899607e-02 9.98240536e-01 7.29661859e-04 -2.43989738e+02] [-1.64149739e-02 -2.44109134e-04 -9.99865236e-01 -1.76960158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1252.296559995 meters 0.014090260550455192 Centerline is valid? [True, True] Translation: X:-392.65, Y:-243.42, Z:-2.82 [[-9.99190024e-01 -3.67231532e-02 1.64531596e-02 -3.92651919e+02] [ 3.67222495e-02 -9.99325447e-01 -3.57144488e-04 -2.43422387e+02] [ 1.64551765e-02 2.47341821e-04 9.99864574e-01 -2.81598562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1252.326559995 meters 0.014046410601949147 Centerline is valid? [True, True] Translation: X:-392.70, Y:-243.99, Z:-1.77 [[-9.97900241e-01 -6.25812856e-02 1.66940454e-02 -3.92698024e+02] [-6.25762691e-02 9.98039845e-01 8.23202850e-04 -2.43994013e+02] [-1.67128396e-02 -2.23176753e-04 -9.99860306e-01 -1.76857443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1252.356559995 meters 0.013824315743109165 Centerline is valid? [True, True] Translation: X:-392.72, Y:-243.42, Z:-2.82 [[-9.99423790e-01 -2.95771771e-02 1.66516857e-02 -3.92723603e+02] [ 2.95767128e-02 -9.99562476e-01 -2.74200453e-04 -2.43424210e+02] [ 1.66525102e-02 2.18459669e-04 9.99861314e-01 -2.81682869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1252.386559995 meters 0.013753496240143485 Centerline is valid? [True, True] Translation: X:-392.77, Y:-244.00, Z:-1.77 [[-9.97724118e-01 -6.51887811e-02 1.72338853e-02 -3.92769103e+02] [-6.51823679e-02 9.97872931e-01 9.34177064e-04 -2.43999170e+02] [-1.72581255e-02 -1.91294463e-04 -9.99851049e-01 -1.76780045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1252.416559995 meters 0.01377335651119714 Centerline is valid? [True, True] Translation: X:-392.78, Y:-243.97, Z:-1.77 [[-9.90586210e-01 -1.35809976e-01 1.71642262e-02 -3.92779200e+02] [-1.35792840e-01 9.90734887e-01 2.16537136e-03 -2.43972794e+02] [-1.72992768e-02 -1.85792014e-04 -9.99850339e-01 -1.76755418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1252.4465599950001 meters 0.013786308094317662 Centerline is valid? [True, True] Translation: X:-392.80, Y:-243.95, Z:-1.77 [[-9.78428386e-01 -2.05862865e-01 1.72735379e-02 -3.92798617e+02] [-2.05834073e-01 9.78580834e-01 3.44771257e-03 -2.43948431e+02] [-1.76133091e-02 -1.82142816e-04 -9.99844857e-01 -1.76682790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1252.4765599950001 meters 0.013890618877547426 Centerline is valid? [True, True] Translation: X:-392.83, Y:-243.93, Z:-1.77 [[-9.61094761e-01 -2.75664175e-01 1.74964046e-02 -3.92831080e+02] [-2.75622037e-01 9.61253987e-01 4.82337743e-03 -2.43928309e+02] [-1.81481211e-02 -1.86671902e-04 -9.99835292e-01 -1.76648904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1252.506559995 meters 0.014055649540106881 Centerline is valid? [True, True] Translation: X:-392.87, Y:-243.91, Z:-1.77 [[-9.38558807e-01 -3.44678728e-01 1.74339077e-02 -3.92874924e+02] [-3.44623027e-01 9.38720693e-01 6.19927407e-03 -2.43913626e+02] [-1.85023278e-02 -1.89742750e-04 -9.99828799e-01 -1.76579098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1252.536559995 meters 0.014218057410680381 Centerline is valid? [True, True] Translation: X:-392.94, Y:-243.91, Z:-1.77 [[-9.10765346e-01 -4.12572153e-01 1.70499962e-02 -3.92936931e+02] [-4.12503735e-01 9.10924905e-01 7.51566075e-03 -2.43909640e+02] [-1.86320185e-02 -1.88183741e-04 -9.99826391e-01 -1.76516270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1252.566559995 meters 0.014218057410680381 Centerline is valid? [True, True] Translation: X:-393.00, Y:-243.91, Z:-1.77 [[-8.77885495e-01 -4.78587993e-01 1.64496305e-02 -3.93004282e+02] [-4.78508002e-01 8.78039576e-01 8.75182004e-03 -2.43911453e+02] [-1.86319426e-02 -1.88183973e-04 -9.99826393e-01 -1.76516507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1252.596559995 meters 0.014167652504530335 Centerline is valid? [True, True] Translation: X:-393.08, Y:-243.92, Z:-1.76 [[-8.39970417e-01 -5.42415023e-01 1.53505947e-02 -3.93079589e+02] [-5.42328460e-01 8.40110653e-01 9.69189597e-03 -2.43923569e+02] [-1.81532281e-02 -1.84158481e-04 -9.99835200e-01 -1.76488013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1252.626559995 meters 0.014239514552260071 Centerline is valid? [True, True] Translation: X:-393.16, Y:-243.94, Z:-1.76 [[-7.97252899e-01 -6.03474967e-01 1.43450011e-02 -3.93157401e+02] [-6.03381343e-01 7.97381923e-01 1.06312657e-02 -2.43944310e+02] [-1.78541473e-02 -1.79698610e-04 -9.99840586e-01 -1.76490843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1252.656559995 meters 0.013363618736140753 Centerline is valid? [True, True] Translation: X:-393.24, Y:-243.98, Z:-1.77 [[-7.50038795e-01 -6.61277085e-01 1.24267250e-02 -3.93235822e+02] [-6.61189909e-01 7.50141714e-01 1.07383984e-02 -2.43976045e+02] [-1.64228615e-02 -1.62209773e-04 -9.99865123e-01 -1.76886208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1252.6865599950002 meters 0.013189380416068954 Centerline is valid? [True, True] Translation: X:-393.32, Y:-244.02, Z:-1.77 [[-6.98449111e-01 -7.15576830e-01 1.08921873e-02 -3.93318066e+02] [-7.15493116e-01 6.98534021e-01 1.09463328e-02 -2.44016467e+02] [-1.54415056e-02 -1.47828624e-04 -9.99880762e-01 -1.76996949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1252.7165599950001 meters 0.013000954102539809 Centerline is valid? [True, True] Translation: X:-393.40, Y:-244.07, Z:-1.77 [[-6.42554020e-01 -7.66178531e-01 9.73607152e-03 -3.93401258e+02] [-7.66093937e-01 6.42627761e-01 1.13859888e-02 -2.44068413e+02] [-1.49803700e-02 -1.42632468e-04 -9.99887778e-01 -1.77136907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1252.746559995 meters 0.013853110869215403 Centerline is valid? [True, True] Translation: X:-393.48, Y:-244.13, Z:-1.77 [[-5.83417887e-01 -8.12128250e-01 8.44241844e-03 -3.93483458e+02] [-8.12046312e-01 5.83478954e-01 1.15368096e-02 -2.44128441e+02] [-1.42953425e-02 -1.24853679e-04 -9.99897809e-01 -1.76868979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1252.776559995 meters 0.012770766789844562 Centerline is valid? [True, True] Translation: X:-393.56, Y:-244.20, Z:-1.77 [[-5.20163873e-01 -8.54035941e-01 7.22196317e-03 -3.93559638e+02] [-8.53956779e-01 5.20213992e-01 1.16285396e-02 -2.44198110e+02] [-1.36881571e-02 -1.18498193e-04 -9.99906306e-01 -1.77315634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1252.806559995 meters 0.01304486190711489 Centerline is valid? [True, True] Translation: X:-393.63, Y:-244.28, Z:-1.77 [[-4.53725763e-01 -8.91120679e-01 6.07188503e-03 -3.93634747e+02] [-8.91044233e-01 4.53766375e-01 1.16727300e-02 -2.44275541e+02] [-1.31570283e-02 -1.14099825e-04 -9.99913436e-01 -1.77312438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1252.836559995 meters 0.012702368534544463 Centerline is valid? [True, True] Translation: X:-393.70, Y:-244.36, Z:-1.77 [[-3.84662085e-01 -9.23043589e-01 5.06091067e-03 -3.93702703e+02] [-9.22967447e-01 3.84695361e-01 1.18562740e-02 -2.44358268e+02] [-1.28907666e-02 -1.10396712e-04 -9.99916905e-01 -1.77472739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1252.866559995 meters 0.012908827957675378 Centerline is valid? [True, True] Translation: X:-393.77, Y:-244.45, Z:-1.77 [[-3.12773661e-01 -9.49819092e-01 4.04106125e-03 -3.93767424e+02] [-9.49744359e-01 3.12799745e-01 1.19151683e-02 -2.44450743e+02] [-1.25812973e-02 -1.11224308e-04 -9.99920846e-01 -1.77446337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1252.896559995 meters 0.012961322271562183 Centerline is valid? [True, True] Translation: X:-393.83, Y:-244.55, Z:-1.77 [[-2.38494202e-01 -9.71139462e-01 2.94307764e-03 -3.93825905e+02] [-9.71071355e-01 2.38512333e-01 1.15017771e-02 -2.44551659e+02] [-1.18717899e-02 -1.14831239e-04 -9.99929521e-01 -1.77481761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1252.926559995 meters 0.012921120726494928 Centerline is valid? [True, True] Translation: X:-393.88, Y:-244.66, Z:-1.78 [[-1.62893525e-01 -9.86641410e-01 2.10435767e-03 -3.93876270e+02] [-9.86568707e-01 1.62907069e-01 1.19780041e-02 -2.44655231e+02] [-1.21608096e-02 -1.24954117e-04 -9.99926047e-01 -1.77545134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1252.9565599950001 meters 0.013333319021797517 Centerline is valid? [True, True] Translation: X:-393.92, Y:-244.76, Z:-1.77 [[-8.62208288e-02 -9.96275378e-01 1.15801286e-03 -3.93920245e+02] [-9.96204693e-01 8.62285065e-02 1.18681756e-02 -2.44764308e+02] [-1.19238248e-02 -1.30333906e-04 -9.99928900e-01 -1.77426949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1252.986559995 meters 0.013141555415348173 Centerline is valid? [True, True] Translation: X:-393.95, Y:-244.88, Z:-1.77 [[-9.36987279e-03 -9.99956071e-01 2.46885651e-04 -3.93954025e+02] [-9.99884265e-01 9.37215878e-03 1.19841471e-02 -2.44877257e+02] [-1.19859346e-02 -1.34567143e-04 -9.99928157e-01 -1.77494362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1253.016559995 meters 0.013115806232500873 Centerline is valid? [True, True] Translation: X:-393.98, Y:-245.00, Z:-1.78 [[ 6.74788523e-02 -9.97720481e-01 -6.67505463e-04 -3.93978598e+02] [-9.97649544e-01 -6.74820148e-02 1.18981152e-02 -2.44998770e+02] [-1.19160378e-02 -1.36934635e-04 -9.99928992e-01 -1.77535453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1253.046559995 meters 0.01329507023267152 Centerline is valid? [True, True] Translation: X:-393.99, Y:-245.11, Z:-1.78 [[ 1.43659419e-01 -9.89625988e-01 -1.54119363e-03 -3.93994695e+02] [-9.89558795e-01 -1.43667625e-01 1.15327569e-02 -2.45107077e+02] [-1.16345356e-02 -1.31687446e-04 -9.99932308e-01 -1.77596074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1253.076559995 meters 0.013024986200056338 Centerline is valid? [True, True] Translation: X:-394.00, Y:-245.22, Z:-1.78 [[ 2.19083513e-01 -9.75703229e-01 -2.37131256e-03 -3.94001177e+02] [-9.75639532e-01 -2.19096308e-01 1.11494869e-02 -2.45224992e+02] [-1.13981362e-02 -1.29122475e-04 -9.99935031e-01 -1.77739874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1253.106559995 meters 0.012976693195446126 Centerline is valid? [True, True] Translation: X:-394.00, Y:-245.34, Z:-1.78 [[ 2.93658080e-01 -9.55905079e-01 -3.22684255e-03 -3.94000103e+02] [-9.55842214e-01 -2.93675777e-01 1.09635836e-02 -2.45341514e+02] [-1.14277907e-02 -1.35192579e-04 -9.99934692e-01 -1.77791784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1253.136559995 meters 0.013126249935928634 Centerline is valid? [True, True] Translation: X:-393.99, Y:-245.46, Z:-1.78 [[ 3.66775594e-01 -9.30300393e-01 -4.10394536e-03 -3.93990693e+02] [-9.30237610e-01 -3.66798524e-01 1.08088861e-02 -2.45457411e+02] [-1.15608321e-02 -1.46791295e-04 -9.99933161e-01 -1.77821071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1253.166559995 meters 0.013248591939071576 Centerline is valid? [True, True] Translation: X:-393.97, Y:-245.58, Z:-1.78 [[ 4.37862363e-01 -8.99027795e-01 -5.05716776e-03 -3.93970710e+02] [-8.98963447e-01 -4.37891536e-01 1.07575157e-02 -2.45575539e+02] [-1.18857966e-02 -1.64102299e-04 -9.99929348e-01 -1.77848309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1253.1965599950001 meters 0.013823054235364608 Centerline is valid? [True, True] Translation: X:-393.95, Y:-245.68, Z:-1.78 [[ 5.06385633e-01 -8.62286824e-01 -5.91810317e-03 -3.93947703e+02] [-8.62223712e-01 -5.06420181e-01 1.04341353e-02 -2.45682702e+02] [-1.19942643e-02 -1.80967339e-04 -9.99928050e-01 -1.77802170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1253.2265599950001 meters 0.014664141490651886 Centerline is valid? [True, True] Translation: X:-393.91, Y:-245.79, Z:-1.78 [[ 5.72934248e-01 -8.19573991e-01 -6.69491268e-03 -3.93911612e+02] [-8.19513640e-01 -5.72973323e-01 9.94815242e-03 -2.45794802e+02] [-1.19892533e-02 -2.13064961e-04 -9.99928104e-01 -1.77866165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1253.256559995 meters 0.014916192564240689 Centerline is valid? [True, True] Translation: X:-393.87, Y:-245.89, Z:-1.78 [[ 6.34654452e-01 -7.72759937e-01 -7.47036045e-03 -3.93873022e+02] [-7.72702123e-01 -6.34698375e-01 9.45529012e-03 -2.45893877e+02] [-1.20480950e-02 -2.28478590e-04 -9.99927393e-01 -1.77905151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1253.286559995 meters 0.01526725749815768 Centerline is valid? [True, True] Translation: X:-393.83, Y:-245.99, Z:-1.78 [[ 6.92271473e-01 -7.21590227e-01 -8.23118080e-03 -3.93825795e+02] [-7.21535024e-01 -6.92320363e-01 8.92882131e-03 -2.45991699e+02] [-1.21415643e-02 -2.42083040e-04 -9.99926259e-01 -1.77909080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1253.316559995 meters 0.01565051303978551 Centerline is valid? [True, True] Translation: X:-393.77, Y:-246.08, Z:-1.78 [[ 7.45617653e-01 -6.66313298e-01 -8.99464960e-03 -3.93774048e+02] [-6.66260638e-01 -7.45671860e-01 8.38088743e-03 -2.46083169e+02] [-1.22913538e-02 -2.56156633e-04 -9.99924426e-01 -1.77908032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1253.346559995 meters 0.015382450443616417 Centerline is valid? [True, True] Translation: X:-393.77, Y:-246.09, Z:-1.78 [[ 7.96157963e-01 -6.05013132e-01 -9.57120578e-03 -3.93773086e+02] [-6.04965311e-01 -7.96215446e-01 7.61154960e-03 -2.46091753e+02] [-1.22258293e-02 -2.69748345e-04 -9.99925226e-01 -1.77958136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1253.376559995 meters 0.015896198572411504 Centerline is valid? [True, True] Translation: X:-393.77, Y:-246.10, Z:-1.78 [[ 8.41770563e-01 -5.39728822e-01 -1.07293096e-02 -3.93771889e+02] [-5.39680353e-01 -8.41838884e-01 7.23945791e-03 -2.46101052e+02] [-1.29396941e-02 -3.03564987e-04 -9.99916233e-01 -1.77903696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1253.406559995 meters 0.016896540601912056 Centerline is valid? [True, True] Translation: X:-393.77, Y:-246.11, Z:-1.78 [[ 8.82575197e-01 -4.70003179e-01 -1.25711647e-02 -3.93769085e+02] [-4.69949406e-01 -8.82664643e-01 7.11934977e-03 -2.46109223e+02] [-1.44422396e-02 -3.75550139e-04 -9.99895635e-01 -1.77843241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1253.4365599950002 meters 0.017186721760829107 Centerline is valid? [True, True] Translation: X:-393.77, Y:-246.12, Z:-1.78 [[ 9.17086527e-01 -3.98463890e-01 -1.33727764e-02 -3.93766136e+02] [-3.98415123e-01 -9.17183933e-01 6.24681900e-03 -2.46117387e+02] [-1.47544274e-02 -4.00957207e-04 -9.99891067e-01 -1.77878538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1253.4665599950001 meters 0.018050887826404165 Centerline is valid? [True, True] Translation: X:-393.76, Y:-246.12, Z:-1.78 [[ 9.45789518e-01 -3.24477380e-01 -1.40220520e-02 -3.93763795e+02] [-3.24435047e-01 -9.45893361e-01 5.25838033e-03 -2.46124373e+02] [-1.49695913e-02 -4.24075922e-04 -9.99887860e-01 -1.77857820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1253.496559995 meters 0.017170484302148552 Centerline is valid? [True, True] Translation: X:-393.76, Y:-246.13, Z:-1.78 [[ 9.68342269e-01 -2.49196471e-01 -1.46413618e-02 -3.93759324e+02] [-2.49161143e-01 -9.68452853e-01 4.21867332e-03 -2.46131604e+02] [-1.52307471e-02 -4.37061247e-04 -9.99883910e-01 -1.77971247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1253.526559995 meters 0.01862246231324697 Centerline is valid? [True, True] Translation: X:-393.76, Y:-246.14, Z:-1.78 [[ 9.84947009e-01 -1.72193712e-01 -1.51233571e-02 -3.93756054e+02] [-1.72166377e-01 -9.85063004e-01 3.10099885e-03 -2.46138609e+02] [-1.54314320e-02 -4.50585949e-04 -9.99880827e-01 -1.78015088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1253.556559995 meters 0.017764700940800793 Centerline is valid? [True, True] Translation: X:-393.75, Y:-246.14, Z:-1.78 [[ 9.95355448e-01 -9.51139317e-02 -1.48617574e-02 -3.93750669e+02] [-9.50968680e-02 -9.95466300e-01 1.85227211e-03 -2.46143092e+02] [-1.49705556e-02 -4.30362549e-04 -9.99887843e-01 -1.78145110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1253.586559995 meters 0.018047742632893764 Centerline is valid? [True, True] Translation: X:-393.75, Y:-246.15, Z:-1.78 [[ 9.99742295e-01 -1.73831330e-02 -1.46003351e-02 -3.93749418e+02] [-1.73752446e-02 -9.99848817e-01 6.66973611e-04 -2.46147717e+02] [-1.46097218e-02 -4.13117335e-04 -9.99893187e-01 -1.78193332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1253.616559995 meters 0.01714533745484955 Centerline is valid? [True, True] Translation: X:-393.75, Y:-246.15, Z:-1.78 [[ 9.98092488e-01 6.00999590e-02 -1.41202434e-02 -3.93747007e+02] [ 6.00994298e-02 -9.98192289e-01 -4.62190863e-04 -2.46151860e+02] [-1.41224957e-02 -3.87309348e-04 -9.99900198e-01 -1.78285111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1253.646559995 meters 0.016965681863051838 Centerline is valid? [True, True] Translation: X:-393.74, Y:-246.16, Z:-1.78 [[ 9.90458979e-01 1.37046258e-01 -1.44684245e-02 -3.93744989e+02] [ 1.37037295e-01 -9.90564574e-01 -1.61374038e-03 -2.46156876e+02] [-1.45530658e-02 -3.84370112e-04 -9.99894025e-01 -1.78329509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1253.676559995 meters 0.016111370342609035 Centerline is valid? [True, True] Translation: X:-393.74, Y:-246.16, Z:-1.78 [[ 9.76919692e-01 2.13144298e-01 -1.40507291e-02 -3.93742372e+02] [ 2.13127582e-01 -9.77020663e-01 -2.69389139e-03 -2.46162578e+02] [-1.43020402e-02 -3.62882373e-04 -9.99897655e-01 -1.78365656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1253.7065599950001 meters 0.016539488914008884 Centerline is valid? [True, True] Translation: X:-393.74, Y:-246.17, Z:-1.78 [[ 9.57706805e-01 2.87348764e-01 -1.51117282e-02 -3.93740166e+02] [ 2.87319091e-01 -9.57825950e-01 -4.14607512e-03 -2.46169823e+02] [-1.56657749e-02 -3.71163649e-04 -9.99877216e-01 -1.78148667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1253.736559995 meters 0.015773953463733482 Centerline is valid? [True, True] Translation: X:-393.74, Y:-246.17, Z:-1.78 [[ 9.32503927e-01 3.60810715e-01 -1.58761860e-02 -3.93736392e+02] [ 3.60765490e-01 -9.32638985e-01 -5.72574483e-03 -2.46174427e+02] [-1.68726601e-02 -3.88300488e-04 -9.99857571e-01 -1.78168837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1253.766559995 meters 0.016165305729265687 Centerline is valid? [True, True] Translation: X:-393.73, Y:-246.18, Z:-1.78 [[ 9.01640250e-01 4.32187109e-01 -1.60985217e-02 -3.93732793e+02] [ 4.32126036e-01 -9.01783869e-01 -7.27618502e-03 -2.46180396e+02] [-1.76620605e-02 -3.96089073e-04 -9.99843935e-01 -1.78025136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1253.796559995 meters 0.016714687635892834 Centerline is valid? [True, True] Translation: X:-393.73, Y:-246.18, Z:-1.78 [[ 8.65135909e-01 5.01275772e-01 -1.62005895e-02 -3.93729684e+02] [ 5.01196729e-01 -8.65287485e-01 -8.91106900e-03 -2.46184457e+02] [-1.84850704e-02 -4.10396687e-04 -9.99829052e-01 -1.77883987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1253.826559995 meters 0.015661562620201155 Centerline is valid? [True, True] Translation: X:-393.73, Y:-246.19, Z:-1.78 [[ 8.23111410e-01 5.67644165e-01 -1.63618093e-02 -3.93725321e+02] [ 5.67542533e-01 -8.23273898e-01 -1.07499853e-02 -2.46189305e+02] [-1.95724169e-02 -4.37587106e-04 -9.99808346e-01 -1.77948824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1253.856559995 meters 0.01680789573095289 Centerline is valid? [True, True] Translation: X:-393.72, Y:-246.20, Z:-1.78 [[ 7.75041540e-01 6.31678321e-01 -1.71204503e-02 -3.93717970e+02] [ 6.31538952e-01 -7.75230435e-01 -1.32787101e-02 -2.46197643e+02] [-2.16601675e-02 -5.20679306e-04 -9.99765256e-01 -1.77683227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1253.886559995 meters 0.01654955573919019 Centerline is valid? [True, True] Translation: X:-393.71, Y:-246.20, Z:-1.78 [[ 7.22235708e-01 6.91453111e-01 -1.63761612e-02 -3.93711292e+02] [ 6.91292883e-01 -7.22421123e-01 -1.48953296e-02 -2.46202374e+02] [-2.21299068e-02 -5.62784822e-04 -9.99754945e-01 -1.77700446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1253.916559995 meters 0.0177782205264926 Centerline is valid? [True, True] Translation: X:-393.70, Y:-246.21, Z:-1.78 [[ 6.64751571e-01 7.46899469e-01 -1.57013794e-02 -3.93703622e+02] [ 7.46712841e-01 -6.64936690e-01 -1.67072563e-02 -2.46208144e+02] [-2.29190641e-02 -6.18246768e-04 -9.99737133e-01 -1.77581244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1253.9465599950001 meters 0.018564005213836204 Centerline is valid? [True, True] Translation: X:-393.70, Y:-246.21, Z:-1.78 [[ 6.02445320e-01 7.98028908e-01 -1.44740787e-02 -3.93696894e+02] [ 7.97825118e-01 -6.02618789e-01 -1.80464945e-02 -2.46211512e+02] [-2.31239761e-02 -6.75757364e-04 -9.99732377e-01 -1.77598185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1253.9765599950001 meters 0.018702350477644607 Centerline is valid? [True, True] Translation: X:-393.69, Y:-246.21, Z:-1.78 [[ 5.37774151e-01 8.42988654e-01 -1.30035430e-02 -3.93691438e+02] [ 8.42772375e-01 -5.37930908e-01 -1.91066043e-02 -2.46212479e+02] [-2.31016583e-02 -6.83988955e-04 -9.99732887e-01 -1.77626317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1254.006559995 meters 0.018206369036113054 Centerline is valid? [True, True] Translation: X:-393.69, Y:-246.21, Z:-1.78 [[ 4.70190832e-01 8.82488051e-01 -1.16370772e-02 -3.93686530e+02] [ 8.82253373e-01 -4.70334307e-01 -2.03623547e-02 -2.46213384e+02] [-2.34428514e-02 -6.92658113e-04 -9.99724939e-01 -1.77733515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1254.036559995 meters 0.018854800360685618 Centerline is valid? [True, True] Translation: X:-393.68, Y:-246.22, Z:-1.78 [[ 4.00122332e-01 9.16408396e-01 -9.88794892e-03 -3.93681531e+02] [ 9.16168952e-01 -4.00243924e-01 -2.09583779e-02 -2.46215262e+02] [-2.31640250e-02 -6.73116764e-04 -9.99731452e-01 -1.77720279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1254.066559995 meters 0.017703789195174707 Centerline is valid? [True, True] Translation: X:-393.68, Y:-246.22, Z:-1.78 [[ 3.29077776e-01 9.44271803e-01 -7.65378023e-03 -3.93678770e+02] [ 9.44056271e-01 -3.29166252e-01 -2.01825743e-02 -2.46215184e+02] [-2.15772020e-02 -5.83962561e-04 -9.99767015e-01 -1.77913530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1254.096559995 meters 0.01726654127895994 Centerline is valid? [True, True] Translation: X:-393.67, Y:-246.22, Z:-1.78 [[ 2.55487711e-01 9.66795964e-01 -5.62089728e-03 -3.93674770e+02] [ 9.66604370e-01 -2.55549017e-01 -1.92533482e-02 -2.46215005e+02] [-2.00504741e-02 -5.14190028e-04 -9.99798837e-01 -1.78005403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1254.126559995 meters 0.0178153183848135 Centerline is valid? [True, True] Translation: X:-393.67, Y:-246.22, Z:-1.78 [[ 1.80297828e-01 9.83603926e-01 -4.00118327e-03 -3.93670364e+02] [ 9.83417038e-01 -1.80341589e-01 -1.91791591e-02 -2.46216126e+02] [-1.95862760e-02 -4.76871075e-04 -9.99808057e-01 -1.77952078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1254.156559995 meters 0.01543811065417349 Centerline is valid? [True, True] Translation: X:-393.67, Y:-246.22, Z:-1.78 [[ 1.04535933e-01 9.94518315e-01 -2.35783373e-03 -3.93667367e+02] [ 9.94347794e-01 -1.04561681e-01 -1.84206463e-02 -2.46216154e+02] [-1.85662091e-02 -4.18887330e-04 -9.99827546e-01 -1.78248423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1254.1865599950002 meters 0.016328026486857095 Centerline is valid? [True, True] Translation: X:-393.66, Y:-246.22, Z:-1.78 [[ 2.79907509e-02 9.99607796e-01 -8.78565454e-04 -3.93660153e+02] [ 9.99446819e-01 -2.80020133e-02 -1.79427957e-02 -2.46217193e+02] [-1.79603601e-02 -3.75847123e-04 -9.99838629e-01 -1.78115562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1254.2165599950001 meters 0.013861853693740102 Centerline is valid? [True, True] Translation: X:-393.66, Y:-246.22, Z:-1.78 [[-4.68925864e-02 9.98899809e-01 5.06928404e-04 -3.93657180e+02] [ 9.98751660e-01 4.68943634e-02 -1.72058448e-02 -2.46217124e+02] [-1.72106872e-02 -3.00530981e-04 -9.99851840e-01 -1.78406845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1254.246559995 meters 0.014268784210863339 Centerline is valid? [True, True] Translation: X:-393.65, Y:-246.22, Z:-1.78 [[-1.23681605e-01 9.92320178e-01 1.87778731e-03 -3.93649819e+02] [ 9.92168702e-01 1.23695538e-01 -1.73401586e-02 -2.46217344e+02] [-1.74392632e-02 -2.81576854e-04 -9.99847885e-01 -1.78269095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1254.276559995 meters 0.013537187844998601 Centerline is valid? [True, True] Translation: X:-393.65, Y:-246.22, Z:-1.78 [[-1.99624818e-01 9.79867161e-01 3.20605261e-03 -3.93645047e+02] [ 9.79719594e-01 1.99650400e-01 -1.70069210e-02 -2.46217126e+02] [-1.73046131e-02 -2.53970937e-04 -9.99850232e-01 -1.78366900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1254.306559995 meters 0.013294328522078581 Centerline is valid? [True, True] Translation: X:-393.64, Y:-246.22, Z:-1.78 [[-2.74866781e-01 9.61471355e-01 4.59202400e-03 -3.93639054e+02] [ 9.61322185e-01 2.74905031e-01 -1.69375508e-02 -2.46215841e+02] [-1.75473404e-02 -2.41155515e-04 -9.99846005e-01 -1.78340719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1254.336559995 meters 0.013115475656668596 Centerline is valid? [True, True] Translation: X:-393.63, Y:-246.21, Z:-1.78 [[-3.48519722e-01 9.37283144e-01 5.85755191e-03 -3.93633722e+02] [ 9.37139781e-01 3.48568871e-01 -1.63943425e-02 -2.46214057e+02] [-1.74079012e-02 -2.24406791e-04 -9.99848446e-01 -1.78295502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1254.366559995 meters 0.013332631588564785 Centerline is valid? [True, True] Translation: X:-393.63, Y:-246.21, Z:-1.78 [[-4.19500605e-01 9.07727083e-01 7.12643189e-03 -3.93628353e+02] [ 9.07588006e-01 4.19561085e-01 -1.58905025e-02 -2.46213147e+02] [-1.74142129e-02 -1.98211277e-04 -9.99848342e-01 -1.78147352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1254.396559995 meters 0.012977568366146962 Centerline is valid? [True, True] Translation: X:-393.63, Y:-246.21, Z:-1.78 [[-4.88678093e-01 8.72423798e-01 8.39278472e-03 -3.93625371e+02] [ 8.72288509e-01 4.88750123e-01 -1.53647439e-02 -2.46211693e+02] [-1.75065428e-02 -1.87484067e-04 -9.99846731e-01 -1.78218587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1254.426559995 meters 0.012729721545000803 Centerline is valid? [True, True] Translation: X:-393.62, Y:-246.21, Z:-1.78 [[-5.54864250e-01 8.31883243e-01 9.79458355e-03 -3.93619793e+02] [ 8.31747970e-01 5.54950663e-01 -1.50025731e-02 -2.46208871e+02] [-1.79158998e-02 -1.77766500e-04 -9.99839482e-01 -1.78227432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1254.4565599950001 meters 0.012764022926015679 Centerline is valid? [True, True] Translation: X:-393.61, Y:-246.21, Z:-1.78 [[-6.17802153e-01 7.86254196e-01 1.11731418e-02 -3.93614028e+02] [ 7.86120636e-01 6.17903156e-01 -1.44925907e-02 -2.46206169e+02] [-1.82987799e-02 -1.70116383e-04 -9.99832549e-01 -1.78013421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1254.486559995 meters 0.012833324218530518 Centerline is valid? [True, True] Translation: X:-393.61, Y:-246.20, Z:-1.78 [[-6.77625859e-01 7.35310637e-01 1.18937973e-02 -3.93610249e+02] [ 7.35193020e-01 6.77730211e-01 -1.31523902e-02 -2.46204011e+02] [-1.77318781e-02 -1.68162954e-04 -9.99842764e-01 -1.78005134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1254.516559995 meters 0.012833324218530518 Centerline is valid? [True, True] Translation: X:-393.61, Y:-246.20, Z:-1.78 [[-7.33135632e-01 6.79960335e-01 1.28875064e-02 -3.93606936e+02] [ 6.79851254e-01 7.33248877e-01 -1.21802076e-02 -2.46201753e+02] [-1.77318077e-02 -1.68156802e-04 -9.99842765e-01 -1.78005194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1254.546559995 meters 0.01296343575184289 Centerline is valid? [True, True] Translation: X:-393.59, Y:-246.18, Z:-1.78 [[-7.79452444e-01 6.26322737e-01 1.31801793e-02 -3.93590208e+02] [ 6.26229673e-01 7.79563855e-01 -1.07978599e-02 -2.46179329e+02] [-1.70377366e-02 -1.62598884e-04 -9.99854834e-01 -1.77992956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1254.576559995 meters 0.012767053997665012 Centerline is valid? [True, True] Translation: X:-393.57, Y:-246.16, Z:-1.78 [[-8.21501236e-01 5.70078174e-01 1.21076089e-02 -3.93572515e+02] [ 5.70013775e-01 8.21590443e-01 -8.56972864e-03 -2.46157751e+02] [-1.48329110e-02 -1.38538838e-04 -9.99889977e-01 -1.78082577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1254.606559995 meters 0.012154843858690484 Centerline is valid? [True, True] Translation: X:-393.55, Y:-246.14, Z:-1.78 [[-8.59804962e-01 5.10489231e-01 1.16692853e-02 -3.93552277e+02] [ 5.10440210e-01 8.59884137e-01 -7.07556446e-03 -2.46139688e+02] [-1.36462327e-02 -1.27133014e-04 -9.99906878e-01 -1.78366468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1254.636559995 meters 0.012049789967594003 Centerline is valid? [True, True] Translation: X:-393.54, Y:-246.12, Z:-1.78 [[-8.93564853e-01 4.48787905e-01 1.14573140e-02 -3.93536561e+02] [ 4.48749357e-01 8.93638295e-01 -5.88316842e-03 -2.46116997e+02] [-1.28789894e-02 -1.15530236e-04 -9.99917056e-01 -1.78432088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1254.666559995 meters 0.011874628048939458 Centerline is valid? [True, True] Translation: X:-393.52, Y:-246.09, Z:-1.78 [[-9.23167757e-01 3.84244451e-01 1.08394853e-02 -3.93524722e+02] [ 3.84216601e-01 9.23231385e-01 -4.62740090e-03 -2.46092051e+02] [-1.17854061e-02 -1.07157127e-04 -9.99930544e-01 -1.78495543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1254.6965599950001 meters 0.012000580741711545 Centerline is valid? [True, True] Translation: X:-393.52, Y:-246.06, Z:-1.78 [[-9.48131251e-01 3.17719163e-01 1.00828578e-02 -3.93517968e+02] [ 3.17700089e-01 9.48184858e-01 -3.48277601e-03 -2.46064272e+02] [-1.06669578e-02 -9.88039520e-05 -9.99943102e-01 -1.78496589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1254.7265599950001 meters 0.011923586846866957 Centerline is valid? [True, True] Translation: X:-393.51, Y:-246.04, Z:-1.79 [[-9.68330034e-01 2.49485005e-01 9.70450304e-03 -3.93511013e+02] [ 2.49471489e-01 9.68378657e-01 -2.59863449e-03 -2.46037014e+02] [-1.00459540e-02 -9.53389974e-05 -9.99949534e-01 -1.78540029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1254.756559995 meters 0.011932829016979812 Centerline is valid? [True, True] Translation: X:-393.34, Y:-245.41, Z:-2.80 [[-9.43212365e-01 -3.32085613e-01 8.34143991e-03 -3.93337361e+02] [ 3.32072698e-01 -9.43249249e-01 -2.92880204e-03 -2.45405056e+02] [ 8.84066995e-03 7.48215120e-06 9.99960921e-01 -2.80047211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1254.786559995 meters 0.011870993107858465 Centerline is valid? [True, True] Translation: X:-393.55, Y:-246.02, Z:-1.78 [[-9.69386278e-01 2.45409345e-01 8.03103176e-03 -3.93554658e+02] [ 2.45400224e-01 9.69419541e-01 -2.11732413e-03 -2.46024033e+02] [-8.30505025e-03 -8.16879590e-05 -9.99965509e-01 -1.78460893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1254.816559995 meters 0.011791833931932207 Centerline is valid? [True, True] Translation: X:-393.39, Y:-245.39, Z:-2.80 [[-9.44144897e-01 -3.29429389e-01 8.16653728e-03 -3.93390040e+02] [ 3.29418021e-01 -9.44180209e-01 -2.73876545e-03 -2.45393023e+02] [ 8.61291271e-03 1.04413123e-04 9.99962903e-01 -2.80122521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1254.846559995 meters 0.012197926637308643 Centerline is valid? [True, True] Translation: X:-393.61, Y:-246.01, Z:-1.78 [[-9.70712154e-01 2.40090020e-01 8.64267418e-03 -3.93605338e+02] [ 2.40079563e-01 9.70750623e-01 -2.24308625e-03 -2.46009051e+02] [-8.92842397e-03 -1.02461644e-04 -9.99960136e-01 -1.78300508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1254.876559995 meters 0.012552374887047274 Centerline is valid? [True, True] Translation: X:-393.60, Y:-245.98, Z:-1.78 [[-9.85430740e-01 1.69825367e-01 9.25217106e-03 -3.93597659e+02] [ 1.69816784e-01 9.85474166e-01 -1.71120309e-03 -2.45980833e+02] [-9.40838125e-03 -1.15098193e-04 -9.99955734e-01 -1.78181410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1254.906559995 meters 0.012290308624481019 Centerline is valid? [True, True] Translation: X:-393.48, Y:-245.35, Z:-2.80 [[-9.65449158e-01 -2.60408818e-01 9.75561741e-03 -3.93479154e+02] [ 2.60397251e-01 -9.65498431e-01 -2.45991352e-03 -2.45346125e+02] [ 1.00596165e-02 1.65414527e-04 9.99949387e-01 -2.80303790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1254.9365599950002 meters 0.012827505808359303 Centerline is valid? [True, True] Translation: X:-393.65, Y:-245.97, Z:-1.78 [[-9.86456881e-01 1.63675072e-01 1.06439541e-02 -3.93648845e+02] [ 1.63663829e-01 9.86514291e-01 -1.92482001e-03 -2.45970842e+02] [-1.08154579e-02 -1.56721664e-04 -9.99941499e-01 -1.78151707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1254.9665599950001 meters 0.01305987884201469 Centerline is valid? [True, True] Translation: X:-393.65, Y:-245.94, Z:-1.78 [[-9.95678882e-01 9.22148371e-02 1.09538778e-02 -3.93652623e+02] [ 9.22073682e-02 9.95739120e-01 -1.18600821e-03 -2.45942036e+02] [-1.10165722e-02 -1.70855083e-04 -9.99939301e-01 -1.78119807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1254.996559995 meters 0.013460386679251882 Centerline is valid? [True, True] Translation: X:-393.58, Y:-245.30, Z:-2.80 [[-9.81512393e-01 -1.91085735e-01 1.09391105e-02 -3.93584715e+02] [ 1.91075891e-01 -9.81573334e-01 -1.94773366e-03 -2.45303983e+02] [ 1.11097233e-02 1.78475571e-04 9.99938269e-01 -2.80448900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1255.026559995 meters 0.01365431959017 Centerline is valid? [True, True] Translation: X:-393.71, Y:-245.94, Z:-1.78 [[-9.96270265e-01 8.55825534e-02 1.10084431e-02 -3.93709167e+02] [ 8.55751250e-02 9.96331063e-01 -1.14493703e-03 -2.45935225e+02] [-1.10660404e-02 -1.98617822e-04 -9.99938750e-01 -1.78095092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1255.056559995 meters 0.014172394489527701 Centerline is valid? [True, True] Translation: X:-393.72, Y:-245.91, Z:-1.78 [[-9.99834605e-01 1.41721240e-02 1.13979510e-02 -3.93720326e+02] [ 1.41688077e-02 9.99899548e-01 -3.71656562e-04 -2.45906019e+02] [-1.14020732e-02 -2.10099716e-04 -9.99934972e-01 -1.78064869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1255.086559995 meters 0.014299111228357187 Centerline is valid? [True, True] Translation: X:-393.72, Y:-245.88, Z:-1.78 [[-9.98306341e-01 -5.70881642e-02 1.11978091e-02 -3.93715903e+02] [-5.70869213e-02 9.98369119e-01 4.30861497e-04 -2.45878555e+02] [-1.12041439e-02 -2.09116682e-04 -9.99937210e-01 -1.78083313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1255.116559995 meters 0.013899814751012414 Centerline is valid? [True, True] Translation: X:-393.72, Y:-245.85, Z:-1.78 [[-9.91712720e-01 -1.27993061e-01 1.11201665e-02 -3.93720389e+02] [-1.27987364e-01 9.91775042e-01 1.22541114e-03 -2.45851950e+02] [-1.11855478e-02 -2.07984987e-04 -9.99937418e-01 -1.78155815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1255.146559995 meters 0.014150079687609859 Centerline is valid? [True, True] Translation: X:-393.80, Y:-245.22, Z:-2.80 [[-9.99649810e-01 2.40500607e-02 1.10387089e-02 -3.93796779e+02] [-2.40464276e-02 -9.99710736e-01 4.61749792e-04 -2.45217261e+02] [ 1.10466209e-02 1.96146577e-04 9.99938965e-01 -2.80456520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1255.176559995 meters 0.013973677467414604 Centerline is valid? [True, True] Translation: X:-393.82, Y:-245.86, Z:-1.78 [[-9.90932702e-01 -1.33864968e-01 1.15130523e-02 -3.93824477e+02] [-1.33858435e-01 9.90999559e-01 1.33963544e-03 -2.45861445e+02] [-1.15887600e-02 -2.13630593e-04 -9.99932825e-01 -1.77998830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1255.2065599950001 meters 0.014311248206222859 Centerline is valid? [True, True] Translation: X:-393.83, Y:-245.83, Z:-1.78 [[-9.78879545e-01 -2.04136184e-01 1.11020455e-02 -3.93833042e+02] [-2.04125433e-01 9.78942479e-01 2.10514365e-03 -2.45834421e+02] [-1.12979999e-02 -2.05527792e-04 -9.99936155e-01 -1.77939213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1255.236559995 meters 0.014057774998632484 Centerline is valid? [True, True] Translation: X:-393.86, Y:-245.81, Z:-1.78 [[-9.61629023e-01 -2.74156050e-01 1.03962829e-02 -3.93859691e+02] [-2.74142240e-01 9.61685199e-01 2.75876141e-03 -2.45812567e+02] [-1.07542825e-02 -1.97155235e-04 -9.99942152e-01 -1.77973535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1255.266559995 meters 0.014131703288171033 Centerline is valid? [True, True] Translation: X:-393.90, Y:-245.80, Z:-1.78 [[-9.39279396e-01 -3.43010555e-01 9.89829897e-03 -3.93899066e+02] [-3.42993649e-01 9.39331530e-01 3.41086030e-03 -2.45795083e+02] [-1.04677454e-02 -1.91302881e-04 -9.99945194e-01 -1.77958651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1255.296559995 meters 0.014118052703683671 Centerline is valid? [True, True] Translation: X:-393.96, Y:-245.79, Z:-1.78 [[-9.11661409e-01 -4.10831652e-01 9.53041500e-03 -3.93955965e+02] [-4.10811375e-01 9.11711203e-01 4.08615536e-03 -2.45787184e+02] [-1.03677081e-02 -1.90012735e-04 -9.99946236e-01 -1.77949988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1255.326559995 meters 0.014197870336306668 Centerline is valid? [True, True] Translation: X:-394.02, Y:-245.79, Z:-1.78 [[-8.78873401e-01 -4.76967458e-01 9.14271318e-03 -3.94022726e+02] [-4.76943879e-01 8.78920934e-01 4.74633172e-03 -2.45787637e+02] [-1.02995678e-02 -1.89136391e-04 -9.99946940e-01 -1.77895300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1255.356559995 meters 0.014327643590765356 Centerline is valid? [True, True] Translation: X:-394.10, Y:-245.80, Z:-1.78 [[-8.41068585e-01 -5.40854824e-01 8.92725195e-03 -3.94095702e+02] [-5.40826772e-01 8.41115939e-01 5.51179113e-03 -2.45796772e+02] [-1.04899327e-02 -1.92302492e-04 -9.99944961e-01 -1.77854190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1255.386559995 meters 0.01455738339102339 Centerline is valid? [True, True] Translation: X:-394.18, Y:-245.82, Z:-1.78 [[-7.98537855e-01 -6.01889902e-01 8.11417961e-03 -3.94177701e+02] [-6.01861130e-01 7.98579059e-01 5.88787335e-03 -2.45817432e+02] [-1.00236654e-02 -1.81919557e-04 -9.99949745e-01 -1.77793166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1255.416559995 meters 0.014531652501769084 Centerline is valid? [True, True] Translation: X:-394.26, Y:-245.84, Z:-1.78 [[-7.51240509e-01 -6.59987793e-01 7.33559242e-03 -3.94257283e+02] [-6.59958574e-01 7.51276303e-01 6.21269867e-03 -2.45844294e+02] [-9.61136203e-03 -1.73956203e-04 -9.99953795e-01 -1.77798522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1255.4465599950001 meters 0.0146431613245014 Centerline is valid? [True, True] Translation: X:-394.34, Y:-245.88, Z:-1.78 [[-6.99512445e-01 -7.14589776e-01 6.61748607e-03 -3.94341549e+02] [-7.14560042e-01 6.99543726e-01 6.52088792e-03 -2.45883427e+02] [-9.28898070e-03 -1.67148865e-04 -9.99956843e-01 -1.77795459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1255.4765599950001 meters 0.014643811826470472 Centerline is valid? [True, True] Translation: X:-394.43, Y:-245.93, Z:-1.78 [[-6.43804891e-01 -7.65164551e-01 6.20266017e-03 -3.94427034e+02] [-7.65131506e-01 6.43834748e-01 7.11311658e-03 -2.45933683e+02] [-9.43619280e-03 -1.66391472e-04 -9.99955465e-01 -1.77778400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1255.506559995 meters 0.014712064617275335 Centerline is valid? [True, True] Translation: X:-394.51, Y:-245.99, Z:-1.78 [[-5.83987953e-01 -8.11742194e-01 5.71676363e-03 -3.94509554e+02] [-8.11706089e-01 5.84015910e-01 7.65781279e-03 -2.45991543e+02] [-9.55485067e-03 -1.68261430e-04 -9.99954337e-01 -1.77742697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1255.536559995 meters 0.014656293139178135 Centerline is valid? [True, True] Translation: X:-394.59, Y:-246.06, Z:-1.78 [[-5.20694440e-01 -8.53727980e-01 5.08303184e-03 -3.94593275e+02] [-8.53690401e-01 5.20719223e-01 8.01190970e-03 -2.46064016e+02] [-9.48682387e-03 -1.67578653e-04 -9.99954985e-01 -1.77651960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1255.566559995 meters 0.013883659285968394 Centerline is valid? [True, True] Translation: X:-394.67, Y:-246.14, Z:-1.78 [[-4.54260259e-01 -8.90857194e-01 4.59104880e-03 -3.94666228e+02] [-8.90815440e-01 4.54283426e-01 8.62678718e-03 -2.46137732e+02] [-9.77087280e-03 -1.70970578e-04 -9.99952249e-01 -1.77707497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1255.596559995 meters 0.013503627362974046 Centerline is valid? [True, True] Translation: X:-394.73, Y:-246.22, Z:-1.78 [[-3.84996492e-01 -9.22909474e-01 3.97533978e-03 -3.94734987e+02] [-9.22864811e-01 3.85016977e-01 9.08118622e-03 -2.46218965e+02] [-9.91168610e-03 -1.72476350e-04 -9.99950863e-01 -1.77756960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1255.626559995 meters 0.013528731930708578 Centerline is valid? [True, True] Translation: X:-394.80, Y:-246.31, Z:-1.78 [[-3.13812717e-01 -9.49479435e-01 3.22210828e-03 -3.94801588e+02] [-9.49434657e-01 3.13829215e-01 9.22257817e-03 -2.46312601e+02] [-9.76784002e-03 -1.65018957e-04 -9.99952280e-01 -1.77747225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1255.656559995 meters 0.014486305879250103 Centerline is valid? [True, True] Translation: X:-394.86, Y:-246.41, Z:-1.78 [[-2.41810137e-01 -9.70320357e-01 2.50235829e-03 -3.94862114e+02] [-9.70274605e-01 2.41823038e-01 9.42386534e-03 -2.46409023e+02] [-9.74929627e-03 -1.49188536e-04 -9.99952464e-01 -1.77575736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1255.6865599950002 meters 0.012981158563204982 Centerline is valid? [True, True] Translation: X:-394.91, Y:-246.52, Z:-1.78 [[-1.67563014e-01 -9.85859708e-01 1.80888889e-03 -3.94911665e+02] [-9.85811180e-01 1.67572715e-01 9.78275344e-03 -2.46516787e+02] [-9.94754287e-03 -1.43995241e-04 -9.99950512e-01 -1.77707541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1255.7165599950001 meters 0.012496839004994794 Centerline is valid? [True, True] Translation: X:-394.95, Y:-246.63, Z:-1.78 [[-9.20489305e-02 -9.95753873e-01 1.10420696e-03 -3.94954472e+02] [-9.95699861e-01 9.20554395e-02 1.03721910e-02 -2.46629051e+02] [-1.04297977e-02 -1.44709627e-04 -9.99945598e-01 -1.77784137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1255.746559995 meters 0.012477125633248098 Centerline is valid? [True, True] Translation: X:-394.99, Y:-246.73, Z:-1.78 [[-1.61046903e-02 -9.99870272e-01 2.81318509e-04 -3.94990025e+02] [-9.99823822e-01 1.61066540e-02 9.63854685e-03 -2.46732016e+02] [-9.64182756e-03 -1.26043134e-04 -9.99953509e-01 -1.77737401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1255.776559995 meters 0.012700388204563899 Centerline is valid? [True, True] Translation: X:-395.02, Y:-246.84, Z:-1.78 [[ 5.99999992e-02 -9.98198280e-01 -4.39925049e-04 -3.95017706e+02] [-9.98154826e-01 -6.00014925e-02 9.31477948e-03 -2.46842172e+02] [-9.32439302e-03 -1.19773451e-04 -9.99956520e-01 -1.77686259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1255.806559995 meters 0.011971355865519843 Centerline is valid? [True, True] Translation: X:-395.03, Y:-246.96, Z:-1.78 [[ 1.36317845e-01 -9.90664522e-01 -1.11834780e-03 -3.95034215e+02] [-9.90623924e-01 -1.36322384e-01 8.96935561e-03 -2.46956151e+02] [-9.03807822e-03 -1.14821143e-04 -9.99959149e-01 -1.77808982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1255.836559995 meters 0.012327872143139858 Centerline is valid? [True, True] Translation: X:-395.04, Y:-247.07, Z:-1.78 [[ 2.11980317e-01 -9.77272476e-01 -1.68940073e-03 -3.95043845e+02] [-9.77237260e-01 -2.11987021e-01 8.29697808e-03 -2.47074841e+02] [-8.46653933e-03 -1.07850697e-04 -9.99964153e-01 -1.77780762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1255.866559995 meters 0.012101190460417167 Centerline is valid? [True, True] Translation: X:-395.04, Y:-247.19, Z:-1.78 [[ 2.86403287e-01 -9.58107062e-01 -2.00378716e-03 -3.95043169e+02] [-9.58081272e-01 -2.86410281e-01 7.03051938e-03 -2.47192602e+02] [-7.30989551e-03 -9.37729078e-05 -9.99973278e-01 -1.77902155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1255.896559995 meters 0.011857863960598864 Centerline is valid? [True, True] Translation: X:-395.03, Y:-247.31, Z:-1.78 [[ 3.58889524e-01 -9.33377508e-01 -2.17662487e-03 -3.95032312e+02] [-9.33358969e-01 -3.58896116e-01 5.88327628e-03 -2.47314333e+02] [-6.27249996e-03 -7.98738779e-05 -9.99980325e-01 -1.78020386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1255.926559995 meters 0.011700384899890004 Centerline is valid? [True, True] Translation: X:-395.02, Y:-247.43, Z:-1.78 [[ 4.28562325e-01 -9.03510633e-01 -1.69400498e-03 -3.95016216e+02] [-9.03503121e-01 -4.28565670e-01 3.68463158e-03 -2.47425496e+02] [-4.05509619e-03 -4.85554904e-05 -9.99991777e-01 -1.78168376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1255.9565599950001 meters 0.01166755426261379 Centerline is valid? [True, True] Translation: X:-394.99, Y:-247.54, Z:-1.78 [[ 4.96159736e-01 -8.68229891e-01 -1.54063269e-03 -3.94989644e+02] [-8.68225471e-01 -4.96162126e-01 2.77048644e-03 -2.47538424e+02] [-3.16982273e-03 -3.69872741e-05 -9.99994976e-01 -1.78225944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1255.986559995 meters 0.011454218420148916 Centerline is valid? [True, True] Translation: X:-394.96, Y:-247.65, Z:-1.78 [[ 5.60631069e-01 -8.28064020e-01 -1.66866830e-03 -3.94956456e+02] [-8.28060172e-01 -5.60633551e-01 2.52450740e-03 -2.47645433e+02] [-3.02596519e-03 -3.35595192e-05 -9.99995421e-01 -1.78266460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1256.016559995 meters 0.011469954061912552 Centerline is valid? [True, True] Translation: X:-394.92, Y:-247.75, Z:-1.78 [[ 6.21809861e-01 -7.83165715e-01 -1.98973893e-03 -3.94916719e+02] [-7.83161528e-01 -6.21813044e-01 2.56108707e-03 -2.47748073e+02] [-3.24300120e-03 -3.42222159e-05 -9.99994741e-01 -1.78242353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1256.046559995 meters 0.011198453771239968 Centerline is valid? [True, True] Translation: X:-394.86, Y:-247.85, Z:-1.78 [[ 6.78516819e-01 -7.34580978e-01 -2.39031223e-03 -3.94863419e+02] [-7.34576254e-01 -6.78521028e-01 2.63467081e-03 -2.47852663e+02] [-3.55725617e-03 -3.18018554e-05 -9.99993673e-01 -1.78155978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1256.076559995 meters 0.011040874859485298 Centerline is valid? [True, True] Translation: X:-394.82, Y:-247.94, Z:-1.78 [[ 7.31638632e-01 -6.81686089e-01 -2.99807718e-03 -3.94817209e+02] [-6.81680187e-01 -7.31644774e-01 2.83690262e-03 -2.47938849e+02] [-4.12740455e-03 -3.18577351e-05 -9.99991482e-01 -1.78090678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1256.106559995 meters 0.01085068658144118 Centerline is valid? [True, True] Translation: X:-394.82, Y:-247.95, Z:-1.78 [[ 7.81981325e-01 -6.23291064e-01 -3.66843107e-03 -3.94819098e+02] [-6.23284021e-01 -7.81989929e-01 2.96326888e-03 -2.47947840e+02] [-4.71565516e-03 -3.07464573e-05 -9.99988881e-01 -1.77977382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1256.136559995 meters 0.01072286040399445 Centerline is valid? [True, True] Translation: X:-394.82, Y:-247.96, Z:-1.78 [[ 8.27458637e-01 -5.61506670e-01 -4.73956054e-03 -3.94819033e+02] [-5.61497262e-01 -8.27472210e-01 3.25054797e-03 -2.47956882e+02] [-5.74705901e-03 -2.84437276e-05 -9.99983485e-01 -1.77903706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1256.166559995 meters 0.010602399202705332 Centerline is valid? [True, True] Translation: X:-394.82, Y:-247.96, Z:-1.78 [[ 8.67107930e-01 -4.98086727e-01 -5.78360356e-03 -3.94818693e+02] [-4.98075571e-01 -8.67127218e-01 3.33367562e-03 -2.47964809e+02] [-6.67557965e-03 -9.98492358e-06 -9.99977718e-01 -1.77830332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1256.1965599950001 meters 0.010553583740734531 Centerline is valid? [True, True] Translation: X:-394.82, Y:-247.97, Z:-1.78 [[ 9.02634537e-01 -4.30366830e-01 -5.94011746e-03 -3.94818130e+02] [-4.30357524e-01 -9.02654082e-01 2.83022224e-03 -2.47974692e+02] [-6.57990505e-03 1.71790357e-06 -9.99978352e-01 -1.77821504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1256.2265599950001 meters 0.010609629945730444 Centerline is valid? [True, True] Translation: X:-394.82, Y:-247.98, Z:-1.78 [[ 9.32908835e-01 -3.60059120e-01 -6.20778480e-03 -3.94817679e+02] [-3.60051243e-01 -9.32929488e-01 2.38169584e-03 -2.47983105e+02] [-6.64897681e-03 1.32155418e-05 -9.99977895e-01 -1.77785918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1256.256559995 meters 0.010674053634221827 Centerline is valid? [True, True] Translation: X:-394.82, Y:-247.99, Z:-1.78 [[ 9.57670836e-01 -2.87792075e-01 -6.50321290e-03 -3.94815770e+02] [-2.87785625e-01 -9.57692916e-01 1.92706905e-03 -2.47991672e+02] [-6.78267613e-03 2.60333560e-05 -9.99976997e-01 -1.77796096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1256.286559995 meters 0.010849370489542258 Centerline is valid? [True, True] Translation: X:-394.81, Y:-248.00, Z:-1.78 [[ 9.76933984e-01 -2.13446698e-01 -6.36377504e-03 -3.94812970e+02] [-2.13442398e-01 -9.76954710e-01 1.35533494e-03 -2.47999488e+02] [-6.50641177e-03 3.42266385e-05 -9.99978833e-01 -1.77818388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1256.316559995 meters 0.011153980546034175 Centerline is valid? [True, True] Translation: X:-394.81, Y:-248.01, Z:-1.78 [[ 9.90298023e-01 -1.38810038e-01 -6.44980460e-03 -3.94811457e+02] [-1.38807429e-01 -9.90319025e-01 8.52586223e-04 -2.48006397e+02] [-6.50571173e-03 5.09663409e-05 -9.99978837e-01 -1.77818997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1256.346559995 meters 0.011278471493794191 Centerline is valid? [True, True] Translation: X:-394.81, Y:-248.01, Z:-1.78 [[ 9.98093469e-01 -6.13487665e-02 -6.76433023e-03 -3.94812614e+02] [-6.13477409e-02 -9.98116389e-01 3.59199288e-04 -2.48013168e+02] [-6.77362530e-03 5.64619145e-05 -9.99977057e-01 -1.77795478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1256.376559995 meters 0.011278471493794191 Centerline is valid? [True, True] Translation: X:-394.81, Y:-248.02, Z:-1.78 [[ 9.99832578e-01 1.69988641e-02 -6.77163578e-03 -3.94812555e+02] [ 1.69980918e-02 -9.99855507e-01 -1.71598733e-04 -2.48019675e+02] [-6.77357431e-03 5.64651175e-05 -9.99977058e-01 -1.77795524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1256.406559995 meters 0.011388396771741152 Centerline is valid? [True, True] Translation: X:-394.81, Y:-248.03, Z:-1.78 [[ 9.95470951e-01 9.48264978e-02 -6.74698538e-03 -3.94811919e+02] [ 9.48239148e-02 -9.95493813e-01 -7.02429120e-04 -2.48025990e+02] [-6.78319110e-03 5.94722168e-05 -9.99976992e-01 -1.77749358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1256.4365599950002 meters 0.011237194586060258 Centerline is valid? [True, True] Translation: X:-394.81, Y:-248.04, Z:-1.78 [[ 9.85000566e-01 1.72420906e-01 -6.70204062e-03 -3.94809200e+02] [ 1.72416500e-01 -9.85023364e-01 -1.23410551e-03 -2.48035470e+02] [-6.81445219e-03 6.00522430e-05 -9.99976780e-01 -1.77738511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1256.4665599950001 meters 0.011084438104684687 Centerline is valid? [True, True] Translation: X:-394.81, Y:-248.05, Z:-1.78 [[ 9.68362703e-01 2.49468380e-01 -6.26123321e-03 -3.94805660e+02] [ 2.49462806e-01 -9.68382943e-01 -1.66854429e-03 -2.48045807e+02] [-6.47952049e-03 5.38112572e-05 -9.99979006e-01 -1.77695003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1256.496559995 meters 0.011075048433173022 Centerline is valid? [True, True] Translation: X:-394.80, Y:-248.06, Z:-1.78 [[ 9.45746878e-01 3.24858595e-01 -5.45311458e-03 -3.94801519e+02] [ 3.24852915e-01 -9.45762598e-01 -1.92156913e-03 -2.48055874e+02] [-5.78159006e-03 4.58578367e-05 -9.99983286e-01 -1.77704314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1256.526559995 meters 0.010867164777427721 Centerline is valid? [True, True] Translation: X:-394.80, Y:-248.06, Z:-1.78 [[ 9.17158734e-01 3.98495916e-01 -4.56738749e-03 -3.94797699e+02] [ 3.98490778e-01 -9.17170106e-01 -2.02397783e-03 -2.48064885e+02] [-4.99561817e-03 3.62471501e-05 -9.99987521e-01 -1.77697463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1256.556559995 meters 0.0108384923456692 Centerline is valid? [True, True] Translation: X:-394.79, Y:-248.07, Z:-1.78 [[ 8.82773753e-01 4.69781720e-01 -3.95428348e-03 -3.94792248e+02] [ 4.69776860e-01 -8.82782609e-01 -2.13715773e-03 -2.48073370e+02] [-4.49477033e-03 2.89958766e-05 -9.99989898e-01 -1.77732236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1256.586559995 meters 0.010630820540535277 Centerline is valid? [True, True] Translation: X:-394.79, Y:-248.08, Z:-1.78 [[ 8.42649580e-01 5.38450538e-01 -3.56417532e-03 -3.94785831e+02] [ 5.38445610e-01 -8.42657118e-01 -2.30372275e-03 -2.48081439e+02] [-4.24381845e-03 2.21164562e-05 -9.99990995e-01 -1.77756953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1256.616559995 meters 0.01048319775343782 Centerline is valid? [True, True] Translation: X:-394.78, Y:-248.09, Z:-1.78 [[ 7.97122212e-01 6.03808046e-01 -3.46728446e-03 -3.94779940e+02] [ 6.03802241e-01 -7.97129753e-01 -2.64772073e-03 -2.48088499e+02] [-4.36259068e-03 1.70028764e-05 -9.99990484e-01 -1.77757040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1256.646559995 meters 0.010465490542414345 Centerline is valid? [True, True] Translation: X:-394.77, Y:-248.09, Z:-1.78 [[ 7.45361545e-01 6.66649068e-01 -3.89702039e-03 -3.94771903e+02] [ 6.66639925e-01 -7.45371733e-01 -3.49150842e-03 -2.48094482e+02] [-5.23233968e-03 4.52673185e-06 -9.99986311e-01 -1.77705342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1256.676559995 meters 0.010504298875260689 Centerline is valid? [True, True] Translation: X:-394.76, Y:-248.10, Z:-1.78 [[ 6.89773671e-01 7.24013391e-01 -4.11007271e-03 -3.94763435e+02] [ 7.24000573e-01 -6.89785916e-01 -4.30824026e-03 -2.48099696e+02] [-5.95429391e-03 -3.98429370e-06 -9.99982273e-01 -1.77675324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1256.7065599950001 meters 0.010626402804939063 Centerline is valid? [True, True] Translation: X:-394.76, Y:-248.10, Z:-1.78 [[ 6.29419426e-01 7.77055491e-01 -3.99378109e-03 -3.94756025e+02] [ 7.77040015e-01 -6.29432097e-01 -4.90410895e-03 -2.48104752e+02] [-6.32457879e-03 -1.65862765e-05 -9.99980000e-01 -1.77603227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1256.736559995 meters 0.010935004226321788 Centerline is valid? [True, True] Translation: X:-394.75, Y:-248.11, Z:-1.77 [[ 5.63319118e-01 8.26228662e-01 -4.21548133e-03 -3.94745839e+02] [ 8.26206173e-01 -5.63334888e-01 -6.09618842e-03 -2.48110224e+02] [-7.41157330e-03 -4.87572219e-05 -9.99972533e-01 -1.77492652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1256.766559995 meters 0.011247092639349199 Centerline is valid? [True, True] Translation: X:-394.74, Y:-248.11, Z:-1.77 [[ 4.95236252e-01 8.68749512e-01 -3.91661891e-03 -3.94737858e+02] [ 8.68723391e-01 -4.95251735e-01 -6.73713177e-03 -2.48114438e+02] [-7.79259224e-03 -6.59865792e-05 -9.99969635e-01 -1.77421108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1256.796559995 meters 0.011462458979020262 Centerline is valid? [True, True] Translation: X:-394.73, Y:-248.12, Z:-1.77 [[ 4.23991940e-01 9.05659373e-01 -3.45469230e-03 -3.94729359e+02] [ 9.05630880e-01 -4.24006007e-01 -7.18441080e-03 -2.48116497e+02] [-7.97143927e-03 -8.25437467e-05 -9.99968224e-01 -1.77452776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1256.826559995 meters 0.012175979478308145 Centerline is valid? [True, True] Translation: X:-394.72, Y:-248.12, Z:-1.78 [[ 3.49611917e-01 9.36890921e-01 -2.62869837e-03 -3.94721241e+02] [ 9.36866386e-01 -3.49621787e-01 -6.78098595e-03 -2.48119009e+02] [-7.27209439e-03 -9.20256480e-05 -9.99973554e-01 -1.77504532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1256.856559995 meters 0.012078759218886528 Centerline is valid? [True, True] Translation: X:-394.71, Y:-248.12, Z:-1.78 [[ 2.74338724e-01 9.61630936e-01 -2.05110959e-03 -3.94714005e+02] [ 9.61606626e-01 -2.74346374e-01 -6.83841367e-03 -2.48119412e+02] [-7.13874462e-03 -9.63188968e-05 -9.99974514e-01 -1.77557871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1256.886559995 meters 0.012308248357090865 Centerline is valid? [True, True] Translation: X:-394.71, Y:-248.12, Z:-1.78 [[ 1.97830434e-01 9.80235090e-01 -1.51259607e-03 -3.94707634e+02] [ 9.80210153e-01 -1.97836191e-01 -6.99261630e-03 -2.48120354e+02] [-7.15365411e-03 -9.93097120e-05 -9.99974408e-01 -1.77571995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1256.916559995 meters 0.012644598150265396 Centerline is valid? [True, True] Translation: X:-394.70, Y:-248.12, Z:-1.78 [[ 1.20168247e-01 9.92753105e-01 -9.30156864e-04 -3.94702269e+02] [ 9.92729352e-01 -1.20171807e-01 -6.86806081e-03 -2.48120118e+02] [-6.93006732e-03 -9.80711943e-05 -9.99975982e-01 -1.77563360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1256.9465599950001 meters 0.01224375853177235 Centerline is valid? [True, True] Translation: X:-394.70, Y:-248.12, Z:-1.78 [[ 4.19131578e-02 9.99121188e-01 -3.72299511e-04 -3.94696073e+02] [ 9.99099296e-01 -4.19147043e-02 -6.61478640e-03 -2.48118946e+02] [-6.62457808e-03 -9.47175929e-05 -9.99978053e-01 -1.77645508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1256.9765599950001 meters 0.012956630575273777 Centerline is valid? [True, True] Translation: X:-394.69, Y:-248.12, Z:-1.78 [[-3.73808336e-02 9.99301082e-01 1.43554251e-04 -3.94689285e+02] [ 9.99280179e-01 3.73809803e-02 -6.46416891e-03 -2.48118596e+02] [-6.46501719e-03 -9.81851049e-05 -9.99979097e-01 -1.77567176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1257.006559995 meters 0.012898421909911192 Centerline is valid? [True, True] Translation: X:-394.69, Y:-248.12, Z:-1.78 [[-1.15729750e-01 9.93280515e-01 6.66023624e-04 -3.94685457e+02] [ 9.93258623e-01 1.15731622e-01 -6.59543352e-03 -2.48117143e+02] [-6.62819560e-03 -1.01754165e-04 -9.99978028e-01 -1.77537842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1257.036559995 meters 0.012903943971318055 Centerline is valid? [True, True] Translation: X:-394.68, Y:-248.12, Z:-1.78 [[-1.93350294e-01 9.81129089e-01 1.17247905e-03 -3.94679738e+02] [ 9.81107707e-01 1.93353822e-01 -6.47811784e-03 -2.48115410e+02] [-6.58257316e-03 -1.02217761e-04 -9.99978330e-01 -1.77507381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1257.066559995 meters 0.013080162930808954 Centerline is valid? [True, True] Translation: X:-394.67, Y:-248.11, Z:-1.77 [[-2.70270595e-01 9.62782974e-01 1.65837767e-03 -3.94674114e+02] [ 9.62762385e-01 2.70275662e-01 -6.29729792e-03 -2.48113918e+02] [-6.51115034e-03 -1.05350817e-04 -9.99978797e-01 -1.77454765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1257.096559995 meters 0.013058441503231086 Centerline is valid? [True, True] Translation: X:-394.67, Y:-248.11, Z:-1.77 [[-3.44879358e-01 9.38644749e-01 2.06478119e-03 -3.94669539e+02] [ 9.38626122e-01 3.44885524e-01 -5.91419521e-03 -2.48111078e+02] [-6.26344143e-03 -1.01626289e-04 -9.99980380e-01 -1.77402558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1257.126559995 meters 0.013421245497487208 Centerline is valid? [True, True] Translation: X:-394.67, Y:-248.11, Z:-1.77 [[-4.17519299e-01 9.08664335e-01 2.60047537e-03 -3.94665113e+02] [ 9.08645095e-01 4.17527383e-01 -5.91408257e-03 -2.48109642e+02] [-6.45968558e-03 -1.06334416e-04 -9.99979131e-01 -1.77323730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1257.156559995 meters 0.01337268868321495 Centerline is valid? [True, True] Translation: X:-394.66, Y:-248.11, Z:-1.77 [[-4.87527915e-01 8.73099660e-01 3.67637431e-03 -3.94664061e+02] [ 8.73072822e-01 4.87541759e-01 -6.84690944e-03 -2.48107877e+02] [-7.77042030e-03 -1.28316985e-04 -9.99969802e-01 -1.77165380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1257.1865599950002 meters 0.013553052631215092 Centerline is valid? [True, True] Translation: X:-394.66, Y:-248.11, Z:-1.77 [[-5.54265902e-01 8.32327740e-01 4.45459801e-03 -3.94661204e+02] [ 8.32298886e-01 5.54283786e-01 -6.93174584e-03 -2.48106977e+02] [-8.23859580e-03 -1.34473409e-04 -9.99966053e-01 -1.77045665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1257.2165599950001 meters 0.013273558760455996 Centerline is valid? [True, True] Translation: X:-394.66, Y:-248.11, Z:-1.77 [[-6.17481802e-01 7.86561263e-01 6.13217923e-03 -3.94660470e+02] [ 7.86519851e-01 6.17512229e-01 -8.07289461e-03 -2.48105547e+02] [-1.01365218e-02 -1.61784813e-04 -9.99948611e-01 -1.76924109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1257.246559995 meters 0.013059551775629343 Centerline is valid? [True, True] Translation: X:-394.66, Y:-248.10, Z:-1.77 [[-6.77677295e-01 7.35326529e-01 6.95552408e-03 -3.94655397e+02] [ 7.35285148e-01 6.77712967e-01 -7.80289456e-03 -2.48100796e+02] [-1.04515242e-02 -1.73550932e-04 -9.99945366e-01 -1.76928576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1257.276559995 meters 0.013124845273143499 Centerline is valid? [True, True] Translation: X:-394.65, Y:-248.09, Z:-1.77 [[-7.33877723e-01 6.79240691e-01 7.45460668e-03 -3.94649450e+02] [ 6.79203114e-01 7.33915561e-01 -7.14703394e-03 -2.48093130e+02] [-1.03256081e-02 -1.81856919e-04 -9.99946673e-01 -1.76864746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1257.306559995 meters 0.013687336544580637 Centerline is valid? [True, True] Translation: X:-394.63, Y:-248.07, Z:-1.77 [[-7.80619695e-01 6.24946295e-01 8.66140276e-03 -3.94631335e+02] [ 6.24904865e-01 7.80667718e-01 -7.19891848e-03 -2.48070687e+02] [-1.12606150e-02 -2.07064825e-04 -9.99936576e-01 -1.76772036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1257.336559995 meters 0.013755451822719561 Centerline is valid? [True, True] Translation: X:-394.61, Y:-248.05, Z:-1.77 [[-8.23162271e-01 5.67721191e-01 9.82471456e-03 -3.94611524e+02] [ 5.67677400e-01 8.23220867e-01 -7.05505090e-03 -2.48050489e+02] [-1.20932119e-02 -2.30183305e-04 -9.99926848e-01 -1.76690349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1257.366559995 meters 0.013839076277697607 Centerline is valid? [True, True] Translation: X:-394.24, Y:-247.54, Z:-2.82 [[-7.59424348e-01 -6.50533381e-01 8.99893118e-03 -3.94243153e+02] [ 6.50490776e-01 -7.59477637e-01 -7.44778668e-03 -2.47535928e+02] [ 1.16795208e-02 1.97691179e-04 9.99931773e-01 -2.81889439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1257.396559995 meters 0.013739990080700157 Centerline is valid? [True, True] Translation: X:-394.65, Y:-248.03, Z:-1.77 [[-8.24087737e-01 5.66393974e-01 8.79023264e-03 -3.94645089e+02] [ 5.66359351e-01 8.24134596e-01 -6.26518969e-03 -2.48025563e+02] [-1.07929005e-02 -1.84635540e-04 -9.99941738e-01 -1.76687351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1257.426559995 meters 0.013093970489253766 Centerline is valid? [True, True] Translation: X:-394.63, Y:-248.00, Z:-1.77 [[-8.61211471e-01 5.08183192e-01 8.04020835e-03 -3.94629005e+02] [ 5.08159479e-01 8.61248990e-01 -4.91143896e-03 -2.48004292e+02] [-9.42053205e-03 -1.44079493e-04 -9.99955616e-01 -1.76788303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1257.4565599950001 meters 0.012589162459948454 Centerline is valid? [True, True] Translation: X:-394.30, Y:-247.46, Z:-2.82 [[-8.09115798e-01 -5.87611736e-01 6.63879770e-03 -3.94295822e+02] [ 5.87592485e-01 -8.09143031e-01 -4.75679690e-03 -2.47464718e+02] [ 8.16688658e-03 5.21081115e-05 9.99966649e-01 -2.81645996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1257.486559995 meters 0.011837332128864056 Centerline is valid? [True, True] Translation: X:-394.31, Y:-247.49, Z:-2.81 [[-7.69450249e-01 -6.38685960e-01 5.15357106e-03 -3.94308367e+02] [ 6.38672195e-01 -7.69467504e-01 -4.19365318e-03 -2.47489938e+02] [ 6.64393287e-03 6.46350584e-05 9.99977927e-01 -2.81485432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1257.516559995 meters 0.011302669646913236 Centerline is valid? [True, True] Translation: X:-394.72, Y:-247.99, Z:-1.77 [[-8.20527071e-01 5.71595622e-01 3.71090382e-03 -3.94716893e+02] [ 5.71589684e-01 8.20535462e-01 -2.60565968e-03 -2.47990653e+02] [-4.53431184e-03 -1.68999613e-05 -9.99989720e-01 -1.77222849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1257.546559995 meters 0.011266994338010367 Centerline is valid? [True, True] Translation: X:-394.34, Y:-247.47, Z:-2.81 [[-7.77800848e-01 -6.28501798e-01 3.36624228e-03 -3.94336305e+02] [ 6.28495935e-01 -7.77808132e-01 -2.71472834e-03 -2.47465254e+02] [ 4.32450226e-03 4.15158229e-06 9.99990650e-01 -2.81350112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1257.576559995 meters 0.011468555382669844 Centerline is valid? [True, True] Translation: X:-394.75, Y:-247.98, Z:-1.77 [[-8.18676823e-01 5.74245229e-01 3.26746102e-03 -3.94746708e+02] [ 5.74240715e-01 8.18683344e-01 -2.27700184e-03 -2.47975485e+02] [-3.98257336e-03 1.21805175e-05 -9.99992070e-01 -1.77150131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1257.606559995 meters 0.012199132705831298 Centerline is valid? [True, True] Translation: X:-394.37, Y:-247.44, Z:-2.82 [[-7.86365813e-01 -6.17753612e-01 3.04690280e-03 -3.94368280e+02] [ 6.17748891e-01 -7.86371715e-01 -2.41513700e-03 -2.47439248e+02] [ 3.88795779e-03 -1.69603402e-05 9.99992442e-01 -2.81542195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1257.636559995 meters 0.012857332974401184 Centerline is valid? [True, True] Translation: X:-394.78, Y:-247.96, Z:-1.77 [[-8.15048203e-01 5.79383476e-01 3.34881570e-03 -3.94779079e+02] [ 5.79378849e-01 8.15055081e-01 -2.31600921e-03 -2.47958660e+02] [-4.07132672e-03 5.25738375e-05 -9.99991711e-01 -1.76944303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1257.666559995 meters 0.012953673064338509 Centerline is valid? [True, True] Translation: X:-394.40, Y:-247.42, Z:-2.82 [[-7.92251953e-01 -6.10183713e-01 3.56095883e-03 -3.94400856e+02] [ 6.10177364e-01 -7.92259955e-01 -2.78374286e-03 -2.47416508e+02] [ 4.51979964e-03 -3.26092396e-05 9.99989785e-01 -2.81617681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1257.6965599950001 meters 0.01374200160448443 Centerline is valid? [True, True] Translation: X:-394.82, Y:-247.94, Z:-1.77 [[-8.14230087e-01 5.80527468e-01 4.15025796e-03 -3.94816752e+02] [ 5.80520488e-01 8.14240659e-01 -2.84811467e-03 -2.47935250e+02] [-5.03271758e-03 9.02891243e-05 -9.99987332e-01 -1.76871395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1257.7265599950001 meters 0.014035797469330575 Centerline is valid? [True, True] Translation: X:-394.80, Y:-247.91, Z:-1.77 [[-8.52275626e-01 5.23071728e-01 4.71432386e-03 -3.94798052e+02] [ 5.23064428e-01 8.52288657e-01 -2.76572919e-03 -2.47914221e+02] [-5.46463950e-03 1.08731535e-04 -9.99985063e-01 -1.76870486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1257.756559995 meters 0.014345416119762608 Centerline is valid? [True, True] Translation: X:-394.46, Y:-247.34, Z:-2.82 [[-8.38373791e-01 -5.45075375e-01 4.71404849e-03 -3.94459097e+02] [ 5.45066085e-01 -8.38387038e-01 -3.18393909e-03 -2.47342238e+02] [ 5.68768395e-03 -9.98631329e-05 9.99983820e-01 -2.81739898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1257.786559995 meters 0.014807961864675378 Centerline is valid? [True, True] Translation: X:-394.84, Y:-247.89, Z:-1.77 [[-8.53341925e-01 5.21323987e-01 5.37207533e-03 -3.94836249e+02] [ 5.21314634e-01 8.53358824e-01 -3.12564733e-03 -2.47893164e+02] [-6.21378281e-03 1.33295576e-04 -9.99980686e-01 -1.76814374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1257.816559995 meters 0.014700996668913112 Centerline is valid? [True, True] Translation: X:-394.82, Y:-247.87, Z:-1.77 [[-8.88315792e-01 4.59202215e-01 5.32728450e-03 -3.94822799e+02] [ 4.59194795e-01 8.88331757e-01 -2.61344693e-03 -2.47866826e+02] [-5.93249662e-03 1.24695135e-04 -9.99982395e-01 -1.76812174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1257.846559995 meters 0.014617314031424657 Centerline is valid? [True, True] Translation: X:-394.81, Y:-247.84, Z:-1.77 [[-9.18898774e-01 3.94458989e-01 5.21045265e-03 -3.94811256e+02] [ 3.94453349e-01 9.18913540e-01 -2.11247573e-03 -2.47839351e+02] [-5.62124053e-03 1.14129139e-04 -9.99984194e-01 -1.76821550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1257.876559995 meters 0.014112665818972098 Centerline is valid? [True, True] Translation: X:-394.57, Y:-247.23, Z:-2.82 [[-9.07671152e-01 -4.19661629e-01 4.14681620e-03 -3.94565563e+02] [ 4.19656458e-01 -9.07680612e-01 -2.08929939e-03 -2.47231373e+02] [ 4.64078345e-03 -1.56158586e-04 9.99989220e-01 -2.81622510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1257.906559995 meters 0.014077761492386045 Centerline is valid? [True, True] Translation: X:-394.85, Y:-247.82, Z:-1.77 [[-9.21096630e-01 3.89317783e-01 3.55835450e-03 -3.94852787e+02] [ 3.89315173e-01 9.21103501e-01 -1.42722010e-03 -2.47819206e+02] [-3.83325496e-03 7.07137707e-05 -9.99992651e-01 -1.77022095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1257.9365599950002 meters 0.014320559388739069 Centerline is valid? [True, True] Translation: X:-394.85, Y:-247.79, Z:-1.77 [[-9.46500445e-01 3.22687150e-01 3.14833648e-03 -3.94845808e+02] [ 3.22685574e-01 9.46505679e-01 -1.01042137e-03 -2.47791556e+02] [-3.30596835e-03 5.95584881e-05 -9.99994534e-01 -1.77127236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1257.9665599950001 meters 0.013946053290080671 Centerline is valid? [True, True] Translation: X:-394.84, Y:-247.76, Z:-1.77 [[-9.67148381e-01 2.54198811e-01 2.64087532e-03 -3.94840867e+02] [ 2.54197997e-01 9.67151985e-01 -6.45198461e-04 -2.47762303e+02] [-2.71813649e-03 4.73025701e-05 -9.99996305e-01 -1.77245109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1257.996559995 meters 0.01396877903094824 Centerline is valid? [True, True] Translation: X:-394.84, Y:-247.73, Z:-1.77 [[-9.82932553e-01 1.83954953e-01 2.04246506e-03 -3.94838343e+02] [ 1.83954627e-01 9.82934675e-01 -3.47847242e-04 -2.47733093e+02] [-2.07159796e-03 3.38105204e-05 -9.99997854e-01 -1.77358297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1258.026559995 meters 0.013960676592836058 Centerline is valid? [True, True] Translation: X:-394.73, Y:-247.10, Z:-2.81 [[-9.75803029e-01 -2.18650237e-01 7.23096853e-04 -3.94729157e+02] [ 2.18650102e-01 -9.75803292e-01 -2.62264863e-04 -2.47097754e+02] [ 7.62944565e-04 -9.78136475e-05 9.99999704e-01 -2.81096631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1258.056559995 meters 0.013027391433003457 Centerline is valid? [True, True] Translation: X:-394.89, Y:-247.72, Z:-1.78 [[-9.84594911e-01 1.74848684e-01 -8.93593231e-04 -3.94893076e+02] [ 1.74848622e-01 9.84595317e-01 1.47844346e-04 -2.47716534e+02] [ 9.05678097e-04 -1.06767539e-05 -9.99999590e-01 -1.77625973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1258.086559995 meters 0.013091646581683795 Centerline is valid? [True, True] Translation: X:-394.90, Y:-247.69, Z:-1.78 [[-9.94811642e-01 1.01728144e-01 -1.08740874e-03 -3.94896663e+02] [ 1.01728094e-01 9.94812236e-01 1.01373572e-04 -2.47685952e+02] [ 1.09208006e-03 -9.77240925e-06 -9.99999404e-01 -1.77638338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1258.116559995 meters 0.012466495607120046 Centerline is valid? [True, True] Translation: X:-394.84, Y:-247.07, Z:-2.81 [[-9.88031136e-01 -1.54252944e-01 -7.09506042e-04 -3.94836454e+02] [ 1.54252881e-01 -9.88031390e-01 1.42722184e-04 -2.47067101e+02] [-7.23029557e-04 3.15706107e-05 9.99999738e-01 -2.80978261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1258.146559995 meters 0.012451911514194383 Centerline is valid? [True, True] Translation: X:-394.95, Y:-247.67, Z:-1.78 [[-9.95710916e-01 9.25190274e-02 3.59876183e-05 -3.94954060e+02] [ 9.25190274e-02 9.95710917e-01 -3.75985044e-06 -2.47672999e+02] [-3.61811239e-05 -4.14184692e-07 -1.00000000e+00 -1.77538540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1258.176559995 meters 0.012301522079629685 Centerline is valid? [True, True] Translation: X:-394.90, Y:-247.07, Z:-2.81 [[-9.87573420e-01 -1.57149811e-01 1.63647687e-03 -3.94900714e+02] [ 1.57149773e-01 -9.87574770e-01 -1.52659143e-04 -2.47071500e+02] [ 1.64013363e-03 1.06409858e-04 9.99998650e-01 -2.81187405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1258.2065599950001 meters 0.012431264277243366 Centerline is valid? [True, True] Translation: X:-395.01, Y:-247.66, Z:-1.77 [[-9.96639759e-01 8.18625955e-02 2.77621165e-03 -3.95010706e+02] [ 8.18622500e-02 9.96643625e-01 -2.38052294e-04 -2.47658183e+02] [-2.78638122e-03 -9.98544830e-06 -9.99996118e-01 -1.77278029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1258.236559995 meters 0.012509206899170665 Centerline is valid? [True, True] Translation: X:-394.96, Y:-247.07, Z:-2.81 [[-9.87626089e-01 -1.56776427e-01 3.98258418e-03 -3.94963951e+02] [ 1.56775544e-01 -9.87634114e-01 -5.35074098e-04 -2.47072812e+02] [ 4.01722301e-03 9.59186625e-05 9.99991927e-01 -2.81355471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1258.266559995 meters 0.012937084225543457 Centerline is valid? [True, True] Translation: X:-395.07, Y:-247.64, Z:-1.77 [[-9.97311275e-01 7.31589300e-02 4.24166760e-03 -3.95068709e+02] [ 7.31581192e-02 9.97320295e-01 -3.46191855e-04 -2.47643683e+02] [-4.25562821e-03 -3.49486162e-05 -9.99990944e-01 -1.77170037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1258.296559995 meters 0.012937084225543457 Centerline is valid? [True, True] Translation: X:-395.02, Y:-247.08, Z:-2.81 [[-9.87790403e-01 -1.55732886e-01 4.16985975e-03 -3.95023437e+02] [ 1.55731636e-01 -9.87799204e-01 -6.24928102e-04 -2.47075003e+02] [ 4.21630600e-03 3.20810971e-05 9.99991111e-01 -2.81392492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1258.326559995 meters 0.012992988637387022 Centerline is valid? [True, True] Translation: X:-395.12, Y:-247.64, Z:-1.77 [[-9.97693656e-01 6.77694247e-02 3.83062547e-03 -3.95123092e+02] [ 6.77687841e-02 9.97701009e-01 -2.96928597e-04 -2.47636932e+02] [-3.84194158e-03 -3.66469468e-05 -9.99992619e-01 -1.77223831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1258.356559995 meters 0.01305576509118758 Centerline is valid? [True, True] Translation: X:-395.08, Y:-247.08, Z:-2.81 [[-9.88042421e-01 -1.54153139e-01 2.99730803e-03 -3.95082172e+02] [ 1.54152356e-01 -9.88046967e-01 -4.91960479e-04 -2.47075596e+02] [ 3.03731836e-03 -2.40357294e-05 9.99995387e-01 -2.81218766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1258.386559995 meters 0.013453539121886024 Centerline is valid? [True, True] Translation: X:-395.18, Y:-247.63, Z:-1.77 [[-9.98110910e-01 6.14075668e-02 1.92952832e-03 -3.95178347e+02] [ 6.14074069e-02 9.98112774e-01 -1.42059878e-04 -2.47628553e+02] [-1.93461041e-03 -2.33041834e-05 -9.99998129e-01 -1.77444390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1258.416559995 meters 0.014017722373247164 Centerline is valid? [True, True] Translation: X:-395.14, Y:-247.08, Z:-2.81 [[-9.88284732e-01 -1.52618478e-01 9.43149031e-04 -3.95140618e+02] [ 1.52618358e-01 -9.88285180e-01 -1.98763274e-04 -2.47078414e+02] [ 9.62435160e-04 -5.24928529e-05 9.99999536e-01 -2.80971228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1258.4465599950001 meters 0.013353216887895092 Centerline is valid? [True, True] Translation: X:-395.24, Y:-247.62, Z:-1.78 [[-9.98447882e-01 5.56929782e-02 3.46487730e-04 -3.95235286e+02] [ 5.56929730e-02 9.98447942e-01 -2.47298500e-05 -2.47621636e+02] [-3.47327241e-04 -5.39453459e-06 -9.99999940e-01 -1.77614752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1258.4765599950001 meters 0.013520817332168625 Centerline is valid? [True, True] Translation: X:-395.24, Y:-247.59, Z:-1.78 [[-9.99880667e-01 -1.54416329e-02 4.56474638e-04 -3.95242251e+02] [-1.54416344e-02 9.99880771e-01 1.98862015e-07 -2.47592099e+02] [-4.56423286e-04 -6.84987619e-06 -9.99999896e-01 -1.77634457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1258.506559995 meters 0.013792114079536595 Centerline is valid? [True, True] Translation: X:-395.25, Y:-247.05, Z:-2.81 [[-9.96904904e-01 -7.86165594e-02 2.19749673e-04 -3.95245737e+02] [ 7.86165549e-02 -9.96904929e-01 -2.91453080e-05 -2.47048344e+02] [ 2.21360837e-04 -1.17791383e-05 9.99999976e-01 -2.80941537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1258.536559995 meters 0.013478762096998208 Centerline is valid? [True, True] Translation: X:-395.31, Y:-247.59, Z:-1.78 [[-9.99806448e-01 -1.96679122e-02 4.90509742e-04 -3.95307159e+02] [-1.96679134e-02 9.99806568e-01 2.45171044e-06 -2.47590353e+02] [-4.90463083e-04 -7.19606721e-06 -9.99999880e-01 -1.77594017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1258.566559995 meters 0.013504016005845254 Centerline is valid? [True, True] Translation: X:-395.30, Y:-247.05, Z:-2.81 [[-9.97282046e-01 -7.36635907e-02 1.48212085e-03 -3.95304982e+02] [ 7.36636362e-02 -9.97283144e-01 -2.39472254e-05 -2.47051312e+02] [ 1.47985818e-03 8.52962731e-05 9.99998902e-01 -2.81025980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1258.596559995 meters 0.013348024052397073 Centerline is valid? [True, True] Translation: X:-395.36, Y:-247.59, Z:-1.78 [[-9.99717674e-01 -2.36790121e-02 1.96876938e-03 -3.95362275e+02] [-2.36790178e-02 9.99719613e-01 2.04308607e-05 -2.47588755e+02] [-1.96870115e-03 -2.61934327e-05 -9.99998062e-01 -1.77554018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1258.626559995 meters 0.013519733705551816 Centerline is valid? [True, True] Translation: X:-395.37, Y:-247.05, Z:-2.81 [[-9.97583152e-01 -6.94321589e-02 2.65153188e-03 -3.95368741e+02] [ 6.94321270e-02 -9.97586672e-01 -1.04198905e-04 -2.47054315e+02] [ 2.65236762e-03 8.01544260e-05 9.99996479e-01 -2.81077552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1258.656559995 meters 0.013682529642306198 Centerline is valid? [True, True] Translation: X:-395.43, Y:-247.59, Z:-1.77 [[-9.99581560e-01 -2.86712642e-02 3.82939955e-03 -3.95425510e+02] [-2.86712557e-02 9.99588894e-01 5.71487024e-05 -2.47586884e+02] [-3.82946379e-03 -5.26689045e-05 -9.99992666e-01 -1.77385813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1258.6865599950002 meters 0.013696575273780532 Centerline is valid? [True, True] Translation: X:-395.43, Y:-247.06, Z:-2.81 [[-9.97794181e-01 -6.60250685e-02 6.88940353e-03 -3.95434173e+02] [ 6.60255480e-02 -9.97817920e-01 -1.58068517e-04 -2.47058258e+02] [ 6.88480679e-03 2.97156798e-04 9.99976256e-01 -2.81396199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1258.7165599950001 meters 0.013739476145502484 Centerline is valid? [True, True] Translation: X:-395.49, Y:-247.59, Z:-1.77 [[-9.99414382e-01 -3.33596450e-02 7.61753454e-03 -3.95488493e+02] [-3.33594841e-02 9.99443407e-01 1.48204962e-04 -2.47586225e+02] [-7.61823874e-03 -1.05998852e-04 -9.99970975e-01 -1.77103343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1258.746559995 meters 0.013722592217454773 Centerline is valid? [True, True] Translation: X:-395.50, Y:-247.06, Z:-2.82 [[-9.98127854e-01 -6.05798694e-02 8.41827881e-03 -3.95502180e+02] [ 6.05791472e-02 -9.98163339e-01 -3.40987631e-04 -2.47059737e+02] [ 8.42347427e-03 1.69622899e-04 9.99964508e-01 -2.81505180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1258.776559995 meters 0.013430372981537968 Centerline is valid? [True, True] Translation: X:-395.55, Y:-247.59, Z:-1.77 [[-9.99300434e-01 -3.62549664e-02 9.17712397e-03 -3.95553827e+02] [-3.62544708e-02 9.99342566e-01 2.20420194e-04 -2.47588843e+02] [-9.17908195e-03 -1.12445777e-04 -9.99957865e-01 -1.77058616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1258.806559995 meters 0.012929656366251787 Centerline is valid? [True, True] Translation: X:-395.56, Y:-247.56, Z:-1.77 [[-9.94515105e-01 -1.04059796e-01 1.05482697e-02 -3.95563288e+02] [-1.04054949e-01 9.94571038e-01 1.00871746e-03 -2.47563611e+02] [-1.05959705e-02 -9.44149202e-05 -9.99943857e-01 -1.77018726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1258.836559995 meters 0.0128555941364335 Centerline is valid? [True, True] Translation: X:-395.58, Y:-247.54, Z:-1.77 [[-9.84944860e-01 -1.72525913e-01 1.08826932e-02 -3.95579335e+02] [-1.72516204e-01 9.85004977e-01 1.83180248e-03 -2.47539002e+02] [-1.10355404e-02 -7.32164833e-05 -9.99939104e-01 -1.76955959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1258.866559995 meters 0.012735292445275102 Centerline is valid? [True, True] Translation: X:-395.60, Y:-247.52, Z:-1.77 [[-9.70742745e-01 -2.39876422e-01 1.08547355e-02 -3.95602666e+02] [-2.39861908e-01 9.70803430e-01 2.63907702e-03 -2.47517856e+02] [-1.11708668e-02 -4.17727086e-05 -9.99937603e-01 -1.77004548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1258.896559995 meters 0.012607504146629816 Centerline is valid? [True, True] Translation: X:-395.64, Y:-247.50, Z:-1.77 [[-9.51849732e-01 -3.06363451e-01 1.11140994e-02 -3.95635361e+02] [-3.06342678e-01 9.51914616e-01 3.56756111e-03 -2.47500961e+02] [-1.16726440e-02 -8.94088643e-06 -9.99931873e-01 -1.77060579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1258.926559995 meters 0.01287771254483695 Centerline is valid? [True, True] Translation: X:-395.69, Y:-247.50, Z:-1.77 [[-9.29667911e-01 -3.68248774e-01 1.05079548e-02 -3.95689358e+02] [-3.68224327e-01 9.29727291e-01 4.24387311e-03 -2.47496774e+02] [-1.13323334e-02 7.61080706e-05 -9.99935784e-01 -1.77201110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1258.9565599950001 meters 0.013238280913225885 Centerline is valid? [True, True] Translation: X:-395.75, Y:-247.50, Z:-1.77 [[-9.01635812e-01 -4.32395300e-01 9.33633021e-03 -3.95751649e+02] [-4.32370887e-01 9.01684143e-01 4.59598638e-03 -2.47496907e+02] [-1.04057038e-02 1.07148539e-04 -9.99945854e-01 -1.77289594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1258.986559995 meters 0.013852516411014268 Centerline is valid? [True, True] Translation: X:-395.82, Y:-247.51, Z:-1.77 [[-8.68887316e-01 -4.94931568e-01 8.80762017e-03 -3.95821457e+02] [-4.94904504e-01 8.68931944e-01 5.17772381e-03 -2.47506327e+02] [-1.02158415e-02 1.39927656e-04 -9.99947807e-01 -1.77355420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1259.016559995 meters 0.01452097219861912 Centerline is valid? [True, True] Translation: X:-395.90, Y:-247.52, Z:-1.77 [[-8.31476272e-01 -5.55498150e-01 8.30751534e-03 -3.95896404e+02] [-5.55468365e-01 8.31517755e-01 5.75492776e-03 -2.47524219e+02] [-1.01046982e-02 1.70523917e-04 -9.99948932e-01 -1.77449738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1259.046559995 meters 0.014928478628843188 Centerline is valid? [True, True] Translation: X:-395.98, Y:-247.55, Z:-1.78 [[-7.89344396e-01 -6.13900207e-01 7.87145613e-03 -3.95980232e+02] [-6.13867162e-01 7.89383618e-01 6.37268162e-03 -2.47554110e+02] [-1.01257891e-02 1.98212092e-04 -9.99948713e-01 -1.77506960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1259.076559995 meters 0.015663310922602515 Centerline is valid? [True, True] Translation: X:-396.06, Y:-247.59, Z:-1.78 [[-7.43499838e-01 -6.68699555e-01 6.99258125e-03 -3.96060500e+02] [-6.68667119e-01 7.43532686e-01 6.59010026e-03 -2.47590054e+02] [-9.60600983e-03 2.24029311e-04 -9.99953836e-01 -1.77559267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1259.106559995 meters 0.016398477300553303 Centerline is valid? [True, True] Translation: X:-396.15, Y:-247.64, Z:-1.78 [[-6.91828627e-01 -7.22034580e-01 6.26233842e-03 -3.96145509e+02] [-7.22001991e-01 6.91856932e-01 6.86370947e-03 -2.47638466e+02] [-9.28847782e-03 2.27089892e-04 -9.99956836e-01 -1.77574635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1259.136559995 meters 0.015971438020443457 Centerline is valid? [True, True] Translation: X:-396.23, Y:-247.69, Z:-1.78 [[-6.35522008e-01 -7.72061672e-01 5.70539900e-03 -3.96230846e+02] [-7.72027278e-01 6.35547577e-01 7.29105380e-03 -2.47694898e+02] [-9.25519570e-03 2.28901485e-04 -9.99957144e-01 -1.77651059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1259.166559995 meters 0.016354086354707316 Centerline is valid? [True, True] Translation: X:-396.31, Y:-247.76, Z:-1.78 [[-5.74935897e-01 -8.18182182e-01 5.16053437e-03 -3.96313735e+02] [-8.18145620e-01 5.74959012e-01 7.73819557e-03 -2.47761986e+02] [-9.29834948e-03 2.26897823e-04 -9.99956744e-01 -1.77636446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1259.1965599950001 meters 0.015965623956564316 Centerline is valid? [True, True] Translation: X:-396.39, Y:-247.83, Z:-1.78 [[-5.09512410e-01 -8.60449621e-01 4.85323540e-03 -3.96394325e+02] [-8.60406363e-01 5.09535475e-01 8.63082405e-03 -2.47834629e+02] [-9.89928489e-03 2.21757341e-04 -9.99950977e-01 -1.77570932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1259.2265599950001 meters 0.01569895072913758 Centerline is valid? [True, True] Translation: X:-396.47, Y:-247.92, Z:-1.78 [[-4.41074227e-01 -8.97459353e-01 4.49838772e-03 -3.96470393e+02] [-8.97407479e-01 4.41097110e-01 9.65175217e-03 -2.47918019e+02] [-1.06462811e-02 2.20252346e-04 -9.99943303e-01 -1.77537441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1259.256559995 meters 0.015493044798340246 Centerline is valid? [True, True] Translation: X:-396.54, Y:-248.01, Z:-1.77 [[-3.69629468e-01 -9.29170637e-01 3.99792561e-03 -3.96539862e+02] [-9.29109938e-01 3.69651027e-01 1.06227148e-02 -2.48006762e+02] [-1.13481520e-02 2.11955992e-04 -9.99935585e-01 -1.77487564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1259.286559995 meters 0.014771604898492354 Centerline is valid? [True, True] Translation: X:-396.60, Y:-248.10, Z:-1.78 [[-2.95338552e-01 -9.55387224e-01 3.22371904e-03 -3.96604630e+02] [-9.55323275e-01 2.95356087e-01 1.10554575e-02 -2.48104348e+02] [-1.15143879e-02 1.85408979e-04 -9.99933690e-01 -1.77517159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1259.316559995 meters 0.01372737486680884 Centerline is valid? [True, True] Translation: X:-396.66, Y:-248.21, Z:-1.78 [[-2.16728167e-01 -9.76229494e-01 2.20826733e-03 -3.96664155e+02] [-9.76173185e-01 2.16739386e-01 1.04858108e-02 -2.48206579e+02] [-1.07151763e-02 1.16919211e-04 -9.99942584e-01 -1.77588498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1259.346559995 meters 0.013322413636615188 Centerline is valid? [True, True] Translation: X:-396.71, Y:-248.31, Z:-1.78 [[-1.39104961e-01 -9.90276767e-01 1.31719740e-03 -3.96713024e+02] [-9.90226491e-01 1.39111172e-01 9.97894737e-03 -2.48311932e+02] [-1.00651566e-02 8.37973230e-05 -9.99949342e-01 -1.77626094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1259.376559995 meters 0.013129984854471272 Centerline is valid? [True, True] Translation: X:-396.75, Y:-248.42, Z:-1.78 [[-6.05725610e-02 -9.98163647e-01 5.46019481e-04 -3.96753728e+02] [-9.98114199e-01 6.05749953e-02 9.93557344e-03 -2.48419398e+02] [-9.95040335e-03 5.68333306e-05 -9.99950492e-01 -1.77598877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1259.406559995 meters 0.01286115335158103 Centerline is valid? [True, True] Translation: X:-396.79, Y:-248.53, Z:-1.78 [[ 1.80217693e-02 -9.99837573e-01 -2.07218398e-04 -3.96786669e+02] [-9.99790895e-01 -1.80229303e-02 9.66125939e-03 -2.48532563e+02] [-9.66342483e-03 3.30620791e-05 -9.99953308e-01 -1.77645865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1259.4365599950002 meters 0.012592878126523904 Centerline is valid? [True, True] Translation: X:-396.81, Y:-248.65, Z:-1.78 [[ 9.62818240e-02 -9.95353659e-01 -9.50778384e-04 -3.96810274e+02] [-9.95306458e-01 -9.62865174e-02 9.69336924e-03 -2.48648457e+02] [-9.73987768e-03 1.30205943e-05 -9.99952566e-01 -1.77674638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1259.4665599950001 meters 0.0126043096724411 Centerline is valid? [True, True] Translation: X:-396.82, Y:-248.76, Z:-1.78 [[ 1.73717623e-01 -9.84794095e-01 -1.66705198e-03 -3.96824558e+02] [-9.84748496e-01 -1.73725622e-01 9.47675597e-03 -2.48761824e+02] [-9.62226296e-03 -4.65259595e-06 -9.99953705e-01 -1.77632047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1259.496559995 meters 0.012607168048400999 Centerline is valid? [True, True] Translation: X:-396.83, Y:-248.88, Z:-1.78 [[ 2.50538646e-01 -9.68104116e-01 -2.19284198e-03 -3.96829611e+02] [-9.68066156e-01 -2.50548241e-01 8.57301920e-03 -2.48877537e+02] [-8.84898787e-03 -2.50565155e-05 -9.99960847e-01 -1.77690668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1259.526559995 meters 0.01258103043307971 Centerline is valid? [True, True] Translation: X:-396.83, Y:-248.99, Z:-1.78 [[ 3.24383338e-01 -9.45922027e-01 -2.63980621e-03 -3.96825070e+02] [-9.45889934e-01 -3.24394078e-01 7.79194376e-03 -2.48992755e+02] [-8.22690874e-03 -3.06106024e-05 -9.99966158e-01 -1.77831140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1259.556559995 meters 0.012629377185702766 Centerline is valid? [True, True] Translation: X:-396.81, Y:-249.11, Z:-1.78 [[ 3.97437644e-01 -9.17624644e-01 -2.88641845e-03 -3.96814279e+02] [-9.17599643e-01 -3.97448123e-01 6.77384504e-03 -2.49105614e+02] [-7.36304874e-03 -4.36044791e-05 -9.99972892e-01 -1.77861006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1259.586559995 meters 0.012762964016004286 Centerline is valid? [True, True] Translation: X:-396.79, Y:-249.22, Z:-1.78 [[ 4.67209005e-01 -8.84139924e-01 -3.51301734e-03 -3.96794697e+02] [-8.84114033e-01 -4.67222208e-01 6.76638279e-03 -2.49215793e+02] [-7.62378889e-03 -5.54070357e-05 -9.99970937e-01 -1.77820791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1259.616559995 meters 0.013058732744869938 Centerline is valid? [True, True] Translation: X:-396.77, Y:-249.32, Z:-1.78 [[ 5.34594944e-01 -8.45098460e-01 -4.10358158e-03 -3.96767827e+02] [-8.45072530e-01 -5.34610689e-01 6.62044949e-03 -2.49322503e+02] [-7.78875024e-03 -7.14347601e-05 -9.99969665e-01 -1.77775928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1259.646559995 meters 0.013127680802103919 Centerline is valid? [True, True] Translation: X:-396.73, Y:-249.42, Z:-1.78 [[ 5.98638473e-01 -8.01006760e-01 -4.48873350e-03 -3.96732557e+02] [-8.00983169e-01 -5.98655295e-01 6.14821232e-03 -2.49424854e+02] [-7.61196371e-03 -8.51564536e-05 -9.99971025e-01 -1.77842698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1259.676559995 meters 0.013684760794735719 Centerline is valid? [True, True] Translation: X:-396.69, Y:-249.53, Z:-1.78 [[ 6.59080739e-01 -7.52056075e-01 -4.92344186e-03 -3.96689736e+02] [-7.52033943e-01 -6.59099120e-01 5.77054861e-03 -2.49525431e+02] [-7.58481234e-03 -1.00662046e-04 -9.99971230e-01 -1.77812443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1259.7065599950001 meters 0.013776556616972288 Centerline is valid? [True, True] Translation: X:-396.64, Y:-249.62, Z:-1.78 [[ 7.15379168e-01 -6.98715711e-01 -5.38530359e-03 -3.96641992e+02] [-6.98694678e-01 -7.15399428e-01 5.42259045e-03 -2.49617236e+02] [-7.64149225e-03 -1.16525285e-04 -9.99970797e-01 -1.77890930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1259.736559995 meters 0.01501058381270032 Centerline is valid? [True, True] Translation: X:-396.59, Y:-249.70, Z:-1.78 [[ 7.68633509e-01 -6.39662602e-01 -5.85527228e-03 -3.96591273e+02] [-6.39642544e-01 -7.68655796e-01 5.06781810e-03 -2.49704435e+02] [-7.74238269e-03 -1.50013554e-04 -9.99970016e-01 -1.77857007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1259.766559995 meters 0.015586216418826494 Centerline is valid? [True, True] Translation: X:-396.59, Y:-249.72, Z:-1.78 [[ 8.17380690e-01 -5.76062162e-01 -6.41818814e-03 -3.96587741e+02] [-5.76042760e-01 -8.17405870e-01 4.73100276e-03 -2.49715784e+02] [-7.97161634e-03 -1.69879490e-04 -9.99968212e-01 -1.77805760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1259.796559995 meters 0.015872033955128463 Centerline is valid? [True, True] Translation: X:-396.58, Y:-249.73, Z:-1.78 [[ 8.60939582e-01 -5.08656041e-01 -7.21589889e-03 -3.96583120e+02] [-5.08636235e-01 -8.60969798e-01 4.49302107e-03 -2.49727949e+02] [-8.49807332e-03 -1.97952032e-04 -9.99963871e-01 -1.77759204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1259.826559995 meters 0.01685878832355979 Centerline is valid? [True, True] Translation: X:-396.58, Y:-249.74, Z:-1.78 [[ 8.98803409e-01 -4.38283424e-01 -7.75064292e-03 -3.96579112e+02] [-4.38265024e-01 -8.98836800e-01 4.02188224e-03 -2.49739553e+02] [-8.72928739e-03 -2.18045758e-04 -9.99961875e-01 -1.77647648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1259.856559995 meters 0.016718297652365047 Centerline is valid? [True, True] Translation: X:-396.57, Y:-249.75, Z:-1.78 [[ 9.30791218e-01 -3.65461320e-01 -8.10758125e-03 -3.96572801e+02] [-3.65445281e-01 -9.30826498e-01 3.43172787e-03 -2.49749857e+02] [-8.80091526e-03 -2.31344850e-04 -9.99961245e-01 -1.77602921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1259.886559995 meters 0.01860141976220265 Centerline is valid? [True, True] Translation: X:-396.57, Y:-249.76, Z:-1.78 [[ 9.57128010e-01 -2.89538088e-01 -8.58303826e-03 -3.96567067e+02] [-2.89524029e-01 -9.57166459e-01 2.86485083e-03 -2.49759144e+02] [-9.04487976e-03 -2.57033153e-04 -9.99959061e-01 -1.77536195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1259.916559995 meters 0.017244254362106057 Centerline is valid? [True, True] Translation: X:-396.56, Y:-249.77, Z:-1.78 [[ 9.76944406e-01 -2.13308731e-01 -8.88888931e-03 -3.96558862e+02] [-2.13297425e-01 -9.76984808e-01 2.21218977e-03 -2.49765770e+02] [-9.15618921e-03 -2.65209230e-04 -9.99958046e-01 -1.77604611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1259.9465599950001 meters 0.01790089113964056 Centerline is valid? [True, True] Translation: X:-396.55, Y:-249.77, Z:-1.78 [[ 9.90627915e-01 -1.36273023e-01 -9.27343757e-03 -3.96551609e+02] [-1.36264479e-01 -9.90671282e-01 1.54998594e-03 -2.49773879e+02] [-9.39814956e-03 -2.71819202e-04 -9.99955800e-01 -1.77556151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1259.9765599950001 meters 0.017798249947587382 Centerline is valid? [True, True] Translation: X:-396.54, Y:-249.78, Z:-1.78 [[ 9.98218717e-01 -5.88338467e-02 -9.89811524e-03 -3.96542218e+02] [-5.88281434e-02 -9.98267749e-01 8.66623382e-04 -2.49779284e+02] [-9.93195600e-03 -2.82791938e-04 -9.99950637e-01 -1.77508974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1260.006559995 meters 0.017418694413947663 Centerline is valid? [True, True] Translation: X:-396.54, Y:-249.78, Z:-1.77 [[ 9.99760993e-01 1.93224588e-02 -1.02274279e-02 -3.96536590e+02] [ 1.93244040e-02 -9.99813262e-01 9.13938134e-05 -2.49783786e+02] [-1.02237521e-02 -2.89010919e-04 -9.99947695e-01 -1.77497141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1260.036559995 meters 0.017042257104244597 Centerline is valid? [True, True] Translation: X:-396.53, Y:-249.79, Z:-1.77 [[ 9.95283622e-01 9.64090477e-02 -1.07614218e-02 -3.96531220e+02] [ 9.64065838e-02 -9.95341756e-01 -7.48680156e-04 -2.49786026e+02] [-1.07834721e-02 -2.92322820e-04 -9.99941814e-01 -1.77464990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1260.066559995 meters 0.017107372090414876 Centerline is valid? [True, True] Translation: X:-396.53, Y:-249.79, Z:-1.77 [[ 9.84762840e-01 1.73581082e-01 -1.05715017e-02 -3.96526246e+02] [ 1.73574178e-01 -9.84819540e-01 -1.57416345e-03 -2.49789997e+02] [-1.06842664e-02 -2.84762035e-04 -9.99942881e-01 -1.77439800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1260.096559995 meters 0.016735888229670162 Centerline is valid? [True, True] Translation: X:-396.52, Y:-249.79, Z:-1.77 [[ 9.68421449e-01 2.49105043e-01 -1.03234972e-02 -3.96520738e+02] [ 2.49093862e-01 -9.68476435e-01 -2.37562580e-03 -2.49792619e+02] [-1.05898442e-02 -2.70912816e-04 -9.99943890e-01 -1.77426667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1260.126559995 meters 0.01611718470512978 Centerline is valid? [True, True] Translation: X:-396.51, Y:-249.80, Z:-1.77 [[ 9.46265951e-01 3.23214240e-01 -1.06445192e-02 -3.96514593e+02] [ 3.23197043e-01 -9.46325779e-01 -3.34541234e-03 -2.49795568e+02] [-1.11544678e-02 -2.74627325e-04 -9.99937749e-01 -1.77433820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1260.156559995 meters 0.015202200791875314 Centerline is valid? [True, True] Translation: X:-396.51, Y:-249.80, Z:-1.77 [[ 9.18964506e-01 3.94196580e-01 -1.06439395e-02 -3.96509466e+02] [ 3.94173358e-01 -9.19026110e-01 -4.28639669e-03 -2.49795814e+02] [-1.14717412e-02 -2.56510968e-04 -9.99934165e-01 -1.77421493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1260.1865599950002 meters 0.015009982106308394 Centerline is valid? [True, True] Translation: X:-396.50, Y:-249.80, Z:-1.77 [[ 8.86038248e-01 4.63498300e-01 -1.02736967e-02 -3.96504961e+02] [ 4.63470237e-01 -8.86097776e-01 -5.10593379e-03 -2.49799313e+02] [-1.14700914e-02 -2.37500003e-04 -9.99934188e-01 -1.77423449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1260.2165599950001 meters 0.015009982106308394 Centerline is valid? [True, True] Translation: X:-396.50, Y:-249.80, Z:-1.77 [[ 8.47037968e-01 5.31441256e-01 -9.84238172e-03 -3.96498227e+02] [ 5.31408619e-01 -8.47095116e-01 -5.89446666e-03 -2.49804848e+02] [-1.14699963e-02 -2.37489417e-04 -9.99934189e-01 -1.77423536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1260.246559995 meters 0.014606140574017771 Centerline is valid? [True, True] Translation: X:-396.49, Y:-249.81, Z:-1.77 [[ 8.03786352e-01 5.94846616e-01 -9.21974426e-03 -3.96492843e+02] [ 5.94810553e-01 -8.03839198e-01 -6.55358159e-03 -2.49806586e+02] [-1.13095677e-02 -2.16321736e-04 -9.99936022e-01 -1.77432102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1260.276559995 meters 0.014179702028436072 Centerline is valid? [True, True] Translation: X:-396.49, Y:-249.81, Z:-1.77 [[ 7.55800048e-01 6.54745325e-01 -8.65138044e-03 -3.96487416e+02] [ 6.54705408e-01 -7.55849535e-01 -7.23244973e-03 -2.49808246e+02] [-1.12745545e-02 -1.97819708e-04 -9.99936421e-01 -1.77442613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1260.306559995 meters 0.01391216456022785 Centerline is valid? [True, True] Translation: X:-396.48, Y:-249.81, Z:-1.77 [[ 7.03447280e-01 7.10701268e-01 -8.10132906e-03 -3.96483064e+02] [ 7.10657051e-01 -7.03493906e-01 -7.92969316e-03 -2.49810100e+02] [-1.13348786e-02 -1.79145530e-04 -9.99935742e-01 -1.77414858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1260.336559995 meters 0.01350983833411731 Centerline is valid? [True, True] Translation: X:-396.48, Y:-249.81, Z:-1.77 [[ 6.47038889e-01 7.62420098e-01 -7.50141456e-03 -3.96477592e+02] [ 7.62371703e-01 -6.47082351e-01 -8.59169990e-03 -2.49811198e+02] [-1.14045176e-02 -1.59702240e-04 -9.99934954e-01 -1.77413671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1260.366559995 meters 0.013381743335303814 Centerline is valid? [True, True] Translation: X:-396.47, Y:-249.81, Z:-1.77 [[ 5.87760401e-01 8.09004263e-01 -7.05783856e-03 -3.96474944e+02] [ 8.08948595e-01 -5.87802761e-01 -9.49130526e-03 -2.49811528e+02] [-1.18271234e-02 -1.30815202e-04 -9.99930049e-01 -1.77284759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1260.396559995 meters 0.013014096095184315 Centerline is valid? [True, True] Translation: X:-396.47, Y:-249.81, Z:-1.77 [[ 5.23521308e-01 8.51988757e-01 -6.37170508e-03 -3.96470809e+02] [ 8.51928425e-01 -5.23560068e-01 -1.01397353e-02 -2.49812290e+02] [-1.19749109e-02 -1.19869160e-04 -9.99928291e-01 -1.77325776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1260.426559995 meters 0.012969534517178999 Centerline is valid? [True, True] Translation: X:-396.47, Y:-249.81, Z:-1.77 [[ 4.56308746e-01 8.89801992e-01 -5.89438824e-03 -3.96469148e+02] [ 8.89730894e-01 -4.56346801e-01 -1.12487321e-02 -2.49812053e+02] [-1.26990294e-02 -1.11524482e-04 -9.99919358e-01 -1.77264618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1260.4565599950001 meters 0.01301329538083606 Centerline is valid? [True, True] Translation: X:-396.46, Y:-249.81, Z:-1.77 [[ 3.85103188e-01 9.22859408e-01 -5.10374438e-03 -3.96464297e+02] [ 9.22782325e-01 -3.85136988e-01 -1.19281894e-02 -2.49813485e+02] [-1.29736825e-02 -1.16061356e-04 -9.99915832e-01 -1.77240743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1260.486559995 meters 0.013289704035510871 Centerline is valid? [True, True] Translation: X:-396.46, Y:-249.82, Z:-1.77 [[ 3.10181850e-01 9.50668323e-01 -4.11813352e-03 -3.96458257e+02] [ 9.50590241e-01 -3.10209157e-01 -1.21849269e-02 -2.49816810e+02] [-1.28613068e-02 -1.35114356e-04 -9.99917281e-01 -1.77243953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1260.516559995 meters 0.013569682544940813 Centerline is valid? [True, True] Translation: X:-396.45, Y:-249.82, Z:-1.77 [[ 2.32564541e-01 9.72576166e-01 -3.05558909e-03 -3.96450775e+02] [ 9.72501035e-01 -2.32584559e-01 -1.20896654e-02 -2.49818741e+02] [-1.24688033e-02 -1.59936054e-04 -9.99922249e-01 -1.77305294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1260.546559995 meters 0.014059295349168091 Centerline is valid? [True, True] Translation: X:-396.44, Y:-249.82, Z:-1.77 [[ 1.53707669e-01 9.88114135e-01 -2.09962194e-03 -3.96443791e+02] [ 9.88037663e-01 -1.53721898e-01 -1.22944945e-02 -2.49820315e+02] [-1.24711217e-02 -1.84747463e-04 -9.99922216e-01 -1.77284369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1260.576559995 meters 0.014473861671452532 Centerline is valid? [True, True] Translation: X:-396.44, Y:-249.82, Z:-1.77 [[ 7.45738531e-02 9.97214879e-01 -1.10724919e-03 -3.96437439e+02] [ 9.97140639e-01 -7.45818137e-02 -1.21695687e-02 -2.49820591e+02] [-1.22182556e-02 -1.96551535e-04 -9.99925335e-01 -1.77274108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1260.606559995 meters 0.015036462118182718 Centerline is valid? [True, True] Translation: X:-396.43, Y:-249.82, Z:-1.77 [[-4.76137827e-03 9.99988656e-01 -1.32246472e-04 -3.96431642e+02] [ 9.99931120e-01 4.75968550e-03 -1.07284794e-02 -2.49821085e+02] [-1.07277283e-02 -1.83319712e-04 -9.99942440e-01 -1.77327277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1260.636559995 meters 0.014875624652723858 Centerline is valid? [True, True] Translation: X:-396.43, Y:-249.82, Z:-1.77 [[-8.25778036e-02 9.96584403e-01 6.58589278e-04 -3.96430573e+02] [ 9.96534687e-01 8.25802633e-02 -9.95578027e-03 -2.49820790e+02] [-9.97616182e-03 -1.65819408e-04 -9.99950223e-01 -1.77419496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1260.666559995 meters 0.014514592225556934 Centerline is valid? [True, True] Translation: X:-396.43, Y:-249.82, Z:-1.78 [[-1.59712487e-01 9.87162725e-01 1.29483541e-03 -3.96428852e+02] [ 9.87122585e-01 1.59717670e-01 -8.90321425e-03 -2.49820061e+02] [-8.99572933e-03 -1.43793206e-04 -9.99959527e-01 -1.77541086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1260.6965599950001 meters 0.01364420388329386 Centerline is valid? [True, True] Translation: X:-396.42, Y:-249.82, Z:-1.78 [[-2.35510643e-01 9.71870214e-01 1.73905359e-03 -3.96423801e+02] [ 9.71839912e-01 2.35517034e-01 -7.67537966e-03 -2.49818721e+02] [-7.86904962e-03 -1.17551908e-04 -9.99969032e-01 -1.77723201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1260.7265599950001 meters 0.013563843651994036 Centerline is valid? [True, True] Translation: X:-396.42, Y:-249.82, Z:-1.78 [[-3.09438346e-01 9.50917773e-01 1.81627817e-03 -3.96417396e+02] [ 9.50899800e-01 3.09443666e-01 -5.84707772e-03 -2.49817744e+02] [-6.12212590e-03 -8.22115128e-05 -9.99981256e-01 -1.77807506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1260.756559995 meters 0.013905311740316013 Centerline is valid? [True, True] Translation: X:-396.41, Y:-249.82, Z:-1.78 [[-3.82452192e-01 9.23973008e-01 2.04982590e-03 -3.96411785e+02] [ 9.23958719e-01 3.82457679e-01 -5.13898974e-03 -2.49817223e+02] [-5.53225947e-03 -7.14633826e-05 -9.99984695e-01 -1.77759363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1260.786559995 meters 0.013457039807778735 Centerline is valid? [True, True] Translation: X:-396.41, Y:-249.82, Z:-1.78 [[-4.53672709e-01 8.91165256e-01 2.35784409e-03 -3.96407848e+02] [ 8.91152419e-01 4.53678831e-01 -4.78388162e-03 -2.49815664e+02] [-5.33293304e-03 -6.91180732e-05 -9.99985778e-01 -1.77828590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1260.816559995 meters 0.013445650632713935 Centerline is valid? [True, True] Translation: X:-396.40, Y:-249.81, Z:-1.78 [[-5.22135238e-01 8.52859040e-01 2.50034875e-03 -3.96402646e+02] [ 8.52848667e-01 5.22141221e-01 -4.20687579e-03 -2.49812447e+02] [-4.89340720e-03 -6.41389882e-05 -9.99988025e-01 -1.77812578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1260.846559995 meters 0.013556228104417612 Centerline is valid? [True, True] Translation: X:-396.40, Y:-249.81, Z:-1.78 [[-5.87573435e-01 8.09166409e-01 2.67975714e-03 -3.96398252e+02] [ 8.09157504e-01 5.87579543e-01 -3.79664699e-03 -2.49809156e+02] [-4.64668969e-03 -6.24633150e-05 -9.99989202e-01 -1.77806491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1260.876559995 meters 0.013846867337092558 Centerline is valid? [True, True] Translation: X:-396.39, Y:-249.81, Z:-1.78 [[-6.49428105e-01 7.60417438e-01 2.90809307e-03 -3.96393240e+02] [ 7.60409376e-01 6.49434613e-01 -3.50199834e-03 -2.49806311e+02] [-4.55159690e-03 -6.29549135e-05 -9.99989640e-01 -1.77760499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1260.906559995 meters 0.013725487809111078 Centerline is valid? [True, True] Translation: X:-396.39, Y:-249.80, Z:-1.78 [[-7.07280397e-01 7.06926641e-01 3.02733475e-03 -3.96388838e+02] [ 7.06919788e-01 7.07286873e-01 -3.11344753e-03 -2.49802248e+02] [-4.34217314e-03 -6.19975608e-05 -9.99990571e-01 -1.77725582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1260.9365599950002 meters 0.013798877571589176 Centerline is valid? [True, True] Translation: X:-396.38, Y:-249.80, Z:-1.78 [[-7.60808424e-01 6.48968163e-01 3.29632977e-03 -3.96384195e+02] [ 6.48961700e-01 7.60815562e-01 -2.89706872e-03 -2.49798516e+02] [-4.38800435e-03 -6.49225208e-05 -9.99990371e-01 -1.77712247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1260.9665599950001 meters 0.013918890867822659 Centerline is valid? [True, True] Translation: X:-396.37, Y:-249.77, Z:-1.78 [[-8.04935273e-01 5.93352078e-01 3.53819455e-03 -3.96368396e+02] [ 5.93345982e-01 8.04943046e-01 -2.69031041e-03 -2.49774964e+02] [-4.44434637e-03 -6.61522238e-05 -9.99990122e-01 -1.77669840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1260.996559995 meters 0.014085039916678976 Centerline is valid? [True, True] Translation: X:-396.35, Y:-249.75, Z:-1.78 [[-8.45194934e-01 5.34445151e-01 3.72877043e-03 -3.96351194e+02] [ 5.34439591e-01 8.45203157e-01 -2.43884915e-03 -2.49752222e+02] [-4.45499964e-03 -6.85004060e-05 -9.99990074e-01 -1.77633361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1261.026559995 meters 0.014476422349511844 Centerline is valid? [True, True] Translation: X:-396.00, Y:-249.22, Z:-2.81 [[-7.88820114e-01 -6.14609601e-01 4.22691770e-03 -3.95999150e+02] [ 6.14601651e-01 -7.88831428e-01 -3.12879696e-03 -2.49221674e+02] [ 5.25731418e-03 1.29812621e-04 9.99986172e-01 -2.81086393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1261.056559995 meters 0.01464780855083484 Centerline is valid? [True, True] Translation: X:-396.39, Y:-249.73, Z:-1.77 [[-8.47814741e-01 5.30272811e-01 4.57283289e-03 -3.96386237e+02] [ 5.30264517e-01 8.47827069e-01 -2.96715776e-03 -2.49728408e+02] [-5.45037459e-03 -9.07890590e-05 -9.99985143e-01 -1.77443282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1261.086559995 meters 0.01488735403015293 Centerline is valid? [True, True] Translation: X:-396.37, Y:-249.70, Z:-1.77 [[-8.83341458e-01 4.68704751e-01 4.87078324e-03 -3.96371532e+02] [ 4.68697037e-01 8.83354882e-01 -2.69070212e-03 -2.49704359e+02] [-5.56377502e-03 -9.38870636e-05 -9.99984518e-01 -1.77393097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1261.116559995 meters 0.01493962862783502 Centerline is valid? [True, True] Translation: X:-396.36, Y:-249.68, Z:-1.77 [[-9.14319133e-01 4.04958904e-01 5.36741696e-03 -3.96364311e+02] [ 4.04951284e-01 9.14334882e-01 -2.48635902e-03 -2.49676882e+02] [-5.91448977e-03 -9.97832368e-05 -9.99982504e-01 -1.77331190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1261.146559995 meters 0.01485421197997813 Centerline is valid? [True, True] Translation: X:-396.35, Y:-249.65, Z:-1.77 [[-9.40464016e-01 3.39837450e-01 6.15979520e-03 -3.96352304e+02] [ 3.39829419e-01 9.40484182e-01 -2.33874055e-03 -2.49652094e+02] [-6.58798157e-03 -1.06221709e-04 -9.99978294e-01 -1.77218932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1261.176559995 meters 0.014663950818599796 Centerline is valid? [True, True] Translation: X:-396.34, Y:-249.63, Z:-1.77 [[-9.62008169e-01 2.72939076e-01 6.67408442e-03 -3.96344303e+02] [ 2.72931729e-01 9.62031314e-01 -2.00549582e-03 -2.49625980e+02] [-6.96805638e-03 -1.07733960e-04 -9.99975717e-01 -1.77158873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1261.2065599950001 meters 0.014415984153282673 Centerline is valid? [True, True] Translation: X:-396.34, Y:-249.60, Z:-1.77 [[-9.78752831e-01 2.04928795e-01 6.86191164e-03 -3.96339977e+02] [ 2.04923024e-01 9.78776879e-01 -1.54138095e-03 -2.49599008e+02] [-7.03215380e-03 -1.02467291e-04 -9.99975269e-01 -1.77144507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1261.236559995 meters 0.01328954965435924 Centerline is valid? [True, True] Translation: X:-396.34, Y:-249.57, Z:-1.77 [[-9.90680468e-01 1.36022583e-01 7.07578167e-03 -3.96337835e+02] [ 1.36018419e-01 9.90705732e-01 -1.06873758e-03 -2.49573621e+02] [-7.15538990e-03 -9.63408169e-05 -9.99974395e-01 -1.77234732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1261.266559995 meters 0.014001879846780663 Centerline is valid? [True, True] Translation: X:-396.34, Y:-249.54, Z:-1.77 [[-9.97756141e-01 6.66066367e-02 6.79990404e-03 -3.96338246e+02] [ 6.66045220e-02 9.97779309e-01 -5.37214603e-04 -2.49543878e+02] [-6.82058561e-03 -8.31048105e-05 -9.99976736e-01 -1.77079826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1261.296559995 meters 0.0129934616284018 Centerline is valid? [True, True] Translation: X:-396.34, Y:-249.52, Z:-1.77 [[-9.99977173e-01 -2.02965522e-03 6.44465638e-03 -3.96339480e+02] [-2.03001898e-03 9.99997938e-01 -4.99033849e-05 -2.49518988e+02] [-6.44454180e-03 -6.29850205e-05 -9.99979232e-01 -1.77217310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1261.326559995 meters 0.012628043840599588 Centerline is valid? [True, True] Translation: X:-396.33, Y:-248.87, Z:-2.81 [[-9.96538823e-01 -8.29372228e-02 5.63847434e-03 -3.96333831e+02] [ 8.29359225e-02 -9.96554774e-01 -4.64442141e-04 -2.48874907e+02] [ 5.65756807e-03 4.79744622e-06 9.99983996e-01 -2.81318123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1261.356559995 meters 0.012731144594502261 Centerline is valid? [True, True] Translation: X:-396.41, Y:-249.52, Z:-1.77 [[-9.99970012e-01 -4.90900847e-03 5.98974325e-03 -3.96408070e+02] [-4.90920228e-03 9.99987950e-01 -1.76556292e-05 -2.49519791e+02] [-5.98958440e-03 -4.70599610e-05 -9.99982061e-01 -1.77192864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1261.386559995 meters 0.012480130092881866 Centerline is valid? [True, True] Translation: X:-396.42, Y:-249.49, Z:-1.77 [[-9.97135231e-01 -7.53487445e-02 6.62552744e-03 -3.96419340e+02] [-7.53473977e-02 9.97157242e-01 4.52998895e-04 -2.49493762e+02] [-6.64082557e-03 -4.75150931e-05 -9.99977949e-01 -1.77194395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1261.416559995 meters 0.012528874597099017 Centerline is valid? [True, True] Translation: X:-396.43, Y:-249.47, Z:-1.77 [[-9.89395929e-01 -1.45006923e-01 8.28788277e-03 -3.96428041e+02] [-1.45002249e-01 9.89430639e-01 1.16531960e-03 -2.49467077e+02] [-8.36926456e-03 -4.87991714e-05 -9.99964976e-01 -1.76971602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1261.4465599950001 meters 0.012566609905943292 Centerline is valid? [True, True] Translation: X:-396.45, Y:-249.44, Z:-1.77 [[-9.76633048e-01 -2.14704547e-01 9.47873659e-03 -3.96446251e+02] [-2.14694916e-01 9.76679044e-01 2.03424350e-03 -2.49442155e+02] [-9.69444472e-03 -4.83271177e-05 -9.99953007e-01 -1.76855043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1261.4765599950001 meters 0.012498885960805273 Centerline is valid? [True, True] Translation: X:-396.48, Y:-249.42, Z:-1.77 [[-9.58801890e-01 -2.83883745e-01 1.04381512e-02 -3.96476267e+02] [-2.83867452e-01 9.58858706e-01 3.04181044e-03 -2.49421364e+02] [-1.08722327e-02 -4.65577848e-05 -9.99940895e-01 -1.76730900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1261.506559995 meters 0.0125025286811468 Centerline is valid? [True, True] Translation: X:-396.53, Y:-249.41, Z:-1.77 [[-9.35788071e-01 -3.52388563e-01 1.10899804e-02 -3.96529671e+02] [-3.52364336e-01 9.35853781e-01 4.13226992e-03 -2.49410111e+02] [-1.18347647e-02 -4.07846777e-05 -9.99929966e-01 -1.76706660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1261.536559995 meters 0.012473212497131646 Centerline is valid? [True, True] Translation: X:-396.80, Y:-248.82, Z:-2.82 [[-9.59051824e-01 2.82995280e-01 1.15442907e-02 -3.96801676e+02] [-2.82974079e-01 -9.59121300e-01 3.46446465e-03 -2.48817469e+02] [ 1.20528022e-02 5.58661157e-05 9.99927361e-01 -2.81963365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1261.566559995 meters 0.012470140955130177 Centerline is valid? [True, True] Translation: X:-396.69, Y:-249.47, Z:-1.77 [[-9.34138553e-01 -3.56724319e-01 1.15292490e-02 -3.96693092e+02] [-3.56697222e-01 9.34209698e-01 4.39679451e-03 -2.49469790e+02] [-1.23391797e-02 -5.23581710e-06 -9.99923870e-01 -1.76672410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1261.596559995 meters 0.012489336430680209 Centerline is valid? [True, True] Translation: X:-396.76, Y:-249.47, Z:-1.77 [[-9.05690115e-01 -4.23794188e-01 1.11310741e-02 -3.96760112e+02] [-4.23762124e-01 9.05758514e-01 5.21307635e-03 -2.49467658e+02] [-1.22913366e-02 4.50410752e-06 -9.99924459e-01 -1.76670164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1261.626559995 meters 0.012523122682513646 Centerline is valid? [True, True] Translation: X:-396.83, Y:-249.47, Z:-1.77 [[-8.72028910e-01 -4.89351350e-01 1.00417316e-02 -3.96833253e+02] [-4.89318787e-01 8.72086726e-01 5.64516211e-03 -2.49473525e+02] [-1.15197285e-02 9.13664343e-06 -9.99933646e-01 -1.76680256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1261.656559995 meters 0.01254156412517343 Centerline is valid? [True, True] Translation: X:-396.91, Y:-249.49, Z:-1.77 [[-8.33029687e-01 -5.53148194e-01 9.41363052e-03 -3.96912939e+02] [-5.53112786e-01 8.33082875e-01 6.25865035e-03 -2.49488797e+02] [-1.13042955e-02 6.84214333e-06 -9.99936105e-01 -1.76736082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1261.6865599950002 meters 0.012313798549444395 Centerline is valid? [True, True] Translation: X:-397.00, Y:-249.51, Z:-1.77 [[-7.88526999e-01 -6.14945268e-01 8.21517060e-03 -3.96995229e+02] [-6.14911969e-01 7.88569792e-01 6.39944271e-03 -2.49511529e+02] [-1.04135424e-02 -5.47337212e-06 -9.99945778e-01 -1.76977221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1261.7165599950001 meters 0.012434871672980368 Centerline is valid? [True, True] Translation: X:-397.08, Y:-249.55, Z:-1.77 [[-7.39529693e-01 -6.73082228e-01 7.49322714e-03 -3.97083007e+02] [-6.73047862e-01 7.39567654e-01 6.80147804e-03 -2.49547186e+02] [-1.01197024e-02 -1.34055482e-05 -9.99948795e-01 -1.76907788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1261.746559995 meters 0.012533924834078352 Centerline is valid? [True, True] Translation: X:-397.17, Y:-249.59, Z:-1.77 [[-6.85854120e-01 -7.27708844e-01 6.63064629e-03 -3.97168676e+02] [-7.27675161e-01 6.85886170e-01 7.00157638e-03 -2.49590250e+02] [-9.64297764e-03 -2.28966035e-05 -9.99953505e-01 -1.76949182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1261.776559995 meters 0.012420557846267628 Centerline is valid? [True, True] Translation: X:-397.26, Y:-249.65, Z:-1.77 [[-6.28038536e-01 -7.78161432e-01 5.69059018e-03 -3.97256052e+02] [-7.78129937e-01 6.28064316e-01 7.00119452e-03 -2.49646097e+02] [-9.02211618e-03 -3.09986237e-05 -9.99959300e-01 -1.77076487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1261.806559995 meters 0.012438497232669168 Centerline is valid? [True, True] Translation: X:-397.34, Y:-249.71, Z:-1.77 [[-5.65832054e-01 -8.24506966e-01 4.72755263e-03 -3.97340973e+02] [-8.24478809e-01 5.65851802e-01 6.81404344e-03 -2.49707816e+02] [-8.29332046e-03 -4.21627624e-05 -9.99965609e-01 -1.77039935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1261.836559995 meters 0.012445465152068142 Centerline is valid? [True, True] Translation: X:-397.42, Y:-249.78, Z:-1.77 [[-5.00631571e-01 -8.65651381e-01 3.96454939e-03 -3.97420693e+02] [-8.65624992e-01 5.00647266e-01 6.75927328e-03 -2.49778366e+02] [-7.83601506e-03 -4.79074302e-05 -9.99969297e-01 -1.77097682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1261.866559995 meters 0.012659071696824745 Centerline is valid? [True, True] Translation: X:-397.50, Y:-249.86, Z:-1.77 [[-4.31996793e-01 -9.01869192e-01 3.27597269e-03 -3.97497422e+02] [-9.01844237e-01 4.32009211e-01 6.70934254e-03 -2.49859334e+02] [-7.46619971e-03 -5.60026303e-05 -9.99972126e-01 -1.77095923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1261.896559995 meters 0.012768039998904246 Centerline is valid? [True, True] Translation: X:-397.57, Y:-249.95, Z:-1.77 [[-3.60675594e-01 -9.32687957e-01 2.50807003e-03 -3.97569774e+02] [-9.32666559e-01 3.60684309e-01 6.31812914e-03 -2.49950645e+02] [-6.79746447e-03 -6.03980641e-05 -9.99976895e-01 -1.77131377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1261.926559995 meters 0.012967319727571399 Centerline is valid? [True, True] Translation: X:-397.63, Y:-250.04, Z:-1.77 [[-2.86833185e-01 -9.57978402e-01 2.02616917e-03 -3.97632006e+02] [-9.57956285e-01 2.86840332e-01 6.50994225e-03 -2.50038378e+02] [-6.81757111e-03 -7.37140244e-05 -9.99976758e-01 -1.77162359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1261.9565599950001 meters 0.01324633045350958 Centerline is valid? [True, True] Translation: X:-397.69, Y:-250.14, Z:-1.77 [[-2.10581976e-01 -9.77574892e-01 1.60051319e-03 -3.97688615e+02] [-9.77549927e-01 2.10588037e-01 6.98707622e-03 -2.50135344e+02] [-7.16743922e-03 -9.32292413e-05 -9.99974309e-01 -1.77156786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1261.986559995 meters 0.014634044603522155 Centerline is valid? [True, True] Translation: X:-397.74, Y:-250.24, Z:-1.77 [[-1.31106692e-01 -9.91367444e-01 1.27559137e-03 -3.97741567e+02] [-9.91330997e-01 1.31112812e-01 8.50207766e-03 -2.50237116e+02] [-8.59592937e-03 -1.49853985e-04 -9.99963043e-01 -1.76925956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1262.016559995 meters 0.015573462471437982 Centerline is valid? [True, True] Translation: X:-398.35, Y:-250.25, Z:-2.82 [[-2.33283804e-01 9.72406638e-01 1.99922911e-03 -3.98354933e+02] [-9.72361962e-01 -2.33292256e-01 9.32408073e-03 -2.50251888e+02] [ 9.53320267e-03 2.31182676e-04 9.99954531e-01 -2.81799921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1262.046559995 meters 0.016212524158390806 Centerline is valid? [True, True] Translation: X:-397.79, Y:-250.50, Z:-1.77 [[-1.18792718e-01 -9.92918070e-01 1.41319333e-03 -3.97789578e+02] [-9.92867221e-01 1.18800940e-01 1.00508376e-02 -2.50503440e+02] [-1.01475469e-02 -2.09147013e-04 -9.99948491e-01 -1.76676779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1262.076559995 meters 0.01673249985923464 Centerline is valid? [True, True] Translation: X:-397.83, Y:-250.61, Z:-1.77 [[-4.13456861e-02 -9.99144672e-01 6.77553238e-04 -3.97830499e+02] [-9.99087108e-01 4.13505788e-02 1.07275655e-02 -2.50613566e+02] [-1.07464072e-02 -2.33396149e-04 -9.99942229e-01 -1.76590175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1262.106559995 meters 0.01673249985923464 Centerline is valid? [True, True] Translation: X:-397.86, Y:-250.73, Z:-1.77 [[ 3.52079932e-02 -9.99379996e-01 -1.45122911e-04 -3.97860857e+02] [-9.99322227e-01 -3.52075187e-02 1.07478680e-02 -2.50725259e+02] [-1.07463137e-02 -2.33386312e-04 -9.99942230e-01 -1.76590614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1262.136559995 meters 0.015732326965769795 Centerline is valid? [True, True] Translation: X:-397.88, Y:-250.84, Z:-1.77 [[ 1.12164734e-01 -9.93689124e-01 -9.99074841e-04 -3.97881636e+02] [-9.93627754e-01 -1.12168913e-01 1.10463835e-02 -2.50838472e+02] [-1.10887363e-02 -2.46306177e-04 -9.99938488e-01 -1.76645041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1262.166559995 meters 0.015461632672072182 Centerline is valid? [True, True] Translation: X:-397.89, Y:-250.95, Z:-1.77 [[ 1.87293906e-01 -9.82302259e-01 -1.80691757e-03 -3.97893832e+02] [-9.82243701e-01 -1.87302475e-01 1.07281952e-02 -2.50952838e+02] [-1.08767705e-02 -2.34492182e-04 -9.99940819e-01 -1.76637025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1262.1965599950001 meters 0.014552145711854907 Centerline is valid? [True, True] Translation: X:-397.90, Y:-251.07, Z:-1.77 [[ 2.61038896e-01 -9.65324739e-01 -2.61597844e-03 -3.97897165e+02] [-9.65267346e-01 -2.61051909e-01 1.05286264e-02 -2.51067107e+02] [-1.08464497e-02 -2.23262466e-04 -9.99941151e-01 -1.76750294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1262.2265599950001 meters 0.01636391474353114 Centerline is valid? [True, True] Translation: X:-397.90, Y:-251.18, Z:-1.77 [[ 3.32639235e-01 -9.43048382e-01 -3.29981383e-03 -3.97896726e+02] [-9.42995783e-01 -3.32655540e-01 9.96218438e-03 -2.51180643e+02] [-1.04925232e-02 -2.02102861e-04 -9.99944932e-01 -1.76507470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1262.256559995 meters 0.014448130017322387 Centerline is valid? [True, True] Translation: X:-397.88, Y:-251.29, Z:-1.77 [[ 4.02335865e-01 -9.15482837e-01 -4.12633069e-03 -3.97880430e+02] [-9.15429791e-01 -4.02356980e-01 9.85687683e-03 -2.51291447e+02] [-1.06840595e-02 -1.88409020e-04 -9.99942906e-01 -1.76655347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1262.286559995 meters 0.013945357304715154 Centerline is valid? [True, True] Translation: X:-397.86, Y:-251.40, Z:-1.77 [[ 4.69446191e-01 -8.82947445e-01 -4.90749735e-03 -3.97857312e+02] [-8.82895369e-01 -4.69471810e-01 9.59102113e-03 -2.51402218e+02] [-1.07722993e-02 -1.69661647e-04 -9.99941963e-01 -1.76645590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1262.316559995 meters 0.013475922440276712 Centerline is valid? [True, True] Translation: X:-397.83, Y:-251.51, Z:-1.77 [[ 5.34002461e-01 -8.45462706e-01 -5.84680474e-03 -3.97825727e+02] [-8.45408779e-01 -5.34034445e-01 9.55023475e-03 -2.51510191e+02] [-1.11967624e-02 -1.56908800e-04 -9.99937302e-01 -1.76618914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1262.346559995 meters 0.013048154190039067 Centerline is valid? [True, True] Translation: X:-397.79, Y:-251.61, Z:-1.76 [[ 5.93793058e-01 -8.04584943e-01 -7.27151105e-03 -3.97787158e+02] [-8.04522022e-01 -5.93837566e-01 1.00629192e-02 -2.51610247e+02] [-1.24145697e-02 -1.25200779e-04 -9.99922929e-01 -1.76489895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1262.376559995 meters 0.012836745676685867 Centerline is valid? [True, True] Translation: X:-397.74, Y:-251.71, Z:-1.76 [[ 6.51933805e-01 -7.58226527e-01 -8.65150256e-03 -3.97743471e+02] [-7.58157506e-01 -6.51991198e-01 1.02310686e-02 -2.51707170e+02] [-1.33981712e-02 -1.10777907e-04 -9.99910235e-01 -1.76429945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1262.406559995 meters 0.012811401035347194 Centerline is valid? [True, True] Translation: X:-397.69, Y:-251.80, Z:-1.76 [[ 7.06530487e-01 -7.07614416e-01 -9.82388077e-03 -3.97693107e+02] [-7.07544179e-01 -7.06598775e-01 9.97024594e-03 -2.51800496e+02] [-1.39966319e-02 -9.34530708e-05 -9.99902038e-01 -1.76368254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1262.4365599950002 meters 0.012649721342952553 Centerline is valid? [True, True] Translation: X:-397.64, Y:-251.89, Z:-1.76 [[ 7.57320724e-01 -6.52952526e-01 -1.08775084e-02 -3.97639462e+02] [-6.52883701e-01 -7.57398833e-01 9.48051164e-03 -2.51885840e+02] [-1.44289362e-02 -7.80399799e-05 -9.99895895e-01 -1.76402561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1262.4665599950001 meters 0.012751329964130472 Centerline is valid? [True, True] Translation: X:-397.64, Y:-251.89, Z:-1.76 [[ 8.05115560e-01 -5.93007495e-01 -1.14475626e-02 -3.97639101e+02] [-5.92946590e-01 -8.05196937e-01 8.49907056e-03 -2.51893112e+02] [-1.42575549e-02 -5.49407606e-05 -9.99898355e-01 -1.76331212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1262.496559995 meters 0.012620846235763004 Centerline is valid? [True, True] Translation: X:-397.64, Y:-251.90, Z:-1.76 [[ 8.48880097e-01 -5.28444084e-01 -1.22241778e-02 -3.97638690e+02] [-5.28388402e-01 -8.48968107e-01 7.67135371e-03 -2.51902467e+02] [-1.44318186e-02 -5.29456884e-05 -9.99895855e-01 -1.76390956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1262.526559995 meters 0.012644023138884589 Centerline is valid? [True, True] Translation: X:-397.64, Y:-251.91, Z:-1.76 [[ 8.87652311e-01 -4.60352158e-01 -1.22174059e-02 -3.97638431e+02] [-4.60307743e-01 -8.87736384e-01 6.39483612e-03 -2.51911389e+02] [-1.37897123e-02 -5.26245359e-05 -9.99904916e-01 -1.76353179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1262.556559995 meters 0.01257899457709552 Centerline is valid? [True, True] Translation: X:-397.64, Y:-251.92, Z:-1.76 [[ 9.21026970e-01 -3.89296991e-01 -1.25368447e-02 -3.97636919e+02] [-3.89260110e-01 -9.21112289e-01 5.35885337e-03 -2.51921354e+02] [-1.36340272e-02 -5.55549277e-05 -9.99907051e-01 -1.76399855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1262.586559995 meters 0.012580616698323069 Centerline is valid? [True, True] Translation: X:-397.63, Y:-251.93, Z:-1.76 [[ 9.48828551e-01 -3.15536908e-01 -1.26823095e-02 -3.97634358e+02] [-3.15507847e-01 -9.48913303e-01 4.28282560e-03 -2.51930613e+02] [-1.33858018e-02 -6.22990380e-05 -9.99910404e-01 -1.76407321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1262.616559995 meters 0.012721796324654882 Centerline is valid? [True, True] Translation: X:-397.63, Y:-251.94, Z:-1.76 [[ 9.71001828e-01 -2.38747241e-01 -1.24581535e-02 -3.97632211e+02] [-2.38726514e-01 -9.71081741e-01 3.14691646e-03 -2.51938555e+02] [-1.28492030e-02 -8.15700892e-05 -9.99917442e-01 -1.76458890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1262.646559995 meters 0.012813321253276048 Centerline is valid? [True, True] Translation: X:-397.63, Y:-251.95, Z:-1.77 [[ 9.86904256e-01 -1.60854387e-01 -1.20771145e-02 -3.97629060e+02] [-1.60841185e-01 -9.86978144e-01 2.06295355e-03 -2.51947937e+02] [-1.22516832e-02 -9.34402273e-05 -9.99924941e-01 -1.76564573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1262.676559995 meters 0.012956786133739613 Centerline is valid? [True, True] Translation: X:-397.63, Y:-251.96, Z:-1.77 [[ 9.96610426e-01 -8.14451532e-02 -1.15907572e-02 -3.97628509e+02] [-8.14383869e-02 -9.96677819e-01 1.05533690e-03 -2.51956500e+02] [-1.16382027e-02 -1.07827187e-04 -9.99932268e-01 -1.76640050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1262.7065599950001 meters 0.013458727754833115 Centerline is valid? [True, True] Translation: X:-397.63, Y:-251.97, Z:-1.77 [[ 9.99939592e-01 1.38689576e-04 -1.09905623e-02 -3.97628410e+02] [ 1.40198362e-04 -9.99999981e-01 1.36509876e-04 -2.51966209e+02] [-1.09905432e-02 -1.38042489e-04 -9.99939593e-01 -1.76774411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1262.736559995 meters 0.013778311872655557 Centerline is valid? [True, True] Translation: X:-397.63, Y:-251.97, Z:-1.77 [[ 9.96747857e-01 7.98613784e-02 -1.07643134e-02 -3.97626081e+02] [ 7.98583587e-02 -9.96805968e-01 -7.10752481e-04 -2.51974215e+02] [-1.07866935e-02 -1.51179385e-04 -9.99941811e-01 -1.76833105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1262.766559995 meters 0.013778311872655557 Centerline is valid? [True, True] Translation: X:-397.62, Y:-251.98, Z:-1.77 [[ 9.87437279e-01 1.57650416e-01 -1.06755461e-02 -3.97623890e+02] [ 1.57642857e-01 -9.87494974e-01 -1.55124022e-03 -2.51980253e+02] [-1.07866017e-02 -1.51171153e-04 -9.99941812e-01 -1.76833188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1262.796559995 meters 0.01453180958023493 Centerline is valid? [True, True] Translation: X:-397.62, Y:-251.99, Z:-1.77 [[ 9.71776806e-01 2.35660481e-01 -1.06760491e-02 -3.97621825e+02] [ 2.35648141e-01 -9.71835434e-01 -2.41741477e-03 -2.51988240e+02] [-1.09450520e-02 -1.66603528e-04 -9.99940087e-01 -1.76778839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1262.826559995 meters 0.01409741737417293 Centerline is valid? [True, True] Translation: X:-397.62, Y:-251.99, Z:-1.77 [[ 9.50443341e-01 3.10723468e-01 -1.04106828e-02 -3.97618763e+02] [ 3.10706697e-01 -9.50500342e-01 -3.23234978e-03 -2.51991928e+02] [-1.08997245e-02 -1.62503556e-04 -9.99940583e-01 -1.76863820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1262.856559995 meters 0.013377077483622516 Centerline is valid? [True, True] Translation: X:-397.61, Y:-252.00, Z:-1.77 [[ 9.23742358e-01 3.82898089e-01 -9.43977542e-03 -3.97614196e+02] [ 3.82879615e-01 -9.23790580e-01 -3.76373211e-03 -2.51998721e+02] [-1.01615014e-02 -1.37578805e-04 -9.99948361e-01 -1.76934709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1262.886559995 meters 0.012985974004917172 Centerline is valid? [True, True] Translation: X:-397.61, Y:-252.01, Z:-1.77 [[ 8.92695292e-01 4.50582978e-01 -8.37235510e-03 -3.97610099e+02] [ 4.50564106e-01 -8.92734547e-01 -4.12488142e-03 -2.52005244e+02] [-9.33289199e-03 -9.00204742e-05 -9.99956444e-01 -1.76862527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1262.916559995 meters 0.012584492445511969 Centerline is valid? [True, True] Translation: X:-397.61, Y:-252.01, Z:-1.77 [[ 8.55872712e-01 5.17125372e-01 -7.95305182e-03 -3.97606273e+02] [ 5.17103785e-01 -8.55909660e-01 -4.72554979e-03 -2.52009153e+02] [-9.25079557e-03 -6.80840778e-05 -9.99957208e-01 -1.76914442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1262.9465599950001 meters 0.012457860347603175 Centerline is valid? [True, True] Translation: X:-397.60, Y:-252.01, Z:-1.77 [[ 8.13877859e-01 5.80989096e-01 -7.38247026e-03 -3.97602286e+02] [ 5.80965741e-01 -8.13911339e-01 -5.20956330e-03 -2.52013391e+02] [-9.03537573e-03 -4.90140790e-05 -9.99959179e-01 -1.76875088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1262.9765599950001 meters 0.01225506681121493 Centerline is valid? [True, True] Translation: X:-397.60, Y:-252.02, Z:-1.77 [[ 7.67006253e-01 6.41603635e-01 -6.79584466e-03 -3.97597761e+02] [ 6.41578831e-01 -7.67036358e-01 -5.64180050e-03 -2.52016872e+02] [-8.83245965e-03 -3.27738112e-05 -9.99960993e-01 -1.76994341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1263.006559995 meters 0.012190524202960235 Centerline is valid? [True, True] Translation: X:-397.59, Y:-252.02, Z:-1.77 [[ 7.15510422e-01 6.98574584e-01 -6.19569934e-03 -3.97592817e+02] [ 6.98548619e-01 -7.15537246e-01 -6.02296246e-03 -2.52020368e+02] [-8.64074214e-03 -1.85048042e-05 -9.99962668e-01 -1.77034713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1263.036559995 meters 0.012170644864730832 Centerline is valid? [True, True] Translation: X:-397.59, Y:-252.02, Z:-1.77 [[ 6.59943894e-01 7.51294372e-01 -5.55197615e-03 -3.97589107e+02] [ 7.51267829e-01 -6.59967247e-01 -6.31520294e-03 -2.52024178e+02] [-8.40869884e-03 -3.34145389e-06 -9.99964646e-01 -1.77067667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1263.066559995 meters 0.012142677504460032 Centerline is valid? [True, True] Translation: X:-397.58, Y:-252.03, Z:-1.77 [[ 5.99517500e-01 8.00348318e-01 -4.61928245e-03 -3.97581900e+02] [ 8.00324553e-01 -5.99535296e-01 -6.16762355e-03 -2.52028475e+02] [-7.70567001e-03 6.73088950e-07 -9.99970311e-01 -1.77148663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1263.096559995 meters 0.012133652147279331 Centerline is valid? [True, True] Translation: X:-397.58, Y:-252.03, Z:-1.77 [[ 5.35461876e-01 8.44550097e-01 -3.96400998e-03 -3.97575700e+02] [ 8.44526894e-01 -5.35476549e-01 -6.26031830e-03 -2.52033043e+02] [-7.40978682e-03 4.44874447e-06 -9.99972547e-01 -1.77156112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1263.126559995 meters 0.01210216922740779 Centerline is valid? [True, True] Translation: X:-397.57, Y:-252.04, Z:-1.77 [[ 4.67692981e-01 8.83885532e-01 -3.10507646e-03 -3.97566829e+02] [ 8.83866001e-01 -4.67703289e-01 -5.87583309e-03 -2.52037256e+02] [-6.64581833e-03 3.61437889e-06 -9.99977917e-01 -1.77217461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1263.156559995 meters 0.012032042438571615 Centerline is valid? [True, True] Translation: X:-397.56, Y:-252.04, Z:-1.77 [[ 3.96852204e-01 9.17879453e-01 -2.37470199e-03 -3.97557619e+02] [ 9.17862989e-01 -3.96859308e-01 -5.49748633e-03 -2.52040427e+02] [-5.98845233e-03 2.03850175e-06 -9.99982069e-01 -1.77258339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1263.1865599950002 meters 0.012060999906672702 Centerline is valid? [True, True] Translation: X:-397.55, Y:-252.04, Z:-1.77 [[ 3.21879345e-01 9.46779330e-01 -1.60850624e-03 -3.97549087e+02] [ 9.46767643e-01 -3.21883364e-01 -4.70433061e-03 -2.52044422e+02] [-4.97171439e-03 -8.65480720e-06 -9.99987641e-01 -1.77372184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1263.2165599950001 meters 0.012186525144340713 Centerline is valid? [True, True] Translation: X:-397.54, Y:-252.05, Z:-1.77 [[ 2.45479132e-01 9.69401170e-01 -1.16935205e-03 -3.97539641e+02] [ 9.69390450e-01 -2.45481917e-01 -4.55898721e-03 -2.52046704e+02] [-4.70654232e-03 -1.44224833e-05 -9.99988924e-01 -1.77394248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1263.246559995 meters 0.012291773642186985 Centerline is valid? [True, True] Translation: X:-397.53, Y:-252.05, Z:-1.77 [[ 1.67184093e-01 9.85925404e-01 -7.59184188e-04 -3.97530005e+02] [ 9.85915800e-01 -1.67185815e-01 -4.35196008e-03 -2.52049011e+02] [-4.41763283e-03 -2.09131886e-05 -9.99990242e-01 -1.77373388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1263.276559995 meters 0.012322742610627381 Centerline is valid? [True, True] Translation: X:-397.52, Y:-252.05, Z:-1.77 [[ 8.79784750e-02 9.96122273e-01 -4.53329449e-04 -3.97519155e+02] [ 9.96110739e-01 -8.79796378e-02 -4.79375024e-03 -2.52050215e+02] [-4.81504515e-03 -2.98194968e-05 -9.99988407e-01 -1.77346145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1263.306559995 meters 0.012828825164288404 Centerline is valid? [True, True] Translation: X:-397.51, Y:-252.05, Z:-1.77 [[ 6.51482968e-03 9.99978774e-01 -9.12472927e-05 -3.97506499e+02] [ 9.99962152e-01 -6.51524752e-03 -5.76594982e-03 -2.52050668e+02] [-5.76642193e-03 -5.36796582e-05 -9.99983373e-01 -1.77170352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1263.336559995 meters 0.012704867778718076 Centerline is valid? [True, True] Translation: X:-397.50, Y:-252.05, Z:-1.77 [[-7.28755325e-02 9.97340965e-01 3.94465006e-04 -3.97495915e+02] [ 9.97321117e-01 7.28765710e-02 -6.29254944e-03 -2.52049267e+02] [-6.30456459e-03 -6.51646109e-05 -9.99980124e-01 -1.77144889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1263.366559995 meters 0.01300962473886123 Centerline is valid? [True, True] Translation: X:-397.49, Y:-252.05, Z:-1.77 [[-1.51174586e-01 9.88506645e-01 9.25970453e-04 -3.97485222e+02] [ 9.88485122e-01 1.51177406e-01 -6.52350715e-03 -2.52048317e+02] [-6.58851597e-03 -7.08804788e-05 -9.99978293e-01 -1.77091613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1263.396559995 meters 0.013006752887764145 Centerline is valid? [True, True] Translation: X:-397.48, Y:-252.05, Z:-1.77 [[-2.28183877e-01 9.73616865e-01 1.52250118e-03 -3.97477324e+02] [ 9.73592930e-01 2.28188944e-01 -6.82736826e-03 -2.52046286e+02] [-6.99465882e-03 -7.55989793e-05 -9.99975534e-01 -1.77068819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1263.426559995 meters 0.012973300673659635 Centerline is valid? [True, True] Translation: X:-397.47, Y:-252.04, Z:-1.77 [[-3.03095052e-01 9.52957871e-01 2.16454006e-03 -3.97470777e+02] [ 9.52931782e-01 3.03102771e-01 -7.05184564e-03 -2.52044719e+02] [-7.37618990e-03 -7.47204977e-05 -9.99972793e-01 -1.77049148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1263.4565599950001 meters 0.012716774439776993 Centerline is valid? [True, True] Translation: X:-397.46, Y:-252.04, Z:-1.77 [[-3.75928602e-01 9.26644393e-01 2.80270791e-03 -3.97464449e+02] [ 9.26617237e-01 3.75939043e-01 -7.09453087e-03 -2.52041876e+02] [-7.62775458e-03 -6.99996082e-05 -9.99970906e-01 -1.77086319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1263.486559995 meters 0.012350442687933847 Centerline is valid? [True, True] Translation: X:-397.46, Y:-252.04, Z:-1.77 [[-4.43965361e-01 8.96037936e-01 3.28257092e-03 -3.97459629e+02] [ 8.96012770e-01 4.43977494e-01 -6.71576920e-03 -2.52039884e+02] [-7.47497159e-03 -4.03434399e-05 -9.99972061e-01 -1.77123005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1263.516559995 meters 0.01222355339444759 Centerline is valid? [True, True] Translation: X:-397.45, Y:-252.04, Z:-1.77 [[-5.10659951e-01 8.59775783e-01 3.46673790e-03 -3.97454384e+02] [ 8.59755702e-01 5.10671718e-01 -5.87617577e-03 -2.52036848e+02] [-6.82255862e-03 -2.01799572e-05 -9.99976726e-01 -1.77192032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1263.546559995 meters 0.012171087696182201 Centerline is valid? [True, True] Translation: X:-397.45, Y:-252.03, Z:-1.77 [[-5.74006656e-01 8.18843714e-01 3.36613476e-03 -3.97450045e+02] [ 8.18829633e-01 5.74016526e-01 -4.80210412e-03 -2.52033779e+02] [-5.86438975e-03 -1.48837694e-07 -9.99982805e-01 -1.77277208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1263.576559995 meters 0.012318432708302716 Centerline is valid? [True, True] Translation: X:-397.45, Y:-252.03, Z:-1.77 [[-6.34232776e-01 7.73135408e-01 3.22897674e-03 -3.97446929e+02] [ 7.73125499e-01 6.34240995e-01 -3.91435743e-03 -2.52031117e+02] [-5.07427775e-03 1.37904743e-05 -9.99987126e-01 -1.77381782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1263.606559995 meters 0.012588014564851207 Centerline is valid? [True, True] Translation: X:-397.44, Y:-252.03, Z:-1.77 [[-6.90869747e-01 7.22971540e-01 3.33843961e-03 -3.97443391e+02] [ 7.22963280e-01 6.90877813e-01 -3.45596114e-03 -2.52028108e+02] [-4.80501540e-03 2.59502546e-05 -9.99988456e-01 -1.77446889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1263.636559995 meters 0.013152841549630576 Centerline is valid? [True, True] Translation: X:-397.44, Y:-252.02, Z:-1.77 [[-7.42340143e-01 6.70003588e-01 5.12882795e-03 -3.97439585e+02] [ 6.69988236e-01 7.42357857e-01 -4.53617787e-03 -2.52023334e+02] [-6.84668117e-03 6.88674638e-05 -9.99976559e-01 -1.77347135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1263.666559995 meters 0.013510700454050117 Centerline is valid? [True, True] Translation: X:-397.00, Y:-251.54, Z:-2.81 [[-7.11421071e-01 -7.02741643e-01 5.85176735e-03 -3.97002687e+02] [ 7.02717839e-01 -7.11445137e-01 -5.78411252e-03 -2.51539545e+02] [ 8.22794816e-03 -2.79821900e-06 9.99966150e-01 -2.81413125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1263.6965599950001 meters 0.014237908724960951 Centerline is valid? [True, True] Translation: X:-397.02, Y:-251.52, Z:-2.82 [[-7.12148009e-01 -7.01998786e-01 6.55119960e-03 -3.97020936e+02] [ 7.01967547e-01 -7.12178132e-01 -6.62365890e-03 -2.51519769e+02] [ 9.31542159e-03 -1.18295989e-04 9.99956604e-01 -2.81565201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1263.7265599950001 meters 0.01360344041090509 Centerline is valid? [True, True] Translation: X:-397.04, Y:-251.50, Z:-2.82 [[-7.12512528e-01 -7.01624792e-01 6.96773000e-03 -3.97042686e+02] [ 7.01589475e-01 -7.12546585e-01 -7.04082241e-03 -2.51501294e+02] [ 9.90484777e-03 -1.28188139e-04 9.99950938e-01 -2.81508761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1263.756559995 meters 0.01371508739395582 Centerline is valid? [True, True] Translation: X:-397.06, Y:-251.48, Z:-2.82 [[-7.12605251e-01 -7.01527987e-01 7.22769971e-03 -3.97063139e+02] [ 7.01490023e-01 -7.12641892e-01 -7.29942074e-03 -2.51482692e+02] [ 1.02715095e-02 -1.31446305e-04 9.99947238e-01 -2.81565502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1263.786559995 meters 0.013580362004310663 Centerline is valid? [True, True] Translation: X:-397.08, Y:-251.46, Z:-2.82 [[-7.12403165e-01 -7.01731304e-01 7.41002985e-03 -3.97084394e+02] [ 7.01691455e-01 -7.12441690e-01 -7.47935783e-03 -2.51463923e+02] [ 1.05277137e-02 -1.28763566e-04 9.99944574e-01 -2.81588137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1263.816559995 meters 0.013368662426932758 Centerline is valid? [True, True] Translation: X:-397.11, Y:-251.45, Z:-2.82 [[-7.11149539e-01 -7.03008028e-01 6.78573910e-03 -3.97105869e+02] [ 7.02974697e-01 -7.11181906e-01 -6.84642057e-03 -2.51446945e+02] [ 9.63898349e-03 -9.86259493e-05 9.99953539e-01 -2.81500118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1263.846559995 meters 0.013199699358651139 Centerline is valid? [True, True] Translation: X:-397.13, Y:-251.43, Z:-2.81 [[-7.10482184e-01 -7.03686893e-01 6.31048840e-03 -3.97126039e+02] [ 7.03658131e-01 -7.10510204e-01 -6.36274907e-03 -2.51429747e+02] [ 8.96104953e-03 -8.01933833e-05 9.99959846e-01 -2.81449208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1263.876559995 meters 0.012860678532381471 Centerline is valid? [True, True] Translation: X:-397.15, Y:-251.41, Z:-2.81 [[-7.09500724e-01 -7.04680036e-01 5.89659404e-03 -3.97147139e+02] [ 7.04654988e-01 -7.09525224e-01 -5.94171248e-03 -2.51412360e+02] [ 8.37078837e-03 -6.05849029e-05 9.99964963e-01 -2.81325808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1263.906559995 meters 0.012552843510597789 Centerline is valid? [True, True] Translation: X:-397.17, Y:-251.40, Z:-2.81 [[-7.07600787e-01 -7.06593476e-01 5.17549059e-03 -3.97170180e+02] [ 7.06574254e-01 -7.07619713e-01 -5.21201930e-03 -2.51396111e+02] [ 7.34505800e-03 -3.11605604e-05 9.99973024e-01 -2.81221580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1263.9365599950002 meters 0.012434623900621439 Centerline is valid? [True, True] Translation: X:-397.19, Y:-251.38, Z:-2.81 [[-7.06690072e-01 -7.07506139e-01 4.91996978e-03 -3.97190862e+02] [ 7.07488812e-01 -7.06707198e-01 -4.95161629e-03 -2.51378659e+02] [ 6.98027698e-03 -1.84344953e-05 9.99975638e-01 -2.81180621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1263.9665599950001 meters 0.01236990026730546 Centerline is valid? [True, True] Translation: X:-397.21, Y:-251.36, Z:-2.81 [[-7.05736477e-01 -7.08458973e-01 4.68067860e-03 -3.97211972e+02] [ 7.08443330e-01 -7.05751999e-01 -4.70784776e-03 -2.51361099e+02] [ 6.63871527e-03 -6.50435148e-06 9.99977964e-01 -2.81137191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1263.996559995 meters 0.012380207321483226 Centerline is valid? [True, True] Translation: X:-397.23, Y:-251.34, Z:-2.81 [[-7.04618144e-01 -7.09573015e-01 4.40530000e-03 -3.97232835e+02] [ 7.09559198e-01 -7.04631915e-01 -4.42811798e-03 -2.51343940e+02] [ 6.24618800e-03 5.68886708e-06 9.99980493e-01 -2.81120137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1264.026559995 meters 0.012380207321483226 Centerline is valid? [True, True] Translation: X:-397.25, Y:-251.33, Z:-2.81 [[-7.04838697e-01 -7.09353926e-01 4.40667640e-03 -3.97251775e+02] [ 7.09340114e-01 -7.04852472e-01 -4.42674825e-03 -2.51325052e+02] [ 6.24618801e-03 5.68887547e-06 9.99980493e-01 -2.81120227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1264.056559995 meters 0.012578714877304062 Centerline is valid? [True, True] Translation: X:-397.27, Y:-251.31, Z:-2.81 [[-7.02271369e-01 -7.11893887e-01 4.69228578e-03 -3.97274420e+02] [ 7.11878303e-01 -7.02287044e-01 -4.71058961e-03 -2.51310841e+02] [ 6.64877146e-03 3.22242163e-05 9.99977896e-01 -2.81189294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1264.086559995 meters 0.012916598051300184 Centerline is valid? [True, True] Translation: X:-397.30, Y:-251.30, Z:-2.81 [[-7.00985171e-01 -7.13158366e-01 4.99351604e-03 -3.97295490e+02] [ 7.13140771e-01 -7.01002955e-01 -5.00979418e-03 -2.51295248e+02] [ 7.07324613e-03 4.92884495e-05 9.99974983e-01 -2.81283953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1264.116559995 meters 0.013049614309613825 Centerline is valid? [True, True] Translation: X:-397.32, Y:-251.28, Z:-2.81 [[-7.00012254e-01 -7.14111254e-01 5.28791575e-03 -3.97316454e+02] [ 7.14091568e-01 -7.00032223e-01 -5.30267386e-03 -2.51278414e+02] [ 7.48841049e-03 6.41193705e-05 9.99971960e-01 -2.81303710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1264.146559995 meters 0.013384685648410024 Centerline is valid? [True, True] Translation: X:-397.34, Y:-251.26, Z:-2.81 [[-6.99119508e-01 -7.14984115e-01 5.44330674e-03 -3.97338117e+02] [ 7.14963307e-01 -6.99140694e-01 -5.45523291e-03 -2.51261038e+02] [ 7.70604212e-03 7.79048376e-05 9.99970305e-01 -2.81341540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1264.176559995 meters 0.013777758010764737 Centerline is valid? [True, True] Translation: X:-397.36, Y:-251.24, Z:-2.81 [[-6.98598451e-01 -7.15494134e-01 5.32436043e-03 -3.97358459e+02] [ 7.15474266e-01 -6.98618735e-01 -5.33268190e-03 -2.51244714e+02] [ 7.53520057e-03 8.40395593e-05 9.99971607e-01 -2.81369341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1264.2065599950001 meters 0.013812957714484066 Centerline is valid? [True, True] Translation: X:-397.38, Y:-251.23, Z:-2.81 [[-6.98400382e-01 -7.15687763e-01 5.28509628e-03 -3.97378746e+02] [ 7.15668216e-01 -6.98420374e-01 -5.29022476e-03 -2.51226523e+02] [ 7.47736804e-03 8.76804331e-05 9.99972040e-01 -2.81371881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1264.236559995 meters 0.013457155852889126 Centerline is valid? [True, True] Translation: X:-397.40, Y:-251.21, Z:-2.81 [[-6.98519207e-01 -7.15567796e-01 5.80065449e-03 -3.97399431e+02] [ 7.15544275e-01 -6.98543284e-01 -5.80267399e-03 -2.51208027e+02] [ 8.20421487e-03 9.73458735e-05 9.99966340e-01 -2.81372999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1264.266559995 meters 0.013545404032626697 Centerline is valid? [True, True] Translation: X:-397.42, Y:-251.19, Z:-2.81 [[-6.98768994e-01 -7.15319035e-01 6.36957566e-03 -3.97418880e+02] [ 7.15290701e-01 -6.98798016e-01 -6.36764520e-03 -2.51190468e+02] [ 9.00594465e-03 1.06585210e-04 9.99959440e-01 -2.81481927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1264.296559995 meters 0.013562356722826595 Centerline is valid? [True, True] Translation: X:-397.44, Y:-251.21, Z:-2.82 [[-6.49298738e-01 -7.60507406e-01 6.29558334e-03 -3.97439765e+02] [ 7.60473263e-01 -6.49329249e-01 -7.20714855e-03 -2.51213455e+02] [ 9.56899626e-03 1.08030349e-04 9.99954210e-01 -2.81581685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1264.326559995 meters 0.0134789592867312 Centerline is valid? [True, True] Translation: X:-397.46, Y:-251.19, Z:-2.82 [[-6.49958116e-01 -7.59941400e-01 6.59663411e-03 -3.97457769e+02] [ 7.59903963e-01 -6.49991582e-01 -7.54394055e-03 -2.51193547e+02] [ 1.00207094e-02 1.09563014e-04 9.99949786e-01 -2.81626472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1264.356559995 meters 0.013170868617484163 Centerline is valid? [True, True] Translation: X:-397.48, Y:-251.17, Z:-2.82 [[-6.51240304e-01 -7.58841195e-01 6.79028407e-03 -3.97475256e+02] [ 7.58801517e-01 -6.51275696e-01 -7.76053098e-03 -2.51172780e+02] [ 1.03113576e-02 9.85072980e-05 9.99946832e-01 -2.81577451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1264.386559995 meters 0.013268364277529974 Centerline is valid? [True, True] Translation: X:-397.49, Y:-251.15, Z:-2.82 [[-6.52244100e-01 -7.57980886e-01 6.52766689e-03 -3.97493132e+02] [ 7.57944211e-01 -6.52276758e-01 -7.45677916e-03 -2.51153573e+02] [ 9.90994148e-03 8.39671183e-05 9.99950892e-01 -2.81616731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1264.416559995 meters 0.012956634144001377 Centerline is valid? [True, True] Translation: X:-397.51, Y:-251.13, Z:-2.82 [[-6.53285779e-01 -7.57085680e-01 6.24215837e-03 -3.97510609e+02] [ 7.57052144e-01 -6.53315597e-01 -7.12620209e-03 -2.51132363e+02] [ 9.47324497e-03 7.01928931e-05 9.99955126e-01 -2.81500801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1264.4465599950001 meters 0.012755487877772774 Centerline is valid? [True, True] Translation: X:-397.53, Y:-251.11, Z:-2.81 [[-6.54552719e-01 -7.55994020e-01 5.81208506e-03 -3.97528423e+02] [ 7.55964936e-01 -6.54578520e-01 -6.63146789e-03 -2.51111024e+02] [ 8.81781611e-03 5.30871817e-05 9.99961121e-01 -2.81371018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1264.4765599950001 meters 0.012622081735249438 Centerline is valid? [True, True] Translation: X:-397.55, Y:-251.09, Z:-2.81 [[-6.56419269e-01 -7.54378679e-01 5.15294195e-03 -3.97546204e+02] [ 7.54355794e-01 -6.56439493e-01 -5.87597635e-03 -2.51090261e+02] [ 7.81530588e-03 3.00475234e-05 9.99969460e-01 -2.81298680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1264.506559995 meters 0.012638923837916845 Centerline is valid? [True, True] Translation: X:-397.56, Y:-251.07, Z:-2.81 [[-6.57203345e-01 -7.53698226e-01 4.76935509e-03 -3.97564536e+02] [ 7.53678629e-01 -6.57220650e-01 -5.43518618e-03 -2.51070781e+02] [ 7.23100884e-03 2.25384626e-05 9.99973856e-01 -2.81371878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1264.536559995 meters 0.012470693277927502 Centerline is valid? [True, True] Translation: X:-397.58, Y:-251.05, Z:-2.81 [[-6.57844205e-01 -7.53140148e-01 4.57378080e-03 -3.97583192e+02] [ 7.53122132e-01 -6.57860104e-01 -5.20933584e-03 -2.51049432e+02] [ 6.93226788e-03 1.76841489e-05 9.99975972e-01 -2.81256320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1264.566559995 meters 0.012547933031039881 Centerline is valid? [True, True] Translation: X:-397.60, Y:-251.03, Z:-2.81 [[-6.58203926e-01 -7.52825878e-01 4.55942737e-03 -3.97601766e+02] [ 7.52807982e-01 -6.58219718e-01 -5.19083313e-03 -2.51029239e+02] [ 6.90889851e-03 1.57465759e-05 9.99976133e-01 -2.81299599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1264.596559995 meters 0.012611479409479933 Centerline is valid? [True, True] Translation: X:-397.62, Y:-251.01, Z:-2.81 [[-6.58310457e-01 -7.52731990e-01 4.67905770e-03 -3.97620720e+02] [ 7.52713162e-01 -6.58327085e-01 -5.32401834e-03 -2.51008754e+02] [ 7.08790933e-03 1.71313726e-05 9.99974881e-01 -2.81319688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1264.626559995 meters 0.012638047764718838 Centerline is valid? [True, True] Translation: X:-397.64, Y:-250.99, Z:-2.81 [[-6.58231965e-01 -7.52797790e-01 5.11546597e-03 -3.97639915e+02] [ 7.52775314e-01 -6.58251841e-01 -5.81728416e-03 -2.50988662e+02] [ 7.74650355e-03 2.16741160e-05 9.99969995e-01 -2.81351117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1264.656559995 meters 0.01259648540140675 Centerline is valid? [True, True] Translation: X:-397.66, Y:-250.97, Z:-2.81 [[-6.57833362e-01 -7.53144724e-01 5.31909788e-03 -3.97659369e+02] [ 7.53120461e-01 -6.57854865e-01 -6.04545586e-03 -2.50968724e+02] [ 8.05229761e-03 2.90188976e-05 9.99967580e-01 -2.81429305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1264.6865599950002 meters 0.012833006008003476 Centerline is valid? [True, True] Translation: X:-397.68, Y:-250.95, Z:-2.82 [[-6.56156994e-01 -7.54598891e-01 6.20596190e-03 -3.97679779e+02] [ 7.54565954e-01 -6.56186339e-01 -7.05054318e-03 -2.50950468e+02] [ 9.39259948e-03 5.65443449e-05 9.99955887e-01 -2.81607459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1264.7165599950001 meters 0.013010944379594871 Centerline is valid? [True, True] Translation: X:-397.70, Y:-250.93, Z:-2.82 [[-6.55259207e-01 -7.55375296e-01 6.59800525e-03 -3.97699199e+02] [ 7.55338152e-01 -6.55292421e-01 -7.49127685e-03 -2.50931316e+02] [ 9.98234830e-03 7.49969677e-05 9.99950173e-01 -2.81679898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1264.746559995 meters 0.013270763158845967 Centerline is valid? [True, True] Translation: X:-397.72, Y:-250.91, Z:-2.82 [[-6.54448395e-01 -7.56075834e-01 6.82874218e-03 -3.97718792e+02] [ 7.56036135e-01 -6.54484014e-01 -7.74844683e-03 -2.50911902e+02] [ 1.03277160e-02 9.18172571e-05 9.99946664e-01 -2.81753482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1264.776559995 meters 0.013249614689336818 Centerline is valid? [True, True] Translation: X:-397.74, Y:-250.89, Z:-2.82 [[-6.53589364e-01 -7.56815361e-01 7.17310202e-03 -3.97737771e+02] [ 7.56771651e-01 -6.53628715e-01 -8.13456487e-03 -2.50891666e+02] [ 1.08449091e-02 1.11735188e-04 9.99941186e-01 -2.81740602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1264.806559995 meters 0.013934750295310182 Centerline is valid? [True, True] Translation: X:-397.76, Y:-250.87, Z:-2.82 [[-6.51786804e-01 -7.58364480e-01 7.56818502e-03 -3.97757502e+02] [ 7.58315985e-01 -6.51830725e-01 -8.57746066e-03 -2.50873068e+02] [ 1.14380170e-02 1.48400010e-04 9.99934573e-01 -2.81896403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1264.836559995 meters 0.014005040746127243 Centerline is valid? [True, True] Translation: X:-397.78, Y:-250.85, Z:-2.82 [[-6.51122058e-01 -7.58929869e-01 8.09439316e-03 -3.97776239e+02] [ 7.58874503e-01 -6.51172346e-01 -9.16868865e-03 -2.50852285e+02] [ 1.22292367e-02 1.72693161e-04 9.99925205e-01 -2.81900460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1264.866559995 meters 0.01408620159614279 Centerline is valid? [True, True] Translation: X:-397.79, Y:-250.83, Z:-2.82 [[-6.50965877e-01 -7.59063823e-01 8.09562040e-03 -3.97794678e+02] [ 7.59008514e-01 -6.51016191e-01 -9.16489371e-03 -2.50831513e+02] [ 1.22271192e-02 1.78611732e-04 9.99925230e-01 -2.81909676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1264.896559995 meters 0.014423791212495943 Centerline is valid? [True, True] Translation: X:-397.81, Y:-250.81, Z:-2.82 [[-6.50653230e-01 -7.59327714e-01 8.47337509e-03 -3.97812619e+02] [ 7.59267218e-01 -6.50708372e-01 -9.58682441e-03 -2.50811748e+02] [ 1.27932376e-02 1.95857666e-04 9.99918144e-01 -2.81950299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1264.926559995 meters 0.014471842478778535 Centerline is valid? [True, True] Translation: X:-397.83, Y:-250.79, Z:-2.82 [[-6.50806105e-01 -7.59200998e-01 8.07826272e-03 -3.97829755e+02] [ 7.59146073e-01 -6.50856212e-01 -9.13405890e-03 -2.50791075e+02] [ 1.21923741e-02 1.88080120e-04 9.99925653e-01 -2.81871166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1264.9565599950001 meters 0.014439400923121619 Centerline is valid? [True, True] Translation: X:-397.85, Y:-250.77, Z:-2.82 [[-6.51263332e-01 -7.58813526e-01 7.62265775e-03 -3.97846857e+02] [ 7.58764660e-01 -6.51307917e-01 -8.61324206e-03 -2.50771372e+02] [ 1.15005419e-02 1.74314593e-04 9.99933852e-01 -2.81815861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1264.986559995 meters 0.014217331689467044 Centerline is valid? [True, True] Translation: X:-397.86, Y:-250.75, Z:-2.82 [[-6.51944375e-01 -7.58236588e-01 6.76827960e-03 -3.97864451e+02] [ 7.58198080e-01 -6.51979490e-01 -7.64306414e-03 -2.50750093e+02] [ 1.02080304e-02 1.48843919e-04 9.99947886e-01 -2.81718689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1265.016559995 meters 0.014089021317398453 Centerline is valid? [True, True] Translation: X:-397.88, Y:-250.73, Z:-2.82 [[-6.52805835e-01 -7.57501494e-01 6.00233249e-03 -3.97881882e+02] [ 7.57471216e-01 -6.52833418e-01 -6.77391432e-03 -2.50729035e+02] [ 9.04977345e-03 1.24543293e-04 9.99959042e-01 -2.81603581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1265.046559995 meters 0.013805130280077228 Centerline is valid? [True, True] Translation: X:-397.90, Y:-250.71, Z:-2.81 [[-6.53935397e-01 -7.56532099e-01 5.26114440e-03 -3.97899039e+02] [ 7.56508835e-01 -6.53956553e-01 -5.93375277e-03 -2.50707325e+02] [ 7.92963429e-03 9.98112502e-05 9.99968555e-01 -2.81477152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1265.076559995 meters 0.013474392619377844 Centerline is valid? [True, True] Translation: X:-397.91, Y:-250.68, Z:-2.81 [[-6.55670940e-01 -7.55035821e-01 4.06537477e-03 -3.97914958e+02] [ 7.55021918e-01 -6.55683540e-01 -4.58240105e-03 -2.50684468e+02] [ 6.12547626e-03 6.48998492e-05 9.99981237e-01 -2.81298665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1265.106559995 meters 0.013457359496719702 Centerline is valid? [True, True] Translation: X:-397.93, Y:-250.66, Z:-2.81 [[-6.56570378e-01 -7.54254838e-01 3.87013546e-03 -3.97931845e+02] [ 7.54242237e-01 -6.56581782e-01 -4.36022743e-03 -2.50664207e+02] [ 5.82978307e-03 5.62234554e-05 9.99983005e-01 -2.81324120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1265.136559995 meters 0.013088376806008733 Centerline is valid? [True, True] Translation: X:-397.95, Y:-250.64, Z:-2.81 [[-6.57564852e-01 -7.53389767e-01 3.51063871e-03 -3.97948457e+02] [ 7.53379399e-01 -6.57574222e-01 -3.95272220e-03 -2.50642348e+02] [ 5.28644598e-03 4.56716904e-05 9.99986026e-01 -2.81286219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1265.166559995 meters 0.01294317780879688 Centerline is valid? [True, True] Translation: X:-397.97, Y:-250.62, Z:-2.81 [[-6.58166645e-01 -7.52863159e-01 3.70572726e-03 -3.97965809e+02] [ 7.52851611e-01 -6.58177075e-01 -4.17003954e-03 -2.50620306e+02] [ 5.57849387e-03 4.52818034e-05 9.99984439e-01 -2.81278439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1265.1965599950001 meters 0.013075937618172665 Centerline is valid? [True, True] Translation: X:-397.98, Y:-250.60, Z:-2.81 [[-6.58221444e-01 -7.52812544e-01 4.21958445e-03 -3.97983060e+02] [ 7.52797586e-01 -6.58234967e-01 -4.74597150e-03 -2.50600145e+02] [ 6.35030491e-03 5.25927685e-05 9.99979835e-01 -2.81351521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1265.2265599950001 meters 0.013126443814588669 Centerline is valid? [True, True] Translation: X:-398.00, Y:-250.58, Z:-2.81 [[-6.58343868e-01 -7.52704797e-01 4.34053046e-03 -3.98000850e+02] [ 7.52688984e-01 -6.58358175e-01 -4.87922254e-03 -2.50578853e+02] [ 6.53023793e-03 5.48632236e-05 9.99978676e-01 -2.81392130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1265.256559995 meters 0.013210085544635384 Centerline is valid? [True, True] Translation: X:-398.02, Y:-250.56, Z:-2.81 [[-6.56962251e-01 -7.53903917e-01 5.42995663e-03 -3.98019366e+02] [ 7.53879239e-01 -6.56984685e-01 -6.10053343e-03 -2.50556785e+02] [ 8.16661440e-03 8.57113918e-05 9.99966649e-01 -2.81470183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1265.286559995 meters 0.013272228053579041 Centerline is valid? [True, True] Translation: X:-398.04, Y:-250.54, Z:-2.81 [[-6.56525558e-01 -7.54281855e-01 5.75107817e-03 -3.98036999e+02] [ 7.54254210e-01 -6.56550740e-01 -6.45859540e-03 -2.50536551e+02] [ 8.64747595e-03 9.75419722e-05 9.99962605e-01 -2.81493363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1265.316559995 meters 0.013853189791142391 Centerline is valid? [True, True] Translation: X:-398.06, Y:-250.52, Z:-2.82 [[-6.56181363e-01 -7.54579179e-01 6.02349625e-03 -3.98055718e+02] [ 7.54548902e-01 -6.56209000e-01 -6.76045159e-03 -2.50516552e+02] [ 9.05396846e-03 1.08940140e-04 9.99959006e-01 -2.81596334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1265.346559995 meters 0.013615396525025686 Centerline is valid? [True, True] Translation: X:-398.07, Y:-250.49, Z:-2.82 [[-6.55655096e-01 -7.55037694e-01 5.87163719e-03 -3.98072897e+02] [ 7.55008978e-01 -6.55681377e-01 -6.58604102e-03 -2.50494924e+02] [ 8.82263238e-03 1.14967436e-04 9.99961073e-01 -2.81603689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1265.376559995 meters 0.013615396525025686 Centerline is valid? [True, True] Translation: X:-398.09, Y:-250.47, Z:-2.82 [[-6.55867924e-01 -7.54852812e-01 5.87349327e-03 -3.98091297e+02] [ 7.54824104e-01 -6.55894213e-01 -6.58438581e-03 -2.50474392e+02] [ 8.82263239e-03 1.14966845e-04 9.99961073e-01 -2.81603781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1265.406559995 meters 0.013625692110493163 Centerline is valid? [True, True] Translation: X:-398.11, Y:-250.45, Z:-2.82 [[-6.55859495e-01 -7.54857865e-01 6.15844385e-03 -3.98108104e+02] [ 7.54826340e-01 -6.55888397e-01 -6.89988567e-03 -2.50451717e+02] [ 9.24768483e-03 1.23200095e-04 9.99957232e-01 -2.81657871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1265.4365599950002 meters 0.013625692110493163 Centerline is valid? [True, True] Translation: X:-398.13, Y:-250.43, Z:-2.82 [[-6.56073583e-01 -7.54671785e-01 6.16040082e-03 -3.98126516e+02] [ 7.54640268e-01 -6.56102493e-01 -6.89813849e-03 -2.50431193e+02] [ 9.24768483e-03 1.23200097e-04 9.99957232e-01 -2.81657964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1265.4665599950001 meters 0.01381051610506509 Centerline is valid? [True, True] Translation: X:-398.14, Y:-250.41, Z:-2.82 [[-6.56704129e-01 -7.54121293e-01 6.38453954e-03 -3.98144274e+02] [ 7.54087456e-01 -6.56735152e-01 -7.14481695e-03 -2.50410344e+02] [ 9.58101014e-03 1.22470392e-04 9.99954094e-01 -2.81779324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1265.496559995 meters 0.013819657135188236 Centerline is valid? [True, True] Translation: X:-398.16, Y:-250.39, Z:-2.82 [[-6.57891151e-01 -7.53083909e-01 6.62268416e-03 -3.98159163e+02] [ 7.53047483e-01 -6.57924474e-01 -7.40775773e-03 -2.50388467e+02] [ 9.93588914e-03 1.13697374e-04 9.99950632e-01 -2.81887264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1265.526559995 meters 0.013352896723683406 Centerline is valid? [True, True] Translation: X:-398.18, Y:-250.37, Z:-2.82 [[-6.59001104e-01 -7.52113110e-01 6.58902620e-03 -3.98175176e+02] [ 7.52077046e-01 -6.59034036e-01 -7.36595331e-03 -2.50365161e+02] [ 9.88242258e-03 1.01283999e-04 9.99951163e-01 -2.81782705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1265.556559995 meters 0.013160059327313619 Centerline is valid? [True, True] Translation: X:-398.19, Y:-250.34, Z:-2.82 [[-6.60146646e-01 -7.51110444e-01 6.28546749e-03 -3.98191133e+02] [ 7.51077625e-01 -6.60176563e-01 -7.02193112e-03 -2.50343596e+02] [ 9.42376413e-03 8.53697121e-05 9.99955592e-01 -2.81733501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1265.586559995 meters 0.012891793461456707 Centerline is valid? [True, True] Translation: X:-398.21, Y:-250.32, Z:-2.82 [[-6.62448859e-01 -7.49086115e-01 5.61266135e-03 -3.98205439e+02] [ 7.49059906e-01 -6.62472634e-01 -6.26636872e-03 -2.50319905e+02] [ 8.41228435e-03 5.30707696e-05 9.99964615e-01 -2.81619614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1265.616559995 meters 0.012872031959682112 Centerline is valid? [True, True] Translation: X:-398.22, Y:-250.30, Z:-2.82 [[-6.63370989e-01 -7.48271578e-01 5.34580480e-03 -3.98221993e+02] [ 7.48247802e-01 -6.63392526e-01 -5.96508771e-03 -2.50296942e+02] [ 8.00987255e-03 4.29205649e-05 9.99967920e-01 -2.81523579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1265.646559995 meters 0.012972072105899108 Centerline is valid? [True, True] Translation: X:-398.24, Y:-250.27, Z:-2.81 [[-6.64486577e-01 -7.47282990e-01 5.07161648e-03 -3.98238590e+02] [ 7.47261589e-01 -6.64505931e-01 -5.65557258e-03 -2.50274977e+02] [ 7.59643242e-03 3.17721259e-05 9.99971146e-01 -2.81480052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1265.676559995 meters 0.012767548027790815 Centerline is valid? [True, True] Translation: X:-398.26, Y:-250.25, Z:-2.81 [[-6.65300203e-01 -7.46560254e-01 4.84015797e-03 -3.98255471e+02] [ 7.46540767e-01 -6.65317809e-01 -5.39408998e-03 -2.50253122e+02] [ 7.24725648e-03 2.46860825e-05 9.99973738e-01 -2.81438403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1265.7065599950001 meters 0.012741843413726856 Centerline is valid? [True, True] Translation: X:-398.27, Y:-250.23, Z:-2.81 [[-6.66384345e-01 -7.45593608e-01 4.69851388e-03 -3.98271762e+02] [ 7.45575246e-01 -6.66400909e-01 -5.23280490e-03 -2.50232405e+02] [ 7.03263981e-03 1.60363726e-05 9.99975271e-01 -2.81446869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1265.736559995 meters 0.012716162512864872 Centerline is valid? [True, True] Translation: X:-398.29, Y:-250.21, Z:-2.81 [[-6.67109967e-01 -7.44944911e-01 4.62296327e-03 -3.98288500e+02] [ 7.44927141e-01 -6.67125985e-01 -5.14548532e-03 -2.50211165e+02] [ 6.91720203e-03 1.11662679e-05 9.99976076e-01 -2.81445919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1265.766559995 meters 0.012809696720482688 Centerline is valid? [True, True] Translation: X:-398.30, Y:-250.19, Z:-2.82 [[-6.68698778e-01 -7.43515886e-01 5.10601926e-03 -3.98303636e+02] [ 7.43494194e-01 -6.68718272e-01 -5.67946263e-03 -2.50188850e+02] [ 7.63725906e-03 -1.55404769e-06 9.99970836e-01 -2.81525563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1265.796559995 meters 0.012649833944444836 Centerline is valid? [True, True] Translation: X:-398.32, Y:-250.17, Z:-2.81 [[-6.69649775e-01 -7.42654691e-01 5.76094447e-03 -3.98321441e+02] [ 7.42627077e-01 -6.69674555e-01 -6.40428272e-03 -2.50166784e+02] [ 8.61412853e-03 -1.03931289e-05 9.99962898e-01 -2.81495277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1265.826559995 meters 0.012734238281830738 Centerline is valid? [True, True] Translation: X:-398.34, Y:-250.15, Z:-2.82 [[-6.70353294e-01 -7.42014336e-01 6.41776308e-03 -3.98338128e+02] [ 7.41980065e-01 -6.70384014e-01 -7.13148243e-03 -2.50145448e+02] [ 9.59402797e-03 -1.87604665e-05 9.99953976e-01 -2.81573396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1265.856559995 meters 0.012836687561153876 Centerline is valid? [True, True] Translation: X:-398.36, Y:-250.12, Z:-2.82 [[-6.71091447e-01 -7.41340578e-01 7.10055907e-03 -3.98355717e+02] [ 7.41298636e-01 -6.71129010e-01 -7.88575692e-03 -2.50123336e+02] [ 1.06114228e-02 -2.84292698e-05 9.99943697e-01 -2.81635770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1265.886559995 meters 0.012834369475420056 Centerline is valid? [True, True] Translation: X:-398.37, Y:-250.10, Z:-2.82 [[-6.71801721e-01 -7.40689218e-01 7.86962618e-03 -3.98373456e+02] [ 7.40637711e-01 -6.71847811e-01 -8.73497563e-03 -2.50100969e+02] [ 1.17570934e-02 -3.96297398e-05 9.99930882e-01 -2.81705913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1265.916559995 meters 0.012834369475420056 Centerline is valid? [True, True] Translation: X:-398.39, Y:-250.08, Z:-2.82 [[-6.72007998e-01 -7.40502047e-01 7.87205898e-03 -3.98391969e+02] [ 7.40450553e-01 -6.72054103e-01 -8.73278323e-03 -2.50080527e+02] [ 1.17570934e-02 -3.96297421e-05 9.99930882e-01 -2.81706005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1265.9465599950001 meters 0.01328423665450867 Centerline is valid? [True, True] Translation: X:-398.41, Y:-250.06, Z:-2.82 [[-6.72542856e-01 -7.40007462e-01 8.66391258e-03 -3.98408453e+02] [ 7.39945128e-01 -6.72598658e-01 -9.60487669e-03 -2.50059650e+02] [ 1.29350164e-02 -4.88713114e-05 9.99916338e-01 -2.81942201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1265.9765599950001 meters 0.013172562904993475 Centerline is valid? [True, True] Translation: X:-398.43, Y:-250.04, Z:-2.82 [[-6.73262401e-01 -7.39335937e-01 1.00056523e-02 -3.98426075e+02] [ 7.39252817e-01 -6.73336742e-01 -1.10862461e-02 -2.50037504e+02] [ 1.49336335e-02 -6.72459744e-05 9.99888485e-01 -2.81933174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1266.006559995 meters 0.01349013972348447 Centerline is valid? [True, True] Translation: X:-398.44, Y:-250.02, Z:-2.82 [[-6.73694887e-01 -7.38935082e-01 1.04949357e-02 -3.98442398e+02] [ 7.38843672e-01 -6.73776624e-01 -1.16228209e-02 -2.50017386e+02] [ 1.56597525e-02 -7.61182028e-05 9.99877376e-01 -2.82127530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1266.036559995 meters 0.013643761933863728 Centerline is valid? [True, True] Translation: X:-398.46, Y:-250.00, Z:-2.82 [[-6.74309075e-01 -7.38364504e-01 1.11861747e-02 -3.98459644e+02] [ 7.38260692e-01 -6.74401847e-01 -1.23814057e-02 -2.49996047e+02] [ 1.66859674e-02 -9.05810830e-05 9.99860776e-01 -2.82235833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1266.066559995 meters 0.013971638835833836 Centerline is valid? [True, True] Translation: X:-398.48, Y:-249.98, Z:-2.82 [[-6.74734162e-01 -7.37969647e-01 1.16022110e-02 -3.98475774e+02] [ 7.37858049e-01 -6.74833898e-01 -1.28339432e-02 -2.49975707e+02] [ 1.73006258e-02 -9.87151928e-05 9.99850328e-01 -2.82286744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1266.096559995 meters 0.013313437657632245 Centerline is valid? [True, True] Translation: X:-398.49, Y:-249.95, Z:-2.82 [[-6.74718489e-01 -7.37985559e-01 1.15011140e-02 -3.98492651e+02] [ 7.37876035e-01 -6.74816498e-01 -1.27141719e-02 -2.49953901e+02] [ 1.71440167e-02 -9.20904608e-05 9.99853027e-01 -2.82003454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1266.126559995 meters 0.013222912104627354 Centerline is valid? [True, True] Translation: X:-398.51, Y:-249.93, Z:-2.82 [[-6.74198463e-01 -7.38475032e-01 1.05384999e-02 -3.98510022e+02] [ 7.38383224e-01 -6.74280819e-01 -1.16444101e-02 -2.49933908e+02] [ 1.57050145e-02 -6.91918375e-05 9.99876666e-01 -2.81933427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1266.156559995 meters 0.013105734701490117 Centerline is valid? [True, True] Translation: X:-398.53, Y:-249.92, Z:-2.82 [[-6.72954450e-01 -7.39622142e-01 9.56008740e-03 -3.98529464e+02] [ 7.39546798e-01 -6.73022352e-01 -1.05568601e-02 -2.49915459e+02] [ 1.42422400e-02 -3.41539628e-05 9.99898574e-01 -2.81843007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1266.1865599950002 meters 0.01269192139986336 Centerline is valid? [True, True] Translation: X:-398.55, Y:-249.90, Z:-2.82 [[-6.71290352e-01 -7.41142191e-01 8.80438264e-03 -3.98549684e+02] [ 7.41078499e-01 -6.71348087e-01 -9.71624145e-03 -2.49896469e+02] [ 1.31119219e-02 2.31953160e-06 9.99914035e-01 -2.81660865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1266.2165599950001 meters 0.012965582315256153 Centerline is valid? [True, True] Translation: X:-398.57, Y:-249.88, Z:-2.82 [[-6.66614075e-01 -7.45356131e-01 8.36133764e-03 -3.98571784e+02] [ 7.45299086e-01 -6.66666506e-01 -9.22180418e-03 -2.49879257e+02] [ 1.24477520e-02 8.43128339e-05 9.99922520e-01 -2.81619491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1266.246559995 meters 0.013364331287943829 Centerline is valid? [True, True] Translation: X:-398.59, Y:-249.86, Z:-2.82 [[-6.64153186e-01 -7.47550220e-01 8.31953977e-03 -3.98592466e+02] [ 7.47493978e-01 -6.64205279e-01 -9.17057537e-03 -2.49860587e+02] [ 1.23813479e-02 1.28139033e-04 9.99923340e-01 -2.81619658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1266.276559995 meters 0.014159902022640353 Centerline is valid? [True, True] Translation: X:-398.61, Y:-249.84, Z:-2.82 [[-6.61826649e-01 -7.49612745e-01 8.13747297e-03 -3.98613064e+02] [ 7.49559158e-01 -6.61876653e-01 -8.96459697e-03 -2.49842152e+02] [ 1.21059795e-02 1.66508217e-04 9.99926706e-01 -2.81646868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1266.306559995 meters 0.015038863538996092 Centerline is valid? [True, True] Translation: X:-398.63, Y:-249.82, Z:-2.82 [[-6.59702510e-01 -7.51482793e-01 8.13702102e-03 -3.98633711e+02] [ 7.51429412e-01 -6.59752659e-01 -8.95922472e-03 -2.49822775e+02] [ 1.21011245e-02 2.03973895e-04 9.99926758e-01 -2.81657852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1266.336559995 meters 0.015297495784212422 Centerline is valid? [True, True] Translation: X:-398.65, Y:-249.80, Z:-2.82 [[-6.57981325e-01 -7.52988073e-01 8.33897886e-03 -3.98652674e+02] [ 7.52932198e-01 -6.58034121e-01 -9.17613936e-03 -2.49802772e+02] [ 1.23968561e-02 2.40957348e-04 9.99923127e-01 -2.81609559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1266.366559995 meters 0.01607915471268811 Centerline is valid? [True, True] Translation: X:-398.67, Y:-249.78, Z:-2.82 [[-6.55620246e-01 -7.55036282e-01 9.07225514e-03 -3.98672626e+02] [ 7.54970423e-01 -6.55682940e-01 -9.97705595e-03 -2.49783404e+02] [ 1.34815621e-02 3.08124427e-04 9.99909072e-01 -2.81664077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1266.396559995 meters 0.01679466430379991 Centerline is valid? [True, True] Translation: X:-398.69, Y:-249.76, Z:-2.82 [[-6.54898102e-01 -7.55659245e-01 9.35850677e-03 -3.98692424e+02] [ 7.55589313e-01 -6.54964879e-01 -1.02857495e-02 -2.49764829e+02] [ 1.39020150e-02 3.35069867e-04 9.99903306e-01 -2.81753105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1266.426559995 meters 0.01685434349812149 Centerline is valid? [True, True] Translation: X:-398.71, Y:-249.75, Z:-2.82 [[-6.54479493e-01 -7.56024688e-01 9.12494630e-03 -3.98711461e+02] [ 7.55958324e-01 -6.54543014e-01 -1.00227303e-02 -2.49745506e+02] [ 1.35501014e-02 3.38407669e-04 9.99908136e-01 -2.81792124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1266.4565599950001 meters 0.0174270971166606 Centerline is valid? [True, True] Translation: X:-398.73, Y:-249.73, Z:-2.82 [[-6.54134563e-01 -7.56322044e-01 9.21624719e-03 -3.98731170e+02] [ 7.56254457e-01 -6.54199390e-01 -1.01170514e-02 -2.49727225e+02] [ 1.36810123e-02 3.51915004e-04 9.99906349e-01 -2.81884097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1266.486559995 meters 0.017544358381308457 Centerline is valid? [True, True] Translation: X:-398.75, Y:-249.71, Z:-2.82 [[-6.53938424e-01 -7.56491921e-01 9.19302946e-03 -3.98750510e+02] [ 7.56424776e-01 -6.54002940e-01 -1.00852871e-02 -2.49707848e+02] [ 1.36417065e-02 3.58678529e-04 9.99906883e-01 -2.81904110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1266.516559995 meters 0.017793379401029222 Centerline is valid? [True, True] Translation: X:-398.77, Y:-249.69, Z:-2.82 [[-6.54036009e-01 -7.56409380e-01 9.04153366e-03 -3.98769573e+02] [ 7.56344504e-01 -6.54098406e-01 -9.91294746e-03 -2.49688307e+02] [ 1.34122992e-02 3.55089704e-04 9.99909988e-01 -2.81954739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1266.546559995 meters 0.01718873338623931 Centerline is valid? [True, True] Translation: X:-398.79, Y:-249.67, Z:-2.82 [[-6.55211359e-01 -7.55384945e-01 9.57395403e-03 -3.98786694e+02] [ 7.55312187e-01 -6.55281205e-01 -1.04901551e-02 -2.49666784e+02] [ 1.41977374e-02 3.58055365e-04 9.99899143e-01 -2.81983660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1266.576559995 meters 0.015962932543560304 Centerline is valid? [True, True] Translation: X:-398.80, Y:-249.64, Z:-2.82 [[-6.56603912e-01 -7.54173027e-01 9.71333379e-03 -3.98803448e+02] [ 7.54098084e-01 -6.56675666e-01 -1.06371934e-02 -2.49643497e+02] [ 1.44007943e-02 3.40383592e-04 9.99896245e-01 -2.81917694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1266.606559995 meters 0.016430602065496777 Centerline is valid? [True, True] Translation: X:-398.82, Y:-249.62, Z:-2.82 [[-6.57888392e-01 -7.53050887e-01 9.86029879e-03 -3.98821524e+02] [ 7.52973623e-01 -6.57962199e-01 -1.07920400e-02 -2.49622685e+02] [ 1.46146592e-02 3.24587062e-04 9.99893148e-01 -2.82027937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1266.636559995 meters 0.015057981029607455 Centerline is valid? [True, True] Translation: X:-398.84, Y:-249.60, Z:-2.82 [[-6.59658883e-01 -7.51501848e-01 9.75348812e-03 -3.98837495e+02] [ 7.51426167e-01 -6.59730921e-01 -1.06690360e-02 -2.49599592e+02] [ 1.44524780e-02 2.91101810e-04 9.99895515e-01 -2.81877085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1266.666559995 meters 0.01442901980553929 Centerline is valid? [True, True] Translation: X:-398.85, Y:-249.58, Z:-2.82 [[-6.62823535e-01 -7.48717732e-01 9.31232513e-03 -3.98853439e+02] [ 7.48648526e-01 -6.62888911e-01 -1.01821426e-02 -2.49577770e+02] [ 1.37965878e-02 2.22694749e-04 9.99904798e-01 -2.81920126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1266.6965599950001 meters 0.014046410227978142 Centerline is valid? [True, True] Translation: X:-398.87, Y:-249.56, Z:-2.82 [[-6.64491948e-01 -7.47238209e-01 9.24722362e-03 -3.98870546e+02] [ 7.47169911e-01 -6.64556259e-01 -1.01046037e-02 -2.49556891e+02] [ 1.36958463e-02 1.94819439e-04 9.99906189e-01 -2.81933435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1266.7265599950001 meters 0.01355830188165963 Centerline is valid? [True, True] Translation: X:-398.89, Y:-249.53, Z:-2.82 [[-6.66318247e-01 -7.45615006e-01 8.84630612e-03 -3.98888095e+02] [ 7.45552430e-01 -6.66376949e-01 -9.66103480e-03 -2.49534574e+02] [ 1.30983870e-02 1.58061253e-04 9.99914200e-01 -2.81880452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1266.756559995 meters 0.013557486381756152 Centerline is valid? [True, True] Translation: X:-398.91, Y:-249.51, Z:-2.82 [[-6.68286720e-01 -7.43854911e-01 8.52828405e-03 -3.98905822e+02] [ 7.43796677e-01 -6.68341123e-01 -9.30840674e-03 -2.49513595e+02] [ 1.26239070e-02 1.22624719e-04 9.99920308e-01 -2.81931878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1266.786559995 meters 0.012941018273456985 Centerline is valid? [True, True] Translation: X:-398.92, Y:-249.49, Z:-2.82 [[-6.71859804e-01 -7.40633712e-01 8.13072854e-03 -3.98921554e+02] [ 7.40580602e-01 -6.71908998e-01 -8.86960834e-03 -2.49489469e+02] [ 1.20322406e-02 6.23265199e-05 9.99927608e-01 -2.81794106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1266.816559995 meters 0.012836712956595971 Centerline is valid? [True, True] Translation: X:-398.94, Y:-249.47, Z:-2.82 [[-6.73640155e-01 -7.39014710e-01 8.13639326e-03 -3.98938417e+02] [ 7.38961477e-01 -6.73689288e-01 -8.87004314e-03 -2.49469162e+02] [ 1.20364933e-02 3.72639497e-05 9.99927558e-01 -2.81899254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1266.846559995 meters 0.012615251888713406 Centerline is valid? [True, True] Translation: X:-398.96, Y:-249.45, Z:-2.82 [[-6.75171316e-01 -7.37615068e-01 8.22832557e-03 -3.98956357e+02] [ 7.37560583e-01 -6.75221453e-01 -8.96521548e-03 -2.49447364e+02] [ 1.21688200e-02 1.58322771e-05 9.99925957e-01 -2.81735621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1266.876559995 meters 0.0125413580798224 Centerline is valid? [True, True] Translation: X:-398.98, Y:-249.43, Z:-2.82 [[-6.75909819e-01 -7.36937171e-01 8.33803901e-03 -3.98975500e+02] [ 7.36881235e-01 -6.75961246e-01 -9.07961224e-03 -2.49426861e+02] [ 1.23272950e-02 7.14541858e-06 9.99924016e-01 -2.81760974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1266.906559995 meters 0.012696511620130517 Centerline is valid? [True, True] Translation: X:-398.99, Y:-249.41, Z:-2.82 [[-6.76405426e-01 -7.36476438e-01 8.84058725e-03 -3.98994556e+02] [ 7.36413592e-01 -6.76463196e-01 -9.62111508e-03 -2.49407206e+02] [ 1.30660565e-02 2.55416454e-06 9.99914636e-01 -2.81919987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1266.9365599950002 meters 0.012779452204806956 Centerline is valid? [True, True] Translation: X:-399.01, Y:-249.39, Z:-2.82 [[-6.76974521e-01 -7.35936160e-01 1.01718422e-02 -3.99013892e+02] [ 7.35852967e-01 -6.77050934e-01 -1.10654371e-02 -2.49387511e+02] [ 1.50303106e-02 -6.03871155e-06 9.99887039e-01 -2.82040756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1266.9665599950001 meters 0.013055637171892391 Centerline is valid? [True, True] Translation: X:-399.03, Y:-249.37, Z:-2.82 [[-6.77534612e-01 -7.35411047e-01 1.08370780e-02 -3.99031891e+02] [ 7.35316670e-01 -6.77621275e-01 -1.17814573e-02 -2.49368931e+02] [ 1.60076484e-02 -1.36610152e-05 9.99871870e-01 -2.82298999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1266.996559995 meters 0.012925541382618531 Centerline is valid? [True, True] Translation: X:-399.05, Y:-249.35, Z:-2.82 [[-6.78207427e-01 -7.34783298e-01 1.13221740e-02 -3.99050500e+02] [ 7.34680322e-01 -6.78301927e-01 -1.23012447e-02 -2.49349526e+02] [ 1.67186016e-02 -2.46170441e-05 9.99860234e-01 -2.82279772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1267.026559995 meters 0.013015630633190311 Centerline is valid? [True, True] Translation: X:-399.07, Y:-249.33, Z:-2.82 [[-6.79733097e-01 -7.33363516e-01 1.18689083e-02 -3.99068667e+02] [ 7.33250279e-01 -6.79836708e-01 -1.28871660e-02 -2.49329675e+02] [ 1.75198969e-02 -5.69529084e-05 9.99846513e-01 -2.82271675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1267.056559995 meters 0.013131774957459682 Centerline is valid? [True, True] Translation: X:-399.09, Y:-249.31, Z:-2.82 [[-6.80445602e-01 -7.32705905e-01 1.16550026e-02 -3.99086522e+02] [ 7.32596759e-01 -6.80545408e-01 -1.26466056e-02 -2.49310678e+02] [ 1.71980011e-02 -6.69099854e-05 9.99852101e-01 -2.82268338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1267.086559995 meters 0.013062791749812517 Centerline is valid? [True, True] Translation: X:-399.11, Y:-249.29, Z:-2.82 [[-6.81000136e-01 -7.32194657e-01 1.13929545e-02 -3.99106434e+02] [ 7.32090408e-01 -6.81095426e-01 -1.23553458e-02 -2.49290449e+02] [ 1.68062073e-02 -7.33194475e-05 9.99858763e-01 -2.82151886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1267.116559995 meters 0.013299473168942134 Centerline is valid? [True, True] Translation: X:-399.12, Y:-249.27, Z:-2.82 [[-6.81675191e-01 -7.31569042e-01 1.12102987e-02 -3.99124464e+02] [ 7.31468158e-01 -6.81767357e-01 -1.21492450e-02 -2.49272005e+02] [ 1.65308272e-02 -8.18623384e-05 9.99863353e-01 -2.82215081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1267.146559995 meters 0.013137460270988057 Centerline is valid? [True, True] Translation: X:-399.14, Y:-249.25, Z:-2.82 [[-6.82066728e-01 -7.31210987e-01 1.07457579e-02 -3.99144260e+02] [ 7.31118349e-01 -6.82151366e-01 -1.16393069e-02 -2.49252557e+02] [ 1.58410225e-02 -8.23631887e-05 9.99874520e-01 -2.82062612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1267.176559995 meters 0.013130998757569637 Centerline is valid? [True, True] Translation: X:-399.16, Y:-249.23, Z:-2.82 [[-6.81999625e-01 -7.31290299e-01 9.53990195e-03 -3.99164853e+02] [ 7.31217381e-01 -6.82066341e-01 -1.03270811e-02 -2.49233764e+02] [ 1.40589402e-02 -6.73232896e-05 9.99901166e-01 -2.81914465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1267.2065599950001 meters 0.013013112005467467 Centerline is valid? [True, True] Translation: X:-399.18, Y:-249.22, Z:-2.82 [[-6.81603925e-01 -7.31665498e-01 9.03817764e-03 -3.99183506e+02] [ 7.31600166e-01 -6.81663844e-01 -9.77755276e-03 -2.49215874e+02] [ 1.33148969e-02 -5.20860777e-05 9.99911352e-01 -2.81893660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1267.236559995 meters 0.013013112005467467 Centerline is valid? [True, True] Translation: X:-399.20, Y:-249.20, Z:-2.82 [[-6.81830016e-01 -7.31454774e-01 9.04119883e-03 -3.99201747e+02] [ 7.31389461e-01 -6.81889955e-01 -9.77475916e-03 -2.49196299e+02] [ 1.33148969e-02 -5.20866574e-05 9.99911352e-01 -2.81893750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1267.266559995 meters 0.012903303741168418 Centerline is valid? [True, True] Translation: X:-399.22, Y:-249.18, Z:-2.82 [[-6.80605512e-01 -7.32596151e-01 8.88915183e-03 -3.99222691e+02] [ 7.32533192e-01 -6.80663558e-01 -9.60433930e-03 -2.49178225e+02] [ 1.30866237e-02 -2.51675001e-05 9.99914366e-01 -2.81860542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1267.296559995 meters 0.012817323403167975 Centerline is valid? [True, True] Translation: X:-399.24, Y:-249.16, Z:-2.82 [[-6.79472171e-01 -7.33646759e-01 8.94437526e-03 -3.99242687e+02] [ 7.33583186e-01 -6.79531039e-01 -9.65794457e-03 -2.49159214e+02] [ 1.31635004e-02 -8.61263864e-07 9.99913358e-01 -2.81856930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1267.326559995 meters 0.012897808678882962 Centerline is valid? [True, True] Translation: X:-399.26, Y:-249.14, Z:-2.82 [[-6.78000682e-01 -7.35007058e-01 8.92751767e-03 -3.99262340e+02] [ 7.34943925e-01 -6.78059455e-01 -9.63340662e-03 -2.49141118e+02] [ 1.31340096e-02 2.97686255e-05 9.99913745e-01 -2.81904175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1267.356559995 meters 0.012977522610783667 Centerline is valid? [True, True] Translation: X:-399.28, Y:-249.12, Z:-2.82 [[-6.76412092e-01 -7.36472766e-01 8.63408599e-03 -3.99283011e+02] [ 7.36413908e-01 -6.76467192e-01 -9.31097711e-03 -2.49122493e+02] [ 1.26979570e-02 6.02035071e-05 9.99919376e-01 -2.81854270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1267.386559995 meters 0.013370779630454062 Centerline is valid? [True, True] Translation: X:-399.31, Y:-249.11, Z:-2.82 [[-6.72832878e-01 -7.39755215e-01 7.62504522e-03 -3.99305814e+02] [ 7.39709572e-01 -6.72876074e-01 -8.21824110e-03 -2.49105447e+02] [ 1.12101972e-02 1.10816124e-04 9.99937158e-01 -2.81690518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1267.416559995 meters 0.014005828080755742 Centerline is valid? [True, True] Translation: X:-399.33, Y:-249.09, Z:-2.82 [[-6.70974722e-01 -7.41448244e-01 6.88644636e-03 -3.99326558e+02] [ 7.41411149e-01 -6.71010048e-01 -7.41780079e-03 -2.49087391e+02] [ 1.01207901e-02 1.28531280e-04 9.99948775e-01 -2.81623378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1267.4465599950001 meters 0.014842413398126872 Centerline is valid? [True, True] Translation: X:-399.35, Y:-249.07, Z:-2.82 [[-6.69264819e-01 -7.42995548e-01 6.49746160e-03 -3.99347273e+02] [ 7.42962637e-01 -6.69296342e-01 -6.99477441e-03 -2.49069414e+02] [ 9.54581354e-03 1.46014768e-04 9.99954427e-01 -2.81620889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1267.4765599950001 meters 0.014956750696368952 Centerline is valid? [True, True] Translation: X:-399.37, Y:-249.05, Z:-2.82 [[-6.68154751e-01 -7.43994503e-01 6.43490549e-03 -3.99367277e+02] [ 7.43962304e-01 -6.68185718e-01 -6.92365273e-03 -2.49049424e+02] [ 9.45087152e-03 1.61255648e-04 9.99955327e-01 -2.81547301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1267.506559995 meters 0.014992476278849495 Centerline is valid? [True, True] Translation: X:-399.39, Y:-249.03, Z:-2.82 [[-6.67056906e-01 -7.44978130e-01 6.53229435e-03 -3.99386742e+02] [ 7.44945033e-01 -6.67088865e-01 -7.02449056e-03 -2.49028835e+02] [ 9.59071266e-03 1.80465292e-04 9.99953992e-01 -2.81519675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1267.536559995 meters 0.01678569551427482 Centerline is valid? [True, True] Translation: X:-399.41, Y:-249.01, Z:-2.82 [[-6.65469826e-01 -7.46390056e-01 7.19689639e-03 -3.99408222e+02] [ 7.46350013e-01 -6.65508704e-01 -7.73458932e-03 -2.49011968e+02] [ 1.05626177e-02 2.24267900e-04 9.99944189e-01 -2.81674324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1267.566559995 meters 0.016047616801287648 Centerline is valid? [True, True] Translation: X:-399.43, Y:-248.99, Z:-2.82 [[-6.65253861e-01 -7.46582805e-01 7.17044441e-03 -3.99426130e+02] [ 7.46543118e-01 -6.65292464e-01 -7.70135428e-03 -2.48991156e+02] [ 1.05201413e-02 2.29690259e-04 9.99944636e-01 -2.81648760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1267.596559995 meters 0.016027730639472573 Centerline is valid? [True, True] Translation: X:-399.44, Y:-248.97, Z:-2.82 [[-6.65525852e-01 -7.46337323e-01 7.47934669e-03 -3.99444752e+02] [ 7.46294182e-01 -6.65567835e-01 -8.02808972e-03 -2.48971093e+02] [ 1.09696756e-02 2.38891663e-04 9.99939803e-01 -2.81707697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1267.626559995 meters 0.01552206803172891 Centerline is valid? [True, True] Translation: X:-399.46, Y:-248.95, Z:-2.82 [[-6.65997224e-01 -7.45911564e-01 7.97724226e-03 -3.99463082e+02] [ 7.45862515e-01 -6.66044950e-01 -8.55764590e-03 -2.48949681e+02] [ 1.16964490e-02 2.50557557e-04 9.99931563e-01 -2.81717483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1267.656559995 meters 0.01518802369036118 Centerline is valid? [True, True] Translation: X:-399.48, Y:-248.93, Z:-2.82 [[-6.67169830e-01 -7.44862078e-01 8.05620684e-03 -3.99481465e+02] [ 7.44812035e-01 -6.67218426e-01 -8.63743203e-03 -2.48928362e+02] [ 1.18089452e-02 2.37725759e-04 9.99930244e-01 -2.81775400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1267.6865599950002 meters 0.014478661111244446 Centerline is valid? [True, True] Translation: X:-399.50, Y:-248.90, Z:-2.82 [[-6.70213162e-01 -7.42121205e-01 8.39253778e-03 -3.99497685e+02] [ 7.42066742e-01 -6.70265677e-01 -8.99291620e-03 -2.48904777e+02] [ 1.22990638e-02 2.00652366e-04 9.99924344e-01 -2.81753448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1267.7165599950001 meters 0.014101368875621733 Centerline is valid? [True, True] Translation: X:-399.51, Y:-248.88, Z:-2.82 [[-6.72149454e-01 -7.40366314e-01 8.53421396e-03 -3.99514414e+02] [ 7.40309921e-01 -6.72203608e-01 -9.13950930e-03 -2.48883233e+02] [ 1.25033142e-02 1.74847075e-04 9.99921815e-01 -2.81709914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1267.746559995 meters 0.01391417492668073 Centerline is valid? [True, True] Translation: X:-399.53, Y:-248.86, Z:-2.82 [[-6.74158719e-01 -7.38538899e-01 8.38551470e-03 -3.99531299e+02] [ 7.38484374e-01 -6.74210854e-01 -8.97519533e-03 -2.48861664e+02] [ 1.22821359e-02 1.41865390e-04 9.99924562e-01 -2.81726700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1267.776559995 meters 0.013441720151395192 Centerline is valid? [True, True] Translation: X:-399.55, Y:-248.84, Z:-2.82 [[-6.76204138e-01 -7.36666870e-01 8.35982436e-03 -3.99547484e+02] [ 7.36612605e-01 -6.76255802e-01 -8.94207951e-03 -2.48839734e+02] [ 1.22407135e-02 1.11280833e-04 9.99925074e-01 -2.81668991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1267.806559995 meters 0.013441720151395192 Centerline is valid? [True, True] Translation: X:-399.57, Y:-248.82, Z:-2.82 [[-6.76434803e-01 -7.36455038e-01 8.36262451e-03 -3.99565833e+02] [ 7.36400789e-01 -6.76486485e-01 -8.93946087e-03 -2.48820260e+02] [ 1.22407135e-02 1.11280830e-04 9.99925074e-01 -2.81669081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1267.836559995 meters 0.013069363152049776 Centerline is valid? [True, True] Translation: X:-399.58, Y:-248.80, Z:-2.82 [[-6.80242390e-01 -7.32938089e-01 8.48818129e-03 -3.99580862e+02] [ 7.32881994e-01 -6.80295344e-01 -9.06798262e-03 -2.48797026e+02] [ 1.24207401e-02 5.24090626e-05 9.99922858e-01 -2.81662628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1267.866559995 meters 0.013045184109972118 Centerline is valid? [True, True] Translation: X:-399.60, Y:-248.78, Z:-2.82 [[-6.82261775e-01 -7.31057649e-01 8.57811745e-03 -3.99598084e+02] [ 7.31000281e-01 -6.82315699e-01 -9.15835544e-03 -2.48775717e+02] [ 1.25482700e-02 2.22104296e-05 9.99921267e-01 -2.81678154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1267.896559995 meters 0.013093488763226174 Centerline is valid? [True, True] Translation: X:-399.61, Y:-248.76, Z:-2.82 [[-6.83930114e-01 -7.29493669e-01 8.86487415e-03 -3.99614721e+02] [ 7.29432350e-01 -6.83987563e-01 -9.45834277e-03 -2.48755041e+02] [ 1.29632648e-02 -2.51945910e-06 9.99915974e-01 -2.81734087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1267.926559995 meters 0.013250195845943722 Centerline is valid? [True, True] Translation: X:-399.63, Y:-248.73, Z:-2.82 [[-6.85444444e-01 -7.28064117e-01 9.41044090e-03 -3.99631515e+02] [ 7.27994967e-01 -6.85509038e-01 -1.00342610e-02 -2.48733795e+02] [ 1.37565277e-02 -2.71748624e-05 9.99905374e-01 -2.81753037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1267.9565599950001 meters 0.01368481906988071 Centerline is valid? [True, True] Translation: X:-399.65, Y:-248.71, Z:-2.82 [[-6.87940099e-01 -7.25695728e-01 1.02044526e-02 -3.99647660e+02] [ 7.25614243e-01 -6.88015774e-01 -1.08749826e-02 -2.48710091e+02] [ 1.49127528e-02 -7.68404288e-05 9.99888796e-01 -2.81821173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1267.986559995 meters 0.013611332346457424 Centerline is valid? [True, True] Translation: X:-399.67, Y:-248.69, Z:-2.82 [[-6.89130798e-01 -7.24562597e-01 1.03820411e-02 -3.99666153e+02] [ 7.24478216e-01 -6.89208991e-01 -1.10580477e-02 -2.48688526e+02] [ 1.51676438e-02 -9.88786219e-05 9.99884960e-01 -2.81772474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1268.016559995 meters 0.013763955783768511 Centerline is valid? [True, True] Translation: X:-399.68, Y:-248.67, Z:-2.82 [[-6.90088234e-01 -7.23643784e-01 1.08583313e-02 -3.99684355e+02] [ 7.23551472e-01 -6.90173645e-01 -1.15588770e-02 -2.48667240e+02] [ 1.58586436e-02 -1.20083396e-04 9.99874237e-01 -2.81792623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1268.046559995 meters 0.013949068153825189 Centerline is valid? [True, True] Translation: X:-399.70, Y:-248.65, Z:-2.82 [[-6.90625182e-01 -7.23125635e-01 1.12327793e-02 -3.99701659e+02] [ 7.23026873e-01 -6.90716511e-01 -1.19516737e-02 -2.48647413e+02] [ 1.64012278e-02 -1.32525561e-04 9.99865482e-01 -2.81847731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1268.076559995 meters 0.014068700592693576 Centerline is valid? [True, True] Translation: X:-399.72, Y:-248.63, Z:-2.82 [[-6.90829876e-01 -7.22926702e-01 1.14483989e-02 -3.99719333e+02] [ 7.22824217e-01 -6.90924718e-01 -1.21731384e-02 -2.48628322e+02] [ 1.67102686e-02 -1.34387736e-04 9.99860365e-01 -2.81902840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1268.106559995 meters 0.013871442567569291 Centerline is valid? [True, True] Translation: X:-399.74, Y:-248.61, Z:-2.82 [[-6.90497712e-01 -7.23242688e-01 1.15292364e-02 -3.99738313e+02] [ 7.23138923e-01 -6.90593947e-01 -1.22514783e-02 -2.48608889e+02] [ 1.68228129e-02 -1.22378147e-04 9.99858479e-01 -2.81834898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1268.136559995 meters 0.013728918766183706 Centerline is valid? [True, True] Translation: X:-399.76, Y:-248.59, Z:-2.82 [[-6.89769213e-01 -7.23938302e-01 1.14790650e-02 -3.99757202e+02] [ 7.23835661e-01 -6.89864716e-01 -1.21905961e-02 -2.48589672e+02] [ 1.67442414e-02 -9.97412681e-05 9.99859801e-01 -2.81747045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1268.166559995 meters 0.013402198583432189 Centerline is valid? [True, True] Translation: X:-399.78, Y:-248.57, Z:-2.82 [[-6.87717225e-01 -7.25899123e-01 1.07462867e-02 -3.99776906e+02] [ 7.25809523e-01 -6.87801179e-01 -1.14049855e-02 -2.48571795e+02] [ 1.56701776e-02 -4.36477651e-05 9.99877214e-01 -2.81564594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1268.1965599950001 meters 0.013135455497145109 Centerline is valid? [True, True] Translation: X:-399.80, Y:-248.55, Z:-2.81 [[-6.86428555e-01 -7.27122512e-01 1.04254711e-02 -3.99796869e+02] [ 7.27038430e-01 -6.86507722e-01 -1.10575759e-02 -2.48552894e+02] [ 1.51973788e-02 -1.05177544e-05 9.99884513e-01 -2.81417254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1268.2265599950001 meters 0.013292692798456416 Centerline is valid? [True, True] Translation: X:-399.82, Y:-248.54, Z:-2.81 [[-6.85285628e-01 -7.28202085e-01 1.02631479e-02 -3.99816442e+02] [ 7.28120828e-01 -6.85362476e-01 -1.08782653e-02 -2.48535187e+02] [ 1.49555519e-02 1.80928797e-05 9.99888160e-01 -2.81481040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1268.256559995 meters 0.01305341901305706 Centerline is valid? [True, True] Translation: X:-399.84, Y:-248.52, Z:-2.81 [[-6.84135874e-01 -7.29290307e-01 9.68270053e-03 -3.99836985e+02] [ 7.29218172e-01 -6.84204390e-01 -1.02572250e-02 -2.48516218e+02] [ 1.41054409e-02 4.34656250e-05 9.99900513e-01 -2.81231156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1268.286559995 meters 0.013212961016447675 Centerline is valid? [True, True] Translation: X:-399.86, Y:-248.50, Z:-2.81 [[-6.81159133e-01 -7.32091598e-01 8.00800019e-03 -3.99858951e+02] [ 7.32042510e-01 -6.81206198e-01 -8.47812445e-03 -2.48499736e+02] [ 1.16618630e-02 8.72446627e-05 9.99931995e-01 -2.81128012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1268.316559995 meters 0.013319329735185941 Centerline is valid? [True, True] Translation: X:-399.88, Y:-248.48, Z:-2.81 [[-6.80011285e-01 -7.33165088e-01 7.32162947e-03 -3.99879607e+02] [ 7.33124163e-01 -6.80050692e-01 -7.74709868e-03 -2.48480225e+02] [ 1.06589815e-02 9.95489485e-05 9.99943187e-01 -2.81003318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1268.346559995 meters 0.013468885752597621 Centerline is valid? [True, True] Translation: X:-399.90, Y:-248.46, Z:-2.81 [[-6.79056261e-01 -7.34054653e-01 6.80892438e-03 -3.99899227e+02] [ 7.34019338e-01 -6.79090388e-01 -7.20108144e-03 -2.48462200e+02] [ 9.90986244e-03 1.07942730e-04 9.99950891e-01 -2.80950646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1268.376559995 meters 0.013570491534392588 Centerline is valid? [True, True] Translation: X:-399.92, Y:-248.44, Z:-2.81 [[-6.78351919e-01 -7.34709306e-01 6.39614632e-03 -3.99919351e+02] [ 7.34678208e-01 -6.78382063e-01 -6.76070190e-03 -2.48442755e+02] [ 9.30618153e-03 1.12974204e-04 9.99956690e-01 -2.80859685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1268.406559995 meters 0.014297904609560872 Centerline is valid? [True, True] Translation: X:-399.94, Y:-248.43, Z:-2.81 [[-6.77026919e-01 -7.35938232e-01 5.42864087e-03 -3.99940481e+02] [ 7.35915889e-01 -6.77048674e-01 -5.73569096e-03 -2.48425694e+02] [ 7.89656837e-03 1.11805896e-04 9.99968816e-01 -2.80852296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1268.4365599950002 meters 0.013929787860228653 Centerline is valid? [True, True] Translation: X:-399.96, Y:-248.41, Z:-2.81 [[-6.76919797e-01 -7.36035314e-01 5.62189349e-03 -3.99959853e+02] [ 7.36011382e-01 -6.76943131e-01 -5.93651422e-03 -2.48405441e+02] [ 8.17518629e-03 1.19233601e-04 9.99966576e-01 -2.80778375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1268.4665599950001 meters 0.014098012200404795 Centerline is valid? [True, True] Translation: X:-399.98, Y:-248.39, Z:-2.81 [[-6.76688580e-01 -7.36251508e-01 5.12667903e-03 -3.99980319e+02] [ 7.36231636e-01 -6.76707990e-01 -5.41054017e-03 -2.48386055e+02] [ 7.45278303e-03 1.13172545e-04 9.99972221e-01 -2.80783746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1268.496559995 meters 0.014264976385586733 Centerline is valid? [True, True] Translation: X:-400.00, Y:-248.37, Z:-2.81 [[-6.76434597e-01 -7.36484256e-01 5.21313066e-03 -3.99999656e+02] [ 7.36463735e-01 -6.76454675e-01 -5.49909369e-03 -2.48368612e+02] [ 7.57644253e-03 1.19504453e-04 9.99971291e-01 -2.80808247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1268.526559995 meters 0.014474317970588336 Centerline is valid? [True, True] Translation: X:-400.02, Y:-248.35, Z:-2.81 [[-6.76321290e-01 -7.36586230e-01 5.49898786e-03 -4.00019384e+02] [ 7.36563431e-01 -6.76343633e-01 -5.79680866e-03 -2.48350460e+02] [ 7.98905486e-03 1.29848253e-04 9.99968079e-01 -2.80872138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1268.556559995 meters 0.014817154323664507 Centerline is valid? [True, True] Translation: X:-400.04, Y:-248.33, Z:-2.81 [[-6.76201147e-01 -7.36692553e-01 6.00759653e-03 -4.00038981e+02] [ 7.36665372e-01 -6.76227818e-01 -6.32991692e-03 -2.48333033e+02] [ 8.72570655e-03 1.45291253e-04 9.99961920e-01 -2.80974350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1268.586559995 meters 0.01451981027332246 Centerline is valid? [True, True] Translation: X:-400.06, Y:-248.31, Z:-2.81 [[-6.76245879e-01 -7.36640673e-01 7.21320149e-03 -4.00059720e+02] [ 7.36601530e-01 -6.76284325e-01 -7.59595726e-03 -2.48314622e+02] [ 1.04736662e-02 1.76520454e-04 9.99945134e-01 -2.81124682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1268.616559995 meters 0.014758685797722252 Centerline is valid? [True, True] Translation: X:-400.08, Y:-248.30, Z:-2.81 [[-6.76957285e-01 -7.35982996e-01 7.60678216e-03 -4.00079088e+02] [ 7.35939482e-01 -6.76999998e-01 -8.00514160e-03 -2.48296945e+02] [ 1.10414396e-02 1.78992396e-04 9.99939026e-01 -2.81266028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1268.646559995 meters 0.014493709743484837 Centerline is valid? [True, True] Translation: X:-400.10, Y:-248.28, Z:-2.81 [[-6.77782579e-01 -7.35219655e-01 7.92689584e-03 -4.00097722e+02] [ 7.35172408e-01 -6.77828908e-01 -8.33685097e-03 -2.48277553e+02] [ 1.15024958e-02 1.77062751e-04 9.99933829e-01 -2.81297765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1268.676559995 meters 0.013923563811948295 Centerline is valid? [True, True] Translation: X:-400.12, Y:-248.26, Z:-2.81 [[-6.80260690e-01 -7.32920444e-01 8.54503125e-03 -4.00116943e+02] [ 7.32865419e-01 -6.80314339e-01 -8.98205214e-03 -2.48256772e+02] [ 1.23964369e-02 1.52220925e-04 9.99923150e-01 -2.81376920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1268.7065599950001 meters 0.013708420532277464 Centerline is valid? [True, True] Translation: X:-400.13, Y:-248.24, Z:-2.81 [[-6.81956955e-01 -7.31339670e-01 8.77485801e-03 -4.00134855e+02] [ 7.31281591e-01 -6.82013394e-01 -9.21769250e-03 -2.48237360e+02] [ 1.27258349e-02 1.30822612e-04 9.99919015e-01 -2.81466510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1268.736559995 meters 0.012998364631865343 Centerline is valid? [True, True] Translation: X:-400.15, Y:-248.21, Z:-2.81 [[-6.85616912e-01 -7.27902176e-01 9.37404300e-03 -4.00151194e+02] [ 7.27835645e-01 -6.85680987e-01 -9.84162051e-03 -2.48214707e+02] [ 1.35913400e-02 7.51811800e-05 9.99907631e-01 -2.81447733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1268.766559995 meters 0.012851502904507109 Centerline is valid? [True, True] Translation: X:-400.17, Y:-248.19, Z:-2.82 [[-6.87467102e-01 -7.26149705e-01 9.77699009e-03 -4.00167769e+02] [ 7.26077249e-01 -6.87536620e-01 -1.02579134e-02 -2.48194605e+02] [ 1.41708195e-02 4.68720847e-05 9.99899588e-01 -2.81506172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1268.796559995 meters 0.012818271724745863 Centerline is valid? [True, True] Translation: X:-400.19, Y:-248.17, Z:-2.81 [[-6.89121287e-01 -7.24573201e-01 1.02726979e-02 -4.00186123e+02] [ 7.24493127e-01 -6.89197850e-01 -1.07718529e-02 -2.48172910e+02] [ 1.48849173e-02 1.93858429e-05 9.99889214e-01 -2.81462246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1268.826559995 meters 0.012872573366394703 Centerline is valid? [True, True] Translation: X:-400.20, Y:-248.15, Z:-2.82 [[-6.90423378e-01 -7.23332476e-01 1.02804642e-02 -4.00203541e+02] [ 7.23252240e-01 -6.90499912e-01 -1.07735135e-02 -2.48152552e+02] [ 1.48914919e-02 -2.91683244e-06 9.99889116e-01 -2.81567610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1268.856559995 meters 0.013021137976893443 Centerline is valid? [True, True] Translation: X:-400.22, Y:-248.13, Z:-2.82 [[-6.91481666e-01 -7.22321425e-01 1.02403310e-02 -4.00221049e+02] [ 7.22241806e-01 -6.91557488e-01 -1.07245030e-02 -2.48132515e+02] [ 1.48283158e-02 -1.98020427e-05 9.99890055e-01 -2.81645619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1268.886559995 meters 0.013072127729089507 Centerline is valid? [True, True] Translation: X:-400.24, Y:-248.11, Z:-2.82 [[-6.92120218e-01 -7.21716638e-01 9.73132634e-03 -4.00237999e+02] [ 7.21644768e-01 -6.92188626e-01 -1.01850529e-02 -2.48112063e+02] [ 1.40866356e-02 -2.67202978e-05 9.99900778e-01 -2.81595943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1268.916559995 meters 0.012796608395765886 Centerline is valid? [True, True] Translation: X:-400.26, Y:-248.09, Z:-2.81 [[-6.91837456e-01 -7.21987488e-01 9.74685100e-03 -4.00256672e+02] [ 7.21915505e-01 -6.91906111e-01 -1.01949610e-02 -2.48092326e+02] [ 1.41045401e-02 -1.68530260e-05 9.99900526e-01 -2.81439997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1268.9465599950001 meters 0.012784581029796674 Centerline is valid? [True, True] Translation: X:-400.28, Y:-248.07, Z:-2.81 [[-6.91494300e-01 -7.22311084e-01 1.01158950e-02 -4.00275624e+02] [ 7.22233677e-01 -6.91568289e-01 -1.05744186e-02 -2.48072931e+02] [ 1.46338520e-02 -6.11010474e-06 9.99892920e-01 -2.81464932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1268.9765599950001 meters 0.01274185015589828 Centerline is valid? [True, True] Translation: X:-400.30, Y:-248.05, Z:-2.81 [[-6.90672185e-01 -7.23098896e-01 9.99601658e-03 -4.00295870e+02] [ 7.23023480e-01 -6.90744517e-01 -1.04431944e-02 -2.48052788e+02] [ 1.44561560e-02 1.45307985e-05 9.99895504e-01 -2.81489426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1269.006559995 meters 0.012686144969240278 Centerline is valid? [True, True] Translation: X:-400.32, Y:-248.03, Z:-2.82 [[-6.89742939e-01 -7.23981817e-01 1.02472869e-02 -4.00315332e+02] [ 7.23902748e-01 -6.89819054e-01 -1.06996869e-02 -2.48032918e+02] [ 1.48151525e-02 3.80056879e-05 9.99890249e-01 -2.81534878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1269.036559995 meters 0.012790963279605303 Centerline is valid? [True, True] Translation: X:-400.33, Y:-248.01, Z:-2.81 [[-6.88228200e-01 -7.25424413e-01 1.00680730e-02 -4.00334328e+02] [ 7.25348326e-01 -6.88301835e-01 -1.05066741e-02 -2.48012038e+02] [ 1.45516710e-02 7.18704458e-05 9.99894116e-01 -2.81473211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1269.066559995 meters 0.012923417873783247 Centerline is valid? [True, True] Translation: X:-400.35, Y:-247.99, Z:-2.81 [[-6.87362108e-01 -7.26249209e-01 9.76831153e-03 -4.00352555e+02] [ 7.26177738e-01 -6.87431509e-01 -1.01888995e-02 -2.47993819e+02] [ 1.41147253e-02 9.00669615e-05 9.99900378e-01 -2.81487384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1269.096559995 meters 0.013013500396392066 Centerline is valid? [True, True] Translation: X:-400.37, Y:-247.97, Z:-2.81 [[-6.86506357e-01 -7.27064975e-01 9.24897426e-03 -4.00371784e+02] [ 7.27001057e-01 -6.86568650e-01 -9.64119912e-03 -2.47974815e+02] [ 1.33598340e-02 1.05269578e-04 9.99910748e-01 -2.81410464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1269.126559995 meters 0.013188233940553835 Centerline is valid? [True, True] Translation: X:-400.39, Y:-247.96, Z:-2.81 [[-6.85490620e-01 -7.28027232e-01 8.88593428e-03 -4.00391309e+02] [ 7.27968388e-01 -6.85548200e-01 -9.25703407e-03 -2.47955713e+02] [ 1.28311091e-02 1.23069226e-04 9.99917671e-01 -2.81362612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1269.156559995 meters 0.013832043254259511 Centerline is valid? [True, True] Translation: X:-400.41, Y:-247.94, Z:-2.81 [[-6.83267652e-01 -7.30112851e-01 8.97447662e-03 -4.00410882e+02] [ 7.30053077e-01 -6.83326567e-01 -9.34385243e-03 -2.47937159e+02] [ 1.29545650e-02 1.67492169e-04 9.99916072e-01 -2.81342008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1269.1865599950002 meters 0.013898432864163918 Centerline is valid? [True, True] Translation: X:-400.43, Y:-247.92, Z:-2.81 [[-6.82549167e-01 -7.30784747e-01 8.96039733e-03 -4.00430008e+02] [ 7.30725294e-01 -6.82607955e-01 -9.32338776e-03 -2.47917569e+02] [ 1.29298281e-02 1.83918423e-04 9.99916390e-01 -2.81351200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1269.2165599950001 meters 0.014398278475003544 Centerline is valid? [True, True] Translation: X:-400.45, Y:-247.90, Z:-2.81 [[-6.81971123e-01 -7.31322001e-01 9.13884215e-03 -4.00449263e+02] [ 7.31260277e-01 -6.82032323e-01 -9.50351861e-03 -2.47898899e+02] [ 1.31831180e-02 2.01746988e-04 9.99913079e-01 -2.81394014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1269.246559995 meters 0.014487811078205123 Centerline is valid? [True, True] Translation: X:-400.47, Y:-247.88, Z:-2.81 [[-6.81723290e-01 -7.31553195e-01 9.12570906e-03 -4.00468020e+02] [ 7.31491746e-01 -6.81784334e-01 -9.48406034e-03 -2.47879371e+02] [ 1.31598601e-02 2.09876033e-04 9.99913383e-01 -2.81391325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1269.276559995 meters 0.013887491877963369 Centerline is valid? [True, True] Translation: X:-400.49, Y:-247.86, Z:-2.81 [[-6.81783920e-01 -7.31501043e-01 8.76988387e-03 -4.00485730e+02] [ 7.31444353e-01 -6.81840291e-01 -9.10906751e-03 -2.47857971e+02] [ 1.26429526e-02 2.04266280e-04 9.99920054e-01 -2.81241601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1269.306559995 meters 0.014113857031140301 Centerline is valid? [True, True] Translation: X:-400.50, Y:-247.84, Z:-2.81 [[-6.82246263e-01 -7.31070196e-01 8.74099469e-03 -4.00504648e+02] [ 7.31013913e-01 -6.82302227e-01 -9.07360284e-03 -2.47838518e+02] [ 1.25974408e-02 1.99357101e-04 9.99920629e-01 -2.81277246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1269.336559995 meters 0.014121805761717727 Centerline is valid? [True, True] Translation: X:-400.52, Y:-247.82, Z:-2.81 [[-6.82931168e-01 -7.30431989e-01 8.60981759e-03 -4.00522269e+02] [ 7.30377405e-01 -6.82985412e-01 -8.93157563e-03 -2.47819350e+02] [ 1.24042884e-02 1.88764852e-04 9.99923046e-01 -2.81287556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1269.366559995 meters 0.013853414903041476 Centerline is valid? [True, True] Translation: X:-400.54, Y:-247.80, Z:-2.81 [[-6.83929099e-01 -7.29497883e-01 8.59225879e-03 -4.00539517e+02] [ 7.29443516e-01 -6.83983047e-01 -8.90784671e-03 -2.47798390e+02] [ 1.23752147e-02 1.75231893e-04 9.99923409e-01 -2.81211048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1269.396559995 meters 0.013109400015473584 Centerline is valid? [True, True] Translation: X:-400.56, Y:-247.78, Z:-2.81 [[-6.86185387e-01 -7.27382081e-01 8.05751851e-03 -4.00555769e+02] [ 7.27334178e-01 -6.86232680e-01 -8.34879629e-03 -2.47775262e+02] [ 1.16020973e-02 1.31686585e-04 9.99932685e-01 -2.81019504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1269.426559995 meters 0.01293901691922955 Centerline is valid? [True, True] Translation: X:-400.57, Y:-247.76, Z:-2.81 [[-6.87657282e-01 -7.25998208e-01 7.35281573e-03 -4.00572699e+02] [ 7.25958292e-01 -6.87696584e-01 -7.61359747e-03 -2.47755493e+02] [ 1.05839644e-02 1.02291804e-04 9.99943983e-01 -2.80967533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1269.4565599950001 meters 0.012705190127639753 Centerline is valid? [True, True] Translation: X:-400.59, Y:-247.73, Z:-2.81 [[-6.88906019e-01 -7.24813768e-01 7.31430357e-03 -4.00590245e+02] [ 7.24774251e-01 -6.88944841e-01 -7.56905428e-03 -2.47734884e+02] [ 1.05253065e-02 8.68518362e-05 9.99944604e-01 -2.80910940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1269.486559995 meters 0.012575224169206351 Centerline is valid? [True, True] Translation: X:-400.61, Y:-247.71, Z:-2.81 [[-6.90186882e-01 -7.23596118e-01 7.12223619e-03 -4.00608205e+02] [ 7.23558630e-01 -6.90223626e-01 -7.36576470e-03 -2.47713703e+02] [ 1.02457744e-02 6.96012855e-05 9.99947508e-01 -2.80890623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1269.516559995 meters 0.012348864789399096 Centerline is valid? [True, True] Translation: X:-400.63, Y:-247.69, Z:-2.81 [[-6.92155400e-01 -7.21711491e-01 7.30932510e-03 -4.00625307e+02] [ 7.21671952e-01 -6.92193992e-01 -7.55462570e-03 -2.47692889e+02] [ 1.05117311e-02 4.59599348e-05 9.99944749e-01 -2.80963736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1269.546559995 meters 0.012339485124034518 Centerline is valid? [True, True] Translation: X:-400.64, Y:-247.67, Z:-2.81 [[-6.92706246e-01 -7.21179353e-01 7.64182202e-03 -4.00643953e+02] [ 7.21136155e-01 -6.92748395e-01 -7.89345402e-03 -2.47672884e+02] [ 1.09864560e-02 4.29492499e-05 9.99939646e-01 -2.81013557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1269.576559995 meters 0.012362356426424154 Centerline is valid? [True, True] Translation: X:-400.66, Y:-247.65, Z:-2.81 [[-6.93056000e-01 -7.20836302e-01 8.27082798e-03 -4.00662723e+02] [ 7.20785738e-01 -6.93105348e-01 -8.53795809e-03 -2.47653031e+02] [ 1.18870252e-02 4.42117629e-05 9.99929346e-01 -2.81115231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1269.606559995 meters 0.012604087679003865 Centerline is valid? [True, True] Translation: X:-400.68, Y:-247.63, Z:-2.81 [[-6.92638316e-01 -7.21221694e-01 9.56201342e-03 -4.00682210e+02] [ 7.21154223e-01 -6.92704313e-01 -9.86520668e-03 -2.47634286e+02] [ 1.37386490e-02 6.26662175e-05 9.99905619e-01 -2.81316915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1269.636559995 meters 0.012751937599668273 Centerline is valid? [True, True] Translation: X:-400.70, Y:-247.62, Z:-2.81 [[-6.92028580e-01 -7.21804332e-01 9.74426197e-03 -4.00702108e+02] [ 7.21734407e-01 -6.92097175e-01 -1.00472015e-02 -2.47616079e+02] [ 1.39960898e-02 7.98185401e-05 9.99902047e-01 -2.81395071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1269.666559995 meters 0.012761084932470128 Centerline is valid? [True, True] Translation: X:-400.72, Y:-247.60, Z:-2.81 [[-6.91404490e-01 -7.22398719e-01 9.99610391e-03 -4.00721816e+02] [ 7.22325286e-01 -6.91476740e-01 -1.03004989e-02 -2.47596970e+02] [ 1.43531405e-02 9.86274504e-05 9.99896984e-01 -2.81347075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1269.6965599950001 meters 0.013043001554861917 Centerline is valid? [True, True] Translation: X:-400.74, Y:-247.58, Z:-2.81 [[-6.89854060e-01 -7.23874569e-01 1.03433283e-02 -4.00743047e+02] [ 7.23796199e-01 -6.89931583e-01 -1.06523758e-02 -2.47578049e+02] [ 1.48471728e-02 1.37876988e-04 9.99889765e-01 -2.81297174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1269.7265599950001 meters 0.013203822539528893 Centerline is valid? [True, True] Translation: X:-400.76, Y:-247.56, Z:-2.81 [[-6.89350904e-01 -7.24355975e-01 1.01858981e-02 -4.00762704e+02] [ 7.24280120e-01 -6.89426138e-01 -1.04837186e-02 -2.47559368e+02] [ 1.46163686e-02 1.50482637e-04 9.99893164e-01 -2.81253995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1269.756559995 meters 0.013203822539528893 Centerline is valid? [True, True] Translation: X:-400.78, Y:-247.54, Z:-2.81 [[-6.89576093e-01 -7.24141557e-01 1.01891576e-02 -4.00781428e+02] [ 7.24065725e-01 -6.89651349e-01 -1.04805507e-02 -2.47540251e+02] [ 1.46163686e-02 1.50482643e-04 9.99893164e-01 -2.81254085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1269.786559995 meters 0.013627362668948598 Centerline is valid? [True, True] Translation: X:-400.80, Y:-247.52, Z:-2.81 [[-6.88924308e-01 -7.24770866e-01 9.51263617e-03 -4.00801698e+02] [ 7.24704918e-01 -6.88989961e-01 -9.77830494e-03 -2.47522728e+02] [ 1.36411414e-02 1.57342255e-04 9.99906943e-01 -2.81186875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1269.816559995 meters 0.013347094148469735 Centerline is valid? [True, True] Translation: X:-400.82, Y:-247.50, Z:-2.81 [[-6.88789343e-01 -7.24903017e-01 9.21173463e-03 -4.00820968e+02] [ 7.24841258e-01 -6.88850920e-01 -9.46368213e-03 -2.47502524e+02] [ 1.32057636e-02 1.58561911e-04 9.99912788e-01 -2.81005975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1269.846559995 meters 0.013355100784137377 Centerline is valid? [True, True] Translation: X:-400.84, Y:-247.48, Z:-2.81 [[-6.88880005e-01 -7.24822746e-01 8.73638744e-03 -4.00841107e+02] [ 7.24767253e-01 -6.88935384e-01 -8.97031455e-03 -2.47483256e+02] [ 1.25206945e-02 1.52377188e-04 9.99921602e-01 -2.80980102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1269.876559995 meters 0.013548672313474328 Centerline is valid? [True, True] Translation: X:-400.86, Y:-247.46, Z:-2.81 [[-6.88558844e-01 -7.25133985e-01 8.21112799e-03 -4.00861592e+02] [ 7.25085042e-01 -6.88607785e-01 -8.42625888e-03 -2.47464221e+02] [ 1.17644133e-02 1.51791014e-04 9.99930786e-01 -2.80865694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1269.906559995 meters 0.013628332871029804 Centerline is valid? [True, True] Translation: X:-400.88, Y:-247.44, Z:-2.81 [[-6.88388253e-01 -7.25299171e-01 7.91995116e-03 -4.00881997e+02] [ 7.25253700e-01 -6.88433794e-01 -8.12290333e-03 -2.47444215e+02] [ 1.13438971e-02 1.52262657e-04 9.99935645e-01 -2.80810372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1269.9365599950002 meters 0.013709927534824945 Centerline is valid? [True, True] Translation: X:-400.90, Y:-247.43, Z:-2.81 [[-6.88452992e-01 -7.25241889e-01 7.52863920e-03 -4.00901660e+02] [ 7.25200849e-01 -6.88494140e-01 -7.71670414e-03 -2.47425442e+02] [ 1.07799011e-02 1.47187494e-04 9.99941885e-01 -2.80775667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1269.9665599950001 meters 0.013754553022039252 Centerline is valid? [True, True] Translation: X:-400.92, Y:-247.41, Z:-2.81 [[-6.88434047e-01 -7.25259196e-01 7.59353125e-03 -4.00921526e+02] [ 7.25217500e-01 -6.88475908e-01 -7.77832393e-03 -2.47406706e+02] [ 1.08692643e-02 1.52098721e-04 9.99940916e-01 -2.80791818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1269.996559995 meters 0.013911945185412404 Centerline is valid? [True, True] Translation: X:-400.94, Y:-247.39, Z:-2.81 [[-6.88426233e-01 -7.25266329e-01 7.62055193e-03 -4.00941671e+02] [ 7.25224390e-01 -6.88468392e-01 -7.80113104e-03 -2.47387857e+02] [ 1.09044068e-02 1.56106867e-04 9.99940533e-01 -2.80853883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1270.026559995 meters 0.014689399845773422 Centerline is valid? [True, True] Translation: X:-400.96, Y:-247.37, Z:-2.81 [[-6.88578130e-01 -7.25122315e-01 7.60183612e-03 -4.00962131e+02] [ 7.25080627e-01 -6.88620072e-01 -7.77688800e-03 -2.47370753e+02] [ 1.08739720e-02 1.56949108e-04 9.99940865e-01 -2.81026739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1270.056559995 meters 0.014035066498003932 Centerline is valid? [True, True] Translation: X:-400.98, Y:-247.35, Z:-2.81 [[-6.89184425e-01 -7.24540088e-01 8.15413293e-03 -4.00980424e+02] [ 7.24492142e-01 -6.89232642e-01 -8.33674985e-03 -2.47350202e+02] [ 1.16604041e-02 1.62047083e-04 9.99932002e-01 -2.81072797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1270.086559995 meters 0.013966716510281823 Centerline is valid? [True, True] Translation: X:-401.00, Y:-247.33, Z:-2.81 [[-6.89825550e-01 -7.23922225e-01 8.79329570e-03 -4.00998875e+02] [ 7.23866488e-01 -6.89881573e-01 -8.98466090e-03 -2.47330471e+02] [ 1.25705284e-02 1.67323421e-04 9.99920974e-01 -2.81156156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1270.116559995 meters 0.013834915085889453 Centerline is valid? [True, True] Translation: X:-401.02, Y:-247.31, Z:-2.81 [[-6.90677699e-01 -7.23103767e-01 9.23358105e-03 -4.01017290e+02] [ 7.23042312e-01 -6.90739398e-01 -9.42867249e-03 -2.47310591e+02] [ 1.31959068e-02 1.64095971e-04 9.99912917e-01 -2.81204344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1270.146559995 meters 0.013781443515448211 Centerline is valid? [True, True] Translation: X:-401.03, Y:-247.29, Z:-2.81 [[-6.91575534e-01 -7.22242303e-01 9.45181496e-03 -4.01034872e+02] [ 7.22177913e-01 -6.91640103e-01 -9.64524781e-03 -2.47291732e+02] [ 1.35034603e-02 1.55474593e-04 9.99908812e-01 -2.81262903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1270.176559995 meters 0.01358011340904467 Centerline is valid? [True, True] Translation: X:-401.05, Y:-247.27, Z:-2.81 [[-6.92422887e-01 -7.21425117e-01 9.81561018e-03 -4.01053341e+02] [ 7.21355678e-01 -6.92492440e-01 -1.00103596e-02 -2.47271864e+02] [ 1.40189607e-02 1.49144054e-04 9.99901719e-01 -2.81318495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1270.2065599950001 meters 0.013295655867322875 Centerline is valid? [True, True] Translation: X:-401.07, Y:-247.25, Z:-2.81 [[-6.93694401e-01 -7.20196701e-01 1.02367193e-02 -4.01071600e+02] [ 7.20121137e-01 -6.93769915e-01 -1.04332891e-02 -2.47251572e+02] [ 1.46159482e-02 1.34163716e-04 9.99893173e-01 -2.81316003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1270.236559995 meters 0.013581765695429342 Centerline is valid? [True, True] Translation: X:-401.09, Y:-247.23, Z:-2.82 [[-6.94169286e-01 -7.19737003e-01 1.03754152e-02 -4.01090700e+02] [ 7.19659429e-01 -6.94246808e-01 -1.05677159e-02 -2.47233148e+02] [ 1.48090751e-02 1.30981597e-04 9.99890331e-01 -2.81509549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1270.266559995 meters 0.013151923985498621 Centerline is valid? [True, True] Translation: X:-401.11, Y:-247.21, Z:-2.81 [[-6.94594623e-01 -7.19321709e-01 1.07046451e-02 -4.01109658e+02] [ 7.19239178e-01 -6.94677092e-01 -1.08969119e-02 -2.47212111e+02] [ 1.52746570e-02 1.30263743e-04 9.99883327e-01 -2.81368861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1270.296559995 meters 0.013169082634273698 Centerline is valid? [True, True] Translation: X:-401.13, Y:-247.19, Z:-2.81 [[-6.94879399e-01 -7.19044697e-01 1.08326059e-02 -4.01128992e+02] [ 7.18960255e-01 -6.94963817e-01 -1.10202395e-02 -2.47192249e+02] [ 1.54523139e-02 1.30475692e-04 9.99880598e-01 -2.81392474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1270.326559995 meters 0.013096012134916587 Centerline is valid? [True, True] Translation: X:-401.15, Y:-247.17, Z:-2.81 [[-6.95233186e-01 -7.18705201e-01 1.06607137e-02 -4.01148398e+02] [ 7.18623470e-01 -6.95314906e-01 -1.08393083e-02 -2.47172239e+02] [ 1.52028204e-02 1.25192258e-04 9.99884423e-01 -2.81421310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1270.356559995 meters 0.013076921780024257 Centerline is valid? [True, True] Translation: X:-401.17, Y:-247.15, Z:-2.81 [[-6.95625945e-01 -7.18329016e-01 1.03908942e-02 -4.01167286e+02] [ 7.18251425e-01 -6.95703537e-01 -1.05583711e-02 -2.47153093e+02] [ 1.48133662e-02 1.18597646e-04 9.99890269e-01 -2.81408766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1270.386559995 meters 0.012972568803286462 Centerline is valid? [True, True] Translation: X:-401.19, Y:-247.13, Z:-2.81 [[-6.95899614e-01 -7.18081038e-01 9.12964203e-03 -4.01185951e+02] [ 7.18021196e-01 -6.95959490e-01 -9.27095724e-03 -2.47133456e+02] [ 1.30111596e-02 1.03620926e-04 9.99915346e-01 -2.81251202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1270.416559995 meters 0.012816213842976891 Centerline is valid? [True, True] Translation: X:-401.21, Y:-247.11, Z:-2.81 [[-6.96372480e-01 -7.17634178e-01 8.15821332e-03 -4.01205271e+02] [ 7.17586423e-01 -6.96420261e-01 -8.27928423e-03 -2.47113775e+02] [ 1.16230424e-02 8.87574237e-05 9.99932446e-01 -2.81184363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1270.4465599950001 meters 0.012728836177922422 Centerline is valid? [True, True] Translation: X:-401.22, Y:-247.09, Z:-2.81 [[-6.96452357e-01 -7.17563285e-01 7.55297235e-03 -4.01224629e+02] [ 7.17522396e-01 -6.96493306e-01 -7.66071066e-03 -2.47093664e+02] [ 1.07576394e-02 8.41068202e-05 9.99942132e-01 -2.81046207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1270.4765599950001 meters 0.012803443848422752 Centerline is valid? [True, True] Translation: X:-401.24, Y:-247.07, Z:-2.81 [[-6.96615668e-01 -7.17409594e-01 7.07708884e-03 -4.01243916e+02] [ 7.17373731e-01 -6.96651612e-01 -7.17374281e-03 -2.47074686e+02] [ 1.00767773e-02 7.95759794e-05 9.99949225e-01 -2.81063631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1270.506559995 meters 0.012927275482520683 Centerline is valid? [True, True] Translation: X:-401.26, Y:-247.06, Z:-2.81 [[-6.96397984e-01 -7.17623178e-01 6.84274069e-03 -4.01262853e+02] [ 7.17589693e-01 -6.96431596e-01 -6.93284471e-03 -2.47056441e+02] [ 9.74067087e-03 8.22611220e-05 9.99952555e-01 -2.81072704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1270.536559995 meters 0.01331755412987781 Centerline is valid? [True, True] Translation: X:-401.28, Y:-247.04, Z:-2.81 [[-6.96199780e-01 -7.17807479e-01 7.63476854e-03 -4.01283481e+02] [ 7.17765854e-01 -6.96241634e-01 -7.73079650e-03 -2.47038303e+02] [ 1.08648673e-02 9.77973451e-05 9.99940971e-01 -2.81370545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1270.566559995 meters 0.01333673468213912 Centerline is valid? [True, True] Translation: X:-401.30, Y:-247.02, Z:-2.81 [[-6.95939598e-01 -7.18046239e-01 8.81332741e-03 -4.01302899e+02] [ 7.17990851e-01 -6.95995391e-01 -8.91929110e-03 -2.47018208e+02] [ 1.25384987e-02 1.20600580e-04 9.99921383e-01 -2.81457959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1270.596559995 meters 0.01333673468213912 Centerline is valid? [True, True] Translation: X:-401.32, Y:-247.00, Z:-2.81 [[-6.96161020e-01 -7.17831534e-01 8.81607885e-03 -4.01321785e+02] [ 7.17776163e-01 -6.96216830e-01 -8.91657151e-03 -2.46999254e+02] [ 1.25384987e-02 1.20601739e-04 9.99921383e-01 -2.81458049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1270.626559995 meters 0.013232022868720635 Centerline is valid? [True, True] Translation: X:-401.34, Y:-246.98, Z:-2.82 [[-6.95972999e-01 -7.18008257e-01 9.25893606e-03 -4.01341145e+02] [ 7.17947275e-01 -6.96034572e-01 -9.35867941e-03 -2.46980480e+02] [ 1.31641487e-02 1.34039741e-04 9.99913340e-01 -2.81505303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1270.656559995 meters 0.013809256002003507 Centerline is valid? [True, True] Translation: X:-401.36, Y:-246.96, Z:-2.82 [[-6.94913826e-01 -7.19018130e-01 1.03780499e-02 -4.01362132e+02] [ 7.18941717e-01 -6.94991294e-01 -1.04837691e-02 -2.46962824e+02] [ 1.47506743e-02 1.75896929e-04 9.99891188e-01 -2.81717810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1270.6865599950002 meters 0.01417483050657763 Centerline is valid? [True, True] Translation: X:-401.38, Y:-246.94, Z:-2.82 [[-6.94346567e-01 -7.19555547e-01 1.10752079e-02 -4.01382830e+02] [ 7.19468685e-01 -6.94434859e-01 -1.11820189e-02 -2.46943787e+02] [ 1.57370941e-02 2.04068809e-04 9.99876144e-01 -2.81818030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1270.7165599950001 meters 0.014488763960499779 Centerline is valid? [True, True] Translation: X:-401.40, Y:-246.92, Z:-2.82 [[-6.93693670e-01 -7.20174927e-01 1.17118187e-02 -4.01403853e+02] [ 7.20077986e-01 -6.93792490e-01 -1.18184449e-02 -2.46924877e+02] [ 1.66369195e-02 2.35042446e-04 9.99861569e-01 -2.81884001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1270.746559995 meters 0.015090177495242683 Centerline is valid? [True, True] Translation: X:-401.42, Y:-246.91, Z:-2.82 [[-6.92776966e-01 -7.21057531e-01 1.16667227e-02 -4.01424659e+02] [ 7.20961570e-01 -6.92875147e-01 -1.17663011e-02 -2.46907139e+02] [ 1.65677622e-02 2.59836320e-04 9.99862712e-01 -2.81945113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1270.776559995 meters 0.014202441702967453 Centerline is valid? [True, True] Translation: X:-401.44, Y:-246.89, Z:-2.82 [[-6.92899036e-01 -7.20946660e-01 1.12623395e-02 -4.01443413e+02] [ 7.20857323e-01 -6.92990512e-01 -1.13520710e-02 -2.46885694e+02] [ 1.59889321e-02 2.52700866e-04 9.99872137e-01 -2.81658111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1270.806559995 meters 0.01440091016670432 Centerline is valid? [True, True] Translation: X:-401.46, Y:-246.87, Z:-2.82 [[-6.93292688e-01 -7.20579256e-01 1.05254233e-02 -4.01461931e+02] [ 7.20501292e-01 -6.93372541e-01 -1.06022450e-02 -2.46867430e+02] [ 1.49377973e-02 2.33122118e-04 9.99888398e-01 -2.81620903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1270.836559995 meters 0.013780367522965206 Centerline is valid? [True, True] Translation: X:-401.48, Y:-246.85, Z:-2.81 [[-6.94704998e-01 -7.19237030e-01 9.11381892e-03 -4.01480867e+02] [ 7.19178523e-01 -6.94764754e-01 -9.17551125e-03 -2.46845944e+02] [ 1.29313276e-02 1.80189310e-04 9.99916371e-01 -2.81358018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1270.866559995 meters 0.013507034906718772 Centerline is valid? [True, True] Translation: X:-401.50, Y:-246.83, Z:-2.81 [[-6.95688960e-01 -7.18294638e-01 8.34771644e-03 -4.01499871e+02] [ 7.18245543e-01 -6.95739024e-01 -8.39945724e-03 -2.46825061e+02] [ 1.18411172e-02 1.52300450e-04 9.99929880e-01 -2.81250734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1270.896559995 meters 0.013237833871534694 Centerline is valid? [True, True] Translation: X:-401.52, Y:-246.80, Z:-2.81 [[-6.96955820e-01 -7.17072978e-01 7.67654598e-03 -4.01518670e+02] [ 7.17031434e-01 -6.96998084e-01 -7.71973558e-03 -2.46804442e+02] [ 1.08861516e-02 1.24010126e-04 9.99940737e-01 -2.81173897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1270.926559995 meters 0.013130181231468077 Centerline is valid? [True, True] Translation: X:-401.54, Y:-246.78, Z:-2.81 [[-6.97969273e-01 -7.16096238e-01 6.71358437e-03 -4.01536759e+02] [ 7.16064444e-01 -6.98001554e-01 -6.74855729e-03 -2.46784650e+02] [ 9.51870881e-03 9.70734367e-05 9.99954692e-01 -2.81145271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1270.9565599950001 meters 0.012956557451579889 Centerline is valid? [True, True] Translation: X:-401.56, Y:-246.76, Z:-2.81 [[-6.99139694e-01 -7.14959768e-01 6.01817297e-03 -4.01556005e+02] [ 7.14934206e-01 -6.99165592e-01 -6.04613898e-03 -2.46763783e+02] [ 8.53044559e-03 7.55019614e-05 9.99963612e-01 -2.81082201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1270.986559995 meters 0.01280614833817821 Centerline is valid? [True, True] Translation: X:-401.57, Y:-246.74, Z:-2.81 [[-7.00856823e-01 -7.13284004e-01 5.06392852e-03 -4.01573154e+02] [ 7.13265887e-01 -7.00875115e-01 -5.08410365e-03 -2.46743634e+02] [ 7.17559130e-03 4.86987367e-05 9.99974254e-01 -2.80948609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1271.016559995 meters 0.012672475029492121 Centerline is valid? [True, True] Translation: X:-401.59, Y:-246.72, Z:-2.81 [[-7.01370029e-01 -7.12779719e-01 5.01537448e-03 -4.01591886e+02] [ 7.12761957e-01 -7.01387960e-01 -5.03221459e-03 -2.46724223e+02] [ 7.10458378e-03 4.53236322e-05 9.99974761e-01 -2.80896312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1271.046559995 meters 0.012730225819938523 Centerline is valid? [True, True] Translation: X:-401.61, Y:-246.71, Z:-2.81 [[-7.01688920e-01 -7.12461106e-01 5.64199352e-03 -4.01610977e+02] [ 7.12438647e-01 -7.01711601e-01 -5.65723928e-03 -2.46706003e+02] [ 7.98961526e-03 4.99521004e-05 9.99968081e-01 -2.81047688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1271.076559995 meters 0.01289320608051595 Centerline is valid? [True, True] Translation: X:-401.63, Y:-246.69, Z:-2.81 [[-7.01585820e-01 -7.12554331e-01 6.60773500e-03 -4.01630272e+02] [ 7.12523568e-01 -7.01616934e-01 -6.62147995e-03 -2.46687159e+02] [ 9.35426298e-03 6.26304732e-05 9.99956246e-01 -2.81117930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1271.106559995 meters 0.013021867901376114 Centerline is valid? [True, True] Translation: X:-401.65, Y:-246.67, Z:-2.81 [[-7.01284395e-01 -7.12843612e-01 7.36085895e-03 -4.01650073e+02] [ 7.12805501e-01 -7.01323020e-01 -7.37155565e-03 -2.46667898e+02] [ 1.04171062e-02 7.73038041e-05 9.99945738e-01 -2.81186289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1271.136559995 meters 0.013310728176063779 Centerline is valid? [True, True] Translation: X:-401.67, Y:-246.65, Z:-2.81 [[-7.01015348e-01 -7.13099339e-01 8.17400254e-03 -4.01669456e+02] [ 7.13052405e-01 -7.01062996e-01 -8.18192551e-03 -2.46650494e+02] [ 1.15650164e-02 9.28368077e-05 9.99933119e-01 -2.81329214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1271.166559995 meters 0.013462322618512913 Centerline is valid? [True, True] Translation: X:-401.69, Y:-246.63, Z:-2.81 [[-7.00140147e-01 -7.13946243e-01 9.19437407e-03 -4.01689950e+02] [ 7.13886998e-01 -7.00200504e-01 -9.19824498e-03 -2.46631778e+02] [ 1.30049578e-02 1.23683510e-04 9.99915425e-01 -2.81420899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1271.1965599950001 meters 0.01362685350924488 Centerline is valid? [True, True] Translation: X:-401.71, Y:-246.61, Z:-2.81 [[-7.00142921e-01 -7.13939207e-01 9.52357035e-03 -4.01709446e+02] [ 7.13875725e-01 -7.00207677e-01 -9.52142438e-03 -2.46613524e+02] [ 1.34661952e-02 1.32287811e-04 9.99909318e-01 -2.81495800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1271.2265599950001 meters 0.013719100784963995 Centerline is valid? [True, True] Translation: X:-402.16, Y:-247.07, Z:-1.77 [[-7.62040274e-01 6.47453852e-01 9.90608844e-03 -4.02164084e+02] [ 6.47396833e-01 7.62104646e-01 -8.59355777e-03 -2.47066591e+02] [-1.31134081e-02 -1.35466842e-04 -9.99914007e-01 -1.77213029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1271.256559995 meters 0.013602813648326465 Centerline is valid? [True, True] Translation: X:-401.75, Y:-246.58, Z:-2.81 [[-7.02581066e-01 -7.11549221e-01 8.80637142e-03 -4.01745078e+02] [ 7.11494911e-01 -7.02636249e-01 -8.79171280e-03 -2.46584322e+02] [ 1.24434122e-02 8.87975045e-05 9.99922574e-01 -2.81401880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1271.286559995 meters 0.013544836974974587 Centerline is valid? [True, True] Translation: X:-402.20, Y:-247.04, Z:-1.77 [[-7.63746437e-01 6.45456931e-01 8.75963974e-03 -4.02197775e+02] [ 6.45412851e-01 7.63796661e-01 -7.54407402e-03 -2.47038085e+02] [-1.15599584e-02 -1.08175596e-04 -9.99933176e-01 -1.77324209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1271.316559995 meters 0.013500980281043847 Centerline is valid? [True, True] Translation: X:-402.18, Y:-247.02, Z:-1.77 [[-8.07315515e-01 5.90053407e-01 8.86771173e-03 -4.02178949e+02] [ 5.90016448e-01 8.07364210e-01 -6.60486216e-03 -2.47018401e+02] [-1.10566945e-02 -1.00111925e-04 -9.99938868e-01 -1.77312268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1271.346559995 meters 0.013122320802076117 Centerline is valid? [True, True] Translation: X:-402.17, Y:-247.00, Z:-1.77 [[-8.46900569e-01 5.31670671e-01 9.25873400e-03 -4.02165933e+02] [ 5.31637656e-01 8.46951173e-01 -5.92572382e-03 -2.46995636e+02] [-1.09922292e-02 -9.62072322e-05 -9.99939579e-01 -1.77448178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1271.376559995 meters 0.01315964048065063 Centerline is valid? [True, True] Translation: X:-402.16, Y:-246.97, Z:-1.77 [[-8.82375022e-01 4.70457818e-01 9.15218126e-03 -4.02156915e+02] [ 4.70431446e-01 8.82422480e-01 -4.98213836e-03 -2.46968992e+02] [-1.04199764e-02 -9.06405794e-05 -9.99945707e-01 -1.77448742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1271.406559995 meters 0.013177662099724687 Centerline is valid? [True, True] Translation: X:-402.14, Y:-246.95, Z:-1.77 [[-9.13457239e-01 4.06819850e-01 9.66865162e-03 -4.02141502e+02] [ 4.06795995e-01 9.13508402e-01 -4.40651574e-03 -2.46945945e+02] [-1.06250526e-02 -9.19949426e-05 -9.99943549e-01 -1.77464053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1271.4365599950002 meters 0.013254893676271348 Centerline is valid? [True, True] Translation: X:-401.87, Y:-246.36, Z:-2.81 [[-8.75628813e-01 -4.82899630e-01 9.06252202e-03 -4.01870812e+02] [ 4.82874590e-01 -8.75675707e-01 -4.91805146e-03 -2.46362784e+02] [ 1.03107556e-02 6.96740455e-05 9.99946841e-01 -2.81237221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1271.4665599950001 meters 0.013331869510185883 Centerline is valid? [True, True] Translation: X:-402.18, Y:-246.93, Z:-1.77 [[-9.15586210e-01 4.02010475e-01 9.45887586e-03 -4.02179943e+02] [ 4.01987819e-01 9.15635062e-01 -4.26933839e-03 -2.46928507e+02] [-1.03771971e-02 -1.06594481e-04 -9.99946150e-01 -1.77440076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1271.496559995 meters 0.013691190904410969 Centerline is valid? [True, True] Translation: X:-402.18, Y:-246.90, Z:-1.77 [[-9.42153721e-01 3.35034391e-01 9.91579138e-03 -4.02179685e+02] [ 3.35014483e-01 9.42205892e-01 -3.65425024e-03 -2.46897203e+02] [-1.05670166e-02 -1.20931737e-04 -9.99944160e-01 -1.77360309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1271.526559995 meters 0.014063457081343687 Centerline is valid? [True, True] Translation: X:-402.17, Y:-246.87, Z:-1.77 [[-9.64275692e-01 2.64669900e-01 1.10559147e-02 -4.02165886e+02] [ 2.64650557e-01 9.64339057e-01 -3.20396950e-03 -2.46870619e+02] [-1.15096447e-02 -1.63555921e-04 -9.99933749e-01 -1.77285021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1271.556559995 meters 0.01417551551251777 Centerline is valid? [True, True] Translation: X:-401.99, Y:-246.26, Z:-2.81 [[-9.34107876e-01 -3.56797504e-01 1.17480687e-02 -4.01986684e+02] [ 3.56772512e-01 -9.34181719e-01 -4.22981377e-03 -2.46262365e+02] [ 1.24840180e-02 2.40285614e-04 9.99922043e-01 -2.81387102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1271.586559995 meters 0.014902220058721896 Centerline is valid? [True, True] Translation: X:-402.21, Y:-246.86, Z:-1.77 [[-9.65999744e-01 2.58233915e-01 1.26387992e-02 -4.02210862e+02] [ 2.58208771e-01 9.66082396e-01 -3.61045498e-03 -2.46855814e+02] [-1.31424634e-02 -2.24249761e-04 -9.99913609e-01 -1.77171457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1271.616559995 meters 0.014902220058721896 Centerline is valid? [True, True] Translation: X:-402.04, Y:-246.25, Z:-2.82 [[-9.34984168e-01 -3.54475882e-01 1.23066616e-02 -4.02035786e+02] [ 3.54448254e-01 -9.35065132e-01 -4.43105945e-03 -2.46250937e+02] [ 1.30782339e-02 2.19104283e-04 9.99914452e-01 -2.81503356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1271.646559995 meters 0.015171809269892943 Centerline is valid? [True, True] Translation: X:-402.26, Y:-246.84, Z:-1.77 [[-9.67598086e-01 2.52132807e-01 1.35274341e-02 -4.02259041e+02] [ 2.52104180e-01 9.67692602e-01 -3.80930773e-03 -2.46841155e+02] [-1.40508493e-02 -2.75556199e-04 -9.99901244e-01 -1.77125151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1271.676559995 meters 0.016071977357344343 Centerline is valid? [True, True] Translation: X:-402.26, Y:-246.81, Z:-1.77 [[-9.83203287e-01 1.81992790e-01 1.37811566e-02 -4.02260963e+02] [ 1.81970794e-01 9.83299823e-01 -2.84408997e-03 -2.46810166e+02] [-1.40686127e-02 -2.88550602e-04 -9.99900991e-01 -1.77017694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1271.7065599950001 meters 0.01605403009737911 Centerline is valid? [True, True] Translation: X:-402.26, Y:-246.78, Z:-1.77 [[-9.93741877e-01 1.10812516e-01 1.40594402e-02 -4.02261266e+02] [ 1.10797099e-01 9.93841282e-01 -1.87314920e-03 -2.46782486e+02] [-1.41804205e-02 -3.03681614e-04 -9.99899407e-01 -1.77078914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1271.736559995 meters 0.016200121434446175 Centerline is valid? [True, True] Translation: X:-402.18, Y:-246.17, Z:-2.82 [[-9.75528685e-01 -2.19461307e-01 1.34357838e-02 -4.02176318e+02] [ 2.19444204e-01 -9.75621169e-01 -2.75243009e-03 -2.46165556e+02] [ 1.37122870e-02 2.63330378e-04 9.99905948e-01 -2.81574734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1271.766559995 meters 0.016523358979018955 Centerline is valid? [True, True] Translation: X:-402.32, Y:-246.78, Z:-1.77 [[-9.94157618e-01 1.07156937e-01 1.29623545e-02 -4.02315374e+02] [ 1.07144205e-01 9.94242081e-01 -1.67469612e-03 -2.46775764e+02] [-1.30671736e-02 -2.76070727e-04 -9.99914583e-01 -1.77105916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1271.796559995 meters 0.015051098818634484 Centerline is valid? [True, True] Translation: X:-402.23, Y:-246.16, Z:-2.81 [[-9.76726725e-01 -2.14104765e-01 1.28083533e-02 -4.02233475e+02] [ 2.14090039e-01 -9.76810664e-01 -2.52612982e-03 -2.46155276e+02] [ 1.30521925e-02 2.74802339e-04 9.99914779e-01 -2.81390050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1271.826559995 meters 0.014661337641056954 Centerline is valid? [True, True] Translation: X:-402.36, Y:-246.78, Z:-1.77 [[-9.94308933e-01 1.05871826e-01 1.18702294e-02 -4.02362099e+02] [ 1.05861663e-01 9.94379761e-01 -1.48309453e-03 -2.46775709e+02] [-1.19605338e-02 -2.18051924e-04 -9.99928447e-01 -1.77363552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1271.856559995 meters 0.014529540470961303 Centerline is valid? [True, True] Translation: X:-402.37, Y:-246.75, Z:-1.77 [[-9.99288324e-01 3.58572613e-02 1.17090493e-02 -4.02368157e+02] [ 3.58523993e-02 9.99356901e-01 -6.24939217e-04 -2.46748411e+02] [-1.17239278e-02 -2.04696951e-04 -9.99931252e-01 -1.77375436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1271.886559995 meters 0.014529540470961303 Centerline is valid? [True, True] Translation: X:-402.37, Y:-246.72, Z:-1.77 [[-9.99307688e-01 -3.53086086e-02 1.17237677e-02 -4.02372725e+02] [-3.53085810e-02 9.99376436e-01 2.09398244e-04 -2.46720874e+02] [-1.17238507e-02 -2.04696325e-04 -9.99931253e-01 -1.77375526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1271.916559995 meters 0.014880367180677636 Centerline is valid? [True, True] Translation: X:-402.37, Y:-246.69, Z:-1.77 [[-9.94382616e-01 -1.05186948e-01 1.17864129e-02 -4.02372573e+02] [-1.05181846e-01 9.94452447e-01 1.05368815e-03 -2.46693948e+02] [-1.18318613e-02 -1.91947486e-04 -9.99929983e-01 -1.77262767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1271.9465599950001 meters 0.014452241054201481 Centerline is valid? [True, True] Translation: X:-402.43, Y:-246.06, Z:-2.81 [[-9.99904465e-01 6.32651933e-03 1.22896668e-02 -4.02429086e+02] [-6.32321682e-03 -9.99979961e-01 3.07561027e-04 -2.46058570e+02] [ 1.22913663e-02 2.29821416e-04 9.99924432e-01 -2.81367073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1271.9765599950001 meters 0.014634609557080234 Centerline is valid? [True, True] Translation: X:-402.47, Y:-246.70, Z:-1.77 [[-9.93817123e-01 -1.10302933e-01 1.26802857e-02 -4.02466278e+02] [-1.10296468e-01 9.93897995e-01 1.21015866e-03 -2.46703822e+02] [-1.27363946e-02 -1.95914336e-04 -9.99918870e-01 -1.77216031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1272.006559995 meters 0.014847477450314273 Centerline is valid? [True, True] Translation: X:-402.48, Y:-246.68, Z:-1.77 [[-9.83479695e-01 -1.80436172e-01 1.45078766e-02 -4.02478245e+02] [-1.80419805e-01 9.83586672e-01 2.43998486e-03 -2.46678342e+02] [-1.47100156e-02 -2.17832698e-04 -9.99891778e-01 -1.77005344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1272.036559995 meters 0.014831454457523386 Centerline is valid? [True, True] Translation: X:-402.50, Y:-246.66, Z:-1.77 [[-9.68026226e-01 -2.50383991e-01 1.52670397e-02 -4.02502233e+02] [-2.50356573e-01 9.68146582e-01 3.71236060e-03 -2.46655393e+02] [-1.57102480e-02 -2.28541324e-04 -9.99876561e-01 -1.76938351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1272.066559995 meters 0.014323689745283795 Centerline is valid? [True, True] Translation: X:-402.54, Y:-246.64, Z:-1.77 [[-9.47364504e-01 -3.19758163e-01 1.59754193e-02 -4.02539650e+02] [-3.19717022e-01 9.47499160e-01 5.13497108e-03 -2.46638203e+02] [-1.67786453e-02 -2.42924160e-04 -9.99859199e-01 -1.77021015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1272.096559995 meters 0.014374721409794695 Centerline is valid? [True, True] Translation: X:-402.60, Y:-246.63, Z:-1.77 [[-9.21174588e-01 -3.88835574e-01 1.56292653e-02 -4.02598076e+02] [-3.88784305e-01 9.21307132e-01 6.31927495e-03 -2.46628785e+02] [-1.68565125e-02 -2.55257542e-04 -9.99857887e-01 -1.76998920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1272.126559995 meters 0.01501887742947355 Centerline is valid? [True, True] Translation: X:-402.66, Y:-246.62, Z:-1.77 [[-8.89110111e-01 -4.57435460e-01 1.53626455e-02 -4.02663964e+02] [-4.57372872e-01 8.89242776e-01 7.57248149e-03 -2.46624452e+02] [-1.71250430e-02 -2.93687410e-04 -9.99853313e-01 -1.76907894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1272.156559995 meters 0.015244251804695295 Centerline is valid? [True, True] Translation: X:-402.74, Y:-246.63, Z:-1.77 [[-8.52363341e-01 -5.22743429e-01 1.46983841e-02 -4.02738110e+02] [-5.22671866e-01 8.52490009e-01 8.65480919e-03 -2.46632017e+02] [-1.70544702e-02 -3.05389768e-04 -9.99854516e-01 -1.76926534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1272.1865599950002 meters 0.015380488169553045 Centerline is valid? [True, True] Translation: X:-402.82, Y:-246.65, Z:-1.77 [[-8.10818527e-01 -5.85134124e-01 1.38337489e-02 -4.02815883e+02] [-5.85055384e-01 8.10936473e-01 9.60389792e-03 -2.46648724e+02] [-1.68378600e-02 -3.06490926e-04 -9.99858186e-01 -1.76996632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1272.2165599950001 meters 0.015250368541113035 Centerline is valid? [True, True] Translation: X:-402.90, Y:-246.68, Z:-1.77 [[-7.64530961e-01 -6.44456791e-01 1.29558680e-02 -4.02899089e+02] [-6.44371042e-01 7.64640667e-01 1.05171704e-02 -2.46677022e+02] [-1.66844455e-02 -3.07683780e-04 -9.99860758e-01 -1.77121906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1272.246559995 meters 0.01584447627985656 Centerline is valid? [True, True] Translation: X:-402.98, Y:-246.71, Z:-1.77 [[-7.14851934e-01 -6.99186183e-01 1.11979754e-02 -4.02983622e+02] [-6.99106123e-01 7.14939587e-01 1.05837749e-02 -2.46712418e+02] [-1.54059051e-02 -2.62741235e-04 -9.99881288e-01 -1.77072114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1272.276559995 meters 0.01494187102381933 Centerline is valid? [True, True] Translation: X:-403.07, Y:-246.76, Z:-1.77 [[-6.60894752e-01 -7.50408635e-01 1.02473160e-02 -4.03068364e+02] [-7.50324077e-01 6.60974146e-01 1.12675497e-02 -2.46761505e+02] [-1.52284775e-02 -2.42143512e-04 -9.99884011e-01 -1.77195901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1272.306559995 meters 0.014741644694182281 Centerline is valid? [True, True] Translation: X:-403.15, Y:-246.82, Z:-1.77 [[-6.03228849e-01 -7.97517818e-01 8.96022500e-03 -4.03150367e+02] [-7.97435022e-01 6.03295354e-01 1.14935135e-02 -2.46816540e+02] [-1.45719439e-02 -2.11978295e-04 -9.99893801e-01 -1.77215266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1272.336559995 meters 0.014532063514071564 Centerline is valid? [True, True] Translation: X:-403.23, Y:-246.88, Z:-1.77 [[-5.42368808e-01 -8.40104541e-01 7.77403046e-03 -4.03230488e+02] [-8.40022976e-01 5.42424490e-01 1.17077977e-02 -2.46882046e+02] [-1.40525986e-02 -1.80419887e-04 -9.99901241e-01 -1.77250705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1272.366559995 meters 0.013659114503962642 Centerline is valid? [True, True] Translation: X:-403.30, Y:-246.96, Z:-1.77 [[-4.80578027e-01 -8.76929787e-01 6.23764202e-03 -4.03304733e+02] [-8.76858871e-01 4.80618493e-01 1.11527758e-02 -2.46958675e+02] [-1.27781275e-02 -1.09752730e-04 -9.99918351e-01 -1.77414947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1272.396559995 meters 0.01308548624622468 Centerline is valid? [True, True] Translation: X:-403.38, Y:-247.04, Z:-1.78 [[-4.14250682e-01 -9.10148464e-01 5.11335548e-03 -4.03375525e+02] [-9.10081418e-01 4.14282232e-01 1.10474242e-02 -2.47042780e+02] [-1.21731685e-02 -7.71668071e-05 -9.99925901e-01 -1.77603895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1272.426559995 meters 0.0129700445578009 Centerline is valid? [True, True] Translation: X:-403.44, Y:-247.13, Z:-1.78 [[-3.45789578e-01 -9.38302140e-01 4.31996735e-03 -4.03441871e+02] [-9.38230656e-01 3.45816558e-01 1.15820514e-02 -2.47133938e+02] [-1.23613799e-02 -4.81731173e-05 -9.99923594e-01 -1.77608840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1272.4565599950001 meters 0.012954039157800626 Centerline is valid? [True, True] Translation: X:-403.50, Y:-247.23, Z:-1.78 [[-2.74644272e-01 -9.61540058e-01 3.35271888e-03 -4.03501055e+02] [-9.61469546e-01 2.74664734e-01 1.16445838e-02 -2.47230275e+02] [-1.21176074e-02 -2.54188768e-05 -9.99926579e-01 -1.77611028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1272.486559995 meters 0.013085633977004843 Centerline is valid? [True, True] Translation: X:-403.55, Y:-247.34, Z:-1.78 [[-2.01787756e-01 -9.79426351e-01 2.39278332e-03 -4.03554202e+02] [-9.79357738e-01 2.01801942e-01 1.15930294e-02 -2.47335336e+02] [-1.18373868e-02 -4.05947018e-06 -9.99929936e-01 -1.77602642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1272.516559995 meters 0.01300966198243272 Centerline is valid? [True, True] Translation: X:-403.60, Y:-247.45, Z:-1.78 [[-1.28027782e-01 -9.91769467e-01 1.48722293e-03 -4.03599365e+02] [-9.91700758e-01 1.28036418e-01 1.16740309e-02 -2.47448539e+02] [-1.17683661e-02 1.97201731e-05 -9.99930750e-01 -1.77678738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1272.546559995 meters 0.013001460186032255 Centerline is valid? [True, True] Translation: X:-403.64, Y:-247.56, Z:-1.78 [[-5.19627373e-02 -9.98648882e-01 5.34032544e-04 -4.03637112e+02] [-9.98591426e-01 5.19654762e-02 1.07123433e-02 -2.47555897e+02] [-1.07256209e-02 2.33623615e-05 -9.99942479e-01 -1.77733997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1272.576559995 meters 0.012998933346035272 Centerline is valid? [True, True] Translation: X:-403.67, Y:-247.67, Z:-1.78 [[ 2.45497725e-02 -9.99698572e-01 -2.70702914e-04 -4.03666835e+02] [-9.99648840e-01 -2.45512514e-02 9.97161655e-03 -2.47671068e+02] [-9.97525692e-03 2.58069362e-05 -9.99950246e-01 -1.77796080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1272.606559995 meters 0.013014156872261796 Centerline is valid? [True, True] Translation: X:-403.69, Y:-247.79, Z:-1.78 [[ 1.00315862e-01 -9.94955196e-01 -9.41655379e-04 -4.03687603e+02] [-9.94914330e-01 -1.00320277e-01 9.01765140e-03 -2.47789061e+02] [-9.06662624e-03 3.22529537e-05 -9.99958897e-01 -1.77783810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1272.636559995 meters 0.01295503901081782 Centerline is valid? [True, True] Translation: X:-404.34, Y:-247.96, Z:-2.81 [[ 4.10219366e-02 9.99158212e-01 -2.62676589e-04 -4.04338468e+02] [-9.99123534e-01 4.10227014e-02 8.32475496e-03 -2.47964096e+02] [ 8.32852298e-03 -7.90512077e-05 9.99965314e-01 -2.80853747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1272.666559995 meters 0.013087626518457534 Centerline is valid? [True, True] Translation: X:-403.66, Y:-248.06, Z:-1.78 [[ 1.07493195e-01 -9.94205461e-01 -8.44991122e-04 -4.03660972e+02] [-9.94177834e-01 -1.07496508e-01 7.41182266e-03 -2.48062856e+02] [-7.45970816e-03 4.33509419e-05 -9.99972175e-01 -1.77964772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1272.6965599950001 meters 0.013091948722024075 Centerline is valid? [True, True] Translation: X:-403.67, Y:-248.19, Z:-1.78 [[ 1.82923047e-01 -9.83126398e-01 -1.28249348e-03 -4.03669520e+02] [-9.83103873e-01 -1.82927538e-01 6.65520571e-03 -2.48189756e+02] [-6.77751179e-03 4.34337935e-05 -9.99977032e-01 -1.78019494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1272.7265599950001 meters 0.013091948722024075 Centerline is valid? [True, True] Translation: X:-403.67, Y:-248.31, Z:-1.78 [[ 2.57894987e-01 -9.66171295e-01 -1.78987607e-03 -4.03670328e+02] [-9.66149182e-01 -2.57901194e-01 6.53695441e-03 -2.48309273e+02] [-6.77742888e-03 4.34395294e-05 -9.99977032e-01 -1.78019898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1272.756559995 meters 0.01312851232049609 Centerline is valid? [True, True] Translation: X:-403.66, Y:-248.42, Z:-1.78 [[ 3.31480710e-01 -9.43459625e-01 -2.11554378e-03 -4.03663800e+02] [-9.43441159e-01 -3.31487458e-01 5.90290139e-03 -2.48421972e+02] [-6.27042536e-03 3.91931394e-05 -9.99980340e-01 -1.78069854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1272.786559995 meters 0.013083097988119673 Centerline is valid? [True, True] Translation: X:-403.65, Y:-248.54, Z:-1.78 [[ 4.03296097e-01 -9.15065986e-01 -2.54946135e-03 -4.03649125e+02] [-9.15048259e-01 -4.03304153e-01 5.69592081e-03 -2.48537316e+02] [-6.24035175e-03 3.57375378e-05 -9.99980528e-01 -1.78100809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1272.816559995 meters 0.012944967163525202 Centerline is valid? [True, True] Translation: X:-403.63, Y:-248.65, Z:-1.78 [[ 4.74145640e-01 -8.80439958e-01 -3.37531116e-03 -4.03626977e+02] [-8.80418020e-01 -4.74157654e-01 6.21528181e-03 -2.48653171e+02] [-7.07261208e-03 2.47359913e-05 -9.99974989e-01 -1.77936940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1272.846559995 meters 0.012961797824851582 Centerline is valid? [True, True] Translation: X:-403.60, Y:-248.77, Z:-1.78 [[ 5.41444638e-01 -8.40727191e-01 -3.93634531e-03 -4.03595357e+02] [-8.40705158e-01 -5.41458947e-01 6.08665165e-03 -2.48765053e+02] [-7.24858293e-03 1.37209072e-05 -9.99973729e-01 -1.77888680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1272.876559995 meters 0.012911088157103127 Centerline is valid? [True, True] Translation: X:-403.56, Y:-248.87, Z:-1.78 [[ 6.05351408e-01 -7.95944797e-01 -4.64251877e-03 -4.03555597e+02] [-7.95921417e-01 -6.05369210e-01 6.10063299e-03 -2.48873533e+02] [-7.66620500e-03 2.05334627e-06 -9.99970614e-01 -1.77854164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1272.906559995 meters 0.012969336483434226 Centerline is valid? [True, True] Translation: X:-403.51, Y:-248.98, Z:-1.78 [[ 6.65676649e-01 -7.46222335e-01 -5.17936767e-03 -4.03510599e+02] [-7.46199598e-01 -6.65696798e-01 5.82520461e-03 -2.48975166e+02] [-7.79478626e-03 -1.28606078e-05 -9.99969620e-01 -1.77785222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1272.9365599950002 meters 0.013078309088955804 Centerline is valid? [True, True] Translation: X:-403.46, Y:-249.07, Z:-1.78 [[ 7.21496315e-01 -6.92393058e-01 -5.90936096e-03 -4.03457239e+02] [-6.92369541e-01 -7.21520514e-01 5.70672333e-03 -2.49073250e+02] [-8.21502078e-03 -2.59183242e-05 -9.99966256e-01 -1.77749785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1272.9665599950001 meters 0.01310503919250233 Centerline is valid? [True, True] Translation: X:-403.46, Y:-249.08, Z:-1.78 [[ 7.74356536e-01 -6.32716256e-01 -6.48806702e-03 -4.03457869e+02] [-6.32693623e-01 -7.74383715e-01 5.35175791e-03 -2.49082505e+02] [-8.41039767e-03 -3.92100895e-05 -9.99964631e-01 -1.77724574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1272.996559995 meters 0.013207317061454027 Centerline is valid? [True, True] Translation: X:-403.46, Y:-249.09, Z:-1.78 [[ 8.21968004e-01 -5.69489472e-01 -7.09520544e-03 -4.03458144e+02] [-5.69467746e-01 -8.21998625e-01 4.97465782e-03 -2.49090341e+02] [-8.66526437e-03 -4.85189127e-05 -9.99962455e-01 -1.77691974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1273.026559995 meters 0.013617406925535177 Centerline is valid? [True, True] Translation: X:-403.46, Y:-249.10, Z:-1.78 [[ 8.64339673e-01 -5.02843583e-01 -8.07845872e-03 -4.03457286e+02] [-5.02820980e-01 -8.64377422e-01 4.76807018e-03 -2.49097382e+02] [-9.38043082e-03 -5.92136916e-05 -9.99956001e-01 -1.77609133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1273.056559995 meters 0.013625193718544266 Centerline is valid? [True, True] Translation: X:-403.45, Y:-249.10, Z:-1.78 [[ 9.00867746e-01 -4.34016151e-01 -8.20273307e-03 -4.03454040e+02] [-4.33997607e-01 -9.00905088e-01 4.01239656e-03 -2.49103732e+02] [-9.13132887e-03 -5.46721211e-05 -9.99958307e-01 -1.77525561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1273.086559995 meters 0.01348855855179775 Centerline is valid? [True, True] Translation: X:-403.45, Y:-249.11, Z:-1.78 [[ 9.31846173e-01 -3.62753650e-01 -8.51464836e-03 -4.03451801e+02] [-3.62738018e-01 -9.31885072e-01 3.36805672e-03 -2.49112567e+02] [-9.15644857e-03 -4.99240975e-05 -9.99958078e-01 -1.77595851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1273.116559995 meters 0.013462608597918027 Centerline is valid? [True, True] Translation: X:-403.45, Y:-249.12, Z:-1.78 [[ 9.56906482e-01 -2.90262063e-01 -8.82721272e-03 -4.03449067e+02] [-2.90249366e-01 -9.56947195e-01 2.71518238e-03 -2.49119527e+02] [-9.23529089e-03 -3.60827228e-05 -9.99957353e-01 -1.77605797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1273.146559995 meters 0.01342744916394707 Centerline is valid? [True, True] Translation: X:-403.45, Y:-249.13, Z:-1.78 [[ 9.76567764e-01 -2.15019068e-01 -9.06657799e-03 -4.03445622e+02] [-2.15009494e-01 -9.76609850e-01 2.02923892e-03 -2.49128141e+02] [-9.29083443e-03 -3.22889681e-05 -9.99956839e-01 -1.77706600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1273.176559995 meters 0.013445217184824785 Centerline is valid? [True, True] Translation: X:-403.44, Y:-249.14, Z:-1.78 [[ 9.90349549e-01 -1.38256588e-01 -9.63782138e-03 -4.03442576e+02] [-1.38249737e-01 -9.90396443e-01 1.37679566e-03 -2.49137574e+02] [-9.73561509e-03 -3.10826956e-05 -9.99952608e-01 -1.77697059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1273.2065599950001 meters 0.01357467394939524 Centerline is valid? [True, True] Translation: X:-403.44, Y:-249.15, Z:-1.78 [[ 9.98124466e-01 -6.03376877e-02 -1.03399708e-02 -4.03441393e+02] [-6.03341109e-02 -9.98178022e-01 6.57789824e-04 -2.49147406e+02] [-1.03608211e-02 -3.27031752e-05 -9.99946325e-01 -1.77671321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1273.236559995 meters 0.013522609133396861 Centerline is valid? [True, True] Translation: X:-403.44, Y:-249.16, Z:-1.78 [[ 9.99782599e-01 1.79472909e-02 -1.06136876e-02 -4.03441137e+02] [ 1.79466300e-02 -9.99838934e-01 -1.57519115e-04 -2.49156520e+02] [-1.06148052e-02 -3.29950546e-05 -9.99943661e-01 -1.77625175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1273.266559995 meters 0.013584196563691803 Centerline is valid? [True, True] Translation: X:-403.44, Y:-249.17, Z:-1.78 [[ 9.95303611e-01 9.61975902e-02 -1.08049024e-02 -4.03440379e+02] [ 9.61922952e-02 -9.95362257e-01 -1.00988983e-03 -2.49165204e+02] [-1.08519410e-02 -3.42013703e-05 -9.99941116e-01 -1.77586686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1273.296559995 meters 0.013589592655009912 Centerline is valid? [True, True] Translation: X:-403.44, Y:-249.17, Z:-1.78 [[ 9.84792140e-01 1.73446704e-01 -1.00340859e-02 -4.03437972e+02] [ 1.73437995e-01 -9.84843257e-01 -1.73834804e-03 -2.49172784e+02] [-1.01835126e-02 -2.83802593e-05 -9.99948147e-01 -1.77557121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1273.326559995 meters 0.013563555969836103 Centerline is valid? [True, True] Translation: X:-403.43, Y:-249.18, Z:-1.78 [[ 9.68182890e-01 2.50046116e-01 -9.94141758e-03 -4.03434186e+02] [ 2.50033244e-01 -9.68233928e-01 -2.53731111e-03 -2.49182038e+02] [-1.02600626e-02 -2.91036775e-05 -9.99947364e-01 -1.77586466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1273.356559995 meters 0.01357684793991985 Centerline is valid? [True, True] Translation: X:-403.43, Y:-249.19, Z:-1.78 [[ 9.45608467e-01 3.25149339e-01 -1.01259756e-02 -4.03430527e+02] [ 3.25131047e-01 -9.45662681e-01 -3.44905314e-03 -2.49190330e+02] [-1.06972146e-02 -3.08151891e-05 -9.99942783e-01 -1.77516447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1273.386559995 meters 0.013702569734570331 Centerline is valid? [True, True] Translation: X:-403.43, Y:-249.19, Z:-1.77 [[ 9.17225351e-01 3.98230339e-01 -1.05001330e-02 -4.03427624e+02] [ 3.98204660e-01 -9.17285450e-01 -4.52251644e-03 -2.49194913e+02] [-1.14326225e-02 -3.30351763e-05 -9.99934645e-01 -1.77474357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1273.416559995 meters 0.01366581811987175 Centerline is valid? [True, True] Translation: X:-403.42, Y:-249.20, Z:-1.77 [[ 8.83507991e-01 4.68294672e-01 -1.06644568e-02 -4.03422814e+02] [ 4.68260940e-01 -8.83572351e-01 -5.62078377e-03 -2.49200110e+02] [-1.20550022e-02 -2.77411769e-05 -9.99927336e-01 -1.77454799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1273.4465599950001 meters 0.0136467440175824 Centerline is valid? [True, True] Translation: X:-403.42, Y:-249.21, Z:-1.77 [[ 8.44329307e-01 5.35725033e-01 -1.03300589e-02 -4.03418175e+02] [ 5.35685282e-01 -8.44392497e-01 -6.52611350e-03 -2.49206101e+02] [-1.22188266e-02 -2.34716465e-05 -9.99925347e-01 -1.77465624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1273.4765599950001 meters 0.01356573636532906 Centerline is valid? [True, True] Translation: X:-403.41, Y:-249.21, Z:-1.77 [[ 8.00102683e-01 5.99777801e-01 -1.01136997e-02 -4.03411967e+02] [ 5.99730165e-01 -8.00166601e-01 -7.55905205e-03 -2.49212120e+02] [-1.26263963e-02 -1.74729585e-05 -9.99920284e-01 -1.77473725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1273.506559995 meters 0.01355515127895722 Centerline is valid? [True, True] Translation: X:-403.41, Y:-249.22, Z:-1.77 [[ 7.50973676e-01 6.60265779e-01 -9.36158761e-03 -4.03405509e+02] [ 6.60214684e-01 -7.51032024e-01 -8.21397442e-03 -2.49217198e+02] [-1.24542583e-02 -1.21790456e-05 -9.99922443e-01 -1.77471959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1273.536559995 meters 0.01355515127895722 Centerline is valid? [True, True] Translation: X:-403.40, Y:-249.22, Z:-1.77 [[ 6.96980749e-01 7.17037185e-01 -8.68972549e-03 -4.03399124e+02] [ 7.16981680e-01 -6.97034917e-01 -8.92162503e-03 -2.49222914e+02] [-1.24541790e-02 -1.21730895e-05 -9.99922444e-01 -1.77472031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1273.566559995 meters 0.013599442151503466 Centerline is valid? [True, True] Translation: X:-403.39, Y:-249.23, Z:-1.77 [[ 6.39226551e-01 7.68976987e-01 -7.98811449e-03 -4.03394167e+02] [ 7.68917017e-01 -6.39276461e-01 -9.60350338e-03 -2.49227754e+02] [-1.24914867e-02 -3.38283195e-06 -9.99921979e-01 -1.77421306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1273.596559995 meters 0.013558563202037759 Centerline is valid? [True, True] Translation: X:-403.39, Y:-249.23, Z:-1.77 [[ 5.78499673e-01 8.15649154e-01 -7.38825379e-03 -4.03388924e+02] [ 8.15582223e-01 -5.78546850e-01 -1.04489547e-02 -2.49230653e+02] [-1.27971320e-02 1.89884227e-05 -9.99918113e-01 -1.77459939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1273.626559995 meters 0.013570883364479676 Centerline is valid? [True, True] Translation: X:-403.38, Y:-249.23, Z:-1.77 [[ 5.13249610e-01 8.58213887e-01 -6.61523534e-03 -4.03383950e+02] [ 8.58141977e-01 -5.13292239e-01 -1.11096862e-02 -2.49234196e+02] [-1.29300359e-02 2.52309742e-05 -9.99916403e-01 -1.77426823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1273.656559995 meters 0.013518464524071957 Centerline is valid? [True, True] Translation: X:-403.38, Y:-249.24, Z:-1.77 [[ 4.44892737e-01 8.95565122e-01 -5.79354815e-03 -4.03377487e+02] [ 8.95488262e-01 -4.44930457e-01 -1.17329658e-02 -2.49237223e+02] [-1.30853610e-02 3.18568970e-05 -9.99914383e-01 -1.77434928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1273.6865599950002 meters 0.013546535856812396 Centerline is valid? [True, True] Translation: X:-403.37, Y:-249.24, Z:-1.77 [[ 3.73455997e-01 9.27634070e-01 -5.06474856e-03 -4.03370928e+02] [ 9.27547532e-01 -3.73490337e-01 -1.26706054e-02 -2.49240614e+02] [-1.36453199e-02 3.41185415e-05 -9.99906898e-01 -1.77433752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1273.7165599950001 meters 0.013539685212745496 Centerline is valid? [True, True] Translation: X:-403.36, Y:-249.24, Z:-1.77 [[ 2.99456229e-01 9.54101575e-01 -4.01882643e-03 -4.03364565e+02] [ 9.54014282e-01 -2.99483193e-01 -1.29060551e-02 -2.49243849e+02] [-1.35172585e-02 3.07807757e-05 -9.99908637e-01 -1.77402648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1273.746559995 meters 0.013457485027898227 Centerline is valid? [True, True] Translation: X:-403.36, Y:-249.25, Z:-1.77 [[ 2.23069033e-01 9.74798487e-01 -2.84878095e-03 -4.03357938e+02] [ 9.74717912e-01 -2.23087222e-01 -1.25332896e-02 -2.49245834e+02] [-1.28529584e-02 1.90309832e-05 -9.99917397e-01 -1.77397654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1273.776559995 meters 0.013287221337490374 Centerline is valid? [True, True] Translation: X:-403.35, Y:-249.25, Z:-1.77 [[ 1.44252724e-01 9.89539332e-01 -1.74976138e-03 -4.03350889e+02] [ 9.89466867e-01 -1.44263336e-01 -1.19753555e-02 -2.49247980e+02] [-1.21025117e-02 -3.85326449e-06 -9.99926762e-01 -1.77448764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1273.806559995 meters 0.013187585311261069 Centerline is valid? [True, True] Translation: X:-403.34, Y:-249.25, Z:-1.78 [[ 6.53308559e-02 9.97863337e-01 -7.99823144e-04 -4.03342474e+02] [ 9.97791439e-01 -6.53357499e-02 -1.19785102e-02 -2.49249391e+02] [-1.20051732e-02 -1.54903632e-05 -9.99927935e-01 -1.77538191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1273.836559995 meters 0.013187585311261069 Centerline is valid? [True, True] Translation: X:-403.33, Y:-249.25, Z:-1.78 [[-1.30145167e-02 9.99915298e-01 1.40768184e-04 -4.03334232e+02] [ 9.99843238e-01 1.30152687e-02 -1.20042809e-02 -2.49250425e+02] [-1.20050962e-02 -1.54837962e-05 -9.99927936e-01 -1.77538258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1273.866559995 meters 0.01334154929714925 Centerline is valid? [True, True] Translation: X:-403.33, Y:-249.25, Z:-1.77 [[-9.23372526e-02 9.95727259e-01 1.02839354e-03 -4.03325995e+02] [ 9.95662274e-01 9.23429754e-02 -1.13759166e-02 -2.49251761e+02] [-1.14222752e-02 -2.64882283e-05 -9.99934764e-01 -1.77467727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1273.896559995 meters 0.013236949013203847 Centerline is valid? [True, True] Translation: X:-403.32, Y:-249.25, Z:-1.78 [[-1.71342833e-01 9.85209627e-01 1.90380712e-03 -4.03317503e+02] [ 9.85146089e-01 1.71353404e-01 -1.11890296e-02 -2.49250619e+02] [-1.13497635e-02 -4.16318893e-05 -9.99935589e-01 -1.77588025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1273.926559995 meters 0.013435910347011545 Centerline is valid? [True, True] Translation: X:-403.31, Y:-249.25, Z:-1.78 [[-2.50920994e-01 9.68003957e-01 2.64479344e-03 -4.03307998e+02] [ 9.67947084e-01 2.50934922e-01 -1.04932208e-02 -2.49250272e+02] [-1.08211503e-02 -7.29492880e-05 -9.99941447e-01 -1.77529456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1273.9565599950001 meters 0.0137359747734736 Centerline is valid? [True, True] Translation: X:-403.30, Y:-249.25, Z:-1.77 [[-3.27583191e-01 9.44816265e-01 3.38790279e-03 -4.03301414e+02] [ 9.44762884e-01 3.27600698e-01 -1.00436958e-02 -2.49249751e+02] [-1.05993264e-02 -8.93810924e-05 -9.99943822e-01 -1.77464488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1273.986559995 meters 0.014032454746897858 Centerline is valid? [True, True] Translation: X:-403.30, Y:-249.25, Z:-1.77 [[-4.02169001e-01 9.15555722e-01 4.22070497e-03 -4.03296921e+02] [ 9.15502430e-01 4.02191134e-01 -9.87895129e-03 -2.49248846e+02] [-1.07422605e-02 -1.08942321e-04 -9.99942295e-01 -1.77439154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1274.016559995 meters 0.013943282230920269 Centerline is valid? [True, True] Translation: X:-403.29, Y:-249.25, Z:-1.78 [[-4.74144993e-01 8.80434079e-01 4.72842034e-03 -4.03289596e+02] [ 8.80387742e-01 4.74168554e-01 -9.03362355e-03 -2.49245014e+02] [-1.01955783e-02 -1.20404065e-04 -9.99948017e-01 -1.77580562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1274.046559995 meters 0.014288827088328297 Centerline is valid? [True, True] Translation: X:-403.28, Y:-249.24, Z:-1.78 [[-5.43072265e-01 8.39668063e-01 5.48265182e-03 -4.03281679e+02] [ 8.39622664e-01 5.43099922e-01 -8.73254714e-03 -2.49240699e+02] [-1.03100687e-02 -1.39045429e-04 -9.99946840e-01 -1.77569046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1274.076559995 meters 0.01524910694862821 Centerline is valid? [True, True] Translation: X:-403.27, Y:-249.24, Z:-1.77 [[-6.08928493e-01 7.93196352e-01 6.75553541e-03 -4.03273483e+02] [ 7.93144275e-01 6.08965940e-01 -9.09087909e-03 -2.49235674e+02] [-1.13247431e-02 -1.77581081e-04 -9.99935857e-01 -1.77294506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1274.106559995 meters 0.014862135731815912 Centerline is valid? [True, True] Translation: X:-403.27, Y:-249.23, Z:-1.77 [[-6.69641234e-01 7.42637861e-01 8.34411014e-03 -4.03269121e+02] [ 7.42576333e-01 6.69693187e-01 -9.56164292e-03 -2.49231041e+02] [-1.26888318e-02 -2.06731657e-04 -9.99919472e-01 -1.77333850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1274.136559995 meters 0.014888410515141929 Centerline is valid? [True, True] Translation: X:-403.26, Y:-249.23, Z:-1.77 [[-7.25907425e-01 6.87730535e-01 9.22616719e-03 -4.03263957e+02] [ 6.87671222e-01 7.25966023e-01 -9.03459985e-03 -2.49225253e+02] [-1.29112541e-02 -2.13713441e-04 -9.99916624e-01 -1.77325636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1274.166559995 meters 0.014950135378111172 Centerline is valid? [True, True] Translation: X:-403.25, Y:-249.20, Z:-1.77 [[-7.72756087e-01 6.34624605e-01 9.98196819e-03 -4.03249126e+02] [ 6.34568010e-01 7.72820525e-01 -8.47808555e-03 -2.49201715e+02] [-1.30946716e-02 -2.17254529e-04 -9.99914238e-01 -1.77312801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1274.1965599950001 meters 0.014876419415499468 Centerline is valid? [True, True] Translation: X:-402.82, Y:-248.72, Z:-2.81 [[-7.05723035e-01 -7.08430053e-01 9.04761030e-03 -4.02823419e+02] [ 7.08375131e-01 -7.05781005e-01 -8.82308286e-03 -2.48720644e+02] [ 1.26361685e-02 1.82449318e-04 9.99920144e-01 -2.81358936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1274.2265599950001 meters 0.014591562648025474 Centerline is valid? [True, True] Translation: X:-403.28, Y:-249.18, Z:-1.77 [[-7.74216889e-01 6.32853017e-01 9.23405418e-03 -4.03276985e+02] [ 6.32805149e-01 7.74271932e-01 -7.78580597e-03 -2.49181450e+02] [-1.20769398e-02 -1.84545451e-04 -9.99927054e-01 -1.77430589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1274.256559995 meters 0.014188720152945564 Centerline is valid? [True, True] Translation: X:-403.26, Y:-249.16, Z:-1.78 [[-8.15831193e-01 5.78223965e-01 8.74705842e-03 -4.03256767e+02] [ 5.78188855e-01 8.15878071e-01 -6.37353282e-03 -2.49164253e+02] [-1.08218626e-02 -1.42275200e-04 -9.99941432e-01 -1.77538185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1274.286559995 meters 0.013996554618708452 Centerline is valid? [True, True] Translation: X:-403.24, Y:-249.14, Z:-1.78 [[-8.54061984e-01 5.20100310e-01 8.59035077e-03 -4.03241899e+02] [ 5.20072576e-01 8.54105177e-01 -5.37249348e-03 -2.49142140e+02] [-1.01312986e-02 -1.20836588e-04 -9.99948670e-01 -1.77552656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1274.316559995 meters 0.013700497878618937 Centerline is valid? [True, True] Translation: X:-402.89, Y:-248.59, Z:-2.81 [[-8.04310166e-01 -5.94160873e-01 7.61670191e-03 -4.02892874e+02] [ 5.94135058e-01 -8.04346227e-01 -5.53900417e-03 -2.48592305e+02] [ 9.41752500e-03 7.02722687e-05 9.99955652e-01 -2.81116680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1274.346559995 meters 0.013398873937056617 Centerline is valid? [True, True] Translation: X:-402.91, Y:-248.62, Z:-2.81 [[-7.64353672e-01 -6.44768218e-01 6.11635006e-03 -4.02905277e+02] [ 6.44748162e-01 -7.64378141e-01 -5.08574557e-03 -2.48617348e+02] [ 7.95433139e-03 5.61971609e-05 9.99968362e-01 -2.81040127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1274.376559995 meters 0.013243876016743726 Centerline is valid? [True, True] Translation: X:-402.92, Y:-248.64, Z:-2.81 [[-7.19954176e-01 -6.94001705e-01 5.25532574e-03 -4.02918690e+02] [ 6.93983659e-01 -7.19973355e-01 -5.00501328e-03 -2.48644041e+02] [ 7.25718225e-03 4.37299762e-05 9.99973666e-01 -2.80962687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1274.406559995 meters 0.013177365637234506 Centerline is valid? [True, True] Translation: X:-402.94, Y:-248.66, Z:-2.81 [[-6.72070995e-01 -7.40473078e-01 4.49428388e-03 -4.02940961e+02] [ 7.40456876e-01 -6.72086021e-01 -4.89852164e-03 -2.48663427e+02] [ 6.64776877e-03 3.56690847e-05 9.99977903e-01 -2.80908417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1274.4365599950002 meters 0.013173720557274825 Centerline is valid? [True, True] Translation: X:-402.96, Y:-248.64, Z:-2.81 [[-6.72284394e-01 -7.40281059e-01 4.20092925e-03 -4.02959643e+02] [ 7.40266926e-01 -6.72297518e-01 -4.57438149e-03 -2.48643327e+02] [ 6.21060228e-03 3.45236964e-05 9.99980714e-01 -2.80870977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1274.4665599950001 meters 0.013307725499243214 Centerline is valid? [True, True] Translation: X:-402.98, Y:-248.62, Z:-2.81 [[-6.71966927e-01 -7.40570203e-01 4.02782127e-03 -4.02979003e+02] [ 7.40557232e-01 -6.71978998e-01 -4.38321940e-03 -2.48623921e+02] [ 5.95269298e-03 3.74537012e-05 9.99982282e-01 -2.80921181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1274.496559995 meters 0.013336313240781019 Centerline is valid? [True, True] Translation: X:-403.00, Y:-248.60, Z:-2.81 [[-6.71354137e-01 -7.41123165e-01 4.48076565e-03 -4.02998307e+02] [ 7.41107145e-01 -6.71369088e-01 -4.87307033e-03 -2.48604598e+02] [ 6.61979286e-03 4.91715136e-05 9.99978088e-01 -2.80944919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1274.526559995 meters 0.013780617314844316 Centerline is valid? [True, True] Translation: X:-403.02, Y:-248.59, Z:-2.81 [[-6.69090997e-01 -7.43162194e-01 5.21460417e-03 -4.03019753e+02] [ 7.43140584e-01 -6.69111312e-01 -5.66797824e-03 -2.48586343e+02] [ 7.70137777e-03 8.27907776e-05 9.99970341e-01 -2.81130868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1274.556559995 meters 0.01400213240512739 Centerline is valid? [True, True] Translation: X:-403.04, Y:-248.57, Z:-2.81 [[-6.68032559e-01 -7.44109958e-01 5.73334563e-03 -4.03040171e+02] [ 7.44083899e-01 -6.68057153e-01 -6.22830521e-03 -2.48566457e+02] [ 8.46474649e-03 1.05379510e-04 9.99964168e-01 -2.81229422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1274.586559995 meters 0.01439075414961035 Centerline is valid? [True, True] Translation: X:-403.06, Y:-248.55, Z:-2.81 [[-6.67065287e-01 -7.44973219e-01 6.22942914e-03 -4.03059951e+02] [ 7.44942519e-01 -6.67094361e-01 -6.76442648e-03 -2.48547239e+02] [ 9.19493362e-03 1.28252537e-04 9.99957718e-01 -2.81343793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1274.616559995 meters 0.015112006251965819 Centerline is valid? [True, True] Translation: X:-403.08, Y:-248.53, Z:-2.82 [[-6.65276412e-01 -7.46562557e-01 7.18645257e-03 -4.03080712e+02] [ 7.46521825e-01 -6.65315202e-01 -7.80044707e-03 -2.48529182e+02] [ 1.06047779e-02 1.75390254e-04 9.99943753e-01 -2.81536536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1274.646559995 meters 0.01543265234869748 Centerline is valid? [True, True] Translation: X:-403.10, Y:-248.51, Z:-2.82 [[-6.64833814e-01 -7.46953365e-01 7.52800167e-03 -4.03100176e+02] [ 7.46908747e-01 -6.64876405e-01 -8.16640135e-03 -2.48509566e+02] [ 1.11051117e-02 1.93430532e-04 9.99938318e-01 -2.81587708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1274.676559995 meters 0.015504130009666234 Centerline is valid? [True, True] Translation: X:-403.12, Y:-248.49, Z:-2.82 [[-6.64636429e-01 -7.47126291e-01 7.79239907e-03 -4.03119071e+02] [ 7.47078557e-01 -6.64682076e-01 -8.44798471e-03 -2.48489929e+02] [ 1.14911795e-02 2.06695858e-04 9.99933953e-01 -2.81587339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1274.7065599950001 meters 0.015248848806087576 Centerline is valid? [True, True] Translation: X:-403.14, Y:-248.47, Z:-2.82 [[-6.64884121e-01 -7.46907523e-01 7.63267873e-03 -4.03137861e+02] [ 7.46861770e-01 -6.64927899e-01 -8.26962957e-03 -2.48469554e+02] [ 1.12518296e-02 2.02210558e-04 9.99936676e-01 -2.81549932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1274.736559995 meters 0.01555454289776699 Centerline is valid? [True, True] Translation: X:-403.16, Y:-248.45, Z:-2.82 [[-6.65118611e-01 -7.46703635e-01 7.13543266e-03 -4.03156394e+02] [ 7.46663691e-01 -6.65156858e-01 -7.72580531e-03 -2.48450649e+02] [ 1.05150689e-02 1.89191584e-04 9.99944697e-01 -2.81515925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1274.766559995 meters 0.015208819325481446 Centerline is valid? [True, True] Translation: X:-403.17, Y:-248.43, Z:-2.81 [[-6.65769328e-01 -7.46128021e-01 6.64671487e-03 -4.03174577e+02] [ 7.46093376e-01 -6.65802484e-01 -7.19215381e-03 -2.48430322e+02] [ 9.79166676e-03 1.70754525e-04 9.99952046e-01 -2.81397405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1274.796559995 meters 0.014971347241485036 Centerline is valid? [True, True] Translation: X:-403.19, Y:-248.41, Z:-2.81 [[-6.66787719e-01 -7.45232130e-01 4.81776310e-03 -4.03192523e+02] [ 7.45213925e-01 -6.66805114e-01 -5.21025431e-03 -2.48410433e+02] [ 7.09535799e-03 1.16130565e-04 9.99974821e-01 -2.81135788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1274.826559995 meters 0.014726067176292214 Centerline is valid? [True, True] Translation: X:-403.21, Y:-248.39, Z:-2.81 [[-6.67590804e-01 -7.44517750e-01 3.97973179e-03 -4.03210976e+02] [ 7.44505331e-01 -6.67602660e-01 -4.30127111e-03 -2.48389785e+02] [ 5.85925222e-03 9.14425010e-05 9.99982830e-01 -2.81009544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1274.856559995 meters 0.014504027073979414 Centerline is valid? [True, True] Translation: X:-403.23, Y:-248.37, Z:-2.81 [[-6.68407582e-01 -7.43788339e-01 3.19532960e-03 -4.03229109e+02] [ 7.43780335e-01 -6.68415216e-01 -3.45135356e-03 -2.48370075e+02] [ 4.70288346e-03 6.97124273e-05 9.99988939e-01 -2.80939795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1274.886559995 meters 0.014511014262877424 Centerline is valid? [True, True] Translation: X:-403.25, Y:-248.35, Z:-2.81 [[-6.69033337e-01 -7.43226936e-01 2.84899451e-03 -4.03247831e+02] [ 7.43220575e-01 -6.69039400e-01 -3.07537470e-03 -2.48350156e+02] [ 4.19179090e-03 5.99031386e-05 9.99991213e-01 -2.80887125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1274.916559995 meters 0.014383842609142916 Centerline is valid? [True, True] Translation: X:-403.27, Y:-248.33, Z:-2.81 [[-6.69932223e-01 -7.42419136e-01 2.15497590e-03 -4.03266782e+02] [ 7.42415498e-01 -6.69935687e-01 -2.32470703e-03 -2.48331329e+02] [ 3.16960225e-03 4.24913532e-05 9.99994976e-01 -2.80891601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1274.9465599950001 meters 0.01407736255381042 Centerline is valid? [True, True] Translation: X:-403.29, Y:-248.31, Z:-2.81 [[-6.70212077e-01 -7.42164209e-01 2.83879969e-03 -4.03285985e+02] [ 7.42157901e-01 -6.70218086e-01 -3.06047589e-03 -2.48311491e+02] [ 4.17399057e-03 5.56697113e-05 9.99991288e-01 -2.80979869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1274.9765599950001 meters 0.013978925572559354 Centerline is valid? [True, True] Translation: X:-403.30, Y:-248.29, Z:-2.81 [[-6.70557007e-01 -7.41849855e-01 3.47764281e-03 -4.03304792e+02] [ 7.41840396e-01 -6.70566021e-01 -3.74687775e-03 -2.48292009e+02] [ 5.11160981e-03 6.73607906e-05 9.99986934e-01 -2.81070954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1275.006559995 meters 0.01389640656182329 Centerline is valid? [True, True] Translation: X:-403.32, Y:-248.27, Z:-2.81 [[-6.71103952e-01 -7.41349423e-01 4.52966443e-03 -4.03323574e+02] [ 7.41333384e-01 -6.71119234e-01 -4.87729860e-03 -2.48271757e+02] [ 6.65572743e-03 8.48170938e-05 9.99977847e-01 -2.81220959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1275.036559995 meters 0.013667631761095155 Centerline is valid? [True, True] Translation: X:-403.34, Y:-248.25, Z:-2.81 [[-6.71698806e-01 -7.40807495e-01 4.99693025e-03 -4.03342173e+02] [ 7.40787984e-01 -6.71717386e-01 -5.37739201e-03 -2.48251015e+02] [ 7.34013724e-03 8.96780943e-05 9.99973057e-01 -2.81251516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1275.066559995 meters 0.0138305792033019 Centerline is valid? [True, True] Translation: X:-403.36, Y:-248.23, Z:-2.81 [[-6.72316381e-01 -7.40243186e-01 5.54161034e-03 -4.03360552e+02] [ 7.40219202e-01 -6.72339213e-01 -5.95958116e-03 -2.48232113e+02] [ 8.13738128e-03 9.52823496e-05 9.99966887e-01 -2.81376857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1275.096559995 meters 0.0138305792033019 Centerline is valid? [True, True] Translation: X:-403.38, Y:-248.21, Z:-2.81 [[-6.72542823e-01 -7.40037446e-01 5.54343305e-03 -4.03378853e+02] [ 7.40013469e-01 -6.72565662e-01 -5.95788576e-03 -2.48212599e+02] [ 8.13738128e-03 9.52818150e-05 9.99966887e-01 -2.81376913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1275.126559995 meters 0.013722810404850624 Centerline is valid? [True, True] Translation: X:-403.40, Y:-248.19, Z:-2.81 [[-6.73151241e-01 -7.39478694e-01 6.21837422e-03 -4.03396863e+02] [ 7.39448536e-01 -6.73179955e-01 -6.67917708e-03 -2.48192792e+02] [ 9.12519402e-03 1.02071372e-04 9.99958360e-01 -2.81456250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1275.156559995 meters 0.013755444991262062 Centerline is valid? [True, True] Translation: X:-403.41, Y:-248.17, Z:-2.82 [[-6.73950609e-01 -7.38745131e-01 6.79768535e-03 -4.03414673e+02] [ 7.38709102e-01 -6.73984882e-01 -7.29671182e-03 -2.48173738e+02] [ 9.97194748e-03 1.03888669e-04 9.99950274e-01 -2.81596191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1275.1865599950002 meters 0.01367326905851508 Centerline is valid? [True, True] Translation: X:-403.43, Y:-248.15, Z:-2.82 [[-6.74796775e-01 -7.37963622e-01 7.68151621e-03 -4.03432693e+02] [ 7.37917623e-01 -6.74840486e-01 -8.24019580e-03 -2.48154276e+02] [ 1.12647629e-02 1.07868634e-04 9.99936545e-01 -2.81688273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1275.2165599950001 meters 0.013243217578451868 Centerline is valid? [True, True] Translation: X:-403.45, Y:-248.13, Z:-2.82 [[-6.76918649e-01 -7.36008969e-01 8.48170538e-03 -4.03449991e+02] [ 7.35952802e-01 -6.76971779e-01 -9.09304102e-03 -2.48132949e+02] [ 1.24344349e-02 8.68857982e-05 9.99922686e-01 -2.81816176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1275.246559995 meters 0.013141678160563356 Centerline is valid? [True, True] Translation: X:-403.47, Y:-248.11, Z:-2.82 [[-6.78614542e-01 -7.34447129e-01 8.34972293e-03 -4.03467749e+02] [ 7.34392644e-01 -6.78665905e-01 -8.94612977e-03 -2.48112017e+02] [ 1.22371316e-02 6.10013477e-05 9.99925122e-01 -2.81851451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1275.276559995 meters 0.012821853483441024 Centerline is valid? [True, True] Translation: X:-403.49, Y:-248.09, Z:-2.82 [[-6.80617299e-01 -7.32588663e-01 8.59902170e-03 -4.03485286e+02] [ 7.32530800e-01 -6.80671617e-01 -9.20744499e-03 -2.48090480e+02] [ 1.25983798e-02 3.23019030e-05 9.99920637e-01 -2.81780619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1275.306559995 meters 0.012826904350567804 Centerline is valid? [True, True] Translation: X:-403.50, Y:-248.07, Z:-2.82 [[-6.82773324e-01 -7.30581827e-01 8.41319648e-03 -4.03502818e+02] [ 7.30526355e-01 -6.82825156e-01 -9.00285039e-03 -2.48069033e+02] [ 1.23220611e-02 -8.44331172e-07 9.99924081e-01 -2.81784014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1275.336559995 meters 0.012869764124798093 Centerline is valid? [True, True] Translation: X:-403.52, Y:-248.05, Z:-2.82 [[-6.85240085e-01 -7.28273071e-01 8.02252638e-03 -4.03519231e+02] [ 7.28222535e-01 -6.85287044e-01 -8.57945936e-03 -2.48047730e+02] [ 1.17459226e-02 -3.68049635e-05 9.99931014e-01 -2.81698766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1275.366559995 meters 0.012983880146762107 Centerline is valid? [True, True] Translation: X:-403.54, Y:-248.03, Z:-2.82 [[-6.87807551e-01 -7.25858195e-01 7.11712321e-03 -4.03537018e+02] [ 7.25818338e-01 -6.87844369e-01 -7.60686580e-03 -2.48025591e+02] [ 1.04169790e-02 -6.63211951e-05 9.99945740e-01 -2.81511512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1275.396559995 meters 0.01374781617930658 Centerline is valid? [True, True] Translation: X:-403.55, Y:-248.00, Z:-2.81 [[-6.92129730e-01 -7.21752580e-01 5.44529073e-03 -4.03552363e+02] [ 7.21729149e-01 -6.92151143e-01 -5.81649855e-03 -2.48002962e+02] [ 7.96703704e-03 -9.57465294e-05 9.99968258e-01 -2.81334562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1275.426559995 meters 0.01374781617930658 Centerline is valid? [True, True] Translation: X:-403.57, Y:-247.98, Z:-2.81 [[-6.92353182e-01 -7.21538219e-01 5.44709172e-03 -4.03570728e+02] [ 7.21514794e-01 -6.92374602e-01 -5.81481198e-03 -2.47983499e+02] [ 7.96703704e-03 -9.57463116e-05 9.99968258e-01 -2.81334618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1275.4565599950001 meters 0.01394366116842216 Centerline is valid? [True, True] Translation: X:-403.59, Y:-247.96, Z:-2.81 [[-6.94242316e-01 -7.19724471e-01 4.92876037e-03 -4.03589488e+02] [ 7.19705268e-01 -6.94259804e-01 -5.25853707e-03 -2.47962533e+02] [ 7.20653802e-03 -1.03444152e-04 9.99974027e-01 -2.81276591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1275.486559995 meters 0.014252928134244232 Centerline is valid? [True, True] Translation: X:-403.61, Y:-247.94, Z:-2.81 [[-6.95450257e-01 -7.18559109e-01 4.66348913e-03 -4.03606780e+02] [ 7.18541907e-01 -6.95465884e-01 -4.97309252e-03 -2.47942525e+02] [ 6.81675852e-03 -1.07626099e-04 9.99976760e-01 -2.81271092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1275.516559995 meters 0.014376194862713043 Centerline is valid? [True, True] Translation: X:-403.63, Y:-247.92, Z:-2.81 [[-6.96317929e-01 -7.17718364e-01 4.65751288e-03 -4.03625380e+02] [ 7.17701209e-01 -6.96333496e-01 -4.96360834e-03 -2.47922055e+02] [ 6.80565508e-03 -1.13546856e-04 9.99976835e-01 -2.81241187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1275.546559995 meters 0.014562631360776125 Centerline is valid? [True, True] Translation: X:-403.64, Y:-247.90, Z:-2.81 [[-6.96640113e-01 -7.17403041e-01 5.04284332e-03 -4.03644075e+02] [ 7.17382946e-01 -6.96658354e-01 -5.37091850e-03 -2.47902474e+02] [ 7.36625219e-03 -1.23947476e-04 9.99972861e-01 -2.81299720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1275.576559995 meters 0.014691699832234978 Centerline is valid? [True, True] Translation: X:-403.66, Y:-247.88, Z:-2.81 [[-6.96531038e-01 -7.17504661e-01 5.61905906e-03 -4.03662584e+02] [ 7.17479747e-01 -6.96553690e-01 -5.98072180e-03 -2.47883880e+02] [ 8.20517209e-03 -1.34197294e-04 9.99966328e-01 -2.81407652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1275.606559995 meters 0.014183067591083027 Centerline is valid? [True, True] Translation: X:-403.68, Y:-247.87, Z:-2.82 [[-6.95090515e-01 -7.18889903e-01 6.81782488e-03 -4.03683758e+02] [ 7.18853332e-01 -6.95123937e-01 -7.25260463e-03 -2.47865576e+02] [ 9.95305751e-03 -1.40200557e-04 9.99950457e-01 -2.81558831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1275.636559995 meters 0.013807619121443316 Centerline is valid? [True, True] Translation: X:-403.70, Y:-247.85, Z:-2.82 [[-6.94071962e-01 -7.19865815e-01 7.57099471e-03 -4.03703918e+02] [ 7.19820824e-01 -6.94113240e-01 -8.04929054e-03 -2.47846516e+02] [ 1.10495368e-02 -1.37027224e-04 9.99938943e-01 -2.81582304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1275.666559995 meters 0.013479499699385564 Centerline is valid? [True, True] Translation: X:-403.72, Y:-247.83, Z:-2.82 [[-6.92011106e-01 -7.21837085e-01 8.47655958e-03 -4.03724925e+02] [ 7.21780899e-01 -6.92063010e-01 -9.00685519e-03 -2.47829495e+02] [ 1.23677954e-02 -1.14625027e-04 9.99923510e-01 -2.81694831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1275.6965599950001 meters 0.013323425062492587 Centerline is valid? [True, True] Translation: X:-403.74, Y:-247.81, Z:-2.82 [[-6.91367246e-01 -7.22450648e-01 8.74025449e-03 -4.03744593e+02] [ 7.22391036e-01 -6.91422483e-01 -9.28124048e-03 -2.47810904e+02] [ 1.27484467e-02 -1.02864180e-04 9.99918730e-01 -2.81686562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1275.7265599950001 meters 0.013282951069600216 Centerline is valid? [True, True] Translation: X:-403.76, Y:-247.79, Z:-2.82 [[-6.90767186e-01 -7.23023668e-01 8.80171826e-03 -4.03764031e+02] [ 7.22963335e-01 -6.90823254e-01 -9.34067815e-03 -2.47791756e+02] [ 1.28339630e-02 -8.89143813e-05 9.99917638e-01 -2.81661307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1275.756559995 meters 0.013426137804823754 Centerline is valid? [True, True] Translation: X:-403.78, Y:-247.77, Z:-2.82 [[-6.90333248e-01 -7.23440513e-01 8.59257054e-03 -4.03782508e+02] [ 7.23383100e-01 -6.90386717e-01 -9.11433505e-03 -2.47773088e+02] [ 1.25258758e-02 -7.62081984e-05 9.99921545e-01 -2.81722081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1275.786559995 meters 0.013147655646190921 Centerline is valid? [True, True] Translation: X:-403.80, Y:-247.75, Z:-2.82 [[-6.89897407e-01 -7.23858145e-01 8.42338247e-03 -4.03802419e+02] [ 7.23803070e-01 -6.89948825e-01 -8.92939340e-03 -2.47753973e+02] [ 1.22753170e-02 -6.34952612e-05 9.99924654e-01 -2.81619032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1275.816559995 meters 0.012892173719593917 Centerline is valid? [True, True] Translation: X:-403.82, Y:-247.73, Z:-2.82 [[-6.89473842e-01 -7.24267676e-01 7.88388594e-03 -4.03823060e+02] [ 7.24219510e-01 -6.89518913e-01 -8.35280384e-03 -2.47734331e+02] [ 1.14857543e-02 -4.93757314e-05 9.99934036e-01 -2.81503553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1275.846559995 meters 0.01294265842874569 Centerline is valid? [True, True] Translation: X:-403.84, Y:-247.72, Z:-2.81 [[-6.88489754e-01 -7.25208247e-01 7.40653756e-03 -4.03842684e+02] [ 7.25165848e-01 -6.88529591e-01 -7.84187739e-03 -2.47716184e+02] [ 1.07866144e-02 -2.80841441e-05 9.99941823e-01 -2.81481361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1275.876559995 meters 0.012855726631145259 Centerline is valid? [True, True] Translation: X:-403.86, Y:-247.70, Z:-2.81 [[-6.87822789e-01 -7.25840803e-01 7.41208859e-03 -4.03861675e+02] [ 7.25798432e-01 -6.87862725e-01 -7.84276503e-03 -2.47698077e+02] [ 1.07910983e-02 -1.47502413e-05 9.99941775e-01 -2.81430490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1275.906559995 meters 0.012855638497173735 Centerline is valid? [True, True] Translation: X:-403.88, Y:-247.68, Z:-2.81 [[-6.87195248e-01 -7.26436231e-01 7.28647503e-03 -4.03881842e+02] [ 7.26395366e-01 -6.87233877e-01 -7.70524313e-03 -2.47679825e+02] [ 1.06048803e-02 -2.14477610e-06 9.99943767e-01 -2.81452603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1275.9365599950002 meters 0.01267902333859831 Centerline is valid? [True, True] Translation: X:-403.90, Y:-247.66, Z:-2.81 [[-6.86741580e-01 -7.26863942e-01 7.40358594e-03 -4.03901687e+02] [ 7.26821830e-01 -6.86781487e-01 -7.82418087e-03 -2.47661373e+02] [ 1.07717607e-02 7.89754818e-06 9.99941983e-01 -2.81376297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1275.9665599950001 meters 0.012892333231675051 Centerline is valid? [True, True] Translation: X:-403.92, Y:-247.64, Z:-2.81 [[-6.85305501e-01 -7.28216068e-01 7.59794075e-03 -4.03922066e+02] [ 7.28171857e-01 -6.85347618e-01 -8.02431024e-03 -2.47644025e+02] [ 1.10506622e-02 3.35026740e-05 9.99938939e-01 -2.81460762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1275.996559995 meters 0.012788914458182749 Centerline is valid? [True, True] Translation: X:-403.94, Y:-247.63, Z:-2.81 [[-6.84752518e-01 -7.28739795e-01 7.23198421e-03 -4.03941708e+02] [ 7.28699819e-01 -6.84790705e-01 -7.63313250e-03 -2.47625105e+02] [ 1.05149630e-02 4.31388895e-05 9.99944716e-01 -2.81345868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1276.026559995 meters 0.012808540572254057 Centerline is valid? [True, True] Translation: X:-403.96, Y:-247.61, Z:-2.81 [[-6.84611401e-01 -7.28871010e-01 7.36757114e-03 -4.03961356e+02] [ 7.28829580e-01 -6.84651041e-01 -7.77139095e-03 -2.47606322e+02] [ 1.07085568e-02 4.93209346e-05 9.99942661e-01 -2.81325043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1276.056559995 meters 0.012965499508366386 Centerline is valid? [True, True] Translation: X:-403.98, Y:-247.59, Z:-2.81 [[-6.84294605e-01 -7.29167947e-01 7.41609881e-03 -4.03980290e+02] [ 7.29126043e-01 -6.84334787e-01 -7.81746944e-03 -2.47588577e+02] [ 1.07753425e-02 5.78186181e-05 9.99941943e-01 -2.81366066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1276.086559995 meters 0.013131256753290459 Centerline is valid? [True, True] Translation: X:-404.00, Y:-247.57, Z:-2.81 [[-6.83707675e-01 -7.29711797e-01 8.03168005e-03 -4.04000445e+02] [ 7.29662740e-01 -6.83754845e-01 -8.46160703e-03 -2.47569326e+02] [ 1.16662346e-02 7.51519993e-05 9.99931945e-01 -2.81316612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1276.116559995 meters 0.013222643779812275 Centerline is valid? [True, True] Translation: X:-404.02, Y:-247.55, Z:-2.81 [[-6.83678291e-01 -7.29737315e-01 8.21248733e-03 -4.04020336e+02] [ 7.29686087e-01 -6.83727610e-01 -8.64696066e-03 -2.47550960e+02] [ 1.19251142e-02 8.07984543e-05 9.99928890e-01 -2.81421358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1276.146559995 meters 0.013495661120338702 Centerline is valid? [True, True] Translation: X:-404.04, Y:-247.53, Z:-2.82 [[-6.83603615e-01 -7.29805178e-01 8.39642270e-03 -4.04039915e+02] [ 7.29751702e-01 -6.83655172e-01 -8.83507073e-03 -2.47533071e+02] [ 1.21881382e-02 8.76174646e-05 9.99925718e-01 -2.81500508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1276.176559995 meters 0.013091665951058137 Centerline is valid? [True, True] Translation: X:-404.06, Y:-247.51, Z:-2.81 [[-6.83650015e-01 -7.29759964e-01 8.54707172e-03 -4.04058462e+02] [ 7.29704619e-01 -6.83703435e-01 -8.98795579e-03 -2.47513131e+02] [ 1.24027126e-02 9.22216045e-05 9.99923079e-01 -2.81291097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1276.2065599950001 meters 0.01300646319115621 Centerline is valid? [True, True] Translation: X:-404.08, Y:-247.49, Z:-2.81 [[-6.84003608e-01 -7.29418378e-01 9.37521839e-03 -4.04078745e+02] [ 7.29351831e-01 -6.84067848e-01 -9.85327812e-03 -2.47493715e+02] [ 1.36004476e-02 9.81549167e-05 9.99907505e-01 -2.81301034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1276.236559995 meters 0.013036845975091065 Centerline is valid? [True, True] Translation: X:-404.10, Y:-247.48, Z:-2.81 [[-6.84684941e-01 -7.28774565e-01 9.70387552e-03 -4.04097883e+02] [ 7.28703290e-01 -6.84753697e-01 -1.01926471e-02 -2.47475223e+02] [ 1.40729066e-02 9.24940617e-05 9.99900968e-01 -2.81396374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1276.266559995 meters 0.013036845975091065 Centerline is valid? [True, True] Translation: X:-404.12, Y:-247.46, Z:-2.81 [[-6.84910792e-01 -7.28562270e-01 9.70703478e-03 -4.04116407e+02] [ 7.28491016e-01 -6.84979569e-01 -1.01896384e-02 -2.47455924e+02] [ 1.40729066e-02 9.24943517e-05 9.99900968e-01 -2.81396430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1276.296559995 meters 0.012966125416830336 Centerline is valid? [True, True] Translation: X:-404.14, Y:-247.44, Z:-2.81 [[-6.85720881e-01 -7.27789422e-01 1.04609322e-02 -4.04136390e+02] [ 7.27706674e-01 -6.85800663e-01 -1.09748354e-02 -2.47436399e+02] [ 1.51614834e-02 8.68164003e-05 9.99885055e-01 -2.81410362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1276.326559995 meters 0.013008692851800415 Centerline is valid? [True, True] Translation: X:-404.16, Y:-247.42, Z:-2.81 [[-6.86177503e-01 -7.27355825e-01 1.06742274e-02 -4.04155646e+02] [ 7.27269718e-01 -6.86260517e-01 -1.11919695e-02 -2.47417773e+02] [ 1.54658450e-02 8.33646740e-05 9.99880393e-01 -2.81495283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1276.356559995 meters 0.01298976866219545 Centerline is valid? [True, True] Translation: X:-404.17, Y:-247.40, Z:-2.81 [[-6.86564389e-01 -7.26992655e-01 1.05366343e-02 -4.04174673e+02] [ 7.26908816e-01 -6.86645232e-01 -1.10407893e-02 -2.47398542e+02] [ 1.52615025e-02 7.89596462e-05 9.99883534e-01 -2.81420338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1276.386559995 meters 0.012858391884212958 Centerline is valid? [True, True] Translation: X:-404.19, Y:-247.38, Z:-2.81 [[-6.86811984e-01 -7.26755498e-01 1.07584876e-02 -4.04194552e+02] [ 7.26668162e-01 -6.86896237e-01 -1.12668943e-02 -2.47378558e+02] [ 1.55782420e-02 7.96123828e-05 9.99878649e-01 -2.81325776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1276.416559995 meters 0.012966132419069503 Centerline is valid? [True, True] Translation: X:-404.21, Y:-247.36, Z:-2.81 [[-6.87007640e-01 -7.26564607e-01 1.11523257e-02 -4.04214469e+02] [ 7.26470846e-01 -6.87098148e-01 -1.16723829e-02 -2.47360344e+02] [ 1.61434826e-02 8.28232036e-05 9.99869682e-01 -2.81281634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1276.4465599950001 meters 0.012938217711090157 Centerline is valid? [True, True] Translation: X:-404.23, Y:-247.34, Z:-2.81 [[-6.87077504e-01 -7.26497804e-01 1.12002146e-02 -4.04234746e+02] [ 7.26403345e-01 -6.87168781e-01 -1.17152013e-02 -2.47341479e+02] [ 1.62075059e-02 8.66220989e-05 9.99868646e-01 -2.81285695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1276.4765599950001 meters 0.012847654436617137 Centerline is valid? [True, True] Translation: X:-404.26, Y:-247.32, Z:-2.81 [[-6.87178065e-01 -7.26401231e-01 1.12941784e-02 -4.04255364e+02] [ 7.26305277e-01 -6.87270866e-01 -1.18068355e-02 -2.47322138e+02] [ 1.63386596e-02 8.96230585e-05 9.99866511e-01 -2.81237233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1276.506559995 meters 0.01291382369065245 Centerline is valid? [True, True] Translation: X:-404.28, Y:-247.30, Z:-2.81 [[-6.87161019e-01 -7.26407391e-01 1.19178855e-02 -4.04276760e+02] [ 7.26300674e-01 -6.87264354e-01 -1.24514603e-02 -2.47304618e+02] [ 1.72355706e-02 9.98100911e-05 9.99851452e-01 -2.81353505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1276.536559995 meters 0.01283333411436283 Centerline is valid? [True, True] Translation: X:-404.30, Y:-247.29, Z:-2.81 [[-6.87535222e-01 -7.26046799e-01 1.23030367e-02 -4.04297278e+02] [ 7.25933143e-01 -6.87645284e-01 -1.28466212e-02 -2.47285313e+02] [ 1.77873733e-02 9.86775649e-05 9.99841788e-01 -2.81346363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1276.566559995 meters 0.01283330062060095 Centerline is valid? [True, True] Translation: X:-404.32, Y:-247.27, Z:-2.81 [[-6.88025203e-01 -7.25583734e-01 1.22296560e-02 -4.04317799e+02] [ 7.25471484e-01 -6.88133880e-01 -1.27628224e-02 -2.47265688e+02] [ 1.76761370e-02 9.11232657e-05 9.99843761e-01 -2.81387808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1276.596559995 meters 0.012894933574427482 Centerline is valid? [True, True] Translation: X:-404.34, Y:-247.25, Z:-2.81 [[-6.88497400e-01 -7.25133730e-01 1.23452042e-02 -4.04337083e+02] [ 7.25019412e-01 -6.88608064e-01 -1.28757734e-02 -2.47246911e+02] [ 1.78376647e-02 8.55762041e-05 9.99840893e-01 -2.81397060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1276.626559995 meters 0.012647615398203374 Centerline is valid? [True, True] Translation: X:-404.36, Y:-247.23, Z:-2.81 [[-6.89044082e-01 -7.24619989e-01 1.20051548e-02 -4.04356680e+02] [ 7.24511927e-01 -6.89148653e-01 -1.25140637e-02 -2.47227372e+02] [ 1.73412770e-02 7.51363704e-05 9.99849626e-01 -2.81287936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1276.656559995 meters 0.012630875020371088 Centerline is valid? [True, True] Translation: X:-404.38, Y:-247.21, Z:-2.81 [[-6.89749841e-01 -7.23949527e-01 1.19264365e-02 -4.04376755e+02] [ 7.23842897e-01 -6.89852940e-01 -1.24250398e-02 -2.47207709e+02] [ 1.72225889e-02 6.26971153e-05 9.99851678e-01 -2.81241254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1276.6865599950002 meters 0.012412798512950586 Centerline is valid? [True, True] Translation: X:-404.40, Y:-247.19, Z:-2.81 [[-6.91074675e-01 -7.22695841e-01 1.12479022e-02 -4.04397687e+02] [ 7.22600936e-01 -6.91166203e-01 -1.17118788e-02 -2.47188234e+02] [ 1.62382960e-02 3.39618274e-05 9.99868150e-01 -2.81058243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1276.7165599950001 meters 0.012655669987352432 Centerline is valid? [True, True] Translation: X:-404.42, Y:-247.17, Z:-2.81 [[-6.91761932e-01 -7.22038327e-01 1.12287699e-02 -4.04417320e+02] [ 7.21943771e-01 -6.91853059e-01 -1.16849258e-02 -2.47168882e+02] [ 1.62056231e-02 2.33536365e-05 9.99868680e-01 -2.81222603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1276.746559995 meters 0.012580735156095903 Centerline is valid? [True, True] Translation: X:-404.44, Y:-247.15, Z:-2.81 [[-6.92713313e-01 -7.21124136e-01 1.13245845e-02 -4.04436989e+02] [ 7.21027958e-01 -6.92805875e-01 -1.17772551e-02 -2.47149373e+02] [ 1.63386016e-02 7.08062752e-06 9.99866516e-01 -2.81116878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1276.776559995 meters 0.01270568297388465 Centerline is valid? [True, True] Translation: X:-404.46, Y:-247.13, Z:-2.81 [[-6.93456922e-01 -7.20401584e-01 1.17922136e-02 -4.04455451e+02] [ 7.20297330e-01 -6.93557177e-01 -1.22555433e-02 -2.47131154e+02] [ 1.70074872e-02 -4.79135096e-06 9.99855362e-01 -2.81249345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1276.806559995 meters 0.012577492654566551 Centerline is valid? [True, True] Translation: X:-404.48, Y:-247.11, Z:-2.81 [[-6.94030596e-01 -7.19848885e-01 1.17946904e-02 -4.04476614e+02] [ 7.19744624e-01 -6.94130811e-01 -1.22512760e-02 -2.47111931e+02] [ 1.70061254e-02 -1.35954325e-05 9.99855386e-01 -2.81099935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1276.836559995 meters 0.012406008485189067 Centerline is valid? [True, True] Translation: X:-404.50, Y:-247.09, Z:-2.81 [[-6.94277591e-01 -7.19609808e-01 1.18470072e-02 -4.04496905e+02] [ 7.19504705e-01 -6.94378661e-01 -1.22986070e-02 -2.47092976e+02] [ 1.70765072e-02 -1.46698520e-05 9.99854186e-01 -2.81026712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1276.866559995 meters 0.01291357708323886 Centerline is valid? [True, True] Translation: X:-404.52, Y:-247.07, Z:-2.81 [[-6.94362438e-01 -7.19529494e-01 1.17521576e-02 -4.04516857e+02] [ 7.19426179e-01 -6.94461884e-01 -1.21928141e-02 -2.47074896e+02] [ 1.69345149e-02 -1.14223065e-05 9.99856601e-01 -2.81296419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1276.896559995 meters 0.012381051159323284 Centerline is valid? [True, True] Translation: X:-404.54, Y:-247.06, Z:-2.81 [[-6.94231194e-01 -7.19654057e-01 1.18780242e-02 -4.04537787e+02] [ 7.19548655e-01 -6.94332801e-01 -1.23164776e-02 -2.47056097e+02] [ 1.71109049e-02 -3.66667540e-06 9.99853598e-01 -2.81049140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1276.926559995 meters 0.012461476089066418 Centerline is valid? [True, True] Translation: X:-404.56, Y:-247.04, Z:-2.81 [[-6.94019100e-01 -7.19856162e-01 1.20247773e-02 -4.04557930e+02] [ 7.19748297e-01 -6.94123264e-01 -1.24612670e-02 -2.47037763e+02] [ 1.73169975e-02 6.45566593e-06 9.99850050e-01 -2.81114322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1276.9565599950001 meters 0.012309546249846101 Centerline is valid? [True, True] Translation: X:-404.58, Y:-247.02, Z:-2.81 [[-6.93264153e-01 -7.20581338e-01 1.21387395e-02 -4.04579981e+02] [ 7.20471654e-01 -6.93370416e-01 -1.25722712e-02 -2.47020092e+02] [ 1.74759868e-02 2.97127704e-05 9.99847283e-01 -2.81027933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1276.986559995 meters 0.012225599676444987 Centerline is valid? [True, True] Translation: X:-404.60, Y:-247.00, Z:-2.81 [[-6.93071193e-01 -7.20771038e-01 1.18925817e-02 -4.04600388e+02] [ 7.20665905e-01 -6.93173218e-01 -1.23102856e-02 -2.47000594e+02] [ 1.71165164e-02 3.86737856e-05 9.99853501e-01 -2.80938664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1277.016559995 meters 0.012401759176486673 Centerline is valid? [True, True] Translation: X:-404.62, Y:-246.98, Z:-2.81 [[-6.92938411e-01 -7.20902458e-01 1.16621105e-02 -4.04620404e+02] [ 7.20801502e-01 -6.93036538e-01 -1.20644581e-02 -2.46981659e+02] [ 1.67795662e-02 4.61403835e-05 9.99859212e-01 -2.80995153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1277.046559995 meters 0.012372478422136618 Centerline is valid? [True, True] Translation: X:-404.64, Y:-246.96, Z:-2.81 [[-6.92985516e-01 -7.20863077e-01 1.12915458e-02 -4.04640063e+02] [ 7.20768545e-01 -6.93077501e-01 -1.16739828e-02 -2.46963185e+02] [ 1.62412595e-02 4.86900594e-05 9.99868101e-01 -2.80968001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1277.076559995 meters 0.012439525873140423 Centerline is valid? [True, True] Translation: X:-404.66, Y:-246.94, Z:-2.81 [[-6.93290398e-01 -7.20572838e-01 1.10999359e-02 -4.04659838e+02] [ 7.20481562e-01 -6.93379249e-01 -1.14689171e-02 -2.46944941e+02] [ 1.59606554e-02 4.60090207e-05 9.99872620e-01 -2.80955974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1277.106559995 meters 0.014725080528167785 Centerline is valid? [True, True] Translation: X:-404.68, Y:-246.93, Z:-2.81 [[-6.93305348e-01 -7.20544946e-01 1.19446690e-02 -4.04680697e+02] [ 7.20439358e-01 -6.93408233e-01 -1.23350488e-02 -2.46925630e+02] [ 1.71704889e-02 5.34543492e-05 9.99852575e-01 -2.80848045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1277.136559995 meters 0.012191021687096945 Centerline is valid? [True, True] Translation: X:-404.70, Y:-246.91, Z:-2.81 [[-6.92298555e-01 -7.21539796e-01 1.01505492e-02 -4.04701900e+02] [ 7.21463741e-01 -6.92372962e-01 -1.04763234e-02 -2.46908925e+02] [ 1.45870501e-02 7.05095826e-05 9.99893601e-01 -2.80756091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1277.166559995 meters 0.012256666277952603 Centerline is valid? [True, True] Translation: X:-404.72, Y:-246.89, Z:-2.81 [[-6.91653339e-01 -7.22162245e-01 9.86663573e-03 -4.04723181e+02] [ 7.22090530e-01 -6.91723705e-01 -1.01775194e-02 -2.46889864e+02] [ 1.41748061e-02 8.52889275e-05 9.99899529e-01 -2.80657712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1277.1965599950001 meters 0.012409197870167352 Centerline is valid? [True, True] Translation: X:-404.74, Y:-246.87, Z:-2.81 [[-6.90869903e-01 -7.22918587e-01 9.35383863e-03 -4.04744099e+02] [ 7.22854280e-01 -6.90933214e-01 -9.64279674e-03 -2.46872035e+02] [ 1.34338348e-02 9.95442433e-05 9.99909757e-01 -2.80668778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1277.2265599950001 meters 0.01266988092192618 Centerline is valid? [True, True] Translation: X:-404.76, Y:-246.86, Z:-2.81 [[-6.90011042e-01 -7.23744758e-01 8.84799015e-03 -4.04764006e+02] [ 7.23687353e-01 -6.90067759e-01 -9.11610598e-03 -2.46855505e+02] [ 1.27034467e-02 1.12964791e-04 9.99919302e-01 -2.80675879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1277.256559995 meters 0.013042027142239333 Centerline is valid? [True, True] Translation: X:-404.79, Y:-246.84, Z:-2.81 [[-6.88414572e-01 -7.25258115e-01 9.27600450e-03 -4.04786342e+02] [ 7.25195228e-01 -6.88477047e-01 -9.55180289e-03 -2.46838505e+02] [ 1.33138387e-02 1.51313911e-04 9.99911356e-01 -2.80645970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1277.286559995 meters 0.013219949869212438 Centerline is valid? [True, True] Translation: X:-404.81, Y:-246.82, Z:-2.81 [[-6.87966865e-01 -7.25679809e-01 9.50826609e-03 -4.04806485e+02] [ 7.25613858e-01 -6.88032547e-01 -9.78486985e-03 -2.46820597e+02] [ 1.36426790e-02 1.67663400e-04 9.99906920e-01 -2.80710231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1277.316559995 meters 0.013342872968729024 Centerline is valid? [True, True] Translation: X:-404.83, Y:-246.80, Z:-2.81 [[-6.87524939e-01 -7.26090561e-01 1.00972935e-02 -4.04826784e+02] [ 7.26016290e-01 -6.87599055e-01 -1.03868062e-02 -2.46801885e+02] [ 1.44846514e-02 1.89611307e-04 9.99895074e-01 -2.80776880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1277.346559995 meters 0.013342872968729024 Centerline is valid? [True, True] Translation: X:-404.85, Y:-246.78, Z:-2.81 [[-6.87751205e-01 -7.25876201e-01 1.01005322e-02 -4.04845496e+02] [ 7.25801953e-01 -6.87825345e-01 -1.03836567e-02 -2.46782789e+02] [ 1.44846514e-02 1.89613581e-04 9.99895074e-01 -2.80776936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1277.376559995 meters 0.013575518761425688 Centerline is valid? [True, True] Translation: X:-404.87, Y:-246.76, Z:-2.81 [[-6.87358223e-01 -7.26242856e-01 1.04874662e-02 -4.04866021e+02] [ 7.26162942e-01 -6.87438194e-01 -1.07754931e-02 -2.46763561e+02] [ 1.50351097e-02 2.08985534e-04 9.99886945e-01 -2.80865621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1277.406559995 meters 0.01429061114491532 Centerline is valid? [True, True] Translation: X:-404.89, Y:-246.75, Z:-2.81 [[-6.86252236e-01 -7.27283854e-01 1.07733158e-02 -4.04886739e+02] [ 7.27199752e-01 -6.86336752e-01 -1.10627556e-02 -2.46746431e+02] [ 1.54398861e-02 2.42511798e-04 9.99880769e-01 -2.80906046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1277.4365599950002 meters 0.014046438390643309 Centerline is valid? [True, True] Translation: X:-404.91, Y:-246.73, Z:-2.81 [[-6.85659450e-01 -7.27845459e-01 1.05880854e-02 -4.04906832e+02] [ 7.27764382e-01 -6.85741149e-01 -1.08664694e-02 -2.46726746e+02] [ 1.51697962e-02 2.54934002e-04 9.99884900e-01 -2.80810530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1277.4665599950001 meters 0.013868954894183938 Centerline is valid? [True, True] Translation: X:-404.93, Y:-246.71, Z:-2.81 [[-6.85225547e-01 -7.28258055e-01 1.03031944e-02 -4.04927013e+02] [ 7.28181419e-01 -6.85302953e-01 -1.05680490e-02 -2.46707257e+02] [ 1.47570764e-02 2.61097535e-04 9.99891075e-01 -2.80732841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1277.496559995 meters 0.0141872841473188 Centerline is valid? [True, True] Translation: X:-404.95, Y:-246.69, Z:-2.81 [[-6.84829817e-01 -7.28635772e-01 9.90125624e-03 -4.04947294e+02] [ 7.28565098e-01 -6.84901339e-01 -1.01515542e-02 -2.46689002e+02] [ 1.41781692e-02 2.61622723e-04 9.99899451e-01 -2.80740069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1277.526559995 meters 0.014310332898764924 Centerline is valid? [True, True] Translation: X:-404.97, Y:-246.67, Z:-2.81 [[-6.84526936e-01 -7.28927635e-01 9.34754697e-03 -4.04967546e+02] [ 7.28864745e-01 -6.84590708e-01 -9.57842637e-03 -2.46669781e+02] [ 1.33812235e-02 2.56406577e-04 9.99910435e-01 -2.80674748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1277.556559995 meters 0.014367492570126527 Centerline is valid? [True, True] Translation: X:-404.99, Y:-246.65, Z:-2.81 [[-6.84404775e-01 -7.29053052e-01 8.47068614e-03 -4.04987309e+02] [ 7.29001477e-01 -6.84457151e-01 -8.67500001e-03 -2.46650522e+02] [ 1.21223569e-02 2.37931281e-04 9.99926493e-01 -2.80599938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1277.586559995 meters 0.014250954730147715 Centerline is valid? [True, True] Translation: X:-405.01, Y:-246.63, Z:-2.81 [[-6.84435580e-01 -7.29034979e-01 7.47900298e-03 -4.05006853e+02] [ 7.28994820e-01 -6.84476408e-01 -7.65501432e-03 -2.46630477e+02] [ 1.06999743e-02 2.12790261e-04 9.99942731e-01 -2.80500514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1277.616559995 meters 0.01477203225826271 Centerline is valid? [True, True] Translation: X:-405.03, Y:-246.61, Z:-2.81 [[-6.84652550e-01 -7.28833871e-01 7.21625069e-03 -4.05026440e+02] [ 7.28796519e-01 -6.84690548e-01 -7.38162183e-03 -2.46612117e+02] [ 1.03208747e-02 2.05332166e-04 9.99946717e-01 -2.80527746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1277.646559995 meters 0.015092286445879087 Centerline is valid? [True, True] Translation: X:-405.05, Y:-246.59, Z:-2.81 [[-6.84467379e-01 -7.29013405e-01 6.62295561e-03 -4.05045474e+02] [ 7.28981990e-01 -6.84499393e-01 -6.77051422e-03 -2.46592256e+02] [ 9.46920472e-03 1.93819243e-04 9.99955148e-01 -2.80516860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1277.676559995 meters 0.014856406028180147 Centerline is valid? [True, True] Translation: X:-405.07, Y:-246.57, Z:-2.81 [[-6.84428364e-01 -7.29047876e-01 6.85632667e-03 -4.05065122e+02] [ 7.29014249e-01 -6.84462674e-01 -7.00513845e-03 -2.46571648e+02] [ 9.79998099e-03 2.03844394e-04 9.99951958e-01 -2.80505575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1277.7065599950001 meters 0.01570849985002329 Centerline is valid? [True, True] Translation: X:-405.09, Y:-246.55, Z:-2.81 [[-6.84205060e-01 -7.29259682e-01 6.61459812e-03 -4.05085436e+02] [ 7.29228432e-01 -6.84237003e-01 -6.75414793e-03 -2.46553336e+02] [ 9.45148056e-03 2.02330821e-04 9.99955314e-01 -2.80591544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1277.736559995 meters 0.015310926517576073 Centerline is valid? [True, True] Translation: X:-405.10, Y:-246.53, Z:-2.81 [[-6.83808369e-01 -7.29635189e-01 6.21333412e-03 -4.05104738e+02] [ 7.29607663e-01 -6.83836568e-01 -6.34086174e-03 -2.46532821e+02] [ 8.87542094e-03 1.97361862e-04 9.99960593e-01 -2.80542531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1277.766559995 meters 0.015746610051502633 Centerline is valid? [True, True] Translation: X:-405.12, Y:-246.51, Z:-2.81 [[-6.83369827e-01 -7.30048308e-01 5.92858197e-03 -4.05124283e+02] [ 7.30023295e-01 -6.83395515e-01 -6.04647034e-03 -2.46514025e+02] [ 8.46578176e-03 1.96027554e-04 9.99964146e-01 -2.80528602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1277.796559995 meters 0.015829344134202547 Centerline is valid? [True, True] Translation: X:-405.14, Y:-246.49, Z:-2.80 [[-6.82887684e-01 -7.30499610e-01 5.89330805e-03 -4.05144356e+02] [ 7.30474938e-01 -6.82913083e-01 -6.00712210e-03 -2.46493902e+02] [ 8.41281752e-03 2.02724135e-04 9.99964591e-01 -2.80492965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1277.826559995 meters 0.016704702320525906 Centerline is valid? [True, True] Translation: X:-405.16, Y:-246.48, Z:-2.81 [[-6.81906654e-01 -7.31419359e-01 5.38852771e-03 -4.05164371e+02] [ 7.31398787e-01 -6.81927915e-01 -5.48934401e-03 -2.46475669e+02] [ 7.68959995e-03 1.97942418e-04 9.99970415e-01 -2.80561418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1277.856559995 meters 0.01673146845972387 Centerline is valid? [True, True] Translation: X:-405.18, Y:-246.46, Z:-2.81 [[-6.81924784e-01 -7.31399474e-01 5.77919430e-03 -4.05183399e+02] [ 7.31375840e-01 -6.81949238e-01 -5.88362580e-03 -2.46455623e+02] [ 8.24439797e-03 2.14572839e-04 9.99965992e-01 -2.80577677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1277.886559995 meters 0.01679350631927617 Centerline is valid? [True, True] Translation: X:-405.20, Y:-246.44, Z:-2.81 [[-6.82318500e-01 -7.31030245e-01 6.02047641e-03 -4.05202350e+02] [ 7.31004615e-01 -6.82345025e-01 -6.12544699e-03 -2.46435591e+02] [ 8.58592914e-03 2.21490234e-04 9.99963116e-01 -2.80642703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1277.916559995 meters 0.016631585120252992 Centerline is valid? [True, True] Translation: X:-405.22, Y:-246.42, Z:-2.81 [[-6.82970137e-01 -7.30417893e-01 6.44155448e-03 -4.05220483e+02] [ 7.30388563e-01 -6.83000474e-01 -6.54978573e-03 -2.46415339e+02] [ 9.18366546e-03 2.31529661e-04 9.99957803e-01 -2.80690893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1277.9465599950001 meters 0.016709821697139523 Centerline is valid? [True, True] Translation: X:-405.24, Y:-246.40, Z:-2.81 [[-6.84142743e-01 -7.29320848e-01 6.30946777e-03 -4.05238300e+02] [ 7.29292693e-01 -6.84171803e-01 -6.41192701e-03 -2.46395026e+02] [ 8.99311198e-03 2.14775409e-04 9.99959538e-01 -2.80744822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1277.9765599950001 meters 0.016543548225407184 Centerline is valid? [True, True] Translation: X:-405.26, Y:-246.38, Z:-2.81 [[-6.84741674e-01 -7.28756960e-01 6.49103278e-03 -4.05256560e+02] [ 7.28727173e-01 -6.84772405e-01 -6.59241152e-03 -2.46375319e+02] [ 9.24914591e-03 2.16093072e-04 9.99957203e-01 -2.80776171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1278.006559995 meters 0.016317233893369806 Centerline is valid? [True, True] Translation: X:-405.27, Y:-246.36, Z:-2.81 [[-6.85416175e-01 -7.28122395e-01 6.51501800e-03 -4.05274867e+02] [ 7.28092397e-01 -6.85447105e-01 -6.61273378e-03 -2.46355288e+02] [ 9.28057978e-03 2.11060379e-04 9.99956912e-01 -2.80825260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1278.036559995 meters 0.016335527208014212 Centerline is valid? [True, True] Translation: X:-405.29, Y:-246.34, Z:-2.81 [[-6.86001580e-01 -7.27568137e-01 6.81460471e-03 -4.05293868e+02] [ 7.27535330e-01 -6.86035393e-01 -6.91261868e-03 -2.46335514e+02] [ 9.70446111e-03 2.15798345e-04 9.99952888e-01 -2.80890237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1278.066559995 meters 0.016224955741807885 Centerline is valid? [True, True] Translation: X:-405.31, Y:-246.32, Z:-2.81 [[-6.87301637e-01 -7.26342985e-01 6.50600829e-03 -4.05311844e+02] [ 7.26313056e-01 -6.87332402e-01 -6.59649019e-03 -2.46316134e+02] [ 9.26310469e-03 1.91620258e-04 9.99957078e-01 -2.80943573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1278.096559995 meters 0.01603924184882816 Centerline is valid? [True, True] Translation: X:-405.33, Y:-246.30, Z:-2.81 [[-6.87989929e-01 -7.25694777e-01 6.07846714e-03 -4.05330146e+02] [ 7.25668659e-01 -6.88016759e-01 -6.15935074e-03 -2.46296134e+02] [ 8.65189593e-03 1.73381815e-04 9.99962557e-01 -2.80927596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1278.126559995 meters 0.015022765493466452 Centerline is valid? [True, True] Translation: X:-405.35, Y:-246.27, Z:-2.81 [[-6.88640395e-01 -7.25077874e-01 6.04019575e-03 -4.05347335e+02] [ 7.25052092e-01 -6.88666864e-01 -6.11679588e-03 -2.46274466e+02] [ 8.59483601e-03 1.67183841e-04 9.99963050e-01 -2.80851906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1278.156559995 meters 0.014694637788760874 Centerline is valid? [True, True] Translation: X:-405.37, Y:-246.25, Z:-2.81 [[-6.89230817e-01 -7.24515800e-01 6.14302077e-03 -4.05365101e+02] [ 7.24489144e-01 -6.89258172e-01 -6.21705596e-03 -2.46253739e+02] [ 8.73848254e-03 1.65565303e-04 9.99961805e-01 -2.80827241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1278.1865599950002 meters 0.0146443865673757 Centerline is valid? [True, True] Translation: X:-405.38, Y:-246.23, Z:-2.81 [[-6.89833815e-01 -7.23943144e-01 5.96930563e-03 -4.05383494e+02] [ 7.23917984e-01 -6.89859624e-01 -6.03751144e-03 -2.46233423e+02] [ 8.48879794e-03 1.56408148e-04 9.99963957e-01 -2.80826213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1278.2165599950001 meters 0.014620607291064324 Centerline is valid? [True, True] Translation: X:-405.40, Y:-246.21, Z:-2.81 [[-6.90209748e-01 -7.23584117e-01 6.04400683e-03 -4.05402057e+02] [ 7.23558343e-01 -6.90236193e-01 -6.10929627e-03 -2.46213309e+02] [ 8.59238201e-03 1.56495726e-04 9.99963073e-01 -2.80816997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1278.246559995 meters 0.014924674750691962 Centerline is valid? [True, True] Translation: X:-405.42, Y:-246.19, Z:-2.81 [[-6.90268818e-01 -7.23529395e-01 5.84590570e-03 -4.05420020e+02] [ 7.23505312e-01 -6.90293555e-01 -5.90523471e-03 -2.46194333e+02] [ 8.30800193e-03 1.53344445e-04 9.99965476e-01 -2.80824343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1278.276559995 meters 0.015023970746514119 Centerline is valid? [True, True] Translation: X:-405.44, Y:-246.18, Z:-2.81 [[-6.90090532e-01 -7.23700745e-01 5.68247913e-03 -4.05438690e+02] [ 7.23678024e-01 -6.90113910e-01 -5.73663555e-03 -2.46175173e+02] [ 8.07316531e-03 1.53487389e-04 9.99967400e-01 -2.80805733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1278.306559995 meters 0.014764449686216676 Centerline is valid? [True, True] Translation: X:-405.46, Y:-246.16, Z:-2.81 [[-6.89935569e-01 -7.23849168e-01 5.59404033e-03 -4.05457529e+02] [ 7.23827182e-01 -6.89958230e-01 -5.64383396e-03 -2.46155013e+02] [ 7.94493868e-03 1.55236649e-04 9.99968427e-01 -2.80780146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1278.336559995 meters 0.015748303006894927 Centerline is valid? [True, True] Translation: X:-405.48, Y:-246.14, Z:-2.81 [[-6.89914860e-01 -7.23867812e-01 5.73389404e-03 -4.05476390e+02] [ 7.23844740e-01 -6.89938668e-01 -5.78161850e-03 -2.46137475e+02] [ 8.14116275e-03 1.61624530e-04 9.99966847e-01 -2.80849506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1278.366559995 meters 0.014795051633713661 Centerline is valid? [True, True] Translation: X:-405.49, Y:-246.12, Z:-2.81 [[-6.90161430e-01 -7.23629284e-01 6.15299621e-03 -4.05493721e+02] [ 7.23602741e-01 -6.90188836e-01 -6.20031740e-03 -2.46115949e+02] [ 8.73346054e-03 1.73104998e-04 9.99961848e-01 -2.80808468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1278.396559995 meters 0.014798899381929801 Centerline is valid? [True, True] Translation: X:-405.51, Y:-246.10, Z:-2.81 [[-6.90783036e-01 -7.23032861e-01 6.50231379e-03 -4.05511220e+02] [ 7.23003231e-01 -6.90813615e-01 -6.54801907e-03 -2.46096624e+02] [ 9.22631985e-03 1.77933393e-04 9.99957421e-01 -2.80877367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1278.426559995 meters 0.014237013219114142 Centerline is valid? [True, True] Translation: X:-405.53, Y:-246.07, Z:-2.81 [[-6.92777104e-01 -7.21116915e-01 7.09083799e-03 -4.05528085e+02] [ 7.21081618e-01 -6.92813371e-01 -7.13675491e-03 -2.46073391e+02] [ 1.00590620e-02 1.68892535e-04 9.99949392e-01 -2.80917720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1278.4565599950001 meters 0.013585978074578307 Centerline is valid? [True, True] Translation: X:-405.55, Y:-246.05, Z:-2.81 [[-6.94199518e-01 -7.19751209e-01 6.72508296e-03 -4.05545756e+02] [ 7.19719432e-01 -6.94232077e-01 -6.76482191e-03 -2.46051440e+02] [ 9.53775706e-03 1.44036783e-04 9.99954504e-01 -2.80867168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1278.486559995 meters 0.01319043915203415 Centerline is valid? [True, True] Translation: X:-405.56, Y:-246.03, Z:-2.81 [[-6.95606188e-01 -7.18395187e-01 6.35504849e-03 -4.05563978e+02] [ 7.18366786e-01 -6.95635207e-01 -6.38900401e-03 -2.46029753e+02] [ 9.01062520e-03 1.21025030e-04 9.99959396e-01 -2.80830642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1278.516559995 meters 0.012828470545874842 Centerline is valid? [True, True] Translation: X:-405.58, Y:-246.01, Z:-2.81 [[-6.97266894e-01 -7.16783170e-01 6.38475253e-03 -4.05582245e+02] [ 7.16754467e-01 -6.97296118e-01 -6.41546365e-03 -2.46007602e+02] [ 9.05055952e-03 1.03009478e-04 9.99959038e-01 -2.80807278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1278.546559995 meters 0.012806090234088513 Centerline is valid? [True, True] Translation: X:-405.60, Y:-245.99, Z:-2.81 [[-6.98696121e-01 -7.15390342e-01 6.35532370e-03 -4.05599863e+02] [ 7.15361878e-01 -6.98725019e-01 -6.38216601e-03 -2.45987039e+02] [ 9.00636359e-03 8.71616702e-05 9.99959438e-01 -2.80839882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1278.576559995 meters 0.012213964911288391 Centerline is valid? [True, True] Translation: X:-405.62, Y:-245.96, Z:-2.81 [[-7.01638321e-01 -7.12503402e-01 6.52452861e-03 -4.05616023e+02] [ 7.12473311e-01 -7.01668654e-01 -6.54841705e-03 -2.45963079e+02] [ 9.24382662e-03 5.39321556e-05 9.99957274e-01 -2.80821522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1278.606559995 meters 0.012153329801363294 Centerline is valid? [True, True] Translation: X:-405.63, Y:-245.94, Z:-2.81 [[-7.02974987e-01 -7.11183733e-01 6.62315705e-03 -4.05634292e+02] [ 7.11152702e-01 -7.03006185e-01 -6.64366100e-03 -2.45941196e+02] [ 9.38098400e-03 3.97485246e-05 9.99955997e-01 -2.80793606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1278.636559995 meters 0.012108607705608244 Centerline is valid? [True, True] Translation: X:-405.65, Y:-245.92, Z:-2.81 [[-7.04447909e-01 -7.09726182e-01 6.47224199e-03 -4.05652898e+02] [ 7.09696521e-01 -7.04477641e-01 -6.48863414e-03 -2.45919449e+02] [ 9.16470330e-03 2.24228718e-05 9.99958003e-01 -2.80789174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1278.666559995 meters 0.012087697351271557 Centerline is valid? [True, True] Translation: X:-405.67, Y:-245.90, Z:-2.81 [[-7.05449883e-01 -7.08734751e-01 5.95948816e-03 -4.05671164e+02] [ 7.08709596e-01 -7.05475055e-01 -5.97123699e-03 -2.45898094e+02] [ 8.43629340e-03 1.11380145e-05 9.99964414e-01 -2.80770619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1278.6965599950001 meters 0.012070466943374953 Centerline is valid? [True, True] Translation: X:-405.69, Y:-245.88, Z:-2.81 [[-7.06816143e-01 -7.07374544e-01 5.67394560e-03 -4.05688053e+02] [ 7.07351729e-01 -7.06838917e-01 -5.68137881e-03 -2.45878440e+02] [ 8.02942831e-03 -2.21502966e-06 9.99967764e-01 -2.80781332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1278.7265599950001 meters 0.012050571146021575 Centerline is valid? [True, True] Translation: X:-405.71, Y:-245.86, Z:-2.81 [[-7.07994401e-01 -7.06196511e-01 5.51512751e-03 -4.05705925e+02] [ 7.06174945e-01 -7.08015881e-01 -5.51892683e-03 -2.45858198e+02] [ 7.80224473e-03 -1.27244306e-05 9.99969562e-01 -2.80768016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1278.756559995 meters 0.012376538866299613 Centerline is valid? [True, True] Translation: X:-405.72, Y:-245.84, Z:-2.81 [[-7.10121034e-01 -7.04058549e-01 5.44767391e-03 -4.05721280e+02] [ 7.04037464e-01 -7.10141929e-01 -5.44881544e-03 -2.45836837e+02] [ 7.70490675e-03 -3.39519273e-05 9.99970316e-01 -2.80806524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1278.786559995 meters 0.012501059159124313 Centerline is valid? [True, True] Translation: X:-405.74, Y:-245.82, Z:-2.81 [[-7.11626606e-01 -7.02539007e-01 5.14958086e-03 -4.05738388e+02] [ 7.02520150e-01 -7.11645236e-01 -5.14755448e-03 -2.45816005e+02] [ 7.28103249e-03 -4.54524053e-05 9.99973492e-01 -2.80753132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1278.816559995 meters 0.012536779615344369 Centerline is valid? [True, True] Translation: X:-406.16, Y:-246.23, Z:-1.78 [[-7.50299555e-01 6.61077354e-01 5.22586347e-03 -4.06161815e+02] [ 6.61061816e-01 7.50317752e-01 -4.53272118e-03 -2.46231445e+02] [-6.91753746e-03 5.37201158e-05 -9.99976072e-01 -1.78122400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1278.846559995 meters 0.013228779366730248 Centerline is valid? [True, True] Translation: X:-405.77, Y:-245.79, Z:-2.81 [[-7.16723368e-01 -6.97343817e-01 4.38341648e-03 -4.05766410e+02] [ 6.97330005e-01 -7.16736767e-01 -4.38993496e-03 -2.45785833e+02] [ 6.20304976e-03 -8.96811380e-05 9.99980757e-01 -2.80642856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1278.876559995 meters 0.012967427064184009 Centerline is valid? [True, True] Translation: X:-406.19, Y:-246.21, Z:-1.78 [[-7.50360272e-01 6.61013620e-01 4.52295996e-03 -4.06192962e+02] [ 6.61002147e-01 7.50373900e-01 -3.89506924e-03 -2.46211126e+02] [-5.96860492e-03 6.69810281e-05 -9.99982186e-01 -1.78195306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1278.906559995 meters 0.01335568404993594 Centerline is valid? [True, True] Translation: X:-406.18, Y:-246.19, Z:-1.78 [[-7.94022356e-01 6.07867074e-01 5.11066960e-03 -4.06180487e+02] [ 6.07855165e-01 7.94038799e-01 -3.80597160e-03 -2.46189327e+02] [-6.37159477e-03 8.45203749e-05 -9.99979698e-01 -1.78196744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1278.9365599950002 meters 0.014620835369624092 Centerline is valid? [True, True] Translation: X:-405.82, Y:-245.70, Z:-2.81 [[-7.69263068e-01 -6.38911079e-01 5.19279929e-03 -4.05815576e+02] [ 6.38895955e-01 -7.69280592e-01 -4.39661834e-03 -2.45700088e+02] [ 6.80376788e-03 -6.44976445e-05 9.99976852e-01 -2.80691876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1278.9665599950001 meters 0.013738126729101352 Centerline is valid? [True, True] Translation: X:-405.83, Y:-245.73, Z:-2.81 [[-7.24515971e-01 -6.89238802e-01 5.14600987e-03 -4.05831734e+02] [ 6.89220402e-01 -7.24534239e-01 -5.03733489e-03 -2.45728684e+02] [ 7.20038701e-03 -1.02894591e-04 9.99974072e-01 -2.80670277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1278.996559995 meters 0.013506070349501728 Centerline is valid? [True, True] Translation: X:-405.85, Y:-245.75, Z:-2.81 [[-6.75962940e-01 -7.36913795e-01 5.67133039e-03 -4.05852337e+02] [ 7.36886417e-01 -6.75986721e-01 -6.35316332e-03 -2.45750526e+02] [ 8.51547772e-03 -1.15376626e-04 9.99963736e-01 -2.80774074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1279.026559995 meters 0.013322525221590019 Centerline is valid? [True, True] Translation: X:-405.87, Y:-245.73, Z:-2.81 [[-6.75327296e-01 -7.37494102e-01 5.95757026e-03 -4.05871280e+02] [ 7.37463961e-01 -6.75353565e-01 -6.66848136e-03 -2.45729151e+02] [ 8.94143198e-03 -1.09914123e-04 9.99960019e-01 -2.80813340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1279.056559995 meters 0.013322525221590019 Centerline is valid? [True, True] Translation: X:-405.89, Y:-245.71, Z:-2.81 [[-6.75532516e-01 -7.37306114e-01 5.95942623e-03 -4.05889705e+02] [ 7.37275980e-01 -6.75558793e-01 -6.66682278e-03 -2.45708633e+02] [ 8.94143199e-03 -1.09913750e-04 9.99960019e-01 -2.80813398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1279.086559995 meters 0.012922285158362206 Centerline is valid? [True, True] Translation: X:-405.91, Y:-245.69, Z:-2.81 [[-6.73586683e-01 -7.39085444e-01 5.80396816e-03 -4.05909526e+02] [ 7.39056960e-01 -6.73611683e-01 -6.48929875e-03 -2.45688455e+02] [ 8.70576701e-03 -8.16421600e-05 9.99962101e-01 -2.80799334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1279.116559995 meters 0.012548483650605334 Centerline is valid? [True, True] Translation: X:-405.93, Y:-245.67, Z:-2.81 [[-6.72407699e-01 -7.40161510e-01 5.36893632e-03 -4.05929435e+02] [ 7.40137187e-01 -6.72429131e-01 -6.00078936e-03 -2.45667938e+02] [ 8.05178250e-03 -6.12275417e-05 9.99967582e-01 -2.80753984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1279.146559995 meters 0.012384335207127164 Centerline is valid? [True, True] Translation: X:-405.95, Y:-245.65, Z:-2.81 [[-6.70956013e-01 -7.41480853e-01 4.91666249e-03 -4.05948372e+02] [ 7.41460513e-01 -6.70974026e-01 -5.49220759e-03 -2.45647940e+02] [ 7.37131959e-03 -3.95186152e-05 9.99972831e-01 -2.80683338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1279.176559995 meters 0.012168467374636019 Centerline is valid? [True, True] Translation: X:-405.97, Y:-245.63, Z:-2.81 [[-6.67295149e-01 -7.44781952e-01 4.12657225e-03 -4.05968012e+02] [ 7.44767706e-01 -6.67307908e-01 -4.60659310e-03 -2.45630560e+02] [ 6.18460169e-03 -6.19479441e-07 9.99980875e-01 -2.80638629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1279.2065599950001 meters 0.012157810349060058 Centerline is valid? [True, True] Translation: X:-405.99, Y:-245.61, Z:-2.81 [[-6.65223435e-01 -7.46634327e-01 3.86821063e-03 -4.05987902e+02] [ 7.46621854e-01 -6.65234682e-01 -4.31573574e-03 -2.45611259e+02] [ 5.79554432e-03 1.71620390e-05 9.99983206e-01 -2.80539453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1279.236559995 meters 0.012372094026569535 Centerline is valid? [True, True] Translation: X:-406.01, Y:-245.59, Z:-2.81 [[-6.62997705e-01 -7.48612638e-01 3.62780371e-03 -4.06007394e+02] [ 7.48601710e-01 -6.63007630e-01 -4.04510000e-03 -2.45592967e+02] [ 5.43347452e-03 3.38880448e-05 9.99985238e-01 -2.80561628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1279.266559995 meters 0.012372094026569535 Centerline is valid? [True, True] Translation: X:-406.03, Y:-245.57, Z:-2.81 [[-6.63231135e-01 -7.48405834e-01 3.62906529e-03 -4.06025330e+02] [ 7.48394909e-01 -6.63241063e-01 -4.04396820e-03 -2.45573126e+02] [ 5.43347452e-03 3.38883680e-05 9.99985238e-01 -2.80561684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1279.296559995 meters 0.012936657674165412 Centerline is valid? [True, True] Translation: X:-406.05, Y:-245.56, Z:-2.81 [[-6.60769149e-01 -7.50579992e-01 3.71581955e-03 -4.06045383e+02] [ 7.50568586e-01 -6.60779595e-01 -4.13820720e-03 -2.45555052e+02] [ 5.56139327e-03 5.45777749e-05 9.99984534e-01 -2.80618285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1279.326559995 meters 0.013427466164023615 Centerline is valid? [True, True] Translation: X:-406.07, Y:-245.54, Z:-2.81 [[-6.58348099e-01 -7.52702720e-01 4.04920539e-03 -4.06065269e+02] [ 7.52689231e-01 -6.58360547e-01 -4.50698405e-03 -2.45535718e+02] [ 6.05825623e-03 8.06289043e-05 9.99981646e-01 -2.80674590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1279.356559995 meters 0.01513149862455346 Centerline is valid? [True, True] Translation: X:-406.09, Y:-245.52, Z:-2.81 [[-6.56086085e-01 -7.54672696e-01 4.49116128e-03 -4.06086342e+02] [ 7.54656167e-01 -6.56101448e-01 -4.99597180e-03 -2.45518384e+02] [ 6.71698092e-03 1.11494980e-04 9.99977435e-01 -2.80855674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1279.386559995 meters 0.016154453454217763 Centerline is valid? [True, True] Translation: X:-406.11, Y:-245.50, Z:-2.81 [[-6.51859855e-01 -7.58318201e-01 5.67767945e-03 -4.06106021e+02] [ 7.58291952e-01 -6.51884553e-01 -6.31235633e-03 -2.45498689e+02] [ 8.48796622e-03 1.90566954e-04 9.99963959e-01 -2.80993380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1279.416559995 meters 0.016504630053264253 Centerline is valid? [True, True] Translation: X:-406.12, Y:-245.48, Z:-2.81 [[-6.50418101e-01 -7.59551449e-01 6.15546842e-03 -4.06124640e+02] [ 7.59520686e-01 -6.50447189e-01 -6.83974521e-03 -2.45477671e+02] [ 9.19894551e-03 2.26511500e-04 9.99957663e-01 -2.81009183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1279.4465599950001 meters 0.016976806940573814 Centerline is valid? [True, True] Translation: X:-406.14, Y:-245.46, Z:-2.81 [[-6.49404972e-01 -7.60418025e-01 6.13269648e-03 -4.06143061e+02] [ 7.60387563e-01 -6.49433884e-01 -6.81063288e-03 -2.45456637e+02] [ 9.16170890e-03 2.40367283e-04 9.99958002e-01 -2.81018227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1279.4765599950001 meters 0.017619088069288694 Centerline is valid? [True, True] Translation: X:-406.16, Y:-245.44, Z:-2.81 [[-6.48600657e-01 -7.61104194e-01 6.13140033e-03 -4.06160938e+02] [ 7.61073800e-01 -6.48629589e-01 -6.80642356e-03 -2.45436701e+02] [ 9.15740518e-03 2.51797357e-04 9.99958039e-01 -2.81026284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1279.506559995 meters 0.017475401969971497 Centerline is valid? [True, True] Translation: X:-406.18, Y:-245.41, Z:-2.81 [[-6.47286904e-01 -7.62218089e-01 6.57638984e-03 -4.06177641e+02] [ 7.62183222e-01 -6.47320246e-01 -7.29624023e-03 -2.45413914e+02] [ 9.81835658e-03 2.89653250e-04 9.99951757e-01 -2.80976241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1279.536559995 meters 0.01929823009283416 Centerline is valid? [True, True] Translation: X:-406.20, Y:-245.40, Z:-2.81 [[-6.46800632e-01 -7.62630027e-01 6.66211639e-03 -4.06196673e+02] [ 7.62594311e-01 -6.46834871e-01 -7.38691524e-03 -2.45395058e+02] [ 9.94277256e-03 3.02630607e-04 9.99950524e-01 -2.81068277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1279.566559995 meters 0.018385910863716503 Centerline is valid? [True, True] Translation: X:-406.21, Y:-245.37, Z:-2.81 [[-6.46670918e-01 -7.62737978e-01 6.89212188e-03 -4.06212430e+02] [ 7.62699809e-01 -6.46707566e-01 -7.63712037e-03 -2.45373193e+02] [ 1.02823091e-02 3.17916406e-04 9.99947085e-01 -2.81018559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1279.596559995 meters 0.018223218272302413 Centerline is valid? [True, True] Translation: X:-406.23, Y:-245.35, Z:-2.81 [[-6.46559809e-01 -7.62831561e-01 6.95859994e-03 -4.06229754e+02] [ 7.62792703e-01 -6.46597172e-01 -7.70641402e-03 -2.45350646e+02] [ 1.03781069e-02 3.25311680e-04 9.99946093e-01 -2.80991579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1279.626559995 meters 0.018565023272263725 Centerline is valid? [True, True] Translation: X:-406.25, Y:-245.33, Z:-2.81 [[-6.46674559e-01 -7.62732619e-01 7.13904095e-03 -4.06247278e+02] [ 7.62691767e-01 -6.46713877e-01 -7.90124386e-03 -2.45329451e+02] [ 1.06434533e-02 3.35354362e-04 9.99943301e-01 -2.81005292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1279.656559995 meters 0.018236698716001358 Centerline is valid? [True, True] Translation: X:-406.26, Y:-245.31, Z:-2.81 [[-6.47073734e-01 -7.62392838e-01 7.26244120e-03 -4.06264788e+02] [ 7.62350571e-01 -6.47114400e-01 -8.03498769e-03 -2.45306786e+02] [ 1.08254473e-02 3.37296714e-04 9.99941346e-01 -2.81049300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1279.6865599950002 meters 0.01852496138064374 Centerline is valid? [True, True] Translation: X:-406.28, Y:-245.29, Z:-2.81 [[-6.47876856e-01 -7.61708839e-01 7.43138613e-03 -4.06281510e+02] [ 7.61664597e-01 -6.47919387e-01 -8.21641837e-03 -2.45286391e+02] [ 1.10734576e-02 3.36996426e-04 9.99938631e-01 -2.81130169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1279.7165599950001 meters 0.01784565656887369 Centerline is valid? [True, True] Translation: X:-406.29, Y:-245.26, Z:-2.81 [[-6.50515058e-01 -7.59452298e-01 7.89724111e-03 -4.06294951e+02] [ 7.59402223e-01 -6.50562913e-01 -8.72692493e-03 -2.45261915e+02] [ 1.17653354e-02 3.20186382e-04 9.99930735e-01 -2.81208469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1279.746559995 meters 0.017360189714865307 Centerline is valid? [True, True] Translation: X:-406.31, Y:-245.24, Z:-2.81 [[-6.52454905e-01 -7.57784237e-01 8.10227618e-03 -4.06309882e+02] [ 7.57731443e-01 -6.52505142e-01 -8.94990395e-03 -2.45239312e+02] [ 1.20688730e-02 2.99940683e-04 9.99927124e-01 -2.81216608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1279.776559995 meters 0.015730310451712852 Centerline is valid? [True, True] Translation: X:-406.32, Y:-245.21, Z:-2.81 [[-6.54742715e-01 -7.55810299e-01 7.92269047e-03 -4.06323948e+02] [ 7.55759732e-01 -6.54790596e-01 -8.74662410e-03 -2.45214175e+02] [ 1.17984918e-02 2.60862015e-04 9.99930362e-01 -2.81086013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1279.806559995 meters 0.01482002219515573 Centerline is valid? [True, True] Translation: X:-406.34, Y:-245.19, Z:-2.81 [[-6.57036238e-01 -7.53819861e-01 7.68106848e-03 -4.06338563e+02] [ 7.53772250e-01 -6.57081097e-01 -8.47507476e-03 -2.45189947e+02] [ 1.14357646e-02 2.21345035e-04 9.99934585e-01 -2.80995588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1279.836559995 meters 0.013545598525479926 Centerline is valid? [True, True] Translation: X:-406.35, Y:-245.16, Z:-2.81 [[-6.61364349e-01 -7.50029537e-01 7.27273321e-03 -4.06349746e+02] [ 7.49986674e-01 -6.61404318e-01 -8.01983758e-03 -2.45162671e+02] [ 1.08253322e-02 1.50418336e-04 9.99941393e-01 -2.80854510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1279.866559995 meters 0.013725130001458141 Centerline is valid? [True, True] Translation: X:-406.37, Y:-245.14, Z:-2.81 [[-6.63333689e-01 -7.48289050e-01 7.20526172e-03 -4.06366345e+02] [ 7.48246911e-01 -6.63372809e-01 -7.94211304e-03 -2.45140905e+02] [ 1.07227709e-02 1.23043689e-04 9.99942502e-01 -2.80988639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1279.896559995 meters 0.012975615970938673 Centerline is valid? [True, True] Translation: X:-406.38, Y:-245.12, Z:-2.81 [[-6.65130216e-01 -7.46691488e-01 7.32242532e-03 -4.06381061e+02] [ 7.46647927e-01 -6.65170513e-01 -8.06615835e-03 -2.45118045e+02] [ 1.08935932e-02 1.02228041e-04 9.99940658e-01 -2.80865438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1279.926559995 meters 0.012839135625915836 Centerline is valid? [True, True] Translation: X:-406.40, Y:-245.10, Z:-2.81 [[-6.66143082e-01 -7.45786202e-01 7.50567661e-03 -4.06398025e+02] [ 7.45740433e-01 -6.66185359e-01 -8.26282953e-03 -2.45096174e+02] [ 1.11624761e-02 9.30598040e-05 9.99937694e-01 -2.80875632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1279.9565599950001 meters 0.012974041092730865 Centerline is valid? [True, True] Translation: X:-406.42, Y:-245.08, Z:-2.81 [[-6.66066644e-01 -7.45857091e-01 7.24056557e-03 -4.06416880e+02] [ 7.45814556e-01 -6.66105991e-01 -7.96599857e-03 -2.45075826e+02] [ 1.07644806e-02 9.42332590e-05 9.99942057e-01 -2.80854163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1279.986559995 meters 0.01307088702070468 Centerline is valid? [True, True] Translation: X:-406.44, Y:-245.06, Z:-2.81 [[-6.65671857e-01 -7.46209045e-01 7.28285173e-03 -4.06435943e+02] [ 7.46166087e-01 -6.65711687e-01 -8.00750271e-03 -2.45056097e+02] [ 1.08235505e-02 1.03847789e-04 9.99941418e-01 -2.80863727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1280.016559995 meters 0.01325255654879981 Centerline is valid? [True, True] Translation: X:-406.46, Y:-245.04, Z:-2.81 [[-6.64501023e-01 -7.47244242e-01 8.02708045e-03 -4.06456592e+02] [ 7.47192191e-01 -6.64549490e-01 -8.82076733e-03 -2.45036396e+02] [ 1.19256598e-02 1.36362913e-04 9.99928878e-01 -2.80877226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1280.046559995 meters 0.013363274215987287 Centerline is valid? [True, True] Translation: X:-406.48, Y:-245.02, Z:-2.81 [[-6.64185250e-01 -7.47524478e-01 8.06901006e-03 -4.06476471e+02] [ 7.47471962e-01 -6.64234246e-01 -8.86181090e-03 -2.45016049e+02] [ 1.19841334e-02 1.45474697e-04 9.99928177e-01 -2.80876710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1280.076559995 meters 0.01362376378832867 Centerline is valid? [True, True] Translation: X:-406.50, Y:-245.00, Z:-2.81 [[-6.64520283e-01 -7.47225941e-01 8.13554761e-03 -4.06495825e+02] [ 7.47172598e-01 -6.64570066e-01 -8.92954565e-03 -2.44996570e+02] [ 1.20790296e-02 1.44794038e-04 9.99927036e-01 -2.80915060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1280.106559995 meters 0.013619798974577838 Centerline is valid? [True, True] Translation: X:-406.51, Y:-244.98, Z:-2.81 [[-6.65286931e-01 -7.46546475e-01 7.85242094e-03 -4.06513982e+02] [ 7.46496781e-01 -6.65333258e-01 -8.61468194e-03 -2.44976996e+02] [ 1.16557372e-02 1.30571644e-04 9.99932061e-01 -2.80949031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1280.136559995 meters 0.013128228220114538 Centerline is valid? [True, True] Translation: X:-406.53, Y:-244.96, Z:-2.81 [[-6.66544788e-01 -7.45427217e-01 7.50398517e-03 -4.06531166e+02] [ 7.45381821e-01 -6.66587018e-01 -8.22726593e-03 -2.44955846e+02] [ 1.11348870e-02 1.09492908e-04 9.99937999e-01 -2.80802908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1280.166559995 meters 0.012767958464042934 Centerline is valid? [True, True] Translation: X:-406.55, Y:-244.93, Z:-2.81 [[-6.67921925e-01 -7.44198603e-01 6.98152082e-03 -4.06548997e+02] [ 7.44159287e-01 -6.67958406e-01 -7.65006392e-03 -2.44934696e+02] [ 1.03565324e-02 8.57181401e-05 9.99946366e-01 -2.80674404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1280.1965599950001 meters 0.012403837889715287 Centerline is valid? [True, True] Translation: X:-406.57, Y:-244.91, Z:-2.81 [[-6.72024182e-01 -7.40507913e-01 5.61519874e-03 -4.06565551e+02] [ 7.40482379e-01 -6.72047640e-01 -6.14945094e-03 -2.44913291e+02] [ 8.32739815e-03 2.53759808e-05 9.99965327e-01 -2.80536519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1280.2265599950001 meters 0.012336586607880076 Centerline is valid? [True, True] Translation: X:-406.58, Y:-244.89, Z:-2.80 [[-6.74656375e-01 -7.38112458e-01 5.36420769e-03 -4.06582193e+02] [ 7.38089110e-01 -6.74677700e-01 -5.87089530e-03 -2.44891957e+02] [ 7.95249227e-03 -1.57365788e-06 9.99968379e-01 -2.80447973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1280.256559995 meters 0.012783889965601326 Centerline is valid? [True, True] Translation: X:-406.60, Y:-244.87, Z:-2.80 [[-6.79511749e-01 -7.33648634e-01 4.84408929e-03 -4.06596984e+02] [ 7.33629504e-01 -6.79529014e-01 -5.29817063e-03 -2.44870201e+02] [ 7.17869486e-03 -4.64023656e-05 9.99974232e-01 -2.80409932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1280.286559995 meters 0.013071588296590792 Centerline is valid? [True, True] Translation: X:-406.62, Y:-244.85, Z:-2.80 [[-6.81587075e-01 -7.31721231e-01 4.80621976e-03 -4.06615407e+02] [ 7.31702372e-01 -6.81604018e-01 -5.25383062e-03 -2.44849009e+02] [ 7.12027811e-03 -6.42206492e-05 9.99974649e-01 -2.80364837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1280.316559995 meters 0.013348965093786242 Centerline is valid? [True, True] Translation: X:-406.63, Y:-244.83, Z:-2.80 [[-6.83446735e-01 -7.29984443e-01 4.82429304e-03 -4.06633956e+02] [ 7.29965419e-01 -6.83463757e-01 -5.27063448e-03 -2.44827844e+02] [ 7.14471062e-03 -8.06308400e-05 9.99974473e-01 -2.80339449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1280.346559995 meters 0.013731142952310696 Centerline is valid? [True, True] Translation: X:-406.65, Y:-244.81, Z:-2.80 [[-6.84889712e-01 -7.28629957e-01 4.94660718e-03 -4.06651779e+02] [ 7.28609944e-01 -6.84907569e-01 -5.40107753e-03 -2.44807867e+02] [ 7.32335558e-03 -9.49952464e-05 9.99973180e-01 -2.80342112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1280.376559995 meters 0.013841076662772525 Centerline is valid? [True, True] Translation: X:-406.67, Y:-244.79, Z:-2.80 [[-6.85859727e-01 -7.27717520e-01 4.86266825e-03 -4.06670572e+02] [ 7.27698183e-01 -6.85876957e-01 -5.30609912e-03 -2.44788128e+02] [ 7.19653340e-03 -1.00684846e-04 9.99974100e-01 -2.80311197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1280.406559995 meters 0.01388812675352924 Centerline is valid? [True, True] Translation: X:-406.69, Y:-244.77, Z:-2.80 [[-6.86110796e-01 -7.27480624e-01 4.89056556e-03 -4.06690988e+02] [ 7.27461082e-01 -6.86128218e-01 -5.33321715e-03 -2.44770110e+02] [ 7.23536717e-03 -1.01481753e-04 9.99973819e-01 -2.80289996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1280.4365599950002 meters 0.013775055397979774 Centerline is valid? [True, True] Translation: X:-406.71, Y:-244.75, Z:-2.80 [[-6.85660291e-01 -7.27906473e-01 4.70443767e-03 -4.06710152e+02] [ 7.27888423e-01 -6.85676424e-01 -5.12689328e-03 -2.44751890e+02] [ 6.95762080e-03 -9.10014256e-05 9.99975792e-01 -2.80333476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1280.4665599950001 meters 0.013481031965093409 Centerline is valid? [True, True] Translation: X:-406.73, Y:-244.73, Z:-2.80 [[-6.84833718e-01 -7.28683553e-01 4.80190186e-03 -4.06729950e+02] [ 7.28664790e-01 -6.84850548e-01 -5.22986632e-03 -2.44733366e+02] [ 7.09950269e-03 -8.26119882e-05 9.99974795e-01 -2.80310490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1280.496559995 meters 0.013462509141578309 Centerline is valid? [True, True] Translation: X:-406.75, Y:-244.71, Z:-2.80 [[-6.84176977e-01 -7.29298456e-01 5.06233676e-03 -4.06748551e+02] [ 7.29277645e-01 -6.84195701e-01 -5.50993743e-03 -2.44714997e+02] [ 7.48201791e-03 -7.79233008e-05 9.99972007e-01 -2.80345849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1280.526559995 meters 0.013101073818668546 Centerline is valid? [True, True] Translation: X:-406.77, Y:-244.70, Z:-2.80 [[-6.82099950e-01 -7.31240031e-01 5.26072929e-03 -4.06768822e+02] [ 7.31217636e-01 -6.82120234e-01 -5.72320378e-03 -2.44697963e+02] [ 7.77348560e-03 -5.70589797e-05 9.99969785e-01 -2.80435371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1280.556559995 meters 0.012576345774409735 Centerline is valid? [True, True] Translation: X:-406.79, Y:-244.68, Z:-2.80 [[-6.81110774e-01 -7.32161208e-01 5.29902028e-03 -4.06790152e+02] [ 7.32138539e-01 -6.81131385e-01 -5.76159966e-03 -2.44679564e+02] [ 7.82774879e-03 -4.46706340e-05 9.99969362e-01 -2.80325143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1280.586559995 meters 0.012455193640818608 Centerline is valid? [True, True] Translation: X:-406.81, Y:-244.66, Z:-2.80 [[-6.79980767e-01 -7.33208716e-01 5.57990126e-03 -4.06809967e+02] [ 7.33183636e-01 -6.80003660e-01 -6.06449676e-03 -2.44661288e+02] [ 8.24089516e-03 -3.26488577e-05 9.99966043e-01 -2.80339775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1280.616559995 meters 0.01234406360559528 Centerline is valid? [True, True] Translation: X:-406.83, Y:-244.64, Z:-2.80 [[-6.78805166e-01 -7.34298398e-01 5.42310005e-03 -4.06830994e+02] [ 7.34274769e-01 -6.78826828e-01 -5.89072382e-03 -2.44642358e+02] [ 8.00689487e-03 -1.66082242e-05 9.99967944e-01 -2.80339580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1280.646559995 meters 0.012261303108037974 Centerline is valid? [True, True] Translation: X:-406.85, Y:-244.62, Z:-2.80 [[-6.77481989e-01 -7.35519151e-01 5.45287890e-03 -4.06852124e+02] [ 7.35495328e-01 -6.77503933e-01 -5.91968850e-03 -2.44623553e+02] [ 8.04839116e-03 8.46188956e-08 9.99967611e-01 -2.80349472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1280.676559995 meters 0.012283844673732313 Centerline is valid? [True, True] Translation: X:-406.87, Y:-244.60, Z:-2.80 [[-6.75994608e-01 -7.36887619e-01 5.28458520e-03 -4.06872940e+02] [ 7.36865312e-01 -6.76015264e-01 -5.73372260e-03 -2.44604636e+02] [ 7.79756945e-03 1.80619615e-05 9.99969599e-01 -2.80347605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1280.7065599950001 meters 0.012714305082711718 Centerline is valid? [True, True] Translation: X:-406.89, Y:-244.59, Z:-2.81 [[-6.74369878e-01 -7.38375321e-01 5.21098190e-03 -4.06893795e+02] [ 7.38353701e-01 -6.74390009e-01 -5.65046956e-03 -2.44587115e+02] [ 7.68640141e-03 3.70413067e-05 9.99970459e-01 -2.80508652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1280.736559995 meters 0.012995076691349132 Centerline is valid? [True, True] Translation: X:-406.92, Y:-244.57, Z:-2.80 [[-6.70582208e-01 -7.41819699e-01 4.79974442e-03 -4.06916006e+02] [ 7.41801465e-01 -6.70599381e-01 -5.20166236e-03 -2.44568874e+02] [ 7.07740124e-03 7.23152151e-05 9.99974952e-01 -2.80311600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1280.766559995 meters 0.013377152987762025 Centerline is valid? [True, True] Translation: X:-406.94, Y:-244.55, Z:-2.80 [[-6.68922342e-01 -7.43319060e-01 4.43577212e-03 -4.06936379e+02] [ 7.43303537e-01 -6.68937044e-01 -4.80451550e-03 -2.44549713e+02] [ 6.53854024e-03 8.32773465e-05 9.99978620e-01 -2.80251991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1280.796559995 meters 0.013619734234597048 Centerline is valid? [True, True] Translation: X:-406.96, Y:-244.53, Z:-2.80 [[-6.67560433e-01 -7.44545131e-01 3.95171417e-03 -4.06956649e+02] [ 7.44532847e-01 -6.67572124e-01 -4.27780647e-03 -2.44530491e+02] [ 5.82307420e-03 8.64866596e-05 9.99983042e-01 -2.80174113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1280.826559995 meters 0.013985857257098354 Centerline is valid? [True, True] Translation: X:-406.98, Y:-244.51, Z:-2.80 [[-6.66630244e-01 -7.45380436e-01 3.48182855e-03 -4.06976590e+02] [ 7.45370923e-01 -6.66639332e-01 -3.76688274e-03 -2.44511408e+02] [ 5.12888455e-03 8.41357988e-05 9.99986844e-01 -2.80142301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1280.856559995 meters 0.014341664961256616 Centerline is valid? [True, True] Translation: X:-407.00, Y:-244.49, Z:-2.80 [[-6.65669730e-01 -7.46238534e-01 3.44389580e-03 -4.06996855e+02] [ 7.46229249e-01 -6.65678633e-01 -3.72373719e-03 -2.44491833e+02] [ 5.07132403e-03 9.11566402e-05 9.99987137e-01 -2.80157106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1280.886559995 meters 0.01549509657750882 Centerline is valid? [True, True] Translation: X:-407.02, Y:-244.47, Z:-2.80 [[-6.64914930e-01 -7.46910683e-01 3.54507072e-03 -4.07017988e+02] [ 7.46900866e-01 -6.64924372e-01 -3.83084352e-03 -2.44474140e+02] [ 5.21850187e-03 1.00631339e-04 9.99986379e-01 -2.80234063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1280.916559995 meters 0.015618302793684152 Centerline is valid? [True, True] Translation: X:-407.04, Y:-244.45, Z:-2.80 [[-6.63535145e-01 -7.48133684e-01 4.13551339e-03 -4.07038282e+02] [ 7.48120363e-01 -6.63548019e-01 -4.46640579e-03 -2.44454657e+02] [ 6.08558034e-03 1.30244566e-04 9.99981474e-01 -2.80351532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1280.9465599950001 meters 0.015618302793684152 Centerline is valid? [True, True] Translation: X:-407.06, Y:-244.44, Z:-2.80 [[-6.63767934e-01 -7.47927146e-01 4.13690371e-03 -4.07056540e+02] [ 7.47913829e-01 -6.63780813e-01 -4.46511807e-03 -2.44435101e+02] [ 6.08558033e-03 1.30245298e-04 9.99981474e-01 -2.80351588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1280.9765599950001 meters 0.016148602214138722 Centerline is valid? [True, True] Translation: X:-407.08, Y:-244.42, Z:-2.81 [[-6.63311638e-01 -7.48321806e-01 5.66972241e-03 -4.07075878e+02] [ 7.48296836e-01 -6.63335842e-01 -6.11597184e-03 -2.44415827e+02] [ 8.33764518e-03 1.85840045e-04 9.99965224e-01 -2.80509772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1281.006559995 meters 0.015459889547528046 Centerline is valid? [True, True] Translation: X:-407.09, Y:-244.39, Z:-2.81 [[-6.63452108e-01 -7.48191553e-01 6.37976485e-03 -4.07093898e+02] [ 7.48159967e-01 -6.63482748e-01 -6.87801248e-03 -2.44394521e+02] [ 9.37893475e-03 2.09852789e-04 9.99955995e-01 -2.80516636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1281.036559995 meters 0.015876775032564832 Centerline is valid? [True, True] Translation: X:-407.11, Y:-244.38, Z:-2.81 [[-6.63848984e-01 -7.47831446e-01 7.25642170e-03 -4.07112639e+02] [ 7.47790617e-01 -6.63888600e-01 -7.81792798e-03 -2.44375595e+02] [ 1.06639480e-02 2.36360514e-04 9.99943111e-01 -2.80664512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1281.066559995 meters 0.016016805828956086 Centerline is valid? [True, True] Translation: X:-407.13, Y:-244.36, Z:-2.81 [[-6.64394375e-01 -7.47340237e-01 7.91734823e-03 -4.07130505e+02] [ 7.47291662e-01 -6.64441500e-01 -8.52442625e-03 -2.44356845e+02] [ 1.16312615e-02 2.52987463e-04 9.99932323e-01 -2.80823009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1281.096559995 meters 0.015041927020627795 Centerline is valid? [True, True] Translation: X:-407.15, Y:-244.33, Z:-2.81 [[-6.65611917e-01 -7.46243685e-01 9.00771242e-03 -4.07147072e+02] [ 7.46180780e-01 -6.65672811e-01 -9.69291334e-03 -2.44334125e+02] [ 1.32294646e-02 2.69663248e-04 9.99912451e-01 -2.80861223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1281.126559995 meters 0.014929625288055784 Centerline is valid? [True, True] Translation: X:-407.16, Y:-244.31, Z:-2.81 [[-6.66817867e-01 -7.45165737e-01 9.05297694e-03 -4.07164565e+02] [ 7.45102174e-01 -6.66879270e-01 -9.73601481e-03 -2.44313560e+02] [ 1.32921873e-02 2.53244165e-04 9.99911623e-01 -2.80898475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1281.156559995 meters 0.014929625288055784 Centerline is valid? [True, True] Translation: X:-407.18, Y:-244.29, Z:-2.81 [[-6.67052003e-01 -7.44956115e-01 9.05603673e-03 -4.07182864e+02] [ 7.44892571e-01 -6.67113426e-01 -9.73316879e-03 -2.44294037e+02] [ 1.32921873e-02 2.53244740e-04 9.99911623e-01 -2.80898531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1281.1865599950002 meters 0.014335917585257428 Centerline is valid? [True, True] Translation: X:-407.20, Y:-244.27, Z:-2.81 [[-6.68677307e-01 -7.43500750e-01 8.79169243e-03 -4.07199897e+02] [ 7.43440805e-01 -6.68735064e-01 -9.44375882e-03 -2.44271974e+02] [ 1.29007548e-02 2.21275681e-04 9.99916758e-01 -2.80803640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1281.2165599950001 meters 0.013853190308033447 Centerline is valid? [True, True] Translation: X:-407.22, Y:-244.25, Z:-2.81 [[-6.70537205e-01 -7.41830050e-01 8.24828809e-03 -4.07216810e+02] [ 7.41777220e-01 -6.70587910e-01 -8.85505205e-03 -2.44249456e+02] [ 1.21001460e-02 1.80750362e-04 9.99926774e-01 -2.80700925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1281.246559995 meters 0.014185725979855809 Centerline is valid? [True, True] Translation: X:-407.23, Y:-244.23, Z:-2.81 [[-6.72525455e-01 -7.40031571e-01 7.92378146e-03 -4.07234705e+02] [ 7.39982747e-01 -6.72572117e-01 -8.50191261e-03 -2.44228886e+02] [ 1.16209982e-02 1.45708926e-04 9.99932464e-01 -2.80799169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1281.276559995 meters 0.012780661271313809 Centerline is valid? [True, True] Translation: X:-407.25, Y:-244.20, Z:-2.81 [[-6.76648225e-01 -7.36268923e-01 7.43317377e-03 -4.07248374e+02] [ 7.36225777e-01 -6.76689047e-01 -7.97107920e-03 -2.44203198e+02] [ 1.08988052e-02 7.88775491e-05 9.99940603e-01 -2.80522216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1281.306559995 meters 0.012586976884254728 Centerline is valid? [True, True] Translation: X:-407.27, Y:-244.18, Z:-2.80 [[-6.78780536e-01 -7.34302165e-01 7.57068210e-03 -4.07265188e+02] [ 7.34257341e-01 -6.78822752e-01 -8.11346570e-03 -2.44181349e+02] [ 1.10968867e-02 5.15663207e-05 9.99938427e-01 -2.80497784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1281.336559995 meters 0.012560620047156818 Centerline is valid? [True, True] Translation: X:-407.28, Y:-244.16, Z:-2.81 [[-6.80972247e-01 -7.32271086e-01 7.47372025e-03 -4.07281156e+02] [ 7.32227338e-01 -6.81013258e-01 -8.00431166e-03 -2.44160650e+02] [ 1.09510286e-02 2.17481841e-05 9.99940036e-01 -2.80538388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1281.366559995 meters 0.012459001888690164 Centerline is valid? [True, True] Translation: X:-407.30, Y:-244.14, Z:-2.80 [[-6.82997076e-01 -7.30385929e-01 7.16860315e-03 -4.07298451e+02] [ 7.30345621e-01 -6.83034695e-01 -7.67324870e-03 -2.44138440e+02] [ 1.05008375e-02 -5.24850382e-06 9.99944865e-01 -2.80421373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1281.396559995 meters 0.012458842011402016 Centerline is valid? [True, True] Translation: X:-407.32, Y:-244.12, Z:-2.80 [[-6.84818705e-01 -7.28680488e-01 6.93450931e-03 -4.07316330e+02] [ 7.28642725e-01 -6.84853813e-01 -7.41847932e-03 -2.44116095e+02] [ 1.01548263e-02 -2.75336410e-05 9.99948438e-01 -2.80334201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1281.426559995 meters 0.01261612702099669 Centerline is valid? [True, True] Translation: X:-407.33, Y:-244.09, Z:-2.80 [[-6.86639783e-01 -7.26967574e-01 6.62980034e-03 -4.07333896e+02] [ 7.26933016e-01 -6.86671788e-01 -7.08851108e-03 -2.44094227e+02] [ 9.70561455e-03 -4.78329565e-05 9.99952898e-01 -2.80292240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1281.4565599950001 meters 0.013255168633455341 Centerline is valid? [True, True] Translation: X:-407.35, Y:-244.07, Z:-2.80 [[-6.89736875e-01 -7.24028240e-01 6.79344185e-03 -4.07349019e+02] [ 7.23991844e-01 -6.89770324e-01 -7.26018575e-03 -2.44072027e+02] [ 9.94249409e-03 -8.92213414e-05 9.99950568e-01 -2.80375736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1281.486559995 meters 0.013284787681905788 Centerline is valid? [True, True] Translation: X:-407.37, Y:-244.05, Z:-2.80 [[-6.91022094e-01 -7.22797064e-01 7.27115700e-03 -4.07367629e+02] [ 7.22755347e-01 -6.91060339e-01 -7.76638969e-03 -2.44050378e+02] [ 1.06383319e-02 -1.11479265e-04 9.99943405e-01 -2.80345515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1281.516559995 meters 0.013555316931028216 Centerline is valid? [True, True] Translation: X:-407.39, Y:-244.03, Z:-2.80 [[-6.91943999e-01 -7.21909749e-01 7.73412817e-03 -4.07385028e+02] [ 7.21862553e-01 -6.91987209e-01 -8.25573095e-03 -2.44029480e+02] [ 1.13118104e-02 -1.29525972e-04 9.99936011e-01 -2.80406273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1281.546559995 meters 0.013669380135387554 Centerline is valid? [True, True] Translation: X:-407.40, Y:-244.01, Z:-2.80 [[-6.92543100e-01 -7.21329994e-01 8.19112852e-03 -4.07403299e+02] [ 7.21277080e-01 -6.92591524e-01 -8.73807770e-03 -2.44008836e+02] [ 1.19761437e-02 -1.43422152e-04 9.99928273e-01 -2.80446706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1281.576559995 meters 0.014182020261372276 Centerline is valid? [True, True] Translation: X:-407.42, Y:-243.99, Z:-2.81 [[-6.92278609e-01 -7.21577985e-01 8.69133937e-03 -4.07420298e+02] [ 7.21518508e-01 -6.92333151e-01 -9.26560815e-03 -2.43988606e+02] [ 1.27031612e-02 -1.43420107e-04 9.99919302e-01 -2.80622359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1281.606559995 meters 0.014182020261372276 Centerline is valid? [True, True] Translation: X:-407.44, Y:-243.97, Z:-2.81 [[-6.92492121e-01 -7.21373049e-01 8.69408077e-03 -4.07438695e+02] [ 7.21313588e-01 -6.92546680e-01 -9.26303589e-03 -2.43969174e+02] [ 1.27031612e-02 -1.43420771e-04 9.99919302e-01 -2.80622416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1281.636559995 meters 0.01352744459791214 Centerline is valid? [True, True] Translation: X:-407.46, Y:-243.95, Z:-2.81 [[-6.91015377e-01 -7.22790070e-01 8.50074270e-03 -4.07459142e+02] [ 7.22733401e-01 -6.91067654e-01 -9.05147476e-03 -2.43950557e+02] [ 1.24169044e-02 -1.10937564e-04 9.99922901e-01 -2.80537986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1281.666559995 meters 0.013003579626503635 Centerline is valid? [True, True] Translation: X:-407.48, Y:-243.93, Z:-2.80 [[-6.89982343e-01 -7.23776512e-01 8.48094579e-03 -4.07479537e+02] [ 7.23720243e-01 -6.90034458e-01 -9.02533734e-03 -2.43930618e+02] [ 1.23844720e-02 -8.94912586e-05 9.99923306e-01 -2.80472994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1281.6965599950001 meters 0.012953693964599985 Centerline is valid? [True, True] Translation: X:-407.50, Y:-243.91, Z:-2.80 [[-6.88885613e-01 -7.24818848e-01 8.61685662e-03 -4.07498012e+02] [ 7.24760899e-01 -6.88939499e-01 -9.16550490e-03 -2.43911907e+02] [ 1.25798236e-02 -6.88237011e-05 9.99920869e-01 -2.80499560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1281.7265599950001 meters 0.012715942192649586 Centerline is valid? [True, True] Translation: X:-407.52, Y:-243.89, Z:-2.80 [[-6.87872143e-01 -7.25785722e-01 8.18544914e-03 -4.07518377e+02] [ 7.25733557e-01 -6.87920842e-01 -8.70172547e-03 -2.43892118e+02] [ 1.19465292e-02 -4.52194240e-05 9.99928637e-01 -2.80420352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1281.756559995 meters 0.012519646124998566 Centerline is valid? [True, True] Translation: X:-407.54, Y:-243.87, Z:-2.80 [[-6.84718878e-01 -7.28773132e-01 7.05554938e-03 -4.07539027e+02] [ 7.28734577e-01 -6.84755228e-01 -7.49626359e-03 -2.43874708e+02] [ 1.02943998e-02 8.78960137e-06 9.99947011e-01 -2.80423764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1281.786559995 meters 0.012536944942829007 Centerline is valid? [True, True] Translation: X:-407.56, Y:-243.86, Z:-2.80 [[-6.82969367e-01 -7.30418262e-01 6.48127453e-03 -4.07559412e+02] [ 7.30385842e-01 -6.83000118e-01 -6.88190387e-03 -2.43856100e+02] [ 9.45337953e-03 3.37016266e-05 9.99955315e-01 -2.80368768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1281.816559995 meters 0.0128720770713725 Centerline is valid? [True, True] Translation: X:-407.58, Y:-243.84, Z:-2.80 [[-6.80792769e-01 -7.32450388e-01 6.13469524e-03 -4.07579993e+02] [ 7.32421461e-01 -6.80820406e-01 -6.50993383e-03 -2.43837455e+02] [ 8.94482927e-03 6.12665698e-05 9.99959993e-01 -2.80307864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1281.846559995 meters 0.013143432391326496 Centerline is valid? [True, True] Translation: X:-407.60, Y:-243.82, Z:-2.80 [[-6.78511174e-01 -7.34569628e-01 5.48167455e-03 -4.07600144e+02] [ 7.34546628e-01 -6.78533312e-01 -5.81351114e-03 -2.43818567e+02] [ 7.98992750e-03 8.20132912e-05 9.99968077e-01 -2.80193787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1281.876559995 meters 0.015897994060941452 Centerline is valid? [True, True] Translation: X:-407.62, Y:-243.80, Z:-2.80 [[-6.73849167e-01 -7.38849948e-01 5.29670339e-03 -4.07624724e+02] [ 7.38828631e-01 -6.73869971e-01 -5.61403142e-03 -2.43804825e+02] [ 7.71721618e-03 1.30345722e-04 9.99970214e-01 -2.80337079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1281.906559995 meters 0.015236189103852061 Centerline is valid? [True, True] Translation: X:-407.64, Y:-243.78, Z:-2.80 [[-6.71786454e-01 -7.40726224e-01 5.25559901e-03 -4.07643494e+02] [ 7.40705317e-01 -6.71806995e-01 -5.56735911e-03 -2.43783815e+02] [ 7.65463706e-03 1.52773692e-04 9.99970691e-01 -2.80215125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1281.9365599950002 meters 0.016149320506702137 Centerline is valid? [True, True] Translation: X:-407.66, Y:-243.77, Z:-2.80 [[-6.70122239e-01 -7.42232003e-01 5.27621351e-03 -4.07663280e+02] [ 7.42210997e-01 -6.70142988e-01 -5.58668724e-03 -2.43765807e+02] [ 7.68243555e-03 1.72300328e-04 9.99970475e-01 -2.80278872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1281.9665599950001 meters 0.01615756077711832 Centerline is valid? [True, True] Translation: X:-407.68, Y:-243.75, Z:-2.80 [[-6.69063698e-01 -7.43185314e-01 5.41830806e-03 -4.07682633e+02] [ 7.43163218e-01 -6.69085610e-01 -5.73391036e-03 -2.43745469e+02] [ 7.88666992e-03 1.90335987e-04 9.99968882e-01 -2.80258412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1281.996559995 meters 0.016618935093437013 Centerline is valid? [True, True] Translation: X:-407.70, Y:-243.73, Z:-2.80 [[-6.68485964e-01 -7.43704047e-01 5.55039227e-03 -4.07702754e+02] [ 7.43680906e-01 -6.68508975e-01 -5.87039276e-03 -2.43725353e+02] [ 8.07632190e-03 2.03445591e-04 9.99967366e-01 -2.80297171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1282.026559995 meters 0.017178653442928335 Centerline is valid? [True, True] Translation: X:-407.72, Y:-243.71, Z:-2.80 [[-6.68221725e-01 -7.43941749e-01 5.51362307e-03 -4.07721272e+02] [ 7.43918945e-01 -6.68244439e-01 -5.82866022e-03 -2.43707188e+02] [ 8.02063164e-03 2.06851264e-04 9.99967813e-01 -2.80350705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1282.056559995 meters 0.016867310735245965 Centerline is valid? [True, True] Translation: X:-407.74, Y:-243.69, Z:-2.80 [[-6.68679988e-01 -7.43530916e-01 5.37126998e-03 -4.07738796e+02] [ 7.43509288e-01 -6.68701531e-01 -5.67461097e-03 -2.43686607e+02] [ 7.81102515e-03 1.99090322e-04 9.99969474e-01 -2.80346280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1282.086559995 meters 0.017041614257008737 Centerline is valid? [True, True] Translation: X:-407.76, Y:-243.67, Z:-2.80 [[-6.69655359e-01 -7.42653319e-01 5.26774157e-03 -4.07756559e+02] [ 7.42632517e-01 -6.69676051e-01 -5.56158030e-03 -2.43667754e+02] [ 7.65800644e-03 1.87654134e-04 9.99970660e-01 -2.80373440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1282.116559995 meters 0.015911066864422455 Centerline is valid? [True, True] Translation: X:-407.77, Y:-243.65, Z:-2.80 [[-6.70831607e-01 -7.41591519e-01 5.19363949e-03 -4.07773675e+02] [ 7.41571292e-01 -6.70851689e-01 -5.48007093e-03 -2.43645686e+02] [ 7.54813595e-03 1.75249158e-04 9.99971497e-01 -2.80306228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1282.146559995 meters 0.015609998562767818 Centerline is valid? [True, True] Translation: X:-407.79, Y:-243.62, Z:-2.80 [[-6.72284338e-01 -7.40277118e-01 4.85368571e-03 -4.07791659e+02] [ 7.40259438e-01 -6.72301841e-01 -5.11851014e-03 -2.43624551e+02] [ 7.05225777e-03 1.51892459e-04 9.99975121e-01 -2.80279460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1282.176559995 meters 0.014989197021269282 Centerline is valid? [True, True] Translation: X:-407.81, Y:-243.60, Z:-2.80 [[-6.73724944e-01 -7.38965581e-01 4.95678030e-03 -4.07808870e+02] [ 7.38947128e-01 -6.73743163e-01 -5.22428895e-03 -2.43602730e+02] [ 7.20016656e-03 1.43064791e-04 9.99974068e-01 -2.80261048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1282.2065599950001 meters 0.014482276431444476 Centerline is valid? [True, True] Translation: X:-407.83, Y:-243.58, Z:-2.80 [[-6.75375891e-01 -7.37456477e-01 5.03497980e-03 -4.07826458e+02] [ 7.37437416e-01 -6.75394646e-01 -5.30372409e-03 -2.43580572e+02] [ 7.31186409e-03 1.30975115e-04 9.99973260e-01 -2.80219575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1282.236559995 meters 0.013804034000268141 Centerline is valid? [True, True] Translation: X:-407.84, Y:-243.56, Z:-2.80 [[-6.78404659e-01 -7.34671325e-01 5.01618862e-03 -4.07842485e+02] [ 7.34652351e-01 -6.78423196e-01 -5.28115489e-03 -2.43556275e+02] [ 7.28301178e-03 1.02394672e-04 9.99973474e-01 -2.80181404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1282.266559995 meters 0.013550152325586266 Centerline is valid? [True, True] Translation: X:-407.86, Y:-243.54, Z:-2.80 [[-6.79862272e-01 -7.33322761e-01 5.00193044e-03 -4.07858634e+02] [ 7.33303883e-01 -6.79880666e-01 -5.26266069e-03 -2.43535917e+02] [ 7.25994467e-03 9.00505607e-05 9.99973642e-01 -2.80184434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1282.296559995 meters 0.013268121465452217 Centerline is valid? [True, True] Translation: X:-407.88, Y:-243.51, Z:-2.80 [[-6.81266737e-01 -7.32016074e-01 5.30098710e-03 -4.07875827e+02] [ 7.31994858e-01 -6.81287355e-01 -5.57381204e-03 -2.43514381e+02] [ 7.69161549e-03 8.30425543e-05 9.99970416e-01 -2.80147224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1282.326559995 meters 0.013095074046510096 Centerline is valid? [True, True] Translation: X:-407.89, Y:-243.49, Z:-2.80 [[-6.82184915e-01 -7.31157930e-01 5.64118026e-03 -4.07893428e+02] [ 7.31133902e-01 -6.82208234e-01 -5.92818328e-03 -2.43492927e+02] [ 8.18289785e-03 8.03409297e-05 9.99966517e-01 -2.80147999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1282.356559995 meters 0.013050262087603685 Centerline is valid? [True, True] Translation: X:-407.91, Y:-243.47, Z:-2.80 [[-6.82903509e-01 -7.30484901e-01 5.88277641e-03 -4.07911284e+02] [ 7.30458779e-01 -6.82928842e-01 -6.17819656e-03 -2.43472184e+02] [ 8.53059698e-03 7.80135590e-05 9.99963611e-01 -2.80179005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1282.386559995 meters 0.013225872410840554 Centerline is valid? [True, True] Translation: X:-407.93, Y:-243.45, Z:-2.80 [[-6.83426415e-01 -7.29987484e-01 6.82702922e-03 -4.07928467e+02] [ 7.29952324e-01 -6.83460508e-01 -7.16516402e-03 -2.43452076e+02] [ 9.89648492e-03 8.65434830e-05 9.99951025e-01 -2.80290887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1282.416559995 meters 0.013431732339073785 Centerline is valid? [True, True] Translation: X:-407.95, Y:-243.43, Z:-2.80 [[-6.83517641e-01 -7.29897170e-01 7.33183201e-03 -4.07946400e+02] [ 7.29856664e-01 -6.83556956e-01 -7.69005692e-03 -2.43433410e+02] [ 1.06246756e-02 9.48968880e-05 9.99943552e-01 -2.80376951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1282.4465599950001 meters 0.013630066304326834 Centerline is valid? [True, True] Translation: X:-407.97, Y:-243.41, Z:-2.80 [[-6.83145556e-01 -7.30238464e-01 7.99595275e-03 -4.07966772e+02] [ 7.30190363e-01 -6.83192340e-01 -8.38218993e-03 -2.43413426e+02] [ 1.15837712e-02 1.12311837e-04 9.99932900e-01 -2.80454915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1282.4765599950001 meters 0.01358475695059434 Centerline is valid? [True, True] Translation: X:-407.99, Y:-243.39, Z:-2.80 [[-6.81910976e-01 -7.31386931e-01 8.40114637e-03 -4.07987262e+02] [ 7.31333978e-01 -6.81962710e-01 -8.80198913e-03 -2.43393684e+02] [ 1.21669284e-02 1.41870797e-04 9.99925970e-01 -2.80349858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1282.506559995 meters 0.013702145633428461 Centerline is valid? [True, True] Translation: X:-408.01, Y:-243.37, Z:-2.80 [[-6.81445551e-01 -7.31818484e-01 8.58295227e-03 -4.08007871e+02] [ 7.31763312e-01 -6.81499583e-01 -8.98741453e-03 -2.43374239e+02] [ 1.24264345e-02 1.56255934e-04 9.99922777e-01 -2.80342627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1282.536559995 meters 0.014138988000156956 Centerline is valid? [True, True] Translation: X:-408.03, Y:-243.36, Z:-2.80 [[-6.80981850e-01 -7.32249453e-01 8.62890885e-03 -4.08027282e+02] [ 7.32193798e-01 -6.81036497e-01 -9.02954233e-03 -2.43356372e+02] [ 1.24884793e-02 1.69079097e-04 9.99922002e-01 -2.80338971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1282.566559995 meters 0.014622349560260501 Centerline is valid? [True, True] Translation: X:-408.05, Y:-243.34, Z:-2.80 [[-6.80775487e-01 -7.32444264e-01 8.37479499e-03 -4.08046820e+02] [ 7.32391922e-01 -6.80826976e-01 -8.75791506e-03 -2.43339083e+02] [ 1.21164710e-02 1.71458309e-04 9.99926578e-01 -2.80387243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1282.596559995 meters 0.014899357117024038 Centerline is valid? [True, True] Translation: X:-408.07, Y:-243.32, Z:-2.80 [[-6.80607267e-01 -7.32603964e-01 8.07346193e-03 -4.08065967e+02] [ 7.32555378e-01 -6.80655128e-01 -8.43887145e-03 -2.43321160e+02] [ 1.16775939e-02 1.70700716e-04 9.99931800e-01 -2.80366166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1282.626559995 meters 0.015089231308785462 Centerline is valid? [True, True] Translation: X:-408.08, Y:-243.30, Z:-2.80 [[-6.80636277e-01 -7.32580689e-01 7.73257608e-03 -4.08084547e+02] [ 7.32536174e-01 -6.80680180e-01 -8.07753981e-03 -2.43302786e+02] [ 1.11808610e-02 1.66525070e-04 9.99937479e-01 -2.80286810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1282.656559995 meters 0.015260888498067735 Centerline is valid? [True, True] Translation: X:-408.10, Y:-243.28, Z:-2.80 [[-6.80763069e-01 -7.32470214e-01 7.00217520e-03 -4.08102766e+02] [ 7.32433751e-01 -6.80799062e-01 -7.31005506e-03 -2.43284089e+02] [ 1.01214719e-02 1.52213935e-04 9.99948765e-01 -2.80127991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1282.6865599950002 meters 0.015398798360919046 Centerline is valid? [True, True] Translation: X:-408.12, Y:-243.26, Z:-2.80 [[-6.80746851e-01 -7.32482070e-01 7.33093703e-03 -4.08122111e+02] [ 7.32442151e-01 -6.80786304e-01 -7.64883621e-03 -2.43264361e+02] [ 1.05934369e-02 1.62566125e-04 9.99943875e-01 -2.80095245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1282.7165599950001 meters 0.015576798015556675 Centerline is valid? [True, True] Translation: X:-408.14, Y:-243.25, Z:-2.80 [[-6.80981856e-01 -7.32266801e-01 7.00309537e-03 -4.08140885e+02] [ 7.32230407e-01 -6.81017847e-01 -7.30233842e-03 -2.43245939e+02] [ 1.01164929e-02 1.55119392e-04 9.99948815e-01 -2.80140868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1282.746559995 meters 0.014355617436082619 Centerline is valid? [True, True] Translation: X:-408.16, Y:-243.22, Z:-2.80 [[-6.81307717e-01 -7.31965746e-01 6.77802548e-03 -4.08158214e+02] [ 7.31931682e-01 -6.81341416e-01 -7.06321174e-03 -2.43224238e+02] [ 9.78817853e-03 1.48830925e-04 9.99952084e-01 -2.79968928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1282.776559995 meters 0.014505677971979792 Centerline is valid? [True, True] Translation: X:-408.18, Y:-243.21, Z:-2.80 [[-6.81532780e-01 -7.31754550e-01 6.95329226e-03 -4.08176560e+02] [ 7.31718726e-01 -6.81568232e-01 -7.24233746e-03 -2.43205690e+02] [ 1.00387565e-02 1.51963769e-04 9.99949599e-01 -2.79980981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1282.806559995 meters 0.014082692614036382 Centerline is valid? [True, True] Translation: X:-408.19, Y:-243.18, Z:-2.80 [[-6.82082112e-01 -7.31241288e-01 7.08325002e-03 -4.08194893e+02] [ 7.31204126e-01 -6.82118873e-01 -7.37351536e-03 -2.43184376e+02] [ 1.02234374e-02 1.49958719e-04 9.99947728e-01 -2.79851007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1282.836559995 meters 0.014740389859337897 Centerline is valid? [True, True] Translation: X:-408.22, Y:-243.17, Z:-2.80 [[-6.82470103e-01 -7.30878383e-01 7.16575829e-03 -4.08215054e+02] [ 7.30840377e-01 -6.82507705e-01 -7.45495281e-03 -2.43165515e+02] [ 1.03393491e-02 1.49243082e-04 9.99946537e-01 -2.79949410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1282.866559995 meters 0.014127859719188729 Centerline is valid? [True, True] Translation: X:-408.23, Y:-243.14, Z:-2.80 [[-6.82798493e-01 -7.30570731e-01 7.25436588e-03 -4.08233184e+02] [ 7.30531811e-01 -6.82837012e-01 -7.54239257e-03 -2.43144777e+02] [ 1.04638008e-02 1.49610763e-04 9.99945242e-01 -2.79829927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1282.896559995 meters 0.014792420352186251 Centerline is valid? [True, True] Translation: X:-408.25, Y:-243.13, Z:-2.80 [[-6.83080586e-01 -7.30305978e-01 7.35473634e-03 -4.08252737e+02] [ 7.30266012e-01 -6.83120162e-01 -7.64171910e-03 -2.43126788e+02] [ 1.06049618e-02 1.51004015e-04 9.99943755e-01 -2.79930169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1282.926559995 meters 0.0142609021185111 Centerline is valid? [True, True] Translation: X:-408.27, Y:-243.11, Z:-2.80 [[-6.82701902e-01 -7.30663382e-01 7.00965836e-03 -4.08271431e+02] [ 7.30627139e-01 -6.82737870e-01 -7.27908424e-03 -2.43105731e+02] [ 1.01043195e-02 1.52001976e-04 9.99948939e-01 -2.79785747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1282.9565599950001 meters 0.014270404341689994 Centerline is valid? [True, True] Translation: X:-408.29, Y:-243.09, Z:-2.80 [[-6.82454473e-01 -7.30894528e-01 7.00573990e-03 -4.08290564e+02] [ 7.30858384e-01 -6.82490413e-01 -7.27044084e-03 -2.43086541e+02] [ 1.00952757e-02 1.58458865e-04 9.99949029e-01 -2.79775815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1282.986559995 meters 0.01445411281428419 Centerline is valid? [True, True] Translation: X:-408.31, Y:-243.07, Z:-2.80 [[-6.82208760e-01 -7.31124963e-01 6.89183917e-03 -4.08309732e+02] [ 7.31090040e-01 -6.82243551e-01 -7.14774637e-03 -2.43067644e+02] [ 9.92780863e-03 1.62299791e-04 9.99950705e-01 -2.79780586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1283.016559995 meters 0.014774329647684391 Centerline is valid? [True, True] Translation: X:-408.33, Y:-243.05, Z:-2.80 [[-6.82061793e-01 -7.31265653e-01 6.50048443e-03 -4.08329115e+02] [ 7.31234632e-01 -6.82092751e-01 -6.73741738e-03 -2.43049327e+02] [ 9.36077522e-03 1.58044359e-04 9.99956175e-01 -2.79828226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1283.046559995 meters 0.014774329647684391 Centerline is valid? [True, True] Translation: X:-408.35, Y:-243.03, Z:-2.80 [[-6.82287005e-01 -7.31055511e-01 6.50255915e-03 -4.08347778e+02] [ 7.31024500e-01 -6.82317972e-01 -6.73541501e-03 -2.43030146e+02] [ 9.36077523e-03 1.58043910e-04 9.99956175e-01 -2.79828282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1283.076559995 meters 0.014391766615730852 Centerline is valid? [True, True] Translation: X:-408.37, Y:-243.01, Z:-2.80 [[-6.82339528e-01 -7.31007789e-01 6.35468100e-03 -4.08366679e+02] [ 7.30978204e-01 -6.82369100e-01 -6.57851748e-03 -2.43009211e+02] [ 9.14518548e-03 1.56350794e-04 9.99958170e-01 -2.79781462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1283.106559995 meters 0.014688983408761184 Centerline is valid? [True, True] Translation: X:-408.39, Y:-242.99, Z:-2.80 [[-6.82571722e-01 -7.30791710e-01 6.27063553e-03 -4.08386014e+02] [ 7.30762929e-01 -6.82600507e-01 -6.48764083e-03 -2.42990227e+02] [ 9.02145314e-03 1.54067814e-04 9.99959294e-01 -2.79844420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1283.136559995 meters 0.01470079526068754 Centerline is valid? [True, True] Translation: X:-408.40, Y:-242.97, Z:-2.80 [[-6.83216623e-01 -7.30189075e-01 6.24189288e-03 -4.08404246e+02] [ 7.30160569e-01 -6.83245119e-01 -6.45369425e-03 -2.42971928e+02] [ 8.97715988e-03 1.48312867e-04 9.99959694e-01 -2.79894474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1283.166559995 meters 0.014274539104495233 Centerline is valid? [True, True] Translation: X:-408.42, Y:-242.95, Z:-2.80 [[-6.83781760e-01 -7.29657677e-01 6.49461108e-03 -4.08422514e+02] [ 7.29626832e-01 -6.83812586e-01 -6.71076455e-03 -2.42951993e+02] [ 9.33765767e-03 1.49944116e-04 9.99956392e-01 -2.79905744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1283.1965599950001 meters 0.014255948550560981 Centerline is valid? [True, True] Translation: X:-408.44, Y:-242.93, Z:-2.80 [[-6.84685398e-01 -7.28807146e-01 6.78607735e-03 -4.08440873e+02] [ 7.28773473e-01 -6.84719010e-01 -7.00731256e-03 -2.42933591e+02] [ 9.75353563e-03 1.47708575e-04 9.99952422e-01 -2.79987076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1283.2265599950001 meters 0.014108482482993154 Centerline is valid? [True, True] Translation: X:-408.46, Y:-242.91, Z:-2.80 [[-6.85440504e-01 -7.28096053e-01 6.88867032e-03 -4.08459688e+02] [ 7.28061363e-01 -6.85475103e-01 -7.10880265e-03 -2.42913718e+02] [ 9.89790315e-03 1.42713432e-04 9.99951005e-01 -2.80007446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1283.256559995 meters 0.013787264698594466 Centerline is valid? [True, True] Translation: X:-408.48, Y:-242.89, Z:-2.80 [[-6.86710625e-01 -7.26893345e-01 7.38804311e-03 -4.08478014e+02] [ 7.26853424e-01 -6.86750352e-01 -7.61936127e-03 -2.42893731e+02] [ 1.06122042e-02 1.37728096e-04 9.99943680e-01 -2.80056384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1283.286559995 meters 0.013696666919678722 Centerline is valid? [True, True] Translation: X:-408.50, Y:-242.87, Z:-2.80 [[-6.87710910e-01 -7.25945917e-01 7.49872791e-03 -4.08496797e+02] [ 7.25904786e-01 -6.87751779e-01 -7.72870142e-03 -2.42874054e+02] [ 1.07678827e-02 1.28250188e-04 9.99942017e-01 -2.80070548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1283.316559995 meters 0.0136512489379265 Centerline is valid? [True, True] Translation: X:-408.51, Y:-242.86, Z:-2.80 [[-6.88734883e-01 -7.24975549e-01 7.39687740e-03 -4.08514677e+02] [ 7.24935524e-01 -6.88774593e-01 -7.61876060e-03 -2.42855244e+02] [ 1.06181964e-02 1.14953005e-04 9.99943619e-01 -2.80079007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1283.346559995 meters 0.013145872434457374 Centerline is valid? [True, True] Translation: X:-408.53, Y:-242.83, Z:-2.80 [[-6.90143389e-01 -7.23635983e-01 7.28468071e-03 -4.08532512e+02] [ 7.23597138e-01 -6.90181828e-01 -7.49847802e-03 -2.42834708e+02] [ 1.04539228e-02 9.61490777e-05 9.99945352e-01 -2.79945455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1283.376559995 meters 0.012791090181486081 Centerline is valid? [True, True] Translation: X:-408.55, Y:-242.81, Z:-2.80 [[-6.93214489e-01 -7.20698972e-01 6.83110967e-03 -4.08550334e+02] [ 7.20664709e-01 -6.93248144e-01 -7.02770336e-03 -2.42813664e+02] [ 9.80051269e-03 5.12338746e-05 9.99951973e-01 -2.79934524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1283.406559995 meters 0.012589008507317834 Centerline is valid? [True, True] Translation: X:-408.57, Y:-242.79, Z:-2.80 [[-6.95001198e-01 -7.18977199e-01 6.71735475e-03 -4.08569017e+02] [ 7.18944024e-01 -6.95033659e-01 -6.90679974e-03 -2.42792524e+02] [ 9.63461918e-03 2.91679630e-05 9.99953586e-01 -2.79902807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1283.4365599950002 meters 0.012591004910793851 Centerline is valid? [True, True] Translation: X:-408.59, Y:-242.77, Z:-2.80 [[-6.97054869e-01 -7.16987601e-01 6.57957151e-03 -4.08586995e+02] [ 7.16955724e-01 -6.97085921e-01 -6.76088717e-03 -2.42772184e+02] [ 9.43399893e-03 4.55213242e-06 9.99955499e-01 -2.79905338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1283.4665599950001 meters 0.012700438018672587 Centerline is valid? [True, True] Translation: X:-408.60, Y:-242.75, Z:-2.80 [[-6.98940381e-01 -7.15150863e-01 6.44878359e-03 -4.08604679e+02] [ 7.15120201e-01 -6.98970130e-01 -6.62234067e-03 -2.42751783e+02] [ 9.24347975e-03 -1.69658877e-05 9.99957278e-01 -2.79877561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1283.496559995 meters 0.012804571839048779 Centerline is valid? [True, True] Translation: X:-408.62, Y:-242.73, Z:-2.80 [[-7.00556574e-01 -7.13570104e-01 6.18007279e-03 -4.08621941e+02] [ 7.13541912e-01 -7.00583832e-01 -6.34310779e-03 -2.42732657e+02] [ 8.85591116e-03 -3.39649079e-05 9.99960785e-01 -2.79877452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1283.526559995 meters 0.012829531388065874 Centerline is valid? [True, True] Translation: X:-408.64, Y:-242.71, Z:-2.80 [[-7.01718964e-01 -7.12429110e-01 5.93802042e-03 -4.08641850e+02] [ 7.12403071e-01 -7.01744086e-01 -6.09124069e-03 -2.42712643e+02] [ 8.50654789e-03 -4.40751203e-05 9.99963818e-01 -2.79841996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1283.556559995 meters 0.013100588235369835 Centerline is valid? [True, True] Translation: X:-408.66, Y:-242.69, Z:-2.80 [[-7.03526962e-01 -7.10640456e-01 6.32106543e-03 -4.08660939e+02] [ 7.10610912e-01 -7.03555355e-01 -6.48032345e-03 -2.42693370e+02] [ 9.05239945e-03 -6.72642011e-05 9.99959024e-01 -2.79913729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1283.586559995 meters 0.013247063723257155 Centerline is valid? [True, True] Translation: X:-408.68, Y:-242.67, Z:-2.80 [[-7.04398743e-01 -7.09771091e-01 6.88551690e-03 -4.08680674e+02] [ 7.09736031e-01 -7.04432390e-01 -7.05503318e-03 -2.42673370e+02] [ 9.85783972e-03 -8.26570692e-05 9.99951407e-01 -2.79959874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1283.616559995 meters 0.01358523281348184 Centerline is valid? [True, True] Translation: X:-408.70, Y:-242.65, Z:-2.80 [[-7.04768287e-01 -7.09399665e-01 7.33336345e-03 -4.08698636e+02] [ 7.09359915e-01 -7.04806433e-01 -7.51024166e-03 -2.42654792e+02] [ 1.04963646e-02 -9.09860744e-05 9.99944908e-01 -2.80102841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1283.646559995 meters 0.01347676677532572 Centerline is valid? [True, True] Translation: X:-408.72, Y:-242.64, Z:-2.80 [[-7.05209136e-01 -7.08955229e-01 7.90939581e-03 -4.08718414e+02] [ 7.08909018e-01 -7.05253482e-01 -8.09512749e-03 -2.42636521e+02] [ 1.13172119e-02 -1.01715846e-04 9.99935953e-01 -2.80130243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1283.676559995 meters 0.013658062594531903 Centerline is valid? [True, True] Translation: X:-408.74, Y:-242.62, Z:-2.80 [[-7.05519095e-01 -7.08639468e-01 8.53878261e-03 -4.08737818e+02] [ 7.08585653e-01 -7.05570756e-01 -8.73387835e-03 -2.42617773e+02] [ 1.22138862e-02 -1.11459097e-04 9.99925402e-01 -2.80204613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1283.7065599950001 meters 0.013704500528075134 Centerline is valid? [True, True] Translation: X:-408.76, Y:-242.60, Z:-2.80 [[-7.05722837e-01 -7.08429317e-01 9.12027305e-03 -4.08757500e+02] [ 7.08367981e-01 -7.05781757e-01 -9.32287089e-03 -2.42599219e+02] [ 1.30415174e-02 -1.18853493e-04 9.99914949e-01 -2.80276761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1283.736559995 meters 0.013604826119201649 Centerline is valid? [True, True] Translation: X:-408.78, Y:-242.58, Z:-2.80 [[-7.05249503e-01 -7.08894676e-01 9.56431009e-03 -4.08778213e+02] [ 7.08827351e-01 -7.05314345e-01 -9.77042109e-03 -2.42582673e+02] [ 1.36720446e-02 -1.11140038e-04 9.99906527e-01 -2.80402604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1283.766559995 meters 0.013521575623648826 Centerline is valid? [True, True] Translation: X:-408.80, Y:-242.56, Z:-2.80 [[-7.05059488e-01 -7.09080457e-01 9.79921529e-03 -4.08798813e+02] [ 7.09009888e-01 -7.05127574e-01 -1.00041773e-02 -2.42564255e+02] [ 1.40034635e-02 -1.05799558e-04 9.99901941e-01 -2.80365891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1283.796559995 meters 0.013445572671209336 Centerline is valid? [True, True] Translation: X:-408.82, Y:-242.55, Z:-2.80 [[-7.05523106e-01 -7.08626130e-01 9.28197776e-03 -4.08819996e+02] [ 7.08562853e-01 -7.05584154e-01 -9.47022629e-03 -2.42546225e+02] [ 1.32600662e-02 -1.04598817e-04 9.99912076e-01 -2.80276716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1283.826559995 meters 0.013547610838580432 Centerline is valid? [True, True] Translation: X:-408.84, Y:-242.53, Z:-2.80 [[-7.05747066e-01 -7.08411571e-01 8.60957745e-03 -4.08838915e+02] [ 7.08357185e-01 -7.05799573e-01 -8.77847165e-03 -2.42528168e+02] [ 1.22954070e-02 -9.67245625e-05 9.99924404e-01 -2.80234160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1283.856559995 meters 0.013468642975097065 Centerline is valid? [True, True] Translation: X:-408.86, Y:-242.51, Z:-2.80 [[-7.06470368e-01 -7.07698011e-01 7.94633379e-03 -4.08858833e+02] [ 7.07651694e-01 -7.06515050e-01 -8.09713826e-03 -2.42509780e+02] [ 1.13445331e-02 -9.71516753e-05 9.99935644e-01 -2.80129338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1283.886559995 meters 0.013404162477279232 Centerline is valid? [True, True] Translation: X:-408.88, Y:-242.49, Z:-2.80 [[-7.06849413e-01 -7.07328655e-01 7.07676223e-03 -4.08878571e+02] [ 7.07291948e-01 -7.06884832e-01 -7.20655640e-03 -2.42490544e+02] [ 1.00998597e-02 -8.86132131e-05 9.99948991e-01 -2.80007937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1283.916559995 meters 0.013298243867479225 Centerline is valid? [True, True] Translation: X:-408.90, Y:-242.47, Z:-2.80 [[-7.07101931e-01 -7.07086384e-01 5.97539933e-03 -4.08898056e+02] [ 7.07060237e-01 -7.07127174e-01 -6.08119123e-03 -2.42471702e+02] [ 8.52529476e-03 -7.50547902e-05 9.99963656e-01 -2.79888577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1283.9465599950001 meters 0.013207340347063033 Centerline is valid? [True, True] Translation: X:-408.92, Y:-242.45, Z:-2.80 [[-7.06910314e-01 -7.07285951e-01 4.93873964e-03 -4.08918452e+02] [ 7.07268114e-01 -7.06927564e-01 -5.02336978e-03 -2.42452259e+02] [ 7.04429006e-03 -5.80588412e-05 9.99975187e-01 -2.79771617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1283.9765599950001 meters 0.013104252543602693 Centerline is valid? [True, True] Translation: X:-408.94, Y:-242.44, Z:-2.80 [[-7.05197041e-01 -7.09003500e-01 3.34216658e-03 -4.08939165e+02] [ 7.08995362e-01 -7.05204960e-01 -3.39719291e-03 -2.42435563e+02] [ 4.76553411e-03 -2.61097815e-05 9.99988645e-01 -2.79722975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1284.006559995 meters 0.012770160495868942 Centerline is valid? [True, True] Translation: X:-408.96, Y:-242.42, Z:-2.80 [[-7.03817488e-01 -7.10374709e-01 2.95231512e-03 -4.08960777e+02] [ 7.10368378e-01 -7.03823680e-01 -2.99910681e-03 -2.42419034e+02] [ 4.20839892e-03 -1.35925126e-05 9.99991145e-01 -2.79669111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1284.036559995 meters 0.012657877382784946 Centerline is valid? [True, True] Translation: X:-408.98, Y:-242.40, Z:-2.80 [[-7.02009371e-01 -7.12162692e-01 2.67264748e-03 -4.08983193e+02] [ 7.12157523e-01 -7.02014458e-01 -2.71348743e-03 -2.42401323e+02] [ 3.80868169e-03 -1.54759741e-06 9.99992747e-01 -2.79625460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1284.066559995 meters 0.012728335809240156 Centerline is valid? [True, True] Translation: X:-409.01, Y:-242.38, Z:-2.80 [[-6.99996227e-01 -7.14142092e-01 2.52093679e-03 -4.09005012e+02] [ 7.14137511e-01 -7.00000766e-01 -2.55785112e-03 -2.42384755e+02] [ 3.59132683e-03 9.80938988e-06 9.99993551e-01 -2.79656644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1284.096559995 meters 0.013187310541978914 Centerline is valid? [True, True] Translation: X:-409.03, Y:-242.37, Z:-2.80 [[-6.95503674e-01 -7.18518513e-01 2.40557159e-03 -4.09029884e+02] [ 7.18514373e-01 -6.95507833e-01 -2.43935851e-03 -2.42371206e+02] [ 3.42581813e-03 3.18549559e-05 9.99994132e-01 -2.79778782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1284.126559995 meters 0.013478950742141848 Centerline is valid? [True, True] Translation: X:-409.05, Y:-242.35, Z:-2.80 [[-6.93562073e-01 -7.20392063e-01 2.63199557e-03 -4.09052202e+02] [ 7.20387126e-01 -6.93567065e-01 -2.66744698e-03 -2.42353169e+02] [ 3.74707307e-03 4.60156667e-05 9.99992979e-01 -2.79825359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1284.156559995 meters 0.014272535697040397 Centerline is valid? [True, True] Translation: X:-409.07, Y:-242.34, Z:-2.80 [[-6.91792079e-01 -7.22090754e-01 2.94331970e-03 -4.09073910e+02] [ 7.22084601e-01 -6.91798337e-01 -2.98160074e-03 -2.42337226e+02] [ 4.18917001e-03 6.26780582e-05 9.99991224e-01 -2.79934851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1284.1865599950002 meters 0.015564145429332515 Centerline is valid? [True, True] Translation: X:-409.10, Y:-242.32, Z:-2.80 [[-6.90240755e-01 -7.23573269e-01 3.06992999e-03 -4.09095837e+02] [ 7.23566596e-01 -6.90247578e-01 -3.10858850e-03 -2.42321625e+02] [ 4.36830328e-03 7.56243189e-05 9.99990456e-01 -2.80044084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1284.2165599950001 meters 0.01604890154759744 Centerline is valid? [True, True] Translation: X:-409.12, Y:-242.30, Z:-2.80 [[-6.89253466e-01 -7.24511539e-01 3.56223845e-03 -4.09117115e+02] [ 7.24502576e-01 -6.89262665e-01 -3.60508421e-03 -2.42303829e+02] [ 5.06724307e-03 9.60341468e-05 9.99987157e-01 -2.80129814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1284.246559995 meters 0.015419949212220358 Centerline is valid? [True, True] Translation: X:-409.14, Y:-242.28, Z:-2.80 [[-6.88495900e-01 -7.25230741e-01 3.71049744e-03 -4.09136755e+02] [ 7.25221038e-01 -6.88505890e-01 -3.75304986e-03 -2.42283756e+02] [ 5.27652648e-03 1.06971364e-04 9.99986074e-01 -2.80142941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1284.276559995 meters 0.015488344146711725 Centerline is valid? [True, True] Translation: X:-409.16, Y:-242.26, Z:-2.80 [[-6.88653485e-01 -7.25077264e-01 4.39762859e-03 -4.09156572e+02] [ 7.25063648e-01 -6.88667514e-01 -4.44528348e-03 -2.42264952e+02] [ 6.25167793e-03 1.27300663e-04 9.99980450e-01 -2.80244987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1284.306559995 meters 0.01536785772528767 Centerline is valid? [True, True] Translation: X:-409.18, Y:-242.25, Z:-2.80 [[-6.89525614e-01 -7.24247811e-01 4.41997572e-03 -4.09175634e+02] [ 7.24234057e-01 -6.89539769e-01 -4.46510082e-03 -2.42245209e+02] [ 6.28158853e-03 1.22295562e-04 9.99980263e-01 -2.80306254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1284.336559995 meters 0.014697326154199334 Centerline is valid? [True, True] Translation: X:-409.19, Y:-242.22, Z:-2.80 [[-6.90831129e-01 -7.23001779e-01 4.55828578e-03 -4.09194347e+02] [ 7.22987141e-01 -6.90846158e-01 -4.60223908e-03 -2.42223914e+02] [ 6.47650126e-03 1.16211982e-04 9.99979021e-01 -2.80318775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1284.366559995 meters 0.014265753275524332 Centerline is valid? [True, True] Translation: X:-409.21, Y:-242.20, Z:-2.80 [[-6.92305376e-01 -7.21590107e-01 4.58090732e-03 -4.09213102e+02] [ 7.21575309e-01 -6.92320523e-01 -4.62246258e-03 -2.42202789e+02] [ 6.50697942e-03 1.05313921e-04 9.99978824e-01 -2.80317798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1284.396559995 meters 0.013880464098669405 Centerline is valid? [True, True] Translation: X:-409.23, Y:-242.18, Z:-2.80 [[-6.93592477e-01 -7.20354712e-01 4.30875609e-03 -4.09232128e+02] [ 7.20341611e-01 -6.93605855e-01 -4.34539148e-03 -2.42181510e+02] [ 6.11880168e-03 8.98454606e-05 9.99981276e-01 -2.80281470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1284.426559995 meters 0.013325382407529882 Centerline is valid? [True, True] Translation: X:-409.25, Y:-242.16, Z:-2.80 [[-6.96024838e-01 -7.18004298e-01 4.38784359e-03 -4.09250025e+02] [ 7.17990681e-01 -6.96038665e-01 -4.42266536e-03 -2.42159388e+02] [ 6.22960153e-03 7.21458622e-05 9.99980593e-01 -2.80324413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1284.4565599950001 meters 0.013446429291164921 Centerline is valid? [True, True] Translation: X:-409.27, Y:-242.14, Z:-2.80 [[-6.97010666e-01 -7.17045928e-01 4.61171378e-03 -4.09268189e+02] [ 7.17030885e-01 -6.97025919e-01 -4.64523446e-03 -2.42140186e+02] [ 6.54533049e-03 6.89632466e-05 9.99978577e-01 -2.80403812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1284.486559995 meters 0.01303488205421873 Centerline is valid? [True, True] Translation: X:-409.29, Y:-242.12, Z:-2.80 [[-6.98198945e-01 -7.15888119e-01 4.73653775e-03 -4.09285832e+02] [ 7.15872243e-01 -6.98215008e-01 -4.76797177e-03 -2.42119807e+02] [ 6.72045608e-03 6.17630511e-05 9.99977416e-01 -2.80423017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1284.516559995 meters 0.012985573126961929 Centerline is valid? [True, True] Translation: X:-409.30, Y:-242.10, Z:-2.80 [[-6.99248367e-01 -7.14861749e-01 4.93976499e-03 -4.09304213e+02] [ 7.14844475e-01 -6.99265813e-01 -4.96976826e-03 -2.42098795e+02] [ 7.00690601e-03 5.60613709e-05 9.99975450e-01 -2.80471995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1284.546559995 meters 0.012847613444674966 Centerline is valid? [True, True] Translation: X:-409.32, Y:-242.08, Z:-2.80 [[-7.00333057e-01 -7.13798853e-01 4.98055785e-03 -4.09322299e+02] [ 7.13781289e-01 -7.00350765e-01 -5.00765928e-03 -2.42077863e+02] [ 7.06259895e-03 4.79996660e-05 9.99975059e-01 -2.80493533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1284.576559995 meters 0.012679901119748647 Centerline is valid? [True, True] Translation: X:-409.34, Y:-242.06, Z:-2.80 [[-7.02006781e-01 -7.12148286e-01 5.59451527e-03 -4.09337492e+02] [ 7.12126101e-01 -7.02029072e-01 -5.62125791e-03 -2.42056065e+02] [ 7.93068155e-03 3.78391715e-05 9.99968551e-01 -2.80499109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1284.606559995 meters 0.012590164603729503 Centerline is valid? [True, True] Translation: X:-409.36, Y:-242.04, Z:-2.81 [[-7.03010051e-01 -7.11158815e-01 5.47799670e-03 -4.09355108e+02] [ 7.11137542e-01 -7.03031393e-01 -5.50075694e-03 -2.42035835e+02] [ 7.76311543e-03 2.85216924e-05 9.99969866e-01 -2.80503824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1284.636559995 meters 0.012726660268426414 Centerline is valid? [True, True] Translation: X:-409.37, Y:-242.02, Z:-2.81 [[-7.03764565e-01 -7.10411230e-01 5.59660276e-03 -4.09372692e+02] [ 7.10389030e-01 -7.03786817e-01 -5.61619252e-03 -2.42015991e+02] [ 7.92862148e-03 2.32879284e-05 9.99968568e-01 -2.80578368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1284.666559995 meters 0.015347682642774267 Centerline is valid? [True, True] Translation: X:-409.39, Y:-241.99, Z:-2.81 [[-7.05796964e-01 -7.08388766e-01 6.00010833e-03 -4.09389376e+02] [ 7.08363209e-01 -7.05822468e-01 -6.01735624e-03 -2.41993778e+02] [ 8.49763883e-03 3.22422679e-06 9.99963895e-01 -2.80728409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1284.6965599950001 meters 0.012712754855538138 Centerline is valid? [True, True] Translation: X:-409.41, Y:-241.97, Z:-2.81 [[-7.06221977e-01 -7.07967868e-01 5.65830843e-03 -4.09406495e+02] [ 7.07945156e-01 -7.06244644e-01 -5.67086633e-03 -2.41973977e+02] [ 8.01094117e-03 8.81614134e-07 9.99967912e-01 -2.80543670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1284.7265599950001 meters 0.012663010483830409 Centerline is valid? [True, True] Translation: X:-409.42, Y:-241.95, Z:-2.81 [[-7.07128055e-01 -7.07062373e-01 5.71966331e-03 -4.09424237e+02] [ 7.07039164e-01 -7.07151187e-01 -5.72885970e-03 -2.41953402e+02] [ 8.09532783e-03 -7.01144570e-06 9.99967232e-01 -2.80504750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1284.756559995 meters 0.012736222158411187 Centerline is valid? [True, True] Translation: X:-409.44, Y:-241.93, Z:-2.81 [[-7.08018083e-01 -7.06171064e-01 5.72901501e-03 -4.09440845e+02] [ 7.06147772e-01 -7.08041261e-01 -5.73552371e-03 -2.41933273e+02] [ 8.10663990e-03 -1.53233195e-05 9.99967141e-01 -2.80520099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1284.786559995 meters 0.012774227558498753 Centerline is valid? [True, True] Translation: X:-409.46, Y:-241.91, Z:-2.81 [[-7.09026627e-01 -7.05156138e-01 6.00531356e-03 -4.09458255e+02] [ 7.05130539e-01 -7.09052058e-01 -6.00845664e-03 -2.41911779e+02] [ 8.49498002e-03 -2.56257617e-05 9.99963917e-01 -2.80503354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1284.816559995 meters 0.012880711271193373 Centerline is valid? [True, True] Translation: X:-409.48, Y:-241.89, Z:-2.80 [[-7.09987374e-01 -7.04189201e-01 5.95804147e-03 -4.09475559e+02] [ 7.04164000e-01 -7.10012372e-01 -5.95752735e-03 -2.41890083e+02] [ 8.42550958e-03 -3.43308843e-05 9.99964504e-01 -2.80456717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1284.846559995 meters 0.012850575830075182 Centerline is valid? [True, True] Translation: X:-409.96, Y:-242.37, Z:-1.78 [[-7.52079692e-01 6.59043109e-01 6.19009581e-03 -4.09957064e+02] [ 6.59021225e-01 7.52105165e-01 -5.37085384e-03 -2.42374242e+02] [-8.19522724e-03 4.00944202e-05 -9.99966418e-01 -1.78412447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1284.876559995 meters 0.012809512138228096 Centerline is valid? [True, True] Translation: X:-409.51, Y:-241.86, Z:-2.80 [[-7.12532137e-01 -7.01621076e-01 5.08124657e-03 -4.09506222e+02] [ 7.01602292e-01 -7.12550249e-01 -5.13494046e-03 -2.41860985e+02] [ 7.22342595e-03 -9.37958632e-05 9.99973907e-01 -2.80300379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1284.906559995 meters 0.012770751111963125 Centerline is valid? [True, True] Translation: X:-409.53, Y:-241.89, Z:-2.80 [[-6.62538581e-01 -7.49015616e-01 4.27030973e-03 -4.09526126e+02] [ 7.48999890e-01 -6.62552343e-01 -4.85374556e-03 -2.41886525e+02] [ 6.46483494e-03 -1.73321771e-05 9.99979103e-01 -2.80337700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1284.9365599950002 meters 0.012567917581990783 Centerline is valid? [True, True] Translation: X:-409.55, Y:-241.87, Z:-2.80 [[-6.59961541e-01 -7.51292304e-01 3.26180025e-03 -4.09547628e+02] [ 7.51283172e-01 -6.59969601e-01 -3.70419697e-03 -2.41869293e+02] [ 4.93562369e-03 5.90809714e-06 9.99987820e-01 -2.80255552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1284.9665599950001 meters 0.012677975858326456 Centerline is valid? [True, True] Translation: X:-409.57, Y:-241.85, Z:-2.80 [[-6.59467723e-01 -7.51726912e-01 2.99558040e-03 -4.09566825e+02] [ 7.51719223e-01 -6.59474526e-01 -3.39986318e-03 -2.41849964e+02] [ 4.53127761e-03 9.73534298e-06 9.99989734e-01 -2.80243097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1284.996559995 meters 0.012677975858326456 Centerline is valid? [True, True] Translation: X:-409.58, Y:-241.83, Z:-2.80 [[-6.59687630e-01 -7.51533933e-01 2.99657499e-03 -4.09584608e+02] [ 7.51526247e-01 -6.59694435e-01 -3.39898659e-03 -2.41829978e+02] [ 4.53127761e-03 9.73534298e-06 9.99989734e-01 -2.80243142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1285.026559995 meters 0.012617894639544837 Centerline is valid? [True, True] Translation: X:-409.60, Y:-241.81, Z:-2.80 [[-6.59222931e-01 -7.51942429e-01 2.77688385e-03 -4.09602879e+02] [ 7.51935840e-01 -6.59228779e-01 -3.14788001e-03 -2.41809651e+02] [ 4.19762629e-03 1.28838057e-05 9.99991190e-01 -2.80152528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1285.056559995 meters 0.012699507369258543 Centerline is valid? [True, True] Translation: X:-409.62, Y:-241.79, Z:-2.80 [[-6.59532962e-01 -7.51671178e-01 2.59093557e-03 -4.09620026e+02] [ 7.51665447e-01 -6.59538051e-01 -2.93522062e-03 -2.41790334e+02] [ 3.91514134e-03 1.16419953e-05 9.99992336e-01 -2.80148010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1285.086559995 meters 0.012634445386934314 Centerline is valid? [True, True] Translation: X:-409.64, Y:-241.77, Z:-2.80 [[-6.59775420e-01 -7.51458627e-01 2.51518849e-03 -4.09637903e+02] [ 7.51453232e-01 -6.59780214e-01 -2.84770239e-03 -2.41769299e+02] [ 3.79940213e-03 1.12024753e-05 9.99992782e-01 -2.80078160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1285.116559995 meters 0.0126623958423867 Centerline is valid? [True, True] Translation: X:-409.66, Y:-241.75, Z:-2.80 [[-6.60073070e-01 -7.51197827e-01 2.31694874e-03 -4.09655645e+02] [ 7.51193251e-01 -6.60077136e-01 -2.62203968e-03 -2.41749839e+02] [ 3.49903540e-03 9.73847292e-06 9.99993879e-01 -2.80076664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1285.146559995 meters 0.012715215189211003 Centerline is valid? [True, True] Translation: X:-409.67, Y:-241.73, Z:-2.80 [[-6.60229405e-01 -7.51060578e-01 2.26721427e-03 -4.09674774e+02] [ 7.51056201e-01 -6.60233298e-01 -2.56425305e-03 -2.41730117e+02] [ 3.42279974e-03 9.81006645e-06 9.99994142e-01 -2.80106516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1285.176559995 meters 0.012925482994141533 Centerline is valid? [True, True] Translation: X:-409.69, Y:-241.71, Z:-2.80 [[-6.60281009e-01 -7.51015124e-01 2.29640633e-03 -4.09694206e+02] [ 7.51010638e-01 -6.60285002e-01 -2.59575965e-03 -2.41710721e+02] [ 3.46573741e-03 1.06947839e-05 9.99993994e-01 -2.80170575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1285.2065599950001 meters 0.012712510279927305 Centerline is valid? [True, True] Translation: X:-409.71, Y:-241.69, Z:-2.80 [[-6.60024874e-01 -7.51240295e-01 2.27680814e-03 -4.09714144e+02] [ 7.51235892e-01 -6.60028801e-01 -2.57211798e-03 -2.41691409e+02] [ 3.43503761e-03 1.27581493e-05 9.99994100e-01 -2.80189404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1285.236559995 meters 0.012863292918416987 Centerline is valid? [True, True] Translation: X:-409.73, Y:-241.67, Z:-2.80 [[-6.59779565e-01 -7.51455938e-01 2.21326937e-03 -4.09733327e+02] [ 7.51451784e-01 -6.59783277e-01 -2.49866181e-03 -2.41674871e+02] [ 3.33791237e-03 1.45992102e-05 9.99994429e-01 -2.80260125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1285.266559995 meters 0.012904067327395631 Centerline is valid? [True, True] Translation: X:-409.75, Y:-241.66, Z:-2.80 [[-6.59881489e-01 -7.51365857e-01 2.40205374e-03 -4.09751372e+02] [ 7.51360970e-01 -6.59885860e-01 -2.71006254e-03 -2.41655700e+02] [ 3.62132976e-03 1.64893235e-05 9.99993443e-01 -2.80288140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1285.296559995 meters 0.01286476779641311 Centerline is valid? [True, True] Translation: X:-409.77, Y:-241.64, Z:-2.80 [[-6.60341226e-01 -7.50960964e-01 2.66380255e-03 -4.09769562e+02] [ 7.50954958e-01 -6.60346598e-01 -3.00364291e-03 -2.41635738e+02] [ 4.01465153e-03 1.69664886e-05 9.99991941e-01 -2.80316372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1285.326559995 meters 0.012871244081694348 Centerline is valid? [True, True] Translation: X:-409.79, Y:-241.62, Z:-2.80 [[-6.60939382e-01 -7.50434036e-01 2.80906623e-03 -4.09786679e+02] [ 7.50427361e-01 -6.60945351e-01 -3.16532098e-03 -2.41616615e+02] [ 4.23200386e-03 1.59148673e-05 9.99991045e-01 -2.80358632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1285.356559995 meters 0.012877247498397651 Centerline is valid? [True, True] Translation: X:-409.80, Y:-241.60, Z:-2.80 [[-6.61717924e-01 -7.49747077e-01 2.95111190e-03 -4.09803772e+02] [ 7.49739712e-01 -6.61724505e-01 -3.32317522e-03 -2.41597437e+02] [ 4.44436397e-03 1.35611794e-05 9.99990124e-01 -2.80400034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1285.386559995 meters 0.012809887317451515 Centerline is valid? [True, True] Translation: X:-409.82, Y:-241.58, Z:-2.80 [[-6.62501901e-01 -7.49054737e-01 2.86932650e-03 -4.09821196e+02] [ 7.49047777e-01 -6.62508114e-01 -3.22905321e-03 -2.41577392e+02] [ 4.31968969e-03 1.00087482e-05 9.99990670e-01 -2.80420162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1285.416559995 meters 0.012730153264430092 Centerline is valid? [True, True] Translation: X:-409.84, Y:-241.56, Z:-2.80 [[-6.63865903e-01 -7.47847227e-01 2.56662657e-03 -4.09838447e+02] [ 7.47841657e-01 -6.63870865e-01 -2.88651752e-03 -2.41558279e+02] [ 3.86258273e-03 3.16970578e-06 9.99992540e-01 -2.80437542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1285.4465599950001 meters 0.012745524585600715 Centerline is valid? [True, True] Translation: X:-409.86, Y:-241.54, Z:-2.80 [[-6.64131011e-01 -7.47611705e-01 2.59586781e-03 -4.09856416e+02] [ 7.47606012e-01 -6.64136084e-01 -2.91751639e-03 -2.41539738e+02] [ 3.90517889e-03 3.07326765e-06 9.99992375e-01 -2.80464090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1285.4765599950001 meters 0.012794123972183309 Centerline is valid? [True, True] Translation: X:-409.88, Y:-241.52, Z:-2.81 [[-6.64046189e-01 -7.47687611e-01 2.42789485e-03 -4.09875066e+02] [ 7.47682638e-01 -6.64050628e-01 -2.72707990e-03 -2.41520846e+02] [ 3.65124896e-03 4.38780824e-06 9.99993334e-01 -2.80509557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1285.506559995 meters 0.012852757573173808 Centerline is valid? [True, True] Translation: X:-409.89, Y:-241.50, Z:-2.81 [[-6.63948095e-01 -7.47774026e-01 2.63313184e-03 -4.09893725e+02] [ 7.47768184e-01 -6.63953316e-01 -2.95582968e-03 -2.41501923e+02] [ 3.95856928e-03 6.45472627e-06 9.99992165e-01 -2.80564058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1285.536559995 meters 0.012838055752264713 Centerline is valid? [True, True] Translation: X:-409.91, Y:-241.48, Z:-2.81 [[-6.63512207e-01 -7.48161396e-01 2.46493704e-03 -4.09912056e+02] [ 7.48156286e-01 -6.63516786e-01 -2.76536552e-03 -2.41483146e+02] [ 3.70446683e-03 9.30436731e-06 9.99993139e-01 -2.80555359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1285.566559995 meters 0.01304675990547214 Centerline is valid? [True, True] Translation: X:-409.93, Y:-241.47, Z:-2.80 [[-6.62509863e-01 -7.49050747e-01 1.91302463e-03 -4.09930925e+02] [ 7.49047675e-01 -6.62512625e-01 -2.14516326e-03 -2.41465754e+02] [ 2.87423912e-03 1.17548374e-05 9.99995870e-01 -2.80495089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1285.596559995 meters 0.012806698014586813 Centerline is valid? [True, True] Translation: X:-409.95, Y:-241.45, Z:-2.80 [[-6.61932220e-01 -7.49561880e-01 1.65058254e-03 -4.09948653e+02] [ 7.49559597e-01 -6.61934278e-01 -1.84970513e-03 -2.41445119e+02] [ 2.47904562e-03 1.28305573e-05 9.99996927e-01 -2.80347479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1285.626559995 meters 0.012805883359919525 Centerline is valid? [True, True] Translation: X:-409.97, Y:-241.42, Z:-2.80 [[-6.61338549e-01 -7.50086778e-01 1.07244771e-03 -4.09967589e+02] [ 7.50085816e-01 -6.61339418e-01 -1.20113881e-03 -2.41424693e+02] [ 1.61021028e-03 1.00684176e-05 9.99998704e-01 -2.80274906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1285.656559995 meters 0.012956872308825947 Centerline is valid? [True, True] Translation: X:-409.99, Y:-241.41, Z:-2.80 [[-6.60680747e-01 -7.50666532e-01 8.41891517e-04 -4.09986223e+02] [ 7.50665940e-01 -6.60681283e-01 -9.42348339e-04 -2.41405506e+02] [ 1.26361133e-03 9.38788336e-06 9.99999202e-01 -2.80221571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1285.6865599950002 meters 0.013277188226083713 Centerline is valid? [True, True] Translation: X:-410.01, Y:-241.39, Z:-2.80 [[-6.58921990e-01 -7.52211195e-01 3.60592340e-04 -4.10007240e+02] [ 7.52211087e-01 -6.58922089e-01 -4.03388722e-04 -2.41386691e+02] [ 5.41035772e-04 5.43985694e-06 9.99999854e-01 -2.80247885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1285.7165599950001 meters 0.014007524072024463 Centerline is valid? [True, True] Translation: X:-410.03, Y:-241.37, Z:-2.80 [[-6.58269433e-01 -7.52782262e-01 4.68320510e-04 -4.10027043e+02] [ 7.52782080e-01 -6.58269600e-01 -5.23556498e-04 -2.41369152e+02] [ 7.02405201e-04 7.90204891e-06 9.99999754e-01 -2.80318465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1285.746559995 meters 0.013583750515038403 Centerline is valid? [True, True] Translation: X:-410.05, Y:-241.35, Z:-2.80 [[-6.57624599e-01 -7.53345093e-01 1.02868532e-03 -4.10045442e+02] [ 7.53344216e-01 -6.57625403e-01 -1.14937049e-03 -2.41347601e+02] [ 1.54236222e-03 1.90998246e-05 9.99998811e-01 -2.80431157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1285.776559995 meters 0.013731805550210767 Centerline is valid? [True, True] Translation: X:-410.06, Y:-241.33, Z:-2.81 [[-6.57278451e-01 -7.53646220e-01 1.55354831e-03 -4.10064840e+02] [ 7.53644224e-01 -6.57280286e-01 -1.73483253e-03 -2.41327143e+02] [ 2.32856665e-03 3.05546706e-05 9.99997289e-01 -2.80558749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1285.806559995 meters 0.013784347923214264 Centerline is valid? [True, True] Translation: X:-410.08, Y:-241.31, Z:-2.81 [[-6.57334121e-01 -7.53594103e-01 2.78969206e-03 -4.10082795e+02] [ 7.53587674e-01 -6.57340038e-01 -3.11325999e-03 -2.41306831e+02] [ 4.17991065e-03 5.58255294e-05 9.99991263e-01 -2.80758946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1285.836559995 meters 0.01378192113849829 Centerline is valid? [True, True] Translation: X:-410.10, Y:-241.29, Z:-2.81 [[-6.57852220e-01 -7.53140927e-01 3.03326703e-03 -4.10101186e+02] [ 7.53133331e-01 -6.57859210e-01 -3.38318453e-03 -2.41285053e+02] [ 4.54347739e-03 5.88190495e-05 9.99989677e-01 -2.80845319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1285.866559995 meters 0.013731938786843038 Centerline is valid? [True, True] Translation: X:-410.12, Y:-241.27, Z:-2.81 [[-6.58684517e-01 -7.52412371e-01 3.21410590e-03 -4.10118175e+02] [ 7.52403845e-01 -6.58692356e-01 -3.58251126e-03 -2.41265390e+02] [ 4.81263278e-03 5.85609350e-05 9.99988418e-01 -2.80891735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1285.896559995 meters 0.013398992301341702 Centerline is valid? [True, True] Translation: X:-410.14, Y:-241.24, Z:-2.81 [[-6.59779326e-01 -7.51452026e-01 3.33088023e-03 -4.10135034e+02] [ 7.51442866e-01 -6.59787731e-01 -3.71058074e-03 -2.41243365e+02] [ 4.98599732e-03 5.48017302e-05 9.99987569e-01 -2.80868556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1285.926559995 meters 0.013075514594704357 Centerline is valid? [True, True] Translation: X:-410.15, Y:-241.22, Z:-2.81 [[-6.61926262e-01 -7.49560672e-01 3.52468098e-03 -4.10149474e+02] [ 7.49550399e-01 -6.61935644e-01 -3.92455667e-03 -2.41221649e+02] [ 5.27480531e-03 4.41589132e-05 9.99986087e-01 -2.80851526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1285.9565599950001 meters 0.012917874087723215 Centerline is valid? [True, True] Translation: X:-410.17, Y:-241.20, Z:-2.81 [[-6.63170116e-01 -7.48460851e-01 3.42819580e-03 -4.10166932e+02] [ 7.48451129e-01 -6.63178976e-01 -3.81496086e-03 -2.41199057e+02] [ 5.12885623e-03 3.58689775e-05 9.99986847e-01 -2.80826512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1285.986559995 meters 0.012788962719208744 Centerline is valid? [True, True] Translation: X:-410.18, Y:-241.18, Z:-2.81 [[-6.64402072e-01 -7.47368342e-01 3.23256518e-03 -4.10184139e+02] [ 7.47359695e-01 -6.64409935e-01 -3.59519211e-03 -2.41177187e+02] [ 4.83468119e-03 2.72358380e-05 9.99988313e-01 -2.80793825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1286.016559995 meters 0.012742093977863049 Centerline is valid? [True, True] Translation: X:-410.20, Y:-241.16, Z:-2.81 [[-6.65198062e-01 -7.46660402e-01 3.12751911e-03 -4.10201423e+02] [ 7.46652307e-01 -6.65205414e-01 -3.47690657e-03 -2.41156093e+02] [ 4.67651111e-03 2.23378411e-05 9.99989065e-01 -2.80815036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1286.046559995 meters 0.012760483806711714 Centerline is valid? [True, True] Translation: X:-410.22, Y:-241.13, Z:-2.81 [[-6.65912745e-01 -7.46023379e-01 3.05529586e-03 -4.10219407e+02] [ 7.46015655e-01 -6.65919754e-01 -3.39469405e-03 -2.41133982e+02] [ 4.56710299e-03 1.87285062e-05 9.99989571e-01 -2.80820854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1286.076559995 meters 0.01278852814649695 Centerline is valid? [True, True] Translation: X:-410.24, Y:-241.11, Z:-2.81 [[-6.65945346e-01 -7.45992563e-01 3.44842533e-03 -4.10236823e+02] [ 7.45982737e-01 -6.65954274e-01 -3.82894482e-03 -2.41113729e+02] [ 5.15285795e-03 2.25977865e-05 9.99986724e-01 -2.80893071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1286.106559995 meters 0.012923683812481159 Centerline is valid? [True, True] Translation: X:-410.26, Y:-241.09, Z:-2.81 [[-6.65486473e-01 -7.46400133e-01 3.82054343e-03 -4.10255278e+02] [ 7.46388094e-01 -6.65497439e-01 -4.23937588e-03 -2.41094848e+02] [ 5.70683259e-03 3.03608236e-05 9.99983716e-01 -2.80984151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1286.136559995 meters 0.013066897243342845 Centerline is valid? [True, True] Translation: X:-410.27, Y:-241.08, Z:-2.81 [[-6.64569021e-01 -7.47215923e-01 4.04736518e-03 -4.10274527e+02] [ 7.47202444e-01 -6.64581345e-01 -4.48825682e-03 -2.41075012e+02] [ 6.04350035e-03 4.14447102e-05 9.99981737e-01 -2.81003933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1286.166559995 meters 0.013468748295559467 Centerline is valid? [True, True] Translation: X:-410.29, Y:-241.06, Z:-2.81 [[-6.63523541e-01 -7.48140624e-01 4.70284650e-03 -4.10293868e+02] [ 7.48122471e-01 -6.63540205e-01 -5.21209303e-03 -2.41055872e+02] [ 7.01990626e-03 5.99587163e-05 9.99975359e-01 -2.81135730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1286.1965599950001 meters 0.013594673614478128 Centerline is valid? [True, True] Translation: X:-410.31, Y:-241.04, Z:-2.81 [[-6.62374464e-01 -7.49154867e-01 5.20143746e-03 -4.10312989e+02] [ 7.49132717e-01 -6.62394881e-01 -5.76147491e-03 -2.41035767e+02] [ 7.76164252e-03 8.03131215e-05 9.99969875e-01 -2.81159521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1286.2265599950001 meters 0.014185359607323119 Centerline is valid? [True, True] Translation: X:-410.33, Y:-241.02, Z:-2.81 [[-6.60054564e-01 -7.51198047e-01 5.42840012e-03 -4.10333702e+02] [ 7.51174016e-01 -6.60076876e-01 -6.00953447e-03 -2.41016509e+02] [ 8.09751195e-03 1.11052463e-04 9.99967209e-01 -2.81247849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1286.256559995 meters 0.014185359607323119 Centerline is valid? [True, True] Translation: X:-410.35, Y:-241.00, Z:-2.81 [[-6.60288117e-01 -7.50992753e-01 5.43026901e-03 -4.10351717e+02] [ 7.50968730e-01 -6.60310437e-01 -6.00784578e-03 -2.40996726e+02] [ 8.09751194e-03 1.11053042e-04 9.99967209e-01 -2.81247894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1286.286559995 meters 0.014475501596673483 Centerline is valid? [True, True] Translation: X:-410.37, Y:-240.98, Z:-2.81 [[-6.58659436e-01 -7.52421178e-01 5.48814308e-03 -4.10371280e+02] [ 7.52396717e-01 -6.58682286e-01 -6.06841675e-03 -2.40976145e+02] [ 8.18094791e-03 1.32240886e-04 9.99966527e-01 -2.81237281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1286.316559995 meters 0.014956461136120869 Centerline is valid? [True, True] Translation: X:-410.39, Y:-240.96, Z:-2.81 [[-6.58121773e-01 -7.52890789e-01 5.58500213e-03 -4.10390595e+02] [ 7.52865506e-01 -6.58145455e-01 -6.17180171e-03 -2.40957312e+02] [ 8.32243643e-03 1.42958370e-04 9.99965358e-01 -2.81284699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1286.346559995 meters 0.015415883515929174 Centerline is valid? [True, True] Translation: X:-410.41, Y:-240.94, Z:-2.81 [[-6.57681480e-01 -7.53274801e-01 5.66973343e-03 -4.10409043e+02] [ 7.53248784e-01 -6.57705901e-01 -6.26240671e-03 -2.40939078e+02] [ 8.44633029e-03 1.52050901e-04 9.99964318e-01 -2.81364530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1286.376559995 meters 0.015360038700406616 Centerline is valid? [True, True] Translation: X:-410.43, Y:-240.92, Z:-2.81 [[-6.57835896e-01 -7.53139372e-01 5.74643453e-03 -4.10427384e+02] [ 7.53112675e-01 -6.57860976e-01 -6.34316462e-03 -2.40919184e+02] [ 8.55764204e-03 1.54951299e-04 9.99963371e-01 -2.81367677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1286.406559995 meters 0.015147331656434703 Centerline is valid? [True, True] Translation: X:-410.45, Y:-240.90, Z:-2.81 [[-6.57788841e-01 -7.53178839e-01 5.95619598e-03 -4.10445976e+02] [ 7.53150193e-01 -6.57815787e-01 -6.57099947e-03 -2.40897874e+02] [ 8.86721750e-03 1.63580028e-04 9.99960672e-01 -2.81361913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1286.4365599950002 meters 0.015122889278307794 Centerline is valid? [True, True] Translation: X:-410.46, Y:-240.88, Z:-2.81 [[-6.58707985e-01 -7.52370157e-01 6.55268670e-03 -4.10463024e+02] [ 7.52335492e-01 -6.58740554e-01 -7.22425618e-03 -2.40877791e+02] [ 9.75183522e-03 1.71143540e-04 9.99952435e-01 -2.81443707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1286.4665599950001 meters 0.014850632148071734 Centerline is valid? [True, True] Translation: X:-410.48, Y:-240.86, Z:-2.81 [[-6.59694563e-01 -7.51503204e-01 6.78358059e-03 -4.10481110e+02] [ 7.51466055e-01 -6.59729419e-01 -7.47409418e-03 -2.40856820e+02] [ 1.00921334e-02 1.67011246e-04 9.99949059e-01 -2.81473880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1286.496559995 meters 0.01467701437082528 Centerline is valid? [True, True] Translation: X:-410.50, Y:-240.84, Z:-2.81 [[-6.60538075e-01 -7.50761846e-01 6.78982005e-03 -4.10499218e+02] [ 7.50724637e-01 -6.60572952e-01 -7.47626741e-03 -2.40836250e+02] [ 1.00980678e-02 1.58925906e-04 9.99949001e-01 -2.81470261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1286.526559995 meters 0.014373025079727904 Centerline is valid? [True, True] Translation: X:-410.52, Y:-240.81, Z:-2.81 [[-6.61481199e-01 -7.49933217e-01 6.54167443e-03 -4.10517805e+02] [ 7.49898676e-01 -6.61513530e-01 -7.19898128e-03 -2.40814832e+02] [ 9.72616133e-03 1.43602225e-04 9.99952690e-01 -2.81452191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1286.556559995 meters 0.013881519726600514 Centerline is valid? [True, True] Translation: X:-410.54, Y:-240.79, Z:-2.81 [[-6.62876067e-01 -7.48703943e-01 6.14215495e-03 -4.10536672e+02] [ 7.48673473e-01 -6.62904511e-01 -6.75568814e-03 -2.40793347e+02] [ 9.12967257e-03 1.20284499e-04 9.99958317e-01 -2.81347280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1286.586559995 meters 0.01381189165052052 Centerline is valid? [True, True] Translation: X:-410.56, Y:-240.77, Z:-2.81 [[-6.63659552e-01 -7.48010667e-01 6.00344899e-03 -4.10556400e+02] [ 7.47981563e-01 -6.63686696e-01 -6.59937477e-03 -2.40773120e+02] [ 8.92081194e-03 1.10731052e-04 9.99960203e-01 -2.81397282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1286.616559995 meters 0.013828388628413337 Centerline is valid? [True, True] Translation: X:-410.58, Y:-240.75, Z:-2.81 [[-6.64470058e-01 -7.47290585e-01 6.02695129e-03 -4.10575452e+02] [ 7.47261258e-01 -6.64497383e-01 -6.62126722e-03 -2.40753960e+02] [ 8.95290401e-03 1.04073392e-04 9.99959917e-01 -2.81470001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1286.646559995 meters 0.013722951636662036 Centerline is valid? [True, True] Translation: X:-410.59, Y:-240.73, Z:-2.82 [[-6.65394592e-01 -7.46468933e-01 5.84544065e-03 -4.10594010e+02] [ 7.46441349e-01 -6.65420261e-01 -6.41783218e-03 -2.40734296e+02] [ 8.68038699e-03 9.28877797e-05 9.99962321e-01 -2.81503584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1286.676559995 meters 0.013567122702330493 Centerline is valid? [True, True] Translation: X:-410.61, Y:-240.71, Z:-2.82 [[-6.66373173e-01 -7.45593795e-01 6.05706743e-03 -4.10612038e+02] [ 7.45564179e-01 -6.66400695e-01 -6.64601184e-03 -2.40713951e+02] [ 8.99165913e-03 8.72085048e-05 9.99959571e-01 -2.81529133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1286.7065599950001 meters 0.013406580556945562 Centerline is valid? [True, True] Translation: X:-410.63, Y:-240.69, Z:-2.82 [[-6.67354006e-01 -7.44715627e-01 6.10458651e-03 -4.10629668e+02] [ 7.44685546e-01 -6.67381922e-01 -6.69392902e-03 -2.40693203e+02] [ 9.05916422e-03 7.87769859e-05 9.99958962e-01 -2.81520389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1286.736559995 meters 0.013184003086821347 Centerline is valid? [True, True] Translation: X:-410.65, Y:-240.67, Z:-2.81 [[-6.69370287e-01 -7.42908282e-01 5.54112511e-03 -4.10646014e+02] [ 7.42883467e-01 -6.69393219e-01 -6.07227325e-03 -2.40671851e+02] [ 8.22033366e-03 5.18109467e-05 9.99966211e-01 -2.81499957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1286.766559995 meters 0.013093746272020533 Centerline is valid? [True, True] Translation: X:-410.66, Y:-240.65, Z:-2.81 [[-6.70505039e-01 -7.41886034e-01 5.30149289e-03 -4.10663777e+02] [ 7.41863315e-01 -6.70525996e-01 -5.80611408e-03 -2.40650522e+02] [ 7.86226375e-03 3.99543413e-05 9.99969091e-01 -2.81483888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1286.796559995 meters 0.012947565338415356 Centerline is valid? [True, True] Translation: X:-410.68, Y:-240.63, Z:-2.81 [[-6.71435951e-01 -7.41045979e-01 4.96203112e-03 -4.10681190e+02] [ 7.41026078e-01 -6.71454285e-01 -5.43097867e-03 -2.40629982e+02] [ 7.35638196e-03 3.04401285e-05 9.99972941e-01 -2.81418863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1286.826559995 meters 0.013093102053028716 Centerline is valid? [True, True] Translation: X:-410.70, Y:-240.61, Z:-2.81 [[-6.72265547e-01 -7.40297043e-01 4.39573479e-03 -4.10698787e+02] [ 7.40281430e-01 -6.72279917e-01 -4.80804769e-03 -2.40610611e+02] [ 6.51454771e-03 2.17960299e-05 9.99978780e-01 -2.81441913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1286.856559995 meters 0.013093102053028716 Centerline is valid? [True, True] Translation: X:-410.72, Y:-240.59, Z:-2.81 [[-6.72488305e-01 -7.40094687e-01 4.39718132e-03 -4.10716926e+02] [ 7.40079078e-01 -6.72502680e-01 -4.80672482e-03 -2.40590947e+02] [ 6.51454772e-03 2.17956689e-05 9.99978780e-01 -2.81441958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1286.886559995 meters 0.012859698366467137 Centerline is valid? [True, True] Translation: X:-410.74, Y:-240.57, Z:-2.81 [[-6.73059017e-01 -7.39577327e-01 4.11539148e-03 -4.10735447e+02] [ 7.39563662e-01 -6.73071599e-01 -4.49595554e-03 -2.40571396e+02] [ 6.09505991e-03 1.75505732e-05 9.99981425e-01 -2.81411586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1286.916559995 meters 0.012796499671808178 Centerline is valid? [True, True] Translation: X:-410.75, Y:-240.55, Z:-2.81 [[-6.73326828e-01 -7.39335908e-01 3.66029461e-03 -4.10754170e+02] [ 7.39325108e-01 -6.73336777e-01 -3.99622798e-03 -2.40552973e+02] [ 5.41916582e-03 1.53802001e-05 9.99985316e-01 -2.81467605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1286.9465599950001 meters 0.01284310912972758 Centerline is valid? [True, True] Translation: X:-410.77, Y:-240.53, Z:-2.81 [[-6.73289365e-01 -7.39369688e-01 3.72773052e-03 -4.10772550e+02] [ 7.39358500e-01 -6.73299684e-01 -4.06743126e-03 -2.40533226e+02] [ 5.51721516e-03 1.75710335e-05 9.99984780e-01 -2.81479077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1286.9765599950001 meters 0.01289196791798548 Centerline is valid? [True, True] Translation: X:-410.79, Y:-240.51, Z:-2.82 [[-6.73192196e-01 -7.39457521e-01 3.85268166e-03 -4.10790175e+02] [ 7.39445583e-01 -6.73203220e-01 -4.20183659e-03 -2.40514442e+02] [ 5.70071737e-03 2.02048388e-05 9.99983751e-01 -2.81535675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1287.006559995 meters 0.012901104065015531 Centerline is valid? [True, True] Translation: X:-410.81, Y:-240.49, Z:-2.82 [[-6.72775357e-01 -7.39835544e-01 4.08496902e-03 -4.10808849e+02] [ 7.39822146e-01 -6.72787758e-01 -4.45246644e-03 -2.40494252e+02] [ 6.04241008e-03 2.66408437e-05 9.99981744e-01 -2.81531245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1287.036559995 meters 0.013181291097101177 Centerline is valid? [True, True] Translation: X:-410.83, Y:-240.48, Z:-2.82 [[-6.70971358e-01 -7.41467202e-01 4.88111467e-03 -4.10829454e+02] [ 7.41448137e-01 -6.70989110e-01 -5.31738143e-03 -2.40475621e+02] [ 7.21783872e-03 5.12827420e-05 9.99973950e-01 -2.81691515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1287.066559995 meters 0.01321030907882958 Centerline is valid? [True, True] Translation: X:-410.85, Y:-240.46, Z:-2.82 [[-6.70124061e-01 -7.42230713e-01 5.22614605e-03 -4.10848949e+02] [ 7.42208908e-01 -6.70144436e-01 -5.68966489e-03 -2.40456030e+02] [ 7.72531672e-03 6.61108142e-05 9.99970157e-01 -2.81732537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1287.096559995 meters 0.013951029178721182 Centerline is valid? [True, True] Translation: X:-410.87, Y:-240.44, Z:-2.82 [[-6.69522698e-01 -7.42769715e-01 5.70161150e-03 -4.10868906e+02] [ 7.42743807e-01 -6.69546970e-01 -6.20428101e-03 -2.40438856e+02] [ 8.42584874e-03 8.09296716e-05 9.99964499e-01 -2.81947627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1287.126559995 meters 0.013726420406819892 Centerline is valid? [True, True] Translation: X:-410.89, Y:-240.42, Z:-2.82 [[-6.69116639e-01 -7.43132703e-01 6.05882735e-03 -4.10887551e+02] [ 7.43103498e-01 -6.69144063e-01 -6.58895927e-03 -2.40418965e+02] [ 8.95069946e-03 9.35535137e-05 9.99959938e-01 -2.81917849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1287.156559995 meters 0.013643132716357524 Centerline is valid? [True, True] Translation: X:-410.91, Y:-240.40, Z:-2.82 [[-6.69478258e-01 -7.42809116e-01 5.78608608e-03 -4.10906016e+02] [ 7.42782502e-01 -6.69503256e-01 -6.28847977e-03 -2.40398962e+02] [ 8.54494357e-03 8.78030096e-05 9.99963488e-01 -2.81900234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1287.1865599950002 meters 0.013292417798304826 Centerline is valid? [True, True] Translation: X:-410.92, Y:-240.38, Z:-2.82 [[-6.70389563e-01 -7.41990494e-01 5.28581765e-03 -4.10923668e+02] [ 7.41968284e-01 -6.70410398e-01 -5.74150383e-03 -2.40377261e+02] [ 7.80380838e-03 7.28648084e-05 9.99969547e-01 -2.81775924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1287.2165599950001 meters 0.013364692820425324 Centerline is valid? [True, True] Translation: X:-410.94, Y:-240.36, Z:-2.82 [[-6.71481618e-01 -7.41006607e-01 4.65235503e-03 -4.10942179e+02] [ 7.40989398e-01 -6.71497733e-01 -5.05045917e-03 -2.40357094e+02] [ 6.86646947e-03 5.60552559e-05 9.99976424e-01 -2.81757279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1287.246559995 meters 0.01304373844158024 Centerline is valid? [True, True] Translation: X:-410.96, Y:-240.34, Z:-2.82 [[-6.73096017e-01 -7.39543302e-01 4.17807508e-03 -4.10959404e+02] [ 7.39529412e-01 -6.73108983e-01 -4.53277700e-03 -2.40336050e+02] [ 6.16448474e-03 3.88152643e-05 9.99980999e-01 -2.81635297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1287.276559995 meters 0.012889648890095447 Centerline is valid? [True, True] Translation: X:-410.98, Y:-240.32, Z:-2.82 [[-6.74403924e-01 -7.38354312e-01 3.50119568e-03 -4.10977012e+02] [ 7.38344554e-01 -6.74413012e-01 -3.79606512e-03 -2.40315148e+02] [ 5.16409297e-03 2.50075557e-05 9.99986666e-01 -2.81539938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1287.306559995 meters 0.012690324381547583 Centerline is valid? [True, True] Translation: X:-410.99, Y:-240.29, Z:-2.81 [[-6.76833653e-01 -7.36132051e-01 2.41058921e-03 -4.10993841e+02] [ 7.36127417e-01 -6.76837945e-01 -2.61197685e-03 -2.40293010e+02] [ 3.55433813e-03 6.62697987e-06 9.99993684e-01 -2.81330590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1287.336559995 meters 0.01276800695411623 Centerline is valid? [True, True] Translation: X:-411.01, Y:-240.27, Z:-2.81 [[-6.78108461e-01 -7.34959700e-01 1.77605070e-03 -4.11011228e+02] [ 7.34957184e-01 -6.78110787e-01 -1.92317035e-03 -2.40273341e+02] [ 2.61781184e-03 1.20313316e-06 9.99996574e-01 -2.81251971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1287.366559995 meters 0.012684015967700349 Centerline is valid? [True, True] Translation: X:-411.03, Y:-240.25, Z:-2.81 [[-6.78957916e-01 -7.34175934e-01 1.35899102e-03 -4.11029615e+02] [ 7.34174461e-01 -6.78959276e-01 -1.47066251e-03 -2.40253348e+02] [ 2.00242458e-03 -7.81457791e-07 9.99997995e-01 -2.81188440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1287.396559995 meters 0.01259613671254366 Centerline is valid? [True, True] Translation: X:-411.05, Y:-240.23, Z:-2.81 [[-6.79360386e-01 -7.33804033e-01 1.05242672e-03 -4.11047463e+02] [ 7.33803150e-01 -6.79361201e-01 -1.13836930e-03 -2.40234249e+02] [ 1.55031787e-03 -1.08896615e-06 9.99998798e-01 -2.81153151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1287.426559995 meters 0.01262406356585342 Centerline is valid? [True, True] Translation: X:-411.07, Y:-240.22, Z:-2.81 [[-6.79487179e-01 -7.33686834e-01 8.96220403e-04 -4.11065164e+02] [ 7.33686195e-01 -6.79487770e-01 -9.68789165e-04 -2.40215323e+02] [ 1.31975866e-03 -7.35279394e-07 9.99999129e-01 -2.81123091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1287.4565599950001 meters 0.01264915546791573 Centerline is valid? [True, True] Translation: X:-411.08, Y:-240.20, Z:-2.81 [[-6.79332676e-01 -7.33830083e-01 7.24445392e-04 -4.11084335e+02] [ 7.33829666e-01 -6.79333062e-01 -7.82636892e-04 -2.40195316e+02] [ 1.06646220e-03 -5.12939371e-08 9.99999432e-01 -2.81082577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1287.486559995 meters 0.012631394760988342 Centerline is valid? [True, True] Translation: X:-411.10, Y:-240.18, Z:-2.81 [[-6.78074477e-01 -7.34993094e-01 3.93960308e-04 -4.11104690e+02] [ 7.34992971e-01 -6.78074592e-01 -4.25346183e-04 -2.40177222e+02] [ 5.79760984e-04 1.14166694e-06 9.99999832e-01 -2.81023904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1287.516559995 meters 0.0127123865598853 Centerline is valid? [True, True] Translation: X:-411.12, Y:-240.16, Z:-2.81 [[-6.77208568e-01 -7.35791108e-01 -1.05078508e-05 -4.11124347e+02] [ 7.35791108e-01 -6.77208568e-01 1.13458042e-05 -2.40158967e+02] [-1.54641465e-05 -4.81073204e-08 1.00000000e+00 -2.80998814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1287.546559995 meters 0.012768881906298945 Centerline is valid? [True, True] Translation: X:-411.14, Y:-240.14, Z:-2.81 [[-6.76026325e-01 -7.36877440e-01 2.16254581e-04 -4.11144489e+02] [ 7.36877403e-01 -6.76026360e-01 -2.33199551e-04 -2.40139358e+02] [ 3.18033287e-04 1.70407836e-06 9.99999950e-01 -2.81002248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1287.576559995 meters 0.012924116187134507 Centerline is valid? [True, True] Translation: X:-411.16, Y:-240.12, Z:-2.81 [[-6.75103719e-01 -7.37722720e-01 3.95053583e-04 -4.11163666e+02] [ 7.37722598e-01 -6.75103835e-01 -4.25731340e-04 -2.40121750e+02] [ 5.80773873e-04 4.02714498e-06 9.99999832e-01 -2.81022231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1287.606559995 meters 0.013188383087621837 Centerline is valid? [True, True] Translation: X:-411.18, Y:-240.10, Z:-2.81 [[-6.72941102e-01 -7.39694878e-01 1.32684973e-03 -4.11184463e+02] [ 7.39693498e-01 -6.72942410e-01 -1.42904166e-03 -2.40103430e+02] [ 1.94994825e-03 1.98012544e-05 9.99998099e-01 -2.81150417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1287.636559995 meters 0.013593610951483235 Centerline is valid? [True, True] Translation: X:-411.20, Y:-240.09, Z:-2.81 [[-6.72293142e-01 -7.40281587e-01 2.25936073e-03 -4.11204518e+02] [ 7.40277593e-01 -6.72296937e-01 -2.43191997e-03 -2.40085030e+02] [ 3.31926688e-03 3.75910031e-05 9.99994491e-01 -2.81268607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1287.666559995 meters 0.013362446002109413 Centerline is valid? [True, True] Translation: X:-411.22, Y:-240.06, Z:-2.81 [[-6.71943191e-01 -7.40596264e-01 3.08580786e-03 -4.11223693e+02] [ 7.40588827e-01 -6.71950274e-01 -3.31959204e-03 -2.40063900e+02] [ 4.53198690e-03 5.47375587e-05 9.99989729e-01 -2.81312155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1287.6965599950001 meters 0.013399771682034814 Centerline is valid? [True, True] Translation: X:-411.24, Y:-240.04, Z:-2.81 [[-6.71844527e-01 -7.40683229e-01 3.64488760e-03 -4.11243055e+02] [ 7.40672866e-01 -6.71854411e-01 -3.91878823e-03 -2.40043198e+02] [ 5.35141453e-03 6.68529219e-05 9.99985679e-01 -2.81385262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1287.7265599950001 meters 0.013456629306771519 Centerline is valid? [True, True] Translation: X:-411.26, Y:-240.02, Z:-2.81 [[-6.72352415e-01 -7.40221340e-01 3.82082527e-03 -4.11261670e+02] [ 7.40209958e-01 -6.72363268e-01 -4.10547110e-03 -2.40023880e+02] [ 5.60793988e-03 6.78894994e-05 9.99984273e-01 -2.81456913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1287.756559995 meters 0.013326399332702597 Centerline is valid? [True, True] Translation: X:-411.28, Y:-240.00, Z:-2.81 [[-6.73178602e-01 -7.39468590e-01 4.09568237e-03 -4.11280938e+02] [ 7.39455512e-01 -6.73191058e-01 -4.39833830e-03 -2.40002843e+02] [ 6.00960977e-03 6.77076737e-05 9.99981940e-01 -2.81477079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1287.786559995 meters 0.012928616717526474 Centerline is valid? [True, True] Translation: X:-411.30, Y:-239.98, Z:-2.81 [[-6.76141243e-01 -7.36761889e-01 3.86510029e-03 -4.11298170e+02] [ 7.36750211e-01 -6.76152289e-01 -4.14840420e-03 -2.39982351e+02] [ 5.66978252e-03 4.27062800e-05 9.99983926e-01 -2.81470154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1287.816559995 meters 0.012674920261787142 Centerline is valid? [True, True] Translation: X:-411.32, Y:-239.96, Z:-2.81 [[-6.78008979e-01 -7.35043298e-01 3.89552471e-03 -4.11315396e+02] [ 7.35031422e-01 -6.78020169e-01 -4.17850005e-03 -2.39960753e+02] [ 5.71262278e-03 3.02725160e-05 9.99983683e-01 -2.81429392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1287.846559995 meters 0.012388581956678683 Centerline is valid? [True, True] Translation: X:-411.33, Y:-239.94, Z:-2.81 [[-6.80023841e-01 -7.33180166e-01 3.79736167e-03 -4.11332568e+02] [ 7.33168865e-01 -6.80034443e-01 -4.07090850e-03 -2.39938805e+02] [ 5.56704610e-03 1.57925099e-05 9.99984504e-01 -2.81369540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1287.876559995 meters 0.012409222169468286 Centerline is valid? [True, True] Translation: X:-411.35, Y:-239.92, Z:-2.81 [[-6.81801942e-01 -7.31525792e-01 4.01601032e-03 -4.11349253e+02] [ 7.31513137e-01 -6.81813770e-01 -4.30274659e-03 -2.39917768e+02] [ 5.88574124e-03 4.14332411e-06 9.99982679e-01 -2.81349373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1287.906559995 meters 0.012376692788672315 Centerline is valid? [True, True] Translation: X:-411.37, Y:-239.90, Z:-2.81 [[-6.83773100e-01 -7.29685236e-01 3.71547393e-03 -4.11366463e+02] [ 7.29674391e-01 -6.83783194e-01 -3.97825090e-03 -2.39896585e+02] [ 5.44344958e-03 -9.13477211e-06 9.99985185e-01 -2.81318350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1287.9365599950002 meters 0.012509223239884347 Centerline is valid? [True, True] Translation: X:-411.38, Y:-239.88, Z:-2.81 [[-6.85332662e-01 -7.28220446e-01 3.75824652e-03 -4.11383393e+02] [ 7.28209342e-01 -6.85342967e-01 -4.02140483e-03 -2.39875984e+02] [ 5.50415704e-03 -1.92098504e-05 9.99984852e-01 -2.81308057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1287.9665599950001 meters 0.012679202959148777 Centerline is valid? [True, True] Translation: X:-411.40, Y:-239.85, Z:-2.81 [[-6.87599809e-01 -7.26078893e-01 3.99307161e-03 -4.11401034e+02] [ 7.26066336e-01 -6.87611402e-01 -4.27028069e-03 -2.39853759e+02] [ 5.84624224e-03 -3.70093171e-05 9.99982910e-01 -2.81282464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1287.996559995 meters 0.012887756075622927 Centerline is valid? [True, True] Translation: X:-411.42, Y:-239.83, Z:-2.81 [[-6.88578749e-01 -7.25148629e-01 4.33283946e-03 -4.11418296e+02] [ 7.25133845e-01 -6.88592379e-01 -4.63057886e-03 -2.39833847e+02] [ 6.34141814e-03 -4.66296593e-05 9.99979892e-01 -2.81334006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1288.026559995 meters 0.012888779540638235 Centerline is valid? [True, True] Translation: X:-411.44, Y:-239.81, Z:-2.81 [[-6.89208076e-01 -7.24549658e-01 4.47464450e-03 -4.11436959e+02] [ 7.24533898e-01 -6.89222599e-01 -4.77913746e-03 -2.39813947e+02] [ 6.54674852e-03 -5.17885178e-05 9.99978569e-01 -2.81337550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1288.056559995 meters 0.012969455650123527 Centerline is valid? [True, True] Translation: X:-411.46, Y:-239.79, Z:-2.81 [[-6.89877705e-01 -7.23904698e-01 5.54439566e-03 -4.11456199e+02] [ 7.23880508e-01 -6.89899981e-01 -5.91837352e-03 -2.39794070e+02] [ 8.10941686e-03 -6.94739985e-05 9.99967116e-01 -2.81428988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1288.086559995 meters 0.012969455650123527 Centerline is valid? [True, True] Translation: X:-411.48, Y:-239.77, Z:-2.81 [[-6.90079632e-01 -7.23712197e-01 5.54604659e-03 -4.11475106e+02] [ 7.23688013e-01 -6.90101914e-01 -5.91682648e-03 -2.39773990e+02] [ 8.10941686e-03 -6.94740019e-05 9.99967116e-01 -2.81429035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1288.116559995 meters 0.012900549826169587 Centerline is valid? [True, True] Translation: X:-411.49, Y:-239.75, Z:-2.81 [[-6.90323630e-01 -7.23477682e-01 5.77321803e-03 -4.11494647e+02] [ 7.23451498e-01 -6.90347766e-01 -6.15569716e-03 -2.39753783e+02] [ 8.43903768e-03 -7.27799802e-05 9.99964388e-01 -2.81454473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1288.146559995 meters 0.012887721166639976 Centerline is valid? [True, True] Translation: X:-411.51, Y:-239.73, Z:-2.81 [[-6.89879690e-01 -7.23895106e-01 6.47224963e-03 -4.11513323e+02] [ 7.23862253e-01 -6.89910046e-01 -6.89691464e-03 -2.39733642e+02] [ 9.45791279e-03 -7.30241278e-05 9.99955271e-01 -2.81492630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1288.176559995 meters 0.01275504686463146 Centerline is valid? [True, True] Translation: X:-411.53, Y:-239.71, Z:-2.81 [[-6.89608328e-01 -7.24149836e-01 6.88255635e-03 -4.11532512e+02] [ 7.24112745e-01 -6.89642669e-01 -7.32955103e-03 -2.39713607e+02] [ 1.00541977e-02 -7.07726594e-05 9.99949453e-01 -2.81482746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1288.2065599950001 meters 0.012765336096398194 Centerline is valid? [True, True] Translation: X:-411.55, Y:-239.69, Z:-2.81 [[-6.89227373e-01 -7.24511397e-01 6.99023020e-03 -4.11551456e+02] [ 7.24473203e-01 -6.89262818e-01 -7.43956961e-03 -2.39694018e+02] [ 1.02081587e-02 -6.33205650e-05 9.99947894e-01 -2.81480654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1288.236559995 meters 0.012537577254454682 Centerline is valid? [True, True] Translation: X:-411.57, Y:-239.67, Z:-2.81 [[-6.88105252e-01 -7.25571982e-01 7.51406721e-03 -4.11571331e+02] [ 7.25527961e-01 -6.88146275e-01 -7.99257030e-03 -2.39674800e+02] [ 1.09699624e-02 -4.80637267e-05 9.99939827e-01 -2.81486901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1288.266559995 meters 0.012592008543485975 Centerline is valid? [True, True] Translation: X:-411.59, Y:-239.66, Z:-2.82 [[-6.88071498e-01 -7.25602851e-01 7.62350738e-03 -4.11590154e+02] [ 7.25557593e-01 -6.88113727e-01 -8.10415556e-03 -2.39655065e+02] [ 1.11262384e-02 -4.49447831e-05 9.99938101e-01 -2.81530472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1288.296559995 meters 0.012627600571097982 Centerline is valid? [True, True] Translation: X:-411.61, Y:-239.64, Z:-2.82 [[-6.88059942e-01 -7.25615496e-01 7.46117736e-03 -4.11608888e+02] [ 7.25572200e-01 -6.88100393e-01 -7.92667473e-03 -2.39635324e+02] [ 1.08857571e-02 -4.04044859e-05 9.99940748e-01 -2.81531351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1288.326559995 meters 0.012471789539773999 Centerline is valid? [True, True] Translation: X:-411.63, Y:-239.61, Z:-2.81 [[-6.88326161e-01 -7.25367300e-01 7.02679623e-03 -4.11628417e+02] [ 7.25328929e-01 -6.88362026e-01 -7.46101637e-03 -2.39614582e+02] [ 1.02489570e-02 -3.88741754e-05 9.99947478e-01 -2.81462557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1288.356559995 meters 0.012527810401949703 Centerline is valid? [True, True] Translation: X:-411.65, Y:-239.60, Z:-2.81 [[-6.88655859e-01 -7.25059240e-01 6.49663866e-03 -4.11645974e+02] [ 7.25026470e-01 -6.88686501e-01 -6.89354652e-03 -2.39595204e+02] [ 9.47237695e-03 -3.70461986e-05 9.99955136e-01 -2.81375027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1288.386559995 meters 0.012512471421919047 Centerline is valid? [True, True] Translation: X:-411.66, Y:-239.58, Z:-2.81 [[-6.89179449e-01 -7.24573136e-01 5.04558021e-03 -4.11663261e+02] [ 7.24553383e-01 -6.89197918e-01 -5.35034100e-03 -2.39576031e+02] [ 7.35411674e-03 -3.15528497e-05 9.99972958e-01 -2.81217322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1288.416559995 meters 0.01244636094097486 Centerline is valid? [True, True] Translation: X:-411.68, Y:-239.56, Z:-2.81 [[-6.89291717e-01 -7.24470620e-01 4.38752027e-03 -4.11682014e+02] [ 7.24455700e-01 -6.89305680e-01 -4.64961420e-03 -2.39556240e+02] [ 6.39285152e-03 -2.63764917e-05 9.99979565e-01 -2.81108898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1288.4465599950001 meters 0.012447962110474766 Centerline is valid? [True, True] Translation: X:-411.70, Y:-239.54, Z:-2.81 [[-6.89356229e-01 -7.24412536e-01 3.80363612e-03 -4.11701028e+02] [ 7.24401335e-01 -6.89366723e-01 -4.02833849e-03 -2.39536180e+02] [ 5.54027906e-03 -2.16011442e-05 9.99984653e-01 -2.81068721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1288.4765599950001 meters 0.012479482068095585 Centerline is valid? [True, True] Translation: X:-411.72, Y:-239.52, Z:-2.81 [[-6.89137735e-01 -7.24622131e-01 3.45682346e-03 -4.11719328e+02] [ 7.24612895e-01 -6.89146405e-01 -3.65864766e-03 -2.39517107e+02] [ 5.03339453e-03 -1.64533106e-05 9.99987332e-01 -2.81080738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1288.506559995 meters 0.012410188751615122 Centerline is valid? [True, True] Translation: X:-411.74, Y:-239.50, Z:-2.81 [[-6.87821888e-01 -7.25872194e-01 3.25691439e-03 -4.11739446e+02] [ 7.25864020e-01 -6.87829599e-01 -3.44492380e-03 -2.39498909e+02] [ 4.74077652e-03 -5.41702231e-06 9.99988763e-01 -2.81043354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1288.536559995 meters 0.012336066946693102 Centerline is valid? [True, True] Translation: X:-411.76, Y:-239.48, Z:-2.81 [[-6.86916867e-01 -7.26727586e-01 3.49765910e-03 -4.11759617e+02] [ 7.26718180e-01 -6.86925771e-01 -3.69749190e-03 -2.39479246e+02] [ 5.08970154e-03 1.94290320e-06 9.99987048e-01 -2.81063378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1288.566559995 meters 0.012380770398625906 Centerline is valid? [True, True] Translation: X:-411.78, Y:-239.46, Z:-2.81 [[-6.86011440e-01 -7.27580653e-01 3.83377931e-03 -4.11778766e+02] [ 7.27569380e-01 -6.86022153e-01 -4.05013443e-03 -2.39460817e+02] [ 5.57685699e-03 1.09018840e-05 9.99984449e-01 -2.81169760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1288.596559995 meters 0.012441090247230013 Centerline is valid? [True, True] Translation: X:-411.80, Y:-239.44, Z:-2.81 [[-6.85094570e-01 -7.28441930e-01 4.21732843e-03 -4.11798321e+02] [ 7.28428322e-01 -6.85107550e-01 -4.45253142e-03 -2.39441655e+02] [ 6.13273413e-03 2.16163758e-05 9.99981195e-01 -2.81144212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1288.626559995 meters 0.012559285032216856 Centerline is valid? [True, True] Translation: X:-411.82, Y:-239.42, Z:-2.81 [[-6.83976941e-01 -7.29489638e-01 4.51814013e-03 -4.11817159e+02] [ 7.29474061e-01 -6.83991862e-01 -4.76735232e-03 -2.39424037e+02] [ 6.56810520e-03 3.51069767e-05 9.99978429e-01 -2.81177460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1288.656559995 meters 0.012679888120354569 Centerline is valid? [True, True] Translation: X:-411.84, Y:-239.40, Z:-2.81 [[-6.83192698e-01 -7.30222253e-01 4.81649854e-03 -4.11837197e+02] [ 7.30204589e-01 -6.83209675e-01 -5.07931969e-03 -2.39404671e+02] [ 6.99971067e-03 4.68752128e-05 9.99975501e-01 -2.81221061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1288.6865599950002 meters 0.013157267199958566 Centerline is valid? [True, True] Translation: X:-411.86, Y:-239.39, Z:-2.81 [[-6.81353714e-01 -7.31929998e-01 5.96623897e-03 -4.11857957e+02] [ 7.31902981e-01 -6.81379830e-01 -6.28923687e-03 -2.39386745e+02] [ 8.66855602e-03 8.15131848e-05 9.99962424e-01 -2.81366156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1288.7165599950001 meters 0.01318814560225537 Centerline is valid? [True, True] Translation: X:-411.88, Y:-239.37, Z:-2.81 [[-6.80847369e-01 -7.32396429e-01 6.50630292e-03 -4.11876881e+02] [ 7.32364361e-01 -6.80878449e-01 -6.85424029e-03 -2.39367573e+02] [ 9.45002255e-03 9.82929144e-05 9.99955343e-01 -2.81400142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1288.746559995 meters 0.013477004328954685 Centerline is valid? [True, True] Translation: X:-411.90, Y:-239.35, Z:-2.81 [[-6.80439203e-01 -7.32776207e-01 6.44370378e-03 -4.11895989e+02] [ 7.32744812e-01 -6.80469705e-01 -6.78383684e-03 -2.39349715e+02] [ 9.35577944e-03 1.05601977e-04 9.99956228e-01 -2.81463850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1288.776559995 meters 0.013477004328954685 Centerline is valid? [True, True] Translation: X:-411.91, Y:-239.33, Z:-2.81 [[-6.80662370e-01 -7.32568898e-01 6.44576959e-03 -4.11914498e+02] [ 7.32537513e-01 -6.80692882e-01 -6.78187401e-03 -2.39330398e+02] [ 9.35577944e-03 1.05601586e-04 9.99956228e-01 -2.81463895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1288.806559995 meters 0.01338088352115657 Centerline is valid? [True, True] Translation: X:-411.93, Y:-239.31, Z:-2.81 [[-6.80359254e-01 -7.32852554e-01 6.19836151e-03 -4.11933753e+02] [ 7.32823581e-01 -6.80387480e-01 -6.51748127e-03 -2.39310445e+02] [ 8.99364037e-03 1.08076781e-04 9.99959551e-01 -2.81424524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1288.836559995 meters 0.013169789977511396 Centerline is valid? [True, True] Translation: X:-411.95, Y:-239.29, Z:-2.81 [[-6.80255820e-01 -7.32948901e-01 6.15864970e-03 -4.11953170e+02] [ 7.32920334e-01 -6.80283689e-01 -6.47203321e-03 -2.39289729e+02] [ 8.93329856e-03 1.11161337e-04 9.99960091e-01 -2.81376715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1288.866559995 meters 0.013401045585692006 Centerline is valid? [True, True] Translation: X:-411.97, Y:-239.27, Z:-2.81 [[-6.80641474e-01 -7.32589477e-01 6.31203966e-03 -4.11971645e+02] [ 7.32559480e-01 -6.80670732e-01 -6.63047116e-03 -2.39270621e+02] [ 9.15383405e-03 1.10970829e-04 9.99958097e-01 -2.81438377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1288.896559995 meters 0.01329751864706248 Centerline is valid? [True, True] Translation: X:-411.99, Y:-239.25, Z:-2.81 [[-6.80841621e-01 -7.32400994e-01 6.59334098e-03 -4.11990542e+02] [ 7.32368291e-01 -6.80873535e-01 -6.92205139e-03 -2.39250093e+02] [ 9.55894870e-03 1.15933183e-04 9.99954306e-01 -2.81452262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1288.926559995 meters 0.013143854368082195 Centerline is valid? [True, True] Translation: X:-412.01, Y:-239.23, Z:-2.81 [[-6.81358289e-01 -7.31919613e-01 6.67547952e-03 -4.12009640e+02] [ 7.31886106e-01 -6.81390980e-01 -7.00432993e-03 -2.39228861e+02] [ 9.67521799e-03 1.13232455e-04 9.99953188e-01 -2.81475931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1288.9565599950001 meters 0.013053103929518165 Centerline is valid? [True, True] Translation: X:-412.03, Y:-239.21, Z:-2.81 [[-6.82132333e-01 -7.31196290e-01 6.88960403e-03 -4.12028033e+02] [ 7.31160602e-01 -6.82167116e-01 -7.22494674e-03 -2.39207907e+02] [ 9.98271556e-03 1.09037252e-04 9.99950166e-01 -2.81444457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1288.986559995 meters 0.012773875799337937 Centerline is valid? [True, True] Translation: X:-412.04, Y:-239.19, Z:-2.81 [[-6.83857836e-01 -7.29586114e-01 6.52406572e-03 -4.12044558e+02] [ 7.29554082e-01 -6.83888950e-01 -6.83708993e-03 -2.39187169e+02] [ 9.44998233e-03 8.40612521e-05 9.99955345e-01 -2.81421891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1289.016559995 meters 0.012686248128230772 Centerline is valid? [True, True] Translation: X:-412.06, Y:-239.17, Z:-2.81 [[-6.84878216e-01 -7.28629653e-01 6.37636271e-03 -4.12062089e+02] [ 7.28599053e-01 -6.84907894e-01 -6.67813253e-03 -2.39166784e+02] [ 9.23310655e-03 7.21043411e-05 9.99957372e-01 -2.81381505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1289.046559995 meters 0.012553776582640994 Centerline is valid? [True, True] Translation: X:-412.08, Y:-239.15, Z:-2.81 [[-6.86057249e-01 -7.27522807e-01 6.00134555e-03 -4.12079735e+02] [ 7.27495692e-01 -6.86083495e-01 -6.28143612e-03 -2.39145991e+02] [ 8.68731217e-03 5.65282506e-05 9.99962263e-01 -2.81316099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1289.076559995 meters 0.012377608097186705 Centerline is valid? [True, True] Translation: X:-412.10, Y:-239.12, Z:-2.81 [[-6.87868818e-01 -7.25815267e-01 5.35601074e-03 -4.12095742e+02] [ 7.25793647e-01 -6.87889669e-01 -5.60230840e-03 -2.39124667e+02] [ 7.75058542e-03 3.37053137e-05 9.99969963e-01 -2.81204831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1289.106559995 meters 0.012342381229284681 Centerline is valid? [True, True] Translation: X:-412.11, Y:-239.10, Z:-2.81 [[-6.88684393e-01 -7.25042487e-01 5.21526733e-03 -4.12113835e+02] [ 7.25021991e-01 -6.88704139e-01 -5.45171508e-03 -2.39104261e+02] [ 7.54450126e-03 2.66724129e-05 9.99971540e-01 -2.81180712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1289.136559995 meters 0.012337446452583086 Centerline is valid? [True, True] Translation: X:-412.13, Y:-239.08, Z:-2.81 [[-6.89276886e-01 -7.24480315e-01 5.06442933e-03 -4.12132024e+02] [ 7.24460996e-01 -6.89295491e-01 -5.29078489e-03 -2.39084068e+02] [ 7.32395781e-03 2.21657813e-05 9.99973179e-01 -2.81209889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1289.166559995 meters 0.012305071287585592 Centerline is valid? [True, True] Translation: X:-412.15, Y:-239.06, Z:-2.81 [[-6.89763364e-01 -7.24015360e-01 5.31606331e-03 -4.12150307e+02] [ 7.23994086e-01 -6.89783849e-01 -5.55026028e-03 -2.39063981e+02] [ 7.68540831e-03 2.04321856e-05 9.99970467e-01 -2.81235831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1289.1965599950001 meters 0.012324342469877257 Centerline is valid? [True, True] Translation: X:-412.17, Y:-239.04, Z:-2.81 [[-6.90113333e-01 -7.23680900e-01 5.43533293e-03 -4.12169000e+02] [ 7.23658678e-01 -6.90134736e-01 -5.67132700e-03 -2.39044308e+02] [ 7.85534309e-03 1.94674690e-05 9.99969146e-01 -2.81280692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1289.2265599950001 meters 0.012389188726348487 Centerline is valid? [True, True] Translation: X:-412.19, Y:-239.02, Z:-2.81 [[-6.90185352e-01 -7.23610088e-01 5.71143500e-03 -4.12188624e+02] [ 7.23585579e-01 -6.90208983e-01 -5.95575813e-03 -2.39024841e+02] [ 8.25173041e-03 2.21349770e-05 9.99965954e-01 -2.81309979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1289.256559995 meters 0.012533605617047777 Centerline is valid? [True, True] Translation: X:-412.21, Y:-239.01, Z:-2.81 [[-6.88860937e-01 -7.24867278e-01 6.16753441e-03 -4.12209913e+02] [ 7.24838785e-01 -6.88888545e-01 -6.42723490e-03 -2.39008397e+02] [ 8.90763607e-03 4.29970930e-05 9.99960326e-01 -2.81476679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1289.286559995 meters 0.012732338581941593 Centerline is valid? [True, True] Translation: X:-412.23, Y:-238.99, Z:-2.82 [[-6.88031552e-01 -7.25650712e-01 6.60513394e-03 -4.12230763e+02] [ 7.25618106e-01 -6.88063254e-01 -6.87918741e-03 -2.38990185e+02] [ 9.53663719e-03 5.97067890e-05 9.99954524e-01 -2.81553344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1289.316559995 meters 0.012722369051932223 Centerline is valid? [True, True] Translation: X:-412.25, Y:-238.97, Z:-2.82 [[-6.87446813e-01 -7.26202993e-01 6.78924310e-03 -4.12251396e+02] [ 7.26168613e-01 -6.87480333e-01 -7.06657013e-03 -2.38971754e+02] [ 9.79923548e-03 7.22441385e-05 9.99951984e-01 -2.81507412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1289.346559995 meters 0.01311237041758848 Centerline is valid? [True, True] Translation: X:-412.27, Y:-238.95, Z:-2.82 [[-6.86784618e-01 -7.26828599e-01 6.86124014e-03 -4.12272002e+02] [ 7.26793564e-01 -6.86818885e-01 -7.13688323e-03 -2.38954997e+02] [ 9.89972014e-03 8.52035548e-05 9.99950993e-01 -2.81636220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1289.376559995 meters 0.013110877617661228 Centerline is valid? [True, True] Translation: X:-412.29, Y:-238.94, Z:-2.82 [[-6.86218160e-01 -7.27363364e-01 6.86827889e-03 -4.12292338e+02] [ 7.27328327e-01 -6.86252524e-01 -7.13990321e-03 -2.38936289e+02] [ 9.90667775e-03 9.59625476e-05 9.99950923e-01 -2.81594974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1289.406559995 meters 0.013007810592118293 Centerline is valid? [True, True] Translation: X:-412.31, Y:-238.92, Z:-2.81 [[-6.86144644e-01 -7.27434501e-01 6.67648405e-03 -4.12311475e+02] [ 7.27401438e-01 -6.86177119e-01 -6.93619089e-03 -2.38916955e+02] [ 9.62687514e-03 9.72538700e-05 9.99953656e-01 -2.81495289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1289.4365599950002 meters 0.012997936998306165 Centerline is valid? [True, True] Translation: X:-412.33, Y:-238.90, Z:-2.81 [[-6.86423370e-01 -7.27175742e-01 6.19665384e-03 -4.12331380e+02] [ 7.27147285e-01 -6.86451333e-01 -6.43370059e-03 -2.38897713e+02] [ 8.93213229e-03 8.96375839e-05 9.99960104e-01 -2.81356296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1289.4665599950001 meters 0.012755777611772545 Centerline is valid? [True, True] Translation: X:-412.35, Y:-238.88, Z:-2.81 [[-6.87144662e-01 -7.26498791e-01 5.63213704e-03 -4.12351118e+02] [ 7.26475287e-01 -6.87167739e-01 -5.84431197e-03 -2.38877202e+02] [ 8.11610845e-03 7.57206028e-05 9.99967061e-01 -2.81225998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1289.496559995 meters 0.012700030547599111 Centerline is valid? [True, True] Translation: X:-412.37, Y:-238.86, Z:-2.81 [[-6.87998637e-01 -7.25696445e-01 4.74820117e-03 -4.12369734e+02] [ 7.25679744e-01 -6.88015019e-01 -4.92382119e-03 -2.38858530e+02] [ 6.84003325e-03 5.80911409e-05 9.99976605e-01 -2.81189905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1289.526559995 meters 0.012652472684162256 Centerline is valid? [True, True] Translation: X:-412.39, Y:-238.84, Z:-2.81 [[-6.89108350e-01 -7.24646038e-01 4.21912476e-03 -4.12388332e+02] [ 7.24632849e-01 -6.89121265e-01 -4.37233059e-03 -2.38840002e+02] [ 6.07588063e-03 4.43068740e-05 9.99981541e-01 -2.81155159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1289.556559995 meters 0.01223231595049969 Centerline is valid? [True, True] Translation: X:-412.41, Y:-238.82, Z:-2.81 [[-6.91450110e-01 -7.22415864e-01 3.47341531e-03 -4.12406419e+02] [ 7.22406908e-01 -6.91458834e-01 -3.59728506e-03 -2.38819919e+02] [ 5.00045950e-03 2.18760670e-05 9.99987498e-01 -2.81103349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1289.586559995 meters 0.012174019460913928 Centerline is valid? [True, True] Translation: X:-412.43, Y:-238.80, Z:-2.81 [[-6.93033551e-01 -7.20897383e-01 3.38524921e-03 -4.12425869e+02] [ 7.20888868e-01 -6.93041819e-01 -3.50401282e-03 -2.38799277e+02] [ 4.87215295e-03 1.19900234e-05 9.99988131e-01 -2.81122415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1289.616559995 meters 0.012188402588786808 Centerline is valid? [True, True] Translation: X:-412.44, Y:-238.78, Z:-2.81 [[-6.94608204e-01 -7.19380993e-01 3.22946540e-03 -4.12443394e+02] [ 7.19373237e-01 -6.94615711e-01 -3.34055488e-03 -2.38780050e+02] [ 4.64636910e-03 2.81414848e-06 9.99989206e-01 -2.81165191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1289.646559995 meters 0.012221940350507294 Centerline is valid? [True, True] Translation: X:-412.46, Y:-238.76, Z:-2.81 [[-6.96156510e-01 -7.17883123e-01 3.15205724e-03 -4.12460952e+02] [ 7.17875729e-01 -6.96163646e-01 -3.25835752e-03 -2.38760686e+02] [ 4.53346753e-03 -5.54141338e-06 9.99989724e-01 -2.81175403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1289.676559995 meters 0.01234130474005932 Centerline is valid? [True, True] Translation: X:-412.48, Y:-238.74, Z:-2.81 [[-6.97966026e-01 -7.16125700e-01 2.72199521e-03 -4.12479813e+02] [ 7.16120178e-01 -6.97971333e-01 -2.81221322e-03 -2.38739918e+02] [ 3.91377279e-03 -1.35535891e-05 9.99992341e-01 -2.81168660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1289.7065599950001 meters 0.012478908008694183 Centerline is valid? [True, True] Translation: X:-412.50, Y:-238.72, Z:-2.81 [[-6.99458668e-01 -7.14667898e-01 2.71436934e-03 -4.12496724e+02] [ 7.14662404e-01 -6.99463934e-01 -2.80248125e-03 -2.38720039e+02] [ 3.90144684e-03 -2.03620827e-05 9.99992389e-01 -2.81165803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1289.736559995 meters 0.012753071074836364 Centerline is valid? [True, True] Translation: X:-412.52, Y:-238.70, Z:-2.81 [[-7.01867500e-01 -7.12301845e-01 2.84504600e-03 -4.12515852e+02] [ 7.12295796e-01 -7.01873266e-01 -2.93573947e-03 -2.38699366e+02] [ 4.08799436e-03 -3.39858186e-05 9.99991644e-01 -2.81116840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1289.766559995 meters 0.01308899506971318 Centerline is valid? [True, True] Translation: X:-412.53, Y:-238.68, Z:-2.81 [[-7.02934809e-01 -7.11247244e-01 3.16436842e-03 -4.12533972e+02] [ 7.11239759e-01 -7.02941930e-01 -3.26329765e-03 -2.38679386e+02] [ 4.54537871e-03 -4.32608758e-05 9.99989669e-01 -2.81219760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1289.796559995 meters 0.013069590893157857 Centerline is valid? [True, True] Translation: X:-412.55, Y:-238.66, Z:-2.81 [[-7.03541304e-01 -7.10646486e-01 3.34756558e-03 -4.12554187e+02] [ 7.10638112e-01 -7.03549266e-01 -3.45029175e-03 -2.38659550e+02] [ 4.80711502e-03 -4.85150785e-05 9.99988445e-01 -2.81255573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1289.826559995 meters 0.013223638461676995 Centerline is valid? [True, True] Translation: X:-412.57, Y:-238.64, Z:-2.81 [[-7.03999139e-01 -7.10190691e-01 3.79413209e-03 -4.12572450e+02] [ 7.10179941e-01 -7.04009360e-01 -3.90798596e-03 -2.38640629e+02] [ 5.44651975e-03 -5.67022486e-05 9.99985166e-01 -2.81342057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1289.856559995 meters 0.013091505457844271 Centerline is valid? [True, True] Translation: X:-412.59, Y:-238.62, Z:-2.81 [[-7.03566156e-01 -7.10614287e-01 4.69044806e-03 -4.12592896e+02] [ 7.10597887e-01 -7.03581787e-01 -4.82818142e-03 -2.38622384e+02] [ 6.73108852e-03 -6.39225629e-05 9.99977344e-01 -2.81418093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1289.886559995 meters 0.013005130892073523 Centerline is valid? [True, True] Translation: X:-412.61, Y:-238.60, Z:-2.81 [[-7.03221822e-01 -7.10953003e-01 4.98961329e-03 -4.12612809e+02] [ 7.10934477e-01 -7.03239520e-01 -5.13292475e-03 -2.38603797e+02] [ 7.15816153e-03 -6.22965856e-05 9.99974378e-01 -2.81480437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1289.916559995 meters 0.013370684300541039 Centerline is valid? [True, True] Translation: X:-412.63, Y:-238.58, Z:-2.82 [[-7.02744202e-01 -7.11422979e-01 5.28503557e-03 -4.12631663e+02] [ 7.11402227e-01 -7.02764072e-01 -5.43421325e-03 -2.38584995e+02] [ 7.58015730e-03 -5.90757760e-05 9.99971269e-01 -2.81647209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1289.9465599950001 meters 0.013067056093565297 Centerline is valid? [True, True] Translation: X:-412.65, Y:-238.57, Z:-2.82 [[-7.02355564e-01 -7.11805364e-01 5.45764397e-03 -4.12652016e+02] [ 7.11783271e-01 -7.02376766e-01 -5.60837066e-03 -2.38566565e+02] [ 7.82539064e-03 -5.44106604e-05 9.99969380e-01 -2.81650672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1289.9765599950001 meters 0.012891105771309669 Centerline is valid? [True, True] Translation: X:-412.67, Y:-238.55, Z:-2.82 [[-7.02070661e-01 -7.12088899e-01 5.11736317e-03 -4.12671989e+02] [ 7.12069506e-01 -7.02089310e-01 -5.25547178e-03 -2.38548262e+02] [ 7.33520909e-03 -4.57942826e-05 9.99973096e-01 -2.81608633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1290.006559995 meters 0.01266918484946297 Centerline is valid? [True, True] Translation: X:-412.69, Y:-238.53, Z:-2.82 [[-7.01842658e-01 -7.12315741e-01 4.81345083e-03 -4.12692473e+02] [ 7.12298608e-01 -7.01859163e-01 -4.94060219e-03 -2.38528491e+02] [ 6.89763328e-03 -3.89110473e-05 9.99976211e-01 -2.81513612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1290.036559995 meters 0.012716104048306311 Centerline is valid? [True, True] Translation: X:-412.71, Y:-238.51, Z:-2.81 [[-7.02017141e-01 -7.12147788e-01 4.17880097e-03 -4.12712845e+02] [ 7.12134887e-01 -7.02029577e-01 -4.28675696e-03 -2.38508678e+02] [ 5.98644637e-03 -3.35069102e-05 9.99982081e-01 -2.81474485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1290.066559995 meters 0.012944333576025016 Centerline is valid? [True, True] Translation: X:-412.73, Y:-238.49, Z:-2.82 [[-7.02740241e-01 -7.11437232e-01 3.63585274e-03 -4.12731798e+02] [ 7.11427467e-01 -7.02749646e-01 -3.72755423e-03 -2.38488693e+02] [ 5.20701509e-03 -3.28568482e-05 9.99986443e-01 -2.81515999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1290.096559995 meters 0.012802210740311156 Centerline is valid? [True, True] Translation: X:-412.75, Y:-238.47, Z:-2.81 [[-7.03380348e-01 -7.10805353e-01 3.44051069e-03 -4.12751744e+02] [ 7.10796611e-01 -7.03388762e-01 -3.52529649e-03 -2.38468735e+02] [ 4.92581617e-03 -3.41209320e-05 9.99987868e-01 -2.81469127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1290.126559995 meters 0.012897359922361455 Centerline is valid? [True, True] Translation: X:-412.77, Y:-238.45, Z:-2.81 [[-7.04061597e-01 -7.10130445e-01 3.46683807e-03 -4.12771080e+02] [ 7.10121571e-01 -7.04070131e-01 -3.55027368e-03 -2.38448841e+02] [ 4.96205456e-03 -3.77348627e-05 9.99987688e-01 -2.81465024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1290.156559995 meters 0.01287122427393271 Centerline is valid? [True, True] Translation: X:-412.79, Y:-238.43, Z:-2.81 [[-7.04651781e-01 -7.09541699e-01 4.05528113e-03 -4.12790887e+02] [ 7.09529561e-01 -7.04663448e-01 -4.15051150e-03 -2.38428991e+02] [ 5.80256937e-03 -4.73234785e-05 9.99983164e-01 -2.81499191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1290.1865599950002 meters 0.013001419012284486 Centerline is valid? [True, True] Translation: X:-412.81, Y:-238.41, Z:-2.82 [[-7.05086723e-01 -7.09109314e-01 4.08578553e-03 -4.12810644e+02] [ 7.09096999e-01 -7.05098560e-01 -4.17936058e-03 -2.38409052e+02] [ 5.84450501e-03 -4.95933999e-05 9.99982920e-01 -2.81557354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1290.2165599950001 meters 0.013126777929373562 Centerline is valid? [True, True] Translation: X:-412.83, Y:-238.39, Z:-2.82 [[-7.05505039e-01 -7.08692566e-01 4.18179251e-03 -4.12829363e+02] [ 7.08679674e-01 -7.05517430e-01 -4.27500796e-03 -2.38390144e+02] [ 5.97999386e-03 -5.24883035e-05 9.99982119e-01 -2.81640572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1290.246559995 meters 0.013044292947378806 Centerline is valid? [True, True] Translation: X:-412.85, Y:-238.37, Z:-2.82 [[-7.05660969e-01 -7.08537952e-01 4.07032672e-03 -4.12849450e+02] [ 7.08525749e-01 -7.05672707e-01 -4.15871796e-03 -2.38370379e+02] [ 5.81892798e-03 -5.07136561e-05 9.99983069e-01 -2.81598435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1290.276559995 meters 0.013080016184726899 Centerline is valid? [True, True] Translation: X:-412.87, Y:-238.35, Z:-2.82 [[-7.05843147e-01 -7.08357866e-01 3.81912763e-03 -4.12868502e+02] [ 7.08347129e-01 -7.05853478e-01 -3.90046481e-03 -2.38351294e+02] [ 5.45866945e-03 -4.78482640e-05 9.99985100e-01 -2.81532245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1290.306559995 meters 0.013284285374007885 Centerline is valid? [True, True] Translation: X:-412.89, Y:-238.33, Z:-2.82 [[-7.06250804e-01 -7.07952890e-01 3.53655436e-03 -4.12887109e+02] [ 7.07943690e-01 -7.06259657e-01 -3.60950491e-03 -2.38332778e+02] [ 5.05308510e-03 -4.55344001e-05 9.99987232e-01 -2.81513919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1290.336559995 meters 0.01305838879550447 Centerline is valid? [True, True] Translation: X:-412.91, Y:-238.31, Z:-2.81 [[-7.06519231e-01 -7.07686845e-01 3.14732005e-03 -4.12907304e+02] [ 7.07679565e-01 -7.06526240e-01 -3.21024259e-03 -2.38313803e+02] [ 4.49551065e-03 -4.08040423e-05 9.99989895e-01 -2.81489650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1290.366559995 meters 0.01310806679393404 Centerline is valid? [True, True] Translation: X:-412.93, Y:-238.30, Z:-2.82 [[-7.06602072e-01 -7.07602718e-01 3.45061917e-03 -4.12926218e+02] [ 7.07593977e-01 -7.06610496e-01 -3.51731304e-03 -2.38296119e+02] [ 4.92710399e-03 -4.37033392e-05 9.99987861e-01 -2.81514251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1290.396559995 meters 0.012935215412818843 Centerline is valid? [True, True] Translation: X:-412.95, Y:-238.28, Z:-2.82 [[-7.06640661e-01 -7.07563131e-01 3.65936352e-03 -4.12946554e+02] [ 7.07553312e-01 -7.06650135e-01 -3.72798435e-03 -2.38277273e+02] [ 5.22367401e-03 -4.51505481e-05 9.99986356e-01 -2.81536491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1290.426559995 meters 0.012993195429887132 Centerline is valid? [True, True] Translation: X:-412.97, Y:-238.26, Z:-2.82 [[-7.06636097e-01 -7.07566812e-01 3.82532186e-03 -4.12966056e+02] [ 7.07556095e-01 -7.06646449e-01 -3.89473361e-03 -2.38257932e+02] [ 5.45893435e-03 -4.55295640e-05 9.99985099e-01 -2.81592912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1290.4565599950001 meters 0.012804963276643919 Centerline is valid? [True, True] Translation: X:-412.99, Y:-238.24, Z:-2.82 [[-7.06440928e-01 -7.07760088e-01 4.10779672e-03 -4.12986116e+02] [ 7.07747747e-01 -7.06452869e-01 -4.17972115e-03 -2.38239021e+02] [ 5.86020459e-03 -4.54422112e-05 9.99982828e-01 -2.81600407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1290.486559995 meters 0.012808157681066447 Centerline is valid? [True, True] Translation: X:-413.00, Y:-238.22, Z:-2.82 [[-7.06282555e-01 -7.07918596e-01 4.02660542e-03 -4.13004857e+02] [ 7.07906753e-01 -7.06294032e-01 -4.09513251e-03 -2.38221178e+02] [ 5.74298784e-03 -4.18594837e-05 9.99983508e-01 -2.81662351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1290.516559995 meters 0.012724094634997836 Centerline is valid? [True, True] Translation: X:-413.03, Y:-238.20, Z:-2.82 [[-7.05625639e-01 -7.08571510e-01 4.34433047e-03 -4.13025100e+02] [ 7.08557753e-01 -7.05639011e-01 -4.41552492e-03 -2.38203432e+02] [ 6.19424422e-03 -3.74985594e-05 9.99980815e-01 -2.81727160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1290.546559995 meters 0.01251337985489819 Centerline is valid? [True, True] Translation: X:-413.05, Y:-238.18, Z:-2.82 [[-7.05198519e-01 -7.08997146e-01 4.25392078e-03 -4.13045863e+02] [ 7.08983979e-01 -7.05211348e-01 -4.32118097e-03 -2.38184558e+02] [ 6.06361818e-03 -3.13287430e-05 9.99981616e-01 -2.81700618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1290.576559995 meters 0.012506670199362635 Centerline is valid? [True, True] Translation: X:-413.07, Y:-238.17, Z:-2.82 [[-7.04536459e-01 -7.09653783e-01 4.45945734e-03 -4.13065748e+02] [ 7.09639342e-01 -7.04550572e-01 -4.52725921e-03 -2.38166178e+02] [ 6.35469985e-03 -2.50127953e-05 9.99979809e-01 -2.81769053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1290.606559995 meters 0.012445937394439098 Centerline is valid? [True, True] Translation: X:-413.09, Y:-238.15, Z:-2.82 [[-7.03893127e-01 -7.10291940e-01 4.45267084e-03 -4.13085152e+02] [ 7.10277570e-01 -7.03907210e-01 -4.51822062e-03 -2.38148671e+02] [ 6.34352280e-03 -1.77122234e-05 9.99979880e-01 -2.81865954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1290.636559995 meters 0.012325415558713717 Centerline is valid? [True, True] Translation: X:-413.11, Y:-238.13, Z:-2.82 [[-7.02318272e-01 -7.11848119e-01 4.61530863e-03 -4.13106976e+02] [ 7.11832732e-01 -7.02333436e-01 -4.68033991e-03 -2.38131357e+02] [ 6.57317674e-03 -1.76048119e-06 9.99978397e-01 -2.81837282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1290.666559995 meters 0.012325415558713717 Centerline is valid? [True, True] Translation: X:-413.13, Y:-238.11, Z:-2.82 [[-7.02540059e-01 -7.11629223e-01 4.61676691e-03 -4.13125832e+02] [ 7.11613842e-01 -7.02555228e-01 -4.67890145e-03 -2.38112388e+02] [ 6.57317674e-03 -1.76046875e-06 9.99978397e-01 -2.81837326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1290.6965599950001 meters 0.012347056511834589 Centerline is valid? [True, True] Translation: X:-413.15, Y:-238.09, Z:-2.82 [[-7.01770377e-01 -7.12390277e-01 4.29316722e-03 -4.13145836e+02] [ 7.12377008e-01 -7.01783509e-01 -4.34810584e-03 -2.38094888e+02] [ 6.11042228e-03 6.98174250e-06 9.99981331e-01 -2.81927110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1290.7265599950001 meters 0.012309948225505364 Centerline is valid? [True, True] Translation: X:-413.17, Y:-238.08, Z:-2.82 [[-7.01216659e-01 -7.12933426e-01 4.59639624e-03 -4.13166523e+02] [ 7.12918245e-01 -7.01231723e-01 -4.65261455e-03 -2.38075846e+02] [ 6.54014329e-03 1.43639147e-05 9.99978613e-01 -2.81900844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1290.756559995 meters 0.012351541988399396 Centerline is valid? [True, True] Translation: X:-413.19, Y:-238.06, Z:-2.82 [[-7.00421758e-01 -7.13711863e-01 4.97370199e-03 -4.13186958e+02] [ 7.13694129e-01 -7.00439416e-01 -5.03139376e-03 -2.38057540e+02] [ 7.07474233e-03 2.56042507e-05 9.99974974e-01 -2.81998160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1290.786559995 meters 0.012351541988399396 Centerline is valid? [True, True] Translation: X:-413.21, Y:-238.04, Z:-2.82 [[-7.00644536e-01 -7.13493155e-01 4.97527253e-03 -4.13205835e+02] [ 7.13475426e-01 -7.00662200e-01 -5.02984074e-03 -2.38038592e+02] [ 7.07474233e-03 2.56042534e-05 9.99974974e-01 -2.81998205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1290.816559995 meters 0.012371601510414288 Centerline is valid? [True, True] Translation: X:-413.23, Y:-238.02, Z:-2.82 [[-7.00657590e-01 -7.13479086e-01 5.15131415e-03 -4.13225421e+02] [ 7.13460104e-01 -7.00676525e-01 -5.20457629e-03 -2.38019121e+02] [ 7.32276124e-03 2.86312487e-05 9.99973188e-01 -2.82048268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1290.846559995 meters 0.012302721551373968 Centerline is valid? [True, True] Translation: X:-413.24, Y:-238.00, Z:-2.82 [[-7.01647789e-01 -7.12503664e-01 5.37683667e-03 -4.13243486e+02] [ 7.12482974e-01 -7.01668390e-01 -5.42982487e-03 -2.37999563e+02] [ 7.64152644e-03 2.10799665e-05 9.99970803e-01 -2.82090225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1290.876559995 meters 0.012255891979008069 Centerline is valid? [True, True] Translation: X:-413.26, Y:-237.98, Z:-2.82 [[-7.02745844e-01 -7.11421358e-01 5.28488690e-03 -4.13261776e+02] [ 7.11401364e-01 -7.02765715e-01 -5.33371509e-03 -2.37979864e+02] [ 7.50855616e-03 1.14296439e-05 9.99971811e-01 -2.82107277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1290.906559995 meters 0.012194399877493472 Centerline is valid? [True, True] Translation: X:-413.28, Y:-237.96, Z:-2.82 [[-7.03722102e-01 -7.10453500e-01 5.57030666e-03 -4.13280135e+02] [ 7.10431285e-01 -7.03744147e-01 -5.61827498e-03 -2.37960245e+02] [ 7.91159383e-03 3.61583938e-06 9.99968703e-01 -2.82119710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1290.9365599950002 meters 0.012470591117931305 Centerline is valid? [True, True] Translation: X:-413.30, Y:-237.94, Z:-2.82 [[-7.04969105e-01 -7.09209615e-01 6.34683276e-03 -4.13297380e+02] [ 7.09180762e-01 -7.04997675e-01 -6.39732051e-03 -2.37940806e+02] [ 9.01154356e-03 -8.86162128e-06 9.99959395e-01 -2.82302005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1290.9665599950001 meters 0.012427712273230465 Centerline is valid? [True, True] Translation: X:-413.32, Y:-237.92, Z:-2.82 [[-7.05199087e-01 -7.08976774e-01 6.79571066e-03 -4.13316455e+02] [ 7.08943723e-01 -7.05231830e-01 -6.84568611e-03 -2.37921054e+02] [ 9.64598392e-03 -9.79517822e-06 9.99953477e-01 -2.82345577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1290.996559995 meters 0.012456993788326086 Centerline is valid? [True, True] Translation: X:-413.33, Y:-237.90, Z:-2.82 [[-7.05258653e-01 -7.08914238e-01 7.12985766e-03 -4.13334772e+02] [ 7.08877900e-01 -7.05294692e-01 -7.17780517e-03 -2.37902645e+02] [ 1.01170990e-02 -8.01068860e-06 9.99948821e-01 -2.82440762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1291.026559995 meters 0.012256746574498547 Centerline is valid? [True, True] Translation: X:-413.35, Y:-237.88, Z:-2.82 [[-7.05194882e-01 -7.08972638e-01 7.61431109e-03 -4.13354599e+02] [ 7.08931243e-01 -7.05235988e-01 -7.66115228e-03 -2.37882743e+02] [ 1.08014335e-02 -4.58234776e-06 9.99941663e-01 -2.82328478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1291.056559995 meters 0.012520273133900757 Centerline is valid? [True, True] Translation: X:-413.37, Y:-237.86, Z:-2.83 [[-7.05033094e-01 -7.09129536e-01 7.97734267e-03 -4.13373416e+02] [ 7.09084164e-01 -7.05078224e-01 -8.02160106e-03 -2.37863423e+02] [ 1.13130048e-02 1.11315196e-06 9.99936006e-01 -2.82596411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1291.086559995 meters 0.01252947794529373 Centerline is valid? [True, True] Translation: X:-413.39, Y:-237.84, Z:-2.83 [[-7.04897081e-01 -7.09261747e-01 8.23888772e-03 -4.13392829e+02] [ 7.09213417e-01 -7.04945228e-01 -8.27978580e-03 -2.37843915e+02] [ 1.16804999e-02 6.73287930e-06 9.99931781e-01 -2.82660092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1291.116559995 meters 0.012443743025540048 Centerline is valid? [True, True] Translation: X:-413.41, Y:-237.82, Z:-2.83 [[-7.04164258e-01 -7.09976805e-01 9.25383319e-03 -4.13412005e+02] [ 7.09915965e-01 -7.04225060e-01 -9.29451606e-03 -2.37823779e+02] [ 1.31156721e-02 2.45779043e-05 9.99913986e-01 -2.82554225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1291.146559995 meters 0.012492782313721593 Centerline is valid? [True, True] Translation: X:-413.43, Y:-237.80, Z:-2.83 [[-7.04060039e-01 -7.10073715e-01 9.73551307e-03 -4.13430871e+02] [ 7.10006465e-01 -7.04127345e-01 -9.77248567e-03 -2.37803944e+02] [ 1.37942262e-02 3.18605728e-05 9.99904855e-01 -2.82645005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1291.176559995 meters 0.012629148022543526 Centerline is valid? [True, True] Translation: X:-413.45, Y:-237.78, Z:-2.83 [[-7.03795386e-01 -7.10331257e-01 1.00776827e-02 -4.13449333e+02] [ 7.10259292e-01 -7.03867533e-01 -1.01111133e-02 -2.37784717e+02] [ 1.42755934e-02 4.16128793e-05 9.99898098e-01 -2.82735213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1291.2065599950001 meters 0.01250361335363283 Centerline is valid? [True, True] Translation: X:-413.47, Y:-237.76, Z:-2.83 [[-7.03354723e-01 -7.10760460e-01 1.05689316e-02 -4.13468426e+02] [ 7.10681445e-01 -7.03434123e-01 -1.05980254e-02 -2.37763767e+02] [ 1.49672045e-02 5.69723651e-05 9.99887984e-01 -2.82651436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1291.236559995 meters 0.012773841143343763 Centerline is valid? [True, True] Translation: X:-413.49, Y:-237.74, Z:-2.83 [[-7.03116587e-01 -7.10991590e-01 1.08638736e-02 -4.13486675e+02] [ 7.10908231e-01 -7.03200508e-01 -1.08873141e-02 -2.37744366e+02] [ 1.53802702e-02 6.81660285e-05 9.99881715e-01 -2.82814370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1291.266559995 meters 0.012833512186269104 Centerline is valid? [True, True] Translation: X:-413.51, Y:-237.72, Z:-2.83 [[-7.02775658e-01 -7.11323781e-01 1.11737768e-02 -4.13505236e+02] [ 7.11235747e-01 -7.02864476e-01 -1.11910608e-02 -2.37724048e+02] [ 1.58141184e-02 8.23843722e-05 9.99874946e-01 -2.82812438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1291.296559995 meters 0.012942556269806468 Centerline is valid? [True, True] Translation: X:-413.52, Y:-237.70, Z:-2.83 [[-7.02008699e-01 -7.12074707e-01 1.15498354e-02 -4.13522820e+02] [ 7.11980858e-01 -7.02103696e-01 -1.15610447e-02 -2.37702648e+02] [ 1.63415096e-02 1.07307732e-04 9.99866463e-01 -2.82877010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1291.326559995 meters 0.012935192409622813 Centerline is valid? [True, True] Translation: X:-413.54, Y:-237.68, Z:-2.83 [[-7.01854023e-01 -7.12225364e-01 1.16602205e-02 -4.13540736e+02] [ 7.12129852e-01 -7.01950865e-01 -1.16643653e-02 -2.37682175e+02] [ 1.64925587e-02 1.16909408e-04 9.99863982e-01 -2.82874164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1291.356559995 meters 0.01281333358508313 Centerline is valid? [True, True] Translation: X:-413.56, Y:-237.66, Z:-2.83 [[-7.01313785e-01 -7.12752925e-01 1.19265794e-02 -4.13559181e+02] [ 7.12653189e-01 -7.01415176e-01 -1.19240378e-02 -2.37661088e+02] [ 1.68643766e-02 1.37022699e-04 9.99857777e-01 -2.82698309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1291.386559995 meters 0.014103595141992891 Centerline is valid? [True, True] Translation: X:-414.00, Y:-238.09, Z:-1.76 [[-7.63024236e-01 6.46264638e-01 1.16633513e-02 -4.14004081e+02] [ 6.46185491e-01 7.63113350e-01 -1.01156518e-02 -2.38094171e+02] [-1.54378471e-02 -1.81799108e-04 -9.99880813e-01 -1.75848709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1291.416559995 meters 0.013925718770273548 Centerline is valid? [True, True] Translation: X:-413.99, Y:-238.07, Z:-1.76 [[-8.07852819e-01 5.89257961e-01 1.22016142e-02 -4.13987699e+02] [ 5.89186890e-01 8.07944932e-01 -9.15398601e-03 -2.38073025e+02] [-1.52522915e-02 -2.06042274e-04 -9.99883656e-01 -1.75987513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1291.4465599950001 meters 0.014980133849343838 Centerline is valid? [True, True] Translation: X:-413.97, Y:-238.05, Z:-1.76 [[-8.48370424e-01 5.29242446e-01 1.30405831e-02 -4.13971877e+02] [ 5.29175686e-01 8.48470612e-01 -8.40919550e-03 -2.38049260e+02] [-1.55150547e-02 -2.33353256e-04 -9.99879607e-01 -1.75893330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1291.4765599950001 meters 0.01432207438599009 Centerline is valid? [True, True] Translation: X:-413.96, Y:-238.02, Z:-1.76 [[-8.84507601e-01 4.66333611e-01 1.33890612e-02 -4.13964740e+02] [ 4.66275807e-01 8.84608896e-01 -7.34669369e-03 -2.38023316e+02] [-1.52700929e-02 -2.55211082e-04 -9.99883373e-01 -1.76123572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1291.506559995 meters 0.014895538570321555 Centerline is valid? [True, True] Translation: X:-413.95, Y:-238.00, Z:-1.76 [[-9.15976308e-01 4.00998335e-01 1.37017975e-02 -4.13951376e+02] [ 4.00948952e-01 9.16078741e-01 -6.29909370e-03 -2.37997867e+02] [-1.50778515e-02 -2.76099236e-04 -9.99886285e-01 -1.76099899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1291.536559995 meters 0.014885659505612055 Centerline is valid? [True, True] Translation: X:-413.94, Y:-237.97, Z:-1.76 [[-9.42659078e-01 3.33456418e-01 1.41661995e-02 -4.13944222e+02] [ 3.33413925e-01 9.42765467e-01 -5.33186692e-03 -2.37970732e+02] [-1.51333489e-02 -3.02924572e-04 -9.99885439e-01 -1.76186755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1291.566559995 meters 0.01578275343198566 Centerline is valid? [True, True] Translation: X:-413.94, Y:-237.94, Z:-1.76 [[-9.64814521e-01 2.62548723e-01 1.41812534e-02 -4.13942084e+02] [ 2.62515095e-01 9.64918675e-01 -4.21615636e-03 -2.37939722e+02] [-1.47907027e-02 -3.45015798e-04 -9.99890552e-01 -1.76169551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1291.596559995 meters 0.01595797520186076 Centerline is valid? [True, True] Translation: X:-413.94, Y:-237.91, Z:-1.76 [[-9.81291275e-01 1.91951395e-01 1.49028547e-02 -4.13937836e+02] [ 1.91923386e-01 9.81404360e-01 -3.30087510e-03 -2.37911292e+02] [-1.52593341e-02 -3.78913617e-04 -9.99883498e-01 -1.76182666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1291.626559995 meters 0.017360524362596153 Centerline is valid? [True, True] Translation: X:-413.94, Y:-237.88, Z:-1.76 [[-9.92608172e-01 1.20438749e-01 1.49507693e-02 -4.13941681e+02] [ 1.20419069e-01 9.92720681e-01 -2.21296807e-03 -2.37879615e+02] [-1.51084650e-02 -3.96252468e-04 -9.99885782e-01 -1.76051027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1291.656559995 meters 0.016817149740243877 Centerline is valid? [True, True] Translation: X:-413.94, Y:-237.85, Z:-1.76 [[-9.98706790e-01 4.85266164e-02 1.51629653e-02 -4.13942267e+02] [ 4.85147042e-02 9.98821803e-01 -1.15267811e-03 -2.37852502e+02] [-1.52010359e-02 -4.15560679e-04 -9.99884371e-01 -1.76126815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1291.6865599950002 meters 0.017649678090297053 Centerline is valid? [True, True] Translation: X:-413.89, Y:-237.25, Z:-2.83 [[-9.85292315e-01 -1.70227372e-01 1.48894471e-02 -4.13893104e+02] [ 1.70214068e-01 -9.85404730e-01 -2.16561113e-03 -2.37251532e+02] [ 1.50407779e-02 4.00633346e-04 9.99886801e-01 -2.82635122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1291.7165599950001 meters 0.017206665489266252 Centerline is valid? [True, True] Translation: X:-414.00, Y:-237.85, Z:-1.76 [[-9.98919846e-01 4.42568597e-02 1.41587753e-02 -4.14002027e+02] [ 4.42468797e-02 9.99020109e-01 -1.01749791e-03 -2.37848591e+02] [-1.41899325e-02 -3.89917234e-04 -9.99899242e-01 -1.76222394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1291.746559995 meters 0.017180851642117575 Centerline is valid? [True, True] Translation: X:-413.95, Y:-237.25, Z:-2.82 [[-9.86193159e-01 -1.65043454e-01 1.35540065e-02 -4.13948715e+02] [ 1.65032642e-01 -9.86286237e-01 -1.92002415e-03 -2.37246688e+02] [ 1.36850175e-02 3.43338817e-04 9.99906297e-01 -2.82486055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1291.776559995 meters 0.01660544897611807 Centerline is valid? [True, True] Translation: X:-414.05, Y:-237.85, Z:-1.76 [[-9.99046619e-01 4.16253379e-02 1.31599502e-02 -4.14050973e+02] [ 4.16172280e-02 9.99133232e-01 -8.89629065e-04 -2.37847198e+02] [-1.31855747e-02 -3.41100261e-04 -9.99913009e-01 -1.76367357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1291.806559995 meters 0.016111618274201434 Centerline is valid? [True, True] Translation: X:-414.01, Y:-237.24, Z:-2.82 [[-9.87443734e-01 -1.57561668e-01 1.13663074e-02 -4.14007767e+02] [ 1.57553441e-01 -9.87509132e-01 -1.62125809e-03 -2.37239603e+02] [ 1.14797805e-02 1.89899704e-04 9.99934087e-01 -2.82238309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1291.836559995 meters 0.015765793228236662 Centerline is valid? [True, True] Translation: X:-414.11, Y:-237.85, Z:-1.77 [[-9.99101771e-01 4.10311330e-02 1.05876155e-02 -4.14109447e+02] [ 4.10263339e-02 9.99157841e-01 -6.70158428e-04 -2.37847319e+02] [-1.06061964e-02 -2.35185424e-04 -9.99943725e-01 -1.76601481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1291.866559995 meters 0.015776432362131523 Centerline is valid? [True, True] Translation: X:-414.11, Y:-237.82, Z:-1.77 [[-9.99540974e-01 -2.85077228e-02 1.02543576e-02 -4.14109665e+02] [-2.85083832e-02 9.99593550e-01 8.17925351e-05 -2.37820493e+02] [-1.02525214e-02 -2.10580164e-04 -9.99947420e-01 -1.76615297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1291.896559995 meters 0.01521424613387215 Centerline is valid? [True, True] Translation: X:-414.11, Y:-237.20, Z:-2.82 [[-9.96888876e-01 -7.81582613e-02 1.01909039e-02 -4.14112636e+02] [ 7.81562947e-02 -9.96940943e-01 -5.91694041e-04 -2.37202749e+02] [ 1.02059752e-02 2.06630084e-04 9.99947897e-01 -2.82092996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1291.926559995 meters 0.014809423699095445 Centerline is valid? [True, True] Translation: X:-414.18, Y:-237.83, Z:-1.77 [[-9.99491296e-01 -3.00802532e-02 1.05985135e-02 -4.14177284e+02] [-3.00805192e-02 9.99547470e-01 1.34344477e-04 -2.37825010e+02] [-1.05977585e-02 -1.84532653e-04 -9.99943825e-01 -1.76661502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1291.9565599950001 meters 0.014221127266836487 Centerline is valid? [True, True] Translation: X:-414.19, Y:-237.20, Z:-2.82 [[-9.97468816e-01 -7.02118333e-02 1.12365151e-02 -4.14185534e+02] [ 7.02100593e-02 -9.97532076e-01 -5.52751533e-04 -2.37199450e+02] [ 1.12475940e-02 2.37563976e-04 9.99936716e-01 -2.82129947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1291.986559995 meters 0.013512856455445478 Centerline is valid? [True, True] Translation: X:-414.25, Y:-237.83, Z:-1.77 [[-9.99455971e-01 -3.04915566e-02 1.25709027e-02 -4.14251120e+02] [-3.04911424e-02 9.99535012e-01 2.24644159e-04 -2.37832312e+02] [-1.25719071e-02 -1.58779239e-04 -9.99920958e-01 -1.76566172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1292.016559995 meters 0.013356369085672478 Centerline is valid? [True, True] Translation: X:-414.26, Y:-237.81, Z:-1.77 [[-9.94879298e-01 -1.00227450e-01 1.30246548e-02 -4.14258045e+02] [-1.00220800e-01 9.94964541e-01 1.16391054e-03 -2.37806137e+02] [-1.30757254e-02 -1.47390819e-04 -9.99914498e-01 -1.76534950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1292.046559995 meters 0.013637511069355103 Centerline is valid? [True, True] Translation: X:-414.27, Y:-237.78, Z:-1.76 [[-9.85450222e-01 -1.69489634e-01 1.26934774e-02 -4.14268811e+02] [-1.69477210e-01 9.85531962e-01 2.05596594e-03 -2.37779586e+02] [-1.28582926e-02 -1.25203044e-04 -9.99917321e-01 -1.76389426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1292.076559995 meters 0.013637511069355103 Centerline is valid? [True, True] Translation: X:-414.29, Y:-237.76, Z:-1.76 [[-9.70763014e-01 -2.39713552e-01 1.25133693e-02 -4.14292323e+02] [-2.39695300e-01 9.70843652e-01 2.96075498e-03 -2.37755953e+02] [-1.28582582e-02 -1.25204366e-04 -9.99917322e-01 -1.76389484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1292.106559995 meters 0.01331002531603297 Centerline is valid? [True, True] Translation: X:-414.33, Y:-237.74, Z:-1.76 [[-9.51084894e-01 -3.08678369e-01 1.24574694e-02 -4.14328009e+02] [-3.08653552e-01 9.51166468e-01 3.91592383e-03 -2.37738076e+02] [-1.30578881e-02 -1.20666162e-04 -9.99914735e-01 -1.76498691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1292.136559995 meters 0.01310475690877031 Centerline is valid? [True, True] Translation: X:-414.39, Y:-237.73, Z:-1.77 [[-9.25977807e-01 -3.77380806e-01 1.21995461e-02 -4.14385149e+02] [-3.77349790e-01 9.26058158e-01 4.83979768e-03 -2.37729232e+02] [-1.31239359e-02 -1.21950905e-04 -9.99913870e-01 -1.76571260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1292.166559995 meters 0.013064277425438146 Centerline is valid? [True, True] Translation: X:-414.45, Y:-237.72, Z:-1.77 [[-8.95393836e-01 -4.45138757e-01 1.10165992e-02 -4.14448141e+02] [-4.45106733e-01 8.95461598e-01 5.34080436e-03 -2.37724922e+02] [-1.22423405e-02 -1.21439159e-04 -9.99925053e-01 -1.76729590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1292.1965599950001 meters 0.01316837021668636 Centerline is valid? [True, True] Translation: X:-414.52, Y:-237.73, Z:-1.77 [[-8.59680062e-01 -5.10734911e-01 1.00020530e-02 -4.14521449e+02] [-5.10701981e-01 8.59738237e-01 5.80098610e-03 -2.37730904e+02] [-1.15619135e-02 -1.21076179e-04 -9.99933152e-01 -1.76787042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1292.2265599950001 meters 0.0132714409164396 Centerline is valid? [True, True] Translation: X:-414.60, Y:-237.74, Z:-1.77 [[-8.18735705e-01 -5.74106601e-01 8.57063638e-03 -4.14598076e+02] [-5.74076653e-01 8.18780555e-01 5.86509904e-03 -2.37744253e+02] [-1.03846625e-02 -1.18236251e-04 -9.99946071e-01 -1.76902848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1292.256559995 meters 0.01328737064184247 Centerline is valid? [True, True] Translation: X:-414.68, Y:-237.77, Z:-1.77 [[-7.73338116e-01 -6.33943442e-01 7.99192596e-03 -4.14682406e+02] [-6.33911176e-01 7.73379401e-01 6.39709208e-03 -2.37771389e+02] [-1.02361855e-02 -1.19056052e-04 -9.99947602e-01 -1.76969191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1292.286559995 meters 0.013225956763979071 Centerline is valid? [True, True] Translation: X:-414.77, Y:-237.81, Z:-1.77 [[-7.23758666e-01 -6.90018478e-01 6.92052368e-03 -4.14771989e+02] [-6.89988355e-01 7.23791744e-01 6.44837801e-03 -2.37811764e+02] [-9.45851789e-03 -1.08011280e-04 -9.99955262e-01 -1.76994492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1292.316559995 meters 0.013167625853263025 Centerline is valid? [True, True] Translation: X:-414.85, Y:-237.85, Z:-1.77 [[-6.69887433e-01 -7.42436840e-01 6.19401185e-03 -4.14849844e+02] [-7.42406475e-01 6.69916061e-01 6.71553134e-03 -2.37850161e+02] [-9.13532588e-03 -9.98244551e-05 -9.99958267e-01 -1.77006899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1292.346559995 meters 0.013031732817887071 Centerline is valid? [True, True] Translation: X:-414.94, Y:-237.91, Z:-1.77 [[-6.12471105e-01 -7.90474113e-01 5.46101331e-03 -4.14935362e+02] [-7.90443976e-01 6.12495445e-01 6.90299749e-03 -2.37907882e+02] [-8.80148659e-03 -8.87385749e-05 -9.99961262e-01 -1.77092973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1292.376559995 meters 0.012865301346762474 Centerline is valid? [True, True] Translation: X:-415.02, Y:-237.97, Z:-1.77 [[-5.51770520e-01 -8.33984237e-01 4.42561931e-03 -4.15016790e+02] [-8.33958422e-01 5.51788264e-01 6.56220128e-03 -2.37973642e+02] [-7.91477722e-03 -6.99532881e-05 -9.99968675e-01 -1.77190579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1292.406559995 meters 0.012533695358939953 Centerline is valid? [True, True] Translation: X:-415.09, Y:-238.04, Z:-1.77 [[-4.89783196e-01 -8.71839655e-01 2.83487614e-03 -4.15091264e+02] [-8.71825408e-01 4.89791400e-01 4.98435020e-03 -2.38044125e+02] [-5.73405211e-03 -3.02660750e-05 -9.99983560e-01 -1.77387045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1292.4365599950002 meters 0.012455569166038615 Centerline is valid? [True, True] Translation: X:-415.17, Y:-238.13, Z:-1.77 [[-4.23889383e-01 -9.05711143e-01 2.26199448e-03 -4.15166238e+02] [-9.05698452e-01 4.23895418e-01 4.79461135e-03 -2.38130567e+02] [-5.30138203e-03 -1.63000543e-05 -9.99985948e-01 -1.77401738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1292.4665599950001 meters 0.012500500404430865 Centerline is valid? [True, True] Translation: X:-415.24, Y:-238.23, Z:-1.77 [[-3.55811249e-01 -9.34555372e-01 2.14748298e-03 -4.15235302e+02] [-9.34538406e-01 3.55817729e-01 5.63134633e-03 -2.38225817e+02] [-6.02691748e-03 -3.20895648e-06 -9.99981838e-01 -1.77367554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1292.496559995 meters 0.012569596520680789 Centerline is valid? [True, True] Translation: X:-415.29, Y:-238.31, Z:-1.77 [[-2.85569027e-01 -9.58356294e-01 1.88299890e-03 -4.15291748e+02] [-9.58335150e-01 2.85575234e-01 6.36605813e-03 -2.38311668e+02] [-6.63868973e-03 1.34049968e-05 -9.99977964e-01 -1.77342305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1292.526559995 meters 0.013052974014938368 Centerline is valid? [True, True] Translation: X:-415.94, Y:-238.23, Z:-2.82 [[-3.40943657e-01 9.40080048e-01 2.63164005e-03 -4.15944857e+02] [-9.40050618e-01 -3.40953808e-01 7.43889800e-03 -2.38231696e+02] [ 7.89042729e-03 6.23702367e-05 9.99968868e-01 -2.81603280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1292.556559995 meters 0.013131742980840232 Centerline is valid? [True, True] Translation: X:-415.37, Y:-238.58, Z:-1.77 [[-2.83245292e-01 -9.59044686e-01 2.32277998e-03 -4.15369279e+02] [-9.59010165e-01 2.83254805e-01 8.13746201e-03 -2.38579171e+02] [-8.46212829e-03 7.73281928e-05 -9.99964193e-01 -1.77168304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1292.586559995 meters 0.013131742980840232 Centerline is valid? [True, True] Translation: X:-415.42, Y:-238.68, Z:-1.77 [[-2.08926704e-01 -9.77929838e-01 1.69237350e-03 -4.15423476e+02] [-9.77894691e-01 2.08933544e-01 8.29146714e-03 -2.38683160e+02] [-8.46206671e-03 7.73458397e-05 -9.99964193e-01 -1.77168600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1292.616559995 meters 0.013359376714532016 Centerline is valid? [True, True] Translation: X:-415.47, Y:-238.78, Z:-1.77 [[-1.34895716e-01 -9.90859173e-01 1.11564541e-03 -4.15467739e+02] [-9.90819078e-01 1.34900294e-01 8.91432182e-03 -2.38784839e+02] [-8.98333844e-03 9.71010633e-05 -9.99959645e-01 -1.77109560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1292.646559995 meters 0.01374611178980608 Centerline is valid? [True, True] Translation: X:-415.50, Y:-238.90, Z:-1.77 [[-5.98513501e-02 -9.98207209e-01 4.29085269e-04 -4.15504938e+02] [-9.98166635e-01 5.98527863e-02 9.00072323e-03 -2.38898139e+02] [-9.01026876e-03 1.10406838e-04 -9.99959401e-01 -1.77063903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1292.676559995 meters 0.014021581886645887 Centerline is valid? [True, True] Translation: X:-416.17, Y:-238.98, Z:-2.82 [[-1.01588080e-01 9.94826016e-01 1.02988539e-03 -4.16166928e+02] [-9.94784849e-01 -1.01593246e-01 9.05081806e-03 -2.38975773e+02] [ 9.10861867e-03 -1.05059152e-04 9.99958510e-01 -2.81719914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1292.7065599950001 meters 0.013918829850753581 Centerline is valid? [True, True] Translation: X:-415.52, Y:-239.18, Z:-1.77 [[-5.19944666e-02 -9.98647317e-01 3.33892989e-04 -4.15521211e+02] [-9.98608910e-01 5.19953956e-02 8.75923748e-03 -2.39175930e+02] [-8.76474991e-03 1.22003368e-04 -9.99961582e-01 -1.77147325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1292.736559995 meters 0.014282156685762147 Centerline is valid? [True, True] Translation: X:-415.55, Y:-239.29, Z:-1.77 [[ 2.43029794e-02 -9.99704585e-01 -3.28093007e-04 -4.15549359e+02] [-9.99668770e-01 -2.43048862e-02 8.46299515e-03 -2.39292111e+02] [-8.46846932e-03 1.22308337e-04 -9.99964135e-01 -1.77166558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1292.766559995 meters 0.013817920358293745 Centerline is valid? [True, True] Translation: X:-415.57, Y:-239.41, Z:-1.77 [[ 1.01157054e-01 -9.94870017e-01 -9.48913026e-04 -4.15569734e+02] [-9.94836478e-01 -1.01161437e-01 8.16987775e-03 -2.39413758e+02] [-8.22395981e-03 1.17572526e-04 -9.99966176e-01 -1.77248134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1292.796559995 meters 0.014164595708695365 Centerline is valid? [True, True] Translation: X:-415.58, Y:-239.53, Z:-1.77 [[ 1.77959358e-01 -9.84036488e-01 -1.63020906e-03 -4.15579265e+02] [-9.84000939e-01 -1.77966787e-01 8.36504343e-03 -2.39532068e+02] [-8.52163103e-03 1.15489484e-04 -9.99963684e-01 -1.77187400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1292.826559995 meters 0.014019937203702362 Centerline is valid? [True, True] Translation: X:-415.58, Y:-239.65, Z:-1.77 [[ 2.54028750e-01 -9.67194036e-01 -2.25618546e-03 -4.15580390e+02] [-9.67159487e-01 -2.54038747e-01 8.17569100e-03 -2.39654252e+02] [-8.48063811e-03 1.05230611e-04 -9.99964033e-01 -1.77204693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1292.856559995 meters 0.013228298611899642 Centerline is valid? [True, True] Translation: X:-415.58, Y:-239.77, Z:-1.77 [[ 3.31434936e-01 -9.43473571e-01 -2.91638741e-03 -4.15576917e+02] [-9.43438893e-01 -3.31447759e-01 8.08945658e-03 -2.39774462e+02] [-8.59881856e-03 7.03047873e-05 -9.99963027e-01 -1.77194766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1292.886559995 meters 0.01296279112681932 Centerline is valid? [True, True] Translation: X:-415.56, Y:-239.89, Z:-1.77 [[ 4.05348869e-01 -9.14154454e-01 -3.73220506e-03 -4.15563016e+02] [-9.14116791e-01 -4.05366048e-01 8.29822687e-03 -2.39892997e+02] [-9.09877027e-03 4.79944378e-05 -9.99958604e-01 -1.77126006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1292.916559995 meters 0.01286680805958649 Centerline is valid? [True, True] Translation: X:-415.54, Y:-240.01, Z:-1.77 [[ 4.76737583e-01 -8.79032869e-01 -4.74253165e-03 -4.15540562e+02] [-8.78989832e-01 -4.76761171e-01 8.69833094e-03 -2.40010611e+02] [-9.90717374e-03 2.18158294e-05 -9.99950923e-01 -1.77030164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1292.9465599950001 meters 0.012667417953309895 Centerline is valid? [True, True] Translation: X:-415.51, Y:-240.12, Z:-1.77 [[ 5.45659589e-01 -8.37987798e-01 -5.66245599e-03 -4.15511156e+02] [-8.37942352e-01 -5.45688969e-01 8.72722777e-03 -2.40122379e+02] [-1.04032502e-02 -1.72838325e-05 -9.99945885e-01 -1.76954341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1292.9765599950001 meters 0.012897644808054408 Centerline is valid? [True, True] Translation: X:-415.47, Y:-240.23, Z:-1.77 [[ 6.10730478e-01 -7.91810922e-01 -6.61422527e-03 -4.15473549e+02] [-7.91763470e-01 -6.10766290e-01 8.66876252e-03 -2.40230670e+02] [-1.09037667e-02 -5.73755188e-05 -9.99940551e-01 -1.76862624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1293.006559995 meters 0.013950128879514908 Centerline is valid? [True, True] Translation: X:-415.43, Y:-240.33, Z:-1.77 [[ 6.73951475e-01 -7.38739558e-01 -7.29897093e-03 -4.15432109e+02] [-7.38694149e-01 -6.73990986e-01 8.19184312e-03 -2.40334566e+02] [-1.09710792e-02 -1.29197637e-04 -9.99939808e-01 -1.76811612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1293.036559995 meters 0.014208736054468547 Centerline is valid? [True, True] Translation: X:-415.38, Y:-240.43, Z:-1.77 [[ 7.29891671e-01 -6.83522964e-01 -7.38278619e-03 -4.15377766e+02] [-6.83485916e-01 -7.29928993e-01 7.11811139e-03 -2.40433538e+02] [-1.02543023e-02 -1.49419835e-04 -9.99947412e-01 -1.76906241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1293.066559995 meters 0.01454077841782646 Centerline is valid? [True, True] Translation: X:-415.38, Y:-240.44, Z:-1.77 [[ 7.82589377e-01 -6.22492598e-01 -7.53876400e-03 -4.15379092e+02] [-6.22461664e-01 -7.82625669e-01 6.20790125e-03 -2.40444975e+02] [-9.76440280e-03 -1.65645985e-04 -9.99952314e-01 -1.76974167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1293.096559995 meters 0.0152991653690213 Centerline is valid? [True, True] Translation: X:-415.38, Y:-240.46, Z:-1.77 [[ 8.30014898e-01 -5.57690556e-01 -7.51746033e-03 -4.15379519e+02] [-5.57665763e-01 -8.30048922e-01 5.26160099e-03 -2.40456600e+02] [-9.17420503e-03 -1.74976966e-04 -9.99957901e-01 -1.77009063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1293.126559995 meters 0.01580794046916383 Centerline is valid? [True, True] Translation: X:-415.38, Y:-240.47, Z:-1.77 [[ 8.72316937e-01 -4.88890254e-01 -7.03435492e-03 -4.15378432e+02] [-4.88872717e-01 -8.72345281e-01 4.14457863e-03 -2.40468283e+02] [-8.16263042e-03 -1.76481934e-04 -9.99966670e-01 -1.77103303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1293.156559995 meters 0.0162171937390012 Centerline is valid? [True, True] Translation: X:-415.38, Y:-240.48, Z:-1.77 [[ 9.08119078e-01 -4.18643889e-01 -7.55208219e-03 -4.15376416e+02] [-4.18627695e-01 -9.08150461e-01 3.68694538e-03 -2.40478117e+02] [-8.40194408e-03 -1.86674677e-04 -9.99964686e-01 -1.77032780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1293.1865599950002 meters 0.015399570922894115 Centerline is valid? [True, True] Translation: X:-415.37, Y:-240.49, Z:-1.77 [[ 9.38021502e-01 -3.46486189e-01 -7.93612826e-03 -4.15372347e+02] [-3.46472082e-01 -9.38055055e-01 3.13222586e-03 -2.40489015e+02] [-8.52979823e-03 -1.88448321e-04 -9.99963603e-01 -1.77061344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1293.2165599950001 meters 0.016102320326239906 Centerline is valid? [True, True] Translation: X:-415.37, Y:-240.50, Z:-1.77 [[ 9.61984169e-01 -2.73004020e-01 -7.43403880e-03 -4.15369375e+02] [-2.72994544e-01 -9.62012879e-01 2.28049450e-03 -2.40500380e+02] [-7.77422523e-03 -1.64347571e-04 -9.99969767e-01 -1.77054672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1293.246559995 meters 0.015847548379750498 Centerline is valid? [True, True] Translation: X:-415.36, Y:-240.51, Z:-1.77 [[ 9.80226034e-01 -1.97757803e-01 -6.98384726e-03 -4.15363336e+02] [-1.97751723e-01 -9.80250902e-01 1.55755022e-03 -2.40507016e+02] [-7.15394028e-03 -1.45683442e-04 -9.99974400e-01 -1.77118571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1293.276559995 meters 0.015436553476936935 Centerline is valid? [True, True] Translation: X:-415.36, Y:-240.51, Z:-1.77 [[ 9.92625310e-01 -1.21052292e-01 -6.42934041e-03 -4.15357013e+02] [-1.21048910e-01 -9.92646123e-01 9.14139200e-04 -2.40513946e+02] [-6.49271848e-03 -1.29133061e-04 -9.99978914e-01 -1.77169361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1293.306559995 meters 0.015308652452532507 Centerline is valid? [True, True] Translation: X:-415.35, Y:-240.52, Z:-1.77 [[ 9.99030622e-01 -4.36191984e-02 -5.93139155e-03 -4.15353030e+02] [-4.36177496e-02 -9.99048223e-01 3.73469897e-04 -2.40520928e+02] [-5.94203665e-03 -1.14393912e-04 -9.99982340e-01 -1.77173365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1293.336559995 meters 0.015412925721488011 Centerline is valid? [True, True] Translation: X:-415.35, Y:-240.53, Z:-1.77 [[ 9.99395275e-01 3.42945884e-02 -5.74155835e-03 -4.15349954e+02] [ 3.42946443e-02 -9.99411762e-01 -8.87568491e-05 -2.40527008e+02] [-5.74122482e-03 -1.08201525e-04 -9.99983513e-01 -1.77153821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1293.366559995 meters 0.015118963120624 Centerline is valid? [True, True] Translation: X:-415.35, Y:-240.53, Z:-1.77 [[ 9.93693623e-01 1.11976277e-01 -5.85635619e-03 -4.15345356e+02] [ 1.11974972e-01 -9.93710874e-01 -5.51182017e-04 -2.40532896e+02] [-5.88124414e-03 -1.08059266e-04 -9.99982700e-01 -1.77149658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1293.396559995 meters 0.014853331139342292 Centerline is valid? [True, True] Translation: X:-415.34, Y:-240.54, Z:-1.77 [[ 9.82191812e-01 1.87757796e-01 -6.80108373e-03 -4.15341001e+02] [ 1.87754103e-01 -9.82215352e-01 -1.18316562e-03 -2.40537244e+02] [-6.90227742e-03 -1.14835792e-04 -9.99976173e-01 -1.77076478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1293.426559995 meters 0.015145922628862102 Centerline is valid? [True, True] Translation: X:-415.34, Y:-240.54, Z:-1.77 [[ 9.64777849e-01 2.62957720e-01 -7.54590396e-03 -4.15337086e+02] [ 2.62950648e-01 -9.64807350e-01 -1.93218114e-03 -2.40541538e+02] [-7.78842555e-03 -1.20074773e-04 -9.99969663e-01 -1.76931340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1293.4565599950001 meters 0.014103335517011727 Centerline is valid? [True, True] Translation: X:-415.33, Y:-240.54, Z:-1.77 [[ 9.41702075e-01 3.36351731e-01 -8.04453988e-03 -4.15332503e+02] [ 3.36340538e-01 -9.41736428e-01 -2.74660606e-03 -2.40544520e+02] [-8.49966195e-03 -1.19220242e-04 -9.99963870e-01 -1.76992138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1293.486559995 meters 0.014554943286462452 Centerline is valid? [True, True] Translation: X:-415.33, Y:-240.55, Z:-1.77 [[ 9.13220829e-01 4.07388859e-01 -7.87624380e-03 -4.15327310e+02] [ 4.07374697e-01 -9.13254787e-01 -3.39843962e-03 -2.40549971e+02] [-8.57750379e-03 -1.05056589e-04 -9.99963207e-01 -1.76841782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1293.516559995 meters 0.013668428413144026 Centerline is valid? [True, True] Translation: X:-415.32, Y:-240.55, Z:-1.77 [[ 8.79369595e-01 4.76073908e-01 -7.92149155e-03 -4.15322784e+02] [ 4.76055552e-01 -8.79405268e-01 -4.18158797e-03 -2.40552082e+02] [-8.95694633e-03 -9.39087206e-05 -9.99959882e-01 -1.76959469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1293.546559995 meters 0.01337660655805539 Centerline is valid? [True, True] Translation: X:-415.32, Y:-240.56, Z:-1.77 [[ 8.40337352e-01 5.42006757e-01 -7.86194878e-03 -4.15316533e+02] [ 5.41983942e-01 -8.40374124e-01 -4.97369261e-03 -2.40555830e+02] [-9.30275333e-03 -8.14703193e-05 -9.99956725e-01 -1.76923831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1293.576559995 meters 0.01308883810936492 Centerline is valid? [True, True] Translation: X:-415.31, Y:-240.56, Z:-1.77 [[ 7.97702910e-01 6.02994003e-01 -8.26439656e-03 -4.15311157e+02] [ 6.02962288e-01 -7.97745718e-01 -6.18454520e-03 -2.40557389e+02] [-1.03221306e-02 -4.96897542e-05 -9.99946724e-01 -1.76807412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1293.606559995 meters 0.013055434150360094 Centerline is valid? [True, True] Translation: X:-415.31, Y:-240.56, Z:-1.77 [[ 7.49421738e-01 6.62043781e-01 -8.06785907e-03 -4.15305172e+02] [ 6.62005836e-01 -7.49465164e-01 -7.08816360e-03 -2.40560353e+02] [-1.07392540e-02 -2.89458975e-05 -9.99942332e-01 -1.76799414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1293.636559995 meters 0.013027949257066027 Centerline is valid? [True, True] Translation: X:-415.30, Y:-240.56, Z:-1.77 [[ 6.96754549e-01 7.17267909e-01 -7.73594985e-03 -4.15299727e+02] [ 7.17223814e-01 -6.96797493e-01 -7.95323006e-03 -2.40562932e+02] [-1.10949872e-02 -6.95823468e-06 -9.99938449e-01 -1.76776178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1293.666559995 meters 0.013123249252442709 Centerline is valid? [True, True] Translation: X:-415.29, Y:-240.56, Z:-1.77 [[ 6.39929808e-01 7.68398835e-01 -7.28505093e-03 -4.15294611e+02] [ 7.68348777e-01 -6.39971273e-01 -8.77076705e-03 -2.40564881e+02] [-1.14016705e-02 1.52152966e-05 -9.99934999e-01 -1.76767179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1293.6965599950001 meters 0.013313871894144796 Centerline is valid? [True, True] Translation: X:-415.29, Y:-240.57, Z:-1.77 [[ 5.80170601e-01 8.14463745e-01 -7.13318355e-03 -4.15289716e+02] [ 8.14401077e-01 -5.80214448e-01 -1.01034395e-02 -2.40566037e+02] [-1.23676613e-02 5.24461850e-05 -9.99923516e-01 -1.76805761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1293.7265599950001 meters 0.01387392182281402 Centerline is valid? [True, True] Translation: X:-415.28, Y:-240.57, Z:-1.77 [[ 5.15478530e-01 8.56880647e-01 -6.11904732e-03 -4.15284984e+02] [ 8.56818837e-01 -5.15514843e-01 -1.02920868e-02 -2.40569213e+02] [-1.19735497e-02 6.24347792e-05 -9.99928313e-01 -1.76566087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1293.756559995 meters 0.01342166508008192 Centerline is valid? [True, True] Translation: X:-415.28, Y:-240.57, Z:-1.77 [[ 4.46966792e-01 8.94534995e-01 -5.27533961e-03 -4.15277488e+02] [ 8.94470987e-01 -4.46997917e-01 -1.07012173e-02 -2.40571862e+02] [-1.19306792e-02 6.44505363e-05 -9.99928825e-01 -1.76861090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1293.786559995 meters 0.013328829183355371 Centerline is valid? [True, True] Translation: X:-415.27, Y:-240.57, Z:-1.77 [[ 3.75293207e-01 9.26896004e-01 -4.33657601e-03 -4.15270156e+02] [ 9.26832260e-01 -3.75318256e-01 -1.08705675e-02 -2.40574283e+02] [-1.17034817e-02 6.03716050e-05 -9.99931510e-01 -1.76940374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1293.816559995 meters 0.013601136877021544 Centerline is valid? [True, True] Translation: X:-415.26, Y:-240.58, Z:-1.77 [[ 3.00964593e-01 9.53629455e-01 -3.34323521e-03 -4.15263648e+02] [ 9.53568725e-01 -3.00983157e-01 -1.07622696e-02 -2.40576906e+02] [-1.12694747e-02 5.10575380e-05 -9.99936496e-01 -1.76847054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1293.846559995 meters 0.013292690886979423 Centerline is valid? [True, True] Translation: X:-415.25, Y:-240.58, Z:-1.77 [[ 2.24272600e-01 9.74523314e-01 -2.47201626e-03 -4.15254281e+02] [ 9.74462237e-01 -2.24286220e-01 -1.09105392e-02 -2.40578408e+02] [-1.11870140e-02 3.80484816e-05 -9.99937423e-01 -1.76982687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1293.876559995 meters 0.013197819193499643 Centerline is valid? [True, True] Translation: X:-415.25, Y:-240.58, Z:-1.77 [[ 1.43642492e-01 9.89628445e-01 -1.54126393e-03 -4.15246277e+02] [ 9.89571727e-01 -1.43650760e-01 -1.05951038e-02 -2.40580075e+02] [-1.07066199e-02 -3.28409000e-06 -9.99942683e-01 -1.76988911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1293.906559995 meters 0.013268537431079242 Centerline is valid? [True, True] Translation: X:-415.24, Y:-240.58, Z:-1.77 [[ 6.33027804e-02 9.97994133e-01 -6.84800748e-04 -4.15238161e+02] [ 9.97940368e-01 -6.33064783e-02 -1.03591248e-02 -2.40580410e+02] [-1.03816981e-02 -2.76289097e-05 -9.99946109e-01 -1.77013601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1293.9365599950002 meters 0.013512127915581151 Centerline is valid? [True, True] Translation: X:-415.23, Y:-240.58, Z:-1.77 [[-1.76912343e-02 9.99843490e-01 1.27949801e-04 -4.15229034e+02] [ 9.99789883e-01 1.76916108e-02 -1.03536174e-02 -2.40579711e+02] [-1.03542606e-02 -5.52453548e-05 -9.99946392e-01 -1.77066592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1293.9665599950001 meters 0.013739609207040284 Centerline is valid? [True, True] Translation: X:-415.22, Y:-240.58, Z:-1.77 [[-9.93620534e-02 9.95050921e-01 9.20159119e-04 -4.15219875e+02] [ 9.94999569e-01 9.93662741e-02 -1.01095181e-02 -2.40578341e+02] [-1.01509180e-02 -8.89445476e-05 -9.99948474e-01 -1.77084831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1293.996559995 meters 0.014569228089366873 Centerline is valid? [True, True] Translation: X:-415.21, Y:-240.58, Z:-1.77 [[-1.83242282e-01 9.83066241e-01 1.74141973e-03 -4.15207821e+02] [ 9.83013410e-01 1.83250490e-01 -1.01928012e-02 -2.40575869e+02] [-1.03393147e-02 -1.55913192e-04 -9.99946536e-01 -1.77076095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1294.026559995 meters 0.015398727248947964 Centerline is valid? [True, True] Translation: X:-415.20, Y:-240.57, Z:-1.77 [[-2.62651869e-01 9.64887421e-01 2.50213541e-03 -4.15198250e+02] [ 9.64836672e-01 2.62663722e-01 -9.89773232e-03 -2.40574430e+02] [-1.02074176e-02 -1.85505889e-04 -9.99947886e-01 -1.77050822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1294.056559995 meters 0.016280262825332865 Centerline is valid? [True, True] Translation: X:-415.19, Y:-240.57, Z:-1.77 [[-3.40055047e-01 9.40399652e-01 3.32573570e-03 -4.15189593e+02] [ 9.40348231e-01 3.40071239e-01 -9.83645598e-03 -2.40571430e+02] [-1.03811868e-02 -2.17586814e-04 -9.99946091e-01 -1.76992819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1294.086559995 meters 0.01629997963962905 Centerline is valid? [True, True] Translation: X:-415.18, Y:-240.57, Z:-1.77 [[-4.14442677e-01 9.10066657e-01 3.99345285e-03 -4.15182100e+02] [ 9.10018866e-01 4.14461852e-01 -9.32941803e-03 -2.40567307e+02] [-1.01455261e-02 -2.32391554e-04 -9.99948506e-01 -1.77054060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1294.116559995 meters 0.01667053659322074 Centerline is valid? [True, True] Translation: X:-415.17, Y:-240.56, Z:-1.77 [[-4.86125365e-01 8.73878076e-01 4.38609217e-03 -4.15174023e+02] [ 8.73838059e-01 4.86145095e-01 -8.36618297e-03 -2.40562223e+02] [-9.44330108e-03 -2.34279482e-04 -9.99955384e-01 -1.77082148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1294.146559995 meters 0.017459925873733635 Centerline is valid? [True, True] Translation: X:-415.17, Y:-240.56, Z:-1.77 [[-5.55072153e-01 8.31789683e-01 4.56388775e-03 -4.15167630e+02] [ 8.31758039e-01 5.55090866e-01 -7.25919921e-03 -2.40557120e+02] [-8.57149942e-03 -2.33329006e-04 -9.99963237e-01 -1.77180257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1294.176559995 meters 0.017850054071433002 Centerline is valid? [True, True] Translation: X:-415.16, Y:-240.55, Z:-1.77 [[-6.18325849e-01 7.85907575e-01 4.73585899e-03 -4.15162231e+02] [ 7.85881821e-01 6.18343948e-01 -6.36594732e-03 -2.40552786e+02] [-7.93143597e-03 -2.14404293e-04 -9.99968523e-01 -1.77235864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1294.2065599950001 meters 0.017419315272501023 Centerline is valid? [True, True] Translation: X:-415.16, Y:-240.55, Z:-1.77 [[-6.77543544e-01 7.35466319e-01 4.90292028e-03 -4.15158562e+02] [ 7.35444932e-01 6.77561255e-01 -5.61228171e-03 -2.40548696e+02] [-7.44967299e-03 -1.96737371e-04 -9.99972232e-01 -1.77298246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1294.236559995 meters 0.01669220778354489 Centerline is valid? [True, True] Translation: X:-415.15, Y:-240.54, Z:-1.77 [[-7.32071419e-01 6.81210487e-01 4.86936596e-03 -4.15154390e+02] [ 6.81193854e-01 7.32087593e-01 -4.76340325e-03 -2.40543155e+02] [-6.80968265e-03 -1.70169205e-04 -9.99976800e-01 -1.77335153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1294.266559995 meters 0.01621212015661627 Centerline is valid? [True, True] Translation: X:-415.14, Y:-240.52, Z:-1.77 [[-7.77269168e-01 6.29147764e-01 5.07275770e-03 -4.15136995e+02] [ 6.29133061e-01 7.77285706e-01 -4.30385982e-03 -2.40522587e+02] [-6.65074583e-03 -1.53817960e-04 -9.99977872e-01 -1.77308759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1294.296559995 meters 0.015070869630403211 Centerline is valid? [True, True] Translation: X:-415.12, Y:-240.50, Z:-1.77 [[-8.17353222e-01 5.76106298e-01 5.93676113e-03 -4.15121656e+02] [ 5.76089865e-01 8.17374770e-01 -4.35352819e-03 -2.40502454e+02] [-7.36065377e-03 -1.38262371e-04 -9.99972901e-01 -1.77157853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1294.326559995 meters 0.014747012819611634 Centerline is valid? [True, True] Translation: X:-415.10, Y:-240.48, Z:-1.77 [[-8.54905231e-01 5.18740423e-01 6.73938284e-03 -4.15104697e+02] [ 5.18723086e-01 8.54931784e-01 -4.24308081e-03 -2.40481816e+02] [-7.96277013e-03 -1.31558512e-04 -9.99968288e-01 -1.77033679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1294.356559995 meters 0.014306132301259118 Centerline is valid? [True, True] Translation: X:-414.76, Y:-239.95, Z:-2.82 [[-8.00100429e-01 -5.99827547e-01 6.79832223e-03 -4.14764077e+02] [ 5.99807609e-01 -8.00129294e-01 -4.89340115e-03 -2.39950013e+02] [ 8.37473358e-03 1.62473039e-04 9.99964918e-01 -2.81813369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1294.386559995 meters 0.01381982427184541 Centerline is valid? [True, True] Translation: X:-414.78, Y:-239.97, Z:-2.82 [[-7.59179225e-01 -6.50845317e-01 6.87595669e-03 -4.14778437e+02] [ 6.50819916e-01 -7.59210354e-01 -5.75109133e-03 -2.39973860e+02] [ 8.96336837e-03 1.08900492e-04 9.99959823e-01 -2.81849960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1294.416559995 meters 0.013457675627787255 Centerline is valid? [True, True] Translation: X:-415.19, Y:-240.47, Z:-1.77 [[-8.15779830e-01 5.78309799e-01 7.81317961e-03 -4.15187369e+02] [ 5.78282252e-01 8.15817240e-01 -5.64523801e-03 -2.40470736e+02] [-9.63882309e-03 -8.70482082e-05 -9.99953542e-01 -1.76848397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1294.4465599950001 meters 0.013268677172571967 Centerline is valid? [True, True] Translation: X:-415.17, Y:-240.45, Z:-1.77 [[-8.54130197e-01 5.19994055e-01 8.23343267e-03 -4.15173037e+02] [ 5.19969028e-01 8.54169876e-01 -5.10230794e-03 -2.40448633e+02] [-9.68591996e-03 -7.69053040e-05 -9.99953088e-01 -1.76855063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1294.4765599950001 meters 0.013191347463201504 Centerline is valid? [True, True] Translation: X:-414.83, Y:-239.90, Z:-2.82 [[-8.08887017e-01 -5.87913763e-01 7.69416295e-03 -4.14831624e+02] [ 5.87887897e-01 -8.08923608e-01 -5.51516782e-03 -2.39897830e+02] [ 9.46643312e-03 6.21576287e-05 9.99955191e-01 -2.81940671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1294.506559995 meters 0.013191347463201504 Centerline is valid? [True, True] Translation: X:-415.21, Y:-240.43, Z:-1.77 [[-8.55332125e-01 5.18016722e-01 8.10127088e-03 -4.15213374e+02] [ 5.17992786e-01 8.55370488e-01 -4.98016373e-03 -2.40425564e+02] [-9.50939612e-03 -6.32941532e-05 -9.99954783e-01 -1.76848037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1294.536559995 meters 0.013129906229914152 Centerline is valid? [True, True] Translation: X:-415.20, Y:-240.40, Z:-1.77 [[-8.89305357e-01 4.57233682e-01 8.56407029e-03 -4.15195922e+02] [ 4.57211915e-01 8.89346590e-01 -4.46176469e-03 -2.40403670e+02] [-9.65649581e-03 -5.22762603e-05 -9.99953374e-01 -1.76854374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1294.566559995 meters 0.01298508830091991 Centerline is valid? [True, True] Translation: X:-415.18, Y:-240.38, Z:-1.77 [[-9.19264106e-01 3.93555312e-01 8.22915919e-03 -4.15182350e+02] [ 3.93539119e-01 9.19300938e-01 -3.57032384e-03 -2.40378927e+02] [-8.97019367e-03 -4.35744984e-05 -9.99959766e-01 -1.76865402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1294.596559995 meters 0.012967192852485156 Centerline is valid? [True, True] Translation: X:-415.17, Y:-240.35, Z:-1.77 [[-9.44584862e-01 3.28169236e-01 8.02439176e-03 -4.15173423e+02] [ 3.28157082e-01 9.44618945e-01 -2.82454661e-03 -2.40351728e+02] [-8.50692178e-03 -3.47629917e-05 -9.99963815e-01 -1.76877194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1294.626559995 meters 0.013011945835698254 Centerline is valid? [True, True] Translation: X:-415.17, Y:-240.32, Z:-1.77 [[-9.65288018e-01 2.61067261e-01 7.93272618e-03 -4.15167845e+02] [ 2.61058211e-01 9.65320612e-01 -2.17390379e-03 -2.40322229e+02] [-8.22515920e-03 -2.75399723e-05 -9.99966173e-01 -1.76845099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1294.656559995 meters 0.01295855187702893 Centerline is valid? [True, True] Translation: X:-415.16, Y:-240.29, Z:-1.77 [[-9.81361871e-01 1.91980032e-01 8.51742610e-03 -4.15164000e+02] [ 1.91972550e-01 9.81398832e-01 -1.69516801e-03 -2.40293600e+02] [-8.68443043e-03 -2.84612348e-05 -9.99962289e-01 -1.76826847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1294.6865599950002 meters 0.013126795572529899 Centerline is valid? [True, True] Translation: X:-415.16, Y:-240.26, Z:-1.77 [[-9.92534259e-01 1.21592711e-01 9.53716835e-03 -4.15162060e+02] [ 1.21586774e-01 9.92580078e-01 -1.20203558e-03 -2.40264477e+02] [-9.61256208e-03 -3.34679660e-05 -9.99953798e-01 -1.76670810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1294.7165599950001 meters 0.013032609309793651 Centerline is valid? [True, True] Translation: X:-415.08, Y:-239.63, Z:-2.82 [[-9.80787135e-01 -1.94811147e-01 1.02573864e-02 -4.15082849e+02] [ 1.94801450e-01 -9.80840766e-01 -1.94574939e-03 -2.39631555e+02] [ 1.04399164e-02 8.97877725e-05 9.99945499e-01 -2.82152290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1294.746559995 meters 0.013137223884139007 Centerline is valid? [True, True] Translation: X:-415.22, Y:-240.26, Z:-1.77 [[-9.93067227e-01 1.16932907e-01 1.20074496e-02 -4.15219624e+02] [ 1.16923764e-01 9.93139816e-01 -1.46305455e-03 -2.40256255e+02] [-1.20961555e-02 -4.89553255e-05 -9.99926838e-01 -1.76572519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1294.776559995 meters 0.01317105759731512 Centerline is valid? [True, True] Translation: X:-415.22, Y:-240.23, Z:-1.77 [[-9.98866964e-01 4.59863424e-02 1.22492441e-02 -4.15218262e+02] [ 4.59822649e-02 9.98942067e-01 -6.14451314e-04 -2.40228086e+02] [-1.22645416e-02 -5.05071292e-05 -9.99924787e-01 -1.76552567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1294.806559995 meters 0.013375423825683833 Centerline is valid? [True, True] Translation: X:-415.23, Y:-240.20, Z:-1.76 [[-9.99606061e-01 -2.50204262e-02 1.27161523e-02 -4.15226177e+02] [-2.50190453e-02 9.99686939e-01 2.67681616e-04 -2.40199290e+02] [-1.27188689e-02 -5.05698250e-05 -9.99919111e-01 -1.76438792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1294.836559995 meters 0.013112659795819742 Centerline is valid? [True, True] Translation: X:-415.24, Y:-239.57, Z:-2.82 [[-9.98685498e-01 -4.96680126e-02 1.26634943e-02 -4.15236917e+02] [ 4.96646247e-02 -9.98765782e-01 -5.82058225e-04 -2.39567007e+02] [ 1.26767745e-02 4.76345840e-05 9.99919646e-01 -2.82200426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1294.866559995 meters 0.013149835562240832 Centerline is valid? [True, True] Translation: X:-415.30, Y:-240.20, Z:-1.77 [[-9.99492777e-01 -2.93944486e-02 1.22538163e-02 -4.15301065e+02] [-2.93927311e-02 9.99567889e-01 3.20267943e-04 -2.40199340e+02] [-1.22579354e-02 -4.00676316e-05 -9.99924868e-01 -1.76570749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1294.896559995 meters 0.013122551945512003 Centerline is valid? [True, True] Translation: X:-415.32, Y:-239.57, Z:-2.82 [[-9.98955425e-01 -4.40895362e-02 1.20071748e-02 -4.15317168e+02] [ 4.40866337e-02 -9.99027583e-01 -5.06433884e-04 -2.39571425e+02] [ 1.20178272e-02 2.34510394e-05 9.99927783e-01 -2.82134257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1294.926559995 meters 0.013128046205833964 Centerline is valid? [True, True] Translation: X:-415.38, Y:-240.20, Z:-1.77 [[-9.99342984e-01 -3.41912620e-02 1.20232240e-02 -4.15378760e+02] [-3.41892267e-02 9.99415307e-01 3.74837414e-04 -2.40198673e+02] [-1.20290103e-02 -3.64735904e-05 -9.99927648e-01 -1.76683788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1294.9565599950001 meters 0.013176408571115787 Centerline is valid? [True, True] Translation: X:-415.39, Y:-240.17, Z:-1.77 [[-9.94407697e-01 -1.05032483e-01 1.10231292e-02 -4.15386319e+02] [-1.05026375e-01 9.94468791e-01 1.13314458e-03 -2.40171002e+02] [-1.10811750e-02 -3.09116083e-05 -9.99938602e-01 -1.76741534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1294.986559995 meters 0.013149316351535868 Centerline is valid? [True, True] Translation: X:-415.40, Y:-240.15, Z:-1.77 [[-9.84415370e-01 -1.75533893e-01 1.06879672e-02 -4.15400586e+02] [-1.75523854e-01 9.84473388e-01 1.87749542e-03 -2.40145328e+02] [-1.08515834e-02 -2.77578401e-05 -9.99941120e-01 -1.76888254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1295.016559995 meters 0.013109356159236045 Centerline is valid? [True, True] Translation: X:-415.43, Y:-240.12, Z:-1.77 [[-9.69377436e-01 -2.45378809e-01 9.82987255e-03 -4.15427005e+02] [-2.45366415e-01 9.69427274e-01 2.46635607e-03 -2.40123177e+02] [-1.01345381e-02 -2.10906591e-05 -9.99948644e-01 -1.76989672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1295.046559995 meters 0.013020071997471905 Centerline is valid? [True, True] Translation: X:-415.46, Y:-240.11, Z:-1.77 [[-9.49328678e-01 -3.14157123e-01 8.96459582e-03 -4.15464481e+02] [-3.14143241e-01 9.49371003e-01 2.95331624e-03 -2.40105802e+02] [-9.43853267e-03 -1.24993914e-05 -9.99955456e-01 -1.77064046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1295.076559995 meters 0.013026417937752168 Centerline is valid? [True, True] Translation: X:-415.52, Y:-240.10, Z:-1.77 [[-9.24308471e-01 -3.81560331e-01 8.09720124e-03 -4.15524237e+02] [-3.81545681e-01 9.24343937e-01 3.34359491e-03 -2.40098141e+02] [-8.76038206e-03 1.06093951e-06 -9.99961627e-01 -1.77100772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1295.106559995 meters 0.013086435729066656 Centerline is valid? [True, True] Translation: X:-415.59, Y:-240.10, Z:-1.77 [[-8.93880389e-01 -4.48237183e-01 7.82806704e-03 -4.15590076e+02] [-4.48219942e-01 8.93914665e-01 3.93140198e-03 -2.40097030e+02] [-8.75982448e-03 5.50737594e-06 -9.99961632e-01 -1.77050253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1295.136559995 meters 0.013201374377123964 Centerline is valid? [True, True] Translation: X:-415.67, Y:-240.11, Z:-1.77 [[-8.58348423e-01 -5.13009054e-01 7.72632976e-03 -4.15666134e+02] [-5.12988185e-01 8.58383196e-01 4.62722103e-03 -2.40106648e+02] [-9.00595791e-03 8.25199453e-06 -9.99959446e-01 -1.76984948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1295.166559995 meters 0.01309371353595815 Centerline is valid? [True, True] Translation: X:-415.75, Y:-240.12, Z:-1.77 [[-8.17835726e-01 -5.75406070e-01 7.25122224e-03 -4.15745370e+02] [-5.75383346e-01 8.17867871e-01 5.11376770e-03 -2.40124602e+02] [-8.87303467e-03 9.98940157e-06 -9.99960634e-01 -1.76984724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1295.1965599950001 meters 0.01458855149613648 Centerline is valid? [True, True] Translation: X:-415.83, Y:-240.15, Z:-1.77 [[-7.72540640e-01 -6.34904021e-01 8.82291219e-03 -4.15830048e+02] [-6.34862381e-01 7.72591020e-01 7.27147431e-03 -2.40154370e+02] [-1.14331910e-02 1.61743744e-05 -9.99934639e-01 -1.76774062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1295.2265599950001 meters 0.013260868376269297 Centerline is valid? [True, True] Translation: X:-415.92, Y:-240.19, Z:-1.77 [[-7.21948002e-01 -6.91900503e-01 8.04843935e-03 -4.15915690e+02] [-6.91857430e-01 7.21992863e-01 7.72025782e-03 -2.40192452e+02] [-1.11525660e-02 5.25213673e-06 -9.99937808e-01 -1.76814608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1295.256559995 meters 0.013262338146975168 Centerline is valid? [True, True] Translation: X:-416.00, Y:-240.24, Z:-1.77 [[-6.66986046e-01 -7.45025459e-01 8.16575601e-03 -4.16002554e+02] [-7.44969718e-01 6.67036030e-01 9.11339029e-03 -2.40240698e+02] [-1.22365613e-02 -4.73679435e-06 -9.99925131e-01 -1.76817660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1295.286559995 meters 0.013362968954881734 Centerline is valid? [True, True] Translation: X:-416.09, Y:-240.30, Z:-1.77 [[-6.07644196e-01 -7.94169490e-01 7.95944568e-03 -4.16089678e+02] [-7.94101844e-01 6.07696324e-01 1.03653260e-02 -2.40299996e+02] [-1.30687516e-02 -2.21802959e-05 -9.99914600e-01 -1.76719726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1295.316559995 meters 0.013357854757463317 Centerline is valid? [True, True] Translation: X:-416.18, Y:-240.37, Z:-1.77 [[-5.44636452e-01 -8.38639530e-01 7.40767819e-03 -4.16175330e+02] [-8.38562948e-01 5.44686825e-01 1.13333658e-02 -2.40370138e+02] [-1.35394733e-02 -3.92403277e-05 -9.99908337e-01 -1.76725893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1295.346559995 meters 0.013441063438668858 Centerline is valid? [True, True] Translation: X:-416.25, Y:-240.44, Z:-1.77 [[-4.77942495e-01 -8.78366190e-01 6.61873938e-03 -4.16252286e+02] [-8.78283697e-01 4.77988319e-01 1.20380515e-02 -2.40440692e+02] [-1.37374976e-02 -5.96345096e-05 -9.99905635e-01 -1.76698148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1295.376559995 meters 0.013757632120246305 Centerline is valid? [True, True] Translation: X:-416.33, Y:-240.52, Z:-1.77 [[-4.06921323e-01 -9.13443564e-01 5.99095303e-03 -4.16329529e+02] [-9.13348410e-01 4.06965408e-01 1.31848117e-02 -2.40522830e+02] [-1.44816921e-02 -1.06646394e-04 -9.99895129e-01 -1.76575965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1295.406559995 meters 0.01366304337160697 Centerline is valid? [True, True] Translation: X:-416.40, Y:-240.61, Z:-1.77 [[-3.34656676e-01 -9.42326611e-01 5.04655355e-03 -4.16397113e+02] [-9.42225303e-01 3.34694699e-01 1.38180099e-02 -2.40611767e+02] [-1.47101331e-02 -1.30701195e-04 -9.99891792e-01 -1.76644804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1295.4365599950002 meters 0.01409611142683167 Centerline is valid? [True, True] Translation: X:-416.46, Y:-240.71, Z:-1.76 [[-2.60840783e-01 -9.65373521e-01 4.00628405e-03 -4.16459976e+02] [-9.65268154e-01 2.60871506e-01 1.42635556e-02 -2.40710336e+02] [-1.48147843e-02 -1.46621388e-04 -9.99890245e-01 -1.76491499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1295.4665599950001 meters 0.013821040358723202 Centerline is valid? [True, True] Translation: X:-416.51, Y:-240.81, Z:-1.77 [[-1.85653429e-01 -9.82610843e-01 2.95563457e-03 -4.16511721e+02] [-9.82499633e-01 1.85676886e-01 1.47839510e-02 -2.40808986e+02] [-1.50756635e-02 -1.59218687e-04 -9.99886343e-01 -1.76619996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1295.496559995 meters 0.013746561927520199 Centerline is valid? [True, True] Translation: X:-416.56, Y:-240.92, Z:-1.77 [[-1.10535802e-01 -9.93870484e-01 1.81611237e-03 -4.16556637e+02] [-9.93757752e-01 1.10550618e-01 1.49697086e-02 -2.40915617e+02] [-1.50787239e-02 -1.50087007e-04 -9.99886299e-01 -1.76606888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1295.526559995 meters 0.01352732288885701 Centerline is valid? [True, True] Translation: X:-416.59, Y:-241.03, Z:-1.77 [[-3.51495425e-02 -9.99381857e-01 6.43302294e-04 -4.16593165e+02] [-9.99275573e-01 3.51551865e-02 1.45753791e-02 -2.41026171e+02] [-1.45889848e-02 -1.30518362e-04 -9.99893567e-01 -1.76597299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1295.556559995 meters 0.013445411922093331 Centerline is valid? [True, True] Translation: X:-416.62, Y:-241.14, Z:-1.77 [[ 4.06398327e-02 -9.99173750e-01 -4.70849962e-04 -4.16620966e+02] [-9.99068985e-01 -4.06423900e-02 1.44692756e-02 -2.41141135e+02] [-1.44764569e-02 -1.17617348e-04 -9.99895204e-01 -1.76602256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1295.586559995 meters 0.013409262485126193 Centerline is valid? [True, True] Translation: X:-416.64, Y:-241.26, Z:-1.77 [[ 1.16366670e-01 -9.93205081e-01 -1.57022999e-03 -4.16639645e+02] [-9.93101862e-01 -1.16377215e-01 1.43190432e-02 -2.41257515e+02] [-1.44044855e-02 -1.06861053e-04 -9.99896245e-01 -1.76595435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1295.616559995 meters 0.013378895129132309 Centerline is valid? [True, True] Translation: X:-416.65, Y:-241.37, Z:-1.77 [[ 1.91432369e-01 -9.81502056e-01 -2.71346545e-03 -4.16649568e+02] [-9.81396036e-01 -1.91451574e-01 1.44261835e-02 -2.41374201e+02] [-1.46788260e-02 -9.86542427e-05 -9.99892256e-01 -1.76547861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1295.646559995 meters 0.013337236732159738 Centerline is valid? [True, True] Translation: X:-416.65, Y:-241.49, Z:-1.76 [[ 2.64731080e-01 -9.64314263e-01 -3.93158131e-03 -4.16650720e+02] [-9.64203373e-01 -2.64760261e-01 1.46239793e-02 -2.41488462e+02] [-1.51430383e-02 -8.05778761e-05 -9.99885335e-01 -1.76438078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1295.676559995 meters 0.01324934695679923 Centerline is valid? [True, True] Translation: X:-416.64, Y:-241.61, Z:-1.76 [[ 3.37011460e-01 -9.41486660e-01 -5.11334596e-03 -4.16642222e+02] [-9.41375177e-01 -3.37050242e-01 1.44883283e-02 -2.41607071e+02] [-1.53640223e-02 -6.91557064e-05 -9.99881964e-01 -1.76379349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1295.7065599950001 meters 0.013178249145404502 Centerline is valid? [True, True] Translation: X:-416.62, Y:-241.72, Z:-1.76 [[ 4.07471650e-01 -9.13195265e-01 -6.42360832e-03 -4.16624570e+02] [-9.13079427e-01 -4.07522275e-01 1.45449506e-02 -2.41724740e+02] [-1.59001435e-02 -6.13904183e-05 -9.99873583e-01 -1.76397668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1295.736559995 meters 0.01324358539380937 Centerline is valid? [True, True] Translation: X:-416.60, Y:-241.83, Z:-1.76 [[ 4.74566749e-01 -8.80184500e-01 -7.85150472e-03 -4.16603178e+02] [-8.80062849e-01 -4.74631694e-01 1.46334210e-02 -2.41827511e+02] [-1.66066833e-02 -3.47174160e-05 -9.99862099e-01 -1.76256513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1295.766559995 meters 0.013411331436022108 Centerline is valid? [True, True] Translation: X:-416.57, Y:-241.94, Z:-1.76 [[ 5.39876830e-01 -8.41696661e-01 -8.92970464e-03 -4.16570602e+02] [-8.41580772e-01 -5.39950674e-01 1.39668886e-02 -2.41936861e+02] [-1.65774836e-02 -2.53318283e-05 -9.99862584e-01 -1.76133268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1295.796559995 meters 0.013418412093100584 Centerline is valid? [True, True] Translation: X:-416.53, Y:-242.04, Z:-1.76 [[ 6.01939367e-01 -7.98480229e-01 -9.91575224e-03 -4.16531431e+02] [-7.98371528e-01 -6.02021032e-01 1.31750023e-02 -2.42040869e+02] [-1.64894702e-02 -1.40982770e-05 -9.99864040e-01 -1.76119229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1295.826559995 meters 0.013044687224592772 Centerline is valid? [True, True] Translation: X:-416.49, Y:-242.14, Z:-1.76 [[ 6.60554434e-01 -7.50703387e-01 -1.05955471e-02 -4.16487649e+02] [-7.50606688e-01 -6.60639407e-01 1.20488617e-02 -2.42137153e+02] [-1.60449572e-02 -5.84053671e-06 -9.99871272e-01 -1.76391218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1295.856559995 meters 0.013014509620426874 Centerline is valid? [True, True] Translation: X:-416.44, Y:-242.23, Z:-1.76 [[ 7.15304171e-01 -6.98725650e-01 -1.10638855e-02 -4.16435044e+02] [-6.98642113e-01 -7.15389730e-01 1.08042399e-02 -2.42231764e+02] [-1.54641896e-02 1.37845000e-06 -9.99880422e-01 -1.76444648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1295.886559995 meters 0.012937615003917777 Centerline is valid? [True, True] Translation: X:-416.44, Y:-242.24, Z:-1.77 [[ 7.67570778e-01 -6.40862216e-01 -1.14333641e-02 -4.16436025e+02] [-6.40791227e-01 -7.67655926e-01 9.53850936e-03 -2.42241205e+02] [-1.48897599e-02 4.91834271e-06 -9.99889142e-01 -1.76535918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1295.916559995 meters 0.013259755121482024 Centerline is valid? [True, True] Translation: X:-416.44, Y:-242.25, Z:-1.76 [[ 8.15515719e-01 -5.78627414e-01 -1.11547686e-02 -4.16437199e+02] [-5.78573294e-01 -8.15592004e-01 7.91372665e-03 -2.42250003e+02] [-1.36768393e-02 8.27457975e-08 -9.99906468e-01 -1.76317825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1295.9465599950001 meters 0.012976244516709137 Centerline is valid? [True, True] Translation: X:-416.44, Y:-242.26, Z:-1.77 [[ 8.58360902e-01 -5.12918097e-01 -1.14711870e-02 -4.16436126e+02] [-5.12872248e-01 -8.58437550e-01 6.85794298e-03 -2.42260169e+02] [-1.33648607e-02 -3.33665246e-06 -9.99910686e-01 -1.76590136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1295.9765599950001 meters 0.012943553754604755 Centerline is valid? [True, True] Translation: X:-416.43, Y:-242.27, Z:-1.77 [[ 8.95980392e-01 -4.43929116e-01 -1.20862189e-02 -4.16433953e+02] [-4.43888608e-01 -8.96061907e-01 5.99696685e-03 -2.42269284e+02] [-1.34922285e-02 -8.22984920e-06 -9.99908976e-01 -1.76604065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1296.006559995 meters 0.01311985505423094 Centerline is valid? [True, True] Translation: X:-416.43, Y:-242.28, Z:-1.76 [[ 9.28272641e-01 -3.71710881e-01 -1.18712009e-02 -4.16432320e+02] [-3.71680220e-01 -9.28348545e-01 4.77422713e-03 -2.42277354e+02] [-1.27952443e-02 -1.94938588e-05 -9.99918138e-01 -1.76461374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1296.036559995 meters 0.012852736870490449 Centerline is valid? [True, True] Translation: X:-416.43, Y:-242.29, Z:-1.77 [[ 9.55024559e-01 -2.96316648e-01 -1.11596113e-02 -4.16429636e+02] [-2.96295944e-01 -9.55089756e-01 3.50298374e-03 -2.42288455e+02] [-1.16964229e-02 -3.88879279e-05 -9.99931594e-01 -1.76717159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1296.066559995 meters 0.012925149560618986 Centerline is valid? [True, True] Translation: X:-416.43, Y:-242.30, Z:-1.77 [[ 9.75525458e-01 -2.19600685e-01 -1.12079980e-02 -4.16427263e+02] [-2.19585585e-01 -9.75589840e-01 2.57571836e-03 -2.42297806e+02] [-1.15000385e-02 -5.15640323e-05 -9.99933871e-01 -1.76724065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1296.096559995 meters 0.012931656659397803 Centerline is valid? [True, True] Translation: X:-416.42, Y:-242.31, Z:-1.77 [[ 9.89876708e-01 -1.41463888e-01 -1.14922344e-02 -4.16422522e+02] [-1.41453578e-01 -9.89943415e-01 1.70920621e-03 -2.42306654e+02] [-1.16184527e-02 -6.62857444e-05 -9.99932502e-01 -1.76750214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1296.126559995 meters 0.013056324652817631 Centerline is valid? [True, True] Translation: X:-416.42, Y:-242.31, Z:-1.77 [[ 9.97974363e-01 -6.25846474e-02 -1.14163376e-02 -4.16421843e+02] [-6.25796773e-02 -9.98039657e-01 7.92412534e-04 -2.42313672e+02] [-1.14435505e-02 -7.63766729e-05 -9.99934518e-01 -1.76724832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1296.156559995 meters 0.013161546847647452 Centerline is valid? [True, True] Translation: X:-416.42, Y:-242.32, Z:-1.77 [[ 9.99787624e-01 1.67695253e-02 -1.19787563e-02 -4.16420120e+02] [ 1.67694248e-02 -9.99859378e-01 -1.08832684e-04 -2.42321802e+02] [-1.19788969e-02 -9.20672828e-05 -9.99928246e-01 -1.76759718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1296.1865599950002 meters 0.013437331666350026 Centerline is valid? [True, True] Translation: X:-416.42, Y:-242.33, Z:-1.77 [[ 9.95342049e-01 9.56518726e-02 -1.20384580e-02 -4.16417954e+02] [ 9.56461030e-02 -9.95414843e-01 -1.05542036e-03 -2.42329580e+02] [-1.20842127e-02 -1.00927327e-04 -9.99926978e-01 -1.76631416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1296.2165599950001 meters 0.013618179977051035 Centerline is valid? [True, True] Translation: X:-416.42, Y:-242.33, Z:-1.77 [[ 9.84607684e-01 1.74265596e-01 -1.33870064e-02 -4.16415229e+02] [ 1.74251243e-01 -9.84698678e-01 -2.24013084e-03 -2.42332919e+02] [-1.35725452e-02 -1.27052478e-04 -9.99907881e-01 -1.76562341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1296.246559995 meters 0.013779182765967684 Centerline is valid? [True, True] Translation: X:-416.41, Y:-242.34, Z:-1.76 [[ 9.67854232e-01 2.51128976e-01 -1.38716823e-02 -4.16411864e+02] [ 2.51105234e-01 -9.67953624e-01 -3.45596024e-03 -2.42335876e+02] [-1.42950369e-02 -1.38386287e-04 -9.99897811e-01 -1.76492339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1296.276559995 meters 0.013872272041407459 Centerline is valid? [True, True] Translation: X:-416.41, Y:-242.34, Z:-1.76 [[ 9.45104556e-01 3.26465435e-01 -1.40605029e-02 -4.16408611e+02] [ 3.26431648e-01 -9.45209129e-01 -4.69910027e-03 -2.42338125e+02] [-1.48242096e-02 -1.48652065e-04 -9.99890105e-01 -1.76448886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1296.306559995 meters 0.014071543211638757 Centerline is valid? [True, True] Translation: X:-416.41, Y:-242.34, Z:-1.76 [[ 9.16545931e-01 3.99679604e-01 -1.41340302e-02 -4.16406299e+02] [ 3.99634740e-01 -9.16654891e-01 -5.99046606e-03 -2.42339741e+02] [-1.53502950e-02 -1.57912198e-04 -9.99882165e-01 -1.76379251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1296.336559995 meters 0.013817975178959978 Centerline is valid? [True, True] Translation: X:-416.40, Y:-242.34, Z:-1.77 [[ 8.82074342e-01 4.70879611e-01 -1.47393004e-02 -4.16401519e+02] [ 4.70817353e-01 -8.82197460e-01 -7.65912003e-03 -2.42343827e+02] [-1.66094968e-02 -1.83605140e-04 -9.99862036e-01 -1.76536551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1296.366559995 meters 0.014295362632214646 Centerline is valid? [True, True] Translation: X:-416.40, Y:-242.35, Z:-1.76 [[ 8.42221957e-01 5.38933674e-01 -1.45831908e-02 -4.16397017e+02] [ 5.38856964e-01 -8.42348179e-01 -9.09488315e-03 -2.42349535e+02] [-1.71856630e-02 -1.98343631e-04 -9.99852296e-01 -1.76417590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1296.396559995 meters 0.014295362632214646 Centerline is valid? [True, True] Translation: X:-416.39, Y:-242.35, Z:-1.76 [[ 7.97446710e-01 6.03230950e-01 -1.38262847e-02 -4.16393672e+02] [ 6.03144594e-01 -7.97566537e-01 -1.02087215e-02 -2.42351370e+02] [-1.71855988e-02 -1.98337480e-04 -9.99852297e-01 -1.76417647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1296.426559995 meters 0.01415645661538461 Centerline is valid? [True, True] Translation: X:-416.39, Y:-242.35, Z:-1.77 [[ 7.47669016e-01 6.63941285e-01 -1.31534407e-02 -4.16388278e+02] [ 6.63843321e-01 -7.47784681e-01 -1.14068713e-02 -2.42354350e+02] [-1.74094342e-02 -2.03259498e-04 -9.99848424e-01 -1.76527166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1296.4565599950001 meters 0.014154204180284537 Centerline is valid? [True, True] Translation: X:-416.38, Y:-242.36, Z:-1.77 [[ 6.93047505e-01 7.20794391e-01 -1.18575738e-02 -4.16383797e+02] [ 7.20693954e-01 -6.93148905e-01 -1.20341399e-02 -2.42357445e+02] [-1.68932048e-02 -2.05451156e-04 -9.99857279e-01 -1.76548600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1296.486559995 meters 0.013679489535665026 Centerline is valid? [True, True] Translation: X:-416.38, Y:-242.36, Z:-1.77 [[ 6.34515044e-01 7.72839107e-01 -1.05059075e-02 -4.16375752e+02] [ 7.72738334e-01 -6.34601983e-01 -1.24816617e-02 -2.42361600e+02] [-1.63133860e-02 -1.98515313e-04 -9.99866908e-01 -1.76735589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1296.516559995 meters 0.013742494404728767 Centerline is valid? [True, True] Translation: X:-416.37, Y:-242.37, Z:-1.77 [[ 5.71997301e-01 8.20205187e-01 -9.08513557e-03 -4.16368436e+02] [ 8.20107003e-01 -5.72069415e-01 -1.26920696e-02 -2.42365788e+02] [-1.56074295e-02 -1.90953756e-04 -9.99878179e-01 -1.76801549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1296.546559995 meters 0.01353650922836257 Centerline is valid? [True, True] Translation: X:-416.36, Y:-242.37, Z:-1.77 [[ 5.06078187e-01 8.62455428e-01 -7.45009480e-03 -4.16360706e+02] [ 8.62367045e-01 -5.06132991e-01 -1.23480941e-02 -2.42368324e+02] [-1.44204195e-02 -1.75615178e-04 -9.99896005e-01 -1.76917680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1296.576559995 meters 0.013778013994227551 Centerline is valid? [True, True] Translation: X:-416.35, Y:-242.37, Z:-1.77 [[ 4.37218301e-01 8.99332814e-01 -6.37552173e-03 -4.16353413e+02] [ 8.99242809e-01 -4.37264749e-01 -1.27243941e-02 -2.42371382e+02] [-1.42312561e-02 -1.69804096e-04 -9.99898716e-01 -1.76869658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1296.606559995 meters 0.013652166264031857 Centerline is valid? [True, True] Translation: X:-416.35, Y:-242.37, Z:-1.77 [[ 3.66181435e-01 9.30528639e-01 -5.25436576e-03 -4.16349245e+02] [ 9.30438862e-01 -3.66219097e-01 -1.29265747e-02 -2.42371722e+02] [-1.39527970e-02 -1.55394439e-04 -9.99902643e-01 -1.76899989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1296.636559995 meters 0.013379860216794843 Centerline is valid? [True, True] Translation: X:-416.34, Y:-242.37, Z:-1.77 [[ 2.92910815e-01 9.56130616e-01 -4.18329707e-03 -4.16342531e+02] [ 9.56039993e-01 -2.92940650e-01 -1.31646347e-02 -2.42372434e+02] [-1.38125681e-02 -1.43335421e-04 -9.99904592e-01 -1.76946812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1296.666559995 meters 0.013353733094209603 Centerline is valid? [True, True] Translation: X:-416.34, Y:-242.37, Z:-1.77 [[ 2.18263911e-01 9.75884724e-01 -3.14175162e-03 -4.16335963e+02] [ 9.75791887e-01 -2.18286484e-01 -1.34612088e-02 -2.42374062e+02] [-1.38223899e-02 -1.27599670e-04 -9.99904458e-01 -1.76874634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1296.6965599950001 meters 0.013086312551039482 Centerline is valid? [True, True] Translation: X:-416.33, Y:-242.37, Z:-1.77 [[ 1.42752621e-01 9.89756037e-01 -2.16259556e-03 -4.16329448e+02] [ 9.89653850e-01 -1.42768958e-01 -1.42226058e-02 -2.42374021e+02] [-1.43856615e-02 -1.09906765e-04 -9.99896515e-01 -1.76888262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1296.7265599950001 meters 0.012961937711469761 Centerline is valid? [True, True] Translation: X:-416.32, Y:-242.37, Z:-1.77 [[ 6.65068929e-02 9.97785418e-01 -1.04552804e-03 -4.16322443e+02] [ 9.97681491e-01 -6.65150558e-02 -1.44010644e-02 -2.42373781e+02] [-1.44387154e-02 -8.53339253e-05 -9.99895753e-01 -1.76862233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1296.756559995 meters 0.01286617975037883 Centerline is valid? [True, True] Translation: X:-416.32, Y:-242.37, Z:-1.77 [[-9.77299427e-03 9.99952240e-01 8.65520825e-05 -4.16315605e+02] [ 9.99845748e-01 9.77321662e-03 -1.45933325e-02 -2.42373614e+02] [-1.45934814e-02 -5.60818231e-05 -9.99893508e-01 -1.76888716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1296.786559995 meters 0.012707247158106087 Centerline is valid? [True, True] Translation: X:-416.31, Y:-242.37, Z:-1.77 [[-8.48676750e-02 9.96391538e-01 1.17531823e-03 -4.16308988e+02] [ 9.96294520e-01 8.48758125e-02 -1.39041887e-02 -2.42373428e+02] [-1.39537721e-02 -9.05305731e-06 -9.99902642e-01 -1.76954378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1296.816559995 meters 0.012786870476331934 Centerline is valid? [True, True] Translation: X:-416.30, Y:-242.37, Z:-1.77 [[-1.61734261e-01 9.86831903e-01 2.19656649e-03 -4.16300478e+02] [ 9.86741201e-01 1.61749176e-01 -1.33793378e-02 -2.42373360e+02] [-1.35584502e-02 3.54534579e-06 -9.99908080e-01 -1.76951501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1296.846559995 meters 0.01279451284422199 Centerline is valid? [True, True] Translation: X:-416.29, Y:-242.37, Z:-1.77 [[-2.37830790e-01 9.71301053e-01 3.28320188e-03 -4.16292249e+02] [ 9.71209298e-01 2.37853450e-01 -1.33504805e-02 -2.42371458e+02] [-1.37482567e-02 1.35208696e-05 -9.99905488e-01 -1.76938263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1296.876559995 meters 0.01280053995314417 Centerline is valid? [True, True] Translation: X:-416.28, Y:-242.37, Z:-1.77 [[-3.12543474e-01 9.49893849e-01 4.27230407e-03 -4.16283674e+02] [ 9.49806101e-01 3.12572672e-01 -1.29110761e-02 -2.42369219e+02] [-1.35995572e-02 2.25879028e-05 -9.99907522e-01 -1.76923136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1296.906559995 meters 0.012885573546335845 Centerline is valid? [True, True] Translation: X:-416.27, Y:-242.37, Z:-1.77 [[-3.85202692e-01 9.22815829e-01 5.46183532e-03 -4.16274511e+02] [ 9.22724366e-01 3.85241411e-01 -1.29923182e-02 -2.42365347e+02] [-1.40936420e-02 3.50925839e-05 -9.99900679e-01 -1.76871244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1296.9365599950002 meters 0.012928412343576922 Centerline is valid? [True, True] Translation: X:-416.27, Y:-242.36, Z:-1.77 [[-4.55640040e-01 8.90139626e-01 6.60311474e-03 -4.16267456e+02] [ 8.90047648e-01 4.55687881e-01 -1.27960916e-02 -2.42361444e+02] [-1.43992676e-02 4.66750546e-05 -9.99896324e-01 -1.76858494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1296.9665599950001 meters 0.013014804755607874 Centerline is valid? [True, True] Translation: X:-416.26, Y:-242.36, Z:-1.77 [[-5.23347089e-01 8.52085109e-01 7.66758027e-03 -4.16259705e+02] [ 8.51995291e-01 5.23403252e-01 -1.23717304e-02 -2.42357026e+02] [-1.45550037e-02 5.80331944e-05 -9.99894069e-01 -1.76863192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1296.996559995 meters 0.01305746115695379 Centerline is valid? [True, True] Translation: X:-416.25, Y:-242.35, Z:-1.77 [[-5.87893651e-01 8.08892535e-01 8.59782510e-03 -4.16252371e+02] [ 8.08807733e-01 5.87956514e-01 -1.17127901e-02 -2.42350902e+02] [-1.45295358e-02 6.81124923e-05 -9.99894439e-01 -1.76889731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1297.026559995 meters 0.013091257848714339 Centerline is valid? [True, True] Translation: X:-416.24, Y:-242.35, Z:-1.77 [[-6.48964829e-01 7.60763930e-01 9.10461981e-03 -4.16244965e+02] [ 7.60690662e-01 6.49028688e-01 -1.05583691e-02 -2.42345799e+02] [-1.39415858e-02 7.37891046e-05 -9.99902809e-01 -1.76869493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1297.056559995 meters 0.013229561846733684 Centerline is valid? [True, True] Translation: X:-416.24, Y:-242.34, Z:-1.77 [[-7.06395794e-01 7.07755817e-01 9.31055156e-03 -4.16238714e+02] [ 7.07695699e-01 7.06457146e-01 -9.22492657e-03 -2.42340413e+02] [-1.31065011e-02 7.25879685e-05 -9.99914104e-01 -1.76883236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1297.086559995 meters 0.012901670962109221 Centerline is valid? [True, True] Translation: X:-416.22, Y:-242.32, Z:-1.77 [[-7.55126709e-01 6.55522933e-01 8.56370453e-03 -4.16216073e+02] [ 6.55481617e-01 7.55175265e-01 -7.35999339e-03 -2.42317518e+02] [-1.12917423e-02 5.56232991e-05 -9.99936245e-01 -1.76998010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1297.116559995 meters 0.012818434042740265 Centerline is valid? [True, True] Translation: X:-416.20, Y:-242.29, Z:-1.77 [[-8.00208132e-01 5.99661708e-01 8.53118268e-03 -4.16200062e+02] [ 5.99628192e-01 8.00253606e-01 -6.34015705e-03 -2.42291848e+02] [-1.06290591e-02 4.20924158e-05 -9.99943509e-01 -1.77024740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1297.146559995 meters 0.01276412748923811 Centerline is valid? [True, True] Translation: X:-416.18, Y:-242.27, Z:-1.77 [[-8.41480505e-01 5.40211811e-01 9.04206548e-03 -4.16183084e+02] [ 5.40180959e-01 8.41529084e-01 -5.77347132e-03 -2.42267169e+02] [-1.07280585e-02 2.60880391e-05 -9.99942453e-01 -1.77065092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1297.176559995 meters 0.012725930424388045 Centerline is valid? [True, True] Translation: X:-416.17, Y:-242.24, Z:-1.77 [[-8.79799273e-01 4.75259172e-01 9.05313345e-03 -4.16171102e+02] [ 4.75233759e-01 8.79845850e-01 -4.91473946e-03 -2.42236271e+02] [-1.03011369e-02 -2.16295609e-05 -9.99946942e-01 -1.77125483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1297.2065599950001 meters 0.012847278137392707 Centerline is valid? [True, True] Translation: X:-416.16, Y:-242.21, Z:-1.77 [[-9.12458394e-01 4.09068214e-01 9.10365344e-03 -4.16161361e+02] [ 4.09047311e-01 9.12503805e-01 -4.13562194e-03 -2.42206214e+02] [-9.99886988e-03 -4.97579886e-05 -9.99950009e-01 -1.77098526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1297.236559995 meters 0.013082485220585206 Centerline is valid? [True, True] Translation: X:-415.91, Y:-241.66, Z:-2.82 [[-8.76972551e-01 -4.80466804e-01 8.41397712e-03 -4.15910170e+02] [ 4.80444919e-01 -8.77012913e-01 -4.58589191e-03 -2.41659972e+02] [ 9.58253542e-03 2.07512215e-05 9.99954086e-01 -2.81653385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1297.266559995 meters 0.01354605839594064 Centerline is valid? [True, True] Translation: X:-416.20, Y:-242.18, Z:-1.77 [[-9.16161331e-01 4.00720002e-01 8.47916383e-03 -4.16201726e+02] [ 4.00701857e-01 9.16200563e-01 -3.81458226e-03 -2.42179665e+02] [-9.29719408e-03 -9.71560695e-05 -9.99956776e-01 -1.77143418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1297.296559995 meters 0.014047016782955802 Centerline is valid? [True, True] Translation: X:-416.20, Y:-242.14, Z:-1.77 [[-9.43746685e-01 3.30572311e-01 8.00887559e-03 -4.16195910e+02] [ 3.30559263e-01 9.43780659e-01 -2.93978026e-03 -2.42144042e+02] [-8.53043183e-03 -1.26999861e-04 -9.99963607e-01 -1.77207989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1297.326559995 meters 0.014450764670817033 Centerline is valid? [True, True] Translation: X:-416.00, Y:-241.61, Z:-2.82 [[-9.06454148e-01 -4.22236528e-01 7.56254396e-03 -4.15997651e+02] [ 4.22222825e-01 -9.06485688e-01 -3.40342800e-03 -2.41609943e+02] [ 8.29238949e-03 1.08027248e-04 9.99965612e-01 -2.81582214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1297.356559995 meters 0.015097229683085226 Centerline is valid? [True, True] Translation: X:-416.24, Y:-242.12, Z:-1.77 [[-9.46285496e-01 3.23238734e-01 7.77692755e-03 -4.16236992e+02] [ 3.23226456e-01 9.46317440e-01 -2.82164684e-03 -2.42122035e+02] [-8.27150772e-03 -1.56374752e-04 -9.99965778e-01 -1.77225790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1297.386559995 meters 0.01531366669355006 Centerline is valid? [True, True] Translation: X:-416.23, Y:-242.09, Z:-1.77 [[-9.67545511e-01 2.52581445e-01 7.63530509e-03 -4.16233382e+02] [ 2.52572168e-01 9.67575622e-01 -2.17166288e-03 -2.42090374e+02] [-7.93625682e-03 -1.72717109e-04 -9.99968493e-01 -1.77331917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1297.416559995 meters 0.01531366669355006 Centerline is valid? [True, True] Translation: X:-416.23, Y:-242.06, Z:-1.77 [[-9.83029569e-01 1.83282548e-01 7.77013077e-03 -4.16232502e+02] [ 1.83275432e-01 9.83060262e-01 -1.62435500e-03 -2.42062203e+02] [-7.93622271e-03 -1.72714926e-04 -9.99968493e-01 -1.77331954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1297.4465599950001 meters 0.016288285370599027 Centerline is valid? [True, True] Translation: X:-416.23, Y:-242.03, Z:-1.77 [[-9.93666340e-01 1.12105196e-01 7.72200287e-03 -4.16234821e+02] [ 1.12100425e-01 9.93696329e-01 -1.04926803e-03 -2.42030590e+02] [-7.79095430e-03 -1.76982525e-04 -9.99969635e-01 -1.77278956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1297.4765599950001 meters 0.016128920588512084 Centerline is valid? [True, True] Translation: X:-416.16, Y:-241.49, Z:-2.82 [[-9.74867513e-01 -2.22655256e-01 7.61374484e-03 -4.16162380e+02] [ 2.22649865e-01 -9.74897229e-01 -1.55924334e-03 -2.41492175e+02] [ 7.76979247e-03 1.75143583e-04 9.99969800e-01 -2.81516032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1297.506559995 meters 0.015352852585277783 Centerline is valid? [True, True] Translation: X:-416.28, Y:-242.02, Z:-1.77 [[-9.93931631e-01 1.09736439e-01 7.60439717e-03 -4.16282409e+02] [ 1.09731978e-01 9.93960707e-01 -1.00269582e-03 -2.42023152e+02] [-7.66850426e-03 -1.62165555e-04 -9.99970584e-01 -1.77349233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1297.536559995 meters 0.015182745309987188 Centerline is valid? [True, True] Translation: X:-416.29, Y:-241.99, Z:-1.77 [[-9.99141526e-01 4.07798146e-02 7.29504830e-03 -4.16286885e+02] [ 4.07777000e-02 9.99168148e-01 -4.38423651e-04 -2.41993847e+02] [-7.30685873e-03 -1.40571984e-04 -9.99973295e-01 -1.77316918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1297.566559995 meters 0.013862270387914237 Centerline is valid? [True, True] Translation: X:-416.25, Y:-241.45, Z:-2.81 [[-9.90095892e-01 -1.40205923e-01 7.24046027e-03 -4.16252959e+02] [ 1.40203203e-01 -9.90122356e-01 -8.84420253e-04 -2.41453818e+02] [ 7.29294254e-03 1.39474861e-04 9.99973397e-01 -2.81499451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1297.596559995 meters 0.013477400976577167 Centerline is valid? [True, True] Translation: X:-416.34, Y:-241.99, Z:-1.77 [[-9.98933367e-01 4.56346280e-02 7.04341036e-03 -4.16339159e+02] [ 4.56329833e-02 9.98958195e-01 -3.94115108e-04 -2.41994433e+02] [-7.05405779e-03 -7.22829042e-05 -9.99975117e-01 -1.77296862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1297.626559995 meters 0.012940150573671682 Centerline is valid? [True, True] Translation: X:-416.34, Y:-241.97, Z:-1.77 [[-9.99728179e-01 -2.23814232e-02 6.52999648e-03 -4.16343655e+02] [-2.23812493e-02 9.99749504e-01 9.97218008e-05 -2.41968129e+02] [-6.53059265e-03 -4.64547845e-05 -9.99978675e-01 -1.77325851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1297.656559995 meters 0.012752555891378605 Centerline is valid? [True, True] Translation: X:-416.35, Y:-241.94, Z:-1.77 [[-9.95885227e-01 -9.04301726e-02 5.91590555e-03 -4.16351656e+02] [-9.04287221e-02 9.95902798e-01 5.12758925e-04 -2.41941647e+02] [-5.93803577e-03 -2.43187404e-05 -9.99982370e-01 -1.77349846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1297.6865599950002 meters 0.0126577961859815 Centerline is valid? [True, True] Translation: X:-416.37, Y:-241.92, Z:-1.77 [[-9.87335934e-01 -1.58530834e-01 5.97726849e-03 -4.16365163e+02] [-1.58527981e-01 9.87354027e-01 9.51144860e-04 -2.41915953e+02] [-6.05246590e-03 -8.46480348e-06 -9.99981684e-01 -1.77353534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1297.7165599950001 meters 0.012751956451118894 Centerline is valid? [True, True] Translation: X:-416.39, Y:-241.89, Z:-1.77 [[-9.74534347e-01 -2.24124674e-01 7.13699055e-03 -4.16387761e+02] [-2.24118472e-01 9.74560480e-01 1.66754099e-03 -2.41893211e+02] [-7.32916602e-03 2.55445522e-05 -9.99973141e-01 -1.77234084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1297.746559995 meters 0.013018701897309928 Centerline is valid? [True, True] Translation: X:-416.42, Y:-241.87, Z:-1.77 [[-9.56390178e-01 -2.91981311e-01 8.04622367e-03 -4.16419516e+02] [-2.91970586e-01 9.56424023e-01 2.50299252e-03 -2.41873000e+02] [-8.42642866e-03 4.45768270e-05 -9.99964496e-01 -1.77134350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1297.776559995 meters 0.013302190254750119 Centerline is valid? [True, True] Translation: X:-416.47, Y:-241.86, Z:-1.77 [[-9.33137257e-01 -3.59406849e-01 9.03198653e-03 -4.16471390e+02] [-3.59389323e-01 9.33180965e-01 3.54992825e-03 -2.41861454e+02] [-9.70434643e-03 6.65707897e-05 -9.99952910e-01 -1.76999773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1297.806559995 meters 0.013697721002275745 Centerline is valid? [True, True] Translation: X:-416.54, Y:-241.86, Z:-1.77 [[-9.04922968e-01 -4.25464133e-01 9.73107709e-03 -4.16535472e+02] [-4.25438423e-01 9.04975283e-01 4.67819383e-03 -2.41859029e+02] [-1.07967879e-02 9.34309516e-05 -9.99941709e-01 -1.76874135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1297.836559995 meters 0.014131583025551226 Centerline is valid? [True, True] Translation: X:-416.61, Y:-241.87, Z:-1.77 [[-8.72724785e-01 -4.88079931e-01 1.13767666e-02 -4.16607802e+02] [-4.88036060e-01 8.72798920e-01 6.54592042e-03 -2.41865058e+02] [-1.31245620e-02 1.60514630e-04 -9.99913857e-01 -1.76764303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1297.866559995 meters 0.014375473972081299 Centerline is valid? [True, True] Translation: X:-416.68, Y:-241.88, Z:-1.77 [[-8.35020160e-01 -5.50105774e-01 1.11790286e-02 -4.16683758e+02] [-5.50053446e-01 8.35094966e-01 7.58981201e-03 -2.41879400e+02] [-1.35107499e-02 1.88582863e-04 -9.99908708e-01 -1.76729780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1297.896559995 meters 0.015084763456538626 Centerline is valid? [True, True] Translation: X:-416.77, Y:-241.91, Z:-1.77 [[-7.92722013e-01 -6.09485084e-01 1.09427162e-02 -4.16765510e+02] [-6.09423183e-01 7.92797506e-01 8.68902267e-03 -2.41906260e+02] [-1.39711878e-02 2.19234622e-04 -9.99902374e-01 -1.76626214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1297.926559995 meters 0.01524184781640091 Centerline is valid? [True, True] Translation: X:-416.85, Y:-241.94, Z:-1.77 [[-7.45778541e-01 -6.66109101e-01 1.06317178e-02 -4.16848178e+02] [-6.66036640e-01 7.45854278e-01 9.82801440e-03 -2.41940739e+02] [-1.44762420e-02 2.48408663e-04 -9.99895183e-01 -1.76674428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1297.9565599950001 meters 0.01568362782025208 Centerline is valid? [True, True] Translation: X:-416.93, Y:-241.99, Z:-1.77 [[-6.94558253e-01 -7.19366538e-01 1.00308657e-02 -4.16932028e+02] [-7.19285806e-01 6.94630629e-01 1.07805011e-02 -2.41986633e+02] [-1.47228783e-02 2.72626687e-04 -9.99891576e-01 -1.76680152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1297.986559995 meters 0.016162671215384356 Centerline is valid? [True, True] Translation: X:-417.01, Y:-242.04, Z:-1.77 [[-6.39274225e-01 -7.68930665e-01 8.60800192e-03 -4.17014192e+02] [-7.68855167e-01 6.39332119e-01 1.07783900e-02 -2.42041588e+02] [-1.37912067e-02 2.72040186e-04 -9.99904860e-01 -1.76771548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1298.016559995 meters 0.016058878959273756 Centerline is valid? [True, True] Translation: X:-417.10, Y:-242.11, Z:-1.77 [[-5.79070376e-01 -8.15244834e-01 7.30482567e-03 -4.17098354e+02] [-8.15174433e-01 5.79116394e-01 1.07166588e-02 -2.42108010e+02] [-1.29670450e-02 2.50992518e-04 -9.99915893e-01 -1.76826812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1298.046559995 meters 0.016073670317670437 Centerline is valid? [True, True] Translation: X:-417.18, Y:-242.18, Z:-1.77 [[-5.15118581e-01 -8.57096231e-01 6.23690064e-03 -4.17175524e+02] [-8.57027810e-01 5.15156283e-01 1.08321895e-02 -2.42177926e+02] [-1.24972073e-02 2.34664770e-04 -9.99921880e-01 -1.76868811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1298.076559995 meters 0.015754823868670293 Centerline is valid? [True, True] Translation: X:-417.25, Y:-242.26, Z:-1.77 [[-4.47730020e-01 -8.94153812e-01 5.17584360e-03 -4.17250847e+02] [-8.94088439e-01 4.47759885e-01 1.08142956e-02 -2.42259090e+02] [-1.19871787e-02 2.14222851e-04 -9.99928128e-01 -1.76930631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1298.106559995 meters 0.014862152944947044 Centerline is valid? [True, True] Translation: X:-417.32, Y:-242.35, Z:-1.77 [[-3.77626671e-01 -9.25949038e-01 4.05913325e-03 -4.17321444e+02] [-9.25890038e-01 3.77648439e-01 1.04544130e-02 -2.42346012e+02] [-1.12131790e-02 1.89554124e-04 -9.99937113e-01 -1.77060217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1298.136559995 meters 0.014059062660082116 Centerline is valid? [True, True] Translation: X:-417.39, Y:-242.44, Z:-1.77 [[-3.04201767e-01 -9.52603644e-01 2.75356437e-03 -4.17385106e+02] [-9.52560312e-01 3.04214196e-01 9.08706643e-03 -2.42438328e+02] [-9.49404597e-03 1.41365533e-04 -9.99954921e-01 -1.77227019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1298.166559995 meters 0.014735603842062829 Centerline is valid? [True, True] Translation: X:-417.44, Y:-242.54, Z:-1.77 [[-2.29511045e-01 -9.73304169e-01 1.91695565e-03 -4.17439431e+02] [-9.73265695e-01 2.29519018e-01 8.65495982e-03 -2.42539900e+02] [-8.86388625e-03 1.20701692e-04 -9.99960708e-01 -1.77151902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1298.1965599950001 meters 0.014518858356417159 Centerline is valid? [True, True] Translation: X:-417.49, Y:-242.65, Z:-1.77 [[-1.53258324e-01 -9.88185585e-01 1.06573800e-03 -4.17488470e+02] [-9.88157365e-01 1.53262002e-01 7.46861170e-03 -2.42645159e+02] [-7.54371156e-03 9.15100575e-05 -9.99971542e-01 -1.77229633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1298.2265599950001 meters 0.013102929135344688 Centerline is valid? [True, True] Translation: X:-417.53, Y:-242.76, Z:-1.77 [[-7.44042183e-02 -9.97228085e-01 3.99981246e-04 -4.17533059e+02] [-9.97209442e-01 7.44052732e-02 6.09792094e-03 -2.42757760e+02] [-6.11077873e-03 5.48459652e-05 -9.99981328e-01 -1.77496148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1298.256559995 meters 0.013074443712283716 Centerline is valid? [True, True] Translation: X:-417.57, Y:-242.87, Z:-1.78 [[ 2.89882270e-03 -9.99995797e-01 -6.07692324e-05 -4.17565120e+02] [-9.99980086e-01 -2.89911781e-03 5.60562474e-03 -2.42865460e+02] [-5.60577736e-03 4.45183100e-05 -9.99984287e-01 -1.77530112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1298.286559995 meters 0.013074443712283716 Centerline is valid? [True, True] Translation: X:-417.59, Y:-242.98, Z:-1.78 [[ 7.91733086e-02 -9.96860747e-01 -4.88213638e-04 -4.17587685e+02] [-9.96845105e-01 -7.91748014e-02 5.58460957e-03 -2.42978930e+02] [-5.60573229e-03 4.45213577e-05 -9.99984287e-01 -1.77530321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1298.316559995 meters 0.012967357729492111 Centerline is valid? [True, True] Translation: X:-417.60, Y:-243.10, Z:-1.78 [[ 1.55889916e-01 -9.87774051e-01 -8.70612151e-04 -4.17602026e+02] [-9.87759951e-01 -1.55892343e-01 5.27799912e-03 -2.43096334e+02] [-5.34919235e-03 3.71689747e-05 -9.99985693e-01 -1.77552902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1298.346559995 meters 0.012919605818221295 Centerline is valid? [True, True] Translation: X:-418.12, Y:-243.28, Z:-2.81 [[ 1.02370195e-01 9.94746235e-01 -5.21640848e-04 -4.18120596e+02] [-9.94731623e-01 1.02371519e-01 5.39169088e-03 -2.43282743e+02] [ 5.41676537e-03 -3.30557995e-05 9.99985329e-01 -2.81312898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1298.376559995 meters 0.0130129126333423 Centerline is valid? [True, True] Translation: X:-417.57, Y:-243.35, Z:-1.77 [[ 1.66013319e-01 -9.86123005e-01 -9.99010125e-04 -4.17566136e+02] [-9.86106293e-01 -1.66016322e-01 5.74100535e-03 -2.43347448e+02] [-5.82718943e-03 3.20468195e-05 -9.99983022e-01 -1.77355953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1298.406559995 meters 0.012828980863996491 Centerline is valid? [True, True] Translation: X:-417.57, Y:-243.46, Z:-1.77 [[ 2.41405483e-01 -9.70422839e-01 -1.70460208e-03 -4.17570583e+02] [-9.70399615e-01 -2.41411499e-01 6.71377499e-03 -2.43462387e+02] [-6.92671113e-03 3.34031077e-05 -9.99976010e-01 -1.77308181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1298.4365599950002 meters 0.01296571982990692 Centerline is valid? [True, True] Translation: X:-417.57, Y:-243.58, Z:-1.77 [[ 3.15308880e-01 -9.48985880e-01 -2.47172755e-03 -4.17566387e+02] [-9.48957519e-01 -3.15318566e-01 7.33685492e-03 -2.43576452e+02] [-7.74195331e-03 3.21889425e-05 -9.99970030e-01 -1.77196784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1298.4665599950001 meters 0.012896861864504727 Centerline is valid? [True, True] Translation: X:-417.55, Y:-243.69, Z:-1.77 [[ 3.87111202e-01 -9.22026593e-01 -3.44673708e-03 -4.17553844e+02] [-9.21990778e-01 -3.87126545e-01 8.12680294e-03 -2.43690467e+02] [-8.82745184e-03 3.18833479e-05 -9.99961037e-01 -1.77103323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1298.496559995 meters 0.012815030873108205 Centerline is valid? [True, True] Translation: X:-417.54, Y:-243.80, Z:-1.77 [[ 4.56833515e-01 -8.89541632e-01 -4.33869954e-03 -4.17535133e+02] [-8.89502054e-01 -4.56854116e-01 8.39117401e-03 -2.43799277e+02] [-9.44645137e-03 2.59126375e-05 -9.99955381e-01 -1.77085804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1298.526559995 meters 0.012861470515703277 Centerline is valid? [True, True] Translation: X:-417.51, Y:-243.91, Z:-1.77 [[ 5.25177635e-01 -8.50977174e-01 -5.12845205e-03 -4.17506606e+02] [-8.50936636e-01 -5.25202675e-01 8.30611698e-03 -2.43910157e+02] [-9.76179269e-03 1.80086170e-06 -9.99952353e-01 -1.77032737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1298.556559995 meters 0.012795241468797127 Centerline is valid? [True, True] Translation: X:-417.47, Y:-244.01, Z:-1.77 [[ 5.89101339e-01 -8.08038405e-01 -5.79217191e-03 -4.17472442e+02] [-8.07999192e-01 -5.89129813e-01 7.96051181e-03 -2.44012332e+02] [-9.84474042e-03 -9.47794428e-06 -9.99951540e-01 -1.77034344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1298.586559995 meters 0.012966934811130202 Centerline is valid? [True, True] Translation: X:-417.43, Y:-244.11, Z:-1.77 [[ 6.49596744e-01 -7.60255399e-01 -5.98321601e-03 -4.17433991e+02] [-7.60222845e-01 -6.49624298e-01 7.03552149e-03 -2.44106808e+02] [-9.23563570e-03 -2.16743581e-05 -9.99957351e-01 -1.77052903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1298.616559995 meters 0.012789210662664214 Centerline is valid? [True, True] Translation: X:-417.39, Y:-244.20, Z:-1.77 [[ 7.06139342e-01 -7.08043830e-01 -6.41590021e-03 -4.17388215e+02] [-7.08014168e-01 -7.06168488e-01 6.48111393e-03 -2.44198021e+02] [-9.11961928e-03 -3.40212799e-05 -9.99958415e-01 -1.77117894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1298.646559995 meters 0.012947165755091802 Centerline is valid? [True, True] Translation: X:-417.33, Y:-244.29, Z:-1.77 [[ 7.58768499e-01 -6.51320344e-01 -7.22316645e-03 -4.17334721e+02] [-6.51290136e-01 -7.58802877e-01 6.27318538e-03 -2.44286571e+02] [-9.56681275e-03 -5.55183988e-05 -9.99954236e-01 -1.77059175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1298.676559995 meters 0.013082202963534175 Centerline is valid? [True, True] Translation: X:-417.33, Y:-244.30, Z:-1.77 [[ 8.07828789e-01 -5.89362657e-01 -8.01916204e-03 -4.17331504e+02] [-5.89332804e-01 -8.07868588e-01 5.93223190e-03 -2.44298724e+02] [-9.97466506e-03 -6.62724590e-05 -9.99950250e-01 -1.76991227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1298.7065599950001 meters 0.013069552720319979 Centerline is valid? [True, True] Translation: X:-417.33, Y:-244.31, Z:-1.77 [[ 8.51657221e-01 -5.24025192e-01 -8.80775273e-03 -4.17327141e+02] [-5.23996277e-01 -8.51702761e-01 5.50532452e-03 -2.44309975e+02] [-1.03865161e-02 -7.34197472e-05 -9.99946056e-01 -1.76939646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1298.736559995 meters 0.013175133270149327 Centerline is valid? [True, True] Translation: X:-417.32, Y:-244.32, Z:-1.77 [[ 8.90114319e-01 -4.55640012e-01 -9.41696351e-03 -4.17322174e+02] [-4.55613589e-01 -8.90164127e-01 4.90750378e-03 -2.44319544e+02] [-1.06186982e-02 -7.77428357e-05 -9.99943617e-01 -1.76896492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1298.766559995 meters 0.013265292747495206 Centerline is valid? [True, True] Translation: X:-417.32, Y:-244.33, Z:-1.77 [[ 9.23048108e-01 -3.84564384e-01 -9.61382655e-03 -4.17315887e+02] [-3.84542651e-01 -9.23098168e-01 4.08913015e-03 -2.44326322e+02] [-1.04470395e-02 -7.75374963e-05 -9.99945425e-01 -1.76900842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1298.796559995 meters 0.013258599601107741 Centerline is valid? [True, True] Translation: X:-417.31, Y:-244.33, Z:-1.77 [[ 9.50287990e-01 -3.11217458e-01 -9.81983773e-03 -4.17308615e+02] [-3.11200005e-01 -9.50338723e-01 3.29688405e-03 -2.44333385e+02] [-1.03582199e-02 -7.70557719e-05 -9.99946349e-01 -1.76928323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1298.826559995 meters 0.013242099294352239 Centerline is valid? [True, True] Translation: X:-417.30, Y:-244.34, Z:-1.77 [[ 9.71667019e-01 -2.36146620e-01 -9.89840524e-03 -4.17300370e+02] [-2.36133590e-01 -9.71717432e-01 2.48179296e-03 -2.44339274e+02] [-1.02045199e-02 -7.41303968e-05 -9.99947930e-01 -1.76950083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1298.856559995 meters 0.013199024993962381 Centerline is valid? [True, True] Translation: X:-417.29, Y:-244.35, Z:-1.77 [[ 9.87080658e-01 -1.59925135e-01 -9.78396391e-03 -4.17292690e+02] [-1.59916603e-01 -9.87129144e-01 1.65326699e-03 -2.44345798e+02] [-9.92243487e-03 -6.72895960e-05 -9.99950769e-01 -1.77024266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1298.886559995 meters 0.0131436468783957 Centerline is valid? [True, True] Translation: X:-417.29, Y:-244.35, Z:-1.77 [[ 9.96541874e-01 -8.25011316e-02 -9.89228068e-03 -4.17286115e+02] [-8.24964301e-02 -9.96590969e-01 8.83086455e-04 -2.44352493e+02] [-9.93141322e-03 -6.39547892e-05 -9.99950680e-01 -1.77127148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1298.916559995 meters 0.013203341835186774 Centerline is valid? [True, True] Translation: X:-417.28, Y:-244.36, Z:-1.77 [[ 9.99937112e-01 -4.68951112e-03 -1.01872410e-02 -4.17282498e+02] [-4.68865014e-03 -9.99989002e-01 1.08397119e-04 -2.44358758e+02] [-1.01876373e-02 -6.06258929e-05 -9.99948103e-01 -1.77118676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1298.9465599950001 meters 0.013146936629849082 Centerline is valid? [True, True] Translation: X:-417.28, Y:-244.36, Z:-1.77 [[ 9.97344141e-01 7.20475325e-02 -1.06685643e-02 -4.17278524e+02] [ 7.20439087e-02 -9.97401199e-01 -7.24094208e-04 -2.44360437e+02] [-1.06930081e-02 -4.64339603e-05 -9.99942827e-01 -1.77044927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1298.9765599950001 meters 0.013117025873051122 Centerline is valid? [True, True] Translation: X:-417.27, Y:-244.36, Z:-1.77 [[ 9.88748291e-01 1.49171407e-01 -1.11672937e-02 -4.17272873e+02] [ 1.49162357e-01 -9.88811352e-01 -1.64361535e-03 -2.44364592e+02] [-1.12875272e-02 -4.06179768e-05 -9.99936293e-01 -1.77091702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1299.006559995 meters 0.013133051539264758 Centerline is valid? [True, True] Translation: X:-417.27, Y:-244.37, Z:-1.77 [[ 9.74115214e-01 2.25744464e-01 -1.17892623e-02 -4.17267489e+02] [ 2.25728412e-01 -9.74186551e-01 -2.69225782e-03 -2.44368182e+02] [-1.20927031e-02 -3.86021527e-05 -9.99926880e-01 -1.77109123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1299.036559995 meters 0.013076349106664017 Centerline is valid? [True, True] Translation: X:-417.26, Y:-244.37, Z:-1.77 [[ 9.53546705e-01 3.00999627e-01 -1.21616486e-02 -4.17262597e+02] [ 3.00975639e-01 -9.53624257e-01 -3.80014328e-03 -2.44370379e+02] [-1.27414848e-02 -3.67458526e-05 -9.99918824e-01 -1.77050848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1299.066559995 meters 0.013065756487425003 Centerline is valid? [True, True] Translation: X:-417.26, Y:-244.37, Z:-1.77 [[ 9.27056535e-01 3.74735312e-01 -1.18163649e-02 -4.17256359e+02] [ 3.74705377e-01 -9.27131838e-01 -4.73663924e-03 -2.44374629e+02] [-1.27303141e-02 -3.65231011e-05 -9.99918966e-01 -1.77060381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1299.096559995 meters 0.013125223662474027 Centerline is valid? [True, True] Translation: X:-417.25, Y:-244.38, Z:-1.77 [[ 8.95019950e-01 4.45883477e-01 -1.12789601e-02 -4.17251149e+02] [ 4.45848529e-01 -8.95091014e-01 -5.58258384e-03 -2.44377528e+02] [-1.25848777e-02 -3.21838531e-05 -9.99920807e-01 -1.77083474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1299.126559995 meters 0.013098367634851955 Centerline is valid? [True, True] Translation: X:-417.25, Y:-244.38, Z:-1.77 [[ 8.57525268e-01 5.14329066e-01 -1.07716018e-02 -4.17245691e+02] [ 5.14288904e-01 -8.57592917e-01 -6.42740127e-03 -2.44379810e+02] [-1.25434487e-02 -2.80562870e-05 -9.99921328e-01 -1.77123195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1299.156559995 meters 0.012959122203070652 Centerline is valid? [True, True] Translation: X:-417.24, Y:-244.38, Z:-1.77 [[ 8.15253272e-01 5.79010772e-01 -1.04225138e-02 -4.17240659e+02] [ 5.78963689e-01 -8.15319892e-01 -7.38382800e-03 -2.44380364e+02] [-1.27729988e-02 -1.45671155e-05 -9.99918422e-01 -1.77234493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1299.1865599950002 meters 0.012982567905014055 Centerline is valid? [True, True] Translation: X:-417.23, Y:-244.38, Z:-1.77 [[ 7.67695899e-01 6.40743793e-01 -9.50776707e-03 -4.17233439e+02] [ 6.40694807e-01 -7.67754773e-01 -7.92292842e-03 -2.44383501e+02] [-1.23762008e-02 -9.17733163e-06 -9.99923412e-01 -1.77249358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1299.2165599950001 meters 0.013001571448973055 Centerline is valid? [True, True] Translation: X:-417.23, Y:-244.39, Z:-1.77 [[ 7.15254888e-01 6.98805605e-01 -9.00961610e-03 -4.17227960e+02] [ 6.98750310e-01 -7.15311629e-01 -8.79073027e-03 -2.44386826e+02] [-1.25876948e-02 -7.85925340e-06 -9.99920772e-01 -1.77261444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1299.246559995 meters 0.012933448932401777 Centerline is valid? [True, True] Translation: X:-417.22, Y:-244.39, Z:-1.77 [[ 6.58132822e-01 7.52855953e-01 -8.31279052e-03 -4.17220589e+02] [ 7.52796118e-01 -6.58185319e-01 -9.49164550e-03 -2.44390660e+02] [-1.26171985e-02 -1.10729869e-05 -9.99920400e-01 -1.77306273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1299.276559995 meters 0.012983660095632543 Centerline is valid? [True, True] Translation: X:-417.21, Y:-244.39, Z:-1.77 [[ 5.96706442e-01 8.02423356e-01 -7.62762043e-03 -4.17213569e+02] [ 8.02358204e-01 -5.96755191e-01 -1.02251771e-02 -2.44393943e+02] [-1.27567430e-02 -1.86547903e-05 -9.99918629e-01 -1.77275668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1299.306559995 meters 0.01298484581424455 Centerline is valid? [True, True] Translation: X:-417.21, Y:-244.40, Z:-1.77 [[ 5.30270740e-01 8.47799484e-01 -6.99838237e-03 -4.17208474e+02] [ 8.47726810e-01 -5.30316917e-01 -1.11005843e-02 -2.44396662e+02] [-1.31224302e-02 -4.64013172e-05 -9.99913896e-01 -1.77189508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1299.336559995 meters 0.013081865794493736 Centerline is valid? [True, True] Translation: X:-417.20, Y:-244.40, Z:-1.77 [[ 4.61101678e-01 8.87326553e-01 -6.06895241e-03 -4.17200076e+02] [ 8.87251495e-01 -4.61141611e-01 -1.15411822e-02 -2.44399331e+02] [-1.30394439e-02 -6.30286093e-05 -9.99914981e-01 -1.77221476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1299.366559995 meters 0.013320908118628953 Centerline is valid? [True, True] Translation: X:-417.19, Y:-244.40, Z:-1.77 [[ 3.88595214e-01 9.21394082e-01 -5.16763881e-03 -4.17192084e+02] [ 9.21315550e-01 -3.88629564e-01 -1.20299810e-02 -2.44402159e+02] [-1.30926505e-02 -8.62329398e-05 -9.99914284e-01 -1.77164572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1299.396559995 meters 0.013229279188404795 Centerline is valid? [True, True] Translation: X:-417.18, Y:-244.40, Z:-1.77 [[ 3.14211169e-01 9.49343921e-01 -4.17874805e-03 -4.17184212e+02] [ 9.49264150e-01 -3.14238939e-01 -1.23070115e-02 -2.44403227e+02] [-1.29967119e-02 -9.97352529e-05 -9.99915534e-01 -1.77239649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1299.426559995 meters 0.013347530843293546 Centerline is valid? [True, True] Translation: X:-417.18, Y:-244.40, Z:-1.77 [[ 2.38118635e-01 9.71230945e-01 -3.15703112e-03 -4.17177255e+02] [ 9.71151552e-01 -2.38139537e-01 -1.24186918e-02 -2.44404709e+02] [-1.28132317e-02 -1.08833743e-04 -9.99917901e-01 -1.77182862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1299.4565599950001 meters 0.013378907345020091 Centerline is valid? [True, True] Translation: X:-417.17, Y:-244.40, Z:-1.77 [[ 1.60646692e-01 9.87009670e-01 -2.13373340e-03 -4.17173649e+02] [ 9.86931908e-01 -1.60660820e-01 -1.23899212e-02 -2.44404160e+02] [-1.25717794e-02 -1.15449720e-04 -9.99920966e-01 -1.77223705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1299.486559995 meters 0.013379109975654845 Centerline is valid? [True, True] Translation: X:-417.17, Y:-244.40, Z:-1.77 [[ 8.28388254e-02 9.96562254e-01 -1.18412845e-03 -4.17167706e+02] [ 9.96479876e-01 -8.28472034e-02 -1.28139947e-02 -2.44404657e+02] [-1.28680452e-02 -1.18463899e-04 -9.99917196e-01 -1.77234645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1299.516559995 meters 0.013613407453262128 Centerline is valid? [True, True] Translation: X:-417.16, Y:-244.41, Z:-1.77 [[ 3.93777185e-03 9.99992230e-01 -1.83239114e-04 -4.17161583e+02] [ 9.99903549e-01 -3.93986305e-03 -1.33180763e-02 -2.44405918e+02] [-1.33186947e-02 -1.30777895e-04 -9.99911294e-01 -1.77213353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1299.546559995 meters 0.014402128892691574 Centerline is valid? [True, True] Translation: X:-417.15, Y:-244.40, Z:-1.77 [[-7.90762218e-02 9.96868196e-01 8.66893640e-04 -4.17151157e+02] [ 9.96778231e-01 7.90807330e-02 -1.33939206e-02 -2.44404972e+02] [-1.34205281e-02 -1.95039929e-04 -9.99909922e-01 -1.77214797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1299.576559995 meters 0.015055487084259729 Centerline is valid? [True, True] Translation: X:-417.14, Y:-244.40, Z:-1.77 [[-1.59434978e-01 9.87206480e-01 1.96333154e-03 -4.17143654e+02] [ 9.87112381e-01 1.59446892e-01 -1.36321563e-02 -2.44404518e+02] [-1.37708001e-02 -2.35413659e-04 -9.99905151e-01 -1.77202894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1299.606559995 meters 0.01526580571449752 Centerline is valid? [True, True] Translation: X:-417.14, Y:-244.40, Z:-1.77 [[-2.38321260e-01 9.71181554e-01 3.06039368e-03 -4.17135741e+02] [ 9.71086453e-01 2.38340759e-01 -1.35934931e-02 -2.44402598e+02] [-1.39311663e-02 -2.67711573e-04 -9.99902921e-01 -1.77255973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1299.636559995 meters 0.015867026604913938 Centerline is valid? [True, True] Translation: X:-417.13, Y:-244.40, Z:-1.77 [[-3.15085102e-01 9.49054136e-01 4.19825294e-03 -4.17127059e+02] [ 9.48957039e-01 3.15112933e-01 -1.35786088e-02 -2.44400742e+02] [-1.42097586e-02 -2.94455661e-04 -9.99898993e-01 -1.77205826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1299.666559995 meters 0.016308010309110922 Centerline is valid? [True, True] Translation: X:-417.12, Y:-244.40, Z:-1.77 [[-3.90390920e-01 9.20634635e-01 5.17679009e-03 -4.17119511e+02] [ 9.20542551e-01 3.90425111e-01 -1.30247911e-02 -2.44397334e+02] [-1.40122227e-02 -3.19304637e-04 -9.99901773e-01 -1.77215840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1299.6965599950001 meters 0.015863243023447212 Centerline is valid? [True, True] Translation: X:-417.11, Y:-244.39, Z:-1.77 [[-4.61409013e-01 8.87167680e-01 5.93550463e-03 -4.17112435e+02] [ 8.87085488e-01 4.61447085e-01 -1.20799313e-02 -2.44393581e+02] [-1.34558460e-02 -3.08489166e-04 -9.99909419e-01 -1.77274995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1299.7265599950001 meters 0.01589059832308423 Centerline is valid? [True, True] Translation: X:-417.11, Y:-244.39, Z:-1.77 [[-5.29294365e-01 8.48413403e-01 6.49409258e-03 -4.17105424e+02] [ 8.48342711e-01 5.29334124e-01 -1.09558604e-02 -2.44388735e+02] [-1.27326436e-02 -2.89659057e-04 -9.99918895e-01 -1.77292321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1299.756559995 meters 0.016112767607008725 Centerline is valid? [True, True] Translation: X:-417.10, Y:-244.38, Z:-1.77 [[-5.93761762e-01 8.04611934e-01 6.82692171e-03 -4.17098714e+02] [ 8.04553555e-01 5.93800949e-01 -9.69594321e-03 -2.44383851e+02] [-1.18553042e-02 -2.64456191e-04 -9.99929689e-01 -1.77308248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1299.786559995 meters 0.01568513289664679 Centerline is valid? [True, True] Translation: X:-417.09, Y:-244.38, Z:-1.77 [[-6.54379377e-01 7.56132657e-01 7.14406065e-03 -4.17093454e+02] [ 7.56083523e-01 6.54418328e-01 -8.62318993e-03 -2.44379055e+02] [-1.11954797e-02 -2.41331107e-04 -9.99937300e-01 -1.77372964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1299.816559995 meters 0.015668249921260924 Centerline is valid? [True, True] Translation: X:-417.09, Y:-244.37, Z:-1.77 [[-7.10645153e-01 7.03517832e-01 6.79169224e-03 -4.17089149e+02] [ 7.03483027e-01 7.10677579e-01 -7.00071346e-03 -2.44374657e+02] [-9.75183015e-03 -1.97182878e-04 -9.99952431e-01 -1.77421516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1299.846559995 meters 0.014884460674002807 Centerline is valid? [True, True] Translation: X:-417.09, Y:-244.37, Z:-1.78 [[-7.62961071e-01 6.46403150e-01 7.30559949e-03 -4.17085700e+02] [ 6.46371139e-01 7.62996024e-01 -6.43571623e-03 -2.44368978e+02] [-9.73421061e-03 -1.88072278e-04 -9.99952604e-01 -1.77516240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1299.876559995 meters 0.014624779555655694 Centerline is valid? [True, True] Translation: X:-417.07, Y:-244.35, Z:-1.78 [[-8.06354816e-01 5.91379292e-01 7.90221524e-03 -4.17071327e+02] [ 5.91348640e-01 8.06393514e-01 -6.02383704e-03 -2.44346780e+02] [-9.93466760e-03 -1.84385771e-04 -9.99950633e-01 -1.77517688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1299.906559995 meters 0.014966511436124652 Centerline is valid? [True, True] Translation: X:-417.06, Y:-244.32, Z:-1.77 [[-8.45323965e-01 5.34170036e-01 9.47456647e-03 -4.17055949e+02] [ 5.34133934e-01 8.45377038e-01 -6.21330293e-03 -2.44323942e+02] [-1.13285412e-02 -1.91566407e-04 -9.99935812e-01 -1.77329019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1299.9365599950002 meters 0.014657466365766569 Centerline is valid? [True, True] Translation: X:-417.04, Y:-244.30, Z:-1.77 [[-8.80734761e-01 4.73490858e-01 1.06155220e-02 -4.17043331e+02] [ 4.73453746e-01 8.80798711e-01 -5.93145011e-03 -2.44300938e+02] [-1.21586255e-02 -1.98075643e-04 -9.99926062e-01 -1.77306797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1299.9665599950001 meters 0.014317666454364839 Centerline is valid? [True, True] Translation: X:-417.03, Y:-244.28, Z:-1.77 [[-9.11763338e-01 4.10546604e-01 1.17941313e-02 -4.17034442e+02] [ 4.10509373e-01 9.11839594e-01 -5.53264214e-03 -2.44275843e+02] [-1.30257634e-02 -2.02858811e-04 -9.99915141e-01 -1.77254131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1299.996559995 meters 0.014255587230064109 Centerline is valid? [True, True] Translation: X:-416.75, Y:-243.70, Z:-2.82 [[-8.67439998e-01 -4.97398437e-01 1.19433972e-02 -4.16754451e+02] [ 4.97355224e-01 -8.67522180e-01 -6.56112214e-03 -2.43699962e+02] [ 1.36246538e-02 2.48731204e-04 9.99907149e-01 -2.81654509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1300.026559995 meters 0.014009423082381992 Centerline is valid? [True, True] Translation: X:-417.07, Y:-244.26, Z:-1.77 [[-9.12491915e-01 4.08882827e-01 1.31658298e-02 -4.17074760e+02] [ 4.08837111e-01 9.12586869e-01 -6.11745439e-03 -2.44259503e+02] [-1.45162854e-02 -1.99447870e-04 -9.99894614e-01 -1.77119321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1300.056559995 meters 0.013840384720661321 Centerline is valid? [True, True] Translation: X:-417.06, Y:-244.24, Z:-1.77 [[-9.38784235e-01 3.44242605e-01 1.34606591e-02 -4.17060416e+02] [ 3.44204442e-01 9.38880715e-01 -5.12894470e-03 -2.44237131e+02] [-1.44035545e-02 -1.81753785e-04 -9.99896247e-01 -1.77096982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1300.086559995 meters 0.013518254783268768 Centerline is valid? [True, True] Translation: X:-417.05, Y:-244.21, Z:-1.77 [[-9.60089948e-01 2.79379283e-01 1.32101549e-02 -4.17053882e+02] [ 2.79350867e-01 9.60180815e-01 -3.98695949e-03 -2.44213682e+02] [-1.37980112e-02 -1.37571507e-04 -9.99904794e-01 -1.77138882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1300.116559995 meters 0.013443182210733968 Centerline is valid? [True, True] Translation: X:-417.05, Y:-244.19, Z:-1.77 [[-9.77226119e-01 2.11754025e-01 1.37602636e-02 -4.17048853e+02] [ 2.11731245e-01 9.77322985e-01 -3.10846510e-03 -2.44187855e+02] [-1.41064519e-02 -1.24195547e-04 -9.99900492e-01 -1.77177566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1300.146559995 meters 0.013396153681730296 Centerline is valid? [True, True] Translation: X:-416.90, Y:-243.55, Z:-2.82 [[-9.55926238e-01 -2.93304570e-01 1.33212718e-02 -4.16901195e+02] [ 2.93277688e-01 -9.56019047e-01 -3.97252486e-03 -2.43548596e+02] [ 1.39005493e-02 1.09391052e-04 9.99903377e-01 -2.81626611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1300.176559995 meters 0.013466381858954117 Centerline is valid? [True, True] Translation: X:-417.10, Y:-244.18, Z:-1.77 [[-9.77910509e-01 2.08588520e-01 1.34857970e-02 -4.17096908e+02] [ 2.08567102e-01 9.78003485e-01 -2.99114923e-03 -2.44178350e+02] [-1.38130758e-02 -1.12382662e-04 -9.99904589e-01 -1.77216539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1300.2065599950001 meters 0.013323316826952994 Centerline is valid? [True, True] Translation: X:-417.09, Y:-244.15, Z:-1.77 [[-9.90452844e-01 1.37259519e-01 1.27666706e-02 -4.17094038e+02] [ 1.37246517e-01 9.90535113e-01 -1.89320691e-03 -2.44149958e+02] [-1.29056961e-02 -1.22951103e-04 -9.99916711e-01 -1.77440058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1300.236559995 meters 0.013323316826952994 Centerline is valid? [True, True] Translation: X:-417.00, Y:-243.50, Z:-2.81 [[-9.74937366e-01 -2.22123625e-01 1.25788860e-02 -4.16995625e+02] [ 2.22106733e-01 -9.75018503e-01 -2.74198887e-03 -2.43502331e+02] [ 1.28737071e-02 1.20587876e-04 9.99917123e-01 -2.81389081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1300.266559995 meters 0.01348085155872451 Centerline is valid? [True, True] Translation: X:-417.15, Y:-244.14, Z:-1.78 [[-9.91228888e-01 1.31585455e-01 1.22702767e-02 -4.17146016e+02] [ 1.31573644e-01 9.91304822e-01 -1.76840613e-03 -2.44141226e+02] [-1.23962810e-02 -1.38450225e-04 -9.99923154e-01 -1.77503761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1300.296559995 meters 0.013682953773912244 Centerline is valid? [True, True] Translation: X:-417.15, Y:-244.11, Z:-1.78 [[-9.98179574e-01 5.92872080e-02 1.10709273e-02 -4.17152419e+02] [ 5.92819925e-02 9.98240957e-01 -7.98955837e-04 -2.44110873e+02] [-1.10988209e-02 -1.41194766e-04 -9.99938396e-01 -1.77568244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1300.326559995 meters 0.013907212473336724 Centerline is valid? [True, True] Translation: X:-417.15, Y:-244.08, Z:-1.78 [[-9.99862744e-01 -1.28740396e-02 1.04284795e-02 -4.17148277e+02] [-1.28748650e-02 9.99917116e-01 -1.20111805e-05 -2.44081877e+02] [-1.04274605e-02 -1.46274797e-04 -9.99945622e-01 -1.77607278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1300.356559995 meters 0.014433684480853177 Centerline is valid? [True, True] Translation: X:-417.15, Y:-243.44, Z:-2.81 [[-9.96426873e-01 -8.39662305e-02 9.11920651e-03 -4.17146777e+02] [ 8.39631011e-02 -9.96468600e-01 -7.26147890e-04 -2.43438708e+02] [ 9.14797484e-03 4.21235869e-05 9.99958156e-01 -2.81159060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1300.386559995 meters 0.015287127347699835 Centerline is valid? [True, True] Translation: X:-417.22, Y:-244.08, Z:-1.78 [[-9.99777877e-01 -1.93777387e-02 8.28849776e-03 -4.17216018e+02] [-1.93781658e-02 9.99812225e-01 2.87809335e-05 -2.44076888e+02] [-8.28749910e-03 -1.31841343e-04 -9.99965650e-01 -1.77590437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1300.416559995 meters 0.014066324307525429 Centerline is valid? [True, True] Translation: X:-417.22, Y:-243.44, Z:-2.81 [[-9.96806964e-01 -7.94530318e-02 7.94303058e-03 -4.17219320e+02] [ 7.94513494e-02 -9.96838605e-01 -5.27630024e-04 -2.43440175e+02] [ 7.95984133e-03 1.05139215e-04 9.99968315e-01 -2.81088542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1300.4465599950001 meters 0.014066324307525429 Centerline is valid? [True, True] Translation: X:-417.29, Y:-244.08, Z:-1.78 [[-9.99681923e-01 -2.39257029e-02 7.97582887e-03 -4.17286939e+02] [-2.39259413e-02 9.99713732e-01 6.55362006e-05 -2.44078842e+02] [-7.97511364e-03 -1.25313858e-04 -9.99968191e-01 -1.77741265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1300.4765599950001 meters 0.014026577346856233 Centerline is valid? [True, True] Translation: X:-417.29, Y:-244.05, Z:-1.78 [[-9.95469193e-01 -9.47242566e-02 8.27048574e-03 -4.17292255e+02] [-9.47220542e-02 9.95503540e-01 6.58479612e-04 -2.44051481e+02] [-8.29567182e-03 -1.27901230e-04 -9.99965582e-01 -1.77712129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1300.506559995 meters 0.013787059775643363 Centerline is valid? [True, True] Translation: X:-417.31, Y:-244.03, Z:-1.78 [[-9.86440865e-01 -1.63796589e-01 1.02516941e-02 -4.17307127e+02] [-1.63789248e-01 9.86494124e-01 1.55733035e-03 -2.44025444e+02] [-1.03683214e-02 -1.42902973e-04 -9.99946238e-01 -1.77546973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1300.536559995 meters 0.013704954127156934 Centerline is valid? [True, True] Translation: X:-417.33, Y:-244.00, Z:-1.77 [[-9.72454878e-01 -2.32816959e-01 1.13037069e-02 -4.17327959e+02] [-2.32802959e-01 9.72520562e-01 2.55721092e-03 -2.44001632e+02] [-1.15884495e-02 -1.44764184e-04 -9.99932841e-01 -1.77407742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1300.566559995 meters 0.013655734584357654 Centerline is valid? [True, True] Translation: X:-417.36, Y:-243.98, Z:-1.77 [[-9.53512164e-01 -3.01106111e-01 1.22336877e-02 -4.17359205e+02] [-3.01083214e-01 9.53590631e-01 3.71585038e-03 -2.43981718e+02] [-1.27847952e-02 -1.40249481e-04 -9.99918262e-01 -1.77257578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1300.596559995 meters 0.013142365701961837 Centerline is valid? [True, True] Translation: X:-417.42, Y:-243.98, Z:-1.77 [[-9.30193817e-01 -3.66815150e-01 1.36421813e-02 -4.17415849e+02] [-3.66777359e-01 9.30293843e-01 5.26635162e-03 -2.43975504e+02] [-1.46230148e-02 -1.04915496e-04 -9.99893073e-01 -1.77082876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1300.626559995 meters 0.012833122886590408 Centerline is valid? [True, True] Translation: X:-417.48, Y:-243.98, Z:-1.77 [[-9.01630564e-01 -4.32294805e-01 1.35472504e-02 -4.17480912e+02] [-4.32247244e-01 9.01732331e-01 6.41276331e-03 -2.43975882e+02] [-1.49881979e-02 -7.38182426e-05 -9.99887668e-01 -1.77184254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1300.656559995 meters 0.012949931600887053 Centerline is valid? [True, True] Translation: X:-417.55, Y:-243.98, Z:-1.77 [[-8.68192095e-01 -4.96061373e-01 1.28685720e-02 -4.17550245e+02] [-4.96007537e-01 8.68287460e-01 7.30825148e-03 -2.43982765e+02] [-1.47989610e-02 -3.79425535e-05 -9.99890489e-01 -1.77077763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1300.6865599950002 meters 0.012837627989938535 Centerline is valid? [True, True] Translation: X:-417.63, Y:-244.00, Z:-1.77 [[-8.30118190e-01 -5.57458431e-01 1.19953464e-02 -4.17631682e+02] [-5.57400276e-01 8.30204853e-01 8.05205470e-03 -2.44003186e+02] [-1.44472806e-02 -2.05231791e-06 -9.99895633e-01 -1.77120992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1300.7165599950001 meters 0.012736396036973074 Centerline is valid? [True, True] Translation: X:-417.71, Y:-244.03, Z:-1.77 [[-7.87236012e-01 -6.16556454e-01 1.08444146e-02 -4.17711124e+02] [-6.16497474e-01 7.87310700e-01 8.52794585e-03 -2.44029060e+02] [-1.37958837e-02 2.79518613e-05 -9.99904832e-01 -1.77248351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1300.746559995 meters 0.012768619395922866 Centerline is valid? [True, True] Translation: X:-417.80, Y:-244.07, Z:-1.78 [[-7.41423304e-01 -6.70989305e-01 8.05218566e-03 -4.17796604e+02] [-6.70948732e-01 7.41467025e-01 7.37903122e-03 -2.44067762e+02] [-1.09216812e-02 6.83819488e-05 -9.99940355e-01 -1.77555887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1300.776559995 meters 0.013006409348308575 Centerline is valid? [True, True] Translation: X:-417.88, Y:-244.11, Z:-1.78 [[-6.89624277e-01 -7.24135299e-01 6.81356510e-03 -4.17880665e+02] [-7.24098849e-01 6.89657932e-01 7.26597917e-03 -2.44112933e+02] [-9.96058121e-03 7.71009833e-05 -9.99950389e-01 -1.77538664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1300.806559995 meters 0.012846446650673252 Centerline is valid? [True, True] Translation: X:-417.97, Y:-244.17, Z:-1.78 [[-6.33581795e-01 -7.73653682e-01 5.83859978e-03 -4.17967904e+02] [-7.73619629e-01 6.33608691e-01 7.25930268e-03 -2.44170237e+02] [-9.31557382e-03 8.25066261e-05 -9.99956606e-01 -1.77701378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1300.836559995 meters 0.013166159276996022 Centerline is valid? [True, True] Translation: X:-418.05, Y:-244.24, Z:-1.78 [[-5.73110141e-01 -8.19463469e-01 4.93855844e-03 -4.18051016e+02] [-8.19431838e-01 5.73131413e-01 7.20049182e-03 -2.44238065e+02] [-8.73098298e-03 7.98628633e-05 -9.99961881e-01 -1.77661147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1300.866559995 meters 0.013011746461527151 Centerline is valid? [True, True] Translation: X:-418.13, Y:-244.32, Z:-1.78 [[-5.08697381e-01 -8.60934261e-01 4.37865239e-03 -4.18132685e+02] [-8.60901045e-01 5.08716220e-01 7.56299390e-03 -2.44315125e+02] [-8.73873206e-03 7.76887731e-05 -9.99961814e-01 -1.77731856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1300.896559995 meters 0.012618166524209757 Centerline is valid? [True, True] Translation: X:-418.21, Y:-244.40, Z:-1.78 [[-4.39467160e-01 -8.98250150e-01 3.90937622e-03 -4.18210379e+02] [-8.98213384e-01 4.39484544e-01 8.12726343e-03 -2.44398046e+02] [-9.01842602e-03 6.02113390e-05 -9.99959332e-01 -1.77723549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1300.926559995 meters 0.012588936501472046 Centerline is valid? [True, True] Translation: X:-418.28, Y:-244.49, Z:-1.78 [[-3.67844093e-01 -9.29881115e-01 3.44022215e-03 -4.18282333e+02] [-9.29839253e-01 3.67860177e-01 8.82351191e-03 -2.44489964e+02] [-9.47033782e-03 4.68231518e-05 -9.99955154e-01 -1.77587146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1300.9565599950001 meters 0.012309379551670387 Centerline is valid? [True, True] Translation: X:-418.35, Y:-244.59, Z:-1.78 [[-2.93921638e-01 -9.55825169e-01 2.88400409e-03 -4.18348065e+02] [-9.55778077e-01 2.93935785e-01 9.48796590e-03 -2.44587215e+02] [-9.91654862e-03 3.22505916e-05 -9.99950830e-01 -1.77638477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1300.986559995 meters 0.01237373226440557 Centerline is valid? [True, True] Translation: X:-418.41, Y:-244.69, Z:-1.77 [[-2.17837463e-01 -9.75982565e-01 2.20760800e-03 -4.18406761e+02] [-9.75931850e-01 2.17848649e-01 9.94937939e-03 -2.44690875e+02] [-1.01913452e-02 1.28726018e-05 -9.99948067e-01 -1.77499845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1301.016559995 meters 0.012381856783423977 Centerline is valid? [True, True] Translation: X:-418.46, Y:-244.80, Z:-1.77 [[-1.38997760e-01 -9.90291416e-01 1.59186434e-03 -4.18459517e+02] [-9.90228439e-01 1.39006873e-01 1.11681650e-02 -2.44800720e+02] [-1.12810180e-02 -2.39594265e-05 -9.99936367e-01 -1.77396159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1301.046559995 meters 0.012472654848971067 Centerline is valid? [True, True] Translation: X:-418.50, Y:-244.91, Z:-1.77 [[-6.11086314e-02 -9.98130814e-01 7.83194029e-04 -4.18499817e+02] [-9.98057846e-01 6.11136341e-02 1.20689810e-02 -2.44912305e+02] [-1.20942856e-02 -4.41540371e-05 -9.99926861e-01 -1.77343661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1301.076559995 meters 0.0127142833447111 Centerline is valid? [True, True] Translation: X:-418.53, Y:-245.03, Z:-1.77 [[ 1.64494946e-02 -9.99864686e-01 -1.51988539e-04 -4.18530972e+02] [-9.99784493e-01 -1.64501002e-02 1.26634401e-02 -2.45028032e+02] [-1.26642268e-02 -5.63514054e-05 -9.99919804e-01 -1.77294918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1301.106559995 meters 0.012776086006003181 Centerline is valid? [True, True] Translation: X:-418.55, Y:-245.15, Z:-1.77 [[ 9.36907592e-02 -9.95600640e-01 -1.18665304e-03 -4.18552763e+02] [-9.95511644e-01 -9.36982506e-02 1.33118487e-02 -2.45146505e+02] [-1.33644724e-02 -6.58702936e-05 -9.99910690e-01 -1.77323691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1301.136559995 meters 0.012938338994649187 Centerline is valid? [True, True] Translation: X:-419.19, Y:-245.31, Z:-2.82 [[ 1.65458985e-02 9.99863057e-01 -3.17810218e-04 -4.19190589e+02] [-9.99769104e-01 1.65487005e-02 1.37069041e-02 -2.45310162e+02] [ 1.37102864e-02 9.09437930e-05 9.99906006e-01 -2.81674500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1301.166559995 meters 0.012860340448265804 Centerline is valid? [True, True] Translation: X:-418.53, Y:-245.42, Z:-1.77 [[ 1.01883978e-01 -9.94795354e-01 -1.36366567e-03 -4.18530416e+02] [-9.94699265e-01 -1.01893090e-01 1.38264583e-02 -2.45424411e+02] [-1.38934446e-02 -5.22573435e-05 -9.99903480e-01 -1.77203396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1301.1965599950001 meters 0.012539011380174242 Centerline is valid? [True, True] Translation: X:-419.17, Y:-245.59, Z:-2.81 [[ 3.02732258e-02 9.99541595e-01 -3.62707933e-04 -4.19170736e+02] [-9.99460022e-01 3.02753890e-02 1.27697341e-02 -2.45592743e+02] [ 1.27748616e-02 -2.40689667e-05 9.99918398e-01 -2.81391064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1301.2265599950001 meters 0.012707782284920999 Centerline is valid? [True, True] Translation: X:-418.50, Y:-245.70, Z:-1.77 [[ 1.05943628e-01 -9.94371361e-01 -1.24298591e-03 -4.18501731e+02] [-9.94305030e-01 -1.05950918e-01 1.14852116e-02 -2.45699594e+02] [-1.15522610e-02 1.91221587e-05 -9.99933270e-01 -1.77372620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1301.256559995 meters 0.012572978071405255 Centerline is valid? [True, True] Translation: X:-418.51, Y:-245.81, Z:-1.78 [[ 1.79778054e-01 -9.83705593e-01 -1.77679990e-03 -4.18513068e+02] [-9.83659637e-01 -1.79786830e-01 9.50866132e-03 -2.45806461e+02] [-9.67316855e-03 3.83177154e-05 -9.99953213e-01 -1.77643909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1301.286559995 meters 0.012781292408451937 Centerline is valid? [True, True] Translation: X:-418.51, Y:-245.92, Z:-1.78 [[ 2.51483304e-01 -9.67860017e-01 -1.77061513e-03 -4.18511980e+02] [-9.67837420e-01 -2.51489532e-01 6.61385175e-03 -2.45923940e+02] [-6.84657384e-03 5.03942817e-05 -9.99976561e-01 -1.77934294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1301.316559995 meters 0.012884168278360681 Centerline is valid? [True, True] Translation: X:-418.50, Y:-246.04, Z:-1.78 [[ 3.24170064e-01 -9.45996734e-01 -1.98715792e-03 -4.18502742e+02] [-9.45979893e-01 -3.24176151e-01 5.64491463e-03 -2.46043502e+02] [-5.98426001e-03 4.98990991e-05 -9.99982093e-01 -1.77989925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1301.346559995 meters 0.012945809627099347 Centerline is valid? [True, True] Translation: X:-418.49, Y:-246.16, Z:-1.78 [[ 3.95283002e-01 -9.18557115e-01 -2.04321940e-03 -4.18486305e+02] [-9.18545429e-01 -3.95288280e-01 4.63360414e-03 -2.46159600e+02] [-5.06389074e-03 4.52048864e-05 -9.99987178e-01 -1.78001305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1301.376559995 meters 0.012922552132050152 Centerline is valid? [True, True] Translation: X:-418.46, Y:-246.27, Z:-1.78 [[ 4.64665561e-01 -8.85483497e-01 -2.21213237e-03 -4.18462085e+02] [-8.85473879e-01 -4.64670825e-01 4.12728524e-03 -2.46273575e+02] [-4.68255634e-03 4.09781215e-05 -9.99989036e-01 -1.78048412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1301.406559995 meters 0.012639973406667176 Centerline is valid? [True, True] Translation: X:-418.43, Y:-246.39, Z:-1.78 [[ 5.33346323e-01 -8.45893823e-01 -2.31070149e-03 -4.18431026e+02] [-8.45886095e-01 -5.33351328e-01 3.61601926e-03 -2.46386987e+02] [-4.29118406e-03 2.59996836e-05 -9.99990793e-01 -1.77962264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1301.4365599950002 meters 0.012404865341658603 Centerline is valid? [True, True] Translation: X:-418.39, Y:-246.50, Z:-1.78 [[ 5.98445710e-01 -8.01158064e-01 -2.91362198e-03 -4.18392970e+02] [-8.01148706e-01 -5.98452802e-01 3.87224233e-03 -2.46495169e+02] [-4.84594341e-03 1.69176699e-05 -9.99988258e-01 -1.77923807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1301.4665599950001 meters 0.01235202680042155 Centerline is valid? [True, True] Translation: X:-418.35, Y:-246.60, Z:-1.78 [[ 6.60175307e-01 -7.51103915e-01 -3.38711848e-03 -4.18348444e+02] [-7.51094040e-01 -6.60183996e-01 3.85156332e-03 -2.46598271e+02] [-5.12904570e-03 1.33750634e-06 -9.99986847e-01 -1.77809817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1301.496559995 meters 0.012377868950671224 Centerline is valid? [True, True] Translation: X:-418.30, Y:-246.70, Z:-1.78 [[ 7.17722197e-01 -6.96315531e-01 -4.41919009e-03 -4.18296650e+02] [-6.96302168e-01 -7.17735801e-01 4.31395865e-03 -2.46697355e+02] [-6.17568735e-03 -1.91322377e-05 -9.99980930e-01 -1.77742947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1301.526559995 meters 0.012699466832601815 Centerline is valid? [True, True] Translation: X:-418.30, Y:-246.71, Z:-1.78 [[ 7.72108109e-01 -6.35471422e-01 -5.01406910e-03 -4.18297739e+02] [-6.35457667e-01 -7.72124388e-01 4.18130229e-03 -2.46706078e+02] [-6.52858314e-03 -4.21887535e-05 -9.99978688e-01 -1.77666885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1301.556559995 meters 0.013351405562742627 Centerline is valid? [True, True] Translation: X:-418.30, Y:-246.72, Z:-1.78 [[ 8.22489737e-01 -5.68756638e-01 -5.14967556e-03 -4.18300334e+02] [-5.68744917e-01 -8.22505855e-01 3.65208081e-03 -2.46718589e+02] [-6.31278350e-03 -7.49471837e-05 -9.99980072e-01 -1.77655058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1301.586559995 meters 0.013678747781215589 Centerline is valid? [True, True] Translation: X:-418.30, Y:-246.73, Z:-1.78 [[ 8.65455615e-01 -5.00958261e-01 -5.23432762e-03 -4.18300306e+02] [-5.00948506e-01 -8.65471440e-01 3.12746820e-03 -2.46729072e+02] [-6.09689209e-03 -8.45563113e-05 -9.99981410e-01 -1.77653487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1301.616559995 meters 0.013889603758182583 Centerline is valid? [True, True] Translation: X:-418.30, Y:-246.74, Z:-1.78 [[ 9.02456338e-01 -4.30746937e-01 -5.44376770e-03 -4.18299324e+02] [-4.30738490e-01 -9.02472752e-01 2.69921614e-03 -2.46738733e+02] [-6.07553110e-03 -9.10844377e-05 -9.99981540e-01 -1.77635290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1301.646559995 meters 0.014022116872713656 Centerline is valid? [True, True] Translation: X:-418.30, Y:-246.75, Z:-1.78 [[ 9.33601606e-01 -3.58268632e-01 -5.62397470e-03 -4.18296776e+02] [-3.58261519e-01 -9.33618540e-01 2.25957799e-03 -2.46748069e+02] [-6.06018296e-03 -9.46919211e-05 -9.99981633e-01 -1.77620654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1301.676559995 meters 0.014237284410075159 Centerline is valid? [True, True] Translation: X:-418.29, Y:-246.76, Z:-1.78 [[ 9.58888722e-01 -2.83728326e-01 -5.53682569e-03 -4.18294048e+02] [-2.83723031e-01 -9.58904702e-01 1.73603538e-03 -2.46756060e+02] [-5.80185061e-03 -9.37397793e-05 -9.99983165e-01 -1.77545353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1301.7065599950001 meters 0.014013183548868276 Centerline is valid? [True, True] Translation: X:-418.29, Y:-246.76, Z:-1.78 [[ 9.78051287e-01 -2.08286636e-01 -5.68844109e-03 -4.18290165e+02] [-2.08282565e-01 -9.78067824e-01 1.30547406e-03 -2.46764068e+02] [-5.83559401e-03 -9.20174861e-05 -9.99982969e-01 -1.77577648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1301.736559995 meters 0.013952102238153923 Centerline is valid? [True, True] Translation: X:-418.29, Y:-246.77, Z:-1.78 [[ 9.91258521e-01 -1.31835635e-01 -5.09019424e-03 -4.18287146e+02] [-1.31833493e-01 -9.91271587e-01 7.55483241e-04 -2.46771132e+02] [-5.14536454e-03 -7.78211118e-05 -9.99986760e-01 -1.77607967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1301.766559995 meters 0.013520834924223102 Centerline is valid? [True, True] Translation: X:-418.29, Y:-246.78, Z:-1.78 [[ 9.98501944e-01 -5.45446764e-02 -4.32981102e-03 -4.18286010e+02] [-5.45438918e-02 -9.98511329e-01 2.99167894e-04 -2.46778826e+02] [-4.33968337e-03 -6.25549801e-05 -9.99990582e-01 -1.77717929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1301.796559995 meters 0.014005875448723991 Centerline is valid? [True, True] Translation: X:-418.29, Y:-246.79, Z:-1.78 [[ 9.99724436e-01 2.32177543e-02 -3.46252156e-03 -4.18285388e+02] [ 2.32177818e-02 -9.99730431e-01 -3.22605897e-05 -2.46788067e+02] [-3.46233719e-03 -4.81403700e-05 -9.99994005e-01 -1.77734811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1301.826559995 meters 0.01344513040657622 Centerline is valid? [True, True] Translation: X:-418.28, Y:-246.79, Z:-1.78 [[ 9.94906713e-01 1.00766492e-01 -2.59744273e-03 -4.18283220e+02] [ 1.00766240e-01 -9.94910103e-01 -2.28252473e-04 -2.46794951e+02] [-2.60722222e-03 -3.46446203e-05 -9.99996601e-01 -1.77801321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1301.856559995 meters 0.013907745742362435 Centerline is valid? [True, True] Translation: X:-418.28, Y:-246.80, Z:-1.78 [[ 9.83999877e-01 1.78161579e-01 -1.64110800e-03 -4.18281263e+02] [ 1.78161368e-01 -9.84001246e-01 -2.74787109e-04 -2.46803962e+02] [-1.66380883e-03 -2.19915657e-05 -9.99998616e-01 -1.77799349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1301.886559995 meters 0.01407333338214866 Centerline is valid? [True, True] Translation: X:-418.28, Y:-246.81, Z:-1.78 [[ 9.66942226e-01 2.54990400e-01 -1.62117276e-03 -4.18279871e+02] [ 2.54990081e-01 -9.66943585e-01 -4.04097848e-04 -2.46807102e+02] [-1.67062367e-03 -2.26436998e-05 -9.99998604e-01 -1.77764068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1301.916559995 meters 0.013675952056588158 Centerline is valid? [True, True] Translation: X:-418.28, Y:-246.81, Z:-1.78 [[ 9.43701453e-01 3.30793113e-01 -1.86671178e-03 -4.18275825e+02] [ 3.30792525e-01 -9.43703299e-01 -6.24237494e-04 -2.46814115e+02] [-1.96811553e-03 -2.84004720e-05 -9.99998063e-01 -1.77757431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1301.9465599950001 meters 0.013972615829252891 Centerline is valid? [True, True] Translation: X:-418.27, Y:-246.82, Z:-1.78 [[ 9.14387993e-01 4.04835372e-01 -1.70879686e-03 -4.18270535e+02] [ 4.04834725e-01 -9.14389589e-01 -7.24578840e-04 -2.46821717e+02] [-1.85584120e-03 -2.92341143e-05 -9.99998278e-01 -1.77708534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1301.9765599950001 meters 0.014729762512892697 Centerline is valid? [True, True] Translation: X:-418.27, Y:-246.83, Z:-1.78 [[ 8.78651568e-01 4.77458442e-01 -2.20436355e-03 -4.18265633e+02] [ 4.77457069e-01 -8.78654332e-01 -1.14611578e-03 -2.46829754e+02] [-2.48409624e-03 -4.54525367e-05 -9.99996914e-01 -1.77596889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1302.006559995 meters 0.0146867498631698 Centerline is valid? [True, True] Translation: X:-418.26, Y:-246.84, Z:-1.78 [[ 8.38141982e-01 5.45446855e-01 -2.39705100e-03 -4.18259057e+02] [ 5.45444807e-01 -8.38145408e-01 -1.49578617e-03 -2.46836020e+02] [-2.82494915e-03 -5.37778351e-05 -9.99996009e-01 -1.77542433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1302.036559995 meters 0.015342969912849098 Centerline is valid? [True, True] Translation: X:-418.25, Y:-246.84, Z:-1.77 [[ 7.92514508e-01 6.09847351e-01 -2.63876903e-03 -4.18253193e+02] [ 6.09844238e-01 -7.92518899e-01 -1.94948613e-03 -2.46843176e+02] [-3.28016328e-03 -6.42420502e-05 -9.99994618e-01 -1.77451285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1302.066559995 meters 0.014883714496638374 Centerline is valid? [True, True] Translation: X:-418.25, Y:-246.85, Z:-1.77 [[ 7.42289057e-01 6.70074179e-01 -2.74776323e-03 -4.18247374e+02] [ 6.70069941e-01 -7.42294140e-01 -2.38418134e-03 -2.46847351e+02] [-3.63722690e-03 -7.14418256e-05 -9.99993383e-01 -1.77392841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1302.096559995 meters 0.014883714496638374 Centerline is valid? [True, True] Translation: X:-418.24, Y:-246.85, Z:-1.77 [[ 6.87564127e-01 7.26119175e-01 -2.55270320e-03 -4.18240450e+02] [ 7.26114552e-01 -6.87568862e-01 -2.59192587e-03 -2.46852486e+02] [-3.63720631e-03 -7.14396986e-05 -9.99993383e-01 -1.77392860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1302.126559995 meters 0.014778350929238217 Centerline is valid? [True, True] Translation: X:-418.23, Y:-246.86, Z:-1.77 [[ 6.29074897e-01 7.77340225e-01 -2.63626894e-03 -4.18234199e+02] [ 7.77333911e-01 -6.29080416e-01 -3.13397143e-03 -2.46856184e+02] [-4.09458721e-03 -7.77584915e-05 -9.99991614e-01 -1.77345341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1302.156559995 meters 0.014630528887027525 Centerline is valid? [True, True] Translation: X:-418.23, Y:-246.86, Z:-1.77 [[ 5.67306549e-01 8.23502771e-01 -2.54289974e-03 -4.18229601e+02] [ 8.23495103e-01 -5.67312243e-01 -3.55461561e-03 -2.46859349e+02] [-4.36985396e-03 -7.75087724e-05 -9.99990449e-01 -1.77325120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1302.1865599950002 meters 0.013867701006203376 Centerline is valid? [True, True] Translation: X:-418.23, Y:-246.86, Z:-1.77 [[ 5.04383502e-01 8.63477173e-01 -2.11058541e-03 -4.18228693e+02] [ 8.63470080e-01 -5.04387914e-01 -3.50043667e-03 -2.46860387e+02] [-4.08710094e-03 -5.68648440e-05 -9.99991646e-01 -1.77294812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1302.2165599950001 meters 0.013378273883559964 Centerline is valid? [True, True] Translation: X:-418.23, Y:-246.86, Z:-1.77 [[ 4.37333610e-01 8.99297607e-01 -1.76864135e-03 -4.18225272e+02] [ 8.99290670e-01 -4.37337183e-01 -3.53244732e-03 -2.46861888e+02] [-3.95021405e-03 -4.56647243e-05 -9.99992197e-01 -1.77299962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1302.246559995 meters 0.01289640245605572 Centerline is valid? [True, True] Translation: X:-418.22, Y:-246.86, Z:-1.77 [[ 3.68896066e-01 9.29469749e-01 -1.29558468e-03 -4.18224591e+02] [ 9.29464277e-01 -3.68898340e-01 -3.18954813e-03 -2.46863469e+02] [-3.44252754e-03 -2.75879225e-05 -9.99994074e-01 -1.77322130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1302.276559995 meters 0.012872908632253788 Centerline is valid? [True, True] Translation: X:-418.22, Y:-246.86, Z:-1.77 [[ 2.95260519e-01 9.55416313e-01 -9.46546164e-04 -4.18220373e+02] [ 9.55411662e-01 -2.95262035e-01 -2.98103914e-03 -2.46864890e+02] [-3.12761257e-03 -2.41580805e-05 -9.99995109e-01 -1.77338500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1302.306559995 meters 0.012912721835391673 Centerline is valid? [True, True] Translation: X:-418.22, Y:-246.87, Z:-1.77 [[ 2.19552572e-01 9.75600518e-01 -5.46380175e-04 -4.18216135e+02] [ 9.75597705e-01 -2.19553251e-01 -2.34273843e-03 -2.46867783e+02] [-2.40553637e-03 -1.86929986e-05 -9.99997107e-01 -1.77339427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1302.336559995 meters 0.012983058429771141 Centerline is valid? [True, True] Translation: X:-418.21, Y:-246.87, Z:-1.77 [[ 1.41882771e-01 9.89883400e-01 -3.66085776e-04 -4.18211480e+02] [ 9.89880464e-01 -1.41883242e-01 -2.41079618e-03 -2.46869055e+02] [-2.43834856e-03 -2.03307153e-05 -9.99997027e-01 -1.77308693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1302.366559995 meters 0.013052757476502783 Centerline is valid? [True, True] Translation: X:-418.21, Y:-246.87, Z:-1.77 [[ 6.30423176e-02 9.98010837e-01 -1.87323258e-04 -4.18206720e+02] [ 9.98007484e-01 -6.30425914e-02 -2.58730213e-03 -2.46870350e+02] [-2.59396491e-03 -2.38404906e-05 -9.99996636e-01 -1.77278000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1302.396559995 meters 0.013296322528392635 Centerline is valid? [True, True] Translation: X:-418.20, Y:-246.87, Z:-1.77 [[-1.55127276e-02 9.99879670e-01 1.44954795e-05 -4.18203460e+02] [ 9.99876853e-01 1.55127183e-02 -2.37380080e-03 -2.46871880e+02] [-2.37374002e-03 -2.23304308e-05 -9.99997183e-01 -1.77252223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1302.426559995 meters 0.013128915150012696 Centerline is valid? [True, True] Translation: X:-418.20, Y:-246.87, Z:-1.77 [[-9.36786884e-02 9.95602464e-01 1.91798347e-04 -4.18201432e+02] [ 9.95599889e-01 9.36788823e-02 -2.26467907e-03 -2.46871941e+02] [-2.27268752e-03 -2.11977526e-05 -9.99997417e-01 -1.77274252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1302.4565599950001 meters 0.013180052960181422 Centerline is valid? [True, True] Translation: X:-418.20, Y:-246.87, Z:-1.77 [[-1.71403864e-01 9.85200809e-01 2.83967847e-04 -4.18199165e+02] [ 9.85199293e-01 1.71404099e-01 -1.72843243e-03 -2.46872360e+02] [-1.75152628e-03 -1.64950752e-05 -9.99998466e-01 -1.77294913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1302.486559995 meters 0.01290961167635728 Centerline is valid? [True, True] Translation: X:-418.19, Y:-246.87, Z:-1.77 [[-2.47765925e-01 9.68819844e-01 3.94954200e-04 -4.18193398e+02] [ 9.68818514e-01 2.47766239e-01 -1.60560332e-03 -2.46871217e+02] [-1.65339667e-03 -1.51748498e-05 -9.99998633e-01 -1.77319134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1302.516559995 meters 0.012960311585211763 Centerline is valid? [True, True] Translation: X:-418.19, Y:-246.87, Z:-1.77 [[-3.22950979e-01 9.46415607e-01 4.05941405e-04 -4.18185652e+02] [ 9.46414811e-01 3.22951234e-01 -1.22695017e-03 -2.46869274e+02] [-1.29230406e-03 -1.20557992e-05 -9.99999165e-01 -1.77332854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1302.546559995 meters 0.012887553670890181 Centerline is valid? [True, True] Translation: X:-418.18, Y:-246.87, Z:-1.77 [[-3.96093258e-01 9.18210211e-01 3.73624180e-04 -4.18176714e+02] [ 9.18209781e-01 3.96093434e-01 -8.89193473e-04 -2.46866354e+02] [-9.64456612e-04 -9.13816244e-06 -9.99999535e-01 -1.77269947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1302.576559995 meters 0.012917936066542814 Centerline is valid? [True, True] Translation: X:-418.17, Y:-246.86, Z:-1.77 [[-4.66800203e-01 8.84362543e-01 6.80605119e-04 -4.18169235e+02] [ 8.84361559e-01 4.66800699e-01 -1.31900822e-03 -2.46863101e+02] [-1.48418841e-03 -1.38123003e-05 -9.99998899e-01 -1.77222566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1302.606559995 meters 0.012970478811325908 Centerline is valid? [True, True] Translation: X:-418.16, Y:-246.86, Z:-1.77 [[-5.34708373e-01 8.45035937e-01 1.10545469e-03 -4.18162396e+02] [ 8.45034055e-01 5.34709515e-01 -1.78338341e-03 -2.46860299e+02] [-2.09812021e-03 -1.94431836e-05 -9.99997799e-01 -1.77175919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1302.636559995 meters 0.013059188448170469 Centerline is valid? [True, True] Translation: X:-418.16, Y:-246.86, Z:-1.77 [[-5.99300360e-01 8.00522596e-01 1.62842987e-03 -4.18156285e+02] [ 8.00519524e-01 5.99302572e-01 -2.21773897e-03 -2.46857426e+02] [-2.75127237e-03 -2.55018567e-05 -9.99996215e-01 -1.77085751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1302.666559995 meters 0.012732596761900757 Centerline is valid? [True, True] Translation: X:-418.15, Y:-246.85, Z:-1.77 [[-6.59553374e-01 7.51650187e-01 3.36781263e-03 -4.18149879e+02] [ 7.51640052e-01 6.59561971e-01 -3.90358192e-03 -2.46852431e+02] [-5.15540921e-03 -4.32377677e-05 -9.99986710e-01 -1.76897957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1302.6965599950001 meters 0.01271247732282654 Centerline is valid? [True, True] Translation: X:-418.14, Y:-246.85, Z:-1.77 [[-7.15943867e-01 6.98143346e-01 4.49985969e-03 -4.18143896e+02] [ 6.98129126e-01 7.15958006e-01 -4.45612422e-03 -2.46847861e+02] [-6.33272404e-03 -4.88516903e-05 -9.99979947e-01 -1.76778797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1302.7265599950001 meters 0.012684995506945953 Centerline is valid? [True, True] Translation: X:-418.12, Y:-246.83, Z:-1.77 [[-7.62715292e-01 6.46713323e-01 5.22129308e-03 -4.18122918e+02] [ 6.46697772e-01 7.62733162e-01 -4.48497427e-03 -2.46830571e+02] [-6.88294600e-03 -4.41598569e-05 -9.99976312e-01 -1.76702297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1302.756559995 meters 0.012523355881934779 Centerline is valid? [True, True] Translation: X:-418.11, Y:-246.81, Z:-1.77 [[-8.05790494e-01 5.92170820e-01 5.94975294e-03 -4.18107205e+02] [ 5.92154336e-01 8.05812459e-01 -4.41866777e-03 -2.46808993e+02] [-7.41099117e-03 -3.73484900e-05 -9.99972538e-01 -1.76655277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1302.786559995 meters 0.012543205640826017 Centerline is valid? [True, True] Translation: X:-418.09, Y:-246.79, Z:-1.77 [[-8.44878003e-01 5.34924994e-01 6.03412339e-03 -4.18089020e+02] [ 5.34911136e-01 8.44899550e-01 -3.85052722e-03 -2.46788327e+02] [-7.15797139e-03 -2.55059545e-05 -9.99974381e-01 -1.76543882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1302.816559995 meters 0.012375027441948346 Centerline is valid? [True, True] Translation: X:-418.08, Y:-246.76, Z:-1.77 [[-8.79995204e-01 4.74945783e-01 5.91141701e-03 -4.18077274e+02] [ 4.74934952e-01 8.80015059e-01 -3.20750018e-03 -2.46764329e+02] [-6.72552468e-03 -1.50462220e-05 -9.99977384e-01 -1.76592269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1302.846559995 meters 0.012277896379821974 Centerline is valid? [True, True] Translation: X:-418.06, Y:-246.74, Z:-1.77 [[-9.10493782e-01 4.13498056e-01 4.52010436e-03 -4.18063580e+02] [ 4.13492961e-01 9.10505002e-01 -2.05265854e-03 -2.46742107e+02] [-4.96434794e-03 9.85027582e-08 -9.99987678e-01 -1.76846978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1302.876559995 meters 0.01230463976175425 Centerline is valid? [True, True] Translation: X:-418.05, Y:-246.72, Z:-1.77 [[-9.37374143e-01 3.48304006e-01 3.74655120e-03 -4.18052965e+02] [ 3.48301230e-01 9.37381630e-01 -1.39052968e-03 -2.46716666e+02] [-3.99627533e-03 1.48182916e-06 -9.99992015e-01 -1.76933903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1302.906559995 meters 0.012262276871473674 Centerline is valid? [True, True] Translation: X:-417.82, Y:-246.10, Z:-2.82 [[-9.12326475e-01 -4.09454036e-01 2.79227087e-03 -4.17818478e+02] [ 4.09451924e-01 -9.12330746e-01 -1.31616429e-03 -2.46095859e+02] [ 3.08638335e-03 -5.74708405e-05 9.99995236e-01 -2.81846514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1302.9365599950002 meters 0.012179601136114257 Centerline is valid? [True, True] Translation: X:-418.10, Y:-246.70, Z:-1.77 [[-9.38890845e-01 3.44209134e-01 2.01316256e-03 -4.18097173e+02] [ 3.44208342e-01 9.38893003e-01 -7.38527719e-04 -2.46698755e+02] [-2.14435223e-03 -4.49566866e-07 -9.99997701e-01 -1.77016960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1302.9665599950001 meters 0.012130869607669062 Centerline is valid? [True, True] Translation: X:-417.87, Y:-246.08, Z:-2.82 [[-9.13023109e-01 -4.07904301e-01 1.69832426e-03 -4.17866483e+02] [ 4.07903561e-01 -9.13024688e-01 -7.77525721e-04 -2.46081897e+02] [ 1.86776807e-03 -1.71464374e-05 9.99998256e-01 -2.81826286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1302.996559995 meters 0.012208237670942193 Centerline is valid? [True, True] Translation: X:-418.15, Y:-246.68, Z:-1.77 [[-9.40948498e-01 3.38547995e-01 1.08606725e-03 -4.18145152e+02] [ 3.38547766e-01 9.40949125e-01 -3.93924777e-04 -2.46680073e+02] [-1.15529647e-03 -2.97728640e-06 -9.99999333e-01 -1.77059975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1303.026559995 meters 0.012287254623741735 Centerline is valid? [True, True] Translation: X:-417.91, Y:-246.07, Z:-2.82 [[-9.13470717e-01 -4.06902978e-01 1.10272240e-03 -4.17913529e+02] [ 4.06902690e-01 -9.13471383e-01 -4.84380337e-04 -2.46067384e+02] [ 1.20440116e-03 6.23345828e-06 9.99999275e-01 -2.81782664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1303.056559995 meters 0.012458259846828598 Centerline is valid? [True, True] Translation: X:-418.18, Y:-246.67, Z:-1.77 [[-9.43128834e-01 3.32426134e-01 9.32104895e-04 -4.18182428e+02] [ 3.32425966e-01 9.43129294e-01 -3.34168676e-04 -2.46665027e+02] [-9.90181834e-04 -5.30824355e-06 -9.99999510e-01 -1.77036979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1303.086559995 meters 0.012641743330441343 Centerline is valid? [True, True] Translation: X:-417.96, Y:-246.05, Z:-2.82 [[-9.13781312e-01 -4.06205344e-01 9.65991043e-04 -4.17962229e+02] [ 4.06205128e-01 -9.13781822e-01 -4.18863875e-04 -2.46053242e+02] [ 1.05284980e-03 9.64053436e-06 9.99999446e-01 -2.81812864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1303.116559995 meters 0.013135773096080279 Centerline is valid? [True, True] Translation: X:-418.23, Y:-246.64, Z:-1.77 [[-9.45764024e-01 3.24847478e-01 2.12763938e-03 -4.18230691e+02] [ 3.24846604e-01 9.45766417e-01 -7.53864890e-04 -2.46643476e+02] [-2.25714098e-03 -2.18218663e-05 -9.99997453e-01 -1.76858238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1303.146559995 meters 0.013469913484897459 Centerline is valid? [True, True] Translation: X:-418.01, Y:-246.04, Z:-2.82 [[-9.13573978e-01 -4.06661845e-01 2.95485356e-03 -4.18013352e+02] [ 4.06660037e-01 -9.13578752e-01 -1.21609153e-03 -2.46040739e+02] [ 3.19402946e-03 9.06312803e-05 9.99994895e-01 -2.82074679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1303.176559995 meters 0.013722113497024064 Centerline is valid? [True, True] Translation: X:-418.28, Y:-246.62, Z:-1.77 [[-9.47664353e-01 3.19244479e-01 3.90347356e-03 -4.18278442e+02] [ 3.19241555e-01 9.47672391e-01 -1.36720295e-03 -2.46624843e+02] [-4.13568612e-03 -4.94985338e-05 -9.99991447e-01 -1.76660745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1303.2065599950001 meters 0.014103772792125907 Centerline is valid? [True, True] Translation: X:-418.27, Y:-246.60, Z:-1.77 [[-9.68221596e-01 2.50028808e-01 5.70406226e-03 -4.18268382e+02] [ 2.50023994e-01 9.68238395e-01 -1.55342771e-03 -2.46598602e+02] [-5.91129377e-03 -7.79098263e-05 -9.99982525e-01 -1.76555660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1303.236559995 meters 0.013626761543093772 Centerline is valid? [True, True] Translation: X:-418.11, Y:-245.98, Z:-2.82 [[-9.40579496e-01 -3.39517936e-01 6.14682939e-03 -4.18106081e+02] [ 3.39511532e-01 -9.40599573e-01 -2.08899904e-03 -2.45980986e+02] [ 6.49095774e-03 1.22049794e-04 9.99978926e-01 -2.82243039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1303.266559995 meters 0.014342438140887872 Centerline is valid? [True, True] Translation: X:-418.31, Y:-246.59, Z:-1.76 [[-9.69119958e-01 2.46502312e-01 6.56646022e-03 -4.18312484e+02] [ 2.46496033e-01 9.69142199e-01 -1.76151490e-03 -2.46587011e+02] [-6.79805120e-03 -8.85128521e-05 -9.99976889e-01 -1.76482612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1303.296559995 meters 0.014259162259519566 Centerline is valid? [True, True] Translation: X:-418.15, Y:-245.97, Z:-2.82 [[-9.42205659e-01 -3.34975170e-01 6.33491414e-03 -4.18146269e+02] [ 3.34968174e-01 -9.42226952e-01 -2.16649002e-03 -2.45973511e+02] [ 6.69464721e-03 8.07154678e-05 9.99977588e-01 -2.82412953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1303.326559995 meters 0.013522331142805469 Centerline is valid? [True, True] Translation: X:-418.36, Y:-246.58, Z:-1.76 [[-9.69219638e-01 2.46128470e-01 5.83683461e-03 -4.18357029e+02] [ 2.46123649e-01 9.69237212e-01 -1.54172622e-03 -2.46577176e+02] [-6.03674003e-03 -5.76883026e-05 -9.99981777e-01 -1.76434718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1303.356559995 meters 0.013082837559369067 Centerline is valid? [True, True] Translation: X:-418.35, Y:-246.55, Z:-1.76 [[-9.83808032e-01 1.79136732e-01 5.63806654e-03 -4.18352755e+02] [ 1.79133553e-01 9.83824186e-01 -1.06802449e-03 -2.46552386e+02] [-5.73818865e-03 -4.07641854e-05 -9.99983536e-01 -1.76469712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1303.386559995 meters 0.012773822359704973 Centerline is valid? [True, True] Translation: X:-418.23, Y:-245.92, Z:-2.82 [[-9.66822449e-01 -2.55390773e-01 5.46864741e-03 -4.18229942e+02] [ 2.55386890e-01 -9.66837914e-01 -1.40876754e-03 -2.45916949e+02] [ 5.64708189e-03 3.45927670e-05 9.99984055e-01 -2.82326875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1303.416559995 meters 0.012468090357217623 Centerline is valid? [True, True] Translation: X:-418.40, Y:-246.55, Z:-1.77 [[-9.83349823e-01 1.81654056e-01 4.99293983e-03 -4.18403321e+02] [ 1.81651698e-01 9.83362499e-01 -9.25609301e-04 -2.46551480e+02] [-5.07801047e-03 -3.22174702e-06 -9.99987107e-01 -1.76583866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1303.4465599950001 meters 0.012500441496386036 Centerline is valid? [True, True] Translation: X:-418.40, Y:-246.53, Z:-1.77 [[-9.93376065e-01 1.14814242e-01 4.65647141e-03 -4.18398160e+02] [ 1.14813042e-01 9.93386979e-01 -5.25016976e-04 -2.46528239e+02] [-4.68595749e-03 1.30843498e-05 -9.99989021e-01 -1.76792291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1303.4765599950001 meters 0.012866452881250533 Centerline is valid? [True, True] Translation: X:-418.32, Y:-245.86, Z:-2.82 [[-9.84999432e-01 -1.72517645e-01 3.71225260e-03 -4.18317603e+02] [ 1.72516166e-01 -9.85006425e-01 -7.17369476e-04 -2.45862660e+02] [ 3.78035156e-03 -6.61849423e-05 9.99992852e-01 -2.81911101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1303.506559995 meters 0.013274968321045206 Centerline is valid? [True, True] Translation: X:-418.45, Y:-246.53, Z:-1.77 [[-9.93047043e-01 1.17706293e-01 1.67313276e-03 -4.18452303e+02] [ 1.17706154e-01 9.93048452e-01 -1.81446602e-04 -2.46528174e+02] [-1.68285931e-03 1.67530112e-05 -9.99998584e-01 -1.77166665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1303.536559995 meters 0.013415511992067933 Centerline is valid? [True, True] Translation: X:-418.45, Y:-246.50, Z:-1.77 [[-9.98863593e-01 4.76377251e-02 1.47316238e-03 -4.18453610e+02] [ 4.76376965e-02 9.98864679e-01 -5.44577844e-05 -2.46500201e+02] [-1.47408412e-03 1.57821643e-05 -9.99998914e-01 -1.77186626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1303.566559995 meters 0.013252429784126434 Centerline is valid? [True, True] Translation: X:-418.43, Y:-245.82, Z:-2.82 [[-9.95702282e-01 -9.25906157e-02 1.98590238e-03 -4.18431019e+02] [ 9.25904561e-02 -9.95704262e-01 -1.72360984e-04 -2.45823163e+02] [ 1.99333047e-03 1.22553816e-05 9.99998013e-01 -2.81709043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1303.596559995 meters 0.013309728227704315 Centerline is valid? [True, True] Translation: X:-418.53, Y:-246.50, Z:-1.77 [[-9.99086486e-01 4.26386872e-02 2.85235129e-03 -4.18527194e+02] [ 4.26385991e-02 9.99090557e-01 -9.17466855e-05 -2.46496420e+02] [-2.85366920e-03 2.99573892e-05 -9.99995928e-01 -1.77079126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1303.626559995 meters 0.012993693493885756 Centerline is valid? [True, True] Translation: X:-418.50, Y:-245.82, Z:-2.82 [[-9.95831290e-01 -9.10335023e-02 5.73965964e-03 -4.18500472e+02] [ 9.10327805e-02 -9.95847821e-01 -3.87430973e-04 -2.45822596e+02] [ 5.75109674e-03 1.36681290e-04 9.99983453e-01 -2.81942474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1303.656559995 meters 0.012892907812494279 Centerline is valid? [True, True] Translation: X:-418.59, Y:-246.49, Z:-1.77 [[-9.99401463e-01 3.38387257e-02 7.18732084e-03 -4.18594767e+02] [ 3.38381787e-02 9.99427305e-01 -1.97729804e-04 -2.46490827e+02] [-7.18989562e-03 4.55943914e-05 -9.99974152e-01 -1.76757238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1303.6865599950002 meters 0.012747105385707502 Centerline is valid? [True, True] Translation: X:-418.60, Y:-246.46, Z:-1.77 [[-9.99201224e-01 -3.90905313e-02 8.29725681e-03 -4.18600271e+02] [-3.90888633e-02 9.99235672e-01 3.63164756e-04 -2.46460617e+02] [-8.30511129e-03 3.85443325e-05 -9.99965511e-01 -1.76615204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1303.7165599950001 meters 0.01274821374091336 Centerline is valid? [True, True] Translation: X:-418.63, Y:-245.80, Z:-2.83 [[-9.99705817e-01 -2.18177526e-02 1.05955325e-02 -4.18632495e+02] [ 2.18176878e-02 -9.99761959e-01 -1.21716741e-04 -2.45801795e+02] [ 1.05956660e-02 1.09489087e-04 9.99943859e-01 -2.82531040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1303.746559995 meters 0.01274198997670942 Centerline is valid? [True, True] Translation: X:-418.69, Y:-246.46, Z:-1.76 [[-9.98731413e-01 -4.91639569e-02 1.08843902e-02 -4.18690797e+02] [-4.91610176e-02 9.98790722e-01 5.37598386e-04 -2.46457153e+02] [-1.08976584e-02 1.82869656e-06 -9.99940619e-01 -1.76235144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1303.776559995 meters 0.012701174249710526 Centerline is valid? [True, True] Translation: X:-418.70, Y:-246.43, Z:-1.76 [[-9.92553748e-01 -1.21320778e-01 1.08777684e-02 -4.18700716e+02] [-1.21313605e-01 9.92613353e-01 1.31923390e-03 -2.46428898e+02] [-1.09574686e-02 -1.02107534e-05 -9.99939965e-01 -1.76292554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1303.806559995 meters 0.012712959399885853 Centerline is valid? [True, True] Translation: X:-418.72, Y:-246.40, Z:-1.76 [[-9.81191917e-01 -1.92758733e-01 1.03195498e-02 -4.18718619e+02] [-1.92748277e-01 9.81246183e-01 2.00776321e-03 -2.46402743e+02] [-1.05130327e-02 -1.90744178e-05 -9.99944737e-01 -1.76298124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1303.836559995 meters 0.012618278156463016 Centerline is valid? [True, True] Translation: X:-418.75, Y:-246.38, Z:-1.76 [[-9.64636792e-01 -2.63406354e-01 9.64113908e-03 -4.18745809e+02] [-2.63393450e-01 9.64684970e-01 2.60739041e-03 -2.46380156e+02] [-9.98746518e-03 -2.42281622e-05 -9.99950124e-01 -1.76398943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1303.866559995 meters 0.012652671882415884 Centerline is valid? [True, True] Translation: X:-418.79, Y:-246.36, Z:-1.77 [[-9.42556780e-01 -3.33948889e-01 8.05334919e-03 -4.18790784e+02] [-3.33936995e-01 9.42591183e-01 2.81859674e-03 -2.46364299e+02] [-8.53228319e-03 -3.26237626e-05 -9.99963599e-01 -1.76599553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1303.896559995 meters 0.012741457743568094 Centerline is valid? [True, True] Translation: X:-418.85, Y:-246.36, Z:-1.77 [[-9.15191683e-01 -4.02959195e-01 6.93333927e-03 -4.18854412e+02] [-4.02947910e-01 9.15217945e-01 3.01586216e-03 -2.46358407e+02] [-7.56078591e-03 -3.36826064e-05 -9.99971417e-01 -1.76662653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1303.926559995 meters 0.01273970382204104 Centerline is valid? [True, True] Translation: X:-418.92, Y:-246.36, Z:-1.77 [[-8.82575926e-01 -4.70132957e-01 5.89384229e-03 -4.18923523e+02] [-4.70122742e-01 8.82595605e-01 3.09936156e-03 -2.46359563e+02] [-6.65899132e-03 -3.54073956e-05 -9.99977828e-01 -1.76707082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1303.9565599950001 meters 0.012702427288512248 Centerline is valid? [True, True] Translation: X:-419.00, Y:-246.37, Z:-1.77 [[-8.44802353e-01 -5.35057185e-01 4.77425257e-03 -4.18998566e+02] [-5.35048872e-01 8.44815843e-01 2.98265861e-03 -2.46369636e+02] [-5.62925713e-03 -3.47014401e-05 -9.99984155e-01 -1.76776588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1303.986559995 meters 0.012784581875099475 Centerline is valid? [True, True] Translation: X:-419.08, Y:-246.39, Z:-1.77 [[-8.01523014e-01 -5.97955872e-01 3.10386526e-03 -4.19081569e+02] [-5.97951539e-01 8.01529023e-01 2.27652377e-03 -2.46390284e+02] [-3.84909885e-03 -3.12748120e-05 -9.99992592e-01 -1.76887409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1304.016559995 meters 0.012784581875099475 Centerline is valid? [True, True] Translation: X:-419.16, Y:-246.42, Z:-1.77 [[-7.54436862e-01 -6.56366110e-01 2.92439578e-03 -4.19164860e+02] [-6.56361339e-01 7.54442529e-01 2.50276623e-03 -2.46420852e+02] [-3.84901948e-03 -3.12812307e-05 -9.99992592e-01 -1.76887720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1304.046559995 meters 0.013154256123994582 Centerline is valid? [True, True] Translation: X:-419.25, Y:-246.46, Z:-1.77 [[-7.02062207e-01 -7.12112004e-01 2.26960183e-03 -4.19248145e+02] [-7.12108421e-01 7.02065875e-01 2.25923878e-03 -2.46457563e+02] [-3.20224105e-03 -3.00764081e-05 -9.99994873e-01 -1.76884559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1304.076559995 meters 0.013143842303124886 Centerline is valid? [True, True] Translation: X:-419.33, Y:-246.51, Z:-1.77 [[-6.45324441e-01 -7.63906364e-01 1.85282469e-03 -4.19333072e+02] [-7.63903349e-01 6.45327101e-01 2.14625195e-03 -2.46508609e+02] [-2.83521351e-03 -3.03501470e-05 -9.99995981e-01 -1.76972663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1304.106559995 meters 0.013312758379143004 Centerline is valid? [True, True] Translation: X:-419.42, Y:-246.57, Z:-1.77 [[-5.84652323e-01 -8.11281805e-01 1.86937791e-03 -4.19417205e+02] [-8.11277860e-01 5.84655310e-01 2.53034054e-03 -2.46568417e+02] [-3.14576096e-03 -3.72154338e-05 -9.99995052e-01 -1.76955211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1304.136559995 meters 0.013535698670461544 Centerline is valid? [True, True] Translation: X:-419.50, Y:-246.64, Z:-1.77 [[-5.20064003e-01 -8.54124791e-01 2.06725179e-03 -4.19499588e+02] [-8.54118433e-01 5.20068109e-01 3.29622347e-03 -2.46637848e+02] [-3.89049792e-03 -5.14306842e-05 -9.99992431e-01 -1.76893614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1304.166559995 meters 0.014134148925752937 Centerline is valid? [True, True] Translation: X:-419.58, Y:-246.72, Z:-1.77 [[-4.52099630e-01 -8.91964662e-01 2.22832193e-03 -4.19580902e+02] [-8.91954589e-01 4.52105116e-01 4.23974034e-03 -2.46718968e+02] [-4.78913431e-03 -7.07769347e-05 -9.99988530e-01 -1.76792228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1304.1965599950001 meters 0.014364983769408568 Centerline is valid? [True, True] Translation: X:-419.65, Y:-246.80, Z:-1.77 [[-3.79873004e-01 -9.25034866e-01 2.64526521e-03 -4.19652162e+02] [-9.25014569e-01 3.79882196e-01 6.12895958e-03 -2.46798400e+02] [-6.67439046e-03 -1.18682568e-04 -9.99977719e-01 -1.76614141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1304.2265599950001 meters 0.015000014539125823 Centerline is valid? [True, True] Translation: X:-419.72, Y:-246.89, Z:-1.77 [[-3.06590226e-01 -9.51838160e-01 2.55950859e-03 -4.19720412e+02] [-9.51809033e-01 3.06600871e-01 7.44780241e-03 -2.46892671e+02] [-7.87385010e-03 -1.52739978e-04 -9.99968989e-01 -1.76515314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1304.256559995 meters 0.015841871698274633 Centerline is valid? [True, True] Translation: X:-419.78, Y:-246.99, Z:-1.76 [[-2.31668838e-01 -9.72792365e-01 2.13625464e-03 -4.19780172e+02] [-9.72757716e-01 2.31678621e-01 8.21231905e-03 -2.46985896e+02] [-8.48380581e-03 -1.75519774e-04 -9.99963997e-01 -1.76377348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1304.286559995 meters 0.016735407954870024 Centerline is valid? [True, True] Translation: X:-419.83, Y:-247.09, Z:-1.76 [[-1.55944500e-01 -9.87764565e-01 1.57403056e-03 -4.19834064e+02] [-9.87725789e-01 1.55952328e-01 8.75432916e-03 -2.47091779e+02] [-8.89268987e-03 -1.89521099e-04 -9.99960442e-01 -1.76291305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1304.316559995 meters 0.015791223726902507 Centerline is valid? [True, True] Translation: X:-419.88, Y:-247.20, Z:-1.76 [[-7.95296572e-02 -9.96832092e-01 9.02191760e-04 -4.19875302e+02] [-9.96792513e-01 7.95345409e-02 8.88497129e-03 -2.47197193e+02] [-8.92857993e-03 -1.92679271e-04 -9.99960121e-01 -1.76362405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1304.346559995 meters 0.016792448208357843 Centerline is valid? [True, True] Translation: X:-419.91, Y:-247.31, Z:-1.76 [[-3.31271804e-03 -9.99994491e-01 2.08033080e-04 -4.19911763e+02] [-9.99958574e-01 3.31436263e-03 8.47730858e-03 -2.47309357e+02] [-8.47795138e-03 -1.79941529e-04 -9.99964046e-01 -1.76311145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1304.376559995 meters 0.015903771261795235 Centerline is valid? [True, True] Translation: X:-419.94, Y:-247.42, Z:-1.76 [[ 7.06537066e-02 -9.97500844e-01 -3.46832114e-04 -4.19935879e+02] [-9.97478695e-01 -7.06544494e-02 6.64848041e-03 -2.47422171e+02] [-6.65637005e-03 -1.23782139e-04 -9.99977839e-01 -1.76400834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1304.406559995 meters 0.014000186124064187 Centerline is valid? [True, True] Translation: X:-419.95, Y:-247.53, Z:-1.77 [[ 1.44729957e-01 -9.89470890e-01 -7.72828866e-04 -4.19948852e+02] [-9.89452879e-01 -1.44731986e-01 5.97099595e-03 -2.47532554e+02] [-6.01997974e-03 -9.95042424e-05 -9.99981875e-01 -1.76558546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1304.4365599950002 meters 0.0138731611334461 Centerline is valid? [True, True] Translation: X:-419.96, Y:-247.64, Z:-1.77 [[ 2.17500006e-01 -9.76059720e-01 -1.08207915e-03 -4.19956797e+02] [-9.76045848e-01 -2.17502685e-01 5.20428531e-03 -2.47643000e+02] [-5.31504838e-03 -7.57732269e-05 -9.99985872e-01 -1.76560976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1304.4665599950001 meters 0.013264672913566289 Centerline is valid? [True, True] Translation: X:-419.95, Y:-247.76, Z:-1.77 [[ 2.89475063e-01 -9.57184604e-01 -1.34973207e-03 -4.19953895e+02] [-9.57173246e-01 -2.89478204e-01 4.66340285e-03 -2.47758354e+02] [-4.85445542e-03 -5.80114101e-05 -9.99988216e-01 -1.76609599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1304.496559995 meters 0.012618047564867767 Centerline is valid? [True, True] Translation: X:-419.94, Y:-247.87, Z:-1.77 [[ 3.58184920e-01 -9.33649677e-01 -1.35814721e-03 -4.19940258e+02] [-9.33642636e-01 -3.58187494e-01 3.62596813e-03 -2.47871305e+02] [-3.87185532e-03 -3.07429699e-05 -9.99992504e-01 -1.76636889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1304.526559995 meters 0.012515208654735347 Centerline is valid? [True, True] Translation: X:-419.92, Y:-247.98, Z:-1.77 [[ 4.26950962e-01 -9.04272759e-01 -1.91142625e-03 -4.19921116e+02] [-9.04263406e-01 -4.26955239e-01 4.11298730e-03 -2.47984298e+02] [-4.53535582e-03 -2.76110734e-05 -9.99989715e-01 -1.76581354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1304.556559995 meters 0.01244127285242349 Centerline is valid? [True, True] Translation: X:-419.89, Y:-248.10, Z:-1.76 [[ 4.93967213e-01 -8.69476686e-01 -2.58548404e-03 -4.19892579e+02] [-8.69464499e-01 -4.93973978e-01 4.60360351e-03 -2.48098371e+02] [-5.27988777e-03 -2.60426066e-05 -9.99986061e-01 -1.76459947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1304.586559995 meters 0.01246205470265343 Centerline is valid? [True, True] Translation: X:-419.86, Y:-248.20, Z:-1.76 [[ 5.59227406e-01 -8.29006890e-01 -3.50496716e-03 -4.19862055e+02] [-8.28990245e-01 -5.59238389e-01 5.25336093e-03 -2.48202002e+02] [-6.31518459e-03 -3.22398279e-05 -9.99980059e-01 -1.76455044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1304.616559995 meters 0.01269860512707123 Centerline is valid? [True, True] Translation: X:-419.82, Y:-248.31, Z:-1.76 [[ 6.21832059e-01 -7.83137849e-01 -4.47211952e-03 -4.19822130e+02] [-7.83117062e-01 -6.21848138e-01 5.70613382e-03 -2.48308627e+02] [-7.24966856e-03 -4.60638384e-05 -9.99973720e-01 -1.76287435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1304.646559995 meters 0.013076868326622412 Centerline is valid? [True, True] Translation: X:-419.78, Y:-248.41, Z:-1.76 [[ 6.82029117e-01 -7.31292682e-01 -6.87733501e-03 -4.19777931e+02] [-7.31254052e-01 -6.82063783e-01 7.51713751e-03 -2.48411343e+02] [-1.01880088e-02 -9.78275593e-05 -9.99948096e-01 -1.76007932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1304.676559995 meters 0.013479749361258791 Centerline is valid? [True, True] Translation: X:-419.73, Y:-248.50, Z:-1.76 [[ 7.36462332e-01 -6.76424924e-01 -8.51796956e-03 -4.19728299e+02] [-6.76377673e-01 -7.36511579e-01 7.99609409e-03 -2.48504003e+02] [-1.16823405e-02 -1.27457670e-04 -9.99931751e-01 -1.75865085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1304.7065599950001 meters 0.013860189340578725 Centerline is valid? [True, True] Translation: X:-419.73, Y:-248.51, Z:-1.76 [[ 7.87522669e-01 -6.16202326e-01 -1.01360651e-02 -4.19728014e+02] [-6.16148821e-01 -7.87587882e-01 8.12151663e-03 -2.48511208e+02] [-1.29875395e-02 -1.50553902e-04 -9.99915647e-01 -1.75752067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1304.736559995 meters 0.013933409428059951 Centerline is valid? [True, True] Translation: X:-419.73, Y:-248.52, Z:-1.76 [[ 8.33351750e-01 -5.52622427e-01 -1.15461778e-02 -4.19725894e+02] [-5.52566652e-01 -8.33431716e-01 7.85296357e-03 -2.48517108e+02] [-1.39626746e-02 -1.64248127e-04 -9.99902504e-01 -1.75695635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1304.766559995 meters 0.013702965224188396 Centerline is valid? [True, True] Translation: X:-419.72, Y:-248.52, Z:-1.76 [[ 8.73477804e-01 -4.86723973e-01 -1.16748125e-02 -4.19721819e+02] [-4.86678303e-01 -8.73555811e-01 6.66899070e-03 -2.48521614e+02] [-1.34445579e-02 -1.43337436e-04 -9.99909608e-01 -1.75763494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1304.796559995 meters 0.013362072336891122 Centerline is valid? [True, True] Translation: X:-419.72, Y:-248.53, Z:-1.76 [[ 9.08138233e-01 -4.18523153e-01 -1.11049497e-02 -4.19716913e+02] [-4.18490379e-01 -9.08206121e-01 5.23873797e-03 -2.48525783e+02] [-1.22781164e-02 -1.10183637e-04 -9.99924615e-01 -1.75859547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1304.826559995 meters 0.01300161437102461 Centerline is valid? [True, True] Translation: X:-419.71, Y:-248.53, Z:-1.76 [[ 9.37371212e-01 -3.48181709e-01 -1.02327109e-02 -4.19712353e+02] [-3.48160078e-01 -9.37427059e-01 3.88183577e-03 -2.48528129e+02] [-1.09440043e-02 -7.60996732e-05 -9.99940110e-01 -1.75921985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1304.856559995 meters 0.012309823867204138 Centerline is valid? [True, True] Translation: X:-419.71, Y:-248.54, Z:-1.76 [[ 9.60285521e-01 -2.78923044e-01 -7.32494030e-03 -4.19708357e+02] [-2.78914823e-01 -9.60313457e-01 2.14162292e-03 -2.48535384e+02] [-7.63158672e-03 -1.35350571e-05 -9.99970879e-01 -1.76334487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1304.886559995 meters 0.01238465216974932 Centerline is valid? [True, True] Translation: X:-419.70, Y:-248.54, Z:-1.76 [[ 9.78557248e-01 -2.05873830e-01 -6.45591120e-03 -4.19704817e+02] [-2.05869398e-01 -9.78578544e-01 1.35083036e-03 -2.48542323e+02] [-6.59571680e-03 7.20971718e-06 -9.99978248e-01 -1.76350731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1304.916559995 meters 0.012487163422167297 Centerline is valid? [True, True] Translation: X:-419.70, Y:-248.54, Z:-1.76 [[ 9.91381082e-01 -1.30880496e-01 -5.81772989e-03 -4.19699843e+02] [-1.30878353e-01 -9.91398152e-01 7.49173842e-04 -2.48543667e+02] [-5.86573891e-03 1.86981316e-05 -9.99982796e-01 -1.76384800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1304.9465599950001 meters 0.012639890272268875 Centerline is valid? [True, True] Translation: X:-419.70, Y:-248.54, Z:-1.76 [[ 9.98487663e-01 -5.46703552e-02 -5.79127678e-03 -4.19698220e+02] [-5.46696026e-02 -9.98504458e-01 2.88296957e-04 -2.48544875e+02] [-5.79837697e-03 2.87458449e-05 -9.99983189e-01 -1.76438745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1304.9765599950001 meters 0.0125643359176946 Centerline is valid? [True, True] Translation: X:-419.70, Y:-248.55, Z:-1.77 [[ 9.99734063e-01 2.22583437e-02 -6.03080987e-03 -4.19696234e+02] [ 2.22577055e-02 -9.99752252e-01 -1.72928726e-04 -2.48553734e+02] [-6.03316485e-03 3.86507480e-05 -9.99981800e-01 -1.76522148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1305.006559995 meters 0.012742234272330613 Centerline is valid? [True, True] Translation: X:-419.69, Y:-248.56, Z:-1.76 [[ 9.94913105e-01 1.00413785e-01 -8.06132002e-03 -4.19693533e+02] [ 1.00410059e-01 -9.94945762e-01 -8.66579177e-04 -2.48562866e+02] [-8.10759268e-03 5.27333614e-05 -9.99967132e-01 -1.76426885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1305.036559995 meters 0.012684907612079547 Centerline is valid? [True, True] Translation: X:-419.69, Y:-248.57, Z:-1.76 [[ 9.83865440e-01 1.78687270e-01 -8.92503122e-03 -4.19690928e+02] [ 1.78679429e-01 -9.83905919e-01 -1.67479262e-03 -2.48572129e+02] [-9.08065517e-03 5.30510923e-05 -9.99958769e-01 -1.76317764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1305.066559995 meters 0.012706397568632271 Centerline is valid? [True, True] Translation: X:-419.69, Y:-248.58, Z:-1.76 [[ 9.66563481e-01 2.56242407e-01 -9.73989036e-03 -4.19688264e+02] [ 2.56228898e-01 -9.66612553e-01 -2.63157314e-03 -2.48580437e+02] [-1.00890209e-02 4.79411259e-05 -9.99949104e-01 -1.76202585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1305.096559995 meters 0.012790476981852292 Centerline is valid? [True, True] Translation: X:-419.68, Y:-248.59, Z:-1.76 [[ 9.43194456e-01 3.32077894e-01 -1.04158745e-02 -4.19684975e+02] [ 3.32057160e-01 -9.43251966e-01 -3.71099476e-03 -2.48585911e+02] [-1.10571334e-02 4.15239735e-05 -9.99938867e-01 -1.76063994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1305.126559995 meters 0.01264276758327122 Centerline is valid? [True, True] Translation: X:-419.68, Y:-248.59, Z:-1.76 [[ 9.13824155e-01 4.05967822e-01 -1.07490140e-02 -4.19679462e+02] [ 4.05939347e-01 -9.13887371e-01 -4.80834584e-03 -2.48592919e+02] [-1.17754218e-02 3.05348656e-05 -9.99930667e-01 -1.76188421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1305.156559995 meters 0.012492035942070876 Centerline is valid? [True, True] Translation: X:-419.67, Y:-248.60, Z:-1.76 [[ 8.78593203e-01 4.77452497e-01 -1.06346805e-02 -4.19674444e+02] [ 4.77417312e-01 -8.78657563e-01 -5.79630136e-03 -2.48599700e+02] [-1.21117010e-02 1.54104068e-05 -9.99926651e-01 -1.76162023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1305.1865599950002 meters 0.012402986201379033 Centerline is valid? [True, True] Translation: X:-419.67, Y:-248.61, Z:-1.76 [[ 8.38139456e-01 5.45356101e-01 -1.04391606e-02 -4.19667784e+02] [ 5.45313694e-01 -8.38204464e-01 -6.80091162e-03 -2.48606558e+02] [-1.24590697e-02 7.49513808e-06 -9.99922383e-01 -1.76272293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1305.2165599950001 meters 0.012469628650614876 Centerline is valid? [True, True] Translation: X:-419.66, Y:-248.61, Z:-1.76 [[ 7.92555930e-01 6.09715929e-01 -1.00788964e-02 -4.19661818e+02] [ 6.09666612e-01 -7.92620014e-01 -7.75474626e-03 -2.48612601e+02] [-1.27169273e-02 1.30354459e-06 -9.99919137e-01 -1.76223648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1305.246559995 meters 0.012533032191984062 Centerline is valid? [True, True] Translation: X:-419.66, Y:-248.62, Z:-1.76 [[ 7.41984597e-01 6.70351210e-01 -9.38691071e-03 -4.19656904e+02] [ 6.70297682e-01 -7.42043971e-01 -8.47126011e-03 -2.48616152e+02] [-1.26442200e-02 -6.47997037e-06 -9.99920059e-01 -1.76240007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1305.276559995 meters 0.012417615380903618 Centerline is valid? [True, True] Translation: X:-419.65, Y:-248.62, Z:-1.76 [[ 6.86918755e-01 7.26687327e-01 -8.25553465e-03 -4.19650744e+02] [ 7.26635057e-01 -6.86968361e-01 -8.71580240e-03 -2.48619010e+02] [-1.20049543e-02 -1.17127590e-05 -9.99927938e-01 -1.76348118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1305.306559995 meters 0.012301554765720698 Centerline is valid? [True, True] Translation: X:-419.64, Y:-248.62, Z:-1.77 [[ 6.26991865e-01 7.78997332e-01 -6.66019715e-03 -4.19642961e+02] [ 7.78953781e-01 -6.27027237e-01 -8.23717818e-03 -2.48623199e+02] [-1.05928648e-02 -2.33420510e-05 -9.99943894e-01 -1.76578061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1305.336559995 meters 0.012294441278480403 Centerline is valid? [True, True] Translation: X:-419.63, Y:-248.63, Z:-1.77 [[ 5.63403852e-01 8.26163885e-01 -5.41614931e-03 -4.19634053e+02] [ 8.26126214e-01 -5.63429884e-01 -7.88956977e-03 -2.48626723e+02] [-9.56969799e-03 -2.94089293e-05 -9.99954209e-01 -1.76662075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1305.366559995 meters 0.012336519476808493 Centerline is valid? [True, True] Translation: X:-419.62, Y:-248.63, Z:-1.77 [[ 4.96118945e-01 8.68243593e-01 -4.36534537e-03 -4.19624564e+02] [ 8.68210621e-01 -4.96138149e-01 -7.56672522e-03 -2.48630327e+02] [-8.73557506e-03 -3.60434881e-05 -9.99961844e-01 -1.76754387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1305.396559995 meters 0.012402599622606087 Centerline is valid? [True, True] Translation: X:-419.62, Y:-248.63, Z:-1.77 [[ 4.25666423e-01 9.04872530e-01 -3.71496174e-03 -4.19615505e+02] [ 9.04838980e-01 -4.25682631e-01 -7.79217199e-03 -2.48633549e+02] [-8.63231707e-03 -4.45762162e-05 -9.99962740e-01 -1.76772994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1305.426559995 meters 0.012483512338772495 Centerline is valid? [True, True] Translation: X:-419.61, Y:-248.64, Z:-1.77 [[ 3.51079810e-01 9.36340009e-01 -3.21800882e-03 -4.19605213e+02] [ 9.36302475e-01 -3.51094551e-01 -8.38401784e-03 -2.48635588e+02] [-8.98011670e-03 -6.95702398e-05 -9.99959676e-01 -1.76868218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1305.4565599950001 meters 0.012655727856449434 Centerline is valid? [True, True] Translation: X:-419.60, Y:-248.64, Z:-1.77 [[ 2.75263424e-01 9.61364573e-01 -2.86452174e-03 -4.19595392e+02] [ 9.61315959e-01 -2.75278313e-01 -9.66834519e-03 -2.48636531e+02] [-1.00833453e-02 -9.23686595e-05 -9.99949158e-01 -1.76795717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1305.486559995 meters 0.013013595655792406 Centerline is valid? [True, True] Translation: X:-419.59, Y:-248.64, Z:-1.77 [[ 1.97373412e-01 9.80325447e-01 -2.39876195e-03 -4.19585740e+02] [ 9.80260627e-01 -1.97387948e-01 -1.12739095e-02 -2.48637374e+02] [-1.15255871e-02 -1.26241897e-04 -9.99933570e-01 -1.76685445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1305.516559995 meters 0.013251525654757216 Centerline is valid? [True, True] Translation: X:-419.58, Y:-248.64, Z:-1.77 [[ 1.18399168e-01 9.92964566e-01 -1.73435540e-03 -4.19576230e+02] [ 9.92877682e-01 -1.18411753e-01 -1.31364029e-02 -2.48636620e+02] [-1.32493507e-02 -1.66663588e-04 -9.99912210e-01 -1.76538111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1305.546559995 meters 0.013562188167614685 Centerline is valid? [True, True] Translation: X:-419.57, Y:-248.63, Z:-1.76 [[ 3.83990047e-02 9.99262174e-01 -7.89857864e-04 -4.19565880e+02] [ 9.99150456e-01 -3.84065236e-02 -1.49434286e-02 -2.48634912e+02] [-1.49627387e-02 -2.15374058e-04 -9.99888029e-01 -1.76449555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1305.576559995 meters 0.01485072646210141 Centerline is valid? [True, True] Translation: X:-419.55, Y:-248.63, Z:-1.76 [[-4.28495554e-02 9.99081443e-01 4.32301103e-04 -4.19554057e+02] [ 9.98938813e-01 4.28507437e-02 -1.68837987e-02 -2.48633314e+02] [-1.68868144e-02 -2.91620917e-04 -9.99857365e-01 -1.76153622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1305.606559995 meters 0.014964944149676489 Centerline is valid? [True, True] Translation: X:-419.55, Y:-248.63, Z:-1.76 [[-1.21418380e-01 9.92599783e-01 1.80196233e-03 -4.19549213e+02] [ 9.92449699e-01 1.21431361e-01 -1.72632379e-02 -2.48631035e+02] [-1.73543010e-02 -3.07717411e-04 -9.99849356e-01 -1.76119804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1305.636559995 meters 0.015119470043393562 Centerline is valid? [True, True] Translation: X:-419.55, Y:-248.63, Z:-1.76 [[-1.99068294e-01 9.79980371e-01 3.20740188e-03 -4.19545157e+02] [ 9.79826118e-01 1.99093875e-01 -1.73898671e-02 -2.48628416e+02] [-1.76803025e-02 -3.19075039e-04 -9.99843641e-01 -1.76123843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1305.666559995 meters 0.01492961709599416 Centerline is valid? [True, True] Translation: X:-419.54, Y:-248.63, Z:-1.76 [[-2.74685157e-01 9.61523360e-01 4.57087049e-03 -4.19541949e+02] [ 9.61370880e-01 2.74723010e-01 -1.71259773e-02 -2.48625282e+02] [-1.77227505e-02 -3.09949976e-04 -9.99842892e-01 -1.76124450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1305.6965599950001 meters 0.014104455891551437 Centerline is valid? [True, True] Translation: X:-419.54, Y:-248.62, Z:-1.76 [[-3.47305115e-01 9.37731016e-01 6.30072320e-03 -4.19539483e+02] [ 9.37561073e-01 3.47362139e-01 -1.78543624e-02 -2.48622630e+02] [-1.89312221e-02 -2.93598582e-04 -9.99820745e-01 -1.76158936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1305.7265599950001 meters 0.014196206398717824 Centerline is valid? [True, True] Translation: X:-419.54, Y:-248.62, Z:-1.76 [[-4.18042854e-01 9.08393674e-01 7.81701482e-03 -4.19536060e+02] [ 9.08222880e-01 4.18115849e-01 -1.76164112e-02 -2.48619964e+02] [-1.92710543e-02 -2.64823123e-04 -9.99814261e-01 -1.76027489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1305.756559995 meters 0.01347081792868085 Centerline is valid? [True, True] Translation: X:-419.53, Y:-248.62, Z:-1.76 [[-4.86053948e-01 8.73883113e-01 8.93673502e-03 -4.19534602e+02] [ 8.73727061e-01 4.86136049e-01 -1.65156256e-02 -2.48616845e+02] [-1.87771953e-02 -2.19217801e-04 -9.99823669e-01 -1.76124701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1305.786559995 meters 0.013379518762679909 Centerline is valid? [True, True] Translation: X:-419.53, Y:-248.62, Z:-1.76 [[-5.51543080e-01 8.34085572e-01 1.00742106e-02 -4.19532586e+02] [ 8.33940322e-01 5.51635047e-01 -1.55664618e-02 -2.48615072e+02] [-1.85410488e-02 -1.84283886e-04 -9.99828083e-01 -1.76136241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1305.816559995 meters 0.012490990101734437 Centerline is valid? [True, True] Translation: X:-419.53, Y:-248.61, Z:-1.76 [[-6.12028935e-01 7.90765084e-01 1.05435172e-02 -4.19533047e+02] [ 7.90644850e-01 6.12119737e-01 -1.37894834e-02 -2.48614063e+02] [-1.73581370e-02 -1.03385239e-04 -9.99849331e-01 -1.76330923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1305.846559995 meters 0.012216916371772609 Centerline is valid? [True, True] Translation: X:-419.53, Y:-248.61, Z:-1.76 [[-6.70773315e-01 7.41576961e-01 1.12592679e-02 -4.19531102e+02] [ 7.41470754e-01 6.70867801e-01 -1.25505045e-02 -2.48610474e+02] [-1.68606453e-02 -7.01256198e-05 -9.99857847e-01 -1.76429803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1305.876559995 meters 0.012318498420750402 Centerline is valid? [True, True] Translation: X:-419.53, Y:-248.61, Z:-1.76 [[-7.25626775e-01 6.87981680e-01 1.21240036e-02 -4.19528509e+02] [ 6.87884710e-01 7.25728053e-01 -1.15507285e-02 -2.48608169e+02] [-1.67454191e-02 -4.16012171e-05 -9.99859785e-01 -1.76464948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1305.906559995 meters 0.012318498420750402 Centerline is valid? [True, True] Translation: X:-419.51, Y:-248.59, Z:-1.76 [[-7.72523108e-01 6.34855366e-01 1.29116924e-02 -4.19510916e+02] [ 6.34765816e-01 7.72631000e-01 -1.06628810e-02 -2.48586513e+02] [-1.67453610e-02 -4.14210023e-05 -9.99859786e-01 -1.76465014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1305.9365599950002 meters 0.012551233276828479 Centerline is valid? [True, True] Translation: X:-419.50, Y:-248.56, Z:-1.76 [[-8.14739351e-01 5.79675258e-01 1.32810277e-02 -4.19497949e+02] [ 5.79597897e-01 8.14847590e-01 -9.47013565e-03 -2.48563522e+02] [-1.63116168e-02 -1.80364398e-05 -9.99866957e-01 -1.76296820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1305.9665599950001 meters 0.01215182199945425 Centerline is valid? [True, True] Translation: X:-419.49, Y:-248.54, Z:-1.77 [[-8.52818507e-01 5.22030291e-01 1.36003880e-02 -4.19489594e+02] [ 5.21964128e-01 8.52926946e-01 -8.31107510e-03 -2.48539614e+02] [-1.59387704e-02 1.10760288e-05 -9.99872970e-01 -1.76595748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1305.996559995 meters 0.012325834695379213 Centerline is valid? [True, True] Translation: X:-419.47, Y:-248.52, Z:-1.76 [[-8.87470017e-01 4.60649323e-01 1.41127655e-02 -4.19471444e+02] [ 4.60591352e-01 8.87582222e-01 -7.30791485e-03 -2.48519027e+02] [-1.58926258e-02 1.46624431e-05 -9.99873704e-01 -1.76493015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1306.026559995 meters 0.012198448263533612 Centerline is valid? [True, True] Translation: X:-419.46, Y:-248.49, Z:-1.77 [[-9.17993685e-01 3.96294940e-01 1.54244868e-02 -4.19458397e+02] [ 3.96239192e-01 9.18123260e-01 -6.64698576e-03 -2.48494797e+02] [-1.67957470e-02 9.89524467e-06 -9.99858942e-01 -1.76596088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1306.056559995 meters 0.01220309659679919 Centerline is valid? [True, True] Translation: X:-419.45, Y:-248.47, Z:-1.77 [[-9.43907690e-01 3.29792234e-01 1.65938195e-02 -4.19452172e+02] [ 3.29741319e-01 9.44053538e-01 -5.79479109e-03 -2.48467320e+02] [-1.75765311e-02 1.92006052e-06 -9.99845521e-01 -1.76584141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1306.086559995 meters 0.012508845098225746 Centerline is valid? [True, True] Translation: X:-419.45, Y:-248.44, Z:-1.76 [[-9.65181614e-01 2.61021557e-01 1.70938614e-02 -4.19447479e+02] [ 2.60980340e-01 9.65332972e-01 -4.63848880e-03 -2.48439048e+02] [-1.77120136e-02 -1.58223416e-05 -9.99843130e-01 -1.76343914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1306.116559995 meters 0.012645313844406958 Centerline is valid? [True, True] Translation: X:-419.28, Y:-247.83, Z:-2.83 [[-9.44513274e-01 -3.28018342e-01 1.72812652e-02 -4.19281545e+02] [ 3.27964470e-01 -9.44671353e-01 -5.94489417e-03 -2.47825250e+02] [ 1.82751505e-02 5.26095344e-05 9.99832994e-01 -2.82551896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1306.146559995 meters 0.01252569819839137 Centerline is valid? [True, True] Translation: X:-419.49, Y:-248.42, Z:-1.76 [[-9.66912862e-01 2.54476001e-01 1.79299245e-02 -4.19494674e+02] [ 2.54430905e-01 9.67079087e-01 -4.79109371e-03 -2.48424992e+02] [-1.85588733e-02 -7.06432266e-05 -9.99827767e-01 -1.76401459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1306.176559995 meters 0.012516535783976521 Centerline is valid? [True, True] Translation: X:-419.49, Y:-248.40, Z:-1.76 [[-9.82598269e-01 1.84833162e-01 1.83669175e-02 -4.19492025e+02] [ 1.84799386e-01 9.82769910e-01 -3.53423617e-03 -2.48396956e+02] [-1.87036979e-02 -7.85392723e-05 -9.99825068e-01 -1.76498353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1306.2065599950001 meters 0.012524199473054847 Centerline is valid? [True, True] Translation: X:-419.49, Y:-248.37, Z:-1.77 [[-9.93237679e-01 1.14710239e-01 1.79017817e-02 -4.19489431e+02] [ 1.14690266e-01 9.93398991e-01 -2.14179094e-03 -2.48369390e+02] [-1.80292972e-02 -7.41473655e-05 -9.99837456e-01 -1.76526979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1306.236559995 meters 0.012502753103432521 Centerline is valid? [True, True] Translation: X:-419.49, Y:-248.34, Z:-1.77 [[-9.98825461e-01 4.52441032e-02 1.73398355e-02 -4.19493350e+02] [ 4.52364783e-02 9.98975960e-01 -8.31907350e-04 -2.48342499e+02] [-1.73597178e-02 -4.65371473e-05 -9.99849308e-01 -1.76596781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1306.266559995 meters 0.012320145061528585 Centerline is valid? [True, True] Translation: X:-419.50, Y:-248.32, Z:-1.77 [[-9.99543853e-01 -2.48877647e-02 1.71080264e-02 -4.19502636e+02] [-2.48845975e-02 9.99690251e-01 3.98016493e-04 -2.48315625e+02] [-1.71126329e-02 -2.78914105e-05 -9.99853568e-01 -1.76740128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1306.296559995 meters 0.012643211215459268 Centerline is valid? [True, True] Translation: X:-419.51, Y:-248.29, Z:-1.77 [[-9.95354602e-01 -9.48161103e-02 1.67069475e-02 -4.19506515e+02] [-9.48028620e-02 9.95494804e-01 1.58498261e-03 -2.48288896e+02] [-1.67819613e-02 -6.24670219e-06 -9.99859173e-01 -1.76611340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1306.326559995 meters 0.01266724156733565 Centerline is valid? [True, True] Translation: X:-419.52, Y:-248.26, Z:-1.77 [[-9.86203283e-01 -1.64716349e-01 1.64805408e-02 -4.19521341e+02] [-1.64693190e-01 9.86340978e-01 2.76208126e-03 -2.48263832e+02] [-1.67103927e-02 9.74077658e-06 -9.99860372e-01 -1.76634092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1306.356559995 meters 0.01286108170337037 Centerline is valid? [True, True] Translation: X:-419.64, Y:-247.63, Z:-2.82 [[-9.94841828e-01 1.00122638e-01 1.62848087e-02 -4.19642614e+02] [-1.00109758e-01 -9.94975103e-01 1.60628087e-03 -2.47632874e+02] [ 1.63638043e-02 -3.22728515e-05 9.99866104e-01 -2.82220039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1306.386559995 meters 0.013442082117040595 Centerline is valid? [True, True] Translation: X:-419.64, Y:-248.29, Z:-1.77 [[-9.85788892e-01 -1.67213589e-01 1.61206992e-02 -4.19643873e+02] [-1.67190054e-01 9.85920692e-01 2.80633204e-03 -2.48286891e+02] [-1.63629878e-02 7.12303872e-05 -9.99866115e-01 -1.76670350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1306.416559995 meters 0.013110856529941125 Centerline is valid? [True, True] Translation: X:-419.67, Y:-248.26, Z:-1.77 [[-9.71510234e-01 -2.36465071e-01 1.58787577e-02 -4.19666951e+02] [-2.36431919e-01 9.71639986e-01 3.96055828e-03 -2.48262854e+02] [-1.63649696e-02 9.34777333e-05 -9.99866081e-01 -1.76941124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1306.4465599950001 meters 0.013938406495434813 Centerline is valid? [True, True] Translation: X:-419.71, Y:-248.25, Z:-1.77 [[-9.52129359e-01 -3.05311235e-01 1.53210486e-02 -4.19713565e+02] [-3.05269828e-01 9.52252612e-01 5.02941727e-03 -2.48248074e+02] [-1.61250461e-02 1.11601980e-04 -9.99869977e-01 -1.76721030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1306.4765599950001 meters 0.014246564832740609 Centerline is valid? [True, True] Translation: X:-419.78, Y:-248.24, Z:-1.77 [[-9.27423755e-01 -3.73731319e-01 1.44941277e-02 -4.19775220e+02] [-3.73683621e-01 9.27537000e-01 5.97201585e-03 -2.48241253e+02] [-1.56757690e-02 1.22371255e-04 -9.99877120e-01 -1.76759966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1306.506559995 meters 0.014166119443250549 Centerline is valid? [True, True] Translation: X:-419.85, Y:-248.24, Z:-1.77 [[-8.97558539e-01 -4.40694422e-01 1.33077591e-02 -4.19845340e+02] [-4.40643913e-01 8.97657179e-01 6.67315863e-03 -2.48242482e+02] [-1.48866293e-02 1.25567455e-04 -9.99889180e-01 -1.76871722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1306.536559995 meters 0.013730355168690889 Centerline is valid? [True, True] Translation: X:-419.92, Y:-248.25, Z:-1.77 [[-8.62615524e-01 -5.05728122e-01 1.15553024e-02 -4.19921055e+02] [-5.05680867e-01 8.62692907e-01 6.91442251e-03 -2.48250158e+02] [-1.34654953e-02 1.21192881e-04 -9.99909329e-01 -1.77122969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1306.566559995 meters 0.013838345077087439 Centerline is valid? [True, True] Translation: X:-420.00, Y:-248.27, Z:-1.77 [[-8.22346983e-01 -5.68886011e-01 1.06839317e-02 -4.20003680e+02] [-5.68836181e-01 8.22416375e-01 7.53038506e-03 -2.48268768e+02] [-1.30705711e-02 1.15182532e-04 -9.99914570e-01 -1.77157460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1306.596559995 meters 0.013906156653976327 Centerline is valid? [True, True] Translation: X:-420.09, Y:-248.30, Z:-1.77 [[-7.77190082e-01 -6.29191841e-01 9.65427290e-03 -4.20089131e+02] [-6.29141582e-01 7.77250035e-01 7.95319512e-03 -2.48297217e+02] [-1.25078694e-02 1.07239834e-04 -9.99921768e-01 -1.77138015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1306.626559995 meters 0.013516144977828225 Centerline is valid? [True, True] Translation: X:-420.18, Y:-248.34, Z:-1.77 [[-7.27339471e-01 -6.86226386e-01 8.40480014e-03 -4.20180242e+02] [-6.86179071e-01 7.27388025e-01 8.05881950e-03 -2.48337882e+02] [-1.16437256e-02 9.42995632e-05 -9.99932205e-01 -1.77269064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1306.656559995 meters 0.013742066830105804 Centerline is valid? [True, True] Translation: X:-420.27, Y:-248.39, Z:-1.77 [[-6.73190815e-01 -7.39432674e-01 7.31082194e-03 -4.20266632e+02] [-7.39387689e-01 6.73230506e-01 8.15671412e-03 -2.48385352e+02] [-1.09532093e-02 8.54932849e-05 -9.99940008e-01 -1.77194603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1306.6865599950002 meters 0.013600997840244019 Centerline is valid? [True, True] Translation: X:-420.35, Y:-248.44, Z:-1.77 [[-6.14325895e-01 -7.89030989e-01 5.81317690e-03 -4.20354904e+02] [-7.88994695e-01 6.14353395e-01 7.56817375e-03 -2.48442547e+02] [-9.54286859e-03 6.27593749e-05 -9.99954464e-01 -1.77160672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1306.7165599950001 meters 0.013721512757238256 Centerline is valid? [True, True] Translation: X:-420.44, Y:-248.51, Z:-1.77 [[-5.52043278e-01 -8.33801217e-01 4.87339046e-03 -4.20435675e+02] [-8.33767887e-01 5.52064786e-01 7.45540091e-03 -2.48506026e+02] [-8.90674961e-03 5.24274877e-05 -9.99960333e-01 -1.77105002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1306.746559995 meters 0.013305664870219558 Centerline is valid? [True, True] Translation: X:-420.52, Y:-248.58, Z:-1.77 [[-4.86050191e-01 -8.73922112e-01 3.91835072e-03 -4.20515938e+02] [-8.73893074e-01 4.86065984e-01 7.12430515e-03 -2.48581160e+02] [-8.13066480e-03 3.85503240e-05 -9.99966945e-01 -1.77227079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1306.776559995 meters 0.013143903227729672 Centerline is valid? [True, True] Translation: X:-420.59, Y:-248.66, Z:-1.77 [[-4.16358759e-01 -9.09195003e-01 3.13529676e-03 -4.20591354e+02] [-9.09168833e-01 4.16370563e-01 6.89842012e-03 -2.48664489e+02] [-7.57745438e-03 2.17035407e-05 -9.99971291e-01 -1.77314434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1306.806559995 meters 0.013197955079274284 Centerline is valid? [True, True] Translation: X:-420.66, Y:-248.76, Z:-1.77 [[-3.43696475e-01 -9.39077955e-01 2.30829119e-03 -4.20661456e+02] [-9.39056690e-01 3.43704226e-01 6.31957552e-03 -2.48755050e+02] [-6.72794349e-03 4.39954325e-06 -9.99977367e-01 -1.77359697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1306.836559995 meters 0.013044566628271309 Centerline is valid? [True, True] Translation: X:-420.73, Y:-248.85, Z:-1.77 [[-2.68895145e-01 -9.63168249e-01 1.52489761e-03 -4.20725237e+02] [-9.63152952e-01 2.68899469e-01 5.42836349e-03 -2.48851904e+02] [-5.63847152e-03 -9.04904678e-06 -9.99984104e-01 -1.77377641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1306.866559995 meters 0.013346667458838096 Centerline is valid? [True, True] Translation: X:-420.79, Y:-248.95, Z:-1.77 [[-1.90134208e-01 -9.81757695e-01 9.00722937e-04 -4.20785359e+02] [-9.81747380e-01 1.90136339e-01 4.50048828e-03 -2.48954584e+02] [-4.58964916e-03 -2.85856117e-05 -9.99989467e-01 -1.77376741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1306.896559995 meters 0.013507133686140052 Centerline is valid? [True, True] Translation: X:-420.83, Y:-249.06, Z:-1.77 [[-1.12796434e-01 -9.93617978e-01 5.28340410e-04 -4.20833610e+02] [-9.93608485e-01 1.12797666e-01 4.34343507e-03 -2.49060297e+02] [-4.37531074e-03 -3.50395255e-05 -9.99990428e-01 -1.77349277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1306.926559995 meters 0.013696715819797886 Centerline is valid? [True, True] Translation: X:-420.87, Y:-249.17, Z:-1.77 [[-3.50439470e-02 -9.99385756e-01 1.81570454e-04 -4.20873591e+02] [-9.99377446e-01 3.50443961e-02 4.07565273e-03 -2.49170831e+02] [-4.07951231e-03 -3.86304588e-05 -9.99991678e-01 -1.77289725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1306.9565599950001 meters 0.01368714451854247 Centerline is valid? [True, True] Translation: X:-420.90, Y:-249.28, Z:-1.77 [[ 4.19109892e-02 -9.99121340e-01 -1.27543304e-04 -4.20904222e+02] [-9.99113410e-01 -4.19111647e-02 3.98097569e-03 -2.49283049e+02] [-3.98282326e-03 -3.94164040e-05 -9.99992068e-01 -1.77202517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1306.986559995 meters 0.013617305589665809 Centerline is valid? [True, True] Translation: X:-420.92, Y:-249.40, Z:-1.77 [[ 1.17745903e-01 -9.93043644e-01 -4.72677007e-04 -4.20924445e+02] [-9.93034189e-01 -1.17746845e-01 4.33360915e-03 -2.49399399e+02] [-4.35911925e-03 -4.08802929e-05 -9.99990498e-01 -1.77191834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1307.016559995 meters 0.013503847055543349 Centerline is valid? [True, True] Translation: X:-420.94, Y:-249.51, Z:-1.77 [[ 1.92326084e-01 -9.81330822e-01 -7.04259416e-04 -4.20936026e+02] [-9.81323621e-01 -1.92327371e-01 3.75957970e-03 -2.49513660e+02] [-3.82483980e-03 -3.19588415e-05 -9.99992685e-01 -1.77182732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1307.046559995 meters 0.013304241414085613 Centerline is valid? [True, True] Translation: X:-420.94, Y:-249.63, Z:-1.77 [[ 2.65691127e-01 -9.64057697e-01 -9.91325098e-04 -4.20937388e+02] [-9.64050591e-01 -2.65692975e-01 3.70159248e-03 -2.49633219e+02] [-3.83193684e-03 -2.77927340e-05 -9.99992658e-01 -1.77176798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1307.076559995 meters 0.01314519840244294 Centerline is valid? [True, True] Translation: X:-420.93, Y:-249.75, Z:-1.77 [[ 3.37375077e-01 -9.41369654e-01 -1.11017915e-03 -4.20931422e+02] [-9.41364359e-01 -3.37376903e-01 3.15740005e-03 -2.49747424e+02] [-3.34682939e-03 -2.01450003e-05 -9.99994399e-01 -1.77173720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1307.106559995 meters 0.012908579327357918 Centerline is valid? [True, True] Translation: X:-420.92, Y:-249.85, Z:-1.77 [[ 4.07090972e-01 -9.13386990e-01 -1.07127610e-03 -4.20919702e+02] [-9.13383741e-01 -4.07092382e-01 2.43602274e-03 -2.49854411e+02] [-2.66113982e-03 -1.31966985e-05 -9.99996459e-01 -1.77193256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1307.136559995 meters 0.012796992220379597 Centerline is valid? [True, True] Translation: X:-420.90, Y:-249.97, Z:-1.77 [[ 4.73963394e-01 -8.80544275e-01 -6.93346527e-04 -4.20895634e+02] [-8.80543316e-01 -4.73963901e-01 1.29957140e-03 -2.49970164e+02] [-1.47295138e-03 -5.42762080e-06 -9.99998915e-01 -1.77205494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1307.166559995 meters 0.012776164563368381 Centerline is valid? [True, True] Translation: X:-420.87, Y:-250.07, Z:-1.77 [[ 5.39096182e-01 -8.42243764e-01 -8.65132227e-04 -4.20869344e+02] [-8.42242665e-01 -5.39096877e-01 1.36031117e-03 -2.50070971e+02] [-1.61210369e-03 -4.68728683e-06 -9.99998701e-01 -1.77176022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1307.1965599950001 meters 0.012684895416622726 Centerline is valid? [True, True] Translation: X:-420.83, Y:-250.17, Z:-1.77 [[ 6.00689382e-01 -7.99481899e-01 -9.79370026e-04 -4.20834932e+02] [-7.99480828e-01 -6.00690181e-01 1.30893025e-03 -2.50170183e+02] [-1.63476400e-03 -3.27294136e-06 -9.99998664e-01 -1.77130060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1307.2265599950001 meters 0.012557984005779954 Centerline is valid? [True, True] Translation: X:-420.79, Y:-250.27, Z:-1.77 [[ 6.58935749e-01 -7.52197826e-01 -1.45255750e-03 -4.20791819e+02] [-7.52195992e-01 -6.58937350e-01 1.66109857e-03 -2.50267777e+02] [-2.20661913e-03 -1.94930241e-06 -9.99997566e-01 -1.77099298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1307.256559995 meters 0.0126937219544407 Centerline is valid? [True, True] Translation: X:-420.74, Y:-250.36, Z:-1.77 [[ 7.12704607e-01 -7.01461409e-01 -2.00877651e-03 -4.20742892e+02] [-7.01458635e-01 -7.12707438e-01 1.97293914e-03 -2.50359856e+02] [-2.81561063e-03 2.95081014e-06 -9.99996036e-01 -1.77007042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1307.286559995 meters 0.0127534287190035 Centerline is valid? [True, True] Translation: X:-420.74, Y:-250.37, Z:-1.77 [[ 7.64404349e-01 -6.44731329e-01 -2.73940809e-03 -4.20742794e+02] [-6.44727233e-01 -7.64409258e-01 2.29823153e-03 -2.50370250e+02] [-3.57577077e-03 9.39282456e-06 -9.99993607e-01 -1.76944360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1307.316559995 meters 0.012870315927474183 Centerline is valid? [True, True] Translation: X:-420.74, Y:-250.38, Z:-1.77 [[ 8.11748620e-01 -5.83997074e-01 -3.40539290e-03 -4.20741912e+02] [-5.83992020e-01 -8.11755763e-01 2.42954905e-03 -2.50381530e+02] [-4.18319685e-03 1.65391918e-05 -9.99991250e-01 -1.76895433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1307.346559995 meters 0.012947874235911037 Centerline is valid? [True, True] Translation: X:-420.74, Y:-250.39, Z:-1.77 [[ 8.54321167e-01 -5.19731741e-01 -3.77648043e-03 -4.20739693e+02] [-5.19726779e-01 -8.54329514e-01 2.27107623e-03 -2.50393903e+02] [-4.40670909e-03 2.25095100e-05 -9.99990290e-01 -1.76865248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1307.376559995 meters 0.013149894810711433 Centerline is valid? [True, True] Translation: X:-420.74, Y:-250.40, Z:-1.77 [[ 8.91785614e-01 -4.52440934e-01 -3.95215367e-03 -4.20737075e+02] [-4.52436630e-01 -8.91794371e-01 1.97373848e-03 -2.50404288e+02] [-4.41750848e-03 2.79475051e-05 -9.99990243e-01 -1.76847224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1307.406559995 meters 0.013372444981108126 Centerline is valid? [True, True] Translation: X:-420.73, Y:-250.41, Z:-1.77 [[ 9.24083132e-01 -3.82169513e-01 -4.10237497e-03 -4.20732602e+02] [-3.82165901e-01 -9.24092237e-01 1.66187666e-03 -2.50411126e+02] [-4.42609146e-03 3.20756412e-05 -9.99990205e-01 -1.76843174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1307.4365599950002 meters 0.013663188226408982 Centerline is valid? [True, True] Translation: X:-420.73, Y:-250.42, Z:-1.77 [[ 9.50637934e-01 -3.10276959e-01 -3.96576630e-03 -4.20726049e+02] [-3.10274420e-01 -9.50646205e-01 1.25576363e-03 -2.50416724e+02] [-4.15967520e-03 3.66992968e-05 -9.99991348e-01 -1.76857160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1307.4665599950001 meters 0.013490764823358072 Centerline is valid? [True, True] Translation: X:-420.72, Y:-250.43, Z:-1.77 [[ 9.71836067e-01 -2.35625926e-01 -3.88359846e-03 -4.20721454e+02] [-2.35624199e-01 -9.71843826e-01 9.02992523e-04 -2.50428007e+02] [-3.98701963e-03 3.75090731e-05 -9.99992051e-01 -1.76879622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1307.496559995 meters 0.013659415901779035 Centerline is valid? [True, True] Translation: X:-420.71, Y:-250.44, Z:-1.77 [[ 9.87148195e-01 -1.59755287e-01 -4.08535319e-03 -4.20714895e+02] [-1.59754096e-01 -9.87156647e-01 6.18269766e-04 -2.50437263e+02] [-4.13165542e-03 4.23280237e-05 -9.99991464e-01 -1.76876136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1307.526559995 meters 0.013726517692573317 Centerline is valid? [True, True] Translation: X:-420.71, Y:-250.45, Z:-1.77 [[ 9.96550039e-01 -8.28840830e-02 -4.27197575e-03 -4.20711629e+02] [-8.28835265e-02 -9.96559194e-01 3.07432122e-04 -2.50446550e+02] [-4.28275794e-03 4.77049224e-05 -9.99990828e-01 -1.76909521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1307.556559995 meters 0.013907086234035384 Centerline is valid? [True, True] Translation: X:-420.71, Y:-250.46, Z:-1.77 [[ 9.99973258e-01 -6.19250779e-03 -3.89064845e-03 -4.20707933e+02] [-6.19265242e-03 -9.99980825e-01 -2.51291580e-05 -2.50456760e+02] [-3.89041824e-03 4.92219196e-05 -9.99992431e-01 -1.76950442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1307.586559995 meters 0.014063373896970292 Centerline is valid? [True, True] Translation: X:-420.70, Y:-250.47, Z:-1.77 [[ 9.97447281e-01 7.12961917e-02 -3.97170391e-03 -4.20703316e+02] [ 7.12954113e-02 -9.97455187e-01 -3.37914699e-04 -2.50466723e+02] [-3.98568870e-03 5.38878337e-05 -9.99992056e-01 -1.76929123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1307.616559995 meters 0.014228966741874962 Centerline is valid? [True, True] Translation: X:-420.70, Y:-250.48, Z:-1.77 [[ 9.88866712e-01 1.48743780e-01 -4.23259306e-03 -4.20698406e+02] [ 1.48742158e-01 -9.88875768e-01 -6.97113727e-04 -2.50475431e+02] [-4.28920004e-03 5.97875327e-05 -9.99990800e-01 -1.76888083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1307.646559995 meters 0.014186317149565602 Centerline is valid? [True, True] Translation: X:-420.69, Y:-250.48, Z:-1.77 [[ 9.74199118e-01 2.25643214e-01 -4.60634001e-03 -4.20692209e+02] [ 2.25640368e-01 -9.74210006e-01 -1.13523316e-03 -2.50483871e+02] [-4.74370019e-03 6.65668859e-05 -9.99988747e-01 -1.76864758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1307.676559995 meters 0.014293101122355172 Centerline is valid? [True, True] Translation: X:-420.69, Y:-250.49, Z:-1.77 [[ 9.53370236e-01 3.01763169e-01 -4.91774258e-03 -4.20686625e+02] [ 3.01758775e-01 -9.53382916e-01 -1.62990918e-03 -2.50491573e+02] [-5.18033832e-03 6.99349193e-05 -9.99986580e-01 -1.76805322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1307.7065599950001 meters 0.014178804991003421 Centerline is valid? [True, True] Translation: X:-420.68, Y:-250.50, Z:-1.77 [[ 9.26197390e-01 3.76991911e-01 -5.95771624e-03 -4.20679548e+02] [ 3.76983576e-01 -9.26216548e-01 -2.50800687e-03 -2.50498954e+02] [-6.46363367e-03 7.69482442e-05 -9.99979108e-01 -1.76672163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1307.736559995 meters 0.013837866048091112 Centerline is valid? [True, True] Translation: X:-420.67, Y:-250.51, Z:-1.77 [[ 8.93539030e-01 4.48934763e-01 -6.75135263e-03 -4.20670874e+02] [ 4.48921221e-01 -8.93564531e-01 -3.48799353e-03 -2.50506626e+02] [-7.59865079e-03 8.58328849e-05 -9.99971126e-01 -1.76652722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1307.766559995 meters 0.013981180132630087 Centerline is valid? [True, True] Translation: X:-420.66, Y:-250.51, Z:-1.77 [[ 8.55223591e-01 5.18209164e-01 -7.20226159e-03 -4.20663403e+02] [ 5.18189908e-01 -8.55253913e-01 -4.46813726e-03 -2.50511402e+02] [-8.47519208e-03 8.91171202e-05 -9.99964081e-01 -1.76553278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1307.796559995 meters 0.013601561939039084 Centerline is valid? [True, True] Translation: X:-420.65, Y:-250.52, Z:-1.77 [[ 8.11653793e-01 5.84090872e-01 -7.48156882e-03 -4.20653499e+02] [ 5.84065014e-01 -8.11688268e-01 -5.49681530e-03 -2.50517261e+02] [-9.28334128e-03 9.17883874e-05 -9.99956905e-01 -1.76614092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1307.826559995 meters 0.013601561939039084 Centerline is valid? [True, True] Translation: X:-420.64, Y:-250.52, Z:-1.77 [[ 7.63441529e-01 6.45838707e-01 -7.02826015e-03 -4.20644317e+02] [ 6.45810229e-01 -7.63473874e-01 -6.06557901e-03 -2.50521286e+02] [-9.28327871e-03 9.17926155e-05 -9.99956905e-01 -1.76614149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1307.856559995 meters 0.013801988800188014 Centerline is valid? [True, True] Translation: X:-420.64, Y:-250.52, Z:-1.77 [[ 7.10127227e-01 7.04038509e-01 -7.00718681e-03 -4.20636242e+02] [ 7.04002939e-01 -7.10161792e-01 -7.07759751e-03 -2.50524692e+02] [-9.95913753e-03 9.29145801e-05 -9.99950402e-01 -1.76582067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1307.886559995 meters 0.013545653639679005 Centerline is valid? [True, True] Translation: X:-420.63, Y:-250.53, Z:-1.77 [[ 6.52663114e-01 7.57620843e-01 -6.44345015e-03 -4.20625197e+02] [ 7.57582542e-01 -6.52694914e-01 -7.61846304e-03 -2.50527518e+02] [-9.97751353e-03 9.08444654e-05 -9.99950219e-01 -1.76693574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1307.916559995 meters 0.013282184672036013 Centerline is valid? [True, True] Translation: X:-420.61, Y:-250.53, Z:-1.77 [[ 5.90902235e-01 8.06723799e-01 -5.59111357e-03 -4.20613492e+02] [ 8.06686370e-01 -5.90928680e-01 -7.77142989e-03 -2.50530409e+02] [-9.57334681e-03 8.18801737e-05 -9.99954171e-01 -1.76826233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1307.9465599950001 meters 0.013222089340122376 Centerline is valid? [True, True] Translation: X:-420.60, Y:-250.53, Z:-1.77 [[ 5.25821324e-01 8.50581608e-01 -4.78162578e-03 -4.20602437e+02] [ 8.50545084e-01 -5.25843059e-01 -7.88281168e-03 -2.50532262e+02] [-9.21935936e-03 7.79621715e-05 -9.99957498e-01 -1.76880542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1307.9765599950001 meters 0.01324767409333791 Centerline is valid? [True, True] Translation: X:-420.59, Y:-250.53, Z:-1.77 [[ 4.57291967e-01 8.89308338e-01 -3.83882510e-03 -4.20591136e+02] [ 8.89275728e-01 -4.57308075e-01 -7.61607189e-03 -2.50532655e+02] [-8.52856195e-03 6.89945108e-05 -9.99963629e-01 -1.76934906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1308.006559995 meters 0.013596096684334896 Centerline is valid? [True, True] Translation: X:-420.58, Y:-250.53, Z:-1.77 [[ 3.85763127e-01 9.22593688e-01 -2.77446502e-03 -4.20582302e+02] [ 9.22568788e-01 -3.85773100e-01 -6.77840521e-03 -2.50532134e+02] [-7.32402783e-03 5.52239591e-05 -9.99973178e-01 -1.76835809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1308.036559995 meters 0.01303977343688048 Centerline is valid? [True, True] Translation: X:-420.57, Y:-250.53, Z:-1.77 [[ 3.12009853e-01 9.50076626e-01 -2.06304599e-03 -4.20571592e+02] [ 9.50054820e-01 -3.12016670e-01 -6.43710076e-03 -2.50530860e+02] [-6.75944371e-03 4.84320803e-05 -9.99977154e-01 -1.77042389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1308.066559995 meters 0.012844285243094911 Centerline is valid? [True, True] Translation: X:-420.56, Y:-250.53, Z:-1.77 [[ 2.35835484e-01 9.71791951e-01 -1.42410882e-03 -4.20561888e+02] [ 9.71773216e-01 -2.35839780e-01 -6.03442943e-03 -2.50529038e+02] [-6.20007146e-03 3.92217725e-05 -9.99980779e-01 -1.77129768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1308.096559995 meters 0.01268261869910249 Centerline is valid? [True, True] Translation: X:-420.55, Y:-250.53, Z:-1.77 [[ 1.57139853e-01 9.87575936e-01 -9.15143095e-04 -4.20550692e+02] [ 9.87558195e-01 -1.57142516e-01 -5.91961842e-03 -2.50526757e+02] [-5.98988059e-03 2.64509064e-05 -9.99982060e-01 -1.77206116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1308.126559995 meters 0.012597893222285678 Centerline is valid? [True, True] Translation: X:-420.54, Y:-250.52, Z:-1.77 [[ 7.79597772e-02 9.96956400e-01 -4.58184523e-04 -4.20541266e+02] [ 9.96937745e-01 -7.79611214e-02 -6.09882676e-03 -2.50523975e+02] [-6.11598495e-03 1.86817307e-05 -9.99981297e-01 -1.77246430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1308.156559995 meters 0.012383952052389003 Centerline is valid? [True, True] Translation: X:-420.53, Y:-250.52, Z:-1.77 [[-1.90042710e-03 9.99998194e-01 2.24326149e-05 -4.20533433e+02] [ 9.99976561e-01 1.90053354e-03 -6.57771521e-03 -2.50520609e+02] [-6.57774597e-03 9.93162079e-06 -9.99978367e-01 -1.77257642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1308.1865599950002 meters 0.012406418916841617 Centerline is valid? [True, True] Translation: X:-420.53, Y:-250.52, Z:-1.77 [[-8.44497592e-02 9.96427567e-01 5.85613529e-04 -4.20525169e+02] [ 9.96401969e-01 8.44517873e-02 -7.14232359e-03 -2.50516313e+02] [-7.16626422e-03 -1.96610343e-05 -9.99974322e-01 -1.77244750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1308.2165599950001 meters 0.012363860361736596 Centerline is valid? [True, True] Translation: X:-420.52, Y:-250.51, Z:-1.77 [[-1.64530261e-01 9.86371279e-01 1.22202877e-03 -4.20517154e+02] [ 9.86342280e-01 1.64534795e-01 -7.56357458e-03 -2.50510413e+02] [-7.66155899e-03 -3.90982534e-05 -9.99970649e-01 -1.77242337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1308.246559995 meters 0.012894407666567454 Centerline is valid? [True, True] Translation: X:-420.51, Y:-250.50, Z:-1.77 [[-2.43702116e-01 9.69848148e-01 1.96194623e-03 -4.20509497e+02] [ 9.69814610e-01 2.43710006e-01 -8.06568514e-03 -2.50504990e+02] [-8.30063572e-03 -6.29004176e-05 -9.99965547e-01 -1.77095452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1308.276559995 meters 0.012967099923571116 Centerline is valid? [True, True] Translation: X:-420.50, Y:-250.50, Z:-1.77 [[-3.21336380e-01 9.46960695e-01 2.89358554e-03 -4.20503402e+02] [ 9.46919636e-01 3.21349395e-01 -8.81873205e-03 -2.50497513e+02] [-9.28084459e-03 -9.37864647e-05 -9.99956928e-01 -1.77153076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1308.306559995 meters 0.013395889619640113 Centerline is valid? [True, True] Translation: X:-420.50, Y:-250.49, Z:-1.77 [[-3.97035417e-01 9.17795200e-01 3.85350100e-03 -4.20496726e+02] [ 9.17748779e-01 3.97054096e-01 -9.23170885e-03 -2.50489113e+02] [-1.00028664e-02 -1.28769527e-04 -9.99949962e-01 -1.77101020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1308.336559995 meters 0.013714163457096255 Centerline is valid? [True, True] Translation: X:-420.49, Y:-250.48, Z:-1.77 [[-4.69782544e-01 8.82767548e-01 5.08113351e-03 -4.20490425e+02] [ 8.82711944e-01 4.69809991e-01 -9.90939668e-03 -2.50480034e+02] [-1.11348611e-02 -1.70084337e-04 -9.99937991e-01 -1.77065022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1308.366559995 meters 0.01479636574910485 Centerline is valid? [True, True] Translation: X:-420.48, Y:-250.47, Z:-1.77 [[-5.41166906e-01 8.40887760e-01 6.79373702e-03 -4.20483426e+02] [ 8.40815518e-01 5.41209489e-01 -1.10251720e-02 -2.50471405e+02] [-1.29477671e-02 -2.54178725e-04 -9.99916142e-01 -1.76885726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1308.396559995 meters 0.015370582491621827 Centerline is valid? [True, True] Translation: X:-420.48, Y:-250.46, Z:-1.77 [[-6.06862220e-01 7.94768916e-01 7.78563034e-03 -4.20479770e+02] [ 7.94697426e-01 6.06912093e-01 -1.06636396e-02 -2.50462287e+02] [-1.32003225e-02 -2.84139622e-04 -9.99912832e-01 -1.76809719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1308.426559995 meters 0.015685612356077985 Centerline is valid? [True, True] Translation: X:-420.48, Y:-250.45, Z:-1.77 [[-6.68302688e-01 7.43838766e-01 8.68375488e-03 -4.20477604e+02] [ 7.43769959e-01 6.68359033e-01 -1.01218354e-02 -2.50452916e+02] [-1.33328796e-02 -3.05733817e-04 -9.99911067e-01 -1.76781844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1308.4565599950001 meters 0.016242361550814457 Centerline is valid? [True, True] Translation: X:-420.48, Y:-250.44, Z:-1.77 [[-7.25898819e-01 6.87732215e-01 9.76245065e-03 -4.20476617e+02] [ 6.87663583e-01 7.25964381e-01 -9.72190153e-03 -2.50444097e+02] [-1.37732563e-02 -3.43835044e-04 -9.99905085e-01 -1.76757931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1308.486559995 meters 0.017144475796054853 Centerline is valid? [True, True] Translation: X:-420.46, Y:-250.42, Z:-1.77 [[-7.73167946e-01 6.34120715e-01 1.01116845e-02 -4.20463927e+02] [ 6.34060656e-01 7.73233989e-01 -8.73399842e-03 -2.50418298e+02] [-1.33571075e-02 -3.41426323e-04 -9.99910732e-01 -1.76740764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1308.516559995 meters 0.016847534983156047 Centerline is valid? [True, True] Translation: X:-420.45, Y:-250.40, Z:-1.77 [[-8.16300541e-01 5.77533199e-01 1.04322034e-02 -4.20449731e+02] [ 5.77480731e-01 8.16367130e-01 -7.79193412e-03 -2.50397073e+02] [-1.30166086e-02 -3.36163566e-04 -9.99915224e-01 -1.76802735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1308.546559995 meters 0.01655380606921875 Centerline is valid? [True, True] Translation: X:-420.14, Y:-249.98, Z:-2.82 [[-7.42133180e-01 -6.70176168e-01 1.01117094e-02 -4.20139328e+02] [ 6.70120509e-01 -7.42201977e-01 -8.64459774e-03 -2.49978925e+02] [ 1.32983341e-02 3.60621010e-04 9.99911508e-01 -2.82031629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1308.576559995 meters 0.01659276068738485 Centerline is valid? [True, True] Translation: X:-420.49, Y:-250.38, Z:-1.77 [[-8.18206227e-01 5.74830058e-01 1.04390729e-02 -4.20488011e+02] [ 5.74778065e-01 8.18272751e-01 -7.73833297e-03 -2.50375155e+02] [-1.29902353e-02 -3.31402096e-04 -9.99915569e-01 -1.76854950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1308.606559995 meters 0.01659805550670092 Centerline is valid? [True, True] Translation: X:-420.48, Y:-250.35, Z:-1.77 [[-8.56506131e-01 5.16012106e-01 1.13470067e-02 -4.20477282e+02] [ 5.15961621e-01 8.56581225e-01 -7.22569343e-03 -2.50351957e+02] [-1.34481782e-02 -3.34230746e-04 -9.99909514e-01 -1.76856989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1308.636559995 meters 0.016110077201787743 Centerline is valid? [True, True] Translation: X:-420.47, Y:-250.33, Z:-1.77 [[-8.90142236e-01 4.55517622e-01 1.22676339e-02 -4.20469926e+02] [ 4.55469323e-01 8.90226708e-01 -6.64114412e-03 -2.50332014e+02] [-1.39461335e-02 -3.24031953e-04 -9.99902696e-01 -1.76875564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1308.666559995 meters 0.015801616114295588 Centerline is valid? [True, True] Translation: X:-420.46, Y:-250.31, Z:-1.77 [[-9.19626174e-01 3.92554859e-01 1.37252934e-02 -4.20461062e+02] [ 3.92505777e-01 9.19728533e-01 -6.21618668e-03 -2.50309237e+02] [-1.50637382e-02 -3.29311044e-04 -9.99886481e-01 -1.76772995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1308.6965599950001 meters 0.01556062567164843 Centerline is valid? [True, True] Translation: X:-420.23, Y:-249.80, Z:-2.82 [[-8.71243428e-01 -4.90642753e-01 1.43031111e-02 -4.20234433e+02] [ 4.90584529e-01 -8.71360724e-01 -7.57027641e-03 -2.49802657e+02] [ 1.61774705e-02 4.21331428e-04 9.99869048e-01 -2.82225931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1308.7265599950001 meters 0.015124977447996542 Centerline is valid? [True, True] Translation: X:-420.50, Y:-250.30, Z:-1.77 [[-9.19875354e-01 3.91909269e-01 1.53772182e-02 -4.20504547e+02] [ 3.91848709e-01 9.20003817e-01 -6.89677311e-03 -2.50298775e+02] [-1.68500088e-02 -3.18628493e-04 -9.99857978e-01 -1.76622814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1308.756559995 meters 0.01473858068088312 Centerline is valid? [True, True] Translation: X:-420.27, Y:-249.78, Z:-2.82 [[-8.74523452e-01 -4.84756356e-01 1.48326310e-02 -4.20266914e+02] [ 4.84692692e-01 -8.74649174e-01 -7.86238977e-03 -2.49780409e+02] [ 1.67846918e-02 3.13423584e-04 9.99859078e-01 -2.82275038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1308.786559995 meters 0.014107672280786979 Centerline is valid? [True, True] Translation: X:-420.55, Y:-250.29, Z:-1.77 [[-9.20148426e-01 3.91270184e-01 1.53139416e-02 -4.20545593e+02] [ 3.91211170e-01 9.20275813e-01 -6.80064417e-03 -2.50291478e+02] [-1.67539393e-02 -2.66617030e-04 -9.99859608e-01 -1.76688769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1308.816559995 meters 0.013825459230681307 Centerline is valid? [True, True] Translation: X:-420.54, Y:-250.27, Z:-1.77 [[-9.44646526e-01 3.27663270e-01 1.67248838e-02 -4.20541115e+02] [ 3.27607539e-01 9.44794542e-01 -6.04761249e-03 -2.50271940e+02] [-1.77831594e-02 -2.33658111e-04 -9.99841840e-01 -1.76571058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1308.846559995 meters 0.01364705385373886 Centerline is valid? [True, True] Translation: X:-420.53, Y:-250.25, Z:-1.77 [[-9.65140869e-01 2.61126201e-01 1.77823008e-02 -4.20534775e+02] [ 2.61077730e-01 9.65304646e-01 -5.03578542e-03 -2.50249040e+02] [-1.84803131e-02 -2.17679583e-04 -9.99829201e-01 -1.76518470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1308.876559995 meters 0.01413101182494942 Centerline is valid? [True, True] Translation: X:-420.54, Y:-250.22, Z:-1.76 [[-9.80964430e-01 1.93302058e-01 1.85229852e-02 -4.20538059e+02] [ 1.93263808e-01 9.81139274e-01 -3.85034139e-03 -2.50222789e+02] [-1.89179072e-02 -1.97225293e-04 -9.99821021e-01 -1.76301676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1308.906559995 meters 0.013719666731062794 Centerline is valid? [True, True] Translation: X:-420.54, Y:-250.20, Z:-1.76 [[-9.92130276e-01 1.23671325e-01 1.95683275e-02 -4.20540425e+02] [ 1.23643371e-01 9.92323216e-01 -2.63666554e-03 -2.50198142e+02] [-1.97441856e-02 -1.96421726e-04 -9.99805046e-01 -1.76429580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1308.9365599950002 meters 0.013459733050648473 Centerline is valid? [True, True] Translation: X:-420.54, Y:-250.17, Z:-1.77 [[-9.98478850e-01 5.20360261e-02 1.82274308e-02 -4.20539944e+02] [ 5.20237652e-02 9.98645189e-01 -1.14650695e-03 -2.50170795e+02] [-1.82623957e-02 -1.96503365e-04 -9.99833209e-01 -1.76620503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1308.9665599950001 meters 0.01381783355174809 Centerline is valid? [True, True] Translation: X:-420.54, Y:-250.14, Z:-1.77 [[-9.99639628e-01 -2.06096752e-02 1.72004753e-02 -4.20544462e+02] [-2.06102642e-02 9.99787576e-01 1.43043225e-04 -2.50141740e+02] [-1.71997696e-02 -2.11514664e-04 -9.99852051e-01 -1.76613098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1308.996559995 meters 0.014085338211697423 Centerline is valid? [True, True] Translation: X:-420.55, Y:-250.11, Z:-1.77 [[-9.95512875e-01 -9.31529397e-02 1.66326447e-02 -4.20553733e+02] [-9.31437916e-02 9.95651785e-01 1.32552327e-03 -2.50113793e+02] [-1.66837988e-02 -2.29652103e-04 -9.99860790e-01 -1.76701777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1309.026559995 meters 0.014467834475916415 Centerline is valid? [True, True] Translation: X:-420.61, Y:-249.50, Z:-2.82 [[-9.99861475e-01 -2.44539684e-03 1.64636237e-02 -4.20609332e+02] [ 2.44855123e-03 -9.99996988e-01 1.71442950e-04 -2.49498307e+02] [ 1.64631549e-02 2.11731227e-04 9.99864451e-01 -2.82206838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1309.056559995 meters 0.014307110185551199 Centerline is valid? [True, True] Translation: X:-420.65, Y:-250.12, Z:-1.77 [[-9.94782720e-01 -1.00815495e-01 1.56069274e-02 -4.20645016e+02] [-1.00806910e-01 9.94905110e-01 1.33779351e-03 -2.50119313e+02] [-1.56622821e-02 -2.42472253e-04 -9.99877310e-01 -1.76793834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1309.086559995 meters 0.014303247287424844 Centerline is valid? [True, True] Translation: X:-420.66, Y:-250.09, Z:-1.77 [[-9.85177229e-01 -1.70888362e-01 1.49330662e-02 -4.20658609e+02] [-1.70872175e-01 9.85290372e-01 2.36263119e-03 -2.50093661e+02] [-1.51171525e-02 -2.24035064e-04 -9.99885704e-01 -1.76813148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1309.116559995 meters 0.014235137265694022 Centerline is valid? [True, True] Translation: X:-420.68, Y:-250.07, Z:-1.77 [[-9.70566746e-01 -2.40419192e-01 1.40998245e-02 -4.20679193e+02] [-2.40396893e-01 9.70669135e-01 3.28080317e-03 -2.50070390e+02] [-1.44750325e-02 -2.05315553e-04 -9.99895210e-01 -1.76858108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1309.146559995 meters 0.013717489128904959 Centerline is valid? [True, True] Translation: X:-420.71, Y:-250.05, Z:-1.77 [[-9.51435959e-01 -3.07547767e-01 1.35642050e-02 -4.20710752e+02] [-3.07519026e-01 9.51532628e-01 4.20784815e-03 -2.50052117e+02] [-1.42008979e-02 -1.67753064e-04 -9.99899148e-01 -1.76851695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1309.176559995 meters 0.013636073763560672 Centerline is valid? [True, True] Translation: X:-420.77, Y:-250.04, Z:-1.77 [[-9.26887976e-01 -3.75102498e-01 1.32964869e-02 -4.20766944e+02] [-3.75066302e-01 9.26983329e-01 5.21321438e-03 -2.50042955e+02] [-1.42811114e-02 -1.54998440e-04 -9.99898008e-01 -1.76766625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1309.2065599950001 meters 0.01347772008916787 Centerline is valid? [True, True] Translation: X:-420.83, Y:-250.04, Z:-1.77 [[-8.97180014e-01 -4.41475017e-01 1.29550271e-02 -4.20826881e+02] [-4.41431268e-01 8.97273531e-01 6.21663641e-03 -2.50039481e+02] [-1.43686926e-02 -1.41312107e-04 -9.99896755e-01 -1.76711521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1309.236559995 meters 0.013457304411055086 Centerline is valid? [True, True] Translation: X:-420.90, Y:-250.05, Z:-1.77 [[-8.62274263e-01 -5.06291182e-01 1.23424142e-02 -4.20898798e+02] [-5.06241529e-01 8.62362581e-01 7.09174338e-03 -2.50046301e+02] [-1.42341233e-02 -1.33214843e-04 -9.99898681e-01 -1.76701762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1309.266559995 meters 0.013582625173360669 Centerline is valid? [True, True] Translation: X:-420.98, Y:-250.06, Z:-1.77 [[-8.22109023e-01 -5.69213129e-01 1.15398607e-02 -4.20978588e+02] [-5.69159323e-01 8.22190000e-01 7.82751266e-03 -2.50062613e+02] [-1.39434810e-02 -1.32950506e-04 -9.99902776e-01 -1.76685673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1309.296559995 meters 0.01379437076851294 Centerline is valid? [True, True] Translation: X:-421.06, Y:-250.09, Z:-1.77 [[-7.76744066e-01 -6.29718041e-01 1.11285354e-02 -4.21059379e+02] [-6.29656089e-01 7.76823769e-01 8.83412427e-03 -2.50085981e+02] [-1.42079182e-02 -1.45296459e-04 -9.99899052e-01 -1.76651509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1309.326559995 meters 0.014287733468951142 Centerline is valid? [True, True] Translation: X:-421.15, Y:-250.12, Z:-1.77 [[-7.26448459e-01 -6.87138859e-01 1.06218647e-02 -4.21145414e+02] [-6.87068726e-01 7.26526091e-01 9.81864443e-03 -2.50118944e+02] [-1.44638339e-02 -1.65211887e-04 -9.99895380e-01 -1.76539705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1309.356559995 meters 0.014442008012887567 Centerline is valid? [True, True] Translation: X:-421.23, Y:-250.16, Z:-1.77 [[-6.72259096e-01 -7.40252595e-01 9.68521536e-03 -4.21230436e+02] [-7.40179375e-01 6.72328839e-01 1.04127294e-02 -2.50162831e+02] [-1.42196995e-02 -1.68744605e-04 -9.99898881e-01 -1.76524893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1309.386559995 meters 0.013914698481352496 Centerline is valid? [True, True] Translation: X:-421.32, Y:-250.22, Z:-1.77 [[-6.14195031e-01 -7.89102380e-01 9.04979358e-03 -4.21317281e+02] [-7.89020931e-01 6.14261673e-01 1.13387261e-02 -2.50222568e+02] [-1.45063571e-02 -1.76287327e-04 -9.99894762e-01 -1.76680524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1309.416559995 meters 0.014705143334846262 Centerline is valid? [True, True] Translation: X:-421.40, Y:-250.28, Z:-1.77 [[-5.52608231e-01 -8.33401931e-01 8.08487651e-03 -4.21397576e+02] [-8.33317310e-01 5.52667343e-01 1.18772934e-02 -2.50281858e+02] [-1.43668065e-02 -1.73777456e-04 -9.99896777e-01 -1.76502280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1309.4465599950001 meters 0.013964239536266304 Centerline is valid? [True, True] Translation: X:-421.48, Y:-250.36, Z:-1.77 [[-4.87978436e-01 -8.72827501e-01 7.01421139e-03 -4.21476096e+02] [-8.72742170e-01 4.88028817e-01 1.22057102e-02 -2.50356976e+02] [-1.40766168e-02 -1.65474678e-04 -9.99900906e-01 -1.76655043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1309.4765599950001 meters 0.014464341398902576 Centerline is valid? [True, True] Translation: X:-421.55, Y:-250.43, Z:-1.77 [[-4.20394595e-01 -9.07322327e-01 5.88042412e-03 -4.21549604e+02] [-9.07238692e-01 4.20435692e-01 1.23200787e-02 -2.50434692e+02] [-1.36506227e-02 -1.55653769e-04 -9.99906814e-01 -1.76523672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1309.506559995 meters 0.013829313371945862 Centerline is valid? [True, True] Translation: X:-421.62, Y:-250.52, Z:-1.77 [[-3.50585191e-01 -9.36519653e-01 4.57870387e-03 -4.21616628e+02] [-9.36444792e-01 3.50615062e-01 1.18418542e-02 -2.50524058e+02] [-1.26954917e-02 -1.36124691e-04 -9.99919400e-01 -1.76757950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1309.536559995 meters 0.013790729461216502 Centerline is valid? [True, True] Translation: X:-421.68, Y:-250.62, Z:-1.77 [[-2.78143236e-01 -9.60533352e-01 3.46689259e-03 -4.21679444e+02] [-9.60464365e-01 2.78164813e-01 1.15126048e-02 -2.50620421e+02] [-1.20226084e-02 -1.27673636e-04 -9.99927718e-01 -1.76783619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1309.566559995 meters 0.013411108497214498 Centerline is valid? [True, True] Translation: X:-421.73, Y:-250.72, Z:-1.77 [[-2.03692249e-01 -9.79032000e-01 2.41046889e-03 -4.21733549e+02] [-9.78970350e-01 2.03706474e-01 1.09875318e-02 -2.50720055e+02] [-1.12481734e-02 -1.21702512e-04 -9.99936730e-01 -1.76888335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1309.596559995 meters 0.01349636303729173 Centerline is valid? [True, True] Translation: X:-421.78, Y:-250.83, Z:-1.77 [[-1.28240741e-01 -9.91741956e-01 1.48516965e-03 -4.21781354e+02] [-9.91685425e-01 1.28249289e-01 1.05895420e-02 -2.50825814e+02] [-1.06925650e-02 -1.14810388e-04 -9.99942827e-01 -1.76901831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1309.626559995 meters 0.014014208302736243 Centerline is valid? [True, True] Translation: X:-421.82, Y:-250.94, Z:-1.77 [[-5.14735073e-02 -9.98674151e-01 6.46276551e-04 -4.21821801e+02] [-9.98621010e-01 5.14774358e-02 1.03030174e-02 -2.50936883e+02] [-1.03226258e-02 -1.15052899e-04 -9.99946714e-01 -1.76830357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1309.656559995 meters 0.013470301150332377 Centerline is valid? [True, True] Translation: X:-421.85, Y:-251.05, Z:-1.77 [[ 2.57886186e-02 -9.99667408e-01 -1.40654550e-04 -4.21851460e+02] [-9.99617476e-01 -2.57887364e-02 9.99217388e-03 -2.51053981e+02] [-9.99247787e-03 -1.17083615e-04 -9.99950067e-01 -1.76972346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1309.6865599950002 meters 0.013646821660746667 Centerline is valid? [True, True] Translation: X:-421.87, Y:-251.16, Z:-1.77 [[ 1.03765270e-01 -9.94601447e-01 -8.54630778e-04 -4.21874000e+02] [-9.94557184e-01 -1.03768715e-01 9.38415949e-03 -2.51164543e+02] [-9.42218255e-03 -1.23770660e-04 -9.99955603e-01 -1.76974845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1309.7165599950001 meters 0.013915376776394017 Centerline is valid? [True, True] Translation: X:-421.89, Y:-251.28, Z:-1.77 [[ 1.80122676e-01 -9.83642947e-01 -1.54085074e-03 -4.21886562e+02] [-9.83600734e-01 -1.80129223e-01 9.11374290e-03 -2.51284464e+02] [-9.24222118e-03 -1.26009842e-04 -9.99957282e-01 -1.76918895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1309.746559995 meters 0.013915376776394017 Centerline is valid? [True, True] Translation: X:-421.89, Y:-251.40, Z:-1.77 [[ 2.54997161e-01 -9.66939219e-01 -2.23497834e-03 -4.21890453e+02] [-9.66897632e-01 -2.55006924e-01 8.96872896e-03 -2.51401655e+02] [-9.24215072e-03 -1.26005162e-04 -9.99957283e-01 -1.76919229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1309.776559995 meters 0.01379822820817429 Centerline is valid? [True, True] Translation: X:-421.88, Y:-251.52, Z:-1.77 [[ 3.28532563e-01 -9.44487939e-01 -2.98133464e-03 -4.21884660e+02] [-9.44445370e-01 -3.28546064e-01 8.96808991e-03 -2.51517407e+02] [-9.44975852e-03 -1.30601868e-04 -9.99955342e-01 -1.76925164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1309.806559995 meters 0.013891952135367326 Centerline is valid? [True, True] Translation: X:-421.87, Y:-251.63, Z:-1.77 [[ 3.99705614e-01 -9.16635631e-01 -3.81347292e-03 -4.21870883e+02] [-9.16590660e-01 -3.99723783e-01 9.08078781e-03 -2.51631440e+02] [-9.84810948e-03 -1.34248210e-04 -9.99951497e-01 -1.76868062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1309.836559995 meters 0.014018760604076983 Centerline is valid? [True, True] Translation: X:-421.85, Y:-251.74, Z:-1.77 [[ 4.68094406e-01 -8.83667276e-01 -4.44651653e-03 -4.21848530e+02] [-8.83624805e-01 -4.68115508e-01 8.66459724e-03 -2.51743911e+02] [-9.73810439e-03 -1.26797195e-04 -9.99952576e-01 -1.76785269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1309.866559995 meters 0.013840080471702723 Centerline is valid? [True, True] Translation: X:-421.82, Y:-251.85, Z:-1.77 [[ 5.33728036e-01 -8.45639588e-01 -5.29826732e-03 -4.21817995e+02] [-8.45595556e-01 -5.33754318e-01 8.63045783e-03 -2.51852389e+02] [-1.01262299e-02 -1.26126010e-04 -9.99948721e-01 -1.76764230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1309.896559995 meters 0.013903143077787988 Centerline is valid? [True, True] Translation: X:-421.78, Y:-251.96, Z:-1.77 [[ 5.96390159e-01 -8.02673414e-01 -5.84539341e-03 -4.21780649e+02] [-8.02632860e-01 -5.96418792e-01 8.06942694e-03 -2.51957086e+02] [-9.96341695e-03 -1.20821988e-04 -9.99950357e-01 -1.76716077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1309.926559995 meters 0.013978721163647135 Centerline is valid? [True, True] Translation: X:-421.74, Y:-252.06, Z:-1.77 [[ 6.55599367e-01 -7.55080233e-01 -6.58114149e-03 -4.21738398e+02] [-7.55040320e-01 -6.55632387e-01 7.76458643e-03 -2.52055867e+02] [-1.01776952e-02 -1.21430770e-04 -9.99948199e-01 -1.76697806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1309.9565599950001 meters 0.014090512141279913 Centerline is valid? [True, True] Translation: X:-421.69, Y:-252.15, Z:-1.77 [[ 7.11548192e-01 -7.02602121e-01 -7.03065769e-03 -4.21690614e+02] [-7.02566064e-01 -7.11582914e-01 7.11916674e-03 -2.52151012e+02] [-1.00048375e-02 -1.26128725e-04 -9.99949943e-01 -1.76667644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1309.986559995 meters 0.01415478583815249 Centerline is valid? [True, True] Translation: X:-421.64, Y:-252.24, Z:-1.77 [[ 7.62904384e-01 -6.46462680e-01 -7.93129356e-03 -4.21636354e+02] [-6.46425888e-01 -7.62945598e-01 6.89824009e-03 -2.52241695e+02] [-1.05106003e-02 -1.35704117e-04 -9.99944753e-01 -1.76626774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1310.016559995 meters 0.01457328389656303 Centerline is valid? [True, True] Translation: X:-421.63, Y:-252.25, Z:-1.77 [[ 8.11493318e-01 -5.84294804e-01 -8.84175987e-03 -4.21634288e+02] [-5.84258110e-01 -8.11541471e-01 6.54991152e-03 -2.52247235e+02] [-1.10025341e-02 -1.49339518e-04 -9.99939459e-01 -1.76537165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1310.046559995 meters 0.01429034162347975 Centerline is valid? [True, True] Translation: X:-421.63, Y:-252.26, Z:-1.77 [[ 8.55024640e-01 -5.18502194e-01 -9.39894693e-03 -4.21631831e+02] [-5.18468838e-01 -8.55076283e-01 5.88334843e-03 -2.52255008e+02] [-1.10873457e-02 -1.57346782e-04 -9.99938521e-01 -1.76564367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1310.076559995 meters 0.01443761538329976 Centerline is valid? [True, True] Translation: X:-421.63, Y:-252.26, Z:-1.77 [[ 8.93094444e-01 -4.49761543e-01 -9.84215541e-03 -4.21628204e+02] [-4.49732238e-01 -8.93148660e-01 5.13669899e-03 -2.52262727e+02] [-1.11007976e-02 -1.61222753e-04 -9.99938371e-01 -1.76538310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1310.106559995 meters 0.014638425779466363 Centerline is valid? [True, True] Translation: X:-421.62, Y:-252.27, Z:-1.77 [[ 9.25565915e-01 -3.78460404e-01 -9.77030996e-03 -4.21624428e+02] [-3.78437540e-01 -9.25617469e-01 4.16295287e-03 -2.52268731e+02] [-1.06190824e-02 -1.55635222e-04 -9.99943604e-01 -1.76518874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1310.136559995 meters 0.014307774163647778 Centerline is valid? [True, True] Translation: X:-421.62, Y:-252.27, Z:-1.77 [[ 9.52083811e-01 -3.05692270e-01 -9.41552532e-03 -4.21619435e+02] [-3.05675891e-01 -9.52130357e-01 3.16747987e-03 -2.52273886e+02] [-9.93308160e-03 -1.37607216e-04 -9.99950656e-01 -1.76564707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1310.166559995 meters 0.01463442374383077 Centerline is valid? [True, True] Translation: X:-421.61, Y:-252.28, Z:-1.76 [[ 9.72883946e-01 -2.31105198e-01 -9.33892565e-03 -4.21614672e+02] [-2.31093311e-01 -9.72928760e-01 2.34730637e-03 -2.52278388e+02] [-9.62858406e-03 -1.25493438e-04 -9.99953636e-01 -1.76476766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1310.1965599950001 meters 0.013625956438575778 Centerline is valid? [True, True] Translation: X:-421.61, Y:-252.28, Z:-1.77 [[ 9.87793664e-01 -1.55470293e-01 -9.62626950e-03 -4.21609149e+02] [-1.55461765e-01 -9.87840561e-01 1.63250791e-03 -2.52283204e+02] [-9.76302596e-03 -1.16064122e-04 -9.99952334e-01 -1.76633708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1310.2265599950001 meters 0.013417663181148788 Centerline is valid? [True, True] Translation: X:-421.61, Y:-252.29, Z:-1.77 [[ 9.96835730e-01 -7.88965679e-02 -9.68814111e-03 -4.21606239e+02] [-7.88918372e-02 -9.96882802e-01 8.70095841e-04 -2.52288071e+02] [-9.72658883e-03 -1.03027371e-04 -9.99952691e-01 -1.76605773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1310.256559995 meters 0.013972437178999571 Centerline is valid? [True, True] Translation: X:-421.60, Y:-252.29, Z:-1.76 [[ 9.99950750e-01 -1.78438267e-03 -9.76285184e-03 -4.21604350e+02] [-1.78340078e-03 -9.99998404e-01 1.09278810e-04 -2.52293243e+02] [-9.76303125e-03 -9.18623503e-05 -9.99952336e-01 -1.76382845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1310.286559995 meters 0.013273793137837962 Centerline is valid? [True, True] Translation: X:-421.60, Y:-252.29, Z:-1.76 [[ 9.97105980e-01 7.53437423e-02 -1.01481279e-02 -4.21602089e+02] [ 7.53406973e-02 -9.97157617e-01 -6.82560594e-04 -2.52294931e+02] [-1.01707097e-02 -8.39817843e-05 -9.99948274e-01 -1.76467645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1310.316559995 meters 0.01315765170159796 Centerline is valid? [True, True] Translation: X:-421.60, Y:-252.30, Z:-1.76 [[ 9.88423349e-01 1.51257334e-01 -1.18534013e-02 -4.21599958e+02] [ 1.51247372e-01 -9.88494418e-01 -1.73759509e-03 -2.52296431e+02] [-1.19798450e-02 -7.53162418e-05 -9.99928236e-01 -1.76276919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1310.346559995 meters 0.01307070588520745 Centerline is valid? [True, True] Translation: X:-421.60, Y:-252.30, Z:-1.76 [[ 9.73732111e-01 2.27361814e-01 -1.23443016e-02 -4.21596736e+02] [ 2.27344439e-01 -9.73810352e-01 -2.81159311e-03 -2.52297952e+02] [-1.26602576e-02 -6.86698259e-05 -9.99919854e-01 -1.76177189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1310.376559995 meters 0.013039030872622573 Centerline is valid? [True, True] Translation: X:-421.59, Y:-252.30, Z:-1.76 [[ 9.53118983e-01 3.02340362e-01 -1.24302416e-02 -4.21593835e+02] [ 3.02315507e-01 -9.53200033e-01 -3.87716000e-03 -2.52298919e+02] [-1.30207287e-02 -6.24600046e-05 -9.99915225e-01 -1.76092062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1310.406559995 meters 0.012907914885842071 Centerline is valid? [True, True] Translation: X:-421.59, Y:-252.30, Z:-1.76 [[ 9.26698887e-01 3.75596154e-01 -1.25180501e-02 -4.21589865e+02] [ 3.75562736e-01 -9.26783430e-01 -5.01052182e-03 -2.52303500e+02] [-1.34834541e-02 -5.80681349e-05 -9.99909093e-01 -1.76164863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1310.4365599950002 meters 0.01277859686086662 Centerline is valid? [True, True] Translation: X:-421.58, Y:-252.31, Z:-1.76 [[ 8.94614468e-01 4.46689229e-01 -1.15622459e-02 -4.21584614e+02] [ 4.46652665e-01 -8.94689181e-01 -5.71551908e-03 -2.52309572e+02] [-1.28976772e-02 -5.11218950e-05 -9.99916820e-01 -1.76245534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1310.4665599950001 meters 0.01281135328351333 Centerline is valid? [True, True] Translation: X:-421.58, Y:-252.32, Z:-1.76 [[ 8.56772489e-01 5.15582757e-01 -1.07389086e-02 -4.21579175e+02] [ 5.15543026e-01 -8.56839786e-01 -6.40082508e-03 -2.52316703e+02] [-1.25016792e-02 -5.23186158e-05 -9.99921850e-01 -1.76256337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1310.496559995 meters 0.012905141058441295 Centerline is valid? [True, True] Translation: X:-421.58, Y:-252.32, Z:-1.76 [[ 8.13657930e-01 5.81266561e-01 -9.48462778e-03 -4.21575312e+02] [ 5.81227806e-01 -8.13713207e-01 -6.71230668e-03 -2.52321013e+02] [-1.16194063e-02 -5.12078253e-05 -9.99932491e-01 -1.76299980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1310.526559995 meters 0.012925495770607087 Centerline is valid? [True, True] Translation: X:-421.57, Y:-252.32, Z:-1.76 [[ 7.65681734e-01 6.43163599e-01 -8.48926495e-03 -4.21571720e+02] [ 6.43124766e-01 -7.65728792e-01 -7.06772157e-03 -2.52323339e+02] [-1.10461758e-02 -4.80312214e-05 -9.99938988e-01 -1.76350371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1310.556559995 meters 0.012782545630088163 Centerline is valid? [True, True] Translation: X:-421.57, Y:-252.33, Z:-1.77 [[ 7.13110164e-01 7.01013137e-01 -7.38072327e-03 -4.21565413e+02] [ 7.00976217e-01 -7.13148358e-01 -7.19469656e-03 -2.52327701e+02] [-1.03071275e-02 -4.31002306e-05 -9.99946879e-01 -1.76549991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1310.586559995 meters 0.01271682009001346 Centerline is valid? [True, True] Translation: X:-421.56, Y:-252.33, Z:-1.77 [[ 6.56354227e-01 7.54426776e-01 -6.27444876e-03 -4.21559101e+02] [ 7.54392828e-01 -6.56384216e-01 -7.15699637e-03 -2.52331807e+02] [-9.51787882e-03 -3.58743203e-05 -9.99954704e-01 -1.76611053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1310.616559995 meters 0.012631832548717822 Centerline is valid? [True, True] Translation: X:-421.55, Y:-252.34, Z:-1.77 [[ 5.95783752e-01 8.03131999e-01 -4.55117083e-03 -4.21552909e+02] [ 8.03108879e-01 -5.95801135e-01 -6.09401760e-03 -2.52335209e+02] [-7.60589328e-03 -2.43690308e-05 -9.99971075e-01 -1.76644698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1310.646559995 meters 0.012640754711052268 Centerline is valid? [True, True] Translation: X:-421.55, Y:-252.34, Z:-1.77 [[ 5.31389936e-01 8.47118169e-01 -3.94268174e-03 -4.21548770e+02] [ 8.47095142e-01 -5.31404562e-01 -6.24605738e-03 -2.52337072e+02] [-7.38630775e-03 -2.07345175e-05 -9.99972721e-01 -1.76621417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1310.676559995 meters 0.012550313343830838 Centerline is valid? [True, True] Translation: X:-421.54, Y:-252.34, Z:-1.77 [[ 4.63824613e-01 8.85919751e-01 -3.59500035e-03 -4.21541037e+02] [ 8.85893444e-01 -4.63838544e-01 -6.82720892e-03 -2.52339367e+02] [-7.71585895e-03 -1.81597061e-05 -9.99970232e-01 -1.76659468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1310.7065599950001 meters 0.01256193617744563 Centerline is valid? [True, True] Translation: X:-421.53, Y:-252.34, Z:-1.77 [[ 3.93692401e-01 9.19236773e-01 -3.16988244e-03 -4.21531293e+02] [ 9.19207236e-01 -3.93705162e-01 -7.36899337e-03 -2.52341928e+02] [-8.02184876e-03 -1.26621808e-05 -9.99967825e-01 -1.76646939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1310.736559995 meters 0.012582113751794285 Centerline is valid? [True, True] Translation: X:-421.52, Y:-252.34, Z:-1.77 [[ 3.21066379e-01 9.47052678e-01 -2.75767968e-03 -4.21522533e+02] [ 9.47017969e-01 -3.21078222e-01 -8.10811216e-03 -2.52344564e+02] [-8.56424023e-03 -8.32999606e-06 -9.99963326e-01 -1.76573784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1310.766559995 meters 0.012747873058421129 Centerline is valid? [True, True] Translation: X:-421.52, Y:-252.35, Z:-1.76 [[ 2.46848464e-01 9.69051763e-01 -2.12505893e-03 -4.21515342e+02] [ 9.69015860e-01 -2.46857611e-01 -8.34165877e-03 -2.52346217e+02] [-8.60808611e-03 -9.01524478e-08 -9.99962950e-01 -1.76407742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1310.796559995 meters 0.012621319926601527 Centerline is valid? [True, True] Translation: X:-421.51, Y:-252.35, Z:-1.77 [[ 1.72346289e-01 9.85035046e-01 -1.64782974e-03 -4.21506923e+02] [ 9.84988831e-01 -1.72354165e-01 -9.54172674e-03 -2.52346524e+02] [-9.68294556e-03 2.13873047e-05 -9.99953119e-01 -1.76542944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1310.826559995 meters 0.012687997225542083 Centerline is valid? [True, True] Translation: X:-421.50, Y:-252.35, Z:-1.76 [[ 9.55439565e-02 9.95424734e-01 -9.75262962e-04 -4.21498333e+02] [ 9.95369328e-01 -9.55489282e-02 -1.05025878e-02 -2.52346648e+02] [-1.05477210e-02 3.27119540e-05 -9.99944371e-01 -1.76482211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1310.856559995 meters 0.01281717070422252 Centerline is valid? [True, True] Translation: X:-421.49, Y:-252.35, Z:-1.76 [[ 1.82397589e-02 9.99833629e-01 -1.58797531e-04 -4.21489137e+02] [ 9.99770681e-01 -1.82403925e-02 -1.12193589e-02 -2.52346120e+02] [-1.12203888e-02 4.58772856e-05 -9.99937049e-01 -1.76419393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1310.886559995 meters 0.012911357016254198 Centerline is valid? [True, True] Translation: X:-421.48, Y:-252.34, Z:-1.76 [[-5.92482737e-02 9.98242968e-01 7.87358948e-04 -4.21478784e+02] [ 9.98167986e-01 5.92534737e-02 -1.22351341e-02 -2.52344239e+02] [-1.22602904e-02 6.10059194e-05 -9.99924838e-01 -1.76351985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1310.916559995 meters 0.013170460431285815 Centerline is valid? [True, True] Translation: X:-421.47, Y:-252.34, Z:-1.76 [[-1.36427071e-01 9.90648347e-01 1.87245498e-03 -4.21469878e+02] [ 9.90562594e-01 1.36439899e-01 -1.30346355e-02 -2.52343129e+02] [-1.31682177e-02 7.65067114e-05 -9.99913293e-01 -1.76210110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1310.9465599950001 meters 0.013332007431248852 Centerline is valid? [True, True] Translation: X:-421.46, Y:-252.34, Z:-1.76 [[-2.11866192e-01 9.77294389e-01 2.89736402e-03 -4.21462355e+02] [ 9.77209377e-01 2.11885979e-01 -1.28905432e-02 -2.52341141e+02] [-1.32117663e-02 1.00260996e-04 -9.99912716e-01 -1.76174773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1310.9765599950001 meters 0.013676789095082725 Centerline is valid? [True, True] Translation: X:-421.46, Y:-252.34, Z:-1.76 [[-2.86927859e-01 9.57944320e-01 3.88384178e-03 -4.21456586e+02] [ 9.57861759e-01 2.86954122e-01 -1.25770362e-02 -2.52339401e+02] [-1.31625848e-02 1.11481452e-04 -9.99913363e-01 -1.76152546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1311.006559995 meters 0.013683425488655728 Centerline is valid? [True, True] Translation: X:-421.45, Y:-252.34, Z:-1.76 [[-3.60576982e-01 9.32717626e-01 4.69797502e-03 -4.21451716e+02] [ 9.32642574e-01 3.60607568e-01 -1.18326362e-02 -2.52336983e+02] [-1.27306337e-02 1.14955250e-04 -9.99918956e-01 -1.76220916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1311.036559995 meters 0.013582916741229255 Centerline is valid? [True, True] Translation: X:-421.45, Y:-252.33, Z:-1.76 [[-4.32364874e-01 9.01683617e-01 5.22223095e-03 -4.21445616e+02] [ 9.01620883e-01 4.32396397e-01 -1.06367041e-02 -2.52333551e+02] [-1.18490156e-02 1.09535263e-04 -9.99929792e-01 -1.76329699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1311.066559995 meters 0.013394865934317086 Centerline is valid? [True, True] Translation: X:-421.44, Y:-252.33, Z:-1.76 [[-5.02126935e-01 8.64775857e-01 5.59087265e-03 -4.21439262e+02] [ 8.64724355e-01 5.02158050e-01 -9.43834379e-03 -2.52329035e+02] [-1.09695536e-02 9.53171107e-05 -9.99939828e-01 -1.76422345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1311.096559995 meters 0.013177716008260358 Centerline is valid? [True, True] Translation: X:-421.43, Y:-252.32, Z:-1.77 [[-5.69048354e-01 8.22282491e-01 5.95620795e-03 -4.21432107e+02] [ 8.22238924e-01 5.69079519e-01 -8.46478190e-03 -2.52322829e+02] [-1.03499979e-02 8.05558077e-05 -9.99946434e-01 -1.76526332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1311.126559995 meters 0.012967727034571427 Centerline is valid? [True, True] Translation: X:-421.43, Y:-252.32, Z:-1.77 [[-6.32857263e-01 7.74246351e-01 5.85425309e-03 -4.21425225e+02] [ 7.74214059e-01 6.32884338e-01 -7.07150166e-03 -2.52315941e+02] [-9.18014945e-03 5.71938626e-05 -9.99957860e-01 -1.76619403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1311.156559995 meters 0.012702000442061094 Centerline is valid? [True, True] Translation: X:-421.42, Y:-252.31, Z:-1.77 [[-6.93258077e-01 7.20664969e-01 5.93641682e-03 -4.21418214e+02] [ 7.20638951e-01 6.93283493e-01 -6.12387584e-03 -2.52309822e+02] [-8.52888258e-03 3.25867999e-05 -9.99963628e-01 -1.76690879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1311.1865599950002 meters 0.012506618594532566 Centerline is valid? [True, True] Translation: X:-421.41, Y:-252.30, Z:-1.77 [[-7.51230740e-01 6.60019815e-01 5.12040305e-03 -4.21411651e+02] [ 6.60004375e-01 7.51248190e-01 -4.51462110e-03 -2.52301750e+02] [-6.82643291e-03 -1.20337322e-05 -9.99976700e-01 -1.76755083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1311.2165599950001 meters 0.012538099164214153 Centerline is valid? [True, True] Translation: X:-421.39, Y:-252.28, Z:-1.77 [[-7.97854879e-01 6.02827649e-01 5.13983889e-03 -4.21394522e+02] [ 6.02814893e-01 7.97871434e-01 -3.92176740e-03 -2.52277167e+02] [-6.46508045e-03 -3.06298217e-05 -9.99979101e-01 -1.76809620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1311.246559995 meters 0.012880525598560878 Centerline is valid? [True, True] Translation: X:-421.38, Y:-252.25, Z:-1.77 [[-8.40140212e-01 5.42346841e-01 4.93250975e-03 -4.21381983e+02] [ 5.42337175e-01 8.40154690e-01 -3.23819704e-03 -2.52250150e+02] [-5.90029713e-03 -4.54561405e-05 -9.99982592e-01 -1.76896540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1311.276559995 meters 0.013096764498896758 Centerline is valid? [True, True] Translation: X:-421.37, Y:-252.22, Z:-1.77 [[-8.77752028e-01 4.79088840e-01 5.02602037e-03 -4.21370000e+02] [ 4.79080592e-01 8.77766416e-01 -2.81180421e-03 -2.52223998e+02] [-5.75877591e-03 -6.01980375e-05 -9.99983417e-01 -1.76948894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1311.306559995 meters 0.013755111645483828 Centerline is valid? [True, True] Translation: X:-421.36, Y:-252.20, Z:-1.77 [[-9.10384167e-01 4.13730297e-01 5.28302737e-03 -4.21360602e+02] [ 4.13722861e-01 9.10399492e-01 -2.48159220e-03 -2.52195322e+02] [-5.83637531e-03 -7.34930517e-05 -9.99982966e-01 -1.76930750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1311.336559995 meters 0.013855812891820434 Centerline is valid? [True, True] Translation: X:-421.35, Y:-252.17, Z:-1.77 [[-9.38108951e-01 3.46294418e-01 5.63664745e-03 -4.21353542e+02] [ 3.46287602e-01 9.38125881e-01 -2.17447490e-03 -2.52168538e+02] [-6.04089337e-03 -8.79932428e-05 -9.99981750e-01 -1.76960580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1311.366559995 meters 0.013906867703764134 Centerline is valid? [True, True] Translation: X:-421.35, Y:-252.14, Z:-1.77 [[-9.60902347e-01 2.76804798e-01 6.76641852e-03 -4.21347109e+02] [ 2.76797066e-01 9.60926163e-01 -2.07228045e-03 -2.52141326e+02] [-7.07564575e-03 -1.18334353e-04 -9.99974961e-01 -1.76905628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1311.396559995 meters 0.014596938199916438 Centerline is valid? [True, True] Translation: X:-421.17, Y:-251.57, Z:-2.82 [[-9.28173292e-01 -3.72084008e-01 6.91605592e-03 -4.21172681e+02] [ 3.72074828e-01 -9.28199047e-01 -2.61757698e-03 -2.51566774e+02] [ 7.39343505e-03 1.43725277e-04 9.99972658e-01 -2.82085964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1311.426559995 meters 0.014846927604714465 Centerline is valid? [True, True] Translation: X:-421.40, Y:-252.12, Z:-1.77 [[-9.62111139e-01 2.72555985e-01 7.44251041e-03 -4.21403206e+02] [ 2.72546739e-01 9.62139916e-01 -2.24902389e-03 -2.52122642e+02] [-7.77372126e-03 -1.35378996e-04 -9.99969775e-01 -1.76790868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1311.4565599950001 meters 0.014683288955749217 Centerline is valid? [True, True] Translation: X:-421.39, Y:-252.10, Z:-1.77 [[-9.79008687e-01 2.03668064e-01 7.83015032e-03 -4.21391009e+02] [ 2.03660412e-01 9.79039989e-01 -1.77092225e-03 -2.52098389e+02] [-8.02671059e-03 -1.39056622e-04 -9.99967776e-01 -1.76743330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1311.486559995 meters 0.014920090107118015 Centerline is valid? [True, True] Translation: X:-421.26, Y:-251.51, Z:-2.82 [[-9.53337932e-01 -3.01785478e-01 8.50368856e-03 -4.21256864e+02] [ 3.01775392e-01 -9.53375835e-01 -2.47585461e-03 -2.51512584e+02] [ 8.85438815e-03 2.05877831e-04 9.99960778e-01 -2.82222992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1311.516559995 meters 0.014449903714635753 Centerline is valid? [True, True] Translation: X:-421.44, Y:-252.09, Z:-1.77 [[-9.79619720e-01 2.00636809e-01 9.49078237e-03 -4.21438281e+02] [ 2.00625799e-01 9.79665680e-01 -2.10807209e-03 -2.52092213e+02] [-9.72075063e-03 -1.61013199e-04 -9.99952740e-01 -1.76732646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1311.546559995 meters 0.01415952194240453 Centerline is valid? [True, True] Translation: X:-421.30, Y:-251.50, Z:-2.82 [[-9.55187961e-01 -2.95827572e-01 1.00998378e-02 -4.21303245e+02] [ 2.95813490e-01 -9.55241330e-01 -2.89497209e-03 -2.51496320e+02] [ 1.05041950e-02 2.22425778e-04 9.99944805e-01 -2.82194120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1311.576559995 meters 0.013687052251354526 Centerline is valid? [True, True] Translation: X:-421.48, Y:-252.09, Z:-1.77 [[-9.79860499e-01 1.99419578e-01 1.02584211e-02 -4.21484487e+02] [ 1.99407086e-01 9.79914186e-01 -2.23684748e-03 -2.52089165e+02] [-1.04984436e-02 -1.46196622e-04 -9.99944879e-01 -1.76786889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1311.606559995 meters 0.013498528413926212 Centerline is valid? [True, True] Translation: X:-421.48, Y:-252.06, Z:-1.77 [[-9.91403348e-01 1.30450828e-01 1.00987317e-02 -4.21484264e+02] [ 1.30442712e-01 9.91454772e-01 -1.46094351e-03 -2.52062886e+02] [-1.02030171e-02 -1.31078326e-04 -9.99947940e-01 -1.76802676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1311.636559995 meters 0.013498528413926212 Centerline is valid? [True, True] Translation: X:-421.39, Y:-251.45, Z:-2.82 [[-9.75078497e-01 -2.21638300e-01 9.91908287e-03 -4.21393817e+02] [ 2.21628151e-01 -9.75128939e-01 -2.12482518e-03 -2.51446209e+02] [ 1.01433274e-02 1.26476653e-04 9.99948547e-01 -2.82108901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1311.666559995 meters 0.013378814589639998 Centerline is valid? [True, True] Translation: X:-421.54, Y:-252.06, Z:-1.77 [[-9.91842675e-01 1.27076715e-01 9.98080925e-03 -4.21535294e+02] [ 1.27069031e-01 9.91892884e-01 -1.40284652e-03 -2.52057972e+02] [-1.00781628e-02 -1.23151278e-04 -9.99949207e-01 -1.76843670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1311.6965599950001 meters 0.013335851214193157 Centerline is valid? [True, True] Translation: X:-421.54, Y:-252.03, Z:-1.77 [[-9.98339317e-01 5.67421087e-02 9.94689763e-03 -4.21537254e+02] [ 5.67381162e-02 9.98388862e-01 -6.83344310e-04 -2.52031532e+02] [-9.96964620e-03 -1.17841259e-04 -9.99950295e-01 -1.76902890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1311.7265599950001 meters 0.013338046767112425 Centerline is valid? [True, True] Translation: X:-421.54, Y:-252.01, Z:-1.77 [[-9.99871959e-01 -1.36311227e-02 8.38202950e-03 -4.21542755e+02] [-1.36314267e-02 9.99907088e-01 2.08595852e-05 -2.52005754e+02] [-8.38153504e-03 -9.34021065e-05 -9.99964870e-01 -1.77005752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1311.756559995 meters 0.013104407694892805 Centerline is valid? [True, True] Translation: X:-421.55, Y:-251.98, Z:-1.77 [[-9.96379301e-01 -8.47046716e-02 7.30803841e-03 -4.21547651e+02] [-8.47029961e-02 9.96406098e-01 5.39037299e-04 -2.51980018e+02] [-7.32743301e-03 -8.19271412e-05 -9.99973151e-01 -1.77111130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1311.786559995 meters 0.01333640442472959 Centerline is valid? [True, True] Translation: X:-421.56, Y:-251.95, Z:-1.77 [[-9.87798561e-01 -1.55578302e-01 7.02811145e-03 -4.21559319e+02] [-1.55574941e-01 9.87823560e-01 1.02580632e-03 -2.51954359e+02] [-7.10212728e-03 -8.01080169e-05 -9.99974777e-01 -1.77196762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1311.816559995 meters 0.013469197193513206 Centerline is valid? [True, True] Translation: X:-421.65, Y:-251.32, Z:-2.82 [[-9.97769044e-01 6.64020770e-02 6.90643023e-03 -4.21650608e+02] [-6.64000258e-02 -9.97792944e-01 5.26115818e-04 -2.51320809e+02] [ 6.92612254e-03 6.63549314e-05 9.99976012e-01 -2.81663438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1311.846559995 meters 0.013355151938338689 Centerline is valid? [True, True] Translation: X:-421.66, Y:-251.97, Z:-1.77 [[-9.86653458e-01 -1.62697999e-01 6.65703274e-03 -4.21659366e+02] [-1.62694860e-01 9.86675912e-01 1.01398694e-03 -2.51968599e+02] [-6.73330749e-03 -8.26112911e-05 -9.99977328e-01 -1.77262372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1311.876559995 meters 0.013714235143469398 Centerline is valid? [True, True] Translation: X:-421.68, Y:-251.94, Z:-1.77 [[-9.72287964e-01 -2.33679188e-01 7.08186478e-03 -4.21680627e+02] [-2.33673700e-01 9.72313750e-01 1.60433005e-03 -2.51942806e+02] [-7.26069304e-03 -9.49747512e-05 -9.99973637e-01 -1.77139419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1311.906559995 meters 0.01384680644501041 Centerline is valid? [True, True] Translation: X:-421.84, Y:-251.33, Z:-2.82 [[-9.89984646e-01 1.40942983e-01 8.09171500e-03 -4.21843125e+02] [-1.40936863e-01 -9.90017700e-01 1.32442988e-03 -2.51327252e+02] [ 8.19761017e-03 1.70744321e-04 9.99966385e-01 -2.81873106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1311.9365599950002 meters 0.014717460182928691 Centerline is valid? [True, True] Translation: X:-421.81, Y:-251.97, Z:-1.77 [[-9.70066002e-01 -2.42675645e-01 8.97124367e-03 -4.21810899e+02] [-2.42666664e-01 9.70107473e-01 2.09299451e-03 -2.51967636e+02] [-9.21098932e-03 -1.46678957e-04 -9.99957567e-01 -1.76903881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1311.9665599950001 meters 0.014730680127390655 Centerline is valid? [True, True] Translation: X:-421.98, Y:-251.36, Z:-2.82 [[-9.89494584e-01 1.44219553e-01 1.00593011e-02 -4.21979235e+02] [-1.44209738e-01 -9.89545688e-01 1.69814415e-03 -2.51359771e+02] [ 1.01990436e-02 2.29655264e-04 9.99947962e-01 -2.82055551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1311.996559995 meters 0.01507928096776944 Centerline is valid? [True, True] Translation: X:-421.94, Y:-251.99, Z:-1.77 [[-9.67568882e-01 -2.52318002e-01 1.20865931e-02 -4.21943124e+02] [-2.52301396e-01 9.67644340e-01 2.90458252e-03 -2.51994797e+02] [-1.24284018e-02 -2.39080645e-04 -9.99922736e-01 -1.76744958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1312.026559995 meters 0.014892618072356922 Centerline is valid? [True, True] Translation: X:-421.98, Y:-251.97, Z:-1.77 [[-9.46811576e-01 -3.21548463e-01 1.24268253e-02 -4.21975839e+02] [-3.21524264e-01 9.46893089e-01 3.95287136e-03 -2.51974832e+02] [-1.30379147e-02 -2.52901497e-04 -9.99914971e-01 -1.76745587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1312.056559995 meters 0.016260807311578713 Centerline is valid? [True, True] Translation: X:-422.03, Y:-251.96, Z:-1.77 [[-9.20877274e-01 -3.89650017e-01 1.25662972e-02 -4.22029981e+02] [-3.89617610e-01 9.20962972e-01 5.03211115e-03 -2.51961489e+02] [-1.35338566e-02 -2.62093882e-04 -9.99908379e-01 -1.76558006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1312.086559995 meters 0.01528252509715144 Centerline is valid? [True, True] Translation: X:-422.09, Y:-251.96, Z:-1.77 [[-8.89924937e-01 -4.55943283e-01 1.22199967e-02 -4.22090229e+02] [-4.55904231e-01 8.90008796e-01 5.97284634e-03 -2.51959449e+02] [-1.35991837e-02 -2.55763279e-04 -9.99907494e-01 -1.76649708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1312.116559995 meters 0.014951725767371313 Centerline is valid? [True, True] Translation: X:-422.42, Y:-251.43, Z:-2.82 [[-9.32313392e-01 3.61443412e-01 1.22637585e-02 -4.22416825e+02] [-3.61408954e-01 -9.32394020e-01 4.99587965e-03 -2.51426324e+02] [ 1.32403829e-02 2.25493350e-04 9.99912317e-01 -2.82250975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1312.146559995 meters 0.014363163035077984 Centerline is valid? [True, True] Translation: X:-422.26, Y:-252.04, Z:-1.77 [[-8.87624909e-01 -4.60424868e-01 1.14438402e-02 -4.22260877e+02] [-4.60389565e-01 8.87698653e-01 5.70523136e-03 -2.52042706e+02] [-1.27855119e-02 -2.04519129e-04 -9.99918241e-01 -1.76741150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1312.176559995 meters 0.01357627977527194 Centerline is valid? [True, True] Translation: X:-422.33, Y:-252.05, Z:-1.77 [[-8.53098431e-01 -5.21662770e-01 9.54046567e-03 -4.22331202e+02] [-5.21631909e-01 8.53151766e-01 5.67587698e-03 -2.52052934e+02] [-1.11003588e-02 -1.34529575e-04 -9.99938380e-01 -1.76860166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1312.2065599950001 meters 0.013112801882470665 Centerline is valid? [True, True] Translation: X:-422.41, Y:-252.07, Z:-1.77 [[-8.13068061e-01 -5.82110443e-01 8.23162228e-03 -4.22409402e+02] [-5.82081861e-01 8.13109723e-01 5.76932872e-03 -2.52072566e+02] [-1.00515986e-02 -1.00621097e-04 -9.99949477e-01 -1.76963036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1312.236559995 meters 0.012668013437099649 Centerline is valid? [True, True] Translation: X:-422.49, Y:-252.10, Z:-1.77 [[-7.68384798e-01 -6.39945005e-01 7.42920892e-03 -4.22489738e+02] [-6.39916068e-01 7.68420708e-01 6.08611009e-03 -2.52101200e+02] [-9.60353373e-03 -7.75956910e-05 -9.99953882e-01 -1.77076886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1312.266559995 meters 0.012533723243050729 Centerline is valid? [True, True] Translation: X:-422.57, Y:-252.14, Z:-1.77 [[-7.19321495e-01 -6.94643470e-01 6.85831400e-03 -4.22573963e+02] [-6.94612678e-01 7.19354187e-01 6.54073593e-03 -2.52139722e+02] [-9.47703639e-03 -5.89799084e-05 -9.99955090e-01 -1.77039381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1312.296559995 meters 0.012322915528879059 Centerline is valid? [True, True] Translation: X:-422.66, Y:-252.19, Z:-1.77 [[-6.66053010e-01 -7.45877340e-01 6.35456966e-03 -4.22658531e+02] [-7.45844010e-01 6.66083322e-01 7.05136361e-03 -2.52188581e+02] [-9.49212521e-03 -4.29357573e-05 -9.99954948e-01 -1.77053493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1312.326559995 meters 0.0123342028493723 Centerline is valid? [True, True] Translation: X:-422.74, Y:-252.25, Z:-1.77 [[-6.08486997e-01 -7.93542716e-01 5.79068969e-03 -4.22742826e+02] [-7.93507284e-01 6.08514549e-01 7.49895145e-03 -2.52246700e+02] [-9.47445723e-03 -3.19400003e-05 -9.99955116e-01 -1.77023546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1312.356559995 meters 0.012295469449939197 Centerline is valid? [True, True] Translation: X:-422.82, Y:-252.31, Z:-1.77 [[-5.46659763e-01 -8.37337388e-01 5.40397209e-03 -4.22824778e+02] [-8.37297021e-01 5.46686472e-01 8.22191047e-03 -2.52313280e+02] [-9.83879147e-03 -3.01421046e-05 -9.99951598e-01 -1.76944628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1312.386559995 meters 0.012363044247190126 Centerline is valid? [True, True] Translation: X:-422.91, Y:-252.39, Z:-1.77 [[-4.80670605e-01 -8.76887543e-01 4.89965186e-03 -4.22906351e+02] [-8.76842814e-01 4.80695575e-01 8.85683667e-03 -2.52392821e+02] [-1.01216907e-02 -3.90034839e-05 -9.99948774e-01 -1.76952065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1312.416559995 meters 0.012509348751541301 Centerline is valid? [True, True] Translation: X:-422.98, Y:-252.47, Z:-1.77 [[-4.11199883e-01 -9.11534496e-01 4.41791319e-03 -4.22980146e+02] [-9.11483288e-01 4.11223612e-01 9.66217628e-03 -2.52474210e+02] [-1.06241572e-02 -5.37682795e-05 -9.99943561e-01 -1.76908876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1312.4465599950001 meters 0.012778099239685812 Centerline is valid? [True, True] Translation: X:-423.05, Y:-252.57, Z:-1.77 [[-3.38916138e-01 -9.40808437e-01 3.91624050e-03 -4.23049761e+02] [-9.40748230e-01 3.38938755e-01 1.06437188e-02 -2.52565420e+02] [-1.13410661e-02 -7.68682697e-05 -9.99935685e-01 -1.76856070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1312.4765599950001 meters 0.013169256376940384 Centerline is valid? [True, True] Translation: X:-423.11, Y:-252.66, Z:-1.77 [[-2.64234079e-01 -9.64452668e-01 3.37681720e-03 -4.23112617e+02] [-9.64378969e-01 2.64255634e-01 1.19232355e-02 -2.52661555e+02] [-1.23917393e-02 -1.06006326e-04 -9.99923214e-01 -1.76762944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1312.506559995 meters 0.013589002307441365 Centerline is valid? [True, True] Translation: X:-423.17, Y:-252.76, Z:-1.77 [[-1.87632407e-01 -9.82235890e-01 2.59559148e-03 -4.23167667e+02] [-9.82151810e-01 1.87650309e-01 1.28523997e-02 -2.52762277e+02] [-1.31111518e-02 -1.37738169e-04 -9.99914036e-01 -1.76704143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1312.536559995 meters 0.014280631142306167 Centerline is valid? [True, True] Translation: X:-423.22, Y:-252.88, Z:-1.76 [[-1.09813248e-01 -9.93950593e-01 1.80789829e-03 -4.23217809e+02] [-9.93842381e-01 1.09827972e-01 1.46675837e-02 -2.52875861e+02] [-1.47774113e-02 -1.86070937e-04 -9.99890791e-01 -1.76484879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1312.566559995 meters 0.014497229797044799 Centerline is valid? [True, True] Translation: X:-423.26, Y:-252.98, Z:-1.76 [[-3.29597341e-02 -9.99456423e-01 7.17203481e-04 -4.23255645e+02] [-9.99334333e-01 3.29669187e-02 1.56228800e-02 -2.52981743e+02] [-1.56380318e-02 -2.01800090e-04 -9.99877698e-01 -1.76376508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1312.596559995 meters 0.014549004694366053 Centerline is valid? [True, True] Translation: X:-423.28, Y:-253.10, Z:-1.76 [[ 4.32324749e-02 -9.99064916e-01 -4.97089463e-04 -4.23284543e+02] [-9.98934771e-01 -4.32348671e-02 1.61266561e-02 -2.53103781e+02] [-1.61330679e-02 -2.00635307e-04 -9.99869834e-01 -1.76280572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1312.626559995 meters 0.014404521108267648 Centerline is valid? [True, True] Translation: X:-423.30, Y:-253.21, Z:-1.76 [[ 1.19042418e-01 -9.92887608e-01 -1.76075412e-03 -4.23303919e+02] [-9.92753776e-01 -1.19055283e-01 1.63027675e-02 -2.53212633e+02] [-1.63964429e-02 -1.92725566e-04 -9.99865551e-01 -1.76286325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1312.656559995 meters 0.013134917222571093 Centerline is valid? [True, True] Translation: X:-423.31, Y:-253.33, Z:-1.77 [[ 1.93627570e-01 -9.81070600e-01 -2.97377483e-03 -4.23312038e+02] [-9.80941020e-01 -1.93650329e-01 1.59457188e-02 -2.53327908e+02] [-1.62197484e-02 -1.70433062e-04 -9.99868437e-01 -1.76579969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1312.6865599950002 meters 0.01378826297238438 Centerline is valid? [True, True] Translation: X:-423.31, Y:-253.45, Z:-1.76 [[ 2.66710320e-01 -9.63768153e-01 -4.06845231e-03 -4.23314088e+02] [-9.63647862e-01 -2.66741312e-01 1.52273113e-02 -2.53446625e+02] [-1.57608220e-02 -1.40725703e-04 -9.99875781e-01 -1.76331626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1312.7165599950001 meters 0.012614133846711712 Centerline is valid? [True, True] Translation: X:-423.30, Y:-253.56, Z:-1.77 [[ 3.37940597e-01 -9.41155511e-01 -4.73884795e-03 -4.23303524e+02] [-9.41058796e-01 -3.37973807e-01 1.34925467e-02 -2.53563337e+02] [-1.43001912e-02 -1.00144742e-04 -9.99897742e-01 -1.76792951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1312.746559995 meters 0.012175050405085864 Centerline is valid? [True, True] Translation: X:-423.29, Y:-253.67, Z:-1.77 [[ 4.05488130e-01 -9.14088889e-01 -4.56932169e-03 -4.23287163e+02] [-9.14029868e-01 -4.05513873e-01 1.03874775e-02 -2.53672437e+02] [-1.13480011e-02 -3.55023290e-05 -9.99935609e-01 -1.77065261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1312.776559995 meters 0.012070036547346903 Centerline is valid? [True, True] Translation: X:-423.26, Y:-253.78, Z:-1.77 [[ 4.72722281e-01 -8.81197958e-01 -4.87900203e-03 -4.23263972e+02] [-8.81150707e-01 -4.72747458e-01 9.12535305e-03 -2.53781188e+02] [-1.03477783e-02 -1.46216156e-05 -9.99946460e-01 -1.77217404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1312.806559995 meters 0.011964949137115719 Centerline is valid? [True, True] Translation: X:-423.23, Y:-253.89, Z:-1.77 [[ 5.37659781e-01 -8.43147426e-01 -4.93742103e-03 -4.23232319e+02] [-8.43111845e-01 -5.37682451e-01 7.74594970e-03 -2.53889527e+02] [-9.18574219e-03 -1.88747067e-06 -9.99957810e-01 -1.77245559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1312.836559995 meters 0.01192034430849142 Centerline is valid? [True, True] Translation: X:-423.19, Y:-253.99, Z:-1.77 [[ 5.99895790e-01 -8.00061951e-01 -5.09068571e-03 -4.23193042e+02] [-8.00033203e-01 -5.99917389e-01 6.78237731e-03 -2.53994288e+02] [-8.48031290e-03 3.99800069e-06 -9.99964042e-01 -1.77314223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1312.866559995 meters 0.011876407568666493 Centerline is valid? [True, True] Translation: X:-423.15, Y:-254.09, Z:-1.77 [[ 6.58879154e-01 -7.52230960e-01 -5.18109255e-03 -4.23147564e+02] [-7.52207776e-01 -6.58899524e-01 5.90586367e-03 -2.54093951e+02] [-7.85639291e-03 6.00764413e-06 -9.99969138e-01 -1.77380211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1312.896559995 meters 0.012038398544587584 Centerline is valid? [True, True] Translation: X:-423.10, Y:-254.19, Z:-1.77 [[ 7.14441701e-01 -6.99673228e-01 -5.51632604e-03 -4.23098470e+02] [-6.99652402e-01 -7.14462997e-01 5.39842892e-03 -2.54186514e+02] [-7.71834703e-03 2.64802052e-06 -9.99970213e-01 -1.77280526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1312.926559995 meters 0.01188947640667586 Centerline is valid? [True, True] Translation: X:-423.10, Y:-254.20, Z:-1.77 [[ 7.68803294e-01 -6.39452846e-01 -6.44616469e-03 -4.23101817e+02] [-6.39430137e-01 -7.68830318e-01 5.38914778e-03 -2.54198759e+02] [-8.40211274e-03 -2.13225938e-05 -9.99964702e-01 -1.77260631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1312.9565599950001 meters 0.012165259205490598 Centerline is valid? [True, True] Translation: X:-423.10, Y:-254.21, Z:-1.77 [[ 8.17642078e-01 -5.75680991e-01 -7.26836532e-03 -4.23104060e+02] [-5.75657799e-01 -8.17674382e-01 5.16753211e-03 -2.54209842e+02] [-8.91800613e-03 -4.11005138e-05 -9.99960233e-01 -1.77071307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1312.986559995 meters 0.012247422308395232 Centerline is valid? [True, True] Translation: X:-423.10, Y:-254.22, Z:-1.77 [[ 8.61283642e-01 -5.08055362e-01 -8.38071557e-03 -4.23104446e+02] [-5.08030552e-01 -8.61324413e-01 5.02139110e-03 -2.54220406e+02] [-9.76965959e-03 -6.71824598e-05 -9.99952274e-01 -1.77054431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1313.016559995 meters 0.012942695359665374 Centerline is valid? [True, True] Translation: X:-423.10, Y:-254.23, Z:-1.77 [[ 8.99320535e-01 -4.37179373e-01 -9.83728444e-03 -4.23104880e+02] [-4.37152008e-01 -8.99374330e-01 4.89238474e-03 -2.54231003e+02] [-1.09862508e-02 -9.94334061e-05 -9.99939645e-01 -1.76788668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1313.046559995 meters 0.012939883213777585 Centerline is valid? [True, True] Translation: X:-423.10, Y:-254.24, Z:-1.77 [[ 9.31448814e-01 -3.63705924e-01 -1.10049248e-02 -4.23102145e+02] [-3.63678884e-01 -9.31513813e-01 4.43675647e-03 -2.54240467e+02] [-1.18649141e-02 -1.30352767e-04 -9.99929601e-01 -1.76831653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1313.076559995 meters 0.013037601944832462 Centerline is valid? [True, True] Translation: X:-423.10, Y:-254.25, Z:-1.77 [[ 9.57541686e-01 -2.88035153e-01 -1.22340100e-02 -4.23099922e+02] [-2.88009458e-01 -9.57619822e-01 3.85078416e-03 -2.54251363e+02] [-1.28246917e-02 -1.63775768e-04 -9.99917747e-01 -1.76812720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1313.106559995 meters 0.014170143748394638 Centerline is valid? [True, True] Translation: X:-423.10, Y:-254.26, Z:-1.77 [[ 9.77687741e-01 -2.09644451e-01 -1.32622037e-02 -4.23097203e+02] [-2.09622234e-01 -9.77777664e-01 3.05928501e-03 -2.54262673e+02] [-1.36088487e-02 -2.10972685e-04 -9.99907373e-01 -1.76644054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1313.136559995 meters 0.01419970276138092 Centerline is valid? [True, True] Translation: X:-423.09, Y:-254.27, Z:-1.77 [[ 9.91197222e-01 -1.31725099e-01 -1.32878071e-02 -4.23091489e+02] [-1.31710284e-01 -9.91286260e-01 1.98777962e-03 -2.54269232e+02] [-1.34338611e-02 -2.20140787e-04 -9.99909738e-01 -1.76715547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1313.166559995 meters 0.014445737215752534 Centerline is valid? [True, True] Translation: X:-423.09, Y:-254.28, Z:-1.77 [[ 9.98512998e-01 -5.30449863e-02 -1.25707320e-02 -4.23089462e+02] [-5.30380732e-02 -9.98592101e-01 8.82912532e-04 -2.54275694e+02] [-1.25998678e-02 -2.14872233e-04 -9.99920596e-01 -1.76781010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1313.1965599950001 meters 0.01452364409917887 Centerline is valid? [True, True] Translation: X:-423.09, Y:-254.28, Z:-1.77 [[ 9.99605315e-01 2.55205946e-02 -1.17436544e-02 -4.23087593e+02] [ 2.55212147e-02 -9.99674276e-01 -9.70761510e-05 -2.54280899e+02] [-1.17423067e-02 -2.02674489e-04 -9.99931036e-01 -1.76843076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1313.2265599950001 meters 0.014316652829641056 Centerline is valid? [True, True] Translation: X:-423.08, Y:-254.29, Z:-1.77 [[ 9.94583712e-01 1.03354045e-01 -1.10081980e-02 -4.23084997e+02] [ 1.03349795e-01 -9.94644613e-01 -9.55787021e-04 -2.54285566e+02] [-1.10480293e-02 -1.87084804e-04 -9.99938951e-01 -1.76905639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1313.256559995 meters 0.014329962370437464 Centerline is valid? [True, True] Translation: X:-423.08, Y:-254.29, Z:-1.77 [[ 9.83579589e-01 1.80186926e-01 -1.01913532e-02 -4.23082933e+02] [ 1.80179016e-01 -9.83632372e-01 -1.69664925e-03 -2.54289337e+02] [-1.03302589e-02 -1.67478411e-04 -9.99946628e-01 -1.76920684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1313.286559995 meters 0.013259263266593265 Centerline is valid? [True, True] Translation: X:-423.08, Y:-254.29, Z:-1.77 [[ 9.67049566e-01 2.54463517e-01 -7.96587719e-03 -4.23079323e+02] [ 2.54455860e-01 -9.67082368e-01 -1.97737683e-03 -2.54292504e+02] [-8.20682963e-03 -1.14742719e-04 -9.99966317e-01 -1.77150658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1313.316559995 meters 0.013655979495002824 Centerline is valid? [True, True] Translation: X:-423.08, Y:-254.30, Z:-1.77 [[ 9.44663699e-01 3.27956740e-01 -7.40758876e-03 -4.23076292e+02] [ 3.27947466e-01 -9.44692737e-01 -2.46834305e-03 -2.54299191e+02] [-7.80740504e-03 -9.75458813e-05 -9.99969517e-01 -1.77072749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1313.346559995 meters 0.012810925658160796 Centerline is valid? [True, True] Translation: X:-423.07, Y:-254.30, Z:-1.77 [[ 9.16675236e-01 3.99579102e-01 -6.56156560e-03 -4.23073328e+02] [ 3.99569480e-01 -9.16698716e-01 -2.77403409e-03 -2.54301455e+02] [-7.12342481e-03 -7.89130037e-05 -9.99974625e-01 -1.77182043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1313.376559995 meters 0.012691638699075492 Centerline is valid? [True, True] Translation: X:-423.07, Y:-254.30, Z:-1.77 [[ 8.83176869e-01 4.69000480e-01 -6.09666112e-03 -4.23070582e+02] [ 4.68989831e-01 -8.83197909e-01 -3.16118173e-03 -2.54304645e+02] [-6.86715410e-03 -6.73894858e-05 -9.99976419e-01 -1.77182306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1313.406559995 meters 0.012483624651960906 Centerline is valid? [True, True] Translation: X:-423.07, Y:-254.31, Z:-1.77 [[ 8.44324833e-01 5.35801085e-01 -5.72483344e-03 -4.23066108e+02] [ 5.35789242e-01 -8.44344239e-01 -3.56289856e-03 -2.54309386e+02] [-6.74273504e-03 -5.90604386e-05 -9.99977266e-01 -1.77196831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1313.4365599950002 meters 0.012371945685598513 Centerline is valid? [True, True] Translation: X:-423.06, Y:-254.31, Z:-1.77 [[ 8.00136125e-01 5.99794143e-01 -5.40065443e-03 -4.23060358e+02] [ 5.99780944e-01 -8.00154349e-01 -3.97958836e-03 -2.54313680e+02] [-6.70829092e-03 -5.49971987e-05 -9.99977498e-01 -1.77165175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1313.4665599950001 meters 0.012457457325467658 Centerline is valid? [True, True] Translation: X:-423.05, Y:-254.32, Z:-1.77 [[ 7.50141867e-01 6.61251940e-01 -5.74896644e-03 -4.23053141e+02] [ 6.61233220e-01 -7.50163893e-01 -4.97609970e-03 -2.54319445e+02] [-7.60312263e-03 -6.86268729e-05 -9.99971094e-01 -1.77120788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1313.496559995 meters 0.012771642276013028 Centerline is valid? [True, True] Translation: X:-423.05, Y:-254.33, Z:-1.77 [[ 6.95137722e-01 7.18852273e-01 -5.91254158e-03 -4.23046127e+02] [ 7.18827322e-01 -6.95162860e-01 -5.98989799e-03 -2.54325689e+02] [-8.41603110e-03 -8.62923921e-05 -9.99964581e-01 -1.76965136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1313.526559995 meters 0.012771642276013028 Centerline is valid? [True, True] Translation: X:-423.04, Y:-254.33, Z:-1.77 [[ 6.36729645e-01 7.71068042e-01 -5.42539808e-03 -4.23041426e+02] [ 7.71041200e-01 -6.36752753e-01 -6.43432056e-03 -2.54328396e+02] [-8.41593612e-03 -8.62828001e-05 -9.99964582e-01 -1.76965221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1313.556559995 meters 0.012959610119295962 Centerline is valid? [True, True] Translation: X:-423.03, Y:-254.33, Z:-1.77 [[ 5.72994504e-01 8.19541357e-01 -5.40954351e-03 -4.23033142e+02] [ 8.19506646e-01 -5.73020028e-01 -7.54354789e-03 -2.54332610e+02] [-9.28202625e-03 -1.10745379e-04 -9.99956915e-01 -1.76915507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1313.586559995 meters 0.013209227422225314 Centerline is valid? [True, True] Translation: X:-423.02, Y:-254.34, Z:-1.77 [[ 5.05382000e-01 8.62879321e-01 -5.32088014e-03 -4.23023365e+02] [ 8.62834437e-01 -5.05409990e-01 -8.80212775e-03 -2.54337264e+02] [-1.02844000e-02 -1.42601686e-04 -9.99947104e-01 -1.76837608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1313.616559995 meters 0.013685069625864198 Centerline is valid? [True, True] Translation: X:-423.01, Y:-254.34, Z:-1.77 [[ 4.35004544e-01 9.00414359e-01 -5.00299651e-03 -4.23014058e+02] [ 9.00359242e-01 -4.35033279e-01 -9.96397891e-03 -2.54341438e+02] [-1.11481797e-02 -1.70118047e-04 -9.99937843e-01 -1.76692576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1313.646559995 meters 0.014215481535780772 Centerline is valid? [True, True] Translation: X:-423.01, Y:-254.34, Z:-1.77 [[ 3.62342701e-01 9.32033102e-01 -4.69721814e-03 -4.23007036e+02] [ 9.31961831e-01 -3.62373090e-01 -1.15277755e-02 -2.54344308e+02] [-1.24464138e-02 -2.00622714e-04 -9.99922520e-01 -1.76519045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1313.676559995 meters 0.014253712854983029 Centerline is valid? [True, True] Translation: X:-423.00, Y:-254.35, Z:-1.76 [[ 2.89057944e-01 9.57304071e-01 -3.79756152e-03 -4.23002930e+02] [ 9.57229923e-01 -2.89082825e-01 -1.19161433e-02 -2.54345549e+02] [-1.25051823e-02 -1.90683640e-04 -9.99921789e-01 -1.76474258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1313.7065599950001 meters 0.0131378821618119 Centerline is valid? [True, True] Translation: X:-423.00, Y:-254.35, Z:-1.77 [[ 2.14738435e-01 9.76667642e-01 -2.77899489e-03 -4.22996264e+02] [ 9.76595620e-01 -2.14756351e-01 -1.18618995e-02 -2.54345225e+02] [-1.21819402e-02 -1.66748499e-04 -9.99925784e-01 -1.76667749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1313.736559995 meters 0.012872558583633823 Centerline is valid? [True, True] Translation: X:-422.99, Y:-254.35, Z:-1.77 [[ 1.39604081e-01 9.90205909e-01 -1.71980224e-03 -4.22989176e+02] [ 9.90142034e-01 -1.39614611e-01 -1.12477740e-02 -2.54346591e+02] [-1.13777218e-02 -1.32613338e-04 -9.99935263e-01 -1.76704023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1313.766559995 meters 0.012984889097842046 Centerline is valid? [True, True] Translation: X:-422.98, Y:-254.35, Z:-1.77 [[ 6.39852143e-02 9.97950584e-01 -7.24851366e-04 -4.22983677e+02] [ 9.97901821e-01 -6.39892536e-02 -9.86571112e-03 -2.54347691e+02] [-9.89187487e-03 -9.20708573e-05 -9.99951070e-01 -1.76652917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1313.796559995 meters 0.012302825291521064 Centerline is valid? [True, True] Translation: X:-422.98, Y:-254.35, Z:-1.77 [[-1.17424310e-02 9.99931054e-01 4.49555082e-05 -4.22980810e+02] [ 9.99891388e-01 1.17423656e-02 -8.90665613e-03 -2.54347373e+02] [-8.90656994e-03 -5.96351696e-05 -9.99960334e-01 -1.76889429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1313.826559995 meters 0.011933493140697362 Centerline is valid? [True, True] Translation: X:-422.98, Y:-254.35, Z:-1.77 [[-8.46736159e-02 9.96408579e-01 5.67575738e-04 -4.22977504e+02] [ 9.96385424e-01 8.46755176e-02 -6.79290826e-03 -2.54346801e+02] [-6.81657184e-03 -9.65591308e-06 -9.99976767e-01 -1.77024440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1313.856559995 meters 0.011884811407517567 Centerline is valid? [True, True] Translation: X:-422.97, Y:-254.35, Z:-1.77 [[-1.60158050e-01 9.87090849e-01 1.02689298e-03 -4.22972028e+02] [ 9.87070791e-01 1.60161342e-01 -6.29274111e-03 -2.54347371e+02] [-6.37597572e-03 5.78292045e-06 -9.99979673e-01 -1.77023190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1313.886559995 meters 0.012033813897541344 Centerline is valid? [True, True] Translation: X:-422.97, Y:-254.35, Z:-1.77 [[-2.35081704e-01 9.71974665e-01 1.35729923e-03 -4.22966794e+02] [ 9.71958863e-01 2.35085622e-01 -5.54257821e-03 -2.54346509e+02] [-5.70632713e-03 1.62802875e-05 -9.99983719e-01 -1.77078006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1313.916559995 meters 0.012084375620733756 Centerline is valid? [True, True] Translation: X:-422.96, Y:-254.35, Z:-1.77 [[-3.09151607e-01 9.51011169e-01 1.74382869e-03 -4.22961574e+02] [ 9.50996468e-01 3.09156524e-01 -5.28794222e-03 -2.54345512e+02] [-5.56800813e-03 2.35990934e-05 -9.99984498e-01 -1.77086216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1313.9465599950001 meters 0.012161857452783979 Centerline is valid? [True, True] Translation: X:-422.95, Y:-254.34, Z:-1.77 [[-3.81937867e-01 9.24185698e-01 2.06457764e-03 -4.22953918e+02] [ 9.24172575e-01 3.81943446e-01 -4.92499831e-03 -2.54343543e+02] [-5.34016490e-03 2.69826834e-05 -9.99985741e-01 -1.77095827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1313.9765599950001 meters 0.01210531044283246 Centerline is valid? [True, True] Translation: X:-422.95, Y:-254.34, Z:-1.77 [[-4.53049813e-01 8.91481674e-01 2.50842122e-03 -4.22946568e+02] [ 8.91468358e-01 4.53056757e-01 -4.87268997e-03 -2.54341598e+02] [-5.48037100e-03 2.86068657e-05 -9.99984982e-01 -1.77081241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1314.006559995 meters 0.01198492803100981 Centerline is valid? [True, True] Translation: X:-422.94, Y:-254.34, Z:-1.77 [[-5.23297250e-01 8.52144832e-01 3.02881881e-03 -4.22937857e+02] [ 8.52130755e-01 5.23306015e-01 -4.89812380e-03 -2.54338209e+02] [-5.75890999e-03 1.77749422e-05 -9.99983417e-01 -1.76982963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1314.036559995 meters 0.011962333118060655 Centerline is valid? [True, True] Translation: X:-422.93, Y:-254.33, Z:-1.77 [[-5.90264943e-01 8.07199862e-01 3.95972838e-03 -4.22930467e+02] [ 8.07181769e-01 5.90278224e-01 -5.40464997e-03 -2.54334635e+02] [-6.69997415e-03 6.04514991e-06 -9.99977555e-01 -1.76860035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1314.066559995 meters 0.012031137237468171 Centerline is valid? [True, True] Translation: X:-422.92, Y:-254.33, Z:-1.77 [[-6.53737772e-01 7.56702599e-01 5.30115163e-03 -4.22923741e+02] [ 7.56677546e-01 6.53759265e-01 -6.15754809e-03 -2.54329462e+02] [-8.12510964e-03 -1.41593657e-05 -9.99966991e-01 -1.76729553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1314.096559995 meters 0.012216829934144567 Centerline is valid? [True, True] Translation: X:-422.92, Y:-254.32, Z:-1.77 [[-7.13027261e-01 7.01103906e-01 6.74078980e-03 -4.22917666e+02] [ 7.01071997e-01 7.13059122e-01 -6.68910406e-03 -2.54324632e+02] [-9.49633864e-03 -4.37345874e-05 -9.99954908e-01 -1.76566631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1314.126559995 meters 0.012581946954441316 Centerline is valid? [True, True] Translation: X:-422.90, Y:-254.30, Z:-1.76 [[-7.62680528e-01 6.46723999e-01 8.15365779e-03 -4.22898226e+02] [ 6.46685920e-01 7.62724107e-01 -7.01844128e-03 -2.54300230e+02] [-1.07579858e-02 -7.99728086e-05 -9.99942128e-01 -1.76419472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1314.156559995 meters 0.013748917709802008 Centerline is valid? [True, True] Translation: X:-422.88, Y:-254.27, Z:-1.76 [[-8.09588317e-01 5.86916734e-01 9.77268076e-03 -4.22878932e+02] [ 5.86871672e-01 8.09647284e-01 -7.27434456e-03 -2.54272777e+02] [-1.21818590e-02 -1.53914868e-04 -9.99925787e-01 -1.76269106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1314.1865599950002 meters 0.013310410569130874 Centerline is valid? [True, True] Translation: X:-422.87, Y:-254.25, Z:-1.76 [[-8.50233094e-01 5.26304491e-01 1.03571143e-02 -4.22866735e+02] [ 5.26262840e-01 8.50296155e-01 -6.62366111e-03 -2.54247354e+02] [-1.22926770e-02 -1.81091510e-04 -9.99924426e-01 -1.76438755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1314.2165599950001 meters 0.013310410569130874 Centerline is valid? [True, True] Translation: X:-422.85, Y:-254.22, Z:-1.76 [[-8.85369143e-01 4.64763205e-01 1.08001474e-02 -4.22854347e+02] [ 4.64726126e-01 8.85434995e-01 -5.87347716e-03 -2.54222569e+02] [-1.22926045e-02 -1.81084794e-04 -9.99924427e-01 -1.76438830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1314.246559995 meters 0.013884907701526708 Centerline is valid? [True, True] Translation: X:-422.84, Y:-254.20, Z:-1.77 [[-9.16941240e-01 3.98905419e-01 9.65557788e-03 -4.22838552e+02] [ 3.98881195e-01 9.16992058e-01 -4.39987381e-03 -2.54196444e+02] [-1.06092217e-02 -1.82997311e-04 -9.99943704e-01 -1.76566535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1314.276559995 meters 0.01407665109783624 Centerline is valid? [True, True] Translation: X:-422.83, Y:-254.17, Z:-1.77 [[-9.42985636e-01 3.32710913e-01 9.02987241e-03 -4.22831874e+02] [ 3.32693934e-01 9.43028854e-01 -3.36553706e-03 -2.54168246e+02] [-9.63518114e-03 -1.69469339e-04 -9.99953566e-01 -1.76651303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1314.306559995 meters 0.013908557225062965 Centerline is valid? [True, True] Translation: X:-422.82, Y:-254.14, Z:-1.77 [[-9.64095872e-01 2.65443881e-01 7.66133867e-03 -4.22823620e+02] [ 2.65434365e-01 9.64126303e-01 -2.25179086e-03 -2.54141675e+02] [-7.98422223e-03 -1.37359712e-04 -9.99968116e-01 -1.76775567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1314.336559995 meters 0.013551168447774155 Centerline is valid? [True, True] Translation: X:-422.82, Y:-254.11, Z:-1.77 [[-9.80273341e-01 1.97556425e-01 5.96964200e-03 -4.22819407e+02] [ 1.97552149e-01 9.80291513e-01 -1.30348176e-03 -2.54114853e+02] [-6.10950058e-03 -9.84528126e-05 -9.99981332e-01 -1.76894017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1314.366559995 meters 0.013605443092409419 Centerline is valid? [True, True] Translation: X:-422.69, Y:-253.52, Z:-2.82 [[-9.56354637e-01 -2.92177731e-01 4.24042574e-03 -4.22693843e+02] [ 2.92174713e-01 -9.56364038e-01 -1.32843444e-03 -2.53518668e+02] [ 4.44352965e-03 -3.15092597e-05 9.99990127e-01 -2.81973233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1314.396559995 meters 0.013278287322471497 Centerline is valid? [True, True] Translation: X:-422.87, Y:-254.11, Z:-1.77 [[-9.80480920e-01 1.96578442e-01 3.75257466e-03 -4.22866377e+02] [ 1.96576802e-01 9.80488100e-01 -8.04542068e-04 -2.54107569e+02] [-3.83751042e-03 -5.11690201e-05 -9.99992636e-01 -1.77077806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1314.426559995 meters 0.012659699280709511 Centerline is valid? [True, True] Translation: X:-422.87, Y:-254.08, Z:-1.77 [[-9.91647727e-01 1.28937933e-01 3.12977894e-03 -4.22866203e+02] [ 1.28937180e-01 9.91652665e-01 -4.41986414e-04 -2.54083238e+02] [-3.16064245e-03 -3.47499505e-05 -9.99995005e-01 -1.77119660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1314.4565599950001 meters 0.012639168136474267 Centerline is valid? [True, True] Translation: X:-422.87, Y:-254.06, Z:-1.77 [[-9.98253743e-01 5.90024748e-02 2.85898724e-03 -4.22868384e+02] [ 5.90021485e-02 9.98257836e-01 -1.98392232e-04 -2.54056257e+02] [-2.86571205e-03 -2.93593986e-05 -9.99995894e-01 -1.77072859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1314.486559995 meters 0.012339725486034991 Centerline is valid? [True, True] Translation: X:-422.82, Y:-253.43, Z:-2.82 [[-9.89479405e-01 -1.44641560e-01 3.05391849e-03 -4.22824882e+02] [ 1.44641012e-01 -9.89484117e-01 -4.00715219e-04 -2.53433605e+02] [ 3.07976391e-03 4.52224038e-05 9.99995257e-01 -2.81904251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1314.516559995 meters 0.012527202378201485 Centerline is valid? [True, True] Translation: X:-422.93, Y:-254.05, Z:-1.77 [[-9.98466765e-01 5.52709757e-02 3.03953954e-03 -4.22928062e+02] [ 5.52706309e-02 9.98471391e-01 -1.97389106e-04 -2.54054779e+02] [-3.04580316e-03 -2.90891944e-05 -9.99995361e-01 -1.77005814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1314.546559995 meters 0.012654911818864122 Centerline is valid? [True, True] Translation: X:-422.88, Y:-253.43, Z:-2.82 [[-9.90088063e-01 -1.40411711e-01 3.19060457e-03 -4.22884604e+02] [ 1.40411118e-01 -9.90093203e-01 -4.10272904e-04 -2.53429725e+02] [ 3.21660302e-03 4.17900500e-05 9.99994826e-01 -2.82002112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1314.576559995 meters 0.012603964967096098 Centerline is valid? [True, True] Translation: X:-422.99, Y:-254.05, Z:-1.77 [[-9.98729687e-01 5.02782289e-02 3.33340610e-03 -4.22986200e+02] [ 5.02778355e-02 9.98735250e-01 -2.01748560e-04 -2.54051860e+02] [-3.33933373e-03 -3.38958325e-05 -9.99994424e-01 -1.76942247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1314.606559995 meters 0.013040486627626911 Centerline is valid? [True, True] Translation: X:-422.99, Y:-254.02, Z:-1.77 [[-9.99750744e-01 -2.19457824e-02 4.10271452e-03 -4.22991477e+02] [-2.19457851e-02 9.99759161e-01 4.43557426e-05 -2.54023860e+02] [-4.10269985e-03 -4.56926045e-05 -9.99991583e-01 -1.76866626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1314.636559995 meters 0.013024944589120454 Centerline is valid? [True, True] Translation: X:-423.00, Y:-254.00, Z:-1.77 [[-9.95557158e-01 -9.40229778e-02 5.06208754e-03 -4.23003067e+02] [-9.40220750e-02 9.95570026e-01 4.16539345e-04 -2.53997013e+02] [-5.07882690e-03 -6.12592483e-05 -9.99987101e-01 -1.76830466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1314.666559995 meters 0.013562297302391595 Centerline is valid? [True, True] Translation: X:-423.01, Y:-253.97, Z:-1.77 [[-9.86181003e-01 -1.65570213e-01 5.79084734e-03 -4.23014158e+02] [-1.65567807e-01 9.86198002e-01 8.95803632e-04 -2.53969049e+02] [-5.85924047e-03 -7.53533700e-05 -9.99982832e-01 -1.76696757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1314.6965599950001 meters 0.013833898202430788 Centerline is valid? [True, True] Translation: X:-423.04, Y:-253.94, Z:-1.77 [[-9.71629356e-01 -2.36413455e-01 6.71368246e-03 -4.23035176e+02] [-2.36408475e-01 9.71652546e-01 1.53727486e-03 -2.53943949e+02] [-6.88679911e-03 -9.35100484e-05 -9.99976282e-01 -1.76557863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1314.7265599950001 meters 0.013476792689459737 Centerline is valid? [True, True] Translation: X:-423.20, Y:-253.34, Z:-2.82 [[-9.89653326e-01 1.43266767e-01 7.80567684e-03 -4.23197270e+02] [-1.43260904e-01 -9.89684092e-01 1.30814468e-03 -2.53340358e+02] [ 7.91256786e-03 1.76361418e-04 9.99968680e-01 -2.82459605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1314.756559995 meters 0.013510882367056876 Centerline is valid? [True, True] Translation: X:-423.16, Y:-253.97, Z:-1.76 [[-9.69849100e-01 -2.43547621e-01 8.79083945e-03 -4.23162465e+02] [-2.43538828e-01 9.69888932e-01 2.07360065e-03 -2.53972568e+02] [-9.03115838e-03 -1.29831017e-04 -9.99959210e-01 -1.76384363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1314.786559995 meters 0.013526933941799886 Centerline is valid? [True, True] Translation: X:-423.19, Y:-253.95, Z:-1.76 [[-9.50159323e-01 -3.11634003e-01 9.02824535e-03 -4.23194812e+02] [-3.11621177e-01 9.50202206e-01 2.83010398e-03 -2.53952933e+02] [-9.46061529e-03 -1.24342757e-04 -9.99955240e-01 -1.76321581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1314.816559995 meters 0.012979441831370788 Centerline is valid? [True, True] Translation: X:-423.25, Y:-253.94, Z:-1.76 [[-9.25310666e-01 -3.79109270e-01 8.73682656e-03 -4.23245034e+02] [-3.79093522e-01 9.25351905e-01 3.45726494e-03 -2.53943120e+02] [-9.39532030e-03 -1.13030227e-04 -9.99955857e-01 -1.76434049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1314.846559995 meters 0.01318702560177442 Centerline is valid? [True, True] Translation: X:-423.31, Y:-253.94, Z:-1.76 [[-8.95641549e-01 -4.44709102e-01 7.74793756e-03 -4.23307787e+02] [-4.44693328e-01 8.95675056e-01 3.74670018e-03 -2.53939587e+02] [-8.60582609e-03 -8.97557900e-05 -9.99962965e-01 -1.76351058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1314.876559995 meters 0.012575579668842195 Centerline is valid? [True, True] Translation: X:-423.38, Y:-253.95, Z:-1.77 [[-8.61167318e-01 -5.08277961e-01 6.66063960e-03 -4.23376301e+02] [-5.08263359e-01 8.61193073e-01 3.85339960e-03 -2.53946948e+02] [-7.69469478e-03 -6.69372537e-05 -9.99970393e-01 -1.76515601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1314.906559995 meters 0.012325652077730275 Centerline is valid? [True, True] Translation: X:-423.46, Y:-253.97, Z:-1.77 [[-8.21790215e-01 -5.69761514e-01 5.71484997e-03 -4.23456572e+02] [-5.69748165e-01 8.21810085e-01 3.90049266e-03 -2.53965257e+02] [-6.91887194e-03 -5.06385802e-05 -9.99976063e-01 -1.76577974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1314.9365599950002 meters 0.012130233995341654 Centerline is valid? [True, True] Translation: X:-423.54, Y:-253.99, Z:-1.77 [[-7.77683057e-01 -6.28633653e-01 5.36600214e-03 -4.23536267e+02] [-6.28619048e-01 7.77701568e-01 4.28517907e-03 -2.53990234e+02] [-6.86695605e-03 -4.06599955e-05 -9.99976422e-01 -1.76601978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1314.9665599950001 meters 0.012044867478667027 Centerline is valid? [True, True] Translation: X:-423.62, Y:-254.03, Z:-1.77 [[-7.29176853e-01 -6.84311449e-01 4.35402488e-03 -4.23621313e+02] [-6.84299476e-01 7.29189852e-01 4.04820854e-03 -2.54027362e+02] [-5.94514621e-03 -2.75969778e-05 -9.99982327e-01 -1.76625340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1314.996559995 meters 0.01207576040465157 Centerline is valid? [True, True] Translation: X:-423.71, Y:-254.07, Z:-1.77 [[-6.75449572e-01 -7.37393039e-01 4.40250107e-03 -4.23707005e+02] [-7.37377663e-01 6.75463919e-01 4.76205168e-03 -2.54073829e+02] [-6.48523438e-03 -2.97801792e-05 -9.99978970e-01 -1.76623710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1315.026559995 meters 0.012099204796308341 Centerline is valid? [True, True] Translation: X:-423.79, Y:-254.13, Z:-1.77 [[-6.17371578e-01 -7.86660369e-01 4.21895021e-03 -4.23792406e+02] [-7.86642372e-01 6.17385992e-01 5.32120921e-03 -2.54129675e+02] [-6.79070516e-03 -3.36416706e-05 -9.99976943e-01 -1.76561887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1315.056559995 meters 0.012257626121937287 Centerline is valid? [True, True] Translation: X:-423.87, Y:-254.19, Z:-1.76 [[-5.55372316e-01 -8.31591204e-01 4.20237500e-03 -4.23874257e+02] [-8.31567958e-01 5.55388213e-01 6.21807034e-03 -2.54192372e+02] [-7.50484215e-03 -4.12162744e-05 -9.99971838e-01 -1.76493731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1315.086559995 meters 0.0123834376998898 Centerline is valid? [True, True] Translation: X:-423.95, Y:-254.27, Z:-1.76 [[-4.89912559e-01 -8.71761935e-01 4.10045988e-03 -4.23954064e+02] [-8.71732280e-01 4.89929716e-01 7.19060452e-03 -2.54265329e+02] [-8.27743245e-03 -5.17357768e-05 -9.99965740e-01 -1.76371202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1315.116559995 meters 0.012386925855388933 Centerline is valid? [True, True] Translation: X:-424.03, Y:-254.35, Z:-1.76 [[-4.20907573e-01 -9.07094086e-01 4.13927108e-03 -4.24029303e+02] [-9.07051898e-01 4.20927919e-01 8.74879911e-03 -2.54347608e+02] [-9.67831870e-03 -7.20978952e-05 -9.99953162e-01 -1.76333270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1315.146559995 meters 0.012839842816367141 Centerline is valid? [True, True] Translation: X:-424.10, Y:-254.44, Z:-1.76 [[-3.48121731e-01 -9.37440545e-01 4.06028993e-03 -4.24101842e+02] [-9.37380519e-01 3.48145390e-01 1.06089494e-02 -2.54439019e+02] [-1.13588306e-02 -1.12830852e-04 -9.99935480e-01 -1.76126522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1315.176559995 meters 0.013501681772175202 Centerline is valid? [True, True] Translation: X:-424.17, Y:-254.53, Z:-1.76 [[-2.74123489e-01 -9.61688642e-01 3.35684834e-03 -4.24165474e+02] [-9.61622419e-01 2.74144009e-01 1.12865719e-02 -2.54531719e+02] [-1.17744278e-02 -1.34106164e-04 -9.99930670e-01 -1.75937455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1315.2065599950001 meters 0.013467891374804827 Centerline is valid? [True, True] Translation: X:-424.22, Y:-254.64, Z:-1.76 [[-1.98309235e-01 -9.80135971e-01 2.63180133e-03 -4.24221823e+02] [-9.80060102e-01 1.98326633e-01 1.21960608e-02 -2.54637235e+02] [-1.24757542e-02 -1.60731986e-04 -9.99922162e-01 -1.75992424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1315.236559995 meters 0.014396098191081366 Centerline is valid? [True, True] Translation: X:-424.27, Y:-254.74, Z:-1.76 [[-1.21442882e-01 -9.92597039e-01 1.65690769e-03 -4.24270604e+02] [-9.92523295e-01 1.21454058e-01 1.21004168e-02 -2.54738642e+02] [-1.22120761e-02 -1.75009989e-04 -9.99925415e-01 -1.75853764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1315.266559995 meters 0.014289516827091505 Centerline is valid? [True, True] Translation: X:-424.31, Y:-254.85, Z:-1.76 [[-4.39752640e-02 -9.99032361e-01 7.19788835e-04 -4.24309611e+02] [-9.98959099e-01 4.39807571e-02 1.21001037e-02 -2.54848763e+02] [-1.21200521e-02 -1.86934349e-04 -9.99926532e-01 -1.75915107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1315.296559995 meters 0.014270881876700437 Centerline is valid? [True, True] Translation: X:-424.34, Y:-254.96, Z:-1.76 [[ 3.37496152e-02 -9.99430299e-01 -2.04252281e-04 -4.24339900e+02] [-9.99360596e-01 -3.37496740e-02 1.18050547e-02 -2.54961864e+02] [-1.18052228e-02 -1.94294372e-04 -9.99930297e-01 -1.75978955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1315.326559995 meters 0.014730995621450364 Centerline is valid? [True, True] Translation: X:-424.36, Y:-255.08, Z:-1.76 [[ 1.11567625e-01 -9.93756301e-01 -1.03873157e-03 -4.24360869e+02] [-9.93695257e-01 -1.11572286e-01 1.10163937e-02 -2.55077591e+02] [-1.10635043e-02 -1.96890237e-04 -9.99938778e-01 -1.76019380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1315.356559995 meters 0.01446167924333023 Centerline is valid? [True, True] Translation: X:-424.37, Y:-255.20, Z:-1.76 [[ 1.88112011e-01 -9.82145912e-01 -1.81081044e-03 -4.24371307e+02] [-9.82089752e-01 -1.88120622e-01 1.05047635e-02 -2.55195057e+02] [-1.06578613e-02 -1.97693800e-04 -9.99943184e-01 -1.76117921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1315.386559995 meters 0.01582997839664116 Centerline is valid? [True, True] Translation: X:-424.38, Y:-255.31, Z:-1.76 [[ 2.63356225e-01 -9.64695440e-01 -2.49126664e-03 -4.24376697e+02] [-9.64645024e-01 -2.63367936e-01 9.86447965e-03 -2.55312977e+02] [-1.01723383e-02 -1.94684156e-04 -9.99948242e-01 -1.76013607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1315.416559995 meters 0.015123219651431166 Centerline is valid? [True, True] Translation: X:-424.37, Y:-255.43, Z:-1.76 [[ 3.37032797e-01 -9.41487949e-01 -3.05555720e-03 -4.24368834e+02] [-9.41444024e-01 -3.37046594e-01 9.09630216e-03 -2.55430209e+02] [-9.59392401e-03 -1.89116090e-04 -9.99953960e-01 -1.76161837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1315.4465599950001 meters 0.015046754418435605 Centerline is valid? [True, True] Translation: X:-424.36, Y:-255.54, Z:-1.76 [[ 4.08313133e-01 -9.12835481e-01 -3.43061467e-03 -4.24355242e+02] [-9.12799575e-01 -4.08327507e-01 8.09833379e-03 -2.55541927e+02] [-8.79326076e-03 -1.75192426e-04 -9.99961323e-01 -1.76211593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1315.4765599950001 meters 0.015046754418435605 Centerline is valid? [True, True] Translation: X:-424.33, Y:-255.65, Z:-1.76 [[ 4.76919156e-01 -8.78937881e-01 -4.03981976e-03 -4.24333109e+02] [-8.78903180e-01 -4.76936233e-01 7.81221007e-03 -2.55654182e+02] [-8.79318379e-03 -1.75182198e-04 -9.99961324e-01 -1.76211954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1315.506559995 meters 0.015388974896005323 Centerline is valid? [True, True] Translation: X:-424.30, Y:-255.76, Z:-1.76 [[ 5.42930837e-01 -8.39767426e-01 -4.09595308e-03 -4.24302242e+02] [-8.39741303e-01 -5.42946264e-01 6.62562644e-03 -2.55764586e+02] [-7.78786768e-03 -1.57715936e-04 -9.99969662e-01 -1.76201828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1315.536559995 meters 0.015389378428659973 Centerline is valid? [True, True] Translation: X:-424.27, Y:-255.87, Z:-1.76 [[ 6.05290650e-01 -7.95991955e-01 -4.47630303e-03 -4.24267232e+02] [-7.95968298e-01 -6.05307182e-01 6.13872336e-03 -2.55865051e+02] [-7.59591278e-03 -1.52716547e-04 -9.99971139e-01 -1.76207734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1315.566559995 meters 0.014810833233825413 Centerline is valid? [True, True] Translation: X:-424.22, Y:-255.97, Z:-1.76 [[ 6.64142427e-01 -7.47589043e-01 -5.04583642e-03 -4.24220206e+02] [-7.47565662e-01 -6.64161576e-01 5.91457389e-03 -2.55965814e+02] [-7.77292130e-03 -1.56025409e-04 -9.99969778e-01 -1.76237153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1315.596559995 meters 0.015346367541420047 Centerline is valid? [True, True] Translation: X:-424.17, Y:-256.06, Z:-1.76 [[ 7.18953371e-01 -6.95035651e-01 -5.61198940e-03 -4.24170667e+02] [-6.95012739e-01 -7.18975256e-01 5.64573669e-03 -2.56060284e+02] [-7.95886980e-03 -1.58617302e-04 -9.99968315e-01 -1.76148898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1315.626559995 meters 0.015413877723586444 Centerline is valid? [True, True] Translation: X:-424.11, Y:-256.15, Z:-1.76 [[ 7.69664580e-01 -6.38411693e-01 -6.85158675e-03 -4.24113165e+02] [-6.38384282e-01 -7.69695055e-01 5.91872182e-03 -2.56149306e+02] [-9.05221365e-03 -1.81485253e-04 -9.99959012e-01 -1.76001038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1315.656559995 meters 0.01610730395691681 Centerline is valid? [True, True] Translation: X:-424.11, Y:-256.16, Z:-1.76 [[ 8.17643906e-01 -5.75673060e-01 -7.67923988e-03 -4.24113693e+02] [-5.75645375e-01 -8.17679943e-01 5.64928839e-03 -2.56158269e+02] [-9.53130356e-03 -1.98587308e-04 -9.99954557e-01 -1.75880661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1315.6865599950002 meters 0.015966368444178185 Centerline is valid? [True, True] Translation: X:-424.11, Y:-256.17, Z:-1.76 [[ 8.60723246e-01 -5.08999254e-01 -8.67485762e-03 -4.24112122e+02] [-5.08970759e-01 -8.60766931e-01 5.39049735e-03 -2.56167113e+02] [-1.02107897e-02 -2.24477511e-04 -9.99947844e-01 -1.75861389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1315.7165599950001 meters 0.0156999058126983 Centerline is valid? [True, True] Translation: X:-424.11, Y:-256.18, Z:-1.76 [[ 8.98358474e-01 -4.39152944e-01 -9.83584866e-03 -4.24110799e+02] [-4.39123493e-01 -8.98412281e-01 5.09229769e-03 -2.56178117e+02] [-1.10729448e-02 -2.55556562e-04 -9.99938661e-01 -1.75836251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1315.746559995 meters 0.016759254248769884 Centerline is valid? [True, True] Translation: X:-424.11, Y:-256.19, Z:-1.76 [[ 9.30203798e-01 -3.66884583e-01 -1.07980015e-02 -4.24110375e+02] [-3.66856366e-01 -9.30266427e-01 4.55875931e-03 -2.56190352e+02] [-1.17175568e-02 -2.79259632e-04 -9.99931308e-01 -1.75681795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1315.776559995 meters 0.016913529783982074 Centerline is valid? [True, True] Translation: X:-424.11, Y:-256.20, Z:-1.75 [[ 9.56141711e-01 -2.92637411e-01 -1.25050019e-02 -4.24107982e+02] [-2.92608003e-01 -9.56223428e-01 4.16087143e-03 -2.56201377e+02] [-1.31752024e-02 -3.19319102e-04 -9.99913152e-01 -1.75498982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1315.806559995 meters 0.016852794404060588 Centerline is valid? [True, True] Translation: X:-424.10, Y:-256.21, Z:-1.75 [[ 9.75991098e-01 -2.17416737e-01 -1.30897057e-02 -4.24103315e+02] [-2.17392770e-01 -9.76078819e-01 3.24402424e-03 -2.56209888e+02] [-1.34818896e-02 -3.20531411e-04 -9.99909064e-01 -1.75451690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1315.836559995 meters 0.01654405910595434 Centerline is valid? [True, True] Translation: X:-424.10, Y:-256.22, Z:-1.75 [[ 9.89854146e-01 -1.41442940e-01 -1.35153540e-02 -4.24097832e+02] [-1.41425447e-01 -9.89946361e-01 2.24626703e-03 -2.56217204e+02] [-1.36971941e-02 -3.12061754e-04 -9.99906141e-01 -1.75431058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1315.866559995 meters 0.01544850171891193 Centerline is valid? [True, True] Translation: X:-424.10, Y:-256.22, Z:-1.76 [[ 9.97792082e-01 -6.50190735e-02 -1.35455656e-02 -4.24095439e+02] [-6.50091511e-02 -9.97883980e-01 1.17201387e-03 -2.56224847e+02] [-1.35931062e-02 -2.88840441e-04 -9.99907568e-01 -1.75504920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1315.896559995 meters 0.015348718800139528 Centerline is valid? [True, True] Translation: X:-424.09, Y:-256.23, Z:-1.75 [[ 9.99842162e-01 1.10852940e-02 -1.38840470e-02 -4.24093175e+02] [ 1.10878949e-02 -9.99938521e-01 1.10361224e-04 -2.56232604e+02] [-1.38819700e-02 -2.64288658e-04 -9.99903606e-01 -1.75457772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1315.926559995 meters 0.014682535559612499 Centerline is valid? [True, True] Translation: X:-424.09, Y:-256.24, Z:-1.75 [[ 9.96162837e-01 8.64411561e-02 -1.36941562e-02 -4.24090234e+02] [ 8.64360405e-02 -9.96256934e-01 -9.66092552e-04 -2.56237042e+02] [-1.37264082e-02 -2.21283144e-04 -9.99905764e-01 -1.75429284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1315.9565599950001 meters 0.013522273953978129 Centerline is valid? [True, True] Translation: X:-424.09, Y:-256.24, Z:-1.75 [[ 9.87457272e-01 1.57279266e-01 -1.38335930e-02 -4.24088192e+02] [ 1.57265650e-01 -9.87554159e-01 -2.07350611e-03 -2.56237294e+02] [-1.39875419e-02 -1.28050312e-04 -9.99902162e-01 -1.75384166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1315.986559995 meters 0.01321996848374015 Centerline is valid? [True, True] Translation: X:-424.09, Y:-256.24, Z:-1.75 [[ 9.73064715e-01 2.30140556e-01 -1.34307548e-02 -4.24086583e+02] [ 2.30119628e-01 -9.73157397e-01 -3.10445311e-03 -2.56238827e+02] [-1.37846989e-02 -6.98465095e-05 -9.99904984e-01 -1.75293123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1316.016559995 meters 0.01282658732572392 Centerline is valid? [True, True] Translation: X:-424.08, Y:-256.24, Z:-1.75 [[ 9.53249096e-01 3.01917693e-01 -1.27227595e-02 -4.24083981e+02] [ 3.01891027e-01 -9.53333995e-01 -4.01261493e-03 -2.56241695e+02] [-1.33405186e-02 -1.58653809e-05 -9.99911011e-01 -1.75400527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1316.046559995 meters 0.012958622064639262 Centerline is valid? [True, True] Translation: X:-424.08, Y:-256.24, Z:-1.75 [[ 9.27963220e-01 3.72465997e-01 -1.23831579e-02 -4.24082039e+02] [ 3.72432406e-01 -9.28045839e-01 -5.00228401e-03 -2.56244843e+02] [-1.33553189e-02 3.00462953e-05 -9.99910814e-01 -1.75376222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1316.076559995 meters 0.013180863769857866 Centerline is valid? [True, True] Translation: X:-424.08, Y:-256.25, Z:-1.75 [[ 8.97116393e-01 4.41637694e-01 -1.17611387e-02 -4.24080615e+02] [ 4.41598820e-01 -8.97193482e-01 -5.85995308e-03 -2.56246744e+02] [-1.31399932e-02 6.33549916e-05 -9.99913665e-01 -1.75385979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1316.106559995 meters 0.013057600109134811 Centerline is valid? [True, True] Translation: X:-424.08, Y:-256.25, Z:-1.76 [[ 8.60476147e-01 5.09372781e-01 -1.09622665e-02 -4.24075588e+02] [ 5.09330289e-01 -8.60545969e-01 -6.57969505e-03 -2.56253157e+02] [-1.27850518e-02 7.82562774e-05 -9.99918265e-01 -1.75556756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1316.136559995 meters 0.013017226226416078 Centerline is valid? [True, True] Translation: X:-424.07, Y:-256.26, Z:-1.76 [[ 8.17498389e-01 5.75854977e-01 -9.35038284e-03 -4.24070313e+02] [ 5.75816462e-01 -8.17551859e-01 -6.66035187e-03 -2.56260576e+02] [-1.14798196e-02 6.07225631e-05 -9.99934103e-01 -1.75593238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1316.166559995 meters 0.012918389210667545 Centerline is valid? [True, True] Translation: X:-424.06, Y:-256.27, Z:-1.76 [[ 7.69038643e-01 6.39139347e-01 -8.96998940e-03 -4.24064029e+02] [ 6.39095179e-01 -7.69090953e-01 -7.51388610e-03 -2.56266119e+02] [-1.17011579e-02 4.57917856e-05 -9.99931538e-01 -1.75596278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1316.1965599950001 meters 0.012706840449000719 Centerline is valid? [True, True] Translation: X:-424.06, Y:-256.27, Z:-1.76 [[ 7.15269935e-01 6.98799324e-01 -8.27190822e-03 -4.24057788e+02] [ 6.98752230e-01 -7.15317764e-01 -8.11279235e-03 -2.56270675e+02] [-1.15862567e-02 2.28221433e-05 -9.99932877e-01 -1.75587002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1316.2265599950001 meters 0.012694196013862907 Centerline is valid? [True, True] Translation: X:-424.05, Y:-256.27, Z:-1.76 [[ 6.57148714e-01 7.53720797e-01 -7.77995572e-03 -4.24051711e+02] [ 7.53667909e-01 -6.57194765e-01 -8.92882253e-03 -2.56274267e+02] [-1.18427854e-02 4.06127816e-06 -9.99929872e-01 -1.75613585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1316.256559995 meters 0.012698457160781825 Centerline is valid? [True, True] Translation: X:-424.05, Y:-256.28, Z:-1.76 [[ 5.94689524e-01 8.03924466e-01 -7.05858617e-03 -4.24045784e+02] [ 8.03868177e-01 -5.94731413e-01 -9.51321999e-03 -2.56277238e+02] [-1.18458732e-02 -1.67605273e-05 -9.99929835e-01 -1.75638876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1316.286559995 meters 0.012572401578180504 Centerline is valid? [True, True] Translation: X:-424.04, Y:-256.28, Z:-1.76 [[ 5.27666937e-01 8.49432175e-01 -5.70820244e-03 -4.24037245e+02] [ 8.49383371e-01 -5.27697810e-01 -9.10552740e-03 -2.56281610e+02] [-1.07467339e-02 -4.37664788e-05 -9.99942251e-01 -1.75806731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1316.316559995 meters 0.01251366476157272 Centerline is valid? [True, True] Translation: X:-424.03, Y:-256.28, Z:-1.76 [[ 4.59382651e-01 8.88227486e-01 -4.41732267e-03 -4.24029886e+02] [ 8.88187276e-01 -4.59403887e-01 -8.45175590e-03 -2.56284521e+02] [-9.53641710e-03 -4.08197541e-05 -9.99954527e-01 -1.75888525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1316.346559995 meters 0.012460454032370902 Centerline is valid? [True, True] Translation: X:-424.02, Y:-256.29, Z:-1.76 [[ 3.88628771e-01 9.21388903e-01 -3.18885567e-03 -4.24020826e+02] [ 9.21358585e-01 -3.88641852e-01 -7.47449728e-03 -2.56286765e+02] [-8.12624162e-03 -3.32748550e-05 -9.99966981e-01 -1.76056462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1316.376559995 meters 0.012414259007667497 Centerline is valid? [True, True] Translation: X:-424.01, Y:-256.29, Z:-1.76 [[ 3.15966573e-01 9.48768014e-01 -2.09277770e-03 -4.24013138e+02] [ 9.48747677e-01 -3.15973503e-01 -6.21222273e-03 -2.56289844e+02] [-6.55522053e-03 -2.26632524e-05 -9.99978514e-01 -1.76139624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1316.406559995 meters 0.012336105221689406 Centerline is valid? [True, True] Translation: X:-424.01, Y:-256.29, Z:-1.76 [[ 2.42466535e-01 9.70159352e-01 -9.01075718e-04 -4.24007111e+02] [ 9.70152756e-01 -2.42468209e-01 -3.57734915e-03 -2.56290996e+02] [-3.68908095e-03 -6.79363807e-06 -9.99993196e-01 -1.76383885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1316.4365599950002 meters 0.012362782376486407 Centerline is valid? [True, True] Translation: X:-424.00, Y:-256.29, Z:-1.77 [[ 1.66717625e-01 9.86004584e-01 -4.39934372e-04 -4.24002468e+02] [ 9.86001196e-01 -1.66718206e-01 -2.58481126e-03 -2.56292172e+02] [-2.62198082e-03 -2.84222342e-06 -9.99996563e-01 -1.76514469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1316.4665599950001 meters 0.012337969182357736 Centerline is valid? [True, True] Translation: X:-424.00, Y:-256.29, Z:-1.77 [[ 9.00933035e-02 9.95933311e-01 -1.92750967e-04 -4.23997881e+02] [ 9.95931037e-01 -9.00935097e-02 -2.12821704e-03 -2.56292563e+02] [-2.13692786e-03 -2.28566052e-07 -9.99997717e-01 -1.76641564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1316.496559995 meters 0.012417723433778144 Centerline is valid? [True, True] Translation: X:-423.99, Y:-256.29, Z:-1.77 [[ 1.28121288e-02 9.99917921e-01 -2.18022356e-05 -4.23990968e+02] [ 9.99916294e-01 -1.28121473e-02 -1.80373445e-03 -2.56292498e+02] [-1.80386574e-03 1.30926747e-06 -9.99998373e-01 -1.76724553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1316.526559995 meters 0.012572914169240224 Centerline is valid? [True, True] Translation: X:-423.98, Y:-256.29, Z:-1.77 [[-6.44105855e-02 9.97923478e-01 9.30074092e-05 -4.23981571e+02] [ 9.97922488e-01 6.44106526e-02 -1.40569215e-03 -2.56292028e+02] [-1.40876387e-03 2.27273056e-06 -9.99999008e-01 -1.76703874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1316.556559995 meters 0.012498727094087487 Centerline is valid? [True, True] Translation: X:-423.97, Y:-256.29, Z:-1.77 [[-1.41833982e-01 9.89890439e-01 2.02595661e-04 -4.23972189e+02] [ 9.89889459e-01 1.41834127e-01 -1.39260303e-03 -2.56290705e+02] [-1.40725940e-03 3.02887626e-06 -9.99999010e-01 -1.76656877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1316.586559995 meters 0.012591602581809773 Centerline is valid? [True, True] Translation: X:-423.96, Y:-256.29, Z:-1.76 [[-2.18501109e-01 9.75836467e-01 6.74233887e-04 -4.23962721e+02] [ 9.75831964e-01 2.18502149e-01 -2.96466129e-03 -2.56289257e+02] [-3.04034616e-03 1.01571980e-05 -9.99995378e-01 -1.76471739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1316.616559995 meters 0.012642691533032865 Centerline is valid? [True, True] Translation: X:-423.95, Y:-256.29, Z:-1.76 [[-2.94203567e-01 9.55742111e-01 1.13068304e-03 -4.23954169e+02] [ 9.55735227e-01 2.94205739e-01 -3.62768804e-03 -2.56286738e+02] [-3.79978767e-03 1.33548543e-05 -9.99992781e-01 -1.76429816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1316.646559995 meters 0.012580888426870008 Centerline is valid? [True, True] Translation: X:-423.94, Y:-256.28, Z:-1.76 [[-3.68029750e-01 9.29812395e-01 1.73620736e-03 -4.23944623e+02] [ 9.29802273e-01 3.68033845e-01 -4.33858898e-03 -2.56282879e+02] [-4.67305688e-03 1.75997280e-05 -9.99989081e-01 -1.76385459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1316.676559995 meters 0.012646379010029865 Centerline is valid? [True, True] Translation: X:-423.94, Y:-256.28, Z:-1.76 [[-4.39704862e-01 8.98139054e-01 2.42377982e-03 -4.23936228e+02] [ 8.98125673e-01 4.39711542e-01 -4.90259359e-03 -2.56278745e+02] [-5.46897473e-03 2.11646403e-05 -9.99985045e-01 -1.76328074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1316.7065599950001 meters 0.012663148344812311 Centerline is valid? [True, True] Translation: X:-423.93, Y:-256.28, Z:-1.76 [[-5.08931856e-01 8.60801255e-01 3.09287201e-03 -4.23929498e+02] [ 8.60785621e-01 5.08941253e-01 -5.18798759e-03 -2.56275766e+02] [-6.03991639e-03 2.19676050e-05 -9.99981760e-01 -1.76329464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1316.736559995 meters 0.012562223792867512 Centerline is valid? [True, True] Translation: X:-423.92, Y:-256.27, Z:-1.76 [[-5.74888491e-01 8.18223510e-01 3.67583799e-03 -4.23921025e+02] [ 8.18207033e-01 5.74900242e-01 -5.19267810e-03 -2.56268073e+02] [-6.36201145e-03 2.23856148e-05 -9.99979762e-01 -1.76416602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1316.766559995 meters 0.012543158126468855 Centerline is valid? [True, True] Translation: X:-423.91, Y:-256.26, Z:-1.76 [[-6.37615867e-01 7.70343556e-01 4.10025529e-03 -4.23913001e+02] [ 7.70327822e-01 6.37629050e-01 -4.92350470e-03 -2.56260992e+02] [-6.40723200e-03 1.92360057e-05 -9.99979474e-01 -1.76424188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1316.796559995 meters 0.012485926906534646 Centerline is valid? [True, True] Translation: X:-423.91, Y:-256.25, Z:-1.77 [[-6.96420008e-01 7.17622479e-01 4.14128662e-03 -4.23906466e+02] [ 7.17609911e-01 6.96432321e-01 -4.24712382e-03 -2.56252900e+02] [-5.93195738e-03 1.40463204e-05 -9.99982406e-01 -1.76501158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1316.826559995 meters 0.01252281157632601 Centerline is valid? [True, True] Translation: X:-423.90, Y:-256.25, Z:-1.76 [[-7.50893065e-01 6.60411995e-01 3.94984947e-03 -4.23900719e+02] [ 6.60402922e-01 7.50903454e-01 -3.46186295e-03 -2.56245794e+02] [-5.25221143e-03 9.00324549e-06 -9.99986207e-01 -1.76490829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1316.856559995 meters 0.01238472266082361 Centerline is valid? [True, True] Translation: X:-423.50, Y:-255.78, Z:-2.82 [[-7.06572931e-01 -7.07632431e-01 3.32214709e-03 -4.23498509e+02] [ 7.07624346e-01 -7.06580740e-01 -3.38273418e-03 -2.55782969e+02] [ 4.74109756e-03 -3.93162437e-05 9.99988760e-01 -2.82410309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1316.886559995 meters 0.012349109958234338 Centerline is valid? [True, True] Translation: X:-423.52, Y:-255.76, Z:-2.82 [[-7.06091225e-01 -7.08113061e-01 3.32795257e-03 -4.23519379e+02] [ 7.08105210e-01 -7.06099067e-01 -3.33454930e-03 -2.55764773e+02] [ 4.71110212e-03 2.04455073e-06 9.99988903e-01 -2.82349459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1316.916559995 meters 0.01235806976880429 Centerline is valid? [True, True] Translation: X:-423.54, Y:-255.75, Z:-2.82 [[-7.05610023e-01 -7.08591991e-01 3.44775722e-03 -4.23539318e+02] [ 7.08583580e-01 -7.05618446e-01 -3.45252737e-03 -2.55747065e+02] [ 4.87923434e-03 6.88624009e-06 9.99988097e-01 -2.82362779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1316.9465599950001 meters 0.012415074493373205 Centerline is valid? [True, True] Translation: X:-423.56, Y:-255.73, Z:-2.82 [[-7.05009316e-01 -7.09189800e-01 3.41930636e-03 -4.23559225e+02] [ 7.09181544e-01 -7.05017608e-01 -3.42200730e-03 -2.55729244e+02] [ 4.83752387e-03 1.23619387e-05 9.99988299e-01 -2.82354531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1316.9765599950001 meters 0.012392006065979086 Centerline is valid? [True, True] Translation: X:-423.58, Y:-255.71, Z:-2.82 [[-7.04491206e-01 -7.09704108e-01 3.49566163e-03 -4.23578515e+02] [ 7.09695495e-01 -7.04499878e-01 -3.49661336e-03 -2.55712132e+02] [ 4.94425406e-03 1.75219508e-05 9.99987777e-01 -2.82315084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1317.006559995 meters 0.012376017436629591 Centerline is valid? [True, True] Translation: X:-423.60, Y:-255.70, Z:-2.82 [[-7.04137189e-01 -7.10056193e-01 3.31979580e-03 -4.23598292e+02] [ 7.10048439e-01 -7.04145015e-01 -3.31854986e-03 -2.55695120e+02] [ 4.69397455e-03 2.05014560e-05 9.99988983e-01 -2.82259450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1317.036559995 meters 0.012530113359237623 Centerline is valid? [True, True] Translation: X:-423.62, Y:-255.72, Z:-2.82 [[-6.53609202e-01 -7.56825875e-01 3.09946971e-03 -4.23622288e+02] [ 7.56817558e-01 -6.53616550e-01 -3.54829465e-03 -2.55720851e+02] [ 4.71130590e-03 2.65350575e-05 9.99988902e-01 -2.82249730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1317.066559995 meters 0.012642485228421242 Centerline is valid? [True, True] Translation: X:-423.64, Y:-255.70, Z:-2.82 [[-6.53225695e-01 -7.57155715e-01 3.37854701e-03 -4.23642226e+02] [ 7.57145859e-01 -6.53234431e-01 -3.86341377e-03 -2.55702351e+02] [ 5.13218905e-03 3.43717369e-05 9.99986830e-01 -2.82331076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1317.096559995 meters 0.01284255083463028 Centerline is valid? [True, True] Translation: X:-423.66, Y:-255.68, Z:-2.83 [[-6.52508592e-01 -7.57765270e-01 4.93284435e-03 -4.23664110e+02] [ 7.57744300e-01 -6.52527235e-01 -5.63768191e-03 -2.55684297e+02] [ 7.49085484e-03 5.91988007e-05 9.99971942e-01 -2.82532983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1317.126559995 meters 0.012898744415275986 Centerline is valid? [True, True] Translation: X:-423.68, Y:-255.66, Z:-2.83 [[-6.52575639e-01 -7.57699810e-01 6.00282253e-03 -4.23682757e+02] [ 7.57668792e-01 -6.52603243e-01 -6.85627351e-03 -2.55664954e+02] [ 9.11245858e-03 7.39142345e-05 9.99958478e-01 -2.82639875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1317.156559995 meters 0.012712648838286131 Centerline is valid? [True, True] Translation: X:-423.70, Y:-255.64, Z:-2.83 [[-6.52856386e-01 -7.57452108e-01 6.69660061e-03 -4.23701757e+02] [ 7.57413537e-01 -6.52890724e-01 -7.64437002e-03 -2.55643783e+02] [ 1.01623926e-02 8.14201746e-05 9.99948358e-01 -2.82646745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1317.1865599950002 meters 0.012925705813204786 Centerline is valid? [True, True] Translation: X:-423.72, Y:-255.62, Z:-2.83 [[-6.53460407e-01 -7.56923690e-01 7.48490398e-03 -4.23719591e+02] [ 7.56875533e-01 -6.53503267e-01 -8.53855509e-03 -2.55624962e+02] [ 1.13544438e-02 8.55330073e-05 9.99935533e-01 -2.82753340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1317.2165599950001 meters 0.012860394841095397 Centerline is valid? [True, True] Translation: X:-423.74, Y:-255.60, Z:-2.83 [[-6.54298250e-01 -7.56195152e-01 7.91784464e-03 -4.23738295e+02] [ 7.56141278e-01 -6.54346151e-01 -9.02681646e-03 -2.55604692e+02] [ 1.20070460e-02 8.07789507e-05 9.99927910e-01 -2.82758988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1317.246559995 meters 0.012671445266165355 Centerline is valid? [True, True] Translation: X:-423.76, Y:-255.59, Z:-2.83 [[-6.55493893e-01 -7.55157170e-01 8.08731468e-03 -4.23756073e+02] [ 7.55100940e-01 -6.55543777e-01 -9.21559025e-03 -2.55585899e+02] [ 1.22608079e-02 6.59757877e-05 9.99924832e-01 -2.82784974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1317.276559995 meters 0.01250758004121959 Centerline is valid? [True, True] Translation: X:-423.77, Y:-255.57, Z:-2.83 [[-6.58249889e-01 -7.52759578e-01 7.75249150e-03 -4.23774537e+02] [ 7.52707808e-01 -6.58295539e-01 -8.82834279e-03 -2.55567427e+02] [ 1.17490502e-02 2.41052256e-05 9.99930977e-01 -2.82776621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1317.306559995 meters 0.012435382021818417 Centerline is valid? [True, True] Translation: X:-423.79, Y:-255.55, Z:-2.83 [[-6.59851873e-01 -7.51361191e-01 7.20179876e-03 -4.23792541e+02] [ 7.51316486e-01 -6.59891173e-01 -8.19624612e-03 -2.55546935e+02] [ 1.09107447e-02 2.52177905e-06 9.99940476e-01 -2.82725166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1317.336559995 meters 0.012435382021818417 Centerline is valid? [True, True] Translation: X:-423.81, Y:-255.53, Z:-2.83 [[-6.60078185e-01 -7.51162359e-01 7.20426763e-03 -4.23810280e+02] [ 7.51117665e-01 -6.60117498e-01 -8.19407614e-03 -2.55526927e+02] [ 1.09107447e-02 2.52177905e-06 9.99940476e-01 -2.82725220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1317.366559995 meters 0.012450103733361473 Centerline is valid? [True, True] Translation: X:-423.83, Y:-255.51, Z:-2.83 [[-6.61616821e-01 -7.49810300e-01 6.90627768e-03 -4.23828288e+02] [ 7.49769202e-01 -6.61652866e-01 -7.85040302e-03 -2.55505915e+02] [ 1.04558715e-02 -1.58443819e-05 9.99945336e-01 -2.82659402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1317.396559995 meters 0.012547136748163068 Centerline is valid? [True, True] Translation: X:-423.85, Y:-255.48, Z:-2.83 [[-6.62722012e-01 -7.48835090e-01 6.74852669e-03 -4.23846026e+02] [ 7.48795846e-01 -6.62756371e-01 -7.66649619e-03 -2.55484948e+02] [ 1.02135704e-02 -2.74870348e-05 9.99947840e-01 -2.82593085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1317.426559995 meters 0.012639516973991185 Centerline is valid? [True, True] Translation: X:-423.86, Y:-255.46, Z:-2.83 [[-6.63596697e-01 -7.48062240e-01 6.50448791e-03 -4.23864143e+02] [ 7.48025788e-01 -6.63628574e-01 -7.38486700e-03 -2.55463964e+02] [ 9.84090419e-03 -3.50486540e-05 9.99951577e-01 -2.82559294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1317.4565599950001 meters 0.012605309481563822 Centerline is valid? [True, True] Translation: X:-423.88, Y:-255.44, Z:-2.83 [[-6.64200094e-01 -7.47527808e-01 6.35700389e-03 -4.23882125e+02] [ 7.47493007e-01 -6.64230514e-01 -7.21315012e-03 -2.55443426e+02] [ 9.61454625e-03 -3.91590367e-05 9.99953779e-01 -2.82527988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1317.486559995 meters 0.012519518264876564 Centerline is valid? [True, True] Translation: X:-423.90, Y:-255.42, Z:-2.82 [[-6.63837362e-01 -7.47853246e-01 5.95646526e-03 -4.23900294e+02] [ 7.47822743e-01 -6.63864084e-01 -6.75447798e-03 -2.55424963e+02] [ 9.00564164e-03 -2.94946551e-05 9.99959448e-01 -2.82444530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1317.516559995 meters 0.012314692616633222 Centerline is valid? [True, True] Translation: X:-423.92, Y:-255.41, Z:-2.82 [[-6.63352686e-01 -7.48283630e-01 5.90117546e-03 -4.23920613e+02] [ 7.48253741e-01 -6.63378933e-01 -6.68803661e-03 -2.55405860e+02] [ 8.91926379e-03 -2.09504328e-05 9.99960223e-01 -2.82324671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1317.546559995 meters 0.012423304903143351 Centerline is valid? [True, True] Translation: X:-423.94, Y:-255.39, Z:-2.83 [[-6.62297200e-01 -7.49218328e-01 5.85802786e-03 -4.23939696e+02] [ 7.49188940e-01 -6.62323106e-01 -6.63590812e-03 -2.55387776e+02] [ 8.85165120e-03 -6.17368920e-06 9.99960824e-01 -2.82515932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1317.576559995 meters 0.01237140638153221 Centerline is valid? [True, True] Translation: X:-423.96, Y:-255.37, Z:-2.83 [[-6.60796243e-01 -7.50541364e-01 5.99886582e-03 -4.23958853e+02] [ 7.50510642e-01 -6.60823472e-01 -6.79085480e-03 -2.55370207e+02] [ 9.06100876e-03 1.48413048e-05 9.99958948e-01 -2.82605502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1317.606559995 meters 0.012626356034918223 Centerline is valid? [True, True] Translation: X:-423.98, Y:-255.35, Z:-2.83 [[-6.59282210e-01 -7.51867742e-01 6.47046019e-03 -4.23978181e+02] [ 7.51832108e-01 -6.59313960e-01 -7.32006930e-03 -2.55352292e+02] [ 9.76978870e-03 3.87082597e-05 9.99952274e-01 -2.82677651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1317.636559995 meters 0.013018407984192829 Centerline is valid? [True, True] Translation: X:-424.00, Y:-255.33, Z:-2.83 [[-6.57463246e-01 -7.53454627e-01 6.94292953e-03 -4.23997975e+02] [ 7.53413735e-01 -6.57499901e-01 -7.85012239e-03 -2.55333717e+02] [ 1.04796865e-02 6.97315210e-05 9.99945084e-01 -2.82761228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1317.666559995 meters 0.013656807236720924 Centerline is valid? [True, True] Translation: X:-424.02, Y:-255.32, Z:-2.83 [[-6.55893197e-01 -7.54815142e-01 7.62992486e-03 -4.24017262e+02] [ 7.54765908e-01 -6.55937566e-01 -8.62174404e-03 -2.55315154e+02] [ 1.15125773e-02 1.03863911e-04 9.99933723e-01 -2.82878577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1317.6965599950001 meters 0.014857889772843228 Centerline is valid? [True, True] Translation: X:-424.04, Y:-255.30, Z:-2.83 [[-6.53562670e-01 -7.56819761e-01 8.92669643e-03 -4.24037061e+02] [ 7.56752635e-01 -6.53623608e-01 -1.00811133e-02 -2.55297595e+02] [ 1.34642853e-02 1.66661689e-04 9.99909339e-01 -2.83085613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1317.7265599950001 meters 0.01352312357943256 Centerline is valid? [True, True] Translation: X:-424.05, Y:-255.28, Z:-2.83 [[-6.53072094e-01 -7.57238908e-01 9.27772904e-03 -4.24053889e+02] [ 7.57166523e-01 -6.53137965e-01 -1.04716446e-02 -2.55275199e+02] [ 1.39891738e-02 1.86046974e-04 9.99902130e-01 -2.82783667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1317.756559995 meters 0.013487291123622156 Centerline is valid? [True, True] Translation: X:-424.07, Y:-255.25, Z:-2.83 [[-6.53102136e-01 -7.57211854e-01 9.37059935e-03 -4.24072216e+02] [ 7.57138096e-01 -6.53169328e-01 -1.05703975e-02 -2.55254410e+02] [ 1.41246184e-02 1.91288583e-04 9.99900225e-01 -2.82730118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1317.786559995 meters 0.015479230602690417 Centerline is valid? [True, True] Translation: X:-424.09, Y:-255.24, Z:-2.83 [[-6.53603633e-01 -7.56778506e-01 9.41187273e-03 -4.24093243e+02] [ 7.56704142e-01 -6.53671369e-01 -1.06105403e-02 -2.55236659e+02] [ 1.41821006e-02 1.86915384e-04 9.99899412e-01 -2.83154798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1317.816559995 meters 0.013577742579909374 Centerline is valid? [True, True] Translation: X:-424.11, Y:-255.21, Z:-2.83 [[-6.54531065e-01 -7.55977879e-01 9.30222832e-03 -4.24107775e+02] [ 7.55905248e-01 -6.54597141e-01 -1.04804267e-02 -2.55213778e+02] [ 1.40121828e-02 1.71838369e-04 9.99901810e-01 -2.82697003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1317.846559995 meters 0.014284652516538437 Centerline is valid? [True, True] Translation: X:-424.13, Y:-255.19, Z:-2.83 [[-6.56798065e-01 -7.54026342e-01 7.78324100e-03 -4.24125636e+02] [ 7.53975412e-01 -6.56844170e-01 -8.76441764e-03 -2.55193459e+02] [ 1.17209782e-02 1.11919793e-04 9.99931301e-01 -2.82748067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1317.876559995 meters 0.012843901991038648 Centerline is valid? [True, True] Translation: X:-424.14, Y:-255.17, Z:-2.82 [[-6.58176631e-01 -7.52831662e-01 6.92902817e-03 -4.24140376e+02] [ 7.52791282e-01 -6.58213097e-01 -7.79771672e-03 -2.55170669e+02] [ 1.04311451e-02 8.38370824e-05 9.99945591e-01 -2.82275159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1317.906559995 meters 0.012501045086611848 Centerline is valid? [True, True] Translation: X:-424.16, Y:-255.15, Z:-2.82 [[-6.59702142e-01 -7.51503415e-01 5.97503917e-03 -4.24157773e+02] [ 7.51473368e-01 -6.59729197e-01 -6.72035065e-03 -2.55148491e+02] [ 8.99227426e-03 5.66530889e-05 9.99959567e-01 -2.82110075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1317.9365599950002 meters 0.012396136296782727 Centerline is valid? [True, True] Translation: X:-424.17, Y:-255.13, Z:-2.82 [[-6.61098479e-01 -7.50280518e-01 5.28629444e-03 -4.24174431e+02] [ 7.50256991e-01 -6.61119613e-01 -5.94175498e-03 -2.55128345e+02] [ 7.95285594e-03 3.79941798e-05 9.99968375e-01 -2.82044913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1317.9665599950001 meters 0.012280379525825405 Centerline is valid? [True, True] Translation: X:-424.19, Y:-255.11, Z:-2.82 [[-6.62248794e-01 -7.49268578e-01 4.80974030e-03 -4.24191911e+02] [ 7.49249099e-01 -6.62266259e-01 -5.40273098e-03 -2.55107393e+02] [ 7.23342527e-03 2.57415084e-05 9.99973838e-01 -2.82010835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1317.996559995 meters 0.012250500302917886 Centerline is valid? [True, True] Translation: X:-424.21, Y:-255.09, Z:-2.82 [[-6.63260349e-01 -7.48374249e-01 4.65753706e-03 -4.24209572e+02] [ 7.48355985e-01 -6.63276702e-01 -5.22851097e-03 -2.55087301e+02] [ 7.00211879e-03 1.76317259e-05 9.99975485e-01 -2.82030218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1318.026559995 meters 0.012364500867677994 Centerline is valid? [True, True] Translation: X:-424.23, Y:-255.07, Z:-2.82 [[-6.63897121e-01 -7.47808925e-01 4.73543117e-03 -4.24227277e+02] [ 7.47790055e-01 -6.63914009e-01 -5.31250125e-03 -2.55067823e+02] [ 7.11665494e-03 1.41540470e-05 9.99974676e-01 -2.82112287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1318.056559995 meters 0.012387208541652121 Centerline is valid? [True, True] Translation: X:-424.25, Y:-255.05, Z:-2.82 [[-6.63688631e-01 -7.47991267e-01 5.14442561e-03 -4.24245808e+02] [ 7.47969029e-01 -6.63708568e-01 -5.76782369e-03 -2.55047823e+02] [ 7.72868111e-03 1.98320146e-05 9.99970133e-01 -2.82203808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1318.086559995 meters 0.012390555498311912 Centerline is valid? [True, True] Translation: X:-424.26, Y:-255.03, Z:-2.82 [[-6.63072343e-01 -7.48533202e-01 5.75451855e-03 -4.24264801e+02] [ 7.48505428e-01 -6.63097312e-01 -6.44818176e-03 -2.55026844e+02] [ 8.64248392e-03 3.16773855e-05 9.99962653e-01 -2.82196912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1318.116559995 meters 0.012506674695590619 Centerline is valid? [True, True] Translation: X:-424.28, Y:-255.01, Z:-2.82 [[-6.62462192e-01 -7.49065893e-01 6.64316840e-03 -4.24283122e+02] [ 7.49028951e-01 -6.62495498e-01 -7.43949437e-03 -2.55007111e+02] [ 9.97374065e-03 4.75417074e-05 9.99950260e-01 -2.82328426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1318.146559995 meters 0.012739241516971629 Centerline is valid? [True, True] Translation: X:-424.30, Y:-254.99, Z:-2.82 [[-6.61716547e-01 -7.49717865e-01 7.37122102e-03 -4.24301497e+02] [ 7.49672466e-01 -6.61757598e-01 -8.25081900e-03 -2.54988272e+02] [ 1.10637479e-02 6.62979831e-05 9.99938793e-01 -2.82489835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1318.176559995 meters 0.012889463527288274 Centerline is valid? [True, True] Translation: X:-424.32, Y:-254.97, Z:-2.83 [[-6.60821689e-01 -7.50500680e-01 7.96401274e-03 -4.24320752e+02] [ 7.50447800e-01 -6.60869671e-01 -8.90942318e-03 -2.54967572e+02] [ 1.19497026e-02 8.90357658e-05 9.99928596e-01 -2.82525180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1318.2065599950001 meters 0.013516900452732749 Centerline is valid? [True, True] Translation: X:-424.34, Y:-254.95, Z:-2.83 [[-6.59853952e-01 -7.51343905e-01 8.66600886e-03 -4.24340442e+02] [ 7.51281437e-01 -6.59910845e-01 -9.68910454e-03 -2.54948285e+02] [ 1.29986429e-02 1.17217676e-04 9.99915507e-01 -2.82783002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1318.236559995 meters 0.013243119361338443 Centerline is valid? [True, True] Translation: X:-424.36, Y:-254.93, Z:-2.83 [[-6.58158850e-01 -7.52816914e-01 9.67588256e-03 -4.24358113e+02] [ 7.52739282e-01 -6.58229950e-01 -1.08123569e-02 -2.54925982e+02] [ 1.45086808e-02 1.67168518e-04 9.99894730e-01 -2.82614482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1318.266559995 meters 0.014591066244901994 Centerline is valid? [True, True] Translation: X:-424.38, Y:-254.91, Z:-2.83 [[-6.57855002e-01 -7.53080520e-01 9.82485261e-03 -4.24377791e+02] [ 7.53000606e-01 -6.57928339e-01 -1.09721521e-02 -2.54907722e+02] [ 1.47269629e-02 1.80034838e-04 9.99891536e-01 -2.82937684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1318.296559995 meters 0.014753999407760475 Centerline is valid? [True, True] Translation: X:-424.40, Y:-254.89, Z:-2.83 [[-6.57807421e-01 -7.53124472e-01 9.63988394e-03 -4.24395491e+02] [ 7.53047644e-01 -6.57878026e-01 -1.07586704e-02 -2.54887607e+02] [ 1.44444858e-02 1.82158641e-04 9.99895657e-01 -2.82901623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1318.326559995 meters 0.013594223080067224 Centerline is valid? [True, True] Translation: X:-424.41, Y:-254.86, Z:-2.83 [[-6.58002810e-01 -7.52958415e-01 9.26971284e-03 -4.24411867e+02] [ 7.52887440e-01 -6.58068077e-01 -1.03396491e-02 -2.54864160e+02] [ 1.38854279e-02 1.75532237e-04 9.99903578e-01 -2.82551762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1318.356559995 meters 0.013602665407955055 Centerline is valid? [True, True] Translation: X:-424.43, Y:-254.84, Z:-2.83 [[-6.58630800e-01 -7.52417537e-01 8.56267239e-03 -4.24429381e+02] [ 7.52357002e-01 -6.58686440e-01 -9.54542109e-03 -2.54843106e+02] [ 1.28222584e-02 1.55278200e-04 9.99917780e-01 -2.82516828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1318.386559995 meters 0.01359075368270467 Centerline is valid? [True, True] Translation: X:-424.45, Y:-254.82, Z:-2.82 [[-6.59579794e-01 -7.51593092e-01 7.89419745e-03 -4.24446052e+02] [ 7.51541650e-01 -6.59627021e-01 -8.79445599e-03 -2.54822480e+02] [ 1.18170783e-02 1.32172706e-04 9.99930167e-01 -2.82461241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1318.416559995 meters 0.012910048815415565 Centerline is valid? [True, True] Translation: X:-424.46, Y:-254.80, Z:-2.82 [[-6.61204219e-01 -7.50181074e-01 6.11042441e-03 -4.24461999e+02] [ 7.50150227e-01 -6.61232447e-01 -6.80353235e-03 -2.54798336e+02] [ 9.14429209e-03 8.52119673e-05 9.99958187e-01 -2.82132398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1318.4465599950001 meters 0.01292174108535544 Centerline is valid? [True, True] Translation: X:-424.48, Y:-254.78, Z:-2.82 [[-6.62088616e-01 -7.49408150e-01 5.10783354e-03 -4.24479154e+02] [ 7.49386598e-01 -6.62108315e-01 -5.68388657e-03 -2.54777149e+02] [ 7.64148998e-03 6.45054039e-05 9.99970802e-01 -2.82049818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1318.4765599950001 meters 0.012905706362797652 Centerline is valid? [True, True] Translation: X:-424.50, Y:-254.76, Z:-2.82 [[-6.62805410e-01 -7.48779474e-01 4.27651726e-03 -4.24496068e+02] [ 7.48764373e-01 -6.62819204e-01 -4.75565150e-03 -2.54756447e+02] [ 6.39549200e-03 5.00322240e-05 9.99979548e-01 -2.82004259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1318.506559995 meters 0.01275521778263143 Centerline is valid? [True, True] Translation: X:-424.51, Y:-254.73, Z:-2.82 [[-6.63402660e-01 -7.48253422e-01 3.70498714e-03 -4.24513184e+02] [ 7.48242094e-01 -6.63413005e-01 -4.11750861e-03 -2.54734715e+02] [ 5.53887656e-03 4.06611681e-05 9.99984660e-01 -2.81933077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1318.536559995 meters 0.012847555972461521 Centerline is valid? [True, True] Translation: X:-424.53, Y:-254.71, Z:-2.82 [[-6.63728397e-01 -7.47967824e-01 2.95795053e-03 -4.24529781e+02] [ 7.47960611e-01 -6.63734987e-01 -3.28513441e-03 -2.54714395e+02] [ 4.42047009e-03 3.19934918e-05 9.99990229e-01 -2.81915498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1318.566559995 meters 0.01286045744617019 Centerline is valid? [True, True] Translation: X:-424.55, Y:-254.69, Z:-2.82 [[-6.63599810e-01 -7.48082559e-01 2.78899715e-03 -4.24547778e+02] [ 7.48076154e-01 -6.63605670e-01 -3.09558623e-03 -2.54693365e+02] [ 4.16654839e-03 3.21518343e-05 9.99991320e-01 -2.81892009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1318.596559995 meters 0.01301269032060244 Centerline is valid? [True, True] Translation: X:-424.57, Y:-254.67, Z:-2.82 [[-6.61914223e-01 -7.49576198e-01 2.25495875e-03 -4.24565847e+02] [ 7.49572024e-01 -6.61918063e-01 -2.50180443e-03 -2.54672509e+02] [ 3.36789098e-03 3.42740556e-05 9.99994328e-01 -2.81883324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1318.626559995 meters 0.013735749237505281 Centerline is valid? [True, True] Translation: X:-424.59, Y:-254.65, Z:-2.82 [[-6.60649579e-01 -7.50690134e-01 2.54101386e-03 -4.24585243e+02] [ 7.50684848e-01 -6.60654464e-01 -2.81749165e-03 -2.54653505e+02] [ 3.79379533e-03 4.61259324e-05 9.99992803e-01 -2.81954997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1318.656559995 meters 0.01385781815540947 Centerline is valid? [True, True] Translation: X:-424.60, Y:-254.63, Z:-2.82 [[-6.59384120e-01 -7.51800925e-01 2.81975189e-03 -4.24603917e+02] [ 7.51794434e-01 -6.59390146e-01 -3.12470766e-03 -2.54633254e+02] [ 4.20847472e-03 5.94911630e-05 9.99991143e-01 -2.81981207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1318.6865599950002 meters 0.014410832089194591 Centerline is valid? [True, True] Translation: X:-424.62, Y:-254.61, Z:-2.82 [[-6.57936757e-01 -7.53067060e-01 3.03750709e-03 -4.24623039e+02] [ 7.53059550e-01 -6.57943765e-01 -3.36403477e-03 -2.54614604e+02] [ 4.53185262e-03 7.41015929e-05 9.99989729e-01 -2.82083729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1318.7165599950001 meters 0.014650558402642486 Centerline is valid? [True, True] Translation: X:-424.64, Y:-254.59, Z:-2.82 [[-6.56752393e-01 -7.54096279e-01 3.88545413e-03 -4.24642153e+02] [ 7.54084023e-01 -6.56763878e-01 -4.30072881e-03 -2.54594484e+02] [ 5.79498951e-03 1.05444949e-04 9.99983204e-01 -2.82153424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1318.746559995 meters 0.015000914573812831 Centerline is valid? [True, True] Translation: X:-424.66, Y:-254.57, Z:-2.82 [[-6.55652229e-01 -7.55050359e-01 4.37145921e-03 -4.24661074e+02] [ 7.55034884e-01 -6.55666789e-01 -4.83594628e-03 -2.54573700e+02] [ 6.51760360e-03 1.29905236e-04 9.99978752e-01 -2.82225430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1318.776559995 meters 0.0156410643492804 Centerline is valid? [True, True] Translation: X:-424.68, Y:-254.55, Z:-2.82 [[-6.55082892e-01 -7.55532444e-01 6.09350804e-03 -4.24678918e+02] [ 7.55502431e-01 -6.55111205e-01 -6.73696026e-03 -2.54553017e+02] [ 9.08191744e-03 1.90392722e-04 9.99958741e-01 -2.82474496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1318.806559995 meters 0.015732081901090825 Centerline is valid? [True, True] Translation: X:-424.70, Y:-254.53, Z:-2.83 [[-6.55857510e-01 -7.54851644e-01 7.06556561e-03 -4.24695875e+02] [ 7.54811306e-01 -6.55895533e-01 -7.80655369e-03 -2.54532396e+02] [ 1.05270628e-02 2.13181948e-04 9.99944566e-01 -2.82625601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1318.836559995 meters 0.015099473248612655 Centerline is valid? [True, True] Translation: X:-424.71, Y:-254.51, Z:-2.83 [[-6.57486878e-01 -7.53431993e-01 7.15806547e-03 -4.24712752e+02] [ 7.53390554e-01 -6.57525813e-01 -7.90438340e-03 -2.54509266e+02] [ 1.06620281e-02 1.95790543e-04 9.99943140e-01 -2.82692108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1318.866559995 meters 0.01438382759171258 Centerline is valid? [True, True] Translation: X:-424.73, Y:-254.49, Z:-2.83 [[-6.59648930e-01 -7.51536240e-01 7.52128433e-03 -4.24728482e+02] [ 7.51490416e-01 -6.59691784e-01 -8.30087733e-03 -2.54486139e+02] [ 1.12001396e-02 1.76508242e-04 9.99937261e-01 -2.82718415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1318.896559995 meters 0.013551565816400856 Centerline is valid? [True, True] Translation: X:-424.74, Y:-254.46, Z:-2.83 [[-6.62543371e-01 -7.48988226e-01 7.27450677e-03 -4.24743763e+02] [ 7.48945255e-01 -6.62583292e-01 -8.02403889e-03 -2.54462500e+02] [ 1.08298773e-02 1.31933560e-04 9.99941347e-01 -2.82677253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1318.926559995 meters 0.012971129531620036 Centerline is valid? [True, True] Translation: X:-424.76, Y:-254.44, Z:-2.83 [[-6.65589408e-01 -7.46285550e-01 6.97270792e-03 -4.24759351e+02] [ 7.46245966e-01 -6.65625924e-01 -7.68684337e-03 -2.54438283e+02] [ 1.03777953e-02 8.70736279e-05 9.99946146e-01 -2.82621054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1318.9565599950001 meters 0.012608366897704705 Centerline is valid? [True, True] Translation: X:-424.77, Y:-254.41, Z:-2.83 [[-6.72152043e-01 -7.40391477e-01 5.66502369e-03 -4.24771287e+02] [ 7.40365165e-01 -6.72175915e-01 -6.24195986e-03 -2.54410452e+02] [ 8.42938636e-03 -1.35986850e-06 9.99964472e-01 -2.82518536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1318.986559995 meters 0.012806940921363008 Centerline is valid? [True, True] Translation: X:-424.78, Y:-254.39, Z:-2.83 [[-6.75012634e-01 -7.37788194e-01 5.15014821e-03 -4.24784863e+02] [ 7.37766400e-01 -6.75032280e-01 -5.67091703e-03 -2.54387394e+02] [ 7.66045192e-03 -2.83343393e-05 9.99970658e-01 -2.82533329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1319.016559995 meters 0.013100469575903124 Centerline is valid? [True, True] Translation: X:-424.80, Y:-254.36, Z:-2.82 [[-6.77567099e-01 -7.35446126e-01 4.67148112e-03 -4.24799684e+02] [ 7.35428160e-01 -6.77583201e-01 -5.14072451e-03 -2.54364479e+02] [ 6.94604305e-03 -4.76470251e-05 9.99975875e-01 -2.82426265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1319.046559995 meters 0.01325068986196105 Centerline is valid? [True, True] Translation: X:-424.82, Y:-254.34, Z:-2.82 [[-6.79248678e-01 -7.33895595e-01 4.29994646e-03 -4.24815129e+02] [ 7.33880361e-01 -6.79262286e-01 -4.72893438e-03 -2.54342272e+02] [ 6.39133557e-03 -5.64761641e-05 9.99979574e-01 -2.82338113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1319.076559995 meters 0.013287001266151566 Centerline is valid? [True, True] Translation: X:-424.83, Y:-254.32, Z:-2.82 [[-6.79696785e-01 -7.33483542e-01 3.76472340e-03 -4.24832888e+02] [ 7.33471873e-01 -6.79707209e-01 -4.13773286e-03 -2.54320923e+02] [ 5.59386859e-03 -5.10850031e-05 9.99984353e-01 -2.82242889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1319.106559995 meters 0.013047374878093014 Centerline is valid? [True, True] Translation: X:-424.85, Y:-254.30, Z:-2.82 [[-6.78414788e-01 -7.34673487e-01 2.87116005e-03 -4.24851381e+02] [ 7.34666717e-01 -6.78420863e-01 -3.15411553e-03 -2.54302574e+02] [ 4.26509994e-03 -3.04528916e-05 9.99990904e-01 -2.82225887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1319.136559995 meters 0.012590310186702043 Centerline is valid? [True, True] Translation: X:-424.87, Y:-254.28, Z:-2.82 [[-6.73788319e-01 -7.38917480e-01 3.20314461e-03 -4.24874408e+02] [ 7.38909110e-01 -6.73795933e-01 -3.51697147e-03 -2.54284962e+02] [ 4.75701751e-03 -2.86156757e-06 9.99988686e-01 -2.82239243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1319.166559995 meters 0.012744565641482655 Centerline is valid? [True, True] Translation: X:-424.89, Y:-254.27, Z:-2.82 [[-6.71043647e-01 -7.41407182e-01 3.97690584e-03 -4.24894423e+02] [ 7.41394340e-01 -6.71055431e-01 -4.36365662e-03 -2.54267179e+02] [ 5.90397062e-03 2.02514367e-05 9.99982571e-01 -2.82411547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1319.1965599950001 meters 0.013236288954093973 Centerline is valid? [True, True] Translation: X:-424.92, Y:-254.25, Z:-2.83 [[-6.68473693e-01 -7.43720753e-01 4.72894978e-03 -4.24915098e+02] [ 7.43702674e-01 -6.68490418e-01 -5.18596203e-03 -2.54249129e+02] [ 7.01816520e-03 5.02534055e-05 9.99975371e-01 -2.82530601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1319.2265599950001 meters 0.013567244787201903 Centerline is valid? [True, True] Translation: X:-424.94, Y:-254.23, Z:-2.83 [[-6.65982015e-01 -7.45946303e-01 5.66302080e-03 -4.24935092e+02] [ 7.45920485e-01 -6.66006085e-01 -6.20686158e-03 -2.54229681e+02] [ 8.40159176e-03 9.05050382e-05 9.99964702e-01 -2.82563375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1319.256559995 meters 0.013567244787201903 Centerline is valid? [True, True] Translation: X:-424.95, Y:-254.21, Z:-2.83 [[-6.66213813e-01 -7.45739274e-01 5.66495013e-03 -4.24953203e+02] [ 7.45713463e-01 -6.66237891e-01 -6.20510075e-03 -2.54209990e+02] [ 8.40159175e-03 9.05057470e-05 9.99964702e-01 -2.82563429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1319.286559995 meters 0.01407915503937702 Centerline is valid? [True, True] Translation: X:-424.97, Y:-254.19, Z:-2.83 [[-6.64342439e-01 -7.47400794e-01 6.41703341e-03 -4.24973670e+02] [ 7.47367789e-01 -6.64373417e-01 -7.02499228e-03 -2.54190538e+02] [ 9.51379122e-03 1.28883569e-04 9.99954735e-01 -2.82698261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1319.316559995 meters 0.014780941799783972 Centerline is valid? [True, True] Translation: X:-424.99, Y:-254.17, Z:-2.83 [[-6.62880248e-01 -7.48691403e-01 7.13865415e-03 -4.24993441e+02] [ 7.48650681e-01 -6.62918664e-01 -7.81039631e-03 -2.54172190e+02] [ 1.05799236e-02 1.67000851e-04 9.99944017e-01 -2.82858560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1319.346559995 meters 0.015208324413631208 Centerline is valid? [True, True] Translation: X:-425.01, Y:-254.15, Z:-2.83 [[-6.61485740e-01 -7.49910257e-01 8.43932030e-03 -4.25013705e+02] [ 7.49853511e-01 -6.61539535e-01 -9.22805934e-03 -2.54153210e+02] [ 1.25031604e-02 2.24024293e-04 9.99921808e-01 -2.83042951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1319.376559995 meters 0.01536154000806645 Centerline is valid? [True, True] Translation: X:-425.03, Y:-254.13, Z:-2.83 [[-6.61694667e-01 -7.49721307e-01 8.83911427e-03 -4.25032361e+02] [ 7.49659117e-01 -6.61753661e-01 -9.65926209e-03 -2.54133795e+02] [ 1.30910708e-02 2.34840376e-04 9.99914281e-01 -2.83109208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1319.406559995 meters 0.01521248919095626 Centerline is valid? [True, True] Translation: X:-425.05, Y:-254.11, Z:-2.83 [[-6.62483494e-01 -7.49024477e-01 8.82912117e-03 -4.25050205e+02] [ 7.48962443e-01 -6.62542288e-01 -9.64240738e-03 -2.54113567e+02] [ 1.30720653e-02 2.24744430e-04 9.99914532e-01 -2.83092479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1319.4365599950002 meters 0.015308214103278907 Centerline is valid? [True, True] Translation: X:-425.07, Y:-254.09, Z:-2.83 [[-6.63752521e-01 -7.47904126e-01 8.48583585e-03 -4.25067764e+02] [ 7.47846806e-01 -6.63806733e-01 -9.26152521e-03 -2.54094533e+02] [ 1.25596879e-02 1.98744528e-04 9.99921104e-01 -2.83146658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1319.4665599950001 meters 0.014905245631566456 Centerline is valid? [True, True] Translation: X:-425.09, Y:-254.07, Z:-2.83 [[-6.65019425e-01 -7.46782440e-01 8.07169132e-03 -4.25085897e+02] [ 7.46730555e-01 -6.65068386e-01 -8.80460363e-03 -2.54073581e+02] [ 1.19433501e-02 1.72146097e-04 9.99928661e-01 -2.83086759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1319.496559995 meters 0.014072490615348548 Centerline is valid? [True, True] Translation: X:-425.10, Y:-254.05, Z:-2.83 [[-6.66469222e-01 -7.45491874e-01 7.78732553e-03 -4.25102486e+02] [ 7.45443553e-01 -6.66514699e-01 -8.48917051e-03 -2.54052061e+02] [ 1.15189746e-02 1.47240750e-04 9.99933644e-01 -2.82910990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1319.526559995 meters 0.013834946439588849 Centerline is valid? [True, True] Translation: X:-425.12, Y:-254.03, Z:-2.83 [[-6.69268851e-01 -7.42988637e-01 6.86225398e-03 -4.25120244e+02] [ 7.42951022e-01 -6.69304024e-01 -7.47675645e-03 -2.54031310e+02] [ 1.01480793e-02 9.43584150e-05 9.99948503e-01 -2.82973888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1319.556559995 meters 0.013514768753106548 Centerline is valid? [True, True] Translation: X:-425.14, Y:-254.01, Z:-2.83 [[-6.70662364e-01 -7.41736245e-01 6.27186558e-03 -4.25137742e+02] [ 7.41704806e-01 -6.70691686e-01 -6.82955490e-03 -2.54010479e+02] [ 9.27221651e-03 7.15474090e-05 9.99957010e-01 -2.82929008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1319.586559995 meters 0.012924370914760884 Centerline is valid? [True, True] Translation: X:-425.15, Y:-253.99, Z:-2.83 [[-6.72257960e-01 -7.40295167e-01 5.68341706e-03 -4.25154330e+02] [ 7.40269331e-01 -6.72281982e-01 -6.18496832e-03 -2.53988872e+02] [ 8.39956104e-03 4.93651597e-05 9.99964722e-01 -2.82771326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1319.616559995 meters 0.01268429366363198 Centerline is valid? [True, True] Translation: X:-425.17, Y:-253.97, Z:-2.83 [[-6.73937272e-01 -7.38769105e-01 5.36321832e-03 -4.25171645e+02] [ 7.38746078e-01 -6.73958611e-01 -5.83288955e-03 -2.53967446e+02] [ 7.92374576e-03 3.10548305e-05 9.99968606e-01 -2.82718140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1319.646559995 meters 0.012671899643443582 Centerline is valid? [True, True] Translation: X:-425.19, Y:-253.95, Z:-2.83 [[-6.75426978e-01 -7.37409839e-01 5.01269044e-03 -4.25188366e+02] [ 7.37389712e-01 -6.75445578e-01 -5.44827563e-03 -2.53946404e+02] [ 7.40341165e-03 1.63940161e-05 9.99972594e-01 -2.82676556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1319.676559995 meters 0.012552691537847417 Centerline is valid? [True, True] Translation: X:-425.21, Y:-253.92, Z:-2.83 [[-6.77948787e-01 -7.35097822e-01 4.07844432e-03 -4.25205511e+02] [ 7.35084472e-01 -6.77961055e-01 -4.43030931e-03 -2.53924629e+02] [ 6.02173714e-03 -5.52172971e-06 9.99981869e-01 -2.82553207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1319.7065599950001 meters 0.01256753969587713 Centerline is valid? [True, True] Translation: X:-425.22, Y:-253.90, Z:-2.83 [[-6.78524530e-01 -7.34569213e-01 3.54044146e-03 -4.25224643e+02] [ 7.34559153e-01 -6.78533766e-01 -3.84428849e-03 -2.53904934e+02] [ 5.22620505e-03 -7.78035624e-06 9.99986343e-01 -2.82554817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1319.736559995 meters 0.012646937713704244 Centerline is valid? [True, True] Translation: X:-425.24, Y:-253.89, Z:-2.83 [[-6.78564572e-01 -7.34532642e-01 3.45245314e-03 -4.25244172e+02] [ 7.34523087e-01 -6.78573355e-01 -3.74663322e-03 -2.53885204e+02] [ 5.09476710e-03 -6.42603020e-06 9.99987022e-01 -2.82587928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1319.766559995 meters 0.01264077364757531 Centerline is valid? [True, True] Translation: X:-425.26, Y:-253.87, Z:-2.83 [[-6.78336855e-01 -7.34738989e-01 4.21063897e-03 -4.25264141e+02] [ 7.34724796e-01 -6.78349923e-01 -4.56686318e-03 -2.53865489e+02] [ 6.21173905e-03 -4.21074838e-06 9.99980707e-01 -2.82616648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1319.796559995 meters 0.01261240382099431 Centerline is valid? [True, True] Translation: X:-425.28, Y:-253.85, Z:-2.83 [[-6.78002578e-01 -7.35044850e-01 4.64466002e-03 -4.25282914e+02] [ 7.35027610e-01 -6.78018487e-01 -5.03427568e-03 -2.53847401e+02] [ 6.84958377e-03 7.01460524e-07 9.99976542e-01 -2.82730375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1319.826559995 meters 0.012682362949999963 Centerline is valid? [True, True] Translation: X:-425.30, Y:-253.83, Z:-2.83 [[-6.77580769e-01 -7.35429380e-01 5.28479563e-03 -4.25302157e+02] [ 7.35407100e-01 -6.77601378e-01 -5.72454555e-03 -2.53828701e+02] [ 7.79098379e-03 7.63425295e-06 9.99969650e-01 -2.82842364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1319.856559995 meters 0.012845852923866039 Centerline is valid? [True, True] Translation: X:-425.32, Y:-253.81, Z:-2.83 [[-6.76131818e-01 -7.36745059e-01 7.24450597e-03 -4.25322849e+02] [ 7.36703313e-01 -6.76170628e-01 -7.84291048e-03 -2.53809045e+02] [ 1.06767477e-02 3.42102242e-05 9.99943002e-01 -2.83084106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1319.886559995 meters 0.012930889602017208 Centerline is valid? [True, True] Translation: X:-425.34, Y:-253.79, Z:-2.83 [[-6.75611211e-01 -7.37215297e-01 7.94340244e-03 -4.25342516e+02] [ 7.37165197e-01 -6.75657904e-01 -8.59473190e-03 -2.53789606e+02] [ 1.17031905e-02 4.89025947e-05 9.99931514e-01 -2.83210757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1319.916559995 meters 0.013036122276555866 Centerline is valid? [True, True] Translation: X:-425.36, Y:-253.77, Z:-2.83 [[-6.75087426e-01 -7.37690770e-01 8.32439906e-03 -4.25362438e+02] [ 7.37635847e-01 -6.75138744e-01 -9.00187385e-03 -2.53770173e+02] [ 1.22607236e-02 6.33233087e-05 9.99924833e-01 -2.83250846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1319.9465599950001 meters 0.013137030530270752 Centerline is valid? [True, True] Translation: X:-425.38, Y:-253.75, Z:-2.83 [[-6.74844700e-01 -7.37908940e-01 8.66180978e-03 -4.25382095e+02] [ 7.37849563e-01 -6.74900282e-01 -9.36116125e-03 -2.53751804e+02] [ 1.27535424e-02 7.37825085e-05 9.99918668e-01 -2.83374182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1319.9765599950001 meters 0.013097668633866385 Centerline is valid? [True, True] Translation: X:-425.40, Y:-253.73, Z:-2.83 [[-6.74911076e-01 -7.37845085e-01 8.92581629e-03 -4.25401162e+02] [ 7.37782107e-01 -6.74970091e-01 -9.64050119e-03 -2.53732817e+02] [ 1.31378555e-02 7.88265185e-05 9.99913692e-01 -2.83423322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1320.006559995 meters 0.013064595391851813 Centerline is valid? [True, True] Translation: X:-425.42, Y:-253.71, Z:-2.83 [[-6.75165117e-01 -7.37611571e-01 9.01306625e-03 -4.25420613e+02] [ 7.37547406e-01 -6.75225270e-01 -9.72929200e-03 -2.53712411e+02] [ 1.32622884e-02 7.86850650e-05 9.99912049e-01 -2.83384070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1320.036559995 meters 0.012997368047966853 Centerline is valid? [True, True] Translation: X:-425.44, Y:-253.69, Z:-2.83 [[-6.76146781e-01 -7.36716669e-01 8.60699105e-03 -4.25439497e+02] [ 7.36658161e-01 -6.76201557e-01 -9.28482126e-03 -2.53694049e+02] [ 1.26603433e-02 6.25081923e-05 9.99919853e-01 -2.83308288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1320.066559995 meters 0.013061382519465904 Centerline is valid? [True, True] Translation: X:-425.46, Y:-253.68, Z:-2.83 [[-6.76892498e-01 -7.36036989e-01 8.13009427e-03 -4.25458333e+02] [ 7.35984800e-01 -6.76941319e-01 -8.76500657e-03 -2.53675031e+02] [ 1.19549658e-02 5.06586166e-05 9.99928536e-01 -2.83366000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1320.096559995 meters 0.012943330620315982 Centerline is valid? [True, True] Translation: X:-425.48, Y:-253.65, Z:-2.83 [[-6.77430723e-01 -7.35540860e-01 8.20116267e-03 -4.25476950e+02] [ 7.35487783e-01 -6.77480363e-01 -8.83623914e-03 -2.53654869e+02] [ 1.20555416e-02 4.59150824e-05 9.99927328e-01 -2.83245302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1320.126559995 meters 0.012839151450480278 Centerline is valid? [True, True] Translation: X:-425.50, Y:-253.63, Z:-2.83 [[-6.78011522e-01 -7.35006600e-01 8.10397892e-03 -4.25495465e+02] [ 7.34954800e-01 -6.78059951e-01 -8.72611725e-03 -2.53634896e+02] [ 1.19087373e-02 3.96501693e-05 9.99929088e-01 -2.83196264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1320.156559995 meters 0.012774795127768487 Centerline is valid? [True, True] Translation: X:-425.51, Y:-253.61, Z:-2.83 [[-6.78440338e-01 -7.34609907e-01 8.18491973e-03 -4.25514247e+02] [ 7.34557099e-01 -6.78489708e-01 -8.80829315e-03 -2.53614107e+02] [ 1.20240432e-02 3.63895157e-05 9.99927708e-01 -2.83130851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1320.1865599950002 meters 0.012782625886982216 Centerline is valid? [True, True] Translation: X:-425.53, Y:-253.59, Z:-2.83 [[-6.78677261e-01 -7.34390549e-01 8.22787970e-03 -4.25533303e+02] [ 7.34337229e-01 -6.78727133e-01 -8.84951005e-03 -2.53593164e+02] [ 1.20834817e-02 3.60771422e-05 9.99926992e-01 -2.83102562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1320.2165599950001 meters 0.01288021894533968 Centerline is valid? [True, True] Translation: X:-425.55, Y:-253.57, Z:-2.83 [[-6.78038686e-01 -7.34981190e-01 8.13573660e-03 -4.25552531e+02] [ 7.34929163e-01 -6.78087493e-01 -8.74518291e-03 -2.53573516e+02] [ 1.19442862e-02 4.96177664e-05 9.99928663e-01 -2.83106894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1320.246559995 meters 0.012943224943227435 Centerline is valid? [True, True] Translation: X:-425.57, Y:-253.55, Z:-2.83 [[-6.77181952e-01 -7.35768943e-01 8.28652702e-03 -4.25571608e+02] [ 7.35715095e-01 -6.77232647e-01 -8.90172533e-03 -2.53554683e+02] [ 1.21615197e-02 6.84352799e-05 9.99926044e-01 -2.83125031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1320.276559995 meters 0.013255619524158846 Centerline is valid? [True, True] Translation: X:-425.59, Y:-253.54, Z:-2.83 [[-6.76121280e-01 -7.36738767e-01 8.71798641e-03 -4.25591941e+02] [ 7.36679312e-01 -6.76177477e-01 -9.36005515e-03 -2.53535886e+02] [ 1.27908215e-02 9.38277601e-05 9.99918190e-01 -2.83197367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1320.306559995 meters 0.013444542779246818 Centerline is valid? [True, True] Translation: X:-425.61, Y:-253.52, Z:-2.83 [[-6.74617803e-01 -7.38110090e-01 9.18227203e-03 -4.25612904e+02] [ 7.38044334e-01 -6.74680278e-01 -9.85306912e-03 -2.53517209e+02] [ 1.34677476e-02 1.29867999e-04 9.99909298e-01 -2.83339887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1320.336559995 meters 0.014099644673630365 Centerline is valid? [True, True] Translation: X:-425.63, Y:-253.50, Z:-2.84 [[-6.73060774e-01 -7.39520589e-01 9.92439882e-03 -4.25633373e+02] [ 7.39444017e-01 -6.73133915e-01 -1.06431885e-02 -2.53499811e+02] [ 1.45513065e-02 1.75024628e-04 9.99894109e-01 -2.83548299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1320.366559995 meters 0.014677215727803712 Centerline is valid? [True, True] Translation: X:-425.65, Y:-253.48, Z:-2.84 [[-6.70218000e-01 -7.42080543e-01 1.11490088e-02 -4.25653680e+02] [ 7.41984368e-01 -6.70310673e-01 -1.19498615e-02 -2.53480176e+02] [ 1.63410593e-02 2.63377943e-04 9.99866442e-01 -2.83598008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1320.396559995 meters 0.015100249769462715 Centerline is valid? [True, True] Translation: X:-425.67, Y:-253.46, Z:-2.84 [[-6.69267351e-01 -7.42932148e-01 1.15341474e-02 -4.25673196e+02] [ 7.42829455e-01 -6.69366667e-01 -1.23558439e-02 -2.53460129e+02] [ 1.69001275e-02 2.98541487e-04 9.99857138e-01 -2.83617083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1320.426559995 meters 0.015441567718291171 Centerline is valid? [True, True] Translation: X:-425.69, Y:-253.44, Z:-2.84 [[-6.68517593e-01 -7.43600149e-01 1.19602390e-02 -4.25692455e+02] [ 7.43489966e-01 -6.68624490e-01 -1.28047592e-02 -2.53440316e+02] [ 1.75185296e-02 3.32110920e-04 9.99846484e-01 -2.83630289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1320.4565599950001 meters 0.015944910169816844 Centerline is valid? [True, True] Translation: X:-425.71, Y:-253.42, Z:-2.84 [[-6.67898180e-01 -7.44156564e-01 1.19595389e-02 -4.25712366e+02] [ 7.44046607e-01 -6.68005154e-01 -1.27969623e-02 -2.53420867e+02] [ 1.75119771e-02 3.51386513e-04 9.99846592e-01 -2.83671846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1320.486559995 meters 0.0158357314240947 Centerline is valid? [True, True] Translation: X:-425.73, Y:-253.40, Z:-2.84 [[-6.66500086e-01 -7.45408104e-01 1.20164028e-02 -4.25731804e+02] [ 7.45297429e-01 -6.66608285e-01 -1.28505533e-02 -2.53400441e+02] [ 1.75891402e-02 3.90899259e-04 9.99845223e-01 -2.83508141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1320.516559995 meters 0.016598739049363372 Centerline is valid? [True, True] Translation: X:-425.75, Y:-253.38, Z:-2.84 [[-6.66322400e-01 -7.45573243e-01 1.16188880e-02 -4.25751021e+02] [ 7.45469936e-01 -6.66423580e-01 -1.24171911e-02 -2.53382468e+02] [ 1.70010264e-02 3.87679141e-04 9.99855397e-01 -2.83544381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1320.546559995 meters 0.017136840422822968 Centerline is valid? [True, True] Translation: X:-425.77, Y:-253.36, Z:-2.84 [[-6.66184554e-01 -7.45703345e-01 1.11651910e-02 -4.25769855e+02] [ 7.45608092e-01 -6.66278003e-01 -1.19246081e-02 -2.53364282e+02] [ 1.63313413e-02 3.80867082e-04 9.99866562e-01 -2.83534100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1320.576559995 meters 0.016562133385423547 Centerline is valid? [True, True] Translation: X:-425.79, Y:-253.34, Z:-2.83 [[-6.66161564e-01 -7.45726377e-01 1.09973734e-02 -4.25787581e+02] [ 7.45634087e-01 -6.66252224e-01 -1.17380640e-02 -2.53344144e+02] [ 1.60804084e-02 3.80569362e-04 9.99870630e-01 -2.83396914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1320.606559995 meters 0.01727694929705945 Centerline is valid? [True, True] Translation: X:-425.81, Y:-253.33, Z:-2.83 [[-6.66449026e-01 -7.45471532e-01 1.08577699e-02 -4.25807040e+02] [ 7.45381657e-01 -6.66537362e-01 -1.15814957e-02 -2.53325750e+02] [ 1.58707847e-02 3.74705944e-04 9.99873981e-01 -2.83475553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1320.636559995 meters 0.016441601291657497 Centerline is valid? [True, True] Translation: X:-425.82, Y:-253.31, Z:-2.83 [[-6.66975978e-01 -7.44998688e-01 1.09544450e-02 -4.25824608e+02] [ 7.44907257e-01 -6.67065827e-01 -1.16773453e-02 -2.53305275e+02] [ 1.60069429e-02 3.71536786e-04 9.99871812e-01 -2.83405756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1320.666559995 meters 0.015954578753644727 Centerline is valid? [True, True] Translation: X:-425.84, Y:-253.28, Z:-2.83 [[-6.68105992e-01 -7.43987926e-01 1.07865490e-02 -4.25842964e+02] [ 7.43899246e-01 -6.68192971e-01 -1.14919798e-02 -2.53284252e+02] [ 1.57573905e-02 3.46245075e-04 9.99875785e-01 -2.83409920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1320.6965599950001 meters 0.01616037629165517 Centerline is valid? [True, True] Translation: X:-425.86, Y:-253.26, Z:-2.83 [[-6.68999654e-01 -7.43186760e-01 1.06255832e-02 -4.25861096e+02] [ 7.43100721e-01 -6.69083950e-01 -1.13130707e-02 -2.53264661e+02] [ 1.55171315e-02 3.27438159e-04 9.99879549e-01 -2.83465496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1320.7265599950001 meters 0.015702972460903825 Centerline is valid? [True, True] Translation: X:-425.88, Y:-253.24, Z:-2.83 [[-6.70107946e-01 -7.42184992e-01 1.08064257e-02 -4.25878505e+02] [ 7.42095981e-01 -6.70195001e-01 -1.14985019e-02 -2.53243633e+02] [ 1.57764280e-02 3.14167629e-04 9.99875495e-01 -2.83427608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1320.756559995 meters 0.015131858473932999 Centerline is valid? [True, True] Translation: X:-425.90, Y:-253.22, Z:-2.83 [[-6.71699234e-01 -7.40742625e-01 1.09773453e-02 -4.25895925e+02] [ 7.40650686e-01 -6.71788865e-01 -1.16739695e-02 -2.53221165e+02] [ 1.60218651e-02 2.88981942e-04 9.99871600e-01 -2.83366625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1320.786559995 meters 0.014703894937576938 Centerline is valid? [True, True] Translation: X:-425.91, Y:-253.20, Z:-2.83 [[-6.72597885e-01 -7.39923523e-01 1.11921880e-02 -4.25913907e+02] [ 7.39827958e-01 -6.72690941e-01 -1.18950136e-02 -2.53200146e+02] [ 1.63302838e-02 2.79732602e-04 9.99866613e-01 -2.83320109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1320.816559995 meters 0.014457217929781732 Centerline is valid? [True, True] Translation: X:-425.93, Y:-253.18, Z:-2.83 [[-6.73557481e-01 -7.39044604e-01 1.15496201e-02 -4.25932533e+02] [ 7.38942830e-01 -6.73656440e-01 -1.22676037e-02 -2.53179579e+02] [ 1.68467823e-02 2.71572723e-04 9.99858046e-01 -2.83342660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1320.846559995 meters 0.014233591880981838 Centerline is valid? [True, True] Translation: X:-425.95, Y:-253.16, Z:-2.83 [[-6.74576527e-01 -7.38111712e-01 1.17307163e-02 -4.25951578e+02] [ 7.38006700e-01 -6.74678468e-01 -1.24529736e-02 -2.53158337e+02] [ 1.71061473e-02 2.56863558e-04 9.99853646e-01 -2.83390266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1320.876559995 meters 0.014104418850780304 Centerline is valid? [True, True] Translation: X:-425.97, Y:-253.14, Z:-2.83 [[-6.75484489e-01 -7.37276548e-01 1.19998801e-02 -4.25969293e+02] [ 7.37166669e-01 -6.75591024e-01 -1.27307074e-02 -2.53138003e+02] [ 1.74930633e-02 2.46516235e-04 9.99846955e-01 -2.83379732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1320.906559995 meters 0.013668335833550791 Centerline is valid? [True, True] Translation: X:-425.99, Y:-253.12, Z:-2.83 [[-6.76683853e-01 -7.36173654e-01 1.21373199e-02 -4.25986991e+02] [ 7.36061195e-01 -6.76792657e-01 -1.28692149e-02 -2.53116659e+02] [ 1.76884259e-02 2.25420295e-04 9.99843522e-01 -2.83283076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1320.9365599950002 meters 0.013299169361046982 Centerline is valid? [True, True] Translation: X:-426.00, Y:-253.10, Z:-2.83 [[-6.78379956e-01 -7.34623400e-01 1.13620244e-02 -4.26004031e+02] [ 7.34524715e-01 -6.78475076e-01 -1.20421711e-02 -2.53096008e+02] [ 1.65553111e-02 1.76520257e-04 9.99862936e-01 -2.83162598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1320.9665599950001 meters 0.013341667071213544 Centerline is valid? [True, True] Translation: X:-426.02, Y:-253.08, Z:-2.83 [[-6.79100393e-01 -7.33967279e-01 1.07093521e-02 -4.26022110e+02] [ 7.33879642e-01 -6.79184812e-01 -1.13429139e-02 -2.53076372e+02] [ 1.55989569e-02 1.56398200e-04 9.99878317e-01 -2.83092183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1320.996559995 meters 0.013349100284039168 Centerline is valid? [True, True] Translation: X:-426.04, Y:-253.06, Z:-2.83 [[-6.79719109e-01 -7.33406087e-01 9.87146514e-03 -4.26040419e+02] [ 7.33331661e-01 -6.79790772e-01 -1.04490079e-02 -2.53056871e+02] [ 1.43738969e-02 1.36667573e-04 9.99896681e-01 -2.83044154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1321.026559995 meters 0.013110488552426514 Centerline is valid? [True, True] Translation: X:-426.06, Y:-253.04, Z:-2.83 [[-6.80293064e-01 -7.32881834e-01 9.25005720e-03 -4.26058686e+02] [ 7.32816518e-01 -6.80355938e-01 -9.78515706e-03 -2.53036644e+02] [ 1.34646952e-02 1.21820225e-04 9.99909340e-01 -2.82878446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1321.056559995 meters 0.012963439665068384 Centerline is valid? [True, True] Translation: X:-426.08, Y:-253.02, Z:-2.83 [[-6.80786311e-01 -7.32428724e-01 8.84092842e-03 -4.26077491e+02] [ 7.32369095e-01 -6.80843706e-01 -9.34651665e-03 -2.53017352e+02] [ 1.28649477e-02 1.11842158e-04 9.99917237e-01 -2.82808429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1321.086559995 meters 0.013006622719905794 Centerline is valid? [True, True] Translation: X:-426.10, Y:-253.00, Z:-2.83 [[-6.81123958e-01 -7.32119003e-01 8.48051280e-03 -4.26096957e+02] [ 7.32064185e-01 -6.81176742e-01 -8.95962406e-03 -2.52999507e+02] [ 1.23362391e-02 1.05665092e-04 9.99923900e-01 -2.82832235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1321.116559995 meters 0.01305485772262959 Centerline is valid? [True, True] Translation: X:-426.12, Y:-252.98, Z:-2.83 [[-6.81225547e-01 -7.32025018e-01 8.43371408e-03 -4.26115612e+02] [ 7.31970867e-01 -6.81277742e-01 -8.90442846e-03 -2.52980795e+02] [ 1.22639661e-02 1.07308863e-04 9.99924789e-01 -2.82848939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1321.146559995 meters 0.01305485772262959 Centerline is valid? [True, True] Translation: X:-426.13, Y:-252.96, Z:-2.83 [[-6.81448308e-01 -7.31817621e-01 8.43642370e-03 -4.26134090e+02] [ 7.31763486e-01 -6.81500519e-01 -8.90186130e-03 -2.52961454e+02] [ 1.22639661e-02 1.07308494e-04 9.99924789e-01 -2.82848993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1321.176559995 meters 0.012950728172055581 Centerline is valid? [True, True] Translation: X:-426.15, Y:-252.94, Z:-2.83 [[-6.81489746e-01 -7.31781100e-01 8.25521256e-03 -4.26153005e+02] [ 7.31729328e-01 -6.81539735e-01 -8.70519006e-03 -2.52941226e+02] [ 1.19965489e-02 1.08083374e-04 9.99928033e-01 -2.82780482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1321.2065599950001 meters 0.013316284675636043 Centerline is valid? [True, True] Translation: X:-426.17, Y:-252.92, Z:-2.83 [[-6.81712668e-01 -7.31571299e-01 8.44228948e-03 -4.26171858e+02] [ 7.31517210e-01 -6.81764932e-01 -8.89661185e-03 -2.52923093e+02] [ 1.22641628e-02 1.10747042e-04 9.99924786e-01 -2.82925070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1321.236559995 meters 0.013188689029540256 Centerline is valid? [True, True] Translation: X:-426.19, Y:-252.90, Z:-2.83 [[-6.81816289e-01 -7.31474447e-01 8.46650500e-03 -4.26190804e+02] [ 7.31420107e-01 -6.81868844e-01 -8.91670974e-03 -2.52902933e+02] [ 1.22953913e-02 1.13014046e-04 9.99924403e-01 -2.82907090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1321.266559995 meters 0.01315199879094828 Centerline is valid? [True, True] Translation: X:-426.21, Y:-252.88, Z:-2.83 [[-6.82207076e-01 -7.31106693e-01 8.74697308e-03 -4.26209695e+02] [ 7.31048732e-01 -6.82263139e-01 -9.20652312e-03 -2.52882781e+02] [ 1.26986880e-02 1.13708366e-04 9.99919362e-01 -2.82903028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1321.296559995 meters 0.012852156073348369 Centerline is valid? [True, True] Translation: X:-426.23, Y:-252.86, Z:-2.83 [[-6.82917785e-01 -7.30442433e-01 8.78359509e-03 -4.26227397e+02] [ 7.30384005e-01 -6.82974261e-01 -9.23927836e-03 -2.52862291e+02] [ 1.27477303e-02 1.05729839e-04 9.99918739e-01 -2.82767209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1321.326559995 meters 0.012843098519755018 Centerline is valid? [True, True] Translation: X:-426.25, Y:-252.84, Z:-2.83 [[-6.83562327e-01 -7.29839709e-01 8.74897203e-03 -4.26246584e+02] [ 7.29781757e-01 -6.83618307e-01 -9.19769814e-03 -2.52841256e+02] [ 1.26938028e-02 9.76402348e-05 9.99919426e-01 -2.82711307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1321.356559995 meters 0.01288203266797261 Centerline is valid? [True, True] Translation: X:-426.26, Y:-252.82, Z:-2.83 [[-6.84385125e-01 -7.29072327e-01 8.39899556e-03 -4.26264474e+02] [ 7.29018932e-01 -6.84436656e-01 -8.82393567e-03 -2.52822572e+02] [ 1.21818677e-02 8.40564532e-05 9.99925795e-01 -2.82722588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1321.386559995 meters 0.012822551627812111 Centerline is valid? [True, True] Translation: X:-426.28, Y:-252.80, Z:-2.83 [[-6.84991763e-01 -7.28507448e-01 7.94884264e-03 -4.26282952e+02] [ 7.28459642e-01 -6.85037878e-01 -8.34601527e-03 -2.52802045e+02] [ 1.15253926e-02 7.34593496e-05 9.99933578e-01 -2.82614018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1321.416559995 meters 0.012548944716344851 Centerline is valid? [True, True] Translation: X:-426.30, Y:-252.78, Z:-2.82 [[-6.85722652e-01 -7.27835298e-01 6.34225336e-03 -4.26301948e+02] [ 7.27804857e-01 -6.85751979e-01 -6.65681577e-03 -2.52780711e+02] [ 9.19427828e-03 5.11934291e-05 9.99957731e-01 -2.82247276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1321.4465599950001 meters 0.012508667578593969 Centerline is valid? [True, True] Translation: X:-426.32, Y:-252.76, Z:-2.82 [[-6.85914326e-01 -7.27659598e-01 5.74873642e-03 -4.26321329e+02] [ 7.27634610e-01 -6.85938414e-01 -6.03048883e-03 -2.52761103e+02] [ 8.33142222e-03 4.65809084e-05 9.99965292e-01 -2.82148618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1321.4765599950001 meters 0.012463535508258914 Centerline is valid? [True, True] Translation: X:-426.34, Y:-252.74, Z:-2.82 [[-6.86187697e-01 -7.27407670e-01 4.95245176e-03 -4.26340864e+02] [ 7.27389140e-01 -6.86205567e-01 -5.19223204e-03 -2.52740913e+02] [ 7.17526938e-03 3.95138818e-05 9.99974257e-01 -2.81986272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1321.506559995 meters 0.012421585960196792 Centerline is valid? [True, True] Translation: X:-426.36, Y:-252.72, Z:-2.82 [[-6.86514683e-01 -7.27105541e-01 3.88879468e-03 -4.26359857e+02] [ 7.27094124e-01 -6.86525696e-01 -4.07466130e-03 -2.52721934e+02] [ 5.63246628e-03 3.02049543e-05 9.99984137e-01 -2.81850849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1321.536559995 meters 0.012466076714312461 Centerline is valid? [True, True] Translation: X:-426.38, Y:-252.70, Z:-2.82 [[-6.86519975e-01 -7.27108324e-01 1.95183631e-03 -4.26379593e+02] [ 7.27105452e-01 -6.86522749e-01 -2.04377944e-03 -2.52704609e+02] [ 2.82602908e-03 1.60954079e-05 9.99996007e-01 -2.81647529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1321.566559995 meters 0.012514252920334354 Centerline is valid? [True, True] Translation: X:-426.40, Y:-252.68, Z:-2.82 [[-6.86521451e-01 -7.27107887e-01 1.55533336e-03 -4.26399678e+02] [ 7.27106065e-01 -6.86523213e-01 -1.62767832e-03 -2.52684892e+02] [ 2.25127020e-03 1.34562343e-05 9.99997466e-01 -2.81571130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1321.596559995 meters 0.012663504687357547 Centerline is valid? [True, True] Translation: X:-426.42, Y:-252.67, Z:-2.82 [[-6.86322873e-01 -7.27296108e-01 1.13370418e-03 -4.26419472e+02] [ 7.27295142e-01 -6.86323809e-01 -1.18572764e-03 -2.52666997e+02] [ 1.64046327e-03 1.07455391e-05 9.99998655e-01 -2.81594606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1321.626559995 meters 0.012754031455941941 Centerline is valid? [True, True] Translation: X:-426.44, Y:-252.65, Z:-2.82 [[-6.85870472e-01 -7.27722932e-01 1.01475898e-03 -4.26439329e+02] [ 7.27722160e-01 -6.85871222e-01 -1.06072940e-03 -2.52647743e+02] [ 1.46791110e-03 1.09396240e-05 9.99998923e-01 -2.81562616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1321.656559995 meters 0.013159421362402226 Centerline is valid? [True, True] Translation: X:-426.46, Y:-252.63, Z:-2.82 [[-6.84671753e-01 -7.28850623e-01 1.16604154e-03 -4.26460560e+02] [ 7.28849605e-01 -6.84672746e-01 -1.21814632e-03 -2.52630417e+02] [ 1.68620357e-03 1.58385429e-05 9.99998578e-01 -2.81574594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1321.6865599950002 meters 0.013393504413495847 Centerline is valid? [True, True] Translation: X:-426.48, Y:-252.61, Z:-2.82 [[-6.84044056e-01 -7.29439108e-01 1.52193209e-03 -4.26480644e+02] [ 7.29437378e-01 -6.84045749e-01 -1.58897431e-03 -2.52612078e+02] [ 2.20013119e-03 2.32257217e-05 9.99997580e-01 -2.81609360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1321.7165599950001 meters 0.013520642408617176 Centerline is valid? [True, True] Translation: X:-426.50, Y:-252.59, Z:-2.82 [[-6.83512176e-01 -7.29935691e-01 2.23424743e-03 -4.26501209e+02] [ 7.29931970e-01 -6.83515827e-01 -2.33123153e-03 -2.52593732e+02] [ 3.22879258e-03 3.74234928e-05 9.99994787e-01 -2.81677583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1321.746559995 meters 0.013834696413763323 Centerline is valid? [True, True] Translation: X:-426.52, Y:-252.58, Z:-2.82 [[-6.82995788e-01 -7.30417911e-01 2.53549815e-03 -4.26521633e+02] [ 7.30413127e-01 -6.83000493e-01 -2.64384682e-03 -2.52576551e+02] [ 3.66285956e-03 4.62248920e-05 9.99993291e-01 -2.81774259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1321.776559995 meters 0.013909744273950508 Centerline is valid? [True, True] Translation: X:-426.54, Y:-252.56, Z:-2.82 [[-6.82579431e-01 -7.30806586e-01 2.65610394e-03 -4.26542641e+02] [ 7.30801346e-01 -6.82584597e-01 -2.76789742e-03 -2.52558363e+02] [ 3.83581330e-03 5.17744811e-05 9.99992642e-01 -2.81835385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1321.806559995 meters 0.014078718411783273 Centerline is valid? [True, True] Translation: X:-426.56, Y:-252.54, Z:-2.82 [[-6.82231568e-01 -7.31129025e-01 3.23064519e-03 -4.26563450e+02] [ 7.31121286e-01 -6.82239214e-01 -3.36454752e-03 -2.52540755e+02] [ 4.66399118e-03 6.65929344e-05 9.99989122e-01 -2.81918397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1321.836559995 meters 0.014158338552488712 Centerline is valid? [True, True] Translation: X:-426.58, Y:-252.52, Z:-2.82 [[-6.82394133e-01 -7.30976657e-01 3.37247295e-03 -4.26582076e+02] [ 7.30968231e-01 -6.82402463e-01 -3.51058203e-03 -2.52522617e+02] [ 4.86753737e-03 6.95700087e-05 9.99988151e-01 -2.81928408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1321.866559995 meters 0.014068099002023793 Centerline is valid? [True, True] Translation: X:-426.60, Y:-252.50, Z:-2.82 [[-6.82621029e-01 -7.30765498e-01 3.21226157e-03 -4.26601463e+02] [ 7.30757860e-01 -6.82628584e-01 -3.34173760e-03 -2.52502838e+02] [ 4.63480811e-03 6.62450344e-05 9.99989257e-01 -2.81899654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1321.896559995 meters 0.01389646702395726 Centerline is valid? [True, True] Translation: X:-426.62, Y:-252.48, Z:-2.82 [[-6.83044647e-01 -7.30370464e-01 2.99932119e-03 -4.26620528e+02] [ 7.30363810e-01 -6.83051229e-01 -3.11825767e-03 -2.52483467e+02] [ 4.32617332e-03 6.06864415e-05 9.99990640e-01 -2.81841839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1321.926559995 meters 0.01373649825922148 Centerline is valid? [True, True] Translation: X:-426.64, Y:-252.46, Z:-2.82 [[-6.83847550e-01 -7.29623021e-01 1.66613338e-03 -4.26639721e+02] [ 7.29620968e-01 -6.83849579e-01 -1.73111400e-03 -2.52463837e+02] [ 2.40244524e-03 3.18277817e-05 9.99997114e-01 -2.81659691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1321.9565599950001 meters 0.013604255438709396 Centerline is valid? [True, True] Translation: X:-426.66, Y:-252.44, Z:-2.82 [[-6.84366691e-01 -7.29137182e-01 1.09660787e-03 -4.26659153e+02] [ 7.29136293e-01 -6.84367569e-01 -1.13873355e-03 -2.52444171e+02] [ 1.58077583e-03 2.02652869e-05 9.99998751e-01 -2.81607090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1321.986559995 meters 0.01378521601479928 Centerline is valid? [True, True] Translation: X:-426.68, Y:-252.43, Z:-2.82 [[-6.84819751e-01 -7.28711924e-01 9.16965203e-04 -4.26679168e+02] [ 7.28711303e-01 -6.84820365e-01 -9.51623309e-04 -2.52425754e+02] [ 1.32141570e-03 1.65124705e-05 9.99999127e-01 -2.81595082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1322.016559995 meters 0.013623422136424469 Centerline is valid? [True, True] Translation: X:-426.70, Y:-252.41, Z:-2.82 [[-6.85302817e-01 -7.28257855e-01 7.38268962e-04 -4.26698369e+02] [ 7.28257453e-01 -6.85303215e-01 -7.65691198e-04 -2.52406423e+02] [ 1.06355872e-03 1.29195386e-05 9.99999435e-01 -2.81608229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1322.046559995 meters 0.013712242088704672 Centerline is valid? [True, True] Translation: X:-426.72, Y:-252.39, Z:-2.82 [[-6.85565592e-01 -7.28009690e-01 1.30783259e-03 -4.26717138e+02] [ 7.28008429e-01 -6.85566839e-01 -1.35552775e-03 -2.52388408e+02] [ 1.88344400e-03 2.28099619e-05 9.99998226e-01 -2.81667149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1322.076559995 meters 0.013524396854053227 Centerline is valid? [True, True] Translation: X:-426.74, Y:-252.37, Z:-2.82 [[-6.85760600e-01 -7.27824205e-01 2.07986377e-03 -4.26736776e+02] [ 7.27821018e-01 -6.85763753e-01 -2.15436798e-03 -2.52368845e+02] [ 2.99429635e-03 3.63878889e-05 9.99995517e-01 -2.81738474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1322.106559995 meters 0.013606497164638229 Centerline is valid? [True, True] Translation: X:-426.76, Y:-252.35, Z:-2.82 [[-6.85909254e-01 -7.27681003e-01 2.97535670e-03 -4.26757193e+02] [ 7.27674486e-01 -6.85915705e-01 -3.08022332e-03 -2.52348920e+02] [ 4.28226389e-03 5.23374770e-05 9.99990830e-01 -2.81831620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1322.136559995 meters 0.013323028424000127 Centerline is valid? [True, True] Translation: X:-426.78, Y:-252.33, Z:-2.82 [[-6.86254384e-01 -7.27352087e-01 3.72316534e-03 -4.26777718e+02] [ 7.27341889e-01 -6.86264481e-01 -3.85219470e-03 -2.52329122e+02] [ 5.35697798e-03 6.44286129e-05 9.99985649e-01 -2.81894359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1322.166559995 meters 0.013360279996754406 Centerline is valid? [True, True] Translation: X:-426.80, Y:-252.31, Z:-2.82 [[-6.86566248e-01 -7.27054835e-01 4.24901299e-03 -4.26798948e+02] [ 7.27041562e-01 -6.86579392e-01 -4.39377768e-03 -2.52309961e+02] [ 6.11180207e-03 7.25895868e-05 9.99981320e-01 -2.82000414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1322.1965599950001 meters 0.013292468166678959 Centerline is valid? [True, True] Translation: X:-426.82, Y:-252.29, Z:-2.82 [[-6.87065833e-01 -7.26579182e-01 4.82024858e-03 -4.26819662e+02] [ 7.26562109e-01 -6.87082736e-01 -4.98149894e-03 -2.52291787e+02] [ 6.93136301e-03 7.95922630e-05 9.99975975e-01 -2.82068272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1322.2265599950001 meters 0.01310546823228837 Centerline is valid? [True, True] Translation: X:-426.84, Y:-252.27, Z:-2.82 [[-6.87777358e-01 -7.25905228e-01 4.88941254e-03 -4.26839204e+02] [ 7.25887665e-01 -6.87794733e-01 -5.05012990e-03 -2.52271715e+02] [ 7.02882789e-03 7.57992549e-05 9.99975295e-01 -2.82038604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1322.256559995 meters 0.013167236605694565 Centerline is valid? [True, True] Translation: X:-426.86, Y:-252.25, Z:-2.82 [[-6.88531416e-01 -7.25189258e-01 5.00298525e-03 -4.26858433e+02] [ 7.25170873e-01 -6.88549588e-01 -5.16436736e-03 -2.52252645e+02] [ 7.18994717e-03 7.21900121e-05 9.99974150e-01 -2.82046230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1322.286559995 meters 0.013000903788712227 Centerline is valid? [True, True] Translation: X:-426.88, Y:-252.23, Z:-2.82 [[-6.89755134e-01 -7.24026163e-01 4.89600992e-03 -4.26877104e+02] [ 7.24008548e-01 -6.89772507e-01 -5.05077605e-03 -2.52233061e+02] [ 7.03402704e-03 6.09543249e-05 9.99975259e-01 -2.82036193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1322.316559995 meters 0.012726453338361282 Centerline is valid? [True, True] Translation: X:-426.90, Y:-252.21, Z:-2.82 [[-6.90976524e-01 -7.22859734e-01 5.02479411e-03 -4.26896728e+02] [ 7.22841171e-01 -6.90994792e-01 -5.18072118e-03 -2.52212905e+02] [ 7.21704129e-03 5.23713469e-05 9.99973956e-01 -2.82026774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1322.346559995 meters 0.012538312639771015 Centerline is valid? [True, True] Translation: X:-426.92, Y:-252.19, Z:-2.82 [[-6.93580641e-01 -7.20361220e-01 5.06027447e-03 -4.26916298e+02] [ 7.20342349e-01 -6.93599100e-01 -5.21432377e-03 -2.52193443e+02] [ 7.26599845e-03 2.85759766e-05 9.99973602e-01 -2.82040907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1322.376559995 meters 0.012404063852560458 Centerline is valid? [True, True] Translation: X:-426.93, Y:-252.17, Z:-2.82 [[-6.95151230e-01 -7.18845670e-01 5.06664220e-03 -4.26934906e+02] [ 7.18826733e-01 -6.95169693e-01 -5.21774670e-03 -2.52174240e+02] [ 7.27293072e-03 1.49148250e-05 9.99973552e-01 -2.82079647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1322.406559995 meters 0.012486786538446759 Centerline is valid? [True, True] Translation: X:-426.95, Y:-252.15, Z:-2.82 [[-6.96756686e-01 -7.17290378e-01 4.96330420e-03 -4.26953667e+02] [ 7.17272188e-01 -6.96774364e-01 -5.10828318e-03 -2.52154571e+02] [ 7.12242550e-03 8.09607174e-07 9.99974635e-01 -2.82048036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1322.4365599950002 meters 0.01239982225633864 Centerline is valid? [True, True] Translation: X:-426.97, Y:-252.13, Z:-2.82 [[-6.98264744e-01 -7.15825950e-01 4.42219651e-03 -4.26972625e+02] [ 7.15811499e-01 -6.98278747e-01 -4.54852467e-03 -2.52134543e+02] [ 6.34387784e-03 -1.06153033e-05 9.99979878e-01 -2.81975923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1322.4665599950001 meters 0.01245816112408234 Centerline is valid? [True, True] Translation: X:-426.99, Y:-252.11, Z:-2.82 [[-6.99518895e-01 -7.14604317e-01 3.73976381e-03 -4.26992179e+02] [ 7.14593976e-01 -6.99528891e-01 -3.84445863e-03 -2.52114174e+02] [ 5.36333957e-03 -1.68587626e-05 9.99985617e-01 -2.81862752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1322.496559995 meters 0.012589788198932212 Centerline is valid? [True, True] Translation: X:-427.01, Y:-252.10, Z:-2.82 [[-7.01212560e-01 -7.12943903e-01 3.45507817e-03 -4.27012304e+02] [ 7.12935066e-01 -7.01221071e-01 -3.54979319e-03 -2.52095025e+02] [ 4.95357702e-03 -2.59131855e-05 9.99987731e-01 -2.81815615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1322.526559995 meters 0.012654451219254589 Centerline is valid? [True, True] Translation: X:-427.03, Y:-252.08, Z:-2.82 [[-7.01471012e-01 -7.12687363e-01 3.89122312e-03 -4.27031546e+02] [ 7.12676159e-01 -7.01481804e-01 -3.99642823e-03 -2.52076717e+02] [ 5.57782611e-03 -3.01966113e-05 9.99984444e-01 -2.81867968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1322.556559995 meters 0.012622673066586768 Centerline is valid? [True, True] Translation: X:-427.05, Y:-252.06, Z:-2.82 [[-7.01586648e-01 -7.12570219e-01 4.45625768e-03 -4.27052726e+02] [ 7.12555539e-01 -7.01600799e-01 -4.57417664e-03 -2.52058292e+02] [ 6.38593600e-03 -3.38501599e-05 9.99979609e-01 -2.81962261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1322.586559995 meters 0.01261601625932634 Centerline is valid? [True, True] Translation: X:-427.07, Y:-252.04, Z:-2.82 [[-7.01458424e-01 -7.12692587e-01 5.03558286e-03 -4.27073511e+02] [ 7.12673864e-01 -7.01476497e-01 -5.16595995e-03 -2.52039787e+02] [ 7.21408438e-03 -3.49778290e-05 9.99973978e-01 -2.82078625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1322.616559995 meters 0.012694469989609311 Centerline is valid? [True, True] Translation: X:-427.09, Y:-252.02, Z:-2.82 [[-7.01024863e-01 -7.13104211e-01 6.82100194e-03 -4.27094478e+02] [ 7.13069916e-01 -7.01058045e-01 -6.99369860e-03 -2.52021357e+02] [ 9.76915421e-03 -3.89053203e-05 9.99952280e-01 -2.82246875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1322.646559995 meters 0.012861318540744201 Centerline is valid? [True, True] Translation: X:-427.11, Y:-252.00, Z:-2.82 [[-7.01044632e-01 -7.13080798e-01 7.22490407e-03 -4.27113412e+02] [ 7.13042366e-01 -7.01081860e-01 -7.40346203e-03 -2.52002696e+02] [ 1.03445158e-02 -3.84946292e-05 9.99946494e-01 -2.82417014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1322.676559995 meters 0.012754505713694277 Centerline is valid? [True, True] Translation: X:-427.13, Y:-251.98, Z:-2.82 [[-7.01208699e-01 -7.12913283e-01 7.81101431e-03 -4.27133164e+02] [ 7.12868407e-01 -7.01252201e-01 -7.99908128e-03 -2.51983966e+02] [ 1.11801423e-02 -4.08000515e-05 9.99937500e-01 -2.82408578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1322.7065599950001 meters 0.01288668541289731 Centerline is valid? [True, True] Translation: X:-427.15, Y:-251.96, Z:-2.82 [[-7.01524184e-01 -7.12603141e-01 7.78351018e-03 -4.27153195e+02] [ 7.12558617e-01 -7.01567361e-01 -7.96595910e-03 -2.51964903e+02] [ 1.11372242e-02 -4.21057075e-05 9.99937979e-01 -2.82434424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1322.736559995 meters 0.012849643836817052 Centerline is valid? [True, True] Translation: X:-427.17, Y:-251.95, Z:-2.82 [[-7.02088174e-01 -7.12054802e-01 7.08205076e-03 -4.27172573e+02] [ 7.12017961e-01 -7.02123890e-01 -7.24333902e-03 -2.51947462e+02] [ 1.01301314e-02 -4.29153206e-05 9.99948688e-01 -2.82335025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1322.766559995 meters 0.012822433500605055 Centerline is valid? [True, True] Translation: X:-427.19, Y:-251.93, Z:-2.82 [[-7.02578272e-01 -7.11575030e-01 6.68951827e-03 -4.27193214e+02] [ 7.11542175e-01 -7.02610116e-01 -6.83798622e-03 -2.51928186e+02] [ 9.56586345e-03 -4.43461576e-05 9.99954245e-01 -2.82216112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1322.796559995 meters 0.01280569183745708 Centerline is valid? [True, True] Translation: X:-427.21, Y:-251.91, Z:-2.82 [[-7.03113732e-01 -7.11052992e-01 5.89254035e-03 -4.27212555e+02] [ 7.11027512e-01 -7.03138422e-01 -6.01973152e-03 -2.51909056e+02] [ 8.42361963e-03 -4.27975947e-05 9.99964520e-01 -2.82187165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1322.826559995 meters 0.012638152289826902 Centerline is valid? [True, True] Translation: X:-427.23, Y:-251.89, Z:-2.82 [[-7.03545496e-01 -7.10631547e-01 5.15176244e-03 -4.27233044e+02] [ 7.10612081e-01 -7.03564356e-01 -5.25992622e-03 -2.51889372e+02] [ 7.36246593e-03 -3.96927666e-05 9.99972896e-01 -2.81993783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1322.856559995 meters 0.012689323365893403 Centerline is valid? [True, True] Translation: X:-427.25, Y:-251.87, Z:-2.82 [[-7.04503356e-01 -7.09691019e-01 3.69849969e-03 -4.27252372e+02] [ 7.09680985e-01 -7.04513063e-01 -3.77398253e-03 -2.51868437e+02] [ 5.28400285e-03 -3.40284554e-05 9.99986039e-01 -2.81825653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1322.886559995 meters 0.012715510503289243 Centerline is valid? [True, True] Translation: X:-427.27, Y:-251.85, Z:-2.82 [[-7.04849434e-01 -7.09350422e-01 3.04206034e-03 -4.27271292e+02] [ 7.09343639e-01 -7.04855998e-01 -3.10226536e-03 -2.51848676e+02] [ 4.34480772e-03 -2.87638336e-05 9.99990561e-01 -2.81765143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1322.916559995 meters 0.012758588952382676 Centerline is valid? [True, True] Translation: X:-427.29, Y:-251.83, Z:-2.82 [[-7.04822115e-01 -7.09378764e-01 2.74886088e-03 -4.27290455e+02] [ 7.09373232e-01 -7.04827474e-01 -2.80158426e-03 -2.51829704e+02] [ 3.92485705e-03 -2.46502142e-05 9.99992298e-01 -2.81775863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1322.9465599950001 meters 0.012681799068259097 Centerline is valid? [True, True] Translation: X:-427.31, Y:-251.81, Z:-2.82 [[-7.04289883e-01 -7.09906525e-01 2.91316657e-03 -4.27311545e+02] [ 7.09900323e-01 -7.04295908e-01 -2.96737134e-03 -2.51810685e+02] [ 4.15828757e-03 -2.18317241e-05 9.99991354e-01 -2.81828966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1322.9765599950001 meters 0.01260195383513992 Centerline is valid? [True, True] Translation: X:-427.33, Y:-251.79, Z:-2.82 [[-7.03067407e-01 -7.11114765e-01 3.46598282e-03 -4.27332501e+02] [ 7.11106011e-01 -7.03075950e-01 -3.52849774e-03 -2.51792269e+02] [ 4.94601600e-03 -1.60905453e-05 9.99987768e-01 -2.81943270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1323.006559995 meters 0.01261882669210021 Centerline is valid? [True, True] Translation: X:-427.36, Y:-251.78, Z:-2.82 [[-6.99288909e-01 -7.14827171e-01 4.13974678e-03 -4.27355665e+02] [ 7.14814762e-01 -6.99301162e-01 -4.21192588e-03 -2.51776833e+02] [ 5.90572880e-03 1.37990592e-05 9.99982561e-01 -2.82110967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1323.036559995 meters 0.012825147780778026 Centerline is valid? [True, True] Translation: X:-427.38, Y:-251.76, Z:-2.82 [[-6.96875989e-01 -7.17177619e-01 4.48546507e-03 -4.27377693e+02] [ 7.17163116e-01 -6.96890423e-01 -4.56112525e-03 -2.51759145e+02] [ 6.39701460e-03 3.82714399e-05 9.99979538e-01 -2.82168938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1323.066559995 meters 0.012825147780778026 Centerline is valid? [True, True] Translation: X:-427.40, Y:-251.74, Z:-2.82 [[-6.97076454e-01 -7.16982766e-01 4.48674003e-03 -4.27397068e+02] [ 7.16968266e-01 -6.97090893e-01 -4.55987109e-03 -2.51739546e+02] [ 6.39701460e-03 3.82714476e-05 9.99979538e-01 -2.82168994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1323.096559995 meters 0.013354851114691237 Centerline is valid? [True, True] Translation: X:-427.42, Y:-251.72, Z:-2.82 [[-6.94674392e-01 -7.19306247e-01 5.10010257e-03 -4.27418371e+02] [ 7.19287591e-01 -6.94693111e-01 -5.18112447e-03 -2.51722807e+02] [ 7.26982132e-03 6.92460008e-05 9.99973572e-01 -2.82242389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1323.126559995 meters 0.014639496291105681 Centerline is valid? [True, True] Translation: X:-427.44, Y:-251.71, Z:-2.82 [[-6.89626680e-01 -7.24140076e-01 6.01600533e-03 -4.27441519e+02] [ 7.24114329e-01 -6.89652905e-01 -6.10816041e-03 -2.51706482e+02] [ 8.57211930e-03 1.43925281e-04 9.99963249e-01 -2.82351051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1323.156559995 meters 0.015509889593000644 Centerline is valid? [True, True] Translation: X:-427.46, Y:-251.69, Z:-2.82 [[-6.87317769e-01 -7.26326880e-01 6.59912630e-03 -4.27462168e+02] [ 7.26296025e-01 -6.87349422e-01 -6.69748184e-03 -2.51688216e+02] [ 9.40046674e-03 1.89620925e-04 9.99955797e-01 -2.82428676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1323.1865599950002 meters 0.017079613344340976 Centerline is valid? [True, True] Translation: X:-427.48, Y:-251.67, Z:-2.83 [[-6.85560579e-01 -7.27983677e-01 6.81602618e-03 -4.27483342e+02] [ 7.27950882e-01 -6.85594426e-01 -6.91354759e-03 -2.51670803e+02] [ 9.70597935e-03 2.22076581e-04 9.99952871e-01 -2.82554013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1323.2165599950001 meters 0.017294782538714523 Centerline is valid? [True, True] Translation: X:-427.50, Y:-251.65, Z:-2.83 [[-6.84164882e-01 -7.29298339e-01 6.50741999e-03 -4.27503220e+02] [ 7.29268539e-01 -6.84195790e-01 -6.59689919e-03 -2.51650678e+02] [ 9.26345698e-03 2.32289913e-04 9.99957067e-01 -2.82501995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1323.246559995 meters 0.017250234642648767 Centerline is valid? [True, True] Translation: X:-427.52, Y:-251.63, Z:-2.82 [[-6.83544645e-01 -7.29884994e-01 5.88330564e-03 -4.27522610e+02] [ 7.29860686e-01 -6.83569929e-01 -5.96086603e-03 -2.51629961e+02] [ 8.37239748e-03 2.19475436e-04 9.99964927e-01 -2.82418468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1323.276559995 meters 0.01754058077518431 Centerline is valid? [True, True] Translation: X:-427.54, Y:-251.61, Z:-2.82 [[-6.83790345e-01 -7.29665647e-01 4.33690372e-03 -4.27539462e+02] [ 7.29652451e-01 -6.83804079e-01 -4.39117713e-03 -2.51609886e+02] [ 6.16968356e-03 1.61787905e-04 9.99980954e-01 -2.82252171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1323.306559995 meters 0.017499409435905198 Centerline is valid? [True, True] Translation: X:-427.56, Y:-251.59, Z:-2.82 [[-6.84600937e-01 -7.28908977e-01 3.64158003e-03 -4.27557052e+02] [ 7.28899672e-01 -6.84610609e-01 -3.68538068e-03 -2.51589991e+02] [ 5.17937139e-03 1.31331427e-04 9.99986579e-01 -2.82186797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1323.336559995 meters 0.016698562920140665 Centerline is valid? [True, True] Translation: X:-427.57, Y:-251.57, Z:-2.82 [[-6.85483832e-01 -7.28079070e-01 3.57553656e-03 -4.27574208e+02] [ 7.28070100e-01 -6.85493146e-01 -3.61627334e-03 -2.51568130e+02] [ 5.08393874e-03 1.24344352e-04 9.99987069e-01 -2.82154749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1323.366559995 meters 0.01602236784163402 Centerline is valid? [True, True] Translation: X:-427.59, Y:-251.55, Z:-2.82 [[-6.86213473e-01 -7.27392371e-01 3.37763166e-03 -4.27591300e+02] [ 7.27384368e-01 -6.86221776e-01 -3.41416706e-03 -2.51545959e+02] [ 4.80124347e-03 1.13989034e-04 9.99988468e-01 -2.82139662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1323.396559995 meters 0.016259319633901863 Centerline is valid? [True, True] Translation: X:-427.61, Y:-251.52, Z:-2.82 [[-6.86798599e-01 -7.26838292e-01 3.71230922e-03 -4.27607490e+02] [ 7.26828628e-01 -6.86808621e-01 -3.75022107e-03 -2.51523926e+02] [ 5.27545026e-03 1.22566036e-04 9.99986077e-01 -2.82200558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1323.426559995 meters 0.016844217374202695 Centerline is valid? [True, True] Translation: X:-427.62, Y:-251.50, Z:-2.82 [[-6.86697020e-01 -7.26933839e-01 3.79423025e-03 -4.27624978e+02] [ 7.26923758e-01 -6.86707490e-01 -3.83044975e-03 -2.51504912e+02] [ 5.39000988e-03 1.27757684e-04 9.99985466e-01 -2.82254467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1323.4565599950001 meters 0.016677460101187057 Centerline is valid? [True, True] Translation: X:-427.64, Y:-251.48, Z:-2.82 [[-6.86540040e-01 -7.27081243e-01 3.95464430e-03 -4.27642673e+02] [ 7.27070309e-01 -6.86551416e-01 -3.98989854e-03 -2.51483712e+02] [ 5.61604704e-03 1.36079346e-04 9.99984221e-01 -2.82243862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1323.486559995 meters 0.016678957735137896 Centerline is valid? [True, True] Translation: X:-427.66, Y:-251.46, Z:-2.82 [[-6.86142787e-01 -7.27455529e-01 4.06577104e-03 -4.27660939e+02] [ 7.27443991e-01 -6.86154817e-01 -4.09971182e-03 -2.51462468e+02] [ 5.77210641e-03 1.44633021e-04 9.99983331e-01 -2.82240351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1323.516559995 meters 0.01894865065379743 Centerline is valid? [True, True] Translation: X:-427.68, Y:-251.44, Z:-2.82 [[-6.84198407e-01 -7.29282391e-01 4.44228678e-03 -4.27680106e+02] [ 7.29268668e-01 -6.84212806e-01 -4.47734314e-03 -2.51444169e+02] [ 6.30471702e-03 1.76229515e-04 9.99980110e-01 -2.82358916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1323.546559995 meters 0.019938585596525577 Centerline is valid? [True, True] Translation: X:-427.70, Y:-251.43, Z:-2.82 [[-6.83234489e-01 -7.30184527e-01 4.60323569e-03 -4.27699455e+02] [ 7.30169829e-01 -6.83249969e-01 -4.63692944e-03 -2.51425024e+02] [ 6.53097477e-03 1.93033697e-04 9.99978655e-01 -2.82455824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1323.576559995 meters 0.020608176509699382 Centerline is valid? [True, True] Translation: X:-427.72, Y:-251.40, Z:-2.83 [[-6.82464195e-01 -7.30903231e-01 4.80509243e-03 -4.27718426e+02] [ 7.30887252e-01 -6.82481079e-01 -4.83768863e-03 -2.51404697e+02] [ 6.81526691e-03 2.10431522e-04 9.99976754e-01 -2.82505154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1323.606559995 meters 0.021193698884990404 Centerline is valid? [True, True] Translation: X:-427.74, Y:-251.38, Z:-2.83 [[-6.82067369e-01 -7.31273096e-01 4.87481990e-03 -4.27736909e+02] [ 7.31256677e-01 -6.82084754e-01 -4.90513058e-03 -2.51384187e+02] [ 6.91203036e-03 2.19115097e-04 9.99976088e-01 -2.82536019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1323.636559995 meters 0.019205879765025243 Centerline is valid? [True, True] Translation: X:-427.75, Y:-251.36, Z:-2.82 [[-6.82162179e-01 -7.31184510e-01 4.89634520e-03 -4.27751736e+02] [ 7.31167967e-01 -6.82179715e-01 -4.92352825e-03 -2.51361211e+02] [ 6.94019497e-03 2.21406006e-04 9.99975892e-01 -2.82457815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1323.666559995 meters 0.01913404037105919 Centerline is valid? [True, True] Translation: X:-427.77, Y:-251.34, Z:-2.82 [[-6.82616456e-01 -7.30763292e-01 4.44812308e-03 -4.27768884e+02] [ 7.30749648e-01 -6.82630919e-01 -4.47001353e-03 -2.51340047e+02] [ 6.30294815e-03 1.99159578e-04 9.99980117e-01 -2.82432925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1323.6965599950001 meters 0.018663167419797313 Centerline is valid? [True, True] Translation: X:-427.78, Y:-251.32, Z:-2.82 [[-6.84054730e-01 -7.29416915e-01 4.48232971e-03 -4.27784239e+02] [ 7.29403047e-01 -6.84069389e-01 -4.50189390e-03 -2.51315196e+02] [ 6.34998211e-03 1.89883129e-04 9.99979821e-01 -2.82455487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1323.7265599950001 meters 0.01799660175286451 Centerline is valid? [True, True] Translation: X:-427.80, Y:-251.29, Z:-2.82 [[-6.85187898e-01 -7.28351089e-01 4.71542001e-03 -4.27800724e+02] [ 7.28335735e-01 -6.85204097e-01 -4.73319158e-03 -2.51292532e+02] [ 6.67845035e-03 1.91283308e-04 9.99977681e-01 -2.82456503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1323.756559995 meters 0.017631844832302488 Centerline is valid? [True, True] Translation: X:-427.82, Y:-251.27, Z:-2.83 [[-6.86566544e-01 -7.27049428e-01 5.05072037e-03 -4.27818194e+02] [ 7.27031798e-01 -6.86585094e-01 -5.06694174e-03 -2.51269886e+02] [ 7.15166642e-03 1.93241626e-04 9.99974408e-01 -2.82507793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1323.786559995 meters 0.017080119967300352 Centerline is valid? [True, True] Translation: X:-427.83, Y:-251.25, Z:-2.83 [[-6.89103665e-01 -7.24641796e-01 5.51419175e-03 -4.27832664e+02] [ 7.24620728e-01 -6.89125702e-01 -5.52882846e-03 -2.51245328e+02] [ 7.80639145e-03 1.85761684e-04 9.99969513e-01 -2.82615157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1323.816559995 meters 0.016209322049859004 Centerline is valid? [True, True] Translation: X:-427.85, Y:-251.22, Z:-2.83 [[-6.90343519e-01 -7.23460449e-01 5.55023050e-03 -4.27849060e+02] [ 7.23439090e-01 -6.90365808e-01 -5.56189076e-03 -2.51221855e+02] [ 7.85549735e-03 1.75638466e-04 9.99969130e-01 -2.82613516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1323.846559995 meters 0.01573478034624568 Centerline is valid? [True, True] Translation: X:-427.87, Y:-251.20, Z:-2.83 [[-6.91580739e-01 -7.22276593e-01 5.71008381e-03 -4.27865004e+02] [ 7.22253974e-01 -6.91604291e-01 -5.71851211e-03 -2.51199773e+02] [ 8.07946591e-03 1.69317889e-04 9.99967346e-01 -2.82603135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1323.876559995 meters 0.015298605849708626 Centerline is valid? [True, True] Translation: X:-427.88, Y:-251.18, Z:-2.83 [[-6.92849219e-01 -7.21058998e-01 5.82073071e-03 -4.27881928e+02] [ 7.21035482e-01 -6.92873651e-01 -5.82568480e-03 -2.51177796e+02] [ 8.23369338e-03 1.60632204e-04 9.99966090e-01 -2.82583692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1323.906559995 meters 0.014473460848862765 Centerline is valid? [True, True] Translation: X:-427.90, Y:-251.15, Z:-2.83 [[-6.94272570e-01 -7.19691230e-01 5.48928904e-03 -4.27898904e+02] [ 7.19670297e-01 -6.94294256e-01 -5.49083348e-03 -2.51154870e+02] [ 7.76288656e-03 1.38343201e-04 9.99969859e-01 -2.82542589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1323.9365599950002 meters 0.013831267448173833 Centerline is valid? [True, True] Translation: X:-427.91, Y:-251.13, Z:-2.83 [[-6.97158342e-01 -7.16899006e-01 5.10512069e-03 -4.27914180e+02] [ 7.16880846e-01 -6.97177026e-01 -5.10366208e-03 -2.51130738e+02] [ 7.21798313e-03 1.01702643e-04 9.99973945e-01 -2.82520261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1323.9665599950001 meters 0.013653917614743693 Centerline is valid? [True, True] Translation: X:-428.36, Y:-251.58, Z:-1.76 [[-7.63159223e-01 6.46187833e-01 5.41145698e-03 -4.28358658e+02] [ 6.46170785e-01 7.63178404e-01 -4.69467036e-03 -2.51582061e+02] [-7.16354597e-03 -8.60555834e-05 -9.99974338e-01 -1.76433534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1323.996559995 meters 0.013248955937419829 Centerline is valid? [True, True] Translation: X:-428.34, Y:-251.56, Z:-1.76 [[-8.05521404e-01 5.92534522e-01 6.17318070e-03 -4.28341692e+02] [ 5.92516418e-01 8.05545055e-01 -4.63252992e-03 -2.51564185e+02] [-7.71770908e-03 -7.38910889e-05 -9.99970216e-01 -1.76412086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1324.026559995 meters 0.013156747890235477 Centerline is valid? [True, True] Translation: X:-428.33, Y:-251.54, Z:-1.76 [[-8.44798684e-01 5.35049593e-01 6.09231773e-03 -4.28326321e+02] [ 5.35035162e-01 8.44820649e-01 -3.93011885e-03 -2.51541605e+02] [-7.24972431e-03 -6.05550274e-05 -9.99973719e-01 -1.76403025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1324.056559995 meters 0.013111921014822666 Centerline is valid? [True, True] Translation: X:-427.98, Y:-251.00, Z:-2.83 [[-7.96914514e-01 -6.04071796e-01 4.95209553e-03 -4.27980547e+02] [ 6.04060051e-01 -7.96929900e-01 -3.76681760e-03 -2.51004063e+02] [ 6.22190127e-03 -1.04685361e-05 9.99980644e-01 -2.82567400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1324.086559995 meters 0.013159405396637291 Centerline is valid? [True, True] Translation: X:-428.36, Y:-251.51, Z:-1.76 [[-8.47231047e-01 5.31188753e-01 6.16944953e-03 -4.28363114e+02] [ 5.31174088e-01 8.47253507e-01 -3.94767161e-03 -2.51514719e+02] [-7.32404650e-03 -6.75382215e-05 -9.99973177e-01 -1.76373855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1324.116559995 meters 0.013366309041951704 Centerline is valid? [True, True] Translation: X:-428.02, Y:-250.98, Z:-2.83 [[-7.98653860e-01 -6.01755643e-01 6.49293611e-03 -4.28018459e+02] [ 6.01736949e-01 -7.98680244e-01 -4.74458335e-03 -2.50983426e+02] [ 8.04085960e-03 1.17759762e-04 9.99967665e-01 -2.82685977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1324.146559995 meters 0.01332600745823567 Centerline is valid? [True, True] Translation: X:-428.40, Y:-251.49, Z:-1.76 [[-8.49215325e-01 5.27994398e-01 7.43282795e-03 -4.28398515e+02] [ 5.27973322e-01 8.49247849e-01 -4.71836098e-03 -2.51491314e+02] [-8.80358132e-03 -8.25695941e-05 -9.99961245e-01 -1.76279264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1324.176559995 meters 0.013058499131551169 Centerline is valid? [True, True] Translation: X:-428.38, Y:-251.47, Z:-1.76 [[-8.83379286e-01 4.68582775e-01 8.43927297e-03 -4.28378655e+02] [ 4.68560558e-01 8.83419593e-01 -4.56353025e-03 -2.51471400e+02] [-9.59381076e-03 -7.70176367e-05 -9.99953976e-01 -1.76245451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1324.2065599950001 meters 0.013024334676185379 Centerline is valid? [True, True] Translation: X:-428.37, Y:-251.45, Z:-1.76 [[-9.13846517e-01 4.05965877e-01 8.73217133e-03 -4.28368586e+02] [ 4.05946665e-01 9.13888233e-01 -3.94999539e-03 -2.51446844e+02] [-9.58379198e-03 -6.48937006e-05 -9.99954073e-01 -1.76270680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1324.236559995 meters 0.01281545173137737 Centerline is valid? [True, True] Translation: X:-428.10, Y:-250.87, Z:-2.83 [[-8.78951040e-01 -4.76840226e-01 8.27451605e-03 -4.28102214e+02] [ 4.76819649e-01 -8.78989987e-01 -4.43008423e-03 -2.50868663e+02] [ 9.38565911e-03 5.16247038e-05 9.99955953e-01 -2.82692330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1324.266559995 meters 0.01265301040718876 Centerline is valid? [True, True] Translation: X:-428.41, Y:-251.43, Z:-1.76 [[-9.13970310e-01 4.05700633e-01 8.07895720e-03 -4.28406017e+02] [ 4.05684494e-01 9.14006015e-01 -3.61881340e-03 -2.51432334e+02] [-8.85237037e-03 -2.99803379e-05 -9.99960817e-01 -1.76335654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1324.296559995 meters 0.012672953085585898 Centerline is valid? [True, True] Translation: X:-428.14, Y:-250.85, Z:-2.83 [[-8.82398713e-01 -4.70443510e-01 7.44420405e-03 -4.28143091e+02] [ 4.70426803e-01 -8.82430113e-01 -3.96474163e-03 -2.50850679e+02] [ 8.43417679e-03 3.47020079e-06 9.99964432e-01 -2.82683964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1324.326559995 meters 0.012681031578296056 Centerline is valid? [True, True] Translation: X:-428.45, Y:-251.42, Z:-1.76 [[-9.14024289e-01 4.05587321e-01 7.65010131e-03 -4.28446211e+02] [ 4.05573132e-01 9.14056303e-01 -3.39258817e-03 -2.51415670e+02] [-8.36861407e-03 1.76755740e-06 -9.99964983e-01 -1.76330976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1324.356559995 meters 0.012785510358377055 Centerline is valid? [True, True] Translation: X:-428.18, Y:-250.83, Z:-2.83 [[-8.86570002e-01 -4.62550864e-01 6.35052312e-03 -4.28184401e+02] [ 4.62538432e-01 -8.86592744e-01 -3.39197163e-03 -2.50831901e+02] [ 7.19928713e-03 -6.98592906e-05 9.99974083e-01 -2.82567931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1324.386559995 meters 0.013007537235810638 Centerline is valid? [True, True] Translation: X:-428.49, Y:-251.40, Z:-1.76 [[-9.13486978e-01 4.06820443e-01 6.21839714e-03 -4.28486030e+02] [ 4.06811284e-01 9.13508142e-01 -2.73013757e-03 -2.51400601e+02] [-6.79123220e-03 3.57690085e-05 -9.99976939e-01 -1.76480024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1324.416559995 meters 0.013267029620199223 Centerline is valid? [True, True] Translation: X:-428.48, Y:-251.38, Z:-1.76 [[-9.39594454e-01 3.42246488e-01 5.44094279e-03 -4.28476447e+02] [ 3.42240981e-01 9.39610207e-01 -1.94182983e-03 -2.51375790e+02] [-5.77694982e-03 3.75810603e-05 -9.99983313e-01 -1.76498178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1324.4465599950001 meters 0.015004745729162853 Centerline is valid? [True, True] Translation: X:-428.47, Y:-251.35, Z:-1.77 [[-9.60780309e-01 2.77281666e-01 4.00952018e-03 -4.28466947e+02] [ 2.77279413e-01 9.60788674e-01 -1.11847355e-03 -2.51350018e+02] [-4.16243379e-03 3.71500451e-05 -9.99991337e-01 -1.76533667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1324.4765599950001 meters 0.013458862400041332 Centerline is valid? [True, True] Translation: X:-428.29, Y:-250.73, Z:-2.82 [[-9.46096809e-01 -3.23866852e-01 3.33039954e-03 -4.28291775e+02] [ 3.23864582e-01 -9.46102668e-01 -1.21450068e-03 -2.50728742e+02] [ 3.54423640e-03 -7.04367581e-05 9.99993717e-01 -2.82279169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1324.506559995 meters 0.013382557644768618 Centerline is valid? [True, True] Translation: X:-428.51, Y:-251.34, Z:-1.77 [[-9.61809722e-01 2.73700048e-01 3.21597596e-03 -4.28514560e+02] [ 2.73698621e-01 9.61815098e-01 -8.84150757e-04 -2.51336962e+02] [-3.33516634e-03 2.98233912e-05 -9.99994438e-01 -1.76727775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1324.536559995 meters 0.013316468929559122 Centerline is valid? [True, True] Translation: X:-428.34, Y:-250.72, Z:-2.82 [[-9.47145728e-01 -3.20789462e-01 3.01512647e-03 -4.28341950e+02] [ 3.20787711e-01 -9.47150526e-01 -1.06066995e-03 -2.50717501e+02] [ 3.19603037e-03 -3.73934907e-05 9.99994892e-01 -2.82299367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1324.566559995 meters 0.012977652057093387 Centerline is valid? [True, True] Translation: X:-428.56, Y:-251.32, Z:-1.77 [[-9.63447008e-01 2.67868170e-01 4.06277000e-03 -4.28559672e+02] [ 2.67865913e-01 9.63455574e-01 -1.10001061e-03 -2.51321225e+02] [-4.20895623e-03 2.84756656e-05 -9.99991142e-01 -1.76532407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1324.596559995 meters 0.013002152277897621 Centerline is valid? [True, True] Translation: X:-428.39, Y:-250.71, Z:-2.83 [[-9.47505016e-01 -3.19701400e-01 5.02584023e-03 -4.28392857e+02] [ 3.19697089e-01 -9.47518345e-01 -1.66045352e-03 -2.50708117e+02] [ 5.29292513e-03 3.34584541e-05 9.99985992e-01 -2.82595143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1324.626559995 meters 0.01308899380676655 Centerline is valid? [True, True] Translation: X:-428.61, Y:-251.31, Z:-1.76 [[-9.64868620e-01 2.62662401e-01 6.08348919e-03 -4.28609558e+02] [ 2.62657394e-01 9.64887798e-01 -1.62217692e-03 -2.51307251e+02] [-6.29596937e-03 3.26858091e-05 -9.99980180e-01 -1.76214117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1324.656559995 meters 0.013118772237746063 Centerline is valid? [True, True] Translation: X:-428.61, Y:-251.28, Z:-1.76 [[-9.81254899e-01 1.92586306e-01 7.02416506e-03 -4.28605363e+02] [ 1.92581594e-01 9.81280039e-01 -1.34754321e-03 -2.51278987e+02] [-7.15219133e-03 3.04415304e-05 -9.99974423e-01 -1.76114076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1324.6865599950002 meters 0.013098881947404816 Centerline is valid? [True, True] Translation: X:-428.61, Y:-251.25, Z:-1.76 [[-9.92548524e-01 1.21585199e-01 8.02912930e-03 -4.28610203e+02] [ 1.21581444e-01 9.92580999e-01 -9.55901027e-04 -2.51249369e+02] [-8.08578459e-03 2.74149815e-05 -9.99967309e-01 -1.76020405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1324.7165599950001 meters 0.012954883393267948 Centerline is valid? [True, True] Translation: X:-428.53, Y:-250.63, Z:-2.83 [[-9.82974574e-01 -1.83541850e-01 8.56604887e-03 -4.28531457e+02] [ 1.83534992e-01 -9.83011897e-01 -1.58673483e-03 -2.50625689e+02] [ 8.71176019e-03 1.24497176e-05 9.99962052e-01 -2.83137957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1324.746559995 meters 0.01297228496494442 Centerline is valid? [True, True] Translation: X:-428.66, Y:-251.24, Z:-1.76 [[-9.93473063e-01 1.13744374e-01 8.57268537e-03 -4.28663927e+02] [ 1.13740109e-01 9.93510049e-01 -9.85050645e-04 -2.51238780e+02] [-8.62909303e-03 -3.56311561e-06 -9.99962769e-01 -1.75829924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1324.776559995 meters 0.012971469449568993 Centerline is valid? [True, True] Translation: X:-428.67, Y:-251.21, Z:-1.76 [[-9.99113510e-01 4.12637348e-02 8.33662129e-03 -4.28665771e+02] [ 4.12621552e-02 9.99148289e-01 -3.61461498e-04 -2.51209270e+02] [-8.34443616e-03 -1.71541044e-05 -9.99965185e-01 -1.75849651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1324.806559995 meters 0.01283425276002644 Centerline is valid? [True, True] Translation: X:-428.67, Y:-251.18, Z:-1.76 [[-9.99467651e-01 -3.16317920e-02 7.99024503e-03 -4.28674000e+02] [-3.16310260e-02 9.99499589e-01 2.22257826e-04 -2.51180575e+02] [-7.99327704e-03 -3.06001406e-05 -9.99968053e-01 -1.76019998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1324.836559995 meters 0.012964952737804894 Centerline is valid? [True, True] Translation: X:-428.69, Y:-251.15, Z:-1.76 [[-9.94390516e-01 -1.05485427e-01 7.76697739e-03 -4.28685137e+02] [-1.05482618e-01 9.94420848e-01 7.71505433e-04 -2.51151134e+02] [-7.80502682e-03 -5.21034254e-05 -9.99969539e-01 -1.76046290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1324.866559995 meters 0.013080092772932967 Centerline is valid? [True, True] Translation: X:-428.75, Y:-250.54, Z:-2.83 [[-9.99673884e-01 2.41448468e-02 8.31581321e-03 -4.28745939e+02] [-2.41432591e-02 -9.99708467e-01 2.91280291e-04 -2.50542066e+02] [ 8.32042179e-03 9.04144673e-05 9.99965381e-01 -2.83054976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1324.896559995 meters 0.013132182116166551 Centerline is valid? [True, True] Translation: X:-428.78, Y:-251.16, Z:-1.76 [[-9.93542694e-01 -1.13112609e-01 8.85738420e-03 -4.28775704e+02] [-1.13108805e-01 9.93582172e-01 9.30813321e-04 -2.51158471e+02] [-8.90582575e-03 -7.70453709e-05 -9.99960340e-01 -1.75923995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1324.926559995 meters 0.013422086858802073 Centerline is valid? [True, True] Translation: X:-428.84, Y:-250.55, Z:-2.83 [[-9.99560454e-01 2.81110742e-02 9.41625232e-03 -4.28838626e+02] [-2.81087298e-02 -9.99604799e-01 3.81257972e-04 -2.50551584e+02] [ 9.42324858e-03 1.16411499e-04 9.99955594e-01 -2.83228118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1324.9565599950001 meters 0.013590635571384556 Centerline is valid? [True, True] Translation: X:-428.87, Y:-251.17, Z:-1.76 [[-9.92568391e-01 -1.21201067e-01 1.08761972e-02 -4.28867865e+02] [-1.21195122e-01 9.92627970e-01 1.20646320e-03 -2.51167018e+02] [-1.09422422e-02 -1.20644819e-04 -9.99940125e-01 -1.75601071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1324.986559995 meters 0.013590635571384556 Centerline is valid? [True, True] Translation: X:-428.88, Y:-251.14, Z:-1.76 [[-9.81379529e-01 -1.91776941e-01 1.07622114e-02 -4.28883173e+02] [-1.91766756e-01 9.81438531e-01 1.98010189e-03 -2.51141299e+02] [-1.09421869e-02 -1.20602909e-04 -9.99940125e-01 -1.75601150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1325.016559995 meters 0.013803533416236665 Centerline is valid? [True, True] Translation: X:-428.91, Y:-251.12, Z:-1.75 [[-9.64801722e-01 -2.62718704e-01 1.16842072e-02 -4.28910228e+02] [-2.62701241e-01 9.64872459e-01 3.03247988e-03 -2.51119127e+02] [-1.20704589e-02 -1.43713917e-04 -9.99927139e-01 -1.75490448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1325.046559995 meters 0.014073889979281867 Centerline is valid? [True, True] Translation: X:-428.95, Y:-251.10, Z:-1.75 [[-9.42830790e-01 -3.33038586e-01 1.24660547e-02 -4.28950132e+02] [-3.33011913e-01 9.42913183e-01 4.21848342e-03 -2.51102295e+02] [-1.31593251e-02 -1.74028671e-04 -9.99913397e-01 -1.75385872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1325.076559995 meters 0.014021431142082968 Centerline is valid? [True, True] Translation: X:-429.01, Y:-251.10, Z:-1.75 [[-9.15214792e-01 -4.02754448e-01 1.30667523e-02 -4.29009916e+02] [-4.02716650e-01 9.15308042e-01 5.52163617e-03 -2.51095773e+02] [-1.41839670e-02 -2.08715612e-04 -9.99899381e-01 -1.75380719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1325.106559995 meters 0.014948400611416697 Centerline is valid? [True, True] Translation: X:-429.08, Y:-251.09, Z:-1.75 [[-8.82287129e-01 -4.70526649e-01 1.31945111e-02 -4.29076934e+02] [-4.70478126e-01 8.82385751e-01 6.76158032e-03 -2.51094739e+02] [-1.48241523e-02 -2.42073571e-04 -9.99890087e-01 -1.75199343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1325.136559995 meters 0.014628293408483801 Centerline is valid? [True, True] Translation: X:-429.15, Y:-251.11, Z:-1.75 [[-8.44205530e-01 -5.35861827e-01 1.30048644e-02 -4.29151473e+02] [-5.35803205e-01 8.44305649e-01 7.93079300e-03 -2.51105964e+02] [-1.52298897e-02 -2.72828721e-04 -9.99883982e-01 -1.75292128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1325.166559995 meters 0.015541348890834675 Centerline is valid? [True, True] Translation: X:-429.23, Y:-251.12, Z:-1.75 [[-8.00508997e-01 -5.99189334e-01 1.25493903e-02 -4.29229849e+02] [-5.99121817e-01 8.00607297e-01 9.00030267e-03 -2.51123406e+02] [-1.54400188e-02 -3.13790277e-04 -9.99880747e-01 -1.75231257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1325.1965599950001 meters 0.01513185024795242 Centerline is valid? [True, True] Translation: X:-429.31, Y:-251.15, Z:-1.75 [[-7.52994596e-01 -6.57923239e-01 1.16683793e-02 -4.29311234e+02] [-6.57850772e-01 7.53084929e-01 9.76991382e-03 -2.51153280e+02] [-1.52151339e-02 -3.19360004e-04 -9.99884192e-01 -1.75360234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1325.2265599950001 meters 0.015708494758828385 Centerline is valid? [True, True] Translation: X:-429.39, Y:-251.19, Z:-1.75 [[-7.01295957e-01 -7.12791111e-01 1.06213686e-02 -4.29393453e+02] [-7.12716062e-01 7.01376314e-01 1.03479751e-02 -2.51190757e+02] [-1.48255210e-02 -3.13026888e-04 -9.99890047e-01 -1.75386481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1325.256559995 meters 0.01623546476856995 Centerline is valid? [True, True] Translation: X:-429.48, Y:-251.24, Z:-1.75 [[-6.46310718e-01 -7.63014104e-01 9.58820826e-03 -4.29477355e+02] [-7.62936766e-01 6.46381770e-01 1.08673300e-02 -2.51238303e+02] [-1.44895691e-02 -2.91524743e-04 -9.99894978e-01 -1.75323007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1325.286559995 meters 0.01537834989240243 Centerline is valid? [True, True] Translation: X:-429.56, Y:-251.30, Z:-1.75 [[-5.88092120e-01 -8.08749524e-01 8.47741354e-03 -4.29559403e+02] [-8.08671799e-01 5.88153161e-01 1.12152213e-02 -2.51298042e+02] [-1.40563225e-02 -2.59861981e-04 -9.99901171e-01 -1.75445719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1325.316559995 meters 0.01496394532682727 Centerline is valid? [True, True] Translation: X:-429.64, Y:-251.36, Z:-1.75 [[-5.26663575e-01 -8.50042326e-01 7.31596380e-03 -4.29637508e+02] [-8.49966131e-01 5.26714339e-01 1.13834031e-02 -2.51364044e+02] [-1.35297975e-02 -2.23097677e-04 -9.99908443e-01 -1.75487891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1325.346559995 meters 0.014304305507065341 Centerline is valid? [True, True] Translation: X:-429.71, Y:-251.44, Z:-1.76 [[-4.62710771e-01 -8.86488733e-01 6.03895656e-03 -4.29712341e+02] [-8.86418191e-01 4.62750143e-01 1.11846359e-02 -2.51439913e+02] [-1.27095817e-02 -1.77789443e-04 -9.99919214e-01 -1.75581326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1325.376559995 meters 0.013145716419266358 Centerline is valid? [True, True] Translation: X:-429.78, Y:-251.52, Z:-1.76 [[-3.99217965e-01 -9.16845644e-01 4.36816730e-03 -4.29779820e+02] [-9.16793162e-01 3.99241853e-01 9.81024003e-03 -2.51523139e+02] [-1.07384310e-02 -8.82818446e-05 -9.99942338e-01 -1.75768782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1325.406559995 meters 0.012851857465912423 Centerline is valid? [True, True] Translation: X:-429.84, Y:-251.61, Z:-1.76 [[-3.30853158e-01 -9.43676359e-01 3.33435818e-03 -4.29842734e+02] [-9.43629973e-01 3.30869956e-01 9.35663340e-03 -2.51611627e+02] [-9.93287268e-03 -5.07286112e-05 -9.99950667e-01 -1.75822218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1325.4365599950002 meters 0.012469357312435798 Centerline is valid? [True, True] Translation: X:-429.90, Y:-251.71, Z:-1.76 [[-2.60844314e-01 -9.65378059e-01 2.33383364e-03 -4.29898953e+02] [-9.65339976e-01 2.60854754e-01 8.57485025e-03 -2.51707488e+02] [-8.88676389e-03 -1.62419780e-05 -9.99960512e-01 -1.76022778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1325.4665599950001 meters 0.012442653790227352 Centerline is valid? [True, True] Translation: X:-429.95, Y:-251.81, Z:-1.76 [[-1.88928571e-01 -9.81989738e-01 1.46635967e-03 -4.29950046e+02] [-9.81959831e-01 1.88934262e-01 7.66391139e-03 -2.51813106e+02] [-7.80292792e-03 8.02553866e-06 -9.99969557e-01 -1.76086122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1325.496559995 meters 0.012707482295786665 Centerline is valid? [True, True] Translation: X:-429.99, Y:-251.92, Z:-1.76 [[-1.18126472e-01 -9.92998224e-01 8.15233610e-04 -4.29991848e+02] [-9.92971925e-01 1.18129276e-01 7.22707353e-03 -2.51917334e+02] [-7.27277414e-03 4.42046094e-05 -9.99973552e-01 -1.76148430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1325.526559995 meters 0.012870693072387408 Centerline is valid? [True, True] Translation: X:-430.03, Y:-252.03, Z:-1.76 [[-4.30000519e-02 -9.99075035e-01 2.65509909e-04 -4.30028151e+02] [-9.99047052e-01 4.30008348e-02 7.47769954e-03 -2.52032208e+02] [-7.48220007e-03 5.62845759e-05 -9.99972007e-01 -1.76136148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1325.556559995 meters 0.012905114312410017 Centerline is valid? [True, True] Translation: X:-430.06, Y:-252.15, Z:-1.76 [[ 3.33534420e-02 -9.99443558e-01 -3.49986617e-04 -4.30056774e+02] [-9.99407831e-01 -3.33552090e-02 8.45092633e-03 -2.52145413e+02] [-8.45789776e-03 6.79118847e-05 -9.99964229e-01 -1.76082461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1325.586559995 meters 0.01328060353434575 Centerline is valid? [True, True] Translation: X:-430.08, Y:-252.27, Z:-1.76 [[ 1.10306329e-01 -9.93897041e-01 -1.08858155e-03 -4.30076254e+02] [-9.93854817e-01 -1.10311677e-01 9.16168445e-03 -2.52266681e+02] [-9.22585433e-03 7.13002433e-05 -9.99957439e-01 -1.75894553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1325.616559995 meters 0.01325318666536909 Centerline is valid? [True, True] Translation: X:-430.09, Y:-252.39, Z:-1.76 [[ 1.87118946e-01 -9.82335084e-01 -2.06975830e-03 -4.30088319e+02] [-9.82279224e-01 -1.87130379e-01 1.04760352e-02 -2.52386435e+02] [-1.06782915e-02 7.28159222e-05 -9.99942983e-01 -1.75757077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1325.646559995 meters 0.012859034424757521 Centerline is valid? [True, True] Translation: X:-430.09, Y:-252.51, Z:-1.76 [[ 2.65390734e-01 -9.64134574e-01 -3.50453284e-03 -4.30094278e+02] [-9.64052595e-01 -2.65413868e-01 1.25726907e-02 -2.52507009e+02] [-1.30519174e-02 4.18783572e-05 -9.99914819e-01 -1.75689478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1325.676559995 meters 0.01281705642532702 Centerline is valid? [True, True] Translation: X:-430.09, Y:-252.63, Z:-1.76 [[ 3.40005416e-01 -9.40411380e-01 -4.77014665e-03 -4.30087921e+02] [-9.40319722e-01 -3.40038876e-01 1.31294669e-02 -2.52625819e+02] [-1.39691354e-02 2.13731156e-05 -9.99902427e-01 -1.75679084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1325.7065599950001 meters 0.012964311592155109 Centerline is valid? [True, True] Translation: X:-430.07, Y:-252.74, Z:-1.76 [[ 4.12384309e-01 -9.10989608e-01 -6.09225963e-03 -4.30074990e+02] [-9.10890090e-01 -4.12429308e-01 1.34651540e-02 -2.52738065e+02] [-1.47792418e-02 -3.43932425e-06 -9.99890781e-01 -1.75593917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1325.736559995 meters 0.01312760941633635 Centerline is valid? [True, True] Translation: X:-430.05, Y:-252.86, Z:-1.75 [[ 4.82743949e-01 -8.75728382e-01 -7.62106848e-03 -4.30052284e+02] [-8.75617940e-01 -4.82804100e-01 1.39076971e-02 -2.52857950e+02] [-1.58588482e-02 -4.07123242e-05 -9.99874240e-01 -1.75478661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1325.766559995 meters 0.013177673457498556 Centerline is valid? [True, True] Translation: X:-430.02, Y:-252.96, Z:-1.75 [[ 5.48588622e-01 -8.36046911e-01 -8.72281738e-03 -4.30023951e+02] [-8.35939785e-01 -5.48657963e-01 1.33833742e-02 -2.52962680e+02] [-1.59749718e-02 -5.02166921e-05 -9.99872391e-01 -1.75488943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1325.796559995 meters 0.013159156519260161 Centerline is valid? [True, True] Translation: X:-429.99, Y:-253.06, Z:-1.76 [[ 6.10845760e-01 -7.91692119e-01 -9.54179978e-03 -4.29986998e+02] [-7.91594195e-01 -6.10920278e-01 1.24517011e-02 -2.53064219e+02] [-1.56871926e-02 -5.28355195e-05 -9.99876947e-01 -1.75556619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1325.826559995 meters 0.013049312759845859 Centerline is valid? [True, True] Translation: X:-429.94, Y:-253.17, Z:-1.76 [[ 6.68903802e-01 -7.43282077e-01 -9.97283976e-03 -4.29939281e+02] [-7.43198492e-01 -6.68978141e-01 1.11467441e-02 -2.53165016e+02] [-1.49567869e-02 -4.43000380e-05 -9.99888140e-01 -1.75727403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1325.856559995 meters 0.012936002881054556 Centerline is valid? [True, True] Translation: X:-429.89, Y:-253.25, Z:-1.76 [[ 7.22553912e-01 -6.91247900e-01 -9.60133003e-03 -4.29891969e+02] [-6.91186425e-01 -7.22617700e-01 9.21871424e-03 -2.53252497e+02] [-1.33105079e-02 -2.47090577e-05 -9.99911411e-01 -1.76078702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1325.886559995 meters 0.012748572749559544 Centerline is valid? [True, True] Translation: X:-429.89, Y:-253.26, Z:-1.76 [[ 7.73894683e-01 -6.33244129e-01 -9.42832361e-03 -4.29892179e+02] [-6.33196923e-01 -7.73952113e-01 7.73196439e-03 -2.53262757e+02] [-1.21932920e-02 -1.37406312e-05 -9.99925659e-01 -1.76284296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1325.916559995 meters 0.012719667236178215 Centerline is valid? [True, True] Translation: X:-429.89, Y:-253.27, Z:-1.76 [[ 8.20704569e-01 -5.71286818e-01 -8.68224905e-03 -4.29892041e+02] [-5.71254778e-01 -8.20750493e-01 6.05044469e-03 -2.53273567e+02] [-1.05824995e-02 -5.85135256e-06 -9.99944004e-01 -1.76468749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1325.9465599950001 meters 0.012573660622981058 Centerline is valid? [True, True] Translation: X:-429.89, Y:-253.28, Z:-1.77 [[ 8.62763574e-01 -5.05551080e-01 -7.55790467e-03 -4.29890777e+02] [-5.05531647e-01 -8.62796677e-01 4.43259662e-03 -2.53284922e+02] [-8.76183904e-03 -3.52290183e-06 -9.99961615e-01 -1.76627309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1325.9765599950001 meters 0.012479149262408307 Centerline is valid? [True, True] Translation: X:-429.89, Y:-253.30, Z:-1.77 [[ 8.99938249e-01 -4.35989654e-01 -4.91622946e-03 -4.29889419e+02] [-4.35983111e-01 -8.99951677e-01 2.38869124e-03 -2.53295385e+02] [-5.46581362e-03 -6.28160275e-06 -9.99985063e-01 -1.76960680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1326.006559995 meters 0.012535398951868292 Centerline is valid? [True, True] Translation: X:-429.89, Y:-253.30, Z:-1.77 [[ 9.31602243e-01 -3.63451854e-01 -4.47340437e-03 -4.29887328e+02] [-3.63447612e-01 -9.31612983e-01 1.75610721e-03 -2.53304916e+02] [-4.80574201e-03 -1.01452815e-05 -9.99988453e-01 -1.77072873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1326.036559995 meters 0.012492541232528194 Centerline is valid? [True, True] Translation: X:-429.88, Y:-253.31, Z:-1.77 [[ 9.57530091e-01 -2.88301978e-01 -4.25381198e-03 -4.29883329e+02] [-2.88299064e-01 -9.57539539e-01 1.29645782e-03 -2.53313647e+02] [-4.44696452e-03 -1.50273634e-05 -9.99990112e-01 -1.77135400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1326.066559995 meters 0.012757574791354323 Centerline is valid? [True, True] Translation: X:-429.88, Y:-253.32, Z:-1.77 [[ 9.77446907e-01 -2.11139941e-01 -4.17972157e-03 -4.29879757e+02] [-2.11137920e-01 -9.77455843e-01 9.24139080e-04 -2.53321925e+02] [-4.28061595e-03 -2.07991670e-05 -9.99990838e-01 -1.77078061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1326.096559995 meters 0.012905111925880107 Centerline is valid? [True, True] Translation: X:-429.87, Y:-253.33, Z:-1.77 [[ 9.91265319e-01 -1.31821376e-01 -4.02409868e-03 -4.29874177e+02] [-1.31820170e-01 -9.91273486e-01 5.64442459e-04 -2.53329439e+02] [-4.06338791e-03 -2.90548607e-05 -9.99991744e-01 -1.77120635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1326.126559995 meters 0.01353157153491431 Centerline is valid? [True, True] Translation: X:-429.87, Y:-253.34, Z:-1.77 [[ 9.98728139e-01 -5.02505020e-02 -4.12202777e-03 -4.29871120e+02] [-5.02498915e-02 -9.98736645e-01 2.51590965e-04 -2.53337620e+02] [-4.12946275e-03 -4.41395285e-05 -9.99991473e-01 -1.77072308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1326.156559995 meters 0.013498297628917997 Centerline is valid? [True, True] Translation: X:-429.87, Y:-253.35, Z:-1.77 [[ 9.99546745e-01 2.97163234e-02 -4.82124404e-03 -4.29867517e+02] [ 2.97162628e-02 -9.99558371e-01 -8.42168080e-05 -2.53345119e+02] [-4.82161745e-03 -5.90907183e-05 -9.99988374e-01 -1.77072389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1326.1865599950002 meters 0.013516254311161593 Centerline is valid? [True, True] Translation: X:-429.86, Y:-253.35, Z:-1.77 [[ 9.94064558e-01 1.08643139e-01 -5.68529893e-03 -4.29863180e+02] [ 1.08641788e-01 -9.94080813e-01 -5.46884068e-04 -2.53354080e+02] [-5.71106178e-03 -7.40229711e-05 -9.99983689e-01 -1.77011782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1326.2165599950001 meters 0.013564339133426145 Centerline is valid? [True, True] Translation: X:-429.86, Y:-253.36, Z:-1.77 [[ 9.82517316e-01 1.86075207e-01 -5.97846456e-03 -4.29859280e+02] [ 1.86072244e-01 -9.82535501e-01 -1.05286865e-03 -2.53361800e+02] [-6.06996643e-03 -7.79646444e-05 -9.99981575e-01 -1.76951909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1326.246559995 meters 0.013458128824890817 Centerline is valid? [True, True] Translation: X:-429.86, Y:-253.37, Z:-1.77 [[ 9.65522030e-01 2.60215430e-01 -7.42566500e-03 -4.29855911e+02] [ 2.60208373e-01 -9.65550581e-01 -1.91811551e-03 -2.53367587e+02] [-7.66897840e-03 -8.02374290e-05 -9.99970590e-01 -1.76818625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1326.276559995 meters 0.013039069187113934 Centerline is valid? [True, True] Translation: X:-429.85, Y:-253.37, Z:-1.77 [[ 9.42814476e-01 3.33231746e-01 -7.58076104e-03 -4.29851265e+02] [ 3.33221559e-01 -9.42844950e-01 -2.60639700e-03 -2.53370654e+02] [-8.01601648e-03 -6.87241926e-05 -9.99967869e-01 -1.76786492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1326.306559995 meters 0.012914891305622036 Centerline is valid? [True, True] Translation: X:-429.85, Y:-253.37, Z:-1.77 [[ 9.14666548e-01 4.04124291e-01 -8.28637567e-03 -4.29848138e+02] [ 4.04108288e-01 -9.14704080e-01 -3.59689830e-03 -2.53374066e+02] [-9.03317561e-03 -5.86305332e-05 -9.99959199e-01 -1.76701695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1326.336559995 meters 0.012676213278565857 Centerline is valid? [True, True] Translation: X:-429.84, Y:-253.38, Z:-1.77 [[ 8.81437099e-01 4.72228429e-01 -8.30371614e-03 -4.29842895e+02] [ 4.72207868e-01 -8.81476210e-01 -4.40684501e-03 -2.53378330e+02] [-9.40056573e-03 -3.67234136e-05 -9.99955813e-01 -1.76692012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1326.366559995 meters 0.012596490623855826 Centerline is valid? [True, True] Translation: X:-429.84, Y:-253.38, Z:-1.77 [[ 8.44603852e-01 5.35323317e-01 -8.56033643e-03 -4.29838480e+02] [ 5.35295654e-01 -8.44647232e-01 -5.44213588e-03 -2.53380036e+02] [-1.01437667e-02 1.41380365e-05 -9.99948551e-01 -1.76699722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1326.396559995 meters 0.012770111427655526 Centerline is valid? [True, True] Translation: X:-429.83, Y:-253.38, Z:-1.77 [[ 8.01471482e-01 5.97977717e-01 -8.13104432e-03 -4.29834499e+02] [ 5.97946468e-01 -8.01512726e-01 -6.11325450e-03 -2.53384236e+02] [-1.01727255e-02 3.76699096e-05 -9.99948256e-01 -1.76695173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1326.426559995 meters 0.01288478496327328 Centerline is valid? [True, True] Translation: X:-429.83, Y:-253.39, Z:-1.77 [[ 7.53711694e-01 6.57163979e-01 -7.36118314e-03 -4.29827882e+02] [ 6.57131879e-01 -7.53747638e-01 -6.49557944e-03 -2.53388809e+02] [-9.81713523e-03 5.85260771e-05 -9.99951809e-01 -1.76785759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1326.4565599950001 meters 0.013073164005770249 Centerline is valid? [True, True] Translation: X:-429.82, Y:-253.39, Z:-1.77 [[ 7.00931000e-01 7.13197451e-01 -6.71786485e-03 -4.29822438e+02] [ 7.13163726e-01 -7.00963188e-01 -6.93604220e-03 -2.53393607e+02] [-9.65574358e-03 7.07494622e-05 -9.99953380e-01 -1.76779566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1326.486559995 meters 0.013219677407188164 Centerline is valid? [True, True] Translation: X:-429.82, Y:-253.40, Z:-1.77 [[ 6.43607579e-01 7.65334123e-01 -5.74146921e-03 -4.29817558e+02] [ 7.65302649e-01 -6.43633184e-01 -6.94123511e-03 -2.53397450e+02] [-9.00776419e-03 7.34699317e-05 -9.99959427e-01 -1.76770362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1326.516559995 meters 0.012885303017209557 Centerline is valid? [True, True] Translation: X:-429.81, Y:-253.40, Z:-1.77 [[ 5.81191294e-01 8.13750403e-01 -5.19242410e-03 -4.29808292e+02] [ 8.13716882e-01 -5.81214484e-01 -7.38642187e-03 -2.53401990e+02] [-9.02861587e-03 6.77609404e-05 -9.99959239e-01 -1.76904921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1326.546559995 meters 0.012838495748841359 Centerline is valid? [True, True] Translation: X:-429.80, Y:-253.41, Z:-1.77 [[ 5.14767220e-01 8.57317480e-01 -4.63110964e-03 -4.29799108e+02] [ 8.57281760e-01 -5.14788048e-01 -7.82617896e-03 -2.53405871e+02] [-9.09355991e-03 5.84945645e-05 -9.99958651e-01 -1.76865766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1326.576559995 meters 0.01259211369153192 Centerline is valid? [True, True] Translation: X:-429.79, Y:-253.41, Z:-1.77 [[ 4.44594060e-01 8.95723230e-01 -4.00214812e-03 -4.29789242e+02] [ 8.95686053e-01 -4.44612071e-01 -8.16095421e-03 -2.53409843e+02] [-9.08935962e-03 4.36435090e-05 -9.99958690e-01 -1.76844363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1326.606559995 meters 0.012391926517529435 Centerline is valid? [True, True] Translation: X:-429.78, Y:-253.41, Z:-1.77 [[ 3.68336169e-01 9.29685037e-01 -3.76797535e-03 -4.29778686e+02] [ 9.29636470e-01 -3.68355442e-01 -9.50280151e-03 -2.53414018e+02] [-1.02225666e-02 -2.62179198e-06 -9.99947748e-01 -1.76815178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1326.636559995 meters 0.0124393838046145 Centerline is valid? [True, True] Translation: X:-429.77, Y:-253.42, Z:-1.77 [[ 2.91339619e-01 9.56614535e-01 -3.13971959e-03 -4.29767380e+02] [ 9.56560339e-01 -2.91356534e-01 -1.01827060e-02 -2.53415600e+02] [-1.06557024e-02 -3.67055438e-05 -9.99943226e-01 -1.76792204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1326.666559995 meters 0.012770121457058177 Centerline is valid? [True, True] Translation: X:-429.76, Y:-253.42, Z:-1.77 [[ 2.12179485e-01 9.77227668e-01 -2.43968879e-03 -4.29756365e+02] [ 9.77167162e-01 -2.12193497e-01 -1.08745996e-02 -2.53417729e+02] [-1.11446457e-02 -7.66168277e-05 -9.99937894e-01 -1.76671785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1326.6965599950001 meters 0.013174709012407648 Centerline is valid? [True, True] Translation: X:-429.75, Y:-253.42, Z:-1.77 [[ 1.31650284e-01 9.91294795e-01 -1.68296218e-03 -4.29746665e+02] [ 9.91225189e-01 -1.31660984e-01 -1.17478121e-02 -2.53417550e+02] [-1.18671254e-02 -1.21591713e-04 -9.99929576e-01 -1.76587685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1326.7265599950001 meters 0.013867477440642062 Centerline is valid? [True, True] Translation: X:-429.74, Y:-253.42, Z:-1.77 [[ 5.03899414e-02 9.98729300e-01 -7.99996400e-04 -4.29738347e+02] [ 9.98650940e-01 -5.03960099e-02 -1.25116765e-02 -2.53416052e+02] [-1.25360946e-02 -1.68454510e-04 -9.99921406e-01 -1.76528349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1326.756559995 meters 0.015265804683579616 Centerline is valid? [True, True] Translation: X:-429.73, Y:-253.42, Z:-1.76 [[-3.25553309e-02 9.99469915e-01 1.97192740e-04 -4.29729464e+02] [ 9.99378113e-01 3.25550137e-02 -1.35483887e-02 -2.53415029e+02] [-1.35476265e-02 -2.44002167e-04 -9.99908197e-01 -1.76395937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1326.786559995 meters 0.015049357283750663 Centerline is valid? [True, True] Translation: X:-429.72, Y:-253.41, Z:-1.76 [[-1.11771237e-01 9.93733109e-01 1.30362360e-03 -4.29723307e+02] [ 9.93634758e-01 1.11778519e-01 -1.39832131e-02 -2.53411818e+02] [-1.40412990e-02 -2.67595319e-04 -9.99901381e-01 -1.76397538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1326.816559995 meters 0.015110028154743016 Centerline is valid? [True, True] Translation: X:-429.72, Y:-253.41, Z:-1.76 [[-1.89468647e-01 9.81883593e-01 2.49825950e-03 -4.29717489e+02] [ 9.81777500e-01 1.89484906e-01 -1.44364601e-02 -2.53408939e+02] [-1.46483057e-02 -2.82521584e-04 -9.99892668e-01 -1.76362632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1326.846559995 meters 0.014986149392640247 Centerline is valid? [True, True] Translation: X:-429.71, Y:-253.41, Z:-1.76 [[-2.64592014e-01 9.64354351e-01 3.42807925e-03 -4.29714490e+02] [ 9.64260753e-01 2.64614102e-01 -1.34379292e-02 -2.53407148e+02] [-1.38660436e-02 -2.50006465e-04 -9.99903831e-01 -1.76409514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1326.876559995 meters 0.014986149392640247 Centerline is valid? [True, True] Translation: X:-429.71, Y:-253.40, Z:-1.76 [[-3.39292736e-01 9.40670218e-01 4.46989089e-03 -4.29709955e+02] [ 9.40578638e-01 3.39322086e-01 -1.31281453e-02 -2.53404064e+02] [-1.38659880e-02 -2.50000458e-04 -9.99903832e-01 -1.76409562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1326.906559995 meters 0.014537797097561015 Centerline is valid? [True, True] Translation: X:-429.71, Y:-253.40, Z:-1.77 [[-4.10593565e-01 9.11803824e-01 5.16822157e-03 -4.29707245e+02] [ 9.11724829e-01 4.10626033e-01 -1.20040580e-02 -2.53401200e+02] [-1.30675523e-02 -2.16793030e-04 -9.99914593e-01 -1.76524335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1326.9365599950002 meters 0.014074697038140222 Centerline is valid? [True, True] Translation: X:-429.70, Y:-253.40, Z:-1.77 [[-4.79079497e-01 8.77754286e-01 5.49994126e-03 -4.29704851e+02] [ 8.77692245e-01 4.79111035e-01 -1.04374229e-02 -2.53398446e+02] [-1.17965752e-02 -1.73099519e-04 -9.99930403e-01 -1.76628350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1326.9665599950001 meters 0.013568756348879458 Centerline is valid? [True, True] Translation: X:-429.70, Y:-253.39, Z:-1.77 [[-5.44675250e-01 8.38629159e-01 5.47784913e-03 -4.29702683e+02] [ 8.38584328e-01 5.44702779e-01 -8.67224967e-03 -2.53394561e+02] [-1.02566011e-02 -1.29921332e-04 -9.99947391e-01 -1.76776971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1326.996559995 meters 0.01319574383637042 Centerline is valid? [True, True] Translation: X:-429.70, Y:-253.39, Z:-1.77 [[-6.06880633e-01 7.94775084e-01 5.33510700e-03 -4.29699814e+02] [ 7.94743022e-01 6.06904076e-01 -7.13948579e-03 -2.53392065e+02] [-8.91218360e-03 -9.27766003e-05 -9.99960282e-01 -1.76866703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1327.026559995 meters 0.012864983826142198 Centerline is valid? [True, True] Translation: X:-429.70, Y:-253.39, Z:-1.77 [[-6.63995100e-01 7.47721321e-01 4.83047559e-03 -4.29699199e+02] [ 7.47701049e-01 6.64012669e-01 -5.50611197e-03 -2.53391263e+02] [-7.32453430e-03 -4.42797026e-05 -9.99973174e-01 -1.76821236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1327.056559995 meters 0.012490817752367432 Centerline is valid? [True, True] Translation: X:-429.70, Y:-253.39, Z:-1.77 [[-7.19598636e-01 6.94370356e-01 5.25470688e-03 -4.29697000e+02] [ 6.94351490e-01 7.19617821e-01 -5.11859717e-03 -2.53386946e+02] [-7.33558285e-03 -3.47219921e-05 -9.99973094e-01 -1.76928417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1327.086559995 meters 0.012393087004209392 Centerline is valid? [True, True] Translation: X:-429.68, Y:-253.37, Z:-1.77 [[-7.66322115e-01 6.42434420e-01 5.33211589e-03 -4.29679065e+02] [ 6.42418628e-01 7.66340665e-01 -4.50451887e-03 -2.53367788e+02] [-6.98007521e-03 -2.64618555e-05 -9.99975639e-01 -1.76925551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1327.116559995 meters 0.012474350994408412 Centerline is valid? [True, True] Translation: X:-429.66, Y:-253.35, Z:-1.77 [[-8.09707139e-01 5.86806497e-01 5.69939830e-03 -4.29662113e+02] [ 5.86791748e-01 8.09727197e-01 -4.16060487e-03 -2.53346826e+02] [-7.05642779e-03 -2.45115771e-05 -9.99975103e-01 -1.76885456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1327.146559995 meters 0.01252753103764834 Centerline is valid? [True, True] Translation: X:-429.65, Y:-253.32, Z:-1.77 [[-8.49889819e-01 5.26917585e-01 6.71968306e-03 -4.29649027e+02] [ 5.26900768e-01 8.49916382e-01 -4.20993666e-03 -2.53322150e+02] [-7.92945838e-03 -3.73761384e-05 -9.99968561e-01 -1.76779119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1327.176559995 meters 0.012846179395996435 Centerline is valid? [True, True] Translation: X:-429.64, Y:-253.30, Z:-1.77 [[-8.85681977e-01 4.64230945e-01 7.55416434e-03 -4.29637359e+02] [ 4.64213563e-01 8.85714190e-01 -4.01758558e-03 -2.53295316e+02] [-8.55591810e-03 -5.15575917e-05 -9.99963396e-01 -1.76618886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1327.2065599950001 meters 0.013132394993147837 Centerline is valid? [True, True] Translation: X:-429.35, Y:-252.74, Z:-2.83 [[-8.45402986e-01 -5.34068721e-01 8.02454194e-03 -4.29347056e+02] [ 5.34045905e-01 -8.45441062e-01 -4.93781667e-03 -2.52744105e+02] [ 9.42141070e-03 1.11028808e-04 9.99955612e-01 -2.82534577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1327.236559995 meters 0.013149968302662554 Centerline is valid? [True, True] Translation: X:-429.68, Y:-253.27, Z:-1.76 [[-8.88773885e-01 4.58253721e-01 9.19288584e-03 -4.29677490e+02] [ 4.58228104e-01 8.88821421e-01 -4.84629856e-03 -2.53272282e+02] [-1.03916682e-02 -9.48249499e-05 -9.99946001e-01 -1.76443864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1327.266559995 meters 0.013901594234015706 Centerline is valid? [True, True] Translation: X:-429.67, Y:-253.24, Z:-1.76 [[-9.20269057e-01 3.91118980e-01 1.14371095e-02 -4.29668166e+02] [ 3.91086682e-01 9.20340111e-01 -5.02866178e-03 -2.53242048e+02] [-1.24928357e-02 -1.54820621e-04 -9.99921950e-01 -1.76193117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1327.296559995 meters 0.01427921117423897 Centerline is valid? [True, True] Translation: X:-429.42, Y:-252.68, Z:-2.83 [[-8.79939820e-01 -4.74949901e-01 1.13359777e-02 -4.29421999e+02] [ 4.74913075e-01 -8.80012818e-01 -5.91703385e-03 -2.52683384e+02] [ 1.27861003e-02 1.76970335e-04 9.99918239e-01 -2.82921472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1327.326559995 meters 0.014150278051856416 Centerline is valid? [True, True] Translation: X:-429.71, Y:-253.22, Z:-1.76 [[-9.22530106e-01 3.85741642e-01 1.18991129e-02 -4.29710740e+02] [ 3.85706916e-01 9.22606823e-01 -5.17922441e-03 -2.53221748e+02] [-1.29760453e-02 -1.88420317e-04 -9.99915790e-01 -1.76162282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1327.356559995 meters 0.013890178799817783 Centerline is valid? [True, True] Translation: X:-429.47, Y:-252.66, Z:-2.83 [[-8.81128594e-01 -4.72736620e-01 1.15104301e-02 -4.29469267e+02] [ 4.72699055e-01 -8.81203753e-01 -5.96241099e-03 -2.52663844e+02] [ 1.29616842e-02 1.87318606e-04 9.99915977e-01 -2.82803007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1327.386559995 meters 0.01414047810047684 Centerline is valid? [True, True] Translation: X:-429.75, Y:-253.20, Z:-1.76 [[-9.23928945e-01 3.82384729e-01 1.17142720e-02 -4.29753957e+02] [ 3.82351453e-01 9.24003184e-01 -5.04791380e-03 -2.53202020e+02] [-1.27542697e-02 -1.84944760e-04 -9.99918644e-01 -1.76163051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1327.416559995 meters 0.01373706353507498 Centerline is valid? [True, True] Translation: X:-429.51, Y:-252.65, Z:-2.83 [[-8.83424531e-01 -4.68446567e-01 1.09046594e-02 -4.29508107e+02] [ 4.68412943e-01 -8.83491818e-01 -5.61457960e-03 -2.52648929e+02] [ 1.22643079e-02 1.47826243e-04 9.99924780e-01 -2.82772995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1327.4465599950001 meters 0.013244160426649281 Centerline is valid? [True, True] Translation: X:-429.79, Y:-253.19, Z:-1.76 [[-9.23674837e-01 3.83032451e-01 1.05326639e-02 -4.29789538e+02] [ 3.83006114e-01 9.23734880e-01 -4.49314050e-03 -2.53190089e+02] [-1.14504076e-02 -1.16126164e-04 -9.99934435e-01 -1.76250526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1327.4765599950001 meters 0.013475201943916073 Centerline is valid? [True, True] Translation: X:-429.55, Y:-252.63, Z:-2.83 [[-8.87839837e-01 -4.60053330e-01 9.55811391e-03 -4.29547428e+02] [ 4.60027470e-01 -8.87891282e-01 -4.87829985e-03 -2.52631219e+02] [ 1.07308441e-02 6.58460180e-05 9.99942421e-01 -2.82947247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1327.506559995 meters 0.012563659907366152 Centerline is valid? [True, True] Translation: X:-429.83, Y:-253.18, Z:-1.76 [[-9.23223048e-01 3.84151532e-01 9.31687480e-03 -4.29829659e+02] [ 3.84131396e-01 9.23270057e-01 -3.93362880e-03 -2.53178542e+02] [-1.01131011e-02 -5.27126491e-05 -9.99948860e-01 -1.76436714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1327.536559995 meters 0.012435276813434 Centerline is valid? [True, True] Translation: X:-429.82, Y:-253.16, Z:-1.76 [[-9.46737752e-01 3.21902711e-01 8.14089929e-03 -4.29819233e+02] [ 3.21890744e-01 9.46772752e-01 -2.77568113e-03 -2.53155887e+02] [-8.60108090e-03 -7.36198271e-06 -9.99963010e-01 -1.76430879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1327.566559995 meters 0.012569359321791453 Centerline is valid? [True, True] Translation: X:-429.82, Y:-253.13, Z:-1.77 [[-9.66761532e-01 2.55547981e-01 8.20791203e-03 -4.29815814e+02] [ 2.55538831e-01 9.66796375e-01 -2.16242466e-03 -2.53128900e+02] [-8.48798285e-03 6.89126509e-06 -9.99963977e-01 -1.76509988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1327.596559995 meters 0.012459577664029612 Centerline is valid? [True, True] Translation: X:-429.65, Y:-252.53, Z:-2.82 [[-9.48326345e-01 -3.17205691e-01 7.59565557e-03 -4.29652154e+02] [ 3.17195216e-01 -9.48356762e-01 -2.57810883e-03 -2.52525122e+02] [ 8.02118212e-03 -3.55829116e-05 9.99967829e-01 -2.82469264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1327.626559995 meters 0.0125039542271956 Centerline is valid? [True, True] Translation: X:-429.86, Y:-253.12, Z:-1.77 [[-9.67367228e-01 2.53245002e-01 8.22290149e-03 -4.29860602e+02] [ 2.53236026e-01 9.67402175e-01 -2.13226869e-03 -2.53117982e+02] [-8.49483918e-03 1.96480425e-05 -9.99963918e-01 -1.76508908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1327.656559995 meters 0.012508881813048975 Centerline is valid? [True, True] Translation: X:-429.86, Y:-253.09, Z:-1.77 [[-9.82878624e-01 1.84051494e-01 8.64055766e-03 -4.29857498e+02] [ 1.84044575e-01 9.82916602e-01 -1.59605052e-03 -2.53089195e+02] [-8.78670306e-03 2.15238235e-05 -9.99961396e-01 -1.76506023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1327.6865599950002 meters 0.012598542463382571 Centerline is valid? [True, True] Translation: X:-429.86, Y:-253.06, Z:-1.76 [[-9.93545399e-01 1.13036580e-01 9.50119673e-03 -4.29861055e+02] [ 1.13031566e-01 9.93590827e-01 -1.06473683e-03 -2.53059144e+02] [-9.56065612e-03 1.60707653e-05 -9.99954296e-01 -1.76431918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1327.7165599950001 meters 0.012558349051824395 Centerline is valid? [True, True] Translation: X:-429.86, Y:-253.03, Z:-1.76 [[-9.99077118e-01 4.17153400e-02 1.02344083e-02 -4.29857023e+02] [ 4.17132507e-02 9.99129536e-01 -4.17609153e-04 -2.53031273e+02] [-1.02429203e-02 9.68668976e-06 -9.99947540e-01 -1.76422118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1327.746559995 meters 0.012653382593884925 Centerline is valid? [True, True] Translation: X:-429.83, Y:-252.41, Z:-2.83 [[-9.94127963e-01 -1.07671242e-01 1.07934036e-02 -4.29833935e+02] [ 1.07665226e-01 -9.94186553e-01 -1.13859048e-03 -2.52411579e+02] [ 1.08532502e-02 3.01695986e-05 9.99941102e-01 -2.82698349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1327.776559995 meters 0.012593714036857332 Centerline is valid? [True, True] Translation: X:-429.92, Y:-253.03, Z:-1.76 [[-9.99312996e-01 3.53658076e-02 1.10813108e-02 -4.29924612e+02] [ 3.53635364e-02 9.99374434e-01 -4.00895836e-04 -2.53027124e+02] [-1.10885568e-02 -8.74608013e-06 -9.99938520e-01 -1.76391652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1327.806559995 meters 0.01261213350587618 Centerline is valid? [True, True] Translation: X:-429.94, Y:-253.00, Z:-1.76 [[-9.99262472e-01 -3.67822492e-02 1.10262545e-02 -4.29935753e+02] [-3.67802260e-02 9.99323304e-01 3.86287309e-04 -2.52998112e+02] [-1.10330016e-02 -1.95457230e-05 -9.99939135e-01 -1.76379921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1327.836559995 meters 0.012768816027461268 Centerline is valid? [True, True] Translation: X:-429.95, Y:-252.97, Z:-1.76 [[-9.93969744e-01 -1.09137665e-01 1.06357082e-02 -4.29947220e+02] [-1.09131766e-01 9.94026644e-01 1.13511364e-03 -2.52968455e+02] [-1.06960610e-02 -3.24250143e-05 -9.99942795e-01 -1.76274915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1327.866559995 meters 0.012595047222515601 Centerline is valid? [True, True] Translation: X:-430.01, Y:-252.36, Z:-2.83 [[-9.99313205e-01 3.56512457e-02 1.01048497e-02 -4.30007286e+02] [-3.56495101e-02 -9.99364292e-01 3.51890325e-04 -2.52362947e+02] [ 1.01109713e-02 -8.58429468e-06 9.99948883e-01 -2.82738269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1327.896559995 meters 0.012599911310215855 Centerline is valid? [True, True] Translation: X:-430.04, Y:-252.98, Z:-1.76 [[-9.93194129e-01 -1.16047503e-01 9.91961505e-03 -4.30035517e+02] [-1.16042128e-01 9.93243664e-01 1.11763857e-03 -2.52975258e+02] [-9.98229396e-03 -4.10611761e-05 -9.99950175e-01 -1.76306791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1327.926559995 meters 0.012743757332945697 Centerline is valid? [True, True] Translation: X:-430.05, Y:-252.95, Z:-1.76 [[-9.82173416e-01 -1.87729257e-01 9.64918506e-03 -4.30049585e+02] [-1.87720709e-01 9.82220812e-01 1.79219959e-03 -2.52949526e+02] [-9.81407868e-03 -5.11010728e-05 -9.99951840e-01 -1.76310520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1327.9565599950001 meters 0.012763436470746339 Centerline is valid? [True, True] Translation: X:-430.08, Y:-252.93, Z:-1.76 [[-9.66044158e-01 -2.58201973e-01 9.50921348e-03 -4.30080036e+02] [-2.58190046e-01 9.66090957e-01 2.48239789e-03 -2.52928205e+02] [-9.82772519e-03 -5.70782854e-05 -9.99951705e-01 -1.76343484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1327.986559995 meters 0.012912969507713644 Centerline is valid? [True, True] Translation: X:-430.12, Y:-252.91, Z:-1.76 [[-9.44605703e-01 -3.28080897e-01 9.11000759e-03 -4.30119090e+02] [-3.28066267e-01 9.44649629e-01 3.09887074e-03 -2.52911308e+02] [-9.62244558e-03 -6.14752060e-05 -9.99953702e-01 -1.76399747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1328.016559995 meters 0.01285498980898834 Centerline is valid? [True, True] Translation: X:-430.18, Y:-252.90, Z:-1.76 [[-9.17904277e-01 -3.96706911e-01 8.68132891e-03 -4.30177906e+02] [-3.96689817e-01 9.17945327e-01 3.68314655e-03 -2.52904668e+02] [-9.43011499e-03 -6.30188092e-05 -9.99955534e-01 -1.76486355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1328.046559995 meters 0.012969139017763854 Centerline is valid? [True, True] Translation: X:-430.24, Y:-252.90, Z:-1.77 [[-8.85691257e-01 -4.64200252e-01 8.31402359e-03 -4.30244033e+02] [-4.64180567e-01 8.85730275e-01 4.27560147e-03 -2.52904181e+02] [-9.34871768e-03 -7.23453414e-05 -9.99956297e-01 -1.76526213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1328.076559995 meters 0.013074826405280397 Centerline is valid? [True, True] Translation: X:-430.32, Y:-252.91, Z:-1.77 [[-8.48283916e-01 -5.29476960e-01 8.27929556e-03 -4.30318157e+02] [-5.29452722e-01 8.48324314e-01 5.06691687e-03 -2.52913421e+02] [-9.70634347e-03 -8.53114924e-05 -9.99952889e-01 -1.76551412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1328.106559995 meters 0.01315865783494599 Centerline is valid? [True, True] Translation: X:-430.40, Y:-252.93, Z:-1.77 [[-8.05742096e-01 -5.92207252e-01 8.38127005e-03 -4.30397820e+02] [-5.92176555e-01 8.05785679e-01 6.03054324e-03 -2.52931918e+02] [-1.03248388e-02 -1.04129072e-04 -9.99946692e-01 -1.76501015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1328.136559995 meters 0.014004014039469881 Centerline is valid? [True, True] Translation: X:-430.48, Y:-252.96, Z:-1.76 [[-7.57066432e-01 -6.53278805e-01 8.78758216e-03 -4.30481064e+02] [-6.53237127e-01 7.57117415e-01 7.38079353e-03 -2.52959022e+02] [-1.14749475e-02 -1.52623904e-04 -9.99934149e-01 -1.76435629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1328.166559995 meters 0.013883919677703535 Centerline is valid? [True, True] Translation: X:-430.57, Y:-253.00, Z:-1.77 [[-7.04766214e-01 -7.09386851e-01 8.65327326e-03 -4.30565962e+02] [-7.09336493e-01 7.04819312e-01 8.45442395e-03 -2.52999268e+02] [-1.20964513e-02 -1.79690148e-04 -9.99926819e-01 -1.76501951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1328.1965599950001 meters 0.014793258585333475 Centerline is valid? [True, True] Translation: X:-430.65, Y:-253.05, Z:-1.76 [[-6.48063528e-01 -7.61537791e-01 8.59395900e-03 -4.30651162e+02] [-7.61475161e-01 6.48120473e-01 9.76892892e-03 -2.53045469e+02] [-1.30093293e-02 -2.13199774e-04 -9.99915353e-01 -1.76360067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1328.2265599950001 meters 0.014897982934321175 Centerline is valid? [True, True] Translation: X:-430.74, Y:-253.10, Z:-1.76 [[-5.87442830e-01 -8.09224889e-01 8.12408482e-03 -4.30735675e+02] [-8.09153133e-01 5.87498954e-01 1.07789921e-02 -2.53104177e+02] [-1.34955200e-02 -2.41587048e-04 -9.99908902e-01 -1.76341725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1328.256559995 meters 0.015337118639972423 Centerline is valid? [True, True] Translation: X:-430.82, Y:-253.17, Z:-1.76 [[-5.23401648e-01 -8.52053475e-01 7.45584309e-03 -4.30816842e+02] [-8.51974096e-01 5.23454684e-01 1.16332995e-02 -2.53168963e+02] [-1.38149893e-02 -2.63297046e-04 -9.99904534e-01 -1.76293522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1328.286559995 meters 0.015621554741290263 Centerline is valid? [True, True] Translation: X:-430.90, Y:-253.24, Z:-1.76 [[-4.56156442e-01 -8.89875901e-01 6.49470583e-03 -4.30895524e+02] [-8.89794215e-01 4.56202591e-01 1.20603120e-02 -2.53244819e+02] [-1.36950826e-02 -2.77562666e-04 -9.99906180e-01 -1.76302005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1328.316559995 meters 0.015602431168298894 Centerline is valid? [True, True] Translation: X:-430.97, Y:-253.32, Z:-1.76 [[-3.85438052e-01 -9.22718268e-01 5.33904665e-03 -4.30968996e+02] [-9.22639938e-01 3.85474919e-01 1.20262935e-02 -2.53324726e+02] [-1.31549493e-02 -2.90626537e-04 -9.99913428e-01 -1.76378130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1328.346559995 meters 0.015840605659139553 Centerline is valid? [True, True] Translation: X:-431.04, Y:-253.41, Z:-1.76 [[-3.13806977e-01 -9.49476517e-01 4.41859123e-03 -4.31036635e+02] [-9.49395215e-01 3.13837946e-01 1.24285775e-02 -2.53413873e+02] [-1.31873641e-02 -2.94815042e-04 -9.99913000e-01 -1.76338218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1328.376559995 meters 0.01589733352569825 Centerline is valid? [True, True] Translation: X:-431.10, Y:-253.51, Z:-1.76 [[-2.41177385e-01 -9.70475112e-01 3.39504294e-03 -4.31096695e+02] [-9.70394672e-01 2.41201116e-01 1.24980748e-02 -2.53510541e+02] [-1.29479587e-02 -2.80278576e-04 -9.99916133e-01 -1.76307319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1328.406559995 meters 0.014956934653466062 Centerline is valid? [True, True] Translation: X:-431.15, Y:-253.61, Z:-1.76 [[-1.69354836e-01 -9.85552142e-01 2.43218312e-03 -4.31145893e+02] [-9.85469938e-01 1.69372129e-01 1.27312235e-02 -2.53610269e+02] [-1.29592286e-02 -2.40749073e-04 -9.99915997e-01 -1.76365479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1328.4365599950002 meters 0.014425146531859714 Centerline is valid? [True, True] Translation: X:-431.19, Y:-253.71, Z:-1.76 [[-9.59792080e-02 -9.95382353e-01 1.40097363e-03 -4.31186841e+02] [-9.95304703e-01 9.59892219e-02 1.24345233e-02 -2.53711559e+02] [-1.25115834e-02 -2.00939945e-04 -9.99921707e-01 -1.76404796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1328.4665599950001 meters 0.013969328457237548 Centerline is valid? [True, True] Translation: X:-431.22, Y:-253.82, Z:-1.76 [[-2.21901072e-02 -9.99753674e-01 4.35867677e-04 -4.31220442e+02] [-9.99678640e-01 2.21937823e-02 1.22495880e-02 -2.53824390e+02] [-1.22562442e-02 -1.63907936e-04 -9.99924876e-01 -1.76384929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1328.496559995 meters 0.013525154109671696 Centerline is valid? [True, True] Translation: X:-431.24, Y:-253.94, Z:-1.76 [[ 5.19734224e-02 -9.98648342e-01 -5.03593603e-04 -4.31244881e+02] [-9.98573375e-01 -5.19756916e-02 1.22369672e-02 -2.53935937e+02] [-1.22466016e-02 -1.33121902e-04 -9.99924999e-01 -1.76374578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1328.526559995 meters 0.013148053476070495 Centerline is valid? [True, True] Translation: X:-431.26, Y:-254.05, Z:-1.76 [[ 1.26037501e-01 -9.92024445e-01 -1.43172165e-03 -4.31260815e+02] [-9.91950702e-01 -1.26045590e-01 1.20960575e-02 -2.54053133e+02] [-1.21800469e-02 -1.04359567e-04 -9.99925815e-01 -1.76366783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1328.556559995 meters 0.01289374084872612 Centerline is valid? [True, True] Translation: X:-431.27, Y:-254.17, Z:-1.76 [[ 1.99367048e-01 -9.79922484e-01 -2.16940596e-03 -4.31270280e+02] [-9.79860579e-01 -1.99378839e-01 1.10147056e-02 -2.54173292e+02] [-1.12260913e-02 -7.02539631e-05 -9.99936983e-01 -1.76382184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1328.586559995 meters 0.012766470078324746 Centerline is valid? [True, True] Translation: X:-431.27, Y:-254.28, Z:-1.76 [[ 2.73042163e-01 -9.61997071e-01 -3.10049243e-03 -4.31272959e+02] [-9.61932420e-01 -2.73059759e-01 1.11529091e-02 -2.54282079e+02] [-1.15756856e-02 -6.27502351e-05 -9.99932998e-01 -1.76394793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1328.616559995 meters 0.012915281438190752 Centerline is valid? [True, True] Translation: X:-431.27, Y:-254.40, Z:-1.76 [[ 3.44676386e-01 -9.38710698e-01 -4.51820219e-03 -4.31265879e+02] [-9.38627944e-01 -3.44705993e-01 1.24644071e-02 -2.54397693e+02] [-1.32579237e-02 -5.52759649e-05 -9.99912109e-01 -1.76147275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1328.646559995 meters 0.012673844429095332 Centerline is valid? [True, True] Translation: X:-431.25, Y:-254.51, Z:-1.76 [[ 4.12686971e-01 -9.10851941e-01 -6.18100946e-03 -4.31249918e+02] [-9.10749180e-01 -4.12733257e-01 1.36817845e-02 -2.54509691e+02] [-1.50131882e-02 -1.69449269e-05 -9.99887296e-01 -1.76136283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1328.676559995 meters 0.01315295428562435 Centerline is valid? [True, True] Translation: X:-431.22, Y:-254.63, Z:-1.76 [[ 4.79408308e-01 -8.77558330e-01 -7.68457454e-03 -4.31218296e+02] [-8.77445974e-01 -4.79469893e-01 1.40422356e-02 -2.54632270e+02] [-1.60074029e-02 1.08346051e-05 -9.99871873e-01 -1.75885726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1328.7065599950001 meters 0.012967983578880678 Centerline is valid? [True, True] Translation: X:-431.19, Y:-254.73, Z:-1.76 [[ 5.43400438e-01 -8.39426167e-01 -8.92606479e-03 -4.31192777e+02] [-8.39314167e-01 -5.43473743e-01 1.37120427e-02 -2.54725657e+02] [-1.63613293e-02 4.06426042e-05 -9.99866144e-01 -1.76111686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1328.736559995 meters 0.01374532412668944 Centerline is valid? [True, True] Translation: X:-431.15, Y:-254.83, Z:-1.76 [[ 6.04434409e-01 -7.96594088e-01 -9.84400344e-03 -4.31152999e+02] [-7.96490279e-01 -6.04514561e-01 1.28601008e-02 -2.54826521e+02] [-1.61951237e-02 6.75655913e-05 -9.99868848e-01 -1.75868831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1328.766559995 meters 0.01374532412668944 Centerline is valid? [True, True] Translation: X:-431.11, Y:-254.92, Z:-1.76 [[ 6.63232460e-01 -7.48335629e-01 -1.07930851e-02 -4.31108439e+02] [-7.48238213e-01 -6.63320271e-01 1.20745407e-02 -2.54924294e+02] [-1.61950811e-02 6.75713839e-05 -9.99868849e-01 -1.75869021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1328.796559995 meters 0.013278558701755925 Centerline is valid? [True, True] Translation: X:-431.06, Y:-255.01, Z:-1.76 [[ 7.16853135e-01 -6.97139102e-01 -1.08929079e-02 -4.31060432e+02] [-6.97060506e-01 -7.16935886e-01 1.04683151e-02 -2.55014797e+02] [-1.51073883e-02 8.87713697e-05 -9.99885873e-01 -1.76263311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1328.826559995 meters 0.013565256846856088 Centerline is valid? [True, True] Translation: X:-431.06, Y:-255.02, Z:-1.76 [[ 7.67470973e-01 -6.40998580e-01 -1.04463487e-02 -4.31062240e+02] [-6.40941249e-01 -7.67542056e-01 8.57373390e-03 -2.55024474e+02] [-1.35137632e-02 1.15403891e-04 -9.99908679e-01 -1.76352706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1328.856559995 meters 0.013574266283995733 Centerline is valid? [True, True] Translation: X:-431.06, Y:-255.04, Z:-1.76 [[ 8.14551379e-01 -5.79995032e-01 -1.05742013e-02 -4.31062966e+02] [-5.79948159e-01 -8.14620002e-01 7.37473928e-03 -2.55036913e+02] [-1.28912680e-02 1.25384535e-04 -9.99916897e-01 -1.76490596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1328.886559995 meters 0.013744773922007566 Centerline is valid? [True, True] Translation: X:-431.06, Y:-255.05, Z:-1.77 [[ 8.56992041e-01 -5.15224590e-01 -1.04050353e-02 -4.31063104e+02] [-5.15188415e-01 -8.57055194e-01 6.10662874e-03 -2.55048145e+02] [-1.20639748e-02 1.27221410e-04 -9.99927220e-01 -1.76501578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1328.916559995 meters 0.014019089596185497 Centerline is valid? [True, True] Translation: X:-431.06, Y:-255.06, Z:-1.77 [[ 8.94492365e-01 -4.46966934e-01 -1.01965244e-02 -4.31061929e+02] [-4.46939466e-01 -8.94550471e-01 4.95674386e-03 -2.55058006e+02] [-1.13368063e-02 1.23459642e-04 -9.99935729e-01 -1.76503843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1328.9465599950001 meters 0.013780422779079126 Centerline is valid? [True, True] Translation: X:-431.06, Y:-255.07, Z:-1.76 [[ 9.26982489e-01 -3.74973175e-01 -9.92887209e-03 -4.31059284e+02] [-3.74952914e-01 -9.27035656e-01 3.89947329e-03 -2.55068969e+02] [-1.06666163e-02 1.08116066e-04 -9.99943104e-01 -1.76462629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1328.9765599950001 meters 0.013618484026285316 Centerline is valid? [True, True] Translation: X:-431.06, Y:-255.08, Z:-1.77 [[ 9.53774755e-01 -3.00362598e-01 -9.79929729e-03 -4.31055644e+02] [-3.00347749e-01 -9.53825089e-01 2.98808982e-03 -2.55078581e+02] [-1.02443260e-02 9.32322418e-05 -9.99947521e-01 -1.76511703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1329.006559995 meters 0.013440498045850487 Centerline is valid? [True, True] Translation: X:-431.05, Y:-255.09, Z:-1.77 [[ 9.74663494e-01 -2.23452583e-01 -1.00008685e-02 -4.31051565e+02] [-2.23441645e-01 -9.74714798e-01 2.21222219e-03 -2.55087189e+02] [-1.02423213e-02 7.84382952e-05 -9.99947543e-01 -1.76530620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1329.036559995 meters 0.013066824705258311 Centerline is valid? [True, True] Translation: X:-431.05, Y:-255.10, Z:-1.76 [[ 9.89667984e-01 -1.42985688e-01 -1.06007072e-02 -4.31046609e+02] [-1.42977948e-01 -9.89724755e-01 1.48836078e-03 -2.55096941e+02] [-1.07045966e-02 4.26843477e-05 -9.99942703e-01 -1.76374402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1329.066559995 meters 0.01282557501976294 Centerline is valid? [True, True] Translation: X:-431.04, Y:-255.11, Z:-1.76 [[ 9.97933777e-01 -6.32953921e-02 -1.10394761e-02 -4.31044110e+02] [-6.32917939e-02 -9.97994836e-01 6.75346258e-04 -2.55105885e+02] [-1.10600865e-02 2.47574057e-05 -9.99938835e-01 -1.76356260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1329.096559995 meters 0.01284882090465431 Centerline is valid? [True, True] Translation: X:-431.04, Y:-255.11, Z:-1.76 [[ 9.99787040e-01 1.72253970e-02 -1.13648646e-02 -4.31041779e+02] [ 1.72242779e-02 -9.99851632e-01 -1.96350435e-04 -2.55113285e+02] [-1.13665607e-02 5.57034176e-07 -9.99935399e-01 -1.76309559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1329.126559995 meters 0.012733205436351681 Centerline is valid? [True, True] Translation: X:-431.04, Y:-255.12, Z:-1.76 [[ 9.95172182e-01 9.74949941e-02 -1.12718464e-02 -4.31037297e+02] [ 9.74889948e-02 -9.95236015e-01 -1.08178891e-03 -2.55122858e+02] [-1.13236165e-02 -2.23147465e-05 -9.99935886e-01 -1.76409528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1329.156559995 meters 0.012904055296216275 Centerline is valid? [True, True] Translation: X:-431.03, Y:-255.13, Z:-1.76 [[ 9.84176045e-01 1.76852382e-01 -1.09885350e-02 -4.31033090e+02] [ 1.76841836e-01 -9.84237387e-01 -1.93182730e-03 -2.55131823e+02] [-1.11569752e-02 -4.19745511e-05 -9.99937758e-01 -1.76340649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1329.1865599950002 meters 0.012890158683413427 Centerline is valid? [True, True] Translation: X:-431.03, Y:-255.14, Z:-1.76 [[ 9.66922167e-01 2.54862626e-01 -1.03229915e-02 -4.31027046e+02] [ 2.54848726e-01 -9.66977269e-01 -2.66234176e-03 -2.55139241e+02] [-1.06606295e-02 -5.65239639e-05 -9.99943173e-01 -1.76419778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1329.2165599950001 meters 0.013126206166243933 Centerline is valid? [True, True] Translation: X:-431.02, Y:-255.15, Z:-1.76 [[ 9.43426885e-01 3.31464870e-01 -8.76084748e-03 -4.31021592e+02] [ 3.31451225e-01 -9.43467560e-01 -3.00826183e-03 -2.55146436e+02] [-9.26270851e-03 -6.57185399e-05 -9.99957098e-01 -1.76488221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1329.246559995 meters 0.013135711454319849 Centerline is valid? [True, True] Translation: X:-431.02, Y:-255.15, Z:-1.77 [[ 9.14372490e-01 4.04801827e-01 -7.64402467e-03 -4.31017728e+02] [ 4.04788265e-01 -9.14404438e-01 -3.31423617e-03 -2.55147681e+02] [-8.33133894e-03 -6.37651065e-05 -9.99965292e-01 -1.76588117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1329.276559995 meters 0.013078050162992176 Centerline is valid? [True, True] Translation: X:-431.01, Y:-255.15, Z:-1.77 [[ 8.80025478e-01 4.74883324e-01 -6.40204486e-03 -4.31013018e+02] [ 4.74871200e-01 -8.80048763e-01 -3.39384260e-03 -2.55146999e+02] [-7.24579091e-03 -5.34787680e-05 -9.99973748e-01 -1.76659271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1329.306559995 meters 0.012738703859287437 Centerline is valid? [True, True] Translation: X:-431.01, Y:-255.15, Z:-1.77 [[ 8.40869104e-01 5.41215628e-01 -4.97930933e-03 -4.31008435e+02] [ 5.41206392e-01 -8.40883846e-01 -3.16213042e-03 -2.55146658e+02] [-5.89841518e-03 -3.58962568e-05 -9.99982604e-01 -1.76804186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1329.336559995 meters 0.012699070398607971 Centerline is valid? [True, True] Translation: X:-431.00, Y:-255.15, Z:-1.77 [[ 7.96582393e-01 6.04516878e-01 -3.97925086e-03 -4.31003947e+02] [ 6.04509494e-01 -7.96592332e-01 -2.98807770e-03 -2.55146071e+02] [-4.97618412e-03 -2.52448381e-05 -9.99987619e-01 -1.76838900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1329.366559995 meters 0.012609927654024113 Centerline is valid? [True, True] Translation: X:-431.00, Y:-255.15, Z:-1.77 [[ 7.47882733e-01 6.63821849e-01 -3.45994195e-03 -4.31000588e+02] [ 6.63814844e-01 -7.47890736e-01 -3.04963520e-03 -2.55145199e+02] [-4.61207301e-03 -1.59913147e-05 -9.99989364e-01 -1.76800302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1329.396559995 meters 0.012367683309742127 Centerline is valid? [True, True] Translation: X:-430.99, Y:-255.15, Z:-1.77 [[ 6.94729001e-01 7.19264260e-01 -3.24649174e-03 -4.30993943e+02] [ 7.19256467e-01 -6.94736587e-01 -3.34811498e-03 -2.55146337e+02] [-4.66363604e-03 -9.02760056e-06 -9.99989125e-01 -1.76795880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1329.426559995 meters 0.012346183661083945 Centerline is valid? [True, True] Translation: X:-430.99, Y:-255.15, Z:-1.77 [[ 6.37704006e-01 7.70274836e-01 -3.20595948e-03 -4.30987020e+02] [ 7.70265104e-01 -6.37712065e-01 -3.87198027e-03 -2.55147244e+02] [-5.02696800e-03 -2.61381215e-07 -9.99987365e-01 -1.76735659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1329.4565599950001 meters 0.01254875806701419 Centerline is valid? [True, True] Translation: X:-430.98, Y:-255.15, Z:-1.77 [[ 5.78041998e-01 8.15999968e-01 -3.39139241e-03 -4.30981176e+02] [ 8.15985733e-01 -5.78051946e-01 -4.81986701e-03 -2.55147681e+02] [-5.89341231e-03 1.87577386e-05 -9.99982634e-01 -1.76622046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1329.486559995 meters 0.012632663004788942 Centerline is valid? [True, True] Translation: X:-430.98, Y:-255.15, Z:-1.77 [[ 5.13510596e-01 8.58078032e-01 -2.99334200e-03 -4.30975622e+02] [ 8.58063151e-01 -5.13519319e-01 -5.05348970e-03 -2.55148954e+02] [-5.87342744e-03 2.65440323e-05 -9.99982751e-01 -1.76525500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1329.516559995 meters 0.012674103953306608 Centerline is valid? [True, True] Translation: X:-430.97, Y:-255.15, Z:-1.77 [[ 4.45630446e-01 8.95212212e-01 -2.93296507e-03 -4.30965900e+02] [ 8.95192276e-01 -4.45640096e-01 -5.97446043e-03 -2.55150611e+02] [-6.65545677e-03 3.68337871e-05 -9.99977852e-01 -1.76519823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1329.546559995 meters 0.012945077387286818 Centerline is valid? [True, True] Translation: X:-430.96, Y:-255.15, Z:-1.76 [[ 3.74526856e-01 9.27212346e-01 -2.62686425e-03 -4.30958510e+02] [ 9.27188741e-01 -3.74536065e-01 -6.61619001e-03 -2.55151813e+02] [-7.11846846e-03 4.23418789e-05 -9.99974663e-01 -1.76376229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1329.576559995 meters 0.012791895251842796 Centerline is valid? [True, True] Translation: X:-430.95, Y:-255.15, Z:-1.76 [[ 3.00764054e-01 9.53696077e-01 -2.18564897e-03 -4.30951597e+02] [ 9.53669822e-01 -3.00771993e-01 -7.07670062e-03 -2.55151897e+02] [-7.40640361e-03 4.40297023e-05 -9.99972571e-01 -1.76332237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1329.606559995 meters 0.01290857528602021 Centerline is valid? [True, True] Translation: X:-430.94, Y:-255.15, Z:-1.76 [[ 2.24885288e-01 9.74383669e-01 -1.75286886e-03 -4.30944873e+02] [ 9.74352485e-01 -2.24892115e-01 -7.79567757e-03 -2.55151867e+02] [-7.99018730e-03 4.52210671e-05 -9.99968077e-01 -1.76278190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1329.636559995 meters 0.012764349448070735 Centerline is valid? [True, True] Translation: X:-430.94, Y:-255.15, Z:-1.76 [[ 1.47242126e-01 9.89099762e-01 -1.19078067e-03 -4.30937569e+02] [ 9.89065073e-01 -1.47246935e-01 -8.28383540e-03 -2.55151100e+02] [-8.36887842e-03 4.19699620e-05 -9.99964980e-01 -1.76180667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1329.666559995 meters 0.01281301229875461 Centerline is valid? [True, True] Translation: X:-430.93, Y:-255.15, Z:-1.76 [[ 6.88195534e-02 9.97628953e-01 -5.85165667e-04 -4.30930280e+02] [ 9.97587680e-01 -6.88220291e-02 -9.07464843e-03 -2.55149668e+02] [-9.09340430e-03 4.07591929e-05 -9.99958654e-01 -1.76042210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1329.6965599950001 meters 0.01264339848790391 Centerline is valid? [True, True] Translation: X:-430.92, Y:-255.15, Z:-1.76 [[-1.11614154e-02 9.99937700e-01 1.41613004e-04 -4.30923693e+02] [ 9.99886855e-01 1.11622759e-02 -1.00837103e-02 -2.55147750e+02] [-1.00846628e-02 2.90485024e-05 -9.99949148e-01 -1.75869393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1329.7265599950001 meters 0.01255835818124213 Centerline is valid? [True, True] Translation: X:-430.92, Y:-255.15, Z:-1.76 [[-8.99933652e-02 9.95941910e-01 9.52082649e-04 -4.30916912e+02] [ 9.95888911e-01 8.99983982e-02 -1.02744978e-02 -2.55145142e+02] [-1.03184889e-02 2.35319194e-05 -9.99946763e-01 -1.75857066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1329.756559995 meters 0.012521313105381397 Centerline is valid? [True, True] Translation: X:-430.91, Y:-255.14, Z:-1.76 [[-1.68035450e-01 9.85779428e-01 1.73381859e-03 -4.30910692e+02] [ 9.85728201e-01 1.68044394e-01 -1.00496603e-02 -2.55142317e+02] [-1.01981069e-02 2.03746761e-05 -9.99947998e-01 -1.75832128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1329.786559995 meters 0.01256137769860429 Centerline is valid? [True, True] Translation: X:-430.91, Y:-255.14, Z:-1.76 [[-2.45254692e-01 9.69455455e-01 2.50142207e-03 -4.30905160e+02] [ 9.69405641e-01 2.45267447e-01 -9.82763704e-03 -2.55139321e+02] [-1.01409737e-02 1.46185744e-05 -9.99948579e-01 -1.75801620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1329.816559995 meters 0.012588675485876114 Centerline is valid? [True, True] Translation: X:-430.90, Y:-255.14, Z:-1.76 [[-3.21925406e-01 9.46759452e-01 3.25168690e-03 -4.30899537e+02] [ 9.46711125e-01 3.21941828e-01 -9.56585358e-03 -2.55137413e+02] [-1.01034163e-02 -1.08313397e-06 -9.99948959e-01 -1.75720393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1329.846559995 meters 0.012781182114748622 Centerline is valid? [True, True] Translation: X:-430.90, Y:-255.13, Z:-1.76 [[-3.96152172e-01 9.18177060e-01 3.78733572e-03 -4.30895177e+02] [ 9.18134817e-01 3.96170275e-01 -8.80745712e-03 -2.55133816e+02] [-9.58723491e-03 -1.18084770e-05 -9.99954042e-01 -1.75726178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1329.876559995 meters 0.012409435238050113 Centerline is valid? [True, True] Translation: X:-430.89, Y:-255.13, Z:-1.76 [[-4.68065245e-01 8.83682344e-01 4.52114385e-03 -4.30889785e+02] [ 8.83640592e-01 4.68087079e-01 -8.59017417e-03 -2.55128703e+02] [-9.70727427e-03 -2.56957506e-05 -9.99952883e-01 -1.75788490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1329.906559995 meters 0.012480712136588634 Centerline is valid? [True, True] Translation: X:-430.88, Y:-255.12, Z:-1.76 [[-5.36873112e-01 8.43647731e-01 5.07623144e-03 -4.30882470e+02] [ 8.43609372e-01 5.36897109e-01 -8.04500592e-03 -2.55121875e+02] [-9.51256497e-03 -3.67909488e-05 -9.99954754e-01 -1.75850810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1329.9365599950002 meters 0.012735682651948469 Centerline is valid? [True, True] Translation: X:-430.88, Y:-255.12, Z:-1.76 [[-6.03154383e-01 7.97607216e-01 5.24590312e-03 -4.30875568e+02] [ 7.97576268e-01 6.03177193e-01 -7.02638835e-03 -2.55115406e+02] [-8.76850717e-03 -5.39890975e-05 -9.99961555e-01 -1.75814471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1329.9665599950001 meters 0.012855074669291148 Centerline is valid? [True, True] Translation: X:-430.87, Y:-255.11, Z:-1.76 [[-6.64554775e-01 7.47216219e-01 5.90540492e-03 -4.30872422e+02] [ 7.47185854e-01 6.64581009e-01 -6.73658412e-03 -2.55110140e+02] [-8.95830488e-03 -6.43941217e-05 -9.99959872e-01 -1.75794019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1329.996559995 meters 0.012850595140001107 Centerline is valid? [True, True] Translation: X:-430.87, Y:-255.10, Z:-1.76 [[-7.21536265e-01 6.92344227e-01 6.70003944e-03 -4.30867496e+02] [ 6.92313425e-01 7.21567368e-01 -6.53114153e-03 -2.55102224e+02] [-9.35632796e-03 -7.39282082e-05 -9.99956226e-01 -1.75812386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1330.026559995 meters 0.013171853748449222 Centerline is valid? [True, True] Translation: X:-430.85, Y:-255.08, Z:-1.76 [[-7.69086312e-01 6.39102684e-01 7.34873457e-03 -4.30849484e+02] [ 6.39072493e-01 7.69121416e-01 -6.21265351e-03 -2.55079455e+02] [-9.62259267e-03 -8.16926565e-05 -9.99953699e-01 -1.75660464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1330.056559995 meters 0.01319531089716141 Centerline is valid? [True, True] Translation: X:-430.83, Y:-255.06, Z:-1.76 [[-8.12980560e-01 5.82237727e-01 7.86372986e-03 -4.30832993e+02] [ 5.82209387e-01 8.13018586e-01 -5.74539666e-03 -2.55057623e+02] [-9.73854522e-03 -9.25584530e-05 -9.99952575e-01 -1.75669805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1330.086559995 meters 0.01322963329594133 Centerline is valid? [True, True] Translation: X:-430.82, Y:-255.03, Z:-1.76 [[-8.52462194e-01 5.22727170e-01 8.03210039e-03 -4.30821095e+02] [ 5.22702907e-01 8.52500028e-01 -5.03723656e-03 -2.55032653e+02] [-9.48046622e-03 -9.56515020e-05 -9.99955055e-01 -1.75768202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1330.116559995 meters 0.01336216752083743 Centerline is valid? [True, True] Translation: X:-430.81, Y:-255.01, Z:-1.76 [[-8.87511065e-01 4.60713403e-01 8.20181541e-03 -4.30808401e+02] [ 4.60692714e-01 8.87548957e-01 -4.36715456e-03 -2.55007790e+02] [-9.29151935e-03 -9.73813962e-05 -9.99956828e-01 -1.75799264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1330.146559995 meters 0.01359141741000909 Centerline is valid? [True, True] Translation: X:-430.80, Y:-254.98, Z:-1.76 [[-9.18184793e-01 3.96067065e-01 8.21990237e-03 -4.30801103e+02] [ 3.96050213e-01 9.18221580e-01 -3.65505638e-03 -2.54980073e+02] [-8.99533920e-03 -1.00523104e-04 -9.99959536e-01 -1.75798367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1330.176559995 meters 0.013654636292347729 Centerline is valid? [True, True] Translation: X:-430.80, Y:-254.95, Z:-1.76 [[-9.44031568e-01 3.29755352e-01 8.11213302e-03 -4.30797685e+02] [ 3.29742275e-01 9.44066416e-01 -2.93836931e-03 -2.54950960e+02] [-8.62733535e-03 -9.90001886e-05 -9.99962779e-01 -1.75804840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1330.2065599950001 meters 0.013940503667007576 Centerline is valid? [True, True] Translation: X:-430.79, Y:-254.92, Z:-1.76 [[-9.65161511e-01 2.61551086e-01 7.36798407e-03 -4.30788475e+02] [ 2.61542739e-01 9.65189630e-01 -2.09155016e-03 -2.54924460e+02] [-7.65854904e-03 -9.16409779e-05 -9.99970669e-01 -1.75850930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1330.236559995 meters 0.013740147016237315 Centerline is valid? [True, True] Translation: X:-430.79, Y:-254.90, Z:-1.76 [[-9.81284498e-01 1.92441963e-01 6.84293315e-03 -4.30787686e+02] [ 1.92436690e-01 9.81308353e-01 -1.42701710e-03 -2.54897206e+02] [-6.98964543e-03 -8.34783549e-05 -9.99975569e-01 -1.75942792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1330.266559995 meters 0.013549513982282662 Centerline is valid? [True, True] Translation: X:-430.78, Y:-254.87, Z:-1.76 [[-9.92456032e-01 1.22457854e-01 5.92448208e-03 -4.30784790e+02] [ 1.22455246e-01 9.92473712e-01 -8.02354725e-04 -2.54870947e+02] [-5.97814736e-03 -7.08178732e-05 -9.99982128e-01 -1.76015419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1330.296559995 meters 0.01357519877802609 Centerline is valid? [True, True] Translation: X:-430.71, Y:-254.27, Z:-2.83 [[-9.77272567e-01 -2.11902664e-01 5.96584478e-03 -4.30705605e+02] [ 2.11899209e-01 -9.77290773e-01 -1.21258644e-03 -2.54274983e+02] [ 6.08731535e-03 7.91303282e-05 9.99981469e-01 -2.82958331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1330.326559995 meters 0.013493727779975076 Centerline is valid? [True, True] Translation: X:-430.84, Y:-254.87, Z:-1.76 [[-9.92771639e-01 1.19901299e-01 5.30573043e-03 -4.30836427e+02] [ 1.19899286e-01 9.92785816e-01 -6.96963455e-04 -2.54867249e+02] [-5.35102073e-03 -5.57722604e-05 -9.99985682e-01 -1.76081545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1330.356559995 meters 0.013365559592670764 Centerline is valid? [True, True] Translation: X:-430.76, Y:-254.27, Z:-2.83 [[-9.78599323e-01 -2.05703092e-01 5.44085556e-03 -4.30758730e+02] [ 2.05700311e-01 -9.78614446e-01 -1.07202143e-03 -2.54266107e+02] [ 5.54501797e-03 7.01062336e-05 9.99984624e-01 -2.82952873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1330.386559995 meters 0.012984081278083752 Centerline is valid? [True, True] Translation: X:-430.89, Y:-254.86, Z:-1.76 [[-9.93007825e-01 1.17920858e-01 5.48912277e-03 -4.30887767e+02] [ 1.17918800e-01 9.93022995e-01 -6.98087504e-04 -2.54863125e+02] [-5.53314422e-03 -4.59355827e-05 -9.99984691e-01 -1.76108585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1330.416559995 meters 0.012963708257100744 Centerline is valid? [True, True] Translation: X:-430.81, Y:-254.26, Z:-2.83 [[-9.79980526e-01 -1.99030474e-01 5.00386830e-03 -4.30811714e+02] [ 1.99027959e-01 -9.79993301e-01 -1.00065524e-03 -2.54258367e+02] [ 5.10291830e-03 1.52870479e-05 9.99986980e-01 -2.82973177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1330.4465599950001 meters 0.01286809370011224 Centerline is valid? [True, True] Translation: X:-430.94, Y:-254.86, Z:-1.76 [[-9.93147241e-01 1.16767149e-01 4.89799636e-03 -4.30944665e+02] [ 1.16765596e-01 9.93159319e-01 -6.02866871e-04 -2.54856779e+02] [-4.93488577e-03 -2.68181056e-05 -9.99987823e-01 -1.76067382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1330.4765599950001 meters 0.01270665979855985 Centerline is valid? [True, True] Translation: X:-430.94, Y:-254.83, Z:-1.76 [[-9.98795731e-01 4.88918389e-02 4.08373745e-03 -4.30941503e+02] [ 4.88913887e-02 9.98804079e-01 -2.10053233e-04 -2.54830267e+02] [-4.08912351e-03 -1.01406777e-05 -9.99991640e-01 -1.76132316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1330.506559995 meters 0.012615398300125995 Centerline is valid? [True, True] Translation: X:-430.95, Y:-254.80, Z:-1.76 [[-9.99776059e-01 -2.07560586e-02 4.12536614e-03 -4.30948760e+02] [-2.07558987e-02 9.99784570e-01 8.15788433e-05 -2.54802920e+02] [-4.12617067e-03 -4.06510708e-06 -9.99991488e-01 -1.76164820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1330.536559995 meters 0.012725440435689971 Centerline is valid? [True, True] Translation: X:-430.96, Y:-254.78, Z:-1.76 [[-9.95900406e-01 -9.03701788e-02 3.95136699e-03 -4.30955056e+02] [-9.03694595e-02 9.95908244e-01 3.60579218e-04 -2.54775911e+02] [-3.96778457e-03 2.01809023e-06 -9.99992129e-01 -1.76154796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1330.566559995 meters 0.012697464734853933 Centerline is valid? [True, True] Translation: X:-431.02, Y:-254.16, Z:-2.83 [[-9.99654439e-01 2.60335625e-02 3.64082976e-03 -4.31017126e+02] [-2.60334737e-02 -9.99661069e-01 7.17836122e-05 -2.54163901e+02] [ 3.64146456e-03 -2.30246393e-05 9.99993370e-01 -2.82876688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1330.596559995 meters 0.012835562066783027 Centerline is valid? [True, True] Translation: X:-431.05, Y:-254.78, Z:-1.76 [[-9.95719820e-01 -9.23655535e-02 3.26266672e-03 -4.31047941e+02] [-9.23650083e-02 9.95725165e-01 3.17704564e-04 -2.54784664e+02] [-3.27806432e-03 1.49884925e-05 -9.99994627e-01 -1.76167992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1330.626559995 meters 0.01304109149022464 Centerline is valid? [True, True] Translation: X:-431.06, Y:-254.76, Z:-1.76 [[-9.86789182e-01 -1.61985973e-01 2.76665869e-03 -4.31061714e+02] [-1.61985291e-01 9.86793061e-01 4.70514956e-04 -2.54758054e+02] [-2.80633642e-03 1.61410554e-05 -9.99996062e-01 -1.76128572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1330.656559995 meters 0.013076541495489797 Centerline is valid? [True, True] Translation: X:-431.09, Y:-254.73, Z:-1.76 [[-9.72792541e-01 -2.31657482e-01 3.07960474e-03 -4.31087362e+02] [-2.31656254e-01 9.72797415e-01 7.54669340e-04 -2.54734370e+02] [-3.17065633e-03 2.07270093e-05 -9.99994973e-01 -1.76080760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1330.6865599950002 meters 0.013054448479093867 Centerline is valid? [True, True] Translation: X:-431.12, Y:-254.71, Z:-1.76 [[-9.53762060e-01 -3.00545896e-01 3.17754422e-03 -4.31121013e+02] [-3.00544144e-01 9.53767353e-01 1.02651427e-03 -2.54713652e+02] [-3.33915259e-03 2.40580638e-05 -9.99994425e-01 -1.76029683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1330.7165599950001 meters 0.013054448479093867 Centerline is valid? [True, True] Translation: X:-431.18, Y:-254.70, Z:-1.76 [[-9.29250306e-01 -3.69437811e-01 3.09401189e-03 -4.31178264e+02] [-3.69435677e-01 9.29255456e-01 1.25594418e-03 -2.54704540e+02] [-3.33912070e-03 2.40481371e-05 -9.99994425e-01 -1.76029773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1330.746559995 meters 0.013225253023237486 Centerline is valid? [True, True] Translation: X:-431.25, Y:-254.70, Z:-1.76 [[-8.99678476e-01 -4.36539863e-01 3.40410465e-03 -4.31245008e+02] [-4.36536618e-01 8.99684916e-01 1.68342685e-03 -2.54702231e+02] [-3.79750453e-03 2.85265723e-05 -9.99992789e-01 -1.75870984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1330.776559995 meters 0.013079984700361515 Centerline is valid? [True, True] Translation: X:-431.32, Y:-254.71, Z:-1.76 [[-8.64847759e-01 -5.02023900e-01 3.21852460e-03 -4.31317224e+02] [-5.02020304e-01 8.64853747e-01 1.90020277e-03 -2.54707581e+02] [-3.73750026e-03 2.76214072e-05 -9.99993015e-01 -1.75851512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1330.806559995 meters 0.013014997256730138 Centerline is valid? [True, True] Translation: X:-431.40, Y:-254.72, Z:-1.76 [[-8.25265472e-01 -5.64737547e-01 2.89894930e-03 -4.31396059e+02] [-5.64733947e-01 8.25270563e-01 2.01655366e-03 -2.54723709e+02] [-3.53124109e-03 2.70570277e-05 -9.99993765e-01 -1.75888451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1330.836559995 meters 0.013277948459316754 Centerline is valid? [True, True] Translation: X:-431.48, Y:-254.75, Z:-1.76 [[-7.81119925e-01 -6.24376394e-01 2.40446252e-03 -4.31478447e+02] [-6.24373336e-01 7.81123625e-01 1.95436622e-03 -2.54751128e+02] [-3.09844261e-03 2.53121134e-05 -9.99995200e-01 -1.75923925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1330.866559995 meters 0.013065728817826599 Centerline is valid? [True, True] Translation: X:-431.56, Y:-254.79, Z:-1.76 [[-7.32415867e-01 -6.80855229e-01 1.77611528e-03 -4.31560356e+02] [-6.80853157e-01 7.32418020e-01 1.68014556e-03 -2.54788768e+02] [-2.44479473e-03 2.12915685e-05 -9.99997011e-01 -1.76106119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1330.896559995 meters 0.01309391182545643 Centerline is valid? [True, True] Translation: X:-431.65, Y:-254.84, Z:-1.76 [[-6.79519530e-01 -7.33655786e-01 1.54786206e-03 -4.31646838e+02] [-7.33653810e-01 6.79521292e-01 1.70291951e-03 -2.54836760e+02] [-2.30116198e-03 2.15721734e-05 -9.99997352e-01 -1.76174039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1330.926559995 meters 0.013262056802577983 Centerline is valid? [True, True] Translation: X:-431.73, Y:-254.89, Z:-1.76 [[-6.22505756e-01 -7.82614446e-01 1.10179768e-03 -4.31731798e+02] [-7.82613170e-01 6.22506731e-01 1.41330085e-03 -2.54894266e+02] [-1.79194613e-03 1.75065367e-05 -9.99998395e-01 -1.76205906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1330.9565599950001 meters 0.013212552866403162 Centerline is valid? [True, True] Translation: X:-431.81, Y:-254.96, Z:-1.76 [[-5.61761080e-01 -8.27299315e-01 5.76310755e-04 -4.31813006e+02] [-8.27298861e-01 5.61761375e-01 8.67128217e-04 -2.54957285e+02] [-1.04112370e-03 1.03376525e-05 -9.99999458e-01 -1.76262666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1330.986559995 meters 0.013272364309861897 Centerline is valid? [True, True] Translation: X:-431.89, Y:-255.03, Z:-1.76 [[-4.97784432e-01 -8.67300735e-01 -3.07316594e-04 -4.31891804e+02] [-8.67300560e-01 4.97784527e-01 -5.51630938e-04 -2.55030277e+02] [ 6.31407361e-04 -8.05743960e-06 -9.99999801e-01 -1.76430377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1331.016559995 meters 0.013366826606177145 Centerline is valid? [True, True] Translation: X:-431.97, Y:-255.11, Z:-1.76 [[-4.30547522e-01 -9.02567722e-01 -5.81500550e-04 -4.31966442e+02] [-9.02566845e-01 4.30547915e-01 -1.25847797e-03 -2.55112748e+02] [ 1.38622544e-03 -1.69914552e-05 -9.99999039e-01 -1.76468621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1331.046559995 meters 0.013255027598543632 Centerline is valid? [True, True] Translation: X:-432.04, Y:-255.20, Z:-1.76 [[-3.60982682e-01 -9.32572228e-01 -7.36374584e-04 -4.32035398e+02] [-9.32570136e-01 3.60983432e-01 -1.97575113e-03 -2.55201297e+02] [ 2.10834965e-03 -2.64909951e-05 -9.99997777e-01 -1.76455373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1331.076559995 meters 0.013445252425857205 Centerline is valid? [True, True] Translation: X:-432.10, Y:-255.30, Z:-1.77 [[-2.88966482e-01 -9.57338987e-01 -6.61095445e-04 -4.32096919e+02] [-9.57336235e-01 2.88967237e-01 -2.29567426e-03 -2.55298922e+02] [ 2.38877339e-03 -3.04822911e-05 -9.99997147e-01 -1.76519330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1331.106559995 meters 0.013510762987062327 Centerline is valid? [True, True] Translation: X:-432.15, Y:-255.40, Z:-1.77 [[-2.16165765e-01 -9.76356399e-01 -7.37243852e-04 -4.32151691e+02] [-9.76349904e-01 2.16167016e-01 -3.56164563e-03 -2.55400785e+02] [ 3.63680331e-03 -5.00978877e-05 -9.99993386e-01 -1.76603306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1331.136559995 meters 0.01359988919008453 Centerline is valid? [True, True] Translation: X:-432.20, Y:-255.51, Z:-1.77 [[-1.41219719e-01 -9.89978144e-01 -5.15655170e-04 -4.32197921e+02] [-9.89969979e-01 1.41220649e-01 -4.02098982e-03 -2.55505852e+02] [ 4.05351319e-03 -5.73599151e-05 -9.99991783e-01 -1.76672034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1331.166559995 meters 0.013731848952557479 Centerline is valid? [True, True] Translation: X:-432.24, Y:-255.62, Z:-1.77 [[-6.55510495e-02 -9.97849192e-01 -2.23645527e-04 -4.32236990e+02] [-9.97839543e-01 6.55513992e-02 -4.38863892e-03 -2.55616123e+02] [ 4.39386008e-03 -6.45175364e-05 -9.99990345e-01 -1.76682010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1331.1965599950001 meters 0.013951425464189813 Centerline is valid? [True, True] Translation: X:-432.84, Y:-255.69, Z:-2.82 [[-1.03779689e-01 9.94600181e-01 -5.05423801e-04 -4.32842033e+02] [-9.94591832e-01 -1.03780889e-01 -4.07623879e-03 -2.55694575e+02] [-4.10668116e-03 7.96595901e-05 9.99991565e-01 -2.82401817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1331.2265599950001 meters 0.014033159653454669 Centerline is valid? [True, True] Translation: X:-432.26, Y:-255.89, Z:-1.76 [[-5.56082832e-02 -9.98452659e-01 -8.46120498e-05 -4.32256986e+02] [-9.98450574e-01 5.56083400e-02 -2.04069525e-03 -2.55891232e+02] [ 2.04224274e-03 -2.89986099e-05 -9.99997914e-01 -1.76440248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1331.256559995 meters 0.013576026763614975 Centerline is valid? [True, True] Translation: X:-432.29, Y:-256.00, Z:-1.76 [[ 2.20518864e-02 -9.99756828e-01 1.94410315e-05 -4.32287861e+02] [-9.99756686e-01 -2.20518936e-02 -5.32685096e-04 -2.56001344e+02] [ 5.32984271e-04 -7.68959000e-06 -9.99999858e-01 -1.76317013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1331.286559995 meters 0.013251690387575375 Centerline is valid? [True, True] Translation: X:-432.31, Y:-256.12, Z:-1.76 [[ 1.00001643e-01 -9.94987271e-01 -4.92709498e-05 -4.32309039e+02] [-9.94987169e-01 -1.00001655e-01 4.50035839e-04 -2.56121161e+02] [-4.52707109e-04 4.01963945e-06 -9.99999898e-01 -1.76213920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1331.316559995 meters 0.014151502338928638 Centerline is valid? [True, True] Translation: X:-432.88, Y:-256.29, Z:-2.83 [[ 5.07526497e-02 9.98711180e-01 -3.84456740e-04 -4.32876930e+02] [-9.98704213e-01 5.07537336e-02 3.73543331e-03 -2.56294084e+02] [ 3.75013162e-03 1.94375428e-04 9.99992950e-01 -2.83220825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1331.346559995 meters 0.012731615233111499 Centerline is valid? [True, True] Translation: X:-432.29, Y:-256.39, Z:-1.76 [[ 1.14301747e-01 -9.93445945e-01 -5.14735470e-04 -4.32287329e+02] [-9.93436730e-01 -1.14302904e-01 4.27900567e-03 -2.56388974e+02] [-4.30979659e-03 2.22592975e-05 -9.99990713e-01 -1.75799256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1331.376559995 meters 0.012540352147867993 Centerline is valid? [True, True] Translation: X:-432.30, Y:-256.51, Z:-1.76 [[ 1.91414635e-01 -9.81508808e-01 -9.47386987e-04 -4.32299776e+02] [-9.81497243e-01 -1.91416979e-01 4.76465774e-03 -2.56506131e+02] [-4.85789949e-03 1.78324931e-05 -9.99988200e-01 -1.75743705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1331.406559995 meters 0.012417121276270395 Centerline is valid? [True, True] Translation: X:-432.30, Y:-256.62, Z:-1.76 [[ 2.67061975e-01 -9.63678392e-01 -1.36319453e-03 -4.32304169e+02] [-9.63666033e-01 -2.67065454e-01 4.88068968e-03 -2.56617447e+02] [-5.06747735e-03 1.02176438e-05 -9.99987160e-01 -1.75694351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1331.4365599950002 meters 0.012372839335810449 Centerline is valid? [True, True] Translation: X:-432.30, Y:-256.74, Z:-1.76 [[ 3.41031261e-01 -9.40050578e-01 -1.60927596e-03 -4.32296257e+02] [-9.40040158e-01 -3.41035058e-01 4.42607985e-03 -2.56738163e+02] [-4.70955845e-03 3.35243331e-06 -9.99988910e-01 -1.75692353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1331.4665599950001 meters 0.012253535660305844 Centerline is valid? [True, True] Translation: X:-432.28, Y:-256.85, Z:-1.76 [[ 4.12789611e-01 -9.10824517e-01 -1.85372911e-03 -4.32283126e+02] [-9.10815309e-01 -4.12793774e-01 4.09562279e-03 -2.56846229e+02] [-4.49560149e-03 -2.22568877e-06 -9.99989895e-01 -1.75767620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1331.496559995 meters 0.01221442545931753 Centerline is valid? [True, True] Translation: X:-432.26, Y:-256.95, Z:-1.76 [[ 4.82130011e-01 -8.76098297e-01 -1.55812040e-03 -4.32260709e+02] [-8.76093678e-01 -4.82132528e-01 2.84465768e-03 -2.56954084e+02] [-3.24342028e-03 -6.43541050e-06 -9.99994740e-01 -1.75941893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1331.526559995 meters 0.012280626345331313 Centerline is valid? [True, True] Translation: X:-432.23, Y:-257.06, Z:-1.76 [[ 5.47829714e-01 -8.36588037e-01 -1.74958789e-03 -4.32228778e+02] [-8.36583724e-01 -5.47832507e-01 2.68652002e-03 -2.57061868e+02] [-3.20599163e-03 -8.07874165e-06 -9.99994861e-01 -1.75994119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1331.556559995 meters 0.01229236276600961 Centerline is valid? [True, True] Translation: X:-432.19, Y:-257.16, Z:-1.76 [[ 6.09904878e-01 -7.92472154e-01 -1.98119082e-03 -4.32191267e+02] [-7.92467926e-01 -6.09908095e-01 2.58871800e-03 -2.57163742e+02] [-3.25983125e-03 -8.84155418e-06 -9.99994687e-01 -1.76018721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1331.586559995 meters 0.012241033940509242 Centerline is valid? [True, True] Translation: X:-432.15, Y:-257.26, Z:-1.76 [[ 6.68120083e-01 -7.44050520e-01 -2.09276477e-03 -4.32147476e+02] [-7.44046831e-01 -6.68123360e-01 2.34301087e-03 -2.57261057e+02] [-3.14154349e-03 -8.29761635e-06 -9.99995066e-01 -1.76004338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1331.616559995 meters 0.012197085450395903 Centerline is valid? [True, True] Translation: X:-432.10, Y:-257.35, Z:-1.76 [[ 7.21830552e-01 -6.92065456e-01 -2.46150806e-03 -4.32098968e+02] [-6.92061405e-01 -7.21834749e-01 2.36783152e-03 -2.57351970e+02] [-3.41549646e-03 -5.65840505e-06 -9.99994167e-01 -1.75955661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1331.646559995 meters 0.012165230775118595 Centerline is valid? [True, True] Translation: X:-432.10, Y:-257.36, Z:-1.76 [[ 7.73203497e-01 -6.34152893e-01 -2.54188857e-03 -4.32095561e+02] [-6.34149454e-01 -7.73207675e-01 2.08854532e-03 -2.57359643e+02] [-3.28986481e-03 -2.93329780e-06 -9.99994589e-01 -1.75925588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1331.676559995 meters 0.01218264417969523 Centerline is valid? [True, True] Translation: X:-432.09, Y:-257.36, Z:-1.76 [[ 8.19931349e-01 -5.72456106e-01 -2.56702213e-03 -4.32088976e+02] [-5.72453299e-01 -8.19935368e-01 1.79250797e-03 -2.57362628e+02] [-3.13092437e-03 -2.33194220e-07 -9.99995099e-01 -1.75921507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1331.7065599950001 meters 0.01220956306445376 Centerline is valid? [True, True] Translation: X:-432.08, Y:-257.37, Z:-1.76 [[ 8.61625610e-01 -5.07537826e-01 -2.58130912e-03 -4.32080534e+02] [-5.07535559e-01 -8.61629477e-01 1.51707791e-03 -2.57366010e+02] [-2.99410645e-03 2.95298740e-06 -9.99995518e-01 -1.75989785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1331.736559995 meters 0.012248228425111569 Centerline is valid? [True, True] Translation: X:-432.08, Y:-257.38, Z:-1.76 [[ 8.97767723e-01 -4.40462334e-01 -2.45926361e-03 -4.32076042e+02] [-4.40460706e-01 -8.97771091e-01 1.19763672e-03 -2.57375534e+02] [-2.73536964e-03 8.00938833e-06 -9.99996259e-01 -1.75991839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1331.766559995 meters 0.01229501963235553 Centerline is valid? [True, True] Translation: X:-432.07, Y:-257.39, Z:-1.76 [[ 9.29206424e-01 -3.69549275e-01 -2.95899872e-03 -4.32071809e+02] [-3.69547442e-01 -9.29211135e-01 1.16403152e-03 -2.57386665e+02] [-3.17970157e-03 1.18648473e-05 -9.99994945e-01 -1.75929389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1331.796559995 meters 0.012384976322980305 Centerline is valid? [True, True] Translation: X:-432.07, Y:-257.40, Z:-1.76 [[ 9.55005310e-01 -2.96565617e-01 -3.70024505e-03 -4.32067617e+02] [-2.96563464e-01 -9.55012479e-01 1.13021706e-03 -2.57395573e+02] [-3.86896372e-03 1.79941944e-05 -9.99992516e-01 -1.75876280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1331.826559995 meters 0.012376103198528195 Centerline is valid? [True, True] Translation: X:-432.06, Y:-257.40, Z:-1.76 [[ 9.75143261e-01 -2.21533894e-01 -4.28419292e-03 -4.32062125e+02] [-2.21531859e-01 -9.75152672e-01 9.49676263e-04 -2.57403114e+02] [-4.38812766e-03 2.30148160e-05 -9.99990372e-01 -1.75819851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1331.856559995 meters 0.01241515094389408 Centerline is valid? [True, True] Translation: X:-432.06, Y:-257.41, Z:-1.76 [[ 9.89427226e-01 -1.44953794e-01 -4.70765292e-03 -4.32056500e+02] [-1.44952282e-01 -9.89438425e-01 6.62690682e-04 -2.57408996e+02] [-4.75399222e-03 2.67008286e-05 -9.99988700e-01 -1.75743798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1331.886559995 meters 0.01252364706222197 Centerline is valid? [True, True] Translation: X:-432.05, Y:-257.41, Z:-1.76 [[ 9.97723242e-01 -6.72211396e-02 -5.44522810e-03 -4.32052848e+02] [-6.72203121e-02 -9.97738101e-01 3.35037119e-04 -2.57414039e+02] [-5.45543312e-03 3.17556114e-05 -9.99985119e-01 -1.75679924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1331.916559995 meters 0.012657631980159359 Centerline is valid? [True, True] Translation: X:-432.05, Y:-257.42, Z:-1.76 [[ 9.99914644e-01 1.06366880e-02 -7.58716239e-03 -4.32050071e+02] [ 1.06360149e-02 -9.99943428e-01 -1.29057344e-04 -2.57415701e+02] [-7.58810591e-03 4.83491560e-05 -9.99971209e-01 -1.75515719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1331.9465599950001 meters 0.012634473163866329 Centerline is valid? [True, True] Translation: X:-432.05, Y:-257.42, Z:-1.76 [[ 9.96028467e-01 8.86527699e-02 -8.24502539e-03 -4.32045868e+02] [ 8.86492770e-02 -9.96062590e-01 -7.88863472e-04 -2.57424530e+02] [-8.28249628e-03 5.48149347e-05 -9.99965698e-01 -1.75519933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1331.9765599950001 meters 0.013017923468248585 Centerline is valid? [True, True] Translation: X:-432.04, Y:-257.43, Z:-1.75 [[ 9.86060437e-01 1.66179852e-01 -8.31092249e-03 -4.32041942e+02] [ 1.66173459e-01 -9.86095459e-01 -1.45878348e-03 -2.57429538e+02] [-8.43778335e-03 5.73939419e-05 -9.99964400e-01 -1.75285416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1332.006559995 meters 0.012995437689272225 Centerline is valid? [True, True] Translation: X:-432.04, Y:-257.43, Z:-1.75 [[ 9.69903513e-01 2.43356756e-01 -8.04139577e-03 -4.32038503e+02] [ 2.43347945e-01 -9.69936847e-01 -2.07156030e-03 -2.57429703e+02] [-8.30377425e-03 5.23564817e-05 -9.99965522e-01 -1.75276752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1332.036559995 meters 0.012944084436215973 Centerline is valid? [True, True] Translation: X:-432.04, Y:-257.43, Z:-1.75 [[ 9.47780094e-01 3.18834208e-01 -7.59215589e-03 -4.32035062e+02] [ 3.18823574e-01 -9.47810501e-01 -2.60448759e-03 -2.57428791e+02] [-8.02632482e-03 4.79232160e-05 -9.99967788e-01 -1.75325784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1332.066559995 meters 0.012858321028322071 Centerline is valid? [True, True] Translation: X:-432.03, Y:-257.43, Z:-1.75 [[ 9.19697013e-01 3.92574191e-01 -6.55054460e-03 -4.32032395e+02] [ 3.92563936e-01 -9.19720340e-01 -2.83774060e-03 -2.57427336e+02] [-7.13869283e-03 3.83539775e-05 -9.99974519e-01 -1.75362155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1332.096559995 meters 0.01257207089040826 Centerline is valid? [True, True] Translation: X:-432.03, Y:-257.43, Z:-1.76 [[ 8.85714046e-01 4.64194640e-01 -5.82797099e-03 -4.32026977e+02] [ 4.64184374e-01 -8.85733219e-01 -3.08738171e-03 -2.57431626e+02] [-6.59517355e-03 2.92842824e-05 -9.99978251e-01 -1.75501450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1332.126559995 meters 0.012556388452801928 Centerline is valid? [True, True] Translation: X:-432.02, Y:-257.43, Z:-1.75 [[ 8.46264762e-01 5.32735467e-01 -5.37347036e-03 -4.32021150e+02] [ 5.32724551e-01 -8.46281822e-01 -3.41044768e-03 -2.57434904e+02] [-6.36433672e-03 2.35621076e-05 -9.99979747e-01 -1.75461457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1332.156559995 meters 0.012725304809280682 Centerline is valid? [True, True] Translation: X:-432.02, Y:-257.44, Z:-1.75 [[ 8.01346752e-01 5.98178630e-01 -5.07048765e-03 -4.32016775e+02] [ 5.98166521e-01 -8.01362793e-01 -3.80623899e-03 -2.57437755e+02] [-6.34011097e-03 1.71212941e-05 -9.99979901e-01 -1.75369327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1332.1865599950002 meters 0.012557737186840973 Centerline is valid? [True, True] Translation: X:-432.01, Y:-257.44, Z:-1.75 [[ 7.51434372e-01 6.59788986e-01 -4.98790651e-03 -4.32008793e+02] [ 6.59774345e-01 -7.51450926e-01 -4.39535436e-03 -2.57442369e+02] [-6.64817337e-03 1.19275892e-05 -9.99977901e-01 -1.75481643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1332.2165599950001 meters 0.012625236180816886 Centerline is valid? [True, True] Translation: X:-432.00, Y:-257.45, Z:-1.75 [[ 6.96426765e-01 7.17613980e-01 -4.46518288e-03 -4.32001916e+02] [ 7.17599211e-01 -6.96441079e-01 -4.60389699e-03 -2.57446631e+02] [-6.41355763e-03 2.06536712e-06 -9.99979433e-01 -1.75454351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1332.246559995 meters 0.012679669832995748 Centerline is valid? [True, True] Translation: X:-432.00, Y:-257.45, Z:-1.75 [[ 6.35648240e-01 7.71969931e-01 -3.70686493e-03 -4.31996167e+02] [ 7.71956959e-01 -6.35659048e-01 -4.47529898e-03 -2.57450253e+02] [-5.81109847e-03 -1.68242607e-05 -9.99983116e-01 -1.75424638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1332.276559995 meters 0.01273841644000825 Centerline is valid? [True, True] Translation: X:-431.99, Y:-257.45, Z:-1.76 [[ 5.72053588e-01 8.20210415e-01 -3.09324269e-03 -4.31992499e+02] [ 8.20198647e-01 -5.72061951e-01 -4.39360180e-03 -2.57450194e+02] [-5.37320440e-03 -2.36977957e-05 -9.99985564e-01 -1.75512083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1332.306559995 meters 0.01282488626902387 Centerline is valid? [True, True] Translation: X:-431.99, Y:-257.45, Z:-1.76 [[ 5.04930589e-01 8.63156551e-01 -2.42274922e-03 -4.31986088e+02] [ 8.63146874e-01 -5.04936400e-01 -4.08721046e-03 -2.57452267e+02] [-4.75123676e-03 -2.74308330e-05 -9.99988713e-01 -1.75591094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1332.336559995 meters 0.01299937908522754 Centerline is valid? [True, True] Translation: X:-431.98, Y:-257.45, Z:-1.76 [[ 4.34633528e-01 9.00605240e-01 -1.97467395e-03 -4.31979330e+02] [ 9.00596275e-01 -4.34638012e-01 -4.01840536e-03 -2.57454288e+02] [-4.47726528e-03 -3.18503085e-05 -9.99989977e-01 -1.75594051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1332.366559995 meters 0.013415054666361627 Centerline is valid? [True, True] Translation: X:-431.97, Y:-257.46, Z:-1.76 [[ 3.61535869e-01 9.32356681e-01 -1.68364554e-03 -4.31972584e+02] [ 9.32347060e-01 -3.61539787e-01 -4.23581014e-03 -2.57456368e+02] [-4.55799073e-03 -3.83446712e-05 -9.99989612e-01 -1.75529908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1332.396559995 meters 0.013736594444995453 Centerline is valid? [True, True] Translation: X:-431.97, Y:-257.46, Z:-1.76 [[ 2.84538880e-01 9.58663475e-01 -1.40275145e-03 -4.31967740e+02] [ 9.58652746e-01 -2.84542333e-01 -4.53592781e-03 -2.57456902e+02] [-4.74757049e-03 -5.41037068e-05 -9.99988729e-01 -1.75567994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1332.426559995 meters 0.014303054609292525 Centerline is valid? [True, True] Translation: X:-431.96, Y:-257.46, Z:-1.76 [[ 2.07340150e-01 9.78268445e-01 -9.54663768e-04 -4.31962610e+02] [ 9.78259270e-01 -2.07342340e-01 -4.23734581e-03 -2.57456847e+02] [-4.34320391e-03 -5.53367678e-05 -9.99990567e-01 -1.75554461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1332.4565599950001 meters 0.014108552723238573 Centerline is valid? [True, True] Translation: X:-431.96, Y:-257.46, Z:-1.76 [[ 1.29441110e-01 9.91586910e-01 -6.32105408e-04 -4.31955711e+02] [ 9.91577214e-01 -1.29442640e-01 -4.38537264e-03 -2.57456089e+02] [-4.43029950e-03 -5.91338171e-05 -9.99990185e-01 -1.75551130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1332.486559995 meters 0.014028876441378558 Centerline is valid? [True, True] Translation: X:-431.95, Y:-257.45, Z:-1.76 [[ 5.14508647e-02 9.98675488e-01 -2.79299635e-04 -4.31948834e+02] [ 9.98666208e-01 -5.14515907e-02 -4.30562132e-03 -2.57454996e+02] [-4.31428889e-03 -5.73991681e-05 -9.99990692e-01 -1.75614947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1332.516559995 meters 0.01413406070191305 Centerline is valid? [True, True] Translation: X:-431.94, Y:-257.45, Z:-1.76 [[-2.65377167e-02 9.99647811e-01 5.78098831e-05 -4.31941968e+02] [ 9.99638775e-01 2.65377226e-02 -4.25084224e-03 -2.57454459e+02] [-4.25087929e-03 -5.50186464e-05 -9.99990964e-01 -1.75622663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1332.546559995 meters 0.013829913568359406 Centerline is valid? [True, True] Translation: X:-431.94, Y:-257.45, Z:-1.76 [[-1.03773817e-01 9.94600845e-01 3.92406629e-04 -4.31935810e+02] [ 9.94591756e-01 1.03774546e-01 -4.25242938e-03 -2.57452693e+02] [-4.27019168e-03 -5.10064311e-05 -9.99990882e-01 -1.75635784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1332.576559995 meters 0.013829913568359406 Centerline is valid? [True, True] Translation: X:-431.93, Y:-257.45, Z:-1.76 [[-1.81351891e-01 9.83418002e-01 7.24246703e-04 -4.31928851e+02] [ 9.83408998e-01 1.81353330e-01 -4.20855840e-03 -2.57451067e+02] [-4.27011665e-03 -5.09993008e-05 -9.99990882e-01 -1.75635849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1332.606559995 meters 0.01359190401097157 Centerline is valid? [True, True] Translation: X:-431.92, Y:-257.45, Z:-1.76 [[-2.56364286e-01 9.66579629e-01 1.08332146e-03 -4.31921926e+02] [ 9.66570232e-01 2.56366571e-01 -4.26242569e-03 -2.57448405e+02] [-4.39770126e-03 -4.56274447e-05 -9.99990329e-01 -1.75615732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1332.636559995 meters 0.013417565899986467 Centerline is valid? [True, True] Translation: X:-431.92, Y:-257.45, Z:-1.76 [[-3.29760340e-01 9.44063616e-01 1.41710389e-03 -4.31915638e+02] [ 9.44054388e-01 3.29763382e-01 -4.17423319e-03 -2.57446133e+02] [-4.40805065e-03 -3.86734047e-05 -9.99990284e-01 -1.75617690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1332.666559995 meters 0.013014463813644956 Centerline is valid? [True, True] Translation: X:-431.91, Y:-257.44, Z:-1.76 [[-3.99372391e-01 9.16787667e-01 1.43802263e-03 -4.31910934e+02] [ 9.16781552e-01 3.99374979e-01 -3.34855673e-03 -2.57442846e+02] [-3.64422577e-03 -1.89684882e-05 -9.99993360e-01 -1.75695782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1332.6965599950001 meters 0.012897437332911536 Centerline is valid? [True, True] Translation: X:-431.91, Y:-257.44, Z:-1.76 [[-4.68365284e-01 8.83533808e-01 1.40364349e-03 -4.31905346e+02] [ 8.83529773e-01 4.68367387e-01 -2.67034041e-03 -2.57439704e+02] [-3.01675687e-03 -1.05339361e-05 -9.99995450e-01 -1.75676635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1332.7265599950001 meters 0.012920587522836667 Centerline is valid? [True, True] Translation: X:-431.90, Y:-257.44, Z:-1.76 [[-5.34703812e-01 8.45038050e-01 1.58961432e-03 -4.31899632e+02] [ 8.45034286e-01 5.34706175e-01 -2.52237087e-03 -2.57435207e+02] [-2.98147596e-03 -5.44272237e-06 -9.99995556e-01 -1.75657472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1332.756559995 meters 0.012836679127285021 Centerline is valid? [True, True] Translation: X:-431.89, Y:-257.43, Z:-1.76 [[-5.98370315e-01 8.01217505e-01 1.86447527e-03 -4.31894356e+02] [ 8.01213604e-01 5.98373220e-01 -2.50010010e-03 -2.57430265e+02] [-3.11877603e-03 -2.14273620e-06 -9.99995137e-01 -1.75654297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1332.786559995 meters 0.012855537995774246 Centerline is valid? [True, True] Translation: X:-431.89, Y:-257.43, Z:-1.76 [[-6.57929584e-01 7.53076223e-01 2.20576818e-03 -4.31889514e+02] [ 7.53072011e-01 6.57933282e-01 -2.51873111e-03 -2.57426729e+02] [-3.34804480e-03 3.95456353e-06 -9.99994396e-01 -1.75553278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1332.816559995 meters 0.01290145572929951 Centerline is valid? [True, True] Translation: X:-431.88, Y:-257.42, Z:-1.76 [[-7.14520892e-01 6.99608994e-01 2.67396084e-03 -4.31884084e+02] [ 6.99604130e-01 7.14525895e-01 -2.60893934e-03 -2.57420448e+02] [-3.73585170e-03 6.57237906e-06 -9.99993022e-01 -1.75532855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1332.846559995 meters 0.012876247000682736 Centerline is valid? [True, True] Translation: X:-431.87, Y:-257.40, Z:-1.76 [[-7.62024884e-01 6.47539892e-01 3.18829841e-03 -4.31867263e+02] [ 6.47534275e-01 7.62031553e-01 -2.69704660e-03 -2.57398578e+02] [-4.17602925e-03 9.31587916e-06 -9.99991281e-01 -1.75514712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1332.876559995 meters 0.012924693038252142 Centerline is valid? [True, True] Translation: X:-431.85, Y:-257.38, Z:-1.75 [[-8.06108049e-01 5.91755483e-01 3.90654935e-03 -4.31850993e+02] [ 5.91748593e-01 8.06117515e-01 -2.85567102e-03 -2.57375846e+02] [-4.83899684e-03 9.71568080e-06 -9.99988292e-01 -1.75468749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1332.906559995 meters 0.012930971281784262 Centerline is valid? [True, True] Translation: X:-431.47, Y:-256.87, Z:-2.84 [[-7.66326586e-01 -6.42437701e-01 4.16703920e-03 -4.31474766e+02] [ 6.42428379e-01 -7.66337915e-01 -3.46089099e-03 -2.56867717e+02] [ 5.41676698e-03 2.48514641e-05 9.99985329e-01 -2.83668665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1332.9365599950002 meters 0.012963605898447141 Centerline is valid? [True, True] Translation: X:-431.88, Y:-257.35, Z:-1.75 [[-8.10243268e-01 5.86074428e-01 4.75515172e-03 -4.31884231e+02] [ 5.86064276e-01 8.10257221e-01 -3.44958300e-03 -2.57348193e+02] [-5.87460840e-03 -8.17684813e-06 -9.99982745e-01 -1.75375871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1332.9665599950001 meters 0.013006268068593323 Centerline is valid? [True, True] Translation: X:-431.52, Y:-256.84, Z:-2.84 [[-7.66352599e-01 -6.42404052e-01 4.55284924e-03 -4.31516037e+02] [ 6.42392807e-01 -7.66366123e-01 -3.80108055e-03 -2.56843365e+02] [ 5.93097897e-03 1.17496400e-05 9.99982412e-01 -2.83721363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1332.996559995 meters 0.013139159614047994 Centerline is valid? [True, True] Translation: X:-431.92, Y:-257.32, Z:-1.75 [[-8.14630350e-01 5.79959074e-01 4.98641470e-03 -4.31919954e+02] [ 5.79947964e-01 8.14645611e-01 -3.58996722e-03 -2.57317712e+02] [-6.14419491e-03 -3.26351997e-05 -9.99981124e-01 -1.75269985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1333.026559995 meters 0.013342601491263015 Centerline is valid? [True, True] Translation: X:-431.56, Y:-256.82, Z:-2.84 [[-7.66264068e-01 -6.42507790e-01 4.80805892e-03 -4.31557719e+02] [ 6.42495462e-01 -7.66279152e-01 -3.98030564e-03 -2.56820271e+02] [ 6.24169270e-03 3.91908461e-05 9.99980520e-01 -2.83874857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1333.056559995 meters 0.013431196927529542 Centerline is valid? [True, True] Translation: X:-431.96, Y:-257.29, Z:-1.75 [[-8.18465647e-01 5.74528667e-01 5.54945561e-03 -4.31955529e+02] [ 5.74514988e-01 8.18484458e-01 -3.96497248e-03 -2.57288677e+02] [-6.82013352e-03 -5.69483408e-05 -9.99976741e-01 -1.75192342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1333.086559995 meters 0.013592157583958922 Centerline is valid? [True, True] Translation: X:-431.94, Y:-257.26, Z:-1.75 [[-8.57769360e-01 5.14002191e-01 5.78551052e-03 -4.31940626e+02] [ 5.13989985e-01 8.57788869e-01 -3.54288574e-03 -2.57263933e+02] [-6.78379756e-03 -6.52843711e-05 -9.99976988e-01 -1.75148891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1333.116559995 meters 0.013712899180998913 Centerline is valid? [True, True] Translation: X:-431.93, Y:-257.24, Z:-1.75 [[-8.91959285e-01 4.52075206e-01 6.05325116e-03 -4.31926961e+02] [ 4.52064301e-01 8.91979823e-01 -3.14066756e-03 -2.57239539e+02] [-6.81919584e-03 -6.48888435e-05 -9.99976747e-01 -1.75097091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1333.146559995 meters 0.013484385701238756 Centerline is valid? [True, True] Translation: X:-431.92, Y:-257.21, Z:-1.75 [[-9.21423792e-01 3.88512388e-01 6.02668132e-03 -4.31920145e+02] [ 3.88503670e-01 9.21443499e-01 -2.60324067e-03 -2.57213678e+02] [-6.56463757e-03 -5.73000711e-05 -9.99978451e-01 -1.75124593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1333.176559995 meters 0.013320758363559235 Centerline is valid? [True, True] Translation: X:-431.67, Y:-256.65, Z:-2.84 [[-8.86085689e-01 -4.63483285e-01 5.94954105e-03 -4.31673998e+02] [ 4.63473331e-01 -8.86105660e-01 -3.03825928e-03 -2.56652986e+02] [ 6.68010439e-03 6.52955368e-05 9.99977686e-01 -2.83935024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1333.2065599950001 meters 0.013046591879983194 Centerline is valid? [True, True] Translation: X:-431.96, Y:-257.20, Z:-1.75 [[-9.21219672e-01 3.88995956e-01 6.03835463e-03 -4.31961894e+02] [ 3.88987388e-01 9.21239462e-01 -2.58203323e-03 -2.57200928e+02] [-6.56717106e-03 -2.97760148e-05 -9.99978436e-01 -1.75082441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1333.236559995 meters 0.01299512132468498 Centerline is valid? [True, True] Translation: X:-431.95, Y:-257.18, Z:-1.75 [[-9.46196637e-01 3.23534963e-01 6.08698958e-03 -4.31951950e+02] [ 3.23528107e-01 9.46216216e-01 -2.10629489e-03 -2.57176592e+02] [-6.44106829e-03 -2.36569252e-05 -9.99979256e-01 -1.75128678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1333.266559995 meters 0.012941496016802773 Centerline is valid? [True, True] Translation: X:-431.95, Y:-257.15, Z:-1.75 [[-9.66684521e-01 2.55899407e-01 6.04404779e-03 -4.31946811e+02] [ 2.55894269e-01 9.66703415e-01 -1.62173005e-03 -2.57150066e+02] [-6.25780140e-03 -2.10641411e-05 -9.99980420e-01 -1.75158301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1333.296559995 meters 0.012861369991093557 Centerline is valid? [True, True] Translation: X:-431.78, Y:-256.55, Z:-2.84 [[-9.45294050e-01 -3.26176222e-01 5.31330433e-03 -4.31782170e+02] [ 3.26170946e-01 -9.45308982e-01 -1.85529134e-03 -2.56547842e+02] [ 5.62786623e-03 -2.07503614e-05 9.99984163e-01 -2.83834784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1333.326559995 meters 0.012826513286604625 Centerline is valid? [True, True] Translation: X:-431.99, Y:-257.14, Z:-1.75 [[-9.67798931e-01 2.51683174e-01 4.56178573e-03 -4.31992483e+02] [ 2.51680286e-01 9.67809682e-01 -1.20584171e-03 -2.57138417e+02] [-4.71843046e-03 -1.89007841e-05 -9.99988868e-01 -1.75216868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1333.356559995 meters 0.012941320072661406 Centerline is valid? [True, True] Translation: X:-431.83, Y:-256.54, Z:-2.84 [[-9.46140286e-01 -3.23720561e-01 4.85356168e-03 -4.31834807e+02] [ 3.23716549e-01 -9.46152734e-01 -1.61241758e-03 -2.56536328e+02] [ 5.11418338e-03 4.56050106e-05 9.99986922e-01 -2.83925684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1333.386559995 meters 0.013033442216748976 Centerline is valid? [True, True] Translation: X:-432.04, Y:-257.12, Z:-1.75 [[-9.69121543e-01 2.46528051e-01 5.23017181e-03 -4.32044286e+02] [ 2.46524295e-01 9.69135656e-01 -1.36106390e-03 -2.57123877e+02] [-5.40428641e-03 -2.96719289e-05 -9.99985397e-01 -1.75095479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1333.416559995 meters 0.013179071805492524 Centerline is valid? [True, True] Translation: X:-432.04, Y:-257.10, Z:-1.75 [[-9.84334569e-01 1.76213298e-01 5.85915844e-03 -4.32036818e+02] [ 1.76209947e-01 9.84352006e-01 -1.08746105e-03 -2.57096248e+02] [-5.95909946e-03 -3.79835051e-05 -9.99982244e-01 -1.75002533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1333.4465599950001 meters 0.013303316532023825 Centerline is valid? [True, True] Translation: X:-431.93, Y:-256.49, Z:-2.84 [[-9.66646252e-01 -2.56005709e-01 7.49006275e-03 -4.31926123e+02] [ 2.55999336e-01 -9.66675256e-01 -1.81374787e-03 -2.56489422e+02] [ 7.70478813e-03 1.64198512e-04 9.99970304e-01 -2.84136228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1333.4765599950001 meters 0.01356549255315198 Centerline is valid? [True, True] Translation: X:-432.09, Y:-257.08, Z:-1.75 [[-9.85604325e-01 1.68889203e-01 7.78152114e-03 -4.32091241e+02] [ 1.68883313e-01 9.85635039e-01 -1.41267763e-03 -2.57083261e+02] [-7.90832589e-03 -7.81721049e-05 -9.99968726e-01 -1.74842896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1333.506559995 meters 0.013661020949409696 Centerline is valid? [True, True] Translation: X:-431.98, Y:-256.48, Z:-2.84 [[-9.66976839e-01 -2.54731169e-01 8.23554576e-03 -4.31978994e+02] [ 2.54722998e-01 -9.67011901e-01 -2.04384556e-03 -2.56483401e+02] [ 8.48450193e-03 1.21431582e-04 9.99963999e-01 -2.84233292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1333.536559995 meters 0.014039253377703563 Centerline is valid? [True, True] Translation: X:-432.14, Y:-257.07, Z:-1.75 [[-9.86688125e-01 1.62389262e-01 8.73343255e-03 -4.32137716e+02] [ 1.62381902e-01 9.86726768e-01 -1.55006563e-03 -2.57071468e+02] [-8.86922569e-03 -1.11279961e-04 -9.99960662e-01 -1.74765933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1333.566559995 meters 0.014360488786707681 Centerline is valid? [True, True] Translation: X:-432.04, Y:-256.48, Z:-2.84 [[-9.67361111e-01 -2.53257088e-01 8.56321554e-03 -4.32038524e+02] [ 2.53248150e-01 -9.67399006e-01 -2.13039928e-03 -2.56478531e+02] [ 8.82358491e-03 1.07753082e-04 9.99961066e-01 -2.84366484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1333.596559995 meters 0.014129323778780255 Centerline is valid? [True, True] Translation: X:-432.19, Y:-257.06, Z:-1.75 [[-9.87625669e-01 1.56578766e-01 8.86722297e-03 -4.32190395e+02] [ 1.56571267e-01 9.87665466e-01 -1.53797345e-03 -2.57058626e+02] [-8.99866389e-03 -1.30589725e-04 -9.99959503e-01 -1.74736721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1333.626559995 meters 0.014399282985647134 Centerline is valid? [True, True] Translation: X:-432.09, Y:-256.47, Z:-2.84 [[-9.67914198e-01 -2.51144206e-01 8.28810212e-03 -4.32090557e+02] [ 2.51135831e-01 -9.67949678e-01 -2.05319892e-03 -2.56474375e+02] [ 8.53811480e-03 9.41190212e-05 9.99963545e-01 -2.84359385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1333.656559995 meters 0.014533557654636113 Centerline is valid? [True, True] Translation: X:-432.24, Y:-257.05, Z:-1.75 [[-9.88307395e-01 1.52270225e-01 7.89122924e-03 -4.32237523e+02] [ 1.52264408e-01 9.88338892e-01 -1.33630615e-03 -2.57047778e+02] [-8.00268840e-03 -1.19127902e-04 -9.99967971e-01 -1.74703438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1333.6865599950002 meters 0.014108539050590223 Centerline is valid? [True, True] Translation: X:-432.24, Y:-257.02, Z:-1.75 [[-9.96553010e-01 8.26428549e-02 7.22891328e-03 -4.32243863e+02] [ 8.26399431e-02 9.96579223e-01 -7.01093891e-04 -2.57020319e+02] [-7.26212518e-03 -1.01280246e-04 -9.99973626e-01 -1.74781862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1333.7165599950001 meters 0.013606605127926455 Centerline is valid? [True, True] Translation: X:-432.25, Y:-256.99, Z:-1.75 [[-9.99891926e-01 1.29958209e-02 6.87357660e-03 -4.32245172e+02] [ 1.29949211e-02 9.99915547e-01 -1.75560736e-04 -2.56994178e+02] [-6.87527766e-03 -8.62201773e-05 -9.99976362e-01 -1.74880604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1333.746559995 meters 0.013231534494884541 Centerline is valid? [True, True] Translation: X:-432.25, Y:-256.97, Z:-1.75 [[-9.98484743e-01 -5.46839461e-02 6.15507899e-03 -4.32252578e+02] [-5.46832542e-02 9.98503712e-01 2.80773799e-04 -2.56969952e+02] [-6.16122304e-03 -5.62313949e-05 -9.99981018e-01 -1.74839017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1333.776559995 meters 0.013138098847391741 Centerline is valid? [True, True] Translation: X:-432.28, Y:-256.37, Z:-2.84 [[-9.99576322e-01 -2.85589192e-02 5.61819971e-03 -4.32279506e+02] [ 2.85585608e-02 -9.99592111e-01 -1.44016933e-04 -2.56367876e+02] [ 5.62002107e-03 1.64917821e-05 9.99984208e-01 -2.84281102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1333.806559995 meters 0.012912231893640444 Centerline is valid? [True, True] Translation: X:-432.33, Y:-256.98, Z:-1.75 [[-9.98351134e-01 -5.70974908e-02 5.90678461e-03 -4.32326734e+02] [-5.70967123e-02 9.98368607e-01 3.00488713e-04 -2.56976450e+02] [-5.91430548e-03 -3.72647341e-05 -9.99982510e-01 -1.74790289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1333.836559995 meters 0.012882948284884184 Centerline is valid? [True, True] Translation: X:-432.36, Y:-256.37, Z:-2.84 [[-9.99744825e-01 -2.16489444e-02 6.45043508e-03 -4.32356826e+02] [ 2.16489828e-02 -9.99765631e-01 -6.38834673e-05 -2.56368960e+02] [ 6.45030631e-03 7.57781922e-05 9.99979194e-01 -2.84334709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1333.866559995 meters 0.012906046200132294 Centerline is valid? [True, True] Translation: X:-432.40, Y:-256.98, Z:-1.75 [[-9.98018394e-01 -6.26025323e-02 6.34099139e-03 -4.32403041e+02] [-6.26015372e-02 9.98038537e-01 3.55485031e-04 -2.56980187e+02] [-6.35080804e-03 -4.21752086e-05 -9.99979833e-01 -1.74742971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1333.896559995 meters 0.013294717742493302 Centerline is valid? [True, True] Translation: X:-432.44, Y:-256.38, Z:-2.85 [[-9.99757668e-01 -2.03148109e-02 8.48015712e-03 -4.32442064e+02] [ 2.03158010e-02 -9.99793612e-01 3.06237169e-05 -2.56376660e+02] [ 8.47778481e-03 2.02897480e-04 9.99964043e-01 -2.84509783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1333.926559995 meters 0.01364235389264368 Centerline is valid? [True, True] Translation: X:-432.49, Y:-256.98, Z:-1.74 [[-9.97332498e-01 -7.22638750e-02 1.02868915e-02 -4.32486045e+02] [-7.22611993e-02 9.97385542e-01 6.32033609e-04 -2.56980384e+02] [-1.03056700e-02 -1.12995457e-04 -9.99946889e-01 -1.74415461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1333.9565599950001 meters 0.013837166048580084 Centerline is valid? [True, True] Translation: X:-432.50, Y:-256.95, Z:-1.74 [[-9.89483749e-01 -1.44207175e-01 1.12339253e-02 -4.32500599e+02] [-1.44199445e-01 9.89547509e-01 1.49928060e-03 -2.56953246e+02] [-1.13327099e-02 -1.36412015e-04 -9.99935774e-01 -1.74351154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1333.986559995 meters 0.014237999208599885 Centerline is valid? [True, True] Translation: X:-432.52, Y:-256.93, Z:-1.74 [[-9.76463392e-01 -2.15358561e-01 1.18294077e-02 -4.32520520e+02] [-2.15344691e-01 9.76535031e-01 2.44916230e-03 -2.56926975e+02] [-1.20792791e-02 -1.55882807e-04 -9.99927031e-01 -1.74266743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1334.016559995 meters 0.014387998955821608 Centerline is valid? [True, True] Translation: X:-432.55, Y:-256.90, Z:-1.74 [[-9.58270790e-01 -2.85600263e-01 1.22303994e-02 -4.32547899e+02] [-2.85579278e-01 9.58348820e-01 3.46631151e-03 -2.56903324e+02] [-1.27109683e-02 -1.71083552e-04 -9.99919198e-01 -1.74171148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1334.046559995 meters 0.014204703112351781 Centerline is valid? [True, True] Translation: X:-432.59, Y:-256.89, Z:-1.74 [[-9.35066995e-01 -3.54271958e-01 1.18783299e-02 -4.32590980e+02] [-3.54245692e-01 9.35142423e-01 4.31729037e-03 -2.56886884e+02] [-1.26374251e-02 -1.70891451e-04 -9.99920130e-01 -1.74145564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1334.076559995 meters 0.01395732407938119 Centerline is valid? [True, True] Translation: X:-432.66, Y:-256.88, Z:-1.74 [[-9.06852668e-01 -4.21295978e-01 1.13109506e-02 -4.32655113e+02] [-4.21265413e-01 9.06923191e-01 5.07724924e-03 -2.56883039e+02] [-1.23971881e-02 -1.60595258e-04 -9.99923139e-01 -1.74242165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1334.106559995 meters 0.013754275302199533 Centerline is valid? [True, True] Translation: X:-432.72, Y:-256.88, Z:-1.74 [[-8.73945616e-01 -4.85912686e-01 1.03885555e-02 -4.32717515e+02] [-4.85880236e-01 8.74007347e-01 5.61730302e-03 -2.56883179e+02] [-1.18091927e-02 -1.38376474e-04 -9.99930260e-01 -1.74277059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1334.136559995 meters 0.013432680444121076 Centerline is valid? [True, True] Translation: X:-432.79, Y:-256.89, Z:-1.74 [[-8.36401051e-01 -5.48029109e-01 9.86802819e-03 -4.32791339e+02] [-5.47992632e-01 8.36459253e-01 6.32399705e-03 -2.56894920e+02] [-1.17199380e-02 -1.18208965e-04 -9.99931312e-01 -1.74321484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1334.166559995 meters 0.013184614089464293 Centerline is valid? [True, True] Translation: X:-432.86, Y:-256.91, Z:-1.74 [[-7.94442886e-01 -6.07275273e-01 8.78884953e-03 -4.32862937e+02] [-6.07239403e-01 7.94491494e-01 6.60102115e-03 -2.56911577e+02] [-1.09913031e-02 -9.28014483e-05 -9.99939590e-01 -1.74334485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1334.1965599950001 meters 0.012815614949324669 Centerline is valid? [True, True] Translation: X:-432.94, Y:-256.94, Z:-1.74 [[-7.48060401e-01 -6.63583521e-01 7.90872101e-03 -4.32944272e+02] [-6.63547393e-01 7.48102203e-01 6.92467114e-03 -2.56942926e+02] [-1.05116293e-02 -6.77389402e-05 -9.99944749e-01 -1.74381288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1334.2265599950001 meters 0.012657953258991243 Centerline is valid? [True, True] Translation: X:-433.03, Y:-256.99, Z:-1.74 [[-6.98453292e-01 -7.15620797e-01 7.06217356e-03 -4.33032437e+02] [-7.15584683e-01 6.98488994e-01 7.18940109e-03 -2.56990740e+02] [-1.00777354e-02 -3.21223665e-05 -9.99949218e-01 -1.74250368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1334.256559995 meters 0.012601643543178696 Centerline is valid? [True, True] Translation: X:-433.11, Y:-257.04, Z:-1.74 [[-6.43239264e-01 -7.65637328e-01 6.53697464e-03 -4.33108960e+02] [-7.65598106e-01 6.43272479e-01 7.74966117e-03 -2.57035907e+02] [-1.01384858e-02 -1.98090616e-05 -9.99948604e-01 -1.74300163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1334.286559995 meters 0.012477344477575135 Centerline is valid? [True, True] Translation: X:-433.19, Y:-257.10, Z:-1.74 [[-5.84033612e-01 -8.11707749e-01 5.93884162e-03 -4.33190661e+02] [-8.11666006e-01 5.84063806e-01 8.23193966e-03 -2.57097209e+02] [-1.01505917e-02 -1.26264052e-05 -9.99948482e-01 -1.74431319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1334.316559995 meters 0.012515617257259946 Centerline is valid? [True, True] Translation: X:-433.27, Y:-257.17, Z:-1.74 [[-5.21042419e-01 -8.53512903e-01 5.52462121e-03 -4.33270463e+02] [-8.53465113e-01 5.21071707e-01 9.03195330e-03 -2.57167026e+02] [-1.05876125e-02 -9.04067045e-06 -9.99943950e-01 -1.74315056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1334.346559995 meters 0.012513122663370057 Centerline is valid? [True, True] Translation: X:-433.35, Y:-257.25, Z:-1.74 [[-4.54432081e-01 -8.90766949e-01 5.07215606e-03 -4.33346533e+02] [-8.90711754e-01 4.54460387e-01 9.91606795e-03 -2.57245247e+02] [-1.11379996e-02 -1.16496259e-05 -9.99937971e-01 -1.74295240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1334.376559995 meters 0.012555058648768175 Centerline is valid? [True, True] Translation: X:-433.42, Y:-257.33, Z:-1.74 [[-3.85001884e-01 -9.22905043e-01 4.45324622e-03 -4.33417742e+02] [-9.22843769e-01 3.85027638e-01 1.06346610e-02 -2.57331138e+02] [-1.15294051e-02 -1.52860200e-05 -9.99933534e-01 -1.74276912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1334.406559995 meters 0.012584556887012347 Centerline is valid? [True, True] Translation: X:-433.48, Y:-257.42, Z:-1.74 [[-3.12947727e-01 -9.49762843e-01 3.77669204e-03 -4.33482609e+02] [-9.49694560e-01 3.12970514e-01 1.13886075e-02 -2.57422291e+02] [-1.19984695e-02 -2.26650492e-05 -9.99928016e-01 -1.74196185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1334.4365599950002 meters 0.012652598069804401 Centerline is valid? [True, True] Translation: X:-433.54, Y:-257.53, Z:-1.74 [[-2.38970840e-01 -9.71021759e-01 3.11157527e-03 -4.33542689e+02] [-9.70941170e-01 2.38991095e-01 1.25100433e-02 -2.57526632e+02] [-1.28911630e-02 -3.16209831e-05 -9.99916905e-01 -1.74145276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1334.4665599950001 meters 0.012588125874093458 Centerline is valid? [True, True] Translation: X:-434.15, Y:-257.48, Z:-2.85 [[-3.09007624e-01 9.51051122e-01 4.00635852e-03 -4.34147395e+02] [-9.50969217e-01 -3.09033591e-01 1.24814769e-02 -2.57477956e+02] [ 1.31086220e-02 4.69479080e-05 9.99914077e-01 -2.84973904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1334.496559995 meters 0.012593621809002073 Centerline is valid? [True, True] Translation: X:-433.61, Y:-257.78, Z:-1.74 [[-2.28995725e-01 -9.73422292e-01 3.16209558e-03 -4.33608725e+02] [-9.73332338e-01 2.29017551e-01 1.32333680e-02 -2.57780869e+02] [-1.36058308e-02 -4.73851852e-05 -9.99907436e-01 -1.74112000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1334.526559995 meters 0.012593621809002073 Centerline is valid? [True, True] Translation: X:-433.66, Y:-257.89, Z:-1.74 [[-1.53881142e-01 -9.88087047e-01 2.14065660e-03 -4.33658023e+02] [-9.87995688e-01 1.53896023e-01 1.34363457e-02 -2.57885622e+02] [-1.36057176e-02 -4.73592790e-05 -9.99907437e-01 -1.74112532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1334.556559995 meters 0.012508829045165051 Centerline is valid? [True, True] Translation: X:-433.70, Y:-258.00, Z:-1.74 [[-7.81340599e-02 -9.96942221e-01 1.13006405e-03 -4.33698621e+02] [-9.96846027e-01 7.81422190e-02 1.38489126e-02 -2.57995441e+02] [-1.38948714e-02 -4.44280890e-05 -9.99903461e-01 -1.74212988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1334.586559995 meters 0.012631333343730886 Centerline is valid? [True, True] Translation: X:-433.73, Y:-258.11, Z:-1.74 [[-3.69926969e-03 -9.99993155e-01 6.93609407e-05 -4.33730459e+02] [-9.99888453e-01 3.69988605e-03 1.44704006e-02 -2.58108594e+02] [-1.44705582e-02 -1.58232895e-05 -9.99895296e-01 -1.74101809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1334.616559995 meters 0.012609729315605616 Centerline is valid? [True, True] Translation: X:-433.75, Y:-258.22, Z:-1.74 [[ 7.09305499e-02 -9.97480747e-01 -1.00831448e-03 -4.33753751e+02] [-9.97381956e-01 -7.09377157e-02 1.40383221e-02 -2.58216792e+02] [-1.40744835e-02 9.92876722e-06 -9.99900950e-01 -1.74162059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1334.646559995 meters 0.012475779958460676 Centerline is valid? [True, True] Translation: X:-433.77, Y:-258.33, Z:-1.74 [[ 1.45189337e-01 -9.89401766e-01 -2.04994764e-03 -4.33767499e+02] [-9.89306700e-01 -1.45203803e-01 1.37152637e-02 -2.58334580e+02] [-1.38675664e-02 3.67168877e-05 -9.99903840e-01 -1.74271600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1334.676559995 meters 0.012748229101814902 Centerline is valid? [True, True] Translation: X:-433.77, Y:-258.45, Z:-1.74 [[ 2.18170467e-01 -9.75906315e-01 -2.91752038e-03 -4.33772325e+02] [-9.75823078e-01 -2.18189964e-01 1.27460247e-02 -2.58451179e+02] [-1.30754997e-02 6.61775461e-05 -9.99914510e-01 -1.74307633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1334.7065599950001 meters 0.01292004469140047 Centerline is valid? [True, True] Translation: X:-433.77, Y:-258.57, Z:-1.74 [[ 2.89962854e-01 -9.57031360e-01 -3.53820051e-03 -4.33769159e+02] [-9.56963801e-01 -2.89984427e-01 1.13716839e-02 -2.58565399e+02] [-1.19090811e-02 8.85639026e-05 -9.99929081e-01 -1.74369968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1334.736559995 meters 0.013801029379747486 Centerline is valid? [True, True] Translation: X:-433.75, Y:-258.69, Z:-1.74 [[ 3.57725118e-01 -9.33819804e-01 -3.64888161e-03 -4.33752759e+02] [-9.33774644e-01 -3.57743706e-01 9.18453781e-03 -2.58685382e+02] [-9.88206773e-03 1.21693257e-04 -9.99951164e-01 -1.74455312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1334.766559995 meters 0.013790819810128094 Centerline is valid? [True, True] Translation: X:-433.73, Y:-258.79, Z:-1.75 [[ 4.26297740e-01 -9.04573428e-01 -4.14125415e-03 -4.33734696e+02] [-9.04533775e-01 -4.26317834e-01 8.47087349e-03 -2.58792588e+02] [-9.42801757e-03 1.34790021e-04 -9.99955546e-01 -1.74611458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1334.796559995 meters 0.013861204521809362 Centerline is valid? [True, True] Translation: X:-433.71, Y:-258.90, Z:-1.75 [[ 4.92618155e-01 -8.70233441e-01 -4.59464427e-03 -4.33708718e+02] [-8.70198300e-01 -4.92639561e-01 7.82190953e-03 -2.58898548e+02] [-9.07039079e-03 1.45036991e-04 -9.99958853e-01 -1.74696183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1334.826559995 meters 0.014053061705823225 Centerline is valid? [True, True] Translation: X:-433.67, Y:-259.00, Z:-1.75 [[ 5.56890802e-01 -8.30571490e-01 -4.86156370e-03 -4.33673441e+02] [-8.30542042e-01 -5.56912004e-01 6.99550702e-03 -2.59004929e+02] [-8.51773187e-03 1.41999523e-04 -9.99963714e-01 -1.74682121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1334.856559995 meters 0.014166047422086846 Centerline is valid? [True, True] Translation: X:-433.63, Y:-259.11, Z:-1.75 [[ 6.18264111e-01 -7.85952291e-01 -5.33709559e-03 -4.33631871e+02] [-7.85924985e-01 -6.18287130e-01 6.55311656e-03 -2.59107389e+02] [-8.45029450e-03 1.42999983e-04 -9.99964286e-01 -1.74645114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1334.886559995 meters 0.01405827947101687 Centerline is valid? [True, True] Translation: X:-433.58, Y:-259.21, Z:-1.75 [[ 6.76604584e-01 -7.36317467e-01 -6.54412719e-03 -4.33582356e+02] [-7.36285223e-01 -6.76636213e-01 6.89242570e-03 -2.59206703e+02] [-9.50300687e-03 1.54897327e-04 -9.99954834e-01 -1.74578674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1334.916559995 meters 0.013814036880407464 Centerline is valid? [True, True] Translation: X:-433.53, Y:-259.29, Z:-1.75 [[ 7.30969326e-01 -6.82372283e-01 -7.20493310e-03 -4.33533669e+02] [-6.82341155e-01 -7.31004818e-01 6.51951932e-03 -2.59294418e+02] [-9.71558009e-03 1.50653726e-04 -9.99952792e-01 -1.74585833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1334.9465599950001 meters 0.013849097135006944 Centerline is valid? [True, True] Translation: X:-433.54, Y:-259.31, Z:-1.75 [[ 7.82773372e-01 -6.22252488e-01 -8.22732858e-03 -4.33535761e+02] [-6.22220119e-01 -7.82816593e-01 6.34867169e-03 -2.59305564e+02] [-1.03909661e-02 1.49638221e-04 -9.99946001e-01 -1.74541151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1334.9765599950001 meters 0.013946421300893791 Centerline is valid? [True, True] Translation: X:-433.54, Y:-259.32, Z:-1.74 [[ 8.29738798e-01 -5.58070944e-01 -9.50520072e-03 -4.33536783e+02] [-5.58036371e-01 -8.29793227e-01 6.21357227e-03 -2.59315724e+02] [-1.13549653e-02 1.48605728e-04 -9.99935519e-01 -1.74400309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1335.006559995 meters 0.01359202644868317 Centerline is valid? [True, True] Translation: X:-433.54, Y:-259.33, Z:-1.74 [[ 8.71790253e-01 -4.89758665e-01 -1.08722527e-02 -4.33535507e+02] [-4.89722548e-01 -8.71858034e-01 5.94932862e-03 -2.59325540e+02] [-1.23927961e-02 1.37820590e-04 -9.99923197e-01 -1.74319837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1335.036559995 meters 0.013348533102633897 Centerline is valid? [True, True] Translation: X:-433.53, Y:-259.33, Z:-1.74 [[ 9.08402716e-01 -4.17921076e-01 -1.21028649e-02 -4.33532829e+02] [-4.17885687e-01 -9.08483330e-01 5.43980301e-03 -2.59334550e+02] [-1.32686593e-02 1.16082177e-04 -9.99911961e-01 -1.74206762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1335.066559995 meters 0.012743792332996932 Centerline is valid? [True, True] Translation: X:-433.53, Y:-259.34, Z:-1.74 [[ 9.40060057e-01 -3.40749931e-01 -1.32881028e-02 -4.33530340e+02] [-3.40716651e-01 -9.40153967e-01 4.76253390e-03 -2.59343882e+02] [-1.41156957e-02 5.04099955e-05 -9.99900368e-01 -1.74147877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1335.096559995 meters 0.012557871171265762 Centerline is valid? [True, True] Translation: X:-433.53, Y:-259.35, Z:-1.74 [[ 9.64505758e-01 -2.63707980e-01 -1.36654305e-02 -4.33526415e+02] [-2.63681720e-01 -9.64602561e-01 3.72148199e-03 -2.59353717e+02] [-1.41630937e-02 1.39333993e-05 -9.99899698e-01 -1.74218528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1335.126559995 meters 0.012483126632934098 Centerline is valid? [True, True] Translation: X:-433.52, Y:-259.36, Z:-1.74 [[ 9.82637587e-01 -1.85023006e-01 -1.37790018e-02 -4.33521966e+02] [-1.85004516e-01 -9.82734189e-01 2.61575467e-03 -2.59364978e+02] [-1.40250710e-02 -2.11612890e-05 -9.99901644e-01 -1.74273528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1335.156559995 meters 0.01255738827194235 Centerline is valid? [True, True] Translation: X:-433.52, Y:-259.38, Z:-1.74 [[ 9.94342495e-01 -1.05323789e-01 -1.37805215e-02 -4.33517726e+02] [-1.05312952e-01 -9.94437981e-01 1.51167808e-03 -2.59375156e+02] [-1.38630897e-02 -5.18583486e-05 -9.99903902e-01 -1.74242481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1335.1865599950002 meters 0.012729014268087898 Centerline is valid? [True, True] Translation: X:-433.52, Y:-259.38, Z:-1.74 [[ 9.99589003e-01 -2.51882287e-02 -1.36886409e-02 -4.33515348e+02] [-2.51847877e-02 -9.99682723e-01 4.23725240e-04 -2.59383747e+02] [-1.36949707e-02 -7.88055755e-05 -9.99906217e-01 -1.74180624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1335.2165599950001 meters 0.01277884182430013 Centerline is valid? [True, True] Translation: X:-433.51, Y:-259.39, Z:-1.74 [[ 9.98405057e-01 5.48350626e-02 -1.34334684e-02 -4.33511424e+02] [ 5.48314539e-02 -9.98495421e-01 -6.37072580e-04 -2.59390808e+02] [-1.34481906e-02 -1.00520116e-04 -9.99909564e-01 -1.74249234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1335.246559995 meters 0.013124536577726132 Centerline is valid? [True, True] Translation: X:-433.51, Y:-259.40, Z:-1.74 [[ 9.90776506e-01 1.35015951e-01 -1.15156148e-02 -4.33507709e+02] [ 1.35008151e-01 -9.90843419e-01 -1.45557615e-03 -2.59397252e+02] [-1.16066971e-02 -1.12551209e-04 -9.99932634e-01 -1.74387937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1335.276559995 meters 0.013323582075273517 Centerline is valid? [True, True] Translation: X:-433.50, Y:-259.40, Z:-1.74 [[ 9.77069233e-01 2.12645594e-01 -1.08427506e-02 -4.33503973e+02] [ 2.12633781e-01 -9.77129387e-01 -2.24419394e-03 -2.59400913e+02] [-1.10719882e-02 -1.12802196e-04 -9.99938698e-01 -1.74430984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1335.306559995 meters 0.013174043464067278 Centerline is valid? [True, True] Translation: X:-433.50, Y:-259.40, Z:-1.74 [[ 9.57485753e-01 2.88312176e-01 -9.85510945e-03 -4.33499695e+02] [ 2.88298007e-01 -9.57536464e-01 -2.86009656e-03 -2.59402846e+02] [-1.02612273e-02 -1.02706705e-04 -9.99947347e-01 -1.74497595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1335.336559995 meters 0.012906021235003139 Centerline is valid? [True, True] Translation: X:-433.49, Y:-259.41, Z:-1.75 [[ 9.32175475e-01 3.61888703e-01 -9.24397683e-03 -4.33494674e+02] [ 3.61871905e-01 -9.32221303e-01 -3.48807962e-03 -2.59405322e+02] [-9.87972874e-03 -9.36332270e-05 -9.99951190e-01 -1.74568039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1335.366559995 meters 0.01299561307077483 Centerline is valid? [True, True] Translation: X:-433.49, Y:-259.41, Z:-1.75 [[ 9.01475014e-01 4.32742072e-01 -8.78063155e-03 -4.33490625e+02] [ 4.32722418e-01 -9.01517772e-01 -4.12505254e-03 -2.59407042e+02] [-9.70097917e-03 -8.09443253e-05 -9.99952941e-01 -1.74534534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1335.396559995 meters 0.012607372943226444 Centerline is valid? [True, True] Translation: X:-433.49, Y:-259.41, Z:-1.75 [[ 8.65691477e-01 5.00506838e-01 -8.43635785e-03 -4.33486288e+02] [ 5.00483796e-01 -8.65732581e-01 -4.80302178e-03 -2.59406508e+02] [-9.70757510e-03 -6.43253793e-05 -9.99952879e-01 -1.74580266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1335.426559995 meters 0.012508851705365857 Centerline is valid? [True, True] Translation: X:-433.48, Y:-259.40, Z:-1.74 [[ 8.25532844e-01 5.64288257e-01 -8.61899069e-03 -4.33484130e+02] [ 5.64257985e-01 -8.25577835e-01 -5.84507686e-03 -2.59404549e+02] [-1.04139559e-02 -3.80313895e-05 -9.99945773e-01 -1.74474147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1335.4565599950001 meters 0.01251946318685657 Centerline is valid? [True, True] Translation: X:-433.48, Y:-259.40, Z:-1.74 [[ 7.79415746e-01 6.26448331e-01 -8.57812359e-03 -4.33483423e+02] [ 6.26410810e-01 -7.79462949e-01 -6.85627986e-03 -2.59400554e+02] [-1.09814346e-02 -2.95368688e-05 -9.99939702e-01 -1.74448888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1335.486559995 meters 0.012352809152116971 Centerline is valid? [True, True] Translation: X:-433.48, Y:-259.40, Z:-1.75 [[ 7.28310783e-01 6.85196182e-01 -8.34238279e-03 -4.33476387e+02] [ 6.85151629e-01 -7.28358560e-01 -7.81370130e-03 -2.59403055e+02] [-1.14301642e-02 -2.49942426e-05 -9.99934673e-01 -1.74629552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1335.516559995 meters 0.012439013063635582 Centerline is valid? [True, True] Translation: X:-433.47, Y:-259.41, Z:-1.75 [[ 6.72563684e-01 7.39993816e-01 -8.20020349e-03 -4.33468797e+02] [ 7.39939257e-01 -6.72613672e-01 -8.98577121e-03 -2.59406216e+02] [-1.21649841e-02 -2.41490915e-05 -9.99926004e-01 -1.74602141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1335.546559995 meters 0.012707555689232361 Centerline is valid? [True, True] Translation: X:-433.46, Y:-259.41, Z:-1.74 [[ 6.12528406e-01 7.90406996e-01 -8.10751368e-03 -4.33461483e+02] [ 7.90338341e-01 -6.12582060e-01 -1.04176414e-02 -2.59409754e+02] [-1.32006940e-02 -2.65776577e-05 -9.99912867e-01 -1.74332266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1335.576559995 meters 0.012648377507798665 Centerline is valid? [True, True] Translation: X:-433.45, Y:-259.41, Z:-1.74 [[ 5.49319107e-01 8.35573704e-01 -8.06866281e-03 -4.33453255e+02] [ 8.35484094e-01 -5.49378362e-01 -1.22370141e-02 -2.59411819e+02] [-1.46576760e-02 -1.92137650e-05 -9.99892571e-01 -1.74344725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1335.606559995 meters 0.01261596663707098 Centerline is valid? [True, True] Translation: X:-433.45, Y:-259.41, Z:-1.74 [[ 4.82797712e-01 8.75699578e-01 -7.52451815e-03 -4.33445342e+02] [ 8.75593554e-01 -4.82856345e-01 -1.36263977e-02 -2.59413788e+02] [-1.55658920e-02 -9.62596946e-06 -9.99878844e-01 -1.74361093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1335.636559995 meters 0.012722334501637527 Centerline is valid? [True, True] Translation: X:-433.44, Y:-259.41, Z:-1.74 [[ 4.13858336e-01 9.10318748e-01 -6.40750650e-03 -4.33438152e+02] [ 9.10209309e-01 -4.13907934e-01 -1.41151110e-02 -2.59414232e+02] [-1.55013680e-02 9.48428802e-06 -9.99879847e-01 -1.74371818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1335.666559995 meters 0.01284405157504219 Centerline is valid? [True, True] Translation: X:-433.43, Y:-259.42, Z:-1.74 [[ 3.42636874e-01 9.39453138e-01 -5.27004361e-03 -4.33432656e+02] [ 9.39340626e-01 -3.42677399e-01 -1.45392279e-02 -2.59415762e+02] [-1.54648481e-02 3.13095539e-05 -9.99880412e-01 -1.74414070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1335.6965599950001 meters 0.013002116476691966 Centerline is valid? [True, True] Translation: X:-433.43, Y:-259.42, Z:-1.74 [[ 2.69210073e-01 9.63073308e-01 -3.96747095e-03 -4.33427792e+02] [ 9.62966062e-01 -2.69239303e-01 -1.43722280e-02 -2.59416577e+02] [-1.49097083e-02 4.86086834e-05 -9.99888843e-01 -1.74441008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1335.7265599950001 meters 0.01302416516790139 Centerline is valid? [True, True] Translation: X:-433.42, Y:-259.42, Z:-1.75 [[ 1.94086977e-01 9.80980640e-01 -2.68885667e-03 -4.33421702e+02] [ 9.80881975e-01 -1.94105592e-01 -1.39129425e-02 -2.59416225e+02] [-1.41702494e-02 6.28699179e-05 -9.99899595e-01 -1.74577826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1335.756559995 meters 0.013146547383204626 Centerline is valid? [True, True] Translation: X:-433.42, Y:-259.42, Z:-1.75 [[ 1.18258548e-01 9.92981832e-01 -1.41349159e-03 -4.33416800e+02] [ 9.92903076e-01 -1.18266971e-01 -1.25062515e-02 -2.59416635e+02] [-1.25856499e-02 7.55109992e-05 -9.99920795e-01 -1.74719432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1335.786559995 meters 0.013347597295510685 Centerline is valid? [True, True] Translation: X:-433.41, Y:-259.42, Z:-1.75 [[ 4.05486413e-02 9.99177491e-01 -3.86993223e-04 -4.33410915e+02] [ 9.99113486e-01 -4.05504242e-02 -1.13095626e-02 -2.59417509e+02] [-1.13159531e-02 7.19372506e-05 -9.99935970e-01 -1.74821284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1335.816559995 meters 0.013246908098329527 Centerline is valid? [True, True] Translation: X:-433.41, Y:-259.42, Z:-1.75 [[-3.77212412e-02 9.99288196e-01 4.57156260e-04 -4.33405372e+02] [ 9.99234604e-01 3.77239529e-02 -1.03494136e-02 -2.59416137e+02] [-1.03592926e-02 6.64136276e-05 -9.99946339e-01 -1.74970097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1335.846559995 meters 0.013157102458339079 Centerline is valid? [True, True] Translation: X:-433.40, Y:-259.42, Z:-1.75 [[-1.16197971e-01 9.93225442e-01 1.11955996e-03 -4.33399879e+02] [ 9.93183818e-01 1.16203351e-01 -9.09315259e-03 -2.59415211e+02] [-9.16164712e-03 5.53229567e-05 -9.99958030e-01 -1.75121470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1335.876559995 meters 0.012964310856504057 Centerline is valid? [True, True] Translation: X:-433.39, Y:-259.41, Z:-1.75 [[-1.94118418e-01 9.80976933e-01 1.51551941e-03 -4.33391140e+02] [ 9.80948687e-01 1.94124330e-01 -7.44429838e-03 -2.59412522e+02] [-7.59688418e-03 4.15713483e-05 -9.99971143e-01 -1.75307888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1335.906559995 meters 0.013074803432423569 Centerline is valid? [True, True] Translation: X:-433.38, Y:-259.41, Z:-1.75 [[-2.71081011e-01 9.62554499e-01 1.98065059e-03 -4.33383385e+02] [ 9.62529714e-01 2.71088245e-01 -6.90746539e-03 -2.59411133e+02] [-7.18574298e-03 3.39523405e-05 -9.99974182e-01 -1.75339240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1335.9365599950002 meters 0.012840482061362334 Centerline is valid? [True, True] Translation: X:-433.38, Y:-259.41, Z:-1.75 [[-3.47772473e-01 9.37576090e-01 2.32025055e-03 -4.33377029e+02] [ 9.37555534e-01 3.47780212e-01 -6.20842559e-03 -2.59408052e+02] [-6.62780862e-03 1.62442227e-05 -9.99978036e-01 -1.75473692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1335.9665599950001 meters 0.012815836190465875 Centerline is valid? [True, True] Translation: X:-433.37, Y:-259.40, Z:-1.75 [[-4.21461382e-01 9.06841628e-01 2.92665050e-03 -4.33367655e+02] [ 9.06819878e-01 4.21471543e-01 -6.28077353e-03 -2.59402705e+02] [-6.92916680e-03 6.84135327e-06 -9.99975993e-01 -1.75495284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1335.996559995 meters 0.012810873677381847 Centerline is valid? [True, True] Translation: X:-433.36, Y:-259.40, Z:-1.75 [[-4.92655792e-01 8.70216953e-01 3.56731563e-03 -4.33359146e+02] [ 8.70194066e-01 4.92668707e-01 -6.31134682e-03 -2.59396512e+02] [-7.24974578e-03 -5.06467386e-06 -9.99973720e-01 -1.75450333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1336.026559995 meters 0.012904304465656257 Centerline is valid? [True, True] Translation: X:-433.35, Y:-259.39, Z:-1.75 [[-5.60626070e-01 8.28058252e-01 4.23568005e-03 -4.33351139e+02] [ 8.28034386e-01 5.60642071e-01 -6.28677075e-03 -2.59390021e+02] [-7.58051283e-03 -1.72388520e-05 -9.99971268e-01 -1.75370547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1336.056559995 meters 0.013005096254593878 Centerline is valid? [True, True] Translation: X:-433.34, Y:-259.38, Z:-1.75 [[-6.24921442e-01 7.80669946e-01 5.25608611e-03 -4.33343939e+02] [ 7.80641906e-01 6.24943545e-01 -6.61671049e-03 -2.59384453e+02] [-8.45022411e-03 -3.18031764e-05 -9.99964296e-01 -1.75244694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1336.086559995 meters 0.012942620864893553 Centerline is valid? [True, True] Translation: X:-433.34, Y:-259.38, Z:-1.75 [[-6.84807340e-01 7.28695896e-01 6.41851114e-03 -4.33337382e+02] [ 7.28663288e-01 6.84837418e-01 -6.89381058e-03 -2.59376059e+02] [-9.41912808e-03 -4.39986612e-05 -9.99955638e-01 -1.75316794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1336.116559995 meters 0.013216586933385028 Centerline is valid? [True, True] Translation: X:-433.33, Y:-259.37, Z:-1.75 [[-7.40055506e-01 6.72495712e-01 8.20759295e-03 -4.33330922e+02] [ 6.72453508e-01 7.40101016e-01 -7.53433181e-03 -2.59367777e+02] [-1.11412537e-02 -5.65990718e-05 -9.99937933e-01 -1.75070809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1336.146559995 meters 0.01305198278127219 Centerline is valid? [True, True] Translation: X:-433.31, Y:-259.35, Z:-1.75 [[-7.85374282e-01 6.18954550e-01 9.08308599e-03 -4.33313404e+02] [ 6.18912418e-01 7.85426803e-01 -7.22189217e-03 -2.59347090e+02] [-1.16041222e-02 -5.02536689e-05 -9.99932669e-01 -1.75168555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1336.176559995 meters 0.012974881033305923 Centerline is valid? [True, True] Translation: X:-433.30, Y:-259.32, Z:-1.75 [[-8.26569702e-01 5.62747883e-01 9.86655100e-03 -4.33298131e+02] [ 5.62707247e-01 8.26628586e-01 -6.76281278e-03 -2.59324298e+02] [-1.19617317e-02 -3.79563913e-05 -9.99928455e-01 -1.75227701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1336.2065599950001 meters 0.0128541735134525 Centerline is valid? [True, True] Translation: X:-433.28, Y:-259.30, Z:-1.75 [[-8.63701762e-01 5.03903099e-01 1.00465629e-02 -4.33284063e+02] [ 5.03868719e-01 8.63760191e-01 -5.88619022e-03 -2.59300538e+02] [-1.16438906e-02 -2.17640722e-05 -9.99932208e-01 -1.75188871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1336.236559995 meters 0.01285787554210578 Centerline is valid? [True, True] Translation: X:-432.97, Y:-258.78, Z:-2.84 [[-8.26788208e-01 -5.62433330e-01 9.48728295e-03 -4.32974433e+02] [ 5.62396455e-01 -8.26842639e-01 -6.44028225e-03 -2.58776882e+02] [ 1.14667195e-02 1.08648768e-05 9.99934255e-01 -2.83815153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1336.266559995 meters 0.012730501949509702 Centerline is valid? [True, True] Translation: X:-433.32, Y:-259.28, Z:-1.75 [[-8.63289135e-01 5.04642252e-01 8.25028811e-03 -4.33320315e+02] [ 5.04619482e-01 8.63328557e-01 -4.79386224e-03 -2.59281878e+02] [-9.54189476e-03 2.47669278e-05 -9.99954475e-01 -1.75418123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1336.296559995 meters 0.012706635767308738 Centerline is valid? [True, True] Translation: X:-433.30, Y:-259.26, Z:-1.76 [[-8.96097606e-01 4.43795928e-01 7.36584068e-03 -4.33304787e+02] [ 4.43781249e-01 8.96127878e-01 -3.60973851e-03 -2.59258652e+02] [-8.20272243e-03 3.41439435e-05 -9.99966357e-01 -1.75578255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1336.326559995 meters 0.012727415964483678 Centerline is valid? [True, True] Translation: X:-433.30, Y:-259.23, Z:-1.76 [[-9.24848553e-01 3.80284998e-01 6.20279356e-03 -4.33295180e+02] [ 3.80276701e-01 9.24869353e-01 -2.51237553e-03 -2.59232306e+02] [-6.69219238e-03 3.52109992e-05 -9.99977607e-01 -1.75689783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1336.356559995 meters 0.012949005657761723 Centerline is valid? [True, True] Translation: X:-433.29, Y:-259.20, Z:-1.76 [[-9.49191966e-01 3.14655147e-01 5.17206887e-03 -4.33287393e+02] [ 3.14650668e-01 9.49206056e-01 -1.67930410e-03 -2.59204963e+02] [-5.43776077e-03 3.34129657e-05 -9.99985215e-01 -1.75746905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1336.386559995 meters 0.012949005657761723 Centerline is valid? [True, True] Translation: X:-433.28, Y:-259.18, Z:-1.76 [[-9.69111481e-01 2.46566585e-01 5.27803415e-03 -4.33283512e+02] [ 2.46563116e-01 9.69125853e-01 -1.30836308e-03 -2.59176955e+02] [-5.43767796e-03 3.34188630e-05 -9.99985215e-01 -1.75746996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1336.416559995 meters 0.01284009204514403 Centerline is valid? [True, True] Translation: X:-433.28, Y:-259.15, Z:-1.76 [[-9.84081499e-01 1.77652993e-01 4.79769775e-03 -4.33281360e+02] [ 1.77651040e-01 9.84093193e-01 -8.33594174e-04 -2.59147203e+02] [-4.86947220e-03 3.19913888e-05 -9.99988144e-01 -1.75843521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1336.4465599950001 meters 0.01284009204514403 Centerline is valid? [True, True] Translation: X:-433.18, Y:-258.55, Z:-2.83 [[-9.73226469e-01 -2.29800908e-01 4.66726393e-03 -4.33177122e+02] [ 2.29798089e-01 -9.73237659e-01 -1.13875038e-03 -2.58549282e+02] [ 4.80404290e-03 -3.57336817e-05 9.99988460e-01 -2.83259252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1336.4765599950001 meters 0.01272395848291119 Centerline is valid? [True, True] Translation: X:-433.33, Y:-259.14, Z:-1.76 [[-9.85103985e-01 1.71837329e-01 6.48617491e-03 -4.33334609e+02] [ 1.71833815e-01 9.85125338e-01 -1.09948764e-03 -2.59136032e+02] [-6.57862827e-03 3.14345258e-05 -9.99978360e-01 -1.75778887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1336.506559995 meters 0.012508066018606084 Centerline is valid? [True, True] Translation: X:-433.24, Y:-258.54, Z:-2.83 [[-9.73216687e-01 -2.29778827e-01 7.13937808e-03 -4.33235463e+02] [ 2.29772755e-01 -9.73242873e-01 -1.67049252e-03 -2.58544649e+02] [ 7.33219265e-03 1.46833694e-05 9.99973119e-01 -2.83413131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1336.536559995 meters 0.012535390552426555 Centerline is valid? [True, True] Translation: X:-433.39, Y:-259.12, Z:-1.76 [[-9.86468785e-01 1.63755243e-01 7.97222552e-03 -4.33385857e+02] [ 1.63749936e-01 9.86500999e-01 -1.31844853e-03 -2.59122503e+02] [-8.08051129e-03 4.84309339e-06 -9.99967352e-01 -1.75624845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1336.566559995 meters 0.01255013517797851 Centerline is valid? [True, True] Translation: X:-433.29, Y:-258.54, Z:-2.84 [[-9.73060458e-01 -2.30395632e-01 8.43784366e-03 -4.33294987e+02] [ 2.30387269e-01 -9.73097041e-01 -1.96338545e-03 -2.58541794e+02] [ 8.66319613e-03 3.34790075e-05 9.99962473e-01 -2.83518484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1336.596559995 meters 0.01265546762253627 Centerline is valid? [True, True] Translation: X:-433.44, Y:-259.11, Z:-1.76 [[-9.87893184e-01 1.54878384e-01 8.92987177e-03 -4.33438693e+02] [ 1.54871694e-01 9.87933543e-01 -1.44011538e-03 -2.59106967e+02] [-9.04516260e-03 -3.96958033e-05 -9.99959091e-01 -1.75520348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1336.626559995 meters 0.01291766393729828 Centerline is valid? [True, True] Translation: X:-433.35, Y:-258.54, Z:-2.84 [[-9.72441947e-01 -2.32926953e-01 1.00844028e-02 -4.33350848e+02] [ 2.32915849e-01 -9.72494225e-01 -2.27820274e-03 -2.58543447e+02] [ 1.03376783e-02 1.33397335e-04 9.99946556e-01 -2.83590932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1336.656559995 meters 0.013281693662460643 Centerline is valid? [True, True] Translation: X:-433.49, Y:-259.09, Z:-1.75 [[-9.89211536e-01 1.46108647e-01 1.06207870e-02 -4.33491672e+02] [ 1.46099139e-01 9.89268545e-01 -1.66986641e-03 -2.59089909e+02] [-1.07507924e-02 -1.00163281e-04 -9.99942204e-01 -1.75402380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1336.6865599950002 meters 0.013279045430290045 Centerline is valid? [True, True] Translation: X:-433.50, Y:-259.06, Z:-1.75 [[-9.97094135e-01 7.53847018e-02 1.09742355e-02 -4.33495094e+02] [ 7.53789888e-02 9.97154520e-01 -9.33871306e-04 -2.59060315e+02] [-1.10134082e-02 -1.03930824e-04 -9.99939345e-01 -1.75451649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1336.7165599950001 meters 0.013148930401717497 Centerline is valid? [True, True] Translation: X:-433.45, Y:-258.51, Z:-2.84 [[-9.87069389e-01 -1.59967612e-01 1.02168504e-02 -4.33451353e+02] [ 1.59959614e-01 -9.87122262e-01 -1.60059327e-03 -2.58506983e+02] [ 1.03413236e-02 5.43868244e-05 9.99946526e-01 -2.83586027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1336.746559995 meters 0.013018413504933803 Centerline is valid? [True, True] Translation: X:-433.55, Y:-259.05, Z:-1.76 [[-9.97279177e-01 7.30881367e-02 9.61085609e-03 -4.33550928e+02] [ 7.30840321e-02 9.97325483e-01 -7.78070361e-04 -2.59054311e+02] [-9.64201940e-03 -7.35532546e-05 -9.99953512e-01 -1.75580180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1336.776559995 meters 0.012632761364520986 Centerline is valid? [True, True] Translation: X:-433.50, Y:-258.50, Z:-2.83 [[-9.88446477e-01 -1.51344272e-01 8.27486778e-03 -4.33502932e+02] [ 1.51338847e-01 -9.88481113e-01 -1.28155820e-03 -2.58504442e+02] [ 8.37350701e-03 -1.44427413e-05 9.99964942e-01 -2.83341793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1336.806559995 meters 0.012825185020917172 Centerline is valid? [True, True] Translation: X:-433.60, Y:-259.05, Z:-1.76 [[-9.97187433e-01 7.45615163e-02 7.60291478e-03 -4.33603012e+02] [ 7.45592288e-02 9.97216416e-01 -5.84255472e-04 -2.59050622e+02] [-7.62531440e-03 -1.57447507e-05 -9.99970927e-01 -1.75822950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1336.836559995 meters 0.012527256778564439 Centerline is valid? [True, True] Translation: X:-433.61, Y:-259.02, Z:-1.76 [[-9.99960700e-01 5.52221206e-03 6.93568584e-03 -4.33608799e+02] [ 5.52207802e-03 9.99984753e-01 -3.84752546e-05 -2.59022691e+02] [-6.93579256e-03 -1.74344142e-07 -9.99975947e-01 -1.75853414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1336.866559995 meters 0.012608136448176661 Centerline is valid? [True, True] Translation: X:-433.60, Y:-258.47, Z:-2.83 [[-9.97515168e-01 -7.01507781e-02 6.50828382e-03 -4.33604559e+02] [ 7.01491158e-02 -9.97536399e-01 -4.83623995e-04 -2.58470418e+02] [ 6.52617661e-03 -2.58719152e-05 9.99978704e-01 -2.83241920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1336.896559995 meters 0.012684758976797586 Centerline is valid? [True, True] Translation: X:-433.67, Y:-259.02, Z:-1.76 [[-9.99968471e-01 4.88223161e-03 6.26268111e-03 -4.33672304e+02] [ 4.88228757e-03 9.99988082e-01 -6.35321556e-06 -2.59022505e+02] [-6.26263748e-03 2.42231948e-05 -9.99980389e-01 -1.75873824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1336.926559995 meters 0.012842859225698198 Centerline is valid? [True, True] Translation: X:-433.68, Y:-258.99, Z:-1.76 [[-9.97887113e-01 -6.47156145e-02 5.76178936e-03 -4.33679092e+02] [-6.47143535e-02 9.97903747e-01 4.05215465e-04 -2.58994262e+02] [-5.77593496e-03 3.14888171e-05 -9.99983319e-01 -1.75896956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1336.9565599950001 meters 0.013031915392401302 Centerline is valid? [True, True] Translation: X:-433.69, Y:-258.97, Z:-1.76 [[-9.91051789e-01 -1.33364697e-01 5.49635163e-03 -4.33693050e+02] [-1.33362404e-01 9.91067029e-01 7.83111445e-04 -2.58965569e+02] [-5.55169230e-03 4.30973291e-05 -9.99984589e-01 -1.75880233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1336.986559995 meters 0.013155903094071962 Centerline is valid? [True, True] Translation: X:-433.71, Y:-258.94, Z:-1.76 [[-9.79083756e-01 -2.03370162e-01 5.96448831e-03 -4.33714226e+02] [-2.03366073e-01 9.79101923e-01 1.29065592e-03 -2.58939756e+02] [-6.10232288e-03 5.06856833e-05 -9.99981380e-01 -1.75802343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1337.016559995 meters 0.01325370867633099 Centerline is valid? [True, True] Translation: X:-433.75, Y:-258.92, Z:-1.76 [[-9.61891734e-01 -2.73343673e-01 6.89416821e-03 -4.33749741e+02] [-2.73336209e-01 9.61916438e-01 2.02085513e-03 -2.58918606e+02] [-7.18400169e-03 5.94180410e-05 -9.99974193e-01 -1.75686493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1337.046559995 meters 0.013258422148961606 Centerline is valid? [True, True] Translation: X:-433.79, Y:-258.90, Z:-1.76 [[-9.39388310e-01 -3.42760684e-01 8.04465163e-03 -4.33791572e+02] [-3.42747505e-01 9.39422753e-01 3.00647618e-03 -2.58900331e+02] [-8.58783061e-03 6.69643018e-05 -9.99963122e-01 -1.75581119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1337.076559995 meters 0.013347583828907545 Centerline is valid? [True, True] Translation: X:-433.86, Y:-258.89, Z:-1.75 [[-9.11395351e-01 -4.11438208e-01 8.78155373e-03 -4.33855144e+02] [-4.11418410e-01 9.11437654e-01 4.03674749e-03 -2.58893609e+02] [-9.66471089e-03 6.61800183e-05 -9.99953294e-01 -1.75453413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1337.106559995 meters 0.013345939906386356 Centerline is valid? [True, True] Translation: X:-433.92, Y:-258.89, Z:-1.75 [[-8.78069305e-01 -4.78445706e-01 9.16523849e-03 -4.33924028e+02] [-4.78418941e-01 8.78117135e-01 5.06107248e-03 -2.58894489e+02] [-1.04696014e-02 5.91487027e-05 -9.99945191e-01 -1.75308167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1337.136559995 meters 0.013423383650576355 Centerline is valid? [True, True] Translation: X:-434.00, Y:-258.90, Z:-1.75 [[-8.39199910e-01 -5.43727263e-01 1.02066388e-02 -4.34000054e+02] [-5.43686404e-01 8.39261975e-01 6.66577035e-03 -2.58901716e+02] [-1.21904049e-02 4.47031466e-05 -9.99925693e-01 -1.75132630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1337.166559995 meters 0.01356521906197032 Centerline is valid? [True, True] Translation: X:-434.08, Y:-258.92, Z:-1.75 [[-7.96167287e-01 -6.04990394e-01 1.02114810e-02 -4.34079987e+02] [-6.04939999e-01 7.96232769e-01 7.80867676e-03 -2.58920723e+02] [-1.28548902e-02 3.96796901e-05 -9.99917372e-01 -1.75132241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1337.1965599950001 meters 0.013492356615598493 Centerline is valid? [True, True] Translation: X:-434.16, Y:-258.95, Z:-1.75 [[-7.48520544e-01 -6.63038915e-01 9.81795470e-03 -4.34163288e+02] [-6.62981306e-01 7.48584929e-01 8.74026193e-03 -2.58950387e+02] [-1.31447067e-02 3.31451901e-05 -9.99913604e-01 -1.75082830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1337.2265599950001 meters 0.013626511992762146 Centerline is valid? [True, True] Translation: X:-434.24, Y:-258.99, Z:-1.75 [[-6.96489926e-01 -7.17506298e-01 9.30031344e-03 -4.34243651e+02] [-7.17441800e-01 6.96552017e-01 9.62042669e-03 -2.58986559e+02] [-1.33808688e-02 2.80966583e-05 -9.99910472e-01 -1.75002587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1337.256559995 meters 0.013539617637115154 Centerline is valid? [True, True] Translation: X:-434.33, Y:-259.03, Z:-1.75 [[-6.40421398e-01 -7.67977188e-01 8.45413418e-03 -4.34326440e+02] [-7.67909811e-01 6.40477196e-01 1.01726655e-02 -2.59034681e+02] [-1.32270552e-02 2.27800522e-05 -9.99912519e-01 -1.75077702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1337.286559995 meters 0.013399823112180574 Centerline is valid? [True, True] Translation: X:-434.41, Y:-259.09, Z:-1.75 [[-5.80493706e-01 -8.14238282e-01 6.56336304e-03 -4.34408078e+02] [-8.14185993e-01 5.80530809e-01 9.22761629e-03 -2.59089560e+02] [-1.13237129e-02 1.27749193e-05 -9.99935885e-01 -1.75285709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1337.316559995 meters 0.013349120993626024 Centerline is valid? [True, True] Translation: X:-434.49, Y:-259.15, Z:-1.75 [[-5.16997348e-01 -8.55970710e-01 5.28071058e-03 -4.34486081e+02] [-8.55925961e-01 5.17024317e-01 8.75241105e-03 -2.59154146e+02] [-1.02220633e-02 5.07602125e-06 -9.99947754e-01 -1.75387943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1337.346559995 meters 0.013249107210594318 Centerline is valid? [True, True] Translation: X:-434.56, Y:-259.23, Z:-1.75 [[-4.50336353e-01 -8.92849272e-01 4.16492672e-03 -4.34559390e+02] [-8.92811125e-01 4.50355612e-01 8.25336124e-03 -2.59225415e+02] [-9.24470570e-03 -1.70431321e-06 -9.99957267e-01 -1.75411615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1337.376559995 meters 0.013219166818213406 Centerline is valid? [True, True] Translation: X:-434.63, Y:-259.30, Z:-1.75 [[-3.80581417e-01 -9.24741561e-01 3.29091821e-03 -4.34628411e+02] [-9.24707238e-01 3.80595645e-01 7.96738266e-03 -2.59304939e+02] [-8.62027902e-03 -1.08981054e-05 -9.99962845e-01 -1.75387881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1337.406559995 meters 0.01334922827855663 Centerline is valid? [True, True] Translation: X:-434.69, Y:-259.39, Z:-1.75 [[-3.08499060e-01 -9.51221119e-01 2.59091537e-03 -4.34692709e+02] [-9.51188115e-01 3.08509939e-01 7.92388846e-03 -2.59394019e+02] [-8.33669319e-03 -1.99357705e-05 -9.99965249e-01 -1.75363991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1337.4365599950002 meters 0.01330098738653196 Centerline is valid? [True, True] Translation: X:-434.75, Y:-259.49, Z:-1.75 [[-2.34188221e-01 -9.72189363e-01 1.92858783e-03 -4.34749762e+02] [-9.72157556e-01 2.34196160e-01 7.86419592e-03 -2.59487090e+02] [-8.09715549e-03 -3.31891728e-05 -9.99967217e-01 -1.75417410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1337.4665599950001 meters 0.013427863989596925 Centerline is valid? [True, True] Translation: X:-434.80, Y:-259.58, Z:-1.75 [[-1.56324581e-01 -9.87704779e-01 1.37682532e-03 -4.34799471e+02] [-9.87670027e-01 1.56330630e-01 8.28560538e-03 -2.59578251e+02] [-8.39897200e-03 -6.46053188e-05 -9.99964726e-01 -1.75426577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1337.496559995 meters 0.013800307129082926 Centerline is valid? [True, True] Translation: X:-434.84, Y:-259.68, Z:-1.75 [[-7.87951556e-02 -9.96890553e-01 7.41649829e-04 -4.34842396e+02] [-9.96855730e-01 7.87986024e-02 8.33270655e-03 -2.59682257e+02] [-8.36523741e-03 -8.27409726e-05 -9.99965008e-01 -1.75400593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1337.526559995 meters 0.014075082795183448 Centerline is valid? [True, True] Translation: X:-434.88, Y:-259.79, Z:-1.75 [[-5.93776930e-04 -9.99999817e-01 1.14630049e-04 -4.34877588e+02] [-9.99960039e-01 5.94775818e-04 8.92007219e-03 -2.59785876e+02] [-8.92013874e-03 -1.09328935e-04 -9.99960209e-01 -1.75383065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1337.556559995 meters 0.014574107869197293 Centerline is valid? [True, True] Translation: X:-434.91, Y:-259.89, Z:-1.75 [[ 7.80277259e-02 -9.96951017e-01 -5.86621554e-04 -4.34905073e+02] [-9.96907767e-01 -7.80298057e-02 9.28726415e-03 -2.59893513e+02] [-9.30472140e-03 -1.39856518e-04 -9.99956701e-01 -1.75339074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1337.586559995 meters 0.015395785001005318 Centerline is valid? [True, True] Translation: X:-434.92, Y:-260.01, Z:-1.75 [[ 1.56624045e-01 -9.87657288e-01 -1.41072566e-03 -4.34924110e+02] [-9.87605835e-01 -1.56630287e-01 1.00830507e-02 -2.60006502e+02] [-1.01795609e-02 -1.86007297e-04 -9.99948170e-01 -1.75258196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1337.616559995 meters 0.016427942800808178 Centerline is valid? [True, True] Translation: X:-434.94, Y:-260.12, Z:-1.75 [[ 2.34338228e-01 -9.72152334e-01 -2.33132546e-03 -4.34935290e+02] [-9.72093664e-01 -2.34349704e-01 1.06829555e-02 -2.60115949e+02] [-1.09318056e-02 -2.37158164e-04 -9.99940218e-01 -1.75227084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1337.646559995 meters 0.018457541800605368 Centerline is valid? [True, True] Translation: X:-434.94, Y:-260.23, Z:-1.75 [[ 3.12812124e-01 -9.49809401e-01 -3.26759730e-03 -4.34939715e+02] [-9.49746580e-01 -3.12829031e-01 1.09284835e-02 -2.60226360e+02] [-1.14021757e-02 -3.15172773e-04 -9.99934944e-01 -1.75216990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1337.676559995 meters 0.0194270635533768 Centerline is valid? [True, True] Translation: X:-434.93, Y:-260.33, Z:-1.75 [[ 3.85373489e-01 -9.22751720e-01 -4.06653832e-03 -4.34934882e+02] [-9.22690866e-01 -3.85394800e-01 1.06025811e-02 -2.60332510e+02] [-1.13507727e-02 -3.33795913e-04 -9.99935522e-01 -1.75170736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1337.7065599950001 meters 0.01904825304705041 Centerline is valid? [True, True] Translation: X:-434.92, Y:-260.44, Z:-1.75 [[ 4.55233217e-01 -8.90359082e-01 -4.83969649e-03 -4.34920121e+02] [-8.90300392e-01 -4.55258810e-01 1.02287710e-02 -2.60435642e+02] [-1.13105936e-02 -3.47692649e-04 -9.99935973e-01 -1.75217769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1337.736559995 meters 0.01986187008404056 Centerline is valid? [True, True] Translation: X:-434.90, Y:-260.54, Z:-1.75 [[ 5.21678636e-01 -8.53122974e-01 -5.70891879e-03 -4.34897761e+02] [-8.53064115e-01 -5.21709747e-01 1.00277080e-02 -2.60539077e+02] [-1.15332667e-02 -3.61167295e-04 -9.99933425e-01 -1.75151167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1337.766559995 meters 0.019524671621771666 Centerline is valid? [True, True] Translation: X:-434.87, Y:-260.64, Z:-1.75 [[ 5.84394485e-01 -8.11443783e-01 -6.48639689e-03 -4.34867009e+02] [-8.11386793e-01 -5.84430369e-01 9.62367926e-03 -2.60636861e+02] [-1.15999220e-02 -3.61048310e-04 -9.99932654e-01 -1.75149145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1337.796559995 meters 0.019409387466641993 Centerline is valid? [True, True] Translation: X:-434.83, Y:-260.73, Z:-1.75 [[ 6.42273880e-01 -7.66440428e-01 -7.30303276e-03 -4.34831076e+02] [-7.66384741e-01 -6.42315308e-01 9.24523702e-03 -2.60725199e+02] [-1.17767731e-02 -3.41041382e-04 -9.99930593e-01 -1.75105756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1337.826559995 meters 0.018881832306898206 Centerline is valid? [True, True] Translation: X:-434.79, Y:-260.81, Z:-1.75 [[ 6.96834248e-01 -7.17192389e-01 -7.55699575e-03 -4.34786570e+02] [-7.17145432e-01 -6.96875158e-01 8.21236570e-03 -2.60814625e+02] [-1.11561288e-02 -3.03192692e-04 -9.99937723e-01 -1.75147828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1337.856559995 meters 0.016792700259093362 Centerline is valid? [True, True] Translation: X:-434.74, Y:-260.89, Z:-1.75 [[ 7.47370674e-01 -6.64364464e-01 -7.54554711e-03 -4.34739235e+02] [-6.64327077e-01 -7.47408719e-01 7.05281442e-03 -2.60892481e+02] [-1.03252470e-02 -2.58355406e-04 -9.99946660e-01 -1.75326042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1337.886559995 meters 0.017297373028745882 Centerline is valid? [True, True] Translation: X:-434.73, Y:-260.90, Z:-1.75 [[ 7.94861450e-01 -6.06752392e-01 -6.84172009e-03 -4.34732775e+02] [-6.06727866e-01 -7.94890872e-01 5.45871336e-03 -2.60901647e+02] [-8.75050825e-03 -1.87858585e-04 -9.99961696e-01 -1.75309784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1337.916559995 meters 0.015483905149570274 Centerline is valid? [True, True] Translation: X:-434.73, Y:-260.91, Z:-1.75 [[ 8.39223737e-01 -5.43741116e-01 -7.00846108e-03 -4.34725066e+02] [-5.43720437e-01 -8.39252983e-01 4.74528543e-03 -2.60909659e+02] [-8.46207867e-03 -1.71712653e-04 -9.99964181e-01 -1.75457850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1337.9465599950001 meters 0.0156444698293988 Centerline is valid? [True, True] Translation: X:-434.72, Y:-260.92, Z:-1.75 [[ 8.78969437e-01 -4.76816088e-01 -7.69076363e-03 -4.34719238e+02] [-4.76796079e-01 -8.79003065e-01 4.37165321e-03 -2.60919815e+02] [-8.84467938e-03 -1.75623612e-04 -9.99960870e-01 -1.75415844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1337.9765599950001 meters 0.015795875254395447 Centerline is valid? [True, True] Translation: X:-434.71, Y:-260.93, Z:-1.75 [[ 9.13690192e-01 -4.06319205e-01 -8.65655947e-03 -4.34711505e+02] [-4.06298963e-01 -9.13731179e-01 4.06035225e-03 -2.60928090e+02] [-9.55956738e-03 -1.92752897e-04 -9.99954288e-01 -1.75329145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1338.006559995 meters 0.016080917389639446 Centerline is valid? [True, True] Translation: X:-434.70, Y:-260.94, Z:-1.75 [[ 9.42892099e-01 -3.32959457e-01 -9.61720037e-03 -4.34702769e+02] [-3.32939807e-01 -9.42941119e-01 3.62366797e-03 -2.60936105e+02] [-1.02749882e-02 -2.14779062e-04 -9.99947188e-01 -1.75226907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1338.036559995 meters 0.016762169770845072 Centerline is valid? [True, True] Translation: X:-434.70, Y:-260.94, Z:-1.75 [[ 9.66416457e-01 -2.56760783e-01 -1.06363805e-02 -4.34695277e+02] [-2.56742401e-01 -9.66474955e-01 3.08235063e-03 -2.60942547e+02] [-1.10712222e-02 -2.48024496e-04 -9.99938682e-01 -1.75088269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1338.066559995 meters 0.017073192017387117 Centerline is valid? [True, True] Translation: X:-434.69, Y:-260.95, Z:-1.75 [[ 9.84083372e-01 -1.77235113e-01 -1.29472476e-02 -4.34685921e+02] [-1.77215235e-01 -9.84168482e-01 2.67592793e-03 -2.60947895e+02] [-1.32165414e-02 -3.38886661e-04 -9.99912601e-01 -1.74972905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1338.096559995 meters 0.017613423062664793 Centerline is valid? [True, True] Translation: X:-434.68, Y:-260.96, Z:-1.75 [[ 9.95075989e-01 -9.81506527e-02 -1.37922545e-02 -4.34677273e+02] [-9.81359354e-02 -9.95171496e-01 1.74147369e-03 -2.60955341e+02] [-1.38965853e-02 -3.79382863e-04 -9.99903366e-01 -1.74890178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1338.126559995 meters 0.018033029381315967 Centerline is valid? [True, True] Translation: X:-434.67, Y:-260.96, Z:-1.75 [[ 9.99729661e-01 -1.83011468e-02 -1.43413359e-02 -4.34671782e+02] [-1.82933217e-02 -9.99832434e-01 6.76634391e-04 -2.60961810e+02] [-1.43513160e-02 -4.14100799e-04 -9.99896929e-01 -1.74792074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1338.156559995 meters 0.019692769695519013 Centerline is valid? [True, True] Translation: X:-434.67, Y:-260.97, Z:-1.75 [[ 9.97999152e-01 6.14605366e-02 -1.48423375e-02 -4.34666960e+02] [ 6.14604348e-02 -9.98109413e-01 -4.63424238e-04 -2.60968347e+02] [-1.48427590e-02 -4.49719517e-04 -9.99889739e-01 -1.74662330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1338.1865599950002 meters 0.020428978143635673 Centerline is valid? [True, True] Translation: X:-434.66, Y:-260.97, Z:-1.75 [[ 9.89981322e-01 1.40393344e-01 -1.50562957e-02 -4.34662308e+02] [ 1.40384368e-01 -9.90095695e-01 -1.65668169e-03 -2.60969433e+02] [-1.51397606e-02 -4.73584623e-04 -9.99885275e-01 -1.74617029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1338.2165599950001 meters 0.01920023416903691 Centerline is valid? [True, True] Translation: X:-434.66, Y:-260.97, Z:-1.75 [[ 9.75865700e-01 2.17906826e-01 -1.42390438e-02 -4.34656924e+02] [ 2.17890473e-01 -9.75969469e-01 -2.70877548e-03 -2.60970009e+02] [-1.44871327e-02 -4.59150895e-04 -9.99894951e-01 -1.74779842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1338.246559995 meters 0.01925903019517622 Centerline is valid? [True, True] Translation: X:-434.65, Y:-260.97, Z:-1.75 [[ 9.55840214e-01 2.93580072e-01 -1.34248855e-02 -4.34651240e+02] [ 2.93557556e-01 -9.55934385e-01 -3.66244338e-03 -2.60971444e+02] [-1.39085300e-02 -4.40265912e-04 -9.99903175e-01 -1.74831377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1338.276559995 meters 0.01923396623330032 Centerline is valid? [True, True] Translation: X:-434.65, Y:-260.97, Z:-1.75 [[ 9.30482783e-01 3.66151933e-01 -1.15997005e-02 -4.34647917e+02] [ 3.66128447e-01 -9.30555008e-01 -4.16373789e-03 -2.60969211e+02] [-1.23187200e-02 -3.72693896e-04 -9.99924052e-01 -1.75001939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1338.306559995 meters 0.01923396623330032 Centerline is valid? [True, True] Translation: X:-434.64, Y:-260.97, Z:-1.75 [[ 8.98983257e-01 4.37838790e-01 -1.12382719e-02 -4.34641931e+02] [ 4.37809725e-01 -8.99053422e-01 -5.05853742e-03 -2.60972180e+02] [-1.23186307e-02 -3.72684285e-04 -9.99924054e-01 -1.75002021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1338.336559995 meters 0.019039725662384082 Centerline is valid? [True, True] Translation: X:-434.64, Y:-260.97, Z:-1.75 [[ 8.62503536e-01 5.05954944e-01 -9.86128580e-03 -4.34636736e+02] [ 5.05926188e-01 -8.62559846e-01 -5.40413955e-03 -2.60972069e+02] [-1.12402003e-02 -3.27993261e-04 -9.99936773e-01 -1.75107862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1338.366559995 meters 0.0190118345473778 Centerline is valid? [True, True] Translation: X:-434.63, Y:-260.97, Z:-1.75 [[ 8.20687279e-01 5.71308114e-01 -8.91229981e-03 -4.34630893e+02] [ 5.71278397e-01 -8.20735614e-01 -5.83489492e-03 -2.60972902e+02] [-1.06481647e-02 -3.02780310e-04 -9.99943261e-01 -1.75144222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1338.396559995 meters 0.0174806715901739 Centerline is valid? [True, True] Translation: X:-434.62, Y:-260.97, Z:-1.75 [[ 7.74307734e-01 6.32753878e-01 -8.37034532e-03 -4.34624030e+02] [ 6.32720863e-01 -7.74352922e-01 -6.47009574e-03 -2.60973891e+02] [-1.05755795e-02 -2.86246936e-04 -9.99944036e-01 -1.75187664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1338.426559995 meters 0.017357987129954528 Centerline is valid? [True, True] Translation: X:-434.62, Y:-260.98, Z:-1.75 [[ 7.23433859e-01 6.90346284e-01 -8.09075293e-03 -4.34617088e+02] [ 6.90307378e-01 -7.23479047e-01 -7.33438501e-03 -2.60976583e+02] [-1.09167557e-02 -2.79163991e-04 -9.99940372e-01 -1.75089179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1338.4565599950001 meters 0.017004042958461474 Centerline is valid? [True, True] Translation: X:-434.61, Y:-260.98, Z:-1.75 [[ 6.68258819e-01 7.43885706e-01 -8.01293467e-03 -4.34609826e+02] [ 7.43837215e-01 -6.68306799e-01 -8.49824540e-03 -2.60977654e+02] [-1.16768220e-02 -2.81291571e-04 -9.99931784e-01 -1.74988040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1338.486559995 meters 0.015643880149100273 Centerline is valid? [True, True] Translation: X:-434.60, Y:-260.98, Z:-1.75 [[ 6.10136112e-01 7.92256005e-01 -8.02164898e-03 -4.34600742e+02] [ 7.92193331e-01 -6.10188781e-01 -9.96885376e-03 -2.60980162e+02] [-1.27926045e-02 -2.72339151e-04 -9.99918134e-01 -1.74858484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1338.516559995 meters 0.015875329771629074 Centerline is valid? [True, True] Translation: X:-434.59, Y:-260.98, Z:-1.75 [[ 5.47033465e-01 8.37077649e-01 -7.44292613e-03 -4.34591468e+02] [ 8.37006741e-01 -5.47084031e-01 -1.08985862e-02 -2.60982430e+02] [-1.31948690e-02 -2.67887967e-04 -9.99912908e-01 -1.74781500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1338.546559995 meters 0.016124428780864737 Centerline is valid? [True, True] Translation: X:-434.58, Y:-260.98, Z:-1.75 [[ 4.80260497e-01 8.77101887e-01 -6.49113240e-03 -4.34584755e+02] [ 8.77028925e-01 -4.80304292e-01 -1.13160455e-02 -2.60983234e+02] [-1.30430436e-02 -2.58261256e-04 -9.99914903e-01 -1.74781722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1338.576559995 meters 0.015568863538915949 Centerline is valid? [True, True] Translation: X:-434.58, Y:-260.98, Z:-1.75 [[ 4.10255344e-01 9.11956106e-01 -5.15877624e-03 -4.34577733e+02] [ 9.11891122e-01 -4.10287709e-01 -1.08893491e-02 -2.60982327e+02] [-1.20471909e-02 -2.36828605e-04 -9.99927402e-01 -1.74928151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1338.606559995 meters 0.015966040306452253 Centerline is valid? [True, True] Translation: X:-434.57, Y:-260.98, Z:-1.75 [[ 3.37757513e-01 9.41224700e-01 -3.99091812e-03 -4.34569669e+02] [ 9.41166434e-01 -3.37781020e-01 -1.04750588e-02 -2.60981981e+02] [-1.12074404e-02 -2.18088377e-04 -9.99937171e-01 -1.74958560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1338.636559995 meters 0.015338617300771542 Centerline is valid? [True, True] Translation: X:-434.56, Y:-260.98, Z:-1.75 [[ 2.63605828e-01 9.64625824e-01 -2.99783017e-03 -4.34563216e+02] [ 9.64571834e-01 -2.63622797e-01 -1.02077430e-02 -2.60980365e+02] [-1.06369489e-02 -2.00801990e-04 -9.99943406e-01 -1.75076232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1338.666559995 meters 0.01507351805650441 Centerline is valid? [True, True] Translation: X:-434.56, Y:-260.98, Z:-1.75 [[ 1.88200585e-01 9.82128150e-01 -2.19916934e-03 -4.34556635e+02] [ 9.82072473e-01 -1.88213336e-01 -1.04593132e-02 -2.60978145e+02] [-1.06862989e-02 -1.91294809e-04 -9.99942882e-01 -1.75085745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1338.6965599950001 meters 0.014675484404549294 Centerline is valid? [True, True] Translation: X:-434.55, Y:-260.98, Z:-1.75 [[ 1.11819453e-01 9.93727519e-01 -1.42431897e-03 -4.34550294e+02] [ 9.93666715e-01 -1.11828369e-01 -1.09943469e-02 -2.60975724e+02] [-1.10846643e-02 -1.85916507e-04 -9.99938546e-01 -1.75073794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1338.7265599950001 meters 0.014463445075450651 Centerline is valid? [True, True] Translation: X:-434.54, Y:-260.97, Z:-1.75 [[ 3.51497219e-02 9.99381886e-01 -5.85077088e-04 -4.34544435e+02] [ 9.99314633e-01 -3.51541448e-02 -1.15952584e-02 -2.60972452e+02] [-1.16086591e-02 -1.77105987e-04 -9.99932602e-01 -1.75029365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1338.756559995 meters 0.014583430574456465 Centerline is valid? [True, True] Translation: X:-434.54, Y:-260.97, Z:-1.75 [[-4.17635899e-02 9.99127457e-01 3.56664081e-04 -4.34539876e+02] [ 9.99046251e-01 4.17647432e-02 -1.27394830e-02 -2.60969925e+02] [-1.27432633e-02 -1.75722633e-04 -9.99918786e-01 -1.74915698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1338.786559995 meters 0.014335607085218072 Centerline is valid? [True, True] Translation: X:-434.54, Y:-260.97, Z:-1.75 [[-1.18268032e-01 9.92980647e-01 1.45205305e-03 -4.34538189e+02] [ 9.92887598e-01 1.18276829e-01 -1.35945036e-02 -2.60967479e+02] [-1.36708232e-02 -1.66069720e-04 -9.99906536e-01 -1.74901282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1338.816559995 meters 0.01400841733521316 Centerline is valid? [True, True] Translation: X:-434.53, Y:-260.96, Z:-1.75 [[-1.94256244e-01 9.80947629e-01 2.50219287e-03 -4.34534712e+02] [ 9.80856372e-01 1.94272305e-01 -1.33809129e-02 -2.60964593e+02] [-1.36120816e-02 -1.45034067e-04 -9.99907341e-01 -1.74992790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1338.846559995 meters 0.013616129896455666 Centerline is valid? [True, True] Translation: X:-434.53, Y:-260.96, Z:-1.75 [[-2.68423197e-01 9.63295982e-01 3.13672332e-03 -4.34530371e+02] [ 9.63225650e-01 2.68441504e-01 -1.16407556e-02 -2.60961712e+02] [-1.20555199e-02 -1.03276487e-04 -9.99927324e-01 -1.75062060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1338.876559995 meters 0.013542595490657077 Centerline is valid? [True, True] Translation: X:-434.53, Y:-260.96, Z:-1.75 [[-3.41842199e-01 9.39749690e-01 3.79889986e-03 -4.34527028e+02] [ 9.39688944e-01 3.41863297e-01 -1.06852655e-02 -2.60959026e+02] [-1.13401793e-02 -8.28904513e-05 -9.99935695e-01 -1.75063386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1338.906559995 meters 0.013045536976901292 Centerline is valid? [True, True] Translation: X:-434.52, Y:-260.96, Z:-1.75 [[-4.11766125e-01 9.11280778e-01 4.00022476e-03 -4.34523846e+02] [ 9.11236743e-01 4.11785553e-01 -8.95858905e-03 -2.60955469e+02] [-9.81102477e-03 -4.36917265e-05 -9.99951870e-01 -1.75295196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1338.9365599950002 meters 0.012999565670335063 Centerline is valid? [True, True] Translation: X:-434.52, Y:-260.95, Z:-1.75 [[-4.80763998e-01 8.76839050e-01 4.38860198e-03 -4.34520450e+02] [ 8.76801956e-01 4.80784027e-01 -8.06537154e-03 -2.60952026e+02] [-9.18200245e-03 -2.96054638e-05 -9.99957844e-01 -1.75313258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1338.9665599950001 meters 0.012851837573095713 Centerline is valid? [True, True] Translation: X:-434.52, Y:-260.95, Z:-1.75 [[-5.47163687e-01 8.37009878e-01 5.13450530e-03 -4.34518257e+02] [ 8.36972663e-01 5.47187777e-01 -7.89289473e-03 -2.60948175e+02] [-9.41596940e-03 -2.12648024e-05 -9.99955669e-01 -1.75354429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1338.996559995 meters 0.012940734545715126 Centerline is valid? [True, True] Translation: X:-434.52, Y:-260.95, Z:-1.75 [[-6.10619356e-01 7.91902930e-01 5.80955816e-03 -4.34516300e+02] [ 7.91866835e-01 6.10646992e-01 -7.56085841e-03 -2.60945324e+02] [-9.53505514e-03 -1.64100588e-05 -9.99954540e-01 -1.75341773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1339.026559995 meters 0.012976787656870999 Centerline is valid? [True, True] Translation: X:-434.52, Y:-260.94, Z:-1.75 [[-6.70426778e-01 7.41947999e-01 6.41109536e-03 -4.34515522e+02] [ 7.41913905e-01 6.70457431e-01 -7.11277486e-03 -2.60942745e+02] [-9.57567560e-03 -1.21139450e-05 -9.99954152e-01 -1.75349606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1339.056559995 meters 0.012953391162414344 Centerline is valid? [True, True] Translation: X:-434.51, Y:-260.94, Z:-1.75 [[-7.26271903e-01 6.87372232e-01 6.96688363e-03 -4.34511819e+02] [ 6.87340488e-01 7.26305318e-01 -6.60596070e-03 -2.60935893e+02] [-9.60083858e-03 -9.10245441e-06 -9.99953911e-01 -1.75398163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1339.086559995 meters 0.013086346563832887 Centerline is valid? [True, True] Translation: X:-434.50, Y:-260.91, Z:-1.75 [[-7.73645576e-01 6.33571233e-01 7.74691856e-03 -4.34497438e+02] [ 6.33539239e-01 7.73684362e-01 -6.36720965e-03 -2.60910577e+02] [-1.00277506e-02 -1.79866936e-05 -9.99949721e-01 -1.75238940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1339.116559995 meters 0.013149673864026672 Centerline is valid? [True, True] Translation: X:-434.48, Y:-260.89, Z:-1.75 [[-8.17202237e-01 5.76292083e-01 8.24244873e-03 -4.34481225e+02] [ 5.76262412e-01 8.17243803e-01 -5.84801331e-03 -2.60886454e+02] [-1.01062539e-02 -2.91961829e-05 -9.99948930e-01 -1.75258881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1339.146559995 meters 0.013193519815995355 Centerline is valid? [True, True] Translation: X:-434.14, Y:-260.40, Z:-2.84 [[-7.72229060e-01 -6.35302442e-01 7.28604660e-03 -4.34138968e+02] [ 6.35274000e-01 -7.72263431e-01 -6.01147332e-03 -2.60399240e+02] [ 9.44585103e-03 -1.35984249e-05 9.99955387e-01 -2.83860868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1339.176559995 meters 0.013264672171815407 Centerline is valid? [True, True] Translation: X:-434.52, Y:-260.86, Z:-1.75 [[-8.21096332e-01 5.70745970e-01 7.06052387e-03 -4.34516287e+02] [ 5.70724318e-01 8.21126687e-01 -4.97165054e-03 -2.60857042e+02] [-8.63513407e-03 -5.25913498e-05 -9.99962715e-01 -1.75301264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1339.2065599950001 meters 0.01336081602949779 Centerline is valid? [True, True] Translation: X:-434.50, Y:-260.83, Z:-1.75 [[-8.60337638e-01 5.09680483e-01 6.70483174e-03 -4.34504664e+02] [ 5.09664450e-01 8.60363761e-01 -4.04317756e-03 -2.60829027e+02] [-7.82932295e-03 -6.12834454e-05 -9.99969349e-01 -1.75396325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1339.236559995 meters 0.013755495673900203 Centerline is valid? [True, True] Translation: X:-434.20, Y:-260.33, Z:-2.84 [[-8.14296343e-01 -5.80418049e-01 6.02947341e-03 -4.34202262e+02] [ 5.80402408e-01 -8.14318665e-01 -4.26113530e-03 -2.60332164e+02] [ 7.38315258e-03 2.96940011e-05 9.99972744e-01 -2.83740206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1339.266559995 meters 0.014101074325475537 Centerline is valid? [True, True] Translation: X:-434.54, Y:-260.80, Z:-1.75 [[-8.64356334e-01 5.02848610e-01 5.60393227e-03 -4.34540453e+02] [ 5.02837445e-01 8.64374496e-01 -3.35181299e-03 -2.60803432e+02] [-6.52935063e-03 -7.92938008e-05 -9.99978681e-01 -1.75490412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1339.296559995 meters 0.014562914812965682 Centerline is valid? [True, True] Translation: X:-434.24, Y:-260.31, Z:-2.84 [[-8.14452526e-01 -5.80207892e-01 5.08768832e-03 -4.34244649e+02] [ 5.80196996e-01 -8.14468415e-01 -3.55633441e-03 -2.60310758e+02] [ 6.20717474e-03 5.53959393e-05 9.99980734e-01 -2.83664278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1339.326559995 meters 0.014179561529572181 Centerline is valid? [True, True] Translation: X:-434.58, Y:-260.78, Z:-1.75 [[-8.66864673e-01 4.98509986e-01 5.78202314e-03 -4.34579840e+02] [ 4.98498197e-01 8.66883952e-01 -3.42964439e-03 -2.60781339e+02] [-6.72205505e-03 -9.07094545e-05 -9.99977403e-01 -1.75477435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1339.356559995 meters 0.014501040232289212 Centerline is valid? [True, True] Translation: X:-434.29, Y:-260.29, Z:-2.84 [[-8.15843229e-01 -5.78239175e-01 6.26755427e-03 -4.34285409e+02] [ 5.78223561e-01 -8.15867288e-01 -4.25229101e-03 -2.60286208e+02] [ 7.57233376e-03 1.54844718e-04 9.99971318e-01 -2.83765169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1339.386559995 meters 0.01463402361459528 Centerline is valid? [True, True] Translation: X:-434.30, Y:-260.31, Z:-2.84 [[-7.74462460e-01 -6.32585114e-01 6.63113835e-03 -4.34300970e+02] [ 6.32563310e-01 -7.74490838e-01 -5.25363438e-03 -2.60311916e+02] [ 8.45912680e-03 1.25872218e-04 9.99964213e-01 -2.83852298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1339.416559995 meters 0.01469696265286288 Centerline is valid? [True, True] Translation: X:-434.32, Y:-260.33, Z:-2.84 [[-7.29744584e-01 -6.83686510e-01 6.75270547e-03 -4.34320790e+02] [ 6.83659020e-01 -7.29775812e-01 -6.13260444e-03 -2.60334676e+02] [ 9.12074005e-03 1.41313133e-04 9.99958395e-01 -2.83961028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1339.4465599950001 meters 0.015262376784877414 Centerline is valid? [True, True] Translation: X:-434.71, Y:-260.76, Z:-1.75 [[-7.96208701e-01 6.04966332e-01 8.21225069e-03 -4.34711850e+02] [ 6.04931871e-01 7.96251032e-01 -6.45945009e-03 -2.60758298e+02] [-1.04467629e-02 -1.75218187e-04 -9.99945416e-01 -1.74883175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1339.4765599950001 meters 0.015443037056331696 Centerline is valid? [True, True] Translation: X:-434.70, Y:-260.73, Z:-1.75 [[-8.37099878e-01 5.46978764e-01 8.83319140e-03 -4.34698431e+02] [ 5.46946029e-01 8.37146462e-01 -5.98683668e-03 -2.60733803e+02] [-1.06693475e-02 -1.80301288e-04 -9.99943065e-01 -1.74829405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1339.506559995 meters 0.014853693020537516 Centerline is valid? [True, True] Translation: X:-434.69, Y:-260.71, Z:-1.75 [[-8.73575613e-01 4.86596343e-01 9.46822925e-03 -4.34687243e+02] [ 4.86565506e-01 8.73626904e-01 -5.48107989e-03 -2.60709983e+02] [-1.09387732e-02 -1.81223972e-04 -9.99940154e-01 -1.74848540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1339.536559995 meters 0.014891323644270413 Centerline is valid? [True, True] Translation: X:-434.68, Y:-260.68, Z:-1.75 [[-9.05619534e-01 4.23966974e-01 1.02598644e-02 -4.34675431e+02] [ 4.23937475e-01 9.05677631e-01 -5.00455696e-03 -2.60684819e+02] [-1.14138966e-02 -1.82683523e-04 -9.99934843e-01 -1.74781870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1339.566559995 meters 0.01525986233790145 Centerline is valid? [True, True] Translation: X:-434.67, Y:-260.66, Z:-1.75 [[-9.33018474e-01 3.59660353e-01 1.09980668e-02 -4.34671454e+02] [ 3.59633113e-01 9.33083276e-01 -4.42997134e-03 -2.60655124e+02] [-1.18553972e-02 -1.77976101e-04 -9.99929707e-01 -1.74580554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1339.596559995 meters 0.014451043454097395 Centerline is valid? [True, True] Translation: X:-434.45, Y:-260.12, Z:-2.84 [[-8.93938997e-01 -4.48064255e-01 1.05590110e-02 -4.34453715e+02] [ 4.48035214e-01 -8.94001340e-01 -5.10409580e-03 -2.60123186e+02] [ 1.17267329e-02 1.68058477e-04 9.99931226e-01 -2.84446870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1339.626559995 meters 0.014600578674907123 Centerline is valid? [True, True] Translation: X:-434.71, Y:-260.64, Z:-1.75 [[-9.33941343e-01 3.57248525e-01 1.12720415e-02 -4.34709782e+02] [ 3.57220327e-01 9.34009349e-01 -4.49164642e-03 -2.60642548e+02] [-1.21328262e-02 -1.68331943e-04 -9.99926381e-01 -1.74615038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1339.656559995 meters 0.014297625536064883 Centerline is valid? [True, True] Translation: X:-434.71, Y:-260.62, Z:-1.75 [[-9.56890225e-01 2.90219553e-01 1.15632243e-02 -4.34705339e+02] [ 2.90196248e-01 9.56960074e-01 -3.68163478e-03 -2.60615569e+02] [-1.21340264e-02 -1.67316013e-04 -9.99926366e-01 -1.74638901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1339.6865599950002 meters 0.014289020292565279 Centerline is valid? [True, True] Translation: X:-434.70, Y:-260.59, Z:-1.75 [[-9.75064373e-01 2.21618560e-01 1.16053188e-02 -4.34703417e+02] [ 2.21600852e-01 9.75133420e-01 -2.80638005e-03 -2.60586995e+02] [-1.19386801e-02 -1.64652662e-04 -9.99928718e-01 -1.74633893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1339.7165599950001 meters 0.014618432921147928 Centerline is valid? [True, True] Translation: X:-434.57, Y:-260.03, Z:-2.85 [[-9.49607697e-01 -3.13216485e-01 1.18597930e-02 -4.34565271e+02] [ 3.13194713e-01 -9.49681732e-01 -3.69851504e-03 -2.60028999e+02] [ 1.24214646e-02 2.02286110e-04 9.99922830e-01 -2.84589963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1339.746559995 meters 0.014342019363115945 Centerline is valid? [True, True] Translation: X:-434.75, Y:-260.58, Z:-1.75 [[-9.75983673e-01 2.17477303e-01 1.26290541e-02 -4.34747727e+02] [ 2.17456654e-01 9.76065361e-01 -3.00242983e-03 -2.60575006e+02] [-1.29797426e-02 -1.84050641e-04 -9.99915743e-01 -1.74562763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1339.776559995 meters 0.014384836527176549 Centerline is valid? [True, True] Translation: X:-434.75, Y:-260.55, Z:-1.74 [[-9.88964268e-01 1.47571466e-01 1.31277749e-02 -4.34747223e+02] [ 1.47555921e-01 9.89051377e-01 -2.15029781e-03 -2.60546078e+02] [-1.33013664e-02 -1.89486797e-04 -9.99911515e-01 -1.74462516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1339.806559995 meters 0.014241850351577033 Centerline is valid? [True, True] Translation: X:-434.66, Y:-259.98, Z:-2.85 [[-9.70466562e-01 -2.40858265e-01 1.34888331e-02 -4.34658014e+02] [ 2.40838312e-01 -9.70560273e-01 -3.10887181e-03 -2.59982360e+02] [ 1.38405230e-02 2.31571655e-04 9.99904189e-01 -2.84757760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1339.836559995 meters 0.014227918452667344 Centerline is valid? [True, True] Translation: X:-434.80, Y:-260.54, Z:-1.74 [[-9.89367460e-01 1.44731590e-01 1.43106952e-02 -4.34798425e+02] [ 1.44713666e-01 9.89470935e-01 -2.28566796e-03 -2.60537712e+02] [-1.44908253e-02 -1.90412344e-04 -9.99894985e-01 -1.74298938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1339.866559995 meters 0.014191081777033291 Centerline is valid? [True, True] Translation: X:-434.71, Y:-259.97, Z:-2.85 [[-9.71614698e-01 -2.36116271e-01 1.46282537e-02 -4.34708642e+02] [ 2.36093066e-01 -9.71724783e-01 -3.31819202e-03 -2.59974808e+02] [ 1.49981158e-02 2.29625144e-04 9.99887496e-01 -2.84881679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1339.896559995 meters 0.014342563312503078 Centerline is valid? [True, True] Translation: X:-434.85, Y:-260.53, Z:-1.74 [[-9.89763671e-01 1.41700469e-01 1.69956803e-02 -4.34854144e+02] [ 1.41675924e-01 9.89909558e-01 -2.64576732e-03 -2.60529913e+02] [-1.71990929e-02 -2.10805666e-04 -9.99852063e-01 -1.74077205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1339.926559995 meters 0.01436250370718657 Centerline is valid? [True, True] Translation: X:-434.76, Y:-259.97, Z:-2.85 [[-9.72577597e-01 -2.31878203e-01 1.80365347e-02 -4.34758225e+02] [ 2.31844214e-01 -9.72744778e-01 -3.98203482e-03 -2.59967820e+02] [ 1.84682920e-02 3.08828356e-04 9.99829399e-01 -2.85176800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1339.9565599950001 meters 0.015054065084145911 Centerline is valid? [True, True] Translation: X:-434.90, Y:-260.52, Z:-1.74 [[-9.90349309e-01 1.37219233e-01 1.94712348e-02 -4.34901029e+02] [ 1.37187706e-01 9.90540670e-01 -2.95208933e-03 -2.60521193e+02] [-1.96921334e-02 -2.52385594e-04 -9.99806060e-01 -1.73695025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1339.986559995 meters 0.014788923091407736 Centerline is valid? [True, True] Translation: X:-434.90, Y:-260.49, Z:-1.74 [[-9.97684067e-01 6.46253958e-02 2.12146388e-02 -4.34904624e+02] [ 6.46041124e-02 9.97909545e-01 -1.68778610e-03 -2.60491617e+02] [-2.12793644e-02 -3.13324386e-04 -9.99773520e-01 -1.73777232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1340.016559995 meters 0.015280902265964888 Centerline is valid? [True, True] Translation: X:-434.91, Y:-260.46, Z:-1.74 [[-9.99740797e-01 -7.76250714e-03 2.14028471e-02 -4.34911457e+02] [-7.76807212e-03 9.99969813e-01 -1.76883664e-04 -2.60462096e+02] [-2.14008279e-02 -3.43096675e-04 -9.99770917e-01 -1.73739776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1340.046559995 meters 0.015491805216456973 Centerline is valid? [True, True] Translation: X:-434.91, Y:-259.90, Z:-2.85 [[-9.95468182e-01 -9.28123484e-02 2.07115028e-02 -4.34909570e+02] [ 9.27983395e-02 -9.95683576e-01 -1.63853969e-03 -2.59902367e+02] [ 2.07741799e-02 2.90878941e-04 9.99784151e-01 -2.85327690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1340.076559995 meters 0.015986645553964823 Centerline is valid? [True, True] Translation: X:-434.98, Y:-260.46, Z:-1.74 [[-9.99680332e-01 -1.50980130e-02 2.02801608e-02 -4.34977778e+02] [-1.51026198e-02 9.99885946e-01 -7.40066862e-05 -2.60459629e+02] [-2.02767304e-02 -3.80266586e-04 -9.99794334e-01 -1.73841057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1340.106559995 meters 0.01627373900313253 Centerline is valid? [True, True] Translation: X:-434.99, Y:-260.43, Z:-1.74 [[-9.95988092e-01 -8.72984162e-02 1.96648542e-02 -4.34987881e+02] [-8.72891484e-02 9.96182129e-01 1.33078401e-03 -2.60431856e+02] [-1.97059516e-02 -3.91083349e-04 -9.99805743e-01 -1.73946697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1340.136559995 meters 0.01607068244686659 Centerline is valid? [True, True] Translation: X:-435.00, Y:-260.41, Z:-1.74 [[-9.87099748e-01 -1.59036934e-01 1.84754149e-02 -4.35004297e+02] [-1.59016457e-01 9.87272557e-01 2.58161145e-03 -2.60406853e+02] [-1.86508417e-02 -3.89587000e-04 -9.99825982e-01 -1.74178025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1340.166559995 meters 0.016450529597038487 Centerline is valid? [True, True] Translation: X:-435.08, Y:-259.85, Z:-2.85 [[-9.98633874e-01 4.97056847e-02 1.61161709e-02 -4.35082430e+02] [-4.96965080e-02 -9.98763895e-01 9.69641612e-04 -2.59854718e+02] [ 1.61444463e-02 1.67399540e-04 9.99869656e-01 -2.84754241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1340.1965599950001 meters 0.01614993617651505 Centerline is valid? [True, True] Translation: X:-435.09, Y:-260.42, Z:-1.74 [[-9.86069198e-01 -1.65587189e-01 1.57613667e-02 -4.35091699e+02] [-1.65571621e-01 9.86195094e-01 2.29660981e-03 -2.60419482e+02] [-1.59240717e-02 -3.45018842e-04 -9.99873145e-01 -1.74449577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1340.2265599950001 meters 0.01614993617651505 Centerline is valid? [True, True] Translation: X:-435.11, Y:-260.40, Z:-1.74 [[-9.71702649e-01 -2.35694616e-01 1.55567061e-02 -4.35111563e+02] [-2.35670084e-01 9.71827109e-01 3.41798405e-03 -2.60395088e+02] [-1.59240291e-02 -3.44986078e-04 -9.99873145e-01 -1.74449641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1340.256559995 meters 0.01731718996630127 Centerline is valid? [True, True] Translation: X:-435.14, Y:-260.37, Z:-1.74 [[-9.52278938e-01 -3.04864929e-01 1.49063683e-02 -4.35144495e+02] [-3.04833074e-01 9.52395539e-01 4.41974549e-03 -2.60373757e+02] [-1.55441841e-02 -3.35123517e-04 -9.99879126e-01 -1.74275716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1340.286559995 meters 0.016233152339446635 Centerline is valid? [True, True] Translation: X:-435.19, Y:-260.36, Z:-1.74 [[-9.27693703e-01 -3.73059061e-01 1.45372116e-02 -4.35188445e+02] [-3.73018873e-01 9.27807537e-01 5.48590863e-03 -2.60362435e+02] [-1.55343024e-02 -3.33411393e-04 -9.99879280e-01 -1.74398225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1340.316559995 meters 0.016248765074878643 Centerline is valid? [True, True] Translation: X:-435.25, Y:-260.36, Z:-1.74 [[-8.97867585e-01 -4.40048380e-01 1.38283577e-02 -4.35251132e+02] [-4.40001784e-01 8.97974006e-01 6.41199058e-03 -2.60359998e+02] [-1.52390918e-02 -3.27383564e-04 -9.99883825e-01 -1.74440799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1340.346559995 meters 0.01605808586237705 Centerline is valid? [True, True] Translation: X:-435.32, Y:-260.36, Z:-1.75 [[-8.63012138e-01 -5.05015441e-01 1.30174743e-02 -4.35317170e+02] [-5.04963575e-01 8.63110249e-01 7.24472739e-03 -2.60364966e+02] [-1.48942147e-02 -3.21062694e-04 -9.99889024e-01 -1.74504003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1340.376559995 meters 0.01696079295902718 Centerline is valid? [True, True] Translation: X:-435.39, Y:-260.38, Z:-1.74 [[-8.22809589e-01 -5.68177512e-01 1.25974374e-02 -4.35388645e+02] [-5.68117108e-01 8.22905950e-01 8.29146664e-03 -2.60377666e+02] [-1.50775311e-02 -3.34521437e-04 -9.99886272e-01 -1.74490018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1340.406559995 meters 0.01618068541890778 Centerline is valid? [True, True] Translation: X:-435.47, Y:-260.40, Z:-1.75 [[-7.77811352e-01 -6.28387290e-01 1.17862113e-02 -4.35465622e+02] [-6.28321714e-01 7.77900571e-01 9.08434591e-03 -2.60402027e+02] [-1.48769880e-02 -3.39625090e-04 -9.99889274e-01 -1.74649266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1340.4365599950002 meters 0.01655188431327823 Centerline is valid? [True, True] Translation: X:-435.55, Y:-260.43, Z:-1.75 [[-7.28221948e-01 -6.85249999e-01 1.11907603e-02 -4.35546631e+02] [-6.85176442e-01 7.28307844e-01 1.00463211e-02 -2.60433708e+02] [-1.50345601e-02 -3.51693821e-04 -9.99886913e-01 -1.74698193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1340.4665599950001 meters 0.016705910462543917 Centerline is valid? [True, True] Translation: X:-435.63, Y:-260.48, Z:-1.75 [[-6.74114474e-01 -7.38557506e-01 1.01235510e-02 -4.35631252e+02] [-7.38482015e-01 6.74190393e-01 1.05654216e-02 -2.60477285e+02] [-1.46283723e-02 -3.53756717e-04 -9.99892937e-01 -1.74795864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1340.496559995 meters 0.017025461455848254 Centerline is valid? [True, True] Translation: X:-435.71, Y:-260.53, Z:-1.75 [[-6.15969116e-01 -7.87718625e-01 9.02309319e-03 -4.35712866e+02] [-7.87642378e-01 6.16035099e-01 1.09654476e-02 -2.60525831e+02] [-1.41962294e-02 -3.52593536e-04 -9.99899167e-01 -1.74786169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1340.526559995 meters 0.017075579519316045 Centerline is valid? [True, True] Translation: X:-435.80, Y:-260.58, Z:-1.75 [[-5.52997394e-01 -8.33143257e-01 8.13609201e-03 -4.35795525e+02] [-8.33063003e-01 5.53057112e-01 1.15699115e-02 -2.60584644e+02] [-1.41391173e-02 -3.79746332e-04 -9.99899966e-01 -1.74751676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1340.556559995 meters 0.018394415941162194 Centerline is valid? [True, True] Translation: X:-435.88, Y:-260.66, Z:-1.75 [[-4.87725567e-01 -8.72966498e-01 7.29832236e-03 -4.35877820e+02] [-8.72880575e-01 4.87780011e-01 1.22540741e-02 -2.60656234e+02] [-1.42573719e-02 -3.93938572e-04 -9.99898281e-01 -1.74686721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1340.586559995 meters 0.017756780035982387 Centerline is valid? [True, True] Translation: X:-435.95, Y:-260.73, Z:-1.75 [[-4.19714706e-01 -9.07634761e-01 6.22142029e-03 -4.35947829e+02] [-9.07548450e-01 4.19760632e-01 1.25228783e-02 -2.60730548e+02] [-1.39777070e-02 -3.90204169e-04 -9.99902231e-01 -1.74815078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1340.616559995 meters 0.01784701801806386 Centerline is valid? [True, True] Translation: X:-436.02, Y:-260.82, Z:-1.75 [[-3.50189356e-01 -9.36665764e-01 4.96609589e-03 -4.36016942e+02] [-9.36585665e-01 3.50224382e-01 1.22545931e-02 -2.60819240e+02] [-1.32177056e-02 -3.59746153e-04 -9.99912578e-01 -1.74935533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1340.646559995 meters 0.017358483599967778 Centerline is valid? [True, True] Translation: X:-436.07, Y:-260.90, Z:-1.75 [[-2.79059859e-01 -9.60266410e-01 3.74394840e-03 -4.36073784e+02] [-9.60194684e-01 2.79084791e-01 1.17409052e-02 -2.60903988e+02] [-1.23192760e-02 -3.18503988e-04 -9.99924064e-01 -1.75130909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1340.676559995 meters 0.016079487832516327 Centerline is valid? [True, True] Translation: X:-436.12, Y:-261.00, Z:-1.75 [[-2.09174258e-01 -9.77874800e-01 2.64687352e-03 -4.36123542e+02] [-9.77810819e-01 2.09190857e-01 1.11887355e-02 -2.61003124e+02] [-1.14948843e-02 -2.47746107e-04 -9.99933901e-01 -1.75395114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1340.7065599950001 meters 0.01587970703332652 Centerline is valid? [True, True] Translation: X:-436.17, Y:-261.10, Z:-1.75 [[-1.36425059e-01 -9.90649007e-01 1.65789058e-03 -4.36170307e+02] [-9.90592805e-01 1.36434982e-01 1.05541737e-02 -2.61104800e+02] [-1.06816760e-02 -2.02440706e-04 -9.99942929e-01 -1.75404717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1340.736559995 meters 0.0149197707221251 Centerline is valid? [True, True] Translation: X:-436.21, Y:-261.22, Z:-1.75 [[-6.27538281e-02 -9.98028679e-01 8.44265091e-04 -4.36209085e+02] [-9.97972117e-01 6.27592612e-02 1.06267970e-02 -2.61220618e+02] [-1.06588336e-02 -1.75680831e-04 -9.99943178e-01 -1.75404614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1340.766559995 meters 0.013947905253300632 Centerline is valid? [True, True] Translation: X:-436.24, Y:-261.32, Z:-1.75 [[ 1.17347682e-02 -9.99931145e-01 2.89978627e-05 -4.36238109e+02] [-9.99872753e-01 -1.17337695e-02 1.08072162e-02 -2.61322776e+02] [-1.08061318e-02 -1.55814350e-04 -9.99941600e-01 -1.75431616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1340.796559995 meters 0.014177465697182813 Centerline is valid? [True, True] Translation: X:-436.26, Y:-261.44, Z:-1.75 [[ 8.71503777e-02 -9.96194823e-01 -8.28992707e-04 -4.36262455e+02] [-9.96132079e-01 -8.71541935e-02 1.11815737e-02 -2.61437363e+02] [-1.12112760e-02 -1.48692139e-04 -9.99937141e-01 -1.75290779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1340.826559995 meters 0.014122873504206273 Centerline is valid? [True, True] Translation: X:-436.28, Y:-261.56, Z:-1.75 [[ 1.63614546e-01 -9.86522747e-01 -1.77472128e-03 -4.36279021e+02] [-9.86453486e-01 -1.63624091e-01 1.16909105e-02 -2.61556036e+02] [-1.18237363e-02 -1.62123031e-04 -9.99930084e-01 -1.75310422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1340.856559995 meters 0.013955301701977339 Centerline is valid? [True, True] Translation: X:-436.29, Y:-261.67, Z:-1.75 [[ 2.38406447e-01 -9.71160914e-01 -2.97419920e-03 -4.36285157e+02] [-9.71075861e-01 -2.38424933e-01 1.28539059e-02 -2.61667418e+02] [-1.31923342e-02 -1.76280989e-04 -9.99912962e-01 -1.75293680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1340.886559995 meters 0.013715397560738377 Centerline is valid? [True, True] Translation: X:-436.28, Y:-261.78, Z:-1.75 [[ 3.11393870e-01 -9.50271122e-01 -4.31877402e-03 -4.36280861e+02] [-9.50171451e-01 -3.11423764e-01 1.37641903e-02 -2.61784237e+02] [-1.44246814e-02 -1.82508707e-04 -9.99895942e-01 -1.75300787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1340.916559995 meters 0.014507626752765708 Centerline is valid? [True, True] Translation: X:-436.27, Y:-261.90, Z:-1.75 [[ 3.81884840e-01 -9.24191877e-01 -5.77441040e-03 -4.36271732e+02] [-9.24079128e-01 -3.81928453e-01 1.44368197e-02 -2.61896591e+02] [-1.55478031e-02 -1.77190462e-04 -9.99879110e-01 -1.74978071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1340.9465599950001 meters 0.013632314928749186 Centerline is valid? [True, True] Translation: X:-436.25, Y:-262.01, Z:-1.75 [[ 4.50464176e-01 -8.92766491e-01 -7.07245408e-03 -4.36249754e+02] [-8.92650642e-01 -4.50519662e-01 1.43828027e-02 -2.62008280e+02] [-1.60267639e-02 -1.65706692e-04 -9.99871550e-01 -1.75139587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1340.9765599950001 meters 0.013342100145149208 Centerline is valid? [True, True] Translation: X:-436.22, Y:-262.11, Z:-1.75 [[ 5.15949094e-01 -8.56580639e-01 -8.13276302e-03 -4.36222312e+02] [-8.56469939e-01 -5.16013168e-01 1.37714929e-02 -2.62114981e+02] [-1.59930070e-02 -1.39922232e-04 -9.99872094e-01 -1.75194717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1341.006559995 meters 0.0128429674768345 Centerline is valid? [True, True] Translation: X:-436.19, Y:-262.22, Z:-1.75 [[ 5.77049312e-01 -8.16661503e-01 -8.83637917e-03 -4.36187657e+02] [-8.16563512e-01 -5.77116958e-01 1.26510325e-02 -2.62217367e+02] [-1.54312355e-02 -8.48048113e-05 -9.99880928e-01 -1.75363593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1341.036559995 meters 0.012849251617282216 Centerline is valid? [True, True] Translation: X:-436.15, Y:-262.32, Z:-1.75 [[ 6.36149896e-01 -7.71505907e-01 -9.58879812e-03 -4.36148445e+02] [-7.71416892e-01 -6.36222156e-01 1.17195486e-02 -2.62316285e+02] [-1.51423068e-02 -5.84287812e-05 -9.99885347e-01 -1.75343098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1341.066559995 meters 0.012495596289300826 Centerline is valid? [True, True] Translation: X:-436.10, Y:-262.41, Z:-1.76 [[ 6.91746808e-01 -7.22068971e-01 -1.01367805e-02 -4.36101640e+02] [-7.21990755e-01 -6.91821075e-01 1.06278016e-02 -2.62411651e+02] [-1.46868441e-02 -3.30860202e-05 -9.99892142e-01 -1.75528323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1341.096559995 meters 0.012523068314091345 Centerline is valid? [True, True] Translation: X:-436.05, Y:-262.50, Z:-1.76 [[ 7.43296248e-01 -6.68873865e-01 -1.08830276e-02 -4.36053253e+02] [-6.68802011e-01 -7.43375916e-01 9.80391363e-03 -2.62497465e+02] [-1.46477622e-02 -8.62147895e-06 -9.99892716e-01 -1.75573782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1341.126559995 meters 0.012771416951788095 Centerline is valid? [True, True] Translation: X:-436.05, Y:-262.51, Z:-1.76 [[ 7.91272019e-01 -6.11352933e-01 -1.16698001e-02 -4.36052055e+02] [-6.11287199e-01 -7.91358067e-01 8.96494504e-03 -2.62505797e+02] [-1.47157359e-02 3.98892781e-05 -9.99891717e-01 -1.75649498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1341.156559995 meters 0.012878166938696431 Centerline is valid? [True, True] Translation: X:-436.05, Y:-262.51, Z:-1.76 [[ 8.35661362e-01 -5.49104819e-01 -1.24091551e-02 -4.36049826e+02] [-5.49045462e-01 -8.35753489e-01 8.07380740e-03 -2.62514709e+02] [-1.48043612e-02 6.62214263e-05 -9.99890407e-01 -1.75651590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1341.1865599950002 meters 0.013146036578958051 Centerline is valid? [True, True] Translation: X:-436.05, Y:-262.52, Z:-1.76 [[ 8.75018904e-01 -4.83901849e-01 -1.34505793e-02 -4.36047802e+02] [-4.83846453e-01 -8.75122272e-01 7.32254161e-03 -2.62524081e+02] [-1.53142930e-02 1.00652777e-04 -9.99882725e-01 -1.75641425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1341.2165599950001 meters 0.01344760731590035 Centerline is valid? [True, True] Translation: X:-436.05, Y:-262.53, Z:-1.76 [[ 9.09428718e-01 -4.15611579e-01 -1.43674333e-02 -4.36045685e+02] [-4.15561993e-01 -9.09542192e-01 6.42119268e-03 -2.62533651e+02] [-1.57365088e-02 1.30942213e-04 -9.99876165e-01 -1.75613983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1341.246559995 meters 0.014384854929544654 Centerline is valid? [True, True] Translation: X:-436.04, Y:-262.54, Z:-1.75 [[ 9.38435290e-01 -3.45128191e-01 -1.50245613e-02 -4.36042508e+02] [-3.45086773e-01 -9.38555542e-01 5.34926358e-03 -2.62540979e+02] [-1.59475670e-02 1.64839669e-04 -9.99872816e-01 -1.75385679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1341.276559995 meters 0.01449766606304743 Centerline is valid? [True, True] Translation: X:-436.04, Y:-262.55, Z:-1.75 [[ 9.61806095e-01 -2.73236520e-01 -1.64572170e-02 -4.36038148e+02] [-2.73200456e-01 -9.61946857e-01 4.44474632e-03 -2.62550045e+02] [-1.70454352e-02 2.21135094e-04 -9.99854692e-01 -1.75451515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1341.306559995 meters 0.014908731912474915 Centerline is valid? [True, True] Translation: X:-436.03, Y:-262.56, Z:-1.75 [[ 9.80108164e-01 -1.97738201e-01 -1.69585124e-02 -4.36034079e+02] [-1.97712712e-01 -9.80254839e-01 3.18336898e-03 -2.62556683e+02] [-1.72531375e-02 2.32867549e-04 -9.99851127e-01 -1.75354366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1341.336559995 meters 0.015011854275180066 Centerline is valid? [True, True] Translation: X:-436.03, Y:-262.56, Z:-1.75 [[ 9.92579549e-01 -1.20456521e-01 -1.66152299e-02 -4.36032016e+02] [-1.20443463e-01 -9.92718578e-01 1.78803039e-03 -2.62560724e+02] [-1.67096273e-02 2.26433423e-04 -9.99860359e-01 -1.75385773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1341.366559995 meters 0.014193532884720037 Centerline is valid? [True, True] Translation: X:-436.03, Y:-262.57, Z:-1.76 [[ 9.98992554e-01 -4.17714295e-02 -1.64020082e-02 -4.36029674e+02] [-4.17692885e-02 -9.99127171e-01 4.73232944e-04 -2.62570398e+02] [-1.64074596e-02 2.12344024e-04 -9.99865366e-01 -1.75633179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1341.396559995 meters 0.01400275658021986 Centerline is valid? [True, True] Translation: X:-436.03, Y:-262.58, Z:-1.76 [[ 9.99158668e-01 3.76705207e-02 -1.62138002e-02 -4.36026126e+02] [ 3.76624443e-02 -9.99290196e-01 -8.03286140e-04 -2.62578700e+02] [-1.62325518e-02 1.91958963e-04 -9.99868225e-01 -1.75720607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1341.426559995 meters 0.01416837777932905 Centerline is valid? [True, True] Translation: X:-436.02, Y:-262.59, Z:-1.76 [[ 9.92940125e-01 1.17567225e-01 -1.57434258e-02 -4.36023835e+02] [ 1.17549908e-01 -9.93064914e-01 -2.02401795e-03 -2.62586591e+02] [-1.58722020e-02 1.59090376e-04 -9.99874016e-01 -1.75687897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1341.4565599950001 meters 0.013178496772510404 Centerline is valid? [True, True] Translation: X:-436.02, Y:-262.60, Z:-1.76 [[ 9.79677578e-01 2.00088231e-01 -1.40193978e-02 -4.36017984e+02] [ 2.00066749e-01 -9.79777881e-01 -2.93271043e-03 -2.62598683e+02] [-1.43226967e-02 6.82952967e-05 -9.99897423e-01 -1.75773325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1341.486559995 meters 0.012851279476239527 Centerline is valid? [True, True] Translation: X:-436.01, Y:-262.61, Z:-1.76 [[ 9.60043403e-01 2.79528483e-01 -1.34347300e-02 -4.36012441e+02] [ 2.79500852e-01 -9.60137400e-01 -3.93026147e-03 -2.62606054e+02] [-1.39978068e-02 1.82031089e-05 -9.99902026e-01 -1.75767830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1341.516559995 meters 0.012804063245564564 Centerline is valid? [True, True] Translation: X:-436.01, Y:-262.61, Z:-1.76 [[ 9.33927037e-01 3.57250136e-01 -1.23543753e-02 -4.36006613e+02] [ 3.57219325e-01 -9.34008747e-01 -4.69200504e-03 -2.62612501e+02] [-1.32153140e-02 -3.12312241e-05 -9.99912674e-01 -1.75798010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1341.546559995 meters 0.013043399491282845 Centerline is valid? [True, True] Translation: X:-436.00, Y:-262.62, Z:-1.76 [[ 9.01721614e-01 4.32155863e-01 -1.18085240e-02 -4.36000056e+02] [ 4.32119862e-01 -9.01798927e-01 -5.57855328e-03 -2.62617390e+02] [-1.30597188e-02 -7.23956898e-05 -9.99914716e-01 -1.75776841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1341.576559995 meters 0.013358612923774698 Centerline is valid? [True, True] Translation: X:-435.99, Y:-262.62, Z:-1.76 [[ 8.63715538e-01 5.03859481e-01 -1.10042193e-02 -4.35994092e+02] [ 5.03820155e-01 -8.63785629e-01 -6.29598520e-03 -2.62620430e+02] [-1.26775784e-02 -1.06207242e-04 -9.99919631e-01 -1.75767062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1341.606559995 meters 0.013762320061338618 Centerline is valid? [True, True] Translation: X:-435.99, Y:-262.62, Z:-1.76 [[ 8.20534193e-01 5.71499688e-01 -1.05709733e-02 -4.35987948e+02] [ 5.71454323e-01 -8.20602273e-01 -7.20191431e-03 -2.62621497e+02] [-1.27904565e-02 -1.31411463e-04 -9.99918190e-01 -1.75751638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1341.636559995 meters 0.01436780853646559 Centerline is valid? [True, True] Translation: X:-435.98, Y:-262.62, Z:-1.76 [[ 7.72012648e-01 6.35530600e-01 -9.86554636e-03 -4.35982364e+02] [ 6.35481274e-01 -7.72075665e-01 -7.91943924e-03 -2.62622144e+02] [-1.26499942e-02 -1.55462721e-04 -9.99919974e-01 -1.75718563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1341.666559995 meters 0.013554244509520683 Centerline is valid? [True, True] Translation: X:-435.97, Y:-262.62, Z:-1.76 [[ 7.19914277e-01 6.94000910e-01 -9.28284044e-03 -4.35973298e+02] [ 6.93946008e-01 -7.19974106e-01 -8.73076180e-03 -2.62624321e+02] [-1.27425614e-02 -1.56389996e-04 -9.99918798e-01 -1.75913032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1341.6965599950001 meters 0.01363243444987999 Centerline is valid? [True, True] Translation: X:-435.96, Y:-262.63, Z:-1.76 [[ 6.63538951e-01 7.48090894e-01 -8.72211842e-03 -4.35964197e+02] [ 7.48029351e-01 -6.63596255e-01 -9.59685228e-03 -2.62628123e+02] [-1.29672829e-02 -1.56515290e-04 -9.99915909e-01 -1.75847441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1341.7265599950001 meters 0.013591073477441455 Centerline is valid? [True, True] Translation: X:-435.95, Y:-262.63, Z:-1.76 [[ 6.03364907e-01 7.97420549e-01 -8.44144897e-03 -4.35954820e+02] [ 7.97346159e-01 -6.03423933e-01 -1.08930606e-02 -2.62629678e+02] [-1.37801227e-02 -1.58266442e-04 -9.99905037e-01 -1.75723983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1341.756559995 meters 0.013506232853285715 Centerline is valid? [True, True] Translation: X:-435.95, Y:-262.63, Z:-1.76 [[ 5.39466907e-01 8.41968291e-01 -8.05311519e-03 -4.35945639e+02] [ 8.41878930e-01 -5.39526987e-01 -1.22677157e-02 -2.62630698e+02] [-1.46739006e-02 -1.61721380e-04 -9.99892320e-01 -1.75650914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1341.786559995 meters 0.013376902938724056 Centerline is valid? [True, True] Translation: X:-435.94, Y:-262.63, Z:-1.76 [[ 4.73158123e-01 8.80942960e-01 -7.80334806e-03 -4.35937746e+02] [ 8.80828510e-01 -4.73222440e-01 -1.42006166e-02 -2.62629768e+02] [-1.62026526e-02 -1.54274357e-04 -9.99868717e-01 -1.75582196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1341.816559995 meters 0.013442798788118028 Centerline is valid? [True, True] Translation: X:-435.93, Y:-262.63, Z:-1.76 [[ 4.03437752e-01 9.14980610e-01 -6.96159090e-03 -4.35929475e+02] [ 9.14850667e-01 -4.03497784e-01 -1.54206091e-02 -2.62628922e+02] [-1.69185448e-02 -1.47560220e-04 -9.99856861e-01 -1.75580634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1341.846559995 meters 0.013488021787506329 Centerline is valid? [True, True] Translation: X:-435.92, Y:-262.63, Z:-1.76 [[ 3.31425754e-01 9.43462501e-01 -5.95647955e-03 -4.35922159e+02] [ 9.43317504e-01 -3.31479247e-01 -1.65407175e-02 -2.62628913e+02] [-1.75799960e-02 -1.36831653e-04 -9.99845451e-01 -1.75502478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1341.876559995 meters 0.013451879911618564 Centerline is valid? [True, True] Translation: X:-435.91, Y:-262.63, Z:-1.75 [[ 2.57526571e-01 9.66258734e-01 -4.91158566e-03 -4.35914832e+02] [ 9.66092264e-01 -2.57573373e-01 -1.79358680e-02 -2.62627226e+02] [-1.85957828e-02 -1.26082322e-04 -9.99827076e-01 -1.75432989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1341.906559995 meters 0.013389580951535661 Centerline is valid? [True, True] Translation: X:-435.91, Y:-262.63, Z:-1.75 [[ 1.82021750e-01 9.83287985e-01 -3.58079200e-03 -4.35907024e+02] [ 9.83109582e-01 -1.82056934e-01 -1.87302555e-02 -2.62625164e+02] [-1.90691432e-02 -1.10997045e-04 -9.99818161e-01 -1.75380089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1341.9365599950002 meters 0.013210941679554436 Centerline is valid? [True, True] Translation: X:-435.90, Y:-262.62, Z:-1.75 [[ 1.06873411e-01 9.94270141e-01 -2.22715878e-03 -4.35899546e+02] [ 9.94067519e-01 -1.06896592e-01 -2.00720386e-02 -2.62622542e+02] [-2.01951043e-02 -6.87789868e-05 -9.99796056e-01 -1.75361676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1341.9665599950001 meters 0.013335072906228788 Centerline is valid? [True, True] Translation: X:-435.89, Y:-262.62, Z:-1.75 [[ 3.00237348e-02 9.99548980e-01 -6.42675737e-04 -4.35892314e+02] [ 9.99349307e-01 -3.00305824e-02 -1.99781396e-02 -2.62620172e+02] [-1.99884290e-02 -4.24391871e-05 -9.99800211e-01 -1.75257687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1341.996559995 meters 0.013392164217763671 Centerline is valid? [True, True] Translation: X:-435.89, Y:-262.62, Z:-1.75 [[-4.68103765e-02 9.98903366e-01 9.24385149e-04 -4.35888303e+02] [ 9.98703443e-01 4.68195012e-02 -1.99841864e-02 -2.62617857e+02] [-2.00055503e-02 -1.22806584e-05 -9.99799869e-01 -1.75252478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1342.026559995 meters 0.013193428914968901 Centerline is valid? [True, True] Translation: X:-435.88, Y:-262.61, Z:-1.75 [[-1.23180916e-01 9.92381234e-01 2.43908556e-03 -4.35882244e+02] [ 9.92190347e-01 1.23205060e-01 -1.94635254e-02 -2.62614543e+02] [-1.96157450e-02 2.25022624e-05 -9.99807593e-01 -1.75438049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1342.056559995 meters 0.013429135220624538 Centerline is valid? [True, True] Translation: X:-435.88, Y:-262.61, Z:-1.75 [[-1.98495483e-01 9.80094129e-01 3.87827445e-03 -4.35877390e+02] [ 9.79913138e-01 1.98533358e-01 -1.88347643e-02 -2.62612283e+02] [-1.92298087e-02 6.17564521e-05 -9.99815088e-01 -1.75400010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1342.086559995 meters 0.013915587504693067 Centerline is valid? [True, True] Translation: X:-435.88, Y:-262.61, Z:-1.75 [[-2.72254091e-01 9.62210431e-01 5.36626619e-03 -4.35875450e+02] [ 9.62031512e-01 2.72306949e-01 -1.85552182e-02 -2.62610328e+02] [-1.93152961e-02 1.10783119e-04 -9.99813436e-01 -1.75358264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1342.116559995 meters 0.013915587504693067 Centerline is valid? [True, True] Translation: X:-435.87, Y:-262.61, Z:-1.75 [[-3.46782543e-01 9.37920883e-01 6.80337098e-03 -4.35871879e+02] [ 9.37746655e-01 3.46849255e-01 -1.80777603e-02 -2.62607394e+02] [-1.93152530e-02 1.10786698e-04 -9.99813437e-01 -1.75358301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1342.146559995 meters 0.014065636031098339 Centerline is valid? [True, True] Translation: X:-435.87, Y:-262.60, Z:-1.76 [[-4.14924130e-01 9.09820300e-01 8.06154658e-03 -4.35869320e+02] [ 9.09657794e-01 4.15002389e-01 -1.71963872e-02 -2.62604041e+02] [-1.89911832e-02 1.98052683e-04 -9.99819632e-01 -1.75562007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1342.176559995 meters 0.014408359472009516 Centerline is valid? [True, True] Translation: X:-435.87, Y:-262.60, Z:-1.76 [[-4.83317893e-01 8.75394951e-01 9.35380596e-03 -4.35865071e+02] [ 8.75240204e-01 4.83408343e-01 -1.64608759e-02 -2.62600144e+02] [-1.89314755e-02 2.30991153e-04 -9.99820757e-01 -1.75557047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1342.2065599950001 meters 0.014579984218560712 Centerline is valid? [True, True] Translation: X:-435.86, Y:-262.60, Z:-1.76 [[-5.48976240e-01 8.35773928e-01 1.03455099e-02 -4.35861283e+02] [ 8.35634254e-01 5.49073653e-01 -1.52812790e-02 -2.62595791e+02] [-1.84521415e-02 2.56003338e-04 -9.99829712e-01 -1.75694704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1342.236559995 meters 0.014720597855806183 Centerline is valid? [True, True] Translation: X:-435.86, Y:-262.59, Z:-1.76 [[-6.12725121e-01 7.90212432e-01 1.14995008e-02 -4.35856627e+02] [ 7.90081092e-01 6.12832968e-01 -1.44090816e-02 -2.62590350e+02] [-1.84335086e-02 2.56731866e-04 -9.99830056e-01 -1.75717452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1342.266559995 meters 0.014641891935882077 Centerline is valid? [True, True] Translation: X:-435.85, Y:-262.58, Z:-1.76 [[-6.73239298e-01 7.39314923e-01 1.27394338e-02 -4.35852311e+02] [ 7.39189469e-01 6.73359774e-01 -1.36214796e-02 -2.62583966e+02] [-1.86487854e-02 2.46339944e-04 -9.99826066e-01 -1.75713004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1342.296559995 meters 0.014318843541501649 Centerline is valid? [True, True] Translation: X:-435.85, Y:-262.58, Z:-1.76 [[-7.29918813e-01 6.83389199e-01 1.40616228e-02 -4.35846938e+02] [ 6.83268406e-01 7.30054211e-01 -1.28504992e-02 -2.62576361e+02] [-1.90476393e-02 2.28041481e-04 -9.99818551e-01 -1.75721019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1342.326559995 meters 0.0146328694729152 Centerline is valid? [True, True] Translation: X:-435.83, Y:-262.55, Z:-1.76 [[-7.77384647e-01 6.28839206e-01 1.53089229e-02 -4.35830329e+02] [ 6.28722445e-01 7.77535344e-01 -1.21192223e-02 -2.62554162e+02] [-1.95242708e-02 2.03766093e-04 -9.99809363e-01 -1.75546786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1342.356559995 meters 0.013984120838200383 Centerline is valid? [True, True] Translation: X:-435.82, Y:-262.53, Z:-1.76 [[-8.21039931e-01 5.70625963e-01 1.67165261e-02 -4.35815516e+02] [ 5.70511963e-01 8.21210072e-01 -1.14069799e-02 -2.62528924e+02] [-2.02368985e-02 1.71392098e-04 -9.99795199e-01 -1.75636326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1342.386559995 meters 0.013432355765694695 Centerline is valid? [True, True] Translation: X:-435.47, Y:-262.03, Z:-2.83 [[-7.88633966e-01 -6.14651350e-01 1.61302857e-02 -4.35472117e+02] [ 6.14518855e-01 -7.88798894e-01 -1.27625266e-02 -2.62027340e+02] [ 2.05680557e-02 -1.52597226e-04 9.99788444e-01 -2.83441631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1342.416559995 meters 0.013234243286054813 Centerline is valid? [True, True] Translation: X:-435.85, Y:-262.50, Z:-1.76 [[-8.26711795e-01 5.62390520e-01 1.62638158e-02 -4.35852351e+02] [ 5.62282675e-01 8.26871757e-01 -1.10132688e-02 -2.62501727e+02] [-1.96418478e-02 4.00626467e-05 -9.99807080e-01 -1.75785549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1342.4465599950001 meters 0.013151784023359146 Centerline is valid? [True, True] Translation: X:-435.84, Y:-262.48, Z:-1.76 [[-8.65491745e-01 5.00660567e-01 1.62184085e-02 -4.35840363e+02] [ 5.00572699e-01 8.65643689e-01 -9.37955177e-03 -2.62475565e+02] [-1.87353347e-02 5.67907060e-07 -9.99824478e-01 -1.75835238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1342.4765599950001 meters 0.013026455570594345 Centerline is valid? [True, True] Translation: X:-435.83, Y:-262.45, Z:-1.76 [[-8.99533481e-01 4.36562642e-01 1.58926809e-02 -4.35831048e+02] [ 4.36493953e-01 8.99673863e-01 -7.74401884e-03 -2.62448325e+02] [-1.76789790e-02 -2.89450945e-05 -9.99843714e-01 -1.75923548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1342.506559995 meters 0.012973759867290635 Centerline is valid? [True, True] Translation: X:-435.57, Y:-261.91, Z:-2.83 [[-8.65877499e-01 -5.00055813e-01 1.41541892e-02 -4.35566508e+02] [ 4.99987967e-01 -8.65993176e-01 -8.23727353e-03 -2.61907461e+02] [ 1.63765277e-02 -5.55455419e-05 9.99865894e-01 -2.83136894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1342.536559995 meters 0.01296534504985367 Centerline is valid? [True, True] Translation: X:-435.87, Y:-262.43, Z:-1.76 [[-9.02120639e-01 4.31265652e-01 1.37219064e-02 -4.35874269e+02] [ 4.31214777e-01 9.02224991e-01 -6.62437292e-03 -2.62428333e+02] [-1.52371114e-02 -5.88946984e-05 -9.99883907e-01 -1.76147945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1342.566559995 meters 0.012940878266108097 Centerline is valid? [True, True] Translation: X:-435.86, Y:-262.40, Z:-1.76 [[-9.30846921e-01 3.65201500e-01 1.23237111e-02 -4.35864206e+02] [ 3.65168556e-01 9.30928494e-01 -4.90569293e-03 -2.62403553e+02] [-1.32640602e-02 -6.62173722e-05 -9.99912027e-01 -1.76322050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1342.596559995 meters 0.012852549673809313 Centerline is valid? [True, True] Translation: X:-435.86, Y:-262.38, Z:-1.76 [[-9.54557913e-01 2.97784839e-01 1.19741285e-02 -4.35861010e+02] [ 2.97760498e-01 9.54633011e-01 -3.80808502e-03 -2.62376116e+02] [-1.25648883e-02 -6.96152391e-05 -9.99921056e-01 -1.76457660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1342.626559995 meters 0.012860967991058852 Centerline is valid? [True, True] Translation: X:-435.68, Y:-261.80, Z:-2.83 [[-9.28076554e-01 -3.72229702e-01 1.09067824e-02 -4.35675818e+02] [ 3.72204165e-01 -9.28140641e-01 -4.36018425e-03 -2.61798616e+02] [ 1.17460181e-02 1.29650657e-05 9.99931013e-01 -2.82698118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1342.656559995 meters 0.01307550699586308 Centerline is valid? [True, True] Translation: X:-435.91, Y:-262.36, Z:-1.76 [[-9.55990251e-01 2.93200101e-01 1.07861219e-02 -4.35908330e+02] [ 2.93180561e-01 9.56051095e-01 -3.38575599e-03 -2.62361586e+02] [-1.13047876e-02 -7.44684639e-05 -9.99936096e-01 -1.76388584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1342.6865599950002 meters 0.013088510434475667 Centerline is valid? [True, True] Translation: X:-435.91, Y:-262.33, Z:-1.76 [[-9.74610572e-01 2.23627681e-01 1.11756043e-02 -4.35907738e+02] [ 2.23611948e-01 9.74674639e-01 -2.65409312e-03 -2.62333074e+02] [-1.14861068e-02 -8.77085641e-05 -9.99934029e-01 -1.76345632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1342.7165599950001 meters 0.013292759293318293 Centerline is valid? [True, True] Translation: X:-435.90, Y:-262.31, Z:-1.76 [[-9.88191453e-01 1.52743322e-01 1.21297068e-02 -4.35902257e+02] [ 1.52730473e-01 9.88265888e-01 -1.98412367e-03 -2.62306016e+02] [-1.22904371e-02 -1.08118190e-04 -9.99924464e-01 -1.76292350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1342.746559995 meters 0.013588378833924386 Centerline is valid? [True, True] Translation: X:-435.91, Y:-262.28, Z:-1.76 [[-9.96736812e-01 7.96768938e-02 1.29352246e-02 -4.35905088e+02] [ 7.96682689e-02 9.96820732e-01 -1.18152121e-03 -2.62277471e+02] [-1.29882400e-02 -1.47138736e-04 -9.99915639e-01 -1.76272126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1342.776559995 meters 0.013766609851534866 Centerline is valid? [True, True] Translation: X:-435.85, Y:-261.67, Z:-2.83 [[-9.85284542e-01 -1.70410184e-01 1.32189846e-02 -4.35849962e+02] [ 1.70397269e-01 -9.85373197e-01 -2.10550926e-03 -2.61674635e+02] [ 1.33844333e-02 1.77953142e-04 9.99910409e-01 -2.82891416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1342.806559995 meters 0.014215129555300493 Centerline is valid? [True, True] Translation: X:-435.97, Y:-262.27, Z:-1.76 [[-9.97254412e-01 7.27219467e-02 1.39698638e-02 -4.35967103e+02] [ 7.27120209e-02 9.97352234e-01 -1.21779125e-03 -2.62270738e+02] [-1.40214350e-02 -1.98670671e-04 -9.99901675e-01 -1.76170707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1342.836559995 meters 0.014313164353088544 Centerline is valid? [True, True] Translation: X:-435.97, Y:-262.24, Z:-1.76 [[-9.99890898e-01 5.28295331e-04 1.47618887e-02 -4.35965456e+02] [ 5.24897035e-04 9.99999835e-01 -2.34080956e-04 -2.62242448e+02] [-1.47620099e-02 -2.26306945e-04 -9.99891010e-01 -1.76121787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1342.866559995 meters 0.014664256130996693 Centerline is valid? [True, True] Translation: X:-435.96, Y:-261.64, Z:-2.83 [[-9.94916784e-01 -9.95368482e-02 1.52646099e-02 -4.35958207e+02] [ 9.95293194e-02 -9.95033840e-01 -1.25400262e-03 -2.61642098e+02] [ 1.53136229e-02 2.71647979e-04 9.99882703e-01 -2.83149479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1342.896559995 meters 0.014832300465876294 Centerline is valid? [True, True] Translation: X:-436.03, Y:-262.24, Z:-1.76 [[-9.99862955e-01 -5.95399709e-03 1.54473615e-02 -4.36030657e+02] [-5.95740294e-03 9.99982239e-01 -1.74473970e-04 -2.62240244e+02] [-1.54460484e-02 -2.66476217e-04 -9.99880667e-01 -1.75930082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1342.926559995 meters 0.015589737604009533 Centerline is valid? [True, True] Translation: X:-436.03, Y:-261.64, Z:-2.83 [[-9.95195810e-01 -9.67016622e-02 1.52999767e-02 -4.36027858e+02] [ 9.66942202e-02 -9.95313379e-01 -1.22715045e-03 -2.61641892e+02] [ 1.53469390e-02 2.58164322e-04 9.99882196e-01 -2.83343167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1342.9565599950001 meters 0.015479701416273172 Centerline is valid? [True, True] Translation: X:-436.10, Y:-262.24, Z:-1.76 [[-9.99813985e-01 -1.17911863e-02 1.52631585e-02 -4.36100179e+02] [-1.17941274e-02 9.99930442e-01 -1.02687456e-04 -2.62240433e+02] [-1.52608860e-02 -2.82683990e-04 -9.99883506e-01 -1.75854463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1342.986559995 meters 0.015675171194092365 Centerline is valid? [True, True] Translation: X:-436.11, Y:-262.21, Z:-1.76 [[-9.96452277e-01 -8.28330780e-02 1.48842655e-02 -4.36109243e+02] [-8.28279523e-02 9.96563398e-01 9.61555676e-04 -2.62213638e+02] [-1.49127629e-02 -2.74688894e-04 -9.99888761e-01 -1.75853157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1343.016559995 meters 0.01571385921681837 Centerline is valid? [True, True] Translation: X:-436.15, Y:-261.61, Z:-2.83 [[-9.99666750e-01 -2.10773534e-02 1.49041506e-02 -4.36145989e+02] [ 2.10790923e-02 -9.99777811e-01 -4.04299591e-05 -2.61612610e+02] [ 1.49016912e-02 2.73749481e-04 9.99888926e-01 -2.83308642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1343.046559995 meters 0.01496478956439285 Centerline is valid? [True, True] Translation: X:-436.19, Y:-262.22, Z:-1.76 [[-9.96040118e-01 -8.76290064e-02 1.50080037e-02 -4.36188034e+02] [-8.76231239e-02 9.96153143e-01 1.05033353e-03 -2.62221436e+02] [-1.50423098e-02 -2.68873831e-04 -9.99886822e-01 -1.75980739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1343.076559995 meters 0.01497784784314514 Centerline is valid? [True, True] Translation: X:-436.20, Y:-262.19, Z:-1.76 [[-9.87316332e-01 -1.58058215e-01 1.49686823e-02 -4.36197889e+02] [-1.58044113e-01 9.87429760e-01 2.12782644e-03 -2.62194933e+02] [-1.51168428e-02 -2.64874324e-04 -9.99885699e-01 -1.75912746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1343.106559995 meters 0.015319815669395652 Centerline is valid? [True, True] Translation: X:-436.29, Y:-261.59, Z:-2.83 [[-9.98279348e-01 5.65952985e-02 1.53399902e-02 -4.36285107e+02] [-5.65841979e-02 -9.98397160e-01 1.15705088e-03 -2.61593312e+02] [ 1.53808863e-02 2.87058953e-04 9.99881666e-01 -2.83360770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1343.136559995 meters 0.015375667210146857 Centerline is valid? [True, True] Translation: X:-436.30, Y:-262.21, Z:-1.76 [[-9.86408156e-01 -1.63597567e-01 1.53227232e-02 -4.36299946e+02] [-1.63581957e-01 9.86527125e-01 2.27512074e-03 -2.62209113e+02] [-1.54884863e-02 -2.62323394e-04 -9.99880012e-01 -1.75760850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1343.166559995 meters 0.015327480441969986 Centerline is valid? [True, True] Translation: X:-436.32, Y:-262.19, Z:-1.76 [[-9.72249707e-01 -2.33452510e-01 1.51800451e-02 -4.36317992e+02] [-2.33428165e-01 9.72368171e-01 3.38106859e-03 -2.62185094e+02] [-1.55499116e-02 -2.56207123e-04 -9.99879060e-01 -1.75766506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1343.1965599950001 meters 0.015405313401480054 Centerline is valid? [True, True] Translation: X:-436.35, Y:-262.17, Z:-1.76 [[-9.53068330e-01 -3.02393471e-01 1.47968931e-02 -4.36346831e+02] [-3.02361073e-01 9.53183155e-01 4.43338072e-03 -2.62165240e+02] [-1.54447746e-02 -2.48689702e-04 -9.99880692e-01 -1.75771671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1343.2265599950001 meters 0.01525944517116157 Centerline is valid? [True, True] Translation: X:-436.40, Y:-262.15, Z:-1.76 [[-9.28849219e-01 -3.70180727e-01 1.43303310e-02 -4.36397731e+02] [-3.70140606e-01 9.28959727e-01 5.45512375e-03 -2.62154523e+02] [-1.53316821e-02 -2.37249980e-04 -9.99882435e-01 -1.75809978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1343.256559995 meters 0.014967563691459037 Centerline is valid? [True, True] Translation: X:-436.45, Y:-262.15, Z:-1.76 [[-8.99557743e-01 -4.36592347e-01 1.35273413e-02 -4.36454751e+02] [-4.36546580e-01 8.99659422e-01 6.32514308e-03 -2.62149527e+02] [-1.49315091e-02 -2.15483133e-04 -9.99888496e-01 -1.75835771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1343.286559995 meters 0.014590098415625927 Centerline is valid? [True, True] Translation: X:-436.53, Y:-262.16, Z:-1.76 [[-8.65962762e-01 -4.99953929e-01 1.24323553e-02 -4.36525004e+02] [-4.99905277e-01 8.66051984e-01 6.97672915e-03 -2.62155109e+02] [-1.42551091e-02 -1.73412391e-04 -9.99898376e-01 -1.75834236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1343.316559995 meters 0.014381776940236561 Centerline is valid? [True, True] Translation: X:-436.60, Y:-262.17, Z:-1.76 [[-8.27126537e-01 -5.61893820e-01 1.17058690e-02 -4.36602080e+02] [-5.61840155e-01 8.27209352e-01 7.76710010e-03 -2.62169819e+02] [-1.40474899e-02 -1.52452660e-04 -9.99901318e-01 -1.75855223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1343.346559995 meters 0.013813594589002762 Centerline is valid? [True, True] Translation: X:-436.68, Y:-262.19, Z:-1.76 [[-7.83705603e-01 -6.21042041e-01 1.05977129e-02 -4.36680682e+02] [-6.20987424e-01 7.83777244e-01 8.23718762e-03 -2.62193033e+02] [-1.34218860e-02 -1.25516313e-04 -9.99909915e-01 -1.75962427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1343.376559995 meters 0.01330970032498221 Centerline is valid? [True, True] Translation: X:-436.76, Y:-262.23, Z:-1.76 [[-7.36005260e-01 -6.76902122e-01 9.98873827e-03 -4.36764853e+02] [-6.76841669e-01 7.36073031e-01 9.04701854e-03 -2.62228536e+02] [-1.34763869e-02 -1.02141049e-04 -9.99909184e-01 -1.76120146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1343.406559995 meters 0.013148536130157842 Centerline is valid? [True, True] Translation: X:-436.85, Y:-262.27, Z:-1.76 [[-6.84161774e-01 -7.29270351e-01 9.35000790e-03 -4.36849390e+02] [-7.29203825e-01 6.84225657e-01 9.85053309e-03 -2.62272756e+02] [-1.35812170e-02 -7.87033329e-05 -9.99907768e-01 -1.76062323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1343.4365599950002 meters 0.013051359479242873 Centerline is valid? [True, True] Translation: X:-436.93, Y:-262.33, Z:-1.76 [[-6.28968911e-01 -7.77380647e-01 8.79998570e-03 -4.36932068e+02] [-7.77305603e-01 6.29030467e-01 1.08014858e-02 -2.62326816e+02] [-1.39323251e-02 -4.64794155e-05 -9.99902940e-01 -1.76074565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1343.4665599950001 meters 0.013154066724701017 Centerline is valid? [True, True] Translation: X:-437.01, Y:-262.39, Z:-1.76 [[-5.72709230e-01 -8.19710581e-01 8.87133239e-03 -4.37008586e+02] [-8.19611309e-01 5.72777934e-01 1.27570074e-02 -2.62388928e+02] [-1.55383574e-02 3.50115240e-05 -9.99879272e-01 -1.76057873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1343.496559995 meters 0.013384508475734509 Centerline is valid? [True, True] Translation: X:-437.09, Y:-262.47, Z:-1.76 [[-5.11004102e-01 -8.59541009e-01 8.00385519e-03 -4.37091258e+02] [-8.59433208e-01 5.11066774e-01 1.36130058e-02 -2.62467757e+02] [-1.57914412e-02 7.75228757e-05 -9.99875305e-01 -1.75998444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1343.526559995 meters 0.013661087739206225 Centerline is valid? [True, True] Translation: X:-437.16, Y:-262.54, Z:-1.76 [[-4.46173793e-01 -8.94918727e-01 7.02989938e-03 -4.37163827e+02] [-8.94803418e-01 4.46229155e-01 1.43661103e-02 -2.62544272e+02] [-1.59934472e-02 1.19403946e-04 -9.99872090e-01 -1.75953454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1343.556559995 meters 0.014222551718238946 Centerline is valid? [True, True] Translation: X:-437.23, Y:-262.64, Z:-1.76 [[-3.78690948e-01 -9.25503815e-01 5.98784666e-03 -4.37233632e+02] [-9.25381396e-01 3.78738251e-01 1.50535487e-02 -2.62635166e+02] [-1.61999434e-02 1.59600747e-04 -9.99868760e-01 -1.75840028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1343.586559995 meters 0.014725217229577378 Centerline is valid? [True, True] Translation: X:-437.29, Y:-262.73, Z:-1.76 [[-3.08871386e-01 -9.51091395e-01 4.86055682e-03 -4.37294604e+02] [-9.50963407e-01 3.08909564e-01 1.56038206e-02 -2.62725771e+02] [-1.63421320e-02 1.97362019e-04 -9.99866439e-01 -1.75850007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1343.616559995 meters 0.014971186303005306 Centerline is valid? [True, True] Translation: X:-437.35, Y:-262.83, Z:-1.76 [[-2.37291708e-01 -9.71432063e-01 3.52021603e-03 -4.37352898e+02] [-9.71310662e-01 2.37317710e-01 1.53591423e-02 -2.62829662e+02] [-1.57557729e-02 2.25373730e-04 -9.99875845e-01 -1.75970161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1343.646559995 meters 0.014837348496486154 Centerline is valid? [True, True] Translation: X:-437.40, Y:-262.94, Z:-1.76 [[-1.61782994e-01 -9.86823552e-01 2.35380789e-03 -4.37402377e+02] [-9.86698257e-01 1.61799964e-01 1.57264446e-02 -2.62935807e+02] [-1.59000720e-02 2.21773155e-04 -9.99873562e-01 -1.75989765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1343.676559995 meters 0.014582075143673516 Centerline is valid? [True, True] Translation: X:-437.44, Y:-263.05, Z:-1.76 [[-8.48144195e-02 -9.96396112e-01 1.14087581e-03 -4.37444171e+02] [-9.96269989e-01 8.48218372e-02 1.58544720e-02 -2.63047323e+02] [-1.58941054e-02 2.08067500e-04 -9.99873659e-01 -1.76057346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1343.7065599950001 meters 0.013507689895738566 Centerline is valid? [True, True] Translation: X:-437.48, Y:-263.17, Z:-1.76 [[-4.62682775e-03 -9.99989294e-01 -6.99124778e-05 -4.37480549e+02] [-9.99885271e-01 4.62533802e-03 1.44240168e-02 -2.63166098e+02] [-1.44235390e-02 1.36641898e-04 -9.99895966e-01 -1.76361347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1343.736559995 meters 0.013144475690331737 Centerline is valid? [True, True] Translation: X:-437.51, Y:-263.28, Z:-1.76 [[ 7.44920640e-02 -9.97221057e-01 -1.04714698e-03 -4.37506871e+02] [-9.97138669e-01 -7.44993701e-02 1.28186789e-02 -2.63282343e+02] [-1.28610683e-02 8.92609000e-05 -9.99917289e-01 -1.76472213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1343.766559995 meters 0.013031594912468906 Centerline is valid? [True, True] Translation: X:-437.52, Y:-263.40, Z:-1.76 [[ 1.53476497e-01 -9.88150627e-01 -1.81728734e-03 -4.37524081e+02] [-9.88084903e-01 -1.53487249e-01 1.13968534e-02 -2.63399799e+02] [-1.15407383e-02 4.64850503e-05 -9.99933403e-01 -1.76449069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1343.796559995 meters 0.01263169392437952 Centerline is valid? [True, True] Translation: X:-437.53, Y:-263.51, Z:-1.77 [[ 2.31228015e-01 -9.72896617e-01 -2.40376357e-03 -4.37533795e+02] [-9.72844476e-01 -2.31240509e-01 1.00724109e-02 -2.63512971e+02] [-1.03552620e-02 9.46452172e-06 -9.99946383e-01 -1.76624622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1343.826559995 meters 0.012745608652409727 Centerline is valid? [True, True] Translation: X:-437.53, Y:-263.63, Z:-1.77 [[ 3.07839322e-01 -9.51433631e-01 -2.99962651e-03 -4.37532911e+02] [-9.51387800e-01 -3.07853935e-01 9.33854468e-03 -2.63632072e+02] [-9.80845230e-03 -2.09631941e-05 -9.99951896e-01 -1.76510942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1343.856559995 meters 0.012978598191107296 Centerline is valid? [True, True] Translation: X:-437.52, Y:-263.75, Z:-1.77 [[ 3.82156903e-01 -9.24090937e-01 -3.47020967e-03 -4.37523069e+02] [-9.24051783e-01 -3.82172656e-01 8.50666860e-03 -2.63748613e+02] [-9.18715460e-03 -4.42286887e-05 -9.99957796e-01 -1.76527667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1343.886559995 meters 0.013274899141912197 Centerline is valid? [True, True] Translation: X:-437.51, Y:-263.86, Z:-1.77 [[ 4.55629048e-01 -8.90161233e-01 -3.89240718e-03 -4.37508285e+02] [-8.90127074e-01 -4.55645665e-01 7.79876312e-03 -2.63857816e+02] [-8.71571505e-03 -8.86059988e-05 -9.99962014e-01 -1.76721477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1343.916559995 meters 0.014308194886715694 Centerline is valid? [True, True] Translation: X:-437.48, Y:-263.97, Z:-1.77 [[ 5.23885181e-01 -8.51777912e-01 -4.32493217e-03 -4.37480849e+02] [-8.51747248e-01 -5.23903023e-01 7.22830053e-03 -2.63973665e+02] [-8.42275177e-03 -1.03050463e-04 -9.99964523e-01 -1.76602277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1343.9465599950001 meters 0.013950635869595314 Centerline is valid? [True, True] Translation: X:-437.45, Y:-264.07, Z:-1.77 [[ 5.88743540e-01 -8.08305450e-01 -4.83142782e-03 -4.37449775e+02] [-8.08276577e-01 -5.88763352e-01 6.83303002e-03 -2.64072280e+02] [-8.36774305e-03 -1.17772350e-04 -9.99964983e-01 -1.76712491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1343.9765599950001 meters 0.014565804279845346 Centerline is valid? [True, True] Translation: X:-437.41, Y:-264.17, Z:-1.77 [[ 6.49508377e-01 -7.60333221e-01 -5.67998027e-03 -4.37410594e+02] [-7.60302274e-01 -6.49533198e-01 6.86132812e-03 -2.64173480e+02] [-8.90623145e-03 -1.37988174e-04 -9.99960329e-01 -1.76605344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1344.006559995 meters 0.014565804279845346 Centerline is valid? [True, True] Translation: X:-437.36, Y:-264.27, Z:-1.77 [[ 7.05280964e-01 -7.08900926e-01 -6.18382015e-03 -4.37364154e+02] [-7.08871950e-01 -7.05308059e-01 6.41095520e-03 -2.64267190e+02] [-8.90623027e-03 -1.37988009e-04 -9.99960329e-01 -1.76605349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1344.036559995 meters 0.014900855203577769 Centerline is valid? [True, True] Translation: X:-437.31, Y:-264.36, Z:-1.77 [[ 7.57510952e-01 -6.52784956e-01 -6.99706193e-03 -4.37312805e+02] [-6.52755208e-01 -7.57543251e-01 6.23393719e-03 -2.64357160e+02] [-9.36999746e-03 -1.54907077e-04 -9.99956089e-01 -1.76547572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1344.066559995 meters 0.015135422401486126 Centerline is valid? [True, True] Translation: X:-437.31, Y:-264.37, Z:-1.76 [[ 8.06420897e-01 -5.91286445e-01 -8.10418001e-03 -4.37309243e+02] [-5.91254432e-01 -8.06461599e-01 6.15520249e-03 -2.64365404e+02] [-1.01751978e-02 -1.72051563e-04 -9.99948217e-01 -1.76447278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1344.096559995 meters 0.014560427017788391 Centerline is valid? [True, True] Translation: X:-437.31, Y:-264.38, Z:-1.77 [[ 8.50335850e-01 -5.26153564e-01 -9.55876207e-03 -4.37305873e+02] [-5.26117727e-01 -8.50389551e-01 6.14398306e-03 -2.64375200e+02] [-1.13613500e-02 -1.95414878e-04 -9.99935439e-01 -1.76509766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1344.126559995 meters 0.014827724355533057 Centerline is valid? [True, True] Translation: X:-437.30, Y:-264.39, Z:-1.76 [[ 8.88526696e-01 -4.58710841e-01 -1.02310510e-02 -4.37303117e+02] [-4.58677948e-01 -8.88585577e-01 5.49656134e-03 -2.64385017e+02] [-1.16124967e-02 -1.91083998e-04 -9.99932555e-01 -1.76464656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1344.156559995 meters 0.014297510625925934 Centerline is valid? [True, True] Translation: X:-437.30, Y:-264.39, Z:-1.77 [[ 9.21225747e-01 -3.88888000e-01 -1.04520843e-02 -4.37297832e+02] [-3.88860810e-01 -9.21285023e-01 4.60194386e-03 -2.64392712e+02] [-1.14189894e-02 -1.75023220e-04 -9.99934786e-01 -1.76511603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1344.1865599950002 meters 0.013978672103078226 Centerline is valid? [True, True] Translation: X:-437.29, Y:-264.40, Z:-1.77 [[ 9.48209253e-01 -3.17476398e-01 -1.03898694e-02 -4.37292093e+02] [-3.17455626e-01 -9.48266163e-01 3.63467753e-03 -2.64398922e+02] [-1.10062859e-02 -1.48112375e-04 -9.99939418e-01 -1.76527445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1344.2165599950001 meters 0.013526665864483282 Centerline is valid? [True, True] Translation: X:-437.29, Y:-264.40, Z:-1.77 [[ 9.69571447e-01 -2.44583087e-01 -1.05034546e-02 -4.37285473e+02] [-2.44567377e-01 -9.69628330e-01 2.77480883e-03 -2.64404059e+02] [-1.08631184e-02 -1.21573073e-04 -9.99940987e-01 -1.76570600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1344.246559995 meters 0.012970296414756373 Centerline is valid? [True, True] Translation: X:-437.28, Y:-264.41, Z:-1.77 [[ 9.85240436e-01 -1.70848152e-01 -1.05921183e-02 -4.37278425e+02] [-1.70837299e-01 -9.85297367e-01 1.92779534e-03 -2.64409141e+02] [-1.07657466e-02 -8.98130273e-05 -9.99942044e-01 -1.76605825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1344.276559995 meters 0.01244924160014633 Centerline is valid? [True, True] Translation: X:-437.27, Y:-264.41, Z:-1.77 [[ 9.95018777e-01 -9.92322312e-02 -9.51830914e-03 -4.37274412e+02] [-9.92274849e-02 -9.95064301e-01 9.70775957e-04 -2.64412636e+02] [-9.56766190e-03 -2.14624288e-05 -9.99954229e-01 -1.76654462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1344.306559995 meters 0.01243658531669403 Centerline is valid? [True, True] Translation: X:-437.27, Y:-264.42, Z:-1.77 [[ 9.99662274e-01 -2.41900702e-02 -9.49624632e-03 -4.37271748e+02] [-2.41890622e-02 -9.99707378e-01 2.21011727e-04 -2.64418544e+02] [-9.49881379e-03 8.76820731e-06 -9.99954885e-01 -1.76687665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1344.336559995 meters 0.012576283082258517 Centerline is valid? [True, True] Translation: X:-437.27, Y:-264.42, Z:-1.77 [[ 9.98660463e-01 5.09012183e-02 -9.29226809e-03 -4.37269031e+02] [ 5.08986534e-02 -9.98703692e-01 -5.12464165e-04 -2.64423413e+02] [-9.30630750e-03 3.88137672e-05 -9.99956695e-01 -1.76708817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1344.366559995 meters 0.012796773794375181 Centerline is valid? [True, True] Translation: X:-437.27, Y:-264.43, Z:-1.77 [[ 9.91972831e-01 1.26102706e-01 -9.38133985e-03 -4.37265124e+02] [ 1.26096431e-01 -9.92017189e-01 -1.25966639e-03 -2.64429597e+02] [-9.46529773e-03 6.66013609e-05 -9.99955201e-01 -1.76739115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1344.396559995 meters 0.013259926067604974 Centerline is valid? [True, True] Translation: X:-437.26, Y:-264.44, Z:-1.77 [[ 9.79558588e-01 2.00943305e-01 -9.31454971e-03 -4.37261991e+02] [ 2.00933341e-01 -9.79602869e-01 -2.00314242e-03 -2.64435421e+02] [-9.52707767e-03 9.05917674e-05 -9.99954612e-01 -1.76709817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1344.426559995 meters 0.013542170068054856 Centerline is valid? [True, True] Translation: X:-437.26, Y:-264.44, Z:-1.77 [[ 9.61385888e-01 2.75050930e-01 -9.17384530e-03 -4.37258069e+02] [ 2.75037308e-01 -9.61429651e-01 -2.73965942e-03 -2.64440367e+02] [-9.57355276e-03 1.10720195e-04 -9.99954167e-01 -1.76639558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1344.4565599950001 meters 0.01371701642622727 Centerline is valid? [True, True] Translation: X:-437.25, Y:-264.45, Z:-1.77 [[ 9.37520734e-01 3.47764661e-01 -1.07058099e-02 -4.37253111e+02] [ 3.47740110e-01 -9.37581845e-01 -4.13511149e-03 -2.64446149e+02] [-1.14756186e-02 1.53913253e-04 -9.99934141e-01 -1.76581265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1344.486559995 meters 0.014092534477058426 Centerline is valid? [True, True] Translation: X:-437.25, Y:-264.45, Z:-1.76 [[ 9.07295410e-01 4.20345609e-01 -1.11628428e-02 -4.37248851e+02] [ 4.20311582e-01 -9.07364063e-01 -5.35086920e-03 -2.64452745e+02] [-1.23779767e-02 1.62946969e-04 -9.99923377e-01 -1.76434197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1344.516559995 meters 0.013886688797190043 Centerline is valid? [True, True] Translation: X:-437.24, Y:-264.46, Z:-1.76 [[ 8.71082014e-01 4.91012220e-01 -1.10961993e-02 -4.37243210e+02] [ 4.90970116e-01 -8.71152671e-01 -6.43188804e-03 -2.64459226e+02] [-1.28246193e-02 1.54799721e-04 -9.99917749e-01 -1.76389018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1344.546559995 meters 0.013836715946929768 Centerline is valid? [True, True] Translation: X:-437.24, Y:-264.46, Z:-1.76 [[ 8.29234110e-01 5.58793248e-01 -1.09953510e-02 -4.37238182e+02] [ 5.58741818e-01 -8.29306991e-01 -7.58255336e-03 -2.64464522e+02] [-1.33556011e-02 1.44149459e-04 -9.99910800e-01 -1.76317204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1344.576559995 meters 0.013583825692663828 Centerline is valid? [True, True] Translation: X:-437.23, Y:-264.47, Z:-1.76 [[ 7.81940528e-01 6.23259635e-01 -1.07906558e-02 -4.37232358e+02] [ 6.23198040e-01 -7.82014969e-01 -8.76310434e-03 -2.64469140e+02] [-1.39001435e-02 1.27510917e-04 -9.99903380e-01 -1.76277746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1344.606559995 meters 0.013151366355578304 Centerline is valid? [True, True] Translation: X:-437.22, Y:-264.48, Z:-1.76 [[ 7.29507476e-01 6.83892853e-01 -1.04598409e-02 -4.37222978e+02] [ 6.83820460e-01 -7.29582452e-01 -9.95113694e-03 -2.64475655e+02] [-1.44368278e-02 1.06775557e-04 -9.99895778e-01 -1.76342678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1344.636559995 meters 0.013181934666769738 Centerline is valid? [True, True] Translation: X:-437.21, Y:-264.48, Z:-1.76 [[ 6.71289371e-01 7.41134562e-01 -9.49433168e-03 -4.37214210e+02] [ 7.41059212e-01 -6.71356506e-01 -1.05681533e-02 -2.64482505e+02] [-1.42065050e-02 5.84270133e-05 -9.99899081e-01 -1.76173156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1344.666559995 meters 0.012971497705726235 Centerline is valid? [True, True] Translation: X:-437.21, Y:-264.49, Z:-1.76 [[ 6.09891364e-01 7.92435556e-01 -8.85517118e-03 -4.37207287e+02] [ 7.92351185e-01 -6.09955645e-01 -1.15633321e-02 -2.64485437e+02] [-1.45644572e-02 3.59710427e-05 -9.99893932e-01 -1.76218915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1344.6965599950001 meters 0.012982628020930715 Centerline is valid? [True, True] Translation: X:-437.20, Y:-264.49, Z:-1.76 [[ 5.44398180e-01 8.38791243e-01 -7.73773801e-03 -4.37201642e+02] [ 8.38706321e-01 -5.44453166e-01 -1.19355329e-02 -2.64488448e+02] [-1.42242564e-02 7.99259717e-06 -9.99898830e-01 -1.76180715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1344.7265599950001 meters 0.012808910110626563 Centerline is valid? [True, True] Translation: X:-437.19, Y:-264.49, Z:-1.76 [[ 4.75225860e-01 8.79838696e-01 -6.65214502e-03 -4.37193054e+02] [ 8.79753141e-01 -4.75272416e-01 -1.22695354e-02 -2.64491072e+02] [-1.39567931e-02 -2.14449502e-05 -9.99902599e-01 -1.76369979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1344.756559995 meters 0.012716021938577226 Centerline is valid? [True, True] Translation: X:-437.18, Y:-264.49, Z:-1.76 [[ 4.02886047e-01 9.15233812e-01 -5.46825487e-03 -4.37183900e+02] [ 9.15151206e-01 -4.02923152e-01 -1.22965338e-02 -2.64493239e+02] [-1.34574900e-02 -5.01781172e-05 -9.99909443e-01 -1.76436163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1344.786559995 meters 0.012898138046000188 Centerline is valid? [True, True] Translation: X:-437.17, Y:-264.49, Z:-1.77 [[ 3.28445887e-01 9.44512658e-01 -4.37482406e-03 -4.37174824e+02] [ 9.44431728e-01 -3.28475014e-01 -1.23642854e-02 -2.64494411e+02] [-1.31152444e-02 -7.07239706e-05 -9.99913989e-01 -1.76504829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1344.816559995 meters 0.013108472102406562 Centerline is valid? [True, True] Translation: X:-437.17, Y:-264.50, Z:-1.77 [[ 2.50464702e-01 9.68120744e-01 -3.10777960e-03 -4.37165067e+02] [ 9.68051203e-01 -2.50483961e-01 -1.16039993e-02 -2.64495354e+02] [-1.20125214e-02 -1.02097552e-04 -9.99927842e-01 -1.76630082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1344.846559995 meters 0.01333133990864734 Centerline is valid? [True, True] Translation: X:-437.16, Y:-264.50, Z:-1.77 [[ 1.72742988e-01 9.84964799e-01 -2.05051135e-03 -4.37156396e+02] [ 9.84902700e-01 -1.72755124e-01 -1.10606725e-02 -2.64495459e+02] [-1.12486094e-02 -1.08900545e-04 -9.99936727e-01 -1.76655047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1344.876559995 meters 0.013575823730267134 Centerline is valid? [True, True] Translation: X:-437.15, Y:-264.50, Z:-1.77 [[ 9.37037736e-02 9.95599450e-01 -1.15651004e-03 -4.37148588e+02] [ 9.95538886e-01 -9.37108305e-02 -1.09821038e-02 -2.64495827e+02] [-1.10421540e-02 -1.22286152e-04 -9.99939026e-01 -1.76676112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1344.906559995 meters 0.013831289542902477 Centerline is valid? [True, True] Translation: X:-437.14, Y:-264.49, Z:-1.77 [[ 1.42720431e-02 9.99898108e-01 -2.87516311e-04 -4.37142119e+02] [ 9.99839400e-01 -1.42743210e-02 -1.08359259e-02 -2.64493836e+02] [-1.08389259e-02 -1.32819334e-04 -9.99941249e-01 -1.76746799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1344.9365599950002 meters 0.014054365504414105 Centerline is valid? [True, True] Translation: X:-437.14, Y:-264.49, Z:-1.77 [[-6.51713228e-02 9.97873951e-01 5.26819609e-04 -4.37136547e+02] [ 9.97822363e-01 6.51733109e-02 -1.01475256e-02 -2.64491401e+02] [-1.01602860e-02 -1.35655280e-04 -9.99948374e-01 -1.76808388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1344.9665599950001 meters 0.014319933457933535 Centerline is valid? [True, True] Translation: X:-437.13, Y:-264.49, Z:-1.77 [[-1.43887569e-01 9.89593215e-01 1.27931855e-03 -4.37131649e+02] [ 9.89545042e-01 1.43893189e-01 -9.76521917e-03 -2.64489068e+02] [-9.84767986e-03 -1.39150321e-04 -9.99951501e-01 -1.76878193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1344.996559995 meters 0.014329913023172327 Centerline is valid? [True, True] Translation: X:-437.13, Y:-264.49, Z:-1.77 [[-2.21789711e-01 9.75092905e-01 1.77536182e-03 -4.37127108e+02] [ 9.75056885e-01 2.21796779e-01 -8.38216871e-03 -2.64485944e+02] [-8.56716276e-03 -1.28000010e-04 -9.99963293e-01 -1.77031137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1345.026559995 meters 0.014421293937107966 Centerline is valid? [True, True] Translation: X:-437.12, Y:-264.48, Z:-1.77 [[-2.97582228e-01 9.54693441e-01 2.29184693e-03 -4.37121711e+02] [ 9.54661888e-01 2.97591028e-01 -7.76273450e-03 -2.64482727e+02] [-8.09306479e-03 -1.22112911e-04 -9.99967243e-01 -1.77078383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1345.056559995 meters 0.014289162567915696 Centerline is valid? [True, True] Translation: X:-437.12, Y:-264.48, Z:-1.77 [[-3.71728976e-01 9.28337491e-01 2.65918539e-03 -4.37115832e+02] [ 9.28311492e-01 3.71738470e-01 -6.94864665e-03 -2.64478810e+02] [-7.43921071e-03 -1.14460952e-04 -9.99972322e-01 -1.77134659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1345.086559995 meters 0.014047530591217883 Centerline is valid? [True, True] Translation: X:-437.11, Y:-264.47, Z:-1.77 [[-4.42942133e-01 8.96545274e-01 2.97305527e-03 -4.37109775e+02] [ 8.96523484e-01 4.42952098e-01 -6.25159217e-03 -2.64474091e+02] [-6.92175648e-03 -1.03679693e-04 -9.99976039e-01 -1.77126041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1345.116559995 meters 0.014047530591217883 Centerline is valid? [True, True] Translation: X:-437.10, Y:-264.47, Z:-1.77 [[-5.11784200e-01 8.59107098e-01 3.45345591e-03 -4.37102721e+02] [ 8.59086155e-01 5.11795841e-01 -5.99959072e-03 -2.64468757e+02] [-6.92175535e-03 -1.03679576e-04 -9.99976039e-01 -1.77126042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1345.146559995 meters 0.014165552339984679 Centerline is valid? [True, True] Translation: X:-437.10, Y:-264.46, Z:-1.77 [[-5.77217643e-01 8.16580069e-01 4.09686414e-03 -4.37097060e+02] [ 8.16558183e-01 5.77232172e-01 -5.97941672e-03 -2.64464515e+02] [-7.24751430e-03 -1.06096886e-04 -9.99973731e-01 -1.77109205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1345.176559995 meters 0.013940780846807355 Centerline is valid? [True, True] Translation: X:-437.09, Y:-264.46, Z:-1.77 [[-6.37657681e-01 7.70305606e-01 4.68573401e-03 -4.37094597e+02] [ 7.70283738e-01 6.37674890e-01 -5.80495066e-03 -2.64461749e+02] [-7.45956096e-03 -9.22266658e-05 -9.99972173e-01 -1.77073324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1345.2065599950001 meters 0.013704641955850085 Centerline is valid? [True, True] Translation: X:-437.09, Y:-264.46, Z:-1.77 [[-6.94944069e-01 7.19043617e-01 5.38681219e-03 -4.37093340e+02] [ 7.19021064e-01 6.94964942e-01 -5.69562371e-03 -2.64459263e+02] [-7.83904750e-03 -8.49084897e-05 -9.99969271e-01 -1.77043046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1345.236559995 meters 0.013500680765166598 Centerline is valid? [True, True] Translation: X:-437.09, Y:-264.46, Z:-1.77 [[-7.48025724e-01 6.63643212e-01 5.93330576e-03 -4.37092517e+02] [ 6.63621556e-01 7.48049251e-01 -5.36172997e-03 -2.64455790e+02] [-7.99668063e-03 -7.32423343e-05 -9.99968024e-01 -1.77024251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1345.266559995 meters 0.013059483564956125 Centerline is valid? [True, True] Translation: X:-436.67, Y:-264.00, Z:-2.82 [[-6.91234010e-01 -7.22611987e-01 5.24030659e-03 -4.36668147e+02] [ 7.22591695e-01 -6.91253872e-01 -5.41553317e-03 -2.63996659e+02] [ 7.53571140e-03 4.32013126e-05 9.99971605e-01 -2.82091304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1345.296559995 meters 0.012761180651253376 Centerline is valid? [True, True] Translation: X:-436.69, Y:-263.97, Z:-2.82 [[-6.93062246e-01 -7.20861769e-01 4.79917420e-03 -4.36685056e+02] [ 7.20844703e-01 -6.93078862e-01 -4.96039007e-03 -2.63974299e+02] [ 6.90196175e-03 2.16002157e-05 9.99976181e-01 -2.81919326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1345.326559995 meters 0.012783090896025957 Centerline is valid? [True, True] Translation: X:-436.70, Y:-263.95, Z:-2.82 [[-6.94663857e-01 -7.19321351e-01 4.34969908e-03 -4.36701813e+02] [ 7.19307320e-01 -6.94677475e-01 -4.49284348e-03 -2.63953382e+02] [ 6.25343621e-03 7.75441090e-06 9.99980447e-01 -2.81880623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1345.356559995 meters 0.012751211041753455 Centerline is valid? [True, True] Translation: X:-436.72, Y:-263.93, Z:-2.82 [[-6.96218780e-01 -7.17819350e-01 3.84582026e-03 -4.36719304e+02] [ 7.17808372e-01 -6.96229402e-01 -3.97000977e-03 -2.63932064e+02] [ 5.52732297e-03 -3.43337653e-06 9.99984724e-01 -2.81818262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1345.386559995 meters 0.012898833725519315 Centerline is valid? [True, True] Translation: X:-436.74, Y:-263.91, Z:-2.82 [[-6.97445483e-01 -7.16628086e-01 3.73962491e-03 -4.36735818e+02] [ 7.16617701e-01 -6.97455508e-01 -3.85796839e-03 -2.63912092e+02] [ 5.37295050e-03 -1.08412233e-05 9.99985566e-01 -2.81784434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1345.416559995 meters 0.012917193612621978 Centerline is valid? [True, True] Translation: X:-436.75, Y:-263.89, Z:-2.82 [[-6.98510743e-01 -7.15591214e-01 3.45779128e-03 -4.36753386e+02] [ 7.15582334e-01 -6.98519301e-01 -3.56500051e-03 -2.63891438e+02] [ 4.96641699e-03 -1.58567989e-05 9.99987667e-01 -2.81720094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1345.4465599950001 meters 0.013049817318441494 Centerline is valid? [True, True] Translation: X:-436.77, Y:-263.87, Z:-2.82 [[-6.99111213e-01 -7.15002715e-01 3.82483287e-03 -4.36770206e+02] [ 7.14991854e-01 -6.99121676e-01 -3.94095906e-03 -2.63869788e+02] [ 5.49181999e-03 -2.04443225e-05 9.99984920e-01 -2.81701541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1345.4765599950001 meters 0.013017239563692488 Centerline is valid? [True, True] Translation: X:-436.79, Y:-263.85, Z:-2.82 [[-6.98932076e-01 -7.15177438e-01 3.89680870e-03 -4.36788581e+02] [ 7.15166182e-01 -6.98942939e-01 -4.01249438e-03 -2.63850489e+02] [ 5.59329237e-03 -1.75952232e-05 9.99984358e-01 -2.81744200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1345.506559995 meters 0.01299088121317815 Centerline is valid? [True, True] Translation: X:-436.81, Y:-263.83, Z:-2.82 [[-6.98356344e-01 -7.15738677e-01 4.06980948e-03 -4.36808252e+02] [ 7.15726424e-01 -6.98368203e-01 -4.18806921e-03 -2.63830929e+02] [ 5.83978865e-03 -1.18945160e-05 9.99982948e-01 -2.81794410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1345.536559995 meters 0.012954800734145096 Centerline is valid? [True, True] Translation: X:-436.83, Y:-263.81, Z:-2.82 [[-6.97415627e-01 -7.16653921e-01 4.31273252e-03 -4.36827400e+02] [ 7.16640197e-01 -6.97428962e-01 -4.43520418e-03 -2.63812821e+02] [ 6.18633103e-03 -2.50321869e-06 9.99980865e-01 -2.81939563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1345.566559995 meters 0.012987302788339114 Centerline is valid? [True, True] Translation: X:-436.85, Y:-263.79, Z:-2.82 [[-6.96258816e-01 -7.17776722e-01 4.49874773e-03 -4.36847330e+02] [ 7.17761830e-01 -6.96273350e-01 -4.62367426e-03 -2.63794301e+02] [ 6.45112391e-03 9.75543444e-06 9.99979191e-01 -2.81870671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1345.596559995 meters 0.01312209206229879 Centerline is valid? [True, True] Translation: X:-436.87, Y:-263.78, Z:-2.82 [[-6.93361834e-01 -7.20576863e-01 4.28389404e-03 -4.36868804e+02] [ 7.20563429e-01 -6.93375067e-01 -4.40013599e-03 -2.63777442e+02] [ 6.14098151e-03 3.59310244e-05 9.99981144e-01 -2.81852111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1345.626559995 meters 0.013466167824717455 Centerline is valid? [True, True] Translation: X:-436.89, Y:-263.76, Z:-2.82 [[-6.92039186e-01 -7.21847432e-01 4.24850870e-03 -4.36889019e+02] [ 7.21834261e-01 -6.92052225e-01 -4.36096587e-03 -2.63760257e+02] [ 6.08814192e-03 4.87598677e-05 9.99981466e-01 -2.81880829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1345.656559995 meters 0.013689217991971536 Centerline is valid? [True, True] Translation: X:-436.91, Y:-263.74, Z:-2.82 [[-6.90894188e-01 -7.22941596e-01 4.54645985e-03 -4.36909806e+02] [ 7.22926553e-01 -6.90909144e-01 -4.66411441e-03 -2.63741954e+02] [ 6.51307300e-03 6.43470121e-05 9.99978788e-01 -2.81890600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1345.6865599950002 meters 0.013980643765769123 Centerline is valid? [True, True] Translation: X:-436.93, Y:-263.72, Z:-2.82 [[-6.89778110e-01 -7.24006562e-01 4.54504510e-03 -4.36930118e+02] [ 7.23991569e-01 -6.89793079e-01 -4.65999470e-03 -2.63724307e+02] [ 6.50900739e-03 7.62120010e-05 9.99978814e-01 -2.81886735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1345.7165599950001 meters 0.014368548535315655 Centerline is valid? [True, True] Translation: X:-436.95, Y:-263.71, Z:-2.82 [[-6.89011717e-01 -7.24738175e-01 4.17512842e-03 -4.36950619e+02] [ 7.24725552e-01 -6.89024362e-01 -4.27815105e-03 -2.63705674e+02] [ 5.97730458e-03 7.81260532e-05 9.99982133e-01 -2.81831579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1345.746559995 meters 0.014554373186324425 Centerline is valid? [True, True] Translation: X:-436.97, Y:-263.69, Z:-2.82 [[-6.88595947e-01 -7.25134015e-01 4.03518095e-03 -4.36970613e+02] [ 7.25122245e-01 -6.88607765e-01 -4.13228369e-03 -2.63686928e+02] [ 5.77511640e-03 8.05256728e-05 9.99983321e-01 -2.81757941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1345.776559995 meters 0.014390880944173953 Centerline is valid? [True, True] Translation: X:-436.99, Y:-263.67, Z:-2.82 [[-6.89054199e-01 -7.24703660e-01 2.98609384e-03 -4.36990461e+02] [ 7.24697218e-01 -6.89060667e-01 -3.05611539e-03 -2.63667706e+02] [ 4.27237782e-03 5.81847558e-05 9.99990872e-01 -2.81576341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1345.806559995 meters 0.014390880944173953 Centerline is valid? [True, True] Translation: X:-437.01, Y:-263.65, Z:-2.82 [[-6.89271874e-01 -7.24496626e-01 2.98701179e-03 -4.37009245e+02] [ 7.24490187e-01 -6.89278344e-01 -3.05521820e-03 -2.63648659e+02] [ 4.27237782e-03 5.81847559e-05 9.99990872e-01 -2.81576342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1345.836559995 meters 0.01381712616506052 Centerline is valid? [True, True] Translation: X:-437.03, Y:-263.63, Z:-2.81 [[-6.90206818e-01 -7.23608039e-01 2.44006775e-03 -4.37027619e+02] [ 7.23603742e-01 -6.90211130e-01 -2.49422136e-03 -2.63628354e+02] [ 3.48900055e-03 4.41135641e-05 9.99993913e-01 -2.81477635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1345.866559995 meters 0.013266869407186504 Centerline is valid? [True, True] Translation: X:-437.05, Y:-263.61, Z:-2.81 [[-6.92873879e-01 -7.21055970e-01 2.01916953e-03 -4.37046618e+02] [ 7.21053019e-01 -6.92876820e-01 -2.06284372e-03 -2.63608152e+02] [ 2.88646154e-03 2.66377597e-05 9.99995834e-01 -2.81476991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1345.896559995 meters 0.012966882095502898 Centerline is valid? [True, True] Translation: X:-437.07, Y:-263.59, Z:-2.82 [[-6.94491415e-01 -7.19499004e-01 1.69048473e-03 -4.37065944e+02] [ 7.19496934e-01 -6.94493472e-01 -1.72607458e-03 -2.63587620e+02] [ 2.41593956e-03 1.75546047e-05 9.99997082e-01 -2.81504692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1345.926559995 meters 0.012966882095502898 Centerline is valid? [True, True] Translation: X:-437.09, Y:-263.57, Z:-2.82 [[-6.94694653e-01 -7.19302773e-01 1.69097230e-03 -4.37085290e+02] [ 7.19300704e-01 -6.94696711e-01 -1.72559693e-03 -2.63567966e+02] [ 2.41593956e-03 1.75546048e-05 9.99997082e-01 -2.81504694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1345.9565599950001 meters 0.01271464232751102 Centerline is valid? [True, True] Translation: X:-437.11, Y:-263.55, Z:-2.82 [[-6.96689715e-01 -7.17371157e-01 1.43689745e-03 -4.37105011e+02] [ 7.17369660e-01 -6.96691196e-01 -1.46548798e-03 -2.63547361e+02] [ 2.05237262e-03 9.79623043e-06 9.99997894e-01 -2.81525150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1345.986559995 meters 0.012496423764651368 Centerline is valid? [True, True] Translation: X:-437.12, Y:-263.53, Z:-2.81 [[-7.00382324e-01 -7.13767691e-01 5.32769094e-04 -4.37123491e+02] [ 7.13767484e-01 -7.00382527e-01 -5.43062129e-04 -2.63526081e+02] [ 7.60762368e-04 -7.78605484e-08 9.99999711e-01 -2.81472418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1346.016559995 meters 0.012555808361819642 Centerline is valid? [True, True] Translation: X:-437.14, Y:-263.51, Z:-2.81 [[-7.02217482e-01 -7.11962479e-01 1.91521018e-04 -4.37142461e+02] [ 7.11962453e-01 -7.02217508e-01 -1.95104998e-04 -2.63506060e+02] [ 2.73396852e-04 -6.50366846e-07 9.99999963e-01 -2.81418969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1346.046559995 meters 0.012642285635052179 Centerline is valid? [True, True] Translation: X:-437.16, Y:-263.49, Z:-2.81 [[-7.03774984e-01 -7.10422926e-01 -1.95772586e-04 -4.37160722e+02] [ 7.10422898e-01 -7.03775012e-01 1.99305814e-04 -2.63487024e+02] [-2.79371271e-04 1.18511821e-06 9.99999961e-01 -2.81390319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1346.076559995 meters 0.012636741162852315 Centerline is valid? [True, True] Translation: X:-437.18, Y:-263.47, Z:-2.81 [[-7.05001404e-01 -7.09205762e-01 -4.55153182e-04 -4.37181118e+02] [ 7.09205611e-01 -7.05001551e-01 4.63107273e-04 -2.63467193e+02] [-6.49322044e-04 3.69408744e-06 9.99999789e-01 -2.81378020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1346.106559995 meters 0.012737491686355839 Centerline is valid? [True, True] Translation: X:-437.20, Y:-263.45, Z:-2.81 [[-7.05801047e-01 -7.08409774e-01 -6.88959680e-04 -4.37200703e+02] [ 7.08409428e-01 -7.05801383e-01 7.00603312e-04 -2.63447652e+02] [-9.82582927e-04 6.42101766e-06 9.99999517e-01 -2.81357894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1346.136559995 meters 0.01271845133458545 Centerline is valid? [True, True] Translation: X:-437.22, Y:-263.43, Z:-2.81 [[-7.06095956e-01 -7.08115928e-01 -5.77877382e-04 -4.37220657e+02] [ 7.08115684e-01 -7.06096192e-01 5.87311658e-04 -2.63428413e+02] [-8.23921757e-04 5.49434870e-06 9.99999661e-01 -2.81338724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1346.166559995 meters 0.012773751747250065 Centerline is valid? [True, True] Translation: X:-437.24, Y:-263.41, Z:-2.81 [[-7.05513190e-01 -7.08696603e-01 -5.12739378e-04 -4.37240159e+02] [ 7.08696412e-01 -7.05513377e-01 5.20800453e-04 -2.63409751e+02] [-7.30834000e-04 4.05503221e-06 9.99999733e-01 -2.81316033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1346.1965599950001 meters 0.012605090722850269 Centerline is valid? [True, True] Translation: X:-437.26, Y:-263.39, Z:-2.81 [[-7.04512798e-01 -7.09691157e-01 -4.25027439e-04 -4.37262354e+02] [ 7.09691025e-01 -7.04512926e-01 4.31467792e-04 -2.63391878e+02] [-6.05646199e-04 2.33642175e-06 9.99999817e-01 -2.81336238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1346.2265599950001 meters 0.012486280901908424 Centerline is valid? [True, True] Translation: X:-437.29, Y:-263.38, Z:-2.81 [[-7.01429285e-01 -7.12739051e-01 5.97833974e-05 -4.37286299e+02] [ 7.12739048e-01 -7.01429288e-01 -6.06549088e-05 -2.63376465e+02] [ 8.51649499e-05 6.48324897e-08 9.99999997e-01 -2.81476425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1346.256559995 meters 0.01255240194361759 Centerline is valid? [True, True] Translation: X:-437.31, Y:-263.36, Z:-2.82 [[-6.99857841e-01 -7.14281867e-01 6.45319732e-04 -4.37307827e+02] [ 7.14281568e-01 -6.99858139e-01 -6.54340415e-04 -2.63359470e+02] [ 9.19015762e-04 2.99472019e-06 9.99999578e-01 -2.81514108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1346.286559995 meters 0.0127716689883152 Centerline is valid? [True, True] Translation: X:-437.33, Y:-263.34, Z:-2.82 [[-6.98225801e-01 -7.15877038e-01 8.92659052e-04 -4.37330027e+02] [ 7.15876467e-01 -6.98226372e-01 -9.04631126e-04 -2.63341738e+02] [ 1.27088274e-03 7.39681565e-06 9.99999193e-01 -2.81591195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1346.316559995 meters 0.012962476397002452 Centerline is valid? [True, True] Translation: X:-437.35, Y:-263.32, Z:-2.82 [[-6.96915634e-01 -7.17152500e-01 9.43914295e-04 -4.37351996e+02] [ 7.17151862e-01 -6.96916274e-01 -9.56037303e-04 -2.63323537e+02] [ 1.34345378e-03 1.06525509e-05 9.99999098e-01 -2.81659343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1346.346559995 meters 0.013372218723965126 Centerline is valid? [True, True] Translation: X:-437.37, Y:-263.31, Z:-2.82 [[-6.95368655e-01 -7.18652437e-01 1.05302250e-03 -4.37373814e+02] [ 7.18651647e-01 -6.95369452e-01 -1.06595265e-03 -2.63305617e+02] [ 1.49828915e-03 1.55262908e-05 9.99998878e-01 -2.81630717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1346.376559995 meters 0.013276476178403194 Centerline is valid? [True, True] Translation: X:-437.39, Y:-263.29, Z:-2.82 [[-6.95224665e-01 -7.18792016e-01 8.38542884e-04 -4.37394129e+02] [ 7.18791516e-01 -6.95225170e-01 -8.48358925e-04 -2.63285609e+02] [ 1.19276974e-03 1.29374615e-05 9.99999289e-01 -2.81595827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1346.406559995 meters 0.013433206115202368 Centerline is valid? [True, True] Translation: X:-437.41, Y:-263.27, Z:-2.82 [[-6.95116251e-01 -7.18897081e-01 6.20016845e-04 -4.37414705e+02] [ 7.18896808e-01 -6.95116527e-01 -6.26920401e-04 -2.63265804e+02] [ 8.81675204e-04 9.94557258e-06 9.99999612e-01 -2.81557024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1346.4365599950002 meters 0.013569487886236225 Centerline is valid? [True, True] Translation: X:-437.43, Y:-263.25, Z:-2.82 [[-6.95280631e-01 -7.18737910e-01 8.12910715e-04 -4.37434835e+02] [ 7.18737441e-01 -6.95281106e-01 -8.21472307e-04 -2.63247577e+02] [ 1.15562475e-03 1.31155831e-05 9.99999332e-01 -2.81560509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1346.4665599950001 meters 0.013367746593041267 Centerline is valid? [True, True] Translation: X:-437.45, Y:-263.23, Z:-2.82 [[-6.95444542e-01 -7.18578964e-01 1.07791739e-03 -4.37454986e+02] [ 7.18578139e-01 -6.95445377e-01 -1.08865609e-03 -2.63227892e+02] [ 1.53191803e-03 1.74679382e-05 9.99998827e-01 -2.81623323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1346.496559995 meters 0.013477788376286756 Centerline is valid? [True, True] Translation: X:-437.48, Y:-263.21, Z:-2.82 [[-6.95478553e-01 -7.18544997e-01 1.63424805e-03 -4.37475357e+02] [ 7.18543103e-01 -6.95480472e-01 -1.64985161e-03 -2.63209546e+02] [ 2.32208023e-03 2.68412546e-05 9.99997304e-01 -2.81703431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1346.526559995 meters 0.013358742953018319 Centerline is valid? [True, True] Translation: X:-437.50, Y:-263.19, Z:-2.82 [[-6.96157057e-01 -7.17886403e-01 2.11293954e-03 -4.37495088e+02] [ 7.17883239e-01 -6.96160262e-01 -2.13178693e-03 -2.63190935e+02] [ 3.00132540e-03 3.27853665e-05 9.99995496e-01 -2.81790366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1346.556559995 meters 0.013065833010094147 Centerline is valid? [True, True] Translation: X:-437.51, Y:-263.17, Z:-2.82 [[-6.97467941e-01 -7.16610501e-01 2.80364342e-03 -4.37514180e+02] [ 7.16604927e-01 -6.97473575e-01 -2.82681058e-03 -2.63172471e+02] [ 3.98118935e-03 3.74949299e-05 9.99992075e-01 -2.81915654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1346.586559995 meters 0.012887550839432776 Centerline is valid? [True, True] Translation: X:-437.53, Y:-263.15, Z:-2.82 [[-6.98722792e-01 -7.15385922e-01 3.07289721e-03 -4.37531878e+02] [ 7.15379223e-01 -6.98729548e-01 -3.09629433e-03 -2.63153664e+02] [ 4.36216945e-03 3.48353930e-05 9.99990485e-01 -2.81947220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1346.616559995 meters 0.012670151290219948 Centerline is valid? [True, True] Translation: X:-437.55, Y:-263.13, Z:-2.82 [[-7.00372046e-01 -7.13771162e-01 3.11860364e-03 -4.37549721e+02] [ 7.13764254e-01 -7.00378989e-01 -3.14034619e-03 -2.63134321e+02] [ 4.42569301e-03 2.65371091e-05 9.99990206e-01 -2.81935773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1346.646559995 meters 0.012508766166732807 Centerline is valid? [True, True] Translation: X:-437.57, Y:-263.11, Z:-2.82 [[-7.02072891e-01 -7.12097154e-01 3.36140626e-03 -4.37568534e+02] [ 7.12089119e-01 -7.02080938e-01 -3.38294962e-03 -2.63112860e+02] [ 4.76896806e-03 1.85436053e-05 9.99988628e-01 -2.81895759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1346.676559995 meters 0.01236351938978561 Centerline is valid? [True, True] Translation: X:-437.59, Y:-263.09, Z:-2.82 [[-7.04191499e-01 -7.10001790e-01 3.43384086e-03 -4.37587177e+02] [ 7.09993389e-01 -7.04199871e-01 -3.45389370e-03 -2.63091503e+02] [ 4.87038100e-03 5.80173064e-06 9.99988140e-01 -2.81886333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1346.7065599950001 meters 0.01235394902677497 Centerline is valid? [True, True] Translation: X:-437.60, Y:-263.07, Z:-2.82 [[-7.06634412e-01 -7.07570847e-01 3.36212906e-03 -4.37604858e+02] [ 7.07562776e-01 -7.06642410e-01 -3.37974974e-03 -2.63070751e+02] [ 4.76723537e-03 -9.33010063e-06 9.99988637e-01 -2.81907431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1346.736559995 meters 0.012639947767460085 Centerline is valid? [True, True] Translation: X:-437.62, Y:-263.05, Z:-2.82 [[-7.09276924e-01 -7.04922045e-01 3.34007399e-03 -4.37621278e+02] [ 7.04914058e-01 -7.09284787e-01 -3.35585202e-03 -2.63050751e+02] [ 4.73467774e-03 -2.57632844e-05 9.99988791e-01 -2.81909366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1346.766559995 meters 0.013382128977202463 Centerline is valid? [True, True] Translation: X:-437.64, Y:-263.03, Z:-2.82 [[-7.14207768e-01 -6.99926081e-01 3.27814678e-03 -4.37637871e+02] [ 6.99918340e-01 -7.14215288e-01 -3.29227057e-03 -2.63028471e+02] [ 4.64564859e-03 -5.69301623e-05 9.99989208e-01 -2.81912280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1346.796559995 meters 0.014236918958437421 Centerline is valid? [True, True] Translation: X:-437.66, Y:-263.01, Z:-2.82 [[-7.16438435e-01 -6.97640204e-01 3.75706053e-03 -4.37655286e+02] [ 6.97630017e-01 -7.16448281e-01 -3.77100667e-03 -2.63007060e+02] [ 5.32254542e-03 -8.06559141e-05 9.99985832e-01 -2.81993752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1346.826559995 meters 0.014687965155641894 Centerline is valid? [True, True] Translation: X:-437.67, Y:-262.99, Z:-2.82 [[-7.18351683e-01 -6.95667732e-01 4.15528608e-03 -4.37674051e+02] [ 6.95655251e-01 -7.18363694e-01 -4.16841945e-03 -2.62985654e+02] [ 5.88484157e-03 -1.03744548e-04 9.99982679e-01 -2.82036419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1346.856559995 meters 0.015015672076345313 Centerline is valid? [True, True] Translation: X:-437.69, Y:-262.96, Z:-2.82 [[-7.19726028e-01 -6.94244329e-01 4.38825053e-03 -4.37692916e+02] [ 6.94230398e-01 -7.19739396e-01 -4.39970384e-03 -2.62964194e+02] [ 6.21286622e-03 -1.20124461e-04 9.99980693e-01 -2.82069737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1346.886559995 meters 0.015623178073457457 Centerline is valid? [True, True] Translation: X:-437.71, Y:-262.94, Z:-2.82 [[-7.20645654e-01 -6.93286769e-01 4.82665125e-03 -4.37710957e+02] [ 6.93269913e-01 -7.20661804e-01 -4.83644942e-03 -2.62943606e+02] [ 6.83142960e-03 -1.39194162e-04 9.99976656e-01 -2.82105436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1346.916559995 meters 0.01547820792122322 Centerline is valid? [True, True] Translation: X:-437.73, Y:-262.92, Z:-2.82 [[-7.20801499e-01 -6.93122465e-01 5.14279424e-03 -4.37730766e+02] [ 6.93103347e-01 -7.20819830e-01 -5.15007038e-03 -2.62924524e+02] [ 7.27665755e-03 -1.47690549e-04 9.99973514e-01 -2.82121220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1346.9465599950001 meters 0.014767846462262013 Centerline is valid? [True, True] Translation: X:-437.75, Y:-262.91, Z:-2.82 [[-7.20507249e-01 -6.93427307e-01 5.27959962e-03 -4.37752077e+02] [ 6.93407189e-01 -7.20526577e-01 -5.28410616e-03 -2.62906409e+02] [ 7.46823535e-03 -1.46324458e-04 9.99972102e-01 -2.82080748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1346.9765599950001 meters 0.014631119655392705 Centerline is valid? [True, True] Translation: X:-437.77, Y:-262.89, Z:-2.82 [[-7.20102626e-01 -6.93848258e-01 5.17713226e-03 -4.37772967e+02] [ 6.93828945e-01 -7.20121223e-01 -5.17865574e-03 -2.62887206e+02] [ 7.32136408e-03 -1.37119384e-04 9.99973189e-01 -2.82066037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1347.006559995 meters 0.014539897554880226 Centerline is valid? [True, True] Translation: X:-437.79, Y:-262.87, Z:-2.82 [[-7.19686372e-01 -6.94279040e-01 5.30479327e-03 -4.37793047e+02] [ 6.94258797e-01 -7.19705910e-01 -5.30340401e-03 -2.62867961e+02] [ 7.49993331e-03 -1.33888200e-04 9.99971866e-01 -2.82072080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1347.036559995 meters 0.014305914517905511 Centerline is valid? [True, True] Translation: X:-438.23, Y:-263.30, Z:-1.77 [[-7.44040973e-01 6.68112385e-01 5.37322406e-03 -4.38234821e+02] [ 6.68096146e-01 7.44060364e-01 -4.65988285e-03 -2.63304154e+02] [-7.11132849e-03 1.22686514e-04 -9.99974707e-01 -1.77105889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1347.066559995 meters 0.014824574315561246 Centerline is valid? [True, True] Translation: X:-438.22, Y:-263.28, Z:-1.77 [[-7.89754664e-01 6.13399799e-01 5.31580228e-03 -4.38219968e+02] [ 6.13386847e-01 7.89772546e-01 -3.98769145e-03 -2.63281536e+02] [-6.64432384e-03 1.11345284e-04 -9.99977920e-01 -1.77087197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1347.096559995 meters 0.014098280443879993 Centerline is valid? [True, True] Translation: X:-438.21, Y:-263.26, Z:-1.77 [[-8.31630604e-01 5.55309295e-01 4.70389399e-03 -4.38205900e+02] [ 5.55301019e-01 8.31643902e-01 -3.03298326e-03 -2.63255472e+02] [-5.59620855e-03 8.97554249e-05 -9.99984337e-01 -1.77208555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1347.126559995 meters 0.013898159367406964 Centerline is valid? [True, True] Translation: X:-437.87, Y:-262.74, Z:-2.82 [[-8.11057242e-01 -5.84952988e-01 4.01907252e-03 -4.37867516e+02] [ 5.84945095e-01 -8.11067192e-01 -3.04077213e-03 -2.62739699e+02] [ 5.03844661e-03 -1.15303502e-04 9.99987301e-01 -2.81918962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1347.156559995 meters 0.013760940868076318 Centerline is valid? [True, True] Translation: X:-438.24, Y:-263.23, Z:-1.77 [[-8.34708664e-01 5.50678981e-01 3.75577171e-03 -4.38243387e+02] [ 5.50673745e-01 8.34717112e-01 -2.40227894e-03 -2.63230456e+02] [-4.45789143e-03 6.30018236e-05 -9.99990062e-01 -1.77237879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1347.1865599950002 meters 0.013402288683763093 Centerline is valid? [True, True] Translation: X:-437.91, Y:-262.72, Z:-2.82 [[-8.11613457e-01 -5.84184576e-01 3.46089661e-03 -4.37909281e+02] [ 5.84178895e-01 -8.11620833e-01 -2.57725348e-03 -2.62716825e+02] [ 4.31452752e-03 -6.99508508e-05 9.99990690e-01 -2.81899549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1347.2165599950001 meters 0.013137792019555915 Centerline is valid? [True, True] Translation: X:-438.28, Y:-263.20, Z:-1.77 [[-8.38524727e-01 5.44855393e-01 2.98044463e-03 -4.38280902e+02] [ 5.44852112e-01 8.38530023e-01 -1.89118898e-03 -2.63203014e+02] [-3.52961682e-03 3.80928245e-05 -9.99993770e-01 -1.77272960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1347.246559995 meters 0.012951539335289471 Centerline is valid? [True, True] Translation: X:-438.27, Y:-263.18, Z:-1.77 [[-8.76219013e-01 4.81907631e-01 2.29701490e-03 -4.38265476e+02] [ 4.81906040e-01 8.76222024e-01 -1.23852164e-03 -2.63177620e+02] [-2.60954808e-03 2.17291453e-05 -9.99996595e-01 -1.77300140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1347.276559995 meters 0.012484317230945795 Centerline is valid? [True, True] Translation: X:-438.26, Y:-263.15, Z:-1.77 [[-9.10432987e-01 4.13655491e-01 9.54766427e-04 -4.38256578e+02] [ 4.13655267e-01 9.10433487e-01 -4.30360480e-04 -2.63145150e+02] [-1.04727231e-03 3.12978432e-06 -9.99999452e-01 -1.77386299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1347.306559995 meters 0.01240182535928468 Centerline is valid? [True, True] Translation: X:-438.25, Y:-263.11, Z:-1.77 [[-9.38382357e-01 3.45598804e-01 1.36929441e-04 -4.38253486e+02] [ 3.45598801e-01 9.38382367e-01 -5.01806153e-05 -2.63113812e+02] [-1.45834535e-04 2.34046457e-07 -9.99999990e-01 -1.77430935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1347.336559995 meters 0.012563500438329975 Centerline is valid? [True, True] Translation: X:-438.25, Y:-263.08, Z:-1.77 [[-9.61241914e-01 2.75705737e-01 -5.74429551e-04 -4.38248626e+02] [ 2.75705687e-01 9.61242085e-01 1.66536742e-04 -2.63084379e+02] [ 5.98080992e-04 1.70860261e-06 -9.99999821e-01 -1.77463164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1347.366559995 meters 0.012753465735466252 Centerline is valid? [True, True] Translation: X:-438.25, Y:-263.06, Z:-1.77 [[-9.78799977e-01 2.04817372e-01 -6.70620883e-04 -4.38245545e+02] [ 2.04817322e-01 9.78800206e-01 1.43748434e-04 -2.63055024e+02] [ 6.85846033e-04 3.34619016e-06 -9.99999765e-01 -1.77469108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1347.396559995 meters 0.01307260557031484 Centerline is valid? [True, True] Translation: X:-438.25, Y:-263.02, Z:-1.77 [[-9.91143931e-01 1.32789421e-01 -8.23496728e-04 -4.38248789e+02] [ 1.32789370e-01 9.91144273e-01 1.16082469e-04 -2.63024447e+02] [ 8.31618588e-04 5.70282293e-06 -9.99999654e-01 -1.77470185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1347.426559995 meters 0.013340339940720071 Centerline is valid? [True, True] Translation: X:-438.27, Y:-262.99, Z:-1.77 [[-9.98170532e-01 6.04563501e-02 -7.87381704e-04 -4.38267670e+02] [ 6.04563260e-02 9.98170842e-01 5.44134936e-05 -2.62993271e+02] [ 7.89231097e-04 6.71174086e-06 -9.99999689e-01 -1.77445067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1347.4565599950001 meters 0.013406797589146728 Centerline is valid? [True, True] Translation: X:-438.26, Y:-262.97, Z:-1.77 [[-9.99921208e-01 -1.25407964e-02 -5.54294297e-04 -4.38260976e+02] [-1.25407977e-02 9.99921361e-01 -1.12758345e-06 -2.62965309e+02] [ 5.54264846e-04 5.82379803e-06 -9.99999847e-01 -1.77360467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1347.486559995 meters 0.013869300141787272 Centerline is valid? [True, True] Translation: X:-438.27, Y:-262.94, Z:-1.77 [[-9.96507846e-01 -8.34989777e-02 -1.84194261e-04 -4.38268185e+02] [-8.34989767e-02 9.96507863e-01 -1.33614353e-05 -2.62936390e+02] [ 1.84666694e-04 2.06525718e-06 -9.99999983e-01 -1.77276594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1347.516559995 meters 0.013479368085320416 Centerline is valid? [True, True] Translation: X:-438.28, Y:-262.91, Z:-1.77 [[-9.88084017e-01 -1.53915384e-01 1.70712852e-04 -4.38281529e+02] [-1.53915382e-01 9.88084032e-01 2.51316976e-05 -2.62911739e+02] [-1.72546800e-04 -1.44310521e-06 -9.99999985e-01 -1.77207771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1347.546559995 meters 0.013358119350655165 Centerline is valid? [True, True] Translation: X:-438.37, Y:-262.34, Z:-2.82 [[-9.97644863e-01 6.85886233e-02 5.72164944e-04 -4.38365643e+02] [-6.85885936e-02 -9.97645027e-01 7.13578253e-05 -2.62340570e+02] [ 5.75711848e-04 3.19457791e-05 9.99999834e-01 -2.82010075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1347.576559995 meters 0.013549688855118813 Centerline is valid? [True, True] Translation: X:-438.37, Y:-262.93, Z:-1.77 [[-9.87464860e-01 -1.57836378e-01 9.10545773e-04 -4.38371997e+02] [-1.57836317e-01 9.87465279e-01 1.38331401e-04 -2.62925363e+02] [-9.20966065e-04 -7.11979415e-06 -9.99999576e-01 -1.77090510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1347.606559995 meters 0.013213279958325748 Centerline is valid? [True, True] Translation: X:-438.39, Y:-262.90, Z:-1.77 [[-9.73874878e-01 -2.27081884e-01 1.24089565e-03 -4.38389501e+02] [-2.27081711e-01 9.73875669e-01 2.80564972e-04 -2.62903271e+02] [-1.27218931e-03 -8.54953025e-06 -9.99999191e-01 -1.77074014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1347.636559995 meters 0.013057057902137424 Centerline is valid? [True, True] Translation: X:-438.54, Y:-262.33, Z:-2.82 [[-9.88728439e-01 1.49708084e-01 1.88765323e-03 -4.38539030e+02] [-1.49707706e-01 -9.88730240e-01 3.40939356e-04 -2.62334913e+02] [ 1.91742121e-03 5.45002024e-05 9.99998160e-01 -2.82186005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1347.666559995 meters 0.013059853271801411 Centerline is valid? [True, True] Translation: X:-438.51, Y:-262.93, Z:-1.77 [[-9.73203867e-01 -2.29934893e-01 2.04401145e-03 -4.38509017e+02] [-2.29934402e-01 9.73206014e-01 4.75185249e-04 -2.62933970e+02] [-2.09850591e-03 -7.53643029e-06 -9.99997798e-01 -1.76900575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1347.6965599950001 meters 0.012946933683968882 Centerline is valid? [True, True] Translation: X:-438.67, Y:-262.36, Z:-2.82 [[-9.87542776e-01 1.57334660e-01 2.25167716e-03 -4.38665840e+02] [-1.57334204e-01 -9.87545343e-01 3.79402376e-04 -2.62360114e+02] [ 2.28332644e-03 2.04102412e-05 9.99997393e-01 -2.82308528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1347.7265599950001 meters 0.012876364332292365 Centerline is valid? [True, True] Translation: X:-438.63, Y:-262.96, Z:-1.77 [[-9.72002060e-01 -2.34959640e-01 2.44211750e-03 -4.38634213e+02] [-2.34958915e-01 9.72005127e-01 5.83966654e-04 -2.62964562e+02] [-2.51095933e-03 -6.18048640e-06 -9.99996848e-01 -1.76824295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1347.756559995 meters 0.012854610830871296 Centerline is valid? [True, True] Translation: X:-438.67, Y:-262.95, Z:-1.77 [[-9.52679356e-01 -3.03970090e-01 2.05674137e-03 -4.38665975e+02] [-3.03969392e-01 9.52681576e-01 6.51390612e-04 -2.62945861e+02] [-2.15742288e-03 -4.62003618e-06 -9.99997673e-01 -1.76855143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1347.786559995 meters 0.012808452511608769 Centerline is valid? [True, True] Translation: X:-438.72, Y:-262.94, Z:-1.77 [[-9.28163090e-01 -3.72169629e-01 1.74515775e-03 -4.38715233e+02] [-3.72168978e-01 9.28164731e-01 6.95800504e-04 -2.62935181e+02] [-1.87874969e-03 -3.67722909e-06 -9.99998235e-01 -1.76908806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1347.816559995 meters 0.012808452511608769 Centerline is valid? [True, True] Translation: X:-438.78, Y:-262.93, Z:-1.77 [[-8.98250442e-01 -4.39480705e-01 1.68920093e-03 -4.38779738e+02] [-4.39479936e-01 8.98252030e-01 8.22365844e-04 -2.62933244e+02] [-1.87874209e-03 -3.67943435e-06 -9.99998235e-01 -1.76908829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1347.846559995 meters 0.012703101546018582 Centerline is valid? [True, True] Translation: X:-438.85, Y:-262.94, Z:-1.77 [[-8.63513279e-01 -5.04325814e-01 5.38813851e-04 -4.38846147e+02] [-5.04325717e-01 8.63513447e-01 3.13517048e-04 -2.62938853e+02] [-6.23387748e-04 -1.01154786e-06 -9.99999806e-01 -1.76971726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1347.876559995 meters 0.012695596768839301 Centerline is valid? [True, True] Translation: X:-438.93, Y:-262.96, Z:-1.77 [[-8.23874995e-01 -5.66771510e-01 2.21485824e-04 -4.38925815e+02] [-5.66771490e-01 8.23875024e-01 1.51796694e-04 -2.62957558e+02] [-2.68510682e-04 -4.70349491e-07 -9.99999964e-01 -1.76956699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1347.906559995 meters 0.012729420833767689 Centerline is valid? [True, True] Translation: X:-439.00, Y:-262.98, Z:-1.77 [[-7.79385831e-01 -6.26544271e-01 5.77969854e-05 -4.39002611e+02] [-6.26544270e-01 7.79385833e-01 4.61349342e-05 -2.62981179e+02] [-7.39517323e-05 -2.55456021e-07 -9.99999998e-01 -1.76941112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1347.9365599950002 meters 0.012699581126017262 Centerline is valid? [True, True] Translation: X:-439.08, Y:-263.02, Z:-1.77 [[-7.30408278e-01 -6.83010794e-01 6.13056405e-05 -4.39082748e+02] [-6.83010792e-01 7.30408280e-01 5.69943781e-05 -2.63015047e+02] [-8.37059248e-05 -2.43248513e-07 -9.99999997e-01 -1.76911140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1347.9665599950001 meters 0.012777669554042831 Centerline is valid? [True, True] Translation: X:-439.17, Y:-263.06, Z:-1.77 [[-6.76819348e-01 -7.36149149e-01 3.41216218e-05 -4.39166823e+02] [-7.36149148e-01 6.76819349e-01 3.67639184e-05 -2.63061212e+02] [-5.01579031e-05 -2.36071526e-07 -9.99999999e-01 -1.76855030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1347.996559995 meters 0.01268172252975909 Centerline is valid? [True, True] Translation: X:-439.25, Y:-263.12, Z:-1.77 [[-6.19079969e-01 -7.85327929e-01 1.91566079e-04 -4.39249315e+02] [-7.85327892e-01 6.19079998e-01 2.42317729e-04 -2.63115929e+02] [-3.08893610e-04 -4.28132797e-07 -9.99999953e-01 -1.76756985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1348.026559995 meters 0.012753348455190971 Centerline is valid? [True, True] Translation: X:-439.33, Y:-263.18, Z:-1.77 [[-5.56688842e-01 -8.30720479e-01 1.00955642e-03 -4.39330560e+02] [-8.30719126e-01 5.56689757e-01 1.49961071e-03 -2.63181393e+02] [-1.80776705e-03 -3.84128125e-06 -9.99998366e-01 -1.76536732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1348.056559995 meters 0.012856792556545852 Centerline is valid? [True, True] Translation: X:-439.41, Y:-263.26, Z:-1.76 [[-4.90666294e-01 -8.71346877e-01 1.09907946e-03 -4.39409628e+02] [-8.71344727e-01 4.90667525e-01 1.93580328e-03 -2.63255592e+02] [-2.22603874e-03 -7.84367007e-06 -9.99997523e-01 -1.76443729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1348.086559995 meters 0.012997159226741188 Centerline is valid? [True, True] Translation: X:-439.49, Y:-263.34, Z:-1.76 [[-4.21468977e-01 -9.06841987e-01 1.22986664e-03 -4.39485079e+02] [-9.06838227e-01 4.21470771e-01 2.61136362e-03 -2.63338336e+02] [-2.88644701e-03 -1.46813328e-05 -9.99995834e-01 -1.76350892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1348.116559995 meters 0.013227170958131581 Centerline is valid? [True, True] Translation: X:-439.55, Y:-263.43, Z:-1.76 [[-3.49591688e-01 -9.36901411e-01 1.18268277e-03 -4.39554807e+02] [-9.36896260e-01 3.49593688e-01 3.10670998e-03 -2.63426354e+02] [-3.32413939e-03 -2.19710807e-05 -9.99994475e-01 -1.76266847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1348.146559995 meters 0.013716976880272283 Centerline is valid? [True, True] Translation: X:-439.62, Y:-263.52, Z:-1.76 [[-2.74887667e-01 -9.61475768e-01 1.05703233e-03 -4.39620075e+02] [-9.61469115e-01 2.74889698e-01 3.57692994e-03 -2.63524333e+02] [-3.72969876e-03 -3.30500111e-05 -9.99993044e-01 -1.76189313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1348.176559995 meters 0.014244294389449718 Centerline is valid? [True, True] Translation: X:-439.68, Y:-263.62, Z:-1.76 [[-1.98293774e-01 -9.80142241e-01 8.75418298e-04 -4.39677305e+02] [-9.80133709e-01 1.98295701e-01 4.09002769e-03 -2.63624560e+02] [-4.18240059e-03 -4.69999572e-05 -9.99991253e-01 -1.76143994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1348.2065599950001 meters 0.015070763462396239 Centerline is valid? [True, True] Translation: X:-439.73, Y:-263.73, Z:-1.76 [[-1.18887403e-01 -9.92907595e-01 5.41399473e-04 -4.39730302e+02] [-9.92899517e-01 1.18888620e-01 4.00559647e-03 -2.63732364e+02] [-4.04155340e-03 -6.13403144e-05 -9.99991831e-01 -1.76107238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1348.236559995 meters 0.015346411678973965 Centerline is valid? [True, True] Translation: X:-439.77, Y:-263.84, Z:-1.76 [[-4.12748075e-02 -9.99147803e-01 2.42735613e-04 -4.39771084e+02] [-9.99139007e-01 4.12754628e-02 4.19306049e-03 -2.63838176e+02] [-4.19950620e-03 -6.94588540e-05 -9.99991180e-01 -1.76051495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1348.266559995 meters 0.01586327327467563 Centerline is valid? [True, True] Translation: X:-439.80, Y:-263.95, Z:-1.76 [[ 3.60330454e-02 -9.99350596e-01 -7.65066352e-05 -4.39803744e+02] [-9.99342259e-01 -3.60330573e-02 4.08280161e-03 -2.63951656e+02] [-4.08290699e-03 -7.06594620e-05 -9.99991663e-01 -1.76002377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1348.296559995 meters 0.01589155556252027 Centerline is valid? [True, True] Translation: X:-439.83, Y:-264.07, Z:-1.76 [[ 1.12568524e-01 -9.93643908e-01 -3.33149081e-04 -4.39825646e+02] [-9.93637786e-01 -1.12569000e-01 3.48864217e-03 -2.64067208e+02] [-3.50397030e-03 -6.16817859e-05 -9.99993859e-01 -1.76018902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1348.326559995 meters 0.01599943923303803 Centerline is valid? [True, True] Translation: X:-439.84, Y:-264.18, Z:-1.76 [[ 1.87842776e-01 -9.82198971e-01 -5.22163741e-04 -4.39838611e+02] [-9.82194364e-01 -1.87843494e-01 3.00893201e-03 -2.64179805e+02] [-3.05345498e-03 -5.23398567e-05 -9.99995337e-01 -1.76041950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1348.356559995 meters 0.014112661886355867 Centerline is valid? [True, True] Translation: X:-439.84, Y:-264.29, Z:-1.76 [[ 2.59200556e-01 -9.65823469e-01 -3.15219082e-04 -4.39837465e+02] [-9.65822669e-01 -2.59200747e-01 1.24309065e-03 -2.64292127e+02] [-1.28231115e-03 -1.77640527e-05 -9.99999178e-01 -1.76167684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1348.386559995 meters 0.013766300193983672 Centerline is valid? [True, True] Translation: X:-439.83, Y:-264.41, Z:-1.76 [[ 3.30566115e-01 -9.43782830e-01 -1.21094189e-04 -4.39829422e+02] [-9.43782761e-01 -3.30566137e-01 3.59928072e-04 -2.64409950e+02] [-3.79723574e-04 -4.69341665e-06 -9.99999928e-01 -1.76219821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1348.416559995 meters 0.013487211368696385 Centerline is valid? [True, True] Translation: X:-439.82, Y:-264.52, Z:-1.76 [[ 3.99963248e-01 -9.16531178e-01 2.72381991e-05 -4.39815033e+02] [-9.16531175e-01 -3.99963249e-01 -6.36120782e-05 -2.64521365e+02] [ 6.91967296e-05 4.77834733e-07 -9.99999998e-01 -1.76228140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1348.4465599950001 meters 0.013224435006102741 Centerline is valid? [True, True] Translation: X:-439.79, Y:-264.63, Z:-1.76 [[ 4.67284125e-01 -8.84107179e-01 2.06694098e-04 -4.39792260e+02] [-8.84107089e-01 -4.67284171e-01 -3.98382207e-04 -2.64631061e+02] [ 4.48797448e-04 3.41796392e-06 -9.99999900e-01 -1.76192640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1348.4765599950001 meters 0.013001529895246172 Centerline is valid? [True, True] Translation: X:-439.76, Y:-264.74, Z:-1.76 [[ 5.32125338e-01 -8.46665503e-01 3.87451590e-04 -4.39762686e+02] [-8.46665272e-01 -5.32125479e-01 -6.25189273e-04 -2.64737043e+02] [ 7.35499051e-04 4.63724744e-06 -9.99999730e-01 -1.76139643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1348.506559995 meters 0.012913064801692796 Centerline is valid? [True, True] Translation: X:-439.72, Y:-264.84, Z:-1.76 [[ 5.94250630e-01 -8.04279678e-01 6.23402607e-04 -4.39724931e+02] [-8.04279225e-01 -5.94250957e-01 -8.53196895e-04 -2.64840917e+02] [ 1.05666652e-03 5.62302670e-06 -9.99999442e-01 -1.76117973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1348.536559995 meters 0.01295971475980087 Centerline is valid? [True, True] Translation: X:-439.68, Y:-264.94, Z:-1.76 [[ 6.53325209e-01 -7.57076492e-01 1.16441946e-03 -4.39680924e+02] [-7.57075266e-01 -6.53326247e-01 -1.36267185e-03 -2.64939315e+02] [ 1.79239262e-03 8.71469500e-06 -9.99998394e-01 -1.76140132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1348.566559995 meters 0.012900795971924391 Centerline is valid? [True, True] Translation: X:-439.63, Y:-265.03, Z:-1.76 [[ 7.08878929e-01 -7.05328896e-01 1.34647000e-03 -4.39631396e+02] [-7.05327599e-01 -7.08880208e-01 -1.35267110e-03 -2.65033841e+02] [ 1.90856394e-03 9.17759440e-06 -9.99998179e-01 -1.76123786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1348.596559995 meters 0.013088377946946977 Centerline is valid? [True, True] Translation: X:-439.58, Y:-265.12, Z:-1.76 [[ 7.60326095e-01 -6.49540244e-01 1.30395302e-03 -4.39577978e+02] [-6.49539270e-01 -7.60327213e-01 -1.12507028e-03 -2.65121880e+02] [ 1.72220939e-03 8.45159755e-06 -9.99998517e-01 -1.76094361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1348.626559995 meters 0.013001402531956788 Centerline is valid? [True, True] Translation: X:-439.58, Y:-265.13, Z:-1.76 [[ 8.08791875e-01 -5.88093729e-01 1.21202146e-03 -4.39577784e+02] [-5.88093054e-01 -8.08792783e-01 -8.90490187e-04 -2.65132409e+02] [ 1.50396591e-03 7.43982316e-06 -9.99998869e-01 -1.76044837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1348.656559995 meters 0.01313216825644052 Centerline is valid? [True, True] Translation: X:-439.58, Y:-265.14, Z:-1.76 [[ 8.52078424e-01 -5.23413799e-01 5.95708243e-04 -4.39576763e+02] [-5.23413669e-01 -8.52078632e-01 -3.69558188e-04 -2.65142825e+02] [ 7.01022118e-04 3.09072185e-06 -9.99999755e-01 -1.75940085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1348.6865599950002 meters 0.01308879589901871 Centerline is valid? [True, True] Translation: X:-439.57, Y:-265.15, Z:-1.76 [[ 8.90065625e-01 -4.55832368e-01 1.89685807e-04 -4.39574632e+02] [-4.55832357e-01 -8.90065645e-01 -9.78749547e-05 -2.65153626e+02] [ 2.13447391e-04 6.50204032e-07 -9.99999977e-01 -1.75861023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1348.7165599950001 meters 0.013064577350260677 Centerline is valid? [True, True] Translation: X:-439.57, Y:-265.16, Z:-1.76 [[ 9.22697089e-01 -3.85525722e-01 -2.71504431e-05 -4.39572111e+02] [-3.85525722e-01 -9.22697089e-01 1.16665913e-05 -2.65163156e+02] [-2.95494078e-05 -2.97535705e-07 -1.00000000e+00 -1.75775165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1348.746559995 meters 0.012968095926543953 Centerline is valid? [True, True] Translation: X:-439.57, Y:-265.17, Z:-1.76 [[ 9.49802436e-01 -3.12850335e-01 -2.89449439e-05 -4.39569057e+02] [-3.12850334e-01 -9.49802437e-01 9.82969024e-06 -2.65171141e+02] [-3.05672021e-05 -2.80828366e-07 -1.00000000e+00 -1.75699606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1348.776559995 meters 0.013041341419156914 Centerline is valid? [True, True] Translation: X:-439.56, Y:-265.18, Z:-1.76 [[ 9.71241043e-01 -2.38098276e-01 2.17237395e-04 -4.39564226e+02] [-2.38098270e-01 -9.71241067e-01 -5.35529019e-05 -2.65178959e+02] [ 2.23740731e-04 2.88928319e-07 -9.99999975e-01 -1.75665551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1348.806559995 meters 0.012979180009799408 Centerline is valid? [True, True] Translation: X:-439.56, Y:-265.19, Z:-1.76 [[ 9.86678564e-01 -1.62680186e-01 7.54072969e-04 -4.39559412e+02] [-1.62680138e-01 -9.86678852e-01 -1.24834784e-04 -2.65188045e+02] [ 7.64335995e-04 4.99110267e-07 -9.99999708e-01 -1.75718180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1348.836559995 meters 0.013002982845994045 Centerline is valid? [True, True] Translation: X:-439.56, Y:-265.20, Z:-1.76 [[ 9.96333660e-01 -8.55376360e-02 1.59708118e-03 -4.39557620e+02] [-8.55375258e-02 -9.96334940e-01 -1.37322347e-04 -2.65196532e+02] [ 1.60297401e-03 2.08503467e-07 -9.99998715e-01 -1.75751907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1348.866559995 meters 0.012961733734248927 Centerline is valid? [True, True] Translation: X:-439.56, Y:-265.21, Z:-1.76 [[ 9.99968265e-01 -7.72723643e-03 1.93861559e-03 -4.39555064e+02] [-7.72722311e-03 -9.99970145e-01 -1.43608255e-05 -2.65205844e+02] [ 1.93866868e-03 -6.19745458e-07 -9.99998121e-01 -1.75748468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1348.896559995 meters 0.01298000168272703 Centerline is valid? [True, True] Translation: X:-439.55, Y:-265.21, Z:-1.76 [[ 9.97529852e-01 7.02111435e-02 2.14251514e-03 -4.39553075e+02] [ 7.02109785e-02 -9.97532153e-01 1.52224587e-04 -2.65214394e+02] [ 2.14791560e-03 -1.42048542e-06 -9.99997693e-01 -1.75737017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1348.926559995 meters 0.012959147865363443 Centerline is valid? [True, True] Translation: X:-439.55, Y:-265.22, Z:-1.76 [[ 9.88955444e-01 1.48195741e-01 2.26986010e-03 -4.39549374e+02] [ 1.48195347e-01 -9.88958049e-01 3.41486263e-04 -2.65222011e+02] [ 2.29540323e-03 -1.33199317e-06 -9.99997366e-01 -1.75684038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1348.9565599950001 meters 0.012889796907406142 Centerline is valid? [True, True] Translation: X:-439.55, Y:-265.23, Z:-1.76 [[ 9.74302465e-01 2.25226514e-01 2.77928467e-03 -4.39545040e+02] [ 2.25225593e-01 -9.74306429e-01 6.43961950e-04 -2.65228643e+02] [ 2.85291223e-03 -1.44767481e-06 -9.99995931e-01 -1.75730297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1348.986559995 meters 0.01293117326225919 Centerline is valid? [True, True] Translation: X:-439.54, Y:-265.24, Z:-1.76 [[ 9.53528598e-01 3.01288788e-01 2.87755232e-03 -4.39540082e+02] [ 3.01287416e-01 -9.53532940e-01 9.09264142e-04 -2.65235959e+02] [ 3.01779201e-03 -3.90613948e-08 -9.99995447e-01 -1.75649507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1349.016559995 meters 0.012956377123730538 Centerline is valid? [True, True] Translation: X:-439.53, Y:-265.24, Z:-1.76 [[ 9.27050477e-01 3.74930766e-01 2.08193513e-03 -4.39534297e+02] [ 3.74929820e-01 -9.27052814e-01 8.42274856e-04 -2.65241252e+02] [ 2.24585858e-03 -2.51741343e-07 -9.99997478e-01 -1.75583670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1349.046559995 meters 0.012887937133875052 Centerline is valid? [True, True] Translation: X:-439.53, Y:-265.24, Z:-1.76 [[ 8.94994602e-01 4.46075545e-01 1.12754743e-03 -4.39529118e+02] [ 4.46075190e-01 -8.94995312e-01 5.62664743e-04 -2.65244910e+02] [ 1.26014065e-03 -6.10972212e-07 -9.99999206e-01 -1.75515977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1349.076559995 meters 0.012904059278084459 Centerline is valid? [True, True] Translation: X:-439.52, Y:-265.25, Z:-1.75 [[ 8.57608642e-01 5.14302785e-01 2.51079699e-04 -4.39524011e+02] [ 5.14302763e-01 -8.57608678e-01 1.51096360e-04 -2.65247419e+02] [ 2.93037406e-04 -4.50561603e-07 -9.99999957e-01 -1.75446426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1349.106559995 meters 0.012920282360480165 Centerline is valid? [True, True] Translation: X:-439.52, Y:-265.25, Z:-1.75 [[ 8.15222500e-01 5.79147860e-01 -1.78069787e-04 -4.39519194e+02] [ 5.79147846e-01 -8.15222519e-01 -1.26741950e-04 -2.65249193e+02] [-2.18568832e-04 1.94155852e-07 -9.99999976e-01 -1.75358559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1349.136559995 meters 0.012882374007185253 Centerline is valid? [True, True] Translation: X:-439.51, Y:-265.25, Z:-1.75 [[ 7.67868464e-01 6.40607229e-01 -6.32673205e-04 -4.39511118e+02] [ 6.40607009e-01 -7.67868725e-01 -5.30320841e-04 -2.65253784e+02] [-8.25537334e-04 1.92176002e-06 -9.99999659e-01 -1.75277801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1349.166559995 meters 0.012991743579344926 Centerline is valid? [True, True] Translation: X:-439.50, Y:-265.26, Z:-1.75 [[ 7.16114367e-01 6.97982320e-01 -9.46265425e-04 -4.39503763e+02] [ 6.97981702e-01 -7.16114992e-01 -9.28824699e-04 -2.65257995e+02] [-1.32593808e-03 4.66875920e-06 -9.99999121e-01 -1.75172258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1349.1965599950001 meters 0.013096775742345058 Centerline is valid? [True, True] Translation: X:-439.50, Y:-265.26, Z:-1.75 [[ 6.60015324e-01 7.51251843e-01 -6.63040303e-04 -4.39500012e+02] [ 7.51251458e-01 -6.60015657e-01 -7.61506988e-04 -2.65258122e+02] [-1.00970051e-03 4.49628768e-06 -9.99999490e-01 -1.75190830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1349.2265599950001 meters 0.013019960571464815 Centerline is valid? [True, True] Translation: X:-439.49, Y:-265.26, Z:-1.75 [[ 6.00024745e-01 7.99981377e-01 -3.19713154e-04 -4.39490138e+02] [ 7.99981261e-01 -6.00024830e-01 -4.31070649e-04 -2.65260807e+02] [-5.36684324e-04 2.88852443e-06 -9.99999856e-01 -1.75240214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1349.256559995 meters 0.013211435684561741 Centerline is valid? [True, True] Translation: X:-439.48, Y:-265.26, Z:-1.75 [[ 5.36825322e-01 8.43693412e-01 2.02469563e-05 -4.39482644e+02] [ 8.43693411e-01 -5.36825323e-01 3.26953683e-05 -2.65262778e+02] [ 3.84539437e-05 -4.69478000e-07 -9.99999999e-01 -1.75267744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1349.286559995 meters 0.013383518738557459 Centerline is valid? [True, True] Translation: X:-439.48, Y:-265.26, Z:-1.75 [[ 4.70755864e-01 8.82263503e-01 1.66275297e-04 -4.39476008e+02] [ 8.82263446e-01 -4.70755893e-01 3.18965274e-04 -2.65263364e+02] [ 3.59686494e-04 -3.45615695e-06 -9.99999936e-01 -1.75320226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1349.316559995 meters 0.013497994654382763 Centerline is valid? [True, True] Translation: X:-439.47, Y:-265.26, Z:-1.75 [[ 4.01680648e-01 9.15779701e-01 4.42993641e-04 -4.39467361e+02] [ 9.15779110e-01 -4.01680893e-01 1.04045957e-03 -2.65264258e+02] [ 1.13077384e-03 -1.22481543e-05 -9.99999361e-01 -1.75356537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1349.346559995 meters 0.013725076979425682 Centerline is valid? [True, True] Translation: X:-439.46, Y:-265.26, Z:-1.75 [[ 3.30276859e-01 9.43883943e-01 5.46558047e-04 -4.39457978e+02] [ 9.43882542e-01 -3.30277310e-01 1.62637585e-03 -2.65264558e+02] [ 1.71562577e-03 -2.12677069e-05 -9.99998528e-01 -1.75394952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1349.376559995 meters 0.013817773788054431 Centerline is valid? [True, True] Translation: X:-439.45, Y:-265.26, Z:-1.75 [[ 2.55134156e-01 9.66905494e-01 5.72926536e-04 -4.39448506e+02] [ 9.66902798e-01 -2.55134798e-01 2.28339370e-03 -2.65263870e+02] [ 2.35399941e-03 -2.86074548e-05 -9.99997229e-01 -1.75390496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1349.406559995 meters 0.013667239330757041 Centerline is valid? [True, True] Translation: X:-439.44, Y:-265.26, Z:-1.75 [[ 1.77914024e-01 9.84045973e-01 3.51299893e-04 -4.39438955e+02] [ 9.84043778e-01 -1.77914369e-01 2.07869317e-03 -2.65262548e+02] [ 2.10803094e-03 -2.41341928e-05 -9.99997778e-01 -1.75364195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1349.4365599950002 meters 0.01338496541317205 Centerline is valid? [True, True] Translation: X:-439.43, Y:-265.26, Z:-1.75 [[ 9.90506260e-02 9.95082384e-01 1.53995151e-04 -4.39426814e+02] [ 9.95080887e-01 -9.90507441e-02 1.72595073e-03 -2.65260747e+02] [ 1.73271650e-03 -1.77188686e-05 -9.99998499e-01 -1.75323133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1349.4665599950001 meters 0.013159279775208333 Centerline is valid? [True, True] Translation: X:-439.41, Y:-265.26, Z:-1.75 [[ 1.74139111e-02 9.99848366e-01 1.55514811e-06 -4.39414092e+02] [ 9.99848353e-01 -1.74139111e-02 1.62773946e-04 -2.65259318e+02] [ 1.62776343e-04 -1.27961875e-06 -9.99999987e-01 -1.75190299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1349.496559995 meters 0.012915124344954515 Centerline is valid? [True, True] Translation: X:-439.40, Y:-265.26, Z:-1.75 [[-6.21662383e-02 9.98065808e-01 3.91259318e-05 -4.39402207e+02] [ 9.98065640e-01 6.21662505e-02 -5.79817386e-04 -2.65255061e+02] [-5.81128222e-04 3.00518234e-06 -9.99999831e-01 -1.75080833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1349.526559995 meters 0.012903824442007442 Centerline is valid? [True, True] Translation: X:-439.39, Y:-265.25, Z:-1.75 [[-1.40904417e-01 9.90023191e-01 1.61166689e-04 -4.39392472e+02] [ 9.90022584e-01 1.40904509e-01 -1.09635548e-03 -2.65251220e+02] [-1.10812647e-03 5.07733204e-06 -9.99999386e-01 -1.74955024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1349.556559995 meters 0.012912957491345405 Centerline is valid? [True, True] Translation: X:-439.38, Y:-265.25, Z:-1.75 [[-2.17972838e-01 9.75954771e-01 3.57307785e-04 -4.39384448e+02] [ 9.75953515e-01 2.17973131e-01 -1.56552450e-03 -2.65246101e+02] [-1.60576460e-03 7.47397120e-06 -9.99998711e-01 -1.74880451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1349.586559995 meters 0.013956032830109013 Centerline is valid? [True, True] Translation: X:-439.38, Y:-265.24, Z:-1.75 [[-2.92576304e-01 9.56241797e-01 8.55805655e-04 -4.39377463e+02] [ 9.56237876e-01 2.92577555e-01 -2.73847923e-03 -2.65240107e+02] [-2.86903783e-03 1.71396504e-05 -9.99995884e-01 -1.74773857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1349.616559995 meters 0.01346133760074038 Centerline is valid? [True, True] Translation: X:-439.37, Y:-265.23, Z:-1.75 [[-3.63110584e-01 9.31745532e-01 9.83175052e-04 -4.39372217e+02] [ 9.31742305e-01 3.63111915e-01 -2.45242091e-03 -2.65234317e+02] [-2.64203480e-03 2.55658008e-05 -9.99996510e-01 -1.74765483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1349.646559995 meters 0.013686643730700833 Centerline is valid? [True, True] Translation: X:-439.37, Y:-265.23, Z:-1.75 [[-4.33264740e-01 9.01265934e-01 1.17537728e-03 -4.39365506e+02] [ 9.01262807e-01 4.33266334e-01 -2.37437658e-03 -2.65227089e+02] [-2.64919613e-03 3.05901741e-05 -9.99996491e-01 -1.74710386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1349.676559995 meters 0.013851310695642528 Centerline is valid? [True, True] Translation: X:-439.36, Y:-265.22, Z:-1.75 [[-5.01336582e-01 8.65251140e-01 1.44818848e-03 -4.39359596e+02] [ 8.65247738e-01 5.01338672e-01 -2.42658864e-03 -2.65220451e+02] [-2.82564148e-03 3.65041461e-05 -9.99996007e-01 -1.74712955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1349.7065599950001 meters 0.013883840436667808 Centerline is valid? [True, True] Translation: X:-439.35, Y:-265.21, Z:-1.75 [[-5.66559514e-01 8.24019092e-01 1.68898116e-03 -4.39352307e+02] [ 8.24015646e-01 5.66562030e-01 -2.38366466e-03 -2.65211460e+02] [-2.92109779e-03 4.12590131e-05 -9.99995733e-01 -1.74783071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1349.736559995 meters 0.014355153581898901 Centerline is valid? [True, True] Translation: X:-439.35, Y:-265.20, Z:-1.75 [[-6.28655202e-01 7.77683115e-01 1.26908552e-03 -4.39345905e+02] [ 7.77681625e-01 6.28656482e-01 -1.52272223e-03 -2.65204066e+02] [-1.98201421e-03 2.96772351e-05 -9.99998036e-01 -1.74803893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1349.766559995 meters 0.014355153581898901 Centerline is valid? [True, True] Translation: X:-439.34, Y:-265.20, Z:-1.75 [[-6.87625165e-01 7.26064540e-01 1.38442858e-03 -4.39341494e+02] [ 7.26063154e-01 6.87626558e-01 -1.41865799e-03 -2.65196288e+02] [-1.98200712e-03 2.96776468e-05 -9.99998036e-01 -1.74803899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1349.796559995 meters 0.014166691877499178 Centerline is valid? [True, True] Translation: X:-439.34, Y:-265.18, Z:-1.75 [[-7.41879428e-01 6.70532353e-01 1.13036900e-03 -4.39335779e+02] [ 6.70531623e-01 7.41880289e-01 -9.89904224e-04 -2.65184642e+02] [-1.50236129e-03 2.35585804e-05 -9.99998871e-01 -1.74797761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1349.826559995 meters 0.014411008328755937 Centerline is valid? [True, True] Translation: X:-438.96, Y:-264.76, Z:-2.84 [[-7.17609996e-01 -6.96443822e-01 1.37755994e-03 -4.38957905e+02] [ 6.96442525e-01 -7.17611318e-01 -1.34367138e-03 -2.64756864e+02] [ 1.92434423e-03 -4.84068949e-06 9.99998149e-01 -2.84456425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1349.856559995 meters 0.014489501326970298 Centerline is valid? [True, True] Translation: X:-438.98, Y:-264.74, Z:-2.85 [[-7.17220404e-01 -6.96844575e-01 1.59082485e-03 -4.38977482e+02] [ 6.96842753e-01 -7.17222168e-01 -1.59366282e-03 -2.64737717e+02] [ 2.25151014e-03 -3.44527271e-05 9.99997465e-01 -2.84507953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1349.886559995 meters 0.014009007042939588 Centerline is valid? [True, True] Translation: X:-439.00, Y:-264.72, Z:-2.85 [[-7.16151888e-01 -6.97942007e-01 1.85164096e-03 -4.38998838e+02] [ 6.97939546e-01 -7.16154281e-01 -1.85390851e-03 -2.64719056e+02] [ 2.61998123e-03 -3.53466318e-05 9.99996567e-01 -2.84538939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1349.916559995 meters 0.01367876971308242 Centerline is valid? [True, True] Translation: X:-439.02, Y:-264.70, Z:-2.85 [[-7.14482185e-01 -6.99650939e-01 1.94190303e-03 -4.39019318e+02] [ 6.99648241e-01 -7.14484823e-01 -1.94319081e-03 -2.64701374e+02] [ 2.74701552e-03 -2.97261812e-05 9.99996227e-01 -2.84577642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1349.9465599950001 meters 0.013201290160520057 Centerline is valid? [True, True] Translation: X:-439.04, Y:-264.68, Z:-2.85 [[-7.12467139e-01 -7.01701918e-01 2.23494898e-03 -4.39041518e+02] [ 7.01698358e-01 -7.12470644e-01 -2.23517055e-03 -2.64683315e+02] [ 3.16075900e-03 -2.42255321e-05 9.99995005e-01 -2.84592872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1349.9765599950001 meters 0.012999483748423961 Centerline is valid? [True, True] Translation: X:-439.06, Y:-264.67, Z:-2.85 [[-7.10395227e-01 -7.03799114e-01 2.33021353e-03 -4.39062682e+02] [ 7.03795260e-01 -7.10399048e-01 -2.32909252e-03 -2.64665676e+02] [ 3.29459473e-03 -1.45829679e-05 9.99994573e-01 -2.84707166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1350.006559995 meters 0.012841206742330318 Centerline is valid? [True, True] Translation: X:-439.45, Y:-265.05, Z:-1.74 [[-7.56499113e-01 6.53987067e-01 3.16360302e-03 -4.39454658e+02] [ 6.53981315e-01 7.56505728e-01 -2.74284728e-03 -2.65048117e+02] [-4.18707046e-03 -6.02426795e-06 -9.99991234e-01 -1.74359395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1350.036559995 meters 0.01291383855387119 Centerline is valid? [True, True] Translation: X:-439.10, Y:-264.64, Z:-2.85 [[-7.07238122e-01 -7.06968647e-01 3.09362330e-03 -4.39103502e+02] [ 7.06961989e-01 -7.07244888e-01 -3.06844669e-03 -2.64641861e+02] [ 4.35724487e-03 1.69516022e-05 9.99990507e-01 -2.84843905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1350.066559995 meters 0.012995252921497608 Centerline is valid? [True, True] Translation: X:-439.49, Y:-265.02, Z:-1.74 [[-7.61290701e-01 6.48397955e-01 4.06946563e-03 -4.39487764e+02] [ 6.48388496e-01 7.61301577e-01 -3.50238319e-03 -2.65018553e+02] [-5.36902870e-03 -2.77370559e-05 -9.99985587e-01 -1.74274979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1350.096559995 meters 0.013114544258872778 Centerline is valid? [True, True] Translation: X:-439.48, Y:-264.99, Z:-1.74 [[-8.05646565e-01 5.92379363e-01 4.50588189e-03 -4.39475114e+02] [ 5.92369874e-01 8.05659165e-01 -3.35302804e-03 -2.64994487e+02] [-5.61646966e-03 -3.22068329e-05 -9.99984227e-01 -1.74299964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1350.126559995 meters 0.013057047364437474 Centerline is valid? [True, True] Translation: X:-439.15, Y:-264.56, Z:-2.85 [[-7.56732090e-01 -6.53708750e-01 4.62757510e-03 -4.39153619e+02] [ 6.53697024e-01 -7.56746237e-01 -3.91584976e-03 -2.64561901e+02] [ 6.06172530e-03 6.17828976e-05 9.99981626e-01 -2.84836921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1350.156559995 meters 0.012872615176579555 Centerline is valid? [True, True] Translation: X:-439.51, Y:-264.97, Z:-1.74 [[-8.06086760e-01 5.91775916e-01 5.03987888e-03 -4.39511646e+02] [ 5.91764211e-01 8.06102515e-01 -3.72209798e-03 -2.64973503e+02] [-6.26530699e-03 -1.79139558e-05 -9.99980373e-01 -1.74323496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1350.1865599950002 meters 0.012889596419261767 Centerline is valid? [True, True] Translation: X:-439.19, Y:-264.53, Z:-2.85 [[-7.62390939e-01 -6.47096885e-01 5.06731422e-03 -4.39185590e+02] [ 6.47082933e-01 -7.62407778e-01 -4.24942194e-03 -2.64533610e+02] [ 6.61314748e-03 3.92517672e-05 9.99978132e-01 -2.84872255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1350.2165599950001 meters 0.012933441537158308 Centerline is valid? [True, True] Translation: X:-439.55, Y:-264.96, Z:-1.74 [[-8.05090781e-01 5.93127079e-01 5.39463886e-03 -4.39545623e+02] [ 5.93113897e-01 8.05108855e-01 -3.95433683e-03 -2.64955137e+02] [-6.68869577e-03 1.60351470e-05 -9.99977631e-01 -1.74230421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1350.246559995 meters 0.013070540346689594 Centerline is valid? [True, True] Translation: X:-439.21, Y:-264.51, Z:-2.85 [[-7.68432714e-01 -6.39912982e-01 4.74752031e-03 -4.39214032e+02] [ 6.39900428e-01 -7.68447378e-01 -4.00867204e-03 -2.64507495e+02] [ 6.21342081e-03 -4.24544604e-05 9.99980696e-01 -2.84867694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1350.276559995 meters 0.0132229121841944 Centerline is valid? [True, True] Translation: X:-439.23, Y:-264.53, Z:-2.85 [[-7.25461911e-01 -6.88252708e-01 3.63679693e-03 -4.39232850e+02] [ 6.88243774e-01 -7.25471026e-01 -3.50687733e-03 -2.64527625e+02] [ 5.05200861e-03 -4.11030859e-05 9.99987238e-01 -2.84760755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1350.306559995 meters 0.013608859173122762 Centerline is valid? [True, True] Translation: X:-439.63, Y:-264.94, Z:-1.75 [[-7.60648979e-01 6.49155636e-01 3.17665497e-03 -4.39628993e+02] [ 6.49150204e-01 7.60655611e-01 -2.65587935e-03 -2.64938772e+02] [-4.14041948e-03 4.19343062e-05 -9.99991428e-01 -1.74514996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1350.336559995 meters 0.013664036599418596 Centerline is valid? [True, True] Translation: X:-439.61, Y:-264.92, Z:-1.75 [[-8.02910557e-01 5.96096850e-01 1.78405050e-03 -4.39614434e+02] [ 5.96095457e-01 8.02912539e-01 -1.28882548e-03 -2.64918899e+02] [-2.20070133e-03 2.86528186e-05 -9.99997578e-01 -1.74740503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1350.366559995 meters 0.014110698125857819 Centerline is valid? [True, True] Translation: X:-439.60, Y:-264.90, Z:-1.75 [[-8.42952985e-01 5.37985743e-01 1.26711829e-03 -4.39602441e+02] [ 5.37985170e-01 8.42953937e-01 -7.85382972e-04 -2.64895808e+02] [-1.49064720e-03 1.96499275e-05 -9.99998889e-01 -1.74836564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1350.396559995 meters 0.013800615999125895 Centerline is valid? [True, True] Translation: X:-439.59, Y:-264.87, Z:-1.75 [[-8.79109739e-01 4.76619248e-01 3.98496925e-04 -4.39592214e+02] [ 4.76619202e-01 8.79109830e-01 -2.09926428e-04 -2.64868717e+02] [-4.50377542e-04 5.38291863e-06 -9.99999899e-01 -1.74921703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1350.426559995 meters 0.014062404937912951 Centerline is valid? [True, True] Translation: X:-439.32, Y:-264.35, Z:-2.84 [[-8.58480164e-01 -5.12846740e-01 -1.74822649e-04 -4.39321313e+02] [ 5.12846737e-01 -8.58480181e-01 6.19195274e-05 -2.64352311e+02] [-1.81837005e-04 -3.65005394e-05 9.99999983e-01 -2.84158797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1350.4565599950001 meters 0.013337070990499455 Centerline is valid? [True, True] Translation: X:-439.63, Y:-264.85, Z:-1.75 [[-8.82722828e-01 4.69892116e-01 -1.34439214e-03 -4.39633452e+02] [ 4.69891596e-01 8.82723852e-01 6.99485612e-04 -2.64845073e+02] [ 1.51540978e-03 -1.42666508e-05 -9.99998852e-01 -1.75114685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1350.486559995 meters 0.013165080585446624 Centerline is valid? [True, True] Translation: X:-439.63, Y:-264.82, Z:-1.75 [[-9.14682009e-01 4.04171709e-01 -1.43248439e-03 -4.39627409e+02] [ 4.04171233e-01 9.14683131e-01 6.20637501e-04 -2.64815939e+02] [ 1.56111342e-03 -1.12830233e-05 -9.99998782e-01 -1.75085757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1350.516559995 meters 0.012982250057110754 Centerline is valid? [True, True] Translation: X:-439.62, Y:-264.79, Z:-1.75 [[-9.41801607e-01 3.36168052e-01 -8.80153056e-04 -4.39622185e+02] [ 3.36167910e-01 9.41802018e-01 3.09066704e-04 -2.64786063e+02] [ 9.32828274e-04 -4.79969508e-06 -9.99999565e-01 -1.74996000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1350.546559995 meters 0.012827318373394646 Centerline is valid? [True, True] Translation: X:-439.62, Y:-264.76, Z:-1.75 [[-9.63821402e-01 2.66548870e-01 -6.76173048e-05 -4.39619069e+02] [ 2.66548869e-01 9.63821405e-01 1.81242847e-05 -2.64756617e+02] [ 7.00020113e-05 -5.54742641e-07 -9.99999998e-01 -1.74875991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1350.576559995 meters 0.01278871307666484 Centerline is valid? [True, True] Translation: X:-439.47, Y:-264.21, Z:-2.84 [[-9.45053899e-01 -3.26914305e-01 4.06907114e-04 -4.39469063e+02] [ 3.26914288e-01 -9.45053986e-01 -1.08058494e-04 -2.64207167e+02] [ 4.19875059e-04 3.09026488e-05 9.99999912e-01 -2.84389537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1350.606559995 meters 0.012774241254168667 Centerline is valid? [True, True] Translation: X:-439.67, Y:-264.75, Z:-1.75 [[-9.65292048e-01 2.61171049e-01 9.72346469e-04 -4.39666739e+02] [ 2.61170917e-01 9.65292538e-01 -2.62692600e-04 -2.64745496e+02] [-1.00720649e-03 3.73541337e-07 -9.99999493e-01 -1.74725456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1350.636559995 meters 0.01277092983055555 Centerline is valid? [True, True] Translation: X:-439.52, Y:-264.19, Z:-2.84 [[-9.46469087e-01 -3.22792208e-01 1.20751679e-03 -4.39517577e+02] [ 3.22791966e-01 -9.46469857e-01 -3.95147093e-04 -2.64188902e+02] [ 1.27042865e-03 1.57822118e-05 9.99999193e-01 -2.84414620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1350.666559995 meters 0.012787300898076346 Centerline is valid? [True, True] Translation: X:-439.72, Y:-264.74, Z:-1.75 [[-9.65671250e-01 2.59766288e-01 7.16507213e-04 -4.39717549e+02] [ 2.59766218e-01 9.65671515e-01 -1.90871007e-04 -2.64739362e+02] [-7.41492461e-04 1.80572519e-06 -9.99999725e-01 -1.74805610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1350.6965599950001 meters 0.012896492629562526 Centerline is valid? [True, True] Translation: X:-439.71, Y:-264.71, Z:-1.75 [[-9.81443888e-01 1.91749069e-01 4.34427136e-04 -4.39711760e+02] [ 1.91749051e-01 9.81443985e-01 -8.34986761e-05 -2.64714352e+02] [-4.42376695e-04 1.35172578e-06 -9.99999902e-01 -1.74858364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1350.7265599950001 meters 0.013025324536912386 Centerline is valid? [True, True] Translation: X:-439.71, Y:-264.69, Z:-1.75 [[-9.92455592e-01 1.22603708e-01 4.78239635e-04 -4.39714735e+02] [ 1.22603695e-01 9.92455707e-01 -5.70597917e-05 -2.64687113e+02] [-4.81627399e-04 2.00463704e-06 -9.99999884e-01 -1.74853232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1350.756559995 meters 0.013076572741207139 Centerline is valid? [True, True] Translation: X:-439.64, Y:-264.10, Z:-2.84 [[-9.84086163e-01 -1.77689134e-01 9.97827547e-04 -4.39644881e+02] [ 1.77689072e-01 -9.84086669e-01 -1.50883173e-04 -2.64096618e+02] [ 1.00875909e-03 2.88210077e-05 9.99999491e-01 -2.84376183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1350.786559995 meters 0.013216305383742284 Centerline is valid? [True, True] Translation: X:-439.77, Y:-264.69, Z:-1.75 [[-9.92861753e-01 1.19262315e-01 1.42833569e-03 -4.39767467e+02] [ 1.19262203e-01 9.92862780e-01 -1.63522525e-04 -2.64685840e+02] [-1.43764342e-03 7.99119969e-06 -9.99998967e-01 -1.74784853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1350.816559995 meters 0.013054249281312345 Centerline is valid? [True, True] Translation: X:-439.70, Y:-264.09, Z:-2.84 [[-9.84732329e-01 -1.74069141e-01 1.47442271e-03 -4.39699007e+02] [ 1.74068939e-01 -9.84733433e-01 -2.65132492e-04 -2.64088346e+02] [ 1.49806473e-03 -4.43333863e-06 9.99998878e-01 -2.84315569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1350.846559995 meters 0.013081705398798778 Centerline is valid? [True, True] Translation: X:-439.82, Y:-264.68, Z:-1.75 [[-9.93394367e-01 1.14744232e-01 1.18049222e-03 -4.39822465e+02] [ 1.14744158e-01 9.93395068e-01 -1.30421484e-04 -2.64681396e+02] [-1.18766026e-03 5.89461789e-06 -9.99999295e-01 -1.74864396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1350.876559995 meters 0.013044438940612588 Centerline is valid? [True, True] Translation: X:-439.76, Y:-264.08, Z:-2.84 [[-9.85245857e-01 -1.71144419e-01 4.34969964e-04 -4.39755601e+02] [ 1.71144380e-01 -9.85245952e-01 -1.26432684e-04 -2.64080811e+02] [ 4.50190646e-04 -5.01246129e-05 9.99999898e-01 -2.84231625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1350.906559995 meters 0.013049587830383331 Centerline is valid? [True, True] Translation: X:-439.88, Y:-264.68, Z:-1.75 [[-9.93923614e-01 1.10072019e-01 -4.60421831e-06 -4.39876701e+02] [ 1.10072019e-01 9.93923614e-01 -8.31179390e-08 -2.64676741e+02] [ 4.56709037e-06 -5.89408494e-07 -1.00000000e+00 -1.74945821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1350.9365599950002 meters 0.013281118729569412 Centerline is valid? [True, True] Translation: X:-439.88, Y:-264.65, Z:-1.75 [[-9.99205172e-01 3.98614497e-02 -3.00311648e-04 -4.39880761e+02] [ 3.98614486e-02 9.99205217e-01 9.69123375e-06 -2.64648653e+02] [ 3.00459270e-04 -2.28732645e-06 -9.99999955e-01 -1.74952096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1350.9665599950001 meters 0.013273609171753898 Centerline is valid? [True, True] Translation: X:-439.89, Y:-264.62, Z:-1.75 [[-9.99542034e-01 -3.02460527e-02 -9.48277140e-04 -4.39887753e+02] [-3.02460324e-02 9.99542484e-01 -3.57360211e-05 -2.64620528e+02] [ 9.48924159e-04 -7.03803406e-06 -9.99999550e-01 -1.74948615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1350.996559995 meters 0.013597868236162875 Centerline is valid? [True, True] Translation: X:-439.91, Y:-264.01, Z:-2.84 [[-9.99785924e-01 -2.06401226e-02 -1.44657973e-03 -4.39908807e+02] [ 2.06401315e-02 -9.99786970e-01 8.74666513e-06 -2.64014206e+02] [-1.44645209e-03 -2.11128031e-05 9.99998954e-01 -2.84189332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1351.026559995 meters 0.013933816415293027 Centerline is valid? [True, True] Translation: X:-439.96, Y:-264.63, Z:-1.75 [[-9.99498771e-01 -3.16307171e-02 -1.30567096e-03 -4.39961236e+02] [-3.16306715e-02 9.99499624e-01 -5.55840885e-05 -2.64626601e+02] [ 1.30677580e-03 -1.42569790e-05 -9.99999146e-01 -1.74962372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1351.056559995 meters 0.014018014949994174 Centerline is valid? [True, True] Translation: X:-439.97, Y:-264.60, Z:-1.75 [[-9.94808653e-01 -1.01756620e-01 -1.15535803e-03 -4.39972047e+02] [-1.01756535e-01 9.94809324e-01 -1.32087421e-04 -2.64600038e+02] [ 1.16280171e-03 -1.38364793e-05 -9.99999324e-01 -1.74939263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1351.086559995 meters 0.014179513338805641 Centerline is valid? [True, True] Translation: X:-439.99, Y:-264.57, Z:-1.75 [[-9.85076569e-01 -1.72115037e-01 -7.52890391e-04 -4.39990901e+02] [-1.72114980e-01 9.85076857e-01 -1.41262409e-04 -2.64574962e+02] [ 7.65968282e-04 -9.57057493e-06 -9.99999707e-01 -1.74897673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1351.116559995 meters 0.014305098130927747 Centerline is valid? [True, True] Translation: X:-440.02, Y:-264.55, Z:-1.75 [[-9.70147911e-01 -2.42513935e-01 1.49505400e-04 -4.40016016e+02] [-2.42513932e-01 9.70147922e-01 3.88782914e-05 -2.64551778e+02] [-1.54470883e-04 1.46055066e-06 -9.99999988e-01 -1.74810976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1351.146559995 meters 0.014048427788165048 Centerline is valid? [True, True] Translation: X:-440.06, Y:-264.53, Z:-1.74 [[-9.49411804e-01 -3.14017880e-01 3.16199679e-03 -4.40060101e+02] [-3.14016023e-01 9.49417069e-01 1.08030572e-03 -2.64532370e+02] [-3.34128904e-03 3.27373424e-05 -9.99994418e-01 -1.74454702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1351.176559995 meters 0.013961643987381088 Centerline is valid? [True, True] Translation: X:-440.12, Y:-264.52, Z:-1.74 [[-9.23313829e-01 -3.84023061e-01 4.22633972e-03 -4.40122514e+02] [-3.84018848e-01 9.23323501e-01 1.79928688e-03 -2.64523981e+02] [-4.59324644e-03 3.83123464e-05 -9.99989450e-01 -1.74279232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1351.2065599950001 meters 0.013689003408464481 Centerline is valid? [True, True] Translation: X:-440.19, Y:-264.52, Z:-1.74 [[-8.91718499e-01 -4.52561228e-01 5.14339280e-03 -4.40190634e+02] [-4.52553454e-01 8.91733331e-01 2.65279904e-03 -2.64522907e+02] [-5.78708878e-03 3.78897995e-05 -9.99983254e-01 -1.74176460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1351.236559995 meters 0.013385340142787862 Centerline is valid? [True, True] Translation: X:-440.27, Y:-264.53, Z:-1.74 [[-8.54355644e-01 -5.19660956e-01 5.37816218e-03 -4.40266412e+02] [-5.19650480e-01 8.54372572e-01 3.29973340e-03 -2.64529161e+02] [-6.30969687e-03 2.43812935e-05 -9.99980094e-01 -1.74151602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1351.266559995 meters 0.013281593339067331 Centerline is valid? [True, True] Translation: X:-440.35, Y:-264.55, Z:-1.74 [[-8.12871332e-01 -5.82426325e-01 4.44667886e-03 -4.40346083e+02] [-5.82417497e-01 8.12883495e-01 3.20681304e-03 -2.64546109e+02] [-5.48236418e-03 1.69028170e-05 -9.99984972e-01 -1.74204399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1351.296559995 meters 0.013234447621968848 Centerline is valid? [True, True] Translation: X:-440.43, Y:-264.58, Z:-1.74 [[-7.66864514e-01 -6.41798715e-01 3.63671514e-03 -4.40431482e+02] [-6.41791419e-01 7.66873137e-01 3.06047022e-03 -2.64575071e+02] [-4.75310501e-03 1.29534387e-05 -9.99988704e-01 -1.74305307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1351.326559995 meters 0.013231704637716698 Centerline is valid? [True, True] Translation: X:-440.51, Y:-264.61, Z:-1.74 [[-7.16949467e-01 -6.97119759e-01 2.73912074e-03 -4.40510794e+02] [-6.97114603e-01 7.16954700e-01 2.68115526e-03 -2.64610970e+02] [-3.83291179e-03 1.27717693e-05 -9.99992655e-01 -1.74403440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1351.356559995 meters 0.013231704637716698 Centerline is valid? [True, True] Translation: X:-440.60, Y:-264.66, Z:-1.74 [[-6.62428485e-01 -7.49120888e-01 2.52947086e-03 -4.40595019e+02] [-7.49115353e-01 6.62433314e-01 2.87976328e-03 -2.64659074e+02] [-3.83289659e-03 1.27717688e-05 -9.99992655e-01 -1.74403503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1351.386559995 meters 0.013562576162364975 Centerline is valid? [True, True] Translation: X:-440.67, Y:-264.72, Z:-1.75 [[-6.05911380e-01 -7.95531477e-01 1.03347442e-03 -4.40673585e+02] [-7.95530293e-01 6.05912261e-01 1.37253429e-03 -2.64716106e+02] [-1.71808906e-03 9.47393628e-06 -9.99998524e-01 -1.74599172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1351.416559995 meters 0.013363446397358371 Centerline is valid? [True, True] Translation: X:-440.75, Y:-264.78, Z:-1.75 [[-5.44702759e-01 -8.38629177e-01 8.78928910e-05 -4.40753622e+02] [-8.38629166e-01 5.44702766e-01 1.36588159e-04 -2.64782197e+02] [-1.62422318e-04 6.90405158e-07 -9.99999987e-01 -1.74721965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1351.4465599950001 meters 0.013488438700666171 Centerline is valid? [True, True] Translation: X:-440.83, Y:-264.86, Z:-1.75 [[-4.80333397e-01 -8.77085824e-01 -5.34522026e-04 -4.40828769e+02] [-8.77085259e-01 4.80333694e-01 -9.95013773e-04 -2.64857660e+02] [ 1.12946141e-03 -9.11695542e-06 -9.99999362e-01 -1.74826143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1351.4765599950001 meters 0.01348693662284441 Centerline is valid? [True, True] Translation: X:-440.90, Y:-264.94, Z:-1.75 [[-4.12735790e-01 -9.10850363e-01 -8.85366652e-04 -4.40900722e+02] [-9.10848171e-01 4.12736739e-01 -1.99866606e-03 -2.64944206e+02] [ 2.18590905e-03 -1.84864177e-05 -9.99997611e-01 -1.74932756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1351.506559995 meters 0.013628363284012242 Centerline is valid? [True, True] Translation: X:-440.96, Y:-265.03, Z:-1.75 [[-3.43133246e-01 -9.39286089e-01 -1.10399446e-03 -4.40964882e+02] [-9.39280928e-01 3.43135021e-01 -3.11394458e-03 -2.65031626e+02] [ 3.30370398e-03 -3.15369697e-05 -9.99994542e-01 -1.74941285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1351.536559995 meters 0.013780610716405897 Centerline is valid? [True, True] Translation: X:-441.02, Y:-265.13, Z:-1.75 [[-2.70555551e-01 -9.62703988e-01 -8.51679075e-04 -4.41023895e+02] [-9.62698844e-01 2.70556890e-01 -3.14742225e-03 -2.65129693e+02] [ 3.26046359e-03 -3.16421002e-05 -9.99994684e-01 -1.74903078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1351.566559995 meters 0.013725698693219126 Centerline is valid? [True, True] Translation: X:-441.08, Y:-265.24, Z:-1.75 [[-1.96133498e-01 -9.80577031e-01 -5.80158164e-04 -4.41076435e+02] [-9.80572279e-01 1.96134354e-01 -3.05304890e-03 -2.65235875e+02] [ 3.10753857e-03 -2.99181457e-05 -9.99995171e-01 -1.74868871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1351.596559995 meters 0.013708636863553026 Centerline is valid? [True, True] Translation: X:-441.12, Y:-265.34, Z:-1.75 [[-1.20259807e-01 -9.92742408e-01 -3.00660312e-04 -4.41120164e+02] [-9.92738752e-01 1.20260181e-01 -2.69432480e-03 -2.65341758e+02] [ 2.71092795e-03 -2.55418384e-05 -9.99996325e-01 -1.74878903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1351.626559995 meters 0.013708636863553026 Centerline is valid? [True, True] Translation: X:-441.16, Y:-265.45, Z:-1.75 [[-4.39133132e-02 -9.99035341e-01 -9.35307472e-05 -4.41156607e+02] [-9.99031667e-01 4.39134053e-02 -2.70944972e-03 -2.65454156e+02] [ 2.71094327e-03 -2.55407356e-05 -9.99996325e-01 -1.74878977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1351.656559995 meters 0.01397480733206061 Centerline is valid? [True, True] Translation: X:-441.18, Y:-265.57, Z:-1.75 [[ 3.30393415e-02 -9.99454045e-01 1.15855288e-04 -4.41182803e+02] [-9.99450268e-01 -3.30395351e-02 -2.74797209e-03 -2.65569299e+02] [ 2.75029963e-03 -2.50004107e-05 -9.99996218e-01 -1.74932343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1351.686559995 meters 0.013689003725756517 Centerline is valid? [True, True] Translation: X:-441.20, Y:-265.69, Z:-1.75 [[ 1.10196573e-01 -9.93909773e-01 2.79279557e-04 -4.41202959e+02] [-9.93907018e-01 -1.10196925e-01 -2.34060784e-03 -2.65694733e+02] [ 2.35712876e-03 -1.96509492e-05 -9.99997222e-01 -1.74804029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1351.7165599950001 meters 0.013713896945394972 Centerline is valid? [True, True] Translation: X:-441.22, Y:-265.81, Z:-1.75 [[ 1.86651542e-01 -9.82426097e-01 4.08483756e-04 -4.41215034e+02] [-9.82423930e-01 -1.86651988e-01 -2.06352657e-03 -2.65806165e+02] [ 2.10350665e-03 -1.61438025e-05 -9.99997788e-01 -1.74734657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1351.746559995 meters 0.013598536641289715 Centerline is valid? [True, True] Translation: X:-441.22, Y:-265.93, Z:-1.75 [[ 2.61990275e-01 -9.65070446e-01 3.61203246e-04 -4.41216901e+02] [-9.65069578e-01 -2.61990524e-01 -1.29445310e-03 -2.65926163e+02] [ 1.34387025e-03 -9.45214161e-06 -9.99999097e-01 -1.74660139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1351.776559995 meters 0.013426797070828361 Centerline is valid? [True, True] Translation: X:-441.21, Y:-266.03, Z:-1.75 [[ 3.35595800e-01 -9.42006047e-01 2.56676411e-04 -4.41213914e+02] [-9.42005783e-01 -3.35595898e-01 -7.06319390e-04 -2.66034989e+02] [ 7.51496686e-04 -4.75284244e-06 -9.99999718e-01 -1.74574407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1351.806559995 meters 0.013364721306495188 Centerline is valid? [True, True] Translation: X:-441.20, Y:-266.14, Z:-1.74 [[ 4.06943008e-01 -9.13453527e-01 -2.04864398e-04 -4.41203506e+02] [-9.13453414e-01 -4.06943059e-01 4.55711869e-04 -2.66143928e+02] [-4.99639761e-04 1.68532516e-06 -9.99999875e-01 -1.74408085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1351.836559995 meters 0.01337457768118264 Centerline is valid? [True, True] Translation: X:-441.18, Y:-266.25, Z:-1.74 [[ 4.75758896e-01 -8.79575627e-01 -4.35505197e-04 -4.41180510e+02] [-8.79575264e-01 -4.75759095e-01 7.98709135e-04 -2.66254472e+02] [-9.09720648e-04 3.06662251e-06 -9.99999586e-01 -1.74326669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1351.866559995 meters 0.013373298997316652 Centerline is valid? [True, True] Translation: X:-441.15, Y:-266.36, Z:-1.74 [[ 5.41350834e-01 -8.40796428e-01 -8.01058709e-04 -4.41149960e+02] [-8.40795522e-01 -5.41351427e-01 1.23435186e-03 -2.66361672e+02] [-1.47149291e-03 5.30916538e-06 -9.99998918e-01 -1.74299450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1351.896559995 meters 0.013399325720756384 Centerline is valid? [True, True] Translation: X:-441.11, Y:-266.47, Z:-1.74 [[ 6.03601621e-01 -7.97285512e-01 -9.46031900e-04 -4.41111669e+02] [-7.97284548e-01 -6.03602363e-01 1.23993860e-03 -2.66466311e+02] [-1.55961217e-03 5.82766836e-06 -9.99998784e-01 -1.74288546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1351.926559995 meters 0.013394511047712325 Centerline is valid? [True, True] Translation: X:-441.07, Y:-266.56, Z:-1.74 [[ 6.62207288e-01 -7.49320126e-01 -9.25501124e-04 -4.41067047e+02] [-7.49319406e-01 -6.62207934e-01 1.03900255e-03 -2.66564368e+02] [-1.39141971e-03 5.46089073e-06 -9.99999032e-01 -1.74267708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1351.9565599950001 meters 0.013390621779441792 Centerline is valid? [True, True] Translation: X:-441.02, Y:-266.66, Z:-1.74 [[ 7.16709658e-01 -6.97370994e-01 -9.81768658e-04 -4.41018609e+02] [-6.97370351e-01 -7.16710330e-01 9.46898461e-04 -2.66655142e+02] [-1.36398326e-03 6.00508194e-06 -9.99999070e-01 -1.74261368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1351.986559995 meters 0.013514247420118173 Centerline is valid? [True, True] Translation: X:-441.01, Y:-266.66, Z:-1.74 [[ 7.68291017e-01 -6.40100239e-01 -7.72788956e-04 -4.41012660e+02] [-6.40099922e-01 -7.68291406e-01 6.36741597e-04 -2.66658508e+02] [-1.00130556e-03 5.45930089e-06 -9.99999499e-01 -1.74277078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1352.016559995 meters 0.013640134846255177 Centerline is valid? [True, True] Translation: X:-441.01, Y:-266.66, Z:-1.74 [[ 8.15545163e-01 -5.78693039e-01 -6.73668806e-04 -4.41005944e+02] [-5.78692846e-01 -8.15545441e-01 4.71846501e-04 -2.66661591e+02] [-8.22461811e-04 5.03518766e-06 -9.99999662e-01 -1.74266194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1352.046559995 meters 0.013644261780159192 Centerline is valid? [True, True] Translation: X:-441.00, Y:-266.67, Z:-1.74 [[ 8.57961223e-01 -5.13714161e-01 -5.47482241e-04 -4.41001677e+02] [-5.13714060e-01 -8.57961398e-01 3.22906254e-04 -2.66669231e+02] [-6.35600147e-04 4.20828006e-06 -9.99999798e-01 -1.74255821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1352.076559995 meters 0.013939986207544452 Centerline is valid? [True, True] Translation: X:-441.00, Y:-266.67, Z:-1.74 [[ 8.95343066e-01 -4.45376457e-01 -7.78134276e-04 -4.40997169e+02] [-4.45376295e-01 -8.95343404e-01 3.80160932e-04 -2.66673727e+02] [-8.66012122e-04 6.18810684e-06 -9.99999625e-01 -1.74258264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1352.106559995 meters 0.013714226575126366 Centerline is valid? [True, True] Translation: X:-440.99, Y:-266.68, Z:-1.74 [[ 9.27353066e-01 -3.74185599e-01 -1.19549698e-03 -4.40991307e+02] [-3.74185301e-01 -9.27353836e-01 4.72047504e-04 -2.66678614e+02] [-1.28528209e-03 9.58269731e-06 -9.99999174e-01 -1.74195895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1352.136559995 meters 0.013671762493627719 Centerline is valid? [True, True] Translation: X:-440.98, Y:-266.68, Z:-1.74 [[ 9.53907002e-01 -3.00096597e-01 -1.86102955e-03 -4.40984808e+02] [-3.00096055e-01 -9.53908818e-01 5.71010084e-04 -2.66683170e+02] [-1.94661068e-03 1.37971065e-05 -9.99998105e-01 -1.74091664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1352.166559995 meters 0.013579997058502302 Centerline is valid? [True, True] Translation: X:-440.98, Y:-266.69, Z:-1.74 [[ 9.74659210e-01 -2.23679863e-01 -2.59669773e-03 -4.40978006e+02] [-2.23679114e-01 -9.74662669e-01 5.78984068e-04 -2.66687182e+02] [-2.66041142e-03 1.65148940e-05 -9.99996461e-01 -1.74033754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1352.1965599950001 meters 0.01342710655842736 Centerline is valid? [True, True] Translation: X:-440.97, Y:-266.69, Z:-1.74 [[ 9.89288654e-01 -1.45949875e-01 -2.56763887e-03 -4.40971423e+02] [-1.45949420e-01 -9.89291986e-01 3.64776930e-04 -2.66690305e+02] [-2.59338370e-03 1.38757254e-05 -9.99996637e-01 -1.74004714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1352.2265599950001 meters 0.013279227238476384 Centerline is valid? [True, True] Translation: X:-440.97, Y:-266.69, Z:-1.74 [[ 9.97758039e-01 -6.68896601e-02 -2.16082963e-03 -4.40968914e+02] [-6.68895228e-02 -9.97760379e-01 1.35819197e-04 -2.66693081e+02] [-2.16507509e-03 9.02216757e-06 -9.99997656e-01 -1.74012878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1352.256559995 meters 0.013277975082418434 Centerline is valid? [True, True] Translation: X:-440.97, Y:-266.69, Z:-1.74 [[ 9.99927992e-01 1.18755634e-02 -1.72709922e-03 -4.40965456e+02] [ 1.18755346e-02 -9.99929483e-01 -2.68944650e-05 -2.66693773e+02] [-1.72729682e-03 6.38230184e-06 -9.99998508e-01 -1.74048858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1352.286559995 meters 0.013281391144399572 Centerline is valid? [True, True] Translation: X:-440.96, Y:-266.69, Z:-1.74 [[ 9.95932020e-01 9.00994595e-02 -1.22472804e-03 -4.40961653e+02] [ 9.00993858e-02 -9.95932773e-01 -1.15261294e-04 -2.66693504e+02] [-1.23013178e-03 4.44516876e-06 -9.99999244e-01 -1.74101399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1352.316559995 meters 0.013360569295114312 Centerline is valid? [True, True] Translation: X:-440.96, Y:-266.69, Z:-1.74 [[ 9.85882975e-01 1.67435763e-01 -1.60963483e-04 -4.40958730e+02] [ 1.67435761e-01 -9.85882988e-01 -2.76620874e-05 -2.66692093e+02] [-1.63322784e-04 3.20537709e-07 -9.99999987e-01 -1.74161460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1352.346559995 meters 0.013267804679762995 Centerline is valid? [True, True] Translation: X:-440.96, Y:-266.69, Z:-1.74 [[ 9.69848638e-01 2.43706104e-01 9.77083827e-04 -4.40955282e+02] [ 2.43705975e-01 -9.69849130e-01 2.50785930e-04 -2.66689353e+02] [ 1.00874196e-03 -5.10322573e-06 -9.99999491e-01 -1.74290238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1352.376559995 meters 0.013581625913204106 Centerline is valid? [True, True] Translation: X:-440.95, Y:-266.68, Z:-1.74 [[ 9.48301974e-01 3.17357629e-01 2.73898875e-03 -4.40954186e+02] [ 3.17356249e-01 -9.48305929e-01 9.36088415e-04 -2.66683872e+02] [ 2.89447407e-03 -1.84592943e-05 -9.99995811e-01 -1.74482468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1352.406559995 meters 0.013724557527593273 Centerline is valid? [True, True] Translation: X:-440.95, Y:-266.68, Z:-1.75 [[ 9.20867059e-01 3.89864763e-01 3.05378406e-03 -4.40952602e+02] [ 3.89862534e-01 -9.20872123e-01 1.31868544e-03 -2.66676824e+02] [ 3.32625359e-03 -2.37779973e-05 -9.99994468e-01 -1.74538829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1352.436559995 meters 0.013857974691337385 Centerline is valid? [True, True] Translation: X:-440.95, Y:-266.67, Z:-1.75 [[ 8.87784076e-01 4.60249818e-01 3.08857560e-03 -4.40951666e+02] [ 4.60246927e-01 -8.87789448e-01 1.63151119e-03 -2.66669156e+02] [ 3.49290756e-03 -2.69222255e-05 -9.99993900e-01 -1.74556491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1352.4665599950001 meters 0.013913128759548407 Centerline is valid? [True, True] Translation: X:-440.95, Y:-266.66, Z:-1.74 [[ 8.49098123e-01 5.28228381e-01 2.67489399e-03 -4.40952826e+02] [ 5.28225667e-01 -8.49102336e-01 1.69321978e-03 -2.66661940e+02] [ 3.16566548e-03 -2.47620712e-05 -9.99994989e-01 -1.74427965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1352.496559995 meters 0.01386412325492874 Centerline is valid? [True, True] Translation: X:-440.95, Y:-266.65, Z:-1.74 [[ 8.04805505e-01 5.93535597e-01 1.89586571e-03 -4.40954035e+02] [ 5.93533900e-01 -8.04807738e-01 1.41965061e-03 -2.66654864e+02] [ 2.36842056e-03 -1.72820555e-05 -9.99997195e-01 -1.74275215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1352.526559995 meters 0.01327445772333188 Centerline is valid? [True, True] Translation: X:-440.94, Y:-266.66, Z:-1.74 [[ 7.55003805e-01 6.55719066e-01 1.32722670e-03 -4.40943798e+02] [ 6.55718028e-01 -7.55004972e-01 1.16683401e-03 -2.66661406e+02] [ 1.76717807e-03 -1.06776422e-05 -9.99998439e-01 -1.74079523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1352.556559995 meters 0.01313096695625239 Centerline is valid? [True, True] Translation: X:-440.93, Y:-266.67, Z:-1.74 [[ 7.00599758e-01 7.13553884e-01 9.13670655e-04 -4.40933188e+02] [ 7.13553264e-01 -7.00600354e-01 9.40106059e-04 -2.66665633e+02] [ 1.31093431e-03 -6.68539889e-06 -9.99999141e-01 -1.73965527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1352.586559995 meters 0.013009216211550583 Centerline is valid? [True, True] Translation: X:-440.92, Y:-266.67, Z:-1.74 [[ 6.42067235e-01 7.66648097e-01 6.00428704e-04 -4.40922569e+02] [ 7.66647756e-01 -6.42067516e-01 7.23561831e-04 -2.66669476e+02] [ 9.40233065e-04 -4.25802591e-06 -9.99999558e-01 -1.73922085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1352.616559995 meters 0.013070389119606758 Centerline is valid? [True, True] Translation: X:-440.91, Y:-266.67, Z:-1.74 [[ 5.79510528e-01 8.14964557e-01 5.65036705e-04 -4.40914626e+02] [ 8.14964163e-01 -5.79510804e-01 8.01113495e-04 -2.66672068e+02] [ 9.80323977e-04 -3.76903982e-06 -9.99999520e-01 -1.73931052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1352.646559995 meters 0.013112410975395533 Centerline is valid? [True, True] Translation: X:-440.91, Y:-266.67, Z:-1.74 [[ 5.13778272e-01 8.57922806e-01 5.89648468e-04 -4.40906052e+02] [ 8.57922231e-01 -5.13778610e-01 9.92703277e-04 -2.66672799e+02] [ 1.15461155e-03 -4.15684421e-06 -9.99999334e-01 -1.73949273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1352.676559995 meters 0.012995594978631866 Centerline is valid? [True, True] Translation: X:-440.90, Y:-266.67, Z:-1.74 [[ 4.44768967e-01 8.95645177e-01 5.32795304e-04 -4.40896983e+02] [ 8.95644523e-01 -4.44769286e-01 1.08182917e-03 -2.66673159e+02] [ 1.20590607e-03 -3.96884840e-06 -9.99999273e-01 -1.74002920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1352.7065599950001 meters 0.012973087530229716 Centerline is valid? [True, True] Translation: X:-440.89, Y:-266.67, Z:-1.74 [[ 3.72716301e-01 9.27945089e-01 6.85868427e-04 -4.40887835e+02] [ 9.27943494e-01 -3.72716932e-01 1.72054098e-03 -2.66673882e+02] [ 1.85220232e-03 -4.82652486e-06 -9.99998285e-01 -1.74084009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1352.736559995 meters 0.012995470122889274 Centerline is valid? [True, True] Translation: X:-440.88, Y:-266.67, Z:-1.74 [[ 2.98800567e-01 9.54315280e-01 7.54189541e-04 -4.40878307e+02] [ 9.54312187e-01 -2.98801519e-01 2.42961476e-03 -2.66674079e+02] [ 2.54397147e-03 -6.23799645e-06 -9.99996764e-01 -1.74118111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1352.766559995 meters 0.012989231495658221 Centerline is valid? [True, True] Translation: X:-440.87, Y:-266.67, Z:-1.74 [[ 2.22776619e-01 9.74869283e-01 6.78506222e-04 -4.40868201e+02] [ 9.74864675e-01 -2.22777652e-01 2.99724283e-03 -2.66673062e+02] [ 3.07307599e-03 -6.26387676e-06 -9.99995278e-01 -1.74105453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1352.796559995 meters 0.01300614133152005 Centerline is valid? [True, True] Translation: X:-440.86, Y:-266.67, Z:-1.74 [[ 1.45560195e-01 9.89349276e-01 4.89293233e-04 -4.40857565e+02] [ 9.89343540e-01 -1.45561017e-01 3.36905906e-03 -2.66671915e+02] [ 3.40439816e-03 -6.32179562e-06 -9.99994205e-01 -1.74057599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1352.826559995 meters 0.012949396221651298 Centerline is valid? [True, True] Translation: X:-440.85, Y:-266.67, Z:-1.74 [[ 6.77701845e-02 9.97700934e-01 2.20504955e-04 -4.40847604e+02] [ 9.97695333e-01 -6.77705429e-02 3.34311399e-03 -2.66669469e+02] [ 3.35037169e-03 -6.56668757e-06 -9.99994388e-01 -1.74017832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1352.856559995 meters 0.01302150772130268 Centerline is valid? [True, True] Translation: X:-440.84, Y:-266.67, Z:-1.74 [[-9.90955115e-03 9.99950898e-01 -4.36679091e-05 -4.40837719e+02] [ 9.99944833e-01 9.90964313e-03 3.48284895e-03 -2.66665906e+02] [ 3.48311066e-03 -9.15203029e-06 -9.99993934e-01 -1.73944320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1352.886559995 meters 0.012914703699263645 Centerline is valid? [True, True] Translation: X:-440.83, Y:-266.66, Z:-1.74 [[-8.75538192e-02 9.96159745e-01 -3.00995432e-04 -4.40828996e+02] [ 9.96154278e-01 8.75543359e-02 3.30037452e-03 -2.66661952e+02] [ 3.31405370e-03 -1.08774929e-05 -9.99994509e-01 -1.73952174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1352.916559995 meters 0.0129467928597266 Centerline is valid? [True, True] Translation: X:-440.82, Y:-266.66, Z:-1.74 [[-1.64667433e-01 9.86348967e-01 -5.93325793e-04 -4.40821160e+02] [ 9.86342863e-01 1.64668501e-01 3.46997300e-03 -2.66657961e+02] [ 3.52030635e-03 -1.38311172e-05 -9.99993804e-01 -1.73955509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1352.9465599950001 meters 0.013011544417526978 Centerline is valid? [True, True] Translation: X:-440.81, Y:-266.65, Z:-1.74 [[-2.40424988e-01 9.70667278e-01 -9.27820925e-04 -4.40813541e+02] [ 9.70660349e-01 2.40426777e-01 3.66762242e-03 -2.66652893e+02] [ 3.78311406e-03 -1.88109081e-05 -9.99992844e-01 -1.73974008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1352.9765599950001 meters 0.01313544474746651 Centerline is valid? [True, True] Translation: X:-440.81, Y:-266.65, Z:-1.74 [[-3.14785325e-01 9.49162118e-01 -1.21400622e-03 -4.40806754e+02] [ 9.49155332e-01 3.14787665e-01 3.58901549e-03 -2.66648164e+02] [ 3.78871172e-03 -2.25110719e-05 -9.99992823e-01 -1.73947225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1353.006559995 meters 0.012972808652484003 Centerline is valid? [True, True] Translation: X:-440.80, Y:-266.64, Z:-1.74 [[-3.88565555e-01 9.21419964e-01 -1.43491883e-03 -4.40798448e+02] [ 9.21413872e-01 3.88568204e-01 3.35084790e-03 -2.66641861e+02] [ 3.64510198e-03 -2.01300422e-05 -9.99993357e-01 -1.73879057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1353.036559995 meters 0.012973525489660083 Centerline is valid? [True, True] Translation: X:-440.79, Y:-266.64, Z:-1.74 [[-4.60237281e-01 8.87794874e-01 -1.38067411e-03 -4.40790948e+02] [ 8.87790972e-01 4.60239352e-01 2.63247049e-03 -2.66635809e+02] [ 2.97253437e-03 -1.41889528e-05 -9.99995582e-01 -1.73774140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1353.066559995 meters 0.012882036563210358 Centerline is valid? [True, True] Translation: X:-440.78, Y:-266.63, Z:-1.74 [[-5.29532265e-01 8.48289224e-01 -9.86654763e-04 -4.40783290e+02] [ 8.48287774e-01 5.29533184e-01 1.56840599e-03 -2.66627853e+02] [ 1.85292833e-03 -6.44559887e-06 -9.99998284e-01 -1.73601043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1353.096559995 meters 0.012882642402601582 Centerline is valid? [True, True] Translation: X:-440.78, Y:-266.62, Z:-1.73 [[-5.97214400e-01 8.02081532e-01 4.20848743e-04 -4.40776092e+02] [ 8.02081332e-01 5.97214548e-01 -5.66175909e-04 -2.66618308e+02] [-7.05456234e-04 -5.73485379e-07 -9.99999751e-01 -1.73304427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1353.126559995 meters 0.012807195595180933 Centerline is valid? [True, True] Translation: X:-440.77, Y:-266.61, Z:-1.73 [[-6.59414345e-01 7.51778174e-01 1.51617146e-03 -4.40771379e+02] [ 7.51776170e-01 6.59416088e-01 -1.73580559e-03 -2.66611302e+02] [-2.30472861e-03 -4.79353340e-06 -9.99997344e-01 -1.73215429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1353.156559995 meters 0.012876438642625469 Centerline is valid? [True, True] Translation: X:-440.77, Y:-266.60, Z:-1.73 [[-7.17297707e-01 6.96763939e-01 2.00337583e-03 -4.40768531e+02] [ 6.96761183e-01 7.17300504e-01 -1.95972099e-03 -2.66603496e+02] [-2.80248541e-03 -9.82886048e-06 -9.99996073e-01 -1.73160683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1353.186559995 meters 0.012958371101732985 Centerline is valid? [True, True] Translation: X:-440.75, Y:-266.58, Z:-1.73 [[-7.65592351e-01 6.43320845e-01 2.57731181e-03 -4.40752115e+02] [ 6.43317130e-01 7.65596689e-01 -2.18633238e-03 -2.66578143e+02] [-3.37969459e-03 -1.58105109e-05 -9.99994289e-01 -1.73061549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1353.2165599950001 meters 0.013109525643317303 Centerline is valid? [True, True] Translation: X:-440.40, Y:-266.16, Z:-2.86 [[-7.13042247e-01 -7.01116900e-01 2.41784405e-03 -4.40396074e+02] [ 7.01112943e-01 -7.13046347e-01 -2.35560387e-03 -2.66157860e+02] [ 3.37558855e-03 1.55366818e-05 9.99994303e-01 -2.86200543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1353.246559995 meters 0.013048967931510022 Centerline is valid? [True, True] Translation: X:-440.42, Y:-266.18, Z:-2.86 [[-6.64101286e-01 -7.47638072e-01 2.60672581e-03 -4.40417498e+02] [ 7.47632458e-01 -6.64106402e-01 -2.89736119e-03 -2.66178896e+02] [ 3.89732083e-03 2.47315303e-05 9.99992405e-01 -2.86157041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1353.276559995 meters 0.013027126182990092 Centerline is valid? [True, True] Translation: X:-440.44, Y:-266.16, Z:-2.86 [[-6.64470232e-01 -7.47310698e-01 2.45589011e-03 -4.40435472e+02] [ 7.47305720e-01 -6.64474770e-01 -2.72765634e-03 -2.66158365e+02] [ 3.67028378e-03 2.28542876e-05 9.99993264e-01 -2.86117958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1353.306559995 meters 0.013012362698456762 Centerline is valid? [True, True] Translation: X:-440.45, Y:-266.14, Z:-2.86 [[-6.64997668e-01 -7.46841671e-01 2.37089629e-03 -4.40453535e+02] [ 7.46837035e-01 -6.65001894e-01 -2.63153037e-03 -2.66138875e+02] [ 3.54198706e-03 2.07116002e-05 9.99993727e-01 -2.86102952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1353.336559995 meters 0.01289568971530561 Centerline is valid? [True, True] Translation: X:-440.47, Y:-266.12, Z:-2.86 [[-6.65693652e-01 -7.46222478e-01 1.99388588e-03 -4.40472208e+02] [ 7.46219200e-01 -6.65696638e-01 -2.21182650e-03 -2.66117864e+02] [ 2.97783778e-03 1.54770663e-05 9.99995566e-01 -2.86075947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1353.366559995 meters 0.012796450242114541 Centerline is valid? [True, True] Translation: X:-440.49, Y:-266.10, Z:-2.86 [[-6.67148915e-01 -7.44923156e-01 1.34783749e-03 -4.40490913e+02] [ 7.44921658e-01 -6.67150277e-01 -1.49427873e-03 -2.66098017e+02] [ 2.01233299e-03 7.12690707e-06 9.99997975e-01 -2.86074253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1353.396559995 meters 0.012682690609538808 Centerline is valid? [True, True] Translation: X:-440.51, Y:-266.08, Z:-2.86 [[-6.68166711e-01 -7.44010702e-01 1.14968984e-03 -4.40508642e+02] [ 7.44009612e-01 -6.68167700e-01 -1.27387416e-03 -2.66076754e+02] [ 1.71596163e-03 4.21998287e-06 9.99998528e-01 -2.86015266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1353.426559995 meters 0.012633761043048426 Centerline is valid? [True, True] Translation: X:-440.53, Y:-266.06, Z:-2.86 [[-6.69687568e-01 -7.42642180e-01 1.07429945e-03 -4.40526343e+02] [ 7.42641227e-01 -6.69688430e-01 -1.18962325e-03 -2.66056130e+02] [ 1.60291032e-03 1.14316587e-06 9.99998716e-01 -2.86049151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1353.4565599950001 meters 0.012610589330374917 Centerline is valid? [True, True] Translation: X:-440.54, Y:-266.04, Z:-2.86 [[-6.71187453e-01 -7.41286877e-01 1.08157206e-03 -4.40544184e+02] [ 7.41285911e-01 -6.71188324e-01 -1.19699715e-03 -2.66035045e+02] [ 1.61325682e-03 -1.65533801e-06 9.99998699e-01 -2.86078140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1353.486559995 meters 0.012758669788309189 Centerline is valid? [True, True] Translation: X:-440.56, Y:-266.01, Z:-2.86 [[-6.73766216e-01 -7.38942908e-01 1.56994868e-03 -4.40560446e+02] [ 7.38940868e-01 -6.73768045e-01 -1.73645530e-03 -2.66013459e+02] [ 2.34092259e-03 -9.86567562e-06 9.99997260e-01 -2.86154130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1353.516559995 meters 0.012861994204642914 Centerline is valid? [True, True] Translation: X:-440.58, Y:-265.99, Z:-2.86 [[-6.74793275e-01 -7.38004455e-01 1.86016154e-03 -4.40577625e+02] [ 7.38001590e-01 -6.74795839e-01 -2.05645584e-03 -2.65993445e+02] [ 2.77290284e-03 -1.48803927e-05 9.99996156e-01 -2.86212423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1353.546559995 meters 0.012861994204642914 Centerline is valid? [True, True] Translation: X:-440.60, Y:-265.97, Z:-2.86 [[-6.75018746e-01 -7.37798232e-01 1.86079002e-03 -4.40595645e+02] [ 7.37795367e-01 -6.75021310e-01 -2.05588718e-03 -2.65973689e+02] [ 2.77290284e-03 -1.48801252e-05 9.99996156e-01 -2.86212434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1353.576559995 meters 0.013017207754348415 Centerline is valid? [True, True] Translation: X:-440.61, Y:-265.95, Z:-2.86 [[-6.76075646e-01 -7.36828768e-01 2.25553538e-03 -4.40614237e+02] [ 7.36824560e-01 -6.76079408e-01 -2.49048221e-03 -2.65953637e+02] [ 3.35997997e-03 -2.18205046e-05 9.99994355e-01 -2.86303366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1353.606559995 meters 0.013158331027268636 Centerline is valid? [True, True] Translation: X:-440.63, Y:-265.93, Z:-2.86 [[-6.76766568e-01 -7.36191345e-01 3.05236022e-03 -4.40633136e+02] [ 7.36183640e-01 -6.76773450e-01 -3.36823633e-03 -2.65933833e+02] [ 4.54542280e-03 -3.24120828e-05 9.99989669e-01 -2.86417701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1353.636559995 meters 0.013392260469742246 Centerline is valid? [True, True] Translation: X:-440.65, Y:-265.91, Z:-2.87 [[-6.77695023e-01 -7.35333541e-01 3.74699848e-03 -4.40651892e+02] [ 7.35321931e-01 -6.77705380e-01 -4.13223711e-03 -2.65913517e+02] [ 5.57793358e-03 -4.51463651e-05 9.99984442e-01 -2.86561628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1353.666559995 meters 0.01363144055150467 Centerline is valid? [True, True] Translation: X:-440.67, Y:-265.89, Z:-2.87 [[-6.78917976e-01 -7.34199979e-01 4.55779153e-03 -4.40670861e+02] [ 7.34182794e-01 -6.78933272e-01 -5.02366633e-03 -2.65892422e+02] [ 6.78281203e-03 -6.44052563e-05 9.99976995e-01 -2.86685155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1353.6965599950001 meters 0.014351529229624571 Centerline is valid? [True, True] Translation: X:-440.69, Y:-265.87, Z:-2.87 [[-6.82239809e-01 -7.31107546e-01 5.53174429e-03 -4.40689080e+02] [ 7.31082160e-01 -6.82262225e-01 -6.09363003e-03 -2.65871592e+02] [ 8.22919907e-03 -1.13157428e-04 9.99966133e-01 -2.86886427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1353.7265599950001 meters 0.014575502539468472 Centerline is valid? [True, True] Translation: X:-440.71, Y:-265.85, Z:-2.87 [[-6.84138162e-01 -7.29329312e-01 5.80778660e-03 -4.40707337e+02] [ 7.29301298e-01 -6.84162799e-01 -6.39391712e-03 -2.65850880e+02] [ 8.63674271e-03 -1.38696403e-04 9.99962693e-01 -2.86904970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1353.756559995 meters 0.015980578881683912 Centerline is valid? [True, True] Translation: X:-440.72, Y:-265.83, Z:-2.87 [[-6.85661072e-01 -7.27893546e-01 6.31506266e-03 -4.40723338e+02] [ 7.27860401e-01 -6.85690132e-01 -6.94830341e-03 -2.65828454e+02] [ 9.38780136e-03 -1.67697127e-04 9.99955920e-01 -2.87026354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1353.786559995 meters 0.016596129546512354 Centerline is valid? [True, True] Translation: X:-440.74, Y:-265.81, Z:-2.87 [[-6.87145633e-01 -7.26485286e-01 7.07175179e-03 -4.40741699e+02] [ 7.26443690e-01 -6.87181990e-01 -7.77676881e-03 -2.65807403e+02] [ 1.05092886e-02 -2.06543258e-04 9.99944755e-01 -2.87133720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1353.816559995 meters 0.01674318326811776 Centerline is valid? [True, True] Translation: X:-440.76, Y:-265.79, Z:-2.87 [[-6.87113486e-01 -7.26512435e-01 7.39857605e-03 -4.40759704e+02] [ 7.26466948e-01 -6.87153284e-01 -8.13244833e-03 -2.65788733e+02] [ 1.09922807e-02 -2.13093956e-04 9.99939561e-01 -2.87221569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1353.846559995 meters 0.015851771001073475 Centerline is valid? [True, True] Translation: X:-440.78, Y:-265.77, Z:-2.87 [[-6.86486569e-01 -7.27100014e-01 7.85879212e-03 -4.40779776e+02] [ 7.27048792e-01 -6.86531517e-01 -8.63309238e-03 -2.65770650e+02] [ 1.16724301e-02 -2.12776651e-04 9.99931852e-01 -2.87212348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1353.876559995 meters 0.01599196016566707 Centerline is valid? [True, True] Translation: X:-440.80, Y:-265.75, Z:-2.87 [[-6.85417917e-01 -7.28106009e-01 7.99491419e-03 -4.40798078e+02] [ 7.28053131e-01 -6.85464515e-01 -8.77706445e-03 -2.65751862e+02] [ 1.18708634e-02 -1.95234929e-04 9.99929520e-01 -2.87364689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1353.906559995 meters 0.01508990648725789 Centerline is valid? [True, True] Translation: X:-440.82, Y:-265.73, Z:-2.87 [[-6.84050887e-01 -7.29385797e-01 8.41092382e-03 -4.40819057e+02] [ 7.29327438e-01 -6.84102571e-01 -9.22824914e-03 -2.65734231e+02] [ 1.24848885e-02 -1.78274491e-04 9.99922045e-01 -2.87369582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1353.936559995 meters 0.014082993887907803 Centerline is valid? [True, True] Translation: X:-440.84, Y:-265.72, Z:-2.88 [[-6.81832302e-01 -7.31460665e-01 8.36702817e-03 -4.40842194e+02] [ 7.31403131e-01 -6.81883624e-01 -9.17511812e-03 -2.65717388e+02] [ 1.24165775e-02 -1.36221305e-04 9.99922902e-01 -2.87512714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1353.9665599950001 meters 0.013853747212848306 Centerline is valid? [True, True] Translation: X:-440.86, Y:-265.70, Z:-2.88 [[-6.81307478e-01 -7.31949938e-01 8.33115301e-03 -4.40861288e+02] [ 7.31893002e-01 -6.81358403e-01 -9.13020347e-03 -2.65697370e+02] [ 1.23593530e-02 -1.22963315e-04 9.99923613e-01 -2.87507139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1353.996559995 meters 0.013983223142805012 Centerline is valid? [True, True] Translation: X:-440.88, Y:-265.68, Z:-2.88 [[-6.80937329e-01 -7.32297854e-01 8.01295786e-03 -4.40878006e+02] [ 7.32245275e-01 -6.80984465e-01 -8.77587017e-03 -2.65677422e+02] [ 1.18832507e-02 -1.08367066e-04 9.99929386e-01 -2.87520674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1354.026559995 meters 0.013332086681972374 Centerline is valid? [True, True] Translation: X:-440.90, Y:-265.66, Z:-2.87 [[-6.80566125e-01 -7.32649686e-01 7.36112132e-03 -4.40896304e+02] [ 7.32605390e-01 -6.80605928e-01 -8.05693935e-03 -2.65657691e+02] [ 1.09129369e-02 -9.04828446e-05 9.99940448e-01 -2.87289517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1354.056559995 meters 0.013233241304149919 Centerline is valid? [True, True] Translation: X:-440.91, Y:-265.64, Z:-2.87 [[-6.80217944e-01 -7.32972957e-01 7.36165403e-03 -4.40914491e+02] [ 7.32928722e-01 -6.80257773e-01 -8.05302881e-03 -2.65636219e+02] [ 1.09104747e-02 -8.22470209e-05 9.99940476e-01 -2.87169262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1354.086559995 meters 0.013003107681383205 Centerline is valid? [True, True] Translation: X:-440.93, Y:-265.62, Z:-2.87 [[-6.78600608e-01 -7.34473254e-01 7.08905551e-03 -4.40931490e+02] [ 7.34432370e-01 -6.78637633e-01 -7.74972974e-03 -2.65616002e+02] [ 1.05028691e-02 -5.25394731e-05 9.99944842e-01 -2.87132737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1354.116559995 meters 0.012793728647599931 Centerline is valid? [True, True] Translation: X:-440.95, Y:-265.60, Z:-2.87 [[-6.77732395e-01 -7.35275135e-01 7.01973533e-03 -4.40950302e+02] [ 7.35235138e-01 -6.77768747e-01 -7.66918952e-03 -2.65596728e+02] [ 1.03967216e-02 -3.65021089e-05 9.99945952e-01 -2.87093483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1354.146559995 meters 0.012777752511016002 Centerline is valid? [True, True] Translation: X:-440.97, Y:-265.58, Z:-2.87 [[-6.76427586e-01 -7.36476023e-01 6.98487978e-03 -4.40968946e+02] [ 7.36436538e-01 -6.76463649e-01 -7.62614833e-03 -2.65578403e+02] [ 1.03414926e-02 -1.46164264e-05 9.99946525e-01 -2.87159277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1354.176559995 meters 0.012726889733784939 Centerline is valid? [True, True] Translation: X:-440.99, Y:-265.56, Z:-2.87 [[-6.75203291e-01 -7.37597445e-01 7.10809489e-03 -4.40988221e+02] [ 7.37556666e-01 -6.75240705e-01 -7.75598329e-03 -2.65559764e+02] [ 1.05204685e-02 5.75732995e-06 9.99944659e-01 -2.87182826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1354.2065599950001 meters 0.012684257883763494 Centerline is valid? [True, True] Translation: X:-441.01, Y:-265.54, Z:-2.87 [[-6.73397532e-01 -7.39252391e-01 6.45494158e-03 -4.41007666e+02] [ 7.39218880e-01 -6.73428468e-01 -7.03896352e-03 -2.65540211e+02] [ 9.55051204e-03 3.15940189e-05 9.99954393e-01 -2.87124219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1354.236559995 meters 0.012724510945259535 Centerline is valid? [True, True] Translation: X:-441.03, Y:-265.52, Z:-2.87 [[-6.73235810e-01 -7.39403437e-01 6.00851366e-03 -4.41025228e+02] [ 7.39374444e-01 -6.73262621e-01 -6.54791839e-03 -2.65520251e+02] [ 8.88686101e-03 3.42483116e-05 9.99960511e-01 -2.87095204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1354.266559995 meters 0.012727925891456838 Centerline is valid? [True, True] Translation: X:-441.04, Y:-265.50, Z:-2.87 [[-6.73593870e-01 -7.39078438e-01 5.86181574e-03 -4.41042689e+02] [ 7.39050865e-01 -6.73619375e-01 -6.38416323e-03 -2.65499577e+02] [ 8.66703004e-03 3.18467677e-05 9.99962440e-01 -2.87057214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1354.296559995 meters 0.012606477786851355 Centerline is valid? [True, True] Translation: X:-441.06, Y:-265.48, Z:-2.87 [[-6.74896950e-01 -7.37888537e-01 5.88344750e-03 -4.41059594e+02] [ 7.37860749e-01 -6.74922593e-01 -6.40375990e-03 -2.65478271e+02] [ 8.69613266e-03 1.92869597e-05 9.99962188e-01 -2.87062598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1354.326559995 meters 0.012736704016724023 Centerline is valid? [True, True] Translation: X:-441.08, Y:-265.46, Z:-2.87 [[-6.75578960e-01 -7.37261597e-01 6.19725411e-03 -4.41076874e+02] [ 7.37230780e-01 -6.75607384e-01 -6.74095541e-03 -2.65458893e+02] [ 9.15675819e-03 1.47588326e-05 9.99958076e-01 -2.87151102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1354.356559995 meters 0.012741389276750618 Centerline is valid? [True, True] Translation: X:-441.10, Y:-265.44, Z:-2.87 [[-6.75667191e-01 -7.37177382e-01 6.58442294e-03 -4.41096480e+02] [ 7.37142633e-01 -6.75699273e-01 -7.15763620e-03 -2.65439303e+02] [ 9.72553731e-03 1.74789123e-05 9.99952706e-01 -2.87180026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1354.386559995 meters 0.012902479490815693 Centerline is valid? [True, True] Translation: X:-441.12, Y:-265.42, Z:-2.87 [[-6.75496465e-01 -7.37329771e-01 7.02391913e-03 -4.41115827e+02] [ 7.37290287e-01 -6.75532982e-01 -7.63041882e-03 -2.65421565e+02] [ 1.03710240e-02 2.43464204e-05 9.99946219e-01 -2.87372650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1354.416559995 meters 0.012940934160744518 Centerline is valid? [True, True] Translation: X:-441.14, Y:-265.40, Z:-2.87 [[-6.75123945e-01 -7.37666494e-01 7.47014224e-03 -4.41135975e+02] [ 7.37621911e-01 -6.75165271e-01 -8.11014050e-03 -2.65403312e+02] [ 1.10261595e-02 3.47905469e-05 9.99939210e-01 -2.87361878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1354.4465599950001 meters 0.012926451282576 Centerline is valid? [True, True] Translation: X:-441.16, Y:-265.39, Z:-2.87 [[-6.74365030e-01 -7.38362290e-01 7.27563291e-03 -4.41157606e+02] [ 7.38320092e-01 -6.74404275e-01 -7.89404700e-03 -2.65386747e+02] [ 1.07353846e-02 4.82767164e-05 9.99942373e-01 -2.87374368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1354.4765599950001 meters 0.012934173466591538 Centerline is valid? [True, True] Translation: X:-441.18, Y:-265.37, Z:-2.87 [[-6.74812083e-01 -7.37954099e-01 7.23884997e-03 -4.41176963e+02] [ 7.37912354e-01 -6.74850907e-01 -7.84927045e-03 -2.65367865e+02] [ 1.06775458e-02 4.48542834e-05 9.99942993e-01 -2.87378531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1354.506559995 meters 0.012938008096391212 Centerline is valid? [True, True] Translation: X:-441.20, Y:-265.35, Z:-2.87 [[-6.75522836e-01 -7.37299851e-01 7.60445201e-03 -4.41195914e+02] [ 7.37253794e-01 -6.75565636e-01 -8.24108780e-03 -2.65347658e+02] [ 1.12134593e-02 3.93680843e-05 9.99937127e-01 -2.87322191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1354.536559995 meters 0.013094660095792333 Centerline is valid? [True, True] Translation: X:-441.21, Y:-265.33, Z:-2.87 [[-6.76968002e-01 -7.35970482e-01 7.85966358e-03 -4.41213312e+02] [ 7.35921256e-01 -6.77013626e-01 -8.51204991e-03 -2.65327851e+02] [ 1.15857168e-02 2.17080736e-05 9.99932883e-01 -2.87400282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1354.566559995 meters 0.01309150765153008 Centerline is valid? [True, True] Translation: X:-441.23, Y:-265.30, Z:-2.87 [[-6.80037736e-01 -7.33126373e-01 8.62549055e-03 -4.41228772e+02] [ 7.33066930e-01 -6.80092436e-01 -9.33569243e-03 -2.65304541e+02] [ 1.27103732e-02 -2.55612762e-05 9.99919220e-01 -2.87458098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1354.596559995 meters 0.013332642308760393 Centerline is valid? [True, True] Translation: X:-441.25, Y:-265.28, Z:-2.88 [[-6.81686499e-01 -7.31588652e-01 9.03112929e-03 -4.41245129e+02] [ 7.31523432e-01 -6.81746317e-01 -9.76874037e-03 -2.65282996e+02] [ 1.33036387e-02 -5.27357244e-05 9.99911502e-01 -2.87509066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1354.626559995 meters 0.013405951619655812 Centerline is valid? [True, True] Translation: X:-441.26, Y:-265.26, Z:-2.88 [[-6.82910784e-01 -7.30439544e-01 9.53597184e-03 -4.41261933e+02] [ 7.30366805e-01 -6.82977355e-01 -1.03084185e-02 -2.65261986e+02] [ 1.40425293e-02 -7.49728578e-05 9.99901396e-01 -2.87503139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1354.656559995 meters 0.013551437420258192 Centerline is valid? [True, True] Translation: X:-441.28, Y:-265.24, Z:-2.88 [[-6.83778126e-01 -7.29621036e-01 1.00308386e-02 -4.41278740e+02] [ 7.29540567e-01 -6.83851691e-01 -1.08363319e-02 -2.65242121e+02] [ 1.47660216e-02 -9.17430769e-05 9.99890972e-01 -2.87546289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1354.686559995 meters 0.013514370331250138 Centerline is valid? [True, True] Translation: X:-441.30, Y:-265.22, Z:-2.88 [[-6.84244181e-01 -7.29179350e-01 1.03623031e-02 -4.41297917e+02] [ 7.29093530e-01 -6.84322633e-01 -1.11874315e-02 -2.65222494e+02] [ 1.52488026e-02 -9.98467459e-05 9.99883726e-01 -2.87534912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1354.7165599950001 meters 0.01349487268492569 Centerline is valid? [True, True] Translation: X:-441.32, Y:-265.21, Z:-2.88 [[-6.83318047e-01 -7.30044935e-01 1.05280430e-02 -4.41320155e+02] [ 7.29956560e-01 -6.83399142e-01 -1.13592685e-02 -2.65205410e+02] [ 1.54876320e-02 -7.69791432e-05 9.99880057e-01 -2.87620742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1354.746559995 meters 0.013419813051303056 Centerline is valid? [True, True] Translation: X:-441.34, Y:-265.19, Z:-2.88 [[-6.82379462e-01 -7.30922284e-01 1.05302454e-02 -4.41339946e+02] [ 7.30834092e-01 -6.82460704e-01 -1.13542083e-02 -2.65187769e+02] [ 1.54855225e-02 -5.20162199e-05 9.99880091e-01 -2.87628928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1354.776559995 meters 0.013252085184429177 Centerline is valid? [True, True] Translation: X:-441.36, Y:-265.17, Z:-2.88 [[-6.81191429e-01 -7.32031044e-01 1.04301715e-02 -4.41360161e+02] [ 7.31944757e-01 -6.81271275e-01 -1.12393346e-02 -2.65169192e+02] [ 1.53333181e-02 -2.18290099e-05 9.99882438e-01 -2.87564360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1354.806559995 meters 0.013189040855349289 Centerline is valid? [True, True] Translation: X:-441.38, Y:-265.15, Z:-2.87 [[-6.80252011e-01 -7.32909331e-01 1.00555270e-02 -4.41379628e+02] [ 7.32829327e-01 -6.80326328e-01 -1.08289089e-02 -2.65149856e+02] [ 1.47776481e-02 2.59801629e-06 9.99890805e-01 -2.87441772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1354.836559995 meters 0.013095066207479146 Centerline is valid? [True, True] Translation: X:-441.40, Y:-265.13, Z:-2.87 [[-6.79929071e-01 -7.33214146e-01 9.66825269e-03 -4.41398515e+02] [ 7.33140308e-01 -6.79997806e-01 -1.04053903e-02 -2.65130104e+02] [ 1.42037700e-02 1.32584051e-05 9.99899122e-01 -2.87274377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1354.866559995 meters 0.012959707076370963 Centerline is valid? [True, True] Translation: X:-441.42, Y:-265.11, Z:-2.87 [[-6.81012523e-01 -7.32217278e-01 8.93312864e-03 -4.41416152e+02] [ 7.32154236e-01 -6.81071110e-01 -9.60823400e-03 -2.65108856e+02] [ 1.31194108e-02 -2.89971106e-06 9.99913937e-01 -2.87080780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1354.896559995 meters 0.013195480903108627 Centerline is valid? [True, True] Translation: X:-441.43, Y:-265.09, Z:-2.87 [[-6.82607279e-01 -7.30728826e-01 9.09318243e-03 -4.41432671e+02] [ 7.30663456e-01 -6.82667842e-01 -9.77400863e-03 -2.65088850e+02] [ 1.33497731e-02 -2.77533328e-05 9.99910888e-01 -2.87109621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1354.926559995 meters 0.013072262427983063 Centerline is valid? [True, True] Translation: X:-441.45, Y:-265.07, Z:-2.87 [[-6.84237380e-01 -7.29203244e-01 9.04640749e-03 -4.41450906e+02] [ 7.29138484e-01 -6.84297177e-01 -9.71822030e-03 -2.65067472e+02] [ 1.32769889e-02 -5.34857484e-05 9.99911856e-01 -2.86994922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1354.9565599950001 meters 0.013654481637510912 Centerline is valid? [True, True] Translation: X:-441.47, Y:-265.05, Z:-2.87 [[-6.86164337e-01 -7.27375983e-01 1.01332635e-02 -4.41466959e+02] [ 7.27294624e-01 -6.86239150e-01 -1.08792905e-02 -2.65045169e+02] [ 1.48671767e-02 -9.51131067e-05 9.99889473e-01 -2.87208967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1354.986559995 meters 0.013829538213077208 Centerline is valid? [True, True] Translation: X:-441.48, Y:-265.02, Z:-2.87 [[-6.86790700e-01 -7.26782769e-01 1.02636220e-02 -4.41484213e+02] [ 7.26699343e-01 -6.86867379e-01 -1.10122172e-02 -2.65024905e+02] [ 1.50532368e-02 -1.04520958e-04 9.99886688e-01 -2.87259183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1355.016559995 meters 0.013575671978903246 Centerline is valid? [True, True] Translation: X:-441.50, Y:-265.00, Z:-2.87 [[-6.86667535e-01 -7.26903272e-01 9.96643892e-03 -4.41502793e+02] [ 7.26824717e-01 -6.86739852e-01 -1.06867687e-02 -2.65004848e+02] [ 1.46125979e-02 -9.44029542e-05 9.99893226e-01 -2.87177627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1355.046559995 meters 0.01343715191225943 Centerline is valid? [True, True] Translation: X:-441.52, Y:-264.98, Z:-2.87 [[-6.86021773e-01 -7.27511822e-01 1.00337739e-02 -4.41521647e+02] [ 7.27432364e-01 -6.86095141e-01 -1.07523194e-02 -2.64984988e+02] [ 1.47065630e-02 -7.74333686e-05 9.99891850e-01 -2.87106227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1355.076559995 meters 0.013088403370988516 Centerline is valid? [True, True] Translation: X:-441.54, Y:-264.97, Z:-2.87 [[-6.83079774e-01 -7.30286917e-01 9.11269017e-03 -4.41541577e+02] [ 7.30221697e-01 -6.83140555e-01 -9.75989897e-03 -2.64965292e+02] [ 1.33527748e-02 -1.25054991e-05 9.99910848e-01 -2.86850706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1355.106559995 meters 0.01299849858302229 Centerline is valid? [True, True] Translation: X:-441.56, Y:-264.95, Z:-2.87 [[-6.81224331e-01 -7.32026776e-01 8.37916579e-03 -4.41560509e+02] [ 7.31971836e-01 -6.81275861e-01 -8.96844770e-03 -2.64947253e+02] [ 1.22736672e-02 2.37885842e-05 9.99924676e-01 -2.86732613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1355.136559995 meters 0.01314563957448346 Centerline is valid? [True, True] Translation: X:-441.58, Y:-264.93, Z:-2.87 [[-6.79366233e-01 -7.33756921e-01 7.89319754e-03 -4.41580906e+02] [ 7.33708344e-01 -6.79412083e-01 -8.44318671e-03 -2.64928924e+02] [ 1.15579805e-02 5.52889411e-05 9.99933203e-01 -2.86639526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1355.166559995 meters 0.013453248916888087 Centerline is valid? [True, True] Translation: X:-441.60, Y:-264.91, Z:-2.86 [[-6.75796964e-01 -7.37055217e-01 6.93332860e-03 -4.41602750e+02] [ 7.37017951e-01 -6.75832522e-01 -7.41230528e-03 -2.64911408e+02] [ 1.01490472e-02 1.00774236e-04 9.99948492e-01 -2.86449873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1355.1965599950001 meters 0.014073799089836901 Centerline is valid? [True, True] Translation: X:-441.62, Y:-264.89, Z:-2.86 [[-6.74743967e-01 -7.38023959e-01 6.41986250e-03 -4.41622032e+02] [ 7.37992095e-01 -6.74774499e-01 -6.85885862e-03 -2.64893396e+02] [ 9.39396149e-03 1.09834295e-04 9.99955870e-01 -2.86436138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1355.2265599950001 meters 0.013940959240658368 Centerline is valid? [True, True] Translation: X:-441.64, Y:-264.87, Z:-2.86 [[-6.74274937e-01 -7.38457419e-01 5.82660290e-03 -4.41639827e+02] [ 7.38431221e-01 -6.74300103e-01 -6.22118512e-03 -2.64872537e+02] [ 8.52295924e-03 1.07756291e-04 9.99963673e-01 -2.86248374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1355.256559995 meters 0.01380388571409763 Centerline is valid? [True, True] Translation: X:-441.66, Y:-264.85, Z:-2.86 [[-6.74508053e-01 -7.38249683e-01 5.12762201e-03 -4.41657718e+02] [ 7.38229413e-01 -6.74527536e-01 -5.47145195e-03 -2.64851632e+02] [ 7.49801991e-03 9.48229867e-05 9.99971885e-01 -2.86084775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1355.286559995 meters 0.01328890947104101 Centerline is valid? [True, True] Translation: X:-441.68, Y:-264.83, Z:-2.86 [[-6.76272986e-01 -7.36639379e-01 4.15632065e-03 -4.41675109e+02] [ 7.36626046e-01 -6.76285755e-01 -4.43254276e-03 -2.64829054e+02] [ 6.07604599e-03 6.40451180e-05 9.99981539e-01 -2.85853397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1355.316559995 meters 0.013217646386717168 Centerline is valid? [True, True] Translation: X:-441.69, Y:-264.81, Z:-2.86 [[-6.78336914e-01 -7.34740649e-01 3.89998472e-03 -4.41693717e+02] [ 7.34728891e-01 -6.78348124e-01 -4.15684571e-03 -2.64807499e+02] [ 5.69975083e-03 4.56895536e-05 9.99983755e-01 -2.85810126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1355.346559995 meters 0.01273255935570132 Centerline is valid? [True, True] Translation: X:-441.71, Y:-264.79, Z:-2.86 [[-6.80527068e-01 -7.32714658e-01 3.48418892e-03 -4.41711885e+02] [ 7.32705258e-01 -6.80535986e-01 -3.71158634e-03 -2.64786505e+02] [ 5.09064967e-03 2.70485734e-05 9.99987042e-01 -2.85724260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1355.376559995 meters 0.012616103905946375 Centerline is valid? [True, True] Translation: X:-441.73, Y:-264.77, Z:-2.86 [[-6.83198768e-01 -7.30226488e-01 2.95298155e-03 -4.41730111e+02] [ 7.30219720e-01 -6.83205150e-01 -3.14395673e-03 -2.64765687e+02] [ 4.31329269e-03 8.37799398e-06 9.99990698e-01 -2.85637088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1355.406559995 meters 0.01249063589602128 Centerline is valid? [True, True] Translation: X:-441.75, Y:-264.74, Z:-2.86 [[-6.85761898e-01 -7.27821415e-01 2.57031136e-03 -4.41748831e+02] [ 7.27816276e-01 -6.85766715e-01 -2.73500973e-03 -2.64744517e+02] [ 3.75323263e-03 -4.85102504e-06 9.99992957e-01 -2.85543055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1355.436559995 meters 0.01249063589602128 Centerline is valid? [True, True] Translation: X:-441.77, Y:-264.72, Z:-2.86 [[-6.85964482e-01 -7.27630483e-01 2.57107263e-03 -4.41767759e+02] [ 7.27625345e-01 -6.85969300e-01 -2.73429410e-03 -2.64724481e+02] [ 3.75323263e-03 -4.85102683e-06 9.99992957e-01 -2.85543067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1355.4665599950001 meters 0.012582979008651763 Centerline is valid? [True, True] Translation: X:-441.78, Y:-264.70, Z:-2.85 [[-6.88334212e-01 -7.25390268e-01 2.23003380e-03 -4.41784986e+02] [ 7.25386396e-01 -6.88337824e-01 -2.37004621e-03 -2.64704852e+02] [ 3.25422507e-03 -1.37477028e-05 9.99994705e-01 -2.85498743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1355.496559995 meters 0.012841719916018467 Centerline is valid? [True, True] Translation: X:-441.80, Y:-264.69, Z:-2.85 [[-6.91006865e-01 -7.22846956e-01 1.33813409e-03 -4.41803523e+02] [ 7.22845559e-01 -6.91008161e-01 -1.42125913e-03 -2.64685148e+02] [ 1.95201441e-03 -1.48355280e-05 9.99998095e-01 -2.85345107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1355.526559995 meters 0.012893195055792915 Centerline is valid? [True, True] Translation: X:-441.82, Y:-264.66, Z:-2.85 [[-6.91682033e-01 -7.22201282e-01 1.12898049e-03 -4.41822947e+02] [ 7.22200288e-01 -6.91682954e-01 -1.19844577e-03 -2.64664503e+02] [ 1.64641564e-03 -1.35933713e-05 9.99998645e-01 -2.85245674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1355.556559995 meters 0.012960929027539543 Centerline is valid? [True, True] Translation: X:-441.84, Y:-264.64, Z:-2.85 [[-6.91936033e-01 -7.21958454e-01 7.19528437e-04 -4.41842201e+02] [ 7.21958050e-01 -6.91936407e-01 -7.63374067e-04 -2.64644564e+02] [ 1.04899228e-03 -8.73667599e-06 9.99999450e-01 -2.85154915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1355.586559995 meters 0.012779127925223729 Centerline is valid? [True, True] Translation: X:-441.86, Y:-264.63, Z:-2.85 [[-6.90835759e-01 -7.23011307e-01 7.76795846e-04 -4.41862846e+02] [ 7.23010838e-01 -6.90836196e-01 -8.23589628e-04 -2.64628584e+02] [ 1.13210330e-03 -7.33335044e-06 9.99999359e-01 -2.85232057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1355.616559995 meters 0.012578726557019854 Centerline is valid? [True, True] Translation: X:-441.88, Y:-264.61, Z:-2.85 [[-6.89857124e-01 -7.23944639e-01 1.14402940e-03 -4.41883631e+02] [ 7.23943624e-01 -6.89858072e-01 -1.21219653e-03 -2.64610976e+02] [ 1.66678110e-03 -8.02961866e-06 9.99998611e-01 -2.85374647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1355.646559995 meters 0.01251624001090802 Centerline is valid? [True, True] Translation: X:-441.90, Y:-264.59, Z:-2.85 [[-6.88883973e-01 -7.24869505e-01 1.75299005e-03 -4.41904693e+02] [ 7.24867128e-01 -6.88886203e-01 -1.85628210e-03 -2.64592840e+02] [ 2.55317295e-03 -8.07812135e-06 9.99996741e-01 -2.85475531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1355.676559995 meters 0.012506805310590051 Centerline is valid? [True, True] Translation: X:-441.93, Y:-264.57, Z:-2.86 [[-6.87515006e-01 -7.26166391e-01 2.34299415e-03 -4.41925301e+02] [ 7.26162158e-01 -6.87518998e-01 -2.47950845e-03 -2.64574331e+02] [ 3.41138870e-03 -3.30557733e-06 9.99994181e-01 -2.85571860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1355.7065599950001 meters 0.012506737543403862 Centerline is valid? [True, True] Translation: X:-441.95, Y:-264.56, Z:-2.86 [[-6.86717876e-01 -7.26918178e-01 2.91921543e-03 -4.41945657e+02] [ 7.26911622e-01 -6.86724080e-01 -3.08737990e-03 -2.64556041e+02] [ 4.24896810e-03 1.85265114e-06 9.99990973e-01 -2.85646751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1355.736559995 meters 0.01265441620700966 Centerline is valid? [True, True] Translation: X:-441.97, Y:-264.54, Z:-2.86 [[-6.86322678e-01 -7.27285301e-01 4.15605558e-03 -4.41966306e+02] [ 7.27272033e-01 -6.86335262e-01 -4.39301631e-03 -2.64536981e+02] [ 6.04742368e-03 7.55627787e-06 9.99981714e-01 -2.85815974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1355.766559995 meters 0.012573722920360835 Centerline is valid? [True, True] Translation: X:-441.99, Y:-264.52, Z:-2.86 [[-6.86878150e-01 -7.26755502e-01 4.98474345e-03 -4.41985102e+02] [ 7.26736423e-01 -6.86896237e-01 -5.26601702e-03 -2.64516781e+02] [ 7.25110837e-03 5.48259983e-06 9.99973711e-01 -2.85861289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1355.796559995 meters 0.012623352816572312 Centerline is valid? [True, True] Translation: X:-442.00, Y:-264.50, Z:-2.86 [[-6.87899851e-01 -7.25784660e-01 5.51559621e-03 -4.42003528e+02] [ 7.25761297e-01 -6.87921963e-01 -5.82352803e-03 -2.64495975e+02] [ 8.02092709e-03 -2.99780921e-06 9.99967832e-01 -2.85849235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1355.826559995 meters 0.01259132947597127 Centerline is valid? [True, True] Translation: X:-442.02, Y:-264.48, Z:-2.86 [[-6.89124567e-01 -7.24618203e-01 5.98257376e-03 -4.42021081e+02] [ 7.24590704e-01 -6.89150535e-01 -6.31281156e-03 -2.64475403e+02] [ 8.69727207e-03 -1.53961957e-05 9.99962178e-01 -2.85873670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1355.856559995 meters 0.012833546196225634 Centerline is valid? [True, True] Translation: X:-442.04, Y:-264.45, Z:-2.86 [[-6.91864530e-01 -7.22004909e-01 5.69060960e-03 -4.42037843e+02] [ 7.21979971e-01 -6.91887931e-01 -6.00102350e-03 -2.64453986e+02] [ 8.27003253e-03 -4.33891450e-05 9.99965802e-01 -2.85848755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1355.886559995 meters 0.012978498206048447 Centerline is valid? [True, True] Translation: X:-442.06, Y:-264.43, Z:-2.86 [[-6.93258485e-01 -7.20667857e-01 5.52376318e-03 -4.42056483e+02] [ 7.20644347e-01 -6.93280489e-01 -5.82148328e-03 -2.64433815e+02] [ 8.02487312e-03 -5.51239733e-05 9.99967799e-01 -2.85838671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1355.916559995 meters 0.013162573141691591 Centerline is valid? [True, True] Translation: X:-442.07, Y:-264.41, Z:-2.86 [[-6.94279802e-01 -7.19682775e-01 5.67982284e-03 -4.42074052e+02] [ 7.19657915e-01 -6.94303032e-01 -5.98209080e-03 -2.64414841e+02] [ 8.24872592e-03 -6.57153462e-05 9.99965977e-01 -2.85891617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1355.9465599950001 meters 0.013097673354414422 Centerline is valid? [True, True] Translation: X:-442.09, Y:-264.40, Z:-2.86 [[-6.94873317e-01 -7.19111034e-01 5.51305530e-03 -4.42093282e+02] [ 7.19087624e-01 -6.94895183e-01 -5.80285429e-03 -2.64395053e+02] [ 8.00389213e-03 -6.78787713e-05 9.99967966e-01 -2.85884352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1355.9765599950001 meters 0.013176717509416385 Centerline is valid? [True, True] Translation: X:-442.11, Y:-264.38, Z:-2.86 [[-6.95198651e-01 -7.18801466e-01 4.82568566e-03 -4.42111307e+02] [ 7.18783544e-01 -6.95215397e-01 -5.07623538e-03 -2.64375288e+02] [ 7.00369641e-03 -6.03685466e-05 9.99975472e-01 -2.85927597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1356.006559995 meters 0.013012808659246856 Centerline is valid? [True, True] Translation: X:-442.13, Y:-264.36, Z:-2.86 [[-6.95107828e-01 -7.18890290e-01 4.67536087e-03 -4.42130566e+02] [ 7.18873490e-01 -6.95123549e-01 -4.91508157e-03 -2.64356071e+02] [ 6.78335786e-03 -5.55186847e-05 9.99976991e-01 -2.85841831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1356.036559995 meters 0.012926466668702773 Centerline is valid? [True, True] Translation: X:-442.15, Y:-264.34, Z:-2.86 [[-6.94857915e-01 -7.19132842e-01 4.52037473e-03 -4.42149747e+02] [ 7.19117162e-01 -6.94872616e-01 -4.74922983e-03 -2.64336673e+02] [ 6.55641176e-03 -4.93608858e-05 9.99978506e-01 -2.85845688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1356.066559995 meters 0.012719920658324536 Centerline is valid? [True, True] Translation: X:-442.17, Y:-264.32, Z:-2.86 [[-6.94355979e-01 -7.19616292e-01 4.70810334e-03 -4.42169444e+02] [ 7.19599312e-01 -6.94371939e-01 -4.94369666e-03 -2.64317159e+02] [ 6.82673951e-03 -4.47374073e-05 9.99976697e-01 -2.85851049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1356.096559995 meters 0.012599355233840592 Centerline is valid? [True, True] Translation: X:-442.19, Y:-264.30, Z:-2.86 [[-6.92799876e-01 -7.21109458e-01 5.42973757e-03 -4.42189697e+02] [ 7.21086946e-01 -6.92821152e-01 -5.69807924e-03 -2.64299336e+02] [ 7.87077588e-03 -3.23157060e-05 9.99969025e-01 -2.85967854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1356.126559995 meters 0.012494958676232482 Centerline is valid? [True, True] Translation: X:-442.21, Y:-264.28, Z:-2.86 [[-6.91744525e-01 -7.22119177e-01 5.77988168e-03 -4.42210006e+02] [ 7.22093734e-01 -6.91768671e-01 -6.06177804e-03 -2.64281012e+02] [ 8.37566724e-03 -1.95854318e-05 9.99964924e-01 -2.86036367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1356.156559995 meters 0.01252404663837876 Centerline is valid? [True, True] Translation: X:-442.23, Y:-264.26, Z:-2.86 [[-6.90618441e-01 -7.23194436e-01 5.99809036e-03 -4.42230635e+02] [ 7.23167110e-01 -6.90644488e-01 -6.28676179e-03 -2.64262535e+02] [ 8.68909919e-03 -4.13196222e-06 9.99962249e-01 -2.86090840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1356.186559995 meters 0.012460762865020358 Centerline is valid? [True, True] Translation: X:-442.25, Y:-264.24, Z:-2.86 [[-6.89655217e-01 -7.24112699e-01 6.04004037e-03 -4.42250447e+02] [ 7.24085058e-01 -6.89681666e-01 -6.32685191e-03 -2.64244207e+02] [ 8.74705891e-03 1.01565579e-05 9.99961744e-01 -2.86097305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1356.2165599950001 meters 0.012464863009192492 Centerline is valid? [True, True] Translation: X:-442.27, Y:-264.23, Z:-2.86 [[-6.88931359e-01 -7.24801739e-01 6.00183874e-03 -4.42270231e+02] [ 7.24774506e-01 -6.88957502e-01 -6.28299439e-03 -2.64225180e+02] [ 8.68893708e-03 2.14278393e-05 9.99962250e-01 -2.86088277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1356.246559995 meters 0.01247584931150882 Centerline is valid? [True, True] Translation: X:-442.29, Y:-264.21, Z:-2.86 [[-6.88645777e-01 -7.25074865e-01 5.78225671e-03 -4.42288908e+02] [ 7.25049631e-01 -6.88670052e-01 -6.04925054e-03 -2.64206374e+02] [ 8.36822654e-03 2.66322539e-05 9.99964986e-01 -2.86039582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1356.276559995 meters 0.012437054824309632 Centerline is valid? [True, True] Translation: X:-442.31, Y:-264.19, Z:-2.86 [[-6.89846047e-01 -7.23933031e-01 5.77917015e-03 -4.42306340e+02] [ 7.23907816e-01 -6.89870253e-01 -6.04219215e-03 -2.64186496e+02] [ 8.36102005e-03 1.54040694e-05 9.99965046e-01 -2.86016218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1356.306559995 meters 0.01241926227536324 Centerline is valid? [True, True] Translation: X:-442.32, Y:-264.17, Z:-2.86 [[-6.91615253e-01 -7.22243276e-01 5.74386371e-03 -4.42323372e+02] [ 7.22218340e-01 -6.91639104e-01 -6.00169670e-03 -2.64165762e+02] [ 8.30736583e-03 -2.54127268e-06 9.99965493e-01 -2.85998776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1356.336559995 meters 0.012619177548949445 Centerline is valid? [True, True] Translation: X:-442.34, Y:-264.14, Z:-2.86 [[-6.93606601e-01 -7.20329384e-01 5.95497106e-03 -4.42340674e+02] [ 7.20302542e-01 -6.93632163e-01 -6.21858750e-03 -2.64144549e+02] [ 8.60999077e-03 -2.38725465e-05 9.99962933e-01 -2.86004733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1356.366559995 meters 0.012906410852352505 Centerline is valid? [True, True] Translation: X:-442.36, Y:-264.12, Z:-2.86 [[-6.97401972e-01 -7.16656913e-01 5.77578250e-03 -4.42358111e+02] [ 7.16631563e-01 -6.97425885e-01 -6.02810554e-03 -2.64122361e+02] [ 8.34826373e-03 -6.49046479e-05 9.99965151e-01 -2.85954824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1356.396559995 meters 0.013381399743833514 Centerline is valid? [True, True] Translation: X:-442.37, Y:-264.10, Z:-2.86 [[-6.99527241e-01 -7.14587735e-01 5.09977517e-03 -4.42374671e+02] [ 7.14567936e-01 -6.99545826e-01 -5.31999188e-03 -2.64101473e+02] [ 7.36912738e-03 -7.73434254e-05 9.99972845e-01 -2.85955185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1356.426559995 meters 0.01412590540116039 Centerline is valid? [True, True] Translation: X:-442.39, Y:-264.08, Z:-2.86 [[-7.01472264e-01 -7.12678726e-01 5.06915178e-03 -4.42391302e+02] [ 7.12659136e-01 -7.01490574e-01 -5.28500617e-03 -2.64079311e+02] [ 7.32247365e-03 -9.47079162e-05 9.99973186e-01 -2.85941530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1356.4565599950001 meters 0.01425327448491006 Centerline is valid? [True, True] Translation: X:-442.41, Y:-264.06, Z:-2.86 [[-7.02883178e-01 -7.11289080e-01 4.80451741e-03 -4.42408611e+02] [ 7.11271463e-01 -7.02899591e-01 -5.00711708e-03 -2.64057711e+02] [ 6.93860102e-03 -1.02102240e-04 9.99975923e-01 -2.85865463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1356.486559995 meters 0.01587761049021203 Centerline is valid? [True, True] Translation: X:-442.42, Y:-264.04, Z:-2.86 [[-7.04426502e-01 -7.09764862e-01 4.14059629e-03 -4.42423410e+02] [ 7.09751763e-01 -7.04438664e-01 -4.31331904e-03 -2.64035044e+02] [ 5.97823841e-03 -9.96207277e-05 9.99982125e-01 -2.85852351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1356.516559995 meters 0.014195634068731313 Centerline is valid? [True, True] Translation: X:-442.44, Y:-264.02, Z:-2.86 [[-7.04704142e-01 -7.09489974e-01 4.00605946e-03 -4.42444806e+02] [ 7.09477721e-01 -7.04715522e-01 -4.17084300e-03 -2.64017072e+02] [ 5.78230358e-03 -9.70003957e-05 9.99983278e-01 -2.85716738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1356.546559995 meters 0.014202281961921874 Centerline is valid? [True, True] Translation: X:-442.46, Y:-264.00, Z:-2.86 [[-7.04530449e-01 -7.09663722e-01 3.77479269e-03 -4.42462547e+02] [ 7.09652856e-01 -7.04540556e-01 -3.92816058e-03 -2.63998258e+02] [ 5.44716760e-03 -8.87163255e-05 9.99985160e-01 -2.85714933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1356.576559995 meters 0.014358031644569263 Centerline is valid? [True, True] Translation: X:-442.48, Y:-263.98, Z:-2.86 [[-7.04039216e-01 -7.10152672e-01 3.45898743e-03 -4.42480625e+02] [ 7.10143562e-01 -7.04047709e-01 -3.59780183e-03 -2.63978897e+02] [ 4.99028076e-03 -7.66159193e-05 9.99987546e-01 -2.85704213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1356.606559995 meters 0.013614740975020063 Centerline is valid? [True, True] Translation: X:-442.50, Y:-263.96, Z:-2.86 [[-7.02645950e-01 -7.11534403e-01 2.73169235e-03 -4.42502030e+02] [ 7.11528739e-01 -7.02651258e-01 -2.83976741e-03 -2.63960295e+02] [ 3.94001928e-03 -5.16734615e-05 9.99992237e-01 -2.85572437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1356.636559995 meters 0.013233164915639497 Centerline is valid? [True, True] Translation: X:-442.52, Y:-263.94, Z:-2.86 [[-7.02004379e-01 -7.12167131e-01 2.79815546e-03 -4.42522472e+02] [ 7.12161199e-01 -7.02009954e-01 -2.90704906e-03 -2.63941547e+02] [ 4.03463778e-03 -4.80234179e-05 9.99991860e-01 -2.85566556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1356.666559995 meters 0.013114352163224872 Centerline is valid? [True, True] Translation: X:-442.54, Y:-263.92, Z:-2.86 [[-7.01150576e-01 -7.13007065e-01 2.96569570e-03 -4.42540824e+02] [ 7.13000416e-01 -7.01156846e-01 -3.07962789e-03 -2.63923451e+02] [ 4.27521429e-03 -4.47405975e-05 9.99990860e-01 -2.85600596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1356.6965599950001 meters 0.012780185806224451 Centerline is valid? [True, True] Translation: X:-442.56, Y:-263.90, Z:-2.86 [[-7.00411254e-01 -7.13732827e-01 3.08644364e-03 -4.42560820e+02] [ 7.13725640e-01 -7.00418054e-01 -3.20323869e-03 -2.63904188e+02] [ 4.44805745e-03 -4.07104625e-05 9.99990107e-01 -2.85615056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1356.7265599950001 meters 0.012526395356715821 Centerline is valid? [True, True] Translation: X:-442.58, Y:-263.89, Z:-2.86 [[-6.98875251e-01 -7.15233338e-01 3.82820731e-03 -4.42580905e+02] [ 7.15222316e-01 -6.98885735e-01 -3.97087084e-03 -2.63885192e+02] [ 5.51557869e-03 -3.71240584e-05 9.99984789e-01 -2.85659367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1356.756559995 meters 0.012456734988390386 Centerline is valid? [True, True] Translation: X:-442.60, Y:-263.87, Z:-2.86 [[-6.98196160e-01 -7.15893545e-01 4.30738859e-03 -4.42600746e+02] [ 7.15879621e-01 -6.98209446e-01 -4.46513645e-03 -2.63866362e+02] [ 6.20402176e-03 -3.39694132e-05 9.99980755e-01 -2.85678321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1356.786559995 meters 0.01243822250054191 Centerline is valid? [True, True] Translation: X:-442.62, Y:-263.85, Z:-2.86 [[-6.97562640e-01 -7.16511405e-01 4.21551950e-03 -4.42620198e+02] [ 7.16498097e-01 -6.97575377e-01 -4.36706010e-03 -2.63848382e+02] [ 6.06969097e-03 -2.58862697e-05 9.99981579e-01 -2.85773683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1356.816559995 meters 0.012271622903965995 Centerline is valid? [True, True] Translation: X:-442.64, Y:-263.83, Z:-2.86 [[-6.96881368e-01 -7.17174498e-01 4.13506620e-03 -4.42640944e+02] [ 7.17161720e-01 -6.96893636e-01 -4.28110218e-03 -2.63830005e+02] [ 5.95199863e-03 -1.79091573e-05 9.99982287e-01 -2.85791460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1356.846559995 meters 0.012227212953298977 Centerline is valid? [True, True] Translation: X:-442.66, Y:-263.81, Z:-2.86 [[-6.95466783e-01 -7.18542391e-01 4.77340775e-03 -4.42662220e+02] [ 7.18525417e-01 -6.95483164e-01 -4.93897794e-03 -2.63813055e+02] [ 6.86868975e-03 -5.08030440e-06 9.99976410e-01 -2.85890654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1356.876559995 meters 0.012201787972358347 Centerline is valid? [True, True] Translation: X:-442.68, Y:-263.80, Z:-2.86 [[-6.95134602e-01 -7.18862203e-01 5.00179326e-03 -4.42682219e+02] [ 7.18843597e-01 -6.95152597e-01 -5.17213081e-03 -2.63795064e+02] [ 7.19505892e-03 1.79962702e-07 9.99974115e-01 -2.85936253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1356.906559995 meters 0.012183077293161438 Centerline is valid? [True, True] Translation: X:-442.70, Y:-263.78, Z:-2.86 [[-6.94657608e-01 -7.19322947e-01 5.03060418e-03 -4.42702847e+02] [ 7.19304160e-01 -6.94675823e-01 -5.19868950e-03 -2.63776726e+02] [ 7.23417575e-03 7.22529952e-06 9.99973833e-01 -2.85963681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1356.936559995 meters 0.012211803338409336 Centerline is valid? [True, True] Translation: X:-442.72, Y:-263.76, Z:-2.86 [[-6.94340042e-01 -7.19628071e-01 5.22933485e-03 -4.42721966e+02] [ 7.19607806e-01 -6.94359734e-01 -5.40054246e-03 -2.63759095e+02] [ 7.51742151e-03 1.32572998e-05 9.99971744e-01 -2.86067206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1356.9665599950001 meters 0.012236320945010194 Centerline is valid? [True, True] Translation: X:-442.74, Y:-263.74, Z:-2.86 [[-6.94137264e-01 -7.19820198e-01 5.68695349e-03 -4.42741992e+02] [ 7.19796265e-01 -6.94160560e-01 -5.86987559e-03 -2.63738765e+02] [ 8.17291382e-03 1.89484922e-05 9.99966601e-01 -2.86098036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1356.996559995 meters 0.012298199034220414 Centerline is valid? [True, True] Translation: X:-442.76, Y:-263.72, Z:-2.86 [[-6.94301473e-01 -7.19657061e-01 6.25942415e-03 -4.42761077e+02] [ 7.19628092e-01 -6.94329687e-01 -6.45714690e-03 -2.63718607e+02] [ 8.99303538e-03 2.12508562e-05 9.99959562e-01 -2.86172321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1357.026559995 meters 0.012409655318587447 Centerline is valid? [True, True] Translation: X:-442.78, Y:-263.70, Z:-2.86 [[-6.94924328e-01 -7.19045786e-01 7.30320124e-03 -4.42779131e+02] [ 7.19006363e-01 -6.94962703e-01 -7.52945399e-03 -2.63698183e+02] [ 1.04894746e-02 1.86474075e-05 9.99944984e-01 -2.86350088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1357.056559995 meters 0.012490094993474194 Centerline is valid? [True, True] Translation: X:-442.80, Y:-263.68, Z:-2.86 [[-6.95476105e-01 -7.18506594e-01 7.82700595e-03 -4.42796446e+02] [ 7.18461337e-01 -6.95520147e-01 -8.06426911e-03 -2.63678777e+02] [ 1.12380709e-02 1.48946946e-05 9.99936851e-01 -2.86456271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1357.086559995 meters 0.012494408474364548 Centerline is valid? [True, True] Translation: X:-442.81, Y:-263.66, Z:-2.87 [[-6.96386287e-01 -7.17618789e-01 8.33147083e-03 -4.42814116e+02] [ 7.17567512e-01 -6.96436124e-01 -8.57855485e-03 -2.63658833e+02] [ 1.19584694e-02 4.40483588e-06 9.99928495e-01 -2.86531821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1357.116559995 meters 0.012699464294975264 Centerline is valid? [True, True] Translation: X:-442.83, Y:-263.64, Z:-2.87 [[-6.98638612e-01 -7.15417597e-01 9.04166676e-03 -4.42831081e+02] [ 7.15357093e-01 -6.98697117e-01 -9.30424165e-03 -2.63637298e+02] [ 1.29738047e-02 -3.22820241e-05 9.99915836e-01 -2.86683077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1357.146559995 meters 0.012686596120607699 Centerline is valid? [True, True] Translation: X:-442.85, Y:-263.62, Z:-2.87 [[-6.99826060e-01 -7.14252960e-01 9.28415718e-03 -4.42849126e+02] [ 7.14189142e-01 -6.99887639e-01 -9.54793212e-03 -2.63616514e+02] [ 1.33175056e-02 -5.12474683e-05 9.99911317e-01 -2.86623894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1357.176559995 meters 0.012659256865576497 Centerline is valid? [True, True] Translation: X:-442.87, Y:-263.60, Z:-2.87 [[-7.00850849e-01 -7.13245456e-01 9.43438248e-03 -4.42867844e+02] [ 7.13179538e-01 -7.00914342e-01 -9.69696182e-03 -2.63595031e+02] [ 1.35290079e-02 -6.77153793e-05 9.99908477e-01 -2.86536013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1357.2065599950001 meters 0.012989592750843413 Centerline is valid? [True, True] Translation: X:-442.88, Y:-263.57, Z:-2.87 [[-7.01790099e-01 -7.12318740e-01 9.62652303e-03 -4.42884885e+02] [ 7.12250103e-01 -7.01856115e-01 -9.88859151e-03 -2.63574129e+02] [ 1.38002631e-02 -8.32235958e-05 9.99904769e-01 -2.86675875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1357.236559995 meters 0.01336582530954918 Centerline is valid? [True, True] Translation: X:-442.90, Y:-263.55, Z:-2.87 [[-7.01943732e-01 -7.12158346e-01 1.02707128e-02 -4.42901218e+02] [ 7.12080297e-01 -7.02018862e-01 -1.05436474e-02 -2.63552874e+02] [ 1.47189805e-02 -8.74749724e-05 9.99891666e-01 -2.86777018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1357.266559995 meters 0.012912110603574221 Centerline is valid? [True, True] Translation: X:-442.92, Y:-263.53, Z:-2.87 [[-7.01957353e-01 -7.12145937e-01 1.01999564e-02 -4.42920728e+02] [ 7.12069052e-01 -7.02031451e-01 -1.04645716e-02 -2.63533330e+02] [ 1.46129924e-02 -8.26096824e-05 9.99893221e-01 -2.86606535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1357.296559995 meters 0.012837086555664238 Centerline is valid? [True, True] Translation: X:-442.94, Y:-263.51, Z:-2.87 [[-7.01431531e-01 -7.12669774e-01 9.77756141e-03 -4.42939513e+02] [ 7.12599263e-01 -7.01499671e-01 -1.00250850e-02 -2.63514162e+02] [ 1.40035312e-02 -6.44276424e-05 9.99901944e-01 -2.86573765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1357.326559995 meters 0.012536395646066314 Centerline is valid? [True, True] Translation: X:-442.96, Y:-263.50, Z:-2.87 [[-6.99337526e-01 -7.14730050e-01 9.37978303e-03 -4.42959492e+02] [ 7.14665426e-01 -6.99400426e-01 -9.61107584e-03 -2.63496868e+02] [ 1.34295490e-02 -1.79793613e-05 9.99909820e-01 -2.86533262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1357.356559995 meters 0.012536395646066314 Centerline is valid? [True, True] Translation: X:-442.98, Y:-263.48, Z:-2.87 [[-6.99553070e-01 -7.14519046e-01 9.38268169e-03 -4.42978249e+02] [ 7.14454442e-01 -6.99615989e-01 -9.60824608e-03 -2.63477816e+02] [ 1.34295490e-02 -1.79794374e-05 9.99909820e-01 -2.86533273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1357.386559995 meters 0.012515484667046288 Centerline is valid? [True, True] Translation: X:-443.00, Y:-263.46, Z:-2.87 [[-6.98597484e-01 -7.15457567e-01 9.05683491e-03 -4.42999059e+02] [ 7.15397523e-01 -6.98656189e-01 -9.26899911e-03 -2.63459428e+02] [ 1.29591893e-02 3.93780206e-06 9.99916026e-01 -2.86543488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1357.416559995 meters 0.012634289236464733 Centerline is valid? [True, True] Translation: X:-443.02, Y:-263.44, Z:-2.87 [[-6.97778366e-01 -7.16257891e-01 8.94343156e-03 -4.43018996e+02] [ 7.16199481e-01 -6.97835678e-01 -9.14717992e-03 -2.63441693e+02] [ 1.27927854e-02 2.25767810e-05 9.99918169e-01 -2.86631447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1357.4465599950001 meters 0.012508645820601494 Centerline is valid? [True, True] Translation: X:-443.04, Y:-263.42, Z:-2.87 [[-6.97172078e-01 -7.16853231e-01 8.51700328e-03 -4.43038946e+02] [ 7.16800366e-01 -6.97224099e-01 -8.70585615e-03 -2.63422743e+02] [ 1.21790810e-02 3.55112519e-05 9.99925832e-01 -2.86545819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1357.4765599950001 meters 0.012591977938804599 Centerline is valid? [True, True] Translation: X:-443.06, Y:-263.40, Z:-2.87 [[-6.96660663e-01 -7.17350243e-01 8.51754469e-03 -4.43058656e+02] [ 7.17297471e-01 -6.96712729e-01 -8.70125381e-03 -2.63403349e+02] [ 1.21761283e-02 4.77920185e-05 9.99925867e-01 -2.86513203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1357.506559995 meters 0.0126263655501908 Centerline is valid? [True, True] Translation: X:-443.08, Y:-263.38, Z:-2.87 [[-6.96466754e-01 -7.17540592e-01 8.34029870e-03 -4.43078019e+02] [ 7.17490066e-01 -6.96516688e-01 -8.51517097e-03 -2.63383954e+02] [ 1.19191380e-02 5.35479845e-05 9.99928963e-01 -2.86505625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1357.536559995 meters 0.012589504006654949 Centerline is valid? [True, True] Translation: X:-443.10, Y:-263.36, Z:-2.86 [[-6.95985081e-01 -7.18019462e-01 7.26768937e-03 -4.43097919e+02] [ 7.17981168e-01 -6.96023024e-01 -7.41572275e-03 -2.63364770e+02] [ 1.03831124e-02 5.68316998e-05 9.99946093e-01 -2.86428243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1357.566559995 meters 0.0125749690007336 Centerline is valid? [True, True] Translation: X:-443.12, Y:-263.35, Z:-2.86 [[-6.96116268e-01 -7.17893817e-01 7.11397250e-03 -4.43116174e+02] [ 7.17857165e-01 -6.96152616e-01 -7.25441482e-03 -2.63345660e+02] [ 1.01603101e-02 5.68999538e-05 9.99948381e-01 -2.86423164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1357.596559995 meters 0.01246028784903506 Centerline is valid? [True, True] Translation: X:-443.13, Y:-263.33, Z:-2.86 [[-6.96789803e-01 -7.17242227e-01 6.89622903e-03 -4.43133467e+02] [ 7.17207795e-01 -6.96823927e-01 -7.02808793e-03 -2.63325987e+02] [ 9.84629883e-03 4.89292112e-05 9.99951523e-01 -2.86366764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1357.626559995 meters 0.012410263001929565 Centerline is valid? [True, True] Translation: X:-443.15, Y:-263.31, Z:-2.86 [[-6.97644696e-01 -7.16409167e-01 7.05575096e-03 -4.43151028e+02] [ 7.16373123e-01 -6.97680373e-01 -7.18651982e-03 -2.63305411e+02] [ 1.00711476e-02 4.09129184e-05 9.99949284e-01 -2.86344057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1357.656559995 meters 0.012389753131745779 Centerline is valid? [True, True] Translation: X:-443.17, Y:-263.29, Z:-2.86 [[-6.98733195e-01 -7.15346698e-01 7.14311279e-03 -4.43168794e+02] [ 7.15309742e-01 -6.98769705e-01 -7.27130757e-03 -2.63285114e+02] [ 1.01928967e-02 2.88342024e-05 9.99948051e-01 -2.86350648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1357.686559995 meters 0.012295614053076425 Centerline is valid? [True, True] Translation: X:-443.19, Y:-263.27, Z:-2.87 [[-7.00352944e-01 -7.13753137e-01 7.88753904e-03 -4.43185651e+02] [ 7.13708036e-01 -7.00397358e-01 -8.02373191e-03 -2.63265826e+02] [ 1.12513753e-02 9.95573323e-06 9.99936701e-01 -2.86537400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1357.7165599950001 meters 0.01226339663540522 Centerline is valid? [True, True] Translation: X:-443.20, Y:-263.25, Z:-2.87 [[-7.00807829e-01 -7.13296237e-01 8.76727818e-03 -4.43204757e+02] [ 7.13240545e-01 -7.00862667e-01 -8.91333662e-03 -2.63246110e+02] [ 1.25025074e-02 6.64217776e-06 9.99921841e-01 -2.86553976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1357.746559995 meters 0.012607987989829946 Centerline is valid? [True, True] Translation: X:-443.22, Y:-263.23, Z:-2.87 [[-7.01158097e-01 -7.12943159e-01 9.45382751e-03 -4.43222715e+02] [ 7.12878451e-01 -7.01221828e-01 -9.60531027e-03 -2.63227511e+02] [ 1.34772705e-02 4.58883622e-06 9.99909178e-01 -2.86850297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1357.776559995 meters 0.012456967568068803 Centerline is valid? [True, True] Translation: X:-443.24, Y:-263.21, Z:-2.87 [[-7.01874641e-01 -7.12227772e-01 1.01779342e-02 -4.43241216e+02] [ 7.12152784e-01 -7.01948432e-01 -1.03349563e-02 -2.63208056e+02] [ 1.45052278e-02 -5.59955075e-06 9.99894794e-01 -2.86824097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1357.806559995 meters 0.012494512016267603 Centerline is valid? [True, True] Translation: X:-443.26, Y:-263.19, Z:-2.87 [[-7.02492285e-01 -7.11610885e-01 1.07022193e-02 -4.43259618e+02] [ 7.11528007e-01 -7.02573803e-01 -1.08603769e-02 -2.63188640e+02] [ 1.52474613e-02 -1.44021930e-05 9.99883751e-01 -2.86817126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1357.836559995 meters 0.012410977435320488 Centerline is valid? [True, True] Translation: X:-443.28, Y:-263.17, Z:-2.87 [[-7.03603986e-01 -7.10505284e-01 1.11208227e-02 -4.43277428e+02] [ 7.10415757e-01 -7.03691864e-01 -1.12788457e-02 -2.63166762e+02] [ 1.58393120e-02 -3.54331227e-05 9.99874550e-01 -2.86723357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1357.866559995 meters 0.012604553498835434 Centerline is valid? [True, True] Translation: X:-443.30, Y:-263.15, Z:-2.87 [[-7.04194580e-01 -7.09918381e-01 1.12198873e-02 -4.43295639e+02] [ 7.09827285e-01 -7.04283956e-01 -1.13725983e-02 -2.63146478e+02] [ 1.59756032e-02 -4.43399086e-05 9.99872381e-01 -2.86767939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1357.896559995 meters 0.012581445104718151 Centerline is valid? [True, True] Translation: X:-443.31, Y:-263.13, Z:-2.87 [[-7.04445939e-01 -7.09674013e-01 1.08956121e-02 -4.43314239e+02] [ 7.09588187e-01 -7.04530193e-01 -1.10368544e-02 -2.63127339e+02] [ 1.55088565e-02 -4.34696107e-05 9.99879730e-01 -2.86755201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1357.926559995 meters 0.01236402938575647 Centerline is valid? [True, True] Translation: X:-443.34, Y:-263.11, Z:-2.87 [[-7.04194300e-01 -7.09926056e-01 1.07416835e-02 -4.43335031e+02] [ 7.09842760e-01 -7.04276220e-01 -1.08748428e-02 -2.63107872e+02] [ 1.52854465e-02 -3.30960604e-05 9.99883170e-01 -2.86574235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1357.9565599950001 meters 0.012356086604099457 Centerline is valid? [True, True] Translation: X:-443.36, Y:-263.09, Z:-2.87 [[-7.03852302e-01 -7.10266900e-01 1.06239391e-02 -4.43355298e+02] [ 7.10185555e-01 -7.03932475e-01 -1.07492959e-02 -2.63089857e+02] [ 1.51134048e-02 -2.09485570e-05 9.99885786e-01 -2.86617668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1357.986559995 meters 0.012604470045707961 Centerline is valid? [True, True] Translation: X:-443.38, Y:-263.07, Z:-2.87 [[-7.03333076e-01 -7.10780476e-01 1.06630192e-02 -4.43375632e+02] [ 7.10698697e-01 -7.03413900e-01 -1.07818117e-02 -2.63072868e+02] [ 1.51640172e-02 -5.01092290e-06 9.99885020e-01 -2.86796827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1358.016559995 meters 0.012581246348676137 Centerline is valid? [True, True] Translation: X:-443.40, Y:-263.06, Z:-2.87 [[-7.01923944e-01 -7.12177311e-01 1.03079874e-02 -4.43398235e+02] [ 7.12101132e-01 -7.01999627e-01 -1.04163979e-02 -2.63057826e+02] [ 1.46545255e-02 2.88104459e-05 9.99892616e-01 -2.86890984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1358.046559995 meters 0.012382311959136635 Centerline is valid? [True, True] Translation: X:-443.42, Y:-263.04, Z:-2.87 [[-7.01535376e-01 -7.12558530e-01 1.04143109e-02 -4.43418232e+02] [ 7.12480908e-01 -7.01612671e-01 -1.05174050e-02 -2.63039202e+02] [ 1.48010792e-02 4.16660164e-05 9.99890457e-01 -2.86742558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1358.076559995 meters 0.01304713763991917 Centerline is valid? [True, True] Translation: X:-443.44, Y:-263.02, Z:-2.87 [[-7.01300623e-01 -7.12789603e-01 1.04124557e-02 -4.43437341e+02] [ 7.12712107e-01 -7.01377915e-01 -1.05105686e-02 -2.63021328e+02] [ 1.47948905e-02 5.00149623e-05 9.99890549e-01 -2.87072039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1358.106559995 meters 0.012391445769961503 Centerline is valid? [True, True] Translation: X:-443.46, Y:-263.00, Z:-2.87 [[-7.01560974e-01 -7.12533700e-01 1.03887482e-02 -4.43455379e+02] [ 7.12456623e-01 -7.01637887e-01 -1.04802930e-02 -2.63001364e+02] [ 1.47567012e-02 4.89678841e-05 9.99891113e-01 -2.86731354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1358.136559995 meters 0.012359750402582985 Centerline is valid? [True, True] Translation: X:-443.47, Y:-262.98, Z:-2.87 [[-7.03486196e-01 -7.10641535e-01 9.78677783e-03 -4.43472298e+02] [ 7.10573012e-01 -7.03554269e-01 -9.86840008e-03 -2.62981478e+02] [ 1.38984243e-02 1.19369688e-05 9.99903412e-01 -2.86684159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1358.166559995 meters 0.012206349987132721 Centerline is valid? [True, True] Translation: X:-443.49, Y:-262.96, Z:-2.87 [[-7.05031399e-01 -7.09111255e-01 9.58935260e-03 -4.43491326e+02] [ 7.09045409e-01 -7.05096609e-01 -9.66333814e-03 -2.62961363e+02] [ 1.36138018e-02 -1.36703733e-05 9.99907328e-01 -2.86565009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1358.1965599950001 meters 0.012566151699315912 Centerline is valid? [True, True] Translation: X:-443.51, Y:-262.94, Z:-2.87 [[-7.06677824e-01 -7.07470721e-01 9.57246004e-03 -4.43509192e+02] [ 7.07405041e-01 -7.06742653e-01 -9.64005868e-03 -2.62942740e+02] [ 1.35853251e-02 -4.08092058e-05 9.99907715e-01 -2.86694782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1358.2265599950001 meters 0.0126613472618415 Centerline is valid? [True, True] Translation: X:-443.53, Y:-262.92, Z:-2.87 [[-7.08503209e-01 -7.05644381e-01 9.44511725e-03 -4.43528523e+02] [ 7.05580352e-01 -7.08566160e-01 -9.50600862e-03 -2.62923469e+02] [ 1.34003520e-02 -7.07484559e-05 9.99910209e-01 -2.86660879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1358.256559995 meters 0.013273582218622456 Centerline is valid? [True, True] Translation: X:-443.55, Y:-262.90, Z:-2.87 [[-7.10386682e-01 -7.03750661e-01 9.26120554e-03 -4.43546322e+02] [ 7.03689018e-01 -7.10447041e-01 -9.31495735e-03 -2.62903492e+02] [ 1.31350035e-02 -1.00213010e-04 9.99913727e-01 -2.86782636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1358.286559995 meters 0.013729884533660242 Centerline is valid? [True, True] Translation: X:-443.56, Y:-262.88, Z:-2.87 [[-7.14300319e-01 -6.99782287e-01 8.93341106e-03 -4.43564414e+02] [ 6.99724681e-01 -7.14356161e-01 -8.98035408e-03 -2.62881493e+02] [ 1.26659299e-02 -1.63741590e-04 9.99919771e-01 -2.86524164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1358.316559995 meters 0.015501322379744373 Centerline is valid? [True, True] Translation: X:-443.58, Y:-262.86, Z:-2.87 [[-7.16062762e-01 -6.97982581e-01 8.62772167e-03 -4.43581245e+02] [ 6.97928761e-01 -7.16114713e-01 -8.66961342e-03 -2.62859615e+02] [ 1.22296776e-02 -1.86452243e-04 9.99925198e-01 -2.86672152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1358.346559995 meters 0.014674892501589808 Centerline is valid? [True, True] Translation: X:-443.60, Y:-262.84, Z:-2.86 [[-7.17927994e-01 -6.96063608e-01 8.65157039e-03 -4.43601941e+02] [ 6.96009410e-01 -7.17980088e-01 -8.68878545e-03 -2.62840683e+02] [ 1.22596026e-02 -2.16347907e-04 9.99924825e-01 -2.86464022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1358.376559995 meters 0.015849873939143194 Centerline is valid? [True, True] Translation: X:-443.62, Y:-262.82, Z:-2.86 [[-7.20465692e-01 -6.93436932e-01 8.62605996e-03 -4.43618501e+02] [ 6.93382911e-01 -7.20517283e-01 -8.65931560e-03 -2.62819603e+02] [ 1.22199145e-02 -2.57577242e-04 9.99925301e-01 -2.86495369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1358.406559995 meters 0.0160424397463817 Centerline is valid? [True, True] Translation: X:-443.64, Y:-262.80, Z:-2.86 [[-7.20976811e-01 -6.92903321e-01 8.79921360e-03 -4.43637666e+02] [ 6.92847137e-01 -7.21030454e-01 -8.82774137e-03 -2.62799728e+02] [ 1.24612723e-02 -2.68086864e-04 9.99922320e-01 -2.86499665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1358.436559995 meters 0.01585183747619745 Centerline is valid? [True, True] Translation: X:-443.66, Y:-262.78, Z:-2.87 [[-7.21071255e-01 -6.92801763e-01 9.05332422e-03 -4.43657535e+02] [ 6.92742350e-01 -7.21128035e-01 -9.07709806e-03 -2.62781101e+02] [ 1.28172354e-02 -2.73613392e-04 9.99917819e-01 -2.86529148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1358.4665599950001 meters 0.015960362067208776 Centerline is valid? [True, True] Translation: X:-443.68, Y:-262.76, Z:-2.87 [[-7.20150714e-01 -6.93754427e-01 9.36723213e-03 -4.43676836e+02] [ 6.93690962e-01 -7.20211585e-01 -9.38737510e-03 -2.62763025e+02] [ 1.32589221e-02 -2.62360610e-04 9.99912062e-01 -2.86646547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1358.496559995 meters 0.014825168146800224 Centerline is valid? [True, True] Translation: X:-443.70, Y:-262.75, Z:-2.87 [[-7.16396861e-01 -6.97611014e-01 1.06963339e-02 -4.43700229e+02] [ 6.97528775e-01 -7.16476676e-01 -1.07136119e-02 -2.62747064e+02] [ 1.51376074e-02 -2.14197185e-04 9.99885397e-01 -2.86884742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1358.526559995 meters 0.013641470992006605 Centerline is valid? [True, True] Translation: X:-443.72, Y:-262.73, Z:-2.87 [[-7.14084161e-01 -6.99973521e-01 1.09946182e-02 -4.43723129e+02] [ 6.99887004e-01 -7.14168778e-01 -1.10063034e-02 -2.62730027e+02] [ 1.55561340e-02 -1.64436577e-04 9.99878983e-01 -2.86832002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1358.556559995 meters 0.013300187807222192 Centerline is valid? [True, True] Translation: X:-443.74, Y:-262.71, Z:-2.87 [[-7.11909043e-01 -7.02190639e-01 1.06687379e-02 -4.43744512e+02] [ 7.02109512e-01 -7.11988971e-01 -1.06742177e-02 -2.62712603e+02] [ 1.50913595e-02 -1.08449767e-04 9.99886113e-01 -2.86863785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1358.586559995 meters 0.012847398490284864 Centerline is valid? [True, True] Translation: X:-443.77, Y:-262.70, Z:-2.87 [[-7.10014484e-01 -7.04112404e-01 1.02545291e-02 -4.43765117e+02] [ 7.04037746e-01 -7.10088529e-01 -1.02534805e-02 -2.62695326e+02] [ 1.45012262e-02 -6.05441291e-05 9.99894850e-01 -2.86795328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1358.616559995 meters 0.012910918828303721 Centerline is valid? [True, True] Translation: X:-444.14, Y:-263.06, Z:-1.72 [[-7.54063161e-01 6.56722188e-01 1.02331856e-02 -4.44139994e+02] [ 6.56662216e-01 7.54132593e-01 -8.87508418e-03 -2.63061173e+02] [-1.35456435e-02 2.73723082e-05 -9.99908253e-01 -1.72368642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1358.646559995 meters 0.012581560100879048 Centerline is valid? [True, True] Translation: X:-443.80, Y:-262.67, Z:-2.87 [[-7.10088945e-01 -7.04062395e-01 8.35670050e-03 -4.43802544e+02] [ 7.04011534e-01 -7.10138105e-01 -8.46352963e-03 -2.62666246e+02] [ 1.18932644e-02 -1.26645288e-04 9.99929265e-01 -2.86601354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1358.676559995 meters 0.012325051054045123 Centerline is valid? [True, True] Translation: X:-444.18, Y:-263.03, Z:-1.73 [[-7.57605602e-01 6.52676735e-01 6.84337262e-03 -4.44176106e+02] [ 6.52650140e-01 7.57636509e-01 -5.89195195e-03 -2.63032240e+02] [-9.03032890e-03 2.55229271e-06 -9.99959226e-01 -1.72946164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1358.7065599950001 meters 0.01235892422928029 Centerline is valid? [True, True] Translation: X:-443.84, Y:-262.63, Z:-2.86 [[-7.12691528e-01 -7.01455212e-01 5.60102439e-03 -4.43837578e+02] [ 7.01432790e-01 -7.12713534e-01 -5.60887647e-03 -2.62632693e+02] [ 7.92630152e-03 -6.86565822e-05 9.99968584e-01 -2.86132332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1358.736559995 meters 0.012362937058167048 Centerline is valid? [True, True] Translation: X:-444.21, Y:-263.01, Z:-1.73 [[-7.59228638e-01 6.50800629e-01 5.51517955e-03 -4.44209703e+02] [ 6.50783558e-01 7.59248669e-01 -4.71377063e-03 -2.63008655e+02] [-7.25511762e-03 1.03585211e-05 -9.99973681e-01 -1.73095495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1358.766559995 meters 0.012341765404358107 Centerline is valid? [True, True] Translation: X:-443.86, Y:-262.61, Z:-2.86 [[-7.16259678e-01 -6.97818605e-01 4.61181293e-03 -4.43864200e+02] [ 6.97803644e-01 -7.16274523e-01 -4.56970050e-03 -2.62606161e+02] [ 6.49214614e-03 -5.49523398e-05 9.99978925e-01 -2.85931187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1358.796559995 meters 0.01228358313026992 Centerline is valid? [True, True] Translation: X:-444.24, Y:-262.99, Z:-1.73 [[-7.60887010e-01 6.48870402e-01 4.26139621e-03 -4.44242804e+02] [ 6.48860331e-01 7.60898943e-01 -3.61521538e-03 -2.62985780e+02] [-5.58829813e-03 1.42805413e-05 -9.99984385e-01 -1.73296559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1358.826559995 meters 0.012283866785988789 Centerline is valid? [True, True] Translation: X:-444.23, Y:-262.96, Z:-1.73 [[-8.05006963e-01 5.93249503e-01 4.33778445e-03 -4.44229494e+02] [ 5.93240979e-01 8.05018650e-01 -3.18031372e-03 -2.62960950e+02] [-5.37871692e-03 1.31768049e-05 -9.99985535e-01 -1.73313410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1358.856559995 meters 0.01232053349759032 Centerline is valid? [True, True] Translation: X:-444.22, Y:-262.93, Z:-1.73 [[-8.45059647e-01 5.34656220e-01 4.11336640e-03 -4.44218216e+02] [ 5.34649953e-01 8.45069658e-01 -2.58864555e-03 -2.62934067e+02] [-4.86011659e-03 1.16512600e-05 -9.99988190e-01 -1.73303747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1358.886559995 meters 0.01230967291395595 Centerline is valid? [True, True] Translation: X:-443.93, Y:-262.48, Z:-2.86 [[-8.09780681e-01 -5.86717272e-01 4.25350069e-03 -4.43934033e+02] [ 5.86709251e-01 -8.09791852e-01 -3.06798471e-03 -2.62483185e+02] [ 5.24448982e-03 1.11734517e-05 9.99986248e-01 -2.85919645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1358.916559995 meters 0.012374814302378866 Centerline is valid? [True, True] Translation: X:-444.26, Y:-262.91, Z:-1.73 [[-8.46870058e-01 5.31780053e-01 4.59131513e-03 -4.44256994e+02] [ 5.31772327e-01 8.46882504e-01 -2.86645275e-03 -2.62910613e+02] [-5.41262685e-03 1.40213293e-05 -9.99985352e-01 -1.73144719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1358.9465599950001 meters 0.012337436204131377 Centerline is valid? [True, True] Translation: X:-444.25, Y:-262.89, Z:-1.73 [[-8.82196993e-01 4.70843145e-01 5.93287796e-03 -4.44247726e+02] [ 4.70832652e-01 8.82216942e-01 -3.14346319e-03 -2.62885349e+02] [-6.71416354e-03 2.02388899e-05 -9.99977460e-01 -1.73200458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1358.9765599950001 meters 0.012352678199745646 Centerline is valid? [True, True] Translation: X:-444.00, Y:-262.41, Z:-2.86 [[-8.51665231e-01 -5.24051439e-01 6.03516255e-03 -4.43995323e+02] [ 5.24038296e-01 -8.51686614e-01 -3.71156275e-03 -2.62411133e+02] [ 7.08511696e-03 1.64735286e-06 9.99974900e-01 -2.85930336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1359.006559995 meters 0.012323635675629987 Centerline is valid? [True, True] Translation: X:-444.29, Y:-262.87, Z:-1.73 [[-8.83642462e-01 4.68118319e-01 6.42168596e-03 -4.44286553e+02] [ 4.68106168e-01 8.83665796e-01 -3.37295362e-03 -2.62868165e+02] [-7.25356561e-03 2.55457673e-05 -9.99973692e-01 -1.73260887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1359.036559995 meters 0.012237300248598048 Centerline is valid? [True, True] Translation: X:-444.04, Y:-262.39, Z:-2.86 [[-8.53895070e-01 -5.20410813e-01 5.98297113e-03 -4.44035470e+02] [ 5.20397722e-01 -8.53916029e-01 -3.69144698e-03 -2.62389226e+02] [ 7.03002387e-03 -3.85838288e-05 9.99975289e-01 -2.85788569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1359.066559995 meters 0.012329597715787451 Centerline is valid? [True, True] Translation: X:-444.33, Y:-262.85, Z:-1.73 [[-8.85039152e-01 4.65479259e-01 5.89564472e-03 -4.44327857e+02] [ 4.65469143e-01 8.85058788e-01 -3.06895636e-03 -2.62849272e+02] [-6.64652771e-03 2.80941602e-05 -9.99977911e-01 -1.73352803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1359.096559995 meters 0.01239260932468205 Centerline is valid? [True, True] Translation: X:-444.08, Y:-262.37, Z:-2.86 [[-8.56740367e-01 -5.15724025e-01 4.96717751e-03 -4.44075332e+02] [ 5.15714858e-01 -8.56754763e-01 -3.07590871e-03 -2.62368681e+02] [ 5.84197302e-03 -7.36079135e-05 9.99982933e-01 -2.85733241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1359.126559995 meters 0.012465362658396636 Centerline is valid? [True, True] Translation: X:-444.37, Y:-262.83, Z:-1.73 [[-8.85712818e-01 4.64208463e-01 4.82776646e-03 -4.44367577e+02] [ 4.64201784e-01 8.85725975e-01 -2.49035632e-03 -2.62829185e+02] [-5.43212264e-03 3.53172910e-05 -9.99985246e-01 -1.73418433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1359.156559995 meters 0.012523128530607082 Centerline is valid? [True, True] Translation: X:-444.36, Y:-262.80, Z:-1.73 [[-9.16203569e-01 4.00684555e-01 4.78619422e-03 -4.44359031e+02] [ 4.00679295e-01 9.16216070e-01 -2.05355180e-03 -2.62802742e+02] [-5.20801455e-03 3.62574350e-05 -9.99986438e-01 -1.73384478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1359.186559995 meters 0.012589907497826966 Centerline is valid? [True, True] Translation: X:-444.15, Y:-262.30, Z:-2.86 [[-8.93311735e-01 -4.49413594e-01 4.64397252e-03 -4.44145047e+02] [ 4.49407313e-01 -8.93323805e-01 -2.37634476e-03 -2.62302416e+02] [ 5.21653284e-03 -3.57814494e-05 9.99986393e-01 -2.85835143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1359.2165599950001 meters 0.012517354932847793 Centerline is valid? [True, True] Translation: X:-444.40, Y:-262.79, Z:-1.73 [[-9.17827269e-01 3.96941709e-01 5.51218453e-03 -4.44404326e+02] [ 3.96934805e-01 9.17843820e-01 -2.34151845e-03 -2.62785780e+02] [-5.98877085e-03 3.88684048e-05 -9.99982067e-01 -1.73334785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1359.246559995 meters 0.012627208222258287 Centerline is valid? [True, True] Translation: X:-444.19, Y:-262.28, Z:-2.86 [[-8.94529528e-01 -4.46971244e-01 5.79922804e-03 -4.44189958e+02] [ 4.46961776e-01 -8.94548326e-01 -2.90938026e-03 -2.62282731e+02] [ 6.48809905e-03 -1.04932905e-05 9.99978952e-01 -2.85907520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1359.276559995 meters 0.012627208222258287 Centerline is valid? [True, True] Translation: X:-444.45, Y:-262.77, Z:-1.73 [[-9.19492725e-01 3.93061782e-01 5.96354916e-03 -4.44446026e+02] [ 3.93053786e-01 9.19512063e-01 -2.50747926e-03 -2.62769708e+02] [-6.46914966e-03 3.83866321e-05 -9.99979074e-01 -1.73261406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1359.306559995 meters 0.012247924736115521 Centerline is valid? [True, True] Translation: X:-444.44, Y:-262.74, Z:-1.73 [[-9.45570469e-01 3.25346109e-01 6.81153028e-03 -4.44442921e+02] [ 3.25337906e-01 9.45595002e-01 -2.31058446e-03 -2.62739706e+02] [-7.19268866e-03 3.12285611e-05 -9.99974132e-01 -1.73250608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1359.336559995 meters 0.01226874979329857 Centerline is valid? [True, True] Translation: X:-444.44, Y:-262.71, Z:-1.73 [[-9.66435532e-01 2.56814997e-01 6.95847649e-03 -4.44440368e+02] [ 2.56808536e-01 9.66460582e-01 -1.82190774e-03 -2.62710948e+02] [-7.19298647e-03 2.62397858e-05 -9.99974130e-01 -1.73167149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1359.366559995 meters 0.01215733028869662 Centerline is valid? [True, True] Translation: X:-444.31, Y:-262.18, Z:-2.86 [[-9.48903057e-01 -3.15491813e-01 6.92132357e-03 -4.44305362e+02] [ 3.15483270e-01 -9.48928299e-01 -2.32187738e-03 -2.62184496e+02] [ 7.30037310e-03 -1.96747534e-05 9.99973352e-01 -2.85957466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1359.396559995 meters 0.012150367276534344 Centerline is valid? [True, True] Translation: X:-444.49, Y:-262.70, Z:-1.73 [[-9.67841055e-01 2.51465500e-01 6.98529715e-03 -4.44489713e+02] [ 2.51459051e-01 9.67866263e-01 -1.80094850e-03 -2.62697094e+02] [-7.21370986e-03 1.34843007e-05 -9.99973981e-01 -1.73197776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1359.426559995 meters 0.012193440559529447 Centerline is valid? [True, True] Translation: X:-444.49, Y:-262.67, Z:-1.73 [[-9.83378598e-01 1.81421594e-01 7.26212634e-03 -4.44490241e+02] [ 1.81416711e-01 9.83405412e-01 -1.33121387e-03 -2.62668512e+02] [-7.38312529e-03 8.38384637e-06 -9.99972745e-01 -1.73110364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1359.4565599950001 meters 0.012091040034427101 Centerline is valid? [True, True] Translation: X:-444.49, Y:-262.64, Z:-1.73 [[-9.93921412e-01 1.09881401e-01 6.80472008e-03 -4.44493176e+02] [ 1.09878818e-01 9.93944706e-01 -7.53323958e-04 -2.62641035e+02] [-6.84629179e-03 -1.05020923e-06 -9.99976564e-01 -1.73184756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1359.486559995 meters 0.01208313337660792 Centerline is valid? [True, True] Translation: X:-444.44, Y:-262.10, Z:-2.86 [[-9.84048984e-01 -1.77781982e-01 6.41599062e-03 -4.44435633e+02] [ 1.77778070e-01 -9.84069899e-01 -1.17964793e-03 -2.62100087e+02] [ 6.52350339e-03 -2.02089146e-05 9.99978722e-01 -2.85947354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1359.516559995 meters 0.012137398569860108 Centerline is valid? [True, True] Translation: X:-444.55, Y:-262.64, Z:-1.73 [[-9.94478163e-01 1.04766387e-01 6.09813650e-03 -4.44545716e+02] [ 1.04764372e-01 9.94496860e-01 -6.49785406e-04 -2.62636345e+02] [-6.13265327e-03 -7.32995312e-06 -9.99981195e-01 -1.73249074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1359.546559995 meters 0.012113056163126221 Centerline is valid? [True, True] Translation: X:-444.55, Y:-262.61, Z:-1.73 [[-9.99438472e-01 3.30194944e-02 5.69681404e-03 -4.44552108e+02] [ 3.30188932e-02 9.99454708e-01 -1.99591872e-04 -2.62607276e+02] [-5.70029803e-03 -1.13773012e-05 -9.99983753e-01 -1.73241546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1359.576559995 meters 0.01227559850096355 Centerline is valid? [True, True] Translation: X:-444.54, Y:-262.07, Z:-2.86 [[-9.94327679e-01 -1.06220651e-01 5.44422109e-03 -4.44536650e+02] [ 1.06219036e-01 -9.94342584e-01 -5.85808656e-04 -2.62066245e+02] [ 5.47564584e-03 -4.20584634e-06 9.99985009e-01 -2.85993982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1359.606559995 meters 0.012277287250786272 Centerline is valid? [True, True] Translation: X:-444.62, Y:-262.60, Z:-1.73 [[-9.99639318e-01 2.63803448e-02 5.03114703e-03 -4.44615354e+02] [ 2.63798995e-02 9.99651978e-01 -1.54865231e-04 -2.62603381e+02] [-5.03348148e-03 -2.20882213e-05 -9.99987332e-01 -1.73176641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1359.636559995 meters 0.012346074230915249 Centerline is valid? [True, True] Translation: X:-444.60, Y:-262.06, Z:-2.86 [[-9.94657616e-01 -1.03117343e-01 4.80008485e-03 -4.44598381e+02] [ 1.03116178e-01 -9.94669198e-01 -4.90207062e-04 -2.62064053e+02] [ 4.82504540e-03 7.37821716e-06 9.99988360e-01 -2.85906748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1359.666559995 meters 0.01233068222315359 Centerline is valid? [True, True] Translation: X:-444.67, Y:-262.60, Z:-1.73 [[-9.99750121e-01 2.19132732e-02 4.41629447e-03 -4.44672206e+02] [ 2.19129722e-02 9.99759875e-01 -1.16533026e-04 -2.62603638e+02] [-4.41778763e-03 -1.97297693e-05 -9.99990242e-01 -1.73326120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1359.6965599950001 meters 0.012382471922183296 Centerline is valid? [True, True] Translation: X:-444.66, Y:-262.06, Z:-2.86 [[-9.95218056e-01 -9.75925610e-02 4.08809794e-03 -4.44658996e+02] [ 9.75917304e-02 -9.95226453e-01 -4.02656563e-04 -2.62060384e+02] [ 4.10787950e-03 -1.76652985e-06 9.99991563e-01 -2.85786311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1359.7265599950001 meters 0.012287789538764905 Centerline is valid? [True, True] Translation: X:-444.73, Y:-262.61, Z:-1.74 [[-9.99735782e-01 2.26261366e-02 4.05277450e-03 -4.44733870e+02] [ 2.26259618e-02 9.99743996e-01 -8.89865485e-05 -2.62608568e+02] [-4.05375040e-03 2.73488443e-06 -9.99991784e-01 -1.73504759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1359.756559995 meters 0.012399619830612451 Centerline is valid? [True, True] Translation: X:-444.74, Y:-262.58, Z:-1.74 [[-9.98931872e-01 -4.59919340e-02 4.45625742e-03 -4.44741503e+02] [-4.59914116e-02 9.98941811e-01 2.19697298e-04 -2.62583633e+02] [-4.46164616e-03 1.45130642e-05 -9.99990047e-01 -1.73559929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1359.786559995 meters 0.012564830313406508 Centerline is valid? [True, True] Translation: X:-444.77, Y:-262.02, Z:-2.86 [[-9.99906014e-01 -1.28634803e-02 4.74287554e-03 -4.44774365e+02] [ 1.28633478e-02 -9.99917262e-01 -5.84273203e-05 -2.62022008e+02] [ 4.74323470e-03 2.58742882e-06 9.99988751e-01 -2.85527624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1359.816559995 meters 0.012644611200805294 Centerline is valid? [True, True] Translation: X:-444.82, Y:-262.59, Z:-1.74 [[-9.98902320e-01 -4.65969098e-02 4.78372424e-03 -4.44815356e+02] [-4.65961939e-02 9.98913773e-01 2.61052250e-04 -2.62590772e+02] [-4.79069227e-03 3.78623555e-05 -9.99988524e-01 -1.73700278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1359.846559995 meters 0.013253339544280126 Centerline is valid? [True, True] Translation: X:-444.83, Y:-262.57, Z:-1.74 [[-9.93413495e-01 -1.14478913e-01 4.91997086e-03 -4.44827493e+02] [-1.14477233e-01 9.93425677e-01 6.22507664e-04 -2.62566266e+02] [-4.95888938e-03 5.51828620e-05 -9.99987703e-01 -1.73710993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1359.876559995 meters 0.013305325179886576 Centerline is valid? [True, True] Translation: X:-444.85, Y:-262.54, Z:-1.74 [[-9.82952556e-01 -1.83797194e-01 4.78168643e-03 -4.44846445e+02] [-1.83794717e-01 9.82964184e-01 9.56303331e-04 -2.62541303e+02] [-4.87599237e-03 6.11521002e-05 -9.99988111e-01 -1.73742424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1359.906559995 meters 0.013539823161255618 Centerline is valid? [True, True] Translation: X:-444.98, Y:-261.98, Z:-2.85 [[-9.89819057e-01 1.42268310e-01 4.23821262e-03 -4.44976534e+02] [-1.42267411e-01 -9.89828126e-01 5.14488327e-04 -2.61982307e+02] [ 4.26829744e-03 -9.37091841e-05 9.99990887e-01 -2.85417767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1359.936559995 meters 0.013570569953170443 Centerline is valid? [True, True] Translation: X:-444.96, Y:-262.56, Z:-1.74 [[-9.81994302e-01 -1.88870846e-01 3.87231448e-03 -4.44961183e+02] [-1.88869161e-01 9.82001935e-01 7.99495673e-04 -2.62564471e+02] [-3.95362174e-03 5.37394083e-05 -9.99992183e-01 -1.73776491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1359.9665599950001 meters 0.01348220453814425 Centerline is valid? [True, True] Translation: X:-444.99, Y:-262.54, Z:-1.74 [[-9.65799267e-01 -2.59266913e-01 3.52747922e-03 -4.44993161e+02] [-2.59264999e-01 9.65805708e-01 9.97603693e-04 -2.62543094e+02] [-3.66550520e-03 4.89330206e-05 -9.99993281e-01 -1.73838587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1359.996559995 meters 0.01329419934787171 Centerline is valid? [True, True] Translation: X:-445.04, Y:-262.53, Z:-1.74 [[-9.44010229e-01 -3.29902661e-01 2.98691385e-03 -4.45037380e+02] [-3.29900882e-01 9.44014954e-01 1.08401740e-03 -2.62527896e+02] [-3.17731157e-03 3.79379954e-05 -9.99994952e-01 -1.73952505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1360.026559995 meters 0.013088863625365864 Centerline is valid? [True, True] Translation: X:-445.10, Y:-262.52, Z:-1.74 [[-9.17014354e-01 -3.98845156e-01 2.68624685e-03 -4.45099650e+02] [-3.98843340e-01 9.17018288e-01 1.20426153e-03 -2.62523012e+02] [-2.94365137e-03 3.29334414e-05 -9.99995667e-01 -1.74038046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1360.056559995 meters 0.013136064796195578 Centerline is valid? [True, True] Translation: X:-445.17, Y:-262.53, Z:-1.74 [[-8.84909074e-01 -4.65756437e-01 2.62148983e-03 -4.45168917e+02] [-4.65754287e-01 8.84912957e-01 1.41545419e-03 -2.62525543e+02] [-2.97904721e-03 3.15781290e-05 -9.99995562e-01 -1.74095947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1360.086559995 meters 0.01310420847871736 Centerline is valid? [True, True] Translation: X:-445.24, Y:-262.54, Z:-1.74 [[-8.47667833e-01 -5.30523319e-01 2.06229491e-03 -4.45242661e+02] [-5.30521678e-01 8.47670341e-01 1.31988455e-03 -2.62535921e+02] [-2.44837576e-03 2.47315187e-05 -9.99997003e-01 -1.74118140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1360.116559995 meters 0.013117246037241896 Centerline is valid? [True, True] Translation: X:-445.32, Y:-262.56, Z:-1.74 [[-8.05748332e-01 -5.92256512e-01 1.36029303e-03 -4.45322434e+02] [-5.92255632e-01 8.05749480e-01 1.02129297e-03 -2.62557080e+02] [-1.70092281e-03 1.72638966e-05 -9.99998554e-01 -1.74205512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1360.146559995 meters 0.013197344851701417 Centerline is valid? [True, True] Translation: X:-445.40, Y:-262.59, Z:-1.74 [[-7.59359534e-01 -6.50670151e-01 1.20495873e-03 -4.45403312e+02] [-6.50669297e-01 7.59360490e-01 1.05471057e-03 -2.62586794e+02] [-1.60126674e-03 1.68748778e-05 -9.99998718e-01 -1.74262516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1360.176559995 meters 0.01293136942716452 Centerline is valid? [True, True] Translation: X:-445.49, Y:-262.63, Z:-1.74 [[-7.08613881e-01 -7.05595934e-01 8.63680796e-04 -4.45487727e+02] [-7.05595386e-01 7.08614407e-01 8.79248649e-04 -2.62626595e+02] [-1.23241093e-03 1.36386128e-05 -9.99999241e-01 -1.74300242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1360.2065599950001 meters 0.013394781178134627 Centerline is valid? [True, True] Translation: X:-445.57, Y:-262.68, Z:-1.74 [[-6.53784461e-01 -7.56680466e-01 7.42886425e-04 -4.45572817e+02] [-7.56679954e-01 6.53784883e-01 8.80094538e-04 -2.62680139e+02] [-1.15163826e-03 1.32648673e-05 -9.99999337e-01 -1.74273368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1360.236559995 meters 0.013270545815467402 Centerline is valid? [True, True] Translation: X:-445.65, Y:-262.74, Z:-1.74 [[-5.94993135e-01 -8.03730142e-01 1.01432651e-03 -4.45654123e+02] [-8.03728916e-01 5.94993999e-01 1.40367896e-03 -2.62736831e+02] [-1.73169727e-03 1.99357979e-05 -9.99998501e-01 -1.74245192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1360.266559995 meters 0.01401250010613052 Centerline is valid? [True, True] Translation: X:-445.73, Y:-262.81, Z:-1.74 [[-5.33681527e-01 -8.45684631e-01 1.23764379e-03 -4.45733356e+02] [-8.45682224e-01 5.33682962e-01 2.01811442e-03 -2.62806096e+02] [-2.36719775e-03 3.03770328e-05 -9.99997198e-01 -1.74128711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1360.296559995 meters 0.013547418848060247 Centerline is valid? [True, True] Translation: X:-445.81, Y:-262.88, Z:-1.74 [[-4.68750377e-01 -8.83330121e-01 9.90865965e-04 -4.45810405e+02] [-8.83328011e-01 4.68751423e-01 1.93078923e-03 -2.62881913e+02] [-2.16999411e-03 2.97985152e-05 -9.99997645e-01 -1.74166262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1360.326559995 meters 0.013793460621139706 Centerline is valid? [True, True] Translation: X:-445.88, Y:-262.96, Z:-1.74 [[-4.01112769e-01 -9.16028455e-01 6.44940766e-04 -4.45879589e+02] [-9.16027170e-01 4.01113286e-01 1.53460486e-03 -2.62964145e+02] [-1.66443603e-03 2.47663405e-05 -9.99998615e-01 -1.74228628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1360.356559995 meters 0.013587819067467113 Centerline is valid? [True, True] Translation: X:-445.95, Y:-263.06, Z:-1.74 [[-3.30747753e-01 -9.43719152e-01 2.94710436e-04 -4.45945335e+02] [-9.43718736e-01 3.30747884e-01 8.85795878e-04 -2.63055906e+02] [-9.33417390e-04 1.48512364e-05 -9.99999564e-01 -1.74278137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1360.386559995 meters 0.013837443247478627 Centerline is valid? [True, True] Translation: X:-446.00, Y:-263.15, Z:-1.74 [[-2.58132010e-01 -9.66109650e-01 1.01977607e-04 -4.46003525e+02] [-9.66109562e-01 2.58132030e-01 4.10666290e-04 -2.63154721e+02] [-4.23072354e-04 7.48457382e-06 -9.99999911e-01 -1.74307451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1360.416559995 meters 0.013634796337457206 Centerline is valid? [True, True] Translation: X:-446.05, Y:-263.25, Z:-1.74 [[-1.83458226e-01 -9.83027497e-01 1.37167473e-04 -4.46054641e+02] [-9.83027167e-01 1.83458277e-01 8.05968786e-04 -2.63254461e+02] [-8.17453988e-04 1.30222508e-05 -9.99999666e-01 -1.74317158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1360.4465599950001 meters 0.013375184374526726 Centerline is valid? [True, True] Translation: X:-446.10, Y:-263.36, Z:-1.74 [[-1.05499139e-01 -9.94419382e-01 1.55903798e-04 -4.46100561e+02] [-9.94417974e-01 1.05499252e-01 1.67366965e-03 -2.63364998e+02] [-1.68077728e-03 2.15371686e-05 -9.99998588e-01 -1.74286779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1360.4765599950001 meters 0.013055705083619258 Centerline is valid? [True, True] Translation: X:-446.14, Y:-263.48, Z:-1.74 [[-2.71047316e-02 -9.99632598e-01 4.28488484e-05 -4.46137085e+02] [-9.99629316e-01 2.71047524e-02 2.56180110e-03 -2.63475691e+02] [-2.56202130e-03 2.66039662e-05 -9.99996718e-01 -1.74204729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1360.506559995 meters 0.012601052352565806 Centerline is valid? [True, True] Translation: X:-446.17, Y:-263.59, Z:-1.74 [[ 5.15124072e-02 -9.98672327e-01 -2.36201604e-04 -4.46165650e+02] [-9.98664463e-01 -5.15129390e-02 3.96337988e-03 -2.63589756e+02] [-3.97028524e-03 3.17229099e-05 -9.99992118e-01 -1.74086242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1360.536559995 meters 0.012518297582251795 Centerline is valid? [True, True] Translation: X:-446.18, Y:-263.71, Z:-1.74 [[ 1.29870299e-01 -9.91530787e-01 -6.35796543e-04 -4.46184987e+02] [-9.91519881e-01 -1.29871853e-01 4.65052973e-03 -2.63705017e+02] [-4.69371548e-03 2.64392263e-05 -9.99988984e-01 -1.73950137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1360.566559995 meters 0.012340440532641666 Centerline is valid? [True, True] Translation: X:-446.20, Y:-263.82, Z:-1.74 [[ 2.07819734e-01 -9.78166106e-01 -1.42388524e-03 -4.46197317e+02] [-9.78143766e-01 -2.07824611e-01 6.61098218e-03 -2.63822870e+02] [-6.76255709e-03 1.88719134e-05 -9.99977134e-01 -1.73626375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1360.596559995 meters 0.012399562856042552 Centerline is valid? [True, True] Translation: X:-446.20, Y:-263.94, Z:-1.73 [[ 2.81981633e-01 -9.59417449e-01 -2.12554714e-03 -4.46198012e+02] [-9.59390696e-01 -2.81989644e-01 7.16475261e-03 -2.63936989e+02] [-7.47337095e-03 1.89015046e-05 -9.99972074e-01 -1.73488718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1360.626559995 meters 0.012338162784700207 Centerline is valid? [True, True] Translation: X:-446.19, Y:-264.05, Z:-1.73 [[ 3.54208059e-01 -9.35161509e-01 -3.09905557e-03 -4.46189774e+02] [-9.35126266e-01 -3.54221615e-01 8.11874548e-03 -2.64048342e+02] [-8.69009074e-03 2.22831816e-05 -9.99962240e-01 -1.73408024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1360.656559995 meters 0.012344996604657977 Centerline is valid? [True, True] Translation: X:-446.17, Y:-264.16, Z:-1.73 [[ 4.23613341e-01 -9.05834166e-01 -4.02501094e-03 -4.46170917e+02] [-9.05793976e-01 -4.23632462e-01 8.53295203e-03 -2.64162763e+02] [-9.43456478e-03 3.11583415e-05 -9.99955493e-01 -1.73389573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1360.686559995 meters 0.012834665880548289 Centerline is valid? [True, True] Translation: X:-446.14, Y:-264.27, Z:-1.73 [[ 4.88742305e-01 -8.72413362e-01 -5.08785109e-03 -4.46143819e+02] [-8.72367431e-01 -4.88768782e-01 8.95224971e-03 -2.64267345e+02] [-1.02968450e-02 6.31324302e-05 -9.99946984e-01 -1.73250913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1360.7165599950001 meters 0.012707173900110348 Centerline is valid? [True, True] Translation: X:-446.11, Y:-264.37, Z:-1.73 [[ 5.52573254e-01 -8.33443595e-01 -5.87983212e-03 -4.46111488e+02] [-8.33397894e-01 -5.52604531e-01 8.72832922e-03 -2.64369294e+02] [-1.05237920e-02 7.71984199e-05 -9.99944621e-01 -1.73339239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1360.746559995 meters 0.012789985453972537 Centerline is valid? [True, True] Translation: X:-446.07, Y:-264.47, Z:-1.73 [[ 6.13107866e-01 -7.89972359e-01 -6.51291187e-03 -4.46073634e+02] [-7.89929362e-01 -6.13142450e-01 8.24245757e-03 -2.64466112e+02] [-1.05046564e-02 9.12247522e-05 -9.99944821e-01 -1.73396723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1360.776559995 meters 0.012955474070074783 Centerline is valid? [True, True] Translation: X:-446.03, Y:-264.56, Z:-1.73 [[ 6.70561844e-01 -7.41818813e-01 -7.18760951e-03 -4.46027368e+02] [-7.41777791e-01 -6.70600357e-01 7.80194979e-03 -2.64561291e+02] [-1.06076466e-02 9.99192646e-05 -9.99943733e-01 -1.73367590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1360.806559995 meters 0.012906219271273115 Centerline is valid? [True, True] Translation: X:-445.98, Y:-264.65, Z:-1.73 [[ 7.24524509e-01 -6.89206564e-01 -7.65174015e-03 -4.45980952e+02] [-6.89169589e-01 -7.24564906e-01 7.13971304e-03 -2.64647233e+02] [-1.04649195e-02 1.00449530e-04 -9.99945236e-01 -1.73401124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1360.836559995 meters 0.012783250962977565 Centerline is valid? [True, True] Translation: X:-445.98, Y:-264.66, Z:-1.73 [[ 7.76689754e-01 -6.29840469e-01 -7.34912251e-03 -4.45979990e+02] [-6.29813281e-01 -7.76724518e-01 5.85264050e-03 -2.64659359e+02] [-9.39447348e-03 8.28890489e-05 -9.99955868e-01 -1.73401143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1360.866559995 meters 0.012649762667175062 Centerline is valid? [True, True] Translation: X:-445.98, Y:-264.67, Z:-1.73 [[ 8.24095429e-01 -5.66405646e-01 -7.16719504e-03 -4.45978161e+02] [-5.66384943e-01 -8.24126592e-01 4.84320869e-03 -2.64670128e+02] [-8.64989677e-03 6.81252141e-05 -9.99962587e-01 -1.73434420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1360.896559995 meters 0.012568159271723495 Centerline is valid? [True, True] Translation: X:-445.97, Y:-264.68, Z:-1.73 [[ 8.66358705e-01 -4.99372518e-01 -7.04863980e-03 -4.45974881e+02] [-4.99356512e-01 -8.66387376e-01 3.99866602e-03 -2.64680811e+02] [-8.10367646e-03 5.55050700e-05 -9.99967163e-01 -1.73469457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1360.926559995 meters 0.01248478312429461 Centerline is valid? [True, True] Translation: X:-445.97, Y:-264.69, Z:-1.73 [[ 9.03231536e-01 -4.29099430e-01 -6.81697299e-03 -4.45970588e+02] [-4.29087572e-01 -9.03257260e-01 3.19041564e-03 -2.64691791e+02] [-7.52648588e-03 4.33943646e-05 -9.99971675e-01 -1.73460151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1360.9565599950001 meters 0.012327407104444193 Centerline is valid? [True, True] Translation: X:-445.97, Y:-264.70, Z:-1.73 [[ 9.34734392e-01 -3.55284712e-01 -6.66253533e-03 -4.45966408e+02] [-3.55275890e-01 -9.34758136e-01 2.50382727e-03 -2.64699932e+02] [-7.11743066e-03 2.66247080e-05 -9.99974671e-01 -1.73414559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1360.986559995 meters 0.012257655419164556 Centerline is valid? [True, True] Translation: X:-445.96, Y:-264.71, Z:-1.73 [[ 9.59867364e-01 -2.80370809e-01 -6.84501351e-03 -4.45961194e+02] [-2.80363837e-01 -9.59891770e-01 1.97727917e-03 -2.64709395e+02] [-7.12484350e-03 2.11685119e-05 -9.99974618e-01 -1.73442879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1361.016559995 meters 0.012259006506184219 Centerline is valid? [True, True] Translation: X:-445.96, Y:-264.72, Z:-1.73 [[ 9.78997174e-01 -2.03769936e-01 -6.50739521e-03 -4.45955198e+02] [-2.03765536e-01 -9.79018801e-01 1.33905941e-03 -2.64718218e+02] [-6.64372231e-03 1.50474957e-05 -9.99977930e-01 -1.73443799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1361.046559995 meters 0.012231224370753826 Centerline is valid? [True, True] Translation: X:-445.95, Y:-264.73, Z:-1.73 [[ 9.91999334e-01 -1.26050317e-01 -6.97413640e-03 -4.45949171e+02] [-1.26047284e-01 -9.92023849e-01 8.74404011e-04 -2.64725180e+02] [-7.02872854e-03 1.16627553e-05 -9.99975298e-01 -1.73428403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1361.076559995 meters 0.012313079512220321 Centerline is valid? [True, True] Translation: X:-445.95, Y:-264.74, Z:-1.74 [[ 9.99042247e-01 -4.33527633e-02 -5.92681614e-03 -4.45945345e+02] [-4.33518961e-02 -9.99059827e-01 2.74769678e-04 -2.64735708e+02] [-5.93315593e-03 -1.75677988e-05 -9.99982399e-01 -1.73508003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1361.106559995 meters 0.012582178358636158 Centerline is valid? [True, True] Translation: X:-445.94, Y:-264.75, Z:-1.73 [[ 9.99274821e-01 3.75250553e-02 -6.45770951e-03 -4.45941695e+02] [ 3.75245018e-02 -9.99295687e-01 -2.06895650e-04 -2.64745046e+02] [-6.46092503e-03 -3.55767181e-05 -9.99979128e-01 -1.73449404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1361.136559995 meters 0.012716721519754396 Centerline is valid? [True, True] Translation: X:-445.94, Y:-264.75, Z:-1.73 [[ 9.93099349e-01 1.17057139e-01 -7.16305123e-03 -4.45936992e+02] [ 1.17054458e-01 -9.93125180e-01 -7.93935981e-04 -2.64752913e+02] [-7.20674242e-03 -5.00097716e-05 -9.99974030e-01 -1.73374087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1361.166559995 meters 0.012716721519754396 Centerline is valid? [True, True] Translation: X:-445.93, Y:-264.76, Z:-1.73 [[ 9.80888108e-01 1.94443845e-01 -7.07895825e-03 -4.45931856e+02] [ 1.94439149e-01 -9.80913650e-01 -1.35225722e-03 -2.64759342e+02] [-7.20678487e-03 -5.00135911e-05 -9.99974030e-01 -1.73374048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1361.1965599950001 meters 0.012935405226571757 Centerline is valid? [True, True] Translation: X:-445.93, Y:-264.77, Z:-1.73 [[ 9.62548218e-01 2.70985379e-01 -8.23726761e-03 -4.45926373e+02] [ 2.70976012e-01 -9.62583462e-01 -2.25406617e-03 -2.64765745e+02] [-8.53987655e-03 -6.24545536e-05 -9.99963533e-01 -1.73242772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1361.2265599950001 meters 0.012780797837139028 Centerline is valid? [True, True] Translation: X:-445.92, Y:-264.77, Z:-1.73 [[ 9.39043765e-01 3.43668917e-01 -9.40656176e-03 -4.45919292e+02] [ 3.43652252e-01 -9.39090876e-01 -3.38491299e-03 -2.64772294e+02] [-9.99690570e-03 -5.40046932e-05 -9.99950028e-01 -1.73053202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1361.256559995 meters 0.012654421800487354 Centerline is valid? [True, True] Translation: X:-445.91, Y:-264.78, Z:-1.73 [[ 9.09954371e-01 4.14607032e-01 -9.16800786e-03 -4.45912168e+02] [ 4.14586402e-01 -9.10000554e-01 -4.13615344e-03 -2.64776758e+02] [-1.00577705e-02 -3.72204824e-05 -9.99949419e-01 -1.73031704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1361.286559995 meters 0.012598190693334203 Centerline is valid? [True, True] Translation: X:-445.91, Y:-264.78, Z:-1.73 [[ 8.76617355e-01 4.81116140e-01 -8.32307437e-03 -4.45907167e+02] [ 4.81094432e-01 -8.76656866e-01 -4.57029808e-03 -2.64777609e+02] [-9.49532446e-03 2.21786958e-06 -9.99954919e-01 -1.73144766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1361.316559995 meters 0.012575750394623823 Centerline is valid? [True, True] Translation: X:-445.90, Y:-264.78, Z:-1.73 [[ 8.37358057e-01 5.46606208e-01 -7.28954166e-03 -4.45899217e+02] [ 5.46585296e-01 -8.37389785e-01 -4.78138671e-03 -2.64781858e+02] [-8.71772339e-03 1.93764022e-05 -9.99962000e-01 -1.73237641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1361.346559995 meters 0.012759932314749216 Centerline is valid? [True, True] Translation: X:-445.89, Y:-264.79, Z:-1.73 [[ 7.92916656e-01 6.09296624e-01 -6.38754758e-03 -4.45892291e+02] [ 6.09276547e-01 -7.92942383e-01 -4.94626750e-03 -2.64785959e+02] [-8.07870129e-03 3.01949544e-05 -9.99967367e-01 -1.73212453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1361.376559995 meters 0.012690683173901696 Centerline is valid? [True, True] Translation: X:-445.88, Y:-264.79, Z:-1.73 [[ 7.43468185e-01 6.68749313e-01 -5.42347731e-03 -4.45883593e+02] [ 6.68731175e-01 -7.43487966e-01 -4.92550624e-03 -2.64788995e+02] [-7.32621902e-03 3.51088313e-05 -9.99973163e-01 -1.73272579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1361.406559995 meters 0.012717416799447046 Centerline is valid? [True, True] Translation: X:-445.87, Y:-264.79, Z:-1.73 [[ 6.89664140e-01 7.24112954e-01 -4.87890824e-03 -4.45873579e+02] [ 7.24094400e-01 -6.89681396e-01 -5.18381497e-03 -2.64793409e+02] [-7.11855982e-03 4.23011574e-05 -9.99974662e-01 -1.73250367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1361.436559995 meters 0.012781902490564627 Centerline is valid? [True, True] Translation: X:-445.86, Y:-264.80, Z:-1.73 [[ 6.31071166e-01 7.75711485e-01 -4.56909521e-03 -4.45862356e+02] [ 7.75690629e-01 -6.31087705e-01 -5.68829857e-03 -2.64797246e+02] [-7.29597834e-03 4.55168705e-05 -9.99973383e-01 -1.73238757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1361.4665599950001 meters 0.01620902000276374 Centerline is valid? [True, True] Translation: X:-445.85, Y:-264.80, Z:-1.73 [[ 5.68378857e-01 8.22753454e-01 -4.71472219e-03 -4.45852786e+02] [ 8.22724391e-01 -5.68398409e-01 -6.91556592e-03 -2.64800051e+02] [-8.36964634e-03 5.17445077e-05 -9.99964973e-01 -1.72940406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1361.496559995 meters 0.012786435799753925 Centerline is valid? [True, True] Translation: X:-445.84, Y:-264.80, Z:-1.73 [[ 5.01612688e-01 8.65082815e-01 -4.05391568e-03 -4.45844914e+02] [ 8.65053847e-01 -5.01629067e-01 -7.07968119e-03 -2.64800461e+02] [-8.15807248e-03 4.44025616e-05 -9.99966722e-01 -1.73153266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1361.526559995 meters 0.01279122235009939 Centerline is valid? [True, True] Translation: X:-445.84, Y:-264.80, Z:-1.73 [[ 4.31601607e-01 9.02058297e-01 -3.29882583e-03 -4.45838306e+02] [ 9.02031313e-01 -4.31614212e-01 -6.97734482e-03 -2.64800943e+02] [-7.71779190e-03 3.57890455e-05 -9.99970217e-01 -1.73155666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1361.556559995 meters 0.015406185022096397 Centerline is valid? [True, True] Translation: X:-445.83, Y:-264.80, Z:-1.73 [[ 3.59714656e-01 9.33056861e-01 -3.20313736e-03 -4.45830225e+02] [ 9.33018822e-01 -3.59728915e-01 -8.42535900e-03 -2.64800723e+02] [-9.01360015e-03 4.21376706e-05 -9.99959376e-01 -1.73006836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1361.586559995 meters 0.01293615205669401 Centerline is valid? [True, True] Translation: X:-445.82, Y:-264.80, Z:-1.73 [[ 2.85968290e-01 9.58235811e-01 -2.50359704e-03 -4.45823701e+02] [ 9.58197676e-01 -2.85979246e-01 -8.54895519e-03 -2.64800235e+02] [-8.90789180e-03 4.57892351e-05 -9.99960323e-01 -1.73111171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1361.616559995 meters 0.01384348614990182 Centerline is valid? [True, True] Translation: X:-445.82, Y:-264.80, Z:-1.73 [[ 2.11527565e-01 9.77370375e-01 -1.79986023e-03 -4.45816758e+02] [ 9.77332603e-01 -2.11535214e-01 -8.59287029e-03 -2.64798828e+02] [-8.77915068e-03 5.85668449e-05 -9.99961461e-01 -1.73056871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1361.646559995 meters 0.013071766236942391 Centerline is valid? [True, True] Translation: X:-445.81, Y:-264.80, Z:-1.73 [[ 1.34565393e-01 9.90904148e-01 -1.06041973e-03 -4.45809737e+02] [ 9.90869941e-01 -1.34569559e-01 -8.23368264e-03 -2.64798064e+02] [-8.30149050e-03 5.72307065e-05 -9.99965541e-01 -1.73097134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1361.676559995 meters 0.013392818872087407 Centerline is valid? [True, True] Translation: X:-445.80, Y:-264.80, Z:-1.73 [[ 5.67455955e-02 9.98388587e-01 -4.08287240e-04 -4.45799369e+02] [ 9.98354838e-01 -5.67470345e-02 -8.20918967e-03 -2.64795348e+02] [-8.21913037e-03 5.82198152e-05 -9.99966221e-01 -1.73037893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1361.7065599950001 meters 0.01274933797564108 Centerline is valid? [True, True] Translation: X:-445.79, Y:-264.79, Z:-1.73 [[-2.31851114e-02 9.99731165e-01 2.21470258e-04 -4.45790269e+02] [ 9.99701364e-01 2.31861303e-02 -7.71918969e-03 -2.64793701e+02] [-7.72224954e-03 4.24338465e-05 -9.99970182e-01 -1.73077851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1361.736559995 meters 0.014961576219284548 Centerline is valid? [True, True] Translation: X:-445.78, Y:-264.79, Z:-1.73 [[-1.02059589e-01 9.94777901e-01 8.76083754e-04 -4.45782541e+02] [ 9.94744502e-01 1.02063342e-01 -8.15165016e-03 -2.64790303e+02] [-8.19849747e-03 3.95254312e-05 -9.99966391e-01 -1.73001609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1361.766559995 meters 0.013985712186226466 Centerline is valid? [True, True] Translation: X:-445.78, Y:-264.79, Z:-1.73 [[-1.80487785e-01 9.83576441e-01 1.24289266e-03 -4.45775635e+02] [ 9.83554145e-01 1.80492062e-01 -6.62270156e-03 -2.64787555e+02] [-6.73826549e-03 2.71354970e-05 -9.99977298e-01 -1.73108848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1361.796559995 meters 0.01348159597632457 Centerline is valid? [True, True] Translation: X:-445.77, Y:-264.78, Z:-1.73 [[-2.57164791e-01 9.66366472e-01 1.45319262e-03 -4.45769029e+02] [ 9.66351512e-01 2.57168896e-01 -5.37727630e-03 -2.64783478e+02] [-5.57013547e-03 2.14487446e-05 -9.99984487e-01 -1.73225217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1361.826559995 meters 0.013859264405535268 Centerline is valid? [True, True] Translation: X:-445.76, Y:-264.78, Z:-1.73 [[-3.31564635e-01 9.43430622e-01 1.88518513e-03 -4.45760672e+02] [ 9.43415790e-01 3.31569993e-01 -5.29033479e-03 -2.64776992e+02] [-5.61613467e-03 2.44254987e-05 -9.99984229e-01 -1.73214474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1361.856559995 meters 0.016237287400190797 Centerline is valid? [True, True] Translation: X:-445.75, Y:-264.77, Z:-1.73 [[-4.04038782e-01 9.14737388e-01 2.85896548e-03 -4.45754383e+02] [ 9.14715070e-01 4.04048895e-01 -6.38997447e-03 -2.64771842e+02] [-7.00031040e-03 3.33413087e-05 -9.99975497e-01 -1.73041215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1361.886559995 meters 0.016738268255193253 Centerline is valid? [True, True] Translation: X:-445.75, Y:-264.77, Z:-1.73 [[-4.74541766e-01 8.80225975e-01 3.51362002e-03 -4.45748883e+02] [ 8.80202375e-01 4.74554772e-01 -6.44571534e-03 -2.64766720e+02] [-7.34109122e-03 3.39355461e-05 -9.99973053e-01 -1.72945778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1361.916559995 meters 0.012648755027550073 Centerline is valid? [True, True] Translation: X:-445.74, Y:-264.76, Z:-1.73 [[-5.43081741e-01 8.39671231e-01 3.80071480e-03 -4.45744126e+02] [ 8.39650973e-01 5.43095040e-01 -5.83277134e-03 -2.64760973e+02] [-6.96175965e-03 2.36022644e-05 -9.99975767e-01 -1.73206987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1361.9465599950001 meters 0.012568630232758638 Centerline is valid? [True, True] Translation: X:-445.74, Y:-264.75, Z:-1.73 [[-6.08202411e-01 7.93770084e-01 4.34523001e-03 -4.45737424e+02] [ 7.93750000e-01 6.08217933e-01 -5.64655593e-03 -2.64752398e+02] [-7.12491399e-03 1.47773885e-05 -9.99974618e-01 -1.73244616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1361.9765599950001 meters 0.012493696099080161 Centerline is valid? [True, True] Translation: X:-445.73, Y:-264.74, Z:-1.73 [[-6.69824778e-01 7.42503560e-01 4.81979558e-03 -4.45730871e+02] [ 7.42484361e-01 6.69842118e-01 -5.33950764e-03 -2.64743138e+02] [-7.19310551e-03 2.08831675e-06 -9.99974130e-01 -1.73220493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1362.006559995 meters 0.014757289802165138 Centerline is valid? [True, True] Translation: X:-445.72, Y:-264.73, Z:-1.73 [[-7.28105047e-01 6.85441358e-01 5.76069695e-03 -4.45724321e+02] [ 6.85419655e-01 7.28127836e-01 -5.45454163e-03 -2.64733429e+02] [-7.93329222e-03 -2.29843765e-05 -9.99968531e-01 -1.72943878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1362.036559995 meters 0.013585182855637127 Centerline is valid? [True, True] Translation: X:-445.34, Y:-264.32, Z:-2.86 [[-6.74981785e-01 -7.37814993e-01 5.35033592e-03 -4.45335195e+02] [ 7.37792062e-01 -6.75002989e-01 -5.81701149e-03 -2.64321973e+02] [ 7.90337104e-03 2.10585734e-05 9.99968768e-01 -2.86115033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1362.066559995 meters 0.012691239553439187 Centerline is valid? [True, True] Translation: X:-445.35, Y:-264.30, Z:-2.86 [[-6.75067228e-01 -7.37738100e-01 5.17037966e-03 -4.45354626e+02] [ 7.37716848e-01 -6.75087027e-01 -5.59979838e-03 -2.64302496e+02] [ 7.62164086e-03 3.40358168e-05 9.99970955e-01 -2.86029748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1362.096559995 meters 0.014355625670156108 Centerline is valid? [True, True] Translation: X:-445.37, Y:-264.28, Z:-2.86 [[-6.76399150e-01 -7.36518843e-01 4.91771248e-03 -4.45373109e+02] [ 7.36499609e-01 -6.76417026e-01 -5.32286536e-03 -2.64282007e+02] [ 7.24681509e-03 2.15117142e-05 9.99973741e-01 -2.86162421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1362.126559995 meters 0.012506520327232148 Centerline is valid? [True, True] Translation: X:-445.39, Y:-264.26, Z:-2.86 [[-6.78776692e-01 -7.34333702e-01 4.02709363e-03 -4.45389866e+02] [ 7.34320781e-01 -6.78788638e-01 -4.35616926e-03 -2.64260124e+02] [ 5.93242729e-03 3.12377611e-07 9.99982403e-01 -2.85902959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1362.156559995 meters 0.015117949421177213 Centerline is valid? [True, True] Translation: X:-445.41, Y:-264.24, Z:-2.86 [[-6.80059674e-01 -7.33144057e-01 4.31647223e-03 -4.45406528e+02] [ 7.33129203e-01 -6.80073373e-01 -4.66695629e-03 -2.64239829e+02] [ 6.35706910e-03 -9.27693257e-06 9.99979794e-01 -2.86079236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1362.186559995 meters 0.012615552297111428 Centerline is valid? [True, True] Translation: X:-445.42, Y:-264.22, Z:-2.86 [[-6.80988838e-01 -7.32282400e-01 4.08527881e-03 -4.45424565e+02] [ 7.32269095e-01 -6.81001092e-01 -4.41430926e-03 -2.64219242e+02] [ 6.01460030e-03 -1.45719177e-05 9.99981912e-01 -2.85859240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1362.2165599950001 meters 0.014417084370908244 Centerline is valid? [True, True] Translation: X:-445.44, Y:-264.20, Z:-2.86 [[-6.81793309e-01 -7.31531258e-01 4.46125645e-03 -4.45443248e+02] [ 7.31515393e-01 -6.81807905e-01 -4.81786964e-03 -2.64198600e+02] [ 6.56614215e-03 -2.13135191e-05 9.99978443e-01 -2.86002911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1362.246559995 meters 0.01450922472319523 Centerline is valid? [True, True] Translation: X:-445.46, Y:-264.18, Z:-2.86 [[-6.81537398e-01 -7.31767784e-01 4.76296236e-03 -4.45460851e+02] [ 7.31749730e-01 -6.81554040e-01 -5.14030227e-03 -2.64179527e+02] [ 7.00772385e-03 -1.80118084e-05 9.99975446e-01 -2.86096314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1362.276559995 meters 0.015626765902905633 Centerline is valid? [True, True] Translation: X:-445.48, Y:-264.16, Z:-2.86 [[-6.81047077e-01 -7.32220323e-01 5.31766353e-03 -4.45481120e+02] [ 7.32197858e-01 -6.81067837e-01 -5.73568823e-03 -2.64159382e+02] [ 7.82147708e-03 -1.26918557e-05 9.99969412e-01 -2.86158560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1362.306559995 meters 0.012522215597553166 Centerline is valid? [True, True] Translation: X:-445.50, Y:-264.14, Z:-2.86 [[-6.79341524e-01 -7.33802851e-01 5.33565162e-03 -4.45502572e+02] [ 7.33780302e-01 -6.79362477e-01 -5.75270353e-03 -2.64142451e+02] [ 7.84619176e-03 7.14567179e-06 9.99969218e-01 -2.86123643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1362.336559995 meters 0.014819100133415275 Centerline is valid? [True, True] Translation: X:-445.52, Y:-264.12, Z:-2.86 [[-6.79235723e-01 -7.33890213e-01 6.63241866e-03 -4.45522145e+02] [ 7.33855413e-01 -6.79268103e-01 -7.14678745e-03 -2.64122697e+02] [ 9.75014780e-03 1.28829960e-05 9.99952466e-01 -2.86386458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1362.366559995 meters 0.015426312202981383 Centerline is valid? [True, True] Translation: X:-445.54, Y:-264.10, Z:-2.87 [[-6.79169925e-01 -7.33943605e-01 7.41608197e-03 -4.45541154e+02] [ 7.33900151e-01 -6.79210413e-01 -7.98646326e-03 -2.64103240e+02] [ 1.08986937e-02 1.84980258e-05 9.99940608e-01 -2.86565132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1362.396559995 meters 0.012772220342242268 Centerline is valid? [True, True] Translation: X:-445.56, Y:-264.08, Z:-2.86 [[-6.78803751e-01 -7.34283695e-01 7.27483941e-03 -4.45559883e+02] [ 7.34241951e-01 -6.78842733e-01 -7.82953613e-03 -2.64083525e+02] [ 1.06875726e-02 2.67737865e-05 9.99942886e-01 -2.86368903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1362.426559995 meters 0.012702323689276332 Centerline is valid? [True, True] Translation: X:-445.58, Y:-264.06, Z:-2.86 [[-6.78592957e-01 -7.34470436e-01 8.04843522e-03 -4.45579232e+02] [ 7.34419414e-01 -6.78640684e-01 -8.65722240e-03 -2.64062992e+02] [ 1.18204695e-02 3.61969275e-05 9.99930135e-01 -2.86314134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1362.4565599950001 meters 0.014591200634647163 Centerline is valid? [True, True] Translation: X:-445.60, Y:-264.04, Z:-2.87 [[-6.78730842e-01 -7.34334103e-01 8.82438668e-03 -4.45598293e+02] [ 7.34272807e-01 -6.78788202e-01 -9.48795682e-03 -2.64043498e+02] [ 1.29572198e-02 3.97382583e-05 9.99916051e-01 -2.86525955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1362.486559995 meters 0.012828875611887567 Centerline is valid? [True, True] Translation: X:-445.62, Y:-264.03, Z:-2.86 [[-6.78349522e-01 -7.34690121e-01 8.50599145e-03 -4.45617755e+02] [ 7.34633272e-01 -6.78402848e-01 -9.13958018e-03 -2.64025519e+02] [ 1.24852481e-02 4.89544828e-05 9.99922055e-01 -2.86439397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1362.516559995 meters 0.012878117563715253 Centerline is valid? [True, True] Translation: X:-445.64, Y:-264.01, Z:-2.87 [[-6.78050684e-01 -7.34966417e-01 8.46385050e-03 -4.45639483e+02] [ 7.34910221e-01 -6.78103505e-01 -9.08865812e-03 -2.64008325e+02] [ 1.24192252e-02 5.75993889e-05 9.99922877e-01 -2.86512851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1362.546559995 meters 0.015786031656565957 Centerline is valid? [True, True] Translation: X:-445.66, Y:-263.99, Z:-2.87 [[-6.78629788e-01 -7.34422068e-01 9.26480796e-03 -4.45658132e+02] [ 7.34354772e-01 -6.78693025e-01 -9.94217293e-03 -2.63989156e+02] [ 1.35897117e-02 5.66012260e-05 9.99907654e-01 -2.86706220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1362.576559995 meters 0.012759302092645404 Centerline is valid? [True, True] Translation: X:-445.68, Y:-263.97, Z:-2.86 [[-6.78669227e-01 -7.34397419e-01 8.27717983e-03 -4.45676516e+02] [ 7.34343775e-01 -6.78719698e-01 -8.87651780e-03 -2.63970350e+02] [ 1.21367768e-02 5.40760087e-05 9.99926345e-01 -2.86492669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1362.606559995 meters 0.01745734042172768 Centerline is valid? [True, True] Translation: X:-445.69, Y:-263.95, Z:-2.87 [[-6.80012665e-01 -7.33137261e-01 9.61942037e-03 -4.45694566e+02] [ 7.33064763e-01 -6.80080698e-01 -1.03101077e-02 -2.63948739e+02] [ 1.41007062e-02 4.06543352e-05 9.99900580e-01 -2.86736376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1362.636559995 meters 0.015208269377207383 Centerline is valid? [True, True] Translation: X:-445.71, Y:-263.93, Z:-2.87 [[-6.80657731e-01 -7.32537702e-01 9.67304665e-03 -4.45713270e+02] [ 7.32464416e-01 -6.80726460e-01 -1.03617520e-02 -2.63927192e+02] [ 1.41750728e-02 3.23558826e-05 9.99899528e-01 -2.86639838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1362.666559995 meters 0.017204710042294624 Centerline is valid? [True, True] Translation: X:-445.73, Y:-263.91, Z:-2.87 [[-6.81282445e-01 -7.31949980e-01 1.01713857e-02 -4.45731656e+02] [ 7.31868974e-01 -6.81358368e-01 -1.08894027e-02 -2.63906129e+02] [ 1.49008569e-02 2.53626944e-05 9.99888976e-01 -2.86733183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1362.6965599950001 meters 0.01694118096348325 Centerline is valid? [True, True] Translation: X:-445.75, Y:-263.88, Z:-2.87 [[-6.81420929e-01 -7.31809513e-01 1.09706186e-02 -4.45750265e+02] [ 7.31715364e-01 -6.81509234e-01 -1.17384260e-02 -2.63884744e+02] [ 1.60668697e-02 2.85610236e-05 9.99870919e-01 -2.86832347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1362.7265599950001 meters 0.015904112936744392 Centerline is valid? [True, True] Translation: X:-445.77, Y:-263.86, Z:-2.87 [[-6.81602169e-01 -7.31632276e-01 1.15193923e-02 -4.45768724e+02] [ 7.31528570e-01 -6.81699502e-01 -1.23182622e-02 -2.63864798e+02] [ 1.68652022e-02 3.06103180e-05 9.99857772e-01 -2.86853247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1362.756559995 meters 0.012997419781744523 Centerline is valid? [True, True] Translation: X:-445.79, Y:-263.85, Z:-2.87 [[-6.81620644e-01 -7.31612374e-01 1.16889885e-02 -4.45786034e+02] [ 7.31505728e-01 -6.81720862e-01 -1.24914848e-02 -2.63845364e+02] [ 1.71075522e-02 3.61080739e-05 9.99853655e-01 -2.86727371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1362.786559995 meters 0.01584790275075612 Centerline is valid? [True, True] Translation: X:-445.80, Y:-263.82, Z:-2.87 [[-6.82651851e-01 -7.30633299e-01 1.27055807e-02 -4.45804667e+02] [ 7.30507264e-01 -6.82770080e-01 -1.35704117e-02 -2.63824680e+02] [ 1.85899851e-02 1.76523081e-05 9.99827191e-01 -2.86931955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1362.816559995 meters 0.016057953188866766 Centerline is valid? [True, True] Translation: X:-445.82, Y:-263.80, Z:-2.87 [[-6.83531700e-01 -7.29809625e-01 1.27407355e-02 -4.45822867e+02] [ 7.29682905e-01 -6.83650431e-01 -1.35995282e-02 -2.63804836e+02] [ 1.86352759e-02 9.88267746e-07 9.99826348e-01 -2.86898636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1362.846559995 meters 0.014562996298569731 Centerline is valid? [True, True] Translation: X:-445.84, Y:-263.79, Z:-2.87 [[-6.84204453e-01 -7.29190163e-01 1.20819200e-02 -4.45840854e+02] [ 7.29076261e-01 -6.84311118e-01 -1.28879326e-02 -2.63785142e+02] [ 1.76655459e-02 -9.33981573e-06 9.99843952e-01 -2.86759766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1362.876559995 meters 0.014090166880140677 Centerline is valid? [True, True] Translation: X:-445.86, Y:-263.77, Z:-2.87 [[-6.85431339e-01 -7.28050295e-01 1.12537920e-02 -4.45858653e+02] [ 7.27951446e-01 -6.85523718e-01 -1.19968552e-02 -2.63765492e+02] [ 1.64490553e-02 -3.08063499e-05 9.99864705e-01 -2.86607371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1362.906559995 meters 0.016284257060040157 Centerline is valid? [True, True] Translation: X:-445.88, Y:-263.75, Z:-2.87 [[-6.86156487e-01 -7.27360449e-01 1.16641778e-02 -4.45877298e+02] [ 7.27254289e-01 -6.86255620e-01 -1.24267156e-02 -2.63745806e+02] [ 1.70433090e-02 -4.38481871e-05 9.99854752e-01 -2.86655366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1362.936559995 meters 0.018157395969219885 Centerline is valid? [True, True] Translation: X:-445.90, Y:-263.73, Z:-2.87 [[-6.86645645e-01 -7.26899197e-01 1.16325362e-02 -4.45895388e+02] [ 7.26793681e-01 -6.86744170e-01 -1.23850578e-02 -2.63727010e+02] [ 1.69912650e-02 -4.96921920e-05 9.99855637e-01 -2.86769335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1362.9665599950001 meters 0.012766633192090392 Centerline is valid? [True, True] Translation: X:-445.92, Y:-263.71, Z:-2.86 [[-6.86309980e-01 -7.27238784e-01 1.01174636e-02 -4.45915086e+02] [ 7.27159091e-01 -6.86384550e-01 -1.07659741e-02 -2.63707062e+02] [ 1.47739046e-02 -3.17898314e-05 9.99890860e-01 -2.86268281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1362.996559995 meters 0.015521164993702817 Centerline is valid? [True, True] Translation: X:-445.93, Y:-263.69, Z:-2.87 [[-6.86748775e-01 -7.26812640e-01 1.09319322e-02 -4.45934269e+02] [ 7.26719648e-01 -6.86835777e-01 -1.16261712e-02 -2.63686936e+02] [ 1.59584903e-02 -3.98088769e-05 9.99872655e-01 -2.86530052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1363.026559995 meters 0.017450938385057044 Centerline is valid? [True, True] Translation: X:-445.95, Y:-263.67, Z:-2.87 [[-6.86797250e-01 -7.26754544e-01 1.17205316e-02 -4.45953326e+02] [ 7.26647768e-01 -6.86897249e-01 -1.24575372e-02 -2.63667430e+02] [ 1.71043726e-02 -3.91041611e-05 9.99853709e-01 -2.86914162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1363.056559995 meters 0.017450938385057044 Centerline is valid? [True, True] Translation: X:-445.97, Y:-263.65, Z:-2.87 [[-6.87009980e-01 -7.26553392e-01 1.17241786e-02 -4.45971742e+02] [ 7.26446645e-01 -6.87110011e-01 -1.24541049e-02 -2.63648045e+02] [ 1.71043726e-02 -3.91041596e-05 9.99853709e-01 -2.86914126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1363.086559995 meters 0.016164819177561858 Centerline is valid? [True, True] Translation: X:-445.99, Y:-263.63, Z:-2.87 [[-6.87088430e-01 -7.26478645e-01 1.17587645e-02 -4.45991193e+02] [ 7.26371388e-01 -6.87189041e-01 -1.24831857e-02 -2.63628275e+02] [ 1.71492620e-02 -3.58223633e-05 9.99852940e-01 -2.86800689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1363.116559995 meters 0.01509198605120742 Centerline is valid? [True, True] Translation: X:-446.01, Y:-263.61, Z:-2.87 [[-6.86940150e-01 -7.26627780e-01 1.11937257e-02 -4.46007870e+02] [ 7.26530728e-01 -6.87031345e-01 -1.18757039e-02 -2.63607946e+02] [ 1.63196567e-02 -2.53121547e-05 9.99866825e-01 -2.86765643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1363.146559995 meters 0.012914221552809598 Centerline is valid? [True, True] Translation: X:-446.03, Y:-263.59, Z:-2.86 [[-6.86731767e-01 -7.26831900e-01 1.07177028e-02 -4.46026324e+02] [ 7.26743063e-01 -6.86815397e-01 -1.13636014e-02 -2.63587737e+02] [ 1.56205113e-02 -1.47299089e-05 9.99877993e-01 -2.86411152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1363.176559995 meters 0.012781421612892733 Centerline is valid? [True, True] Translation: X:-446.04, Y:-263.57, Z:-2.86 [[-6.86429675e-01 -7.27123046e-01 1.03139823e-02 -4.46044667e+02] [ 7.27040916e-01 -6.86507157e-01 -1.09284357e-02 -2.63569013e+02] [ 1.50269402e-02 -2.91542483e-06 9.99887089e-01 -2.86444142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1363.2065599950001 meters 0.015663700946968513 Centerline is valid? [True, True] Translation: X:-446.07, Y:-263.55, Z:-2.87 [[-6.85158761e-01 -7.28328734e-01 9.73288161e-03 -4.46065014e+02] [ 7.28255810e-01 -6.85227886e-01 -1.03063040e-02 -2.63550243e+02] [ 1.41756192e-02 2.65731331e-05 9.99899521e-01 -2.86556282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1363.236559995 meters 0.015411138683423038 Centerline is valid? [True, True] Translation: X:-446.08, Y:-263.53, Z:-2.87 [[-6.83996809e-01 -7.29426390e-01 9.24704584e-03 -4.46083805e+02] [ 7.29360729e-01 -6.84059310e-01 -9.78713580e-03 -2.63532035e+02] [ 1.34645229e-02 5.00624332e-05 9.99909348e-01 -2.86505525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1363.266559995 meters 0.014628770042994118 Centerline is valid? [True, True] Translation: X:-446.10, Y:-263.51, Z:-2.86 [[-6.83025458e-01 -7.30340818e-01 8.86080001e-03 -4.46103391e+02] [ 7.30280680e-01 -6.83082927e-01 -9.37250288e-03 -2.63513108e+02] [ 1.28977826e-02 6.92129901e-05 9.99916818e-01 -2.86342071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1363.296559995 meters 0.017008331908605213 Centerline is valid? [True, True] Translation: X:-446.12, Y:-263.49, Z:-2.86 [[-6.82365756e-01 -7.30957648e-01 8.82569393e-03 -4.46123833e+02] [ 7.30898104e-01 -6.82422824e-01 -9.33013368e-03 -2.63493393e+02] [ 1.28427875e-02 8.41192405e-05 9.99917525e-01 -2.86429133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1363.326559995 meters 0.014836283540741815 Centerline is valid? [True, True] Translation: X:-446.14, Y:-263.48, Z:-2.86 [[-6.82145738e-01 -7.31174216e-01 7.83957800e-03 -4.46142591e+02] [ 7.31127312e-01 -6.82190780e-01 -8.28217946e-03 -2.63475388e+02] [ 1.14038039e-02 8.20761653e-05 9.99934971e-01 -2.86379345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1363.356559995 meters 0.01746913311544177 Centerline is valid? [True, True] Translation: X:-446.16, Y:-263.45, Z:-2.87 [[-6.83001092e-01 -7.30371387e-01 8.19424169e-03 -4.46161049e+02] [ 7.30320143e-01 -6.83050241e-01 -8.65199134e-03 -2.63454214e+02] [ 1.19162457e-02 7.51002263e-05 9.99928996e-01 -2.86510327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1363.386559995 meters 0.01607431637350253 Centerline is valid? [True, True] Translation: X:-446.18, Y:-263.43, Z:-2.86 [[-6.83975684e-01 -7.29463609e-01 7.75281802e-03 -4.46178590e+02] [ 7.29417734e-01 -6.84019619e-01 -8.18112627e-03 -2.63433308e+02] [ 1.12709135e-02 5.93515053e-05 9.99936480e-01 -2.86472713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1363.416559995 meters 0.014270073452965971 Centerline is valid? [True, True] Translation: X:-446.20, Y:-263.41, Z:-2.86 [[-6.84994846e-01 -7.28513951e-01 7.03455505e-03 -4.46196325e+02] [ 7.28476179e-01 -6.85030964e-01 -7.41856165e-03 -2.63412200e+02] [ 1.02234137e-02 4.28292937e-05 9.99947739e-01 -2.86329945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1363.4465599950001 meters 0.012303675053088117 Centerline is valid? [True, True] Translation: X:-446.21, Y:-263.39, Z:-2.86 [[-6.86150394e-01 -7.27435006e-01 5.99574376e-03 -4.46213978e+02] [ 7.27407559e-01 -6.86176589e-01 -6.31908543e-03 -2.63391040e+02] [ 8.71086295e-03 2.55063769e-05 9.99962060e-01 -2.86125899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1363.4765599950001 meters 0.015556362298444896 Centerline is valid? [True, True] Translation: X:-446.23, Y:-263.37, Z:-2.86 [[-6.86761449e-01 -7.26853297e-01 6.55723944e-03 -4.46232219e+02] [ 7.26820485e-01 -6.86792753e-01 -6.90633063e-03 -2.63372035e+02] [ 9.52335371e-03 2.29343226e-05 9.99954652e-01 -2.86444700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1363.506559995 meters 0.01321034007849026 Centerline is valid? [True, True] Translation: X:-446.25, Y:-263.35, Z:-2.86 [[-6.86453171e-01 -7.27148624e-01 6.07632376e-03 -4.46251160e+02] [ 7.27120496e-01 -6.86480063e-01 -6.39582915e-03 -2.63352727e+02] [ 8.82199349e-03 2.77823387e-05 9.99961085e-01 -2.86223854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1363.536559995 meters 0.012437131582787593 Centerline is valid? [True, True] Translation: X:-446.27, Y:-263.33, Z:-2.86 [[-6.84799912e-01 -7.28698132e-01 6.93640375e-03 -4.46271461e+02] [ 7.28661598e-01 -6.84835038e-01 -7.29703708e-03 -2.63333577e+02] [ 1.00676296e-02 5.72806936e-05 9.99949319e-01 -2.86186211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1363.566559995 meters 0.017091894801404505 Centerline is valid? [True, True] Translation: X:-446.29, Y:-263.32, Z:-2.87 [[-6.84184441e-01 -7.29266566e-01 7.86933557e-03 -4.46291302e+02] [ 7.29219620e-01 -6.84229691e-01 -8.27508478e-03 -2.63315700e+02] [ 1.14191757e-02 7.67896375e-05 9.99934796e-01 -2.86649125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1363.596559995 meters 0.012906480545194027 Centerline is valid? [True, True] Translation: X:-446.31, Y:-263.30, Z:-2.86 [[-6.82646091e-01 -7.30711299e-01 7.43723703e-03 -4.46311784e+02] [ 7.30669504e-01 -6.82686596e-01 -7.81590413e-03 -2.63297192e+02] [ 1.07884715e-02 9.86658916e-05 9.99941798e-01 -2.86407351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1363.626559995 meters 0.01626891292403524 Centerline is valid? [True, True] Translation: X:-446.33, Y:-263.28, Z:-2.87 [[-6.82219553e-01 -7.31096688e-01 8.60897830e-03 -4.46332036e+02] [ 7.31040778e-01 -6.82273859e-01 -9.04230104e-03 -2.63278182e+02] [ 1.24844772e-02 1.24679620e-04 9.99922058e-01 -2.86779335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1363.656559995 meters 0.013992172997356785 Centerline is valid? [True, True] Translation: X:-446.35, Y:-263.26, Z:-2.87 [[-6.81162402e-01 -7.32073402e-01 9.29066151e-03 -4.46352263e+02] [ 7.32008455e-01 -6.81225740e-01 -9.75260724e-03 -2.63260074e+02] [ 1.34686621e-02 1.57733406e-04 9.99909281e-01 -2.86771980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1363.686559995 meters 0.015599686288349547 Centerline is valid? [True, True] Translation: X:-446.37, Y:-263.24, Z:-2.87 [[-6.82056650e-01 -7.31234678e-01 9.72483051e-03 -4.46370953e+02] [ 7.31163520e-01 -6.82125958e-01 -1.02021474e-02 -2.63240865e+02] [ 1.40937233e-02 1.51998828e-04 9.99900667e-01 -2.87007766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1363.7165599950001 meters 0.015953297260212045 Centerline is valid? [True, True] Translation: X:-446.39, Y:-263.22, Z:-2.87 [[-6.85087953e-01 -7.28385002e-01 1.04778849e-02 -4.46387528e+02] [ 7.28302168e-01 -6.85168066e-01 -1.09851540e-02 -2.63221011e+02] [ 1.51805336e-02 1.05269667e-04 9.99884764e-01 -2.87223838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1363.746559995 meters 0.012515442326428977 Centerline is valid? [True, True] Translation: X:-446.40, Y:-263.20, Z:-2.87 [[-6.86634802e-01 -7.26929371e-01 1.03120911e-02 -4.46404381e+02] [ 7.26849074e-01 -6.86712228e-01 -1.08045704e-02 -2.63198907e+02] [ 1.49355986e-02 7.65397638e-05 9.99888455e-01 -2.86828311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1363.776559995 meters 0.015758219710067526 Centerline is valid? [True, True] Translation: X:-446.42, Y:-263.18, Z:-2.87 [[-6.88911459e-01 -7.24763846e-01 1.08797886e-02 -4.46421091e+02] [ 7.24674307e-01 -6.88997363e-01 -1.13922412e-02 -2.63177444e+02] [ 1.57528302e-02 3.60577792e-05 9.99875916e-01 -2.87076237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1363.806559995 meters 0.014171225108410916 Centerline is valid? [True, True] Translation: X:-446.44, Y:-263.16, Z:-2.87 [[-6.90026596e-01 -7.23707674e-01 1.05118565e-02 -4.46438279e+02] [ 7.23624047e-01 -6.90106660e-01 -1.10016540e-02 -2.63157245e+02] [ 1.52162836e-02 1.51983289e-05 9.99884226e-01 -2.87090303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1363.836559995 meters 0.012415452217912935 Centerline is valid? [True, True] Translation: X:-446.46, Y:-263.14, Z:-2.87 [[-6.90500303e-01 -7.23259928e-01 1.02180607e-02 -4.46457413e+02] [ 7.23180951e-01 -6.90575902e-01 -1.06881347e-02 -2.63136618e+02] [ 1.47866460e-02 9.34662708e-06 9.99890672e-01 -2.86703536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1363.866559995 meters 0.01697503850543115 Centerline is valid? [True, True] Translation: X:-446.48, Y:-263.12, Z:-2.87 [[-6.89702503e-01 -7.24007855e-01 1.10943043e-02 -4.46478242e+02] [ 7.23914924e-01 -6.89791726e-01 -1.15999106e-02 -2.63118899e+02] [ 1.60511857e-02 3.08451056e-05 9.99871171e-01 -2.87164896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1363.896559995 meters 0.014151937040157601 Centerline is valid? [True, True] Translation: X:-446.50, Y:-263.10, Z:-2.87 [[-6.88039272e-01 -7.25590427e-01 1.09769221e-02 -4.46499180e+02] [ 7.25499765e-01 -6.88126825e-01 -1.14701164e-02 -2.63101849e+02] [ 1.58761212e-02 7.18638236e-05 9.99873964e-01 -2.87013486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1363.926559995 meters 0.01741636011820994 Centerline is valid? [True, True] Translation: X:-446.52, Y:-263.09, Z:-2.87 [[-6.86607953e-01 -7.26942331e-01 1.11519432e-02 -4.46521414e+02] [ 7.26849048e-01 -6.86698504e-01 -1.16458623e-02 -2.63085031e+02] [ 1.61238930e-02 1.09637601e-04 9.99869996e-01 -2.87242983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1363.9565599950001 meters 0.013276039656652286 Centerline is valid? [True, True] Translation: X:-446.54, Y:-263.07, Z:-2.87 [[-6.83115588e-01 -7.30238456e-01 1.02416524e-02 -4.46544648e+02] [ 7.30160238e-01 -6.83192335e-01 -1.06892498e-02 -2.63068691e+02] [ 1.48027197e-02 1.76054194e-04 9.99890418e-01 -2.86844409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1363.986559995 meters 0.013276039656652286 Centerline is valid? [True, True] Translation: X:-446.56, Y:-263.05, Z:-2.87 [[-6.83320458e-01 -7.30046710e-01 1.02446516e-02 -4.46563772e+02] [ 7.29968514e-01 -6.83397227e-01 -1.06863754e-02 -2.63048835e+02] [ 1.48027197e-02 1.76054193e-04 9.99890418e-01 -2.86844372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1364.016559995 meters 0.013456815701762688 Centerline is valid? [True, True] Translation: X:-446.58, Y:-263.03, Z:-2.87 [[-6.82128783e-01 -7.31162657e-01 1.00743134e-02 -4.46583741e+02] [ 7.31087247e-01 -6.82203143e-01 -1.05027899e-02 -2.63028852e+02] [ 1.45519760e-02 2.00946790e-04 9.99894094e-01 -2.86751389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1364.046559995 meters 0.015593089445409597 Centerline is valid? [True, True] Translation: X:-446.60, Y:-263.01, Z:-2.87 [[-6.82614071e-01 -7.30707091e-01 1.02555798e-02 -4.46602331e+02] [ 7.30628969e-01 -6.82691078e-01 -1.06865394e-02 -2.63010128e+02] [ 1.48101229e-02 1.98241471e-04 9.99890305e-01 -2.87005269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1364.076559995 meters 0.013389768089526648 Centerline is valid? [True, True] Translation: X:-446.62, Y:-262.99, Z:-2.87 [[-6.83353065e-01 -7.30019369e-01 1.00154424e-02 -4.46620023e+02] [ 7.29944883e-01 -6.83426432e-01 -1.04297806e-02 -2.62988901e+02] [ 1.44587599e-02 1.83498330e-04 9.99895450e-01 -2.86752724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1364.106559995 meters 0.015416192326245656 Centerline is valid? [True, True] Translation: X:-446.64, Y:-262.97, Z:-2.87 [[-6.85262796e-01 -7.28222080e-01 1.03683783e-02 -4.46637121e+02] [ 7.28142151e-01 -6.85341213e-01 -1.07902501e-02 -2.62968620e+02] [ 1.49635753e-02 1.55496346e-04 9.99888028e-01 -2.87031219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1364.136559995 meters 0.012565372038722565 Centerline is valid? [True, True] Translation: X:-446.65, Y:-262.94, Z:-2.87 [[-6.88813521e-01 -7.24862913e-01 1.04733578e-02 -4.46652168e+02] [ 7.24781059e-01 -6.88893134e-01 -1.08934722e-02 -2.62944668e+02] [ 1.51112983e-02 8.73204048e-05 9.99885814e-01 -2.86807207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1364.166559995 meters 0.012609909521342935 Centerline is valid? [True, True] Translation: X:-446.67, Y:-262.92, Z:-2.87 [[-6.90676448e-01 -7.23085516e-01 1.06480332e-02 -4.46668737e+02] [ 7.23000808e-01 -6.90758520e-01 -1.10679271e-02 -2.62924344e+02] [ 1.53582775e-02 5.41800236e-05 9.99882053e-01 -2.86874863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1364.1965599950001 meters 0.014986215888193922 Centerline is valid? [True, True] Translation: X:-446.69, Y:-262.90, Z:-2.87 [[-6.92471561e-01 -7.21357030e-01 1.12770877e-02 -4.46686165e+02] [ 7.21261904e-01 -6.92563380e-01 -1.17145870e-02 -2.62903929e+02] [ 1.62604977e-02 2.17154037e-05 9.99867789e-01 -2.87082934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1364.2265599950001 meters 0.01579324424793335 Centerline is valid? [True, True] Translation: X:-446.70, Y:-262.88, Z:-2.87 [[-6.93366833e-01 -7.20505825e-01 1.06673190e-02 -4.46704292e+02] [ 7.20420713e-01 -6.93448886e-01 -1.10742898e-02 -2.62883647e+02] [ 1.53763308e-02 6.41230601e-06 9.99881777e-01 -2.87038506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1364.256559995 meters 0.015601196112917916 Centerline is valid? [True, True] Translation: X:-446.72, Y:-262.87, Z:-2.87 [[-6.93592625e-01 -7.20309174e-01 9.16326704e-03 -4.46722631e+02] [ 7.20246436e-01 -6.93653151e-01 -9.50668362e-03 -2.62865257e+02] [ 1.32038805e-02 6.04478352e-06 9.99912825e-01 -2.86907628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1364.286559995 meters 0.012173752180017846 Centerline is valid? [True, True] Translation: X:-446.74, Y:-262.85, Z:-2.86 [[-6.93020810e-01 -7.20863038e-01 8.86776358e-03 -4.46742661e+02] [ 7.20804393e-01 -6.93077543e-01 -9.19495313e-03 -2.62845405e+02] [ 1.27743496e-02 1.96290775e-05 9.99918405e-01 -2.86452080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1364.316559995 meters 0.014178119784647296 Centerline is valid? [True, True] Translation: X:-446.76, Y:-262.83, Z:-2.87 [[-6.92856307e-01 -7.21018650e-01 9.06887925e-03 -4.46762051e+02] [ 7.20957409e-01 -6.92915656e-01 -9.39728869e-03 -2.62826981e+02] [ 1.30595888e-02 2.73049502e-05 9.99914720e-01 -2.86646371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1364.346559995 meters 0.013854512708338734 Centerline is valid? [True, True] Translation: X:-446.78, Y:-262.81, Z:-2.87 [[-6.91729314e-01 -7.22104763e-01 8.67570255e-03 -4.46783252e+02] [ 7.22048873e-01 -6.91783715e-01 -8.98424860e-03 -2.62808963e+02] [ 1.24892785e-02 4.96131356e-05 9.99922005e-01 -2.86550196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1364.376559995 meters 0.012503396748099737 Centerline is valid? [True, True] Translation: X:-446.80, Y:-262.79, Z:-2.87 [[-6.91249121e-01 -7.22573088e-01 7.92369429e-03 -4.46803156e+02] [ 7.22526559e-01 -6.91294531e-01 -8.20012236e-03 -2.62791716e+02] [ 1.14027943e-02 5.67522026e-05 9.99934985e-01 -2.86503688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1364.406559995 meters 0.012280167639830015 Centerline is valid? [True, True] Translation: X:-446.82, Y:-262.77, Z:-2.86 [[-6.90936732e-01 -7.22877319e-01 7.40363190e-03 -4.46823047e+02] [ 7.22836760e-01 -6.90976395e-01 -7.65765133e-03 -2.62771798e+02] [ 1.06512773e-02 6.06647102e-05 9.99943272e-01 -2.86351131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1364.436559995 meters 0.013316913142564361 Centerline is valid? [True, True] Translation: X:-446.84, Y:-262.75, Z:-2.86 [[-6.91005771e-01 -7.22814933e-01 7.04251654e-03 -4.46841331e+02] [ 7.22778280e-01 -6.91041655e-01 -7.27937055e-03 -2.62753266e+02] [ 1.01283100e-02 6.00909343e-05 9.99948706e-01 -2.86460464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1364.4665599950001 meters 0.012336578397828523 Centerline is valid? [True, True] Translation: X:-446.86, Y:-262.73, Z:-2.86 [[-6.90864901e-01 -7.22960260e-01 5.84393216e-03 -4.46859214e+02] [ 7.22935055e-01 -6.90889615e-01 -6.03707752e-03 -2.62731687e+02] [ 8.40207917e-03 5.39784544e-05 9.99964701e-01 -2.86150456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1364.496559995 meters 0.012301152499151534 Centerline is valid? [True, True] Translation: X:-446.88, Y:-262.71, Z:-2.86 [[-6.91355673e-01 -7.22494686e-01 5.36297873e-03 -4.46877543e+02] [ 7.22473470e-01 -6.91376472e-01 -5.53710536e-03 -2.62710582e+02] [ 7.70836652e-03 4.65006422e-05 9.99970289e-01 -2.86108355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1364.526559995 meters 0.012431957298477304 Centerline is valid? [True, True] Translation: X:-446.90, Y:-262.69, Z:-2.86 [[-6.91876729e-01 -7.21996799e-01 5.21664527e-03 -4.46895808e+02] [ 7.21976735e-01 -6.91896394e-01 -5.38281381e-03 -2.62689915e+02] [ 7.49575239e-03 4.20529002e-05 9.99971906e-01 -2.86120209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1364.556559995 meters 0.01237456114378358 Centerline is valid? [True, True] Translation: X:-446.91, Y:-262.67, Z:-2.86 [[-6.92177721e-01 -7.21708112e-01 5.23491632e-03 -4.46914932e+02] [ 7.21687920e-01 -6.92197515e-01 -5.39864566e-03 -2.62669144e+02] [ 7.51984244e-03 4.11536220e-05 9.99971725e-01 -2.86094595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1364.586559995 meters 0.012623598988297532 Centerline is valid? [True, True] Translation: X:-446.94, Y:-262.65, Z:-2.86 [[-6.90637239e-01 -7.23185639e-01 4.76814385e-03 -4.46938232e+02] [ 7.23168943e-01 -6.90653696e-01 -4.91448393e-03 -2.62652516e+02] [ 6.84722038e-03 5.40479319e-05 9.99976556e-01 -2.86215334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1364.616559995 meters 0.014504879532690057 Centerline is valid? [True, True] Translation: X:-446.96, Y:-262.63, Z:-2.86 [[-6.90264239e-01 -7.23537596e-01 5.35048307e-03 -4.46959057e+02] [ 7.23516607e-01 -6.90284972e-01 -5.51156105e-03 -2.62633702e+02] [ 7.68117969e-03 6.67298583e-05 9.99970497e-01 -2.86495917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1364.646559995 meters 0.01287253827348714 Centerline is valid? [True, True] Translation: X:-446.98, Y:-262.62, Z:-2.86 [[-6.89899567e-01 -7.23882238e-01 5.75263854e-03 -4.46979373e+02] [ 7.23858016e-01 -6.89923546e-01 -5.92227021e-03 -2.62615365e+02] [ 8.25590700e-03 7.83218711e-05 9.99965917e-01 -2.86379172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1364.676559995 meters 0.015017041606284719 Centerline is valid? [True, True] Translation: X:-447.00, Y:-262.60, Z:-2.87 [[-6.90652172e-01 -7.23155683e-01 6.74061879e-03 -4.47000075e+02] [ 7.23122434e-01 -6.90685059e-01 -6.93504844e-03 -2.62597868e+02] [ 9.67076438e-03 8.45863973e-05 9.99953234e-01 -2.86771456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1364.7065599950001 meters 0.015017041606284719 Centerline is valid? [True, True] Translation: X:-447.02, Y:-262.58, Z:-2.87 [[-6.90878134e-01 -7.22939789e-01 6.74278585e-03 -4.47018788e+02] [ 7.22906550e-01 -6.90911032e-01 -6.93294147e-03 -2.62578767e+02] [ 9.67076438e-03 8.45863939e-05 9.99953234e-01 -2.86771420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1364.736559995 meters 0.012438052313327648 Centerline is valid? [True, True] Translation: X:-447.04, Y:-262.56, Z:-2.87 [[-6.93209629e-01 -7.20706786e-01 6.49144262e-03 -4.47037479e+02] [ 7.20675920e-01 -6.93240020e-01 -6.67035562e-03 -2.62559483e+02] [ 9.30749838e-03 5.42716353e-05 9.99956683e-01 -2.86717227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1364.766559995 meters 0.012279346282734471 Centerline is valid? [True, True] Translation: X:-447.06, Y:-262.54, Z:-2.87 [[-6.94896634e-01 -7.19079155e-01 6.62102135e-03 -4.47056808e+02] [ 7.19047005e-01 -6.94928175e-01 -6.79971903e-03 -2.62538466e+02] [ 9.49067050e-03 3.57237097e-05 9.99954962e-01 -2.86793546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1364.796559995 meters 0.013723116546336291 Centerline is valid? [True, True] Translation: X:-447.08, Y:-262.52, Z:-2.87 [[-6.96915144e-01 -7.17120767e-01 6.86204125e-03 -4.47075234e+02] [ 7.17086178e-01 -6.96948926e-01 -7.04332598e-03 -2.62517736e+02] [ 9.83340760e-03 1.20743911e-05 9.99951651e-01 -2.87025600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1364.826559995 meters 0.01225317709228376 Centerline is valid? [True, True] Translation: X:-447.09, Y:-262.50, Z:-2.87 [[-6.98660782e-01 -7.15424445e-01 6.40119085e-03 -4.47092810e+02] [ 7.15394314e-01 -6.98690106e-01 -6.56599766e-03 -2.62497633e+02] [ 9.16992394e-03 -8.02952368e-06 9.99957956e-01 -2.86941417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1364.856559995 meters 0.012249973928120614 Centerline is valid? [True, True] Translation: X:-447.11, Y:-262.48, Z:-2.87 [[-7.00006934e-01 -7.14117694e-01 5.11974597e-03 -4.47113947e+02] [ 7.14098408e-01 -7.00025656e-01 -5.24829954e-03 -2.62479596e+02] [ 7.33185709e-03 -1.78436216e-05 9.99973122e-01 -2.86975218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1364.886559995 meters 0.012334401868091593 Centerline is valid? [True, True] Translation: X:-447.13, Y:-262.46, Z:-2.87 [[-7.00384548e-01 -7.13745446e-01 5.37810964e-03 -4.47134794e+02] [ 7.13724177e-01 -7.00405196e-01 -5.51007931e-03 -2.62460596e+02] [ 7.69964995e-03 -2.06875236e-05 9.99970357e-01 -2.87090484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1364.916559995 meters 0.012380295340416606 Centerline is valid? [True, True] Translation: X:-447.16, Y:-262.44, Z:-2.87 [[-7.00572010e-01 -7.13559705e-01 5.60414565e-03 -4.47155491e+02] [ 7.13536631e-01 -7.00594424e-01 -5.73842544e-03 -2.62441153e+02] [ 8.02094236e-03 -2.14170361e-05 9.99967832e-01 -2.87189769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1364.9465599950001 meters 0.012449872033931936 Centerline is valid? [True, True] Translation: X:-447.18, Y:-262.42, Z:-2.87 [[-7.00690141e-01 -7.13443530e-01 5.62630519e-03 -4.47177182e+02] [ 7.13420297e-01 -7.00712729e-01 -5.75769173e-03 -2.62424115e+02] [ 8.05021158e-03 -2.04375105e-05 9.99967597e-01 -2.87417539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1364.9765599950001 meters 0.012543353988298821 Centerline is valid? [True, True] Translation: X:-447.20, Y:-262.41, Z:-2.88 [[-7.00765066e-01 -7.13369842e-01 5.63832955e-03 -4.47196701e+02] [ 7.13346538e-01 -7.00787748e-01 -5.76625029e-03 -2.62406161e+02] [ 8.06474133e-03 -1.87039062e-05 9.99967480e-01 -2.87562608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1365.006559995 meters 0.012543353988298821 Centerline is valid? [True, True] Translation: X:-447.22, Y:-262.39, Z:-2.88 [[-7.00984021e-01 -7.13154676e-01 5.64009962e-03 -4.47215471e+02] [ 7.13131378e-01 -7.01006711e-01 -5.76451896e-03 -2.62387123e+02] [ 8.06474133e-03 -1.87036659e-05 9.99967480e-01 -2.87562571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1365.036559995 meters 0.013553987492781805 Centerline is valid? [True, True] Translation: X:-447.24, Y:-262.37, Z:-2.88 [[-7.01079555e-01 -7.13056836e-01 6.11600318e-03 -4.47235211e+02] [ 7.13029468e-01 -7.01106232e-01 -6.24743883e-03 -2.62367197e+02] [ 8.74274691e-03 -1.90611477e-05 9.99961782e-01 -2.87754829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1365.066559995 meters 0.01300022786094398 Centerline is valid? [True, True] Translation: X:-447.25, Y:-262.35, Z:-2.88 [[-7.01206198e-01 -7.12929566e-01 6.42664951e-03 -4.47254011e+02] [ 7.12899374e-01 -7.01235648e-01 -6.56111352e-03 -2.62346998e+02] [ 9.18420754e-03 -1.91390544e-05 9.99957824e-01 -2.87813359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1365.096559995 meters 0.016080196856949752 Centerline is valid? [True, True] Translation: X:-447.27, Y:-262.33, Z:-2.88 [[-7.01255534e-01 -7.12876595e-01 6.90199558e-03 -4.47272761e+02] [ 7.12841808e-01 -7.01289499e-01 -7.04248382e-03 -2.62326222e+02] [ 9.86071890e-03 -1.85497480e-05 9.99951382e-01 -2.88235217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1365.126559995 meters 0.01267568365258871 Centerline is valid? [True, True] Translation: X:-447.29, Y:-262.31, Z:-2.88 [[-7.01229436e-01 -7.12907167e-01 6.37573129e-03 -4.47291330e+02] [ 7.12877523e-01 -7.01258420e-01 -6.50124548e-03 -2.62307708e+02] [ 9.10581974e-03 -1.37491759e-05 9.99958541e-01 -2.88073373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1365.156559995 meters 0.014642087116311523 Centerline is valid? [True, True] Translation: X:-447.31, Y:-262.29, Z:-2.88 [[-7.01256130e-01 -7.12874901e-01 7.01542460e-03 -4.47309533e+02] [ 7.12839054e-01 -7.01291221e-01 -7.14889084e-03 -2.62288992e+02] [ 1.00161205e-02 -1.23348867e-05 9.99949838e-01 -2.88445161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1365.186559995 meters 0.012842656415035578 Centerline is valid? [True, True] Translation: X:-447.33, Y:-262.27, Z:-2.88 [[-7.00934964e-01 -7.13187237e-01 7.35818255e-03 -4.47329558e+02] [ 7.13147863e-01 -7.00973584e-01 -7.49395712e-03 -2.62268886e+02] [ 1.05024862e-02 -5.30440066e-06 9.99944848e-01 -2.88331969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1365.2165599950001 meters 0.012980856336449567 Centerline is valid? [True, True] Translation: X:-447.35, Y:-262.25, Z:-2.89 [[-6.99941676e-01 -7.14160097e-01 7.55025536e-03 -4.47349511e+02] [ 7.14118747e-01 -6.99982397e-01 -7.68502220e-03 -2.62249895e+02] [ 1.07733820e-02 1.27115745e-05 9.99941966e-01 -2.88634531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1365.246559995 meters 0.013056856621409077 Centerline is valid? [True, True] Translation: X:-447.37, Y:-262.23, Z:-2.89 [[-6.99339216e-01 -7.14751202e-01 7.44177875e-03 -4.47369181e+02] [ 7.14711110e-01 -6.99378809e-01 -7.57040356e-03 -2.62230210e+02] [ 1.06155774e-02 2.44418599e-05 9.99943653e-01 -2.88660047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1365.276559995 meters 0.013209425435022713 Centerline is valid? [True, True] Translation: X:-447.39, Y:-262.21, Z:-2.89 [[-6.98802628e-01 -7.15279868e-01 7.04250347e-03 -4.47387418e+02] [ 7.15244037e-01 -6.98838113e-01 -7.15953592e-03 -2.62211450e+02] [ 1.00426418e-02 3.40060949e-05 9.99949571e-01 -2.88690230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1365.306559995 meters 0.013420812310934338 Centerline is valid? [True, True] Translation: X:-447.41, Y:-262.19, Z:-2.89 [[-6.97272057e-01 -7.16784351e-01 5.64559236e-03 -4.47407574e+02] [ 7.16761403e-01 -6.97294910e-01 -5.73582889e-03 -2.62192633e+02] [ 8.04799520e-03 4.71094894e-05 9.99967613e-01 -2.88606740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1365.336559995 meters 0.013583391651550219 Centerline is valid? [True, True] Translation: X:-447.43, Y:-262.18, Z:-2.89 [[-6.96712168e-01 -7.17335899e-01 4.62202150e-03 -4.47426826e+02] [ 7.17320550e-01 -6.96727498e-01 -4.69282831e-03 -2.62175225e+02] [ 6.58662369e-03 4.59204194e-05 9.99978307e-01 -2.88566381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1365.366559995 meters 0.014597343600522682 Centerline is valid? [True, True] Translation: X:-447.45, Y:-262.16, Z:-2.89 [[-6.96063564e-01 -7.17971569e-01 3.51305736e-03 -4.47446658e+02] [ 7.17962721e-01 -6.96072428e-01 -3.56467443e-03 -2.62156593e+02] [ 5.00467726e-03 4.10042370e-05 9.99987476e-01 -2.88593298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1365.396559995 meters 0.013935348499686006 Centerline is valid? [True, True] Translation: X:-447.47, Y:-262.14, Z:-2.88 [[-6.94726358e-01 -7.19273245e-01 1.13443509e-03 -4.47467416e+02] [ 7.19272325e-01 -6.94727284e-01 -1.15045476e-03 -2.62137528e+02] [ 1.61561434e-03 1.67165247e-05 9.99998695e-01 -2.88413438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1365.426559995 meters 0.014236384049400249 Centerline is valid? [True, True] Translation: X:-447.49, Y:-262.12, Z:-2.88 [[-6.94400696e-01 -7.19588529e-01 1.51714745e-04 -4.47487743e+02] [ 7.19588512e-01 -6.94400713e-01 -1.53770252e-04 -2.62118925e+02] [ 2.16002138e-04 2.39401714e-06 9.99999977e-01 -2.88447629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1365.4565599950001 meters 0.014318478619824562 Centerline is valid? [True, True] Translation: X:-447.51, Y:-262.10, Z:-2.88 [[-6.94415461e-01 -7.19574228e-01 -3.14602445e-04 -4.47507005e+02] [ 7.19574157e-01 -6.94415532e-01 3.18650239e-04 -2.62099626e+02] [-4.47757322e-04 -5.10413621e-06 9.99999900e-01 -2.88484186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1365.486559995 meters 0.014321837681361936 Centerline is valid? [True, True] Translation: X:-447.53, Y:-262.08, Z:-2.89 [[-6.94513829e-01 -7.19479265e-01 -3.58054954e-04 -4.47525233e+02] [ 7.19479174e-01 -6.94513922e-01 3.62438621e-04 -2.62079533e+02] [-5.09441221e-04 -5.89444779e-06 9.99999870e-01 -2.88554557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1365.516559995 meters 0.014055686341833261 Centerline is valid? [True, True] Translation: X:-447.54, Y:-262.06, Z:-2.89 [[-6.96204134e-01 -7.17843517e-01 -6.98817650e-04 -4.47540511e+02] [ 7.17843169e-01 -6.96204485e-01 7.06920789e-04 -2.62058398e+02] [-9.93978486e-04 -9.48030050e-06 9.99999506e-01 -2.88676671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1365.546559995 meters 0.013833114497049217 Centerline is valid? [True, True] Translation: X:-447.56, Y:-262.04, Z:-2.89 [[-6.97646823e-01 -7.16441576e-01 -6.15381379e-04 -4.47557416e+02] [ 7.16441306e-01 -6.97647094e-01 6.22136701e-04 -2.62037100e+02] [-8.75043627e-04 -6.85294573e-06 9.99999617e-01 -2.88739877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1365.576559995 meters 0.014584989642788603 Centerline is valid? [True, True] Translation: X:-447.57, Y:-262.01, Z:-2.89 [[-7.00666284e-01 -7.13488974e-01 4.92930014e-04 -4.47571293e+02] [ 7.13488800e-01 -7.00666457e-01 -4.98049865e-04 -2.62013290e+02] [ 7.00732615e-04 2.73329647e-06 9.99999755e-01 -2.88896520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1365.606559995 meters 0.013433652518446054 Centerline is valid? [True, True] Translation: X:-447.59, Y:-261.99, Z:-2.89 [[-7.01984069e-01 -7.12192647e-01 -1.99634765e-05 -4.47588581e+02] [ 7.12192647e-01 -7.01984069e-01 2.01521865e-05 -2.61991496e+02] [-2.83662796e-05 -7.13273044e-08 1.00000000e+00 -2.88774041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1365.636559995 meters 0.013277775036005796 Centerline is valid? [True, True] Translation: X:-447.61, Y:-261.97, Z:-2.89 [[-7.03194510e-01 -7.10997500e-01 1.91127230e-04 -4.47605141e+02] [ 7.10997474e-01 -7.03194536e-01 -1.92872253e-04 -2.61970966e+02] [ 2.71531315e-04 2.64267918e-07 9.99999963e-01 -2.88760672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1365.666559995 meters 0.013340431136947859 Centerline is valid? [True, True] Translation: X:-447.62, Y:-261.95, Z:-2.89 [[-7.04202029e-01 -7.09999585e-01 3.03605014e-04 -4.47622699e+02] [ 7.09999519e-01 -7.04202094e-01 -3.06182784e-04 -2.61950104e+02] [ 4.31188938e-04 -5.51241466e-08 9.99999907e-01 -2.88771310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1365.6965599950001 meters 0.013413747678940657 Centerline is valid? [True, True] Translation: X:-447.64, Y:-261.93, Z:-2.89 [[-7.04775515e-01 -7.09430381e-01 8.40064486e-05 -4.47641990e+02] [ 7.09430376e-01 -7.04775520e-01 -8.46761164e-05 -2.61929049e+02] [ 1.19277500e-04 -8.09271273e-08 9.99999993e-01 -2.88738215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1365.7265599950001 meters 0.01348013965155006 Centerline is valid? [True, True] Translation: X:-447.66, Y:-261.91, Z:-2.89 [[-7.05112137e-01 -7.09095585e-01 -5.71640348e-04 -4.47660357e+02] [ 7.09095351e-01 -7.05112368e-01 5.75775345e-04 -2.61910465e+02] [-8.11350433e-04 6.38670520e-07 9.99999671e-01 -2.88649360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1365.756559995 meters 0.013494890019731401 Centerline is valid? [True, True] Translation: X:-447.68, Y:-261.89, Z:-2.89 [[-7.05353414e-01 -7.08855133e-01 -9.80463954e-04 -4.47680675e+02] [ 7.08854446e-01 -7.05354096e-01 9.86959575e-04 -2.61891934e+02] [-1.39118562e-03 1.14907220e-06 9.99999033e-01 -2.88612729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1365.786559995 meters 0.013424932985990004 Centerline is valid? [True, True] Translation: X:-447.70, Y:-261.88, Z:-2.89 [[-7.05293342e-01 -7.08912888e-01 -1.95436482e-03 -4.47702975e+02] [ 7.08910161e-01 -7.05296050e-01 1.96610028e-03 -2.61875810e+02] [-2.77219962e-03 1.20835923e-06 9.99996158e-01 -2.88632017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1365.816559995 meters 0.013593389311293141 Centerline is valid? [True, True] Translation: X:-447.72, Y:-261.86, Z:-2.89 [[-7.05645228e-01 -7.08560858e-01 -2.51459496e-03 -4.47722341e+02] [ 7.08556348e-01 -7.05649708e-01 2.52811999e-03 -2.61856821e+02] [-3.56575007e-03 2.22358255e-06 9.99993643e-01 -2.88548245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1365.846559995 meters 0.013535109152223161 Centerline is valid? [True, True] Translation: X:-447.74, Y:-261.84, Z:-2.88 [[-7.06044684e-01 -7.08162087e-01 -2.71346195e-03 -4.47742082e+02] [ 7.08156838e-01 -7.06049898e-01 2.72653017e-03 -2.61836177e+02] [-3.84666483e-03 3.49549999e-06 9.99992602e-01 -2.88463907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1365.876559995 meters 0.013647453463230992 Centerline is valid? [True, True] Translation: X:-447.76, Y:-261.82, Z:-2.88 [[-7.07237712e-01 -7.06970504e-01 -2.74336623e-03 -4.47759666e+02] [ 7.06965137e-01 -7.07243032e-01 2.75476033e-03 -2.61817030e+02] [-3.88776095e-03 8.80610813e-06 9.99992443e-01 -2.88387725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1365.906559995 meters 0.015201652794918821 Centerline is valid? [True, True] Translation: X:-447.78, Y:-261.80, Z:-2.89 [[-7.08083163e-01 -7.06125630e-01 -2.19745873e-03 -4.47779110e+02] [ 7.06122186e-01 -7.08086573e-01 2.20535342e-03 -2.61797046e+02] [-3.11324759e-03 9.89926380e-06 9.99995154e-01 -2.88522484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1365.936559995 meters 0.013741760989041582 Centerline is valid? [True, True] Translation: X:-447.80, Y:-261.78, Z:-2.88 [[-7.08866954e-01 -7.05335181e-01 -3.15025690e-03 -4.47797588e+02] [ 7.05328105e-01 -7.08873954e-01 3.15950061e-03 -2.61778267e+02] [-4.46164200e-03 1.77008514e-05 9.99990047e-01 -2.88372278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1365.9665599950001 meters 0.013795379544744952 Centerline is valid? [True, True] Translation: X:-447.82, Y:-261.76, Z:-2.88 [[-7.09526740e-01 -7.04671920e-01 -3.04804569e-03 -4.47816761e+02] [ 7.04665298e-01 -7.09533287e-01 3.05510398e-03 -2.61758592e+02] [-4.31553587e-03 1.98259440e-05 9.99990688e-01 -2.88364486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1365.996559995 meters 0.013814330192459047 Centerline is valid? [True, True] Translation: X:-447.84, Y:-261.74, Z:-2.88 [[-7.10818604e-01 -7.03371840e-01 -2.22878211e-03 -4.47837424e+02] [ 7.03368296e-01 -7.10822098e-01 2.23270182e-03 -2.61739683e+02] [-3.15468716e-03 1.93913116e-05 9.99995024e-01 -2.88460009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1366.026559995 meters 0.013921777954539468 Centerline is valid? [True, True] Translation: X:-447.86, Y:-261.72, Z:-2.89 [[-7.11484075e-01 -7.02701340e-01 -1.11275747e-03 -4.47856242e+02] [ 7.02700457e-01 -7.11484945e-01 1.11417458e-03 -2.61721031e+02] [-1.57464215e-03 1.07822942e-05 9.99998760e-01 -2.88594055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1366.056559995 meters 0.014001972032083674 Centerline is valid? [True, True] Translation: X:-447.88, Y:-261.70, Z:-2.89 [[-7.12434500e-01 -7.01738471e-01 4.50139642e-04 -4.47875923e+02] [ 7.01738326e-01 -7.12434642e-01 -4.50442094e-04 -2.61701685e+02] [ 6.36787623e-04 -5.03024900e-06 9.99999797e-01 -2.88743708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1366.086559995 meters 0.014279179193822943 Centerline is valid? [True, True] Translation: X:-447.89, Y:-261.68, Z:-2.89 [[-7.14097526e-01 -7.00038980e-01 3.18590418e-03 -4.47894716e+02] [ 7.00031730e-01 -7.14104632e-01 -3.18625465e-03 -2.61680978e+02] [ 4.50557139e-03 -4.50625549e-05 9.99989849e-01 -2.88936116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1366.116559995 meters 0.014447394665390599 Centerline is valid? [True, True] Translation: X:-447.91, Y:-261.66, Z:-2.89 [[-7.15223376e-01 -6.98884121e-01 4.06300117e-03 -4.47914022e+02] [ 6.98872325e-01 -7.15234913e-01 -4.06120099e-03 -2.61660842e+02] [ 5.74430917e-03 -6.51468055e-05 9.99983499e-01 -2.89021090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1366.146559995 meters 0.014714060350175476 Centerline is valid? [True, True] Translation: X:-448.32, Y:-262.05, Z:-1.70 [[-7.47469179e-01 6.64276115e-01 5.20283676e-03 -4.48315983e+02] [ 6.64260812e-01 7.47487281e-01 -4.50983047e-03 -2.62050813e+02] [-6.88482697e-03 8.50812904e-05 -9.99976296e-01 -1.70013083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1366.176559995 meters 0.014712247815244706 Centerline is valid? [True, True] Translation: X:-447.95, Y:-261.63, Z:-2.89 [[-7.19012602e-01 -6.94959234e-01 7.24856377e-03 -4.47947580e+02] [ 6.94924812e-01 -7.19049135e-01 -6.91716695e-03 -2.61633780e+02] [ 1.00192226e-02 6.36766141e-05 9.99949805e-01 -2.89257576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1366.2065599950001 meters 0.014803520950555694 Centerline is valid? [True, True] Translation: X:-448.35, Y:-262.02, Z:-1.70 [[-7.49251612e-01 6.62227465e-01 8.76391990e-03 -4.48346693e+02] [ 6.62184502e-01 7.49302851e-01 -7.54477850e-03 -2.62023744e+02] [-1.15631897e-02 1.50394475e-04 -9.99933133e-01 -1.69852970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1366.236559995 meters 0.014715793223109397 Centerline is valid? [True, True] Translation: X:-447.99, Y:-261.60, Z:-2.89 [[-7.19934874e-01 -6.93987825e-01 8.64149071e-03 -4.47987522e+02] [ 6.93935780e-01 -7.19986725e-01 -8.49998307e-03 -2.61604453e+02] [ 1.21206434e-02 -1.22794648e-04 9.99926535e-01 -2.89254333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1366.266559995 meters 0.014626680643741806 Centerline is valid? [True, True] Translation: X:-448.38, Y:-261.99, Z:-1.70 [[-7.53673232e-01 6.57187222e-01 9.03407796e-03 -4.48376775e+02] [ 6.57141871e-01 7.53727366e-01 -7.72138302e-03 -2.61992741e+02] [-1.18836260e-02 1.17271192e-04 -9.99929381e-01 -1.69862371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1366.296559995 meters 0.014626680643741806 Centerline is valid? [True, True] Translation: X:-448.36, Y:-261.97, Z:-1.70 [[-7.98240710e-01 6.02262756e-01 9.55729610e-03 -4.48361995e+02] [ 6.02221345e-01 7.98297914e-01 -7.06345376e-03 -2.61968699e+02] [-1.18836247e-02 1.17271361e-04 -9.99929381e-01 -1.69862372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1366.326559995 meters 0.01425415269995766 Centerline is valid? [True, True] Translation: X:-448.04, Y:-261.53, Z:-2.89 [[-7.67391127e-01 -6.41119193e-01 8.77720377e-03 -4.48040435e+02] [ 6.41075238e-01 -7.67441309e-01 -7.50843438e-03 -2.61532423e+02] [ 1.15497901e-02 -1.35057919e-04 9.99933290e-01 -2.89162489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1366.356559995 meters 0.01426205653522594 Centerline is valid? [True, True] Translation: X:-448.40, Y:-261.94, Z:-1.70 [[-8.02127920e-01 5.97082101e-01 9.15238073e-03 -4.48396751e+02] [ 5.97044375e-01 8.02180129e-01 -6.71231868e-03 -2.61938928e+02] [-1.13496633e-02 8.02392212e-05 -9.99935588e-01 -1.70048715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1366.386559995 meters 0.014431911943896912 Centerline is valid? [True, True] Translation: X:-448.39, Y:-261.91, Z:-1.70 [[-8.42519303e-01 5.38564040e-01 1.04880630e-02 -4.48389225e+02] [ 5.38523567e-01 8.42584576e-01 -6.60305832e-03 -2.61912304e+02] [-1.23932499e-02 8.48650201e-05 -9.99923197e-01 -1.70060239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1366.416559995 meters 0.01452052683887144 Centerline is valid? [True, True] Translation: X:-448.10, Y:-261.45, Z:-2.89 [[-8.12393126e-01 -5.83015661e-01 1.04951629e-02 -4.48100263e+02] [ 5.82966156e-01 -8.12460914e-01 -7.59771106e-03 -2.61453144e+02] [ 1.29564942e-02 -5.40034389e-05 9.99916060e-01 -2.89060455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1366.4465599950001 meters 0.014827015109380328 Centerline is valid? [True, True] Translation: X:-448.12, Y:-261.47, Z:-2.89 [[-7.71510867e-01 -6.36110901e-01 1.15716893e-02 -4.48115403e+02] [ 6.36037264e-01 -7.71597635e-01 -9.67930401e-03 -2.61474589e+02] [ 1.50857989e-02 -1.07662607e-04 9.99886197e-01 -2.89191767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1366.4765599950001 meters 0.01487169361315435 Centerline is valid? [True, True] Translation: X:-448.48, Y:-261.90, Z:-1.70 [[-8.06305885e-01 5.91358918e-01 1.28627273e-02 -4.48475706e+02] [ 5.91285916e-01 8.06408468e-01 -9.29239379e-03 -2.61898480e+02] [-1.58677521e-02 1.13037662e-04 -9.99874093e-01 -1.69928363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1366.506559995 meters 0.01493328545947713 Centerline is valid? [True, True] Translation: X:-448.46, Y:-261.87, Z:-1.70 [[-8.46341913e-01 5.32447342e-01 1.43245958e-02 -4.48463705e+02] [ 5.32373354e-01 8.46463121e-01 -8.87677679e-03 -2.61874222e+02] [-1.68516583e-02 1.13244839e-04 -9.99857995e-01 -1.69888791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1366.536559995 meters 0.014950161018033538 Centerline is valid? [True, True] Translation: X:-448.17, Y:-261.40, Z:-2.89 [[-8.15108650e-01 -5.79141773e-01 1.38814728e-02 -4.48171246e+02] [ 5.79055732e-01 -8.15226838e-01 -9.98309658e-03 -2.61400337e+02] [ 1.70981774e-02 -9.91619726e-05 9.99853811e-01 -2.89193405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1366.566559995 meters 0.014956672361670413 Centerline is valid? [True, True] Translation: X:-448.50, Y:-261.85, Z:-1.70 [[-8.50119476e-01 5.26403514e-01 1.40077466e-02 -4.48503573e+02] [ 5.26333090e-01 8.50234872e-01 -8.61052745e-03 -2.61848196e+02] [-1.64424865e-02 5.27634675e-05 -9.99864812e-01 -1.69979821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1366.596559995 meters 0.01479121545960164 Centerline is valid? [True, True] Translation: X:-448.49, Y:-261.82, Z:-1.70 [[-8.85929463e-01 4.63588317e-01 1.46580875e-02 -4.48492758e+02] [ 4.63525437e-01 8.86050716e-01 -7.63530649e-03 -2.61820211e+02] [-1.65274478e-02 3.00534220e-05 -9.99863412e-01 -1.70097038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1366.626559995 meters 0.014657404100721182 Centerline is valid? [True, True] Translation: X:-448.49, Y:-261.79, Z:-1.70 [[-9.17429068e-01 3.97641757e-01 1.43156902e-02 -4.48487605e+02] [ 3.97593259e-01 9.17540753e-01 -6.21026655e-03 -2.61788058e+02] [-1.56046904e-02 -5.65714765e-06 -9.99878240e-01 -1.70374643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1366.656559995 meters 0.014771560661637114 Centerline is valid? [True, True] Translation: X:-448.48, Y:-261.76, Z:-1.70 [[-9.43504643e-01 3.31038759e-01 1.45715047e-02 -4.48480769e+02] [ 3.30999058e-01 9.43617158e-01 -5.12674987e-03 -2.61759970e+02] [-1.54470747e-02 -1.39579913e-05 -9.99880687e-01 -1.70492646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1366.686559995 meters 0.01484491767379729 Centerline is valid? [True, True] Translation: X:-448.30, Y:-261.25, Z:-2.89 [[-9.18282448e-01 -3.95669054e-01 1.42599142e-02 -4.48301212e+02] [ 3.95621669e-01 -9.18393162e-01 -6.12332726e-03 -2.61249208e+02] [ 1.55190188e-02 1.85871202e-05 9.99879573e-01 -2.88632366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1366.7165599950001 meters 0.014835059224127329 Centerline is valid? [True, True] Translation: X:-448.52, Y:-261.75, Z:-1.71 [[-9.44813999e-01 3.27285614e-01 1.45132625e-02 -4.48523916e+02] [ 3.27246735e-01 9.44925461e-01 -5.04454690e-03 -2.61745770e+02] [-1.53649589e-02 -1.67407500e-05 -9.99881952e-01 -1.70624203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1366.746559995 meters 0.014843965202680127 Centerline is valid? [True, True] Translation: X:-448.52, Y:-261.72, Z:-1.71 [[-9.65579457e-01 2.59614405e-01 1.60210110e-02 -4.48523885e+02] [ 2.59578410e-01 9.65712359e-01 -4.32303584e-03 -2.61719263e+02] [-1.65940107e-02 -1.55260316e-05 -9.99862310e-01 -1.70764382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1366.776559995 meters 0.015023493089288189 Centerline is valid? [True, True] Translation: X:-448.38, Y:-261.19, Z:-2.88 [[-9.45215052e-01 -3.26026771e-01 1.65846337e-02 -4.48382000e+02] [ 3.25977998e-01 -9.45360534e-01 -5.63969649e-03 -2.61189700e+02] [ 1.75171502e-02 7.54996769e-05 9.99846560e-01 -2.88494053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1366.806559995 meters 0.014974163672448304 Centerline is valid? [True, True] Translation: X:-448.57, Y:-261.71, Z:-1.71 [[-9.66612508e-01 2.55631016e-01 1.76930514e-02 -4.48570549e+02] [ 2.55587765e-01 9.66774422e-01 -4.70225497e-03 -2.61709342e+02] [-1.83072317e-02 -2.31310203e-05 -9.99832409e-01 -1.70722632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1366.836559995 meters 0.01489757523690287 Centerline is valid? [True, True] Translation: X:-448.44, Y:-261.18, Z:-2.89 [[-9.46273702e-01 -3.22838045e-01 1.84845045e-02 -4.48435291e+02] [ 3.22778547e-01 -9.46454218e-01 -6.19862252e-03 -2.61176908e+02] [ 1.94958885e-02 1.00808043e-04 9.99809932e-01 -2.88542037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1366.866559995 meters 0.01489757523690287 Centerline is valid? [True, True] Translation: X:-448.62, Y:-261.69, Z:-1.71 [[-9.67645482e-01 2.51606829e-01 1.88739151e-02 -4.48622003e+02] [ 2.51558338e-01 9.67829532e-01 -4.93963875e-03 -2.61694865e+02] [-1.95095793e-02 -3.19284057e-05 -9.99809670e-01 -1.70601632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1366.896559995 meters 0.015068745059318435 Centerline is valid? [True, True] Translation: X:-448.48, Y:-261.17, Z:-2.89 [[-9.47337584e-01 -3.19696305e-01 1.85950447e-02 -4.48480570e+02] [ 3.19635536e-01 -9.47520064e-01 -6.23319709e-03 -2.61166017e+02] [ 1.96119080e-02 3.86952230e-05 9.99807668e-01 -2.88660403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1366.926559995 meters 0.01489170362898167 Centerline is valid? [True, True] Translation: X:-448.67, Y:-261.69, Z:-1.71 [[-9.68698524e-01 2.47503961e-01 1.91038898e-02 -4.48666780e+02] [ 2.47455028e-01 9.68886881e-01 -4.92149946e-03 -2.61687054e+02] [-1.97275988e-02 -4.00956629e-05 -9.99805391e-01 -1.70757615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1366.9565599950001 meters 0.014853692094543425 Centerline is valid? [True, True] Translation: X:-448.53, Y:-261.15, Z:-2.88 [[-9.48686892e-01 -3.15668396e-01 1.86184001e-02 -4.48528660e+02] [ 3.15608293e-01 -9.48869571e-01 -6.15975971e-03 -2.61149350e+02] [ 1.96108748e-02 3.24381876e-05 9.99807688e-01 -2.88342989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1366.986559995 meters 0.014849644118861631 Centerline is valid? [True, True] Translation: X:-448.72, Y:-261.68, Z:-1.71 [[-9.69444020e-01 2.44578765e-01 1.89609969e-02 -4.48715139e+02] [ 2.44531516e-01 9.69629428e-01 -4.80731295e-03 -2.61679121e+02] [-1.95609072e-02 -2.38594705e-05 -9.99808667e-01 -1.70927108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1367.016559995 meters 0.01493422915329138 Centerline is valid? [True, True] Translation: X:-448.71, Y:-261.65, Z:-1.71 [[-9.84196447e-01 1.76014518e-01 1.93969933e-02 -4.48714429e+02] [ 1.75980218e-01 9.84387571e-01 -3.47470571e-03 -2.61652880e+02] [-1.97057577e-02 -6.30591623e-06 -9.99805823e-01 -1.70913283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1367.046559995 meters 0.015006519401207266 Centerline is valid? [True, True] Translation: X:-448.72, Y:-261.63, Z:-1.71 [[-9.93855753e-01 1.08862899e-01 1.99903099e-02 -4.48718662e+02] [ 1.08842068e-01 9.94056772e-01 -2.13035804e-03 -2.61628838e+02] [-2.01034199e-02 5.85180833e-05 -9.99797904e-01 -1.70979679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1367.076559995 meters 0.01487373635002047 Centerline is valid? [True, True] Translation: X:-448.72, Y:-261.60, Z:-1.71 [[-9.98984912e-01 4.04441168e-02 1.98348072e-02 -4.48722199e+02] [ 4.04383046e-02 9.99181796e-01 -6.94190834e-04 -2.61602042e+02] [-1.98466542e-02 1.08599807e-04 -9.99803030e-01 -1.71133916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1367.106559995 meters 0.015179949100159925 Centerline is valid? [True, True] Translation: X:-448.73, Y:-261.58, Z:-1.71 [[-9.99417157e-01 -2.78049238e-02 1.98048544e-02 -4.48728223e+02] [-2.77961303e-02 9.99613354e-01 7.19200106e-04 -2.61575525e+02] [-1.98171942e-02 1.68282613e-04 -9.99803606e-01 -1.71132655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1367.136559995 meters 0.016073095577461657 Centerline is valid? [True, True] Translation: X:-448.74, Y:-261.55, Z:-1.71 [[-9.95483244e-01 -9.29371154e-02 1.93856840e-02 -4.48736930e+02] [-9.29139256e-02 9.95671940e-01 2.09545732e-03 -2.61552428e+02] [-1.94965273e-02 2.84792651e-04 -9.99809884e-01 -1.71224927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1367.166559995 meters 0.016612072337488598 Centerline is valid? [True, True] Translation: X:-448.76, Y:-261.53, Z:-1.71 [[-9.86741157e-01 -1.61206446e-01 1.88247501e-02 -4.48755871e+02] [-1.61170665e-01 9.86920651e-01 3.41262995e-03 -2.61529381e+02] [-1.91286726e-02 3.33384930e-04 -9.99816975e-01 -1.71320115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1367.1965599950001 meters 0.017178044044234616 Centerline is valid? [True, True] Translation: X:-448.89, Y:-260.95, Z:-2.88 [[-9.91216551e-01 1.30913497e-01 1.87458078e-02 -4.48886054e+02] [-1.30896682e-01 -9.91393734e-01 2.12651352e-03 -2.60948173e+02] [ 1.88628657e-02 -3.45928650e-04 9.99822021e-01 -2.87741792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1367.2265599950001 meters 0.017083989521525664 Centerline is valid? [True, True] Translation: X:-448.89, Y:-261.55, Z:-1.72 [[-9.86467214e-01 -1.63131076e-01 1.64526040e-02 -4.48885058e+02] [-1.63102279e-01 9.86604339e-01 3.08624464e-03 -2.61551871e+02] [-1.67356729e-02 3.61021948e-04 -9.99859884e-01 -1.71633347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1367.256559995 meters 0.01795319312482771 Centerline is valid? [True, True] Translation: X:-448.91, Y:-261.53, Z:-1.72 [[-9.72199370e-01 -2.33647317e-01 1.54050711e-02 -4.48913215e+02] [-2.33612366e-01 9.72321353e-01 4.05584451e-03 -2.61529266e+02] [-1.59263168e-02 3.44274364e-04 -9.99873109e-01 -1.71591727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1367.286559995 meters 0.01791498350149284 Centerline is valid? [True, True] Translation: X:-449.09, Y:-260.96, Z:-2.87 [[-9.77693598e-01 2.09514324e-01 1.47978893e-02 -4.49092737e+02] [-2.09496258e-01 -9.77805503e-01 2.77799401e-03 -2.60964753e+02] [ 1.50514871e-02 -3.84075470e-04 9.99886646e-01 -2.87496834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1367.316559995 meters 0.01755855612891314 Centerline is valid? [True, True] Translation: X:-449.05, Y:-261.56, Z:-1.72 [[-9.70285593e-01 -2.41562976e-01 1.38995018e-02 -4.49054091e+02] [-2.41533923e-01 9.70385102e-01 3.75745994e-03 -2.61560265e+02] [-1.43955327e-02 2.88608039e-04 -9.99896338e-01 -1.71755977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1367.346559995 meters 0.01698837543210415 Centerline is valid? [True, True] Translation: X:-449.10, Y:-261.54, Z:-1.72 [[-9.50032393e-01 -3.11878529e-01 1.30474527e-02 -4.49103955e+02] [-3.11845173e-01 9.50121945e-01 4.56932347e-03 -2.61544337e+02] [-1.38217450e-02 2.72220149e-04 -9.99904438e-01 -1.71897159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1367.376559995 meters 0.01669715380160469 Centerline is valid? [True, True] Translation: X:-449.17, Y:-261.54, Z:-1.72 [[-9.24382752e-01 -3.81254412e-01 1.27122542e-02 -4.49170660e+02] [-3.81214362e-01 9.24470119e-01 5.53251308e-03 -2.61539259e+02] [-1.38613942e-02 2.68065795e-04 -9.99903891e-01 -1.72022893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1367.406559995 meters 0.01711637198644629 Centerline is valid? [True, True] Translation: X:-449.24, Y:-261.54, Z:-1.72 [[-8.93528487e-01 -4.48834544e-01 1.24255840e-02 -4.49241635e+02] [-4.48787015e-01 8.93614840e-01 6.53703943e-03 -2.61539654e+02] [-1.40377353e-02 2.64590207e-04 -9.99901431e-01 -1.71975336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1367.436559995 meters 0.016886802368182973 Centerline is valid? [True, True] Translation: X:-449.32, Y:-261.55, Z:-1.72 [[-8.57786607e-01 -5.13863746e-01 1.20908391e-02 -4.49320388e+02] [-5.13808267e-01 8.57871773e-01 7.55556261e-03 -2.61548813e+02] [-1.42549193e-02 2.68687331e-04 -9.99898358e-01 -1.71987389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1367.4665599950001 meters 0.016788052103454583 Centerline is valid? [True, True] Translation: X:-449.40, Y:-261.57, Z:-1.72 [[-8.17113240e-01 -5.76347304e-01 1.22367849e-02 -4.49403821e+02] [-5.76277404e-01 8.17204811e-01 8.98056531e-03 -2.61568228e+02] [-1.51758841e-02 2.86356185e-04 -9.99884799e-01 -1.71989234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1367.496559995 meters 0.01748558328193369 Centerline is valid? [True, True] Translation: X:-449.49, Y:-261.60, Z:-1.72 [[-7.71730013e-01 -6.35838445e-01 1.19272517e-02 -4.49488895e+02] [-6.35756539e-01 7.71822119e-01 1.02097751e-02 -2.61599022e+02] [-1.56974843e-02 2.96361615e-04 -9.99876743e-01 -1.71873903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1367.526559995 meters 0.017211653237137147 Centerline is valid? [True, True] Translation: X:-449.58, Y:-261.64, Z:-1.72 [[-7.22009309e-01 -6.91791274e-01 1.12867287e-02 -4.49575393e+02] [-6.91700109e-01 7.22097459e-01 1.12347195e-02 -2.61635128e+02] [-1.59221991e-02 3.04540636e-04 -9.99873188e-01 -1.72112315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1367.556559995 meters 0.01741266483165553 Centerline is valid? [True, True] Translation: X:-449.66, Y:-261.68, Z:-1.72 [[-6.68204544e-01 -7.43910605e-01 9.98492676e-03 -4.49660479e+02] [-7.43820825e-01 6.68279076e-01 1.15610675e-02 -2.61682944e+02] [-1.52731183e-02 2.98161375e-04 -9.99883315e-01 -1.72240335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1367.586559995 meters 0.018395717980737986 Centerline is valid? [True, True] Translation: X:-449.74, Y:-261.74, Z:-1.72 [[-6.10484208e-01 -7.91980150e-01 8.74494286e-03 -4.49743846e+02] [-7.91891951e-01 6.10546768e-01 1.18229252e-02 -2.61741712e+02] [-1.47027186e-02 2.92659240e-04 -9.99891867e-01 -1.72233978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1367.616559995 meters 0.017330195416276475 Centerline is valid? [True, True] Translation: X:-449.83, Y:-261.80, Z:-1.73 [[-5.49374515e-01 -8.35541140e-01 7.65807595e-03 -4.49831324e+02] [-8.35452385e-01 5.49427809e-01 1.21817412e-02 -2.61804647e+02] [-1.43859058e-02 2.94380331e-04 -9.99896474e-01 -1.72602460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1367.646559995 meters 0.017325095474348563 Centerline is valid? [True, True] Translation: X:-449.91, Y:-261.88, Z:-1.73 [[-4.84701931e-01 -8.74655654e-01 6.44397815e-03 -4.49909962e+02] [-8.74570410e-01 4.84744681e-01 1.22144143e-02 -2.61876412e+02] [-1.38070907e-02 2.84637596e-04 -9.99904637e-01 -1.72620755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1367.676559995 meters 0.017665788937064497 Centerline is valid? [True, True] Translation: X:-449.99, Y:-261.95, Z:-1.73 [[-4.17266453e-01 -9.08768449e-01 5.34923972e-03 -4.49985682e+02] [-9.08685055e-01 4.17300647e-01 1.23142797e-02 -2.61953988e+02] [-1.34230700e-02 2.77561609e-04 -9.99909868e-01 -1.72710693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1367.7065599950001 meters 0.01754494289808364 Centerline is valid? [True, True] Translation: X:-450.05, Y:-262.04, Z:-1.73 [[-3.47098673e-01 -9.37819347e-01 4.16933236e-03 -4.50053286e+02] [-9.37742362e-01 3.47123614e-01 1.20191394e-02 -2.62038574e+02] [-1.27190552e-02 2.62067767e-04 -9.99919075e-01 -1.72816600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1367.736559995 meters 0.017668184521212802 Centerline is valid? [True, True] Translation: X:-450.12, Y:-262.13, Z:-1.73 [[-2.74506517e-01 -9.61579801e-01 3.23412769e-03 -4.50115075e+02] [-9.61501731e-01 2.74525450e-01 1.22555623e-02 -2.62130515e+02] [-1.26725515e-02 2.54612342e-04 -9.99919668e-01 -1.72857312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1367.766559995 meters 0.017549863022428034 Centerline is valid? [True, True] Translation: X:-450.18, Y:-262.23, Z:-1.73 [[-2.00405599e-01 -9.79709919e-01 2.46392427e-03 -4.50175036e+02] [-9.79618659e-01 2.00420568e-01 1.33745999e-02 -2.62227589e+02] [-1.35970493e-02 2.66638520e-04 -9.99907521e-01 -1.72880569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1367.796559995 meters 0.017853608993314413 Centerline is valid? [True, True] Translation: X:-450.22, Y:-262.33, Z:-1.73 [[-1.25445086e-01 -9.92099514e-01 1.44379147e-03 -4.50221800e+02] [-9.92007218e-01 1.25453113e-01 1.35349939e-02 -2.62329140e+02] [-1.36091890e-02 2.65646926e-04 -9.99907356e-01 -1.72924074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1367.826559995 meters 0.01799490262463334 Centerline is valid? [True, True] Translation: X:-450.26, Y:-262.43, Z:-1.73 [[-5.01956428e-02 -9.98739323e-01 4.02653287e-04 -4.50260359e+02] [-9.98653800e-01 5.01966147e-02 1.30724324e-02 -2.62427119e+02] [-1.30761641e-02 2.54067911e-04 -9.99914471e-01 -1.73042215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1367.856559995 meters 0.017765247717898957 Centerline is valid? [True, True] Translation: X:-450.29, Y:-262.53, Z:-1.73 [[ 2.51840323e-02 -9.99682681e-01 -5.49242615e-04 -4.50292642e+02] [-9.99608579e-01 -2.51888542e-02 1.21741992e-02 -2.62531853e+02] [-1.21841709e-02 2.42432204e-04 -9.99925741e-01 -1.73226980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1367.886559995 meters 0.018992151911186507 Centerline is valid? [True, True] Translation: X:-450.32, Y:-262.64, Z:-1.73 [[ 9.93701238e-02 -9.95049672e-01 -1.31473045e-03 -4.50320341e+02] [-9.94990683e-01 -9.93785517e-02 1.08372245e-02 -2.62639788e+02] [-1.09142327e-02 2.31248204e-04 -9.99940411e-01 -1.73336200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1367.916559995 meters 0.01832138433271935 Centerline is valid? [True, True] Translation: X:-450.34, Y:-262.74, Z:-1.74 [[ 1.72863079e-01 -9.84943946e-01 -1.94406097e-03 -4.50343722e+02] [-9.84895483e-01 -1.72873863e-01 9.77320038e-03 -2.62744935e+02] [-9.96213188e-03 2.25271357e-04 -9.99950352e-01 -1.73615165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1367.9465599950001 meters 0.018404365100411116 Centerline is valid? [True, True] Translation: X:-450.35, Y:-262.85, Z:-1.74 [[ 2.45313896e-01 -9.69440313e-01 -2.56343902e-03 -4.50352688e+02] [-9.69396637e-01 -2.45327185e-01 9.20506382e-03 -2.62849452e+02] [-9.55264124e-03 2.26859086e-04 -9.99954347e-01 -1.73744809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1367.9765599950001 meters 0.018986003340401195 Centerline is valid? [True, True] Translation: X:-450.35, Y:-262.95, Z:-1.74 [[ 3.16326671e-01 -9.48645338e-01 -3.07585481e-03 -4.50353779e+02] [-9.48607238e-01 -3.16341543e-01 8.50509573e-03 -2.62951209e+02] [-9.04134007e-03 2.27389510e-04 -9.99959101e-01 -1.73800253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1368.006559995 meters 0.020217050045455386 Centerline is valid? [True, True] Translation: X:-450.35, Y:-263.05, Z:-1.74 [[ 3.83862482e-01 -9.23383149e-01 -3.62708024e-03 -4.50351937e+02] [-9.23347885e-01 -3.83879536e-01 8.07369701e-03 -2.63053998e+02] [-8.84747765e-03 2.49867504e-04 -9.99960829e-01 -1.73903772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1368.036559995 meters 0.02079088339481882 Centerline is valid? [True, True] Translation: X:-450.34, Y:-263.15, Z:-1.74 [[ 4.50529063e-01 -8.92751804e-01 -4.21668605e-03 -4.50340208e+02] [-8.92718039e-01 -4.50548718e-01 7.76897249e-03 -2.63153568e+02] [-8.83558670e-03 2.64163808e-04 -9.99960931e-01 -1.73916958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1368.066559995 meters 0.020731036217297563 Centerline is valid? [True, True] Translation: X:-450.32, Y:-263.25, Z:-1.74 [[ 5.14721963e-01 -8.57344326e-01 -4.69135494e-03 -4.50322991e+02] [-8.57313415e-01 -5.14743270e-01 7.28529741e-03 -2.63250292e+02] [-8.66085177e-03 2.72058947e-04 -9.99962457e-01 -1.73989451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1368.096559995 meters 0.022133609663180277 Centerline is valid? [True, True] Translation: X:-450.31, Y:-263.34, Z:-1.74 [[ 5.75771259e-01 -8.17598485e-01 -4.49169800e-03 -4.50306009e+02] [-8.17576877e-01 -5.75788726e-01 5.94920955e-03 -2.63342437e+02] [-7.45033379e-03 2.46924550e-04 -9.99972216e-01 -1.74127609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1368.126559995 meters 0.02209431878977549 Centerline is valid? [True, True] Translation: X:-450.28, Y:-263.43, Z:-1.74 [[ 6.34800620e-01 -7.72661107e-01 -4.79451043e-03 -4.50279100e+02] [-7.72641888e-01 -6.34818680e-01 5.45501638e-03 -2.63431425e+02] [-7.25852377e-03 2.41591810e-04 -9.99973628e-01 -1.74190339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1368.156559995 meters 0.021974762434795084 Centerline is valid? [True, True] Translation: X:-450.25, Y:-263.51, Z:-1.74 [[ 6.90478736e-01 -7.23336332e-01 -4.86473271e-03 -4.50251085e+02] [-7.23320633e-01 -6.90495837e-01 4.77091593e-03 -2.63512478e+02] [-6.81005451e-03 2.24545542e-04 -9.99976786e-01 -1.74259462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1368.186559995 meters 0.02199815754546081 Centerline is valid? [True, True] Translation: X:-450.47, Y:-263.77, Z:-2.85 [[ 7.36278988e-01 6.76663117e-01 -4.50305578e-03 -4.50468586e+02] [-6.76648744e-01 7.36292730e-01 4.41513700e-03 -2.63773402e+02] [ 6.30312760e-03 -2.03785564e-04 9.99980115e-01 -2.84839099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1368.2165599950001 meters 0.021711797926186403 Centerline is valid? [True, True] Translation: X:-450.44, Y:-263.78, Z:-2.85 [[ 7.34680927e-01 6.78401860e-01 -3.85381463e-03 -4.50437990e+02] [-6.78391359e-01 7.34691017e-01 3.77806562e-03 -2.63782672e+02] [ 5.39440973e-03 -1.61278214e-04 9.99985437e-01 -2.84711702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1368.246559995 meters 0.021313121629493698 Centerline is valid? [True, True] Translation: X:-450.41, Y:-263.80, Z:-2.85 [[ 7.33938422e-01 6.79206841e-01 -3.52973830e-03 -4.50410882e+02] [-6.79198049e-01 7.33946897e-01 3.45885056e-03 -2.63797026e+02] [ 4.93991543e-03 -1.41191954e-04 9.99987789e-01 -2.84712305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1368.276559995 meters 0.020710286555191797 Centerline is valid? [True, True] Translation: X:-450.38, Y:-263.81, Z:-2.85 [[ 7.32160677e-01 6.81120930e-01 -3.87586629e-03 -4.50378652e+02] [-6.81110360e-01 7.32170923e-01 3.79714064e-03 -2.63806140e+02] [ 5.42410856e-03 -1.40224378e-04 9.99985280e-01 -2.84763678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1368.306559995 meters 0.02092034555713704 Centerline is valid? [True, True] Translation: X:-450.35, Y:-263.82, Z:-2.85 [[ 7.32031574e-01 6.81261400e-01 -3.56085114e-03 -4.50354465e+02] [-6.81252483e-01 7.32040224e-01 3.48794706e-03 -2.63820742e+02] [ 4.98288996e-03 -1.27448697e-04 9.99987577e-01 -2.84816511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1368.336559995 meters 0.021194652050087925 Centerline is valid? [True, True] Translation: X:-450.33, Y:-263.84, Z:-2.85 [[ 7.31921790e-01 6.81378648e-01 -3.69216166e-03 -4.50330131e+02] [-6.81369065e-01 7.31931091e-01 3.61597743e-03 -2.63836007e+02] [ 5.16625772e-03 -1.30887935e-04 9.99986646e-01 -2.84823636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1368.366559995 meters 0.021951721867850525 Centerline is valid? [True, True] Translation: X:-450.30, Y:-263.85, Z:-2.85 [[ 7.33119242e-01 6.80082884e-01 -4.84240512e-03 -4.50300528e+02] [-6.80066378e-01 7.33135211e-01 4.74171503e-03 -2.63846253e+02] [ 6.77489693e-03 -1.83085616e-04 9.99977034e-01 -2.84974350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1368.396559995 meters 0.021350548602233836 Centerline is valid? [True, True] Translation: X:-450.27, Y:-263.86, Z:-2.85 [[ 7.34370153e-01 6.78722099e-01 -6.06559244e-03 -4.50273809e+02] [-6.78696178e-01 7.34395162e-01 5.93666072e-03 -2.63859942e+02] [ 8.48388456e-03 -2.43012027e-04 9.99963982e-01 -2.85061195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1368.426559995 meters 0.024305850834126674 Centerline is valid? [True, True] Translation: X:-450.25, Y:-263.88, Z:-2.85 [[ 7.36072325e-01 6.76862221e-01 -7.42069062e-03 -4.50251949e+02] [-6.76823341e-01 7.36109659e-01 7.26196005e-03 -2.63877811e+02] [ 1.03777885e-02 -3.22831200e-04 9.99946097e-01 -2.85408373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1368.4565599950001 meters 0.024070547422560064 Centerline is valid? [True, True] Translation: X:-450.23, Y:-263.89, Z:-2.85 [[ 7.37865862e-01 6.74887402e-01 -8.99802155e-03 -4.50226446e+02] [-6.74830099e-01 7.37920602e-01 8.80468422e-03 -2.63893395e+02] [ 1.25819959e-02 -4.24540136e-04 9.99920754e-01 -2.85485957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1368.486559995 meters 0.023943522257180026 Centerline is valid? [True, True] Translation: X:-450.20, Y:-263.90, Z:-2.85 [[ 7.41645237e-01 6.70700950e-01 -1.10714835e-02 -4.50195341e+02] [-6.70613732e-01 7.41727621e-01 1.08332219e-02 -2.63904524e+02] [ 1.54778773e-02 -6.09718564e-04 9.99880025e-01 -2.85498144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1368.516559995 meters 0.02391176164806517 Centerline is valid? [True, True] Translation: X:-450.17, Y:-263.92, Z:-2.86 [[ 7.43112349e-01 6.69061728e-01 -1.18508148e-02 -4.50168810e+02] [-6.68961610e-01 7.43206520e-01 1.15945673e-02 -2.63918998e+02] [ 1.65650841e-02 -6.88326021e-04 9.99862553e-01 -2.85512932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1368.546559995 meters 0.023869089489189855 Centerline is valid? [True, True] Translation: X:-450.14, Y:-263.93, Z:-2.86 [[ 7.43747236e-01 6.68316091e-01 -1.39158870e-02 -4.50136309e+02] [-6.68177925e-01 7.43876951e-01 1.36140310e-02 -2.63928669e+02] [ 1.94501836e-02 -8.27109454e-04 9.99810485e-01 -2.85627077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1368.576559995 meters 0.030977062805759632 Centerline is valid? [True, True] Translation: X:-450.12, Y:-263.95, Z:-2.86 [[ 7.42831066e-01 6.69318894e-01 -1.46364761e-02 -4.50117438e+02] [-6.69166291e-01 7.42974772e-01 1.43164966e-02 -2.63949436e+02] [ 2.04568342e-02 -8.40501983e-04 9.99790384e-01 -2.86246713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1368.606559995 meters 0.022989278576143427 Centerline is valid? [True, True] Translation: X:-450.07, Y:-263.95, Z:-2.86 [[ 7.39593194e-01 6.72894147e-01 -1.46756401e-02 -4.50073955e+02] [-6.72741447e-01 7.39738409e-01 1.43538105e-02 -2.63947329e+02] [ 2.05147297e-02 -7.43069202e-04 9.99789275e-01 -2.85773286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1368.636559995 meters 0.022440546900189175 Centerline is valid? [True, True] Translation: X:-450.05, Y:-263.96, Z:-2.86 [[ 7.37800371e-01 6.74856543e-01 -1.48074175e-02 -4.50046037e+02] [-6.74701522e-01 7.37948620e-01 1.44806893e-02 -2.63960160e+02] [ 2.06995013e-02 -6.93270802e-04 9.99785502e-01 -2.85783558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1368.666559995 meters 0.021429663932667428 Centerline is valid? [True, True] Translation: X:-450.02, Y:-263.97, Z:-2.86 [[ 7.35498152e-01 6.77357663e-01 -1.51348675e-02 -4.50018343e+02] [-6.77196280e-01 7.35653582e-01 1.47988410e-02 -2.63972934e+02] [ 2.11581278e-02 -6.35244233e-04 9.99775940e-01 -2.85758417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1368.6965599950001 meters 0.020674035611129186 Centerline is valid? [True, True] Translation: X:-449.99, Y:-263.98, Z:-2.86 [[ 7.32188789e-01 6.80919955e-01 -1.57350648e-02 -4.49985372e+02] [-6.80746375e-01 7.32357638e-01 1.53838321e-02 -2.63980215e+02] [ 2.19988532e-02 -5.52281104e-04 9.99757844e-01 -2.85779074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1368.7265599950001 meters 0.020429068107121962 Centerline is valid? [True, True] Translation: X:-449.96, Y:-263.99, Z:-2.86 [[ 7.30970776e-01 6.82224670e-01 -1.58500581e-02 -4.49959001e+02] [-6.82049014e-01 7.31142420e-01 1.54888438e-02 -2.63993765e+02] [ 2.21555212e-02 -5.11375633e-04 9.99754406e-01 -2.85794227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1368.756559995 meters 0.019670533740312874 Centerline is valid? [True, True] Translation: X:-449.93, Y:-264.01, Z:-2.86 [[ 7.30102782e-01 6.83156687e-01 -1.57120668e-02 -4.49931583e+02] [-6.82984457e-01 7.30271674e-01 1.53464845e-02 -2.64006710e+02] [ 2.19581308e-02 -4.73413592e-04 9.99758779e-01 -2.85677020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1368.786559995 meters 0.019670533740312874 Centerline is valid? [True, True] Translation: X:-449.91, Y:-264.03, Z:-2.86 [[ 7.30293897e-01 6.82952283e-01 -1.57163612e-02 -4.49911875e+02] [-6.82780100e-01 7.30462837e-01 1.53420865e-02 -2.64025868e+02] [ 2.19581308e-02 -4.73413471e-04 9.99758779e-01 -2.85677030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1368.816559995 meters 0.01949028422231196 Centerline is valid? [True, True] Translation: X:-449.89, Y:-264.04, Z:-2.86 [[ 7.29889545e-01 6.83381680e-01 -1.58345294e-02 -4.49885363e+02] [-6.83207167e-01 7.30061141e-01 1.54498537e-02 -2.64040361e+02] [ 2.21183216e-02 -4.58422687e-04 9.99755255e-01 -2.85616590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1368.846559995 meters 0.01964202430393163 Centerline is valid? [True, True] Translation: X:-449.86, Y:-264.06, Z:-2.86 [[ 7.29627784e-01 6.83676587e-01 -1.51532749e-02 -4.49861063e+02] [-6.83516886e-01 7.29784997e-01 1.47825827e-02 -2.64055071e+02] [ 2.11651384e-02 -4.28263803e-04 9.99775902e-01 -2.85622881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1368.876559995 meters 0.01978761231391025 Centerline is valid? [True, True] Translation: X:-449.83, Y:-264.07, Z:-2.85 [[ 7.30447990e-01 6.82837536e-01 -1.33653722e-02 -4.49831894e+02] [-6.82713272e-01 7.30570150e-01 1.30324811e-02 -2.64066651e+02] [ 1.86634093e-02 -3.94832635e-04 9.99825746e-01 -2.85373780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1368.906559995 meters 0.02033310601331555 Centerline is valid? [True, True] Translation: X:-449.81, Y:-264.08, Z:-2.85 [[ 7.31183737e-01 6.82069737e-01 -1.22970122e-02 -4.49809124e+02] [-6.81964473e-01 7.31287037e-01 1.19886328e-02 -2.64082554e+02] [ 1.71697292e-02 -3.79767875e-04 9.99852517e-01 -2.85306606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1368.936559995 meters 0.02097344857638745 Centerline is valid? [True, True] Translation: X:-449.78, Y:-264.09, Z:-2.85 [[ 7.33763330e-01 6.79328185e-01 -1.02270422e-02 -4.49780351e+02] [-6.79255176e-01 7.33834507e-01 9.96611056e-03 -2.64094736e+02] [ 1.42752163e-02 -3.65995130e-04 9.99898037e-01 -2.85029214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1368.9665599950001 meters 0.020545849003328228 Centerline is valid? [True, True] Translation: X:-449.76, Y:-264.11, Z:-2.85 [[ 7.34693883e-01 6.78332091e-01 -9.51168412e-03 -4.49755459e+02] [-6.78268916e-01 7.34755366e-01 9.26443369e-03 -2.64109940e+02] [ 1.32731236e-02 -3.55043087e-04 9.99911845e-01 -2.84904581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1368.996559995 meters 0.020903484381303634 Centerline is valid? [True, True] Translation: X:-449.73, Y:-264.13, Z:-2.85 [[ 7.35837107e-01 6.77099850e-01 -8.91887528e-03 -4.49731725e+02] [-6.77044266e-01 7.35891073e-01 8.68279210e-03 -2.64126935e+02] [ 1.24424379e-02 -3.50647243e-04 9.99922529e-01 -2.84889703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1369.026559995 meters 0.02144155596443423 Centerline is valid? [True, True] Translation: X:-449.71, Y:-264.14, Z:-2.85 [[ 7.36319502e-01 6.76587970e-01 -7.89367465e-03 -4.49706400e+02] [-6.76544434e-01 7.36361745e-01 7.68179955e-03 -2.64139723e+02] [ 1.10100132e-02 -3.15837171e-04 9.99939338e-01 -2.84889721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1369.056559995 meters 0.021513149710950644 Centerline is valid? [True, True] Translation: X:-449.68, Y:-264.16, Z:-2.85 [[ 7.36246189e-01 6.76668908e-01 -7.79348827e-03 -4.49681820e+02] [-6.76626496e-01 7.36287372e-01 7.58228059e-03 -2.64155931e+02] [ 1.08689405e-02 -3.09144525e-04 9.99940884e-01 -2.84877278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1369.086559995 meters 0.021529683547258913 Centerline is valid? [True, True] Translation: X:-449.66, Y:-264.17, Z:-2.85 [[ 7.35453673e-01 6.77527957e-01 -7.98520899e-03 -4.49657421e+02] [-6.77483505e-01 7.35496959e-01 7.76682097e-03 -2.64171251e+02] [ 1.11353353e-02 -3.02289633e-04 9.99937955e-01 -2.84912133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1369.116559995 meters 0.02032628609641652 Centerline is valid? [True, True] Translation: X:-449.63, Y:-264.18, Z:-2.85 [[ 7.33308491e-01 6.79845090e-01 -8.32525956e-03 -4.49625927e+02] [-6.79796934e-01 7.33355696e-01 8.09644856e-03 -2.64180165e+02] [ 1.16097073e-02 -2.77708550e-04 9.99932567e-01 -2.84909900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1369.146559995 meters 0.01971004024131315 Centerline is valid? [True, True] Translation: X:-449.60, Y:-264.19, Z:-2.85 [[ 7.32330192e-01 6.80901126e-01 -8.13307147e-03 -4.49600302e+02] [-6.80855276e-01 7.32375310e-01 7.90566419e-03 -2.64194848e+02] [ 1.13394364e-02 -2.52111962e-04 9.99935675e-01 -2.84927026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1369.176559995 meters 0.019400966149125315 Centerline is valid? [True, True] Translation: X:-449.57, Y:-264.21, Z:-2.85 [[ 7.31157403e-01 6.82168825e-01 -7.38554553e-03 -4.49572929e+02] [-6.82131100e-01 7.31194673e-01 7.17721125e-03 -2.64207028e+02] [ 1.02963413e-02 -2.09760834e-04 9.99946970e-01 -2.84928253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1369.2065599950001 meters 0.019094782984089308 Centerline is valid? [True, True] Translation: X:-449.55, Y:-264.22, Z:-2.85 [[ 7.30946600e-01 6.82401568e-01 -6.72079098e-03 -4.49549233e+02] [-6.82370368e-01 7.30977473e-01 6.52804464e-03 -2.64223577e+02] [ 9.36749471e-03 -1.85583415e-04 9.99956107e-01 -2.84886293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1369.236559995 meters 0.019300329157562357 Centerline is valid? [True, True] Translation: X:-449.53, Y:-264.24, Z:-2.85 [[ 7.31379686e-01 6.81942435e-01 -6.18628892e-03 -4.49525700e+02] [-6.81916013e-01 7.31405828e-01 6.00555026e-03 -2.64239444e+02] [ 8.62012734e-03 -1.73807987e-04 9.99962831e-01 -2.84851859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1369.266559995 meters 0.01931305697595916 Centerline is valid? [True, True] Translation: X:-449.50, Y:-264.25, Z:-2.85 [[ 7.31567576e-01 6.81754606e-01 -4.42029692e-03 -4.49498798e+02] [-6.81741117e-01 7.31580920e-01 4.29042051e-03 -2.64251638e+02] [ 6.15881883e-03 -1.25234376e-04 9.99981027e-01 -2.84742265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1369.296559995 meters 0.019498382282611356 Centerline is valid? [True, True] Translation: X:-449.48, Y:-264.27, Z:-2.85 [[ 7.31761220e-01 6.81549494e-01 -3.97557242e-03 -4.49475703e+02] [-6.81538588e-01 7.31772010e-01 3.85732760e-03 -2.64267172e+02] [ 5.53817229e-03 -1.13136736e-04 9.99984658e-01 -2.84717539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1369.326559995 meters 0.019297925552569168 Centerline is valid? [True, True] Translation: X:-449.45, Y:-264.28, Z:-2.85 [[ 7.31801954e-01 6.81508173e-01 -3.53702574e-03 -4.49451070e+02] [-6.81499549e-01 7.31810495e-01 3.42994989e-03 -2.64282114e+02] [ 4.92597144e-03 -9.95625875e-05 9.99987863e-01 -2.84656794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1369.356559995 meters 0.019295773405806602 Centerline is valid? [True, True] Translation: X:-449.42, Y:-264.29, Z:-2.85 [[ 7.30743687e-01 6.82650201e-01 -1.53873393e-03 -4.49422989e+02] [-6.82648572e-01 7.30745306e-01 1.49190015e-03 -2.64293070e+02] [ 2.14286853e-03 -3.97820943e-05 9.99997704e-01 -2.84542995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1369.386559995 meters 0.018640282932118193 Centerline is valid? [True, True] Translation: X:-449.40, Y:-264.31, Z:-2.85 [[ 7.30022015e-01 6.83423229e-01 -7.39912080e-04 -4.49397797e+02] [-6.83422853e-01 7.30022390e-01 7.17055275e-04 -2.64308402e+02] [ 1.03020462e-03 -1.77933118e-05 9.99999469e-01 -2.84511308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1369.416559995 meters 0.018465183285681967 Centerline is valid? [True, True] Translation: X:-449.37, Y:-264.32, Z:-2.85 [[ 7.29806383e-01 6.83653562e-01 -6.71406050e-04 -4.49373763e+02] [-6.83653253e-01 7.29806691e-01 6.50318466e-04 -2.64323235e+02] [ 9.34589166e-04 -1.55976369e-05 9.99999563e-01 -2.84544927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1369.4465599950001 meters 0.0184313424716155 Centerline is valid? [True, True] Translation: X:-449.35, Y:-264.33, Z:-2.85 [[ 7.29908944e-01 6.83544288e-01 -3.74795392e-04 -4.49346447e+02] [-6.83544192e-01 7.29909040e-01 3.62940026e-04 -2.64334257e+02] [ 5.21652128e-04 -8.72395717e-06 9.99999864e-01 -2.84574074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1369.4765599950001 meters 0.018717232928955482 Centerline is valid? [True, True] Translation: X:-449.32, Y:-264.35, Z:-2.85 [[ 7.30568882e-01 6.82839001e-01 -9.44824535e-05 -4.49322059e+02] [-6.82838994e-01 7.30568888e-01 9.14508908e-05 -2.64350405e+02] [ 1.31472178e-04 -2.29487147e-06 9.99999992e-01 -2.84559819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1369.506559995 meters 0.0190236051098448 Centerline is valid? [True, True] Translation: X:-449.30, Y:-264.37, Z:-2.85 [[ 7.31389071e-01 6.81960405e-01 1.83523162e-04 -4.49297880e+02] [-6.81960381e-01 7.31389094e-01 -1.77556862e-04 -2.64366351e+02] [-2.55313587e-04 4.70762308e-06 9.99999968e-01 -2.84521713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1369.536559995 meters 0.0197818853216177 Centerline is valid? [True, True] Translation: X:-449.27, Y:-264.38, Z:-2.85 [[ 7.32834054e-01 6.80407342e-01 3.12899628e-04 -4.49274018e+02] [-6.80407275e-01 7.32834121e-01 -3.02589373e-04 -2.64382650e+02] [-4.35187552e-04 8.84861359e-06 9.99999906e-01 -2.84505840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1369.566559995 meters 0.021506601761438014 Centerline is valid? [True, True] Translation: X:-449.25, Y:-264.40, Z:-2.84 [[ 7.35549667e-01 6.77469635e-01 1.25740625e-03 -4.49247482e+02] [-6.77468546e-01 7.35550740e-01 -1.21583704e-03 -2.64395927e+02] [-1.74857877e-03 4.24553432e-05 9.99998471e-01 -2.84403668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1369.596559995 meters 0.022602109971150152 Centerline is valid? [True, True] Translation: X:-449.23, Y:-264.41, Z:-2.84 [[ 7.36878409e-01 6.76022402e-01 1.98075129e-03 -4.49225080e+02] [-6.76019694e-01 7.36881067e-01 -1.91496498e-03 -2.64412249e+02] [-2.75413735e-03 7.20694633e-05 9.99996205e-01 -2.84366495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1369.626559995 meters 0.024291077453586673 Centerline is valid? [True, True] Translation: X:-449.20, Y:-264.43, Z:-2.84 [[ 7.39109544e-01 6.73577008e-01 3.33129329e-03 -4.49198168e+02] [-6.73569323e-01 7.39117038e-01 -3.22034751e-03 -2.64426151e+02] [-4.63136767e-03 1.36332609e-04 9.99989266e-01 -2.84275595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1369.656559995 meters 0.025363708963984984 Centerline is valid? [True, True] Translation: X:-449.17, Y:-264.44, Z:-2.84 [[ 7.40563244e-01 6.71975012e-01 3.95790117e-03 -4.49174837e+02] [-6.71964146e-01 7.40573800e-01 -3.82548687e-03 -2.64442760e+02] [-5.50174949e-03 1.73447285e-04 9.99984850e-01 -2.84231532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1369.686559995 meters 0.026910361252709483 Centerline is valid? [True, True] Translation: X:-449.15, Y:-264.46, Z:-2.84 [[ 7.42240086e-01 6.70119703e-01 4.38617866e-03 -4.49151196e+02] [-6.70106336e-01 7.42253017e-01 -4.23761205e-03 -2.64459445e+02] [-6.09536167e-03 2.06119422e-04 9.99981402e-01 -2.84161570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1369.7165599950001 meters 0.029430402151543536 Centerline is valid? [True, True] Translation: X:-449.12, Y:-264.47, Z:-2.84 [[ 7.44843743e-01 6.67219147e-01 5.13895307e-03 -4.49123929e+02] [-6.67200737e-01 7.44861422e-01 -4.96382355e-03 -2.64471318e+02] [-7.13976600e-03 2.68559639e-04 9.99974476e-01 -2.84083603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1369.746559995 meters 0.030185212226871712 Centerline is valid? [True, True] Translation: X:-449.10, Y:-264.49, Z:-2.84 [[ 7.45564847e-01 6.66414898e-01 4.92375555e-03 -4.49098481e+02] [-6.66397993e-01 7.45581059e-01 -4.75390891e-03 -2.64486721e+02] [-6.83913459e-03 2.63166552e-04 9.99976578e-01 -2.84067862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1369.776559995 meters 0.02954148439413392 Centerline is valid? [True, True] Translation: X:-449.07, Y:-264.50, Z:-2.84 [[ 7.44980841e-01 6.67075142e-01 3.78188218e-03 -4.49072549e+02] [-6.67065185e-01 7.44990414e-01 -3.64985383e-03 -2.64501602e+02] [-5.25219273e-03 1.96309240e-04 9.99986188e-01 -2.84238987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1369.806559995 meters 0.026303200132153415 Centerline is valid? [True, True] Translation: X:-449.05, Y:-264.52, Z:-2.85 [[ 7.41028006e-01 6.71471721e-01 1.79503385e-03 -4.49049198e+02] [-6.71469492e-01 7.41030176e-01 -1.73213179e-03 -2.64517307e+02] [-2.49325176e-03 7.82477032e-05 9.99996889e-01 -2.84887181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1369.836559995 meters 0.02503736779713364 Centerline is valid? [True, True] Translation: X:-449.03, Y:-264.54, Z:-2.85 [[ 7.39599762e-01 6.73045785e-01 1.25071164e-03 -4.49026403e+02] [-6.73044705e-01 7.39600818e-01 -1.20640770e-03 -2.64535942e+02] [-1.73699496e-03 5.04739993e-05 9.99998490e-01 -2.85035539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1369.866559995 meters 0.02353445530561155 Centerline is valid? [True, True] Translation: X:-449.00, Y:-264.55, Z:-2.85 [[ 7.37711032e-01 6.75116014e-01 -8.94679350e-04 -4.49004589e+02] [-6.75115464e-01 7.37711574e-01 8.62856204e-04 -2.64553213e+02] [ 1.24254336e-03 -3.25266767e-05 9.99999228e-01 -2.85426603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1369.896559995 meters 0.023866209047555743 Centerline is valid? [True, True] Translation: X:-448.99, Y:-264.57, Z:-2.86 [[ 7.37978979e-01 6.74820371e-01 -2.11992446e-03 -4.48985172e+02] [-6.74817279e-01 7.37982020e-01 2.04421616e-03 -2.64572684e+02] [ 2.94394484e-03 -7.80269041e-05 9.99995664e-01 -2.85612535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1369.926559995 meters 0.025167349566415687 Centerline is valid? [True, True] Translation: X:-448.97, Y:-264.59, Z:-2.86 [[ 7.39414590e-01 6.73244808e-01 -2.73732274e-03 -4.48966132e+02] [-6.73239644e-01 7.39419649e-01 2.63917336e-03 -2.64593664e+02] [ 3.80083998e-03 -1.08569094e-04 9.99992771e-01 -2.85715702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1369.9565599950001 meters 0.027291772874631484 Centerline is valid? [True, True] Translation: X:-448.95, Y:-264.62, Z:-2.86 [[ 7.41850311e-01 6.70560315e-01 -2.64205395e-03 -4.48947824e+02] [-6.70555491e-01 7.41855006e-01 2.54634015e-03 -2.64616993e+02] [ 3.66749560e-03 -1.17359445e-04 9.99993268e-01 -2.85767183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1369.986559995 meters 0.032203143766759985 Centerline is valid? [True, True] Translation: X:-448.94, Y:-264.64, Z:-2.86 [[ 7.46173255e-01 6.65740686e-01 -3.84871586e-03 -4.48935482e+02] [-6.65730387e-01 7.46183152e-01 3.70878250e-03 -2.64644593e+02] [ 5.34093435e-03 -2.05187209e-04 9.99985716e-01 -2.86140899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1370.016559995 meters 0.0334256368792983 Centerline is valid? [True, True] Translation: X:-448.92, Y:-264.67, Z:-2.86 [[ 7.47420120e-01 6.64337427e-01 -4.35291582e-03 -4.48917403e+02] [-6.64324240e-01 7.47432756e-01 4.19293076e-03 -2.64667151e+02] [ 6.03903270e-03 -2.42133319e-04 9.99981736e-01 -2.86306988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1370.046559995 meters 0.034077631244497975 Centerline is valid? [True, True] Translation: X:-448.90, Y:-264.69, Z:-2.86 [[ 7.47432475e-01 6.64319649e-01 -4.90905613e-03 -4.48898308e+02] [-6.64302883e-01 7.47448546e-01 4.72766890e-03 -2.64685994e+02] [ 6.80995021e-03 -2.72513132e-04 9.99976775e-01 -2.86472711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1370.076559995 meters 0.03315514333729305 Centerline is valid? [True, True] Translation: X:-448.88, Y:-264.70, Z:-2.86 [[ 7.46667208e-01 6.65173860e-01 -5.64071177e-03 -4.48875493e+02] [-6.65151764e-01 7.46688453e-01 5.43008239e-03 -2.64703202e+02] [ 7.82380321e-03 -3.02535075e-04 9.99969348e-01 -2.86481514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1370.106559995 meters 0.032748508155931194 Centerline is valid? [True, True] Translation: X:-448.85, Y:-264.72, Z:-2.86 [[ 7.45814786e-01 6.66132727e-01 -5.24352604e-03 -4.48853945e+02] [-6.66113663e-01 7.45833169e-01 5.04700278e-03 -2.64721320e+02] [ 7.27276938e-03 -2.71344963e-04 9.99973516e-01 -2.86410479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1370.136559995 meters 0.03261829143212603 Centerline is valid? [True, True] Translation: X:-448.83, Y:-264.74, Z:-2.86 [[ 7.45591146e-01 6.66388510e-01 -4.49409873e-03 -4.48832735e+02] [-6.66374521e-01 7.45604655e-01 4.32392646e-03 -2.64740672e+02] [ 6.23223585e-03 -2.29128397e-04 9.99980553e-01 -2.86262981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1370.166559995 meters 0.03223481819780253 Centerline is valid? [True, True] Translation: X:-448.81, Y:-264.76, Z:-2.86 [[ 7.45170678e-01 6.66865103e-01 -3.40531057e-03 -4.48811177e+02] [-6.66857082e-01 7.45178439e-01 3.27515074e-03 -2.64760459e+02] [ 4.72164775e-03 -1.69690829e-04 9.99988839e-01 -2.86068674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1370.1965599950001 meters 0.031413283242369125 Centerline is valid? [True, True] Translation: X:-448.79, Y:-264.78, Z:-2.86 [[ 7.43783933e-01 6.68419836e-01 -6.19953565e-04 -4.48790701e+02] [-6.68419571e-01 7.43784191e-01 5.96123626e-04 -2.64779314e+02] [ 8.59572519e-04 -2.89980791e-05 9.99999630e-01 -2.85602786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1370.2265599950001 meters 0.030793262772185335 Centerline is valid? [True, True] Translation: X:-448.77, Y:-264.80, Z:-2.85 [[ 7.43187098e-01 6.69083237e-01 7.47644194e-04 -4.48769334e+02] [-6.69082852e-01 7.43187474e-01 -7.18624120e-04 -2.64798450e+02] [-1.03645915e-03 3.38362642e-05 9.99999463e-01 -2.85355485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1370.256559995 meters 0.0236049536781156 Centerline is valid? [True, True] Translation: X:-448.74, Y:-264.81, Z:-2.85 [[ 7.41463686e-01 6.70985927e-01 3.08042319e-03 -4.48740660e+02] [-6.70979411e-01 7.41470074e-01 -2.95967222e-03 -2.64810458e+02] [-4.26994001e-03 1.27588928e-04 9.99990876e-01 -2.85037574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1370.286559995 meters 0.020392400273507208 Centerline is valid? [True, True] Translation: X:-448.72, Y:-264.83, Z:-2.85 [[ 7.40851646e-01 6.71660054e-01 3.40750822e-03 -4.48716124e+02] [-6.71652096e-01 7.40859470e-01 -3.27236853e-03 -2.64826268e+02] [-4.72240395e-03 1.35679576e-04 9.99988840e-01 -2.85033253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1370.316559995 meters 0.02869075245489061 Centerline is valid? [True, True] Translation: X:-448.70, Y:-264.85, Z:-2.85 [[ 7.40492273e-01 6.72054460e-01 3.74119628e-03 -4.48704938e+02] [-6.72044875e-01 7.40501710e-01 -3.59221307e-03 -2.64854367e+02] [-5.18452505e-03 1.45754235e-04 9.99986550e-01 -2.84840780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1370.346559995 meters 0.020935155438229117 Centerline is valid? [True, True] Translation: X:-448.68, Y:-264.87, Z:-2.85 [[ 7.40813368e-01 6.71698100e-01 4.14927550e-03 -4.48677245e+02] [-6.71686316e-01 7.40824970e-01 -3.98216448e-03 -2.64867175e+02] [-5.74869921e-03 1.63029112e-04 9.99983463e-01 -2.85137240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1370.376559995 meters 0.030398627531008086 Centerline is valid? [True, True] Translation: X:-448.67, Y:-264.90, Z:-2.85 [[ 7.41458052e-01 6.70985013e-01 4.36678671e-03 -4.48667403e+02] [-6.70971953e-01 7.41470890e-01 -4.19021538e-03 -2.64897000e+02] [-6.04941695e-03 1.76877529e-04 9.99981687e-01 -2.84808402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1370.406559995 meters 0.021581687444869147 Centerline is valid? [True, True] Translation: X:-448.64, Y:-264.91, Z:-2.85 [[ 7.42412020e-01 6.69924857e-01 5.00789902e-03 -4.48638161e+02] [-6.69907671e-01 7.42428880e-01 -4.80312087e-03 -2.64907534e+02] [-6.93573892e-03 2.11064700e-04 9.99975925e-01 -2.85015515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1370.436559995 meters 0.02358513972512523 Centerline is valid? [True, True] Translation: X:-448.62, Y:-264.93, Z:-2.85 [[ 7.44573100e-01 6.67515449e-01 5.83294467e-03 -4.48620610e+02] [-6.67492067e-01 7.44595898e-01 -5.59367469e-03 -2.64930049e+02] [-8.07705095e-03 2.71455408e-04 9.99967343e-01 -2.84807926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1370.4665599950001 meters 0.02358513972512523 Centerline is valid? [True, True] Translation: X:-448.60, Y:-264.95, Z:-2.85 [[ 7.44751432e-01 6.67316465e-01 5.83443866e-03 -4.48600752e+02] [-6.67293089e-01 7.44774236e-01 -5.59211639e-03 -2.64948962e+02] [-8.07705092e-03 2.71456094e-04 9.99967343e-01 -2.84807936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1370.496559995 meters 0.022936389258467475 Centerline is valid? [True, True] Translation: X:-448.58, Y:-264.97, Z:-2.85 [[ 7.45814356e-01 6.66133936e-01 5.15033800e-03 -4.48579110e+02] [-6.66115709e-01 7.45832097e-01 -4.93405597e-03 -2.64967892e+02] [-7.12802951e-03 2.49168719e-04 9.99974564e-01 -2.84849592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1370.526559995 meters 0.024124060004101992 Centerline is valid? [True, True] Translation: X:-448.56, Y:-264.99, Z:-2.85 [[ 7.46295480e-01 6.65599804e-01 4.46739035e-03 -4.48560562e+02] [-6.65586086e-01 7.46308818e-01 -4.27905856e-03 -2.64988519e+02] [-6.18219335e-03 2.20009202e-04 9.99980866e-01 -2.84988850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1370.556559995 meters 0.02431681574493214 Centerline is valid? [True, True] Translation: X:-448.54, Y:-265.01, Z:-2.85 [[ 7.47125397e-01 6.64670720e-01 4.05885071e-03 -4.48540695e+02] [-6.64659393e-01 7.47136394e-01 -3.88590041e-03 -2.65009572e+02] [-5.61535931e-03 2.05501641e-04 9.99984213e-01 -2.85105512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1370.586559995 meters 0.02356474409408842 Centerline is valid? [True, True] Translation: X:-448.52, Y:-265.03, Z:-2.85 [[ 7.47860652e-01 6.63845366e-01 3.71162998e-03 -4.48519679e+02] [-6.63835892e-01 7.47869837e-01 -3.55175055e-03 -2.65029803e+02] [-5.13362925e-03 1.92301284e-04 9.99986805e-01 -2.85214656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1370.616559995 meters 0.025253814353696263 Centerline is valid? [True, True] Translation: X:-448.50, Y:-265.05, Z:-2.85 [[ 7.47966862e-01 6.63725309e-01 3.77997521e-03 -4.48501959e+02] [-6.63715486e-01 7.47976387e-01 -3.61628170e-03 -2.65049882e+02] [-5.22754988e-03 1.96030789e-04 9.99986317e-01 -2.85176733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1370.646559995 meters 0.02434812549433911 Centerline is valid? [True, True] Translation: X:-448.48, Y:-265.07, Z:-2.85 [[ 7.47950372e-01 6.63744686e-01 3.63772622e-03 -4.48479954e+02] [-6.63735598e-01 7.47959194e-01 -3.47853655e-03 -2.65068944e+02] [-5.02973092e-03 1.87284320e-04 9.99987334e-01 -2.85161094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1370.676559995 meters 0.02434812549433911 Centerline is valid? [True, True] Translation: X:-448.46, Y:-265.09, Z:-2.85 [[ 7.48130987e-01 6.63541097e-01 3.63867273e-03 -4.48460071e+02] [-6.63532010e-01 7.48139812e-01 -3.47754646e-03 -2.65087835e+02] [-5.02973092e-03 1.87284438e-04 9.99987334e-01 -2.85161103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1370.7065599950001 meters 0.025163679600469224 Centerline is valid? [True, True] Translation: X:-448.44, Y:-265.11, Z:-2.85 [[ 7.48382239e-01 6.63254606e-01 4.16560112e-03 -4.48441057e+02] [-6.63242697e-01 7.48393801e-01 -3.98046926e-03 -2.65107510e+02] [-5.75757462e-03 2.16107978e-04 9.99983402e-01 -2.85112651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1370.736559995 meters 0.025668017707876696 Centerline is valid? [True, True] Translation: X:-448.42, Y:-265.13, Z:-2.85 [[ 7.49433316e-01 6.62066178e-01 4.25214898e-03 -4.48421087e+02] [-6.62053761e-01 7.49445344e-01 -4.06125793e-03 -2.65128144e+02] [-5.87557477e-03 2.28490774e-04 9.99982713e-01 -2.85003507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1370.766559995 meters 0.024884847009471738 Centerline is valid? [True, True] Translation: X:-448.40, Y:-265.15, Z:-2.85 [[ 7.50355385e-01 6.61017074e-01 4.81916854e-03 -4.48399715e+02] [-6.61001118e-01 7.50370813e-01 -4.60059311e-03 -2.65147529e+02] [-6.65723401e-03 2.66604026e-04 9.99977805e-01 -2.84998878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1370.796559995 meters 0.025549696703928683 Centerline is valid? [True, True] Translation: X:-448.38, Y:-265.17, Z:-2.85 [[ 7.51750118e-01 6.59426675e-01 5.31237327e-03 -4.48379881e+02] [-6.59407264e-01 7.51768825e-01 -5.06896665e-03 -2.65168764e+02] [-7.33628843e-03 3.07578756e-04 9.99973042e-01 -2.84899913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1370.826559995 meters 0.026702649195625535 Centerline is valid? [True, True] Translation: X:-448.36, Y:-265.19, Z:-2.85 [[ 7.53011925e-01 6.57984076e-01 5.47692975e-03 -4.48360466e+02] [-6.57963425e-01 7.53031770e-01 -5.22346444e-03 -2.65190575e+02] [-7.56125852e-03 3.29711552e-04 9.99971359e-01 -2.84834838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1370.856559995 meters 0.028069451323405756 Centerline is valid? [True, True] Translation: X:-448.34, Y:-265.21, Z:-2.85 [[ 7.54639305e-01 6.56117176e-01 5.45624661e-03 -4.48340508e+02] [-6.56096648e-01 7.54658951e-01 -5.20155890e-03 -2.65212187e+02] [-7.53043747e-03 3.45475681e-04 9.99971586e-01 -2.84784280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1370.886559995 meters 0.02700084738875879 Centerline is valid? [True, True] Translation: X:-448.32, Y:-265.23, Z:-2.85 [[ 7.54547831e-01 6.56229228e-01 4.55758654e-03 -4.48318637e+02] [-6.56214921e-01 7.54561541e-01 -4.34272765e-03 -2.65230588e+02] [-6.28880433e-03 2.86039445e-04 9.99980185e-01 -2.84838838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1370.916559995 meters 0.026873017919217358 Centerline is valid? [True, True] Translation: X:-448.30, Y:-265.25, Z:-2.85 [[ 7.54257978e-01 6.56569184e-01 3.43637583e-03 -4.48296871e+02] [-6.56561061e-01 7.54265776e-01 -3.27289650e-03 -2.65250128e+02] [-4.74082367e-03 2.12417734e-04 9.99988740e-01 -2.84938857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1370.9465599950001 meters 0.027672766491738394 Centerline is valid? [True, True] Translation: X:-448.28, Y:-265.27, Z:-2.85 [[ 7.53759175e-01 6.57143428e-01 3.10199744e-03 -4.48277551e+02] [-6.57136816e-01 7.53765534e-01 -2.95391761e-03 -2.65270445e+02] [-4.27932629e-03 1.88105780e-04 9.99990826e-01 -2.84978335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1370.9765599950001 meters 0.027384680175152422 Centerline is valid? [True, True] Translation: X:-448.26, Y:-265.29, Z:-2.85 [[ 7.53775771e-01 6.57127529e-01 2.34462782e-03 -4.48256266e+02] [-6.57123755e-01 7.53779404e-01 -2.23163687e-03 -2.65290145e+02] [-3.23380218e-03 1.41443168e-04 9.99994761e-01 -2.85047622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1371.006559995 meters 0.028401385947197592 Centerline is valid? [True, True] Translation: X:-448.24, Y:-265.31, Z:-2.85 [[ 7.54630999e-01 6.56146708e-01 1.88498877e-03 -4.48237075e+02] [-6.56144267e-01 7.54633344e-01 -1.79384461e-03 -2.65310564e+02] [-2.59950062e-03 1.16866178e-04 9.99996615e-01 -2.85082108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1371.036559995 meters 0.030100960092088902 Centerline is valid? [True, True] Translation: X:-448.22, Y:-265.33, Z:-2.85 [[ 7.56038220e-01 6.54526109e-01 1.33563697e-03 -4.48218664e+02] [-6.54524881e-01 7.56039394e-01 -1.27088120e-03 -2.65331972e+02] [-1.84161909e-03 8.66271325e-05 9.99998301e-01 -2.85135536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1371.066559995 meters 0.032474060527401254 Centerline is valid? [True, True] Translation: X:-448.20, Y:-265.36, Z:-2.85 [[ 7.60031878e-01 6.49884436e-01 -1.32839027e-03 -4.48200414e+02] [-6.49883215e-01 7.60033033e-01 1.26344167e-03 -2.65355613e+02] [ 1.83071157e-03 -9.69574082e-05 9.99998320e-01 -2.85391064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1371.096559995 meters 0.03662327399756945 Centerline is valid? [True, True] Translation: X:-448.18, Y:-265.38, Z:-2.86 [[ 7.62735072e-01 6.46704515e-01 -2.91217823e-03 -4.48184473e+02] [-6.46698629e-01 7.62740597e-01 2.76858909e-03 -2.65380377e+02] [ 4.01169562e-03 -2.28398333e-04 9.99991927e-01 -2.85632240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1371.126559995 meters 0.039132879997813556 Centerline is valid? [True, True] Translation: X:-448.17, Y:-265.40, Z:-2.86 [[ 7.65387105e-01 6.43556227e-01 -4.23820299e-03 -4.48166655e+02] [-6.43543723e-01 7.65398756e-01 4.02750497e-03 -2.65403911e+02] [ 5.83584120e-03 -3.55131435e-04 9.99982909e-01 -2.85900189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1371.156559995 meters 0.04594716853243738 Centerline is valid? [True, True] Translation: X:-448.15, Y:-265.43, Z:-2.86 [[ 7.70499785e-01 6.37406282e-01 -6.58124790e-03 -4.48153685e+02] [-6.37375916e-01 7.70527639e-01 6.25293296e-03 -2.65431346e+02] [ 9.05669216e-03 -6.23154596e-04 9.99958793e-01 -2.86261066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1371.186559995 meters 0.047888982384208634 Centerline is valid? [True, True] Translation: X:-448.13, Y:-265.45, Z:-2.86 [[ 7.73050689e-01 6.34303395e-01 -7.19969931e-03 -4.48133856e+02] [-6.34266948e-01 7.73083880e-01 6.83768683e-03 -2.65452850e+02] [ 9.90313945e-03 -7.19347210e-04 9.99950704e-01 -2.86313873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1371.2165599950001 meters 0.051635168823523356 Centerline is valid? [True, True] Translation: X:-448.12, Y:-265.48, Z:-2.86 [[ 7.75530764e-01 6.31263513e-01 -7.64272182e-03 -4.48116633e+02] [-6.31222304e-01 7.75568005e-01 7.25758443e-03 -2.65476374e+02] [ 1.05088988e-02 -8.04223529e-04 9.99944457e-01 -2.86285522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1371.246559995 meters 0.0507833147423737 Centerline is valid? [True, True] Translation: X:-448.09, Y:-265.49, Z:-2.86 [[ 7.76692360e-01 6.29820070e-01 -8.69813125e-03 -4.48093355e+02] [-6.29766642e-01 7.76740501e-01 8.25658668e-03 -2.65494735e+02] [ 1.19563548e-02 -9.35034895e-04 9.99928083e-01 -2.86433296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1371.276559995 meters 0.053302960654143465 Centerline is valid? [True, True] Translation: X:-448.08, Y:-265.52, Z:-2.87 [[ 7.77471442e-01 6.28830649e-01 -1.04962592e-02 -4.48075106e+02] [-6.28752783e-01 7.77541448e-01 9.96166879e-03 -2.65516187e+02] [ 1.44254792e-02 -1.14536084e-03 9.99895292e-01 -2.86689681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1371.306559995 meters 0.05398899670709087 Centerline is valid? [True, True] Translation: X:-448.05, Y:-265.53, Z:-2.87 [[ 7.75485800e-01 6.31247994e-01 -1.21549692e-02 -4.48054070e+02] [-6.31143889e-01 7.75580008e-01 1.15344387e-02 -2.65534557e+02] [ 1.67082425e-02 -1.27325890e-03 9.99859597e-01 -2.87139289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1371.336559995 meters 0.05154161982594835 Centerline is valid? [True, True] Translation: X:-448.03, Y:-265.55, Z:-2.87 [[ 7.74610138e-01 6.32312231e-01 -1.26639866e-02 -4.48031812e+02] [-6.32199390e-01 7.74712559e-01 1.20159414e-02 -2.65552969e+02] [ 1.74087762e-02 -1.30150547e-03 9.99847609e-01 -2.87171887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1371.366559995 meters 0.05128296987766821 Centerline is valid? [True, True] Translation: X:-448.01, Y:-265.57, Z:-2.87 [[ 7.72947566e-01 6.34340643e-01 -1.28066185e-02 -4.48010850e+02] [-6.34225548e-01 7.73052611e-01 1.21497507e-02 -2.65572415e+02] [ 1.76072705e-02 -1.26883557e-03 9.99844175e-01 -2.87292371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1371.396559995 meters 0.04758554412077977 Centerline is valid? [True, True] Translation: X:-447.99, Y:-265.59, Z:-2.87 [[ 7.68102917e-01 6.40187502e-01 -1.33368454e-02 -4.47986527e+02] [-6.40063577e-01 7.68217787e-01 1.26510619e-02 -2.65587358e+02] [ 1.83446536e-02 -1.18088862e-03 9.99831026e-01 -2.87293014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1371.426559995 meters 0.045004751318597984 Centerline is valid? [True, True] Translation: X:-447.96, Y:-265.60, Z:-2.87 [[ 7.65178699e-01 6.43681205e-01 -1.32689581e-02 -4.47962403e+02] [-6.43559155e-01 7.65292965e-01 1.25813609e-02 -2.65604397e+02] [ 1.82530258e-02 -1.08762988e-03 9.99832808e-01 -2.87218379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1371.4565599950001 meters 0.04344796430064242 Centerline is valid? [True, True] Translation: X:-447.94, Y:-265.62, Z:-2.87 [[ 7.62705634e-01 6.46623245e-01 -1.25895050e-02 -4.47940105e+02] [-6.46513800e-01 7.62808921e-01 1.19355231e-02 -2.65621421e+02] [ 1.73211734e-02 -9.64002011e-04 9.99849513e-01 -2.87073201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1371.486559995 meters 0.03952646200398949 Centerline is valid? [True, True] Translation: X:-447.91, Y:-265.64, Z:-2.87 [[ 7.58568580e-01 6.51488334e-01 -1.16902022e-02 -4.47914338e+02] [-6.51394572e-01 7.58658241e-01 1.10808920e-02 -2.65636484e+02] [ 1.60879401e-02 -7.90682228e-04 9.99870268e-01 -2.86871471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1371.516559995 meters 0.03921018190852921 Centerline is valid? [True, True] Translation: X:-447.89, Y:-265.66, Z:-2.87 [[ 7.57581996e-01 6.52640310e-01 -1.14081266e-02 -4.47893388e+02] [-6.52551206e-01 7.57667520e-01 1.08098107e-02 -2.65655173e+02] [ 1.56984853e-02 -7.44931188e-04 9.99876494e-01 -2.86876365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1371.546559995 meters 0.03848320593499493 Centerline is valid? [True, True] Translation: X:-447.87, Y:-265.67, Z:-2.87 [[ 7.56532584e-01 6.53869345e-01 -1.06455915e-02 -4.47871976e+02] [-6.53791924e-01 7.56607185e-01 1.00840663e-02 -2.65674053e+02] [ 1.46481929e-02 -6.68923025e-04 9.99892486e-01 -2.86799940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1371.576559995 meters 0.0364932955607721 Centerline is valid? [True, True] Translation: X:-447.85, Y:-265.69, Z:-2.87 [[ 7.55014595e-01 6.55625572e-01 -1.03957297e-02 -4.47849094e+02] [-6.55551936e-01 7.55085908e-01 9.84535948e-03 -2.65691735e+02] [ 1.43045384e-02 -6.18449377e-04 9.99897494e-01 -2.86783357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1371.606559995 meters 0.033687875041112744 Centerline is valid? [True, True] Translation: X:-447.83, Y:-265.71, Z:-2.87 [[ 7.51161343e-01 6.60033992e-01 -1.05719564e-02 -4.47825508e+02] [-6.59958292e-01 7.51235539e-01 1.00108762e-02 -2.65708088e+02] [ 1.45495479e-02 -5.42732918e-04 9.99894003e-01 -2.87036347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1371.636559995 meters 0.03351773161028895 Centerline is valid? [True, True] Translation: X:-447.80, Y:-265.73, Z:-2.87 [[ 7.49576476e-01 6.61831049e-01 -1.07130806e-02 -4.47804504e+02] [-6.61753519e-01 7.49652853e-01 1.01430031e-02 -2.65726470e+02] [ 1.47440458e-02 -5.13537718e-04 9.99891169e-01 -2.87236617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1371.666559995 meters 0.0317837635520041 Centerline is valid? [True, True] Translation: X:-447.78, Y:-265.74, Z:-2.87 [[ 7.47475061e-01 6.64194344e-01 -1.12652770e-02 -4.47780850e+02] [-6.64108945e-01 7.47559787e-01 1.06617934e-02 -2.65744086e+02] [ 1.55029709e-02 -4.88053433e-04 9.99879703e-01 -2.87347729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1371.6965599950001 meters 0.030094071819371942 Centerline is valid? [True, True] Translation: X:-447.76, Y:-265.76, Z:-2.87 [[ 7.46358669e-01 6.65449512e-01 -1.12108730e-02 -4.47758560e+02] [-6.65365145e-01 7.46442723e-01 1.06059355e-02 -2.65762125e+02] [ 1.54259891e-02 -4.56507746e-04 9.99880908e-01 -2.87359752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1371.7265599950001 meters 0.029121648350166337 Centerline is valid? [True, True] Translation: X:-447.74, Y:-265.78, Z:-2.87 [[ 7.44607740e-01 6.67412377e-01 -1.09558884e-02 -4.47736388e+02] [-6.67332039e-01 7.44688226e-01 1.03631975e-02 -2.65778864e+02] [ 1.50752474e-02 -4.05301703e-04 9.99886280e-01 -2.87333679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1371.756559995 meters 0.02405907311997442 Centerline is valid? [True, True] Translation: X:-447.71, Y:-265.79, Z:-2.87 [[ 7.43915925e-01 6.68182621e-01 -1.10037475e-02 -4.47708740e+02] [-6.68101737e-01 7.43997201e-01 1.04035542e-02 -2.65791507e+02] [ 1.51382315e-02 -3.87746809e-04 9.99885335e-01 -2.86861739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1371.786559995 meters 0.028000150406310147 Centerline is valid? [True, True] Translation: X:-447.69, Y:-265.81, Z:-2.87 [[ 7.43202251e-01 6.68988917e-01 -1.02099861e-02 -4.47692381e+02] [-6.68919381e-01 7.43272299e-01 9.65147338e-03 -2.65814796e+02] [ 1.40455285e-02 -3.43339180e-04 9.99901298e-01 -2.87292673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1371.816559995 meters 0.029268876885665148 Centerline is valid? [True, True] Translation: X:-447.67, Y:-265.84, Z:-2.87 [[ 7.44794196e-01 6.67228564e-01 -9.36208873e-03 -4.47672492e+02] [-6.67170005e-01 7.44852956e-01 8.84640421e-03 -2.65835514e+02] [ 1.28759530e-02 -3.42645721e-04 9.99917043e-01 -2.87156826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1371.846559995 meters 0.024473598643545206 Centerline is valid? [True, True] Translation: X:-447.65, Y:-265.85, Z:-2.87 [[ 7.45076628e-01 6.66926457e-01 -8.36178751e-03 -4.47645580e+02] [-6.66879766e-01 7.45123484e-01 7.89753810e-03 -2.65848998e+02] [ 1.14976413e-02 -3.07964163e-04 9.99933853e-01 -2.86678150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1371.876559995 meters 0.025014900702391298 Centerline is valid? [True, True] Translation: X:-447.63, Y:-265.87, Z:-2.87 [[ 7.45802434e-01 6.66123673e-01 -7.61458821e-03 -4.47625229e+02] [-6.66084925e-01 7.45841248e-01 7.19064420e-03 -2.65867738e+02] [ 1.04691323e-02 -2.90837526e-04 9.99945155e-01 -2.86676330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1371.906559995 meters 0.02972427418619155 Centerline is valid? [True, True] Translation: X:-447.61, Y:-265.89, Z:-2.87 [[ 7.45076500e-01 6.66936328e-01 -7.54609065e-03 -4.47608458e+02] [-6.66898327e-01 7.45114661e-01 7.12479933e-03 -2.65890504e+02] [ 1.03744903e-02 -2.76045323e-04 9.99946146e-01 -2.87196485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1371.936559995 meters 0.03108238430847615 Centerline is valid? [True, True] Translation: X:-447.59, Y:-265.91, Z:-2.87 [[ 7.46269970e-01 6.65605937e-01 -7.06178258e-03 -4.47587749e+02] [-6.65572623e-01 7.46303331e-01 6.66492682e-03 -2.65910909e+02] [ 9.70644672e-03 -2.73705585e-04 9.99952854e-01 -2.87160903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1371.9665599950001 meters 0.029436994377446207 Centerline is valid? [True, True] Translation: X:-447.56, Y:-265.93, Z:-2.87 [[ 7.45036274e-01 6.67000996e-01 -5.53378048e-03 -4.47564684e+02] [-6.66980593e-01 7.45056798e-01 5.22075544e-03 -2.65928627e+02] [ 7.60522984e-03 -1.98727990e-04 9.99971060e-01 -2.86997319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1371.996559995 meters 0.022914737800929133 Centerline is valid? [True, True] Translation: X:-447.54, Y:-265.94, Z:-2.87 [[ 7.45271418e-01 6.66746272e-01 -4.46346624e-03 -4.47535377e+02] [-6.66733008e-01 7.45284766e-01 4.20865863e-03 -2.65938221e+02] [ 6.13266085e-03 -1.60652709e-04 9.99981182e-01 -2.86593093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1372.026559995 meters 0.02370054664665128 Centerline is valid? [True, True] Translation: X:-447.52, Y:-265.96, Z:-2.86 [[ 7.46527859e-01 6.65349700e-01 -2.43553998e-03 -4.47515542e+02] [-6.65345746e-01 7.46531827e-01 2.29581362e-03 -2.65956979e+02] [ 3.34572701e-03 -9.34126586e-05 9.99994399e-01 -2.86398148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1372.056559995 meters 0.023119823176164567 Centerline is valid? [True, True] Translation: X:-447.49, Y:-265.97, Z:-2.86 [[ 7.46810015e-01 6.65036983e-01 -7.83074540e-04 -4.47494355e+02] [-6.65036575e-01 7.46810425e-01 7.37740139e-04 -2.65974559e+02] [ 1.07543271e-03 -3.01785143e-05 9.99999422e-01 -2.86241177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1372.086559995 meters 0.02388702833478797 Centerline is valid? [True, True] Translation: X:-447.48, Y:-265.99, Z:-2.86 [[ 7.47743139e-01 6.63986410e-01 1.49896282e-03 -4.47475497e+02] [-6.63984911e-01 7.47744639e-01 -1.41189603e-03 -2.65994397e+02] [-2.05832119e-03 6.04468761e-05 9.99997880e-01 -2.86104318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1372.116559995 meters 0.0235599247486977 Centerline is valid? [True, True] Translation: X:-447.45, Y:-266.01, Z:-2.86 [[ 7.47712874e-01 6.64017357e-01 2.53143918e-03 -4.47454258e+02] [-6.64013088e-01 7.47717152e-01 -2.38308624e-03 -2.66011864e+02] [-3.47521112e-03 1.00955513e-04 9.99993957e-01 -2.86052431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1372.146559995 meters 0.023654779298324165 Centerline is valid? [True, True] Translation: X:-447.43, Y:-266.03, Z:-2.86 [[ 7.47649075e-01 6.64086683e-01 3.12048953e-03 -4.47434671e+02] [-6.64080201e-01 7.47655577e-01 -2.93691139e-03 -2.66030542e+02] [-4.28341514e-03 1.23523771e-04 9.99990819e-01 -2.86010344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1372.176559995 meters 0.023113000705239663 Centerline is valid? [True, True] Translation: X:-447.41, Y:-266.05, Z:-2.86 [[ 7.46772952e-01 6.65066729e-01 4.05027625e-03 -4.47413453e+02] [-6.65055832e-01 7.46783920e-01 -3.81017688e-03 -2.66050136e+02] [-5.55870305e-03 1.51677192e-04 9.99984539e-01 -2.86081390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1372.2065599950001 meters 0.0224797175671495 Centerline is valid? [True, True] Translation: X:-447.39, Y:-266.07, Z:-2.86 [[ 7.45232691e-01 6.66788534e-01 4.61377961e-03 -4.47393525e+02] [-6.66774440e-01 7.45246957e-01 -4.33822086e-03 -2.66070051e+02] [-6.33108114e-03 1.56633687e-04 9.99979946e-01 -2.86379494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1372.236559995 meters 0.021903860968177202 Centerline is valid? [True, True] Translation: X:-447.37, Y:-266.09, Z:-2.87 [[ 7.44042670e-01 6.68122986e-01 3.49017949e-03 -4.47371813e+02] [-6.68114943e-01 7.44050848e-01 -3.28018898e-03 -2.66088498e+02] [-4.78844066e-03 1.08759501e-04 9.99988530e-01 -2.86562266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1372.266559995 meters 0.021044144800112092 Centerline is valid? [True, True] Translation: X:-447.35, Y:-266.11, Z:-2.87 [[ 7.42607402e-01 6.69718946e-01 3.28321511e-03 -4.47350558e+02] [-6.69711850e-01 7.42614654e-01 -3.08423939e-03 -2.66107538e+02] [-4.50373721e-03 9.15709386e-05 9.99989854e-01 -2.86721590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1372.296559995 meters 0.01986393184785261 Centerline is valid? [True, True] Translation: X:-447.33, Y:-266.13, Z:-2.87 [[ 7.40430222e-01 6.72127710e-01 2.72542174e-03 -4.47328393e+02] [-6.72122841e-01 7.40435235e-01 -2.55906319e-03 -2.66126160e+02] [-3.73801557e-03 6.29895181e-05 9.99993012e-01 -2.86977374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1372.326559995 meters 0.019692379211245475 Centerline is valid? [True, True] Translation: X:-447.31, Y:-266.15, Z:-2.87 [[ 7.40126944e-01 6.72462196e-01 2.58895341e-03 -4.47307590e+02] [-6.72457808e-01 7.40131470e-01 -2.42980088e-03 -2.66145650e+02] [-3.55011512e-03 5.73991621e-05 9.99993697e-01 -2.87062291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1372.356559995 meters 0.019146102323790607 Centerline is valid? [True, True] Translation: X:-447.29, Y:-266.16, Z:-2.87 [[ 7.40073768e-01 6.72520916e-01 2.53666748e-03 -4.47286647e+02] [-6.72516709e-01 7.40078114e-01 -2.37943928e-03 -2.66164429e+02] [-3.47755476e-03 5.50093290e-05 9.99993952e-01 -2.87152199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1372.386559995 meters 0.019477667369205073 Centerline is valid? [True, True] Translation: X:-447.27, Y:-266.18, Z:-2.87 [[ 7.40140283e-01 6.72445111e-01 3.15176544e-03 -4.47269117e+02] [-6.72438619e-01 7.40146991e-01 -2.95572339e-03 -2.66184784e+02] [-4.32033145e-03 6.82811502e-05 9.99990665e-01 -2.87194613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1372.416559995 meters 0.019477667369205073 Centerline is valid? [True, True] Translation: X:-447.25, Y:-266.20, Z:-2.87 [[ 7.40313450e-01 6.72254459e-01 3.15252627e-03 -4.47249054e+02] [-6.72247969e-01 7.40320159e-01 -2.95491189e-03 -2.66203459e+02] [-4.32033144e-03 6.82816358e-05 9.99990665e-01 -2.87194622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1372.4465599950001 meters 0.019812650730824437 Centerline is valid? [True, True] Translation: X:-447.23, Y:-266.22, Z:-2.87 [[ 7.40662705e-01 6.71871365e-01 2.76161364e-03 -4.47230861e+02] [-6.71866384e-01 7.40667851e-01 -2.58793734e-03 -2.66223458e+02] [-3.78419943e-03 6.13532998e-05 9.99992838e-01 -2.87421748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1372.4765599950001 meters 0.019722414378092887 Centerline is valid? [True, True] Translation: X:-447.21, Y:-266.24, Z:-2.87 [[ 7.41105477e-01 6.71383434e-01 2.63754876e-03 -4.47210669e+02] [-6.71378892e-01 7.41110168e-01 -2.47040466e-03 -2.66242639e+02] [-3.61330297e-03 6.00358656e-05 9.99993470e-01 -2.87497622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1372.506559995 meters 0.01872028148046219 Centerline is valid? [True, True] Translation: X:-447.19, Y:-266.26, Z:-2.88 [[ 7.40783380e-01 6.71739173e-01 2.54299402e-03 -4.47187596e+02] [-6.71734957e-01 7.40787743e-01 -2.38071464e-03 -2.66260703e+02] [-3.48303808e-03 5.53758615e-05 9.99993933e-01 -2.87626070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1372.536559995 meters 0.018436757969380886 Centerline is valid? [True, True] Translation: X:-447.17, Y:-266.28, Z:-2.88 [[ 7.40268985e-01 6.72306889e-01 2.29739739e-03 -4.47166285e+02] [-6.72303453e-01 7.40272548e-01 -2.14978249e-03 -2.66279303e+02] [-3.14601379e-03 4.68691046e-05 9.99995050e-01 -2.87646344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1372.566559995 meters 0.017911475141620184 Centerline is valid? [True, True] Translation: X:-447.14, Y:-266.30, Z:-2.88 [[ 7.38461256e-01 6.74292263e-01 2.21785658e-03 -4.47143386e+02] [-6.74289073e-01 7.38464585e-01 -2.07438739e-03 -2.66296617e+02] [-3.03655190e-03 3.63782612e-05 9.99995389e-01 -2.87775903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1372.596559995 meters 0.017911475141620184 Centerline is valid? [True, True] Translation: X:-447.12, Y:-266.32, Z:-2.88 [[ 7.38640179e-01 6.74096258e-01 2.21840694e-03 -4.47123308e+02] [-6.74093069e-01 7.38643509e-01 -2.07379881e-03 -2.66315270e+02] [-3.03655190e-03 3.63783757e-05 9.99995389e-01 -2.87775912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1372.626559995 meters 0.01755558343046698 Centerline is valid? [True, True] Translation: X:-447.10, Y:-266.33, Z:-2.88 [[ 7.38001283e-01 6.74796071e-01 2.09024418e-03 -4.47101766e+02] [-6.74793245e-01 7.38004243e-01 -1.95308278e-03 -2.66334278e+02] [-2.86054165e-03 3.08949461e-05 9.99995908e-01 -2.87802530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1372.656559995 meters 0.017738341656374994 Centerline is valid? [True, True] Translation: X:-447.08, Y:-266.35, Z:-2.88 [[ 7.38072909e-01 6.74716399e-01 2.48226265e-03 -4.47082763e+02] [-6.74712416e-01 7.38077082e-01 -2.31884233e-03 -2.66353249e+02] [-3.39666212e-03 3.66612721e-05 9.99994231e-01 -2.87796432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1372.686559995 meters 0.01800861198996657 Centerline is valid? [True, True] Translation: X:-447.06, Y:-266.37, Z:-2.88 [[ 7.38914057e-01 6.73793340e-01 2.92429447e-03 -4.47062747e+02] [-6.73787806e-01 7.38919842e-01 -2.73133024e-03 -2.66373082e+02] [-4.00117133e-03 4.78643521e-05 9.99991994e-01 -2.87715195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1372.7165599950001 meters 0.01825819102099474 Centerline is valid? [True, True] Translation: X:-447.04, Y:-266.39, Z:-2.88 [[ 7.40938834e-01 6.71561618e-01 3.82591184e-03 -4.47042595e+02] [-6.71552124e-01 7.40948708e-01 -3.57177679e-03 -2.66393668e+02] [-5.23347263e-03 7.71689038e-05 9.99986303e-01 -2.87659527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1372.746559995 meters 0.01934406476344152 Centerline is valid? [True, True] Translation: X:-447.02, Y:-266.41, Z:-2.88 [[ 7.41827344e-01 6.70579188e-01 3.96791534e-03 -4.47023951e+02] [-6.70568965e-01 7.41837951e-01 -3.70373112e-03 -2.66413987e+02] [-5.42719519e-03 8.67681351e-05 9.99985269e-01 -2.87576545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1372.776559995 meters 0.019638756254356425 Centerline is valid? [True, True] Translation: X:-447.00, Y:-266.43, Z:-2.88 [[ 7.42202519e-01 6.70158605e-01 4.78176976e-03 -4.47003405e+02] [-6.70143763e-01 7.42217915e-01 -4.46142930e-03 -2.66433440e+02] [-6.53898041e-03 1.06810883e-04 9.99978615e-01 -2.87506058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1372.806559995 meters 0.019000923758329832 Centerline is valid? [True, True] Translation: X:-446.98, Y:-266.45, Z:-2.87 [[ 7.42147184e-01 6.70210458e-01 5.95823309e-03 -4.46981396e+02] [-6.70187439e-01 7.42171089e-01 -5.55616121e-03 -2.66451242e+02] [-8.14582569e-03 1.30356414e-04 9.99966814e-01 -2.87467608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1372.836559995 meters 0.018783278290526634 Centerline is valid? [True, True] Translation: X:-446.96, Y:-266.47, Z:-2.87 [[ 7.41907257e-01 6.70465858e-01 7.01108489e-03 -4.46960232e+02] [-6.70434030e-01 7.41940369e-01 -6.53449390e-03 -2.66469060e+02] [-9.58296197e-03 1.47518548e-04 9.99954072e-01 -2.87415206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1372.866559995 meters 0.01813981293512109 Centerline is valid? [True, True] Translation: X:-446.94, Y:-266.49, Z:-2.87 [[ 7.40778206e-01 6.71710311e-01 7.27371835e-03 -4.46937088e+02] [-6.71676146e-01 7.40813904e-01 -6.77606813e-03 -2.66486540e+02] [-9.94002652e-03 1.33980487e-04 9.99950588e-01 -2.87412604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1372.896559995 meters 0.018236236454331194 Centerline is valid? [True, True] Translation: X:-446.92, Y:-266.50, Z:-2.87 [[ 7.39695220e-01 6.72906819e-01 6.88434827e-03 -4.46916364e+02] [-6.72876276e-01 7.39727248e-01 -6.41226519e-03 -2.66504498e+02] [-9.40739696e-03 1.10807289e-04 9.99955744e-01 -2.87302190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1372.926559995 meters 0.017121159902814702 Centerline is valid? [True, True] Translation: X:-446.89, Y:-266.52, Z:-2.87 [[ 7.37361473e-01 6.75457035e-01 7.47340401e-03 -4.46891642e+02] [-6.75421190e-01 7.37399340e-01 -6.95911925e-03 -2.66520870e+02] [-1.02114692e-02 8.36909956e-05 9.99947858e-01 -2.87342238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1372.9565599950001 meters 0.017602159471950252 Centerline is valid? [True, True] Translation: X:-446.87, Y:-266.54, Z:-2.87 [[ 7.37270657e-01 6.75551291e-01 7.90134072e-03 -4.46871245e+02] [-6.75511242e-01 7.37312991e-01 -7.35635720e-03 -2.66540126e+02] [-1.07953578e-02 8.61818244e-05 9.99941725e-01 -2.87186446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1372.986559995 meters 0.017528845586704922 Centerline is valid? [True, True] Translation: X:-446.85, Y:-266.56, Z:-2.87 [[ 7.36911412e-01 6.75949333e-01 7.35324651e-03 -4.46850566e+02] [-6.75914679e-01 7.36948095e-01 -6.84496353e-03 -2.66559129e+02] [-1.00458095e-02 7.39644878e-05 9.99949537e-01 -2.87211850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1373.016559995 meters 0.017329747040629357 Centerline is valid? [True, True] Translation: X:-446.83, Y:-266.58, Z:-2.87 [[ 7.37337627e-01 6.75480509e-01 7.70104820e-03 -4.46829863e+02] [-6.75442509e-01 7.37377837e-01 -7.16532021e-03 -2.66578748e+02] [-1.05186164e-02 8.16448732e-05 9.99944675e-01 -2.87234381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1373.046559995 meters 0.017177614557404033 Centerline is valid? [True, True] Translation: X:-446.81, Y:-266.60, Z:-2.87 [[ 7.35624380e-01 6.77346964e-01 7.60665909e-03 -4.46808514e+02] [-6.77310002e-01 7.35663705e-01 -7.07630549e-03 -2.66597274e+02] [-1.03890570e-02 5.34365604e-05 9.99946031e-01 -2.87265951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1373.076559995 meters 0.016880678398756985 Centerline is valid? [True, True] Translation: X:-446.79, Y:-266.62, Z:-2.87 [[ 7.34258421e-01 6.78827399e-01 7.61138833e-03 -4.46787400e+02] [-6.78790510e-01 7.34297869e-01 -7.07688725e-03 -2.66615568e+02] [-1.03930112e-02 2.97258903e-05 9.99945991e-01 -2.87335004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1373.106559995 meters 0.01702389047012652 Centerline is valid? [True, True] Translation: X:-446.77, Y:-266.63, Z:-2.87 [[ 7.33044238e-01 6.80133721e-01 8.01670887e-03 -4.46766944e+02] [-6.80092895e-01 7.33088073e-01 -7.45200244e-03 -2.66633597e+02] [-1.09453118e-02 1.05407112e-05 9.99940098e-01 -2.87337198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1373.136559995 meters 0.017145152334932037 Centerline is valid? [True, True] Translation: X:-446.74, Y:-266.65, Z:-2.87 [[ 7.31232862e-01 6.82074006e-01 8.57624445e-03 -4.46743847e+02] [-6.82027460e-01 7.31283153e-01 -7.96837260e-03 -2.66651549e+02] [-1.17066829e-02 -2.24983147e-05 9.99931474e-01 -2.87200740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1373.166559995 meters 0.017715793755334247 Centerline is valid? [True, True] Translation: X:-446.72, Y:-266.67, Z:-2.87 [[ 7.26550521e-01 6.87062140e-01 8.36395957e-03 -4.46718213e+02] [-6.87018212e-01 7.26598655e-01 -7.76983877e-03 -2.66665064e+02] [-1.14156038e-02 -1.01012149e-04 9.99934835e-01 -2.87072770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1373.1965599950001 meters 0.018325098804160132 Centerline is valid? [True, True] Translation: X:-446.70, Y:-266.68, Z:-2.87 [[ 7.24698313e-01 6.89018296e-01 8.13279881e-03 -4.46695376e+02] [-6.88976924e-01 7.24743935e-01 -7.55167837e-03 -2.66683078e+02] [-1.10974412e-02 -1.30622127e-04 9.99938413e-01 -2.87046512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1373.2265599950001 meters 0.018616132733236052 Centerline is valid? [True, True] Translation: X:-446.67, Y:-266.70, Z:-2.87 [[ 7.23782105e-01 6.89978101e-01 8.34777616e-03 -4.46673622e+02] [-6.89934616e-01 7.23830227e-01 -7.74779753e-03 -2.66702240e+02] [-1.13881833e-02 -1.51702530e-04 9.99935141e-01 -2.87001406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1373.256559995 meters 0.01951556323327756 Centerline is valid? [True, True] Translation: X:-446.65, Y:-266.72, Z:-2.87 [[ 7.21859255e-01 6.91992169e-01 8.12739299e-03 -4.46651574e+02] [-6.91951115e-01 7.21904984e-01 -7.53985955e-03 -2.66720944e+02] [-1.10847293e-02 -1.81041246e-04 9.99938546e-01 -2.86917174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1373.286559995 meters 0.01963913680746075 Centerline is valid? [True, True] Translation: X:-446.63, Y:-266.74, Z:-2.87 [[ 7.21237758e-01 6.92640017e-01 8.11813929e-03 -4.46630501e+02] [-6.92599135e-01 7.21283419e-01 -7.52786689e-03 -2.66740165e+02] [-1.10695811e-02 -1.93234415e-04 9.99938712e-01 -2.86842984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1373.316559995 meters 0.019633296238769162 Centerline is valid? [True, True] Translation: X:-446.61, Y:-266.76, Z:-2.87 [[ 7.21110030e-01 6.92772377e-01 8.17061962e-03 -4.46610040e+02] [-6.92731012e-01 7.21156290e-01 -7.57305723e-03 -2.66759980e+02] [-1.11386986e-02 -1.99034063e-04 9.99937943e-01 -2.86763219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1373.346559995 meters 0.019725606940184413 Centerline is valid? [True, True] Translation: X:-446.59, Y:-266.78, Z:-2.87 [[ 7.21260812e-01 6.92612955e-01 8.37476835e-03 -4.46590279e+02] [-6.92569532e-01 7.21309402e-01 -7.75822077e-03 -2.66779452e+02] [-1.14142434e-02 -2.04408793e-04 9.99934835e-01 -2.86650282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1373.376559995 meters 0.020018461192038314 Centerline is valid? [True, True] Translation: X:-446.57, Y:-266.80, Z:-2.86 [[ 7.22170010e-01 6.91660310e-01 8.74599084e-03 -4.46570053e+02] [-6.91612898e-01 7.22222941e-01 -8.10080284e-03 -2.66798864e+02] [-1.19195590e-02 -1.98683205e-04 9.99928940e-01 -2.86441858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1373.406559995 meters 0.019016789848218234 Centerline is valid? [True, True] Translation: X:-446.55, Y:-266.82, Z:-2.86 [[ 7.24897562e-01 6.88801309e-01 8.73394165e-03 -4.46552637e+02] [-6.88753863e-01 7.24950159e-01 -8.08603400e-03 -2.66822631e+02] [-1.19013432e-02 -1.53989715e-04 9.99929165e-01 -2.86289713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1373.436559995 meters 0.01826958046550436 Centerline is valid? [True, True] Translation: X:-446.53, Y:-266.85, Z:-2.86 [[ 7.26560112e-01 6.87051139e-01 8.43420846e-03 -4.46534283e+02] [-6.87006818e-01 7.26609054e-01 -7.80483175e-03 -2.66845749e+02] [-1.14906908e-02 -1.23679282e-04 9.99933972e-01 -2.86415883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1373.4665599950001 meters 0.017992877910342882 Centerline is valid? [True, True] Translation: X:-446.51, Y:-266.87, Z:-2.86 [[ 7.28187717e-01 6.85329579e-01 8.12511288e-03 -4.46514908e+02] [-6.85288379e-01 7.28233039e-01 -7.51525219e-03 -2.66867770e+02] [-1.10674003e-02 -9.55310929e-05 9.99938750e-01 -2.86413047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1373.496559995 meters 0.018332212575516336 Centerline is valid? [True, True] Translation: X:-446.50, Y:-266.89, Z:-2.86 [[ 7.29582331e-01 6.83845873e-01 8.02770271e-03 -4.46496031e+02] [-6.83805579e-01 7.29626491e-01 -7.42390961e-03 -2.66887909e+02] [-1.09340345e-02 -7.30346221e-05 9.99940219e-01 -2.86259276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1373.526559995 meters 0.017969475907450485 Centerline is valid? [True, True] Translation: X:-446.48, Y:-266.91, Z:-2.86 [[ 7.32043174e-01 6.81219470e-01 7.26805662e-03 -4.46478423e+02] [-6.81186340e-01 7.32079253e-01 -6.71849294e-03 -2.66911928e+02] [-9.89756166e-03 -3.26739868e-05 9.99951018e-01 -2.86303278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1373.556559995 meters 0.01803583579492783 Centerline is valid? [True, True] Translation: X:-446.46, Y:-266.93, Z:-2.86 [[ 7.33399523e-01 6.79761183e-01 7.06212248e-03 -4.46459562e+02] [-6.79729846e-01 7.33433524e-01 -6.52705074e-03 -2.66932382e+02] [-9.61643310e-03 -1.33995282e-05 9.99953761e-01 -2.86230784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1373.586559995 meters 0.01798358367384533 Centerline is valid? [True, True] Translation: X:-446.44, Y:-266.95, Z:-2.86 [[ 7.34520604e-01 6.78557241e-01 6.28913903e-03 -4.46440677e+02] [-6.78532353e-01 7.34547528e-01 -5.81168125e-03 -2.66952784e+02] [-8.56322992e-03 1.41532191e-06 9.99963335e-01 -2.86225868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1373.616559995 meters 0.01818675251585714 Centerline is valid? [True, True] Translation: X:-446.42, Y:-266.97, Z:-2.86 [[ 7.35965149e-01 6.76995612e-01 5.67809615e-03 -4.46421825e+02] [-6.76975300e-01 7.35987052e-01 -5.24429631e-03 -2.66973556e+02] [-7.72937084e-03 1.56884746e-05 9.99970128e-01 -2.86238985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1373.646559995 meters 0.018803766673876572 Centerline is valid? [True, True] Translation: X:-446.41, Y:-267.00, Z:-2.86 [[ 7.39010039e-01 6.73674581e-01 5.16933464e-03 -4.46405094e+02] [-6.73657672e-01 7.39028117e-01 -4.77324885e-03 -2.66996754e+02] [-7.03590006e-03 4.51168802e-05 9.99975247e-01 -2.86125473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1373.676559995 meters 0.01900046634264715 Centerline is valid? [True, True] Translation: X:-446.39, Y:-267.02, Z:-2.86 [[ 7.40390771e-01 6.72163238e-01 4.25308319e-03 -4.46385869e+02] [-6.72151779e-01 7.40402985e-01 -3.92512333e-03 -2.67016725e+02] [-5.78731909e-03 4.74076543e-05 9.99983252e-01 -2.86216036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1373.7065599950001 meters 0.019181412418385994 Centerline is valid? [True, True] Translation: X:-446.37, Y:-267.04, Z:-2.86 [[ 7.42230738e-01 6.70137000e-01 3.15169246e-03 -4.46365092e+02] [-6.70130695e-01 7.42237428e-01 -2.90724616e-03 -2.67037159e+02] [-4.28755733e-03 4.58016057e-05 9.99990808e-01 -2.86251631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1373.736559995 meters 0.019922519253471105 Centerline is valid? [True, True] Translation: X:-446.35, Y:-267.06, Z:-2.86 [[ 7.44951728e-01 6.67116758e-01 1.46755188e-03 -4.46348127e+02] [-6.67115386e-01 7.44953173e-01 -1.35344775e-03 -2.67059087e+02] [-1.99616510e-03 2.92268038e-05 9.99998007e-01 -2.86317006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1373.766559995 meters 0.020144903438321784 Centerline is valid? [True, True] Translation: X:-446.33, Y:-267.08, Z:-2.86 [[ 7.45609369e-01 6.66383125e-01 4.46010757e-04 -4.46326870e+02] [-6.66382999e-01 7.45609503e-01 -4.11131811e-04 -2.67078665e+02] [-6.06521158e-04 9.32974489e-06 9.99999816e-01 -2.86318327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1373.796559995 meters 0.02005320317963811 Centerline is valid? [True, True] Translation: X:-446.30, Y:-267.10, Z:-2.86 [[ 7.45596463e-01 6.66396055e-01 -1.48736033e-03 -4.46304941e+02] [-6.66394647e-01 7.45597946e-01 1.37026795e-03 -2.67095878e+02] [ 2.02211396e-03 -3.04979705e-05 9.99997955e-01 -2.86312744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1373.826559995 meters 0.020157293442586467 Centerline is valid? [True, True] Translation: X:-446.28, Y:-267.11, Z:-2.86 [[ 7.45377231e-01 6.66637935e-01 -2.57809099e-03 -4.46282375e+02] [-6.66633711e-01 7.45381688e-01 2.37380086e-03 -2.67113110e+02] [ 3.50412752e-03 -5.07347513e-05 9.99993859e-01 -2.86327216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1373.856559995 meters 0.019858563207862983 Centerline is valid? [True, True] Translation: X:-446.26, Y:-267.12, Z:-2.86 [[ 7.42515327e-01 6.69807319e-01 -5.39861310e-03 -4.46255083e+02] [-6.69788885e-01 7.42534949e-01 4.96996281e-03 -2.67124854e+02] [ 7.33757637e-03 -7.43425100e-05 9.99973077e-01 -2.86352869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1373.886559995 meters 0.019679535167999057 Centerline is valid? [True, True] Translation: X:-446.23, Y:-267.14, Z:-2.86 [[ 7.40512830e-01 6.72006933e-01 -6.88693996e-03 -4.46230692e+02] [-6.71977038e-01 7.40544852e-01 6.33902766e-03 -2.67139506e+02] [ 9.35995846e-03 -6.62658000e-05 9.99956193e-01 -2.86399031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1373.916559995 meters 0.01968897717994405 Centerline is valid? [True, True] Translation: X:-446.21, Y:-267.16, Z:-2.86 [[ 7.39220745e-01 6.73414984e-01 -8.05919417e-03 -4.46207585e+02] [-6.73374173e-01 7.39264673e-01 7.41397468e-03 -2.67155434e+02] [ 1.09505592e-02 -5.37106762e-05 9.99940040e-01 -2.86388320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1373.9465599950001 meters 0.019765953458393583 Centerline is valid? [True, True] Translation: X:-446.18, Y:-267.17, Z:-2.86 [[ 7.38067988e-01 6.74663421e-01 -9.21480475e-03 -4.46183879e+02] [-6.74610214e-01 7.38125509e-01 8.47305865e-03 -2.67171531e+02] [ 1.25181452e-02 -3.72919495e-05 9.99921644e-01 -2.86367224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1373.9765599950001 meters 0.02005845496292546 Centerline is valid? [True, True] Translation: X:-446.16, Y:-267.19, Z:-2.86 [[ 7.37507548e-01 6.75271428e-01 -9.54546337e-03 -4.46160698e+02] [-6.75214426e-01 7.37569317e-01 8.77387690e-03 -2.67186568e+02] [ 1.29651893e-02 -2.55658603e-05 9.99915948e-01 -2.86358311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1374.006559995 meters 0.020025429120974245 Centerline is valid? [True, True] Translation: X:-446.14, Y:-267.21, Z:-2.86 [[ 7.38160004e-01 6.74563771e-01 -9.13937406e-03 -4.46139976e+02] [-6.74511517e-01 7.38216579e-01 8.39613216e-03 -2.67205913e+02] [ 1.24105640e-02 -3.30758801e-05 9.99922986e-01 -2.86182371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1374.036559995 meters 0.020007964284706296 Centerline is valid? [True, True] Translation: X:-446.12, Y:-267.22, Z:-2.86 [[ 7.38226823e-01 6.74490630e-01 -9.14046450e-03 -4.46118230e+02] [-6.74438415e-01 7.38283407e-01 8.39263133e-03 -2.67224185e+02] [ 1.24090045e-02 -3.09851770e-05 9.99923005e-01 -2.86053696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1374.066559995 meters 0.019978178813084183 Centerline is valid? [True, True] Translation: X:-446.10, Y:-267.24, Z:-2.86 [[ 7.38130317e-01 6.74596466e-01 -9.12380564e-03 -4.46096027e+02] [-6.74544504e-01 7.38186703e-01 8.37284326e-03 -2.67241854e+02] [ 1.23833625e-02 -2.58364988e-05 9.99923323e-01 -2.85929336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1374.096559995 meters 0.020179847834984464 Centerline is valid? [True, True] Translation: X:-446.08, Y:-267.26, Z:-2.86 [[ 7.38328150e-01 6.74378822e-01 -9.20583448e-03 -4.46075988e+02] [-6.74325930e-01 7.38385538e-01 8.44615543e-03 -2.67259626e+02] [ 1.24933634e-02 -2.83014144e-05 9.99921955e-01 -2.86008721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1374.126559995 meters 0.020456918122086956 Centerline is valid? [True, True] Translation: X:-446.06, Y:-267.28, Z:-2.86 [[ 7.38099981e-01 6.74632603e-01 -8.90329404e-03 -4.46055238e+02] [-6.74583183e-01 7.38153677e-01 8.16569935e-03 -2.67276927e+02] [ 1.20808462e-02 -2.10901061e-05 9.99927024e-01 -2.85933435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1374.156559995 meters 0.02014751139732014 Centerline is valid? [True, True] Translation: X:-446.03, Y:-267.29, Z:-2.86 [[ 7.38625278e-01 6.74060403e-01 -8.67590750e-03 -4.46033906e+02] [-6.74013484e-01 7.38676230e-01 7.95306315e-03 -2.67294881e+02] [ 1.17695316e-02 -2.66548372e-05 9.99930737e-01 -2.85777321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1374.186559995 meters 0.02019478884165032 Centerline is valid? [True, True] Translation: X:-446.01, Y:-267.31, Z:-2.86 [[ 7.39339780e-01 6.73283919e-01 -8.09031964e-03 -4.46012506e+02] [-6.73243091e-01 7.39384043e-01 7.41466874e-03 -2.67311738e+02] [ 1.09740305e-02 -3.52077522e-05 9.99939783e-01 -2.85543649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1374.2165599950001 meters 0.02019478884165032 Centerline is valid? [True, True] Translation: X:-445.99, Y:-267.33, Z:-2.86 [[ 7.39510089e-01 6.73096832e-01 -8.09219565e-03 -4.45992232e+02] [-6.73056015e-01 7.39554362e-01 7.41262126e-03 -2.67330174e+02] [ 1.09740305e-02 -3.52072517e-05 9.99939783e-01 -2.85543659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1374.246559995 meters 0.020209171570685993 Centerline is valid? [True, True] Translation: X:-445.97, Y:-267.35, Z:-2.85 [[ 7.40853418e-01 6.71626786e-01 -7.32625164e-03 -4.45970739e+02] [-6.71593295e-01 7.40889639e-01 6.70737655e-03 -2.67348161e+02] [ 9.93279770e-03 -4.89213619e-05 9.99950668e-01 -2.85187742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1374.276559995 meters 0.020394810103572806 Centerline is valid? [True, True] Translation: X:-445.95, Y:-267.37, Z:-2.85 [[ 7.40997201e-01 6.71458302e-01 -8.17912017e-03 -4.45950141e+02] [-6.71416562e-01 7.41042338e-01 7.48694845e-03 -2.67367154e+02] [ 1.10882480e-02 -5.62110951e-05 9.99938522e-01 -2.85396741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1374.306559995 meters 0.020158213797437576 Centerline is valid? [True, True] Translation: X:-445.93, Y:-267.39, Z:-2.85 [[ 7.40791300e-01 6.71677319e-01 -8.82212069e-03 -4.45927980e+02] [-6.71628818e-01 7.40843827e-01 8.07181562e-03 -2.67385903e+02] [ 1.19574691e-02 -5.43402870e-05 9.99928506e-01 -2.85269548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1374.336559995 meters 0.020079824450438644 Centerline is valid? [True, True] Translation: X:-445.91, Y:-267.40, Z:-2.85 [[ 7.39505741e-01 6.73082497e-01 -9.55047677e-03 -4.45906044e+02] [-6.73025835e-01 7.39567409e-01 8.73347968e-03 -2.67403703e+02] [ 1.29415737e-02 -3.07407627e-05 9.99916254e-01 -2.85223503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1374.366559995 meters 0.01995186847350983 Centerline is valid? [True, True] Translation: X:-445.88, Y:-267.42, Z:-2.85 [[ 7.38922353e-01 6.73723164e-01 -9.53183125e-03 -4.45884937e+02] [-6.73666838e-01 7.38983828e-01 8.71162827e-03 -2.67421409e+02] [ 1.29130949e-02 -1.59382363e-05 9.99916623e-01 -2.85070137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1374.396559995 meters 0.019859407385042237 Centerline is valid? [True, True] Translation: X:-445.86, Y:-267.44, Z:-2.85 [[ 7.37843284e-01 6.74904174e-01 -9.57307451e-03 -4.45863914e+02] [-6.74847486e-01 7.37905384e-01 8.74723556e-03 -2.67437644e+02] [ 1.29675690e-02 6.27625297e-06 9.99915918e-01 -2.84973949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1374.426559995 meters 0.019943630773142706 Centerline is valid? [True, True] Translation: X:-445.84, Y:-267.45, Z:-2.85 [[ 7.35595562e-01 6.77358773e-01 -9.17948021e-03 -4.45840674e+02] [-6.77306898e-01 7.35652833e-01 8.38307781e-03 -2.67452837e+02] [ 1.24312619e-02 5.07704352e-05 9.99922728e-01 -2.84811768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1374.4565599950001 meters 0.020271469617737004 Centerline is valid? [True, True] Translation: X:-445.82, Y:-267.47, Z:-2.84 [[ 7.32031236e-01 6.81243709e-01 -6.10567697e-03 -4.45816599e+02] [-6.81220904e-01 7.32056694e-01 5.57469105e-03 -2.67467099e+02] [ 8.26742491e-03 7.84667991e-05 9.99965821e-01 -2.84345219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1374.486559995 meters 0.020461344664820205 Centerline is valid? [True, True] Translation: X:-445.79, Y:-267.49, Z:-2.84 [[ 7.29604082e-01 6.83848213e-01 -5.43187875e-03 -4.45794197e+02] [-6.83830253e-01 7.29624295e-01 4.95715836e-03 -2.67485377e+02] [ 7.35317459e-03 9.77200440e-05 9.99972961e-01 -2.84202923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1374.516559995 meters 0.020461344664820205 Centerline is valid? [True, True] Translation: X:-445.77, Y:-267.50, Z:-2.84 [[ 7.29787161e-01 6.83652821e-01 -5.43320598e-03 -4.45773905e+02] [-6.83634866e-01 7.29807380e-01 4.95570363e-03 -2.67503781e+02] [ 7.35317459e-03 9.77201595e-05 9.99972961e-01 -2.84202932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1374.546559995 meters 0.02069610876585504 Centerline is valid? [True, True] Translation: X:-445.75, Y:-267.52, Z:-2.84 [[ 7.27791534e-01 6.85782957e-01 -4.60655394e-03 -4.45752576e+02] [-6.85770097e-01 7.27806105e-01 4.20098741e-03 -2.67522335e+02] [ 6.23364365e-03 1.01593872e-04 9.99980566e-01 -2.84121250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1374.576559995 meters 0.021295044951247434 Centerline is valid? [True, True] Translation: X:-445.73, Y:-267.54, Z:-2.84 [[ 7.26204232e-01 6.87468358e-01 -3.83013095e-03 -4.45731007e+02] [-6.87459497e-01 7.26214326e-01 3.49188852e-03 -2.67539129e+02] [ 5.18205884e-03 9.72356703e-05 9.99986569e-01 -2.84054614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1374.606559995 meters 0.021189764883358823 Centerline is valid? [True, True] Translation: X:-445.71, Y:-267.56, Z:-2.84 [[ 7.24527762e-01 6.89243299e-01 -1.78807166e-03 -4.45709644e+02] [-6.89241375e-01 7.24529966e-01 1.62938032e-03 -2.67557895e+02] [ 2.41855097e-03 5.18816934e-05 9.99997074e-01 -2.83777941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1374.636559995 meters 0.02116136277012665 Centerline is valid? [True, True] Translation: X:-445.69, Y:-267.58, Z:-2.84 [[ 7.25384052e-01 6.88342902e-01 -1.42330948e-03 -4.45688397e+02] [-6.88341683e-01 7.25385447e-01 1.29637127e-03 -2.67576710e+02] [ 1.92479595e-03 3.93561961e-05 9.99998147e-01 -2.83656596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1374.666559995 meters 0.021341202218436793 Centerline is valid? [True, True] Translation: X:-445.67, Y:-267.59, Z:-2.84 [[ 7.25032872e-01 6.88713321e-01 -1.13815101e-03 -4.45666993e+02] [-6.88712542e-01 7.25033765e-01 1.03646986e-03 -2.67594696e+02] [ 1.53902852e-03 3.23841551e-05 9.99998815e-01 -2.83685553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1374.6965599950001 meters 0.020797089225926504 Centerline is valid? [True, True] Translation: X:-445.65, Y:-267.62, Z:-2.84 [[ 7.26210373e-01 6.87469570e-01 -2.02098320e-03 -4.45647354e+02] [-6.87467111e-01 7.26213183e-01 1.83955061e-03 -2.67615473e+02] [ 2.73229971e-03 5.34587441e-05 9.99996266e-01 -2.83758181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1374.7265599950001 meters 0.02130150387405284 Centerline is valid? [True, True] Translation: X:-445.63, Y:-267.63, Z:-2.84 [[ 7.26679180e-01 6.86973443e-01 -2.20412865e-03 -4.45627396e+02] [-6.86970517e-01 7.26682520e-01 2.00591570e-03 -2.67634813e+02] [ 2.97971257e-03 5.65142250e-05 9.99995559e-01 -2.83898818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1374.756559995 meters 0.02148191603185447 Centerline is valid? [True, True] Translation: X:-445.61, Y:-267.65, Z:-2.84 [[ 7.26575022e-01 6.87078553e-01 -3.43509949e-03 -4.45605676e+02] [-6.87071449e-01 7.26583136e-01 3.12566557e-03 -2.67651831e+02] [ 4.64346314e-03 8.91282596e-05 9.99989215e-01 -2.84079219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1374.786559995 meters 0.022876057782337436 Centerline is valid? [True, True] Translation: X:-445.58, Y:-267.67, Z:-2.84 [[ 7.25164094e-01 6.88569972e-01 -2.90355438e-03 -4.45584653e+02] [-6.88564910e-01 7.25169902e-01 2.64158223e-03 -2.67670526e+02] [ 3.92448445e-03 8.37050789e-05 9.99992296e-01 -2.84262781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1374.816559995 meters 0.022090851993936247 Centerline is valid? [True, True] Translation: X:-445.57, Y:-267.69, Z:-2.84 [[ 7.24763553e-01 6.88991341e-01 -2.95374618e-03 -4.45565044e+02] [-6.88986108e-01 7.24769567e-01 2.68680059e-03 -2.67691052e+02] [ 3.99196768e-03 8.77949456e-05 9.99992028e-01 -2.84280003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1374.846559995 meters 0.020206914408683406 Centerline is valid? [True, True] Translation: X:-445.54, Y:-267.71, Z:-2.84 [[ 7.26234251e-01 6.87439986e-01 -3.17478435e-03 -4.45544768e+02] [-6.87433931e-01 7.26241185e-01 2.88646929e-03 -2.67711184e+02] [ 4.28993356e-03 8.62016216e-05 9.99990795e-01 -2.84111084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1374.876559995 meters 0.02025173197652774 Centerline is valid? [True, True] Translation: X:-445.52, Y:-267.73, Z:-2.84 [[ 7.26098456e-01 6.87583073e-01 -3.24816602e-03 -4.45523031e+02] [-6.87576743e-01 7.26105716e-01 2.95177070e-03 -2.67729629e+02] [ 4.38809948e-03 9.00872662e-05 9.99990368e-01 -2.84153986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1374.906559995 meters 0.020130676309883036 Centerline is valid? [True, True] Translation: X:-445.50, Y:-267.75, Z:-2.84 [[ 7.26163638e-01 6.87512634e-01 -3.57061980e-03 -4.45502285e+02] [-6.87504992e-01 7.26172410e-01 3.24301418e-03 -2.67748239e+02] [ 4.82249880e-03 9.98599630e-05 9.99988367e-01 -2.84158169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1374.936559995 meters 0.02196985247634905 Centerline is valid? [True, True] Translation: X:-445.48, Y:-267.77, Z:-2.84 [[ 7.24348155e-01 6.89430914e-01 -2.18291809e-03 -4.45480687e+02] [-6.89428067e-01 7.24351441e-01 1.98229729e-03 -2.67765945e+02] [ 2.94785690e-03 6.90916149e-05 9.99995653e-01 -2.84262925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1374.9665599950001 meters 0.022174746344456035 Centerline is valid? [True, True] Translation: X:-445.46, Y:-267.78, Z:-2.84 [[ 7.23009604e-01 6.90833567e-01 -2.46893203e-03 -4.45458511e+02] [-6.90829937e-01 7.23013815e-01 2.24095732e-03 -2.67784511e+02] [ 3.33320050e-03 8.53784951e-05 9.99994441e-01 -2.84265667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1374.996559995 meters 0.022090317277119565 Centerline is valid? [True, True] Translation: X:-445.44, Y:-267.80, Z:-2.84 [[ 7.22348406e-01 6.91526526e-01 -1.96106771e-03 -4.45437664e+02] [-6.91524239e-01 7.22351064e-01 1.77968144e-03 -2.67803671e+02] [ 2.64727627e-03 7.05758008e-05 9.99996494e-01 -2.84206254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1375.026559995 meters 0.022906337510180445 Centerline is valid? [True, True] Translation: X:-445.42, Y:-267.82, Z:-2.84 [[ 7.21399048e-01 6.92518747e-01 -1.09451985e-03 -4.45416181e+02] [-6.92518037e-01 7.21399877e-01 9.93113806e-04 -2.67820815e+02] [ 1.47733642e-03 4.15433856e-05 9.99998908e-01 -2.84171931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1375.056559995 meters 0.022958404604449582 Centerline is valid? [True, True] Translation: X:-445.39, Y:-267.84, Z:-2.84 [[ 7.19628556e-01 6.94358456e-01 1.03739070e-03 -4.45394349e+02] [-6.94357820e-01 7.19629302e-01 -9.40836372e-04 -2.67839465e+02] [-1.39981444e-03 -4.32676270e-05 9.99999020e-01 -2.83980014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1375.086559995 meters 0.02419494238683332 Centerline is valid? [True, True] Translation: X:-445.37, Y:-267.86, Z:-2.84 [[ 7.18472726e-01 6.95552321e-01 1.97739779e-03 -4.45372249e+02] [-6.95550016e-01 7.18475442e-01 -1.79290110e-03 -2.67857390e+02] [-2.66776827e-03 -8.72285217e-05 9.99996438e-01 -2.83905053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1375.116559995 meters 0.02391430403647265 Centerline is valid? [True, True] Translation: X:-445.35, Y:-267.88, Z:-2.84 [[ 7.18035012e-01 6.96003462e-01 2.21420042e-03 -4.45350044e+02] [-6.96000576e-01 7.18038419e-01 -2.00667245e-03 -2.67875378e+02] [-2.98653193e-03 -1.00223690e-04 9.99995536e-01 -2.83818579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1375.146559995 meters 0.024703461557369508 Centerline is valid? [True, True] Translation: X:-445.33, Y:-267.89, Z:-2.84 [[ 7.17336543e-01 6.96721908e-01 2.62033341e-03 -4.45327527e+02] [-6.96717876e-01 7.17341319e-01 -2.37363449e-03 -2.67893678e+02] [-3.53343657e-03 -1.22938371e-04 9.99993750e-01 -2.83829882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1375.176559995 meters 0.024703471038236453 Centerline is valid? [True, True] Translation: X:-445.31, Y:-267.91, Z:-2.84 [[ 7.17954489e-01 6.96081574e-01 3.43417674e-03 -4.45306170e+02] [-6.96074643e-01 7.17962685e-01 -3.11034307e-03 -2.67911672e+02] [-4.63066326e-03 -1.57358581e-04 9.99989266e-01 -2.83742703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1375.2065599950001 meters 0.023854966327147238 Centerline is valid? [True, True] Translation: X:-445.29, Y:-267.93, Z:-2.84 [[ 7.18229173e-01 6.95792417e-01 4.44608132e-03 -4.45287920e+02] [-6.95780807e-01 7.18242905e-01 -4.02462718e-03 -2.67932517e+02] [-5.99367143e-03 -2.02893397e-04 9.99982017e-01 -2.83879051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1375.236559995 meters 0.02334706018407789 Centerline is valid? [True, True] Translation: X:-445.27, Y:-267.95, Z:-2.84 [[ 7.19358334e-01 6.94625673e-01 4.33150792e-03 -4.45267231e+02] [-6.94614637e-01 7.19371349e-01 -3.92024995e-03 -2.67950889e+02] [-5.83906896e-03 -1.88664330e-04 9.99982935e-01 -2.83845017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1375.266559995 meters 0.021847451377307744 Centerline is valid? [True, True] Translation: X:-445.25, Y:-267.97, Z:-2.84 [[ 7.21353175e-01 6.92542386e-01 5.88570061e-03 -4.45246370e+02] [-6.92521958e-01 7.21377147e-01 -5.32438642e-03 -2.67970069e+02] [-7.93317318e-03 -2.35213863e-04 9.99968504e-01 -2.83502134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1375.296559995 meters 0.02253732351421656 Centerline is valid? [True, True] Translation: X:-445.23, Y:-267.99, Z:-2.84 [[ 7.22013977e-01 6.91837526e-01 7.52692825e-03 -4.45226394e+02] [-6.91804116e-01 7.22053150e-01 -6.80539059e-03 -2.67989537e+02] [-1.01430668e-02 -2.93572827e-04 9.99948515e-01 -2.83553132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1375.326559995 meters 0.02234298969739516 Centerline is valid? [True, True] Translation: X:-445.20, Y:-268.01, Z:-2.83 [[ 7.23370682e-01 6.90413263e-01 8.02387498e-03 -4.45204710e+02] [-6.90375245e-01 7.23415123e-01 -7.25127639e-03 -2.68008238e+02] [-1.08109699e-02 -2.94123905e-04 9.99941517e-01 -2.83461422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1375.356559995 meters 0.022635808322934846 Centerline is valid? [True, True] Translation: X:-445.18, Y:-268.03, Z:-2.83 [[ 7.24796359e-01 6.88909639e-01 8.58768035e-03 -4.45183451e+02] [-6.88866027e-01 7.24847173e-01 -7.75715335e-03 -2.68026834e+02] [-1.15687335e-02 -2.93404741e-04 9.99933037e-01 -2.83383978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1375.386559995 meters 0.021241215046450202 Centerline is valid? [True, True] Translation: X:-445.16, Y:-268.05, Z:-2.83 [[ 7.25547413e-01 6.88118173e-01 8.62153974e-03 -4.45162356e+02] [-6.88074203e-01 7.25598580e-01 -7.78410062e-03 -2.68046277e+02] [-1.16121581e-02 -2.84525019e-04 9.99932536e-01 -2.83303559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1375.416559995 meters 0.02180133360353878 Centerline is valid? [True, True] Translation: X:-445.14, Y:-268.06, Z:-2.83 [[ 7.26494344e-01 6.87105649e-01 9.58100603e-03 -4.45142049e+02] [-6.87051277e-01 7.26557457e-01 -8.64893836e-03 -2.68064990e+02] [-1.29038858e-02 -2.99237629e-04 9.99916697e-01 -2.83279608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1375.4465599950001 meters 0.020805378325224593 Centerline is valid? [True, True] Translation: X:-445.12, Y:-268.08, Z:-2.83 [[ 7.27497313e-01 6.86042602e-01 9.65443899e-03 -4.45121746e+02] [-6.85987352e-01 7.27561315e-01 -8.71124724e-03 -2.68084965e+02] [-1.30004830e-02 -2.85414080e-04 9.99915450e-01 -2.83205111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1375.4765599950001 meters 0.0219228958740432 Centerline is valid? [True, True] Translation: X:-445.10, Y:-268.10, Z:-2.83 [[ 7.27882019e-01 6.85631681e-01 9.84709594e-03 -4.45101799e+02] [-6.85574227e-01 7.27948567e-01 -8.88046673e-03 -2.68104287e+02] [-1.32569087e-02 -2.86983137e-04 9.99912082e-01 -2.83384875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1375.506559995 meters 0.02183038008109991 Centerline is valid? [True, True] Translation: X:-445.08, Y:-268.12, Z:-2.84 [[ 7.26260646e-01 6.87345600e-01 1.00747258e-02 -4.45081530e+02] [-6.87285683e-01 7.26330447e-01 -9.08143859e-03 -2.68124749e+02] [-1.35596670e-02 -3.28723372e-04 9.99908010e-01 -2.83614110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1375.536559995 meters 0.02153811367212389 Centerline is valid? [True, True] Translation: X:-445.06, Y:-268.14, Z:-2.83 [[ 7.24907164e-01 6.88759715e-01 1.09388737e-02 -4.45060240e+02] [-6.88689263e-01 7.24989590e-01 -9.85870992e-03 -2.68143254e+02] [-1.47208518e-02 -3.86835425e-04 9.99891568e-01 -2.83493556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1375.566559995 meters 0.022448436311678227 Centerline is valid? [True, True] Translation: X:-445.04, Y:-268.16, Z:-2.83 [[ 7.23482930e-01 6.90244043e-01 1.16452000e-02 -4.45038409e+02] [-6.90164418e-01 7.23576508e-01 -1.04935199e-02 -2.68160204e+02] [-1.56692827e-02 -4.45220103e-04 9.99877130e-01 -2.83379566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1375.596559995 meters 0.023428794147909843 Centerline is valid? [True, True] Translation: X:-445.02, Y:-268.18, Z:-2.83 [[ 7.22315775e-01 6.91458453e-01 1.20469492e-02 -4.45016308e+02] [-6.91373489e-01 7.22416062e-01 -1.08504349e-02 -2.68178839e+02] [-1.62055345e-02 -4.91500992e-04 9.99868561e-01 -2.83437860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1375.626559995 meters 0.022591670671870765 Centerline is valid? [True, True] Translation: X:-444.99, Y:-268.20, Z:-2.83 [[ 7.20761326e-01 6.93067363e-01 1.26783651e-02 -4.44994439e+02] [-6.92973597e-01 7.20872609e-01 -1.14138664e-02 -2.68198246e+02] [-1.70500644e-02 -5.59098796e-04 9.99854481e-01 -2.83269769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1375.656559995 meters 0.023122809148707804 Centerline is valid? [True, True] Translation: X:-444.97, Y:-268.22, Z:-2.83 [[ 7.20131451e-01 6.93721483e-01 1.26963628e-02 -4.44973687e+02] [-6.93627586e-01 7.20243133e-01 -1.14280987e-02 -2.68217464e+02] [-1.70723857e-02 -5.76814190e-04 9.99854090e-01 -2.83415223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1375.686559995 meters 0.024779177622998968 Centerline is valid? [True, True] Translation: X:-444.95, Y:-268.23, Z:-2.83 [[ 7.20003702e-01 6.93855372e-01 1.26250299e-02 -4.44951989e+02] [-6.93762597e-01 7.20114149e-01 -1.13609630e-02 -2.68234251e+02] [-1.69743278e-02 -5.78838113e-04 9.99855758e-01 -2.83320913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1375.7165599950001 meters 0.025087130561050355 Centerline is valid? [True, True] Translation: X:-444.93, Y:-268.25, Z:-2.83 [[ 7.19448869e-01 6.94443265e-01 1.19111906e-02 -4.44930746e+02] [-6.94360845e-01 7.19547243e-01 -1.07136683e-02 -2.68253695e+02] [-1.60106991e-02 -5.62727820e-04 9.99871662e-01 -2.83449869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1375.746559995 meters 0.023357097996392132 Centerline is valid? [True, True] Translation: X:-444.91, Y:-268.28, Z:-2.84 [[ 7.19987456e-01 6.93890783e-01 1.15605179e-02 -4.44912526e+02] [-6.93813150e-01 7.20080060e-01 -1.03932983e-02 -2.68276233e+02] [-1.55363123e-02 -5.37794959e-04 9.99879160e-01 -2.83679819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1375.776559995 meters 0.023903459428413154 Centerline is valid? [True, True] Translation: X:-444.89, Y:-268.30, Z:-2.84 [[ 7.20241105e-01 6.93635263e-01 1.10848534e-02 -4.44891690e+02] [-6.93563928e-01 7.20326217e-01 -9.96092057e-03 -2.68296588e+02] [-1.48939563e-02 -5.13790035e-04 9.99888947e-01 -2.83835080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1375.806559995 meters 0.024149433597664815 Centerline is valid? [True, True] Translation: X:-444.87, Y:-268.32, Z:-2.84 [[ 7.20208106e-01 6.93692245e-01 9.55789093e-03 -4.44870795e+02] [-6.93639267e-01 7.20271386e-01 -8.58472743e-03 -2.68316987e+02] [-1.28394342e-02 -4.46938176e-04 9.99917471e-01 -2.83973946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1375.836559995 meters 0.024433508517272974 Centerline is valid? [True, True] Translation: X:-444.85, Y:-268.34, Z:-2.84 [[ 7.19787956e-01 6.94132673e-01 9.22663852e-03 -4.44849665e+02] [-6.94083388e-01 7.19846954e-01 -8.28330047e-03 -2.68336240e+02] [-1.23914771e-02 -4.41836599e-04 9.99923125e-01 -2.84025335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1375.866559995 meters 0.025434485978501516 Centerline is valid? [True, True] Translation: X:-444.83, Y:-268.35, Z:-2.84 [[ 7.18732000e-01 6.95231458e-01 8.80528237e-03 -4.44828579e+02] [-6.95186669e-01 7.18785800e-01 -7.90370565e-03 -2.68354191e+02] [-1.18240167e-02 -4.40668757e-04 9.99929997e-01 -2.84029828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1375.896559995 meters 0.02477985304170195 Centerline is valid? [True, True] Translation: X:-444.81, Y:-268.38, Z:-2.84 [[ 7.18673989e-01 6.95288264e-01 9.05133454e-03 -4.44808358e+02] [-6.95240989e-01 7.18730841e-01 -8.12072393e-03 -2.68375331e+02] [-1.21517173e-02 -4.56705710e-04 9.99926061e-01 -2.84048729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1375.926559995 meters 0.025260050928598104 Centerline is valid? [True, True] Translation: X:-444.79, Y:-268.40, Z:-2.84 [[ 7.19165744e-01 6.94775751e-01 9.34285779e-03 -4.44788065e+02] [-6.94725387e-01 7.19226279e-01 -8.37833711e-03 -2.68395322e+02] [-1.25406943e-02 -4.65307458e-04 9.99921254e-01 -2.84039759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1375.9565599950001 meters 0.02543075388044393 Centerline is valid? [True, True] Translation: X:-444.77, Y:-268.41, Z:-2.84 [[ 7.19990534e-01 6.93920478e-01 9.38092919e-03 -4.44767143e+02] [-6.93869648e-01 7.20051502e-01 -8.41107846e-03 -2.68414236e+02] [-1.25913717e-02 -4.53245165e-04 9.99920623e-01 -2.83940208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1375.986559995 meters 0.024809093288500478 Centerline is valid? [True, True] Translation: X:-444.75, Y:-268.44, Z:-2.84 [[ 7.21549186e-01 6.92293315e-01 9.83558507e-03 -4.44748035e+02] [-6.92237341e-01 7.21616079e-01 -8.81463392e-03 -2.68435643e+02] [-1.31998285e-02 -4.48367326e-04 9.99912778e-01 -2.83859746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1376.016559995 meters 0.025223886845584284 Centerline is valid? [True, True] Translation: X:-444.73, Y:-268.45, Z:-2.84 [[ 7.22594445e-01 6.91200181e-01 9.97887427e-03 -4.44727546e+02] [-6.91142480e-01 7.22663214e-01 -8.94157756e-03 -2.68454322e+02] [-1.33917854e-02 -4.35689634e-04 9.99910231e-01 -2.83746696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1376.046559995 meters 0.024458067088451742 Centerline is valid? [True, True] Translation: X:-444.71, Y:-268.48, Z:-2.84 [[ 7.23893984e-01 6.89836422e-01 1.01592876e-02 -4.44707456e+02] [-6.89776538e-01 7.23965147e-01 -9.09911292e-03 -2.68475212e+02] [-1.36318697e-02 -4.20845158e-04 9.99906993e-01 -2.83706090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1376.076559995 meters 0.02466704093077091 Centerline is valid? [True, True] Translation: X:-444.69, Y:-268.50, Z:-2.84 [[ 7.25398805e-01 6.88254949e-01 1.00846371e-02 -4.44687290e+02] [-6.88195840e-01 7.25468795e-01 -9.02847554e-03 -2.68496345e+02] [-1.35299825e-02 -3.90959910e-04 9.99908389e-01 -2.83776524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1376.106559995 meters 0.02255908334881536 Centerline is valid? [True, True] Translation: X:-444.67, Y:-268.52, Z:-2.84 [[ 7.28860688e-01 6.84583719e-01 1.03552141e-02 -4.44669379e+02] [-6.84521077e-01 7.28934168e-01 -9.26684450e-03 -2.68520275e+02] [-1.38922003e-02 -3.34123671e-04 9.99903443e-01 -2.83738978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1376.136559995 meters 0.02198036128475506 Centerline is valid? [True, True] Translation: X:-444.65, Y:-268.54, Z:-2.84 [[ 7.31195339e-01 6.82090618e-01 1.02842710e-02 -4.44649422e+02] [-6.82028637e-01 7.31267603e-01 -9.19953696e-03 -2.68541886e+02] [-1.37954720e-02 -2.87508802e-04 9.99904797e-01 -2.83730575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1376.166559995 meters 0.021438576891227638 Centerline is valid? [True, True] Translation: X:-444.63, Y:-268.56, Z:-2.84 [[ 7.33780615e-01 6.79308783e-01 1.02755393e-02 -4.44630436e+02] [-6.79246689e-01 7.33852520e-01 -9.18774490e-03 -2.68563461e+02] [-1.37820462e-02 -2.37836943e-04 9.99904995e-01 -2.83747780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1376.1965599950001 meters 0.02010406637366233 Centerline is valid? [True, True] Translation: X:-444.61, Y:-268.59, Z:-2.84 [[ 7.36674828e-01 6.76169378e-01 1.02552734e-02 -4.44612203e+02] [-6.76107254e-01 7.36746184e-01 -9.16743439e-03 -2.68586797e+02] [-1.37542720e-02 -1.80246613e-04 9.99905390e-01 -2.83920006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1376.2265599950001 meters 0.019458488807481404 Centerline is valid? [True, True] Translation: X:-444.60, Y:-268.61, Z:-2.84 [[ 7.42066933e-01 6.70266629e-01 8.90576557e-03 -4.44595386e+02] [-6.70219368e-01 7.42120369e-01 -7.95974748e-03 -2.68609381e+02] [-1.19443031e-02 -6.21511689e-05 9.99928663e-01 -2.83926462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1376.256559995 meters 0.019955778765888103 Centerline is valid? [True, True] Translation: X:-444.58, Y:-268.63, Z:-2.84 [[ 7.44903113e-01 6.67114438e-01 8.81350647e-03 -4.44577130e+02] [-6.67067974e-01 7.44955251e-01 -7.87347445e-03 -2.68632680e+02] [-1.18181764e-02 -1.42322743e-05 9.99930163e-01 -2.84197847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1376.286559995 meters 0.0197822442749661 Centerline is valid? [True, True] Translation: X:-444.56, Y:-268.65, Z:-2.84 [[ 7.46315761e-01 6.65539513e-01 8.36319060e-03 -4.44557817e+02] [-6.65497591e-01 7.46362618e-01 -7.46990644e-03 -2.68652253e+02] [-1.12134907e-02 9.22570859e-06 9.99937127e-01 -2.84026886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1376.316559995 meters 0.020736876476841234 Centerline is valid? [True, True] Translation: X:-444.54, Y:-268.67, Z:-2.84 [[ 7.50340027e-01 6.61017117e-01 6.79817142e-03 -4.44539887e+02] [-6.60989261e-01 7.50370820e-01 -6.06871005e-03 -2.68673315e+02] [-9.11267068e-03 6.00777597e-05 9.99958477e-01 -2.84430038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1376.346559995 meters 0.020736876476841234 Centerline is valid? [True, True] Translation: X:-444.52, Y:-268.69, Z:-2.84 [[ 7.50520964e-01 6.60811656e-01 6.79983265e-03 -4.44519391e+02] [-6.60783809e-01 7.50551765e-01 -6.06684862e-03 -2.68691505e+02] [-9.11267068e-03 6.00777611e-05 9.99958477e-01 -2.84430048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1376.376559995 meters 0.02066028329786229 Centerline is valid? [True, True] Translation: X:-444.50, Y:-268.71, Z:-2.85 [[ 7.52255599e-01 6.58854383e-01 4.73457935e-03 -4.44500024e+02] [-6.58840858e-01 7.52270496e-01 -4.22189872e-03 -2.68711127e+02] [-6.34330083e-03 5.66126238e-05 9.99979880e-01 -2.84608112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1376.406559995 meters 0.02066028329786229 Centerline is valid? [True, True] Translation: X:-444.48, Y:-268.73, Z:-2.85 [[ 7.52435626e-01 6.58648769e-01 4.73573298e-03 -4.44479517e+02] [-6.58635249e-01 7.52450527e-01 -4.22060464e-03 -2.68729304e+02] [-6.34330083e-03 5.66126252e-05 9.99979880e-01 -2.84608121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1376.436559995 meters 0.020727602937454914 Centerline is valid? [True, True] Translation: X:-444.46, Y:-268.75, Z:-2.85 [[ 7.53198192e-01 6.57777325e-01 4.63406092e-03 -4.44460773e+02] [-6.57764367e-01 7.53212445e-01 -4.12928781e-03 -2.68749447e+02] [-6.20658424e-03 6.20519659e-05 9.99980737e-01 -2.84646918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1376.4665599950001 meters 0.020788974202327958 Centerline is valid? [True, True] Translation: X:-444.44, Y:-268.77, Z:-2.85 [[ 7.52477749e-01 6.58605662e-01 3.97741360e-03 -4.44438830e+02] [-6.58596137e-01 7.52488259e-01 -3.54248059e-03 -2.68768035e+02] [-5.32605480e-03 4.61285877e-05 9.99985816e-01 -2.84676521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1376.496559995 meters 0.020765957223174137 Centerline is valid? [True, True] Translation: X:-444.42, Y:-268.79, Z:-2.85 [[ 7.51848324e-01 6.59321729e-01 4.35388172e-03 -4.44417304e+02] [-6.59310339e-01 7.51860929e-01 -3.87567815e-03 -2.68786447e+02] [-5.82883236e-03 4.33628871e-05 9.99983012e-01 -2.84591092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1376.526559995 meters 0.021026111271214724 Centerline is valid? [True, True] Translation: X:-444.40, Y:-268.80, Z:-2.84 [[ 7.51358720e-01 6.59879061e-01 4.43835644e-03 -4.44395767e+02] [-6.59867247e-01 7.51371828e-01 -3.94874280e-03 -2.68804345e+02] [-5.94054868e-03 3.81962889e-05 9.99982354e-01 -2.84499797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1376.556559995 meters 0.020008918058520175 Centerline is valid? [True, True] Translation: X:-444.37, Y:-268.82, Z:-2.84 [[ 7.50405250e-01 6.60966681e-01 3.87387378e-03 -4.44372419e+02] [-6.60957704e-01 7.50415249e-01 -3.44491705e-03 -2.68821786e+02] [-5.18398934e-03 2.46171261e-05 9.99986563e-01 -2.84375825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1376.586559995 meters 0.020138909267513574 Centerline is valid? [True, True] Translation: X:-444.35, Y:-268.84, Z:-2.85 [[ 7.47700071e-01 6.64033271e-01 2.10215787e-03 -4.44346513e+02] [-6.64030642e-01 7.47703026e-01 -1.86850809e-03 -2.68835867e+02] [-2.81254134e-03 1.18639049e-06 9.99996045e-01 -2.84509321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1376.616559995 meters 0.02025652586259745 Centerline is valid? [True, True] Translation: X:-444.32, Y:-268.85, Z:-2.85 [[ 7.41928835e-01 6.70478637e-01 -2.54444450e-05 -4.44322947e+02] [-6.70478637e-01 7.41928836e-01 2.26098215e-05 -2.68851979e+02] [ 3.40373718e-05 2.85078272e-07 1.00000000e+00 -2.84898272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1376.646559995 meters 0.020168905188246364 Centerline is valid? [True, True] Translation: X:-444.30, Y:-268.87, Z:-2.85 [[ 7.38878895e-01 6.73836625e-01 -1.47689929e-03 -4.44300087e+02] [-6.73835348e-01 7.38880371e-01 1.31217261e-03 -2.68868247e+02] [ 1.97544186e-03 2.56502998e-05 9.99998049e-01 -2.85046332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1376.676559995 meters 0.02205292109012726 Centerline is valid? [True, True] Translation: X:-444.28, Y:-268.88, Z:-2.85 [[ 7.36593837e-01 6.76332212e-01 -2.06368160e-03 -4.44278010e+02] [-6.76329729e-01 7.36596726e-01 1.83313411e-03 -2.68884666e+02] [ 2.75990876e-03 4.54539311e-05 9.99996191e-01 -2.85234287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1376.7065599950001 meters 0.02388699849764128 Centerline is valid? [True, True] Translation: X:-444.25, Y:-268.90, Z:-2.85 [[ 7.34117070e-01 6.79016292e-01 -3.00057123e-03 -4.44254542e+02] [-6.79011071e-01 7.34123197e-01 2.66414511e-03 -2.68901353e+02] [ 4.01178687e-03 8.16266825e-05 9.99991950e-01 -2.85385434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1376.736559995 meters 0.023074508659455095 Centerline is valid? [True, True] Translation: X:-444.23, Y:-268.92, Z:-2.85 [[ 7.31829349e-01 6.81482248e-01 -2.78386380e-03 -4.44231256e+02] [-6.81477776e-01 7.31834638e-01 2.47054659e-03 -2.68918737e+02] [ 3.72096160e-03 8.91228044e-05 9.99993073e-01 -2.84946545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1376.766559995 meters 0.023593242573408016 Centerline is valid? [True, True] Translation: X:-444.21, Y:-268.93, Z:-2.85 [[ 7.30903188e-01 6.82475594e-01 -2.75576871e-03 -4.44207779e+02] [-6.82471220e-01 7.30908377e-01 2.44499145e-03 -2.68933738e+02] [ 3.68286142e-03 9.36807919e-05 9.99993214e-01 -2.84788819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1376.796559995 meters 0.022903020657141813 Centerline is valid? [True, True] Translation: X:-444.19, Y:-268.95, Z:-2.85 [[ 7.29314288e-01 6.84170088e-01 -3.45837892e-03 -4.44185403e+02] [-6.84163226e-01 7.29322476e-01 3.06686517e-03 -2.68951672e+02] [ 4.62053089e-03 1.29387089e-04 9.99989317e-01 -2.84656550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1376.826559995 meters 0.02346601328877352 Centerline is valid? [True, True] Translation: X:-444.16, Y:-268.97, Z:-2.85 [[ 7.28372227e-01 6.85173714e-01 -3.29850083e-03 -4.44162725e+02] [-6.85167489e-01 7.28379684e-01 2.92366728e-03 -2.68969766e+02] [ 4.40578096e-03 1.30507484e-04 9.99990286e-01 -2.84671839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1376.856559995 meters 0.025789617615121604 Centerline is valid? [True, True] Translation: X:-444.14, Y:-268.99, Z:-2.85 [[ 7.25903114e-01 6.87790642e-01 -2.94977348e-03 -4.44140535e+02] [-6.87785687e-01 7.25909096e-01 2.61412900e-03 -2.68986668e+02] [ 3.93924086e-03 1.31207595e-04 9.99992233e-01 -2.84847736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1376.886559995 meters 0.024723272938080434 Centerline is valid? [True, True] Translation: X:-444.12, Y:-269.01, Z:-2.85 [[ 7.24464640e-01 6.89305374e-01 -3.01451044e-03 -4.44119424e+02] [-6.89300217e-01 7.24470897e-01 2.67018059e-03 -2.69006629e+02] [ 4.02449491e-03 1.43451278e-04 9.99991892e-01 -2.84814895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1376.916559995 meters 0.02576333164134263 Centerline is valid? [True, True] Translation: X:-444.10, Y:-269.02, Z:-2.85 [[ 7.24361486e-01 6.89414034e-01 -2.95442771e-03 -4.44096907e+02] [-6.89409083e-01 7.24367497e-01 2.61650470e-03 -2.69023029e+02] [ 3.94394646e-03 1.41514065e-04 9.99992213e-01 -2.84767982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1376.9465599950001 meters 0.025198445503909823 Centerline is valid? [True, True] Translation: X:-444.07, Y:-269.04, Z:-2.84 [[ 7.25926871e-01 6.87767085e-01 -2.57201698e-03 -4.44073585e+02] [-6.87763326e-01 7.25931418e-01 2.27676626e-03 -2.69039890e+02] [ 3.43299283e-03 1.16173149e-04 9.99994101e-01 -2.84449332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1376.9765599950001 meters 0.025674475489696917 Centerline is valid? [True, True] Translation: X:-444.05, Y:-269.06, Z:-2.84 [[ 7.27525046e-01 6.86075835e-01 -2.69362308e-03 -4.44051703e+02] [-6.86071704e-01 7.27530024e-01 2.38381761e-03 -2.69057150e+02] [ 3.59517132e-03 1.13731560e-04 9.99993531e-01 -2.84410514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1377.006559995 meters 0.02440231747592284 Centerline is valid? [True, True] Translation: X:-444.03, Y:-269.08, Z:-2.84 [[ 7.27980083e-01 6.85591205e-01 -3.11411640e-03 -4.44030389e+02] [-6.85585684e-01 7.27986732e-01 2.75462134e-03 -2.69076190e+02] [ 4.15557959e-03 1.29684154e-04 9.99991357e-01 -2.84267600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1377.036559995 meters 0.024330176283877902 Centerline is valid? [True, True] Translation: X:-444.01, Y:-269.10, Z:-2.84 [[ 7.29263967e-01 6.84227395e-01 -2.63414409e-03 -4.44009149e+02] [-6.84223439e-01 7.29268717e-01 2.32894145e-03 -2.69095127e+02] [ 3.51452442e-03 1.03930049e-04 9.99993819e-01 -2.84206497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1377.066559995 meters 0.024169366288108396 Centerline is valid? [True, True] Translation: X:-443.99, Y:-269.11, Z:-2.84 [[ 7.29881724e-01 6.83570034e-01 -2.16293901e-03 -4.43987586e+02] [-6.83567366e-01 7.29884924e-01 1.91141463e-03 -2.69114133e+02] [ 2.88528234e-03 8.34079152e-05 9.99995834e-01 -2.84136572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1377.096559995 meters 0.024481345002761272 Centerline is valid? [True, True] Translation: X:-443.97, Y:-269.13, Z:-2.84 [[ 7.29976651e-01 6.83469128e-01 -2.01002145e-03 -4.43965468e+02] [-6.83466827e-01 7.29979414e-01 1.77531116e-03 -2.69131478e+02] [ 2.68064465e-03 7.78472884e-05 9.99996404e-01 -2.84103379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1377.126559995 meters 0.024166437425503298 Centerline is valid? [True, True] Translation: X:-443.94, Y:-269.15, Z:-2.84 [[ 7.30756512e-01 6.82637164e-01 -1.19257616e-03 -4.43943603e+02] [-6.82636354e-01 7.30757484e-01 1.05281574e-03 -2.69150565e+02] [ 1.59017510e-03 4.47438856e-05 9.99998735e-01 -2.83970973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1377.156559995 meters 0.024556855663577452 Centerline is valid? [True, True] Translation: X:-443.92, Y:-269.17, Z:-2.84 [[ 7.30977646e-01 6.82401116e-01 -6.31411490e-04 -4.43922127e+02] [-6.82400889e-01 7.30977918e-01 5.57109228e-04 -2.69168369e+02] [ 8.41719817e-04 2.36413701e-05 9.99999646e-01 -2.83919327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1377.186559995 meters 0.023769825691381054 Centerline is valid? [True, True] Translation: X:-443.90, Y:-269.18, Z:-2.84 [[ 7.33071622e-01 6.80151071e-01 7.18791161e-04 -4.43898681e+02] [-6.80150776e-01 7.33071974e-01 -6.34100599e-04 -2.69184141e+02] [-9.58209855e-04 -2.40452107e-05 9.99999541e-01 -2.83608845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1377.2165599950001 meters 0.021788218443985825 Centerline is valid? [True, True] Translation: X:-443.88, Y:-269.20, Z:-2.83 [[ 7.34511010e-01 6.78595395e-01 1.36615863e-03 -4.43878995e+02] [-6.78594327e-01 7.34512279e-01 -1.20461899e-03 -2.69204844e+02] [-1.82090919e-03 -4.22615873e-05 9.99998341e-01 -2.83450055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1377.246559995 meters 0.023090144154357752 Centerline is valid? [True, True] Translation: X:-443.86, Y:-269.22, Z:-2.84 [[ 7.34774913e-01 6.78307937e-01 2.04185387e-03 -4.43858178e+02] [-6.78305554e-01 7.34777748e-01 -1.79942938e-03 -2.69223889e+02] [-2.72087601e-03 -6.28252521e-05 9.99996297e-01 -2.83582115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1377.276559995 meters 0.022503495258240778 Centerline is valid? [True, True] Translation: X:-443.84, Y:-269.24, Z:-2.83 [[ 7.36900884e-01 6.75995299e-01 2.72827932e-03 -4.43836717e+02] [-6.75991031e-01 7.36905931e-01 -2.40320830e-03 -2.69243167e+02] [-3.63504272e-03 -7.33660248e-05 9.99993391e-01 -2.83386312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1377.306559995 meters 0.021381664647631735 Centerline is valid? [True, True] Translation: X:-443.82, Y:-269.26, Z:-2.83 [[ 7.38439556e-01 6.74314054e-01 2.75306911e-03 -4.43815343e+02] [-6.74309701e-01 7.38444685e-01 -2.42388369e-03 -2.69261940e+02] [-3.66744809e-03 -6.65296113e-05 9.99993273e-01 -2.83229179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1377.336559995 meters 0.020513224156698786 Centerline is valid? [True, True] Translation: X:-443.79, Y:-269.28, Z:-2.83 [[ 7.40272466e-01 6.72299690e-01 3.13110604e-03 -4.43794732e+02] [-6.72294046e-01 7.40279085e-01 -2.75538568e-03 -2.69281503e+02] [-4.17033725e-03 -6.52877976e-05 9.99991302e-01 -2.83091395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1377.366559995 meters 0.021349721115156692 Centerline is valid? [True, True] Translation: X:-443.77, Y:-269.30, Z:-2.83 [[ 7.41545775e-01 6.70893737e-01 3.38485534e-03 -4.43773492e+02] [-6.70887130e-01 7.41553497e-01 -2.97817549e-03 -2.69299761e+02] [-4.50809060e-03 -6.24024368e-05 9.99989837e-01 -2.83073726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1377.396559995 meters 0.021310448076165656 Centerline is valid? [True, True] Translation: X:-443.75, Y:-269.32, Z:-2.83 [[ 7.43096545e-01 6.69178474e-01 2.77399070e-03 -4.43753461e+02] [-6.69174028e-01 7.43101722e-01 -2.43953847e-03 -2.69321149e+02] [-3.69384390e-03 -4.34699193e-05 9.99993177e-01 -2.83280535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1377.426559995 meters 0.020417810603696716 Centerline is valid? [True, True] Translation: X:-443.73, Y:-269.34, Z:-2.83 [[ 7.44476559e-01 6.67643617e-01 2.57948100e-03 -4.43734199e+02] [-6.67639765e-01 7.44481027e-01 -2.26809585e-03 -2.69341164e+02] [-3.43465438e-03 -3.36198982e-05 9.99994101e-01 -2.83374204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1377.4565599950001 meters 0.020435462464093484 Centerline is valid? [True, True] Translation: X:-443.71, Y:-269.36, Z:-2.84 [[ 7.44368324e-01 6.67766228e-01 2.01581722e-03 -4.43714238e+02] [-6.67763879e-01 7.44371053e-01 -1.77152512e-03 -2.69360096e+02] [-2.68348063e-03 -2.74227447e-05 9.99996399e-01 -2.83552960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1377.486559995 meters 0.0206959327518574 Centerline is valid? [True, True] Translation: X:-443.69, Y:-269.38, Z:-2.84 [[ 7.43401209e-01 6.68845202e-01 8.60038029e-04 -4.43694408e+02] [-6.68844775e-01 7.43401706e-01 -7.55615778e-04 -2.69380358e+02] [-1.14474372e-03 -1.35062597e-05 9.99999345e-01 -2.83854028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1377.516559995 meters 0.02070081425673043 Centerline is valid? [True, True] Translation: X:-443.67, Y:-269.40, Z:-2.84 [[ 7.42573719e-01 6.69763931e-01 7.41110390e-04 -4.43672661e+02] [-6.69763615e-01 7.42574088e-01 -6.51015681e-04 -2.69398301e+02] [-9.86356192e-04 -1.29416385e-05 9.99999514e-01 -2.83847950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1377.546559995 meters 0.02063485173476732 Centerline is valid? [True, True] Translation: X:-443.65, Y:-269.42, Z:-2.84 [[ 7.41253092e-01 6.71225301e-01 6.70892417e-04 -4.43649735e+02] [-6.71225042e-01 7.41253395e-01 -5.89051122e-04 -2.69415449e+02] [-8.92687296e-04 -1.36838262e-05 9.99999602e-01 -2.83772462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1377.576559995 meters 0.0216462908162457 Centerline is valid? [True, True] Translation: X:-443.63, Y:-269.43, Z:-2.84 [[ 7.37441488e-01 6.75409240e-01 1.55241515e-03 -4.43625553e+02] [-6.75407868e-01 7.37443121e-01 -1.36246337e-03 -2.69432450e+02] [-2.06503822e-03 -4.37763904e-05 9.99997867e-01 -2.83723218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1377.606559995 meters 0.02241728528469863 Centerline is valid? [True, True] Translation: X:-443.60, Y:-269.45, Z:-2.84 [[ 7.35833032e-01 6.77159683e-01 2.12419333e-03 -4.43603248e+02] [-6.77157121e-01 7.35836095e-01 -1.86395559e-03 -2.69448759e+02] [-2.82525370e-03 -6.68525437e-05 9.99996007e-01 -2.83675116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1377.636559995 meters 0.02251925075250421 Centerline is valid? [True, True] Translation: X:-443.58, Y:-269.47, Z:-2.84 [[ 7.34591748e-01 6.78506636e-01 1.92552388e-03 -4.43581767e+02] [-6.78504538e-01 7.34594269e-01 -1.68881068e-03 -2.69467474e+02] [-2.56034806e-03 -6.58903004e-05 9.99996720e-01 -2.83703383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1377.666559995 meters 0.022633568862897635 Centerline is valid? [True, True] Translation: X:-443.56, Y:-269.49, Z:-2.84 [[ 7.33139597e-01 6.80075515e-01 1.90435141e-03 -4.43559544e+02] [-6.80073469e-01 7.33142066e-01 -1.66943261e-03 -2.69485422e+02] [-2.53150037e-03 -7.11717199e-05 9.99996793e-01 -2.83683515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1377.6965599950001 meters 0.023863722756384095 Centerline is valid? [True, True] Translation: X:-443.54, Y:-269.50, Z:-2.84 [[ 7.31863919e-01 6.81447722e-01 2.05090525e-03 -4.43536888e+02] [-6.81445356e-01 7.31866788e-01 -1.79759896e-03 -2.69501734e+02] [-2.72595915e-03 -8.19820431e-05 9.99996281e-01 -2.83634092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1377.7265599950001 meters 0.023375837907520812 Centerline is valid? [True, True] Translation: X:-443.52, Y:-269.52, Z:-2.84 [[ 7.31232853e-01 6.82124535e-01 2.15258123e-03 -4.43515529e+02] [-6.82121934e-01 7.31236016e-01 -1.88580893e-03 -2.69520831e+02] [-2.86040145e-03 -8.93574279e-05 9.99995905e-01 -2.83625941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1377.756559995 meters 0.02389093589089414 Centerline is valid? [True, True] Translation: X:-443.49, Y:-269.54, Z:-2.84 [[ 7.30429889e-01 6.82984725e-01 2.01074007e-03 -4.43492893e+02] [-6.82982461e-01 7.30432652e-01 -1.76070193e-03 -2.69538986e+02] [-2.67124272e-03 -8.72308835e-05 9.99996429e-01 -2.83672138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1377.786559995 meters 0.024505683995999963 Centerline is valid? [True, True] Translation: X:-443.47, Y:-269.56, Z:-2.84 [[ 7.30265151e-01 6.83161488e-01 1.78634371e-03 -4.43471727e+02] [-6.83159703e-01 7.30267331e-01 -1.56346330e-03 -2.69558062e+02] [-2.37260636e-03 -7.86152773e-05 9.99997183e-01 -2.83838008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1377.816559995 meters 0.02322474765932253 Centerline is valid? [True, True] Translation: X:-443.45, Y:-269.58, Z:-2.84 [[ 7.31841831e-01 6.81473890e-01 9.34437281e-04 -4.43452222e+02] [-6.81473400e-01 7.31842426e-01 -8.17486587e-04 -2.69579974e+02] [-1.24095661e-03 -3.85232713e-05 9.99999230e-01 -2.84064594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1377.846559995 meters 0.023281868535701977 Centerline is valid? [True, True] Translation: X:-443.43, Y:-269.60, Z:-2.84 [[ 7.32071844e-01 6.81227426e-01 -9.34058816e-05 -4.43432344e+02] [-6.81227421e-01 7.32071850e-01 8.16694978e-05 -2.69599103e+02] [ 1.24015320e-04 3.84270801e-06 9.99999993e-01 -2.84220101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1377.876559995 meters 0.02501121925988284 Centerline is valid? [True, True] Translation: X:-443.41, Y:-269.62, Z:-2.84 [[ 7.32255587e-01 6.81029872e-01 -2.64003001e-04 -4.43411297e+02] [-6.81029833e-01 7.32255634e-01 2.30795223e-04 -2.69616766e+02] [ 3.50496128e-04 1.07928278e-05 9.99999939e-01 -2.84408052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1377.906559995 meters 0.022570325508128923 Centerline is valid? [True, True] Translation: X:-443.39, Y:-269.64, Z:-2.84 [[ 7.32883025e-01 6.80354333e-01 -6.73565890e-04 -4.43392268e+02] [-6.80354079e-01 7.32883334e-01 5.88557355e-04 -2.69638626e+02] [ 8.94072764e-04 2.69196059e-05 9.99999600e-01 -2.84365946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1377.936559995 meters 0.0231386841541116 Centerline is valid? [True, True] Translation: X:-443.37, Y:-269.66, Z:-2.84 [[ 7.32316599e-01 6.80963550e-01 -1.02135475e-03 -4.43369851e+02] [-6.80962967e-01 7.32317310e-01 8.92022052e-04 -2.69656037e+02] [ 1.35539027e-03 4.22622061e-05 9.99999081e-01 -2.84309141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1377.9665599950001 meters 0.024759963684991133 Centerline is valid? [True, True] Translation: X:-443.35, Y:-269.67, Z:-2.84 [[ 7.31308473e-01 6.82046823e-01 -2.19494043e-04 -4.43345658e+02] [-6.82046796e-01 7.31308506e-01 1.91666875e-04 -2.69670419e+02] [ 2.91243646e-04 9.53759923e-06 9.99999958e-01 -2.84294040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1377.996559995 meters 0.023768945440405514 Centerline is valid? [True, True] Translation: X:-443.33, Y:-269.69, Z:-2.84 [[ 7.30914011e-01 6.82469563e-01 -6.70642623e-05 -4.43325396e+02] [-6.82469561e-01 7.30914014e-01 5.85516276e-05 -2.69690285e+02] [ 8.89779148e-05 2.97311266e-06 9.99999996e-01 -2.84244670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1378.026559995 meters 0.02416922493531492 Centerline is valid? [True, True] Translation: X:-443.30, Y:-269.71, Z:-2.84 [[ 7.31118443e-01 6.82250443e-01 -3.93890795e-04 -4.43304747e+02] [-6.82250357e-01 7.31118549e-01 3.43766449e-04 -2.69707239e+02] [ 5.22515681e-04 1.73981445e-05 9.99999864e-01 -2.84295692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1378.056559995 meters 0.023830878016698313 Centerline is valid? [True, True] Translation: X:-443.28, Y:-269.73, Z:-2.84 [[ 7.31357271e-01 6.81994197e-01 -6.76381917e-04 -4.43283819e+02] [-6.81993942e-01 7.31357584e-01 5.89988505e-04 -2.69726300e+02] [ 8.97045782e-04 2.97959864e-05 9.99999597e-01 -2.84326619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1378.086559995 meters 0.0246015745456084 Centerline is valid? [True, True] Translation: X:-443.26, Y:-269.74, Z:-2.85 [[ 7.31475017e-01 6.81865968e-01 -1.76118987e-03 -4.43263170e+02] [-6.81864243e-01 7.31477133e-01 1.53567005e-03 -2.69743837e+02] [ 2.33539126e-03 7.75881262e-05 9.99997270e-01 -2.84573064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1378.116559995 meters 0.023470214743224343 Centerline is valid? [True, True] Translation: X:-443.24, Y:-269.76, Z:-2.85 [[ 7.33042154e-01 6.80181785e-01 -1.39318951e-03 -4.43242618e+02] [-6.80180703e-01 7.33043475e-01 1.21425928e-03 -2.69764560e+02] [ 1.84718553e-03 5.75173852e-05 9.99998293e-01 -2.84514765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1378.146559995 meters 0.02302562871014879 Centerline is valid? [True, True] Translation: X:-443.22, Y:-269.78, Z:-2.85 [[ 7.34095158e-01 6.79044574e-01 -1.66320017e-03 -4.43220871e+02] [-6.79043031e-01 7.34097039e-01 1.44890989e-03 -2.69783689e+02] [ 2.20482472e-03 6.57467528e-05 9.99997567e-01 -2.84548160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1378.176559995 meters 0.022987902805082658 Centerline is valid? [True, True] Translation: X:-443.20, Y:-269.80, Z:-2.85 [[ 7.34986081e-01 6.78079786e-01 -1.80688710e-03 -4.43199299e+02] [-6.78077964e-01 7.34988299e-01 1.57334415e-03 -2.69802604e+02] [ 2.39489374e-03 6.88242748e-05 9.99997130e-01 -2.84512097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1378.2065599950001 meters 0.022182061310463675 Centerline is valid? [True, True] Translation: X:-443.18, Y:-269.82, Z:-2.84 [[ 7.36455759e-01 6.76484952e-01 -1.01220115e-03 -4.43178526e+02] [-6.76484379e-01 7.36456454e-01 8.81226127e-04 -2.69821038e+02] [ 1.34157828e-03 3.57542089e-05 9.99999100e-01 -2.84448585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1378.236559995 meters 0.021386290726890533 Centerline is valid? [True, True] Translation: X:-443.16, Y:-269.84, Z:-2.84 [[ 7.36606025e-01 6.76321903e-01 -4.97287331e-04 -4.43158638e+02] [-6.76321765e-01 7.36606193e-01 4.32700873e-04 -2.69839996e+02] [ 6.58950008e-04 1.75961753e-05 9.99999783e-01 -2.84396176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1378.266559995 meters 0.021975935171733435 Centerline is valid? [True, True] Translation: X:-443.14, Y:-269.86, Z:-2.84 [[ 7.38488940e-01 6.74261698e-01 2.29093943e-03 -4.43136402e+02] [-6.74258758e-01 7.38492490e-01 -1.99245307e-03 -2.69857370e+02] [-3.03527635e-03 -7.32814212e-05 9.99995391e-01 -2.84107978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1378.296559995 meters 0.021975935171733435 Centerline is valid? [True, True] Translation: X:-443.12, Y:-269.88, Z:-2.84 [[ 7.38667897e-01 6.74065641e-01 2.29146818e-03 -4.43115670e+02] [-6.74062702e-01 7.38671447e-01 -1.99184494e-03 -2.69875289e+02] [-3.03527635e-03 -7.32813216e-05 9.99995391e-01 -2.84107987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1378.326559995 meters 0.021163184116689212 Centerline is valid? [True, True] Translation: X:-443.09, Y:-269.89, Z:-2.84 [[ 7.40252759e-01 6.72321178e-01 3.17599645e-03 -4.43094745e+02] [-6.72315522e-01 7.40259566e-01 -2.75938606e-03 -2.69894524e+02] [-4.20625544e-03 -9.26285708e-05 9.99991150e-01 -2.83956527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1378.356559995 meters 0.019850593048756707 Centerline is valid? [True, True] Translation: X:-443.07, Y:-269.91, Z:-2.84 [[ 7.42796753e-01 6.69503933e-01 4.17941733e-03 -4.43073307e+02] [-6.69494097e-01 7.42808504e-01 -3.63056346e-03 -2.69912543e+02] [-5.53518325e-03 -1.01324483e-04 9.99984676e-01 -2.83676389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1378.386559995 meters 0.01882919351538233 Centerline is valid? [True, True] Translation: X:-443.05, Y:-269.93, Z:-2.84 [[ 7.48122084e-01 6.63535305e-01 5.85207019e-03 -4.43053461e+02] [-6.63515851e-01 7.48144968e-01 -5.08158301e-03 -2.69933451e+02] [-7.75000659e-03 -8.12968595e-05 9.99969965e-01 -2.83616244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1378.416559995 meters 0.01855838821762088 Centerline is valid? [True, True] Translation: X:-443.03, Y:-269.96, Z:-2.84 [[ 7.49753222e-01 6.61708411e-01 3.47634880e-03 -4.43034270e+02] [-6.61701534e-01 7.49761280e-01 -3.01718003e-03 -2.69955723e+02] [-4.60292513e-03 -3.81648819e-05 9.99989406e-01 -2.84009026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1378.4465599950001 meters 0.018825918927565268 Centerline is valid? [True, True] Translation: X:-443.02, Y:-269.98, Z:-2.84 [[ 7.51288745e-01 6.59968564e-01 2.59159143e-03 -4.43015214e+02] [-6.59964732e-01 7.51293215e-01 -2.24889621e-03 -2.69975848e+02] [-3.43124586e-03 -2.07885327e-05 9.99994113e-01 -2.84312072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1378.4765599950001 meters 0.019141201721760558 Centerline is valid? [True, True] Translation: X:-443.00, Y:-270.00, Z:-2.85 [[ 7.52020827e-01 6.59137626e-01 1.50556304e-03 -4.42998218e+02] [-6.59136333e-01 7.52022334e-01 -1.30575935e-03 -2.69998182e+02] [-1.99289214e-03 -1.04130744e-05 9.99998014e-01 -2.84768382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1378.506559995 meters 0.01905363941658305 Centerline is valid? [True, True] Translation: X:-442.98, Y:-270.02, Z:-2.85 [[ 7.51157204e-01 6.60122483e-01 1.07836889e-03 -4.42975854e+02] [-6.60121821e-01 7.51157978e-01 -9.34811594e-04 -2.70016624e+02] [-1.42711554e-03 -9.66437041e-06 9.99998982e-01 -2.84810223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1378.536559995 meters 0.018617998510506786 Centerline is valid? [True, True] Translation: X:-442.95, Y:-270.03, Z:-2.85 [[ 7.50118377e-01 6.61303091e-01 8.01850182e-04 -4.42953567e+02] [-6.61302726e-01 7.50118805e-01 -6.94986258e-04 -2.70034052e+02] [-1.06107946e-03 -8.94374775e-06 9.99999437e-01 -2.84815911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1378.566559995 meters 0.018614282716632076 Centerline is valid? [True, True] Translation: X:-442.93, Y:-270.05, Z:-2.85 [[ 7.49226964e-01 6.62311989e-01 1.33648784e-03 -4.42930967e+02] [-6.62310977e-01 7.49228156e-01 -1.15782116e-03 -2.70052376e+02] [-1.76817315e-03 -1.76997325e-05 9.99998437e-01 -2.84677760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1378.596559995 meters 0.019158394452632097 Centerline is valid? [True, True] Translation: X:-442.91, Y:-270.07, Z:-2.84 [[ 7.48444393e-01 6.63193672e-01 2.26808881e-03 -4.42908490e+02] [-6.63190763e-01 7.48447829e-01 -1.96454985e-03 -2.70069428e+02] [-3.00042317e-03 -3.38192228e-05 9.99995498e-01 -2.84387488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1378.626559995 meters 0.019792858692672298 Centerline is valid? [True, True] Translation: X:-442.89, Y:-270.09, Z:-2.84 [[ 7.47331802e-01 6.64448754e-01 1.74076250e-03 -4.42886122e+02] [-6.64447046e-01 7.47333829e-01 -1.50706662e-03 -2.70087923e+02] [-2.30229925e-03 -3.03656854e-05 9.99997349e-01 -2.84458681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1378.656559995 meters 0.019352421923915137 Centerline is valid? [True, True] Translation: X:-442.87, Y:-270.11, Z:-2.84 [[ 7.47348693e-01 6.64427869e-01 2.35320741e-03 -4.42865391e+02] [-6.64424749e-01 7.47352397e-01 -2.03681397e-03 -2.70105681e+02] [-3.11199116e-03 -4.13189840e-05 9.99995157e-01 -2.84417351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1378.686559995 meters 0.019564597344541988 Centerline is valid? [True, True] Translation: X:-442.84, Y:-270.13, Z:-2.85 [[ 7.46484431e-01 6.65400799e-01 1.66493577e-03 -4.42844754e+02] [-6.65399241e-01 7.46486287e-01 -1.44037482e-03 -2.70126255e+02] [-2.20127827e-03 -3.26296255e-05 9.99997577e-01 -2.84560032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1378.7165599950001 meters 0.019843203099789708 Centerline is valid? [True, True] Translation: X:-442.82, Y:-270.14, Z:-2.85 [[ 7.46176099e-01 6.65747163e-01 1.39449788e-03 -4.42823278e+02] [-6.65746071e-01 7.46177402e-01 -1.20609606e-03 -2.70143461e+02] [-1.84349783e-03 -2.84214349e-05 9.99998301e-01 -2.84586983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1378.746559995 meters 0.020366387268746663 Centerline is valid? [True, True] Translation: X:-442.80, Y:-270.16, Z:-2.85 [[ 7.46432873e-01 6.65458581e-01 1.68626249e-03 -4.42803215e+02] [-6.65456985e-01 7.46434777e-01 -1.45763542e-03 -2.70162912e+02] [-2.22868096e-03 -3.41081547e-05 9.99997516e-01 -2.84646682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1378.776559995 meters 0.019376345031947746 Centerline is valid? [True, True] Translation: X:-442.78, Y:-270.18, Z:-2.84 [[ 7.46280197e-01 6.65625817e-01 2.85291051e-03 -4.42782201e+02] [-6.65621256e-01 7.46285648e-01 -2.46490398e-03 -2.70182247e+02] [-3.76978989e-03 -5.94488450e-05 9.99992893e-01 -2.84446964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1378.806559995 meters 0.01986116534306875 Centerline is valid? [True, True] Translation: X:-442.76, Y:-270.20, Z:-2.84 [[ 7.46600875e-01 6.65260214e-01 3.99769346e-03 -4.42761334e+02] [-6.65251256e-01 7.46611574e-01 -3.45315726e-03 -2.70199570e+02] [-5.28197234e-03 -8.13403622e-05 9.99986047e-01 -2.84286810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1378.836559995 meters 0.019820505142121428 Centerline is valid? [True, True] Translation: X:-442.74, Y:-270.22, Z:-2.84 [[ 7.47292501e-01 6.64472876e-01 5.45111269e-03 -4.42739777e+02] [-6.64456219e-01 7.47312375e-01 -4.70604447e-03 -2.70217991e+02] [-7.20072287e-03 -1.05233980e-04 9.99974069e-01 -2.84068505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1378.866559995 meters 0.019287157466400036 Centerline is valid? [True, True] Translation: X:-442.72, Y:-270.24, Z:-2.84 [[ 7.47807490e-01 6.63879027e-01 6.97114602e-03 -4.42718010e+02] [-6.63851786e-01 7.47839971e-01 -6.01541153e-03 -2.70237293e+02] [-9.20680718e-03 -1.29437937e-04 9.99957608e-01 -2.83824858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1378.896559995 meters 0.02040131884160258 Centerline is valid? [True, True] Translation: X:-442.70, Y:-270.26, Z:-2.84 [[ 7.48590759e-01 6.62967780e-01 9.25192133e-03 -4.42696814e+02] [-6.62919777e-01 7.48647913e-01 -7.97954657e-03 -2.70256624e+02] [-1.22166139e-02 -1.59866796e-04 9.99925362e-01 -2.83639074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1378.926559995 meters 0.01962824770741718 Centerline is valid? [True, True] Translation: X:-442.68, Y:-270.27, Z:-2.83 [[ 7.49061769e-01 6.62426198e-01 9.89946973e-03 -4.42676687e+02] [-6.62371219e-01 7.49127163e-01 -8.53596442e-03 -2.70273866e+02] [-1.30704081e-02 -1.63159228e-04 9.99914565e-01 -2.83457144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1378.9565599950001 meters 0.019482294563640788 Centerline is valid? [True, True] Translation: X:-442.66, Y:-270.29, Z:-2.83 [[ 7.49770726e-01 6.61617845e-01 1.02803357e-02 -4.42656248e+02] [-6.61558545e-01 7.49841184e-01 -8.85946239e-03 -2.70293424e+02] [-1.35701975e-02 -1.58478407e-04 9.99907908e-01 -2.83483416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1378.986559995 meters 0.01968159177856867 Centerline is valid? [True, True] Translation: X:-442.64, Y:-270.32, Z:-2.84 [[ 7.52108876e-01 6.58951458e-01 1.07337897e-02 -4.42636390e+02] [-6.58886602e-01 7.52185457e-01 -9.24574981e-03 -2.70315047e+02] [-1.41663008e-02 -1.18539739e-04 9.99899646e-01 -2.83554315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1379.016559995 meters 0.019173971995615175 Centerline is valid? [True, True] Translation: X:-442.62, Y:-270.33, Z:-2.83 [[ 7.53619190e-01 6.57220401e-01 1.09298472e-02 -4.42616191e+02] [-6.57152995e-01 7.53698439e-01 -9.41300742e-03 -2.70334666e+02] [-1.44242293e-02 -8.87587805e-05 9.99895962e-01 -2.83491413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1379.046559995 meters 0.019655969524601462 Centerline is valid? [True, True] Translation: X:-442.60, Y:-270.36, Z:-2.84 [[ 7.55394659e-01 6.55183535e-01 1.06510502e-02 -4.42595433e+02] [-6.55119383e-01 7.55469743e-01 -9.16851446e-03 -2.70355204e+02] [-1.40536059e-02 -5.18625980e-05 9.99901242e-01 -2.83562215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1379.076559995 meters 0.01944141197057106 Centerline is valid? [True, True] Translation: X:-442.58, Y:-270.38, Z:-2.84 [[ 7.57252751e-01 6.53039504e-01 1.03768001e-02 -4.42575268e+02] [-6.52978470e-01 7.57323845e-01 -8.92814956e-03 -2.70375495e+02] [-1.36890325e-02 -1.49612298e-05 9.99906301e-01 -2.83585248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1379.106559995 meters 0.020412569779486002 Centerline is valid? [True, True] Translation: X:-442.56, Y:-270.40, Z:-2.84 [[ 7.60249469e-01 6.49548772e-01 1.03507160e-02 -4.42555773e+02] [-6.49487741e-01 7.60319926e-01 -8.90419240e-03 -2.70395973e+02] [-1.36535628e-02 4.67444202e-05 9.99906785e-01 -2.83609522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1379.136559995 meters 0.020088832038830617 Centerline is valid? [True, True] Translation: X:-442.54, Y:-270.41, Z:-2.84 [[ 7.61328553e-01 6.48294200e-01 9.66778931e-03 -4.42536005e+02] [-6.48240894e-01 7.61389931e-01 -8.31364462e-03 -2.70414704e+02] [-1.27506450e-02 6.23586409e-05 9.99918706e-01 -2.83571684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1379.166559995 meters 0.02061372619867661 Centerline is valid? [True, True] Translation: X:-442.52, Y:-270.44, Z:-2.84 [[ 7.62492570e-01 6.46930008e-01 9.30840013e-03 -4.42516171e+02] [-6.46880542e-01 7.62549382e-01 -8.00033287e-03 -2.70435012e+02] [-1.22737702e-02 7.87714481e-05 9.99924672e-01 -2.83688195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1379.1965599950001 meters 0.0208242266397409 Centerline is valid? [True, True] Translation: X:-442.50, Y:-270.45, Z:-2.84 [[ 7.62051768e-01 6.47462541e-01 8.32830923e-03 -4.42495019e+02] [-6.47423013e-01 7.62097273e-01 -7.15456647e-03 -2.70454364e+02] [-1.09792955e-02 6.02109689e-05 9.99939724e-01 -2.83962650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1379.2265599950001 meters 0.020983488951048977 Centerline is valid? [True, True] Translation: X:-442.47, Y:-270.47, Z:-2.84 [[ 7.61754334e-01 6.47814771e-01 8.14596006e-03 -4.42474100e+02] [-6.47777016e-01 7.61797886e-01 -6.99414112e-03 -2.70473132e+02] [-1.07364831e-02 5.10516125e-05 9.99942361e-01 -2.84016249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1379.256559995 meters 0.02099889453925002 Centerline is valid? [True, True] Translation: X:-442.45, Y:-270.49, Z:-2.84 [[ 7.59891105e-01 6.50015541e-01 6.73091726e-03 -4.42450497e+02] [-6.49989874e-01 7.59920915e-01 -5.77645659e-03 -2.70489517e+02] [-8.86975135e-03 1.44499197e-05 9.99960663e-01 -2.84138991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1379.286559995 meters 0.020881964688941653 Centerline is valid? [True, True] Translation: X:-442.43, Y:-270.51, Z:-2.84 [[ 7.58308357e-01 6.51851761e-01 7.59724579e-03 -4.42428281e+02] [-6.51819164e-01 7.58346413e-01 -6.51884766e-03 -2.70506775e+02] [-1.00106664e-02 -8.73374675e-06 9.99949892e-01 -2.84040972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1379.316559995 meters 0.022469131717308043 Centerline is valid? [True, True] Translation: X:-442.39, Y:-270.51, Z:-2.84 [[ 7.47749794e-01 6.63961726e-01 5.00716174e-03 -4.42392360e+02] [-6.63947839e-01 7.47766550e-01 -4.29573919e-03 -2.70507307e+02] [-6.59639447e-03 -1.12356125e-04 9.99978237e-01 -2.84139818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1379.346559995 meters 0.024220852222513325 Centerline is valid? [True, True] Translation: X:-442.37, Y:-270.52, Z:-2.84 [[ 7.43583855e-01 6.68617521e-01 5.80187135e-03 -4.42365684e+02] [-6.68599032e-01 7.43606468e-01 -4.97549395e-03 -2.70521284e+02] [-7.64101149e-03 -1.79428596e-04 9.99970791e-01 -2.84226967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1379.376559995 meters 0.026469436476622924 Centerline is valid? [True, True] Translation: X:-442.34, Y:-270.54, Z:-2.84 [[ 7.39886585e-01 6.72692317e-01 7.27241938e-03 -4.42341411e+02] [-6.72663472e-01 7.39922273e-01 -6.23565007e-03 -2.70535733e+02] [-9.57569897e-03 -2.78217037e-04 9.99954113e-01 -2.84222098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1379.406559995 meters 0.025818387978570414 Centerline is valid? [True, True] Translation: X:-442.32, Y:-270.55, Z:-2.84 [[ 7.36750157e-01 6.76110967e-01 8.55369091e-03 -4.42319738e+02] [-6.76071316e-01 7.36799712e-01 -7.33220507e-03 -2.70554853e+02] [-1.12597412e-02 -3.80901828e-04 9.99936535e-01 -2.84415985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1379.436559995 meters 0.02722125537323998 Centerline is valid? [True, True] Translation: X:-442.30, Y:-270.57, Z:-2.84 [[ 7.34435197e-01 6.78595043e-01 1.06634650e-02 -4.42297096e+02] [-6.78533736e-01 7.34512418e-01 -9.13658965e-03 -2.70572031e+02] [-1.40324919e-02 -5.25287719e-04 9.99901402e-01 -2.84387514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1379.4665599950001 meters 0.027547798780329626 Centerline is valid? [True, True] Translation: X:-442.27, Y:-270.59, Z:-2.84 [[ 7.34045039e-01 6.79023834e-01 1.02232200e-02 -4.42274261e+02] [-6.78967582e-01 7.34116045e-01 -8.75523709e-03 -2.70589556e+02] [-1.34500445e-02 -5.14496654e-04 9.99909412e-01 -2.84379182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1379.496559995 meters 0.02741803102373336 Centerline is valid? [True, True] Translation: X:-442.25, Y:-270.61, Z:-2.85 [[ 7.34495529e-01 6.78532090e-01 1.05128708e-02 -4.42250924e+02] [-6.78472615e-01 7.34570575e-01 -8.99899742e-03 -2.70606571e+02] [-1.38285540e-02 -5.22971541e-04 9.99904244e-01 -2.84510658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1379.526559995 meters 0.02706555690851908 Centerline is valid? [True, True] Translation: X:-442.23, Y:-270.63, Z:-2.85 [[ 7.35680827e-01 6.77237344e-01 1.11040741e-02 -4.42230350e+02] [-6.77170911e-01 7.35764432e-01 -9.50046872e-03 -2.70626114e+02] [-1.46040550e-02 -5.30043304e-04 9.99893215e-01 -2.84540772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1379.556559995 meters 0.026934041182635583 Centerline is valid? [True, True] Translation: X:-442.21, Y:-270.64, Z:-2.85 [[ 7.36322717e-01 6.76545993e-01 1.06946866e-02 -4.42208157e+02] [-6.76484357e-01 7.36400210e-01 -9.14580950e-03 -2.70643668e+02] [-1.40631302e-02 -5.00520888e-04 9.99900984e-01 -2.84545354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1379.586559995 meters 0.025849874831916187 Centerline is valid? [True, True] Translation: X:-442.19, Y:-270.66, Z:-2.85 [[ 7.37304611e-01 6.75485925e-01 1.00337211e-02 -4.42187095e+02] [-6.75431629e-01 7.37372741e-01 -8.57641398e-03 -2.70663259e+02] [-1.31918393e-02 -4.53663001e-04 9.99912881e-01 -2.84588907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1379.616559995 meters 0.028210241721434364 Centerline is valid? [True, True] Translation: X:-442.16, Y:-270.68, Z:-2.85 [[ 7.36950900e-01 6.75878858e-01 9.54671883e-03 -4.42162961e+02] [-6.75829756e-01 7.37012602e-01 -8.15874338e-03 -2.70678401e+02] [-1.25503742e-02 -4.39363377e-04 9.99921145e-01 -2.84633247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1379.646559995 meters 0.027930056617718756 Centerline is valid? [True, True] Translation: X:-442.14, Y:-270.70, Z:-2.85 [[ 7.37821871e-01 6.74921086e-01 1.00206729e-02 -4.42141699e+02] [-6.74866926e-01 7.37889781e-01 -8.56173848e-03 -2.70696207e+02] [-1.31726499e-02 -4.45582779e-04 9.99913138e-01 -2.84513432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1379.676559995 meters 0.030177753615223662 Centerline is valid? [True, True] Translation: X:-442.12, Y:-270.71, Z:-2.85 [[ 7.35062738e-01 6.77921731e-01 1.02420141e-02 -4.42117113e+02] [-6.77865489e-01 7.35133909e-01 -8.74724929e-03 -2.70712757e+02] [-1.34592023e-02 -5.12930920e-04 9.99909290e-01 -2.84770273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1379.7065599950001 meters 0.02745127890411807 Centerline is valid? [True, True] Translation: X:-442.10, Y:-270.73, Z:-2.85 [[ 7.34213503e-01 6.78836748e-01 1.05452463e-02 -4.42096693e+02] [-6.78777280e-01 7.34289023e-01 -9.00195770e-03 -2.70733061e+02] [-1.38541183e-02 -5.48514699e-04 9.99903877e-01 -2.84735270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1379.736559995 meters 0.027225188555384278 Centerline is valid? [True, True] Translation: X:-442.08, Y:-270.75, Z:-2.85 [[ 7.34237267e-01 6.78799565e-01 1.12599517e-02 -4.42075896e+02] [-6.78731828e-01 7.34323365e-01 -9.60739482e-03 -2.70753122e+02] [-1.47899410e-02 -5.88380272e-04 9.99890450e-01 -2.84778281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1379.766559995 meters 0.02812980628806328 Centerline is valid? [True, True] Translation: X:-442.05, Y:-270.77, Z:-2.85 [[ 7.33677128e-01 6.79390799e-01 1.20836370e-02 -4.42053916e+02] [-6.79312896e-01 7.33776346e-01 -1.03084189e-02 -2.70769599e+02] [-1.58701320e-02 -6.45519281e-04 9.99873853e-01 -2.84688000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1379.796559995 meters 0.028525032608468087 Centerline is valid? [True, True] Translation: X:-442.03, Y:-270.79, Z:-2.85 [[ 7.33103895e-01 6.80004780e-01 1.23360751e-02 -4.42031405e+02] [-6.79923757e-01 7.33207366e-01 -1.05187399e-02 -2.70786964e+02] [-1.61976946e-02 -6.76261327e-04 9.99868580e-01 -2.84649773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1379.826559995 meters 0.02816535140209416 Centerline is valid? [True, True] Translation: X:-442.01, Y:-270.80, Z:-2.85 [[ 7.35083533e-01 6.77857098e-01 1.27261165e-02 -4.42010402e+02] [-6.77770578e-01 7.35193398e-01 -1.08494865e-02 -2.70804677e+02] [-1.67105583e-02 -6.50108525e-04 9.99860158e-01 -2.84511734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1379.856559995 meters 0.027519462910621097 Centerline is valid? [True, True] Translation: X:-441.99, Y:-270.82, Z:-2.85 [[ 7.36026327e-01 6.76821673e-01 1.33292510e-02 -4.41989022e+02] [-6.76726677e-01 7.36146716e-01 -1.13586033e-02 -2.70824641e+02] [-1.75000332e-02 -6.60028607e-04 9.99846645e-01 -2.84529817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1379.886559995 meters 0.027705242385983615 Centerline is valid? [True, True] Translation: X:-441.97, Y:-270.84, Z:-2.84 [[ 7.36015934e-01 6.76839554e-01 1.29909131e-02 -4.41967572e+02] [-6.76749367e-01 7.36130289e-01 -1.10676400e-02 -2.70840397e+02] [-1.70540211e-02 -6.45632833e-04 9.99854361e-01 -2.84459167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1379.916559995 meters 0.028390112881494362 Centerline is valid? [True, True] Translation: X:-441.95, Y:-270.86, Z:-2.84 [[ 7.36826266e-01 6.75945540e-01 1.35897467e-02 -4.41946314e+02] [-6.75846746e-01 7.36951285e-01 -1.15749233e-02 -2.70858377e+02] [-1.78389991e-02 -6.55878558e-04 9.99840658e-01 -2.84441252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1379.9465599950001 meters 0.027479421444007605 Centerline is valid? [True, True] Translation: X:-441.93, Y:-270.88, Z:-2.85 [[ 7.36743969e-01 6.76042680e-01 1.32143425e-02 -4.41927144e+02] [-6.75949392e-01 7.36862185e-01 -1.12489975e-02 -2.70878305e+02] [-1.73419517e-02 -6.44595729e-04 9.99849410e-01 -2.84635810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1379.9765599950001 meters 0.026020076334128703 Centerline is valid? [True, True] Translation: X:-441.91, Y:-270.90, Z:-2.85 [[ 7.37572170e-01 6.75151766e-01 1.25454049e-02 -4.41907238e+02] [-6.75067643e-01 7.37678614e-01 -1.06742845e-02 -2.70899547e+02] [-1.64612390e-02 -5.95941739e-04 9.99864327e-01 -2.84859824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1380.006559995 meters 0.026221646621344654 Centerline is valid? [True, True] Translation: X:-441.89, Y:-270.92, Z:-2.85 [[ 7.38700987e-01 6.73933480e-01 1.15980879e-02 -4.41886365e+02] [-6.73861459e-01 7.38791842e-01 -9.86653572e-03 -2.70918291e+02] [-1.52179615e-02 -5.27084769e-04 9.99884061e-01 -2.84952241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1380.036559995 meters 0.026670198486799856 Centerline is valid? [True, True] Translation: X:-441.87, Y:-270.94, Z:-2.85 [[ 7.38840580e-01 6.73812792e-01 9.53513448e-03 -4.41866871e+02] [-6.73764121e-01 7.38901979e-01 -8.11017999e-03 -2.70937709e+02] [-1.25102728e-02 -4.32301409e-04 9.99921650e-01 -2.85251398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1380.066559995 meters 0.025402059163139493 Centerline is valid? [True, True] Translation: X:-441.85, Y:-270.96, Z:-2.86 [[ 7.38758313e-01 6.73918109e-01 8.39860773e-03 -4.41848046e+02] [-6.73880400e-01 7.38805951e-01 -7.13949050e-03 -2.70958542e+02] [-1.10163733e-02 -3.85299182e-04 9.99939244e-01 -2.85587856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1380.096559995 meters 0.027304450776071174 Centerline is valid? [True, True] Translation: X:-441.83, Y:-270.98, Z:-2.86 [[ 7.38339735e-01 6.74399336e-01 6.32236798e-03 -4.41826887e+02] [-6.74377995e-01 7.38366744e-01 -5.37321366e-03 -2.70975574e+02] [-8.29191798e-03 -2.96408692e-04 9.99965578e-01 -2.85807064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1380.126559995 meters 0.026493515084576837 Centerline is valid? [True, True] Translation: X:-441.81, Y:-271.00, Z:-2.86 [[ 7.38207449e-01 6.74548926e-01 5.78858386e-03 -4.41806879e+02] [-6.74531060e-01 7.38230093e-01 -4.91717980e-03 -2.70996069e+02] [-7.59018516e-03 -2.74680852e-04 9.99971157e-01 -2.85949400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1380.156559995 meters 0.027012435987572796 Centerline is valid? [True, True] Translation: X:-441.78, Y:-271.01, Z:-2.86 [[ 7.37171304e-01 6.75686054e-01 5.17937342e-03 -4.41784576e+02] [-6.75671783e-01 7.37189454e-01 -4.39892285e-03 -2.71012867e+02] [-6.79047028e-03 -2.56796779e-04 9.99976912e-01 -2.85978252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1380.186559995 meters 0.027578884833746577 Centerline is valid? [True, True] Translation: X:-441.76, Y:-271.03, Z:-2.86 [[ 7.35526297e-01 6.77472746e-01 5.63429887e-03 -4.41763443e+02] [-6.77455925e-01 7.35547816e-01 -4.78331485e-03 -2.71033414e+02] [-7.38486166e-03 -2.98735294e-04 9.99972687e-01 -2.86035285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1380.2165599950001 meters 0.028862060226618375 Centerline is valid? [True, True] Translation: X:-441.74, Y:-271.05, Z:-2.86 [[ 7.33009767e-01 6.80201713e-01 4.72346024e-03 -4.41739883e+02] [-6.80189952e-01 7.33024934e-01 -4.00941484e-03 -2.71048485e+02] [-6.18962497e-03 -2.73909957e-04 9.99980807e-01 -2.86121172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1380.246559995 meters 0.028862060226618375 Centerline is valid? [True, True] Translation: X:-441.72, Y:-271.07, Z:-2.86 [[ 7.33193000e-01 6.80004194e-01 4.72453988e-03 -4.41718930e+02] [-6.79992437e-01 7.33208170e-01 -4.00814258e-03 -2.71066172e+02] [-6.18962500e-03 -2.73909299e-04 9.99980807e-01 -2.86121181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1380.276559995 meters 0.029318188427792054 Centerline is valid? [True, True] Translation: X:-441.70, Y:-271.08, Z:-2.86 [[ 7.30586615e-01 6.82805691e-01 4.42567173e-03 -4.41695929e+02] [-6.82795435e-01 7.30599966e-01 -3.75283631e-03 -2.71083929e+02] [-5.79585360e-03 -2.80056477e-04 9.99983165e-01 -2.86120394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1380.306559995 meters 0.03193939604949176 Centerline is valid? [True, True] Translation: X:-441.67, Y:-271.10, Z:-2.86 [[ 7.23450228e-01 6.90368187e-01 3.39614939e-03 -4.41671469e+02] [-6.90362236e-01 7.23458152e-01 -2.87850909e-03 -2.71099672e+02] [-4.44420306e-03 -2.62115228e-04 9.99990090e-01 -2.86253564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1380.336559995 meters 0.032304063196710454 Centerline is valid? [True, True] Translation: X:-441.65, Y:-271.12, Z:-2.86 [[ 7.20640750e-01 6.93297907e-01 3.86286860e-03 -4.41649509e+02] [-6.93290257e-01 7.20651032e-01 -3.27256973e-03 -2.71118369e+02] [-5.05264598e-03 -3.19742065e-04 9.99987184e-01 -2.86129655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1380.366559995 meters 0.03465085422452154 Centerline is valid? [True, True] Translation: X:-441.62, Y:-271.13, Z:-2.86 [[ 7.16937742e-01 6.97125829e-01 3.98154855e-03 -4.41624412e+02] [-6.97117768e-01 7.16948708e-01 -3.37157979e-03 -2.71134136e+02] [-5.20498144e-03 -3.58395436e-04 9.99986390e-01 -2.86184656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1380.396559995 meters 0.03728022331971595 Centerline is valid? [True, True] Translation: X:-441.60, Y:-271.15, Z:-2.86 [[ 7.14358809e-01 6.99762856e-01 4.84125595e-03 -4.41600310e+02] [-6.99751004e-01 7.14375065e-01 -4.09864644e-03 -2.71149049e+02] [-6.32655307e-03 -4.59769523e-04 9.99979882e-01 -2.86014103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1380.426559995 meters 0.043990881908075416 Centerline is valid? [True, True] Translation: X:-441.57, Y:-271.16, Z:-2.86 [[ 7.07514199e-01 7.06674995e-01 5.84040131e-03 -4.41572011e+02] [-7.06657985e-01 7.07538024e-01 -4.94335608e-03 -2.71158451e+02] [-7.62565213e-03 -6.29671601e-04 9.99970726e-01 -2.85855610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1380.4565599950001 meters 0.039712360273670096 Centerline is valid? [True, True] Translation: X:-441.55, Y:-271.18, Z:-2.86 [[ 7.07040323e-01 7.07138493e-01 7.00953990e-03 -4.41554167e+02] [-7.07114040e-01 7.07074656e-01 -5.93016112e-03 -2.71182021e+02] [-9.14971321e-03 -7.63681039e-04 9.99957849e-01 -2.85800797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1380.486559995 meters 0.041469342725361985 Centerline is valid? [True, True] Translation: X:-441.53, Y:-271.20, Z:-2.86 [[ 7.05213407e-01 7.08961484e-01 6.90403523e-03 -4.41530854e+02] [-7.08937871e-01 7.05246773e-01 -5.83820141e-03 -2.71198593e+02] [-9.00810850e-03 -7.77354134e-04 9.99959124e-01 -2.85845925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1380.516559995 meters 0.04373018896098715 Centerline is valid? [True, True] Translation: X:-441.51, Y:-271.22, Z:-2.86 [[ 7.04060836e-01 7.10116508e-01 5.73439666e-03 -4.41508286e+02] [-7.10100265e-01 7.04083881e-01 -4.84799433e-03 -2.71215492e+02] [-7.48013706e-03 -6.58713644e-04 9.99971807e-01 -2.86040409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1380.546559995 meters 0.04230985004077655 Centerline is valid? [True, True] Translation: X:-441.49, Y:-271.24, Z:-2.86 [[ 7.04688571e-01 7.09494348e-01 5.63809172e-03 -4.41489187e+02] [-7.09478642e-01 7.04710833e-01 -4.76432538e-03 -2.71237347e+02] [-7.35348624e-03 -6.42740010e-04 9.99972756e-01 -2.86179865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1380.576559995 meters 0.04140040262185035 Centerline is valid? [True, True] Translation: X:-441.47, Y:-271.26, Z:-2.86 [[ 7.06124967e-01 7.08065045e-01 5.60574063e-03 -4.41469227e+02] [-7.08049484e-01 7.06146941e-01 -4.73573261e-03 -2.71257955e+02] [-7.31168331e-03 -6.25122730e-04 9.99973074e-01 -2.86207513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1380.606559995 meters 0.03847289553278632 Centerline is valid? [True, True] Translation: X:-441.45, Y:-271.28, Z:-2.86 [[ 7.07111263e-01 7.07093010e-01 3.62460168e-03 -4.41449376e+02] [-7.07086497e-01 7.07120440e-01 -3.06098135e-03 -2.71279312e+02] [-4.72742845e-03 -3.98452521e-04 9.99988747e-01 -2.86353298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1380.636559995 meters 0.04248199533575243 Centerline is valid? [True, True] Translation: X:-441.42, Y:-271.29, Z:-2.86 [[ 7.08750291e-01 7.05455151e-01 2.46071421e-03 -4.41424507e+02] [-7.05452141e-01 7.08754513e-01 -2.07776971e-03 -2.71293523e+02] [-3.20981564e-03 -2.63296223e-04 9.99994814e-01 -2.86496414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1380.666559995 meters 0.03878742705143317 Centerline is valid? [True, True] Translation: X:-441.41, Y:-271.32, Z:-2.87 [[ 7.09808480e-01 7.04392240e-01 1.86928812e-03 -4.41406057e+02] [-7.04390500e-01 7.09810914e-01 -1.57781387e-03 -2.71316229e+02] [-2.43824095e-03 -1.96763129e-04 9.99997008e-01 -2.86648247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1380.6965599950001 meters 0.038398213214206445 Centerline is valid? [True, True] Translation: X:-441.38, Y:-271.33, Z:-2.87 [[ 7.10376629e-01 7.03820222e-01 1.46259405e-03 -4.41384487e+02] [-7.03819157e-01 7.10378119e-01 -1.23394580e-03 -2.71334775e+02] [-1.90747082e-03 -1.52835456e-04 9.99998169e-01 -2.86625494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1380.7265599950001 meters 0.03835766877554471 Centerline is valid? [True, True] Translation: X:-441.36, Y:-271.35, Z:-2.87 [[ 7.11937576e-01 7.02242441e-01 6.65789446e-04 -4.41362541e+02] [-7.02242220e-01 7.11937884e-01 -5.61456071e-04 -2.71354402e+02] [-8.68279008e-04 -6.78237845e-05 9.99999621e-01 -2.86708243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1380.756559995 meters 0.036349932678930386 Centerline is valid? [True, True] Translation: X:-441.34, Y:-271.38, Z:-2.87 [[ 7.12496484e-01 7.01675662e-01 -1.60703374e-04 -4.41342397e+02] [-7.01675649e-01 7.12496502e-01 1.35453474e-04 -2.71375398e+02] [ 2.09545000e-04 1.62515206e-05 9.99999978e-01 -2.86757221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1380.786559995 meters 0.037712333485721984 Centerline is valid? [True, True] Translation: X:-441.32, Y:-271.39, Z:-2.87 [[ 7.12797207e-01 7.01370177e-01 -1.31177033e-04 -4.41319598e+02] [-7.01370168e-01 7.12797219e-01 1.10547966e-04 -2.71391626e+02] [ 1.71037673e-04 1.32053760e-05 9.99999986e-01 -2.86729707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1380.816559995 meters 0.03779625344769413 Centerline is valid? [True, True] Translation: X:-441.30, Y:-271.41, Z:-2.87 [[ 7.13062863e-01 7.01100101e-01 5.24275984e-05 -4.41296602e+02] [-7.01100099e-01 7.13062865e-01 -4.41629057e-05 -2.71409413e+02] [-6.83467891e-05 -5.26606647e-06 9.99999998e-01 -2.86713383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1380.846559995 meters 0.037911346475491034 Centerline is valid? [True, True] Translation: X:-441.27, Y:-271.43, Z:-2.87 [[ 7.15031207e-01 6.99092427e-01 -3.89094097e-04 -4.41274610e+02] [-6.99092352e-01 7.15031312e-01 3.27700661e-04 -2.71426292e+02] [ 5.07307515e-04 3.76965079e-05 9.99999871e-01 -2.86657787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1380.876559995 meters 0.034441848943008696 Centerline is valid? [True, True] Translation: X:-441.26, Y:-271.45, Z:-2.87 [[ 7.17644406e-01 6.96409725e-01 4.17578318e-05 -4.41256400e+02] [-6.96409724e-01 7.17644407e-01 -3.51538208e-05 -2.71448950e+02] [-5.44487351e-05 -3.85261729e-06 9.99999999e-01 -2.86572093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1380.906559995 meters 0.035759503180426595 Centerline is valid? [True, True] Translation: X:-441.23, Y:-271.47, Z:-2.87 [[ 7.20007132e-01 6.93966605e-01 2.82830488e-04 -4.41233663e+02] [-6.93966565e-01 7.20007188e-01 -2.38058194e-04 -2.71465122e+02] [-3.68844419e-04 -2.48713048e-05 9.99999932e-01 -2.86580144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1380.936559995 meters 0.032567714433894286 Centerline is valid? [True, True] Translation: X:-441.21, Y:-271.49, Z:-2.87 [[ 7.22435450e-01 6.91438168e-01 -5.29028979e-04 -4.41213525e+02] [-6.91438026e-01 7.22435643e-01 4.45192580e-04 -2.71486608e+02] [ 6.90012535e-04 4.41678507e-05 9.99999761e-01 -2.86557296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1380.9665599950001 meters 0.030748870904755116 Centerline is valid? [True, True] Translation: X:-441.19, Y:-271.51, Z:-2.87 [[ 7.28914236e-01 6.84604567e-01 -7.89657292e-04 -4.41194731e+02] [-6.84604247e-01 7.28914661e-01 6.64416061e-04 -2.71507708e+02] [ 1.03045505e-03 5.63004108e-05 9.99999468e-01 -2.86639077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1380.996559995 meters 0.03191802338385982 Centerline is valid? [True, True] Translation: X:-441.17, Y:-271.52, Z:-2.87 [[ 7.31358469e-01 6.81993018e-01 -5.59546653e-04 -4.41172819e+02] [-6.81992856e-01 7.31358682e-01 4.70718120e-04 -2.71524463e+02] [ 7.30255776e-04 3.73431365e-05 9.99999733e-01 -2.86614278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1381.026559995 meters 0.028200965681380676 Centerline is valid? [True, True] Translation: X:-441.15, Y:-271.55, Z:-2.87 [[ 7.33177025e-01 6.80036794e-01 -1.18732924e-03 -4.41153324e+02] [-6.80036065e-01 7.33177982e-01 9.98397210e-04 -2.71546583e+02] [ 1.54947050e-03 7.54248106e-05 9.99998797e-01 -2.86647128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1381.056559995 meters 0.027244853727997332 Centerline is valid? [True, True] Translation: X:-441.13, Y:-271.57, Z:-2.87 [[ 7.35291151e-01 6.77749558e-01 -1.56855176e-03 -4.41133158e+02] [-6.77748281e-01 7.35292818e-01 1.31878136e-03 -2.71567353e+02] [ 2.04714833e-03 9.33949895e-05 9.99997900e-01 -2.86723537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1381.086559995 meters 0.026721299369818464 Centerline is valid? [True, True] Translation: X:-441.11, Y:-271.59, Z:-2.87 [[ 7.36840505e-01 6.76066154e-01 -7.91210015e-04 -4.41111380e+02] [-6.76065829e-01 7.36840928e-01 6.64920690e-04 -2.71586594e+02] [ 1.03252630e-03 4.49695585e-05 9.99999466e-01 -2.86622836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1381.116559995 meters 0.02619262298188839 Centerline is valid? [True, True] Translation: X:-441.09, Y:-271.60, Z:-2.87 [[ 7.37546241e-01 6.75295633e-01 -1.16196909e-03 -4.41088859e+02] [-6.75294931e-01 7.37547154e-01 9.76028146e-04 -2.71604436e+02] [ 1.51611454e-03 6.48059489e-05 9.99998849e-01 -2.86579851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1381.146559995 meters 0.027018837559328122 Centerline is valid? [True, True] Translation: X:-441.07, Y:-271.62, Z:-2.87 [[ 7.39548242e-01 6.73102539e-01 -1.17074511e-03 -4.41066861e+02] [-6.73101823e-01 7.39549166e-01 9.83234615e-04 -2.71621853e+02] [ 1.52764129e-03 6.08812390e-05 9.99998832e-01 -2.86544184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1381.176559995 meters 0.02497937107803006 Centerline is valid? [True, True] Translation: X:-441.05, Y:-271.64, Z:-2.87 [[ 7.41442193e-01 6.71013234e-01 -2.17133200e-03 -4.41046735e+02] [-6.71010766e-01 7.41445365e-01 1.82274121e-03 -2.71643166e+02] [ 2.83300752e-03 1.05529907e-04 9.99995982e-01 -2.86559841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1381.2065599950001 meters 0.025103598910622704 Centerline is valid? [True, True] Translation: X:-441.03, Y:-271.66, Z:-2.87 [[ 7.42125986e-01 6.70255816e-01 -2.48245860e-03 -4.41025056e+02] [-6.70252590e-01 7.42130128e-01 2.08290919e-03 -2.71661532e+02] [ 3.23838931e-03 1.18093271e-04 9.99994750e-01 -2.86613033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1381.236559995 meters 0.025402358888394056 Centerline is valid? [True, True] Translation: X:-441.00, Y:-271.68, Z:-2.87 [[ 7.42986419e-01 6.69301509e-01 -2.58306838e-03 -4.41003145e+02] [-6.69298011e-01 7.42990900e-01 2.16695469e-03 -2.71679183e+02] [ 3.36954235e-03 1.18824625e-04 9.99994316e-01 -2.86641825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1381.266559995 meters 0.024850181500181347 Centerline is valid? [True, True] Translation: X:-440.98, Y:-271.70, Z:-2.87 [[ 7.43631743e-01 6.68580679e-01 -3.42165528e-03 -4.40982654e+02] [-6.68574540e-01 7.43639599e-01 2.86908266e-03 -2.71700034e+02] [ 4.46269159e-03 1.54090666e-04 9.99990031e-01 -2.86761826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1381.296559995 meters 0.02573919887768606 Centerline is valid? [True, True] Translation: X:-440.96, Y:-271.72, Z:-2.87 [[ 7.44042420e-01 6.68112149e-01 -5.19939710e-03 -4.40963037e+02] [-6.68097971e-01 7.44060551e-01 4.35870224e-03 -2.71717832e+02] [ 6.78076819e-03 2.30647290e-04 9.99976984e-01 -2.87026416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1381.326559995 meters 0.02434675569494618 Centerline is valid? [True, True] Translation: X:-440.94, Y:-271.74, Z:-2.87 [[ 7.44175281e-01 6.67957303e-01 -6.01608956e-03 -4.40942856e+02] [-6.67938334e-01 7.44199550e-01 5.04091316e-03 -2.71737797e+02] [ 7.84428590e-03 2.67053873e-04 9.99969198e-01 -2.87033755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1381.356559995 meters 0.025146698214639773 Centerline is valid? [True, True] Translation: X:-440.92, Y:-271.75, Z:-2.87 [[ 7.44342839e-01 6.67768820e-01 -6.20820664e-03 -4.40921240e+02] [-6.67748624e-01 7.44368678e-01 5.20064700e-03 -2.71754430e+02] [ 8.09402448e-03 2.74457097e-04 9.99967205e-01 -2.87108439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1381.386559995 meters 0.025396508923690535 Centerline is valid? [True, True] Translation: X:-440.90, Y:-271.77, Z:-2.87 [[ 7.43381812e-01 6.68833538e-01 -6.72164547e-03 -4.40899731e+02] [-6.68809931e-01 7.43412134e-01 5.62807027e-03 -2.71773652e+02] [ 8.76119496e-03 3.11698174e-04 9.99961572e-01 -2.87109578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1381.416559995 meters 0.025117885092266635 Centerline is valid? [True, True] Translation: X:-440.88, Y:-271.79, Z:-2.87 [[ 7.42507253e-01 6.69802623e-01 -6.88661505e-03 -4.40877996e+02] [-6.69777910e-01 7.42539113e-01 5.76338251e-03 -2.71792500e+02] [ 8.97390975e-03 3.33149324e-04 9.99959678e-01 -2.87107397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1381.4465599950001 meters 0.02537134603485187 Centerline is valid? [True, True] Translation: X:-440.86, Y:-271.81, Z:-2.87 [[ 7.42140122e-01 6.70208514e-01 -6.97042737e-03 -4.40856282e+02] [-6.70183223e-01 7.42172776e-01 5.83251296e-03 -2.71810639e+02] [ 9.08226128e-03 3.42921603e-04 9.99958697e-01 -2.87151663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1381.4765599950001 meters 0.025549683210848172 Centerline is valid? [True, True] Translation: X:-440.83, Y:-271.83, Z:-2.87 [[ 7.41821286e-01 6.70556841e-01 -7.39614367e-03 -4.40834165e+02] [-6.70528393e-01 7.41858064e-01 6.18766566e-03 -2.71827364e+02] [ 9.63607036e-03 3.69182234e-04 9.99953504e-01 -2.87149403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1381.506559995 meters 0.02516231054767874 Centerline is valid? [True, True] Translation: X:-440.81, Y:-271.85, Z:-2.87 [[ 7.42706666e-01 6.69564085e-01 -8.41099695e-03 -4.40814414e+02] [-6.69527268e-01 7.42754179e-01 7.03330319e-03 -2.71848120e+02] [ 1.09565503e-02 4.07710643e-04 9.99939892e-01 -2.87420523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1381.536559995 meters 0.025434479286669923 Centerline is valid? [True, True] Translation: X:-440.79, Y:-271.87, Z:-2.87 [[ 7.42594863e-01 6.69673263e-01 -9.51790789e-03 -4.40793086e+02] [-6.69626174e-01 7.42655710e-01 7.95506206e-03 -2.71867148e+02] [ 1.23958210e-02 4.66052026e-04 9.99923060e-01 -2.87473990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1381.566559995 meters 0.02576145471462887 Centerline is valid? [True, True] Translation: X:-440.77, Y:-271.89, Z:-2.88 [[ 7.41641272e-01 6.70710179e-01 -1.07739919e-02 -4.40772271e+02] [-6.70649972e-01 7.41719323e-01 9.00333510e-03 -2.71886638e+02] [ 1.40299065e-02 5.48332471e-04 9.99901426e-01 -2.87621845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1381.596559995 meters 0.02687539030230753 Centerline is valid? [True, True] Translation: X:-440.75, Y:-271.90, Z:-2.88 [[ 7.40268690e-01 6.72209550e-01 -1.16870781e-02 -4.40749806e+02] [-6.72138911e-01 7.40360675e-01 9.76500972e-03 -2.71903704e+02] [ 1.52167858e-02 6.26608956e-04 9.99884022e-01 -2.87735259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1381.626559995 meters 0.02616562285157544 Centerline is valid? [True, True] Translation: X:-440.73, Y:-271.92, Z:-2.88 [[ 7.38759437e-01 6.73867372e-01 -1.17157785e-02 -4.40727342e+02] [-6.73796656e-01 7.38852030e-01 9.78488053e-03 -2.71923305e+02] [ 1.52499384e-02 6.65379523e-04 9.99883492e-01 -2.87616641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1381.656559995 meters 0.030034387342959924 Centerline is valid? [True, True] Translation: X:-440.70, Y:-271.94, Z:-2.88 [[ 7.35949124e-01 6.76918573e-01 -1.26543684e-02 -4.40702945e+02] [-6.76836556e-01 7.36057487e-01 1.05665712e-02 -2.71938150e+02] [ 1.64670509e-02 7.88480281e-04 9.99864098e-01 -2.87902132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1381.686559995 meters 0.03171629117119401 Centerline is valid? [True, True] Translation: X:-440.68, Y:-271.95, Z:-2.88 [[ 7.30358963e-01 6.82937104e-01 -1.31414703e-02 -4.40678701e+02] [-6.82849694e-01 7.30476547e-01 1.09686001e-02 -2.71954949e+02] [ 1.70903998e-02 9.62633611e-04 9.99853485e-01 -2.87789279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1381.7165599950001 meters 0.03213603559592265 Centerline is valid? [True, True] Translation: X:-440.66, Y:-271.97, Z:-2.88 [[ 7.27335935e-01 6.86157388e-01 -1.30566725e-02 -4.40655513e+02] [-6.86071701e-01 7.27452382e-01 1.08928118e-02 -2.71972849e+02] [ 1.69722908e-02 1.03508007e-03 9.99855425e-01 -2.87643241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1381.746559995 meters 0.03808242797864127 Centerline is valid? [True, True] Translation: X:-440.63, Y:-271.98, Z:-2.88 [[ 7.25593071e-01 6.88020097e-01 -1.19600241e-02 -4.40628797e+02] [-6.87948487e-01 7.25690959e-01 9.97554048e-03 -2.71984130e+02] [ 1.55426537e-02 9.89697452e-04 9.99878716e-01 -2.87600177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1381.776559995 meters 0.03499008101063005 Centerline is valid? [True, True] Translation: X:-440.61, Y:-272.00, Z:-2.87 [[ 7.23315442e-01 6.90431134e-01 -1.09371427e-02 -4.40608734e+02] [-6.90371582e-01 7.23397496e-01 9.11818228e-03 -2.72004606e+02] [ 1.42073786e-02 9.55370490e-04 9.99898614e-01 -2.87275474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1381.806559995 meters 0.03670838372619604 Centerline is valid? [True, True] Translation: X:-440.58, Y:-272.02, Z:-2.87 [[ 7.20330215e-01 6.93587322e-01 -7.81077861e-03 -4.40583294e+02] [-6.93557147e-01 7.20372194e-01 6.51048494e-03 -2.72019549e+02] [ 1.01422575e-02 7.27522313e-04 9.99948302e-01 -2.86694486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1381.836559995 meters 0.03670838372619604 Centerline is valid? [True, True] Translation: X:-440.56, Y:-272.04, Z:-2.87 [[ 7.20515041e-01 6.93395299e-01 -7.81251392e-03 -4.40562148e+02] [-6.93365136e-01 7.20557027e-01 6.50840248e-03 -2.72037077e+02] [ 1.01422575e-02 7.27522894e-04 9.99948302e-01 -2.86694495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1381.866559995 meters 0.0378528835473847 Centerline is valid? [True, True] Translation: X:-440.54, Y:-272.05, Z:-2.86 [[ 7.19709462e-01 6.94257370e-01 -4.99949113e-03 -4.40538402e+02] [-6.94245045e-01 7.19726670e-01 4.16389413e-03 -2.72051490e+02] [ 6.48908129e-03 4.74077945e-04 9.99978834e-01 -2.86178172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1381.896559995 meters 0.037334335575710836 Centerline is valid? [True, True] Translation: X:-440.52, Y:-272.07, Z:-2.86 [[ 7.20499752e-01 6.93442941e-01 -4.12262022e-03 -4.40516646e+02] [-6.93434555e-01 7.20511443e-01 3.43204018e-03 -2.72070016e+02] [ 5.35031908e-03 3.85983222e-04 9.99985613e-01 -2.86059539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1381.926559995 meters 0.035999611391338 Centerline is valid? [True, True] Translation: X:-440.50, Y:-272.09, Z:-2.86 [[ 7.21437004e-01 6.92469014e-01 -3.91331333e-03 -4.40495021e+02] [-6.92461452e-01 7.21447527e-01 3.25635674e-03 -2.72089816e+02] [ 5.07817637e-03 3.60562379e-04 9.99987041e-01 -2.86009833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1381.9565599950001 meters 0.0356817307872622 Centerline is valid? [True, True] Translation: X:-440.47, Y:-272.11, Z:-2.86 [[ 7.23207236e-01 6.90620827e-01 -3.76396035e-03 -4.40472680e+02] [-6.90613809e-01 7.23216953e-01 3.13143590e-03 -2.72107056e+02] [ 4.88479479e-03 3.34765888e-04 9.99988014e-01 -2.85934867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1381.986559995 meters 0.03408232738909731 Centerline is valid? [True, True] Translation: X:-440.45, Y:-272.13, Z:-2.86 [[ 7.27307255e-01 6.86303880e-01 -3.33780825e-03 -4.40451224e+02] [-6.86298319e-01 7.27314863e-01 2.77631192e-03 -2.72126650e+02] [ 4.33303119e-03 2.71500389e-04 9.99990576e-01 -2.85931497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1382.016559995 meters 0.03175568581725325 Centerline is valid? [True, True] Translation: X:-440.43, Y:-272.15, Z:-2.86 [[ 7.29676579e-01 6.83785041e-01 -3.17920106e-03 -4.40430547e+02] [-6.83779974e-01 7.29683464e-01 2.64384894e-03 -2.72146871e+02] [ 4.12763480e-03 2.44719362e-04 9.99991452e-01 -2.85863191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1382.046559995 meters 0.032133705056734164 Centerline is valid? [True, True] Translation: X:-440.41, Y:-272.16, Z:-2.86 [[ 7.32003633e-01 6.81290584e-01 -3.71772108e-03 -4.40409042e+02] [-6.81283625e-01 7.32013024e-01 3.09113791e-03 -2.72164216e+02] [ 4.82738340e-03 2.70098311e-04 9.99988312e-01 -2.85925727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1382.076559995 meters 0.03220446163960034 Centerline is valid? [True, True] Translation: X:-440.39, Y:-272.18, Z:-2.86 [[ 7.34919723e-01 6.78141637e-01 -4.11354922e-03 -4.40385981e+02] [-6.78133071e-01 7.34931183e-01 3.41975077e-03 -2.72180399e+02] [ 5.34225098e-03 2.76291476e-04 9.99985692e-01 -2.85833931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1382.106559995 meters 0.03220446163960034 Centerline is valid? [True, True] Translation: X:-440.36, Y:-272.20, Z:-2.86 [[ 7.35095002e-01 6.77951628e-01 -4.11443353e-03 -4.40364829e+02] [-6.77943064e-01 7.35106465e-01 3.41868677e-03 -2.72197867e+02] [ 5.34225095e-03 2.76292115e-04 9.99985692e-01 -2.85833940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1382.136559995 meters 0.02656968903198703 Centerline is valid? [True, True] Translation: X:-440.35, Y:-272.22, Z:-2.86 [[ 7.35275959e-01 6.77754845e-01 -4.19927640e-03 -4.40348379e+02] [-6.77745932e-01 7.35287897e-01 3.48719076e-03 -2.72221439e+02] [ 5.45113754e-03 2.81994964e-04 9.99985103e-01 -2.85723369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1382.166559995 meters 0.02681090246926467 Centerline is valid? [True, True] Translation: X:-440.33, Y:-272.24, Z:-2.86 [[ 7.34493408e-01 6.78602108e-01 -4.31428815e-03 -4.40326549e+02] [-6.78592725e-01 7.34506018e-01 3.58089999e-03 -2.72239996e+02] [ 5.59887689e-03 2.97497112e-04 9.99984282e-01 -2.85784216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1382.1965599950001 meters 0.027817504867748654 Centerline is valid? [True, True] Translation: X:-440.30, Y:-272.26, Z:-2.86 [[ 7.33724171e-01 6.79434239e-01 -4.23755785e-03 -4.40303356e+02] [-6.79425204e-01 7.33736347e-01 3.51658851e-03 -2.72256087e+02] [ 5.49854085e-03 2.98897618e-04 9.99984838e-01 -2.85711290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1382.2265599950001 meters 0.029516058546853196 Centerline is valid? [True, True] Translation: X:-440.28, Y:-272.27, Z:-2.86 [[ 7.30325008e-01 6.83089027e-01 -3.84234246e-03 -4.40278113e+02] [-6.83081657e-01 7.30335055e-01 3.18712057e-03 -2.72271499e+02] [ 4.98328448e-03 2.96999801e-04 9.99987539e-01 -2.85619520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1382.256559995 meters 0.030695647820108328 Centerline is valid? [True, True] Translation: X:-440.25, Y:-272.29, Z:-2.86 [[ 7.28633567e-01 6.84892842e-01 -3.86271776e-03 -4.40254132e+02] [-6.84885425e-01 7.28643739e-01 3.20259863e-03 -2.72288681e+02] [ 5.00798199e-03 3.11998227e-04 9.99987412e-01 -2.85576360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1382.286559995 meters 0.03711080892466586 Centerline is valid? [True, True] Translation: X:-440.23, Y:-272.30, Z:-2.86 [[ 7.27206450e-01 6.86404711e-01 -4.39911940e-03 -4.40226754e+02] [-6.86395123e-01 7.27219663e-01 3.64645224e-03 -2.72299363e+02] [ 5.70206812e-03 3.67810516e-04 9.99983676e-01 -2.85699914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1382.316559995 meters 0.03789620859209792 Centerline is valid? [True, True] Translation: X:-440.21, Y:-272.32, Z:-2.86 [[ 7.25546214e-01 6.88145847e-01 -6.16314546e-03 -4.40205397e+02] [-6.88127110e-01 7.25572192e-01 5.10634625e-03 -2.72319031e+02] [ 7.98571793e-03 5.36137280e-04 9.99967970e-01 -2.86006328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1382.346559995 meters 0.0320608148722155 Centerline is valid? [True, True] Translation: X:-440.19, Y:-272.34, Z:-2.86 [[ 7.24739288e-01 6.88987717e-01 -6.99214420e-03 -4.40189418e+02] [-6.88963648e-01 7.24772752e-01 5.79227878e-03 -2.72344709e+02] [ 9.05852453e-03 6.19441172e-04 9.99958779e-01 -2.86045621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1382.376559995 meters 0.031196814198662375 Centerline is valid? [True, True] Translation: X:-440.17, Y:-272.36, Z:-2.86 [[ 7.23673341e-01 6.90100536e-01 -7.62540795e-03 -4.40167373e+02] [-6.90071997e-01 7.23713183e-01 6.31417380e-03 -2.72364837e+02] [ 9.87602298e-03 6.92681247e-04 9.99950991e-01 -2.86076028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1382.406559995 meters 0.03422641216127226 Centerline is valid? [True, True] Translation: X:-440.14, Y:-272.38, Z:-2.86 [[ 7.21950859e-01 6.91893053e-01 -8.42381841e-03 -4.40143127e+02] [-6.91858356e-01 7.21999567e-01 6.97430721e-03 -2.72380033e+02] [ 1.09074680e-02 7.92982077e-04 9.99940198e-01 -2.86227277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1382.436559995 meters 0.04028529545966576 Centerline is valid? [True, True] Translation: X:-440.12, Y:-272.39, Z:-2.86 [[ 7.18446236e-01 6.95521326e-01 -9.22446079e-03 -4.40115394e+02] [-6.95480035e-01 7.18504851e-01 7.63549170e-03 -2.72390525e+02] [ 1.19384671e-02 9.29738038e-04 9.99928302e-01 -2.86331938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1382.4665599950001 meters 0.03567320789815474 Centerline is valid? [True, True] Translation: X:-440.10, Y:-272.41, Z:-2.86 [[ 7.17475352e-01 6.96519530e-01 -9.46908836e-03 -4.40096986e+02] [-6.96476149e-01 7.17537174e-01 7.83446418e-03 -2.72413892e+02] [ 1.22512802e-02 9.73959248e-04 9.99924476e-01 -2.86238952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1382.496559995 meters 0.036535603862022384 Centerline is valid? [True, True] Translation: X:-440.07, Y:-272.43, Z:-2.86 [[ 7.16701116e-01 6.97318981e-01 -9.26007697e-03 -4.40073509e+02] [-6.97277602e-01 7.16760282e-01 7.65801940e-03 -2.72431173e+02] [ 1.19773377e-02 9.68333205e-04 9.99927800e-01 -2.86174587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1382.526559995 meters 0.03648020193297033 Centerline is valid? [True, True] Translation: X:-440.05, Y:-272.45, Z:-2.86 [[ 7.16922909e-01 6.97093612e-01 -9.05754760e-03 -4.40051977e+02] [-6.97054054e-01 7.16979498e-01 7.48635600e-03 -2.72448644e+02] [ 1.17127669e-02 9.46460159e-04 9.99930956e-01 -2.86158864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1382.556559995 meters 0.03651146716395825 Centerline is valid? [True, True] Translation: X:-440.03, Y:-272.47, Z:-2.86 [[ 7.17622816e-01 6.96371556e-01 -9.17333861e-03 -4.40029722e+02] [-6.96330966e-01 7.17680817e-01 7.57838123e-03 -2.72466203e+02] [ 1.18608983e-02 9.49260457e-04 9.99929207e-01 -2.86134063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1382.586559995 meters 0.036261726797632066 Centerline is valid? [True, True] Translation: X:-440.01, Y:-272.49, Z:-2.86 [[ 7.17660769e-01 6.96318057e-01 -1.02071081e-02 -4.40008977e+02] [-6.96267816e-01 7.17732574e-01 8.43094414e-03 -2.72485472e+02] [ 1.31965926e-02 1.05632303e-03 9.99912363e-01 -2.86279656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1382.616559995 meters 0.03641851473175792 Centerline is valid? [True, True] Translation: X:-439.99, Y:-272.50, Z:-2.86 [[ 7.17760962e-01 6.96211691e-01 -1.04155069e-02 -4.39986922e+02] [-6.96159423e-01 7.17835717e-01 8.59889311e-03 -2.72503183e+02] [ 1.34632728e-02 1.07890346e-03 9.99908784e-01 -2.86264119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1382.646559995 meters 0.04521454570707475 Centerline is valid? [True, True] Translation: X:-439.96, Y:-272.51, Z:-2.86 [[ 7.17966402e-01 6.96002474e-01 -1.02372296e-02 -4.39957767e+02] [-6.95951978e-01 7.18038604e-01 8.45025587e-03 -2.72511648e+02] [ 1.32321251e-02 1.05762041e-03 9.99911893e-01 -2.86432968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1382.676559995 meters 0.04311160291760931 Centerline is valid? [True, True] Translation: X:-439.94, Y:-272.53, Z:-2.86 [[ 7.18334138e-01 6.95637590e-01 -9.18747060e-03 -4.39936167e+02] [-6.95596928e-01 7.18392267e-01 7.58051755e-03 -2.72531438e+02] [ 1.18735008e-02 9.45431791e-04 9.99929061e-01 -2.86226774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1382.7065599950001 meters 0.038737442331279154 Centerline is valid? [True, True] Translation: X:-439.92, Y:-272.55, Z:-2.86 [[ 7.18041513e-01 6.95959202e-01 -7.56145053e-03 -4.39916594e+02] [-6.95931706e-01 7.18080897e-01 6.23593096e-03 -2.72552694e+02] [ 9.76968671e-03 7.84595864e-04 9.99951968e-01 -2.85851169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1382.736559995 meters 0.036295058228537444 Centerline is valid? [True, True] Translation: X:-439.90, Y:-272.57, Z:-2.86 [[ 7.17774915e-01 6.96246086e-01 -6.36866414e-03 -4.39895656e+02] [-6.96226613e-01 7.17802859e-01 5.24967918e-03 -2.72572945e+02] [ 8.22651391e-03 6.65945444e-04 9.99965940e-01 -2.85669689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1382.766559995 meters 0.035394745728165825 Centerline is valid? [True, True] Translation: X:-439.87, Y:-272.59, Z:-2.86 [[ 7.17375731e-01 6.96664013e-01 -5.59586553e-03 -4.39873951e+02] [-6.96649008e-01 7.17397313e-01 4.61039251e-03 -2.72591242e+02] [ 7.22635344e-03 5.90970466e-04 9.99973715e-01 -2.85504428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] Total time of SLAM: 21201.12 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%| | 0/46093 [00:00